*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/Control" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Estimation" *n code=0012 name="Config/Simulator" *n code=0013 name="Config/secure" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Servo" *n code=0016 name="Config/Derivation" *n code=0017 name="Config/workSite" *n code=0018 name="Config/Dock" *n code=0019 name="Config/vehicle" *n code=001A name="Config/Science" *n code=001B name="Config/Sample" *n code=001C name="Config/logger" *n code=001D name="Config/BIT" *n code=001E name="Config/Navigation" *n code=001F name="Config/Battery" *n code=0020 name="DepthRateCalculator" *n code=0021 name="PitchRateCalculator" *n code=0022 name="SpeedCalculator" *n code=0023 name="YawRateCalculator" *n code=0024 name="ElevatorOffsetCalculator" *n code=0025 name="VerticalControl" *n code=0026 name="HorizontalControl" *n code=0027 name="SpeedControl" *n code=0028 name="LoopControl" *n code=0029 name="DeadReckonUsingMultipleVelocitySources" *n code=002A name="NavChart" *n code=002B name="UniversalFixResidualReporter" *n code=002C name="AHRS_M2" *n code=002D name="BackseatComponent" *n code=002E name="BackseatComponent ThreadHandler" *n code=002F name="LcmUniversalReporter" *n code=0030 name="BPC1" *n code=0031 name="DAT" *n code=0032 name="DAT ThreadHandler" *n code=0033 name="DataOverHttps" *n code=0034 name="DataOverHttps ThreadHandler" *n code=0035 name="Depth_Keller" *n code=0036 name="NAL9602" *n code=0037 name="Onboard" *n code=0038 name="Onboard ThreadHandler" *n code=0039 name="Power24vConverter" *n code=003A name="Radio_Surface" *n code=003B name="Radio_Surface ThreadHandler" *n code=003C name="RDI_Pathfinder" *n code=003D name="Sonardyne_Nano" *n code=003E name="BuoyancyServo" *n code=003F name="ElevatorServo" *n code=0040 name="DockingStepper" *n code=0041 name="MassServo" *n code=0042 name="RudderServo" *n code=0043 name="ThrusterHE" *n code=0044 name="CTD_Seabird" *n code=0045 name="CTD_Seabird ThreadHandler" *n code=0046 name="ESPComponent" *n code=0047 name="PAR_Licor" *n code=0048 name="WetLabsBB2FL" *n code=0049 name="WetLabsBB2FL ThreadHandler" *n code=004A name="SBIT" *n code=004B name="IBIT" *n code=004C name="CBIT" *n code=004D name="GFScanner" *n code=004E name="MissionManager" *n code=004F name="Reporter" *n code=0050 name="NavChartDb" *n code=0051 name="NavChartDb ThreadHandler" *n code=0052 name="DefaultWithUndock" *n code=0053 name="DefaultWithUndock:A.Wait" *n code=0054 name="DefaultWithUndock:LeaveDock" *n code=0055 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0057 name="DefaultWithUndock:LeaveDock:A." *n code=0058 name="DefaultWithUndock:LeaveDock:B.Undock" *n code=0059 name="DefaultWithUndock:SurfaceDefault" *n code=005A name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005B name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0064 name="DefaultWithUndock:D" *n code=0065 name="DefaultWithUndock:E.Execute" *n code=0066 name="transit" *n code=0067 name="transit:NeedComms" *n code=0068 name="transit:NeedComms:A" *n code=0069 name="transit:NeedComms:B.GoToSurface" *n code=006A name="transit:NeedComms:C" *n code=006B name="transit:NeedComms:C:A_Timeout" *n code=006C name="transit:NeedComms:C:A_Timeout:A" *n code=006D name="transit:NeedComms:D" *n code=006E name="transit:NeedComms:D:A_Timeout" *n code=006F name="transit:NeedComms:D:A_Timeout:A" *n code=0070 name="transit:NeedComms:E" *n code=0071 name="transit:NeedComms:E:A_Timeout" *n code=0072 name="transit:NeedComms:E:A_Timeout:A" *n code=0073 name="transit:B" *n code=0074 name="transit:C" *n code=0075 name="transit:StandardEnvelopes" *n code=0076 name="transit:StandardEnvelopes:A.AltitudeEnvelope" *n code=0077 name="transit:StandardEnvelopes:B.DepthEnvelope" *n code=0078 name="transit:StandardEnvelopes:C.OffshoreEnvelope" *n code=0079 name="transit:E" *n code=007A name="transit:F" *n code=007B name="transit:G" *n code=007C name="transit:BackseatDriver" *n code=007D name="transit:BackseatDriver:A.BackseatDriver" *n code=007E name="transit:PowerOnly" *n code=007F name="transit:PowerOnly:A" *n code=0080 name="transit:PowerOnly:B" *n code=0081 name="transit:PowerOnly:C" *n code=0082 name="transit:PowerOnly:D" *n code=0083 name="transit:PowerOnly:E.Wait" *n code=0084 name="transit:BuoyancyHold.Buoyancy" *n code=0085 name="transit:MassHold.Pitch" *n code=0086 name="transit:Transit" *n code=0087 name="transit:Transit:A.Pitch" *n code=0088 name="transit:Transit:B.SetSpeed" *n code=0089 name="transit:Transit:Wpt1.Waypoint" *n code=008A name="transit:Transit:PhoneHome" *n code=008B name="calibrate_sparton_compass" *n code=008C name="calibrate_sparton_compass:Science" *n code=008D name="calibrate_sparton_compass:Science:A" *n code=008E name="calibrate_sparton_compass:Science:B" *n code=008F name="calibrate_sparton_compass:Science:C" *n code=0090 name="calibrate_sparton_compass:Science:D" *n code=0091 name="calibrate_sparton_compass:Science:E" *n code=0092 name="calibrate_sparton_compass:Science:F" *n code=0093 name="calibrate_sparton_compass:Science:Read_Oil" *n code=0094 name="calibrate_sparton_compass:Science:OceanCurrent" *n code=0095 name="calibrate_sparton_compass:Science:OceanCurrent:A." *n code=0096 name="calibrate_sparton_compass:Science:PeakDetectChl" *n code=0097 name="calibrate_sparton_compass:Science:PeakDetectChl:A" *n code=0098 name="calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0099 name="calibrate_sparton_compass:Science:PeakDetectChl:C" *n code=009A name="calibrate_sparton_compass:Science:EdgeDetectChl" *n code=009B name="calibrate_sparton_compass:Science:EdgeDetectChl:A" *n code=009C name="calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=009D name="calibrate_sparton_compass:Science:EdgeDetectChl:C" *n code=009E name="calibrate_sparton_compass:Science:EdgeDetectChl:D" *n code=009F name="calibrate_sparton_compass:Science:HighestChlPeakReport" *n code=00A0 name="calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00A1 name="calibrate_sparton_compass:Science:PeakDetectNO3" *n code=00A2 name="calibrate_sparton_compass:Science:PeakDetectNO3:A" *n code=00A3 name="calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=00A4 name="calibrate_sparton_compass:Science:PeakDetectNO3:C" *n code=00A5 name="calibrate_sparton_compass:Science:PeakDetectOil" *n code=00A6 name="calibrate_sparton_compass:Science:PeakDetectOil:A" *n code=00A7 name="calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=00A8 name="calibrate_sparton_compass:Science:PeakDetectOil:C" *n code=00A9 name="calibrate_sparton_compass:Science:HighestOilPeakReport" *n code=00AA name="calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00AB name="calibrate_sparton_compass:Science:PeakDetectFDOM" *n code=00AC name="calibrate_sparton_compass:Science:PeakDetectFDOM:A" *n code=00AD name="calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=00AE name="calibrate_sparton_compass:Science:PeakDetectFDOM:C" *n code=00AF name="calibrate_sparton_compass:Science:PeakDetectSalinity" *n code=00B0 name="calibrate_sparton_compass:Science:PeakDetectSalinity:A" *n code=00B1 name="calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=00B2 name="calibrate_sparton_compass:Science:PeakDetectSalinity:C" *n code=00B3 name="calibrate_sparton_compass:Science:HighestSaltPeakReport" *n code=00B4 name="calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00B5 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI" *n code=00B6 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=00B7 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=00B8 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=00B9 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI" *n code=00BA name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=00BB name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=00BC name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=00BD name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00BE name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI" *n code=00BF name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00C0 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00C1 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00C2 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00C3 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00C4 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00C5 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00C6 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00C7 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms" *n code=00C8 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00C9 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00CA name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00CB name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms" *n code=00CC name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00CD name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00CE name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00CF name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00D0 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00D1 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00D2 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00D3 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00D4 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00D5 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00D6 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00D7 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00D8 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00D9 name="calibrate_sparton_compass:Science:ChlThreshTrigger" *n code=00DA name="calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect" *n code=00DB name="calibrate_sparton_compass:Science:ChlThreshTrigger:B" *n code=00DC name="calibrate_sparton_compass:Science:ChlThreshTrigger:C" *n code=00DD name="calibrate_sparton_compass:NeedComms" *n code=00DE name="calibrate_sparton_compass:NeedComms:A" *n code=00DF name="calibrate_sparton_compass:NeedComms:B.GoToSurface" *n code=00E0 name="calibrate_sparton_compass:NeedComms:C" *n code=00E1 name="calibrate_sparton_compass:NeedComms:C:A_Timeout" *n code=00E2 name="calibrate_sparton_compass:NeedComms:C:A_Timeout:A" *n code=00E3 name="calibrate_sparton_compass:NeedComms:D" *n code=00E4 name="calibrate_sparton_compass:NeedComms:D:A_Timeout" *n code=00E5 name="calibrate_sparton_compass:NeedComms:D:A_Timeout:A" *n code=00E6 name="calibrate_sparton_compass:NeedComms:E" *n code=00E7 name="calibrate_sparton_compass:NeedComms:E:A_Timeout" *n code=00E8 name="calibrate_sparton_compass:NeedComms:E:A_Timeout:A" *n code=00E9 name="calibrate_sparton_compass:C" *n code=00EA name="calibrate_sparton_compass:StandardEnvelopes" *n code=00EB name="calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope" *n code=00EC name="calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope" *n code=00ED name="calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope" *n code=00EE name="calibrate_sparton_compass:E" *n code=00EF name="calibrate_sparton_compass:F" *n code=00F0 name="calibrate_sparton_compass:G" *n code=00F1 name="calibrate_sparton_compass:BackseatDriver" *n code=00F2 name="calibrate_sparton_compass:BackseatDriver:A.BackseatDriver" *n code=00F3 name="calibrate_sparton_compass:PowerOnly" *n code=00F4 name="calibrate_sparton_compass:PowerOnly:A" *n code=00F5 name="calibrate_sparton_compass:PowerOnly:B" *n code=00F6 name="calibrate_sparton_compass:PowerOnly:C" *n code=00F7 name="calibrate_sparton_compass:PowerOnly:D" *n code=00F8 name="calibrate_sparton_compass:PowerOnly:E.Wait" *n code=00F9 name="calibrate_sparton_compass:StartingMission" *n code=00FA name="calibrate_sparton_compass:K.Pitch" *n code=00FB name="calibrate_sparton_compass:L.Buoyancy" *n code=00FC name="calibrate_sparton_compass:M.DepthEnvelope" *n code=00FD name="calibrate_sparton_compass:N.AltitudeEnvelope" *n code=00FE name="calibrate_sparton_compass:O.YoYo" *n code=00FF name="calibrate_sparton_compass:AdaptCal" *n code=0100 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit" *n code=0101 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout" *n code=0102 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:A" *n code=0103 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute" *n code=0104 name="calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints" *n code=0105 name="calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point" *n code=0106 name="calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed" *n code=0107 name="calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2" *n code=0108 name="optimize_roll_speed" *n code=0109 name="optimize_roll_speed:NeedComms" *n code=010A name="optimize_roll_speed:NeedComms:A" *n code=010B name="optimize_roll_speed:NeedComms:B.GoToSurface" *n code=010C name="optimize_roll_speed:NeedComms:C" *n code=010D name="optimize_roll_speed:NeedComms:C:A_Timeout" *n code=010E name="optimize_roll_speed:NeedComms:C:A_Timeout:A" *n code=010F name="optimize_roll_speed:NeedComms:D" *n code=0110 name="optimize_roll_speed:NeedComms:D:A_Timeout" *n code=0111 name="optimize_roll_speed:NeedComms:D:A_Timeout:A" *n code=0112 name="optimize_roll_speed:NeedComms:E" *n code=0113 name="optimize_roll_speed:NeedComms:E:A_Timeout" *n code=0114 name="optimize_roll_speed:NeedComms:E:A_Timeout:A" *n code=0115 name="optimize_roll_speed:B" *n code=0116 name="optimize_roll_speed:C" *n code=0117 name="optimize_roll_speed:StandardEnvelopes" *n code=0118 name="optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope" *n code=0119 name="optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope" *n code=011A name="optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope" *n code=011B name="optimize_roll_speed:E" *n code=011C name="optimize_roll_speed:F" *n code=011D name="optimize_roll_speed:G" *n code=011E name="optimize_roll_speed:BackseatDriver" *n code=011F name="optimize_roll_speed:BackseatDriver:A.BackseatDriver" *n code=0120 name="optimize_roll_speed:PowerOnly" *n code=0121 name="optimize_roll_speed:PowerOnly:A" *n code=0122 name="optimize_roll_speed:PowerOnly:B" *n code=0123 name="optimize_roll_speed:PowerOnly:C" *n code=0124 name="optimize_roll_speed:PowerOnly:D" *n code=0125 name="optimize_roll_speed:PowerOnly:E.Wait" *n code=0126 name="optimize_roll_speed:StartingMission" *n code=0127 name="optimize_roll_speed:BuoyancyHold.Buoyancy" *n code=0128 name="optimize_roll_speed:MassHold.Pitch" *n code=0129 name="optimize_roll_speed:Transit" *n code=012A name="optimize_roll_speed:Transit:A.Pitch" *n code=012B name="optimize_roll_speed:Transit:B.SetRollSpeed" *n code=012C name="optimize_roll_speed:Transit:Wpt1.Waypoint" *n code=012D name="optimize_roll_speed:Transit:PhoneHome" *n code=012E name="keepstation" *n code=012F name="keepstation:NeedComms" *n code=0130 name="keepstation:NeedComms:A" *n code=0131 name="keepstation:NeedComms:B.GoToSurface" *n code=0132 name="keepstation:NeedComms:C" *n code=0133 name="keepstation:NeedComms:C:A_Timeout" *n code=0134 name="keepstation:NeedComms:C:A_Timeout:A" *n code=0135 name="keepstation:NeedComms:D" *n code=0136 name="keepstation:NeedComms:D:A_Timeout" *n code=0137 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0138 name="keepstation:NeedComms:E" *n code=0139 name="keepstation:NeedComms:E:A_Timeout" *n code=013A name="keepstation:NeedComms:E:A_Timeout:A" *n code=013B name="keepstation:B" *n code=013C name="keepstation:StandardEnvelopes" *n code=013D name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=013E name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=013F name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=0140 name="keepstation:D" *n code=0141 name="keepstation:E" *n code=0142 name="keepstation:BackseatDriver" *n code=0143 name="keepstation:BackseatDriver:A.BackseatDriver" *n code=0144 name="keepstation:PowerOnly" *n code=0145 name="keepstation:PowerOnly:A" *n code=0146 name="keepstation:PowerOnly:B" *n code=0147 name="keepstation:PowerOnly:C" *n code=0148 name="keepstation:PowerOnly:D" *n code=0149 name="keepstation:PowerOnly:E.Wait" *n code=014A name="keepstation:H.Pitch" *n code=014B name="keepstation:SurfaceComms" *n code=014C name="keepstation:SurfaceComms:A" *n code=014D name="keepstation:SurfaceComms:B" *n code=014E name="keepstation:SurfaceComms:setTransit" *n code=014F name="keepstation:SurfaceComms:setTransit:A" *n code=0150 name="keepstation:SurfaceComms:setStation" *n code=0151 name="keepstation:SurfaceComms:setStation:A" *n code=0152 name="keepstation:SurfaceComms:setSink" *n code=0153 name="keepstation:SurfaceComms:setSink:A" *n code=0154 name="keepstation:StartingMission" *n code=0155 name="keepstation:DiveCmd" *n code=0156 name="keepstation:DiveCmd:SurfaceSink" *n code=0157 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=0158 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=0159 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=015A name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=015B name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=015C name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=015D name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=015E name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=015F name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=0160 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=0161 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=0162 name="keepstation:DiveCmd:TransitToStation" *n code=0163 name="keepstation:DiveCmd:TransitToStation:dive" *n code=0164 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=0165 name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=0166 name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=0167 name="keepstation:DiveCmd:StationKeep" *n code=0168 name="keepstation:DiveCmd:StationKeep:A" *n code=0169 name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=016A name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=016B name="keepstation:TransitToStation" *n code=016C name="keepstation:TransitToStation:Dive" *n code=016D name="keepstation:TransitToStation:Dive:A" *n code=016E name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=016F name="keepstation:TransitToStation:C" *n code=0170 name="keepstation:TransitToStation:D" *n code=0171 name="keepstation:OnStation" *n code=0172 name="keepstation:KeepStation" *n code=0173 name="keepstation:KeepStation:Dive" *n code=0174 name="keepstation:KeepStation:Dive:A" *n code=0175 name="keepstation:KeepStation:B.Wait" *n code=0176 name="lineCaptureHoming" *n code=0177 name="lineCaptureHoming:Science" *n code=0178 name="lineCaptureHoming:Science:A" *n code=0179 name="lineCaptureHoming:Science:B" *n code=017A name="lineCaptureHoming:Science:C" *n code=017B name="lineCaptureHoming:Science:D" *n code=017C name="lineCaptureHoming:Science:E" *n code=017D name="lineCaptureHoming:Science:F" *n code=017E name="lineCaptureHoming:Science:Read_Oil" *n code=017F name="lineCaptureHoming:Science:OceanCurrent" *n code=0180 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0181 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0182 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0183 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0184 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0185 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=0186 name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=0187 name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0188 name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=0189 name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=018A name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=018B name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=018C name="lineCaptureHoming:Science:PeakDetectNO3" *n code=018D name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=018E name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=018F name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0190 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0191 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0192 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0193 name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=0194 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=0195 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0196 name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=0197 name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=0198 name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0199 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=019A name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=019B name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=019C name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=019D name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=019E name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=019F name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=01A0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=01A1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=01A2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=01A3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=01A4 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=01A5 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=01A6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=01A7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=01A8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=01A9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=01AA name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=01AB name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=01AC name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=01AD name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=01AE name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=01AF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=01B0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=01B1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=01B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=01B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=01B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=01B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=01B6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=01B7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=01B8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=01B9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=01BA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=01BB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=01BC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=01BD name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=01BE name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=01BF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=01C0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=01C1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=01C2 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=01C3 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=01C4 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=01C5 name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=01C6 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=01C7 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=01C8 name="lineCaptureHoming:StandardEnvelopes" *n code=01C9 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=01CA name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=01CB name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=01CC name="lineCaptureHoming:C" *n code=01CD name="lineCaptureHoming:D" *n code=01CE name="lineCaptureHoming:E" *n code=01CF name="lineCaptureHoming:NeedComms" *n code=01D0 name="lineCaptureHoming:NeedComms:A" *n code=01D1 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=01D2 name="lineCaptureHoming:NeedComms:C" *n code=01D3 name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=01D4 name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=01D5 name="lineCaptureHoming:NeedComms:D" *n code=01D6 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=01D7 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=01D8 name="lineCaptureHoming:NeedComms:E" *n code=01D9 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=01DA name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=01DB name="lineCaptureHoming:G" *n code=01DC name="lineCaptureHoming:H" *n code=01DD name="lineCaptureHoming:MicromodemComms" *n code=01DE name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=01DF name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=01E0 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=01E1 name="lineCaptureHoming:J" *n code=01E2 name="lineCaptureHoming:LineCapture" *n code=01E3 name="lineCaptureHoming:LineCapture:A" *n code=01E4 name="lineCaptureHoming:LineCapture:B" *n code=01E5 name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=01E6 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=01E7 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=01E8 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=01E9 name="lineCaptureHoming:LineCapture:D" *n code=01EA name="lineCaptureHoming:LineCapture:E" *n code=01EB name="lineCaptureHoming:LineCapture:F" *n code=01EC name="lineCaptureHoming:LineCapture:G" *n code=01ED name="lineCaptureHoming:LineCapture:H" *n code=01EE name="lineCaptureHoming:LineCapture:HoldMass" *n code=01EF name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=01F0 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=01F1 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=01F2 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=01F3 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=01F4 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=01F5 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=01F6 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=01F7 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=01F8 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=01F9 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=01FA name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=01FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=01FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=01FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=01FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=01FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=0200 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=0201 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=0202 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=0203 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=0204 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=0205 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=0206 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=0207 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=0208 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0209 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=020A name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=020B name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=020C name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=020D name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=020E name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=020F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0210 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0211 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0212 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=0213 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=0214 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=0215 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0216 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0217 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0218 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0219 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=021A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=021B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=021C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=021D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=021E name="lineCaptureHoming:LineCapture:L.Wait" *n code=021F name="lineCaptureHoming:LineCapture:M" *n code=0220 name="lineCaptureHoming:L" *n code=0221 name="lineCaptureHoming:M" *n code=0222 name="lineCaptureHoming:N" *n code=0223 name="lineCaptureHoming:O" *n code=0224 name="lineCaptureHoming:P" *n code=0225 name="lineCaptureHoming:Q" *n code=0226 name="lineCaptureHoming:U" *n code=0227 name="lineCaptureHoming:TrackAC." *n code=0228 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0229 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=022A name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=022B name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=022C name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=022D name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=022E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=022F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0230 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0231 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0232 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=0233 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=0234 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=0235 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=0236 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0237 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0238 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0239 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=023A name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=023B name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=023C name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=023D name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=023E name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=023F name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0240 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0241 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0242 name="lineCaptureHoming:restartDHCP" *n code=0243 name="lineCaptureHoming:restartDHCP:A" *n code=0244 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=0245 name="lineCaptureHoming:StartingMission" *n code=0246 name="lineCaptureHoming:Z" *n code=0247 name="lineCaptureHoming:BA.Execute" *n code=0248 name="lineCaptureHoming:InitialDive" *n code=0249 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=024A name="lineCaptureHoming:InitialDive:B.Mass" *n code=024B name="lineCaptureHoming:InitialDive:C.Pitch" *n code=024C name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=024D name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=024E name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=024F name="lineCaptureHoming:RepeatHack" *n code=0250 name="lineCaptureHoming:RepeatHack:A" *n code=0251 name="lineCaptureHoming:Lap" *n code=0252 name="lineCaptureHoming:Lap:A" *n code=0253 name="lineCaptureHoming:Lap:B" *n code=0254 name="lineCaptureHoming:Lap:C" *n code=0255 name="lineCaptureHoming:Lap:D" *n code=0256 name="lineCaptureHoming:Lap:E" *n code=0257 name="lineCaptureHoming:Lap:Docked" *n code=0258 name="lineCaptureHoming:Lap:Docked:A" *n code=0259 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=025A name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=025B name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=025C name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=025D name="lineCaptureHoming:Lap:Docked:C" *n code=025E name="lineCaptureHoming:Lap:Docked:D" *n code=025F name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0260 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0261 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0262 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=0263 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=0264 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=0265 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=0266 name="lineCaptureHoming:Lap:Docked:Detach" *n code=0267 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=0268 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0269 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=026A name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=026B name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=026C name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=026D name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=026E name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=026F name="lineCaptureHoming:Lap:Docked:Drift" *n code=0270 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0271 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=0272 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=0273 name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=0274 name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=0275 name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=0276 name="OnDock" *n code=0277 name="OnDock:StandardEnvelopes" *n code=0278 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=0279 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=027A name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=027B name="OnDock:B" *n code=027C name="OnDock:C" *n code=027D name="OnDock:D" *n code=027E name="OnDock:E" *n code=027F name="OnDock:BackseatDriver" *n code=0280 name="OnDock:BackseatDriver:A.BackseatDriver" *n code=0281 name="OnDock:PowerOnly" *n code=0282 name="OnDock:PowerOnly:A" *n code=0283 name="OnDock:PowerOnly:B" *n code=0284 name="OnDock:PowerOnly:C" *n code=0285 name="OnDock:PowerOnly:D" *n code=0286 name="OnDock:PowerOnly:E.Wait" *n code=0287 name="OnDock:dataRead" *n code=0288 name="OnDock:dataRead:A" *n code=0289 name="OnDock:dataRead:B.Wait" *n code=028A name="OnDock:science" *n code=028B name="OnDock:science:Science" *n code=028C name="OnDock:science:Science:A" *n code=028D name="OnDock:science:Science:B" *n code=028E name="OnDock:science:Science:C" *n code=028F name="OnDock:science:Science:D" *n code=0290 name="OnDock:science:Science:E" *n code=0291 name="OnDock:science:Science:F" *n code=0292 name="OnDock:science:Science:Read_Oil" *n code=0293 name="OnDock:science:Science:OceanCurrent" *n code=0294 name="OnDock:science:Science:OceanCurrent:A." *n code=0295 name="OnDock:science:Science:PeakDetectChl" *n code=0296 name="OnDock:science:Science:PeakDetectChl:A" *n code=0297 name="OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0298 name="OnDock:science:Science:PeakDetectChl:C" *n code=0299 name="OnDock:science:Science:EdgeDetectChl" *n code=029A name="OnDock:science:Science:EdgeDetectChl:A" *n code=029B 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B! B% ^<B% ED] D] D] DY E] ; E] ˭:6E] 896:EY "E] s!V=LQ)> ) 9 GY  "<A>Q 1%@4٪sH?Q 5%@4I  ?Q =-89)Q A-9Y-5?Q E-?y A)2;I@i@4Y15B1BIIIIڌQq },q=}DIy yɡiI=i)iIy:II)NE=iiIiIqԡ SGf,%Aiy6둄@ٱ6@6m6X,6H`{ҿ`??ARkۿ@?>? ¿Y?I6둄@)6I^;i6CVq?VFBD^q6D^9Yf^>!fP=j7Q)j>h)h9nGYnGn<<An>pQ 1v@4٪rOJ?Q 5v@4r"  r?Q =z[89xQ AzW9YzQ?Q Ez?yrA)r:IrG@ir@4Y|~hBBڌA AE9DIA AɡIiIIM=iI)Qԙy,:BE;;6JED:6RE2DDDDE; E8:6Ej86:E!-@!5@!5@!5@AEAIQIaNu6>! 7}Mf,Փ8%Ay:Q@ٱ:} @:^:/:Hѿ`?@x?R hڿ?s?P¿m?I:Q@):hl^;i8F׃?F""FBDNV6DN9YV7\>!VL=ZQ)Z>ZK?)ZK?9^GY\^F=Ab>fNew estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 20.71 mm (2 active estimators).dQ 1j@4٪f#L?Q 5j@4f  f?Q =n189lQ Ae.9Ye?Q Ee?yfMA)f؜vBA>~BBFB}?B =BBB<BIED%D%D%D!E%; E%a:6E%J6:E!"E%p H@ٱ>9O@> w>>H Qѿ?H?@x_ٿ"F?VS?q?I> H@)>hV^;i>CJ?J-FBDV_36DV~9YZ/>!^I=^?b H?)b H?9bGY`fj<Af>hQ 1n@4٪jM?Q 5n@4j  j?Q =n89lQ An 9YnA?Q Er?yjA)j] ;Ij@ij@4YtvBtBڌ) )-CI1 1ɡ1i1I=i)Qy@:>>ԁ=) G A)I%t-A-eAԩII N >bD! ZD! D- D- D- D) E- ; E- n:6E- LE6:E) != @!= @!= @!= @ &Zf,Il%Aɰ4<4<?5F!! !! !! !! !@! !@! !@! !@! {Gz?Zd;OEԸ#>j<9ƽIiMb@Mb@Mb@)IBiDqB .BBD6D9Yu4=!u2=}Q)}>)9GYGA>Q 1@4٪O?Q 5@4  ?Q =79ԱQ A8YQ E?yJA) ;I@i@4YLBBmEBڌ9 9=`CI9 9ɡ9iAIE=iA)Iy-: $O=IINn> A A vB 7>~B dCB FB @B =B B jDB <B EBeCBfCB˓CB˄ =B˄ =BˬB5DA DE DE $DA EA  EE :6EE 6V6:EA "EE v!A=:Q)> )9GY@S=A>Q 1%@4٪P?Q 5%@4  ,?Q =-79)Q A-8Y-l?Q E-?yA) ;IY@i @4Y5JB=B=jEBQQQQڌQD]B*** querying acoustic contact ***jYrYy 顅BI ɡiI.=i)yx:9!=bAAZAi Iq  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.I N >"gf,%A y:@ٱ:߈@::ʽ:Hdο`?$?Ӄىտ?c? }?I:@):.^;i8I@iBx@ @@)@D Fs@DDDHHIH)HiH)HIJALL LLNtcAPiPPiPP)P PIT T)TTTTXZAiXIXXXb?bQFBDj6Djj9Yrs>!ru=vJQ)v?t)t9vGYtzJ=Az?YQ 1e@4٪]Q?Q 5e@4]ƪ  ]?Q =e79aQ Ae8Ye\?Q Em?y]A)]:I]e@i]S@4Yqu@BqBڌ ==BI ɡiI=i1)9iAIADDD.DE; EE:6EC^6:E!@!@!@!@yX : I)i,DAT read: user:1156> BDAT read: Tx time:21:28:38.4021 $Ping request sent. Lmf,U۹%A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251023y:R9@ٱ:~@@: :Ƚ:H@˿???zq@z:Կ`4?`?@P@?I:R9@):C^;i8P?_FBD-6D-9Y=XY>!=E=EDQ)E>A)A9MGYMGM]=AM>QQ 1@4٪UwR?Q 5@4Ur  U?Q =w79Q As8Y-?Q E?yUaA)UvBm5>~BiBm_FBm@Bm =BiBiBm<BmZEDDDRDE E*:6EA{6:E"Ep!MJ=M ֻQ)M>Q)Q9UGYQUU=A]>aQ 1e@4٪eS?Q 5m@4e  e&?Q =mH79iQ AmE8Ymf?Q Em?yeA)e:IeAie@4Yy}~ByBڌ 顽AI ɡiI=i)y :rA>jA>IIechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756190IqN=)QD D D YD E U,; E :6E r6:E ! @! @! @! @ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926{zf,`%Ay6wC@ٱ6J@66%6HBȿ??`=ѿ`??@S?I6wC@)6^;i6#CBj?B|F!5!= !=!= !=!= !=!= !=@!= !=@!= !=@!E !E@!E !E@!E =?v/?Onÿ=>=xi>9=I9i9=Mb@Mb@Mb@999)9I=i9= 9=YBD]6D]19Y}a>!}G=w6)9GY<A>Q 1@4٪S?Q 5@4  ?Q ="79Q A8Y?Q E?yFA)+V;IJAi@4Y*~BBڌ I IUAI ɡiII==i)&?:?y: > >ԉAI!I1NEQ>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258911Ա vBe />~Ba Be FBe %@Be =Ba Ba Be i<Be ED% D% D% mD! E% 1; E% a:6E% 6:E! "E% kZȿ@??c'п`?U?`^{?I6\@)6^;i6 CB?B΄FBDJv6DJ 9YRP`>!RY=RT)T9VGYVGZ.<AZ>\Q 1b@4٪^S?Q 5b@4^  ^?Q =b79`Q Af8Yf?Q Ef?y^A)^7 ;I^;Ai^@4Yhj}BhBttttڌt @AIY YɡYiYI]E=ia)aԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511482yu:/=bAAZAA I I! N5 >u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7628929 !f,,G!%Ar?r#FBDzXd6Dzތ9Y#>!%C=%Q)%>)))9-GY)5A5>9Q 1E@4٪=T?Q 5E@4=  =?Q =E69IQ AM7YIQ EM?y=A)=b:I=Ai=4@4YQUi}BQBiiqqڌqDDDrDE; Eخ:6E6:E!@!@!@!@ 9=@IA IɡiI8Y=i)ym:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014820AMt=AIIN>qԙ f,#;%A Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267117y>N@ٱ>U@>>\~>Hȿ?~!?@п@??j@͍?I>N@)>p^;i>C?ǕFBD O6D 9Ye|>!e8=ei)i9mGYiq}}A}>Q 1@4٪jT?Q 5@4  _?Q =69Q A7Yu?Q E?yA)0=IAiN@4Y|BiAAIAAB ڌ 1 15c@I1 1ɡ1i9I==i9)AiIIIvB ->~B cCB FB k4@B  =B B B <B EyE:ԡDDDDE%; E8:6E‘6:E"E~ff,pT%Ai@yF@ٱF@FFC&FH7ɿ ??flѿy? ? U`g?IF@)F\^;iF CR ?RҜFR8Not Powering down - fast GPSRRRV V V)VIViVVVVV Z)ZIZiZBDb 6Dbz9Yj߂>!jj=jQ)n>l)l9nGYlr{Ar>tQ 1v@4٪vT?Q 5z@4v  v?Q =z69xQ Az7YzB?Q E~?yvA)v;Iv!Aiv^@4Y|BBڌA AE@II IɡIiIIM>t=iQ)Qy: I)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772915ABE~6JEȶw6REȵ4D D D D E %; E :A 6E [6:E !M @!M @!M @!M @II Ia Nm >% DAT read: 21:28:40.9455 LVL= 32752, 27457, 32754, 32755, AGC= 74, IDX= 439, 0.10, 2.599,-2.192, 2.650, 2.936, PHS=-0.236, 1.199,-0.331, RAW= 333.2, -8.6, CAL= 332.8, -11.7, ROT= 177.2, 11.7 - Ygot valid direction response: 21:28:40.9455 LVL= 32752, 27457, 32754, 32755, AGC= 74, IDX= 439, 0.10, 2.599,-2.192, 2.650, 2.936, PHS=-0.236, 1.199,-0.331, RAW= 333.2, -8.6, CAL= 332.8, -11.7, ROT= 177.2, 11.7 5 BDAT read: Rx Time:21:28:40.9455 = TRx dataTimestamp_ set to:1754688521.692398= @DAT read: $Low SNR acquisition E 2Received low SNR in chirp X#Rx 1: Read direction message, but no range. `direction in FSK: [-0.978054,0.047835,-0.202787]9 = $ha7La}? ɿ9 I= i= Ak9 = = J= q = x?)= xI= @i= `= ޹@= Q= .E@= Q>I9 )= y/oE|꿊rRP^^ ÿ= $= f>= .E@ = Q>f,n%Ay:@ٱ:Ի@:::H`1ʿ0??2p!ҿ*?F?`3p7?I:@):+l^;i:!CFf@FF!U!U !U!U !U!U !U!] !]!] ]I +?HzG?J +?]94>]=>9]H=IYiY]K7?}?5^I?y&1?]I>]Mb>]`<)]ABI]Bi]B]qlB ]]BBDu 6Dug9Y>!2=غQ)>)9GYG&˼A>Q 1@4٪Y?Q 5@4  ??Q =T:9>Q A:Y|Q E?y"A):I:i@4Y|BBڌ Q}-j>}-j>}-#@}-@ 顥?I ɡiI=i)y :ԁAAII)N=r>ԡ vB% *>~B! 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K?++ӳ?@e?`?I6<@)6Ʒ];i67CBSAB!HBDJZ6DJ6YR'>!VR=VRQ)V>T)X9ZGYXZa<AZ>``Q 1fG4٪bK?Q 5fG4bK  bAQ =f99dQ Af9YjQ Ej?ybB)b:Ib@ibG4YlnBBlBxxxxڌx |u=顝VI ɡiI =i) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502847I)vBW>~BdCB*HBAB =BBѺDB/;B&cEAIIN>u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754977I 7f, B%A@iy6yy@ٱ6@6 86 6Hr?B??@5s`?@?`?I6yy@)6];i4^҄A^Y#H!M!M !M!U !U!U !U!U !U@!U !U@!U !U@!U !U@!U US㥛?p= ףEԸ?U$&?U9U=IQiQUMb@Mb@Mb@QQQ)QIUBiQUj>B QUaBBDm&6Dm6Yy>!6=+Q)>)9GYG 4<A >Q 1=G4٪!H?Q 5=G4  AQ ==o999Q AE9YEQ EE?yB):I@iG4YIMqԡ ;=f,*%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258857=A=$HiAIABDM6DM6Ye>!eU=eQ)m>i)i9mGYiuAu>yQ 1G4٪D?Q 5G4  AQ =B99Q A9YQ E?yB)b:Id5@i,G4YABůEBڌ I ɡiIQ==i)bAyZA}AIqIN>ԡDlDqDDEV: E$ :6EH5:E! @! @! @!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773 Df,%Ay6N @ٱ6|@6)J966H@d??@k?@xlV(?0?6@ ?I6N @)6];i68CRAR&HBDZ6DZl6Yzq>!zR=zMQ)z>|)|9~GY|8=A> Q 1G4٪ B?Q 5G4 )  WAQ =99Q AS9Y߿Q E?y m BvB%A>~B%bCB%.HB%AB% =B!B%ϺDB%;B%_E) :I N@i G4YAE@BABQQYYڌY 顅>I ɡiI=i)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766536II)N5 >1D D aD }D E  E 96E s5:E "E w;! E w;! *E ;!% E ;!%  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790a Jf,N-%Aɰp;y6X@ٱ6`@6 W96&6Hq???`51?,2? ?I6X@)6];i69CRAR (HBDZ6DZ6Yb>!bM=b~Q)b>d)d9fGYfGjP<Aj>hQ 1rG4٪jF??Q 5rG4jT  jAQ =r89pQ Ar+9Yr޿Q Er?yj8!B)j ;Ijg@ijƶG4YxzR@BxB    ڌ  顥I ɡiIu=i)1av=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266776IaIqNY>ԉԹ D oD lD qD E `: E :6E 5:E !- @!- @!- @!- @`Qf,G%Ay>@ٱ>緘@>8>;>H ???@XK0?(?`Y?I>@)>D];i>:CJAJ)HN=LBDV6DVj6YZV>!^K=^_v;Q)^>`)`9bGY`f<Af>hQ 1jG4٪j~B%_CB%k2HB%AB!B!B%ͺDB%t;B%"]EU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770780 GWf,a%Ay6 @ٱ6@6$8656Hx???Gې %?_?`y ?I6 @)6`];i69CnB im\cB) BD"6D#6Y&>!;=;Q)>)9GY<A>Q 1G4٪9?Q 5G4O  ˮAQ =89Q A8YۿQ E?y"B)] ;I@iG4Y?BBڌ 顭aI ɡiI=DpDZD~DEd: Ea96E5:E"Et;!Ev;!*E;!E;!i )BDAT read: Rx Time:21:29:40.9730 TRx dataTimestamp_ set to:1754688581.678815checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026582Hu=IYIiN}z>I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274700.^f,|{%A@iy:m@ٱ:/t@:6:[:H`\ ?@?j?@J_rb??``]?I:m@):];i:8CF]AF,HBDN(6DN6YV>!V\=ZQX)\9^GY\^w=A^>`Q 1fG4٪b7?Q 5fG4b7  blAQ =M89IQ AU8YUٿQ EU?yb#B)bFBYBڌ I ɡiIԴ=i) I)ABE]Ŭ5JE]Y5RE]ś82DmDgDuDEY: E&96E5:E!@!@!@!@yIDAT read: Range 11 to 50 : 124.9 m (Round-trip 166.6 ms) speed -0.3 m/s X#Rx 1: Read range message, but no direction.BIN>ԙ ef,u?%Ay6Œ@ٱ6̙@656"6H5??@P$?#.h3~? d??@`&?I6Œ@)6];i6:C@A`Ab@AvBb>~Bb\CBb!6HBbABb =B`Bb˺DBba;BbZEnAn..HipIpBDz.6Dz6Y>!F=uY ) 9 GY G <A>Q 1%G4٪5?Q 5%G4  9AQ =%[89!Q A%8Y%tؿQ E-?y$B);Iا@iG4Y15=B1Bڌ =/I9 AɡAiAIMwv=iI)QԹIIN>i=IC)SG )IEȗAErADnDYDDEO]: E*96E5:E"E0;!E1;! *E:! 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E ;! *E 5;! E 5;! 7Hf,`%Ay:إ@ٱ:߬@:He:3:H?[?bο3]e??@e? ~ E?I:إ@):];i8~z B~PH ABD6D25Y%>!%^=%Q)%>-K?)-K?9-GY)-=A5>1Q 1EO4٪5˱?Q 5EO45x  5!B9AYE Q EE?y5B)5a;I54:i5X=O4YIUAQBaiiiڌi}}}} t@ 顝vI ɡiI=i)QAIIN>yԩ @rf,d;%Ay6 @ٱ6@66⠽6H` ?=?@p8Ͽq?@߀?p?`?I6 @)6/];i6KC@ BHBD6D55YEG>!E9=E Q)E>I)I9MGYIMgl<AU>YQ 1eO4٪]:ձ?Q 5eO4]}  ]"B9aYe9Q Ee?y]B)]:I]:i]LO4Ym5Bu.AuEBڌAAAAvB*>~BCBpHB BB =BBDDBH;BEBºCBºCB–CB =B =BP6D]B*** querying acoustic contact ***jYrY}y}y}y}}d=u@ 額tI ɡiIQ=i)ԩ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.AIINL> cf,%A,DAT read: user:1158> BDAT read: Tx time:21:30:38.6525 $Ping request sent.!bf=b"Q)f>d)d9fGYf3Gjܓ<Aj>llQ 1rO4٪nݱ?Q 5vO4n~  n#B9tYvgQ Ev?ynSB)n+;In-;in)YO4Yxz5A|B  ڌ})})})}-u@A AErIA IɡIiIIM=iI)Q AMyAIQIqN>D)D)D)D)E) E)6E):E)!5@!5@!5@!5@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250752a Jf,%Ay:v@ٱ:}@:o::HO?@%? nϿ V[?tt?D? U?I:v@):];i:OCF BFHBDRm6DR'5YVKP>!ZL=Z?)Q)Z>Z H?)^ H?9^GY\^<Ab>`Q 1fO4٪b汜?Q 5jO4b؅  b#B9hYj"Q Ej?ybB)b:Ib:ib3gO4YlrApBxxx|ڌ|}}}}u@) )-tqI) )ɡ1i1I5`=i19)A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502968AAIIN>yԑvB#>~BCBήHB!BB =BBBcE;BED5 |D5 `D5 -D1 E5 : E5 96E5 t4:E1 "E5 ;!= E5 ;!= *E5 ;!E E5 ;!E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876jf,%Ay6@ٱ6ï@6zb6]M6H@%n? ?п 6v?u?`?@$X?I6@)6];i6LCb< BbyHM~jt?~jt:v?M$?M9M!u>=}7Q)}>}K?)K?9GYh<A>Q 1O4٪,?Q 5O4ԙ  ($B9?Q A:YEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068531 DE ~DE uDE (DA EE : EE :6EE c44:EA !M @!M @!M @!M @f," %Aiy6ئ@ٱ6߭@6.6t6H?@?6п`?`0t??@@?I6ئ@)6];i6PC^ B^ϬHifp!rT=rD=Q)r>t)t9vGYv4GvLy<Az>xQ 1}O4٪z%?Q 5}O4zЍ  z$B9yY`Q E?yzB)z!QU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837y f,M %AyJ@ٱJ @JM]J7JH֤?@~?eп ;? 1q?^?`?IJ@)J];iJNCZ BZoHi`I`BDjp6DjP)5YzU>!zI=~ H?) H?9GY ^<A >Q 1-O4٪?Q 5-O4Ƒ  0%B9)Y-K_Q E5?yB)Y;I8S;iO4YAEAEEBڌ} } } } Z?! !%kI! !ɡ)i)I-S=i))1YA}<A}<vB>~BB,HB>BBBBCDBB;BEDrD_D*DEk: Er96E(N4:E"E;!%E;!%*EG;!-EG;!-AAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762981IN>ԁԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014872} f,Sw: %AyN4@ٱND;@NRNL4NH?`?Uп`^?f?`?6 ?IN4@)N^;iNQCZ BZHBDbw6Db,5YjK>!jK=n3QQ)n>nK?)nK?9nGYlrf<Ar>tQ 1zO4٪vC?Q 5zO4v  v%B9xY~]Q E~?yvGB)v;Iv;ivO4Y1BAEBڌ}9}9}9}=!?I QUiIQ QɡQiQIU|=iY)YԱAIIN>DzDgD2DEl: E&96E4:E!%@!%@!%@!%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266832 ) f,:T %Aɰy:\@ٱ:5c@:M::H`?`x?Bп}? 5a? ??I:\@):];i:OCf BfH)jAA hBDns6Dn*5YvĀ>!vJ=vvQ)z>x)x9zGYx~E<A~>Q 1 O4٪?Q 5 O4  =&B9 Y\Q E?yB):I:iO4YAB1111ڌ1}Q}Q}Q}UH?a amhIi iɡiiiImq=iq)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518846!AIIyIN&>AvBu>~BuCBuHBuZBBqBqBqBu[@;BuED5 wD5 dD5 ,D1 E5 }: E5 96E5 g4:E1 "E5 a;!= E5 b;!= *E5 z&;!E E5 {&;!E i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771871f,n %A y:@ٱ:D@:E::H ?`?@Lп`¢@?\? \?v?I:@):];i:MC^rBb2Hb>b!?=AQ)>)9GY5G,<A>Q 1O4٪(?Q 5O4  &B9"?Q A:YQAQ E?y B):I;i O4YABڌ}=}=}ܨ@}@) )-5fI) )ɡ1i1I5=i1)9yAyAIIN>%BDAT read: Rx Time:21:30:41.2702 -TRx dataTimestamp_ set to:1754688641.920993-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023900ԙ D= sD= nD= +D9 E= so: E= :6E= [4:E9 !M @!M @!M @!M @U!f, %Ay6@ٱ6N@66r6H ?I?@.ѿ @?k`?`#?[}?I6@)61];i6KCPRBRHBDZW6DZ5Ybߕ>!fZ=fӱQ)f>j H?)j H?9jGYhjE<Aj>lQ 1rO4٪n%5?Q 5vO4n3  n]'B9tYv!@Q Ev?ynB)n%:In:in&O4Yz0BzA~EB   ڌ})})})}-@A AEsdIA AɡIiIIM==iI)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286331A%AI1IANM>e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533082! (f,ԡ %AyR<̧@ٱRlӮ@RVR{RH` ?0?@gѿ zjM? [???`[?IR<̧@)R];iRMC^]B^RHBDf_6Df~!5Yn>!nI=rQ)r>rK?)vK?9vGYtv,;<Av>|xQ 1O4٪zyB?Q 5O4z   z'B9Y>Q E ?yzB)z);Iz:iz`O4YAB))))ڌ)}I}I}I}M@Y YebIa aɡaiaIeY=ii)irA}>jA}>A@AAAAvB>~BBHBBB =BHDBB@>;BEDuDhD.DEv: E]96Eـ4:E"E;! E;! *E 5;! E 5;!AiIqIi=I֐CN=)SG )))IUE_Y]#fADAT read: 21:30:41.2702 LVL= 26848, 23025, 32754, 32755, AGC= 69, IDX= 188, 0.20,-0.106,-0.130,-1.660, 0.047, PHS=-0.052,-0.132,-1.752, RAW= 32.4, 22.4, CAL= 29.6, 26.1, ROT= 120.4, -26.1 Ygot valid direction response: 21:30:41.2702 LVL= 26848, 23025, 32754, 32755, AGC= 69, IDX= 188, 0.20,-0.106,-0.130,-1.660, 0.047, PHS=-0.052,-0.132,-1.752, RAW= 32.4, 22.4, CAL= 29.6, 26.1, ROT= 120.4, -26.1 PDAT read: Bearing 257.5, 25.0 (Local) ~Local bearing/azimuth received: Bearing 257.5, 25.0 (Local) DAT read: Range 11 to 50 : 160.1 m (Round-trip 213.5 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.454432,0.774561,0.439939]Fpublishing direction and range infoDxkݿ+))4?=w*'? CIhiYET +)AI?i+> A?Z;>|@Z;Ii)K?: Ώyq`? ÿȾ|@ Z;IiQy <.f,| %Ay6@ٱ6@6 6Ū6H"??ѿL``?c? 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"f, +%Ay6Y&@ٱ6-@6 |6wy6H?@?dƿ)ۿ@0??D?`<|?I6Y&@)6];i6UCBFBBbH5Mb@Mb@Mb@1 1)1I1i15/$?~jt?V-?51(?5<5<)5CAI5Ai5xA5A 15ABD]f6D];4YmP>!m?=u q9y9}GY}YG};A>Q 1U4٪2?Q 5U4e  cB9m(?Q A:YܾQ E?yB):I;iU4YށB&tAEBڌ%: I9 ɡiI(\=i)y8!IyIN~>) D D qD %D E O: E $ :6E 4:E ! @! @! @! @Q ^Of,+%Ay6f;@ٱ6B@6t6J6H?a?gƿ ۿ#>?FF?H?,M*?I6f;@)6r];i6WC^GB^HBDfU6Dfn4YnY>!nT=n&p9p9rGYpvw;Av>xQ 1]U4٪zE?Q 5eU4z  zcB9aYe|۾Q Ee?yzB)zu~BYB]HB]GBB]" =BYBYB]p!;B]ENԁ =zf,+%A0y%'Q@ٱ%YX@%Ll%k%H?o?@@0ſ`ۿlI??=? g`y ?I%'Q@)%V];i%XCDMDMsDM)DIEM: EMZ:6EMFA4:EI"EM;!UEM;!U*EM];!]EM];!]m_GBm7HI=)=UMb@Mb@Mb@Q Q)QIQiQU#~j?ˡE?{Gz?U%?U'=Uף<)UкAIUlAiUAU/A QU=AiaIeBDmh6Dmf?4Y}VA>!}2=99GY";A>Q 1U4٪[?Q 5U4  dB9L&?Q A:YȾQ E?yB):IH:igU4Y܁BiqAEBڌ*  IÝ9 ɡiI@V=i)ԁyey8IIN(>Ա _f,n,%Ay:h@ٱ:p@:ӈc:贽:H?`9??t;Ŀ`ԋۿfT?$?U5?V@q?I:h@):޻];i8FGBFHBDRd6DR 84YZ>!Zm=ZA - f,b0,%Ay6R{@ٱ6@6V[6>6H@C?@?`Jÿxۿ@\? ;?45?Qy`l$?I6R{@)6];i6WCbGBbHBDja6Dj24Yr==!rG=r؟t9t9vGYtzг;Az>A<A<vB ~B B HB HBB B B B  ;B EBCBCBB# =B# =Bj5!|Q 1-V4٪~?Q 5-V4~  ~dB91Y59ƾQ E5?y~B)~;I~;i~V4YMہBM-oAMEBaaaaڌi̳ 顕裼I"9 ɡiIjdQ=i)y8IAAIaIN=>DmDmsDm&DiEm: EmZ:6Em4:Ei"Em;ԙ!Em;!*Ei!Ei! a a qf,=J,%Ay6@ٱ6@6 S6⸽6H@-?*?m¿Zۿi??N1?N2?I6@)6];i6VC^CHBbOHi`I` dfAMb@Mb@Mb@ԙ )IiuV?Zd;O?Mb`?r(?j<=;)^AIAiA ABDY6D#4YK>!==99GY;A>Q 1V4٪?Q 5V4r   dB9(?Q A:Y¾Q E?y0B)E:I:i(V4YځBmA EB    ڌINCompleted lineCaptureHoming:InitialDive1IjAggregate::uninitialize lineCaptureHoming:InitialDiveq#IUninitialize.CIUninitialize.IdAggregate::initialize lineCaptureHoming:RepeatHack1Ewv; AE=IE9 IɡIiIIM?rN=iQ)Qy548AyIINDm ~Dm pDm )Di Em : Em  :6Em FA4:Ei !u @!u @!u @!u @ Jf,Dd,%Aɰy6Ĩ@ٱ6@6J6;6HKC?&?``?ۿx?@?`)?"Ft@?I6Ĩ@)6Z];i6XCBHBBHBDL6DLYVP:>!V^=VX9X9ZGYZ[GZ8;A^>`Q 1fV4٪b?Q 5fV4b"  bdB9dYfQ Ef?ybB)bS:IbK:ib5V4YhnlAlvIzhAggregate::uninitialize lineCaptureHoming:RepeatHack1zqz#JzVAggregate::initialize lineCaptureHoming:LapzIp: ɡ%i!I%i))-y8AaIqIN>!vB~BBHB=IBBBBB ;BMEQy f,~,%AD5D5tD1D1E5O: E5v:6E1:E1"E5;!]E5;!]*E5`;!eE5`;!ey@ٱȺ@=B^ɳH`sY?!-=r99GY;;A>Q 1V4٪X?Q 5V4%  )eB9'?Q A:YþQ E?yEB)2 ;I ;i6FV4Y؁BkA EZXcJZAggregate::initialize lineCaptureHoming:Lap:BI ɡi!I!i!))y-8bA=ZA=rA=jA=yAIIN>ԡ /%f,ϗ,%Ay6ֳ@ٱ6ݺ@696R6Ham?FG? {ۿ?? K?@IZ?I6ֳ@)6@];i6SCBHBB3HIF=)F=BDJU6DJn4Yn.=!nn=rw 9 {+f,,%Ai@APARAAvBV>~BTBV>HBVIBBV! =BTBTBV" ;BVEnQIBrHBDzc6Dz264YUJ>!UC=]Q)]>Y9Y9eGYaeAe>iQ 1uV4٪m繜?Q 5uV4m*  mveB9yYyQ E}?ymBB)m;Im];im`V4YuiAqGAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalGEntering Terminal tracking update period 2.000000 s sec at 160.100006 m (mode 0.000000 count ).R*`H@"̌P@1yqz}}}}I  ɡ iIi)Ay8DUDUlDQDQEU: EU:6EQ:EQ"EU;!uEU;!}*EUC;!EUC;!IIN=>i 2f,,%A y:R@ٱ:@:o+::H ??l콿 ڿ?@?@\d? s?I:R@):];i:WCFIBFHMb@Mb@Mb@ )IiuV?Mb?~jtr(?=ļ)EAIAiAZA ABD-`6D-04YM>!MK=M$ =Q)M>Q9Q9UGYQ];A]>aQ 1mV4٪ed?Q 5mV4e8-  eeB9m(?Q Am:YutʾQ Eu?yeB)eb:Iew:ienV4Y}ցB}hA}E@1DB*** querying acoustic contact ***jrR*!%`HH@ʆ%@qz%z%}e(?}e(?}ei G=}eh@I ɡiIi)iy8IIN=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԙ DM DM iDM 'DI EM : EM 96EM '4:EI !U @!U @!U @!U @J8f,k`,%Ay:)@ٱ:[ @:14$:ꓽ:H?J? JIڿ ?K?p? <с?I:)@):A^;i:XCPE,DAT read: user:1159> MBDAT read: Tx time:21:31:31.3526 M$Ping request sent.M99GY;A>Q 1V4٪*?Q 5V4l0  eB9YȾQ E?ykB):Iy:iV4YԁBgAEŒ=@1EqERI*IIIU൅H@҆UQ@zUzU}q}q}q}uS@I ɡiIi)y8IINE>vB >~BBHBOJBB" =BBB;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250830! ?f, K,%AɰN499GY<A>Q 1V4٪(?Q 5V403  eB9%?Q A:Y ؾQ E?yB);Iv;iV4YhAʌ)q-G-rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminalq-G-Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalR1*111=(H@چ9z=|==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence AAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5032331}M MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockq}UUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide}U UInitialize. UdInitializing internal variables to default values.~UUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1] ]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq]#@]Initialize.]C@]Initialize.q}}AAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1BAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqBAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBInitialize.BAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1CInitialize.qqԡ}%?}%?}}<}@I ɡiIi) y:8IIN K>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921Ef,L-%Ay60@ٱ68@6B6 y6H@E?`I?˺eڿ?`ˁ? a?ɮ`?I60@)6D^;i6WCJBrHBDX6D!4Yۭ>!l=MDDD*DE: E|:6E(N4:E!@!@!@!@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068341iItC)e G } A) 5AI A AY %Lf,2-%AA"<A vB& >~B$B&QHB&JBB$B$B$B&m;B&EyFC@ٱFJ@F~* F0eFH ?`?G@sڿ@?u?W?@^§?IFC@)F##^;iFVCMJBMH]=]B?BDmY6Dm#4YY=!I=>99GY  ;A >Q 1%V4٪;N?Q 5%V4`8  fB9)Y-{վQ E-?yB);I;iBV41Y9=aD5D5pD5(D1E5O: E5 :6E5c44:E1"E5;!]E5;!]*E5'R;!eE5'R;!mԉm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510895Թ Sf,JL-%Ay6U@ٱ6\@6i6ŦU6H?@?`wZڿ??N?`z1?I6U@)6I];i6WCb4JBfHuMb@Mb@Mb@q q)qIqiqujt?99GYw;A>Q 1V4٪`?Q 5V4;  )fB9 ?Q A:Y۾Q E?ydB) ;I ;iV4YсBeAEDB*** querying acoustic contact ***jrڇR*JI@} ?} ?}/3}uP@I) ) )ɡ1i1ԑI1i)y 8 4Initializing EZServoServo.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762814 8Initializing DockingStepper.IIN >BEFA4JEɊ94REA/D5 D5 uD5 *D1 E5 : E5 :6E5 (N4:E1 != @!= @!E @!E @ u7Yf,Hf-%Ay6`@ٱ6g@66M6H?4?w0Mڿ?`J?@-?=rI?I6`@)6P];i4BeJBBHBDJM6DJ 4YR>!R\=VbT9T9VGYTZ5o;AZ>\Q 1bV4٪^r?Q 5bV4^=  ^>fB9`Yf<۾Q Ef?y^B)^;I^:i^V4YjЁBjdAjEڇxxx|| %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015203R*↽}}I@}}}}\@I   ɡiIi)y9IIN%=vBA~BABEHBEJBBABELDBABE);BEEBBBB" =B" =B4achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266920ԉ "`f,-%A@DzDzqDz)DxEza: Ez$ :6EzFA4:Ex"EzA;!EzB;!%*EzU;!-EzU;!-y- n@ٱ-?u@-=佹-%G-H??´o;ڿ ?`?@s?`?I- n@)-u];i-YCEJBEH IMAMb@Mb@Mb@ )Ii^I +?Q~jtxX?uĻ)AIݟAiαAA (A) @ABDM_6DM.4Y]=!]&=]a9i9uGYq8W;A>Q 1V4٪V?Q 5V4A  ^fBԩ9f?Q A:YQ E?ysB)5;I4;iXV4YidAڇR*UI@}f?}f?}B@}O@I  ɡiIi-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518932))yC9I1IANM1> I >) R= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048@Jff,a-%Apy{@ٱȂ@AӽAH@??(ڿ?׵?3W?mi?I{@)];i-JB-FHBDMa6DM24Y]=!]r=e=BDAT read: Rx Time:21:31:33.9666 ETRx dataTimestamp_ set to:1754688694.649034Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023937Ia A9 A9 vBE >~BA BE HBE 9KBBE ! =BA BA BE ;BE EEslf,a8-%Ay:g@ٱ:@: ½:|jC:H?;o? Vڿ k? ?`+8?N ?I:g@):];i:XCJJBJyHBD^6D,4Y-G=!-N=5q99q9uGYy;A>Q 1V4٪ߪ?Q 5V4F  fB9Y Q E?yVB);I;i4V4YcAڇR*J@}}}}@I  ɡ i I i )checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275471y9IINM=ԉDDD(DEO: E,:6Ec44:E"E;!EE;!E*E2;!ME2;!UԹ A E Au DAT read: 21:31:33.9666 LVL= 28464, 25473, 32754, 32755, AGC= 64, IDX= 385,-0.43, 0.909, 0.428,-1.136, 0.498, PHS= 0.514,-0.025,-1.678, RAW= 43.6, 12.0, CAL= 40.9, 13.2, ROT= 109.1, -13.2 } Ygot valid direction response: 21:31:33.9666 LVL= 28464, 25473, 32754, 32755, AGC= 64, IDX= 385,-0.43, 0.909, 0.428,-1.136, 0.498, PHS= 0.514,-0.025,-1.678, RAW= 43.6, 12.0, CAL= 40.9, 13.2, ROT= 109.1, -13.2  PDAT read: Bearing 282.9, 60.4 (Local)  ~Local bearing/azimuth received: Bearing 282.9, 60.4 (Local)  DAT read: Range 11 to 50 : 157.3 m (Round-trip 209.8 ms) speed -0.3 m/s  R#Rx 1: Read range and direction messages. = ^direction in FSK: [-0.318572,0.919982,0.228351]E Fpublishing direction and range infoI M  }cԿ ~p? :?M LCI IM 0oiM cI I M @M ? M ̼)M ֿIM B?iM PwV>M 36?M k>M S?M kII iI )M jVz?3j jUʶ?M M eVM S? M kII iI ] T****** received valid address query ******] R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.[sf,-%Ay6@ٱ6@656pB6HR?Q?C}jڿ`,!?&?)?@ID?I6@)6];i6WCfJBfHr>rp;Iv=)va=ԹMb@Mb@Mb@ )Ii9v?{Gz?ף)vAIiAțA 3Ai!9!9eGYamQ;Am>qQ 1}V4٪u?Q 5}V4uiI  ufB9?Q A:YQ E?yuB)uA;Iu';iuV4ÝBbAEzy}/-%A}LCʋ}V?2}X:CIb@+x.A@"} }cԿ ~p? :?}S?‹}k:} V'@!}Ș]c@|8@*}H0?0N?UGS}?}C} BDAT read: Tx time:21:31:35.2026 $Ping request sent.D D qD )D E : E $ :6E FA4:E ! @! @! @! @Y Ӆyf,-%Ai@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250612 KB HBDW6D 4Y-Һ=!-=-Q)-?19195GY1EAM?IQ 1UW4٪Mκ?Q 5]W4MnK  MfB9YYYQ E]?yMCB)M;IMQ;iM. W4YamebAiDB*** querying acoustic contact ***jrڇꇉ⇑R*↝?}}}}I  ɡiIi)Yy9IIN=ԁvB >~BB2HBlKBBBBB;BlEI߭%=)߭=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502973 mf,.%ArD`jDb<DnDlDn(DlEn1: El6Enc44:El"Enc;!End;!*EnU;!EnU;!y5Y@ٱ5@5ߩ5>5H`99GY;A>Q 1W4٪ẜ?Q 5W4FN  fB9{?Q A:YQ E?yB) ;I;iW4ÝBaAEڇR* ?}{?}{?}%@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754938}Ժ@I! ! !ɡ!iIi)y" 9IiIyNZ>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007443I f,.%AyB~@ٱBŻ@B`Bcp5BH8? ?+lٿ`7?'ְ?`i ? ?IB~@)B];iBXCN@KBRHBDZN6DZ4Yb3=!b=bP~B B pHB KBB B B B w;B IEÌf,5.%Ayrд@ٱrQ׻@r_r,rHC?? Sٿ`@???.?x`?Irд@)r];irZC~[KB~HBD V6D E4Y=!%E=%!9)9-GY)-;A->1Q 1eW4٪55?Q 5eW45R  5fB9aYeQ Em?y5B)51:I5:i5n4W4YuʁBu`AuEڇꇙ⇙R*↥?}}}}@I  QɡQiYIYia)i}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511558iyu> 9 }&Changing to mode: 3I= 9i99=_09IIIaNmW>ԹbDZDDDrD&DE: E?:6E4:E"E;!E;!*EnY;!EoY;! - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762746թf,]O.%AprKBrYHMb@Mb@Mb@ )IiV-?~jthMb?|>D<)ШAI7AiШA7A ABDZ6D%4Y=!A=Q)>99GYA>Q 1W4٪n?Q 5W4T  fB9>Q A:YվQ E?yB);I;i;CW4Y!`Aڇ     R *>@}>}>}@}@I  ɡiIi)y 9 IEP7iAAM5II߅?)߅%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015970IINA>1D D D D E : E 6E :E ! @! @! @! @a әf,7i.%Ay6T@ٱ6@6<6n'"6H`Z?@r?56\ٿ@U? %p? Pƣ??`y?I6T@)6 _;i6VCBKBBHIF=)F=BDJV6DJE4YR->!V^=V1=Q)V>X9X9ZGYXZo<AZ>\Q 1bW4٪^?Q 5fW4^V  ^gB9dYf3ӾQ Ef?y^QB)^:I^8:i^!PW4YjȁBj_AnErchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902)5G MA)AIRMAAD%B*** querying acoustic contact ***j!r!ڇ)))))R)*1QQU@}}}}ܻ@I  ɡiIi)y 9Ie4iaae0aIqvB>~BBHBKBBBBBJ;B2EIN>>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5193089 f,.%ArDR=jDR%=D^D^tD^'D\E^C: E^v:6E^'4:E\"E^;!rE^;!r*E^`;!vE^`;!z5KB=HUMb@Mb@Mb@Q Q)QIQiQUS?{Gzt?:v?U>Uף;UT<)U/AIUAiU/AUٟA QUGABDme6Dm94Y}F=!}$=}Q)}>99GYA>Q 1W4٪.?Q 5W4Y  gB95>Q A:YʾQ E?yB):IA:i}aW4Y^AڇR*+@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770888}5>}5>}i/<}]d@I  ɡiIi)!9yE9I02i?5IINk>i BDAT read: Rx Time:21:31:37.8178  TRx dataTimestamp_ set to:1754688698.429582 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024898 f,.%Ayf<9@ٱfo@@ff fH@Dv? ?ySؿo?%?D֗?`x?If<9@)fW`;idKBHBDg6D=4Y56=!5x=e>=Q)e?i9i9mGYiu<Au?yQ 1W4٪}:?Q 5W4}Z  } gB9YƾQ E?y}B)}`:I}:i}4mW4YǁBO^AEڇꇱ⇹R* @}}}}@I  ɡiIAiYq)ayBE5-4JE5^+4RE5/DDnDDE: E:6E:E!@!@!@!@IE/iAAEp5AIQIiNu6>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274741A A @AvB >~B CB HB KBB B B .DB ;B EBIBIBIBM! =BM! =BM˻4 f,ж.%Ay>S@ٱ>0[@> }>B>H`ʁ? ?$S@)>[_;i<LBHBD-Z6D-%4Y]=!]H=]a9a9eGYam<Am>qQ 1W4٪uI?Q 5W4u\  u(gB9YDžQ E?yuxB)u3{;Iu\;iuM{W4Y]AڇR* $@}A}A}A}E@]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527668I1 9 AɡAiAIYiq)yiIAy%9??I?-i0I)IANMR>DD{D*DE: E5":6E(N4:E"E08 @C?  y? I i ) 2"?!Hp \.?  R y?  I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Q &f,.%Az:LB~/HMb@Mb@Mb@ )Ii{Gz? rh?{Gzt?>C =ף;)AIiAzA ABDe6D94Y%z=!%>=-Q)->)9195GY15A5>9Q 1EW4٪=X?Q 5EW4=$^  =-gB9M>Q AM:YM Q EM?y=B)= ;I=;i=XW4YUƁBUG]A]Ez15\.%A5LCʋ5ں?25@ٹE7`Շ}b@λ\B@"5<|ѿ)V? :?5y?‹1:5%=^1@Z˸Oc@Bǿ=@*5.??:?,8d?5}C5A50M?5w 5¡Bڇꇑ⇑R*c@↝?}>}>}T,=}Ͼ@I  ɡiIi))y9I]*iYY]O0am,DAT read: user:1161> uBDAT read: Tx time:21:31:39.2026 u$Ping request sent.uQԁ D D uD /D E ҝ: E :6E J4:E ! @! @! @! @!f,|.%Ay:@ٱ:׈@:SR:;\:H ;?g?銋?qkؿ??uJJ?@g T?I:@@):y^;i:XCJBLBJ9HBDR\6DRP)4YZβ<!Ze=ZG)=Q)Z>\9\9^Gbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249866Ydf<Af>hQ 1nW4٪je?Q 5nW4jp_  j.gB9pYr5Q Er?yj,B)j{;Ijw;ijҖW4Ytv(]Atڇ R*@܀?}}}}@I  ɡiIi)Qy5f9ԩI(iT5IIN!>vB]>~BYB]HB]LBBYBYBYB];B]Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501796 f,lZ/%ADFDFrDF-DDEF: EF?:6EFt4:ED"EF;!JEF;!J*EFnY;!JEFoY;!NyE@ٱE.@E^)/AIiAA Ai4<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753789I<BDS6D4Y! =99GY<A>Q 1 W4٪|w?Q 5 W48a  *gB9 >Q A:Y8Q E?yB);I ;iW4YāB]AEiDB*** querying acoustic contact ***jrڇꇡ⇡R*@a?} >} >} Tb=} V,@I  ɡiIiA)Iy9ԑIP%i_0II]JIN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0057373f,;5/%A~ILB~BHBDP6D:4Y{(>!%=%Q)%?)9)9-GY)-A-?1Q 1MW4٪5s?Q 5MW45Pb  5(gB9QYQQ EU?y5B)5Vo;I5p;i5~W4ԙY\AڇR*%`}?}9}9}9}9II I QɡQiQIQiY)YyE9DyD{D*DE: E5":6E(N4:E!@!@!@!@I#iIIN&>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257780A! A! ) vB9 ~B9 B= HB= #LBB= =B9 B9 B= \;B= E^f,,8/%AGLB%@HBD=B6D=3Ye[!mF=iQ)u>q9q9uGYqA>Q 1W4٪?Q 5W4c  %gB9YQ E?yAB);I;iW4YÁB\AE=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509698ڇꇁ⇁R*↍ f?}}}}I  ɡiIi)y 9!IEz iAAE5AIQIiNu6>DDpD'DE: E :6E'4:E"E;!E;!*E'R;!E'R;!q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762011ԙ Ef,Q/%Ay6ȵ@ٱ6ϼ@6H<66H=?`? ~?׿B?@C? ?I6ȵ@)6V ^;i6YCBLBBHiDIDMMb@Mb@Mb@I I)IIIiIM/$?l?~jtxM>M=MĻ)IIIiMKAMA IMGABDec6De264Y >!H==Q)>99GY_<A>Q 1W4٪A?Q 5W4"e  gB9>Q A:YeQ E?yB)T ;Ii ;iHW4Y\AڇR*G@}>}>}tb=}@I) ) )ɡ)i)I)qi)y09AAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013791Iuiyy}5yԡIINB>D D wD $D E C: E :6E 4:E ! @! @! @! @ of,k/%Aɰp;y6!ص@ٱ6T߼@6:K =6_t 6Hz? 4?ʃ?@׿@??H $k ?I6!ص@)6j];i6XCBxLBB|HBDJP6DJ:4Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265836YZ!ZY=Z\9\9^GY`b˥;Ab>dQ 1jW4٪fL?Q 5jW4f`f  fgB9hYjgQ En?yfB)f:If:if_W4Ypr8\Apڇꇡ⇡R*↭=o@}}}}f@I  !ɡ!i!I!i)))ym(9Iyip0 I!I9NM0>vB~BBHBLBBBBB";BEIU?)U4=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518001) nXf,/%A D2D2mD2'D0E2: E2:6E2'4:E0"E2;!:E2;!:*E2;G;!:E2t9x9zGYxzs;Az>|Q 1W4٪~?Q 5 W4~g  ~ gB9 Y Q E ?y~IB)~K:I~B:i~W4YB>\AݮEڇꇙ⇡R*K@1}Y}Y}Y}]@I  ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769946yi9Ini4I1IAYNeV>ԉ e BDAT read: Rx Time:21:31:41.8184 e TRx dataTimestamp_ set to:1754688702.461059m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022823f,1}/%A4yN@ٱN@N<=NNH@?}?섬?`w׿`ܾ?&?`0ۡM?IN@)N&];iNTCLBHMb@Mb@Mb@ )Ii$C?Q?\=t)I7AiٟA^A AipI9I9MGYIUUz;AU>YQ 1eW4٪]ʻ?Q 5eW4]4i  ]fB9e>Q Ae:YmQ Em?y]B)]:I] :i]eW4Yqu[AqDB*** querying acoustic contact ***jrڇꇙ⇙R*↥ & @}>}>}=}s@I  ɡiIi)ԑy9DDtDDEC: Ev:6E:E!@!@!@!@Ie?iaae5eIqIN:>i)I))cGchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273650 )I   VB A A AAvBy ~By B} HB} LBBy By By B} ;B} Ef,\/%A(i(\y5e@ٱ5@5Ol=5h 5H? @w?@?׿?݁?౅@y?I5e@)5`;i5WC]LB]HBDmJ6Dm04Y}y!}X=D99GY,:A>Q 1X4٪׻?Q 5X4qj  fB9YQ E?yB);I.;iX4YB[AڮE5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528516%ZDetected possible detachment. Starting timer.!!)1R9*9AIU`@}}}}D@I  ɡiIi)y9I]3iYY]\0YIiIN[>bDZD@ADDD&DE: E6E4:E"E;!E;!*E`;!E`;!1 DAT read: 21:31:41.8184 LVL= 19472, 20545, 27842, 24099, AGC= 63, IDX= 436,-0.44,-2.528,-2.921, 1.748,-2.977, PHS= 0.551, 0.101,-1.602, RAW= 41.4, 9.7, CAL= 39.4, 10.3, ROT= 110.6, -10.3  Ygot valid direction response: 21:31:41.8184 LVL= 19472, 20545, 27842, 24099, AGC= 63, IDX= 436,-0.44,-2.528,-2.921, 1.748,-2.977, PHS= 0.551, 0.101,-1.602, RAW= 41.4, 9.7, CAL= 39.4, 10.3, ROT= 110.6, -10.3 % PDAT read: Bearing 283.7, 67.9 (Local) - ~Local bearing/azimuth received: Bearing 283.7, 67.9 (Local) 5 DAT read: Range 11 to 50 : 158.7 m (Round-trip 211.7 ms) speed -0.2 m/s = R#Rx 1: Read range and direction messages.a  ^direction in FSK: [-0.346172,0.920975,0.178802] Fpublishing direction and range info T?'ֿ-܋x?? C I Li AP l #^ ? V ? =) VͿI 8?i -\-> x 0? X8> 0? X8I i ) Q??Z 2? o /- 0? X8I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.הf,?7/%AnLBnH9Mb@Mb@Mb@ )IiOn?V-?~jtx><Ļ)AIԟAiA+A ABDb6D[44Yަ=!C=Q)>99GYA> Q 1 X4٪ @廜?Q 5X4 k  fB9>Q A:YaQ E?y XB) ;I c;i FX4Y!%d[A!z/%ACʋi?2RB*wKMEb@(=;`<@"T?'ֿ-܋x??0?‹X8:p(-@:/c@yG:@*L ʜ?cP@?:4&?\CɎ@@6C]?XYT BYYYYRa*aae`fc@eܚ?}>}>}/=})@I  ɡiIi)y!9a5,DAT read: user:1162> =BDAT read: Tx time:21:31:43.2526 =$Ping request sent.=ԑBEc44JEɲ>4RE0D D D )D E 1: E 6E FA4:E ! @! @! @! @ /f,/%Ay6@ٱ6@6QM=6E6H ?il?`? ׿p?v?&@ގ?I6@)6~`;i4Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249552^LBbHi`I` dfABDR6D4Y@p!Z=m9!9%GY!%:A%>)Q 15X4٪-?Q 55X4-"m  -fB9AYMQ EM?y-B)-s;I-s;i-h$X4YUBU[AU׮EqԙqR*f?}Y}Y}Y}]k/@Ii i qɡiIi)yvB!~B!B%HB%LBB% =B!B!B%;B%gEBEŔCBEŔCBABE =BE =BE4Ie=iaae5aIqIN:>5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501435! f,-0%Ay:@ٱ:;@:=::H"?[?@0? 'q׿?Ump?={:퟿?I:@):_;i:YCJOLBJIHrDN=jDN<DRDRqDR(DPERa: ER$ :6ERc44:EP"ERA;!fERB;!j*ERU;!nERU;!nBDvM6Dv 4Y $!K=S9!9%GY!%;A%>)Q 15X4٪-?Q 55X4-n  -fB9AYMQ EM?y-B)-o;I-p;i-2X4YQU\AQꇩ⇩R*_?}}}}7@II q yɡyiyIyiy)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753557ymP$9AI1iq0IIN J>iE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005491ԙ f, 0%Ay6t @ٱ6@6渖=6A6Hx?C?s?Y׿D?Yc?Ҳ ?I6t @)6^;i6XCrzLBvHMb@Mb@Mb@ )IiCl?S㥛?Mb`>/<)Ii3ĄA ABDE6D3Y=!A=K99GYfX;A>Q 1X4٪z ?Q 5X4o  fB9U>Q A;YQ E?yYB):I':iLAX4Y\ADB*** querying acoustic contact ***jrR*  J?}-U>}-U>}-4=}-3@I9 9 9ɡ9iAIAiA)Iqyt$9DDnD'DE: E:6E'4:E!@!@!@!@IAiAAEO0AIQIiNu6>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257402Ae <Aa n f,:0%AyZ'@ٱZ%/@Zp=ZZH??@{?@*"׿?}!l G@->`K?IZ'@)Z];iZWCfLBjHj>j?BDrZ6Dr%4Yz<!zW=z |9|9~GY|<<A> Q 1X4٪ ?Q 5X4 q  fB9YQ E?y B) G:I vDDrD)DE: E?:6EFA4:E1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763332f,}T0%AyJ;@ٱJ C@Jz>=JX޼JH? ?J{?`ֿ?1z]  L?IJ;@)JG];iJZCVLBVH=Mb@Mb@Mb@9 9)9I9i9=~jt?I +?~jth=>=9<=D)9I9i=bA=A 9=QABDUb6DU[44Ym=!uC=u:99GYa;A>Q 1X4٪5'?Q 5X4mr  fB9>Q A ;Y{Q E?yB):I:i]X4Y  t[A 1999RA*AAIMk@}>}>})ij=}'@I  ɡiIi)1y(9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014092Ie/iaaem1aIqIN:>Yԁ D D wD (D E : E :6E c44:E ( f,&Vn0%A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.26690199GY n;A >Q 1X4٪4?Q 5X4s  fB9Y@Q E%?ySB):I:i+mX4Y-B-[A-ӮEYYYYRY*aaae>@ԉ}a}a}a}e+@Iq y yɡyiyIyivB>~BBHBKBB =BBBU;B<E)y)9I?i@0I)I9NMs>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517471 !f,U10%ADBDB}DB'D@EB: EBk&:6EB'4:E@"EB;!JEB;!J*EB;!JEB;!Jhyrjc@ٱrj@r{=r׼rHZ??@]?5ֿ`J?L`hظٚ`?Irjc@)r_~];irWC|~$Ai~I||IiA )  A     AI`)i)IxA 7Aƽi!!i!!)! !I! )))))))=ZLB=WH QQ)}AA }AABD}b6D}[44Y!e=?Q99GYf;A>Q 1X4٪??Q 5X4t  yfB9YQ E?yB):IR;iyX4Yv\AR* !)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771483↕ 7@}}}}:@@I  ɡiIi!)!y+9Iyiyy}p5yIIN_>A % BDAT read: Rx Time:21:31:45.8693 - TRx dataTimestamp_ set to:1754688706.493037- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022501(f,_ 0%Aɰ.;.;yJYy@ٱJ@J(=JnؼJH?s?`*?րֿ\?n``R ?IJYy@)JR];iJXC5ULB5QHMb@Mb@Mb@ )Ii`"?I +?t)IAiA ABDl6DF4YwJ! C= 8-99GY%;A>!Q 1%X4٪%K?Q 5-X4%v  %efB9-5>Q A-;Y-Q E-?y%B)% :I%:i%RX4Y9=\A9DUB*** querying acoustic contact ***jQrQaaaaRa*aaim+% @}5>}5>}z=}Et@I  ɡiIi!)!ID)D-sD-(D)E) E-Z:6E-c44:E)!5@!5@!5@!5@y=/-9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273536ԑIi~0IIN>A A @AvB >~B B }HB KBB B B B 1;B *E L.f,0%Ay:@ٱ:1@:p=:ܼ:H}?NJ?hŻ? Wֿ?Rm h?I:@):xp];i:VC5GLB5@HBDE[6DEy'4ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525327Y5!=G=EO-Q9Y9]GYY;A>Q 1X4٪W?Q 5X42w  PfB9YlQ E?y3B)B1 DAT read: 21:31:45.8693 LVL= 21344, 18625, 26706, 26147, AGC= 65, IDX= 428, 0.12, 2.191, 1.704, 0.179, 1.693, PHS= 0.600, 0.056,-1.558, RAW= 44.0, 9.3, CAL= 42.0, 9.9, ROT= 108.0, -9.9 5 Ygot valid direction response: 21:31:45.8693 LVL= 21344, 18625, 26706, 26147, AGC= 65, IDX= 428, 0.12, 2.191, 1.704, 0.179, 1.693, PHS= 0.600, 0.056,-1.558, RAW= 44.0, 9.3, CAL= 42.0, 9.9, ROT= 108.0, -9.9 M PDAT read: Bearing 277.0, 73.0 (Local) U ~Local bearing/azimuth received: Bearing 277.0, 73.0 (Local) u DAT read: Range 11 to 50 : 159.3 m (Round-trip 212.5 ms) speed -0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.304416,0.936895,0.171929] Fpublishing direction and range info  t{ӿ^ȵq ?!? LC I `Si H Rh #f A ? B`e=) lǿI D?i 6&> f;? ;0> :F? ;0I i ) 痜?(:Y wg? & :F? ;0I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. 05f,"0%AnFLBn?Hr=ra=Iv=)v=Mb@Mb@Mb@ )Ii?y&1?:vf>`e<T)ȨAIrAiA|A GABDd6D 84Y=Z!=;==Q)=>A9A9EGYAMAM>QQ 1]X4٪Ub?Q 5]X4UQx  UQ A]#;Y]Q Ee?yUyB)U3:IUf:iUX4Yi\A z0%ALCʋ ?2'?Hxb@gc;@" t{ӿ^ȵq ?!?:F?‹;0:|f#@Yc@cXO\<@*~Яw?@up@\m?*u?rCA-5?r~^ ܞB,c? W BC[|?iiiiRq*qquc@}`F?}>}>}iU0=}b@,DAT read: user:1163> BDAT read: Tx time:21:31:47.2527 $Ping request sent.IbD ?AZD ?AD D vD ,D E : E :6E g4:E ! @! @! @! @)] EG u Aԉ ) I B A AVZ;f,0%A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250775yF賶@ٱF@Fa=F2FH???@, ֿ ?@& ֛?IF賶@)Frp];iFXCb6LBb+HBDjT6Dj4YE!w= vB)~B-CB-WHB-KBB- =B-KDB)B-;B-EԁI=)=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503064ԩ 99GY!%;A%>)Q 15X4٪-u?Q 55X4-:z  -fB91Y=Q E=?y-B)- ;I-" ;i-X4YEBE\]AEͮEꇑ⇑R*↽?}}}}&@I  ɡiIi)Թy19mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757116I?i'5IIN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067699 lHf,2V#1%Ay6jԶ@ٱ6۽@6=6ͼ6H??:?տ?Be辿a?I6jԶ@)6o];i6VCN#LBRH TVAmMb@Mb@Mb@i i)iIiiimQ?{Gz?I +m(>m#99GY;A>Q 1X4٪?Q 5X4E{  eB9>Q A-;Y'Q E?y3B)r;I;igX4Y>]ADB*** querying acoustic contact ***jrR*?}>}>})?=}]ݾ@I! ) )ɡ)i)I)i1)1rDijDm<BEJEc44REJ/DuDuxDu)DqEu: Eu:6EuFA4:Eq!@!@!@!@y39I;iP0II)N5.>9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258814i vB >~B B %HB bKBB  =B B /DB ;B ENf,E-=1%A0y:@ٱ:6@:@=:ͼ:H`7?`?`?Cտ?@C,O@7?I:@):^];i:XCFLBFHBDNZ6DN%4YVz!V[=V5X9X9ZGYX^;A^>`Q 1fX4٪b?Q 5fX4b1|  beB9dYfKQ Ej?yblB)b:Ib:ibxX4Ylno]Al|R*   ?})})})}-@I1 9 9ɡ9i9IAiA)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511278y549ԑI7i@0IIN>DDtD6DE: Ev:6Ec4:E"E!E!*E`;!E`;!Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764495 N~Uf,x W1%Ay:9@ٱ:l@:m>:GӼ:Hg?`o?h?@տ`?M ZBr:`?I:9@):>];i8RLBR H`Mb@Mb@Mb@ )Ii5^I ?S㥛>/ݼ)ĨAI?AiAA ABDV6DE4Y}<!8=E;Q)>99GY;A>iQ 1uX4٪m?Q 5}X4me}  meB9}>Q A}2;Y}Q E}?ymB)m;Im;imX4YBU]AʮEꇩ⇩R*↵ i@}>}>}/3}@I  ɡiIi)y269Ix?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015553IM@iQQU5QIaIqN8>D D nD (D E : E :6E c44:E ! @! @! @! @A g[f,~p1%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906y>}@ٱ>@>`>>ּ>HV?1r?|? yտn#?ٶ TϷ?I>}@)>m];iLIR=)R=BDT6DTY^!^_=%`;Q)%>!9!9-GY)-m;A->1Q 1=X4٪5?Q 5=X45X~  5eB9AYEQ EE?y5B)5:I5:i58X4YIM]AIꇹ⇹R*@@}}}}@I9 A AɡAiAIAiI)QyU.79vB]>~BYB]HB]9KBBYBYB].DB];B]EBÕCBBB =B =B5II%=i!!%1!I1IINU2>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518760ԡ bf,Š1%AiD&D&wD&)D$E&: E&:6E&FA4:E$"E&;!*E&;!**E&k;!*E&k;!*yF@ٱF! @FO>F׼FH?_? ?eտ&?0n V?IF@)F];iFYCRLBRHBDZl6DZF4Yb<!fI=f;Q)f>h9h9jGYhj2@;Aj>pQ 1rY4٪r?Q 5vY4r^  reB9tYvlQ Ev?yr"B)r:Iry:irY4Yxz^]A|yꇹ⇹R* .@} } } } @I9 9 9ɡAiAIAiA)IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772951yUs89ԩI7iK0II)N5.> BDAT read: Rx Time:21:31:49.8700  TRx dataTimestamp_ set to:1754688710.525154 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023979 ghf,Û1%Ay:@ٱ:G@: >:FӼ:H?N?@j?Rտ)?< Rk! ?I:@):pe];i:ZCRLBRH-Mb@Mb@Mb@) )))I)i)-zG?MbpZd;O- >--j)-AI)i-A-A )-ABDEV6DEE4YUX!UB=};Q)}>99GY+;A>Q 1Y4٪?Q 5Y4  xeB9>Q A3;YQ E?yaB) ;I;iY4Y]ADB*** querying acoustic contact ***jrR*QQU`c0 @}u>}u>}uȠ@}u<@I  ɡiIi)D]D]qD]'DYE]: E]$ :6E]'4:EY!m@!m@!m@!m@y:9I<i   @0 II)N9AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274750qvBQ ~BU CBU HBU KBBQ BQ BQ BU ;BU Eԙ nf,v1%Ay6@ٱ6@6 >6\!ͼ6H?;!];=e;Q)e>a9a9eGYam,0;Am>q}Ygot valid direction response: 21:31:49.8700 LVL= 20720, 18753, 25058, 28051, AGC= 66, IDX= 435,-0.11, 0.879, 0.369,-1.148, 0.352, PHS= 0.629, 0.061,-1.544, RAW= 44.6, 8.8, CAL= 42.7, 9.2, ROT= 107.3, -9.2 PDAT read: Bearing 273.4, 75.3 (Local) ~Local bearing/azimuth received: Bearing 273.4, 75.3 (Local) Q 1Y4٪и?Q 5Y4  \eB9YQ E?yB):I:iG$Y4YB]AǮEDAT read: Range 11 to 50 : 159.8 m (Round-trip 213.1 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.293550,0.942479,0.159881]Fpublishing direction and range infoz:ҿ(?Čsv?CIPiAIamB%!? #y=)ˡſISFG?inF>>?l$>?l$Ii)hDz?=R"sj?Vt%? l$Ii=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.zr1%ACʋ#?2atGɰub@s99@"z:ҿ(?Čsv??‹l$:av#@qc@lna<@*Z3js.??ϱq?TLr?CA쿜?X B-5? X BDC)?ꇉ⇉R*c@↕CQ?}!}!}!}%+@I  ɡiIi) iIAԡyD;9 DaDenDaDaEa Ee:6Ea:Ea"Ee;!uEe;!}*EeJ;!}EeJ;!}I]?iYY]0YIiIyN|>e ,DAT read: user:1164> u BDAT read: Tx time:21:31:51.0527 } $Ping request sent.} VɼVHx? /?1?0տ/?@T@?IV@)VTk];iTfKBfHMb@Mb@Mb@ )Ii7A`?~jth?:v>D;T)IiAA BD[6Dy'4Y&!P=q;Q)>99GY+ ;A> Q 1Y4٪ ?Q 5Y4   FeB9>Q A4;YԩQ E?y B)  :I :i 1Y4Y!%]A)IIIIRI*IQQU d?}u>}u>}u-'<}ur@I  ɡiIi)y=9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247077IU@iQQU0YIiIyN9> De De tDe )Da Ee : Ee v:6Ee FA4:Ea !m @!m @!m @!m @{f,R+1%A Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502878yZ$@ٱZ,@ZB>ZxlȼZH? a%?9-?=%տa1? $꘿@-¿`˘ ?IZ$@)ZU`];iZYCfKBfHBDng6Dn=4Yv4!v^=z;Q)z>x9x9zGY|:A> Q 1Y4٪ -ʼ?Q 5Y4   2eB9Y~Q E?y B) :I u:i >Y4Y!%]A!AAAARI*IIIMh?}}}}w@I  ɡiIi)y5?9vB ~B B HB JBB  =B B B ;B EQIM1iIIMO0IIYIiN}>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754553ԩ ߂f, 2%ADDwD%DE: E:6E 4:E"E;!E;!*Ek;!Ek;!@yF.+@ٱFa2@F}>F>ļFH??c?@տ3?`ᙿ_l¿V\?IF.+@)Fʃ];iFXCRKBRHIV=)V=iZ19195GY1}:A>Q 1Y4٪Ӽ?Q 5Y4  eB9YQ E?yPB) ;I;iOMY4YB]AĮER*{?}}}}~@I  ɡiIi ) yY?9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009186ԱI8i90IIN%>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259557f,!%2%Aiy62@ٱ6:9@6>66H?` ?3?` տ5?忚`e¿ A3?I62@)6Um];i6WCBKBBHlMb@Mb@Mb@ )Ii333333?I +?Mb`?>94<;)fAIi/A ABDue6Du94Yf!E=U;Q)>99GY;A>Q 1Y4٪ݼ?Q 5Y4  eB9>Q A0;YcQ E?yB)Z:I:i[Y4Y^ADB*** querying acoustic contact ***jrR*    @?}E>}E>}E=}Ei@IQ Y YɡYiYIYia)aD5D5oD5#D1E5O: E5:6E53:E1!E@!E@!E@!E@i]=I]dCy}vA9 )EԉG ]A)I쳿AAI@i!%5!I1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510666IIN]T>1A<A<vB >~B B HB JBB  =B B B ;B Ea 2f,?2%Ay6}:@ٱ6A@6n>66H ?`?N?Կ8?`{Λ`¿ <t?I6}:@)6B];i6XCRKBRHBDZR6DZ4YbV=!bX=bJ;Q)f>d9d9fGYdj2;Aj>lQ 1rY4٪n漜?Q 5rY4nj  ndB9pYrۙQ Ev?ynB)n;In:inhY4Yxz]AxR*!%@@9}A}A}A}E(r@IQ Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762383 QɡqiqIqiy)yyUA9qI=i+1IIN&>DEDEvDE'DAEE1: EE:6EE'4:EA"EEc;!MEEe;!U*EEg;!UEEg;!UԑU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014538 f,Y2%AyBFF@ٱByM@B>BJBHW? ?V? yԿU99GY[;A>ԙQ 1Y4٪-?Q 5Y44  dB9>Q A0;YkpQ E?y B) :I:iwY4YB]AER*u@}>}>}=}@I  ɡiIi!)!i)I)y-C95t>5>I7iM0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267757IIN$>BEȀ'4JEȊ94RE܀1DI DM tDI DI EI  EM v:6EI :EI !] @!] @!] @!] @ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5184336zü6H@??>?Կ`S@?`mVR.ÿ)1?I69Q@)6];i6XCZKBZHBDd6DdYn!rU=rI;Q)r>t9t9zGYxzc;A~>Q 1 Y4٪?Q 5Y4  dB9YoQ E?yDB)"A;IC;i=Y4Y!%^A)  R* @}i}i}i}mЗ@vB>~BCBvHBJBBBBB;BEI  ɡiIi)yE9IU;iYY]10YIiIyN9>I߭>)߭<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770788Iq ,f,N2%ADDlD&DE: E:6E4:E"E;!"E;!"*EC;!"EC;!"yJ^@ٱJe@J&>JH?̼JH? ϳ?qK?TԿ`D?k Qÿ`]<?IJ^@)Jv];iJWCVKBVHBD^b6D^[44YfJ ;!fL=j3;Q)j>h9h9jGYhn;An>pQ 1vY4٪rb?Q 5vY4r  rdB9tYzImQ Ez?yrB)r:Ir:ir)Y4Y|~^A|!!!R!*!!)-ú @}I}I}I}M@IQ i iɡiiiIiiq)qQy-BDAT read: Rx Time:21:31:53.6703 =TRx dataTimestamp_ set to:1754688714.312621Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028316I?i4!IQIyN>ԉԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274497 Vf,+2%Ay6p@ٱ6x@6>61Լ6H?[?kq?NԿ@K?ogmÿ` 1 b?I6p@)6c];i6ZCNKBRHIV=)V=mMb@Mb@Mb@i i)iIiiim9v?)\(?Q?m>mGa=mu<)iImߣAiimpA imABD`6D04Yr;!>=;Q)>99GY٪;A>Q 1Y4٪?Q 5Y4  dB9җ>Q A3;YQ E?yB) ;Ir;i/Y4Y]ADB*** querying acoustic contact ***jrR*, @}җ>}җ>}zH?>}9@I! ) )ɡ)i)I)i1)1Աy9H9rD5%=jD5<D=D=qD=,D9E=: E=$ :6E=g4:E9!E@!E@!E@!E@Ii|3IIN>5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528249vB~BBjHBJBB =BB/DB;BEBeȔCBeȕCBaBe =Be =Be 5 1 >f,2%Ay6@ٱ6ڋ@6[>6.̼6H?@j?*?iԿOQ?%ÿ$O?I6@)6u];i6VCBKBBHBDJN6DJ4YVz!VZ=V;Q)Z>X9X9ZGYX^O;A^>`Q 1fY4٪b*?Q 5fY4b  bdB9dYf#Q Ej?ybB)b:Ib):ibBY4YnBn ^AnE||R*  @}!}!}!}%@I1DAT read: 21:31:53.6703 LVL= 28848, 23105, 32754, 31043, AGC= 64, IDX= 438,-0.08, 1.014, 0.518,-0.971, 0.477, PHS= 0.640, 0.087,-1.492, RAW= 44.5, 8.0, CAL= 42.9, 8.2, ROT= 107.1, -8.2 Ygot valid direction response: 21:31:53.6703 LVL= 28848, 23105, 32754, 31043, AGC= 64, IDX= 438,-0.08, 1.014, 0.518,-0.971, 0.477, PHS= 0.640, 0.087,-1.492, RAW= 44.5, 8.0, CAL= 42.9, 8.2, ROT= 107.1, -8.2 PDAT read: Bearing 273.4, 77.0 (Local) ~Local bearing/azimuth received: Bearing 273.4, 77.0 (Local) DAT read: Range 11 to 50 : 160.0 m (Round-trip 213.4 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.291034,0.946021,0.142629]Fpublishing direction and range infoy}MMҿNo4PE?x0A?} CyI}pi}AZ}}Cy}@} #? }-=)}I}F?i}5>}֭??}C>}C?}CIyiy)}_Ϭ?P5Ti?}񺨿}M}C? }CIyiyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 1 1ɡ1i9I9i9)AyJ9I6iO0IIN">9DMDMpDM&DIEM: EM :6EM4:EI"EM;!UEM ;!U*EM'R;!UEM(R;!]5 ,DAT read: user:1165> 5 BDAT read: Tx time:21:31:55.0527 = $Ping request sent.= :ػ:H@f?&M? w?4GԿ`V?뛿ŏÿ3?I:@):Cd];i:YCNKBRHUMb@Mb@Mb@Q Q)QIQiQUJ +? rh?y&1|?U>UC=U`;)U7AIQiUAQ QUQABD}j6D}C4Y!==q>:Q)>99GYM;A>Q 1Y4٪"?Q 5Y4  dB9>Q A@;YcQ E?y7B)w:I:icY4Y^Az%2%A Cʋ?2Z`HG b@6@"MMҿNo4PE?x0A?C?‹C:Hև{@ǻ5cc@ ;:@*}%>}%z]>}%L@I9 9 9ɡAiAIAiA)IiyyJ9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251861IE>iAAE00AIQIaNu6>ԙDQ DQ DU )DQ EQ  EQ 6EU FA4:EQ !] @!] @!] @!] @ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502979'f,2%AyB@ٱBگ@B#\>ByBH ?.?v?%Կ\?@Ǥÿ.?IB@)B_];iB[CPVKBV]HiXIX \\BDfL6Df 4YrS!rV=rP(:Q)v>t9t9zGYxz;Az>Q 1 Y4٪*?Q 5 Y4  dB9YQ E?ymB)|;I;iY4YW_AR *   vBE>~BABEQHBEJBBE =BABE.DBE;BEE#v?}}}}˿@I  ɡiIi)y L9AI?iP5IINB>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755762! .zf,3%ADDtD&DE: Ev:6E4:E"E;!E;!"*E`;!"E`;!"ɰ,,yJv@ٱJ@Jk>JaJH? Q?`lt? ?Կ`?@ܜ ÿ ?IJv@)J];iJYCVKBVHBD^a6D^24Yf=!fL=j9Q)j>h9h9nGYln;An>pQ 1vY4٪r4?Q 5vY4r#  rdB9xYzQ Ez?yrB)r:Irl:irY4|YB^AE!!))R)*)))5\;?}I}I}I}M@Ii i qɡqiqIqiy)yyuM9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007321Iiy51IiIN>Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259029:f,~p(3%Ay6ķ@ٱ6˾@6 U>66H~?c?-r? mӿ d?ؖÿ `?I6ķ@)6|];i6[CBKBB|H=Mb@Mb@Mb@9 9)9I9i9=~jt?333333?Mb=>===)9I=Ai9=AA 9=̨ABDUV6DUE4iYu!u@=}SWQ)}>y99GYbe;A>Q 1Y4٪=?Q 5Y4=  pdB9L>Q AD;Y Q E?yB);IP;iY4Y^ADB*** querying acoustic contact ***jrR* ?}L>}L>}P>}@I   ɡ i Ii)D9D=rD=(D9E9 E=?:6E=c44:E9!E@!E@!E@!E@yuO9ԉI7ix0II N*> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511176ԹvBE>~BABE8HBEJBBABABABE;BEE f,DNB3%Ay6η@ٱ62־@6F>66H? %?-o?:ӿh?@4&@vÿڕ?I6η@)6GZ^;i6YCBKBBpHFR>Fe>IF=)F=BDH6DHYRļ!VX=VJQ)V>X9X9ZGYXZZ;AZ>\Q 1bY4٪^E?Q 5fY4^S  ^ZdB9dYfQ Ef?y^B)^A:I^:i^Y4Yhj_Al||||R* @}!}!}!}%@I1 1 9ɡ9i9I9iA)Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764397Թy5P9I9iO0IIN>DMDMqDM*DIEM: EM$ :6EM(N4:EI"EM;!UEM;!U*EMU;!]EMU;!] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014973A f,)\3%Aiy>1۷@ٱ>d@>V>>">H6 ??)f?@ӿk?` ÿBY?I>1۷@)>5_;i>XC^KBbqHMMb@Mb@Mb@I I)IIIiIMQ?p= ף?~jtMu>M=M)MfAIIiIMA IIBDe]6De'+4Yu;!u>=ujQ)u>y9y9}GYyb;A>Q 1Z4٪N?Q 5Z4t  8dB9Ȁ>Q AS;YAQ E?yFB);I;iZ4Y _AR* Fz@}Ȁ>}Ȁ>}k>}@I  ɡiIi)yq)%G A)IRAIAbDM @AZDM @ADm Dm pDm 'Di Em ~: Em  :6Em '4:Ei !} @!} @! @! @ԙ   % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519785Of,v3%AyFm@ٱF@F >FslFH??@LT?(ӿo?/@nnÿ "?IFm@)F_;iDVKBZ_HBDe_6De.4Yu!}J=AͺQ)>99GY)q;A>Q 1Z4٪V?Q 5Z4  dB9Y }checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984 Gf,@ݏ3%ADDDDEa: ET:6E:E"EA;!EB;!*Eƨ;!Eƨ;!yFv@ٱF@F<>FIFH`? ?%?lӿr? Λ gIÿD˔@à?IFv@)F0_;iDRsKBR;H TVA)T TBDZc6DZ264Yb$!bV=fDQ)f>d9d9jGYhj};Aj>lQ 1zZ4٪n^?Q 5~Z4n  ncB9Y5Q E?ynB)n;In*;inS Z4Y  _A ꇑ⇑R*↽ @}}}}}@I   ɡ i I i)9BDAT read: Rx Time:21:31:57.6706 TRx dataTimestamp_ set to:1754688718.341431checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024679yU9Ii1IIN7>A I߅ %=)߅ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275197f,ǩ3%Aɰ4:壼:H?Ō?R? ӿv?`-˛`C+ÿ7A?I:@):T`;i:WCFbKBF&HMb@Mb@Mb@ )Iiv/?l?:vxi>=T)7AIߣAiA (ABD-_6D-.4Y=!EB=EQ)E>A9I9MGYIM8y;AM>QQ 1]Z4٪U@f?Q 5eZ4U   UcB9err>Q Ae`;YeIQ Ee?yUB)U:IU:iU/Z4Yim_AqDB*** querying acoustic contact ***jrR*_B @}]rr>}]rr>}]J$>}]E@I  ɡiIi))BEJE14RE’0D9D=tD9D9E9 E=v:6E9:E9!M@!M@!M@!U@yYI9iK0I!IINm5>=DAT read: 21:31:57.6706 LVL= 30992, 26417, 32754, 32755, AGC= 64, IDX= 441,-0.04,-0.849,-1.379,-2.796,-1.401, PHS= 0.653, 0.067,-1.440, RAW= 45.8, 7.7, CAL= 44.2, 7.8, ROT= 105.8, -7.8 EYgot valid direction response: 21:31:57.6706 LVL= 30992, 26417, 32754, 32755, AGC= 64, IDX= 441,-0.04,-0.849,-1.379,-2.796,-1.401, PHS= 0.653, 0.067,-1.440, RAW= 45.8, 7.7, CAL= 44.2, 7.8, ROT= 105.8, -7.8 UPDAT read: Bearing 270.8, 78.0 (Local) Y~Local bearing/azimuth received: Bearing 270.8, 78.0 (Local) DAT read: Range 11 to 50 : 160.2 m (Round-trip 213.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.269761,0.953315,0.135716]Fpublishing direction and range info:(OUCѿM|E?'g >\?'g Ii)RoX5?%֓IvC?㥿ć \? 'g IiT****** received valid address query ******R****** received valid ping request ******AAAAvB~BBHBOJBBBB.DB;BEQuerying Benthos address 50 with one ping in standard two-way mode.ԁ f,3%A0y6E@ٱ6x @6v>63X6H????{ӿzx?U¿땿^?I6E@)6q`;i6ZCrAKBrHBDzn6DzpJ4Yç!O=_Q) > 9 9 GY :A>Q 1%Z4٪m?Q 5%Z4b  cB9!Y%-Q E%?yB):I::i EBDAT read: Tx time:21:31:58.9027 M$Ping request sent.MDE~DEnDADAEE: EE:6EA:EA"EEP;!MEEQ;!M*EEJ;!UEEJ;!UԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254094 f,o3%Ay6@ٱ6@6OR>66H ?w?`f?Sxӿuy? v ¿͗z?I6@)6M`;i6UCN1KBNHNC=N;\-Mb@Mb@Mb@) )))I)i)-x&1?I +?&1-A`>-94<-P)-1AI-Ai-A-A )-ABDT6D4YX!A=O9Q)>99GYI):A>Q 1Z4٪t?Q 5Z4  cB9f>Q Ak;YQ E?y0B);IA:iKZ4YB`AER* ?}%f>}%f>}%M=}%]@I9 9 9ɡ9i9I9iA)AU)?U>yeW9iiUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503867I?i4II!N-->DM DM uDM %DI EM : EM :6EM 4:EI !U @!U @!U @!U @A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755277@f,3%Ayj6@ٱji@j>j żjHu? w?`?yӿey?l¿o?Ij6@)ja;ijZC|vBY~BYB]HB]'JBBYBYBYB];B]EB%CB!B!B% =B!B%4mJBmHBD}d6D} 84Y !-=bDQ)>99GYFA>Q 1Z4٪|?Q 5Z4  hcB9Y3Q E?ycB);I;i\Z4YaAR*vi?} } } } @I  ɡiI!!i)))y}?Z9I;i0I)I5>)5<=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007245IAQNUv>y {f,B%4%ADDoD*DEC: E:6E(N4:E"E;!E;!*EN;!EN;!yy @ٱ,@f&>RH`4"?v?q? uӿ`y? .n@Gt¿;̖\?I @)&b;iбе/Aiе+Iбchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258860бIfCi%A %!))5C =A=DAAY](AIe-)e Fia)ȕCIu-A}#y ؁؉ؕ(Aؕi؝FؙԱiٹٽA) I C)AKBHBDh6Df?4Y<!+=fQ)>99%GY!%7:A%>)Q 15Z4٪-?Q 55Z4-a  -?cB91Y=ׇQ E=?y-B)-h:I-T;i-lZ4YaeZaAaꇡ⇩R*↵`B?}}}}]@I! ! )ɡ)i)I)i))1y8\9I 6i 00 I I N >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849 A f,+4%Ay6 @ٱ6@6 T>66H $? x?w&?1tӿy?}˘:¿@ǔ@̪?I6 @)6 b;i4~JB~HMb@Mb@Mb@ )Ii!rh?y&1{Gzlg>`e#)IۣAiAʵA ABD6DY\!=aܻQ)(?99GY.G:A+?Q 1Z4٪p?Q 5Z4  ,cB9uk>Q Af;Y¾Q E?yB);Iy;ivZ4YaADB*** querying acoustic contact ***jrR!*!!!%`X?}Euk>}Euk>}E@}E@I  ɡiIi)rD5=jD1D=D=yD=(D9E=: E=:6E=c44:E9!E@!E@!E@!E@y\9IE8iAAM<0IIaIqN=>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763450A}<AyvB}>~ByB}|HB}JBByByByB};B}E1Y (f,D4%Ay6w@ٱ6@6s>6C46H'? w?`? pӿ@Lz?ϙ: 1?I6w@)6a;i4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019232MJBMHBD]K6D] 4Ym W<!mO=uQ)u>q9q9}GYy}th:A}>Q 1Z4٪4?Q 5Z4ǎ  cB9Y3¾Q E?yB):I:iZ4YBtaAER*~O@}}}}@I  ɡ i I i)9ym^9I:i/0II N*>aDEDE{DE$DAEEg: EE5":6EE4:EA"EEh;!MEEi;!U*EE1z;!UEE2z;!Uԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267899 Tf,f^4%AyR!@ٱRT@R>R=RH`v*?\r?'?Rjӿ>{?`i⡒ ?IR!@)R,b;iRYC^JB^HEMb@Mb@Mb@A A)AIAiAES?{GzEףEt)E`AIAiEAA AABD]d6D] 84Ym !mJ=uQ)u> 9 9 GY  :A>Q 1Z4٪*?Q 5%Z4  bB9%^>Q A%s;Y%yоQ E%?yB)4:I:iZ4Y)5aA1QQQQRY*YYY]ò@}}^>}}^>}}~@}};@ԑI  ɡiIi)'?.?y^9-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519175I%?i!!%@5!I1IANU2>ԹDM DM oDM (DI EM 1: EM :6EM c44:EI !U @!U @!U @!U @I ?) = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772109 8~f, x4%Ay^M@ٱ^@^l >^A^H,?@k??Ceӿ6|?㘿=@5 ?I^M@)^a;i^XCjJBjHIn=)n=ir;Ir<BDv[6Dvy'4Y~U!~R=~_Q)>99GY :A >vB%>~B!B%WHB%IBB% =B!B!B%;B%EQ 1=Z4٪@?Q 5=Z4  bB99Y=GоQ E=?y6B);I;iZ4YEBMaAMEiiiiRi*qqqu @}}}}i @I  ɡiIi)ya9I i   5 II1N= >Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025000I d$f,l4%ADDqDDEO: E$ :6E:E"E;!E;!*EU;!EU;!(i(yF@ٱFB@F+ >Fo5FH/?ne?@Yc?``ӿ`"}? w@@ֱ?IF@)F c;iFWCJBHBDf6D;4Y%X;!%H=--DQ)->)9)95GY15W:A5>9Q 1EZ4٪=?Q 5EZ4=q  =bB9IYMоQ EM?y=cB)=%:I=u:i=Z4YQUaAQqqyyRy*yↅ` @}}}} @I  ɡiIi)BDAT read: Rx Time:21:32:01.5210 TRx dataTimestamp_ set to:1754688722.373921checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277358ya9QIm>iqq}0yIIN&>yԩ M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526877**f,zV4%AŦH1?l`?@A?@^ӿ}?bI@r A?I@)'e;iXCJBHeMb@Mb@Mb@a a)aIaiae~jt?eteף;)eAIe|AiaeA aaBDa6D24Yۋ!3=JQ)>99GY9A>D5D5tD5%D1E5: E5v:6E5 4:E1!=@!=@!=@!=@Q 1mZ4٪۪?Q 5mZ4?  bB9uD>Q Au;YuöQ Eu?yB):I4:i۽Z4Yy}aADB*** querying acoustic contact ***jrԩR*`D@} D>} D>} "@} @I ! AɡAiAIIiI)QiYIYyEfc9DAT read: 21:32:01.5210 LVL= 27632, 23393, 29874, 30003, AGC= 63, IDX= 446,-0.11,-2.950, 2.764, 1.300, 2.751, PHS= 0.684, 0.059,-1.495, RAW= 46.2, 7.8, CAL= 44.6, 7.8, ROT= 105.4, -7.8 Ygot valid direction response: 21:32:01.5210 LVL= 27632, 23393, 29874, 30003, AGC= 63, IDX= 446,-0.11,-2.950, 2.764, 1.300, 2.751, PHS= 0.684, 0.059,-1.495, RAW= 46.2, 7.8, CAL= 44.6, 7.8, ROT= 105.4, -7.8 PDAT read: Bearing 273.7, 78.0 (Local) ~Local bearing/azimuth received: Bearing 273.7, 78.0 (Local) DAT read: Range 11 to 50 : 160.6 m (Round-trip 214.2 ms) speed 0.0 m/s =R#Rx 1: Read range and direction messages.E^direction in FSK: [-0.263099,0.955175,0.135716]MFpublishing direction and range infoп̐? M _? CIkia[t3u?/? q=))\IplN?i'g >SFG?Cw?Ii)P1?9>s$-Y?'錄: Cw? IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I6i/0IINh>AAAA@AvB>~BB>HBIBBBBB;BE Py1f,.4%Ay6%@ٱ6,@6! >6[6HL6?*J?+?@IӿK?%  {@?I6%@)6'"g;i4^JB^~Hi`I` `bABDjj6DjC4lYr!rm=vIQ)v?t9x9zGYxz$;~,DAT read: user:1167> BDAT read: Tx time:21:32:02.9027 $Ping request sent. |?7B B쿜? sP gB!C?uDetached at range: 160.60 m. Transitioning docking module to standby.qqyyRy*yy@3d@ↅ]0?}}}}@I  ɡiIi)ye9 IE5iAAIIIYIiNu>D=D=yD=+D9E=: E=:6E= [4:E9"E=;!ME=;!M*E=r;!ME=r;!M1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251078a 7f,4%AɰLNp;ynz4@ٱn;@n>nnH=?n2??@.ӿ@Q?Mc ?Inz4@)n;ah;inWCJB_H1Mb@Mb@Mb@ )IiRQ?t<94<)1AIAiA QABD^6D,4Ync!;=Q)>99GY5;A>Q 1Z4٪ж?Q 5Z4i  bB9C>Q A;YrQ E?yB):I:i&Z4Y  WbA ڇ-))11R1*111=K?}UC>}UC>}UiA=}U@Ia  ɡ i I i)y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503543 &Changing to mode: 1aI>ib5IINb>ԉbDA ZDE ?ABEc44JE6#:6H`D?@??A ӿ? =`C@T?@?I6G@)6h;i6UCBJBBuHBDJF6DJ4YRC=!Ra=RmQ)V>T9T9VGYTZL;AZ>vBb>~B`B`B`B`B`B`Bb;BbE\Q 1nZ4٪^o?Q 5rZ4^ߓ  ^bB9pYrCQ Er?y^B)^;I^j;i^Z4YtvbAxڇR* ?}9}9}9}=@II I QɡQiQIQԙiQ)?:?yg9IM$iIIMP5IIYIiN}>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006801 Df,55%ADDzD(DEs: E :6Ec44:E"E;!"E;!"*Ev;!"Ev;!"yJu`@ٱJg@J>JCJH M?@a?U? ҿR?!Xp?IJu`@)Jio;iJVCVJBV{HZ%=Z<BDbV6DbE4Yf%><!jH=jQ)j>l9l9nGYlrO;Ar>pQ 1vZ4٪r½?Q 5zZ4rb  rbB9xYzQ Ez?yr'B)r:Ir:ir&Z4Y|aAڇ!!!!!R)*)))-?}I}I}I}M@IY a aɡaiaIaii)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259267yj9?>>IMiIIM1IIYIiN>)Q- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767y @Jf,h-5%Ay6_x@ٱ6@6 >63민6H V? ?`-?`ıҿ@?ܐWZЕ`3?I6_x@)6r;i6ZCnKBrHmMb@Mb@Mb@i i)iIiiimx?Q?{Gz?mK7>m=Q)>99GY;A>Q 1[4٪Iɽ?Q 5[4  bB9":>Q A;YQ E?yOB);I?;i$[4YLaAڇR*}_?} ":>} ":>} * *>} @QI  ɡiIi)rD1jD5<D=D=rD=-D9E=: E=?:6E=t4:E9!E@!E@!E@!E@y)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051ԑIi/0IINF>AA<vB>~BCBJHBIBB =BBB;BEBBBB =BBƬ4ԩ Qf,lG5%Ay6E@ٱ6x@6Q<=6Ʒ6H%`?y?`?ҿ? ˖?I6E@)6Ps;i6WCBJBBHBDJQ6DJ4YR*!R[=RQ)V>T9T9VGYTZ <AZ>\Q 1b[4٪^ν?Q 5b[4^  ^bB9`YbWQ Ef?y^qB)^Q;I^;i^.[4YhjaAhrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014950DMB*** querying acoustic contact ***jIrIڇQQQQyRy*yyↅM@}}}}@I  ɡiIi )iIAԱyFl9I"iIIN!>DEDEoDE(DAEE: EE:6EEc44:EA"EE;!MEE;!U*EEN;!UEEN;!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266773 A +Wf,Xa5%Ay@ٱа@|=Hph?)N?ה?XVҿ?Ȍ`~H@܄?I@)t;i-KB-Hi1I1Mb@Mb@Mb@ )IiCl? ףp= ?~jtxd;>Q8=Ļ)-AIAiQA$A QABDP6D:4YT(=!5=lQ)>99GY%;A%>)Q 15[4٪-ֽ?Q 55[4-  -bB95A>Q A5;Y5IKQ E=?y-B)-;I-";i-[4YEBE5aAEEڇaaaaaRi*↕@}A>}A>}v>}Hy@I  ɡiIi)ԁy>n9  Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518952I$io0I1IANM1>ԱbDA ZDE @ADM DM vDM +DI EM : EM :6EM [4:EI !U @!U @!U @!U @  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854e^f,"{5%AvB4~B4B4B4B4B4B4B6;B4`yf@ٱfAſ@fP=fW椼fHep?+??0ҿ,?g֎Qv,?If@)fs;ifYCrJBrHBDx6DxY%!%[=-ĻQ)->)9)9-GY)5|;A5>YQ 1e[4٪]۽?Q 5e[4]  ]bB9aYm*AQ Em?y]B)]:I]:i]%-[4YquoaAqڇR*@}}}}@I! ! !ɡ!i)I)i))1yMn9I`'i?0II!N-->BDAT read: Rx Time:21:32:05.5211  TRx dataTimestamp_ set to:1754688726.153017checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025655)A ef,5%ADDD-DE,: EC:6Et4:E"E99GY;A>Q 1[4٪g⽜?Q 5[4+  bB9Y7Q E?yB)1;I';i;[4YcaAڇR* @} } } } ֠@I ! !ɡ!i!I!i)))]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274878im>?y-p9QI*i/0II N=P>q% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528873ԩ -kf,5%Ay6'@ٱ6Z@6=6lY6H`~?X?t?Lѿ? x`m) ?I6'@)6ir;i6WC^JB^Hb>b)Ii"ASA BDs6DS4Y+!F=(Q)>99GY>;A>Q 1[4٪1齜?Q 5[4J  sbB9M>Q A;Y7hQ E?yB);IT;iI[4YtaAڇR*    a@}-M>}-M>}-=h>}-k?@I9 9 AɡAiAIAiI)ID=D=oD=)D9E=: E=:6E=FA4:E9!E@!E@!E@!E@yM3q9ԡI_,i.0IIN)>DAT read: 21:32:05.5211 LVL= 17952, 22257, 29634, 28147, AGC= 61, IDX= 447,-0.01,-3.040, 2.663, 1.224, 2.642, PHS= 0.703, 0.067,-1.462, RAW= 46.6, 7.2, CAL= 45.2, 7.1, ROT= 104.8, -7.1 Ygot valid direction response: 21:32:05.5211 LVL= 17952, 22257, 29634, 28147, AGC= 61, IDX= 447,-0.01,-3.040, 2.663, 1.224, 2.642, PHS= 0.703, 0.067,-1.462, RAW= 46.6, 7.2, CAL= 45.2, 7.1, ROT= 104.8, -7.1 PDAT read: Bearing 279.0, 78.1 (Local) ~Local bearing/azimuth received: Bearing 279.0, 78.1 (Local) DAT read: Range 11 to 50 : 160.7 m (Round-trip 214.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.253487,0.959410,0.123601]Fpublishing direction and range infoae!9п@{?A7X?e CaIe FieVeseme=e3? eL7=)e"Ie5P?ie>eI?e=e ?eIaia)eUn<$?EkrCk?eDe;Ke ? eIaiaMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.vBa~BeCBeWHBeIBBaBaBaBe;BeE rf,5%Aiy6@ٱ6@6=6z6H@S??@p?%ѿF? 1-`?I6@)6=r;i6VCb,DAT read: user:1168> fBDAT read: Tx time:21:32:06.9527 f$Ping request sent.f99GY I;A >Q 1[4٪|?Q 5[4f  dbB9Y"dQ E%?y7B):I;i-W[4Y)-SaA)z 5%A Cʋm?2:-6 ^DEc@&`3@"!9п@{?A7X? ?‹:@#$?c@6ݥHV5@*&WQ?0?xUW?&C@?i4 ,B? G BC?ڇiiiiiRq*`fd@ↅ`?}}}}G@I  ɡiIi)ys9 Ie.iaae75aIqIN:>DEDEsDE(DAEE: EEZ:6EEc44:EA"EE;!MEE ;!U*EE];!UEE];!U1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251121Y xAxf,5%Ay]@ٱ]@]=]a^]H a???ѿ y?@೫@锿@?I]@)]mr;iYuJBuxH%Mb@Mb@Mb@! !)!I!i!%$C?Q?S㥛)%Z>%\=%/ݼ)%AI%xAi%A%A !%ABD=L6D= 4YMZ!U6=UQ)U>Q9Y9]GYY]r;A]>aQ 1}[4٪em?Q 5}[4e  eMbB9}^>Q At;YQ E?yehB)e u;IeQt;ief[4YBaAEDB*** querying acoustic contact ***jrڇꇱ⇱R*↽M?}^>}^>}&>}9@I  ɡiIi)iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957y(t9Ie1iaae_5aIqINԡ) A)5AI=F=A= BDM DM rDM :DI EM O: EM ?:6EM (4:EI !] @!] @!] @!] @} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755416 vBQ ~BQ BQ BQ BQ BQ BQ BU ;BU Eu~f,5%Ay:@ٱ:@:Nb=:߫:H?? }?ѿƽ?h FZ?I:@):Dr;i:UCFJBFHiHIHBDN`6DN04Y=>=!=\==sQ)=>A9A9EGYAM:AM>QQ 1U[4٪U?Q 5][4U  U9bB9YY]Q E]?yUB)U;IU;iUs[4YimaAiڇꇉ⇉R*↕t?}}}}T=@I  ɡiIi)Աymu9??Im)4iiim1iIyIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007114 Pf,H6%ADDxD(DE~: E:6Ec44:E"Es;!"Et;!"*EFo;!&EFo;!&(ɰHJ;yv@ٱv @v]=vwvHÎ?? ڻ?ѿÿ?Eʆ; ?Iv@)v֎q;ivXC JB ZHBD\6DP)4Y ʽ!G=Q)>99GYs;A>Q 1[4٪H?Q 5[47  $bB9YsQ E?yB):I;i3[4YQbAڇR* K ?} } } } F@I  !ɡ!i!I!i)))=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259118yMw9yI_6iY0IIN&>ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511090yf,!06%Ay6v@ٱ6 @6&c=6O6H?4?I?`Rѿ?@t`m`?I6v@)6Pq;i6WCBJBBHPMb@Mb@Mb@ )Ii-?Q?:v5^><Լ)-AIAiA (ABD-Y6D-#4Y=a=!=P=E Q)E>A9I9MGYIMG:AM>QQ 1][4٪UV ?Q 5][4U  UbB9ea>Q Aep;YeYQ Ee?yUB)U;IU?;iU[4YimaAiڇ    R*119=?}a>}a>}ڬ >}u@I  ɡiIi) ? :?BEFA4JE^4REɗ1D D pD )D E : E  :6E FA4:E !@!@!@!@y-y9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763693I8i.0IA<A<vB ~B B cHB IBB B B B ;B EI!N-O>! aaf,I6%Ay: @ٱ:;@:i=: [:HO?@?º?עѿ i?@Dk ϓ?I: @):Np;i:VCFJBFHJ)>J>Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015154BDVP6DV:4Y^<!bS=bQ)b>d9d9fGYdf;Aj>hQ 1n[4٪jK?Q 5r[4jٖ  jaB9pYrQ Er?yjB)j:IjA;ij[4YvBvaAzE|ڇR*!!%`F@}A}A}A}Ez@IQ Q QɡQiQIQiY)ay I-8i))-/0-1IAIQN]>DDD&DEO: E6E4:E"E;!%E;!%*E'R;!%E(R;!%QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266954ԁ f,c6%AdidY=JB=WHMb@Mb@Mb@ )Ii$C??MbZ><)IiğA QABDd6D 84YA!+=Q)>9 9 GY  A>Q 1[4٪?Q 5[4I  aB9%8\>Q A%v;Y%'Q E%?yFB)8:I:i9[4Y)5ObA1DMB*** querying acoustic contact ***jIrIU4Docking module at standby.QQYYRY*YYYe'@}8\>}8\>}G=}@I  ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519187ԁy |9I%9i!)-a51IAIQN]U>ԩbDA ZDA D ~D oD %D E : E :6E 4:E ! @! @! @! @ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771030vB >~B CB B B B B B ;B EBBBB =B =B;H4ǵf,Ѳ}6%Ay6@ٱ6@6u~=66Hp?>?? ѿ`ս?[ AE䔿F?I6@)6i;i6UCBJBB8HBDJn6DJpJ4YR!R{=RbQ)V?T9T9VGYTZŻAZ ?\Q 1b[4٪^s!?Q 5b[4^  ^aB9`Yf)Q Ef?y^jB)^;I^;i^[4YhjbAh=z8Undocking sequence complete.}zq~~R|*yyy}@@Թ}}}}w@I ɡiIi)iAIAy/|9I9in5IIN>BDAT read: Rx Time:21:32:09.5714 TRx dataTimestamp_ set to:1754688730.184993checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0240889 f,6%AD*D*nD*)D(E*: E*:6E*FA4:E("E*;!.E*;!.*E*J;!2E*J;!2yJ@ٱJ@J=J훼JH ?? _?@Bѿ ?U!f`O?IJ@)J5h;iJVCZJBZ0HiXIXBDbe6Db94Yjy!jF=jQ)n>l9l9nGYlr7Ar>tQ 1z[4٪v(?Q 5z[4v  vaB9xYz&*Q E~?yvB)v^;IvS:iv[4YbA%HTransitioning to midcourse guidance.q~%~%R!*!))- @}}}}@I ɡiIi checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275125)yp~91IIN l>Y checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527176ԑ ǫf,h6%Ay:@ٱ:@:d=:ʕ:H Ǘ?h? ^{?ѿ@s?偿@c#@#?I:@):fh;i:XCJJBJ(HMb@Mb@Mb@ )IiFx?V-?{GzK><#)\AIiA ABD5K6D5 4YEm!ED=MQ)M>I9I9UGYQU+:AU>YQ 1e[4٪]/?Q 5e[4]D  ]aB9m.N>Q Am;Ym Q Em?y]B)]:I]:i][4YqubAq@~Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockR*↥V@}.N>}.N>}.>}@ԉI ɡiIi)rD=jD%=DDD'DE E?:6E'4:E!@!@!@!@yH9IIN>UDAT read: 21:32:09.5714 LVL= 20448, 21713, 30770, 25651, AGC= 61, IDX= 449, 0.33,-1.583,-2.122, 2.659,-2.179, PHS= 0.698, 0.103,-1.489, RAW= 45.3, 7.1, CAL= 44.0, 6.9, ROT= 106.0, -6.9 ]Ygot valid direction response: 21:32:09.5714 LVL= 20448, 21713, 30770, 25651, AGC= 61, IDX= 449, 0.33,-1.583,-2.122, 2.659,-2.179, PHS= 0.698, 0.103,-1.489, RAW= 45.3, 7.1, CAL= 44.0, 6.9, ROT= 106.0, -6.9 }PDAT read: Bearing 287.4, 76.4 (Local) }~Local bearing/azimuth received: Bearing 287.4, 76.4 (Local) DAT read: Range 11 to 50 : 160.9 m (Round-trip 214.6 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.273641,0.954300,0.120137]Fpublishing direction and range info!%ğUѿ R?rjƹI?% C!vB>~BBWHBIBBBBBp;BEI%Oi%T%2x%3d!%!2? %=)%I%gJ?i%=% D?%Ϣ=%h?%ϢI!i!)%&uʵ?I3^%zx?%%%h? %ϢI!i!uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. 鯲f,NE6%Ay6@ٱ6 @6L=6d6H?`??`Nѿ?j闒?I6@)6i;i4B,DAT read: user:1169> FBDAT read: Tx time:21:32:11.0027 F$Ping request sent.F!vP=vQ)v>x9x9zGYxz:A~>Q 1%[4٪6?Q 5%[4  aB9!Y%' Q E-?yB):I2:i[4Y5B5bAUEzQUA-6%AU CʋU=R?2Ul9FW?c1c@J\{T3@"UğUѿ R?rjƹI?Uh?‹UϢ:UW\@@|Hc@y%4@*Uccq?|Z?nS?UCU @U~l?U8x, UnBQ U7B UBUCU?~Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1 Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq#@Initialize.C@Initialize.q~rBq* Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangerTransitioning to terminal guidance at range 160.699997 m 1Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )qc@:Initialize WaypointComponent.o@ZNavigating to waypoint: 36.905698,-122.116120R*!%d@%Σ?}a}a}a}e@ɢCHBT-= [K<顝!?I ɡiI59i)A)??yF9I9IQNe4>D!D%vD%&D!E! E%:6E%4:E!"E!!5E!!5*E%g;!5E%g;!595checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250955I f,E6%Ay]@ٱ]@][=]E]H`? ?@B? ѿ ?}@Ԓ-?I]@)]Afj;i]VCJBEHR=R=Mb@Mb@Mb@ )Iix?Q?MbK7>\=)IxAi (ABDX6D!4Yp!0="Q)>99GY(:A>Q 1[4٪D=?Q 5[4  aB9:>Q A;Y경Q E?yB):I:i[4YbADB*** querying acoustic contact ***jrg@ ZNavigating to waypoint: 36.905698,-122.116120  n? rB*@1Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeY yychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503420 Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeR*z?}%:>}%:>}%E>}%/D@ɢ5BHBUۆ(= 页9?I @$:ɡiIւ9%=::ɧq8Ii > (kpHeading = 0.400000): (kiHeading = 0.001000i'k=)G?G?)yg9IINJ>ԉbD ZD D% D% oD% *D! E% ҝ: E% :6E% (N4:E! !- @!- @!- @!- @Ա 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755049vB ~B B B B B B B l;B Ef,/6%AP]JB]PHBDmn6DmpJ4Y}\<!}a=Q)>99GYA>Q 1\4٪B?Q 5\4  aB9YQ E?y6B)^;I;i.\4Y]bAqE~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1BAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqBAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBInitialize.BAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1CInitialize.qqh7qh7BAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1q"*fB'B$Terminal guidance.qcCInitialize.cCdInitializing internal variables to default values.gCZTransitioning guidance mode to: UNINITIALIZEDgCDRollout timeout set to 300.00 sec.oCVIIR filter is initialized with decay: 0.00.gCbTransitioning guidance mode to: TERMINAL_GUIDANCE?~Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1 Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq#@Uninitialize.c@>Uninitialize WaypointComponent.R*↭@O?}}}}ɢJB[= %%I! %":ɡ!i%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006962! D= D= {D= 'D9 E= : E= 5":6E= '4:E9 "E= ;!M E= ;!M *E= 1z;!M E= 2z;!M Sf,7%A1=JB= HBDML6DM 4Y]½!]M=YQ)]>a9a9eGYaiAm>iQ 1u\4٪mH?Q 5}\4m  maB9yYyQ E}?ym[B)m';Im;im$\4YbAgC addTargetRange:: Added new target pos. range: 160.899994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 ŠʊgC Added new target pos. range: 160.899994 m, bearing: 88.003331 deg, lat: 36.906190 deg, lon: -122.115833 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ڊgCFNOT Ignoring new targets: 160.90 m.ŠʊgC ProNav pure pursuit: ac range: 160.899994 m, nav range: 158.830780 m, bearing: 88.080879 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 343.886965 deg, new cmd heading: 88.080879 deg. J?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259096"*R*   :?})})})})ɢ9E E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511178i =I UC)m Gԉ MA) I MA !Af,27%Ay67 @ٱ6j'@6=6*6HY? z?(=?ѿ?p@+`;R ?I67 @)6/m;i4bJBb,HidIdYmMb@Mb@Mb@i i)iIiiimʡE?l?:vm>m=mT)m-AImAimAi imABDf6D;4Y@<!C=ZQ)>99GY;A>Q 1 \4٪gN?Q 5 \4$  aB9">Q A;Y*Q E%?y}B);I;i\4Y)5bADDsD)DE: EZ:6EFA4:E!@!@!@!@ڊ1gC5FNOT Ignoring new targets: 160.90 m.Š=p:ʊ9gCM ProNav pure pursuit: ac range: 160.899994 m, nav range: 158.831345 m, bearing: 88.104743 deg, approach rate: 0.001245 m/s, LOS rate: nan deg/s, cmd heading: 88.080876 deg, new cmd heading: 88.104743 deg. M?Iiiiqq"q*yRy*yyyↅ2u?}">}">}sq>}o@ɢֽ I K9ɡiItu:IRii)?))ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763245y9vBa~BaBeJHBeIBBaBaBaBeh;BeEu<Ա>Ae ] ;Iq I N > f,ҋL7%Aɰ4<4<6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015037y>.@ٱ>5@>ة=>t>Hx?*`?ŵ? Mkѿ@?yn4`f E?I>.@)>) n;i>UC^jJB^HBDjX6Dj!4Yr!rZ=ršQ)r>t9t9vGYtv;Az>xQ 1~\4٪zIS?Q 5\4z3  zaB9Y#Q E?yzB)zM;IzY;iz*\4Y BzcAEڊ1ԹgCFNOT Ignoring new targets: 160.90 m.Š+:ʊgC ProNav pure pursuit: ac range: 160.899994 m, nav range: 158.831757 m, bearing: 88.125664 deg, approach rate: 0.001215 m/s, LOS rate: nan deg/s, cmd heading: 88.104741 deg, new cmd heading: 88.125664 deg. ?"*R* ђ@}}}}R@ɢ]JB]a Y] IY e]9ɡaiaIeœ:Im6iiizH)?)y˃9DDzD(DEs: E :6Ec44:E"E;!E;!*Ev;!Ev;!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266979!7< 4Initializing EZServoServo.A 8Initializing DockingStepper.@ A@ A>A ԅiIIN>CUf,Wk7%Ayn1?@ٱndF@n(*=nָnH`'?@A?`MI?Kѿ ?npif?In1?@)n]n;inVCz^JBzHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518990Mb@Mb@Mb@ )IiV-?Q?Zd;Oh>\=j)\AIףAiAA ABDZ6D%4Y۸!=cQ)>99GY;A >Q 1\4٪Y?Q 5\4C  naB9>Q A;YQ E?yB)I:I:i<\4Y!-cA)DEB*** querying acoustic contact ***jArAڊQgC]FNOT Ignoring new targets: 160.90 m.Š]#m:ʊYgCm ProNav pure pursuit: ac range: 160.899994 m, nav range: 158.831711 m, bearing: 88.152500 deg, approach rate: -0.000088 m/s, LOS rate: nan deg/s, cmd heading: 88.125662 deg, new cmd heading: 88.152500 deg. m@?iqqqqq"y*yRy*yↅ@}m>}m>}m:vw>}m @ɢ}JB}8 y}ʯIy ؉9ɡiI':Iִii,)@?)?1?yȄ9 I)BE=ƀ'4JE=ƨ,4RE=/DDxD'DEC: E:6E'4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771346vB~BB1HBIBBBBBX;BEA ԁ >A Ii I N >f,7%Ay6mM@ٱ6T@6`=66H@(?O'?̴?R1ѿ@? lF+䒿?I6mM@)6o;i6UC DJBH!>p99GYq;A>=BDAT read: Rx Time:21:32:13.6217 =TRx dataTimestamp_ set to:1754688734.226438Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.033432Q 1\4٪A_?Q 5\4Q  ]aB9YQ E?yB)A8IaIyN>iDDwDDE1: E:6E:E"Ed;!Ee;!*Ek;!Ek;! checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282942ԑ f,7%A$i$yBGX@ٱBz_@Bi9iE )E?)qyM9ԉ5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535465Թ>A}ћIa I N >D D yD )D E : E :6E FA4:E ! @! @! @! @ )f,wd7%Ay6?b@ٱ6ri@6٘=6Z6H@ ??`0ٳ? ѿ8?ehNx@P?I6?b@)6p;i4M>JBMHAYA]AAvBe>~BaBeHBeIBBaBaBaBeB;BeEB=CB=CB9B9B9B=g4DAT read: 21:32:13.6217 LVL= 19568, 21233, 30578, 28499, AGC= 62, IDX= 437, 0.15,-1.763,-2.297, 2.538,-2.341, PHS= 0.680, 0.089,-1.448, RAW= 45.6, 7.2, CAL= 44.3, 7.0, ROT= 105.7, -7.0 Ygot valid direction response: 21:32:13.6217 LVL= 19568, 21233, 30578, 28499, AGC= 62, IDX= 437, 0.15,-1.763,-2.297, 2.538,-2.341, PHS= 0.680, 0.089,-1.448, RAW= 45.6, 7.2, CAL= 44.3, 7.0, ROT= 105.7, -7.0 PDAT read: Bearing 290.7, 75.8 (Local) ~Local bearing/azimuth received: Bearing 290.7, 75.8 (Local) DAT read: Range 11 to 50 : 161.1 m (Round-trip 214.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.268583,0.955516,0.121869]Fpublishing direction and range infowpx0ѿCH?UM7P2?!CIpLiRrwSo>{.? E=)XI%K?i>.E?5="?5Ii)$л?6l&x?3݅"? 5IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Iip= ף?S㥛?V->/<)IAidApA ABDe6D94Y<!%=wQ)>99GYd!;A>Q 1-\4٪h?Q 55\4w  =aB95* >Q A5;Y5Q E5?yB):IM:ij\4Y=BEFdAAz7%A!Cʋd?2(7MgE%Q=c@JUA3@"wpx0ѿCH?UM7P2?"?‹5:|HWS?j)c@oVS 4@*>Nu?CD?hM׿?CV? |?.#& 2B i4 ,BaCC?gC addTargetRange:: Added new target pos. range: 161.100006 m, deltaT: 4.040090 s, deltaX: 0.200012 m, approachRate: 0.049507 m/s, rangeRepo size: 2 gC- Added new target pos. range: 161.100006 m, bearing: 88.224206 deg, lat: 36.906190 deg, lon: -122.115827 deg, deltaT: 4.040090 s, deltaX: 0.200012 m, approachRate: 0.049507 m/s, posRepo size: 2 ڊ1gC5FNOT Ignoring new targets: 161.10 m.Š=ʊ9kC=ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 88.224206 deg.=C?Aaaaaa"i*iRi*qqu@3#d@u ?}* >}* >}Q>}[@ɢJBz I 0e7ɡiIQ ;I >ii)C?) iIAy 9>A7bAAZAAII)N=>) U ,DAT read: user:1170> U BDAT read: Tx time:21:32:15.0027 ] $Ping request sent.] ii)63?)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862y%)9>AI YIaIqN}Y>ԉ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804Af,37%A(y:yn@ٱ:u@::=:0:H?R?`?\п@P?\H eP Y`?I:yn@):r;i:WCFJBFH=Mb@Mb@Mb@9 9)9I9i9=K7? rh?Mb=I >=C<=)9I=ףAi=A=A 9=ABDQ6D4Y!H=+Q)>99GY:A>Q 1\4٪(q?Q 5\4  aB9>Q A;YQ E?yPB)k:I:iȄ\4Y B dA ED-B*** querying acoustic contact ***j)r)ڊ1gC=FNOT Ignoring new targets: 161.10 m.Š=$h:ʊ=$h:gCM ProNav: ac range: 161.100006 m, nav range: 159.388153 m, bearing: 88.259702 deg, approach rate: 0.016588 m/s, LOS rate: 0.050739 deg/s, cmd heading: 88.271329 deg, new cmd heading: 88.330697 deg. UI ;U*U?QQQQQY"Y*YRa*aaamռ?}>}>}=}HX@ɢJBcO> 顝N"I |UɡiIL?;I>ii)*U?)ԁybDQZDQD]D]tD]+DYE]: E]v:6E] [4:EY!m@!m@!m@!m@ԱvBQ~BQBU HBUIBBQBQBQBUI;BUE>A},checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755552 A թAI I N > #f,s8%Ay6>y@ٱ6q@6=6V6Hv??`Oz?;п?>>ұl~?I6>y@)6~s;i6VCB JBBHiF4V,?9V,?9ZGYXZ`m;AZ>p\Q 1%\4٪^Au?Q 5%\4^  ^aB9!Y%Q E-?y^jB)^l:I^:i^t\4Y15dA1ڊgCFNOT Ignoring new targets: 161.10 m.ŠT:ʊT:gC ProNav: ac range: 161.100006 m, nav range: 159.393829 m, bearing: 88.277237 deg, approach rate: 0.015007 m/s, LOS rate: 0.046357 deg/s, cmd heading: 88.330697 deg, new cmd heading: 88.383299 deg. :?s?"*R*`+?ɢ5JBUUM Q]`0IY ]ɡYiYI]P;Ie P>iaia)e?s?)i}-?}G?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008006yMI9>A{K7rA=jA?A~AIIN%o>DqDuxDu'DqEq Eu:6Eu'4:Eq"Eu;!Eu;!*EuFo;!EuFo;!A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258845Nf,'"8%Ay6Z@ٱ6@6m=6RǼ6H?%?o?п?`v?^ژ1?I6Z@)6s;i4Z JB^~Hj=j=BDl6DlYv7+!vF=zQ)z>z3?9z3?9~GY~\G~;A>Q 1 \4٪y?Q 5 \4(  `B9YQ E?yB)e:I:i\4Y!%eA!ڊIgCMFNOT Ignoring new targets: 161.10 m.ŠUe:ʊUe:gCe ProNav: ac range: 161.100006 m, nav range: 159.400284 m, bearing: 88.297256 deg, approach rate: 0.016196 m/s, LOS rate: 0.050230 deg/s, cmd heading: 88.383297 deg, new cmd heading: 88.443351 deg. e ;e?aiiiii"q*qRq*yyyↅ9?ɢJB_W 顭6I orɡiIL`;Iͮ?ii)?)y>A^QAӳAI!I1N=Q>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516285qԙ rDy jD} <D D D +D E %: E C:6E [4:E ! @! @! @! @~wf,<8%Ay6@ٱ6@6 =6! 6H?@e??п#??> ?I6@)6s;i6UCVJBVyHvB>~BBHBIBBBBB1;BEychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766898Mb@Mb@Mb@ )Iiףp= ?Mb?:v><Լ)Ii5AάA GABDQ6D4Yv!<=4SQ)>*7?9*7?9GY3;A>Q 1\4٪c?Q 5\4  `B9%!>Q A;Y]Q E?yB) ;I;i\4Y  eA ڊ1gC5FNOT Ignoring new targets: 161.10 m.Š=w:ʊ=w:gCM ProNav: ac range: 161.100006 m, nav range: 159.412643 m, bearing: 88.320692 deg, approach rate: 0.028535 m/s, LOS rate: 0.054104 deg/s, cmd heading: 88.443348 deg, new cmd heading: 88.513650 deg. M;M̽?IIIQQQ"Y*YRY*Yaae@\@ɢJBLU 顕eABA 'AII)N=>U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018854 af,2V8%Ayf¹@ٱf+@fʧ=f%,fH ?@.?@?@Sп@d?D?`#RC@?If¹@)fC;s;ifVCrIBrrHBDzN6Dz4Yt!Y=WQ) > :?9 :?9 GY K<A>Q 1%\4٪&?Q 5%\4ۚ  `B9!Y%ZQ E-?yB):I:iC\4Y155eA1ڊYgC]FNOT Ignoring new targets: 161.10 m.Šew:ʊew:gCu ProNav: ac range: 161.100006 m, nav range: 159.423233 m, bearing: 88.341109 deg, approach rate: 0.028073 m/s, LOS rate: 0.054122 deg/s, cmd heading: 88.513651 deg, new cmd heading: 88.574898 deg. u;u?yyyyyy"*R*↍-a@ɢJBo 顽DI jLɡiI<;IA#bAAZAA I I! ԑ ) ͈G A) AI5 꿙5 A5 @A] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522702Ne >5f,fp8%Ayn@ٱnI@nW|=nUnH`(?@99GY<A>Q 1\4٪?Q 5\47  `BQ =+:9Q A;Y6VQ E?yB)(:I2>ic\4YFeADB*** querying acoustic contact ***jrڊ gCFNOT Ignoring new targets: 161.10 m.Šw:ʊw:!gC5 ProNav: ac range: 161.100006 m, nav range: 159.435013 m, bearing: 88.364311 deg, approach rate: 0.027475 m/s, LOS rate: 0.054112 deg/s, cmd heading: 88.574897 deg, new cmd heading: 88.644498 deg. =;=?9AAIIQ"Y*YRY*aiiu@ɢJBzi KI 1zɡiI';I S?ii)?)y=9DEDEuDE'DAEE: EE:6EE'4:EA!M@!M@!M@Q!]@Ii5vB~BBHBIBBBBB;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774865y>A }ԩ AE |AII IY Nm >N"f,8%AyJZ@ٱJ@JDs=JCJH H?i?ɰ?@՝Ͽ ? ?7^*Р&?IJZ@)J_r;iJVCVIBViHBD^f6D^;4YfB!fY=j6ĻQ)j>j=?9n=?9nGYn]GnBU<An>pQ 1v\4٪rU?Q 5v\4r  r`BQ =z :9xQ Az];YzVPQ Ez?yrB)r-;IrN?ir \4Y|~QeAڊ!gC-FNOT Ignoring new targets: 161.10 m.Š-mx:ʊ-mx:gC ProNav: ac range: 161.100006 m, nav range: 159.445084 m, bearing: 88.384786 deg, approach rate: 0.026709 m/s, LOS rate: 0.054298 deg/s, cmd heading: 88.644497 deg, new cmd heading: 88.705917 deg. ;+?!!!!")*)R)*)115`: @ɢ]JB]u} aePIa ej;ɡaiaIe;iIuh?iqiq)u+?)yBDAT read: Rx Time:21:32:17.6217 TRx dataTimestamp_ set to:1754688738.261749checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028909y59E]>E >Ii1ԙDEDEtDADAEEC: EEv:6EA:EA"EE;!UEE;!U*EE`;!UEE`;!U>A# checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278867A II IY Ne > ϯ(f,To8%AyN3@ٱN:@N'j=NNH`?`?`?@ο ??@@L`?IN3@)NYr;iLZIBZkHBDb^6Db,4YjQ;!jJ=ngQ)n>l9l9nGYprV<Ar>tQ 1~\4٪vw?Q 5~\4v؛  v`BQ =~99|Q A~3;Y~_JQ E?yv%B)v5;IvI?iv\4Y B AeA Eڊ1gC5FNOT Ignoring new targets: 161.10 m.Š=/x:ʊ=/x:gCM ProNav: ac range: 161.100006 m, nav range: 159.455566 m, bearing: 88.406783 deg, approach rate: 0.025852 m/s, LOS rate: 0.054245 deg/s, cmd heading: 88.705914 deg, new cmd heading: 88.771901 deg. M;M~Q?IIQQQQ"Y*YRY*YYae` @ɢJBۘ 顕%RI ᅦɡiIH;I}?ii)~Q?)?&?yu9IIiIIUm0Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533327!>AeI Ia Iq N} >BEJE14REʒ0D= D= zD= &D9 E= s: E=  :6E= 4:E9 !M @!M @!M @!M @.f,E8%AvBB>~B@B@B@B@B@B@BB;BBEyrf@ٱrm@rp a=rrH` ? ?"?`2ο ?Œ?`l`z?Irf@)r¾q;irTC5IB5oHI==)==DAT read: 21:32:17.6217 LVL= 30672, 26593, 32754, 32755, AGC= 63, IDX= 437, 0.15,-2.025,-2.617, 2.243,-2.634, PHS= 0.711, 0.062,-1.450, RAW= 47.0, 7.1, CAL= 45.7, 6.9, ROT= 104.3, -6.9 Ygot valid direction response: 21:32:17.6217 LVL= 30672, 26593, 32754, 32755, AGC= 63, IDX= 437, 0.15,-2.025,-2.617, 2.243,-2.634, PHS= 0.711, 0.062,-1.450, RAW= 47.0, 7.1, CAL= 45.7, 6.9, ROT= 104.3, -6.9 PDAT read: Bearing 288.5, 75.4 (Local) ~Local bearing/azimuth received: Bearing 288.5, 75.4 (Local) DAT read: Range 11 to 50 : 161.1 m (Round-trip 214.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.245210,0.961997,0.120137]Fpublishing direction and range infoQUj<^ cϿn?rjƹI?QQIUwiUgUUU?U6? U}=)UIU~Q?iU=U0L?UϢ=U)?UϢIQiQ)U悟?H:]Cxը?U UU)? UϢIQiQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I!! !! !! !! Mb@Mb@Mb@ )IiQ?Q?MbPu>u<)AI`AiA(A ABDR6D4Y;!!=돻Q)>99GY H<A >Q 1\4٪?Q 5\4h  `BQ =T:9=v>Q AE\;YE^4Q EE?ycB);I;iE\4YIM4eAIzQU 8%AQʋU5?2UQSmCHz"J_c@GOZ3@"Uj<^ cϿn?rjƹI?U)?‹UϢ:Ul3`|eNd@`L/1@*U\i©-t(?(53N?U- CU+KUIZ?U;L U]BU~l? U8x, UnBUCUL?gC addTargetRange:: Added new target pos. range: 161.100006 m, deltaT: 4.035984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 3 gC  Added new target pos. range: 161.100006 m, bearing: 89.658570 deg, lat: 36.906160 deg, lon: -122.115824 deg, deltaT: 4.035984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 3 ڊ gCFNOT Ignoring new targets: 161.10 m.ŠʊgCE ProNav: ac range: 161.100006 m, nav range: 159.719681 m, bearing: 89.658570 deg, approach rate: 0.000000 m/s, LOS rate: 0.054245 deg/s, cmd heading: 88.771900 deg, new cmd heading: 88.856920 deg. AE?IIIIII"Q*QRQ*Qyy}@k?ɢJBkc SI úɡiI;I&?ii)?)qyˍ9 Iiiiim#4i ,DAT read: user:1171>  BDAT read: Tx time:21:32:19.0027  $Ping request sent. A ( DMDIDM)DIEMҝ: EI6EMFA4:EI"EM;!UEM;!]*EMv;!]EMv;!]IiIyN>_6f,^8%AiyV@ٱV٤@V W=VYX׼VH ? t9?@O?]Ϳ $? ?0@?IV@)VFq;iVVCzIB~gHBD o6D HL4Yȁ!V=ûQ)>!9!9%GY%^G%K<A->)Q 1=\4٪-+?Q 5=\4-М  -`B99Y=|-Q E=?y-B)-;I- ;i-\4YAMMeAIqڊigC}FNOT Ignoring new targets: 161.10 m.Š} :ʊ} :gC ProNav: ac range: 161.100006 m, nav range: 159.734619 m, bearing: 89.690986 deg, approach rate: 0.040904 m/s, LOS rate: 0.088754 deg/s, cmd heading: 88.856923 deg, new cmd heading: 88.954162 deg. s;?"*R*↥ ?ɢJBޑ [I M׺ɡiI!;IyU?ii)?)5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249646y 9Iit4>A} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503500I I NM > =f,L8%AyJ@ٺ@ٱJs@JcN=JüJH 9(?eW?`۫?v̿E2?`ň?@ɩ.sC?IJ@ٺ@)Jnq;iJUCnIBn'HMb@Mb@Mb@ )Ii(\? rh?{Gz?>C =#<)(AIAiA GA) @ABDN6D4Y@!A=Q)>99GY<A>Q 1]4٪?Q 5]4  `B9>Q AF;YĽQ E?yB)0;I/;ik]4YfAD B*** querying acoustic contact ***j r ڊgCFNOT Ignoring new targets: 161.10 m.Š%:ʊ%:gC5 ProNav: ac range: 161.100006 m, nav range: 159.744919 m, bearing: 89.731462 deg, approach rate: 0.024224 m/s, LOS rate: 0.095189 deg/s, cmd heading: 88.954164 deg, new cmd heading: 89.075582 deg. 5;5,?999999"A*ARA*AIIM_#?ɢuJB}ݤ y}Iy }3ɡyiI;I?ii),?)bDZDDD~D*DEs: E(:6E(N4:E!@!@!@!@vBQ~BQBUHBUIBBU =BQBQBU;BUEBBBBBBc4yiUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754790Ii21>A% #bA- AZA- AI I N >Y Cf,e9%Ay:@ٱ:&@:E=::Hk8? L?^?d˿`A?\~?跨˔?I:@):{4q;i:TCFIBJ.HRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005851BDVg6DV=4Y^w<!^\=b_Q)b>`9`9fGYdf<Af>hQ 1n]4٪j?Q 5n]4jT  j`B9pYrQ Er?yjB)j;Ijv;iji]4YvBveAvEڊgCFNOT Ignoring new targets: 161.10 m.Š[:ʊ[:gC- ProNav: ac range: 161.100006 m, nav range: 159.753189 m, bearing: 89.766977 deg, approach rate: 0.022330 m/s, LOS rate: 0.095888 deg/s, cmd heading: 89.075584 deg, new cmd heading: 89.182123 deg. -;5AmԉIIN>Թ RJf,B>*9%Ay6e@ٱ6l@6<=6`6H G? @?T?TʿP?a?2 ?I6e@)69p;i6UCBIBBHHBDVD6DVJ3YbQ=!bJ=fEQ)f>d9d9fGYj_Gj<Aj>lQ 1M]4٪n?Q 5U]4n  n`B9YYe@Q Ee?yn6B)n= I ,OɡiI ;I?ii))-{~?))y ,9I8i 0rDjDDD|D'DE: EP$:6E'4:E!@!@!@!@ vBI ~BI BI BI BM  =BI BI BM ;BM E>A IA IQ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761741Nu > !Pf,D9%AyR@ٱRB@R3=R"FnRHFX??@?%ɿ4`? w?|$:?IR@)R:Kp;iPnIBnZHmMb@Mb@Mb@i i)iIiiim7A`? ףp= ?{Gz?m>mQ8=i)mXAImңAimңAm(A iii;I<BDR6D4YH=!==OQ)>99GYZ<A>Q 1]4٪ʾ?Q 5]4  `B9]>Q A2;Y ;Q E?yxB);I3;i0]4YmeAڊgCuFNOT Ignoring new targets: 161.10 m.Šu;ʊ};gC ProNav: ac range: 161.100006 m, nav range: 159.766830 m, bearing: 89.851656 deg, approach rate: 0.014946 m/s, LOS rate: 0.125479 deg/s, cmd heading: 89.298187 deg, new cmd heading: 89.436152 deg. :;b?"*R*↽@ɢ-JB5{s 15uI1 5-#ɡ9i9I=s1;IEb?iAiA)Eb?)Ay>9IYiYY]0Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013667I >A }rA >jA >D D tD D E : E v:6E :E "E ;!- E ;!- *E `;!- E `;!5 q A yAI I N >WWf,^9%Ay6@ٱ6@6K+=6ƃ/6H ^i?`?`?Nǿp?}9f?@um녿U?I6@)6Ap;i6TCBIBBXHBDJS6DJ4YR!RT=R誻Q)V>V H?9V H?9VGYTZE<AZ>\Q 1b]4٪^Ծ?Q 5b]4^ѝ  ^`B9`YbQ Ef?y^B)^:I^::i^>]4YjBUieAUEڊgCFNOT Ignoring new targets: 161.10 m.Š:ʊ:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265828gC ProNav: ac range: 161.100006 m, nav range: 159.770630 m, bearing: 89.892805 deg, approach rate: 0.009365 m/s, LOS rate: 0.101419 deg/s, cmd heading: 89.436150 deg, new cmd heading: 89.559594 deg. 4;?"*R*6@ɢuJBuŘ quzIq }V/ɡyiyI};I)?ii)?)ym_9I9i@ =@ =>A% #I } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520066A I I N >&}]f,x9%AIB>HMb@Mb@Mb@ )Ii{Gz?Q?~jtx?ף>u=;)AIiA ABDY6D#4Yr;!8=Q)>99GY`GA>Q 1]4٪ྜ?Q 5]4ӝ  `B9>Q A #;Y 5Q E ?yB):I:iM]4YeAD5B*** querying acoustic contact ***j1r1ڊ9gCEFNOT Ignoring new targets: 161.10 m.ŠE ;ʊM ;bDQZDQD]D]rD]&DYE]: E]?:6E]4:EY!e@!m@!m@!m@gCu ProNav: ac range: 161.100006 m, nav range: 159.770706 m, bearing: 89.944613 deg, approach rate: 0.000180 m/s, LOS rate: 0.122105 deg/s, cmd heading: 89.559592 deg, new cmd heading: 89.715013 deg. u;ul?qqyyyy"*R*↍Z@ɢJB7C 顽ԉI p>ɡiIv;I ?ii)l?)IvB>~BBBB =BBB;BEy-m9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785IiP5ԁԩ >A }A I! I1 NM >!`df,)Z9%ABDAT read: Rx Time:21:32:21.6218 TRx dataTimestamp_ set to:1754688742.292897checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022618y>@ٱ>@>2=>Ӝ>H@ ?`??`ſ?Y,e ٖs?DI>@)>-o;i>VCNIBN?H)V@A TBDZU6DZn4Y^f;!^`=b5Q)b>d9d9fGYdft=Aj>hQ 1n]4٪j꾜?Q 5n]4jÝ  j`B9pYrA #bA AZA  Aa Iq I N >gjf,9%AyB@ٱB @B5=BrBH@?ڤ?@Q?6ÿ?`k\-2b?IB@)B p;iBUCJIBN;HBDfW6Df 4Yn !nJ=n^Q)r>p9p9rGYpv<Av>xQ 1~]4٪z?Q 5~]4|z  z`B9Y? ]'=gC ProNav: ac range: 161.100006 m, nav range: 159.764191 m, bearing: 90.034471 deg, approach rate: -0.008342 m/s, LOS rate: 0.096336 deg/s, cmd heading: 89.842908 deg, new cmd heading: 89.984592 deg. :; ?)]+I]8X?i]=]BR?]=]L?]IYiY)]Y(?$F"?1_B?]'ܟ]1]L? ]IYiYT****** received valid address query ******"*R*R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.%`f&d@%]٭?ɢJB:s  I _ɡiI*;I ?ii) ?)y9QI8i0@@DDrDDE E?:6E:E!@!@!@!@vB >~B B B B  =B B B ;B ~Eԁ I =) a= ,DAT read: user:1172>  BDAT read: Tx time:21:32:22.8527  $Ping request sent. A Ա AIIN >Orf,ݚ9%Ay6y@ٱ6ʀ@6" =6ܧ6H@_?3,?'? )¿?-rO0P?I6y@)6Mp;i6TCRIBV5H-jonly read 0 of 1 data item for BIT error. Device response is::TS,00021401193049,35.0, +10.5, 08, 0 !j@!j !j@!j !j@!j !j@!j BDnO6Dnc4Yv!v%=zQ)z>x9|9~GY~aG~(<A~>Q 1 ]4٪u?Q 5 ]4x  `BQ =+:9Q A;Y/=Q E?yB);I>iv]4YeA!z9%A3!Cʋ?2RھAn܆c@u1@"$u.̿4? -V:?L?‹:w(jW+c@-O3@*'K,t,r?xCŚ\?CKE<Z?X0 #B |? 2BC?gCm addTargetRange:: Added new target pos. range: 161.199997 m, deltaT: 3.781618 s, deltaX: 0.099991 m, approachRate: 0.026441 m/s, rangeRepo size: 4 gC} Added new target pos. range: 161.199997 m, bearing: 90.356849 deg, lat: 36.906154 deg, lon: -122.115824 deg, deltaT: 3.781618 s, deltaX: 0.099991 m, approachRate: 0.026441 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 161.20 m.ŠʊgC ProNav: ac range: 161.199997 m, nav range: 159.760345 m, bearing: 90.356849 deg, approach rate: 0.000000 m/s, LOS rate: 0.096336 deg/s, cmd heading: 89.984594 deg, new cmd heading: 90.103605 deg. K?"*R*↵?ɢJBzɼ jI ;mɡiI;IK?ii)K?)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251951IE9iIIM 0I)>AaDDqD$DEO: E$ :6E4:E"E;!E;!*EU;!EU;!A I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502521Y xf,b9%AyJ-ݽ@ٱJa@J=J'y:JH?@B?`?`~?`ov``: W??IJ-ݽ@)Jo;iHVIBZHi\I^;BDbh6Dbf?4Yj"!jM=jĻQ)j>l9l9nGYlrp<Ar>tQ 1z]4٪ve?Q 5z]4vH  v`BQ =z :9xQ Az:YzDa=Q Ez?yvB)v:Ive?iv]4YfAڊ)gC5FNOT Ignoring new targets: 161.20 m.Š5;ʊ5;gCM ProNav: ac range: 161.199997 m, nav range: 159.754074 m, bearing: 90.403420 deg, approach rate: -0.015838 m/s, LOS rate: 0.117620 deg/s, cmd heading: 90.103603 deg, new cmd heading: 90.243322 deg. Mq;M?IIIIIQ"Q*QRY*YYYe`ߕ?ɢJB_ 額DI XɡiI ;I?ii)?)&??1y9IIiIIM0Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756798>A-E2rA5?jA5?ԩI1 IA NM > BE-4JE(4RExE0D D wD #D E : E :6E 3:E ! @! @! @! @f,<9%Ay6C@ٱ6GJ@6<6O`;6H`?5!?\?o`?n|@`sk?p?I6C@)6$o;i6VCBIBBHvBV>~BTBTBTBTBTBTBV;BVxE!! !! !! !! Mb@Mb@Mb@ )IiQ?)\(?{Gzµ>Ga=#)AItAiA ABDU6Dn4Y=!<=Q)>99GY<A>Q 1]4٪?Q 5]4"  `BQ =T:9>Q A;Y=Q E?ybB):I:i]4YB(fAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006742D%B*** querying acoustic contact ***j!r!ڊ)gC5FNOT Ignoring new targets: 161.20 m.Š=;ʊ=;gCM ProNav: ac range: 161.199997 m, nav range: 159.749603 m, bearing: 90.459433 deg, approach rate: -0.010234 m/s, LOS rate: 0.128226 deg/s, cmd heading: 90.243321 deg, new cmd heading: 90.411364 deg. M;M?IIIIQQ"Y*YRY*YYaeyH?ɢKBb3Լ Ա顕I sɡiIr;I?ii)?)!y9AAIi 5@=@=! >A # checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259725I I N >A uf,e:%Ay6@ٱ6ȯ@6<6~;6H}??`?@?6?<òv??I6@)6o;i6XCBIBBHBDJa6DJ24YR!R_=R4ǻQ)V>T9T9VGYTZ =AZ>\Q 1b]4٪^&?Q 5b]4^  ^`B9`YfF=Q Ef?y^B)^I;I^:i^]4YhjfAhڊ|gC~FNOT Ignoring new targets: 161.20 m.Š;ʊ;gC ProNav: ac range: 161.199997 m, nav range: 159.744324 m, bearing: 90.506547 deg, approach rate: -0.014495 m/s, LOS rate: 0.129352 deg/s, cmd heading: 90.411364 deg, new cmd heading: 90.552708 deg. ;K?"!*!R!*!))- ?ɢUKBUx Y]3IY ]=ɡYiYIe;IeK?iiii)mK?)iDDxD*DEҝ: E:6E(N4:E"E;!E;!*EFo;!EFo;!yIm8iiimO5i-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109849>AmE2IIN>i .)f,3:%A Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765208y@ٱ @I< <H?`a?? ?ǟ h?`:?I@)o;iUCIBHMb@Mb@Mb@ )IiT㥛 ?I +?y&1>94=`e)AIitAA ABDg6D=4Y$!-=gQ)>99GYbGb<A>Q 1]4٪5?Q 5]4ڜ  w`B9w>Q A ;YnA} bA AZA AI I N >G f,L:%Ay>@~@ٱ>t@><>"<>H$?`\??oL? ㇿ`N? ?I>@~@)>ln;i>TCZIBZH`BDfS6Df4Yn;!nn=r Q)r?p9p9rGYtv=Av?xQ 1~]4٪z@?Q 5~]4z  zo`B9Y=Q E?yzDB)z;Iz8;iz:]4Y  fA ڊ1gC5FNOT Ignoring new targets: 161.20 m.Š=;ʊ=;gCM ProNav: ac range: 161.199997 m, nav range: 159.738174 m, bearing: 90.617393 deg, approach rate: -0.010242 m/s, LOS rate: 0.136332 deg/s, cmd heading: 90.745108 deg, new cmd heading: 90.885253 deg. M ;M$ ?IQQQQQ"Y*YRY*aaae@ɢKBh 顕3I eɡiIGA5U<IIN>D|DsD&DE : EZ:6E4:E"E ;!E ;!*E];!E];!a E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5186647f,vf:%Ay6@ٱ6G@6<6B<6Hh???`T? r1\?`?I6@)6n;i6VCByIBBHBDJ[6DJy'4YRㇽ!RN=VɻQ)V>T9T9ZGYXZ=AZ>\Q 1f]4٪^SM?Q 5f]4^  ^g`B9dYfN=Q Ef?y^B)^%:I^2:i^]4Yhn gAlڊgCFNOT Ignoring new targets: 161.20 m.Š ,;ʊ ,;gC ProNav: ac range: 161.199997 m, nav range: 159.732269 m, bearing: 90.671345 deg, approach rate: -0.014848 m/s, LOS rate: 0.135662 deg/s, cmd heading: 90.885256 deg, new cmd heading: 91.047117 deg. 95;f?"*R*@@ɢ KB/ ξI ɡiIa2A#IQ Ia Nm > bD ZD D D qD (D E O: E $ :6E c44:E ! @! @! @! @Wf,s:%AvB$~B$B&HB&IBB$B$B$B&;B&tEyFZ@ٱFa@Ft=)IAi Aip99GYcG<A>Q 1]4٪>\?Q 5]4Y  ]`B9>Q A;Y=Q E?yB)V:II:i]4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022663Y BgAED=B*** querying acoustic contact ***j9r9ڊIgCMFNOT Ignoring new targets: 161.20 m.Š";ʊ";gC ProNav: ac range: 161.199997 m, nav range: 159.727737 m, bearing: 90.734877 deg, approach rate: -0.010155 m/s, LOS rate: 0.142370 deg/s, cmd heading: 91.047118 deg, new cmd heading: 91.237719 deg. j;?"*R*@} @ɢeKBe imPԾIi ɡiI,A rA ?jA ?! A AI! I1 N= >>f, 1:%Ay6@ٱ6@6T2v<6By<6H ?`p??`x?@1Ŏ@r3??I6@)6vn;i4BiIBBHBDJ[6DJy'4YR !Ra=VQ)V>VK?9VK?9VGYXZ =AZ>\Q 1b]4٪^h?Q 5b]4^&  ^U`B9dYfCR=Q Ef?y^7B)^:I^:i^@]4YhjAgAhڊ|gCFNOT Ignoring new targets: 161.20 m.Š';ʊ';gC ProNav: ac range: 161.199997 m, nav range: 159.722183 m, bearing: 90.787240 deg, approach rate: -0.015497 m/s, LOS rate: 0.146101 deg/s, cmd heading: 91.237722 deg, new cmd heading: 91.394816 deg. ;-?!"!*!R!*)))-1 @ɢ"KBU oܾI ƻɡiI} AA I I) N= >ԙ shf, :%A @@5DAT read: 21:32:25.4722 LVL= 27872, 32753, 32754, 32755, AGC= 63, IDX= 442,-0.04, 1.695, 1.024,-0.230, 1.091, PHS= 0.707,-0.022,-1.365, RAW= 50.3, 7.5, CAL= 48.7, 7.4, ROT= 101.3, -7.4 EYgot valid direction response: 21:32:25.4722 LVL= 27872, 32753, 32754, 32755, AGC= 63, IDX= 442,-0.04, 1.695, 1.024,-0.230, 1.091, PHS= 0.707,-0.022,-1.365, RAW= 50.3, 7.5, CAL= 48.7, 7.4, ROT= 101.3, -7.4 MPDAT read: Bearing 304.7, 77.4 (Local) M~Local bearing/azimuth received: Bearing 304.7, 77.4 (Local) ]DAT read: Range 11 to 50 : 161.5 m (Round-trip 215.4 ms) speed -0.1 m/s eR#Rx 1: Read range and direction messages.M^direction in FSK: [-0.194314,0.972447,0.128796]MFpublishing direction and range infoDFCIȿqI?OZ_|?F!CDIFliFDFF?F4? FX9)FRIF`?iF >FY?F A>FoN?F AIDiD)Fyl?yCb*?FF&tFoN? F AIDiDeT****** received valid address query ******eR****** received valid ping request ******iQuerying Benthos address 50 with one ping in standard two-way mode.y;@ٱB@8L<,<H?ՙ? s? ?`؆ ??I;@) n;i \IB H]Mb@Mb@Mb@Y Y)YIYiY]㥛 ?Zd;O?]j<]t)]EAI]EAi]EAY Y]A)AA BDa6D24YƼ!=Q)>99GYv<A>Q 1=]4٪{?Q 5=]4  M`B9=>Q AE:YE7@*F#](ſd/?ƍn?FcCFBF(}$?Ffi FBFIZ? DDFCF?vBY~BYB]HB]pIBB] =BYBYB];B]|EgC addTargetRange:: Added new target pos. range: 161.500000 m, deltaT: 4.032662 s, deltaX: 0.300003 m, approachRate: 0.074393 m/s, rangeRepo size: 4 gC Added new target pos. range: 161.500000 m, bearing: 91.229478 deg, lat: 36.906145 deg, lon: -122.115824 deg, deltaT: 4.032662 s, deltaX: 0.300003 m, approachRate: 0.074393 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 161.50 m.ŠʊgC  ProNav: ac range: 161.500000 m, nav range: 159.736984 m, bearing: 91.229478 deg, approach rate: 0.000000 m/s, LOS rate: 0.146101 deg/s, cmd heading: 91.394816 deg, new cmd heading: 91.652073 deg.  ?"*R!*!!%0d@%)?ɢu+KBuU quIq }׻ɡyiyI} =BDAT read: Tx time:21:32:26.9027 =$Ping request sent.EAabAaZAeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916AyAIIN?Qf,:%AyN&@ٱN@r;N;N(kn H?9r H?9rGYrdGrQ=Ar>tQQ 1U^4٪v~?Q 5]^4v  vH`B9YY]r=Q E]?yvB)vjAA AI! I1 NE > )] G u A) 5AI 㿙 A ~Aǻf,i:%AyJ`@ٱJzK?9zK?9zGYx~M=A~>Q 1 ^4٪?Q 5 ^4\  D`B9 Y^=Q E?y\B):IS:i0^4YB'hAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756469ڊgCFNOT Ignoring new targets: 161.50 m.Š;ʊ;gCU ProNav: ac range: 161.500000 m, nav range: 159.721802 m, bearing: 91.353499 deg, approach rate: -0.019696 m/s, LOS rate: 0.138925 deg/s, cmd heading: 91.842043 deg, new cmd heading: 92.024152 deg. m;m|?qqqqqq"y*yRy*yↅ?ɢ9KB' I _ɡiI:~BCBHB\IBBBBB;BE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006249>A A I I N >f,I ;%AyJ@ٱJ/=J;J m#99GY =A>Q 1^4٪z?Q 5^4  C`B9D>Q A:Ye=Q E?yB):I:iB!^4YgAD B*** querying acoustic contact ***j r ڊgC%FNOT Ignoring new targets: 161.50 m.Š%nF;ʊ%nF;gC= ProNav: ac range: 161.500000 m, nav range: 159.715836 m, bearing: 91.420604 deg, approach rate: -0.015424 m/s, LOS rate: 0.173483 deg/s, cmd heading: 92.024150 deg, new cmd heading: 92.225471 deg. =;=?9999AA"A*ARI*IIIUu?ɢ}?KB}N4 y}I ɡiIoAm(qDM DM DI DI EM ҝ: EM ,:6EI :EI "EM ;!U EM ;!U *EM 2;!U EM 2;!] Ii Iy N >ԙ f,1%;%A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509876yF`@ٱF\E=F(F 99GYeG =A>Q 1%^4٪Ǹ?Q 5%^4  9)Y-=Q E-?yB);I;i0^4Y5B5gA5EڊYgC]FNOT Ignoring new targets: 161.50 m.Šeo2;ʊeo2;gCu ProNav: ac range: 161.500000 m, nav range: 159.706940 m, bearing: 91.490099 deg, approach rate: -0.019968 m/s, LOS rate: 0.156001 deg/s, cmd heading: 92.225469 deg, new cmd heading: 92.433967 deg. u;}?yyyyyy"*R*↍ [?ɢFKB , 顽SI !ɡiIA] #I I N > f,>;%Ay6@ٱ6=606Z<6H`?3 L0? ?`Wݝf?ѿ? ?I6@)6l;i4@BAiBI@@IDiFA F#D)DFC JAJtHHHJ/AIJ})LiL)LIN(ARDP PPR ARQ8iPTiTVA)Vt TIT ZَC)XXXXXb1IBbtHBEG4JEI4RE0DDtD'DE1: Ev:6E'4:E! @!@!@!@vB~BBHBQIBBBBB%;B&EMb@Mb@Mb@ )Ii?~jt?y&1|?f>D<`;)tAIAitA zABD=_6D=.4Y(!P= ûQ)>99GYu=A>Q 1^4٪ǿ?Q 5^4N  F`B9>Q A:YB=Q E?yyB);Io:i>^4YhAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013775ڊygC}FNOT Ignoring new targets: 161.50 m.Š4;ʊ4;gC ProNav: ac range: 161.500000 m, nav range: 159.695816 m, bearing: 91.553410 deg, approach rate: -0.027744 m/s, LOS rate: 0.157916 deg/s, cmd heading: 92.433968 deg, new cmd heading: 92.623913 deg. ;?"*R*@@ɢ5NKB5.n7 9=&I9 =*ɡ9i9I=-IYiYY]3Y@a@a) >A I I % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265887N- >f,X;%A yV=@ٱV=VaV ,99GY)=A> Q 1^4٪ տ?Q 5^4 ֙  J`B9Y=Q E?y B) ;I ;i K^4Y%B%hA%~EڊIgCMFNOT Ignoring new targets: 161.50 m.ŠU5<;ʊU5<;gCe ProNav: ac range: 161.500000 m, nav range: 159.682693 m, bearing: 91.614384 deg, approach rate: -0.035410 m/s, LOS rate: 0.164544 deg/s, cmd heading: 92.623915 deg, new cmd heading: 92.806851 deg. e;eU?aaaiii"q*qRq*qyy} @ɢTKBj9J 顭b I iɡiI:AIYIqN}> f,r;%Ay6E @ٱ6=6Iﻹ6R<6H@?[>r` ??5:@%}???I6E @)63l;i6RCx HIB HBDEe6DE94Y]=!eO=mƿQ)m>q9qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7722009 GYfG%=A->AQ 1^4٪Ef応?Q 5^4E@  EN`B9 Y5H=Q E=?yE0B)E=IE=iE7Z^4YgAڊgCFNOT Ignoring new targets: 161.50 m.Š%;ʊ%; gC- ProNav: ac range: 161.500000 m, nav range: 159.665756 m, bearing: 91.680579 deg, approach rate: -0.036924 m/s, LOS rate: 0.144321 deg/s, cmd heading: 92.806848 deg, new cmd heading: 93.005453 deg. -;-?111111"9*9R9*9AAE @ɢ]KBW#1 页I 5\ɡiIRm~BCBBBBBBg;BEB!B%ǕCB!B% =B% =B%ǝ4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021858a >A #A I I N >Qf,:;%Ay6@ٱ6@=6#6`<6H?.8 x`'? ?`SY?ϟ??I6@)6Pl;i6UCB8IBB}HHuMb@Mb@Mb@q q)qIqiquQ? rh?uC99GYL!=A>Q 1^4٪?Q 5^4  X`B9M>Q A:Y>Q E?yB);I:ilh^4YBgA{EDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 161.50 m.ŠQ;ʊQ;gC  ProNav: ac range: 161.500000 m, nav range: 159.644272 m, bearing: 91.746536 deg, approach rate: -0.059672 m/s, LOS rate: 0.183216 deg/s, cmd heading: 93.005450 deg, new cmd heading: 93.203347 deg. z;7?"*R*!!!% - @ɢcKBaMN   I! -"ɡ)i)I56O A= (D D vD 'D E : E :6E '4:E "E ! E ! *E g;! E g;!  A I I N >I ) < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526035vf,氧;%A99IB~Hi I ;BDe6D94qY:!$=Q)>99GYgGA>Q 1^4٪?Q 5^4  d`B9YQ E?yB);I ;iy^4YgAڊgCFNOT Ignoring new targets: 161.50 m.Š9;ʊ9;gC ProNav: ac range: 161.500000 m, nav range: 159.618225 m, bearing: 91.827346 deg, approach rate: -0.052353 m/s, LOS rate: 0.162454 deg/s, cmd heading: 93.203348 deg, new cmd heading: 93.445818 deg. ;?"*R*    @ɢ5mKB5"e8 9= I9 =+ɡ9i9IE,"A #D D zD *D E : E  :6E (N4:E ! @! @! @! @A @AA ?AvB ~B B HB \IBB B B B ;B SEAa Ii Iy N >jf,;%A0yNʞ@ٱN`>NbbN9i=NH:?YU¿Ф H?d?ߢ1C?` ? !?INʞ@)N_l;iNTCb(IBbiH}Mb@Mb@Mb@y y)yIyiy}/$?V-?I +?}&>}<}9<)}AI}Ai}A}tA yyBDj6DC4checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033847YD!i=pEQ)>99GY=A>Q 1^4٪e?Q 5^4ɖ  n`B9>Q A:YP>Q E?yWB)?;IP;i^4YBhAxEڊ gC FNOT Ignoring new targets: 161.50 m.Š>;ʊ>;gC% ProNav: ac range: 161.500000 m, nav range: 159.590073 m, bearing: 91.885958 deg, approach rate: -0.080116 m/s, LOS rate: 0.166826 deg/s, cmd heading: 93.445819 deg, new cmd heading: 93.621686 deg. %;%!'?!!!)))")*1R1*199="9@ɢetKBe+\ amIi m22ɡiiiIm/v$A5U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285735 Aa Ii Iy N >f,;%Ay6)@ٱ6@$>6偼6W=6H? zĿ⃿j?@?``vll9p9rGYpv9=Av>xQ 1z^4٪z#?Q 5~^4zǕ  zz`B9|Y~Ca>Q E~?yzB)zI;Iz;iz!^4Y ,hA ڊ)gC5FNOT Ignoring new targets: 161.50 m.Š5S>;ʊ=S>;gCM ProNav: ac range: 161.500000 m, nav range: 159.557495 m, bearing: 91.947929 deg, approach rate: -0.087455 m/s, LOS rate: 0.166395 deg/s, cmd heading: 93.621683 deg, new cmd heading: 93.807632 deg. Mc;Mz?IIIIQQ"Q*YRY*YYae@ɢ{KB] 顕%I h9ɡiIT&AqA I I N >i N>f,;%A"checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792953AyU@ٱU@5>UEU=UH }?࣮ƿ#?Fx?@ޤ`H?@?`?IU@)Uck;iUUCE(IBEiHMb@Mb@Mb@ )IiK?v/?S㥛?^>xi=/<)AISAiApA GA) BDX6D!4YU)<!](=]Q)]>Y9a9eGYae=Ae>iQ 1u^4٪m7?Q 5}^4m  m`B9}q>Q A}:Y}M>Q E}?ym+B)m#:Im:im^4YBgAuEڊgCFNOT Ignoring new targets: 161.50 m.Š`C;ʊ`C;gC ProNav: ac range: 161.500000 m, nav range: 159.496841 m, bearing: 92.030863 deg, approach rate: -0.124876 m/s, LOS rate: 0.170812 deg/s, cmd heading: 93.807635 deg, new cmd heading: 94.056528 deg. t;?"*R*ͧ@ɢ KB eJ 2I BɡiIV(A # A IA IQ Ne >I,f,<%AyBE@ٱB@G>B}BY!=BH@Bc?ȿ 凿? N]?@Υ[/?;??IBE@)B5j;iBTCN&IBNgHBDVb6DV[44Y^ݻ!^=^[Q)^ ?`9`9bGYbhGbG^=Af ?dQ 1n^4٪fC?Q 5n^4f  f`B9lYr(>Q Er?yf|B)fq+;If3;ifE^4Y|~hAD=B*** querying acoustic contact ***j9r9ڊQgC]FNOT Ignoring new targets: 161.50 m.Še-=;ʊe-=;gC} ProNav: ac range: 161.500000 m, nav range: 159.454483 m, bearing: 92.085211 deg, approach rate: -0.128870 m/s, LOS rate: 0.165393 deg/s, cmd heading: 94.056527 deg, new cmd heading: 94.219616 deg. };}?ԑ"*R*↽@@ɢKB h 顭I IɡiIn*ADDpD&DEO: E :6E4:E!@!@!@!@I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545876 =Q f,(F+<%Ay:0@ٱ: Y>:h:8*=:H E?`˿?@>? # ?JD?`?I:0@):8Hk;i:RCF5IBJyHBDRG6DR4YV=!ZL=ZQ)Z>\9\9^GY\b5=Ab>dQ 1f^4٪fzS?Q 5j^4f   f`B9hYj3>Q Ej?yfB)fG:If:ifO^4YnBrgArrEڊgC FNOT Ignoring new targets: 161.50 m.Š 9F;ʊ9F;gC% ProNav: ac range: 161.500000 m, nav range: 159.398117 m, bearing: 92.153214 deg, approach rate: -0.143594 m/s, LOS rate: 0.173301 deg/s, cmd heading: 94.219618 deg, new cmd heading: 94.423698 deg. %;%?!!!!))")*)R1*111=r@i=IKC)-G EA)]AIQA7AɢKB Ma 页I SQɡiI+IQiQQUO0Q@eA@eA) IIechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.801004Q>Am?΅II IY Ne >y vB >~B CB HB fIBB B B B # ;B ED D qD *D E  E $ :6E (N4:E "E ;! E ;! *E ! E ! *8f,PE<%Ay%=":<ٱ%l>%վ%&3=%H@B$?@CgͿ[䉿K??#@0ڗ?}a??I%=":<)%>nk;i%UC=(IB]iHchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.049961QMb@Mb@Mb@ )Iix&1?V-?I +??m=9<)pAIAiSAA pAi419195GY9=[=A=>AQ 1M^4٪E g?Q 5M^4Eێ  E`B9?Q A:Yï>Q E?yE_B)E6A rA >jA >I! I9 NE > bf, ^<%Ay6 Z<ٱ6q~>674˼62=6H@?eϿ`2@5x??ɨ e?`X??I6 Z<)6ڋj;i4b+IBbmHBDjc6Dj264Yr+<!rx=v!Q)v?t9t9zGYziGzzY=Az?|Q 1^4٪~Ct?Q 5^4~L  ~`B9 Y >Q E ?y~B)~%:I~:i~^4YBgAnEڊ9gCEFNOT Ignoring new targets: 161.50 m.ŠET;ʊET;gCU ProNav: ac range: 161.500000 m, nav range: 159.271149 m, bearing: 92.294993 deg, approach rate: -0.171844 m/s, LOS rate: 0.185807 deg/s, cmd heading: 94.677555 deg, new cmd heading: 94.849206 deg. U ;U)?QYYYYY"a*aRa*aiim`Q@ɢKBu 顝I 1`aɡiI-/AIaIqN{> 9 u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808386šf,(-y<%Ayb=>=ٱbD>bqټbI3=bH?`п Œ@?`r?=h-? s? ;?Ib=>=)bk;ibSC/IBqHI=)>BDF6D4Ym;!m2=m'xQ)m>q9q9uGYq}=A}>Q 1^4٪?Q 5^4  `B9Y>Q E?y,B);I ;i^4YgAڊ!gC-FNOT Ignoring new targets: 161.50 m.Š-A;ʊ-A;gC= ProNav: ac range: 161.500000 m, nav range: 159.193848 m, bearing: 92.374196 deg, approach rate: -0.165291 m/s, LOS rate: 0.169440 deg/s, cmd heading: 94.849205 deg, new cmd heading: 95.086927 deg. =;=m?9Aaaaa"i*iRi*iqqu@@ɢKB4^ !%| I! %~B)B-HB-pIBB)B)B)B- ;B-`EBE-4JE14REŒ0DeDesDe'DaEea: EeZ:6Ee'4:Ea"EeA;!}EeC;!*Ee];!Ee];!I8i0@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057708I >A #IA IQ N] >M$f,<%A$yr=ٱrU>rh漹r:1=rH? Tѿ\? ?`DC`???Ir=)r^j;irRC (IB iHMb@Mb@Mb@ )Iiw/?Zd;?~jt??y=<)AI$Ai A) BDN6D4Y !V=僻Q)>99GY==A>Q 1^4٪A?Q 5^4  `B9?Q A:Y>Q E?yB);IQ;i-^4YBgAkEDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 161.50 m.ŠE;ʊE;gC ProNav: ac range: 161.500000 m, nav range: 159.123367 m, bearing: 92.442505 deg, approach rate: -0.178442 m/s, LOS rate: 0.173021 deg/s, cmd heading: 95.086929 deg, new cmd heading: 95.291946 deg. |;^?checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309860"*R*@A@ɢ5KB5x 15Z$I1 =Ssɡ9i9I=u2A A! I) I9 NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561785~*f,Kͬ<%Ay6Q=ٱ6^>6uP򼹱6F+=6H@ ?hӿ.0?? ! H?@d?@B?I6Q=)6yj;i6TCB,IBBnHBDJU6DJn4PYV,-<!V^=VQ)Z>X9X9ZGYZjG^D=A^>Q 1_4٪?Q 5_4ֆ  `B9Y>Q E%?yB)f;I;i^_4Y)-gA)ڊQgCUFNOT Ignoring new targets: 161.50 m.Š]W;ʊ]W;gCm ProNav: ac range: 161.500000 m, nav range: 159.050690 m, bearing: 92.509570 deg, approach rate: -0.204140 m/s, LOS rate: 0.188462 deg/s, cmd heading: 95.291944 deg, new cmd heading: 95.493231 deg. mV<m|U?iiqqqq"y*yRy*yↅ@ɢKBǁ 页l%I HzɡiI0%4A.ąA! ) I1 IA NI A! A% AAvB) ~B- CB) B) B) B) B) B- !;B- EBBBBBB#4D D pD 'D E : E  :6E '4:E "E ;! E ;! *E 'R;! E (R;! 1f,<%Ay^)=ٱ^Hף>^k^~,=^Ha\?`1Կaf?@U?`Gu 0̟?`? ?I^)=)^qpj;i\j&IBjfHlEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.065809uMb@Mb@Mb@q q)qIqiqu rh?y&1?~jt?u ?u`e=uD<)qIuAiu$AuΣA quGABD]O6D]c4Yuc!M/=UCQ)U>Y9Y9]GYY]/=Ae>iQ 1_4٪m7?Q 5_4m  maB9N ?Q A:Yp>Q E?ymB)m`eAU ԑ D}D}qD}&DyE}: E}$ :6E}4:Ey!@!@!@!@AIIN>8f,<%Aɰ;;y6<=ٱ6̣>6%"61=6H.?=տ`ܭ`)?'?.u?w2??I6<=)6gi;i6RCB IBB_HiHIHBDN^6DN,4YVY!VA=V8pQ)V>X9X9ZGYX^i2=A^>`Q 1f_4٪b?Q 5f_4b  baB9dYf:>Q Ef?ybB)bp:Ib^;ib#_4YlngAlڊgCFNOT Ignoring new targets: 161.50 m.Š Y;ʊ Y;gC ProNav: ac range: 161.500000 m, nav range: 158.869553 m, bearing: 92.671498 deg, approach rate: -0.217958 m/s, LOS rate: 0.190223 deg/s, cmd heading: 95.761998 deg, new cmd heading: 95.979292 deg. <xk?!!!!!")*)R)*)115[!@ɢKB -I K@ɡiI77AFӅq checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822146A% yAII Ia N >Ա %?f,j<%AyJ8 >ٱJڿ>J J;=JH?iPֿ`h:V;?`?﫿V?U\?@?IJ8 >)Jh;iHTTeMb@Mb@Mb@a a)aIaiaekt?~jt?Mb`?e ?e=e;)aIaieAa aepABD}e6D}94Y:!==NQ)> H?9 H?9GYkG(=A>Q 1_4٪?Q 5_4~  aB9t?Q A:Y)>Q E?yoB)l;I};i12_4YBgAeEڊgCFNOT Ignoring new targets: 161.50 m.ŠX;ʊX;gC ProNav: ac range: 161.500000 m, nav range: 158.780334 m, bearing: 92.753304 deg, approach rate: -0.206329 m/s, LOS rate: 0.189293 deg/s, cmd heading: 95.979294 deg, new cmd heading: 96.224848 deg. <?" * R *u"@ɢEKBE> AEY0IA M.ɡIiIIM#-9<vBY~BYB]HB]zIBB] =BYBYB]=!;B]EiDDpD'DEO: E :6E'4:E"E;!E;!*E!E!I ?i i ) ?)Ii0checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073843ԙ>A#I I N > Ff, X=%A6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325811yB>ٱB5>BBC=BH ? e׿ٳJO? ? G*?;\??IB>)B h;i@NIBRSHIV=)V=BDZM6DZ 4Yb׼!bX=bAyQ)b>d9d9fGYdfC=Aj>hQ 1r_4٪j?Q 5r_4j|  j'aB9pYrg>Q Er?yjB)j ;Ij ;ija?_4YxzhAxD B*** querying acoustic contact ***j r ڊgC%FNOT Ignoring new targets: 161.50 m.Š%V;ʊ%V;gC5 ProNav: ac range: 161.500000 m, nav range: 158.699142 m, bearing: 92.824279 deg, approach rate: -0.214834 m/s, LOS rate: 0.187897 deg/s, cmd heading: 96.224846 deg, new cmd heading: 96.437880 deg. 5<5q?99999A"A*ARA*IIIM 7#@ɢuKB}꓌ y}A5Iy TɡiIY:Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.577805) Iq I N >Y ٱ^>^^ܧI=^H`?uؿ@ڎ]?^?@7n~? .?`?I^dW/>)^-g;i^QCj"IBnbHBDzO6Dzc4Y <! E=PQ)>99GY%E/=A%>1Q 1=_4٪5?Q 5E_45y  51aB9AYE>Q EE?y5UB)5|~BQBQBQBU =BQBQBUh!;BUEDDoDDEa: E:6E:E"EA;! EB;! *EN;! EN;! >A= FӅy I I N > ٱ6"K>6ˊ6Q=6HW?@ٿ@k?L?8 'p?? p?I6ǯA>)6 g;i4rIBr[HuMb@Mb@Mb@q q)qIqiquV-? rh?Mb`uh?uC99GYlG /=A>Q 1_4٪?Q 5_4w  :aB9y?Q A:Y>Q E?yB);Ij;i\_4YBgA_EڊgCFNOT Ignoring new targets: 161.50 m.Še;ʊe;gC  ProNav: ac range: 161.500000 m, nav range: 158.516006 m, bearing: 92.981747 deg, approach rate: -0.226757 m/s, LOS rate: 0.200882 deg/s, cmd heading: 96.672182 deg, new cmd heading: 96.910550 deg.   < ?    "*R*!!%$@ɢLBc 09I *UɡiI(&>  unknown deviceResponse_: 21:32:29.5223 LVL= 18224, 21457, 27890, 25971, AGC= 64, IDX= 426, 0.08,-0.269,-1.326,-2.317,-0.958, PHS= 0.791,-0.323,-1.403, RAW= 60.5, 9.9, CAL= 58.1, 12.2, ROT> BDAT read: Tx time:21:32:37.1528 $Ping request sent.A #Iq I N > D D tD 'D E : E v:6E '4:E ! @! @! @! @GYf,f=%Ay6pS>ٱ6j>6 6UV=6H ?ڿƌ@v??@W? Kª?{?I6pS>)6f;i6RCBIBB\HiDIDBDJQ6DJ4YREc;!R[=VcQ)V>T9T9VGYTZC=AZ>`\Q 1f_4٪^!?Q 5f_4^t  ^BaB9dYf>Q Ef?y^:B)^1;I^:i^i_4YlngAlڊgCFNOT Ignoring new targets: 161.50 m.ŠL;ʊL;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246584gC ProNav: ac range: 161.500000 m, nav range: 158.432800 m, bearing: 93.052098 deg, approach rate: -0.211391 m/s, LOS rate: 0.178827 deg/s, cmd heading: 96.910549 deg, new cmd heading: 97.121713 deg. t;?"*R *    G%@ɢ LBi u;I 9ɡiI%?A)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498228I I N >A V2`f, Ӏ=%AuHBu4HvB~BBBBBBB!;BE-Mb@Mb@Mb@) )))I)i)-Gz?~jtx-?-Ļ-)-ΣAI-Ai-$A) )-ABDEa6DE24YUX!U1=]Q)]>Y9Y9eGYaeAe>iQ 1u_4٪m5?Q 5u_4mq  mLaB9}?Q A}:Y}>Q E}?ymB)m':Im8:imy_4YBThA\EbDZDDDrDDE: E?:6E:E"E2;!E3;!*EoY;!EoY;!ڊgCFNOT Ignoring new targets: 161.50 m.Šb;ʊb;gC ProNav: ac range: 161.500000 m, nav range: 158.340729 m, bearing: 93.140071 deg, approach rate: -0.207339 m/s, LOS rate: 0.198223 deg/s, cmd heading: 97.121711 deg, new cmd heading: 97.385780 deg.  <ڏ?"*R* w&@ɢ-LB-* 15]FI1 5sɡ1i1I5AAe ԡ A AI I N >Xff,V=%A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002260]IB]\HBDm[6Dmy'4yY=!Y=Q)>K?9K?9GYmGA>Q 1_4٪ F?Q 5_4o  UaB9YQ E?y,B):I:iԆ_4YBgAZEDB*** querying acoustic contact ***jrڊagCmFNOT Ignoring new targets: 161.50 m.ŠmS;ʊmS;gC ProNav: ac range: 161.500000 m, nav range: 158.265915 m, bearing: 93.211893 deg, approach rate: -0.192118 m/s, LOS rate: 0.184522 deg/s, cmd heading: 97.385780 deg, new cmd heading: 97.601347 deg. E;# ?"*R*↝W'@ɢ!LBؗ  AI .DɡiIoCAA  I I! N- >lf,ƅ=%AyFI>ٱF0>F/FGZ=FHc?Zݿjҋi?`V?@h%U?@N9??IFI>)Fe;iDnIBr]HBD~?6D~3Y;!Q=&Q)>!9!9%GY!-l>A->9Q 1E_4٪=V?Q 5E_4=l  =^aB9IYMN>Q EM?y=B)=g5;I=_3;i=_4Y]B]gAeWEڊgCFNOT Ignoring new targets: 161.50 m.Š_;ʊ_;gC ProNav: ac range: 161.500000 m, nav range: 158.177429 m, bearing: 93.285473 deg, approach rate: -0.235068 m/s, LOS rate: 0.195580 deg/s, cmd heading: 97.601347 deg, new cmd heading: 97.822211 deg. 9<s?"*R*↽(@ɢ,LBY- lCI 4ɡiIEA?΅bAZAAA@AvB~BBBBBBB!;BE)BEYJE]A84RE]\00DDtD-DEC: Ev:6Et4:E"E;!E;!*E`;!E`;!A I I N% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758490Y ksf,TV=%Ay6Z>ٱ6.>6r46pI]=6H#?v޿#X??  S?垫?%?I6Z>)6e;i6TCBIBBUH Mb@Mb@Mb@  ) I i  kt?Mb99GYk"=A>Q 1_4٪(h?Q 5_4*j  laB9)?Q A:Yv>Q E?yB) ;IG ;i _4YgAڊgCFNOT Ignoring new targets: 161.50 m.ŠU;ʊU;gC ProNav: ac range: 161.500000 m, nav range: 158.082031 m, bearing: 93.362591 deg, approach rate: -0.230977 m/s, LOS rate: 0.186830 deg/s, cmd heading: 97.822208 deg, new cmd heading: 98.053701 deg. 8< ?" * R*!%(@9ɢ}8LB 額HI (`ɡiI>FA AY Ia Iq N >Թ D D wD %D E : E :6E 4:E ! @! @! @! @.yf,b1=%AyRa>ٱRN?RMO8R^=RH@?l߿@zM??@r ? ɫ??IRa>)RTe;iRQC^1IBbtHBDfd6Df 84Ync=!rU=r0Q)r>t9t9vGYvnGv7=Av>xQ 1~_4٪z%x?Q 5_4ztg  zzaB9Y=>Q E?yzB)z;Iz;izw_4Y B ugA TEڊ1gC=FNOT Ignoring new targets: 161.50 m.Š=uS;ʊEuS;gCM ProNav: ac range: 161.500000 m, nav range: 157.990646 m, bearing: 93.433463 deg, approach rate: -0.238240 m/s, LOS rate: 0.184870 deg/s, cmd heading: 98.053704 deg, new cmd heading: 98.266442 deg. U;U?QQQQQY"Y*YRa*aaae)@ɢBLB7 顕`DI ɡiIlHA#u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514295A I I N >!  f,>%Ay >ٱ G? @U; :[= H/?-?@Y?Ih? \??I >) qZe;i PC%&IB%gH )-AvB>~BBHBIBBBBB!;BEBiBmCBiBiBiBm4Mb@Mb@Mb@ )IiS?~jtQ??Du<)IAiA\A zABD^6D,4Y!9= ںQ) > 99GYK=A>Q 1%_4٪\?Q 5%_4Md  aB9-0?Q A-:Y-i?Q E-?yB)K;I;i_4Y1=gA9DDoD)DE~: E:6EFA4:E"Es;!Et;!*EN;!EN;!ڊigCmFNOT Ignoring new targets: 161.50 m.ŠuA;ʊuA;gC ProNav: ac range: 161.500000 m, nav range: 157.884323 m, bearing: 93.514370 deg, approach rate: -0.222709 m/s, LOS rate: 0.169585 deg/s, cmd heading: 98.266444 deg, new cmd heading: 98.509327 deg. ;k?"*R*↽*@ɢ-PLB5 15kJI1 5$_ɡ9i9I=}0JAU FӅrA] >jA] > q q } BDAT read: Rx Time:21:32:39.7707 } TRx dataTimestamp_ set to:1754688760.441235} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019555ԉ A I I N >gf,>%Ay:>ٱ: ?:N?::Y=:H"S?A@(@?VF?ѱ?`G,?@?I:>):@/e;i:RCF!IBFaHBDNV6DNE4YV+P!VH=VQ)Z>X9X9^GY\^,=A^>`Q 1f_4٪b?Q 5f_4bOa  baB9dYj?Q Ej?ybwB)b ;Ib* ;ib3_4YnBngAnQED}B*** querying acoustic contact ***jyryڊgCFNOT Ignoring new targets: 161.50 m.Š*Y;ʊ*Y;gC ProNav: ac range: 161.500000 m, nav range: 157.783127 m, bearing: 93.588394 deg, approach rate: -0.259389 m/s, LOS rate: 0.189861 deg/s, cmd heading: 98.509325 deg, new cmd heading: 98.731538 deg. L<?  "*R*Gr+@ɢ\LBu$ !%NI! -üɡ)i)I-KA% Q Aq I I N >㕍f,P8>%AyeՓ>ٱe?eKCeV [= DAT read: 21:32:39.7707 LVL= 23008, 27857, 32754, 30323, AGC= 65, IDX= 425, 0.19,-1.606, 2.891, 2.881,-2.549, PHS= 1.045,-0.798,-0.896, RAW= 87.4, 6.9, CAL= 86.7, 5.6, ROT= 63.3, -5.6 Ygot valid direction response: 21:32:39.7707 LVL= 23008, 27857, 32754, 30323, AGC= 65, IDX= 425, 0.19,-1.606, 2.891, 2.881,-2.549, PHS= 1.045,-0.798,-0.896, RAW= 87.4, 6.9, CAL= 86.7, 5.6, ROT= 63.3, -5.6 PDAT read: Bearing 196.8, 66.2 (Local) ~Local bearing/azimuth received: Bearing 196.8, 66.2 (Local) -DAT read: Range 11 to 50 : 160.2 m (Round-trip 213.7 ms) speed 0.2 m/s -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.447175,0.889108,0.097583]5Fpublishing direction and range info[?YOs?A_1?3 CIYilsvAA…? IL)B`eI@?iϢ=?+=i?+ȽIi)%?s!.cʾ?b"i? +ȽIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.eH ?9 ?`?`g?`U? ?IeՓ>)e/Se;iePC}$IB}dHBDJ6D04qY;!=0޺Q)>99GYoG|<A>A A <vB~BCBHBIBBBBB!;BEQ 1u_4٪?Q 5u_4\  aB9qYu% ?Q Eu?yB)W:I:i@_4Y}BgANEz<>%A3 Cʋ?22 Q@]La@ߚC/@"[?YOs?A_1?i?‹+Ƚ: ?z-/?5¥c@?͕:@*Y,`[ H71e?CC?.C!}*|?i/ ˙B*|? i/ C?gC  addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 14.114913 s, deltaX: -1.300003 m, approachRate: -0.092101 m/s, rangeRepo size: 4 gC Added new target pos. range: 160.199997 m, bearing: 95.747105 deg, lat: 36.906094 deg, lon: -122.115825 deg, deltaT: 14.114913 s, deltaX: -1.300003 m, approachRate: -0.092101 m/s, posRepo size: 4 ڊ!DmDiDm'DiEmҝ: Ei6Em'4:Ei"Em;!uEm;!}*Em];!}Em];!}gCFNOT Ignoring new targets: 160.20 m.ŠʊgC ProNav: ac range: 160.199997 m, nav range: 157.974380 m, bearing: 95.747105 deg, approach rate: 0.000000 m/s, LOS rate: 0.189861 deg/s, cmd heading: 98.731539 deg, new cmd heading: 99.064926 deg. ,P?"*R*`fd@%?ɢ5nLB=! Y]sRIY e˼ɡaiaIeM m BDAT read: Tx time:21:32:40.9528 u $Ping request sent.u A?΅AIIQIaNu ?f,6x[>%Ay:>ٱ:?:^tJ:{`=:Hk?@ d?R]?@첲K?@??I:>):|e;i8F-IBFoHNchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249696Mb@Mb@Mb@ )Iim?~jt???D<<)I$Ai ABD^6D,4Yͯ<!K=ԱQ)>99GY4=A>Q 1_4٪?Q 5_4Y  aB9?Q A:Y?Q E?yB)T;I;iY_4YpgAڊgC FNOT Ignoring new targets: 160.20 m.ŠW;ʊW;gC% ProNav: ac range: 160.199997 m, nav range: 157.863907 m, bearing: 95.817787 deg, approach rate: -0.294407 m/s, LOS rate: 0.188497 deg/s, cmd heading: 99.064927 deg, new cmd heading: 99.277122 deg. %]<%?!!!!))"1*1R1*119=5?ɢexLBe amRIi m^мɡqiqIuhOA#Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502083A I! I1 NE >Q Xf,@u>%AyVR>ٱVI?V,NVd=VH`?Kށ`Zw?a?4©??`?IVR>)V>e;iVSCj+IBjmHBDv]6Dv'+4YO!V= 6Q) >99GYWE=A>!Q 1-_4٪%?Q 5-_4%@V  %aB9)Y-"?Q E-?y%B)%:I%:i%_4Y5B=\gA9ڊagCmFNOT Ignoring new targets: 160.20 m.ŠmmF;ʊmmF;gC} ProNav: ac range: 160.199997 m, nav range: 157.756256 m, bearing: 95.884041 deg, approach rate: -0.281678 m/s, LOS rate: 0.173478 deg/s, cmd heading: 99.277121 deg, new cmd heading: 99.476018 deg. ;G;?"*R*↝ ?ɢLBz( ;VI ӛռɡiIaQAvB>~BCBHBIBBBBB!;BEԙDu Du pDu )Dq Eu O: Eu  :6Eu FA4:Eq "Eu ;!} Eu ;!} *Eu 'R;!} Eu (R;!} I I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005581Թ f,z>%Ay68m>ٱ6S@??N_)?ج?@E?I68m>)6d;i6OC^JIB^H ddMb@Mb@Mb@ )IiV-?kt??h? 0=)ISAi ABDC6D3YÎ=!<=dQ)>99GYpG .=A >Q 1-`4٪?Q 5-`4R  aB95?Q A=:Y=05?Q E=?yxB)jv;Ij;i `4YMBMfAUKEڊgCFNOT Ignoring new targets: 160.20 m.ԑŠ@;ʊ@;gC ProNav: ac range: 160.199997 m, nav range: 157.615555 m, bearing: 95.958060 deg, approach rate: -0.318903 m/s, LOS rate: 0.167916 deg/s, cmd heading: 99.476016 deg, new cmd heading: 99.698270 deg. z;c?)"1*1R1*999=V?ɢLB4^ 顕RI ۼɡiI%SAM ?΅II IY Ne > ĩf,>%ADDrD(DE: E?:6Ec44:E!@!@!@!@y^L>ٱ^E''?^PgT^Gd=^H 'b?{}*j?`mR?@/`@މ?]{? I?I^L>)^Md;i^PCj1IBjtHBDr<6Dr3Yz!z\=~xQ)>99GY DK=A >Q 1`4٪?Q 5`4XN  bB9Y%9?Q E%?yB);I;i`4Y-B-?gA-IEDMB*** querying acoustic contact ***jIrIڊQgC]FNOT Ignoring new targets: 160.20 m.ŠeB;ʊeB;gCu ProNav: ac range: 160.199997 m, nav range: 157.493439 m, bearing: 96.020045 deg, approach rate: -0.334886 m/s, LOS rate: 0.170117 deg/s, cmd heading: 99.698270 deg, new cmd heading: 99.884369 deg. u;u$?qyyyyy"*R*↍@?ɢLB~ [I ɡiITA5#IIN>I - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773570f, >%A yml>ٱm +?m%Vm;b=mH?`^i{ ?:?@if@>֪?9?C?Iml>)mc;imQCAAvB~BB HBIBBBBB!;BED-D-pD-&D)E-: E- :6E-4:E)"E-;!=E-;!=*E)!=E)!=a5AIB=HIA)E=Mb@Mb@Mb@ )IiGz?Q???\=)-AIAiƬA zAiI<BD`6D04Y<!=0Q) > 9 9 GY =A>Q 1%`4٪?Q 5%`4H  .bB9%?Q A-:Y-J?Q E-?yB):I:i,`4Y5B5fA5FEڊYgC]FNOT Ignoring new targets: 160.20 m.Še6;ʊe6;gCu ProNav: ac range: 160.199997 m, nav range: 157.300247 m, bearing: 96.105782 deg, approach rate: -0.359821 m/s, LOS rate: 0.159881 deg/s, cmd heading: 99.884372 deg, new cmd heading: 100.141896 deg. us;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025637u?"*R*↝@B@ɢLBv棽 0[I 1ɡiIyVA N؅I I N >նf,>%AP`bAibjI``IdifA dd)dh jAjĻhhln;AIn)lrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.277634it)tIv3Av`t xxz(AzԼixxi|~A)~u |I| )0IBsHBDY6D#4Y`!=%Q)%?!9!9-GY-qG-A-?1Q 1=`4٪5J œ?Q 5=`45YE  5AbB9AYAQ EE?y5B)5\:I52:i5e7`4YIM6gAIڊqgCuFNOT Ignoring new targets: 160.20 m.Š}97;ʊ}97;gC ProNav: ac range: 160.199997 m, nav range: 157.189682 m, bearing: 96.155014 deg, approach rate: -0.359494 m/s, LOS rate: 0.160187 deg/s, cmd heading: 100.141898 deg, new cmd heading: 100.289698 deg. ; ?"*R*↥E@ɢ-LB-*ɽ QUbIQ UɡQiQIU*XA #Iy I N >) kf,>%A(i(yN&>ٱN 5?NG\Nd=NH:?`-!r@ ? )?ʳ@?@u?@g?IN&>)Nkc;iNOCMIBHBD-[6D-y'4Ym#=!mV=mQ)u>q9q9uGYq}=A}>Q 1`4٪œ?Q 5`4$A  XbB9YT?Q E?yHB):I:iD`4Y}BfACEڊgCFNOT Ignoring new targets: 160.20 m.Š$1;ʊ$1;gC] ProNav: ac range: 160.199997 m, nav range: 157.046585 m, bearing: 96.214111 deg, approach rate: -0.374660 m/s, LOS rate: 0.154870 deg/s, cmd heading: 100.289696 deg, new cmd heading: 100.467148 deg. ];]r?YYYaaa"a*iRi*ii @ɢLB !%^I! %ɡ!i!I%ZA BEc44JE34RE/DM DM DM 'DI EM s: EM .:6EM '4:EI "EM ;!] EM ;!] *EM ;!e EM ;!e Ii I N ԉ  BDAT read: Rx Time:21:32:43.5693  TRx dataTimestamp_ set to:1754688764.233027 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034592Lf,c?%Ay6f?ٱ6:?6P9`6nc=6H?^ oFL??峿?T?@)?I6f?)6)c;i6QCbKIBbHihIh prAaMb@Mb@Mb@ )Ii/$?J +?~jt?&?=<)AISAiAA BDK6D 4Y-\!-?=5Q)5>9999=GY9=9=A=>AQ 1M`4٪Er"œ?Q 5M`4E< Q 9UtI EpbB9Ub?Q AU:YU9f?Q EU?yEB)E;IE;iES`4YYefAaڊgCFNOT Ignoring new targets: 160.20 m.Š(;ʊ (;gC ProNav: ac range: 160.199997 m, nav range: 156.872025 m, bearing: 96.277210 deg, approach rate: -0.407076 m/s, LOS rate: 0.147310 deg/s, cmd heading: 100.467144 deg, new cmd heading: 100.656651 deg. %2;%~?!!!!!)"I*IRQ*QQQU`.[ @ɢLB 顥bI ɡi!I%\<ԉI~?ii)~?) I]9iYY]0Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286304Ա>A FӅ D] D] oD] )DY E] : E] :6E] FA4:EY !e @!e @!m @!m @A I I N >Uf,X+?%AyB?ٱB~??BAcBe=BH`d?@c-d?`[S?2{??o?IB?)B6c;iBPCA]DAT read: 21:32:43.5693 LVL= 22368, 28193, 32754, 31523, AGC= 66, IDX= 427,-0.01, 0.672,-1.024,-0.806,-0.071, PHS= 0.844,-0.908,-0.780, RAW= 93.8, 10.0, CAL= 93.8, 10.8, ROT= 56.2, -10.8 eYgot valid direction response: 21:32:43.5693 LVL= 22368, 28193, 32754, 31523, AGC= 66, IDX= 427,-0.01, 0.672,-1.024,-0.806,-0.071, PHS= 0.844,-0.908,-0.780, RAW= 93.8, 10.0, CAL= 93.8, 10.8, ROT= 56.2, -10.8 mPDAT read: Bearing 215.3, 58.9 (Local) m~Local bearing/azimuth received: Bearing 215.3, 58.9 (Local) }DAT read: Range 11 to 50 : 159.3 m (Round-trip 212.4 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.546442,0.816265,0.187381]NIBHFpublishing direction and range infoQu t|?go?0i?LCI`Wi!n#{BbX? rh)GI?i¸2>?A>{?AIi)wBC?bJ3tۿwkIY9Y9]GYYrG:!=A>Q 1`4٪1œ?Q 5`46  bB9 Y @k?Q E ?yXB)E  BDAT read: Tx time:21:32:44.8528  $Ping request sent. A  DDD*DEs: E6E(N4:E"E!E!*EN;! EN;! AIIN?f,oL?%Aɰ499GY<=A>Q 1`4٪j=œ?Q 5`40  bB9]?Q A:Yp?Q E?yB) ;I ;i/t`4YfADB*** querying acoustic contact ***jrڊ gC FNOT Ignoring new targets: 159.30 m.Š:;ʊ:;gC ProNav: ac range: 159.300003 m, nav range: 157.029282 m, bearing: 98.102033 deg, approach rate: -0.459575 m/s, LOS rate: 0.163126 deg/s, cmd heading: 100.896497 deg, new cmd heading: 101.085903 deg. %;%?!!!!))")*1R1*111=@1?ɢLB"5ʽ  $hI  ɡiIg`A #ԙ AI IQ Ia Nu >7f,f?%Ay6?ٱ66I?6@k6t=6H5?۽_?@Ϊ?|n?@2` n???I6?)6W%c;i6QCB9IBB}HIF=)F=BDJJ6DJ04YR눽!R^=VQ)V>T9T9ZGYXZ[=AZ>\Q 1b`4٪^Gœ?Q 5b`4^3,  ^bB9dYfu?Q Ef?y^DB)^:I^:i^`4YhjgAj>Eڊ|gCFNOT Ignoring new targets: 159.30 m.ŠU%;ʊU%;gC ProNav: ac range: 159.300003 m, nav range: 156.873856 m, bearing: 98.155166 deg, approach rate: -0.422404 m/s, LOS rate: 0.144544 deg/s, cmd heading: 101.085905 deg, new cmd heading: 101.245463 deg. f;>/?!!"!*!R)*)))-?ɢ]LB]н Y]qIY eɡaiaIeb/?iiii)m>/?)qԹDDtD&DE1: Ev:6E4:E!@!@!@!@I9iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754809>A?΅bAZAAA I I N- >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006531if,?%Ay6?ٱ6MO?6n6y=6H?.p???| ٭? ,??I6?)6b;i6PCBQIBBHBDJB6DJ3Y*m=!D=JQ)>99GYsG%{B=A%>)Q 15`4٪- Sœ?Q 55`4-&  -bB91Y5z?Q E5?y-B)-;I-/;i-`4YE{BEfAE;EڊigCmFNOT Ignoring new targets: 159.30 m.Šu";ʊu";gC ProNav: ac range: 159.300003 m, nav range: 156.694519 m, bearing: 98.214263 deg, approach rate: -0.429330 m/s, LOS rate: 0.141638 deg/s, cmd heading: 101.245465 deg, new cmd heading: 101.422956 deg. h;?"*R*↝,?ɢMBvǽ  oI  ɡiIeAqA yAI I! N) ԙ If,\?%AHiHyf?ٱffT?fc\sf({=fH *? _t??@?ɵf?Q?@-?If?)f+Ob;idbIBH]Mb@Mb@Mb@Y Y)YIYiY]|?5^?/$?~jth?]?]=]D;)YIYi]A]A Y]AqBDm06Dm3Y=!4=IQ)> H?9 H?9GY@2=A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510605QQ 1U`4٪U `œ?Q 5]`4U   UbB9]?Q A]:Y]:y?Q E]?yULB)Uv:IU]:iU=`4YamTfAiڊgCFNOT Ignoring new targets: 159.30 m.ŠI";ʊI";gC ProNav: ac range: 159.300003 m, nav range: 156.492126 m, bearing: 98.282047 deg, approach rate: -0.423086 m/s, LOS rate: 0.141882 deg/s, cmd heading: 101.422954 deg, new cmd heading: 101.626571 deg. ;3 ?"*R*?ɢ5MB5D 157oI1 = ɡ9i9I=C?gA% #u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763285 A] AIa Iy N > f,o?%AyBr ?ٱBY?BqwBow=BH ??5pv?? ~ ?ε _?`? ?IBr ?)Ba;iBQCTVHi\I\ \^ABDjd6Dj 84YrL:!rg=v8Q)z>zK?9zK?9~GY|~a=A> Q 1`4٪ hœ?Q 5`4   bB9Y=~?Q E%?y B) 8;I 9;i `4Y)5RfA1ڊgCFNOT Ignoring new targets: 159.30 m.Š4;ʊ4;gC ProNav: ac range: 159.300003 m, nav range: 156.346375 m, bearing: 98.329120 deg, approach rate: -0.414341 m/s, LOS rate: 0.133943 deg/s, cmd heading: 101.626569 deg, new cmd heading: 101.767919 deg. ط; Z?!!!)))")*1R1*111= A@ԡɢ+MBG׽ FrI TzɡiIViIichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014544>AFӅ vB= >~B9 B= JHB= IBB9 B9 B9 B= !;B= EA rD jD R=D D D &D E a: E 6E 4:E "E A;! E B;! *E Zd;! E [d;! I I! N5 >) 0kf,V?%Ay6%?ٱ66^?6e{6;y=6H]?Bo7|?@Y[?+?O$^?V ?@n?I6%?)6a;i4BrIBBHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266547mMb@Mb@Mb@i i)iIiiimʡE?Dl?Mb`?m-?mO=m;)m-AIiim$Ai imABDQ6D4Y=!?=Q)>99GYtG:8=A>Q 1`4٪jtœ?Q 5`4<  bB9=?Q A:Y|?Q E?yC)f;I[f;i`4YzB fA 8EDEB*** querying acoustic contact ***jArAڊYgCeFNOT Ignoring new targets: 159.30 m.ŠmN%;ʊmN%;gC ProNav: ac range: 159.300003 m, nav range: 156.162766 m, bearing: 98.389287 deg, approach rate: -0.440513 m/s, LOS rate: 0.144521 deg/s, cmd heading: 101.767920 deg, new cmd heading: 101.948631 deg. ];d?" * R *1115s@ɢ};MB}˽ 顅VrI ɡiIekA A I I N >,f,Y1?%Aɰ; y:*?ٱ:b?:~:y=:H 1?B?H?`<?# ? a(??I:*?):a;i:OCnvIBnHBDvZ6Dv%4Y~:<!~W=~Q)>99GY /M=A >Q 1`4٪-~œ?Q 5`4j   cB9Yр?Q E%?yNC);I;i+`4Y)-eA)ڊQgCUFNOT Ignoring new targets: 159.30 m.Š] ;ʊ] ;gCm ProNav: ac range: 159.300003 m, nav range: 155.998749 m, bearing: 98.441168 deg, approach rate: -0.443481 m/s, LOS rate: 0.140428 deg/s, cmd heading: 101.948633 deg, new cmd heading: 102.104440 deg. m;m?iiqqqq"y*yRy*yↅ%@ɢHMBC޽ 页_tI ɡDDDHDE ; E:6E-5:E!@!@!@!@iImA# A I I N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022473}f, @%Ay6/?ٱ6g?6᱀6Pu=6H`?x3UL?L??`??!?I6/?)6|a;i4`fnIBfHf>fx9x9~GY|~A=A>Q 1 `4٪Eœ?Q 5 `47   cB9YB?Q E?yC)6:I:i=`4YfA%7EڊagCmFNOT Ignoring new targets: 159.30 m.Šm;ʊm;gC} ProNav: ac range: 159.300003 m, nav range: 155.821075 m, bearing: 98.495403 deg, approach rate: -0.436945 m/s, LOS rate: 0.133529 deg/s, cmd heading: 102.104443 deg, new cmd heading: 102.267332 deg. G;w?"*R*↝`y @ɢWMBc׽ ;zI VɡiI0o~BBWHBIBBBBB!;BEIu8iyy0bDZD@ADDD*DE: Ega:6E(N4:E"E;!E;!*E;!E;!BDAT read: Rx Time:21:32:47.4671 %TRx dataTimestamp_ set to:1754688768.265050%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275575)>AA I I N >A 8f,@%Ay6^4?ٱ6l?6$6x=6H|=?`T?+}?@%? RA? ?]?I6^4?)6Za;i4BIBBH Mb@Mb@Mb@  ) I i  X9v?/$?99GYuG5=A>Q 1`4٪œ?Q 5`4  0cB9?Q A:Y~?Q E?yC)?;I;i `4YyBeA4EڊgCFNOT Ignoring new targets: 159.30 m.ŠZ";ʊZ";gC  ProNav: ac range: 159.300003 m, nav range: 155.636993 m, bearing: 98.555237 deg, approach rate: -0.436165 m/s, LOS rate: 0.141940 deg/s, cmd heading: 102.267330 deg, new cmd heading: 102.447044 deg.  ; p? "*R*!!!%`E&@ɢMfMBMRֽ QUyIQ ]S*ɡYiYI]!rAi} DAT read: 21:32:47.4671 LVL= 25888, 32753, 32754, 32755, AGC= 65, IDX= 421,-0.03, 0.146,-1.668,-1.015,-0.573, PHS= 0.822,-1.050,-0.486, RAW= 107.1, 8.6, CAL= 108.5, 9.7, ROT= 41.5, -9.7  Ygot valid direction response: 21:32:47.4671 LVL= 25888, 32753, 32754, 32755, AGC= 65, IDX= 421,-0.03, 0.146,-1.668,-1.015,-0.573, PHS= 0.822,-1.050,-0.486, RAW= 107.1, 8.6, CAL= 108.5, 9.7, ROT= 41.5, -9.7  PDAT read: Bearing 220.3, 45.2 (Local)  ~Local bearing/azimuth received: Bearing 220.3, 45.2 (Local) ԡ  DAT read: Range 11 to 50 : 157.6 m (Round-trip 210.2 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.738248,0.653147,0.168489] Fpublishing direction and range info) - Ⱥ?SoM?RV?- C) I- ei- ) - - A- nR? - ff)- I- C?i- `>- .d?- -\->- }l9?- -\-I) i) )- LdvT?PvM̿ex4?- f- =;- }l9? - -\-I) i)  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A IA IQ N > f,.6@%A i I%IB%HBD5c6D5264Ym o=!m;=mQ)m>q9q9uGYquA}>Q 1`4٪œ?Q 5`46  FcB9YQ E?y C):I:if`4Y`eAz!%^,1@%A%Cʋ%)?2%ܘsD]@Y@A^='΍:@"%Ⱥ?SoM?RV?%}l9?‹%-\-:%(e3b@ J D@*%p۾􄳿*[?@FnF?%C%D@%ڵs?%_ %B! %_ %˙B%C%?gC addTargetRange:: Added new target pos. range: 157.600006 m, deltaT: 4.031227 s, deltaX: -1.699997 m, approachRate: -0.421707 m/s, rangeRepo size: 4 gC Added new target pos. range: 157.600006 m, bearing: 98.714466 deg, lat: 36.906052 deg, lon: -122.115845 deg, deltaT: 4.031227 s, deltaX: -1.699997 m, approachRate: -0.421707 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 157.60 m.ŠʊgC ProNav: ac range: 157.600006 m, nav range: 153.718826 m, bearing: 98.714466 deg, approach rate: 2553.546875 m/s, LOS rate: 0.141940 deg/s, cmd heading: 102.447046 deg, new cmd heading: 102.634701 deg. I?"!*!R!*!!-@3c@-9?ɢUwMBUb?ӽ Q]5wIY ]UɡYiYI]ot eBDAT read: Tx time:21:32:48.8028 m$Ping request sent.mA FӅBE=ʷG4JE=ʣf4RE= 2D D oD .D E : E :6E ـ4:E "E ;! E ;! *E N;! E N;! A yAI I N- >f,O@%Ay6=?ٱ6v?66=6HG?`B?.?-?@?`??I6=?)6`Ua;i6PCjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251094rIBvHixIx xzAԹMb@Mb@Mb@ )IiM?I +?/$?n?9<<)IAi ץABDW6D 4YS7<!T=NQ)> H?9 H?9GY=A> Q 1a4٪  œ?Q 5a4 V  ]cB9?Q A:Y^?Q E?y AC) ӪAA= AA II Ia Nm >f,i@%Ay6B?ٱ6z?6N6n=6H\?OՐ?s??ư? B??I6B?)6a;i6MCBIBBHBDJC6DJ3YR)!Rb=ReQ)V>VK?9VK?9VGYTZU=AZ>\Q 1ba4٪^>œ?Q 5ba4^  ^scB9`Yb?Q Ef?y^vC)^ ;I^;i^a4YjxBjeAj1Eڊ|gC~FNOT Ignoring new targets: 157.60 m.ŠJ';ʊJ';gC ProNav: ac range: 157.600006 m, nav range: 153.398071 m, bearing: 98.818841 deg, approach rate: -0.457229 m/s, LOS rate: 0.146256 deg/s, cmd heading: 102.798343 deg, new cmd heading: 102.948152 deg. ;?"!*!R!*!))-`k}?DDrD,DE: E?:6Eg4:E!@!@!@!@ɢMBN 䁿I k%ɡiIS yA#qAe yAIi Iy N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005294ԙ f,@%Aɰ4  H?9  H?9 GY vG 0=A >Q 1a4٪rœ?Q 5%a4_  cB9!Y%c?Q E%?yC)j;I;i a4Y)-dA1ڊYgC]FNOT Ignoring new targets: 157.60 m.ŠeF;ʊeF;gCu ProNav: ac range: 157.600006 m, nav range: 153.215500 m, bearing: 98.875268 deg, approach rate: -0.438712 m/s, LOS rate: 0.135753 deg/s, cmd heading: 102.948149 deg, new cmd heading: 103.117630 deg. uT;u]?qqyyyy"*R*↍ 9g?ɢMB 顽.|I )ɡiI^{~BaBeHBeJBBaBaBaBe!;BeEB9B9B9B9B9B=G4ԉI]8iYYe^2aDDD(DE%: E3:6Ec44:E"E;!E;!*E;!E;!ԡI?)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258364>A?΅A AI I N > 'f,aq@%A~IB~6H%=K?9K?9GYA>Q 1a4٪œ?Q 5a4  cB9?Q A:Y?Q E?yC);IK ;i ,a4YdA /Eڊ)gC5FNOT Ignoring new targets: 157.60 m.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509554ŠE';ʊE';gCU ProNav: ac range: 157.600006 m, nav range: 153.025803 m, bearing: 98.938193 deg, approach rate: -0.439830 m/s, LOS rate: 0.146078 deg/s, cmd heading: 103.117634 deg, new cmd heading: 103.306642 deg. U;] ?YYYYYY"a*aRa*aiimrT?ɢMBܽ 顝|yI Ӆ,ɡiI}A)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762446A I I N >Y z3-f,^@%AIBKHBD6DY],=!]R=aQ)e>a9a9mGYiiAm>qQ 1}a4٪uaœ?Q 5}a4u  ucB9YQ E?yu.C)u:Iu:iu9a4YwB9dA,EڊgCFNOT Ignoring new targets: 157.60 m.Ši';ʊi';gC ProNav: ac range: 157.600006 m, nav range: 152.854645 m, bearing: 98.995154 deg, approach rate: -0.439302 m/s, LOS rate: 0.146363 deg/s, cmd heading: 103.306639 deg, new cmd heading: 103.477713 deg. ;+?"*R*\D@ɢMB %yI */ɡiI A AIAMAAvBQ~BQBUHBUEJBBU =BQBQBQBQԉ A} yAI D D pD %D E  E  :6E 4:E "E ;! E ;! *E 'R;! E (R;! I N a4f,j1@%A08i8Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265892yz]U?ٱzˆ?z?z~=zHw?`f??b`?@d?@? C?Iz]U?)zC`;izNC IB lHMb@Mb@Mb@ )Iix? ףp= ?Q8=)IAiA 3ABD=6D3YL=!D=NQ)> H?9 H?9GYwGn>A>qQ 1}a4٪u"œ?Q 5}a4u  ucB9}?Q A:Y/?Q E?yuoC)u:Iu:iuHa4YcADB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 157.60 m.Š6;ʊ6;gC ProNav: ac range: 157.600006 m, nav range: 152.655792 m, bearing: 99.055470 deg, approach rate: -0.455424 m/s, LOS rate: 0.138319 deg/s, cmd heading: 103.477714 deg, new cmd heading: 103.658897 deg. ڽ;?"*R* @ɢMBݽ vI 3ɡiI.1A% FӅ AU AIa Iq N} > A:f,2@%Ay6Z?ٱ6?6r6C=6H?@`?`? \?֊?ȯ?@?I6Z?)6`;i6MCBIBBiH DD)H HBDJK6DJ 4YVR!V^=VкQ)V>ZK?9ZK?9ZGYXZI=A^>``Q 1fa4٪buœ?Q 5fa4b  bdB9hYj?Q Ej?ybC)b`:Iby:ib)Ua4DaDaDe'DaEa Ea6Ee'4:Ea!m@!m@!m@!m@YqucAqڊgCFNOT Ignoring new targets: 157.60 m.Šk;ʊk;gC ProNav: ac range: 157.600006 m, nav range: 152.494720 m, bearing: 99.102692 deg, approach rate: -0.439156 m/s, LOS rate: 0.128885 deg/s, cmd heading: 103.658899 deg, new cmd heading: 103.800714 deg. ;?"*R*@ı@ɢMB5 2{I 6ɡiIUArA>jA>A I I N >A e BDAT read: Rx Time:21:32:51.4148 m TRx dataTimestamp_ set to:1754688772.045071m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022490(Af,LA%Ay>p^?ٱ>y?>=܍>?=>H? _X? oL?P?P 深? m?.?I>p^?)>m`;i>OCJ JBJHBD-F6D-4Y5<=!=B=]ӺQ)]>a9a9eGYae0=Am>iQ 1ua4٪mHœ?Q 5a4mM  m6dB9Yڊ?Q E?ymC)m;Im;im da4YcAڊgCFNOT Ignoring new targets: 157.60 m.vB~BBHBnJBB =BBB!;BEŠ;ʊ;gC% ProNav: ac range: 157.600006 m, nav range: 152.295258 m, bearing: 99.159155 deg, approach rate: -0.480885 m/s, LOS rate: 0.136303 deg/s, cmd heading: 103.800714 deg, new cmd heading: 103.970322 deg. -;-E?)))))1"Q*QRY*YYYe`f @ɢMB zI x9ɡiIA #ԡ A5 yAIA IQ Ne >qYGf,VA%Aɰ;y6tc?ٱ6׍?6Y6ԁ=6H?' = H?9E H?9EGYExGE<=AE>ԉQ 1a4٪œ?Q 5a4L -checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528230 ^dB9M?Q AM:YUb?Q EU?y%C)A5 I ?i A> t@ Q > a? Q I i ) X?3Bo? b  a? Q I i m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode. Am AIq I N >ՠMf,9)9A%Ay64h?ٱ6D7?6񏽹6ir=6Hn?E@S?? ~0?k? w??I64h?)6`;i6OC%-JB%HBDUG6DU4Yex=!eD=mYQ)m>mK?9mK?9GԱYk2=A>Q 1a4٪ Ü?Q 5a4^  dB9Yď?Q E?yeC);I;ia4YbA'Ez83A%ACʋii?2u}_@'۠V@O;6@"Yp?0*T(?/8ٲ?a?‹Q :#9fjb@VAʉB@*b:(Ŀ:m_?-p?SC? 3n =B? fi =BCb?gCe addTargetRange:: Added new target pos. range: 155.899994 m, deltaT: 4.032013 s, deltaX: -1.700012 m, approachRate: -0.421629 m/s, rangeRepo size: 4 gC Added new target pos. range: 155.899994 m, bearing: 99.544734 deg, lat: 36.906046 deg, lon: -122.115850 deg, deltaT: 4.032013 s, deltaX: -1.700012 m, approachRate: -0.421629 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 155.90 m.ŠʊgC ProNav: ac range: 155.899994 m, nav range: 151.606827 m, bearing: 99.544734 deg, approach rate: 0.000000 m/s, LOS rate: 0.122399 deg/s, cmd heading: 104.139464 deg, new cmd heading: 104.275671 deg. ??"*R*   |c@ U?ɢUNBU Y]1{IY ]-@ɡYiYI]. BDAT read: Tx time:21:32:52.8028 $Ping request sent.~BB8HBJBBBBB!;BE9>A#D] D] qD] )DY E] : E] $ :6E] FA4:EY "EY ! EY ! *E] U;! E] U;! A yAI I N >Y Tf,SA%AI=)=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249316y>%m?ٱ>?> >kZ{=>H`UW? &`(\?n??? R??I>%m?)>`;iM H?9U H?9UGYQUC=AU>YQ 1ea4٪] Ü?Q 5ea4]}  ]dB9m*!?Q Am:Ym?Q Em?y]C)]X ;I] ;i]a4YqubAy!D5B*** querying acoustic contact ***j1r1ڊagCeFNOT Ignoring new targets: 155.90 m.Šme;ʊme;gC} ProNav: ac range: 155.899994 m, nav range: 151.403503 m, bearing: 99.596247 deg, approach rate: -0.501043 m/s, LOS rate: 0.127114 deg/s, cmd heading: 104.275672 deg, new cmd heading: 104.430420 deg. }y;}L?"*R*↵?ɢM*NBUE 顝{I bYCɡiIKAA- AI1 IA NU > Zf,lA%AiyF2q?ٱF?Fb9Fw}=FH r9?9e`]?@-R? &?2C?%?}?IF2q?)F{p`;iDVGJBVHBD^B6D^3Yf <!fT=fºQ)f>jK?9jK?9jGYjyGnK=An>pQ 1va4٪r|Ü?Q 5va4r  rdB9tYvS?Q Ev?yrC)rI:Ir:ir'a4Y~uB~bADDrD(DE: E?:6Ec44:E! @! @!@!@~$Eڊ1gC=FNOT Ignoring new targets: 155.90 m.ŠEz;ʊEz;gCU ProNav: ac range: 155.899994 m, nav range: 151.201370 m, bearing: 99.645538 deg, approach rate: -0.556681 m/s, LOS rate: 0.135930 deg/s, cmd heading: 104.430423 deg, new cmd heading: 104.578493 deg. U;Uo?QQQQYa"a*aRi*iiim@*E?ɢ:NB[9 顝|I 9FɡiIaEAuN؅ A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0051809 af,TA%Ay6v?ٱ6NJ?6Tœ6=6H`?`?h?Ў?`@?`t?`??I6v?)6V`;i6MCRMJBRHBDZA6DZ?3Ybu<!bK=b}Q)b>d9d9fGYdjD=Aj>hQ 1-a4٪jnÜ?Q 55a4j  jdB91Y5̗?Q E5?yj!C)j~B >I8i@2BE-4JEÀ'4REQ0D%D%zD%"D!E%~: E% :6E%(3:E!"E%s;!eE%t;!e*E%v;!uE%v;!u9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257321>A#q A I I N >sgf,bA%A$RJBHMb@Mb@Mb@ )IiK7A?Mb? rh? "?<C =)IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509248iA BDM6D 4YE;<!E4=EQ)E>I9I9MGYIMAU>YQ 1ea4٪]I#Ü?Q 5ea4]  ]eB9eK"?Q Ae:Ye?Q Ee?y]jC)]:I]:i]a4Yiu_bAqڊgCFNOT Ignoring new targets: 155.90 m.Š;ʊ;gC ProNav: ac range: 155.899994 m, nav range: 150.744339 m, bearing: 99.751945 deg, approach rate: -0.554064 m/s, LOS rate: 0.128428 deg/s, cmd heading: 104.728916 deg, new cmd heading: 104.898198 deg. G;FX?"*R*!?ɢ_NB I D@MɡiI&ӊA N؅} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762205! Aa Ii Iy N >mf,p^A%Aɰ4<y6]?ٱ6z?6L6y+=6H?ǡ?\?`?R(AŲ?l7?s?I6]?)6`;i6NCF[JBFHBDNB6DN3Yr<!rc=vaQ)v>t9t9vGYzzGz=Az>|Q 1 a4٪)Ü?Q 5 a4  3eB9 Y ?Q E ?yC):I:ia4Y?bA"EڊAgCEFNOT Ignoring new targets: 155.90 m.ŠM;ʊM;gC] ProNav: ac range: 155.899994 m, nav range: 150.546783 m, bearing: 99.793939 deg, approach rate: -0.548601 m/s, LOS rate: 0.116768 deg/s, cmd heading: 104.898196 deg, new cmd heading: 105.024343 deg. ]F;]k?aaaaaa"i*iRi*iqquE@ɢnNB 顥cI jAPɡiI~BmCBmHBmJBBiBiBiBm!;BmEB!B!B!B% =B% =B%4>A#A yAI I D= D= }D= (D9 E= : E= k&:6E= c44:E9 "E= U;!m E= V;!m *E= ;!u E= ;!} ԑ N >]tf,AA%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265241y:҂?ٱ:?: :҂=:HJ?D¢?33?[?@ܲ?@#L??I:҂?):_;i:OCFhJBJHJ>J4<%Mb@Mb@Mb@! !)!I!i!%#~j?Q?YU H?9] H?9]GYYe;=Ae>iQ 1ma4٪m0Ü?Q 5ua4m*  mPeB9u%?Q Au:Yu?Q E}?ymC)m ;Imi ;imAa4YtBbAEDB*** querying acoustic contact ***jrڊ)gC-FNOT Ignoring new targets: 155.90 m.ŠU:ʊU:gCe ProNav: ac range: 155.899994 m, nav range: 150.307693 m, bearing: 99.841241 deg, approach rate: -0.550761 m/s, LOS rate: 0.109139 deg/s, cmd heading: 105.024342 deg, new cmd heading: 105.166476 deg. e͕;e?aaiiii"*R* o@ɢuNBu qu_Iq }<TɡyiyI}kA! bA) ZA- A Aq I I N >wzf,UA%AyBK?ٱBh?B 闽B!=BHu?@u=?d?,??@??IBK?)BI_;i@NmJBNHBDT6DTY^%o<!^T=b!Q)b>d9d9fGYdfM=Aj>hDrDrtDr+DpEr: Erv:6Er [4:Ep!v@!v@!z@!z@Q 1za4٪jt6Ü?Q 5za4j  jjeB9|Y~%?Q E?yj)C)j ;Ijw;ija4Y  aA ڊQgC]FNOT Ignoring new targets: 155.90 m.ŠeU;ʊmU;gC ProNav: ac range: 155.899994 m, nav range: 150.085373 m, bearing: 99.883317 deg, approach rate: -0.591955 m/s, LOS rate: 0.112196 deg/s, cmd heading: 105.166479 deg, new cmd heading: 105.292891 deg. ;:?"*R*↵ @ԹɢNB 顥τI [WɡiI@AFӅA A BDAT read: Rx Time:21:32:55.4123  TRx dataTimestamp_ set to:1754688776.078328 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023548I I N% >9 f,=B%A\i\vB~BBHBJBBBBB!;BEy2ʇ?ٱ?=H D?d@yϥ?d?}? ?`??I2ʇ?)H_;i5bJB5HBDE>6DE43YUм!UA=UwQ)]>]K?9]K?9]GYe{Ge<=Ae>iQ 1ua4٪m<Ü?Q 5ua4m  meB9qY}?Q E}?ymnC)mP;Im ;im|a4YbAڊgCFNOT Ignoring new targets: 155.90 m.Š:ʊ:gCE ProNav: ac range: 155.899994 m, nav range: 149.838715 m, bearing: 99.927897 deg, approach rate: -0.593342 m/s, LOS rate: 0.107415 deg/s, cmd heading: 105.292892 deg, new cmd heading: 105.426852 deg. Eo;E?AAAIII"I*QRq*qqy} -< @ɢNB2 I ZɡiI](A #A I I N >f,!B%Ay^J?ٱ^f?^<^?=^H@ ? 8s?@ ??  B???I^J?)^z_;i^LC%iJB-HiAIAMDAT read: 21:32:55.4123 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 419, 0.02,-2.246, 2.156,-2.917,-2.833, PHS= 0.689,-1.250,-0.128, RAW= 125.2, 8.2, CAL= 125.8, 9.4, ROT= 24.2, -9.4 UYgot valid direction response: 21:32:55.4123 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 419, 0.02,-2.246, 2.156,-2.917,-2.833, PHS= 0.689,-1.250,-0.128, RAW= 125.2, 8.2, CAL= 125.8, 9.4, ROT= 24.2, -9.4 ]PDAT read: Bearing 240.2, 28.9 (Local) e~Local bearing/azimuth received: Bearing 240.2, 28.9 (Local) mDAT read: Range 11 to 50 : 153.9 m (Round-trip 205.3 ms) speed 0.7 m/s qqԙR#Rx 1: Read range and direction messages.\direction in FSK: [0.899872,0.404419,0.163326]Fpublishing direction and range info.?O(?$vz?CI ~i?Nb0? )oI @iC> @'>@>'Ii)tE)?g?eM?a{=@> 'IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Ii(\?Q?y&1|?'?<`;)I~AiAEA 3ABD5=6D53Y=i9i9mGYiu=Au>yQ 1b4٪}-CÜ?Q 5b4}  }eB9'?Q A:Y-?Q E?y}C)} h‹':s5I:cb@bfC@*3¿'V5Ė?uˤ!r?CS<??m LBS<? ?m LBC ?gC addTargetRange:: Added new target pos. range: 153.899994 m, deltaT: 3.781343 s, deltaX: -2.000000 m, approachRate: -0.528913 m/s, rangeRepo size: 4 gC Added new target pos. range: 153.899994 m, bearing: 98.459708 deg, lat: 36.906082 deg, lon: -122.115851 deg, deltaT: 3.781343 s, deltaX: -2.000000 m, approachRate: -0.528913 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 153.90 m.Šʊ!gCe ProNav: ac range: 153.899994 m, nav range: 148.732285 m, bearing: 98.459708 deg, approach rate: 0.000000 m/s, LOS rate: 0.107415 deg/s, cmd heading: 105.426852 deg, new cmd heading: 105.608865 deg. im?iiiqq"*R* e BDAT read: Tx time:21:32:56.6528 e $Ping request sent.e A IA=yAIIIYNe ? f,-DB%Aɰ;4<Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249565yR:?ٱRwW?RRGc=RH`+^?@? ?? Ŷ1?>]?`@?IR:?)RK_;iRMC^dJB^HBDjP6Dj:4YrE!rO=rjDQ)r>v H?9v H?9vGYtv=Av>|Q 1b4٪~+GÜ?Q 5b4~]  ~eB9 Y ?Q E ?y~ C)~:I~:i~b4YbAEڊ9gCEFNOT Ignoring new targets: 153.90 m.ŠEL:ʊEL:gCU ProNav: ac range: 153.899994 m, nav range: 148.491592 m, bearing: 98.492009 deg, approach rate: -0.664393 m/s, LOS rate: 0.089305 deg/s, cmd heading: 105.608863 deg, new cmd heading: 105.705922 deg. ](u;]8&?YYYYYa"a*aRa*iiiu@?ɢNB O =顝{I cɡiI?&~BBHBKBB =BBB!;BEIiD3A>A FӅD5D5sD5&D1E51: E5Z:6E54:E1"E5d;!mE5e;!m*E5];!uE5];!uUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502433aA] AIi Iy N >ԑ 9$f,]B%Ay6m?ٱ6:Э?6𝽹6NÁ=6H{?`t?^?G/?@`?쩶@?@M)?C?I6m?)6 H_;i6KCB6JBBHMb@Mb@Mb@ )Ii~jt?kt?~jth$? 0=D)AIݧAiA fABD-86D-3Y5{!=E==ʺQ)=>EK?9EK?9EGYE|GM>=AM>IQ 1Ub4٪MkJÜ?Q 5b4Mq  MeB9$?Q A:Yh?Q E?yMMC)MgA #)e EG MA) 5AD D vD *D E  E :6E (N4:E ! @! @! @! @I  MA RA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010217A I I N > Nf,wB%AyR!?ٱR>?RaR_=RH`P?^@N?@.N??`?@BDD6DJ3Y>!3=ɺQ)>99GY1*=A>Q 1b4٪MÜ?Q 5b4{  eB9Yָ?Q E?yC):I|:iQ0b4YaA ڊ1gC5FNOT Ignoring new targets: 153.90 m.Š=/:ʊ=/:gCM ProNav: ac range: 153.899994 m, nav range: 147.954636 m, bearing: 98.552713 deg, approach rate: -0.650336 m/s, LOS rate: 0.071334 deg/s, cmd heading: 105.795314 deg, new cmd heading: 105.888364 deg. MC;M?IIIQQQ"Q*YRY*YYYe h?ɢNB 額I ukɡiIk>I9i!%0!@-=@-=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262211vB>~BBBBBBB!;BE) >Aa a A yAI D D {D (D E  E 5":6E c44:E "E !% E !% *E 1z;Iy N >f,B%A!E2z;!nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513550yv"?ٱvﹲ?vAv:=vH _'?@zl? j?a?ೝ`y?`d?`?Iv"?)v$_;it~C~Ai~9I||Ii A )  A D  /AIy)Qiq)uُCIqyy yy}+A}̼i؁؁iفف)مף فIف ډ)ډىىىWJBHMb@Mb@Mb@ )IiGz?I +?~jtxp?94=Ļ)AIi A ABD?6D3Yt!6=hQ)> H?9 H?9GY1=A>Q 1b4٪OÜ?Q 5b4t  eB9?Q A:Y?Q E?yC):I:i?b4Y HbA ڊ)gC5FNOT Ignoring new targets: 153.90 m.Š5*:ʊ=*:gCM ProNav: ac range: 153.899994 m, nav range: 147.687454 m, bearing: 98.579368 deg, approach rate: -0.595546 m/s, LOS rate: 0.059523 deg/s, cmd heading: 105.888361 deg, new cmd heading: 105.968473 deg. Mf#;M`?IIIQQQ"Q*YRY*YYYe1?ɢOB 顕薿I яoɡiIIA DeDeyDe'DaEe: Ee:6Ee'4:Ea!m@!m@!m@!m@ԁAAIIN?+f,LB%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018400yV?ٱV/?V4V-9=VHൻ?^?@?q?oN?v?,?IV?)V0_;iVNC5iJB5Hi9I9BDME6DM3Y]=!]+=]պQ)]>eK?9eK?9eGYe}Gmo$=Am>iQ 1}b4٪mQÜ?Q 5}b4ml  mfB9yY}j?Q E}?ym+C)m;Im;imPb4YaAEԙڊgCFNOT Ignoring new targets: 153.90 m.Š|:ʊ|:gC ProNav: ac range: 153.899994 m, nav range: 147.401184 m, bearing: 98.605769 deg, approach rate: -0.597292 m/s, LOS rate: 0.055190 deg/s, cmd heading: 105.968473 deg, new cmd heading: 106.047827 deg. ;?"*R*@ɢ %OBN I &5tɡiIיAA A @AvB >~B B B B  =B B B !;B E A! I) I9 NM >۳f,/B%ABEuc44JEu94REu0D=D=uD=+D9E=: E=:6E= [4:E9"E=;!}E=;!}*E=Zd;!E=[d;!ymo?ٱm`?mtmlR=mH@-g?F`P,?l??@b{?`y? ?Imo?)m_;imOC-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5213445VJB5HMb@Mb@Mb@ )IiCl?)\(?Mbd?Ga=)IiAtA ) BD P6D :4Y!%=Q)>!9!9%GY!-=A->1Q 1=b4٪5$SÜ?Q 5=b45d  5,fB9= ?Q A=:Y=:?Q EE?y5xC)5 ;I5 ;i5bb4YIMFbAIڊqgCuFNOT Ignoring new targets: 153.90 m.Š}S:ʊ}S:gC ProNav: ac range: 153.899994 m, nav range: 147.106094 m, bearing: 98.628564 deg, approach rate: -0.597282 m/s, LOS rate: 0.046231 deg/s, cmd heading: 106.047826 deg, new cmd heading: 106.116348 deg. :?"*R*↥@e@ɢ=OBR 圿I ,y9ɡiyI}IA#rA>jA>DEDErDE.DAEE: EE?:6EEـ4:EA!U@!U@!U@!U@IIN=?yf,7TB%Aɰ4<X]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025921y]P?ٱ]m?]ѧ]*6=]H@j$?@C@m?@Ƽ?8Ʒ?@~~@9??1?I]P?)]<_;i]LC]JBHBDL6D 4Yf<!&=vQ)U>Q9Y9]GY]~G]Y=A]>Q 1b4٪VSÜ?Q 5b4\  DfB9Y?Q E?yC)y:I:isb4Y*bADB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 153.90 m.Š+:ʊ+:gC ProNav: ac range: 153.899994 m, nav range: 146.799591 m, bearing: 98.647628 deg, approach rate: -0.599889 m/s, LOS rate: 0.037391 deg/s, cmd heading: 106.116346 deg, new cmd heading: 106.173659 deg. I:1?"*R*, @ɢ-VOB-x )-%I) 5y_~ɡ1i1I58A  BDAT read: Rx Time:21:32:59.2590  TRx dataTimestamp_ set to:1754688780.114820% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2807939 vB >~B B B B B B B !;B EBBBBB =B|5I I N% >[f,C%Ay6!?ٱ6?66$=6H`!?@??b#? h1? q??I6!?)6 _;i4^dJB^HBDfU6Dfn4Yr<!r]=vݺQ)v>|9|9GY M=A >!)Q 15b4٪-$SÜ?Q 55b4-V  -UfB9Yl?Q E?y-C)-% C@% M>% >% MI! i! )% (OBZ?]? +?% [?L>% 8% > % MI! i!  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.>A Iq I N >#f,'*C%A y ?ٱ ? cϪ e= H l? ??լ?@QS?@-d?`?I ?) ^;i MCEcJBEHuMb@Mb@Mb@q q)qIqiquZd;?A`"?Mbp?u?uY=u;)qIu Aiu AuA qu\Ai;I4<BD76Dp3Y ޺!  =ӺQ)>9!9%GY!%f=A->aiQ 1b4٪eyRÜ?Q 5b4eN  esfB9t?Q A:YT?Q E?yeNC)ea;Ie;ieib4YbAEDDtD(DEa: Ev:6Ec44:E!@!@!@!@z'C%ACʋ7?2z9a@WoG@Ye*I4>@"tD?N6?i?>‹M:$B-Ǎza@XC "]~F@*<\NϿ%d+?[&? C9f?n +B?  3n BC?gCM addTargetRange:: Added new target pos. range: 151.500000 m, deltaT: 4.036116 s, deltaX: -2.399994 m, approachRate: -0.594630 m/s, rangeRepo size: 4 gC] Added new target pos. range: 151.500000 m, bearing: 100.231875 deg, lat: 36.906046 deg, lon: -122.115852 deg, deltaT: 4.036116 s, deltaX: -2.399994 m, approachRate: -0.594630 m/s, posRepo size: 4 ڊagCFNOT Ignoring new targets: 151.50 m.ŠʊgC ProNav: ac range: 151.500000 m, nav range: 146.896378 m, bearing: 100.231875 deg, approach rate: 0.000000 m/s, LOS rate: 0.030234 deg/s, cmd heading: 106.209305 deg, new cmd heading: 106.254833 deg. &`?"*R*b@@!?ɢEOBM( IMIQ U"ɡQiQIU}w EBDAT read: Tx time:21:33:00.6028 M$Ping request sent.MAMgq~IIN> f,p[DC%Aiy6im?ٱ65?6.6&=6H?`FG? "??KA?)?:?I6im?)6^;i6KCL^lJBbHBDjc6Dj264Y<!p=aQ) ? 9 9 GY G\h=A?Q 1%b4٪QÜ?Q 5%b4I  fB9!Y-?Q E-?yC):I:ib4Y15aA1ڊYgC]FNOT Ignoring new targets: 151.50 m.Šet:ʊet:gCu ProNav: ac range: 151.500000 m, nav range: 146.700455 m, bearing: 100.242191 deg, approach rate: -0.636105 m/s, LOS rate: 0.033540 deg/s, cmd heading: 106.254835 deg, new cmd heading: 106.285826 deg. u%:uq?qyyyyy"*R*↍?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250969ɢOBȌ. ǤI yɡiI~BYBYBYB] =BYBYB]!;BYIiiqqu4qDDuD&DE: E:6E4:E"E;!=E ;!E*EZd;!ME[d;!Mԙ>A]L{IQIN>U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502761ԁ 3f,~5^C%Ay6ʩ?ٱ6?6T6]*=6Hm(?@@6?a?t?L?p?`Z?I6ʩ?)6&^;i6JCNEJBRH-Mb@Mb@Mb@) )))I)i)-zG?&1? rh?- ?-P=-C<)-AI-;Ai)) )-ABDE?6DE3YU !UE=UDYQ)]>a9a9eGYame6=Am>qQ 1b4٪uPÜ?Q 5b4u1C  ufB9?Q A:Y?Q E?yuC)u:A%.orA->jA->IIN=>ԱD D vD D E : E :6E :E ! @! @! @! @ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790cf,V)xC%AyJ?ٱJ4?JJ7H=JH@K{?`5?@?T?)L@ !jR=jBQ)j>l9l9nGYln==Ar>pQ 1vb4٪rNÜ?Q 5zb4r3=  rfB9xYz?Q Ez?yrC)r ;IrG;irb4Y~uBaAEDB*** querying acoustic contact ***jrڊ)gC5FNOT Ignoring new targets: 151.50 m.Š5W9ʊ5W9gCE ProNav: ac range: 151.500000 m, nav range: 146.231247 m, bearing: 100.262490 deg, approach rate: -0.609329 m/s, LOS rate: 0.024189 deg/s, cmd heading: 106.319790 deg, new cmd heading: 106.346821 deg. E΄:E”?AIIIII"Q*QRQ*YYY]@?ɢOB^& 額+I ىɡiIA ^^A)I9IINUT>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258783vBE >~BA BE HBE KBBA BA BE -DBE !;BA 1 Ef,JC%Ay6[?ٱ6x?66hu=6HsT&? ? ]V勶?艮?@?I6[?)6^;i4BJBBHF=F=BDJ@6DJ3YR<!RN=VIQ)V>T9T9ZGYXZ6=AZ>DbDbwDb%D`Eb: Eb:6Eb 4:E`"Eb;!jEb;!j*Ebk;!nEbk;!rtQ 1b4٪vMÜ?Q 5b4v7  vfB9YW?Q E ?yv5 C)vm;Iv%g;ivb4YaAڊ9gC=FNOT Ignoring new targets: 151.50 m.ŠE9ʊE9gCm ProNav: ac range: 151.500000 m, nav range: 145.998581 m, bearing: 100.270103 deg, approach rate: -0.575382 m/s, LOS rate: 0.018857 deg/s, cmd heading: 106.346824 deg, new cmd heading: 106.369699 deg. mO:uס?q))11"A*IRQ*↭@?-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513005ɢOB  顭ܩI fdɡiIA ^ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764034ԙ A yAI I N >of,ƫC%Ay6[?ٱ6'?6!6Jd=6Hﳜ˭? ?Cjgܶ?]h??I6[?)6̪^;i6LCBJBB'HEMb@Mb@Mb@A A)AIAiAE/$?Q?:v?E?E\=E<)EAIE7AiEAEΚA AABD]T6D]4Ym=!m>=u:u H?9u H?9uGY}G}d#=A}>Q 1b4٪GKÜ?Q 5b480  gB9?Q A:Y?Q E?yx C):I :ib4YcaAڊgCFNOT Ignoring new targets: 151.50 m.Š9ʊ9gC ProNav: ac range: 151.500000 m, nav range: 145.738525 m, bearing: 100.279948 deg, approach rate: -0.616426 m/s, LOS rate: 0.023377 deg/s, cmd heading: 106.369698 deg, new cmd heading: 106.399285 deg. Y:ò?  "*R*!!!-G@iM&=IMCԁ)Y uA)AIAADDrD'DE: E?:6E'4:E!@!@!@!@%O?%wAɢUOB]r# Y]媿IY ]pɡaiaIeASA- AI9 IQ N] > \f,C%Ay6B?ٱ6?6z6Q=6H⦿@JH? +? 7R o*?@V ?`?I6B?)6m^;i6JCBJBBVK?9VK?9ZGYXZ4=A^>\Q 1bb4٪^UIÜ?Q 5fb4^**  ^#gB9dYf?Q Ef?y^ C)^G:I^:i^"b4YjvBj$aAnEڊ|gCFNOT Ignoring new targets: 151.50 m.Š9ʊ9gC ProNav: ac range: 151.500000 m, nav range: 145.508316 m, bearing: 100.287143 deg, approach rate: -0.606205 m/s, LOS rate: 0.018976 deg/s, cmd heading: 106.399287 deg, new cmd heading: 106.420905 deg. ^P: ?!!"!*!R)*)))-`@ɢ]OB]\g5 Y]ͪIY elɡaiaIe~BBHB9KBBBB.DB!;BEIAiAIMO0I>A%tf:AUyAIYIiN}Y>DDwD(DE: E:6Ec44:E"E;!E ;!*E!E!5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5197501 I ;f,φC%Ay6[?ٱ6'?6A65D=6H%h?D?ޭ`?}? ?I6[?)6^;i4NJBNgHiPIP TVAeMb@Mb@Mb@a a)aIaiaeS?Q?ˡE?e/?e H?9 H?9GY=A>Q 1b4٪FÜ?Q 5b4G#  OgB9?Q A:Y?Q E?y C):I;i>b4Y`AڊgCFNOT Ignoring new targets: 151.50 m.Ša9ʊa9gC ProNav: ac range: 151.500000 m, nav range: 145.246078 m, bearing: 100.294662 deg, approach rate: -0.606390 m/s, LOS rate: 0.017418 deg/s, cmd heading: 106.420904 deg, new cmd heading: 106.443501 deg. A?: ?" * R * 1@ɢ=PB=`$ AEJIA E-ŒɡAiAIMA'6ԁ D D D )D E 1: E 6E FA4:E ! @! @! @! @A AI I N- >= BDAT read: Rx Time:21:33:03.2059 = TRx dataTimestamp_ set to:1754688783.893030E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023867zf,^C%A }JB}pHBD>6D43Y@<!G=Q)>K?9K?9GYGA>Q 1c4٪DÜ?Q 5c4  xgB9YQ E?y7 C):I[:ic4Yx`ADB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 151.50 m.Šߟ9ʊߟ9gC  ProNav: ac range: 151.500000 m, nav range: 144.997208 m, bearing: 100.301823 deg, approach rate: -0.606117 m/s, LOS rate: 0.017471 deg/s, cmd heading: 106.443499 deg, new cmd heading: 106.465020 deg.  ?:[?"*R!*!!!%> @ɢU'PBU) QUIQ ]ɡYiYI]A-ԙAIINi>}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274833vB>~BB2HBlKBB =BBB!;B f,tD%ABE -4JE 14RE t0DBDB{DB(D@EBs: EB5":6EBc44:E@"EB;!JEB;!N*EB1z;!NEB2z;!NP]JBeHBD;6D)3Y}0M=!==Q)>DAT read: 21:33:03.2059 LVL= 25840, 32753, 32466, 32755, AGC= 69, IDX= 402,-0.08,-1.583, 2.919,-1.687,-1.960, PHS= 0.480,-1.358, 0.229, RAW= 142.8, 7.6, CAL= 142.4, 8.3, ROT= 7.6, -8.3 99GYA>Ygot valid direction response: 21:33:03.2059 LVL= 25840, 32753, 32466, 32755, AGC= 69, IDX= 402,-0.08,-1.583, 2.919,-1.687,-1.960, PHS= 0.480,-1.358, 0.229, RAW= 142.8, 7.6, CAL= 142.4, 8.3, ROT= 7.6, -8.3 PDAT read: Bearing 259.7, 13.3 (Local) ~Local bearing/azimuth received: Bearing 259.7, 13.3 (Local) Q 1c4٪*BÜ?Q 5c4M  gB9YQ E?y C)$ ҭ)~j>IW@zsD%A3Cʋ:?2{Jb@7牢3@#5@"9b?ACtb?'ЌCz?i>@V>>VIi)pF???+rΌ?|By?Np>Q> VIiMT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.>‹V:*NI/;E~a@A@*rkRǿ.V)}?y37?EC|IO?Kq B LBC>?gC addTargetRange:: Added new target pos. range: 149.199997 m, deltaT: 3.779891 s, deltaX: -2.300003 m, approachRate: -0.608484 m/s, rangeRepo size: 4 gC Added new target pos. range: 149.199997 m, bearing: 100.310002 deg, lat: 36.906046 deg, lon: -122.115852 deg, deltaT: 3.779891 s, deltaX: -2.300003 m, approachRate: -0.608484 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 149.20 m.ŠʊgC ProNav: ac range: 149.199997 m, nav range: 144.714005 m, bearing: 100.310002 deg, approach rate: 0.000000 m/s, LOS rate: 0.017471 deg/s, cmd heading: 106.465020 deg, new cmd heading: 106.492196 deg. ?"*R*  `fb@ `?ɢDPB ꫿I ɡiI  BDAT read: Tx time:21:33:04.4528  $Ping request sent. A} )Q AyAIIN> f,]2D%Ay6?ٱ6?6=`Ž6=6HR:? ܫ?_@A??@p?I6?)6:[^;i6MCBKBBHF=Fp;IF=)F=D]D]pD]%DYE]: E] :6E] 4:EY!e@!e@!m@!m@Mb@Mb@Mb@ )Iijt??? ?<L=)AIAiAԱ ABD76Dp3Y]=!])=]Q)]>e H?9e H?9eGYG=A>Q 1c4٪>Ü?Q 5c4  gB9g!?Q A:Y~?Q E?y C)#:Io:i!c4YwB~_AEڊgCFNOT Ignoring new targets: 149.20 m.Š39ʊ39mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250760gCm ProNav: ac range: 149.199997 m, nav range: 144.434525 m, bearing: 100.313991 deg, approach rate: -0.687012 m/s, LOS rate: 0.009826 deg/s, cmd heading: 106.492198 deg, new cmd heading: 106.504189 deg. m9m?qqqqqq"y*yRy*ↅ<9?ɢYPB - 页\I dɡiIA] BN checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5030371 A I I N >AM <AM <vBQ ~BQ BU pHBU KBBU  =BQ BQ BU !;BU EBBBB =BB̡4f,xLD%Ay^c?ٱ^Q?^!Ƚ^yN<^H⧾!?h?t{`~X?@E?@?I^c?)^o^;i^ICfJBfHBDr?6Dr3YvT!zb=z|9|9~GY|"=A> Q 1 c4٪ ;Ü?Q 5c4 @  hB9Y_?Q E?y  C) f;I r;i .c4Y!%`A!ڊIgCFNOT Ignoring new targets: 149.20 m.Š<8ʊ<8gC ProNav: ac range: 149.199997 m, nav range: 144.213104 m, bearing: 100.315871 deg, approach rate: -0.633923 m/s, LOS rate: 0.005389 deg/s, cmd heading: 106.504192 deg, new cmd heading: 106.509838 deg. l9?  )111"9*9RA*Aiiu?ɢnPBQh3 'I CɡiIAe, mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756344AAIIN>Iq 'f,bffD%A~(KB~HMb@Mb@Mb@ )Ii%C?~jtx?y&1?Z$?;`e=)SAI$Ai/A (Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006724BD56D3Y[ >!==Q)>K?9K?9GYA>Q 1c4٪8Ü?Q 5c4  8hB9$?Q A:Yf?Q E?yF C) ;I" ;i4=c4Y_Aڊ)gC-FNOT Ignoring new targets: 149.20 m.Š5~r9ʊ5~r9gCE ProNav: ac range: 149.199997 m, nav range: 143.940079 m, bearing: 100.321574 deg, approach rate: -0.633133 m/s, LOS rate: 0.013250 deg/s, cmd heading: 106.509840 deg, new cmd heading: 106.526982 deg. E:E?AAAIII"I*QQRY*YYYe y?ɢPBf0 額cI jɡiIA5o=ڽԁDeDetDe%DaEe: Eev:6Ee 4:Ea!m@!m@!m@!u@AuyAIIN>ԩu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258547  f,AD%Aiy6˲?ٱ6?6Eн6П<6H¿G?g~?_¿`B?|?y?I6˲?)6t^;i6JCb7KBbHi`I` dfABDjK6Dj 4Yr=!rZ=vQ)v>v H?9v H?9zGYxz=Az>|Q 1c4٪~5Ü?Q 5c4~  ~fhB9 Y ?Q E ?y~ C)~:I~B:i~GJc4Y^AD5B*** querying acoustic contact ***j1r1ڊgCFNOT Ignoring new targets: 149.20 m.Š8ʊ8gC ProNav: ac range: 149.199997 m, nav range: 143.703369 m, bearing: 100.324002 deg, approach rate: -0.606403 m/s, LOS rate: 0.006232 deg/s, cmd heading: 106.526984 deg, new cmd heading: 106.534282 deg. ܈9?"!*!R!*)))-'?ԱɢPB0 XI ݡɡiIo~BBHBKBBBBBd!;BE>AUa5ս Dm Di Dm $Di Em a: Ei 6Em 4:Ei "Em A;!u Em C;!u *Em `;!} Em `;!} A I I N >9 h=&f,,D%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764675-PKB5HMb@Mb@Mb@ )IiJ +??(?L=)$AISAiA ABD86D3YU=!-=Q)>99GYGA> Q 1c4٪2Ü?Q 5c4  hB90)?Q A:Y?Q E?y C)3;I1;iZc4Y!%w^A!ڊIgCMFNOT Ignoring new targets: 149.20 m.ŠU,9ʊU,9gCe ProNav: ac range: 149.199997 m, nav range: 143.396973 m, bearing: 100.328295 deg, approach rate: -0.672208 m/s, LOS rate: 0.009437 deg/s, cmd heading: 106.534279 deg, new cmd heading: 106.547183 deg. eA9eX?iiiiii"q*qRq*qyy} @ɢPB%- 顭II ɡiIZeA] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957AAIIN>a c,f,/D%A y:?ٱ:O?:׽:o;:Hſ`;?@]?ʻſH@R??x?`f?I:?):Sr^;i8^eKBb*H)h hBDn06Dn3YzV{=!zr=~3Q)~?K?9K?9GY =A ?D-D-vD-'D)E-: E-:6E-'4:E)!5@!=@!=@!=@Q 1Ec4٪.Ü?Q 5Mc45  hB9IYM?Q EU?y C)N;Ir#;ifc4Y]yBe1^AeEڊ gCFNOT Ignoring new targets: 149.20 m.Š5?@8ʊ5?@8gCE ProNav: ac range: 149.199997 m, nav range: 143.175888 m, bearing: 100.329245 deg, approach rate: -0.610053 m/s, LOS rate: 0.002626 deg/s, cmd heading: 106.547181 deg, new cmd heading: 106.550036 deg. E8M?IIIIII"q*qRq*yyy}@ɢPBN@5  RI =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266852 a0ɡQiQIU%1A"bAAZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518582A I I N% >A A ?AvB ~B B HB #LBB B B B >!;B EK3f,D%Ay6%?ٱ66?6B*ܽ6Mf96H`ƿJz`(?K?+ǿ b@w? ؆9?`?I6%?)6^X^;i6ICB|KBBFHF%>F=IF=)F=PBDV36DV3Yja=!jL=nrQ)r>p9p9rGYpv<Az>|Q 1 c4٪~+Ü?Q 5c4~t  ~hB9Y5?Q E?y~L C)~=AEechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774011AyAIIN>! u9f,`D%Ay6c?ٱ6?6qཹ6ݕ6Hq%ȿktk?:? 9ȿ`N? vs?I6c?)68{^;i6MCBKBB\H|Mb@Mb@Mb@ )Ii|?5^?/$?-?,=)ƣAIiA ABD-86D-3Y=-=!=D=EMQ)E>E H?9E H?9EGYMGM5<AM>QQ 1]c4٪U&Ü?Q 5]c4UC  U+iB9e'.?Q Ae:Ye?Q Ee?yU C)U;IUP;iU#c4Yim]Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022562ڊ1gCUFNOT Ignoring new targets: 149.20 m.Š]Xʊ]XgCm ProNav: ac range: 149.199997 m, nav range: 142.637405 m, bearing: 100.327965 deg, approach rate: -0.670103 m/s, LOS rate: -0.002952 deg/s, cmd heading: 106.549865 deg, new cmd heading: 106.546191 deg. mm?iiiq"*R*↥v @ɢ PB f2 I aɡiIp<1IM?iu=)G )i') ?IAA)AIIIi0@=@>DEDE{DE$DAEEC: EE5":6EE4:EA!M@!M@!M@!M@QU BDAT read: Rx Time:21:33:07.0527 U TRx dataTimestamp_ set to:1754688787.925071] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275677ԙ >A (aAM AIY Ii N ><@f,E%Ay:?ٱ:?:v佹:h=:HQɿj]@ ?*?YɿnpT?@@?I:?):#d^;i:JCBKBFqHBDN96DN3YR#=!VA=VQ)V>ZK?9ZK?9ZGYXZ<A^>\Q 1bc4٪^!Ü?Q 5fc4^  ^^iB9dYf?Q Ef?y^ C)^8;I^f;i^c4YhjB]AlDzB*** querying acoustic contact ***jxrxڊgC FNOT Ignoring new targets: 149.20 m.Š zָʊzָgC ProNav: ac range: 149.199997 m, nav range: 142.353546 m, bearing: 100.325601 deg, approach rate: -0.702438 m/s, LOS rate: -0.005860 deg/s, cmd heading: 106.546190 deg, new cmd heading: 106.539087 deg. %%?!!!!))")*)R1*1115 @ɢe QBe,9 aeIi mЫɡiiiImDABJԉAYIiIyN{>bD @AZD @AD D wD D E 1: E :6E :E "E d;!- E e;!- *E k;!- E k;!- Ա  DAT read: 21:33:07.0527 LVL= 30384, 32753, 27490, 25827, AGC= 64, IDX= 401, 0.14, 2.417, 0.686, 2.579, 2.111, PHS= 0.408,-1.380, 0.424, RAW= 150.5, 6.2, CAL= 149.8, 6.5, ROT= 0.2, -6.5  Ygot valid direction response: 21:33:07.0527 LVL= 30384, 32753, 27490, 25827, AGC= 64, IDX= 401, 0.14, 2.417, 0.686, 2.579, 2.111, PHS= 0.408,-1.380, 0.424, RAW= 150.5, 6.2, CAL= 149.8, 6.5, ROT= 0.2, -6.5  PDAT read: Bearing 265.0, 6.7 (Local)  ~Local bearing/azimuth received: Bearing 265.0, 6.7 (Local)  DAT read: Range 11 to 50 : 146.8 m (Round-trip 195.8 ms) speed 0.4 m/s 5 R#Rx 1: Read range and direction messages.Gf,"E%A>\direction in FSK: [0.993566,0.003468,0.113203]>Fpublishing direction and range infoqux蠂J?#^il?5?uCqIuviqubkudu@u`> uף)u>Iu0(@iuk=uT'@uV=ud;uVIqiq)u9 7m?ٹ(? /t?u.?uܽud; uVIqiqLJT****** received valid address query ******ZR****** received valid ping request ******^Querying Benthos address 50 with one ping in standard two-way mode.y?ٱ?[齹1fHoʿN 0??`gʿ 7V?`E?I?)L^;iKBHiI Mb@Mb@Mb@ )Iioʡ?{GzX9v?-?#<)AIAiA^A QABD;6D)3Y%/f=!-)=-Q)->19195GY15՘<A5>9Q 1mc4٪=}Ü?Q 5}c4=  =iB9}A-?Q A}:Y}?Q E?y=/ C)=; <I=" 9lwa@/@@*uʿO0$v?Tk!?u Cuu _?uJm u BuIO? qu=BuDCuC?gC addTargetRange:: Added new target pos. range: 146.800003 m, deltaT: 4.031788 s, deltaX: -2.399994 m, approachRate: -0.595268 m/s, rangeRepo size: 4 gC Added new target pos. range: 146.800003 m, bearing: 100.832565 deg, lat: 36.906034 deg, lon: -122.115852 deg, deltaT: 4.031788 s, deltaX: -2.399994 m, approachRate: -0.595268 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 146.80 m.ŠʊgC  ProNav: ac range: 146.800003 m, nav range: 142.265900 m, bearing: 100.832565 deg, approach rate: 0.000000 m/s, LOS rate: -0.005860 deg/s, cmd heading: 106.539087 deg, new cmd heading: 106.530095 deg.   ?"I*IRI*IQUYb@U`|?ɢ+QB9+  I nӮɡiIg BDAT read: Tx time:21:33:08.5028 $Ping request sent.A K'D= D= qD= (D9 E= : E= $ :6E= c44:E9 !M @!M @!M @!M @I I IN->,Nf,u;E%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250453UKBUHBDeA6De?3Yu=!uH=}Q)}>y9y9}GYGA>Q 1c4٪Ü?Q 5c4  iB9YQ E?yt C)H;I;i"c4Y\AڊgC5FNOT Ignoring new targets: 146.80 m.Š5tʊ5tgCE ProNav: ac range: 146.800003 m, nav range: 141.993103 m, bearing: 100.831902 deg, approach rate: -0.716935 m/s, LOS rate: -0.001745 deg/s, cmd heading: 106.530098 deg, new cmd heading: 106.528107 deg. EFMo?IIQQYYY"Y*aRa*aaam ?ɢAQB<? 顝㮿I ݰɡiI#AKԁII Nm> Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502644AA<vB>~BBHBLBB =BBB ;BEԡ Uf,?UE%Ay6?ٱ6?6LS򽹱6H߼6Hn̿ T3%?8̿T8? A@?I6?)6KB^;i4BKBBHBDJ,6DJ3Yj!nV=nh;Q)r>p9p9vGYtv,=Av>xQ 1~c4٪z~Ü?Q 5~c4z  ziB9Y/?Q E?yz C)z ;Iz;izc4Y  \A BE-4JE4RET0D%D%}D%*D!E%s: E%k&:6E%(N4:E!"E%;!5E%;!5*E%;!5E%;!=ڊQgC]FNOT Ignoring new targets: 146.80 m.Š]d߸ʊed߸gCm ProNav: ac range: 146.800003 m, nav range: 141.737076 m, bearing: 100.829539 deg, approach rate: -0.659935 m/s, LOS rate: -0.006103 deg/s, cmd heading: 106.528104 deg, new cmd heading: 106.521001 deg. u u_?qqqqyy"y*yR*↍jx?ɢWQB9>A 页!I ɡiIvATмII)N5>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0063649 .>[f,'oE%Aɰ*;*;y^ ?ٱ^?^A^-^HJͿ& 's ?`̿ܿ@?e堿`5?I^ ?)^}^;i\rKBrHIv=)va=Mb@Mb@Mb@ )Iioʡ?99GYP<A>Q 1c4٪Ü?Q 5c4l  jB9'-?Q A:Y??Q E?yC) ;Ie ;ic4YzB\AEڊ)gC5FNOT Ignoring new targets: 146.80 m.Š=Qʊ=QgCM ProNav: ac range: 146.800003 m, nav range: 141.445435 m, bearing: 100.825856 deg, approach rate: -0.674952 m/s, LOS rate: -0.008542 deg/s, cmd heading: 106.521001 deg, new cmd heading: 106.509929 deg. MM ?IQQQQQ"Y*YRY*YYae(?ɢpQBV; 顕I ɡ iIMA+wrA>jA=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258514AIyIN\>a 4bf,d@E%A0yN?ٱN?NNNH ο ʁ@?Ϳb^@L?`̲m?IN?)N;N^;iNICZKBZH}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510404vB~BBHBLBBBBB ;BrEBBBBBB3BDM-6DM3Y/O<!8=Q)>99GYG gz<A>!Q 1Mc4٪%rÜ?Q 5Uc4%  %IjB9QY]#?Q E]?y%MC)%;I%A= :_GI I N >Thf,E%Ay6r]?ٱ6=z?66R96H@>ο @y@?^ο`;,˿?J;?I6r]?)6^;i6JCBKBBHhMb@Mb@Mb@ )IiZd;O?Mb`?~jt?~*?;D<)7AIpAi^A (ABD5<6D53YE[=!El=EQ)E?I9I9MGYIUߎ<AU?YQ 1ec4٪]Ü?Q 5ec4]  ]jjB9e*?Q Ae:Ye?Q Em?y]C)] ;I] ;i]lc4Yqu?\AuEڊgCFNOT Ignoring new targets: 146.80 m.Š%ʊ%gCU ProNav: ac range: 146.800003 m, nav range: 140.920670 m, bearing: 100.815662 deg, approach rate: -0.677553 m/s, LOS rate: -0.016688 deg/s, cmd heading: 106.495989 deg, new cmd heading: 106.479294 deg. U?7U?QQQY"*R*↕$@ɢQBvL G(3= I  lSɡ i I 0A)AI IN->DE DE zDE )DA EE : EE  :6EE FA4:EA !M @!M @!M @!M @Q M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266330<|nf,vE%A0i0yNn ?ٱN9=?NVNPNHwϿ]@"4@־?Ͽ E ,/?@ʩij?INn ?)Ne^;iNHCZKBZHBDb>6Db43Yn'=!nR=n7Q)n>p9p9rGYpr7z<Av>tQ 1~c4٪vFœ?Q 5~c4vl  vjB9|Y~?Q E~?yvC)vq ;Iv:iv c4Y  [A 1ڊ1gC=FNOT Ignoring new targets: 146.80 m.Š=Xʊ=XgCU ProNav: ac range: 146.800003 m, nav range: 140.664413 m, bearing: 100.808705 deg, approach rate: -0.684454 m/s, LOS rate: -0.018616 deg/s, cmd heading: 106.479296 deg, new cmd heading: 106.458386 deg. UjLU?QQQQYY"Y*YRa*aaaeɅ@ɢQBJ 顕8I rɡiIA 7bAZAA)A-@AvB5>~B1B5HB5LBB1B1B1B5 ;B5nEA9 IA IQ Ne >Ա _uf,/E%Ay6?ٱ6|?66}a6H`п`R5?YϿ`p?T@ܯ?I6?)6eY^;i6FC^LBbHBDj?6Dj3DDD2DE: EA:6E4:E"E i9i9mGYmGmQB<Au>qQ 1d4٪uEœ?Q 5d4u`  ujB9Yd?Q E?yuC)u:Iu:iud4Y[AԙڊgCFNOT Ignoring new targets: 146.80 m.ŠʊgC ProNav: ac range: 146.800003 m, nav range: 140.388306 m, bearing: 100.800608 deg, approach rate: -0.657263 m/s, LOS rate: -0.019314 deg/s, cmd heading: 106.458388 deg, new cmd heading: 106.434048 deg. T?"*R*@ɢQBlD I %6ɡ!i!I%)%C==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774114IQiYY]0Y>AEϩ;AqIyIN~> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022451 {f,dE%ALBHMb@Mb@Mb@ )IiK7?~jth?~jt?)?D;)AIΚAiAA A) BDC6D3Y==!C=Q)>99GYA>Q 1d4٪Bœ?Q 5d4]  jB9)?Q A:Y?Q E?yVC)j:I:ifd4Y s[Aڊ gCFNOT Ignoring new targets: 146.80 m.ŠʊgC] ProNav: ac range: 146.800003 m, nav range: 140.113541 m, bearing: 100.792344 deg, approach rate: -0.620325 m/s, LOS rate: -0.018694 deg/s, cmd heading: 106.434046 deg, new cmd heading: 106.409205 deg. ]EMeo?aaaaaa"*R* @DDxD'DEҝ: E:6E'4:E!@!@!@!@ɢQB? 亿I ɡiI@~B5CB5KHB5!MBB1B5LDB5-DB5 ;B5bEԱ>A Β;rA%>jA%>AQIaIqN}?f,F%Aɰ,LB H==BD%M6D% 4Y5 <!==9Q)=>A9A9EGYAAAE>IQ 1Ud4٪M[œ?Q 5]d4M&  MkB9YYYQ E]?yMC)M;IMH:iM'd4Ye|Beo[AmEDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 146.80 m.ŠEʊEgC ProNav: ac range: 146.800003 m, nav range: 139.752472 m, bearing: 100.781434 deg, approach rate: -0.682821 m/s, LOS rate: -0.020684 deg/s, cmd heading: 106.409204 deg, new cmd heading: 106.376392 deg. c?"*R*@@DDyD&DEs: E:6E4:E"E;!E;!*Er;!Er;!ɢ  RB nC  I ĽɡiI.s<)?)!ԁ31=UDAT read: 21:33:11.0988 LVL= 32752, 32753, 28050, 32755, AGC= 67, IDX= 409, 0.31, 2.788, 1.173, 3.046, 2.532, PHS= 0.358,-1.314, 0.470, RAW= 153.2, 5.7, CAL= 152.4, 5.7, ROT= 357.6, -5.7 uYgot valid direction response: 21:33:11.0988 LVL= 32752, 32753, 28050, 32755, AGC= 67, IDX= 409, 0.31, 2.788, 1.173, 3.046, 2.532, PHS= 0.358,-1.314, 0.470, RAW= 153.2, 5.7, CAL= 152.4, 5.7, ROT= 357.6, -5.7 PDAT read: Bearing 268.1, 4.9 (Local) ~Local bearing/azimuth received: Bearing 268.1, 4.9 (Local) DAT read: Range 11 to 50 : 143.8 m (Round-trip 191.8 ms) speed 0.4 m/s I%9i!)))uR#Rx 1: Read range and direction messages.^direction in FSK: [0.994183,-0.041668,0.099320]Fpublishing direction and range infoWX?!Uhܸm?CIimCK> '1)ף>ID +@i%=;*@%=@%˽Ii)n??K4q?5*J?Ue?ʽQ+ %˽IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա>Ae 9< A I I  ,DAT read: user:1183>  BDAT read: Tx time:21:33:12.5528  $Ping request sent. Y-f,].F%A\i =I )m5G A)IAA A,LBHD D vD (D E : E :6E c44:E !@!@!@!@Mb@Mb@Mb@ )IiMb?MbpQ?#?u<)ԧAIZAiZAA Aip99GYGA>Q 1d4٪œ?Q 5d4P  QkB9#?Q A:Y;?Q E?y C):If:i:d4Y1[AzIM5F%AMCʋM?2M`a@? ~y,@"MWX?!Uhܸm?MQ+‹M%˽:MSr>qta@ _ej@@*Mi_˿w~B!B%}HB%JMBB!B!B!B% ;B%ZEԡ>A1bA=AZA=AAeyAIqIN#?f,CWF%A,DnDnDn&DlEnC: En*:6En4:El"En;!rEn;!r*En`;!vEn`;!vxzAizI||I|i~A ~`e|)| AĻ  AI ƽ) i )I"A AiiC%A)% !I! !)!!)))=LB=HBDM76DMp3YU!=Q)> H?9 H?9GYA>Q 1d4٪@œ?Q 5d4}  kB9YQ E?y_C):IB:i Md4Y!%[A)ڊigCuFNOT Ignoring new targets: 143.80 m.Šu/ʊu/gC ProNav: ac range: 143.800003 m, nav range: 139.718597 m, bearing: 102.271108 deg, approach rate: -0.629550 m/s, LOS rate: -0.009595 deg/s, cmd heading: 106.342063 deg, new cmd heading: 106.327130 deg. ҹ?"*R*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754995t?ԉɢQRBH !-ȿI1 5b˽ɡ9iaIe2A NJN< A% AI1 IA NU >UZf,sF%Ay6?ٱ6?66\6H`'vѿ#@ u? п@ÿ'?@wL@?I6?)6^;i6GC}JLB}CHMb@Mb@Mb@ )Iiy&1?~jt?/$?`%?D<<)vAI+AiAA GABD5+6D5E3YE=!E6=EؼQ)M>MK?9MK?9MGYMGUO=AU>YQ 1ed4٪],œ?Q 5ed4]v  ]kB9e}%?Q Am:Ym?Q Em?y]C)]T ;I] ;i]\d4YquZAqڊgCFNOT Ignoring new targets: 143.80 m.ŠIйʊIйgC ProNav: ac range: 143.800003 m, nav range: 139.435730 m, bearing: 102.261069 deg, approach rate: -0.640067 m/s, LOS rate: -0.022762 deg/s, cmd heading: 106.327133 deg, new cmd heading: 106.296954 deg. y=x?"DDwDDE: E:6E:E!@!@!@!@ *R*↍Ue?ɢnRBN ĿI AνɡiI=A /C<A) I1 IA NU >@f,F%A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512557vBN>~BLBNHBNrMBBLBLBN.DBN ;BNPEyeW?ٱezt?eeeHiѿ@ @k`Qd?a>ѿ:eĿ`?9Ȳ@n?IeW?)e2^;ia-hLB-hH)9 =AABD=*6D=3YeL=!mH=m8Q)m>q9q9uGYquN<A}>yQ 1d4٪}œ?Q 5d4}Kp  }kB9Y,?Q E?y}C)} ;I}H;i}jd4Y}BMZAEڊgCFNOT Ignoring new targets: 143.80 m.Š۹ʊ۹gC ProNav: ac range: 143.800003 m, nav range: 139.176880 m, bearing: 102.251284 deg, approach rate: -0.633927 m/s, LOS rate: -0.024007 deg/s, cmd heading: 106.296957 deg, new cmd heading: 106.267549 deg. ̓kg?"*R*?ɢ-RB-Y 15ÿI1 5нɡ1i1I5UA7ƙ<rA>jA>BE-4JEŊ94REa1D D D D E C: E .:6E :E "E !%E !%*E ;!%E ;!-ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762881AII)N=> Hff,lF%AyJ)?ٱJ?JcJJH9ѿF b[?cѿ Ŀ ?ֲ@.?PIJ)?)J^;iHZLBZHMb@Mb@Mb@ )Iiy&1?Q?V-?u<<)IAiZAGA ABD=6D3Y=!T=ܻQ)>99GY;A>Q 1d4٪2œ?Q 5 d4%j  lB9 %?Q A :Y =?Q E ?y)C)]:I:ifxd4Y~BYAED5B*** querying acoustic contact ***j1r1ڊAgCEFNOT Ignoring new targets: 143.80 m.ŠM}ʊM}gC] ProNav: ac range: 143.800003 m, nav range: 138.932663 m, bearing: 102.241175 deg, approach rate: -0.631149 m/s, LOS rate: -0.026172 deg/s, cmd heading: 106.267546 deg, new cmd heading: 106.237165 deg. ]] V?aaaaaa"i*iRi*iqqu`7@ɢRBpX 顥N¿I EӽɡiIAm8=D D sD -D E : E Z:6E t4:E ! @! @! @! @) A I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266922ff,F%AyJ?ٱJ?JJ"]JH@ҿ ԞeT?wѿ'ſ/?.`$?IJ?)JI:^;iJHCVLBZHBDb>6Db43dYj<!jY=nQ)n>l9l9rGYrGr;Ar>tQ 1zd4٪vœ?Q 5zd4v.d  vGlB9|Y~w?Q E~?yvfC)v:Iv[:ivd4YYAڊ)gC5FNOT Ignoring new targets: 143.80 m.Š5 ʊ5 gCE ProNav: ac range: 143.800003 m, nav range: 138.695770 m, bearing: 102.231159 deg, approach rate: -0.632280 m/s, LOS rate: -0.026780 deg/s, cmd heading: 106.237165 deg, new cmd heading: 106.207065 deg. EMD?IIIIQQ"Q*QRY*YYY]@ɢERBEZ IMĿII MսɡIiIIMA3=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519160AiAm?AvBu>~BqBuHBuMBBqBqBu-DBu ;BuJEB-ƓCB-ƓCB)B)B)B-ӧ4AII!!N5q>Q D D zD (D E s: E  :6E c44:E "E ;! E ;! *E v;! E v;! f,yF%AyFg?ٱF0.?FF^VFHҿ`'/M?ѿ`ſf?Rࣇ?IFg?)F] ^;iFGCLBHBD<6D3Y%Q=!%F=-Q)->)9)195GY1=V;A=>AQ 1Md4٪Eœ?Q 5Md4E]  E|lB9IYU?Q EU?yEC)E;IEe;iEd4YY]>YAYڊgCFNOT Ignoring new targets: 143.80 m.ŠʊgC ProNav: ac range: 143.800003 m, nav range: 138.434601 m, bearing: 102.219919 deg, approach rate: -0.630946 m/s, LOS rate: -0.027204 deg/s, cmd heading: 106.207065 deg, new cmd heading: 106.173283 deg. \1?"*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771125R*1@ɢ RBY ĿI CؽɡiIA%y=m BDAT read: Rx Time:21:33:15.1456 u TRx dataTimestamp_ set to:1754688795.738155} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025469A I I N >Ff,8MF%A,i,yZ,?ٱZI?ZZZH@ ҿH? ѿſ ?@O`/?IZ,?)ZK^;iZFCjLBnHipIpԑMb@Mb@Mb@ )Iix&?~jt?Q?7)?<\=)Ii(AA ABD96D3Y}h=!@=ԻQ)>99GYk;A>Q 1d4٪œ?Q 5d4V  lB9)?Q A:Y?Q E?yC):If:iآd4YXA ڊ)gC5FNOT Ignoring new targets: 143.80 m.Š5ʊ=gCE ProNav: ac range: 143.800003 m, nav range: 138.160568 m, bearing: 102.207241 deg, approach rate: -0.644079 m/s, LOS rate: -0.029857 deg/s, cmd heading: 106.173283 deg, new cmd heading: 106.135174 deg. M죺M?IIIIQQ"Q*QRY*YYY]t @ɢRB.&Y 額ĿI ڽɡiIA+,=A yAI I N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528308vB] >~BY B] EHB] MBBY BY BY B] ;B] CEf,lG%Ay GD?ٱ a? "  H@)ҿ @e.C?@ѿzƿ@aH? xu@L{?I GD?) P^;i HCiiԩBD>6D43Yk:!D=e^Q)m>u H?9u H?9}GY}GH:A>Q 1d4٪œ?Q 5d4O  lB9Y?Q E?y9C):I:i$d4YBXAEڊgC FNOT Ignoring new targets: 143.80 m.Š  ʊ  gC= ProNav: ac range: 143.800003 m, nav range: 137.878799 m, bearing: 102.194038 deg, approach rate: -0.637749 m/s, LOS rate: -0.029945 deg/s, cmd heading: 106.135177 deg, new cmd heading: 106.095486 deg. EhE?AAAAAI"I*IRI*QQQu-@ɢ SBgX ȿI ݽɡiIG2 }S)}r>I}{*@i}+=})@}+=}@}+ȽIyiy)}DV?ZnG?{B?}?}Zǽ}Q  }+ȽIyiyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A *=1 A% AI) I9 NM >f,Ș)G%AyFS?ٱFWp?F_%F(FH.ҿ^Ҥj>?@Bsѿ ǿT?` Gs?IFS?)F`P^;iFFC LB H ]Mb@Mb@Mb@Y Y)YIYiY] rh?y&1?ˡE?]C+?]`<,DAT read: user:1184> BDAT read: Tx time:21:33:16.5028 $Ping request sent.=K?9=K?9EGYAE:AE>IQ 1Ud4٪M5œ?Q 5Ud4MH  M4mB9]+?Q A]:Y]?Q E]?yMC)M:IM/;iMd4Yae;XAazG%Af Cʋn?2hj,.a@6Ĩs`!w+@"Y"dm?;o A_1?Q ‹+Ƚ:3GAQOz`@XC"~[B@*пѤ?^$?CL`a?{c BsCݸ? OMv  C?gC addTargetRange:: Added new target pos. range: 141.399994 m, deltaT: 4.029587 s, deltaX: -2.400009 m, approachRate: -0.595597 m/s, rangeRepo size: 4 gCm Added new target pos. range: 141.399994 m, bearing: 102.469205 deg, lat: 36.905995 deg, lon: -122.115855 deg, deltaT: 4.029587 s, deltaX: -2.400009 m, approachRate: -0.595597 m/s, posRepo size: 4 ڊigCmFNOT Ignoring new targets: 141.40 m.ŠuʊqgC ProNav: ac range: 141.399994 m, nav range: 137.559570 m, bearing: 102.469205 deg, approach rate: 0.000000 m/s, LOS rate: -0.029945 deg/s, cmd heading: 106.095487 deg, new cmd heading: 106.057320 deg. 0?"*R*̬a@|A?ɢ%)SB%Y )-ƿI) -ɡ)i)I-<1I=0?i=~=i=6=)=0?)AI9iaDDD(DE E*5:6Ec44:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249377>A ·3=rA >jA >ԉ I I N >-f,DG%Aɰ4<y6 j?ٱ6҆?6)6xǽ6H@6ҿ 5k8? fѿ`ǿ ? GAj?I6 j?)6.L^;i6HCB MBB3HBDN/6DN3YV|=!Vn=V^Q)Z?X9X9ZGY\^;A^?`Q 1fd4٪b۝œ?Q 5fd4b'C  bhmB9dYf?Q Ej?ybC)b:Ib~BBHB3NBBBBBf ;B3EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501872>A8= Ii Iy N >D D }D 'D E : E k&:6E '4:E "E 2;! E 3;! *E ;! E ;! 1 Rf,^G%Ay6Y?ٱ6"?6uT,6Aӽ6H@?ҿ@ ©3?v[ѿ ^9ȿ@p?da?I6Y?)6"e^;i6FCBLBBHBDH6DHIR >)R2?Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753601YZ6h!ZJ=ZQ)^>\9\9bGYbGb:Ab>dQ 1jd4٪faœ?Q 5jd4f<  fmB9hYn?Q En?yfC)f:If:ifd4Ypr+XApڊ gC FNOT Ignoring new targets: 141.40 m.Š"ʊ"gC5 ProNav: ac range: 141.399994 m, nav range: 137.074066 m, bearing: 102.443840 deg, approach rate: -0.675755 m/s, LOS rate: -0.035576 deg/s, cmd heading: 106.022486 deg, new cmd heading: 105.981090 deg. 5Rú?!"Y*YRa*i↥}-?ɢ^SB޽] 顽 ͿI ɡiIA C;=I) I9 NM >ԙ *}f,xG%Ay6N?ٱ6?6bq/6۽6H@Eҿ VL -?@Qѿ{ȿ ?Y?I6N?)6<^;i4^NMBbHuMb@Mb@Mb@q q)qIqiqui|?5?S㥛?Mb?u1?u/!;=Q)>99GYF:A>Q 1d4٪ œ?Q 5d4A5  mB942?Q A:Y?Q E?yIC)ny;Ix;i`d4YBVAEڊgCFNOT Ignoring new targets: 141.40 m.Š%ʊ%gC5 ProNav: ac range: 141.399994 m, nav range: 136.780579 m, bearing: 102.428536 deg, approach rate: -0.668881 m/s, LOS rate: -0.034954 deg/s, cmd heading: 105.981088 deg, new cmd heading: 105.935078 deg. 5迺=G?999999"A*ARA*AIIM Sw?ɢ5vSB=jg 9=ſI9 = ɡ9iAIEA &t@=bA ZA AI Iq I N >vB >~B B HB NBB  =B B B O ;B 'Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509401ef,nG%Ai@yV2?ٱV?Vc2VdVH@+Kҿ)Ǭ`(?@.Hѿ8ɿ@/?@,R?IV2?)V];iTb[MBbHBDj:6Dj{3Yr=!rX=vQ)v>t9t9vGYxz:Az>|Q 1d4٪~ӆœ?Q 5d4~.  ~.nB9 Y ?Q E ?y~C)~:I~y:i~d4YBVAEڊ9gC=FNOT Ignoring new targets: 141.40 m.ŠE#ʊE#gCU ProNav: ac range: 141.399994 m, nav range: 136.527130 m, bearing: 102.415180 deg, approach rate: -0.675117 m/s, LOS rate: -0.035644 deg/s, cmd heading: 105.935080 deg, new cmd heading: 105.894936 deg. UúUR?QYYYYY"a*aRa*aiim`x?ɢSBh 顝ƿI lɡiI#AUG=IIN>ԩ *f,IG%Ay6"?ٱ6?6'56;l6H`iSҿચ _@"?Dѿ0ɿ?` HK?I6"?)6^;i6DC@FyMBFHMb@Mb@Mb@ )Ii(\??~jt?z4?<D=)AIvAiAA ABD;6D)3Yl=!;=^Q)>99GYGN:A>Q 1 e4٪c~œ?Q 5e4p'  ynBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.01332995?Q A%:Y%~?Q E%?yC)m;IAl;ie4Y)-/VA)ڊQgC]FNOT Ignoring new targets: 141.40 m.Š]I!ʊ]I!gCm ProNav: ac range: 141.399994 m, nav range: 136.228485 m, bearing: 102.399703 deg, approach rate: -0.678743 m/s, LOS rate: -0.035252 deg/s, cmd heading: 105.894939 deg, new cmd heading: 105.848406 deg. mmw?qqqqqy"y*yRy*ↅ`mA@ɢSBԩ` 页ƿI 9ɡiIZA G= A I! I1 N= >lf,G%Ay6c?ٱ6,?6r~866H@R]ҿ?NHѿʿ?@F?I6c?)6];i6GCRMBVH)X XBD^96D^3Yf8*>!fa=fQ)f>h9h9jGYhn`;An>pQ 1ve4٪r^wœ?Q 5ve4r=!  rnB9tYv?Q Ev?yrCx)r:IrW-;ire4Y|7UADB*** querying acoustic contact ***jrڊ)gC-FNOT Ignoring new targets: 141.40 m.Š5#ʊ5#gCE ProNav: ac range: 141.399994 m, nav range: 135.980835 m, bearing: 102.386720 deg, approach rate: -0.682284 m/s, LOS rate: -0.035834 deg/s, cmd heading: 105.848405 deg, new cmd heading: 105.809385 deg. EĺEda?AIIIII"Q*QRQ*QYY] )@ɢSBi 額 ¿I ,zɡiI-Am L=rAu>jAu>A I I N >ԑ BEyJE}ʭ54RE}I"0D D D (D E  E rN:6E c44:E "E ;! E ;! *E P;! E Q;! f,HG%Ay69?ٱ6 ?65;6I6Hveҿ? SJѿp|ʿP?a0 @?I69?)6$^;i6DCBMBBHBDJ?6DJ3Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769321YV]=!ZM=ZQ)Z>X9\9^GY\^:Ab>`Q 1fe4٪boœ?Q 5je4bp  bnB9hYj?Q Ej?yb]C)b>:Ib:ib!e4YnBrTArEڊgC FNOT Ignoring new targets: 141.40 m.Š %ʊ%gC% ProNav: ac range: 141.399994 m, nav range: 135.709076 m, bearing: 102.372326 deg, approach rate: -0.682003 m/s, LOS rate: -0.036197 deg/s, cmd heading: 105.809384 deg, new cmd heading: 105.766114 deg. %ƺ%H?!!!)))")*1R1*111=X@ԡɢSBd ¿I  ɡiIA5lT= aamBDAT read: Rx Time:21:33:19.0918 uTRx dataTimestamp_ set to:1754688799.771876}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025498A I I N > f,G%Ay6?ٱ6e?6d>6|6Hjҿ@yR?Lѿ`ʿ@C?:;?I6?)6 ^;i6ECbMBbZHMMb@Mb@Mb@I I)IIIiIMl?Q?kt?M7?Mu=}Q)}>y99GY:A>Q 1e4٪gœ?Q 5e4DD~D%DE: E(:6E 4:E!@!@!@!@  KoB97?Q A:Y?Q E?yC)Ӟ;I;Թi0e4Y*TAڊgCFNOT Ignoring new targets: 141.40 m.ŠʊgC% ProNav: ac range: 141.399994 m, nav range: 135.411575 m, bearing: 102.358455 deg, approach rate: -0.686953 m/s, LOS rate: -0.032099 deg/s, cmd heading: 105.766115 deg, new cmd heading: 105.724410 deg. %<%0?))))))"1*R*↽W @ɢTB\`  I  _ɡ i I-A -tY=vB >~B B H DAT read: 21:33:19.0918 LVL= 25968, 29137, 22754, 32755, AGC= 64, IDX= 402, 0.24, 1.702, 0.129, 1.962, 1.468, PHS= 0.335,-1.294, 0.449, RAW= 153.4, 6.1, CAL= 152.6, 6.2, ROT= 357.4, -6.2  Ygot valid direction response: 21:33:19.0918 LVL= 25968, 29137, 22754, 32755, AGC= 64, IDX= 402, 0.24, 1.702, 0.129, 1.962, 1.468, PHS= 0.335,-1.294, 0.449, RAW= 153.4, 6.1, CAL= 152.6, 6.2, ROT= 357.4, -6.2  PDAT read: Bearing 270.3, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 270.3, 7.6 (Local)  DAT read: Range 11 to 50 : 138.6 m (Round-trip 184.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.  ^direction in FSK: [0.993128,-0.045098,0.107999] Fpublishing direction and range infoi m zq?J7Niإ?m Ci Im peim qm Xi m @m > m ˡ)m T>Im uY+@im ^ =m t*@m k=m @m kݽIi ii )m + at=?clC~?3;VpV-?m ?m ٽm 9 m kݽIi ii  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I! I1 N= >*f,1EH%AB-99GYGA>Q 1e4٪0_œ?Q 5e42   oB9YQ E?yC)W:I:i'@e4YB%SA-EzVH%A Cʋ?2O34a@-׷)-@"zq?J7Niإ?9‹kݽ:E}>A 6_@ )fD@*biDϿɎr??B  ?b B C|?gC addTargetRange:: Added new target pos. range: 138.600006 m, deltaT: 3.781395 s, deltaX: -2.799988 m, approachRate: -0.740464 m/s, rangeRepo size: 4 gC Added new target pos. range: 138.600006 m, bearing: 102.343964 deg, lat: 36.905995 deg, lon: -122.115855 deg, deltaT: 3.781395 s, deltaX: -2.799988 m, approachRate: -0.740464 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 138.60 m.ŠʊgC% ProNav: ac range: 138.600006 m, nav range: 135.102173 m, bearing: 102.343964 deg, approach rate: 0.000000 m/s, LOS rate: -0.032099 deg/s, cmd heading: 105.724409 deg, new cmd heading: 105.680244 deg. !-?))))))"1*1R1*19=@3Sa@=%8?ɢ"TBUb 顭O¿I QɡiIH BDAT read: Tx time:21:33:20.3028 $Ping request sent.A 3W[= A yAI I N% >L- f,&.H%A(i*@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2504837NBHiI %Mb@Mb@Mb@! !)!I!i!%zG?Mbp?Zd;O?% 7?%;%j<=)!I%Ai% A%dA !%ABD=06D=3YM=!UC=QQ)U>] H?9] H?9]GYYYA]>aQ 1me4٪eWœ?Q 5ue4e  eoB9uk7?Q Au:Yu?Q Eu?yeCC)e7 ;Ie;ieNe4Yy}CSAڊgCFNOT Ignoring new targets: 138.60 m.ŠʊgC ProNav: ac range: 138.600006 m, nav range: 134.816101 m, bearing: 102.332364 deg, approach rate: -0.719158 m/s, LOS rate: -0.029225 deg/s, cmd heading: 105.680245 deg, new cmd heading: 105.645369 deg. t?"I*IRQ*QYY]`Y0?ɢ?TB"g  I  ɡiIکA <|^=y A I I) NM >0f,aHH%Ay6r ?ٱ6:'?6YG6$6Hiҿ ^Va?Aѿ˿`?fR.?I6r ?)6I];i4B-NBBHBDJ)6DJ3YR!Rk=V¼Q)V?T9X9ZGYXZ:AZ?\Q 1be4٪^Qœ?Q 5be4^  ^&pB9dYf?Q Ef?y^C)^;I^;i^Ze4YhjnSAhDzB*** querying acoustic contact ***jxrxڊ|gCFNOT Ignoring new targets: 138.60 m.Š <ʊ <gC ProNav: ac range: 138.600006 m, nav range: 134.575928 m, bearing: 102.322536 deg, approach rate: -0.689056 m/s, LOS rate: -0.028246 deg/s, cmd heading: 105.645370 deg, new cmd heading: 105.615834 deg. ?!!"!*)R)*)))5&?ɢmVTBmy imſIi ue%ɡqiqIuDZ~BCB_HBOBBBBB;BEI9i!1 qq}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755544ԉ>AԱD D ~D *D E : E (:6E (N4:E "E w;!% E x;!% *E ;!% E ;!- A) I1 II NU > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006567.f,@ObH%An}NBnHBDv36Dv3YE`?>!MB=UQ)>99GYGA>Q 1e4٪Iœ?Q 5e4w  wpB9YQ E?yC):I:iie4YB7RA EڊYgCeFNOT Ignoring new targets: 138.60 m.Šuʊ}gCU ProNav: ac range: 138.600006 m, nav range: 134.279465 m, bearing: 102.310356 deg, approach rate: -0.666471 m/s, LOS rate: -0.027442 deg/s, cmd heading: 105.615837 deg, new cmd heading: 105.579215 deg. ]]?aaai"*R*4?ɢyTB%n` !%mIa m%ɡiiiImE}Ae 0f=Q A AI I N >Ef,}H%Aɰ;4(D<E< E<6E>c44:EK?9K?9GYA>Q 1e4٪zBœ?Q 5e4D  pB92?Q A:Y?Q E?yC)7 ;I ;ixe4YBQAEڊ!gC%FNOT Ignoring new targets: 138.60 m.Š-ʊ-gC= ProNav: ac range: 138.600006 m, nav range: 133.993774 m, bearing: 102.298571 deg, approach rate: -0.696605 m/s, LOS rate: -0.028795 deg/s, cmd heading: 105.579213 deg, new cmd heading: 105.543785 deg. ==~?999AAA"A*IRI*IQQUw?ɢ}TB}o 顅_I *ɡiIM<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510632I ~?i #p=i 'g=) ~?)Ii0>A! vB} >~By B} HB} PBB}  =By By B} ;B} EE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763005A! I) IA NM >,n%f,ƖH%Ay>?ٱ>!?>nO>>H8_ҿ 0?`Q#ѿ̿ ?@,2?I>?)> ^;i>BCJNBJAHBDV46DVf3YZ =!Z^=^Q)^>`9`9bGY`bAf>dQ 1je4٪f<œ?Q 5ne4f  f qB9lYn?Q En?yfVC)f;If;ife4YpvPQAtڊ gCFNOT Ignoring new targets: 138.60 m.ŠʊgC- ProNav: ac range: 138.600006 m, nav range: 133.746857 m, bearing: 102.288352 deg, approach rate: -0.671279 m/s, LOS rate: -0.027835 deg/s, cmd heading: 105.543785 deg, new cmd heading: 105.513069 deg. -Ә-?)))111"9*9RI*IIIU@ɢ}TB}pp y顅I ɡiIAA) IQ Iq N >Ա Ƙ+f,H%Ai6F=I6ېCH)b%Gy^? rAٱ^^ ?^Q^)xchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266519^H`\Sҿ@ I? IѿeHͿ ?z?I^?)^w];i^FCI5Ț5A5ANBtHmMb@Mb@Mb@i i)iIiiim/$?MbP?l?m&1?m:m=)iImAiimA im ABD(6D:3Yױ=!/=Q)>99GYGA>Q 1ee4٪4œ?Q 5ee4$  ^qB9eg1?Q Ae:Ye?Q Ee?yC)A dh= A yAI I N >[2f,fH%Aiy6?ٱ6?6bT6X6H@vEҿ@ީ`? п`2Ϳ[? ʾ?I6?)6_];i6ECB OBBHBDJ>6DJ43YRP=!Rp=VQ)V?V H?9Z H?9ZGYXZ+AZ?\Q 1be4٪^f.œ?Q 5be4^q  ^qB9dYf?hQ Ef?y^C)^9;I^:;i^áe4YnBnPAn!ED~B*** querying acoustic contact ***j|r|ڊ gC FNOT Ignoring new targets: 138.60 m.ŠʊgC% ProNav: ac range: 138.600006 m, nav range: 133.207886 m, bearing: 102.267378 deg, approach rate: -0.701293 m/s, LOS rate: -0.027283 deg/s, cmd heading: 105.476364 deg, new cmd heading: 105.450018 deg. %˕%ޓ?!!!)))"9*9RA*AIQUH{@ɢUTBU"t QUIQ ]UɡYiYI])`AEXh=D D D &D E Ʊ: E 0:6E 4:E "E #;! E $;! *E ։;! E ։;! AU AIY Ii N} >y I߭ >)߭ R= BDAT read: Rx Time:21:33:22.8880  TRx dataTimestamp_ set to:1754688803.549312 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0238508f,ZH%Ay6J?ٱ6?6V6E56H8ҿ(Ab?п=Ϳǧ?  F?I6J?)61];i6DCYOBHBD%6D03Ym|<!m2=ܦQ)>K?9K?9GYڶA> Q 1-e4٪ X&œ?Q 55e4 h  qB99YE?Q EM?y 3C) A h=D D D (D E %: E A:6E c44:E ! @! @! @! @A IAIaNm?Af,I%ADAT read: 21:33:22.8880 LVL= 31488, 32753, 27314, 32755, AGC= 65, IDX= 395, 0.44,-2.577, 2.149,-2.322,-2.832, PHS= 0.357,-1.257, 0.466, RAW= 153.3, 5.2, CAL= 152.4, 5.2, ROT= 357.6, -5.2 Ygot valid direction response: 21:33:22.8880 LVL= 31488, 32753, 27314, 32755, AGC= 65, IDX= 395, 0.44,-2.577, 2.149,-2.322,-2.832, PHS= 0.357,-1.257, 0.466, RAW= 153.3, 5.2, CAL= 152.4, 5.2, ROT= 357.6, -5.2 PDAT read: Bearing 269.3, 9.3 (Local) ~Local bearing/azimuth received: Bearing 269.3, 9.3 (Local) >DAT read: Range 11 to 50 : 135.8 m (Round-trip 181.1 ms) speed 0.8 m/s >R#Rx 1: Read range and direction messages.B^direction in FSK: [0.995011,-0.041703,0.090633]FFpublishing direction and range info ?+PZ0L3?CI{ijAȶ> `堿)>I<+@i޹=;*@޹=@޹Ii)X?I+cw? h"h?`?Q+ ޹IiVT****** received valid address query ******VR****** received valid ping request ******VQuerying Benthos address 50 with one ping in standard two-way mode.ɰdf;mNOBmH=Mb@Mb@Mb@9 9)9I9i9=q= ףp?~jtxL7A`?=+?=Ļ=+=)=hAI=IAi=3A=A 9=QA) BD)6D3YE=!E=EQ)E>I9I9MGYMGMAU>yQ 1}e4٪} œ?Q 5e4}  }[rB9+?Q A:Y?Q E?y}C)}:I}8:i}e4YB OA EvB>~BBdIBPBBBBBS;BEzDoI%ACʋ^?2gsT`@m/!(@" ?+PZ0L3?Q+‹޹:sZ@slC_@&ObD@*udϿƣAw?O 7?BN?% 2B ? {c BjCAC?gCe addTargetRange:: Added new target pos. range: 135.800003 m, deltaT: 3.780086 s, deltaX: -2.800003 m, approachRate: -0.740725 m/s, rangeRepo size: 4 gC Added new target pos. range: 135.800003 m, bearing: 104.861443 deg, lat: 36.905944 deg, lon: -122.115883 deg, deltaT: 3.780086 s, deltaX: -2.800003 m, approachRate: -0.740725 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 135.80 m.ŠʊgC ProNav: ac range: 135.800003 m, nav range: 131.414551 m, bearing: 104.861443 deg, approach rate: 0.000000 m/s, LOS rate: -0.025117 deg/s, cmd heading: 105.412932 deg, new cmd heading: 105.368514 deg. Ae?"*R*`@ng?,DAT read: user:1186> BDAT read: Tx time:21:33:24.1028 $Ping request sent.AԹAIIN (?@(Kf,.I%A`=OB=;HMb@Mb@Mb@ )IiQ?Mbp?S㥛?(?;/<)AIAi=AA BD#6DӀ3Y =!=Q)>99GYA> Q 1e4٪ ?œ?Q 5e4   rB9)?Q A:YV?Q E?y C) z:I v:i e4Y!%3NA!ڊIgCMFNOT Ignoring new targets: 135.80 m.ŠU|ʊU|echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949gCm ProNav: ac range: 135.800003 m, nav range: 131.066071 m, bearing: 104.854211 deg, approach rate: -0.664051 m/s, LOS rate: -0.013817 deg/s, cmd heading: 105.368516 deg, new cmd heading: 105.346763 deg. uuX?qqqqyy"y*R*↍R?ɢ_UBf upIq }# ɡyiyI}EA fm=AII!N-?Sf,PI%AA.<A.<vB0~B0B2IB2.QBB0B0B0B2;B2EB%CB%CB!B% =B% =B%L4l9l9nGYnGr7Ar>tQ 1ze4٪vJ œ?Q 5Ue4v)  v sB9QYU ?Q EU?yv>C)v6eA ) IIN5>3[f,|nI%AyFwf?ٱF>?Fb`bFwFHҿ`R?пMϿ/?9g`5?IFwf?)Fl];iFBCROBRHeMb@Mb@Mb@a a)aIaiaeK7?Q?~jt?e)?eu99GYIA>Q 1e4٪œ?Q 5e4P  _sB9)?Q A:Y?Q E?yC) ;I:iCe4YLAڊgCFNOT Ignoring new targets: 135.80 m.ŠʊgC ProNav: ac range: 135.800003 m, nav range: 130.438141 m, bearing: 104.839526 deg, approach rate: -0.667094 m/s, LOS rate: -0.018026 deg/s, cmd heading: 105.327999 deg, new cmd heading: 105.302600 deg. E?? " * R *?!ɢEUBEm IMII M ɡIiIIMDAJc=DmDmDm,DiEm: Em=:6Emg4:Ei!u@!u@!u@!u@yI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778889ԩ af,n1I%Ay6dQ?ٱ6+n?6%d6.6Hѿ@:u?׎п`χϿpH?`H?I6dQ?)6 ];i4RPBRHBDZ66DZ3Yz=!zV=~Q)~>99GYAܺA> Q 1f4٪ r?Q 5f4 +  sB9Y?Q E?y C) ;I H;i  f4Y%B%CLA-!EڊIgCUFNOT Ignoring new targets: 135.80 m.ŠUʊUgCe ProNav: ac range: 135.800003 m, nav range: 130.192871 m, bearing: 104.832951 deg, approach rate: -0.640881 m/s, LOS rate: -0.017212 deg/s, cmd heading: 105.302597 deg, new cmd heading: 105.282836 deg. m=mA4?iiiiiq"q*qRy*yyyↅ@ɢUBv 顭QI 20 ɡiI>ԑIyi0vB~BBIBQBBBBB;B`Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.030846>AXh=I9IINU>D D D +D E 7: E 3:6E [4:E "E ;! E ;! *E ;! E ;!  F8hf,yI%Aɰ4<'PB II=)=BD=6D3Y-=!-D=-Q)5>19195GY5G=A=>AQ 1Mf4٪EZ?Q 5Mf4Ex  EsB9IYIQ EU?yEC)E;IEY;iE7f4YY]KAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.282935ڊgC%FNOT Ignoring new targets: 135.80 m.Š%䖹ʊ-䖹gC5 ProNav: ac range: 135.800003 m, nav range: 129.925522 m, bearing: 104.825756 deg, approach rate: -0.611433 m/s, LOS rate: -0.016490 deg/s, cmd heading: 105.282838 deg, new cmd heading: 105.261207 deg. =5='?9999AA"A*IRI*IIIU {@ɢ}UB} q y顅I zɡiIA=0f=IIN> E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535346iWnf,'I%Ay:nD?ٱ:4a?:f::H ѿ`,?sпϿ@?𞿿?I:nD?):x^;i:DCVTPBVI=Mb@Mb@Mb@9 9)9I9i9=Zd;O?S㥛??=~*?=/<=<)=AI=Ai=A=vA 9=QA)U@A QBD](6D]:3Ym=!mH=mВQ)m>q9q9uGYqu}A}>Q 1f4٪?Q 5f4  0tB9*?Q A:YR?Q E?yUC)<:I:i&f4YB KA$EڊgCFNOT Ignoring new targets: 135.80 m.ŠmٹʊmٹgC ProNav: ac range: 135.800003 m, nav range: 129.662262 m, bearing: 104.816522 deg, approach rate: -0.676083 m/s, LOS rate: -0.023761 deg/s, cmd heading: 105.261206 deg, new cmd heading: 105.233449 deg. t?"*R*@D]DYD](DYE]%: EY6E]c44:EY!e@!e@!e@!m@ɢVB(w 顽I JɡiIFArg=I1 IA NU >ԩ Aa Ae @AvBm >~Bi Bm IBm QBBi Bi Bi Bm u;Bm 9E] BDAT read: Rx Time:21:33:26.6849 e TRx dataTimestamp_ set to:1754688807.344976e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039843Iuf,{-I%A4y:`P?ٱ:&m?:39g::HRѿ@~H?&пϿn?B?I:`P?):@^;i:CCPB:IBD86D3Y%=!%0=-%Q)->)9)9-GY15$N:A5>9Q 1Ef4٪=?Q 5Ef4=y  =tB9IYM_?Q EM?y=C)=:I=:i=6f4YQUTJAQDuB*** querying acoustic contact ***jqrqڊgCFNOT Ignoring new targets: 135.80 m.ŠйʊйԙgC ProNav: ac range: 135.800003 m, nav range: 129.364197 m, bearing: 104.805970 deg, approach rate: -0.642590 m/s, LOS rate: -0.022802 deg/s, cmd heading: 105.233449 deg, new cmd heading: 105.201718 deg. az?"*R*↵O @ɢ)VBn 紿I ɡiI)A Vg=bA ZA A I I) NM >dq{f,I%Ad|~AitII1i=A)EG =uQ Y)Q)qy ׍A֕`廉֑IAA֑ש׭7AI׭94)שiש)رIص(A׵Yױ ررؽAؽyiععiٹٽA)ٽ`e I )APBXIiI ADAT read: 21:33:26.6849 LVL= 25152, 26081, 23602, 32707, AGC= 64, IDX= 410, 0.22,-0.179,-1.755, 0.076,-0.464, PHS= 0.387,-1.245, 0.496, RAW= 153.2, 4.3, CAL= 152.3, 4.1, ROT= 357.7, -4.1  Ygot valid direction response: 21:33:26.6849 LVL= 25152, 26081, 23602, 32707, AGC= 64, IDX= 410, 0.22,-0.179,-1.755, 0.076,-0.464, PHS= 0.387,-1.245, 0.496, RAW= 153.2, 4.3, CAL= 152.3, 4.1, ROT= 357.7, -4.1 ]PDAT read: Bearing 268.2, 10.9 (Local) ]~Local bearing/azimuth received: Bearing 268.2, 10.9 (Local) mDAT read: Range 11 to 50 : 133.4 m (Round-trip 177.9 ms) speed 0.6 m/s uR#Rx 1: Read range and direction messages.^direction in FSK: [0.996637,-0.040029,0.071497]Fpublishing direction and range infoPrs?0~ M?fCI@bie2\@$> )\)>ID +@i`=*@C=@CIi);??y?ОKMzW?Z?ᚽQl$ CIiT****** received valid address query ******R****** received valid ping request ******Mb@Mb@Mb@Querying Benthos address 50 with one ping in standard two-way mode. )IiCl?:v?Mb?/?<=)AIAiA BD]26D] 3Ye=!m+=mQ)m>99GYGA>Q 1f4٪?Q 5f4s  tB9 00?Q A:Y/?Q E?yC)m'  BDAT read: Tx time:21:33:27.9029  $Ping request sent. A `k=A yAII)N=?_Kf,J%AvB~BB^IB^RBB =BBB.;BE8yfPX?ٱfu?f' kfbfHѿ s?@пv1п"?忿`l?IfPX?)f`;ifDCmPBuvIi}p H?9 H?9GY:A>Q 1f4٪G?Q 5f4  %uB9Y:?Q E?y8C);I:iUf4YHAڊgCFNOT Ignoring new targets: 133.40 m.ŠڹʊڹgC ProNav: ac range: 133.399994 m, nav range: 127.225250 m, bearing: 104.970388 deg, approach rate: -0.698355 m/s, LOS rate: -0.023925 deg/s, cmd heading: 105.167052 deg, new cmd heading: 105.140064 deg. [?   "*R*A?5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834ɢoVB }{  dI  oɡ iIJ5A 8k= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502973 A5 AI9 II N] >#pf,+J%AyR.k?ٱR?RlR.}RHѿIS5?`пeIпpR?鿿?IR.k?)Rl`;iRCCp]PBesIBDM76DMp3Y}T!== eQ)>K?9K?9GY:A>Q 1f4٪?Q 5f4  yuB9YM?Q E?yC) ;Ii ;ief4YBHA%EڊgCFNOT Ignoring new targets: 133.40 m.Šh̹ʊh̹gC ProNav: ac range: 133.399994 m, nav range: 126.932167 m, bearing: 104.960244 deg, approach rate: -0.643929 m/s, LOS rate: -0.022338 deg/s, cmd heading: 105.140066 deg, new cmd heading: 105.109564 deg. Ju(?"*R*↽ʓ?ɢVBTv mI qɡiIzA r=rA >jA i D D D D E غ: E |;:6E :E ! @! @! @! @AU yAIY Iq N} >kf,wEJ%A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006610yJs?ٱJ?J_nJ JHѿ^@Դ?Έп`Zп|?I¿`?IJs?)J `;iJ@CV;QBVIZ=Z==Mb@Mb@Mb@9 9)9I9i9=M?L7A`?kt?=n2?=+== 0=)=AI=Ai=A=lA 9=ABDUB6DU3Yex>!e[=meQ)m>m H?9u H?9uGYuGu?:Au>yQ 1f4٪} ?Q 5f4}z  }uB92?Q A:Y?Q E?y}C)}#:I}?;i}qf4Y~GAڊYgC]FNOT Ignoring new targets: 133.40 m.Še=ʊe=gC ProNav: ac range: 133.399994 m, nav range: 126.689888 m, bearing: 104.950477 deg, approach rate: -0.652741 m/s, LOS rate: -0.026363 deg/s, cmd heading: 105.109563 deg, new cmd heading: 105.080206 deg. ^?"*R*@[?ɢMVBU֩y Q]IY ]*ɡYiYIe~BBIBRBB =BBB;BEi-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751>A ur=ԙ A- AI9 II NU >-f,_J%Ay6*y?ٱ6?6Ro6Q6H ѿ`@9@J?5п@lп դ??I6*y?)6e_;i4RgQBRI)VAA TBDZ(6DZ:3Yb+=!bU=fZQ)f>fK?9fK?9fGYdj9Aj>lQ 1rf4٪n?Q 5rf4n7t  nvB9pYv?Q Ev?ynC)n:In):in)f4YxzFAxDB*** querying acoustic contact ***jrڊgC%FNOT Ignoring new targets: 133.40 m.Š%ʊ-rD5%=jD54=BE(N4JEmF4RE10D=D=D=*D9E=: E=R:6E=(N4:E9"E=, A| u=A I I N- > E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763368pΝf,yJ%Ay6~?ٱ6?6p66Hѿ2`?@%п|п`5?p?I6~?)6R_;i6ACBQBBI Mb@Mb@Mb@  ) I i  On?/$?Mb? 8? ,= @=) I ۋAi ׯA A  ABD%06D%3Y5g8>!=A==DQ)=>99A9EGYAEE9AE>IQ 1Uf4٪M?Q 5]f4Mm  MkvB9]G9?Q A]:Y]g?Q E]?yMNC)M ;IM7 ;iMf4YeBeEAm#EԱڊ)gCMFNOT Ignoring new targets: 133.40 m.ŠU} ʊU} gCe ProNav: ac range: 133.399994 m, nav range: 126.142899 m, bearing: 104.926667 deg, approach rate: -0.658962 m/s, LOS rate: -0.030488 deg/s, cmd heading: 105.049020 deg, new cmd heading: 105.008621 deg. ecem?aaaiiq"q*qRy*yyyↅ`@ɢVBLq 页cI  ɡiIOAibAiZAmAA I I N >9 vB >~B CB IB RSBB =B B ,DB ;B EBBBBB =B2_5f,>uJ%AiyVۋ?ٱV?VqVVsVHҿ`j?п Ŏпj?Va?IVۋ?)VT"_;iVBCbQBbIBDj46Djf3Yr_=!rR=vOQ)v>t9t9vGYvGz:Az>|Q 1f4٪~ծ?Q 5f4~`f  ~vB9Y t?Q E ?y~C)~:I~ :i~}f4YBREA&Eڊ9gC=FNOT Ignoring new targets: 133.40 m.ŠE3ʊE3gCU ProNav: ac range: 133.399994 m, nav range: 125.875015 m, bearing: 104.914196 deg, approach rate: -0.727070 m/s, LOS rate: -0.033921 deg/s, cmd heading: 105.008619 deg, new cmd heading: 104.971125 deg. U=U?QYYYYY"a*aRa*aiimD@ɢ WB2{ 顝SI ɡiIVA50=DiDmDm'DiEi EmVL:6Em'4:Ei"Em  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530689Թ =Ъf,ZJ%Ay^ؘ?ٱ^?^o/s^P^H@dҿ@&@ (?Dп͡п`? \V?I^ؘ?)^&_;i^?CjRBj4IipIrBDv'6Dv3Y~aA>!~I=~LQ)~> H?9 H?9 GY ~:A>1Q 1f4٪5L?Q 5f45X_  5wB9Y?Q E?y5C)5-A rA >jA  A AI  BDAT read: Rx Time:21:33:30.4814  TRx dataTimestamp_ set to:1754688811.137107 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035786I! N5 >%f,J%Ay6T?ٱ6?6Yt66H ҿ?п۴п=A?mm ?I6T?)6V_;i6@CBKRBBSI Mb@Mb@Mb@  ) I i  `"?Q?)\(? 7? < Ga=) QAI +Ai үA A  ABD%16D%[3Y51=!=:==)Q)=>=K?9EK?9EGYAE9AE>IQ 1f4٪M?Q 5f4MW  MxwB98?Q A:Y?Q E?yM(C)Mr~BCB?IBSBB% =BB*DB;BEI9i9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286647i>AW^=A I! I1 N= >ԑ Lf,J%AD&D&D&%D$E&: E&F:6E& 4:E$"E&xd9d9fGYfGji:Aj>lQ 1rf4٪n ?Q 5rf4nWQ  nwB9pYv?Q Ev?ynmC)n;Ink:inf4YxzBAxD B*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 133.40 m.ŠʊgC ProNav: ac range: 133.399994 m, nav range: 125.027809 m, bearing: 104.878109 deg, approach rate: -0.723115 m/s, LOS rate: -0.029434 deg/s, cmd heading: 104.895047 deg, new cmd heading: 104.862622 deg. C?"*R*@yɢxWBs I qɡiIy<DAT read: 21:33:30.4814 LVL= 28144, 32753, 25074, 29491, AGC= 66, IDX= 406, 0.40, 2.745, 1.185, 3.023, 2.465, PHS= 0.382,-1.236, 0.514, RAW= 153.9, 4.1, CAL= 152.9, 3.8, ROT= 357.1, -3.8 Ygot valid direction response: 21:33:30.4814 LVL= 28144, 32753, 25074, 29491, AGC= 66, IDX= 406, 0.40, 2.745, 1.185, 3.023, 2.465, PHS= 0.382,-1.236, 0.514, RAW= 153.9, 4.1, CAL= 152.9, 3.8, ROT= 357.1, -3.8 %PDAT read: Bearing 268.0, 10.9 (Local) %~Local bearing/azimuth received: Bearing 268.0, 10.9 (Local) IMC?iM=iMO"=)MC?)QDAT read: Range 11 to 50 : 130.8 m (Round-trip 174.4 ms) speed R#Rx 1: Read range and direction messages.^direction in FSK: [0.996524,-0.050482,0.066274]Fpublishing direction and range info3[?tة{S?CImia3sB> ?5)?Io+@iC={*@ԇ=8q@ԇIi)|?gZ?H/?d? QQO ԇIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩI8i0>A!  ,DAT read: user:1188>  BDAT read: Tx time:21:33:31.7029  $Ping request sent. 'f,:J%AyV?ٱV?V}vV VHҿ`֦I?@пAп? W@?IV?)VLt_;iVACRBIMb@Mb@Mb@ )Ii ףp= ?~jt?Q?Q8?<u=)GAI|AiȭA`A =A) AABD26D 3Y=!4=)Q)>9!9%GY!%9A%>)Q 15f4٪-I?Q 5=f4-I  -9xB9=9?Q A=:Y=?Q E=?y-C)-:I-{:i-f4YEBEAAM'EzJ%ACʋ+5?2$ K`@~i]I 8VV!@"3[?tة{S?QQO‹ԇ:4Ν>m6V"^@8%D@*@嘻%Cοzl`2}?Q,?BdIO\_? B  BlBF?gC addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.791923 s, deltaX: -2.599991 m, approachRate: -0.685665 m/s, rangeRepo size: 4 ԩgC Added new target pos. range: 130.800003 m, bearing: 104.867249 deg, lat: 36.905944 deg, lon: -122.115901 deg, deltaT: 3.791923 s, deltaX: -2.599991 m, approachRate: -0.685665 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 130.80 m.ŠʊgC ProNav: ac range: 130.800003 m, nav range: 124.711983 m, bearing: 104.867249 deg, approach rate: 0.000000 m/s, LOS rate: -0.029434 deg/s, cmd heading: 104.862624 deg, new cmd heading: 104.823733 deg. -?"*R*Y`@?ɢ WB 8x  НI fɡiI'Axr=bAZAA vB ӽ>~B CB IB PTBB & =B B B [;B EA yAI I N >) nf,uK%A~RB~IBD /6D 3Y:>!%\=%Q)%>% H?9- H?9-GY)-A->1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501911Q 1Mf4٪5?Q 5Mf45LC  5xB9IYIQ EM?y5C)5e;I5f;i5wf4Y@Aڊ gCFNOT Ignoring new targets: 130.80 m.ŠʊgC% ProNav: ac range: 130.800003 m, nav range: 124.458435 m, bearing: 104.857745 deg, approach rate: -0.656723 m/s, LOS rate: -0.024667 deg/s, cmd heading: 104.823733 deg, new cmd heading: 104.795163 deg. %m-Y?))))))"1*1R9*999=0?ɢeWBmv imIi mVɡqiqIu"AMb$= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757189i A AI I N >f,0K%AiXIX)U%G MA)5AIMAAyed?ٱe*?eH6yeeHҿ CSBIiI A-Monly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 206.20, 172.26, 26WI,-32768,-32768,-32768,-32768,V !M@!M !M@!U !U@!U !U@!U BD]#6D]Ӏ3iYmd=!u*=uښQ)u>}K?9}K?9}GY}G}_9A}>Q 1f4٪|?Q 5f4;  xBQ =+:9Q Am:Y?Q E?yRC):I\>if4Y@AڊgCFNOT Ignoring new targets: 130.80 m.ŠzʊzEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005785gCM ProNav: ac range: 130.800003 m, nav range: 124.129478 m, bearing: 104.845326 deg, approach rate: -0.711599 m/s, LOS rate: -0.026936 deg/s, cmd heading: 104.795162 deg, new cmd heading: 104.757806 deg. U㓺U?QQQQQY"Y*R*↕L?ɢWBl I {ɡiIA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257761 A) IA IY Nu >f,LK%AyVգ?ٱV?VAzVzVHҿW`w? п ^ѿ`? Bο`$?IVգ?)V `;iTbPSBbIi4!`=%Y7Q)%>!9!9%GY!-sA->1Q 1=f4٪5u?Q 5=f454  5UyBQ == :9AQ AE@:YE?Q EE?y5C)5:I5 Y?i5sf4YIMH?AIڊqgC}FNOT Ignoring new targets: 130.80 m.Š}]ʊ}]gC ProNav: ac range: 130.800003 m, nav range: 123.880219 m, bearing: 104.835935 deg, approach rate: -0.684229 m/s, LOS rate: -0.025831 deg/s, cmd heading: 104.757808 deg, new cmd heading: 104.729578 deg. э?"*R*↥?ɢWBz NI T ɡiI~B1B5IB5TBB5' =B1B1B5$;B5EIU8iQQQQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509800>A%=rA->jA->AY Ia Iq N} >D5 D5 D5 &D1 E5 : E5 C:6E5 4:E1 "E5 V?ٱ>?>f{>>Hҿ `?п@%ѿ G?0ڿ?I>?)>G`;i>@CbSBfIBDn16Dn[3Yr$!>!vO=vO9Q)v>x9x9zGYxz2ƹAz>Q 1g4٪*n?Q 5 g4).  yBQ = 99 Q A :Y ?Q E ?yC){:I ?ig4YBY>A)ED5B*** querying acoustic contact ***j1r1ڊAgCEFNOT Ignoring new targets: 130.80 m.ŠMqʊMqgC] ProNav: ac range: 130.800003 m, nav range: 123.610153 m, bearing: 104.825732 deg, approach rate: -0.682440 m/s, LOS rate: -0.025839 deg/s, cmd heading: 104.729579 deg, new cmd heading: 104.698902 deg. ]ݍeL?aaaaaa"i*iRi*iqqu@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761923ɢXB(s 顭zI @!ɡiIlAff=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014340i A I I N >?f,K%Aɰ; y:?ٱ:?:||:AD:Hgѿ ɩ@tళ?pп;ѿ`??@?I:?):`;i:?C^SBb=IIf=)fa=!! !! !! !! Mb@Mb@Mb@ )Iin?y&1|?:v?6?`;T=)AIrAiAXA ABD'6D3Y>!>=?)Q)>99GYGҔA>Q 1g4٪f?Q 5g4&  zBQ =T:96?Q A:YB?Q E?y"C);Id;ig4Y|=ADDD)DEI: E6EFA4:E! @! @! @! @ڊgC%FNOT Ignoring new targets: 130.80 m.Š%jʊ-jgC= ProNav: ac range: 130.800003 m, nav range: 123.319801 m, bearing: 104.818270 deg, approach rate: -0.671991 m/s, LOS rate: -0.017312 deg/s, cmd heading: 104.698904 deg, new cmd heading: 104.676464 deg. =>=w?99AAAA"I*IRI*IIQU=@ɢ}@XB}ZNo 顅I :>"ɡiI0Aui=vB5 н>~B1 B5 @IB5 mUBB1 B1 B1 B5 ;B5 oE A I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517763WOf,:wK%Ay6}?ٱ6U?6b}6=6H ѿk@޲?`]пRѿRa?R?I6}?)6 a;i6>CFSBF[IH)N@A N@ABDR66DR3YZJ>!Z[=Z:Q)Z>\9\9^GY\bAb>dQ 1-g4٪f`?Q 55g4f  fizB91Y55?Q E5?yfbC)feA! A1 I9 II N] >vf,FK%A|yp?ٱi?~HѿDDZ?Rпdѿ2?eD?Ip?)Xa;iBTBIMb@Mb@Mb@ )Ii-?{GztMb??5?ף@=)AIćAiA ABD6DY>!.=4Q)>99GY[A>Q 1g4٪AX?Q 5g4  zB95?Q A:Y?Q E?yC)f:I:iH-g4Y;ABDAT read: Rx Time:21:33:34.2777 TRx dataTimestamp_ set to:1754688814.917133checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022940ڊ1gC=FNOT Ignoring new targets: 130.80 m.Š=Wʊ=WgCM ProNav: ac range: 130.800003 m, nav range: 122.750351 m, bearing: 104.806439 deg, approach rate: -0.695816 m/s, LOS rate: -0.011802 deg/s, cmd heading: 104.657042 deg, new cmd heading: 104.640896 deg. UU?QQQQQY"Y*YRa*aa!a` @ɢXB_i ?<PI }e;$ɡiIS:A= 8=A I I ԩ N >"f,?K%A$i$yB^?ٱB{?BþBBH`ѿ-Ϭ?@Fп%uѿ?nٻ?IB^?)Ba;i@NtTBNIBDV,6DV3Y^r>!^U=b0Q)b>`9`9fGYfGfdAf>hQ 1ng4٪jQ?Q 5ng4j  j*{B9pYr?Q Er?yjC)j:Ij:ij:g4Ytv:AxڊgCFNOT Ignoring new targets: 130.80 m.Š=Qʊ=QgC- ProNav: ac range: 130.800003 m, nav range: 122.492073 m, bearing: 104.802111 deg, approach rate: -0.680917 m/s, LOS rate: -0.011433 deg/s, cmd heading: 104.640895 deg, new cmd heading: 104.627885 deg. 55?111119"9*9R9*AAAEQ @AiAm@AvBuϽ>~BqBuIBuUBBqBqBqBu;BuZEBECBECBABE' =BE& =BER/5ɢXBAw 顝I $ɡiIWA=y A D D D )D E ,: E P:6E FA4:E "E _1f,K%A*DAT read: 21:33:34.2777 LVL= 26096, 31825, 25154, 32755, AGC= 65, IDX= 400, 0.36,-0.094,-1.664, 0.154,-0.406, PHS= 0.414,-1.212, 0.517, RAW= 153.0, 3.4, CAL= 152.0, 3.0, ROT= 358.0, -3.0 .Ygot valid direction response: 21:33:34.2777 LVL= 26096, 31825, 25154, 32755, AGC= 65, IDX= 400, 0.36,-0.094,-1.664, 0.154,-0.406, PHS= 0.414,-1.212, 0.517, RAW= 153.0, 3.4, CAL= 152.0, 3.0, ROT= 358.0, -3.0 06PDAT read: Bearing 267.3, 12.4 (Local) :~Local bearing/azimuth received: Bearing 267.3, 12.4 (Local) FDAT read: Range 11 to 50 : 128.0 m (Round-trip 170.7 ms) speed 0.8 m/s NR#Rx 1: Read range and direction messages.^direction in FSK: [0.998021,-0.034852,0.052336]Fpublishing direction and range infoT$?XkءyoU˪?CIeiQ|BbA> ")Z?I*@is=)@PwV=@PwVIi)N?Nj%k?7':?&?BqQ PwVIi5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.TBIiI;BD46Df3Y >!+=Q) > 9 95GY15A5>9Q 1Eg4٪=J?Q 5Eg4=  ={B9AYIQ EM?y=IC)=):ԉI=:i=|Kg4YB9A*EzK%ACʋ?2T$_@XkyoU@"T$?XkءyoU˪?Q‹PwV:c?zu]@v( ZJC@*cϿzu?v( ZJ?B5qNԶ?B B qT ;B!?gC addTargetRange:: Added new target pos. range: 128.000000 m, deltaT: 4.030388 s, deltaX: -2.800003 m, approachRate: -0.694723 m/s, rangeRepo size: 4 gCM Added new target pos. range: 128.000000 m, bearing: 104.803023 deg, lat: 36.905944 deg, lon: -122.115902 deg, deltaT: 4.030388 s, deltaX: -2.800003 m, approachRate: -0.694723 m/s, posRepo size: 4 ڊIgCUFNOT Ignoring new targets: 128.00 m.ŠUʊQgC ProNav: ac range: 128.000000 m, nav range: 122.116570 m, bearing: 104.803023 deg, approach rate: 0.000000 m/s, LOS rate: -0.011433 deg/s, cmd heading: 104.627884 deg, new cmd heading: 104.609217 deg. ?"*RԹ*`@ @1?ɢ%XB-mHc )-sI) -0&ɡ)i1I5` BDAT read: Tx time:21:33:35.7529 $Ping request sent.AU t=rAU >jAQ AyAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250821IIN?f,3 L%Aɰ,,4TBI}Mb@Mb@Mb@y y)yIyiy}@5^I ?:vMb?}b0?}Ty)}?AI}jAi}A}MA y}3ABD-6D3Y[=!!=Q)> H?9 H?9GYA>Q 1g4٪GB?Q 5g4  |B90?Q A:Y/?Q E?yC):I<:i]g4Y8ADB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 128.00 m.Šʊ gC ProNav: ac range: 128.000000 m, nav range: 121.786980 m, bearing: 104.799328 deg, approach rate: -0.749085 m/s, LOS rate: -0.008421 deg/s, cmd heading: 104.609217 deg, new cmd heading: 104.598102 deg. ︹?!!!!")*)R)*))15z?ɢ]XB]o ae0Ia e'ɡaiaIe_~BCBIBVBBBBB;B<Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502990+=I1 i1 1 5 %41 @= A@9 D} D} D} 'Dy E} [: E} V:6E} '4:Ey "E} pA i=! -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757238A5AIQIiN?t f,Ӆ,L%AyVD?ٱV ?V#XVVHѿͬ?ϿlѿC?`3]?IVD?)V`;iT`f UBfIjzK?9zK?9zGY~G~:"A~>Q 1 g4٪o;?Q 5 g4  l|B9Y?Q E?yC):I:ilg4YB 8AڊgCFNOT Ignoring new targets: 128.00 m.ŠиʊиgC ProNav: ac range: 128.000000 m, nav range: 121.490814 m, bearing: 104.796623 deg, approach rate: -0.623003 m/s, LOS rate: -0.005705 deg/s, cmd heading: 104.598104 deg, new cmd heading: 104.589967 deg. z?!"!*!R!*)))-`?ɢ]&YB]bk Y]#IY e"(ɡaiaIeA I I I! N- >vf,#FL%AD"D"D"&D E": E"&p:6E"4:E !&@!&@!&@!&@yJ?ٱJ?JvɁJ/JHԊѿ @@?`Ͽ@ѿ ?skE?IJ?)J]a;iJBCVfUBV<I9=Mb@Mb@Mb@9 9)9I9i9=kt? rh/$?= 0?=C=,=)=5AI=Ai=A=|A 9=דA)UAA QBD]#6D]Ӏ3YeU>!mD=m/Q)m>q9q9uGYquAA}>Q 1g4٪P5?Q 5g4  |B90?Q A:Y?Q E?y/ C):I:if{g4Y6AڊYgCeFNOT Ignoring new targets: 128.00 m.ŠeʊegC ProNav: ac range: 128.000000 m, nav range: 121.218239 m, bearing: 104.795130 deg, approach rate: -0.660689 m/s, LOS rate: -0.003626 deg/s, cmd heading: 104.589970 deg, new cmd heading: 104.585482 deg. @n?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260278"*R*   5 r?ɢMYBB+k 顽yI (ɡiI.~BB@IB WBB) =BB)DBP;BEԑI- 9i) ) - h0) m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510399 >A p=bA ZA IIN >f,ȲeL%Ai@y6?ٱ6̤?66DBDBD@D@EB: EBVL:6E@:E@"EB$d9d9fGYdj1Aj>Q 1g4٪H.?Q 5%g4  1}B9!Y%q?Q E%?y C):I:i+g4Y-B55A5+EڊygC}FNOT Ignoring new targets: 128.00 m.ŠtʊtgC ProNav: ac range: 128.000000 m, nav range: 120.903992 m, bearing: 104.793585 deg, approach rate: -0.677635 m/s, LOS rate: -0.003341 deg/s, cmd heading: 104.585482 deg, new cmd heading: 104.580834 deg. Ƣ?"*R*`? ɢ5tYB5Ԃk 9=vI9 =)ɡ9i9IE}AW^=IA Ii N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014405ԑ #f,AL%Ay65Y?ٱ6u?6P6Yr 6Hr`ѿ쭿?rϿ ѿ!? ՓȰ?I65Y?)6\a;i6>CBUBBIiDIDMb@Mb@Mb@ )Ii@5^I ?{GztˡE?b0?ף'=)۞AI`AiA/{A ABD-26D- 3Y=D>!=C=EAQ)E>A9A9EGYEGM_AM>QQ 1g4٪U'?Q 5g4UI  U}B90?Q A:Y?Q E?yU C)U1AX=IIN>vB- ǽ>~B- CB- IB- WBB) B- MDB) B- ;B- E &f,ZL%Ay:?ٱ:2?:^:~ :HAѿ@@k9?+1Ͽݺѿ ?8`?I:?):`;i:=CJ'VBJIiLIN<BDR.6DRP3YZz>!ZS=Z͖Q)^>\9\9bGY`bAb>dQ 1jg4٪f!?Q 5jg4f  f}B9hYnM?Q En?yf!C)fY;If/;ifg4Ypr3ApDB*** querying acoustic contact ***jrڊ gCFNOT Ignoring new targets: 128.00 m.ŠʊgC- ProNav: ac range: 128.000000 m, nav range: 120.380806 m, bearing: 104.787116 deg, approach rate: -0.691454 m/s, LOS rate: -0.008240 deg/s, cmd heading: 104.570463 deg, new cmd heading: 104.561388 deg. --?))))11"1*1R9*99AE@ɢmYBmfyn imdIi ud7+ɡqiqIuC<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518483I?i=i&u=)?)I9io5bDZDDDD#DE EF:6E3:E"EN APz=IyIN~>= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771448A Q 7,f,?L%Aɰ4CBYVBBIBDJ06DJ3YR@=!RK=VؠQ)V>T9X9ZGYXZuA^>\Q 1bg4٪^?Q 5bg4^+  ^8~B9dYf?Q Ef?y^I!C)^):I^d:i^g4Yhn3AlڊgCFNOT Ignoring new targets: 128.00 m.Š%ʊ%gC ProNav: ac range: 128.000000 m, nav range: 120.116425 m, bearing: 104.784141 deg, approach rate: -0.652475 m/s, LOS rate: -0.007358 deg/s, cmd heading: 104.561385 deg, new cmd heading: 104.552441 deg. ?"*R* AM`f @1ɢYBsf bI ,ɡiIXA pu=I9 IQ N] >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.27505883f,L%A,yB`?ٱB%?BuB BHѿ`=s?.οѿ@#?@~?IB`?)B8`;iBR=}Mb@Mb@Mb@y y)yIyiy}?~jthˡE?},?}Dy)}~AI}Ai}dA}vxA y}‘ABD36D3Y >!;=wϹQ)>99GYG}A>Q 1g4٪ ?Q 5g4  ~B9-?Q A:YL?Q E?y!C)f:IZ:iZg4Y2AڊgCFNOT Ignoring new targets: 128.00 m.Š-ʊ-gC ProNav: ac range: 128.000000 m, nav range: 119.836174 m, bearing: 104.780781 deg, approach rate: -0.646492 m/s, LOS rate: -0.007769 deg/s, cmd heading: 104.552438 deg, new cmd heading: 104.542335 deg. ?!"!*!R!*)))-@ @ɢ]ZB]l ae[Ia e,ɡaiaIeT~BBIB*XBB* =BBB;BEIm9iiim/0iԹ ߡޡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531457>Anp= A] yAIa Iq N >G9f,L%ArD2=jD2<BEm!4JEmY"4REml0D6D6D4D4E6[: E6T:6E4:E4"E6pE6q*E6ƨ;!>E6ƨ;!>yR@t?ٱR?RRe RH`п@IL?@΋ο@ѿ%?`d૮?IR@t?)R0_;iR=C\bVBbI)h jAABDn6Dn4d3Yvd%>!vW=v#ĹQ)v>z H?9z H?9zGYxzfA~>Q 1 g4٪i?Q 5 g4  ~B9 Y ?Q E ?y!C) :I:ig4YB"1A,EڊAgCEFNOT Ignoring new targets: 128.00 m.ŠMʊMgC] ProNav: ac range: 128.000000 m, nav range: 119.592102 m, bearing: 104.778049 deg, approach rate: -0.642734 m/s, LOS rate: -0.007210 deg/s, cmd heading: 104.542336 deg, new cmd heading: 104.534122 deg. ]V]?YYaaaa"i*iRi*iiqui@ɢ&ZBtj 顥^TI s\-ɡiI\! D)T?Iik=Ii)+ʎ?10+˴g?{>ѭ?I?>n IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A=`k=I) IQ N} >A  ,DAT read: user:1190>  BDAT read: Tx time:21:33:39.7529  $Ping request sent. 99GYڄA>Q 1g4٪?Q 5g4`  OB9"1?Q A:Y7?Q E?y"C)U:I:ig4Y0Az!%L%A%fBʋ%?2%ʘE<_@*tR 5@"%T$?XkءyoU˪?!‹!:%o:o=;B K\@l^+0C@*%CsͿ8?a6ѿ?%"B%%5t?% %9B%? !%9B%xB%?gC] addTargetRange:: Added new target pos. range: 125.199997 m, deltaT: 4.032602 s, deltaX: -2.800003 m, approachRate: -0.694342 m/s, rangeRepo size: 4 DuDuDu%DqEu: EuR:6Eu 4:Eq!}@!}@!}@!}@gC Added new target pos. range: 125.199997 m, bearing: 104.666515 deg, lat: 36.905946 deg, lon: -122.115902 deg, deltaT: 4.032602 s, deltaX: -2.800003 m, approachRate: -0.694342 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 125.20 m.ŠʊgC ProNav: ac range: 125.199997 m, nav range: 119.235809 m, bearing: 104.666515 deg, approach rate: 0.000000 m/s, LOS rate: -0.007210 deg/s, cmd heading: 104.534119 deg, new cmd heading: 104.523912 deg. 8?"*R*L_@T?IɢMRZBM e QULXIQ U4.ɡQiQI] A% Qf=ԡ I I N >YFf,ӟM%Ay6?ٱ6Z!?6 6 6HOпPc .?'οѿ&?\?I6?)6h^;i6;CBVBF4IiDIDBDN 6DNk3YV<!Vm=VxcQ)Z?X9X9ZGYZG^A^?`Q 1fg4٪bw?Q 5fg4b  bB9dYf?Q Ej?ybU"C)bl:Ibd:ibg4Yln0Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854ayDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 125.20 m.Š!dʊ!dgC ProNav: ac range: 125.199997 m, nav range: 119.010483 m, bearing: 104.662119 deg, approach rate: -0.637687 m/s, LOS rate: -0.012466 deg/s, cmd heading: 104.523915 deg, new cmd heading: 104.510701 deg. z?"*R*?ɢ%qZB%n]r )-]I) -.ɡ)i)I- A5(a=IIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754916 2Lf,-{4M%Ay>?ٱ>?>">. >Hvп`R@?ο@ѿ@S*?ޮ?I>?)>o^;i!rG=vQ)v>t9x9zGYx~"A~> Q 1g4٪ ?Q 5g4 ߵ  B9Y?Q E?y "C) G;I 6;i g4Y)-?/A)ڊgCFNOT Ignoring new targets: 125.20 m.ŠgʊggC- ProNav: ac range: 125.199997 m, nav range: 118.740158 m, bearing: 104.656956 deg, approach rate: -0.661125 m/s, LOS rate: -0.012657 deg/s, cmd heading: 104.510698 deg, new cmd heading: 104.495173 deg. - -q?))))Ya"q*R*LV?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025ɢZB 3e TI J/ɡiI)A 5[=IQ Ii ԁ N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924%kSf,VNM%Aɰ4<y6\?ٱ6 ?6Ȃ6 6Hʟп`9?]Ϳnѿ+?@࣮?I6\?)6&^;i6=C WB IMb@Mb@Mb@ )Ii9v?I +?A`"?4?94<Y=)tAIAiuA ABD%6D03Y >!==SQ)>99GY.A>Q 1h4٪?Q 5h4  /B95?Q A:YI?Q E?y"C);I;i h4YBV.A+EڊgCFNOT Ignoring new targets: 125.20 m.Š% ʊ% gC5 ProNav: ac range: 125.199997 m, nav range: 118.451271 m, bearing: 104.650972 deg, approach rate: -0.705556 m/s, LOS rate: -0.014649 deg/s, cmd heading: 104.495173 deg, new cmd heading: 104.477179 deg. 1= =}g?AAAAAA"I*IRI*IQQ@n?ɢZBm )MI! %50ɡ!i!I%,~BBIB2YBB* =BBB;B|EIi 0a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876ԉ>A u \=Iy I N >Թ #Yf,31hM%AD&D&D&'D$E&: E&;J:6E&'4:E$"E&BD]16D][3Ym=!m2=u\{Q)u>q9q9}GY}G}i0A}>Q 1h4٪?Q 5h4֦  eB9Y?Q E?y4#C)`AE -tY= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014950I I N > .}`f, M%Ay6t?ٱ6?6ӂ6LB6H@}пy@pP?@Ϳ#ѿ-?Fn?I6t?)6];i6;C<>Ai>CI@@I@iBA B@)DD DFĻDDHJ5AIJ')HiH)N̏CIN-ANL LPR&AR`iPPiTVA)Vף TIT T)TXXXX^WB^IMMb@Mb@Mb@I I)IIIiIM~jt??Zd;O?M;?M!p=*Q)>99GY 3A >Q 1=h4٪?Q 5=h4  B9E Am `T=vBq ~Bq Bu IBu YBBq Bq Bq Bu ;Bu VEA AI I N >ff,M%Aiy:4b?ٱ:~?:::Htп%`?ͿAѿ0? `?I:4b?):q];i8%XB%IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518753BD556D53YUC=!UM=USQ)]>]K?9]K?9]GYaeúAe>iQ 1uh4٪m?Q 5uh4m  mB9qYu%?Q E}?ym#C)mr;Im;im5h4Y,ADB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 125.20 m.Š,ʊ,gC ProNav: ac range: 125.199997 m, nav range: 117.627548 m, bearing: 104.630198 deg, approach rate: -0.721648 m/s, LOS rate: -0.020346 deg/s, cmd heading: 104.437308 deg, new cmd heading: 104.414707 deg. i_C?"*R*V@ɢ *[B k  %DI  2ɡiIv=iHIT=)C?)!QI9i0DeDeDe+DaEe: Ee H:6Ee [4:Ea"Ee$AT=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771800ԩ A I I N >i I ːC)9 Q )i I 0 kAlf,õM%A@yVO?ٱVpl?V VzVHlпW@Ӯ`G?@/Ϳѿ 3?HT?IVO?)V֎];iV!G=Q)>99GYGA>Q 1h4٪0?Q 5h4  B9Y?Q E?y$C)`:I:iFDh4Y)+AڊygC}FNOT Ignoring new targets: 125.20 m.ŠުʊުgC ProNav: ac range: 125.199997 m, nav range: 117.341026 m, bearing: 104.622186 deg, approach rate: -0.666135 m/s, LOS rate: -0.018673 deg/s, cmd heading: 104.414707 deg, new cmd heading: 104.390611 deg.   M=5?AAIԹ"*)R9*9eBDAT read: Rx Time:21:33:42.3203 uTRx dataTimestamp_ set to:1754688822.984506checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029102↭L @ɢY[Bb @I z2ɡiIFA] `T= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749401 A I I N >}tf,bM%Ay6_;?ٱ6#X?6266Hbп`Χ ?@"}Ϳ`ѿ^4? 7˰?I6_;?)6E];i6:CBXBB%IMb@Mb@Mb@ )Iiףp= ? rh?/$?>?C =,=)I?AiGAqA Ai!I%4<BD-*6D-3Y==!=8=EQ)E>A9A9MGYIMcAM>QQ 1]h4٪U?Q 5]h4UĊ  UB9e8??Q Ae:Yed?Q Ee?yUR$C)U#:vBĽ>~BB'IB&ZBB+ =BBB;B<EIU:iUSh4Y B *A /EڊQgCUFNOT Ignoring new targets: 125.20 m.Š]qֹʊ]qֹԁgC ProNav: ac range: 125.199997 m, nav range: 117.024757 m, bearing: 104.611690 deg, approach rate: -0.704263 m/s, LOS rate: -0.023435 deg/s, cmd heading: 104.390610 deg, new cmd heading: 104.359037 deg. #?"*R*p @ɢ}[Bi ?I v3ɡ9i9I=d> )r?IJ*@ik]=V)@+H=+@+HIi);;?GC?f??h_ +HIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A XR=D D D 0D E ,: E R:6E 4:E "E Szf,zM%Aɰ";";y>/?ٱ>L?>> >HS]п Y@Ǯ ^?$qͿ`ѿ@`3?0<Ȱ?I>/?)>&\;i>;CJXBJEIBDv+6DvE3Yz9>!~P=~'9Q)~>99GYhA > Q 1h4٪ =?Q 5h4 ǃ  KB9YY?Q E?y $C) Q;I n;i ah4Y!-)A)E,DAT read: user:1191> MBDAT read: Tx time:21:33:43.5529 M$Ping request sent.MA*S= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252240I A! I) IA NM >f,mpN%A y:%*?ٱ:F?:f:s:H sZп@Ӯ`q?;jͿ`xѿ5?@w> f?I:%*?):4\;i8FXBFaIJp=JIJ=)J=Mb@Mb@Mb@ )IiT㥛 ?Q?l?A?<=)bAI}AiAnA (ABD=$6D=3YEj=!EE=MHQ)M>I9I9UGYUGURA]>YQ 1eh4٪]j?Q 5eh4]F|  ]zB9mhA?Q Am:Ymi?Q Em?y]$C)]:I]:i] ph4Yq} )AyDDD%DE: Ee:6E 4:E!@!@!@!@ڊIgCuFNOT Ignoring new targets: 122.40 m.ŠԹʊԹgC ProNav: ac range: 122.400002 m, nav range: 116.287560 m, bearing: 104.182805 deg, approach rate: -0.696309 m/s, LOS rate: -0.023259 deg/s, cmd heading: 104.332588 deg, new cmd heading: 104.302640 deg. f?"*R*?Iɢu[Bu1e qu9Iq }4ɡyiyI}˫A `T=ԩ A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928N >f,NA N%Ay6b?ٱ6%9?6X#6&6HSп虮 3?aͿ@ѿ6?,ڰ?I6b?)6ȭ\;i6:C@DF`I)L NAABDP6DPYV(!VU=Z%Q)Z>X9\9^GY\A>!Q 1-h4٪%?Q 5-h4%u  %B91Y5[?Q E5?y%0%C)%K:I%:i%}h4Y9= )A9D}B*** querying acoustic contact ***jyryڊgCFNOT Ignoring new targets: 122.40 m.ŠʊgC ProNav: ac range: 122.400002 m, nav range: 116.002296 m, bearing: 104.173316 deg, approach rate: -0.753711 m/s, LOS rate: -0.025134 deg/s, cmd heading: 104.302637 deg, new cmd heading: 104.274099 deg. Y?"*R*A?ɢE[BEm IMBII M2@5ɡIiIIMAmewV= A I I N >ۍf,K:N%Aiy6?ٱ6!?6M6F6HBIп`B ? OͿrѿ b4?4 ?I6?)6y\;i6;CB*YBFIBDN)6DN3YV2>!VK=V߼9Q)V>X9X9ZGYXZA^>`Q 1fh4٪b?Q 5fh4bn  bԁB9hYjC?Q Ej?ybx%C)b:Ib:ibh4pYzBz'A~-Eڊ)gC-FNOT Ignoring new targets: 122.40 m.Š5Jڹʊ5JڹgCE ProNav: ac range: 122.400002 m, nav range: 115.720116 m, bearing: 104.163985 deg, approach rate: -0.719711 m/s, LOS rate: -0.023856 deg/s, cmd heading: 104.274101 deg, new cmd heading: 104.246041 deg. EEM?AIIIII"Q*QR* =^?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261428ɢ}\B}g 顅:;I a5ɡiI;A &V=m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510787y I I N >”f,SN%Ay6?ٱ6t ?6L6TM6H>пZp ?<Ϳ|ѿ1? 6]?I6?)6\;i69CBxYBBI DD9vBI~BIBMIBM[BBM+ =BIBIBMM;BMEBBCBB* =B* =B4}Mb@Mb@Mb@y y)yIyiy}+?Mb?y&1?}v>?}=}`<)}ZAI}/{Ai}A}=lA y}zABD.6DP3Y1>!<=99Q)>99GYG/A>Q 1h4٪{?Q 5h4=f  B9>?Q A:Y_?Q E?y%C)<:I:iŚh4YB&A0EڊgCFNOT Ignoring new targets: 122.40 m.Š޹ʊ޹gC  ProNav: ac range: 122.400002 m, nav range: 115.410072 m, bearing: 104.153547 deg, approach rate: -0.720557 m/s, LOS rate: -0.024324 deg/s, cmd heading: 104.246042 deg, new cmd heading: 104.214644 deg. X?"*!R!*!!!-`V?ɢ:\B+"j 0I n6ɡiIA`T= I I N >D D D &D E : E R:6E 4:E "E !U=:Q)> 9 9 GY  JA >%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015036Q 1-h4٪Y?Q 5-h4__  ,B91Y5@?Q E5?y&C)o;IMq;i,h4Y9=%A9ڊagCeFNOT Ignoring new targets: 122.40 m.ŠmXٹʊmXٹgC} ProNav: ac range: 122.400002 m, nav range: 115.136589 m, bearing: 104.144421 deg, approach rate: -0.710110 m/s, LOS rate: -0.023752 deg/s, cmd heading: 104.214644 deg, new cmd heading: 104.187201 deg. h?"*R*ԙ↕c@@ɢ_\Bpg +I b6ɡiIAT=IqIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269128 ءf, N%AɰpY9Y9]GYYeغAm>yQ 1h4٪}_?Q 5h4}W  }XB9MP=?Q AU:YU?Q EU?y}Z&C)}cA} `T=I I N >q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770882f,vN%Ay6?ٱ6c?66RH6H п@ܮI?̿ѿZ)?+`t?I6?)6\;i6;CBZBBIF!>F<BDJ6DJ!3Y=!O= :Q) > 9 9GYG$A>Q 1%h4٪?Q 5%h4Q  B9)Y-p?Q E-?y&C)y:IN:ish4Y15$A1DUB*** querying acoustic contact ***jQrQڊagCeFNOT Ignoring new targets: 122.40 m.Šm#ʊm#gC} ProNav: ac range: 122.400002 m, nav range: 114.563515 m, bearing: 104.122339 deg, approach rate: -0.756421 m/s, LOS rate: -0.029100 deg/s, cmd heading: 104.152749 deg, new cmd heading: 104.120787 deg. }ğ}?yy"*R*↕@ɢ\Bk *I 8ɡiIGAMXR=IIN>ԩ )f,^dN%Ay6w?ٱ6?6N6|6H`Mп%@v@?@̿ѿ&??I6w?)6\;i69CNNZBR@IBDZ36DZ3Yb9>!bO=b:Q)f>d9d9fGYdj] Aj>lQ 1rh4٪nr?Q 5vh4nJ  nB9tYvP?Q Ev?yn&C)n\(;InG);inAh4YzBzz#Az1EڊgCFNOT Ignoring new targets: 122.40 m.ŠʊgC ProNav: ac range: 122.400002 m, nav range: 114.283630 m, bearing: 104.111682 deg, approach rate: -0.672387 m/s, LOS rate: -0.025666 deg/s, cmd heading: 104.120783 deg, new cmd heading: 104.088733 deg. 錺V? ߡޡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278685"1*9RA*Iqyↅ`s @ɢ\B5b S#I 8ɡiID9A9 9 A9 A= @AvBE ý>~BA BE GIBE [BBA BA BA BE ;BE EA I I N >Kõf,+N%Aiy6;U?ٱ6q?6p6+6HjϿ`Q?V̿ ѿP$?ճ?I6;U?)6\;i6:CBZBBaIMb@Mb@Mb@ )Ii333333?~jt?V-?9?=<)AIuAi ABD%'6D%3Y2=!+=x9Q)>ԩ99GYA>Q 1h4٪?Q 5h4A  ݂B9:?Q A:Y?Q E?y?'C)u ;I ;ih4Y"AڊgCFNOT Ignoring new targets: 122.40 m.Š ʊ gC ProNav: ac range: 122.400002 m, nav range: 113.950737 m, bearing: 104.099270 deg, approach rate: -0.727497 m/s, LOS rate: -0.027205 deg/s, cmd heading: 104.088736 deg, new cmd heading: 104.051390 deg. ]s?!!")*)R)*))15`%@ɢ]]B]^f Y]Ia e19ɡaiaIe[o =/)=M?I=P*@i=s==[(@=k]==Hd@=k]I9i9)=z?FhQP?ρvG?=?=cr= =k]I9i9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>AQ= D D D $D E [: E rN:6E 4:E "E p1  ,DAT read: user:1192>  BDAT read: Tx time:21:33:47.5529  $Ping request sent. !e?=mj9Q)m>q9q9GYGA>Q 1h4٪nz?Q 5h49   B9Y?Q E?y'C):I:ivh4Y)5!A1zy}[ N%A}Bʋ}p{?2} 92"]@b @"}}7?p&iʾ7?}‹}k]:}>b;zЍZ[@AKB@*}(Ϳ.f?$3 ?}B}(}`?}4 }B}`? }4 }B}B}6{?gC addTargetRange:: Added new target pos. range: 119.500000 m, deltaT: 4.030322 s, deltaX: -2.900002 m, approachRate: -0.719546 m/s, rangeRepo size: 4 gC Added new target pos. range: 119.500000 m, bearing: 104.064038 deg, lat: 36.905954 deg, lon: -122.115900 deg, deltaT: 4.030322 s, deltaX: -2.900002 m, approachRate: -0.719546 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 119.50 m.ŠʊgC% ProNav: ac range: 119.500000 m, nav range: 113.759605 m, bearing: 104.064038 deg, approach rate: 0.000000 m/s, LOS rate: -0.027205 deg/s, cmd heading: 104.051389 deg, new cmd heading: 104.013978 deg. !%^?!!!iii"q*qRq*qq}]@}@.8?ɢ2]B%RNa !%I) -69ɡ)i)I-8VA= dO=rAE >jAE >ԡ D D D 'D E : E VL:6E '4:E ! @! @! @! @Ai Iy I N >of,DiO%Ay6?ٱ6]?6,H66HϿ 9%?N̿ѿ`-?A>ij?I6?)6\;i4jZBjI9}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503027Mb@Mb@Mb@ )Ii|?5^?=t:Q)>99GYA>Q 1i4٪!s?Q 5 i43  7B9 d3?Q A:Y?Q E?y'C)XA 0M= ) ) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756652Թ A1 I9 II N] >'f,D1(O%Aɰ;y6?ٱ6?646s6H`{Ͽ- O:?|'̿ѿ?5GƳ?I6?)67@];i6;CB5[BBIBDJ'6DJ3YR$F>!Rb=V49Q)V>T9T9ZGYXZVAZ>\Q 1ji4٪^l?Q 5ni4^,  ^]B99Y]?Q Ee?y^(C)^?YYaaaa"i*iRi*iiq↕` ?ɢ]B md I :ɡiI??i=i =H=)>?)Iiiiim0ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008404 >AG=A I I N >) U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260966f,vBO%AU[BUII]=)YMb@Mb@Mb@ )IiCl?Mb?Mb?/?=@=)AIqAiAdA 3ABD6D{U3Yg7>!)= Q) > 99GYGA>Q 1%i4٪d?Q 5%i4%  B9-y0?Q A-:Y-[?Q E-?yc(C) ;Im ;ihi4Y15A9ڊYgCeFNOT Ignoring new targets: 119.50 m.Še(ʊm(gCu ProNav: ac range: 119.500000 m, nav range: 112.925987 m, bearing: 104.033953 deg, approach rate: -0.708462 m/s, LOS rate: -0.025153 deg/s, cmd heading: 103.957112 deg, new cmd heading: 103.923498 deg. }}*?yyyyy"*R *  d?ɢ]Bj^ I l=;ɡiI A tE=bA ZA ԙ A I I1 N] >-f,^O%AyJ*@?ٱJ\?JxJJH@ο. p8 s?`˿`ѿ?`?IJ*@?)J>(];iJ9CR[BV9I)X XBD^#6D^Ӏ3Yfk>!f`=j»:Q)j>h9h9nGYlnpNAn>pQ 1vi4٪r]^?Q 5vi4r  rB9xYz?Q Ez?yr(C)r;Ir;ir(+i4Y|~6A|ڊ!gC-FNOT Ignoring new targets: 119.50 m.Š-ƹʊ-ƹgC= ProNav: ac range: 119.500000 m, nav range: 112.687401 m, bearing: 104.026040 deg, approach rate: -0.654066 m/s, LOS rate: -0.021739 deg/s, cmd heading: 103.923500 deg, new cmd heading: 103.899711 deg. =nE;?AAAAԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763030"*R*&@ɢM]BM^,` IMII UЗ;ɡQiQIU AG= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864A I I N > Nf,wO%Aiy6?ٱ63?6[ҁ66H_οhJc?@ ˿ zѿ@ ? J?I6?)6.\;i68Cj\BjYIBDr'6Dr3Yz'=!zI=~:Q)~>99GY[JA> Q 1i4٪ W?Q 5i4 R  B9Y?Q E?y (C) ";I P;i b9i4Y!%kA)ڊIgCUFNOT Ignoring new targets: 119.50 m.ŠUùʊ]ùgCm ProNav: ac range: 119.500000 m, nav range: 112.421127 m, bearing: 104.017341 deg, approach rate: -0.653833 m/s, LOS rate: -0.021409 deg/s, cmd heading: 103.899711 deg, new cmd heading: 103.873554 deg. mkmE?iiiiqq"q*yRy*yyↅ<@ɢ]B0P^ 顭I ;ɡiI;Am8=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2694691AIINf>QDm Di Dm &Di Em [: Ei 6Em 4:Ei !u @!u @!u @!u @y /6f,;O%A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518845y:U?ٱ: ?::#:Hգοnnd?@nZ˿uѿh ??I:U?):@\;i::CZT\BZI=Mb@Mb@Mb@9 9)9I9i9=/$?~jt?V-?=&1?=<=m=)==AI=nAi=ƚA=`aA 9=ABDU6DU\3Y>!>=-:Q)>99GYG<A>Q 1i4٪P?Q 5i40  B91?Q A:Y%?Q E?y-)C):I:iqHi4YsAڊAgCEFNOT Ignoring new targets: 119.50 m.ŠM<ʊMAK@=rA>jA>A I) I9 NM > af,O%Ay^?ٱ^?^^^H`rο?u?9˿tѿ`x?X?I^?)^^\;i^7Cj\BjIBDr06Dr3YzDh>!zY=z9Q)~>|9|9GY!A> Q 1i4٪ nJ?Q 5i4  D%D%D%%D!E%: E%X:6E% 4:E!"E%?"*R* [ @ɢeL^Be-Z imоIi m&<ɡiIAm d6= A I I N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276990/Jf,hO%Aɰymȴ?ٱm?mFmmH`/nο@Ằ,?@v˿bsѿ?%@c?Imȴ?)ml];ii\BI Mb@Mb@Mb@  ) I i  tV?~jt?Zd;? 2? D< y=) AI nAi  A \aA  ABD=16D=[3Y]t=!e5=e8Q)e>q9q9uGYq}4A}>Q 1i4٪C?Q 5i4Z  yB9e3?Q A:Y?Q E?y)C)ʃ;IG_;itei4YLAIڊgCFNOT Ignoring new targets: 119.50 m.ŠJʊJgC ProNav: ac range: 119.500000 m, nav range: 111.591476 m, bearing: 103.997903 deg, approach rate: -0.636033 m/s, LOS rate: -0.011039 deg/s, cmd heading: 103.830685 deg, new cmd heading: 103.815095 deg. p?"*R*D-D-D-&D)E-,: E-rN:6E-4:E)!5@!5@!=@!=@99= @DAT read: 21:33:50.1129 LVL= 24656, 29489, 23650, 32755, AGC= 63, IDX= 409,-0.09,-1.841, 2.868,-1.635,-2.147, PHS= 0.408,-1.224, 0.468, RAW= 151.8, 4.2, CAL= 150.9, 4.2, ROT= 359.1, -4.2 Ygot valid direction response: 21:33:50.1129 LVL= 24656, 29489, 23650, 32755, AGC= 63, IDX= 409,-0.09,-1.841, 2.868,-1.635,-2.147, PHS= 0.408,-1.224, 0.468, RAW= 151.8, 4.2, CAL= 150.9, 4.2, ROT= 359.1, -4.2 PDAT read: Bearing 266.5, 13.7 (Local) ~Local bearing/azimuth received: Bearing 266.5, 13.7 (Local) DAT read: Range 11 to 50 : 116.9 m (Round-trip 155.9 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.997191,-0.015665,0.073238]Fpublishing direction and range infoy}?߂#z ?}ByI}P`i}1s}b\}}?}`> })}>I})@i}Q =}(@}Q =}-@}Q Iyiy)}* ?g3?$d?} ?}C} }Q IyiyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢ5^B5V 5ۀ<5rѾI9 =*=ɡ9i9I=q"Am ·3=bAq ZAu A5,DAT read: user:1193> 5BDAT read: Tx time:21:33:51.3029 =$Ping request sent.=!M!=U8Q)U>Y9Y9]GY]GeZAm>yQ 1i4٪};?Q 5i4}  }B9Y?Q E?y}*C)}V;I}4X;i}-wi4YAzquO%AuBʋu?2uri/m$]@pL3Ղ!@"u?߂#z ?u‹uQ :u"µl:IiZ@G4VB@*u9>D ̿Aˉk?^š?uBueu3?u8J uBu5t? qqufBuk?gC  addTargetRange:: Added new target pos. range: 116.900002 m, deltaT: 3.779921 s, deltaX: -2.599998 m, approachRate: -0.687845 m/s, rangeRepo size: 4 gC Added new target pos. range: 116.900002 m, bearing: 103.877306 deg, lat: 36.905956 deg, lon: -122.115900 deg, deltaT: 3.779921 s, deltaX: -2.599998 m, approachRate: -0.687845 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 116.90 m.Š%ʊ!gC5 ProNav: ac range: 116.900002 m, nav range: 111.201012 m, bearing: 103.877306 deg, approach rate: 0.000000 m/s, LOS rate: -0.011039 deg/s, cmd heading: 103.815091 deg, new cmd heading: 103.798861 deg. 15?99999"*R*9]@ '?DDD'DE: E;J:6E'4:E"EA 3=A yAI I N >of,P%A,~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509124yE_?ٱE!?E*EVsEHdHοi ?ʿ$sѿ?v9?IE_?)Ee\;iE8C_]B#IMb@Mb@Mb@ )Iii|?5?{Gzt?Zd;?1?ף;)/AI9lAi^A ̂ABD56D5 3YE=!E/=E8Q)E>ԉ H?9 H?9GY;A>Q 1i4٪4?Q 5i4  B9Z2?Q A:Y.?Q E?y_*C) ;Ii ;ii4YWAڊqgCuFNOT Ignoring new targets: 116.90 m.ŠʊgC ProNav: ac range: 116.900002 m, nav range: 110.890907 m, bearing: 103.873404 deg, approach rate: -0.643206 m/s, LOS rate: -0.008116 deg/s, cmd heading: 103.798863 deg, new cmd heading: 103.787124 deg. ;?"*R*`p?ɢ^BƼ  顭$I ɡiI~~B B . IB _BB B B B ;B E>A 1= A I IN >wf,fOP%AiyF?ٱFG?FFۡFH@?οN ? ?ʿsѿ???IF?)F\;iF6CR]BRlIBDZ%6DZ03Y^>!bX=bgjQ)b>d9d9fGYdf#UAf>lQ 1ni4٪n|/?Q 5ri4n  nB9pYr%?Q Er?yn*C)n:InV:ini4YvBvAz5EڊgCFNOT Ignoring new targets: 116.90 m.Š%ʊ%gC5 ProNav: ac range: 116.900002 m, nav range: 110.647881 m, bearing: 103.870367 deg, approach rate: -0.692451 m/s, LOS rate: -0.008674 deg/s, cmd heading: 103.787122 deg, new cmd heading: 103.777989 deg. 5{5?111199"9*ARA*AAAM5?ɢu_Bu᷼ y}XIy yɡyiyI}A ~M2=Ա I I N >f,':P%Ay6(z?ٱ6?6 66H 6ο@{ ?`;ʿ uѿ? %;`?I6(z?)6މ\;i4B ^BBIiDIDBDN6DNP)3YV>!V@=VQ)Z>X9X9ZGYZG^A^>`Q 1fi4٪bI)?Q 5fi4b  bLB9dYj?Q Ej?yb*C)b;Ib;ib|i4YlnAlD~B*** querying acoustic contact ***j|r|ڊgC FNOT Ignoring new targets: 116.90 m.Š ʊ gC ProNav: ac range: 116.900002 m, nav range: 110.368179 m, bearing: 103.866893 deg, approach rate: -0.656114 m/s, LOS rate: -0.008170 deg/s, cmd heading: 103.777990 deg, new cmd heading: 103.767542 deg. %i%?!!!!!)")*)R1*111=`?ɢe._BeT; aeIa iɡi I HJAE31=D D D 'D E  E T:6E '4:E ! @! @! @! @IA IQ Ne >I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766622Tf,B|TP%A%L^B%IMb@Mb@Mb@ )Iix?MbP?i|?5?K7?:q=)AIjAiA^A ׁABD"6DJz3Yc>!9=Q)>99GYA>A<A<vB~BB IB_BB* =BB*DBz;BEQ 1i4٪"?Q 5i4  B97?Q A:Y;?Q E?y1+C)>;Im;ii4Y!-A)1ڊQgC]FNOT Ignoring new targets: 116.90 m.Še۸ʊe۸gCu ProNav: ac range: 116.900002 m, nav range: 110.069023 m, bearing: 103.864226 deg, approach rate: -0.671795 m/s, LOS rate: -0.006005 deg/s, cmd heading: 103.767540 deg, new cmd heading: 103.759518 deg. uރu?qqqyyy"*R*↍@ɢU]_BUpv QUIQ YɡYiYI]U(Թ ' f,!VnP%Aɰ4<p;y6u?ٱ6?6o6gj6H 3ο`| ?`[ʿnѿ?8@a?I6u?)6u\;i67CD@DBDB)D@E@ EBrN:6EBFA4:E@"E@!JE@!J*EBP;!JEBP;!JR^BRIBDZ%6DZ03Y%1>!-W=-:Q)->)9195GY15綹A5>9Q 1Ei4٪==?Q 5Mi4=y  =B9IYM7?Q EM?y=s+C)=:I=:i=8i4YQUAYڊygCFNOT Ignoring new targets: 116.90 m.Š ʊ gC ProNav: ac range: 116.900002 m, nav range: 109.810295 m, bearing: 103.861927 deg, approach rate: -0.687313 m/s, LOS rate: -0.006121 deg/s, cmd heading: 103.759521 deg, new cmd heading: 103.752609 deg. l?"*R*↵@ɢ_Bz "sI ɡiIl checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524818! "f,6sP%AyZJr?ٱZ ?ZvYZ7ZH@4ο ?ʿFѿ?@?IZJr?)Zʏ\;iZ6Cn^BnIvJ>v=Mb@Mb@Mb@ )Iiv?~jtx:v?8?ĻT=)xAIjhAiAv\A (ABD'6D3Y5=!;= T;Q) > 9 9GYGA>Q 1%i4٪?Q 5%i4  B9-Q9?Q A-:Y-?Q E-?y+C)a:I:iyi4Y5B=A=3EڊYgCeFNOT Ignoring new targets: 116.90 m.Še8 ʊe8 gC} ProNav: ac range: 116.900002 m, nav range: 109.510689 m, bearing: 103.861111 deg, approach rate: -0.686272 m/s, LOS rate: -0.001874 deg/s, cmd heading: 103.752609 deg, new cmd heading: 103.750154 deg. }}?yyyy"*R*↍^Z@ɢ_Bg"~ 顽mI ɡiI߳~BCB IBa`BB+ =BB)DB[;BEI9i5IIN>) 0(f, P%A_B. IBD-96D-3Y=O>!EZ=EQ)E>A9I9MGYIMAM>Q YYeBDAT read: Rx Time:21:33:53.8592 mTRx dataTimestamp_ set to:1754688834.577431mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028029Q 1ui4٪U?Q 5ui4UA  UB9yYyQ E}?yU,C)U;IU;iUi4YAڊgCFNOT Ignoring new targets: 116.90 m.ŠʊgC ProNav: ac range: 116.900002 m, nav range: 109.253700 m, bearing: 103.860408 deg, approach rate: -0.681273 m/s, LOS rate: -0.001870 deg/s, cmd heading: 103.750157 deg, new cmd heading: 103.748041 deg. :}?"*R*` @ɢ_Bjx` II ɡiIybDZD@ABE%ƀ'4JE!RE%J0DDD%DE: EV:6E 4:E"EiCg?ٱ>?>ix>r>H9οVB=!?˿п{?J?I>Cg?)>\;i`9`9bGY`fcAf>hQ 1ni4٪jH ?Q 5ri4jr  j;B9pYr?Q Er?yjF,C)j;Ij;iji4YvBvAv6ED B*** querying acoustic contact ***j r ڊgCFNOT Ignoring new targets: 116.90 m.Š%Zʊ%ZgC5 ProNav: ac range: 116.900002 m, nav range: 108.987206 m, bearing: 103.859741 deg, approach rate: -0.692273 m/s, LOS rate: -0.001737 deg/s, cmd heading: 103.748039 deg, new cmd heading: 103.746033 deg. 55W?119999"A*ARA*AIIM`t @ɢu`BuLb y顅>I ɡiI9 u|)u>IuUs)@iu A=uq(@u5z=uy@u5zIqiq)u1&?re(?NJ-b?uk ?u-uDd u5zIqiq%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode. >AE ·3=rAM >jAM >% ,DAT read: user:1194> % BDAT read: Tx time:21:33:55.2529 - $Ping request sent.- b5f,̖P%A~B9B=Z IB=`BB9B9B9B=A;B=EBBBB+ =BB[4}Mb@Mb@Mb@y y)yIyiy}ʡE?~jth?Zd;O?}=?}D;}j<=)}ۈAI}EfAi}CA}QZA y}~ABD!6Dr3Y>!&=.9-K?9-K?9-GY-G5@CA5>9Q 1Ei4٪=?Q 5Ei4=|  =rB9E>?Q AM:YM ?Q EU?y=,C)=O;I=O;i=hi4YimAiԱz9=~5P%A=3Bʋ=p?2=,x\@m^!qǯJ@"=A5 .=rD] =jD] 4=Dq Du Du 'Dq Eq  Eu L_:6Eu '4:Eq "Eq Eq *Eu ߱;Eu ;) Aq I I N >M1!V]=VdžX9X9ZGYX^s]A^>\Q 1fj4٪^(?Q 5fj4^߲  ^B9dYf?Q Ef?y^,C)^D;I^;i^+j4Yhn AlڊgCFNOT Ignoring new targets: 114.10 m.Škʊ%k渝5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503637gC ProNav: ac range: 114.099998 m, nav range: 108.370811 m, bearing: 103.841646 deg, approach rate: -0.754106 m/s, LOS rate: -0.006295 deg/s, cmd heading: 103.743333 deg, new cmd heading: 103.736832 deg. @?" * R *  ?ɢa`BԹ. MI ɡiIA} S,=A I I N > Cf,h Q%Aɰ&;&4ο &@D?K˿NϿOx? k@@?IB:H?)B4\;iB5CDDD$DE: E1]:6E4:E!@!@!@!@_B IQMb@Mb@Mb@ )Iiv?MbP?+?8?:=);AIdAiA 3{ABD'6D3Y=!#=MY99GY A>Q 1j4٪?Q 5j4  ͆B99?Q A:Y{?Q E?y<-C);I;ij4YB6 A5EڊgC%FNOT Ignoring new targets: 114.10 m.Š%՞ʊ%՞gC5 ProNav: ac range: 114.099998 m, nav range: 108.021385 m, bearing: 103.839482 deg, approach rate: -0.698266 m/s, LOS rate: -0.004339 deg/s, cmd heading: 103.736831 deg, new cmd heading: 103.730316 deg. =>=Z?99999A"A*AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007024RA*QYY]',?ɢ`B( 額"I ɡiIM~BB IB~aBB, =BBB;B|EI]8iYaec5a@mA@mAԉԩ >A ·3=bA AZA A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259636A I I N >|If,'Q%Ay6G.?ٱ6K?6a^66H@%2ο R?@.R˿nοd?Y[@f?I6G.?)6 \;i4hnAintIllIpivA v,t) Aj!%AI%^)!i!)QIm$Am'q qy}"A}iy؁iٙ١) I )/`B IBD6D03Y+>!^=%I9I9MGYMGMp AU>QQ 1]j4٪UR?Q 5]j4UW  UB9aYe_?Q E?yU-C)UD!A] [1=ԁ A I I N >]Pf,AQ%A0y:w?ٱ:8+?:V:9:H | ο@EjO a?T˿{Ϳ?E` ?I:w?):\;i8%_`B- IBD=#6D=Ӏ3Ye=!eX=mġi9i9uGYqu)Au>Q 1j4٪쿜?Q 5j4  B9Y>?Q E?y-C);I\ ;i3j4YB A8EDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 114.10 m.ŠʊgC ProNav: ac range: 114.099998 m, nav range: 107.498833 m, bearing: 103.836594 deg, approach rate: -0.706677 m/s, LOS rate: -0.003734 deg/s, cmd heading: 103.725800 deg, new cmd heading: 103.721627 deg. $b?      "*R*p@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052ɢ]`B]k Y]MIY YɡaiaIe7s: EVL:6Eـ4:E!@!@!@!@>A5S,= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785 Aa Ii Iy N >Ay Ay vB >~B CB IB aBB - =B B B ;B zEVf,d[Q%A i \`B I-Mb@Mb@Mb@) )))I)i)-K?Q??-^:?-u<-<)-AI-_Ai-A- WA )-vAi=pY9Y9]GYYeAe>iQ 1uj4٪m応?Q 5uj4mݔ  m=B9u:?Q A}:Y}m?Q E}?ym.C)m ;Im;imCj4Y AڊgCFNOT Ignoring new targets: 114.10 m.Š<ʊ<gC ProNav: ac range: 114.099998 m, nav range: 107.193481 m, bearing: 103.832191 deg, approach rate: -0.712678 m/s, LOS rate: -0.010305 deg/s, cmd heading: 103.721627 deg, new cmd heading: 103.708382 deg. Mϯ?"*R*@)@ɢaB   I  ɡiI҄A]&=rA>jA>A D D D $D E : E V:6E 4:E "E ! E ! *E ! E ! A I! I9 NE >) 5G A) #\f,LuQ%AI"A"AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519485y%?ٱ%J?%!T=& =Q)>99GYGhA>Q 1j4٪߿?Q 5j4  ]B9Y;?Q E?yV.C):I:iPj4YB A6EڊgCFNOT Ignoring new targets: 114.10 m.Š%2ʊ%2gC5 ProNav: ac range: 114.099998 m, nav range: 106.919205 m, bearing: 103.828439 deg, approach rate: -0.709528 m/s, LOS rate: -0.009732 deg/s, cmd heading: 103.708383 deg, new cmd heading: 103.697097 deg. =չ=[?99999A"A*ARA*IIIM`ߜ@ɢu;aB} y}>Iy yɡiIcAm+,=ԡ A I) IA NM >șcf,;Q%AyB7?ٱB?Ba?BBHͿV?o˿ʿ ?`3?IB7?)B\;iB4C^`Bb^ IDUDUDU'DQEU: EUT:6EU'4:EQ!]@!e@!e@!e@yMb@Mb@Mb@ )Ii333333?X9v?Q?9?<u<)߂AI]AiMA rABD-6D3Y/>!K=a99GYA>Q 1Uj4٪ٿ?Q 5Uj4  {B9]9?Q A]:Y]?Q E]?y.C)~B1B5) IB5IbBB5. =B1B1B5#;B5|EI8ig0>A #'= m BDAT read: Rx Time:21:33:57.8054 u TRx dataTimestamp_ set to:1754688838.610425} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277635A I! I1 N= >if,ǨQ%Aɰ`b;y,|?ٱ??t0~HuͿj?a˿ȿ?M# H?I,|?)n\;i5CaBq I)@A @ABD6D4d3Y=!F==Q)>!9!9%GY!%cA->1Q 1=j4٪5ҿ?Q 5=j456  5B99Y=t?Q E=?y5.C)5:I5:i5mj4YAMAiڊgCFNOT Ignoring new targets: 114.10 m.ŠKʊKgC ProNav: ac range: 114.099998 m, nav range: 106.339134 m, bearing: 103.814659 deg, approach rate: -0.733602 m/s, LOS rate: -0.017080 deg/s, cmd heading: 103.676241 deg, new cmd heading: 103.655650 deg. ;?"*R*8 @ɢEaBe6 aejIi iɡiiiImqmA bA ZA Aq A I I) N5 >Tpf,Q%A~JaB~ IBD+6DE3YE=!EZ=EQ)M>I9I9MGYIUAU>YQ 1ej4٪]˿?Q 5ej4]qx  ]B9aYaQ Em?y]0/C)]:I]N:i] zj4YuBuAu9EDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 114.10 m.ŠɛʊɛgC ProNav: ac range: 114.099998 m, nav range: 106.071617 m, bearing: 103.808415 deg, approach rate: -0.727520 m/s, LOS rate: -0.017025 deg/s, cmd heading: 103.655648 deg, new cmd heading: 103.636867 deg. :?"*R*@ɢaB2 FI ɡ i I e =𧦿)=S>I=)@i===0(@= ==^@= ĽI9i9)=C9?' Й?)k]?=1 ?=28=D = ĽI9i9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i=)?)Ii0ԩD}D}D}(DyE}>: E}L_:6E}c44:Ey!@!@!@!@>A ;= ,DAT read: user:1195>  BDAT read: Tx time:21:33:59.1529  $Ping request sent. ~BI BM [ IBM bBBI BI BM (DBM ;BM xEAY Ii Iy N > kvf,jQ%Ay6S?ٱ6p?6Q )66H2Ϳ@w`?`d_˿Yǿ` ?RӾ0T?I6S?)6\;i64CNnaBR I}Mb@Mb@Mb@y y)yIyiy}l?~jt?y&1?}7?}D=}`e<)}ȁAI}`[Ai}Ay y}oABD!6Dr3Y^=!D=E99GYGAA>Q 1j4٪@Ŀ?Q 5j4q  ̇B97?Q A:Y_?Q E?y{/C):I:ij4YXAzim1Q%AmBʋm?2m!R"[@i}sU%@"m?\ ʁaVX?mD‹m Ľ:mãq9dZ@bk>"<@*m4 No4tͿ7E?qH?mBmm:V?m kݱ m?Bi imBmBm?gC- addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 4.030977 s, deltaX: -2.799995 m, approachRate: -0.694620 m/s, rangeRepo size: 4 gC= Added new target pos. range: 111.300003 m, bearing: 103.797857 deg, lat: 36.905956 deg, lon: -122.115900 deg, deltaT: 4.030977 s, deltaX: -2.799995 m, approachRate: -0.694620 m/s, posRepo size: 4 ڊAgCEFNOT Ignoring new targets: 111.30 m.ŠMʊIgC] ProNav: ac range: 111.300003 m, nav range: 105.777191 m, bearing: 103.797857 deg, approach rate: 0.000000 m/s, LOS rate: -0.017025 deg/s, cmd heading: 103.636865 deg, new cmd heading: 103.615361 deg. Y]z?YYaaaa"i*iRi*iiu@3[@?ɢ=aB=d 9=I9 AɡAiAIEX\A ȿ=1 D D D %D E : E xv:6E 4:E "E ! E ! *E ;! E ;! A9 IA IY Ne >Q l|f,VQ%A$i&@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502835yJ.9?ٱJU?J "JJHͿ`zd﴿@n?Ja˿ ǿ+?˾c]?IJ.9?)J\;iHZtaB^ Iib499GYTA>Q 1j4٪?Q 5j4i  B9YB?Q E?y/C):I:ij4YBGA7EڊgCFNOT Ignoring new targets: 111.30 m.ŠʊgC ProNav: ac range: 111.300003 m, nav range: 105.494835 m, bearing: 103.787814 deg, approach rate: -0.713951 m/s, LOS rate: -0.025460 deg/s, cmd heading: 103.615363 deg, new cmd heading: 103.585156 deg. ȋUi?"*R*  `J?ɢ5bB5> 9=#I9 9ɡ9i9I=mgUAU=rA]>jA]>ԁ A yAI I N- >؃f,O!R%A0y:?ٱ:2?::r:HiͿS/?@-^˿`>ƿ *M?`+f?I:?):\;i:3CBaBF IiDIDBE-4JE14REn0DEDEDE(DAEEV: EEAr:6EEc44:EA!U@!U@!U@!U@UMb@Mb@Mb@Q Q)QIQiQU\(\?)\(?Q?U:?UGa=Uu<)UAIU7YAiUȁAU XA QUmABDm$6Dm3Y@>!B=k H?9 H?9GY%&A%>)Q 15j4٪-"?Q 55j4-Gb  -B95r;?Q A=:Y=3?Q E=?y-0C)- ;I- ;i-hj4YAEAAڊigCmFNOT Ignoring new targets: 111.30 m.ŠuʊugC ProNav: ac range: 111.300003 m, nav range: 105.190613 m, bearing: 103.775708 deg, approach rate: -0.721364 m/s, LOS rate: -0.028789 deg/s, cmd heading: 103.585153 deg, new cmd heading: 103.548729 deg. T?"*R*↝?ɢFbBj I ɡiIM~BB IBbBBBBB(;B}EBĊCBĊCBB. =B- =BĐ5Թ>A= A AI! I9 NE > a a e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982f,*R%AyF-?ٱF?F?.F:FHsͿ``A9?]˿@ mſ?u? n?IF-?)F\;iF4C`j bBj IBDr 6Drf2Yzl:>!z^=~P~K?9~K?9~GYGS A> Q 1j4٪ ;?Q 5Uj4 [  B9QY]?Q E]?y V0C) 3$A y=A A1 IA IQ N] >Uf,CR%AɰyZO?ٱZ?ZtNZ,ZH%Ϳ@7?2˿ÿ~?}?IZO?)Z\;iZ2Cf2bBf I)nAA nAABDr 6Drk3Yv=!vK=z =Q)z>x9|9~GY|A> Q 1 j4٪ ?Q 5j4 GT  )B9Y?Q E?y 0C) :I :!i Yj4Y)-YA)DEB*** querying acoustic contact ***jArAڊQgCUFNOT Ignoring new targets: 111.30 m.Š]ʊegCm ProNav: ac range: 111.300003 m, nav range: 104.633789 m, bearing: 103.754121 deg, approach rate: -0.742510 m/s, LOS rate: -0.028345 deg/s, cmd heading: 103.517159 deg, new cmd heading: 103.483798 deg. uu^/?qqqqqy"y*yR*↍`?ɢbB 页ԽI ɡiIA@AM3= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015668A I I ԡ N >A <A <vB >~B CB IB )cBB 0 =B B B #;B xEf,5]R%AvebBv: IuMb@Mb@Mb@q q)qyIqiquOn?&1?~jt?u8?uP=u<)u7AIu WAiu&Au WA qu\kABD,6D3Yf=!?=Q)>99GYA>Q 1j4٪?Q 5j4L Q 9tI AB99?Q A:Y5?Q E?y0C)o;IT:iFj4YA9EڊgCFNOT Ignoring new targets: 111.30 m.Šʊ gC ProNav: ac range: 111.300003 m, nav range: 104.328987 m, bearing: 103.743094 deg, approach rate: -0.715849 m/s, LOS rate: -0.025973 deg/s, cmd heading: 103.483800 deg, new cmd heading: 103.450622 deg. d?!!!"!*)R)*)))5b@ɢ]bB]|߻ YePνIa aɡaiaIeR9A +=1IIN?}f,~R%Ai@y:K?ٱ:?h?:1򽹱::H̿@ O?^˿`(¿>?`?I:K?):a\;i8FbBFT IBDR&6DRދ3YV®=!V(=Z\9\9^GY^G^7Ab>`Q 1fj4٪b;?Q 5fj4bC  bYB9hYr?Q Er?ybH1C)bQ;Ibπ;ib?j4YvBvAxڊygC}FNOT Ignoring new targets: 111.30 m.Š޹ʊ޹ԑgC ProNav: ac range: 111.300003 m, nav range: 103.981804 m, bearing: 103.730960 deg, approach rate: -0.694022 m/s, LOS rate: -0.024336 deg/s, cmd heading: 103.450619 deg, new cmd heading: 103.414096 deg. ?"*R* wj@ɢ5cB5Mj 9=I9 9ɡ9i9I=1A l=vBu >~Bu CBu IBu zcBBu 2 =Bq Bu 'DBu $;Bu vEaIiIN>f,KR%Ay6H&?ٱ6C?6役66H̿ 㷿 ?d ˿@O]@?/?I6H&?)6\;i63CBbBBv IMb@Mb@Mb@ )Ii~jt?&1?:v?;?<){AITAi{AUA hABD%,6D%3Y5=!=%==rQA9A9EGYAEAE>Q 1j4٪댿?Q 5j4:  tB98AU Nw =ԉ I I) u DAT read: 21:34:01.7019 LVL= 25040, 31985, 25442, 32755, AGC= 70, IDX= 409,-0.44,-2.632, 1.984,-2.435,-2.891, PHS= 0.361,-1.363, 0.412, RAW= 151.5, 6.8, CAL= 150.8, 7.2, ROT= 359.2, -7.2 } Ygot valid direction response: 21:34:01.7019 LVL= 25040, 31985, 25442, 32755, AGC= 70, IDX= 409,-0.44,-2.632, 1.984,-2.435,-2.891, PHS= 0.361,-1.363, 0.412, RAW= 151.5, 6.8, CAL= 150.8, 7.2, ROT= 359.2, -7.2  PDAT read: Bearing 268.0, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 268.0, 5.3 (Local)  DAT read: Range 11 to 50 : 108.6 m (Round-trip 144.9 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.992018,-0.013852,0.125333] Fpublishing direction and range infoA E o+?؃r^cK ?E 3BA IE aiE |E bcA E FE Ը> E v)E >IE %:)@iE =E q(@E >E y@E IA iA )E 9^J?I(0?<&L?E ?E E Dd E IA iA  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.N >_f,DR%A ?$AbB IBD6D4d3Y%=!%)=%Q)->)9)9-GY-G5A5>9Q 1k4٪=f?Q 5k4=1  =B9YQ E?y=1C)=i$?B-7?,Ğ ǤBKS? Q BUBiS?gCE addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.779893 s, deltaX: -2.700005 m, approachRate: -0.714307 m/s, rangeRepo size: 4 gCU Added new target pos. range: 108.599998 m, bearing: 103.546825 deg, lat: 36.905958 deg, lon: -122.115895 deg, deltaT: 3.779893 s, deltaX: -2.700005 m, approachRate: -0.714307 m/s, posRepo size: 4 ڊQgC]FNOT Ignoring new targets: 108.60 m.Š}ʊygC ProNav: ac range: 108.599998 m, nav range: 103.666595 m, bearing: 103.546825 deg, approach rate: 0.000000 m/s, LOS rate: -0.025537 deg/s, cmd heading: 103.375535 deg, new cmd heading: 103.338841 deg. w?"*R*`f&[@v?ɢ vcB H  I 1ɡ9i9I=S$ =BDAT read: Tx time:21:34:02.9029 E$Ping request sent.MA =I I N >q eôf,R%ADDD(DEO: E1]:6Ec44:E!@!@!@!@ybO?ٱb ?b8ͽbGbH`ߖ̿@D @>? ˿ԭ?`$ ?IbO?)bV*];ib2Cn,cBn IeMb@Mb@Mb@a a)aIaiael?/$?Mb?e7?e,=e=)aIeSAievAe XA aegABD} 6D}k3Y&>!V=&99GYKA>Q 1k4٪}?Q 5k4+  B9 8?Q A:Y;?Q E?yD2C):I;ik4YBjA:EDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 108.60 m.Š͹ʊ͹gC ProNav: ac range: 108.599998 m, nav range: 103.394524 m, bearing: 103.538682 deg, approach rate: -0.749877 m/s, LOS rate: -0.022503 deg/s, cmd heading: 103.338843 deg, new cmd heading: 103.314349 deg. wu?     "*R*`E?Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248361ɢcB. !@&I ɡiIC~BqBu IBucBBqBqBqBu;BunEIi`5ԉԩ>A#=IQ Ia Nm >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501049 f,1R%Ay6o?ٱ6.?6½6 6H\̿| @ ?@8˿tQ?ʾ4?I6o?)6i];i6/C^UcBb I)d f@ABDj6Dj 83Yr=!rV=rdt9t9vGYtvQAz>xQ 1Uk4٪zFw?Q 5Uk4z8$  zB9QY])?Q E]?yz2C)zQAG=bAZAAIQIiNu> 9 Bf,˼S%A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005773UcBU I]4=]Y>BDe6De\3Yu=!}A=}Q)}>99GYA>Q 1k4٪o?Q 5k4  ƈB9YQ E?y2C)eA=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257651a vBm >~Bi Bm H IBm dBBi Bi Bi Bm ;Bm `EA I I N >f,!S%A y:?ٱ:?:X:N:H?}̿I m?Y ˿ǻt?{0?I:?):\;i:2C^cBb IuMb@Mb@Mb@q q)qIqiqux&1?y&1?V-?uA?u`99GYGA>Q 1k4٪-i?Q 5k4  وB9A?Q A:Y8?Q E?y%3C)T ;I:i-:k4Y$@ڊgCFNOT Ignoring new targets: 108.60 m.ŠCuʊCugC  ProNav: ac range: 108.599998 m, nav range: 102.514473 m, bearing: 103.516268 deg, approach rate: -0.774329 m/s, LOS rate: -0.013401 deg/s, cmd heading: 103.262837 deg, new cmd heading: 103.246917 deg.  (?"*R!*!!!%`7:?ɢM)dBUQo QUIQ YɡYiYI],A} G= AIIN>#f,@S%Ay6K?ٱ6 ?666Hz̿` @:?@/˿{ ]? jҫ?I6K?)6'\;i60CBcBB IiFT9T9VGYTùA>Q 1%k4٪ea?Q 5%k4  B9!Y-2?Q E-?y3C)>:I:isJk4Y5B5@5;EQڊagCeFNOT Ignoring new targets: 108.60 m.ŠmmʊmmgC} ProNav: ac range: 108.599998 m, nav range: 102.164299 m, bearing: 103.510227 deg, approach rate: -0.750995 m/s, LOS rate: -0.013001 deg/s, cmd heading: 103.246915 deg, new cmd heading: 103.228729 deg. }}}?y"*R*↕ X@ɢ_dB } I ɡiIXA C =BEaJEeɊ94REe80D D D 'D E a: E 6E '4:E ! @! @! @! @ AQ IY Ii N} >U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264490Yf, ZS%AvBF>~BDBFt IBFddBBDBDBDBF;BFUEBMCBMCBIBM2 =BM2 =BM5yr̵?ٱr?rVPr#rHpp̿ @q?4˿Pv%?`%\?Ir̵?)rA];ir/C~cB& IiI  AԙMb@Mb@Mb@ )IiZd;O?99GYG5oA>)Q 15k4٪-Z?Q 5=k4-  -B9=A  =iAEyAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768917IYIiNu?f,1 {S%Aɰ4<4 H?9 H?9GY  A >Q 1k4٪OS?Q 5k4  B9Yc?Q E%?y*4C):I:iUjk4Y)-@)ڊQgC]FNOT Ignoring new targets: 108.60 m.Š]ʊegCu ProNav: ac range: 108.599998 m, nav range: 101.495651 m, bearing: 103.503856 deg, approach rate: -0.734135 m/s, LOS rate: -0.006988 deg/s, cmd heading: 103.219397 deg, new cmd heading: 103.209550 deg. uwu?qqqqyy"y*yR*↍f@ɢdB,5 页/I ɡiI<A- =Ա D D D )D E : E |:6E FA4:E ! @! @! @! @A AI I N >\f,jܗS%Ay6۵?ٱ6?62|6[#6H`w̿)"?@h˿@F?`rC`?I6۵?)6i\;i61CB/dBFT IUMb@Mb@Mb@Q Q)QIQiQU ףp= ?~jt?~jt?UQ8?UDK?9K?9GYb:A>Q 1k4٪}L?Q 5k4<  B9_8?Q A:Y3?Q E?y4C):Io:izk4YB@>EڊgCFNOT Ignoring new targets: 108.60 m.ŠEbʊEbvB>~BCB IBdBB3 =BBB;BCEgC ProNav: ac range: 108.599998 m, nav range: 101.159630 m, bearing: 103.502416 deg, approach rate: -0.718712 m/s, LOS rate: -0.003091 deg/s, cmd heading: 103.209547 deg, new cmd heading: 103.205212 deg.  ?!!"!*!R)*)115j @ɢ]eB]sW aePIa aɡaiaIef - )- />I- +@i- 5=- X*@- w>- i@- w>A G=I) i) )- 99ծО?մS?T  ?- ?- - Ѹ2 - wI) i) - T****** received valid address query ******- R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.ԙ A I I9 NM >f,S%AyVƧ?ٱV?VKkVMtVH`*k̿Su:%?Bk˿ ~`p? /3?IVƧ?)V;];iV0CE99GYGsA>Q 1k4٪F?Q 5k4  'B9 Y $?Q E ?y4C)^;I=N;bDZD@AD%D%D%&D!E%: E%]t:6E%4:E!"E%7- BDAT read: Tx time:21:34:06.7029 $Ping request sent.A  = E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251306A yAIA IQ Ne >Z H?9Z H?9ZGYXZ1A^>\Q 1bk4٪^@?Q 5bk4^M  ^1B9ddYj ?Q Ej?y^5C)^6;I^ 7;i^k4YlnB@lڊgC FNOT Ignoring new targets: 105.80 m.Š ʊgC ProNav: ac range: 105.800003 m, nav range: 101.781250 m, bearing: 103.317190 deg, approach rate: -0.781455 m/s, LOS rate: -0.004226 deg/s, cmd heading: 103.201098 deg, new cmd heading: 103.196406 deg. %9%?!!!!!)"1*1R1*119=@n?ɢbeB ԍI) 1ɡ1i9I=Gr~BB IBdBBBB&DB;B2E)>AG=Q A AI I N >Rff,lS%AyVd?ٱVk?VpMVVH,̿ %y,?vF˿x?` ?IVd?)V];iTjVdBjl IQMb@Mb@Mb@ )IiX9v?K?9K?9GY{:A>!Q 1%k4٪%:?Q 5-k4%E  %:B9-3?Q A-:Y-9?Q E-?y%f5C)%:I%:i%k4Y9=@9DUB*** querying acoustic contact ***jQrQڊagCeFNOT Ignoring new targets: 105.80 m.Šm깷ʊm깷gC} ProNav: ac range: 105.800003 m, nav range: 101.467773 m, bearing: 103.316625 deg, approach rate: -0.701379 m/s, LOS rate: -0.001270 deg/s, cmd heading: 103.196406 deg, new cmd heading: 103.194703 deg. }_?"*R*↕o?ɢ=eB=gs EEIA AɡAiAIECy;Im?iu?=iu7=)u?)qiIi  P5 )MG eMA)IMAtADEDEDE'DAEE: EE:6EE'4:EA"EE+A- = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007203 A I) I9 NM >CNf,AHT%Ay64N?ٱ6j?6)y?6`6H`̿, Ǻ/? >˿q5?`0?I64N?)6];i4BddBBt I DFABDJ-6DJ3YR=!Vd=V X9X9ZGYZGZAZ>\Q 1bk4٪^5?Q 5fk4^  ^AB9dYf"?Q Ef?y^5C)^:I^ :i^Bk4YhjU@lڊԙgCFNOT Ignoring new targets: 105.80 m.Š}ʊ}gC ProNav: ac range: 105.800003 m, nav range: 101.216133 m, bearing: 103.316266 deg, approach rate: -0.666828 m/s, LOS rate: -0.000953 deg/s, cmd heading: 103.194705 deg, new cmd heading: 103.193627 deg. c'j?"*R*@x{?ɢeBcͼ I ɡiIk;Ij?i>2=i +=) j?)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258769ONIqiqy}0yDM DM DM $DI EM : EM ga:6EM 4:EI !U @!U @!U @!U @! >A} 2g=bA AZA A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514330vB >~B B IB dBB B B B v;B EA I I N>Xf,T%Aɰ;;5jdB5x IMb@Mb@Mb@ )IiGz?{Gz?{Gz0?#<#)vAIQAi cABD(6D:3YSE<!#=Q)>99GYA>Q 1k4٪.?Q 5 k4  FB9 0?Q A :Y  ?Q E?y5C) ;I ;ik4YBC@>EڊAgCEFNOT Ignoring new targets: 105.80 m.ŠMVʊMVgC] ProNav: ac range: 105.800003 m, nav range: 100.869560 m, bearing: 103.315912 deg, approach rate: -0.716720 m/s, LOS rate: -0.000734 deg/s, cmd heading: 103.193626 deg, new cmd heading: 103.192562 deg. ]]Έ?Yaaaaa"i*iRi*qqqu]7?ɢeBE̼ 顥ȾI ɡiIe;IΈ?i =i=)Έ?)i%"Ii_0echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764590ԑ>A] < A D D D )D E : E k:6E FA4:E "E .4} f,ɓ8T%Ay6)?ٱ6bF?6^$6˴6Hc˿ @Pﺿ V3?4˿ _? ޽\?I6)?)6.b];i60CBqdBB| IBDH6DHPYVi<!Vb=VX9X9ZGYX^-JA^>9Q 1Ek4٪=)?Q 5Mk4=B  =IB9IYM?Q EM?y=B6C)=:I=N:i=k4YQU @YڊgCFNOT Ignoring new targets: 105.80 m.Šʊchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952gC ProNav: ac range: 105.800003 m, nav range: 100.608788 m, bearing: 103.315809 deg, approach rate: -0.682869 m/s, LOS rate: -0.000272 deg/s, cmd heading: 103.192561 deg, new cmd heading: 103.192249 deg. k??"*R* ,1@ɢ}*fB} y顅ܾI ɡiI;I?i&=iuk<)?)1 99I9)9Im8iqqu0qu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909! >AQ Y ADDDDE: Exv:6E:E!@!@!@!@IINU?f,XT%Ay6O?ٱ6 ,?666H˿@ @^E`5?%˿`Ou??I6O?)6o"];i6/CBvdBB IMb@Mb@Mb@ )IiCl?y&1?~jt/?`<D)vAIQAi=fAv\A bA)BD5"6D5Jz3YET<!E=E;Q)E>I9I9MGYMGUɺAU>YQ 1ek4٪]>"?Q 5ek4]g  ]LB9e 0?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518848A<A4=vB>~BB IBdBBBBB;;BEQ Ae:Y?Q E?y]6C)]Au < y y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771738rA >jA >Թ A I I N >'f,nrT%Ay6?ٱ6^?6S 6߬6H H˿ Ԥ8?|˿7@&?>?I6?)6E];i60CZqdBZ} IBDb<6Db3Yj6!jS=j;Q)n>p9p9rGYprAv>tQ 1zk4٪v?Q 5zk4v  vNB9|Y~?Q E~?yv6C)v.+;IvO;ivBk4Y!%@!DMB*** querying acoustic contact ***jIrIڊagCmFNOT Ignoring new targets: 105.80 m.Šm;ʊu;gC ProNav: ac range: 105.800003 m, nav range: 99.994522 m, bearing: 103.306935 deg, approach rate: -0.719592 m/s, LOS rate: -0.010250 deg/s, cmd heading: 103.176947 deg, new cmd heading: 103.165545 deg. [y?ԙ"*R*↽ ^ @ɢfB& P<I ɡ i I N;rDqjDuR=D}D}D}(DyE}: E}~:6E}c44:Ey"Ey!Ey!*E},;!E},;!I[y?i=i'<)[y?)IM9iIIM0IBDAT read: Rx Time:21:34:09.2445 TRx dataTimestamp_ set to:1754688849.949924checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025120>A)<A yAI I N >! "f,LT%A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274718yF?ٱFx?FVFFH ˿ @x?:? ˿⬿1q?`?IF?)F =];iF/CbdBb IBDj-6Dj3Y;9=! G= ַ;Q) >  H?9 H?9GY A>Q 1%k4٪?Q 5-k4i  OB9)Y-?Q E-?y'7C)]:I3:ik4Y5B5y@=I ɡiI;Ir?i=ie(<)r?)I8i0)BE c44JE '1)p>I,@i=9>,@5=Y@5Ii)J?#i{"?f$Y9}??\~i 5IimT****** received valid address query ******mR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.vB~BB IBdBBBBB;BDBLJCBLJCBB3 =B3 =BLn4>A :W)f,&T%Aɰ4 ]BDAT read: Tx time:21:34:10.4529 ]$Ping request sent.]19195GY5G5mA5>9Q 1El4٪=?Q 5Ml4=  =PB9M-?Q AM:YM+?Q EM?y=7C)=;I=a;i=Jl4YUB]@]?Ez!%0T%A%3Bʋ%Z?2%֠Y@-v:/$!)@"%f*&?#U"UM7P2?%i ‹%5:%UP0OĻ Y@?=g0@*%DfÿcZ22?^?%B%%|Ĺ?%M %B%7? %,Ğ %ǤB% B%;E?ԁgC addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 3.779149 s, deltaX: -2.700005 m, approachRate: -0.714448 m/s, rangeRepo size: 4 gC Added new target pos. range: 103.099998 m, bearing: 103.074406 deg, lat: 36.905960 deg, lon: -122.115872 deg, deltaT: 3.779149 s, deltaX: -2.700005 m, approachRate: -0.714448 m/s, posRepo size: 4 ڊgCFNOT Ignoring new targets: 103.10 m.ŠʊgC ProNav: ac range: 103.099998 m, nav range: 100.023407 m, bearing: 103.074406 deg, approach rate: 0.000000 m/s, LOS rate: -0.009668 deg/s, cmd heading: 103.153840 deg, new cmd heading: 103.139037 deg. 2j?"9*ARA*AAE`fY@M`Z?ɢ gB  顕 #I ɡiI;I2j?iz=i<)2j?)I59i1119@EA@ADDD)DE: E?:6EFA4:E"E|3AU <AAIIN>,1f,xT%A4y^n?ٱ^o?^༹^J^HC˿껿@?@ʿ@o?@@'?I^n?)^ ];i\dfAifIdhIhijA j`eh)ll nAnĻllppIrv)pip)tIvAv7t txzAzjUK?9UK?9]GYYe׻Ae>qQ 1}l4٪u ?Q 5}l4u  uQB9Y?Q E?yu7C)ua;Iuc;iul4Y@ڊYgCmFNOT Ignoring new targets: 103.10 m.ŠuxtʊuxtgC ProNav: ac range: 103.099998 m, nav range: 99.759377 m, bearing: 103.068988 deg, approach rate: -0.649315 m/s, LOS rate: -0.013358 deg/s, cmd heading: 103.139039 deg, new cmd heading: 103.122744 deg. `?"*R*↝@X?ɢ6gB M  v.I  ɡiIu ;I`?i=i<)`?)ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503288Ա-NJκI8i_5D] D] D] +DY E] : E] :6E] [4:EY ! @! @! @! @  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895A1 A1 vB= >~B9 B= IB= dBB9 B9 B9 B= ;B= D) >A AyAIIN?j9f,>?T%A$i&@8yJ@?ٱJ?]?J`MռJBJH)˿*B@C?qʿ@樚?` w?IJ@?)JS];iJ,CmdBm I}=}K?EMb@Mb@Mb@A A)AIAiAEoʡ?i|?5?~jtxE-?Eq=EĻ)EGsAIAiE&eAA AEaABD]#6D]Ӏ3Ymj=!m=u ;Q)u>u H?9u H?9uGYy}%A}>Q 1l4٪?Q 5l4|  RB9-?Q A:YK?Q E?y#8C) ;I:iN2l4Y/@ڊgCFNOT Ignoring new targets: 103.10 m.ŠʊgC ProNav: ac range: 103.099998 m, nav range: 99.383667 m, bearing: 103.053671 deg, approach rate: -0.703698 m/s, LOS rate: -0.028798 deg/s, cmd heading: 103.122743 deg, new cmd heading: 103.076616 deg. F?"*R*?ɢ%wgB%4 !-9I) )ɡ)i)I-;I5F?i5=i5<)5F?)9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006964ԡ=A < = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259313A AI I) N= >:?f,TT%Ay6)?ٱ6;?6YXʼ6B6Hʿ`@E?9kʿbJ??I6)?)6g];i6.CtzdBz IBD+6DE3Yw!e=Ou;Q)%>%K?9%K?9%GY%G-:A->1Q 1=l4٪5?Q 5=l45_  5SB99YE*?Q EE?y5a8C)5:I5:i5>l4YBU@=EDB*** querying acoustic contact ***jrڊ gC FNOT Ignoring new targets: 103.10 m.Š4ʊ4gC% ProNav: ac range: 103.099998 m, nav range: 99.141602 m, bearing: 103.043883 deg, approach rate: -0.642237 m/s, LOS rate: -0.026032 deg/s, cmd heading: 103.076618 deg, new cmd heading: 103.047183 deg. %쎺%5?))))))"1*1R1*199=0?ɢegBe7d imFIi iɡiiiIuJZA5 <rAM >jAM >ԡ IAIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763250Nm>1/Gf,!"U%AvB(~B(B(B(B(B(B(B*;B*IDyFm?ٱF*%?F*FWFHʿ` G? YʿO@$?d?IFm?)F];iDRdBR IMb@Mb@Mb@ )IiGz?333333?0?=)IibA z`ABD,6D3Y<!%=X;Q)>99GY׷A>Q 1l4٪?Q 5l4dž  UB91?Q A:Y?Q E?y8C);I^;iPl4Y@ڊ!gC%FNOT Ignoring new targets: 103.10 m.Š-/ʊ-/gC= ProNav: ac range: 103.099998 m, nav range: 98.799545 m, bearing: 103.025692 deg, approach rate: -0.718974 m/s, LOS rate: -0.038368 deg/s, cmd heading: 103.047180 deg, new cmd heading: 102.992419 deg. =ҺEW?AAAAAA"I*IRI*IQQUp@YɢgBW 額RI ɡiI*Aiy I} CI ) AI ) I ڬ A +AN > FNMf,7U%Ay6J?ٱ6?6s6~{6Hʿ/ G?wTʿ@է-??I6J?)6];i6/CBdBB IiDIDBDN$DrDrDr&DpEr: Er]t:6Er4:Ep"Er.)9)9-GY15J@A5>iQ 1ul4٪m龜?Q 5ul4m  mVB9qYu?Q E?ym8C)m};Im;im]l4YBK@@EڊgCFNOT Ignoring new targets: 103.10 m.Š%ʊ%gCE ProNav: ac range: 103.099998 m, nav range: 98.532913 m, bearing: 103.011468 deg, approach rate: -0.677030 m/s, LOS rate: -0.036215 deg/s, cmd heading: 102.992416 deg, new cmd heading: 102.949628 deg. EƺE?AAAIII"I*QRQ*QQY]@ɢhBAz 額'`I ɡiI1)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188405Tf,/QU%Ay:?ٱ:?: ::Hʿ5H?Sʿ#q mW?kw?I:?):];i:+CFdBF IBDR&6DRދ3YVy=!VR=Z ;Q)Z>X9\9^GY^G^.Ab>`Q 1fl4٪b⾜?Q 5jl4bmy  bWB9hYj?Q Ej?ybB9C)b:Ib3:ibjl4Ylr^@pڊgCFNOT Ignoring new targets: 103.10 m.Šo&ʊo&gC ProNav: ac range: 103.099998 m, nav range: 98.268135 m, bearing: 102.997284 deg, approach rate: -0.677224 m/s, LOS rate: -0.036377 deg/s, cmd heading: 102.949631 deg, new cmd heading: 102.906963 deg. Ǻx?"*R*5@ @ɢEhB|  i<5eI9 9ɡAiAIM]ԩ V`Zf,{kU%Ay6Q?ٱ6"?66U|6H`ʿ  /@G? V_ʿk.ϕ?` ?I6Q?)6];i6*C@FdBF IMb@Mb@Mb@ )Ii7A`?MbX9?Mb?6?ʡ=<)VtAIVNAibAr\A BD-$6D-3Y={!EA=E`:Q)E>A9I9MGYIM4:AM>BDAT read: Rx Time:21:34:12.9913 TRx dataTimestamp_ set to:1754688853.729188checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024095QQ 1l4٪Uyھ?Q 5l4Uq  UZB97?Q A:YT?Q E?yU9C)UDDD+DE: EAr:6E [4:E"E&J4=iLIN99GYB:A>Q 1l4٪MҾ?Q 5l4;j  ]B9!Y%m?Q E-?y9C);I;il4YB@?EDB*** querying acoustic contact ***jrڊgCFNOT Ignoring new targets: 103.10 m.Š%8ʊ%8gCu ProNav: ac range: 103.099998 m, nav range: 97.662659 m, bearing: 102.963103 deg, approach rate: -0.707482 m/s, LOS rate: -0.040344 deg/s, cmd heading: 102.856099 deg, new cmd heading: 102.804103 deg. uݺu?qqqyyy"y*R*↍  @ ɢhB2 |I ɡ!i!I%S S)F>I9>,@i|=+@Ϣ=" @ϢIi) J?)A[???) ϢIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I%8i!!% 0!IINb>9D D D (D E a: E &p:6E c44:E !E @!E @!E @!M @i = ,DAT read: user:1199> E BDAT read: Tx time:21:34:14.2544 E $Ping request sent.E ~Ba Be IBe dBBa Ba Ba Be ;Be DLgf,zU%Ay6D?ٱ6ha?660$6H`˿u@ `UD?ʿ@z7?`4?I6D?)6];i6.CbdBb I! Mb@Mb@Mb@  ) I i  ?MbX9?~jt? @?  D<) I i  ]A  `ABDE#6DEӀ3YU<!]>=]wzQ)]>a9a9eGYeGe6;Am>iQ 1l4٪mɾ?Q 5l4mDb  maB9A?Q A:Y?Q E?ym/:C)m[;Im2;im\l4YB@BEzU%A3Bʋ^/?2'X@ ]|+(@"/.?ԲՌ꯿rjƹI?)‹Ϣ:ZCXNbX0FeX@G}b-@*֍4ĿeX<8?0*?KBÂI~h?4xH B? fNm BB?gCU addTargetRange:: Added new target pos. range: 100.599998 m, deltaT: 3.782193 s, deltaX: -2.500000 m, approachRate: -0.660992 m/s, rangeRepo size: 4 gCe Added new target pos. range: 100.599998 m, bearing: 100.960161 deg, lat: 36.905988 deg, lon: -122.115851 deg, deltaT: 3.782193 s, deltaX: -2.500000 m, approachRate: -0.660992 m/s, posRepo size: 4 ڊigCmFNOT Ignoring new targets: 100.60 m.ŠʊgC ProNav: ac range: 100.599998 m, nav range: 98.546394 m, bearing: 100.960161 deg, approach rate: 0.000000 m/s, LOS rate: -0.040344 deg/s, cmd heading: 102.804101 deg, new cmd heading: 102.754441 deg. =? "*R*%`f&Y@I%`N%?ɢhB II ɡiIyAM<rAjA5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503338AYIaIqN}?pf,,U%Ay:,k?ٱ:?:Ӯ::H@˿CB?rʿY@ڕ?d?I:,k?):]];i:-CFdBF IiDID HJABDN6DN:3YV=!V=Z;Q)Z>\9\9^GY\^Y;Ab>`Q 1nl4٪bz?Q 5vl4b{X  bfB9|Y~?Q E~?yb:C)b;Ib;ibl4Y  T@ ڊ1gC5FNOT Ignoring new targets: 100.60 m.Š=!ʊ=!gCM ProNav: ac range: 100.599998 m, nav range: 98.158295 m, bearing: 100.930678 deg, approach rate: -0.763044 m/s, LOS rate: -0.058196 deg/s, cmd heading: 102.754438 deg, new cmd heading: 102.665639 deg. Mt[?"*R *)115@?ԩɢ$iBډ 页I ɡiIA} V<BEuʷG4JEuʲ>4REu?0D D D %D E 2: E :6E 4:E !M @!M @!M @!M @A I I N% >1 6'wf,U%Archecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011617AvAAAtvBx~BxBz IBzeBBz2 =BxBxBz;BzDBBBBBB3yj?ٱ'?>鴼 H`˿, 軿#=?˿է@?нi9i9mGYmGu;Au>yQ 1l4٪}Ӷ?Q 5l4}O  }lB9A?Q A:Yz?Q E?y}:C)}/:I};i}l4YBs@@EڊgCFNOT Ignoring new targets: 100.60 m.Š`ʊ`gC ProNav: ac range: 100.599998 m, nav range: 97.812996 m, bearing: 100.908475 deg, approach rate: -0.760890 m/s, LOS rate: -0.049099 deg/s, cmd heading: 102.665639 deg, new cmd heading: 102.598794 deg. 95?"*R*@H? ɢZiB !%I! !ɡ!i)I-E)Am G=ԙ D D D (D E : E Ar:6E c44:E "E &Ӌ~f,U%AyF7?ٱF?FYF'FH˿ `Hػ`=:?@,K˿.*? ̽@3?IF7?)F\;iD^dB^ IBDf&6Dfދ3Yjt=!n<=nQ)n>p9p9rGYprn;Av>xtQ 1~l4٪v?Q 5~l4v|G  vrB9Y?Q E?yv@;C)v.+;Iv\,;ivl4Y B K@ CEڊ1gC=FNOT Ignoring new targets: 100.60 m.Š==bʊ==b]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511103gCM ProNav: ac range: 100.599998 m, nav range: 97.486992 m, bearing: 100.887059 deg, approach rate: -0.750243 m/s, LOS rate: -0.049448 deg/s, cmd heading: 102.598792 deg, new cmd heading: 102.534331 deg. [?"*R* ok?ɢ-iB5c 15=I1 1ɡ1i9I=MU >I9i05!>Al=IINl>I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865ԁ nf,V%Ay6!+?ٱ6G?6. 66H˿Oû@7?v˿`= ??Ľ6?I6!+?)6g\;i6+CBdBB IF>F>IF=)DBDJ)6DJ3YR;!VN=VQ)V>X9X9ZGYXZl;AZ>\Q 1bl4٪^?Q 5fl4^?  ^wB9dYf?Q Ef?y^;C)^:I^-:i^l4Yhj2@lYDB*** querying acoustic contact ***jrDQDUDU*DQEQ EU&p:6EU(N4:EQ!m@!u@!u@!}@ڊgCFNOT Ignoring new targets: 100.60 m.Š%Jʊ%JgCu ProNav: ac range: 100.599998 m, nav range: 97.188889 m, bearing: 100.867095 deg, approach rate: -0.657724 m/s, LOS rate: -0.044183 deg/s, cmd heading: 102.534329 deg, new cmd heading: 102.474253 deg. u}?yyyyy"*R*↭$@ɢiB- EI ɡiI~BB IB/eBBBBB;BDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.021939Ii1Թ>A I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274896͞f,80V%Ay6d?ٱ6?6zWƼ66H 3̿[m64?@˿#Pʘ?`Ƚ?I6d?)6w\;i6)CB eBB I Mb@Mb@Mb@  ) I i  {Gz?Mb?:v? C? @= T<) VtAI hOAi  ^A  GaABD%$6D%3Y5"=!=A==Q)=>99A9EGYEGEt;AE>ԩQ 1l4٪?Q 5l4l7  }B9Ae #'=I I N >1 f,JV%AeB IBD-.6D-P3Y=H<!=K=EQ)E>A9A9EGYAMAM>QQ 1]l4٪U ?Q 5]l4U/  UB9YYaQ Ee?yU/A y 1=rA% >jA% >I I N= >Aa Ae <vBi ~Bi Bm IBm XeBBi Bi Bi Bm ;Bm ^D BDAT read: Rx Time:21:34:16.7890  TRx dataTimestamp_ set to:1754688857.517109 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032043Թ tf,AadV%A~?<<)luAIVNAi dAr\A aABD26D 3Y%=!-<=)Q)->)99GYԑA>Q 1m4٪?Q 5m4u'  B9K>?Q A:YB?Q E?y@ڊgCFNOT Ignoring new targets: 100.60 m.ŠʊgC ProNav: ac range: 100.599998 m, nav range: 96.227135 m, bearing: 100.818914 deg, approach rate: -0.741140 m/s, LOS rate: -0.027713 deg/s, cmd heading: 102.366388 deg, new cmd heading: 102.329230 deg. '?"* R *  `)y @ɢ=ejB=ϳ 9EIA AɡAiAIE!$A [1=Ii Iy N >Du Du Du &Dq Eu : Eu ]t:6Eu 4:Eq "Eu .l9l9nGYlr<Ar>tQ 1zm4٪v?Q 5zm4v  vB9xYz?Q E~?yv u/ݴ)u>Iu-@iuw>u?-@u >u6@u Iqiq)u^hY?4M}? gI'?u(?uuK u IqiqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ʊuFgC ProNav: ac range: 100.599998 m, nav range: 95.968735 m, bearing: 100.808711 deg, approach rate: -0.724753 m/s, LOS rate: -0.028693 deg/s, cmd heading: 102.329232 deg, new cmd heading: 102.298542 deg. %?!!!!!)")*IRq*qqu@3sX@uබ?ɢjBTĽ 顭II ɡiI/(A4=IIN >- ,DAT read: user:1200> 5 BDAT read: Tx time:21:34:18.0529 5 $Ping request sent.5 :S3?]?I:?):\;i:)Cr5eBr IBDz)6Dz3Y_;!G=TQ) > 9 9 GY G:A>Q 1%m4٪?Q 5%m4  B9!Y%?Q E-?y=C):I:im4Y15@9z{NV%ABʋ%?2ҥ%X@!{r/=!d)@"Ù?pz򏶿 /?K‹ :Wd2[-W@,.`0@*9`J5ÿ'*0o+?w~BB IBveBB4 =BNDBBq;B?DɢMjBU;O QUIQ QɡYiYI]+AB=AIIN?E7f,4V%Ai@y6?ٱ6h?6Y:66H@K̿ _k`*?̿N?`?I6?)6];i4DFDFDF+DDEFs: EFAr:6EF [4:ED"EFY099GY :A >9Q 1=m4٪ }?Q 5=m48  B9E9?Q AE:YE/?Q EE?y=C)n;I;i2m4YIMJ@MBEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 97.80 m.Š;ʊ;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755032gC ProNav: ac range: 97.800003 m, nav range: 96.009392 m, bearing: 99.250132 deg, approach rate: -0.715270 m/s, LOS rate: -0.028246 deg/s, cmd heading: 102.263231 deg, new cmd heading: 102.213094 deg. X?  " * R!*!!)- :?ɢ}kB}唼 y}J¿I ɡiI$0A% m C= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007315 A I! I1 NE >f,CSV%A 8eB  IBD"6DJz3Y]%>!]K=eQ)e>a9a9eGYmGmAm>Q 1m4٪w?Q 5m4  B9YQ E?y=C);I;i?m4Yz@ڊgCDNOT Ignoring new targets: 97.80 m.ŠʊgC ProNav: ac range: 97.800003 m, nav range: 95.733009 m, bearing: 99.239186 deg, approach rate: -0.746770 m/s, LOS rate: -0.029660 deg/s, cmd heading: 102.213091 deg, new cmd heading: 102.180159 deg. آE?"*R*?ɢ=kB%K !%I! !ɡ)i)I-x3~BB/ IBeBB2 =BMDBBK;BD%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260360Iiiiim/q@y@}A >A L=)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510771A IqIN>n\f,V%Ah=eB IMb@Mb@Mb@ )IiA9A9MGYIIAM>QQ 1]m4٪Uq?Q 5]m4Uh  UB9e3?Q Ae:Ye?Q Ee?yU(>C)UL ;IU;iU?Rm4YimP@iڊgCDNOT Ignoring new targets: 97.80 m.Š ʊ gC ProNav: ac range: 97.800003 m, nav range: 95.357628 m, bearing: 99.230716 deg, approach rate: -0.699707 m/s, LOS rate: -0.015851 deg/s, cmd heading: 102.180156 deg, new cmd heading: 102.154644 deg. .67?"*R*w?ɢkB @ȿI ɡiIX8D%D%D%)D!E%: E%:6E%FA4:E!"E%<A JM=Q A! I) IA NU >lf,W%A IMAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043y?ٱ?0H`̿@Q@-+? ˿@Wģ?Fz?I?)| ];i&CXeB Ii I   ABD;6D)3Y-ix=!5<=5쉼Q)5>Y999GYsA>Q 1 m4٪:l?Q 5 m4  B9YL?Q E?yz>C)P;I ;iJbm4YB%@%EEڊAgCMDNOT Ignoring new targets: 97.80 m.ŠMʊMgCe ProNav: ac range: 97.800003 m, nav range: 95.036514 m, bearing: 99.223736 deg, approach rate: -0.699419 m/s, LOS rate: -0.015254 deg/s, cmd heading: 102.154645 deg, new cmd heading: 102.133635 deg. e'e2+?aaaaii"i*iRq* @ɢEkBEsн AEF̿IA IɡIiIIMUT<~BYB]B IB]eBB]3 =BYBYB].;B]DB B B B 2 =B B NN5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266983Ա A I I N >9f,*W%A MeB  IMb@Mb@Mb@ )IiS?y&1Q?/?`u<)Ii"eA\[A BD6D3Y!W=Q)>99GYGA>Q 1m4٪hh?Q 5m4  ‰B9J/?Q A:Y?Q E?y>C) ;I ;inm4Y @DEڊ1gC=DNOT Ignoring new targets: 97.80 m.Š=FʊEFgCU ProNav: ac range: 97.800003 m, nav range: 94.793144 m, bearing: 99.219878 deg, approach rate: -0.683060 m/s, LOS rate: -0.010854 deg/s, cmd heading: 102.133635 deg, new cmd heading: 102.122033 deg. U`U$?QQQQYY"Y*YRa*aaim`@ɢkB; 顕ҿI ɡiI+@y D D D (D E D: E ]t:6E c44:E "E 199GYXA>Q 1m4٪7d?Q 5m4  ˉB9Y?Q E?y>C)e;If;io|m4Y@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 97.80 m.ŠRDʊRDgC ProNav: ac range: 97.800003 m, nav range: 94.525589 m, bearing: 99.215665 deg, approach rate: -0.679295 m/s, LOS rate: -0.010727 deg/s, cmd heading: 102.122031 deg, new cmd heading: 102.109355 deg. O?"*!R!*!!!-@ɢUlBUeZ Q]_ؿIY YɡYiYI]7D Gf,I^W%A i D2D2D2/D0E2: E2:6E2J4:E0!6@!:@!:@!:@`Ae<AavB>~BCBH IBeBBBNDBB#;Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277577BD?eB I,>C=Mb@Mb@Mb@ )Ii(\?~jtQ?.?ļ)VtAI?MAiEZA Q`ABD*6D3Y!+=Q)> H?9 H?9GYA>Q 1m4٪^?Q 5m4r  ׉B9 ;.?Q A :Y ?Q E?yP?C)Px;ID;i6m4Y!%a@!ڊigCuDNOT Ignoring new targets: 97.80 m.ŠdmʊdmgC ProNav: ac range: 97.800003 m, nav range: 94.199791 m, bearing: 99.209388 deg, approach rate: -0.670919 m/s, LOS rate: -0.012972 deg/s, cmd heading: 102.109354 deg, new cmd heading: 102.090457 deg. o?!!!!!!")*)R)*)115 @ɢSlBӮ 顅tI ɡiIH ) ff>I 3,@i 'g > Z,@ C> @ CI i ) 0 ?zc?xgU? 6?  ) CI i m T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.N >;nf,TxW%An8eBn IBDv$6Dv3Y]H!]z=aQ)e ?a9i9mGYmGiAm ?qQ 1m4٪uq[?Q 5m4u  uމB9YQ E?yu?C)u6;IuA:iusm4Y@zl=sW%A3Bʋ?207wW@ʆmA:  +@"ñjl?%཰x0A?)‹C:>I)/LW@i%2@*1Ŀ(K?xy">m?BJyԗ~:?<` B B_?gC] addTargetRange:: Added new target pos. range: 95.099998 m, deltaT: 3.780209 s, deltaX: -2.700005 m, approachRate: -0.714247 m/s, rangeRepo size: 4 gCm Added new target pos. range: 95.099998 m, bearing: 99.205159 deg, lat: 36.906009 deg, lon: -122.115838 deg, deltaT: 3.780209 s, deltaX: -2.700005 m, approachRate: -0.714247 m/s, posRepo size: 4 ڊigCDNOT Ignoring new targets: 95.10 m.ŠʊgC ProNav: ac range: 95.099998 m, nav range: 93.981544 m, bearing: 99.205159 deg, approach rate: 0.000000 m/s, LOS rate: -0.012972 deg/s, cmd heading: 102.090455 deg, new cmd heading: 102.077617 deg. ( ?"*R*`fW@@?ɢE|lBM]DuDuDu*DqEu: Eu:6Eu(N4:Eq"Eu 5 UBDAT read: Tx time:21:34:21.8029 U$Ping request sent.UA L=ԩ A I I N >MUf,,W%Ay6{?ٱ6?6@66H pD̿`t>,? [˿@훲@?@.?I6{?)6\;Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895i4tt)x zAABD 6Dk3-DyQ)5>19195GY1]<A]>aQ 1mm4٪eW?Q 5mm4e  eB9iYut?Q Eu?ye?C)ey:IeN:ie|m4yYڊgCDNOT Ignoring new targets: 95.10 m.ŠQhʊQhgC5 ProNav: ac range: 95.099998 m, nav range: 93.709045 m, bearing: 99.200177 deg, approach rate: -0.692328 m/s, LOS rate: -0.012694 deg/s, cmd heading: 102.077614 deg, new cmd heading: 102.062625 deg. 5d =?99999A"A*ARA*IIIM` ?ɢulB}j y}8Iy yɡiI4nQD=)?)I i   4ԩDDD'DE; E:6E'4:E!@!@!@!@vBy~ByB}O IB}eBByByByB};B}D>A6G=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504257AA IY Iy N > f,xW%AyN@d?ٱN?NQNnNH+̿I@,?0˿(4?忿W?IN@d?)N\;iN'CZ eBZ Ii\I\mMb@Mb@Mb@i i)iIiiimkt?y&1|99GYWA>Q 1m4٪R?Q 5m4o  B9&0?Q A:Yk?Q E?y@C);I;im4YB @BEڊgCDNOT Ignoring new targets: 95.10 m.ŠйʊйgC  ProNav: ac range: 95.099998 m, nav range: 93.425446 m, bearing: 99.190926 deg, approach rate: -0.697994 m/s, LOS rate: -0.022837 deg/s, cmd heading: 102.062622 deg, new cmd heading: 102.034785 deg. z?"*!R!*!!!-?ɢUlBU Y]IY YɡYiYI].UA B=D D D +D E D: E xv:6E [4:E "E 1Lgf,W%Ayk\?ٱ&y? Z H#̿?++?@J!˿@66=?@῿?Ik\?)c\;i(C5eB5 IBDM6DM 83YU2=!]N=]Q)]>a9a9eGYeGmQAm>qQ 1um4٪u)M?Q 5}m4uo  uB9yY}c?Q E}?yu\@C)uf;Iu;ium4YB@EEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 95.10 m.Š͹ʊ͹gC ProNav: ac range: 95.099998 m, nav range: 93.153992 m, bearing: 99.182059 deg, approach rate: -0.686094 m/s, LOS rate: -0.022477 deg/s, cmd heading: 102.034782 deg, new cmd heading: 102.008103 deg. vg?"*R*?ɢ mB I ɡiIbZ>IU8iQQU-0Q@]A@]A >A} 4|E=D D D (D E : E :6E c44:E ! @! @! @! @Ae @AAe @AvBy ~By By By By By By B} ;B} Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512780I )I1N=>zf,tW%AyEzT?ٱE6q?EOaEpEH`̿@+@`+? ˿C@R&?@Z?IEzT?)EK];iA] eB] Ie=eG>Mb@Mb@Mb@ )IiV-?A9I9MGYIMlAM>QQ 1]m4٪UE?Q 5]m4U  UB9ex1?Q Ae:Ye?Q Ee?yU@C)U ;IU;iU=m4Yim@iڊgCDNOT Ignoring new targets: 95.10 m.Š,ʊ,gC ProNav: ac range: 95.099998 m, nav range: 92.789864 m, bearing: 99.162183 deg, approach rate: -0.689838 m/s, LOS rate: -0.037802 deg/s, cmd heading: 102.008103 deg, new cmd heading: 101.948243 deg. Ϻ+?"*R* !?ɢJmB I ɡiIE_A5 SE=bA9 ZA= Aq I I N > #f,}W%A0y:X?ٱ:yu?:i::H`b̿ 0 5*? ˿+77?Ա?I:X?):\;i:%CDFDFDF)DDEFT; EF?:6EFFA4:ED"EFGh9h9jGYhn9An>pQ 1vm4٪r@?Q 5vm4rڴ  rB9tYv?Q Ev?yr@C)r:Ir:irm4Y|~@|ڊ!gC%DNOT Ignoring new targets: 95.10 m.Š-.ʊ-.gC= ProNav: ac range: 95.099998 m, nav range: 92.546120 m, bearing: 99.148771 deg, approach rate: -0.689418 m/s, LOS rate: -0.038036 deg/s, cmd heading: 101.948244 deg, new cmd heading: 101.907900 deg. =к=?9AAAAA"I*IRI*IIQU@ɢwmB5 9=I9 9ɡ9i9I=cA <H=I9 IQ N] >f,iX%Ay6~~?ٱ6:?65 t6*6HB̿ 5*`&?$˿`䵿|?? @?I6~~?)6[\;i6'CBeBB IBDJ6DJ 3YR!RL=V˻Q)V>T9T9VGYZG\Z<;A^>`Q 1fm4٪b:?Q 5fm4bŭ  bB9dYf?Q Ef?yb@AC)b:Ib:ibm4YUBUm@UCEڊygCDNOT Ignoring new targets: 95.10 m.Š*ʊ*gC ProNav: ac range: 95.099998 m, nav range: 92.269905 m, bearing: 99.133285 deg, approach rate: -0.663016 m/s, LOS rate: -0.037283 deg/s, cmd heading: 101.907898 deg, new cmd heading: 101.861302 deg. ̺r?"*R*↭ 4@ɢmB < I ɡiIhAAI=II!N=>9 5 f,333X%Ay6?ٱ6?6h~6.6HQk̿߻ N#?E˿+ί?@F?I6?)6\;i6%C ``fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770633!dB IiIMb@Mb@Mb@ )Ii(\?+?{Gztz4?=ף)?sAIiXA _ABD%6D03Y!"=/Q)>99GY,;A>IIQ 1Un4٪MA2?Q 5]n4M}  M B9]4?Q A]:Y]?Q E]?yMAC)M:IM8:iMn4Yim@iڊgCDNOT Ignoring new targets: 95.10 m.ŠwʊwgC ProNav: ac range: 95.099998 m, nav range: 91.906136 m, bearing: 99.106191 deg, approach rate: -0.722021 m/s, LOS rate: -0.053991 deg/s, cmd heading: 101.861302 deg, new cmd heading: 101.779697 deg. 6`?"*R*`L> @ɢmBD I ɡiI+mAE lT=ԡ I I N >f,MX%Ay6?ٱ6?6턽6g6H@̿ "@ǃ ?m˿9 ?$?I6?)6\;i6&C<@i@I@@I@i@ @D)DD FAF`廉FFDHJ5AIJ)HiH)LILNL PPRAR+iPPiVCVA)V TITT^dB^ IBDf&6Dfދ3Yn!n=rQ)r?p9p9rGYpv;;Av?xQ 1~n4٪zo-?Q 5~n4z>  z%B9|Y?Q E?yzAC)zf;Iz;iz n4Y B @ FED-B*** querying acoustic contact ***j)r)ڊ1gC=DNOT Ignoring new targets: 95.10 m.Š=ssʊEssgCM ProNav: ac range: 95.099998 m, nav range: 91.700500 m, bearing: 99.090577 deg, approach rate: -0.699211 m/s, LOS rate: -0.053210 deg/s, cmd heading: 101.779695 deg, new cmd heading: 101.732748 deg. UUE?QQQQQԙ"*R* @ɢ nB *O9 I 1ɡ9i9I=8srAmY=BEM:4JEMɏB4REMsq0D D D )D E m+; E B:6E FA4:E ! @! @! @! @A= <A= <vBI ~BM CBM B IBM eBBI BM MDBI BM ;BM DB ʆCB ʆCB B 3 =B B ʕ44A AI I N >! If,sfX%A2DAT read: 21:34:24.3302 LVL= 28144, 32753, 27250, 32755, AGC= 67, IDX= 410, 0.29, 1.943, 0.285, 2.244, 1.732, PHS= 0.313,-1.403, 0.468, RAW= 154.3, 7.0, CAL= 153.7, 7.2, ROT= 356.3, -7.2 6Ygot valid direction response: 21:34:24.3302 LVL= 28144, 32753, 27250, 32755, AGC= 67, IDX= 410, 0.29, 1.943, 0.285, 2.244, 1.732, PHS= 0.313,-1.403, 0.468, RAW= 154.3, 7.0, CAL= 153.7, 7.2, ROT= 356.3, -7.2 :PDAT read: Bearing 267.6, -0.7 (Local) :~Local bearing/azimuth received: Bearing 267.6, -0.7 (Local) ^DAT read: Range 11 to 50 : 92.4 m (Round-trip 123.2 ms) speed 0.6 m/s bR#Rx 1: Read range and direction messages.f^direction in FSK: [0.990047,-0.064024,0.125333]fFpublishing direction and range info3܀v?_ccK ?̸BImirjCA> )>IZ,@i5=>+@>@Ii)iE>?4z?z(v ?v*?-)A Ii-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.ye?ٱe ?eejeH I̿@h? <˿䷿pQ?@ ?Ie?)e ];iadB IMb@Mb@Mb@ )Ii333333?p= ף?I +9?=94)qAI(LAiUA f^ABD 6D Y<! =+Q)%>%K?9%K?9%GY-G-v;A->1Q 1=n4٪5#?Q 5=n45  5-B9=]:?Q AE:YE@?Q EE?y52BC)5;I5;i5n4Yae@iz7eX%A̸Bʋ?28V@(*ĩ,HU])'@"3܀v?_ccK ?)A‹:x 0"GV@$Ub2@*JL)9ƿ|;L2?0x?=BV)۸?i DB B3J?gC addTargetRange:: Added new target pos. range: 92.400002 m, deltaT: 3.780899 s, deltaX: -2.699997 m, approachRate: -0.714115 m/s, rangeRepo size: 4 gCE Added new target pos. range: 92.400002 m, bearing: 99.054483 deg, lat: 36.906009 deg, lon: -122.115838 deg, deltaT: 3.780899 s, deltaX: -2.699997 m, approachRate: -0.714115 m/s, posRepo size: 4 ڊIgCMDNOT Ignoring new targets: 92.40 m.ŠUʊQgC ProNav: ac range: 92.400002 m, nav range: 91.333054 m, bearing: 99.054483 deg, approach rate: 0.000000 m/s, LOS rate: -0.053210 deg/s, cmd heading: 101.732751 deg, new cmd heading: 101.648704 deg. ?"*R*W@q?ɢ GnB 7  I  ɡiI׏w BDAT read: Tx time:21:34:25.6529 $Ping request sent.A5 Qf=D D D D E ; E :6E :E "E ,rS!f,X%Ayj?ٱj8?jːjjH̿Oh?˿詸@?ι@9?Ij?)j\;ij%CdB I= H?9 H?9GY:A>Q 1n4٪?Q 5n4  4B9YX?Q E?y}BC)N:I:i+n4YB@EEڊ!gC%DNOT Ignoring new targets: 92.40 m.Š-ʊ-gC= ProNav: ac range: 92.400002 m, nav range: 91.044044 m, bearing: 99.025749 deg, approach rate: -0.747307 m/s, LOS rate: -0.074535 deg/s, cmd heading: 101.648706 deg, new cmd heading: 101.562230 deg. =L=g?AAAAAA"I*IRI*IQQUG?ɢ}rnB+:4 顅I ɡiI|AU`k=ԙ A AI I N >Cr'f,q;X%Ay:.?ٱ:K?:Y:zB:H̿@g`?d˿@'y@?𼿿D?@I:.?):];i:&CJdBJ IBDR"6DRJz3YZ\!Z`=ZQ)^>^K?9^K?9bGY`b:Ab>dQ 1jn4٪f-?Q 5jn4f  f:B9hYnk?Q En?yfBC)fS:If8;if8n4YprX@pڊ gC DNOT Ignoring new targets: 92.40 m.ŠoʊogC% ProNav: ac range: 92.400002 m, nav range: 90.781647 m, bearing: 98.999401 deg, approach rate: -0.718111 m/s, LOS rate: -0.072317 deg/s, cmd heading: 101.562229 deg, new cmd heading: 101.482955 deg. -F-?)))))1"1*1R1DEDEDE%DAEE=; EE҆:6EE 4:EA!M@!M@!M@!M@*QQQUQd?vB>~BCB< IBeBB2 =BNDBB;BDɢnBM27 EI ɡiIҀAur=A I I N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006151r-f,X%Ay6E7?ٱ6T?6G66H@̿0Ӻ?`0˿`TǸ?5?I6E7?)6];i6%C^dBb I }Mb@Mb@Mb@y y)yIyiy}v?{Gz?I +}8?}ף=y)yIyiy}TA y}^A) BD6DF3Y=!<=7Q)>99GYG:A>Q 1n4٪g ?Q 5n4  BB99?Q A:Y?Q E?yCC):I{:iGn4YBl@HEڊgCDNOT Ignoring new targets: 92.40 m.Š ϻʊ ϻgC ProNav: ac range: 92.400002 m, nav range: 90.471298 m, bearing: 98.963787 deg, approach rate: -0.712981 m/s, LOS rate: -0.082098 deg/s, cmd heading: 101.482958 deg, new cmd heading: 101.375750 deg. _ay?!!!"!*)R)*)))5 ?ɢ]nB]* YejIa aɡaiaIe9\A |=rA >jA >ԁ A I I N >E4f,X%Ay69?ٱ6@V?6׭6 =6H9̿`º?u˿, ?@U`?I69?)6 ];i6&CBdBB IiDIDBDJ 6DJk3YV4=!V\=V'Q)V>X9X9ZGYXZA9A^>`Q 1fn4٪b?Q 5fn4bby  bIB9dYf?Q Ef?ybVCC)b:IbN:ibTn4Yhn@lDzB*** querying acoustic contact ***jxrxڊgC DNOT Ignoring new targets: 92.40 m.Š @ʊ@gC% ProNav: ac range: 92.400002 m, nav range: 90.205803 m, bearing: 98.933110 deg, approach rate: -0.713876 m/s, LOS rate: -0.082728 deg/s, cmd heading: 101.375751 deg, new cmd heading: 101.283449 deg. %c%D?!!!!))")*)R1*1115?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509538ԁɢnB<,6 3 I ɡiIօ~BCBB IBeBB5 =BB%DB;BD>A0=U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765402I IQ N > :f,}X%Ay6*?ٱ6G?6䪽636H)̿Ժ?i˿$A9A9EGYAMAM>QQ 1]n4٪Uc?Q 5]n4Uq  USB9]7?Q A]:Ye?Q Ee?yUCC)U;IUr;iUcn4Yim@iڊ)gC5DNOT Ignoring new targets: 92.40 m.Š=ʊ=gCM ProNav: ac range: 92.400002 m, nav range: 89.908455 m, bearing: 98.897759 deg, approach rate: -0.672675 m/s, LOS rate: -0.080238 deg/s, cmd heading: 101.283448 deg, new cmd heading: 101.177043 deg. MD\M?IQQqqq"y*yRy*yↅ@@ɢ1oB / "I ɡiI@UAM [=D D D ,D E  E :6E g4:E "E 6y M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266419#Af, Y%A eB  Ii419195GY1=A=>AQ 1Mn4٪EF?Q 5Mn4Ej  E]B9IYIQ EM?yECC)E:IEK:iEqn4Y]B]p@]FEڊgCDNOT Ignoring new targets: 92.40 m.Šb˺ʊb˺gC ProNav: ac range: 92.400002 m, nav range: 89.625008 m, bearing: 98.863837 deg, approach rate: -0.740539 m/s, LOS rate: -0.088905 deg/s, cmd heading: 101.177040 deg, new cmd heading: 101.074952 deg. t?"*R*↵@(@ɢ\oB9? %I ɡiIc݊A 8=IqIN>ԩ pGf,V Y%Ay6?ٱ6e?6d﷽6ۖ6H ̿  ?&˿?6?I6?)6\;i6$CB#eBB IF0>F=BDJ+6DJE3YR{=!VS=VQ)V>T9X9ZGYZGZ`UAZ>\Q 1bn4٪^콜?Q 5fn4^c  ^gB9dYfx?Q Ef?y^5DC)^|:I^R:i^Bn4YjBj@jIEڊ|gCDNOT Ignoring new targets: 92.40 m.Š (ʊ (gC ProNav: ac range: 92.400002 m, nav range: 89.353119 m, bearing: 98.831312 deg, approach rate: -0.703706 m/s, LOS rate: -0.084436 deg/s, cmd heading: 101.074949 deg, new cmd heading: 100.977080 deg. D%D%D%.D!E%; E%ą:6E%ـ4:E!!-@!-@!-@!-@g5?11111vBM>~BIBMO IBMeBBIBIBIBM;BMD9"*R*`@ɢ-oB5u7 1]&IY iɡiiI]I<ԹI?iW=ilj=)?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771977)1I8i>A = Iq I N > BDAT read: Rx Time:21:34:28.1765  TRx dataTimestamp_ set to:1754688868.857826 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0236869 Mf,`:Y%Ay>t?ٱ>.?>> >H ̿ o ?Jʿ Zrʷ?=VA?I>t?)>\;i99GYeA>Q 1n4٪r㽜?Q 5n4\  vB98?Q A:Y?Q E?yDC)]:I:in4Y@ڊgCDNOT Ignoring new targets: 92.40 m.ŠSϺʊSϺgC ProNav: ac range: 92.400002 m, nav range: 89.045677 m, bearing: 98.791920 deg, approach rate: -0.704893 m/s, LOS rate: -0.090629 deg/s, cmd heading: 100.977080 deg, new cmd heading: 100.858495 deg. xQ?"!*!R!*!))-5 @ɢUoBU: Y]'IY YɡYiYIe1A Љ=IqIN>i Tf,BTY%A0DAT read: 21:34:28.1765 LVL= 25632, 32705, 23106, 32755, AGC= 67, IDX= 404, 0.27, 0.853,-0.808, 1.132, 0.628, PHS= 0.327,-1.391, 0.460, RAW= 153.7, 6.8, CAL= 153.0, 7.1, ROT= 357.0, -7.1 Ygot valid direction response: 21:34:28.1765 LVL= 25632, 32705, 23106, 32755, AGC= 67, IDX= 404, 0.27, 0.853,-0.808, 1.132, 0.628, PHS= 0.327,-1.391, 0.460, RAW= 153.7, 6.8, CAL= 153.0, 7.1, ROT= 357.0, -7.1 PDAT read: Bearing 267.6, 1.5 (Local) ~Local bearing/azimuth received: Bearing 267.6, 1.5 (Local) DAT read: Range 11 to 50 : 89.6 m (Round-trip 119.5 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.990972,-0.051935,0.123601]Fpublishing direction and range infoY]L ?jf-A7X?]3BYI] di]]BZYY]l> ]J )]>I]>+@i]=]*@]=]b@]IYiY)]Ըo?s-f?ܭ[?]Ê?]j]QwV ]IYiYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y?ٱZ?\ŽIH j̿`v{Ⱥ ?Tʿ _/@ԡ? tౕ?I?)];i'CMZeBM I)Y ]@ABDe(6De:3iYv=!*=LQ)>99GY%A>)Q 1-n4٪-gٽ?Q 55n4-wS  -B91Y5?Q E5?y-DC)-:I-:i-mn4Y9E @AzY]WY%A]3Bʋ]H/?2]F/2V@HDi >&&@"]L ?jf-A7X?]QwV‹]:]P\0tqU@L_4@*]0v}^ǿDZm?|j׬?]B]]v?]. ]ҚB]ԗ~:? ]<` ]B]#B]?gC addTargetRange:: Added new target pos. range: 89.599998 m, deltaT: 3.778873 s, deltaX: -2.800003 m, approachRate: -0.740962 m/s, rangeRepo size: 4 gC5 Added new target pos. range: 89.599998 m, bearing: 99.171206 deg, lat: 36.906005 deg, lon: -122.115846 deg, deltaT: 3.778873 s, deltaX: -2.800003 m, approachRate: -0.740962 m/s, posRepo size: 4 ڊ1gC=DNOT Ignoring new targets: 89.60 m.Š]ʊYgCm ProNav: ac range: 89.599998 m, nav range: 88.070099 m, bearing: 99.171206 deg, approach rate: 0.000000 m/s, LOS rate: -0.090629 deg/s, cmd heading: 100.858494 deg, new cmd heading: 100.723417 deg. qu?qqqqqy"*R*`ffV@↥@9 ?ɢEoBE$ AE)IA IɡIiIIM ~BECBEn IBEeBBE4 =BABABE;BEtDDuDuDu,DqEu=; Eu?:6Eug4:Eq"EumI<EumI<*Eux;Euy;I59i19=39@M=@M=5 ,DAT read: user:1203> U BDAT read: Tx time:21:34:29.4029 U $Ping request sent.] A =rA >jA > AyAIIN>zI\f,sY%AyB?ٱB?Bz̽BBH ?̿@*%T ?ʿw? ?IB?)B\;iB%CNeBR$ IiPIP1uMb@Mb@Mb@q q)qIqiqun?l?U H?9U H?9UGYUG]?A]>aQ 1n4٪e ѽ?Q 5n4eK  eB97?Q A:YZ?Q E?ye,EC)eFA =Թ AM AIQ Ia Nu >@cf,nY%Ay6r?ٱ6Ҏ?6ҽ686H̿] ?Oʿ s`G?`L?I6r?)6\;i4%eB-% IBD=)6D=3YM;!MZ=Mt Q)M>UK?9UK?9UGYQ]4A]>aQ 1mn4٪eɽ?Q 5mn4e3E  eB9iYm:?qQ Em?yepEC)e.+;Ie\,;ien4Y}B}@JEڊgCDNOT Ignoring new targets: 89.60 m.ŠʊgC ProNav: ac range: 89.599998 m, nav range: 87.506004 m, bearing: 99.107848 deg, approach rate: -0.720175 m/s, LOS rate: -0.081161 deg/s, cmd heading: 100.621486 deg, new cmd heading: 100.532729 deg. ^?"*R* T7?ɢOpB'N  ,I  ɡ i I $vA{=A yAI! I1 NE >vB >~B CB IB 7fBB B B B ;B ^DBMʅCBIBIBM4 =BM4 =BMʳ5rD jD BE!JE%ʲ>4RE%p0D D D 'D E ; E v:6E '4:E "E N] H?9] H?9]GY]Ge2Ae>iQ 1un4٪m\?Q 5un4m;  mĊB9}8?Q A}:Y}?Q E}?ymEC)m.;ImC;imrn4YP@ڊIgC}DNOT Ignoring new targets: 89.60 m.Š}:ʊ:gC ProNav: ac range: 89.599998 m, nav range: 87.104660 m, bearing: 99.067837 deg, approach rate: -0.681876 m/s, LOS rate: -0.068293 deg/s, cmd heading: 100.532728 deg, new cmd heading: 100.412139 deg. y;R?"*R*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2547857E?ɢEpBE AE-IA ɡiIoEeK?9mK?9mGYim7Au>qQ 1}n4٪u+?Q 5n4u3  uيB9Yw?Q E?yu FC)u:Iu:iu=n4Y@ڊgCDNOT Ignoring new targets: 89.60 m.ŠʊgC ProNav: ac range: 89.599998 m, nav range: 86.826088 m, bearing: 99.040135 deg, approach rate: -0.744799 m/s, LOS rate: -0.074303 deg/s, cmd heading: 100.412141 deg, new cmd heading: 100.328768 deg. K"?"*R*?ɢpBzN -I ɡi!I%^ԩ A AAA AAvB >~B B IB fBB 5 =B B B ;B EDbD) ZD- AAD5 D5 D5 (D1 E5 ; E5 h:6E5 c44:E1 "E5 Oa9a9mGYi}o5A>Q 1n4٪/?Q 5n4,  B9YR?Q E?yqFC);I;in4YB\@IEڊ9gCEDNOT Ignoring new targets: 89.60 m.ŠeבʊmבgCu ProNav: ac range: 89.599998 m, nav range: 86.515762 m, bearing: 99.009299 deg, approach rate: -0.639307 m/s, LOS rate: -0.063752 deg/s, cmd heading: 100.328772 deg, new cmd heading: 100.235934 deg. }/}?yyyyy"*R*↵@3@ɢpB0 %/I! !ɡ!i)I-Cu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2627229 :~f,Y%A&fB Ii!I! -A-AMb@Mb@Mb@ )IiOn?l?~jt?8?==)qAIGAi?MA [A) BD56D3Y=!-R=5Q)5>9999=GY=G=AE>AQ 1Mn4٪E?Q 5Mn4E$  EB9U9?Q A]:Y]]?Q E]?yEFC)E);IE';iEZn4YeBe@eLEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 89.60 m.Š.ʊ.gC ProNav: ac range: 89.599998 m, nav range: 86.237122 m, bearing: 98.987250 deg, approach rate: -0.799396 m/s, LOS rate: -0.063463 deg/s, cmd heading: 100.235936 deg, new cmd heading: 100.169573 deg. 7.?"*R*@ɢqBDDD)DE%; E:6EFA4:E!@!@!@!@%V )5>/I1 9ɡ9i9I=>Xqԙ ܅f,ޓZ%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766708ɰ"4<";y>r?ٱ>?>kQ> >HV˿ Ȼ ? ȿ`/¿ 0? |ix?I>r?)><];i>#CJIfBJ IBDR6DRF3YZ=!Z_=Z+Q)^>\9\9^GY\bٻAb>dQ 1jo4٪f?Q 5jo4f  fB9hYj?Q En?yfFC)f`:IfW:ifo4Ypr@pڊ gC DNOT Ignoring new targets: 89.60 m.Š~ʊ~gC ProNav: ac range: 89.599998 m, nav range: 85.985397 m, bearing: 98.967585 deg, approach rate: -0.710133 m/s, LOS rate: -0.055638 deg/s, cmd heading: 100.169574 deg, new cmd heading: 100.110407 deg. ?"*R*↽@ɢ%DqB%gXJ !%/I! )ɡ)i)I-BAA I! I9 NE > #f,n2Z%Ay6~P?ٱ67m?6.6I 6H{ʿͻ?ȿ@¿zq?@x@t?I6~P?)6'1];i4BifBB I Mb@Mb@Mb@  ) I i  On?~jt?L7A`?  D< +=) I FAiU=IUC)Gi jA ) (LAI-15:A  [ABDe6De\3Yu1=!1=ɻQ)>99GYA>Q 1o4٪l?Q 5o4  :B98?Q A:Ya?Q E?yNGC)/;I;i o4Y@5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270731ڊQgCUDNOT Ignoring new targets: 89.60 m.Š]*ʊ]*gCm ProNav: ac range: 89.599998 m, nav range: 85.655098 m, bearing: 98.949796 deg, approach rate: -0.690327 m/s, LOS rate: -0.037321 deg/s, cmd heading: 100.110404 deg, new cmd heading: 100.056833 deg. m̺mt?"*R*↥^ @ɢMxqBM6 IM0IQ QɡQiQIUA x=5 DAT read: 21:34:31.9231 LVL= 24624, 29249, 22802, 32755, AGC= 67, IDX= 401,-0.15, 2.899, 1.241, 3.142, 2.658, PHS= 0.343,-1.373, 0.439, RAW= 152.7, 6.7, CAL= 152.1, 7.0, ROT= 357.9, -7.0 U Ygot valid direction response: 21:34:31.9231 LVL= 24624, 29249, 22802, 32755, AGC= 67, IDX= 401,-0.15, 2.899, 1.241, 3.142, 2.658, PHS= 0.343,-1.373, 0.439, RAW= 152.7, 6.7, CAL= 152.1, 7.0, ROT= 357.9, -7.0 ] PDAT read: Bearing 266.9, 4.1 (Local) ] ~Local bearing/azimuth received: Bearing 266.9, 4.1 (Local) m DAT read: Range 11 to 50 : 87.0 m (Round-trip 116.1 ms) speed 0.7 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.991880,-0.036371,0.121869]u Fpublishing direction and range info )Y/z?C)UM7P2? B I 0`i Ar Y > w) >I J*@i |= )@ 5= @ 5I i ) aY?@"n*?ɘӒ? ? <3Y Q  5I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I9 II NU >nf,fNZ%AurfBu I}=}4<BD86D3Y<!G=Q)>)I9I9UGYUGUAU>YQ 1eo4٪]i?Q 5eo4]>  ]TB9aYiQ Em?y]GC)]#n?ٰ>?%wB%%S>?%U %!B%)۸? %i %DB%bB%9?gCE addTargetRange:: Added new target pos. range: 87.000000 m, deltaT: 3.786042 s, deltaX: -2.599998 m, approachRate: -0.686733 m/s, rangeRepo size: 4 gCu Added new target pos. range: 87.000000 m, bearing: 99.715471 deg, lat: 36.905994 deg, lon: -122.115850 deg, deltaT: 3.786042 s, deltaX: -2.599998 m, approachRate: -0.686733 m/s, posRepo size: 4 ڊqgC}DNOT Ignoring new targets: 87.00 m.Š}ʊygC ProNav: ac range: 87.000000 m, nav range: 85.191978 m, bearing: 99.715471 deg, approach rate: 0.000000 m/s, LOS rate: -0.037321 deg/s, cmd heading: 100.056835 deg, new cmd heading: 100.008248 deg. k?"*R*U@[?ɢ-qB5@ 15i3I1 1ɡ1i9I=У UBDAT read: Tx time:21:34:33.2029 U$Ping request sent.UA =bA ZA A A <vB ~B B 6IB ?gBB B B B Z;B DIA IY Nu >Ա D D D (D E T; E :6E c44:E "E G99GYA>Q 1-o4٪j?Q 5Uo4y  nB9YYYQ Ee?yGC)%A H=I! I9 NE > }f,[ Z%Ay6?ٱ6?699GY&A>Q 1o4٪o?Q 5%o4  B9%w6?Q A%:Y-?Q E-?y,HC)f;Ie;iAo4YEÁBE @EMEDB*** querying acoustic contact ***jrڊDDGD?DE=; E;6E^4:E!@!@!@!@gCDNOT Ignoring new targets: 87.00 m.ŠW ʊW gC ProNav: ac range: 87.000000 m, nav range: 84.632332 m, bearing: 99.690848 deg, approach rate: -0.708347 m/s, LOS rate: -0.030018 deg/s, cmd heading: 99.966806 deg, new cmd heading: 99.934137 deg. ϤHA?"*R* }?ɢqB[ 顕7I ɡiIRA v=I I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005563Ef,Z%AfB Ii!I!BD-6D-f?3Y= >!EJ=EQ)E>A9I9MGYIMAM>QQ 1]o4٪U5?Q 5]o4U  UB9aYaQ Ee?yUqHC)U;IU;iUOo4YimG@iڊgCDNOT Ignoring new targets: 87.00 m.ŠW ʊW gC ProNav: ac range: 87.000000 m, nav range: 84.362808 m, bearing: 99.679389 deg, approach rate: -0.724304 m/s, LOS rate: -0.030892 deg/s, cmd heading: 99.934137 deg, new cmd heading: 99.899651 deg. -?"*R*?ɢ&rBoW {6I ɡiI~Am[ޏ=I I!N-->DeDeDe.DaEe; Ee#:6Eeـ4:Ea"Ee`9999=GYEGAAE>IQ 1Uo4٪MՁ?Q 5Uo4M  MB9]8?Q A]:Y]?Q E]?yMHC)M ;IM; ;iMU^o4Yaez@aڊgCDNOT Ignoring new targets: 87.00 m.ŠgʊggC ProNav: ac range: 87.000000 m, nav range: 84.052719 m, bearing: 99.671349 deg, approach rate: -0.711375 m/s, LOS rate: -0.018513 deg/s, cmd heading: 99.899651 deg, new cmd heading: 99.875442 deg. HK?"*R*↽`!?ɢVrBiTE 7I ɡiI>A0=II N% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761538! f,Z%Ay6D?ٱ6`?6:M66Hɿ%)?\vǿ@Ŀ?๢!b?I6D?)6x];i6!CBfBBIBDJ.6DJP3YR=!Rh=RñQ)R>T9T9VGYTZMAZ>\Q 1bo4٪^}?Q 5bo4^{  ^̋B9`Yb?Q Eb?y^IC)^;I^;i^jo4YjāBj@jKEڊ||gCDNOT Ignoring new targets: 87.00 m.ŠʊgC ProNav: ac range: 87.000000 m, nav range: 83.802429 m, bearing: 99.665574 deg, approach rate: -0.710944 m/s, LOS rate: -0.016455 deg/s, cmd heading: 99.875445 deg, new cmd heading: 99.858066 deg. 4?!!"!*!R)*)))- 0@ɢrBQ 顽8I ɡiIRA{=A5 @AA1 vBE >~BA BE IBE gBBA BA BA BE !;BE DBBʅCBB5 =B5 =B4ԉ A I I! N- >BE=FA4JE= [4RE=2D] D] D] $DY E] %; E] :6E] 4:EY "E] J=MнQ)M>Q9Q9UGYQUMA]>YQ 1eo4٪]rx?Q 5mo4]  ]B9iYm?Q Em?y]OIC)]:I]:i]yo4Yq@ڊ!gCUDNOT Ignoring new targets: 87.00 m.ŠeĂʊmĂgC ProNav: ac range: 87.000000 m, nav range: 83.497215 m, bearing: 99.658760 deg, approach rate: -0.637806 m/s, LOS rate: -0.014291 deg/s, cmd heading: 99.858069 deg, new cmd heading: 99.837554 deg.  ?"*R*@ @ɢrBC !%A% = Aq Iy I N >f,,[%A(i(yv}?ٱv4?vr@vyvH |ɿ`)@?&ƿiſ W?`| Z?Iv}?)vL];iv C-gB-!ID]D]D]'DYE]f; E]v:6E]'4:EY!e@!e@!e@!e@aMb@Mb@Mb@ )Iid;O?{GzI +?4?#94<)mAIDAiFA XABD/6D3Y=!;=qQ)>99GYG yA >Q 1o4٪s?Q 5o4  B94?Q A:Yu?Q E%?yIC):I/:io4Y)-\@1DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 87.00 m.Š{Qʊ{QgC ProNav: ac range: 87.000000 m, nav range: 83.193459 m, bearing: 99.654154 deg, approach rate: -0.752044 m/s, LOS rate: -0.011446 deg/s, cmd heading: 99.837551 deg, new cmd heading: 99.823681 deg. `?"*!R!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769717*AAIMD5@ɢrBS 顕;I ɡiI&A} "= BDAT read: Rx Time:21:34:35.7194  TRx dataTimestamp_ set to:1754688876.421522 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023347 A I I N >$f,M[%AyZ?ٱZ]?ZܘZZHCɿ,?`Pƿ@ޫſ?P X?IZ?)Z;];iZCf/gBf,IBDn6DnF3Yvf@=!v^=v̻Q)v>x9x9zGYxzA~>Q 1 o4٪o?Q 5 o4  B9 Y A W^=A A I! IA Nm >Raf,8[%AyNj?ٱ?5Hɿ0`e2?nƿ ſ@?@=U?INj?)nU];i C->gB-5Ii1I1 qqDAT read: 21:34:35.7194 LVL= 29200, 32753, 25586, 32755, AGC= 66, IDX= 411, 0.21, 2.334, 0.629, 2.538, 2.040, PHS= 0.396,-1.366, 0.454, RAW= 151.6, 5.8, CAL= 150.9, 6.0, ROT= 359.1, -6.0 Ygot valid direction response: 21:34:35.7194 LVL= 29200, 32753, 25586, 32755, AGC= 66, IDX= 411, 0.21, 2.334, 0.629, 2.538, 2.040, PHS= 0.396,-1.366, 0.454, RAW= 151.6, 5.8, CAL= 150.9, 6.0, ROT= 359.1, -6.0 PDAT read: Bearing 265.0, 6.8 (Local) ~Local bearing/azimuth received: Bearing 265.0, 6.8 (Local) DAT read: Range 11 to 50 : 84.3 m (Round-trip 112.4 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.994399,-0.015621,0.104528]Fpublishing direction and range infoy}홝H?i4ޮ`º?}ByI}ri}}cy}B}> }ٮ)}r>I}V)@i}4Q=}(@}Pw=}-@}PwֽIyiy)}TK?+:2?^?}8 ?}OϽ} }PwֽIyiyT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.UMb@Mb@Mb@Q Q)QIQiQUM?MbMbp?Un2?UU;)UlAIUxCAiUfhAUDA QU\WABDm%6Dm03Y}=!}1=BQ)>99GYm~Au>qQ 1}o4٪u9j?Q 5o4ub  u1B9r2?Q A:Y(?Q E?yu4JC)u;Iu!;iu٦o4YƁBv@LEzy},;[%A}Bʋ}m?2} 'T@d4!@"}홝H?i4ޮ`º?}‹}Pwֽ:}>~&g0US@35@*}O7dȿ/,w]?PD?}B}} ?}ޏ }B}v? }. }ҚB}B}?gC addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.778178 s, deltaX: -2.699997 m, approachRate: -0.714629 m/s, rangeRepo size: 4 gC Added new target pos. range: 84.300003 m, bearing: 100.568214 deg, lat: 36.905984 deg, lon: -122.115859 deg, deltaT: 3.778178 s, deltaX: -2.699997 m, approachRate: -0.714629 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 84.30 m.ŠʊgC ProNav: ac range: 84.300003 m, nav range: 82.002533 m, bearing: 100.568214 deg, approach rate: 0.000000 m/s, LOS rate: -0.010303 deg/s, cmd heading: 99.812826 deg, new cmd heading: 99.796758 deg. %?!!!!!)")*)R)*115@3U@51^?ɢ;sBI= 顥?I ɡiI 5 BDAT read: Tx time:21:34:36.9529 5 $Ping request sent.5 A p=A I IN >)%f,U[%Aɰy6/ ?ٱ6x9x9zGYzG~ ûA~>Q 1 o4٪&f?Q 5 o4  GB9 Y ?Q E?ywJC)b;Ic;i o4Y15w@1ڊygCDNOT Ignoring new targets: 84.30 m.ŠgʊggC ProNav: ac range: 84.300003 m, nav range: 81.740959 m, bearing: 100.567933 deg, approach rate: -0.733203 m/s, LOS rate: -0.000792 deg/s, cmd heading: 99.796761 deg, new cmd heading: 99.795914 deg. & ;?"*R*@}?ɢbsBa 顥C@I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250628ɡiIADDD(DE7; E:6Ec44:E"EZ Mf,Qfo[%AyI?ٱ?Z>HU}ȿ`8@ ?`cſ@Uƿn?Q?II?)h];iCMb@Mb@Mb@ )Iii|?5?y&1?MbP1?`e<)kAIbBAixiAxCA VABD6D 83呻Q)>99GY@A>Q 1Eo4)U%G٪r`? A)5A!Q 5-o4p I5s5A51A _B9=1?Q A=:Y=?Q E=?yJC)U:=I-=iIo4YIIIڊqgCuDNOT Ignoring new targets: 84.30 m.Š}xʊ}xgC ProNav: ac range: 84.300003 m, nav range: 81.423676 m, bearing: 100.561158 deg, approach rate: -0.634302 m/s, LOS rate: -0.013597 deg/s, cmd heading: 99.795914 deg, new cmd heading: 99.775511 deg. L?"*R*↥?ɢsBH jCI ɡiI7  >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755645I}9iyyyyQԁ >A Hu=D D D 'D E O; E :6E '4:E ! @! @! @! @A I I N >f,͓[%ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006507X5gB5bI=<=<BDE6DE3Y}B=!}<}Q)>99GYA>Q 1o4٪[?Q 5o4  sB9YQ E?y KC):I:io4Y*@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 84.30 m.ŠgʊggC ProNav: ac range: 84.300003 m, nav range: 81.159996 m, bearing: 100.555488 deg, approach rate: -0.777041 m/s, LOS rate: -0.016765 deg/s, cmd heading: 99.775513 deg, new cmd heading: 99.758446 deg. 8?"*R*,J?ɢsB;d 顭>CI ɡiImA] r=9 A yAI I N >Wf,d[%AvBV>~BTBVIBVhBBV6 =BTBV$DBV;BV^DyvzR?ٱv2o?vc& vvHǿ I?ǁ ?Cſƿ?9HM?IvzR?)v_h];iv!CEgBEnIBDU6DU:2Ye>=!eL=ms#Q)m>m H?9m H?9mGYmGu3Au>yQ 1o4٪}V?Q 5o4}  }B9Y?Q E?y}RKC)}:I}W:i}o4YǁB@KEڊgCDNOT Ignoring new targets: 84.30 m.ŠiʊirD=jD<DDD*DE~ ; E:6E(N4:E"EUAQA Aԡ I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762452f,5[%Ay6j?ٱ6!$?6"66H nǿCo ?Ŀƿ<+?ZK?I6j?)6M];i6CBgBByI=Mb@Mb@Mb@9 9)9I9i9=@5^I ?l?~jth?=b0?===D;)=xiAI=5@Ai9=KAA 9=UABDU*6DU3Ye+=!eK=mӔQ)m>mK?9mK?9mGYquAu>yQ 1o4٪MQ?Q 5o4  B90?Q A:Y?Q E?yKC):I,:io4Y@ڊgCDNOT Ignoring new targets: 84.30 m.ŠʊgC ProNav: ac range: 84.300003 m, nav range: 80.610413 m, bearing: 100.538977 deg, approach rate: -0.680457 m/s, LOS rate: -0.028353 deg/s, cmd heading: 99.743110 deg, new cmd heading: 99.708741 deg. `?"*R*3@ɢ tB%i] !%FI! !ɡ!i)I-0ߺAc=Aa Ii Iy N > ¼f,k[%Ay:v?ٱ:-?:#::HXǿ 5F` ?|Ŀ@#ǿfe?ߔH?I:v?):?];i:CFgBFIiHIH NALBDR,6DR3YZם=!ZV=ZQ)^>\9`9bGY`b8ĻAf>dQ 1jo4٪fL?Q 5no4f  fB9lYn?Q En?yfKC)f;If];if%o4YrȁBv7@vNEڊgCDNOT Ignoring new targets: 84.30 m.ŠʊgC- ProNav: ac range: 84.300003 m, nav range: 80.351051 m, bearing: 100.528557 deg, approach rate: -0.680295 m/s, LOS rate: -0.027419 deg/s, cmd heading: 99.708741 deg, new cmd heading: 99.677381 deg. --q?)11111"9*9R9*9AAEa@ɢm5tBmgc quFIq qɡqiqIuo~BBCIBhBBBBBe;B(D>ABa=bDZD@ADDD)DET; Ev:6EFA4:E"EGa f,[%AgBI1Mb@Mb@Mb@ )IiB`"?v/?I +?.?xi=94<)jAI?AifhA?A QTABD6DP)3Yb=!*= Q) > 9 9 GYGA>Q 1%p4٪D?Q 5%p4  όB9-z/?Q A-:Y-?Q E-?y/LC) ;I ;i p4Y155@1ڊYgC]DNOT Ignoring new targets: 84.30 m.ŠeGCʊeGCgCu ProNav: ac range: 84.300003 m, nav range: 80.027542 m, bearing: 100.508146 deg, approach rate: -0.673753 m/s, LOS rate: -0.042681 deg/s, cmd heading: 99.677383 deg, new cmd heading: 99.615902 deg. uU}H?yyyyyy"*R*↍m@ɢgtBFL 顽GI ɡiI[Ae Y=D D D (D E ; E ՚:6E c44:E ! @! @! @! @Ա A I I N >f,x \%ABBDAT read: Rx Time:21:34:39.4659 FTRx dataTimestamp_ set to:1754688880.201247Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023775ye+?ٱeH?eFs'eieH fƿM`cu?Ŀ ǿ`?ہD?Ie+?)e@G];ieC}hB}IBD6D\3Y>!d=7 Q)>99GYJA>Q 1p4٪^??Q 5p4~  B9YF?Q E?ylLC)W:Ip:inp4Y@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 84.30 m.Šu:ʊu:gC ProNav: ac range: 84.300003 m, nav range: 79.786613 m, bearing: 100.493597 deg, approach rate: -0.672846 m/s, LOS rate: -0.040753 deg/s, cmd heading: 99.615905 deg, new cmd heading: 99.572127 deg. ߺ>r?"*R!*!!!- @ԑɢtBِe 顕7GI ɡiI-r?iw%=i`R=)>r?)I=8i9AAA5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274448>AE ^=Aq I I N > f,%\%AvB(~B(B*hIB*1iBB(B(B(B*D;B*DB CB CB B 6 =B 6 =B 4BE=c44JE=34RE=/DDD*DE ; E6E(N4:E"EeTI=)=BD)6D3Y=!9=-Q)>99GYpA>Q 1 p4٪8?Q 5 p4ϊ  B9Y?Q E?yLC){!;Ie";i(p4Y-ɁB-,@-LEڊqgCuDNOT Ignoring new targets: 84.30 m.Š}6ʊ}6DAT read: 21:34:39.4659 LVL= 25584, 30289, 23922, 32755, AGC= 65, IDX= 407, 0.15, 1.978, 0.320, 2.134, 1.675, PHS= 0.405,-1.310, 0.415, RAW= 150.3, 5.8, CAL= 149.6, 6.0, ROT= 0.4, -6.0 Ygot valid direction response: 21:34:39.4659 LVL= 25584, 30289, 23922, 32755, AGC= 65, IDX= 407, 0.15, 1.978, 0.320, 2.134, 1.675, PHS= 0.405,-1.310, 0.415, RAW= 150.3, 5.8, CAL= 149.6, 6.0, ROT= 0.4, -6.0 PDAT read: Bearing 264.3, 9.4 (Local) ~Local bearing/azimuth received: Bearing 264.3, 9.4 (Local) DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.994498,0.006943,0.104528]Fpublishing direction and range infoGP?W3Gp|?4ޮ`º?3BIciQvr]A)\> )z>I'@i'@;Ii)?VN(~?j۠?>/?T?ͽ; Ii-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.gCe ProNav: ac range: 84.300003 m, nav range: 79.485451 m, bearing: 100.475639 deg, approach rate: -0.665028 m/s, LOS rate: -0.039804 deg/s, cmd heading: 99.572123 deg, new cmd heading: 99.518046 deg. eںeQS?iiiiii"q*qRq*qy}`ffT@↥'?ɢ tB cN ,II ɡi9I=~R E BDAT read: Tx time:21:34:40.7029 E $Ping request sent.E Ae dO=i A}yAIIN>[f,BD\%A(i(yV۾?ٱV?VS(+hV VH\ƿR@Y;? ÿǿK?@b`@?IV۾?)V&S];iVCzbhBzIMb@Mb@Mb@ )Ii/$?Q?:v?&1?u=T<)fhAIiOgA >A 3SABD6DYJ=!4=Q)> H?9 H?9GYGKwA>Q 1p4٪1?Q 5p4  B91?Q A:YR?Q E?yMC) ;I:i7p4Y|@zAEj-\%AE3BʋE?2EEIT@-!?!@"EGP?W3Gp|?4ޮ`º?E;‹A:E}#tF/.DS@`(5@*E~ۉ钇ȿ%De9??E'BE3zE ?EbY EBES>? EU EBEʝBEf?DDD+DE7; E6E [4:E!@!@!@!@gC addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.779816 s, deltaX: -2.700005 m, approachRate: -0.714322 m/s, rangeRepo size: 4 gC Added new target pos. range: 81.599998 m, bearing: 100.990454 deg, lat: 36.905978 deg, lon: -122.115864 deg, deltaT: 3.779816 s, deltaX: -2.700005 m, approachRate: -0.714322 m/s, posRepo size: 4 ڊ!gC%DNOT Ignoring new targets: 81.60 m.Š-ʊ)gC= ProNav: ac range: 81.599998 m, nav range: 78.896080 m, bearing: 100.990454 deg, approach rate: 0.000000 m/s, LOS rate: -0.039804 deg/s, cmd heading: 99.518049 deg, new cmd heading: 99.462301 deg. 9=o3?999aaa"i*iRi*iiqu@g?ɢtBU HI ɡiIA lT=Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502801A I I! N5 >8f,J^\%AyRo?ٱR&?Rp-R RH#ƿ U`?VÿZȿ??/P>?IRo?)R{u];iRC^MhB^IBDf6Df3Yna!n^=nQ)n>p9p9rGYprJAv>tQ 1~p4٪vD,?Q 5~p4v|  v1B9|Y~?Q E~?yvIMC)v;Iv:ivDp4YʁB 9@ OEڊ1gC5DNOT Ignoring new targets: 81.60 m.Š=5ʊ=5gCM ProNav: ac range: 81.599998 m, nav range: 78.644974 m, bearing: 100.976864 deg, approach rate: -0.731421 m/s, LOS rate: -0.039709 deg/s, cmd heading: 99.462301 deg, new cmd heading: 99.421402 deg. MںM ?IIQIQYY"Y*YRa*aaam`?ɢuB2z 顽LI ɡiI-.YvB>~BBIBiBBBBB;;BDI)i))-~3)yDDD&DE~ ; E^:6E4:E"EUAEdO=A} AI I N= >]f,Ex\%Ay> W?ٱ>s?>Ӽ.>l >Hſ W ?`]!ÿ@Aȿ?L W?)>W];i>CJhBJIiLIL LL%Mb@Mb@Mb@! !)!I!i!%9v?Dl?~jt?%4?%O=%<)%OgAI%!MD=MQ)M>UK?9UK?9UGYQmbAu>Q 1p4٪y%?Q 5p4"u  MB95?Q A:Yx?Q E?yMC) ;It;iYSp4Y@ڊigCuDNOT Ignoring new targets: 81.60 m.Š=ʊ=gC ProNav: ac range: 81.599998 m, nav range: 78.350800 m, bearing: 100.958524 deg, approach rate: -0.663488 m/s, LOS rate: -0.041522 deg/s, cmd heading: 99.421402 deg, new cmd heading: 99.366172 deg. u?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006901"*R* >?ɢ-=uB-OX )JI :ɡiISeA L=m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259159a A I) I9 NE >>$f,ˑ\%Aɰ4X9X9ZGYZGZOA^>\Q 1bp4٪^s?Q 5fp4^yn  ^fB9dYfR?Q Ef?y^MC)^;I^L;i^~`p4YjˁBn@nMEDzB*** querying acoustic contact ***jxrxڊgCDNOT Ignoring new targets: 81.60 m.Š @Qʊ @QgC ProNav: ac range: 81.599998 m, nav range: 78.089027 m, bearing: 100.942311 deg, approach rate: -0.736004 m/s, LOS rate: -0.045735 deg/s, cmd heading: 99.366173 deg, new cmd heading: 99.317373 deg. ?!!!!!")*)R)*1115 @?ɢauBKrs JI ɡiI'A3J=ԱvB >~B B IB iBB B B B #;B DA1 IY Ii N} > rD) jD- %=D5 D5 D5 'D1 E5 ; E5 :6E5 '4:E1 "E5 b!RK=VQ)V>T9T9ZGYXZ"AZ>\Q 1bp4٪^ ?Q 5bp4^\g  ^B9dYf2?Q Ef?y^NC)^y:I^-:i^np4Yhj@hڊ|gCDNOT Ignoring new targets: 81.60 m.Š,Eʊ,EgC ProNav: ac range: 81.599998 m, nav range: 77.809418 m, bearing: 100.925075 deg, approach rate: -0.696597 m/s, LOS rate: -0.043095 deg/s, cmd heading: 99.317371 deg, new cmd heading: 99.265476 deg. ?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765358"*R*`E@ɢuBdg 2II %.ɡ!i!I%SAJ=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019351A I I N- >9 GN1f,z\%Ay>?ٱ>D?>V4> >H@bſ`^5 ?Ȩ¿ȿ`m?| >7?I>?)>T];i>CJiBJNIN]>N4<BDV6DV:3Y^=!^H=^@Q)^>`9`9bGY`f@Af>hQ 1np4٪j?Q 5np4j"`  jB9lYn ?Q En?yjhNC)j:Ij:ij|p4YrÁBv@tڊgCDNOT Ignoring new targets: 81.60 m.Š-Cʊ-CgCU ProNav: ac range: 81.599998 m, nav range: 77.525620 m, bearing: 100.907703 deg, approach rate: -0.695673 m/s, LOS rate: -0.042739 deg/s, cmd heading: 99.265475 deg, new cmd heading: 99.213169 deg. UU?QQQYYY"Y*aRa*aaamj@ɢ uB}p JI t&ɡiI&AM?BI=Y A} yAI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518761Zr7f,;\%Ai y:?ٱ:?:6:} :H(]ſ`` Fy ?N~¿ ɿ`;?@4?I:?):pl];i:C0iBhIBD%6D% 83Y5=!5)==VcQ)=>= H?9= H?9EGYEGEAE>IQ 1Up4٪M ?Q 5Up4MW  MB9YY]?Q E]?yMNC)Md:IM:iMp4YeŁBe@ePEiڊgCDNOT Ignoring new targets: 81.60 m.ŠWBʊWBAA@AvB>~BCBIBDjBB7 =BBB ;BDgC ProNav: ac range: 81.599998 m, nav range: 77.189041 m, bearing: 100.887208 deg, approach rate: -0.694543 m/s, LOS rate: -0.042476 deg/s, cmd heading: 99.213170 deg, new cmd heading: 99.151417 deg. 5?"*R*fH@ɢ5uB5q\ 15KI1 =Xɡ9i9I=FA <H=I I N >=f,-\%A ||i~I||Ii5A #) C Ou@     "AI)i)IAף Ai!i!%A)% !I!!siBI5BDAT read: Rx Time:21:34:43.2125 =TRx dataTimestamp_ set to:1754688883.981156=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963!@! !@! !@! !@! BD 6Dk3IYg>!<=Q)>99GYA>Q 1p4٪?Q 5p4O  ܍BQ =+:9Q Ar:YQ E?y OC);I>ip4Y@OEڊgCDNOT Ignoring new targets: 81.60 m.Š aDʊ aDgC ProNav: ac range: 81.599998 m, nav range: 76.886322 m, bearing: 100.868621 deg, approach rate: -0.696306 m/s, LOS rate: -0.042922 deg/s, cmd heading: 99.151418 deg, new cmd heading: 99.095437 deg. a?!!!!")*)R)*)115 @ɢ] vB]vi aeIIa eƢɡaiaIeMqA AI=Iq I N >Df,?]%AyUd?ٱU}?U ;U UH@Ŀ d Gd@? ¿ɿY@?@-?IUd?)Up];iQeiBeIiiIi)u@A qBDu'6Du3Y=!Z=TQ)>99GYA>Q 1p4٪)?Q 5p46I  BQ = :9Q AD:Y?Q E?yOOC)L ;I P?ip4Y@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 81.60 m.Šh>ʊh>gC ProNav: ac range: 81.599998 m, nav range: 76.625496 m, bearing: 100.853033 deg, approach rate: -0.693997 m/s, LOS rate: -0.041617 deg/s, cmd heading: 99.095438 deg, new cmd heading: 99.048515 deg. }F?" * R *  @ɢ=3vB={ 9EIIAa }mɡyiyI}o  )O>I8(@iV=p'@=:Ii)]`?f,?wټ?ӛ?nF: IiuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.I8ib5ԑvB ~B B VIB jBB B B B ;B D>A JM=Թ I I N% >rDQ jDU <D] D] DY DY E] O; E] :6EY :EY "E] Y 2BDAT read: Tx time:21:34:44.5029 2$Ping request sent.2?ٱN,[?N?)Ne];iNCiBIBD6D{U3Y0=!T=|sQ)>99GYGFA->)Q 15p4٪-?Q 5=p4-MB  -BQ ==999Q A=:Y=g?Q E=?y-OC)-Z:I-?i-p4Yam]@iz)-i]%A-Bʋ-?2- mS@0'.L?m-4"@"-dm\?G/d\?EO?-:‹-:- + ʉR@~3 "Jt7@*-ʕvƿ#+b ?S<?-NB-]-g?- -ȣB) -ޏ -!B-OB-U?gC addTargetRange:: Added new target pos. range: 79.000000 m, deltaT: 3.780029 s, deltaX: -2.599998 m, approachRate: -0.687825 m/s, rangeRepo size: 4 gC Added new target pos. range: 79.000000 m, bearing: 100.865597 deg, lat: 36.905978 deg, lon: -122.115866 deg, deltaT: 3.780029 s, deltaX: -2.599998 m, approachRate: -0.687825 m/s, posRepo size: 4 ڊgC%DNOT Ignoring new targets: 79.00 m.Š%ʊ!gCU ProNav: ac range: 79.000000 m, nav range: 76.155479 m, bearing: 100.865597 deg, approach rate: 0.000000 m/s, LOS rate: -0.041617 deg/s, cmd heading: 99.048514 deg, new cmd heading: 98.991732 deg. Y]P&?YYYYYa"a*aRa*iimS@m@?ɢ5dvB5a 9=KJI9 =ɯɡ9i9I=*AU B=I I N >z6Rf,GI]%Ay6?ٱ6b6 6H Ŀh !`#?`Wɿ?`a*?I6?)6v];i6C!}J=Q)>99GYA>DDDDEa; E :6E:E!@!@!@!@Q 1p4٪Y?Q 5p4;  1BQ =T:9`9?Q A:Y?Q E?yOC) ;I ;ip4Yt@ڊgCDNOT Ignoring new targets: 79.00 m.ŠʊgC  ProNav: ac range: 79.000000 m, nav range: 75.870590 m, bearing: 100.854549 deg, approach rate: -0.841866 m/s, LOS rate: -0.032769 deg/s, cmd heading: 98.991735 deg, new cmd heading: 98.958468 deg.  鳺 I?BDReached init depth of 58.496944 m."*R!*!!!%`?ɢUvBUH UvE=UNHIY ]ɡYiYI]AM4|E=IIN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754750\Xf,c]%AyZ?ٱZD ?Z?Z' ZH*Ŀh9y ?$ʿv? p&?IZ?)Zd];iZCprjBrIz%=z=I=)=BD6Df?3Y%=!-P=-5Q)->)9195GY15wA5>AQ 1Mp4٪E켜?Q 5Mp4E3  ENB9IYM?Q EU?yE%PC)E:IE :iEp4Y]ǁB]v@]REڊgCDNOT Ignoring new targets: 79.00 m.Š ʊ AAvB%>~B!B%IB%#kBB!B!B!B%;B%DBCBBB7 =B7 =B4gC] ProNav: ac range: 79.000000 m, nav range: 75.594757 m, bearing: 100.843942 deg, approach rate: -0.681539 m/s, LOS rate: -0.026304 deg/s, cmd heading: 98.958465 deg, new cmd heading: 98.926528 deg. ]j]?YYYYaa"a*aRi*iiiuBI?ɢvBv =HI ']ԼɡiI,lA B=IA i Iy N >̆^f,|]%Aiy>O?ٱ>?>*A> >HpĿi@7?cFLʿ ?@!#?I>O?)>u];i>CJRjBJI%Mb@Mb@Mb@! !)!I!i!%A`"?l?/$?%9?%=%<)%]AI%8Ai%aA%S5A !%\KA9BDE6DE03YU=!UH=UnMQ)U>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258885a9i9mGYmGmHAm>qQ 1}p4٪u}缜?Q 5p4uv,  unB9h9?Q A:Y?Q E?yuoPC)u;Iue;iup4Y@PEڊgCDNOT Ignoring new targets: 79.00 m.ŠʊgC ProNav: ac range: 79.000000 m, nav range: 75.304214 m, bearing: 100.837341 deg, approach rate: -0.736666 m/s, LOS rate: -0.016801 deg/s, cmd heading: 98.926527 deg, new cmd heading: 98.906648 deg. |8?qq"y*}}BRy*yↅ?ɢRjBRuԼ j,I o]ԼɡiI^A B= I I N >nef,KȖ]%Ay6?ٱ6i?6B6 6H`SĿ k@VU?CBazʿ3?u!?I6?)6g];i4BqjBB-IBDJ6DJ 3YR=!RV=RQ)R>T9T9VGYTZAZ>\Q 1p4٪^⼜?Q 5p4^%  ^B9Y?Q E?y^PC)^nX=)]?)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779]=vB!~B!B%IB%kBB!B!B!B%;B%DIqiqqu 0qD D D 'D E ; E y:6E '4:E "E ;\A &t@=IIIN>(lf,]%Aɰj4!9!9%GY!%J@A->)Q 15p4٪-ۼ?Q 55p4-f  -B9=6?Q A=:Y= ?Q E=?y-QC)- ;I-G ;i-p4YAM@IDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 79.00 m.ŠcTʊcTgC  ProNav: ac range: 79.000000 m, nav range: 74.641701 m, bearing: 100.824811 deg, approach rate: -0.693456 m/s, LOS rate: -0.011605 deg/s, cmd heading: 98.888660 deg, new cmd heading: 98.868894 deg.   ?    "9*=}BR9*99AE@r@ɢd` 額6=I _ӼɡiIA ==I I N >! Gsf,V]%A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518748yJxX?ٱJ.u?JDJ+ JHaÿn ?ʿ@w?W ?IJxX?)Jo];iH jB IBD% 6D%2Y5 `>!5q=53Q)5?9999=GY=GEAE?IQ 1Uq4٪M׼?Q 5Uq4MR  MӎB9QYU?Q EU?yMUQC)M:IM;iMq4Yae@aڊgCDNOT Ignoring new targets: 79.00 m.ŠOʊOgC ProNav: ac range: 79.000000 m, nav range: 74.405899 m, bearing: 100.821108 deg, approach rate: -0.720991 m/s, LOS rate: -0.011358 deg/s, cmd heading: 98.868894 deg, new cmd heading: 98.857750 deg. p?"*R*↽`@ɢETjBElCZ AE#>IA MҼɡIiIIM¾A- V:=q I I N >A A vB >~B B *IB lBB B B B ;B yDbyf,dy]%A y>0?ٱ>L?>uE> I >Hÿp@?ͮ`ʿ? ?I>0?)>q];i<kBIBD6D 83Y% =!%K=%)9)9-GY)5HA5>9Q 1Eq4٪=Ҽ?Q 5Eq4=  =B9AYE?Q EM?y=QC)=:I=:i=q4YUȁBUS@UNEڊygC}DNOT Ignoring new targets: 79.00 m.Šo=ʊo=gC ProNav: ac range: 79.000000 m, nav range: 74.126694 m, bearing: 100.816961 deg, approach rate: -0.694294 m/s, LOS rate: -0.010351 deg/s, cmd heading: 98.857747 deg, new cmd heading: 98.845259 deg. S?"*R*↭ @ɢUjB>Z 0>I UiѼɡiI),Au ·3=I I N >'2f,^%A-7kB-I5J>5p;I5=)5=Mb@Mb@Mb@ )Iigfffff?~jt?~jt?33?<<)[AIi`AZ2A GIAi4I9I9MGYQ]Ae>aQ 1mq4٪e4ͼ?Q 5uq4e=  eB9uT3?Q Au:YuM?Q Eu?yeQC)e':Ie8:iet q4YɁB@QEڊ9gCEDNOT Ignoring new targets: 79.00 m.ŠEڱʊMڱD]D]D])DYE]I; E]P:6E]FA4:EY!e@!e@!e@!m@gCm ProNav: ac range: 79.000000 m, nav range: 73.783463 m, bearing: 100.816804 deg, approach rate: -0.658748 m/s, LOS rate: -0.000304 deg/s, cmd heading: 98.845261 deg, new cmd heading: 98.844787 deg. ulUuE?qqqqyy"y*}V~BR*ↅ@3 @ɢVjBB 页!a>I ϼɡiI C)`>Ip'@iPw= &@z0=+H<z0Ii)щڍ?lFi?$ʺ??ֽ+H< z0Ii%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.)Y I i ԁ e ,DAT read: user:1208> m BDAT read: Tx time:21:34:48.2529 m $Ping request sent.m A=[1=ԹAAIIN ?Pf,(^%AvB~BBuIBlBBBBB;BWDyF?ٱF8?F CF;FH[ÿ@v ?`@UWʿ;?W@>%?IF?)F\v];iDRkBRIBDZ6DZ!3Yb_+>!b.=f;Q)f>fK?9fK?9fGYfGjAn>lQ 1rq4٪nBȼ?Q 5vq4n  nI 8ͼɡiI<A% 1=Aq I I N >Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906|mf,6A^%Ay6}?ٱ6?6w@6Z6H~ÿ /xO?@)@Vʿ ?ɨ(?I6}?)6];i6CMkBMIMb@Mb@Mb@ )IiGz?Mb?~jt?0?<<)XAI3Ai[A0A =FABD 6D  3Y?=!7=% ;Q)%>!9)9-GY)-ِA->1Q 1=q4٪5ü?Q 5Eq453  5^B9E0?Q AE:YE?Q EE?y5RC)5:I5#:i5G@q4YIM/@QԑDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 76.20 m.ŠF9ʊF9gCU ProNav: ac range: 76.199997 m, nav range: 72.997955 m, bearing: 100.847231 deg, approach rate: -0.683731 m/s, LOS rate: 0.010825 deg/s, cmd heading: 98.844360 deg, new cmd heading: 98.858653 deg. U9U4?QQQQYY"Y*] ~BRa*aaaeo?ɢYjBر> 顕ک>I ʼɡiI5A $= A I I N >@ۖf, \^%Ay6C?ٱ6y`?6U]=6!6H@¿`x ϭ?rɿ0? ǿ,?I6C?)6rx];i6CBkBBIiDID DFA)JAA JBABDN6DNN2YV_P>!V[=VX9X9ZGYX^BA^>`Q 1fq4٪bs?Q 5fq4b  b{B9dYf}?Q Ef?ybRC)bM;Ib;ibVMq4YnʁBnʼ@nPEڊgCDNOT Ignoring new targets: 76.20 m.Š ]9ʊ ]9gC ProNav: ac range: 76.199997 m, nav range: 72.746132 m, bearing: 100.851582 deg, approach rate: -0.698535 m/s, LOS rate: 0.012109 deg/s, cmd heading: 98.858655 deg, new cmd heading: 98.871751 deg. :?!!!!!")*)R)*)↵@K?ɢ[jBd ; >I cȼɡiI|KA%=bDZDDDD)DE; E՚:6EFA4:E"Eb f,Xv^%AyF2?ٱF$?F9F FH ¿y'@5 ?,-ɿ?`1?IF2?)F%];iFCRlBR/IBDZ6DZJ2Ybs=!bI=f d9h9jGYjGjAj>lQ 1rq4٪n?Q 5rq4n  nB9tYvB?Q Ev?ynSC)n:InK:in[q4Yxz@xڊgC%DNOT Ignoring new targets: 76.20 m.Š%Ji9ʊ%Ji9gC5 ProNav: ac range: 76.199997 m, nav range: 72.471848 m, bearing: 100.856746 deg, approach rate: -0.674522 m/s, LOS rate: 0.012747 deg/s, cmd heading: 98.871749 deg, new cmd heading: 98.887300 deg. = :=?99999A"A*ARA*IQ`Ba?ɢe]jB ; 顝}>I IżɡiI.A *_=ԁAIIN ?ĥf,1^%Aiy:w?ٱ:+?:0:_:H>7¿&~n1?뾿}ȿ9?`??I:w?):Z];i8FVlBFWIMb@Mb@Mb@ )Iioʡ?Mb`?y&1?-?;`<)\UAIZ2AipYA/A DAi-pI9I9MGYIUAU>YQ 1eq4٪]?Q 5eq4]5  ]B9e4-?Q Ae:Ye?Q E?y]uSC)]NI =SɡAiAIEϘA5 ]=rD 4=jD 4=BEFA4JEh=4RE/D D D )D E ; E ˭:6E FA4:E "E ]_f, Ʋ^%AyV|E?ٱV0b?V ,VeVH¿`6:?  eǿHf? lF?IV|E?)V[{];iVCblBbIBDz 6Dz2Y >! H= ?1999=GY9E8AE>IQ 1q4٪M?Q 5q4M  MߏB9Yz?Q E?yMSC)Mz%;IM;iM|q4Y@ڊ9gC=DNOT Ignoring new targets: 76.20 m.ŠE79ʊE79gCu ProNav: ac range: 76.199997 m, nav range: 71.840637 m, bearing: 100.875256 deg, approach rate: -0.658080 m/s, LOS rate: 0.020022 deg/s, cmd heading: 98.918119 deg, new cmd heading: 98.943082 deg. u[:u} ?qqqyyy"y*R*ԩ@ɢbjB"l< 額} ?I CɡiI A Wg<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774468iA1I9IIN] ?f,^%Ay6j?ٱ6,?6I&66H`рc B?gҿƿ ? @M?I6j?)6Ig];i4BlBBI Mb@Mb@Mb@  ) I i   rh?{Gzt?~jt? C+? ף; <) SAI 0Ai VA   BABD%6D%{U3YJ=!=,99GYGNCA>Q 1q4٪ٯ?Q 5q4  B9a+?Q A:Y?Q E?yTC):I#:iBq4ÝB @QED B*** querying acoustic contact ***j r ڊgCDNOT Ignoring new targets: 76.20 m.Š%?9ʊ%?9)gC= ProNav: ac range: 76.199997 m, nav range: 71.477524 m, bearing: 100.885736 deg, approach rate: -0.682834 m/s, LOS rate: 0.019807 deg/s, cmd heading: 98.943083 deg, new cmd heading: 98.974682 deg. =Y:=?9999AA"A*EG~BRI*IIIUk @ɢ}ejB}r=|< y}?Iy 1%ɡiIÍAEG<ԁvB ~B B PIB mBB B B B T;B DAq I I N >Ա `+f,^%Ay:?ٱ:?:!:bD@ZDBAADFDFDF#DDEF; EF :6EF3:ED"ED!JED!J*EFl9l9nGYlr^Ar>tQ 1zq4٪v?Q 5zq4v?  vB9xYz?Q Ez?yvWTC)vl:Iv:ivHq4Yߴ@ڊ)gC-DNOT Ignoring new targets: 76.20 m.Š599ʊ599gCE ProNav: ac range: 76.199997 m, nav range: 71.232887 m, bearing: 100.893119 deg, approach rate: -0.657602 m/s, LOS rate: 0.019914 deg/s, cmd heading: 98.974680 deg, new cmd heading: 98.996905 deg. EZ:EE)?AAAIII"I*QRQ*QQQ]@ @ɢgjB\M< 額^%?I h7ɡiI-QA<A I I N- >= DAT read: 21:34:50.7554 LVL= 23520, 27745, 24258, 30563, AGC= 62, IDX= 411, 0.36, 0.219,-1.477, 0.361,-0.083, PHS= 0.404,-1.349, 0.400, RAW= 149.9, 6.3, CAL= 149.2, 6.6, ROT= 0.8, -6.6 M Ygot valid direction response: 21:34:50.7554 LVL= 23520, 27745, 24258, 30563, AGC= 62, IDX= 411, 0.36, 0.219,-1.477, 0.361,-0.083, PHS= 0.404,-1.349, 0.400, RAW= 149.9, 6.3, CAL= 149.2, 6.6, ROT= 0.8, -6.6 ] PDAT read: Bearing 262.6, 9.6 (Local) ] ~Local bearing/azimuth received: Bearing 262.6, 9.6 (Local) m DAT read: Range 11 to 50 : 73.7 m (Round-trip 98.3 ms) speed 0.6 m/s u R#Rx 1: Read range and direction messages.} \direction in FSK: [0.993276,0.013870,0.114937]} Fpublishing direction and range info R?mP۰g?NZl? fB I [i al ^ cw > > ) >I i z0= r&@ = d< I i ) /?}H?tp? ? Kw d< I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. f,_%Ay6?ٱ6N?66$6H`_@ɺ GS?>'Tſm?_?I6?)6Ly];i4B;mBBIMb@Mb@Mb@ )IiDl?{Gz??O-?#<<)KQAIt-AiRAt-A ?ABD 6Dk3Y>!;=L99GYI[A> Q 15q4٪ Ϩ?Q 55q4   9B9=r-?Q A=:Y=V?Q E=?y TC) ;I  ;i q4YAE@Iz_%AfBʋ?2@pMR@H/Z?bu @"R?mP۰g?NZl?d<‹:NRe'O?h 1Bg? B܊?gC addTargetRange:: Added new target pos. range: 73.699997 m, deltaT: 3.781852 s, deltaX: -2.500000 m, approachRate: -0.661052 m/s, rangeRepo size: 4 gC- Added new target pos. range: 73.699997 m, bearing: 100.510413 deg, lat: 36.905982 deg, lon: -122.115868 deg, deltaT: 3.781852 s, deltaX: -2.500000 m, approachRate: -0.661052 m/s, posRepo size: 4 ڊ1gC5DNOT Ignoring new targets: 73.70 m.Š5ʊ9gCM ProNav: ac range: 73.699997 m, nav range: 70.847816 m, bearing: 100.510413 deg, approach rate: 0.000000 m/s, LOS rate: 0.019914 deg/s, cmd heading: 98.996905 deg, new cmd heading: 99.024244 deg. IM8?QQQQQY"Y*]}BRY*aaelR@eǵ?DDD)DE; Ek:6EFA4:E!@!@!@!@ɢjjB'< C4?I ɡiIɃU>,DAT read: user:1209> BDAT read: Tx time:21:34:52.0530 $Ping request sent.A% q<I I1 N= >2f,Zc"_%A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250570yr?ٱrɻ?r^rrH m ;9Z?`"`Ŀ?Li?Ir?)r];ip amB II=)=BD%6D% 3Y-?=!W=*i99GYGA>Q 1q4٪c?Q 5q4߸  QB9Y;?Q E?yTC);I;iFq4Y@ڊgCDNOT Ignoring new targets: 73.70 m.Š9ʊ9gC ProNav: ac range: 73.699997 m, nav range: 70.589287 m, bearing: 100.515841 deg, approach rate: -0.694967 m/s, LOS rate: 0.014645 deg/s, cmd heading: 99.024247 deg, new cmd heading: 99.040590 deg.  :AB? " * R*h?ɢEmjBEh, = AE&=?IA M'rɡIiIIMY?ATI t MA AYf,0<_%APyb?ٱ? H k'`@a?`Pÿ ?ݾq?Ib?)}];iCsmBIMb@Mb@Mb@ )IiB`"?Mb?99GYWA>Q 1q4٪?Q 5%q4  kB9%.?Q A-:Y-?Q E-?y2UC);ID;iq4Y9E*@A}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754099ڊ1gC5DNOT Ignoring new targets: 73.70 m.Š=9ʊ=9gCm ProNav: ac range: 73.699997 m, nav range: 70.287331 m, bearing: 100.523373 deg, approach rate: -0.631274 m/s, LOS rate: 0.015814 deg/s, cmd heading: 99.040591 deg, new cmd heading: 99.063285 deg. m-:mA m<I I % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005349N] >?f,qV_%Ay:?ٱ:N?:z ::H-V@`th?]%ÿ*R? 'y?I:?):o];i:CRmBR2IBDZ6DZF3YbR>!bu=bAu*<rA}>jA}>IIN>AM <AM 4=vBQ ~BQ BU IBU nBBU 7 =BQ BQ BU ";BU Dԁ if,]o_%Ay6t?ٱ6ʐ?6Y6``6H(MTй n? 6o¿@$?Vg?I6t?)6%];i6CDFDDDDDDEF1; ED6ED:ED"EFkd9d9fGYfGjwAj>lQ 1rq4٪n-?Q 5rq4n  nB9pYrz?Q Ev?ynUC)n6:In:inq4Yxz@xD B*** querying acoustic contact ***j r Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509448ڊgCDNOT Ignoring new targets: 73.70 m.Šə9ʊə9gC ProNav: ac range: 73.699997 m, nav range: 69.790756 m, bearing: 100.536334 deg, approach rate: -0.635510 m/s, LOS rate: 0.016806 deg/s, cmd heading: 99.080664 deg, new cmd heading: 99.102311 deg. 8:%e?!!!!!!")*)R)*11Q↕?ɢ%wjB%`= )-X?IQ Ul'ɡQiQIUccA ]<I) I9 NM > ZQf,_%AyU`b?ٱU?UMUUH>o3`%u?@Ⱦ@Կ?G?IU`b?)Uk];iUC nBeIԹ5Mb@Mb@Mb@1 1)1I1i15M?Mb?:v?5n2?5<5T<)5fLAI5,Ai5KA5+A 15(a9a9eGYamNAm>qQ 1}q4٪u薼?Q 5}q4uߛ  uB92?Q A:Y?Q E?yuVC)uL:Iu:iuq4Yl@ڊgCDNOT Ignoring new targets: 73.70 m.Šx9ʊx9gCU ProNav: ac range: 73.699997 m, nav range: 69.475761 m, bearing: 100.542168 deg, approach rate: -0.730455 m/s, LOS rate: 0.013589 deg/s, cmd heading: 99.102309 deg, new cmd heading: 99.119889 deg. U7:Uo?QQQQYY"Y*]}BRa*aaae`@DDD(DE; E:6Ec44:E!@!@!@!@ɢzjB 2,=  jd?I ߓɡiIYA ? f,O[_%AyRb?ٱRQ?RsRRH B@@_z? {?Ͻ?IRb?)R̊];iRCZ$nB^tIBDf6Df2Yjۄ=!n_=nlp9p9rGYprb7Av>tQ 1zr4٪vz?Q 5~r4vJ  vB9|Y~?Q E~?yvCVC)v;Ivn;ivlr4Y @ ڊ)gC5DNOT Ignoring new targets: 73.70 m.Š5m9ʊ=m9gCM ProNav: ac range: 73.699997 m, nav range: 69.222649 m, bearing: 100.546900 deg, approach rate: -0.692163 m/s, LOS rate: 0.012988 deg/s, cmd heading: 99.119890 deg, new cmd heading: 99.134138 deg. M:Mw?IIIIQQ"Q*QRY*YYae@Ɉ@ɢ~jB$U= 額i?I ΎɡiIbR<)w?)vB~BBIBnBBBBB ;BDIi0@@@@DEDEDADAEE; EEk:6EA:EA"EExmA f,F_%Ayme?ٱmҁ?mE齹mi_mH*G ù@1?(mbI*?PȽ?Ime?)ms];imCRnBI>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769399Mb@Mb@Mb@ )IiGz?S㥛?{Gz?0?/<#<)IAI+AiGA,A :Ai!I%p;BD-6D- 3Y==!=)=E/A9A9MGYMGM%9AM>QQ 1]r4٪U?Q 5]r4U  UѐB9]0?Q Ae:Ye?Q Ee?yUVC)U/;IU;iUQr4YmρBm]@mQEڊgCDNOT Ignoring new targets: 73.70 m.Š8ʊ8gC ProNav: ac range: 73.699997 m, nav range: 68.891365 m, bearing: 100.548814 deg, approach rate: -0.685185 m/s, LOS rate: 0.003979 deg/s, cmd heading: 99.134137 deg, new cmd heading: 99.139908 deg. .9{?"*}BR*h@ɢjB4= s?I ?ɡiIKVHiDM DI DM ,DI EM x; EI 6EM g4:EI !U @!U @!U @!U @ BDAT read: Rx Time:21:34:54.5518  TRx dataTimestamp_ set to:1754688895.321014 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022336ԑ tf,U_%Ay6g?ٱ6?6]߽6\6H LഊϹ ? Y`zݻ?`ŗ?I6g?)67];i6CNxnBRIBDZ6DZ1Yfm=!f}=fԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273414AA?AvB>~BBIB:oBBBBB;BDBYBYBYBYBYB]Ą4 f,_%Ay6Fr?ٱ6?6-Jս66H`X්@[`?@p@D7?e@"?I6Fr?)6];i4BE'4JE,4REl0DvDvDv*DtEvI; Ev:6Ev(N4:Et"EvVjQ9Q9UGYQUND:AU>DAT read: 21:34:54.5518 LVL= 27312, 30385, 24898, 32227, AGC= 65, IDX= 406, 0.31, 1.056,-0.647, 1.223, 0.783, PHS= 0.375,-1.385, 0.396, RAW= 150.6, 7.0, CAL= 150.0, 7.4, ROT= 0.0, -7.4 Ygot valid direction response: 21:34:54.5518 LVL= 27312, 30385, 24898, 32227, AGC= 65, IDX= 406, 0.31, 1.056,-0.647, 1.223, 0.783, PHS= 0.375,-1.385, 0.396, RAW= 150.6, 7.0, CAL= 150.0, 7.4, ROT= 0.0, -7.4 PDAT read: Bearing 263.2, 5.8 (Local) ~Local bearing/azimuth received: Bearing 263.2, 5.8 (Local) DAT read: Range 11 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.Q 1r4٪І?Q 5r4.  B\direction in FSK: [0.991671,0.000000,0.128796]Fpublishing direction and range infoY] )Ż?OZ_|?]BYI]ji]v]Ba]}]A]> ]G)]>I]8(@i]5=]6'@] A>]] AIYiY9Y?Q E?yWC);IC;i+r4Y)-0@))]\?W?!)?-dA'?]?]] ] AIYiYET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.zY]_%A]Bʋ]?2] \'Q@JI"@"] )Ż?OZ_|?]‹] A:]0v^L$aEQ@y sZ0@*]O¿H?|ԉ{?]B]Z']Z,h?]w ]B]n? YY]B]{?gC addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.778319 s, deltaX: -2.699997 m, approachRate: -0.714603 m/s, rangeRepo size: 4 gC Added new target pos. range: 71.000000 m, bearing: 100.483664 deg, lat: 36.905983 deg, lon: -122.115868 deg, deltaT: 3.778319 s, deltaX: -2.699997 m, approachRate: -0.714603 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 71.00 m.ŠʊgC ProNav: ac range: 71.000000 m, nav range: 68.355156 m, bearing: 100.483664 deg, approach rate: 0.000000 m/s, LOS rate: 0.003834 deg/s, cmd heading: 99.143857 deg, new cmd heading: 99.149191 deg.   ]?    "*R*Q@%q?ɢjBD= 顝4{?I /sɡiI%75>Ii/rA>jA>IqIN> ,DAT read: user:1210>  BDAT read: Tx time:21:34:55.8530  $Ping request sent. 99GYG :A >1Q 1=r4٪5m?Q 5=r45w  5B9=2?Q A=:Y=G?Q EE?y5gWC)5:I5v:i5^:r4YIM@iDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 71.00 m.Š7ʊ7gC ProNav: ac range: 71.000000 m, nav range: 68.066582 m, bearing: 100.484050 deg, approach rate: -0.765037 m/s, LOS rate: 0.001029 deg/s, cmd heading: 99.149191 deg, new cmd heading: 99.150356 deg. 48?"*}BR)*IIIM@?ɢjB:3v= 顝?I ZgɡiIG_/Ae e<ԉ I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502740 f,w%`%A0y:Dž?ٱ:z?:::Hp@Wඎ?`'?@ż R?I:Dž?):];i:CvB9~B9B==IB=moBB9B9B9B=;B=DnBIBD6D2Y =!?=w999GY+Z:A>Q 1r4٪}?Q 5r4p   B9YR?Q E?yWC):I4:i-Ir4YD@ڊgCDNOT Ignoring new targets: 71.00 m.Š^7ʊ^7gC- ProNav: ac range: 71.000000 m, nav range: 67.771782 m, bearing: 100.484364 deg, approach rate: -0.711840 m/s, LOS rate: 0.000760 deg/s, cmd heading: 99.150359 deg, new cmd heading: 99.151303 deg. -8-?))1111"9*9R9*99AE?ɢmjBmƉr= qu8?Iq u*YɡqiqI}['A ~M< AE yAII IY Nm >K#f,(~?`%A`yv?ٱv?v}㷽vvH}ϊ@Bؑ?@-@񆺿@?@?Iv?)vq];ivC15+Aiڽ什IڹIiA Q)1 =t@9AAQuAIu/])qiq)yI}A}y y݁݅1A݅i݁݁iޅ̎CޅA)ލ` މIމnBIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789Mb@Mb@Mb@ )Iix?Mb?K7?@=)&IAI'AiAA,A 7ABD6DN2Y=!:=/ H?9 H?9GY?M:A>Q 1r4٪x?Q 5r4g  B97?Q A:Y ?Q E?yXC)1;I0;iXr4YS@OEڊ)gC5DNOT Ignoring new targets: 71.00 m.Š5^ʊ5^gCE ProNav: ac range: 71.000000 m, nav range: 67.457695 m, bearing: 100.479029 deg, approach rate: -0.713508 m/s, LOS rate: -0.012175 deg/s, cmd heading: 99.151302 deg, new cmd heading: 99.135223 deg. EM`x?IIIIII"Q*U}BRQ*YYY]?ɢjB 5j=  z?I  2JɡiIQA <bA ZA AA- AI9 II N] >Kf,{[`%A y6ҥ?ٱ6?66)86H ӓ@R?WV _.ϵ?=?I6ҥ?)6];i4nBI=%?BD%6D%2Y}=!}c=}LK?9K?9GYGF:A>Q 1r4٪2t?Q 5r4Ka  $B9Y?Q E?yEXC):IW:i%er4Y;@ڊgCDNOT Ignoring new targets: 71.00 m.ŠhʊhgC ProNav: ac range: 71.000000 m, nav range: 67.199493 m, bearing: 100.474470 deg, approach rate: -0.717137 m/s, LOS rate: -0.012711 deg/s, cmd heading: 99.135223 deg, new cmd heading: 99.121494 deg.  p?"*R*?ɢ-jB-ݞ= 15Q?I1 5g=ɡ1i1I5A<ԙ I I N >bD ZD ?AD D D *D E I; E :6E (N4:E "E Vj99GY<A>Q 1r4٪n?Q 5r4Y  0B9Y?Q E?yXC)-:I:itr4YсBU@REڊgCDNOT Ignoring new targets: 71.00 m.Š-eʊ-egC- ProNav: ac range: 71.000000 m, nav range: 66.881699 m, bearing: 100.468933 deg, approach rate: -0.715337 m/s, LOS rate: -0.012523 deg/s, cmd heading: 99.121495 deg, new cmd heading: 99.104805 deg. - 5f?99AAQY"Y*aRa*aaim@@ɢjB[y= 顝?I  -ɡiI;Ae e< IA IQ N] >ʙ#f,C`%Ay>M?ٱ>?>`>>H ى`@S?| n??I>M?)>];i>CN1oBNIl5Mb@Mb@Mb@1 1)1I1i155^I ?Q?Mbp58?5\=5)5EDAI1i5=A5+A 15p5ABDM6DM03Y]!>!]d=]Fa9a9eGYamԹ:Am>qQ 1}r4٪ui?Q 5}r4uyR  u8B9}8?Q A}:Y}?Q E?yuXC)u ;IuL ;iu/r4Y@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 71.00 m.ŠʊgC ProNav: ac range: 71.000000 m, nav range: 66.623734 m, bearing: 100.457469 deg, approach rate: -0.719257 m/s, LOS rate: -0.032089 deg/s, cmd heading: 99.104802 deg, new cmd heading: 99.070276 deg. -;S?Q"Y*]Z}BRY*Yaae@ɢjB>= DDD+DE; Ey:6E [4:E!@!@!@!@页1?I -ɡiIGA <I! I9 NM >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518807 )f,`%Ay6d?ٱ6?666H@ xe? @2X?hB?I6d?)6ϐ];i6CR8oBVI)X Z@ABD^6D^4d3Yfג<!fT=f5h9h9jGYjGnf:An>vBr>~BpBroIBroBBpBpBpBr;BrwDQ 1r4٪;d?Q 5 r4EK  @B9 Y ?Q E ?y YC)y:IN:i͎r4YW@PE9ڊAgCMDNOT Ignoring new targets: 71.00 m.ŠM!ʊM!gC] ProNav: ac range: 71.000000 m, nav range: 66.343063 m, bearing: 100.444817 deg, approach rate: -0.720060 m/s, LOS rate: -0.032595 deg/s, cmd heading: 99.070275 deg, new cmd heading: 99.032160 deg. eeo=?aaaaai"i*iRi*qqqu"@ɢjB8= 顥u?I a4ɡiIkA<II N> 0f,`%AԙyPǾ?ٱ?* H w  5?@۷@鴿 B?@X8S?IPǾ?)}];iCBDAT read: Rx Time:21:34:58.3485 TRx dataTimestamp_ set to:1754688899.101394checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024172VoB0I]Mb@Mb@Mb@Y Y)YIYiY]bX9?㥛 ?MbP]E6?]=])]AAI] &Ai]O;A],A Y]4ABDu6Du:3Yz=!1=99GY:A>Q 1r4٪]?Q 5r4B  IB9:7?Q A:Y?Q E?ytYC) ;I` ;i̞r4Yi@ڊgCDNOT Ignoring new targets: 71.00 m.ŠʊgC ProNav: ac range: 71.000000 m, nav range: 66.016510 m, bearing: 100.428212 deg, approach rate: -0.669956 m/s, LOS rate: -0.034236 deg/s, cmd heading: 99.032163 deg, new cmd heading: 98.982101 deg.  ?  " * "}BR* @ɢjBwP= 顅N?I ɡiIƜ;I ?i#=i{<) ?)Թ> >IqiqqqqDDD)DE; E:6EFA4:E!@!@!@!@e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274662>A 8<bA ZA A I! I9 NE >6f,`%AyBھ?ٱB?B0BBH``팹@?=˳Y#?<q?IBھ?)B];iBCJcoBN8IBDV"6DVJz3YZ^=!^n=^P K)= >I)@iw>)@ >U@ Ii)KD7P?e?zP?|t?K޹  IiT****** received valid address query ******IiR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AAAAvB~BBIBoBBBBB;BdDQ>A <I I N >y D D D ,D E  E :6E g4:E "E o BDAT read: Tx time:21:34:59.6530 $Ping request sent.Y9Y9]GY]Gej:Ae>iQ 1mr4٪mR?Q 5ur4m4  mVB9qY?Q E?ymZC)m3&A < A yAI I N >Cf,$ba%AyF?ٱFh?F_F[FH Ѓ`5 ?&฽4?d )?IF?)F];iFCRoBRWI-Mb@Mb@Mb@) )))I)i)-|?5^?㥛 ?-2?)-)-AAI)i-8A-+A )-2ABDE6DEk1YUV=!UJ=U&&] H?9] H?9]GYYeS~:Ae>iQ 1ur4٪mL?Q 5ur4m-  m\B9u3?Q Au:YuR?Q Eu?ymIZC)m ;Im ;imr4YӁB@REDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 68.50 m.ŠqwʊqwgC ProNav: ac range: 68.500000 m, nav range: 65.485710 m, bearing: 99.500096 deg, approach rate: -0.786879 m/s, LOS rate: -0.054083 deg/s, cmd heading: 98.899780 deg, new cmd heading: 98.841505 deg. we?"*}BR*`?ɢjB࣬= DDD)DE E6EFA4:E!@!@!@!@顕?I fɡiI;Ie?iO#=i<)e?) =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502443I8i>A<rA>jA>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753891A I I N% >9 SJf,G>*a%Ay6?ٱ6f/?65UP66H  ¿;鹿@??°?C?I6?)6];i4vBD~BDBFIBFpBBF6 =BDBDBF;BF_DBIBIBIBIBIBM3 oBnIBD%6D%F3Y- =!5L=5(9999=GY9E;AE>IQ 1Mr4٪MG?Q 5Ur4Mn&  MbB9QYUo?Q EU?yMZC)M:IM;iMr4Yaec@aڊgCDNOT Ignoring new targets: 68.50 m.Š`ʊ`gC ProNav: ac range: 68.500000 m, nav range: 65.205780 m, bearing: 99.480553 deg, approach rate: -0.700942 m/s, LOS rate: -0.049144 deg/s, cmd heading: 98.841505 deg, new cmd heading: 98.782625 deg. ?"*R*↽@E?ɢjBAv= ?I 3bɡiIޅ;I?i=#=i<)?)Iqiqqu0qBE=(N4JE=R4RE=)0DDD0DE; E˭:6E4:E"E,rAu)Qf, 9 9 GY G |Z:A>YQ 1r4٪@?Q 5r4  gB96?Q A:Y?Q E?yZC)A V<A% AI) IA NM >(Wf,^a%AyB(?ٱBE?B/B BH!¿a]ǥ?p@;? +?IB(?)B];iBCHNoBNIBDZ6DZ 3Yb=!bx=bHAu=bAZAAA I I N- >) D D D *D E *; E ^:6E (N4:E "E X9\9^GY\^t:Ab>`Q 1fr4٪b4?Q 5fr4b  bnB9hYj?Q Ej?ybk[C)bK:Ib:ibr4Yln@p|ڊ gC DNOT Ignoring new targets: 68.50 m.ŠʊgC% ProNav: ac range: 68.500000 m, nav range: 64.356483 m, bearing: 99.412698 deg, approach rate: -0.709405 m/s, LOS rate: -0.057726 deg/s, cmd heading: 98.647637 deg, new cmd heading: 98.578152 deg. %w%9?))))))"1*1R1*199=t@ɢjBF= ?I {ɡiI;I9?i&#=i[ =)9?)Ii0)Y>A2g=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277319A I I N= >ԁ T6df,֪a%Ay6&I?ٱ6e?6U6!6H@ C¿ Pr` ?@0ũT?h?I6&I?)6d];i4BpBBIIF=)F==Mb@Mb@Mb@9 9)9I9i9=q9q9uGYuG} :A}>Q 1s4٪5/?Q 5s4  rB94?Q A:YC?Q E?y[C):Io:ius4YՁB@SEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 68.50 m.Š8ʊ8gC ProNav: ac range: 68.500000 m, nav range: 64.056030 m, bearing: 99.395513 deg, approach rate: -0.702126 m/s, LOS rate: -0.040348 deg/s, cmd heading: 98.578153 deg, new cmd heading: 98.526357 deg. ݺ)?"*z}BR*o@D}D}D})DyE}; E}:6E}FA4:Ey!@!@!@!@ɢjBα= ʥ?I 8ɡiIߋ;I)?i#=iSl=))?)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526000ԉIi/Ա>AV =A yA I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777928I N >vBy ~By B} IB} apBB} 7 =By By B} ;B} CDjf, a%AyNM?ٱNj?NUINNH@TH¿$ @?M駿z(? ?INM?)N];iNCZ5pBZIBDf6Df!3Yj=!nP=nr H?9r H?9rGYpr9Av>tQ 1zs4٪v)?Q 5~s4v  vuB9|Y~H?Q E~?yv[C)v;Iv;iv4s4Y @ ڊIgCMDNOT Ignoring new targets: 68.50 m.ŠU9yʊU9gC ProNav: ac range: 68.500000 m, nav range: 63.779930 m, bearing: 99.379544 deg, approach rate: -0.696177 m/s, LOS rate: -0.040439 deg/s, cmd heading: 98.526360 deg, new cmd heading: 98.478246 deg. ޺?"*R*`%1 @ɢmjB= 页?I m:ɡiI j;I?i#=i~=)?) >Iaiiiiiԡi=ICDMDMDIDIEM; EMP:6EI:EI"EMpAm%|=rAu>jAu>A I I  N ojqf,(a%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284702yN?ٱPk?EżHJ¿}2?.?T+?IN?)2];iC apB IMb@Mb@Mb@ )IiCl? 99GY2?8A>Q 1%s4٪$?Q 5%s4g  xB9-0?Q A-:Y-?Q E-?yS\C) ;IG ;i,s4Y15P@9ڊYgCeDNOT Ignoring new targets: 68.50 m.ŠeʊmgCu ProNav: ac range: 68.500000 m, nav range: 63.452728 m, bearing: 99.370160 deg, approach rate: -0.692747 m/s, LOS rate: -0.019969 deg/s, cmd heading: 98.478248 deg, new cmd heading: 98.449952 deg. }F[}v?yyyyy"*}BR*↕ @ɢjBƼ= 顽?I M;ɡiIPO;Iv?i"=is=)v?)I8i)DUDUDU'DQEU; EU:6EU'4:EQ!]@!]@!]@!]@] DAT read: 21:35:02.1449 LVL= 24560, 32161, 19954, 32755, AGC= 66, IDX= 399, 0.04,-0.371,-2.071,-0.100,-0.587, PHS= 0.318,-1.439, 0.442, RAW= 153.4, 7.5, CAL= 152.8, 7.9, ROT= 357.2, -7.9 e Ygot valid direction response: 21:35:02.1449 LVL= 24560, 32161, 19954, 32755, AGC= 66, IDX= 399, 0.04,-0.371,-2.071,-0.100,-0.587, PHS= 0.318,-1.439, 0.442, RAW= 153.4, 7.5, CAL= 152.8, 7.9, ROT= 357.2, -7.9 m PDAT read: Bearing 263.1, -1.9 (Local) u ~Local bearing/azimuth received: Bearing 263.1, -1.9 (Local) } DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.7 ms) speed 0.7 m/s } R#Rx 1: Read range and direction messages. ^direction in FSK: [0.989327,-0.048386,0.137445] Fpublishing direction and range info1 5 |?Gm ƨyjȗ?5 fB1 I5 _i5 }5 M1 5 B5 Т> 5 '1)5 M>I5 uY+@i5 >5 *@5 0 >5 @5 0 I1 i1 )5 S$&~?I_t?KM?5 #?5 "5 *H 5 0 I1 i1  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.>A] S=Y A AI I N > wf,a%Aɰ$&;uzpBuIBD6D 83YȄ=![=Q)>K?9K?9GYA>ԱQ 1s4٪_ ?Q 5s4  zB9YQ E?y\C);IS;i9s4Y@z,a%AfBʋ#?2Mo?P@413n xj"@"|?Gm ƨyjȗ?*H‹0 :|!}]r4P@ቕi%@*{& 1]?>x,6?̀BRɹ?)YR BZ,h? w B~BH?gC addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.788294 s, deltaX: -2.800003 m, approachRate: -0.739120 m/s, rangeRepo size: 4 gC Added new target pos. range: 65.699997 m, bearing: 98.351717 deg, lat: 36.906001 deg, lon: -122.115856 deg, deltaT: 3.788294 s, deltaX: -2.800003 m, approachRate: -0.739120 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 65.70 m.ŠʊgC ProNav: ac range: 65.699997 m, nav range: 63.640240 m, bearing: 98.351717 deg, approach rate: 0.000000 m/s, LOS rate: -0.019969 deg/s, cmd heading: 98.449951 deg, new cmd heading: 98.426388 deg. ?"*R*lP@ ?ɢejB_= 額?I d;ɡiID5;I?iC"=i.=)?) ,DAT read: user:1212> BDAT read: Tx time:21:35:03.4030 $Ping request sent.Ae =D D D ,D E ; E :6E g4:E "E Nu }f,ka%Ay6U?ٱ6q?666 6HP¿{ uv@?} ?NY?I6U?)6];i4jpBjIBD 6D P)3YM=!S=% H?9% H?9%GY%G-1:A->)Q 15s4٪-?Q 5=s4-  -|B99Y=?Q E=?y-\C)-f;I-;i-fGs4YEցBM@MREڊigCuDNOT Ignoring new targets: 65.70 m.Š}]ʊ}]gC ProNav: ac range: 65.699997 m, nav range: 63.374348 m, bearing: 98.339717 deg, approach rate: -0.725189 m/s, LOS rate: -0.032864 deg/s, cmd heading: 98.426386 deg, new cmd heading: 98.390237 deg. oO?"*R*↥ pk?ɢkB S= g?I R;ɡiI,;IO?i("=iI(=)O?) ԙI8i0 AEA]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510059>AUy=bAYZA]AA I I N > f,${b%Ay6X?ٱ64u?666H@vT¿@z » Y?:@Jܠ`?m 9?I6X?)6];i6CBpBBI]Mb@Mb@Mb@Y Y)YIYiY]/$?/$?MbP?],?]<]:)]BAI]#AiYY YYBDu6Du2YK`=!C=h99GY"9A>DDD(DE1; E:6Ec44:E!@!@!@!@Q 1s4٪?Q 5s4  ~B9,?Q A:Yt?Q E?y!]C);I;iVs4Y9@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 65.70 m.ŠrʊrgC ProNav: ac range: 65.699997 m, nav range: 63.091576 m, bearing: 98.332173 deg, approach rate: -0.670626 m/s, LOS rate: -0.017971 deg/s, cmd heading: 98.390234 deg, new cmd heading: 98.367501 deg. VEO?"!*%}BR!*!!)-@?ɢU kBU7= Y]R?IY ]w;ɡYiYI]v;IeO?ie "=ie!=)mO?)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759790Ii/!>A3=I A! I1 M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010695II N] >vBa ~Ba Be IBe pBBe 6 =Ba Ba Be p;Be /D: f,qV.b%Ay6A?ٱ6I^?62`66H>¿ 1{@޻@?p{ ?`=?I6A?)6];i4BpBF IIJ=)Jp=iJ4 99GYdA>9Q 1Es4٪= ?Q 5Es4=  =B9IYM]?Q EM?y=d]C)=:I=p:i=cs4YQUp@QڊgCDNOT Ignoring new targets: 65.70 m.ŠʊgC ProNav: ac range: 65.699997 m, nav range: 62.830112 m, bearing: 98.325305 deg, approach rate: -0.661184 m/s, LOS rate: -0.017442 deg/s, cmd heading: 98.367503 deg, new cmd heading: 98.346812 deg. ?z?"*R*`H?ɢkB3?= ?I w;ɡiI:I%z?i%"=i%=)%z?))QIirD%=jD<DDD+DE ; E:6E [4:E"EvAu=A Aԩ I I N >f,%@Hb%A@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516829yξ?ٱI?U ܻҎH~ :?@ {??Iξ?)yC^;iCpBIMb@Mb@Mb@ )Ii/$?~jth? K?9 K?9 GY GA>Q 1s4٪9?Q 5%s4  B9% ,?Q A%:Y%?Q E-?y]C)7 ;I ;iss4Y15@1ڊYgC]DNOT Ignoring new targets: 65.70 m.ŠeʊegCu ProNav: ac range: 65.699997 m, nav range: 62.517311 m, bearing: 98.325269 deg, approach rate: -0.682382 m/s, LOS rate: -0.000079 deg/s, cmd heading: 98.346815 deg, new cmd heading: 98.346705 deg. uE_uj?qqqyyy"y*}BR*↍l?ԡɢkBz= 顽?I ?<ɡiIF:I?i"=i' =)j?)IyiyyyyDDD(DE; E:6Ec44:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766524>A y=rA >jA > A I I N >!f,ebb%Ayf?ٱfF?fgZfmhfH/a:?&Ak?W?If?)f$^;idvpBv&IBD~6D~2Y R=! q= _#AE =A<A<vB ~B B +IB pBB B B %DB `;B DBBBB6 =BBĶ[4AIINa>)Y BEEFA4JEEʲ>4REEʒ0D D D %D E ; E :6E 4:E "E xm!9!9%GY!%#A->)Q 15s4٪-, ?Q 5=s4- 9 -B9AYEq?Q EE?y-4^C)-4;I-5;i-s4YIMĕ@IڊqgCDNOT Ignoring new targets: 65.70 m.Š 7ʊ 7gC ProNav: ac range: 65.699997 m, nav range: 62.017040 m, bearing: 98.325893 deg, approach rate: -0.670857 m/s, LOS rate: 0.001059 deg/s, cmd heading: 98.347300 deg, new cmd heading: 98.348588 deg. :8~?"*R*x@ɢM+kBM= QU?IQ } D(<ɡyiyIQ :I~?i "=i=)~?)iI8i5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524657ԡ>AV =bAZA A I I N >+0f,•b%AEpBE4IDDD&DEs!; E6E4:E!@!@!@!@ԙMb@Mb@Mb@ )IiMbX?9!9%GY%G%A%>)Q 15s4٪-f?Q 55s4-  -B9=*?Q A=:Y=?Q E=?y-^C)-;I-";i->s4YAE@IDeB*** querying acoustic contact ***jara}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774730ڊqgCDNOT Ignoring new targets: 65.70 m.ŠͶ9ʊͶ9gC ProNav: ac range: 65.699997 m, nav range: 61.725925 m, bearing: 98.334569 deg, approach rate: -0.667165 m/s, LOS rate: 0.019977 deg/s, cmd heading: 98.348591 deg, new cmd heading: 98.374742 deg. ][:s?"*D~BR*↭E@ɢU4kBUW= Y]?IY ]TA<<ɡYiYIel'9Ies?im"=imt=)ms?)iIi  0 >A- =- BDAT read: Rx Time:21:35:05.8914 5 TRx dataTimestamp_ set to:1754688906.6730915 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027726vB ~B B DIB qBB B B B N;B DA A I I N >?Zf,b%AyV,`?ٱV|?V@;VRVH$_`{ܼ@?Z E.`{zQ缿 q?IV,`?)V];iVCbqBbAIBDj6DjN3Yrh=!r`=rt9t9vGYtzAz>|Q 1s4٪~?Q 5s4~  ~B9Y \?Q E ?y~^C)~:I~:i~s4Y@ڊ9gC=DNOT Ignoring new targets: 65.70 m.ŠE"9ʊE"9gCU ProNav: ac range: 65.699997 m, nav range: 61.482723 m, bearing: 98.342225 deg, approach rate: -0.667793 m/s, LOS rate: 0.021107 deg/s, cmd heading: 98.374743 deg, new cmd heading: 98.397804 deg. Ug:U?QYYYYa"a*aRa*iiim, @ɢԙ Hf,b%A]DAT read: 21:35:05.8914 LVL= 24912, 32753, 23538, 32755, AGC= 65, IDX= 411,-0.26, 0.573,-1.100, 0.885, 0.398, PHS= 0.278,-1.453, 0.443, RAW= 154.5, 8.1, CAL= 154.1, 8.5, ROT= 355.9, -8.5 yiyYgot valid direction response: 21:35:05.8914 LVL= 24912, 32753, 23538, 32755, AGC= 65, IDX= 411,-0.26, 0.573,-1.100, 0.885, 0.398, PHS= 0.278,-1.453, 0.443, RAW= 154.5, 8.1, CAL= 154.1, 8.5, ROT= 355.9, -8.5 PDAT read: Bearing 263.5, -5.0 (Local) ~Local bearing/azimuth received: Bearing 263.5, -5.0 (Local) iDAT read: Range 11 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.986485,-0.070712,0.147809]Fpublishing direction and range infolnqH?f54%)k?nf|BlInPainn[lnAnV> n)n>y-\V?ٱ- s?-<-u-HPU+?\3x`{޼^?I-\V?)-|];i-CU qB]<IIe=)e=In,@in>n!,@n>n@nIlil)nxWƃ?-\?ϡU?n+?nߵni nIlilT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Iin?I +:v?V.?9T<)AAIi0A1A 1ABD6Df?3YG_!=;Q)>99GY!%A%>)Q 15s4٪-?Q 5Us4-  -B9]u.?Q Ae:Ye?Q Ee?y-_C)-= IM(?IQ UUi<ɡQiQIUI]&?i]<"=i]6<)]&?)aDDD0DEy>; E:6E4:E!@!@!@!@,DAT read: user:1213> BDAT read: Tx time:21:35:07.2545 $Ping request sent. nf,]b%AyZfH?ٱZe?Z"L 15?I9 =v<ɡ9i9I=_IEm?iEx"=iEW<)Em?)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249903A@AAAAvB~BBWIB6qBB7 =BBBM;B DI=8iAAE/AAAIIN>A ) G A) 5AI- - A- AD D D +D E ; E :6E [4:E "E NubK?9bK?9fGYdf8Af>hQ 1ns4٪j?Q 5ns4j  jB9pYr?Q Er?yj_C)j ;Ij. ;ijRs4YtvԖ@tڊgCDNOT Ignoring new targets: 63.10 m.Š9ʊ9gC- ProNav: ac range: 63.099998 m, nav range: 61.657936 m, bearing: 97.339247 deg, approach rate: -0.696516 m/s, LOS rate: 0.014630 deg/s, cmd heading: 98.446392 deg, new cmd heading: 98.462281 deg. 5 :5?111119"9*9RA*AAAMz^?ɢuWkBu%= q?I <ɡiII ?ie"=iFJ<)5?)9I9i0A9AIiIyNZ>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755746i `~f, c%Aɰ4<0y:L?ٱ:2i?:@<:-:H K ]K|? sUh?璿?I:L?):];i: CRqBR9I TVADeDeDe*DaEe; Ee:6Ee(N4:Ea!m@!m@!m@!m@Mb@Mb@Mb@ )Ii/$?/$y&1|?&1?`;)-@AIK%Ai0A1A 1A) BABD6D03Y=!>=;Q)>99GYtU9A>Q 1s4٪?Q 5s4$  B9>1?Q A:Y?Q E?y_C):I:i]s4Ya@DB*** querying acoustic contact ***jrڊgC DNOT Ignoring new targets: 63.10 m.Š  9ʊ  9gC% ProNav: ac range: 63.099998 m, nav range: 61.359985 m, bearing: 97.345249 deg, approach rate: -0.691648 m/s, LOS rate: 0.014002 deg/s, cmd heading: 98.462279 deg, new cmd heading: 98.480375 deg. %:%?!!!!))")*-M~BR1*111=z?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005757ɢmakBm= qu?Iq u<ɡqiyI}sI}?iP"=i;<)?)ԑI i /Թ>AM@o=  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257764A yAI I vB ~B B B B B B B H;B DN >f,Z0c%A\pB/IBD-6D-02Y=!#!=Q==Q)=>E H?9E H?9EGYEGMAM>IQ 1]s4٪M?Q 5]s4M  MB9aYaQ Ee?yM"`C)M ;IM3";iMs4Yim@iڊgCDNOT Ignoring new targets: 63.10 m.Šy9ʊy9gC- ProNav: ac range: 63.099998 m, nav range: 61.089939 m, bearing: 97.350741 deg, approach rate: -0.668074 m/s, LOS rate: 0.013645 deg/s, cmd heading: 98.480372 deg, new cmd heading: 98.496918 deg. -:5S ?111199"A*ARA*AIIU\?ɢkkB= 顝O?I D<ɡiI!IS ?i*:"=iM<)S ?)IAiAAIIrDu=jDu<D}D}D}'DyE}; E}:6E}'4:Ey"E}eAm),f,Jc%Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763944yvn?ٱvw?vyK?9K?9GY;A>Q 1t4٪?Q 5t4  B9Y?Q E?yq`C):I-:it4Yܕ@PEڊgCDNOT Ignoring new targets: 63.10 m.Š9ʊ9gC  ProNav: ac range: 63.099998 m, nav range: 60.779037 m, bearing: 97.356815 deg, approach rate: -0.715355 m/s, LOS rate: 0.014049 deg/s, cmd heading: 98.496922 deg, new cmd heading: 98.515239 deg.  C: ?  "*R*!%@ɢMukBM= QUAE <ԙ Aq Iy I N >ff,dc%Aiy6K?ٱ6?6C<6:_6HP@={}?`p?`f@ټ ?I6K?)6];i6 CBpBF&IMMb@Mb@Mb@I I)IIIiIM333333?~jth~jthM9?MDMD)IIMz$AiM/AM"3A IIBDe6DeF3YmE5!mQ=u0;Q)u>yq9y9GY[h;A>Q 1t4٪?Q 5t4  B99?Q A:Y?Q E?y`C)+;Iu*;iz t4Yj@ڊgCDNOT Ignoring new targets: 63.10 m.ŠvʊvgC ProNav: ac range: 63.099998 m, nav range: 60.513988 m, bearing: 97.355587 deg, approach rate: -0.723557 m/s, LOS rate: -0.003368 deg/s, cmd heading: 98.515240 deg, new cmd heading: 98.511539 deg. ?"*-~BR*­@ɢ-~kB-F= 15?I1 5L <ɡ1i9I=I=?iE6"=iE޽<)E?)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265883Ii@=@=AIAM<vB]>~BYB]PIB],qBB]6 =BYBYB]F;B]Dԩ>A5m<rA5>jA5>Aa Ii Iy bD ZD @AD D D )D E  E :6E FA4:E "E o  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517634f, w~c%Ay6;?ٱ6?6<66H`yΡ?@Mb?`b鼿`X?I6;?)6W];i6 CpB IBD6D3Y"!5= ;Q)>99GYG;A>Q 1 t4٪7ﻜ?Q 5 t4t~  B9 Y =?Q E?y aC);In;iCt4YہB͖@SEڊAgCEDNOT Ignoring new targets: 63.10 m.ŠM(ʊM(gC] ProNav: ac range: 63.099998 m, nav range: 60.186680 m, bearing: 97.353771 deg, approach rate: -0.725579 m/s, LOS rate: -0.004048 deg/s, cmd heading: 98.511538 deg, new cmd heading: 98.506060 deg. ]1]?YYYaaa"a*iRi*iqquI@ɢkB = 顥D?I <ɡiI-I ?i "=i M=) ?)Ii  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774767AY >A X<D D D 'D E I; E k:6E '4:E ! @! @! @! @A I I N >f,Ac%Ay6%ܾ?ٱ6?6<6H6H`dx oC?*¿Fq? Ϟּ!?I6%ܾ?)6];i6 C@B7AiB#I@@IDiF3A FD)DD Ft@HHHHLNAINL)LiL)PIRAR,P PTVAV^iTTiXZA)Z`弝^BDAT read: Rx Time:21:35:09.7394 bTRx dataTimestamp_ set to:1754688910.457172bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026870 dIddjpBj IMb@Mb@Mb@ )IizG?~jt?99GY]5!;A]>iQ 1ut4٪m껜?Q 5ut4mu  mzB9u7?Q Au:Yu?Q Eu?ymeaC)mv:Im:im.t4Y@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 63.10 m.Š<ʊ<gC ProNav: ac range: 63.099998 m, nav range: 59.827435 m, bearing: 97.345022 deg, approach rate: -0.670152 m/s, LOS rate: -0.016418 deg/s, cmd heading: 98.506061 deg, new cmd heading: 98.479657 deg. H4s?  " * }BRQ*QQY]` @ɢkBS= 顥?I !<ɡiID(BIs?i!=i$=)s?)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278076vB~BB>IB qBBBBB?;BDBiBiBiBiBm6 =Bm4Ii+5@A@A >A 9=Q BEJEI4RE0DDD)DE; E:6EFA4:E"Exmv?>;^ϳG ?NfrBLINaiLNjLLN|> N1)Nu>IN,@iN>N,@N)>Nu@N)ILiLpBIiIABD-6D-4d3)N[?e?xϻ?N?NQNi٠ N)ILiLUT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.Yu(V!u-=uJ;Q)}>y9y9}GYy;A>Q 1t4٪滜?Q 5t4fm  qB9Y?Q E?yaC);;I;iQ=t4Y@QEzLNvc%ANfrBʋN4?2NmM@K,S$@"N>v?>;^ϳG ?Ni٠‹N):NnRFY* M@2þ-!@*NƼȴtх?i6 ?N+oBNrNbH?N+F NgBNRɹ? N)YR NBNnBN?gC addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 3.782804 s, deltaX: -2.500000 m, approachRate: -0.660885 m/s, rangeRepo size: 4 gC Added new target pos. range: 60.599998 m, bearing: 96.182184 deg, lat: 36.906020 deg, lon: -122.115840 deg, deltaT: 3.782804 s, deltaX: -2.500000 m, approachRate: -0.660885 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 60.60 m.ŠmʊigC} ProNav: ac range: 60.599998 m, nav range: 59.684883 m, bearing: 96.182184 deg, approach rate: -141133056.000000 m/s, LOS rate: -0.016418 deg/s, cmd heading: 98.479655 deg, new cmd heading: 98.459168 deg. y}?yyyy"*R*LN@ ?)ɢkB*= %?I ]<ɡYiYI]SIe?ie!=ie5 =)e?)iI8i`5Ie,DAT read: user:1214> uBDAT read: Tx time:21:35:11.0029 }$Ping request sent.A  =A% yAI1 IA NM >f, c%A,yF2$?ٱF@?F+ =FFH¿u?¿&$?łļK?IF2$?)F9];iDpBIDDDDE1; EB:6E:E!@!@!@!@Mb@Mb@Mb@ )Ii"~?{Gz?y&13?#=`)AAIO%AiE.A f2ABD6D2YB{!5=8;Q)> H?9 H?9GYG%;A>Q 1 t4٪Ờ?Q 5 t45e  dB9f4?Q A:Y?Q E?ybC)t.;I-;iMt4Yu@!ڊchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245671gCDNOT Ignoring new targets: 60.60 m.Š7ʊ7gC ProNav: ac range: 60.599998 m, nav range: 59.369282 m, bearing: 96.155821 deg, approach rate: -0.735081 m/s, LOS rate: -0.061731 deg/s, cmd heading: 98.459171 deg, new cmd heading: 98.379660 deg. v)C?  " * }BR*ྎ?ɢ]kBeڨ=ԁ !%I?I! %j<ɡ!i)I-qcI=C?i=4!=i=9=)=C?)Iu9iqquk4qԱ u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499479A A vB ~B B IB pBB 7 =B B B 9;B D>A Nw =A AI I N >Kf,c%Ay6=?ٱ6BZ?6=6T6Hf7¿t`K$?%¿@%O?K-?I6=?)6.];i6 CRMpBRIBDb6DbJ2YnY!nO=rܳ;Q)r>rK?9vK?9vGYtzv;Az>|Q 1 t4٪~ ݻ?Q 5t4~^  ~XB9Y?Q E?y~IbC)~N;I~U;i~Zt4Y!%L@)ڊigCuDNOT Ignoring new targets: 60.60 m.Š}ʊ}gC ProNav: ac range: 60.599998 m, nav range: 59.092377 m, bearing: 96.132238 deg, approach rate: -0.713368 m/s, LOS rate: -0.061039 deg/s, cmd heading: 98.379661 deg, new cmd heading: 98.308582 deg. '?"*R*↽ ?ɢkBZ= ?I m<ɡiIqI?i !=i=)?!))ADDD'DE; E:6E'4:E"E]_A} -=ԁ Iq I N >k,f,O d%Ai6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0015574yBU?ٱB:r?B?=B$BHN¿t?1¿ &?`Q?IBU?)B];iB CZZpBZIib;Ib4<BDf6Df2Yn`<!nK=u;Q)u>99GY :A>Q 1t4٪ ػ?Q 5]t4%V  KB9aYe ?Q Em?ybC)qA =Iy I N >y f,'d%Ay6_m?ٱ6?69$=66H`f¿`isTG?¿?Յ g?I6_m?<)6`];i6 CFKpBFIUMb@Mb@Mb@Q Q)QIQiQU> ףp=?Zd;O?Q롿U1?Uj<=U\)U-@AIUz$AiUA.AU4A QU1ABDm6Dm 83Y} !}<=ؒ;Q)>99GYG:A>Q 1t4٪Iӻ?Q 5t4N  =B92?Q A:YA?Q E?ybC):I:ixt4Y܁Bk@OEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 60.60 m.Š診ʊ診gC ProNav: ac range: 60.599998 m, nav range: 58.512333 m, bearing: 96.079265 deg, approach rate: -0.762712 m/s, LOS rate: -0.073835 deg/s, cmd heading: 98.229144 deg, new cmd heading: 98.148872 deg. JED?"*}BR*   Σ?ɢ5kB=d= 9=|?I9 =<ɡAiAIEYDIEED?iM!=iM*=)MED?)QvB1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510436~B1B5IB5pBB1B1B1B58;B5DԩI8i5iaImC)݈G>A$= A)AIEڣMAM}AIiIN>D D D )D E (; E :6E FA4:E "E }p9p9rGYtv09Av>xQ 1~t4٪zλ?Q 5~t4zH  z0B9YG?Q E?yz"cC)zl:Iz:iz{t4Y ݁B @ REڊ9gC=DNOT Ignoring new targets: 60.60 m.ŠEʊEgCU ProNav: ac range: 60.599998 m, nav range: 58.247284 m, bearing: 96.053448 deg, approach rate: -0.690593 m/s, LOS rate: -0.067573 deg/s, cmd heading: 98.148869 deg, new cmd heading: 98.071065 deg. U9U?QYYYYY"a*aRa*aaim@@ɢkBF9= 3?I ,<ɡiI%ꍻI%?i%!=i-y.=)-?)I]>]>Ii 5 ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0137439>AE.=IIN>Y f,^d[d%Aɰy:Cr?ٱ:?:G4=:J:H` j¿@r@?¿`?`*`dS@?DFDFDF*DDEF; EF:6EF(N4:ED!J@!J@!J@!J@I:Cr?):١];i8R&pBRI5Mb@Mb@Mb@91 1)1I1i15Dl?Q?L7A`堿5O-?5u=5+)5\?AI1i5p-A1 15p1ABDU6DU 3YehN!eC=m0;Q)m>i9i9mGYiuX|8Au>yQ 1t4٪}Rɻ?Q 5t4}@  }!B92.?Q A:Y'?Q E?y}kcC)}:I}f:i}*t4Y@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265739ڊgCDNOT Ignoring new targets: 60.60 m.Š ʊ gC ProNav: ac range: 60.599998 m, nav range: 57.965000 m, bearing: 96.019340 deg, approach rate: -0.670108 m/s, LOS rate: -0.081362 deg/s, cmd heading: 98.071066 deg, new cmd heading: 97.968245 deg. Y_?"*O}BR*@ɢMkBmV= qu?Iq u(<ɡqiqIuuI}?i}(!=i4=)?)iIi   _5 ԑA- <A- <vB1 ~B1 B5 IB5 VpBB5 6 =B1 B1 B5 0;B5 D>AM .=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517604I I N > f,gGud%AyJb?ٱJa?J1==JJH`5Z¿ssѽ ?g¿.?  ee ?IJb?)J$];iH^pB^IBDn#6DnӀ3Yz !zR=5;Q)=>9999=GY=GEVAE>IQ 1Ut4٪M7Ļ?Q 5Ut4M9  MB9QYU?Q E]?yMcC)M;IM/;iMt4Yae@aڊgCDNOT Ignoring new targets: 60.60 m.Š]ʊ]ԑgC ProNav: ac range: 60.599998 m, nav range: 57.697681 m, bearing: 95.986858 deg, approach rate: -0.674519 m/s, LOS rate: -0.082341 deg/s, cmd heading: 97.968245 deg, new cmd heading: 97.870347 deg.  b?"*R*n@ɢkB= ?I K<ɡiI4I?i!=iɉ8=)?)Ie9iaamq4ibDZD?ADDD+DE; Ek:6E [4:E"EeAuG5=IIN> #f,d%ABDAT read: Rx Time:21:35:13.4844 TRx dataTimestamp_ set to:1754688914.241144checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022760ymH?ٱme?m(+F=m}mHQ@¿sr`Y6@?Y¿$?¨?ImH?)m];imCpBIBD]6D]f?3Y!1=;Q)>99GY޺A>Q 1%t4٪K?Q 5-t41  B9)Y-?Q E-?ydC);Iv;iFt4Yaec@aڊgCDNOT Ignoring new targets: 60.60 m.Š ʊ gC ProNav: ac range: 60.599998 m, nav range: 57.386322 m, bearing: 95.948906 deg, approach rate: -0.649297 m/s, LOS rate: -0.079575 deg/s, cmd heading: 97.870348 deg, new cmd heading: 97.755872 deg. rZc?"!*!R!*!IIM T @ɢlB= 顝߁?I "=ɡiIDIIc?iO"=iR<=)c?) !IYiYY]1a@m=@m=DDDDE; Ey:6E:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273544Q>A п8=ԁ A I I) N= >d9*f,"d%AyB]2?ٱB O?BQN=BUxBH)¿`r 鄾?&¿@8?B ?IB]2?)B];iB CN pBNIIR=)R=-Mb@Mb@Mb@) )))I)i)-oʡ?#~j?~jt--?-=-ļ)-AAI-O%Ai-+A-;7A )-f2ABDE6DE{U3YUYH!UR=U;Q)]>Y9Y9]GYYeAe>iqQ 1}t4٪uȸ?Q 5}t4uL+  uB9}f.?Q A}:Y}?Q E}?yuBdC)u:Iu:iut4YށB@QEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 60.60 m.ŠAʊAvB>~BBIBpBBBBB-;BDDAT read: 21:35:13.4844 LVL= 22336, 23857, 21826, 30515, AGC= 66, IDX= 405,-0.30,-1.395,-3.014,-0.987,-1.468, PHS= 0.175,-1.501, 0.437, RAW= 157.2, 9.8, CAL= 157.0, 10.6, ROT= 353.0, -10.6 Ygot valid direction response: 21:35:13.4844 LVL= 22336, 23857, 21826, 30515, AGC= 66, IDX= 405,-0.30,-1.395,-3.014,-0.987,-1.468, PHS= 0.175,-1.501, 0.437, RAW= 157.2, 9.8, CAL= 157.0, 10.6, ROT= 353.0, -10.6 PDAT read: Bearing 265.7, -10.7 (Local) ~Local bearing/azimuth received: Bearing 265.7, -10.7 (Local) DAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.975609,-0.119790,0.183951]Fpublishing direction and range infoIM/8?ɓي =η?MhBIIM@WiM1]MBUM3wMBM333> M )Mw>IM/@iM%/>M^/@Mq=>M'@Mq=IIiI)MQ !?Y ?tI8?M&?M/M5 Mq=IIiIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.gCe ProNav: ac range: 60.599998 m, nav range: 57.132431 m, bearing: 95.909466 deg, approach rate: -0.698303 m/s, LOS rate: -0.108957 deg/s, cmd heading: 97.755874 deg, new cmd heading: 97.637029 deg. ee?iiiiii"q*up}BRq*qy}M@↥@?ɢ lB*= s?I pr=ɡiIǥI?iQ"=iWA=)?)!ԙIi1rDjD<DDD&DE; EB:6E4:E"Ed  BDAT read: Tx time:21:35:14.7529  $Ping request sent. A5 == I1 IA NM >M1f,d%Ay6 ?ٱ6c*?62W=66H ¿`r&ɾ?`>¿6?@*㪿 ~'`S?I6 ?)6];i6C^pB^IBDj6Dj 83Yr<!rR=rԼ;Q)r>t9t9vGYvGv<Az>|Q 1t4٪~*?Q 5t4~$  ~B9Y?Q E?y~dC)~:I~:i~t4Y ;@znd%AhBʋv?2Au K@=D D D 'D E x; E :6E '4:E ! @! @! @! @% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501970Iy I N >7f,\Wd%Ayf?ٱf?f`_=lfffH `Ms@辿@?¿*F?@w諿`B77?If?)fհ];ifCEoBEIMb@Mb@Mb@ )IiK7A`?kt?y&1|+? =`)AAI~$Ait-A 2ABD6DN3Y!)=&;Q)>99GY #A >Q 1t4٪?Q 5t4  ِB9m,?Q A:Y0?Q E?ydC)v:I/:it4Y߁B,@TEڊgCDNOT Ignoring new targets: 58.00 m.ҊgCPowering the camera and arming the capture device at range: 58.00 m.ŠwʊwgC ProNav: ac range: 58.000000 m, nav range: 56.730465 m, bearing: 94.265796 deg, approach rate: -0.687349 m/s, LOS rate: -0.135045 deg/s, cmd heading: 97.503792 deg, new cmd heading: 97.309878 deg. \qd?"*T}BR* ?ɢ-%lB-%= -Q5m?I1 5, =ɡ1i1I5ǯI=qd?i=c="=i=L=)=qd?)AQQI/7io1@ A@ AAAvB~BBIBoBBBBB;BDBYBYBYBYBYB]4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7521221>ASE=II IY Nm >Y n>f, #d%Ay6$?ٱ6?6vf=66H/t@P?Lj¿9?ʬ: c?I6$?)6,_;i6C^7pBbIi`IbA ddBDj6Djk1YrT>!r_=v^;Q)v>t9t9vGYtztAz>BEJE:4RE0DEDEDE)DAEE; EE:6EEFA4:EA"EEpA JM=I I N > ) ) - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256443 Ef,A.e%Aԡ#pBIMb@Mb@Mb@ )IiDl?ʡE?~jth?O-?=D;)lCAI&Aip-A8A 4ABD6DYT+!0=Q)>99GYGA>Q 1t4٪؟?Q 5t4  ŐB9n.?Q A:YT?Q E?yieC):I:it4YB@REڊgCDNOT Ignoring new targets: 58.00 m.ҊgC Powering the camera and arming the capture device at range: 58.00 m. Š ʊ gC% ProNav: ac range: 58.000000 m, nav range: 56.187489 m, bearing: 94.162926 deg, approach rate: -0.684438 m/s, LOS rate: -0.126587 deg/s, cmd heading: 97.163266 deg, new cmd heading: 96.999777 deg. %%?!!!!!))")*-}BR1*119=`}?ɢe?lBef= ae*y?Ii m=ɡiiiImGﹻIu?iuq"=iuZ=)}?)yDADEDE&DAEA EE:6EE4:EA!U@!U@!U@!U@I]2i.4}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509199>A5 XR=I I N >) r+Kf,b.e%AvB$~B$B&|IB&oBB$B$B$B&;B&Dzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761932-HpB-IBD=6D={U3YM1=!Me=IQ)M>Q9Q9UGYQA>Q 1u4٪?Q 5u4  B9YQ E?yeC);I;iu4Y@DB*** querying acoustic contact ***jrڊ gCDNOT Ignoring new targets: 58.00 m.ҊgCPowering the camera and arming the capture device at range: 58.00 m.Š%ʊ%gC= ProNav: ac range: 58.000000 m, nav range: 55.940163 m, bearing: 94.116973 deg, approach rate: -0.668109 m/s, LOS rate: -0.124683 deg/s, cmd heading: 96.999778 deg, new cmd heading: 96.861310 deg. =#=c?99999AA"A*ARI*IIIUԀ@ɢ}KlB}= y}b?I a=ɡiI Ic?iM"=i|b=)c?)A??DeDeDe)DaEeg5; Eer:6EeFA4:Ea"EeuA KY=AIIN>]bSf,1Ne%Ay:?ٱ:1?:.9=:1:H w%?W?`Fd \?I:?):_;i:CDDJ>J\9\9^GY\^.A^>`Q 1fu4٪b+?Q 5ju4b  bB9hYj?Q Ej?ybeC)bw;Ib;ibu4YllpڊgC DNOT Ignoring new targets: 58.00 m.Ҋ Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264108gCPowering the camera and arming the capture device at range: 58.00 m.Š ʊ gC ProNav: ac range: 58.000000 m, nav range: 55.634880 m, bearing: 94.061290 deg, approach rate: -0.669957 m/s, LOS rate: -0.122870 deg/s, cmd heading: 96.861310 deg, new cmd heading: 96.693345 deg. ?"*R*↽`D@ɢ]ZlB]p = Y]r{?IY e߃=ɡaiIû I?i"=i Y=)?))DDD*DEa; E:6E(N4:E!@!@!@!@% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664a I +i / ԉ >A Jc=ԱAA<vB>~BBBB7 =BB$DB ;BDAII)N=?J~[f,4pe%Ay6?ٱ6$?>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7683206A=6)6HJw`ÿ ?;@%?PͰ`?I6?)62_;i6CKpBIMb@Mb@Mb@ )Ii/$?Dl?y&1?&1?O=`e<)=DAI&Ai/A9A 4ABD#6DӀ3Y%<;!%<%5;Q)->19195GY5G57A=>9Q 1Eu4٪=H?Q 5Mu4=]  =B9U2?Q AU:YU?Q EU?y=_fC)=pN;I=-N;i=0,u4YeBe@eUEԩڊgCDNOT Ignoring new targets: 58.00 m.ҊgCPowering the camera and arming the capture device at range: 58.00 m.Š"ʊ"gC ProNav: ac range: 58.000000 m, nav range: 55.237755 m, bearing: 93.993219 deg, approach rate: -0.679260 m/s, LOS rate: -0.117270 deg/s, cmd heading: 96.693342 deg, new cmd heading: 96.487660 deg. 5?"*U~BR*  @ɢUmlBUg= Y]w?IY ]=ɡYi)GI_ǻ %MA)9IM5?ImÿmMAmAie"=i}@f=)}5?) I)bDZDDDD%DEI; E:6E 4:E"EVjA &V=bA AZA AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272132AIINJdf,Te%Aɰ;y:?ٱ:y ?:ԉ=::H@`sx jȿ?@<?@,7N?I:?):_;i8b\pBbIBDj6DjJ2Yr==!r'=vY;Q)v>t9t9zGYx~ݺA~>Q 1%u4٪?Q 5-u4  B91Y5?Q E5?yfC)8;It;i==u4Y=B=F@=SEڊagCeDNOT Ignoring new targets: 58.00 m.ҊigCmPowering the camera and arming the capture device at range: 58.00 m.iŠuʊugC ProNav: ac range: 58.000000 m, nav range: 54.903549 m, bearing: 93.935451 deg, approach rate: -0.686360 m/s, LOS rate: -0.119359 deg/s, cmd heading: 96.487658 deg, new cmd heading: 96.313301 deg. ԣ~*?QYq"*R* S @ɢ5lB5 = 15v?I1 =`!=ɡ9i9I=<̻Ie~*?ie #=iegm=)e~*?)iԙI%i22DEDEDADAEEa; EE:6EA:EA!M@!M@!M@!M@DAT read: 21:35:17.2310 LVL= 19792, 32401, 21234, 29795, AGC= 62, IDX= 402,-0.15,-2.975, 1.721,-2.548,-3.063, PHS= 0.190,-1.454, 0.471, RAW= 157.8, 8.8, CAL= 157.5, 9.3, ROT= 352.5, -9.3 Ygot valid direction response: 21:35:17.2310 LVL= 19792, 32401, 21234, 29795, AGC= 62, IDX= 402,-0.15,-2.975, 1.721,-2.548,-3.063, PHS= 0.190,-1.454, 0.471, RAW= 157.8, 8.8, CAL= 157.5, 9.3, ROT= 352.5, -9.3 PDAT read: Bearing 264.2, -11.9 (Local) ~Local bearing/azimuth received: Bearing 264.2, -11.9 (Local) DAT read: Range 11 to 50 : 55.5 m (Round-trip 74.0 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.978413,-0.128811,0.161604]Fpublishing direction and range infoim_q(O?ͣA|o?m^BiImPMim~mRmctm>m\B> m)m&>ImC0@imnF>m/@m6&>m@m6&Iiii)me?U]?r7Z?m(?m#m  m6&IiiiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A= Qf= Ai Iq I N >jf,~e%AopBIvB~BBIBoBB6 =BBB;BDMb@Mb@Mb@ )Ii5^I ?I +?y&1?8?94=)FAIi99 GY GA%>!Q 1-u4٪%Z?Q 5-u4%K  %B95q8?Q A5:Y5?Q E5?y% gC)%:I%:i%Mu4Y9E@AzQUqe%AU^BʋU?2U:h&K@ؽy\"!@"U_q(O?ͣA|o?U ‹U6&:UU6xɳK@| pC@*U#Vmf{ZK?<?U\BUUG?U67 UYBU/T? U+F ,DAT read: user:1216> BDAT read: Tx time:21:35:18.5529 $Ping request sent.A i== checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251912 A= yAII IY Ne >Kqf,^e%Ay6ս?ٱ6/?6%=6Q6Hm v@3 H?@rO? 6E?I6ս?)6Z^;i6CJgpBJIBDR6DR3Yz!zZ=~;Q)~>~ H?9~ H?9~GY=A> Q 1u4٪ |?Q 5u4 i Q 9tI B9Y?Q E?y MgC)  ;I :i Yu4Y!%@!DEB*** querying acoustic contact ***jArAڊQgCUDNOT Ignoring new targets: 55.50 m.ҊQgC]Powering the camera and arming the capture device at range: 55.50 m.YŠ]'ʊ]'gCm ProNav: ac range: 55.500000 m, nav range: 54.440643 m, bearing: 93.689472 deg, approach rate: -0.727855 m/s, LOS rate: -0.100607 deg/s, cmd heading: 96.150287 deg, new cmd heading: 96.040803 deg. uu?qqqqqyy"y*yR*ↅ?ɢlB9= 页s?I 1'=ɡiIugԻI?ie#=iz=)?)Im!iqqqq}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502666>A| u=1 A AI I N >awf,?e%AK?9K?9GYQ]fw:A]>aQ 1mu4٪ew?Q 5mu4e  eB9m7?Q Am:Ym?Q Em?yegC)e:IeZ:ieiu4Yy}O@yڊgCDNOT Ignoring new targets: 55.50 m.ҊgCPowering the camera and arming the capture device at range: 55.50 m.ŠʊgC ProNav: ac range: 55.500000 m, nav range: 54.122623 m, bearing: 93.658371 deg, approach rate: -0.714048 m/s, LOS rate: -0.070241 deg/s, cmd heading: 96.040806 deg, new cmd heading: 95.946955 deg. @X?11111"9*=~BR9*9AAE_?QɢlB= 顕fd?I *=ɡiI$ ػIX?i#=i=)X?)Ii0ԁAA@AvB>~BBIBoBB7 =BBB5;BDchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006594ԩ >A Pz=A I I N% >}f,e%A@zCpBzIiIBD  6D :2Y2<!T=Q)%>!9!9%GY!-A->1Q 1=u4٪5_t?Q 5=u45K  5yB99Y9Q EE?y5gC)5 ;I5 ;i5Ivu4YMBM@MREڊqgCuDNOT Ignoring new targets: 55.50 m.ҊqgC}Powering the camera and arming the capture device at range: 55.50 m.yŠʊgC ProNav: ac range: 55.500000 m, nav range: 53.862198 m, bearing: 93.632628 deg, approach rate: -0.713247 m/s, LOS rate: -0.070844 deg/s, cmd heading: 95.946953 deg, new cmd heading: 95.869351 deg. zB,?"*R*`?ɢlBF= _c?I $-=ɡiIۻI ,?i .#=i A=) ,?)DuDuDqDqEu; Eu:6Eq:Eq"EuxmAPڀ=A I I  N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749„f,f%Ay6?ٱ6@?6;=6h6H Ms M~?D?``aо?I6?)6-];i6CBApBBIBDJ 6DJ2YVɵ!VR=V;Q)Z>X9X9ZGYZG^:A^>`Q 1fu4٪bp?Q 5fu4b  bqB9dYf)?Q Ej?yb*hC)b:Ib:ibu4Ylln(@pڊ)gC5DNOT Ignoring new targets: 55.50 m.Ҋ1gC5Powering the camera and arming the capture device at range: 55.50 m.1ŠaʊagC ProNav: ac range: 55.500000 m, nav range: 53.584179 m, bearing: 93.604714 deg, approach rate: -0.703329 m/s, LOS rate: -0.070982 deg/s, cmd heading: 95.869348 deg, new cmd heading: 95.785173 deg. =B=s?AAIIQyy"*R*↭΅?ɢlB== ^?I I~0=ɡi I3߻I-s?i5$=i5=)5s?)1IiDDD(DE; E:6Ec44:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7626651>A xr=a A I I N >rf,V-f%Aɰy6?ٱ6W?6N+=6t6Hs@sH? ? !!?I6?)6z];i6CB9pBBI9vBI~BIBMIBMoBBIBIBIBM9;BMDBBBB7 =B7 =Bd4Mb@Mb@Mb@ )Iil?Mb)IAIi>A (8ABD6Df?3Yt!9=:Q)>99GY9A>Q 1u4٪vm?Q 5u4Ⱦ  fB97?Q A:Y?Q E?yzhC)Z:I :iRu4YBz@UEڊ!gC%DNOT Ignoring new targets: 55.50 m.Ҋ!gC-Powering the camera and arming the capture device at range: 55.50 m.)Š5,Sʊ5,SgCE ProNav: ac range: 55.500000 m, nav range: 53.269409 m, bearing: 93.584731 deg, approach rate: -0.722736 m/s, LOS rate: -0.046155 deg/s, cmd heading: 95.785173 deg, new cmd heading: 95.724867 deg. EhE?AAIIIII]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884"Y*eBRa*aaamw)@ɢlB L= Y?I 2=ɡiIQI%?i%;$=i%=)%?))iIPiԑ>Ab$=BEaJEeȲ>4REe0D D D )D E ; E خ:6E FA4:E "E ! E ! *E Ցf,Gf%Ay6*?ٱ6,?6X=6bv6H@qt?¿Qu?@8'W羿Q?I6*?)6^;i6CBpBBI)H HBDJ6DJ 83YV.!V^=Zx9Q)Z>X9X9ZGYX^;A^>`Q 1fu4٪bj?Q 5fu4b  b]B9dYj?Q Ej?ybhC)b>:Ib:ib)u4Ylno@lD~B*** querying acoustic contact ***j|r|ڊgC DNOT Ignoring new targets: 55.50 m.Ҋ gC Powering the camera and arming the capture device at range: 55.50 m.gClFinal approach. Armed for intercept at range: 55.50 m.gC\Transitioning guidance mode to: FINAL_APPROACH@ŠUʊUgC- ProNav: ac range: 55.500000 m, nav range: 53.007092 m, bearing: 93.567691 deg, approach rate: -0.713421 m/s, LOS rate: -0.046572 deg/s, cmd heading: 95.724869 deg, new cmd heading: 95.673497 deg. --?))))11"1*1R9*9AIU@Աɢ lBJ;= QU_N?IQ ]u5=ɡYiYI]5Ie?ier$=iez=)e?)iIOi/mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518739>Aff=AA II IY Nm >A yf,af%ADDD&DE; E:6E4:E!@!@!@!@yV?ٱV/2?Vl=V/VH p\`?¿ɨ? I`M?IV?)V_;iVCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770810joBjIMb@Mb@Mb@ )IiX9v?Zd;OI +3?j94)QHAI+Ai0A-@A 9ABD6DP)3Y!;=:Q)>99GYG9A>Q 1u4٪3h?Q 5u4  PB93?Q A:Y?Q E?y iC)/:I:iju4YEBEɞ@ESEڊgCDNOT Ignoring new targets: 55.50 m.ҊŠ5ʊ5gCE ProNav: ac range: 55.500000 m, nav range: 52.701687 m, bearing: 93.555382 deg, approach rate: -0.662164 m/s, LOS rate: -0.026843 deg/s, cmd heading: 95.673499 deg, new cmd heading: 95.636357 deg. E`gCMHeadingCmd: 1.669169 target range: 55.500000 and range: 55.50 m.MW?IIIIiq"q*uBRy*yyy} r@ɢlB;= ??I \8=ɡiI\IW?i$=iᮌ=)W?) IIIi!3A9A9vBA~BABEIBEoBBE6 =BABABE?;BEDuBDAT read: Rx Time:21:35:21.0275 }TRx dataTimestamp_ set to:1754688921.801057}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023819ԁ>Am @=rAm >jAm >ԙ A I I N >9lf,N~|f%AyZ?ٱZ|9|9~GY|~R:A~>Q 1 u4٪e?Q 5 u4  DB9Y?Q E?ySiC)@;I;iJu4Y@!ڊygCDNOT Ignoring new targets: 55.50 m.ҊŠ ʊ gC ProNav: ac range: 55.500000 m, nav range: 52.424030 m, bearing: 93.543978 deg, approach rate: -0.733648 m/s, LOS rate: -0.030291 deg/s, cmd heading: 95.636357 deg, new cmd heading: 95.601965 deg. NgC]HeadingCmd: 1.668569 target range: 55.500000 and range: 55.50 m.]?YYaaaaDDD*DE; E:6E(N4:E"EsA T= E DAT read: 21:35:21.0275 LVL= 24784, 29969, 23842, 31907, AGC= 64, IDX= 397,-0.22, 1.470,-0.096, 1.983, 1.461, PHS= 0.111,-1.512, 0.478, RAW= 160.0, 10.1, CAL= 159.9, 10.9, ROT= 350.1, -10.9 M Ygot valid direction response: 21:35:21.0275 LVL= 24784, 29969, 23842, 31907, AGC= 64, IDX= 397,-0.22, 1.470,-0.096, 1.983, 1.461, PHS= 0.111,-1.512, 0.478, RAW= 160.0, 10.1, CAL= 159.9, 10.9, ROT= 350.1, -10.9 U PDAT read: Bearing 265.0, -15.1 (Local) ] ~Local bearing/azimuth received: Bearing 265.0, -15.1 (Local) e DAT read: Range 11 to 50 : 52.8 m (Round-trip 70.4 ms) speed 0.4 m/s m R#Rx 1: Read range and direction messages.q } ^direction in FSK: [0.967337,-0.168827,0.189095]} Fpublishing direction and range info l?!ſoG4? 3SB I `i u "] | @ S= 7) j>I ¸2@i J4> )2@ B> a@ BI i ) 5K`$?g=?jgk? 2? J4 40 BI i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A yAI I N >Pf,|Hf%AYy?ٱ3?S=H7 Hm`*?M¿ ?`@3ܿs?I?)];iCoBkID-D-D)D)E-; E-y:6E):E)!5@!5@!5@!5@UMb@Mb@Mb@Q Q)QIQiQԁUS?{GzQU/?UףU)UJAIU1*AiU1AU@A QU9Ai4 H?9 H?9GYGkA>Q 1u4٪b?Q 5 u4  -B9 X/?Q A :Y ?Q E ?yiC):If:iu4Y@e,DAT read: user:1217> mBDAT read: Tx time:21:35:22.3030 m$Ping request sent.m?;V%&w%J@S@*5X&?2ȆJ??6?5+QB5a?5?5< 5hB5£+纜? 5= 5وB5QB5?gC addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 3.780558 s, deltaX: -2.700001 m, approachRate: -0.714180 m/s, rangeRepo size: 4 gC Added new target pos. range: 52.799999 m, bearing: 91.606389 deg, lat: 36.906050 deg, lon: -122.115831 deg, deltaT: 3.780558 s, deltaX: -2.700001 m, approachRate: -0.714180 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 52.80 m.ҊŠʊgC  ProNav: ac range: 52.799999 m, nav range: 52.267990 m, bearing: 91.606389 deg, approach rate: 0.000000 m/s, LOS rate: -0.030291 deg/s, cmd heading: 95.601967 deg, new cmd heading: 95.549747 deg.  gCUHeadingCmd: 1.667658 target range: 52.799999 and range: 52.80 m.Uu?QYYYYY"a*e~BRa*aam`ffJ@mJ?ɢmBW׮= I(?I ==ɡiIIu?iI%=iu=)u?)ԩI Oi }0 @ A@ vB ~B B cIB oBB 7 =B B B 7;B D>A Ď=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250959 AI Ii)I)N] ?Ɂf,f%A)5G ),IB@FMBy?ٱ5.?8=bHl8 7?¿m?欲[ ?I?) ];i-roB-AIBDE6DE2YM0!UQ=UY:Q)U>Y9Y9]GYY]0Ae>aQ 1uu4٪ev`?Q 5uu4e  eB9qYu?Q Eu?yeiC)e{;Ie;ieu4Yy@ڊgCDNOT Ignoring new targets: 52.80 m.ҊŠ~ʊ~gC ProNav: ac range: 52.799999 m, nav range: 52.005512 m, bearing: 91.585828 deg, approach rate: -0.706764 m/s, LOS rate: -0.055644 deg/s, cmd heading: 95.549750 deg, new cmd heading: 95.487754 deg. gCHeadingCmd: 1.666576 target range: 52.799999 and range: 52.80 m.ZR?"*R* x?ɢ#mB η= ?I R?=ɡiI #I%ZR?i%@%=i%"8=)%ZR?)!IPiO5D)D-D-)D)E) E-:6E-FA4:E)"E-dAx=)I I N >Q ef,nf%Ay>0?ٱ>?>v=>y>HlEk)a@?h ¿E5? >?I>0?)><\;i>Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548101u(oBuIiyIy yyBD6DN2Y'!8=':Q)>99GYCA>Q 1u4٪]?Q 5u4   B9Y?Q E?yGjC):IW:iEu4Y@REDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 52.80 m.ҊŠ%Euʊ-EugCe ProNav: ac range: 52.799999 m, nav range: 51.700630 m, bearing: 91.561879 deg, approach rate: -0.678453 m/s, LOS rate: -0.053608 deg/s, cmd heading: 95.487752 deg, new cmd heading: 95.415481 deg. e)gCHeadingCmd: 1.665314 target range: 52.799999 and range: 52.80 m.)?)199"i*qRy*y↽1?aɢm7mBuU= quR>Iq uXA=ɡqiyI}I})?i%=i p=))?)DEDEDE(DAEE; EE˭:6EEc44:EA!M@!M@!M@!M@I]NiYY]0Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010402ԙ>A= =Թ I I) N5 >f,}%f%Ay6?ٱ6?6O=6&6H@l`Jm ?n?. a?ŲN?I6?)6\;i4<>Ai>нI<@I@iB A B@)@D Ft@DDDHJAIJ})HiH)LINAN`L PPR$ARHiPPiTV A)V# TITT^.oB^IAqAqvBy~ByB}7IB}coBByByByB}&;B}DԱ%Mb@Mb@Mb@! !)!I!i!%E? rhV-%&?%C%)%bLAI%+Ai!! !%f:A)9 =@ABDE6DE:3YUi<!UA=UGh9Q)U>Y9Y9]GY]G])Ae>aQ 1u4٪e[?Q 5u4e{  eB9&?Q A:Y?Q E?yejC)e$I >B=ɡiIkI%?i%&=i%"=)%?))IOi Dm Dm Dm *Di Em s!; Em a:6Em (N4:Ei "Em qxA &=I I1 1 NE >f,5g%Ay6?ٱ6?6=66H׵'o -o?S?@ܲ @?I6?)69\;i6CnBIBD-6D-4d3Y=\E!=^=Ev:Q)E>A9A9EGYIMHAM>QQ 1v4٪UY?Q 5v4U>  UB9Y?Q E?yUjC)UiDII UC=ɡQiQIUI]W?i]L&=i]=)]W?)aI i   4 Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762663>AM=qIIN>ԙ f,!g%ADDDDE; E*:6E:E!@!@!@!@yVk?ٱV?V=VVHq}?@?@@ȿ?IVk?)V\;iVCechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014661enBeIIu=)u=%Mb@Mb@Mb@! !)!I!i!%y&1?Mbp?Mb%`%?%;%)%IAI!i!! !%9ABD=6D=!3YM:!M:=UV:Q)U>Q9Y9]GYY]8A]>aQ 1mv4٪eV?Q 5mv4ez  e܏Bq9u%?Q A}:Y}?Q E}?yekC)e3;Ie2;iev4Y7@ڊgCDNOT Ignoring new targets: 52.80 m.ҊŠiʊigC ProNav: ac range: 52.799999 m, nav range: 50.911957 m, bearing: 91.487550 deg, approach rate: -0.652486 m/s, LOS rate: -0.076679 deg/s, cmd heading: 95.290148 deg, new cmd heading: 95.191330 deg. RgCHeadingCmd: 1.661402 target range: 52.799999 and range: 52.80 m.Ө?"* ~BR*้@ɢ emB = Zֻ|>I 3E=ɡiI}IӨ?i%y&=i%3=)%Ө?)! 1INiC1@@AԡvBy~ByB}IB}nBByByByByBy>A̓= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804I9 II N] > 8f,;g%Ay6k?ٱ6\?6n=6nS6H`a`rLs?`!|\?,^迿?I6k?)6\;i6CBnBBIiJ;IHBDJ!6DJr3YR!Vj=V;Q)V>T9X9ZGYXZAZ>\Q 1bv4٪^!T?Q 5fv4^u  ^ΏB9dYf?Q Ef?y^KkC)^N:I^g:i^Z%v4Yhj@hڊgCDNOT Ignoring new targets: 52.80 m.ҊŠ ܪʊ ܪgC ProNav: ac range: 52.799999 m, nav range: 50.688568 m, bearing: 91.461535 deg, approach rate: -0.638542 m/s, LOS rate: -0.074689 deg/s, cmd heading: 95.191329 deg, new cmd heading: 95.112941 deg. MgCHeadingCmd: 1.660034 target range: 52.799999 and range: 52.80 m.{?"*R* f@ɢumBr= 顝>I qF=ɡiIfI{?i&=i){?)D=D=D=(D9E=; E=:6E=c44:E9"E=dA- =1 I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770726t f,ԀUg%Ay:L?ٱ:i?:Y=:8:HhB =sH$"?`ͭ?L1?I:L?):x\;i:CFonBFIBDN%6DN03YVu˽!VJ=Vj:Q)Z>X9X9ZGYZG^A^>`Q 1fv4٪bXQ?Q 5fv4b:n  bB9dYfg?Q Ej?ybkC)bW:Ib:ib}3v4YnBn@rPEڊ gCDNOT Ignoring new targets: 52.80 m.ҊŠ-䪺ʊ5䪺gCE ProNav: ac range: 52.799999 m, nav range: 50.430340 m, bearing: 91.431461 deg, approach rate: -0.638140 m/s, LOS rate: -0.074702 deg/s, cmd heading: 95.112939 deg, new cmd heading: 95.022252 deg. EMgCMHeadingCmd: 1.658451 target range: 52.799999 and range: 52.80 m.M!H?IIIIQQ"Q*QRY*YYae@,@ɢmB ٟ=  4j>I  rF=ɡ iI]IE!H?iEj'=iEJc=)E!H?)IqI1i19=`5ADADEDE'DAEA EE:6EE'4:EA!M@!M@!M@!M@yBDAT read: Rx Time:21:35:24.7743 TRx dataTimestamp_ set to:1754688925.582418checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025192>A]̓=Ա A AI I N >Jf,_\og%Ay6~)?ٱ6*F?6Uʛ=6Qa6H@t??L5? |t뿿3?I6~)?)6_\;i6C@BRnBFIA<AvB!~B!B%IB%nBB!B!B!B%;B%DBBBBBBq4mMb@Mb@Mb@i i)iIiiim?~jt?I +m ?mK?9K?9GY"A>Q 1v4٪M?Q 5v47g  B97 ?Q A:Y?Q E?ykC)2 ;I" ;iBv4YB@SEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 52.80 m.ҊŠܺʊܺgC  ProNav: ac range: 52.799999 m, nav range: 50.163151 m, bearing: 91.389835 deg, approach rate: -0.616241 m/s, LOS rate: -0.096516 deg/s, cmd heading: 95.022254 deg, new cmd heading: 94.896713 deg.  ygCHeadingCmd: 1.656260 target range: 52.799999 and range: 52.80 m.U?"*%}BR!*!!!-@ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275600ɢmBhy=  ;>I1 5zG=ɡ1i1I=IEU?iE`'=iEp=)MU?)iԱ]Ii/@=@=BEȷG4JEI4RE0DU DU DU 2DQ EU ; EU :6EU 4:EQ "EU xmI b2@i @X> ¸2@ s> z@ sI i )  #f?5W?o/? +G1? 2X 2 sI i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.>A rA >jA >A AI I!N->f,s.g%Ay6+?ٱ6 ?6`8=6x6H9w?@@=?`e@Ҩ?I6+?)6r\;i6CBNnBBIBDJ6DJ3YR!R/=RC:Q)V>T9T9VGYTZ A >Q 1v4٪I?Q 5v4_  B9Yx?Q E?ylC):I:iTSv4Y!-@)1zcg%A3IBʋ?2a{H@2b k'@"_lV?Uſ#?2‹s:Vf?kZH@5"@*7Z?=fy?p ?EB E??xH EBG? oGBT?gC} addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 3.779283 s, deltaX: -2.500000 m, approachRate: -0.661501 m/s, rangeRepo size: 4 gC Added new target pos. range: 50.299999 m, bearing: 90.687998 deg, lat: 36.906055 deg, lon: -122.115831 deg, deltaT: 3.779283 s, deltaX: -2.500000 m, approachRate: -0.661501 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 50.30 m.ҊŠʊgC ProNav: ac range: 50.299999 m, nav range: 49.859055 m, bearing: 90.687998 deg, approach rate: 0.000000 m/s, LOS rate: -0.096516 deg/s, cmd heading: 94.896715 deg, new cmd heading: 94.757362 deg. gCHeadingCmd: 1.653828 target range: 50.299999 and range: 50.30 m.?"*R*`f&I@?ɢmBnr= $>I H=ɡiII?iA'=i=)?)  ,DAT read: user:1218> BDAT read: Tx time:21:35:26.1030 $Ping request sent.AP=D D D *D E 1; E E:6E (N4:E ! @! @! @! @ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250589 A yAI I N >f,g%Aiy6Ҽ?ٱ6?6Z=6`b6H +x@}?`.O?1泿x˧?I6Ҽ?)6\;i6CN'nBNuIԙMb@Mb@Mb@ )Ii?Q?Mbf&?u=)bLAI+Ai"3A \;ABD!6Dr3Y!9=;Q)> H?9 H?9GYG_A>Q 1v4٪D?Q 5v4QX  B9('?Q A:YM?Q E?yflC)f:I:iZbv4YC@ڊ!gC%DNOT Ignoring new targets: 50.30 m.Ҋ!Š--ʊ--gC= ProNav: ac range: 50.299999 m, nav range: 49.585831 m, bearing: 90.623726 deg, approach rate: -0.642293 m/s, LOS rate: -0.151923 deg/s, cmd heading: 94.757359 deg, new cmd heading: 94.563481 deg. =лgCEHeadingCmd: 1.650444 target range: 50.299999 and range: 50.30 m.EA?AAIIII"Q*U}BRQ*QYY]??ɢmBd= =I JvH=ɡiI`gIA?i(=i#=)%A?)! ))I)))vBQ~BQBUIBUFnBBU6 =BQBQBU;BUD%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502630ImOiiiu/q@}A@}A! >A =D D D -D E ; E خ:6E t4:E "E pf,g%AyB?ٱB3?BaĠ=B'BH@W,y 9@?`i?D@öx?IB?)Bx\;iBCNmBNSIR=R=BDV6DVF3Y^3!^1=bu:Q)b>`9`9bGYdfAf>hQ 1nv4٪ju??Q 5nv4jP  jzB9pYr0?Q Er?yjlC)jd:Ij:ijrv4Ytv@xڊ9gC=DNOT Ignoring new targets: 50.30 m.Ҋ9ŠE+ʊE+gCU ProNav: ac range: 50.299999 m, nav range: 49.291893 m, bearing: 90.554085 deg, approach rate: -0.629134 m/s, LOS rate: -0.149947 deg/s, cmd heading: 94.563484 deg, new cmd heading: 94.353315 deg. UͻgC]HeadingCmd: 1.646776 target range: 50.299999 and range: 50.30 m.]?YYYaaa"a*iRi*iiqu@?ɢmB%Q= 顝=I 8H=ɡiI(I?i\(=i =)?)QI)i))))y]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006581>AMஜ=ԱA AI I N > o=f,g%Ay6?ٱ6c?6f1=6056H +Mz,?DC?@@ X~?I6?)6\;i6CDFDFDF*DDEFI; EFk:6EF(N4:ED!J@!J@!J@!J@JmBNRIMb@Mb@Mb@ )Ii/$?K?K?9K?9GYGǺA>Q 1v4٪>9?Q 5v4:I  jB9)?Q A:Y?Q E?ylC) ;I ;iԁv4YB@QEڊ)gC5DNOT Ignoring new targets: 50.30 m.Ҋ1Š=%\ʊ=%\gCM ProNav: ac range: 50.299999 m, nav range: 49.011864 m, bearing: 90.471023 deg, approach rate: -0.645177 m/s, LOS rate: -0.192465 deg/s, cmd heading: 94.353312 deg, new cmd heading: 94.102704 deg. MgCMHeadingCmd: 1.642402 target range: 50.299999 and range: 50.30 m.U;:?QQQQQY"Y*]}BRa*aaae?ɢmBEK= 顝8~BBPIBmBB7 =BBB;BD>A Т=I u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511198) G ) AA II I] Y ] ]AIa Nm >pgf,!9!9%GY!%κA%>1Q 1Ev4٪53?Q 5Mv45B  5[B9IYU?Q EU?y5=mC)5`;I5_;i5&v4Yae@iDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 50.30 m.ҊŠWʊWgC ProNav: ac range: 50.299999 m, nav range: 48.768337 m, bearing: 90.398170 deg, approach rate: -0.627571 m/s, LOS rate: -0.188681 deg/s, cmd heading: 94.102706 deg, new cmd heading: 93.883056 deg. }gCHeadingCmd: 1.638568 target range: 50.299999 and range: 50.30 m.?"*R*↝?ɢmBB=  軼I  QH=ɡ)i1I5CݻI5?i=)=i==)=?)9QDDDDE); E:6E:E"EEAM =rAU >jAU >ԩ Ay I I N >sOf,Eh%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014667y:{?ٱ:?:pȣ=:@:H 便z  ©?`-K?@xs@IJ?I:{?):a\;i:CJmBJSIBD^&6D^ދ3Yn:=!nM=nhg:Q)r>p9p9rGYpvAv>xQ 1~v4٪zE.?Q 5~v4z/<  zMB9Y?Q E?yzmC)z/;Iz0;izv4Y B @TEڊ1gC=DNOT Ignoring new targets: 50.30 m.Ҋ9ŠE}aʊE}agCU ProNav: ac range: 50.299999 m, nav range: 48.515957 m, bearing: 90.322028 deg, approach rate: -0.650054 m/s, LOS rate: -0.197137 deg/s, cmd heading: 93.883054 deg, new cmd heading: 93.653443 deg. UKgCUHeadingCmd: 1.634561 target range: 50.299999 and range: 50.30 m.5K9?119999"A*ARA*AAIM @ɢnB7B= 顽0I yxH=ɡiIuٻIK9?iw)=iy=)K9?)ԱIPi/DDD(DEI; E6Ec44:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266667>A- 6= Aa Ii Iy N >oy f,} 0h%AlrmBrFIvB!~B!B%1IB%mBB!B!B!B%;B%DMb@Mb@Mb@ )IiV-?B`"۹?-?=)NAIiEA 99GYA>Q 1v4٪'?Q 5v44  >B9{/?Q A:Yw?Q E?ymC)7 ;I;iv4Yϯ@ڊ gCDNOT Ignoring new targets: 50.30 m.ҊŠrʊrgC- ProNav: ac range: 50.299999 m, nav range: 48.231205 m, bearing: 90.230874 deg, approach rate: -0.659487 m/s, LOS rate: -0.212359 deg/s, cmd heading: 93.653443 deg, new cmd heading: 93.378370 deg. -gCHeadingCmd: 1.629760 target range: 50.299999 and range: 50.30 m.?"*}BR*@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519408ɢnB;*7= 額`}I @H=ɡiIջI?ig)=iP=)?) 9mD D D $D E ; E :6E 4:E "E pA-l=bA5AZA5AA}yAIIN ?f,%Sh%Aiy>{c?ٱ>'?>-=>>Hm@'y`Lப?`*?9` 0&W?I>{c?)>|%];i>CJmBJIIBDV6DVN3YZ2<!^=^3Q)^>^ H?9b H?9bGYbGbAf>dQ 1jv4٪f?Q 5nv4f+  f,B9lYn]?Q En?yf%nC)f:If9:if v4YrBv@vSEڊ gCDNOT Ignoring new targets: 50.30 m.ҊŠUuʊUugC- ProNav: ac range: 50.299999 m, nav range: 47.892433 m, bearing: 90.121309 deg, approach rate: -0.658529 m/s, LOS rate: -0.214488 deg/s, cmd heading: 93.378371 deg, new cmd heading: 93.047353 deg. -3gC5HeadingCmd: 1.623983 target range: 50.299999 and range: 50.30 m.5?111119"9*9RA*AAAM' @BDAT read: Rx Time:21:35:28.5708 TRx dataTimestamp_ set to:1754688929.361087checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023728ɢ%/nB%3= !%I) -+G=ɡ)i)I-BѻI5?i5$v*=i5=)5?)99IIi/>Am=iAIIN>D}D}D}'DyE}x; E}y:6E}'4:Ey!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274529ԙ f,rlh%AABDe$6De3AA<vB>~BBIBmBBBBB;BDY፼!,=GQ)>99GY[A>Q 1 v4٪?Q 5 v4z#  B9 .1?Q A :Y ?Q E?yynC);I;iv4Y@ڊAgCMDNOT Ignoring new targets: 50.30 m.ҊIŠMvʊMvgC] ProNav: ac range: 50.299999 m, nav range: 47.577297 m, bearing: 90.020052 deg, approach rate: -0.665101 m/s, LOS rate: -0.215119 deg/s, cmd heading: 93.047353 deg, new cmd heading: 92.741575 deg. ]gCeHeadingCmd: 1.618646 target range: 50.299999 and range: 50.30 m.e/?iiiiii"q*uQ~BRq*qyy} @ԡɢCnB*= 页ٽI G=ɡiI̻I/?i@*=i=)/?) I)5DAT read: 21:35:28.5708 LVL= 22832, 29297, 23778, 30419, AGC= 65, IDX= 410,-0.40, 1.314,-0.218, 1.844, 1.393, PHS= 0.023,-1.565, 0.408, RAW= 160.6, 12.5, CAL= 161.0, 14.2, ROT= 349.0, -14.2 =Ygot valid direction response: 21:35:28.5708 LVL= 22832, 29297, 23778, 30419, AGC= 65, IDX= 410,-0.40, 1.314,-0.218, 1.844, 1.393, PHS= 0.023,-1.565, 0.408, RAW= 160.6, 12.5, CAL= 161.0, 14.2, ROT= 349.0, -14.2 EPDAT read: Bearing 267.9, -16.5 (Local) E~Local bearing/azimuth received: Bearing 267.9, -16.5 (Local) MDAT read: Range 11 to 50 : 47.7 m (Round-trip 63.7 ms) speed 0.9 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.951634,-0.184979,0.245307]]Fpublishing direction and range infoŌs?+jdǿ/;f?>BI0Yiqr\vAj< Qȿ)`>IUd3@if_>3@}>@}Ii)J>P%d?U?Lza2?un5? _D }Ii}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.I i /1 D D D D E 1; E B:6E :E "E k  BDAT read: Tx time:21:35:29.8530  $Ping request sent. AM  =rAM >jAM >AyIIN?A#f,h%Ay61?ٱ6N?6=6X6H R@Lu@ڬ?c ? @`͟?I61?)6''];i6CfmBfEIi9I9BDE6DEP)3Y];!]1=]Q)]>a9a9eGYeGmAm>Q 1v4٪?Q 5v4>   B9Y?Q E?ynC):I:iv4Yݯ@zSYwh%A>Bʋ?2KF@롥!qf'@"Ōs?+jdǿ/;f?D‹}:TGߔ?l\JdG@ O"@*d3ա?{b?Pj:Α?";B?A?ȬJ A=AAIIN>A D] D] D] (DY E] ; E] k:6E] c44:EY !e @!e @!e @!e @Of)f,lh%Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499226yb0?ٱbGM?b&=bbHP@t`&? a@V? `@?Ib0?)b I];i`nmBr/IipIpuMb@Mb@Mb@q q)qIqiqu> ףp=?(\µ?y&1|u1?u=u`)qIu/Aiuf6AuEA qu>ABD6D2Y!G=/Q)>K?9K?9GYøA>Q 15v4٪ ?Q 5=v4  B9=A3?Q A=:Y=?Q E=?yoC) AD%=ԡ A I I) NE >,N0f,Gh%Ay6?ٱ6-?6գ=6;6H5u¿ڮ?>׿?@`?I6?)6_];i4BmBB?IBDJ6DJ2YRz=!V[=VzWQ)V>T9X9ZGYXZ)AZ>\Q 1bv4٪^?Q 5bv4^k  ^B9dYf?Q Ef?y^VoC)^:I^:i^v4YjBjO@jTEyڊqgCDNOT Ignoring new targets: 47.70 m.ҊŠ2ʊ2gC ProNav: ac range: 47.700001 m, nav range: 46.766273 m, bearing: 88.084142 deg, approach rate: -0.672932 m/s, LOS rate: -0.229400 deg/s, cmd heading: 92.140420 deg, new cmd heading: 91.884520 deg. ogCHeadingCmd: 1.603687 target range: 47.700001 and range: 47.70 m.E?"*R*↵ ^?ɢ~nB = .I E=ɡiI@{IE?i,=i=)E?)rDjDBE:4JE<4REuf0D-D-D-)D)E-; E-:6E-FA4:E)"E-;\A-I=ԹAYIaIqNY> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255247 M6f,{h%Ay6ܻ?ٱ6H?6X=6= 6H@Duy+¿? 2 4?Yf@?I6ܻ?)6J];i4BmBB3IBDJ6DJ02YRJ>!RH=VN3Q)V>T9T9VGYZGZAZ>\Q 1bw4٪^D?Q 5bw4^  ^B9dYfP?Q Ef?y^oC)^W:I^:i^iw4Yhj@hڊ|gCDNOT Ignoring new targets: 47.70 m.ҊŠȈʊȈgC ProNav: ac range: 47.700001 m, nav range: 46.491604 m, bearing: 87.990516 deg, approach rate: -0.697528 m/s, LOS rate: -0.239168 deg/s, cmd heading: 91.884520 deg, new cmd heading: 91.601986 deg. %#$gC5HeadingCmd: 1.598756 target range: 47.700001 and range: 47.70 m.5 ?9999AA"Q*QRY*Yaae?ԩɢEnBE7 = imLVIi m&5E=ɡiiiIuպI ?iH-=i!|=) ?) DDDDE; E5:6E:E! @! @! @! @IPiZ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507290>A] L=1 AQ AU @AvBY ~BY B] IB] {mBB] 6 =BY BY B] ;B] DA yAI I N >ƣchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759278Mb@Mb@Mb@ )IiGz?X9v? H?9 H?9GYA>Q 1w4٪'?Q 5w4R  ЎB9]1?Q A:Y?Q E?yoC):I:iw4Y  >@ 1ڊ1gC=DNOT Ignoring new targets: 47.70 m.Ҋ9ŠE.gʊE.ggCU ProNav: ac range: 47.700001 m, nav range: 46.197903 m, bearing: 87.902464 deg, approach rate: -0.669902 m/s, LOS rate: -0.202114 deg/s, cmd heading: 91.601989 deg, new cmd heading: 91.336156 deg. U gC]HeadingCmd: 1.594117 target range: 47.700001 and range: 47.70 m.] ?YYYYaa"a*e~BRi*iiiusW@ɢnB = 顝 TI ,D=ɡiIjI ?i-=iG=) ?)1IMiO5a>AM=AAII N>D=D=D=(D9E=; E=k:6E=c44:E9"E= ovK?9vK?9vGYtva»Az>xQ 1Mw4٪z?Q 5Uw4z  zÎB9QYU?Q EU?yz.pC)zG@u%>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263500!>AV=Q A yAI) IQ Nu >DU DQ DU )DQ EU a; EQ 6EU FA4:EQ !u @!u @!u @!u @] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515159If,)(i%A mB;ImMb@Mb@Mb@i i)iIiiimDl?V-?MbpmO-?m H?9 H?9GYGA>Q 1w4٪?Q 5w4  B9y-?Q A:Y?Q E?y~pC):I:i4w4YB@REDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 47.70 m.ҊŠ\>ʊ\>gC  ProNav: ac range: 47.700001 m, nav range: 45.642864 m, bearing: 87.752922 deg, approach rate: -0.677099 m/s, LOS rate: -0.166425 deg/s, cmd heading: 91.110421 deg, new cmd heading: 90.884813 deg.  ngCHeadingCmd: 1.586239 target range: 47.700001 and range: 47.70 m. ?"!*%~BR!*!))-@6@ɢnBo= 額/I  B=ɡiI)I ?vB%>~B!B!B!B%7 =B!B!B%&;B%Di=3@/=i=V=)= ?)9IOio1i=I ߱ޱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768249) G %A)9ImmAmAI >A =A% AI) IA NM >lQf,WDi%AyBT?ٱB?B=B*BH@Pw`i¿%?`r@y)?3  ¿J?IBT?)BA];iBCNmBR$IiPIP TVABD^6D^F3Yf@̽!fY=fѻQ)f>jK?9jK?9jGYhnAn>pQ 1vw4٪r?Q 5vw4r  rB9tYv?Q Ev?rDxjDz%=D~D~D|D|E~1; E~P:6E|:E|"E~kA=qAyAIINh>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271246rLWf,Ԝ^i%A% H?9% H?9%GY!-A->1Q 1=w4٪5D?Q 5=w45  5B99Y=?Q E=?y5qC)5:I5:i5Pw4YMBM@MUEڊgCDNOT Ignoring new targets: 47.70 m.ҊIŠ]j.ʊ]j.gC ProNav: ac range: 47.700001 m, nav range: 45.117241 m, bearing: 87.627695 deg, approach rate: -0.638254 m/s, LOS rate: -0.152486 deg/s, cmd heading: 90.704448 deg, new cmd heading: 90.506944 deg. LѻgC=HeadingCmd: 1.579644 target range: 47.700001 and range: 47.70 m.=1?AAIIQy"*ԡR*: @DDDDE; EB:6E:E! @! @! @! @ɢEnBE< AEIA Mj@=ɡIiIIMעIU1?i[0=i8M=)1?)EDAT read: 21:35:32.3177 LVL= 24688, 27233, 22146, 28915, AGC= 66, IDX= 409, 0.11,-0.333,-1.847, 0.178,-0.256, PHS= 0.026,-1.546, 0.390, RAW= 160.2, 12.6, CAL= 160.6, 14.4, ROT= 349.4, -14.4 MYgot valid direction response: 21:35:32.3177 LVL= 24688, 27233, 22146, 28915, AGC= 66, IDX= 409, 0.11,-0.333,-1.847, 0.178,-0.256, PHS= 0.026,-1.546, 0.390, RAW= 160.2, 12.6, CAL= 160.6, 14.4, ROT= 349.4, -14.4 UPDAT read: Bearing 267.2, -16.1 (Local) U~Local bearing/azimuth received: Bearing 267.2, -16.1 (Local) eDAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.5 m/s mR#Rx 1: Read range and direction messages.}^direction in FSK: [0.952055,-0.178172,0.248690]}Fpublishing direction and range info83;;w? |Yƿl?5BIp`iajVpB< Tſ)>I2@iz0a>Ud3@>K$@Ii)?sN&?:?s3?"aq= IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IMOiQQU0Q@]A@]A A A <vB >~B B B B B B B $;B D>Au ~=bAq ZAq A AI I  ,DAT read: user:1220>  BDAT read: Tx time:21:35:33.6530  $Ping request sent. ]f,?yi%Ay:}?ٱ:'?:=:9:HB@[yZÿ?Ɩ"8?Ȏ!¿@?I:}?):N];i:CFmBF%IMb@Mb@Mb@ )IiV-?{Gzt?y&1|-?ף;`)I/Ai8A"IA BABD] 6D]k3Ym!+=A)Q)>K?9K?9GYGA>Q 1 w4٪j꺜?Q 5 w4-  B9-?Q A:Y|?Q E?yYqC)\;I;i?aw4YB@z>ii%Ai5Bʋ,X?2,SwE@zPP- &@"83;;w? |Yƿl?q=‹: hb?W0F@hʏf1"@*~:2B_?NQH?Xr]?1B??f G B? f G A Q=A yA I I N > ef, i%Ay6X?ٱ67?6=6@6H6@zॆÿ?`:j֪?e?]¿`?I6X?)6m4];i6CBYmBBIFC=F=IJ=)J=BDN6DN03YVP!Vc=VA]Q)Z>Z H?9Z H?9ZGYX^<A^>`Q 1fw4٪b[躜?Q 5fw4b  bB9dYf?Q Ej?ybqC)b;Ib;ibmw4Yln@lڊgCDNOT Ignoring new targets: 45.40 m.ҊŠ ʊ gC ProNav: ac range: 45.400002 m, nav range: 44.186092 m, bearing: 87.394937 deg, approach rate: -0.699970 m/s, LOS rate: -0.133645 deg/s, cmd heading: 90.290238 deg, new cmd heading: 90.152619 deg. pgC%HeadingCmd: 1.573460 target range: 45.400002 and range: 45.40 m.%#g?!!!!))"1*1R1*119=m5?ɢ oB hE< =~< I  >=ɡiII#g?i 1=i&=)#g?)!-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876IPi\5)>AE#=DDD)DE1; Ek:6EFA4:E! @! @! @! @a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756195A I I N >f+kf,0ٮi%A y:h?ٱ:?:@b=:O:HA-U} ܙÿ@d?1v`q?` 鰿@¿P?I:h?):n*];i:CFkmBFIEMb@Mb@Mb@A A)AIAiAENbX9? rhE%?ECE)AIAiEz:AEJA AEBABD6D\3Y(=!==gHQ)>99GY"A>Q 1w4٪溜?Q 5w4z  B9%?Q A:Y\?Q E?yqC)\(;I';i|w4Yn@TEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 45.40 m.ҊŠպʊպgC  ProNav: ac range: 45.400002 m, nav range: 43.908936 m, bearing: 87.354887 deg, approach rate: -0.640501 m/s, LOS rate: -0.093140 deg/s, cmd heading: 90.152616 deg, new cmd heading: 90.031706 deg.  gCHeadingCmd: 1.571350 target range: 45.400002 and range: 45.40 m.!?"!*%~BR!*!))-?ɢU3oB]< Y]IY ]΋<=ɡYiaIeHIe!?imU2=imެ=)m!?)ivBy~ByB}IB}gmBB}6 =ByByB}.;B}D QyINi3@=@=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875ԙ>A- I=rA- >jA- > Ay I I N >D D D -D E ; E :6E t4:E "E d99%GY!EfKAM>iQ 1uw4٪m府?Q 5uw4m  mwB9qY?Q E?ym rC)mr!A/=) A AI) I9 NE >w=xf,i%Aɰ4<y6Z?ٱ6nw?6U=6L6H@sfÿR?@o ?ST,ÿ?I6Z?)6=7];i6CVAmBVI XZABD^6D^P)3Yfꈽ!fI=j-Q)j>jK?9jK?9jGYjGnlEAn>pQ 1 w4٪ra亜?Q 5w4r.  roB9Y"?Q E?yr`rC)rw4YŴ@DDD(DE E˭:6Ec44:E!@!@!@!@ڊgC%DNOT Ignoring new targets: 45.40 m.Ҋ!Š-Mʊ-MgC] ProNav: ac range: 45.400002 m, nav range: 43.406013 m, bearing: 87.285721 deg, approach rate: -0.570090 m/s, LOS rate: -0.077505 deg/s, cmd heading: 89.924399 deg, new cmd heading: 89.823017 deg. ]TgCeHeadingCmd: 1.567707 target range: 45.400002 and range: 45.40 m.e?aaaaai"*R*↕` @checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869ɢ_oBL!< I 8=ɡ i I dUI?iv3=i/=)?)1Qu[RӺAyAyvB~BBIBRmBBBBB1;BDB9B9B9B=6 =B9B=Ȝ4I= Ji9 A E /A ԁ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014811Թ >As=bAZAAAIIN ?pf, j%Ay>$?ٱ>aA?>|=>Z >H` V NÿN? s? s9gÿ@?I>$?)>V];i>CJ3mBJIBEFA4JE#E4REd/DMDMDM+DIEM; EM :6EM [4:EI"EM;\99GY@A>Q 1w4٪X㺜?Q 5w4o  eB92#?Q A:YP?Q E?yrC)] ;I* ;iw4Y3@ڊgCDNOT Ignoring new targets: 45.40 m.Ҋ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924Š51ʊ51gCE ProNav: ac range: 45.400002 m, nav range: 43.037113 m, bearing: 87.246049 deg, approach rate: -0.714112 m/s, LOS rate: -0.077456 deg/s, cmd heading: 89.823019 deg, new cmd heading: 89.702980 deg. MTgCMHeadingCmd: 1.565612 target range: 45.400002 and range: 45.40 m.Me?QQQQQQ"Y*]~BRY*aaae`h9@ɢyoBx< 顕I ՛6=ɡiI PI%e?i%9/4=i%=)%e?))#A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520292I I N >f,j%A0lBIBD6DN2Y ! 6=Q)>99GYGA>!Q 1-w4٪%⺜?Q 55w4%  %]B99YAQ EE?y%sC)%;I%$;i%9w4YeBmQ@uREԑDeDeDe*DaEe; Ee:6Ee(N4:Ea!@!@!@!@ڊgC%DNOT Ignoring new targets: 45.40 m.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770929ҊIŠU'ʊU'gC ProNav: ac range: 45.400002 m, nav range: 42.752853 m, bearing: 87.215010 deg, approach rate: -0.565328 m/s, LOS rate: -0.062140 deg/s, cmd heading: 89.702978 deg, new cmd heading: 89.609242 deg. *gCHeadingCmd: 1.563976 target range: 45.400002 and range: 45.40 m.`0?"*R*`VV@ԹɢoB0j; )I 3=ɡiIpI`0?i?4=i̙=)`0?)! !!I))) vB ~B B IB *mBB 7 =B B B 8;B DI} Oiy y } P5y  BDAT read: Rx Time:21:35:36.1145  TRx dataTimestamp_ set to:1754688936.921731 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024885 A>A}ew=IyIN?f,&Fj%Ai@y6?ٱ65?6 s=6d6H ÿc?`16?/]\ÿ@#?I6?)6S];i499A9eGYamwAm>qQ 1}w4٪u4ẜ?Q 5}w4uƢ  uOB9}(?Q A:YX?Q E?yuksC)u:Iu;iuw4Y!@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 45.40 m.ҊŠǺʊǺgC5 ProNav: ac range: 45.400002 m, nav range: 42.368832 m, bearing: 87.168200 deg, approach rate: -0.709908 m/s, LOS rate: -0.087317 deg/s, cmd heading: 89.609241 deg, new cmd heading: 89.467539 deg. 5ogC5HeadingCmd: 1.561503 target range: 45.400002 and range: 45.40 m.=V?99999a"a*e~BRi*iiim` @ɢoB@a }6I 40=ɡiI+`IV?i|5=i=)V?)Ii$5) ߽ A޹  DAT read: 21:35:36.1145 LVL= 21888, 27873, 21650, 27251, AGC= 63, IDX= 408,-0.01,-0.026,-1.642, 0.272,-0.020, PHS= 0.096,-1.576, 0.248, RAW= 154.3, 14.0, CAL= 154.7, 15.8, ROT= 355.3, -15.8  Ygot valid direction response: 21:35:36.1145 LVL= 21888, 27873, 21650, 27251, AGC= 63, IDX= 408,-0.01,-0.026,-1.642, 0.272,-0.020, PHS= 0.096,-1.576, 0.248, RAW= 154.3, 14.0, CAL= 154.7, 15.8, ROT= 355.3, -15.8  PDAT read: Bearing 268.2, -10.0 (Local)  ~Local bearing/azimuth received: Bearing 268.2, -10.0 (Local) >A Sk=% DAT read: Range 11 to 50 : 43.0 m (Round-trip 57.4 ms) speed 0.8 m/s - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.958982,-0.078843,0.272280]5 Fpublishing direction and range infoQ I  ?A / ^ m? ,B I Ui l T sj ? = ^ɿ) }>I Z,@i 5z> 3,@ 0> o@ 0I i ) :&(?:? ? H? 8ey 0I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I N% > f,`j%Aybt?ٱb?btm=b4bHÿ`%?MĨ?`鲭Uÿ ?Ibt?)blI];ibC9}lB}IBD6D 83Y !S=[Q)>99GY8A>Q 1Mw4٪lຜ?Q 5uw4+  GB9yY}?Q E?ysC),?R2h?'B`샖?^L B xH EBp(B#?gC% addTargetRange:: Added new target pos. range: 43.000000 m, deltaT: 3.780447 s, deltaX: -2.400002 m, approachRate: -0.634846 m/s, rangeRepo size: 4 DMDIDM'DIEMa;i EI6EM'4:EI!@!@!@!@gC Added new target pos. range: 43.000000 m, bearing: 87.138150 deg, lat: 36.906068 deg, lon: -122.115835 deg, deltaT: 3.780447 s, deltaX: -2.400002 m, approachRate: -0.634846 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 43.00 m.ҊŠʊ-,DAT read: user:1221> -BDAT read: Tx time:21:35:37.4530 5$Ping request sent.5A] 2=I I N >)- G A )] 5Af,uzj%AI*,.vA>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250843yN]?ٱN?Ng=N NH@ÿ? `? ;ÿ`?IN]?)N99GYGA>Q 1w4٪Pߺ?Q 5w4ǔ  ;B9j%?Q A:Y?Q E?ysC)7 ;Im ;iSw4Y@ڊgC DNOT Ignoring new targets: 43.00 m.Ҋ Š ʊ gC ProNav: ac range: 43.000000 m, nav range: 41.830681 m, bearing: 87.100984 deg, approach rate: -0.739631 m/s, LOS rate: -0.099026 deg/s, cmd heading: 89.354481 deg, new cmd heading: 89.242237 deg. 뇻gC%HeadingCmd: 1.557571 target range: 43.000000 and range: 43.00 m.-{^?))))))"1*5W~BR1*199=@K?ɢeoBm. imGTIi myn+=ɡqiqIuv(BIu{^?i}b6=i}6=)}{^?)yԹILi3@A@AD5D1D5)D1E5; E16E5FA4:E1"E5eA% /=bA! ZA% AI I N > Ҥf,9j%Ay6z?ٱ68?6`=6g6H`{Jxÿ?tڧ?`ÿ?I6z?)6 S];i6CBYlBBYIiDIDBDJ6DJ{U3YR!Rs=V٢Q)V?T9T9VGYXZ/5AZ?\Q 1bw4٪^޺?Q 5bw4^  ^3B9`Yb?Q Ef?y^*tC)^,:I^:i^w4YjBj@jQEڊxgC~DNOT Ignoring new targets: 43.00 m.Ҋ|ŠCʊCgC ProNav: ac range: 43.000000 m, nav range: 41.615063 m, bearing: 87.073072 deg, approach rate: -0.642530 m/s, LOS rate: -0.083607 deg/s, cmd heading: 89.242234 deg, new cmd heading: 89.158064 deg. egCHeadingCmd: 1.556102 target range: 43.000000 and range: 43.00 m.X.?!!"!*!R)*)))-?ɢUoB]޼ Y]eIY ](=ɡaiaIe3IeX.?im86=imvU=)mX.?)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755646IOi/)>A!=aIqIN>De De Da Da Ee ; Ee P:6Ea :Ea ! @! @! @! @] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009079ԁ f,j%Ay6s?ٱ68?6oY=6E06H 91Aÿ@?@]0?*@J¿G?I6s?)6LW];i6C^3lBbBIMMb@Mb@Mb@I I)IIIiIMp= ף?Zd;O?Zd;OM%?Mj=}*Q)}>y99GYܻA>Q 1x4٪ܺ?Q 5x4͇  &B9T%?Q A:Y?Q E?yqtC)* ;I ;i!x4YF@ڊgCDNOT Ignoring new targets: 43.00 m.ҊŠʊgC  ProNav: ac range: 43.000000 m, nav range: 41.340343 m, bearing: 87.023575 deg, approach rate: -0.636856 m/s, LOS rate: -0.115507 deg/s, cmd heading: 89.158066 deg, new cmd heading: 89.008588 deg.  gCHeadingCmd: 1.553493 target range: 43.000000 and range: 43.00 m.?"!*%~BR!*!))- g?QɢpB@ tI Cn%=ɡiI!I?i<7=i=) ?) vB>~BB\IB^lBBBBB8;BDIBi/ԁ ߝAޙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258961ԩ>A7=A I! I9 NE > pf,j%Ay6?ٱ6?6R=6 6Hؚ{5ÿ ?ح? ?7¿`5?I6?)6 =];i6CBlBB.IBDJ 6DJ2YR㧽!RW=RCQ)V>T9T9VGYVGZ6AZ>\Q 1bx4٪^)ۺ?Q 5bx4^d  ^B9`Yb?Q Ef?y^tC)^M;I^U;i^dx4YhjE@hDzDzDz*DxEz; Ez:6Ez(N4:Ex"Ez`A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441A1 IA IY N} >! f,j%Ai@y6M?ٱ6j?6J=66Hb[#ÿ?w樿ʥ??¿h?I6M?)6d];i6C^lB^&Iifpt9t9vGYtzwAz>xQ 1x4٪zٺ?Q 5x4zxz  zB9YD?Q E?yztC)z;Iz;iz#x4Y @D-B*** querying acoustic contact ***j)r)ڊ9gCEDNOT Ignoring new targets: 43.00 m.ҊAŠEʊEgCU ProNav: ac range: 43.000000 m, nav range: 40.836941 m, bearing: 86.934524 deg, approach rate: -0.643060 m/s, LOS rate: -0.113751 deg/s, cmd heading: 88.878485 deg, new cmd heading: 88.739790 deg. U!gCHeadingCmd: 1.548802 target range: 43.000000 and range: 43.00 m.!??"*R*@aT@ɢ]1pB] Y]cIa e=ɡaiaIe%Im!??im8=imRf=)m!??)qD-D-D-'D)E-; E-خ:6E-'4:E)!U@!U@!U@!U@ImGiiiu/q%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0169829AI AI i >Au  =vBa ~Ba Be *IBe lBBe 7 =Ba Ba Be -;Be DA I I N >8f,j%A 6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266905y>k?ٱ>?>#B=>>H`ţ@'ÿ ?)@ ? qA¿?I>k?)>W];iA9A9EGYAMAM>QQ 1]x4٪U$׺?Q 5]x4Ur  UB9](?Q Ae:Ye?Q Ee?yU>uC)U:IU:iU^3x4Yim@iڊgCDNOT Ignoring new targets: 43.00 m.ҊŠS!ʊS!gC ProNav: ac range: 43.000000 m, nav range: 40.546425 m, bearing: 86.871811 deg, approach rate: -0.648716 m/s, LOS rate: -0.141041 deg/s, cmd heading: 88.739792 deg, new cmd heading: 88.550304 deg. gCHeadingCmd: 1.545494 target range: 43.000000 and range: 43.00 m.?"*}BR*i@iɢ}IpB}Am O= A I I N >x f,k%Ay6z?ٱ6+?6%:=6H96H G&ÿk?`ZN?B`:¿@I?I6z?)6mb];i6CBkBBIBDJ#6DJӀ3lYr!rc=r>Q)v>t9t9vGYvGzAz>|Q 1x4٪~Bպ?Q 5x4~l  ~B9Y1?Q E ?y~{uC)~;I~V:i~?x4Y>@OEڊ9gC=DNOT Ignoring new targets: 43.00 m.Ҋ9ŠEʊEgCU ProNav: ac range: 43.000000 m, nav range: 40.313118 m, bearing: 86.821909 deg, approach rate: -0.648852 m/s, LOS rate: -0.139585 deg/s, cmd heading: 88.550302 deg, new cmd heading: 88.399731 deg. UgC]HeadingCmd: 1.542866 target range: 43.000000 and range: 43.00 m.]|?YYYaai"*R*↝@X@ɢ]pBF I {=ɡiIBI|?ip8=i=)|?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7725360;IUOiQY]85Y@eA@eADM DM DM -DI EM ; EM 5:6EM t4:EI !m @!u @!u @!u @y = BDAT read: Rx Time:21:35:39.9110 M TRx dataTimestamp_ set to:1754688940.704606] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029146>Ae =bA ZA Aԑ A I I N >f,2k%Ay:ܰ?ٱ:?:)=:;:H E ¿ ??@< ¿؟?I:ܰ?):@];i:CFkBFIMb@Mb@Mb@ )Iip= ף?#~j?L7A`堿%?=+)9ZAIi>A"IA EABD6Df?3YBO!(=Q)>99GY!A>Q 1x4٪YѺ?Q 5x4Td  B9&?Q A:Y?Q E?yuC)B;I B;iQx4Y@ڊIgCUDNOT Ignoring new targets: 43.00 m.ҊQŠUKUʊ]KUgCe ProNav: ac range: 43.000000 m, nav range: 40.003277 m, bearing: 86.730724 deg, approach rate: -0.628762 m/s, LOS rate: -0.186475 deg/s, cmd heading: 88.399730 deg, new cmd heading: 88.124059 deg. vBi~BiBmIBmkBBm6 =BiBiBm1;BmDBIBIBIBIBM6 =BM34gC HeadingCmd: 1.538055 target range: 43.000000 and range: 43.00 m. ?   "*}BR*% - @ɢzpB$-" 顕›I a=ɡiI}ƉI?ifl9=iA] =rD jD =BE˷G4JE˔K4RE]%0D D D ,D E I; E :6E g4:E "E Vj Dl> Pǿ) >I %@i ,m> $@ G\> l$= G\I i ) /٥?Q?,? (W> \n l$= G\I i  T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.A) I9 IQ N] >f,Nk%AyM?ٱM?M*"=M/MH``B¿I?FYf?C¿?IM?)M_];iMCkBI!BDE6DEF3YU+!U3=UQ)U>Y9Y9}GYyA>Q 1x4٪ͺ?Q 5x4\  ЍB9Y?Q E?yvC)4;Ib;iax4YB@REzMk%A!Bʋt?2^C@C~pv? $@"FTy?l&Lߣ?N=?l$=‹G\:[i C@̀p @* eZvO]!?y?8B-m?ZQ {B? ȬJ rB?gCU addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 3.779305 s, deltaX: -2.599998 m, approachRate: -0.687957 m/s, rangeRepo size: 4 gC Added new target pos. range: 40.400002 m, bearing: 86.756013 deg, lat: 36.906068 deg, lon: -122.115837 deg, deltaT: 3.779305 s, deltaX: -2.599998 m, approachRate: -0.687957 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 40.40 m.ҊŠʊgC ProNav: ac range: 40.400002 m, nav range: 39.611549 m, bearing: 86.756013 deg, approach rate: 0.000000 m/s, LOS rate: -0.186475 deg/s, cmd heading: 88.124057 deg, new cmd heading: 87.861042 deg. gCHeadingCmd: 1.533464 target range: 40.400002 and range: 40.40 m.H?"*R*@33D@`B!?ɢMpBM A IMII uJ =ɡqiqIuZ>I}H?i}9=i}@#=)}H?) I)I,DAT read: user:1222> BDAT read: Tx time:21:35:41.2030 $Ping request sent.A 0:=D D D *D E  E k:6E (N4:E ! @! @! @! @rA >jA >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251555II!N-?Мf,pk%A%ikB%I-=-=Mb@Mb@Mb@ )Ii)\(?RQ?X9vG!?=)hYAI"3Ai\?AFA DABD,6D3Yr!=Q)>99GYGA> Q 1x4٪ ɺ?Q 5x4 )T  B9K#?Q A:Y?Q E%?y kvC) =N;I L;i rx4Y)5@1D]B*** querying acoustic contact ***jYrYAqAup<ڊgCDNOT Ignoring new targets: 40.40 m.ҊŠsʊsgC- ProNav: ac range: 40.400002 m, nav range: 39.294308 m, bearing: 86.649404 deg, approach rate: -0.628789 m/s, LOS rate: -0.213010 deg/s, cmd heading: 87.861040 deg, new cmd heading: 87.538635 deg. -/gC5HeadingCmd: 1.527837 target range: 40.400002 and range: 40.40 m.5-?999999"A*E_}BvBI~BIBMIBMkBBIBIBIBM@;BMDRa*aiimd?ɢpBHG 顽 I =ɡiI++I-?i˅:=iC=)-?)ICi0%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502428)>A A=Q I I N >&f,k%Ay6կ?bD8ZD:AAD>D<D>)D<E>; E<6E>FA4:E<"E>ddAAd9d9fGYhjsAj>lQ 1rx4٪nź?Q 5rx4nN  nB9pYr ?Q Ev?ynvC)nW:Inp:inx4Yxz@zPEڊgCDNOT Ignoring new targets: 40.40 m.ҊŠ%qʊ%qgC5 ProNav: ac range: 40.400002 m, nav range: 39.067669 m, bearing: 86.574224 deg, approach rate: -0.631809 m/s, LOS rate: -0.210798 deg/s, cmd heading: 87.538635 deg, new cmd heading: 87.311787 deg. 5gC=HeadingCmd: 1.523878 target range: 40.400002 and range: 40.40 m.=q?99AAAA"I*IRI*IQQU3?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753496ɢpB l  I   5=ɡiIIq?i:=i=)q?))IOi;1>A`=I!I1N=/>Qԁ- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006050ԩ Īf,-Zk%Ay6t?ٱ6?6z=6F6H M r@¿`?A$ ?-¿w?I6t?)6e];i4BMkBBIBDJ6DJk1YRߝ=!RM=RDڻQ)V>T9T9VGYTZxAZ>\Q 1x4٪^º?Q 5x4^G  ^B9Y?Q E?y^vC)^SHLAu==bAyZA}AIIN>vB) ~B) B- IB- `kBB) B) B) B- 8;B- Di I )e ݈G y ) AI A M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510292?f,1?k%AE?kBEIiIII QUAMb@Mb@Mb@ )Iix&1?v/?Zd;OA ?x=j)IV2Ai-@A"IA GEABD6DJ2Y ! 5= Q) >99GYGA>!Q 1-x4٪%㽺?Q 5-x4%*@  %B9-"?Q A5:Y5?Q E5?y%0wC)%e ;I%& ;i%kx4Y9=@9ڊagCeDNOT Ignoring new targets: 40.40 m.ҊaŠmʊmgC} ProNav: ac range: 40.400002 m, nav range: 38.544891 m, bearing: 86.385831 deg, approach rate: -0.627894 m/s, LOS rate: -0.244303 deg/s, cmd heading: 87.065623 deg, new cmd heading: 86.742765 deg. }'gCHeadingCmd: 1.513947 target range: 40.400002 and range: 40.40 m.?"*^}BR*↝?ɢEpBEׂ AEIi mq<ɡiiiIm:Iu?iu1;=iu~s=)}?)yI=JiAAEO0ADDDDE; E':6E:E"E;\A% :=A I I N >Ѽf,k%Ay>?ٱ>?>)A<>>Hy@¿1?=?9G ž¿ ?I>?)>]];i>CJ=kBJIBDR6DR3YZĻ!Zc=^MbQ)^>`9`9bGY`bjAf>dQ 1jx4٪fS?Q 5jx4fB:  fB9lYn?Q En?yfkwC)f;If/;ifx4Ypr!@tڊ gCDNOT Ignoring new targets: 40.40 m.ҊŠʊgC- ProNav: ac range: 40.400002 m, nav range: 38.323811 m, bearing: 86.301635 deg, approach rate: -0.614554 m/s, LOS rate: -0.235395 deg/s, cmd heading: 86.742767 deg, new cmd heading: 86.488725 deg. -!gC-HeadingCmd: 1.509513 target range: 40.400002 and range: 40.40 m.57?111111"9*9RA*AAAE\@ɢm qBu( quﹿIq uD<ɡyiyI}$$k:I7?i[<=i7=)7?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014071IPi_5Q>Al=IQIaNm>ԁD D D *D E 1; E 6E (N4:E ! @! @! @! @  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267783f,k%A`y~-?ٱ~iJ?~2C<~~HE¿?@>抿?`g@¿`?I~-?)~;D];i~C7kB%IMb@Mb@Mb@ )IiMb?A`"?:v#?=T)WAIi@AQHA DABD6DYa!:=лQ)>99GY$A>Q 1x4٪C?Q 5x42  B9Y%?Q A:Y?Q E?ywC):I:irx4Y R@AYAYDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 40.40 m.ҊŠvʊvgC= ProNav: ac range: 40.400002 m, nav range: 38.046783 m, bearing: 86.201910 deg, approach rate: -0.594435 m/s, LOS rate: -0.215545 deg/s, cmd heading: 86.488725 deg, new cmd heading: 86.187374 deg. =gCMHeadingCmd: 1.504254 target range: 40.400002 and range: 40.40 m.Ma?IIvBq~BqBuIBuVkBBqBqBqBu>;BuDI"*7}BR*@ɢ=*qB=4y AEiIA E.<ɡiIn:Ia?i<=i=)a?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517519I@i!!%+0!@-=@-=>AE 5=I rAI jAM >A I I D D D 'D E ; E :6E '4:E "E `?f,^ l%Ay6?ٱ6?6<6ȩ6Hɸy@*`9¿?@QBN?}¿?I6?)6];i6CBHkBBIFG>FX9X9ZGYZGnchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769414M A>Q 1%x4٪?Q 5%x4H,  yB9)Y-f?Q E-?ywC):IB:i-x4YeBe@eOEڊgCDNOT Ignoring new targets: 40.40 m.ҊŠʊgC ProNav: ac range: 40.400002 m, nav range: 37.800438 m, bearing: 86.113288 deg, approach rate: -0.647462 m/s, LOS rate: -0.234439 deg/s, cmd heading: 86.187377 deg, new cmd heading: 85.919781 deg.  gCHeadingCmd: 1.499583 target range: 40.400002 and range: 40.40 m.W?"*R*U Œ@ɢ@qBX穽 顕I <<ɡiI :IW?is==iS$=)W?)IOi0BDAT read: Rx Time:21:35:43.6580 TRx dataTimestamp_ set to:1754688944.481843checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023272>A=! A I I N >7 f,&l%Ay6N?ٱ6ck?6<6J6Hfԧ͹¿s?[v ?b0¿l?I6N?)6cp];i4BIkBBIBDJ6DJ 83YR ;!RK=V~ݻQ)V>T9T9VGYXZAAZ>\Q 1bx4٪^F?Q 5bx4^%  ^qB9dYf?Q Ef?y^5xC)^y:I^ :i^x4YjBj@jRE|ڊgCDNOT Ignoring new targets: 40.40 m.ҊŠ ʊ gC ProNav: ac range: 40.400002 m, nav range: 37.555401 m, bearing: 86.025332 deg, approach rate: -0.646423 m/s, LOS rate: -0.233548 deg/s, cmd heading: 85.919784 deg, new cmd heading: 85.654196 deg. H gC%HeadingCmd: 1.494948 target range: 40.400002 and range: 40.40 m.%sZ?!!!!))")*)R1*111= @ɢmVqBu* uѝ~BQBUIBU`kBBQBQBQBUQ;BUD>A+=ԉ AA IQ Ia Nm > DAT read: 21:35:43.6580 LVL= 26016, 29041, 24050, 32483, AGC= 62, IDX= 405, 0.30,-1.200,-2.974,-1.234,-1.413, PHS= 0.315,-1.517, 0.135, RAW= 144.9, 12.2, CAL= 144.5, 13.3, ROT= 5.5, -13.3  Ygot valid direction response: 21:35:43.6580 LVL= 26016, 29041, 24050, 32483, AGC= 62, IDX= 405, 0.30,-1.200,-2.974,-1.234,-1.413, PHS= 0.315,-1.517, 0.135, RAW= 144.9, 12.2, CAL= 144.5, 13.3, ROT= 5.5, -13.3  PDAT read: Bearing 264.5, 2.4 (Local)  ~Local bearing/azimuth received: Bearing 264.5, 2.4 (Local)  DAT read: Range 11 to 50 : 38.1 m (Round-trip 50.8 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.968699,0.093275,0.230050] Fpublishing direction and range info X?7?gz}"Er? fB I ei qq ] ~ G> -¿) q= >I !@i ^ Z> vh!@ ,m> = ,mI i ) WVB`?S?t? 1c> Y = ,mI i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Of,Q@l%A%TkB-IiMb@Mb@Mb@ )Ii r?MbX?Mb`?#?=;)[AI"3AiBAGA =FABD$6D3Y<!)=Q)>!9!9%GY!%A->QQ 1Ux4٪U(?Q 5]x4U  UkB9]%?Q A]:Y]?Q E]?yUxC)U:IUM:iUx4Yam@iz>l%AfBʋ?2l&tB@ $n @jʍO!@"X?7?gz}"Er? =‹,m:`}kB@O@*"D.3wZ?LMB"?,BӜ1+?M B샖? ^L =iU=)U?)QDDDDEI; E:6E:E"EVj  BDAT read: Tx time:21:35:45.0030  $Ping request sent. A] =A yAI I N >f,]l%Aɰ2;24<Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249973M`kBMI QUA)U@A QBD]6D]:3Ym<!mJ=qQ)u>u H?9u H?9}GY}GyA}>Q 1x4٪ʧ?Q 5x4  fB9YQ E?yxC):I6:ix4Y*@MEMAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLUE]Entering USBL mode with 120.000000 count pings at 38.099998 m (mode 2.000000 count ).]1]ڊigCmDNOT Ignoring new targets: 38.10 m.ҊiŠu,ʊu,gC ProNav: ac range: 38.099998 m, nav range: 36.826962 m, bearing: 90.318829 deg, approach rate: -0.643267 m/s, LOS rate: -0.151078 deg/s, cmd heading: 85.294945 deg, new cmd heading: 85.115137 deg. ]ϻgCHeadingCmd: 1.485539 target range: 38.099998 and range: 38.10 m.(&?"*R*↥`.?ɢqB䛴 ſI L<ɡiI(;I(&?i0?=i=)(&?)ԁIEEiAAE20I>Ay=ԩAADuDuDu(DqEuC#; EuI:6Euc44:Eq!}@!}@!}@!}@IIN>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504282 A- <A- <vB5 >~B1 B5 IB5 kBB1 B1 B1 B5 Y;+?f,wl%ABu DBBBBBB!4y:?ٱ:/?:n-<:K<:H |? &¿`Y?Pu??V¿.?I:?):HJ];i8\bJkBbIMb@Mb@Mb@ )Ii{Gz?#~j?99GYA>Q 1y4٪?Q 5y4  cB9)%?Q A:Yc?Q E?y yC)?;I;iay4YB @ PEB-^@1-q5D=B*** querying acoustic contact ***j9r=xڊagCmDNOT Ignoring new targets: 38.10 m.ҊiŠm ʊu gC ProNav: ac range: 38.099998 m, nav range: 36.560692 m, bearing: 90.270980 deg, approach rate: -0.665485 m/s, LOS rate: -0.120462 deg/s, cmd heading: 85.115140 deg, new cmd heading: 84.970545 deg. WgCHeadingCmd: 1.483016 target range: 38.099998 and range: 38.10 m.vӽ?)"Q*U}BRQ*QYY]?ɢqBS 額˿I 4<ɡiI>;Ivӽ?iw?=i =)vӽ?)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863 '<AI Gi / @ =@ =I BE JE mF4RE A/D D D ,D E ; E :6E g4:E "E sA =AII!N-?Z&f,l%A4y>R?ٱ>n?>;>i>H?`¿R?)>N];iBDR6DR2Y^H=!^%=^H:Q)^>`9`9bGY`b]CAf>hQ 1ny4٪j ?Q 5ny4jt  jbB9lYn?Q En?yj^yC)j`:Ij6:ijy4Ypv#@tJqڊgCDNOT Ignoring new targets: 38.10 m.ҊŠʊgC ProNav: ac range: 38.099998 m, nav range: 36.244057 m, bearing: 90.216146 deg, approach rate: -0.627239 m/s, LOS rate: -0.109572 deg/s, cmd heading: 84.970545 deg, new cmd heading: 84.804607 deg. egCHeadingCmd: 1.480120 target range: 38.099998 and range: 38.10 m.t?"a*aRa*iiim?ɢqBgz 顽̿I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258369 <ɡ i I U;It?i_i@=iD=)t?)ԙjA as=D D D )D E ; E 6E FA4:E ! @! @! @! @  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510259AE AIa I N >o,f,|*l%A4yJ?ٱJf ?J:JJHw? 3"ÿ?A?;q? 6_#ÿ ?IJ?)Jn{];iJCZtkB^IvB>~BBIBkBBBBB\;B"DMb@Mb@Mb@ )Ii?A`"?K?9K?9GYG%/ջA%>)Q 15y4٪-M?Q 55y4-  -dB95'?Q A5:Y5?Q E=?y-yC)-Q:I-;i-#y4YAE@ARY]EeCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLeEeAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLڊqgCuDNOT Ignoring new targets: 38.10 m.ҊqŠ}ʊ}gC ProNav: ac range: 38.099998 m, nav range: 35.944122 m, bearing: 90.185000 deg, approach rate: -0.674871 m/s, LOS rate: -0.070665 deg/s, cmd heading: 84.804605 deg, new cmd heading: 84.710389 deg. AgCHeadingCmd: 1.478475 target range: 38.099998 and range: 38.10 m.>?"*}BR*!!!%?ɢmqBuz޶ԑ q顝ͿI g<ɡiI+j;I>?i/@=i=)>?) I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762043INi3@@A Dm Dm Dm *Di Em ; Em :6Em (N4:Ei "Em pAe =AIIN?5f,Sl%A8{kBIiIBD%6D% 83YeG<!e%=mQ)m>i9q9uGYquAu>yQ 1y4٪}m?Q 5y4}  }fB9YQ E?y}yC)}:I}3;i}5y4Y`@ڊgCDNOT Ignoring new targets: 38.10 m.ҊŠʊgC ProNav: ac range: 38.099998 m, nav range: 35.621159 m, bearing: 90.150875 deg, approach rate: -0.651934 m/s, LOS rate: -0.069508 deg/s, cmd heading: 84.710390 deg, new cmd heading: 84.607088 deg. >gCHeadingCmd: 1.476672 target range: 38.099998 and range: 38.10 m.?"*R*M@ɢrB%ݴ !%пI! %\<ɡ)i)I-T;I5?i5A=i5 =)5?)9ԩIJi/Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266122>A^1= A9 IA IQ N] >D D D ,D E  E :6E g4:E ! @! @! @! @>;f,I*l%AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520179ly%0?ٱ%]M?%%֩%Ho?$ÿ@?@3|?bP q?"ÿܣ?I%0?)%Q];i%C}kBIBD!6Dr3Yu;!u:=uiQ)}>y9y9}GY}GZA>Q 1y4٪᜺?Q 5y4c  iB9Y ?Q E?yHzC)6;I'8;iDy4YBU@OEڊqgC}DNOT Ignoring new targets: 38.10 m.ҊyŠ֎ʊ֎gC ProNav: ac range: 38.099998 m, nav range: 35.330444 m, bearing: 90.122379 deg, approach rate: -0.631797 m/s, LOS rate: -0.062438 deg/s, cmd heading: 84.607090 deg, new cmd heading: 84.520899 deg. g+gCHeadingCmd: 1.475168 target range: 38.099998 and range: 38.10 m.NҼ?"*R*A!A!vB->~B)B-IB-kBB)B)B)B-X;B-Du`!@ɢ rBQø aԿIA)UG a)yI*A UFr<ɡ9i9I=Y;IMNҼ?iM6B=iM3b=)UNҼ?)Q1I Pi   _5 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770002Y >A- e=rA5 >jA5 >ԉ AIIN>PCf,O m%AD.D.D.+D,E.; E.:6E. [4:E,"E.`99GYyA> IQ 1Uy4٪MD?Q 5]y4MI  MlB9])?Q A]:Y]?Q E]?yMzC)M2:IM:iMTy4Ya@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 38.10 m.ҊŠչʊչgCM ProNav: ac range: 38.099998 m, nav range: 35.022877 m, bearing: 90.111552 deg, approach rate: -0.657996 m/s, LOS rate: -0.023366 deg/s, cmd heading: 84.520900 deg, new cmd heading: 84.488134 deg. MIgCUHeadingCmd: 1.474596 target range: 38.099998 and range: 38.10 m.U?QQYYYY"a*e3~BR*↍` @ɢ=rBߦǽ ׿I ZY<ɡiI;I?i B=i ?=) ?) AI}Oiyy}`5y>AUų=aAIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276306ԑ xIf,'m%Ay^x?ٱ^}?^+2^K^H@ћ?¿ }? )?a{`hV?¿?I^x?)^S];i\jkBjIn=np<BDv6Dv 83Y~G=!\=FQ)>9 9 GY  jA >Q 1y4٪؛?Q 5y4  oB9!Y%?Q E%?yzC)y:I:iay4Y)-@)ڊQgC]DNOT Ignoring new targets: 38.10 m.ҊYŠ]&ƹʊe&ƹgCm ProNav: ac range: 38.099998 m, nav range: 34.782036 m, bearing: 90.104096 deg, approach rate: -0.694572 m/s, LOS rate: -0.021654 deg/s, cmd heading: 84.488135 deg, new cmd heading: 84.465610 deg. umgCUHeadingCmd: 1.474203 target range: 38.099998 and range: 38.10 m.U?QQYYYY"a*aRa*aaim @iɢUUrBUD QU׿IQ ]JOE<ɡYiYI];Ie?ie C=ie=DuDuDu-DqEua; Euk:6Eut4:Eq!}@!}@!}@!}@)?)DAT read: 21:35:47.4547 LVL= 26064, 27425, 21554, 31139, AGC= 62, IDX= 404, 0.39,-1.923, 2.495,-2.042,-2.202, PHS= 0.382,-1.541, 0.116, RAW= 142.7, 11.6, CAL= 142.2, 12.6, ROT= 7.8, -12.6 I i@5@5MYgot valid direction response: 21:35:47.4547 LVL= 26064, 27425, 21554, 31139, AGC= 62, IDX= 404, 0.39,-1.923, 2.495,-2.042,-2.202, PHS= 0.382,-1.541, 0.116, RAW= 142.7, 11.6, CAL= 142.2, 12.6, ROT= 7.8, -12.6 @5@@ԡ%PDAT read: Bearing 262.7, 6.2 (Local) -~Local bearing/azimuth received: Bearing 262.7, 6.2 (Local) mDAT read: Range 11 to 50 : 35.7 m (Round-trip 47.6 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.966887,0.132447,0.218143]Fpublishing direction and range info=O??}.m?'$?BIei!k2Ty> }?ſ)h=Ie@i4QO>@z0a>'g >z0aIi)\*\@?:|2*?Ͱ"Ÿ?">cN'g > z0aIiUT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.vB~BBIBkBBBBBg;B-DI! I1 N= > = ,DAT read: user:1224> = BDAT read: Tx time:21:35:48.8530 E $Ping request sent.E I9I9MGYUGUxȻAU>YQ 1ey4٪]H?Q 5ey4]  ]tB9m+?Q Am:Ym?Q Em?y]!{C)]#:I]:i]+qy4Y@zD1m%ABʋ?2CIBA@2A@qMx&@"=O??}.m?'$?'g >‹z0a:Lb, k37IA@|0y@*=>/{#*?@?I BedT?4>J ɄB-m? {B B"V?gCE addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 3.785553 s, deltaX: -2.399998 m, approachRate: -0.633989 m/s, rangeRepo size: 4 gCu Added new target pos. range: 35.700001 m, bearing: 95.941987 deg, lat: 36.906010 deg, lon: -122.115837 deg, deltaT: 3.785553 s, deltaX: -2.399998 m, approachRate: -0.633989 m/s, posRepo size: 4 ڊqgC}DNOT Ignoring new targets: 35.70 m.ҊyŠ}ʊygC ProNav: ac range: 35.700001 m, nav range: 34.670116 m, bearing: 95.941987 deg, approach rate: 0.000000 m/s, LOS rate: -0.021654 deg/s, cmd heading: 84.465610 deg, new cmd heading: 84.435394 deg. gCHeadingCmd: 1.473676 target range: 35.700001 and range: 35.70 m.g?"*>~BR*A@ ?ɢ=rrB=zkԽ 9=`ܿI9 E0,<ɡAiAIE=;Ig?iHC=iq=)g?)I=Ki99E_5ArD}=jD}=DDD+DE; E:6E [4:E"Ep) {Vf,b[m%AyZ+?ٱZ?Z!Z.ZH֠?`KÿE??; 6?@1¿j?IZ+?)Z%W];iZCnkBrIixIzp<BDE6DE2YU!U[=UQ)]>Y9Y9]GYaeAe>iQ 1uy4٪m?Q 5uy4m  mxB9qYut?Q E}?yma{C)m-;Im /;im2~y4Y@ڊgCDNOT Ignoring new targets: 35.70 m.ҊŠ';ʊ';gC ProNav: ac range: 35.700001 m, nav range: 34.422359 m, bearing: 95.993416 deg, approach rate: -0.700952 m/s, LOS rate: 0.146551 deg/s, cmd heading: 84.435393 deg, new cmd heading: 84.590791 deg. ';gCHeadingCmd: 1.476388 target range: 35.700001 and range: 35.70 m.G?"*R*@ ?ɢ=rB= z AE߿IA E{ <ɡAiIIM^w;IMG?iUC=iU,=)UG?)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503537QI@i/IQIaNm>yD D D 'D E 1; E ^:6E '4:E ! @! @! @! @ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548786\f,XUum%A8ɰDF;yn~f?ٱn&?n9n}LnH0?`- ÿ?@?@?¿@?In~f?)nms];inCAqAu<vBy~ByB}IB}kBByByByB}n;B}3D]WkB]IiiIiԩ5Mb@Mb@Mb@1 1)1I1i15K7A`?:vy&1|?5+?5T5`;)1I53Ai5QHA5=DA 15\GABDM6DM1YU{Ľ!]"=]Q)]>a9a9eGYamثAm>qQ 1uy4٪u8?Q 5}y4u  u~B9 +?Q A:Y??Q E?yu{C)u} Lcf,em%AbD ZD D&D&D$D$E&; E&˭:6E$:E$"E& o?2`X?$ÿ ?Ib0?)bW];i`lnAlinvIppIpirA rȽt)tt vt@ttxxz AIzxi)xix)|I|~t| |+A'ii  A)  I  =^kBEIBDU6DU02echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990Ym<!m=u3Q)u?q9q9}GYy}A}?Q 1y4٪/?Q 5y4@  B9Y?Q E?y{C):I:iy4YX@ڊgCDNOT Ignoring new targets: 35.70 m.ҊŠ%a;ʊ%a;gC ProNav: ac range: 35.700001 m, nav range: 33.887432 m, bearing: 96.138354 deg, approach rate: -0.707667 m/s, LOS rate: 0.196838 deg/s, cmd heading: 84.860360 deg, new cmd heading: 85.029209 deg. <gCHeadingCmd: 1.484040 target range: 35.700001 and range: 35.70 m.?"*R*:?ɢrB! *I );ɡ i I dV;I5?i5fD=i5=)5?)9 IOi41 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510919>A O)=I I N >a ^if,Mm%Ay6?ٱ6?6 弹6X6H`i9i9uGYuGuAu>yQ 1y4٪}?Q 5y4},  }B9Y|?Q E?y}1|C)}-:I}F:i}y4Yu@DB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 35.70 m.ҊŠX;ʊX;gC ProNav: ac range: 35.700001 m, nav range: 33.622047 m, bearing: 96.214289 deg, approach rate: -0.657514 m/s, LOS rate: 0.189621 deg/s, cmd heading: 85.029209 deg, new cmd heading: 85.258811 deg. "<gCHeadingCmd: 1.488047 target range: 35.700001 and range: 35.70 m.Sx?"*R*?ɢ%rB%5: )-I) -ϟ;ɡ)i)I-4;I5Sx?i=D=i==)=Sx?)9D]D]D](DYE]a; E]:6E]c44:EY!m@!m@!m@!m@IAi/uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763617y>AGg=IiIN>>vBy~ByB}$IB}lBByByByB}t;B}9DԑBABABABABABEDŽH4  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014873Ypf,m%Aiy60?ٱ6HM?6_ 6D}6H|?` dÿ? Q%?`DR? :ÿ?I60?)6L];i6CrakBrIuMb@Mb@Mb@q q)qIqiquQ?~jth?u(?u̼uD;)qIu4AiuIAuBA quGABD6D:3ԙYx!F=}Q)>99GY A>Q 1y4٪g?Q 5y4  B9)?Q A:Y?Q E?yv|C):I :iy4YB@ڊgCDNOT Ignoring new targets: 35.70 m.ҊŠ Hw;ʊ Hw;gC} ProNav: ac range: 35.700001 m, nav range: 33.354820 m, bearing: 96.302699 deg, approach rate: -0.648257 m/s, LOS rate: 0.216189 deg/s, cmd heading: 85.258813 deg, new cmd heading: 85.526166 deg. }^<gCHeadingCmd: 1.492713 target range: 35.700001 and range: 35.70 m.:?"*~BR*@ɢ%rB% !%I! -=S;ɡ)i)I-5;Iu:?iuZ'E=iuZ֖=)u:?)y I%Mi!!%v3!BEřT4JEL4RE+0DeDeDe+DaEe; Ee':6Ee [4:Ea"EeeA x= A= yAIA IY Ne >Ovf,m%AytƦ?ٱ?W  H쬨? @ ^ÿ? ?`"J?@2,ÿ ۞?ItƦ?)=];iC=ZkB=IBDM 6DM2Y]mx!]?=]zܻQ)e>e H?9e H?9eGYamAm>qQ 1}y4٪uk?Q 5}y4u  uB9yY}-?Q E?yu|C)u:Iu:iuy4YB@KEDDAT read: Rx Time:21:35:51.0266 TRx dataTimestamp_ set to:1754688951.541679PDAT read: Bearing 260.9, 11.6 (Local) ~Local bearing/azimuth received: Bearing 260.9, 11.6 (Local) DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.6 DAT read: 21:35:51.0266 LVL= 26816, 24817, 26674, 32755, AGC= 65, IDX= 148,-0.18,-2.379, 1.920,-2.648,-2.766, PHS= 0.489,-1.553, 0.074, RAW= 138.9, 10.6, CAL= 138.4, 11.6, ROT= 11.6, -11.6 %Ygot valid direction response: 21:35:51.0266 LVL= 26816, 24817, 26674, 32755, AGC= 65, IDX= 148,-0.18,-2.379, 1.920,-2.648,-2.766, PHS= 0.489,-1.553, 0.074, RAW= 138.9, 10.6, CAL= 138.4, 11.6, ROT= 11.6, -11.6 -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.959568,0.196971,0.201078]5Fpublishing direction and range info?Ǵ?3X6?o?3BIhi`2hA5^> ƿ)P=I'@iq=>#@4QO>4QO>4QOIi)>?!d?1}c?>=zުm%A3Bʋ:?2K?@mSX<@u~@"?Ǵ?3X6?o?4QO>‹4QO4QO> 4QOIichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.554722:uC ~@@/q+@*x>ƿW f27?ф?FB^0 ?KGa B1+? M ɄBB˸?gCE addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 2.771898 s, deltaX: -2.400002 m, approachRate: -0.865833 m/s, rangeRepo size: 4 gCU Added new target pos. range: 33.299999 m, bearing: 98.352613 deg, lat: 36.906000 deg, lon: -122.115838 deg, deltaT: 2.771898 s, deltaX: -2.400002 m, approachRate: -0.865833 m/s, posRepo size: 4 ڊQgC]DNOT Ignoring new targets: 33.30 m.ҊYŠ]ʊagC ProNav: ac range: 33.299999 m, nav range: 33.186764 m, bearing: 98.352613 deg, approach rate: nan m/s, LOS rate: 0.216189 deg/s, cmd heading: 85.526167 deg, new cmd heading: 85.833007 deg. gCHeadingCmd: 1.498069 target range: 33.299999 and range: 33.30 m.?"*R*!-`f@@-By?ɢusBu, 顽I /:ɡiI[;I?iXE=ip=)?)IUKiQQU_5Q@]a=@]=>A-=YD} D} D} (Dy E} ; E} ՚:6E} c44:Ey ! @! @! @! @A] AIi  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771014Iy N >ԁ  }f,im%AA AAA AAvB>~BBIBkBBBBBa;B'Dy]_a?ٱ]~?]F]]H ??` ?ÿ?ì?GǢ?ÿu?I]_a?)]\];iYAkBIAMb@Mb@Mb@ )Ii)\(?Zd;OMb`?G!?j;)|]AIi GAi4K?9K?9GYGŻA>Q 1y4٪Ʀ?Q 5y4.  B9c!?Q A:Y?Q E?y}C)& ;I ;iy4YO@DDAT read: Rx Time:21:35:51.5263 TRx dataTimestamp_ set to:1754688952.045729PDAT read: Bearing 260.4, 12.0 (Local) ~Local bearing/azimuth received: Bearing 260.4, 12.0 (Local) DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.9 DAT read: 21:35:51.5263 LVL= 26736, 28081, 26354, 32755, AGC= 64, IDX= 497,-0.28, 3.006, 0.977, 2.720, 2.597, PHS= 0.511,-1.575, 0.079, RAW= 138.7, 10.3, CAL= 138.2, 11.3, ROT= 11.8, -11.3 %Ygot valid direction response: 21:35:51.5263 LVL= 26736, 28081, 26354, 32755, AGC= 64, IDX= 497,-0.28, 3.006, 0.977, 2.720, 2.597, PHS= 0.511,-1.575, 0.079, RAW= 138.7, 10.3, CAL= 138.2, 11.3, ROT= 11.8, -11.3 MR#Rx 2: Read range and direction messages.U\direction in FSK: [0.959892,0.200532,0.195946]UFpublishing direction and range infoO{Kn?x?>x_?BIphimf@? ɿ)ʡ=I@iX8>^@I>BR>IIi)W? +? Bv?>8BR> IIiuchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.042766z9n%ABʋx?2;Z?@1kc@8X@"O{Kn?x?>x_?BR>‹I:@nt"#5?@V~t1@*sƿ.?ҒGz?A?b1b BdT? ZQ BB[?gC- addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504050 s, deltaX: -0.399998 m, approachRate: -0.793568 m/s, rangeRepo size: 4 gC= Added new target pos. range: 32.900002 m, bearing: 98.636377 deg, lat: 36.905999 deg, lon: -122.115839 deg, deltaT: 0.504050 s, deltaX: -0.399998 m, approachRate: -0.793568 m/s, posRepo size: 4 ڊ9gCeDNOT Ignoring new targets: 32.90 m.ҊaŠiʊigC} ProNav: ac range: 32.900002 m, nav range: 32.751949 m, bearing: 98.636377 deg, approach rate: 0.000000 m/s, LOS rate: 0.216189 deg/s, cmd heading: 85.833007 deg, new cmd heading: 86.155245 deg. ygCHeadingCmd: 1.503693 target range: 32.900002 and range: 32.90 m.y?"*}BR*@3s@@↽`Z?ɢE8sBEͦ IMII MɡIiIIMI;IUy?iU#yE=i]u=)]y?)YԙI Ci ?0 Dm Dm Dm %Di Em ; Em 5:6Em 4:Ei "Em dA<=AIIQIaNu ?f,*n%Aɰ,,yN׬?ٱN~?N,NNH?n¿ ?`?`?¿/?IN׬?)N͏];iNCZ:kBZI bAbABDf 6Dfk3Yn!nU=ngQ)r>p9p9rGYpvjAv>qQ 1y4٪u?Q 5y4u  uB9Y8?Q E?yuQ}C)uk;Iui;iuy4Y@ԱڊgCDNOT Ignoring new targets: 32.90 m.ҊŠl;ʊl;gC ProNav: ac range: 32.900002 m, nav range: 32.506840 m, bearing: 98.743617 deg, approach rate: -0.616507 m/s, LOS rate: 0.271766 deg/s, cmd heading: 86.155248 deg, new cmd heading: 86.479389 deg. :<gCHeadingCmd: 1.509350 target range: 32.900002 and range: 32.90 m.b2?"*R*  c?ɢuRsB}+ y}Iy } ɡyiI;Ib2?iE=iN=)b2?)DDAT read: Rx Time:21:35:52.0261 TRx dataTimestamp_ set to:1754688952.550369DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.5 X#Rx 3: Read range message, but no direction.fBchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.533697IBi0>A_=A II)N5>1 D] D] D] (DY E] ; E] P:6E] c44:EY !e @!e @!e @!e @<*f, 3n%Achecking for new query: numPingsReceived=3, elapsed TxPingTime=3.779188yv%^?ٱvz?v6v5nvHG?@¿ y?'?@4Hݦ?`px¿?Iv%^?)v`];ivC5kBIBD56D5 83YUJ!]C=mƻQ)u>y99GYA>Q 1Uy4٪Ѫ?Q 5]y4  B9aY?Q E?y}C)ZB@f;>ȭT>f;Ii)c?gd?p$?p>)ȭT> f;IiMchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.046833qI Ai / @ A@ Aԑ >Aw=bA ZA ADuDuDqDqEu; EuB:6Eq:Eq"Eu;\ 9 9 GYGoA>Q 1%z4٪?Q 5%z4  B9%"?Q A%:Ym ?Q Em?y}C)S-@F׃@%!'f@"ŷ?M?m~S?ȭT>‹f;:0[Xw?@g8c8@*+|ſP?E3F$?Ajr渜?^ 6Br渜? ^ BA?gCm addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503297 s, deltaX: -0.500000 m, approachRate: -0.993449 m/s, rangeRepo size: 4 gC Added new target pos. range: 32.099998 m, bearing: 99.856709 deg, lat: 36.905996 deg, lon: -122.115845 deg, deltaT: 1.007937 s, deltaX: -0.800003 m, approachRate: -0.793703 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 32.10 m.ҊŠʊgCu ProNav: ac range: 32.099998 m, nav range: 31.474699 m, bearing: 99.856709 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 86.821601 deg, new cmd heading: 87.170831 deg. ygCHeadingCmd: 1.521418 target range: 32.099998 and range: 32.10 m.ӽ?!)1"a*iR* @@O?ɢ=sB= AEgIA E ӻɡAiAIM ( @q=>@X>q=Ii)DJ[?tU?A\m?><,I-@i))-/)@X> q=Iimchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.586838>A #@= A5 yAI9 II N] >[;f,on%AyJ?ٱJ ?J{zIJJH ?2<¿?`ޢ?e,?@nإ?IJ?)JX];iJCV kBVIBDn6Dn 83Yvѽ!v_=z6ɻQ)z>z H?9z H?9zGYx~A~>Q 1 z4٪譺?Q 5 z4u  B9Y?Q E?y)~C):I:iLz4D%D%D%'D!E%; E%':6E%'4:E!!-@!-@!-@!-@Yy}@yzcn%AfAʋ1U?2 >@^5@xk f@"O?&U__? =η?@X>‹q=: pĒ7C/>@ ~@*Ϭeſq?suŧ?yAl縜?)o a FB )o a B@A_?gC  addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504233 s, deltaX: -0.299999 m, approachRate: -0.594962 m/s, rangeRepo size: 4 =checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786997gCM Added new target pos. range: 31.799999 m, bearing: 99.986258 deg, lat: 36.905996 deg, lon: -122.115846 deg, deltaT: 0.504233 s, deltaX: -0.299999 m, approachRate: -0.594962 m/s, posRepo size: 4 ڊIgCUDNOT Ignoring new targets: 31.80 m.ҊqŠqʊygC ProNav: ac range: 31.799999 m, nav range: 31.156372 m, bearing: 99.986258 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 87.170829 deg, new cmd heading: 87.432905 deg. gCHeadingCmd: 1.525992 target range: 31.799999 and range: 31.80 m.S?"*R*?@k?ɢmsBuD2 }"=顅A I :ɡiI9Z<A<A)vB >~B B IB kBB B B B ;;B DIMS?iMCE=iMQ=)MS?)Q]>]8>Ii  /Y DDAT read: Rx Time:21:35:53.5253  TRx dataTimestamp_ set to:1754688954.061713 PDAT read: Bearing 258.6, 13.4 (Local)  ~Local bearing/azimuth received: Bearing 258.6, 13.4 (Local)  DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 = DAT read: 21:35:53.5253 LVL= 27920, 31169, 30786, 32755, AGC= 61, IDX= 503, 0.05,-2.523, 1.723,-2.827,-2.981, PHS= 0.560,-1.534, 0.110, RAW= 138.2, 9.1, CAL= 137.9, 10.0, ROT= 12.1, -10.0 E Ygot valid direction response: 21:35:53.5253 LVL= 27920, 31169, 30786, 32755, AGC= 61, IDX= 503, 0.05,-2.523, 1.723,-2.827,-2.981, PHS= 0.560,-1.534, 0.110, RAW= 138.2, 9.1, CAL= 137.9, 10.0, ROT= 12.1, -10.0 E R#Rx 6: Read range and direction messages.M \direction in FSK: [0.962929,0.206434,0.173648]M Fpublishing direction and range info CtO?ml?ٖNs:? 3A I mi y Bx = )\? ZĿ) G=I ^@i "> ¸2> ¸2I i ) KkEx?ߞ]?C9? Ԣ> Sv" ¸2I i m checking for new query: numPingsReceived=6, elapsed TxPingTime=5.055235>A= ·3=y Am AIy I N >DĢf,n%Ayfˤ?ٱf?fCRfb fHWF?`z?M?܉0O??Ifˤ?)f4E];id~kB~I!! Mb@Mb@Mb@ )IiV-?Zd;O?{Gzt|?j<ף)9ZAI"3Ai\?A EABD56D5!3YE!E'=EQ)E>MK?9MK?9MGYMGULAU>YQ 1ez4٪]?Q 5ez4]p  ]B9e?Q Ae:Yes?Q Em?y]w~C)] ;I]q ;i]b%z4Yqu;@qzn%A3Aʋ,?2*g<>@@Ki@"CtO?ml?ٖNs:?‹¸2:~os\>@7NS=@*t(cſ+4?r?AV?{a B {a FBA?gC addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503814 s, deltaX: -0.400000 m, approachRate: -0.793943 m/s, rangeRepo size: 4 gC Added new target pos. range: 31.400000 m, bearing: 100.106572 deg, lat: 36.905996 deg, lon: -122.115846 deg, deltaT: 0.503814 s, deltaX: -0.400000 m, approachRate: -0.793943 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 31.40 m.ҊŠʊDDDDEx; EP:6E:E"E3gAu+=yAIIN >ԙ  DDAT read: Rx Time:21:35:54.0252  TRx dataTimestamp_ set to:1754688954.565554 PDAT read: Bearing 259.3, 13.7 (Local)  ~Local bearing/azimuth received: Bearing 259.3, 13.7 (Local)  DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.6  DAT read: 21:35:54.0252 LVL= 27120, 29425, 27378, 30451, AGC= 62, IDX= 502,-0.02, 3.090, 1.028, 2.776, 2.646, PHS= 0.546,-1.573, 0.087, RAW= 138.1, 9.8, CAL= 137.7, 10.7, ROT= 12.3, -10.7  Ygot valid direction response: 21:35:54.0252 LVL= 27120, 29425, 27378, 30451, AGC= 62, IDX= 502,-0.02, 3.090, 1.028, 2.776, 2.646, PHS= 0.546,-1.573, 0.087, RAW= 138.1, 9.8, CAL= 137.7, 10.7, ROT= 12.3, -10.7  R#Rx 7: Read range and direction messages. \direction in FSK: [0.960057,0.209326,0.185667] Fpublishing direction and range info ՠ}xʸ?z4? &K{? A I ii r j v > ? Xɿ) -=I ZB@i %/> @ t;?> [> t;?I i ) -f?.?5M? > |. [> t;?I i 5 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558536f,Zbn%Ay6ä?ٱ6I?6[6 6HCV? t?  ?J@p?)%?I6ä?)6V[];i6C  kB I AAiIyBD6D3Y50<!UL=UQ)]>Y9Y9]GYYe"Ae>iQ 1z4٪m‹t;?:b\ U >@N@*q_TſiDK?Y?lA51@?Uc qBl縜? A?gC addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503841 s, deltaX: -0.199999 m, approachRate: -0.396948 m/s, rangeRepo size: 4 gC Added new target pos. range: 31.200001 m, bearing: 100.184922 deg, lat: 36.905996 deg, lon: -122.115846 deg, deltaT: 0.503841 s, deltaX: -0.199999 m, approachRate: -0.396948 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 31.20 m.ҊŠʊgC ProNav: ac range: 31.200001 m, nav range: 30.589668 m, bearing: 100.184922 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 87.770062 deg, new cmd heading: 88.078637 deg. gCHeadingCmd: 1.537262 target range: 31.200001 and range: 31.20 m.?))))"1*1R1*11=@33?@=o ?ԡɢsB2# 页OI ?ɡiI zA }U= A I1 IY Ne >Xf,isn%Ay6ͤ?ٱ6X?6c66HA?` 2??᧿t?H?I6ͤ?)6@A];i6CBjBBIdUMb@Mb@Mb@Q Q)QIQiQU?Q?~jtxU ?Uu=UĻ)UWAIQiQU=A QUDAuDDAT read: Rx Time:21:35:54.5250 uTRx dataTimestamp_ set to:1754688955.069717}PDAT read: Bearing 259.2, 13.7 (Local) ~Local bearing/azimuth received: Bearing 259.2, 13.7 (Local) DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.5 DAT read: 21:35:54.5250 LVL= 26256, 29425, 23874, 32755, AGC= 61, IDX= 499,-0.10, 0.999,-1.038, 0.697, 0.562, PHS= 0.539,-1.554, 0.091, RAW= 138.3, 9.7, CAL= 137.9, 10.7, ROT= 12.1, -10.7 Ygot valid direction response: 21:35:54.5250 LVL= 26256, 29425, 23874, 32755, AGC= 61, IDX= 499,-0.10, 0.999,-1.038, 0.697, 0.562, PHS= 0.539,-1.554, 0.091, RAW= 138.3, 9.7, CAL= 137.9, 10.7, ROT= 12.1, -10.7 R#Rx 8: Read range and direction messages.\direction in FSK: [0.960782,0.205974,0.185667]Fpublishing direction and range infoqu⏺?~1Z]? &K{?u3AqIufiquB]uu=u ? uyƿ)u5^=Iu{@iu-\->u( @qu@X>qIqiq)uK7)p?J2m? {q?u_I>uY-u@X> qIqiqchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.062687BD6D!3Y%!==Q)> 9 9 GY ;:A>Q 1%z4٪?Q 5%z4s  čB9% ?Q A%:Y%?Q E-?y~C);I ;i~Bz4Y15{@1zqu>vn%Au3Aʋu?2u,=@rWu@;.@"u⏺?~1Z]? &K{?u@X>‹q:uD!t#=@jn@*ulvtſA^?\6?uAuu?uVc u|Bu51@? qqu~Au?gC addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.504163 s, deltaX: -0.300001 m, approachRate: -0.595048 m/s, rangeRepo size: 4 gC- Added new target pos. range: 30.900000 m, bearing: 100.131074 deg, lat: 36.905996 deg, lon: -122.115846 deg, deltaT: 0.504163 s, deltaX: -0.300001 m, approachRate: -0.595048 m/s, posRepo size: 4 ڊ)gC5DNOT Ignoring new targets: 30.90 m.Ҋ1ŠQʊQgCe ProNav: ac range: 30.900000 m, nav range: 30.311682 m, bearing: 100.131074 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 88.078636 deg, new cmd heading: 88.404043 deg. agCmHeadingCmd: 1.542942 target range: 30.900000 and range: 30.90 m.m?i"*|BR*`f>@`ͻ?ɢ-tB5?& 15I1 5aɡ1i9I=n"A<bAZAԩDDAT read: Rx Time:21:35:55.0249 TRx dataTimestamp_ set to:1754688955.573471PDAT read: Bearing 259.1, 14.2 (Local) ~Local bearing/azimuth received: Bearing 259.1, 14.2 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.5 DAT read: 21:35:55.0249 LVL= 22720, 26817, 23842, 32755, AGC= 61, IDX= 498,-0.15, 1.525,-0.482, 1.218, 1.086, PHS= 0.541,-1.523, 0.088, RAW= 138.0, 9.6, CAL= 137.6, 10.5, ROT= 12.4, -10.5 Ygot valid direction response: 21:35:55.0249 LVL= 22720, 26817, 23842, 32755, AGC= 61, IDX= 498,-0.15, 1.525,-0.482, 1.218, 1.086, PHS= 0.541,-1.523, 0.088, RAW= 138.0, 9.6, CAL= 137.6, 10.5, ROT= 12.4, -10.5 %R#Rx 9: Read range and direction messages.AIIaIqN}?f,|'n%A:\direction in FSK: [0.960318,0.211140,0.182236]:Fpublishing direction and range infoTk?!?m~S?fAIXih"]~ ? ¿)X9=I%@i+>`@f;>k]>f;Ii)X]Z?r?r!d;?b>*k]> f;IiJchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.592289y=D?ٱ=.?=us=5(=Hip?cW@ ??45j? &?I=D?)=L];i=CQUjBuIBD6D3Yӻ!=лQ)>99GY Gc;A>QQ 1]z4٪U?Q 5]z4Ui  UˍB9YY]1?Q E]?yU_C)U:IU:iUWz4Yim@mHEzn%AfAʋ?2M=@Kg!,@)2 s@"Tk?!?m~S?k]>‹f;:wyY"ऎ=@f @*$.ƿC?l ?AϪ((븜?] B qBrA?gC addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.503754 s, deltaX: -0.100000 m, approachRate: -0.198510 m/s, rangeRepo size: 4 gC Added new target pos. range: 30.799999 m, bearing: 100.237232 deg, lat: 36.905996 deg, lon: -122.115846 deg, deltaT: 0.503754 s, deltaX: -0.100000 m, approachRate: -0.198510 m/s, posRepo size: 4 ڊgCMDNOT Ignoring new targets: 30.80 m.ҊIŠIʊIgC] ProNav: ac range: 30.799999 m, nav range: 29.930746 m, bearing: 100.237232 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 88.404040 deg, new cmd heading: 88.810590 deg. YgCeHeadingCmd: 1.550037 target range: 30.799999 and range: 30.80 m.eg?iiiiii"q*qRq*qy}>@}Q?ɢ5tB 顭I ɡiI)D=i ,r<) g?) ԁDDD*DE; E:6E(N4:E!@!@!@!@$=checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803877I}Kiyy}P1yԱAy Ay vB ~B B B B 6 =B B B .;B DBQBQBQBQBQBU4>A} '< A I IN>Ff,zo%AyBR?ٱBn?B7zB>BHNq?@ݿ "??X$S?﾿@?IBR?)B=];iBCRDDAT read: Rx Time:21:35:55.5246 RTRx dataTimestamp_ set to:1754688956.077598VPDAT read: Bearing 259.0, 14.4 (Local) Z~Local bearing/azimuth received: Bearing 259.0, 14.4 (Local) bDAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.5 rDAT read: 21:35:55.5246 LVL= 21296, 26785, 21778, 32755, AGC= 60, IDX= 495,-0.12,-1.234, 3.059,-1.538,-1.674, PHS= 0.542,-1.505, 0.092, RAW= 137.9, 9.4, CAL= 137.6, 10.4, ROT= 12.4, -10.4 vYgot valid direction response: 21:35:55.5246 LVL= 21296, 26785, 21778, 32755, AGC= 60, IDX= 495,-0.12,-1.234, 3.059,-1.538,-1.674, PHS= 0.542,-1.505, 0.092, RAW= 137.9, 9.4, CAL= 137.6, 10.4, ROT= 12.4, -10.4 x~T#Rx 10: Read range and direction messages.\direction in FSK: [0.960627,0.211208,0.180519]Fpublishing direction and range infoPR"t?e,?lE@?RfAPIR0SiRhRUPR<R ? Rף)Rj=IR( @iR'>PR9>PR9IPiP)R;" ?ԣo?tU3J?R 2>R'P R9IPiPchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.0712725jB=}IMb@Mb@Mb@ )Ii'1Z?sh|??~jth"?=D)(VAI3AiIA99GYC;A>Q 1z4٪ޫ?Q 5z4b  эB92$?Q A:Y?Q E?yC)_;I;ijgz4Y@zPR^o%ARfAʋR ?2R*d=@)-@ڃ@"R"t?e,?lE@?P‹R9:Rq$'Ɲl"=@`[@*R5aWƿO?& 6&?RAR<Ria5?Rb RSBRia5? Rb PRAR ?!gCM addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504127 s, deltaX: -0.500000 m, approachRate: -0.991814 m/s, rangeRepo size: 4 gC] Added new target pos. range: 30.299999 m, bearing: 100.288441 deg, lat: 36.905996 deg, lon: -122.115847 deg, deltaT: 0.504127 s, deltaX: -0.500000 m, approachRate: -0.991814 m/s, posRepo size: 4 ڊYgC}DNOT Ignoring new targets: 30.30 m.ҊŠʊgC ProNav: ac range: 30.299999 m, nav range: 29.610598 m, bearing: 100.288441 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 88.810593 deg, new cmd heading: 89.147102 deg. gCHeadingCmd: 1.555910 target range: 30.299999 and range: 30.30 m.(?"*|BR*L>@ ?ɢ]VtB]=- Ye9Ia eQɡaiaIev0<)u(?)q yyIy)yBE-4JEAu<DDAT read: Rx Time:21:35:56.0245 TRx dataTimestamp_ set to:1754688956.581570PDAT read: Bearing 258.7, 14.1 (Local) ~Local bearing/azimuth received: Bearing 258.7, 14.1 (Local) %DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.5 EDAT read: 21:35:56.0245 LVL= 21440, 28193, 21298, 32755, AGC= 59, IDX= 510,-0.14, 0.008,-1.998,-0.283,-0.437, PHS= 0.547,-1.516, 0.111, RAW= 138.4, 9.1, CAL= 138.0, 10.1, ROT= 12.0, -10.1 MYgot valid direction response: 21:35:56.0245 LVL= 21440, 28193, 21298, 32755, AGC= 59, IDX= 510,-0.14, 0.008,-1.998,-0.283,-0.437, PHS= 0.547,-1.516, 0.111, RAW= 138.4, 9.1, CAL= 138.0, 10.1, ROT= 12.0, -10.1 UT#Rx 11: Read range and direction messages.]\direction in FSK: [0.962989,0.204690,0.175367]]Fpublishing direction and range infoX0?ěE3?:ujr?AISi!n2S;1 ? J ¿)S=I#@i">%@J4>PwV>J4Ii)@w΀?i?3  [?>#PwV> J4Iichecking for new query: numPingsReceived=11, elapsed TxPingTime=7.577645AIIN?f,)o%AyV??ٱV?VV#VH ?`~>@[?QT?¬ >?ZQ ?IV??)VM];iVCrjBrI ttBD6D3Y%t,<!%=-TQ)->)919UGYU GU۰;A]>YQ 1ez4٪]ɩ?Q 5mz4]Y  ]ٍB9iYm=?Q Em?y]C)]u:I]:i]9zz4Y@zq8%o%AAʋg?23!b=@/@31l./@"X0?ěE3?:ujr?PwV>‹J4:k5 N=@q@*)ſ4?oy?A=?@[ 5B $A{5?gC- addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503972 s, deltaX: -0.099998 m, approachRate: -0.198421 m/s, rangeRepo size: 4 )gC] Added new target pos. range: 30.200001 m, bearing: 100.361129 deg, lat: 36.905996 deg, lon: -122.115847 deg, deltaT: 0.503972 s, deltaX: -0.099998 m, approachRate: -0.198421 m/s, posRepo size: 4 ڊYgC]DNOT Ignoring new targets: 30.20 m.ҊaŠaʊagC ProNav: ac range: 30.200001 m, nav range: 29.267729 m, bearing: 100.361129 deg, approach rate: 0.000000 m/s, LOS rate: 0.239904 deg/s, cmd heading: 89.147103 deg, new cmd heading: 89.525966 deg. gCHeadingCmd: 1.562523 target range: 30.200001 and range: 30.20 m.?"*R*@33>@?ɢztB2+ %I! %ɡ!iAIEr7A x/<AQ Iy I N >Ա f,lBo%Ay: ?ٱ:(?:K:_:H ? j k?J?`-oѰ?)~@?I: ?):??];i8FjBF}IMb@Mb@Mb@ )Ii%C?Zd;?~jthZ$?=)SAIiG;A 3CABD56D54d3 99MDDAT read: Rx Time:21:35:56.5242 MTRx dataTimestamp_ set to:1754688957.085930UPDAT read: Bearing 259.3, 14.3 (Local) ]~Local bearing/azimuth received: Bearing 259.3, 14.3 (Local) mDAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.5 DAT read: 21:35:56.5242 LVL= 26832, 27953, 25186, 32755, AGC= 60, IDX= 507,-0.14,-1.364, 2.886,-1.659,-1.802, PHS= 0.541,-1.550, 0.099, RAW= 138.5, 9.6, CAL= 138.0, 10.5, ROT= 12.0, -10.5 Ygot valid direction response: 21:35:56.5242 LVL= 26832, 27953, 25186, 32755, AGC= 60, IDX= 507,-0.14,-1.364, 2.886,-1.659,-1.802, PHS= 0.541,-1.550, 0.099, RAW= 138.5, 9.6, CAL= 138.0, 10.5, ROT= 12.0, -10.5 T#Rx 12: Read range and direction messages.\direction in FSK: [0.961768,0.204430,0.182236]Fpublishing direction and range infoIM7X?*?m~S?MAIIMhiM1mMbbIM<M~ ? Mffƿ)M=IM@iM+>IMf;>IMf;IIiI)M;.?q?!Ϋ2bF?M>M8*I Mf;IIiIchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.080039YXԑ!@=Q)>99GY;A>Q 1z4٪?Q 5z4uQ  ލB9K'?Q A:Y?Q E?y%C)gA] < Iy I N >f,_o%Ayt{?ٱ?plH̩?LU??Wr?vm+?It{?)߀];ikBIBD-6D- 83Y=s=!=;=E.ĻQ)E>A9A9EGYAM<AM>QQ 1]z4٪U~?Q 5]z4UtJ a UB9aYeo?Q Ee?yUGC)U-;IU-;iU*z4YmBu@uGEDB*** querying acoustic contact ***jrڊgCDNOT Ignoring new targets: 29.70 m.ҊŠ:ʊ:gC ProNav: ac range: 29.700001 m, nav range: 28.702503 m, bearing: 100.214604 deg, approach rate: -0.707951 m/s, LOS rate: 0.060180 deg/s, cmd heading: 89.858980 deg, new cmd heading: 89.927355 deg. 3%;gCHeadingCmd: 1.569528 target range: 29.700001 and range: 29.70 m.O?"*R*`L?ɢtBR I  P̼ɡ i I +D^@X8>BR>X8Ii)S?ZE*?r`ݩ?Jt>'BR> X8Ii checking for new query: numPingsReceived=13, elapsed TxPingTime=8.609554ԉ>AX;bAZAIQ Ia Nu >D} D} D} *Dy E} ; E} k:6E} (N4:Ey ! @! @! @! @u checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819595 xf,yo%AA0A0vB@~B@BBIBBkBBB5 =B@B@BB;BBD)UG )I-z1=ڀAiy%8?ٱ%ާ?%nQ%ս%H3?n@]?`o?@?7?I%8?)%r];i%C15I=<=99GY Gn<A>Q 1z4٪h?Q 5z4A  BQ =+:9Q A:Y?Q E?yrC) ;I?i̦z4Y@z  Leo%A 3Aʋ ?2 JtP<@8%C@8~@" ׃[?W3,?? BR>‹ X8: Ⱦ1E}$<@-M>@*  ƿ4H?8 ? &A  a A帜? .,\  B ia5? ]  B A 6?gCE addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.504298 s, deltaX: -0.300001 m, approachRate: -0.594889 m/s, rangeRepo size: 4 gCU Added new target pos. range: 29.400000 m, bearing: 100.362942 deg, lat: 36.905996 deg, lon: -122.115844 deg, deltaT: 0.504298 s, deltaX: -0.300001 m, approachRate: -0.594889 m/s, posRepo size: 4 ڊYgC]DNOT Ignoring new targets: 29.40 m.ҊYŠeʊagCu ProNav: ac range: 29.400000 m, nav range: 28.577887 m, bearing: 100.362942 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 89.927357 deg, new cmd heading: 90.021376 deg. qgC}HeadingCmd: 1.571169 target range: 29.400000 and range: 29.40 m.}?yy"*R*`ff=@↕?DDAT read: Rx Time:21:35:57.5237 TRx dataTimestamp_ set to:1754688958.093539PDAT read: Bearing 259.8, 14.3 (Local) ~Local bearing/azimuth received: Bearing 259.8, 14.3 (Local) DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.5 -DAT read: 21:35:57.5237 LVL= 28528, 32353, 31026, 32755, AGC= 60, IDX= 502,-0.05,-3.105, 1.160, 2.901, 2.753, PHS= 0.528,-1.548, 0.104, RAW= 138.9, 9.7, CAL= 138.4, 10.6, ROT= 11.6, -10.6 5Ygot valid direction response: 21:35:57.5237 LVL= 28528, 32353, 31026, 32755, AGC= 60, IDX= 502,-0.05,-3.105, 1.160, 2.901, 2.753, PHS= 0.528,-1.548, 0.104, RAW= 138.9, 9.7, CAL= 138.4, 10.6, ROT= 11.6, -10.6 5T#Rx 14: Read range and direction messages.=\direction in FSK: [0.962859,0.197647,0.183951]=Fpublishing direction and range info,\0?{L? =η?AIpoia~2y<+? $ƿ)=I'@i-\->#@q=>4QO>q=Ii)7˅"?`c?ϲd?P>$,4QO> q=Ii]checking for new query: numPingsReceived=14, elapsed TxPingTime=9.086787ɢtB,0 I PɡiIKAm r<bD ZD @AD D D +D E ; E 5:6E [4:E "E ! E ! *E f,ɔo%ARchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.323105kBIBD-!6D-r3Y=~7<!==EQ)E?A9A9MGYIMAM?qQ 1}z4٪u?Q 5}z4uU<  uBQ =} :9Q AU:YQ E?yuC)u3:IuT?iuz4Y@ԑzy}o%A}Aʋ}I?2}(D;@tSHP@S璞V@"},\0?{L? =η?}4QO>‹}q=:}۲N3[' ;@SX'@*}v&z vƿ({{?`?}A}ݢ}S ?}|Ra }B}S ? }|Ra }B}A}I?gC% addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503311 s, deltaX: -0.400000 m, approachRate: -0.794737 m/s, rangeRepo size: 4 gC Added new target pos. range: 29.000000 m, bearing: 100.396869 deg, lat: 36.905997 deg, lon: -122.115846 deg, deltaT: 0.503311 s, deltaX: -0.400000 m, approachRate: -0.794737 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 29.00 m.ҊŠʊgC ProNav: ac range: 29.000000 m, nav range: 28.201838 m, bearing: 100.396869 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.021374 deg, new cmd heading: 90.079300 deg. gCHeadingCmd: 1.572180 target range: 29.000000 and range: 29.00 m.5=?))"1*9R9*9AE=@m@?ɢtB a J=1I YɡiI%1RA^S<I9IINUu>UDDAT read: Rx Time:21:35:58.0236 ]TRx dataTimestamp_ set to:1754688958.597633ePDAT read: Bearing 259.6, 14.3 (Local) e~Local bearing/azimuth received: Bearing 259.6, 14.3 (Local) }DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.5 DAT read: 21:35:58.0236 LVL= 26464, 32609, 31266, 32755, AGC= 60, IDX= 501, 0.02,-1.175, 3.100,-1.439,-1.606, PHS= 0.533,-1.532, 0.123, RAW= 139.2, 9.3, CAL= 138.8, 10.2, ROT= 11.2, -10.2 Ygot valid direction response: 21:35:58.0236 LVL= 26464, 32609, 31266, 32755, AGC= 60, IDX= 501, 0.02,-1.175, 3.100,-1.439,-1.606, PHS= 0.533,-1.532, 0.123, RAW= 139.2, 9.3, CAL= 138.8, 10.2, ROT= 11.2, -10.2 T#Rx 15: Read range and direction messages.\direction in FSK: [0.965452,0.191165,0.177085]Fpublishing direction and range infoQUv G? x?ki?UfAQIU`giUaU"zQQUr? UĿ)Um=IU|@iU6&>U @UK6>U+H>UK6IQiQ)U-U&U+H> UK6IQiQchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.594940 <f,o%A*kB%IBD-6D- 83Y=6"=!EJ=AQ)E>I9I9MGYIIAM>QQ 1]z4٪Uƙ?Q 5]z4U5  UBQ =e99aQ Ae,:YaQ Ee?yUC)UX ;IU?iUcz4Yim$@qz?o%AfAʋPH?2Yd ;@AR@ipf@"v G? x?ki?+H>‹K6:GQU`8hQ;@B&(@*#Kſu1I!?N?AQ?] Bu? ] BA?gC addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504094 s, deltaX: -0.200001 m, approachRate: -0.396753 m/s, rangeRepo size: 4 gC Added new target pos. range: 28.799999 m, bearing: 100.207830 deg, lat: 36.905997 deg, lon: -122.115845 deg, deltaT: 0.504094 s, deltaX: -0.200001 m, approachRate: -0.396753 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 28.80 m.ҊŠʊgC ProNav: ac range: 28.799999 m, nav range: 28.070576 m, bearing: 100.207830 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.079301 deg, new cmd heading: 90.149771 deg. gCHeadingCmd: 1.573410 target range: 28.799999 and range: 28.80 m.1DDD'DE E:6E'4:E!@!@!@!@e?"*R*<@7?checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827544ɢuBUQ I 'ɡiIXA% k<I I N >m DDAT read: Rx Time:21:35:58.5233 m TRx dataTimestamp_ set to:1754688959.101768u PDAT read: Bearing 259.8, 14.1 (Local) } ~Local bearing/azimuth received: Bearing 259.8, 14.1 (Local)  DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.5  DAT read: 21:35:58.5233 LVL= 24736, 30993, 26722, 32755, AGC= 59, IDX= 498, 0.09,-2.195, 2.112,-2.437,-2.612, PHS= 0.519,-1.514, 0.131, RAW= 139.7, 9.3, CAL= 139.2, 10.2, ROT= 10.8, -10.2  Ygot valid direction response: 21:35:58.5233 LVL= 24736, 30993, 26722, 32755, AGC= 59, IDX= 498, 0.09,-2.195, 2.112,-2.437,-2.612, PHS= 0.519,-1.514, 0.131, RAW= 139.7, 9.3, CAL= 139.2, 10.2, ROT= 10.8, -10.2 Թ  T#Rx 16: Read range and direction messages. \direction in FSK: [0.966763,0.184420,0.177085] Fpublishing direction and range infoi m p??ki?m 3Ai Im `im ym bhi m ;m /? m )m $>f,_{o%AI @i|@A>Ii)?^.?g7R#v%A> IiFchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.127808/kBIiIԑ!5!5 !5!5 !5!5 !5!5 5Mb@Mb@Mb@1 1)1I1i15ʡE?"~j?~jth?5?5S=5D;)5vPAI1i159A 15BABD6D2Y<!*=Q)>99GY GA>Q 1z4٪N?Q 5z4-  BQ =T:9< ?Q A:Yt?Q E?yՀC)8;I;i`z4Y B  @ EEz^o%A3Aʋb?2nct;@8U9@R E@"p??ki?A>‹:bDϋWΡO!'E;@D@*HDĿ)+{?7*?)A:?֨$_ B ֨$_ A?gC addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.504135 s, deltaX: -0.400000 m, approachRate: -0.793437 m/s, rangeRepo size: 4 gC Added new target pos. range: 28.400000 m, bearing: 100.254584 deg, lat: 36.905997 deg, lon: -122.115845 deg, deltaT: 0.504135 s, deltaX: -0.400000 m, approachRate: -0.793437 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 28.40 m.ҊŠʊgC  ProNav: ac range: 28.400000 m, nav range: 27.712816 m, bearing: 100.254584 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.149768 deg, new cmd heading: 90.239770 deg.  gCHeadingCmd: 1.574981 target range: 28.400000 and range: 28.40 m.?"9*E|BRA*AAE`ff<@MZ ?ԹrDjDDDD*DE; E5:6E(N4:E"EeA 0<DDAT read: Rx Time:21:35:59.0232 TRx dataTimestamp_ set to:1754688959.608461PDAT read: Bearing 260.0, 13.9 (Local) ~Local bearing/azimuth received: Bearing 260.0, 13.9 (Local) DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5 DAT read: 21:35:59.0232 LVL= 26000, 30289, 28210, 32755, AGC= 59, IDX= 497, 0.15,-0.978,-2.953,-1.203,-1.388, PHS= 0.511,-1.521, 0.140, RAW= 140.1, 9.3, CAL= 139.7, 10.2, ROT= 10.3, -10.2 Ygot valid direction response: 21:35:59.0232 LVL= 26000, 30289, 28210, 32755, AGC= 59, IDX= 497, 0.15,-0.978,-2.953,-1.203,-1.388, PHS= 0.511,-1.521, 0.140, RAW= 140.1, 9.3, CAL= 139.7, 10.2, ROT= 10.3, -10.2 T#Rx 17: Read range and direction messages.\direction in FSK: [0.968335,0.175976,0.177085]AAeyAIiIyN?f,wo%AJFpublishing direction and range infoaba? gd?ki?AIeiQv2n? !¿))\>IC~@i @X8>Ii)ew??=!?`>&X8> IiVchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.641200y=ީ?ٱ=?=į= Ľ=H@̑?%{?`|?`>`? ~?I=ީ?)=`];i=C8kBIBD!6Dr3Y-u<!-1=5ӼQ)5>5 H?95 H?9=GY9=N"=A=>AQ 1mz4٪E?Q 5mz4E)&  E B9qYu?Q Eu?yEC)Et:IE:iEbz4Yy}@yzo%AAʋb?2KN;@;d@ޚ^@"aba? gd?ki?X8>‹:3{2$ᬒ:@d[>E@*6Aſ%?n#u?A:?EJ` ?B:? B?A@v?gC5 addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.506693 s, deltaX: -0.199999 m, approachRate: -0.394714 m/s, rangeRepo size: 4 gCm Added new target pos. range: 28.200001 m, bearing: 100.026755 deg, lat: 36.905998 deg, lon: -122.115845 deg, deltaT: 0.506693 s, deltaX: -0.199999 m, approachRate: -0.394714 m/s, posRepo size: 4 ڊigCmDNOT Ignoring new targets: 28.20 m.ҊiŠqʊqgC ProNav: ac range: 28.200001 m, nav range: 27.406176 m, bearing: 100.026755 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.239769 deg, new cmd heading: 90.323437 deg. gCHeadingCmd: 1.576441 target range: 28.200001 and range: 28.20 m.?"*R*@33<@s?ɢ-EuB-P 15 I1 5Pɡ1i1I5Yg~BB7IB!lBB6 =BBB,;BD!=A I% Ai) 1 M r0Q @} A@} Ai MDDAT read: Rx Time:21:35:59.5229 MTRx dataTimestamp_ set to:1754688960.109650UPDAT read: Bearing 259.9, 13.5 (Local) ]~Local bearing/azimuth received: Bearing 259.9, 13.5 (Local) uDAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.5 DAT read: 21:35:59.5229 LVL= 24080, 28465, 27506, 32755, AGC= 59, IDX= 510, 0.23,-2.006, 2.312,-2.205,-2.412, PHS= 0.508,-1.514, 0.163, RAW= 140.8, 9.0, CAL= 140.4, 9.9, ROT= 9.6, -9.9 Ygot valid direction response: 21:35:59.5229 LVL= 24080, 28465, 27506, 32755, AGC= 59, IDX= 510, 0.23,-2.006, 2.312,-2.205,-2.412, PHS= 0.508,-1.514, 0.163, RAW= 140.8, 9.0, CAL= 140.4, 9.9, ROT= 9.6, -9.9 T#Rx 18: Read range and direction messages.\direction in FSK: [0.971314,0.164285,0.171929]Fpublishing direction and range infoI>Ah%IMnF@iM| >M @M;0>M+>M;0IIiI)M{ω?lw?47?Mb>M!M+> M;0IIiIchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.111257ԙAMAIQIaNu?|Af, p%AkkBI!%4K?9K?9GYA>Q 1z4٪?Q 5z4  B9!?Q A:Y?Q E?y'C):I:iz4YB @@ HEzY]p%A]fAʋ] ?2]ǧB;@J7D@PV@"]2 ?+UN?!?]+>‹];0:]"^[uH߫?҅'Lx?]*A]]*?]}^ ]B]Q? Y]B]hA],~?gC] addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.501189 s, deltaX: -0.400002 m, approachRate: -0.798105 m/s, rangeRepo size: 4 gCm Added new target pos. range: 27.799999 m, bearing: 100.040607 deg, lat: 36.905998 deg, lon: -122.115845 deg, deltaT: 0.501189 s, deltaX: -0.400002 m, approachRate: -0.798105 m/s, posRepo size: 4 ڊigCuDNOT Ignoring new targets: 27.80 m.ҊqŠqʊqgC ProNav: ac range: 27.799999 m, nav range: 27.051233 m, bearing: 100.040607 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.323439 deg, new cmd heading: 90.421525 deg. gCHeadingCmd: 1.578153 target range: 27.799999 and range: 27.80 m.?"*|BR*;@E@/N?ɢmhuBm#@ u$=uIq u4ɡqiqIunA bި<ԩAA II Ia Nm > = DDAT read: Rx Time:21:36:00.0228 = TRx dataTimestamp_ set to:1754688960.613555E PDAT read: Bearing 259.9, 12.9 (Local) M ~Local bearing/azimuth received: Bearing 259.9, 12.9 (Local) f f,n'p%A&DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 JDAT read: 21:36:00.0228 LVL= 24368, 32337, 23794, 32755, AGC= 58, IDX= 509, 0.27,-1.003,-2.926,-1.166,-1.394, PHS= 0.493,-1.487, 0.183, RAW= 141.6, 8.8, CAL= 141.2, 9.7, ROT= 8.8, -9.7 NYgot valid direction response: 21:36:00.0228 LVL= 24368, 32337, 23794, 32755, AGC= 58, IDX= 509, 0.27,-1.003,-2.926,-1.166,-1.394, PHS= 0.493,-1.487, 0.183, RAW= 141.6, 8.8, CAL= 141.2, 9.7, ROT= 8.8, -9.7 yV?ٱVd ?VTV(VH@Վ?`f@t?O?? ?`N?IV?)Vg];iVC-T#Rx 19: Read range and direction messages.5\direction in FSK: [0.974100,0.150799,0.168489]5Fpublishing direction and range infoqu2fL+?$f6^M?RV?uAqIu0_iuQ~u\qu:uj> uV)uZd;>Iu2+@iunF>uϸ@u-\->unF>u-\-Iqiq)ur]Ld? P?U)/2?uM>uGunF> u-\-IqiqMchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.636556}wkB}IBD6D\3ԹY<!L=4{Q)>99GY G<A>Q 1z4٪-?Q 5z4Y  %B9Y?Q E?yGC)y:Ip:iz4Y@!zqu|D'p%AuAʋuq!?2uu!:@~1@R @"u2fL+?$f6^M?RV?unF>‹u-\-:ulprϠhr:@ut6@*uDcÿ76=?-hF?uAu˅u:+?u c] uBu:? u}^ qu+Au?gC= addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503905 s, deltaX: -0.199999 m, approachRate: -0.396898 m/s, rangeRepo size: 4 gCm Added new target pos. range: 27.600000 m, bearing: 99.601400 deg, lat: 36.906000 deg, lon: -122.115845 deg, deltaT: 0.503905 s, deltaX: -0.199999 m, approachRate: -0.396898 m/s, posRepo size: 4 ڊqgCuDNOT Ignoring new targets: 27.60 m.ҊqŠyʊygC ProNav: ac range: 27.600000 m, nav range: 26.771164 m, bearing: 99.601400 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.421528 deg, new cmd heading: 90.499522 deg. gCHeadingCmd: 1.579515 target range: 27.600000 and range: 27.60 m.-?"*R*;@`?ɢ5uB5W 15 I9 =R'ɡ9i9I=S]u>vB ~B B VIB TlBB 5 =B B B );B DBQBQBQBU5 =BU5 =BUl4I ?i   0 >A%ȷ<]DDAT read: Rx Time:21:36:00.5225 eTRx dataTimestamp_ set to:1754688961.119433uPDAT read: Bearing 260.0, 12.3 (Local) u~Local bearing/azimuth received: Bearing 260.0, 12.3 (Local) DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.5 DAT read: 21:36:00.5225 LVL= 24960, 32753, 30514, 32755, AGC= 58, IDX= 506, 0.28,-2.015, 2.349,-2.147,-2.396, PHS= 0.483,-1.493, 0.205, RAW= 142.5, 8.7, CAL= 142.1, 9.6, ROT= 7.9, -9.6 Ygot valid direction response: 21:36:00.5225 LVL= 24960, 32753, 30514, 32755, AGC= 58, IDX= 506, 0.28,-2.015, 2.349,-2.147,-2.396, PHS= 0.483,-1.493, 0.205, RAW= 142.5, 8.7, CAL= 142.1, 9.6, ROT= 7.9, -9.6 T#Rx 20: Read range and direction messages.\direction in FSK: [0.976638,0.135520,0.166769]Fpublishing direction and range infoae 9.@?,ϧIX?8_X?eAaIeaiee2waaeK> e)eQ>Ie,@ie|>e,@e+>e0 >e+Iaia)eY6?ʸd=?]ho?eY\>ee0 > e+Iaia}checking for new query: numPingsReceived=20, elapsed TxPingTime=12.133619AQIaIqN?vf,%Lp%ALy^?ٱ^h1?^ʽ^A^Hࢫ{?:*?`?[9?N᷿ >?I^?)^Nr];i^CzkBzIi|I|%Mb@Mb@Mb@! !)!I!i!%Mb? rh?~jt?% ?%C=%D<)%NAI!i%IA! !%@ABD]6D]:3Y><!=8Q)>99GYc<A>Q 1{4٪ꈺ?Q 5{4  :B9{!?Q A:YD?Q E?ywC)Q:I:i {4YB@GEzaeʤGp%AeAʋe+?2e(0Z:@l}5} @c= $@"e 9.@?,ϧIX?8_X?e0 >‹e+:e#iX@nM3 :@z)/@*eup¿.?v}8^(?eiAeze>?e$^ eKBe*? aeBeAe5?gCm addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.505878 s, deltaX: -0.400000 m, approachRate: -0.790704 m/s, rangeRepo size: 4 gC} Added new target pos. range: 27.200001 m, bearing: 99.367485 deg, lat: 36.906002 deg, lon: -122.115845 deg, deltaT: 0.505878 s, deltaX: -0.400000 m, approachRate: -0.790704 m/s, posRepo size: 4 ڊygCDNOT Ignoring new targets: 27.20 m.ҊŠʊgC ProNav: ac range: 27.200001 m, nav range: 26.374159 m, bearing: 99.367485 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.499522 deg, new cmd heading: 90.604094 deg. ԹgCHeadingCmd: 1.581340 target range: 27.200001 and range: 27.20 m.Wi?"*|BR*@33;@?ɢeuBe-dD aeT"Ia mG3ɡiiiImc|4RE /DDDDEM; Eخ:6E:E"EA )<A! 5 DDAT read: Rx Time:21:36:01.0223 5 TRx dataTimestamp_ set to:1754688961.622025A E PDAT read: Bearing 260.9, 11.5 (Local) M ~Local bearing/azimuth received: Bearing 260.9, 11.5 (Local) ] DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 } DAT read: 21:36:01.0223 LVL= 27408, 30961, 30146, 32755, AGC= 58, IDX= 504, 0.23,-1.475, 2.906,-1.570,-1.815, PHS= 0.443,-1.518, 0.201, RAW= 143.5, 9.5, CAL= 143.1, 10.3, ROT= 6.9, -10.3  Ygot valid direction response: 21:36:01.0223 LVL= 27408, 30961, 30146, 32755, AGC= 58, IDX= 504, 0.23,-1.475, 2.906,-1.570,-1.815, PHS= 0.443,-1.518, 0.201, RAW= 143.5, 9.5, CAL= 143.1, 10.3, ROT= 6.9, -10.3  T#Rx 21: Read range and direction messages. \direction in FSK: [0.976759,0.118201,0.178802] Fpublishing direction and range info1 5 1z]IA?)ۼiB??5 3A1 I5 ki5 x5 u1 1 5 > 5 M¿)5 M>I5 J @i5 )>5 @5 X8>5 Ϣ=5 X8I1 i1 )5 r ?^N,?9i?5 >5 M)5 Ϣ= 5 X8I1 i1  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.615529I I N >f,.ip%Ayza?ٱz?z1pѽzFzHUg?I2*?5? Y"?g@?Iza?)zud];izC kBIBDe 6Def2Yu=!uD=u$ Q)}>y9!9%GY%G-t<A->1Q 1={4٪5o?Q 5={45J  5IB9AYE?Q EE?y5C)5;I5D;i5@{4Y]B]@YzBgp%A3Aʋq?2AҍZF:@Ԭuo @^6=@"1z]IA?)ۼiB??Ϣ=ԙ‹X8:xbv\ 9@hm&@*·}yO`?O f?Ab[?w` &B:+? ?BA'V?gC addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.502592 s, deltaX: -0.300001 m, approachRate: -0.596908 m/s, rangeRepo size: 4 gC Added new target pos. range: 26.900000 m, bearing: 99.075382 deg, lat: 36.906003 deg, lon: -122.115845 deg, deltaT: 0.502592 s, deltaX: -0.300001 m, approachRate: -0.596908 m/s, posRepo size: 4 ڊ gC DNOT Ignoring new targets: 26.90 m.Ҋ Š1ʊ1gCE ProNav: ac range: 26.900000 m, nav range: 26.075115 m, bearing: 99.075382 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.604092 deg, new cmd heading: 90.682582 deg. AgCMHeadingCmd: 1.582710 target range: 26.900000 and range: 26.90 m.M;?IIIIqq"q*yRy*yy`f:@ↅ@Ab?ɢuBY  !I <ɡi!I%mA5 & =DDAT read: Rx Time:21:36:01.5220 TRx dataTimestamp_ set to:1754688962.126240PDAT read: Bearing 260.1, 10.6 (Local) ~Local bearing/azimuth received: Bearing 260.1, 10.6 (Local) DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.6 DAT read: 21:36:01.5220 LVL= 22944, 32305, 25266, 32755, AGC= 58, IDX= 501, 0.16,-2.598, 1.806,-2.645,-2.944, PHS= 0.447,-1.489, 0.254, RAW= 144.8, 8.6, CAL= 144.4, 9.3, ROT= 5.6, -9.3 Ygot valid direction response: 21:36:01.5220 LVL= 22944, 32305, 25266, 32755, AGC= 58, IDX= 501, 0.16,-2.598, 1.806,-2.645,-2.944, PHS= 0.447,-1.489, 0.254, RAW= 144.8, 8.6, CAL= 144.4, 9.3, ROT= 5.6, -9.3 T#Rx 22: Read range and direction messages.%\direction in FSK: [0.982146,0.096300,0.161604]QAIIN?i"f,p%AFpublishing direction and range infow!m?d#!?o?3AIYi1~b/> )J >I?!@i`>K!@6&>+=6&Ii)r-ڸ?o]?s5?!>L+= 6&Ii&checking for new query: numPingsReceived=22, elapsed TxPingTime=13.145320kBIC==Mb@Mb@Mb@ )Iiףp= ?)\(?Mb??Ga=<)3MAIiKA5A @ABD6DP)3YeI+<!m =mQ)m>i9q9uGYquAu>Q 1{4٪ۃ?Q 5{4-  _B9e?Q A:Y\?Q E?yǁC)H:I{:i/{4Yu@zQp%A3Aʋk?2o9@|1V@@@"w!m?d#!?o?+=‹6&:ɫXpd9@坘@*p^NQ?O]A?#A7BDҒ?/_ "B>? "BA[?gCe addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504215 s, deltaX: -0.500000 m, approachRate: -0.991640 m/s, rangeRepo size: 4 gC Added new target pos. range: 26.400000 m, bearing: 98.636251 deg, lat: 36.906005 deg, lon: -122.115845 deg, deltaT: 0.504215 s, deltaX: -0.500000 m, approachRate: -0.991640 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 26.40 m.ҊŠʊgCu ProNav: ac range: 26.400000 m, nav range: 25.694208 m, bearing: 98.636251 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.682584 deg, new cmd heading: 90.784742 deg. qgC}HeadingCmd: 1.584493 target range: 26.400000 and range: 26.40 m.}?y"*|BRDDD*DE1; E:6E(N4:E"EkA ]=eDDAT read: Rx Time:21:36:02.0219 mTRx dataTimestamp_ set to:1754688962.629688uPDAT read: Bearing 260.2, 9.8 (Local) u~Local bearing/azimuth received: Bearing 260.2, 9.8 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.6 DAT read: 21:36:02.0219 LVL= 21920, 31729, 24882, 32755, AGC= 57, IDX= 500, 0.09,-1.636, 2.788,-1.642,-1.963, PHS= 0.429,-1.487, 0.277, RAW= 145.9, 8.5, CAL= 145.5, 9.3, ROT= 4.5, -9.3 Ygot valid direction response: 21:36:02.0219 LVL= 21920, 31729, 24882, 32755, AGC= 57, IDX= 500, 0.09,-1.636, 2.788,-1.642,-1.963, PHS= 0.429,-1.487, 0.277, RAW= 145.9, 8.5, CAL= 145.5, 9.3, ROT= 4.5, -9.3 T#Rx 23: Read range and direction messages.\direction in FSK: [0.983814,0.077428,0.161604]Fpublishing direction and range infoimqIf{?mҋOҳ?o?mfAiImUim{m2aim9m> mV)mҍ>Im"@im>mj"@im|٠=iIiii)m$}w?m%m|٠= iIiiichecking for new query: numPingsReceived=23, elapsed TxPingTime=13.623164A1I9IQN]?*f,Up%Ay^U~?ٱ^?^<ཹ^k½^H?Iqf%@?y?U@D?G?I^U~?)^y];i^CakBIBD6DYM=!=NWQ)>99GYS<A>Q 1{4٪%?Q 5{4S  uB9YH?Q E?yC);I;iB{4Y @ zLp%AfAʋh?29@d(rJ@7K/@"qIf{?mҋOҳ?o?|٠=‹:āL4tD9@iQ^]@*yP xj?;ҥ?#Ad"]S?:Y B[? $^ KBA?gC addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503448 s, deltaX: -0.100000 m, approachRate: -0.198631 m/s, rangeRepo size: 4 gC Added new target pos. range: 26.299999 m, bearing: 97.899934 deg, lat: 36.906008 deg, lon: -122.115845 deg, deltaT: 0.503448 s, deltaX: -0.100000 m, approachRate: -0.198631 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 26.30 m.ҊŠDDD+DE; E':6E [4:E!@!@!@!@ʊgC ProNav: ac range: 26.299999 m, nav range: 25.336498 m, bearing: 97.899934 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.784743 deg, new cmd heading: 90.882070 deg. ԑchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.858958gCHeadingCmd: 1.586191 target range: 26.299999 and range: 26.30 m.Q?"*R*L:@ٖ?i=IC))vBa~BeCBeIBelBBaBaBaBe<;BeD )I6zAM ?U A ɢ= vBE G Q U "I Uɡ i I  mҽ)mz>Im#@iim.k#@im A=iIiii)maT>E?*p? ?m>mm A= iIiiichecking for new query: numPingsReceived=24, elapsed TxPingTime=14.126949>AM=AAyIIN$?4f,p%Ay:6g?ٱ:ۃ?:ˑ:hŽ:H|L?使`?`x ?I:6g?):7];i:C@F3AiF,IDDIDiF/A J'H)HH HLLLLNAIN)PiP)PIRARףP PTTV 0iTTiXX)t ID}D}D}*DyE}I; E}5:6E}(N4:Ey"E}Vjuchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.36292099GYGK<A>Q 1{4٪/?Q 5{4  B9$?Q A:Yx_?- A) I- PTi- x- \) ) - > - %)- v>I- Us)@i- 9>- )@- I>- G@- II) i) )- eD?8l??! ?- ?- i9- *ȼ - II) i)  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.638788q >A y=AyAI!I9NE>I H?9 H?9GYq;A>Q 1{4٪w}?Q 5 {4  B9 Y ?Q E?yGC)X;I;ig{4Y;@zimp%AmAʋmN?2mY19@g g$$@"mb^?l>x_?m*ȼchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.866996‹mI:m`]r6VοRJg8@O(_ @*msFA₿foc?Wޫ ?m>Amrm/~i?m^ m$Bm]S? m^ m؃BmCAmU?gC addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503831 s, deltaX: -0.099998 m, approachRate: -0.198476 m/s, rangeRepo size: 4 gC  Added new target pos. range: 25.700001 m, bearing: 95.833923 deg, lat: 36.906017 deg, lon: -122.115845 deg, deltaT: 0.503831 s, deltaX: -0.099998 m, approachRate: -0.198476 m/s, posRepo size: 4 ڊ gCDNOT Ignoring new targets: 25.70 m.ҊŠʊagC} ProNav: ac range: 25.700001 m, nav range: 24.532774 m, bearing: 95.833923 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 90.989977 deg, new cmd heading: 91.072856 deg. ԉygCHeadingCmd: 1.589521 target range: 25.700001 and range: 25.70 m.nu?A A AAvB>~BCBIBmBBBBB=;B"*R* ]@39@e"?ԹɢSvBX #I 4lɡiI M q=)M G>IM ~%@iM >M %@M l$>M nF=M l$II iI )M +m?Y\?;?M >M uM nF= M l$II iI  checking for new query: numPingsReceived=26, elapsed TxPingTime=15.135390 >A [1=AAIIN?3Df,q%A,DDD'DE; E :6E'4:E"Eb-K?9-K?9-GY-G5A5>AQ 1M{4٪E9|?Q 5U{4EA  EB9]&?Q A]:Y]H?Q E]?yEuC)E_;IEK;iE2{{4Yqu@qz q%AAʋ ?208@|Ǝ?0Tdz@"FU樐?!ef?Čsv?nF=‹l$:c /Wa"08@@' s@*؀qBk?[.m?Axٿ ?CZ ׃B&߻? Y] ׃BA](?gC addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504440 s, deltaX: -0.500000 m, approachRate: -0.991198 m/s, rangeRepo size: 4 gC  Added new target pos. range: 25.200001 m, bearing: 95.414336 deg, lat: 36.906018 deg, lon: -122.115845 deg, deltaT: 0.504440 s, deltaX: -0.500000 m, approachRate: -0.991198 m/s, posRepo size: 4 ڊ gCDNOT Ignoring new targets: 25.20 m.ҊŠʊgC% ProNav: ac range: 25.200001 m, nav range: 24.190968 m, bearing: 95.414336 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 91.072854 deg, new cmd heading: 91.185338 deg. !gC-HeadingCmd: 1.591484 target range: 25.200001 and range: 25.20 m.-õ?)11111"9*=}BR9*9AE@339@E?ɢmpvBme q}=#Iy }vɡyiyI}> ~) >I p'@i > &@ V> +< VI i ) ˩+|?Ƹd? >)? ?  +< VI i E checking for new query: numPingsReceived=27, elapsed TxPingTime=15.638941Y >A ;6=ԉ A%yAI)I9NM>Lf,P2q%AyzS?ٱz,?z,zzoɽzHP f"?@ڐ%t??IzS?)zK{];izC5XlB5YIBD 6D:2Yu=!A=GQ)> H?9 H?9GYڹ<A>Q 1{4٪{?Q 5{4  ֎B9Y?Q E?yC)G;I%H;i{4Y !@D5D5D5<D1E5a; E5^:6E5 4:E1!E@!E@!E@!E@zR)q%A3Aʋwo?2FI8@ V?~y @"z4?:08?'ЌCz?+<‹V:- շ7@O*M@*AS ?BS8?AȘi{?Z B ? CZ ͿA?gC addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503601 s, deltaX: -0.300001 m, approachRate: -0.595712 m/s, rangeRepo size: 4 gC Added new target pos. range: 24.900000 m, bearing: 94.030607 deg, lat: 36.906024 deg, lon: -122.115844 deg, deltaT: 0.503601 s, deltaX: -0.300001 m, approachRate: -0.595712 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 24.90 m.ҊŠʊgC ProNav: ac range: 24.900000 m, nav range: 23.975452 m, bearing: 94.030607 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 91.185341 deg, new cmd heading: 91.249443 deg. -checking for new query: numPingsReceived=27, elapsed TxPingTime=15.874855gCuHeadingCmd: 1.592603 target range: 24.900000 and range: 24.90 m.ul?yyyy"*R*`f8@?ɢevBmu qu"Iq }{~ɡyvB~BCBIB\mBBBBBI;BDiyI'A )= DDAT read: Rx Time:21:36:04.5208  TRx dataTimestamp_ set to:1754688965.151490 PDAT read: Bearing 259.4, 6.3 (Local)  ~Local bearing/azimuth received: Bearing 259.4, 6.3 (Local) % DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.6 U DAT read: 21:36:04.5208 LVL= 21152, 30897, 23826, 32755, AGC= 57, IDX= 504, 0.12, 0.479,-1.295, 0.660, 0.210, PHS= 0.371,-1.460, 0.406, RAW= 150.9, 7.4, CAL= 150.4, 7.9, ROT= 359.6, -7.9  Ygot valid direction response: 21:36:04.5208 LVL= 21152, 30897, 23826, 32755, AGC= 57, IDX= 504, 0.12, 0.479,-1.295, 0.660, 0.210, PHS= 0.371,-1.460, 0.406, RAW= 150.9, 7.4, CAL= 150.4, 7.9, ROT= 359.6, -7.9  T#Rx 28: Read range and direction messages. ^direction in FSK: [0.990485,-0.006915,0.137445] Fpublishing direction and range info SH?S(R|yjȗ? A I Ri x ] > Hế ) ;>I (@i A> '@ 0 > @ 0 I i ) y07?nSf,bNq%Ay6u?ٱ6?6u6ʽ6H`՛Y3?q/@9)@A?@?I6u?)6h];i6CBelBF`IMb@Mb@Mb@ )IiE?Q?~jt?&?<)bLAI1AibLA0A >ABD6D!3Y<!"=$ȻQ)>K?9K?9GYS;DmDmDm&DiEm; Em՚:6Em4:Ei"Em]_Q 1{4٪y?Q 5{4Y  B9&?Q A:Y?Q E?yÂC)/:I:i{4YBȻ@CEzIMIq%AMAʋMv?2M[W4]8@'²Q ſ @"MSH?S(R|yjȗ?M‹M0 :M^@-ΌL7@/T)G@*Mpʚ?rC&c?MAMPMW4?M#X MVBM{? IIMAMo?gCM addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.505814 s, deltaX: -0.299999 m, approachRate: -0.593102 m/s, rangeRepo size: 4 mchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.379679gC Added new target pos. range: 24.600000 m, bearing: 92.853469 deg, lat: 36.906028 deg, lon: -122.115844 deg, deltaT: 0.505814 s, deltaX: -0.299999 m, approachRate: -0.593102 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 24.60 m.ҊŠʊgC ProNav: ac range: 24.600000 m, nav range: 23.613493 m, bearing: 92.853469 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 91.249442 deg, new cmd heading: 91.343723 deg. gCHeadingCmd: 1.594249 target range: 24.600000 and range: 24.60 m.=X?99AAAI"I*M|BRq*qy}8@}@@?ɢvB?e $I ݕɡiIy4A J=rA >jA >= DDAT read: Rx Time:21:36:05.0206 = TRx dataTimestamp_ set to:1754688965.657622M PDAT read: Bearing 260.0, 5.9 (Local) U ~Local bearing/azimuth received: Bearing 260.0, 5.9 (Local) m DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.7  DAT read: 21:36:05.0206 LVL= 19888, 25313, 22210, 27491, AGC= 57, IDX= 502,-0.05,-0.552,-2.354,-0.346,-0.806, PHS= 0.356,-1.502, 0.416, RAW= 151.6, 7.8, CAL= 151.0, 8.3, ROT= 359.0, -8.3  Ygot valid direction response: 21:36:05.0206 LVL= 19888, 25313, 22210, 27491, AGC= 57, IDX= 502,-0.05,-0.552,-2.354,-0.346,-0.806, PHS= 0.356,-1.502, 0.416, RAW= 151.6, 7.8, CAL= 151.0, 8.3, ROT= 359.0, -8.3  T#Rx 29: Read range and direction messages. ^direction in FSK: [0.989375,-0.017270,0.144356] Fpublishing direction and range info9 = ?31%-'ЌCz?= fA9 I= Mi= b= V= ck9 = E> = A)= >I= V)@i= 'g >= +(@= V>= @= VI9 i9 )= x?c!?+T?=  ?=  = = VI9 i9 uchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.675709ԡA9IIIYNm?"[f,nq%Ay6߰?ٱ6Z?6= 6ޓ̽6HXv@? RnM?K@W?I6߰?)6n];i6C {lBnIiI BD%6D%2Y}P=!}A=}Q)}>99GYG;A>Q 1{4٪?x?Q 5{4P   B9Yp?Q E?yC):I:i{4Y)-@)izQU{jq%AUfAʋUC?2UK 8@`Dڿ] @"U?31%-'ЌCz?U‹UV:UÍqgU7@B@*U( L`??UAU%U.A?UVZ UBUW4? UVZ UBUɺAUq?gC addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.506132 s, deltaX: -0.300001 m, approachRate: -0.592733 m/s, rangeRepo size: 4 gC Added new target pos. range: 24.299999 m, bearing: 91.961630 deg, lat: 36.906031 deg, lon: -122.115843 deg, deltaT: 0.506132 s, deltaX: -0.300001 m, approachRate: -0.592733 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 24.30 m.ҊŠAʊAgC] ProNav: ac range: 24.299999 m, nav range: 23.348423 m, bearing: 91.961630 deg, approach rate: 0.000000 m/s, LOS rate: 0.060180 deg/s, cmd heading: 91.343726 deg, new cmd heading: 91.420448 deg. agCuHeadingCmd: 1.595588 target range: 24.299999 and range: 24.30 m.u9~BB$IBmBB4 =BBBQ;BDB]ƄCB]ƄCBYBYBYB]q5>A] QO= Iq I N >&bf,q%Ay6??ٱ60\?6 6BϽRDDAT read: Rx Time:21:36:05.5203 RTRx dataTimestamp_ set to:1754688966.161660ZPDAT read: Bearing 259.5, 6.2 (Local) Z~Local bearing/azimuth received: Bearing 259.5, 6.2 (Local) bDAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.6 vDAT read: 21:36:05.5203 LVL= 25632, 30113, 28402, 32755, AGC= 57, IDX= 499,-0.23,-1.324,-3.063,-1.119,-1.583, PHS= 0.361,-1.435, 0.420, RAW= 151.6, 7.2, CAL= 151.0, 7.6, ROT= 359.0, -7.6 zYgot valid direction response: 21:36:05.5203 LVL= 25632, 30113, 28402, 32755, AGC= 57, IDX= 499,-0.23,-1.324,-3.063,-1.119,-1.583, PHS= 0.361,-1.435, 0.420, RAW= 151.6, 7.2, CAL= 151.0, 7.6, ROT= 359.0, -7.6 zT#Rx 30: Read range and direction messages.~^direction in FSK: [0.991065,-0.017299,0.132256]~Fpublishing direction and range infoPR@ Ͷ?#9趑) ?R3APIR diRuRnRPRԸ> R)R= >IPiR>PR>PRIPiP)RL ? ?mϷ?Ro4 ?R\P6H@YT ?쓿@c¿?`?I6??)6];i6C%lB%}I RIPiP=checking for new query: numPingsReceived=30, elapsed TxPingTime=17.158602ԉMb@Mb@Mb@ )IiV-?99%GY!%;AE>IQ 1U{4٪Mv?Q 5U{4M7  M$B9]-?Q A]:Y]+?Q E]?yM C)M:IM,:iM{4YX@zPRXq%AR3AʋRA zS= I I N > if,q%Ayv?ٱv?vveҽvH@Mj̨?2`=k¿` ?V?Iv?)v];ivClBIBD6DJ2Y]!<!eO=eQ)e>i9i9mGYim;Am>qyQ 1{4٪}$u?Q 5{4}R  };B9Y?Q E?y}.C)}:I}B:i}j{4Y @D5B*** querying acoustic contact ***j1r1ڊAgCEDNOT Ignoring new targets: 23.90 m.ҊAŠM<ʊM<]DDAT read: Rx Time:21:36:06.0202 ]TRx dataTimestamp_ set to:1754688966.669617mPDAT read: Bearing 259.6, 5.6 (Local) m~Local bearing/azimuth received: Bearing 259.6, 5.6 (Local) }DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.7 DAT read: 21:36:06.0202 LVL= 25728, 31473, 27202, 32755, AGC= 59, IDX= 498,-0.40, 0.354,-1.416, 0.594, 0.105, PHS= 0.351,-1.476, 0.445, RAW= 152.5, 7.3, CAL= 151.9, 7.7, ROT= 358.1, -7.7 Ygot valid direction response: 21:36:06.0202 LVL= 25728, 31473, 27202, 32755, AGC= 59, IDX= 498,-0.40, 0.354,-1.416, 0.594, 0.105, PHS= 0.351,-1.476, 0.445, RAW= 152.5, 7.3, CAL= 151.9, 7.7, ROT= 358.1, -7.7 T#Rx 31: Read range and direction messages.^direction in FSK: [0.990438,-0.032856,0.133986]Fpublishing direction and range infoY]'ի?^EtҠL`u&?]AYI]di]z]BjY];]F> ])] >I]X*@i]w>])@] >]3@] IYiY)]Id?#h(U ?E?]'?]] ] IYiYchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.662487gC ProNav: ac range: 23.900000 m, nav range: 22.778492 m, bearing: 91.918015 deg, approach rate: -0.697286 m/s, LOS rate: -0.057367 deg/s, cmd heading: 91.505021 deg, new cmd heading: 91.440314 deg. {gCHeadingCmd: 1.595935 target range: 23.900000 and range: 23.90 m.G?!!!!!a"i*iRi*qqu@37@um?ɢvBJۂ t%I ɡiIA mY= checking for new query: numPingsReceived=31, elapsed TxPingTime=17.899721Ia Iy N >vB >~B CB JIB mBB 5 =B B B B 5of,̿q%Ayr\?ٱr?rKrսrH@ţc6`O?b9¿@Ir?b`d~?Ir\?)r];irC~lB~I=R=I =) =BDU6DU 3Y}=!H=Q)>99GYG;A>Q 1{4٪s?Q 5%{4  TB91Y5?Q E=?yQC) oIm<+@imϢ=mJ*@m>mЍ@mIiii)mHK&?pp?R?m"?m'mQA mIiii]checking for new query: numPingsReceived=32, elapsed TxPingTime=18.182755)YI @i   :0 9Q rD <jD <D D D +D E ; E :6E [4:E "E ! E ! *E A5 Qf=I I % checking for new query: numPingsReceived=32, elapsed TxPingTime=18.404236N >vf,Xq%Ay^aJ?ٱ^g?^w\^aؽ^Hu i@?`4`Jÿ?@|y?I^aJ?)^];i^C5lBi=I Mb@Mb@Mb@  ) I i  oʡ?? rh? -? < C<) I i 3MA   =ABD%6D%!3Y-~<!5(=5׻Q)5>9999=GY9E;AE>IQ 1M{4٪MVq?Q 5U{4M  MoB9U:-?Q AU:YU?Q E]?yMzC)M; ;IM;iM{4Yae@azq%A̸Aʋ?2wet6@4E,HU])@"4Ža?HJ#cK ?QA‹:j2IĿY*66@,S@*RLf |o+ ?ۉ?AI"hc?2`Y  B.A? 2`Y VBƱA-R?gC addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504093 s, deltaX: -0.600000 m, approachRate: -1.190257 m/s, rangeRepo size: 4 gC Added new target pos. range: 23.100000 m, bearing: 91.458834 deg, lat: 36.906033 deg, lon: -122.115843 deg, deltaT: 0.504093 s, deltaX: -0.600000 m, approachRate: -1.190257 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 23.10 m.ҊŠʊgC ProNav: ac range: 23.100000 m, nav range: 22.221918 m, bearing: 91.458834 deg, approach rate: 0.000000 m/s, LOS rate: -0.057367 deg/s, cmd heading: 91.361601 deg, new cmd heading: 91.288786 deg. gCHeadingCmd: 1.593290 target range: 23.100000 and range: 23.10 m.?"*|BR*7@˙?ɢ-"wB-4D 15&I1 5 ɡ1i1I5˦ I)X>I>+@i=+@5=T@5Ii)켢l?ث;?A r=I I! N- > L|f,q%AyN>?ٱN?NբNcݽNHnT3칿?SK ÿ`A?Rns?IN>?)N*];iNClBIBD)6D)Y5=!=s==Q)=?A9A9EGYAE;AM?IQ 1U{4٪Mo?Q 5]{4MÜ  MB9YY]?Q E]?yMC)M';IM;iMc{4YeBm@mEEz_q%AAʋe[?2C@*t3(b#Qɧ ?AW$?APsk?_V B N? $BAc?gC addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504007 s, deltaX: -0.100000 m, approachRate: -0.198411 m/s, rangeRepo size: 4 gC Added new target pos. range: 23.000000 m, bearing: 91.041918 deg, lat: 36.906034 deg, lon: -122.115843 deg, deltaT: 0.504007 s, deltaX: -0.100000 m, approachRate: -0.198411 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 23.00 m.ҊDDDDE; E:6E:E!@!@!@!@ŠʊgC ProNav: ac range: 23.000000 m, nav range: 21.994953 m, bearing: 91.041918 deg, approach rate: 0.000000 m/s, LOS rate: -0.057367 deg/s, cmd heading: 91.288784 deg, new cmd heading: 91.230927 deg. gC HeadingCmd: 1.592280 target range: 23.000000 and range: 23.00 m. ?     "*R!*!)-7@5`4d?checking for new query: numPingsReceived=33, elapsed TxPingTime=18.907900)5G Q)aIiu\|Aɢ8wB= AAvB~BBoIBnBBBBBB顥3%I MɡIiQI]< >Ii/@=@>A DDAT read: Rx Time:21:36:07.5194  TRx dataTimestamp_ set to:1754688968.182599 PDAT read: Bearing 259.5, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 259.5, 4.7 (Local) >A Pڀ= DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.6 Y  DAT read: 21:36:07.5194 LVL= 26992, 32753, 27026, 32755, AGC= 59, IDX= 506, 0.16, 0.253,-1.501, 0.551, 0.024, PHS= 0.330,-1.480, 0.483, RAW= 154.0, 7.1, CAL= 153.4, 7.4, ROT= 356.6, -7.4  Ygot valid direction response: 21:36:07.5194 LVL= 26992, 32753, 27026, 32755, AGC= 59, IDX= 506, 0.16, 0.253,-1.501, 0.551, 0.024, PHS= 0.330,-1.480, 0.483, RAW= 154.0, 7.1, CAL= 153.4, 7.4, ROT= 356.6, -7.4  T#Rx 34: Read range and direction messages. ^direction in FSK: [0.989926,-0.058812,0.128796] Fpublishing direction and range info K܊x?[&eOZ_|? A I pii  i ; > p) K>I ,@i = uY+@ A> )@ AI i ) ޼t Q?5W?S? ? S s AI i  checking for new query: numPingsReceived=34, elapsed TxPingTime=19.197235AI IY Ii Nu >f,`<r%Ayfز?ٱf}?fffH MC A ?4@B!ĿS?@:@Pn?Ifز?)f];idlB Ii I  11UMb@Mb@Mb@Q Q)QIQiQU(\?L7A`?y&1?U.?U+=U`e<)UJAIUA.AiQU,A QU99GYGy;A>Q 1|4٪m?Q 5|4  B9R.?Q A:Y?Q E%?yƒC);Iq;i|4Y)-η@1z r%AAʋ ?2E6@(,.@"K܊x?[&eOZ_|?s‹ A:/p?Kʽ5@c/@* \&'??$?]t8Ly7?A;^m?[ CBhc? IAAM b$= DDAT read: Rx Time:21:36:08.0193  TRx dataTimestamp_ set to:1754688968.686909 PDAT read: Bearing 259.3, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 259.3, 4.2 (Local)  DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.6 5 DAT read: 21:36:08.0193 LVL= 24800, 29825, 24978, 32755, AGC= 58, IDX= 505, 0.03, 1.315,-0.474, 1.647, 1.087, PHS= 0.330,-1.516, 0.516, RAW= 154.7, 6.9, CAL= 154.1, 7.1, ROT= 355.9, -7.1 = Ygot valid direction response: 21:36:08.0193 LVL= 24800, 29825, 24978, 32755, AGC= 58, IDX= 505, 0.03, 1.315,-0.474, 1.647, 1.087, PHS= 0.330,-1.516, 0.516, RAW= 154.7, 6.9, CAL= 154.1, 7.1, ROT= 355.9, -7.1 = T#Rx 35: Read range and direction messages.M ^direction in FSK: [0.989792,-0.070949,0.123601]M Fpublishing direction and range info b`?^8\)A7X? 3A I `i t a : J ¿) ?I 3,@i Ϣ= !,@ = @ I i ) ƍ\??D\U? qB?  i I i m checking for new query: numPingsReceived=35, elapsed TxPingTime=19.686321 AIIN>]f,x|0r%AyV?ٱV4?V V[VH8CW G?rVĿ? 5`h?IV?)Vr];iVCrmBrIBDu6Du1YU=!5=ջQ)>99GYQ;A>Q 1|4٪~j?Q 5|4  B9Y?Q E?yC);I;i|4 Y@CEzaeQ+r%Ae3Aʋe7?2eq+6@5=tmi >&@"eb`?^8\)A7X?ei‹e:e\?\bYz5@ԃIl@*el?Ȯ?ڈj)?eҫAev>e~?eˍ9V e=Besk? eˍ9V e=BeҫAet?gC% addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504310 s, deltaX: -0.100000 m, approachRate: -0.198291 m/s, rangeRepo size: 4 gC= Added new target pos. range: 22.400000 m, bearing: 89.969577 deg, lat: 36.906037 deg, lon: -122.115842 deg, deltaT: 0.504310 s, deltaX: -0.100000 m, approachRate: -0.198291 m/s, posRepo size: 4 ڊagCeDNOT Ignoring new targets: 22.40 m.ҊaŠiʊigC} ProNav: ac range: 22.400000 m, nav range: 21.477930 m, bearing: 89.969577 deg, approach rate: -0.000000 m/s, LOS rate: -0.057367 deg/s, cmd heading: 91.143615 deg, new cmd heading: 91.063725 deg. ygCHeadingCmd: 1.589362 target range: 22.400000 and range: 22.40 m.5p?"*R*`ff6@↽N?ɢ%mwB% !%%I) - ɡ)i)I5M_A T=ԑ 5 DDAT read: Rx Time:21:36:08.5190 5 TRx dataTimestamp_ set to:1754688969.189584= PDAT read: Bearing 259.4, 4.8 (Local) E ~Local bearing/azimuth received: Bearing 259.4, 4.8 (Local) U DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.6 u DAT read: 21:36:08.5190 LVL= 26720, 31729, 26722, 32755, AGC= 58, IDX= 502,-0.08,-0.664,-2.389,-0.355,-0.889, PHS= 0.327,-1.455, 0.490, RAW= 154.3, 6.9, CAL= 153.7, 7.1, ROT= 356.3, -7.1 } Ygot valid direction response: 21:36:08.5190 LVL= 26720, 31729, 26722, 32755, AGC= 58, IDX= 502,-0.08,-0.664,-2.389,-0.355,-0.889, PHS= 0.327,-1.455, 0.490, RAW= 154.3, 6.9, CAL= 153.7, 7.1, ROT= 356.3, -7.1  T#Rx 36: Read range and direction messages. ^direction in FSK: [0.990264,-0.064038,0.123601] Fpublishing direction and range info1 5 /!=?"+dA7X?5 3A1 I5 `hi5 {5 bh1 1 5 l> 5 q=)5 H>I5 Z,@i1 5 >+@1 5 @1 I1 i1 )5 GjMf,Mr%AIi\bchecking for new query: numPingsReceived=36, elapsed TxPingTime=20.209681y~?ٱU?}&Hҩ  e?@BMſB?@_?I~?)];iC*mBIMb@Mb@Mb@ )Iish|??Zd;O?Mb?)?j<=<)IAI,AiNA+A ;A)) -BABD5 6D52YE X=!E=E6Q)M>i9i9mGYmGu;Au>yQ 1|4٪}g?Q 5|4}R  }ڏB9p*?Q A:Y?Q E?y}C)}e`;I}_;i}c&|4Yʵ@z%"Lr%A3Aʋ?2Uk6Я5@UUpa!@"/!=?"+dA7X?)A‹:y+F?]4@ϐJI@*0m1cE?ئI?HTeXy?A1j<6h?j2Z 9B 2`Y 9B4A?gC5 addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.502675 s, deltaX: -0.500000 m, approachRate: -0.994678 m/s, rangeRepo size: 4 gCE Added new target pos. range: 21.900000 m, bearing: 89.856224 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 0.502675 s, deltaX: -0.500000 m, approachRate: -0.994678 m/s, posRepo size: 4 ڊigCmDNOT Ignoring new targets: 21.90 m.ҊiŠqʊqgC ProNav: ac range: 21.900000 m, nav range: 21.025743 m, bearing: 89.856224 deg, approach rate: -0.000000 m/s, LOS rate: -0.057367 deg/s, cmd heading: 91.063723 deg, new cmd heading: 90.978013 deg. gCHeadingCmd: 1.587866 target range: 21.900000 and range: 21.90 m.0??"*|BR*`f5@`S?ɢ-wB-} )-%I) 5FPɡ1i1I5&A =q A I I N Ef,kr%Aiy6?ٱ6Z?6.)626HUt?䠿 4ſ< ?j켿C[?I6?)6];i4F6mBFIJ<RDDAT read: Rx Time:21:36:09.0188 RTRx dataTimestamp_ set to:1754688969.693696ZPDAT read: Bearing 259.6, 4.6 (Local) Z~Local bearing/azimuth received: Bearing 259.6, 4.6 (Local) bDAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.5 vDAT read: 21:36:09.0188 LVL= 25872, 30433, 24610, 32755, AGC= 57, IDX= 500,-0.16,-1.561, 2.993,-1.238,-1.776, PHS= 0.317,-1.469, 0.494, RAW= 154.7, 7.1, CAL= 154.1, 7.3, ROT= 355.9, -7.3 vYgot valid direction response: 21:36:09.0188 LVL= 25872, 30433, 24610, 32755, AGC= 57, IDX= 500,-0.16,-1.561, 2.993,-1.238,-1.776, PHS= 0.317,-1.469, 0.494, RAW= 154.7, 7.1, CAL= 154.1, 7.3, ROT= 355.9, -7.3 zT#Rx 37: Read range and direction messages.~^direction in FSK: [0.989356,-0.070918,0.127065]~Fpublishing direction and range infoPR[ͨ?Qֱ' R1)R>IR3,@iR=R!,@Rw>R@RwIPiP)R.ǘ?ThW? m?R?Ry J99GY);A>Q 1|4٪7d?Q 5|4\|  B9Y ?Q E?y6C):I:i4|4Y Mn@IԩzPRelr%AR̬AʋR)??2R#$^5@Ocgb٘@"R[ͨ?Qֱ'R-`Jo?R6\ R\BR^m? Rj2Z R=BRARc?gC addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504112 s, deltaX: -0.299999 m, approachRate: -0.595104 m/s, rangeRepo size: 4 gC5 Added new target pos. range: 21.600000 m, bearing: 89.699248 deg, lat: 36.906037 deg, lon: -122.115844 deg, deltaT: 0.504112 s, deltaX: -0.299999 m, approachRate: -0.595104 m/s, posRepo size: 4 ڊ1gC=DNOT Ignoring new targets: 21.60 m.Ҋ9Š9ʊ9gC ProNav: ac range: 21.600000 m, nav range: 20.703789 m, bearing: 89.699248 deg, approach rate: -0.000000 m/s, LOS rate: -0.057367 deg/s, cmd heading: 90.978010 deg, new cmd heading: 90.906112 deg. gCHeadingCmd: 1.586611 target range: 21.600000 and range: 21.60 m.?"*R*5@ㆻ?ɢ5wB59 9=&I9 ]LڲɡYiaIeA =I A yAI I1 N] > f,1r%AyEȳ?ٱE?E+EhEH@$c@@?c: ƿd?G@;V?IEȳ?)E];iEC]JmBeIMb@Mb@Mb@ )IiNbX9??{Gz?%?L=#<)JAI+AibLA`)A  ;ABD%6D%3Yg,=!-=DDAT read: Rx Time:21:36:09.5185 TRx dataTimestamp_ set to:1754688970.197691PDAT read: Bearing 259.7, 4.7 (Local) ~Local bearing/azimuth received: Bearing 259.7, 4.7 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.6 DAT read: 21:36:09.5185 LVL= 22384, 26993, 21106, 31891, AGC= 56, IDX= 497,-0.26,-2.886, 1.679,-2.558,-3.095, PHS= 0.311,-1.464, 0.492, RAW= 154.8, 7.1, CAL= 154.2, 7.3, ROT= 355.8, -7.3 Ygot valid direction response: 21:36:09.5185 LVL= 22384, 26993, 21106, 31891, AGC= 56, IDX= 497,-0.26,-2.886, 1.679,-2.558,-3.095, PHS= 0.311,-1.464, 0.492, RAW= 154.8, 7.1, CAL= 154.2, 7.3, ROT= 355.8, -7.3 T#Rx 38: Read range and direction messages.^direction in FSK: [0.989231,-0.072645,0.127065]Fpublishing direction and range info>ǧ?H'Zؘ Zd)m>I,@i9>,@Y@Ii).U&?/ ?%?e?9Xi Iichecking for new query: numPingsReceived=38, elapsed TxPingTime=21.191154 PQ)> H?9 H?9GY!%J&;A%>)Q 15|4٪-`?Q 55|4-\t  -B9=%&?Q A=:Y=?Q E=?y-]C)-:I-<:i-YE|4YAE˴@Azr%AAʋk1?2i4@" z=׌@">ǧ?H'Zؘ ^l?F9_ HB [ CBA?gC addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503995 s, deltaX: -0.400000 m, approachRate: -0.793658 m/s, rangeRepo size: 4 gC Added new target pos. range: 21.200001 m, bearing: 89.579997 deg, lat: 36.906037 deg, lon: -122.115844 deg, deltaT: 0.503995 s, deltaX: -0.400000 m, approachRate: -0.793658 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 21.20 m.ҊŠʊgC ProNav: ac range: 21.200001 m, nav range: 20.367075 m, bearing: 89.579997 deg, approach rate: -0.000000 m/s, LOS rate: -0.057367 deg/s, cmd heading: 90.906109 deg, new cmd heading: 90.827197 deg. gCHeadingCmd: 1.585234 target range: 21.200001 and range: 21.20 m.?"*|BR*@335@↽б?AɢewBm? im'Ii m෽ɡqiqIuA} ȝ=ԡ A I I N >?f,Ur%Ay6?ٱ6?6$~.6M6Hh@މ`n}?@|Vƿȴ?}R?I6?)6Z];i6CBymBB IiJ4X9X9ZGYZGZg$;AZ>\dQ 1f|4٪^^?Q 5f|4^ n  ^%B9hYj5?Q Ej?y^|C)^+;I^,;i^R|4YnBn[@nBED~B*** querying acoustic contact ***j|r|ڊgC DNOT Ignoring new targets: 21.20 m.Ҋ ŠʊgC% ProNav: ac range: 21.200001 m, nav range: 20.127487 m, bearing: 89.482966 deg, approach rate: -0.637850 m/s, LOS rate: -0.261400 deg/s, cmd heading: 90.827200 deg, new cmd heading: 90.532643 deg. %e3gC-HeadingCmd: 1.580093 target range: 21.200001 and range: 21.20 m.-z@?)))))1"1*1R9*999=v?ɢmwBmד mU=m8%Ii umɡqiqIurLrjƹI?AIpQixN7G> )B`>I;0@iϢ=C0@Ϣ=@ϢIi)s:G?/@+i?Tfk̽?3+?g ϢIichecking for new query: numPingsReceived=39, elapsed TxPingTime=21.696970ԉԙ>AL=rA>jA>I I N > D D D (D E ; E :6E c44:E ! @! @! @! @ checking for new query: numPingsReceived=39, elapsed TxPingTime=21.931065֮f,O99GYA>Q 1|4٪Z?Q 5|4=f  @B9YQ E?yC)Y;I;ib|4Y@zIMZr%AMAʋM?2M+.4@N%5a.@"MBxly?ZH>rjƹI?Mg ‹MϢ:MB}tGt?F?sn3@tGԬ 1@*M 't? Krr?M1?M۟AMC?M [Ӻ?MW M[BM-`Jo? Mj2Z MHBMAM|?gC- addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504784 s, deltaX: -0.200001 m, approachRate: -0.396211 m/s, rangeRepo size: 4 gC= Added new target pos. range: 21.000000 m, bearing: 89.295343 deg, lat: 36.906037 deg, lon: -122.115844 deg, deltaT: 0.504784 s, deltaX: -0.200001 m, approachRate: -0.396211 m/s, posRepo size: 4 ڊ9gCEDNOT Ignoring new targets: 21.00 m.ҊAŠEʊAgCU ProNav: ac range: 21.000000 m, nav range: 19.865437 m, bearing: 89.295343 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 90.532641 deg, new cmd heading: 90.163967 deg. QgC]HeadingCmd: 1.573658 target range: 21.000000 and range: 21.00 m.]m?Yaaaaa"i*iRi*qqu5@ub~?ɢwBz 顥&I vɡiI- %)%33>I%,@i%>%9>,@% A>%Y@% AI!i!)%*TQ?%.?t. ?%n?%lR%i % AI!i!echecking for new query: numPingsReceived=40, elapsed TxPingTime=22.225021>A "=9 Ia Iq N} >hf,#r%Ay::?ٱ:?:e3:^:H =f`Iv?8`ƿ`jS?! H?I::?):];i8vmBv-IBEFA4JErO4RE0DDD)DE; E5:6EFA4:E"E`9!9%GYAM˖:AM>QQ 1]|4٪UW?Q 5]|4U^  UZB9e!?Q Ae:Ye?Q Ee?yUƄC)UD;IU@;iUr|4Y@zQUo*r%AṲAʋU t?2U'ρ_4@[5a9@"U?i;ƗOZ_|?Ui ‹U A:U@v0ݷ?\%~3@ص5K@*UV Jr?7f7it?I?UלAU=UV^?UVZ U~BU ^l? QU[BUAULi?AgCE addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503240 s, deltaX: -0.400000 m, approachRate: -0.794849 m/s, rangeRepo size: 4 gCU Added new target pos. range: 20.600000 m, bearing: 89.261145 deg, lat: 36.906037 deg, lon: -122.115844 deg, deltaT: 0.503240 s, deltaX: -0.400000 m, approachRate: -0.794849 m/s, posRepo size: 4 ڊYgC]DNOT Ignoring new targets: 20.60 m.ҊYŠʊgC ProNav: ac range: 20.600000 m, nav range: 19.585438 m, bearing: 89.261145 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 90.163968 deg, new cmd heading: 89.796844 deg. gCHeadingCmd: 1.567251 target range: 20.600000 and range: 20.60 m.?"*|BR*4@@?ɢ=xB=9 AE$IA E$ŽɡAiIIMο 5 η)5 >I5 -\-@i1 5 ,@1 5 (~@1 I1 i1 )5 TTb?3SI?? ?5 y)?5 5 l 1 I1 i1  checking for new query: numPingsReceived=41, elapsed TxPingTime=22.703379ԙ >A =Iy I N > f,r%AyVZ?ٱV?V5V(VH`fu i.s?`ݠ@@ǿ M?`l:D?IVZ?)V];iTrmBv?I)9 =@ABDE6DE2Y}IJ=!}w=!ݻQ)?99GYG'A?Q 1|4٪zT?Q 5|4Y  lB9Y?Q E?yC);I;iU~|4Y @11zjr%A3Aʋh?2U8*4@F?!@"4?jC'\OZ_|?l‹:I5?Pd3@\q~)I@*~?ЭZ3l?in?'Ao>3h?aZ B aZ \B,A0?gC addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503932 s, deltaX: -0.200001 m, approachRate: -0.396880 m/s, rangeRepo size: 4 gC Added new target pos. range: 20.400000 m, bearing: 89.162484 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 0.503932 s, deltaX: -0.200001 m, approachRate: -0.396880 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 20.40 m.ҊŠ)ʊ)gCm ProNav: ac range: 20.400000 m, nav range: 19.396517 m, bearing: 89.162484 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 89.796845 deg, new cmd heading: 89.532846 deg. qgC}HeadingCmd: 1.562643 target range: 20.400000 and range: 20.40 m.}?"*R*`ff4@?ɢexBeV[ ae?$Ia mJɽɡiiiIme~BBIB0oBB6 =BBBj;B.DTRx dataTimestamp_ set to:1754688971.980948PDAT read: Bearing 259.6, 5.1 (Local) ~Local bearing/azimuth received: Bearing 259.6, 5.1 (Local) -DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.5 uZ#Rx 42: Read range message, but no direction.fAchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.980701ԁE S,=I @i /  DAT read: 21:36:11.5176 LVL= 23440, 31329, 21202, 32755, AGC= 52, IDX= 504, 0.49, 2.269, 0.585, 2.607, 2.067, PHS= 0.304,-1.437, 0.496, RAW= 155.2, 7.0, CAL= 154.6, 7.1, ROT= 355.4, -7.1  Ygot valid direction response: 21:36:11.5176 LVL= 23440, 31329, 21202, 32755, AGC= 52, IDX= 504, 0.49, 2.269, 0.585, 2.607, 2.067, PHS= 0.304,-1.437, 0.496, RAW= 155.2, 7.0, CAL= 154.6, 7.1, ROT= 355.4, -7.1  Z#Rx 43: Read direction message, but no range.% ^direction in FSK: [0.989135,-0.079584,0.123601] R|?f_A7X? I [i az R 4 㥛> ﷿) >I i 5= = I ) =i#?tL?PO ? x&? = checking for new query: numPingsReceived=43, elapsed TxPingTime=23.200602>A=bAZAI IN%>H[f,Es%Aiy:-׳?ٱ:?: 8:0:H`R Լ]p?(ǿ ?о@}??I:-׳?):];i:C^mB^JIMMb@Mb@Mb@I I)IIIiIMV-?&1?Mb?M|?MP=M<)IIM`)AiMJAMz$A IMz8ABDe6De03Yu=!u%=uݐQ)}>y9y9}GYy޺A>Q 1|4٪P?Q 5|4Q  B9 ?Q A:Y?Q E?yC) ;I ;ij|4Y&@z9=r%A=fAʋ=1[?2=cպ3@&W6R @"=R|?f_A7X?9‹=:= ?B{WRn2@R@*=I2?aqs?zB}?=A=>=a4(f?=Ia =B=3h? 9=[B=ʘA=[7?gC addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.271301 s, deltaX: -0.600000 m, approachRate: -2.211567 m/s, rangeRepo size: 4 gC Added new target pos. range: 19.799999 m, bearing: 89.173821 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 0.271301 s, deltaX: -0.600000 m, approachRate: -2.211567 m/s, posRepo size: 4 ڊgC DNOT Ignoring new targets: 19.80 m.Ҋ Š ʊ gC ProNav: ac range: 19.799999 m, nav range: 19.098745 m, bearing: 89.173821 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 89.532845 deg, new cmd heading: 89.165568 deg. !gC%HeadingCmd: 1.556233 target range: 19.799999 and range: 19.80 m.%2?"*|BR*3@n?ɢM+xBM QU$IY ]"νɡYiIA-D%=IIN>A Uf,},s%Ay6o?ٱ6?6,:66HT/m? 㝿ǿ$?o`"9?I6o?)6];i6CRnBRaIvDAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.6 DAT read: 21:36:12.0175 LVL= 22944, 29377, 21282, 32755, AGC= 53, IDX= 503, 0.41,-2.651, 1.935,-2.300,-2.854, PHS= 0.305,-1.450, 0.510, RAW= 155.5, 6.9, CAL= 154.9, 7.0, ROT= 355.1, -7.0 Ygot valid direction response: 21:36:12.0175 LVL= 22944, 29377, 21282, 32755, AGC= 53, IDX= 503, 0.41,-2.651, 1.935,-2.300,-2.854, PHS= 0.305,-1.450, 0.510, RAW= 155.5, 6.9, CAL= 154.9, 7.0, ROT= 355.1, -7.0 T#Rx 44: Read range and direction messages.%^direction in FSK: [0.988919,-0.084780,0.121869]-Fpublishing direction and range infolnb8?!V&UM7P2?nAlInYinrn"Sln5n(> n)n\?In-@inϢ=nc-@n5=nDS@n5Ilil)n?bn?fLv?n^o?n:n% n5IlilEchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.706974BDZ6DZ!3Yٶ=!B= Q) > 9 9 GY =lA>Q 1|4٪M?Q 5|4J  B9Y?Q E?y*C):I:i؞|4YB@CEzln-s%AnAʋnW~?2n.P{3@b2Z4@"nb8?!V&UM7P2?n%‹n5:nMB_?L,m2@Lh/I@*n¿p?Gso?`cm?nAn>nm?n@\ n'Bl llnAnl?QgC addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.735155 s, deltaX: -0.099998 m, approachRate: -0.136024 m/s, rangeRepo size: 4 gC Added new target pos. range: 19.700001 m, bearing: 89.049794 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 0.735155 s, deltaX: -0.099998 m, approachRate: -0.136024 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 19.70 m.ҊŠʊgC ProNav: ac range: 19.700001 m, nav range: 18.830509 m, bearing: 89.049794 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 89.165565 deg, new cmd heading: 88.806780 deg. gC%HeadingCmd: 1.549971 target range: 19.700001 and range: 19.70 m.%qe?!!!!!Q"Q*QRY*Yae@33@e~?ɢ CxB S #I  ҽɡiI M﷿)M?IIiIIM=IMII)MMMD?`;q?[7 ?M?MI Mchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.211630>AA=rA>jA>A-A1I9IQN]"?f,Ts%Av2nBv|IixIx}Mb@Mb@Mb@y y)yIyiy}~jt?X9v?y&1|?}?}}=}`;)}FAI}&Ai}bLA}#A y}\7AiI<BD 6D2Yތ=!=Q)>K?9K?9GYGA>Q 1|4٪%I?Q 5|41A  ĐB9w?Q A:Y?Q E?yXC) ;IX ;i޳|4Y@z9= ?s%A=Aʋ=&?2=Z/2@My K@5@"=9y?b󲵿A7X?9‹=:=2L#2?0d@2@ ͢@*=Zf'U?_&Rk?3szr?=A=>=g?= U` =B=g? =@\ ='B=A=?gC  addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.268860 s, deltaX: -0.500000 m, approachRate: -1.859704 m/s, rangeRepo size: 4 gCE Added new target pos. range: 19.200001 m, bearing: 88.870105 deg, lat: 36.906037 deg, lon: -122.115844 deg, deltaT: 0.268860 s, deltaX: -0.500000 m, approachRate: -1.859704 m/s, posRepo size: 4 ڊAgCEDNOT Ignoring new targets: 19.20 m.ҊAŠIʊIDeDeDe+DaEe; Ee :6Ee [4:Ea"Eeb<Eeb<*Ee<Ee<gC} ProNav: ac range: 19.200001 m, nav range: 18.383520 m, bearing: 88.870105 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 88.806782 deg, new cmd heading: 88.323813 deg. ygCHeadingCmd: 1.541541 target range: 19.200001 and range: 19.20 m.:Q?"*|BR*@333@↽a?ɢ cxB j +=#I! -Iٽɡ1iqI}{<DDAT read: Rx Time:21:36:13.0170 TRx dataTimestamp_ set to:1754688973.477681PDAT read: Bearing 259.1, 5.1 (Local) ~Local bearing/azimuth received: Bearing 259.1, 5.1 (Local) EDAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.5 I:Q?i]zcE=i]߽=)e:Q?Z#Rx 47: Read range message, but no direction.3A) checking for new query: numPingsReceived=47, elapsed TxPingTime=24.498108)IAi>1>A]L=Y A I I N > f,Uns%A 88NDAT read: 21:36:13.0170 LVL= 23088, 30881, 21522, 32755, AGC= 53, IDX= 498, 0.42, 2.264, 0.569, 2.624, 2.065, PHS= 0.302,-1.451, 0.515, RAW= 155.7, 6.8, CAL= 155.1, 7.0, ROT= 354.9, -7.0 RYgot valid direction response: 21:36:13.0170 LVL= 23088, 30881, 21522, 32755, AGC= 53, IDX= 498, 0.42, 2.264, 0.569, 2.624, 2.065, PHS= 0.302,-1.451, 0.515, RAW= 155.7, 6.8, CAL= 155.1, 7.0, ROT= 354.9, -7.0 RZ#Rx 48: Read direction message, but no range.V^direction in FSK: [0.988617,-0.088232,0.121869]8:?@!]UM7P2?8I:0Zi:x:T8:5:> :^): ?I:'-@i:=:?-@:5=:6@:5I8):.?9©U?hy}?:Z?:]:K :5bchecking for new query: numPingsReceived=48, elapsed TxPingTime=24.726883yr.?ٱrK?r#@r`rH@3{ 徿we?ȿ ?T*?Ir.?)r];irޑC~nBIBD-6D-P)3Y=zB>!ER=E`Q)E>A9I9MGYIMyAM>QQ 1]|4٪U&F?Q 5e|4U;  UڐB9aYe?Q Ee?yUvC)U;IU;iUu|4YimW@qzS^s%A3Aʋ?2ZϯR2@qj弒8m@"?@!]UM7P2?K‹5: GY4?61@wDm@*&`O?;P[?t)'+?qA>~%n?b (B3h?  U` 3A/1?gC addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.492718 s, deltaX: -0.300001 m, approachRate: -0.608870 m/s, rangeRepo size: 4 gC Added new target pos. range: 18.900000 m, bearing: 88.715405 deg, lat: 36.906037 deg, lon: -122.115846 deg, deltaT: 0.492718 s, deltaX: -0.300001 m, approachRate: -0.608870 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 18.90 m.ҊŠʊgC ProNav: ac range: 18.900000 m, nav range: 18.025240 m, bearing: 88.715405 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 88.323813 deg, new cmd heading: 88.042672 deg. gCHeadingCmd: 1.536635 target range: 18.900000 and range: 18.90 m.q?"*R*`f2@%`H?qɢvxB$ 顥I )>ݽɡiIA V=]4]P> ])]>I]-@i]Ϣ=]c-@]=]DS@]IYiY)]eZ?/m?@ݾ?]1i?]]% ]IYiY checking for new query: numPingsReceived=49, elapsed TxPingTime=25.060596A I! I9 N] >^f,Gs%AP%nB%Ichecking for new query: numPingsReceived=49, elapsed TxPingTime=25.223028Mb@Mb@Mb@ )Iix&1?Q?{Gz?A ?u=#<)IK%AiJA "A =6ABD 6D2Yf<!=Q)=>9999=GY9EAE>IQ 1U|4٪MB?Q 5U|4M2  MB9]!?Q A]:Y]?Q E]?yMC)M2;IM1;iM'|4Yy}@yzLs%A̔Aʋ?2/c2@j9 0ԐSd@"9y?b󲵿A7X?%‹: mS?[ɣ1@|.@*)Dt`?5OQY?ۣ??A>ePd?a Bg? Ia BNAh?gC  addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.520201 s, deltaX: -0.299999 m, approachRate: -0.576699 m/s, rangeRepo size: 4 gC} Added new target pos. range: 18.600000 m, bearing: 88.551435 deg, lat: 36.906037 deg, lon: -122.115846 deg, deltaT: 0.520201 s, deltaX: -0.299999 m, approachRate: -0.576699 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 18.60 m.ҊŠʊgC ProNav: ac range: 18.600000 m, nav range: 17.663370 m, bearing: 88.551435 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 88.042675 deg, new cmd heading: 87.614134 deg. gCHeadingCmd: 1.529155 target range: 18.600000 and range: 18.60 m.[?"*|BR*2@ ?ɢExBm! im Ii uɡqiqIuŋ e }?)e >Ia ie >a e A>a e AIa ia )e ?n?ņB?e |?e a e AIa ia  checking for new query: numPingsReceived=50, elapsed TxPingTime=25.530249>AE =bAI ZAM AY AyIIN?*f,:s%Ahyv>?ٱv?v?)vG];ivߑC%nB-I-%=-<BD] 6D]:2Ym>>!mP=KQ)>99GYGA>Q 1|4٪$??Q 5|41,  B9Yx?Q E?yC);Iy;i|4YBŨ@BEzAEas%AEAʋE?2E[kIcG2@IZ-@"EJߊ?[fAOZ_|?A‹E A:ECDi?tsm{1@3je$@*EMy($e?G=?% 4?EۋAEJ>EwPd?E_ E{BA E U` E'BEAE?gC addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503789 s, deltaX: -0.100000 m, approachRate: -0.198497 m/s, rangeRepo size: 4 gC Added new target pos. range: 18.500000 m, bearing: 88.420829 deg, lat: 36.906037 deg, lon: -122.115846 deg, deltaT: 0.503789 s, deltaX: -0.100000 m, approachRate: -0.198497 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 18.50 m.ҊŠʊgC ProNav: ac range: 18.500000 m, nav range: 17.461103 m, bearing: 88.420829 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 87.614135 deg, new cmd heading: 87.306004 deg. gCHeadingCmd: 1.523777 target range: 18.500000 and range: 18.50 m." ? " * R *2@@?Uchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.727388ɢxBJӒ 顕2I ɡiII% -@i% =% "-@% w>% D@% wI! i! )% P4?9`~?xО?% +)?% T% % wI! i! U checking for new query: numPingsReceived=51, elapsed TxPingTime=26.013792>A = IIN?f,gs%Ayb?ٱ?]HE H@R`>|(\?z0eɿ`Z?6?Ib?)];iC=nB=I ߩީchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.231266Mb@Mb@Mb@ )Iiףp= ?Q? rh??C<)EAIz$AiIAj A 5Ai99GY%ZA%>)Q 15|4٪-:?Q 55|4-#  -:B95?Q A=:Y=}?Q E=?y-C)-:I-E:i-|4YAEѧ@Az\s%AAʋ??2zXWA1@SAA$L@"Kխ?6DV!)?)irD=jD=DDD&DEI; E^:6E4:E"EVjI} ^-@i} >} c-@} A>} DS@} AIy iy )} ք< ?Ftg?6E?} P?} &} % } AIy iy  checking for new query: numPingsReceived=52, elapsed TxPingTime=26.502766Iu Miq q u P5q >A=checking for new query: numPingsReceived=52, elapsed TxPingTime=26.735369IIN?f,is%AɰM)oBMIBD] 6D]f2Ymb=!u=uQ)u>y9y9}GY}G}A}>ԡQ 1}4٪6?Q 5}4  _B9YQ E?yC)K;I3;i }4Y@zQUs%AU3AʋU?2UQ(D1@;wBb)q@"UJߊ?[fAOZ_|?U%‹U A:UO6?[0@O>׵@*Usњ? (5?y ?U/AU>UvD^?Uw0\ UZBUwPd? QUABUɅAU?gC addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503166 s, deltaX: -0.100000 m, approachRate: -0.198742 m/s, rangeRepo size: 4 gC Added new target pos. range: 17.900000 m, bearing: 88.137955 deg, lat: 36.906036 deg, lon: -122.115846 deg, deltaT: 0.503166 s, deltaX: -0.100000 m, approachRate: -0.198742 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 17.90 m.ҊŠʊgC ProNav: ac range: 17.900000 m, nav range: 16.723164 m, bearing: 88.137955 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 86.852296 deg, new cmd heading: 86.404261 deg. gC HeadingCmd: 1.508039 target range: 17.900000 and range: 17.90 m. k?    "*R*`f1@%?ɢ}xB䅾  8I  ɡiI$)=k?)Y yyIy)yԹDuDuDu,DqEu; Eu|:6Eug4:Eq!@!@!@!@AYAYvBu>~BqBuIBupBBqBqBqBuf;Bu'DB9B9B9B9B9B=4DDAT read: Rx Time:21:36:15.5161 %TRx dataTimestamp_ set to:1754688976.010683-PDAT read: Bearing 258.6, 6.2 (Local) 5~Local bearing/azimuth received: Bearing 258.6, 6.2 (Local) EDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 DAT read: 21:36:15.5161 LVL= 23104, 32721, 19266, 32755, AGC= 53, IDX= 504,-0.35, 0.898,-0.758, 1.243, 0.710, PHS= 0.289,-1.424, 0.489, RAW= 155.4, 7.1, CAL= 154.9, 7.4, ROT= 355.1, -7.4 Ygot valid direction response: 21:36:15.5161 LVL= 23104, 32721, 19266, 32755, AGC= 53, IDX= 504,-0.35, 0.898,-0.758, 1.243, 0.710, PHS= 0.289,-1.424, 0.489, RAW= 155.4, 7.1, CAL= 154.9, 7.4, ROT= 355.1, -7.4 T#Rx 53: Read range and direction messages.^direction in FSK: [0.988047,-0.084705,0.128796]Fpublishing direction and range info!%Jߊ?[fAOZ_|?%̌A!I!i%%BK!!%> %E)%5^>I!i%=!!!!I!i!)%Bl?)iB3k?1qڿ?%l?%/! !I!i!checking for new query: numPingsReceived=53, elapsed TxPingTime=27.008224I @i 0  >A 4>I!I19NM>f,t%A>checking for new query: numPingsReceived=53, elapsed TxPingTime=27.239002yNY?ٱN1?NuPNNH`+0 @5R? f19ʿe?H¿`?INY?)N^];iNݑC!efoBe:IMb@Mb@Mb@ )IiRQ?:v?~jt?"?T=<)=DAI"AiA 4A) AABD6D2Y5=!===SjQ)E>I9I9MGYIUAm>iQ 1}4٪m<3?Q 5}4m   mB98#?Q A:Y?Q E?ymDC)m;Imsp;im"}4Y @zY]t%A]̌Aʋ]*Q?2]煾c1@'aji"@"]Jߊ?[fAOZ_|?Y‹Y:]oy5D?Ck$Lz0@M@*]cLݡ?Vf"$?$2ݍ?]{A]:?]%f?] \ ]BY ]_ ]ZB]A]?gC- addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.501862 s, deltaX: -0.299999 m, approachRate: -0.597772 m/s, rangeRepo size: 4 gC Added new target pos. range: 17.600000 m, bearing: 87.962648 deg, lat: 36.906036 deg, lon: -122.115846 deg, deltaT: 0.501862 s, deltaX: -0.299999 m, approachRate: -0.597772 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 17.60 m.ҊŠʊgC ProNav: ac range: 17.600000 m, nav range: 16.461905 m, bearing: 87.962648 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 86.404263 deg, new cmd heading: 85.977097 deg. gCHeadingCmd: 1.500583 target range: 17.600000 and range: 17.60 m.?" * 3}BR *1@?QbDqZDu?ADDD/DE; E:6EJ4:E"Exm 5)5j>I1i5>5,@5 >5a@5 I1i1)5?;*`?NK?5?5,5 5 I1i1checking for new query: numPingsReceived=54, elapsed TxPingTime=27.506775ɢxBσ 页;I |ɡiI)?)ԁ I] EiY Y e /a ԩ >AE>IIN> f,K.t%AyV?ٱV?VSVkVHŜ@?`K¿sN?3[?ʿoB? ]¿@'?IV?)V.];iVCllir94IppIpir-A r94t)tt vt@ttt||I|)|i|)|I~A ,i  i  A)  checking for new query: numPingsReceived=54, elapsed TxPingTime=27.742933I Q]oB]fIBDm 6Dm2Y3>!M=Q)>99GY A>Q 1}4٪0?Q 5}4  B9Y?Q E?ydC):I:i +}4Y@@Ez t%AfAʋp)?2'1@宛Z@"Q|n?D)'< /?‹ :M?,S_@0@@*k?<̟|?:9?AX?ԡ?e?Igh^ Bԡ?e? Igh^ {BAh)?gC addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502996 s, deltaX: -0.300001 m, approachRate: -0.596429 m/s, rangeRepo size: 4 gC  Added new target pos. range: 17.299999 m, bearing: 87.806565 deg, lat: 36.906036 deg, lon: -122.115845 deg, deltaT: 0.502996 s, deltaX: -0.300001 m, approachRate: -0.596429 m/s, posRepo size: 4 ڊ gCDNOT Ignoring new targets: 17.30 m.ҊŠʊgCU ProNav: ac range: 17.299999 m, nav range: 16.263371 m, bearing: 87.806565 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 85.977096 deg, new cmd heading: 85.663305 deg. YgCHeadingCmd: 1.495107 target range: 17.299999 and range: 17.30 m._?"*R*L1@ ?ɢE yBMw. IMII ML]ɡIiQIU#A)]_?)yI?i0>A>BE(N4JE(N4REJv0D-D-D-*D)E-; E-˭:6E-(N4:E)!u@!}@!}@!}@ԉvB >~B B ]IB @qBB 6 =B B B Z;B DIIN>DDAT read: Rx Time:21:36:16.5156 TRx dataTimestamp_ set to:1754688977.017812PDAT read: Bearing 258.1, 6.7 (Local) ~Local bearing/azimuth received: Bearing 258.1, 6.7 (Local) DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5  DAT read: 21:36:16.5156 LVL= 26272, 31121, 21842, 32755, AGC= 54, IDX= 499,-0.21, 0.177,-1.509, 0.520,-0.017, PHS= 0.296,-1.448, 0.492, RAW= 155.3, 7.2, CAL= 154.7, 7.4, ROT= 355.3, -7.4  Ygot valid direction response: 21:36:16.5156 LVL= 26272, 31121, 21842, 32755, AGC= 54, IDX= 499,-0.21, 0.177,-1.509, 0.520,-0.017, PHS= 0.296,-1.448, 0.492, RAW= 155.3, 7.2, CAL= 154.7, 7.4, ROT= 355.3, -7.4 % T#Rx 55: Read range and direction messages.- ^direction in FSK: [0.988337,-0.081256,0.128796]- Fpublishing direction and range infoWgs?Kus4ʹOZ_|?fAIfiyRUP> X)m>Ix-@i3,@ A>o@ AIi)"?MuT?sW ??~  AIiM checking for new query: numPingsReceived=55, elapsed TxPingTime=28.011173ԙ f,vHt%Aiy60?ٱ60?6_V6>6H`;{Jg¿`J?n{?Rʿ? ٢¿@?I60?)6];i6ۑC~oB~yIBD 6D 2Yei=!eN=mQ)m>i9i9uGYuGu0yAu>Q 1}4٪q.?Q 5}4  đB9Y?Q E?yC)[)uΒ?)yI]BiYY]0YD= D= D= ,D9 E= ; E= P:6E= g4:E9 "E9 !m E9 !u *E= oA <> DDAT read: Rx Time:21:36:17.0155  TRx dataTimestamp_ set to:1754688977.526764E PDAT read: Bearing 258.0, 7.2 (Local) M ~Local bearing/azimuth received: Bearing 258.0, 7.2 (Local) ] DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5  DAT read: 21:36:17.0155 LVL= 24416, 32753, 20530, 32755, AGC= 52, IDX= 498,-0.17, 1.192,-0.466, 1.515, 0.998, PHS= 0.295,-1.419, 0.472, RAW= 154.9, 7.3, CAL= 154.3, 7.5, ROT= 355.7, -7.5  Ygot valid direction response: 21:36:17.0155 LVL= 24416, 32753, 20530, 32755, AGC= 52, IDX= 498,-0.17, 1.192,-0.466, 1.515, 0.998, PHS= 0.295,-1.419, 0.472, RAW= 154.9, 7.3, CAL= 154.3, 7.5, ROT= 355.7, -7.5  T#Rx 56: Read range and direction messages. ^direction in FSK: [0.988654,-0.074337,0.130526] Fpublishing direction and range info Ύ ?r /? A I `_i  2P 4 = > ˡ) >I c-@i w> Z,@ > @ I i ) *7 ?^Ӡ$?c .? q? ? ) I i  checking for new query: numPingsReceived=56, elapsed TxPingTime=28.555004A yAI)I!N=> f,Hft%AyUN?ٱU?U\U!?UHW@)ÿ`B??D˿ K?@ ÿ`l?IUN?)Ul];iUߑCoBIMb@Mb@Mb@ )IiˡE? ףp= ?y&1?'?Q8=`<)EAIj Ai&A 33Ai4 H?9 H?9GY%gA%>)Q 15}4٪-+?Q 55}4-}  -B95{(?Q A5:Y=?Q E=?y-C)-:I-<;i-J}4YAE@AzY]at%A]Aʋ]?2]MG0@ffCF)w4p@"]Ύ ?r /?])‹] :]b?i%I/@,>>@*]al ?//ho?%D?]IzA]_'?]c?]@[_ ]B]Pkd? Y]B]{A]?gC addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.508952 s, deltaX: -0.099998 m, approachRate: -0.196479 m/s, rangeRepo size: 4 gC Added new target pos. range: 16.700001 m, bearing: 87.543736 deg, lat: 36.906036 deg, lon: -122.115845 deg, deltaT: 0.508952 s, deltaX: -0.099998 m, approachRate: -0.196479 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 16.70 m.ҊŠʊgC ProNav: ac range: 16.700001 m, nav range: 15.693401 m, bearing: 87.543736 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 85.305115 deg, new cmd heading: 84.957486 deg. gCHeadingCmd: 1.482788 target range: 16.700001 and range: 16.70 m.˽?"*}BR*@30@@)Z?ɢ 5yB   I WɡiID)%˽?)!]checking for new query: numPingsReceived=56, elapsed TxPingTime=28.751747IAiQy >A >)e ݈G q ) I  AD D D )D E %; E خ:6E FA4:E ! @! @! @! @A A 4=vB= >~B9 Ai I I ԡ N >5 f,t%AB IB qBB B B B T;B D6DDAT read: Rx Time:21:36:17.5152 :TRx dataTimestamp_ set to:1754688978.027377>PDAT read: Bearing 257.4, 7.5 (Local) >~Local bearing/azimuth received: Bearing 257.4, 7.5 (Local) FDAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.5 ZDAT read: 21:36:17.5152 LVL= 23456, 28721, 20546, 32755, AGC= 52, IDX= 495,-0.18, 0.158,-1.517, 0.483,-0.045, PHS= 0.305,-1.427, 0.483, RAW= 154.8, 7.0, CAL= 154.3, 7.3, ROT= 355.7, -7.3 ^Ygot valid direction response: 21:36:17.5152 LVL= 23456, 28721, 20546, 32755, AGC= 52, IDX= 495,-0.18, 0.158,-1.517, 0.483,-0.045, PHS= 0.305,-1.427, 0.483, RAW= 154.8, 7.0, CAL= 154.3, 7.3, ROT= 355.7, -7.3 ^T#Rx 57: Read range and direction messages.b^direction in FSK: [0.989102,-0.074371,0.127065]bFpublishing direction and range info46O?>  6𧶿)6K>I6,@i65=46w>46wI4i4)6Db#?u[Sy$?ֽozh?6,?6M4 6wI4i4rchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.020536yMX?ٱM4u?M_M!MH Z΅Ğÿ=?e?˿ũ? qÿ?IMX?)M];iMݑC!=pBIBD6D:2YY=!=ܲQ)>9)9-GY5G=AE>Q 1}4٪>)?Q 5}4  B9YB?Q E?y܆C):I:i^}4 checking for new query: numPingsReceived=57, elapsed TxPingTime=29.254984Y @z46t%A6Aʋ6?26IOy0@$Fkw@"6O?> ) ~Ǽ?) I Ci 4 ԩ D=D=D=-D9E=; E=k:6E=t4:E9"E=s ^)Zd>Ii9>,@>Y@Ii)6^@?2Ԁ_!?)l^?Ӊ?i Ii=checking for new query: numPingsReceived=58, elapsed TxPingTime=29.523245>A>rA>jA>!AAIIN'?,*f,⬪t%AyVN?ٱV?VTaV#VH̆x!ĿN9?U?@˿@?Sÿ E?IVN?)V];iTI^sCi^ A ^94bMF)`bC b݄AdfFɽffCf$AIfh)jFih)jCIjAj!=ְQ)>K?9K?9GYA>Q 1}4٪-'?Q 5}4  HB9)?Q A:Y?Q E?yC);I;ip}4Y%B%}@%AEzY]t%A]̀Aʋ]?2]6?]|޾e?checking for new query: numPingsReceived=58, elapsed TxPingTime=29.759041]xŜ\ ]yBY Y]yB]oA]1?gC addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.502220 s, deltaX: -0.100000 m, approachRate: -0.199117 m/s, rangeRepo size: 4 gC Added new target pos. range: 16.100000 m, bearing: 87.211688 deg, lat: 36.906036 deg, lon: -122.115845 deg, deltaT: 0.502220 s, deltaX: -0.100000 m, approachRate: -0.199117 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 16.10 m.ҊŠʊgC ProNav: ac range: 16.100000 m, nav range: 14.985801 m, bearing: 87.211688 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 84.501994 deg, new cmd heading: 84.116675 deg. gC%HeadingCmd: 1.468113 target range: 16.100000 and range: 16.10 m.% ?!!!)))")*U}BRQ*QQ]0@]@?ɢiyBR I ɡiI-)- ?)1ԑIIiZ5ԹD D D )D E ; E *:6E FA4:E ! @! @! @! @vB1 ~B1 B5 IB5 >rBB1 B1 B1 B5 P;B5 D>A l >= DDAT read: Rx Time:21:36:18.5148 E TRx dataTimestamp_ set to:1754688979.035380U PDAT read: Bearing 256.5, 8.2 (Local) U ~Local bearing/azimuth received: Bearing 256.5, 8.2 (Local) u DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.6 E DAT read: 21:36:18.5148 LVL= 25920, 29505, 21026, 32755, AGC= 53, IDX= 507,-0.34, 1.201,-0.501, 1.515, 0.986, PHS= 0.317,-1.442, 0.485, RAW= 154.5, 7.0, CAL= 153.9, 7.2, ROT= 356.1, -7.2 U Ygot valid direction response: 21:36:18.5148 LVL= 25920, 29505, 21026, 32755, AGC= 53, IDX= 507,-0.34, 1.201,-0.501, 1.515, 0.986, PHS= 0.317,-1.442, 0.485, RAW= 154.5, 7.0, CAL= 153.9, 7.2, ROT= 356.1, -7.2 U T#Rx 59: Read range and direction messages. ^direction in FSK: [0.989817,-0.067479,0.125333] Fpublishing direction and range infoA E $4?M rMFcK ?E yAA IE @eiE AsE "RA E 5E M> E u)E Q>IE ,@iA E o+@A E >@A IA iA )E *!,?<=?V2-?E {5?E 2lE )g A IA iA  checking for new query: numPingsReceived=59, elapsed TxPingTime=30.057804I I N- >~1f,9Et%Ayv:?ٱv5?vEdv]}%vHLR UĿr4?@2?̿.[?Ŀ[?Iv:?)v];ivۑCpBIBD6DN3YE=!I=߻Q)>99GYJA>AQ 1M}4٪E%?Q 5U}4E  EmB9QYUj?Q EU?yE&C)E6:IE:iEX~}4YY]@azCt%AyAʋ?24S.@dr~H?"$4?M rMFcK ?)g‹:iw/?|/-@<>= @*57?EvY?(Ȕsn?~iA5?,a?CVb IBPkd? ;b bBiAx?gC  addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.505783 s, deltaX: -0.500000 m, approachRate: -0.988566 m/s, rangeRepo size: 4 gC= Added new target pos. range: 15.600000 m, bearing: 87.067043 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 0.505783 s, deltaX: -0.500000 m, approachRate: -0.988566 m/s, posRepo size: 4 ڊAgCEDNOT Ignoring new targets: 15.60 m.ҊAŠIʊIgC] ProNav: ac range: 15.600000 m, nav range: 14.616478 m, bearing: 87.067043 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 84.116676 deg, new cmd heading: 83.794719 deg. YgCHeadingCmd: 1.462494 target range: 15.600000 and range: 15.60 m.2?"*R*@33/@v?ɢm~yB`& 顥 Ichecking for new query: numPingsReceived=59, elapsed TxPingTime=30.265162 vɡiIU)52?)1IAi1Aq D D D 'D E ; E :6E '4:E "E vA-  > DDAT read: Rx Time:21:36:19.0146  TRx dataTimestamp_ set to:1754688979.540475 PDAT read: Bearing 255.8, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 255.8, 8.9 (Local)  DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.6  DAT read: 21:36:19.0146 LVL= 22000, 29105, 19906, 32755, AGC= 52, IDX= 505, 0.46,-2.495, 2.085,-2.197,-2.729, PHS= 0.336,-1.424, 0.489, RAW= 154.1, 6.6, CAL= 153.5, 6.7, ROT= 356.5, -6.7  Ygot valid direction response: 21:36:19.0146 LVL= 22000, 29105, 19906, 32755, AGC= 52, IDX= 505, 0.46,-2.495, 2.085,-2.197,-2.729, PHS= 0.336,-1.424, 0.489, RAW= 154.1, 6.6, CAL= 153.5, 6.7, ROT= 356.5, -6.7  T#Rx 60: Read range and direction messages. ^direction in FSK: [0.991318,-0.060632,0.116671] Fpublishing direction and range info M? w mu"޽? tA I Ui q M 4 1> E) 5^>I !,@i = v+@ |= o@ |I i ) jGP?}e?Әh@? z? i 5z |I i checking for new query: numPingsReceived=60, elapsed TxPingTime=30.535213I!I1ԙN><8f,)ut%Ayfp?ٱfk?f`gf-%fHo?@Ŀ/?? 8̿@;? Ŀ@I?Ifp?)fŷ];ifܑCpB II=)=Mb@Mb@Mb@ )IiʡE?l?Mb?/?==)EAI&AiQHAA 1ABD=6D= 3YmS=!m=m)Q)m>q9q9uGYuGuEA}>yQ 1}4٪}#?Q 5}4}  }B90?Q A:Y?Q E?y}SC)}};I}:i}Ɛ}4Y@z)-$t%A-tAʋ-_?2-U.@Uj8\m?"-M? w mu"޽?-5z‹-|:-?ڣ?},@,"_ @*-\)F?)Echecking for new query: numPingsReceived=60, elapsed TxPingTime=30.767857I-?i)1501A >A5  >bAA ZAE AI I) q Dm Dm Di Di Em s!; Em :6Ei :Ei ! @! @! @A AAA vB ~B B DIB rBB B B B Z;B D! @N >0@f,u%ArDDAT read: Rx Time:21:36:19.5143 vTRx dataTimestamp_ set to:1754688980.041625zPDAT read: Bearing 255.2, 9.4 (Local) z~Local bearing/azimuth received: Bearing 255.2, 9.4 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.6 -DAT read: 21:36:19.5143 LVL= 23904, 32561, 22258, 32755, AGC= 51, IDX= 502, 0.23,-2.705, 1.869,-2.417,-2.950, PHS= 0.347,-1.418, 0.489, RAW= 153.8, 6.4, CAL= 153.2, 6.5, ROT= 356.8, -6.5 5Ygot valid direction response: 21:36:19.5143 LVL= 23904, 32561, 22258, 32755, AGC= 51, IDX= 502, 0.23,-2.705, 1.869,-2.417,-2.950, PHS= 0.347,-1.418, 0.489, RAW= 153.8, 6.4, CAL= 153.2, 6.5, ROT= 356.8, -6.5 5T#Rx 61: Read range and direction messages.=^direction in FSK: [0.992023,-0.055463,0.113203]EFpublishing direction and range infopr=?|ᕥe5?rfnApIr`]ir1rVpr3r> r)pIr+@ir=rD +@rV=rSF@rVIpip)r'j?ᷴ?}s?r)?r2rd rVIpip]checking for new query: numPingsReceived=61, elapsed TxPingTime=31.034620yx*?ٱG?l(Hȋ?fcſ$?J?̿V[?``mĿ?Ix*?)o];i qB BIBD]6D]F3Ym& >ԑ!O=I_Q)>99GY˼A>Q 1}4٪"?Q 5}4  ’B9YW?Q E?yuC):I|:i}4Yۖ@zpru%ArfnAʋrX?2r(-@Sq 5N?"r=?|ᕥe5?rd‹rV:r_o2w?_+@DYn @*ry3?[H@?8$?rr_Ar;?r`?r޶b r҂Br,a? r;b rIBr_Ar4H?gC addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.501150 s, deltaX: -0.400001 m, approachRate: -0.798165 m/s, rangeRepo size: 4 gC Added new target pos. range: 14.900000 m, bearing: 86.965167 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 0.501150 s, deltaX: -0.400001 m, approachRate: -0.798165 m/s, posRepo size: 4 ڊ gC DNOT Ignoring new targets: 14.90 m.ҊŠʊgC% ProNav: ac range: 14.900000 m, nav range: 13.999394 m, bearing: 86.965167 deg, approach rate: 0.000000 m/s, LOS rate: -0.261400 deg/s, cmd heading: 83.381365 deg, new cmd heading: 83.063900 deg. )gC-HeadingCmd: 1.449739 target range: 14.900000 and range: 14.90 m.5?111111"9*9R9*9A-@3?ɢ yB Z Y I  ɡiI)E?)AԹI@i0checking for new query: numPingsReceived=61, elapsed TxPingTime=31.274511>A t>II Ia Nu > XFf,,u%AyN[t?ٱN?N*=oN1*NH k?@uſ?gs?̿0?Ŀ ?IN[t?)N];iNڑCZFqBZaIbDYZD]@ADDD)DE; E:6EFA4:E"E,ra9a9eGYimZTAu>Q 1}4٪!?Q 5}4;  B9-,?Q A:Y4?Q E?yC):I,:i}4YZ@@EDB*** querying acoustic contact ***DDAT read: Rx Time:21:36:20.0141 TRx dataTimestamp_ set to:1754688980.545759PDAT read: Bearing 254.8, 9.7 (Local)  ~Local bearing/azimuth received: Bearing 254.8, 9.7 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.6 =DAT read: 21:36:20.0141 LVL= 22784, 30193, 20338, 32755, AGC= 52, IDX= 500, 0.05,-2.956, 1.596,-2.670, 3.077, PHS= 0.353,-1.436, 0.492, RAW= 153.7, 6.4, CAL= 153.0, 6.5, ROT= 357.0, -6.5 EYgot valid direction response: 21:36:20.0141 LVL= 22784, 30193, 20338, 32755, AGC= 52, IDX= 500, 0.05,-2.956, 1.596,-2.670, 3.077, PHS= 0.353,-1.436, 0.492, RAW= 153.7, 6.4, CAL= 153.0, 6.5, ROT= 357.0, -6.5 MT#Rx 62: Read range and direction messages.U^direction in FSK: [0.992210,-0.052000,0.113203]UFpublishing direction and range infoy/?[5?iAIYiurO4j> η)m>I>+@i*@b@Ii)Zjgt?Y?q늼??+QwV Iiuchecking for new query: numPingsReceived=62, elapsed TxPingTime=31.539564jrgC addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504134 s, deltaX: -0.299999 m, approachRate: -0.595078 m/s, rangeRepo size: 4 ڊgCDNOT Ignoring new targets: 14.90 m.ҊŠ쏻ʊ쏻gC ProNav: ac range: 14.900000 m, nav range: 13.722892 m, bearing: 86.857305 deg, approach rate: -0.632380 m/s, LOS rate: -0.251657 deg/s, cmd heading: 83.063898 deg, new cmd heading: 82.733797 deg. ,gCHeadingCmd: 1.443977 target range: 14.900000 and range: 14.60 m.>Ը?  " * }BR*@33-@8?ɢyB, 顭xI ɡiI02Ը?i`Q=iK >)>Ը?)I]?iYY]0Y>A5 >IIN>I  checking for new query: numPingsReceived=62, elapsed TxPingTime=31.774954Lf,|4u%AyVĩ?ٱV?ViqVV,VHJ?Ɂ@*ƿv?qK?@̿?`Ŀb?IVĩ?)V];iT~qBIi I  ABDm 6Dm2Y}'.>!n=jQ)?99GYGA?Q 1}4٪!!?Q 5}4o   B9Y?Q E?yC)÷;Iv;iù}4Y|@z)-"u%A-iAʋ-w?2-J,@N@OK`q?"-y/?[5?-QwV‹):-׼Ӽ?ҏ, P+@iaUOa@*-!r?\Ɲ {?-IaU?-ZA-O?-c~e?-j] -B) -D_ -B-YA-?ڊagCeDNOT Ignoring new targets: 14.90 m.ҊaŠuʊ}gC ProNav: ac range: 14.900000 m, nav range: 13.503678 m, bearing: 86.773551 deg, approach rate: -0.660516 m/s, LOS rate: -0.256457 deg/s, cmd heading: 82.733795 deg, new cmd heading: 82.478456 deg. 0gCHeadingCmd: 1.439521 target range: 14.900000 and range: 14.60 m.6B?"*R*)115=?Iɢ}yB}p 顅I ɡiI})6B?)D}D}D}(DyE};vB~BBIB u)>I+@i={*@=8q@Ii)}N~??xK??QQO Iichecking for new query: numPingsReceived=63, elapsed TxPingTime=32.051102ԩ >A D >A I I N >Sf,Ou%Aɰ(*;y^?ٱ^J$?^s^-^H@x?@|}ƿ@??`YͿ2?Ŀ ?I^?)^];i^ۑC qB IBDU checking for new query: numPingsReceived=63, elapsed TxPingTime=32.2812736DU:2Yu=!}4=%Q)>99GY&NA>Q 1}4٪f ?Q 5}4  4B9Y?Q E?yۇC)q;I!;i}4YZ@!z-Cu%AaAʋ6?2<+@濜"zA?"-`?J,EO?QQO‹:k;?R}:N*@6)@*0!Vĭ?~ q?,Ck?qRAQ?1fze?yc ڂB CVb BDSA&?gC addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503896 s, deltaX: -0.500000 m, approachRate: -0.992268 m/s, rangeRepo size: 4 gC Added new target pos. range: 14.100000 m, bearing: 86.662571 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 1.008030 s, deltaX: -0.799999 m, approachRate: -0.793626 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 14.10 m.ҊŠʊgC ProNav: ac range: 14.100000 m, nav range: 13.204142 m, bearing: 86.662571 deg, approach rate: 0.000000 m/s, LOS rate: -0.256457 deg/s, cmd heading: 82.478455 deg, new cmd heading: 82.126217 deg. gC%HeadingCmd: 1.433373 target range: 14.100000 and range: 14.10 m.%x?))9999"A*ARI*IQU@33,@]e?ɢyBV I VɡiI)x?))QI@i(0DDD*DEs!; Eخ:6E(N4:E"Eqx<Eqx<*E<E< DDAT read: Rx Time:21:36:21.0137  TRx dataTimestamp_ set to:1754688981.553151 DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.7  Z#Rx 64: Read range message, but no direction. `A  checking for new query: numPingsReceived=64, elapsed TxPingTime=32.534313ԡ >A O > AY Iq I N >@yZf,ku%Ay6G?ٱ6c?6v65-6H&? xiƿj?A?`d5Ϳt?ſ`%?I6G?)6];i6ؑCBqBBIMb@Mb@Mb@ )IiK7?Mb?~jt?)?=<)(@AIAixGAA -ABD-6D-!3Y==!=J==Q)=>A9A9EGYAMqAM>QQ 1]}4٪U?Q 5]}4U  UXB9] *?Q A]:Y]?Q E]?yUC)U:IUw:iU}4Yi@gC addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503496 s, deltaX: -0.100000 m, approachRate: -0.198612 m/s, rangeRepo size: 4 ڊgCDNOT Ignoring new targets: 14.10 m.ҊŠEʊEgCU ProNav: ac range: 14.100000 m, nav range: 12.949609 m, bearing: 86.575290 deg, approach rate: -0.639526 m/s, LOS rate: -0.223607 deg/s, cmd heading: 82.126215 deg, new cmd heading: 81.859229 deg. UugC]HeadingCmd: 1.428713 target range: 14.100000 and range: 14.00 m.]?YYaYiiq"q*u~BRq*yy},@}n?ɢyBuQ 額I ɡiI )?)IU?iQQ]Y0Yԑ>A  >A <A <vB ~B B IB sBB B B B T;B DBEUFA4JEU#E4REU0D D D )D E ; E :6E FA4:E "E s<E s<*E C<E D<U DDAT read: Rx Time:21:36:21.5133 ] TRx dataTimestamp_ set to:1754688982.057584e PDAT read: Bearing 253.5, 10.9 (Local) e ~Local bearing/azimuth received: Bearing 253.5, 10.9 (Local) u DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.6  DAT read: 21:36:21.5133 LVL= 23392, 28577, 22226, 32755, AGC= 52, IDX= 508, 0.15, 2.766, 1.006, 3.016, 2.491, PHS= 0.377,-1.440, 0.481, RAW= 152.8, 6.3, CAL= 152.1, 6.5, ROT= 357.9, -6.5  Ygot valid direction response: 21:36:21.5133 LVL= 23392, 28577, 22226, 32755, AGC= 52, IDX= 508, 0.15, 2.766, 1.006, 3.016, 2.491, PHS= 0.377,-1.440, 0.481, RAW= 152.8, 6.3, CAL= 152.1, 6.5, ROT= 357.9, -6.5  T#Rx 65: Read range and direction messages. ^direction in FSK: [0.992905,-0.036408,0.113203] Fpublishing direction and range infoQ U )Y?5?U fVAQ IU `[iU oU VQ Q U %> U Q)U E>IU *@iU z0=U )@U V=U @U VIQ iQ )U nѿ?Q,6?s ?U K^?U OU Q  U VIQ iQ  checking for new query: numPingsReceived=65, elapsed TxPingTime=33.051094 I I! N5 >`Xaf,ju%Ay:~?ٱ:t?:w:..:H,?Ftƿ@ ?`!?`MͿ|? ſ'?I:~?):];i:ّCVqBVIZ=Z=BDr6Drk2Yv=!zP=zfQ)z>|99GYG%|A%>)Q 15}4٪-?Q 55}4-5  -|B91Y5?Q E5?y-C)-!d;I-g;i-}4YY]*@Yzuu%AfVAʋQ?2Ք*@@9߿x QE?")Y?5?Q ‹V:o|A?T)@D@*1kO?:h?\a?GHA B?r_?lf gB`? ޶b ڂBJAK?gC addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504433 s, deltaX: -0.600000 m, approachRate: -1.189455 m/s, rangeRepo size: 4 gC= Added new target pos. range: 13.400000 m, bearing: 86.524158 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 1.007929 s, deltaX: -0.700001 m, approachRate: -0.694494 m/s, posRepo size: 4 ڊAgCEDNOT Ignoring new targets: 13.40 m.ҊAŠMʊIgC ProNav: ac range: 13.400000 m, nav range: 12.685719 m, bearing: 86.524158 deg, approach rate: 0.000000 m/s, LOS rate: -0.223607 deg/s, cmd heading: 81.859230 deg, new cmd heading: 81.593333 deg. gCHeadingCmd: 1.424072 target range: 13.400000 and range: 13.40 m.H?" * R)*115*@5N?ɢ}zB}L 顅I 5oɡiIE.)H?)Im@iiiu0q checking for new query: numPingsReceived=65, elapsed TxPingTime=33.2892809 >A >I I N% >Y Ngf,u%AbD<ZD<DBDBDB,D@EB0; EBn:6EBg4:E@"EB<EB<*EB<EB];i!= rB=IMb@Mb@Mb@ )Ii{Gz?I +? rh?#?94=C<)X?AIpAi9DA`A +ABD6D2Y=!:=Q)>99GY DDAT read: Rx Time:21:36:22.0132 TRx dataTimestamp_ set to:1754688982.561728PDAT read: Bearing 253.4, 11.2 (Local) ~Local bearing/azimuth received: Bearing 253.4, 11.2 (Local) -DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.6 uDAT read: 21:36:22.0132 LVL= 25376, 29937, 23938, 32755, AGC= 53, IDX= 507,-0.07, 2.718, 0.945, 2.959, 2.445, PHS= 0.376,-1.455, 0.470, RAW= 152.5, 6.5, CAL= 151.8, 6.8, ROT= 358.2, -6.8 }Ygot valid direction response: 21:36:22.0132 LVL= 25376, 29937, 23938, 32755, AGC= 53, IDX= 507,-0.07, 2.718, 0.945, 2.959, 2.445, PHS= 0.376,-1.455, 0.470, RAW= 152.5, 6.5, CAL= 151.8, 6.8, ROT= 358.2, -6.8 T#Rx 66: Read range and direction messages.^direction in FSK: [0.992476,-0.031190,0.118404]Fpublishing direction and range info  *\?"GF-🿯EO? 3SA I  ci t ]  5 > q=) ף>I X*@i V= )@ = @ I i ) FY??=!? !?  ѭ I i checking for new query: numPingsReceived=66, elapsed TxPingTime=33.558891WA>Q 1 }4٪?Q 5 }4  B9 H$?Q A:Y^?Q E?yAC)8:I:i}4Y%B%,@%>Ez  Zu%A 3SAʋ Y?2 d3*@;XYڿ_f?" *\?"GF-🿯EO? ѭ‹ : ? ‘(@N@* nʬ?,0?tr/y@? DA >? x]? \dwd  {B  yc  ҂B  FA ?gC addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504144 s, deltaX: -0.200000 m, approachRate: -0.396712 m/s, rangeRepo size: 4 gC% Added new target pos. range: 13.200000 m, bearing: 86.402941 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 0.504144 s, deltaX: -0.200000 m, approachRate: -0.396712 m/s, posRepo size: 4 ڊ!gC-DNOT Ignoring new targets: 13.20 m.Ҋ)Š)ʊ1gC ProNav: ac range: 13.200000 m, nav range: 12.378143 m, bearing: 86.402941 deg, approach rate: 0.000000 m/s, LOS rate: -0.223607 deg/s, cmd heading: 81.593331 deg, new cmd heading: 81.278842 deg. gCHeadingCmd: 1.418583 target range: 13.200000 and range: 13.20 m.$?"*}BR*`ff*@ P?ɢMzBM QUIQ UVɡQiQIUR>)e$?)aII i   0 q  checking for new query: numPingsReceived=66, elapsed TxPingTime=33.791210>A- >I I N >mf,\u%A0yBY?ٱB ?B{B-BH@4?l`/ǿ@?@J?zͿ%?Ŀ`{?IBY?)B];iBۑCNSrBRIBDT6DTY^@>!ba=bQ)b>d9d9fGYdf?Af?hitItQ 1v~4٪j?Q 5~4j-  jB9Y%?Q E-?yj[C)jH<)M5GIj^)l ?)-DDAT read: Rx Time:21:36:22.5129 5TRx dataTimestamp_ set to:1754688983.065728=PDAT read: Bearing 253.2, 11.9 (Local) =~Local bearing/azimuth received: Bearing 253.2, 11.9 (Local) MDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.6 }DAT read: 21:36:22.5129 LVL= 22848, 30945, 24450, 32755, AGC= 52, IDX= 504,-0.31, 0.563,-1.217, 0.785, 0.283, PHS= 0.382,-1.454, 0.458, RAW= 152.0, 6.6, CAL= 151.3, 6.9, ROT= 358.7, -6.9 Ygot valid direction response: 21:36:22.5129 LVL= 22848, 30945, 24450, 32755, AGC= 52, IDX= 504,-0.31, 0.563,-1.217, 0.785, 0.283, PHS= 0.382,-1.454, 0.458, RAW= 152.0, 6.6, CAL= 151.3, 6.9, ROT= 358.7, -6.9 T#Rx 67: Read range and direction messages.^direction in FSK: [0.992502,-0.022523,0.120137]Fpublishing direction and range info)-X,?8Δ>rjƹI?-LA)I-@Yi-x-_)-4-> -)-~>I-)@i-=-)@-Ϣ=-U@-ϢI)i))-e^A?Y?@p?-[?-r -޹ -ϢI)i)checking for new query: numPingsReceived=67, elapsed TxPingTime=34.072685I}Biyy}G0 >A  >I I N% >tf,u%A6checking for new query: numPingsReceived=67, elapsed TxPingTime=34.296528\y)?ٱE?&`}\-H0?`(glǿ?`c?Ϳ Y?wĿ?I)?)u];iבCvrBIMb@Mb@Mb@ )IiRQ??y&1|?"?L=`;)99GYGLA>!Q 1-~4٪%5?Q 5-~4%K  %B95#?Q A5:Y5?Q E5?y%C)% ;I%:i%[~4Y9=@9z9=4u%A=LAʋ=?2=y3uh)@uHesҿ0g?"=X,?8Δ>rjƹI?=޹‹=Ϣ:=?H'@>@*=+?a?E$?=>A='@?=c%v]?= a =|B=r_? 9=|B=>A=?gCE addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504000 s, deltaX: -0.400000 m, approachRate: -0.793650 m/s, rangeRepo size: 4 gCU Added new target pos. range: 12.800000 m, bearing: 86.254230 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 0.504000 s, deltaX: -0.400000 m, approachRate: -0.793650 m/s, posRepo size: 4 ڊYgC}DNOT Ignoring new targets: 12.80 m.ҊŠʊgCE ProNav: ac range: 12.800000 m, nav range: 11.875154 m, bearing: 86.254230 deg, approach rate: 0.000000 m/s, LOS rate: -0.205741 deg/s, cmd heading: 81.036288 deg, new cmd heading: 80.772113 deg. AgCHeadingCmd: 1.409739 target range: 12.800000 and range: 12.80 m.Vr?"I*M}BRI*IQU)@U?rDu=jDua=DyD}D},DyEy E}S:6E}g4:Ey"E}s)Vr?)DDAT read: Rx Time:21:36:23.0127 %TRx dataTimestamp_ set to:1754688983.5711825PDAT read: Bearing 252.3, 12.4 (Local) 5~Local bearing/azimuth received: Bearing 252.3, 12.4 (Local) UDAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 }DAT read: 21:36:23.0127 LVL= 24096, 30961, 24802, 32755, AGC= 52, IDX= 502, 0.33,-2.411, 2.070,-2.200,-2.714, PHS= 0.405,-1.454, 0.470, RAW= 151.7, 6.2, CAL= 151.0, 6.4, ROT= 359.0, -6.4 Ygot valid direction response: 21:36:23.0127 LVL= 24096, 30961, 24802, 32755, AGC= 52, IDX= 502, 0.33,-2.411, 2.070,-2.200,-2.714, PHS= 0.405,-1.454, 0.470, RAW= 151.7, 6.2, CAL= 151.0, 6.4, ROT= 359.0, -6.4 T#Rx 68: Read range and direction messages.^direction in FSK: [0.993617,-0.017344,0.111469]Fpublishing direction and range info!%?x‘ -V:?%HA!I% ^i%x%`!!%)\> !)%ף>I%Us)@i%k=%+(@%=%@IAi/%I!i!)%>6?qA?1&^?%^ ?%7ܽ% %I!i!checking for new query: numPingsReceived=68, elapsed TxPingTime=34.5753949 >A >I1 IA NM >N{f,lu%A ɰp;y:^?ٱ:I{?:~:=,:H?bgǿ`?@Vz?ͿT?@9Ŀ?I:^?):];i:ّCFrBF<IBDR 6DRf2YZ>!Zd=ZQ)^>\9\9^GY\bAb>dQ 1j~4٪f?Q 5j~4fs  fB9xYz?Q E~?yfC)f%;If;if~4Y@@zY]?u%A]HAʋ]?2]`:<_%(@ ˿15K?"]?x‘ -V:?]‹]:]AL]g?!fT'@ص_x@*]v]W))W?)IIi1yAm@AAiDDD*DE E-:6E(N4:E!@!@!@!@>AD>vBy~ByB}jIB}tBB}7 =ByByB}@;B}DI I N- >ԡ - DDAT read: Rx Time:21:36:23.5125 - TRx dataTimestamp_ set to:1754688984.0735595 PDAT read: Bearing 252.1, 13.0 (Local) = ~Local bearing/azimuth received: Bearing 252.1, 13.0 (Local) M DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.6 m DAT read: 21:36:23.5125 LVL= 24096, 31185, 25250, 32755, AGC= 52, IDX= 499, 0.15, 2.479, 0.667, 2.672, 2.171, PHS= 0.410,-1.459, 0.457, RAW= 151.2, 6.3, CAL= 150.5, 6.6, ROT= 359.5, -6.6 u Ygot valid direction response: 21:36:23.5125 LVL= 24096, 31185, 25250, 32755, AGC= 52, IDX= 499, 0.15, 2.479, 0.667, 2.672, 2.171, PHS= 0.410,-1.459, 0.457, RAW= 151.2, 6.3, CAL= 150.5, 6.6, ROT= 359.5, -6.6 } T#Rx 69: Read range and direction messages. ^direction in FSK: [0.993335,-0.008668,0.114937] Fpublishing direction and range info) - 6\f?rRNZl?- 3CA) I) i- y- b) ) - > - )- >I- [(@i- z0=- 0(@- =- ^@- I) i) )- xtU2?|9}?x"?- ?- h- D - I) i)  checking for new query: numPingsReceived=69, elapsed TxPingTime=35.0665893f,; v%Ay6J?ٱ6짿?656G,6H@6?]ǿ!??Ϳ r?Ŀ {?I6J?)6ֱ];i6ۑC9 9 GY  A >Q 1=~4٪?Q 5E~4  "B9AYE ?Q EE?yC);IX;iU-~4YMBME@M=Ezae1v%Ae3CAʋeB?2eNJm<(@{GGo?"e6\f?rRNZl?eD‹e:e* ?X&@$j@*e),7?E ?V9V?e5Ae4?e\JY?ek c eBex]? ek c egBef6Ae?gC addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.502377 s, deltaX: -0.300000 m, approachRate: -0.597161 m/s, rangeRepo size: 4 gC  Added new target pos. range: 12.200000 m, bearing: 86.187671 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 0.502377 s, deltaX: -0.300000 m, approachRate: -0.597161 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 12.20 m.ҊŠʊgC- ProNav: ac range: 12.200000 m, nav range: 11.400077 m, bearing: 86.187671 deg, approach rate: 0.000000 m/s, LOS rate: -0.205741 deg/s, cmd heading: 80.555299 deg, new cmd heading: 80.297761 deg. )gCuHeadingCmd: 1.401460 target range: 12.200000 and range: 12.20 m.u c?qyyyyy"*R*`ff(@↍@r?ɢdzBޑ I ]ɡiIV)- c?)1ԩIir2 ߑޕAchecking for new query: numPingsReceived=69, elapsed TxPingTime=35.307655>A- > A} yAI I D D D )D E ; E :6E FA4:E "E Nu]f,#v%Ay6$̢?ٱ6?6m6,6H@?@7X ǿ? ?`(Ϳ@s?pĿ@?I6$̢?)6@];i6ّCvDDAT read: Rx Time:21:36:24.0123 vTRx dataTimestamp_ set to:1754688984.577644zPDAT read: Bearing 252.1, 13.5 (Local) ~~Local bearing/azimuth received: Bearing 252.1, 13.5 (Local)  DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.6 -DAT read: 21:36:24.0123 LVL= 21088, 27921, 22642, 32755, AGC= 51, IDX= 497, 0.07, 1.480,-0.325, 1.653, 1.172, PHS= 0.410,-1.452, 0.437, RAW= 150.7, 6.5, CAL= 150.1, 6.9, ROT= 359.9, -6.9 5Ygot valid direction response: 21:36:24.0123 LVL= 21088, 27921, 22642, 32755, AGC= 51, IDX= 497, 0.07, 1.480,-0.325, 1.653, 1.172, PHS= 0.410,-1.452, 0.437, RAW= 150.7, 6.5, CAL= 150.1, 6.9, ROT= 359.9, -6.9 =T#Rx 70: Read range and direction messages.=^direction in FSK: [0.992756,-0.001733,0.120137]EFpublishing direction and range infotvFyߧ?.AtIv`RivmvrXtv3t v#۹)vw>IvaU(@ivV=vϩ'@vϢ=v@vϢItit)v$AɂU?8-=? ?v; ?vv" vϢItitmchecking for new query: numPingsReceived=70, elapsed TxPingTime=35.571850aUrBUkI]<]%=I]=)]=Mb@Mb@Mb@ )IiʡE?Zd;?{Gzt??y=ף;)G;AI5Ai-@A A (ABD6DYM=!M =M5Q)M>U H?9U H?9UGYU G]:A]>aԁQ 1~4٪e-?Q 5~4e  eIB9x?Q A:Y?Q E?yeC)eX;Ie;ie9?~4Y@ztv$v%Avf>Aʋv o?2v'@G 1aD?"vFyߧ?.?o(?v.1Av%)?v!T?vqb vBvc%v]? vqb v/Bv1AvB?gCM addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504085 s, deltaX: -0.300000 m, approachRate: -0.595138 m/s, rangeRepo size: 4 gC Added new target pos. range: 11.900000 m, bearing: 86.059229 deg, lat: 36.906036 deg, lon: -122.115847 deg, deltaT: 0.504085 s, deltaX: -0.300000 m, approachRate: -0.595138 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 11.90 m.ҊŠʊgC ProNav: ac range: 11.900000 m, nav range: 11.100049 m, bearing: 86.059229 deg, approach rate: 0.000000 m/s, LOS rate: -0.205741 deg/s, cmd heading: 80.297760 deg, new cmd heading: 79.981398 deg. gCHeadingCmd: 1.395939 target range: 11.900000 and range: 11.90 m.?"*}BR*'@`29?ɢezzBebԊ aeIi mWɡiiiIm)u?) ԱI5Ci11501checking for new query: numPingsReceived=70, elapsed TxPingTime=35.810863 >A} > vBq~BqBuIBuuBBu6 =BqBqBu(;BuDAADDD*DE; E:6E(N4:E"E,r<E,r<*EZ<E[<IIN >f, Bv%Aiy:?ٱ: ?:>F:+:H/&?CRǿV?? nͿ?~Ŀ@ˌ?I:?):];i8I@iBu@ @@)DD Fu@DDDHJ AIJt)HiH)NCINANDL LRYCRxcAPiPPiVCT)T TIT T)V-AZ/]ZZFXZ̎CXi^DI\\\b4sBbIBDn6DnYrP">!rV=vJQ)v>vK?9vK?9zGYxzA~>|Q 1~4٪~?Q 5~4~  ~fB9 Y #?Q E ?y~C)~:I~:i~L~4Y@EDDAT read: Rx Time:21:36:24.5120 ETRx dataTimestamp_ set to:1754688985.081709MPDAT read: Bearing 251.7, 14.0 (Local) U~Local bearing/azimuth received: Bearing 251.7, 14.0 (Local) eDAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 DAT read: 21:36:24.5120 LVL= 20288, 27857, 22082, 32707, AGC= 50, IDX= 510, 0.04, 0.179,-1.629, 0.337,-0.139, PHS= 0.420,-1.445, 0.432, RAW= 150.3, 6.4, CAL= 149.7, 6.8, ROT= 0.3, -6.8 Ygot valid direction response: 21:36:24.5120 LVL= 20288, 27857, 22082, 32707, AGC= 50, IDX= 510, 0.04, 0.179,-1.629, 0.337,-0.139, PHS= 0.420,-1.445, 0.432, RAW= 150.3, 6.4, CAL= 149.7, 6.8, ROT= 0.3, -6.8 T#Rx 71: Read range and direction messages.\direction in FSK: [0.992952,0.005199,0.118404]Fpublishing direction and range infoAE7C?fXKu?EO?Ef6AAIE@OiElEBVEE2E= > E)E/>IE'@iE=Em7'@E=E;EIAiA)EQ6s?) ?D큼?Ev?EĈE; EIAiAchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.078564zAE:Ev%AEf6AʋE?2ES&@0PX?sd)]͘?"E7C?fXKu?EO?E;‹E:EwZ?];%@z"|om@*E^q?+?)5]?E)AE?E[tQ?Eh EЁBE\JY? AEBE-AE??1gCe addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504065 s, deltaX: -0.500000 m, approachRate: -0.991936 m/s, rangeRepo size: 4 gC Added new target pos. range: 11.400000 m, bearing: 86.216872 deg, lat: 36.906035 deg, lon: -122.115847 deg, deltaT: 0.504065 s, deltaX: -0.500000 m, approachRate: -0.991936 m/s, posRepo size: 4 ڊgCDNOT Ignoring new targets: 11.40 m.ҊŠʊgC ProNav: ac range: 11.400000 m, nav range: 10.868120 m, bearing: 86.216872 deg, approach rate: 0.000000 m/s, LOS rate: -0.205741 deg/s, cmd heading: 79.981399 deg, new cmd heading: 79.736667 deg. gCHeadingCmd: 1.391667 target range: 11.400000 and range: 11.40 m.("?"*R* &@  d?ɢUzBU2 Q]IY ] !ɡYiYI])("?)Ii!!%0!Y checking for new query: numPingsReceived=71, elapsed TxPingTime=36.313290>Am c>Ա A I I N >ʖf,y\v%AԑrD%=jD<DDD+DE; E:6E [4:E!@!@!@!@NsBIMb@Mb@Mb@ )Iiףp= ?:v??T=)8AIAi=A A p%ABD 6Df2YN=!%=Q)>99GYA>Q 1~4٪?Q 5~4x  B9F?Q A:Y?Q E?y*C)]:I:i]~4Y0@zqqqʋq2uS&@0PX?sd)]͘?"u7C?fXKu?EO?q‹q:uwZ?];%@z"|om@*u^q?+?)5]?qqusxQ?upX` u݁Bu!T? quBu )AmDDAT read: Rx Time:21:36:25.0119 uTRx dataTimestamp_ set to:1754688985.589656}PDAT read: Bearing 251.6, 14.4 (Local) }~Local bearing/azimuth received: Bearing 251.6, 14.4 (Local) DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.5 DAT read: 21:36:25.0119 LVL= 20368, 28385, 22850, 32755, AGC= 50, IDX= 509, 0.07, 0.558,-1.255, 0.699, 0.238, PHS= 0.421,-1.448, 0.417, RAW= 149.9, 6.6, CAL= 149.3, 7.0, ROT= 0.7, -7.0 Ygot valid direction response: 21:36:25.0119 LVL= 20368, 28385, 22850, 32755, AGC= 50, IDX= 509, 0.07, 0.558,-1.255, 0.699, 0.238, PHS= 0.421,-1.448, 0.417, RAW= 149.9, 6.6, CAL= 149.3, 7.0, ROT= 0.7, -7.0 T#Rx 72: Read range and direction messages.\direction in FSK: [0.992472,0.012126,0.121869]Fpublishing direction and range infoimF^T?|"{Ո?UM7P2?m4AiImOimnmBYmimP> mX)m>Imp'@im=m &@m5=m+H)EFf?)IIAi/ checking for new query: numPingsReceived=72, elapsed TxPingTime=36.819656>A% v>9 AaIiIyN>f,{v%Ay>|?ٱ>?>vc>*>H@?F}Aȿ`9?ʚ? ZͿz? 4Ŀ`?I>|?)>];i>ؑCh-sB-I UAUABDu 6Du2Ym:>!u;=u\Q)u>y9y9GY!G[޼A>Q 1~4٪(?Q 5~4q  B9Yx?Q E?yLC):I6:iKm~4Y@AA<vB!~B!B%IB%uBB!B!B!B%;B%DBBBBBBh+4zY]ev%A]4Aʋ]?2]yٗ n&@ڷ?JŲ?"]F^T?|"{Ո?UM7P2?]+H<‹]5:]x#"?{ r;%@c&Bx@*]_?#uǽ? ]Q?] (A])?]T?]&\ ]B]T? Y]B]$A]C?ڊgCDNOT Ignoring new targets: 11.40 m.ҊŠaʊaDDD)DE; Ea:6EFA4:E"Exm)հ?)=DDAT read: Rx Time:21:36:25.5116 =TRx dataTimestamp_ set to:1754688986.093717EPDAT read: Bearing 251.1, 14.8 (Local) U~Local bearing/azimuth received: Bearing 251.1, 14.8 (Local) mDAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.5 DAT read: 21:36:25.5116 LVL= 21488, 28065, 24290, 32755, AGC= 50, IDX= 506, 0.14,-0.624,-2.434,-0.494,-0.949, PHS= 0.427,-1.440, 0.411, RAW= 149.6, 6.5, CAL= 149.0, 6.9, ROT= 1.0, -6.9 Ygot valid direction response: 21:36:25.5116 LVL= 21488, 28065, 24290, 32755, AGC= 50, IDX= 506, 0.14,-0.624,-2.434,-0.494,-0.949, PHS= 0.427,-1.440, 0.411, RAW= 149.6, 6.5, CAL= 149.0, 6.9, ROT= 1.0, -6.9 T#Rx 73: Read range and direction messages.\direction in FSK: [0.992606,0.017326,0.120137]Fpublishing direction and range info9=偝m?z轑?rjƹI?=,A9I=Si=m=^99=> =Q)=n>I='@i=V==Bo&@=Ϣ==5<=ϢI9i9I1i1111@==@==)=E?::qa?fjDd?="?={t=5< =ϢI9i9mchecking for new query: numPingsReceived=73, elapsed TxPingTime=37.110989>A>1A1 I9 II N] >I f,tҔv%AVchecking for new query: numPingsReceived=73, elapsed TxPingTime=37.3245819sBIMb@Mb@Mb@ )Ii ףp= ?X9v?MbPQ?}=)"3AI Ai99GYA>Q 1%~4٪?Q 5-~4Qj  ϔB9%?Q A:Y?Q E?yoC))2?)bD)ZD-?AD=D=D=(D9E=a; E=:6E=c44:E9!E@!M@!M@!M@ԑI?i/UDDAT read: Rx Time:21:36:26.0115 UTRx dataTimestamp_ set to:1754688986.597777ePDAT read: Bearing 250.9, 15.2 (Local) e~Local bearing/azimuth received: Bearing 250.9, 15.2 (Local) uDAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 DAT read: 21:36:26.0115 LVL= 19856, 28209, 22274, 32755, AGC= 49, IDX= 505, 0.28, 0.547,-1.267, 0.666, 0.218, PHS= 0.431,-1.440, 0.403, RAW= 149.3, 6.6, CAL= 148.7, 7.0, ROT= 1.3, -7.0 Ygot valid direction response: 21:36:26.0115 LVL= 19856, 28209, 22274, 32755, AGC= 49, IDX= 505, 0.28, 0.547,-1.267, 0.666, 0.218, PHS= 0.431,-1.440, 0.403, RAW= 149.3, 6.6, CAL= 148.7, 7.0, ROT= 1.3, -7.0 T#Rx 74: Read range and direction messages.\direction in FSK: [0.992291,0.022518,0.121869]m Fpublishing direction and range infoQUb?ϣw?UM7P2?U3+AQIUMiU1nUWQU1U> Q)UV>IU &@iU=Ux&@U5=U޹A5 > AYIiIyN>9f,RDv%Ay6?ٱ6= ?66*6H@?9ȿ?r? ͿE?KĿ ?I6?)6];i6ԑCRtBRIBDZ6DZ02YE>!c=%ܻQ)%>!9)9-GY)5A=>YQ 1e~4٪] ?Q 5m~4]d  ]B9ichecking for new query: numPingsReceived=74, elapsed TxPingTime=37.827808Ym?Q E?y]C)]s;I];i]~~4Y[~@zQUAv%AU3+AʋU?2UkH*<%@{I#I?7)1?"Ub?ϣw?UM7P2?U޹<‹U5ԉ:Uœ)?#2'e#@¬<@*Uf@GH&?Qλ?&Z?UAUL!?U?#R?U^ UׁBQ UpX` UׁBU$AU?gC addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504060 s, deltaX: -0.100000 m, approachRate: -0.198390 m/s, rangeRepo size: 4 gC- Added new target pos. range: 10.700000 m, bearing: 86.391135 deg, lat: 36.906034 deg, lon: -122.115846 deg, deltaT: 0.504060 s, deltaX: -0.100000 m, approachRate: -0.198390 m/s, posRepo size: 4 ڊ)gC-DNOT Ignoring new targets: 10.70 m.Ҋ1Š1ʊ1gCE ProNav: ac range: 10.700000 m, nav range: 9.883826 m, bearing: 86.391135 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 78.870667 deg, new cmd heading: 78.651242 deg. agCmHeadingCmd: 1.372723 target range: 10.700000 and range: 10.70 m.md?iiqqqq"q*yRy*yy`ff%@ↅS?ɢzBÑ ؿI y'ɡiI ~BBEIBuBB7 =BBB ;BDBEǙT4JEU4REǟ/DDD,DE; E:6Eg4:E"ENu 5 u)5 \>I5 6&@i5 Ϣ=5 ~%@5 A>5 =5 AI1 i1 )5 wF?:$?d?5 ?5 Q5 = 5 AI1 i1  checking for new query: numPingsReceived=75, elapsed TxPingTime=38.098896>A > A yAI I9 NU >f,/v%Ayn^o?ٱn?n܅n*nH@P?(!ɿ?? =Ϳ a?Ŀ@?In^o?)nZ];ilz7tB0I==BD!6D!Y5=!5:==kQ)=>= H?9= H?9EGYE"GEJAE>IQ 1u~4٪Mc?Q 5u~4M6^  MB9yY}?Q E}?yMC)M;IMF:iM~4Y{@zae؂v%Aef&Aʋe?2ej*{F؝$@.=?Z*_|n?"e·?KZ?OZ_|?e=‹e A:elDPU?:XVE#@; 't@*eg? ?g!?e*Ae ?eK]FR?e[` eՁBe?#R? e[` ae}Ae?gC5 addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503959 s, deltaX: -0.300000 m, approachRate: -0.595287 m/s, rangeRepo size: 4 gCE Added new target pos. range: 10.400000 m, bearing: 86.282730 deg, lat: 36.906034 deg, lon: -122.115846 deg, deltaT: 0.503959 s, deltaX: -0.300000 m, approachRate: -0.595287 m/s, posRepo size: 4 ڊigCmDNOT Ignoring new targets: 10.40 m.ҊiŠqʊqgC ProNav: ac range: 10.400000 m, nav range: 9.655743 m, bearing: 86.282730 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 78.651240 deg, new cmd heading: 78.408281 deg. gCHeadingCmd: 1.368483 target range: 10.400000 and range: 10.40 m.q*?"*R*$@?ɢ=zB= 9EֿIAchecking for new query: numPingsReceived=75, elapsed TxPingTime=38.335464 ER(ɡIiIIU?>Ii!!>A-=YrD =jD D% D% D% )D! E% s!; E% :6E% FA4:E! !- @!- @!- @!- @AU AIa Iq N} >= DDAT read: Rx Time:21:36:27.0112 E TRx dataTimestamp_ set to:1754688987.605532M PDAT read: Bearing 250.8, 16.0 (Local) M ~Local bearing/azimuth received: Bearing 250.8, 16.0 (Local) e DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 q  DAT read: 21:36:27.0112 LVL= 20640, 29233, 23602, 32755, AGC= 49, IDX= 502,-0.21,-1.482, 2.990,-1.392,-1.807, PHS= 0.427,-1.442, 0.371, RAW= 148.5, 7.0, CAL= 147.9, 7.6, ROT= 2.1, -7.6  Ygot valid direction response: 21:36:27.0112 LVL= 20640, 29233, 23602, 32755, AGC= 49, IDX= 502,-0.21,-1.482, 2.990,-1.392,-1.807, PHS= 0.427,-1.442, 0.371, RAW= 148.5, 7.0, CAL= 147.9, 7.6, ROT= 2.1, -7.6  T#Rx 76: Read range and direction messages. \direction in FSK: [0.990550,0.036322,0.132256] Fpublishing direction and range infoA E r?-Ř?) ?E 3#AA IE PiE 1rE 2\A A E > A )E >IE H%@iE 5=E 4%@E >E Q =E IA iA )E hz?9LtL?Kq/:i?E >E VE Q = E IA iA  checking for new query: numPingsReceived=76, elapsed TxPingTime=38.599304Ĺf,v%A}qtB}SIQMb@Mb@Mb@ )Ii7A`?Q?Mbp??u=;)0AI AiK?9K?9GYA>Q 1-~4٪?Q 55~4FW  *B95P?Q A5:Y5?Q E5?ỷC);I2;i~4Y9EEx@Azy} v%A}3#Aʋ}A ط= A A AAvB! ~B! B% IB% }vBB! B! B! B% ;B% DA I I) D= D= D= (D9 E= ; E= :6E= c44:E9 "E= p,f,w%Ay6?ٱ6?6ť6*6H_?`!jXɿФ?@$? {ͿQ?` Ŀ|?I6?)6];i6֑CrtBrIDDAT read: Rx Time:21:36:27.5109 TRx dataTimestamp_ set to:1754688988.109705 PDAT read: Bearing 250.4, 16.4 (Local) ~Local bearing/azimuth received: Bearing 250.4, 16.4 (Local) %DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 EDAT read: 21:36:27.5109 LVL= 21280, 28961, 23986, 32755, AGC= 48, IDX= 499,-0.01,-2.089, 2.391,-2.009,-2.416, PHS= 0.430,-1.431, 0.364, RAW= 148.2, 7.0, CAL= 147.7, 7.5, ROT= 2.3, -7.5 MYgot valid direction response: 21:36:27.5109 LVL= 21280, 28961, 23986, 32755, AGC= 48, IDX= 499,-0.01,-2.089, 2.391,-2.009,-2.416, PHS= 0.430,-1.431, 0.364, RAW= 148.2, 7.0, CAL= 147.7, 7.5, ROT= 2.3, -7.5 UT#Rx 77: Read range and direction messages.]\direction in FSK: [0.990646,0.039788,0.130526]]Fpublishing direction and range infoh_?駙-'_? /?AI Si!q]0(> +)5^>I~%@i$@ >l$= Ii)?5?[.I?!>sl$=BDz 6Dz2Y}8:>!R=ŸQ)>99GY  Iichecking for new query: numPingsReceived=77, elapsed TxPingTime=39.106644A>Q 1~4٪I?Q 5~4`Q  GBԱ9Yu?Q E?yC)/;I0;ig~4Ys@zhw%AAʋx?2"j#@h?mw?"h_?駙-'_? /?l$=‹ :e? Ň#"@MWKK @*.ݏxٯ??zn?A?ĨQ?olb BĨQ? [` ՁBAt?gCm addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504173 s, deltaX: -0.400000 m, approachRate: -0.793378 m/s, rangeRepo size: 4 gC} Added new target pos. range: 9.800000 m, bearing: 86.187505 deg, lat: 36.906034 deg, lon: -122.115846 deg, deltaT: 0.504173 s, deltaX: -0.400000 m, approachRate: -0.793378 m/s, posRepo size: 4 ڊygC}BNOT Ignoring new targets: 9.80 m.ҊygC6Short final. Range: 9.80 m.gCVTransitioning guidance mode to: SHORT_FINAL@@ŠʊgC ProNav: ac range: 9.800000 m, nav range: 9.168455 m, bearing: 86.187505 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 78.139809 deg, new cmd heading: 77.915658 deg. gC|HeadingCmd: 1.359885 target range: 9.800000 and range: 9.80 m.?"*R*#@ӻ?ɢe {Be, im.ʿIi m-+ɡiiiImA =I AU yAIy I N >Af,J& w%AyF;?ٱFX?Fm&Fa(FH? )Rɿ? Y?|~Ϳړ?@JĿ}?IF;?)Fv];iDRtBRIiPIP-Mb@Mb@Mb@) )))I)i)-v?/$?{Gzt?-?-,=-ף;)-/AI- Ai-8A-&A )- A)A ABDM6DMYU=!]B=] Q)]>e H?9e H?9eGYe#GiRA>Q 1~4٪?Q 5~4J  iB97?Q A:Y?Q E?y C):I:i~4Y%B%p@-:EDMDMDM*DIEMm+; EM:6EM(N4:EI!U@!U@!U@!U@DeB*** querying acoustic contact ***jaraڊqҊqgCuzIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.Š}째ʊ}째gC ProNav: ac range: 9.800000 m, nav range: 8.916774 m, bearing: 86.185546 deg, approach rate: -0.573190 m/s, LOS rate: -0.004588 deg/s, cmd heading: 77.915656 deg, new cmd heading: 77.909613 deg. IgC|HeadingCmd: 1.359779 target range: 9.800000 and range: 9.80 m.? ?"*{}BR* 5?ɢ5{B5t 15ſI9mDDAT read: Rx Time:21:36:28.0108 mTRx dataTimestamp_ set to:1754688988.613746uPDAT read: Bearing 249.7, 16.5 (Local) }~Local bearing/azimuth received: Bearing 249.7, 16.5 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 DAT read: 21:36:28.0108 LVL= 22256, 31569, 22946, 32755, AGC= 48, IDX= 498, 0.20,-0.011,-1.840, 0.071,-0.351, PHS= 0.442,-1.445, 0.378, RAW= 148.3, 6.8, CAL= 147.7, 7.3, ROT= 2.3, -7.3 Ygot valid direction response: 21:36:28.0108 LVL= 22256, 31569, 22946, 32755, AGC= 48, IDX= 498, 0.20,-0.011,-1.840, 0.071,-0.351, PHS= 0.442,-1.445, 0.378, RAW= 148.3, 6.8, CAL= 147.7, 7.3, ROT= 2.3, -7.3 T#Rx 78: Read range and direction messages.\direction in FSK: [0.991095,0.039807,0.127065]Fpublishing direction and range infoim]{ ?}ka? m)m7>Im%@im=imw>imwIiii)m/ ? $?hmi mwIiiichecking for new query: numPingsReceived=78, elapsed TxPingTime=39.607574 -ɡiIA=AAI I N > % checking for new query: numPingsReceived=78, elapsed TxPingTime=39.844547If,I9w%Ay6!{?ٱ6—?6:60(6H? mɿ??UsͿ ȟ?6Ŀ X|?I6!{?)6F];i4B&uBBIBDJ6DJ3YV>!VW=V$Q)Z>ZK?9ZK?9ZGYX^A^>`Q 1f~4٪b ?Q 5f~4b;E  bB9dYj?Q Ej?yb$C)b:Ibl:ibO~4Yln m@lzG'w%AAʋ/?2pƠn#@Yhu?̡4Vb?"]{ ?}ka? #۹)5^>IMQ%@i=S$@>¸2=Ii)N[ ?N?ʹn?%>¸2= IiMchecking for new query: numPingsReceived=79, elapsed TxPingTime=40.1210711>A ]=a A I I N >ff,Uw%Ay6AǙ?ٱ6?66^(6Hp?`T !ɿ@B? !R@=RGQ)V>T9T9VGYTZSAZ>\Q 1b~4٪^"?Q 5b~4^>  ^B9`Yf??Q Ef?y^CC)^:I^:i^%~4Ylnh@lz!%Gw%A]checking for new query: numPingsReceived=79, elapsed TxPingTime=40.351334%Aʋ%Ǿ?2%\>Gk"@,M3/?4?"%;y)O?/#?) ?ԑ%¸2=‹%:%rG?0:x+!@n @*%pR?k-*?:%?%\ A%0?%9\?%=~\ %B%K]FR? %_t^ %B%A% ?gC addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.506247 s, deltaX: -0.300000 m, approachRate: -0.592596 m/s, rangeRepo size: 4 gC Added new target pos. range: 9.300000 m, bearing: 86.192030 deg, lat: 36.906034 deg, lon: -122.115845 deg, deltaT: 1.010288 s, deltaX: -0.500000 m, approachRate: -0.494908 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 9.30 m. 9.80 m.ŠʊgC ProNav: ac range: 9.800000 m, nav range: 8.460859 m, bearing: 86.208909 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 77.666006 deg, new cmd heading: 77.414803 deg. gCE|HeadingCmd: 1.351143 target range: 9.800000 and range: 9.80 m.MC?IQQQqq"y*yRy*y"@ↅ#?ɢ>{Bx ;I /ɡiII %@i w> "$@ 'g > A= 'g I i ) ?H|?[&/? >  A= 'g I i  checking for new query: numPingsReceived=80, elapsed TxPingTime=40.623981 >Au =A yAI I N >f,qw%Ae H?9e H?9eGYe$GeAe>iQ 1u~4٪m$?Q 5u~4m5  mؕB9}?Q A}:Y}h?Q E}?ymnC)m& ;Im ;im(~4YFd@zA hw%AAʋ?2"ĎDL!@8?ߪ?"u@2?5? M _?A=‹'g :?߰ @!$k @*ƺ:?e8=}?W6_?A-?ʝ]?p[ B\? =~\ BnAnȾ?gC addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.505694 s, deltaX: -0.300000 m, approachRate: -0.593244 m/s, rangeRepo size: 4 gC Added new target pos. range: 9.000000 m, bearing: 85.398877 deg, lat: 36.906035 deg, lon: -122.115844 deg, deltaT: 1.515982 s, deltaX: -0.800000 m, approachRate: -0.527711 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 9.00 m. 9.80 m.Š ʊ gC= ProNav: ac range: 9.800000 m, nav range: 8.125344 m, bearing: 86.230773 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 77.414805 deg, new cmd heading: 77.109215 deg. AgCU|HeadingCmd: 1.345810 target range: 9.800000 and range: 9.80 m.u~C?yy"*}BR*"@ |?ɢ=Q{B= 9E᳿IA E71ɡAiAIE O) I $@i l$@ 0 > +H= 0 I i ) =! ?Ʊ|?5_ K? +H= 0 I i e checking for new query: numPingsReceived=81, elapsed TxPingTime=41.131592>A 9 A=AIAIYNe?;Yf,:=w%AiyJi?ٱJ]?JJՐ&JH@u?@i<ɿO{?@?iͿ`? Ŀ~x?IJi?)Jݹ];iH``ibQ8I``Idid dd)dh jjt@|AI+)i)!I!%! !!)-94i))i)-A)) 1I1Q]vB]MIBDm 6Dm2YL>!E=Q)>K?9K?9GY1QA>Q 14٪P&?Q 54/  B9Y?Q E?yC):IN:i4YB _@ 8EzMMw%A Aʋ ) j>I $@i = O$@ A> 4QO= AI i )  x:%?Ă/{?|G){? > m 4QO= AI i  ;6= checking for new query: numPingsReceived=82, elapsed TxPingTime=41.633793I- @i) ) - /1 ԩ >AQ]checking for new query: numPingsReceived=82, elapsed TxPingTime=41.864494AyAIIN%?>f,w%AyM?ٱM%-?MGĈM)$MH?@Kɿ?j??`Ϳ ?` ÿw?IM?)M];iMґC QvB{I -A-AMb@Mb@Mb@ )Iix&1??{Gz?A ?L=ף<)\)AIAi4AtA A) AABD6D2Y=!<Q) >  H?9  H?9 GY %GxA>Q 1%4٪?)?Q 5%4$  :B9% ?Q A-:Y-X?Q E-?yÊC) ;I ;i4Y15nZ@1zaew%AefAʋe\?2eh @?dO?"e]?+ZTD?OZ_|?yvBm>~BiBmIBm=xBBiBiBiBm;BmDB)B)B)B-7 =B-7 =B-چ4e4QO=‹e A:eƹC?E@6k I @*e3H?j?SQ?e@eb=?eg?ea|X ezBeʝ]? ep[ ae"@e?gC addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503951 s, deltaX: -0.200001 m, approachRate: -0.396865 m/s, rangeRepo size: 4 gC Added new target pos. range: 8.400000 m, bearing: 85.346640 deg, lat: 36.906036 deg, lon: -122.115844 deg, deltaT: 2.523964 s, deltaX: -1.400001 m, approachRate: -0.554683 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 8.40 m. 9.80 m.ŠʊgC ProNav: ac range: 9.800000 m, nav range: 7.464005 m, bearing: 86.316109 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 76.826589 deg, new cmd heading: 76.451070 deg. gC|HeadingCmd: 1.334323 target range: 9.800000 and range: 9.80 m.˪?"*}BR* @@zQ?DDD+DE; EE:6E [4:E"Ep E#۹)EE>IE"$@iEϢ=E(#@E >Ed=E IAiA)Ei}}<8?g#l+?%V7?E6<>EEd= E IAiAchecking for new query: numPingsReceived=83, elapsed TxPingTime=42.1312299=IE?iIIM/IԹ >Ai  checking for new query: numPingsReceived=83, elapsed TxPingTime=42.368137AAIԙIN?}f,Hkw%AyZ;j?ٱZۆ?ZDZ%ZH7?@ʿ@?a?|?sZͿ`?@ÿu?IZ;j?)Z];iZБCmvBmIMb@Mb@Mb@ )Ii}?5^I?ˡE?V-?M"?'=<)'AIZAiV2AA QABD 6D ܲY?>!=Q)%>%K?9%K?9%GY!-A->1Q 1=4٪5+?Q 5=452  5mB9="?Q AE:YE ?Q EE?y5C)5 ;I5~ ;i5[/4YIMT@Izw%AAʋf?2b@@ V? /?"b@? V? /?d=‹ :+RS?E~@2Lb/@*+RS?E~?2Lb/?@2?UFf?Y gB{^? B@G?gC addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504083 s, deltaX: -0.400000 m, approachRate: -0.793519 m/s, rangeRepo size: 4 gC Added new target pos. range: 8.000000 m, bearing: 85.281459 deg, lat: 36.906036 deg, lon: -122.115844 deg, deltaT: 3.028047 s, deltaX: -1.800000 m, approachRate: -0.594443 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 8.00 m. 9.80 m.ԹŠʊgC ProNav: ac range: 9.800000 m, nav range: 7.143697 m, bearing: 86.412187 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 76.451072 deg, new cmd heading: 76.142999 deg. gC|HeadingCmd: 1.328946 target range: 9.800000 and range: 9.80 m.?rDU=jDU=D]D]DYDYE]C#; E]:6EY:EY!m@!m@!m@!m@"*}BR* @?DDAT read: Rx Time:21:36:31.0096 TRx dataTimestamp_ set to:1754688991.642560PDAT read: Bearing 247.9, 17.9 (Local) ~Local bearing/azimuth received: Bearing 247.9, 17.9 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.5 DAT read: 21:36:31.0096 LVL= 22768, 29425, 26914, 32755, AGC= 48, IDX= 502, 0.37, 0.190,-1.685, 0.230,-0.171, PHS= 0.463,-1.469, 0.358, RAW= 147.2, 6.9, CAL= 146.7, 7.5, ROT= 3.3, -7.5 Ygot valid direction response: 21:36:31.0096 LVL= 22768, 29425, 26914, 32755, AGC= 48, IDX= 502, 0.37, 0.190,-1.685, 0.230,-0.171, PHS= 0.463,-1.469, 0.358, RAW= 147.2, 6.9, CAL= 146.7, 7.5, ROT= 3.3, -7.5 T#Rx 84: Read range and direction messages.\direction in FSK: [0.989801,0.057072,0.130526]Fpublishing direction and range infoA0Tr?^{8? /?@IXir"iV> 1)K>Il$@i#@k=Ii)"s>?\h?p?T> !k= Ii%checking for new query: numPingsReceived=84, elapsed TxPingTime=42.636566ɢU{BU~ Q]IY ]5ɡYiYI]6 >) I i 0 @ =@ =M checking for new query: numPingsReceived=84, elapsed TxPingTime=42.870869I >AO)=qvB ~B CB  IB xBB B B B ;B DA!I)I9NM?f,ҩx%Ay:5?ٱ:>R?::k$:H ?!@Gʿ@P? ?KͿ ?ÿ`(s?I:5?):a];i:ԑCFwBFIBDN6DN:2YV>!V=V.Q)Z>X9X9^GY^&G^A^>`Q 1f4٪b.?Q 5f4b  bB9dYj׺?Q Ej?ybC)b;Ib;ibA4Yln-O@lQBEFA4JE?4RE/D}D}D}(DyE}s!; E}:6E}c44:Ey"E}qx ҽ)x>I(#@i >.k#@> A=Ii)@TkzO?'?0z%?>p A= IiMchecking for new query: numPingsReceived=85, elapsed TxPingTime=43.142693顥TII U`6ɡQiQIUΎA% o== checking for new query: numPingsReceived=85, elapsed TxPingTime=43.378876 Aq I I N= >f,sx%AԹy?ٱ??<2#H@Z?]6Rʿ`I?=?`29Ϳ?(ÿ@s?I?)];iёCjwB(IeMb@Mb@Mb@a a)aIaiaew/?v/?Q?e&?exi=e\=)ez$AIeAie/Aej@ aeABD6D02YU>!,=Q)>99GY+A>Q 14٪51?Q 54*  ϖB9'?Q A:Y_?Q E?y:C)8:Ib:iR4Y B H@ 4EzT x%A@ʋ?2=]>@MA?RŮ?"o^?G?fZ?:N ? A=‹:q;6'G?7(@SD @*m?|4[?. Z=?@@9*?W>i?MY qBg? MY qB:@?gC] addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503193 s, deltaX: -0.400000 m, approachRate: -0.794924 m/s, rangeRepo size: 4 gCm Added new target pos. range: 7.400000 m, bearing: 84.570596 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 4.036048 s, deltaX: -2.400000 m, approachRate: -0.594641 m/s, posRepo size: 4 ڊiҊigCuzIgnoring new targets. Set target to previous: 7.40 m. 9.80 m.ŠqʊygC ProNav: ac range: 9.800000 m, nav range: 6.532602 m, bearing: 86.620729 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 75.822094 deg, new cmd heading: 75.556375 deg. gC|HeadingCmd: 1.318707 target range: 9.800000 and range: 9.80 m.h˨?"*}BR*@↥׼?ɢ{B9 I 7ɡiI 1)1>IƇ#@i="@ >C= Ii)@<.Qq?a:=?b45k?>aC=  Iiechecking for new query: numPingsReceived=86, elapsed TxPingTime=43.647610>Am ==A A I I N >1# f,?7x%A=checking for new query: numPingsReceived=86, elapsed TxPingTime=43.879059wBWIBD 6D:2)iE=IECY]E>!eT=)G )IErAMxAmQ)u>y99GYA>Q 1e4٪L3?Q 5e4   B9aYaQ Ee?y]C)UZ )A>I"@i >i"@>l=I)bؒ?tZ ?:.?>9l= } checking for new query: numPingsReceived=87, elapsed TxPingTime=44.149418 >AU ew=bAQ ZAQ AIIN>F3f,Ux%A,yEw?ٱEW?ESEi"EHd?*`Hʿ`9?N?@\Ϳ@?iÿ/r?IEw?)E];iEґCwB|I) @Achecking for new query: numPingsReceived=87, elapsed TxPingTime=44.382877BD6DY">!.= Q) >I9I9MGYm'GuAu>yQ 14٪}5?Q 54}  }'B9YE?Q E?y}C)}+;I};i}Rp4Y'@@DB*** querying acoustic contact ***jrԑڊҊgCzIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.Š%^;ʊ-^;gC ProNav: ac range: 9.800000 m, nav range: 5.992669 m, bearing: 86.809826 deg, approach rate: -0.621167 m/s, LOS rate: 0.262927 deg/s, cmd heading: 75.288110 deg, new cmd heading: 75.628945 deg. q4<gC|HeadingCmd: 1.319974 target range: 9.800000 and range: 9.80 m.?!!!!!")*)R)*))15?ɢ{B*{ 顥 wI j9ɡiIo -) P>I 0"@i > ?!@ V> ޹= VI i ) CsK?΋{ ?;uM? xt> kQ ޹= VI i 5 checking for new query: numPingsReceived=88, elapsed TxPingTime=44.652416>A} ~E= A I I N >f,rx%AyF?ٱF?FF "FH?`ԫ`˫ʿ m2??Ϳ? ?`%ÿq?IF?)F];iFБCb8xBbIMb@Mb@Mb@ )Ii(\?L7A`? rh?.?+=C =)"AIIAi,A@ \ABDE6DEN2iYe>!u0=} Q)}>99GYA>Q 14٪7?Q 54+  WB9/?Q A:Y?Q E?yC)=;I7;iK4Y;@zaejx%Ae@ʋe?2e;hY-@!ot?_&ĭ?"e! YՈ?x{?'ЌCz?e޹=‹eV:ew߅?U2@Н$@*e1vi?Igf?ٚ?e@e\>e6{a?eX e%BeUFf? eX egBe@e.?gC  addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 1.008051 s, deltaX: -0.700000 m, approachRate: -0.694409 m/s, rangeRepo size: 4 gC Added new target pos. range: 6.500000 m, bearing: 84.682685 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 5.548002 s, deltaX: -3.300000 m, approachRate: -0.594809 m/s, posRepo size: 4 ڊ!Ҋ!gC-zIgnoring new targets. Set target to previous: 6.50 m. 9.80 m.Š-ʊ-agC= ProNav: ac range: 9.800000 m, nav range: 5.694548 m, bearing: 86.928421 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 75.628943 deg, new cmd heading: 75.371200 deg. = gCE|HeadingCmd: 1.315476 target range: 9.800000 and range: 9.80 m.Ea?AAIIII"Q*U}BRQ*QQ]@]W?checking for new query: numPingsReceived=88, elapsed TxPingTime=44.894897ɢ%{B%| !%ViI! -=:ɡ)i)I-AGg=A A <vB~BBIB9zBB8 =BBB;BDA I I N% >D D D (D E 1; E ˭:6E c44:E "E k } O)} Ƌ>I} E/!@i} 'g >} @} >} ^ =} Iy iy )} H\?6+ ??bZ]I?} 3n>} n } ^ = } Iy iy  checking for new query: numPingsReceived=89, elapsed TxPingTime=45.162827"f,Kx%Aɰ;y6\?ٱ6y?6NJ6`v"6H@n?ǣLʿ?+? \?̿ "? {ÿq?I6\?)6(];i6ёCNxBNIBDV6DVk1Y\c>! d= Q) >99GYCA>yQ 14٪}9?Q 54}  }~B9YU?Q E?y}ċC)}:I}d:i}4Y6@2EzMيx%Af@ʋ/?2ݹc@@>?1pLS?"]L$x?c?%)k?^ =‹:a&ʪV?G @ggr=@*NYX?+JQl?@S?l@>cO[?Y BEf? TBG@??gC addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.511806 s, deltaX: -0.300000 m, approachRate: -0.586160 m/s, rangeRepo size: 4 gC Added new target pos. range: 6.200000 m, bearing: 84.712070 deg, lat: 36.906037 deg, lon: -122.115843 deg, deltaT: 6.059808 s, deltaX: -3.600000 m, approachRate: -0.594078 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 6.20 m. 9.80 m.Šʊ!gCU ProNav: ac range: 9.800000 m, nav range: 5.455641 m, bearing: 87.043492 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 75.371199 deg, new cmd heading: 75.143686 deg. QgCU|HeadingCmd: 1.311505 target range: 9.800000 and range: 9.80 m.]cߧ?YYYYYY"a*aRa*ai@↍D?ɢ{Bv }XI (:ɡiI )%>IJ @i0 >@|>5=|Ii)5Bh?K6C?܅ӵܜ?>Y 5= |Ii checking for new query: numPingsReceived=90, elapsed TxPingTime=45.667267>A%+W=rA->jA->AiIyIN?H,f,x%A,xB%IMb@Mb@Mb@ )IiZd;O?y&1? rh?~*?`e=)AIAi(AI@ QABD 6D2Y1j=!<Q)>99GY(GA>Q 14٪=?Q 54  B9Q+?Q A:Y?Q E?yC):I;i4Yu4@zx%A@ʋe?2^u @Ot2!?%~ ?"Yae?KF־?ni\?5=‹|:?k?v.Q@Gۣ@* f?s?& /R?@X> #V?S B6{a? %Bɪ@?gC= addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504069 s, deltaX: -0.200000 m, approachRate: -0.396771 m/s, rangeRepo size: 4 gCU Added new target pos. range: 6.000000 m, bearing: 85.460574 deg, lat: 36.906036 deg, lon: -122.115843 deg, deltaT: 6.563877 s, deltaX: -3.800000 m, approachRate: -0.578926 m/s, posRepo size: 4 ڊQҊQgC]zIgnoring new targets. Set target to previous: 6.00 m. 9.80 m.ŠYʊYgCm ProNav: ac range: 9.800000 m, nav range: 5.039983 m, bearing: 87.331515 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 75.143685 deg, new cmd heading: 74.770227 deg. qgCu|HeadingCmd: 1.304987 target range: 9.800000 and range: 9.80 m.u ?yyyyyy"ԁ*}BR*@↕ൽ?checking for new query: numPingsReceived=90, elapsed TxPingTime=45.903000ɢU{B]!l 顕SI l;ɡiI dIm @ii m &I@i m A>i Ii ii )m cf*?~hQ??m >m  m A> i Ii ii  checking for new query: numPingsReceived=91, elapsed TxPingTime=46.172153 >A:_=AAQIaIyN?5f,Nx%Aiy:d?ٱ:?:Xڊ:1:H`?ʿ ?J?̿%?iÿ`u?I:d?):'];i8FyBF.IBDR 6DRf2YV2D>!Z!=Z\9\9^GY\b@Ab>dQ 1f4٪f=A?Q 5j4f  fB9hYjF?Q Ej?yf#C)f:If :if4Ylr<.@pzaeox%Ae̬@ʋe?2e3%_s,@Ϋ?`K#?"eHL^?lK?ni\?e A>‹a:e >?BS@U{ž@*eҁ`?8cs?nf?e @em>eX?eIY eBecO[? aeBeG@e&?checking for new query: numPingsReceived=91, elapsed TxPingTime=46.406948gC addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505127 s, deltaX: -0.600000 m, approachRate: -1.187820 m/s, rangeRepo size: 4 gC  Added new target pos. range: 5.400000 m, bearing: 86.458885 deg, lat: 36.906035 deg, lon: -122.115843 deg, deltaT: 7.069004 s, deltaX: -4.400000 m, approachRate: -0.622436 m/s, posRepo size: 4 ڊҊgCMzIgnoring new targets. Set target to previous: 5.40 m. 9.80 m.ŠyʊygC ProNav: ac range: 9.800000 m, nav range: 4.717388 m, bearing: 87.632872 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 74.770224 deg, new cmd heading: 74.458967 deg.  gCu|HeadingCmd: 1.299554 target range: 9.800000 and range: 9.80 m.uW?y"*R*@?ɢ]|B]g a@I <ɡiIЍI= bd@i= Q >= @= l$>= `>= l$I9 i9 )= l;b?5jq?身?= >= 6= `> = l$I9 i9  checking for new query: numPingsReceived=92, elapsed TxPingTime=46.677483Ie ?ia a e /a @i @i ԁ ԉ>AZ=bAZAchecking for new query: numPingsReceived=92, elapsed TxPingTime=46.911392AIIN?y@f,#y%AyJ?ٱJ?JȍJ^JH`{/?Ќ`3ʿ ?%?̿@? ¿`w?IJ?)J];iJґCRTyBVUIiXIXmMb@Mb@Mb@i i)iIiiim?y&1?~jt?m,?im<)mAIm @im(Am@ im3ABD6DY=!<k:Q)>99GY)GؾA>Q 14٪E?Q 54~  7B9-?Q A:YE?Q E?yYC)E:I:ih4Y:*@AA@AvB~BBIB_{BB8 =BBB;BDBCBCBBBBD|4z4x%A@ʋw?2f‹l$:~ћj?CPCe@~퇏@*:v?.n? ?@T3>T?Q πBX? B@?gC addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.502822 s, deltaX: -0.100000 m, approachRate: -0.198877 m/s, rangeRepo size: 4 gC% Added new target pos. range: 5.300000 m, bearing: 87.214011 deg, lat: 36.906035 deg, lon: -122.115843 deg, deltaT: 7.571826 s, deltaX: -4.500000 m, approachRate: -0.594308 m/s, posRepo size: 4 ڊ!Ҋ!gC-zIgnoring new targets. Set target to previous: 5.30 m. 9.80 m.Š)ʊ)gC] ProNav: ac range: 9.800000 m, nav range: 4.296445 m, bearing: 88.138832 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 74.458966 deg, new cmd heading: 74.069399 deg. agCe|HeadingCmd: 1.292755 target range: 9.800000 and range: 9.80 m.ex?iiiiii"q*u}BRq*qy@33@↝ I?ɢ&|BSg 4I V=ɡiI<D%D%D%'D!E%; E%E:6E%'4:E!"E%,rIt@i">y(@;0>K6>;0Ii)s?%]?q%?3>!K6> ;0Ii=checking for new query: numPingsReceived=93, elapsed TxPingTime=47.184200IE@iAIIIA>A} K=i A I I N > }Ff,6y%A.checking for new query: numPingsReceived=93, elapsed TxPingTime=47.414803yz7?ٱz׽?z~މzzHj?` %ʿ ?2?`Y̿ ?R¿|?Iz7?)zѹ];iz̑CԱyBIBD=6D=:3Yu>!u)=u4;Q)}>y9y9}GYyfA>Q 14٪I?Q 54G  gB9Yc?Q E?yC):I-:iX4YB%@0EzAE| y%AE@ʋE~?2E |@Y?h?"EiK+Sy??9kfNT?!?EK6>‹E;0:EA?֠@h/l?*Eg>ɡqiqIu9I@i'g >O`@|>B>|Ii)Z}&?Odj$?Mo?!> B> |Iichecking for new query: numPingsReceived=94, elapsed TxPingTime=47.683735ԙ>A O=Թ A I I N >trMf,f8y%Aɰ4<4!eR=m);Q)m>i9q9uGYqu] Au>yQ 14٪}fL?Q 54} Q 9tI }B9 ,?Q A:Y÷?Q E?y}C)}!;I};i}4YZ!@zc&,y%A@ʋ)?2~Yx@}Ca??"p5??ni\?B>‹|:@7 e? p.@H7)?*B!z?VĬ?xzM?@<PN?checking for new query: numPingsReceived=94, elapsed TxPingTime=47.918991T OBT? T B@n?gC addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503229 s, deltaX: -0.300000 m, approachRate: -0.596150 m/s, rangeRepo size: 4 gCM Added new target pos. range: 4.500000 m, bearing: 88.654642 deg, lat: 36.906035 deg, lon: -122.115841 deg, deltaT: 8.580138 s, deltaX: -5.300000 m, approachRate: -0.617706 m/s, posRepo size: 4 ڊQҊYgCzIgnoring new targets. Set target to previous: 4.50 m. 9.80 m.ŠʊgC ProNav: ac range: 9.800000 m, nav range: 3.734325 m, bearing: 89.042338 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 73.793097 deg, new cmd heading: 73.569733 deg. gC|HeadingCmd: 1.284034 target range: 9.800000 and range: 9.80 m.;[?" * }BR * @ ?!ɢ}B|BdIh 顅I j>ɡiIt @@ '> d> 'I i ) 0̀5?qG?GP? e>  d> 'I i y >A A=rA >jA > checking for new query: numPingsReceived=95, elapsed TxPingTime=48.215286A yAI I! N- >Tf,Ty%A H?9 H?9GY*GIA>Q 14٪O?Q 54_  B9YB?Q E?yƌC)!;I;i-4Yj@zcLy%A3@ʋo?2GZ/@-0:F?am?"b0(?ۭ8?$vz?d>‹':2m񟹿)?d\@T4 ?* |^.S=Ҟ?$z*?r@̽PBG?ebW BPN? +U BDx@b?gC addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503731 s, deltaX: -0.400000 m, approachRate: -0.794075 m/s, rangeRepo size: 4 gC Added new target pos. range: 4.100000 m, bearing: 90.144691 deg, lat: 36.906034 deg, lon: -122.115841 deg, deltaT: 9.083869 s, deltaX: -5.700000 m, approachRate: -0.627486 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 4.10 m. 9.80 m.ŠʊgC- ProNav: ac range: 9.800000 m, nav range: 3.454623 m, bearing: 89.613192 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 73.569737 deg, new cmd heading: 73.299720 deg. )gC-|HeadingCmd: 1.279321 target range: 9.800000 and range: 9.80 m.5?111111"9*9R9*9AE`ff@ew?ԡɢO|Bg 9I 8h?ɡiIWA $= DDAT read: Rx Time:21:36:37.0069  TRx dataTimestamp_ set to:1754688997.699553 PDAT read: Bearing 249.2, 28.5 (Local)  ~Local bearing/azimuth received: Bearing 249.2, 28.5 (Local)  DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.6 5 DAT read: 21:36:37.0069 LVL= 21264, 32753, 23394, 32755, AGC= 44, IDX= 506,-0.09, 2.158, 0.081, 1.733, 1.651, PHS= 0.609,-1.525, 0.038, RAW= 135.0, 9.2, CAL= 134.8, 10.3, ROT= 15.2, -10.3 = Ygot valid direction response: 21:36:37.0069 LVL= 21264, 32753, 23394, 32755, AGC= 44, IDX= 506,-0.09, 2.158, 0.081, 1.733, 1.651, PHS= 0.609,-1.525, 0.038, RAW= 135.0, 9.2, CAL= 134.8, 10.3, ROT= 15.2, -10.3 = T#Rx 96: Read range and direction messages.E \direction in FSK: [0.949465,0.257964,0.178802]E Fpublishing direction and range info db?dP{?? 3s@ I Si b[ m? 33ÿ) =I @i l$> @ X8> ԇ> X8I i ) UA1?,`?/7:? ?> Y$ ԇ> X8I i e checking for new query: numPingsReceived=96, elapsed TxPingTime=48.696560) A AI I N >[f,%>qy%AyZ?ٱZ -?ZZZHO?hDʿc? ?˿M?¿ ?IZ?)Zر];iXf7zBfIiMb@Mb@Mb@ )IiV-?ˡE?:v?|?'=T<)AI`@i$ A@ ABDM6DM 3Y]=!]=e~0;Q)e>K?9K?9GY A>Q 14٪)T?Q 54A  B9?Q A:Y‹eX8:eلAο}SO @˝qB- @- +H>- 2+>- +HI) i) )- ??F>[?- kEa>- 3- 2+> - +HI) i)  checking for new query: numPingsReceived=97, elapsed TxPingTime=49.193493>A +=bA ZA A9AIIN?fzdf,XȒy%A(i(yR?ٱR.?RdRRHd?@%`ʿA??`^˿`B? ¿`?IR?)R];iRΑC^zB^Ii`I`BDf6Df0Yn)>!n9=rBE;Q)r>p9p9rGYr+Gv1Av>xQ 1~4٪zX?Q 5~4zl  zB9Y?Q E?yzC)z:Iz:iz 4Y  \@ ,EzJԌy%A3S@ʋ?2+kث@~?Q9ڂ?"fA?%"i?mVѫ?2+>‹+H:}DpֿLזc2@boa?*yXɺ3 ӯYT?T)?A@˰|*:?C\ BPBG?  V BO@?gC] addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.500904 s, deltaX: -0.500000 m, approachRate: -0.998195 m/s, rangeRepo size: 4 igC Added new target pos. range: 3.300000 m, bearing: 93.508890 deg, lat: 36.906033 deg, lon: -122.115842 deg, deltaT: 10.090752 s, deltaX: -6.500000 m, approachRate: -0.644154 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 3.30 m. 9.80 m.ŠʊgC ProNav: ac range: 9.800000 m, nav range: 2.888154 m, bearing: 91.497705 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 72.995038 deg, new cmd heading: 72.728372 deg. gC|HeadingCmd: 1.269350 target range: 9.800000 and range: 9.80 m. z?" * R *`ff @*?ɢl|Bpb RI Eo@ɡiIquA= /=D D D 'D E (; E n:6E '4:E !% @!% @!% @!% @ Am yAIq I  DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.6  DAT read: 21:36:38.0065 LVL= 26464, 32753, 26386, 32755, AGC= 45, IDX= 502,-0.29, 0.344,-1.773,-0.276,-0.177, PHS= 0.623,-1.551,-0.142, RAW= 129.7, 11.2, CAL= 129.4, 12.4, ROT= 20.6, -12.4  Ygot valid direction response: 21:36:38.0065 LVL= 26464, 32753, 26386, 32755, AGC= 45, IDX= 502,-0.29, 0.344,-1.773,-0.276,-0.177, PHS= 0.623,-1.551,-0.142, RAW= 129.7, 11.2, CAL= 129.4, 12.4, ROT= 20.6, -12.4  T#Rx 98: Read range and direction messages. \direction in FSK: [0.914223,0.343634,0.214735] Fpublishing direction and range info `mQA?Rs?h`r|? L@ I `gi g |? +ƿ) shI T@i +H> @ k]> X> k]I i ) ?>*?y^=? 0t-> 7H X> k]I i  checking for new query: numPingsReceived=98, elapsed TxPingTime=49.695805N >1jf,ay%Ay6?ٱ6?6616H? Wʿ?@?$˿8?`¿@,?I6?)6];i6ϑCBzBB$IMb@Mb@Mb@ )Iiףp= ?Mb??@=)AI@iA@ =A)  BD6D3Y-=!-.=U&K;Q)U>U H?9] H?9]GYY]MA]>aQ 1m4٪e&\?Q 5m4e  e.B9,?Q A:Y?Q E?ye4C)eF;Ie ;ie4Y&@z  'y%A L@ʋ d?2 2]tg@r"a?jR(?" `mQA?Rs?h`r|? X>‹ k]: K@!>߿Ỵ7@xjV?* b1ÿƸ?!? 9@  L3? mX  B h?? ebW  B =@ ?gCU addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503898 s, deltaX: -0.100000 m, approachRate: -0.198453 m/s, rangeRepo size: 4 gC Added new target pos. range: 3.200000 m, bearing: 96.518072 deg, lat: 36.906032 deg, lon: -122.115842 deg, deltaT: 10.594650 s, deltaX: -6.600000 m, approachRate: -0.622956 m/s, posRepo size: 4 ڊҊgCzIgnoring new targets. Set target to previous: 3.20 m. 9.80 m.ŠʊgC% ProNav: ac range: 9.800000 m, nav range: 2.608912 m, bearing: 92.735608 deg, approach rate: -0.000000 m/s, LOS rate: -0.196767 deg/s, cmd heading: 72.728373 deg, new cmd heading: 72.460326 deg. !gCU|HeadingCmd: 1.264671 target range: 9.800000 and range: 9.80 m.U?QQQYYa"*}BR* @↝`]N?ɢ z|B%M_ !%kI! -@ɡ)i)I-A S-=ԙ AM AIY Ii Du Du Du -Dq Eu ["; Eu :6Eu t4:Eq "Eq ! Eq ! *Eu ]Πrf,y%Ay6a?ٱ6+~?6q܅6=6H`?`YM7ʿ?@V?@gʿ?Ϣ¿6?I6a?)6];i4|=DAT read: 21:36:38.5062 LVL= 24400, 32593, 26482, 32755, AGC= 44, IDX= 499,-0.25,-1.455, 2.732,-2.188,-1.993, PHS= 0.639,-1.514,-0.239, RAW= 126.1, 11.9, CAL= 126.1, 13.1, ROT= 23.9, -13.1 EYgot valid direction response: 21:36:38.5062 LVL= 24400, 32593, 26482, 32755, AGC= 44, IDX= 499,-0.25,-1.455, 2.732,-2.188,-1.993, PHS= 0.639,-1.514,-0.239, RAW= 126.1, 11.9, CAL= 126.1, 13.1, ROT= 23.9, -13.1 M\#Rx 100: Read direction message, but no range.U\direction in FSK: [0.890461,0.394598,0.226651]ܨ~?^A?+#?IP_iQrg,#? )jtI @iȭT> @ j>> jI) \$?} ,?>O?.6=T>  jchecking for new query: numPingsReceived=100, elapsed TxPingTime=50.200317)=zB=QIBDM6DM02Y]>!]=e6@;Q)e>eK?9eK?9mGYimAm>qQ 1}4٪u`?Q 5}4u  uWB9yY_?Q E?yu\C)uP%‹ j:>DDAT read: Rx Time:21:36:39.0061 TRx dataTimestamp_ set to:1754688999.465442 PDAT read: Bearing 256.0, 38.3 (Local) % ~Local bearing/azimuth received: Bearing 256.0, 38.3 (Local) IU @iY Y e /a u DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.5  \#Rx 101: Read range message, but no direction.f&@ checking for new query: numPingsReceived=101, elapsed TxPingTime=50.465679ԉ Ա >A =rA >jA >DDD*DE&; E:6E(N4:E!%@!%@!%@!%@AyAI IN%?zf,y%A>DAT read: 21:36:39.0061 LVL= 32160, 31425, 20898, 32755, AGC= 44, IDX= 498,-0.19,-0.535,-2.642,-1.399,-1.101, PHS= 0.668,-1.497,-0.342, RAW= 122.2, 12.5, CAL= 122.7, 13.7, ROT= 27.3, -13.7 FYgot valid direction response: 21:36:39.0061 LVL= 32160, 31425, 20898, 32755, AGC= 44, IDX= 498,-0.19,-0.535,-2.642,-1.399,-1.101, PHS= 0.668,-1.497,-0.342, RAW= 122.2, 12.5, CAL= 122.7, 13.7, ROT= 27.3, -13.7 F\#Rx 102: Read direction message, but no range.J\direction in FSK: [0.863335,0.445601,0.236838],.7Vq?h>?4ӋHP?,I.}i.z.Q,,. +? .).I.@i.f_>. @.Gt>.>.GtI,).9?duQQ?.Y?.M=. .GtVchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.700584Xyj?ٱjE/?jCjjH/?@5a˿@d?d?%ʿY?Ȭ¿ y?Ij?)j];ij͑CIpirt@ pp)tt v/u@vD;ttñõAIõ)ýFiù)ĽCIĹùù ĹiirbA) I )+ASFَCiI-{B-nI=Mb@Mb@Mb@9 9)9I9i9=n?Mb?{Gzt=?9=ף)=KAI=h@i=A=@ 9=Aiu;IqBDu 6Du2Y;=! =q;Q)> H?9 H?9GY,G8A> Q 14٪ [e?Q 54 E  {B9?Q A:Yn?Q E?y C) ;I ?4ӋHP?U>‹UGt:UдE忣+c9~@Zu?*U/ ](пi s?џ"q?U@U (U .?UMX_X UBUL3? QUBU`@U%?gC} addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503684 s, deltaX: -0.100000 m, approachRate: -0.198537 m/s, rangeRepo size: 4 gC Added new target pos. range: 2.600000 m, bearing: 104.532531 deg, lat: 36.906031 deg, lon: -122.115843 deg, deltaT: 0.503684 s, deltaX: -0.100000 m, approachRate: -0.198537 m/s, posRepo size: 4 ڊҊ"*|BR*@↭ ?ɢ5|B="X 9=I9 =Aɡ9iAIE~B B IB =}BB B B B ;B D>A- K=i DAT read: 21:36:39.5058 LVL= 32752, 29969, 17330, 32755, AGC= 46, IDX= 495,-0.16,-0.744,-2.780,-1.078,-1.282, PHS= 0.639,-1.453, 0.160, RAW= 137.4, 6.9, CAL= 137.2, 7.9, ROT= 12.8, -7.9 Ygot valid direction response: 21:36:39.5058 LVL= 32752, 29969, 17330, 32755, AGC= 46, IDX= 495,-0.16,-0.744,-2.780,-1.078,-1.282, PHS= 0.639,-1.453, 0.160, RAW= 137.4, 6.9, CAL= 137.2, 7.9, ROT= 12.8, -7.9 \#Rx 104: Read direction message, but no range. \direction in FSK: [0.965895,0.219446,0.137445]B?~Yz?yjȗ?IiuC.#? ) #>I.z@iϢ=@@0 >d>0 I)!uP?ɕ?r/?J>9d> 0 Echecking for new query: numPingsReceived=104, elapsed TxPingTime=51.211910ԑAAIIN?fkf,nz%Ay6u?ٱ6d?646U6H(z?+ N˿?2?cɿ@E?O¿?I6u?)6f];i4D]D]D]1DYE]; E]:6E]-4:EY"E] o!={;Q)>K?9K?9GYmA%>IQ 1]4٪M.j?Q 5]4Mg  MB9aYѰ?Q E?yMC)M;IM;iM}14YBQ @*Ezy%Af@ʋT?2":@oW~?tx?"B?~Yz?yjȗ?d>‹0 :G?RF?nhn1?*KJ&?W?%.,?B?=<ll?ŀ{Y J~B ŀ{Y !B@P?gC% addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504621 s, deltaX: -0.500000 m, approachRate: -0.990843 m/s, rangeRepo size: 4 gCU Added new target pos. range: 2.100000 m, bearing: 108.376087 deg, lat: 36.906031 deg, lon: -122.115843 deg, deltaT: 0.504621 s, deltaX: -0.500000 m, approachRate: -0.990843 m/s, posRepo size: 4 ڊQҊQQQQYYYY"*R*@↍?ɢ|BU I UBɡiIQAõ=)AI! II Ne >Q D D D +D E %; E :6E [4:E ! @! @! @! @Ff,ZJ,z%Archecking for new query: numPingsReceived=105, elapsed TxPingTime=51.698837{BIMb@Mb@Mb@ )Iigfffff?+?MbP?3?=:) AI@iAK@ (ABD-6D-1YE. >!ED=EQ)M>I9I9MGYIUAU>YQ 1e4٪]m?Q 5e4]  ]B9e?Q Ae:Ymr?Q Em?y]ōC)]q:I]*:i]84Yqu@qDB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.500416 s, deltaX: -0.100000 m, approachRate: -0.199834 m/s, rangeRepo size: 4 ڊҊ"*t|BR*@s?ɢ|B5 V im:Ii u5BɡqiqIu&A A I I N > vB ~B B IB }BB B B B ;B DBBBB8 =B8 =B˷I4!yf,-Fz%Ay6?ٱ6>3?66)]6H`,!?@%˿?@?GɿK?~|¿z?I6?)6 ];i4~{B~I) AABD 6D :2Yv>!%_=% !9)9-GY--G-A->1Q 1=4٪5q?Q 5E45J  5ؙB9AYE?Q EE?y5C)5:I5:i5>4YMBM?M'EgC addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503291 s, deltaX: -0.500000 m, approachRate: -0.993461 m/s, rangeRepo size: 4 ڊҊ"*R*?↝@_?ɢ|B-P AI YBɡiIvAe=AIINa>  DDAT read: Rx Time:21:36:41.0055  TRx dataTimestamp_ set to:1754689001.477169 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.4  \#Rx 107: Read range message, but no direction. ?  checking for new query: numPingsReceived=107, elapsed TxPingTime=52.4583361 xf,q`z%Aybw?ٱb?bCb^bH`l?%˿@J?K?ȿb?k¿ 1?Ibw?)bI];ibʑCj6|BnIBDv 6Dv2Y~>!-M=-p;Q)->19195GY15 DA=>AQ 1M4٪Eu?Q 5M4Ev|  EB9QY]r?Q Ee?yEC)E;IE;iE F4Yy}?ygC addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503399 s, deltaX: 0.200000 m, approachRate: 0.397299 m/s, rangeRepo size: 4 ڊҊ"*R*@33?x?ɢ}|B5!L hUd<額I! -xBɡiIvA ٦=ԉ I I N >G˝f,@yz%A0y:Ї?ٱ:?:,::Hb?˿+?[? ȿ? 6¿@?I:Ї?):` ^;i:̑CFk|BF<IMb@Mb@Mb@ )Iid;O?&1?Mb`??P=;)S AI@iA@ 3@BD6DY=!==\9Q)>99GYDA>Q 14٪y?Q 54A=ԹIIN>rD=jD=BEʙT4JEOS4REd0DDD(DEI; E:6Ec44:E"EVj!R`=VO9Q)V>T9T9VGYZ.GZ.AZ>`dQ 1r4٪fv}?Q 5r4fp  f.B9pYvm?Q Ev?yf6C)f;Ifh;ifS4Y0? gC addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.520096 s, deltaX: -0.300000 m, approachRate: -0.576817 m/s, rangeRepo size: 4 ڊҊ"*R*`ff? ?ɢ5|B5ViF QU@RIY ]ӘBɡYiYI]JxA=IIN >a D D D 'D E ; E E:6E '4:E ! @! @! @! @ܪf,z%Ay6x!?ٱ6>?666H`n?%ţ˿@m?`?ȿ?¿?I6x!?)6<^;i4F|BFIEchecking for new query: numPingsReceived=109, elapsed TxPingTime=53.731152IuMb@Mb@Mb@q q)qIqiqu@5^I ??~jtx?ub?u!<=q:Q)>99GYA>Q 14٪҂?Q 54j  MB9?Q A:Y>?Q E?yTC) ;I ;iw[4Y?&EgC addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503844 s, deltaX: 0.100000 m, approachRate: 0.198474 m/s, rangeRepo size: 4 ڊҊ  " * |BR*?`D?ɢ|BVB _I BɡiIU>ԩ)G y) DDAT read: Rx Time:21:36:42.5051  TRx dataTimestamp_ set to:1754689003.007503 PDAT read: Bearing 2.3, 2.4 (Local) % ~Local bearing/azimuth received: Bearing 2.3, 2.4 (Local) 5 DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 U DAT read: 21:36:42.5051 LVL= 19936, 15905, 28610, 25171, AGC= 35, IDX= 504,-0.11, 0.984, 1.753, 0.528, 1.988, PHS=-0.902,-0.190,-1.504, RAW= 357.2, 38.9, CAL= 355.6, 43.9, ROT= 154.4, -43.9 ] Ygot valid direction response: 21:36:42.5051 LVL= 19936, 15905, 28610, 25171, AGC= 35, IDX= 504,-0.11, 0.984, 1.753, 0.528, 1.988, PHS=-0.902,-0.190,-1.504, RAW= 357.2, 38.9, CAL= 355.6, 43.9, ROT= 154.4, -43.9 e V#Rx 110: Read range and direction messages.m ^direction in FSK: [-0.649816,0.311340,0.693402]m Fpublishing direction and range info @Kgd? )+Y0? ̌? I Mi !> o Sb # yf \B) I @i -? @ %D? iw,@ %DI i ) }YڿE6NlTO? ! - iw,@ %DI i  checking for new query: numPingsReceived=110, elapsed TxPingTime=54.001541I i   @ @ I i JpA>Ae Qf=bAi ZAm A I I N >vB }>~B B IB ~BB B B &DB ;B DƱf,sz%Ay6g?ٱ6?6$6q:6H z+?]ȿ 8M? tp?}&ɿQ?żv?I6g?)6K^;i6ɑCԑD]D]D])DYE]'; E]|:6E]FA4:EY"E]!%4=%Q)%>!9)9-GY)-A5>1Q 1=4٪5?Q 5E45d  5oB9AYE?Q EE?y5tC)5:I5:i5gc4YIU`?Qz15zz%A5̌?ʋ5q25K濳Up? bh?"5@Kgd? )+Y0?5iw,@‹5%D:5-F` 濏PM ?*5~W I>ƛJa?5//5[05aN?5v 55B1 115?5P/@gC addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.506394 s, deltaX: -0.400000 m, approachRate: -0.789899 m/s, rangeRepo size: 4 gC Added new target pos. range: 1.100000 m, bearing: 157.449089 deg, lat: 36.906031 deg, lon: -122.115843 deg, deltaT: 3.037440 s, deltaX: -1.000000 m, approachRate: -0.329225 m/s, posRepo size: 4 ڊgCTStarting intercept timer at range: 1.10 m.gCXStarting latch delay timer at range: 1.10 m.gC"Cable is present.Ҋ?"*R*?#?Mchecking for new query: numPingsReceived=110, elapsed TxPingTime=54.235016ɢ|BI? 顝T=I BɡiIpA] ~E_=I I N > DDAT read: Rx Time:21:36:43.0052  TRx dataTimestamp_ set to:1754689003.509225 DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0  \#Rx 111: Read range message, but no direction.  ?  checking for new query: numPingsReceived=111, elapsed TxPingTime=54.490368^f,,Hz%AiyZ'?ٱZhD?Zm}ZmZH[?DÿM? ?Yvʿh?!%J=5)A9A9mGYu/G}A>Q 14٪0?Q 54^  B9)Y-7?Q E-?yC)kmAU =A%AԩIIN>f,c{%A*DDAT read: Rx Time:21:36:43.5052 .TRx dataTimestamp_ set to:1754689004.0166772PDAT read: Bearing 17.2, -0.3 (Local) 2~Local bearing/azimuth received: Bearing 17.2, -0.3 (Local) :DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 NDAT read: 21:36:43.5052 LVL= 31408, 26033, 32290, 32755, AGC= 36, IDX= 504, 0.09,-0.409, 1.239,-0.921, 0.899, PHS=-1.206, 0.385,-1.863, RAW= 346.5, 25.4, CAL= 346.0, 30.2, ROT= 164.0, -30.2 RYgot valid direction response: 21:36:43.5052 LVL= 31408, 26033, 32290, 32755, AGC= 36, IDX= 504, 0.09,-0.409, 1.239,-0.921, 0.899, PHS=-1.206, 0.385,-1.863, RAW= 346.5, 25.4, CAL= 346.0, 30.2, ROT= 164.0, -30.2 RV#Rx 112: Read range and direction messages.f^direction in FSK: [-0.830794,0.238226,0.503020]fFpublishing direction and range info(*{Lݕ4~?6]?((I*zi*e*"~**$*5^ *>)*vI*@i*>*,>@*V?*07@*VI(i()*`㿈^Lי(9^i?**ž*07@ *VI(i(vchecking for new query: numPingsReceived=112, elapsed TxPingTime=55.013504}BIAAvB~BBIBWBB9 =BBB;BD5Mb@Mb@Mb@1 1)1I1i15S㥛?:vX9v5/<5T5)5EAI55@i5@5E@ 15@BDm6Dmk2Y}m=!}=}Q)>D?9D?9GYA>Q 14٪ݏ?Q 542^  qB9R=Q A;Y[?Q E?yC);I;is4Y?z(*<{%A*?ʋ*o 2*l@? ᅭڸK?5IP?"*{Lݕ4~?6]?*07@‹*V:*l_#> x_?** VXִ' 0F:?*tp*,*]V?*`v *~B*aN? *B] *B*xF?*VE@gC} addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.507452 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 1.200000 m, bearing: 176.666839 deg, lat: 36.906034 deg, lon: -122.115844 deg, deltaT: 1.009174 s, deltaX: 0.100000 m, approachRate: 0.099091 m/s, posRepo size: 4 ڊgCTStarting intercept timer at range: 1.20 m.Ҋ"* zBR*`wH?DDD-DE< E;J;6Et4:E"E=!E=!*EIQ UQBɡQiQI]AS=rA>jA?AII9Ne?qNf,'{%ALɰZ;Xyn?ٱd?g٨H"j?S`6e@? U?@ʿ ?垿`}+?In?)B]^;iE}BEIDDD5DE< E8<6E4:E!@!@!@!@ Mb@Mb@Mb@  ) I i  x&?(\µ? 7= = ̼) @I x@i 5@ @  @BD%6D%02Y5h=!5==&=Q)=>9999EGYE0GE=AE>IQ 1U4٪M ?Q 5U4M\  MnB9]~=Q A];Y]@Q E]?yMC)M:IM;iM}4Yae?agC addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504436 s, deltaX: 0.200000 m, approachRate: 0.396482 m/s, rangeRepo size: 4 ڊҊ"*[zBR*`ff?↵?Թɢ}B8 .%>I b$BɡiI0A V = A I I N >.f,@{%A6DDAT read: Rx Time:21:36:44.5049 6TRx dataTimestamp_ set to:1754689005.025310:DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 >\#Rx 114: Read range message, but no direction.46L?4Bchecking for new query: numPingsReceived=114, elapsed TxPingTime=56.006443yVٌ?ٱVw?VaVsTVH[c?@j??ʿ?I:?IVٌ?)V|^^;iT|}BIBD6D\3Y%q=!%u=%:i=b4YQU?QgC addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504197 s, deltaX: -0.600000 m, approachRate: -1.190011 m/s, rangeRepo size: 4 ڊҊ"*R*?↝?ɢ}BH3 @>I BɡiIA"=D% D%D%2D!E% _< E%5"<6E%4:E!"E%=!5E%=!5*E%2=!5E%2=!5A1iIiIyN|>checking for new query: numPingsReceived=114, elapsed TxPingTime=56.255016ԁ !Yf,IZ{%A}B #Ii!I! 15AaBDm6Dm:Y<!C=Q)>99GYA>Q 14٪Y?Q 54Z  jB9)Y)Q E?yC)5IA MIAɡIiIIM?KM?G?KMIi)]NH?\j ſ)?ԉŌZЃ.G? KMIichecking for new query: numPingsReceived=115, elapsed TxPingTime=56.547916I  i   / Թ>AdO=D% :D% D% 1D! E% 00< E% ;6E% -4:E! !- @!- @!- @!5 @ % checking for new query: numPingsReceived=115, elapsed TxPingTime=56.758926A- yAI1 II NU >f,zt{%Aiy-?ٱ-?-=Z-v-H ?@Iv?5?@ȿ ? E?I-?)-^;i-ʑCU ~BU:IԹMb@Mb@Mb@ )Ii333333?ʡE?l񢿹=>)@I@i-@E@ @)) )BD- 6D-f2Y==!E@=EAM H?9M H?9MGYIMAM>YQ 1]4٪]+?Q 5e4]Y  ]eB9er3>Q Ae;Ye@Q Ee?y]C)]n:I]:i]%4YiuȽ?qz'b{%Aff?ʋt@2"}?ѫ1??"{j?YS? ?G?‹KM:|]4yտ?]~?/(?*BV׿Tʙ?Qv?>ɫh?mV7N sB]V? ŀ{Y x ?H@gC addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.507231 s, deltaX: 0.100000 m, approachRate: 0.197149 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.900000 m, bearing: 179.793856 deg, lat: 36.906035 deg, lon: -122.115843 deg, deltaT: 1.515864 s, deltaX: -0.300000 m, approachRate: -0.197907 m/s, posRepo size: 4 ڊҊ"*zBR*?{?ɢ,}B12 }\>I XAɡiI%A<H=AA<vB~BB@IBBBBBB;BDByByByByByB}ȉ4A %AI) I9 A NI D% 2D% D% ;D! E% lh< E% x"<6E% 4:E! "E% =!- E% =!- *E% l=!- E% l=!- &kf,V{%A~~B~@IBD 6D k1YE<!M\=MQ)M>MD?9UD?9UGYU1GUAU>YQ 1e4٪]o?Q 5e4]KX  ]`B9iYiQ Em?y]C)]:I]:i]4Yqu?qDB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.500715 s, deltaX: -0.100000 m, approachRate: -0.199714 m/s, rangeRepo size: 4 ڊҊ"*R*??checking for new query: numPingsReceived=116, elapsed TxPingTime=57.263016ɢ4}B:O1 ]>I AɡiIAM31=AAyIINe>i DDAT read: Rx Time:21:36:46.0050  TRx dataTimestamp_ set to:1754689006.537196 DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  \#Rx 117: Read range message, but no direction. ff?  checking for new query: numPingsReceived=117, elapsed TxPingTime=57.518333ԡ lf,>{%Ay ?ٱ?Y~H? `)@߀?j?=_ƿ4 ?b Y2?I ?)<^;iǑC-.~B5QI5<54)9)9-GY)-A5>1Q 1=4٪5~?Q 5E45W  5SB9E%=Q AEI  cDAɡ iI8A +=  DDAT read: Rx Time:21:36:46.5049  TRx dataTimestamp_ set to:1754689007.041915 DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  \#Rx 118: Read range message, but no direction. L?  checking for new query: numPingsReceived=118, elapsed TxPingTime=58.024033A- yAI1 IA NU >f,+{%Ayv ?ٱv?vXv#vH`:?O 3`n?\y?uvƿ? ~䯿!9?Iv ?)v ^;ivɑC%*~B%NIvBY~BYB]_IB]BB]9 =BYBYB];B]Di-p H?9 H?9GY埼A>Q 14٪|?Q 54'W  HB9 Y @Q E ?yÎC);I;i4Y?gCm addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504719 s, deltaX: -0.100000 m, approachRate: -0.198130 m/s, rangeRepo size: 4 ڊgCTStarting intercept timer at range: 0.80 m.Ҋ"*R*?↥?ɢ G}B s0 b>I 6AɡiIDAV =checking for new query: numPingsReceived=118, elapsed TxPingTime=58.271397IIN>)Q 'f,{%Ayq?ٱ?Ut)H@?A`?? ǿ? '#G?Iq?)=^;iʑC-@~B5\IBDm6Dm:2Y}^=!}M=}5;Q)}>99GY2GAA>Q 14٪Pz?Q 54V  >B9Y@Q E?yǎC):I6:i4Y?ڊҊ"*R*H?ɢN}BVx/ wq>I @ɡiIA<DDD*DEP; EZ:6E(N4:E! @! @! @! @ԉI I N > checking for new query: numPingsReceived=119, elapsed TxPingTime=58.774895Թ RNf,%{%A~I~B~bIiI  AMb@Mb@Mb@ )IiʡE?x&?:v-=7=T)@IK@i@\@ @BD 6D2Y<!G=Q)>99GYA>Q 14٪7y?Q 54zU  9u=Q A;Yg?Q E?y͎C) ;I ;i4Yõ?z1{%Aԙ̌?)aʋI y)IƃA2খH>{?*o`8? _?"G~?y?d@?U=&W?SF?‹Ӈ:C{@:cI?*˫ -N4 V2(?~I?1{U  B 5BY>_@gC- addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505460 s, deltaX: 0.300000 m, approachRate: 0.593519 m/s, rangeRepo size: 4 gC= Added new target pos. range: 1.100000 m, bearing: 200.478032 deg, lat: 36.906035 deg, lon: -122.115843 deg, deltaT: 2.014834 s, deltaX: 0.200000 m, approachRate: 0.099264 m/s, posRepo size: 4 ڊAҊAAAAIIII"Q*UzBRQ*QQ]?]?ɢX}BS1 顭(q>I @ɡiIA='<vB]|>~BYB]xIB]BB]8 =BYBYB] ;B]DIIN>rD jD <D D D (D E O6; E :6E c44:E "E >|9|9~GY|$A> Q 1 4٪ I @ɡiIeA-m<}DDAT read: Rx Time:21:36:48.0051 }TRx dataTimestamp_ set to:1754689008.553588PDAT read: Bearing 312.2, 25.7 (Local) ~Local bearing/azimuth received: Bearing 312.2, 25.7 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 21:36:48.0051 LVL= 23584, 31985, 29826, 32755, AGC= 35, IDX= 504,-0.30,-2.930, 2.713, 2.635,-2.122, PHS=-0.706,-1.404,-1.570, RAW= 79.5, 58.6, CAL= 77.7, 63.2, ROT= 72.3, -63.2 Ygot valid direction response: 21:36:48.0051 LVL= 23584, 31985, 29826, 32755, AGC= 35, IDX= 504,-0.30,-2.930, 2.713, 2.635,-2.122, PHS=-0.706,-1.404,-1.570, RAW= 79.5, 58.6, CAL= 77.7, 63.2, ROT= 72.3, -63.2 R#Rx 1: Read range and direction messages.\direction in FSK: [0.137082,0.429534,0.892586]Fpublishing direction and range infoy}$k1?z}?6 "?}̌?yI} \i}|}t}}#}j4 }F)}ȿI}Κ?i}?}^?}0?}?}0Iyiy)}57ma?տ;6nP?}_4}ꂿ}? }0II N >Iyiy% 2Acoustic response timeouti  Querying Benthos address 50 with 120 pings in terminal homing one-way mode.me f,Ԛ+|%Ay}ey?ٱ}Ϙ?}nrH}:}H ?߲`N`[/?@?#(ƿ k? `a?I}ey?)}D^;i}ǑCDDDDE(; E:6E:E!@!@!@!@G~B`IMb@Mb@Mb@ )IiMbQ?I +@u<94)@I@iEAE@ @BD6Dk1Ye!0= 99GY3GA>Q 14٪w?Q 54T  :B9 O=Q Ah;+O?Q B;+O? 1{U sB>YJL@gC= addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502975 s, deltaX: 0.200000 m, approachRate: 0.397634 m/s, rangeRepo size: 4 gCM Added new target pos. range: 1.100000 m, bearing: 182.890294 deg, lat: 36.906034 deg, lon: -122.115841 deg, deltaT: 1.006213 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊIҊIIQQQQQQ"Y*]{BRY*Yaam?mV?ɢg}B1 顝_>I TR@ɡiI PA;IYIqN}Y>ԑԹ  DDAT read: Rx Time:21:36:48.5051  TRx dataTimestamp_ set to:1754689009.065529 PDAT read: Bearing 300.6, 24.5 (Local)  ~Local bearing/azimuth received: Bearing 300.6, 24.5 (Local)  DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  DAT read: 21:36:48.5051 LVL= 18416, 27425, 26850, 30627, AGC= 34, IDX= 503,-0.06, 1.911, 1.034, 1.279, 2.641, PHS=-0.628,-1.562,-1.406, RAW= 99.0, 55.7, CAL= 97.7, 60.4, ROT= 52.3, -60.4  Ygot valid direction response: 21:36:48.5051 LVL= 18416, 27425, 26850, 30627, AGC= 34, IDX= 503,-0.06, 1.911, 1.034, 1.279, 2.641, PHS=-0.628,-1.562,-1.406, RAW= 99.0, 55.7, CAL= 97.7, 60.4, ROT= 52.3, -60.4  R#Rx 1: Read range and direction messages. \direction in FSK: [0.302059,0.390818,0.869495] Fpublishing direction and range info  #TT?dU+?~P? I Gi !k h w " ǿ) I +?i x? C? V? i? VI i ) ?(Pɿٝq? ﻾ x i? ViHf,taE|%Ay6v?ٱ6&y?6>D6yg6H`?DM?i?@Ŀx?Sc?I6v?)6];i4PIij2Acoustic response timeoutjQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.vF~BxvB}>~BBrIBBBBBB";BD~<|BDe6De02Yu}!ub=99GYA>Q 14٪!v?Q 541U  6B9YQ E?y׎C);I;iʀ4Y'?z1D|%Aʋ;@2c#C?#2F'|?Fy1?" #TT?dU+?~P?i?‹V:T׿e.?@Wd?*%տ$'?LFIX?>>࿾ԵV?_L BԵV? Q  B>/@gC addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.511941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 1.100000 m, bearing: 157.370291 deg, lat: 36.906035 deg, lon: -122.115839 deg, deltaT: 0.511941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"*R*@˾?ɢen}Bm0 額W>I {&@ɡiIA- ;! AY I I N >uf,J_|%AyRt?ٱR$?RARCRHZ? 3[@fٽ@_?kK? ÿ?@e?IRt?)R>];iRőCv8~BvWI|iI<BD  6D f2Y!P={!!9!9%GY!-ݼA->1Q 1=4٪5%u?Q 5=45U  52B99Y=RQ E=?y5ڎC)5Y;I5:i5р4YAM?IڊiҊqqqqqqyy"y*yR*ↅ@E?ɢu}BKb1 页 C>I @ɡiI0t?I _iQ}#5^ Fӿ)SI?i^??m0v?^?m0vIi)=? IM*ɿ, j? 5^^? m0vIi%2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.I-i/!>AeqAIIN-p>YDDDDE'; E:6E:E!@!@!@!@% k?I:Eq?):a];i8^;~B^YIMMb@Mb@Mb@I I)IIIiIM1Zd)\(?{GzM"۽MGa=M#)MI@IMx@iMAYI IM@BDe6De1Y;!C=399GY4GԷA>yQ 14٪}q?Q 54}YV  }$B95>Q A5;Y=rQ E=?y}C)}?^?‹m0v:xؿ^k?E@?*mֿݽe?n齼;?\>^ƾh9Q?@DK Bh9Q? mV7N ><@gC addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 1.100000 m, bearing: 141.446280 deg, lat: 36.906034 deg, lon: -122.115838 deg, deltaT: 0.504821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"!*%&|BR!*!AIM@?ԉɢ~}B(3 dҹ<顝\=>I V?ɡiIa/l?ff?IPciB)\Ͼ I̿) I?iS?T?hl?/^?hlIi)g5X?*&ʿeĎ?SIe/i//^? hlIA<A4=vB |>~B B lIB BB B B B (;B Di]2Acoustic response timeout]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Ա>A 0bA ZA D D D D E /; E :6E :E "E @$f,M|%A"99GYA>Q 14٪n?Q 54W  B9Y-Q E-?yC)#l?%/^?‹%hl:%$Կqo?hqt2?*%LEgֿj<4~&?G?%{>%L%`S?%1M %B! %1M !%?%.@gC addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504377 s, deltaX: -0.200000 m, approachRate: -0.396529 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.900000 m, bearing: 132.657544 deg, lat: 36.906034 deg, lon: -122.115838 deg, deltaT: 0.504377 s, deltaX: -0.200000 m, approachRate: -0.396529 m/s, posRepo size: 4 ڊҊ"!*!R)*))-?5,?ɢ}B2 顝7>Ii ud?ɡqiyIAԹ A I I9 Ne ><+f,%$|%AD~D~ D~*D|E~I@; E~:6E~(N4:E|!@!@! @! @ԑysm?ٱW?g:3+H@??`?`Z¿J?@ #{?Ism?)o];iƑC@~B\IMb@Mb@Mb@ )Iil?V-=)@Ij@i"@\@ @U)919=GY9e'tAe>iQ 1u4٪mk?Q 5u4mDX  m B9}>Q A};Y}xQ E}?ymC)m1?Dj?/?"5"5! ?|?m &c?5f_?‹5j:5fEؿ0ך? h02?*5G(ֿ` C?] ?5,>5bƾ5J?5EK 5B1 5_L 5B5?5 @gC} addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504022 s, deltaX: 0.200000 m, approachRate: 0.396808 m/s, rangeRepo size: 4 gC Added new target pos. range: 1.100000 m, bearing: 126.138452 deg, lat: 36.906034 deg, lon: -122.115838 deg, deltaT: 0.504022 s, deltaX: 0.200000 m, approachRate: 0.396808 m/s, posRepo size: 4 ڊҊ"*"|BR*?@h=?ɢ=}B=4 9=3>I9 E?ɡAiAIEA- qڼrA5 +?jA5 3?AAYIaIyN?~3f,|%Ay6bk?ٱ6O?6/6]6HB?`+P?@??`?I6bk?)64];i6őCRC~BR^ID~D~D~&D|E~1; E~;:6E~4:E|"E~SA9I9MGYM5GM~AM>qQ 1}4٪uh?Q 54uDY  uB9YQ E?yuC)u:Iu:iu(4Y?z  8|%A ff?ʋ > @2 q?Oj\}0F? a?" ?\X M? t=a? ^ Z?‹ c: xӿpR?B7?* N@տ ?Y4˯:? > ( O? PN  B   B ? @gCE addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502843 s, deltaX: -0.200000 m, approachRate: -0.397739 m/s, rangeRepo size: 4 gC} Added new target pos. range: 0.900000 m, bearing: 120.902333 deg, lat: 36.906034 deg, lon: -122.115838 deg, deltaT: 0.502843 s, deltaX: -0.200000 m, approachRate: -0.397739 m/s, posRepo size: 4 ڊyҊyyyyy"*R*?↵`G?5I ]?ɡiIn0A U ,DAT read: user:1225>  DAT read: 20  :unknown deviceResponse_: 20  DAT read: Ok  :unknown deviceResponse_: Ok  ,DAT read: user:1226>  BDAT read: Tx time:21:36:51.5030  $Ping request sent. :f,c|%AyMi?ٱM{?M*MмMH?﷿?e?@M`>? >™?IMi?)M];iIe2~BeSIq<BD6Dk2Yu!}-= K?9K?9GYA>D-D-D-+D)E-I@; E-r:6E- [4:E)!M@!M@!U@!U@qQ 14٪u9e?Q 54uxZ  uB9YQ E?yuC)u;Iu:iu4Y ?DB*** querying acoustic contact ***jrڊҊ!!!!!")*)R)*))15?ԑɢ}Bǫ5 页>I 7?ɡiIA IIN?aCf,,}%Ay6h?ٱ6y?6)6ּ6H@? `?? ?`2b@͍?I6h?)6y];i4BB~BF]IMb@Mb@Mb@ )IiQS㥛?~jt\/<ļ)@I@i@@ @i%4A9A9MGYIMrDU=jDUa=BEc44JEP4REЏ1D]D]D]9DYE]4; E]:6E]4:EY"E]Q 14٪a?Q 54[  B9>Q A;Y@ Q E?yC):I:i4Y)- ?)ڊqҊqqqqqyyy"y*|BR*↭@e?ɢ}B%V%5 )5>I1 =?ɡ9i9iI=A XM ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002867Iy I N >If,'}%APyRg?ٱR?R )(RXRH5?C|??`0%?bҍ?IRg?)R1];iRđC^A~B\BDf6Df0Yr!rQ=rz;Q)r>t9t9vGYv6GvAz>xQ 14٪z1_?Q 54z]  zޙB9Yj Q E?yz C)z;Iz;iz@4Y )?ڊ1Ҋ999999AA"A*ARI*IIIM@l[?ɢ}}B}33 y}y>I  >ɡiIL-A`TIIN>! i =I C)  A) 5AIE `E AM AmPf,GA}%Ay6gf?ٱ6Q?6'6$6Hzm?`m`o? ;(?Up?`U?I6gf?)6n];i6‘CB+~BBOIiDID|EMb@Mb@Mb@A A)AIAiAEx&+?ˡEE7 E=E')E@IE@iAA AE@BD]6D]:YmQ!mB=ui9Q)u>q9q9uGYy}A}>Q 14٪\?Q 54^  ЙB9>Q A;YQ E?yC)#:IM:i4Y?ڊҊ"*{BR*@ɢ }B ?c6  N=I  2>ɡiI3< A%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507222I)i-^0^=i-x)))1vB9~B9B=FIB=BB9B9B9B=H;B=DI)i))-F0)AYDDD,DEO6; E:6Eg4:E"E>A-fmIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760104ԁ Vf,7[}%Ay6e?ٱ6?6(6I6Hگ?`@_?`$~?@?⨿`%?I6e?)67];i6ÑC^2~BbSI)d f@ABDj6Djk1Yr<!rS=rEQ)v>t9t9vGYtzAAz>Y|Q 1e4٪~2Y?Q 5e4~_  ~ÙB9iYmQ Em?y~C)~qɡiIAPzI I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010867N5.>ԱD D D (D E C; E :6E c44:E ! @! @! @! @ \f,܁u}%AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263118yEMWd?ٱEDH?ER(EeEH?_`L?9?w`? hO@/?IEMWd?)E];iAԹE-~BEQIMb@Mb@Mb@ )Iip= ף{Gz?S㥛ף</ݼ)@I@i@r@  @BD6DN2Y i ! != Q) >99GY7G*A>Q 1-4٪%V?Q 5-4q`  B9-~ >Q A-;Y-f Q E-?y!C) ;I] ;i<4Y9=?9D]B*** querying acoustic contact ***jYrYڊaҊiiiiiiiq"q*u{BRq*yyy}`Q5@ɢ}Bd7 顭=I >ɡiIhAe ExbAm AZAi 9 A I I N >&cf,0}%AyVb?ٱVd?Vū'VpVH`K?k@ql9?-?~?Zs?IVb?)VQ];DnDnDn,DlEnC; En:6Eng4:El"En6Օ?% >%r/%btE?%\] %5B%O? %1M %B%0F?%?gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 3.027921 s, deltaX: -0.300000 m, approachRate: -0.099078 m/s, rangeRepo size: 4 gC% Added new target pos. range: 0.600000 m, bearing: 94.481563 deg, lat: 36.906034 deg, lon: -122.115838 deg, deltaT: 3.027921 s, deltaX: -0.300000 m, approachRate: -0.099078 m/s, posRepo size: 4 5checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766913ڊIҊIIIIIIQQ"Q*QRY*YY]@33?]m6?ɢ}Be6 =I #>ɡiIQA5& AaIqIN> A DDAT read: Rx Time:21:36:54.1330 % TRx dataTimestamp_ set to:1754689014.615844E PDAT read: Bearing 303.8, 14.3 (Local) M ~Local bearing/azimuth received: Bearing 303.8, 14.3 (Local) Y  DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 21:36:54.1330 LVL= 22416, 27569, 28386, 31203, AGC= 34, IDX= 500, 0.20,-1.512,-2.011,-1.921,-0.473, PHS=-0.937,-1.493,-1.492, RAW= 90.1, 68.2, CAL= 89.5, 71.3, ROT= 60.5, -71.3  Ygot valid direction response: 21:36:54.1330 LVL= 22416, 27569, 28386, 31203, AGC= 34, IDX= 500, 0.20,-1.512,-2.011,-1.921,-0.473, PHS=-0.937,-1.493,-1.492, RAW= 90.1, 68.2, CAL= 89.5, 71.3, ROT= 60.5, -71.3  R#Rx 2: Read range and direction messages. \direction in FSK: [0.157877,0.279047,0.947210] Fpublishing direction and range info  r]S5?!!-?KdO? ? I Wi k n y " ;o  ) I I?i :\? ? &I? (? &II #jf,}%Ay6pa?ٱ6Ԍ?6&6Z=n6H ?`V`L%?@?$ú?^0?I6pa?)6z];i6đCiI)MĖzQ?agǿ;z?MfM0JM(? M&IIIiIVchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.087355~>~B~[Ii p99GYkA>1Q 1]4٪Q?Q 5e4rb  B9aYe Q Ee?y-C)p:Ip:i@,4Yim~?DDD(DE4; EZ:6Ec44:E!%@!-@!-@!-@zIMi}%AM?ʋM')@2Mr]S5?!!-?KdO?"Mr]S5?!!-?KdO?M(?‹M&I:M7h¿K?wF|*?*M7hҿK?wF|*?M=MM/E?Md` MBMJ? MPN MBMD?M_?gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.506331 s, deltaX: -0.100000 m, approachRate: -0.197499 m/s, rangeRepo size: 4 gC5 Added new target pos. range: 0.500000 m, bearing: 95.958955 deg, lat: 36.906034 deg, lon: -122.115838 deg, deltaT: 0.506331 s, deltaX: -0.100000 m, approachRate: -0.197499 m/s, posRepo size: 4 ڊ9Ҋ999i9iiqq"*R*?↵}?echecking for new query: numPingsReceived=2, elapsed TxPingTime=3.274621ɢ}}B}6 y}=I Vm>ɡiIFA ӍrA (?jA ,?DDAT read: Rx Time:21:36:54.6331 %TRx dataTimestamp_ set to:1754689015.118066UPDAT read: Bearing 306.9, 12.6 (Local) ]~Local bearing/azimuth received: Bearing 306.9, 12.6 (Local) mDAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 21:36:54.6331 LVL= 23024, 27121, 30706, 32339, AGC= 34, IDX= 501, 0.25, 0.131,-0.251,-0.254, 1.267, PHS=-1.034,-1.473,-1.566, RAW= 80.6, 71.1, CAL= 79.6, 74.0, ROT= 70.4, -74.0 Ygot valid direction response: 21:36:54.6331 LVL= 23024, 27121, 30706, 32339, AGC= 34, IDX= 501, 0.25, 0.131,-0.251,-0.254, 1.267, PHS=-1.034,-1.473,-1.566, RAW= 80.6, 71.1, CAL= 79.6, 74.0, ROT= 70.4, -74.0 R#Rx 3: Read range and direction messages.\direction in FSK: [0.092463,0.259666,0.961262]Fpublishing direction and range infovB~BBLIBBBBBBH;BDkxw?kE_?Tܧ??IYiiwS~Z D)rȿI?i֞?ӱ?MQ?nF?MQIi)R,Q?h,HʿlnG?S 0螿nF? MQIiAEyAIIIYNm?4xrf,[}%Achecking for new query: numPingsReceived=3, elapsed TxPingTime=3.557526D~B_IԡeMb@Mb@Mb@a a)aIaiaebX9ȶ:vI +eEeTe94)aIeb@ieAe@ ae\@BD 6D2Y <!=Q)> H?9 H?9GY8GDDD)DEO6; E6EFA4:E"E>Q 1 4٪NP?Q 5 4c  B9 =Q A ӿ?|?hX5N?5W=5=5@?54QRb 5EB5btE? 5\] 5EB5?>5j@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.502222 s, deltaX: 0.100000 m, approachRate: 0.199115 m/s, rangeRepo size: 4 gC= Added new target pos. range: 0.600000 m, bearing: 117.649863 deg, lat: 36.906033 deg, lon: -122.115845 deg, deltaT: 0.502222 s, deltaX: 0.100000 m, approachRate: 0.199115 m/s, posRepo size: 4 ڊ9ҊAAAAAAIQ"q*u{BRy*@33?↍c?ɢ}By6 =I O>ɡiI AA I I N >) xf,}%ADDAT read: Rx Time:21:36:55.1330 TRx dataTimestamp_ set to:1754689015.624060PDAT read: Bearing 309.5, 14.2 (Local) ~Local bearing/azimuth received: Bearing 309.5, 14.2 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 MDAT read: 21:36:55.1330 LVL= 20448, 23809, 31426, 29363, AGC= 33, IDX= 500, 0.34,-0.529,-0.874,-0.990, 0.627, PHS=-1.054,-1.457,-1.661, RAW= 70.7, 70.1, CAL= 69.0, 72.8, ROT= 81.0, -72.8 UYgot valid direction response: 21:36:55.1330 LVL= 20448, 23809, 31426, 29363, AGC= 33, IDX= 500, 0.34,-0.529,-0.874,-0.990, 0.627, PHS=-1.054,-1.457,-1.661, RAW= 70.7, 70.1, CAL= 69.0, 72.8, ROT= 81.0, -72.8 UR#Rx 4: Read range and direction messages.e\direction in FSK: [0.046259,0.292067,0.955278]eFpublishing direction and range infoy3@?)R;?P??IOi]zr!y醿 ~)ԿI?iۚ?%???Ii)XՁ^x?7 6пuh?1\ ? Ii}checking for new query: numPingsReceived=4, elapsed TxPingTime=4.055104?~B\IBD-6D-Y=8!=U=9Q)=>A9A9EGYAIAM>)Q 154٪-aO?Q 554-d  -B99Y9Q E=?y-8C)-:I-:i-u=4YEBE?E,Ez}%A?ʋt=@2y3@?)R;?P?"y3@?)R;?P??‹:0ƿdh?[e?*0ֿdh?[e?=7tQ@?c B/E? d` 5B&M>@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505994 s, deltaX: -0.100000 m, approachRate: -0.197631 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 127.144752 deg, lat: 36.906033 deg, lon: -122.115846 deg, deltaT: 0.505994 s, deltaX: -0.100000 m, approachRate: -0.197631 m/s, posRepo size: 4 ڊҊ       "*R*? XU?ɢ}Bov6 -~=I) -8>ɡ1i1I5(1A ͢AEAIiIN?DFf,uX~%AhihMDDAT read: Rx Time:21:36:55.6331 UTRx dataTimestamp_ set to:1754689016.125766]PDAT read: Bearing 308.7, 14.5 (Local) ]~Local bearing/azimuth received: Bearing 308.7, 14.5 (Local) mDAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 21:36:55.6331 LVL= 22400, 25137, 32754, 32755, AGC= 35, IDX= 501, 0.36, 2.019, 1.660, 1.548,-3.114, PHS=-1.048,-1.464,-1.665, RAW= 71.4, 69.7, CAL= 69.7, 72.5, ROT= 80.3, -72.5 Ygot valid direction response: 21:36:55.6331 LVL= 22400, 25137, 32754, 32755, AGC= 35, IDX= 501, 0.36, 2.019, 1.660, 1.548,-3.114, PHS=-1.048,-1.464,-1.665, RAW= 71.4, 69.7, CAL= 69.7, 72.5, ROT= 80.3, -72.5 R#Rx 5: Read range and direction messages.\direction in FSK: [0.050666,0.296407,0.953717]Fpublishing direction and range infoIM^?DT?fل?M?IIMWiM1bMMM#M$ MZd)MտIMW?iM?AAAAvB~BBBB8 =BBBL;BDBBBBBB`4M?Mp?MUd?MpIIiI)MR?%\K?NWпŹG?M BYMCΛMUd? MpIIiIchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.583641yZ?ٱ?^\Hy?  ??f ? !C@?IZ?)];i‘CC~B^IMb@Mb@Mb@ )Ii)\(:vy&1|?GaԼ`;)@IiA ) AABD6D2YM;!M =UUK?9UK?9UGYU9G]0A]>aQ 14٪e1O?Q 54ee  eB9z=Q AXM?!@AgCM addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.501706 s, deltaX: 0.100000 m, approachRate: 0.199320 m/s, rangeRepo size: 4 D2D D)DEi; E:6EFA4:E"E ɡiI0Au AyAIINu ?DDAT read: Rx Time:21:36:56.1330 TRx dataTimestamp_ set to:1754689016.626960PDAT read: Bearing 300.9, 17.0 (Local) ~Local bearing/azimuth received: Bearing 300.9, 17.0 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:36:56.1330 LVL= 24032, 19441, 32754, 32755, AGC= 32, IDX= 501,-0.48,-0.525,-1.144,-1.070, 0.494, PHS=-0.917,-1.592,-1.607, RAW= 88.9, 64.9, CAL= 88.1, 68.5, ROT= 61.9, -68.5 Ygot valid direction response: 21:36:56.1330 LVL= 24032, 19441, 32754, 32755, AGC= 32, IDX= 501,-0.48,-0.525,-1.144,-1.070, 0.494, PHS=-0.917,-1.592,-1.607, RAW= 88.9, 64.9, CAL= 88.1, 68.5, ROT= 61.9, -68.5 R#Rx 6: Read range and direction messages.\direction in FSK: [0.172626,0.323301,0.930418]Fpublishing direction and range infoS;?䈭???I]iK j ˿2Éf,c(~%A)%-ͿI%?i%?%:?%?%3I?%I!i!)%r`F?RV̿Ӱ?% %v됿%3I? %I!i!checking for new query: numPingsReceived=6, elapsed TxPingTime=5.055865yVX?ٱVc?V`V )nVHv?L@Y`?R? ;?`l y?IVX?)Vg];iT5A~B=]IBDM6DM1YV!/=(  H?9 H?9GY A>Q 14٪O?Q 54Af  B9YrҿQ E?y@C):I:iiO4Y  ? z!% (~%A%?ʋ%g"@2%S;?䈭??"%S;?䈭??%3I?‹%:%~Ŀ"D?&?*%~Կ"D?&?%$=%. %A?% rc % B! % rc %B%pM>%>%@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.501194 s, deltaX: -0.100000 m, approachRate: -0.199524 m/s, rangeRepo size: 4 gCM Added new target pos. range: 0.500000 m, bearing: 147.932724 deg, lat: 36.906032 deg, lon: -122.115847 deg, deltaT: 0.501194 s, deltaX: -0.100000 m, approachRate: -0.199524 m/s, posRepo size: 4 ڊQҊYYaa"*R*D9DD2DEso; E:6E4):E!E@!E@!U@!U@am?u`m?ɢ}B7 顕=I "=ɡiI@A V1ƽy A I I N >f,}B~%Ay6V?ٱ6q?6e696H?@>`'?H?@$l? 5?I6V?)6J];i6CZ:~BZYIԱMb@Mb@Mb@ )Ii rh~jt{Gzt?Cף;)@Ii@ @DDAT read: Rx Time:21:36:56.6330 TRx dataTimestamp_ set to:1754689017.129720PDAT read: Bearing 351.6, 17.5 (Local) ~Local bearing/azimuth received: Bearing 351.6, 17.5 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 =DAT read: 21:36:56.6330 LVL= 29216, 19521, 32754, 32755, AGC= 32, IDX= 503,-0.04, 0.659, 1.440,-0.397, 1.743, PHS=-0.982,-0.258,-2.184, RAW= 8.2, 35.7, CAL= 6.4, 41.4, ROT= 143.6, -41.4 EYgot valid direction response: 21:36:56.6330 LVL= 29216, 19521, 32754, 32755, AGC= 32, IDX= 503,-0.04, 0.659, 1.440,-0.397, 1.743, PHS=-0.982,-0.258,-2.184, RAW= 8.2, 35.7, CAL= 6.4, 41.4, ROT= 143.6, -41.4 ER#Rx 7: Read range and direction messages.M^direction in FSK: [-0.603760,0.445130,0.661312]MFpublishing direction and range info0QHȺ}?w)?I riALZd{ ) IC>iW?=8?g @8Ii)/fGHWӿIB&ū?v|g @ 8Iimchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.554689BD6Dk1Y}{!}B=}N3vB}>~BBFIBBBBBB`;BD99GY A>Q 14٪NO?Q 54f  9&@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.502760 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 149.340072 deg, lat: 36.906032 deg, lon: -122.115847 deg, deltaT: 0.502760 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ      "q*u{BRq*qyy}@?ɢ}B7 =I =ɡiI:,A wѽYAyIIN?Qf,Kb~%Aɰ;y6\T?ٱ6?6-6[6H|?W`t?5?[?  ?I6\T?)6 ];i6‘CB<~BBZIiDID DDiz99GY:G^ʼA>Q 1]4٪O?Q 5e4f  B9YOQ E?yCC)6IwiS"~ j)S I+s(@ 6&zLh~%A>ʋ/&Iichecking for new query: numPingsReceived=8, elapsed TxPingTime=6.0761772mѹʿ 7?|us7?"ǫ̃E濓r?@X?(@‹6&:F8دͿra]J/7?*)$=+Ar:ܿ%h[? hHyM,@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503965 s, deltaX: -0.200000 m, approachRate: -0.396853 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 154.843741 deg, lat: 36.906032 deg, lon: -122.115847 deg, deltaT: 0.503965 s, deltaX: -0.200000 m, approachRate: -0.396853 m/s, posRepo size: 4 ڊҊ"*R*@33??ɢ}}B9B8 顅0=I e=ɡiImA- i ) G A) AI A KAAyIIN>bf,I~%Ay6P?ٱ6*?63E6•6H`/?`@JU G? ?`@?V?I6P?)6];i6CBJ~BBbIxMb@Mb@Mb@ )Ii+Mb?99GYҼA>Q 14٪DN?Q 54"g  B9 0=Q A ~BB:IBBBBBBh;BD!eA D D D ,D E  E 1:6E g4:E "E Qۇf,Ed~%AyB|6M?ٱBܷ?B}BBH?@{W y?6?;ڿ?9?IB|6M?)B"];iB‘CN>~BN[IBDV6DVk2Y^O!^`=bޤbK?9bK?9fGYdf Af>hQ 1n4٪jDM?Q 5n4j]g  jB9pYr Q Er?yjGC)jY;Ijw;ijm4Ytvʷ?tgCE addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503590 s, deltaX: 0.200000 m, approachRate: 0.397148 m/s, rangeRepo size: 4 ڊIҊIIIIIIQQ"Q*QYRY*aae?e?ɢ}BŤ7 顕p=I ϴ=ɡiI#checking for new query: numPingsReceived=10, elapsed TxPingTime=7.056767I/iԹ>AuA yAI I N > f,Eh~%AD.$D. D.'D,E.g\; E.:6E.'4:E,!>@!>@!>@!>@!i!ԡchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.302829J~BbII=)=Mb@Mb@Mb@ )IiS㥛?y&1|?Mb`?/<`;;)@Ii@ @) BD 6D2Y<!+=Q)> H?9 H?9GY;GA>Q 14٪M?Q 54g  B9A v YbDZDAAII1NE?f,t~%AD2>D2D2-D0E2s; E2:6E2t4:E0"E2l9l9rGYpr#Ar>tQ 1z4٪vM?Q 5z4vf  vB9|Y~?Q E~?yvJC)vu:Iv):iv}4Yv?gC5 addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503911 s, deltaX: 0.300000 m, approachRate: 0.595343 m/s, rangeRepo size: 4 ڊ1Ҋ999999"*R*@33?z?checking for new query: numPingsReceived=11, elapsed TxPingTime=7.8103299ɢE}BE8 MG=M=II M=ɡIiIIUA)iIINf>ԑ DDAT read: Rx Time:21:36:59.1330  TRx dataTimestamp_ set to:1754689019.649080 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  Z#Rx 12: Read range message, but no direction. ?  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.063085 c;f,?~%Ay60P99GY'A > Q 14٪ >N?Q 54 uf  B9Y?Q E?y LC) ;I ;i 4Y!%?)gCU addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.502924 s, deltaX: -0.100000 m, approachRate: -0.198837 m/s, rangeRepo size: 4 ڊYҊYYYYaaaa"a*iRi*iim?u?ɢ}Bg7 顥=I E{=ɡiIn/AU8'IIN> 9 #f,%A6DDAT read: Rx Time:21:36:59.6330 6TRx dataTimestamp_ set to:1754689020.153130:DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 >Z#Rx 13: Read range message, but no direction.444Bchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.566181yF?8?ٱFxp?FrҭFgFH@v?wp?`?@? l¬?IF?8?)F];iFCAPAPvBT~BTBVIBVlBBTBTBV%DBVp;BVDb]~BbnIMMb@Mb@Mb@I I)IIIiIMMb?~jtx?M@=M;M)M@IIiM+@M@ IM@BD% 6D%2YuM=!u8=} y9y9}GY<GA>Q 14٪O?Q 54e  B9B=Q AAER5#DM DMGDM+DIEMX; EM;6EM [4:EI"EMchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.814795i Lf,"%Ay6 4?ٱ6Gl?66]6Hh2?@Ap;"`z?`!V?@|??I6 4?)68];i6C@BZ~BBlIBDN6DNf?3YV(!Vg=^|Q 1 4٪~O?Q 54~e  |9!Y%?Q E%?y~QC)~};I~2;i~4YN?ڊҊ"*R*Y?ɢ5}B5C6 9=V=I9 =Q=ɡ9i9IEyI}hi}Q`}Ruy}#}Il }Z>)}uI}8@i}>}@)}G\?}>+@}G\Iyiy)}[T{߿~GQ7!?} }۾}>+@ }G\Iyiy%checking for new query: numPingsReceived=14, elapsed TxPingTime=9.088581V<DU !DU <DU -DQ EU Y; EU 1;6EU t4:EQ !u @!u @!} @!} @I .i / >A MbA AZA I! I9 U checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324245N] >wf,<%Afr~Bf{IlUMb@Mb@Mb@Q Q)QIQiQUZd;?y&1?:vUy=U`e99GYA>Q 14٪P?Q 54d  B9=Q AO+@‹G\:\zϿDTTh9?*Ayf;f}ٿ}?{P f@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504783 s, deltaX: -0.200000 m, approachRate: -0.396210 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 206.681340 deg, lat: 36.906032 deg, lon: -122.115849 deg, deltaT: 3.024228 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"*{BR*@33?↭p?ɢ~BP5 =I r:=ɡiI0)/I @iB>@'>.@'Ii)U7te`V? vB!~B!B%IB%MBB!B!B!B%;B%'DBaBaBa1BaBaBei3Ҿ.@ 'IiEchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.595969>A a A I! D= D9 D= )D9 E= X; E9 6E= FA4:E9 "E9 !E E9 !E *E= ,n`f,V%Aiy6.?ٱ6Jf?66R6H? @#@??@`m?G`+?I6.?)6P^;i6CB~BBIBDJ6DJ:2YRN=!RY=VRT9T9VGYZ=GZՊAZ>\Q 1b4٪^Q?Q 5b4^ad  ^B9dYfN?Q Ef?y^WC)^S:I^):i^4Yhj?hzJ%A?ʋ5+2wú#ٿ#bq?AvW?"wú##bq?AvW?.@‹':J4ڿYcʿ˲Ջ?*J4Ycڿ˲Ջ?SѾ%/?i RBP dt@gC% addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.507828 s, deltaX: 0.200000 m, approachRate: 0.393834 m/s, rangeRepo size: 4 gC5 Added new target pos. range: 0.500000 m, bearing: 218.792962 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.507828 s, deltaX: 0.200000 m, approachRate: 0.393834 m/s, posRepo size: 4 ڊ19Ҋ9999AAAA"I*IRI*IIU?U@[?checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826925ɢ ~B Y3  ,>I  ~!=ɡiIK=i'~))!a]G=]R>YԡI/i/>A] DDAT read: Rx Time:21:37:01.1329  TRx dataTimestamp_ set to:1754689021.672583 PDAT read: Bearing 359.2, 14.6 (Local)  ~Local bearing/azimuth received: Bearing 359.2, 14.6 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  DAT read: 21:37:01.1329 LVL= 27776, 23377, 32754, 32755, AGC= 35, IDX= 502,-0.34, 2.995,-1.832, 2.244,-2.240, PHS=-0.946, 0.453,-1.843, RAW= 352.8, 22.4, CAL= 352.6, 27.1, ROT= 157.4, -27.1  Ygot valid direction response: 21:37:01.1329 LVL= 27776, 23377, 32754, 32755, AGC= 35, IDX= 502,-0.34, 2.995,-1.832, 2.244,-2.240, PHS=-0.946, 0.453,-1.843, RAW= 352.8, 22.4, CAL= 352.6, 27.1, ROT= 157.4, -27.1  T#Rx 16: Read range and direction messages. ^direction in FSK: [-0.821853,0.342105,0.455545]- Fpublishing direction and range info iPLxuy ?Х'? > I li Q[ # -r >) mI j @i +> @ *> F/@ *I i ) /ɡ' rm翌*lb?  #"Ⱦ F/@ *I i m checking for new query: numPingsReceived=16, elapsed TxPingTime=10.103092Թ I I N >f,ep%AyVW+?ٱVc?VƃVOVHH ?A@m? 9?\ u?᩿?IVW+?)VW^;iT%~B%IBD}6D}J2ԙY .=!7=  9 9 GY <¼A>!Q 1U4٪%R?Q 5]4%c  %B9YY]?Q Ee?y%[C)%ʋ(*2˝&Ͽfw F?U0~?"iPLxuy ?Х'?F/@‹*:ugϿhVDvd{?**+E bpۿξ~?;{=>?xg B Bٵ>v@%checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333154gC- addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.506842 s, deltaX: -0.200000 m, approachRate: -0.394600 m/s, rangeRepo size: 4 gCe Added new target pos. range: 0.300000 m, bearing: 220.681970 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.506842 s, deltaX: -0.200000 m, approachRate: -0.394600 m/s, posRepo size: 4 ڊaҊaaaaaiii"i*qRq*qqu@33?}?ɢ~B44 >I <ɡiI~) TI ?B@i > [@ Ul> 5~1@ UlI i ) a.翽z ?  ; 5~1@ UlI i U checking for new query: numPingsReceived=17, elapsed TxPingTime=10.602112q>A erA-?jA%?IaIyN?ԙf,X%ABEeFA4JEemF4REe0D.4D.D.'D,E.j; E.:6E.'4:E,"E.1919=GY9=A=>AQ 1M4٪E}T?Q 5M4Eb  EB9U=Q AUS޿ޏ%ѿmc?*%_9ܿSR?,pV+?}i B >w@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.500981 s, deltaX: 0.300000 m, approachRate: 0.598825 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.600000 m, bearing: 222.010267 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.500981 s, deltaX: 0.300000 m, approachRate: 0.598825 m/s, posRepo size: 4 ڊҊ checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842967!AAA"I*M{BRI*IQU@33?U-?ɢ ~B#H3 j>I /<ɡiIPXA59nQIINf>ԁ  DDAT read: Rx Time:21:37:02.1330  TRx dataTimestamp_ set to:1754689022.685554 PDAT read: Bearing 356.0, 12.0 (Local)  ~Local bearing/azimuth received: Bearing 356.0, 12.0 (Local)  DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 21:37:02.1330 LVL= 31600, 21265, 32754, 32755, AGC= 34, IDX= 502,-0.30,-1.384, 0.049,-1.966,-0.262, PHS=-1.020, 0.356,-1.748, RAW= 349.9, 24.7, CAL= 349.5, 29.5, ROT= 160.5, -29.5  Ygot valid direction response: 21:37:02.1330 LVL= 31600, 21265, 32754, 32755, AGC= 34, IDX= 502,-0.30,-1.384, 0.049,-1.966,-0.262, PHS=-1.020, 0.356,-1.748, RAW= 349.9, 24.7, CAL= 349.5, 29.5, ROT= 160.5, -29.5  T#Rx 18: Read range and direction messages. ^direction in FSK: [-0.820433,0.290531,0.492424] Fpublishing direction and range info /@vk ?Cރ? ? I p{i S \ E>) w߿I k@i > 2@ ? G3@ I i ) ,Ue<, ? M ݾ G3@ I i  checking for new query: numPingsReceived=18, elapsed TxPingTime=11.124215+f,ڮ%Ay:&?ٱ:1_?:r:O:H ?2g@t?@?mۉ@P?@?I:&?):G^;@i:CN~BRIBDZ 6DZ:2Yr=!re=rjt9t9vGYv>GznDAz>|Q 1E4٪~U?Q 5E4~rb  ~B9AYEq?Q EE?y~bC)~[:I~ :i~ḁ4YQU?Qz%A?ʋ (2/@ڿvk ?Cރ?"/@vk ?Cރ?G3@‹:,ʣ)ٿb%̿qBt}^?*,ʣ)b%ܿqBt}^?AdOɾv4?=Rh Bv4? =Rh RBi>j@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.511990 s, deltaX: -0.100000 m, approachRate: -0.195316 m/s, rangeRepo size: 4 gC- Added new target pos. range: 0.500000 m, bearing: 209.549860 deg, lat: 36.906031 deg, lon: -122.115849 deg, deltaT: 0.511990 s, deltaX: -0.100000 m, approachRate: -0.195316 m/s, posRepo size: 4 ڊ1Ҋ"*R*?w?DBDD(DEw; E:6Ec44:E!@!@!@!@Աɢ ~B 0 ml=2>I o<ɡiI|;A~ւII)N=r>i=IC)݈G )IM.IMXA@?A f,%Ay6.%?ٱ6i]?6 l6lT6H%?I`ꮳ@W??Y@?@M?I6.%?)6];i6Cb~BbIlUMb@Mb@Mb@Q Q)QIQiQUDl?X9vMbP?UO=UU:)U~@IUb@iU@Q QU@BDm6DmN2Y}zr=!}A=}W;Q)}>99GY4SA>DDAT read: Rx Time:21:37:02.6331 TRx dataTimestamp_ set to:1754689023.189757PDAT read: Bearing 354.6, 10.1 (Local) ~Local bearing/azimuth received: Bearing 354.6, 10.1 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 21:37:02.6331 LVL= 31904, 22321, 32242, 32755, AGC= 34, IDX= 503,-0.24, 0.374, 1.811,-0.119, 1.542, PHS=-1.065, 0.314,-1.705, RAW= 348.0, 25.9, CAL= 347.5, 30.8, ROT= 162.5, -30.8 Ygot valid direction response: 21:37:02.6331 LVL= 31904, 22321, 32242, 32755, AGC= 34, IDX= 503,-0.24, 0.374, 1.811,-0.119, 1.542, PHS=-1.065, 0.314,-1.705, RAW= 348.0, 25.9, CAL= 347.5, 30.8, ROT= 162.5, -30.8 T#Rx 19: Read range and direction messages.^direction in FSK: [-0.819205,0.258294,0.512043]Fpublishing direction and range info|ĉ6꿚?ab??I|i1W}Q Ġ>)q=ڿI \@iq>@ ?5@ Ii);Fni忊fI7?^V5@  IvB!~B!B%IB%WBB!B!B%&DB%;B%;Diuchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.626226Q 1}4٪X?Q 5}4b  B9}=Q A/Q E?yfC)!I <ɡiIIA% ?Oa I I N >>f,%Aiy6$?ٱ6V\?6i68f[6H U?8䳿G?_?^4?]?I6$?)6׶];i4F~BFIIJ=)J=)H J@ABDL6DLYVm=!VX=Ze;Q)Z>X9X9ZGYX^ A^>`Q 1j4٪b1Z?Q 5n4ba  bB9pYv>Q Ev?ybjC)b4;Ib0;ibƁ4Y  ?ADB*** querying acoustic contact ***jrڊQҊYYaaai"*R*O?ɢ~BQ, W>I %Y<ɡ!i!I%lA T#Rx 20: Read range and direction messages.^direction in FSK: [-0.820426,0.232157,0.522499]Fpublishing direction and range infoIaIqNY>Ɠq@aR?5QN??IqiY{1 >)jԿI\w@i,>!@L ?i7@L Ii)v)6*-俚>`?T5i7@ L Iichecking for new query: numPingsReceived=20, elapsed TxPingTime=12.170909ԑD .D D D E ye; E &:6E :E ! @! @! @! @ u checking for new query: numPingsReceived=20, elapsed TxPingTime=12.356927f,B%AyVj_$?ٱV\?V hVeVH@?.@I]???z@h?z?IVj_$?)V];iVCvBvIi}Mb@Mb@Mb@y y)yIyiy} rh?~jth?}C=}D;})}@Iyi}@}b@ y}(@BD6D1Y|=!9=n:Q)>99GY?GZA>Q 14٪[?Q 54%a  B9f=Q ABI! %E%<ɡ)i)I5<%)NbпI@i*>@5?8@5Ii)diWKpTdmP+"2!?C8@ 5Ii- checking for new query: numPingsReceived=21, elapsed TxPingTime=12.660632] ==Y ] AI .i 65 @ @ =D ;D D +D E Dq; E O:6E [4:E "E -A5#Echecking for new query: numPingsReceived=21, elapsed TxPingTime=12.859449AAAIIN?if,!%Ay:<%?ٱ:v]?:Of:w:H?=lQ??mڬ?H⮿` ?I:<%?):];i:CFBFIiHIHBDR6DRkYZq=!Z=Zb:Q)Z>^K?9^K?9^GY\^;Ab>`Q 1f4٪b]?Q 5j4b^`  bB9hYjh?Q Ej?ybrC)b:Ib:ib/؁4YlnȜ?pzae %Aaʋe#2e<<ڿįy??<?"e<<įy??<?e8@‹e5:ewyƣ׿n,οLzl?*ewyƣn,޿Lzl?ewee>?ef eBa aeBe%?epl@gC] addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gCU Added new target pos. range: 0.500000 m, bearing: 211.670250 deg, lat: 36.906031 deg, lon: -122.115849 deg, deltaT: 0.503042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊQҊYaaaiiqy"*R*`x?ɢ~B, 額w>I ;ɡiIwIIMxiMYMrwIIMm狿 M9>)M?5οIIiIIMl?IMlIIiI)M9hC㿓Myv4?M@MI MlIIiIchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.153639! >A DE ?DE +DA DA EE t; EE =;6EA :EA !U @!U @!U @!] @AI Iq I N >zf,<%Achecking for new query: numPingsReceived=22, elapsed TxPingTime=13.365070U0B]IMb@Mb@Mb@ )Iil?{Gz?Mbp=ף<)@I5@i~@ @BD 6D Ys=!0=Q)>!9!9%GY!%A%>1Q 154٪5^?Q 5=45_  19=4=Q A=,?Iz  *-%A >ʋ #2 *˜DsϿTՀy?9[Bg?" (c51 zʲ? K7? ‹ l: p>W̿cfǒ¿?* y١޿X?  b RL? %9Xc  B q%I ;ɡiID)(̿I@i|>M@|>R8@|Ii)KAAXo!&V? žR8@ |Ii checking for new query: numPingsReceived=23, elapsed TxPingTime=13.6721999 >A D 7D D ,D E m; E 9@;6E g4:E "E ymf,Z%Ay6;Y'?ٱ6v_?6b6 6H|?@g@O}??NT? zn?I6;Y'?)6];i6CB/BBIBDJ6DJN2YR!R@=R;Q)V>T9T9VGYV@GZ"<AZ>\Q 1b4٪^%`?Q 5b4^^  \9`Yb?Q Ef?y^{C)^G:I^:i^4YhjZ?hchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.866874zWAM%A?ʋ#2ۿ\ ?j-?"\ ?j-?R8@‹|: #u/xؿ{&F}п!'?* #u/x{&F}!'?þʑ??cxe B>? f BL?r@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503917 s, deltaX: 0.200000 m, approachRate: 0.396891 m/s, rangeRepo size: 4 )gC  Added new target pos. range: 0.500000 m, bearing: 217.316682 deg, lat: 36.906032 deg, lon: -122.115849 deg, deltaT: 0.503917 s, deltaX: 0.200000 m, approachRate: 0.396891 m/s, posRepo size: 4 ڊ1Ҋ11111199"9*9RA*AAE?E`Ks?ɢM~BM( QU@>IQ UZ;ɡQiQIUI%/i!)-_51aԁDDAT read: Rx Time:21:37:05.1329 TRx dataTimestamp_ set to:1754689025.709709PDAT read: Bearing 347.9, 10.7 (Local) ~Local bearing/azimuth received: Bearing 347.9, 10.7 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  DAT read: 21:37:05.1329 LVL= 26592, 21857, 30098, 32755, AGC= 33, IDX= 501, 0.30, 0.154, 1.275,-0.314, 1.264, PHS=-1.008, 0.056,-1.622, RAW= 351.2, 31.8, CAL= 349.9, 36.9, ROT= 160.1, -36.9  Ygot valid direction response: 21:37:05.1329 LVL= 26592, 21857, 30098, 32755, AGC= 33, IDX= 501, 0.30, 0.154, 1.275,-0.314, 1.264, PHS=-1.008, 0.056,-1.622, RAW= 351.2, 31.8, CAL= 349.9, 36.9, ROT= 160.1, -36.9 % T#Rx 24: Read range and direction messages.- ^direction in FSK: [-0.751934,0.272196,0.600420]- Fpublishing direction and range info-`+ݩk? 56?>IgiaUu!% B`e=)ϿI%@iq?k@$?[2@$Ii)'E *)4xz?Y [2@ $Ii>A FӅe checking for new query: numPingsReceived=24, elapsed TxPingTime=14.137626Թ AQ Ia Iy N >zf,^u%A@i@D53D5|D5/D1E5j; E5/;6E5J4:E1!=@!=@!=@!=@yU (?ٱUD`?U^UκUHf? i@?x?L?ϫ? ?IU (?)U];iUC8BI<) BD6D1Yr<!3=`;Q)>99GY5<A>1Q 1E4A٪5ea?Q 5e45]  5B9iYm?Q Em?y5C)5;I5l;i54Yqu??qzkm%A>ʋ*)2:̿ ?U^k_?"-`+ݩk? 56?[2@‹$:Sd̿\e| Ĵ?checking for new query: numPingsReceived=24, elapsed TxPingTime=14.373075*q!`Kuٿ7MA? ciN?,a Bʑ?? cxe >\fq@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.502596 s, deltaX: -0.200000 m, approachRate: -0.397934 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 216.112370 deg, lat: 36.906032 deg, lon: -122.115848 deg, deltaT: 0.502596 s, deltaX: -0.200000 m, approachRate: -0.397934 m/s, posRepo size: 4 ڊҊ"*R*@33? ?ɢYe( aeO>Ia e[;ɡaiiImX=yIiii))I=+iIIU0Qԩ DDAT read: Rx Time:21:37:05.6331  TRx dataTimestamp_ set to:1754689026.214761A <A <vB ~B B SIB BB B B %DB s;B DByByByByByB}˭4  PDAT read: Bearing 348.5, 12.5 (Local)  ~Local bearing/azimuth received: Bearing 348.5, 12.5 (Local)  DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 >A = DAT read: 21:37:05.6331 LVL= 24992, 19009, 30290, 32755, AGC= 33, IDX= 503,-0.43,-1.391,-0.282,-1.943,-0.310, PHS=-0.980, 0.072,-1.677, RAW= 353.3, 30.9, CAL= 352.1, 36.1, ROT= 157.9, -36.1 M Ygot valid direction response: 21:37:05.6331 LVL= 24992, 19009, 30290, 32755, AGC= 33, IDX= 503,-0.43,-1.391,-0.282,-1.943,-0.310, PHS=-0.980, 0.072,-1.677, RAW= 353.3, 30.9, CAL= 352.1, 36.1, ROT= 157.9, -36.1 U T#Rx 25: Read range and direction messages.] ^direction in FSK: [-0.748626,0.303985,0.589196]] Fpublishing direction and range info F#7H@t?aE? ? I ai AJ Rv Hz t=) ֿI Q@i  ? U@ K!? A`0@ K!I i ) %ze࿋c29 s? ց w6 A`0@ K!I i e checking for new query: numPingsReceived=25, elapsed TxPingTime=14.682574IIN%>$f,%Al-WB5IrDm=jDm<DuEDuDu'DqEuVz; Eu7;6Eu'4:Eq"Eu 9 9 GY AGA>Q 1M4٪^a?Q 5U4\  9UU=Q AU;+Xl@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.505052 s, deltaX: 0.300000 m, approachRate: 0.593998 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.600000 m, bearing: 211.586519 deg, lat: 36.906032 deg, lon: -122.115847 deg, deltaT: 0.505052 s, deltaX: 0.300000 m, approachRate: 0.593998 m/s, posRepo size: 4 ڊҊ"*|BR*@33?`?ɢ~B d%  Z>I  :ɡ iIF4=%checking for new query: numPingsReceived=25, elapsed TxPingTime=14.874893I!i!i!)!))Ii0)Y >A FӅI  DDAT read: Rx Time:21:37:06.1330  TRx dataTimestamp_ set to:1754689026.717700 PDAT read: Bearing 344.1, 14.0 (Local)  ~Local bearing/azimuth received: Bearing 344.1, 14.0 (Local)  DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 21:37:06.1330 LVL= 21744, 18113, 28946, 32755, AGC= 32, IDX= 502,-0.26,-2.449,-1.516,-3.039,-1.398, PHS=-0.949,-0.073,-1.685, RAW= 357.1, 34.4, CAL= 355.5, 39.8, ROT= 154.5, -39.8 % Ygot valid direction response: 21:37:06.1330 LVL= 21744, 18113, 28946, 32755, AGC= 32, IDX= 502,-0.26,-2.449,-1.516,-3.039,-1.398, PHS=-0.949,-0.073,-1.685, RAW= 357.1, 34.4, CAL= 355.5, 39.8, ROT= 154.5, -39.8 - T#Rx 26: Read range and direction messages.- ^direction in FSK: [-0.693441,0.330755,0.640110]5 Fpublishing direction and range info u&0濒wK+?mZ{? ? I Ti F q r ) ׿I 8q@i `? u@ 1? ,@ 1I i ) @J0ܿ58(]/-{ (?I NM >&1+f,N񮀛%A i?  ,@ 1I i "checking for new query: numPingsReceived=26, elapsed TxPingTime=15.151395y>"+?ٱ>\c?>WO>ґ>H q)? \ZJ?`9?rEw?`?j0 ?I>"+?)>];i>CZSBZIBDb6DbYj>=!js=n;5 n@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.502939 s, deltaX: -0.100000 m, approachRate: -0.198831 m/s, rangeRepo size: 4 gC  Added new target pos. range: 0.500000 m, bearing: 213.951720 deg, lat: 36.906033 deg, lon: -122.115847 deg, deltaT: 0.502939 s, deltaX: -0.100000 m, approachRate: -0.198831 m/s, posRepo size: 4 ڊ Ҋi"*R*?@?ɢimsf$ iu?>Iq uM:ɡqiqIuM=D<D'D.DE,r; E";6Eـ4:E!@!@!@!@IiA5=i‚)) I *i@==@9ԑMchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.381257 >A] rAq jAu 4?I I! NM >Z2f,Ȁ%AL%?B%Ii)I) 11Mb@Mb@Mb@ )Ii99GYA>Q 14٪`?Q 54[  B9oi=Q AhI F:ɡiI=Ii(d3=iRσ)))I-i  P0 >A^‚I9IQN]v>BE|a4JET\4REǴ0D;DWD'DEDq; Ej;6E'4:E"E-!999=GYEBGMA<AU>iQ 14٪m`?Q 54m [  mB9Y?Q E?ymC)mC  Sk@gC} addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503780 s, deltaX: 0.100000 m, approachRate: 0.198499 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.600000 m, bearing: 210.673315 deg, lat: 36.906032 deg, lon: -122.115846 deg, deltaT: 0.503780 s, deltaX: 0.100000 m, approachRate: 0.198499 m/s, posRepo size: 4 ڊҊ"*R*@33?`ʇ?1ɢ% AE>IA M:ɡIiIIM =IQiUP0=iUK[)Q)QDDAT read: Rx Time:21:37:07.1330 TRx dataTimestamp_ set to:1754689027.726633PDAT read: Bearing 341.7, 15.9 (Local) ~Local bearing/azimuth received: Bearing 341.7, 15.9 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:07.1330 LVL= 19920, 16865, 29394, 31475, AGC= 32, IDX= 502,-0.02,-2.310,-1.487,-2.948,-1.282, PHS=-0.926,-0.160,-1.710, RAW= 0.4, 36.4, CAL= 358.7, 41.7, ROT= 151.3, -41.7  Ygot valid direction response: 21:37:07.1330 LVL= 19920, 16865, 29394, 31475, AGC= 32, IDX= 502,-0.02,-2.310,-1.487,-2.948,-1.282, PHS=-0.926,-0.160,-1.710, RAW= 0.4, 36.4, CAL= 358.7, 41.7, ROT= 151.3, -41.7  T#Rx 28: Read range and direction messages.^direction in FSK: [-0.654911,0.358553,0.665230]EFpublishing direction and range info'f~J?z:I??IMiArzVm  #)I;i"?U@AQ:?)@AQ:Ii)gwٿ&f6DU?~")@ AQ:Iichecking for new query: numPingsReceived=28, elapsed TxPingTime=16.164381I+i0QD ,D )D ,D E c; E 0;6E g4:E ! @! @! @! @Թ >A =bA! ZA% AI I N >g>f,j%A%checking for new query: numPingsReceived=28, elapsed TxPingTime=16.389111ԁ)G )I}njy}ÐAU<BUI-only read 0 of 1 data item for water mass range. Device response is::WD, +83.38+ +18.91, 20.00 !@! !@! !@! !@! BD6D:2Y]1!]'=mQ)u>y99GYA>ԹQ 14٪`?Q 54UZ  BQ =+:9Q A<i4Y%Η?!z(%A?ʋM 22'f~ԿJ?z:I?"'f~J?z:I?)@‹AQ::z׿`9q?*z`9ѿq?Pt@?<^ 9Bt@? ސ` >^m@gCu addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505153 s, deltaX: -0.100000 m, approachRate: -0.197960 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 212.504767 deg, lat: 36.906033 deg, lon: -122.115846 deg, deltaT: 0.505153 s, deltaX: -0.100000 m, approachRate: -0.197960 m/s, posRepo size: 4 ڊҊ"*R*??ɢ'' 顭>I $9ɡiIͳ =Ii-=i8))DDAT read: Rx Time:21:37:07.6330 TRx dataTimestamp_ set to:1754689028.230701AA@AvB~BBBB9 =BB%DBs;BD PDAT read: Bearing 339.3, 17.1 (Local)  ~Local bearing/azimuth received: Bearing 339.3, 17.1 (Local) % DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 ] DAT read: 21:37:07.6330 LVL= 19760, 16881, 29298, 31219, AGC= 32, IDX= 502, 0.08,-1.629,-0.900,-2.277,-0.620, PHS=-0.907,-0.235,-1.701, RAW= 2.8, 38.3, CAL= 1.1, 43.6, ROT= 148.9, -43.6 e Ygot valid direction response: 21:37:07.6330 LVL= 19760, 16881, 29298, 31219, AGC= 32, IDX= 502, 0.08,-1.629,-0.900,-2.277,-0.620, PHS=-0.907,-0.235,-1.701, RAW= 2.8, 38.3, CAL= 1.1, 43.6, ROT= 148.9, -43.6 Im -ii i u /q @y @y e T#Rx 29: Read range and direction messages. ^direction in FSK: [-0.620085,0.374059,0.689620] Fpublishing direction and range infoU`͋{ ?B\?I0MiArry'1h ףp)^ٿI+H=iD +?nF<B?R&@BIi)<ֿw Pī_?J+R&@ BIi5 checking for new query: numPingsReceived=29, elapsed TxPingTime=16.686962 >A 6*D D D )D E L; E :6E FA4:E "E checking for new query: numPingsReceived=29, elapsed TxPingTime=16.890842yrz.?ٱrf?rhDrcnrH`? Il ??/?@'?籿@?Irz.?)r޼];irCi4BIp<BD6DN2Yl! +=  99GYM6<A>)Q 1M4٪-_?Q 5U4-Y  -BQ =e :9aQ AmBY ]C_ ]>B])>],n@gCm addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 213.226025 deg, lat: 36.906033 deg, lon: -122.115846 deg, deltaT: 0.504068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"*R*D?ɢ=~BE4& El=E>IA Eo9ɡAiIIMo =Iiw*=iUG~))-DDAT read: Rx Time:21:37:08.1329 5TRx dataTimestamp_ set to:1754689028.733649=PDAT read: Bearing 333.3, 18.7 (Local) =~Local bearing/azimuth received: Bearing 333.3, 18.7 (Local) MDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 uDAT read: 21:37:08.1329 LVL= 19856, 17185, 29250, 31411, AGC= 32, IDX= 501, 0.18,-2.137,-1.593,-2.790,-1.147, PHS=-0.888,-0.401,-1.687, RAW= 8.0, 43.1, CAL= 6.5, 48.0, ROT= 143.5, -48.0 }Ygot valid direction response: 21:37:08.1329 LVL= 19856, 17185, 29250, 31411, AGC= 32, IDX= 501, 0.18,-2.137,-1.593,-2.790,-1.147, PHS=-0.888,-0.401,-1.687, RAW= 8.0, 43.1, CAL= 6.5, 48.0, ROT= 143.5, -48.0 }T#Rx 30: Read range and direction messages.^direction in FSK: [-0.537885,0.398014,0.743145]Fpublishing direction and range infoI,i/159LZ6}y?:?5>1I5Mi5!C5Br5z15Sc 5O;)5׿I55>i5@?5V=5PwV?5J @5PwVI1i1)5]ѿ 0`忐 G?5D5@5J @ 5PwVI1i1checking for new query: numPingsReceived=30, elapsed TxPingTime=17.163589 >A D5 (D5 \D5 -D1 E5 `; E5 ;6E5 t4:E1 != @!= @!= @!= @!AyAII!NM?Nf,=%ANchecking for new query: numPingsReceived=30, elapsed TxPingTime=17.396976yF.?ٱf?)ܼڋH@???? a? =v?IF.?)j];iCIijt@ )̎C t@ AI)yFi)IA xcAiizbA) I )AvDFAiI/BI!! !! !! !! Mb@Mb@Mb@ )Iiy&1Mb~jtx?`;)~@I@ih@@ @BD6D2Y9!%=B H?9 H?9GYCGd A>Q 14٪_?Q 54Y  BQ =T:9ʋe:2e fĿhG?QMi?"e9LZ6}y?:?eJ @‹ePwV:e2CIʿ`AJ"?*e0.L濂n5=Ŀ`9b?eRBeVefKM?e?[ eBe@? e<^ e=BeZ>eub@!gCE addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.502948 s, deltaX: -0.200000 m, approachRate: -0.397655 m/s, rangeRepo size: 4 gCU Added new target pos. range: 0.300000 m, bearing: 203.040719 deg, lat: 36.906033 deg, lon: -122.115845 deg, deltaT: 0.502948 s, deltaX: -0.200000 m, approachRate: -0.397655 m/s, posRepo size: 4 ڊQҊQYYYYYYy"*l|BR*@33?↍?ɢ~B>#' N>I W(9ɡiI =Ii (=i C) ) I0i/EDDAT read: Rx Time:21:37:08.6330 QMTRx dataTimestamp_ set to:1754689029.238956ePDAT read: Bearing 334.0, 18.9 (Local) e~Local bearing/azimuth received: Bearing 334.0, 18.9 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:08.6330 LVL= 19856, 16561, 28866, 31027, AGC= 32, IDX= 502, 0.32,-1.643,-1.073,-2.309,-0.648, PHS=-0.893,-0.380,-1.705, RAW= 7.4, 42.3, CAL= 5.9, 47.3, ROT= 144.1, -47.3 Ygot valid direction response: 21:37:08.6330 LVL= 19856, 16561, 28866, 31027, AGC= 32, IDX= 502, 0.32,-1.643,-1.073,-2.309,-0.648, PHS=-0.893,-0.380,-1.705, RAW= 7.4, 42.3, CAL= 5.9, 47.3, ROT= 144.1, -47.3 T#Rx 31: Read range and direction messages.^direction in FSK: [-0.549338,0.397654,0.734915]Fpublishing direction and range infoAE<+,3])s?lk?E?AIAiE@EpE3yAEd E\¾)Eq=ڿIE A>iEA d/}rA /?jA /?D= 4D= ZD9 D9 E= j; E= ;6E9 :E9 "E= Vf,}\%A yFg-?ٱFe?FFaFH@? 䰿@5???`֖?`@?IFg-?)F];iD]checking for new query: numPingsReceived=31, elapsed TxPingTime=17.898642]$B]Iim499GYqA>Q 14٪^?Q 54NZ  B9YQ E?yC):IS:i!*4Y?z9=KO%A=?ʋ=a:2=<+,ѿ3])s?lk?"=<+,3])s?lk?= @‹=VS:=lֿ򴿰!8?*=lĿ!8?==f=i+A?=#v\ =DB9 =*[\ =>B=_>=Y@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505307 s, deltaX: 0.200000 m, approachRate: 0.395799 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 195.151901 deg, lat: 36.906033 deg, lon: -122.115844 deg, deltaT: 0.505307 s, deltaX: 0.200000 m, approachRate: 0.395799 m/s, posRepo size: 4 ڊҊ"!*!R!*))-?-?ɢU~B]$ Y]c>IY ]X8ɡYiaIe=Iaim6%=im߁)i)qII.i/@@>AqA I1IANUt> DDAT read: Rx Time:21:37:09.1329  TRx dataTimestamp_ set to:1754689029.741565 PDAT read: Bearing 335.9, 18.8 (Local)  ~Local bearing/azimuth received: Bearing 335.9, 18.8 (Local) - DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 U DAT read: 21:37:09.1329 LVL= 22368, 18225, 29602, 31283, AGC= 33, IDX= 501, 0.46,-2.879,-2.246, 2.738,-1.879, PHS=-0.899,-0.322,-1.711, RAW= 5.6, 40.6, CAL= 4.0, 45.7, ROT= 146.0, -45.7 ] Ygot valid direction response: 21:37:09.1329 LVL= 22368, 18225, 29602, 31283, AGC= 33, IDX= 501, 0.46,-2.879,-2.246, 2.738,-1.879, PHS=-0.899,-0.322,-1.711, RAW= 5.6, 40.6, CAL= 4.0, 45.7, ROT= 146.0, -45.7 ] T#Rx 32: Read range and direction messages.e ^direction in FSK: [-0.579013,0.390549,0.715693]m Fpublishing direction and range info .>VE{{l?'tr? > I `Wi 1G s 3z ! $f /ݤ) ۿI +=i g5? 5= 0L? e#@ 0LI i ) ĕ<ͮԿ#]3? } |5 e#@ԡ 0LI i 5 checking for new query: numPingsReceived=32, elapsed TxPingTime=18.189331j\f,wIv%A@yJ`,?ٱJd?JᒼJ@JH]? ?` ?>D?`[?@?IJ`,?)J];iJCBIi)I)BDA6DAY]!]M=e3a9a9eGYimW6Am>DKD:D(DE; E$ ;6Ec44:E!@!@!@!@qQ 14٪uM^?Q 54uZ  uB9Y Q E?yuC)uʋE82EN;ƿ.,?Bϋ{?"E.>VE{{l?'tr?Ee#@‹E0L:EPiG˿$ٰf3\T ?*Eh ɻ.ǿ)~Ƶ?EeE=ZEWL?Ew\ EBEi+A? E#v\ E9BE>EV@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.502609 s, deltaX: -0.200000 m, approachRate: -0.397924 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 191.638082 deg, lat: 36.906033 deg, lon: -122.115844 deg, deltaT: 0.502609 s, deltaX: -0.200000 m, approachRate: -0.397924 m/s, posRepo size: 4 ڊҊ"*R*@33?`4?ɢE~BE' AE>IA M8ɡIiiImo=Iqiuj/#=iu[")q)yԱchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.405197Uc= I -i V5 % DDAT read: Rx Time:21:37:09.6331 % TRx dataTimestamp_ set to:1754689030.2455335 PDAT read: Bearing 333.3, 19.2 (Local) 5 ~Local bearing/azimuth received: Bearing 333.3, 19.2 (Local) E DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 } DAT read: 21:37:09.6331 LVL= 22768, 17697, 31442, 32755, AGC= 33, IDX= 503,-0.41,-2.435,-1.860,-3.100,-1.425, PHS=-0.908,-0.390,-1.719, RAW= 7.3, 42.6, CAL= 5.8, 47.5, ROT= 144.2, -47.5  Ygot valid direction response: 21:37:09.6331 LVL= 22768, 17697, 31442, 32755, AGC= 33, IDX= 503,-0.41,-2.435,-1.860,-3.100,-1.425, PHS=-0.908,-0.390,-1.719, RAW= 7.3, 42.6, CAL= 5.8, 47.5, ROT= 144.2, -47.5  T#Rx 33: Read range and direction messages.A <A p<vB ~B B 3IB BB 8 =B B %DB _;B D ^direction in FSK: [-0.547947,0.395192,0.737277] Fpublishing direction and range info! % G+Lj῎STJ?*Ɨ?% ?! I% Xi% !E% z% ! % rh % Ǿ)% 1ܿI% w>i% V>?% 4Q=% g;T?% !@% g;TI! i! )%  )|7ҿ&Y?% % O>% !@ % g;TI! i! 1  checking for new query: numPingsReceived=33, elapsed TxPingTime=18.707651>A.%bAZAAaD-*D-D-*D)E-a; E-1:6E-(N4:E)"E-۳!9!9%GY%DG%A%>)Q 154٪-H]?Q 5=4-[  -B9=ޑ=Q A=:But>ubN@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503968 s, deltaX: 0.300000 m, approachRate: 0.595276 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.600000 m, bearing: 184.967667 deg, lat: 36.906033 deg, lon: -122.115844 deg, deltaT: 0.503968 s, deltaX: 0.300000 m, approachRate: 0.595276 m/s, posRepo size: 4 ڊҊ"*[|BR*@33?@?ɢ~B[) B>I l8ɡiIOy=Ii/=iJ))=ԉI/i1>AuԱAAIIN>M DDAT read: Rx Time:21:37:10.1330 U TRx dataTimestamp_ set to:1754689030.749618] PDAT read: Bearing 334.3, 18.9 (Local) ] ~Local bearing/azimuth received: Bearing 334.3, 18.9 (Local) m DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 21:37:10.1330 LVL= 23024, 17969, 29538, 31843, AGC= 33, IDX= 502,-0.31,-2.985,-2.364, 2.656,-1.970, PHS=-0.913,-0.349,-1.701, RAW= 5.5, 41.7, CAL= 4.0, 46.7, ROT= 146.0, -46.7  Ygot valid direction response: 21:37:10.1330 LVL= 23024, 17969, 29538, 31843, AGC= 33, IDX= 502,-0.31,-2.985,-2.364, 2.656,-1.970, PHS=-0.913,-0.349,-1.701, RAW= 5.5, 41.7, CAL= 4.0, 46.7, ROT= 146.0, -46.7  T#Rx 34: Read range and direction messages. ^direction in FSK: [-0.568569,0.383505,0.727773] Fpublishing direction and range infoI M k15;W?wI?M ?I IM YiM 1FM bsM c|I M ^i M !)M ^ٿIM =iM AQ:?M 5=M YP?M e#@M YPII iI )M )yӿ6qH?M 4M ;E:M e#@ M YPII iI  checking for new query: numPingsReceived=34, elapsed TxPingTime=19.174623 lf,N%AyZ=B)?ٱZx{a?Zi6Z*tZH`:^?U%?zY?@E?͆? ;@?IZ=B)?)Z];iZC%B%IBD]6D]YeG!mW=m6mK?9uK?9uGYqA>Q 14٪\?Q 54b\  B9YDQ E?yC):I:iB4YE?DDND-DEM; E;6Et4:E!@!@!@!@z%A?ʋp92k1ҿ5;W?wI?"k15;W?wI?e#@‹YP:*͚%Bֿw,H>O?**͚%Bw,ƿH>O?eRQ??q^ 2B 2BӦ>٣I@gC} addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504085 s, deltaX: -0.100000 m, approachRate: -0.198379 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 180.517542 deg, lat: 36.906033 deg, lon: -122.115844 deg, deltaT: 0.504085 s, deltaX: -0.100000 m, approachRate: -0.198379 m/s, posRepo size: 4 ڊҊ"*R*?`E?ɢ5 ~B5c' 15r>I1 =:8ɡ9i9I=ς=IAiAiE )A)i qqIq)qchecking for new query: numPingsReceived=34, elapsed TxPingTime=19.413565 AIe0iiiu0q@@Y Y ] Am DDAT read: Rx Time:21:37:10.6331 m TRx dataTimestamp_ set to:1754689031.254938} PDAT read: Bearing 342.8, 16.9 (Local) } ~Local bearing/azimuth received: Bearing 342.8, 16.9 (Local)  DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 vB ~B B IB lBB 9 =B B B `;B DBBBB9 =B9 =BD4>A 6= DAT read: 21:37:10.6331 LVL= 26288, 20977, 29586, 31891, AGC= 34, IDX= 503,-0.22,-1.866,-0.957,-2.484,-0.832, PHS=-0.932,-0.080,-1.696, RAW= 358.2, 34.4, CAL= 356.5, 39.8, ROT= 153.5, -39.8 M Ygot valid direction response: 21:37:10.6331 LVL= 26288, 20977, 29586, 31891, AGC= 34, IDX= 503,-0.22,-1.866,-0.957,-2.484,-0.832, PHS=-0.932,-0.080,-1.696, RAW= 358.2, 34.4, CAL= 356.5, 39.8, ROT= 153.5, -39.8 M T#Rx 35: Read range and direction messages.] ^direction in FSK: [-0.687563,0.342806,0.640110]] Fpublishing direction and range infoi m !?ل+?mZ{?m ?i Im fim Qm sm |m "m n m ף)m ٿIm @im `?m o@m 1?m v+@m 1Ii ii )m 3PۿU's)?m m m v+@ m 1Ii ii =checking for new query: numPingsReceived=35, elapsed TxPingTime=19.724663ԉAI IN%>Cuf,wց%AyZU%?ٱZ]?Z 󻹱Z_ZH?QH`,]?n?@)X? w~?[ޫ?IZU%?)Z)];iXv~BvIzp99GYEG|A>Q 14٪[?Q 54]  B9=Q A^M@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.505320 s, deltaX: 0.100000 m, approachRate: 0.197894 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.600000 m, bearing: 184.124820 deg, lat: 36.906032 deg, lon: -122.115845 deg, deltaT: 0.505320 s, deltaX: 0.100000 m, approachRate: 0.197894 m/s, posRepo size: 4 ڊҊ"*1|BR*@33? ?ɢ= ~B=) ew=e?i>Ia e>7ɡaiaIecI=Iiiiii)q)qchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.914976ԹI.i 0>A  A5 yAIA IQ N] >q{f,%ADDAT read: Rx Time:21:37:11.1330 TRx dataTimestamp_ set to:1754689031.757437&PDAT read: Bearing 330.6, 18.4 (Local) &~Local bearing/azimuth received: Bearing 330.6, 18.4 (Local) .DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 BDAT read: 21:37:11.1330 LVL= 24960, 18737, 30194, 32755, AGC= 33, IDX= 502,-0.18,-2.390,-1.834,-2.972,-1.363, PHS=-0.925,-0.427,-1.654, RAW= 6.2, 44.8, CAL= 4.8, 49.5, ROT= 145.2, -49.5 BYgot valid direction response: 21:37:11.1330 LVL= 24960, 18737, 30194, 32755, AGC= 33, IDX= 502,-0.18,-2.390,-1.834,-2.972,-1.363, PHS=-0.925,-0.427,-1.654, RAW= 6.2, 44.8, CAL= 4.8, 49.5, ROT= 145.2, -49.5 FT#Rx 36: Read range and direction messages.J^direction in FSK: [-0.533294,0.370649,0.760406]JFpublishing direction and range infoU3uϵ?y;>U??Iai1Iu!l ھ)FӿIk=i+H?= +]?0"@ +]Ii)}Oҿ|Ea ?_9TH0"@  +]IiZchecking for new query: numPingsReceived=36, elapsed TxPingTime=20.182041yzJ#?ٱz[?zbw𻹱zpYzH;?' 2?@=? ?~?*`=?IzJ#?)z ];ix~BIBD6D02Y%^<!-e=-?9Q)->5 H?95 H?95GY1=A=>AQ 1E4٪EZ?Q 5M4E`^  EB9IYMlQ EU?yEC)E ;IE] ;iE5R4YY]a?Yzy%A?ʋ;2Uѿ3uϵ?y;>U?"U3uϵ?y;>U?0"@‹ +]:?եx6տn{ñŠ3"?*?եx6忚n{Š3"?>?4` ? q^ ˩>)K@gC= addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.502499 s, deltaX: -0.100000 m, approachRate: -0.199005 m/s, rangeRepo size: 4 gCu Added new target pos. range: 0.500000 m, bearing: 181.881828 deg, lat: 36.906032 deg, lon: -122.115845 deg, deltaT: 0.502499 s, deltaX: -0.100000 m, approachRate: -0.199005 m/s, posRepo size: 4 ڊqҊy"*R*?`?ɢ ~BǺ& 顝/v>I 7ɡiI^=Iii))DMDM1DM*DIEM&U; EMf;6EM(N4:EI!U@!U@!U@!U@I/i/checking for new query: numPingsReceived=36, elapsed TxPingTime=20.422062A >A i A AI I N- >Âf,k %ABIMb@Mb@Mb@ )Ii~jt&1~jt?ĽPD<)@I5@i;@@ @BD6D3Y{;!5=Q)>K?9K?9GYA>Q 14٪Y?Q 54_  B9=Q A;YQ E?yCuDDAT read: Rx Time:21:37:11.6330 }TRx dataTimestamp_ set to:1754689032.261670@DAT read: Bearing 335.9, 15.9 ^unknown deviceResponse_: Bearing 335.9, 15.9 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 AAvB~BBIBMBB8 =BBB^;BDDAT read: 21:37:11.6330 LVL= 26992, 19601, 31138, 32755, AGC= 34, IDX= 502,-0.11,-1.740,-0.998,-2.252,-0.684, PHS=-0.954,-0.269,-1.613, RAW= 359.3, 40.8, CAL= 357.8, 45.7, ROT= 152.2, -45.7 Ygot valid direction response: 21:37:11.6330 LVL= 26992, 19601, 31138, 32755, AGC= 34, IDX= 502,-0.11,-1.740,-0.998,-2.252,-0.684, PHS=-0.954,-0.269,-1.613, RAW= 359.3, 40.8, CAL= 357.8, 45.7, ROT= 152.2, -45.7 T#Rx 37: Read range and direction messages.^direction in FSK: [-0.617805,0.325732,0.715693]Fpublishing direction and range infoy}mn?'tr?yyI}pii}L}yy}"}X9t }^)}vοI}ū@i}K6?}M@}0L?}P*@}0LIyiy)}soؿqng77~?}}6}P*@ }0LIyiy checking for new query: numPingsReceived=37, elapsed TxPingTime=20.690779):Iv"=iZ4Y)?zy}4%Ayʋ}32}ӿmn?'tr?"}mn?'tr?}P*@‹}0L:}<5@տmnu޽%Ӊ+?*}<5@mnuͿ%Ӊ+?}}}(=?}(b }1B}(=? }4` y}>}#M@gCm addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 183.650011 deg, lat: 36.906032 deg, lon: -122.115846 deg, deltaT: 0.504233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊAAAAAIIQ"Y*g|BR*↭o?ɢU~BUB' Q]Lz>IY ]^7ɡaiaIe=Iyiyiy)y)IIiQQU0Q@]=@]=BE(N4JEOS4REEC0D}D}8D})DyE}L; E} ;6E}FA4:Ey"E}աAq q A I I N >af,(%Ay6U?ٱ6!W?6$6=^6H2O? 1 +?J?`{[??`ͫ ?I6U?)6_];i4B BBIiDIDBDN6DN:2YRN<!VB=VcԻQ)V>X9X9ZGYZFGZA^>\Q 1b4٪^X?Q 5f4^`  ^B9dYfQ Ef?y^C)^;I^;i^pa4Yhn?lDzB*** querying acoustic contact ***jxrxڊҊ   "*R*_?ɢE~BE" AM>II M_7ɡIiIIMZQ=IQiQiY)Y)YԩDDAT read: Rx Time:21:37:12.1329 TRx dataTimestamp_ set to:1754689032.765527PDAT read: Bearing 343.1, 12.2 (Local) ~Local bearing/azimuth received: Bearing 343.1, 12.2 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -DAT read: 21:37:12.1329 LVL= 29920, 22481, 31074, 32755, AGC= 35, IDX= 501,-0.04,-2.403,-1.374,-2.828,-1.290, PHS=-1.011,-0.039,-1.582, RAW= 351.5, 34.6, CAL= 349.9, 39.8, ROT= 160.1, -39.8 5Ygot valid direction response: 21:37:12.1329 LVL= 29920, 22481, 31074, 32755, AGC= 35, IDX= 501,-0.04,-2.403,-1.374,-2.828,-1.290, PHS=-1.011,-0.039,-1.582, RAW= 351.5, 34.6, CAL= 349.9, 39.8, ROT= 160.1, -39.8 5T#Rx 38: Read range and direction messages.=^direction in FSK: [-0.722408,0.261508,0.640110]=Fpublishing direction and range infoo"!-⋼?mZ{?>ItiWby#sh w)~ʿIP@i#?k@1?[2@1Ii)k A]俦 Z&?tc[2@ 1Ii]checking for new query: numPingsReceived=38, elapsed TxPingTime=21.190199ff=Iu-iqy}/yDVD,DDE; E;6E:E!@!@!@!@i =I C) )M ݈G a  checking for new query: numPingsReceived=38, elapsed TxPingTime=21.430309) >A I5 -1 = BAA I)IQYN>6ܑf,`G%AyV?ٱVU?V):UVԆfVHuv? ҩ:?r?Ĝ??U̬ V?IV?)VG];iTbBbI!~@!~ !~@!~ !~@!~ !~@!~ BD6D0Y"<!$=Q)%>!9!9%GY!-TA->1Q 1=4٪5W?Q 5=45-b  5BQ ==+:9AQ AE;YEQ EE?y5C)5~:I5/?i5h4Y?ze0%A>ʋO,2˿CUgt?Ѽ㈔?"o"!-⋼?mZ{?[2@‹1:F˿XR{ME?* w <տa\?kҽ6Z~E?d B>? b 2BP>G@gC5 addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503857 s, deltaX: -0.200000 m, approachRate: -0.396938 m/s, rangeRepo size: 4 gCm Added new target pos. range: 0.300000 m, bearing: 179.024643 deg, lat: 36.906032 deg, lon: -122.115847 deg, deltaT: 0.503857 s, deltaX: -0.200000 m, approachRate: -0.396938 m/s, posRepo size: 4 ڊiҊiiiiiqqq"q*yRy*yy}@33?ↅ?ɢ ~B !&  >I  A7ɡiIw!=Iii))DDAT read: Rx Time:21:37:12.6330 TRx dataTimestamp_ set to:1754689033.270627vB~BBIBCBBBBBW;BDPDAT read: Bearing 319.4, 11.4 (Local) ~Local bearing/azimuth received: Bearing 319.4, 11.4 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:12.6330 LVL= 30192, 23025, 30194, 32755, AGC= 34, IDX= 502, 0.03, 0.099, 0.532,-0.226, 1.277, PHS=-1.076,-0.699,-1.547, RAW= 3.7, 57.9, CAL= 2.7, 61.2, ROT= 147.3, -61.2 =Ygot valid direction response: 21:37:12.6330 LVL= 30192, 23025, 30194, 32755, AGC= 34, IDX= 502, 0.03, 0.099, 0.532,-0.226, 1.277, PHS=-1.076,-0.699,-1.547, RAW= 3.7, 57.9, CAL= 2.7, 61.2, ROT= 147.3, -61.2 =T#Rx 39: Read range and direction messages.E^direction in FSK: [-0.405401,0.260263,0.876307]MFpublishing direction and range info:hٿS%?C ??IuiYu"^ 2)ƿI A=iY?A=ܸ?"$@ܸIi)g}!&ο3@s޿?q k"$@ ܸIichecking for new query: numPingsReceived=39, elapsed TxPingTime=21.753082e =m;>m>! D 4D D D E j; E Z:6E :E "E A#yAIIYIiNu ?f, Qj%Ay6?ٱ69BT?6zq6p6H`?ʫ?` ?U?? ?I6?)6];i4nBnIIr=)r=itIvBDv6DvY~;!~=eȻQ)>9 9 GY  ZDA >Q 14٪V?Q 54c  BQ =% :9!Q A%;Y%pQ E%?yǏC):I?in4Y)-?1zQQ%A?ʋ<2:hɿS%?C ?":hٿS%?C ?"$@‹ܸ:fhпhoODTJ?*fhhoODTJ?JE;@?Ud cB (b 7B͐>@@gC} addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505100 s, deltaX: 0.200000 m, approachRate: 0.395961 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 172.665668 deg, lat: 36.906032 deg, lon: -122.115847 deg, deltaT: 0.505100 s, deltaX: 0.200000 m, approachRate: 0.395961 m/s, posRepo size: 4 ڊҊ"*R*?↭iq?ɢ}B% P>I ]6ɡiIZ$=Iii)) I))uDDAT read: Rx Time:21:37:13.1330 uTRx dataTimestamp_ set to:1754689033.773941PDAT read: Bearing 327.6, 7.5 (Local) ~Local bearing/azimuth received: Bearing 327.6, 7.5 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:13.1330 LVL= 32752, 23745, 32754, 32755, AGC= 35, IDX= 501, 0.11,-0.437, 0.272,-0.666, 0.819, PHS=-1.154,-0.502,-1.529, RAW= 351.1, 51.4, CAL= 350.0, 55.0, ROT= 160.0, -55.0 Ygot valid direction response: 21:37:13.1330 LVL= 32752, 23745, 32754, 32755, AGC= 35, IDX= 501, 0.11,-0.437, 0.272,-0.666, 0.819, PHS=-1.154,-0.502,-1.529, RAW= 351.1, 51.4, CAL= 350.0, 55.0, ROT= 160.0, -55.0 T#Rx 40: Read range and direction messages.^direction in FSK: [-0.538986,0.196175,0.819152]Fpublishing direction and range infoquÙ^?y&vA?U~6?qqIuiu\uqu#uF u)uFÿIu[@iuLe?uz@u u?u¸2@u uIqiq)uը^>ٿrz߿{:?uu}eu¸2@ u uIqiqchecking for new query: numPingsReceived=40, elapsed TxPingTime=22.199205YI-/i11551Dm Dm Dm2DiEmX; Em:6Em4:Ei!u@!u@!}@!}@ԁ5 checking for new query: numPingsReceived=40, elapsed TxPingTime=22.437191>AI Թ A yAI9IQN]> f,͕%A8 B I!! !! !! !! Mb@Mb@Mb@ )Ii/${Gz,ף)IK@i@ (@BD6D1Y7<!#=Q)> H?9 H?9GYGGA>Q 14٪U?Q 54>d  Q =T:9>=Q A?og XB d 6N@gC] addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503314 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gCm Added new target pos. range: 0.500000 m, bearing: 185.075475 deg, lat: 36.906032 deg, lon: -122.115848 deg, deltaT: 0.503314 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊiҊiqqqqqqq"y*}k|BRy*yↅ]P?ɢ}B;$ 页>I 6ɡiIr&=Iii))ԙeDDAT read: Rx Time:21:37:13.6331 eTRx dataTimestamp_ set to:1754689034.277729uPDAT read: Bearing 335.2, 4.3 (Local) u~Local bearing/azimuth received: Bearing 335.2, 4.3 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 21:37:13.6331 LVL= 32752, 24209, 32754, 32755, AGC= 35, IDX= 502, 0.20, 0.569, 1.558, 0.414, 1.885, PHS=-1.214,-0.282,-1.515, RAW= 343.5, 43.7, CAL= 342.4, 48.1, ROT= 167.6, -48.1 Ygot valid direction response: 21:37:13.6331 LVL= 32752, 24209, 32754, 32755, AGC= 35, IDX= 502, 0.20, 0.569, 1.558, 0.414, 1.885, PHS=-1.214,-0.282,-1.515, RAW= 343.5, 43.7, CAL= 342.4, 48.1, ROT= 167.6, -48.1 T#Rx 41: Read range and direction messages.^direction in FSK: [-0.652254,0.143407,0.744312]Fpublishing direction and range infoaea2tBe+[? jf?e?aIaie^aaaeZd eNb)eIeؿ@ie@C?et;@eV?e6;@eVIaia)e"zA;߿NC&?emePCe6;@ eVIaiaIi/checking for new query: numPingsReceived=41, elapsed TxPingTime=22.705191A<A<vB)~B)B-IB-WBB)B)B)B-];B-D>A] rDm =jDm 4=D D D )D E US; E :6E FA4:E "E Q checking for new query: numPingsReceived=41, elapsed TxPingTime=22.938881-f,N%Ay6?ٱ6VP?6k㼹6⡀6H$?@;֐O?? X?l?@?I6?)6g];i6CB$BBIBDJ 6DJ:2YR<!Rb=RQ)R>VK?9VK?9VGYTVNAZ>XlQ 154٪ZU?Q 5]4Zd  X9iYmQ Eu?yZ̏C)Z| ٿ6P}?3*_?"a2tBe+[? jf?6;@‹V:=ыֿQ/@˿M84y?*vt)9 ׿w,?$]ID7?l[j mB3;>? Ud XB>K@gCU addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503788 s, deltaX: 0.100000 m, approachRate: 0.198496 m/s, rangeRepo size: 4 gCe Added new target pos. range: 0.600000 m, bearing: 182.359928 deg, lat: 36.906032 deg, lon: -122.115848 deg, deltaT: 0.503788 s, deltaX: 0.100000 m, approachRate: 0.198496 m/s, posRepo size: 4 ڊaҊaaaaaii"*R*@33?↝w?ɢ}BJ" >I ?6ɡiIܠ(=Ii i))! 1Ii41DDAT read: Rx Time:21:37:14.1330 TRx dataTimestamp_ set to:1754689034.781571PDAT read: Bearing 320.7, 3.1 (Local) ~Local bearing/azimuth received: Bearing 320.7, 3.1 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:14.1330 LVL= 32752, 27633, 32754, 32755, AGC= 35, IDX= 501, 0.30,-0.021, 0.607,-0.116, 1.342, PHS=-1.260,-0.690,-1.502, RAW= 346.8, 59.4, CAL= 346.0, 62.3, ROT= 164.0, -62.3 Ygot valid direction response: 21:37:14.1330 LVL= 32752, 27633, 32754, 32755, AGC= 35, IDX= 501, 0.30,-0.021, 0.607,-0.116, 1.342, PHS=-1.260,-0.690,-1.502, RAW= 346.8, 59.4, CAL= 346.0, 62.3, ROT= 164.0, -62.3 T#Rx 42: Read range and direction messages.^direction in FSK: [-0.446835,0.128128,0.885394]Fpublishing direction and range infoC0=ܿȗ,~f?w%U??IikG ף0)AI@im?,>@-?07@-Ii)3JGֿ*A #bA ZA a A1 IA IQ N] >[f,8%ADDD+DEV; E:6E [4:E!@!@!@!@yb'?ٱbQ`P?b_bqbH@?`v,UZ @?f? [?2?:k?Ib'?)b~];ibC~/B~Ii|I|BD 6D 29YEC<!E@=E\Q)M>I9I9MGYIuAu>yQ 14٪}U?Q 54}+e  y9Y,Q E?y}ϏC)}:I}:i}94YZ?zB%A?ʋo,2C0=̿ȗ,~f?w%U?"C0=ܿȗ,~f?w%U?07@‹-: LgͿ6)Se?* Lgݿ6)˿Se?߽=k˪A? h tB;@? og cB>cA_@gC= addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503842 s, deltaX: -0.100000 m, approachRate: -0.198475 m/s, rangeRepo size: 4 gCu Added new target pos. range: 0.500000 m, bearing: 199.868638 deg, lat: 36.906033 deg, lon: -122.115849 deg, deltaT: 0.503842 s, deltaX: -0.100000 m, approachRate: -0.198475 m/s, posRepo size: 4 ڊqҊqqqqy"*R*?↽?checking for new query: numPingsReceived=42, elapsed TxPingTime=23.442949ɢu}B}q 顭\>I ]6ɡiI%-*=I9iAiA)I)QIi   O5 ) DDAT read: Rx Time:21:37:14.6331  TRx dataTimestamp_ set to:1754689035.287198 PDAT read: Bearing 326.7, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 326.7, 1.6 (Local)  DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 21:37:14.6331 LVL= 32752, 28097, 32754, 32755, AGC= 35, IDX= 502, 0.43, 1.093, 1.911, 1.027, 2.487, PHS=-1.292,-0.530,-1.504, RAW= 342.0, 53.0, CAL= 341.1, 56.5, ROT= 168.9, -56.5  Ygot valid direction response: 21:37:14.6331 LVL= 32752, 28097, 32754, 32755, AGC= 35, IDX= 502, 0.43, 1.093, 1.911, 1.027, 2.487, PHS=-1.292,-0.530,-1.504, RAW= 342.0, 53.0, CAL= 341.1, 56.5, ROT= 168.9, -56.5  T#Rx 43: Read range and direction messages.vB) ~B) B- !IB- BB) B) B- &DB- f;B- DY U ^direction in FSK: [-0.541612,0.106260,0.833886] Fpublishing direction and range info ,T<"$03?V1? ? I i m B` ) I C@i hl? @ q|? <@ q|I i ) ˫ܿaIlٿ d? 6 Χl <@>A5  q|I i  checking for new query: numPingsReceived=43, elapsed TxPingTime=23.767056AeyAIiIyԁN>`f,Mڂ%AyF?ٱFO?FVFFH? 6? -?@S? ?l?IF?)F&];iFCb+BbIbDtZDv@ADzDz Dz,DxEzP; Ez:6Ezg4:Ex"Ez% H?9% H?9%GYEHGMfAM>QQ 1U4٪U'U?Q 5]4U!e  UB9]];Q A]>Y]@?Q E]?yQ)UI:IU:iU 4Yڙ?zta҂%A?ʋ&2:|BԿӐPR?S>?",T<"$03?V1?<@‹q|:n?ŃӿV\ǿw?*.=3BϽwӿn>?:v;?i B3;>?  h mB˓>>b@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.505627 s, deltaX: 0.100000 m, approachRate: 0.197774 m/s, rangeRepo size: 4 !gCM Added new target pos. range: 0.600000 m, bearing: 202.542937 deg, lat: 36.906032 deg, lon: -122.115849 deg, deltaT: 0.505627 s, deltaX: 0.100000 m, approachRate: 0.197774 m/s, posRepo size: 4 ڊIҊIIIIQQQQ"Y*]T|BRY*y@33?ↅl?checking for new query: numPingsReceived=43, elapsed TxPingTime=23.946943ɢ}B! n>I x5ɡiIm,,=Iii))IyiU5Qԁ >AU #] DDAT read: Rx Time:21:37:15.1330 m TRx dataTimestamp_ set to:1754689035.790680} PDAT read: Bearing 343.1, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 343.1, 0.3 (Local)  DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 21:37:15.1330 LVL= 32752, 28273, 32754, 32755, AGC= 35, IDX= 502,-0.37,-2.196,-0.834,-2.260,-0.792, PHS=-1.302, 0.003,-1.512, RAW= 337.3, 35.0, CAL= 336.2, 40.3, ROT= 173.8, -40.3  Ygot valid direction response: 21:37:15.1330 LVL= 32752, 28273, 32754, 32755, AGC= 35, IDX= 502,-0.37,-2.196,-0.834,-2.260,-0.792, PHS=-1.302, 0.003,-1.512, RAW= 337.3, 35.0, CAL= 336.2, 40.3, ROT= 173.8, -40.3  T#Rx 44: Read range and direction messages.% ^direction in FSK: [-0.758207,0.082368,0.646790]% Fpublishing direction and range infoa e ULRf,N%A)Ss`俫Q!߿\WU?W"/"B@ 4Ii:checking for new query: numPingsReceived=44, elapsed TxPingTime=24.272320y=\\?ٱ=O?==R=H`? Ѳ-??1W??झ@?I=\\?)=];i=C%BIBD6DY5T!5<==Q)=>=K?9=K?9=GY9EHAE>IQ 1u4٪MCU?Q 5u4Me  MB9qY}??Q E}?yI)M;IM;;iM4Y?ԩz%A?ʋX>2ULR+k@D5 D5 D57D1E5X; E5:6E5Ժ4:E1!=@!=@!=@!=@gCu addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503482 s, deltaX: -0.100000 m, approachRate: -0.198617 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 210.964042 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.503482 s, deltaX: -0.100000 m, approachRate: -0.198617 m/s, posRepo size: 4 ڊҊ"*R*?↽`?ɢ-}B-} )-y>I) 5El5ɡ1i1I5-=I9i9i9)9)Aiichecking for new query: numPingsReceived=44, elapsed TxPingTime=24.451105I.i`4-!JgetPosition uart error serial timeout]!^Rudder uart error - getPosition..serial timeout-!(Communications Fault A I -& \Communications Fault in component: RudderServoI N% >1 f,Ie%A5DDAT read: Rx Time:21:37:15.6330 =TRx dataTimestamp_ set to:1754689036.295198MPDAT read: Bearing 341.8, 0.5 (Local) M~Local bearing/azimuth received: Bearing 341.8, 0.5 (Local) eDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 vB~BB3IBBB9 =BB%DBv;BDBqBqBqBu8 =Bu8 =Buɬ4DAT read: 21:37:15.6330 LVL= 32752, 28065, 32754, 32755, AGC= 35, IDX= 502,-0.23,-2.132,-0.816,-2.209,-0.720, PHS=-1.309,-0.050,-1.532, RAW= 338.0, 36.5, CAL= 336.9, 41.6, ROT= 173.1, -41.6 Ygot valid direction response: 21:37:15.6330 LVL= 32752, 28065, 32754, 32755, AGC= 35, IDX= 502,-0.23,-2.132,-0.816,-2.209,-0.720, PHS=-1.309,-0.050,-1.532, RAW= 338.0, 36.5, CAL= 336.9, 41.6, ROT= 173.1, -41.6 T#Rx 45: Read range and direction messages.^direction in FSK: [-0.742382,0.089838,0.663926] Fpublishing direction and range info15gƞ?\!>?11I1i5m1115P 5L)5ĿI5ZƼ@i5e#?5)@59?5ZA@59I1i1)5hSGdO߿+̗?55"5ZA@ 59I1i1mchecking for new query: numPingsReceived=45, elapsed TxPingTime=24.745045!BI<p99GYIGA> Q 14٪ wU?Q 54 d  B9?"5gƞ?\!>?5ZA@‹59:54ӿ CI̻Ϳ?*54 CI̻ݿ?5m5韾5p%;?5 j 51B5p%;? 5l[j 15>>56o@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504518 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 214.154914 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.504518 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ     "*@|BR*D1D5 D5)D1E1 E5:6E5FA4:E1"E5I k5ɡiI/=Iii))Ii0 !4Uninitialize Rudder Servo.!Powering down@@@@ checking for new query: numPingsReceived=45, elapsed TxPingTime=24.962942I A9 Ia Iy N >f,W@*%Ay:??ٱ:xO?:3::H`Q?@jѳ`*? ?b?y?`+?I:??):%];i:CF8BFIBDN 6DN2Yf=!f=f6Q)j$?h9h9jGYh~ҺA~$?Q 1 4٪U?Q 5 4d  B9 Y n?Q E?yҏC)d:I:i4Y9=??9D}B*** querying acoustic contact ***jyryڊҊ"*R*↽?ɢ%}B%l -=-G>I) -4ɡ)i)I-}0=IQiQiY)Y)YQI i 2eDDAT read: Rx Time:21:37:16.1329 mTRx dataTimestamp_ set to:1754689036.803686}PDAT read: Bearing 345.1, 1.2 (Local) }~Local bearing/azimuth received: Bearing 345.1, 1.2 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 21:37:16.1329 LVL= 32752, 27505, 32754, 32755, AGC= 35, IDX= 501,-0.08, 3.052,-1.803, 2.936,-1.839, PHS=-1.290, 0.082,-1.552, RAW= 338.6, 32.7, CAL= 337.6, 37.9, ROT= 172.4, -37.9 Ygot valid direction response: 21:37:16.1329 LVL= 32752, 27505, 32754, 32755, AGC= 35, IDX= 501,-0.08, 3.052,-1.803, 2.936,-1.839, PHS=-1.290, 0.082,-1.552, RAW= 338.6, 32.7, CAL= 337.6, 37.9, ROT= 172.4, -37.9 T#Rx 46: Read range and direction messages.^direction in FSK: [-0.782152,0.104361,0.614285]Fpublishing direction and range infoae4ld(n?_X9?e>aIaieqkaaae e=)eƿIe$@ie?e)@eV)?e@@eV)Iaia)e' 忿:tl_5CI?e[ee@@ eV)IaiaEchecking for new query: numPingsReceived=46, elapsed TxPingTime=25.241665IAIQNeU>yD5 +D5 D5 'D1 E5 b; E5 :6E5 '4:E1 != @!= @!= @!= @ԩ  checking for new query: numPingsReceived=46, elapsed TxPingTime=25.465046xf,D%AdyeE?ٱeW~O?e$i9i9mGYqu.9Au>yQ 14٪}pV?Q 54}c  }B9r=Q A`ʋr 2οc?֠x?"4ld(n?_X9?@@‹V):jɿ¿?*j-`ڢ.߿S76;?PKE?Dg Bv;? i 1B>8p@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.508488 s, deltaX: -0.200000 m, approachRate: -0.393323 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 215.622303 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.508488 s, deltaX: -0.200000 m, approachRate: -0.393323 m/s, posRepo size: 4 ڊҊ  " *t|BR*@33? 9?ɢE}BE] AM>II M4ɡIiIIMha2=IQiQiQ)Q)Yme>m>I/iG5 ! 4Initializing EZServoServo.mDDAT read: Rx Time:21:37:16.6330 uTRx dataTimestamp_ set to:1754689037.307135PDAT read: Bearing 349.4, 2.6 (Local) ~Local bearing/azimuth received: Bearing 349.4, 2.6 (Local) vB~BBLIBBBBBBu;BDDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:16.6330 LVL= 32752, 26785, 32754, 32755, AGC= 35, IDX= 502, 0.04,-1.249, 0.288,-1.420, 0.091, PHS=-1.238, 0.243,-1.555, RAW= 339.5, 28.5, CAL= 338.8, 33.5, ROT= 171.2, -33.5  Ygot valid direction response: 21:37:16.6330 LVL= 32752, 26785, 32754, 32755, AGC= 35, IDX= 502, 0.04,-1.249, 0.288,-1.420, 0.091, PHS=-1.238, 0.243,-1.555, RAW= 339.5, 28.5, CAL= 338.8, 33.5, ROT= 171.2, -33.5  T#Rx 47: Read range and direction messages.u^direction in FSK: [-0.824070,0.127573,0.551937]uFpublishing direction and range infoimE^l0-*MT?gw?m?iIiimhiiimv mx>)m= ǿImќ@im>m8@m?mt;?@mIiii)m5 :?mmGpmt;?@ mIiiichecking for new query: numPingsReceived=47, elapsed TxPingTime=25.758184 ! 2Initializing RudderServo.bA ZA A I & ^Clearing failed state for component RudderServo I N >BEJEYe4REsq1D= D= D= +D9 E= V; E= :6E= [4:E9 "E= [r@gC] addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503449 s, deltaX: 0.200000 m, approachRate: 0.397260 m/s, rangeRepo size: 4 gCm Added new target pos. range: 0.500000 m, bearing: 217.248902 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.503449 s, deltaX: 0.200000 m, approachRate: 0.397260 m/s, posRepo size: 4 ڊiҊiiiqq"*R*?↥@?checking for new query: numPingsReceived=47, elapsed TxPingTime=25.967010ɢ}B  N>I  Uc4ɡQiQI]f3=Iii))QIi4IIN5O>q} DDAT read: Rx Time:21:37:17.1329  TRx dataTimestamp_ set to:1754689037.811162 PDAT read: Bearing 349.2, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 349.2, 4.4 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  DAT read: 21:37:17.1329 LVL= 32752, 23425, 32754, 32755, AGC= 34, IDX= 501, 0.21,-3.012,-1.537, 3.026,-1.724, PHS=-1.186, 0.232,-1.577, RAW= 341.9, 28.5, CAL= 341.1, 33.5, ROT= 168.9, -33.5  Ygot valid direction response: 21:37:17.1329 LVL= 32752, 23425, 32754, 32755, AGC= 34, IDX= 501, 0.21,-3.012,-1.537, 3.026,-1.724, PHS=-1.186, 0.232,-1.577, RAW= 341.9, 28.5, CAL= 341.1, 33.5, ROT= 168.9, -33.5  T#Rx 48: Read range and direction messages. ^direction in FSK: [-0.818286,0.160541,0.551937] Fpublishing direction and range infoy } 7\f/j;]?gw?} >y Iy i} [y y } "} Η } hm>)} #ɿI} @iy } @y } <@y Iy iy )} J:"hfj?} O} H} <@ y Iy iy - checking for new query: numPingsReceived=48, elapsed TxPingTime=26.243759OOf,Jw%Ay6?ٱ6=O?6D6Y6H,?+IE1? h ?ϊ? ؔ?`I?I6?)6];i4R!BRIBDZ 6DZ:2Yn8! P= Q) >99GYJG:A>YQ 1e4٪]W?Q 5m4]b  ]B9iYm1?Q Em?y]ۏC)]:I]y:i]b4ԙYq?zs%A>ʋp#2Y4;lϿ0M?~i1?"7\f/j;]?gw?<@‹:w˿pQV¿̶%9?*.(vw޿^F?]E?f B BG>~t@gC- addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504027 s, deltaX: -0.200000 m, approachRate: -0.396804 m/s, rangeRepo size: 4 gC] Added new target pos. range: 0.300000 m, bearing: 218.883109 deg, lat: 36.906032 deg, lon: -122.115850 deg, deltaT: 0.504027 s, deltaX: -0.200000 m, approachRate: -0.396804 m/s, posRepo size: 4 ڊYҊaaaaaaai"i*iRi*@33?↵`W!?D/DD(DEaf; E#:6Ec44:E!@!@!@!@ɢ5}B5[ 9=t>I9 =4ɡ9i9I=5=IAiAiI)I)I)G 1)IIu鏿q}Achecking for new query: numPingsReceived=48, elapsed TxPingTime=26.470989= I i ?0 ! rA- 3?jA- 5?I I N >@f,Ց%ADDAT read: Rx Time:21:37:17.6330 A-<A-<vB9~B9B=SIB=BB=8 =B9B9B=e;B= DUTRx dataTimestamp_ set to:1754689038.315397]PDAT read: Bearing 356.3, 6.2 (Local) ]~Local bearing/azimuth received: Bearing 356.3, 6.2 (Local) mDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:17.6330 LVL= 30048, 23681, 30690, 32755, AGC= 35, IDX= 502, 0.43,-2.324,-0.610,-2.648,-1.108, PHS=-1.114, 0.543,-1.584, RAW= 342.2, 21.5, CAL= 342.1, 26.2, ROT= 167.9, -26.2 Ygot valid direction response: 21:37:17.6330 LVL= 30048, 23681, 30690, 32755, AGC= 35, IDX= 502, 0.43,-2.324,-0.610,-2.648,-1.108, PHS=-1.114, 0.543,-1.584, RAW= 342.2, 21.5, CAL= 342.1, 26.2, ROT= 167.9, -26.2 T#Rx 49: Read range and direction messages. ^direction in FSK: [-0.877324,0.188082,0.441506] Fpublishing direction and range info!%r% cf?mסA?%?!I%`ui%\%w!%#% %  ?)%ʿI%@i%7 >%@% >%͋;@% I!i!)%9kPrE l㿫q?%c%p%͋;@ % I!i!mchecking for new query: numPingsReceived=49, elapsed TxPingTime=26.767179}'BIMb@Mb@Mb@ )Iip= ף?Q?y&1|=u<)@I5@i@ @BD%6D%0YUr2<!]=]Q)]>Y9a9eGYaeAe>iQ 14٪m8Y?Q 54mb  mB9^=Q AE%0Op@gC] addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504235 s, deltaX: 0.200000 m, approachRate: 0.396640 m/s, rangeRepo size: 4 gCm Added new target pos. range: 0.500000 m, bearing: 215.136098 deg, lat: 36.906032 deg, lon: -122.115849 deg, deltaT: 0.504235 s, deltaX: 0.200000 m, approachRate: 0.396640 m/s, posRepo size: 4 ڊҊ"*o|BR*?↥S?D0DD*DEJg; E:6E(N4:E"EI) -3ɡ)i1I56=I1i9i9)9)AE=Achecking for new query: numPingsReceived=49, elapsed TxPingTime=26.975130Iis1IQ Iy N >i `f,%Ay6?ٱ6M P?6hTK6nx6H?\M@5??.?|?g?߯?I6?)6^;i6CNBRIRIi m3ɡiiiImA7=Iqiqiy)y)y I) 15AEDDAT read: Rx Time:21:37:18.1325 MTRx dataTimestamp_ set to:1754689038.819493UPDAT read: Bearing 350.5, 8.3 (Local) U~Local bearing/azimuth received: Bearing 350.5, 8.3 (Local) eDAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 munknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 DAT read: 21:37:18.1325 LVL= 27712, 22385, 30706, 32755, AGC= 34, IDX= 502,-0.35, 0.735, 2.180, 0.330, 1.935, PHS=-1.098, 0.290,-1.649, RAW= 346.0, 26.7, CAL= 345.4, 31.6, ROT= 164.6, -31.6 Ygot valid direction response: 21:37:18.1325 LVL= 27712, 22385, 30706, 32755, AGC= 34, IDX= 502,-0.35, 0.735, 2.180, 0.330, 1.935, PHS=-1.098, 0.290,-1.649, RAW= 346.0, 26.7, CAL= 345.4, 31.6, ROT= 164.6, -31.6 ԁZ#Rx 50: Read direction message, but no range.^direction in FSK: [-0.821146,0.226181,0.523986]AECF9?F~?AIE@liEqWEwAE"ED Ez>)EoӿIE,>@iE>Eb@E0 ?E'7@E0 IA)E'WZ俢?ENEG0E'7@ E0 mchecking for new query: numPingsReceived=50, elapsed TxPingTime=27.299555Iu.iyy}D5yII N>ԩD 5D D 8D E k; E :6E F4:E ! @! @! @! @ checking for new query: numPingsReceived=50, elapsed TxPingTime=27.478741 Of,}Ń%Ay?ٱ-P?M6P|H?`YEO4??>x?` ?`z@"?I?)^;iCԡBI5Mb@Mb@Mb@1 1)1I1i15:v?Mb`?5<5;5)5@I5K@i5@1 15p@BDM6DM3Y]<!](=e:Q)e>a9a9mGYmKGmIAm>qQ 1}4٪uZ?Q 54u]a  uB9I TJ3ɡiIY9=Iii))IM0iQQU3QbAaZAa5DDAT read: Rx Time:21:37:18.6326 =TRx dataTimestamp_ set to:1754689039.321560EPDAT read: Bearing 349.6, 10.3 (Local) E~Local bearing/azimuth received: Bearing 349.6, 10.3 (Local) UDAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 ]unknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 }DAT read: 21:37:18.6326 LVL= 29792, 22001, 32066, 32755, AGC= 34, IDX= 503,-0.22, 2.062,-2.863, 1.585,-3.071, PHS=-1.049, 0.253,-1.672, RAW= 348.5, 27.1, CAL= 347.8, 32.1, ROT= 162.2, -32.1 Ygot valid direction response: 21:37:18.6326 LVL= 29792, 22001, 32066, 32755, AGC= 34, IDX= 503,-0.22, 2.062,-2.863, 1.585,-3.071, PHS=-1.049, 0.253,-1.672, RAW= 348.5, 27.1, CAL= 347.8, 32.1, ROT= 162.2, -32.1 Z#Rx 51: Read direction message, but no range.^direction in FSK: [-0.806570,0.258961,0.531399]15!CkY Ғ? K7?1I5`ti5U5B}115E 57>)5ֿI5@i5*>5?@5l?5-5@5lI1)5@;CdRF|4?555-5@ 5lchecking for new query: numPingsReceived=51, elapsed TxPingTime=27.745970vB{>~BBLIBBB9 =BBBa;BD A I! I9 NE >D 1D 4D &D E 2h; E ;6E 4:E "E WIa e 3ɡaiiImt:=Iiiqiq)qDDAT read: Rx Time:21:37:19.1329 TRx dataTimestamp_ set to:1754689039.577300checking for new query: numPingsReceived=51, elapsed TxPingTime=27.990465)I.i/IAIIN>i U PDAT read: Bearing 348.7, 11.8 (Local) U ~Local bearing/azimuth received: Bearing 348.7, 11.8 (Local) m DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  DAT read: 21:37:19.1329 LVL= 29632, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10, 0.931, 2.230, 0.397, 2.051, PHS=-1.017, 0.225,-1.698, RAW= 350.4, 27.5, CAL= 349.7, 32.5, ROT= 160.3, -32.5  Ygot valid direction response: 21:37:19.1329 LVL= 29632, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10, 0.931, 2.230, 0.397, 2.051, PHS=-1.017, 0.225,-1.698, RAW= 350.4, 27.5, CAL= 349.7, 32.5, ROT= 160.3, -32.5  T#Rx 52: Read range and direction messages. ^direction in FSK: [-0.794028,0.284303,0.537300] Fpublishing direction and range infoA E |+hx2?Ef1?E >A IE siE SE A A E - E fff>)E XٿIE E@iE >E 0O@E 6?E 3@E 6IA iA )E b⿃b`e}bl?E }E hE 3@ E 6IA iA  checking for new query: numPingsReceived=52, elapsed TxPingTime=28.254700f,%A ~~B~IiIBD6D1YEZ=!ED=MQ)M>I9I9UGYQUAU>YQ 1e4٪][?Q 5e4]`  Y9iYiQ Em?y]C)]:I]:i]ۂ4Yqu ?zqu+%Au>ʋu(,2u|E}οGյ? ޡ?"u|+hx2?Ef1?u3@‹u6:uߋwοE꼿}j]?*u~)c#Wm ؿ}g?uVusuFձG?u[c uBuE? uDg uBu>u5{z@gC% addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 1.508893 s, deltaX: -0.200000 m, approachRate: -0.132547 m/s, rangeRepo size: 4 gCU Added new target pos. range: 0.300000 m, bearing: 224.242502 deg, lat: 36.906033 deg, lon: -122.115849 deg, deltaT: 1.508893 s, deltaX: -0.200000 m, approachRate: -0.132547 m/s, posRepo size: 4 ڊQҊYYYYYYYa"a*aRa*iim@33?m?DD=D*DEL; E;6E(N4:E!@!@!@!@ɢ}BO >I 2ɡiI;=Iii)!)!iI!i!!!!DDAT read: Rx Time:21:37:19.6329 TRx dataTimestamp_ set to:1754689040.080600PDAT read: Bearing 349.9, 13.0 (Local) ~Local bearing/azimuth received: Bearing 349.9, 13.0 (Local)  checking for new query: numPingsReceived=52, elapsed TxPingTime=28.499372ԙA1IYIN% > tf,%APyb5?ٱbpO?bNbbWtbH?f h??Es?@٩?R|?Ib5?)bt/a;ibCjBnI DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5DAT read: 21:37:19.6329 LVL= 26480, 19073, 30946, 32755, AGC= 33, IDX= 502, 0.01, 1.687, 2.979, 1.111, 2.752, PHS=-0.963, 0.271,-1.685, RAW= 351.4, 26.1, CAL= 350.8, 31.0, ROT= 159.2, -31.0 =Ygot valid direction response: 21:37:19.6329 LVL= 26480, 19073, 30946, 32755, AGC= 33, IDX= 502, 0.01, 1.687, 2.979, 1.111, 2.752, PHS=-0.963, 0.271,-1.685, RAW= 351.4, 26.1, CAL= 350.8, 31.0, ROT= 159.2, -31.0 =T#Rx 53: Read range and direction messages.E^direction in FSK: [-0.801302,0.304386,0.515038]MFpublishing direction and range info|~=&D2e{?U1{?||I~pgi~J~x|~!~+v ~>)~׿I~?B@i~Z;>~v@AYAYvBa~BaBe@IBeBBaBaBaBeX;BeD~c ?~1@~c I|i|)~hbT_t濃$/?~~N~1@ ~c I|i|checking for new query: numPingsReceived=53, elapsed TxPingTime=28.755684UMb@Mb@Mb@Q Q)QIQiQUQ?99GYLGdͻA>Q 14٪[?Q 54`  B9-#鿃Io"m׿ 8*?~~fy~v#G?~/c ~B| ~f ~B~5>~Yv@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 220.542252 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"!*%h|BR!*)))-?ɢu}Bu( 顅(>I o2ɡiIԉ==Iii))DD+D+DEsH; E=;6E [4:E"Ee checking for new query: numPingsReceived=54, elapsed TxPingTime=29.013300) >A} drA 1?jA 2?Q A I I N >n f,/%Ay6W?ٱ6ÐN?6+N6q6H`?PճA?`*? r?`۩?@*`L?I6W?)6fb;i6CB~BBIBDJ 6DJ2YR!Rf=RQ)R>T9T9VGYTV#AZ>\Q 1b4٪^[?Q 5b4^u`  ^B9`Yb?Q Eb?y^C)^\:I^:i^H4Ydj?hDvB*** querying acoustic contact ***jtrtgC addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.257607 s, deltaX: -0.100000 m, approachRate: -0.388188 m/s, rangeRepo size: 4 ڊҊ"*R*? ̴?ɢM}BU QU>IQ ]?M2ɡYiYI]v>=Iqiqiq)q)yDAT read: 21:37:20.1328 LVL= 24144, 19137, 32098, 32755, AGC= 33, IDX= 501, 0.14, 0.535, 1.821,-0.072, 1.578, PHS=-0.940, 0.289,-1.694, RAW= 352.1, 25.6, CAL= 351.6, 30.4, ROT= 158.4, -30.4 Ygot valid direction response: 21:37:20.1328 LVL= 24144, 19137, 32098, 32755, AGC= 33, IDX= 501, 0.14, 0.535, 1.821,-0.072, 1.578, PHS=-0.940, 0.289,-1.694, RAW= 352.1, 25.6, CAL= 351.6, 30.4, ROT= 158.4, -30.4 Z#Rx 55: Read direction message, but no range.^direction in FSK: [-0.801945,0.317513,0.506034]j[OHR?qm1?IP^iJb}ףp >)ؿIU@i>^@?;0@I)XU%P:i濄`?"c;0@  checking for new query: numPingsReceived=55, elapsed TxPingTime=29.257748Ii1DuDu4DqDqEuO; Eu ;6Eq:Eq!}@!}@!}@!}@>A#a m DDAT read: Rx Time:21:37:20.6329 } TRx dataTimestamp_ set to:1754689041.090643 PDAT read: Bearing 349.5, 14.4 (Local)  ~Local bearing/azimuth received: Bearing 349.5, 14.4 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  Z#Rx 56: Read range message, but no direction.i m >i AQ I u checking for new query: numPingsReceived=56, elapsed TxPingTime=29.566513ԑ I N >?f,pJ%Ay=?ٱ=,N?=.P=n=H@$?@I@st ?3?Jn?`? í@?I=?)=c;i=C}~B}I<I=)=Mb@Mb@Mb@ )IiMb`?y&1|;`)@IiK@ @BD56D5k2YEJ;!E!=EeQ)E>I9I9MGYIUFAU>YQ 1e4٪][?Q 5e4]p`  ]B9e;Q Ae=YeE"?Q Em?yY)]e ;I] ;i]%4Yy3?zE%Aʋ.2vSӁpο]Nٌb?*n?"j[OHR?qm1?;0@‹: iϿIX" T?*@L`}ֿf4?Oڽx|cF?ɾ?c qBcF? [c Bu>h@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504685 s, deltaX: 0.100000 m, approachRate: 0.198143 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 208.364975 deg, lat: 36.906033 deg, lon: -122.115847 deg, deltaT: 0.762292 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ5DAT read: 21:37:20.6329 LVL= 26576, 18929, 32242, 32755, AGC= 33, IDX= 502, 0.26, 1.715, 2.967, 1.087, 2.750, PHS=-0.934, 0.261,-1.708, RAW= 353.0, 26.1, CAL= 352.3, 31.0, ROT= 157.7, -31.0 =Ygot valid direction response: 21:37:20.6329 LVL= 26576, 18929, 32242, 32755, AGC= 33, IDX= 502, 0.26, 1.715, 2.967, 1.087, 2.750, PHS=-0.934, 0.261,-1.708, RAW= 353.0, 26.1, CAL= 352.3, 31.0, ROT= 157.7, -31.0 =Z#Rx 57: Read direction message, but no range.E^direction in FSK: [-0.793060,0.325257,0.515038]X`b?U1{?vBU|>~BQBU3IBUBBU8 =BQBQBUV;BUDB!B!B!B%9 =B%9 =B%ňZ4IgiI}o ˡ>)ڿI'@iZ;>@c ?'0@c I)MO!6AyBT(? nA'0@ c checking for new query: numPingsReceived=57, elapsed TxPingTime=29.760937"*0|BR*@33?↝@|?ɢ}B >I 1ɡiI@=Ii i)))I/i251 bD ZD ?AD D &D ,D E L; E ;6E g4:E "E աA bA ZA i  DDAT read: Rx Time:21:37:21.1328  TRx dataTimestamp_ set to:1754689041.592775 PDAT read: Bearing 348.8, 14.5 (Local)  ~Local bearing/azimuth received: Bearing 348.8, 14.5 (Local) = DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 M Z#Rx 58: Read range message, but no direction. L> m checking for new query: numPingsReceived=58, elapsed TxPingTime=30.018909AII)N=> 7f,Ij%A(y~5?ٱ~ oM?~U~~j~H5?` 3γ? E?b?ں?Am?I~5?)~dc;i~Cm~BuIBD 6Df2Y!6=LQ)>99GYMGѻA>Q 14٪[?Q 54l`  B9Yo"?Q E?y);IZ;i4Y??z15e%A5L>ʋ5"/25keMĿ̵'6?^?"5X`b?U1{?5'0@‹5c :5 d ſ#ŭ!d-,8?*5`8'[Vhzտ 8?55(5LM?5{9b 55B5v#G? 5/c 5B5]>5f@gC addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.502132 s, deltaX: -0.100000 m, approachRate: -0.199151 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.200000 m, bearing: 205.996850 deg, lat: 36.906033 deg, lon: -122.115847 deg, deltaT: 0.502132 s, deltaX: -0.100000 m, approachRate: -0.199151 m/s, posRepo size: 4 ڊҊ"*R*??ɢ}BՄ b>I %1ɡ!iAIEA=IIiIiI)I)QԁI-i5mDAT read: 21:37:21.1328 LVL= 24400, 19201, 32082, 32755, AGC= 33, IDX= 501, 0.46,-0.160, 1.066,-0.796, 0.881, PHS=-0.940, 0.230,-1.721, RAW= 353.4, 26.8, CAL= 352.7, 31.7, ROT= 157.3, -31.7 }Ygot valid direction response: 21:37:21.1328 LVL= 24400, 19201, 32082, 32755, AGC= 33, IDX= 501, 0.46,-0.160, 1.066,-0.796, 0.881, PHS=-0.940, 0.230,-1.721, RAW= 353.4, 26.8, CAL= 352.7, 31.7, ROT= 157.3, -31.7 Z#Rx 59: Read direction message, but no range.^direction in FSK: [-0.784906,0.328333,0.525472]AEދcph?k?AIEP_iEKER}AAEףp Ek>)EIܿIE4`@iE|>E@E ?E/@E IA)E^qFP$?EY` E&E/@ E checking for new query: numPingsReceived=59, elapsed TxPingTime=30.266500Ա>A= FӅ D% D% %D% (D! E% CJ; E% ;6E% c44:E! !- @!- @!- @!- @A I I N >8!f,K%AbDDAT read: Rx Time:21:37:21.6330 jTRx dataTimestamp_ set to:1754689042.098776zPDAT read: Bearing 349.6, 13.8 (Local) ~~Local bearing/azimuth received: Bearing 349.6, 13.8 (Local) eDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 60: Read range message, but no direction.df?dchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.541437y?ٱ=QM?\jHA7?"?]H?0R?5?H ?I?)cWc;iCI~BIMb@Mb@Mb@ )Ii~jtxX9vĻ)Ii@b@ )  BD6D2Y%ȼ!%=-KQ)->)9)9-GY15YA5>9Q 1E4٪=\?Q 5E4=`  =B9MU=Q AMf"b@igC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.506001 s, deltaX: 0.300000 m, approachRate: 0.592884 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 202.446633 deg, lat: 36.906033 deg, lon: -122.115847 deg, deltaT: 0.506001 s, deltaX: 0.300000 m, approachRate: 0.592884 m/s, posRepo size: 4 ڊҊ"*|BR*?ൽ?mDAT read: 21:37:21.6330 LVL= 27120, 21201, 32754, 32755, AGC= 34, IDX= 503,-0.37,-0.446, 0.857,-1.078, 0.635, PHS=-0.979, 0.267,-1.757, RAW= 352.4, 26.3, CAL= 351.8, 31.2, ROT= 158.2, -31.2 uYgot valid direction response: 21:37:21.6330 LVL= 27120, 21201, 32754, 32755, AGC= 34, IDX= 503,-0.37,-0.446, 0.857,-1.078, 0.635, PHS=-0.979, 0.267,-1.757, RAW= 352.4, 26.3, CAL= 351.8, 31.2, ROT= 158.2, -31.2 uZ#Rx 61: Read direction message, but no range.}^direction in FSK: [-0.794194,0.317655,0.518027]IM]_jOtT?4xrb?A<A<vB{>~BB!IBBB9 =BBBF;BDIIMiiMRMIM"Mz M9>)M`IM:@iM>Mp{@M'g ?M 0@M'g II)MBctP濁K&T?MMHM 0@ M'g checking for new query: numPingsReceived=61, elapsed TxPingTime=30.768194ɢE }BE r A E >II M _1ɡI iI IM cC=IQ iQ iQ )Q )Y ԙ I .i   / BEJEwX4REu1D5 D5 'D1 D1 E5 W; E5 ";6E1 :E1 "E5 <A=#rAU3?jAU7?%DDAT read: Rx Time:21:37:22.1329 -TRx dataTimestamp_ set to:1754689042.601977MPDAT read: Bearing 349.4, 13.1 (Local) U~Local bearing/azimuth received: Bearing 349.4, 13.1 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 62: Read range message, but no direction.)->) checking for new query: numPingsReceived=62, elapsed TxPingTime=31.041231AyAII N?&*f,%Aɰp;y6[?ٱ6XM?6wc6!j6H6?@@m? GH?>`lw?@N@?I6[?)6WQc;i6CF~BFIBD^6D^Yfk!fD=jeQ)> H?9 H?9GYNG?9A>!Q 1-4٪%;]?Q 5-4%a  !9QYUvQ EU?y%C)%};I%;i% 4YY]V?Yzˆ%A>ʋP/2T=ο+!ICYe?i?"]_jOtT?4xrb? 0@‹'g ::!v{Ͽ3zʺsٔZo?*sZ8<꿋2HSֿ\wC?Uֽ{݁H?jc ;B qB>_@ gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503201 s, deltaX: -0.200000 m, approachRate: -0.397455 m/s, rangeRepo size: 4 gC% Added new target pos. range: 0.300000 m, bearing: 199.751314 deg, lat: 36.906033 deg, lon: -122.115847 deg, deltaT: 0.503201 s, deltaX: -0.200000 m, approachRate: -0.397455 m/s, posRepo size: 4 ڊ!Ҋ!!!!))II"Q*QRQ*QQ]@33?]t?ɢ}B$ >I a$1ɡiIE=Iii))I/i0ADAT read: 21:37:22.1329 LVL= 30560, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.27,-0.950, 0.353,-1.558, 0.143, PHS=-0.991, 0.255,-1.745, RAW= 351.9, 26.6, CAL= 351.2, 31.5, ROT= 158.8, -31.5 Ygot valid direction response: 21:37:22.1329 LVL= 30560, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.27,-0.950, 0.353,-1.558, 0.143, PHS=-0.991, 0.255,-1.745, RAW= 351.9, 26.6, CAL= 351.2, 31.5, ROT= 158.8, -31.5 Z#Rx 63: Read direction message, but no range.^direction in FSK: [-0.794937,0.308336,0.522499]Pt#pnlŻ?5QN?I`wiS-} \>))\߿I@i,>%@L ?a1@L I)OJ-Ὼs$u"Q?a1@ L checking for new query: numPingsReceived=63, elapsed TxPingTime=31.274508a>Ai =I CD D QD ,D E US; E A;6E g4:E ! @! @! @! @) G ) I O :AA AI I) N= >ԑ 1f,ZĄ%A%DDAT read: Rx Time:21:37:22.6330 5TRx dataTimestamp_ set to:1754689043.106113UPDAT read: Bearing 350.6, 12.2 (Local) ]~Local bearing/azimuth received: Bearing 350.6, 12.2 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 64: Read range message, but no direction.)-?)checking for new query: numPingsReceived=64, elapsed TxPingTime=31.545269qԡ~BI<=uMb@Mb@Mb@q q)qIqiquMbMbI +uuu94)u@Iux@iu@uK@ qu@BD6DN2YJ<!<Q)>K?9K?9GYA>vB~BBIBvBBBBBJ;BDDAT read: 21:37:22.6330 LVL= 30944, 21361, 32754, 32755, AGC= 34, IDX= 503,-0.18, 0.223, 1.601,-0.363, 1.339, PHS=-1.013, 0.307,-1.746, RAW= 350.6, 25.7, CAL= 350.1, 30.5, ROT= 159.9, -30.5 Ygot valid direction response: 21:37:22.6330 LVL= 30944, 21361, 32754, 32755, AGC= 34, IDX= 503,-0.18, 0.223, 1.601,-0.363, 1.339, PHS=-1.013, 0.307,-1.746, RAW= 350.6, 25.7, CAL= 350.1, 30.5, ROT= 159.9, -30.5 Z#Rx 65: Read direction message, but no range. ^direction in FSK: [-0.809151,0.296107,0.507538]̛val?>#=?IxiqS />)|߿I@iL>a@{F?)2@{FI)7&KUJSӾ?b)2@ {F% checking for new query: numPingsReceived=65, elapsed TxPingTime=31.776497! Q 15 4٪% \?Q 55 4% ba  % B95 #=?"-̛val?>#=?-)2@‹-{F:-'U  ڿK'?ǿ>,5j?*-'U  K'?׿>,5j?-?-`о-KJ:?-Rf -B-cF? -jc )-^>-^@gC  addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504136 s, deltaX: 0.200000 m, approachRate: 0.396718 m/s, rangeRepo size: 4 gC  Added new target pos. range: 0.500000 m, bearing: 199.607190 deg, lat: 36.906033 deg, lon: -122.115847 deg, deltaT: 0.504136 s, deltaX: 0.200000 m, approachRate: 0.396718 m/s, posRepo size: 4 ڊ Ҋ        " * 1|BR *   ? ?ɢ] }Be G a e >Ia e 0ɡa ii Im `bG=Ii iq iq )q )q ,> I i   4 D 7D "D (D E m; E ;6E c44:E "E A?΅EDAT read: 21:37:23.1329 LVL= 31216, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10,-0.328, 1.174,-0.883, 0.801, PHS=-1.026, 0.418,-1.728, RAW= 348.7, 23.5, CAL= 348.4, 28.3, ROT= 161.6, -28.3 QUYgot valid direction response: 21:37:23.1329 LVL= 31216, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10,-0.328, 1.174,-0.883, 0.801, PHS=-1.026, 0.418,-1.728, RAW= 348.7, 23.5, CAL= 348.4, 28.3, ROT= 161.6, -28.3 ]T#Rx 66: Read range and direction messages.e^direction in FSK: [-0.835464,0.277922,0.474088]eFpublishing direction and range infoЦG&x?AvW?>IyiSS >)/ݿI6@i~>Q@'>J4@'Ii)iu[:8$ g3?ȦkҾJ4@ 'IiEchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.108513AIIN(?;f,l%A,i,yn?ٱnN?nR{n͆pnHU"?Y?|8?Zl Oe?}?In?)n$b;inCItiv(t@ tt)9=C =Zt@999AE AIE)ErFiA)IIIII IqđĕtcAđiđđiőŝvbA)ř řIř ƙ)ƙŝsť=FšơƥAiƩIƩƩ~BIBD!6D!Y&!/=HQ)>99GY5;A>Q 1 4٪\?Q 5 4a  B9 YgQ E?yC)N:I :i4Y?!zl 焛%A>ʋQ+2x п@)X?%z4?"ЦG&x?AvW?J4@‹':m-cϿ2I]yHy?*Q'A:ڿb?{ST&H?d )BST&H? d ;Br>f@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503898 s, deltaX: -0.200000 m, approachRate: -0.396906 m/s, rangeRepo size: 4  checking for new query: numPingsReceived=66, elapsed TxPingTime=32.267639gC5 Added new target pos. range: 0.300000 m, bearing: 206.629534 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.503898 s, deltaX: -0.200000 m, approachRate: -0.396906 m/s, posRepo size: 4 ڊ1Ҋ1199YYYa"a*aRi*iim@33?m&?ԙɢ}B >I u0ɡiIyH=Iii))IiC5D-DD-DEd; E :6Et4:E!@!@!@!@>A 1  DDAT read: Rx Time:21:37:23.6329  TRx dataTimestamp_ set to:1754689044.114524 PDAT read: Bearing 355.9, 9.9 (Local)  ~Local bearing/azimuth received: Bearing 355.9, 9.9 (Local) e DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 A) I1 IA NU >MxBf,\ %A|~BIDAT read: 21:37:23.6329 LVL= 31008, 21457, 32754, 32755, AGC= 34, IDX= 502,-0.02, 0.299, 1.931,-0.227, 1.442, PHS=-1.041, 0.533,-1.714, RAW= 346.9, 21.5, CAL= 346.9, 26.1, ROT= 163.1, -26.1 Ygot valid direction response: 21:37:23.6329 LVL= 31008, 21457, 32754, 32755, AGC= 34, IDX= 502,-0.02, 0.299, 1.931,-0.227, 1.442, PHS=-1.041, 0.533,-1.714, RAW= 346.9, 21.5, CAL= 346.9, 26.1, ROT= 163.1, -26.1 UT#Rx 67: Read range and direction messages.^direction in FSK: [-0.859245,0.261059,0.439939]Fpublishing direction and range info sS~j Q/?=w*'?I yiSBD6DJ2Y}@=!9=Q)>99GYOG}? r?)ZdۿIپ@i7 >پ@Z;>8/6@Z;Ii)xRё^X_9l?hۿ8/6@ Z;Iichecking for new query: numPingsReceived=67, elapsed TxPingTime=32.672211%A%>)Q 154٪-\?Q 554-a  -B91Y1Q E=?y-C)-::I-:i-Q'4YAE?Az\T%Aʋ)2)Dp\п_e% ?w);?" sS~j Q/?=w*'?8/6@‹Z;:M :qϿ3;6'q?*r;3B!Cܿ f2?{WG?CAe 4BWG? 2e (>h@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gCU Added new target pos. range: 0.300000 m, bearing: 207.780275 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.504513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊQҊ"*R*↵?ɢ=~}B= 9=>I9 E+0ɡAiAIEJ=IIiIiI)I)qchecking for new query: numPingsReceived=67, elapsed TxPingTime=32.771397A!A%AAvB1~B1B5IB5lBB1B1B1B5C;B5DI i   _5 Iy D AD D *D E v; E g:6E (N4:E "E A) I I) NQ P*If,&q&%A BDDAT read: Rx Time:21:37:24.1328 JTRx dataTimestamp_ set to:1754689044.618220zPDAT read: Bearing 358.8, 8.9 (Local) ~~Local bearing/azimuth received: Bearing 358.8, 8.9 (Local)  DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 MDAT read: 21:37:24.1328 LVL= 28912, 21601, 32754, 32755, AGC= 34, IDX= 501, 0.09,-0.233, 1.544,-0.730, 0.915, PHS=-1.047, 0.674,-1.689, RAW= 345.2, 19.0, CAL= 345.5, 23.6, ROT= 164.5, -23.6 uYgot valid direction response: 21:37:24.1328 LVL= 28912, 21601, 32754, 32755, AGC= 34, IDX= 501, 0.09,-0.233, 1.544,-0.730, 0.915, PHS=-1.047, 0.674,-1.689, RAW= 345.2, 19.0, CAL= 345.5, 23.6, ROT= 164.5, -23.6 }T#Rx 68: Read range and direction messages.^direction in FSK: [-0.883035,0.244887,0.400349]Fpublishing direction and range infoDFAG(wX?^Q?FL>DIFpiFaTDDDF FD,?)F'1ؿIF@iFɩ>F@FB>yA?ٱ|O?ڄouF7@FBҾIDiD)FN\OWzJO(?FщFzکF7@ FBҾIDiDchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.075413H$ ?j󆶿`?#?ov \?@Ø?IA?)Bb;iC~BIiI AiMb@Mb@Mb@ )Ii{GzI +{Gzt?ף94ף;)Ib@i@ z@)Q U@ABDU6DU1YTf;!&=Q)>99GYS;A>Q 14٪c\?Q 54b  B9kʋF'2F[rƿ?0\t?"FAG(wX?^Q?F7@‹FBҾ:F'x ĿESXL꼰?*F );Qan޿u$?FF'F "N?Fd FBFST&H? Fd F4BF#>FZc@gC addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.503696 s, deltaX: -0.100000 m, approachRate: -0.198532 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.200000 m, bearing: 203.537636 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.503696 s, deltaX: -0.100000 m, approachRate: -0.198532 m/s, posRepo size: 4 ڊ!Ҋ!!!))))1"Y*] |BRY*aam?mΧ?ԑɢu}B v>I /ɡiIqK=Iii)) checking for new query: numPingsReceived=68, elapsed TxPingTime=33.275440Ii00 >A rA 2?jA ,?D %D D )D E O]; E O:6E FA4:E ! @! @! @! @ IIN>[Qf,5E%Aɰ4<4<nDDAT read: Rx Time:21:37:24.6329 rTRx dataTimestamp_ set to:1754689045.117153vDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 vZ#Rx 69: Read range message, but no direction.ln>lzchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.530216Q~BIBD 6D Yeۼ!eC=mQ)m>q9q9uGYquAu>yQ 14٪}*\?Q 54}Pb  }B9YQ E?y}C)}3$I  /ɡiIL=Iii))ԩI.i0vBqchecking for new query: numPingsReceived=69, elapsed TxPingTime=33.779182~BqBuIBuvBBqBqBqBuH;BuD >AI I I N >Wf,`%ADZDZDZ.DXEZW; EZZ:6EZـ4:EX"EZ<99GYPGA> Q 14٪ '[?Q 54 ?b  B994Y9DDAT read: Rx Time:21:37:25.1328 TRx dataTimestamp_ set to:1754689045.625995PDAT read: Bearing 357.2, 8.6 (Local) ~Local bearing/azimuth received: Bearing 357.2, 8.6 (Local) DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 21:37:25.1328 LVL= 28736, 21425, 32754, 32755, AGC= 34, IDX= 501, 0.39,-0.968, 0.741,-1.461, 0.198, PHS=-1.064, 0.589,-1.702, RAW= 345.7, 20.6, CAL= 345.7, 25.2, ROT= 164.3, -25.2 Ygot valid direction response: 21:37:25.1328 LVL= 28736, 21425, 32754, 32755, AGC= 34, IDX= 501, 0.39,-0.968, 0.741,-1.461, 0.198, PHS=-1.064, 0.589,-1.702, RAW= 345.7, 20.6, CAL= 345.7, 25.2, ROT= 164.3, -25.2 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.871070,0.244846,0.425779]Fpublishing direction and range infoL뿙z!W?t??L>I@piS'1 ?)#ٿIH@iX>H@z0>^7@z0Ii)Ѱ^@俔k忺 ?n^7@ z0Iichecking for new query: numPingsReceived=70, elapsed TxPingTime=34.054039=?!YzMh%Aʋ(21*CLƿG sӀ?6@̵?"L뿙z!W?t??^7@‹z0:n=ĿDR3O㪜"?*hEԆ ݿ"/>?*&pM?d B )B{>Kc@gC addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.508842 s, deltaX: -0.100000 m, approachRate: -0.196525 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.200000 m, bearing: 203.485882 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 1.007775 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"* |BR*?%M?ɢme}Bm im>Ii uA/ɡqiqIuaM=I1i9i9)9)9ԉI-i/  checking for new query: numPingsReceived=70, elapsed TxPingTime=34.283161>Au ?΅I I N >]f,bz%A=~B=IAEi9i9mGYiiAm>qQ 1}4٪u2Z?Q 54u.b  uB9YQ E?yuC)u:Iu[:iuD4YL?ԙڊҊ"*R*C?ɢ_}B '>I  /ɡiIŒN=I i i ) )I/i@5DDD*DEV; E6E(N4:E!@!@!@!@DDAT read: Rx Time:21:37:25.6330 TRx dataTimestamp_ set to:1754689046.126668PDAT read: Bearing 354.1, 9.4 (Local) ~Local bearing/azimuth received: Bearing 354.1, 9.4 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:25.6330 LVL= 30528, 21585, 32754, 32755, AGC= 34, IDX= 503,-0.40,-1.139, 0.431,-1.665, 0.034, PHS=-1.071, 0.442,-1.743, RAW= 347.5, 23.4, CAL= 347.2, 28.1, ROT= 162.8, -28.1 Ygot valid direction response: 21:37:25.6330 LVL= 30528, 21585, 32754, 32755, AGC= 34, IDX= 503,-0.40,-1.139, 0.431,-1.665, 0.034, PHS=-1.071, 0.442,-1.743, RAW= 347.5, 23.4, CAL= 347.2, 28.1, ROT= 162.8, -28.1 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.842677,0.260852,0.471012]Fpublishing direction and range infouP*5c̱?(%??I@wiQT M>)߿I@i>@>o5@Ii)rb79NeKi?7 2Ѿo5@ Iichecking for new query: numPingsReceived=71, elapsed TxPingTime=34.551533>AM#IIN>! df,><%Ai@y>!?ٱ>\O?>F㌽>k|>H@? <k'?`J?}ژ?ȃ ?I>!?)>b;ia9a9eGYam6;Am>iQ 1}4٪m)Y?Q 5}4mb  mB9}+=Q A}g@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.500673 s, deltaX: 0.300000 m, approachRate: 0.599194 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 207.482532 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.500673 s, deltaX: 0.300000 m, approachRate: 0.599194 m/s, posRepo size: 4 ڊҊ"* |BR*?"N?ɢ=W}B= AE0>IA E|.ɡAiAIMO=Iii))I0i   _5 iD5D D5DEk; E:6E4:E"EyA  DDAT read: Rx Time:21:37:26.1329  TRx dataTimestamp_ set to:1754689046.629933 PDAT read: Bearing 354.1, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 354.1, 10.4 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  DAT read: 21:37:26.1329 LVL= 27120, 25201, 31986, 32755, AGC= 35, IDX= 502,-0.18, 2.633,-2.083, 2.055,-2.491, PHS=-1.058, 0.453,-1.782, RAW= 348.5, 23.1, CAL= 348.3, 27.9, ROT= 161.7, -27.9  Ygot valid direction response: 21:37:26.1329 LVL= 27120, 25201, 31986, 32755, AGC= 35, IDX= 502,-0.18, 2.633,-2.083, 2.055,-2.491, PHS=-1.058, 0.453,-1.782, RAW= 348.5, 23.1, CAL= 348.3, 27.9, ROT= 161.7, -27.9  T#Rx 72: Read range and direction messages. ^direction in FSK: [-0.839070,0.277496,0.467930] Fpublishing direction and range info qYBh8_}?ޗڏ? > I ii qb | # l >) I @i pl> @ Q> 4@ QI i ) PM!~m> 濚1oo%?  ξ 4@ QI i  checking for new query: numPingsReceived=72, elapsed TxPingTime=35.055119I I) N5 >Թ :jf,%Ay6*?ٱ6dO?6q6}6H@1? 5?`,?}? n?I6*?)6b;i6CN~BNIBDV6DV1YE4!EK=Mu1Q)M>I9I9UGYUQGUVAU>YQ 1e4٪]"X?Q 5e4]a  ]B9iYm'2@Q Em?y]C)]6:I]N:i]R4YquȨ?ԙzP%A>ʋ*2y1п<O?z?"qYBh8_}?ޗڏ?4@‹Q:}ϿTu B(?*T9!>DnڿΏ߿L?c{ugC?y>e ,BWG? y>e ,Bj>n@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503265 s, deltaX: -0.200000 m, approachRate: -0.397405 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 213.130585 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.503265 s, deltaX: -0.200000 m, approachRate: -0.397405 m/s, posRepo size: 4 ڊҊ"*R *   @33??ɢN}B 顕>I g.ɡiIiP=Iii))checking for new query: numPingsReceived=72, elapsed TxPingTime=35.291534I,i0D .D 6D .D E ye; E  ;6E ـ4:E ! @! @! @! @>A   DDAT read: Rx Time:21:37:26.6329  TRx dataTimestamp_ set to:1754689047.133590 PDAT read: Bearing 354.8, 11.4 (Local)  ~Local bearing/azimuth received: Bearing 354.8, 11.4 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  DAT read: 21:37:26.6329 LVL= 26912, 21169, 32754, 32755, AGC= 34, IDX= 502,-0.10,-2.871,-1.330, 2.805,-1.764, PHS=-1.004, 0.479,-1.758, RAW= 349.3, 22.3, CAL= 349.2, 26.9, ROT= 160.8, -26.9  Ygot valid direction response: 21:37:26.6329 LVL= 26912, 21169, 32754, 32755, AGC= 34, IDX= 502,-0.10,-2.871,-1.330, 2.805,-1.764, PHS=-1.004, 0.479,-1.758, RAW= 349.3, 22.3, CAL= 349.2, 26.9, ROT= 160.8, -26.9  T#Rx 73: Read range and direction messages. ^direction in FSK: [-0.842193,0.293282,0.452435] Fpublishing direction and range info T =x#?5? I ii R  "  }?>) %I @i SF> @ va> 3@ vaI i ) ZRn!*K'6SwL@?  ƾ 3@A I I) N= >Wrf,cɅ%A vaIi.checking for new query: numPingsReceived=73, elapsed TxPingTime=35.574490y>Y?ٱ>N?>">|>H?`-?t+?|`?'?I>Y?)>`tb;i)9)9uGYquAu>yQ 14٪}W?Q 54}a  }B9Y2@Q E?y}C)}?;I}a;i}Z4Y?zȅ%Aʋ+2={+пw*?E_?"T =x#?5?3@‹va:.vQϿh'GTlT¼?*ArߧQBNMڿFϵF??%h@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC  Added new target pos. range: 0.300000 m, bearing: 207.697713 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.503657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊ Ҋ 99"A*ARA*AAIM?ɢD}B 顽i>I  .ɡiIR=Iii))vB~BB!IBBB8 =BBBA;BDchecking for new query: numPingsReceived=73, elapsed TxPingTime=35.795650IU-iQQU(0Qa>Aq rAq jAu 4?ԙ BE [4JE7i4REˇ 1D -D #D *D E d; E ;6E (N4:E "E 5jqyf,_煛%Aɰ>;>;JDDAT read: Rx Time:21:37:27.1328 NTRx dataTimestamp_ set to:1754689047.637611RPDAT read: Bearing 355.1, 11.8 (Local) R~Local bearing/azimuth received: Bearing 355.1, 11.8 (Local) ZDAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 nDAT read: 21:37:27.1328 LVL= 27632, 25841, 32754, 32755, AGC= 35, IDX= 501, 0.01, 2.946,-1.765, 2.310,-2.233, PHS=-1.002, 0.514,-1.783, RAW= 349.5, 21.7, CAL= 349.5, 26.3, ROT= 160.5, -26.3 rYgot valid direction response: 21:37:27.1328 LVL= 27632, 25841, 32754, 32755, AGC= 35, IDX= 501, 0.01, 2.946,-1.765, 2.310,-2.233, PHS=-1.002, 0.514,-1.783, RAW= 349.5, 21.7, CAL= 349.5, 26.3, ROT= 160.5, -26.3 rT#Rx 74: Read range and direction messages.v^direction in FSK: [-0.845065,0.299253,0.443071]vFpublishing direction and range infoHJhD*| t~&?j3,G[?JL>HIJkiJdHHJ#JA J?)JX9IJ2@iJ>J2@J>JG3@JIHiH)JgPMr 濘g7J?JJPtJG3@ JIHiH checking for new query: numPingsReceived=74, elapsed TxPingTime=36.062420yu?ٱuM?uKu {uH`$?Ys@???r|`?I`]?Iu?)u3|b;iqMb@Mb@Mb@ )IiMb} H?9} H?9}GYӻA>Q 14٪xV?Q 54a  9GʋJSv,2Jh8ſ#m z?P)l?"JhD*| t~&?j3,G[?JG3@‹J:J`k~ſ ?T?*J꿂>Gٿ> xb[?J̤J+JRH?Jc JBH HHJ>Jh@1gCu addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.504021 s, deltaX: -0.100000 m, approachRate: -0.198404 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.200000 m, bearing: 208.420361 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.504021 s, deltaX: -0.100000 m, approachRate: -0.198404 m/s, posRepo size: 4 ڊҊ"*{BR*??ɢ;}B ?>I ǰ-ɡiI-S=Iii))aIi0 AEAMchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.300011ԉ ) ݈G>A ?΅ ! )I I ` ZADE !DE \DE 1DA EE Y; EE ;6EE -4:EA !M @!M @!M @!M @ AaIIN??f,-%A6DDAT read: Rx Time:21:37:27.6329 :TRx dataTimestamp_ set to:1754689048.141714>PDAT read: Bearing 356.2, 12.4 (Local) >~Local bearing/azimuth received: Bearing 356.2, 12.4 (Local) FDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 ZDAT read: 21:37:27.6329 LVL= 26480, 26097, 32754, 32755, AGC= 35, IDX= 502, 0.14,-2.102,-0.493,-2.763,-1.027, PHS=-0.972, 0.580,-1.780, RAW= 349.7, 20.3, CAL= 349.8, 24.9, ROT= 160.2, -24.9 ^Ygot valid direction response: 21:37:27.6329 LVL= 26480, 26097, 32754, 32755, AGC= 35, IDX= 502, 0.14,-2.102,-0.493,-2.763,-1.027, PHS=-0.972, 0.580,-1.780, RAW= 349.7, 20.3, CAL= 349.8, 24.9, ROT= 160.2, -24.9 ^T#Rx 75: Read range and direction messages.b^direction in FSK: [-0.853420,0.307250,0.421036]fFpublishing direction and range info8:?/8O뿐?˽&@?:>8I:pgi:e888:x :z?): I:0O@i: g>:|]@:/>:2@:/޾I8i8):ߏkkæU28I0?:]:[I:2@ :/޾I8i8checking for new query: numPingsReceived=75, elapsed TxPingTime=36.570599y  ?ٱ F.K? = w H@kc? F& ?}?v n@?⮿l?I  ?) @b;i C%~B%IBD56D52YE:!EI9I9MGYMRGU:ɼAU>YYQ 1u4٪]V?Q 5u4]a  ]B9qY}E@Q E}?y]C)]h;I];i]k4Yf?z8: %A:>ʋ:Jf-2:o <>bп 4ɘ?=U*?":?/8O뿐?˽&@?:2@‹:/޾::?_пק.U7?\?*:œJ뿿u@.ٿ ?:::]v@?:Bd :(B::Lg@gC5 addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504103 s, deltaX: 0.100000 m, approachRate: 0.198372 m/s, rangeRepo size: 4 gC} Added new target pos. range: 0.300000 m, bearing: 207.268104 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.504103 s, deltaX: 0.100000 m, approachRate: 0.198372 m/s, posRepo size: 4 ڊyҊyy"*R* @33?5c}?ԑɢ/}B >I E-ɡiI T=Ii!i!)!)! 1AA@AvB~BBBBBBB=;BDI,i/checking for new query: numPingsReceived=75, elapsed TxPingTime=36.802952 >A #D $D 6D (D E g\; E  ;6E c44:E "E 'f,P%%A-~B-I5=1I5=)5=DDAT read: Rx Time:21:37:28.1328 TRx dataTimestamp_ set to:1754689048.645221DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 76: Read range message, but no direction.L>checking for new query: numPingsReceived=76, elapsed TxPingTime=37.058289Mb@Mb@Mb@ )Ii{GztMbpMb`ף)~@Ii5@ iI4<BD6D:2Y <! '=Q)>K?9K?9GYA>!Q 1-4٪%V?Q 5-4%a  %B95;Q A5=Y5ҿQ E5?y!)%/:I%:i%t4Y9=Y?9D]B*** querying acoustic contact ***jYrYgCu addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.503507 s, deltaX: -0.100000 m, approachRate: -0.198607 m/s, rangeRepo size: 4 ڊqҊqqqyyyyy!"!*%{BR)*))-?-?ɢu'}B}" 顝>I ,ɡiIjU=Iii))Iu.iqqu/qQ} checking for new query: numPingsReceived=76, elapsed TxPingTime=37.310085y >A A I I N >x"f,z?%A$i&@0yFEk?ٱFG?FCFqsFH?`I_s??p? d?IFEk?)F kb;iFCR~BRIBDZ6DZk1YbR,!bc=f_;Q)f>d9d9fGYjSGjuAj>lQ 1r4٪nU?Q 5r4na  l9tYvԿQ Ev?yl)nQ;In:incz4YxzI?xڊҊ!!!!!!")*)R)*))15`C?ɢ] }B]Z ae>Ia e,ɡaiaIe3V=Iiiiii)q)qDD2D*DEL; E;6E(N4:E!@!@!@!@Ii 0 ԑDDAT read: Rx Time:21:37:28.6329 TRx dataTimestamp_ set to:1754689049.149509PDAT read: Bearing 355.1, 13.5 (Local) ~Local bearing/azimuth received: Bearing 355.1, 13.5 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 21:37:28.6329 LVL= 26304, 20897, 32754, 32755, AGC= 34, IDX= 502, 0.42,-2.086,-0.536,-2.776,-1.050, PHS=-0.934, 0.559,-1.770, RAW= 350.8, 20.4, CAL= 350.8, 24.9, ROT= 159.2, -24.9 Ygot valid direction response: 21:37:28.6329 LVL= 26304, 20897, 32754, 32755, AGC= 34, IDX= 502, 0.42,-2.086,-0.536,-2.776,-1.050, PHS=-0.934, 0.559,-1.770, RAW= 350.8, 20.4, CAL= 350.8, 24.9, ROT= 159.2, -24.9 %T#Rx 77: Read range and direction messages.-^direction in FSK: [-0.847928,0.322098,0.421036]-Fpublishing direction and range infoT`:"CH??˽&@?>IfiQ"o ?)\Iv@iK>v@1@Ii)r#fX⿓ t;O6SD?_1@ Ii]checking for new query: numPingsReceived=77, elapsed TxPingTime=37.576851Թ>A=6ɅAi I I N > vB ~B B B B 9 =B B B ;;B D f,XXY%A checking for new query: numPingsReceived=77, elapsed TxPingTime=37.811153\M~BMIMb@Mb@Mb@ )Ii:v?:vMbpT<T)I5@i@b@ @BD6D02Y+[=!8=Q)>99GY  A >Q 14٪V?Q 54a  B9!?)zI%AʋX/2͟GsGпLh?=U*?"T`:"CH??˽&@?1@‹:EJnп*K3/:n?*<z uO܄׿Å?T#@?0d :B Bd ~>]d@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504288 s, deltaX: 0.100000 m, approachRate: 0.198299 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 204.596588 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 1.007795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊ Ҋ   !!!!")*-|BR)*iqu@33?u?ɢ=}B=pi 9=>I9 E=,ɡAiAIEkW=IIiIiI)I)QYYDDFDDE>T; Ev;6E:E"EI giףp D>)$IU@ia>@|>r0@|Ii)M5Hvl a')A#?ƾr0@ |IiUchecking for new query: numPingsReceived=78, elapsed TxPingTime=38.078495>A% #Q AY Ii I N >BPf,s%AyZf ?ٱZϟC?Z=ZqZH ?`͈?%?e İ?#,?IZf ?)Zcxb;tiZC~~B~I A A) AABD6DN2Y];!]R=]c:Q)>99GY A>Q 14٪PW?Q 54a  9YKQ E?yC)e:I:i%4Yۤ?z i%AL>ʋ12-3ſ2= ??"e ǞN?j-?r0@‹|:(#'ƿPKHG6?*ՃEˁKBտr?91nRH?mrc  B 0d (Br>Dc@gC addTargetRange:: Added new target pos. range: 0.200000 m, deltaT: 0.504124 s, deltaX: -0.100000 m, approachRate: -0.198364 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.200000 m, bearing: 203.460800 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.504124 s, deltaX: -0.100000 m, approachRate: -0.198364 m/s, posRepo size: 4 ڊҊ"*R*?R?checking for new query: numPingsReceived=78, elapsed TxPingTime=38.314911ɢE }BE' AE>II My+ɡIiIIMKX=IQiqi))Im.iiim0i9D&D>D+DE8^; E?;6E [4:E!@!@!@!%@>Aq i  DDAT read: Rx Time:21:37:29.6330  TRx dataTimestamp_ set to:1754689050.161691 PDAT read: Bearing 350.1, 14.0 (Local)  ~Local bearing/azimuth received: Bearing 350.1, 14.0 (Local)  DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 5 DAT read: 21:37:29.6330 LVL= 30064, 21089, 32754, 32755, AGC= 34, IDX= 503,-0.31,-2.798,-1.413, 2.793,-1.742, PHS=-0.954, 0.374,-1.792, RAW= 352.6, 23.9, CAL= 352.2, 28.7, ROT= 157.8, -28.7 = Ygot valid direction response: 21:37:29.6330 LVL= 30064, 21089, 32754, 32755, AGC= 34, IDX= 503,-0.31,-2.798,-1.413, 2.793,-1.742, PHS=-0.954, 0.374,-1.792, RAW= 352.6, 23.9, CAL= 352.2, 28.7, ROT= 157.8, -28.7 E T#Rx 79: Read range and direction messages.M ^direction in FSK: [-0.812124,0.331422,0.480224]U Fpublishing direction and range info b+$6?KTa? ? I pui aR X9t |>) B`I @i > @ ;? C0@ ;I i ) I~ῌwI*:F:? qZ Hվ C0@ ;I i m checking for new query: numPingsReceived=79, elapsed TxPingTime=38.590775A I I N- >-f,iR%Aɰ24<24I9q9}GY}TG押A>1Q 1M4٪5X?Q 5u45a  5B9yY}Q E?y5C)5}*[a@gC5 addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.508058 s, deltaX: 0.300000 m, approachRate: 0.590484 m/s, rangeRepo size: 4 Ae<Aep<vBm|>~BiBm'IBmBBm: =BiBiBm=;BmDgC Added new target pos. range: 0.500000 m, bearing: 201.748709 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.508058 s, deltaX: 0.300000 m, approachRate: 0.590484 m/s, posRepo size: 4 ڊҊ"*R*?↽@?%checking for new query: numPingsReceived=79, elapsed TxPingTime=38.818977ɢ-}B-* 15>I1 5Gp+ɡ1i1I=xY=IYiaia)a)aԱI*i/ D *D :D 1D E a; E $ ;6E -4:E "E ۳A  DDAT read: Rx Time:21:37:30.1329  TRx dataTimestamp_ set to:1754689050.662596 PDAT read: Bearing 349.5, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 349.5, 13.6 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -DAT read: 21:37:30.1329 LVL= 30352, 21105, 32754, 32755, AGC= 34, IDX= 502,-0.23, 2.275,-2.610, 1.601,-2.933, PHS=-0.974, 0.368,-1.794, RAW= 352.1, 24.2, CAL= 351.7, 29.0, ROT= 158.3, -29.0 5Ygot valid direction response: 21:37:30.1329 LVL= 30352, 21105, 32754, 32755, AGC= 34, IDX= 502,-0.23, 2.275,-2.610, 1.601,-2.933, PHS=-0.974, 0.368,-1.794, RAW= 352.1, 24.2, CAL= 351.7, 29.0, ROT= 158.3, -29.0 =T#Rx 80: Read range and direction messages.E^direction in FSK: [-0.812638,0.323388,0.484810]EFpublishing direction and range info Y ~C͝b?Y6? > I vi qR Xy j>) ˡI U@i @> %m@ ? 0@ I i ) 99{-ῷkI~翪5?  ؾ 0@ I i ]checking for new query: numPingsReceived=80, elapsed TxPingTime=39.088367AyAIIN> H?9  H?9 GY  A >Q 14٪Y?Q 5E4b  B9E.=Q AEʋf124Ͽָ?ƶdߝ?"Y ~C͝b?Y6?0@‹: K8`пih>?*-JK'sG&ԿOOF?Ž3;D?d tB :BĠ>^@gCm addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.500905 s, deltaX: -0.200000 m, approachRate: -0.399277 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.300000 m, bearing: 199.419146 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.500905 s, deltaX: -0.200000 m, approachRate: -0.399277 m/s, posRepo size: 4 ڊҊ"*|BR*@33?↵`8?Թɢ|BA >I! %y*ɡ!i!I%*Z=I)i)i))))Yi>>checking for new query: numPingsReceived=80, elapsed TxPingTime=39.323017I/i/@=@=D 'D )D ,D E _; E 0;6E g4:E ! @! @! @! @>A # bA! ZA! AADDAT read: Rx Time:21:37:30.6330 TRx dataTimestamp_ set to:1754689051.166436PDAT read: Bearing 350.4, 12.0 (Local) ~Local bearing/azimuth received: Bearing 350.4, 12.0 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:30.6330 LVL= 28448, 24657, 32370, 32755, AGC= 35, IDX= 503,-0.11,-2.912,-1.403, 2.750,-1.788, PHS=-1.022, 0.430,-1.789, RAW= 349.9, 23.3, CAL= 349.6, 28.1, ROT= 160.4, -28.1 Ygot valid direction response: 21:37:30.6330 LVL= 28448, 24657, 32370, 32755, AGC= 35, IDX= 503,-0.11,-2.912,-1.403, 2.750,-1.788, PHS=-1.022, 0.430,-1.789, RAW= 349.9, 23.3, CAL= 349.6, 28.1, ROT= 160.4, -28.1 T#Rx 81: Read range and direction messages.^direction in FSK: [-0.831014,0.295911,0.471012]Fpublishing direction and range info꿣4?(%??I oiQ`r~#Ђ (>)Ik@i5>@@>IIN%>Ҳf,bˆ%A y6X?ٱ6>?6L6"gw$+3@Ii)ɋ3Iy=I8X?KTwо$+3@ IiBchecking for new query: numPingsReceived=81, elapsed TxPingTime=39.6113136H@{?S۶Y?/?H('?֮F?I6X?)6Gb;i4J~BJINbK?9bK?9bGY`f\Af>hQ 1n4٪j$[?Q 5n4j3b  jB9lYnQ En?yjC)j;Ij;ij4Ytv?tzʆ%A?ʋ^}02ڿ4?(%?"꿣4?(%?$+3@‹:qn<ۿƿn]`?*qn<뿑ֿn]`?0پ:G7?zf B tBӧ>\@gC5 addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503840 s, deltaX: 0.200000 m, approachRate: 0.396951 m/s, rangeRepo size: 4 gCE Added new target pos. range: 0.500000 m, bearing: 197.786849 deg, lat: 36.906033 deg, lon: -122.115848 deg, deltaT: 0.503840 s, deltaX: 0.200000 m, approachRate: 0.396951 m/s, posRepo size: 4 ڊAҊAII"*R*?↝?QɢE|BEʬ AEJ?IA Mx*ɡIiIIM[=IQiQiQ)Q)YvBE{>~BABE-IBEBBE9 =BABABE@;BEDBBBBBBň(5qI.i/checking for new query: numPingsReceived=81, elapsed TxPingTime=39.826916ԡ >A FӅbD ZD AAD ,D +D D E c; E =;6E :E "E lf, 膛%AyB*%?ٱBe^=?BŇBE|BHǕ?@n??RL?`s?`{l ?IB*%?)Bb;i@N~BNI~DDAT read: Rx Time:21:37:31.1330 TRx dataTimestamp_ set to:1754689051.669640 PDAT read: Bearing 353.6, 11.0 (Local)  ~Local bearing/azimuth received: Bearing 353.6, 11.0 (Local) %DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 EDAT read: 21:37:31.1330 LVL= 27888, 21313, 32754, 32755, AGC= 34, IDX= 502,-0.07,-2.744,-1.101, 2.966,-1.640, PHS=-1.002, 0.583,-1.721, RAW= 347.8, 20.3, CAL= 347.8, 24.9, ROT= 162.2, -24.9 MYgot valid direction response: 21:37:31.1330 LVL= 27888, 21313, 32754, 32755, AGC= 34, IDX= 502,-0.07,-2.744,-1.101, 2.966,-1.640, PHS=-1.002, 0.583,-1.721, RAW= 347.8, 20.3, CAL= 347.8, 24.9, ROT= 162.2, -24.9 UT#Rx 82: Read range and direction messages.U^direction in FSK: [-0.863623,0.277279,0.421036]]Fpublishing direction and range info^C͢뿟b9?˽&@?IliAS"A }??)IܿI?@i g>?@/>-5@/޾Ii)B(4, 6濢=?K-5@ /޾Iichecking for new query: numPingsReceived=82, elapsed TxPingTime=40.098522Mb@Mb@Mb@ )IiZd;O?~jth{GzD#)h@I5@i@K@ @)BD6D1Y^;!=#Q)> H?9 H?9GYUG *A >Q 14٪\?Q 54b  B9>_@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gCE Added new target pos. range: 0.500000 m, bearing: 199.859601 deg, lat: 36.906032 deg, lon: -122.115848 deg, deltaT: 0.503204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊIҊIIIIIIQQY"Q*u=|BRy*yyyↅL?ɢ|B ?I )ɡiI֡\=I!i!i)))))I/iM5ԁchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.331055>A Ա D 1D D )D E 2h; E :6E FA4:E ! @! @! @! @IQIyN>f,ޓ%Ayn ?ٱnXF99GY%5'A%>)Q 154٪-\?Q 554-a  -B99Y=6?Q E=?y-C)-:I-:i-54YAE?ADeB*** querying acoustic contact ***jaraڊquҊqqqqqqyyy"y*R*↍ ?DDAT read: Rx Time:21:37:31.6331 TRx dataTimestamp_ set to:1754689052.173702PDAT read: Bearing 354.4, 9.2 (Local) ~Local bearing/azimuth received: Bearing 354.4, 9.2 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 21:37:31.6331 LVL= 29104, 23793, 32754, 32755, AGC= 35, IDX= 503,-0.02,-0.946, 0.806,-1.447, 0.215, PHS=-1.059, 0.637,-1.706, RAW= 345.5, 19.7, CAL= 345.6, 24.3, ROT= 164.4, -24.3 Ygot valid direction response: 21:37:31.6331 LVL= 29104, 23793, 32754, 32755, AGC= 35, IDX= 503,-0.02,-0.946, 0.806,-1.447, 0.215, PHS=-1.059, 0.637,-1.706, RAW= 345.5, 19.7, CAL= 345.6, 24.3, ROT= 164.4, -24.3 ET#Rx 83: Read range and direction messages.M^direction in FSK: [-0.877829,0.245095,0.411514]MFpublishing direction and range info-=B_?L@V??Iqi\#P o#?)5^ڿI@ix >@%>7@%پIi)ol\3{lo?:w7@ %پIiechecking for new query: numPingsReceived=83, elapsed TxPingTime=40.606560ɢ|B͊  ?I p)ɡiIe]=I i i )) %&Changing to mode: 1YIiy4@A@AԑAYA]?AvBez>~BaBe@IBeBBaBaBaBe0;BeDe checking for new query: numPingsReceived=83, elapsed TxPingTime=40.835579>A rA jA 2? Iq I N >Cf,G!%Ay6w%?ٱ6^19195GY9=O:A=>AQ 1M4٪E^?Q 5m4Ea  A9u_E=Q AuQ Eu?yE C)Ey;IEG;iEk4Yy}U?yz %A?ʋ ,2`&Xd??"-=B_?L@V?7@‹%پ:K8GUAfB ϿRS?*\K?8뿸oj{ٿB)<?oxf3?'h B:G7? zf B?a@gC- addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.504062 s, deltaX: 0.100000 m, approachRate: 0.198388 m/s, rangeRepo size: 4 gC= Added new target pos. range: 0.600000 m, bearing: 202.004318 deg, lat: 36.906031 deg, lon: -122.115849 deg, deltaT: 0.504062 s, deltaX: 0.100000 m, approachRate: 0.198388 m/s, posRepo size: 4 ڊ99Ҋ9AAAAAAii"i*mM|BRq*qqu@33?}M?ɢ|BxDDAT read: Rx Time:21:37:32.1330 TRx dataTimestamp_ set to:1754689052.677754PDAT read: Bearing 355.1, 7.9 (Local) ~Local bearing/azimuth received: Bearing 355.1, 7.9 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:32.1330 LVL= 31392, 22241, 32754, 32755, AGC= 34, IDX= 502, 0.03,-0.864, 0.939,-1.301, 0.317, PHS=-1.078, 0.667,-1.662, RAW= 343.9, 19.2, CAL= 344.1, 23.8, ROT= 165.9, -23.8 %Ygot valid direction response: 21:37:32.1330 LVL= 31392, 22241, 32754, 32755, AGC= 34, IDX= 502, 0.03,-0.864, 0.939,-1.301, 0.317, PHS=-1.078, 0.667,-1.662, RAW= 343.9, 19.2, CAL= 344.1, 23.8, ROT= 165.9, -23.8 %T#Rx 84: Read range and direction messages.-^direction in FSK: [-0.887394,0.222898,0.403545]-Fpublishing direction and range infoeČ?Q??IziV" *?)jԿI@i>.@ȭ>O9@ȭԾIi)z5 .]Jm?!O9@ ȭԾIiUchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.104137 AU?IY ](ɡYiYI]U^=Iaiaii)i)iIi05) >AA I I N >f,$;%Achecking for new query: numPingsReceived=84, elapsed TxPingTime=41.338806y>?ٱ>&=?>>h>Hؚ?i@54?b?L4g?H?@p!?)>[a;i>CROBRIBDZ6DZ02Yv7>!vm=v;Q)v?x9x9zGYzVGz<A~?|Q 1 4٪_?Q 5 4a  9YA>Q E?y C):I:i24Ym?zR`+%A?ʋY*2eܿČ뇼?Q?"eČ?Q?O9@‹ȭԾ:ڿ!x˿'?*!xۿ'?;\׾A ԉ I I! N= >f, U%AavB~BBLIBBBBBB7;BD-FB-IMb@Mb@Mb@ )IiS㥛?Mb?Mb/<<)@Ii@j@ @-checking for new query: numPingsReceived=85, elapsed TxPingTime=41.842793BDu6Du:2Y!'=Q)>99GYA>Q 14٪`?Q 54`a  B9A #I I N > DDAT read: Rx Time:21:37:33.1330  TRx dataTimestamp_ set to:1754689053.685097 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  Z#Rx 86: Read range message, but no direction.  checking for new query: numPingsReceived=86, elapsed TxPingTime=42.098602 +f,n%Ay: ?ٱ:E??: s:5 :H@a?`+@ @?(t?`q?`RO ?I: ?):`;i:CRLBRIV=V<BDZ6DZ1Yb:<!f=f&AU?΅QIIN>D- D- D- +D) E- G; E- :6E- [4:E) !5 @!5 @!5 @!5 @y kf,%Ai@y6- ?ٱ6hA?6^6'6H8?6@- `?'C?w ԫ?v`?I6- ?)6<`;i4BRBBIBDJ 6DJ2YV3T<!VL=VQX9X9ZGYZWG^0<A^>`Q 1f4٪bna?Q 5f4b`  bB9dYf?Q Ej?ybC)bG:Ib:ib9ԃ4Yln ?lDzB*** querying acoustic contact ***j|r|ڊҊ        "*R*%@1?ɢM|BM IM'?II U'ɡQiQIUMa=DDAT read: Rx Time:21:37:33.6331 TRx dataTimestamp_ set to:1754689054.189227DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 Z#Rx 87: Read range message, but no direction.?checking for new query: numPingsReceived=87, elapsed TxPingTime=42.602295Iii))QI$i/ԁ>A#A%<A%<vB1~B1B5YIB5BB1B1B1B5*;B5DԱ} checking for new query: numPingsReceived=87, elapsed TxPingTime=42.855640A! I) I9 NM > a=f,`%Ay: ?ٱ:C?:+cG:<:H) ?`_13 %? ?`??r?I: ?):4Z`;i8F^BJ IMb@Mb@Mb@ )Ii99GY<A>Q 14٪a?Q 54`  B9|A- rA5 5?jA5 5?A} AI I N >9 ] checking for new query: numPingsReceived=88, elapsed TxPingTime=43.354847mf,%Ay6?ٱ6OF?63-6.8c=6H@D? f7?\?`?`Ф?@\?@?I6?)6`;i6CB[BB IiDIDBDN6DN02YV!V[=V%K?9%K?9-GY)-i<A->1Q 1=4٪5`?Q 5=45`  5B9AYE8Q EE?y5C)5>:I5:i54YIM?QgC} addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505006 s, deltaX: -0.100000 m, approachRate: -0.198017 m/s, rangeRepo size: 4 ڊҊ"*R*?↝@l?ɢ|B> q-?I |%ɡiI%c=Iii))Ie)iaam/iDD)D+DE>T; E0;6E [4:E!%@!%@!%@!-@1>AM?΅DDAT read: Rx Time:21:37:34.6331 TRx dataTimestamp_ set to:1754689055.198853PDAT read: Bearing 328.6, 30.9 (Local) ~Local bearing/azimuth received: Bearing 328.6, 30.9 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 21:37:34.6331 LVL= 31088, 24625, 26322, 29171, AGC= 34, IDX= 503, 0.50,-2.908,-2.474, 2.309,-1.947, PHS=-0.859,-0.482,-2.071, RAW= 16.9, 40.0, CAL= 15.3, 45.4, ROT= 134.7, -45.4 Ygot valid direction response: 21:37:34.6331 LVL= 31088, 24625, 26322, 29171, AGC= 34, IDX= 503, 0.50,-2.908,-2.474, 2.309,-1.947, PHS=-0.859,-0.482,-2.071, RAW= 16.9, 40.0, CAL= 15.3, 45.4, ROT= 134.7, -45.4 T#Rx 89: Read range and direction messages.^direction in FSK: [-0.493891,0.499090,0.712026]Fpublishing direction and range info~߿D㋍?E;~??Ipyi1`fqm[ )DI>i¸2?ܸ>bJ?v@bJIi)]CƿeH7Ԑ?`2v@ bJIi=checking for new query: numPingsReceived=89, elapsed TxPingTime=43.625076Y Aa Ii Iy N >Tf,t\և%Aɰpr;vB~BBSIBBBBBB;BDy_?ٱLH? D=H&?q??@?3`?GA?r?I_?)`;iC=hB=I checking for new query: numPingsReceived=89, elapsed TxPingTime=43.858936EMb@Mb@Mb@A A)AIAiAEMb`{Gz?I +?EEףy9y9}GY}XG<A>Q 14٪`?Q 54`  B9A bA AZA ] DAT read: 21:37:35.1331 LVL= 31440, 23601, 25170, 26739, AGC= 34, IDX= 503,-0.15,-0.921,-1.380,-2.145,-0.139, PHS=-0.680,-1.196,-2.050, RAW= 51.9, 49.2, CAL= 49.3, 53.8, ROT= 100.7, -53.8 m Ygot valid direction response: 21:37:35.1331 LVL= 31440, 23601, 25170, 26739, AGC= 34, IDX= 503,-0.15,-0.921,-1.380,-2.145,-0.139, PHS=-0.680,-1.196,-2.050, RAW= 51.9, 49.2, CAL= 49.3, 53.8, ROT= 100.7, -53.8 m T#Rx 90: Read range and direction messages.} ^direction in FSK: [-0.109656,0.580337,0.806960] Fpublishing direction and range info s,fQ??f1n? I zi 1\ Rb sh {. ) 33I 5g?i [? FF\? vap? I? vapI i ) ^0?{g'E g8? & [ I? vapI i  checking for new query: numPingsReceived=90, elapsed TxPingTime=44.141472 Aa Iq I N >0f, %AyZ?ٱZI0K?Z^Z>=ZHl? ?? `?@4j С?ק?%?IZ?)Z9Ja;iZCzMB~IBD5 6D5:2YM!MX=U$;Q)U>Y9Y9]GYY<A>Q 14٪_?Q 54`  B9Y9@Q E?yC)+g޿GTT?}fu?,>-G?@\ BLj@gC addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.507353 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.600000 m, bearing: 209.755304 deg, lat: 36.906032 deg, lon: -122.115849 deg, deltaT: 0.507353 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"*R**?ɢ=|B=8 AE-?IA Eŝ$ɡAiAIMWe=IIiQiQ)Q)qchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.363899I S.i/ԉԱ>A] #D D D -D E >T; E :6E t4:E ! @! @! @! @A I I N > J f, %ADDAT read: Rx Time:21:37:35.6331 TRx dataTimestamp_ set to:1754689056.205219DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 Z#Rx 91: Read range message, but no direction."checking for new query: numPingsReceived=91, elapsed TxPingTime=44.618275yU?ٱUJ99GY|<A>9Q 1E4٪=^?Q 5M4=`  =B9IYMi@Q EM?y=C)=3;I=i_;i= 4Yae?aDB*** querying acoustic contact ***jrgC% addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.499013 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ڊ!!Ҋ!!!!))))I"Q*QRQ*QYY]`?ɢ|BL 顭1?I m$ɡiIVcf=Iii))I/iAmAAAmAAvB{>~BB@IBBBBBB;BDBABABABABABE),4checking for new query: numPingsReceived=91, elapsed TxPingTime=44.866959) >Aa Y A yAD JD D +D E ~; E :6E [4:E "E X f,h(%A8i:@y?ٱM*O?4%>WHX?@`) Z%?@?4??Jિ?I?)`;iC15IMb@Mb@Mb@ )IiˡEX9v?{Gz'}=#)b@I@i@ @BD6D0Y t!;==$;Q)> H?9 H?9GYYG<A%>!Q 1-4٪%_\?Q 554%j`  %B95=Q A50e^Q@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504467 s, deltaX: -0.100000 m, approachRate: -0.198229 m/s, rangeRepo size: 4 gC- Added new target pos. range: 0.500000 m, bearing: 187.167266 deg, lat: 36.906032 deg, lon: -122.115846 deg, deltaT: 1.003480 s, deltaX: -0.100000 m, approachRate: -0.099653 m/s, posRepo size: 4 ڊ)1Ҋ111111999"A*E|BRA*AAM?M?ɢ|Bw" !%W3?I! -mc#ɡ)iIg=Iii)) I/i/@@1 - checking for new query: numPingsReceived=92, elapsed TxPingTime=45.374130>A rA 9?jA %?Y A I I N >f,C%Ay ^D?ٱ }P?  + H@h? $,`y>aC?? L?CŸ? ꙱?I ^D?) z`;i -8B-IBD= 6D=f2YM+!UL=U1Y9Y9]GYY]yS<A]>aQ 1m4٪eY?Q 5u4eH`  eB9qYu>@Q Eu?yeC)e ;Ie ;ie4Yy1?ڊҊ"*R*y?D5,D5D5-D1E5c; E5:6E5t4:E1!=@!=@!=@!=@ɢ|BM1߽ IM-?IQ U"ɡQiQIU(mh=IYiYiY)Y)aԉI%/i!!%/!DDAT read: Rx Time:21:37:36.6330 TRx dataTimestamp_ set to:1754689057.213915DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 93: Read range message, but no direction.checking for new query: numPingsReceived=93, elapsed TxPingTime=45.627930Թ>AaA] AI I N >vB ~B B -IB BB B B B ;B D f,p]%A&checking for new query: numPingsReceived=93, elapsed TxPingTime=45.879086=@B=IiAIA EAEAMb@Mb@Mb@ )Ii{GzMb#)@IK@ih@b@ @BD6DY<!A=Q)>K?9K?9GYA> Q 14٪ (Y?Q 54 `  9'=Q Achecking for new query: numPingsReceived=94, elapsed TxPingTime=46.134357q >A #ԑ A I I N >f,x%Aɰp;y6 ?ٱ6FS?6т66Hp?UJ֌??+?0?oe?I6 ?)6db;i6CBIBD 6D2Yȭchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.382999!6=X99GYZG@<A>Q 14٪ZX?Q 54a  9Y~Q E?y"C)2:I):i4Yae?igC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.507360 s, deltaX: -0.200000 m, approachRate: -0.394197 m/s, rangeRepo size: 4 ڊҊ"*R*)G  -MA@33?5 D?)9Im mMAmBɢ%t|B% !%M)?I! -!ɡ)i)I-y.k=I1i1i1)1)9I/i/DDD*DEB; E1:6E(N4:E!@!@!@!@! e DDAT read: Rx Time:21:37:37.6330 e TRx dataTimestamp_ set to:1754689058.225186m DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 u Z#Rx 95: Read range message, but no direction.a e ?a } checking for new query: numPingsReceived=95, elapsed TxPingTime=46.638283>A bA ZA AQ II Ia Nm >$f,6͔%Ay6W?ٱ63U?6MS6ܪ6H?ݮ/??@fr?i?`Z?I6W?)6a;i6CIt@ <@)@@ B(t@@@@DFAIF)FdFiD)HIHJTH HLNxcALiLLiR&CP)P PIP P)R΃AVC˾V6FTTVAiTITXX=3BUIBDe6De1Y/=!J=;F99GYc<A>Q 14٪W?Q 54ta  B9Y!Q E?y$C)@;I] ;i4Yۘ?DB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503911 s, deltaX: 0.200000 m, approachRate: 0.396895 m/s, rangeRepo size: 4 ڊ!Ҋ!!!!!!!))"1*1R1*9AM?↵r?AAvB~BBBBBBB#;BDɢen|BeQ߽ aeJ1?Ii m.!ɡiiiIm;yl=Iqiqiq)q)ychecking for new query: numPingsReceived=95, elapsed TxPingTime=46.8869219Iu0iqqu/qiD D 1D 2D E >T; E f;6E 4:E "E A FӅԑ ] DDAT read: Rx Time:21:37:38.1330 e TRx dataTimestamp_ set to:1754689058.730024m DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 u Z#Rx 96: Read range message, but no direction.a a a } checking for new query: numPingsReceived=96, elapsed TxPingTime=47.143749I I N >~+f,5%AyN;?ٱNvU?NNNHht?`b]?@t? ~?`%ق?n`?IN;?)Na;iNCԱ5;B5I=<==IE=)E=-Mb@Mb@Mb@) )))I)i)-T㥛 y&1Zd;O?--`e-j<)-C@I-j@i-Z@-@ )-@BDU6DU2YmT<!m'=m;Q)m>q9q9uGYq};A}>Q 14٪OV?Q 54,b  B9P=Q AAArA7?jA0?IIIiN ?}4f,E҈%A4i4y2? ٱ/lV?Hj?`П?xg?+?Rp? ?I2?)Ya;iCBBIBD6Dk2YtU<!$=+99%GY%[G%mZ;A%>)Q 154٪-T?Q 554-b  -B99Y=XQ E=?y--C)-:I-:i-+/4YAE?AgCu addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503083 s, deltaX: 0.100000 m, approachRate: 0.198774 m/s, rangeRepo size: 4 ڊqyҊyyyyy"*R*@33?↕)?ɢa|Bp߽ 8?I qɡiIo=Iii))vB~BBIBlBBBBB;BD9Mܝ=checking for new query: numPingsReceived=97, elapsed TxPingTime=47.896122I% 0i!!))aԙ bD ZD D 2D D *D E i; E :6E (N4:E "E A #I I N >:f,숛%AyJk)?ٱJbV?JKJ:JHnk?`e?(h??@{)V?|`?IJk)?)J;e;iJCVBVIEDDAT read: Rx Time:21:37:39.1330 MTRx dataTimestamp_ set to:1754689059.737192UDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 UZ#Rx 98: Read range message, but no direction.AE?A]checking for new query: numPingsReceived=98, elapsed TxPingTime=48.150269yMb@Mb@Mb@ )IiJ +L7A`?Mb`?H+=;)I@i@@ @) AABD 6Df2Y!!Q=;Q)>99GYùA>Q 14٪S?Q 54 c  9r=Q A`A5 I I N >9Bf,V %ADDD,DEmR; E:6Eg4:E!"@!"@!"@!"@8yBt?ٱBYU?B(:B6BH?|?_`D?`y?Ow? %R`WN?IBt?)Bb;iBCNJBNIBDZ6DZY^=!bD=b';Q)b>`9d9fGYdfٻAj>hQ 1n4٪j Q?Q 5r4j5c  h9pYr9Q Er?yj3C)j):Ij:ijI=4Ytz ?xڊҊ!!"!*!R)*))15v?ɢ]W|B]nϽ Y]A#bAZAAAA@AvB~BBIBWBBBBB ;BD A I) IQ Nu > checking for new query: numPingsReceived=99, elapsed TxPingTime=48.904610\Hf,#%Ay:x(?ٱ:aT?:;;:ڼ:H? F`)5?w?,?g^ ?I:x(?):;a;i8JGBJIp}Mb@Mb@Mb@y y)yIyiy}ktMb`?:v?} 0};}T<)}$@I}x@i}@}@ y}=@BD6D03Y1!==օ;Q)>99GY\Gi@A>Q 14٪O?Q 54c  B9.8=Q AA a A I I N >Nf,W<%Ay:~^?ٱ:R?:f";: :H? fr򨒿)t??`A?Ip `?I:~^?):Q7a;i:C^KBbIif;If<BDj6Dj1Yr(<!rW=rX;Q)r>t9t9vGYtv얼Az>x9echecking for new query: numPingsReceived=100, elapsed TxPingTime=49.406960Q 14٪zN?Q 54zc  zB9YQ E?yz7C)zAFӅ% DDAT read: Rx Time:21:37:40.6330 - TRx dataTimestamp_ set to:1754689061.2513075 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 = \#Rx 101: Read range message, but no direction.! ! ! M checking for new query: numPingsReceived=101, elapsed TxPingTime=49.665943I  -& VHardware Fault in component: DockingStepperI N >nUf,V%Ay6?ٱ6#SP?6Ż;6W6H?{@ THB??B;?`xwָ~?I6?)6b+b;i6CBEBBIDF=BDJ6DJYR@V!RN=VDŽ;Q)V>T9T9ZGYXZAZ>\Q 1b4٪^M?Q 5b4^'d  ^B9dYfQ Ef?y^9C)^%:I^S:i^_R4Yhj?hgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.506146 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ڊ Ҋ       "*R*% ?ɢMI|BM!˽ IM ??II UɡQiQIUv=Iii)) :Uninitialize Docking Stepper. Powering downvBQ~BQBUIBUMBBQBQBQBU;BUDBBBBBBL4 iiuchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.911255!>AIIN>QDu 'Du Du (Dq Eu _; Eu :6Eu c44:Eq "Eu ! = checking for new query: numPingsReceived=102, elapsed TxPingTime=50.166256[f,tp%Ay\"?ٱ[M?<CHm>?@@@?9?`?`7ء ?I\"?);d;iCbBIQMb@Mb@Mb@ )Ii~jthMb?{Gzt?D<ף;);@Ii@ @BD 6D2Yl=!*=_;Q)>99GY]GtżA >Q 14٪M?Q 5%4d  B9-1"A N؅Iq I N >[!cf,!!%AyF?ٱFJ?Flkd9d9fGYdjq Aj>lQ 1r4٪nRM?Q 5r4nd  nB9pYrE-@Q Ev?yl)nK:In :inFa4Yxz?xڊҊ!!!!!!")*)R)*))15Pk?qDDAT read: Rx Time:21:37:41.6330 TRx dataTimestamp_ set to:1754689062.258578DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 \#Rx 103: Read range message, but no direction.?checking for new query: numPingsReceived=103, elapsed TxPingTime=50.675209ɢE@|BE im:J?Iq u\>ɡyiyI}Яy=Iii))=ԙAA<vB~BBIBWBBBBB;BD>A?΅IIN>} checking for new query: numPingsReceived=103, elapsed TxPingTime=50.924351 Gif,馉%Ay:m1?ٱ:jF?::<:C:H?c`Q@d??`x? qQ@hǠ?I:m1?):w~f;i:C^}BbIi`IbA- 9 9 GY A>Q 1%4٪M?Q 5%4d  BQ =%+:9!Q A%=Y%O,@Q E%?y;C):I>ih4Y15?1D]B*** querying acoustic contact ***jYrYgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505384 s, deltaX: 0.200000 m, approachRate: 0.395739 m/s, rangeRepo size: 4 ڊҊ"*R*?9?ɢU;|BU]ɽ QU{P?IQ ]uɡYiYI]a{=Iiiiii)i)qDDAT read: Rx Time:21:37:42.1329 TRx dataTimestamp_ set to:1754689062.763435DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 \#Rx 104: Read range message, but no direction.>checking for new query: numPingsReceived=104, elapsed TxPingTime=51.1796911=Y iE =IE ~Ce checking for new query: numPingsReceived=104, elapsed TxPingTime=51.423790) ݈G A>A ) AI  A BI9 -&M bCommunications Fault in component: RDI_PathfinderII N] >pf,‰%A1yEYu ?ٱEB?EZ99GY^GkA>Q 14٪L?Q 54c  BQ = :9Q A[=YP+@Q E?y)AA 6ɅvB ~B B IB bBB B B B (;B DA I I N >wf,%A>checking for new query: numPingsReceived=105, elapsed TxPingTime=51.926830-B-,IBD= 6D=:2YM=!M6=UQ)U>Q9Q9]GYY]A]>aQ 1m4٪evL?Q 5m4ec  eBQ =u99qQ Au1=YqQ Eu?yeA=DDAT read: Rx Time:21:37:43.1330 ETRx dataTimestamp_ set to:1754689063.771334UPDAT read: Bearing 343.2, 17.4 (Local) ]~Local bearing/azimuth received: Bearing 343.2, 17.4 (Local) uDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 21:37:43.1330 LVL= 29136, 19281, 24306, 31027, AGC= 31, IDX= 503,-0.18, 2.038,-2.839, 1.293,-2.958, PHS=-1.185, 0.165,-2.076, RAW= 353.2, 29.3, CAL= 352.2, 34.3, ROT= 157.8, -34.3 Ygot valid direction response: 21:37:43.1330 LVL= 29136, 19281, 24306, 31027, AGC= 31, IDX= 503,-0.18, 2.038,-2.839, 1.293,-2.958, PHS=-1.185, 0.165,-2.076, RAW= 353.2, 29.3, CAL= 352.2, 34.3, ROT= 157.8, -34.3 V#Rx 106: Read range and direction messages.^direction in FSK: [-0.764860,0.312134,0.563526]Fpublishing direction and range info9=yd?ʩg?=?9I=qi=QK=^=3y== =(>)=/I=C@i=?=@=@?=C0@=@I9i9)=ƙȳ࿺5_VfF?= ==C0@ =@I9i9checking for new query: numPingsReceived=106, elapsed TxPingTime=52.203865AI I N% >y }f,%A0y><?ٱ> v:?>F<>ߌ>H}?*M 0L??? -?I><?)>c;ix9x9zGY|~vA>Q 1 4٪6L?Q 5 4c  BQ =99Q A=Y)@Q E?y)f:Im?is4Y%?!zy}]%Ayʋ}52}yؿd?ʩg?"}yd?ʩg?}C0@‹}@:}" ٿ#gG$J ?*}" #gGп$J ?}?}Ⱦ}˻!+?})@g }cBy yy}G>}+@gCm addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505205 s, deltaX: -0.100000 m, approachRate: -0.197940 m/s, rangeRepo size: 4 gC} Added new target pos. range: 0.500000 m, bearing: 153.846383 deg, lat: 36.906032 deg, lon: -122.115846 deg, deltaT: 7.061648 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"*R*?↝h?ɢ0|BN /]?I ?]ɡiI=Iii))checking for new query: numPingsReceived=106, elapsed TxPingTime=52.431065ԙ>A#ԹAIIY&mdClearing failed state for component RDI_Pathfinder1mIiN}>D7D D,DEm; E:6Eg4:E!@!@!@!@ M DDAT read: Rx Time:21:37:43.6331 U TRx dataTimestamp_ set to:1754689064.274341e DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 m \#Rx 107: Read range message, but no direction.Q U ?Q u checking for new query: numPingsReceived=107, elapsed TxPingTime=52.688881ijf,%Aidy >ٱ 0:6? F< d H9?@΅ 1?R2?`1*? hL`?I >) c;i C}B}7I=:Expecting PD13 message formatBD6D1Y'!>=;Q)>99GY_G]A>Q 14٪K?Q 54c  BQ =99Q AAA I I N >A rD =jD 4=D ED D *D E Vz; E :6E (N4:E "E ٱ:1?:9ī<::H@g?g@ᜀ}?"?8? xX Y?I:Lg>):b;i:CjBj8I)p pBDr6Dr2Yz;!zX=~1;Q)~>|99GY5A> Q 14٪ K?Q 54 c  BQ =o99!Q A%AqA! I1 IA NM > checking for new query: numPingsReceived=108, elapsed TxPingTime=53.438744ԙ 4őf,lG%Ay6>ٱ6-?6*<66H?;5u??@?@˄΢O?I6>)6#b;i6CRBRDIBDZ6DZ1Yj :=!jM=nG;Q)n>l9p9rGYpr,Ar>tQ 1z4٪vsK?Q 5z4vc  vBQ =~B99|Q A~C)v;Iv:@ivy4Y ? gC= addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503946 s, deltaX: -0.100000 m, approachRate: -0.198434 m/s, rangeRepo size: 4 ڊ99Ҋ999AAAAAA"I*IRI*IQU?U]?yɢ'|B 顅hd?I 5ɡiIk=Iii))@@=D]tD]D],DYE]{; E]:6E]g4:EY!m@!m@!m@!m@ԩDDAT read: Rx Time:21:37:44.6330 TRx dataTimestamp_ set to:1754689065.2831445DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 =\#Rx 109: Read range message, but no direction.echecking for new query: numPingsReceived=109, elapsed TxPingTime=53.697655>A!AIIYIiN>vB z>~B B !IB BB B B B :;B  Uf,Ha%A6checking for new query: numPingsReceived=109, elapsed TxPingTime=53.942818yRY>ٱR)?RzR)Ra;iRCZB^AIBDj6Djk1Y5!5D==|;Q)=>A9A9EGYE`GEAM>IQ 1U4٪M1K?Q 5U4Mc  MBQ =]99YQ A]xAq%DDAT read: Rx Time:21:37:45.1329 %TRx dataTimestamp_ set to:1754689065.7863745DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5\#Rx 110: Read range message, but no direction.!%>!=checking for new query: numPingsReceived=110, elapsed TxPingTime=54.199478AA I I N >Y gf,"{%Ay6>ٱ6%?6<66H?`M;D`%I??? 1 ?I6>)6`a;i4fBfGIij4x9x9~GY|~|A>Q 1 4٪J?Q 5 4c  BQ =89Q AIAD}GD}!D})DyE}&|; E}:6E}FA4:Ey!@!@!@!@ԑA I I! Ne >- DDAT read: Rx Time:21:37:45.6331 - TRx dataTimestamp_ set to:1754689066.2892755 DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 = \#Rx 111: Read range message, but no direction.) - ?) E checking for new query: numPingsReceived=111, elapsed TxPingTime=54.702328Թ f,?%Ay=s>ٱ=u$"?=<=~w=H?`O?@?3?@t?@p`9,?I=s>)=a;i=CUBUNIBDe 6De:2YuX<!u@=u~8;Q)u>99GY_A>Q 14٪J?Q 54c  BQ =89Q A"ArA3?jA;?A I I! N5 >De 9De De +Da Ee so; Ee :6Ee [4:Ea "Ee ٱ?E!<H@P?^????@:c73 ?I@>)Ra;i%B-SIBDM6DM2Ye<!eM=m;:Q)m>q9q9uGY}aGA>Q 14٪uJ?Q 54c  BQ =89Q AɡiIڄ=I!i!i))))>AI  checking for new query: numPingsReceived=112, elapsed TxPingTime=55.455524A9 I I N >Bf,BȊ%Ay6Y>ٱ6e?684<686H3?@^4ma?`^Y?J-?t?EXD?I6Y>)6oa;i6CBBB_I)H HBDJ6DJJ2YR9H=!VW=V2Q)V>T9X9ZGYXZUݼAZ>iQ 1u4٪m8J?Q 5u4mc  mBQ =u89qQ Au;Y};!@Q E}?ym@C)me ;Imq@im6~4Y?ڊҊ"*R*w?ɢ|B՗ r?I PcɡiIy=Iii))D=%D= D=/D9E=O]; E=:6E=J4:E9!E@!E@!E@!E@QDDAT read: Rx Time:21:37:46.6331 TRx dataTimestamp_ set to:1754689067.297147DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 \#Rx 113: Read range message, but no direction.?checking for new query: numPingsReceived=113, elapsed TxPingTime=55.710213>AeԑAyAIIN>ԩ vB ~B B -IB BB B B B 9;B D|=f,ҏ⊛%A&checking for new query: numPingsReceived=113, elapsed TxPingTime=55.958920y:>ٱ:~:?:j<:_@:H M[?`%\?o ?T??/6?I:>): a;i:CJBJXIiLINABDR6DRN2YZ!ZI=^Q)^>f H?9f H?9fGYdj7Aj>tQ 1 4٪vI?Q 54vqc  vBQ =-[89)Q A5;Y5 @Q EE?yt)v;ADDAT read: Rx Time:21:37:47.1330  TRx dataTimestamp_ set to:1754689067.802284DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 \#Rx 114: Read range message, but no direction.?%checking for new query: numPingsReceived=114, elapsed TxPingTime=56.216587 A I I N >gf,j%Ay:`>ٱ:?:<::H`\z?IwG? I?ws?V?nњ{?I:`>):`;i8FBF_IBDN6DNk2YV<!VK=Zg Q)Z>X9X9ZGYZbG^ĈA^>hQ 1n4٪jI?Q 5n4jdc l jBQ =r189pQ Ar;YrK @Q Er?yjAC)j1;Ij@ij4Ytv?xgC% addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.505137 s, deltaX: -0.100000 m, approachRate: -0.197966 m/s, rangeRepo size: 4 ڊ!!Ҋ!!)))))))"1*1R1*19E?EY?ɢm|Bm qus?Iq u!ɡqiyI}̆=Iii)))G )IaUhAUchecking for new query: numPingsReceived=114, elapsed TxPingTime=56.462952>A#9AAIIN>DUDU"DU0DQEU:; EU;6EU4:EQ!e@!e@!e@!e@a  DDAT read: Rx Time:21:37:47.6330  TRx dataTimestamp_ set to:1754689068.305144 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  \#Rx 115: Read range message, but no direction. % checking for new query: numPingsReceived=115, elapsed TxPingTime=56.718185Of,NG%A B sIip5K?95K?95GY195A=>AQ 1M4٪EI?Q 5M4EUc  EBQ =U89QQ AUc;YQQ EU?yA)E:IE@iES4Yae}?agC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.502860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ڊҊ"*R*↭G?ɢ|B D|?I oɡiIz=Iii))AU@AAQvBY~BYB]3IB]BBYBYBYB]:;B]Di>A?΅mchecking for new query: numPingsReceived=115, elapsed TxPingTime=56.967705ԙAiIqIN> rD] =jD] <De 8De De .Da Ee n; Ee :6Ee ـ4:Ea "Ee Ӿٱj '?j!jH'? +`k?`?`G?`OB 壿 ?Ij۽>)j``;ih~B~pIBD  6D 2Ytd!K=h˻Q)>!9!9%GY!-XA->1Q 14٪5FI?Q 545Gc  5BQ =79Q A8;ԑY @Q E?y5BC)5@\checking for new query: numPingsReceived=116, elapsed TxPingTime=57.222332DB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504112 s, deltaX: -0.200000 m, approachRate: -0.396737 m/s, rangeRepo size: 4 ڊҊ   "*R*@33?`q?ɢE|BMʔ IM6{?II U-,ɡQiQI]#=Iaiaia)a)i>A5rA=7?jA=-?AiIqINm checking for new query: numPingsReceived=116, elapsed TxPingTime=57.470840) iaf, I%Aiy6E>ٱ6!\?6F<6%$6H੏? to?ć?u?S薿U?I6E>)6)_;i6CjBjsIBDr6Dr 3Yzf<!zM=~*YQ)~>|99GY;A> Q 14٪  I?Q 54 9c  BQ =79Q A;Y @Q E?y )  ;I @i 4Y!%}?)ڊIQҊQQQQQQQQY"Y*YRa*aaam?ɢ|Bf 顕|?I gɡiI =Iii))DeADe2De-DaEev; Ee;6Eet4:Ea!u@!u@!u@!u@DDAT read: Rx Time:21:37:48.6330 TRx dataTimestamp_ set to:1754689069.313620PDAT read: Bearing 337.0, 9.7 (Local) ~Local bearing/azimuth received: Bearing 337.0, 9.7 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 !EDAT read: 21:37:48.6330 LVL= 28320, 19105, 19858, 30595, AGC= 31, IDX= 503,-0.18,-2.321,-0.607,-2.678,-0.794, PHS=-1.425, 0.231,-1.928, RAW= 342.9, 29.4, CAL= 342.0, 34.4, ROT= 168.0, -34.4 MYgot valid direction response: 21:37:48.6330 LVL= 28320, 19105, 19858, 30595, AGC= 31, IDX= 503,-0.18,-2.321,-0.607,-2.678,-0.794, PHS=-1.425, 0.231,-1.928, RAW= 342.9, 29.4, CAL= 342.0, 34.4, ROT= 168.0, -34.4 MV#Rx 117: Read range and direction messages.U^direction in FSK: [-0.807083,0.171551,0.564967]UFpublishing direction and range info'AF*pX_?lҼ5??IniJMwff Dl>)I@iG\?C@`?f;@`Ii)Zmibt⿘T2j,r?._}f;@ `Ii%checking for new query: numPingsReceived=117, elapsed TxPingTime=57.766636>AYQAIIN>vBQ ~BQ BU FIBU BBQ BQ BQ BU 0;BU Dy f,,c%Achecking for new query: numPingsReceived=117, elapsed TxPingTime=57.974789yE>ٱ\?ҭ<(H}?kv@?u? ^?񹕿4?IE>)_;iCQ]B]kI)a e@ABDm6Dmk1Y}!}4=&Q)>99GYcG <A>Q 14٪H?Q 54)c  BQ =79Q A:Ya @Q E?yCC)E:Iz@i4Y?zZT%AʋW22'AFٿ*pX_?lҼ5?"'AF*pX_?lҼ5?f;@‹`:wؿ#/5¿Bҥa?*w迦#/5ҿBҥa?{ľ*gn(?f B B>G.@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504364 s, deltaX: 0.200000 m, approachRate: 0.396539 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 156.644643 deg, lat: 36.906032 deg, lon: -122.115846 deg, deltaT: 5.542286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊii"i*iRq*qqu?}?bDaZDe@ADm,Dm%DiDiEmc; Em;6Ei:Ei"EmlYYI`oiKrMCxȶ +>)!I@i?@?<@Ii)Ni͸.\>?GL<@ Ii}checking for new query: numPingsReceived=118, elapsed TxPingTime=58.246986ԩ>A- bA- AZA- A Aq I I N > f,F~%Ay6]h>ٱ6j?6<6,6Ha? |;? 7Y?`Թ?}┿E?I6]h>)6&_;i6Cr BrIBDz6DzN2Y%=!%^=%Q)%>)9)9-GY)5<AU>YQ 1e4٪]H?Q 5e4]c  ]BQ =ew79aQ Ae:Ye @Q Ee?yY)]:I]'@i]4Yux?zSt%A>ʋ602wZPϿo/Ȓ?ԛ\?"7d꿗Qz?6z,?<@‹:40qͿp|R)?*%(@UoӿO?kb+5?.e dBb+5? .e BY}>2a@gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503979 s, deltaX: -0.200000 m, approachRate: -0.396842 m/s, rangeRepo size: 4 gCU Added new target pos. range: 0.300000 m, bearing: 201.607072 deg, lat: 36.906031 deg, lon: -122.115848 deg, deltaT: 0.503979 s, deltaX: -0.200000 m, approachRate: -0.396842 m/s, posRepo size: 4 ڊYYҊYYYYYYaaa"a*iiR*@33?↕/?ɢ.o j?I i ɡ checking for new query: numPingsReceived=118, elapsed TxPingTime=58.481415iIM=Iii))ԙ>AmD5D5D1D1E5mR; E5g:6E1:E1!=@!=@!=@!=@A} yAI I N > DDAT read: Rx Time:21:37:49.6330  TRx dataTimestamp_ set to:1754689070.321167 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  \#Rx 119: Read range message, but no direction. ?  checking for new query: numPingsReceived=119, elapsed TxPingTime=58.734222 qf,I%AyS>ٱ?D<ϻ/H:?UCR?:1??`?Ȕ?IS>)^;iC% B%~IBD5 6D52Ym6!mF=m{~Q)u>u H?9u H?9}GYy}<A}>Q 14٪OH?Q 54c  BQ =H79Q A:YT!@Q E?y)o:IAi*4Yty?gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503568 s, deltaX: 0.200000 m, approachRate: 0.397166 m/s, rangeRepo size: 4 ڊҊ"*R*? K?ɢ|B ?I  ɡ!i!I%4=I!i)i)))))A<A<vB~BBSIBBBBBB+;BD!EDDAT read: Rx Time:21:37:50.1329 MTRx dataTimestamp_ set to:1754689070.580985]checking for new query: numPingsReceived=119, elapsed TxPingTime=58.993256>Ae#AIIN>I DE =DE DA DA EE s; EE &:6EA :EA "EE ٱZ?Zë)Z^;iZCf Bf}Iij4x9x9zGYzdG~Q<A~>Q 1 4٪H?Q 5 4c  BQ = "79 Q A:Y!@Q E?yDC):I` Ai?4Yz?MDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 M\#Rx 120: Read range message, but no direction.9=>9UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with 120 pings in terminal homing one-way mode.DB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.503235 s, deltaX: -0.200000 m, approachRate: -0.397429 m/s, rangeRepo size: 4 ڊҊ!!!!!!))"Q*QRY*YYe@33?e`N%?ɢ|Bv Ҁ?I  ɡiI%=Iii)))@9@9a>A5FӅrA=5?jA=9? DDAT read: Rx Time:21:37:50.6331  TRx dataTimestamp_ set to:1754689071.081354% f,Tˋ%Ay6R>ٱ6e!?6V<606H?@~ v???Tʖ V?I6R>)6^;i6C@rBrIBDz 6Dz2YJ=!K=Q;Q) > K?9 K?9 GY <A>Q 1%4٪G?Q 5%4b  BQ =%79!Q A%P:Y-"@Q E-?y):IAiP4Y15t?1ڊYYҊYYYaaaaaa"i*iRi*iqqu@W?ɢ܌t 顥k?I ; ɡiIe=Iii))DM)DMbDM/DIEM`; EM5";6EMJ4:EI!]@!]@!]@!]@ԩuDAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 }X#Rx 1: Read range message, but no direction.im?i}2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.>AAIIYIiNu>vB~BBeIBBBBBB";BDBqBqBqBqBqBuȥ&4 = DDAT read: Rx Time:21:37:51.1330 E TRx dataTimestamp_ set to:1754689071.584784M DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 M X#Rx 1: Read range message, but no direction.9 = ?9 U 2Acoustic response timeoutf,4勛%AQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yZ>ٱZ%?Z)Z&^;iXf Bj~IpBDr6Dr3Yz+!zK=~T;Q)~>99GY=A > Q 14٪ G?Q 54 b  Q =69Q Ae(:Yek#@Q Ee?y EC) 1YYA1}a "f,|%Ay:?>ٱ:[F(?:fz<:o1:HR?>itx?I?@ ?lΛ *L?I:?>):.^;i:CZBZzI)` bAABDf6Df1Yjo!jL=n;Q)n>r H?9r H?9rGYreGrA=Av>tQ 1z4٪vVG?Q 5z4vb  vBQ =~69|Q A~:Y~$$@Q E~?yt)vh;IvAivj4Y  {? ڊ11Ҋ11111199AA"A*ARI*IIIM`?ɢ0gz a?I :ɡiI*׌=I!i!i)))))DDAT read: Rx Time:21:37:51.6330 TRx dataTimestamp_ set to:1754689072.088960-PDAT read: Bearing 342.7, 7.3 (Local) E~Local bearing/azimuth received: Bearing 342.7, 7.3 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 X#Rx 1: Read range message, but no direction.2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.i>A]FӅbAaZAeAԙAID,DD+DEc; E:6E [4:E!@!@!@!@IN> DAT read: 21:37:51.6330 LVL= 29120, 19089, 21570, 31587, AGC= 31, IDX= 503,-0.49,-2.986,-1.183, 3.074,-1.437, PHS=-1.448, 0.299,-1.817, RAW= 339.4, 28.2, CAL= 338.7, 33.2, RO= 11.3 -32  )unknown deviceResponse_: 21:37:51.6330 LVL= 29120, 19089, 21570, 31587, AGC= 31, IDX= 503,-0.49,-2.986,-1.183, 3.074,-1.437, PHS=-1.448, 0.299,-1.817, RAW= 339.4, 28.2, CAL= 338.7, 33.2, RO= 11.3 -32  99GYA>!Q 1%4٪% G?Q 5-4%b  %BQ =-69)Q A-9Y1Q E5?y%FC)% ;I%G$Ai%u4Y9=8|?9gCm addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ڊiiҊqqqqqqqqy"y*yRy*ↅ`?ɢ,Ɖ 页?I "ɡiI=Iii))DDAT read: Rx Time:21:37:52.1329 TRx dataTimestamp_ set to:1754689072.589247DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 X#Rx 1: Read range message, but no direction.>2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.>AAA II IY Nm >! rD) jD) BEt4JE44RE}0D D D 2D E W; E :6E 4:E "E <ٱJ.?J, =J 1JH?)4\C{,?? *F? ?IJ >)J^;iHIPiRs@ PT)TV̎C Vs@VD;TXXZAIZ+)Z\FiX)\I\^D\ \```i``idd)d dId h)jAjZj/FhllipIpppzBzlIBD6DJ2Y%O!-o=-qQ 14٪F?Q 54b  Q =b69Q A9Y%@Q E?y)NN;I)Ai|4YR?D5B*** querying acoustic contact ***j1r1gCM addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.500287 s, deltaX: -0.200000 m, approachRate: -0.399770 m/s, rangeRepo size: 4 ڊIIҊIQQQQYYYY"a*aRa*aam@33?mۃ?ɢ|B@y -{?I ɡiI#=Iii) ) !iI)^G 1>A9)aInuAQ% DDAT read: Rx Time:21:37:52.6330 5 TRx dataTimestamp_ set to:1754689073.099426M PDAT read: Bearing 344.6, 6.7 (Local) U ~Local bearing/azimuth received: Bearing 344.6, 6.7 (Local) A AI - DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 M DAT read: 21:37:52.6330 LVL= 29088, 19441, 22578, 31715, AGC= 31, IDX= 503,-0.20,-3.087,-1.256, 3.020,-1.526, PHS=-1.459, 0.315,-1.781, RAW= 338.2, 27.9, CAL= 337.6, 32.9, ROT= 172.4, -32.9 U Ygot valid direction response: 21:37:52.6330 LVL= 29088, 19441, 22578, 31715, AGC= 31, IDX= 503,-0.20,-3.087,-1.256, 3.020,-1.526, PHS=-1.459, 0.315,-1.781, RAW= 338.2, 27.9, CAL= 337.6, 32.9, ROT= 172.4, -32.9 U R#Rx 1: Read range and direction messages.] ^direction in FSK: [-0.832244,0.111045,0.543174]e Fpublishing direction and range info! % Nճg sm?#@ca?% ?! I% qi% K% 2X% {! % % G>)% I% @i% Q>% )@% ?% @@% I! i! )% ɅG:D$~,?% 2d% DIi y N >% @@ % I! i!  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.f, M%AQuBugID1DD,DE2h; E:6Eg4:E!@!@!@!@BD 6D2MK?9K?9GYfGA>Q 14٪F?Q 54b  BQ =769Q A9YQ E?yGC);I1Ai4YQ?zQU\F%AU?ʋU1'2UNճڿg sm?#@ca?"UNճg sm?#@ca?U@@‹U:UxBLֿ(>(ʿI?*UxBL濪(>(ڿI?U@QU@UI`Z(?Uh UBU˻!+? Uf QU{>U^f@ԁgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.510179 s, deltaX: 0.200000 m, approachRate: 0.392019 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 206.238811 deg, lat: 36.906030 deg, lon: -122.115849 deg, deltaT: 3.281827 s, deltaX: 0.200000 m, approachRate: 0.060942 m/s, posRepo size: 4 ڊҊ"*R*??ɢ15к ]$=ey?Ia eɡaiaIe=Iiiiii)q)qvB]{>~BYB]YIB]BBYBYBYB] ;B]D>A N؅rA 9?jA ;? DDAT read: Rx Time:21:37:53.1329 - TRx dataTimestamp_ set to:1754689073.601685M PDAT read: Bearing 344.9, 6.5 (Local) U ~Local bearing/azimuth received: Bearing 344.9, 6.5 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  X#Rx 1: Read range message, but no direction.! % >!  2Acoustic response timeout  Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A yAI I N >f,Vj%ABTI<BD 6D2Y!V=Q)>% H?9% H?9%GY!!A->1Q 154٪5GF?Q 5=45b  5BQ ==699Q A=j9Y9Q E=?y1)5,:I58Ai54YIM0?IgC} addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.502259 s, deltaX: -0.200000 m, approachRate: -0.398201 m/s, rangeRepo size: 4 ڊyyҊyy"*R!*!)5@33?5`y?D!D1D/DEY; Ef;6EJ4:E"EͬAeA I I N >q  f,%A i yF>ٱF5?FnG=F;&FH=?Fa??~5?@?`=먿@?IF>)F^;iDRBRUIBDZ 6DZ2Yb l;!bd=f"=Q)f>d9d9fGYhj=Aj>lQ 1r4٪n F?Q 5r4nb  nBQ =v59tQ Av>9Yv&@Q Ev?yl)n:In=Ain4Yxz?xE)DAT read: 21:37:53.1329 LVL= 28960, 19345, 22882, 31779, AGC= 30, IDX= 502,-0.12, 2.068,-2.416, 1.921,-2.666, PHS=-1.448, 0.295,-1.741, RAW= 337.7, 28.2, CAL= 337.0, 33.3, ROT= 173.0, -33 user:1227> M}got valid direction response: 21:37:53.1329 LVL= 28960, 19345, 22882, 31779, AGC= 30, IDX= 502,-0.12, 2.068,-2.416, 1.921,-2.666, PHS=-1.448, 0.295,-1.741, RAW= 337.7, 28.2, CAL= 337.0, 33.3, ROT= 173.0, -33 user:1227> MX#Rx 1: Read direction message, but no range.U^direction in FSK: [-0.832419,0.102208,0.544639]!%1/-PP*?mޮm?!I% qi%K%bY%#|%%X %= >)%޿I%v@i%d>%`7@%,?%,>A@%rI!)%mU(So[8Q^)C?% %1%,>A@ %rmAԩDAT read: 120  BDAT read: Tx time:21:37:54.1530 $Ping request sent. @$'f,<%AA0A0vB4~B4B6@IB6BB4B4B4B6;B6DyF, >ٱFҿ6?F%\=FFH&?ӎ?` ??1?@X @?IF, >)F^;iFC^BbGIBDf 6Df2Yna!nI=rKrK?9rK?9vGYvgGvo <Av>xQ 1m4٪zE?Q 5m4zb  zBQ =m59iQ Au9Yu&@Q Eu?yzHC)zSA bA ZA A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5059189 A I I) N= >w-f,歹%Ay6g>ٱ6o7?6Zp=66H`?@? ??`L?ӢY?I6g>)6B^;i6CjjBjIilIlBDr6DrYz>!z;=z]9|9|9~GY|8K;A> Q 14٪ E?Q 54 b  BQ =59Q A8Y&@Q E?y ) ;I DKAi 4Y!%K?!DEB*** querying acoustic contact ***jArAڊIQҊQQQQQQYYY"Y*aRa*aaam?ɢ|B` 顝SV?I ;ɡiI=Iii)))$ӿ=Y QQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754058>AFӅԁAY Ia Iy N >D 8D +D D E n; E =;6E :E ! @! @! @! @Ա _4f,2tӌ%Aye3>ٱeR5?e=eeH{?? o? ?`q>?@@?<Cˠ ?Ie3>)e>^;ieCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005712B(IԑBD6DY=!/=99GYsA>Q 14٪A= rA= 8?jA= A?AmyAIqIN>;f,%AD9D D,DEso; E:6Eg4:E"EٱBW3?B=B BHf?@"n?? h?ʻ?@﫟@?IBZ=>)B[^;i@hB$Ii p- H?9- H?9-GY-hG5A5>9Q 1E4٪=D?Q 5E4=fb  =™BQ =EO59AQ AE8YE%@Q EM?y9)=:I=qYAi=4YQU?QڊҊ"*R*↵@@ɢ|Btr \?I G^ɡiI=Iii))checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509855Ia=)>=1>AA AI I N >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761763Y Bf, %Ay6>ٱ60?6=6w6HH?ku? Q??@⪱? ?I6>)6^;i6CN~BR IR=R>BDZ6DZ2Ybk!bQ=b;Q)b>fK?9fK?9fGYdjcټAj>lQ 1r4٪nD?Q 5r4nZb  nÙBQ =r(59pQ Ar8Yr$@Q Ev?ynJC)n ;In_Ain4YxzΏ?x9ڊҊ"*R*↭ @ɢ]|B]ۈ ae)Z?Ii mcɡqiI۔=Iii))D5FD5CD1D1E5>{; E5;6E1:E1!E@!E@!E@!E@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013714Sk=ԑAM @AAM @AvBQ ~BQ BU IBU 9BBQ BQ BQ BU ;BU DBBBBBBօ4 >A AQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266159Ia Iq N >If,7(%A4yRH>ٱR-?Rp=RSRH@)R^;iP^yB^IBDz 6Dzf2Yz<!5=:Q) > 9 9 GY ޼A>Q 1%4٪xD?Q 5%4Lb  ęBQ =%59!Q A-W8Y-$@Q E-?y) ;IfAi4Y15x?1ڊAҊAIIQQQY"*R* @ԡɢ|B} CX?I )ɡiIx=Iii)) I)DDD1DE&U; E:6E-4:E"E)wIƺ@i?dH@?$=@Ii)E. 忆YT⿌Y?o $=@ Iichecking for new query: numPingsReceived=1, elapsed TxPingTime=2.533398 >A  AIIN>Qf,IG%Achecking for new query: numPingsReceived=1, elapsed TxPingTime=2.769759y:?>ٱ:")?:=:߼:H #%?c?Ƨ?)? ?@ Л_?I:?>):^;i:CFBF%IBD^ 6D^:2Yf<!f)=fQ)j>h9l9nGYniGnAn>pQ 1v4٪r.D?Q 5v4rh@gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 3.271949 s, deltaX: 0.200000 m, approachRate: 0.061126 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 208.308140 deg, lat: 36.906030 deg, lon: -122.115849 deg, deltaT: 3.774208 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ!!!!!!!"I*IRI*QQU?Us?ɢ|BU 顥 [?I !ɡiID=Iii))ԑDDD.DE>T; E:6Eـ4:E!@!@!@!@>AmԩDDAT read: Rx Time:21:37:56.7829 TRx dataTimestamp_ set to:1754689077.378316 PDAT read: Bearing 341.6, 10.8 (Local)  ~Local bearing/azimuth received: Bearing 341.6, 10.8 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 =DAT read: 21:37:56.7829 LVL= 27984, 16881, 21538, 30499, AGC= 30, IDX= 502,-0.10, 0.939, 2.677, 0.644, 2.461, PHS=-1.419, 0.261,-1.861, RAW= 341.4, 28.8, CAL= 340.6, 33.8, ROT= 169.4, -33.8 MYgot valid direction response: 21:37:56.7829 LVL= 27984, 16881, 21538, 30499, AGC= 30, IDX= 502,-0.10, 0.939, 2.677, 0.644, 2.461, PHS=-1.419, 0.261,-1.861, RAW= 341.4, 28.8, CAL= 340.6, 33.8, ROT= 169.4, -33.8 MR#Rx 2: Read range and direction messages.U^direction in FSK: [-0.816804,0.152861,0.556296]UFpublishing direction and range inföB#{?6z,?IPmiA"T#wˡ ˡ>)?5Iy@i:@8=@Ii)ʰ:ǑΊ?.8=@ Iiuchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.038352A I I N > vB} z>~By B} IB} BBy By By B} ;B} DWf, Ia%An~Bn IipIpBDz6Dz03Y=!ED=EQ)E>A9I9MGYIMAM>QQ 1]4٪UC?Q 5]4U/b  UƙBQ =e49aQ Ae 8YaQ Ee?yQ)U ;IURuAiU4YimΏ?qz15T6X%A1ʋ5C,25̈B#ڿ{?6z,?"5̈B#{?6z,?58=@‹1:5ٲֿ1ƿ?*5ٲ1ֿ?5~0550%?5f 5[B5I`Z(? 5f 15>5Jh@ԹgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gC Added new target pos. range: 0.500000 m, bearing: 207.958465 deg, lat: 36.906030 deg, lon: -122.115849 deg, deltaT: 0.504682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ڊҊ"*R*`-?ɢ|B' X?I !ɡ!i!I%=I!i)i)))))Uchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.273884>AmFӅBEJ4JE[4RE\00D,DD0DEc; EA:6E4:E"El DDAT read: Rx Time:21:37:57.2828  TRx dataTimestamp_ set to:1754689077.881245 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  X#Rx 3: Read range message, but no direction. > % checking for new query: numPingsReceived=3, elapsed TxPingTime=3.5292789 {^f,B#{%Aɰ4<;~B~.II =) =!! !! !! !! !! Mb@Mb@Mb@ )IiI +V-99GYA>Q 14٪C?Q 54b  əBQ =T:9;=Q A4ƿQ E?yOC);I ;i4Y?DB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.502929 s, deltaX: -0.200000 m, approachRate: -0.397670 m/s, rangeRepo size: 4 ڊҊ"*|BR*-@33?]@[?)eG y)IRfAɢ |Bч ]?I ɡiIC=Ii!i!)!)!Aechecking for new query: numPingsReceived=3, elapsed TxPingTime=3.777801>AMyA I I N >ԙ D #D D /D E [; E :6E J4:E ! @! @! @! @Ref,?%Ay6t>ٱ6?6|=66H ?@T4?z?@?=? p` V?I6t>)6 ^;i6CBBB%IBDJ6DJ1YR#!R^=VQ)V>T9T9VGYVjGZ AZ>\Q 1b4٪^C?Q 5b4^c  ^̙B9`Yfg̿Q Ef?y^SC)^;I^:i^_4Yhjώ?hڊ||Ҋ|||" * R *  ?DDAT read: Rx Time:21:37:57.7829 TRx dataTimestamp_ set to:1754689078.385289DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 X#Rx 4: Read range message, but no direction.?checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033270ɢ!|Bf ^Y?I ɡiI=Iii))qA!A%<vB)~B)B-IB-~BB)B)B)B-;B-Dԩ>A9AiIyIN>u checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281749 9kf,M%Ay->ٱ-?-c=-\-H@=V?@&K??@V?@+?r`>?I->)-^;i-CEBE4IMb@Mb@Mb@ )Iix&~jtx̼7Ļ)h@Ii@~@ =@BD 6D k2YQ=!3=%[Q)%>!9)9-GY)-FA->DE.DEDE+DAEEye; EE|;6EE [4:EA"EEA5bA9ZA9 Aa Iq I N >rf,(ȍ%Achecking for new query: numPingsReceived=5, elapsed TxPingTime=4.785782y>>ٱ>,?>v|G=>>H ?4?U?=?e?-`?I>>)>=^;i>CJBJ=I NANABDR 6DR2YZ$=!Zg=^-Q)^>`9`9bGY`bAb>dQ 1j4٪fE?Q 5j4f+e  d9lYnQ En?yfZC)f;If&;if4Ypr?tgCu addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ڊҊ"*R*↵@A?ɢ&|Bf a?I ɡ i I $=I ii)!)9Dm2DmDm6DiEmi; Em:6Emc4:Ei!u@!u@!u@!u@Y>AUN؅DDAT read: Rx Time:21:37:58.7829 TRx dataTimestamp_ set to:1754689079.393845DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 X#Rx 6: Read range message, but no direction.checking for new query: numPingsReceived=6, elapsed TxPingTime=5.041827ԉ A "AI I N >vB! ~B! B% IB% BB! B! B! B% ;B% Dm=xf,⍛%A0yF>ٱF?F(=FFH?|0? Sr?8?@"t?` ٞO?IF>)F^;iFCnBnHI)t tBDz6DzkY/=!F=Q)> N?9 N?9 GY kG A>Q 14٪E?Q 5%4e  ʙB9!Y% Q E%?y^C);I;i£4Y)-?1gCe addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503721 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ڊaaҊaaaiiiiii"q*qRq*qyy}?ɢ)|Btg 顭ke?I ɡiIś=Iii))5checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289831ԉ>AA-AI9IINU>D:D=D2DE\p; E;6E4:E"Ed  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.5451594h~f,rm%Ay6Ym>ٱ6o?6{=696HQ?`<@?/5?S?@튦?`~b?I6Ym>)6^;i6C\vBvXIuMb@Mb@Mb@q q)qIqiqu~jtx&1 rhuĻuPuC)qIux@iu5@uQ@ qqBD6D2Y~=!A= Q)>K?9K?9GY\A>Q 14٪jF?Q 54tf  ǙB9]=Q AuAAI I N5 >A D ;D D -D E Dq; E :6E t4:E ! @! @! @! @Of,G%Aɰ;y>ٱ;?5<zH ? r? ?`??`E =m?I>)ٮ^;iCDDAT read: Rx Time:21:37:59.7829 TRx dataTimestamp_ set to:1754689080.401139DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 X#Rx 8: Read range message, but no direction.?checking for new query: numPingsReceived=8, elapsed TxPingTime=6.049220-B-KII5=)5=BD=6D=!3YM G!M@=MMQ)U>Q9Q9]GYY]zA]>aQ 1m4٪e5G?Q 5m4ef  eÙB9iYuQ Eu?yecC)e;Iea;ie4Yy}?yDB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503956 s, deltaX: 0.200000 m, approachRate: 0.396860 m/s, rangeRepo size: 4 ڊҊ"*R*?`p?ɢ0|Br e?I ?ɡiI=Iii))QAAAAvB~BBIBCBBBBB;BDq>AM] checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298905A I I ԡ N >}f,20%Ay]>ٱ]Ƽ?] <]J]H@ &?cTb? ?wn?5?I]>)]Y^;i]Cq}B}iIrD)jD-%=D5ED5!D5+D1E5Vz; E5:6E5 [4:E1"E5y9y9}GY}lG A>Q 14٪G?Q 54g  B9=Q Achecking for new query: numPingsReceived=9, elapsed TxPingTime=6.553411>AmFӅA I I N > U checking for new query: numPingsReceived=9, elapsed TxPingTime=6.8016801gf,MJ%Ay6>ٱ60?65<6 6H0?` * q?@*??T2?I6>)6 ^;i4BBBcIBDj6DjN2Yr ȼ!rg=vQ)v>9 9 GY  [ĻA>Q 14٪H?Q 5%4%g  B9!Y%Q E%?yfC):I:i4Y)5%?1gCe addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504093 s, deltaX: -0.200000 m, approachRate: -0.396752 m/s, rangeRepo size: 4 ڊaaҊaaaaiiiii"q*qRq*qy}@33?}):?ɢ7|B2F 页2m?I iɡiIΝ=Iii))D]4D]D]/DYE]j; E]:6E]J4:EY!e@!e@!e@!e@UL=DDAT read: Rx Time:21:38:00.7829 TRx dataTimestamp_ set to:1754689081.409200DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 10: Read range message, but no direction.?checking for new query: numPingsReceived=10, elapsed TxPingTime=7.057186A>A= bAA ZAA vB ~B B 'IB BB B B B ";B DByByByByByB}ʕ4q Ai Iq I N >쯘f,od%Ai5B5iI 9=ABDE 6DE2YUq<!U@=]Q)]>Y9Y9]GYaeAe>iQ 1u4٪mQI?Q 5u4mAID2D!D+DEi; E:6E [4:E"E  DDAT read: Rx Time:21:38:01.2828  TRx dataTimestamp_ set to:1754689081.913182 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  Z#Rx 11: Read range message, but no direction. >  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.561167ԑ ;՞f,6~%Ayz&>ٱzL?zH㾺zwzH`.?`3@?*? U?hW?\?Iz&>)zp^;ix B kIMb@Mb@Mb@ )Ii+?{Gz?S㥛=#<)@Ii&@@ @) BD6D:2Yl<!B=QQ)>99GYmG:A>Q 14٪SJ?Q 54f  B9F=Q AA rA /?jA 7?D% TD% D% *D! E% ; E% x:6E% (N4:E! !- @!- @!- @!5 @ A I & dClearing failed state for component DockingStepper1 I N >f,p%Ay6>ٱ6,?6+k׻6N 6H`(?[ ?%?`\?Xz?`̠@?I6>)6a^;i6CBBBnINDDAT read: Rx Time:21:38:01.7829 RTRx dataTimestamp_ set to:1754689082.417272VDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 VZ#Rx 12: Read range message, but no direction.LN?LZchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.065268BD^ 6D^2Yf#<!fR=fWWQ)f>h9h9jGYhnaz;An>pQ 1v4٪rBK?Q 5v4rf  rB9tYvH?Q EU?yrkC)rkA Ա A I I N- >f,%ABEet4JEe44REe 1D2CD2D2-D0E2x; E2:6E2t4:E0"E2rE2r*E2SE2Sٱ5Y?535-5Ht?H䘛@?`?`ߖ?`|z??I5@>)5'5^;i1MBMuII]=)]=ԩMb@Mb@Mb@ )IiS㥫?X9v?I +/]=<9)Ix@i@ @BD6DN2Y <! -=QQ)>99GYE;A>!Q 1-4٪%sL?Q 5-4%e  %B95>=Q A5Hchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.569443gC addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504041 s, deltaX: -0.200000 m, approachRate: -0.396793 m/s, rangeRepo size: 4 ڊҊ"*|BR*@33?↽˞?ɢEI|BM$] IM p?II MnɡQiQIU!A=IQiYi))iF=IC)e݈G y)IkrA?ۡA>A  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818185A I I) 1 N= >f,3Ύ%Ayf[į>ٱfi?fof7fH`>?`Op>? g? c*?`??If[į>)fJ^;idzBz\Ii )9)95GY5nG5<A5>9Q 1E4٪=cM?Q 5E4=ie  =B9IYM?Q EM?y=rC)=:I=:i=]4YQU?YڊҊ     "*R*%`R?ɢML|BM$7 IMd?II U)uɡQiQIUk=IYiYiY)Y)aDu-Du9Du+DqEud; Eu ;6Eu [4:Eq!}@!}@!}@!}@ADDAT read: Rx Time:21:38:02.7829 TRx dataTimestamp_ set to:1754689083.426305DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 14: Read range message, but no direction.? checking for new query: numPingsReceived=14, elapsed TxPingTime=9.074264>AbAZAAqvB~BBrIBBBBBB7;BDA! I1 IA NM >ԙ hf,[莛%Ay:>ٱ:)?:tؐ::H}?@z %?s?T?? { j?I:>):P^;i8JBJDIBDR6DR!3YZ-Ƚ!ZR=Z2Q)Z>\9\9^GY\bV;Ab>dQ 1j4٪f\N?Q 5j4fd  fB9hYjb?Q Ej?yfuC)f:If:if)4Ypr?pgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504992 s, deltaX: 0.200000 m, approachRate: 0.396046 m/s, rangeRepo size: 4 ڊҊ!!"!*!R)*))-?-?Echecking for new query: numPingsReceived=14, elapsed TxPingTime=9.321903ɢeQ|BmP imZ?Ii mc&ɡqiqIu =Iqiyiy)y)yԩA=D=D-DDEs; EK;6E:E"E checking for new query: numPingsReceived=15, elapsed TxPingTime=9.577178 >A FӅAIIIYIiNu?,f, %AyF >ٱF7?Fa>FZFH ?@E@:"@K?@-?B?^?X?IF >)Fy^;iFCRBRKI XX-checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825799EMb@Mb@Mb@A A)AIAiAE/$?~jt?~jtE,=Eq9q9}GYy}3.<A}>Q 14٪O?Q 54Qd  B99L=Q A~B B ~IB BB B B B ";B D>A ԁ A IIN>$ٱBr?BB1BH@?V~Q@\?6?z?q?`vd?IBlD>)B'^;iBCNBN9IBDT6DTY^Ѐ!^:=^Q)b>`9`9bGYboGf";Af>hQ 1n4٪jvP?Q 5n4jc  jB9lYn{?Q En?yj{C)j;Ij:ij4YvBvO?v)EDB*** querying acoustic contact ***jrgC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.504026 s, deltaX: 0.200000 m, approachRate: 0.396805 m/s, rangeRepo size: 4 ڊ!!Ҋ!!!!!!!))")*)R1*11=?=?ɢe]|BeȖV aeR?Ii mɡiiiImz3=Iqiqiy)y)y I)ԑuchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.329858D4DD(DEj; E :6Ec44:E"EAE rAE 1?jAE ,?- DDAT read: Rx Time:21:38:04.2828 - TRx dataTimestamp_ set to:1754689084.9378395 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 = Z#Rx 17: Read range message, but no direction.) - >) E checking for new query: numPingsReceived=17, elapsed TxPingTime=10.585795 A yAI I N >f,ۅ@%AyV7`>ٱVWi?VRVV.VHP?e@nVk? ?w)V)^;iVCrBr(IMb@Mb@Mb@ )Ii)\(?{Gz?:vGa=#<T)Q@Ib@i@@ BD6DY!==hQ)> H?9 H?9GY;A>Q 14٪Q?Q 54oc  B9k=Q AgAQIA I I N >D $D D -D E g\; E :6E t4:E ! @! @! @! @y qIf,}^Z%Ay6 >ٱ6?666H?o%u??[?Rޕ?@?x@?I6 >)6^;i6CBkBBIIF=)F=iJpX9X9ZGYX^;A^>`Q 1f4٪b@S?Q 5f4bc  bB9dYf??Q Ef?ybC)b.:Ib:ib- 4Yhn?lrDDAT read: Rx Time:21:38:04.7829 vTRx dataTimestamp_ set to:1754689085.441248zDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 ~Z#Rx 18: Read range message, but no direction.tv?tchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.089226gC addTargetRange:: Added new target pos. range: 0.500000 m, deltaT: 0.503409 s, deltaX: 0.200000 m, approachRate: 0.397291 m/s, rangeRepo size: 4 ڊҊ"*R*??ɢ=g|B=g 9=A?IA E-ɡAiAIE_=IIiIiI)IQ)QvB~BBxIBBBBBB;BDԁ>Auchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.341403ԹA I I N5 > sf,9t%ADDD.DE E:6Eـ4:E"E'ٱ?㤼HD?x`~??W?@$?{?Iɷ>)^;iVBIԱMb@Mb@Mb@ )Ii:v?Mbp?MbP?<;:)@Ix@i$@ G@BD56D502YE)!E'=M$;Q)M>I9I9UGYUpGU,;AU>YQ 1e4٪]T?Q 5e4]b  Y9e checking for new query: numPingsReceived=19, elapsed TxPingTime=11.593291gC= addTargetRange:: Added new target pos. range: 0.300000 m, deltaT: 0.504076 s, deltaX: -0.200000 m, approachRate: -0.396766 m/s, rangeRepo size: 4 ڊAAҊAAAAaiiii"q*uL|BRq*qq}@33?}@HO?ɢl|B :?I a޽ɡiI=Iii ) )@-=@-= >Ai bAq ZAu A checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841739A AI I N >A 6^f,` %AyE>ٱE+y?EջEEH:? ⠿s??ø? 2?'>s?IE>)E];iA]7B]IeAvBi ~Bi Bm YIBm BBi Bi Bi Bm ;Bm DB9B9B9B9B9B=a<3Թ A= yAIA IQ N] >f,𧏛%Ay6^J>ٱ6j?6n6y6H{?@ * )???m?쟿?I6^J>)6j2_;i6C@]checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345800](B]I quA)}AA }BABD6D2YE!-=Ա`;Q)> H?9 H?9GYT;A>Q 14٪iU?Q 54sb  9YAA Q A)I1IANe>"tf,Ə%Ay:>ٱ:?:Su::H@Y?`Q`?`?@??`Y`>?I:>):Ea;i8I@iBs@ @@)@D Fs@DDDHJAIJ")JUFiH)HIJ~ANTL LLLLiLPiPP)P PIT T)VAVuV(FTXZAiZDIXXX``MMb@Mb@Mb@I I)IIIiIM㥛 J +Mb`MMHM)M@IMK@iIM@ IMQ@BDe6DeJ2Yu鏺!uM=u;Q)u>y9y9}GY}qG;A> Q 1 4٪ =T?Q 54 Uc  9=Q AAbAZArAjAqD9DD,DEso; E:6Eg4:E!@!@!@!@A I I N > DDAT read: Rx Time:21:38:06.7829  TRx dataTimestamp_ set to:1754689087.457147 DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  Z#Rx 22: Read range message, but no direction. % checking for new query: numPingsReceived=22, elapsed TxPingTime=13.105095ԡ f,ߏ%Ay69>ٱ6F?6 P6m 6H?̴@?`P?@<2?3?`?I69>)60a;i6CvB!~B!B%3IB%BB!B!B!B%;B%D=%B=IiAIABDM 6DM2Y]ű!]M=e;Q)e>e9e9eGYam;Am>qQ 1}4٪u(S?Q 5}4u&d  q9yYBQ E?yuC)u;Iu;iu.4Y?ꊵq"*BCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1BAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqBAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBUninitialize.qACompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceR*?}=}=}_n@}!?@ɢ}|B P *?I QڽɡiżIi ) ԑ IM>0iIIM5I>A%^I1IYNe4>checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353711BE]g4JE]7i4RE]30D ,D D +D E c; E 1:6E [4:E "E lٱV?VCVؼVH?Yc<?@1?@m?Xs?@G?IV>)Vf`;iT=B=IIE=)Ea=DDAT read: Rx Time:21:38:07.2828 TRx dataTimestamp_ set to:1754689087.961218DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 23: Read range message, but no direction.>checking for new query: numPingsReceived=23, elapsed TxPingTime=13.609195Mb@Mb@Mb@ )IiʡE+Mb`?;)@Ix@i@@ i;IBD 6D:2Y%f!->=-g:Q)->19195GY1=;A=>AQ 1E4٪EQ?Q 5M4Ee Q 9MtI A9MѰ=Q AUA I I N >f,[%Ay6^>ٱ6h?6.$6ҥ6H%?/@O!I?`?@$??Ԕ?I6^>)6a;i6CBBBIBDJ6DJ0YRw!R\=Ri;Q)V>T9T9VGYTZZ;AZ>\Q 1b4٪^LP?Q 5b4^e  ^B9`Yb>Q Ef?y^C)^h:I^:i^=4Y)5?1e?eeR*↕KU?}}}}p@I ɡiIDDD*DE:; E:6E(N4:E!@!@!@!@i)P=eDDAT read: Rx Time:21:38:07.7829 eTRx dataTimestamp_ set to:1754689088.465106mDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 uZ#Rx 24: Read range message, but no direction.ae?a}checking for new query: numPingsReceived=24, elapsed TxPingTime=14.113093I00i/0>AUmIaIqN}7>AAAA@AvB~BBIBbBBBBB;BD - checking for new query: numPingsReceived=24, elapsed TxPingTime=14.364283w f,d.%A,yj޾>ٱj?jjjH@ԋ?u`?@?@`?? ?Ij޾>)jZa;ijC~ B~IBD6D:2Y%!%C=%&;Q)->)9)9-GY)5(;A>Q 14٪N?Q 54f  9Y,Q E?yC):I:iD4YB?,E1EAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalDB*** querying acoustic contact ***jrR*?`?}}}}jy@I ɡiIi)! qbD=AAԉI?0i0D DD+DEF; E#:6E [4:E"EYAdIINE>ԱuDDAT read: Rx Time:21:38:08.2828 }TRx dataTimestamp_ set to:1754689088.969224DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 25: Read range message, but no direction.y}>ychecking for new query: numPingsReceived=25, elapsed TxPingTime=14.617227 f,ٱ6?6һ6qM6H?Q䏿??@χ?Cz?Oɒs?I6M>)6uO`;i6CN~BNI PP\-Mb@Mb@Mb@) )))I)i)-X9v rhI +?--C -9<)-;@I)i-@-@ )-@)9 =AABDE6DEk2YU=!UG=]|h;Q)]>Y9Y9eGYaeE;Ae>iQ 1u4٪mK?Q 5u4mg  mB9}>Q A};Y}.Q E}?ymC)m;Im;imK4Y?R!*!!%@33?%^?}e>}e>}e{0Z@}ed@Iq yɡyiyIyiy)DDAT read: Rx Time:21:38:08.7829 TRx dataTimestamp_ set to:1754689089.225177checking for new query: numPingsReceived=25, elapsed TxPingTime=14.873507#2;IB0i!%/!>A8ƼIIN%M>DDDDE&U; EA:6E:E!@!@!@!@9  DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  Z#Rx 26: Read range message, but no direction. ?  checking for new query: numPingsReceived=26, elapsed TxPingTime=15.1198704f, b%AvB$~B$B&IB&%BB$B$B$B&;B&DyR">ٱR?R寻RRH?`nl ?׈? ?u?@S?IR">)R|_;iRCn BnIBDv6Dv03Y~&=!P=.;Q)>9 9 GY  YA >Q 1%4٪*I?Q 5%4h  B9!Y-6Q E-?yC),;I,;iZR4Y15v?1RQ*QQU?Uj?}q}q}q}u@I ɡiIi)IDDAT read: Rx Time:21:38:09.2828 TRx dataTimestamp_ set to:1754689089.729365%DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -Z#Rx 27: Read range message, but no direction.  > 5checking for new query: numPingsReceived=27, elapsed TxPingTime=15.379824yI50i5ԩ DE DE DA DA EE L; EE :6EA :EA "EE A 9I I N >~f,C|%Ay6>ٱ6?6K[6ە6H@?`E0`??U?@er? ?I6>)6^;i6CNBRInchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.621802 =Mb@Mb@Mb@9 9)9I9i9=|?5^I +?~jt?=ҽ=9<=<)9I=@i=b@=@ 9=G@BDU6DU:2Ye2E!e>=m:Q)m>i9i9uGYquAu>yQ 14٪}E?Q 54}i  }B9;=Q A;Y0Q E?y}C)}C ;I} ;i}Y4Y ?R*@33?↽k?};=};=}*;@}Da@I ɡiIi) I)9}I?}@I 40i   @5 @@@@qDDAT read: Rx Time:21:38:09.7829 TRx dataTimestamp_ set to:1754689090.231171DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 28: Read range message, but no direction.?checking for new query: numPingsReceived=28, elapsed TxPingTime=15.880902ԑ I I N >_%f,D%Aɰ@@y^>ٱ^ ?^s^Ո^H`H?v8?Ė? ?)Ws?v ?I^>)^^;i^Cj BjII =) =i4)9195GY15ӻA5>9Q 1E4٪=WB?Q 5M4=wi  =B9IYM0Q EM?y=C)=:I=:i=`4YQU?QRqDDD.DEO; E:6Eـ4:E!@!@!@!@ԑ*q?↝O?}}}} a@I ɡiIi)ImM0iqqu/qIIN=checking for new query: numPingsReceived=28, elapsed TxPingTime=16.125780ԩvB~BBIBBBBBB;BD  DDAT read: Rx Time:21:38:10.2828  TRx dataTimestamp_ set to:1754689090.733723 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  Z#Rx 29: Read range message, but no direction. >  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.383251+f,d%Ay6#k>ٱ6n?6oһ6k!6H`? ':@u?`^?@ ?Mz? c@?I6#k>)6V^;i6C~B~IBD  6D 2Y <!%K=%.Q)%>)9)9-GY)-A->1Q 1]4٪5??Q 5e45i  5B9aYe$1Q Ee?y5C)5;I5i;i5g4Yim?qDB*** querying acoustic contact ***jrR*@33?O:?}}}}T`@I) )ɡ1i1I9iY)YIL0i4I1IYDDD(DE[I; E8:6Ec44:E"Echecking for new query: numPingsReceived=29, elapsed TxPingTime=16.6296861Y dq2f,?ʐ%Ay6>ٱ6?66MN6Hm?`R`? ? m?`E?N 5?I6>)6E^^;i6CNBRIRpi9q9uGYquAu>yQ 14٪}=?Q 54}i  }B9=Q AFQ E?y}C)}E:I}:i} o4Y?R*{?9eDDAT read: Rx Time:21:38:10.7828 mTRx dataTimestamp_ set to:1754689091.238338}DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 }Z#Rx 30: Read range message, but no direction.aaachecking for new query: numPingsReceived=30, elapsed TxPingTime=16.887735} =} =} `.@} S@IQ YɡYiYIYiY)a iI>0iU5I1IANMS>DDD)DE*; E:6EFA4:E!@!@!@!@ԉ checking for new query: numPingsReceived=30, elapsed TxPingTime=17.133713Թ vB ~B B IB ~BB B B B ;B DBBBBBBo438f,䐛%Aiy6>ٱ6C?646w%6H`?.s^??`s?r??I6>)6%^;i6CBBBI DFA)H J@ABDN6DNJ2YV <!VW=VcQ)V>X9X9ZGYXZ`A^>`Q 1f4٪bN;?Q 5f4bj  bB9dYf>Q Ef?ybC)b):Ib:ibu4Yhn?lCzDone Waiting.zC~8Uninitialize Wait Component.~R|*|| ?}}}}VhS@I ɡiIi)ԑImQ0iiqu/5qIIN=DDAT read: Rx Time:21:38:11.2827 TRx dataTimestamp_ set to:1754689091.744413DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 31: Read range message, but no direction.L>checking for new query: numPingsReceived=31, elapsed TxPingTime=17.394274bD ZD ?AD D D (D E 0; E :6E c44:E "E f, %Abchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.637833yf>ٱf)?fHVFf3謼fH ?A^$`?5?%Ն?`ʈ?5@?If>)f^;ifCn2BrImMb@Mb@Mb@i i)iIiiimI +/$?V-?m94m99GY8A>Q 1 4٪w9?Q 5 4#j  B9[h=Q Ai}DDAT read: Rx Time:21:38:11.7828 }TRx dataTimestamp_ set to:1754689092.246156DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 32: Read range message, but no direction.y}>ychecking for new query: numPingsReceived=32, elapsed TxPingTime=17.895590A uEf,>%A0y6F>ٱ6_6?6f6Y6H \?.)%1???ڌ?@1j e?I6F>)6^;i4bDBbIidIdBDn6Dn1YvC=!v]=vQ)v>x9x9zGYxzCA~>Q 1 4٪7?Q 5 41j  B9 Y AQ E ?yĐC)[:I:i4Y?gJ5BCompleted lineCaptureHoming:Lap:B5cJ5^Aggregate::uninitialize lineCaptureHoming:Lap:B15}I}I}I}M?bP@DeDeDe.DaEe77; Eea:6Eeـ4:Ea!m@!m@!m@!m@Iup: yɡyiyIyi)AAI5c0i115>51IAIQNe=ԉchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.141752vB~BCBIBBBBBB;BDԹ  DDAT read: Rx Time:21:38:12.2828  TRx dataTimestamp_ set to:1754689092.750208 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  Z#Rx 33: Read range message, but no direction.  checking for new query: numPingsReceived=33, elapsed TxPingTime=18.407120`Kf,1%Ay6Ĭ>ٱ6?6C66H(? k@?H)?`??U?]֖?I6Ĭ>)6^;i4RCBPIV=)V=\BDZ 6DZ2Y- !-F=-Q)->19195GY15>ʼA=>Q 14٪16?Q 54?j  řB9YhBQ E?yƐC)F;IB;iG4Y7?b1qDB*** querying acoustic contact ***jr})})})}-,O@Ia iɡiiiIii)BE [4JEY4RExE0DDD-DE0; E:6Et4:E"E!E!*Echecking for new query: numPingsReceived=33, elapsed TxPingTime=18.645708iI)ENG Q)mAIοbAA Rf, K%Ay6>ٱ6 ?6 64,Ǽ6H[?@Œb`p? \?x ?Ւ?㘿1?I6>)6K_;i4BOBBI!Mb@Mb@Mb@ )IiI +Mb?/$?94<<);@Ii@@ @BD6D2Y%<!%;=-!Q)->=DDAT read: Rx Time:21:38:12.7829 =TRx dataTimestamp_ set to:1754689093.253279MDAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 MZ#Rx 34: Read range message, but no direction.9=?9Uchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.901251)9q9uGYqu0ݼA}>yQ 14٪}5?Q 54};j  }əB9D}D}D})DyE}8; E}:6E}FA4:Ey!@!@!@!@ԁ checking for new query: numPingsReceived=34, elapsed TxPingTime=19.149780ԙ vB ~B B IB 9BB B B B ;B DIXf,g`e%Ay6r>ٱ6u ?6W96׼6H`?>2؟ 6???@&?ݚn?I6r>)6_;i6CbfBbIf=f%=BDj6Dj3Yr}=!ra=v̻Q)v>t9t9vGYtzZAz>|Q 14٪~?5?Q 54~7j  ~͙B9Y A@Q E ?y~ȐC)~:I~B:i~4Yْ?-CH-fAggregate::initialize lineCaptureHoming:restartDHCP-gH-$Restarting DHCP...515}I}I}I}MA@IY YɡaiaIaia)iu?qyI5S0i11501IAIQN]=ԩeDDAT read: Rx Time:21:38:13.2828 mTRx dataTimestamp_ set to:1754689093.760780PDAT read: Bearing 265.3, 17.4 (Local) ~Local bearing/azimuth received: Bearing 265.3, 17.4 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 eDAT read: 21:38:13.2828 LVL= 26672, 23281, 24034, 30355, AGC= 36, IDX= 499,-0.19, 0.720,-0.067, 0.127, 1.771, PHS=-0.948,-1.793,-1.687, RAW= 96.6, 63.0, CAL= 95.7, 66.7, ROT= 54.3, -66.7 mYgot valid direction response: 21:38:13.2828 LVL= 26672, 23281, 24034, 30355, AGC= 36, IDX= 499,-0.19, 0.720,-0.067, 0.127, 1.771, PHS=-0.948,-1.793,-1.687, RAW= 96.6, 63.0, CAL= 95.7, 66.7, ROT= 54.3, -66.7 mT#Rx 35: Read range and direction messages.u\direction in FSK: [0.230817,0.321216,0.918446]uFpublishing direction and range infoimҦj?͎? OLc?m>iIm0himZm]mvm$m!r m)m׿Imu?imL?m?m\?m_r?m\Iiii)m{t?"'ǿvBփ?miѾmČm_r? m\Iiiichecking for new query: numPingsReceived=35, elapsed TxPingTime=19.451607D D D ,D E :; E S:6E g4:E "E )ٱf>?f~fGfH)fZ^;ifCrBr$I ttuMb@Mb@Mb@q q)qIqiqu{Gz?I +Mb?u#99GYA>Q 14٪5?Q 54`j  ϙB9ʋ[?2oO ?fz]?t&X?"Ҧj?͎? OLc?_r?‹\:Tl?^Ŋx?b2:y?*`|S?D>?>A?=f; 1>6?O,g NB _BX>@}<}<}r@}ݴ@I ɡiIi)I}e0iy0IIN">= Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shDDAT read: Rx Time:21:38:13.7829 TRx dataTimestamp_ set to:1754689094.269259PDAT read: Bearing 266.1, 18.8 (Local) ~Local bearing/azimuth received: Bearing 266.1, 18.8 (Local) DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 21:38:13.7829 LVL= 28080, 23233, 24370, 30451, AGC= 36, IDX= 500,-0.10, 1.945, 1.193, 1.296, 2.965, PHS=-0.918,-1.726,-1.713, RAW= 90.8, 62.5, CAL= 90.1, 66.4, ROT= 59.9, -66.4 E Ygot valid direction response: 21:38:13.7829 LVL= 28080, 23233, 24370, 30451, AGC= 36, IDX= 500,-0.10, 1.945, 1.193, 1.296, 2.965, PHS=-0.918,-1.726,-1.713, RAW= 90.8, 62.5, CAL= 90.1, 66.4, ROT= 59.9, -66.4 M T#Rx 36: Read range and direction messages.U \direction in FSK: [0.200779,0.346363,0.916363]U Fpublishing direction and range info=#?9*?gR??ImiZ2_v k ܿ)CۿIb?iX? I?V?aх?VIi)l%?0̿X̃`c?raх? VIi checking for new query: numPingsReceived=36, elapsed TxPingTime=19.953098Sef, %Ay6>ٱ6?6[66Hr ?޿?  ??芗?@-@?I6>)6f^;i6C^B^&IBDj6Dj 3Y%0$<!-R=-Q)->19195GY1DEDEDE'DAEE<; EE:6EE'4:EA!M@!M@!U@!U@A>Q 14٪6?Q 54j  љB9YF%Q E?yʐC);I*4-*5?uve B b>@}y}y}y}}g@checking for new query: numPingsReceived=36, elapsed TxPingTime=20.158030I ɡiIi)A)A-<vB1~B5CB5IB5vBB1B1B1B5;B5DyW9 = T/mnt/mmc/started/2025-08-08UTC213814_sh ! ! i m A DDAT read: Rx Time:21:38:14.2828  TRx dataTimestamp_ set to:1754689094.770722 PDAT read: Bearing 271.7, 19.6 (Local)  ~Local bearing/azimuth received: Bearing 271.7, 19.6 (Local)  DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 I k0i 4 I I! N- >1 %lf,򲑛%Ay6>ٱ6c>6dʼ66H E?eݿ@@B?@ G?` ?K? 7?I6>)6]_;i6CNDAT read: 21:38:14.2828 LVL= 32496, 23793, 27570, 32755, AGC= 35, IDX= 499,-0.00, 1.401, 0.844, 0.728, 2.469, PHS=-0.966,-1.580,-1.786, RAW= 76.0, 64.3, CAL= 74.2, 67.9, ROT= 75.8, -67.9 Ygot valid direction response: 21:38:14.2828 LVL= 32496, 23793, 27570, 32755, AGC= 35, IDX= 499,-0.00, 1.401, 0.844, 0.728, 2.469, PHS=-0.966,-1.580,-1.786, RAW= 76.0, 64.3, CAL= 74.2, 67.9, ROT= 75.8, -67.9  T#Rx 37: Read range and direction messages.\direction in FSK: [0.092291,0.364729,0.926529]Fpublishing direction and range info%B%(Ii)I)&9gZ?* W?j?>I~i\k#Kw q=ʿ)Iɩ?iȥ?å??V?Ii)ß7?( NӿnP?txDNV?BD6D:2Ya;!@= Ii=checking for new query: numPingsReceived=37, elapsed TxPingTime=20.513550EQ)E>A9A9EGYIMlAM>Q 14٪L7?Q 54j  әB9YG)Q E?y̐C):Is;ig4Y  3?ID]D]D])DYE]B; E]:6E]FA4:EY"E]nʋ?20)Z?:Q?ӝ?"&9gZ?* W?j?V?‹A:',I1? O?*5-u,0?j^?8=();4?ضg RB);4? [B>?checking for new query: numPingsReceived=37, elapsed TxPingTime=20.661861}}}}@I ɡiI i )y9i I b0i p4 I I N >sf,M̑%AyB>ٱBf>B\IռBABH`?1ݿǢ@?@݁?z? f?`~l ?IB>)BCa;iBC~B=II%=)%=5DDAT read: Rx Time:21:38:14.7828 =TRx dataTimestamp_ set to:1754689095.273064UPDAT read: Bearing 273.6, 20.5 (Local) U~Local bearing/azimuth received: Bearing 273.6, 20.5 (Local) eDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 21:38:14.7828 LVL= 32464, 24561, 26674, 32755, AGC= 35, IDX= 499, 0.07, 2.088, 1.603, 1.386,-3.122, PHS=-0.971,-1.514,-1.819, RAW= 69.2, 64.0, CAL= 67.0, 67.4, ROT= 83.0, -67.4 Ygot valid direction response: 21:38:14.7828 LVL= 32464, 24561, 26674, 32755, AGC= 35, IDX= 499, 0.07, 2.088, 1.603, 1.386,-3.122, PHS=-0.971,-1.514,-1.819, RAW= 69.2, 64.0, CAL= 67.0, 67.4, ROT= 83.0, -67.4 T#Rx 38: Read range and direction messages.\direction in FSK: [0.046834,0.381431,0.923210]Fpublishing direction and range info9=Q}?'\i?$?99I=~i=_=2h99=ux =)=I=#?i=5?=?=?=}l?=I9i9)=B(?1*d\տΣH?=99GYA>Q 1%4٪&8?Q 5-4j  ЙB9-'=?D]D]DYDYE]CJ; E]:6EY:EY!e@!e@!e@!e@}'<}'<}Ʀ@}@I ɡiIi))1=p===y 9 checking for new query: numPingsReceived=38, elapsed TxPingTime=21.166573 I p0i "5 I I N >vB! ~B! B% :IB% BB! B! B! B! B! 7yf,摛%Ay6S#t>ٱ6!>6V'Լ6k6H`? =ܿ:ݢjJ??@閐?(? P\?I6S#t>)6D_;i6CLRBR>IBDZ6DZN2YzM;!z=~]:Q)~?99GYBA ? Q 14٪ 8?Q 54 j  ΙB9YQ E?y ΐC) K;I ;i q4Y)-?)MMMKMInitialize.KMdInitializing internal variables to default values.QtQ}q}q}q}u@I ɡiIi)y9Im_0iqq}/yIIN&>EDDAT read: Rx Time:21:38:15.2827 ETRx dataTimestamp_ set to:1754689095.776250UPDAT read: Bearing 274.7, 20.9 (Local) U~Local bearing/azimuth received: Bearing 274.7, 20.9 (Local) eDAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 21:38:15.2827 LVL= 32752, 23857, 27282, 32755, AGC= 35, IDX= 498, 0.15, 1.550, 1.121, 0.827, 2.643, PHS=-0.991,-1.477,-1.860, RAW= 63.9, 63.8, CAL= 61.7, 67.0, ROT= 88.3, -67.0 Ygot valid direction response: 21:38:15.2827 LVL= 32752, 23857, 27282, 32755, AGC= 35, IDX= 498, 0.15, 1.550, 1.121, 0.827, 2.643, PHS=-0.991,-1.477,-1.860, RAW= 63.9, 63.8, CAL= 61.7, 67.0, ROT= 88.3, -67.0 T#Rx 39: Read range and direction messages.%\direction in FSK: [0.011592,0.390559,0.920505]%Fpublishing direction and range infoAEII?8-?*t?EL>AIEiE1]EjAAE-} EV)E{IE?iEӇ?E։?E?EC?E𭕿IAiA)E`*?Vr{׿cp?EczEoEC? E𭕿IAiAchecking for new query: numPingsReceived=39, elapsed TxPingTime=21.499001! Du Du Du ,Dq Eu B; Eu :6Eu g4:Eq "Eq !} Eq !} *Eu ٱ5[>5^ռ55H@?@ۿ@4???? +?I5g>)50"_;i1MBMLIuA9A9EGYAEܼAM>QQ 1]4٪U8?Q 5]4U!k  UǙB9],=Q A]ʋm?@2mめb?#"?;?"mII?8-?*t?mC?‹m𭕿:mc֢juS?S=?*mȿL?;Y ?mҘ=mmM5?m)i m?BmM5? mضg mRBmo >m4?},=},=}˖@}Ǧ@Im~9m)mZ>u^ռ)u; q qɡqiu^yI}H̸iy))Iy9 )-A5DDAT read: Rx Time:21:38:15.7828 =TRx dataTimestamp_ set to:1754689096.277681EDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 MZ#Rx 40: Read range message, but no direction.15>1Uchecking for new query: numPingsReceived=40, elapsed TxPingTime=21.926708] e dTimed out moving from: 12384 to: 14700 response: 1e - e Hardware FaultIq -& VHardware Fault in component: DockingStepperI ԉ N >pIf,x^%Ay> ]>ٱ>7>>-sռ>;>H4?9ڿᢿt????3`,?I> ]>)>3^;i>CJBJSI LNABDR6DR3YZ<!Zg=^Q)^>\9`9bGY`bAb>dQ 1j4٪f9?Q 5j4f>k  f™B9lYniQ En?yfАC)fP;If ;ifjʅ4Ypr?t ʎ   D%D%D%)D!E%CJ; E%n:6E%FA4:E!!-@!-@!-@!5@}A}A}A}Eu@IQQ)U>U-sռ)UfY Q aɡaieռIe#/ii)i :Uninitialize Docking Stepper. Powering downII9NM=checking for new query: numPingsReceived=40, elapsed TxPingTime=22.173773XRequesting device enable set for address 50.ԉvBz>~BBYIBBB8 =BBB;BDBBBBBBd4Ա M DDAT read: Rx Time:21:38:16.2828 U TRx dataTimestamp_ set to:1754689096.781976] DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 ] Z#Rx 41: Read range message, but no direction.I I I e checking for new query: numPingsReceived=41, elapsed TxPingTime=22.429996m XRequesting device enable set for address 50.sf,94%Ay:lS>ٱ:V>:%Ӽ:h:H ?viڿv?b!??c?@+ 1?I:lS>):(_;i:C~BUIBD6DJ2Y5e<!5B===/:Q)]>a9a9eGYimeAu>ԹQ 14٪O9?Q 54bk  B9YQ E?y);I;i ҅4Y?9ʎ99A}}}}"@I)>%Ӽ)"  ɡiI$?i)II1NE=DE DEDE,DAEEC; EE:6EEg4:EA"EEY9Y9]GYYeAe>iQ 1u4٪m8?Q 5u4mk  mB9uY=Q A}y   ɡiIi)9D5D5D5*D1E5a?; E58:6E5(N4:E1!=@!=@!=@!=@IIN>a checking for new query: numPingsReceived=42, elapsed TxPingTime=23.181709vB ~B B lIB BB 9 =B B B ;B Dԑ f,g%Ay6C>ٱ6>6,޼6@6H`U?`tٿ`=`?W?@?`ě?@U?I6C>)6Lua;i6CBBBZIIF=)F=BDJ 6DJ:2YRV!Vk=V}Q)V?T9X9ZGYXZ?AZ?\Q 1f4٪^/8?Q 5f4^5l  ^B9dYfQ Ef?y^ՐC)^:I^4:i^߅4Yln?l|ʎ||}}}}k@I)))5'>5,޼ 1 1ɡ1i1I=۹i9)AqDDAT read: Rx Time:21:38:17.2828 %TRx dataTimestamp_ set to:1754689097.791463-DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5Z#Rx 43: Read range message, but no direction.!%>!=checking for new query: numPingsReceived=43, elapsed TxPingTime=23.439482@ԩIINB>BEɷG4JErO4RE5/DM DM DM ,DI EM 9; EM P:6EM g4:EI "EM ٱg>`ݼןH)`;iCB\I!@! !@! !@! !@! BD 6D2Y;!-=o8Q)>99GY/A>Q 14٪z7?Q 54l  BQ =+:9Q AJi94Y?ʎI)))->-`ݼ ) 1ɡ1i1I5Oi1)9iAIAEE@<I IN%->DDAT read: Rx Time:21:38:17.7829 TRx dataTimestamp_ set to:1754689098.293161DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 %Z#Rx 44: Read range message, but no direction.?-checking for new query: numPingsReceived=44, elapsed TxPingTime=23.941135! \f,L%A y6BN:>ٱ6>6kؼ6a6Hq?ؿRᢿ ? -s?? ? i?I6BN:>)6_;i6CbBbSIdf=BDj6Dj3Yr0)!vm=v:Q)v?x9x9zGYxzs'Az?D D D -D E O6; E E:6E t4:E !@!@!@!@Q 1%4٪6?Q 5%4m  BQ =% :9!Q A%#kؼ  ɡiIli)@A@A@}d<}checking for new query: numPingsReceived=44, elapsed TxPingTime=24.189754ԉIIN >vBuy>~BqBuxIBuBBqBqBqBu;BuDԙ % DDAT read: Rx Time:21:38:18.2828 - TRx dataTimestamp_ set to:1754689098.7971685 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 = Z#Rx 45: Read range message, but no direction.) - >) E checking for new query: numPingsReceived=45, elapsed TxPingTime=24.445242Ƭf,ٕ%AyF;8>LٱF>F)ϼFFHv?ؿef ?`w?p? ?`?IF;8>)F_;iFC^B^>I fAdBDn 6Dn2YrP!vJ=v4;Q)v>x99GY@sA>!Q 1-4٪%U6?Q 5-4%m  %BQ =-991Q A5)ϼ  ɡiI%2i )@<II N=D D D *D E /; E :6E (N4:E "E ˆٱ6ֵ>6K¼6v6Hw? ؿ@Z?Xx?@1J?H?X?I68>)6u^;i6C^B^=I|!M!U !U!U !U!U !U!U UMb@Mb@Mb@Q Q)QIQiQU{Gzt:v?y&1UףUTa9a9eGYaeAm>Q 14٪5?Q 54dm  BQ =T:9=Q AK¼  ɡiI$Ii))@<IIN )>DDD,DE*; EP:6Eg4:E!%@!%@!%@!%@Q checking for new query: numPingsReceived=46, elapsed TxPingTime=25.197689vBi ~Bi Bm lIBm BBi Bi Bi Bm ;Bm Dԁ (ӹf,T5钛%Ay:9>ٱ:i>:w:#u:H s?Pؿ@?s?]??䬠?I:9>):z^;i:CFBJ8IiHIHBDR6DRYZ!Zj=Z ;Q)Z>\9\9^GY\bÀ;Ab>dQ 1j4٪f5?Q 5j4fOm  fB9hYj@Q En?yfݐC)f:If:if4Ypr?pʎ }!}!}!}%C@I11)5)>=w 9 9ɡ9iAIEWiA)I*@U="@U=Y@]<IIN=ԉDDAT read: Rx Time:21:38:19.2827 TRx dataTimestamp_ set to:1754689099.805211DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 47: Read range message, but no direction.L> checking for new query: numPingsReceived=47, elapsed TxPingTime=25.453165D- D- D- .D) E- 1; E- ^:6E- ـ4:E) "E- kٱ>xuKH@l?ٿJԞ@?*l??N?맠5?IFE<>)T^;iCB+II=)=EMb@Mb@Mb@A A)AIAiAEMb?X9v?QE99GY;A>Q 14٪5?Q 54l  B9=Q AUx Q YɡYiYI](}jia)a@}<IIN>DDAT read: Rx Time:21:38:19.7829 TRx dataTimestamp_ set to:1754689100.309159DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 48: Read range message, but no direction.? checking for new query: numPingsReceived=48, elapsed TxPingTime=25.957123)Q f,%Ay6?>ٱ6bj>6~676Ha?Kٿ晛U?@_`?@@ї? Jُ?e?I6?>)6O^;i6CbzBbIDrDrDr+DpEr&; Er:6Er [4:Ep!v@!v@!v@!v@BDj 6Dj2Yr!j= 9 9 GY '<A>Q 1%4٪q5?Q 5%4l  B9!Y-]?Q E-?yC)8:IQ:i1 4Y15N?1QʎQQY}q}q}q}u}]?I)H>~  ɡiIշui)@j<ԙIIN=Uchecking for new query: numPingsReceived=48, elapsed TxPingTime=26.205833A @AA vB~BBYIBBBBBB;BD DDAT read: Rx Time:21:38:20.2828  TRx dataTimestamp_ set to:1754689100.813144 DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  Z#Rx 49: Read range message, but no direction. > % checking for new query: numPingsReceived=49, elapsed TxPingTime=26.461094 tf,6%Ay>C>ٱ>G>>Ȟ>>?>HCV? ٿ܌?KT?`:?Ӈ? s?I>C>)>^;i>C%cB%I)-<BD=6D=02YE7@!M+=M Q9Q9UGYQU;A]>YQ 1e4٪]A5?Q 5e4]=l  ]B9iYm?Q Em?y]C)]#;I];i]4Yq}.?yʎ}}}}?I)>Ȟ>  ɡiIli)DDDDE["; EE:6E:E"Ez! aeA}checking for new query: numPingsReceived=49, elapsed TxPingTime=26.712812A f,P%A4I\ibs@ ``)`` fs@ddddfAIfn)jGFih)hIhjDn F llppippipp)t tIt t)v;Avz FxxxizI|||=SB=I EAEADDAT read: Rx Time:21:38:20.7829 TRx dataTimestamp_ set to:1754689101.317207DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 Z#Rx 50: Read range message, but no direction.?checking for new query: numPingsReceived=50, elapsed TxPingTime=26.965246Mb@Mb@Mb@ )Ii~jt?&1?~jth?<P=D;)~@Ii@ Q@)@A BD6D:3Yw%! N= Q) >99GYA>Q 1%4٪'5?Q 5-4ԉk  9B_=Q AsY Y YɡYiaIe؅ia)i@]<IiIN9>ԱDDD&DE0; E:6E4:E! @! @! @! @m checking for new query: numPingsReceived=50, elapsed TxPingTime=27.213858 vB ~B B 3IB BB B B B ;B DBBBBBB>4!f,$j%Ay6EJ>ٱ6u>64$6jd6H`JB?ٿz t?@??`? d?`+?I6EJ>)6^;i6C\rMBvIBD~6D~P)3YE(!Ml=U4$  ɡiIɆi)@W<I IN- >DDAT read: Rx Time:21:38:21.2827 TRx dataTimestamp_ set to:1754689101.821169DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 51: Read range message, but no direction.L>checking for new query: numPingsReceived=51, elapsed TxPingTime=27.469130D D D *D E I@; E :6E (N4:E "E ݖٱx>=g;] ˼H@;?`ڿ?`;9?@w0?`c|`u?Ii L>)];iC9BIiI=Mb@Mb@Mb@9 9)9I9i9=Mb?V-?S㥛?=<=m==/<)=Q@I9i=@=@ 9=@BDU6DUYe'!e,=mM*i9q9uGYquq;Au>yQ 14٪}4?Q 54}mj  }B9=Q AI=g;)  ɡiI'i)AiDDAT read: Rx Time:21:38:21.7828 TRx dataTimestamp_ set to:1754689102.329137DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 52: Read range message, but no direction.> checking for new query: numPingsReceived=52, elapsed TxPingTime=27.977081@X<IQ Ia N >ԙ 3f,i5%Aɰp;y6VL>ٱ6">6;6]6HX9?ڿ@|a ?`77?@?}~@k?I6VL>)6 ^;i6CDbDbDb+D`EbU,; Ebn:6Eb [4:E`!f@!f@!f@!f@j5BjIIn=)n=ipIr4<BDv 6Dv:2Y~.!~}= ?Q E%?yC);I;ix-4Y)-?)yʎ}!}!}!}%N>?IIQ)U>U;)U Q YɡYi]QмIe3iy)]checking for new query: numPingsReceived=52, elapsed TxPingTime=28.226095AAvB~BBIBbBBBBB;BDԡ@}z<IIN^> DDAT read: Rx Time:21:38:22.2827  TRx dataTimestamp_ set to:1754689102.834094% DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 % Z#Rx 53: Read range message, but no direction.  L> 5 checking for new query: numPingsReceived=53, elapsed TxPingTime=28.4829069 ]f,%Ay>;K>ٱ>a>>G<>[V>H;?@ڿTj?`?%:? (? ʓ@?I>;K>)>];i>Cj/BjIBD 6D2YA!I=>9999EGYAEAE>IQ 1U4٪M#4?Q 5U4MCi  MB9QY]?Q E}?yMC)MX;IM;iM44Y™?ʎ} } } } ?I99)=>EG<)M : I qɡqiuPIu{iy)yBEU [4JEUwX4REU60DDD*DE/; E:6E(N4:E"EˆQy Ef,ѓ%Ay6\H>ٱ6&>6<6G6HD?`mٿ Y?)6];i6CN2BRIR=R|9|9~GY|A> Q 14٪ 3?Q 54 h  BQ =+:9Q A"i A:4Y!%Q?!AʎAAAIii)mn>m<)uM< q qɡqiuDDDDEI@; Ey:6E:E!@!@!@!@Աu checking for new query: numPingsReceived=54, elapsed TxPingTime=29.233751vB ~B B IB BB B B B ;B D of,듛%Ay: /D>ٱ:>:T<:ⷄ:H@S?@ٿ@(?@?`S?]?@):];i:C}%BI A)AA BD6Dk1YS!?=99GY0A>Q 14٪3?Q 54g  BQ = :9Q AT<)<  ɡi%cIw[i)DDAT read: Rx Time:21:38:23.2827 TRx dataTimestamp_ set to:1754689103.841827DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 55: Read range message, but no direction.checking for new query: numPingsReceived=55, elapsed TxPingTime=29.491028@<I!I9NEs> bD ZD @AD D D (D E 77; E :6E c44:E "E ٱ5x>5U_<55HՄ?ؿ@s"?`?`?@똘?BK@}?I5@4>)5@];i5CE=BEI!! !! !! !! Mb@Mb@Mb@ )IiMb:v?+?<=)h@I@i@@ G@BD6DJ2YX=!6=-< Q) > 99GY A>Q 1%4٪2?Q 5-4g  BQ =-T:9-J=Q A-@}@IA)MZ>MU_<)]= y ɡi.Wchecking for new query: numPingsReceived=56, elapsed TxPingTime=29.993183@<<IIN >a فf,|%A DRDRDR)DPERC; ER*:6ERFA4:EP!V@!Z@!Z@!Z@-NB-Ii1I1BDE6DE02YMF=!Uk=UQ)U?Q9Y9]GYY]Ae?aQ 1m4٪e1?Q 5m4eg  eB9qYqQ Eu?yeC)e:Ie:ieM4Yy}Օ?ʎ}}}}I1)=O>9 9 9ɡ9i=  checking for new query: numPingsReceived=57, elapsed TxPingTime=30.498924 f,W9%AyJ*(>ٱJ>J)J];iJCP-2B-II==)==BDE6DEk2YU׉!UJ=U_;Q)U>y99GY߼A>Q 14٪1?Q 54\g  B9Y@Q E?yC);If;i8T4YQ?ʎ}}}}@I!!)%3>%< ! )ɡ)i-ٱ:>:<:y5:H ?9׿`12?@1?2?g?@wդ?I:>):];i:C^hBbI|MMb@Mb@Mb@I I)IIIiIMZd;OMb`V-?MjMM<)M;@IIiMb@M@ IM@BDe6De 83Yu >!uH=},:Q)}>y99GY- A>Q 14٪m0?Q 54DDAT read: Rx Time:21:38:24.7828 TRx dataTimestamp_ set to:1754689105.357735DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 58: Read range message, but no direction.>checking for new query: numPingsReceived=58, elapsed TxPingTime=31.005892vg  B9=Q A%< ! )ɡ)i)I-Ri1)1@ Ѝ<I)I1N= >DDD*DEL; EO:6E(N4:E!@!@!@!@QU checking for new query: numPingsReceived=58, elapsed TxPingTime=31.249678vBY ~B] CB] IB] ~BB] 9 =BY BY B] ;B] {Dԁ mf,m%Ay~H >ٱ~>~<~q~H`?lOֿ v?`F??(?-@?I~H >)~y];i| mBI<BD%6D%J2Y5D<!5N=5:Q)=>9999=GY9EAE>IQ 1U4٪M/?Q 5U4Mg Q MǙB9YY].Q E]?yMC)M,;IM-;iM2b4YeBe]?m/Eʎ}}}}3d@I)><  ɡiI$c߹i)@@A@ #<II)N5=ԁDDAT read: Rx Time:21:38:25.2827 TRx dataTimestamp_ set to:1754689105.858018DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 59: Read range message, but no direction.L>checking for new query: numPingsReceived=59, elapsed TxPingTime=31.506832ԩD )D D -D E `; E :6E t4:E "E r99GY A>Q 14٪/?Q 54h  ʙB9Z2=Q A<  ɡiIh_i)@_<IINH>DDAT read: Rx Time:21:38:25.7828 TRx dataTimestamp_ set to:1754689106.361174DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 60: Read range message, but no direction.>checking for new query: numPingsReceived=60, elapsed TxPingTime=32.0091361 #'f,.Š%Ay6w=ٱ66>6z<6[6H[?`4ԿĒ?[+? -[??`eۚ`I@i?I6w=)6^;i4DB DBDB,D@EBD; EB :6EBg4:E@!J@!J@!J@!J@RBRCIBDZ6DZ02Yb=!b=b{ܺQ)f?d9d9fGYdjMuAj?lQ 1r4٪n/?Q 5r4nhh  n͙B9pYr?ҿQ Er?ynC)n;Inr;in p4Yxz?xʎ}1}1}1}5 @IAI)Uo>]z< i qɡqiqIui)@V<IAA<vB~BBIBBBBBB;B}DBBBBBBB4checking for new query: numPingsReceived=60, elapsed TxPingTime=32.258572I1N==Ai DDAT read: Rx Time:21:38:26.2827  TRx dataTimestamp_ set to:1754689106.865212 DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  Z#Rx 61: Read range message, but no direction. L>  checking for new query: numPingsReceived=61, elapsed TxPingTime=32.513149ԙ -f,%Ay:ר=ٱ:k>:O<:Yִ:H? ӿ@???@щ?@=\?`<)@oT?I:ר=):y^;i8^B^OIi`I`BDj 6Dj2Yr:=!rH=rhںQ)r>t9t9vGYtvR;Az>xQ 1~4٪zu/?Q 54zh  zЙB9YԿQ E?yzC)z;Iz;iz.w4Y  ?YʎYYY}y}y}y}} @I)>O<  ɡiI6i)*@"@=q@}ۗ<IIN=DDD*DEy>; E|:6E(N4:E"EK99GYA>Q 1 4٪_/?Q 5 4ui  љB9Y=Q Ayq q qɡqiqI}Գiy)@Mך<IYIiN}>DDD)DEC; EV:6EFA4:E!@!@!@!@vB~BBIBCBBBBB;BD5 checking for new query: numPingsReceived=62, elapsed TxPingTime=33.2656821 Y ;f,ٗ%AyFF;=ٱF>FQ9Y9]GYY]Ae>aQ 1m4٪e<  ɡiIDi)@5<IIIaN=uDDAT read: Rx Time:21:38:27.2826 uTRx dataTimestamp_ set to:1754689107.873199}DAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 unknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 checking for new query: numPingsReceived=62, elapsed TxPingTime=33.5206309i BE(N4JE-W4RE0D D D ,D E E; E :6E g4:E "E ]V<]]H ?Ϳ@7?S??`?`W3Ϝ`?I](h<)] ^;i]CBI<4<BD 6Df2Y0=!7=Q)>99GYA>!Q 1=4٪%/?Q 5E4%j  %ҙB9AYEE׿Q EE?y% C)%;I%;i%4YQUft?Qqʎqqyԉ}}}}>@I)>V<  ɡiIt8i)@E)<IQIaNm6>ԹDDAT read: Rx Time:21:38:27.7828 TRx dataTimestamp_ set to:1754689108.377228DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 63: Read range message, but no direction.>checking for new query: numPingsReceived=63, elapsed TxPingTime=34.025249 Hf,F "%AiD6D4D6&D4E6<; E46E64:E4!:@!:@!:@!:@d=#B=I AEAMb@Mb@Mb@ )Ii{Gzt~jt99GYA>Q 1 4٪2/?Q 5 4k  ϙB9R=Q A  ɡiI$9i)!@ <I!I1N= >A  DDAT read: Rx Time:21:38:28.2827  TRx dataTimestamp_ set to:1754689108.881236 DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  Z#Rx 64: Read range message, but no direction. L>  checking for new query: numPingsReceived=64, elapsed TxPingTime=34.529205HNf,u;%Ay]@ٱ]@V>]<]D]H K?ʿ=??H?嵡??OE ?I]@)]^;i]Cu$BuIBD6D2Y;!P=,>Q)>99GYA>Q 14٪[/?Q 54k  ˙B9YjQ E?yC)';I;i䚆4Ym?ʎ} } } } O@I))>< ! !ɡ!i!I%m]9i)))@5<I9IQN]=rDm%=jDmR=Du DuDu)DqEuF; Eu:6EuFA4:Eq"EuYa}checking for new query: numPingsReceived=65, elapsed TxPingTime=35.033211ԁMb@Mb@Mb@ )Ii~jth?V- rhD;C )Q@Ix@i@ BD6D 83Y=!F=Q)>99GYA>Q 14٪/?Q 54k  ęB9t7=Q A  ɡiI`9i)*@="@@<IIN!>D&DD,DE8^; En:6Eg4:E!@!@!@!@vB~BBYIBBBBBB;BD checking for new query: numPingsReceived=65, elapsed TxPingTime=35.281799! HZ[f,ԝo%Aɰ4C>Nd 9 9GYHA>Q 1%4٪/?Q 5-45l  B9)Y-!Q E-?yC);I;i4Y15f?9QʎYYY}q}q}q}uG@I)>d<  ɡiI09i)@<IIN=mDDAT read: Rx Time:21:38:29.2827 uTRx dataTimestamp_ set to:1754689109.889087}DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 66: Read range message, but no direction.quL>qchecking for new query: numPingsReceived=66, elapsed TxPingTime=35.537029!QbD ZD ?AD D D D E mR; E -:6E :E "E Z 99GYTA>Q 14٪0?Q 54Ul  B9C=Q Achecking for new query: numPingsReceived=67, elapsed TxPingTime=36.045578@<IIN>Ա clhf,T%AD.'D.D,D,E. _; E.1:6E,:E,!2@!2@!2@!2@yR6@ٱR@5>RQeQ< i iɡiiiIm:iq)qvB9~B=CB=xIB=BB9B9B9B=;B=DԱ@C<Ichecking for new query: numPingsReceived=67, elapsed TxPingTime=36.293835IN =  DDAT read: Rx Time:21:38:30.2827  TRx dataTimestamp_ set to:1754689110.901207 DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  Z#Rx 68: Read range message, but no direction. L>  checking for new query: numPingsReceived=68, elapsed TxPingTime=36.5491949 nf,]1%AyN@ٱN0>Np9p9rGYpv=Av>xQ 1z4٪z2?Q 5~4z|l  zB9|Y~.оQ E~?yzC)z];Izz;izý4Y  pd? )ʎ)))}I}I}I}M @IYY)]o>e< a aɡaiaIeD:ii)i@U<IaIqN=rDM=jDM<DUDUDU)DQEUP; EU:6EUFA4:EQ"EUB)-99GY׻A>Q 14٪2?Q 54il  B9}S=Q AQ E?yC)T:I:ifņ4Yc?!ʎ!!!}=}S=}=}S=}=v">}=-6>Iii)uZ>u)-< q qɡqiqI}ke4:iyԁ)*@="@=@}̴<IIN>D]D]D]1DYE][I; E]:6E]-4:EY!e@!e@!e@!e@ԩvB)~B-CB-IB-BB)B)B)B-;B-DBBBBBB4   A checking for new query: numPingsReceived=69, elapsed TxPingTime=37.302063 {f,p%Ay6kk@ٱ6V,>6<6 6H?ſ?n?;? 4?+B@o?I6kk@)6z];i6C\^*BbIBDj6Dj:2Yr!r[=r;Q)r>t9t9vGYtzAz>AQ 1M4٪E3?Q 5M4EYl  EB9QYU8>Q EU?yEC)E;IEw;iĔ4YY]j?aʎ}}}}8>I)><  ɡiI I:i)@<IIN5=mDDAT read: Rx Time:21:38:31.2826 uTRx dataTimestamp_ set to:1754689111.909228}DAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 }unknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 checking for new query: numPingsReceived=69, elapsed TxPingTime=37.556656Dm Dm Dm &Di Em C; Em :6Em 4:Ei "Em 664 <6|6H`?@kſQ?I?@b?$M?@z졿?I6b@)6Ʒ];i6Cb'BbIIr=)r=iv4)9)95GY1E3AM>AQ 1}4٪Es4?Q 54EFl  EB9Y>Q E?yEC)E,rI)#>4 < < ɡiIcg:i)I@<IIN)>}DDAT read: Rx Time:21:38:31.7828 }TRx dataTimestamp_ set to:1754689112.413095DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 Z#Rx 70: Read range message, but no direction.y}>ychecking for new query: numPingsReceived=70, elapsed TxPingTime=38.061081ԙ f,$%ADDD+DE:; E:6E [4:E!@!@!@!@yR`@ٱR`*>R=RRH`?Fgſ_?`(A?V?M?WS1?IR`@)R];iPnBnI}Mb@Mb@Mb@y y)yIyiy}S㥛?I +? rh}/<}94<}C )}~@I}b@i}@}@ y}@BDԙ6D:2Y7!A=;Q)>99GY`A>Q 14٪:5?Q 54"l  B9t7=Q A}Q?I)ѿ>checking for new query: numPingsReceived=70, elapsed TxPingTime=38.309914=  ɡiIˀ:i)@1@1@M<IiIN> DDAT read: Rx Time:21:38:32.2827  TRx dataTimestamp_ set to:1754689112.917121 DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  Z#Rx 71: Read range message, but no direction. L>  checking for new query: numPingsReceived=71, elapsed TxPingTime=38.565105 f,Fx>%AyV^@ٱV *>Vo=V"VH?1gſ?99GYA>!Q 1-4٪%5?Q 5-4%k  %yB9)Y5q?Q E5?y%C)%|:I%:i%,4Y9=x?9YʎYaa}y}y}y}}q?I)>o=  ɡiI%:i)iAIA@þ<)G )BE|a4JEU4RE0D5D5D5,D1E5m+; E5:6E5g4:E1"E5ׄ!checking for new query: numPingsReceived=71, elapsed TxPingTime=38.813736Ա ̕f,SX%Ay6s_@ٱ6*>6$=66HƇ?@mſ ?K=?̆? H?`~ˢ?I6s_@)6/];i6CNBRvI TVA-Mb@Mb@Mb@) )))I)i)-Mb`A]checking for new query: numPingsReceived=72, elapsed TxPingTime=39.069298 )-@) @ABD%6D%02Y-^!59=59999=GY9=9AE>AQ 1M4٪E5?Q 5U4Ek  EuB9u|u$= y yɡyiyI}:i)DEDEDE(DAEEB; EEB:6EEc44:EA!M@!M@!M@!M@vB~BBrIBBBBBB;B~DΒ{:*@="@=@<Ichecking for new query: numPingsReceived=72, elapsed TxPingTime=39.317806IN > 9 f,-r%Ay>c@ٱ>^+>>V3=>2>H?ſh?M??G?P|เ?I>c@)>];i>CJBJgIBDR 6DR:2YZ能!Zf=^[3\9`9bGY`bv:Ab>dQ 1j4٪f5?Q 5j4fk  fqB9lYn?Q En?yf!C)f&;IfD;if4YprQ?t ʎ   })})})}-?I99)=>=V3= A AɡAiAIE:iI)I;@ <IIN%=UDDAT read: Rx Time:21:38:33.2827 UTRx dataTimestamp_ set to:1754689113.925178]DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 eZ#Rx 73: Read range message, but no direction.QUL>Qmchecking for new query: numPingsReceived=73, elapsed TxPingTime=39.5731549DU DU DU *DQ EU 1; EU :6EU (N4:EQ "EU kwD=H`?fſo:?P? ?ԥ??Id@)];iԉB`II=)=5Mb@Mb@Mb@1 1)1I1i15~jtZd;O?Mb?5ļ5j<5<)5h@I1i5@1 15Q@BDM6DM1Y]!]=e.i9i9mGYim9Au>qQ 1}4٪uo4?Q 54u`k  uvB9=Q A]Լ@]z0>]@@]z0IYi])]ƅ[AJ`_݋u?]n]𔷾]@@ ]z0IYiYchecking for new query: numPingsReceived=74, elapsed TxPingTime=40.089584 < @ 4<I I N >f,ᥖ%Aɰp;D>D>D>0D<E>+$; E>:6E>4:EJ/U=JY JH?@4ſ [m?G???JK,?IJb@)J];iJCVBVFI`BDb6Db:3Yj !j=jl?}a}a}a}e(!@Iqq)uȌ>vB~BBLIBBBBBB;BdD}/U=  ɡiIe:i) I)checking for new query: numPingsReceived=74, elapsed TxPingTime=40.325809@%<I1IANMS>A u DDAT read: Rx Time:21:38:34.2826 u TRx dataTimestamp_ set to:1754689114.933662} PDAT read: Bearing 323.5, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 323.5, 8.7 (Local)  DAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0  unknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0  DAT read: 21:38:34.2826 LVL= 25296, 20753, 23026, 28019, AGC= 30, IDX= 500,-0.07,-2.690,-0.704,-2.870,-1.332, PHS=-1.257, 0.672,-1.582, RAW= 337.7, 19.9, CAL= 337.7, 24.6, ROT= 172.3, -24.6  Ygot valid direction response: 21:38:34.2826 LVL= 25296, 20753, 23026, 28019, AGC= 30, IDX= 500,-0.07,-2.690,-0.704,-2.870,-1.332, PHS=-1.257, 0.672,-1.582, RAW= 337.7, 19.9, CAL= 337.7, 24.6, ROT= 172.3, -24.6  Z#Rx 75: Read direction message, but no range. ^direction in FSK: [-0.901038,0.121825,0.416281]q u 3 MRlX/?7X?q Iu biu Qu Yq q u `堿 u 1,?)u ~ʿIu v@iu ӱ>u v@u >u v@@u ۾Iq )u 翠=a- ?u u zMu v@@ u ۾ checking for new query: numPingsReceived=75, elapsed TxPingTime=40.593227K3f,D%Ayvj_@ٱv*>ve=vaqvH? xſi? 8?? ?@@f?Ivj_@)v];ivCDuDuDu+DqEu["; EuI:6Eu [4:Eq"Euz9999=GY9EZAE>IIQ 1U4٪M2?Q 5]4Mj  M}B9YY] @Q E]?yM&C)M:IM:iMJ4Yam,?iʎ}!}!}!}%` @I19)=?=e= 9 9ɡ9iaIe :iq)qchecking for new query: numPingsReceived=75, elapsed TxPingTime=40.830654@e<IyIN_>yԡ f, ٖ%Ay:eZ@ٱ: 6*>:t=:5T:H?Meſ? $??`5=?nC?I:eZ@):m~];i8I@iBts@ DD)DD Fds@DHHHJ;AIJ)HiL)LINAN94L PPPPiPPiTT)T TIT X)ZAAZXXX^Ai\I\\\bBf7I%DDAT read: Rx Time:21:38:34.7827 -TRx dataTimestamp_ set to:1754689115.4372325DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 5Z#Rx 76: Read range message, but no direction.!!!=checking for new query: numPingsReceived=76, elapsed TxPingTime=41.085247yMb@Mb@Mb@ )Ii~jth?/$?L7A`?D;<+=)Ii@ @BD6D 3Y!=(9Ut= UR< QɡQiQIUc;iY)Yԡ@<IIN%>DDD'DE0; E:6E'4:E!@!@!@!@vB~BB!IBBBBBB;BhDchecking for new query: numPingsReceived=76, elapsed TxPingTime=41.335285 Ef,\v%Aiy6wK@ٱ6`X(>6\=66H@؁?y)ſ? e??v?J毿ќ?I6wK@)6p];i6}CB-IBD5 6D52YM+!MQ=UJ;Q)U>Y9a9eGYamؗAm>qQ 14٪u2?Q 54uj  uB9YU?Q E?yu)C)u>;Iu#9;iu4Y5?ʎ}}}}%U?I)>\=  ɡ i I V;i)@<IIN=5DDAT read: Rx Time:21:38:35.2826 5TRx dataTimestamp_ set to:1754689115.941119=DAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 Eunknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 Echecking for new query: numPingsReceived=76, elapsed TxPingTime=41.5885661D D D *D E /; E :6E (N4:E "E ˆj+=jؼjH`b?Ŀs&??@? ?b<X?Ijm6@)j@|];ij|CeBe%IiyIyI=)=BD6D3Y!E=;Q)>99GY˻A>Q 14٪2?Q 54Mj  B9Y?Q E?y*C)S:I`:i4Yݎ?1yʎy}}}}?I)d>+=  ɡiI#;i)@ <I I!N-->Y=DDAT read: Rx Time:21:38:35.7828 =TRx dataTimestamp_ set to:1754689116.445181EDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 MZ#Rx 77: Read range message, but no direction.9=>9Uchecking for new query: numPingsReceived=77, elapsed TxPingTime=42.093174ԉԱ Vf,V+'%AD&D&D&'D$E&9; E&:6E&'4:E$!*@!*@!*@!*@vB!~B!B%IB%/BB!B!B!B%;B%cDBBBBBB4E{BEI]Mb@Mb@Mb@Y Y)YIYiY]+Mb? ףp= ?]]<]Q8=)YI]@i]@]@ Y]@BD checking for new query: numPingsReceived=77, elapsed TxPingTime=42.342216ԩ6D:2Y!9=Q)>99GYA>Q 1}4٪S1?Q 54+j  B9|=Q AWi q qɡqiqIu}1;iy)yr;@ <I I N >M DDAT read: Rx Time:21:38:36.2827 M TRx dataTimestamp_ set to:1754689116.949139] DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 ] Z#Rx 78: Read range message, but no direction.I M L>I e checking for new query: numPingsReceived=78, elapsed TxPingTime=42.597095 >f,[A%Aɰy>P@ٱ>>>(g=>ZIļ>Ht?'ÿ@6?`|? ߛ?7!?j{?I>P@)>@];i>}CJwBJIBDR 6DR2YZQ!Zs=^h9Q)^?\9`9bGY`bӼAb?dQ 1j4٪f?0?Q 5j4fj  fB9lYn6@Q En?yf.C)f;If+;if'4Ypr?pʎ   }!}!}!}%6@I11)=3>=(g= 9 9ɡAiAIE;;iA)I=h%<@M<IY&}dClearing failed state for component DockingStepper1}IyN=DDD+DE /; E:6E [4:E"E6B~=6b鿼6H$?¿?c?@ӣ?`?ͯ?I6@)6];i6{C\bpBbIfpchecking for new query: numPingsReceived=79, elapsed TxPingTime=43.101192}Mb@Mb@Mb@y y)yIyiy}~jtx99GYlA>Q 14٪0?Q 54i  B9m=Q Ad-B~= ) 1ɡ1iII;i)DDDDE%; E:6E:E!@!@!@!@vB!~B!B%IB%~BB!B!B!B%;B%fD1=̓< E4Initializing EZServoServo. E8Initializing DockingStepper.@{<I9IqN> ߱ޱchecking for new query: numPingsReceived=79, elapsed TxPingTime=43.351051A ͒f,t%AyJ~@ٱJ>J:r=J#JHX?!D??ಬ??%<<u?IJ~@)J ^;iJ}CZjBZIBDj6Dj 83Yv;r!vW=vBQ)z>x9|9~G!YYeAe>iQ 1u4٪m/?Q 5u4mi  mB9qYu?Q Eu?ym/C)m;ImD;im 64YB?/Eʎ}}}}?I)>:r=  ɡiI}'V;i) I)DDAT read: Rx Time:21:38:37.2827 TRx dataTimestamp_ set to:1754689117.957176DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 %Z#Rx 80: Read range message, but no direction.L>-checking for new query: numPingsReceived=80, elapsed TxPingTime=43.605160I@=<IIIYNmV>q)}G )I徙@bD ZD @ABE(N4JErO4RE0D D D *D E 0; E |:6E (N4:E "E :Al`=:ü:H`?@s0?N?? ?` t]?I::@):];i:CZOB^IBDf 6Dff2Yj!nK=n/Q)n>p9p9rGYprvAv>tQ 1z4٪v/?Q 5z4vi  vřB9|Y~?Q E~?yt)v3;Iv;iv<4Y ? )ʎ)))}I}I}I}M?yI)>Al`=  ɡiIRa;i)@<I I)Nu=ԡDDAT read: Rx Time:21:38:37.7828 %TRx dataTimestamp_ set to:1754689118.461169-DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -Z#Rx 81: Read range message, but no direction.>5checking for new query: numPingsReceived=81, elapsed TxPingTime=44.109138 ͤf,r%AD&D&D&'D$E&); E&:6E&'4:E$!*@!*@!*@!*@yV@ٱV@=VpJ=V9ZμVH@?6Z॒??`?8?T`~™@_?IV@)V<];iV{CvB`~B`BbIBb~BB`B`B`Bb;BbnDrNBrIitItMb@Mb@Mb@ )Ii{GzMbP?#L=)h@Ii@ 3@BD6D02Y!<=FQ)>99GYJA>Q 14٪/?Q 54checking for new query: numPingsReceived=81, elapsed TxPingTime=44.359825i  љB9P=Q ApJ=  ɡiIm;i)@U<IaIyN{>1- DDAT read: Rx Time:21:38:38.2827 5 TRx dataTimestamp_ set to:1754689118.965146U DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 e Z#Rx 82: Read range message, but no direction.) - L>) m checking for new query: numPingsReceived=82, elapsed TxPingTime=44.617863Y Jf,P—%Ay>|@ٱ>r=>M1=>7ټ>H]? >}?`8??ݟ?E!w?I>|@)>m];i>}CJABJIBDV6DV2YZk !^^=^ދQ)^>`9`9bGY`b}Af>dQ 1j4٪fP/?Q 5j4fi  fڙB9lYDQ E?yd)f#M1=  ɡiIwu;i)1@<IIN=rDM=jDIDUDUDU(DQEUg5; EUn:6EUc44:EQ"EUuY99GYA>1Q 1=4٪5-?Q 5=45i  5B9Eo=Q AEb%Ǔ= ! )ɡ)i)I-~;iQ)Q@-<I9IINU>DeDeDe*DaEe1A; EeS:6Ee(N4:Ea!m@!m@!m@!m@vB~BBBBBBB;BoDDDAT read: Rx Time:21:38:39.2826 TRx dataTimestamp_ set to:1754689119.726536checking for new query: numPingsReceived=83, elapsed TxPingTime=45.373550 bf,l %AyR@ٱR@S=RCp9t9vGYtv| Av>xQ 1~4٪z,?Q 5~4z/j  zB9Y+Q E?yz5C)zw;Iz;izY4Y  ? )ʎ111}I}I}I}MX@f@Iaa)e>eC< a aɡiiiIm0;ii)q@u<IIN=DAT read: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 unknown deviceResponse_: Range 11 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 checking for new query: numPingsReceived=83, elapsed TxPingTime=45.619461A bDa ZDa Dm Dm Di Di Em C; Em a:6Ei :Ei "Em 99GY A >Q 1%4٪&+?Q 5%4gj  B9!Y-,Q E-?y7C):I:i`4Y1=?qʎ})})})}-5e@I99)=?EE+< @< ɡiI~;i)ԡchecking for new query: numPingsReceived=84, elapsed TxPingTime=46.121864@<IIN> V f,)%ADDD,DE;; E|:6Eg4:E!@!@!@!@A0A0vB4~B6CB6IB6BB4B4B4B6;B6sD`pipy=@ٱ=z==R<==H??9?QW??`^?2B?I=@)=];i={CejBeI Y]AeDDAT read: Rx Time:21:38:40.2827 eTRx dataTimestamp_ set to:1754689120.729975mDAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 uZ#Rx 85: Read range message, but no direction.aaa}checking for new query: numPingsReceived=85, elapsed TxPingTime=46.377922Mb@Mb@Mb@ )Iiy&1|V-{Gz?`#<)Z@Ij@i@C@ @BD 6D2Y =!"=WQ)>99GY%XϼA%>aQ 1m4٪e*?Q 5m4ej  eB9m=Q AuR<  ɡiI?څ;i)@<IINH> checking for new query: numPingsReceived=85, elapsed TxPingTime=46.625774! f,C%Ay6@ٱ62K=6P;626H@?@ot)g? c?`?@rݡ?reš?I6@)6];i6zCBgBBIiDIDIF=)Fp=BDJ6DJ:2YrU!r=rmQ)r?t9t9vGYtzAz?xQ 14٪z*?Q 5 4zj  zB9 Y 0Q E ?yz:C)zk4;Iz55;izCn4Y?9ʎ99A}Y}Y}Y}]Ð@Iii)m>mP; q qɡqiqIu3;iy)y &Changing to mode: 1D=D=D=-D9E= /; E=n:6E=t4:E9"E=ichecking for new query: numPingsReceived=86, elapsed TxPingTime=46.881187INQԁ f, q]%Ay6AS@ٱ6F%=66_6HD?ᑤu V?G?@?!p?l?I6AS@)6e_;i4NoBRIbchecking for new query: numPingsReceived=86, elapsed TxPingTime=47.129791YMb@Mb@Mb@ )Ii rhI +~jtC9D)p@Ii@@ @BD6DY;<!>=Q)>99GYA>Q 14٪9*?Q 54Ak  B9= 9 9ɡ9i=mychecking for new query: numPingsReceived=87, elapsed TxPingTime=47.385311I0i/@ <I I N > N/f,Mw%Aɰp;y>@ٱ>=>E>>H?ؠ?I?`(??_ ?I>@)>a;i<^BbEIBDf"6DfJz3YnlG>!rY=rqQ)r>t9t9vGYtv䗼Av>xQ 1~4٪z)?Q 54z|k  zB9Y Q E?yz=C)z;Iz;iz`|4Y  ? 1ʎ111}I}I}I}M9@Iaa)e>eE e iɡiimDU DU DQ DQ EU 2; EU :6EQ :EQ "EU   checking for new query: numPingsReceived=88, elapsed TxPingTime=47.890057$f,5'%Ay6@ٱ6<6֪66H.?Yߛ??lm?nZ?`@?I6@)6a;i6xCNBRAI TTBDZ6DZY] [!eB=e_Q)e>i9i9mGYimoAm>qQ 14٪u$)?Q 54uk  uB9Y Q E?yu?C)u;Iu:iu4YZ?ʎ}Q}Q}Q}UJ @Iii)m>u֪  ɡi0ԙ AY A] <vBi ~Bm CBm !IBm BBi Bi Bi Bm ;Bm DD D D ,D E :; E :6E g4:E "E )<E )<*E <E <Dv*f,v᫘%AyRS@ٱRchecking for new query: numPingsReceived=89, elapsed TxPingTime=48.393341 MMb@Mb@Mb@I I)IIIiIMMb?y&1|/$M99GY PA>Q 14٪|)?Q 54k  B9K)mk<  ɡiϻI)};i)"9Im0iiim1ia checking for new query: numPingsReceived=89, elapsed TxPingTime=48.641903ia Ie tC@ S<ԩ ) ݈G AI I ) IM 1M AM 6ANU >!\1f,)Ř%Ay6;{@ٱ6e<6Z!6#6H@?@򏉿u͛???@4? K?I6;{@)6]a;i6xCBBB=IBDN 6DN2YR!Rs=VuQ)V?T9X9ZGYXZA^?\Q 1b4٪^)?Q 5b4^k  ^B9dYf5Q Ef?y^@C)^C:I^:i^4Yhj.?l|ʎ|||}}}}\Y@I!))-~>-Z!)-Ϻ ) )ɡ)i5I5xv;i9)9 AAIA)AqBE1JE5¼P4RE5.0DDD*DE1; E:6E(N4:E!@!@!@!@DDAT read: Rx Time:21:38:42.7827 TRx dataTimestamp_ set to:1754689123.249800DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 Z#Rx 90: Read range message, but no direction.checking for new query: numPingsReceived=90, elapsed TxPingTime=48.897766ԙIi0@ -<I I N > ܁7f,|ߘ%A&checking for new query: numPingsReceived=90, elapsed TxPingTime=49.145737yF]@ٱF(Y9Y9eGYaeAe>iQ 1u4٪m(?Q 5u4mk  mޙB9uU]=Q A}u}}G)}" } yɡyi}I}k;i)AAIe0iiim?0i@uA@uA@E<IQIiN8>vB~BBLIBBBBBB;BDDDD&DE1A; E:6E4:E"E|9|9~GY|:ƻA> Q 14٪ '?Q 54 k  ՙB9Y*@Q E?y CC) @;I  ;i 4Y!%?!AʎAAI}a}a}a}eG*@Iqq)}>}׃l y yɡyiyI}ٺ_;i))IIiIIM0Iuchecking for new query: numPingsReceived=90, elapsed TxPingTime=49.654018@e<IqIN>Yԁ D D D /D E 77; E :6E J4:E ! @! @! @! @% DDAT read: Rx Time:21:38:43.7827 % TRx dataTimestamp_ set to:1754689124.261143- DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 5 Z#Rx 91: Read range message, but no direction.! ! ! = checking for new query: numPingsReceived=91, elapsed TxPingTime=49.909111Df, 6%Aɰ4<4<0yVa3@ٱV;VVFVH?@Şe`rhIu?"?|/?^?lRE?IVa3@)VS_;iVyCbBbHIBDj6Dj!3Yri0<!rL=rwϼQ)r>t9t9vGYtzwݻAz>xQ 1=4٪z&?Q 5E4zqk  z̙B9AYE*@Q EE?yzEC)z7#  ɡiI=P;i)ԙI0i0@<IINE>checking for new query: numPingsReceived=91, elapsed TxPingTime=50.157730Թ A A AAvB x>~B B rIB BB B B B ;B DJf, -%ADDDDEg5; E:6E:E"Eu) 1I @i w? '@ @? ^/@ @I i ) |}f>"šޒ{ZA? E  ^/@ @I i checking for new query: numPingsReceived=92, elapsed TxPingTime=50.437073y-&@ٱ-p;-ڢ-{-Ha?HԳm?5?)? Hϳ???I-&@)-~`;i)B7IMb@Mb@Mb@ )IiˡE+?S㥫'=/])~@Ix@iK@b@ @BD6D02YE! = ÈQ) > 99GY/A>)Q 154٪- %?Q 554-j  -B950=Q A5) R; pU? (Cef  OB t3?  OB V> ~?}0=}0=}he@}k@I)?ڢ  ɡiI :;i) checking for new query: numPingsReceived=92, elapsed TxPingTime=50.661880A  rg: J? ?Iu 0iy y } 0y *@ ="@ =@U k<Ia q Iy N >=ȥ =@^ 9ɡ9i9I=*;iA)IuYgot valid direction response: 21:38:44.7830 LVL= 20688, 16433, 21458, 25331, AGC= 31, IDX= 502, 0.15,-2.306,-0.909,-2.941,-1.055, PHS=-1.149, 0.191,-1.930, RAW= 351.4, 28.8, CAL= 350.4, 33.8, ROT= 159.6, -33.8 }T#Rx 93: Read range and direction messages.^direction in FSK: [-0.778867,0.289658,0.556296]Fpublishing direction and range infoz#\1?6z,??IPi1@Sbo C>)= I?B@i?E@?aF2@Ii)̣>Ȕ9?aF2@ Iichecking for new query: numPingsReceived=93, elapsed TxPingTime=50.946465U&tII0iY1@<IIN%>q u checking for new query: numPingsReceived=93, elapsed TxPingTime=51.166409]Xf,c%Ai@0y6@ٱ6_:6u½66H?xf?nOK? &?W?Q?`K?I6@)6^;i6zC B (IMb@Mb@Mb@ )Ii rh ףp= ?{GzCQ8=#)Ii5@@ @BD6D:2YY !<Q)>99GYA>Q 14٪#?Q 54!j  B9 =Q AT4Y? ʎ z)-.Q%A-?ʋ-!2@2-ݿ>?ԛ\?"-z#\1?6z,?-aF2@‹-:-p29#q߿x?_{IL?*-9k^6yqi)?>%?-X>>-+-??-2;e -UB-I$? ))-ۭ=-l?}M =}M =}MK?}MH?I)>u½  ɡiIH;i )1ԑvB9~B9B=IB=BB9B9B9B=;B={DDDD(DE=; E|:6Ec44:E"E Q a  t V>) NbI z@i > @ ? 3@ I i ) oU⿚(K? +  3@ I i I0i 0checking for new query: numPingsReceived=94, elapsed TxPingTime=51.482449@ <I I N > ƈ^f,|%Ay6@ٱ6@6*,Խ6 6H ?~v? xpZZ@?$?ay?e*?I6@)6I^;i6yC\^lBbIBDj 6Dj2Yr!rY=r Q)r>t9t9vGYtvcջAz>|Q 1~4٪~h#?Q 54~i  ~B9Y?Q E?y~OC)~K:I~:i~Ç4Y  z?1ʎ111z9=bq%A=?ʋ=R3@2=n73ٿ!5?gw?"=n73!5?gw?=3@‹=:=(ڿE*T=־=?=e =+B=pU? =(Cef =?B=2>=Ư4@}i}i}i}m?Iy) >*,Խ  ɡiIW\;i)IR=)=Echecking for new query: numPingsReceived=94, elapsed TxPingTime=51.670673] I0i,1@@A@<I1IIN]v>DDDDE(; E:6E:E!@!@!@!@ DDAT read: Rx Time:21:38:45.7831  TRx dataTimestamp_ set to:1754689126.277681 PDAT read: Bearing 305.7, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 305.7, 8.0 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 5 DAT read: 21:38:45.7831 LVL= 19696, 16369, 20754, 24899, AGC= 31, IDX= 502, 0.48,-3.007,-1.524, 2.772,-1.762, PHS=-1.143, 0.283,-1.793, RAW= 347.8, 27.0, CAL= 347.2, 31.9, ROT= 162.8, -31.9 = Ygot valid direction response: 21:38:45.7831 LVL= 19696, 16369, 20754, 24899, AGC= 31, IDX= 502, 0.48,-3.007,-1.524, 2.772,-1.762, PHS=-1.143, 0.283,-1.793, RAW= 347.8, 27.0, CAL= 347.2, 31.9, ROT= 162.8, -31.9 A E T#Rx 95: Read range and direction messages.M ^direction in FSK: [-0.811004,0.251048,0.528438]M Fpublishing direction and range info $O鿄Sg*?w]z? L? I Li ? Q Ca M `>) I ?@i :F> @ Ӈ? o5@ ӇI i ) $, s׹d?  u o5@ ӇI i m checking for new query: numPingsReceived=95, elapsed TxPingTime=51.938057oef,6͖%Ay6R@ٱ6y@6役6iP6H]?,? m@s?m?`#?@ ?I6R@)6a;i6xCn:BnIBDv 6Dv:2Y!==Q)>99GYA>Q 1-4٪"?Q 5U44i  B9aYe?Q Ee?yQC)%0%o蹜?%4jc %KB%? %e %KB%->%5@I}Y}Y}Y}]?I)?  ɡiIPc:i)Uchecking for new query: numPingsReceived=95, elapsed TxPingTime=52.174435qU֣A- <A- 4=vB9 ~B9 B= IB= BB9 B9 B9 B= ;B= rDBɁCBɁCBBBB4ԡ D D D *D E x; E :6E (N4:E "E 3gkf,:%ADDAT read: Rx Time:21:38:46.2830 TRx dataTimestamp_ set to:1754689126.781667"PDAT read: Bearing 310.9, 6.2 (Local) &~Local bearing/azimuth received: Bearing 310.9, 6.2 (Local) .DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 >DAT read: 21:38:46.2830 LVL= 18528, 15937, 19250, 22723, AGC= 33, IDX= 502,-0.22,-0.607, 1.114,-1.070, 0.627, PHS=-1.132, 0.533,-1.741, RAW= 345.0, 22.1, CAL= 344.9, 26.8, ROT= 165.1, -26.8 BYgot valid direction response: 21:38:46.2830 LVL= 18528, 15937, 19250, 22723, AGC= 33, IDX= 502,-0.22,-0.607, 1.114,-1.070, 0.627, PHS=-1.132, 0.533,-1.741, RAW= 345.0, 22.1, CAL= 344.9, 26.8, ROT= 165.1, -26.8 FT#Rx 96: Read range and direction messages.J^direction in FSK: [-0.862574,0.229513,0.450878]JFpublishing direction and range info˜A3d` `?j-??I`HiA>2KX!`吿 r?)޿I2@i|>@|>!k8@|Ii)c`;|俆qdB?Yɰb;`\ž!k8@ |Iijchecking for new query: numPingsReceived=96, elapsed TxPingTime=52.445618 yb@ٱ@4"H`?@?``w%?? t?`^?Ib@)F_;ivCe,BeIMMb@Mb@Mb@I I)IIIiIMX9vI +?~jtMM94=M)IIIiM@M@ IMp@BD 6D2Y!+=}kQ)>99GY#A>Q 14٪!?Q 54h  B9=Q AIg ?nd B?? 2;e >P7@}%=}%=}% @}%P@Iqq)u>u4 }C yɡyiyI}w:i) I)achecking for new query: numPingsReceived=96, elapsed TxPingTime=52.677963ԑ I 0i 5 @ r<I I N >prf,G˙%Ayb@ٱbB@bb]obH@?D0?@꿂?`7$? ?ig?Ib@)b% _;i`nBrIBDz6Dz02Y!=)Q)? 9 9 GY 0A?D%D%D%)D!E%g5; E%:6E%FA4:E!!E@!E@!M@!M@Q 1m4٪@!?Q 5u4ԉNh  B9Y@Q E?yVC)>]t@]va>]:@]vaIYiY)]:Hج3uRO|,?]I ]Oƾ}}}}!@]:@ ]vaIYiY checking for new query: numPingsReceived=97, elapsed TxPingTime=52.953529I)>  ɡiI>N:i!)AԡI0i/*@="@>@<I IN-o> checking for new query: numPingsReceived=97, elapsed TxPingTime=53.181843 >xf,O!噛%Ay6X@ٱ6@636H6H=??Y`阋?4?*??I6X@)69^;i4N~BRI-Mb@Mb@Mb@) )))I)i)-Mb`?L7A`?I +-;-+=-94)-@I-b@i)-@ )-@BD6D:2Y!@=iQ)>99GYL(A>Q 14٪d!?Q 54g  B9=Q A?*R\3?d? > ?;O_d B? nd +Bl ?՜:@}==}==}=WP?}=8Q?III)U>U3 Q QɡQiYI]G9iY)avB~BBIBBB: =BBB;BaDDMDMDM+DIEMs!; EM:6EM [4:EI"EMpx)m˿Imy@im%>m⏾@m >m)<@m Iiii)m%Uל6[pf?mmt˾m)<@ m Iiiichecking for new query: numPingsReceived=98, elapsed TxPingTime=53.451340INj>1Y f,U%Ai@y6Lh@ٱ6so@6 6M 6H? ?[ܓ?΅? t??I6Lh@)6`;i6wCN~BRIiV;ITBDZ 6DZ2Yv!vW=v4YQ)v>x9x9zGYxz)A~>Q 14٪!?Q 5 4g  B9 Y \?Q E ?yZC):Iu:iW4Y?checking for new query: numPingsReceived=98, elapsed TxPingTime=53.685806ʎz%A?ʋ:@2`ۿ ?J?"`뿊 ?J?)<@‹ :%7rݿ~x0U?L?*%7r~x0U?L?=Bq?Jd \B B' ?? <@})})})}-\?1IAA)E,>E I IɡIiIIML̷iQ)i)^G )IEοAEAI0iq@<IAIYNmV>BEJEƙT4REk0DU DUDU*DQEUG; EUr:6EU(N4:EQ!@!@!@!@ԑu DDAT read: Rx Time:21:38:47.7830 } TRx dataTimestamp_ set to:1754689128.293623 PDAT read: Bearing 308.7, 1.0 (Local)  ~Local bearing/azimuth received: Bearing 308.7, 1.0 (Local)  DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 21:38:47.7830 LVL= 16096, 16849, 21010, 25219, AGC= 32, IDX= 502, 0.04, 1.342, 3.025, 1.105, 2.614, PHS=-1.170, 0.455,-1.553, RAW= 340.3, 23.5, CAL= 340.1, 28.2, ROT= 169.9, -28.2  Ygot valid direction response: 21:38:47.7830 LVL= 16096, 16849, 21010, 25219, AGC= 32, IDX= 502, 0.04, 1.342, 3.025, 1.105, 2.614, PHS=-1.170, 0.455,-1.553, RAW= 340.3, 23.5, CAL= 340.1, 28.2, ROT= 169.9, -28.2  T#Rx 99: Read range and direction messages. ^direction in FSK: [-0.867646,0.154551,0.472551] Fpublishing direction and range infoq u @Xd뿚[V?E>?u ?q Iu >iu Au Ru bu u • u >)u ƿIu 3@iu ~>u @u d>u =@u dIq iq )u u^濍R{㿄sr~?u $u Ѿu =@ u dIq iq  checking for new query: numPingsReceived=99, elapsed TxPingTime=53.953983Թ Yf,%Ay6G'@ٱ6n.@666HC? j?䛿@?(?M?@m@?I6G'@)6ں_;i4~~B~IBD 6D k2Y,!%G=%$4Q)%>!9)9-GY)-+A->1Q 1=4٪5!?Q 5E45Dg  5~B9AYE*?Q EE?y5\C)5;I5%;i54Yam?qʎz%A?ʋ6;@25OWn࿜}4?A%:\%?"@Xd뿚[V?E>?=@‹d:"ῷȳE?*%?*hg7n?):? ?=G /?"k.d TB/? ;O_d B ?|<@ԙ}}}}}*?I)>  ɡiI i ) checking for new query: numPingsReceived=99, elapsed TxPingTime=54.190445-(Aq Aq vBy ~By B} rIB} BBy By By B} ;B} SDI 0i 1 @ @ AD} D} D} (Dy E} U,; E} 8:6E} c44:Ey "E}  f,2%ADDAT read: Rx Time:21:38:48.2829 TRx dataTimestamp_ set to:1754689128.797638PDAT read: Bearing 307.9, 0.1 (Local) ~Local bearing/azimuth received: Bearing 307.9, 0.1 (Local) &DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 :DAT read: 21:38:48.2829 LVL= 15248, 16881, 20978, 24787, AGC= 32, IDX= 501, 0.10, 0.812, 2.502, 0.604, 2.099, PHS=-1.185, 0.448,-1.539, RAW= 339.6, 23.7, CAL= 339.3, 28.5, ROT= 170.7, -28.5 >Ygot valid direction response: 21:38:48.2829 LVL= 15248, 16881, 20978, 24787, AGC= 32, IDX= 501, 0.10, 0.812, 2.502, 0.604, 2.099, PHS=-1.185, 0.448,-1.539, RAW= 339.6, 23.7, CAL= 339.3, 28.5, ROT= 170.7, -28.5 >V#Rx 100: Read range and direction messages.B^direction in FSK: [-0.867266,0.142020,0.477159]FFpublishing direction and range info뿤ɥθ-?ĉ??I;iAQ` B`>)ĿI@i>8@>y>@Ii)<ICջٯ⿘󽉱?9[Ӿy>@ Iirchecking for new query: numPingsReceived=100, elapsed TxPingTime=54.465454yz@ٱz@z(z))zH`n??i¿പ?`X?@? Q`?Iz@)z^;izuCY~BkI}Mb@Mb@Mb@y y)yIyiy}99GY5NA>Q 14٪!?Q 54g  B9P@‹:$huݿ|ET?Le?*$hu|ET?Le?='?bأd B? bأd \B ?^>@}EP<}EP<}E?}E?IQY)]z?]( Y YɡYiYIeЕia)ichecking for new query: numPingsReceived=100, elapsed TxPingTime=54.694435m+OQ IE 0iA A E 0A @= <Ia Iy N >Of,~L%Aɰp;y:j@ٱ:@:=::H? j?@ ¿@??[?Ŝ,?I:j@):3^;i:tCINCiRʄA PT)Xb@C `ddhpvpu@DDD,DE(; E:6Eg4:E!=@!E@!E@!E@II)QiQ)mCImЄAqq yC bAiiM@CUA)Q YIY ]&C)]hcAaaa~BFIBD6D1YW!=nQ)?99GYA?Q 1 4٪!?Q 5 4 g  B9Y'?Q E?y]C)):I:i4Ye?-DDAT read: Rx Time:21:38:48.7830 5TRx dataTimestamp_ set to:1754689129.301763=PDAT read: Bearing 308.0, -0.1 (Local) AE~Local bearing/azimuth received: Bearing 308.0, -0.1 (Local) UDAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 uDAT read: 21:38:48.7830 LVL= 15040, 16785, 20946, 24803, AGC= 33, IDX= 502, 0.17, 2.778,-1.808, 2.571,-2.239, PHS=-1.165, 0.476,-1.518, RAW= 339.6, 22.9, CAL= 339.3, 27.7, ROT= 170.7, -27.7 Ygot valid direction response: 21:38:48.7830 LVL= 15040, 16785, 20946, 24803, AGC= 33, IDX= 502, 0.17, 2.778,-1.808, 2.571,-2.239, PHS=-1.165, 0.476,-1.518, RAW= 339.6, 22.9, CAL= 339.3, 27.7, ROT= 170.7, -27.7 V#Rx 101: Read range and direction messages.^direction in FSK: [-0.873756,0.143083,0.464842]Fpublishing direction and range info)-XbD"P?d?-?)I-:i-A-Q-`-!- -F>)-M¿I)i->)->)-I)i))-HU Cs?--m ;) -I)i)checking for new query: numPingsReceived=101, elapsed TxPingTime=54.962940ʎz)-PS%A-?ʋ-;@2-0^A?og?"-XbD"P?d?)‹-:-98__9{?$0-?*-nPyqf?x?-=--?-~c -~B-/? -;O_d -TB-u?-_=@}Q}Q}Q}U'?I)>= yr" ɡiI:Ǻi) I)iԡ  checking for new query: numPingsReceived=101, elapsed TxPingTime=55.198189Im 0ii i m /0i @M <IQ Ii Nu >G@f,Ff%A(y:(@ٱ: 0@:x):pڼ:Hґ??@SÿF`?(5?`v? Ӝ?I:(@):Y`;i:vCM}BM3I QQMb@Mb@Mb@ )Iiy&1y&1|?L``;)I@ir@@ @BDE6DE1Y]ޡ!]P=e+Q)m>q9q9uGYquA}>vB~BB@IBBBBBB;BTD!Q 1-4٪%?Q 5-4%Rg  !9-xl=Q A-ex)  ɡiI+i) DDAT read: Rx Time:21:38:49.2829 TRx dataTimestamp_ set to:1754689129.805660%PDAT read: Bearing 307.7, -1.6 (Local) -~Local bearing/azimuth received: Bearing 307.7, -1.6 (Local) =DAT read: Range 11 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 eDAT read: 21:38:49.2829 LVL= 14896, 17089, 21106, 25683, AGC= 33, IDX= 501, 0.27, 1.656,-2.888, 1.500, 2.938, PHS=-1.180, 0.502,-1.483, RAW= 338.1, 22.4, CAL= 337.9, 27.2, ROT= 172.1, -27.2 uYgot valid direction response: 21:38:49.2829 LVL= 14896, 17089, 21106, 25683, AGC= 33, IDX= 501, 0.27, 1.656,-2.888, 1.500, 2.938, PHS=-1.180, 0.502,-1.483, RAW= 338.1, 22.4, CAL= 337.9, 27.2, ROT= 172.1, -27.2 uV#Rx 102: Read range and direction messages.}^direction in FSK: [-0.880975,0.122245,0.457098]Fpublishing direction and range infoԩX00CyK?RA??I0:iBrRSd= ?)ҽIԼ@i+>@><@@Ii)C 7uE5Csg?1tAPȾ<@@ Ii-checking for new query: numPingsReceived=102, elapsed TxPingTime=55.485748Im0iiqu1q*@y"@}=@E<IQIaNm> f,s%Ay6Ŀ@ٱ6 @6M!6&ż6H@Q??`Cÿ D᱿??a?&V@;?I6Ŀ@)6`;i6uC\}B&Ii)I-4<BD-6D-03Y=Y!E`=E5Q)E>I9I9MGYIMq AM>QQ 1]4٪UL?Q 5e4Ug  Q9aYeh-Q Ee?yUbC)U;IU;iU 4Yim?ichecking for new query: numPingsReceived=102, elapsed TxPingTime=55.701889ʎzY]s%A]?ʋ];@2]X00ܿCyK?RA?"]X00CyK?RA?]<@@‹]:]EєݿÌۉ\?p 3Z?*]EєÌۉ\?p 3Z?]:=]]!?]*d ]~B]!? ]bأd ]B]>],:@}}}}Nd@I)>M!  ɡiIzi)I-0i))-4)@<IqIDDDDE<; E:6E:E!@!@!@! @N->5 DDAT read: Rx Time:21:38:49.7830 = TRx dataTimestamp_ set to:1754689130.309583E PDAT read: Bearing 307.2, -2.4 (Local) E ~Local bearing/azimuth received: Bearing 307.2, -2.4 (Local) U DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 } DAT read: 21:38:49.7830 LVL= 15440, 15569, 20882, 24115, AGC= 34, IDX= 502, 0.36,-2.579,-0.841,-2.707,-1.310, PHS=-1.166, 0.515,-1.441, RAW= 337.5, 22.0, CAL= 337.3, 26.7, ROT= 172.7, -26.7  Ygot valid direction response: 21:38:49.7830 LVL= 15440, 15569, 20882, 24115, AGC= 34, IDX= 502, 0.36,-2.579,-0.841,-2.707,-1.310, PHS=-1.166, 0.515,-1.441, RAW= 337.5, 22.0, CAL= 337.3, 26.7, ROT= 172.7, -26.7  V#Rx 103: Read range and direction messages. ^direction in FSK: [-0.886130,0.113516,0.449319] Fpublishing direction and range info1 5 -[a?"z?5 ?1 I5 P<i5 <5 Q5 3^5 "5 }? 5 ?)5 rI5 ~@i5 >5 Db@5 >5 b@@5 I1 i1 )5 뭗NV ⿶f[M?5 75 VDľ5 b@@ 5 I1 i1  checking for new query: numPingsReceived=103, elapsed TxPingTime=55.969379A If,`%Aiy6e@ٱ6l@6{t&646Hx??hĿ?̴?5 ? "? : ?I6e@)6`;i4n}Bn IBDv6Dv1YE9˽!EJ=MKQ)M>I9Q9UGYQUAU>Q 14٪z?Q 54g  9Y!.Q E?yeC)5;I;i4Y?ʎ99Azae5Г%Ae?ʋel~;@2e;o?̷T@?"e-[a?"z?eb@@‹e:eMiԙ۾? g?*ev1c ?Y?e=e]e0H?ed ev~Be/? ed e~Be/?e 9@}}}} c@I11)=->={t& 9 9ɡ9i9I=>JGiAI)ichecking for new query: numPingsReceived=103, elapsed TxPingTime=56.207649I0i3@ <IINk>yA<A<vB~BBIBbBBBBB;B[DD% D% D% )D! E% ;; E% :6E% FA4:E! "E% f?? ſ`f`?@q?t?nB`?IEf@)E8H_;iEtCyDAT read: 21:38:50.2828 LVL= 17728, 16529, 24002, 28243, AGC= 33, IDX= 502,-0.36,-0.217, 1.663,-0.339, 1.057, PHS=-1.172, 0.651,-1.440, RAW= 336.8, 19.4, CAL= 336.8, 24.0, ROT= 173.2, -24.0 Ygot valid direction response: 21:38:50.2828 LVL= 17728, 16529, 24002, 28243, AGC= 33, IDX= 502,-0.36,-0.217, 1.663,-0.339, 1.057, PHS=-1.172, 0.651,-1.440, RAW= 336.8, 19.4, CAL= 336.8, 24.0, ROT= 173.2, -24.0 V#Rx 104: Read range and direction messages.^direction in FSK: [-0.907119,0.108168,0.406737]Fpublishing direction and range infoquU@-ް?%-u,?u>qIu@Eiu@}BIu]uSnu!u u&?)uQIu@iu-\>u@uPw>u\wA@uPw־Iqiq)u .迥9$Gb=?u&u3u\wA@ uPw־Iqiq-checking for new query: numPingsReceived=104, elapsed TxPingTime=56.531300EMb@Mb@Mb@A A)AIAiAEMbʡEX9v?EEE<)E@IE@iE @E@ AABD6D2Y-q!-$=5@Q)5>1999=GY9=A=>AQ 1m4٪E?Q 5m4Eh  EB9uȪ=Q Auʋu;@2u jѿ8$&R?u2@}Ȫ=}Ȫ=}{@}%@I)>w,  ɡiIoi)checking for new query: numPingsReceived=104, elapsed TxPingTime=56.709709 (Ἡ A ] dTimed out moving from: 12528 to: 14700 response: 1 - Hardware Fault@ @ D5 D5 D5 *D1 E5 U,; E5 1:6E5 (N4:E1 !] @!] @!] @!] @@ <I -&VHardware Fault in component: DockingStepperIN%>)~Gf,њ%Ayf΁@ٱf@fz2fv$fH@{R?%?ſ򺻿?&8?`%Ļ@%>%"B@%վI!i!)%5Z连;Ῥ.R%?% %g%"B@ %վI!i!checking for new query: numPingsReceived=105, elapsed TxPingTime=56.977547Y !N=Q)>!9!9%GY!%d A->)Q 1]4٪-?Q 5]4-i  -B9YY]Q Ee?y-nC)-;I-6:i-!4Yim?iʎz!%VԚ%A!ʋ%&:@2%u9usѿ$U?Eqh?"%f jF??%"B@‹%վ:%!j0ҿ a? F{V?*%7PjM?i͐?%=%%?1%hg %}B! %*d %v~B%>%/@}}}}@I)>z2 IG ɡiI$Ii!))[ :Uninitialize Docking Stepper. Powering down    @<IIN%N>achecking for new query: numPingsReceived=105, elapsed TxPingTime=57.213848ԁ af,׊뚛%Aɰ$&4<<vBx~BxBzIBzBBxBxBxBz;BzYDBBBB: =B: =B24}s}BIrD=jD<D=D=D=)D9E=B; E=:6E=FA4:E9"E=nUDDAT read: Rx Time:21:38:51.2827 UTRx dataTimestamp_ set to:1754689131.821655ePDAT read: Bearing 305.8, -5.8 (Local) e~Local bearing/azimuth received: Bearing 305.8, -5.8 (Local) uDAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 DAT read: 21:38:51.2827 LVL= 22608, 14897, 29090, 30915, AGC= 35, IDX= 501,-0.13,-0.270, 1.497,-0.314, 0.976, PHS=-1.144, 0.566,-1.334, RAW= 335.2, 20.5, CAL= 335.1, 25.1, ROT= 174.9, -25.1 Ygot valid direction response: 21:38:51.2827 LVL= 22608, 14897, 29090, 30915, AGC= 35, IDX= 501,-0.13,-0.270, 1.497,-0.314, 0.976, PHS=-1.144, 0.566,-1.334, RAW= 335.2, 20.5, CAL= 335.1, 25.1, ROT= 174.9, -25.1 V#Rx 106: Read range and direction messages.^direction in FSK: [-0.901984,0.080500,0.424199]Fpublishing direction and range infoQU /?qe&?UL>QIUPXiU1:UqUxQUn U`?)UIU6@iU0>U'@UK>U|]C@UKIQiQ)U#X迁`I῕Rj]?U!UƶU|]C@99GYA>Q 14٪?Q 54h  B9S>Q A;Y7@Q E?y{C UKIQiQchecking for new query: numPingsReceived=106, elapsed TxPingTime=57.487534):Id;i*4Y ? ʎzQU%AUL>ʋU<@2Un =ǿG|?̉#?"U /?qe&?U|]C@‹UK:U,i7ȿKC"?(Xsщ?*UD3JΪ?LB5#?U=UAUns?U2g U}BUns? Uyg U}BU M>UҰ3@}-S>}-S>}-?@}-[7@I)>  ɡiIi) = P"*@A "@A  checking for new query: numPingsReceived=106, elapsed TxPingTime=57.718273@ <I! I1 NE >n@f,?%AyZ7@ٱZ^@ZAZ ؼZH@"?&?`Lǿ<8@o?`??@`k?IZ7@)Z0`;iZtCfd}BfIBDn 6Dn:2YvG!v=tz=Q)z?|9|9~GY|~|ȽA ?Q 1 4٪?Q 54fh  B9Y6@Q E?yC)';I;i.4YB?%2EAʎAAA}Y}Y}Y}]6@Iqq)u!d>uA q yɡyiyI}iy) AAm$@E&<IQIaNm=DMDMDM%DIEMI@; EM:6EM 4:EI!u@!u@!u@!u@AuDDAT read: Rx Time:21:38:51.7828 uTRx dataTimestamp_ set to:1754689132.325657}PDAT read: Bearing 303.3, -7.3 (Local) ~Local bearing/azimuth received: Bearing 303.3, -7.3 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 21:38:51.7828 LVL= 25680, 13537, 30690, 31923, AGC= 34, IDX= 502,-0.05, 1.075, 2.738, 1.077, 2.304, PHS=-1.127, 0.479,-1.271, RAW= 334.3, 22.0, CAL= 334.0, 26.7, ROT= 176.0, -26.7 Ygot valid direction response: 21:38:51.7828 LVL= 25680, 13537, 30690, 31923, AGC= 34, IDX= 502,-0.05, 1.075, 2.738, 1.077, 2.304, PHS=-1.127, 0.479,-1.271, RAW= 334.3, 22.0, CAL= 334.0, 26.7, ROT= 176.0, -26.7 V#Rx 107: Read range and direction messages.^direction in FSK: [-0.891195,0.062318,0.449319]Fpublishing direction and range infoquIA3?"z?u>qIuPdiu4uwu|u"uA u}?>)u!IuU@iu >uq@u>u D@uIqiq)u.Aw^֧?u"u'=ľu D@ uIqiqchecking for new query: numPingsReceived=107, elapsed TxPingTime=57.985474q bf,+%AyF4@ٱF;@F1uHF>{FH`>?`h?ȿ@?¿?@@??V@_?IF4@)F˭`;iFqCYmj}BuIBD6D1Y'T<!<=pQ)>9 9 GY A%>9Q 1U4٪=?Q 5]4=g  =B9aYe)5@Q Em?y=C)=;checking for new query: numPingsReceived=107, elapsed TxPingTime=58.221859I=;i=64Y?YʎYaaz%A>ʋ\]:@2gѿ#$?̷T@?"IA3?"z? D@‹:sșҿ6;ڰ?n`?*$: ]d?l\?׆=4=﹜?6e }B }BU=.@}}}})5@I)>1uH  ɡiIdĻi)ԉAAvB~BBIB~BB9 =BBB;B[DԹD]D]D],DYE]y>; E]:6E]g4:EY"E]K DDAT read: Rx Time:21:38:52.2827  TRx dataTimestamp_ set to:1754689132.829933 DAT read: Range 11 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0  \#Rx 108: Read range message, but no direction. L>  checking for new query: numPingsReceived=108, elapsed TxPingTime=58.479191 f,g8%Aiy6Jϼ@ٱ6q@6O6_ 6Hx?n? ȿ`Ŀ?>??`RN@cS?I6Jϼ@)6`;i4~k}B|ԹMb@Mb@Mb@ )IiK7Q뱿L7A`堿I \+)I@iA/@ @BD6D02YP;!I=kQ)>99GY  :A >Q 14٪-?Q 54/h  B9%!>Q A%;Y%3Q E%?yC)U:I:i=4Y)-?)IʎIIQ}m!>}m!>}m#Kg@}m _@Iyy)>O %n ɡiIL׻i) I)iiIq)>Gchecking for new query: numPingsReceived=108, elapsed TxPingTime=58.726631 )9IиA@0<IIN%o>A BEJEʷG4REʇ 0D} D} D} *Dy E} =-; E} :6E} (N4:Ey ! @! @! @! @ׄf,#R%AyB)x@ٱBP@BVBBH@?$?`Jɿ ſs?@4??|bG?IB)x@)B_;iBrCNz}BNIIR=)R=)T TBDZ6DZ2Yb=!b^=bQ)b>d9d9fGYdjAj>hQ 1r4٪j?Q 5r4jh  jtB9pYr3Q Er?yjC)j/;Ij;ijD4Ytz?xʎ%DDAT read: Rx Time:21:38:52.7828 -TRx dataTimestamp_ set to:1754689133.3336825PDAT read: Bearing 297.9, -9.6 (Local) 5~Local bearing/azimuth received: Bearing 297.9, -9.6 (Local) MDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 mDAT read: 21:38:52.7828 LVL= 28944, 11809, 32114, 31059, AGC= 33, IDX= 502, 0.06,-2.307,-0.643,-2.265,-0.958, PHS=-1.247, 0.360,-1.351, RAW= 333.1, 25.5, CAL= 332.7, 30.4, ROT= 177.3, -30.4 uYgot valid direction response: 21:38:52.7828 LVL= 28944, 11809, 32114, 31059, AGC= 33, IDX= 502, 0.06,-2.307,-0.643,-2.265,-0.958, PHS=-1.247, 0.360,-1.351, RAW= 333.1, 25.5, CAL= 332.7, 30.4, ROT= 177.3, -30.4 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.861556,0.040630,0.506034]Fpublishing direction and range info)-׬=ޑ)|+qͤ?qm1?->)I-qi-!.-r}-Sy-!- -Q>)-I- @i->-й@-?- F@-I)i))-'M3F߿"?-$-- F@ -I)i)checking for new query: numPingsReceived=109, elapsed TxPingTime=59.006229z)- [U%A)ʋ-b9@2-'пًlއ?*n?"-׬=ޑ)|+qͤ?qm1?- F@‹-:-`ѿ >K$?$i"?*-dfґ? Wu?-"=--湜?-]f -}B) ))-=-I?}y}y}y}}|^@I)>V  ɡiI.Ai)@D<IIN>!Qchecking for new query: numPingsReceived=109, elapsed TxPingTime=59.229748y f,֌l%Ay6,@ٱ6,3@6[6fk/6H?`/q? )ɿƿa?4? :? Dk(=?I6,@)6_;i4vB\~B\B\B\B^: =B\B\B^;B^^D=}}BEIrDjD%=D=D=D=+D9E=g5; E=:6E= [4:E9"E=uaIeprie1*e"{ese eL7 e7>)eNbIeR@ie/>ek@e%?ezC@e%Iaia)e¤;Mk ?e!e޾ezC@ e%Iaiamchecking for new query: numPingsReceived=110, elapsed TxPingTime=59.517689K7AA`"Zd;O Yj)I@i\A f@ԡBD6DYg;!=Q)>99GYU}A>Q 14٪!?Q 54*i  dB9>Q A;Y9Q E?yC)a:I:iO4Y15?1ʎzae9u%AeL>ʋes6@2eX!ƿ3r?Tq?"e5뿍Cˇ\?kk?ezC@‹e%:esǿrv? Za?*ey *PZ/hF*?@ ?e[=e;eO繜?e g e}Be=﹜? e g e}Bes=e;T(@}M >}M >}M E]b@}M AoX@IY Y )] ?] [ a a ɡa ia Ie Oi ) *@ ="@ >@ 6<I I! N- > checking for new query: numPingsReceived=110, elapsed TxPingTime=59.733654 f,g%Aɰ}BIBD-6D-J2Y==!==EQ)EL?A9A9EGYAMAML?QQ 14٪U?Q 54URi  U`B9YQ E?yUC)U~i q yɡyiI i)@#<II N= >D=D=D=/D9E=;; E=5:6E=J4:E9!e@!e@!e@!e@eDDAT read: Rx Time:21:38:53.7828 eTRx dataTimestamp_ set to:1754689134.341582mPDAT read: Bearing 296.3, -10.3 (Local) u~Local bearing/azimuth received: Bearing 296.3, -10.3 (Local) DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 21:38:53.7828 LVL= 26992, 13697, 29266, 26611, AGC= 34, IDX= 502, 0.19,-1.489, 0.178,-1.452,-0.131, PHS=-1.257, 0.354,-1.365, RAW= 333.2, 25.7, CAL= 332.8, 30.7, ROT= 177.2, -30.7 Ygot valid direction response: 21:38:53.7828 LVL= 26992, 13697, 29266, 26611, AGC= 34, IDX= 502, 0.19,-1.489, 0.178,-1.452,-0.131, PHS=-1.257, 0.354,-1.365, RAW= 333.2, 25.7, CAL= 332.8, 30.7, ROT= 177.2, -30.7 V#Rx 111: Read range and direction messages.^direction in FSK: [-0.858826,0.042004,0.510543]Fpublishing direction and range infoae>{뿀fT?^V?e>aIepiie5eRrege"e`堿 e}?>)eRIe@ieL>e޹@e>+ ?e.E@e>+ Iaia)e 7ip߿e+ Iaiachecking for new query: numPingsReceived=111, elapsed TxPingTime=60.006863) Q bf,L%Ay:@ٱ:<@:a:G:HH?_?+ʿuȿF?1?? b0?I:@):^;i8n}BnIprp<BDv6Dv0Y==! M=rQ)>)9)95GY9E/ AM>YQ 1}4٪]?Q 54]i  ]VB9Y{:Q E?y]C)];I];i]}Y4YJ?checking for new query: numPingsReceived=111, elapsed TxPingTime=60.239914ʎz{ܕ%A>ʋ7@)2g~L}пwΉ?o[ך?">{뿀fT?^V?.E@‹>+ :ѿ,O?&b?*.1\O?/o?y=ٹ?>g ~BO繜? >g }B&>!@}}}}=W@I)>a  ɡiIoi)YvB~BBIBBBBBB;BnD-_>bD1ZD1D=D=D=+D9E=77; E=*:6E= [4:E9"E=ԁ m DDAT read: Rx Time:21:38:54.2828 u TRx dataTimestamp_ set to:1754689134.845874} DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0  \#Rx 112: Read range message, but no direction.i i i  checking for new query: numPingsReceived=112, elapsed TxPingTime=60.495132f,6 %A0]}B]I!@! !@! !@! !@! Mb@Mb@Mb@ )IiMb@Mb@Mb@)IiA @BD 6Df2Y !6=! ;=Q)>99GYA%>!Q 1-4٪%친?Q 5-4%i  %KBQ =5+:91Q A5;Y1Q E5?y%C)%& ;I%b>i%_4Y=B=&?E5EʎI)I)M>Q Q QɡQiQIU"%iY)YԉE^@-<I9IQN]3>checking for new query: numPingsReceived=112, elapsed TxPingTime=60.741718Թ DE DE DA DA EE O6; EE V:6EA :EA !M @!M @!M @!M @f,{ӛ%Aiy6 s@ٱ64z@6a_6sS6H*?Q?`ɿ ɿ@5?C?n?@Zʩ@62?I6 s@)6t^;i6oCB}BB/IBDJ 6DJ2YR >!Re=Vn;Q)V>T9T9VGYXZƼAZ>`\Q 1b4٪^=蹜?Q 5f4^>j  ^CBQ =f :9dQ Afy;Yf;Q Ef?y^C)^/;I^I?i^c4Yhn?l|ʎ|||%DDAT read: Rx Time:21:38:54.7828 -TRx dataTimestamp_ set to:1754689135.3492965DAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 5\#Rx 113: Read range message, but no direction.!!!=checking for new query: numPingsReceived=113, elapsed TxPingTime=60.997238III)M>Ma_ I QɡQiQIU0O/i)h5n@<I9IINmx>checking for new query: numPingsReceived=113, elapsed TxPingTime=61.247875q nf, 훛%AvB,~B,B.IB.MBB.9 =B,B,B.;B.vDyva@ٱh@LG\̰VHӖ?A?@CPɿɿ 1?@c?`R?428?Iva@)F^;ipC~B5I1!! !! !! !! Mb@Mb@Mb@ )Ii{Gz?~jth?#<D;)I@iA/@ \@) BABD6D:2YC<!8=R99GYtA>DDD)DE/; En:6EFA4:E"Eˆ5LG\ 9 9ɡ9i9I=1Uchecking for new query: numPingsReceived=114, elapsed TxPingTime=61.503185a*@"@=ԉ@ۮ<IIN>Թ  checking for new query: numPingsReceived=114, elapsed TxPingTime=61.749847uf, %Ay60]@ٱ6Wd@6aV6X6H`ž??Eȿ`ɿ0?D??{ @?I60]@)6+e^;i4B ~BBIIBDJ6DJYR =!Ra=V,jT9T9VGYTZԻAZ>\Q 1b4٪^蹜?Q 5b4^Gj  ^EB9dYfCQ Ef?y\)^0;I^W1;i^q4Ypr?tԙʎ}}}}G@I!!)%J>-aV ) )ɡ)i)I-CFi1)9@B<IQIyN=D-D)D-*D)E-&; E)6E-(N4:E)!5@!5@!=@!=@EDDAT read: Rx Time:21:38:55.7828 ETRx dataTimestamp_ set to:1754689136.357564MPDAT read: Bearing 299.4, -6.9 (Local) U~Local bearing/azimuth received: Bearing 299.4, -6.9 (Local) eDAT read: Range 11 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 21:38:55.7828 LVL= 29008, 10465, 32754, 32755, AGC= 32, IDX= 502,-0.02, 0.062, 1.700,-0.012, 1.271, PHS=-1.107, 0.475,-1.327, RAW= 336.4, 22.1, CAL= 336.2, 26.9, ROT= 173.8, -26.9 Ygot valid direction response: 21:38:55.7828 LVL= 29008, 10465, 32754, 32755, AGC= 32, IDX= 502,-0.02, 0.062, 1.700,-0.012, 1.271, PHS=-1.107, 0.475,-1.327, RAW= 336.4, 22.1, CAL= 336.2, 26.9, ROT= 173.8, -26.9 V#Rx 115: Read range and direction messages.^direction in FSK: [-0.886581,0.096314,0.452435]Fpublishing direction and range infoAEiգ^™O?5?E>AIEPqiE(EEE E- E33>)E#۩IE@iE|>EĻ@Eva>E"B@EvaIAiA)E8NfS!:_b?E ` EWžE"B@ EvaIAiAchecking for new query: numPingsReceived=115, elapsed TxPingTime=62.025970 f,!%Aɰ4<y6Vc@ٱ6}j@6]P60[6H?@?@ǿ`?ɿ:2? ??Ҫ`K?I6Vc@)6L^;i4fN~BfeIBD~6D~k1Y i=! D= |99GY:A>!Q 1-4٪%+鹜?Q 5-4%Lj  %FB9)Y-BQ E-?y!)%Z:I%/:i%y4Y9=?9ʎzquT%AqʋuQ3@2ugѿY?i?E_?"uiգ^™O?5?u"B@checking for new query: numPingsReceived=115, elapsed TxPingTime=62.255737‹uva:u.3ѿ9?Pճ?*u9V8 0?2U?u=uAudҹ?ug u~Bu湜? qu}Bu:=u2?}y}y}y}}@I)>]P  ɡiIRi)!@5C<IAIQN]3>A9A=@AvBEw>~BABE-IBEBBE: =BABABE;BE{DBBBBBBƎ3D5D5D5)D1E5s!; E5:6E5FA4:E1"E5px99GYA>Q 14٪;친?Q 54j  NB9c=Q Aa i iɡiiiIm؊\iq)q@@@m<IyIN=ԁchecking for new query: numPingsReceived=115, elapsed TxPingTime=62.757748ԩDE DE ;DE +DA EE ; EE ;6EE [4:EA !M @!M @!M @!M @ f,:@U%Ay6e~@ٱ6@6ay@61[6H6?@1?@6ſ@ɿd9?@Z? ?N窿`1d?I6e~@)6@^;i6qCN~BRIBDZ6DZJ2Yb >!b[=b+=Q)b>d9d9fGYdjC<Aj>hQ 1r4٪j?Q 5r4j k  jTB9pYrȾQ Er?yjɑC)jv;Ij?;ij4Ytz?x 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.)ʎ111}I}I}I}M傼@I)>ay@  ɡiIei)Ա@<IIN=,DAT read: user:1229> BDAT read: Tx time:21:38:57.3530 $Ping request sent.D=<)I@iA\@ =@BD6D1Y?<!9=rD5=jD54=D=D=D=.D9E=1; E=˭:6E=ـ4:E9"E=k99GYA>Q 14٪b?Q 54j  aB9>Q A;Y[>Q E?yёC) ;I ;i4YB?2Eʎ}%>}%>}%>}%[>I9A)E>A A IɡIiIIM) qiQ)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246833@M<IQIiNu>9i ) A) I 뾙 A N@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498274""f,0%A(yZ@ٱZ@Z_I/Z2IZH9?a?'ĿB%ɿ`D? ?? ~ݨ v~?IZ@)Z`*^;iZoCn~B=IiAIABDM6DMN2Y]n!eT=e_2=Q)m>y99GYv"<A>Q 14٪?Q 54j  jB9YF>Q E?yؑC)\:IS:i4Yϭ?ʎ}}}}:F>I ) > _I/  ɡ iINyi)*@%="@%=@-Q<I9IQN]=iBE [4JET\4RE}0DMDMDM*DIEM); EM:6EM(N4:EI!U@!]@!]@!]@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750301 M(f,5Ѣ%Ay6X@ٱ6@6$'6ZY=6H?@9L?a/ÿ ɿ`H?>ճ? ?X?I6X@)6^;i4PR~BRIBDZ6DZJ2Ybf=!fU=fd9h9jGYhjm:;Aj>lQ 1r4٪ne?Q 5v4n[j  ntB9tYv>Q Ev?ynߑC)nV:In:in74Yxz9?|ʎ!}A}A}A}EJ>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004695I)c>$'  ɡi!I%1ia)@e<IIN>A<AvB~BBeIBBBBBB;BDDUDUDQDQEU; EU:6EQ:EQ"EU,r@ٱ>ݮ@>'>X1>H@?y*?M¿@ ɿOK? .?h?`nࠕ?I>@)>];i>kC^~BbI|uMb@Mb@Mb@q q)qIqiqu^I +?~jtx?uX9>u;u)u@Iu@iuAu@ qu\@BD6D1Y<!>=(99GY/:A>Q 14٪?Q 54j  zB9r9>Q A;Y)Q E?yC)v;I;i4Y:?ʎ}r9>}r9>}=}P@I)>'  ɡiI_Ii)@<IIN>)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506284Qԁ De De De 7Da Ee ; Ee :6Ee Ժ4:Ea !m @!m @!m @!m @_5f,֜%Archecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758176v~BvIz>za>i~pQ9Q9UGYQY]Ae>aQ 1m4٪e ?Q 5m4ek  eB9qYqQ Eu?yeC)e.:Ie%:ie4Yy}?ʎ}}}}I)>  ɡiI$i)@<IIN=ԁԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011827 vB ~B B xIB BB B B B ;B vD<;f,b%Ay6O@ٱ6v@66$6H` ?*?|8ɿVL? H? b?@hx?I6O@)6i];i6mCBBBIuMb@Mb@Mb@q q)qIqiquzG?~jt?Mbu =u=u)u@Iu@iuq qu@BD6D!3Y=!E==Q)>99GYt"A>ԹQ 14٪ ?Q 54j  B9F=Q A;Yr>Q E?yC)/;I.;iޱ4Ya?ʎ}F=rDjDR=D%D%D%)D!E%(; E%k:6E%FA4:E!"E%}}zr>IIQ)U>U Y YɡYiYI] ia)i@mޕ<IyIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2623589  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514223mtBf,K %A(i(y^@ٱ^٘@^ ^<5"^H? SU?¿sɿ@RJ? ٰ?`C?`ͮ?I^@)^_^;i\~ BIBD6D2Y%~!%R=%)9)9-GY)-A5>9Q 1=4٪=*?Q 5E4=j  =B9AYE>Q EE?y=C)=:I=\:i=4YMBMϞ?U/Eʎ} } } } >I!!)%|>% ! )ɡ)i)I-i1)1@ES<IQIiNu=D%D%D%,D!E%["; E%:6E%g4:E!!-@!-@!-@!-@9BDAT read: Rx Time:21:38:59.7583 TRx dataTimestamp_ set to:1754689140.389058checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767307iԑ 2Hf,$%Ay>耻@ٱ>@>HK> >H@&??.<@ɿ@kG??}?v?I>耻@)>^;i>nCJBJIBDR 6DR2YZQ1=!ZR=Z`9d9fGYhrުAv>xQ 1~4٪z?Q 5~4zj  zB9|Y~>Q E?yzC)z;Iz;iz4Y  ? )ʎ)))}I}I}I}M:>IYY)]b>eHK a aɡaiaIeƓii)ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024772@ސ<IIQN}=AAAAvB~BBBB9 =BBB;BkDԡbD1ZD5?AD=D=D9D9E=; E=I:6E9:E9"E=`99GYA>Q 14٪?Q 54j  B9>Q A;Yæ>Q E?y C):I:iLj4Y?ʎ}>}>}WZ?}Eæ>I!!)-->-i -?G )ɡ)i)I-Ai1)9@-#<I9IQN]=DAT read: 21:38:59.7583 LVL= 14688, 11457, 14674, 17779, AGC= 35, IDX= 216,-0.01, 0.161, 1.913, 0.105, 1.425, PHS=-1.162, 0.534,-1.364, RAW= 335.6, 21.3, CAL= 335.4, 26.0, ROT= 174.6, -26.0 Ygot valid direction response: 21:38:59.7583 LVL= 14688, 11457, 14674, 17779, AGC= 35, IDX= 216,-0.01, 0.161, 1.913, 0.105, 1.425, PHS=-1.162, 0.534,-1.364, RAW= 335.6, 21.3, CAL= 335.4, 26.0, ROT= 174.6, -26.0 PDAT read: Bearing 301.1, -2.9 (Local) ~Local bearing/azimuth received: Bearing 301.1, -2.9 (Local) DAT read: Range 11 to 50 : 0.8 m (Round-trip 1.1 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.894805,0.084584,0.438371]Fpublishing direction and range infoimqu>쿰+K?3E?mL?iIm`9im,mR9msEm#mj m9?)mIm5o@imV>mR@mV>mC@mVIiii)m@{~gVῗT B?m?W!mrlmC@ mVIiii) DE DE DA DA EE s!; EE :6EA :EA !M @!M @!M @!M @ 99GY/A>qQ 1}4٪u?Q 5}4ui  uB9yY}Ĥ>Q E}?yuC)uY;Iu;iu͈4Yy?ʎzNI%AL?ʋܨ4@2|g1:%R?;{q?"qu>쿰+K?3E?C@‹V:1濋_T?}?*W!^W?7]?r>7Y_}Ṝ?JMc BY_}Ṝ? ~B8?B@}}}}Ĥ>I)>p  ɡiIQi) @ <I)I1N==Yԉ vB ~B B rIB BB : =B B B ;B hDBIBIBIBIBIBMʜ4[f,Ҩq%A0yZ@ٱZ @ZֽZQ,ZH ?b?@,ʷȳ˿,?D`? κ?y~@?IZ@)ZR^;iZnCDDD)DE%; E:6EFA4:E"E~99GYA >Q 14٪?Q 54>i  B9=Q A}ֽ y ɡiI騝i)@u<IIN>>Թ !bf,#%AyNҺ@ٱN@NKȽNS1NH ?`?@쵿@~u̿`!?Sd?`@?`} ?INҺ@)Nו^;iNmCIV̏CiT TT)TX XXXX\^t@`I\)`i`)bCIf΄Add dfCfdAhihhihh)j hIl n3C)ndcAllppvBvIBD|6D|Y 6! =KȽ  ɡiIi)D%D%D%&D!E%y>; E%:6E%4:E!!-@!-@!-@!-@c@<IIN l>A Ohf,`%A$i$yJ@ٱJD@J%{JM2JH L?@?TGͿ?@+?@H'?8?IJ@)Jȥ^;iJjCBBD 6D:2Y-Q!-H=-19195GY1=A=>AQ 1M4٪E?Q 5M4Eh  E}B9IYMp?Q EM?yEC)E :IE$:iE4YQ]A?Yyʎyyy}}}}p?I)=>%{  ɡiIi )J@5<IAIIYNm>A%<A%<vB)~B)B-eIB-BB)B)B)B-;B-qDqDDD,DE%.; E :6Eg4:E"E0!9!9%GY!-A->)Q 1=4٪-?Q 5=4-h  -|B9=];Q A=>Y=<@Q E=?y-C)-C ;I- ;i-4YAMN?Iiʎiii}];}];}I@}<@i&=I)-GI9 EA)=T>U}W)a mo" yɡI5A;AiIhiu?{A) I ) ԩ@<IIN> BEg4JEYe4RExE1D% D% D% -D! 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A A vB ~B B rIB BB B B B ;B CDsf,D@%Aɰ4<499GY% A%>)Q 154٪-$?Q 554-e  -B91Y5ԾQ E5?y-C)-b;I-;i--4YAE"?Aaʎaaa}}}}xǻ@I)l>x[  ɡiIh¼i)*@"@>@i<IIN=)DEDEDE*DAEE<; EEI:6EE(N4:EA"EE99GYA>Q 14٪v#?Q 54ye  B9p=Q Ab%nU ! !ɡ)i)I-+ȼi))1@<I!I1N==ԁԱDU DU DQ DQ EU /; EU :6EQ :EQ !] @!] @!] @!] @ cf,#s%Ay6&d@ٱ6Mk@6\O6] 6H@Ȁ?E[?@l?`?`?@‘W?I6&d@)6A];i4f>~Bf[IBDv 6Dv2Y*<!U= 99GYX޼A>!Q 154٪%"?Q 554%^e  %B99Y=83@Q E=?y%C)%E;I%F;i%Jȋ4YIM#?IԹʎ}}}}83@III)M>M\O Q QɡQiQI]ͼiY)a@5<IAIQN]=vBQ~BQBU_IBUBBQBQBQBU;BUND9 K#f,ҍ%ArDjD<DDD+DEa?; E:6E [4:E"E 9 9 GY  FkA>Q 14٪!?Q 5%4Ae  B9!Y%i2@Q E%?yC);Ia;iOϋ4Y)5Ai ,DAT read: user:1230>  BDAT read: Tx time:21:39:46.3019  $Ping request sent. v)f,%Av)~BvNIixIx}Mb@Mb@Mb@y y)yIyiy}Q?~jty&1?}u=}}`e<)}I}@i}/Ay y}@BD6D0Y;!A=Q)>99GYA>Q 14٪t"?Q 54e  B9 =Q AM;I) -%6ɡ)i)I)i1)9@<I!D5D5D1D1E5m+; E5:6E1:E1!E@!E@!E@!E@&MdClearing failed state for component DockingStepper1MIINU=MXRequesting device enable clr for address 50.I AE <AE <vBM v>~BI BM FIBM BBI BI BI BM ;BM aDB B B B B B 3 ^0f,z%A0yRڧ@ٱR,@R5R8ljRH`]?Dk?`Ȼ`P@??!?F}?IRڧ@)R];iRNCn}Bn.IBDv6Dv1Y~$!U= 99GY%lA->1Q 14٪5E#?Q 545gf  5B9YQ E?y5ÓC)5W;I5R;i5݋4Y _? aʎaҎaڎaa}}}}ȟ@ɢ5 顕pEI 'ɡiIi) 4Initializing EZServoServo. 8Initializing DockingStepper.@<<IԩIN=DEDEDE*DAEE0; EEg:6EE(N4:EA"EEIl=Mb@Mb@Mb@9 9)9I9i9=Zd;? ףp= ?L7A`堿=y==Q==+)=@I=@i9=r@ 9=@BDI6DIY]z=!eD=eaa9i9mGYimfAm>qQ 1}4٪u'?Q 5}4uFf  uB9=Q A;Y=Q E?yuɓC)u:Iu(:iu4Y?QʎQҎQڎQY}=}=}Ӣy?}=ɢ0 顭hI lɡiIi) *@="@=1@<IIN>DI DM DM -DI EI  EM E:6EM t4:EI !U @!U @!] @!] @a ^99GY%A%>)Q 154٪-*?Q 554-+f  -B91Y5׽=Q E5?y-ΓC9)-(:I-O/;i-4YAEſ?IiʎiҎiڎii}}}}4׽=ɢ* 顝I ɡiIi)mvB~BB'IBBBBBB;B[D@M<IQiIiN}>ԙ)͈G A) I5 UԾ5 A5 H@ +Cf, %ArD"%=jD"a=D&D&D&8D$E&2; E&r:6E&F4:E$"E&A9A9EGYAMAM>QQ 1]4٪U.?Q 5]4Uf  UB9YY],=Q Ee?yUԓC)U;IU;iU4Yim%?iʎҎڎԙ}}}},=ɢ'~Bk$ `I (ɡiIi)F˼@]ۅ<IiIyNZ> If,} )%Aiy>W@ٱ>^@>$>>H`F?@j?@ﵿ@@?`~?l?@M ?I>W@)>l ^;iy9y9}GYy}]׼A}>Q 14٪A.?Q 54Mf  B9; EM0;6EM [4:EI!]@!]@!]@!]@@ƃ<II!N- >%BDAT read: Rx Time:21:39:48.1901 %TRx dataTimestamp_ set to:1754689188.808997)AA A @AvB ~B B IB bBB B B B ;B ZDq Pf,B%AyR@ٱR@R'RRRH5I?M?@C iJzp??? O3F?IR@)R ];iROCb}Bf4IihIhIj=)j=BDv 6Dv2Y<! R= u99GY%ʼA%>1Q 1=4٪5-?Q 5E45f  5B9IYMEQ EM?y5֓C)5In;I5Eo;i54YY]?YʎҎڎ}}}}m@ɢ)-' 15!QI1 ] WQɡYiYIYia)a I)ԁbDYZDYDeDeDe)DaEeL; Ee:6EeFA4:Ea"Ee Vf,C\%Ay>ť@ٱ>̬@>>#>H??6 3z`ť@)>=^;i>PCJ~BJ6IMb@Mb@Mb@ )Ii)\(S㥛?L7A`堿Ga/<+)@I@i@ Q@BD56D52YEs;!EF=MpI9I9MGYIUJAU>YQ 1e4٪]-?Q 5e4]e  ]B9e=Q Am> BDAT read: Tx time:21:39:49.3020 $Ping request sent.I)LԿ槮ɐi|}?  Du Du Dq Dq Eu 9; Eu r:6Eq :Eq !} @!} @!} @!} @9 ]f,v%Aɰ yB[@ٱB@B@ BHBH W??`豿?xS?l?V?IB[@)B$^;iBLC~}B~*IBD 6D 1YC!M=Pw!9!9%GY!-KA->1Q 1=4٪5*-?Q 5=45We  5B99Y=?Q E=?y5ܓC)5;I5;i54YAM4?IiʎiҎiڎii}}}}`?ɢ@ 顥hI  ɡiIi)*@="@=vB~BBIBMBB9 =BBB;BlD@ x<II N >9a cf,b%ADDD,DE E:6Eg4:E"E`q9q9uGYqu1Au>yQ 14٪},?Q 54}d  }}B9Y?Q E?y}ߓC)}:I}y:i}#4Y?ʎҎڎ}}}}+?ɢ~! bI ɡiI i)@=s<I)IyԑN=Թ jf,)<%A`yu U@ٱu4\@uvu5ѶuH? ?@Y@@?'?_z?FϿ?Iu U@)u[];iuKC~BDIMb@Mb@Mb@ )Ii+η:v?99GY*A>Q 14٪+?Q 54c  rB9=Q AA A <vB ~B B IB CBB B B B ;B hDA pf,ĩ%A8i:@y^BP@ٱ^iW@^콹^^H`? n? bq _?ٺ?,?旿?I^BP@)^^;i^MCj~BjBIBDr6Dr1YzV8!zm=*DEDEDE*DAEE77; EEV:6EE(N4:EA"EE!eD=ei9i9mGYiuFx:Au>yyQ 14٪}6'?Q 54}>b  }aB9+=Q A;Y@Q E?y}C)}:I}:i}Q+4Y?ʎҎڎ}+=}+=}K@}@ɢ*~Bj޽ P=I AɡiIi)ԡyÞ9 I5.i11501*@=="@==@ a<I I) D] D] DY DY E] 3; E] :6EY :EY !e @!e @!e @!e @Nm > - BDAT read: Rx Time:21:39:51.1902 - TRx dataTimestamp_ set to:1754689191.833626wN}f,%Ay6W@ٱ6^@6/ͽ6o6HE??`?@cW?蚹?X׍ ?I6W@)6t`;i6ICBt~BB|IBDJ6DJ2YRg<!VW=VrT9X9ZGYXZ:AZ>\Q 1b4٪^$?Q 5b4^ma  ^ZB9dYf@Q Ef?y^C)^:I^6:i^14Yhj?hqʎqҎqڎ}}}}@ɢ+~B/ͽ 页ʑ=I kSyɡiIi)y9vB9~B9B9B9B=: =B9B9B=;B=^DBBBBBBzi4IM,iIIMO5I@%]<I1IN;>1ԙ rD] =jD] <De De Da Da Ee s!; Ee ;:6Ea :Ea "Ee px99GYCA=>9Q 1E4٪= "?Q 5M4=q`  =QB9IYM@Q EM?y=C)=:I=N:i=94QYY].?YʎҎڎ}}}}[@ɢ,~B &=I 0PɡiIAiI)Iԁy%9I)i 0@V<ԱIIN> DAT read: 21:39:51.1902 LVL= 22080, 19345, 27106, 30115, AGC= 33, IDX= 446, 0.27,-2.569,-1.824,-3.062,-1.265, PHS=-1.202,-0.514,-1.841, RAW= 358.8, 47.6, CAL= 357.5, 51.8, ROT= 152.5, -51.8  Ygot valid direction response: 21:39:51.1902 LVL= 22080, 19345, 27106, 30115, AGC= 33, IDX= 446, 0.27,-2.569,-1.824,-3.062,-1.265, PHS=-1.202,-0.514,-1.841, RAW= 358.8, 47.6, CAL= 357.5, 51.8, ROT= 152.5, -51.8  DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1232>  BDAT read: Tx time:21:39:52.3020  $Ping request sent. ?m gm hTm X*@ m qg :publishing transmit ping time9 i m sq&0,lpF?L%?i Ii ii i i i i i )i Ii ii i i i i Ii )m zBaֿlv⿫>?i i i i pf,+%AyFV@ٱF^@F"F#ֻFH(??1Ϧ@`?? ^?z@?IFV@)FR _;iFJC]~B]IMb@Mb@Mb@ )IiʡE~jth{GzDף)Q@ԱI@i+@@ p@BD6DDDD/DE%.; E:6EJ4:E!@!@!@!@Y r=! ,=99GY8A>!Q 1-4٪%j?Q 5M4%p_  %KB9M+=Q AU;YUj@Q EU?y%C)%;I%;i%A4YY]?YʎҎڎ}+=}+=}ݳJ@}j@ɢ" X=I T&EɡiIi!)!y09I'i0@u%R<IIN>A A AAvB ~B B B B 9 =B B B ;B WD) 1 Xf,E%Ay:O@ٱ:W@:]: :H$? 9?VK?׭?`^?A. ?I:O@):q_;i:KCJ~BJIBDR6DR3YZm!Zz=^0=Q)^?`9`9bGidIfdCYh%$A5?)eG y)5AIpAQ 14٪)?Q 54^  FB9Y`@Q E?yC);IG;iG4Y?AʎAҎAڎAA}y}y}y}}`@ɢ-~B] 页=I 7ɡiIi)y9Ii2DDD,DE E:6Eg4:E"E0i 4f,N~_%Ai@y6C@ٱ6 K@6a6/N6H??ON`?c? 4?û?I6C@)6 ;a;i6JCL~BI-Mb@Mb@Mb@) )))I)i)-~jt~jtMbP?-Ľ--:)-@I-@i-@) )-@BDE 6DEf2YU=!U=UY9Y9]GYYe1Ae>iQ 1u4٪m?Q 5u4m]  mEB9un=Q A}! |f,J^y%Ay6:@ٱ6B@6 .*6օ6H?2?榊` u?Fۥ?3D? ﶐?I6:@)6\Oa;i6KCI>ُCi< >@)@@ @@@DDFIt@ID)DiD)HIJʄAHH HLNdALiLLiPRA)R RFIP P)TTTTTZAiZHIXXIZfCiZA X\)\\ ^AbY```bAIbP)`id)dIddd dhjAj\ihhill)l lIl rC)rO}Appppv~BvI|BD 6D:2Yd>!=2Q=Q)(?!9!9%GY!%ĆA%(?)Q 154٪-5?Q 554-I]  -DB99Y=@Q E=?y-C)-;I-;i-U4YAE*?AiʎiҎiڎii}}}}~@ɢ .*)+; >I d9x9ɡ!i!I!i!))vB~BBBBBBB;B^Dy-_9)Ii 2 Q@% ԁ rD =jD D D D *D E  E n:6E (N4:E "E ~= =Q)>99GYA>AQ 1M4٪Es?Q 5M4E\  A9IYU@Q EU?yEC)E;IE;iE>]4YY]Y?YʎҎڎ}}}}@ɢ/~B8ݼ) 页f=>I Q9ɡiIi)y9ԉIi0Թ@ A<I I N > f,|%Aɰy6E.@ٱ6l5@6:E6,t6H,?`?@ Lq?`?."?5?Ä ?I6E.@)6_;i4=B=IԹMb@Mb@Mb@ )IiZd;I +I +?y9494<)Q@I@i@x@ @BD6D3Y=!I==Q)>99GY (A >!Q 1-4٪%?Q 5-4%\  %FB95=Q A5RIQ ]:ɡYiYIYia)am >m4<I I! 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B% ;B% FD۠f,%Ay6h@ٱ6*o@64>6T"6H? >?`(???Ϳ`Dҿ̪?I6h@)6];i4BӀBBsIBDJ6DJ02lYrv=!rm=vQ)v?t9t9vGYtzvAz?Q 1%4٪﹜?Q 5%4ZI  9!Y-@Q E-?yC):I:io4Y5B5?53EʎҎڎ}}}}@ɢr~B4> L?I T><ɡiIi)I'i`5 @m<IqIN>9a D D D *D E E; E d:6E (N4:E "E 6E&6H? p?|]?jF?`̿ѿ?I6T@)6k];i6ACBۀBB}IiDIDBDJ6DJ1YVu =!VN=ZQ)Z>X9\9^GY\^ȻAb>`Q 1f4٪b?Q 5f4bH  bjB9hYj@Q Ej?ybC)b:Ib%:ibv4Yln ?pԁʎҎڎ}y}y}y}}@ɢu~Bq> 顽KP?I <ɡiIi)Iiiiim(1i*@u="@u>ԑ@M<IiIyN9>Ա .f,K%Ay62C@ٱ6YJ@6<>6`,6H@??`ُ?@?`:˿пN؄?I62C@)6NZ];i4NBRI-Mb@Mb@Mb@) )))I)i)-sh|?Թ99GYTA>Q 14٪\?Q 54G  fB9$=Q A 顽cW?I ˍ<ɡiIi)Iip0@eH<IIN=>A<A<vB~BBIBvBBBBB;BUD9 f, 'Ѯ%ABIBD- 6D-2Y==!=L=EQ)E>A9A9EGYIMAM>QQ 1]4٪U7친?Q 5]4UF  UcB9YYYQ Ee?yUC)Ui:IUs;iU24Yim?iʎҎڎ}}}}ɢz~B 4Z?I =Τ<ɡiIi)iUIUUUIM'iIIMO0I@%<I1QIQDmDmDm-DiEm=; Em:6Emt4:Ei"Emqԙ Af,O뮛%Aɰ<>;y)@ٱ0@'w>6H?@??x? ȿ_ο@-^?I)@)]];i@CBIBD 6D J2YeL<!e9=eOhQ)e>i9i9mGYimAu>qyQ 14٪}깜?Q 54}E  }^B9Y?Q E?y}C)}>:I}l:i}쌍4Y?ʎҎڎ}}}}?ɢ}~B'w> v[?I l<ɡiIi)V>>Ii0@A@@<IԡINE>DuDuDu)DqEuB; Eu:6EuFA4:Eq!@!@!@!@vB w>~B B _IB BB B B B ;B XDBBBB: =B: =B(]4 (f,v%Ay6@ٱ6&@6{i>6.36H}?`?? .m?ǿ ̿ 'ⅿ*?I6@)6}];i6>CBBBIUMb@Mb@Mb@Q Q)QIQiQUQ?)\(U̽U\=UGa)U@IU$@iU@U A QU@BD6D1Y=!T=Q)>99GYKbA>Q 14٪鹜?Q 54D  XB9z=Q A;Y?Q E?yC),:I4:i4Yq>ʎҎڎ!!}=z=}=z=}=ƃ3@}=9?ɢM~BM{i> QUb?IQ U<ɡYiYIYiY)aI'i@<IIN%>) rDy jD} 4=D D D -D E mR; E :6E t4:E "E 6@.6HU??`ӿ?@'H@d?.ƿ`D˿H~C?I6@)6X9X9ZGY\^EA^>`Q 1f4٪b蹜?Q 5f4b{C  bRB9dYjZ?Q Ej?ybC)b~:Ibu:ib4Yln>l|ʎҎڎ}A}A}A}EQZ?ɢ~Be[> a?I <ɡiIi)1Ii0@<IIN!>aԁ 7}f,Փ8%Ai@0y>x @ٱ>@>M>>*>H *?/?ٽ?`Q` ;\?pĿDɿbㄿZ?I>x @)>S];iI9I9UGYQUAU>YQ 1e4٪]繜?Q 5e4]B  ]HB9mk >Q Am;Ym?Q Em?y]C)]:I]:i]u4Yqu>qʎҎڎDB*** querying acoustic contact ***jr}k >}k >}84@}?ɢ~BM> e?I  <ɡD=D=5D=*D9E=>T; E= ;6E=(N4:E9!E@!E@!E@!E@iQIQiY)Y a2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԩI i0*@%="@%=@-<II)N5.>AaAavBy~ByB}IB}%BB}9 =ByByB};B}_DԹiF=IdC) G ) I=s"9=r'A E ,DAT read: user:1233> M BDAT read: Tx time:21:40:13.0030 M $Ping request sent.M 6)6H@%?@?ݻ?w S?Fÿǿ QĄ@^q?I6@)6s];i6t9t9vGYtv&0Av>xQ 1~4٪z湜?Q 5~4z@  z?B9YB?Q E?yzC)z;Iz;izI4Y  "> 1ʎ1Ҏ1ڎ11}I}I}I}MB?ɢe~Beb?> ae+c?Ia mc<ɡiiiIiii)qI)i)1501@ <II1N= >bDZDD!DD+DEY; E4:6E [4:E"EͬNb/NH??? xM?`p ſ@*?IN@)N,e];iN>Cv B9zIBD6D1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505076Y={!=6=MQ)m>q9q9uGYquA}>yQ 14٪},幜?Q 54}_?  }4B9Y?Q E?y}ÔC)};I};i}>4Y>ʎҎڎ}9}9}9}=?ɢm~Bm,}0> ima?Ii u<ɡqiqIqiy)yaI}'iyy}/y@<IINf>ԉBE(N4JE^4RE0DJDD*DE~; E:6E(N4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997 vBY ~BY B] IB] NBB] : =BY BY B] ;B] \Dyf,-%Aɰ46I76H?`?"?`H?7Q*ĿƟ1?I6@)6];i6@CNBNI PRA-Mb@Mb@Mb@) )))I)i)-I +L7A`?/$-9-+=-)-@I-@i-@-@ )-@i=Y9Y9]GYYeFAe>iQ 1u4٪mV乜?Q 5u4ԑmb>  m'B9>Q A;Y}e>}e2@}em y}V]?Iy }<ɡyiyIyi)Ie'iaae0a@mA@i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007282@E<IYIqN}7> D 3D D )D E j; E :6E FA4:E "E =@=H  ?@?`iP?D? Xy_¿2ۇ?I= @)=h];i=>CeBeIBDu 6Du:2Yݣ!G= Q)>99GYA>Q 14٪m㹜?Q 54K=  B9Y?Q E?yΔC):IK:iֽ4Y?1ʎ1Ҏ1ڎ19}Q}Q}Q}Uq?ɢe~Be;~> amZ?Ii mT<ɡiiiIii)I)i)))))@-<I9IYNe4>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516937Qԁ Cf,/۹%Ay6@ٱ6@66>6C6H`-? ?`o?``>?@gZٚVJ 2?I6@)6c];i6?CNBRIUMb@Mb@Mb@Q Q)QIQiQU~jtV-?Zd;OUU99GY6ͺA>Q 14٪⹜?Q 54[<  B9=Q A;Y%?Q E?yҔC)7 ;I~ ;ič4Y>ʎҎڎ}=}=}v1@}#%?ɢ~B6> k^?I <ɡi I i )ԑDQDD/DE; Ej:6EJ4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767271I'i@<IIN!>A A vB~BBIBrBBBBB;BFDE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018964 :f,ӯ%Ay6@ٱ6@6=6bB6H@?j?`?`/`:?js7L/?I6@)6x];i6=C^BbIi`I`BDj 6Dj2Yr襼!rU=rKQ)r>t9t9vGYtz1Az>xQ 14٪zṜ?Q 54zw;  zB9Y?Q E?yzהC)zj;Iz3;izˍ4Y T?ʎҎڎ}}}}?ɢ~B= [?I s<ɡiIi)?>>I}'i/*@="@=@<IIN>DDD.DE&U; E:6Eـ4:E"E99GYxA>Q 14٪Ṝ?Q 54h:  B9Y?Q E?yܔC)T;I/;iӍ4Yp?ʎҎڎQ}}}}?ɢ~B6= Z?I 5O<ɡ1i1I1i9)AI'iR4y@<IINg>D&DD-DE8^; EL:6Et4:E!@!@!@!@ ߱ ޱ  BDAT read: Rx Time:21:40:15.4099  TRx dataTimestamp_ set to:1754689216.030378 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778197 vB! ~B! B% !IB% BB! B! B! B! B! Ef,Xq%Ay:{ޡ@ٱ:@: ݷ=:x6:H ? =?Gj?24-?ٱ@u?I:{ޡ@):.];i:@CLRBRI-Mb@Mb@Mb@) )))I)i)-333333Q? ףp= --u<-Q)-@I-@i)- )-@BDE6DE2YU[ռ!U`=]Q)]>Y9Y9]GYaeTAe>iQ 1u4٪m ๜?Q 5u4m9  mәB9u=Q A};Y}?Q E}?ymC)m ;Im* ;imٍ4Y?ʎҎڎ}=}=}m<@}L?ɢU~B] ݷ= Y]W?IY ]<ɡYiYIaia)iIaiaam0i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027505@m<IyIN;>! D !D D *D E Y; E :6E (N4:E "E ͬCeBeIm;>mp=BD 6Df2Y5=!7=BQ)>99GYںA>Q 14٪޹?Q 548  B9 Y ?Q E ?yC)q;I;i4Y>YʎYҎYڎii}}}}?ɢ~Bԩ= 顝[?I i<ɡiIi) !Iiiiim4i@uA@q@U<IaIyNZ>QDAT read: 21:40:15.4099 LVL= 17840, 24561, 18130, 32755, AGC= 50, IDX= 89,-0.02,-1.249,-3.092,-1.237,-1.559, PHS= 0.412,-1.488, 0.278, RAW= 146.4, 8.7, CAL= 145.9, 9.5, ROT= 4.1, -9.5 Ygot valid direction response: 21:40:15.4099 LVL= 17840, 24561, 18130, 32755, AGC= 50, IDX= 89,-0.02,-1.249,-3.092,-1.237,-1.559, PHS= 0.412,-1.488, 0.278, RAW= 146.4, 8.7, CAL= 145.9, 9.5, ROT= 4.1, -9.5 PDAT read: Bearing 110.7, -1.3 (Local) ~Local bearing/azimuth received: Bearing 110.7, -1.3 (Local) DAT read: Range 11 to 50 : 2.1 m (Round-trip 2.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.983761,0.070517,0.165048]Fpublishing direction and range infoKo\z?{ v)V>IƇ#@i|>"@)>C=)Ii)?ٔV??mKJ8o?>KC= )Iiԁ f,#;%Ay6֡@ٱ6Eݨ@6=6 =6HV??@? `$?ͨ Q?I6֡@)6];i699GY ?A>Q 14٪ݹ?Q 54 8  B9=Q A;Y@Q E?yC);I;iD4Y>ʎҎڎzIMH2%AMf@ʋMn2Mb@D w?ǔ.?"MKo\z?{Ա Lf,&T%Ay:0ա@ٱ:Wܨ@:X=:D:H??L? f"?؃`c@̔@?I:0ա@):ɔ];i8^BbIBDf 6Df2YnӺ!rX=r+Q)r>p9t9vGYtvAv>xQ 1~4٪zܹ?Q 5~4zR7  zB9Y@Q E?yzC)z;Iz;iz4Y  > 1ʎ1Ҏ1ڎ11}Q}Q}Q}UN@ɢe~BeX= aeX?Ii m"<ɡiiiIiiq)qԹI)i115/1@ <II1NU>D#D!D.DE[; E:6Eـ4:E"E_!9)9-GY)=d{AE>QQ 1u4٪Ut۹?Q 5}4U6  UB9Y@Q E?yUC)Uz;IU0;iU(4Y'>ʎҎڎ}Q}Q}Q}Uۨ@ɢ~B8)= 顝\?I =ɡiIi)AI'i`5*@="@=@]<IiIyNZ>qD (D D -D E `; E :6E t4:E ! @! @! @! @vB ~B B rIB ҀBB B B B ;B GDԙ ]"f,%Ay6$ס@ٱ6Kި@6P<6\P6H]?`?L?`"? .`@?I6$ס@)6~];i6>CZB^I)fĉG p)xIeAimGAMb@Mb@Mb@ )IiT㥛 Mbp?ˡE;)@I/@i@@ @BD 6Df2Y<!;= мQ)> 9 9 GY  :A>Q 14٪Gڹ?Q 5%45  B9%=Q A%1QʎQҎQڎQYq}}=}}=}}E@}}r@ɢ~BP< 顕g^?I P=ɡiIi)I-'i))-J5)@<I I!N-->ԙrD =jD %= tD(f, %AD+D&D)DEb; E;6EFA4:E"Ed9d9fGYdj ;Aj>lQ 1r4٪nJٹ?Q 5r4nX5  nqB9pYpQ Er?ynC)n:InF:in4Yxzf>xʎҎڎ}1}1}1}5@ɢE~BE< IM]?II M=ɡQiQIQiQ)YIi4@=<IIN > g.f,h%Aɰ;p;yF{@ٱF@F@Y9a9eGYaeO*;Ae>iQ 1u4٪m׹?Q 5u4mw4  maB9}=Q A};Y}V@Q E}?ymC)m%;Im ;imb 4Y>ʎҎڎ}=}=}F@}uV@ɢ~B@< cb?I =ɡiIi)BEg4JEYe4REH0D5 D5#D5+D1E5X; E5;6E5 [4:E1!E@!E@!E@!E@QI 'i  j5@A@AAM<AIvBQ~BQBUIBUBBU9 =BQBQBU;BQ@<II N)>yԩ [O5f,Eְ%Ay6@ٱ6@6*86F6Hx4?? ?4'4?`xz?@e ܈e?I6@)6Wt];i69C@='B=IBDM6DMJ2Ym$=!m:=uQ)u>y9y9}GYy};A}>Q 14٪չ?Q 543  QB9Yd@Q E?yC);I;i4Y~>ʎҎڎ}}}}d@ɢ~B*8)L< e?I b/ =ɡiIi)ԱI'iL2bDZDD-DD)DEd; Ej:6EFA4:E"E5 y;f,2!%Ay6@ٱ6@66J6H>?a?{v? `=?wW? ?MT?I6@)6e];i6:CIB̏Ci@ Bt@)@@ DDDDDF(t@IH)HiH)HIHHL LLLLiPPiPRhA)Rz R۵FIT T)TTTTT^=B^IBDf6Df2pYz=!~f=tҼQ)>9 9 GY  ~;A >Q 14٪eԹ?Q 542  CB9Y}@Q E?yC)=I=iN4Y)5>YYʎYҎYڎaa}}}}}@ ɢ ~B)3; o?I ԇ=ɡi*bBf, %AiA]?B]IIe=)e=Mb@Mb@Mb@ )IiB`"۹~jtx?V-ν;h)/@I@i@/@ @)@A BD6D02Y-S<!-8=5Q)5>1999=GY9=A=>AQ 1M4٪Eҹ?Q 5M4E1  E3B9U$=Q AU;YU@Q EU?yE C)E ;IEi ;iE !4YY]>aʎҎڎ}$=}$=}CE@}*@ɢ~B)< 页-p?I ]T=ɡi> D +D D +D E b; E :6E [4:E "E 99GY<A>ԙQ 14٪й?Q 540  %B9Y@Q E?yC)%-;I.;i'4Y>ʎҎڎ}}}}@ɢ~B?ټ)ļ 顝,p?I g=ɡi;Ii)I-'i))-0)@k<II N= >9 Nf,t=%Ay6a$@ٱ6+@6ކ 6Ok6H^??@b{@; ]?J٢? ?@oC?I6a$@)6];i6;CBTBBIEMb@Mb@Mb@A A)AIAiAERQ:v?l񲿹E½ET99GY;A>Q 14٪Ϲ?Q 540  B9 =Q A;Y@Q E?yC)X;IX;i.4YB>6E)ʎ1Ҏ1ڎ99D3D#D.DEj; E;6Eـ4:E!@!@!@!@} =} =}[@@}C@ɢ%~B%ކ !%x?I) -w=ɡ)i--Iii)AAvB~BBIBQBBBBB;BBDAI'i0@x<IINf>qԙ Uf,W%Ay65@ٱ6<@6&-6l6Hk?`?lS .k?,?+??I65@)6];i68CBUBBIBDJ6DJ2YRH;!R[=VQ)V>T9T9VGYXZ;AZ>\Q 1b4٪^Pι?Q 5b4^6/  ^B9`Yf$@Q Ef?y^C)^{;I^B:i^W54YjBj>j5E|ʎ|Ҏ|ڎ||}}}} $@ɢ~B&- 顽]x?I =ɡiIi)qI'i0@@A@;<I I!N5->ԡD%D-D)DEO]; EK;6EFA4:E"Ed9d9fGYdj;Aj>lQ 1r4٪n̹?Q 5r4nR.  nB9pYr6@Q Er?ynC)n;In;inw<4Yxz>xʎҎڎ}Q}Q}Q}U6@ɢm~BmJ im}?Iq u=ɡqiuIqi))I'i?0@<IIN>D/D(D*DEaf; E;6E(N4:E!@!@!@!@) i i vB v>~B B MIB BB B B B ;B IDBBBBBB04bf,A%A$%yB%@IMb@Mb@Mb@ )IiCl绿~jt?!9!9%GY)-A->1Q 1=4٪5V˹?Q 5=45*-  5B9E,>Q AE;YEs?Q EE?y5$C)5 ;I5:i5MD4YIM(>IiʎiҎqڎqq},>},>}V>@}Rs?ɢ~B 顥+?I Վ"=ɡiIi)I5'i11501@ <II)N5.>) D DD 1D (D E ny; E f;6E c44:E "E :99%GY!%p<A%>)Q 154٪-ɹ?Q 554- ,  -ҘB99Y=?Q E=?y-*C)-f;I-:i-K4YAE >AaʎaҎiڎii}}}}?ɢ~B 顝o?I 9&=ɡiIi)4>>1Iaiaae0i*@i"@i@=&<IIIYNmV>Qԁ mof,%Ay6y@ٱ6>@66M6H@̝? 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Z? v?@4y*̈?IB@)B];iBCbBf%IeMb@Mb@Mb@a a)aIaiaesh|?99GYA>Q 14٪?Q 54  ēB9^=Q A;Y?Q E?y"C) ;I2 ;iґ4YQʎҎڎ̒8*BRZ}^=}^=}.@}̈́?"ti= I9 ɡ6iIi)qIi0@><IIN?>ԩDU 8DU DU *DQ EU n; EU :6EU (N4:EQ !] @!] @!] @!] @ f,Ҫƾ%AdnBn%IBDv6Dv2Y~ 8!~T=Q)>99GY A >Q 14٪?Q 54  B9YQ E%?y'C);I3;iّ4Y)- )IʎMҎIڎIU̒8*]BYRYZ]}i}i}i}i I9 ɡڎ6iIi)I'i/0*@"@=AyA}4=vB~BBn%IBBBBBB3 ;BD@<IINc>1a 4f,Zྛ%AD&ID&D$D$E&}; E&4:6E$:E$"E&%x9x9~GY|9u0wA>Q 14٪?Q 54  B9Y}?Q E?y,C):I;i4YʎҎڎ̒8*BRZ}}}}}?<) < I9 ɡ6iIi) Ii3qԙ@F<IIN> f,^%Ayv;@ٱvb@vṟi9i9mGYquǤ:Au>yQ 14٪}Ǒ?Q 54}S  }B9=Q A f,d:%AvB~BB%IBBBBBB+ ;BD]B]%IBDm6Dm!3Y}b=!}Z=Q)>99GYA>Q 14٪(?Q 54  B9YQ E?y2C) ;I ;i 4YPKDone sinkingKDSlide state transition from 2 to 1ʎ̒8*BRZ}}}} IJ9 ɡ6iIi) &Changing to mode: 1)I~'i0@!@%ADe3DenDe2DaEej; Ee;6Ee4:Ea"EeQԁ f,.%AyJ@ٱJѵ@J ;J:CJHͿ?sx?`ڄ?y@?z?9a=pf?IJ@)Jo_;iJCjBj%ImMb@Mb@Mb@i i)iIiiimQ뱿:v?{Gzm\mT99GYt9;A>Q 14٪ӏ?Q 54'  tB9S=Q A;Yz @Q E?y6C)I ;i(4Y B8Eʎ̒8*BRZ} S=} S=} cO=@} z @ ;)c I%K9 !ɡ%6i!I!i)))QXRequesting device enable set for address 50.I)i 0 @ @ *@ "@ ԁԱIIN>D 1D $D +D E 2h; E ;6E [4:E ! @! @! @! @ ,DAT read: user:1234>  BDAT read: Tx time:21:41:16.8020  $Ping request sent. NH?m?@i?jm@/? 0 ?+.?Ƈ 1?INr@)Na;iNCZ׆BZ%IBDb6DbNYj&>!jX=jMؼQ)j>l9l9nGYlr;Ar>tQ 1z4٪v?Q 5z4v  vdB9xYzv @Q Ez?yv9C)v :Iv:iv4Y!ʎ--̒8)*5B1R1Z5}I}I}I}Mv @]q)]; aIeן9 aɡe"7ie99GY ;A>!Q 1-4٪%G?Q 5-4%  %SB9)Y5` @Q E5?y%=C)%#;I%$;i%4Y9E*Aiʎmm̒8i*}ByRyZ}}}}}` @/)p I99 ɡ/7ifa 9f,{%A yZѧ@ٱZخ@Z[ἹZ>1ZHC?b? F^F?$?y*?~%k?IZѧ@)Zb`;iZCr܆Br%IMb@Mb@Mb@ )Ii333333Mb?ˡE<什)d@I^@ia@b@ a@BD6DYi>!>=#Q)>99GY\7;A>Q 14٪⋹?Q 546  @B9=Q A;Y@Q E?yAC)s:I :i 4Y  ^ )ʎ--̒81*=B9R9Z=}U=}U=}U9;@}UB@e[)eļ aIe59 iɡmf;7im;Iiiq)qbD1ZD5AAD=HD=D=.D9E=}; E=:6E=ـ4:E9!E@!E@!E@!E@iyu8I<1i   ?5 II)N5.>ԙ)G A)-5AIUfUAUkA vBE v>~BA BE %IBE ˆB f,%AByByByB}1 ;B}Dy:ק@ٱ:ޮ@:4:z<3:H ?_?@-葿`X ?bá??@uc?I:ק@):d_;i8FBF%IiHIHIJ=)J=PBDR6DRYZT=!Z`=ZۼQ)^>\9\9^GY`bq;Ab>dQ 1j4٪f?Q 5j4f  f1B9hYjm@Q Ej?yfDC)f:If:if4Yr Brr6Eʎ ̒8 *BRZ})})})}-m@=4 9I=*9 AɡE O7iEqIAiI)Iy !IP3i4IIN >DE)DEDE-DAEE`; EE:6EEt4:EA"EE:J9:H?\?(R`2? [?ا?"@?I:ܧ@):^;i8FBF&I|%Mb@Mb@Mb@! !)!I!i!%+~jt?sh|?%%<%)%_@I%C[@i%^@%-Z@ !%\@BD= 6D=f2YM>!MA=MQ)M>Q9Q9UGYQU :A]>aQ 1e4٪e?Q 5m4e  eB9mc=Q Am;Yme@Q Em?yeHC)e#:IeM:ieI4Yq}{yʎ̒8*BRZ}c=}c=}?5@}ve@> I79 qɡuw7iuIqiy)y=>)y^8YIU6iQQU.0QDU :DU )DU ,DQ EU \p; EU 0;6EU g4:EQ !] @!] @!] @!] @ԉ I I N >2f,z7ɿ%Ay6|@ٱ6@6DXc6'<6H@?W?G K??`Lg?്?I6|@)6P^;i6CBBB&IBDJ6DJYnWG<!nR=rQ)r>p9p9vGYtv;Av>xQ 1~4٪zh?Q 5~4z  z B9YF@Q E?yzLC)z;Iz;iz 4Y   )ʎ-5̒81*=B9R9ZE}Q}Q}Q}UF@YmDXc iIm9 iɡm7iqIqiq)yԉBDAT read: Rx Time:21:41:18.6969 TRx dataTimestamp_ set to:1754689279.336971A<A<vBu>~BB &IBBB; =BBB2 ;BDym8I8i0Թ @ I I N >BEg4JEp4REm0D] 4D] xDY DY E] j; E] N;6EY :EY "E] F= HJABDN 6DN2YV=!VK=VTQ)V>X9X9ZGYXZ?:A^>`Q 1f4٪bK?Q 5f4bd  bB9dYf@Q Ef?ybPC)b:Ib:ib'4Yhn1" Yԙʎ̒8*BRZ}}}}@ I9 ɡ7iIi)!y8I58i11501@M =I I N > f,5%AyFݧ@ٱF@FF'8FH ?`\?iII@/?3֮?o? 6?IFݧ@)FK`;iFC B&IbDZD@AD(DD-DE`; E:6Et4:E! @! @! @!@UMb@Mb@Mb@Q Q)QIQiQU~jtQ?(\µUU\=U)U-Z@IUU@iUY@UR@ QU W@BDm6Dmf?3Y}6!}$=}%Q)>99GYA>Q 14٪W?Q 54l  B9E=Q A;YD?Q E?yUC):IA:i/4Y ʎ̒8*BRZ}E=}E=}p-@},D? I ٩9 ɡ &7i I i)iAIADAT read: 21:41:18.6969 LVL= 32752, 32753, 26098, 32755, AGC= 58, IDX= 324, 0.17,-2.936, 2.204,-2.224, 2.779, PHS= 0.670,-0.531, 1.236, RAW= 168.3, -17.3, CAL= 170.4, -18.2, ROT= 339.6, 18.2 Ygot valid direction response: 21:41:18.6969 LVL= 32752, 32753, 26098, 32755, AGC= 58, IDX= 324, 0.17,-2.936, 2.204,-2.224, 2.779, PHS= 0.670,-0.531, 1.236, RAW= 168.3, -17.3, CAL= 170.4, -18.2, ROT= 339.6, 18.2 DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1235> BDAT read: Tx time:21:41:19.8020 $Ping request sent.@@>I)Zt^U?.d|?ogYӿW?5g>K >:publishing transmit ping time9I~?aڴJ1տIKӿIi )IiI)Zt^U?.d|?ogYӿ !QyI 8i 0 *@ p="@ p=ԁ @ <vB v>~B B H&IB 1BB B B B 1 ;B DI I N >~f,_ %Ay6Rէ@ٱ6yܮ@6@636H@V? 6c?iK?hΰ?b?i~?I6Rէ@)6_;i6C<ԩ f,*0%Ay6ϧ@ٱ6֮@66*36H?g? 2L??@/?`O?I6ϧ@)6h7_;i6CB"&Ii!I!I%=)%a=Mb@Mb@Mb@ )IiQ뱿Zd;O?/$\j<=)T@I5N@iC[@I@ Q@BD6DN2Y^!8=%ՆQ)%>)9)9-GY)5ԺA5>9Q 1M4٪=]?Q 5M4=  =B9M=Q AU;YU*?Q EU?y=]C)= J;I=dI;i='=4Yae aʎ̒8*BԱRZ}=}=}#@}*? If9 ɡj7iI i )yIi!%05!@<IIN%o> rD =jD D 4D FD +D E j; E v;6E [4:E !% @!% @!% @!% @9 rf,UJ%Ay>ǧ@ٱ>Ϯ@> Y>}2>H6?@m?@)PM?zH?@]·?@C(?I>ǧ@)>U^;i>C3BK&IBD-6D-kY=1>!=Z=EQ)E>A9I9MGYIM#AM>QQ 1]4٪U?Q 5]4U)  UB9aYe?Q Ee?yU`C)UY;IU;iUC4Yim%iʎ̒8*BRZ}}}}? Y I9 ɡ7iIi)y1Ii/AaAavBuu>~BqBu&IBuiBBu< =BqBqBu. ;BuD@<IINB>9i D -D 'D D E d; E ";6E :E "E 5)9)9-GY15A5>9Q 1E4٪=DŽ?Q 5E4=\  =B9IYM?Q EM?y=dC)=b:I=8:i=J4YQU'Qyʎ̒8*BRZ}}}}m?jcʽ I09 ɡ7iIi)y8iI8i/@<IINK>ԙ f,uw~%Ay6ܴ@ٱ6@6Խ6;6HN? {?@[Я`mTټ?t?@? Z@J?I6ܴ@)6];i6CBLBBj&IF=F>PEMb@Mb@Mb@A A)AIAiAEy&1v/?#~jE`eExi=E㥽)ER@IEL@iES@EMB@ AEpM@BD]6D]3Ym+E=!mF=uEIQ)u>q9q9}GYy}XA}>Q 14٪?Q 54  B9=Q A;Y[?Q E?yhC):I:iQ4YM(ʎ̒8*BRZ}=}=}:@}[?Խ I9 ɡ7iIi)D,D+D)DEc; E=;6EFA4:E!@!@!@!@y8 I8i/@ea<IqIN;>! vBa ~Ba Be &IBe BBa Ba Ba Be 8 ;Be DB!B!B!B!B!B%v4 BDAT read: Rx Time:21:41:21.6971 % TRx dataTimestamp_ set to:1754689282.372981%f,iS%Ayfs@ٱf@f5ݽf݄:fH@k?@?^Y@;?G?m?@-?Ifs@)f5_];ifCr\Br}&IBDz6Dzk2|Y=! Q= a6Q) >99GYiA>Q 1%4٪f?Q 5-4  xB9)Y-?Q E-?ylC):I:iX4Y156*1Yʎ]]̒8Y*eBiRiZm}}}}i?5ݽ I9 !ɡ%e7i!I!i1)YyMb8)Ii@<ID%DD+DEO]; EO:6E [4:E"EQԉ +f,;%AyF;@ٱFb@F7役F99GYA>DAT read: 21:41:21.6971 LVL= 30192, 32753, 26082, 32755, AGC= 55, IDX= 439,-0.49, 2.318, 1.302, 2.866, 1.778, PHS= 0.642,-0.431, 1.044, RAW= 165.3, -18.6, CAL= 167.8, -19.5, ROT= 342.2, 19.5 Ygot valid direction response: 21:41:21.6971 LVL= 30192, 32753, 26082, 32755, AGC= 55, IDX= 439,-0.49, 2.318, 1.302, 2.866, 1.778, PHS= 0.642,-0.431, 1.044, RAW= 165.3, -18.6, CAL= 167.8, -19.5, ROT= 342.2, 19.5 DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1236> BDAT read: Tx time:21:41:22.8020 $Ping request sent.I)<4W?)'?aԿTJ?c> @>=:publishing transmit ping time9 Bu?U9qҿ{{]տIi )IiI)<4W?)'?aԿ YQ 1e4٪]L?Q 5e4]  ]dB9m=Q Am;Ymv?Q Em?y]pC)];I] ;i]a4Y+ʎ̒8*BRZ} =} =} ) @} v?%7 !I%,9 )ɡ-h7i)I)i))1ԁy8I}~8iyy}4y@U<IaIqN}{>ԩD"DD.DEZ; Ej:6Eـ4:E!@!@!@!@ i9 IE _C2f,L%Ay6@ٱ6@6꽹6j;6H?@?:i ??0I?E?I6@)6b];i6CNxBR&I)f݈Gil rAIl)5AIeeAeKABDm6Dm2Y=![=Q)>99GYA>ԱQ 14٪?Q 54s  UB9Yۜ?Q E?ysC)>:I:i:g4Y-ʎ̒8*BRZ}}}}ۜ?- )I-s9 )ɡ587i1I1i1)9vB~BB 'IBχBBBB'DBB ;BDy8 I-8i)15P51@ <I I! N5 >1 D .D D -D E ye; E :6E t4:E "E T9T9VGYTZ;AZ>\Q 1b4٪^?Q 5b4^  ^FB9`YbU?Q Ef?y^vC)^I;I^U;i^m4Yhj,hxʎzz̒8x*BRZ}}}}FU?- )I-9 )ɡ-t7i1I1i1)AMt?MB?Iye8Ii!5@A@A@uZԙ 2?f,%Ay:g@ٱ:n@:h𽹱:҄5:H fe?֯?"&R?%!? ?`Q@?I:g@):];i:CFBF&IMb@Mb@Mb@ )IiS㥛i|?5?Dl/ݼq=O)F@IzD@iT@9@ fF@BD-6D-1Y==!EA=E;/Q)E>I9I9MGYIMAM>QQ 1]4٪UĈ?Q 5e4U?  U6B9e=Q Ae vB v>~B B <'IB BB ; =B PDB B 7 ;B D Ff,%Ay6 R@ٱ6GY@6ֵ񽹱6^86H@RU?p? K@-s?F?$? U醿~?I6 R@)6d];i4BBB&IFC=F<BDJ6DJYv8=!vP=zkQ)z>|99GY ڻA >Q 1%4٪ˉ?Q 5-4  (B9)Y5υ?Q E5?y|C)@;I.B;i |4YAEv0Aʎ̒8*BRZ}}}}υ?ֵ I}9 ɡ8iIi)BEM [4JEMYe4REM0DVDKD(DE; E;6Ec44:E"EU>IQiQQU:5Q@- <1 I9 IQ N] >Y OLf,Y3%Ayb%=@ٱbLD@b𽹱bK 9 9 GY  A>Q 14٪?Q 5%4;  B9%=Q A%"D)DGD,DE`; E;6Eg4:E!@!@!@!@q ,Sf, PM%A0y6(@ٱ6A/@66DQ<6H {7? ? S?`I?࠮? ba@6?I6(@)66q];i6CBBB&IBDJ6DJ03YR=!Re=Vf;Q)V>T9T9ZGYXZAZ>\Q 1b4٪^ꋹ?Q 5b4^  ^B9dYff?Q Ef?y^C)^:I^:i^4Yhjj4hxʎz~̒8|*BRZ }}}}f?- )I-ծ9 1ɡ5v8i1I1i1)9y1ԑI i   / vBu>~BBb'IBBB< =BBB; ;BD@<II!N-->BDAT read: Rx Time:21:41:24.6973 TRx dataTimestamp_ set to:1754689285.396982Թ D $D D -D E g\; E G;6E t4:E "E 't9x9zGYxzлAz>|Q 14٪~?Q 54~k  ~B9 Y f?Q E ?y~C)~u:I~:i~%4Y4 AAʎEE̒8A*UBQRQZU}a}a}a}eǞf?u^ yI}p9 yɡ}e8iyIi)y8 I8i/@<IIANY>DAT read: 21:41:24.6973 LVL= 30688, 32753, 28146, 32163, AGC= 58, IDX= 424, 0.45, 2.645, 1.774,-3.071, 2.185, PHS= 0.562,-0.366, 0.983, RAW= 167.8, -19.2, CAL= 170.3, -20.0, ROT= 339.7, 20.0 Ygot valid direction response: 21:41:24.6973 LVL= 30688, 32753, 28146, 32163, AGC= 58, IDX= 424, 0.45, 2.645, 1.774,-3.071, 2.185, PHS= 0.562,-0.366, 0.983, RAW= 167.8, -19.2, CAL= 170.3, -20.0, ROT= 339.7, 20.0 DAT read: OK :unknown deviceResponse_: OK  X#Rx 4: Read direction message, but no range. `direction in FSK: [0.881327,-0.326013,-0.342020]xe3?dԿKjտIwim}:;? 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"䰿 `茿`?I6\k@)6b];i4B BBZ,IBDJ 6DJ2Yj{<!jO=n;Q)n>p9p9rGYpr Av>tQ 1z4٪v?Q 5z4v  vfB9|Y~c?Q E~?yvƘC)vH;Iv";ivK4YV )ʎ--̒8)€1ʀ15Ҁ9*9B9R9Z=}Q}Q}Q}U#c?e= aIe%9 iɡm.9iiIiiq)qqy#D9I8i`5D]D]OD],DYE]L; E]3;6E]g4:EY!}@ԡ!@!@!@@<I1IINUT>AAvB~BCB+IBBBBB(DB) ;BD `f,k̛%Ay6f@ٱ6m@6R,=66zl6H?@;??0"`?`'qv@`\?I6f@)68];i6C^!B^[,IuMb@Mb@Mb@q q)qIqiquMbl?V-uu=u)uТ?IuI?iu•?uX? qu?BD6D02YE;!>=B|;Q)>99GYA>Q 14٪ێ?Q 54%  `B9 =Q A#BEt4JEǍ4RE22DU DUDU(DQEUG; EU9@;6EUc44:EQ"EU!j:H ~?>??$?~N ͠{?I:Xb@):)];i:CF+BFh,IBDR6DRk2YVY=!Z[=Z:Q)Z>X9\9^GY\^MAb>`Q 1f4٪b ?Q 5j4b~  b[B9hYj;?Q Ej?ybΘC)b:Ib]:ibV4Yn Brr2Eʎ̒8€ ʀ Ҁ*BRZ})})})}-;?=N= 9IE 9 AɡE09iAIAiI)I)y}F9YIi0@<II N>ԉ Du Du 9Du .Dq Eu B; Eu ;6Eu ـ4:Eq ! @! @! @! @Wr'f,;̛%Aɰ;p;8yVg]@ٱVd@V=V:aVH@??B??`u(`'?]w@?IVg]@)V7E];iVClluMb@Mb@Mb@q q)qIqiquL7A`?Q롿u̼u+=u\)uv?Iu?iu?u? qu(?BD6D1vB~BCB+IB‹BBBBB" ;BDY:!;=Q)>99GYܴA>Q 14٪?Q 5U4  SB9UV=Q A]( >I i / @ @ @ <I I N >-f,̛%AyFT@ٱF[@F!=FZFH&?-I??@/`?;`5@d?IFT@)FI8];iDR,BVi,I\BDb6Db1Yfż;!jZ=jqQ)j>h99GY%4A%>)Q 1-4٪-đ?Q 554-  -MB91Y5A?Q E5?y-՘C)-;I-;i-4Y9E/Aaʎee̒8a€iʀiuҀq*qBqRqZ}}}}}lA?!= I9 ɡ 29iIi)iIDDD2DEO; E&:6E4:E"E/A F4f,̛%Ay6(L@ٱ6OS@6M=68X6H?@O?`?7? ܰ`rފ?I6(L@)6dl];i6CB2BBq,IBDJ 6DJ2YR5<!RM=R'»Q)R>T9T9VGYTZ0AZ>XQ 1b4٪Z?Q 5b4Z[  ZFB9dYf?Q Ef?yZ٘C)Z!*;IZ*;iZx4Yhjhxʎz~̒8|€ʀҀ* B R Z }!}!}!}%c?5M= 1I59 ɡ 39iIi)IDMDMDM1DIEM&U; EMO:6EM-4:EI!m@!m@!m@!u@y%J9qAA<vB~BB+IB̋BBBBB+ ;BDIi-1@<IIN>ԡ ѯ:f,̛%An)Brf,IIv=)v=mMb@Mb@Mb@i i)iIiiim99GYA>Q 14٪Ԓ?Q 54  >B9 =Q A 0 Af,X͛%Ay:8@ٱ:(?@:=:[:H}?}^?`?J`? )Y5?I:8@):G];i:CF1BFo,IBDR6DR:YV=!Va=ZݱQ)Z>X9X9^GY\^ݻAb>`Q 1f4٪b?Q 5f4b  b6B9hYjĻ?Q Ej?ybߘC)b:IbS:ib4Ylnvpʎ̒8 €ʀҀ*BRZ})})})}-tĻ?== AIE49 AɡEA49iAIAiI)IU:?U? yJ9Iqiqq}`5y1@u<IIN>DU DU DQ DQ EU &U; EU b;6EQ :EQ !u @!u @!u @!} @ԁ +Gf,- ͛%Ay6+@ٱ62@6=6c6H` ?`g?? U4?Wି5@9O?I6+@)6*i];i6CZ'BZc,IvB9~B9B=+IB=ыBB9B9B9B=# ;B=DBCBCBB< =B< =B3Mb@Mb@Mb@ )IiI +99GY^A>Q 14٪?Q 54M  ,B9a=Q A2 Mf,B^:͛%Ay6a!@ٱ6(@6=6fg6H(?o? ?``?7```.?I6a!@)6V];i6C\``b< dfABDj6Dj02Yr;!rZ=vQ)v>t9t9vGYtz]Az>|Q 14٪~_?Q 54~  ~$B9 Y t?Q E ?y~C)~:I~:i~4Y B֡0E1ʎ5=̒8DB*** querying acoustic contact ***jr€ʀҀ*BRZ}}}D!DZD-DEY; Eh;6Et4:E"Eͬi I ) ͈G MA)! IM M MAM gA ,DAT read: user:1237>  BDAT read: Tx time:21:42:13.0531  $Ping request sent. 99GYe7A>Q 14٪ ?Q 54  B9Y?Q E?yC)W;IwX;iȕ4Y1ʎ55̒89€IʀIUҀQ*QBQRQZU}a}a}a}e?}HW= yI}(9 ɡ59iIi)iID'D|D.DE _; E\;6Eـ4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251152AA?AvBw>~BCB+IB֋BBBBB% ;BDyMN9I8i4! @ <I I N >Zf,n͛%A y> @ٱ>@>p=> c>HY?@?I? v!?LA M`?I> @)>b];i>C^BbT,IMMb@Mb@Mb@I I)IIIiIM&1/$?y&1MPMy9y9}GYykA>Q 14٪:?Q 54  B9=Q A(I-8i)15/1@<I I!N-N>ԙD5D5yD5+D1E5W; E5;6E5 [4:E1"E5<X9\9^GY\^'iAb>`Q 1f4٪br?Q 5f4b  bB9hYj?@Q Ej?ybC)bh:Ib:ibՕ4YY]Yyʎ̒8€ʀҀ*BRZ}}}}5?@= IR9 ɡ69iIi)yN9Ii@e <mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007701IyIN;>! bD! ZD% @AD= $D= D9 D9 E= g\; E= ~E;6E9 :E9 !] @!e @!e @!e @hf,I١͛%Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074yjM@vBrx>~BpBr ,IBrBBpBpBpBr" ;BrDٱjt@xj|]=j[jH٣?(?19195GY15(A=>9Q 1E4٪= ?Q 5E4=i  =B9M=Q AMImchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510906ԁ 3:nf,~͛%Ay6@ٱ6-@61=6A_6H`Ȝ? ??@"?2J;@ዿ?I6@)6`];i4B#BB^,IBDJ6DJYR!Rg=V9Q)V>T9T9VGYTZvAZ>\Q 1b4٪^󍹜?Q 5b4^  ^B9`Yb @Q Ef?y^C)^:I^:i^4Yhjvhxʎzz̒8x€ʀҀ*B R Z }}}} @-1= 1I5N9 1ɡ579i1I1i9)9aBEeـ4JEe#4REeH0D3D2D.DEj; E;6Eـ4:E"EԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014988'!uf,Ã͛%Aɰ;y6ۨ@ٱ6"@6B=6c6H ??D? /`?@Ê@_`?I6ۨ@)6x];i4n'Brc,IBD 6D 2YMl<!M@=UּQ)U>Y9a9eGYaetAe>qQ 1}4٪u?Q 54uu  uB9Y@Q E?yuC)u-N;IuC;iu}4YԹʎ̒8€ʀҀ*BRZ}}}}@B= I+9 ɡ89iIi)D2D8D+DEi; E ;6E [4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268993yS9A!A%<vB-w>~B)B-,IB-BB-; =B)B)B-( ;B-DIi*4@@@ <I I N >9 @K{f,^͛%Ay6ͨ@ٱ6ԯ@6K<6ng6H@Ǎ?@? ?``?vsr锿`x?I6ͨ@)6sg];i6CN)BRe,IUMb@Mb@Mb@Q Q)QIQiQU:vDlUTUUO)U3s?IU~j?iU$f?Uw? QUn?BDm 6Dm2Y}<!}G=Q)>99GYA>Q 14٪W?Q 54  эB9=Q A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981ԙ 2f,7 Λ%Ay6@ٱ6ȯ@6L<6Oo6H`?? [??`ar?Im鍿?I6@)6n];i6CB(B@BDJ6DJ02YRb!RY=RQ)V>T9T9VGYTZAZ>\Q 1b4٪^%?Q 5b4^  ^čB9`Yb@Q Ef?y^C)^Y;I^;i^04YhjΡhxʎzz̒8x€ʀҀ*B R Z }}}}~@-L<)-a< 1I5H9 1ɡ5:9i1I1i9)9y5U9=A9qI 8i   / MBDAT read: Rx Time:21:42:15.4716 MTRx dataTimestamp_ set to:1754689336.317059Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024015ԡ@-<I9IQN]>D ,D )D .D E c; E 0;6E ـ4:E !5 @!5 @!5 @!= @ `f, #Λ%AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276328vB`~B`BbD,IBbBBb< =B`B`Bb ;BbDu,Bui,II=)a=Mb@Mb@Mb@ )IiktMbP333333 0)a?IY?iY?a? 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"? uI??Ib^@)bc];i`||i~uI||Ii Լ)   )115AI5q)1i1)9I= A=P9 9AEAEDiAAiii)mD iIq q)qqqqqˍBg.IBD6D:YV!@=vB x>~B B .IB BB B B B ;B \D ȼQ)>99GY<A>Q 14٪C?Q 54\{  B9Y ?Q E?yuC)r;I;i4Y  # KUhDone checking for power/comms, continuing with slideKUDSlide state transition from 1 to 2UʎUҎQڎQU̒8€ʀҀ*BRZD9D D/DEso; E:6EJ4:E"E BDAT read: Tx time:21:42:46.8521 $Ping request sent.IC >iC >t> \>BD6D0Y!=6Q)>99GYo=<A>Q 14٪Է?Q 54{  B9D=Q AQ E?yxC)P;I:i4YK6VEHICLE DETACHED FROM DOCK.DBD9D.DEw; E ;6Eـ4:E!@!@!@!@t=Ž=<=1=L=Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletionq=€IʀMIҀI*IBIRIZQy}D=}D=}ڢ?}E>m)\ I7: ɡi\;Ii!)!XRequesting device enable clr for address 50.ԡy 9 % &Changing to mode: 2I O6i 5 @<IIN >yf,&՛%Ay:J'@ٱ:q.@: :Ƽ1:H?t?Ȑo ? ?e>?@B4?I:J'@):oa;i:C%ˍB%h.IBD56D51YE.o<!E8=MQ)M>I9I9MGYIU<AU>YQ 14٪]0?Q 54]z  ]B9Y!>Q E?y]zC)]lg~BB.IBBBBBB;BWDBBBBBBsl41LAggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletionq%L%rAggregate::initialize lineCaptureHoming:Lap:Docked:Detach%€)ʀ11Ҁ1*1B1R1Z9}I}I}I}M!>] )]ļ aIe: aɡaieRIaii)iDSDWD0DE; Ej;6E4:E"Eԩ -f,\֛%AyB[@ٱBb@B)BA߻BH?N?wH?@XN? >?{?IB[@)BVa;iBCNۍBN|.I%Mb@Mb@Mb@! !)!I!i!%I +?Mb?V-%94<%=%)%=I%=i%=%= !%=BD=6D=:YMg=!MK=M4Q)M>Q9Q9UGYQ]<A]>aQ 1e4٪eQ Em?ye|C)eE:Ie;ie&4Yy},yLvAggregate::uninitialize lineCaptureHoming:Lap:Docked:DetachCMnAggregate::initialize lineCaptureHoming:Lap:Docked:Wpt11MInitialize.qMInitialize.€ʀҀ*BRZ}6=}6=}?}>ԉ) I: ɡiIi)Թy,9D_DxD1DE; E-;6E-4:E!@!@!@!@)MG eA)qIPA^AI1i;4@ <I I N > Ķf,)֛%Ai@y6@ٱ6ʕ@6EH6{6H?*?O!`?=??t@ ?I6@)6Q`;i6CB̍BBh.IBDJ6DJJYnN!nR=rPQ)r>p9p9vGYtv<Av>xQ 1~4٪zA?Q 5~4zz  zB9YR>Q E?yz~C)z:Iz:iz-4Y  1 -CM-rAggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1-1-q-M-Uninitialize.-M-pAggregate::initialize lineCaptureHoming:Lap:Docked:Driftq5#N5mEH iIu: qɡu[Q9iqIqiy)y;?;?y>9!-?-?I.i/vB~BB.IBBBBBB;BFD@<IIN>I D D D 3D E @; E ];6E 4:E "E =! E =! *E ʻt9t9zGYxzCW<Az>IQ 1U4٪MW?Q 5U4Mqz  MB9QY]>Q E]?yMC)MP;IM* ;iM44YaexaMtAggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift1q#N@Uninitialize Buoyancy Component.1NUninitialize.JLCompleted lineCaptureHoming:Lap:DockedJhAggregate::uninitialize lineCaptureHoming:Lap:Docked'J>Completed lineCaptureHoming:Lapq#JZAggregate::uninitialize lineCaptureHoming:Lap€ʀҀ*BRZ}}}}=>6Completed lineCaptureHoming'>lineCaptureHoming is completed.'PUninitializing Mission lineCaptureHoming] RAggregate::uninitialize lineCaptureHoming]bAggregate::uninitialize lineCaptureHoming:Scienceq^^1__|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent1`1r vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesqrNUninitialize AltitudeEnvelopeComponent.r Uninitialize.rNUninitialize OffshoreEnvelopeComponent.DHUninitializing TrackAcousticContact.!%!-!)a'%a'%a'%a'%ᆥ'ᆡ'ᆝ'ᆙ'ᆕ'ᆑ'ᆍ'%%EEM}eumauay'ay'ay'ay}'xy'xu'xq'xm'xi'xe'xa'x]'xY'xU'xQ'xM'xI'xE'xA'x='x9'x5'x1'x-'x)'x%'x!'x'x'x'x'x 'x 'x'x'x&aw&5aw&==e`got command run ./Missions/Engineering/OnDock.tls&s&s&s&s&s&s&s&r!r&!r&!r&!r& quA!`" !`" !`" !`}" !`y" !`u" ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]& ]}& ]y& ]u& ]q& ]m& ]i& ]e& ]a& ]]&= ]Y&= ]U&= ]Q&= ]M&= ]I&= ]E&= ]A&= ]=&= ]9&E ]5&E ]1&E ]-&E ])&E ]%&E ]!&E ]&E ]&E ]&E ]&E ] &M ] &M ]&M ]&M ]%M ]%M ]%M ]%M ]%M ]%M ]%M ]%M ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%U ]%} ]% ]% ]% ]% ]% ]% ]% ]% ]% ]% ]}% ]y% ]u% ]q% ]m% ]i% ]e% ]a% ]]% ]Y% ]U% ]Q% ]M% ]I% ]E% ]A% ]=% ]9% ]5% ]1% ]-% ])% ]%% ]!% ]% ]% ]% ]% ] % ] % ]% ]% ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]$ ]}$ ]y$ ]u$ ]q$ ]m$ ]i$ ]e$ ]a$ ]]$ ]Y$ ]U$ ]Q$ ]M$ ]I$ ]E$ ]A$ ]=$ ]9$ ]5$ ]1$ ]-$ ])$ ]%$5 ]!$5 ]$5 ]$5 ]$5 ]$5 ] $5 ] $5 ]$= '= vLoading Mission from file: ./Missions/Engineering/OnDock.tl '= jTethyslAPI: loading: ./Missions/Engineering/OnDock.tl 'm TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl TBi I : ɡ Q9i I i ) $ Powering downbD ZD rD jD y I%*i))-0)*@5="@5=@<%BDAT read: Rx Time:21:42:48.7525 -TRx dataTimestamp_ set to:1754689369.373220II9NM?ĕf,2X֛%Ayfש@ٱf5ް@f8fUfH@zy99GY;A>Q 14٪ƽ?Q 54-z  ދB95=Q AQf,_q֛%Ay6@ٱ6@6u6)6HE?@(?@P?4 ??`a3F?I6@)6O^;i6CNՍBRt.IBDZ6DZ:3Yb<!b=b;Q)b?d9d9fGYdj;Aj?hQ 1~4٪j|?Q 54j z  jًB9Y ?Q E?yjC)j;Ij*;ijE4Y  ͼI ɡiIi) iAIAyIe'iaae/a@m <Iy I N > DAT read: 21:42:48.7525 LVL= 23872, 29985, 21682, 25907, AGC= 56, IDX= 267, 0.32,-2.428,-3.011,-1.588,-2.921, PHS= 0.595,-0.045, 1.289, RAW= 181.3, -29.3, CAL= 181.5, -30.8, ROT= 328.5, 30.8  Ygot valid direction response: 21:42:48.7525 LVL= 23872, 29985, 21682, 25907, AGC= 56, IDX= 267, 0.32,-2.428,-3.011,-1.588,-2.921, PHS= 0.595,-0.045, 1.289, RAW= 181.3, -29.3, CAL= 181.5, -30.8, ROT= 328.5, 30.8  DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1239>  BDAT read: Tx time:21:42:49.8521  $Ping request sent. )9I9MGYI:A>Q 14٪?Q 54y  ҋBQ =+:9Q AriK4Y)-)I9 9ɡ9i9I9iA)ye9I`%i/@A@A@<IIN>f,֛%Ay6@ٱ6<@6m6ߋ:6HES?k? ̥8r]?7 ?#? }J@?H?I6@)6x^;i4NBRD.IiPIPIV=)V=BDZ6DZkYf!fz=f;Q)f?h9h9jGYhnH;An ?Q 14٪b?Q 5 4y  ͋BQ =  :9 Q A DL$f,^֛%AyZ@ٱZ&@ZSkZS ZH`-Z?@? a?`y;?`Sf?Q0?IZ@)ZT^;iZC=ÍB=^.IBD6D:Y=! 8=_z:Q)>)9)9GY+;A>Q 14٪p?Q 54}y  ƋBQ =99Q A f, [֛%Ay6 @ٱ6@6(j66H ra??Fe`7e?L?A? 蹐?I6 @)6^;i4NBRY.I!! !! !! !! !@! !@! !@! !@! Mb@Mb@Mb@ )IiMb@Mb@Mb@)I=i BD6DNYE櫼!EG=E6:Q)E>I9I9MGYIMU;Au>yQ 1}4٪}Z¹?Q 54}Qy  }BQ =99Q A5f,P6֛%Ay6@ٱ6@6h6I6H e???@@@g?? ? d?I6@)6];i6CNɍBRe.IR0>RN> TVABDZ6DZYf_=!ff=f:Q)f>h9h9jGYhj:An>|Q 1%4٪~*ù?Q 5%4~*y  ~BQ =%99!Q A%;Y%g ?Q E%?y~C)~:I~@i~Y4Y151IA AɡAiAIAiI)Iy9I-i))-0)@%+<I1IANM1>f,k כ%A~ǍB~b.I!! !! !! !! Mb@Mb@Mb@ )IiMbpy&1?`e<)Ii== BD6D02Yo!0=Q)>99GYA>Q 14٪mù?Q 54y  BQ =T:9n0If,&כ%Ay6 @ٱ63#@60e6?$6Hm? $?Szt?@NE?`L?U~?I6 @)6];i6CNʍBNg.IBDV6DV0Ybܚ<!bn=fA;Q)f?d9d9jGYhjV;Aj?IQ 1M4٪Mù?Q 5U4Mx  I9QYu?Q Eu?yMC)M;IMK;iM\g4YyI ɡiIi)y@@A@<<IIN>|/f,*@כ%AyF@ٱF@FeFpl FHAj?C? HӼs?K?z?@&a ?IF@)F_;iFCbBfP.IilIlIv=)tBD-6D-:3Y!/=e8Q)>99GYA>Q 14٪ù?Q 54x  9Y֌?Q E?yC)L# BDAT read: Tx time:21:42:52.8521 $Ping request sent.m A m?:publishing transmit ping time9imC? Poۿ6Z R߿iIiiiiiii i)iIiiiiiiiIi)m6?R[&:?ڥA޿iii i@C<IINA>iI)݈G -A)MAIm&mAm BYf,Zכ%Ay6@ٱ6@6[d66H ne?n?IM6n?9.?@? gj^/?I6@)6w_;i6CNƍBNa.IMb@Mb@Mb@ )IiMb`~jtx?MbP?;:)I=i BD-6D-:Y= =!=S==&9Q)=>A9A9EGYAEAM>IQ 1}4٪Mù?Q 5}4Mx  I9;Q A>YW?Q E?yI)M;IMm;iMv4YһI9 9ɡ9i9IAiA)AUM?Ub?y ٘9@ҷ<IIN)>f,V}tכ%Ay6c@ٱ6@6Ad6xϻ6H _? ?㳢 < g?.ܥ?`? y?I6c@)6 _;i6CNÍBR^.IBDV6DV1Yv7!vb=vB9Q)v>x9x9zGYxz9A~>Q 1%4٪ Ĺ?Q 5-4x  B9)Y-'?Q E-?yC):I:iq|4Y15!IQ QɡYiYIYiY)aym9*@u="@u=@MZ<IQIyN>lf,F^כ%A~B~H.I >M? 5Mb@Mb@Mb@1 1)1I1i15Mb`?{Gzt?MbP?5;5ף;1)1I1i11 11BDe6DeYT!0=Q)>99GYA>Q 14٪:Ĺ?Q 54x  9z;Q A>Y>Q E?y):I:i4YI ɡiIi)y09@}<IIN=> ' )OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . '  ' PDefineArg OnDock.DockedTime = 8.000000 h'  ' \DefineArg OnDock.DetachedTimeout = 30.000000 s' ʑ ' XDefineArg OnDock.RangeTimeout = 600.000000 s' ڑ ' hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 min' ꑡ ' ^DefineArg OnDock.NumberOfPings = 1.000000 count'  ' VDefineArg OnDock.TransponderCode = 50 count'  ' PDefineArg OnDock.MaxDepth = 275.000000 m' * ' RDefineArg OnDock.MinAltitude = 5.000000 m' : ' TDefineArg OnDock.MinOffshore = 2.000000 km' J ' HDefineArg OnDock.StayOnDock = 0 bool' Z ' \DefineArg OnDock.IfconfigInterval = 2.000000 h' j '% HDefineArg OnDock.RunScience = 0 bool'- z- @'5 XDefineArg OnDock.MissionTimeout = 8.000000 h'= ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl '= rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 'E TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tlf,0כ%AyFb@ٱF@FPeFljFHZ??@ O6^?yש?`J?1 ?IFb@)F];iFC}B}Y.IBD 6D2Y=!_=Q)>99GYA>Q 14٪`Ĺ?Q 54x  9YH>Q E?y)# 'TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 'MY'evDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m'mi'u|DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m'}}i@'tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m''|DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 mO6Construct AltitudeEnvelope.#O 0Construct DepthEnvelope.CO}6Construct OffshoreEnvelope.'UxInserting Stack from file: Missions/Insert/BackseatDriver.tl 'UlTethyslAPI: loading: Missions/Insert/BackseatDriver.tl ']TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 'U TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 'e :a 'm nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 boolP} 2Construct BackseatDriver.' nInserting Stack from file: Missions/Insert/PowerOnly.tl ' bTethyslAPI: loading: Missions/Insert/PowerOnly.tl ' zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl}f,^כ%Ay6D@ٱ6k@60d636H,X?`?$`Z@d[?Hө?@?c??I6D@)6];i6CbƍBbb.IBDj6Djk1Yei=!e?=Ɩ9Q)>99GYtA>Q 14٪Ĺ?Q 5%4x  9!Y%>Q E%?y)A:I:i4YI ɡiIi) '5qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 yP9@A@a(j'ZDefineArg OnDock:PowerOnly.SampleAll = 0 boola(z'^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 boola ('^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 boola ('^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 boola(  'hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 boolPmConstruct Wait.#QConstruct Wait.'jInserting Stack from file: Missions/Insert/Science.tl '^TethyslAPI: loading: Missions/Insert/Science.tl@P<IINEQ> 'vTethyslAPI: mission file loaded: Missions/Insert/Science.tl BDAT read: Rx Time:21:42:54.7527  TRx dataTimestamp_ set to:1754689375.425137Df,;nכ%Ay6E@ٱ6l@64c6|S6HNX?`?:x`]?05?`b?d?I6E@)6\;i6CPPiTITIV=)V=Mb@Mb@Mb@ )IiMb?{Gzt?<)Ii BD 6D2Y5!5I=="}:Q)=>9999EGYAEѥ5AE>IQ 1u4٪MĹ?Q 5u4Mx  I9}/f,Hכ%Ay:@ٱ:@:Nb:g:H aW??䡿]?B?F?@&>?I:@):\;i:CN̍BRi.IBDZ6DZ02Yf=!fd=j2!:Q)j>|99GY A=>DAT read: 21:42:54.7527 LVL= 24784, 26977, 17970, 27123, AGC= 58, IDX= 446,-0.31,-0.834,-1.459,-0.030,-1.296, PHS= 0.564,-0.118, 1.221, RAW= 179.4, -26.9, CAL= 180.0, -28.1, ROT= 330.0, 28.1 Ygot valid direction response: 21:42:54.7527 LVL= 24784, 26977, 17970, 27123, AGC= 58, IDX= 446,-0.31,-0.834,-1.459,-0.030,-1.296, PHS= 0.564,-0.118, 1.221, RAW= 179.4, -26.9, CAL= 180.0, -28.1, ROT= 330.0, 28.1 DAT read: OK :unknown deviceResponse_: OK X#Rx 4: Read direction message, but no range.`direction in FSK: [0.763944,-0.441064,-0.471012]quG9;r?|b:ܿ(%޿qIu`iuaiu2Fuiu:uNb? u)uI?IuHdH@iuvauI@uuN@u>Iq)uh>~?mȵԌ?זd]ܿu\?u>u  u>Q 14٪(Ź?Q 54x  9Y+EQ E?y)b=I=i/4Y8I ɡiIi)%`?%`?y)@<II!N5.>f,d#؛%Ay6@ٱ6@6`6:6HV? g?@ D^?? ?` t`?I6@)6\;i6CRύBRm.IMb@Mb@Mb@ )Iiy&1|?y&1|?Mb`?`;`;;)Ii BD6D 83Y5&n<!57==:Q)=>9999=GYAEPAE>IQ 1u4٪MŹ?Q 5u4Mx  MB9ux%< f,)؛%Ay6@ٱ6@6zc^6[f6H`W?` ?`Y^?V?`ȫ?)v@?I6@)6\;i6CNэBRp.IR=R= TTBDZ6DZ0 lnAYE,<!]= n:Q) > 9 9 GYl9A>9Q 1E4٪=Ź?Q 5E4=x  99AYM/=Q EM?y9)=:I=:i=4YQUQIa aɡaiiIiii)qy-Þ9IAIQN]=f,C؛%Ay:@ٱ:@:jX:R:H@Z?? th7`? $?? -?I:@):\;i:Cn֍Bnu.IBDv6Dv3Y ַ<!J==];Q)E>I9Q9UGYy:A>Q 14٪1ƹ?Q 54x  B9Yw2=Q E?yC)+*f,]؛%Ay6E@ٱ6l@6DS6`6HG\?`? _?K%?e?U?I6E@)6$\;i6C^B^.IMb@Mb@Mb@ )Ii{Gzt?A9A9EGYAE9AM>IQ 14٪Mƹ?Q 54Mux  MB9W?f,Ow؛%Ai@y6@ٱ6 @60 L6 6HL_??@`la?v?r~?J?I6@)6\;i6CNߍBR.IIV=)V=BDZ6DZ02Yvqk!vb=vK;Q)v>x9x9zGYxz:A~>Q 1%4٪2ǹ?Q 5-4\x  9)Y-[?Q E-?yC)3:I:i-Ø4Y1pI ɡ i I i )y9I!I1NE=*$f,-{؛%Ay6@ٱ6 @6.D6aw|6H`Ac??7p@Le?`z?w?V@?I6@)66\;i6CjBj.I)=G Q)iI BAMb@Mb@Mb@ )IiV-?Mbp?<)Ii BD6D:2Yi=!+=݃;Q)>9!9%GY!}:A}>Q 14٪ȹ?Q 54x  B9NQ*f,oF؛%Ay:@ٱ:%@:;:E|F:Hh? ? 홿@lk?? 7y?@Ȉ ?I:@):[\;i:CNBR.IBDV6DV02Yv"+<!vw=v;Q)v?x9x9zGYxz51;A~ ?Q 1=4٪ȹ?Q 5E4w  B9AYES?Q EE?yC):I:iKј4YIUkQIa aɡaiaIaii)iy9IIN= 91f, ؛%Aɰ4I9I9MGYQ} !;A>Q 14٪;ɹ?Q 54w  B99YET?Q EE?yC)ֲ '%TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Y9Y9]GYY]);Ae>aQ 1m4'uDefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 countᢑ(ꖁ'DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count٪eʹ?Q 54eTw  eB9x=Q Aᢱ(j'DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 boolᢵ(z'tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/lᢹ('tDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/lᢽ('DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count('DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s('DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s(ʗ']DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml(eڗa'mDefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml(uq'fDefineOutput OnDock:science:Science.GoDown = 1 bool('lDefineOutput OnDock:science:Science.PeakChl = nan ug/l('pDefineOutput OnDock:science:Science.PeakChlDepth = nan m(  '5DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC(E"A'MDefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg(U2Q']DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg(eBa'mlDefineOutput OnDock:science:Science.EdgeChl = nan ug/l(R'pDefineOutput OnDock:science:Science.EdgeChlDepth = nan m(b'DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC(r'DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg(UQ']DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg(ea'pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/l)'pDefineOutput OnDock:science:Science.PeakNO3Depth = nan m)'DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg )˜A 'M DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg )] ҘY 'e nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3) ☉ ' pDefineOutput OnDock:science:Science.PeakOilDepth = nan m)  ' DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg)  ' DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg)% ! '- lDefineOutput OnDock:science:Science.PeakFDOM = nan ppb!)5 "1 'e rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan m%)m 2i 'u DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC))} By ' DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg-) R ' DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg1) b 'E lDefineOutput OnDock:science:Science.PeakSalt = nan psu5)M rI 'U rDefineOutput OnDock:science:Science.PeakSaltDepth = nan m9)e a 'm DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC=)  ' DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdegA)  ' DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdegE)  ' DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/sI)= ™9 'E DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan mM)M ҙI =f,#؛%Ay6*@ٱ61@6m 69R6H|?? )@7??o ?ƀ q?I6*@)6\;i4NBN.IBDV6DV0'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degCQ)%!'-DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdegU)5Y]%!]T=];Q)e>a9a9eGYamD;Am>q1'}DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdegY)'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/sQ 14٪uʹ?Q 54uw  u‹B9Yh?Q E?yuC)u4]=IuD]=iu4Y%!])51'=DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan ma)E"AI ɡiIi)'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degCe) 2 'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdegyu9i)B'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdegm)R'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/sIIN>q) b 'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan mu)r'eDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degCy)mi'uDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg})'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdegᢁ)'=DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/sᢅ)EA'MDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan mᢉ)UšQ'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degCᢍ)Қ'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdegᢑ)%!'-DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdegᢕ)UQ']DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/mlᢙ)ei'mDefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan mᢝ)'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degCᢡ)"'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdegᢥ)529']DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdegᢩ)B'= DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml᢭)} Ry ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan mᢱ)e ba 'u DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degCᢵ)} ry ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdegᢹ)  ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdegᢽ)  '= DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml)M I 'U DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m)] Y 'e DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC)m ›i 'u DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg) қ ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg)  ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml)% ! '- DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan muDf,ٛ%Aiy:64@ٱ:];@:O:N<:H@?>?@ U@Ԅ??Ȣ?`?I:64@):\;i:C^B^.Ii`I`)~|'DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC)']DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg)e"a'mDefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg)2'nDefineOutput OnDock:science:Science.PatchChl = nan ug/l)B'rDefineOutput OnDock:science:Science.PatchChlDepth = nan m Mb@Mb@Mb@  ) I i  Mb`?Zd;O?Mbp?)R'%DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg)-b1 ; j<= ;) I i    )Y ]AABDe6Dek'}DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg)r'xDefineOutput OnDock:science:Science.PatchChlDistance = nan mYG!8=;Q)>99GY(;A>)'nDefineOutput OnDock:science:Science.PatchSalt = nan psu)Q 14٪̹?Q 54v  9M==Q A *œ'zDefineOutput OnDock:science:Science.PatchSaltDistance = nan m * Ҝ 'lDefineOutput OnDock:science:Science.PatchOil = nan psu*51'=rDefineOutput OnDock:science:Science.PatchOilDepth = nan m*'DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg*'DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg*'xDefineOutput OnDock:science:Science.PatchOilDistance = nan m!*"'vDefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool%*U2Q']xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/l!u"-!y"5!}"!"!"!"R8Construct PeakDetectVsDepth.cSu8Construct EdgeDetectVsDepth.SM >Construct PeakDetectHorizontal.CT 8Construct PeakDetectVsDepth.T- 8Construct PeakDetectVsDepth.CJf,i,ٛ%Ay6 ?@ٱ62F@6p 6n6Hh??-?D?Construct PeakDetectHorizontal.U8Construct PeakDetectVsDepth.V8Construct PeakDetectVsDepth.B.IBDE6DE:2YU<!U=U;Q)U>cV]>Construct PeakDetectHorizontal.99GYZ";A>Q 14٪͹?Q 541v  ËB9YXI?Q E?yC)$CW- 8Construct EdgeDetectVsDepth.Wu 8Construct PeakDetectVsDepth.cX5 8Construct EdgeDetectVsDepth.Y 8Construct PeakDetectVsDepth.Qf,jFٛ%Ay6F@ٱ6M@666H??|͟z?`?d7? h?I6F@)6\;i6C#Z}8Construct PeakDetectVsDepth.Z 8Construct EdgeDetectVsDepth.#[,Construct ValueDetect.[e$Construct Execute.#\}$Construct Execute.C\Construct Wait.c\Construct.c\dInitializing internal variables to default values.u\Construct.\dInitializing internal variables to default values. ' a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } = PRunning ./Missions/Engineering/OnDock.tl I +Wf,JC`ٛ%Aɰ;]B].Ie)9)9-GY)-A->1Q 1=4٪56Ϲ?Q 5E45u  5ŋB9E &=Q AE:[!pY@4Pu"ή=U,got command ! ifconfig*[ ~L?bhtx"ܿ[[:@ڟ[u/ź?[qfi [uBCQLAggregate::uninitialize OnDock:sciencecQE\Aggregate::uninitialize OnDock:science:Science1EqEEE1MqMMMcRMvAggregate::uninitialize OnDock:science:Science:OceanCurrent1MqMRUxAggregate::uninitialize OnDock:science:Science:PeakDetectChlUqU#SUxAggregate::uninitialize OnDock:science:Science:EdgeDetectChlUUSUAggregate::uninitialize OnDock:science:Science:HighestChlPeakReport]S]Uninitialize.1]T]xAggregate::uninitialize OnDock:science:Science:PeakDetectNO3q]1]TxAggregate::uninitialize OnDock:science:Science:PeakDetectOilq1UAggregate::uninitialize OnDock:science:Science:HighestOilPeakReportq#UUninitialize.CUzAggregate::uninitialize OnDock:science:Science:PeakDetectFDOMUAggregate::uninitialize OnDock:science:Science:PeakDetectSalinityCVAggregate::uninitialize OnDock:science:Science:HighestSaltPeakReportcVUninitialize.1VAggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROIq1WAggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROIqqWAggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROIq#XAggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROIX%Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms%%CY%Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms%%Y%Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates1--cZ-Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates1-1-[-~Aggregate::uninitialize OnDock:science:Science:ChlThreshTriggerq-#[-Uninitialize.5Q5zInitialize ReadDataComponent to sense platform_communicationsq5q}1}}}}1q1OAltitude envelope ACTIVE. 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