to recognize or make out who or what someone is, or to find out the facts of a matter
This is the everyday, down-to-earth side of the word: a focused act of knowing that lands on a definite object. The eye or ear catches enough to say, that is the man, that is the voice, that is the place. The Gospels use it again and again for people recognizing Jesus or his disciples (a crowd making him out, a servant girl knowing Peter's voice, sailors failing to recognize a coastline), and for Jesus knowing exactly what was going on inside the people around him.
The same word reaches past the senses into deliberate inquiry. A Roman officer wants to find out the charge against a prisoner; Luke writes so his reader may know for certain the things he was taught. Whether the knowing comes through sight, through sound, or through investigation, the common thread is that it is aimed and arrives at a settled result.
These two shades, recognizing a person or thing and ascertaining a fact, belong together: in both, a person fixes on something and comes to know it for sure. The prefix added to the simpler verb for knowing tends to sharpen the word toward this directed, definite sense rather than knowledge in general.