*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="lineCaptureHoming" *n code=0067 name="lineCaptureHoming:Science" *n code=0068 name="lineCaptureHoming:Science:A" *n code=0069 name="lineCaptureHoming:Science:B" *n code=006A name="lineCaptureHoming:Science:C" *n code=006B name="lineCaptureHoming:Science:D" *n code=006C name="lineCaptureHoming:Science:E" *n code=006D name="lineCaptureHoming:Science:F" *n code=006E name="lineCaptureHoming:Science:Read_Oil" *n code=006F name="lineCaptureHoming:Science:OceanCurrent" *n code=0070 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0071 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0072 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0073 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0074 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0075 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=0076 name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=0077 name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0078 name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=0079 name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=007A name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=007B name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=007C name="lineCaptureHoming:Science:PeakDetectNO3" *n code=007D name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=007E name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=007F name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0080 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0081 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0082 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0083 name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=0084 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=0085 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0086 name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=0087 name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=0088 name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0089 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=008A name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=008B name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=008C name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=008D name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=008E name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=008F name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0090 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0091 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0092 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0093 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0094 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0095 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0096 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=0097 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0098 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0099 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=009A name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=009B name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=009C name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=009D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=009E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=009F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00A0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00A1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00A4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00A5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00A6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00A7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00A8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00A9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00AA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00AB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00AC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00AD name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00AE name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00AF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00B0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00B1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00B2 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00B3 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00B4 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00B5 name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00B6 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00B7 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00B8 name="lineCaptureHoming:StandardEnvelopes" *n code=00B9 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00BA name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00BB name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00BC name="lineCaptureHoming:C" *n code=00BD name="lineCaptureHoming:D" *n code=00BE name="lineCaptureHoming:E" *n code=00BF name="lineCaptureHoming:NeedComms" *n code=00C0 name="lineCaptureHoming:NeedComms:A" *n code=00C1 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00C2 name="lineCaptureHoming:NeedComms:C" *n code=00C3 name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00C4 name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00C5 name="lineCaptureHoming:NeedComms:D" *n code=00C6 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00C7 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00C8 name="lineCaptureHoming:NeedComms:E" *n code=00C9 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00CA name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00CB name="lineCaptureHoming:G" *n code=00CC name="lineCaptureHoming:H" *n code=00CD name="lineCaptureHoming:MicromodemComms" *n code=00CE name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00CF name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00D0 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00D1 name="lineCaptureHoming:J" *n code=00D2 name="lineCaptureHoming:LineCapture" *n code=00D3 name="lineCaptureHoming:LineCapture:A" *n code=00D4 name="lineCaptureHoming:LineCapture:B" *n code=00D5 name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00D6 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00D7 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00D8 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00D9 name="lineCaptureHoming:LineCapture:D" *n code=00DA name="lineCaptureHoming:LineCapture:E" *n code=00DB name="lineCaptureHoming:LineCapture:F" *n code=00DC name="lineCaptureHoming:LineCapture:G" *n code=00DD name="lineCaptureHoming:LineCapture:H" *n code=00DE name="lineCaptureHoming:LineCapture:HoldMass" *n code=00DF name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00E0 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00E1 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00E2 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00E3 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00E4 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00E5 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00E6 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00E7 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00E8 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00E9 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00EA name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00EB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00EC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=010E name="lineCaptureHoming:LineCapture:L.Wait" *n code=010F name="lineCaptureHoming:LineCapture:M" *n code=0110 name="lineCaptureHoming:L" *n code=0111 name="lineCaptureHoming:M" *n code=0112 name="lineCaptureHoming:N" *n code=0113 name="lineCaptureHoming:O" *n code=0114 name="lineCaptureHoming:P" *n code=0115 name="lineCaptureHoming:Q" *n code=0116 name="lineCaptureHoming:U" *n code=0117 name="lineCaptureHoming:TrackAC." *n code=0118 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0119 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=011A name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=011B name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=011C name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=011D name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=011E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=011F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0120 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0121 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0122 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=0123 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=0124 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=0125 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=0126 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0128 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0129 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=012A name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=012B name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=012C name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=012D name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=012E name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=012F name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0130 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0131 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0132 name="lineCaptureHoming:restartDHCP" *n code=0133 name="lineCaptureHoming:restartDHCP:A" *n code=0134 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=0135 name="lineCaptureHoming:StartingMission" *n code=0136 name="lineCaptureHoming:Z" *n code=0137 name="lineCaptureHoming:BA.Execute" *n code=0138 name="lineCaptureHoming:InitialDive" *n code=0139 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=013A name="lineCaptureHoming:InitialDive:B.Mass" *n code=013B name="lineCaptureHoming:InitialDive:C.Pitch" *n code=013C name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=013D name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=013E name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=013F name="lineCaptureHoming:RepeatHack" *n code=0140 name="lineCaptureHoming:RepeatHack:A" *n code=0141 name="lineCaptureHoming:Lap" *n code=0142 name="lineCaptureHoming:Lap:A" *n code=0143 name="lineCaptureHoming:Lap:B" *n code=0144 name="lineCaptureHoming:Lap:C" *n code=0145 name="lineCaptureHoming:Lap:D" *n code=0146 name="lineCaptureHoming:Lap:E" *n code=0147 name="lineCaptureHoming:Lap:Docked" *n code=0148 name="lineCaptureHoming:Lap:Docked:A" *n code=0149 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=014A name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=014B name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=014C name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=014D name="lineCaptureHoming:Lap:Docked:C" *n code=014E name="lineCaptureHoming:Lap:Docked:D" *n code=014F name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0150 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0151 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0152 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=0153 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=0154 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=0155 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=0156 name="lineCaptureHoming:Lap:Docked:Detach" *n code=0157 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=0158 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0159 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=015A name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=015B name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=015C name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=015D name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=015E name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=015F name="lineCaptureHoming:Lap:Docked:Drift" *n code=0160 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0161 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=0162 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=0163 name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=0164 name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=0165 name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=0166 name="OnDock" *n code=0167 name="OnDock:StandardEnvelopes" *n code=0168 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=0169 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=016A 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H?)  H?9 EY E;A ?Q 1%@4٪E?Q 5%@4-  !GI  ɡpyiI0O >i)ym:9A%AIINf>bDZDDDDDE>: Ega:6Ec5:E!@!@!@!@i YK,٩/)Ay6Ց@ٱ6Ҙ@661>6H L4?? _ ?}?@۝?@??I6Ց@)6Lp_;i6GCnzI>nDBDv 6DvH:YI!B=1=Q)>D?)D?9EYE)A>Q 1@4٪?Q 5@4 .?9YόQ E?yA) :I[:iG@4YvBY~BYB] EB]_>B]\ =BYBYB]<B]sEuBqjiiiiZZbZjZrZ ~?iy } >}6GIy ɡ^iIo >i)yd:ԙA5wAI9IQN]v> D D D D E : E P:6E 5:E "E X ^DbzMR?)zMR?9zEYzEzWA~>9Q 1E@4٪=?Q 5M@4= =?9IYMҏQ EM?y="A)=:I=X:i=T@4YPBBEjiiiiZZbZjZrZB|?Y ]pQ>eVGIa aɡehiaIe|c>ii)iy(:AAIINI>! > >h K,:/)Ay:4+@ٱ:(@:iv:'=:H??`f6 2?@? ?Pi??I:4+@)::_;i:FCN:>NDBDZy 6DZ:YrE+=!rK=r_Q)r>vU?)vU?9vEYvEvAz>|xQ 1=@4٪zL!?Q 5E@4zޓ zì?9AYEQ EE?yz,$A)zi'i)y:)Q2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.U1v>Au<Au=vB>~BtCB@EBtU>BW =BBtDB<BEԉ A yAI IA NM >5K,h/)A)V-G `)lI TAYy@ٱ<@䄽h"=H?`(?dB@R ?6?`?N??I@)+v_;iHC6>DU*DAT read: user:864> ]BDAT read: Tx time:18:15:26.3701 ]$Ping request sent.]}`9}-=Iyiy}1Zd?:v?ʡE?}">}=ԁDDDDEO: E:6E 5:E"E m H?)m H?9mEYmEmBAm>qQ 1}@4٪u&?Q 5@4u꙼ uҴ?9>Q A:YQ E?yu'A)u;Iu;iuu@4YBjiiii!ZZ}z]>bZ}z]>jZ}<?rZ}ȉ= s>顕IGI ɡiI>i)Աy:   A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251117 > A-"AI1IANM>K,j/)Ayfk8@ٱf5@ff>fH`E??,` K8?`2?`ϲ?`yB?O?Ifk8@)f~_;ifFCu>uPDiyIyBD 6DC:YM޽!MF=M Q)M>UN?)UN?9UEYUE]<A]>YQ 1@4٪]U*?Q 5@4]K ]?9YmQ E?y]*A)]&i!)!DDDDEI: E H:6EDz5:E!@!@!@!@y2:|>A AI I N- >A i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754860vB] >~B] rCB] EB] i>B] b =BY B] rDB] <B] Ei R K,~//)Ay6#@ٱ6@6 ͽ6A>6H?ʘ? ÿ` ?E?m?@e@?؂?I6#@)6s_;i6HCNo>NDBDZ6DZ+c:Y3=!s=%̡Q)%?%K?)%K?9-EY-E-d=A-?1Q 1@4٪5-?Q 5@45 5?9YAQ E?y5 -A)53`GI ɡ:iI՗>i) 1y:Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0120776>DDDDEO: Ei:6E 5:E"E *K,I/)Ay6N@ٱ6K@6Ӫ6,>6H1? |?ƿL ?,?@ь?oh?`i?I6N@)6 _;i4BDBDJV 6DJ:YVb=!VT=V5Z H?)Z H?9ZEYZE^~A^>Q 1 @4٪31?Q 5@45 m?9YQ E?y/A)$0i)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263857ԩy:u>rA>jA>AIINj>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514874D D D D E m: E ?:6E Dz5:E ! @! @! @! @TK,b/)Ay6zB@ٱ6?@6;64%>6H0??Ŀ`9? ˮ?ჱ??`6?I6zB@)6ژ_;i6ICN5>NHDVG>V>BDZ6DZ:Yrɉ<!rG=rk=Q)r>t)t9vEYvEzijAz>|xQ 1=@4٪z4?Q 5E@4z z?9AYE2Q EE?yz2A)z&$JGI ɡ0iIs>i)y @:1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768031vB>~BtCB@EB~>B` =BBtDB<BEy=|> > >A "AI I N ><~K,|/)Ay6@ٱ6 @6ɜ6>=6H\?ȶ?@J?`?@Aϲ?|@?M?I6@)68__;i4N>NDZ`SBD MO Status=0, MOMSN=865, MT Status=0, MTMSN=0Z.No messages in MT queueechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018956ԙJ +?:vL7A`尿>Լ9+IiV-?!rh?K7A?|>l= >)BIBiBB BBE=5JE=Dz5RE=¹-1DDDDE[: EF:6E5:E"Ez%N?)%N?9%EY%E-<A]>qQ 1}@4٪u9?Q 5}@4u+Q 9}tI u ?9W>Q A;YQ E?yuj5A)u#;Iu";iur@4YBjiiiiZZ>bZ>jZC-j?rZN@ AEaGIA AɡEHiIIM85>iI)Qy:6> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270971A- AI1 IA NU >! g%K, /)Ay6"@ٱ6@6h#6[=6H??Q`Э??@?? ?`D?I6"@)6_;i4NP>N=EBDZ 6DZP:Y|>!%q=%\Q)%?-K?)-K?9-EY-E-;A-?1Q 1}@4٪5i)y:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523690!DDDDE: ER:6E5:E!@!@!@!@u2>QA %AI I N >y vB >~B B EB s>B _ =B B B <B `EBtC checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774847BtCBB_ =BB,6+K,4/)Ay6@ٱ6l@66=6HU??^žh`?Yb?$}?ؽ??I6@)6,f_;i4N4!>N?DiTITBDZL 6DZ:YE!EH=MyUD?)UD?9UEYE<;A>Q 1@4٪A?Q 5@49 ?9YQ E?y9A))i)yeX : iiIi)iԁ}BDAT read: Rx Time:18:15:28.9924 }TRx dataTimestamp_ set to:1755627331.002755checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027927ԩDDDDE: E;J:6EU5:E"E5 1w2K,iW/)Ay:@ٱ:/@: p:W>:H` ʤ?ٶ?A(f?]$?? 0?` ?I:@):o_;i8]R >e(DBDI 6Dv:Y'!@=`K?)K?9EYEA> Q 1@4٪ E?Q 5@4 + n?9qYuۢQ E}?y ri)iyE :A%AIIN>  DAT read: 18:15:28.9924 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 439,-0.17, 2.549, 1.614,-3.113, 2.528, PHS= 0.124,-0.868, 0.599, RAW= 168.5, 2.3, CAL= 167.4, -0.1, ROT= 342.6, 0.1 = Ygot valid direction response: 18:15:28.9924 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 439,-0.17, 2.549, 1.614,-3.113, 2.528, PHS= 0.124,-0.868, 0.599, RAW= 168.5, 2.3, CAL= 167.4, -0.1, ROT= 342.6, 0.1  PDAT read: Bearing 48.3, -13.3 (Local)  ~Local bearing/azimuth received: Bearing 48.3, -13.3 (Local)  DAT read: Range 11 to 50 : 163.6 m (Round-trip 218.2 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages.D D D D E y: E P:6E 85:E ! @! @! @! @ `direction in FSK: [0.954239,-0.299040,-0.001745] Fpublishing direction and range info9  ?/Nz#ӿn p\ #C I i E = ?5^) X?I `7<@i l$= :@ X@ :I i ) '$ 0?/I?}x :? 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I ɡiIz>i)AEyAIQIaN}>A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992iD cD ]D RD E g5: E 96E c45:E ! @! @! @! @ԙ >K,(/)Ay6_Λ@ٱ6ˢ@6C6u=6H@"? !nI=nr H?)r H?9rEYrErAv>tQ 1zG4٪v?Q 5~G4v% vjA9|Y~JQ E~?yvB)vY;Ivw;ivG4YB bB Eji!i!i!i!ZZAbZAjZArZEB˶?Q QUIQ YɡYiYI]s=ia)aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502939AIIN=ԙvB% Y>~B% CB% 3HB% AB% =B% 7DB% DB% <B% E= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754949 K,hB/)Aɰ4<y6 L@ٱ6I@6A61=6Hc?? ѿ&0@?@?`?2?IL?I6 L@)6R_;i6]CDRUDREDR7DPER: ERA96ERԺ4:EP"ERi:!ZERn:!Z*ERV:!ZERV:!ZnAn.HipIpBDz 6Dzf6Y=>!=E==A)A9EEYEEMAM>QQ 1]G4٪Uw?Q 5]G4U) UA9YY]OQ Ee?yUB)U;IU;iUG4Yim"bBijiiiiZZbZjZrZSd? 顽I ɡiIc=i)bA~AZA}AIIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006992iI) yK,@\/)Ay6Ț@ٱ6š@6,?6s<6H?@?_;п@ ? ,?@?*?y?I6Ț@)6_;i4BAB0HBDJ 6DJ6YR?!RT=V(T)T9ZEYZEZ{+AZ>\Q 1bG4٪^?Q 5bG4^- ^sA9dYfTQ Ef?y^cB)^K:I^l:i^yG4YjBj\aBjEjiiiiiiiiiZZbZjZrZ? 顥*I ɡiIi=i)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246QDRD9D6DEs9 Ea86Ec4:E!@!@!@!@IIN>y checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513088 K,Kv/)Ay6(F@ٱ6C@6K=6hC"<6H`?c?;?̿c?@@Q?M?@}?f?I6(F@)6l`;i6\CLR.AR2H-~jt?X9v?333333?-d?-}=9-=I)i)-+?^I +?~jt-??-X9>-)-MBI-ÓBi-C-s>B )-BBD 6D6Y>!;=)9EYEA>Q 1G4٪?Q 5G4a3 +A9RE?Q A:YnQ E?ylB)':I:iG4YB`BãEjiiiiZZ $V>bZ $V>jZ @rZ z-?! !%I! !ɡ!i)I-=i))1IIN]=vB{>~BCB_8HBAB =B9DBDB<B E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763035DWD<D2DE : E86E4:E"Es:!Ex:!*E.9!E39!! m fsetting unavailable, lastComms_.elapsed()=60.771515 m  m m K,/)Ai@2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014910y>ә@ٱ>Р@>Qs;>>H@/Q?}?&zɿ@'@j?hl?d?@ou@?I>ә@)>`;i>_C^A^4Hb,>bY>BDf 6Dfr6Yn?!nW=rtp)t9vEYvEvAv>|xQ 1H4٪z )?Q 5H4z<8 zA9YfsQ E ?yzUB)z+;Iz-;izH4Y_Bj)i)i)i)i)q35f5nAggregate::initialize lineCaptureHoming:MicromodemComms3= g=~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn3=ZZQbZQjZQrZU*?a imIi iɡiiiIm=iq)yrA>jA>II)!Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267370N>BEM!5JEM'5REM3D SD BD 6D E 9 E (96E c4:E ! @! @! @! @y K,ԩ/)Ay:j@ٱ:Mh@:<9: :H`V?q?@zƿ v?w?m:? s??I:j@):`;i:[CFAF6HBDN 6DN6YV?!VN=Z=X)X9^EY^E^0A^>`Q 1fH4٪b4?Q 5fH4bm= b+A9hYjgwQ Ej?ybJB)b:IbF:ibH4YnBn_BrģEjxixixi|i|ZZbZjZrZ(?) -Β=-yI) 1ɡ1i1I5P=i9)9YIIN=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518996ԉԹvB 2>~B hCB )=HB ϙAB =B ;DB ӺDB ;;B EBʣCBʶCBۈCBʙ =Bʆ =B/8 % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770965`K,K/)Ay6@ٱ6>@6866Hڍ?_? Ŀ'? Qq? B? ?I6@)6`;i6]CbD<ZD>?AD@DB@DB2D@E@ EB96EB4:E@"EBQ:!JEBV:!J*EB :!JEB :!JNANs8H )RBDZ 6DZ6YM>!MA=M]|Q)Q9UEYUE] ƼA]>aQ 1mH4٪e@?Q 5mH4e C eǯA9iYmzQ Eu?yeRB)e:Ie:ie"H4Yy}[^ByjiiiiԹZZbZjZrZgf'? I ɡiI=i)IYIiNu=nManaging dock network, ignoring radio surface power offBDAT read: Rx Time:18:16:29.2113 TRx dataTimestamp_ set to:1755627391.270643checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0240189 v K,C/)Aɰ;;y6՘@ٱ6ҟ@6xh66 6H??@ÿA`n?b?`?`Nm@[3?I6՘@)6d_;i6_CNAR:HiTITBDZ 6DZ#6Yvw ?!vQ=vx)x9zEYzEzէA~>Q 1 H4٪K?Q 5 H4LH AA9 Y .}Q E ?yGB):I:ib0H4Y]Bj1i1i1i1i1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275096ZZbZjZrZ&?   MI  ɡiI=i)!bA5}AZA5~ADVD;D6DE=: E86Ec4:E!@!@!@!@AAIIN>Aym DAT read: 18:16:29.2113 LVL= 32752, 32753, 30050, 32755, AGC= 64, IDX= 121,-0.06,-2.241,-2.889,-1.170,-2.001, PHS=-0.138,-0.843, 0.787, RAW= 184.4, 2.8, CAL= 184.3, -0.1, ROT= 325.7, 0.1  Ygot valid direction response: 18:16:29.2113 LVL= 32752, 32753, 30050, 32755, AGC= 64, IDX= 121,-0.06,-2.241,-2.889,-1.170,-2.001, PHS=-0.138,-0.843, 0.787, RAW= 184.4, 2.8, CAL= 184.3, -0.1, ROT= 325.7, 0.1  PDAT read: Bearing 59.0, 7.5 (Local) ԙ  ~Local bearing/azimuth received: Bearing 59.0, 7.5 (Local)  DAT read: Range 11 to 50 : 140.4 m (Round-trip 187.2 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.826097,-0.563525,-0.001745] Fpublishing direction and range info uco? e⿉n p\ f C I i bu @ O W) xI?I M@i +H= vM@ @ I i ) 緒?g2f?]zŨ? ? 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BY|jiiii DI ɡiI=i){=ԉA!I)I9NM1>Ա bD ZD AAD WD >D +D E : E 96E [4:E "E {:! E :! *E s9! E x9! yK, /)Ay6@ٱ63@66vr=6H@w?`7L?ݿ n?@8??`~? ?I6@)6T^;i6oC>#BB+HBDJ6DJ25YRg>!RM=Ri9Q)R>T9T9VEYVEZ7<AZ>\Q 1bO4٪^f?Q 5bO4^ ^9B9`YbC&Q Eb?y^XB)^;I^;i^O4YjBj BjEjtitititit I ɡiI%=i!))Թe?~=AyIIN>) G  A) IE -E AM K-AI tK,/)AyN@ĩ@ٱN@NN o=NH`?@4?ݿ``s?W? ?`???IN@ĩ@)NSl^;iLv9$BvHMb@Mb@Mb@ )IiQ?Mb?Mb?5?=<)IBIBiA  BBD6D[45Y >!:=߈:Q)>99EYE!<A>Q 1O4٪)?Q 5O4 f:B96?Q A:Y&Q E?y؎B)(;I;i3O4YBjiiiiB*** querying acoustic contact ***:hBhD]PD]@D]-DYE]9 E]96E]t4:EY!e@!e@!e@!e@ I ɡiI%.=i) I)AbA}AZAA<A<2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.vB>~BBHB'BB =BByDB5;B_GEqAIIN>ԙ ĝK,+/)Ay6s@ٱ6@6B6Zm=6Hc?F? Xݿ`?`&?@?`\!??I6s@)6NO^;i6lC>%BBH@Ba=BDJ6DJ-<5YR ?!R]=RHi;Q)R>T9T9VEYVEZT<AZ>XQ 1bO4٪ZN?Q 5bO4ZE Z ;B9`Yb$Q Eb?yZDB)Z;IZ;iZO4YjBj(Bhjtitititit 顕 I ɡiI=i)*DAT read: user:866> %BDAT read: Tx time:18:17:26.8699 -$Ping request sent.-DmYDm<Dm.DiEm: Em86Emـ4:Ei"Em;!uEm;!u*Em69!uEm;9!}ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252211 njK,ԙ5/)Ay6 @ٱ6 @666{o=6H4 ?@?@wݿ V?c?@y?K??I6 @)6a^;i6nCB%BBH Mb@Mb@Mb@  ) I i  㥛 ?Q?~jth? 5? \= D;) BI Bi  =A   BBD%6D%45Y5S>!5A=5q;Q)=>= H?9= H?9=EYEEE(<AE>IQ 1UP4٪M½?Q 5UP4M  M;B9Uc6?Q AU:Y]!Q E?yMB)M-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502314 Du[DuXDu-DqEua: Eu96Eut4:Eq!@!@!@!@) mK,5yO/)AvB&>~B&CB&'HB&>)BB& =B$B&zDB&;B&FE,Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754142yZ.@ٱZ,@ZWZr=ZH"#?E?@uݿ1?@`?`? V??IZ.@)ZK^;iXvA&BvzHBD~6D~25Y >! M= ;Q)>K?9K?9EYEr<A>!Q 1-P4٪%ҽ?Q 5-P4% %hjA>9AAIQIaNm>Y5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006253ԉ D UD @D )D E : E 96E FA4:E "E h:! E m:! *E :! E :! ٙK,Qi/)Aɰ4<0y:K@ٱ:PI@:%:Wu=:H ^:?`?aݿF?*?? ??I:K@):h^;i:oCB&BB/HiDID HHBDNr6DN<*5YV&>!VQ=V;Q)Z>X9X9ZEYZE^<A^>Q 1 P4٪⽊?Q 5 P4$ =B9 Y JQ E ?yB):I:i!P4YB|B=EjIiQiQiQiQ I ɡiI=i)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260367IQIN> E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510195fàK,3/)AyFg@ٱFLe@FFDF|{=FHfQ? ?@,ݿ @[?@?q???IFg@)FuW^;iFqCN'BNHl]Mb@Mb@Mb@Y Y)YIYiY]Q?~jt?~jth?](!==@;Q)>99EYEx<A>Q 1P4٪m?Q 5P4= =B9 A=AAA9vBE>~BABE(HBE*BBE =BABABE;BE-FEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7622841a FK,t /)Ay6S@ٱ6΁@6p6|=6H`i?`š?ݿR3n?@? Da?@ө? -%?I6S@)6̀^;i6oCBP(BBHBDH6DHYf0>!fW=fe;Q)f>h9h9jEYjEj$<An>pQ 1vP4٪r?Q 5vP4r rr>B9tYv(Q Ev?yrB)r:Ir:ir=P4Y|~B|jiiii9A AMyIM8 IɡIiIIM=iQ)QbAaZAachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014230I IN%=iDMSDMKDM*DIEM9 EM]t96EM(N4:EI"EMU:!UEMZ:!U*EM:!UEM:!]ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268524 HK,/)Aiy>@ٱ>8@>; >%H=>H ~??@^ݿ~?`@)>_^;i!]A=];Q)e>a9a9eEYeEm&;Am>qQ 1}P4٪u?Q 5}P4u u1?B9}R@?Q A}:Ya*Q E?yu'B)u;Iu ;iuLP4YBBEԙjiiii I98 ɡiI=i)II N= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518265BE [4JE^4REa0D]UD];DYDYE]: E]86EY:EY!m@!m@!m@!m@ vB= >~B9 B= HB= v,BB9 B9 B= yDB= ;B= EEBCBCB̓C$K,+/)AB5 =B5 =B5O52checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770307y>@ٱ> @> `>_e=>H ͔?^p?@ݿ ? D?T@? ;ª?E;?I>@)>#M^;i>pCF)BJ~HBDP6DPYZ>!ZV=Z;Q)Z>\9\9=EY=E=;AE>AQ 1MP4٪E#?Q 5MP4E E?B9QYU)Q EU?yEB)Eh:IE:iEZP4YYeBajqiiii I 8 ɡiIC[=i)IIN=!%BDAT read: Rx Time:18:17:29.4435 -TRx dataTimestamp_ set to:1755627451.5279385checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025174QDe ODe BDe ,Da Ee 9 Ee (96Ee g4:Ea "Ee /:!m Ee 4:!u *Ee *:!u Ee *:!u y O(K,|/)Ay6iʪ@ٱ6DZ@66=6H'?@7_?ݿ@ڂ՞??/?۪?`G?I6iʪ@)6k^;i4B(*BBGHBDJ}6DJK/5Yfi>!fI=f;Q)j>h9h9jEYjEn;An>pQ 1vP4٪r3?Q 5vP4r r@B9tYv(Q Ez?yrB)r:Ir:irjA>I9IIQNm=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276346ԁԱm DAT read: 18:17:29.4435 LVL= 24752, 24097, 16226, 28627, AGC= 64, IDX= 260, 0.09,-0.403, 0.754, 2.226, 1.292, PHS=-1.593,-0.493, 0.889, RAW= 236.2, 11.1, CAL= 237.3, 12.8, ROT= 272.7, -12.8 u Ygot valid direction response: 18:17:29.4435 LVL= 24752, 24097, 16226, 28627, AGC= 64, IDX= 260, 0.09,-0.403, 0.754, 2.226, 1.292, PHS=-1.593,-0.493, 0.889, RAW= 236.2, 11.1, CAL= 237.3, 12.8, ROT= 272.7, -12.8  PDAT read: Bearing 120.7, -49.0 (Local)  ~Local bearing/azimuth received: Bearing 120.7, -49.0 (Local)  DAT read: Range 11 to 50 : 127.1 m (Round-trip 169.5 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.045936,-0.974067,0.221548] Fpublishing direction and range info! % a焧?6R++￵@|[?% 3B! 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R?IJM@)Jn^;iHVrGBVMH5Mb@Mb@Mb@1 1)1I1i15V-?mK?9mK?9mEYmEm<Au>yQ 1S4٪}BEŠ?Q 5S4}P }]B9.=?Q A:Y:Q E?y}B)}:I}M:i}zS4YAjiiiiUl QU I]L9 YɡYiYI]J<=ia)am?m?y58AAyIIN=>iԙ +K,/)Ay6g@ٱ6Ae@656=6HD?)I?+ɿ „`f?'?@ ? ?^?I6g@)6`^;i6zC>GB>HBDF6DFo35YNm>!jX=j<l9l9nEYnEr<Ar>tQ 1zS4٪vXŠ?Q 5zS4v} v]B9xYzeQ Ez?yvB)vS:Iv:ivqS4Y2B0AEjiiii!M 1l IMOIM9 IɡIiQIU:=iQ)YrD=jD<DfDSD*DEI@: E96E(N4:E"EAR;!ECR;!*E::!E<:!y58yA!I1IANM1>ԡ 2K,m/)A0i0yZ@ٱZ}@Z.Z恶=ZH@?9?-Vȿv p??`?@t?i?IZ@)Z^;iZxCfHBfHMb@Mb@Mb@ )Iirh|?S㥛!9=L99EYEZ;A>Q 1S4٪nŠ?Q 5S4 ]B9jA>DDWDDE E96E:E!@!@!@!@A]yAIaIqN8>vB>~B֍CBHBHBB =BBeDB;B 7E1 8K,;/)Ay6:@ٱ6@6x)&6=6H`c?#?rǿ` b`|?I}?@?T?t?I6:@)68o^;i6vCBdHBBxHBDJ6DJ25YRc>!R_=VV H?9V H?9ZEYZEZA'<AZ>\Q 1bS4٪^UŠ?Q 5bS4^ ^,^B9dYfQ Ef?y^ԲB)^:I^:i^}S4Yj=Bj+AjEOvvhAggregate::uninitialize lineCaptureHoming:RepeatHack1PvqPvzVAggregate::initialize lineCaptureHoming:LapPzIp: ɡiIi!)%i)I)y08)AAIIN&>abDZDDeDLD0DE<: E|96E4:E"EK;!EK;!*EE:!EF:!ԉ ?K,&/)AfK?9fK?9fEYfEj]<Aj>lQ 1rS4٪n"Š?Q 5rS4n1 nb^B9tYvQ Ev?ynlB)n:InN:inS4YzYBz>Az(E*j XP P  ZAggregate::initialize lineCaptureHoming:Lap:BI1 1ɡ9i9I9i9)Ay8bAZArAjAԱAI)I9NMS> BEM(N4JEM(N4REM 0D gD PD )D E C: E ?96E FA4:E ! @! @! @! @A <A <vB ~B B HB \IBB =B B B [;B 5EBe׍CBe׍CBe˔CBaBe˷ =Be˲5EK,/)Ay6zװ@ٱ6Է@6D6s=6HR,?`u?|%ƿ;@?o ?M?c?I6zװ@)6`^;i6uC>HB>H DFAlEMb@Mb@Mb@A A)AIAiAES?~jt!m@=mu9u9uEYq}<A}>Q 1S4٪GŠ?Q 5S4 ^B9C=?Q A:YQ E?y B):I:iS4YA4 ifAggregate::initialize lineCaptureHoming:LineCaptureq5jAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes5 kJInitialize AltitudeEnvelopeComponent.5kDInitialize DepthEnvelopeComponent.16 lJInitialize OffshoreEnvelopeComponent.17q77 oxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass718 pInitialize.q8pAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy8 qAa LK,2/)Ay64@ٱ6@6 6=6H@?಻?`ſ`]'?y?@o??I64@)6G^;i6wCB;IBBHBDJ6DJ265YRp>!RX=RۊT9T9VEYTZ<AZ>\Q 1bS4٪^ Š?Q 5bS4^P ^^B9`Yb Q Ef?y^B)^@;I^;i^S4YjdBjAj)EqKvvAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalKvzEntering Terminal tracking update period 2.000000 s sec at 127.099998 m (mode 0.000000 count ).K~K~"dcccc `8@a Q@15q6ZZ)bZ)jZ)rZ- W@rD}=jD}<DeDQD*DE<: Ev96E(N4:E"EK;!E!*E:!E:!ԑI ɡiIi)*??ԡy|8II)N1 SK,}L/)AyZ@ٱZ\@Zr Zv=ZH`}[?~p?8Wſt @?OM'?@??IZ@)Z]^;iXbtIBbH]Mb@Mb@Mb@Y Y)YIYiY]\(\?MbMb?]:?]]<)]XAI]Ai]OA]A Y]ABDuԱ6Duo35Y=!6=;{99EYt0<A>Q 1S4٪rŠ?Q 5S4 ^B9 :?Q A :Y # Q E ?y>B):I#:iS4YpBAi-@K-1L-5B*** querying acoustic contact ***:h1Bh1"d9c9c9c9cE >9@cE@q6E6EZZe:?bZe:?jZe@rZej@Iq qɡqiyIyiy)ym8IIN=DmjDmODm.DiEmN: Em96Emـ4:Ei!u@!u@!u@!}@vB->~B)B-JHB-IBB- =B)B)B-^;B-4E2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9 H.YK,ˁf/)Ay:nI@ٱ:F@:G:-=:H\y?`?`RĿ ߿@?@1=?`6ϻ??I:nI@): M^;i:xC^IB^Hb!r_=rt9t9vEYtz ~<Az>|Q 1S4٪~Š?Q 5S4~K ~#_B9Y Q E?y~ŵB)~;I~:i~WS4Y^Ai-@1L-qL-"d1c1c1c1c=K9@c=R@6=6=ZZYbZYjZYrZ]ط@Ii iɡqiqIqiq)y1yqIIN=m*DAT read: user:867> uBDAT read: Tx time:18:17:56.1198 u$Ping request sent.}y9y9}EYyR<A>Q 1S4٪Ê?Q 5S4a O_B9YZQ E?ybB)w;Ir;i S4Y{B+A*EiqLrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqKAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal"dcccc:@c68qAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence19 rAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockq9rAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide9 sInitialize. sdInitializing internal variables to default values.:uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1; vAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq<xInitialize.< yInitialize.q;?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlAInitialize.AAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1B Initialize.qBBq@ZZbZjZrZ{@I! !ɡ!i!I!i)))ԑy-8IAIQN]=}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502688D _D RD ,D E &: E 96E g4:E ! @! @! @! @A9 A= AAvBE >~BA BE HBE OJBBE =BA BA BE ;BE 3E l@fK,8/)Ay6@ٱ6o@6r役60q=6H@԰?? 1ÿ`hD߿?8 ?v ??I6@)6CY^;i6vCBIBBdH Mb@Mb@Mb@  ) I i  y9y9}EYO<A>Q 1T4٪sÊ?Q 5T4  v_B93?Q A:YQ E?yB)GD;I<;iIT4YB2A+E?uuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@u uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideq@uqAuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA} }Uninitialize.A}}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1B}qB}B}:}u}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;} v}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq;}q<}x}Uninitialize.<19 sInitialize. sdInitializing internal variables to default values.sPDetached from dock at depth 50.489109 m.dddd"dcccc@w:@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876ZZ3?bZ3?jZ:rZA@I  ) 1ɡ1i1I1i9)9y)IqIN>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006681jlK,/)A4y>Eɱ@ٱ>Ƹ@>ս>=>H?=??@Mÿ@}߿l?qy??O?I>Eɱ@)>^;i>xC^2JBbHi`I`BDjq6Dj)5YrL>!rP=rt9t9vEYtzV<Az>|Q 1T4٪~)Ê?Q 5T4~u ~_B9YQ E?y~zB)~;I~;i~T4YAd5d1d1d1d1"d9c9c9c9cE:@rDYjD]4=DeaDeQDe)DaEe%.: Eev96EeFA4:Ea"Ee2;!mEe2;!u*Ee:!uEe:!uZZybZyjZyrZ}@I  ɡiIi)yu8IIN=ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258690 UsK,/)A`y @ٱ "@ nŽ = H?@B?0R¿޿L?\?``??I @) \f^;i wC%5JB%H=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510811Mb@Mb@Mb@ )Ii(\?Mb`?Mb?.?;<)AIAiAzA ½ABDk6D'5Ya;!;=e99EY*<A>Q 1T4٪>Ê?Q 5T45 _B9.?Q A:YQ E?yB):I8:i$T4YB&A5E-B*** querying acoustic contact ***:h)Bh)d1d9d9d9d9"d9c9cAcAcE@B;@ZZe.?bZe.?jZe@;rZe?@I  ɡiIi)yI8 4Initializing EZServoServo.DmkDmfDm-DiEmmR: Em96Emt4:Ei!u@!u@!u@!u@vB>~B؍CBDHBJBB =BBfDBd};B13E }8Initializing DockingStepper.IIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627369 |yK,;/)Ay6@ٱ6-@6PG6Ȕ=6H@*?;?@n ޿@% ?/W?`1~?`u?I6@)6DW^;i6vC>uJB>HBDF6DF[45YNJ1>!Rb=RWT9T9VEYTVF<AV>XQ 1^T4٪Z QÊ?Q 5bT4ZI Z_B9`Yb9Q Eb?yZB)Z ;IZ';iZ1T4YfBfAj6Edxdxdxdxdx"dxcxc|c|c~~;@ZZ!bZ!jZ!rZ%>@I1 1 1ɡ1i9Ii)y:8IIN=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014666QyDbDMD*DE1: E96E(N4:E"E.9;!E09;!*E:!E:!ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266755^dK,/)Aiy60@ٱ6@.@6|6{=6H, ?`?@H` `޿ ?0թ?3??I60@)6\^;i6wCfJBf.Hj=j<BDn6Dn05Y%=!-B=-)9195EY15<A5>9Q 1ET4٪=9fÊ?Q 5MT4= =_B9IYMYQ EM?y="B)=:I=6:i=`@T4YQUAYydydddd"dcccc <@ZZbZjZrZ>:@I  ɡiIi)y8IINԩ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522012D D PD 'D E  E ?96E '4:E ! @! @! @! @A <A <vB >~B B HB JBB =B B B |;B 2E yK,/)Ay6L@ٱ6zJ@6ו6'=6H? ?h3޿`X?= ???I6L@)6 A^;i4BJBBaHMb@Mb@Mb@ )Iiv/?~jth?MbPx)?D;)AIAiAdA ̼ABD6D25Y=!A=99EY%<A>Q 1T4٪{Ê?Q 5T4O `B9y)?Q A:YQ E?yB)E:I:i6OT4YBjA7Eddddd"d!c!c!c!c- x<@ZZMy)?bZMy)?jZMD;rZMp@IY Y YɡYiYIaia)iiichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770605Iiy8IINa>1m BDAT read: Rx Time:18:17:58.7008 m TRx dataTimestamp_ set to:1755627480.770620u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023764Y KK,Y5/)Ay6=g@ٱ6d@66De=6H-?i?` ޿N%?'?`??I6=g@)6N^;i4NJBRHBDV6DV25Yb=!b\=bd9d9fEYdf <Aj>hQ 1nT4٪jOÊ?Q 5rT4jO j`B9pYrJQ Er?yj.B)j';Ijw;ij$\T4Ytz8Axddddd"dcccc<@rD==jD==DEdDEUDE)DAEE9: EEP96EEFA4:EA"EEE;!UEEE;!U*EE:!UEE:!UZZbZjZrZ,@I  ɡiIi)9y9IIN%=achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274711ԉ |K,GO/)Aɰj;hMDAT read: 18:17:58.7008 LVL= 32752, 27841, 28386, 32755, AGC= 61, IDX= 497,-0.28, 1.428,-2.923,-2.864,-3.064, PHS=-1.689, 0.185, 0.155, RAW= 270.8, 14.4, CAL= 271.1, 20.8, ROT= 238.9, -20.8 UYgot valid direction response: 18:17:58.7008 LVL= 32752, 27841, 28386, 32755, AGC= 61, IDX= 497,-0.28, 1.428,-2.923,-2.864,-3.064, PHS=-1.689, 0.185, 0.155, RAW= 270.8, 14.4, CAL= 271.1, 20.8, ROT= 238.9, -20.8 ]PDAT read: Bearing 242.9, -51.7 (Local) ]~Local bearing/azimuth received: Bearing 242.9, -51.7 (Local) mDAT read: Range 11 to 50 : 132.6 m (Round-trip 176.9 ms) speed -0.3 m/s mR#Rx 1: Read range and direction messages.u`direction in FSK: [-0.482869,-0.800460,0.355107]}Fpublishing direction and range infoPR޿ __S{?CIiln='1ؿ p=>)R>IE>@i>+i@޹>Km@޹Ii)W,N8>?Ks?-r(@E ޹IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y9@ٱ|@ns=H|~B׍CBHB/KBB =BBeDB{;B2EBIBIBIBMĴ =BMĴ =BMĤ?6iA$A GABDE6DE65ԱY}:=!=Q99EY;A > Q 1T4٪ Ê?Q 5T4 # $`B9% ?Q A%:Y%!Q E%?y B) *;I *;i FpT4Y-ǙB5A58EJhRhQ/)AhCh%IPPZ~(G@~PR޿ __S{?hEh޹ [?P$>@~2I> @࿄X.?jhrh\Zhhc?bhzhϡBd!d!d)d)d)"dccc@3`@c?ZZ ?bZ ?jZ@rZm@I  ɡi!I)i)))*DAT read: user:868> BDAT read: Tx time:18:17:59.9198 $Ping request sent. WʙK,Zi/)Ay6D@ٱ6@6O6.=6HK?4?y}@Gݿ8?uϴ?}!=p9t9vEYtv;Av>xQ 1~T4٪zÊ?Q 5T4z( z3`B9Y8Q E?yzB)zU;Iz;izT4Y   Ad1d1d1d1d1"d1c1cccpw?ZZbZjZrZL@I   ɡ iIi)y9iIIN>ԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753893 Di Dm [Dm *Di Ei  Em 96Em (N4:Ei !u @!u @!u @!u @A A vB >~B ֍CB HB XKBB =B B B `z;B 1EݦK,:̜/)APyf@ٱf%@ff#=fH`a??ŵ@xݿ F?ᵿ͛?n?:?If@)fy^;ifxCrSKBrHv4=v=uMb@Mb@Mb@q q)qIqiquQ?99EY;A>Q 1T4٪GÊ?Q 5T4+ :`B9.?Q A:YJQ E?y9B) ;IG ;iT4YߙBAddddd"dcqcqcqcuQ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005953ZZ.?bZ.?jZ@rZ:K@I  ɡiIi)iIy9IIN> A A M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258015I K,4/)Ay6 Ӳ@ٱ6й@6򼹱6O=6HWl? B?KWݿL?HP? R6??I6 Ӳ@)6^;i4BWKBBHBDJ6DJ45YR4+<!R\=RT9T9VEYTZu;AZ>\Q 1T4٪^%Ê?Q 5T4^. ^?`B9 Y Q E ?y^B)^)qԡ K,/)A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764019qy@ٱF@yK=H"w??@kd3ݿS?@+`N?`??I@)^;ivKB>HEMb@Mb@Mb@A A)AIAiAE9v?:v{GztE?ETEף)E7AIEAiE AEA AEABD]6D] 85Ymq=!u0=uqq9y9}EYy};A}>Q 1T4٪/Ê?Q 5T42 B`B9?Q A:YQ E?y7B)T ;I:iӲT4YB ADEdYdYdYdYda"dycycycc`@ZZ?bZ?jZX@rZx7@I  ɡiIi)D%fD%MD%)D!E%I@: E%96E%FA4:E!!5@!5@!5@!5@vB>~B׍CBJHBKBB =BBfDBz;B1Eԙy" 9I56i11541IQIaN]>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013845% PExceeded connect timeout, disconnecting. K,KX/)AɰKBHi I BD6D(B5Y%6>!%c=-Q)->)9)9-EY)5A5>9Q 1ET4٪= Ċ?Q 5ET4=4 =E`B9AYIQ EM?y=B)=:I=:i=nT4YQUAQmB*** querying acoustic contact ***:hiBhiddddd"dcc!c!c%@Ц@ZZabZajZarZaI  ɡiIi)?>y 9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265839I%4i!!%Q5)I9IIN]2>bD9ZD=@ADEgDENDE,DAEEC: EE҆96EEg4:EA"EEX;!MEEX;!M*EEլ:!UEE֬:!U1Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517813VK,'3/)AyN0@ٱN.@N3N=NH@?@Mt?`[xܿdn?'??o?IN0@)Nb;iNwCVKBVHBDb6Db?5Yfn=!jP=j =Q)j>l9l9nEYlr<Ar>tQ 1vT4٪vĊ?Q 5zT4v7 t9xYzQ Ez?yvB)v:Iv:iv,T4Y BAd!d!d!d!d!"d)c)c)c)c- T@ZZQbZQjZQrZUG@Ia a iɡiiiIiii)q1y}c 9I 2i   _5I)I9NM>i-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771523ԉA! A! vB) ~B) B- WHB- KBB- =B) B- eDB- y;B- m1EDM cDM ODM (DI EM g5: EM 96EM c44:EI "EM s?;EM u?;*EM :EM :Թ +K,/)Ay:U@ٱ:R@:B:;=:Hj?^y9y9EY-<A>Q 1T4٪0Ċ?Q 5T4c: @`B9i?Q A:YQ E?yB)T;I;i T4YBAEEddddd"dcccc @ZZi?bZi?jZ}@rZ8Թ@I  ɡ i I i)}BDAT read: Rx Time:18:18:02.5024 }TRx dataTimestamp_ set to:1755627484.550625checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023226ԑnManaging dock network, ignoring radio surface power offy I/io0IIN>Թ- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273820 TK,W7/)Ay6Zz@ٱ6w@68N;6JD=6H`?@?`/ܿ p? ]i? .?I6Zz@)6Io`;i6xCNKBRHR=R;BDZ6DZ85Yb4=!fV=fpd9h9jEYhjPA<Aj>lQ 1rT4٪n@Ċ?Q 5vT4n< n;`B9tYveQ Ev?ynB)n:In:in^T4YxzA|DdD]D,DE9: E96Eg4:E! @! @! @! @ddddd"dccccM @ZZYbZYjZYrZ]|@Iq y yɡyiyIyi)yu 9I%P-i!!%4)I9IIN]2>DAT read: 18:18:02.5024 LVL= 31344, 24465, 27010, 32755, AGC= 63, IDX= 449,-0.47, 2.743,-1.706,-1.667,-1.842, PHS=-1.596, 0.180, 0.130, RAW= 271.4, 14.5, CAL= 271.6, 21.1, ROT= 238.4, -21.1 Ygot valid direction response: 18:18:02.5024 LVL= 31344, 24465, 27010, 32755, AGC= 63, IDX= 449,-0.47, 2.743,-1.706,-1.667,-1.842, PHS=-1.596, 0.180, 0.130, RAW= 271.4, 14.5, CAL= 271.6, 21.1, ROT= 238.4, -21.1 PDAT read: Bearing 248.3, -48.7 (Local) ~Local bearing/azimuth received: Bearing 248.3, -48.7 (Local) DAT read: Range 11 to 50 : 133.8 m (Round-trip 178.5 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.488855,-0.794622,0.359997]Fpublishing direction and range info FdI߿Hm鿣z0 ?CIpzi_i)?I̿ Q8>)>I@i>@)>%@)Ii) 2HOA?ѝ?L")@d  )IiUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.I ?K,Q/)ATz*DAT read: user:869> BDAT read: Tx time:18:18:03.7198  $Ping request sent. ~BBdHBKBB =BBfDBy;BF1EH99EYQ!<A>Q 1T4٪TĊ?Q 5T4#@ 0`BD D OD D E  E 96E :E "E E;!E E;!*E !E !9?Q A:YQ E%?yB);I;i T4Y-#B-A-FEJhRhrC/)AhChkB#Ο(ZP Z sH@~ FdI߿Hm鿣z0 ?hh) VpZ rQ%DA@~TAϋ,A?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246078 fK,k/)Ay:%ɳ@ٱ:ƺ@:~<:=:H6?:?oۿ?v`ޏľ? ?I:%ɳ@):Y@_;i:wCFKBFHBDNP6DN75YVK!V=Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498171D`DLDDE*: E|96E:E!-@!-@!-@!-@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750160yNK,z/)Aɰy6@ٱ6@6+q<6=6H`?BT?`Ĝr_ۿ@?+j- ?`?I6@)6^;i6xCBKBBHBDJ6DJ<5Yv=!vF=vrx9x9zEYx~6.<|A>!Q 1-U4٪%vqĊ?Q 5-U4%D %`B9)Y-Q E-?y%KB)%K:I%y:i%U4Y]/B]A]GEddddd"dcccc^?ZZbZjZrZN@I ! !ɡ!i!I!i)))y9)I%i^0IIN">checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004656qA A @AvB >~B ؍CB WHB KBB B B gDB y;B 1EBBBBɲ =Bɳ =BX5BE|a4JEɞ]4RES}0D- fD- OD- )D) E- I@: E- 96E- FA4:E) "E- AR;!= E- DR;!= *E) != E- :!= ԁ xK,U/)Ay63@ٱ6@6*@<6.f=6H ?`?@nۿ?e` xU?3?I63@)6^;i6{CNKBRHUMb@Mb@Mb@QY Q)QIQiQUMbX9?I +/$U?U94U)QIQiU AU~A QUfABDu6Du=5Y!A=o99EY=<A>Q 1U4٪Ċ?Q 5U4 G  `B9?Q A:YCQ E?yB)/:I:i"U4YAddddd"dcccc ?ZZ?bZ?jZ%^@rZ@I  ɡiIi!)!]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254468y9 5ԉI_#i3IINԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506133 ¢K,M1/)Ay6\>@ٱ6;@6q =6%=6H ? @?@͕@ڿ?(_Mf??I6\>@)6^;i6xCBKBBHBDJ6DJC5YR=!RZ=RT9T9VEYTZ?[<AZ>\Q 1bU4٪^Ċ?Q 5bU4^5I ^_B9`YbQ Ef?y^B)^;I^f;i^/U4YhjAhrDn%=jDn4=DrbDrRDr,DpEr1: Er96Erg4:Ep!z@!z@!z@!z@d d d d d"dcccc@?ZZAbZAjZArZE#@Ia a iɡiiiIiԹiq)!y9Im iiimR5iIIN>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7580939 K,/)Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012252iy&g@ٱd@"=Dn>H?D?\ 1~ڿ?TR?`??I&g@)v^;i] LB]HMb@Mb@Mb@ )IiMb?Mby&1?`)bAIzAixAA ̼ABD6Dz>5Y =! )=G99EY(<A>!Q 1-U4٪%PĊ?Q 5-U4%K %_B9-?Q A5:Y5[Q E5?y%B)%;I%;i%@U4Y=;B=A=HEdYdYdYdYdY"dacavBu >~BuۍCBu>HBuvKBBu =BqBuiDBux;Bu0EcacD]DJD-DE: Ek96Et4:E"E;!E;!*E:!E:!c%@@ZZ?bZ?jZ @rZ'@I   ɡiIi!)!i-|AI-{AAy9|A}AIoiO0IIN>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262075qԑ K,/)Ay6@ٱ6;@6;=6r>6H)?V?.ڿc? I8 y>?@?I6@)6^;i6yCB LBBHBDJ6DJaE5YR!R|=RԡD5_D5MD1D1E5&: E596E1:E1!=@!=@!=@!=@) A) I  A B checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766106 לK,/)Ay6'@ٱ6@6U=6 >6H p9?`?.u ٿ?tk`b??I6'@)6.^;i4>LBBHBDF6DF8G5YNN !RJ=RyP9T9VEYTV\<AV>XQ 1^U4٪ZĊ?Q 5bU4ZP Z_B9`YbQ Eb?yZOB)Z+;IZ{;iZ"ZU4Yf\BfaAjREdxdxdxdxdx"dxcxc|c|c~@ZZbZjZrZ"@I) 1 1ɡ1i1I1i9)Ay5 9Ii@0IIN>BDAT read: Rx Time:18:18:06.3039 TRx dataTimestamp_ set to:1755627488.333719 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023877) Am <Am <vBu >~Bq Bu %HBu bKBBu =Bq Bq Bu px;Bu 0ED cD ND *D E g5: E ҆96E (N4:E "E t?;!- E w?;!- *E լ:!- E ׬:!- (K,R /)Aɰ@yVJ@ٱV@V#m=V>VH@H?a?7ٿ?y¿9?8?IVJ@)VA^;iV{Cb LBbHMMb@Mb@Mb@I I)IIIiIM\(\?QV-M>MuM)IIMKAiIM3A IM׽ABDe6DeHL5YuU<!u>=}<_y99EYL<A>Q 1U4٪Ċ?Q 5U4kR _B9o>Q A:Y޾Q E?yB) ;I] ;i6iU4YUAddddd"dcccc` @=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270157ZZ}o>bZ}o>jZ}(@rZ}{.@I  ɡiIi)??qy9I /i 5IAIYNe4>Ա  DAT read: 18:18:06.3039 LVL= 32752, 28529, 25586, 32755, AGC= 60, IDX= 463,-0.06,-2.581,-0.651,-0.904,-0.962, PHS=-1.518, 0.355, 0.014, RAW= 279.9, 13.2, CAL= 278.5, 20.3, ROT= 231.5, -20.3 - Ygot valid direction response: 18:18:06.3039 LVL= 32752, 28529, 25586, 32755, AGC= 60, IDX= 463,-0.06,-2.581,-0.651,-0.904,-0.962, PHS=-1.518, 0.355, 0.014, RAW= 279.9, 13.2, CAL= 278.5, 20.3, ROT= 231.5, -20.3 5 PDAT read: Bearing 258.1, -40.8 (Local) 5 ~Local bearing/azimuth received: Bearing 258.1, -40.8 (Local) = DAT read: Range 11 to 50 : 134.9 m (Round-trip 179.9 ms) speed -0.2 m/s E R#Rx 1: Read range and direction messages.M `direction in FSK: [-0.583850,-0.734000,0.346936]M Fpublishing direction and range info ݂|W 2`|Fv>{14? C I i qo c < M¿ µ>) B`e 3@ g> CK@ gI i ) f D >?2Lx?!CK? ,2@ rl / gI i e T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode. K,x:/)Ay:@ٱ:@:+ł=: >P:H`U? E?r??ٿ?{ÿUG?)?I:@):a;i:yCLBHBD]6D]N5Yub!uJ=D}aD}PD}0DyE}%.: E}?96E}4:Ey!@!@!@!@Bp99EY><A>Q 1U4٪DĊ?Q 5U4T _B9Y۾Q E?y B):Id:ihwU4YhBASEJh!Rh%n5/)Ah%Ch%P'%rN?SCNXDFGfG@~%݂|W 2`|Fv>{14?h%/h% g %PDl[K[p%lP_B@~%k } v꿄r7*߿t[k?jh%arh%Zh% %?bh%kzh%Bh%L?h%)Zh%Bh%Ch%tl@sUZDetected possible detachment. Starting timer.dYdYdYdY"dYcYcace`@ceO?ZZbZjZrZV@I  ɡiIi)y L9M*DAT read: user:870> UBDAT read: Tx time:18:18:07.5198 ]$Ping request sent.]>! aK,ZT/)A^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252354yr6@ٱr44@rۡ=rH >rH@Ba?Z?? ؿr?ÿб7p??Ir6@)rJa;ip= LBEHBD}6D}HL5Yu;!u;=u8Zy9y9}EYyf-<A>Q 1U4٪Ċ?Q 5U4V l_B9Y1پQ E?yB);I;iU4YAdddd"d vB>~BٍCBHBCKBBBBgDBax;B0Ec)c)c)c5@8?ZZybZyjZyrZ}|@I  ɡiIi))D_DLD-DE&: E|96Et4:E"Ea&;!Ed&;!*EF:!EG:!y9I9i99=%39IIIYNmV>QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501997y K,.n/)Aiy6Fa@ٱ6^@6=6Ϯ >6Hn? ?@#??ؿO?ÿP={?ܛ?I6Fa@)6`;i6zCBKBBHF=F4=EMb@Mb@Mb@A A)AIAiAEQ?~jtZd;OE>EEj)EAIEbAiEnAEA AEGAYBD]6D]H5Ym!m]=uvq9y9}EYy}e<A>Q 1U4٪Ċ?Q 5U4X T_B9;>Q A:Y۾Q E?yB):I;iU4YuB-ATEB*** querying acoustic contact ***:hBhdddd"dcccc@C?ZZ;>bZ;>jZ@rZQ@I  ɡ i I i )i}AIAychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754608Iiiiiu%5qԉIIN-->DfDKD+DEI@: E]t96E [4:E!@!@!@!@Ա e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005956!K,= /)Ay6@ٱ6@6=6 >6H{??*?Uؿ`*?dĿҪ@{?;?I6@)6/`;i6yCRKBRHBDZ6DZaE5Ybd=!bV=bod9d9fEYdj?`<Aj>lQ 1rU4٪n Ŋ?Q 5rU4nZ n;_B9pYv9پQ Ev?ynDB)n;Iny:inU4YxzAxdddd"dcccc~?ԹZZbZjZrZ<|@I  ɡiIi)y9I/i~5II1N=/> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261115A A vB >~B ۍCB HB /KBB =B B iDB ox;B 0EDE ]DE GDE ,DA EE : EE R96EE g4:EA "EE ;!M EE ;!M *EE s:!U EE s:!U 9 (K,}/)Ay6M@ٱ6˴@6=6 >6H?1?o?` ؿ9?@JĿe@c?@*?I6M@)6h_;i6|CBKBBH Mb@Mb@Mb@  ) I i  Zd;?Zd;O~jt > j ļ) I XAi xA A  ½ABD%6D%J5Y-3m<!5D=5D]9999=EY9EN<AE>IQ 1MU4٪MŊ?Q 5UU4M\ M_B9Uo>Q AU:YUSھQ EU?yMB)MbZo>jZ @rZj@I  ɡiIi)y!9I%0i!!%P0)I9AIQN]3>i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761940ԙ @.K,7Ż/)Ayb^@ٱb@b=b >bH?G?n?`H׿@DK?[Ŀ=l`5??Ib^@)b^;ibxCjLBjHBDr6DrpJ5Yz3=!zN=~ U|99EYNm<A> Q 1U4٪ U'Ŋ?Q 5U4  _DqDED.DE2h: EA96Eـ4:E!%@!%@!%@!%@Q 9%tI _B9)Y-p׾Q E-?y B) {;I ;i ]U4Y15A9dYdYdYdY"dYcacacaceL'@ZZbZjZrZј@I  ɡiIi)qyu!9I /i   @0 II)N= >-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013964ԙ u&5K,/)AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266010yN@ٱN@N=N>NH(?@?Ϥ?`T׿`]?L;Ŀⷸ@g? +?IN@)N^;iNyCLBHBD6D\K5Y{!! :==!9)9-EY)}C<A}>Q 1U4٪D8Ŋ?Q 5U4aavB9>~BCBHBKBB =BEDBnDBx;B$1EB}ۍCB}܍CB}–CB}ª =B}© =B}°6 ^B9YԾQ E?yB)}U4Y%B%2A-UEdddd"dcccc@BE^n4JEm4REij0DXDDD*DE~ : Ea996E(N4:E"E:!E:!*EH:!EH:!ZZbZjZrZkû@I1 1 1ɡ1i9I9i9)Ay,$9I0i1II!N5p>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517954I P;K,Sv/)A y:?@ٱ:D=@:=::>:H ?@y?? ֿLm?@ZĿ 繿??I:?@):q^;i:zCBLBBH=Mb@Mb@Mb@9 9)9I9i9=Q?I +:v=>=94=T)=AI=EAi=A=^A 9=fABDU6DU8G5YeJ=!eU=mGi9i9uEYqu]t<Au>yQ 1U4٪}4EŊ?Q 5U4} c }^B9>Q A:YǾQ E?y}B)}:I}M:i}U4Y AB*** querying acoustic contact ***:hBhdddd"dcccc}@ZZ>bZ>jZI@rZe@I  ɡiIi) yP$9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770463Im/iiim2iIyIN>ԙD^DJDDEC#: Ek96E:E!@!@!@!@ E BDAT read: Rx Time:18:18:10.1052 M TRx dataTimestamp_ set to:1755627492.110677M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023089IBK,N /)AJH`?@m?;?`Tֿ Sz? ĿSs?,?IJgk@)J8V^;iJ{CjKBjHBD-6D-M5YEV!EJ=Me3Q9Q9UEYQ]oW<A]>aQ 1uU4٪e{SŊ?Q 5uU4ed e^B9YľQ E?ye1B)eH;Ie{;ieAU4YBAVEdddd"dccccW @ZZYbZYjZYrZ]0¼@Ii i iɡiIi)yml&9ԩI%1i!!%O0!I1IANU2>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275932A=A<vB8>~BBHBJBB =BBBy;B1ED _D GD )D E &: E R96E FA4:E "E d&;! E g&;! *E s:! E s:!  bHK,,#/)Ay:A@ٱ:@:g=:F >:H`?@!?=? Pֿ?`!ſT ?O?I:A@):<^;i:zC^KBbHmDAT read: 18:18:10.1052 LVL= 32752, 22609, 25634, 32755, AGC= 64, IDX= 445,-0.15,-0.989, 1.108, 0.615, 0.589, PHS=-1.475, 0.564,-0.018, RAW= 286.1, 10.2, CAL= 284.0, 13.2, ROT= 226.0, -13.2 Ygot valid direction response: 18:18:10.1052 LVL= 32752, 22609, 25634, 32755, AGC= 64, IDX= 445,-0.15,-0.989, 1.108, 0.615, 0.589, PHS=-1.475, 0.564,-0.018, RAW= 286.1, 10.2, CAL= 284.0, 13.2, ROT= 226.0, -13.2 PDAT read: Bearing 273.5, -36.3 (Local) ~Local bearing/azimuth received: Bearing 273.5, -36.3 (Local) DAT read: Range 11 to 50 : 135.9 m (Round-trip 181.3 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.676305,-0.700334,0.228351]Fpublishing direction and range info@IN#i濻 :?CIiQX"d@̼ Nb?)tIɟ@iK6>@k>q|@kIi)H-$DEJ?N)?9@x6 kIi5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.eMb@Mb@Mb@a a)aIaiae)\(?etet)eAIe;AieAeQA aeABD6DK5Y j!)=99EYA<A>!)Q 1mU4٪%8dŊ?Q 5mU4%f %^B9m_>Q Au:YuQ Eu?y%B)%&( ;nܿ7L?jh~srhZhhw?bhzhӝBh %?hkhϡBh}Chnj@dYdYdYdY"dccc`@c v?ZZ_>bZ_>jZPh@rZ @I  ɡiI i )y=(9aI0i+5IIN> *DAT read: user:871>  BDAT read: Tx time:18:18:11.3198  $Ping request sent. :HF?@)?)ӭ?1տ@B? vſr?`}?I:DǶ@rD>=jD>=DF^DFJDF.DDEFC#: EFk96EFـ4:ED!J@!J@!J@!J@):A^;i:yCRKBRHBDZ6DZLF5YbWi<!b=b1Qԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908Ա tUK,V/)Aɰ4<6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502897yF@ٱF@Fb=F)} >FH1?C??@7տ ?ſw?y?IF@)F+^;iFwCVKBVHiXIXBD6DJ5Y?!9=99%EY!=GI<A=>vB.>~BCBHBJBB =BBmDB0z;B1EQ 1V4٪~Ŋ?Q 5V4j `^B9YẾQ E?yKB)y:I:iaV4Y-B-A-WEdidqdqdq"dqcqcycyc}bc?DaDSD+DE%.: E96E [4:E"E2;!E2;!*E=:!E>:!ZZbZjZrZa@I! ) )ɡ1i1I1iI)IU?U?y-+9 5I0i_0IINg>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548919 [K,p/)Ay6}@ٱ6@6=6Kn >6H?@H?`3?@UU94)UpAIU5AiU|AU+A QUQABDm6Dm?5Y}Z!Q=099EYHV<A>Q 1V4٪Ŋ?Q 5V4ik I^B9>Q A:Y⯾Q E?yB) ;Io:i V4YAB*** querying acoustic contact ***:hBhdddd"dccccQ?ZZ>bZ>jZN@rZ@I  ɡiIi!)!y{,9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006971IiO0IIN!>ADiDbD.DE,K: E96Eـ4:E!@!@!@!@q% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258908ԙ pbK,/)AyF@@ٱF.>@F9=F >FH M?e ?-?EտH? Pſ@ҿJ?@t?IF@@)F2^;iF{CnKBrHBDz6DzB5Y ! R=99EY%N4<A%>)Q 15V4٪-Ŋ?Q 5=V4-l -0^B99Y=Q E=?y-B)-3;I-?;i-v.V4YMBMAMXEdidididi"dqcqcqcqc@?ZZbZjZrZ4@I  ɡ i I i)qyS-9I/i?0IIN-,>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511019AAvB!>~BލCBHBJBB =BBkDBz;B2ED ]D GD %D E : E R96E 4:E "E ;! E ;! *E s:! E s:! XhK,u/)Aiy>\b@ٱ>_@>@>>x >>H@??S?IԿG?ſD`[l?p?I>\b@)>3K^;i>zCRKBRH5Mb@Mb@Mb@1 1)1I1i1555C)1I1i5A5A 15ABDM6DM8G5Y]^=!]E=e;Q)e>a9a9eEYam"<Am>qQ 1}V4٪u Ŋ?Q 5}V4uFn u^B9}>Q A;YQ E?yuBB)u?;IuT;iubZ>jZ/3rZ@Iq q yɡyiyIyi)iI}AyMp/9I0iM5IiIN9>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905nK,DM/)AD6[D4D6-D4E6a: E46E6t4:E4!:@!:@!:@!:@yB@ٱB@Byc>B#>BH)??:?@8Կ?lƿ_y? xl?IB@)B,^;iB{CNKBNHBDV6DVaE5Y^e:!U=X;Q)>!9!9%EY!%2<A->)Q 15V4٪-Ŋ?Q 55V4-o -]B99Y=֥Q E=?y-B)-;I-L;i-JV4YEBMAIdidididi"dicqcqcqcu:>@ZZbZjZrZm@I  ɡiIi)y/9YI-1i))-r5)I9IQN]>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267054yԩ uK,|*/)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895y:̥@ٱ:J@:>:J0 >:H ? c?o?MԿ ?@ ƿ@`p?j?I:̥@@):nO^;i:zCRKBRHBDZ6DZK5Yf!jI=r;Q)r>t9t9vEYtv "<Az>xQ 1V4٪z׾Ŋ?Q 5V4zp z]B9YأQ E ?yzB)z;Iz@#;izXV4YךBAbEvBU>~BQBUjHBUJBBU =BQBQBU|;BU2Edadadada"dacaciciDu]DuJDu+DqEu: Euk96Eu [4:Eq"Eq!Eu;!*Eu:!Eu:!c+@ԩZZbZjZrZMҾ@I  ɡiIi)y19I/i?0IINc>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770904 0{K,/)Aɰy6g@ٱ6彾@6J >6 >6H?2??@Կ\?`ſ;?k?I6g@)6.^;i6{CBKBBHlMb@Mb@Mb@ )IiE?I +?/$>94<)IAiAA ABD-6D-E5Y=_<!=C=Eƴ;Q)E>A9A9MEYIM;AM>QQ 1]V4٪UŊ?Q 5]V4U$r U]B9e>Q Ae;YeQ Ee?yU8B)U;IU!;iUgV4YimkAq5B*** querying acoustic contact ***:h1Bh1dAdAdAdA"dAcAcIcIcM j @ZZ>bZ>jZQ/<rZ@I  ɡiIi)$?7?UBDAT read: Rx Time:18:18:13.9066 ]TRx dataTimestamp_ set to:1755627495.890800]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024155y39 I=0iAAE>0AIQIiNu6>DcDQD-DEg5: Ev96Et4:E!@!@!@!@1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274839:ՂK, /)AyN۷@ٱN!پ@NS >Nl[>NH@? 5?L?ӿ ?@Hſ ?k?IN۷@)N#^;iN~CZKBZHBDb6DbLF5Yjz!jQ=n;Q)n>p9p9rEYprN <Ar>tQ 1zV4٪vŊ?Q 5zV4v=s v]B9|Y~Q E~?yvB)v;Iv;ivtV4YBA cEd)d)d)d)"d)c)c1c1c5 @9ZZYbZYjZYrZ]@Ii q qɡqiqIqiy)yyU949I/i00IIN>i aeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529535AE<AE<vB]>~B]ݍCB]]HB]JBBYBYB]jDB]~;B]3EBލCBߍCBȕCBȡ =Bȟ =BN6BE|a4JEɞ]4REɧ0D jD JD ,D E N: E k96E g4:E "E Wk;! E Zk;! *E ! E ! vK,j%/)Ay6@ٱ6I@6>6p >6H@? ?@?4?@ӿ`!?ſ`>@?g?I6@)6i9^;i6yC@@=Mb@Mb@Mb@9 9)9I9i9=K7A?=t<=ļ)=dAI9i=A=A 9=ABDU6DUQ5e;Q)e>a9i9mEYim<Am>qQ 1}V4٪uŊ?Q 5V4uLt u~]B9>Q A ;YQ E?yuB)uP ;Iu:iu|V4YddddDAT read: 18:18:13.9066 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 459, 0.13, 0.795, 2.849, 2.163, 2.216, PHS=-1.319, 0.678,-0.097, RAW= 292.6, 8.5, CAL= 290.2, 9.2, ROT= 219.8, -9.2 Ygot valid direction response: 18:18:13.9066 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 459, 0.13, 0.795, 2.849, 2.163, 2.216, PHS=-1.319, 0.678,-0.097, RAW= 292.6, 8.5, CAL= 290.2, 9.2, ROT= 219.8, -9.2 PDAT read: Bearing 283.0, -29.9 (Local) ~Local bearing/azimuth received: Bearing 283.0, -29.9 (Local)  DAT read: Range 11 to 50 : 137.0 m (Round-trip 182.7 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.758400,-0.631876,0.159881]Fpublishing direction and range info)9D«<7S8Čsv? CIi>Ԩ h-?)ƽI.k@i> @l$>ۄu@l$Ii):JbᅴP9?5?1@@ښ l$I"dccc a@c?iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZZ>bZ>jZ)cB=rZ@I! ) )ɡ)iIIIiQ)Qy-269!Ii2IING>Qu *DAT read: user:872> } BDAT read: Tx time:18:18:15.3213 } $Ping request sent.} B >BH`&?D?y? 7qӿ'?8ſ^¿@W"?dc?IBT@)B(^;iBxCRKBRHBDZ6DZO5Yv!vx9x9zEYxz<A~>Q 1 V4٪eŊ?Q 5 V4Bu `]B9 Y Q E ?y B):I :iV4YBAdEJhRhGX)/)Ah Ch/lYIUdZ5@~)9D«<7S8Čsv?hښhl$ <^KEJ8@~՘Z.ؿ ^?jhJUrhZhx1?bhzhBhhc?hhhCh+i@dddd"dcccc`?o?ZZAbZAjZArZEN@QIq q qɡqiyIyiy)ym79 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250886I0i0II)N5.>ԁԩ K,}Y/)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502560yVP2@ٱV/@Vq>VD >VH ,?o?-?`<ӿ@? ;ſ@S¿x?Yb?IVP2@)VA^;iVzCfKBfHBDv6DvG5Y .!H=%;Q)%>)9)95EY1=<AE>AQ 1MV4٪EŊ?Q 5MV4EEv E@]B9QYUQ EU?yEnB)E;IE ;iEV4YYeYAavB>~B܍CBQHBJBB =BBB;B4EԹdddd"dcDecDeoDe2DaEeg5: Ee:6Ee4:Ea"Eeu?;!Eex?;!*EeN;!EeN;!ccc?ZZbZjZrZ@I  ɡ i I i)y89Iu/iyy}40yIIN_>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754440 1 c;K,Ms/)Ay>G@ٱ> E@>>>^t>>H@1?E?3?`|ӿ e?ſ¿ ?@c?I>G@)>*^;i>|CFKBFHMb@Mb@Mb@ )IiMb? rh?y&1>C<`)SAIAiAA ABD56D5I5YE{=!EG=E;Q)E>I9I9MEYIM:;AU>QQ 1]V4٪U- Ɗ?Q 5eV4U?w U]B9e=>Q Ae ;Ye-Q Ee?yUB)U& ;IU:iUV4YiuAqdddd"dcccc U?ZZ=>bZ=>jZ9=rZ @I  ɡiIi)y:9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007708IM0iIIM20IIYIiN}>9De\DePDe,DaEe: Ee?96Eeg4:Ea!m@!m@!m@!m@)kG A)!IM쳿MAMAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258506q#K,)/)Aɰ0y:._@ٱ:\@:P>:y1>:H@6? a?? ҿ@?)ſN¿-?!e?I:._@):G^;i8FKBFHBDN6DN#H5YV!VT=V-;Q)V>X9X9ZEYX^;A^>Q 1V4٪Ɗ?Q 5V40x \B9!Y%}Q E%?yB)<;I;iV4Y-B-WA1MB*** querying acoustic contact ***:hIBhIdQdQdQdQ"dYcYcYcYce ?ZZbZjZrZ"@I  ɡiIi)y:9ԑI-/i))-4)I9IIN]>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511762ԹAAvB>~BݍCB8HBJBB =BBBv;B 5EDq Du GDu *Dq Eq  Eu R96Eu (N4:Eq "Eu ;!} Eu ;! *Eu s:! Eu s:! OK,A/)Ay:u@ٱ:Zs@:!>:[P>:H ;? ?@|^?ҿ%?Ŀ@M¿/?>e?I:u@):(^;i:}CNKBNH\UMb@Mb@Mb@Q Q)QIQiQUK?I +?V-U^>U999EY ;A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762579Q 1V4٪|!Ɗ?Q 5V4y \B9L>Q A;YojQ E?ySB);I;iNV4Y?Adddd"dcccc6@ZZ L>bZ L>jZ iBw=rZ c@I  !ɡ!i!I!i)))y =9I1ip5IIN>U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0152319 75K,3/)ArDjD<D^DKD2DEC#: E]t96E4:E!@!@!@!@yB@ٱB'@B >B>BH ??`?<̺?๏ҿ+?ſy ÿ?3c?IB@)B!^;i@NKBNHBDV6DVL5Y^!^X=bv;Q)b>`9`9bEYdfo;Af>hQ 1nV4٪j,Ɗ?Q 5nV4jy j\B9pYrgQ Er?yjB)j;Ij@;ijyV4YtvXAtd d dd"dcccc%9@ZZAbZAjZArZE@II Q QɡQiQIQiY)Yy]<9I0i0IIN >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.273076qԡ _K,,/)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526922DiDyn@ٱn!@n >n >nHE? ?s0?[ҿ`2?K)ſNÿ? J`?In@)n7^;in|CzKBzHBD6DaE5YL!E=@a;Q)>99EY%<A%>)Q 15V4٪-8Ɗ?Q 55V4-z -\B91Y5.dQ E5?y-B)-;I-;i-V4YE BEAEeEvB>~BBHBJBB =BBB|;B5Eԙdddd"dcccc@t@ZZbZjZrZe@I  ɡiIDMdDMGDM,DIEM9: EMR96EMg4:EI"EME;!uEME;!}*EI!EI!i)i~AIAyY?9>>I/i%00!I1IINUS>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778463 nK,S/)Ay6F@ٱ6Ľ@6_>6M>6H`K?l?숻?@;*ҿ`7? Qſxÿ F?f]?I6F@)6t4^;i6}C^KBbH--only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 227.86, 257.68, 269.61 !-@!- !-@!- !-@!- !-@!- BD56D5CR5YE!EG=M.N;Q)M>I9I9UEYQU;AU>YQ 1eV4٪]DƊ?Q 5eV4]{ ]y\BQ =m+:9iQ Am:Ym`Q Em?y]/B)]#:I]/>i]V4YquAydddd"dcccc  @I  ɡiIi)yvA9]BDAT read: Rx Time:18:18:17.9097 eTRx dataTimestamp_ set to:1755627499.931961mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.032868I0iIIN$>!bD9ZD=AADE]DEHDE.DAEE: EE[96EEـ4:EA!M@!M@!M@!M@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282791y qK,Tr/)Ay6ٸ@ٱ6*׿@6@>6G>6H aQ?6@??Eѿg>?_ſÿqT?n[?I6ٸ@)6D^;i6|CBKBBHBDJ6DJH5YR=!RU=REK;Q)V>T9T9VEYTZ<AZ>\Q 1bV4٪^OƊ?Q 5bV4^Z| ^Y\BQ =b :9dQ Af:Yf]Q Ef?y^uB)^p;I^K?i^cV4YhjAhzB*** querying acoustic contact ***:hxBhxd|d|d|d|"dcccc7 @I) 1 1ɡ1i1I1i9)9y1aIi4IIN>ԁDAT read: 18:18:17.9097 LVL= 32752, 26033, 31186, 32755, AGC= 66, IDX= 443,-0.10, 2.007,-2.181,-3.017,-2.903, PHS=-1.271, 0.767,-0.159, RAW= 297.0, 7.5, CAL= 294.6, 7.2, ROT= 215.4, -7.2 Ygot valid direction response: 18:18:17.9097 LVL= 32752, 26033, 31186, 32755, AGC= 66, IDX= 443,-0.10, 2.007,-2.181,-3.017,-2.903, PHS=-1.271, 0.767,-0.159, RAW= 297.0, 7.5, CAL= 294.6, 7.2, ROT= 215.4, -7.2 PDAT read: Bearing 288.3, -25.4 (Local) ~Local bearing/azimuth received: Bearing 288.3, -25.4 (Local) DAT read: Range 11 to 50 : 138.1 m (Round-trip 184.2 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.808700,-0.574713,0.125333]Fpublishing direction and range infoaeæ> dcK ?e CaIaieeeyaeBe! eZD?)e"IeH@ie >e"@e>ep@eIaia)e$9`1?1?eWE@ee! eIaia T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Au<Au<vB}>~B}ލCB}HB}nJBB} =ByB}kDB}X;B}4EԹDi Dm ODi Di Ei  Em 96Ei :Ei "Em ;! Em ;! *Em :! Em :! K,M(/)Aɰ;y6@ٱ6'@6ҿ>6S>6HV??U? ѿE?Wſ@ÿ@ L?DZ?I6@)6*^;i6CRKBRHiTIT!e!e !e!e !e!e !e!e mMb@Mb@Mb@i i)iIiiimS?Zd;O?Q롿m>mj99EY;A>Q 1W4٪[Ɗ?Q 5W4 } 3\BQ =T:9i>*DAT read: user:873> BDAT read: Tx time:18:18:19.1198 $Ping request sent. dcK ?h!h j\[_p#,uG2m8@~`8:Xտc_(U?jh;rhBZhX?bh^8Ozh Bhhw?hhӝBh>Ch~f@dAdAdAdA"dAcIcIcM@3Ca@cMA?ԱZZ-i>bZ-i>jZ-=rZ-@Iy y yɡiIi)?*?yC9 Ii0II!N-O> i m Au checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2485221 rDU %=jDU <D] ^D] JD] /DY E] C#: E] k96E] J4:EY !e @!m @!m @!m @_K,&UB/)Ay6 @ٱ6q @6i>6>6H\??c?yѿM?@"NſÿC?,Y?I6 @)6E^;i6|CBKBBUHBDH6DHYRŽ!RY=V9;Q)V>T9X9ZEYXZ<AZ>\Q 1bW4٪^^fƊ?Q 5fW4^} ^\B9dYfLQ Ef?y^B)^ ;I^C ;i^W4YhnQAld|d|d|d|"d|cccc`"?ZZbZjZrZ@I  ɡiIi ) yE9Iip0checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500842IIN&>!Q K,%\/)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7523840y>%@ٱ>#@> >>ĸ>>H@b?S?"?gѿU?r@ſ}Ŀ7?PX?I>%@)>(^;i>}CJ|KBJEHBDR6DRWQ5YZ!ZK=Z;Q)Z>\9\9^EY\b;Ab>dQ 1jW4٪f{qƊ?Q 5jW4fy~ f[B9hYjIQ Ej?yfDB)f2:IfK:if$W4Yr&BrArgEd d d d "d c ccc ?vB%!>~B!B%HB%ZJBB% =B!B!B%%;B%4EBݍCBݍCBCB =B =B5ZZYbZYjZYrZ]@Ii i iɡiiqIqiq)yBEt4JEy4RE30D)D-QD-,D)E) E-v96E-g4:E)"E- ;!eE- ;!e*E-:!mE-:!uԑI/i/0 II)N=.>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004336 tK,u/)Aiy6P=@ٱ6:@6p!>6yL>6H 1h?@?}? 9ѿ]?ſ Ŀ ?X?I6P=@)6+H^;i6zCRKBRVH`eMb@Mb@Mb@a a)aIaiaeQ?{Gz?+e>eף99EY;A>Q 1 W4٪A}Ɗ?Q 5 W47 [B9q>Q A;YKQ E?yB)`e;Id;iR4W4Y)-A)didididi"dicccc`m ?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256467ZZEq>bZEq>jZEiw=rZE@Iq q qɡyiyIyiy)i}AIyAym9H9u}Au~AIi!%s4!D-bD-]D-+D)E-1: E-96E- [4:E)!5@!5@!5@!5@IIIYNeV>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508817vK,E/)Ay6tX@ٱ6U@6f4">6a>6Hn?mR?@?hѿ@g?qĿ0Ŀÿ?`RY?I6tX@)6'^;i6|CNKBRJHBDZ6DZlP5YbҼ!b]=b;Q)f>d9d9fEYdj<Aj>lQ 1rW4٪nƊ?Q 5rW4n n[B9pYrBHQ Ev?ynB)n ;In ;inAW4YxzAx B*** querying acoustic contact ***:h Bh ddd!d!"d!c!c)c)c- R?ZZbZjZrZ@I  ɡiIi) yUJ9IIiIIM5IQIaIqN> 99Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760597AAvB%>~B%ݍCB%HB%;JBB% =B!B%jDB%;B%4EqDE ZDE JDE *DA EE : EE k96EE (N4:EA "EE ;! EE ;! *EE :! EE :! ԡ K,u/)Ay6s@ٱ6Wq@6">6т>6Ht? ?3?`пm?!ĿIĿ'? W?I6s@)6%^;i6}CRtKBR-<-#))I)i-A-A )-ABDm6DmU5yYּ!?=L:Q)>99EY;A>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012523Q 1W4٪͑Ɗ?Q 5W4x [B9ڡ>Q A';YDCQ E?y B):I* ;i(PW4Y3BAhEdddd"dcccc@7@ZZ ڡ>bZ ڡ>jZ Ux=rZ @I  ɡiIi)yJ9ԡI%0i!!%2!I9IINm5>U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264311 i- =I- C) G rA) I  rA AD= `D= ID= ,D9 E= *: E= c96E= g4:E9 !E @!E @!M @!M @K,~o/)Ay6@ٱ6@6#>6P>6H`{??k?છпt?Ŀ`ZĿ@ ?\V?I6@)65^;i6~CNrKBR9H TVABDZ6DZR5Yb!bW=b-:Q)b>d9d9fEYdj<Aj>lQ 1rW4٪nOƊ?Q 5rW4n n`[B9pYr?Q Er?ynGB)n;In;in[]W4YxzAxdqdqdd"dcccc _@ZZbZjZrZH@I  ɡiIi!)!y L9Ii0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517445IIN%>1Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768379?K,ka/)Ay6#@ٱ6@6$>6X >6H??@?hп0|?@Ŀ@lĿ`/?U?I6#@)62'^;i6CBgKBB,HBDJ6DJlP5YRӼ!RL=R:Q)V>T9T9VEYTvB^>~B^܍CB^HB^JBB^ =B\B\B^ ;B^4EfS<Aj>lQ 1rW4٪nƊ?Q 5rW4n n<[B9pYrcBDAT read: Rx Time:18:18:21.7093 TRx dataTimestamp_ set to:1755627503.710568checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021340 %K,S$/)Ay6Ź@ٱ6s@6$>6>6H ˇ?? ?3пX?|Ŀ@ Ŀ?U?I6Ź@)69^;i6}C`b+HMb@Mb@Mb@ )Iix&1?Mb?I +<94)IAiA QABD6DS5Y}}!7=*:Q)>99EY;A> Q 1W4٪ Ɗ?Q 5W4 H [B9 >Q A';YAQ E?y B) ;I O;i zW4Y%@B-3A)dddd"dcccc@. @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272460ZZ5 >bZ5 >jZ52Q=rZ5@IA A IɡIiIIIi)ymO9Ii{0ID`DID+DE*: Ec96E [4:E! @! @! @!@I!N-N>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526517V K,/)A y6@ٱ6,@6B%>6>6H?`V? :D?|Ͽ?Ŀ@cĿg?@T?I6@)6%^;i6|C^_KBb"HBDz6DzO5Y5|!=W==ǣ:Q)=>A9A9EEYAM <AM>IQ 1UW4٪M#Ɗ?Q 5]W4Mׂ MZB9YY]=Q E]?yMB)M;IM;iM>W4YimBAiB*** querying acoustic contact ***:hBhdddd"dcccc@ZZbZjZrZW"@I  ɡiIi)yMDAT read: 18:18:21.7093 LVL= 30480, 26065, 24482, 30851, AGC= 59, IDX= 440, 0.25,-1.922, 0.235,-0.705,-0.600, PHS=-1.220, 0.881,-0.149, RAW= 299.4, 5.4, CAL= 297.0, 2.9, ROT= 213.0, -2.9 UYgot valid direction response: 18:18:21.7093 LVL= 30480, 26065, 24482, 30851, AGC= 59, IDX= 440, 0.25,-1.922, 0.235,-0.705,-0.600, PHS=-1.220, 0.881,-0.149, RAW= 299.4, 5.4, CAL= 297.0, 2.9, ROT= 213.0, -2.9 ]PDAT read: Bearing 295.1, -23.2 (Local) e~Local bearing/azimuth received: Bearing 295.1, -23.2 (Local) mDAT read: Range 11 to 50 : 139.1 m (Round-trip 185.5 ms) speed -0.2 m/s uR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.837597,-0.543941,0.050593]}Fpublishing direction and range info!%2,S꿍ugΊ|rQ?% C!I%wi%e%_%x%;%( %7a?)%uI%m7@i%=%H@%4QO=%\m@%4QOI!i!)%5Rn"z@?w>>*?%EWH@%%Y3$ %4QOI!i!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙvB>~BBpHBIBBBBB;B4ED% _D% FD% ,D! E% &: E% ;J96E% g4:E! "E% b&;!U E% e&;!U *E% 2e:!] E% 4e:!e 8 K,Y*/)Ay6@ٱ6)@6ڭ%>6TW>6HՔ??q~?[Ͽ@m?qĿ`ĿU ?S?I6@)66A^;i6~CBRKBBHP5Mb@Mb@Mb@1 1)1I1i15S?~jt?Zd;O5>5D<5j<)59AI5Ai5A5A 15ABDM6DMU5Y]!eH=e9:Q)e>i9i9mEYim<Am>*DAT read: user:874> BDAT read: Tx time:18:18:23.1197 $Ping request sent.Q A-;YDQ E?yuCB)u7bZU>jZUi"=rZU@Ia i ɡiIi)ym`Q9I0i1II!N-O>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250832! D aD KD 2D E %.: E ]t96E 4:E !- @!- @!- @!- @K,5D/)Ay6@ٱ6 @6%>6>6H`?K?I?$Ͽ?Ŀ`Ŀ?S?I6@)6+^;i4n:KBnHBDv6DvWQ5|Y-p!-N=->:Q)5>19195EY1=<A=>AQ 1MW4٪EƊ?Q 5MW4E EZB9QYU@Q EU?yE~B)ET;IE;iEnW4YYeAadddd"dcccc+?ZZbZjZrZ @I  ɡiIi)yS9)Im/iiim^1iIychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502867IN>Qԁ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754788JK,^/)AɰvB6>~B4B6WHB6IBB6 =B4B4B6(;B64Ey^qM@ٱ^J@^J&>^>^H??D?]ο@?LĿ@JĿP?R?I^qM@)^9^;i^}Cf!KBfHYBD%6D%CR5Y}s!}E=}:Q)}>99EY4z<A>Q 1W4٪Ɗ?Q 5W4 {ZB9YO:Q E?yB)I:Ib:iW4YMBAiEdddd"dcccc`#?ZZbZjZrZ`=@I  ɡi I i )??DgDJD0DEC: Ek96E4:E"EX;!EX;!*E:!E:!%yUS9|AԉI)i))-?0)I9IIN]3>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006829Ա sK,Hlx/)Ayjf@ٱjQd@j&>j >jH`f??Y?(?`Ϳĭ? 0ĿĿ+?fR?Ijf@)j/^;ij~Cz2KBzHԹMb@Mb@Mb@ )Ii|?5^?Mb?kt>< 0)5AIAiAA ABD6DN5Y/%=!D=~:Q)>99EY;A>Q 1W4٪)Ɗ?Q 5W4) VZB9 >Q A 6;Y CQ E ?yB)A:II:iW4YAd9d9dAdA"dAcAcAcIcM`?ZZm>bZm>jZmI<rZm@Iy y ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259171yU9I0i/0 II)N5.>bDZD@AD]DMD/DE: E96EJ4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5109869 ^$K,T/)AyFÂ@ٱFA@FvN'>F>>FHR?&?>? hͿ1?pĿĿ$? P?IFÂ@)FE^;iDR5KBRHBDZ6DZ\K5Yb;!b^=b:Q)f>d9d9fEYdj <Aj>lQ 1rW4٪nƊ?Q 5rW4n n5ZB9pYv;@Q Ev?yn+B)n:Inl:inYW4YxzAx B*** querying acoustic contact ***:h Bh dddd"dc!c!c!c%` ?ZZAbZAjZArZE @IQ Y YɡYiYIYia)ay5W9IiIIN>9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825vB~BB>HBIBB =BBiDB#;B4EB܍CB܍CBƓCBƥ =BB5iBE^n4JEȭx4RE)0D`DDDE*: E6E:E"E,;!5 E,;!= *E:!E E:!M ԑ *K,#/)A,i,yR@ٱR{@R'>R7>RH *?? R?'Ϳ? Ŀ@ĿB?4O?IR@)R/^;iP^DKB^HMMb@Mb@Mb@I I)IIIiIM|?5^?~jth?I +IMD;M94)IIMAiII Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014887MQABDm6DmF5Y}=!}?=>:Q)>99EY;A>Q 1W4٪PƊ?Q 5W4H ZB9>Q A6;YNQ E?yhB)[;I;iBW4YZBAjEdddd"dcccciF@yZZ>bZ>jZA+<rZ@I  ɡiIi)iI}AyjX9I1i`5IԡIN?> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266821D dD ID 0D E 9: E c96E 4:E ! @! @! @! @ n1K,\/)AyF$@ٱF@F'>F >FH@?`g? k?̿?@ĿoĿN?dN?IF$@)F^H^;iFCR$KBRHBDZ6DZpJ5YX!Q=%[V:Q)%>!9!9-EY)-<A->1Q 1=W4٪5AƊ?Q 5=W45׆ 5YB9AYEJQ EE?y5B)5;I5;i5W4YIM"AIdidqdqdq"dqcqcycyc}^h@ZZbZjZrZi@I  ɡiIi)ycZ9I-0i))-o5)I9IIN]>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518886)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7707767K,/)Ay>Ӻ@ٱ>@>(>>S>>Hv? !?%?Z̿?gĿ`Ŀ@E? uN?I>Ӻ@)>2^;i\9\9^EY\^;A^>`Q 1fW4٪b3NJ?Q 5jW4be bYB9hYjGQ Ej?ybB)b;Ib;ibW4Yln+Apdddd"dcc c cm 6@ZZbZjZrZ@I  ɡiIi)D`DLD,DE*: E|96Eg4:Ey?Z9!Ii0I9IINU3>IuBDAT read: Rx Time:18:18:25.7104 }TRx dataTimestamp_ set to:1755627507.743479}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024709y =K,/)Aɰ((yFh@ٱF@F(>F9>FH?`ɼ?@˗?˿x?`ĿĿ1? &O?IFh@)FNQ^;iF~CLR#KBRHiTIT5Mb@Mb@Mb@1 1)1I1i15B`"?{Gzt{Gz5َ>5ף5#)1I1i15A 15ABDM6DMWQ5Y]h<!]A=]kQ)e>a9a9eEYam;Am>qQ 1}X4٪uNJ?Q 5}X4u uYB9}T>Q A}<;YdQ E?yuB)u?;Iu;iuxX4Y$Ad)d)d)d)"d)c1cQcQcU @ZZT>bZT>jZ}@rZ@I  ɡiIi)'? ?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276068y\9)DG 1)II}y}AIi00II)N5.>DaDMD+DE%.: E96E [4:E)  DAT read: 18:18:25.7104 LVL= 32176, 24433, 24850, 31475, AGC= 64, IDX= 435, 0.09,-2.998,-0.751,-1.695,-1.632, PHS=-1.265, 0.926,-0.107, RAW= 298.1, 4.8, CAL= 295.9, 1.2, ROT= 214.1, -1.2  Ygot valid direction response: 18:18:25.7104 LVL= 32176, 24433, 24850, 31475, AGC= 64, IDX= 435, 0.09,-2.998,-0.751,-1.695,-1.632, PHS=-1.265, 0.926,-0.107, RAW= 298.1, 4.8, CAL= 295.9, 1.2, ROT= 214.1, -1.2  PDAT read: Bearing 298.6, -24.4 (Local)  ~Local bearing/azimuth received: Bearing 298.6, -24.4 (Local)  DAT read: Range 11 to 50 : 139.9 m (Round-trip 186.6 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.827879,-0.560516,0.020942] Fpublishing direction and range info )lK}Gƫ_2q? C I }i q_ a z @ 롿 Vm?) "۽I }@i = C@ < &o@ I i ) r~v￰L 3̠? 0? aF@ " I i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.PDK,O/)AyF@ٱF @F(>F/<>FH?Z??˿` ?aĿĿ#?O?IF@)F\0^;iDb"KBbHBDj6DjT5YEhS!EL=E$Q)M>I9I9MEYIU;AU>yQ 1X4٪}NJ?Q 5X4} }}YB9YaQ E?y}HB)};I}*;i}X4YhB[AkEJhRh`/)Ah Ch1i`~\;SfdRp@~)lK}Gƫ_2q?h"h Ѧ/6`3gUIw߁'@~(jFX׿Z- ɵ?jh"LrhZhrd?bhyzhzBhrd?hyh Bhd Ch2 a@d d d d "dccYc]|a@ce`k?ZZbZjZrZ@I1 9 9ɡ9i9I9iA)A)y-^9IiI*DAT read: user:875> BDAT read: Tx time:18:18:26.9197 $Ping request sent.AA4=vB%>~B!B%%HB%IBB% =B!B!B%;B%4EQDbDLD-DE1: E|96Et4:E"E19;!E39;!*EG:!EH:!ԉ 4JK,vk-/)Ay6@ٱ6:@6'>61>6H"?@? g?7˿?`7}ĿĿ0?jO?I6@)6^;i6CB#KBBH5Mb@Mb@Mb@1 1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250993)1I1i15@5^I ?~jtl񢿹5b>5D5)5(AI5Ai15vA 15 AYBD]6D]lP5Ym ;!mH=uƹQ)u>y9y9}EYyg;A>Q 1X4٪ NJ?Q 5X4b ZYB9>Q A:;YeyQ E?yB)XD;I/;i#X4YZAB*** querying acoustic contact ***:hBhdddd"dcccc?ZZ->bZ->jZ-x@rZ-D@IA I IɡIiIIIiQ)Yy^9ԁI1i-0IIYN8>Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502746 D aD ND *D E %.: E ҆96E (N4:E ! @! @! @! @QK,EG/)Ay68@ٱ6'6@6ܟ'>6w>6H?`? ?Jʿ@s?@ĿĿ`L?N?I68@)64^;i4NKBRHBDZ6DZHL5Y^!bV=bSJQ)b>d9d9fEYdf<<Af>hQ 1nX4٪j)NJ?Q 5rX4j j:YB9pYrvQ Er?yjB)j;Ij;ij 1X4YtvAxsDetached at range: 139.90 m. Transitioning docking module to standby.dddd"dccc!c%?ZZAbZAjZArZE_@IQ Q QɡQiQԹIi)y&a9IM0iIIM5I]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755875IiIyN>1Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006876vB% >~B% ۍCB% HB% IBB% =B! B! B% ;B% k4EWK, a/)AyFQ@ٱFN@FK'>F>FH~?`9?? tvʿ@?`~ĿĿ@P? 0O?IFQ@)F%^;iFCzKBzHBD 6D WQ5YG;!E=KQ)%>!9!9%EY!-;A->1Q 1=X4٪5L2NJ?Q 5=X45 5YB99Y=rQ EE?y5B)5;I5;i5?X4YMuBMAMlEdmdidididq"dqcqcqcyc} 8?ZZbZjZrZ7x@I  ɡiIi)1D_DODDE&: E96E:E"Eb&;!Ed&;!*E:!E:!yJa9 &Changing to mode: 1iI1ic5IIN>>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258802ԩ ^K,z/)Ay6q@ٱ6o@6&>6>>6H?q?x?ɿ@?3\Ŀ@ĿeD?P?I6q@)6p`;i6~CBKBBH Mb@Mb@Mb@  ) I i  Dl?~jtMb O>  ) 5AI Ai A A  ABD}6D}CR5Y[>=!C=ںQ)>99EYd<A>Q 1X4٪t;NJ?Q 5X4k XB9d>Q A>;YqQ E?y)B)o:I:iGNX4YAddddd"dcccc)?ZZ d>bZ d>jZ @rZ q@I  ɡ!i!I!i!))ԑyfc9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523648Ipi0II!N-->DaDPD(DE%.: E?96Ec44:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774878 0dK,ה/)Ay>@ٱ>@>%>>~>>H?c,??`,uɿ? .ĿcĿ`M-?@ R?I>@)>b;i>CFaKBF$HBDR6DRgV5YVN<>!VY=Z[޺Q)Z>X9X9^EY\^i7<Ab>`Q 1fX4٪bCNJ?Q 5fX4b bXB9hYjmQ Ej?yb]B)b:Ib:ibj[X4YlnApddddd"dc c c c @ZZ)bZ)jZ)rZ-7@I9 A AɡAiAIAiI)Iye9Iio0IIN>AAvB>~BBBB =BFDBhDBW;B74E-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0270701DcDKD.DEg5: E]t96Eـ4:E"Eu?;!Ew?;!*E:!E:!I a"kK,[/)Ay:@ٱ:@:%%>:>:HM??? =ȿ? ĿҍĿ?S?I:@):b;i:CbhKBb-HMMb@Mb@Mb@I I)IIIiIMFx?y&1|:vMƋ>M`MԼ)M(AIIiIMvA IM ABDe6DeCR5Yuԃ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278941!>=Q)>99EY4<A>Q 1X4٪MNJ?Q 5X4 XB9t>Q AA;YYQ E?yB):I:i|jX4YAB*** querying acoustic contact ***:hBhddddd"dcccc([@ZZt>bZt>jZ=@rZB@I  ɡiIi!)!ye9IIi/0IIN )>y5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530866ԡ D bD D -D E 1: E 6E t4:E ! @! @! @! @ rK,/)Ay6uӻ@ٱ6@69$>6">6H ?/?@_?9ȿ/?ÿ@zĿ"? AT?I6uӻ@)6S`;i6C@BdKBB(HBDJ6DJS5YR!RY=VκQ)V>T9T9VEYTZ!<AZ>\Q 1bX4٪^PUNJ?Q 5bX4^4 ^XB9`YfUQ Ef?y^B)^:I^:i^wX4YjBjAAjmEdxdxdxd|d|"dycycycyc{@ZZbZjZrZa@I  ɡiIi)yg9ԱIeO"iiim-0iIychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.782904IN> vB >~B ٍCB %HB IBB =B B gDB ~;B 4E= BDAT read: Rx Time:18:18:29.5116 E TRx dataTimestamp_ set to:1755627511.534825E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036092]4xK,i/)Aiy6@ٱ6R@6j#>6:>6HX?g?`Y?#ȿ@ ?`-ÿ/WĿH?V?I6@)6;6`;i6~CBbKBB%HBDJ6DJN5YRһ!RJ=R1Q)V>T9T9VEYTZ<AZ>\Q 1bX4٪^'^NJ?Q 5bX4^Ǎ ^XB9`YbRQ Ef?y^B)^;I^;i^X4YhjGAhld|d|d|d|d|"dccccR @ZZ!bZ!jZ!rZ%z@I1 9 9ɡ9i9I9iA)AiIIIyUj9 YBEJEg4RES0D`DDDE*: E6E:E"E,;!E,;!*E!E!I$i"0!IQIyNm5>1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286880a f^~K,RD/)Ay: @ٱ:@:]">:+>:H ? N? ?@ǿ? 9ÿ 6Ŀ?@=Y?I: @):_;i:}CFrKBF9HMb@Mb@Mb@ )IiMbX?~jt>ļ);AIAiAA QABD-6D-O59YED=!E@=EXQ)M>I9I9MEYIU:<AU>YQ 1eX4٪]sgNJ?Q 5eX4]L ]dXB9eK>Q AmC;Ymx5Q Em?y]:B)]:I] ;i]X4Y&Addddd"dcccUDAT read: 18:18:29.5116 LVL= 32752, 27585, 28658, 28323, AGC= 62, IDX= 431,-0.29, 1.205,-2.707, 2.543, 2.610, PHS=-1.303, 1.011,-0.111, RAW= 299.0, 4.1, CAL= 296.7, -0.0, ROT= 213.3, 0.0 ]Ygot valid direction response: 18:18:29.5116 LVL= 32752, 27585, 28658, 28323, AGC= 62, IDX= 431,-0.29, 1.205,-2.707, 2.543, 2.610, PHS=-1.303, 1.011,-0.111, RAW= 299.0, 4.1, CAL= 296.7, -0.0, ROT= 213.3, 0.0 ePDAT read: Bearing 303.6, -23.9 (Local) e~Local bearing/azimuth received: Bearing 303.6, -23.9 (Local) DAT read: Range 11 to 50 : 140.7 m (Round-trip 187.7 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.835807,-0.549023,-0.000000]Fpublishing direction and range info,)xs CIikon>c`Q@Ȧ sh?)SI<@iC=c@&Bn@Ii);!!d.֑?L5"'?G@LX# IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZZK>bZK>jZ/3rZd@I ! !ɡ!i!I)iI)IqyE)j9bDZDAADbDID*DE1: Ec96E(N4:E!@!@!@!@I'i@5IIN k>ԑ *DAT read: user:876>  BDAT read: Tx time:18:18:30.7197  $Ping request sent. !/)Ay6z @ٱ6@6 !>6h>6H?h??Yǿ ?@]ÿ`l Ŀb? [?I6z @)6+_;i6~CNKBRIHBDz6DzC5Ym<!uG=ԡSRQ)>99EYV;A>Q 1X4٪pNJ?Q 5X4͎ GXB9Y2Q E?ysB)S:I:i~BqBu>HBuIBBu =BqBqBu~;Bu3EB-ۍCB-ڍCB-ŔCB-ŧ =B-ŧ =B- 6IINF>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250180D`DND,DE*: E҆96Eg4:E"E!E,;!*Eլ:!E׬:!! pK,]//)Aɰp;y6f;@ٱ68@6>6_>6H?~?`? Zƿ?@Rÿqÿ?`\?I6f;@)6^;i4NGKBRH TVA-Mb@Mb@Mb@) )))I)i)-x&?-t<-̼)-$AI-Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502078i)-|A )-A)AA @ABD6DaE5Y!D=.(Q)>99EY<A > Q 15X4٪ yNJ?Q 5=X4 0 ,XB9=>Q A=E;Y= Q E=?y B) ;I G;i X4YIMAIB*** querying acoustic contact ***:hBhddddd"dccccw?ZZ>bZ>jZ) =rZ@I) 1 1ɡ1i1I1i9)9y-m9!I,i0IINQi]G=IY)4G }A)AI ѿ }A %A% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755758y D bD KD *D E 1: E ]t96E (N4:E ! @! @! @! @kK,=(J/)Ay6P@ٱ6M@6 w>6">6H u?`V(?b? ƿ ?`Iÿÿ?B^?I6P@)6^^;i4F_KBF"HBDV6DV?5Y^@=!b[=bzQ)b>d9d9fEYdjg;Aj>pQ 1vX4٪rNJ?Q 5vX4r rXB9xYzQ Ez?yrB)r{<;Ir{8;irX4YAd9d9d9d9d9"dAcAcAcAcM@-?ZZbZjZrZ @I  ɡi I i )1yn9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634I}.i0IIN%>YԁvB= >~B9 B= JHB= IBB= =B9 B9 B= h~;B= 3EԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257999ܑK,c/)AyZh@ٱZf@Z>ZK(>ZH ??Q?Dƿ 2$?Fÿ 9ÿҿ?@^?IZh@)Z.^;iZCfdKBf'HBDn6Dn\K5YvV-<!vH=vQ)z>x9x9zEYx~;A~>Q 1 X4٪NJ?Q 5 X4 WB9 Y Q E?yB):Il:iX4YyAd9d9dAdAdA"dAcAcAcIcM?ZZibZijZirZm@Iy y yɡiIi)D=eD=OD=.D9E=<: E=96E=ـ4:E9"E=K;!ME=L;!M*E=:!ME=:!UyUp9ԑIh1il0I1IYN>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510004 㻞K,q}/)Aiy6@ٱ6}@6>6;>6H@&? i?2?@Zſ(?h5ÿoÿ(ٿ?`?I6@)6l^;i6Cf}KBfGHUMb@Mb@Mb@Q Q)QIQiQUp= ף?y&1?V-U>U`e99EYv;A>Q 1X4٪NJ?Q 5X40 WB9#>Q AJ;YֽQ E?yIB);I;iX4YBAxEddddd"dcccc O?ZZ#>bZ#>jZiW\=rZZ@I   ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762251y1IO4i/0IIN$>DMlDMRDM(DIEMV: EM96EMc44:EI!U@!U@!U@!U@!I u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015510{K,ɮ/)AyVӓ@ٱVQ@V>VR>VH+? ??`žſ-?zÿ`jDÿա?'c?IVӓ@)V8^;iVCfKBfVHBDn6DnO5Yv<!vT=zcQ)z>x919=EY9=;A=>AQ 1MX4٪ENJ?Q 5MX4Eu EWB9IYUҽQ EU?yE|B)E:IE:iEQX4YY]AYdydddd"dcccc$ @ZZbZjZrZ@I  ɡiIi)y,s9iIe|6iaam 0iIyIN>AAAAAAvB>~BBWHBIBB =BBB ~;B3E ߹޹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266194ԙDUbDUNDU*DQEU1: EU҆96EU(N4:EQ"EU09;!]EU29;!e*EUլ:!eEU׬:!e PExceeded connect timeout, disconnecting. 8ΫK,/)Ay6!@ٱ6@6i>6=6H40?o??|Xſ3? ¿ÿ`hR?`e?I6!@)6C^;i4BzKBBCHP Mb@Mb@Mb@  ) I i  V-?Mb? rh |> <%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518159 C ) $AI Ai    GABD56D5C5YE.!EE=EJQ)M>I9I9MEYIU,;AU>Q 1X4٪NJ?Q 5X4 WB9>Q AT;YQ E?yB)3:I:i:X4Y A-B*** querying acoustic contact ***:h)Bh)d1d9d9d9d9"d9c9cAcAcE (w@ZZe>bZe>jZez=rZeQ@Iq q yɡyiyIyi)ymu9I%8i!!!)I9IIN]3>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769973) De gDe SDe (Da Ee C: Ee 96Ee c44:Ea !m @!m @!m @!m @K,^/)AyVr@ٱV@Vq>Vt=VH3?z? Ѿ?1ſ 6?`¿f¿ ?h?IVr@)VC_;iVCzrKBz9H| ABD 6D H5Y!M=%Q)%>!9!9-EY)-N;A->1Q 1=Y4٪56NJ?Q 5=Y45 5WB9AYEQ EE?y5B)5;I5{;i5xY4YIMAIdidqdqdqdq"dqcqcycyc}e~ @ZZbZjZrZY@I  ɡiIi)y 5BDAT read: Rx Time:18:18:33.3126 5TRx dataTimestamp_ set to:1755627515.314612=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023062I=9i99E1EAIQIiNu>Qԁ vB >~B ؍CB cHB IBB B B fDB };B H3E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274056߸K,29/)Ay6@ٱ6+@6|>6l=6H6?y?`k?`"ſ@7?`¿`2¿~*?j?I6@)6ƙa;i6CBMKBB HBDJ6DJ O5YR!RR=V[Q)V>T9T9VEYTZC:AZ>\Q 1Y4٪^NJ?Q 5Y4^ ^nWB9YdQ E ?y^B)^e#Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527968Թ K,/)Ay67@ٱ6@6'4>6{>6H8? a?? ſ6?¿¿w?i?I67@)6vDa;i6CRLKBR HUMb@Mb@Mb@Q Q)QIQiQU\(\?Q?I +Uz>Uu99EYX:A>Q 1Y4٪NJ?Q 5Y4P LWB9[>Q AT;YQ E?yDB)* ;I;i!"Y4YyAԹ=s8Undocking sequence complete.9q:"dcccc`@ZZ[>bZ[>jZivz=rZy@I ɡiIi)DAT read: 18:18:33.3126 LVL= 29120, 23105, 25202, 27987, AGC= 61, IDX= 442,-0.38, 0.050, 2.296, 1.306, 1.469, PHS=-1.318, 0.871,-0.207, RAW= 299.5, 7.0, CAL= 297.1, 6.1, ROT= 212.9, -6.1 Ygot valid direction response: 18:18:33.3126 LVL= 29120, 23105, 25202, 27987, AGC= 61, IDX= 442,-0.38, 0.050, 2.296, 1.306, 1.469, PHS=-1.318, 0.871,-0.207, RAW= 299.5, 7.0, CAL= 297.1, 6.1, ROT= 212.9, -6.1 PDAT read: Bearing 300.0, -23.2 (Local) ~Local bearing/azimuth received: Bearing 300.0, -23.2 (Local)  DAT read: Range 11 to 50 : 141.6 m (Round-trip 188.8 ms) speed 0.0 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [-0.834866,-0.540099,0.106264]=Fpublishing direction and range info8CB}HO4? CIqiAZrbSm=9 ^?)SIE@i5=@^ =m@^ ڽIi)Nnp8?(c?AH@3O$ ^ ڽIi]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.yuy9I9i   J1 ID-fD-PD-*D)E-I@: E-?96E-(N4:E)!5@!5@!5@!5@IANM1>M *DAT read: user:877> U BDAT read: Tx time:18:18:34.7197 U $Ping request sent.U 6Wr>6HP;?aH?A?Ŀ;6?¿@g¿?@4j?I6@)6v`;i6CNAKBRHBDV6DVK5Yv*ܼ!vT=zsQ)z>|99EY:A>Q 1Y4٪NJ?Q 5Y4 ,WB9YQ E?yvB):IT;iz0Y4YAJhRh%x/)Ah ChA-h$] 8lS.@~8CB}HO4?hO$h^ ڽ a)_RL96@~X党{ٿ4 j?jherhZhH͝?bhcXyzhBhhhh0 Ch`@t}HTransitioning to midcourse guidance.q:}:}"dycycc@3a@c ?ZZbZjZrZ @I ɡiIi)yy9AA<vB>~BBBB =BBB|;B2EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790IIN>BE(N4JEǙT4RE:0D1D5SD5)D1E1 E596E5FA4:E1"E5CR;!EE5ER;!E*E5;:!ME5=:!Miԡ K,2/)Ay6x˼@ٱ6@6>>6Q>6H`>?U?@5U?YĿ7?¿@7¿ ?Vk?I6x˼@)6_;i6~CRJBRHchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502979Mb@Mb@Mb@ )IiX9v?~jt?J +s>D<H)I AivAA QABD6DI5Y7!?=^Q)>99EYB;A>Q 1Y4٪NJ?Q 5Y4  WB9 y>Q AZ;YQ E?yB):I:i>Y4YA B*** querying acoustic contact ***:h Bh d@:%r%Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq9%r%Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guider-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock"d)c)c)c1c5`Ir?ZZe y>bZe y>jZeXN=rZeO@yI ɡiIi)y/|9IIN >ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911rD9 jD= a=DE iDA DE ,DA EE ,K: EA 6EE g4:EA !M @!U @!U @!U @ K,L/)Ay:*м@ٱ:@:( >:>:H@?@?`?Ŀ 9?¿¿ ? m?I:*м@):^;i:C^FKBbHBDf6DfN5Yn!A>!rX=rLQ)r>t9t9vEYtv:Av>xQ 1~Y4٪zNJ?Q 5Y4z zVB9YQ E?yzB)z :Iz&:izKY4Y қB AyE:-u5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;5 v5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq<5x5Initialize.<5 y5Initialize.q;5:5<=Be=e9q<=d9;E wEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange;EwErTransitioning to terminal guidance at range 141.600006 m ;E1~B B B B =B B B |;B 2EBM؍CBM؍CBMʓCBMʪ =BMʪ =BMc5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258753-K,f/)Aɰ;0yFӼ@ٱFr@F>F9>FHqB??@۽?@جĿ:?` ¿Y?Sn?IFӼ@)FRl^;iFCbMKBb HBDj6DjH5Y<!H=Q) > 9 9 EY ^:A>Q 1%Y4٪NJ?Q 5%Y4" VB9!Y%l= 顭O?I N*':ɡiI4: ɧoI?i > (kpHeading = 0.400000): (kiHeading = 0.001000i )mm)?>DejDeRDe)DaEeN: Ee96EeFA4:Ea"EeWk;!uEeYk;!u*Ee:!}Ee:!}yp~9IIN=ԉԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510924 NK,]/)Ay6TӼ@ٱ6@6M>64>6H $C?? 3?@ѯĿo:?a¿?lo?I6TӼ@)6^;i6CBIKBBHh)  %rA)=AIeerAmAMb@Mb@Mb@ )Ii!rh?y&1|?S㥫lg>`;/])+AIAifAA BD6DY-!-9=5ҺQ)5>1999=EY9=4A=>AQ 1MY4٪ENJ?Q 5MY4Ec EVB}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7629419U n>Q Ad;YͽQ E?yE3B)EfUninitialize WaypointComponent."dycycycycf@ZZ n>bZ n>jZQ<rZ(@ɢIKBM> pI &':ɡi- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014890A @K,9/)Ay6ϼ@ٱ6@6I5>6>6H C??@Jp?Ŀ:?g¿ `j?Eq?I6ϼ@)6=_;i6CB>KBBHBDJ6DJ O5Yf !fd=fCQ)f>h9h9jEYhjAn>pQ 1rY4٪r[NJ?Q 5vY4r rVB9tYv7ϽQ Ev?yrZB)r:Ir:ir vY4Yx~A|- addTargetRange:: Added new target pos. range: 141.600006 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 g5g5E Added new target pos. range: 141.600006 m, bearing: 201.044110 deg, lat: 36.779323 deg, lon: -121.859402 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 gEMFNOT Ignoring new targets: 141.60 m.gIgI ProNav pure pursuit: ac range: 141.600006 m, nav range: 141.588593 m, bearing: 200.964007 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 350.606669 deg, new cmd heading: 200.964007 deg. bgz`@ZgrgjgRgZfRfee"dccccM9@ZZ1bZ1jZ1rZ5@ɢAMd;( MH=M-II MS2%:ɡQiIJXo:I*?i L? (kpHeading = 0.800000); (kiHeading = 0.004000i )z`@)AyF9A)A)vB5>~B5׍CB5WHB5IBB5 =B1B5eDB5b{;B5,2EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267038yMq:IaDukDuWDu*DqEumR: Eu96Eu(N4:Eq"Euq;!Euq;!*EuZ:!Eu[:!IN>ԩ ejK,'/)Aiy6μ@ٱ6;@6 >6>6H@D?`?@t'?sĿQ;?¿w? s?I6μ@)6`;i6CFףxi) AIAiA ABDE6DEHL5YUUy!u4=uX.Q)}>y9y9}EYytvA>Q 1Y4٪NJ?Q 5Y4 \VB9q>Q A`;YgQ E?yB)S;I;iY4YߛBAzEB*** querying acoustic contact ***:hBhg 5FNOT Ignoring new targets: 141.60 m.g5Eg1E ProNav pure pursuit: ac range: 141.600006 m, nav range: 141.675674 m, bearing: 200.943819 deg, approach rate: 0.186743 m/s, LOS rate: nan deg/s, cmd heading: 200.964000 deg, new cmd heading: 200.943819 deg. bgEt`@ZgArgAjgIRgIZfIRfee"dccccM@ZZq>bZq>jZ]@rZ@ɢ` PI  ":ɡiI:I *?i i ) t`@)iIAyg9QO<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854>A 9I I N > D fD QD D E I@: E v96E :E ! @! @! @! @'RK,/)Ay6м@ٱ6"@67 >63=6HF??м?Ŀ99EY*:A>!Q 1-Y4٪%?NJ?Q 5-Y4%Q %AZRQIIN>vB- >~B- ֍CB- JHB- IBB- =B) B) B- z;B- 1Ey  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274891{K,/)Ay:ռ@ٱ:,@: >:|8>:H+I?? z? \ĿT9T9VEYXZp:AZ>\Q 1bY4٪^`Ȋ?Q 5bY4^ ^VB9dYfQ Ef?y^B)^w;I^I:i^;Y4YhjgAhg|~FNOT Ignoring new targets: 141.60 m.gHg ProNav pure pursuit: ac range: 141.600006 m, nav range: 141.818115 m, bearing: 200.910898 deg, approach rate: 0.190443 m/s, LOS rate: nan deg/s, cmd heading: 200.928060 deg, new cmd heading: 200.910898 deg. bgmk`@ZgrgjgRgZfRfe!e!"d!c!c!c)c-Ҷ @ZZIbZIjZIrZM#@ɢby @{I % :ɡiIԼ;I?ii)mk`@)D=jD=XD=.D9E=N: E=96E=ـ4:E9"E=Vk;!ME=Xk;!M*E=:!ME=:!MQyU9 U~AUAԡU`=@uA@uA}DAT read: 18:18:37.3137 LVL= 32752, 26497, 26834, 32755, AGC= 61, IDX= 453, 0.10, 0.226, 2.458, 1.377, 1.562, PHS=-1.234, 0.942,-0.229, RAW= 302.5, 5.6, CAL= 300.1, 3.6, ROT= 209.9, -3.6 Ygot valid direction response: 18:18:37.3137 LVL= 32752, 26497, 26834, 32755, AGC= 61, IDX= 453, 0.10, 0.226, 2.458, 1.377, 1.562, PHS=-1.234, 0.942,-0.229, RAW= 302.5, 5.6, CAL= 300.1, 3.6, ROT= 209.9, -3.6 PDAT read: Bearing 305.2, -21.5 (Local) ~Local bearing/azimuth received: Bearing 305.2, -21.5 (Local) DAT read: Range 11 to 50 : 142.4 m (Round-trip 189.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.865186,-0.497504,0.062791]Fpublishing direction and range info7h߿֏ ?fCIigh>AU`kԱ &q?)~jI@i+=@=uj@Ii)T[6R徹{l8q?>F\ǽϩ' Ii T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I1 IA NU > XdL,ߤ0)Ay6ؼ@ٱ6h@6>6>6HUK? 4?h?ʞĿ!9!9%EY!-v:A->1Q 15Y4٪5Ȋ?Q 5=Y45 5UB99Y=Q E=?y5B)5';I5D;i5Y4YIMnAIJh)Rh-m/)Ah-fCh-I1-^ G Q0k!@~-7h߿֏ ?h-ϩ'h- -u?)`Cw+MIu\0@~-/Yֿ;ki?jh-oJrh-Zh-M?bh-4zh- eBDAT read: Tx time:18:18:38.5697 e$Ping request sent.eAZҽIQIiN> % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2542269 IL,=0)Ay6m޼@ٱ6@6>6%>6H M?Ȧ?@4?CĿ(=?¿" ?w?I6m޼@)6Qc;i6CRKBRHBDZ6DZH5Yb#F!bP=bzQ)f>d9d9fEYdj:Aj>lQ 15Y4٪n7Ȋ?Q 55Y4n` nUB91Y5Q E5?yn=B)nmE~BB>HBIBBBBBz;B1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5072849>A;iIINn>DUuDUgDU.DQEUv: EU&96EUـ4:EQ"EU%;!eEU&;!e*EUj1;!eEUj1;!ei L,i50)A rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.760007y@ٱ~@7>o>HaP?@?lB?`yĿR=?@¿ߚ"?x?I@)ƹd;iC-JB-H!@! !@! !@! !@! BD6DM5Y!.=%nQ)>99EYl:A> Q 1Y4٪ Ȋ?Q 5Y4 ˔ UBQ =+:9Q A6;YCQ E?y sB) V:I >i Y4Y%B%A%{EEB*** querying acoustic contact ***:hABhAgIUFNOT Ignoring new targets: 142.40 m.gU#MgU#Mim ProNav: ac range: 142.399994 m, nav range: 141.623230 m, bearing: 200.925429 deg, approach rate: 0.194956 m/s, LOS rate: -0.044836 deg/s, cmd heading: 200.911831 deg, new cmd heading: 200.849012 deg. gm*bguY`@ZgqrgqjgqRgqZfqRfqeyey"dyccccV?ɢNKBJ 页RI 9ɡiI m;I?ii)Y`@)yȄ9>ABrAR=jA<I9IQN]U>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011867 De dDe XDe (Da Ee 9: Ee 96Ee c44:Ea !m @!m @!m @!m @L,8O0)Ay6@ٱ6@6Ay>64>6H zR?@~?Һ?rĿ]=?*¿c 3?&z?I6@)6e;i6ClrJBrHBDz6DzJ5YA!%j=%@Q)%?)9)9-EY)-<:A-?1Q 1=Y4٪59Ȋ?Q 5EY45 5UBQ =E :9AQ AE;YEQ EE?y5B)5a;I5O?i5Y4YIUAQgq}FNOT Ignoring new targets: 142.40 m.g}IgI ProNav: ac range: 142.399994 m, nav range: 141.688828 m, bearing: 200.910365 deg, approach rate: 0.191398 m/s, LOS rate: -0.043933 deg/s, cmd heading: 200.849007 deg, new cmd heading: 200.803836 deg. g4bgL`@ZgrgjgRgZfRfee"dcccc`?ɢOKB ߽I q|9ɡiI%;I?ii)L`@)i~AI}Ay9>A*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.264194II1NE>vB >~B B B B B B B y;B =1E!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515023L,i0)Ay6@ٱ6h@6F>6Q>6HU?=^?e?UĿ>?¿( 3=?{?I6@)6+f;i6CbJB`BDj6Dj3M5Yzɍ:!zM=|Q)>99EY  ;A >Q 1Y4٪%Ȋ?Q 5Y4p fUBQ =%99!Q A%:Y%Q E%?yB) ;I?ieY4Y)))gQUFNOT Ignoring new targets: 142.40 m.g]>Hg]>Hm ProNav: ac range: 142.399994 m, nav range: 141.765305 m, bearing: 200.892869 deg, approach rate: 0.191413 m/s, LOS rate: -0.043767 deg/s, cmd heading: 200.803832 deg, new cmd heading: 200.751373 deg. gmKbgm=`@ZgqrgqjgqRgqZfqRfqeyey"dyccccEs?ɢPKBa 页0I >9ɡiI}1;I?ii)=`@)BE [4JE^4REm0DoDSD,DE`: E96Eg4:E"EW;!EX;!*E;:!E<:!y9>AƂ)A~AI)IQNZ>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769325Qԁ z L,0)Ay6D@ٱ6@6/>6=6HZ?`?e?ÿH?`¿@ C? ?I6D@)6\f;i6~CBJBBH!! !! !! !! Mb@Mb@Mb@ )Ii"~j? rhktSc>C 0)7AIAiZAA ABD-6D-HL5Y==!EF=EޅQ)E>M3?9M3?9MEYMEM;AM>YQQ 1Y4٪U,Ȋ?Q 5Y4U UGUBQ =T:94h>Q Aj;YXQ E?yUB)U A0ebA}AZAzA- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274992 A |AI) I9 NE >5&L,Ɯ0)Ay:Q@ٱ:@:>:W=:H^? t?E?` ÿX?`՜@ n?`?I:Q@):X8f;i:CFJBF~H HJABDN6DNWQ5YV;J!VT=Z1Q)Z>Z=?9Z=?9ZEYZE^;A^>`Q 1fY4٪b3Ȋ?Q 5fY4bb b+UB9hYjXQ Ej?ybB)b:IbK:ibGY4YnBn8An|EgFNOT Ignoring new targets: 142.40 m.g dg d% ProNav: ac range: 142.399994 m, nav range: 141.909149 m, bearing: 200.855136 deg, approach rate: 0.190290 m/s, LOS rate: -0.049858 deg/s, cmd heading: 200.692869 deg, new cmd heading: 200.638237 deg. g%bg%u`@Zg!rg!jg!Rg!Zf)Rf)e)e)"d1c1c1c1c=`@ɢeTKBe5 imIi mЍ07ɡiiiImb;Iu~@iqiy)}u`@)y?'?ԹyQAu@AAqvB}>~B}ٍCByByB} =ByB}gDB}x;B}0EBE֍CBE׍CBEÔCBEí =BEì =BEÝ6mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522951>A}#!IyDdDOD.DE9: E96Eـ4:E"EE;!EE;!*E:!E:!IN>A 6 -L,0)A^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775065y ,@ٱ)@̦=m=H@b?? ?@_ÿd?龿[d=?`C?I ,@)e;iC5JB5HMb@Mb@Mb@ )Iim?y&1Q롿n>`e\)+AIAi \ABD6DO5Y[><!7=SQ)>99EYE;A> Q 1Z4٪ <Ȋ?Q 5Z4  UB9q>Q A`;YPKQ E?yRB)5;I4;iZ4Y!%.A!gIUFNOT Ignoring new targets: 142.40 m.gU^gU^e ProNav: ac range: 142.399994 m, nav range: 141.994858 m, bearing: 200.833334 deg, approach rate: 0.191633 m/s, LOS rate: -0.048718 deg/s, cmd heading: 200.638241 deg, new cmd heading: 200.572874 deg. gebge `@ZgrgjgRgZfRfee"dcccc @ɢeVKBe imIi m,͸ɡiiiIu;Iu@iyiy)} `@)yy})9 &Changing to mode: 19im=IuCIi 5)͈G  A)1I]v¿] A]A?A@m=@m=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027192qԑ rD =jD 4=D kD XD D E mR: E 96E :E ! @! @! @! @>A IiIyN> 5L,*0)AyNvD@ٱNA@N=N=NHEh??Օ?ÿj?@4c?x?INvD@)N\e;iNC^JB^uHBDn6DnD5Y] ټ!]3=]Q)]>a9a9eEYeEm;Am>BDAT read: Rx Time:18:18:41.1647 TRx dataTimestamp_ set to:1755627523.382834checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280268Q 1Z4٪DȊ?Q 5Z4s TB9YyHQ E?yB) &~B5ڍCB1B1B5 =B1B1B5w;B50EM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530989 >A Iy I N >1;L,I0)ADeDUD-DE<: EP96Et4:E"EK;!EL;!*E:!E:!DiDPyfc@ٱf_a@fW=f6=fHXo?`E$? ? +¿ l?6+ X8޺??Ifc@)fyye;idJBpHBD6DY% !%N=-RһQ)->)9)9-EY5 E5<A5>YQ 1eZ4٪]&LȊ?Q 5eZ4] ]TB9aYmCQ Em?y]B)]:I]:i]"Z4YquNAqgFNOT Ignoring new targets: 142.40 m.g/_g/_ ProNav: ac range: 142.399994 m, nav range: 142.160156 m, bearing: 200.791821 deg, approach rate: 0.195535 m/s, LOS rate: -0.048781 deg/s, cmd heading: 200.505312 deg, new cmd heading: 200.448406 deg. gbg5,_@Zg1rg1jg9Rg9Zf9Rf9eAeA"dAcAcAcIcM"@=DAT read: 18:18:41.1647 LVL= 30048, 22561, 23618, 28483, AGC= 62, IDX= 447,-0.30,-2.182, 0.076,-1.078,-0.872, PHS=-1.208, 0.993,-0.250, RAW= 304.3, 4.9, CAL= 301.9, 2.5, ROT= 208.1, -2.5 EYgot valid direction response: 18:18:41.1647 LVL= 30048, 22561, 23618, 28483, AGC= 62, IDX= 447,-0.30,-2.182, 0.076,-1.078,-0.872, PHS=-1.208, 0.993,-0.250, RAW= 304.3, 4.9, CAL= 301.9, 2.5, ROT= 208.1, -2.5 MPDAT read: Bearing 309.3, -21.0 (Local) U~Local bearing/azimuth received: Bearing 309.3, -21.0 (Local) ]DAT read: Range 11 to 50 : 143.1 m (Round-trip 190.9 ms) speed -0.2 m/s ɢm\KBu"R#Rx 1: Read range and direction messages.`direction in FSK: [-0.881287,-0.470564,0.043619]Fpublishing direction and range infoL3쿡\^޿GU?CI`ui!XB\Co> ?5~?)I@i%=ޜ@¸2=/sh@¸2Ii)ZF'IB ?FID  I *иɡiI8;Im@ii),_@)) ¸2Ii%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.yj9I9i 0! ] *DAT read: user:879> e BDAT read: Tx time:18:18:42.5697 e $Ping request sent.e A #I I) N= >)BL,* 0)Ay6ꏽ@ٱ6i@6N=6n=6H@.x?~? 2?`n?^3@.??I6ꏽ@)6f;i6~CMJBMmHbDIZDIDUmDUTDU*DQEUY: EU96EU(N4:EQ!]@!]@!e@!e@AMMb@Mb@Mb@I I)IIIiIMMbX?MbQM>MM)MAIMAiIMA IMABDm6DmO5Yu!} =}xQ)}>y99EYE,<A>Q 1Z4٪QWȊ?Q 5Z4t TB9>Q AB;Y#"Q E?yB)0;I:i{4Z4Y BA}EJhRh0)AhCh:o2S}=q._}>I 9i   5 ԡ AU <AU <vB] >~B] ؍CBY BY B] =BY B] fDB] |w;B] D0E >A- sI I N >pIL,ė'0)A^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502967JB:HBD6DL5Y~ҽ!O=Q)>99EYEA>Q 1Z4٪ `Ȋ?Q 5Z4 TB9YQ E?y0B):I:iJBZ4YAgFNOT Ignoring new targets: 143.10 m.g}g}- ProNav: ac range: 143.100006 m, nav range: 142.367630 m, bearing: 200.743890 deg, approach rate: 0.240529 m/s, LOS rate: -0.055474 deg/s, cmd heading: 200.373244 deg, new cmd heading: 200.310226 deg. )g5Hbg5_@Zg1rg1jg1Rg1Zf9Rf9e9e9"dAcAcAcAcE@?ɢuaKBurv q}B>Iy }ɡyiyI} ;Iq @ii)_@)"?-?yx9DnDSDDEO]: E96E:E"E5;!E6;!*E<:!E=:!I9i1!Yԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.763482>A% #AU %AIY Iq N >Ա ZTPL,aA0)AyJ@ٱJ@JYC=JN=JHʊ???Q 7x?9x?@@?IJ@)J1f;iJCVJBVHHiXIXmMb@Mb@Mb@i i)iIiiim1Zd?~jtxm">mĻm̼)m AIiimOAmA imABD6D@5Y2<!M=ngQ)>D?9D?9EYE<A>Q 1Z4٪iȊ?Q 5Z4R TB9>Q A.;Y<Q E?ymB)P;I;i5PZ4YAgFNOT Ignoring new targets: 143.10 m.gg  ProNav: ac range: 143.100006 m, nav range: 142.471848 m, bearing: 200.720944 deg, approach rate: 0.261620 m/s, LOS rate: -0.057562 deg/s, cmd heading: 200.310228 deg, new cmd heading: 200.241438 deg. g bg _@Zg rg jg Rg ZfRfee"dcccc%A?ɢMdKBMX QU6ԑIQ jCɡiIGAM }Ia Iq  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967N  |~VL,<[0)Ay^*@ٱ^4(@^.6=^=^H?z? Cm?Mo~?3yؽ?~?I^*@)^f;i^CjJBjYHBDr6DrC5Yz=!zU=zQ)~>99EYE<A > Q 1Z4٪ sȊ?Q 5Z4  mTB9YVQ E?y B) z ;I  ;i ]Z4Y-B-A)EB*** querying acoustic contact ***:hABhAgQUFNOT Ignoring new targets: 143.10 m.g]Ձg]Ձm ProNav: ac range: 143.100006 m, nav range: 142.572693 m, bearing: 200.699128 deg, approach rate: 0.262546 m/s, LOS rate: -0.056755 deg/s, cmd heading: 200.241435 deg, new cmd heading: 200.176035 deg. gmbgmI_@ZgqrgqjgqRgqZfqRfqeyey"dycccc f?ɢgKBQ 页*I egeɡiI>U~B׍CBJHBIBB =BBeDBBw;B"0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827>A#rA ?jA ?I D fD WD *D E I@: E 96E (N4:E "E CR;!5 E ER;!5 *E Z:!5 E [:!5 I I N >\L,/u0)A(JBgHBD6DLF5]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766100Ym<!m5=}Q)>99EY%EA>Q 1Z4٪Ȋ?Q 5Z42 RTB9 iYQ E?yB)VA% 2I I N >(cL,0)ALDbeDbRDb(D`Eb<: Eb96Ebc44:E`!f@!f@!f@!f@=JB=VHE!>Ea>Mb@Mb@Mb@ )IiuV?/$r>)&AIAi?AA  ABD=6D=\K5YM!ML=IQ)M>Q9Q9UEY]*EYA]>aQ 1mZ4٪eȊ?Q 5mZ4e e;TB9mʨ>Q Am!;YucQ Eu?ye/B)e ;Ie;iea{Z4YAgFNOT Ignoring new targets: 143.10 m.gg ProNav: ac range: 143.100006 m, nav range: 142.806732 m, bearing: 200.649660 deg, approach rate: 0.302125 m/s, LOS rate: -0.062321 deg/s, cmd heading: 200.097263 deg, new cmd heading: 200.027747 deg. g+bgn_@ZgrgjgRgZfRfee"dcccc@ɢUnKB]؏c Y]84IY eSɡaiaIe-<IQ6@ii)n_@)yݍ9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266946I}9iyy} 0y) A A vB >~B ؍CB B B =B B fDB `w;B 40E>A (I! I1 NE >iL,[Ψ0)AyB@ٱBp@B=B=BH ?@Ԩ?@ҵ?@`? U@( ? M?IB@)Bވf;iBCJJBJ[HRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518874BDZ6DZE5Yb4<!bg=bҼQ)f>d9d9fEYf.Ej)=Aj>lQ 1rZ4٪nMȊ?Q 5rZ4nؚ n(TB9pYruQ Ev?ynjB)n;In6:inZ4Yz%BzAz~E|g!%FNOT Ignoring new targets: 143.10 m.g-g- ProNav: ac range: 143.100006 m, nav range: 142.910324 m, bearing: 200.629626 deg, approach rate: 0.296241 m/s, LOS rate: -0.057250 deg/s, cmd heading: 200.027745 deg, new cmd heading: 199.967687 deg. g(bg]_@ZgrgjgRgZfRfee"dcccc`?y@ɢeqKBmNKg 3I %ɡiI>Ai bAm |AZAm ~AI I N >ԁ pL,0)Ay:$A@ٱ:>@:=:>:H]?^?`16?BhC? Q??I:$A@):df;i:CFJBFTHEMb@Mb@Mb@A A)AIAiAEK?Mb`~jtE^>EEļ)E3AIAiE3AEA AEAYBDe6DeC5Yu|h!u@=uAQ)}>y9y9}EY}3E<A>Q 1Z4٪3Ȋ?Q 5Z40 TB9ƺ>Q A;YxQ E?yB)i ;I ;iZ4Y$AgFNOT Ignoring new targets: 143.10 m.gVgV ProNav: ac range: 143.100006 m, nav range: 143.048981 m, bearing: 200.603126 deg, approach rate: 0.325870 m/s, LOS rate: -0.062220 deg/s, cmd heading: 199.967681 deg, new cmd heading: 199.888257 deg. g*bgF_@ZgrgjgRgZfRfee"dccccG @ɢ%uKB-Qj )-y=I) -Ҽɡ1i1I5W!AE -  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279748Au yAIy I N >vL,0)AJB7HiIBD%6D%f?5Y]?d!]G=eQ)e>e H?9m H?9mEYm8EquAu>yQ 1Z4٪}Ȋ?Q 5Z4} }SB9YQ E?y}B)}w:I}a;i}Z4YSAB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 143.10 m.gg ProNav: ac range: 143.100006 m, nav range: 143.182755 m, bearing: 200.577613 deg, approach rate: 0.324839 m/s, LOS rate: -0.061893 deg/s, cmd heading: 199.888259 deg, new cmd heading: 199.811794 deg. g)bg!1_@ZgrgjgRgZfRfe e"dcccc  @ɢEyKBE F IMXII MӺɡIiIIU%')]!1_@)YyE 9vB>~BBBB =BBBw;Bk0EB؍CB؍CBBê =Bé =B*,6ԡI9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533954>A#D D SD +D E  E 96E [4:E "E e;! E e;! *E ;:! E =:! A5 AI9 II N] >D}L,l0)AyF@ٱFW@Fe=F >FH@x? ?1?`? Q?`?IF@)Fzf;iFCzJB~OHBD 6D =A5YvE=!O=Q)>-K?9-K?9-EY5=EUbV=A]>qQ 1Z4٪uԸȊ?Q 5Z4uÛ uSB9YQ E?yuOB)u;Iuu;iuZ4Y2BcAE5DAT read: 18:18:45.1659 LVL= 32752, 20497, 29330, 32291, AGC= 64, IDX= 443, 0.29, 2.678,-1.328,-2.493,-2.288, PHS=-1.215, 1.006,-0.248, RAW= 304.3, 4.8, CAL= 301.9, 2.2, ROT= 208.1, -2.2 =Ygot valid direction response: 18:18:45.1659 LVL= 32752, 20497, 29330, 32291, AGC= 64, IDX= 443, 0.29, 2.678,-1.328,-2.493,-2.288, PHS=-1.215, 1.006,-0.248, RAW= 304.3, 4.8, CAL= 301.9, 2.2, ROT= 208.1, -2.2 EPDAT read: Bearing 313.2, -22.6 (Local) E~Local bearing/azimuth received: Bearing 313.2, -22.6 (Local) gFNOT Ignoring new targets: 143.10 m.DAT read: Range 11 to 50 : 144.0 m (Round-trip 192.0 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.881477,-0.470665,0.038388]Fpublishing direction and range infoy5쿺1#_޿.?CIiPr#~@gkgk ProNav: ac range: 143.100006 m, nav range: 143.314896 m, bearing: 200.553839 deg, approach rate: 0.286728 m/s, LOS rate: -0.051540 deg/s, cmd heading: 199.811788 deg, new cmd heading: 199.740530 deg. g| bg_@ZgrgjgRgZf Ā?)}Ii=nF=nFIi)P;gfZsYd4^?KD) nFIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Rfee"dcccb@cq?ɢe~KBm`i)MG )I5$￙9=aA quJIy }SɡyiyI}B-  BDAT read: Tx time:18:18:46.6197  $Ping request sent. A PDvrA ?jA ?Y I I N >L,0)AD:hD:VD:.D8E:G: E:96E:ـ4:E8!>@!>@!>@!>@JBAHMb@Mb@Mb@ )IiK7?t`)IAi&AA  ABD6DuD5Yͼ!>=Q)>99EYCEA>Q 1 Z4٪Ȋ?Q 5 Z4 SB9 >Q A ;Y fQ E?yB)S;I4X;iZ4Y)95yAAJh1Rh50)Ah5Ch5-5I\I_̃PٙtT@~5y5쿺1#_޿.?h1h5nF 5u2``H9aI9ia2>AuPԡIi I N >vB ~B ٍCB B B =B B gDB x;B 0EԹ 'L,-*0)A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501323yB@ٱBu@Bw=Bn>BH'?g?Բ?@Y`o?n¿ !?`0?IB@)B9e;iBCNzJBNHR%=R4<BDV6DV>5Y^s!b`=bQ)b>d9d9fEYfGEj}=Aj>lQ 1]Z4٪nȊ?Q 5]Z4nU nSB9aYe;jQ Ee?ynB)n̒AR(IIN%M>5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755975 L,tD0)Ay> @ٱ>@>+=>O>>Hu?a?/?נ?¿ q?(?I> @)>Ee;i>CbJBb"HMb@Mb@Mb@ )Ii-?I +~jt5>94ļ)?AIAiA A BD6DC5YA=!:=wQ)>99EYME<A>Q 1Z4٪Ȋ?Q 5Z4 SB9>Q A:YMQ E?yOB)A:I:iZ4YAg!%FNOT Ignoring new targets: 144.00 m.g-Ȩg-Ȩ= ProNav: ac range: 144.000000 m, nav range: 144.295547 m, bearing: 201.579184 deg, approach rate: 0.408484 m/s, LOS rate: -0.073780 deg/s, cmd heading: 199.609246 deg, new cmd heading: 199.516172 deg. g=Jbg=^@Zg9rgAjgARgAZfARfAeIeI"dIcIcIcQcU@?ɢKBF< 顅{I 7=ɡiI<AbAZAxAIaIqDbDQD-DE1: Ev96Et4:E!@!@!@!@N\>I % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257315:L,O^0)Ay>(f@ٱ>c@>ϔ=>m>>H ?`'?@ԓ?@w@ġ?,ÿǕ??I>(f@)>e;i>CJJBJHBDR6DRG5YZc!Z^=Z4Q)Z>\9\9EYRE =A >Q 1Z4٪Ȋ?Q 5Z4 |SB9Y%Q E%?yB);I;iZ4Y-NB-3A-EMB*** querying acoustic contact ***:hIBhIgQ]FNOT Ignoring new targets: 144.00 m.gmIguI ProNav: ac range: 144.000000 m, nav range: 144.444473 m, bearing: 201.553186 deg, approach rate: 0.394247 m/s, LOS rate: -0.068754 deg/s, cmd heading: 199.516178 deg, new cmd heading: 199.438262 deg. g<bgQ^@ZgrgjgRgZfRfee"dcccc|?ɢKB I R'ɡiI~A~BBBBBBBw;BI9i_0>Ae yychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509548ԉD D YD *D E a: E *96E (N4:E "E L;! E N;! *E :! E :! ԩ eL,0x0)Ay:A@ٱ:@<:8=:U>:HG?iK?`?຃ৢ?@v:ÿ{??I:A@)::e;i:CPPiTIVABDZ6DZ\K5faQ)f>d9h9jEYjWEj<Aj>lQ 1rZ4٪nȊ?Q 5vZ4nݜ nfSB9tYvټQ Ev?ynB)nh:In:inZ4Yxx|gYmFNOT Ignoring new targets: 144.00 m.gmgmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763386] ProNav: ac range: 144.000000 m, nav range: 144.602371 m, bearing: 201.526538 deg, approach rate: 0.390364 m/s, LOS rate: -0.065809 deg/s, cmd heading: 199.438259 deg, new cmd heading: 199.358403 deg. ge4bge{^@ZgirgijgRgZfRfee"dcccc`r@ԩɢKB褼 I W7ɡiIFAUoMIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013924 KL,0)AbD ZD"?AD&cD&uD$D$E&g5: E&:6E$:E$!*@!*@!*@!*@yF @ٱFЪ:F=F>FH`?&?Q}?uNU?? ÿ` z??IF @)F!e;iFCR~JBR HlMb@Mb@Mb@ )Ii!rh?Mb{Gzl>ף)IAIAiA ABD]6D]HL5YmE!m99EY]Ej<A>Q 1[4٪Ɋ?Q 5[4 MSB9>Q A:YQ߼Q E?ydB);I=;i! [4Y\BwAEg%FNOT Ignoring new targets: 144.00 m.g%bg%bU ProNav: ac range: 144.000000 m, nav range: 144.793381 m, bearing: 201.494320 deg, approach rate: 0.413615 m/s, LOS rate: -0.069672 deg/s, cmd heading: 199.358400 deg, new cmd heading: 199.261876 deg. gUB?bg]^@ZgYrgYjgYRgYZfYRfYeaea"dacacicicu`@ ɢ}KB} y顅VI y8GɡiIKA5 =rA5 ?jA1A A vB >~B ڍCB >HB IBB =B B hDB w;B 0EI) I9 NM >a ,vL,0)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517485yBm@ٱBL6BH ?I_=?[? ɥ?@¿ut9t9vEYvaEzV<Az>|Q 1[4٪~Ɋ?Q 5[4~ ~;SB9 YQ E?y~B)~;I~ݳ;i~W[49YAEAAgamFNOT Ignoring new targets: 144.00 m.gmgu] ProNav: ac range: 144.000000 m, nav range: 144.938614 m, bearing: 201.470546 deg, approach rate: 0.417195 m/s, LOS rate: -0.068225 deg/s, cmd heading: 199.261876 deg, new cmd heading: 199.190626 deg. g]I;bg]^@ZgYrgYjgYRgYZfaRfaeaea"dicicicicub@ɢKBѼ 顥nI DTɡiIOA=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772701IAIiN> ]L,0)AyFv@ٱFFH?慿? iړ??¿@՛Z?!?IFv@)F`d;iFCbXJBbHfa>duMb@Mb@Mb@q q)qIqiqui|?5?utuD)qIuAiuAu/A qu ABD6DI5ԙY_!?=o Q)>99EYgE<A>Q 1[4٪.Ɋ?Q 5[4) )SB9>Q A:Y+pQ E?yB)V:I_:iS$[4YAgFNOT Ignoring new targets: 144.00 m.gʙgʙ ProNav: ac range: 144.000000 m, nav range: 145.125320 m, bearing: 201.440304 deg, approach rate: 0.415575 m/s, LOS rate: -0.067228 deg/s, cmd heading: 199.190624 deg, new cmd heading: 199.100013 deg. g8bge^@ZgrgjgRgZfRf!e1e9"dAcAcIcI QUAeBDAT read: Rx Time:18:18:49.2179 eTRx dataTimestamp_ set to:1755627531.199961mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024088cM0 @ɢKB/tɼ 顕I xhɡiITAx>I1 IA NU > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273398! +L,S0)Ay>@ٱ>'<>8-_=>p>>H@?wxp?c??A¿⫿th??I>@)>vd;i>CFTJBFHBDv6DvaE5Y %! U= Q) >99EYlEt<A>!Q 1-[4٪%>Ɋ?Q 5-[4%4 %SB9)Y-Q E-?y%yB)%h:I%:i%1[4Y=kB=A9UB*** querying acoustic contact ***:hQBhQgaeFNOT Ignoring new targets: 144.00 m.gm/gm/} ProNav: ac range: 144.000000 m, nav range: 145.293182 m, bearing: 201.413618 deg, approach rate: 0.468498 m/s, LOS rate: -0.074393 deg/s, cmd heading: 199.100014 deg, new cmd heading: 199.020050 deg. g}8LbgN^@ZgrgjgRgZfRfee"dcccc` @ɢKBb I YvɡiI:X~B=ۍCB9B9B= =B=EDB9B=w;B=u0EI-9i))-4)>A;F&>bA ZA |A!IiIyN8>}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527735QBE|a4JEYe4REg/Du ]Du `Du +Dq Eu : Eu 96Eu [4:Eq "Eu ;! Eu ;! *Eu ;! Eu ;! y L,{0)AyR@ٱR{RH ?@>ȕJ!?@cD? ?d`??IR@)RFd;iRCQJBHBD-6D-#H5Y5!!=G== Q)=>A9A9EEYEqEE <AM>aQ 1}[4٪eiNɊ?Q 5}[4e< e SB9yY3Q E?yeB)eW;Ie6D;ie3@[4Y AQgFNOT Ignoring new targets: 144.00 m.DAT read: 18:18:49.2179 LVL= 32752, 31073, 32754, 32755, AGC= 63, IDX= 464,-0.18, 1.829,-2.085, 2.922, 3.007, PHS=-1.076, 1.237,-0.129, RAW= 306.0, -0.3, CAL= 304.3, -4.0, ROT= 205.7, 4.0 g {g{5Ygot valid direction response: 18:18:49.2179 LVL= 32752, 31073, 32754, 32755, AGC= 63, IDX= 464,-0.18, 1.829,-2.085, 2.922, 3.007, PHS=-1.076, 1.237,-0.129, RAW= 306.0, -0.3, CAL= 304.3, -4.0, ROT= 205.7, 4.0 PDAT read: Bearing 325.5, -23.0 (Local) ~Local bearing/azimuth received: Bearing 325.5, -23.0 (Local)  ProNav: ac range: 144.000000 m, nav range: 145.473953 m, bearing: 201.385227 deg, approach rate: 0.436085 m/s, LOS rate: -0.068404 deg/s, cmd heading: 199.020046 deg, new cmd heading: 198.934980 deg. g;bgg6^@ZgrgjgRgZfRfee"dcDAT read: Range 11 to 50 : 145.5 m (Round-trip 194.1 ms) speed -0.6 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.898882,-0.432603,-0.069756]Fpublishing direction and range infocc!c%@p@ ])K$o5ïۿ&k۱CIiay?^ V?)I@i@5e@5=Ii)ĕnKq젺1wdB;Z, 5=Ii]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ɢKB BҼ 顕ѯI 9ɡiI@]A b>IyIN>ԩm *DAT read: user:881> u BDAT read: Tx time:18:18:50.6697 u $Ping request sent.u eueĻ)e9AIeAieAe5A aeABD}6D}uD5Y@!*=6Q)>99EYwEMݻA>Q 1[4٪bɊ?Q 5[4B RB9>Q A:YrQ E?yTB);Iv;iP[4YyBaAEJhRh0)AhCh.p+b1Y`VxOL$~ ])K$o5ïۿ&k۱hZ,h5=  r:` +b2P!{%~ 9PZܿ!4jhrhZh奞?bh][EzhBhTO?hcXyhhChc@  addTargetRange:: Added new target pos. range: 145.500000 m, deltaT: 4.030542 s, deltaX: 1.500000 m, approachRate: 0.372158 m/s, rangeRepo size: 4  Added new target pos. range: 145.500000 m, bearing: 203.230314 deg, lat: 36.779357 deg, lon: -121.859479 deg, deltaT: 4.030542 s, deltaX: 1.500000 m, approachRate: 0.372158 m/s, posRepo size: 4 g%FNOT Ignoring new targets: 145.50 m.g%g! ProNav: ac range: 145.500000 m, nav range: 144.593872 m, bearing: 203.230314 deg, approach rate: 0.000000 m/s, LOS rate: -0.068404 deg/s, cmd heading: 198.934983 deg, new cmd heading: 198.836670 deg. gbgJ^@ZgrgjgRgZfRfeechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250873"dccc0b@cF?ɢ5KB= 9=I9 =`ɡaiaIesaA> A1 A5 <vBE >~BE ڍCBA BA BA BA BA BE w;BE 0EBڍCBڍCBȓCBȦ =BȦ =Bȭ5A yAI I N% >9 cL, )-0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502843ym]@ٱmAM 1>rAY q jA] ?i5 =I5 {C) G ~A) I ~A AA I I N > L,XG0)A yj`@ٱj99EYE긼A> Q 1[4٪ DɊ?Q 5[4 g RB9%f?Q A%:Y%Q E%?y B)  M;I K;i Hk[4Y1Ag FNOT Ignoring new targets: 145.50 m.g ^5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006839g ^M ProNav: ac range: 145.500000 m, nav range: 144.942505 m, bearing: 203.168812 deg, approach rate: 0.446872 m/s, LOS rate: -0.079283 deg/s, cmd heading: 198.756237 deg, new cmd heading: 198.652387 deg. gMYbgM]@iZgIrgqjgqRgqZfqRfqeyey"dyccccS?ɢKB оI ̤ɡiIciA 9> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259900A A I I N% >=L,b0)Ay6S@ٱ6@61R"=6΂==6H?i?;?`; T`5? Hm??I6S@)6$Db;i6CN JBNHN=N;?BDV6DV265Y^QY!^P=^Q)b>bK?9bK?9bEYbEfsAf>hQ 1n[4٪jCɊ?Q 5n[4j jRB9lYrQ Er?yjB)j:Iju:ijx[4YvBvAvE B*** querying acoustic contact ***:h Bh gFNOT Ignoring new targets: 145.50 m.gϺg%Ϻ5 ProNav: ac range: 145.500000 m, nav range: 145.125717 m, bearing: 203.135409 deg, approach rate: 0.498705 m/s, LOS rate: -0.090809 deg/s, cmd heading: 198.652391 deg, new cmd heading: 198.552308 deg. g5Iybg5]@Zg1rg1jg1Rg1Zf9Rf9e9e9"dAcAcAcIcM  ?ɢuKBuyI y}4ԾIy }bɡyiyI}l~Bu؍CBu1HBuIBBu =BuFDBufDBuCx;Bu0EI 9i 0uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510801)>Aa D gD OD (D E C: E 96E c44:E "E X;! E X;! *E :! E :! AI IY Ii N} >]L,%A|0)A y>x@ٱ>@>y=> 0<>H?Ϗ???4[?៿h/`_?@f?I>x@)>a;i>CJJBJxHBDR6DR=A5YZ!ZL=^ӯQ)^>\9\9bEYbEbAb>dQ 1j[4٪fɊ?Q 5j[4fŝ fRB9hYn]#Q En?yfB)f.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765602IfG:if[4YKAg1=FNOT Ignoring new targets: 145.50 m.gE_źgE_źU ProNav: ac range: 145.500000 m, nav range: 145.312698 m, bearing: 203.100374 deg, approach rate: 0.461060 m/s, LOS rate: -0.086278 deg/s, cmd heading: 198.552301 deg, new cmd heading: 198.447332 deg. gUlbgU]@ZgQrgYjgaRgaZfiRfqee"dcccc@U@qɢ}KB}R  y}CIy 컻ɡiIUpA- 6>bA1 ZA5 {AA9 II Ii N} >YL,p0)ADeDTD*DE<: E96E(N4:E!"@!"@!"@!"@99EYEA>Q 1[4٪BɊ?Q 5[4  RB9u?Q A:Y;Q E?y`B):I:iJ[4YBAEgFNOT Ignoring new targets: 145.50 m.gкgк ProNav: ac range: 145.500000 m, nav range: 145.522125 m, bearing: 203.060651 deg, approach rate: 0.482298 m/s, LOS rate: -0.091349 deg/s, cmd heading: 198.447335 deg, new cmd heading: 198.328336 deg. gzbg]@ZgrgjgRgZfRfe!e!"d!c!c)c)c-@ɢ]KB]M Y]IY e'ǻɡaiaIet~BQBQBQBQBQBQBUx;BU0E>A 1>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521387A I I N > L,2<0)Ay6@ٱ6P@6=69<6H?@H?@?`? 8٠@4? ?I6@)6a;i4BIBBWHiDIDBDJ6DJ@5YR!V\=VSӻQ)V>X9X9ZEYZEZAZ>`Q 1f[4٪bɊ?Q 5f[4bY bRB9hYjmQ Ej?ybB)b:Ib:ibF[4lYprApg  FNOT Ignoring new targets: 145.50 m.gҺgҺ% ProNav: ac range: 145.500000 m, nav range: 145.698105 m, bearing: 203.026325 deg, approach rate: 0.472835 m/s, LOS rate: -0.092117 deg/s, cmd heading: 198.328340 deg, new cmd heading: 198.225487 deg. g%|bg%k]@Zg!rg)jg)Rg)Zf)Rf)e1e1"d1c1c1c9c=@ɢKB ( !%HI! %~ӻɡ!i)I-smxAM '>i Ay I I N >gL,n0)AyBP{@ٱBx@B*99EYEA>Q 1[4٪sɊ?Q 5[4Ş RB9E?Q A:YQ E?yAM 1>rAM ?jAM ? BDAT read: Rx Time:18:18:53.3248  TRx dataTimestamp_ set to:1755627535.482679 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275875 Ay I I N L,0)Ay6 @ٱ6@6<6>6H??=ޜ?? F;ۜ@rQ?I6 @)69b;i4BIBB4HBDJ6DJ75YR !R_=RZٻQ)V>T9T9VEYVEZAZ>\Q 1b[4٪^Ɋ?Q 5b[4^/ ^RB9dYfQ Ef?y^B)^ ;I^ ;i^v[4Yhj,AhzB*** querying acoustic contact ***:hxBhxg|FNOT Ignoring new targets: 145.50 m.gܺg ܺ ProNav: ac range: 145.500000 m, nav range: 146.079163 m, bearing: 202.949266 deg, approach rate: 0.469946 m/s, LOS rate: -0.096437 deg/s, cmd heading: 198.100799 deg, new cmd heading: 197.994622 deg. g]bg)]@ZgrgjgRgZf!Rf!e!e!"d)c)c)c)c-`* @ԙɢKBCy< YI mɡiIG~B׍CB HBIBB =BBeDB#y;B1Ey9I9i_5 IMAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527709>A'>DbDPD+DE1: E?96E [4:E"E/9;!% E29;!- *Ee:!5 Ef:!= ) A= yAII IY Nm >L,[0)AjDAT read: 18:18:53.3248 LVL= 32752, 26273, 32754, 32755, AGC= 64, IDX= 502,-0.36, 2.379,-2.578,-3.045, 2.501, PHS=-0.020, 1.249, 0.693, RAW= 295.9, -31.7, CAL= 293.6, -35.6, ROT= 216.4, 35.6 nYgot valid direction response: 18:18:53.3248 LVL= 32752, 26273, 32754, 32755, AGC= 64, IDX= 502,-0.36, 2.379,-2.578,-3.045, 2.501, PHS=-0.020, 1.249, 0.693, RAW= 295.9, -31.7, CAL= 293.6, -35.6, ROT= 216.4, 35.6 r8DAT read: $Error in header r*Received a bad header=X#Rx 1: Read direction message, but no range.Ebdirection in FSK: [-0.654460,-0.482509,-0.582123]PRU促cn޿%I⿙PIPiRfPPR@R ף R;ߟ?)Rsh1?IRC@iR R(@RRq@R?IP)R*뿁Xwr ?ŘR࿩RD@R@z ?Rg R?]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsey@ٱ @L<<H?@R\?O?`h I?@Sx?h?I@)Fb;iCIB(H=;!Mb@Mb@Mb@ )Iin?{Gz{GzV?ף)AIAiASA BDe6De=5Y5Ƅ!5 ==eQ)E>E H?9E H?9MEYMEM3AU>Q 1[4٪ʊ?Q 5[4 RB9s?Q A:YQ E?yIB)?;I?;iS[4YByAgq}FNOT Ignoring new targets: 145.50 m.g}zg}z亝 ProNav: ac range: 145.500000 m, nav range: 146.371048 m, bearing: 202.887647 deg, approach rate: 0.474042 m/s, LOS rate: -0.099875 deg/s, cmd heading: 197.994616 deg, new cmd heading: 197.810128 deg. gbg\@ZgrgjgRgZfRfee"dcccc (@UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseYɢuKBug qu Iq }xɡyiyI}ᦂA1> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseIIN?hL,(E#0)Ay64@ٱ61@6<6k6H@?rӶ?L? 趿`??`p ?I64@)6jb;i4>IBBHBDJ6DJz>5YR5!RK=RmQ)R>T9T9VEYVEZ! AZ>\Q 1b[4٪^ʊ?Q 5b[4^ ^RB9dYf}ݽQ Ef?y^B)^:I^:i^[4YΜBAEgY]FNOT Ignoring new targets: 145.50 m.gege ProNav: ac range: 145.500000 m, nav range: 146.561844 m, bearing: 202.846166 deg, approach rate: 0.494977 m/s, LOS rate: -0.107473 deg/s, cmd heading: 197.810133 deg, new cmd heading: 197.685852 deg. gbg5\@ZgrgjgRgZfRfee"dcccc5@ɢKBN I % ɡ!i!I%酄<AiAmp<vBu>~Bu؍CBuHBuIBBu =BqBufDBu7y;Bu!1EIN5ii)5\@)!yҟ9I9i0T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ>ABE% [4JE%-W4RE%/D _D ND .D E &: E ҆96E ـ4:E "E a&;!- E d&;!- *E լ:!- E ׬:!5 ԙ I I N >L,=0)A0y>@ٱ>s@><>Q>H??Y?@ߗ? u?@*?.ߕ`{?I>@)>Gb;i>CJIBJHBDR6DR:5YZ u!ZJ=ZήQ)Z>\9\9^EY^Eb Ab>dQ 1j[4٪f-ʊ?Q 5j[4fX f{RB9hYjpQ Ej?yf,B)f:If:if-[4Ypr(Apg FNOT Ignoring new targets: 145.50 m.gg% ProNav: ac range: 145.500000 m, nav range: 146.756561 m, bearing: 202.802546 deg, approach rate: 0.496084 m/s, LOS rate: -0.110983 deg/s, cmd heading: 197.685851 deg, new cmd heading: 197.555166 deg. g-Ubg-֫\@Zg)rg)jg)Rg)Zf)Rf1e1e1"d1ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsec9cAcIcMX*@ɢLB3BZ 顝!I ɡiISgAA>IqIN>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse D% dD% lD% +D! E% 9: E% :6E% [4:E! !- @!- @!- @!- @uL,qV0)Aɰ499EYEqA>Q 1[4٪Aʊ?Q 5[4^ lRB9P?Q A:Y$Q E?yB):I:i[4YݜB|AEgFNOT Ignoring new targets: 145.50 m.g%g%5 ProNav: ac range: 145.500000 m, nav range: 146.963272 m, bearing: 202.752244 deg, approach rate: 0.471344 m/s, LOS rate: -0.114540 deg/s, cmd heading: 197.555162 deg, new cmd heading: 197.404467 deg. g57bg5\@Zg9rg9jg9Rg9Zf9Rf9eAeA"dAcAcIcIcM@@ɢuLB}KW y}$Iy }ɡiIcq@U]>vB>~BBHBIBB =BBBx;B0EB=؍CB=؍CB9B=Ȩ =B=ȩ =B=5>Ai rAm ?jAm ?I I N >A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse)L,p0)Ay6ڽ@ٱ6V@6<66Hҷ?ࢿ? ? ?앛?`> K?I6ڽ@)6Nb;i4BIBBHBDJ6DJV:5YRd<!R_=RĻQ)V>T9T9VEYVEZiAZ>\Q 1b\4٪^Rʊ?Q 5b\4^L ^aRB9`Yb2Q Ef?y^B)^;I^;i^X \4YjBjAjEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 145.50 m.g%g%󺝅e ProNav: ac range: 145.500000 m, nav range: 147.134674 m, bearing: 202.709332 deg, approach rate: 0.424902 m/s, LOS rate: -0.106252 deg/s, cmd heading: 197.404461 deg, new cmd heading: 197.275877 deg. ge֑bge[\@ZgirgijgiRgiZfiRfiee"dcccc$@DDND-DE E҆96Et4:E"EE;!EE;!*E֬:!E!ɢLB \  Q$I  5#ɡ1i1I5eA 9>I ԩ I N >""L,F0)AyVd@ٱVAb@VRHq19195EY5E= AE>AQ 1M\4٪E>fʊ?Q 5M\4Et ETRBQ =U+:9QQ AU:YUsAQ EU?yEB)E:IE >iEK\4YaeAaygFNOT Ignoring new targets: 145.50 m.gg ProNav: ac range: 145.500000 m, nav range: 147.330048 m, bearing: 202.658993 deg, approach rate: 0.505390 m/s, LOS rate: -0.130046 deg/s, cmd heading: 197.275876 deg, new cmd heading: 197.125057 deg. gbg0\@ZgrgjgRgZfRfee"dcccc@ɢLBqq 額J.I <},ɡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiIDA m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse A AI I N >`(L,u0)Ai-HIB-HBD=6D=C5YM !MH=UQ)U>UK?9]K?9]EY]EeAe>iQ 1u\4٪myʊ?Q 5u\4m mHRBQ =u :9qQ Auz:YqQ E}?ymB)m2;Im2U?im!\4YBXAEgFNOT Ignoring new targets: 145.50 m.g'g' ProNav: ac range: 145.500000 m, nav range: 147.519272 m, bearing: 202.610393 deg, approach rate: 0.464057 m/s, LOS rate: -0.119034 deg/s, cmd heading: 197.125051 deg, new cmd heading: 196.979440 deg. gbbg5\@ZgrgjgRgZfRfee"dcccc@ɢ 'LB G~ 7IvB>~BBHBpIBB =BBBhx;B0E 5o5ɡ1i1I58Ay>bA}AZA}ADYDND+DE: E҆96E [4:E"E;! E;! *Eլ:! E֬:! A I I N- >Y .L,O0)AyB|@ٱBHz@B.`9`9bEYbEfԖAf>hQ 1n\4٪jʊ?Q 5n\4jȦ j=RBQ =n99lQ ArJ:Yr ^Q Er?yjjB)j;IjΛ?ij(\4Ytv_AtgFNOT Ignoring new targets: 145.50 m.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseg%I g-I = ProNav: ac range: 145.500000 m, nav range: 147.694107 m, bearing: 202.562851 deg, approach rate: 0.454785 m/s, LOS rate: -0.123522 deg/s, cmd heading: 196.979445 deg, new cmd heading: 196.836987 deg. g=bg=x[@Zg9rg9jgARgAZfARfAeIeI"dIcIcIcQcU@?@ɢ/LB^ 顅:I >ɡiIA6>ԑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAq I I! NM >Թ rD =jD <D ZD CD D E : E 096E :E ! @! @! @! @ 5L,*0)Ay6N @ٱ6@6<6-6H@n?@`??@ǿDn? +?ˑ?I6N @)6b;i6C>7IBB{H! !  ! !  ! !  ! !  Mb@Mb@Mb@  ) I i  㥛 ? ףp= I + ? Q8 94) SAI Ai A   ABD6DA5Y!9=Q)>99EYEA>Q 1\4٪ʊ?Q 5\4 6RBQ =T:9?Q A:YQ E?yB);I;i;8\4YBAEg9=FNOT Ignoring new targets: 145.50 m.gEgEU ProNav: ac range: 145.500000 m, nav range: 147.898560 m, bearing: 202.501487 deg, approach rate: 0.462929 m/s, LOS rate: -0.138748 deg/s, cmd heading: 196.836981 deg, new cmd heading: 196.653147 deg. gUqbgU[@ZgQrgQjgQRgYZfYRfYeYea"dacacacacm@ԑɢ9LBn 顝q@I IɡiI'~BۍCBHB\IBB =BEDBhDBw;Bj0E>A A I I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseN > ;L,0)Aɰ;yJې@ٱJZ@JM#;JBJHW?@Q?`"?ɿW?[z?@\d{@?IJې@)J+b;iJC/IBqHBDe6DeaE5Y!N=gQ)>99EYEA>Q 1\4٪hʊ?Q 5\4B 0RB9YQ E?yfB)6:I:iF\4YBAB*** querying acoustic contact ***:hBhg9EFNOT Ignoring new targets: 145.50 m.gEgEu ProNav: ac range: 145.500000 m, nav range: 148.080139 m, bearing: 202.445491 deg, approach rate: 0.448769 m/s, LOS rate: -0.138225 deg/s, cmd heading: 196.653154 deg, new cmd heading: 196.485370 deg. g}bg}y[@ZgyrgyjgyRgyZfyRfee"dcccc@DWDKD)DE : E]t96EFA4:E"Ew:!E|:!*E:!E:!ɢBLBN DI /Tɡi I ="@Y>=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseQ >A rA ?jA ?AQ Ia Iy ԁ N >BL,4i 0)AyN@ٱNi@N;N|BpNH@S>?ڨ?_v?a˿d>?$d?˖s4n?IN@)N.Cc;iNCZ,IBZmH=Mb@Mb@Mb@9 9)9I9i9=bX9?kt~jth=E?= 0=D)=rAI=Ai=ƽA=rA 9=\ABDU6DUB5Ye !eJ=mEQ)m>i9i9mEYmEuAu>yQ 1\4٪}ʊ?Q 5\4}  }.RB9?Q A:YQ E?y}B)}:I}:i}5T\4YAgFNOT Ignoring new targets: 145.50 m.g)'g)' QQ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsee ProNav: ac range: 145.500000 m, nav range: 148.264755 m, bearing: 202.387498 deg, approach rate: 0.465816 m/s, LOS rate: -0.146143 deg/s, cmd heading: 196.485377 deg, new cmd heading: 196.311616 deg. geȻbgm=H[@ZgirgijgiRgiZfiRfee"dcccct @ɢLLB ?  IUGIQ ]^ɡYiYI]AI AQ IY Ii N} >3IL,&0)A y6@ٱ6@6D;6m޻6H@"?`?Pcr?TͿ@"?p6x?@h{ ?I6@)6bc;i6CB*=!RT=VQ)V>T9T9ZEYZEZ A^>\Q 1b\4٪^ʊ?Q 5b\4^٭ ^,RB9dYfQ Ef?y^SB)^:I^:i^a\4vB]>~B]ݍCB]HB]GIBB] =BYB]jDB]Ew;B]D0EY&BAEgFNOT Ignoring new targets: 145.50 m.gQgQ ProNav: ac range: 145.500000 m, nav range: 148.438477 m, bearing: 202.331406 deg, approach rate: 0.423749 m/s, LOS rate: -0.136663 deg/s, cmd heading: 196.311617 deg, new cmd heading: 196.143537 deg. gbg-[@ZgrgjgRgZfRfee"dcccc@+m!@ɢ%TLB%*Ҏ )-FI) -Sehɡ1i1I5sAԙ A1 I9 II N] >PL,[@0)Ai@RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseb2IBbtHBDj6Dj#H5Yrμ!rG=vQ)v>t9x9zEYzEzAz>|Q 1\4٪~<ʊ?Q 5\4~į ~*RB9 Y Q E ?y~B)~K:I~:i~p\4Y3AgFNOT Ignoring new targets: 145.50 m.g")g")  ProNav: ac range: 145.500000 m, nav range: 148.624176 m, bearing: 202.271635 deg, approach rate: 0.459974 m/s, LOS rate: -0.147867 deg/s, cmd heading: 196.143540 deg, new cmd heading: 195.964451 deg. g ʻbg Z@Zg rg jg Rg ZfRfe9eA"dIcIcycycZD"@Աɢ_LBl WKI %Z#tɡIiIIM=A bA ZA D ZD JD *D E : E k96E (N4:E ! @! @! @! @1 AI IY Ii Nu >VL,\0)A*IBkHMb@Mb@Mb@ )Ii-?99EYEA%>!Q 15\4٪%ˊ?Q 55\4% %0RB95?Q A5:Y5–Q E5?y%_B)% ;I%3:i%À\4YERBEAEEgimFNOT Ignoring new targets: 145.50 m.gu(gu( ProNav: ac range: 145.500000 m, nav range: 148.841415 m, bearing: 202.203606 deg, approach rate: 0.471528 m/s, LOS rate: -0.147444 deg/s, cmd heading: 195.964452 deg, new cmd heading: 195.760664 deg. gaʻbgZ@ZgrgT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsejgRgZfRfee"dcccc +#@ɢiLBHi OI PɡiI ~BEߍCBEHBE=IBBE =BABEkDBEv;BE%0EA >A 9 = AE T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseA I I) N5 >j\L,4v0)Ay6Q @ٱ6@664ʕ6H ??@:h?`ѿ|??`5b? @?I6Q @)6=c;i6CB5IBBxHBDJ6DJ75YR<!Ra=VkQ)V>T9T9VEYZEZAZ>\Q 1b\4٪^4ˊ?Q 5b\4^ ^6RB9dYfٯQ Ef?y^B)^:I^:i^ \4YjaBjAjEBEJER4REd/D5[D5_D5+D1E5a: E5r96E5 [4:E1"E5Q ;!EE5S ;!E*E5L;!ME5M;!MUB*** querying acoustic contact ***:hQBhQgaeFNOT Ignoring new targets: 145.50 m.gmd%gmd% ProNav: ac range: 145.500000 m, nav range: 148.995285 m, bearing: 202.150571 deg, approach rate: 0.419953 m/s, LOS rate: -0.144596 deg/s, cmd heading: 195.760667 deg, new cmd heading: 195.601728 deg. gxƻbg>}Z@ZgrgjgRgZfRfee"dcccc #@ɢrLB%S !%`OI! %ɡ!iIIMʝ}Z@)QyEը9yIi1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ>A A I I N >cL,j0)Aɰy6@ٱ6@6k6UG6H@l??^?fҿ??@jp?`HR?I6@)6ߠb;i6CB+IBBlH DFAPMb@Mb@Mb@ )I%A9A9MEYMEMA>Q 15\4٪7(ˊ?Q 55\4/ CRB9=X?Q A=:Y=Q E=?yVB)+A rA ?jA ?A] AAA] @AvBa ~Ba Ba Ba Be =Ba Ba Be w;Be +0EB%ݍCB%܍CB%̖CB%̟ =B%̢ =B%+6Q A I I N >jL,Q0)Ay6@ٱ6J@6xû6886H`m?8?M?Mӿok?`*?tx?ƕ`?I6@)6 rb;i6CBIBB\HBDN6DN55YR!V>=VQ)V>T9X9ZEYZEZ_)A^>\Q 1b\4٪^z:ˊ?Q 5f\4^S ^NRB9dYfQ Ef?y^B)^-:I^:i^ \4YnoBnAnEgIMFNOT Ignoring new targets: 145.50 m.guH5guH5 ProNav: ac range: 145.500000 m, nav range: 149.372482 m, bearing: 202.019406 deg, approach rate: 0.448974 m/s, LOS rate: -0.158488 deg/s, cmd heading: 195.389091 deg, new cmd heading: 195.208739 deg. gٻbg Z@ZgrgjgRgZfRfee"dcccc %@ɢLB  {ZII MUɡIiQIUA! m 1 hqL,0)A IB_H mMb@Mb@Mb@i i)iIiiim$C?{Gzt?m?mףm<)iImҼAimAi imABD6D85Y;!#=Q)>99EYEA>Q 1\4٪Rˊ?Q 5\4ֺ ]RB9@?Q A:YQ E?ygB)7 ;Ir;i\4Y~BAEgFNOT Ignoring new targets: 145.50 m.g4.g4. ProNav: ac range: 145.500000 m, nav range: 149.602097 m, bearing: 201.944395 deg, approach rate: 0.466921 m/s, LOS rate: -0.152302 deg/s, cmd heading: 195.208733 deg, new cmd heading: 194.984045 deg. g ѻbgY@ZgrgjgRgZfRfe!e!"d!c)c)c)c-!&@ɢ]LB] \I  ɡiIoɣAQ ԑ A  xL,j0)Aiy6l@ٱ6i@6 eA6K`6H?@?@5y`ֿ ?g?|,?`?I6l@)6b;i6CB#IBBbHBDJ6DJ65YR;!Rf=R`Q)V>T9T9VEYVEZ AZ>\Q 1b\4٪^Pcˊ?Q 5b\4^߼ ^iRB9`Yb[Q Ef?y^B)^l:I^:i^\4YhjAhg|~FNOT Ignoring new targets: 145.50 m.gT4gT4 ProNav: ac range: 145.500000 m, nav range: 149.757309 m, bearing: 201.888565 deg, approach rate: 0.438757 m/s, LOS rate: -0.157656 deg/s, cmd heading: 194.984047 deg, new cmd heading: 194.816732 deg. geػbgŜY@ZgrgjgRgZfRfee"dccccP'@ɢLB ^I bɡiI~~BBHBGIBB =BBBw;Bz0Ey-69 1I9i0@@!}AD D AD (D E  E  96E c44:E "E h:! E l:! *E g:! E j:! A I I N >ԁ G~L,0)Ay6@ٱ6߼@6i.`6 c6H@??`~`:׿b?a??@V`@r?I6@)6b;i6CB(IBBhHBDJ6DJV:5YR?<!RJ=RᗻQ)R>T9T9VEYV EZ*AZ>\Q 1b\4٪^Uvˊ?Q 5b\4^N ^wRB9`YbǾQ Ef?y^QB)^^;I^;i^\4YjBjAjEzB*** querying acoustic contact ***:hxBhxg|FNOT Ignoring new targets: 145.50 m.g6g6 ProNav: ac range: 145.500000 m, nav range: 149.932373 m, bearing: 201.823635 deg, approach rate: 0.431379 m/s, LOS rate: -0.159808 deg/s, cmd heading: 194.816734 deg, new cmd heading: 194.622173 deg. gYۻbg"eY@ZgrgjgRgZfRf!e!e!"d!c)c)c)c-@(@ɢ]LB]Ò Y]`IY eɡaiaIe<AԙAU yAIa } 6L,Zf0)Ay6?U@ٱ6R@6|6⢍6H ~? f?@~ؿs}?q? a?`?I6?U@)6 H?9 H?9EYE"A>Q 1\4٪̊ˊ?Q 5\4 RB9?Q A:YþQ E?yB)m ;I;i9\4YAgFNOT Ignoring new targets: 145.50 m.gq6gq6  ProNav: ac range: 145.500000 m, nav range: 150.121582 m, bearing: 201.754562 deg, approach rate: 0.437469 m/s, LOS rate: -0.159503 deg/s, cmd heading: 194.622170 deg, new cmd heading: 194.415212 deg. g ڻbg )Y@Zg rg jg Rg Zf Rfee"dccc!c%B(@ɢ]LB]D Ye]Ia e%ɡaiaIe; BDAT read: Tx time:18:19:03.1196 $Ping request sent.AA A <vB% ->~B% CB% HB% QIBB! B! B% mDB% x;B% 1E9 A AI! I9 Ne >Q L,J10)Aɰp;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250433M8IBM|HBDm6Dm705Y!K=Q)>K?9K?9EYEA>Q 1\4٪ˊ?Q 5\4F RB9YQ E?yTB)b;I;iZ\4YBAEgFNOT Ignoring new targets: 145.50 m.g5g5 ProNav: ac range: 145.500000 m, nav range: 150.298462 m, bearing: 201.690216 deg, approach rate: 0.437752 m/s, LOS rate: -0.159060 deg/s, cmd heading: 194.415215 deg, new cmd heading: 194.222405 deg. gRڻbgX@Zgrg jg Rg Zf Rf ee"dcccc)@ɢULB]B Y]aIY ]ɡYiaIeѪ@ma>Y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504934>A rA ?jA >ԑ A yAI I N= >L,5 K0)A8 IBEHMb@Mb@Mb@ )IiX9v?? H?9 H?9EYEA>Q 1]4٪ˊ?Q 5]4 RB9&?Q A:YѶQ E?yB)z ;I;i]4YBAg)-FNOT Ignoring new targets: 145.50 m.g54g54E ProNav: ac range: 145.500000 m, nav range: 150.501358 m, bearing: 201.620343 deg, approach rate: 0.457660 m/s, LOS rate: -0.157396 deg/s, cmd heading: 194.222399 deg, new cmd heading: 194.013062 deg. gE ػbgEX@ZgIrgIjgIRgIZfIRfIeQeQ"dQcYcYcYc]@ *@ԙɢLB֬ 顽oI ɴɡiIҬAA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006143 Aq I I N >XqL,g0)Ay6雳@ٱ6h@66!ټ6H?@}?lxۿ@?@֜?@? 7`?I6雳@)6Bb;i6CV2IBVuHBD^~6D^/5Yf=!fW=jC1Q)j>h9l9nEYnEnAn>pQ 1v]4٪rˊ?Q 5v]4r@ rRB9YCҾQ E?yrYB)rw;Irx;ir ]4Y  KA g1=FNOT Ignoring new targets: 145.50 m.g=$=g=$=M ProNav: ac range: 145.500000 m, nav range: 150.666901 m, bearing: 201.557093 deg, approach rate: 0.433270 m/s, LOS rate: -0.165360 deg/s, cmd heading: 194.013067 deg, new cmd heading: 193.823527 deg. gMbgU€X@ZgQrgQjgQRgQZfQRfQeYeY"dYcYcacace~k+@vB}3>~B}CB}HB}\IBB} =ByB}nDB}!z;B}1EɢLB 页 iI ɡiIAa D- ZD- HD- *D) E- : E- [96E- (N4:E) "E- ;!5 E- ;!5 *E- ):!= E- +:!= A AI I N >) TL,b0)Aiy6 @ٱ6@6⫼6r6HE?` ?_xݿ@ހ?`?{?̋ ?I6 @)6$a;i6CB&IBBfHBDJ6DJ15YRd!RN=RSmQ)R>VK?9VK?9VEYV#EZH?AZ>\Q 1b]4٪^dˊ?Q 5b]4^ ^RB9`Yb۾Q Ef?y^B)^ ;I^;i^]4YjBjAjEvB*** querying acoustic contact ***:hxBhxchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510665gFNOT Ignoring new targets: 145.50 m.gR9gR9 ProNav: ac range: 145.500000 m, nav range: 150.836700 m, bearing: 201.489998 deg, approach rate: 0.410497 m/s, LOS rate: -0.162021 deg/s, cmd heading: 193.823529 deg, new cmd heading: 193.622473 deg. gc޻bgDGX@ZgrgjgRgZfRfee"dccccA,@ɢ]LBei! aeoIa eɡiiiImMaA bA |AZA |AA I I N >D= iD9 D= +D9 E= ,K: E9 6E= [4:E9 !E @!M @!M @!M @~L,!>0)A y6j@ٱ6g@6ͯ66H!)=SQ)>99EY)E%A%>)Q 15]4٪-ˊ?Q 55]4-F -RB95?Q A=:Y=\Q E=?y-mB)- ;I- ;i-/]4YAEAAgiiuFNOT Ignoring new targets: 145.50 m.g}Hg}H ProNav: ac range: 145.500000 m, nav range: 151.037445 m, bearing: 201.408266 deg, approach rate: 0.431288 m/s, LOS rate: -0.175365 deg/s, cmd heading: 193.622476 deg, new cmd heading: 193.377605 deg. gbg>X@ZgrgjgRgZfRfee"dcccc.-@ɢLBӥ sI  ȼɡiIcJX@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825yʰ9I 9i!!%0!ԙAu@AAqvB}&>~B}CB}HB}fIBByByB}lDB}{;B}v2E >Ae ;>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266488] nManaging dock network, ignoring radio surface power offA I I N >iL,ds0)A]2IB]uHBDm6Dm75Y}==!}[=Q)>99EY.EA>Q 1]4٪ ̊?Q 5]4 RB9YQ E?yB):I:i<]4YB>AEgFNOT Ignoring new targets: 145.50 m.g@g@ ProNav: ac range: 145.500000 m, nav range: 151.192551 m, bearing: 201.345350 deg, approach rate: 0.415450 m/s, LOS rate: -0.168346 deg/s, cmd heading: 193.377600 deg, new cmd heading: 193.189048 deg. gbgSW@ZgrgjgRgZfRfee"dcccc-@ɢ5LB5f 15&rI1 =Hͼɡ9i9I=8Aԁ I! IA Nm >޳L,6;0)Aɰ4<@yV71@ٱV.@V ӼVcVH&? s?fp`&? ?_x?@߉?IV71@)Via;iVC^;IBbHi`I`Mb@Mb@Mb@ )Ii1Zd?{Gz?Mbp?"?#=;)IiA  ABD=6D=25YM<!M>=MQ)U>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770406a9a9eEYe4EmgAm>qQ 1}]4٪ů?Q 5}]4u uRB9}z?Q A}:Y}5Q E?yugB)u:Iu8:iuL]4YBiAgFNOT Ignoring new targets: 145.50 m.g^Bg^B ProNav: ac range: 145.500000 m, nav range: 151.368439 m, bearing: 201.272032 deg, approach rate: 0.408136 m/s, LOS rate: -0.169931 deg/s, cmd heading: 193.189046 deg, new cmd heading: 192.969348 deg. g>bgW@ZgrgjgRgZfRfee"dcccc@.@ɢMBB -sI (ԼɡiIQ׵@Y>Թ>A 6>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023160I I N >S L,0)AvBF$>~BFߍCBFHBFpIBBF =BDBDBF|;BF3EBMCBMCBMCBM =BM =BMK6yV@ٱV&@V⼹VMq"VH7S?99EY8E8ZA>!Q 1-]4٪%*$̊?Q 5-]4% %RB9)Y- Q E-?y%B)%:I%:i%X]4YxAgFNOT Ignoring new targets: 145.50 m.g ;g ;E ProNav: ac range: 145.500000 m, nav range: 151.512970 m, bearing: 201.209627 deg, approach rate: 0.379092 m/s, LOS rate: -0.163527 deg/s, cmd heading: 192.969346 deg, new cmd heading: 192.782310 deg. gEtbgEWW@ZgArgAjgARgAZfIRfIeIeI"dqcqcqcyc}@/@ɢMB xI 3ڼɡiIM:AA I I I N >L,Q0)A)]G " A)(bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526292In#߿r Ar\Ay%q@ٱ%@%%j!#%HE? -??oK'?d?ʎ?y`?I%q@)%Ea;i%C=5IB=xHBDM6DMj95Y] L;!]E=eQ)e>a9a9eEYm=Em>Am>qQ 1}]4٪u6̊?Q 5}]4u uRB9YQ E?yuXB)uj;Iuf;iu#g]4YBAEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 145.50 m.gRgR ProNav: ac range: 145.500000 m, nav range: 151.675339 m, bearing: 201.136973 deg, approach rate: 0.410928 m/s, LOS rate: -0.183678 deg/s, cmd heading: 192.782308 deg, new cmd heading: 192.564581 deg. gbgW@ZgrgjgRgZfRfee"dcccct+0@ɢMB,Ƚ zI ɡiIF BDAT read: Tx time:18:19:06.8196 $Ping request sent.)}ˡE>I}ϙ@i}K6>}f$@}ȭT>}@}ȭTIyiy)}̦(L2쿴,=?8 ?}Ő-@}=5} }ȭTIyiy :publishing transmit ping time9 Fpublishing direction and range infoy}d8Ϡ!jFa5d?yyIyiyyyyy y)yIyiyyyyyIyiy)}̦(L2쿴,=?8 ?yyy yIyiyԡ >A 1>I! I1 NE >D VD D ,D E =: E =:6E g4:E ! @! @! @! @#L,g0)Ay>Y@ٱ>"W@>.y>n>H? ? v @Ӣ?@Ғ?ln?ɣ?I>Y@)>a;i>CV,IBVmHqMb@Mb@Mb@ )Ii$C?V-?~jth??<D;)AIȼAitAA pABD56D525YE4!E<=MQ)M>I9i9uEYuCEu1Au>yQ 1]4٪}I̊?Q 5]4}M }RB9J?Q A:Yf Q E?y}B)}o:I}6;i}tv]4YAJhRhj0)AhCh07 U8D5^F?@~d8Ϡ!jFa5d?h hȭT +RWae[K۟z@@~j#E! w׿)?jh-\rh Zhܞ ?bh%zhƧBhh%hhCh`@E addTargetRange:: Added new target pos. range: 153.000000 m, deltaT: 16.385701 s, deltaX: 7.500000 m, approachRate: 0.457716 m/s, rangeRepo size: 4 u Added new target pos. range: 153.000000 m, bearing: 201.229802 deg, lat: 36.779357 deg, lon: -121.859484 deg, deltaT: 16.385701 s, deltaX: 7.500000 m, approachRate: 0.457716 m/s, posRepo size: 4 gq}FNOT Ignoring new targets: 153.00 m.g}gy ProNav: ac range: 153.000000 m, nav range: 152.013962 m, bearing: 201.229802 deg, approach rate: 0.000000 m/s, LOS rate: -0.183678 deg/s, cmd heading: 192.564575 deg, new cmd heading: 192.314565 deg. gbgCV@ZgrgjgRgZfRfee"dccc c@c~BBHBzIBB =BBB};B3EI9i4>A 6> IA IQ N] >DL,70)AyJ@ٱJ@@Js J+1JH_S?@0?C@(M?@X?@ʞ?`C?IJ@)Ja;iHVIBVOHBD^u6D^+5Yf!ff=fbֻQ)j>h9h9jEYjGEnR[An>tQ 1z]4٪vY̊?Q 5z]4v> vRB9xYz6Q E~?yvLB)v6:IvU;iv]4YB4AEg)-FNOT Ignoring new targets: 153.00 m.g5Yg5YE ProNav: ac range: 153.000000 m, nav range: 152.141479 m, bearing: 201.165987 deg, approach rate: 0.379533 m/s, LOS rate: -0.189772 deg/s, cmd heading: 192.314563 deg, new cmd heading: 192.123281 deg. gE=bgEV@ZgIrgIjgIRgIZfIRfIeQeQ"dQcQcYcYc]^?ɢ8MB™ 額I ɡiIWA1IIN> ,L,Q0)Ay-+@ٱ-(@-0-=-HR??A ;? ը?Ģ?@?I-+@)- b;i-Ce-IBeoHMb@Mb@Mb@ )IiZd;?L7A`??+=)"AIiA ABD6Do35Yi=!7=ӤQ)>9!9%EY%ME%&A%>) 9=AQ 1=]4٪-l̊?Q 5E]4- -RB9E?Q AE:YE/Q EE?y-B)-X;I-W;i-P]4YIUAQgy}FNOT Ignoring new targets: 153.00 m.gOgO ProNav: ac range: 153.000000 m, nav range: 152.300339 m, bearing: 201.084824 deg, approach rate: 0.355575 m/s, LOS rate: -0.181479 deg/s, cmd heading: 192.123277 deg, new cmd heading: 191.880042 deg. gbgUV@ZgrgjgRgZfRfee"dcccc7T?IɢGMBmȽ 页,I ɡiI䈾A vB >~B ލCB HB IBB =B B kDB ;B )4EA I I! N5 > L,m8m0)Ay6@ٱ6@6c 676H?$?@@?K?@? {`?I6@)6a;i6C>*IBBkHBDJl6DJy'5YR!RT=RۻQ)R>T9T9VEYVREVhCAZ>\Q 1^]4٪^a|̊?Q 5b]4^e ^SB9`YbQ Eb?y^LB)^S:I^:i^ǟ]4Yf&BjEAjEg1=FNOT Ignoring new targets: 153.00 m.g=(OgE(OM ProNav: ac range: 153.000000 m, nav range: 152.434601 m, bearing: 201.013794 deg, approach rate: 0.342642 m/s, LOS rate: -0.181112 deg/s, cmd heading: 191.880040 deg, new cmd heading: 191.667138 deg. gUbgu!V@ZgqrgqjgqRgqZfyRfyeyey"dccccb?ɢTMB JԽ /I %cɡ!i!I%8AI A I! I1 N= >L,} 0)A yf@ٱf-@f*f^fH`&H?`?: ^@??Q?>?If@)fa;id.IB%pHBD5z6D5-5Ye<!e?=e Q)e>i9i9mEYmWEu+0Au>Q 1]4٪h̊?Q 5]4G SB9YQ E?yB)p:I:i]4Yu=AqB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 153.00 m.gIgI ProNav: ac range: 153.000000 m, nav range: 152.581512 m, bearing: 200.933258 deg, approach rate: 0.322215 m/s, LOS rate: -0.176465 deg/s, cmd heading: 191.667143 deg, new cmd heading: 191.425770 deg. g6bgU@ZgrgjgRgZfRfee"dcccc@"?iɢcMB̽ MII ]4ɡYiaIA} 1> A yAI I N >L,0)Ay6i@ٱ69g@6"46@E6H??@E ?`? {?r⣿?I6i@)6sa;i4>$IBBdHEMb@Mb@Mb@A A)AIAiAEZd;O?{Gz?Ej?Eף} H?9} H?9}EY]Eq"A>Q 1]4٪̊?Q 5]4 SB9?Q A:Y$Q E?y^B) ;IM:i]4YUB AEgFNOT Ignoring new targets: 153.00 m.gngn ProNav: ac range: 153.000000 m, nav range: 152.728378 m, bearing: 200.845744 deg, approach rate: 0.350303 m/s, LOS rate: -0.208537 deg/s, cmd heading: 191.425764 deg, new cmd heading: 191.163475 deg. gbgU@ZgrgjgRgZfRfee"dcccc@nM@ɢ-pMB-˃ܽ )-I1 5Խɡ1i1I5P~BCBHBIBB =BBmDB;B4EIm9iiim0i>A6> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504086 A I I) N= >D XD LD -D E ~ : E |96E t4:E "E :!% E :!% *E H:!% E I:!% ) L,ͽ0)Aiy^4ի@ٱ^Ҳ@^g8>^^H`K??õ)x`چ??ħ?@Ң?I^4ի@)^ca;i\f2IBfuHBDr}6DrK/5Yv7=!zT=z(ѻQ)z>|9|9~EY~bEb@A> Q 1 ]4٪ ̊?Q 5]4 q (SB9Y)Q E?y B) :I :i #]4Y%dB%-A%EgIMFNOT Ignoring new targets: 153.00 m.gU_gU_e ProNav: ac range: 153.000000 m, nav range: 152.850677 m, bearing: 200.770162 deg, approach rate: 0.316827 m/s, LOS rate: -0.195646 deg/s, cmd heading: 191.163471 deg, new cmd heading: 190.936908 deg. geEbgeQGU@ZgargajgaRgiZfiRfieieq"dqcqcqcyc}@&d@ɢ}MB7= 顭kI " ɡiIIA};>bAZAq I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008543L,0)A y:B@ٱ:@@:OG: :H-??M(?uw??>p`?I:B@):a;i:C^+IB^lHMb@Mb@Mb@ )IiS?I +?Mb`??9<;)AIi^A ABDn6Dd(5Y!>=Q)>99EYgEv*A>Q 1]4٪̊?Q 5]4 5SB9?Q A:Y#-Q E?y[B):Iw:i-]4YfBDAgFNOT Ignoring new targets: 153.00 m.g^g%^- ProNav: ac range: 153.000000 m, nav range: 152.982605 m, bearing: 200.686309 deg, approach rate: 0.306500 m/s, LOS rate: -0.194643 deg/s, cmd heading: 190.936914 deg, new cmd heading: 190.685573 deg. g5bg5rT@Zg1rg1jg1Rg1Zf9Rf9e9e9"dAcAcAcAcE@ɢuMBuݽ y}$Iy } ɡyiyI}A6>vB 3>~B B HB IBB =B B nDB !;B 4E I I N5 >L,0)ALyn@ٱn2@n*ZPnpnH`?`e?`]K W?S?@e?@a?In@)n`;inCz,IBzmHBDy6Dt-5Y;!V=Q)>99EYlE%EA%>)Q 15]4٪-̊?Q 55]4- -BSB91Y51Q E=?y-B)-;I-/;i-]4YEvBEAEEgimFNOT Ignoring new targets: 153.00 m.gu`gu` ProNav: ac range: 153.000000 m, nav range: 153.096466 m, bearing: 200.611110 deg, approach rate: 0.297720 m/s, LOS rate: -0.196480 deg/s, cmd heading: 190.685576 deg, new cmd heading: 190.460150 deg. gbgT@ZgrgjgRgZfRfee"dcccc @ɢEMBE)Z AEII MɡIiqIu*@UV>  DAT read: 18:19:09.4297 LVL= 29296, 22401, 25314, 30883, AGC= 60, IDX= 442, 0.09, 2.418,-2.267,-1.790,-2.336, PHS=-1.427, 0.114, 0.502, RAW= 259.0, 9.2, CAL= 258.1, 9.1, ROT= 251.9, -9.1  Ygot valid direction response: 18:19:09.4297 LVL= 29296, 22401, 25314, 30883, AGC= 60, IDX= 442, 0.09, 2.418,-2.267,-1.790,-2.336, PHS=-1.427, 0.114, 0.502, RAW= 259.0, 9.2, CAL= 258.1, 9.1, ROT= 251.9, -9.1  PDAT read: Bearing 261.8, -73.6 (Local)  ~Local bearing/azimuth received: Bearing 261.8, -73.6 (Local)  DAT read: Range 11 to 50 : 154.5 m (Round-trip 206.0 ms) speed -0.4 m/s  *DAT read: user:885>  BDAT read: Tx time:18:19:10.5196  $Ping request sent. ? C I pri W b x < 𧶿 x=) ?I $@i l$> v&@ "> @ "I i ) g翠? F? N@ $ k "I i  :publishing transmit ping time9  Fpublishing direction and range info Atӿ@\~>? I i ) I i I i ) g翠? F? I i >Aq I I N >tL, 0)Aɰ;$yZ@ٱZH@ZRYZ˺ZHa?? [j^?? &?J?IZ@)Za;iZCf|9|9~EY~qE~e5A>Q 1]4٪̊?Q 5]4( QSB9Y6Q E?yYB):Iy:i]4YaAԁJhRh~0)AhCho)R\śGs(3 bY~wo8@~Atӿ@\~>?hkh" "` $ RAA ;>IQ Ia Nm >$. L,4&0)Ay6u@ٱ6Ds@60a6:t6H>?H?mR8`@?V?/?@a?I6u@)6@a;i4BIBB=H\Mb@Mb@Mb@ )IiQ?Mb?Mb`?(?<)"AIiA ABD5n6D5d(5YEL!EF=EQ)E>I9I9MEYMwEU>AU>QQ 1e^4٪Us̊?Q 5e^4Uq U_SB9e6?Q Ae:Ye%>Q Em?yUB)UQ:IU:iU^4YuBuAuE B*** querying acoustic contact ***:h Bh g9=FNOT Ignoring new targets: 154.50 m.gEgEU ProNav: ac range: 154.500000 m, nav range: 151.174820 m, bearing: 201.430894 deg, approach rate: 0.307059 m/s, LOS rate: -0.238844 deg/s, cmd heading: 190.159297 deg, new cmd heading: 189.913113 deg. gu#bgu"T@ZgqrgqjgyRgyZfyRfyee"dcccc?AAvB7>~BCBBB =BBB%;B4EBCBBBš =B™ =B^6ɢMB) jI %9zɡ!i!I%HA- 1>I I N >Q De \De HDe .Da Ee : Ee [96Ee ـ4:Ea "Ee ;!u Ee ;!u *Ee ):!u Ee +:!u L, \@0)Ay6Ԩ@ٱ6gү@6 7i6<6H΃? ?0 I??"?`YZ`Z?I6Ԩ@)6[a;i4zAIBzHBDY6D5Y[>!M=bQ)>!9!9%EY%|E%IA->)Q 15^4٪-Å?Q 5=^4-  -nSB99Y=,CQ E=?y-QB)-#;I-a;i-^4YAMAIgiuFNOT Ignoring new targets: 154.50 m.guW|g}W|i=IkC)݈G A  ProNav: ac range: 154.500000 m, nav range: 151.277206 m, bearing: 201.347438 deg, approach rate: 0.270838 m/s, LOS rate: -0.220613 deg/s, cmd heading: 189.913109 deg, new cmd heading: 189.662911 deg. )g gbg%S@Zg!IuzuAuArg)jgRgZfRfee"dcccc@)?ɢ MBx I ?ɡiIi!i!)%S@))checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995902aI 9iO5@}A@zAq>A) bA= }AZA= xAԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247955A} AI I N >?L,6Z0)AyR3@ٱR0@R1bpR?RHt? ,?@ ???r?IR3@)RA(a;iRCZDIBZH^=^=EMb@Mb@Mb@A A)AIAiAE\(\?Mbp?MbP?E?E;E:)AIEԻAiEQAEA AEABD]W6D]5Ym;!mE=m$Q)m>uK?9uK?9uEYuEy}_CA}>Q 1^4٪ ͊?Q 5^4 }SB9?Q A:YEMQ E?yB):IM:i"^4YADDND+DE E҆96E [4:E!-@!-@!-@!-@gaeFNOT Ignoring new targets: 154.50 m.gmegme ProNav: ac range: 154.500000 m, nav range: 151.374176 m, bearing: 201.259902 deg, approach rate: 0.222789 m/s, LOS rate: -0.200986 deg/s, cmd heading: 189.662906 deg, new cmd heading: 189.400469 deg. g bgS@ZgrgjgRgZfRfee"dcccc$?ɢMB%R !%3I! -* ɡ)i)I-i1i1)5S@)9ԩI9i_5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499743>AvB!>~BߍCBHBIBB =BBlDB2;B A yAI1 II N >jL,t0)Ay6N@ٱ6Ή@64v6%6H e? D?W?F?]خ? 7?I6N@)6`;i6CBUIBBHBDJi6DJ&5YjC3=!jT=nQ)n>n H?9r H?9rEYrErYXAr>tQ 1z^4٪vB͊?Q 5z^4v vSB9|Y~{RQ E~?yvHB)v;Iv;iv/^4YB*A ¥Eg)5FNOT Ignoring new targets: 154.50 m.g5g5E ProNav: ac range: 154.500000 m, nav range: 151.459915 m, bearing: 201.178264 deg, approach rate: 0.235340 m/s, LOS rate: -0.223957 deg/s, cmd heading: 189.400463 deg, new cmd heading: 189.155688 deg. gMbgMIS@ZgIrgIjgIRgIZfIRfQeQeQ"dQcYcYcYc]?ɢMBi 顕I `#ɡiIeii)IS@) A%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752133I59i115O51D-^D-HD-'D)E-C#: E-[96E-'4:E)"E- ;!5E-" ;!=*E)!=E)!=>A,>9AM AIQ Ia Nu > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003802a R#L,50)Ay6o@ٱ6@6|6@86H>?`??J?@ͱ?@?J`U?I6o@)6`;i6C>=IBBHBDFm6DF'5YNRK?9VK?9VEYVEVSAV>XQ 1^^4٪Z(͊?Q 5b^4Z ZSB9`YbWQ Eb?yZB)ZT:IZ;iZj=^4Ydf[Ahgx~FNOT Ignoring new targets: 154.50 m.g~ntg~nt  ProNav: ac range: 154.500000 m, nav range: 151.544144 m, bearing: 201.093431 deg, approach rate: 0.212294 m/s, LOS rate: -0.213698 deg/s, cmd heading: 189.155682 deg, new cmd heading: 188.901327 deg. g bg;S@ZgrgjgRgZfRfee"dccccH@Aɢ=MBEZ IuȖIq }|'ɡiID@D=[D=KD=-D9E=a: E=]t96E=t4:E9!E@!E@!E@!E@ԉ>A 6>rA >jA Թ Aq Iy I N >O)L,`0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507818y:;@ٱ:,9@:):9Y:H`6?`0}?@∿ h`a?r? ?\?I:;@):C `;i:CFCIBFHiHIHuMb@Mb@Mb@q q)qIqiquCl?:v?Mbp?ud?uT99EYE@=A>Q 1^4٪7͊?Q 5^4 SB9n?Q A:Y'YQ E?yMB)Z:Io:iM^4YŞBAåEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 154.50 m.g6ug6u ProNav: ac range: 154.500000 m, nav range: 151.638138 m, bearing: 200.997660 deg, approach rate: 0.210533 m/s, LOS rate: -0.214382 deg/s, cmd heading: 188.901326 deg, new cmd heading: 188.614192 deg. g bg R@ZgrgjgRgZfRfee"d!c!c!c!c%ԩ@IAQAUAAvB]>~B]ݍCB]1HB]IBB] =BYB]jDB]_;B]4EɢNBN I  ,ɡiIAy D _D ID *D E &: E c96E (N4:E "E c&;! E f&;! *E p:! E q:! A I I N >0L,A0)Ay6@ٱ67@6k68$6H?q?@(`? B?@}?z`k?I6@)6+a;i6CBJIBBHBDJb6DJ"5YR<!RS=RuQ)V>T9T9VEYVEZTAZ>\Q 1b^4٪^D͊?Q 5b^4^! ^SB9`YbN^Q Ef?y^B)^:I^:i^Z^4YhjAhg|~FNOT Ignoring new targets: 154.50 m.gwgw ProNav: ac range: 154.500000 m, nav range: 151.715744 m, bearing: 200.913901 deg, approach rate: 0.200196 m/s, LOS rate: -0.215956 deg/s, cmd heading: 188.614199 deg, new cmd heading: 188.363053 deg. g5bgOgR@ZgrgjgRgZfRfe!e)"dcccc@ɢNBF 瘿I  /ɡiIAԡA I) I9 NM >} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263765 6L,g 0)Ay6@ٱ6@66<)6Hທ?L? 6 ?ij?Iа?@'@M?I6@)6~@a;i6CBYIBBHDE`DEMDE,DAEE*: EE96EEg4:EA!M@!M@!M@!M@MMb@Mb@Mb@I I)IIIiIMrh|?MbP?~jth?M?M:MD;)MAIMۺAiM5AI IM3ABDei6De&5Yu$=!}>=}~AQ)}>99EYEe?A>Q 1^4٪R͊?Q 5^4<' SB9?Q A:YhQ E?yKB) ;I ;ii^4Y՞BAgFNOT Ignoring new targets: 154.50 m.gzgz ProNav: ac range: 154.500000 m, nav range: 151.792465 m, bearing: 200.819671 deg, approach rate: 0.178455 m/s, LOS rate: -0.219069 deg/s, cmd heading: 188.363053 deg, new cmd heading: 188.080509 deg. gXbgR@ZgrgjgRgZfRfee"dcccc15 @ɢ-!NB-6 )5I1 53ɡ1i1I=#' R#Rx 1: Read range and direction messages.`direction in FSK: [-0.117755,-0.987526,0.104528]Fpublishing direction and range info(i{6%svЙ4ޮ`º?fCIyi!ZRn ;)E?I@iPw=։@Pw=@PwֽIi)x63&??$@+׽@ؿ PwֽIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>AvB>~B܍CBWHBIBB =BBB;BG5Eԑ A yAI I N >f=L,0)Ai@0y:#P@ٱ:M@:ˈ: -:H ??Ow ?y.?`5?ଯ@]?I:#P@):ea;i8^tIB^HBDfp6DfP)5Yr=!rT=r.6Q)r>v H?9v H?9vEYvEvRAz>xQ 1~^4٪z]͊?Q 5^4z', zSB9YmQ E?yzB)z;Iz;izw^4Y nAEBDAT read: Tx time:18:19:14.2696 M$Ping request sent.M0@~(i{6%svЙ4ޮ`º?h@ؿhPwֽ S#v`AƺRn8#x5@~0S뿼B߸ ߿RIe?jh͖rh,ZhP3?bh>(uzhBh奞?h][EhBhChib@ addTargetRange:: Added new target pos. range: 155.399994 m, deltaT: 3.529757 s, deltaX: 0.899994 m, approachRate: 0.254973 m/s, rangeRepo size: 4 - Added new target pos. range: 155.399994 m, bearing: 202.695094 deg, lat: 36.779384 deg, lon: -121.859566 deg, deltaT: 3.529757 s, deltaX: 0.899994 m, approachRate: 0.254973 m/s, posRepo size: 4 g)UFNOT Ignoring new targets: 155.40 m.gega ProNav: ac range: 155.399994 m, nav range: 153.839462 m, bearing: 202.695094 deg, approach rate: 0.000000 m/s, LOS rate: -0.219069 deg/s, cmd heading: 188.080515 deg, new cmd heading: 187.822757 deg. gbgQ@ZgrgjgRgZfRfee"dccclc@c}?ɢu2NBun} quϗIq } 7ɡyiyI}Ai Ay I I N >RCL, 0)A\yr@ٱr@rj.r7rH@??νh҅?ʹ?_b?`妿?Ir@)r`;irC|~HBD Z6D 15Y* ;!F=%U9Q)%>1999=EYEEMBAM>QQ 1]^4٪UOj͊?Q 5]^4U1 USB9aYerQ Ee?yUDB)UN:IUp:iU^4YmBmAmͥEgFNOT Ignoring new targets: 155.40 m.gZgZ ProNav: ac range: 155.399994 m, nav range: 153.896515 m, bearing: 202.603371 deg, approach rate: 0.139650 m/s, LOS rate: -0.224431 deg/s, cmd heading: 187.822757 deg, new cmd heading: 187.547693 deg. gbg'~Q@ZgrgjgRgZfRfee"d!c!c)cc@U?ɢCNB  顽řI `;ɡiItA A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876A AI! I1 N= >JL,r* 0)A)5IB5HAA<vB >~BBpHBIBB =BBiDB;B5EMb@Mb@Mb@ )Ii\(\?I +??94<)AIAiAAA ABDt6D'+5YF=!==Q)>K?9K?9EY%E%A%>)Q 15^4٪-w͊?Q 55^4-7 - TB9=?Q A=:Y=rQ E=?y-B)-:I-:i-^4YEBE AMΥEeB*** querying acoustic contact ***:haBhagquFNOT Ignoring new targets: 155.40 m.g}yg}y ProNav: ac range: 155.399994 m, nav range: 153.955017 m, bearing: 202.509606 deg, approach rate: 0.136211 m/s, LOS rate: -0.218231 deg/s, cmd heading: 187.547692 deg, new cmd heading: 187.266506 deg. gbg-Q@ZgrgjgRgZfRfee"dccccn?ɢSNB I ?ɡiIA ,>rA jA >BEʙT4JEY4REW0D} XD} KD} )Dy E} ~ : E} ]t96E} FA4:Ey "E} :! E} :! *E} :! E} :! Ա A I I N >9QL,2D 0)AyBQt@ٱBq@BB%BHE? ?r8`D? 㛴?|߱?`UR?IBQt@)B`;iBCJIBJHBDV\6DV 5YZtw=!^e=^[Q)b>`9`9bEYbEf۽Af>hQ 1n^4٪j͊?Q 5n^4j; j!TB9lYn|Q Er?yj7B)j;Ij;ij^4YtvAtgFNOT Ignoring new targets: 155.40 m.g"|g"|- ProNav: ac range: 155.399994 m, nav range: 153.996033 m, bearing: 202.430803 deg, approach rate: 0.114763 m/s, LOS rate: -0.220434 deg/s, cmd heading: 187.266507 deg, new cmd heading: 187.030163 deg. g-Hbg-*P@Zg)rg)jg)Rg1Zf1Rf1e1e9"d9c9cAcAcEW?ɢm`NBmA8 uR`5=uIq u&CɡqiqI}A6>Aq I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867 m*WL,$^ 0)Ay6ޡ@ٱ60ܨ@6򐽹66H??ʞ{ @ ? Q?s?@Ǣ@?I6ޡ@)6P`;i6CBIBBH Mb@Mb@Mb@  ) I i  K?Mb`?I +? ^? ; ) I ۺAi 5A ļA  ABD%o6D%(5Y59<!5C=rD=%=jD==DEdDEIDE+DAEE9: EEc96EE [4:EA!M@!M@!M@!M@= Q)U>Q9Q9]EYEo*A>Q 1^4٪͊?Q 5^4A 9TB9e?Q A:YKQ E?yB):IZ:ii^4YAgiFNOT Ignoring new targets: 155.40 m.gvgv ProNav: ac range: 155.399994 m, nav range: 154.042694 m, bearing: 202.334243 deg, approach rate: 0.104352 m/s, LOS rate: -0.215879 deg/s, cmd heading: 187.030168 deg, new cmd heading: 186.740578 deg. g'bg[P@ZgrgjgRgZfRfee"dcccc@?ɢ-rNBu] quBIq uGɡyiyI}OP~BBHBJBBBBB*;B5EBe܍CBeݍCBaBeǡ =Beǟ =Beї6Q>A- ,>Ay ԁ I I N >`T]L,w 0)AyFL@ٱFI@F咽F FH?\?8@lDώ? !?@X?@% T?IFL@)FD`;iFCNIBNHBDVg6DV,%5Yb1=!bR=b- Q)f>d9d9fEYfEjFAj>lQ 1r^4٪nǖ͊?Q 5r^4nF nMTB9pYrQ Ev?yn0B)n;In;inW^4YzBzAxgFNOT Ignoring new targets: 155.40 m.g%쀻g%쀻5 ProNav: ac range: 155.399994 m, nav range: 154.078400 m, bearing: 202.252676 deg, approach rate: 0.098702 m/s, LOS rate: -0.225425 deg/s, cmd heading: 186.740582 deg, new cmd heading: 186.495939 deg. g5bg5fQP@Zg1rg1jg1Rg9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015093ZfARfIeIeI"dQcQcQcQcUi'@ɢNB 顅㙿I KɡiIhAU1>ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267564A I I N > =dL,ʑ 0)AyB@ٱB'@BŸB$BH<?Ϧ?@E`9?` ? ꒲?ޭ`z?IB@)B`;iBCJIBJ*HNl>N;BDVd6DV#5Y^I=!^J=^Q)b>`9`9bEYbEf>4Af>hQ 1n^4٪j&͊?Q 5n^4j#L jdTB9lYr߄Q Er?yjB)j;Ij;ijq^4YtvAtgFNOT Ignoring new targets: 155.40 m.g|g|- ProNav: ac range: 155.399994 m, nav range: 154.113449 m, bearing: 202.163517 deg, approach rate: 0.086859 m/s, LOS rate: -0.220901 deg/s, cmd heading: 186.495938 deg, new cmd heading: 186.228525 deg. g-bg-P@Zg)rg)jg1Rg1Zf1Rf1ee"dcccc@ɢNB¦ I 54Oɡ9i9IEA- 6>A A vB >~B B HB EJBB B B B ހ;B l5EaAyIIN?lL,˞ 0)AyF㕟@ٱFc@F;ȘFFH 5?p5?{ `(?W?~?`lڝ@?IF㕟@)F9`;iFCRIBR$H-Mb@Mb@Mb@) )))I)i)-Zd;O?Y9a9eEYeEeZAe>iQ 1u^4٪mt͊?Q 5}^4mS mTB9~?Q A:YQ E?ymRB)m;Im;im^4Y4BQAإEB*** querying acoustic contact ***:hBhgQUFNOT Ignoring new targets: 155.40 m.g]vg]v ProNav: ac range: 155.399994 m, nav range: 154.153198 m, bearing: 202.043922 deg, approach rate: 0.071790 m/s, LOS rate: -0.215941 deg/s, cmd heading: 186.228523 deg, new cmd heading: 185.869836 deg. g2bg]O@ZgrgjgRgZfRfee"dccccu @ɢNBdR  I LTɡiIVAe ;>ԙAyAIIN?_tL,q 0)AyBb@ٱB@B𖚽BBH2?}y?~@_c#?P?+N?` `?IBb@)Bv`;i@ZIBZ_Hi\I\BDf]6Df 5Yn=!n"=nrQ)r>r H?9r H?9rEYrEvLAv>xQ 1~^4٪z͊?Q 5~^4zZ zTB9|Y;Q E?yzB)z:IzB:iz^4YEB3A%٥EgFNOT Ignoring new targets: 155.40 m.g]g]U ProNav: ac range: 155.399994 m, nav range: 154.185974 m, bearing: 201.930636 deg, approach rate: 0.064952 m/s, LOS rate: -0.224453 deg/s, cmd heading: 185.869842 deg, new cmd heading: 185.530058 deg. gU bgU3=O@ZgQrgQjgQRgQZfYRfYeYeYDAT read: 18:19:16.8819 LVL= 27856, 24145, 20562, 27891, AGC= 61, IDX= 432,-0.39,-2.517,-1.157,-0.137,-1.103, PHS=-1.312,-0.009, 0.922, RAW= 245.5, 4.1, CAL= 242.9, 4.3, ROT= 267.1, -4.3 Ygot valid direction response: 18:19:16.8819 LVL= 27856, 24145, 20562, 27891, AGC= 61, IDX= 432,-0.39,-2.517,-1.157,-0.137,-1.103, PHS=-1.312,-0.009, 0.922, RAW= 245.5, 4.1, CAL= 242.9, 4.3, ROT= 267.1, -4.3 PDAT read: Bearing 143.6, -87.1 (Local) ~Local bearing/azimuth received: Bearing 143.6, -87.1 (Local) DAT read: Range 11 to 50 : 156.1 m (Round-trip 208.2 ms) speed -0.1 m/s *DAT read: user:887> R#Rx 1: Read range and direction messages.`direction in FSK: [-0.050450,-0.995908,0.074979]Fpublishing direction and range infozUԩݬz￈]1?CIliQ^RPl=刺 t)1l?I@iC=4@`=B-@`Ii)⿍Ugq?wJb?, @(bcϿ `Ii"dac!c!c%@3c@c%9Ӕ?ɢuNBuY quIq }HZɡyiyT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.Ii$AԙA5AI9IQN] ?|L,2 0)AyBOn@ٱBk@BݻBRBH@(? P?vྡ???@!?IBOn@)B$`;i@NJBNvH%Mb@Mb@Mb@! !)!I!i!%On?eK?9eK?9eEYeEeAe>iQ 1u_4٪m͊?Q 5}_4mLb mTB9}?Q A}:Y}Q E}?ymB)m:Im/:im_4Y AJhRhB 0)AhCh/%M'ncݧSh'@~zUԩݬz￈]1?hcϿh` ߘGAaTϨNDs/@~F#Wؿ ?jhprh"Zh?bhXzhׄBh?hXhhIChb@ addTargetRange:: Added new target pos. range: 156.100006 m, deltaT: 3.778313 s, deltaX: 0.700012 m, approachRate: 0.185271 m/s, rangeRepo size: 4 im Added new target pos. range: 156.100006 m, bearing: 202.819215 deg, lat: 36.779385 deg, lon: -121.859598 deg, deltaT: 3.778313 s, deltaX: 0.700012 m, approachRate: 0.185271 m/s, posRepo size: 4 gquFNOT Ignoring new targets: 156.10 m.g}gychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251656 ProNav: ac range: 156.100006 m, nav range: 155.286545 m, bearing: 202.819215 deg, approach rate: 0.000000 m/s, LOS rate: -0.224453 deg/s, cmd heading: 185.530054 deg, new cmd heading: 185.169563 deg. gbgN@ZgrgjgRgZfRfee"dccccA M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504338A yAI I N > 6уL, 0)AyV՝@ٱVҤ@VA2V VH?@}?e 6)?ޞ? '?Y?IV՝@)V`;iVC~IB~oHBD `6D !5Yph!N=%GQ)%>% H?9% H?9%EY-E-AA->1Q 1=_4٪5͊?Q 5=_45g 5TB9AYEQ EE?y5C)5@;I5g:i5_4YMUBMZAMڥEgq}FNOT Ignoring new targets: 156.10 m.g|g| ProNav: ac range: 156.100006 m, nav range: 155.303467 m, bearing: 202.732880 deg, approach rate: 0.043287 m/s, LOS rate: -0.220822 deg/s, cmd heading: 185.169557 deg, new cmd heading: 184.910581 deg. gbgN@ZgrgjgRgZfRfee"dcccc?ɢNB I AbɡiI~IiP5@A@~Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757926>A6>D^DOD(DEC#: E96Ec44:E!@!@!@!@A A AI) I9 NE >"L,) 0)A y6<@ٱ6-:@6𣡽6O6H`?=??@!? o?/?n?I6<@)6_;i6CB)JBBHF4=FY>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007484uMb@Mb@Mb@q q)qIqiquzG?I +?5K?95K?95EY=E=-A=>AQ 1M_4٪E ͊?Q 5M_4EmvB]>~B]ۍCB]+HB]JBB] =BYBYB];B]`4E EUB9m7?Q Am:YmhQ Eu?yEIC)Ee;IE ;iE" _4Yy}AygFNOT Ignoring new targets: 156.10 m.g-ug-u ProNav: ac range: 156.100006 m, nav range: 155.319504 m, bearing: 202.638010 deg, approach rate: 0.036238 m/s, LOS rate: -0.214349 deg/s, cmd heading: 184.910583 deg, new cmd heading: 184.626005 deg. gbg:N@ZgrgjgRgZfRfee"dcccc@)?Iɢ=NB=  9EIIA EيgɡAiAIE7A} ;>D bD ID +D E 1: E c96E [4:E "E 19;! E 49;! *E p:! E q:! A I I N >&L,D 0)AyF`@ٱFࠣ@FHFuFH?}z?H?`]`g?}Y?u?& ?IF`@)F6`;iFCfJBfHBDrA6Dr5Yz¼!zV=z]Q)z>|9|9~EY~E~CIA>Q 1 _4٪%͊?Q 5_44s UB9Y͐Q E?yC);I;iq-_4YuB%A%EEB*** querying acoustic contact ***:hABhAgIUFNOT Ignoring new targets: 156.10 m.gU2yg]2ye ProNav: ac range: 156.100006 m, nav range: 155.329605 m, bearing: 202.555609 deg, approach rate: 0.026709 m/s, LOS rate: -0.217865 deg/s, cmd heading: 184.626010 deg, new cmd heading: 184.378826 deg. gmbgmM@ZgirgijgiRgiZfqRfqeqeq"dycycycycc+?ɢ OB  页OI jɡiIbA@>ԁ A I I N- >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764098IL,^ 0)A0yR @ٱR) @Rh˦R2RH@??ed?ߖ 2?` ?Ӵ?@?IR @)R_;iRCZQJBZHEMb@Mb@Mb@A A)AIAiAE ףp= ??:v?EQ?Eq9q9uEYuE}5A}>Q 1_4٪͊?Q 5_4#y 4UB9}?Q A:YQ E?yC)':Is:i <_4Y2AD`DPD(DE*: E?96Ec44:E!@! @! @! @gAMFNOT Ignoring new targets: 156.10 m.guqg}q ProNav: ac range: 156.100006 m, nav range: 155.337662 m, bearing: 202.464294 deg, approach rate: 0.018596 m/s, LOS rate: -0.210763 deg/s, cmd heading: 184.378826 deg, new cmd heading: 184.104895 deg. gbgM@ZgrgjgRgZfRfee"dcccc @ɢ OB F9  I1 5"Uoɡ1i1I5ochecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015524ԹvB>~BBjHBJBB =BBhDB~;B3E>Am ;> A I I N >sL,kx 0)Aɰ4t9t9vEYzEz;Az>|Q 1_4٪~k͊?Q 5_4~~ ~LUB9 Y ߔQ E ?y~C)~W:I~ :i~I_4YBnAEg9=FNOT Ignoring new targets: 156.10 m.gEgEU ProNav: ac range: 156.100006 m, nav range: 155.341415 m, bearing: 202.379757 deg, approach rate: 0.010133 m/s, LOS rate: -0.228193 deg/s, cmd heading: 184.104894 deg, new cmd heading: 183.851292 deg. gUbgU&]M@ZgQrgYjgYRgYZfYRfYeaea"dacacicicm@ɢ.OB 顥:I rɡiIAqA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520592I I N >y [L,0G 0)Ay6ߚ@ٱ6\ݡ@6xª66HR?@&?Wy?@? 26?Q?@?I6ߚ@)6_;i4B_JBBHBDJY6DJ5Yf<!fL=f DQ)f>h9h9jEYjEn@An>pQ 1v_4٪r͊?Q 5v_4rs reUB9tYvIQ Ev?yr9C)r :Ir:irW_4Y|~YA|g!%FNOT Ignoring new targets: 156.10 m.g-yg-y9E ProNav: ac range: 156.100006 m, nav range: 155.341187 m, bearing: 202.292202 deg, approach rate: -0.000571 m/s, LOS rate: -0.218516 deg/s, cmd heading: 183.851289 deg, new cmd heading: 183.588628 deg. gEbgE M@ZgArgAjgARgAZfIRfIeIeI"dQcQcQcQcU@q9@ɢEAOBM IMQII M$wɡQiQIuMA56>I) I9 NU > L,[" 0)A2BDAT read: Rx Time:18:19:20.6324 6TRx dataTimestamp_ set to:1755627562.7025046checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024394yBF@ٱB,D@B6$BBH`~?EP?(?1[?男?흵?b?IBF@)B"_;iBCJ\JBJHvB>~BڍCBHBJBBBFDBB~;B3EBEۍCBEۍCBABE =BE =BEh5}Mb@Mb@Mb@y y)yIyiy}`"?V-?I +?}?}<}94<)}AI}ҺAi}A}ҺA yyBDJ6D5Y!.=_"Q)>99EYE!A>Q 1 _4٪Ί?Q 5 _4J UB9 ?Q A:YϘQ E?yC)?;IL?;ih_4Y15^A1gy}FNOT Ignoring new targets: 156.10 m.grugru ProNav: ac range: 156.100006 m, nav range: 155.338043 m, bearing: 202.189033 deg, approach rate: -0.006538 m/s, LOS rate: -0.214584 deg/s, cmd heading: 183.588627 deg, new cmd heading: 183.279116 deg. gDbgL@ZgrgjgRgZfRfee"dcccc (* @ɢWOB{ 顝YI  |ɡiIs<I-fEii)L@)~AIi0@~A@A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275664!>A ;>D- cD- MD- +D) E- g5: E- 96E- [4:E) "E- v?;!= E- x?;!= *E- :!E E- :!E I im '=Im fC) G ) Ie a e AI I N% >f۱L, 0)AAy@ٱ@벽A)!Hj6? ?U2?`?D?4V?)q?I@)Q_;i|JB H>;BDS6D5YR=!UJ=]ݻQ)e>i9i9uEYuE}A}>Q 1_4٪ Ί?Q 5_4b UB9YDAT read: 18:19:20.6324 LVL= 32752, 32753, 31346, 32755, AGC= 62, IDX= 437,-0.33, 0.124, 1.288, 2.766, 1.478, PHS=-1.252,-0.145, 1.244, RAW= 236.3, 1.4, CAL= 233.2, 2.0, ROT= 276.8, -2.0 Ygot valid direction response: 18:19:20.6324 LVL= 32752, 32753, 31346, 32755, AGC= 62, IDX= 437,-0.33, 0.124, 1.288, 2.766, 1.478, PHS=-1.252,-0.145, 1.244, RAW= 236.3, 1.4, CAL= 233.2, 2.0, ROT= 276.8, -2.0 PDAT read: Bearing 74.4, -78.2 (Local) ~Local bearing/azimuth received: Bearing 74.4, -78.2 (Local) DAT read: Range 11 to 50 : 156.4 m (Round-trip 208.6 ms) speed -0.1 m/s *DAT read: user:888> BDAT read: Tx time:18:19:21.7696 $Ping request sent.AQ E?yC){@5=#@5Ii)X\PܿzJJ¯?`ҋ(?]@̼޹ 5Ii=:publishing transmit ping time9=Fpublishing direction and range infoJ?!Xk←Xޡ?Ii )IiJhRh#0 0)AhfChyY/Pс2@kfcƬ?G@~J?!Xk←Xޡ?h޹h5 Qa0׶xN*UB*@~VY !ؿ8-$}?jhsrhpZhMҞ?bhXzhBhMҞ?hXhhChXb@ addTargetRange:: Added new target pos. range: 156.399994 m, deltaT: 3.780104 s, deltaX: 0.299988 m, approachRate: 0.079360 m/s, rangeRepo size: 4 Ii)X\PܿzJJ¯?`ҋ(? Ii= Added new target pos. range: 156.399994 m, bearing: 203.019343 deg, lat: 36.779389 deg, lon: -121.859627 deg, deltaT: 3.780104 s, deltaX: 0.299988 m, approachRate: 0.079360 m/s, posRepo size: 4 g9EFNOT Ignoring new targets: 156.40 m.qgg ProNav: ac range: 156.399994 m, nav range: 155.848083 m, bearing: 203.019343 deg, approach rate: 0.000000 m/s, LOS rate: -0.214584 deg/s, cmd heading: 183.279111 deg, new cmd heading: 183.000651 deg. gbgiL@ZgrgjgRgZfRfe!e!"d)c)c)c-̌c@c- Q?ɢmOB8Q 顽I _ɡiI$Ay I I N >*L,d 0)ArD%=jD%<D5dD5LD1D1E59: E5|96E1:E1!E@!E@!E@!E@EJBMHԹMMb@Mb@Mb@I I)IIIiIMQ?~jt?~jtx?M?M99EYEA>Q 1_4٪Ί?Q 5_4̗ UB9?Q A:YQ E?yC)*:I:i_4YB A E%B*** querying acoustic contact ***:hABhAgQUFNOT Ignoring new targets: 156.40 m.g]@}g]@} ProNav: ac range: 156.399994 m, nav range: 155.830124 m, bearing: 202.924731 deg, approach rate: -0.042024 m/s, LOS rate: -0.221410 deg/s, cmd heading: 183.000657 deg, new cmd heading: 182.716789 deg. gbgL@ZgrgjgRgZfRfee"dcccc+?ɢ OBF ۟I SɡiI~BٍCBHBKBB =BBgDB};BJ3EIi5>A 6>9 II IY Nu >L,)= 0)Ay6y@ٱ6w@6,6&6H??@Ï?` ??콶?@Ǥ?I6y@)6_;i6CBrJBBHBDJ>6DJO5Yj=/!j=j?Q)n?l9l9rEYrEzwtA~ ?%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744418Q 1-_4٪cΊ?Q 5-_4a UB9)Y-Q E-?y0C)k;Il;i_4Y1=A9gamFNOT Ignoring new targets: 156.40 m.gmHygmHy} ProNav: ac range: 156.399994 m, nav range: 155.814209 m, bearing: 202.857655 deg, approach rate: -0.051705 m/s, LOS rate: -0.217940 deg/s, cmd heading: 182.716795 deg, new cmd heading: 182.515548 deg. gbg0K@ZgrgjgRgZfRfee"dcccc?ɢOB`M, OI q߃ɡiIS >Iu9iqqu0qD5hD5JD5.D1E5G: E5k96E5ـ4:E1"E5^;!EE5^;!E*E5:!ME5:!MA>A;>II1NE>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996139ԙ L, 0)A~JB~CHBD C6D 5Y>!F=%Q)%>!9!9-EY- E-A->1Q 1u_4٪5Ί?Q 5u_45V 5UB9yYyQ E}?y5mC)5AII N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500240 1L,. 0)AA4A6<vB:>~B:؍CB:HB:CKBB: =B8B:fDB: };B:3EyҬ@ٱR@ H$?D? oʐ? @??a?@?IҬ@)D_;i-JB5=H Mb@Mb@Mb@  ) I i  $C?y&1?Mbp? ? `< ;) AI Ai A   ABD%R6D%5Y5;1!5:==CQ)=>9999=EY=EEAE>IQ 1U_4٪ML!Ί?Q 5U_4M  MUB9]H?Q A]:Y]Q E]?yMC)M;IM;iM_4YaeAagFNOT Ignoring new targets: 156.40 m.gY~gY~ ProNav: ac range: 156.399994 m, nav range: 155.758347 m, bearing: 202.674377 deg, approach rate: -0.082114 m/s, LOS rate: -0.222367 deg/s, cmd heading: 182.253954 deg, new cmd heading: 181.965616 deg. gbgAK@ZgrgjgRgZfRfee"dcccc ?ɢOB# 顭I 4RɡiIקAA Dm `Dm MDm +Di Em *: Em 96Em [4:Ei "Em ,;!} Em ,;!} *Em :! Em :! y A I I N >WML,ߧI 0)AyRb@ٱR @R=ŽR> RH?@dd?&t?>q?@Pй?@?Nk V?IRb@)R^;iRCbJBbHHBDn_6Dn~!5Yz<!zY=~Q)~>99EYE kOA >Q 1%_4٪%Ί?Q 5%_4Ѯ VB9)Y-Q E-?yC);I;i_4Y=B=A9gFNOT Ignoring new targets: 156.40 m.gngn ProNav: ac range: 156.399994 m, nav range: 155.723938 m, bearing: 202.592026 deg, approach rate: -0.086927 m/s, LOS rate: -0.208090 deg/s, cmd heading: 181.965611 deg, new cmd heading: 181.718505 deg. gbgEJ@ZgrgjgRgZfRf5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004309e9e9"d9c9c9cAcET%@ɢOBM" II Uɡ i I :A ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258728A yAI I N >sL,apc 0)A0rDLjDN4=DVdDVWDTDTEV9: EV96ET:ET!Z@!Z@!Z@!Z@yb}@ٱbz@bȽb6bH s?`x?@?iX 1?'?@? ɠ 0?Ib}@)bG`;ibCnJBnrHeMb@Mb@Mb@a a)aIaiae5^I ??y&1|?e?e H?9 H?9EYE.A>Q 1_4٪w*Ί?Q 5_46 .VB95?Q A:YެQ E?y+C)-;I-;i_4YBAEgFNOT Ignoring new targets: 156.40 m.gugu ProNav: ac range: 156.399994 m, nav range: 155.680984 m, bearing: 202.501736 deg, approach rate: -0.106387 m/s, LOS rate: -0.223694 deg/s, cmd heading: 181.718508 deg, new cmd heading: 181.447563 deg. gbg˭J@ZgrgjgRgZfRfee"dcccc~@ɢOB@  I  -4ɡ)i1I5~B B 2HB lKBB  =B B B |;B 2E>A A AI! I9 NE >L,]} 0)AyB@ٱBb@B`ͽBaBH 5? ?m?oa?`??y?IB@)BgM`;iBCNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760305RJBRzHxBD~Y6D~5Y s<! S= 註Q) >K?9K?9EY E@@A>!Q 1-_4٪%W.Ί?Q 5-_4% %HVB9)Y-3Q E5?y%eC)%";I%/;i%:_4Y9=A9]B*** querying acoustic contact ***:hYBhYgamFNOT Ignoring new targets: 156.40 m.gmtgmt} ProNav: ac range: 156.399994 m, nav range: 155.637695 m, bearing: 202.418840 deg, approach rate: -0.111597 m/s, LOS rate: -0.213760 deg/s, cmd heading: 181.447568 deg, new cmd heading: 181.198813 deg. gbgfJ@ZgrgjgRgZfRfee"dccccco@ɢOB*&  I  eɡiI%=I Gii)fJ@)IiO5DeDQD,DE<: Ev96Eg4:E"EK;!EL;!*E:!E:!!Q>A6>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012617I I N% >y L,"6 0)Ay:P@ٱ:zN@:Wн:l:H E?B??ք?`?c?ꡠ`M?I:P@):`;i:CZJB^HBDbS6Db5Yja<!nN=nlQ)n>l9p9rEYr%Er>Ar>tQ 1z_4٪v1Ί?Q 5z_4v0 vcVB9|Y~Q E~?yvC)v;Iv;iv_4YB6AEg)5FNOT Ignoring new targets: 156.40 m.g5sg5sE ProNav: ac range: 156.399994 m, nav range: 155.589493 m, bearing: 202.334297 deg, approach rate: -0.121549 m/s, LOS rate: -0.213251 deg/s, cmd heading: 181.198812 deg, new cmd heading: 180.945108 deg. gEZbgMJ@ZgIrgIjgIRgIZfIQRfIeYeY"dYcYcacaceŜ @ɢPB$ 顕I {|ɡiI=IHii)J@)I]9iYaeV5i@R>@N>BDAT read: Rx Time:18:19:24.3823 TRx dataTimestamp_ set to:1755627566.487179checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271825ԉDbDND*DE1: E҆96E(N4:E!@!@!@!@ԩ>A;>rA>jA>I I N > e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517391A A @AvB >~B ׍CB dHB KBB B B B {;B m2EL,i 0)Ay6@ٱ6@6ӽ6 6H "?g?M@?^ /h?U.?W? `?I6@)6_;i6C>JBBHMMb@Mb@Mb@I I)IIIiIM1Zd?Zd;O?Mb?M"?Mj99EY*E>.A>Q 1_4٪x5Ί?Q 5_4 VB9B?Q A:YmQ E?yC){;I;i0_4Y)5A1gQ]FNOT Ignoring new targets: 156.40 m.g]rg]rm ProNav: ac range: 156.399994 m, nav range: 155.530762 m, bearing: 202.240993 deg, approach rate: -0.133140 m/s, LOS rate: -0.211594 deg/s, cmd heading: 180.945112 deg, new cmd heading: 180.665096 deg. gm7bgu I@ZgQrgYjgYRgaZfiRfiee"dcicqcyc @ɢPB I #<ɡiIs=IUQHiQiQ)U I@)YDAT read: 18:19:24.3823 LVL= 27600, 25297, 23970, 30099, AGC= 62, IDX= 420,-0.33, 1.544, 2.207,-2.300, 2.752, PHS=-1.106,-0.500, 1.187, RAW= 224.8, 4.1, CAL= 223.6, 4.9, ROT= 286.4, -4.9 Ygot valid direction response: 18:19:24.3823 LVL= 27600, 25297, 23970, 30099, AGC= 62, IDX= 420,-0.33, 1.544, 2.207,-2.300, 2.752, PHS=-1.106,-0.500, 1.187, RAW= 224.8, 4.1, CAL= 223.6, 4.9, ROT= 286.4, -4.9 PDAT read: Bearing 73.5, -67.6 (Local) ~Local bearing/azimuth received: Bearing 73.5, -67.6 (Local) DAT read: Range 11 to 50 : 156.3 m (Round-trip 208.5 ms) speed 0.0 m/s *DAT read: user:889> BDAT read: Tx time:18:19:25.4696 $Ping request sent.A I) IA NU >L,j 0)Ayj_@ٱj@jսj:? jHN??y?է z?yd??2?Ij_@)j_;ijCJB HBDV6DZ5Y-B<!-Q=-SQ)->19195EY5/E]KJA]>aQ 1m`4٪eG8Ί?Q 5m`4e eVB9iYm޶Q Em?ye C)e:Ie :ie`4YAJhRh 0)AhLCh0!{eE@ 꿑bK6`*@~{)? b$ݵ?hlh% ׇTa.\D|L96@~`ěm1q{T׿, Zϱ?jhcrhZhH瞊?bhzh$BhH瞊?hhh>Cha@ addTargetRange:: Added new target pos. range: 156.300003 m, deltaT: 3.780201 s, deltaX: -0.099991 m, approachRate: -0.026451 m/s, rangeRepo size: 4  Added new target pos. range: 156.300003 m, bearing: 202.191597 deg, lat: 36.779391 deg, lon: -121.859627 deg, deltaT: 3.780201 s, deltaX: -0.099991 m, approachRate: -0.026451 m/s, posRepo size: 4 gFNOT Ignoring new targets: 156.30 m.gg  ProNav: ac range: 156.300003 m, nav range: 155.243103 m, bearing: 202.191597 deg, approach rate: 0.000000 m/s, LOS rate: -0.211594 deg/s, cmd heading: 180.665102 deg, new cmd heading: 180.403122 deg. g!bg%!I@Zg!rg!jg!Rg!Zf!Rf)e)eI"dIcQcQcUc@cU?ɢ.PBl- 顥I "ɡiI~=IHii)!I@)AI9i0i>A IA IQ Ne >ԙ L,t 0)Ay6`@ٱ6@6׽6,6Hz??@k?)?`ԙ???I6`@)6e|_;i6CBJBBHDRcDRNDR(DPERg5: ER҆96ERc44:EP!Z@!Z@!Z@!Z@%Mb@Mb@Mb@! !)!I!i!%v?~jt?I +?%?%<%94<)%AI!i%A%A !%3ABD5?6D55Y!C=Q)>99EY5E9A>Q 1`4٪:Ί?Q 5`4~ VB9?Q A:YQ E?y_C):IZ:iX`4YܠBAEgFNOT Ignoring new targets: 156.30 m.g% g% 5 ProNav: ac range: 156.300003 m, nav range: 155.179535 m, bearing: 202.103735 deg, approach rate: -0.165705 m/s, LOS rate: -0.229127 deg/s, cmd heading: 180.403123 deg, new cmd heading: 180.139429 deg. g5?bg57I@Zg9rg9jg9Rg9Zf9Rf9eAeA"dAcAcIcIcM@?ɢuAPB}./ y}2Iy ɡiI=F=IHii)7I@)ԑIM9iIIMJ0IvB>~BBHBKBB =BBeDB{;B2EB؍CB؍CBœCBũ =BŨ =B 5>A56>IIN> 9 ML,3P 0)Ai@KBHBD-<6D-c5Y= =!=S=EQ)E>A9A9EEYM9EMAM>QQ 1]`4٪UL=Ί?Q 5]`4Uz UVB9YYaQ Ee?yUC)U;IU;iU`4YimRAiB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 156.30 m.grgr ProNav: ac range: 156.300003 m, nav range: 155.120682 m, bearing: 202.021861 deg, approach rate: -0.152101 m/s, LOS rate: -0.211676 deg/s, cmd heading: 180.139423 deg, new cmd heading: 179.893710 deg. gEbgvH@ZgrgjgRgZfRfee"dcccc@n?ɢVPB8) I)EG e~A)qI~AAD`DOD$DE*: E96E4:E"E,;!E,;!*E:!E:! >PɡiI=IwH@ii)vH@)Ie9iaae0aA]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.y >A ;>A I I N >L,5* 0)A yFP@ٱFN@F=ڽFOFH ?`?D?@{?@? z:??IFP@)FAH_;iFCN#KBRHBDZ;6DZ5YbH=!bS=bKQ)b>d9d9fEYf>EjĽAj>lQ 1r`4٪n?Ί?Q 5r`4n nVB9pYrýQ Er?ynC)n<;In8;inm,`4Yxz+AxgFNOT Ignoring new targets: 156.30 m.g%pg%p5 ProNav: ac range: 156.300003 m, nav range: 155.053665 m, bearing: 201.940484 deg, approach rate: -0.172788 m/s, LOS rate: -0.209903 deg/s, cmd heading: 179.893714 deg, new cmd heading: 179.649479 deg. g5bg5H@Zg1rg1jg1Rg1Zf9Rf9eAeA"dAcAcAcIcMj?ɢuiPBuݪ0 y}Iy }FɡyiIH=IH@ii)H@)I9i!%?0!qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503071ԙbDZDAADDND*DE E҆96E(N4:E!@!@!@!@>A A yAI I N >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752129A A <vB >~B B HB KBB =B B B +z;B 1E L,32 0)ADyR?@ٱR@R?۽R@9RH@Ϝ?@?x??ؗ?Z?'ꢿ z?IR?@)R_;iRC^GKB^HEMb@Mb@Mb@A A)AIAiAEzG?~jt? rh?E ?Eu H?9u H?9}EY}DE}4A}>Q 1`4٪\@Ί?Q 5`4U WB9 .?Q A :Y %Q E ?yC);I;i;`4YAg9EFNOT Ignoring new targets: 156.30 m.gEjgEjU ProNav: ac range: 156.300003 m, nav range: 154.971863 m, bearing: 201.849326 deg, approach rate: -0.184194 m/s, LOS rate: -0.205369 deg/s, cmd heading: 179.649480 deg, new cmd heading: 179.375863 deg. gU bgUa]H@ZgYrgYjgYRgYZfYRfYeaea"dacicicicm?ɢPB' 顝I ɡiI^=Ia]H@ii)a]H@) ԹIU9iQQU0Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003725>A}6>rA}>jA}>D bD QD (D E 1: E v96E c44:E "E 09;! E 29;! *E :! E :!  A AI I N >5L,K 0)Aɰ"4< yR@ٱRv@RܽRmRH@?I??@t??@?`F?IR@)R-_;iRCZ9KBZHi`I`BDfB6Df&5Yn!nV=rQ)r>rK?9rK?9rEYvIEvzMAv>x|Q 1`4٪z"AΊ?Q 5`4zQ 9tI z9WB9YÿQ E?yzNC)z1;Iz2;izH`4YAgQeFNOT Ignoring new targets: 156.30 m.gmfgmf ProNav: ac range: 156.300003 m, nav range: 154.900543 m, bearing: 201.774306 deg, approach rate: -0.191868 m/s, LOS rate: -0.201916 deg/s, cmd heading: 179.375862 deg, new cmd heading: 179.150700 deg. g bgH@ZgrgjgRgZfRfee"dcccc`@ɢPB52  bI  轟ɡiI=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263913IH@ii)H@))I59i1111Q>AM;> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517581A I IQ N} >L,e 0)Ay6H@ٱ6@6ݽ6 6H gꂿ?Kv? ӏ?;?գ?I6H@)6 _;i6CrD@jDB%=DFdDDDF+DDEF9: ED6EF [4:ED!J@!J@!J@!J@JcKBN&H%Mb@Mb@Mb@! !)!I!i!%5^I ?Mb?:v?%?%<%T<)%AI%Ai%A% A !%AyBD:6Dx5Yd=!:=Q)>99EYNE+A>Q 1 `4٪AΊ?Q 5 `4 \WB9'?Q A:YƿQ E?yC) ;I ;i"X`4YB%,A% EgAMFNOT Ignoring new targets: 156.30 m.gMkgUke ProNav: ac range: 156.300003 m, nav range: 154.809219 m, bearing: 201.684690 deg, approach rate: -0.209927 m/s, LOS rate: -0.206123 deg/s, cmd heading: 179.150698 deg, new cmd heading: 178.881694 deg. geu bgeG@ZgargajgaRgaZfiRfieiei"dqcqcqcyc}x@ɢPBz, 顭I ( ɡiI^=IG@ii)G@)Iu9iqqqqԩmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767841vBu>~BqBuHBuLBBu =BqBufDBu>y;Bu1E>AA yAI I  N >A)L,) 0)Ay6@ٱ6l@6K޽6"6HÛ?iӥ?@(+|?[˻?@2(?I6@)6_;i6C>pKBB7HBDFD6DF5YN=!Rb=RǧQ)R>V H?9V H?9VEYVSEVLAV>Xbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019959Q 1~`4٪ZAΊ?Q 5~`4Zb ZxWB9YȿQ E?yZC)Z%AIBDAT read: Rx Time:18:19:28.0816 TRx dataTimestamp_ set to:1755627570.271969checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274478A AI I N >a &L,2r 0)Ay6V@ٱ6rT@6<ཹ6,6HP9??B `?`?@:碿@1?I6V@)6&_;i6CBKBBIHB=Bp;BDJ/6DJh 5YRT=!RJ=Rk Q)V>VK?9VK?9VEYVXEZ;AZ>\Q 1b`4٪^2AΊ?Q 5b`4^ ^WB9`YfY˿Q Ef?y^C)^;I^;i^r`4YhjAhg|~FNOT Ignoring new targets: 156.30 m.gogo ProNav: ac range: 156.300003 m, nav range: 154.639297 m, bearing: 201.529950 deg, approach rate: -0.235185 m/s, LOS rate: -0.209427 deg/s, cmd heading: 178.661916 deg, new cmd heading: 178.417219 deg. gbg@KG@ZgrgjgRgZfRfe!e!"d!c!c)c)c- @ɢPBx3 I (MɡiI4 =I@KG@i i ) @KG@) AI9i0 Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524127ibDZD@ADeDRDDE<: E96E:E!@!@!@!@>AԉI I N >vBe >~Ba Be 8HBe ALBBa Ba Be eDBe fx;Be 0E DAT read: 18:19:28.0816 LVL= 24560, 28065, 18162, 25043, AGC= 58, IDX= 430, 0.04, 2.975, 3.127,-1.008,-2.346, PHS=-0.860,-0.765, 1.294, RAW= 212.2, 3.2, CAL= 211.6, 2.5, ROT= 298.4, -2.5  Ygot valid direction response: 18:19:28.0816 LVL= 24560, 28065, 18162, 25043, AGC= 58, IDX= 430, 0.04, 2.975, 3.127,-1.008,-2.346, PHS=-0.860,-0.765, 1.294, RAW= 212.2, 3.2, CAL= 211.6, 2.5, ROT= 298.4, -2.5  PDAT read: Bearing 56.4, -55.3 (Local)  ~Local bearing/azimuth received: Bearing 56.4, -55.3 (Local)  DAT read: Range 11 to 50 : 156.0 m (Round-trip 208.0 ms) speed 0.0 m/s  *DAT read: user:890>  BDAT read: Tx time:18:19:29.1695  $Ping request sent. q@a,?`? ? \%c ¸2I i  :publishing transmit ping time9  Fpublishing direction and range info T4i?({G9쿥GU? I i ) I i I i ) >q@a,?`? I i `;,L,M 0)Ay6@ٱ6"@6i⽹6r6H`y@;? M?઼堻? O?ޏT?I6@)6_;i6C}KB}WHԱMb@Mb@Mb@ )Iil?99EY^EA>Q 1`4٪X@Ί?Q 5`4 WB9?Q A:YaͿQ E?yQC)v:I:i`4Y-A)JhRh/ 0)AhCh.@VR@ #aj7@~T4i?({G9쿥GU?hh¸2 ڊaz;93O7M%3@~ g_Djٿ:Y?jhq}rh' Zh۠ɟ?bhzhBhhhBhChS`@ addTargetRange:: Added new target pos. range: 156.000000 m, deltaT: 3.787734 s, deltaX: -0.300003 m, approachRate: -0.079204 m/s, rangeRepo size: 4 - Added new target pos. range: 156.000000 m, bearing: 201.428111 deg, lat: 36.779391 deg, lon: -121.859627 deg, deltaT: 3.787734 s, deltaX: -0.300003 m, approachRate: -0.079204 m/s, posRepo size: 4 g)-FNOT Ignoring new targets: 156.00 m.g5g1e ProNav: ac range: 156.000000 m, nav range: 154.520340 m, bearing: 201.428111 deg, approach rate: 0.000000 m/s, LOS rate: -0.209427 deg/s, cmd heading: 178.417218 deg, new cmd heading: 178.081880 deg. gabge\F@ZgargajgaRgiZfiRfieieq"dqcqcqcuc@c}l?ɢPB |( ܬI ?ɡiIc =I\F@ii)\F@)!I9i@5 D jD MD D E N: E 96E :E "E Vk;! E Yk;! *E :! E :! >A rA >jA 9 II!N5>4L, 0)AKBdH1BD6DYEc<!EO=EQ)M>I9I9MEYMcEUAU>YQ 1e`4٪]?Ί?Q 5e`4]h  ]WB9aYaQ Em?y]C)]G:I]:i]`4YquAqgFNOT Ignoring new targets: 156.00 m.gugu ProNav: ac range: 156.000000 m, nav range: 154.431732 m, bearing: 201.351888 deg, approach rate: -0.248869 m/s, LOS rate: -0.214207 deg/s, cmd heading: 178.081883 deg, new cmd heading: 177.853084 deg. gbgF@ZgrgjgRgZfRfee"dcccc@?ɢQB? ܭI $ɡiI =IF@i i ) F@) I9i2aԉ>AIIN>Թ D eD OD (D E <: E 96E c44:E ! @! @! @! @7:L, 0)Ay:z@ٱ:@:轹:\:HE ?"?ofN?Ի? ?,J?I:z@):^;i:CFKBFHiHIHMb@Mb@Mb@ )Ii333333?y&1?Mb`??`e<;)AIAi QA)-AA -AABD546D5 5YEl=!EK=EɻQ)E>I9I9MEYMhEMAU>QQ 1e`4٪U>Ί?Q 5e`4U UWB9e?Q Ae:Ye6ӿQ Ee?yUC)U]:IU:iU `4YuBuAuEԙgFNOT Ignoring new targets: 156.00 m.g]$`g]$` ProNav: ac range: 156.000000 m, nav range: 154.327118 m, bearing: 201.271770 deg, approach rate: -0.255702 m/s, LOS rate: -0.195960 deg/s, cmd heading: 177.853085 deg, new cmd heading: 177.612570 deg. g|bg(eF@ZgrgjgRgZfRfee"dccccw?ɢQB%g2 !%MI! %3ɡ)i)I-O =vB=>~B=֍CB=jHB=jLBB= =B9B9B=w;B=E0EIU(eF@iQiQ)U(eF@)YI9iA5 >A) I I N >! AL, 0)Ay6@ٱ6Rߒ@6뽹6p?6H?n? + ? Q?@G?I6@)6^;i6CBKBBHBDJ$6DJX5YR}=!RU=RsQ)R>T9T9VEYVmEZRAZ>\Q 1 `4٪^3<Ί?Q 5`4^ ^XB9YտQ E?y^C)^TEAbAZA~AII)N=>Qy IGL, 0)Ay6@@ٱ6~>@6g6c 6Hr¿?i?\v¿&??6`>?I6@@)6^;i6CNKBRHBDV>6DVO5Y^<=!bH=bQ)b>d9d9fEYfrEf4EAf>hQ 1n`4٪j9Ί?Q 5r`4j  j/XB9pYr@ؿQ Er?yj@C)j<;Ijj;ij`4YtvAxgFNOT Ignoring new targets: 156.00 m.gfgf- ProNav: ac range: 156.000000 m, nav range: 154.109726 m, bearing: 201.116271 deg, approach rate: -0.286915 m/s, LOS rate: -0.201090 deg/s, cmd heading: 177.385245 deg, new cmd heading: 177.145745 deg. g- bg5E@Zg1rg1jg1Rg1Zf1Rf1e9e9"dAcAcAcAcE`3?ɢuFQBuc9 quتchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751891I ijɡiI` =I%E@i!i!)%E@)!YI9iH5DDTD)DE E96EFA4:E!@!@!@!@ԁ>AIIIYNe>ԩvB5 >~B5 ׍CB5 HB5 LBB1 B1 B5 fDB5 v;B5 /EB׍CB׍CBBȫ =BȪ =BM5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003568 sML,l8 0)Ay6@ٱ6@6񽹱6~g6H@Y}Ŀ`?@D?@\r*ſ&;?)?Wv?I6@)6^;i6CBKBBHF)>F>EMb@Mb@Mb@A A)AIAiAEA`"?Q?Mbp?E?Euq9q9uEYuxE}<A}>Q 1`4٪6Ί?Q 5`4& PXB9#?Q A:YڿQ E?yC)]:I:i`4YAgFNOT Ignoring new targets: 156.00 m.g\g\ ProNav: ac range: 156.000000 m, nav range: 153.987488 m, bearing: 201.033876 deg, approach rate: -0.286226 m/s, LOS rate: -0.193084 deg/s, cmd heading: 177.145751 deg, new cmd heading: 176.898372 deg. gbgE@ZgrgjgRgZfRfee"dcccc`~`@ɢ%^QB-7 )-ZI) -{ɡ)i1I5:==ԱIE@ii)E@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566IE9iAAE+1Aig=I\C)E4G ] A)qI AADfDMD,DEI@: E96Eg4:E"ECR;!EER;!*E:!E:! >A) A] yAIa Iy N >9 [TL,$HR 0)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507623y:@ٱ:@: ::Hƿm?M?@?@ǿb??.;@+?I:@):`^;i:CFLBFHBDR06DR 5YV=!ZW=ZDQ)Z>Z H?9^ H?9^EY^}E^SAb>`Q 1f`4٪b3Ί?Q 5j`4b{, bmXB9hYj ݿQ Ej?ybC)b:IbN:ib`4YlrQApgamFNOT Ignoring new targets: 156.00 m.gmTg}T ProNav: ac range: 156.000000 m, nav range: 153.874939 m, bearing: 200.961137 deg, approach rate: -0.287679 m/s, LOS rate: -0.186060 deg/s, cmd heading: 176.898375 deg, new cmd heading: 176.680000 deg. gabg|ZE@ZgrgjgRgZfRfee"dcccc@T@ɢ tQB ;  I mHɡ!i!I%=Iu|ZE@iyiy)}|ZE@)I9i1@Y>@]>9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759633>ArA>jA>i D aD ^D *D E %.: E ;96E (N4:E ! @! @! @! @A AI I! N- >ZL,%"l 0)Ay>%a@ٱ>^@>> 2>H`Xɿ/O?(%a@)>_;i>CJ!LBJH Mb@Mb@Mb@ )IiZd;?/$?~jtx??<;)AIiA(A ABD>6DO5Y|=!5=OQ)>%K?9%K?9%EY%E%/A%>)Q 15`4٪-40Ί?Q 5=`4-q3 -XB9=?Q A=:Y=7޿Q E=?y-C)- ;I-* ;i-`4YE~B؍CBHBLBB =BBgDBFv;B/EX/: I OɡiIo=IvE@ii)vE@)UBDAT read: Rx Time:18:19:31.7806 ]TRx dataTimestamp_ set to:1755627573.798819echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012820I 9i0>AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263555A I) I9 NE >maL, 0)Ay6@ٱ6z@66H6H˿ ,?\?A ؁̿n?@^B? :?I6@)6^;i6CBCLBB:Hi@I@BDJ;6DJ5Yf=!fb=fvlQ)f>h9h9jEYjEnH\An>9Q 1E`4٪=,Ί?Q 5E`4=19 =XB9AYMQ EM?y=8C)=-:I=:i=`4YU)BU!AUEuB*** querying acoustic contact ***:hqBhqD_DMDDE&: E96E:E"Eb&;!Ed&;!*E!E!gFNOT Ignoring new targets: 156.00 m.gxUgxU ProNav: ac range: 156.000000 m, nav range: 153.623306 m, bearing: 200.804176 deg, approach rate: -0.305551 m/s, LOS rate: -0.186630 deg/s, cmd heading: 176.421136 deg, new cmd heading: 176.208724 deg. gbgD@ZgrgjgRgZf Rf e!e!"d!c)c)c)c5 @ɢQB> I Һɡi!I%=I-D@i)i))5D@)1II9iI0DAT read: 18:19:31.7806 LVL= 30960, 30513, 19858, 30371, AGC= 61, IDX= 437,-0.30, 0.394, 0.190, 2.544, 1.226, PHS=-0.730,-0.991, 1.274, RAW= 204.0, 4.2, CAL= 203.9, 3.1, ROT= 306.1, -3.1 Ygot valid direction response: 18:19:31.7806 LVL= 30960, 30513, 19858, 30371, AGC= 61, IDX= 437,-0.30, 0.394, 0.190, 2.544, 1.226, PHS=-0.730,-0.991, 1.274, RAW= 204.0, 4.2, CAL= 203.9, 3.1, ROT= 306.1, -3.1 PDAT read: Bearing 47.5, -47.0 (Local) ~Local bearing/azimuth received: Bearing 47.5, -47.0 (Local) DAT read: Range 11 to 50 : 155.2 m (Round-trip 207.0 ms) speed 0.1 m/s *DAT read: user:891> BDAT read: Tx time:18:19:32.8695 $Ping request sent.A 6>ԡ A9 II IY Ne >YgL,/۟ 0)Ay6@ٱ6G@666H`;οS? 5? ~ο@?@O?  A?I6@)66^;i6C^NLB^GHBDj>6DjO5YC<!G= kQ)> 9 9 EY E GA>Q 1=a4٪(Ί?Q 5Ea4S? XB9AYEDQ EE?yuC);I:ia4YIU AQyJhRhm 0)Ah3Chh0ՋV@?7kQM__; @~lBt?GC]ʾ7?hphk] xaaZXSaLi7@~??^8mh׿J@?jh crhsZh(D?bhKzh Bhhhh~Chz7`@  addTargetRange:: Added new target pos. range: 155.199997 m, deltaT: 3.529565 s, deltaX: -0.800003 m, approachRate: -0.226658 m/s, rangeRepo size: 4 M Added new target pos. range: 155.199997 m, bearing: 200.729229 deg, lat: 36.779391 deg, lon: -121.859627 deg, deltaT: 3.529565 s, deltaX: -0.800003 m, approachRate: -0.226658 m/s, posRepo size: 4 gquFNOT Ignoring new targets: 155.20 m.g}gy ProNav: ac range: 155.199997 m, nav range: 153.495346 m, bearing: 200.729229 deg, approach rate: 0.000000 m/s, LOS rate: -0.186630 deg/s, cmd heading: 176.208717 deg, new cmd heading: 175.976557 deg. gbgUD@ZgrgjgRgZfRfe e"dcc!c-`ffc@cU`?ԩDdDOD(DE9: E96Ec44:E!@!@!@!@ɢQBT6 !%LI! %Qɡ)i)I-=I5UD@i1i1)5UD@)1IYiYYe0a@i@m~AAAAAvB>~BB?HBMBB =BBfDBu;Bu/E >A bA ZA }AA II))N=>nL,B 0)Ay6~@ٱ6J|@66S 6H Nп? ?`^пʎ?V?Tw?I6~@)6U^;i6C>gLBBfH Mb@Mb@Mb@  ) I i  On?S㥛?Q? ? /< u<) AI Ai A   ¿ABD%56D%+5Y5}U=!5-=5 Q)=>9999=EY=EE@(AE>IQ 1Ua4٪M#Ί?Q 5Ua4MF MXB9U?Q AU:Y]WQ E]?yMC)M:IM:iMa4YaeAagAMFNOT Ignoring new targets: 155.20 m.gMRgUR] ProNav: ac range: 155.199997 m, nav range: 153.343811 m, bearing: 200.641737 deg, approach rate: -0.318941 m/s, LOS rate: -0.184330 deg/s, cmd heading: 175.976559 deg, new cmd heading: 175.713825 deg. gbg4FD@ZgrgjgRgZfRfee"dc!cqcyc}?ɢQBp\? 顭3I 濽ɡiIbz=I4FD@ii)4FD@)Im9iqqu0qDcDoD,DEg5: E:6Eg4:E"Eu?;!Ew?;!*EN;!EN;!Qy >A A! I) IA NM >uL,xz 0)A,y6@ٱ6=@666Hvѿ@? ?@ѿӛ?X?໺?I6@)6^;i6CRLBRHVh9h9jEYjEnFAn>pQ 1ra4٪rBΊ?Q 5va4raL rYB9tYvQ Ev?yrC)r:Ir :ir a4Y|~A|g!%FNOT Ignoring new targets: 155.20 m.g-n_g-n_= ProNav: ac range: 155.199997 m, nav range: 153.215622 m, bearing: 200.570436 deg, approach rate: -0.350897 m/s, LOS rate: -0.195339 deg/s, cmd heading: 175.713829 deg, new cmd heading: 175.499748 deg. g=bg=D@Zg9rg9jg9RgAZfARfAeAeI"dIcIcIcQcUv?ɢ}QB}J [=顅8I зɡiI3A=ID@ii)D@)IE9iIIIIԁԹ>AIrDjD<DbDOD)DE1: E96EFA4:E!@!@!@!@A yAI I N > Q{L,hA 0)AvBR>~BRٍCBRHBR^MBBR =BPBRgDBR~u;BRG/E\rLBrH}Mb@Mb@Mb@y y)yIyiy}㥛 ?~jt?{Gz?}?}<}ף<)}9AIyi}A}5A y}̾ABD&6DD5Ys<!>=Q)> H?9 H?9EYEA>Q 1a4٪[Ί?Q 5a4R FYB9?Q A:YCQ E?y7 C)X:I:i/a4YIBAU&Egy}FNOT Ignoring new targets: 155.20 m.gEgE ProNav: ac range: 155.199997 m, nav range: 153.076340 m, bearing: 200.493328 deg, approach rate: -0.311669 m/s, LOS rate: -0.172700 deg/s, cmd heading: 175.499744 deg, new cmd heading: 175.268211 deg. g bgC@ZgrgjgRgZfRfee"dccccy?ɢ5RB5(< 9=I9 =1<Ľɡ9i9IE| =IEC@iIiI)MC@)iI9i  >A- ;>rA1 jA5 >A A= AIA IY Ne >D cD ND +D E g5: E ҆96E [4:E "E ! E x?;! *E ֬:! E ׬:! "L,c 0)Ayr@ٱr@r!ZrrH`ӿ]?E9?+Կ"?@? :?Ir@)r^;irC%LB%HBD=,6D= 5Y]=!]M=ebWQ)e>eK?9mK?9mEYmEA>Q 1a4٪Ί?Q 5a4X mYB9Y Q E?yt C);I;i>a4Y  A EB*** querying acoustic contact ***:hABhAgquFNOT Ignoring new targets: 155.20 m.g} Ig} I ProNav: ac range: 155.199997 m, nav range: 152.936829 m, bearing: 200.421733 deg, approach rate: -0.342199 m/s, LOS rate: -0.175770 deg/s, cmd heading: 175.268214 deg, new cmd heading: 175.053236 deg. gBbgNC@ZgrgjgRgZfRfee"dcccc~?ɢMRBUi@ QUΩIQ UxƽɡYiYI]=I]NC@iaia)eNC@)a)MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.I%9i!!!!Q>Ai ԁ Ia Iq N} > A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247386\ЈL,$0)Ayf@ٱf@ffkfH5Կ+?`?>տ[7?@I?`嫞@?If@)f^;ifCrLBrHitItBDz(6Dz05Yԣ<!R= MQ) > 9 9 EY EaFA>!Q 1Ea4٪%Ί?Q 5Ma4%?^ %YB9QY]sQ Ee?y% C)%;I%;i%YKa4ԁY6B(A%EDhDRD(DEG: E96Ec44:E!@!@!@!@gQUFNOT Ignoring new targets: 155.20 m.g].g]. ProNav: ac range: 155.199997 m, nav range: 152.804749 m, bearing: 200.356342 deg, approach rate: -0.308350 m/s, LOS rate: -0.152793 deg/s, cmd heading: 175.053241 deg, new cmd heading: 174.856896 deg. gѻbg)QC@ZgrgjgRgZfRfee"dcccc$@ɢ9RBA )5I1 5Ƚɡ1i1I5=IE)QC@iiii)m)QC@)qԩvB>~B؍CBHBMBB =BBBgu;B9/E}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4992000=I% 9i! ! % 2)  } PExceeded connect timeout, disconnecting.)>AIbAU|AZAU|A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751158IAIYNe ?7L,WG0)Ay6@ٱ6.~@6,66Hտz?@ק?@R]ֻֿ?@LK?=?I6@)6-^;i6CBMBB&HxEMb@Mb@Mb@A A)AIAiAE> ףp=?~jt?{Gz?E?Ey9y9}EY}E} A>BE(N4JER4RE0DgDTD.DEC: E96Eـ4:E"EX;!EX;!*E:!E:!Q 1a4٪~Ί?Q 5a4e YB9?Q A:YQ E?y C)6A 3>Iy I N >L,S a0)Ay6@ٱ6\@60l6a6H[׿ ο?T?0` }׿`E??B?*if?I6@)6I^;i4B&MBBQHBDJ6DJ5YNb=!RY=RB:Q)R>T9T9VEYVEV!KAZ>XQ 1^a4٪ZΊ?Q 5ba4Z=k ZYB9`Yb3Q Eb?yZ1 C)Z+;IZ;iZka4YdfAhgx~FNOT Ignoring new targets: 155.20 m.g~DgD  ProNav: ac range: 155.199997 m, nav range: 152.476974 m, bearing: 200.204168 deg, approach rate: -0.377554 m/s, LOS rate: -0.171902 deg/s, cmd heading: 174.583952 deg, new cmd heading: 174.399874 deg. gbgyB@ZgrgjgRgZfRfee"d!c!c!c!c% @yBDAT read: Rx Time:18:19:35.4792 TRx dataTimestamp_ set to:1755627577.578793checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256375ɢ nRB zM I1 5Cͽɡ9i9I=A=IEyB@iAiA)EyB@)A MMIQ)QDcDQD-DEg5: Ev96Et4:E!@!@!@!@I9i 0vB>~BBEHBMBB =BBBu;BS/EB]؍CB]؍CBYB]Ȧ =B]Ȧ =B]CY5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507127A >A I9 IQ N] >?L,N {0)Ay6P@ٱ6^N@6P6L6H@|'ؿ?ݴ?Zؿ ? >?`uB ?I6P@)6p^;i6CB5MBBdHB%>B<nManaging dock network, ignoring radio surface power off!Mb@Mb@Mb@ )Ii> ףp=?S㥛?:v?/<T<)IiAIA ABDM6DM 5Y<!#=z\9Q)>99EYEA>Q 1a4٪͊?Q 5a4=r ZB9?Q A:YQ E?yz C);I);i0}a4YVBA/EgFNOT Ignoring new targets: 155.20 m.g:g: ProNav: ac range: 155.199997 m, nav range: 152.296356 m, bearing: 200.122483 deg, approach rate: -0.360739 m/s, LOS rate: -0.163339 deg/s, cmd heading: 174.399878 deg, new cmd heading: 174.154534 deg. g2bgQB@ZgrgjgRgZfRfe e "d c cccC@ɢ=RBE޹? AEժIA Ez2нɡIiIIM}=IMQB@iQiQ)UQB@)Q DAT read: 18:19:35.4792 LVL= 32752, 32753, 27490, 32755, AGC= 63, IDX= 422, 0.02, 0.460,-0.023, 2.295, 1.149, PHS=-0.587,-1.127, 1.102, RAW= 196.6, 6.1, CAL= 196.8, 5.6, ROT= 313.2, -5.6 %Ygot valid direction response: 18:19:35.4792 LVL= 32752, 32753, 27490, 32755, AGC= 63, IDX= 422, 0.02, 0.460,-0.023, 2.295, 1.149, PHS=-0.587,-1.127, 1.102, RAW= 196.6, 6.1, CAL= 196.8, 5.6, ROT= 313.2, -5.6 -PDAT read: Bearing 40.8, -39.3 (Local) -~Local bearing/azimuth received: Bearing 40.8, -39.3 (Local) =DAT read: Range 11 to 50 : 154.2 m (Round-trip 205.6 ms) speed 0.4 m/s E*DAT read: user:892> EBDAT read: Tx time:18:19:36.5695 M$Ping request sent.M>DeDVD,DE<: E96Eg4:E"EK;!EL;!*E:!E:!I8i0ԑԱ >A ;>IY Ii Nu > L,()0)Ay:Ƿ@ٱ:H@:kO:]:H@??ٿjF?1?@oٿ8й?>?aң?I:Ƿ@):c^;i:CRfMBVHBDn(6Dn05Yv>!v~=v*k7Q)z ?99EYEjA?!Q 1-a4٪%$͊?Q 5-a4%v %0ZB9)Y-.Q EU?y% C)%;I%;i%a4YimAiJhRhI0)Ah3Ch93;h'kCZ@?*[Uq5.@~pF ?͢h57A_1?hQh+Ƚ  da;HI@@~lБX0#ڳcԿ+ ?jhDrh}Zhc ?bh^zhڧBhc ?hh$BhCh_@M addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.779068 s, deltaX: -1.000000 m, approachRate: -0.264616 m/s, rangeRepo size: 4 i Added new target pos. range: 154.199997 m, bearing: 200.127818 deg, lat: 36.779395 deg, lon: -121.859627 deg, deltaT: 3.779068 s, deltaX: -1.000000 m, approachRate: -0.264616 m/s, posRepo size: 4 gFNOT Ignoring new targets: 154.20 m.gg ProNav: ac range: 154.199997 m, nav range: 151.756500 m, bearing: 200.127818 deg, approach rate: 0.000000 m/s, LOS rate: -0.163339 deg/s, cmd heading: 174.154538 deg, new cmd heading: 173.980718 deg. gbgVB@ZgrgjgRgZfRfee"dccc`fFc@c1?ɢ=RB=J AEIA El5ҽɡaiaIeY=ImVB@iiiq)uVB@)qI9iq0!ԙ>A3>II IY Ne >bD ZD D gD TD .D E C: E 96E ـ4:E ! @! @! @! @ 1L,s0)Ay:0$@ٱ:!@:>:*:H`Jڿ?^? #Yڿ@!?~B׍CBHB3NBB =BBfDBu;Bi/Em99EYE"A>Q 1a4٪-͊?Q 5a4| VZB9?Q A:YQ E?y C)D;I;ika4YCBrA.E%B*** querying acoustic contact ***:h!Bh!5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.gIUFNOT Ignoring new targets: 154.20 m.gUl<gUlA ;> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995849Y A yAI I N >lL,*0)Aɰ,.;DbwDb_D`D`Eb}: Ebr96E`:E`"Ebj;!nEbl;!n*EbK;!rEbL;!ry ?@ٱ @  `# HPܿ@?ॷ? h`ܿ??G?F@ ?I ?@) 0G_;i -MB-HBDY6DYY}dV>!O=hQ)> H?9 H?9EYEmA>Q 1a4٪͊?Q 5a4C wZB9YkQ E?y" C) l;I,m;i a4YIMAQԉgFNOT Ignoring new targets: 154.20 m.g(g( ProNav: ac range: 154.199997 m, nav range: 151.434296 m, bearing: 199.996599 deg, approach rate: -0.375460 m/s, LOS rate: -0.147634 deg/s, cmd heading: 173.766569 deg, new cmd heading: 173.586645 deg. gʻbgA@ZgrgjgRgZfRfee"dccc c  .?ɢuRBuYI y}Iy }ֽɡyiyI}7=IA@ii)A@) I=9i99=09@A@EzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247075Ա>AY A I I N > L,00)AyJq@ٱJ o@JJQJH`Pݿ`I??&@Dݿ@\? aV?`>@ڶ?IJq@)J+^;iJCRMBRHBD^6D^ 4Yf:<!fW=fVQ)f>h9h9jEYjEj@An> Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499412Q 1a4٪͊?Q 5a4 ZB9YYQ E?y\ C);I;i7a4YFBAgAEFNOT Ignoring new targets: 154.20 m.gM11gM11} ProNav: ac range: 154.199997 m, nav range: 151.274872 m, bearing: 199.935972 deg, approach rate: -0.406925 m/s, LOS rate: -0.154913 deg/s, cmd heading: 173.586649 deg, new cmd heading: 173.404575 deg. g}ԻbgܱA@ZgrgjgRgZfRfee"d!c)cqcyca~?rD=jDDiDRD+DE,K: E96E [4:E!@!@!@!@ɢRB-E 額I oGٽɡiI1=IܱA@ii)ܱA@)IU9iQY]0YvB>~B֍CBHBzNBB =BBeDB(v;B/Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751018I >A= 3>y I I N >;L,0)Ay:@ٱ:ۆ@:g::H8R޿?j?# ޿g?@p?` ?I:@):u _;i:CFMBFHMb@Mb@Mb@ )IiM?/$?{Gzt?n?<ף;)AI$AiAVA ABD-#6D-5YG=!*=ݺQ)>99EYEhA>Q 1a4٪͊?Q 5a4 ZB9?Q A:YQ E?y C):I:ia4Y~AgFNOT Ignoring new targets: 154.20 m.g=.g=. ProNav: ac range: 154.199997 m, nav range: 151.088470 m, bearing: 199.868461 deg, approach rate: -0.420087 m/s, LOS rate: -0.152334 deg/s, cmd heading: 173.404569 deg, new cmd heading: 173.201790 deg. gѻbgwA@ZgrgjgRgZfRfee"d!c!c!c!c-`@ɢU SBU`Q Y]IY ]2۽ɡYiYI]=IewA@iiii)mwA@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005358I9i0DedDaDe&DaEe9: Ea6Ee4:Ea"EeE;!uEeE;!u*Ee:!}Ee:!}>A%;>)I I N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255050Q r_L,Ǻ0)Aiybj~@ٱb6I@b b$bH8O߿ú?M? ߿@?`? Jnv?Ibj~@)b^;ibCjMBjQHBD6D45Y-=!T=t1Q)=>9999EEYEEE;AE>IQ 1Ua4٪Ml͊?Q 5Ua4M MZB9QY})Q E}?yM C)Mm;IM;iMa4Y:BA6EgFNOT Ignoring new targets: 154.20 m.g$g$ ProNav: ac range: 154.199997 m, nav range: 150.926239 m, bearing: 199.811583 deg, approach rate: -0.410975 m/s, LOS rate: -0.144242 deg/s, cmd heading: 173.201795 deg, new cmd heading: 173.030978 deg. gŻ1bgGA@ZgQrgQjgQRgQZfYRfYeYeY"dacacacacePN@ɢu&SBup/I quIq }pݽɡyiyI}=IGA@ii)GA@)}AIE9iAAAAichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507102bDqZDqԩ>A 3>D D OD 0D E  E 96E 4:E ! @! @! @! @I I N- >Թ vB ܿ>~B ՍCB LHB NBB =B B B Nv;B /EL,40)Ay6Vu}@ٱ6,@6!6[+6Hy#o?@4?@Pj zN??:@ò?I6Vu}@)6!^;i6CNNBRdHchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759038Mb@Mb@Mb@ )Ii"~?/$?~jtx??;)KAI1AiA ABD$6DX5Y =!?=(Q)>99EYE+A>Q 1a4٪͊?Q 5a4 [B9?Q A:YOQ E?y C)T ;I ;ia4YAB*** querying acoustic contact ***:hBhg)-FNOT Ignoring new targets: 154.20 m.g5(g5(E ProNav: ac range: 154.199997 m, nav range: 150.745148 m, bearing: 199.750148 deg, approach rate: -0.432716 m/s, LOS rate: -0.146976 deg/s, cmd heading: 173.030972 deg, new cmd heading: 172.846445 deg. gEɻbgMCA@ZgIrgIjgIRgIZfIRfIԑee"dcccc @ɢ%ASB%VYL )-rI) M&߽ɡQiQIU.=I]CA@iYiY)]CA@)YIi0checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011048>A ;>Ii I N >A De fDe SDe ,Da Ee I@: Ee 96Ee g4:Ea "Ee CR;!u Ee ER;!u *Ee ;:!u Ee =:!u L,AN0)Ay:F|@ٱ: @: :$:HF"?w?@g`a?? j ?I:F|@):^;i8F!NBFHBDN(6DN05YV=!V\=VQ)Z>X9X9ZEYZE^LA^>`Q 1fa4٪bܷ͊?Q 5fa4b\ b[B9dYfQ Ej?ybK C)bK:Ibd:ib~a4YlnAlgFNOT Ignoring new targets: 154.20 m.g #g # ProNav: ac range: 154.199997 m, nav range: 150.584305 m, bearing: 199.697417 deg, approach rate: -0.434376 m/s, LOS rate: -0.142558 deg/s, cmd heading: 172.846447 deg, new cmd heading: 172.688087 deg. gûbg@@Zg!rg!jg!Rg!Zf!Rf!e)e)"d)c)c1c1c5} @ɢ]WSBeT aeIa eɡiiiImw=Iu@@iqiq)u@@)I9i0BDAT read: Rx Time:18:19:39.1775 TRx dataTimestamp_ set to:1755627581.358752checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264241>AII)N5>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514985L,h0)Ay:{@ٱ:֋@:? : :H2?Z?gF_??ԣ@S?I:{@):N^;i:CB.NBBH)P PBD6DY<! 7=rDjD=]SQ)e>y99EYEA>DjDPD)DEN: E?96EFA4:E!=@!=@!=@!=@QQ 1Ua4٪,͊?Q 5Ua4 G[B9YY]Q E]?y C)]A~B֍CBHBNBB =BBBJv;BI%9i!!%0!y-DAT read: 18:19:39.1775 LVL= 29728, 26609, 22322, 27667, AGC= 63, IDX= 421,-0.20,-2.839, 2.577,-1.209,-2.410, PHS=-0.327,-1.251, 1.157, RAW= 187.7, 4.0, CAL= 187.7, 1.8, ROT= 322.3, -1.8 =Ygot valid direction response: 18:19:39.1775 LVL= 29728, 26609, 22322, 27667, AGC= 63, IDX= 421,-0.20,-2.839, 2.577,-1.209,-2.410, PHS=-0.327,-1.251, 1.157, RAW= 187.7, 4.0, CAL= 187.7, 1.8, ROT= 322.3, -1.8 EPDAT read: Bearing 26.0, -29.9 (Local) E~Local bearing/azimuth received: Bearing 26.0, -29.9 (Local) MDAT read: Range 11 to 50 : 152.9 m (Round-trip 203.9 ms) speed 0.4 m/s U*DAT read: user:893> ]BDAT read: Tx time:18:19:40.2695 ]$Ping request sent.]AA bAM }AZAM }AIA IQ N] >{L,)w0)AyFy@ٱFa@F3 FFHC?3?\@K?`X?e좿Ʈ?IFy@L)F^;iFCbSNBbHeMb@Mb@Mb@a a)aIaiaegfffff?Mb?y&1|?e3?e=e`;)eIAIeAie`AeʮA aeGABD}'6D}5Y=!Q=vQ)>99EYEOA>Q 1b4٪_͊?Q 5b44 f[B9p?Q A:YQ E?y C) ;IP ;i b4YAJh)Rh-0w0)Ah-Ch-4-qf:^@5]Wczq.5@~-N?(Iz?h-q(h- -Da1y;rGZi8@~-nx ӿ~q!4?jh-;rh-pZh- l?bh-zyzh-[Bh)h-h- Bh-Ch-C^@  addTargetRange:: Added new target pos. range: 152.899994 m, deltaT: 3.779731 s, deltaX: -1.300003 m, approachRate: -0.343941 m/s, rangeRepo size: 4  Added new target pos. range: 152.899994 m, bearing: 198.982310 deg, lat: 36.779395 deg, lon: -121.859608 deg, deltaT: 3.779731 s, deltaX: -1.300003 m, approachRate: -0.343941 m/s, posRepo size: 4 g!%FNOT Ignoring new targets: 152.90 m.g-g)= ProNav: ac range: 152.899994 m, nav range: 149.668991 m, bearing: 198.982310 deg, approach rate: 0.000000 m/s, LOS rate: -0.135542 deg/s, cmd heading: 172.488341 deg, new cmd heading: 172.345869 deg. g9bg=@@Zg9rg9jg9Rg9ZfARfAeAeI"dIcQcQc]c@c]-?ɢSB U !-I) -)ɡ)i)I-!=I5@@i1i1)=@@)9I9i0BEg4JEģf4RE0DaDD,DE%.: E6Eg4:E"E2;!E2;! *Ed:! Ef:! >Aa ! I9 IQ N] >L,BC0)Ay>9x@ٱ>Z@>% >>H )?Ļ?c?o?v۬?I>9x@)>u^;i>CbYNBfHBDj*6Dj 5YrЁ<!vV=v4Q)v>x9x9zEYzEzGAz>|Q 1 b4٪™͊?Q 5 b4 [B9YQ E?y C)B:I[:i!b4YAgAMFNOT Ignoring new targets: 152.90 m.gM} gM} ] ProNav: ac range: 152.899994 m, nav range: 149.500839 m, bearing: 198.929266 deg, approach rate: -0.444294 m/s, LOS rate: -0.140311 deg/s, cmd heading: 172.345863 deg, new cmd heading: 172.186553 deg. gebgeU@@ZgargajgaRgaZfaRfieiei"dicqcqcqcu ?ɢSB:X 顥I ~ɡiI}"=IU@@ii)U@@)Im9iqqu0q)Q>AID^DTD)DEC#: E96EFA4:E!@!@!@!@I N% >ԁ vB >~B ׍CB HB FOBB =B B fDB v;B /EBE֍CBE֍CBABE˪ =BE˪ =BE'5&L,i0)Ay6w@ٱ6\Ă@66ۖ6H`H?`?@ #Gܷ?@ ?`Ǡ@?I6w@)6^;i6CNuNBRHRC=Rp;YmMb@Mb@Mb@i i)iIiiim|?5^?Mb?~jt?m?imD<)mKAIm1AimAmlA imABD16DT 5Y=!@=nyQ)>99EYEp/A>Q 1b4٪Ȏ͊?Q 5b4r [B94?Q A:YQ E?y; C)m ;I ;i'b4YBsA>EB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 152.90 m.gg  ProNav: ac range: 152.899994 m, nav range: 149.311554 m, bearing: 198.871515 deg, approach rate: -0.443798 m/s, LOS rate: -0.135576 deg/s, cmd heading: 172.186555 deg, new cmd heading: 172.013081 deg. g bg#@@ZgrgjgRgZfRfee"d!c!c!c!c%?ɢUSBUGQ Q]ɩIY ]kɡYiYI]Df#=Ie#@@iaia)e#@@)i qI9i0@?>@?>ԉi%=I%WC)GԹ ~A)I~AA>A=3>rAM>jAM>uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.?AIIN> D bD ND (D E 1: E ҆96E c44:E "E 09;! E 29;! *E լ:! E ׬:! L,0)Ay6Wv@ٱ6)@66.s6H z?z?Q|V ? ?{\?I6Wv@)6wu^;i6CzNBzHBD6DJ4YX=!S=Q)>99EYE%HA%>)Q 15b4٪-͊?Q 55b4-@ -[B91Y5' Q E=?y-s C)-I;I-/;i-4b4YAE'AAgimFNOT Ignoring new targets: 152.90 m.gugu ProNav: ac range: 152.899994 m, nav range: 149.137238 m, bearing: 198.820206 deg, approach rate: -0.451184 m/s, LOS rate: -0.132958 deg/s, cmd heading: 172.013082 deg, new cmd heading: 171.858977 deg. g~bg?@ZgrgjgRgZfRfee"dcccc@?ԹɢSBV CI ɡiIA$=I?@ii)?@)Iqiqqqqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499817>AII N>9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751736-L,0)Ay6)u@ٱ6g@666H `K??v ?I? ̞T9T9VEYVEVAAZ>XQ 1^b4٪Zy͊?Q 5bb4Z Z[B9`YbT Q Eb?yZ C)XIZD;iZ#Bb4YdjAhgx~FNOT Ignoring new targets: 152.90 m.g~g ProNav: ac range: 152.899994 m, nav range: 148.959656 m, bearing: 198.769746 deg, approach rate: -0.456355 m/s, LOS rate: -0.129828 deg/s, cmd heading: 171.858980 deg, new cmd heading: 171.707420 deg. g3bg?@ZgrgjgRgDaDMD,DE%.: E996Eg4:E!M@!M@!M@!M@ZfRfYeiei"dcccc B#?ɢSB}O ZI ɡiI )%=I?@ii)?@)vB5>~B1B59HB5OBB5 =B1B1B5u;B5>/EaIm 9iiim 5ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003649ԉ>A I I N- >Թ L,ޯ0)Aɰ;y6.s@ٱ6@6o66H?]g? B@Ϸ? =? ?I6.s@)6U^;i6CBNBBTH Mb@Mb@Mb@  ) I i  gfffff?:v?Q? 3? < u<) 5AI ߲Ai A &A  ABD}6D}5YK=!<=Q)>99EYE,A>Q 1b4٪m͊?Q 5b4> #\B9f?Q A:Y* Q E?y C)/:I:iNQb4YBoA=EgFNOT Ignoring new targets: 152.90 m.gg ProNav: ac range: 152.899994 m, nav range: 148.757599 m, bearing: 198.715534 deg, approach rate: -0.465431 m/s, LOS rate: -0.125046 deg/s, cmd heading: 171.707418 deg, new cmd heading: 171.544560 deg. gbg?@ZgrgjgRgZfRfe e "d c c cc@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255781ɢMTBMҲ\ IMIQ UnɡQiQIU-%=I]?@iYiY)e?@)aԑI9im0D cD PD D E g5: E ?96E :E "E u?;!E w?;!*E e:!E f:!>AbAZA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508240A! I) I9 NM > L,z0)Ay6}r@ٱ6d@6&66He^?"=?@5@.? ?`o?I6}r@)6&A^;i6CnNBnnHBDv"6Dvm5Y~[=!S=kQ)> 9 9 EY  E DA >Q 1b4٪`b͊?Q 5%b4 J\B9!Y%YQ E%?y#C);I;i^b4Y)-DA1gQ]FNOT Ignoring new targets: 152.90 m.g] ge m ProNav: ac range: 152.899994 m, nav range: 148.575638 m, bearing: 198.668464 deg, approach rate: -0.471189 m/s, LOS rate: -0.122036 deg/s, cmd heading: 171.544559 deg, new cmd heading: 171.403177 deg. gubguu?@ZgqrgqjgqRgqZfyRfyeyey"dcccc1@ɢ/TBTZ 顽@I ɡiI &=Iu?@ii)u?@)IU9iQQU0QMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759615>A5;>D5eD5OD5*D1E5<: E596E5(N4:E1!E@!E@!E@!E@I I1 I N} >A <A 4=vB% >~B% ؍CB% HB% OBB% =B! B% gDB% t;B% .E^5 L,{f70)Ay6Pq@ٱ6R@6p66H _?W#?`,z+/?@? +B?I6Pq@)6 W^;i4RBDAT read: Rx Time:18:19:42.8754 VTRx dataTimestamp_ set to:1755627584.886495Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012614ZNBZH!@! !@! !@! !@! BD6DY=!<=Q)>99EYE.A>Q 1 b4٪vU͊?Q 5 b4 v\BQ = +:9 Q A :Y Q E?ybC):I;>ikb4Y$A=B*** querying acoustic contact ***:h9Bh9gAMFNOT Ignoring new targets: 152.90 m.gMgM] ProNav: ac range: 152.899994 m, nav range: 148.368805 m, bearing: 198.616909 deg, approach rate: -0.475854 m/s, LOS rate: -0.118778 deg/s, cmd heading: 171.403174 deg, new cmd heading: 171.248292 deg. gebgeCI?@ZgargajgaRgaZfaRfieiei"dicqccc@@ɢNTB%U !%I! %ɡ)i)I-'=QIUCI?@iQiY)]CI?@)YI9iB5yechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264844>A- 3>Թ I I N >D5 D5 MD1 D1 E5 : E5 96E1 :E1 "E5 ý;!E E5 Ľ;!E *E5 :!E E5 :!E &L,:AQ0)Ai@yVSkp@ٱVTf~@VrV VH`rE ?5?kE@|? ;? z ?IVSkp@)VN^;iVC~OB~HBD 6D YW=!Y=%Q)%>!9!9%EY-E-KA->1Q 1=b4٪5I͊?Q 5=b45: 5\BQ == :9AQ AEq:YEQ EE?y5C)5v;I5OP?i5sb4YMBMtAM >1IE9iAAE 5AUDAT read: 18:19:42.8754 LVL= 29936, 32753, 24498, 29731, AGC= 62, IDX= 415, 0.11,-2.207,-3.090,-0.698,-1.929, PHS=-0.175,-1.115, 1.188, RAW= 186.1, 1.0, CAL= 186.1, -1.7, ROT= 323.9, 1.7 ]Ygot valid direction response: 18:19:42.8754 LVL= 29936, 32753, 24498, 29731, AGC= 62, IDX= 415, 0.11,-2.207,-3.090,-0.698,-1.929, PHS=-0.175,-1.115, 1.188, RAW= 186.1, 1.0, CAL= 186.1, -1.7, ROT= 323.9, 1.7 ePDAT read: Bearing 12.6, -27.2 (Local) e~Local bearing/azimuth received: Bearing 12.6, -27.2 (Local) uDAT read: Range 11 to 50 : 151.3 m (Round-trip 201.8 ms) speed 0.2 m/s u*DAT read: user:894> }BDAT read: Tx time:18:19:43.9695 }$Ping request sent.}=`direction in FSK: [0.807634,-0.588937,-0.029666]=:publishing transmit ping time9y=Fpublishing direction and range infoj#?pm `LCIti_#t>333 R)b?I.O@i5<.O@_@AII N >ԁ Y ] AGL,k0)AyF0o@ٱF+}@FrFFH@"? ߮? 6 ?z? @m?IF0o@)Ff^;iFC~OBHBD%6D%^4Y=a<!EH=EQ)M>I9Q9UEYUEU4@AU>aQ 1b4٪=͊?Q 5b4 \BQ =99Q AC:YQ E?yC):I/?ip{b4YBAFEJhRhY0)AhLChܞ=.{^@wFVNx:~j#?pm `hK!h< ϸ5-}bB}KO:=M1@~e<H(k\ƿM:G?jhrhZh@1ߌ?bhrD=jD<D`DID+DE*: Ec96E [4:E!@!%@!%@!%@zh)Bhh^hhChu*]@m addTargetRange:: Added new target pos. range: 151.300003 m, deltaT: 3.529167 s, deltaX: -1.599991 m, approachRate: -0.453362 m/s, rangeRepo size: 4  Added new target pos. range: 151.300003 m, bearing: 197.997961 deg, lat: 36.779395 deg, lon: -121.859592 deg, deltaT: 3.529167 s, deltaX: -1.599991 m, approachRate: -0.453362 m/s, posRepo size: 4 gFNOT Ignoring new targets: 151.30 m.gg ProNav: ac range: 151.300003 m, nav range: 147.535355 m, bearing: 197.997961 deg, approach rate: 0.000000 m/s, LOS rate: -0.115852 deg/s, cmd heading: 171.117262 deg, new cmd heading: 170.958779 deg. gbgy>@Zgrgjg)Rg)Zf)Rf)e1e1"d1c1c1c=b@c=*?ԉɢTBnT 顭I ;AɡiIf)=Iy>@ii)y>@)vB>~BBHBPBB =BBBct;B.EIE9iAAE0AԱ>A ;> I I N >'/!L,0)Ay69m@ٱ6;{@6m6=6H#`%?t$?ʑ]??`HY?I69m@)6M^;i6CR1OBRH!-!- !-!- !-!- !-!- -Mb@Mb@Mb@) )))I)i)-X9v?X9v?{Gz?-?-<-#<)-`AI-۲Ai-A-A )-3ABDE 6DE4YUT=!UH=]bQ)]>Y9a9eEYeEeAAe>iQ 1ub4٪m^0͊?Q 5ub4mm m\BQ =}T:9}?Q A}:Y}Q E}?ymC)m ;Imu;imxb4YqAgFNOT Ignoring new targets: 151.30 m.Թgg ProNav: ac range: 151.300003 m, nav range: 147.338745 m, bearing: 197.952543 deg, approach rate: -0.546663 m/s, LOS rate: -0.126452 deg/s, cmd heading: 170.958774 deg, new cmd heading: 170.822338 deg. gbgu>@ZgrgjgRgZfRfee"dcccc0?ɢTBd5j 顕ЭI SɡiI.*=Iu>@ii)u>@)Im 9iiimO5iDhDRD/DEG: E96EJ4:E"E^;!E^;!*E:!E:! 1>AI I! NE >Y X'L,>О0)AɰyBl@ٱBz@Bt!BZBH D?F? Ƭ?`:? ڡ@V?IBl@)Ba^;iBCJHOBJHBDR6DR4YZmk=!ZU=^aڻQ)^>`9`9bEYb#EbuNAf>dQ 1jb4٪f#͊?Q 5jb4f f]B9lYnQ En?yfGC)f;If;ifߖb4YrݣBvAvEEg FNOT Ignoring new targets: 151.30 m.gNgN- ProNav: ac range: 151.300003 m, nav range: 147.149048 m, bearing: 197.910493 deg, approach rate: -0.494949 m/s, LOS rate: -0.109854 deg/s, cmd heading: 170.822334 deg, new cmd heading: 170.696025 deg. g-Ȗbg-W>@Zg)rg)jg)Rg)Zf)Rf1e1e1"d1c9c9c9cE?ɢmTBmbb imYIq u0ɡqiqIu *=I}W>@iyiy)W>@) 9I9i/5@@}Aa>A53>bA9ZA=xAIIN>bDZD?ADeDKD(DE<: E]t96Ec44:E!@!@!@!@ԱA AAA vB >~B ׍CB IB XPBB =B B fDB 4t;B .E d-L,0)AfOB HMb@Mb@Mb@ )Ii㥛 ?Q?Mb`??<;)AI9AiߩA fABD6D4Yx=!;=Q)>99EY(EA>Q 1b4٪͊?Q 5b4 A]B9?Q A:YQ E?yC)` ;I ;i(b4YA B*** querying acoustic contact ***:h Bh gFNOT Ignoring new targets: 151.30 m.gg%- ProNav: ac range: 151.300003 m, nav range: 146.929352 m, bearing: 197.861979 deg, approach rate: -0.501495 m/s, LOS rate: -0.110909 deg/s, cmd heading: 170.696031 deg, new cmd heading: 170.550270 deg. g5;bg5>@Zg1rg1jg1Rg1Zf9Rf9e9e9"dAcAcAcAcEe?ɢuTBuV] y}Iy }UQɡyiyI}6+=I>@ii)>@)ԱIi1 15A5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.>A ;>) BEʙT4JE-W4RE(90D aD SD ,D E %.: E 96E g4:E "E 2;! E 2;! *E <:! E =:! I) I9 NE >9 pk4L,0)AyVkQj@ٱVmLx@Ve&VGyVH`V\ _??z?@S?T?Sh?IVkQj@)Vxh^;iVCnOBnFHBDv6DvI5Y=!U=lNQ)>!9!9%EY%-E%ɽA%>)Q 15b4٪-u͊?Q 55b4- -f]B99Y=}Q E=?y-C)-U;I-r;i-b4YEţBMAMDEgiuFNOT Ignoring new targets: 151.30 m.gu gu  ProNav: ac range: 151.300003 m, nav range: 146.733170 m, bearing: 197.822243 deg, approach rate: -0.513048 m/s, LOS rate: -0.104056 deg/s, cmd heading: 170.550274 deg, new cmd heading: 170.430906 deg. gӎbg_>@ZgrgjgRgZfRfee"dcccc6?ɢTBfd I H`ɡiIU,=I]_>@iYiY)]_>@)achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990458I i   +4 9>A53>q I I N- >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241878H:L,k0)A(i(y^!i@ٱ^w@^v(^^H?q?@h. c?@?J.?I^!i@)^^?^;i^CfOBjZHBDr6Dr5Yzp=!zL=zQ)z>|9|9~EY~2E^>A> Q 1 b4٪ ̊?Q 5b4  ]B9YQ E?y C) ;I ;i b4Y!%A!gIMFNOT Ignoring new targets: 151.30 m.gUgU庝e ProNav: ac range: 151.300003 m, nav range: 146.526733 m, bearing: 197.782183 deg, approach rate: -0.516509 m/s, LOS rate: -0.100370 deg/s, cmd heading: 170.430910 deg, new cmd heading: 170.310564 deg. geĉbge=>@ZgargajgaRgiZfiRfieieq"dqcqcqcyc}@ɢUB?dDeD\D(DE<: E96Ec44:E!@!@!@!@ I }ɡiI1Y-=I=>@ii)=>@)qIi!4@;>@G>vBu>~Bu؍CBuKIBuPBBqBqBugDBu?t;Bu.EB-؍CB-؍CB)B-Ĩ =B-ħ =B-U6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493942ԡ>A ;>IqIN> )E G~AL,E0)A  A)I22 A2ǻALyZg@ٱZu@Z"+ZCZH`X )v?H?5V#F?J?`sw?IZg@)Z.^;iZCbOBfyHMb@Mb@Mb@ )Iid;O?Q?{Gzt??ף;)`AI Ai ̺ABD6D5Yj=!>=1Q)>99EY7EB6A>Q 1b4٪c̊?Q 5b4Y ]B9?Q A:YQ E?y;C):I:ib4YBIACEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746045g)5FNOT Ignoring new targets: 151.30 m.g=ںg=ںU ProNav: ac range: 151.300003 m, nav range: 146.304138 m, bearing: 197.740850 deg, approach rate: -0.513698 m/s, LOS rate: -0.095532 deg/s, cmd heading: 170.310562 deg, new cmd heading: 170.186374 deg. g] bg]>@ZgYrgYjgYRgaZfaRfaeiei"dqcycyccN@ɢ}3UB}@_ y}Iy pɡiI.=I>@ii)>@)DdDSDDE9: E96E:E"EE;!EE;!*E!E!Ie9iaae?0a checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997845>A 9 IY Ii Nu >GL,@ 0)Ay6Ǽf@ٱ6ɷt@6-6 6HZ|?? WR? ?Σ@?I6Ǽf@)6:^;i6CBOBBHBDJ6DJ]5YR'=!R^=RQ)V>T9T9VEYV<EZkKAZ>\Q 1bb4٪^<̊?Q 5bb4^ ^]B9`YbQ Ef?y^qC)^r;I^;i^_b4YjBjFAjLEg|!FNOT Ignoring new targets: 151.30 m.g?ֺg?ֺ ProNav: ac range: 151.300003 m, nav range: 146.112503 m, bearing: 197.706817 deg, approach rate: -0.526658 m/s, LOS rate: -0.093655 deg/s, cmd heading: 170.186376 deg, new cmd heading: 170.084141 deg. gbg^=@ZgrgjgRgZfRfQeYeY"dYcYcacace` @ɢNUBji cI ɡiI.=I^=@ii)^=@))I9iJ0 BDAT read: Rx Time:18:19:46.5732 TRx dataTimestamp_ set to:1755627588.666644checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251320QDbDMD)DE1: E96EFA4:E!@!@!@!@>A3>II I N >Au <Au <ԩ vB ~B B wIB PBB =B B B t;B .EML,90)Aɰ4<4<6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502049yFɎe@ٱFˉs@F.F1Y'FH`~?@/Y? mRa?@?`?IFɎe@)F$^;iFCROBRH-Mb@Mb@Mb@) )))I)i)-x?/$?Mb`-K?-,=-)-AI-9Ai-A-=A )-ABDE6DE+4YU%=!U?=]iQ)]>a9a9eEYeAEe0Am>iQ 1ub4٪m̊?Q 5ub4ymw m ^B9?Q A:YQ E?ymC)m(4;Im3;imNb4YBAB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 151.30 m.gغgغ ProNav: ac range: 151.300003 m, nav range: 145.885178 m, bearing: 197.666255 deg, approach rate: -0.530698 m/s, LOS rate: -0.094841 deg/s, cmd heading: 170.084141 deg, new cmd heading: 169.962266 deg. g-bg=@ZgrgjgRgQZfQRfYeYeY"dYcacacacem @ɢkUBch ٰI tɡiI/=I=@ii)=@)>>ԱI9i40@@AmDAT read: 18:19:46.5732 LVL= 23344, 27761, 21154, 29603, AGC= 58, IDX= 424,-0.36, 0.812,-0.367, 1.877, 0.914, PHS=-0.000,-1.236, 0.918, RAW= 175.1, 3.4, CAL= 174.5, 1.2, ROT= 335.5, -1.2 Ygot valid direction response: 18:19:46.5732 LVL= 23344, 27761, 21154, 29603, AGC= 58, IDX= 424,-0.36, 0.812,-0.367, 1.877, 0.914, PHS=-0.000,-1.236, 0.918, RAW= 175.1, 3.4, CAL= 174.5, 1.2, ROT= 335.5, -1.2 PDAT read: Bearing 6.2, -14.5 (Local) ~Local bearing/azimuth received: Bearing 6.2, -14.5 (Local) DAT read: Range 11 to 50 : 149.7 m (Round-trip 199.6 ms) speed 0.4 m/s *DAT read: user:895> >A bA ZA }A BDAT read: Tx time:18:19:47.6695  $Ping request sent. {TL,VT0)Ay69_d@ٱ6;Zr@6X06#6H@$0@D ?O? @@@?>?$?I69_d@)68C^;i6C~PB~HBD56D54YE=!EC=EۊQ)E>II9i9mEYmGEuH3Au>yQ 1b4٪}̊?Q 5b4} }5^B9Y.Q E?y}C)}O;I}>;i}b4Y_AJhRhJ0)AhChכ;}na@0"pO @~/ ?B:?׈ڿ_2q?hھh fa*ݠ>)7jf<@~ߜ4ʿ~ n^?jh/rhZh9v?bh zhBh l?hzyh[Bh_ChZ\@ addTargetRange:: Added new target pos. range: 149.699997 m, deltaT: 3.778682 s, deltaX: -1.600006 m, approachRate: -0.423430 m/s, rangeRepo size: 4  Added new target pos. range: 149.699997 m, bearing: 197.271642 deg, lat: 36.779378 deg, lon: -121.859588 deg, deltaT: 3.778682 s, deltaX: -1.600006 m, approachRate: -0.423430 m/s, posRepo size: 4 gFNOT Ignoring new targets: 149.70 m.gg  ProNav: ac range: 149.699997 m, nav range: 147.372406 m, bearing: 197.271642 deg, approach rate: 0.000000 m/s, LOS rate: -0.094841 deg/s, cmd heading: 169.962263 deg, new cmd heading: 169.834153 deg. g bg =@Zg rg jg RgZfRfee"dccc`fb@cE`?ɢUBc 顕I AɡiIT0=I=@ii)=@)yIU9iQY]0Yԩ>A A I I N >![L,ٯn0)Ay6-c@ٱ6(q@6)?26y!6H އ?`B?zƱ?@"+?}?I6-c@)63^;i6CB PBBHBDJ6DJ4YR!RV=RMyQ)V>T9T9VEYVKEZaJAZ>\Q 1bc4٪^̊?Q 5bc4^x ^[^B9dYf_Q Ef?y^(C)^;I^;i^Jc4Yhj{Ahg|~FNOT Ignoring new targets: 149.70 m.goٺgoٺ ProNav: ac range: 149.699997 m, nav range: 147.169067 m, bearing: 197.238463 deg, approach rate: -0.581712 m/s, LOS rate: -0.095049 deg/s, cmd heading: 169.834156 deg, new cmd heading: 169.734483 deg. gvbga=@ZgrgjgRgrDjDR=D%dD%mD%,D!E%9: E%:6E%g4:E!!5@!5@!5@!5@Zf1Rf1Թe9e"dccccH?ɢUB~B׍CBIB.QBB =BBBt;B.Eii)a=@)I9i>A ;>I A I I N bL,0)Aiy:a@ٱ:o@:e3:d#:HZ`?@6?\u_@?@bO?@0|?I:a@):K^;i:CbFPBbIMb@Mb@Mb@ )IiZd;?Mb??@=)IhAipAA ¹ABD=6D=4YMH>!M2=M Q)M>Q9Q9UEYUQE]&A]>aQ 1mc4٪e̊?Q 5mc4e e^B9mS?Q Am:YmQ Eu?yenC)e@:Ie ;ieOc4Y}B}A}KEgFNOT Ignoring new targets: 149.70 m.gǺgǺ ProNav: ac range: 149.699997 m, nav range: 146.916885 m, bearing: 197.198465 deg, approach rate: -0.550153 m/s, LOS rate: -0.087410 deg/s, cmd heading: 169.734477 deg, new cmd heading: 169.614274 deg. gobgv=@ZgrgjgRgZfRfee"dccIcQcU`M%?ɢUBDg 顥1I Q ɡiI 1=Iv=@ii)v=@) D5aD5RD5)D1E5%.: E596E5FA4:E1"E52;!=E52;!=*E5:!EE5:!EAIi@?>@C>q>AM 3>rAM >jAM >A} AI I ԡ N >3hL,g0)Ay:`@ٱ:n@:w3:T:H@1vK?9vK?9zEYzVEz+UAz>|Q 1c4٪~ݐ̊?Q 5c4~{ ~^B9 Y HQ E ?y~C)~p:I~F:i~$c4YfAg9EFNOT Ignoring new targets: 149.70 m.gE\gE\U ProNav: ac range: 149.699997 m, nav range: 146.718277 m, bearing: 197.168532 deg, approach rate: -0.554283 m/s, LOS rate: -0.083650 deg/s, cmd heading: 169.614279 deg, new cmd heading: 169.524360 deg. gUebg]L\=@ZgYrgYjgYRgYZfYRfaeaea"dacicicicm H?ɢUBu 顝I { ɡiI؄2=IL\=@ii)L\=@)qIQiQQU0QԡbD9ZD=AADEfDEKDE*DAEEI@: EE]t96EE(N4:EA!U@!U@!U@!U@>AqA @AA vB >~B B IB QBB B B fDB u;B /EI I1 NU > 4^nL,C0)Ay>_@ٱ>m@>54>>H' ?@?Q kP?i?`=Y}?I>_@)>9^;iI9I9UEYU[EU7AU>YQ 1ec4٪]€̊?Q 5ec4]`  ]^B9m^?Q Am:YmQ Em?y]C)]:I]H:i]c3c4YusBuA}JEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 149.70 m.gͶgͶ ProNav: ac range: 149.699997 m, nav range: 146.491974 m, bearing: 197.135271 deg, approach rate: -0.542846 m/s, LOS rate: -0.079909 deg/s, cmd heading: 169.524366 deg, new cmd heading: 169.424428 deg. g\[bg?=@ZgrgjgRgZfRfee"dcccc`I?ɢVBfCj 顥sI h ɡiIgF3=I?=@ii)?=@)Iiiiim0iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A;>9 DQ DU TDU -DQ EQ  EU 96EU t4:EQ "EU DR;!] EU FR;!e *EU :!e EU :!e I I N >Y KuL,.70)Aɰ;y6^P^@ٱ6`Kl@646Dܼ6H@l?`?z`iW?t?"@~?I6^P^@)6[P^;i4BPBBPIiDIDBDN6DN!4YV=!VT=V&wQ)Z>X9X9^EY^`E^|UA^>`Q 1fc4٪bq̊?Q 5fc4b  b _B9dYj, Q Ej?ybC)b;Ib>;ib@c4YlnApg FNOT Ignoring new targets: 149.70 m.g ԭg ԭ ProNav: ac range: 149.699997 m, nav range: 146.280838 m, bearing: 197.106030 deg, approach rate: -0.547881 m/s, LOS rate: -0.075986 deg/s, cmd heading: 169.424427 deg, new cmd heading: 169.336579 deg. g%Pbg%&=@Zg!rg!jg!Rg!Zf!Rf)e)e)"d1c1c1c1c5Ǻ@ɢeVBe=s ae箿Ia m/ ɡiiiIm4=Iu&=@iqiq)u&=@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.205046!IAiAAE0I@I@M}AQ>A3>IIN >y ߁ ޅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458093o{L,f0)A0y:]@ٱ: k@:4::H)f?`C?߿TS?z?`gf`>}?I:]@)::4^;i:CBPBBnIBDJ6DJ4YR=!VK=V}Q)V>X9X9ZEYZeEZEAZ>rD|jD~<DDJD'DE: Ek96E'4:E!@!@!@!@9Q 1Ec4٪=`̊?Q 5Ec4= ==_B9IYMi!Q EM?y=ZC)=t:I=:i=xOc4YUiBUAUREgFNOT Ignoring new targets: 149.70 m.g&g& ProNav: ac range: 149.699997 m, nav range: 146.050613 m, bearing: 197.075997 deg, approach rate: -0.545843 m/s, LOS rate: -0.071319 deg/s, cmd heading: 169.336577 deg, new cmd heading: 169.246335 deg. gCbg =@ZgrgjgRgZfRfee"dcccc%&0@vBU>~BQBU IBUQBBU =BQBUgDBU+u;BU/Eԑɢ@VBh I ɡiI4=I =@ii) =@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708841Ii0Թ >A% ;>I I N >XL, 0)Ay6[[@ٱ6]i@646g 6H w #??`޿@?@}?"{?I6[[@)6gA^;i4JPBJIpMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.961362Mb@Mb@Mb@ )Iin?~jt?~jt??=<)AIiA&A \ABD 6D4Y=!%5=%|ʹQ)%>)9)9-EY-kE+A>Q 1c4٪tN̊?Q 5c4_ u_B9h?Q A:Y$Q E?yC)z:I:ij_c4YQBWA gQUFNOT Ignoring new targets: 149.70 m.g]:g]:m ProNav: ac range: 149.699997 m, nav range: 145.798553 m, bearing: 197.047424 deg, approach rate: -0.547517 m/s, LOS rate: -0.062173 deg/s, cmd heading: 169.246337 deg, new cmd heading: 169.160469 deg. gu*bgu=<@ZgqrgqjgqRgqZfqRfyeyey"dccccp@ɢ`VBl 顽I L4ɡiI5=I=<@ii)=<@ BEFA4JEI4RE0D^DHD)DEC#: E[96EFA4:E"E ;!%E ;!-*E(:!-E):!-)1I9i9BDAT read: Rx Time:18:19:50.2706 TRx dataTimestamp_ set to:1755627592.446635checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213457>A 3>Iy I ԑ N >L,#0)Aiy6tZ@ٱ6vh@6}w56 6H@?e8? ݿ :Ir?? Ey?I6tZ@)6.^;i6CB)QBBIBDJ6DJ+4YRj >!Rf=RT9T9VEYVoEZjAZ?\Q 1bc4٪^@̊?Q 5bc4^ ^_B9`YbB%Q Eb?y^C)^;I^;i^kc4YhjAhg|9}FNOT Ignoring new targets: 149.70 m.gzgz ProNav: ac range: 149.699997 m, nav range: 145.612549 m, bearing: 197.027805 deg, approach rate: -0.569041 m/s, LOS rate: -0.060096 deg/s, cmd heading: 169.160467 deg, new cmd heading: 169.101536 deg. g$bgc<@ZgrgjgRgZfRfee"dccccÏ @ɢ-{VB5lu qu:Iq }~+ɡyiyI}A6=Ic<@ii)c<@)I)i)111@9@=G>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465546iD9D=KD=,D9E9 E=]t96E=g4:E9!m@!m@!m@!m@ԙ>AIrAU>jAQIIN>A1 A5 <vBM >~BM ؍CBM EIBM 6RBBM =BI BI BM Du;BM !/EB׍CBBBɧ =BB5 - DAT read: 18:19:50.2706 LVL= 32752, 32753, 29314, 32755, AGC= 67, IDX= 413,-0.05,-2.819, 2.036,-2.226,-2.845, PHS= 0.128,-1.357, 0.574, RAW= 162.8, 7.5, CAL= 162.3, 7.5, ROT= 347.7, -7.5 5 Ygot valid direction response: 18:19:50.2706 LVL= 32752, 32753, 29314, 32755, AGC= 67, IDX= 413,-0.05,-2.819, 2.036,-2.226,-2.845, PHS= 0.128,-1.357, 0.574, RAW= 162.8, 7.5, CAL= 162.3, 7.5, ROT= 347.7, -7.5 = PDAT read: Bearing 3.3, -2.2 (Local) E ~Local bearing/azimuth received: Bearing 3.3, -2.2 (Local) M DAT read: Range 11 to 50 : 147.6 m (Round-trip 196.9 ms) speed 0.6 m/s U *DAT read: user:896> L,=0)AyB&RY@ٱB(Mg@B6B)BH $? k?ܿC?y?`7㤿@x?IB&RY@)BJ^;iBCbBDAT read: Tx time:18:19:51.3695 b$Ping request sent.b --)-?I-o5@i- >-uJ5@- >-<1@- I)i))-y{]L???->?-(-[ - I)i)v:publishing transmit ping time9`vFpublishing direction and range info)-{? ˿ /?))I)i))))) )))I)i))))ԙMQBI)I)i))-y{]L???))) )I)i)5Mb@Mb@Mb@1 1)1I1i15I +?~jt?:v?59?15<)5tAI5Ai5&A5QA 15ABD6DJ4i=IRCY5=)=eG!E= QeQ)e>)iIdA99EYvEoA>Q 1c4٪*̊?Q 5c44 _B9?Q A :Y i&Q E ?yC)O;I ;i}c4Y:BMAQEJh)Rh-<0)Ah-Ch-8-)kOMa@Tܛ,?D3@~-{? ˿ /?h-[h-  -)SV`*ԝ,A$=F@~-p0uV]_ο>?jh-y rh-Zh-Eeo?bh-zh-Bh)h-h-Bh-eCh-Y@ addTargetRange:: Added new target pos. range: 147.600006 m, deltaT: 3.779650 s, deltaX: -2.099991 m, approachRate: -0.555605 m/s, rangeRepo size: 4  Added new target pos. range: 147.600006 m, bearing: 194.279413 deg, lat: 36.779378 deg, lon: -121.859508 deg, deltaT: 3.779650 s, deltaX: -2.099991 m, approachRate: -0.555605 m/s, posRepo size: 4 gFNOT Ignoring new targets: 147.60 m.gg  ProNav: ac range: 147.600006 m, nav range: 143.397568 m, bearing: 194.279413 deg, approach rate: 0.000000 m/s, LOS rate: -0.060096 deg/s, cmd heading: 169.101537 deg, new cmd heading: 169.001364 deg. g bg<@ZgrgjgRgZfRfee"dccc@3sb@c?ɢMVBMfb Q YYuLI &ɡiI7=I<@ii)<@)I- 9i) ) - @5) D- eD- WD- )D) E- <: E- 96E- FA4:E) "E- K;!5 E- L;!= *E- [:!= E- \:!= ! >AQ IAIIN?>L,d^0)AɰeQBIBD%6D%4Y5e=!5E=5Q)=>9999=EY={EEAE>IQ 1Uc4٪Mc̊?Q 5Uc4M@ M`B9QYQQ E]?yMVC)M;IM;iMӋc4YaeAa}B*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 147.60 m.gg ProNav: ac range: 147.600006 m, nav range: 143.182419 m, bearing: 194.253514 deg, approach rate: -0.565574 m/s, LOS rate: -0.068184 deg/s, cmd heading: 169.001365 deg, new cmd heading: 168.923552 deg. g-;bg~<@ZgrgjgRgZfRfee"dcccc T?ɢVBq9{ I ɡiI77=I~<@ii)~<@)I}8i0-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.>AiA yAD fD YD +D E I@: E *96E [4:E ! @! @! @! @I I N >ԙ vB >~B ٍCB ~IB RBB =B B hDB 1u;B /EvL,xx0)AymKV@ٱmMd@m 7mN0mH S?`?-^ڿ"@6?d? u?ImKV@)mC^;iiQBIiI A%Mb@Mb@Mb@! !)!I!i!%S?{Gz?:v?%?%ף!]8=euQ)e>e H?9m H?9mEYmEm¹Au>qQ 1}c4٪ů?Q 5}c4u(" uQ`B9Y?Q A:Y*Q E?yuC)uj:Iu:iujc4Y"BAPEgFNOT Ignoring new targets: 147.60 m.g\g\ ProNav: ac range: 147.600006 m, nav range: 142.944870 m, bearing: 194.232027 deg, approach rate: -0.532843 m/s, LOS rate: -0.048277 deg/s, cmd heading: 168.923556 deg, new cmd heading: 168.858989 deg. gbg<@ZgrgjgRgZfRfee"dccccdo?ɢVBii iI ɡiIS8=I<@ii)<@) yI9i@5ԩ>A B>bA ZA A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224636I I N > LL,0)Ay6rU@ٱ6mc@6Io86.6H`I9'? -? 5ٿ@d@H?` ?s{&t?I6rU@)6"^;i4BQBB IBDJ6DJ|4DR`DRNDR)DPER*: ER҆96ERFA4:EP"ER,;!ZER,;!Z*ER֬:!ZER׬:!ZYb+=!bk=bQ)b?d9d9fEYfEfmAj?hQ 1nc4٪jˊ?Q 5rc4jR$ j}`B9pYr9,Q Er?yjC)jr;Ij;ijc4Yv!BzAxgFNOT Ignoring new targets: 147.60 m.g%Ig%I5 ProNav: ac range: 147.600006 m, nav range: 142.759842 m, bearing: 194.216804 deg, approach rate: -0.534878 m/s, LOS rate: -0.044066 deg/s, cmd heading: 168.858983 deg, new cmd heading: 168.813253 deg. g5bg5<@Zg1rg1jg1Rg1Zf1Rf9e9eA"dAcAcAcAcM?ɢWBy I ɡiIB9=I<@ii)<@)!I9i3checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475981>A53>) I I! N5 >Y |L,]0)A$i$yB+T@ٱB&b@BN9B*BH` ? O? ؿoޞ? ?0@6s?IB+T@)B^;iBCNQBN!IBDV6DV4Y^=!^J=^ Q)b>`9`9bEYbEfYIAf>-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7388691Q 1=c4٪5Oˊ?Q 5=c45& 5`B9AYE-Q EE?y5C)5[:I5t:i5c4YM BM0AUOEgq}FNOT Ignoring new targets: 147.60 m.g}r6g}r6 ProNav: ac range: 147.600006 m, nav range: 142.535675 m, bearing: 194.200171 deg, approach rate: -0.536618 m/s, LOS rate: -0.039877 deg/s, cmd heading: 168.813248 deg, new cmd heading: 168.763273 deg. gںbg<@ZgrgjgRgZfRfee"dcccc?ɢ WBq I ]ɡiI9=I<@ii)<@))DqDoD/DE2h: E:6EJ4:E!@!@!@!@I9i!4AqAqvB}>~B}ڍCB}IB}RBB} =ByB}iDB}t;B}.EY>AE;>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.988140N>y _L,H0)A,y:R@ٱ:`@:6::G*:HPT@t?{? ]ֿ r?&?`q?I:R@):z0^;i:CB%RBF;IMb@Mb@Mb@ )Iim?I +??9<)IAiA ABD-6D-r4Y==!=C==h Q)E>A9A9EEYEEM LAM>QQ 1]c4٪Uˊ?Q 5]c4U( U`B9]?Q A]:Ye31Q Ee?yU8C)U ;IUm ;iUMc4YimAigFNOT Ignoring new targets: 147.60 m.g&g5&] ProNav: ac range: 147.600006 m, nav range: 142.316437 m, bearing: 194.189081 deg, approach rate: -0.539572 m/s, LOS rate: -0.027337 deg/s, cmd heading: 168.763278 deg, new cmd heading: 168.729955 deg. g]bge"y<@ZgargajgaRgaZfiRfee"dcccc 5@ԉɢDWB~m ңI | ɡiIz:=I"y<@ii)"y<@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240136IM|AI9i5DbDQD+DE1: Ev96E [4:E"E19;!E49;!*E:!E:! >A rA >jA ?I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4920081L,l0)Ay6Q@ٱ6_@68;6z-6H ?? Lտ\r?E?S@:p?I6Q@)6^;i6CBXRBB[IBDJ6DJ4YR>!RU=R'Q)V>T9T9VEYVEZLJAZ>`\Q 1bc4٪^tˊ?Q 5fc4^* ^aB9dYfi2Q Ef?y^mC)^-;I^t.;i^c4YjBnAnNEuB*** querying acoustic contact ***:hqBhqgFNOT Ignoring new targets: 147.60 m.gɹgɹ ProNav: ac range: 147.600006 m, nav range: 142.108673 m, bearing: 194.180147 deg, approach rate: -0.512425 m/s, LOS rate: -0.022067 deg/s, cmd heading: 168.729961 deg, new cmd heading: 168.703119 deg. gPrbguq<@ZgrgjgRgZfRfee"dcccc @ɢ]aWBeu aeIa eɡaiiImk;=Imuq<@iqiy)}uq<@)I-9i))-@5)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744186>A3>I I! N5 >rD %=jD %=D _D JD *D E &: E k96E (N4:E ! @! @! @! @A vB >~B ٍCB IB gSBB =B B hDB t;B .EL,ߣ0)AɰR;R4< y_P@ٱZ^@=<t*HNl??ԿiL@e͔?e?`n?I_P@)@{^;iCxRBnI=Mb@Mb@Mb@9 9)9I9i9=K7?QQ?=I ?=u=u<)=AI=MAi=A=A 9=GABDU6DU 4YeE=!e0=e Q)e>i9i9mEYmEu+Au>BDAT read: Rx Time:18:19:53.9678 TRx dataTimestamp_ set to:1755627595.994634checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009082yQ 1c4٪}uˊ?Q 5c4}, }MaB9d ?Q A:Y{5Q E?y}C)}s;I}:i}c4YAgY]FNOT Ignoring new targets: 147.60 m.ge"hge"hu ProNav: ac range: 147.600006 m, nav range: 141.860229 m, bearing: 194.174277 deg, approach rate: -0.535977 m/s, LOS rate: -0.012684 deg/s, cmd heading: 168.703118 deg, new cmd heading: 168.685479 deg. guG bgjl<@ZgrgjgRgZfRfee"dcccc@1ɢUWBU m Y]¡IY ]5ɡYiYI]&<=Iejl<@iaia)mjl<@)iI 9i   #1 Y>A) u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256390ԑ AY Ii Iy N >YL,X0)ADaDGD.DE%.: ER96Eـ4:E"E2;!&E2;!&*Es:!&Es:!&yV#O@ٱV]@V{E=VW'VH`7A?@?`+eӿi}/?A? Nm?IV#O@)VI^;iVCzRBzIBD6D4Y(=!_=3Q)>99EYE%AWA%>)1Q 15c4٪-ˊ?Q 5=c4-G. -xaB99Y=6Q E=?y-C)-S*;I-q+;i-c4YEڢBE)AMMEgiuFNOT Ignoring new targets: 147.60 m.gu$gu$ ProNav: ac range: 147.600006 m, nav range: 141.663544 m, bearing: 194.171157 deg, approach rate: -0.566477 m/s, LOS rate: -0.008999 deg/s, cmd heading: 168.685482 deg, new cmd heading: 168.676109 deg. gŹbgi<@ZgrgjgRgZfRfee"dcccc@O @ɢWB| 6I NɡiI<=Ii<@ii)i<@)M>M>I9iO5@@AaDAT read: 18:19:53.9678 LVL= 30704, 32753, 30274, 32755, AGC= 65, IDX= 417, 0.20, 1.250,-0.453, 1.442, 0.972, PHS= 0.380,-1.380, 0.426, RAW= 151.3, 6.5, CAL= 150.6, 6.8, ROT= 359.4, -6.8 Ygot valid direction response: 18:19:53.9678 LVL= 30704, 32753, 30274, 32755, AGC= 65, IDX= 417, 0.20, 1.250,-0.453, 1.442, 0.972, PHS= 0.380,-1.380, 0.426, RAW= 151.3, 6.5, CAL= 150.6, 6.8, ROT= 359.4, -6.8  PDAT read: Bearing 352.5, 9.8 (Local) ~Local bearing/azimuth received: Bearing 352.5, 9.8 (Local) ]DAT read: Range 11 to 50 : 145.6 m (Round-trip 194.2 ms) speed 0.6 m/s e*DAT read: user:897> mBDAT read: Tx time:18:19:55.0695 m$Ping request sent.m ף)>I)@iV=8(@=@Ii)D @S,?ؗ-?? ? D+ Ii5:publishing transmit ping time9i5Fpublishing direction and range infok?_AKEO?Ii )IiIi)D @S,?ؗ-?? Iԉ>AbAZA~AiA I I N% >Թ L,-0)ARBIBD%6D%h4Y55=!5I==Q)=>99A9EEYEEEAE>IQ 1Uc4٪Mˊ?Q 5Uc4M/ MaB9YYYQ E]?yMC)M;IM<;iMc4YaeAaJhRh 0)AhChZ`5+b@Ҝ=)K9,FW=1@~k?_AKEO?hD+hԙ Oo< `+EKE@~t4mj1}ҿbJ%?jh@(rhiZh?bhOFzhBhhhhr Ch,X@ addTargetRange:: Added new target pos. range: 145.600006 m, deltaT: 3.545691 s, deltaX: -2.000000 m, approachRate: -0.564065 m/s, rangeRepo size: 4  Added new target pos. range: 145.600006 m, bearing: 194.167686 deg, lat: 36.779378 deg, lon: -121.859508 deg, deltaT: 3.545691 s, deltaX: -2.000000 m, approachRate: -0.564065 m/s, posRepo size: 4 gFNOT Ignoring new targets: 145.60 m.gg ProNav: ac range: 145.600006 m, nav range: 141.445328 m, bearing: 194.167686 deg, approach rate: 0.000000 m/s, LOS rate: -0.008999 deg/s, cmd heading: 168.676111 deg, new cmd heading: 168.665001 deg. gbgf<@ZgrgjgRgZfRfee"dccc@33b@c?ɢ-WB-gYs )-xI) 5 ɡ1i1I5==I=f<@i9i9)=f<@)AbDIZDM?AD]kD]ND]*DYE]mR: E]҆96E](N4:EY!m@!m@!m@!m@I9iD5vB>~BڍCB?IBSBB =BBiDBt;B.E>A;>I I N > L,G0)Ai~RB~IMb@Mb@Mb@ )Ii rh?I +Mbp?C ?94;)AIAiVAA =ABD 6D 4Y%t!-<=)Q)->99EYEA>Q 1d4٪p}ˊ?Q 5d41 aB9K ?Q A:YM6Q E?yUC);I.;i d4YТBAVEg9EFNOT Ignoring new targets: 145.60 m.gE4gM4} ProNav: ac range: 145.600006 m, nav range: 141.204437 m, bearing: 194.163200 deg, approach rate: -0.529353 m/s, LOS rate: -0.009875 deg/s, cmd heading: 168.665006 deg, new cmd heading: 168.651525 deg. g}عbg}b<@ZgyrgyjgyRgyZfRfee"dccccָ?ɢWB+!q 顕2I hɡiIW>=Ib<@ii)b<@)!I]9iYY]?0YBEřT4JEwX4REb0DmbDiDm'DiEm1: Ei6Em'4:Ei"Em19;!}Em39;!}*Em֬:!}Em׬:!}I>Ae 3>ԁ IA IQ N] >zL,va0)Ay6~K@ٱ6yY@6;@61&6H8h?u?ϿMc??|`h?I6~K@)6^;i6CNSBNIR!bd=bQ)b>d9d9fEYfEf3*Aj?lQ 1nd4٪ntnˊ?Q 5rd4n2 naB9pYr9Q Er?ynC)n[:In:ind4YvBzAzUE B*** querying acoustic contact ***:h Bh gFNOT Ignoring new targets: 145.60 m.g%38g%385 ProNav: ac range: 145.600006 m, nav range: 141.021530 m, bearing: 194.164018 deg, approach rate: -0.545952 m/s, LOS rate: 0.002445 deg/s, cmd heading: 168.651523 deg, new cmd heading: 168.653981 deg. g58bg=hc<@Zg9rg9jg9Rg9Zf9Rf9eAeA"dAcAcIcIcM`?ɢ}XB}V` y}Iy `-ɡiI>=Ihc<@ii)hc<@) II9iO5@@C>y T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A%;>IIN>ԡrDe =jDe 4=Dm eDm MDm .Di Em <: Em 96Em ـ4:Ei !u @!u @!u @!u @vB >~B ۍCB ~IB 2TBB =B B jDB Du;B -/EBڍCBڍCBBʣ =Bʣ =B6 %L,U{0)Ay`J@ٱ[X@"A)5HΈZ=?2?`)ͿvY?}?@k:e?I`J@)^;i-SBIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.485783Mb@Mb@Mb@ )IiFx?y&1|MbP ?`)/AI|AiA AԡBD6Dz4Y6f=!.=8-Q)>99EYEWA>Q 1d4٪Yˊ?Q 5d4X4 /bB9 ?Q A:Y:Q E?yC):IAU 3>I I N >) 6L,&0)ADdD_D(DE9: Er96Ec44:E"EE;!EE;!*EL;!EL;!ɰ(*;yF/;I@ٱF16W@F CFǾ6FH@?!?؏˿`?r``;?/lc?IF/;I@)F$R^;iFCnWSBnIBDv6Dv4Y;=!j=%LQ)%>!9!9-EY-E-RA->1Q 1]d4٪5TJˊ?Q 5]d45\5 5TbB9aYe;Q Ee?y5C)5;I5z;i5f5d4YmBmAmTEgFNOT Ignoring new targets: 145.60 m.gl&9gl&9 ProNav: ac range: 145.600006 m, nav range: 140.582611 m, bearing: 194.169200 deg, approach rate: -0.567057 m/s, LOS rate: 0.009094 deg/s, cmd heading: 168.660539 deg, new cmd heading: 168.669555 deg. g9bgg<@Zg!rg!jg!Rg!Zf!Rf!e)e)"d)c)c1cQcU`?ɢHXB} 1I )YɡiIC\@=I-g<@i1i1)5g<@)1I9i0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9899489>AIQ Ia i Nu >52L,0)A y:q#H@ٱ:sV@:+kD:<:H``??'uɿ)\zf?f*6a?I:q#H@):W^;i:CBSBFIiDIDBDN6DN+4YV=!VR=VybQ)V>X9X9ZEYZE^3A^>`Q 1fd4٪b9ˊ?Q 5fd4bg6 b}bB9dYf~BٍCBIBTBB =BBiDBu;B/Eԡ>A+>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494324I I! N5 > L,0)Ay:FG@ٱ:H U@:E:5:H?,?eǿ u9/ ?N_?I:FG@):.^;i:CPVSBVIMb@Mb@Mb@ )IiK7A`?{Gzt?~jth ?ף;D)ZAIשAi~AhA  ABD 6D 4YN=!5=%=AQ)%>!9!9%EY%E-UA->1Q 1=d4٪5,%ˊ?Q 5=d457 5bB9E ?Q AE:YE}A 3>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998218A9 IA IY Ne >-KL,?0)Aiy6QF@ٱ6SS@6)G6-6H@ٵ?D?`Zſڌ| ڹ? T@t^?I6QF@)6 ;^;i6CBSBB6IBDJ6DJ4YR=!Re=RdQ)R>T9T9VEYVEZ<AZ>\Q 1bd4٪^Yˊ?Q 5bd4^8 ^bB9`Yb=Q Ef?y^C)^:I^:i^F_d4YhjAhtzB*** querying acoustic contact ***:hxBhxgFNOT Ignoring new targets: 145.60 m.g 9g 9 ProNav: ac range: 145.600006 m, nav range: 139.943466 m, bearing: 194.184281 deg, approach rate: -0.556145 m/s, LOS rate: 0.015409 deg/s, cmd heading: 168.699034 deg, new cmd heading: 168.714861 deg. g3):bgt<@Zgrg!jg!Rg!Zf!Rf!e)e)"d)c)c1c1c5@@ɢXB2 ̝I V"ɡi!I%YB=I-t<@i)i1)5t<@)1I9i0!BDAT read: Rx Time:18:19:57.6653 TRx dataTimestamp_ set to:1755627599.770622checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250719Q>A DM dDM RDM *DI EM 9: EM 96EM (N4:EI !] @!] @!] @!] @A1 I9 II N] >q vB >~B ؍CB IB TBB =B B gDB v;B /EqL,p0)AYUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.501616SBJIMMb@Mb@Mb@I I)IIIiIM/$?~jth?y&1|M ?MD;M`)MAIIiMAMA IMABDe6De44Yu=!u%=uQ)u>y9y9}EY}EA>Q 1d4٪>ʊ?Q 5d49 cB9 ?Q A:Y=Q E?yC):I:ipd4YqB ASEgFNOT Ignoring new targets: 145.60 m.g09g09 ProNav: ac range: 145.600006 m, nav range: 139.677734 m, bearing: 194.192107 deg, approach rate: -0.537731 m/s, LOS rate: 0.015867 deg/s, cmd heading: 168.714866 deg, new cmd heading: 168.738389 deg. g:.:bg{<@ZgrgjgRgZfRfee"dcccc@ @ɢ%XB-t )-I) -G#ɡ1i1I5 C=I5{<@i9i9)={<@)9ԁI9i0= DAT read: 18:19:57.6653 LVL= 31792, 32753, 29170, 32755, AGC= 62, IDX= 423,-0.05, 0.647,-1.157, 0.555, 0.253, PHS= 0.495,-1.365, 0.258, RAW= 143.3, 7.0, CAL= 142.9, 7.7, ROT= 7.1, -7.7 E Ygot valid direction response: 18:19:57.6653 LVL= 31792, 32753, 29170, 32755, AGC= 62, IDX= 423,-0.05, 0.647,-1.157, 0.555, 0.253, PHS= 0.495,-1.365, 0.258, RAW= 143.3, 7.0, CAL= 142.9, 7.7, ROT= 7.1, -7.7 U PDAT read: Bearing 343.9, 18.2 (Local) U ~Local bearing/azimuth received: Bearing 343.9, 18.2 (Local) e DAT read: Range 11 to 50 : 143.7 m (Round-trip 191.6 ms) speed 0.4 m/s e *DAT read: user:898> m BDAT read: Tx time:18:19:58.7695 m $Ping request sent.m Ay  \direction in FSK: [0.983384,0.122487,0.133986] :publishing transmit ping time9i  Fpublishing direction and range info  iNw?lN[?L`u&? C I 0|i  q  > p>  R) >I Q @i 5= @ > = I i ) ,?**@.?s`PY? Q> o =  I i  :publishing transmit ping time9i  Fpublishing direction and range info  iNw?lN[?L`u&?  I i      ) I i     I i ) ,?**@.?s`PY?    I i D] cD] WD] (DY E] g5: E] 96E] c44:EY "E] v?;!e E] x?;!e *E] [:!m E] \:!m A I I N >L,0)AyUB@ٱWP@I&H%?@|U?@?pr ? ]?IUB@)^;iC-TB-bIBD6D|4Y=!]=Q)>99EYEA>Q 1-d4٪kʊ?Q 5-d4o: *cB9)Y-@Q E5?yC);I;i}d4Y=YB=\A=REJhRhD0)AhCh̹8u=a@1@@3@~iNw?lN[?L`u&?h=h  v`㗘$/A"z G@~Tt?ɜο@%?jhx rhZh?bhrezh(BhEeo?hhBh~ChGY@% addTargetRange:: Added new target pos. range: 143.699997 m, deltaT: 3.778390 s, deltaX: -1.900009 m, approachRate: -0.502862 m/s, rangeRepo size: 4 5 Added new target pos. range: 143.699997 m, bearing: 194.519458 deg, lat: 36.779406 deg, lon: -121.859508 deg, deltaT: 3.778390 s, deltaX: -1.900009 m, approachRate: -0.502862 m/s, posRepo size: 4 g9=FNOT Ignoring new targets: 143.70 m.gEgAu ProNav: ac range: 143.699997 m, nav range: 136.492508 m, bearing: 194.519458 deg, approach rate: 0.000000 m/s, LOS rate: 0.015867 deg/s, cmd heading: 168.738389 deg, new cmd heading: 168.757342 deg. gqbgu<@ZgqrgqjgqRgqZfyRfyeyey"dccc`fa@c _?ɢXBR{ EI 3$ɡiI C=I%<@i!i!)%<@))II9i0i>A ԙ A- AI1 II NU > L,10)Aɰ((TBmIBD%6D%4Y5E=!5U=5Q)=>=K?9=K?9=EY=EEAE>IQ 1Ud4٪MTʊ?Q 5Ud4M; MQcB9QYQQ EU?yMDC)M;IM/;iMd4Yae6AaqgFNOT Ignoring new targets: 143.70 m.gx :gx : ProNav: ac range: 143.699997 m, nav range: 136.289673 m, bearing: 194.530316 deg, approach rate: -0.568597 m/s, LOS rate: 0.030483 deg/s, cmd heading: 168.757336 deg, new cmd heading: 168.789959 deg. g]:bgJ<@ZgrgjgRgZfRfee"dcccc?DulDqDu+DqEuV: Eq6Eu [4:Eq!}@!}@!}@!}@ɢYBẂ I ҈%ɡiI`D=IJ<@ii)J<@)AAvBݿ>~B֍CB-IBNUBB =BBfDBv;B/EԡI8i>A ;> A5 yAI9 II N >pL,iK0)A}STB}IiyIy Mb@Mb@Mb@  ) I i  (\?~jt?{Gzt ? < ף) AI i  A A  3ABD%6D%4Y5 >!5;=9Q)=>= H?9= H?9=EYEEAAE>IQ 1d4٪Mʊ?Q 5d4M%< McB97?Q A:Y|>Q E?yMC)M{AA Y Aq I I N L,8e0)A~lTB~IBD 6D Q4Y%D=!%^=!Q)%>)9)9-EY-E)A5>1Q 1=d4٪5Ըʊ?Q 5Ed45= 5cB9AYAQ EE?y5C)5z;I5;i5 d4YIU-AQB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 143.70 m.gw9gw9  ProNav: ac range: 143.699997 m, nav range: 135.852310 m, bearing: 194.546655 deg, approach rate: -0.543702 m/s, LOS rate: 0.020378 deg/s, cmd heading: 168.816554 deg, new cmd heading: 168.839050 deg. g _:bg T<@ZgrgjgRgZfRf!e)e)"d19c9cAcAcE?ɢYYB> 顥I 'ɡiIE=IT<@ii)T<@)I1i11509aET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.>AU3>rD=jD%=DfDRD)DEI@: E96EFA4:E!@!@!@!@ԱvB ٿ>~B ՍCB kIB UBB =B B eDB {w;B (0EA I I N > L,d$0)Apipchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751937y>@ٱ L@AMAHN`l4?`?Ƭ`铿 U|?`$X?I>@)!^;iCTBIԩMb@Mb@Mb@ )IiQ?L7A`?Mb`\?+=)tAIAi$A (ABD6Df4Yi=!1=rQ)>99EYEnA>Q 1d4٪ʊ?Q 5d4= cB9?Q A:YAQ E?yC):Is:i/d4Y )B qA PEg15FNOT Ignoring new targets: 143.70 m.g=:g=:M ProNav: ac range: 143.699997 m, nav range: 135.600632 m, bearing: 194.561278 deg, approach rate: -0.561651 m/s, LOS rate: 0.032693 deg/s, cmd heading: 168.839052 deg, new cmd heading: 168.883002 deg. gM~:bgM<@ZgIrgIjgQRgQZfQRfQeYeY"dYcYcYcace*?ɢ YB  { ŜI V(ɡiIfF=I<@i_=i1~>)%<@)AI9i0 M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002356>A BE%(N4JE%˔K4RE%.0D hD SD *D E G: E 96E (N4:E "E ^;! E ^;! *E ;:! E =:! 1 Ai Iy I N >8&L,0)AyJ:=@ٱJZ>BD^6D^\4YfG=!jg=j(Q)j>l9l9nEYnEn?An>pQ 1vd4٪r:ʊ?Q 5zd4rO> rdB9xYzBQ Ez?yr(C)r;Ir;ird4Y|~)5<@)9ԁ|A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255145Ii0@C>@;>>A>ԹAAII N%> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506343 Z,L,г0)AyJN<@ٱJPJ@JNJ^JH V.??@ZQ?=U?IJN<@)Jm)^;iJCVTBVIBD^6D^=4Yf>!fK=jQ)j>jK?9jK?9nEYnEn+An>pQ 1vd4٪rʊ?Q 5vd4r> r.dB9xYzCQ Ez?yr`C)rB:Ir[:ird4Y~B~fAOEg!-FNOT Ignoring new targets: 143.70 m.g-A5:g-A5:E ProNav: ac range: 143.699997 m, nav range: 135.190094 m, bearing: 194.589785 deg, approach rate: -0.542188 m/s, LOS rate: 0.039617 deg/s, cmd heading: 168.920878 deg, new cmd heading: 168.968652 deg. gE:bgEc<@ZgArgAjgARgAZfARfIeIeI"dQcQcQcQcU@@ɢYB1 顅I  *ɡiIG=Ic<@ib=ig>)c<@)DnDD,DEO]: E6Eg4:E!@!@!@!@vBѿ>~BԍCBIBVBB =BBdDBw;BA0EB֍CB֍CB•CB© =B¨ =BŠ6IQiQQU0Q!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760456>AF]~>iG=IGC)E 5GI ] rA)y I rA :AI I N >\B3L,0)Aɰ4<4A9A9EEYEEE*AM>IQ 1Ud4٪MXmʊ?Q 5Ud4M]? M\dB9?Q A:YCQ E?yMC)M|)m<@)ibD?AZDDD`DDE E96E:E"E4;!E6;! *E;! E;! Ii0>AUo>I1 IA NU > M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262390l9L,0)Ay:_h:@ٱ:`cH@:P:y:HU`FȐ`W?? ۟`~?S?I:_h:@):>1^;i:CF-UBFIiHIHBDR6DR4YV=!VS=ZQ)^>`9d9fEYfEj{4Aj>pxQ 1d4٪z%[ʊ?Q 5d4z? zdB9 Y ,DQ E?yzC)zX_;Izr];izd4Y!%A)eB*** querying acoustic contact ***:haBhagq}FNOT Ignoring new targets: 143.70 m.gD:gD: ProNav: ac range: 143.699997 m, nav range: 134.749710 m, bearing: 194.621823 deg, approach rate: -0.560163 m/s, LOS rate: 0.043057 deg/s, cmd heading: 169.015777 deg, new cmd heading: 169.064928 deg. ge:bg<@ZgrgjgRgZfRfee"dcccc`5 @ɢm ZBu& I *,ɡiIiH=I<@i3Qe=iqJ>)<@)  ߡޥAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5146729gW=DjDXD+DEN: E96E [4:E!E@!E@!E@!E@>>vBп>~BBIBkVBB =BBB{w;B!0EI 9i 5 i >A g>bA ZA A DAT read: 18:20:01.3625 LVL= 31072, 32753, 32626, 32755, AGC= 60, IDX= 411,-0.43, 1.744,-0.189, 1.325, 1.209, PHS= 0.637,-1.353, 0.072, RAW= 134.0, 7.3, CAL= 134.0, 8.4, ROT= 16.0, -8.4 Ygot valid direction response: 18:20:01.3625 LVL= 31072, 32753, 32626, 32755, AGC= 60, IDX= 411,-0.43, 1.744,-0.189, 1.325, 1.209, PHS= 0.637,-1.353, 0.072, RAW= 134.0, 7.3, CAL= 134.0, 8.4, ROT= 16.0, -8.4 PDAT read: Bearing 336.7, 27.4 (Local)  ~Local bearing/azimuth received: Bearing 336.7, 27.4 (Local) DAT read: Range 11 to 50 : 141.6 m (Round-trip 188.9 ms) speed 0.4 m/s *DAT read: user:899> %BDAT read: Tx time:18:20:02.4695 %$Ping request sent.%e @e Q >e 5>e Q Ia ia )e 7גH?N? TF?e Sbz>e e 5>IQIaNu>cAL,=0)A uQ Iqiq.:publishing transmit ping time91.Fpublishing direction and range infoqu%0-n?نs?/8ٲ?qqIqiqqqqq q)qIqiqqqqqIqiq)u7גH?N? TF?qqq qIqiqyF G9@ٱF BG@FQFOFHQQ`,?A?Z-H?`ޝQ?IF G9@)F!^;iDRdUBR:IԉMb@Mb@Mb@ )Iikt?&1?y&1| ?P=`)AIAiAA ABDM6DM4Y]=!]=Q)>99EYE|A>Q 1e4٪Aʊ?Q 5e4P@ dB9?Q A:YEQ E?y"C);I;ixe4YBANEJhqRhuŐ0)Ahu Chu7ui`@b/GNC@.Ys4@~u%0-n?نs?/8ٲ?hu5>huQ  uCZZ`A)<@)IC=)p=DlDUD,DEV: EP96Eg4:E"Ew;!Ew;!*E:!E:!} 0=I 9i 0  >A ̘S>I1 II NU >f HL,"!0)AizUBzMIBD6D 4Y5=!5_==Q)=>99A9EEYEEEAE>IQ 1Ue4٪M0ʊ?Q 5Ue4M@ MdB9YYYQ E]?yMVC)M :IM:iMe4YaeAg FNOT Ignoring new targets: 141.60 m.g e:g e: ProNav: ac range: 141.600006 m, nav range: 133.869064 m, bearing: 194.771300 deg, approach rate: -0.596003 m/s, LOS rate: 0.050232 deg/s, cmd heading: 169.142108 deg, new cmd heading: 169.191974 deg. g ;bg%?<@Zg!rg!jg!Rg!Zf!Rf)e)e)"d)c1c1c1c5g?ɢeZZBe ae隿Ii m.ɡiiiImNJ=Iu?<@iutg=iu7=>)u?<@)y I)I9iO5AD D YD 'D E  E *96E '4:E ! @! @! @! @i vB ο>~B B IB VBB B B B v;B /E>A GJ>I) IA NM >3NL,ɐ;0)AyV 7@ٱVE@V;ETV VH@@챿G? 퉯?`-xR X?`?YK?IV 7@)V"^;iTvUBvoIz!M=޻Q)>99EY EA%>!Q 1-e4٪%ʊ?Q 5-e4%@ %eB91Y5)5=@)9QI9i0>A G>yAMyAIYIqN{>ԡ UL,YU0)A UB IMb@Mb@Mb@ )IiʡE?Q?{Gzt-?u=ף)IAi&AA ABD6DH4bD@AZDAADoDXD+DE`: E96E [4:E"EW;!EX;!*E:!E:!Y=!>=Q)> H?9 H?9EYEA>Q 1e4٪+ ʊ?Q 5e4A GeB9?Q A:YIFQ E?yC)K ;IT ;i+e4Y B A LEg1=FNOT Ignoring new targets: 141.60 m.g=Pl:g=Pl:M ProNav: ac range: 141.600006 m, nav range: 133.417969 m, bearing: 194.814938 deg, approach rate: -0.550165 m/s, LOS rate: 0.051650 deg/s, cmd heading: 169.256623 deg, new cmd heading: 169.323102 deg. gM ;bgM"=@ZgQrgQjgQRgQZfQRfQeYeY"dYcacacace@n?ԱɢZB-v 15I1 5t0ɡ1i9I=ؑK=I="=@iE^i=iEC>)E"=@)AI9i>A S<> I I N% >9 rA[L,5o0)Aɰ;;y6M4@ٱ6NB@6^W666HR&@:6??G@&? VG?I6M4@)6"^;i4BVBBIBDJ6DJ)4YR(>!Ra=RGQ)R>T9T9VEYVEZAZ>\Q 1be4٪^Ɋ?Q 5be4^%A ^qeB9`YbjHQ Eb?y^C)^ ;I^;i^7e4YhjAhvB*** querying acoustic contact ***:htBhtg|FNOT Ignoring new targets: 141.60 m.gI:gI: ProNav: ac range: 141.600006 m, nav range: 133.219345 m, bearing: 194.836611 deg, approach rate: -0.545180 m/s, LOS rate: 0.059576 deg/s, cmd heading: 169.323108 deg, new cmd heading: 169.388224 deg. g#;bg^5=@ZgrgjgRgZfRfe!e!"d!c)c)c)c-ഄ?ɢUZBل ޕI 1ɡiI'L=I^5=@ii=i=)^5=@)}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.I9i>Az6>DiDWD(DE,K: E96Ec44:E!@!@!@!@vBM̿>~BMӍCBM_IBM@WBBIBIBIBMu;BM./E9IINb>i E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992126*bL,0)A yj3@ٱjA@jXj#ؼjH< $Z?`? A?[y`F?Ij3@)j ^;ihzNVBzIi|I|Mb@Mb@Mb@ )Iikt?Q?MbP? ?\=:)^AIiAߗA zABD6D\4Y=!7=_Q)>99EYE1A>Q 1 e4٪Ɋ?Q 5 e4A F>II IY Ne >GShL,:0)Ay:2@ٱ:@@:[Z:J:H@0@?W?Z?A@D?I:2@):(^;i:CFVBFIPBDN6DN4YVU>!Za=ZDQ)Z>\9\9^EY^E^W-Ab>`Q 1fe4٪bɊ?Q 5je4b:A beB9hYjH@Q Ej?ybsC)b:Ib:ib Te4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.493846Ytv3AtgFNOT Ignoring new targets: 141.60 m.g:g:- ProNav: ac range: 141.600006 m, nav range: 132.784134 m, bearing: 194.884941 deg, approach rate: -0.565085 m/s, LOS rate: 0.065162 deg/s, cmd heading: 169.466064 deg, new cmd heading: 169.533462 deg. g-2;bg-^=@Zg1rg1jg1Rg1Zf1Rf1e9e9"d9cAcAcAcE`f?@ɢu [Buz quA+>IQIaNu>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745783) D oD VD +D E `: E 96E [4:E ! @! @! @! @AA AA vBM ɿ>~BI BM IBM WBBI BM GDBI BM ft;BM .Ep}nL,Ƽ0)AyF&2@ٱF'?@F5\FFH z¿o?G?SP? A?IF&2@)F?^;iFCRVBRIBDZ6DZ)4Yz7=!zF=||Q)>99 EY $E A >Q 1e4٪Ɋ?Q 5e4#A fB9!Y%H@Q E%?yC);I;ibe4Y-B-A-JEgquFNOT Ignoring new targets: 141.60 m.g}N:g}N: ProNav: ac range: 141.600006 m, nav range: 132.563339 m, bearing: 194.911860 deg, approach rate: -0.530851 m/s, LOS rate: 0.064829 deg/s, cmd heading: 169.533464 deg, new cmd heading: 169.614356 deg. g1;bgv=@ZgrgjgRgZfRfee"dccccO@ɢ3[BRW 7I Q4ɡiIM=Iv=@ik=i =)v=@)5BDAT read: Rx Time:18:20:05.0596 =TRx dataTimestamp_ set to:1755627607.087514Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011539I9i>A=I1IINmV>yԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253765euL,<0)Ay601@ٱ6+?@6G]66H`&Ŀ? >? Ø&R`Q?[B??I601@)6Q6^;i6C^VB^,Ibe>bp99EY)E]A>BE% [4JE%P4RE% 0DrDaD*DEk: E96E(N4:E"E;!E;!*E;!E;!Q 1e4٪JɊ?Q 5e4@ ԩI9i4DAT read: 18:20:05.0596 LVL= 30288, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.30,-2.486, 1.888,-3.086,-3.042, PHS= 0.658,-1.308,-0.087, RAW= 127.9, 8.6, CAL= 128.2, 9.9, ROT= 21.8, -9.9 Ygot valid direction response: 18:20:05.0596 LVL= 30288, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.30,-2.486, 1.888,-3.086,-3.042, PHS= 0.658,-1.308,-0.087, RAW= 127.9, 8.6, CAL= 128.2, 9.9, ROT= 21.8, -9.9 PDAT read: Bearing 330.5, 33.7 (Local) ~Local bearing/azimuth received: Bearing 330.5, 33.7 (Local) DAT read: Range 11 to 50 : 139.5 m (Round-trip 186.0 ms) speed 0.4 m/s *DAT read: user:900> BDAT read: Tx time:18:20:06.1695 $Ping request sent.-f3@-;0>->-;0I)i))-߀U?|*?b\{.?-8>-e-> -;0I)i)E:publishing transmit ping time9EFpublishing direction and range info)-;n+D? 8Wi?!?))I)i))))) )))I)>Ap{=i)))))I)i))-߀U?|*?b\{.?))) )I)i)A AI I ! N- >{L,k}0)Ay6z0@ٱ6u>@6`6εA6H0nſ B'??`ы`K`?Ǣ!WBBLIBDJ6DJH4YfJ>!fV=fQ)j>jK?9jK?9jEYj.EnAn>Q 1 e4٪Ɋ?Q 5 e4@ nfB9 Y E@Q E ?yC)p:I:i~e4Y=iA9JhYRh]0)Ah] Ch]9]cU_@fI@7@~];n+D? 8Wi?!?h]>h];0 ]|?]s_:k>ϸAkBI@~]Nq#b\̿ 4X-?jh]Frh]Zh]!?bh]{mzh]Bh]kП?hYh](Bh]tCh]~BҍCBIB4XBB =BBcDBCs;B.EBӍCBӍCBēCBĭ =Bĭ =B5!>A-=AuyAIIN>Q PExceeded connect timeout, disconnecting.)% 4G = A)] Aԁ I R A }AyL,b 0)Aɰ yJ-/@ٱJ.=@J[1bJJH`@ƿOt?@? ~['`s ?{8?IJ-/@)J^;iJCnNWBnhI-only read 2 of 4 data items for bottom velocity. Device response is::BS, +50, +553, !@! !@! !@! !@! BD6DQ4YA=!<=MQ)> H?9 H?9EY4EzɼA>Q 1e4٪Ɋ?Q 5e4F@ fBQ =+:9Q A:YFE@Q E?y\C):I>iߊe4YSBAIE B*** querying acoustic contact ***:h Bh gFNOT Ignoring new targets: 139.50 m.g%ѳ:g%ѳ:5 ProNav: ac range: 139.500000 m, nav range: 131.229828 m, bearing: 195.081807 deg, approach rate: -0.538972 m/s, LOS rate: 0.078604 deg/s, cmd heading: 169.785307 deg, new cmd heading: 169.883398 deg. g5W;bg5=@Zg1rg1jg1Rg9Zf9Rf9e9eA"dAcAcAcAcM?Qɢ}[B} y}ĊIy DU7ɡiI,O=I=@i,Fk=ie=)=@)IE9iAAE`4I>A% = ߁ޅAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡII)N5r>DpDDDEd: E6E:E"Ey;!Ez;!*E;!E;! fL,2$0)Ay6@/@ٱ6;=@6d6=I6H`ǿһ??r v@V?t@4?I6@/@)6^;i6CBWBBIiDIDBDJ6DJ4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.983468Yn =>!vZ=vͻQ)v>x9x9zEYz8Ez3A~>Q 1e4٪MtɊ?Q 5 e4? fBQ =  :9 Q A w:Y D@Q E ?yC)s:IFO?ie4Y!AgAEFNOT Ignoring new targets: 139.50 m.gMP:gMP:] ProNav: ac range: 139.500000 m, nav range: 131.035034 m, bearing: 195.111061 deg, approach rate: -0.518250 m/s, LOS rate: 0.077947 deg/s, cmd heading: 169.883402 deg, new cmd heading: 169.971295 deg. g]U;bg]=@ZgYrgYjgaRgaZfaRfaeiei"dicicicqcud?ɢ[B`傾 顥DI #8ɡiIΒO=I=@i6k=iE=)=@)I9i/>A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2356911 I I N >D qD cD ,D E 2h: E L96E g4:E ! @! @! @! @A <A vB >~B эCB FIB XBB B B bDB Ir;B -E4ˎL, >0)AyR.@ٱR<@RfRqRHޞzȿB??h@1@? -8r 0?IR.@)Rr^;iRCZWBZIBDf6Df4Yj<=!nK=n(Q)n>p9p9rEYr=EvAv>xQ 1ze4٪zaɊ?Q 5~e4z{? zgBQ =~99|Q A~H:Y~RD@Q E?yzC)z ;Iz?ize4Y ;B |A HEg15FNOT Ignoring new targets: 139.50 m.g=:g=:M ProNav: ac range: 139.500000 m, nav range: 130.827667 m, bearing: 195.142967 deg, approach rate: -0.516159 m/s, LOS rate: 0.079542 deg/s, cmd heading: 169.971293 deg, new cmd heading: 170.067161 deg. gM[Z;bgM=@ZgIrgIjgIRgQZfQRfQeQeY"dYcYcacace?ɢ [B o  ĆI  ? 9ɡiIO=I]=@i]k=i]+=)]=@)aYnManaging dock network, ignoring radio surface power off checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489693I5 9i99Es4A>Am_=IINI>yԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739371rL,[W0)ADyJX|.@ٱJYw<@JiJJH4~+ɿlL?` a?_+)?s$+?IJX|.@)J*^;iJCnWBnI!e!e !e!e !e!e !m!m mMb@Mb@Mb@i i)iIiiimS?Mb?Q?im=mu<)mAImAimAmƓADtDD*DEs: E6E(N4:E"E;!E;!*E";!E";! imשABD6D4Y=!==߻Q)>99EYCEMA>Q 1e4٪PNɊ?Q 5e4> NgBQ =T:9c?Q A:YA@@Q E?yC);I;i e4Y#BAGEgFNOT Ignoring new targets: 139.50 m.gw:gw: ProNav: ac range: 139.500000 m, nav range: 130.612503 m, bearing: 195.183088 deg, approach rate: -0.480870 m/s, LOS rate: 0.089816 deg/s, cmd heading: 170.067161 deg, new cmd heading: 170.187725 deg. gv;bg>@ZgrgjgRgZfRfee"dcccc?ɢ=\BE AEąIA E_9ɡIiIIMGP=IU>@iUj=iUϝ=)U>@)YԩI9i45>A4|E=I!I1NEQ>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991358 oݛL,q0)Ay6;.@ٱ66<@6I|l6|6H_Xɿ?Z?XӪ@rL?~{@R&?I6;.@)6o^;i4B$XBBIBDJ6DJz4YR>!R]=RQ)R>T9T9VEYVGEZc.AZ>\Q 1be4٪^=Ɋ?Q 5be4^= ^gB9`Yb@@Q Eb?y^8C)^;I^;i^e4Yj!Bj@ZgrgjgRgZfRfee"dccccv@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243585ɢ<\Bh I \:ɡiIÕP=I7>@i*j=i=)7>@)DxDlD,DEˀ: E:6Eg4:E!@!@!@!@vB>~BЍCBIBASE=II N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497670i ŢL,0)AyJ.@ٱJ<@JBoJΦJH}ɿ8?`? U@uע?Ht@L!?IJ.@)J 3^;iJCVhXBVI95Mb@Mb@Mb@1 1)1I1i15ʡE?Q?y&1|?5-?5\=5`;)1I1i5A5A 15ABDU6DU4Y>!9=kɻQ)>99EYMEA>Q 1e4٪/)Ɋ?Q 5e4< gB9v?Q A:Y@@Q E?ywC):I:i]e4Y BVAFE B*** querying acoustic contact ***:h Bh gFNOT Ignoring new targets: 139.50 m.g%:g%:5 ProNav: ac range: 139.500000 m, nav range: 130.203766 m, bearing: 195.260347 deg, approach rate: -0.523564 m/s, LOS rate: 0.099093 deg/s, cmd heading: 170.292175 deg, new cmd heading: 170.419864 deg. g5;bg=^\>@Zg9rg9jg9Rg9Zf9Rf9eAeA"dAcAcIcIcMY@ɢ}a\B} y}t~Iy 0;ɡiIP=I^\>@iyj=ip<)^\>@)IM9iIIM5Iq>A%I =mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.747391IIN=>ԑDtD\D+DEs: E96E [4:E"E;!E!*E` ;!E` ;! L,{0)Aɰ4<4I9Q9UEYUREe=Ae>qQ 1e4٪uɊ?Q 5e4u1< ugB9Y@@Q E?yuC)uB;IuA;ԙiu e4YAgFNOT Ignoring new targets: 139.50 m.gI:gI:% ProNav: ac range: 139.500000 m, nav range: 130.004517 m, bearing: 195.298288 deg, approach rate: -0.500335 m/s, LOS rate: 0.095420 deg/s, cmd heading: 170.419859 deg, new cmd heading: 170.533857 deg. g%;bg%|>@Zg!rg)jg)Rg)Zf1Rf1e9e9"d9c9cAcAcEܒ@ɢm\B^ %|I! %1k<ɡ!i!I% Q=I-|>@i-s3j=i-<)-|>@))Ii5uBDAT read: Rx Time:18:20:08.7571 }TRx dataTimestamp_ set to:1755627610.862686}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252460>A V<A A @AvB >~B B IB YBB =B B aDB p;B ,ED |D ZD )D E : E a96E FA4:E "E ;E ;*E ;E ;) A9 IA IY Ne >!L,[x0)Ay6-@ٱ6;@6jtu6ܷ:6Hloaɿ@? J?`rUҧ c?P\??I6-@)6 ^;i4BXBBSIi@I@BDJ6DJ=4YR>!RL=R"Q)V>T9T9ZEYZWEZ6 AZ>\Q 1be4٪^hɊ?Q 5be4^g; ^3hB9`Yf?@Q Ef?y^C)^;I^;i^fe4YjBj-AjEEg|~FNOT Ignoring new targets: 139.50 m.g:g: ProNav: ac range: 139.500000 m, nav range: 129.810196 m, bearing: 195.335433 deg, approach rate: -0.518339 m/s, LOS rate: 0.099230 deg/s, cmd heading: 170.533855 deg, new cmd heading: 170.645456 deg. g3;bg>@ZgrgjgRgZfRfe!e!"d!c!c)c)c-@v @ɢ]\B] Y]wIY e&=ɡaiaIe@ii=i<)>@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503207Ii4>A<A%AI1IANUt>A DAT read: 18:20:08.7570 LVL= 24944, 32753, 31282, 32755, AGC= 60, IDX= 419, 0.13,-1.325, 3.084,-1.989,-1.931, PHS= 0.708,-1.223,-0.102, RAW= 125.3, 7.4, CAL= 126.0, 8.6, ROT= 24.0, -8.6  Ygot valid direction response: 18:20:08.7570 LVL= 24944, 32753, 31282, 32755, AGC= 60, IDX= 419, 0.13,-1.325, 3.084,-1.989,-1.931, PHS= 0.708,-1.223,-0.102, RAW= 125.3, 7.4, CAL= 126.0, 8.6, ROT= 24.0, -8.6  PDAT read: Bearing 325.1, 37.6 (Local)  ~Local bearing/azimuth received: Bearing 325.1, 37.6 (Local)  DAT read: Range 11 to 50 : 137.5 m (Round-trip 183.4 ms) speed 0.4 m/s  *DAT read: user:901>  BDAT read: Tx time:18:20:09.8709  $Ping request sent. m L @m `>m Pw>m `Ii ii )m n9ޘ?u5?]|?m =m Bm Pw> m `Ii ii  :publishing transmit ping time9  Fpublishing direction and range infoi m ʏ?v ?S&r#?i i Ii ii i i i i i )i Ii ii i i i i Ii ii )m n9ޘ?u5?]|?i i i i Ii ii  jL,b00)Ay5-@ٱ5;@5x5N;bDYZDYDepDe^De&DaEed: Ee;96Ee4:Ea!m@!m@!m@!u@5H iɿ O?`TE?`gW2z`?/|??I5-@)5 ^;i5CYBtIMb@Mb@Mb@ )Ii|?5^?Zd;O?~jth??j<D;)ҩAIAiA$A  ABD56D524YE=!E(=EͻQ)E>MK?9MK?9MEYM]E>7A>Q 1e4٪HȊ?Q 5e47: {hB9?Q A:Y>@Q E?y,C):I:ie4YڠBcAJhRhHk0)Ah Ch9v$n _@K@,4@~ʏ?v ?S&r#?hPw>h` Ԧd_]3T>p&ӰI@~СC+ڳd̿\\?jhrhZhŶ?bhx}\zhBh?hhBhChPZ@ addTargetRange:: Added new target pos. range: 137.500000 m, deltaT: 3.778177 s, deltaX: -2.000000 m, approachRate: -0.529356 m/s, rangeRepo size: 4  Added new target pos. range: 137.500000 m, bearing: 195.446818 deg, lat: 36.779421 deg, lon: -121.859510 deg, deltaT: 3.778177 s, deltaX: -2.000000 m, approachRate: -0.529356 m/s, posRepo size: 4 gFNOT Ignoring new targets: 137.50 m.gg ProNav: ac range: 137.500000 m, nav range: 129.066711 m, bearing: 195.446818 deg, approach rate: 0.000000 m/s, LOS rate: 0.099230 deg/s, cmd heading: 170.645460 deg, new cmd heading: 170.800169 deg. gbg>@ZgrgjgRgZfRfee"dccc0a@cpw?ɢm\Bm2y _Q=顅vI 5>ɡiIBQ=I>@ii=i9<)>@)!I9i!%_0!I >A= D%<rAE >jAE >y Aq Iy I N >nͼL,0)Aiy6&-@ٱ6';@6|6(_<6Hc`ɿ?C4? )ZP`G1? ? L?I6&-@)6#^;i6CB>YBBIBDJ6DJ4YR$>!Rc=RQ)R>T9T9VEYVaEZ:AZ?\Q 1be4٪^4Ȋ?Q 5be4^c9 ^hB9`Yb>@Q Eb?y^]C)^w:I^:i^e4YhjAhgFNOT Ignoring new targets: 137.50 m.g :g : ProNav: ac range: 137.500000 m, nav range: 128.891205 m, bearing: 195.482868 deg, approach rate: -0.534514 m/s, LOS rate: 0.109940 deg/s, cmd heading: 170.800164 deg, new cmd heading: 170.908459 deg. g;bg>@Zgrg!jg!Rg!Zf!Rf!e)e)"d)c)c1c1c5@b?ɢ\BIy pI >ɡ i IeQ=I>@ikSi=iȤ<)>@)vB~BBMIBcZBB =BBBo;BR,ED5tD5aD5(D1E5s: E596E5c44:E1"E5;!ME5;!M*E5;!ME5;!UI9iP5>Araԑ ۯL,v0)Ay6R.@ٱ6S<@6y6U<6H`_`%ɿqw?a?^`ў?ܓ??I6R.@)6AA^;i6CBrYBBIBp99EYgEm;A>Q 1f4٪Ȋ?Q 5f4+8 hB9}?Q A:Y<@Q E?yC) :I:i6f4Y B%ADEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 137.50 m.g*:g*: ProNav: ac range: 137.500000 m, nav range: 128.672089 m, bearing: 195.531280 deg, approach rate: -0.503982 m/s, LOS rate: 0.111542 deg/s, cmd heading: 170.908463 deg, new cmd heading: 171.053948 deg. g;bg?@ZgrgjgRgZfRf!e!e!"d!c)c)c)c-I?qɢ}']B}( y顅(mI O?ɡiIjhQ=I?@ii=i˟<)?@) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I)i))-3)ԡBEŷG4JE(N4RES0DEsDEVDE.DAEEso: EE96EEـ4:EA!U@!U@!U@!U@>AM<A yAI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249753 L,\)0)AyV6.@ٱV1<@VoV5v H?9z H?9zEYzlEzq;A~>|Q 1f4٪~BȊ?Q 5 f4~7 ~&iB9 Y <@Q E ?y~C)~p:I~g:i~f4YAg9EFNOT Ignoring new targets: 137.50 m.gE:gM:] ProNav: ac range: 137.500000 m, nav range: 128.480438 m, bearing: 195.573597 deg, approach rate: -0.503851 m/s, LOS rate: 0.111417 deg/s, cmd heading: 171.053946 deg, new cmd heading: 171.181085 deg. g];bg] 6?@ZgYrgYjgYRgYZfaRfaeaea"dicicicicu;?ɢK]B2 顥kI dZ@ɡiI mQ=I 6?@iuh=i<) 6?@)Q|=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501067I9i0A<A4=vB>~BBIBZBB =BBbDB o;B+EBЍCBЍCBBȲ =Bȱ =Bh5! DM tDM \DM *DI EM s: EM 96EM (N4:EI "EI !] EM ;!] *EM ` ;!] EM ` ;!] >A uK?9K?9EYtEA>Q 1 f4٪TȊ?Q 5 f4h5 iB9 ?Q A :Y=@Q E?y,C)*:I:i0f4YBACEgAEFNOT Ignoring new targets: 137.50 m.gM;gM;] ProNav: ac range: 137.500000 m, nav range: 128.167267 m, bearing: 195.642757 deg, approach rate: -0.511805 m/s, LOS rate: 0.113302 deg/s, cmd heading: 171.181083 deg, new cmd heading: 171.389069 deg. g];bgeq?@ZgargajgaRgaZfaRfaeiei"dicicqcqcu?ɢ]BVrv 顥iI AɡiI.Q=Iq?@i)5h=iO<)q?@) }A}A1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004618QO=D D ]D (D E : E 96E c44:E ! @! @! @! @  }AY I 9i 4 ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257345>AD-<ԱAIIQIaNm? &L,n0)Ay65.@ٱ66}<@66C,=6HN@aǿ ?} ?lF?ɤ? ?I65.@)6y^;i6CVZBV!IBDb6DbF4Yf%>!j.=jQ)j>l9l9nEYnyErt <Ar>tQ 1vf4٪v+Ȋ?Q 5zf4v"4 viB9xYzf=@Q Ez?yvpC)v;Ivz;ivPAf4YBABEg)-FNOT Ignoring new targets: 137.50 m.g5;g5;E ProNav: ac range: 137.500000 m, nav range: 127.927132 m, bearing: 195.695414 deg, approach rate: -0.511477 m/s, LOS rate: 0.112368 deg/s, cmd heading: 171.389063 deg, new cmd heading: 171.547331 deg. gE<;bgEƞ?@ZgArgAjgARgIZfIRfIeIeQ"dQcQcQcYc]D@qɢ]B} 顕bfI \]BɡiIqP=Iƞ?@ig=iZ<)ƞ?@) I)ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508603vB}>~ByB}IB}[BB} =ByByB})n;B}k+EDrD\DDEk: E96E:E"E;!E;!*E!E!I iP5 >A5 v< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765184A I )IIN>)L,C0)Aybƕ.@ٱbǐ<@bc!b2=bHI@^ǿ?`.?nf? z??Ibƕ.@)bt^;ibCj]ZBjIIeMb@Mb@Mb@a a)aIaiaeZd;?:v?Mb`e?eT!#=λQ)>99EYEK;A>Q 1f4٪ mȊ?Q 5f42 jB9?Q A:Y>@Q E?yC) ;IG ;iRf4Y{B4AAEgaeFNOT Ignoring new targets: 137.50 m.gm:gm:} ProNav: ac range: 137.500000 m, nav range: 127.665070 m, bearing: 195.751758 deg, approach rate: -0.507082 m/s, LOS rate: 0.109248 deg/s, cmd heading: 171.547332 deg, new cmd heading: 171.716710 deg. g};bg}5?@ZgyrgjgRgZfRfee"dcccc` z@ɢ]B˛z 額.cI SCɡiIP=I5?@iag=iT<)5?@)Ii1BDAT read: Rx Time:18:20:12.4559 TRx dataTimestamp_ set to:1755627614.392239checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015193DyD^D/DE: E;96EJ4:E!@!@!@!@! >A '<A I I N >LL,G0)AiyVa.@ٱVb<@VɿV!6=VH-F ǿ`9?@? rI[~? ??IVa.@)V@^;iVCfZBflIBDv6Dvծ4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265352Y%'>!%S=-9Q)->1919=EY=E;A>Q 1f4٪{YȊ?Q 5f41 [jB9Y!>@Q E?yC)d:I|:iaf4YA-B*** querying acoustic contact ***:h)Bh)g9EFNOT Ignoring new targets: 137.50 m.gE;gE;U ProNav: ac range: 137.500000 m, nav range: 127.452576 m, bearing: 195.797405 deg, approach rate: -0.534573 m/s, LOS rate: 0.115026 deg/s, cmd heading: 171.716707 deg, new cmd heading: 171.853876 deg. g];bg]n?@ZgYrgYjgYRgYZfYRfaeaea"dacicicicm॔ @ɢ^BƁ 顝M^I DɡiI]dP=In?@ig=it|<)n?@)> >QIiiiimP5iy>A<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517553Թ AQ AQ vBi ~Bi Bm MIBm \BBm =Bi Bi Bm Lm;Bm *ED qD ZD ,D E 2h: E a96E g4:E "E ;!5 E ;!5 A Ia *E ;! E ;! I N >6L,0)A<ZBIBD)6D)Y==!=H=EQ)E>A9A9EEYEEMAM>QQ 1]f4٪UFȊ?Q 5ef4U0 UjB9aYaQ Ee?yU1C)U&;IU';iUnf4YmcBm Au@EgFNOT Ignoring new targets: 137.50 m.g:g: ProNav: ac range: 137.500000 m, nav range: 127.248611 m, bearing: 195.841381 deg, approach rate: -0.514401 m/s, LOS rate: 0.111085 deg/s, cmd heading: 171.853871 deg, new cmd heading: 171.986008 deg. gy;bg7@@ZgrgjgRgZf!Rf!e!e!"d)c)c)c)c-@ @ɢ]7^B]w YeR]Ia eXDɡaiaIe.P=Im7@@imظf=iu@uY<)u7@@)qԩI9EDAT read: 18:20:12.4559 LVL= 27776, 32753, 32642, 32755, AGC= 62, IDX= 408,-0.09,-1.581, 2.917,-2.199,-2.192, PHS= 0.713,-1.129,-0.051, RAW= 125.6, 5.9, CAL= 126.5, 7.1, ROT= 23.5, -7.1 MYgot valid direction response: 18:20:12.4559 LVL= 27776, 32753, 32642, 32755, AGC= 62, IDX= 408,-0.09,-1.581, 2.917,-2.199,-2.192, PHS= 0.713,-1.129,-0.051, RAW= 125.6, 5.9, CAL= 126.5, 7.1, ROT= 23.5, -7.1 UPDAT read: Bearing 322.5, 39.4 (Local) ]~Local bearing/azimuth received: Bearing 322.5, 39.4 (Local) eDAT read: Range 11 to 50 : 135.6 m (Round-trip 180.8 ms) speed 0.4 m/s m*DAT read: user:902> uBDAT read: Tx time:18:20:13.5694 u$Ping request sent.u+6? )`PIK @iB=FM @=~>Ii)d?`2??;?P=6ҽ~> Ii:publishing transmit ping time9qFpublishing direction and range infoBOh ?DW-S?A7X?Ii )IiIi)d?`2??;? Ii>Ai A yAI I N >_L,Ի0)Ay6.@ٱ6<@6m6+:=6H?ƿ?zG?5w9z`U? ^q??I6.@)6}^^;i6CBZBBIlMb@Mb@Mb@ )IiK?Mb?Mb`^?<)AIAiAA GA)! !BD-6D-4Y=z>!=K==rTQ)E>E H?9E H?9EEYEEM<AM>QQ 1]f4٪U23Ȋ?Q 5]f4U/ UjB9]l?Q Ae:Ye>@Q Ee?yUmC)U ;IUL ;iU|f4YmUBmjAm7EbDZD?ADnD[D(DEO]: E96Ec44:E!@!@!@!@JhARhEi0)AhEChE\9Eܸ\^@J@ch0@~EBOh ?DW-S?A7X?hE~>hE E a^i/ˮl>5$I@~E婐׭偆 &̿}?jhEerhEZhE@R2?bhEPzhECBhEŶ?hE{mhEBhE:BhE>Y@u addTargetRange:: Added new target pos. range: 135.600006 m, deltaT: 3.781112 s, deltaX: -1.899994 m, approachRate: -0.502496 m/s, rangeRepo size: 4  Added new target pos. range: 135.600006 m, bearing: 194.488398 deg, lat: 36.779421 deg, lon: -121.859474 deg, deltaT: 3.781112 s, deltaX: -1.899994 m, approachRate: -0.502496 m/s, posRepo size: 4 gFNOT Ignoring new targets: 135.60 m.gg ProNav: ac range: 135.600006 m, nav range: 126.115021 m, bearing: 194.488398 deg, approach rate: 0.000000 m/s, LOS rate: 0.111085 deg/s, cmd heading: 171.986007 deg, new cmd heading: 172.123830 deg. gbgC@@ZgrgjgRgZfRfee"dccc@3`@cࠄ?ɢEb^BE1 AEZII MxEɡiiiImO=IuC@@iuNXf=iui<)uC@@)y I9i21>A- LMKL,0)Aɰp;y6/@ٱ6<@6x㍾6?=6H;Iaƿ?C?cyDu ??Ѿ?I6/@)6o^;i6CB-[BBIBDJ6DJ4YR>!RU=VQ)V>VK?9VK?9VEYVEZd;AZ>\Q 1f4٪^ Ȋ?Q 5f4^. ^kB9Y>@Q E?y^C)^UB-A-6E9gQ]FNOT Ignoring new targets: 135.60 m.g]p:gep:m ProNav: ac range: 135.600006 m, nav range: 125.910660 m, bearing: 194.529256 deg, approach rate: -0.548866 m/s, LOS rate: 0.109912 deg/s, cmd heading: 172.123827 deg, new cmd heading: 172.246599 deg. guݖ;bguf@@ZgqrgqjgqRgqZfqRfyeyey"dcccc+?ɢ^B 顽VI pFɡiI_O=If@@i f=i@Y<)f@@)IQiQQU05QvB >~B B IB \BB  =B B B _l;B *EiDmDaD-DEY: E96Et4:E"E#~;!E&~;!*E;!E;!>Aua<rA}>jAyԙAa Iy I N > o{L,0)Ayn~/@ٱn=@nJnSC=nH@"8@ƿ?3?6|ar?m?U?In~/@)n@^;ilzt[BzIԁMb@Mb@Mb@ )IiʡE?/$?!7=]ɻQ)>99EYE؅;A>Q 1f4٪ Ȋ?Q 5f4- pkB9?Q A:YT?@Q E?yC) ;I" ;iʙf4Y &B A 5Eg15FNOT Ignoring new targets: 135.60 m.g=:g=:M ProNav: ac range: 135.600006 m, nav range: 125.668777 m, bearing: 194.576624 deg, approach rate: -0.556118 m/s, LOS rate: 0.109116 deg/s, cmd heading: 172.246593 deg, new cmd heading: 172.388972 deg. gMŕ;bgMr@@ZgIrgQjgQRgQZfQRfQeYeY"dYcacacace?ɢ^BMv~ 顕;OI FɡiI&O=Ir@@ie=iP<)r@@)IQiQQ]O5YԱrD%=jD<DtDYD,DEs: E*96Eg4:E!@!@!@!@>ALM<A I I N > L,U(0)AyJB/@ٱJ==@JJH=JH 5 Aſ -?e?h@?@??`p?IJB/@)JF^;iJCZ[BZIBDf6DfP4Yj >!r^=rQ)r>t9t9vEYvEv;Av>xQ 1~f4٪zNJ?Q 5f4z, zkB9Yx?@Q E?yz! C)z=:Iz:izf4Y  HAg1=FNOT Ignoring new targets: 135.60 m.g=:g=:M ProNav: ac range: 135.600006 m, nav range: 125.468575 m, bearing: 194.615744 deg, approach rate: -0.541779 m/s, LOS rate: 0.106033 deg/s, cmd heading: 172.388975 deg, new cmd heading: 172.506521 deg. gU;bgU@@ZgQrgQjgQRgQZfYRfYeYeY"dacacacaceu?ɢ^BV 顝KI eGɡiIN=I@@iSe=iR<)@@)I)i))5951!>AQIA I I N >A A <vB >~B B IB ]BB B B B k;B 3*ED xD aD D E ˀ: E 96E :E "E ;! E ;! *E ! E ! y TL,&B0)Aiy6U/@ٱ6P=@606qP=6H 1@4ſE?el?OpT?@??I6U/@)63^;i6CB[BB7IBDJ6DJծ4YRs >!RN=RͻQ)V>T9T9VEYVEZ:;AZ>\Q 1bf4٪^#NJ?Q 5bf4^, ^kB9`Yb?@Q Ef?y^] C)^;I^;i^f4YjBjzAhzB*** querying acoustic contact ***:hxBhxg|FNOT Ignoring new targets: 135.60 m.g:g: ProNav: ac range: 135.600006 m, nav range: 125.254417 m, bearing: 194.657610 deg, approach rate: -0.540232 m/s, LOS rate: 0.105792 deg/s, cmd heading: 172.506523 deg, new cmd heading: 172.632336 deg. g5;bg @@ZgrgjgRgZfRf!e!e!"d!c)c)c)c-@?ɢ^B B)=GI HɡiITN=I @@id=i@<) @@)aIiO5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉ>AbAZA~AԩA I I! N5 > ߙ ޙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255195 gL,\0)Ay62j/@ٱ62e=@6ky6Y=6H`,`zEſ@ox??? MAK?1.?`?`l?I62j/@)6I^;i6CN \BRSIUMb@Mb@Mb@Q Q)QIQiQU/$?y&1?:v?U?U`99EYEB;A>Q 1f4٪NJ?Q 5f4+ SlB9?Q A:Yc@@Q E?y C) ;I ;if4YBA4EgFNOT Ignoring new targets: 135.60 m.g:g:  ProNav: ac range: 135.600006 m, nav range: 125.019577 m, bearing: 194.702028 deg, approach rate: -0.539795 m/s, LOS rate: 0.102288 deg/s, cmd heading: 172.632335 deg, new cmd heading: 172.765837 deg. g e;bg 6@@Zg rg jgRgZfRfee"d!c!c!c!c% @ɢU+_BU5~ Y]rGIY ]HɡYiYI]*M=Ie6@@ie5d=im1<)m6@@)iԱI9ir2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507033>A0:D< A I! I9 NE >9 L,v0)Ay6U/@ٱ6Vz=@6Y6^=6Ho' ſ??B ^?@m\? ? ?I6U/@)64^;i6CBZ\BBIBDJ6DJ<4YRkL>!RZ=RQ)R>T9T9VEYVEZa;AZ>\Q 1bf4٪^NJ?Q 5bf4^U* ^lB9`Ybx@@Q Eb?y^ C)^:I^:i^f4Yhj)Ahg|~FNOT Ignoring new targets: 135.60 m.g:g: ProNav: ac range: 135.600006 m, nav range: 124.817719 m, bearing: 194.740211 deg, approach rate: -0.538899 m/s, LOS rate: 0.102101 deg/s, cmd heading: 172.765837 deg, new cmd heading: 172.880571 deg. g$;bgA@ZgrgjgRgZfRfee!"d!c!c!c)c-@ɢUQ_B]" Y]=IY ]bKIɡYiaIelCM=ImA@im>9d=im'<)mA@)qUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759607I9i!%@5!vB>~BBZIB]BBBBB4k;B)EBYBYBYB]ñ =BYB]5D}lD}pD}*DyE}V: E} :6E}(N4:Ey"E}w;!E}w;!*E},R;!E}-R;!)>A-0<) ) I= 9 = ԯAAA II Y Ia Nm > BDAT read: Rx Time:18:20:16.1517  TRx dataTimestamp_ set to:1755627618.171449 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013208#L,Ə0)A ɰ`b499EYE%^;A%>!Q 15f4٪%NJ?Q 55f4%n) %lB95?Q A5:Y=@@Q E=?y%!C)%;I%N;i%f4YEߟBElAE3EgiuFNOT Ignoring new targets: 135.60 m.gu:g}: ProNav: ac range: 135.600006 m, nav range: 124.577217 m, bearing: 194.785636 deg, approach rate: -0.533824 m/s, LOS rate: 0.101023 deg/s, cmd heading: 172.880571 deg, new cmd heading: 173.017111 deg. g;bgCA@ZgrgjgRgZfRfee"dccccz @ɢM_BMq+H M|GM=II UɡQiQIUI=I]CA@i]c=i]=<)]CA@)aiechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263180ԑDqDYD.DE2h: E*96Eـ4:E!@!@!@!@V=I 9i / @ @ I  DAT read: 18:20:16.1517 LVL= 27232, 32753, 31698, 32755, AGC= 63, IDX= 413,-0.09, 1.192,-0.629, 0.584, 0.568, PHS= 0.726,-1.152,-0.028, RAW= 126.5, 5.6, CAL= 127.3, 6.9, ROT= 22.7, -6.9  Ygot valid direction response: 18:20:16.1517 LVL= 27232, 32753, 31698, 32755, AGC= 63, IDX= 413,-0.09, 1.192,-0.629, 0.584, 0.568, PHS= 0.726,-1.152,-0.028, RAW= 126.5, 5.6, CAL= 127.3, 6.9, ROT= 22.7, -6.9  PDAT read: Bearing 322.9, 40.0 (Local)  ~Local bearing/azimuth received: Bearing 322.9, 40.0 (Local)  DAT read: Range 11 to 50 : 133.6 m (Round-trip 178.2 ms) speed 0.5 m/s  *DAT read: user:903>  BDAT read: Tx time:18:20:17.2694  $Ping request sent. A h%<9  Fpublishing direction and range info  @3N?VSE?rjƹI? C I `ji  {  ? #9?  t) B`I FM @i += 2@ Ϣ= b> ϢI i ) e?՞˼?A? = /Ƚ b>  ϢI i -:publishing transmit ping time9 -Fpublishing direction and range info  @3N?VSE?rjƹI?  I i      ) I i     I i ) e?՞˼?A?    I i AI)IN ?3,L,.0)Ay/@ٱ=@Ę/c=HH`veĿ? }?ો@h?f? +!?@?I/@)^;iC\BIBD6DaYm=!m=Q)>99EYEl;A>Q 1f4٪fNJ?Q 5f4O( cmB9Y@@Q E?ym!C);IB;if4YȟB~A2EJhRh%A0)AhChB9i}^@f2I@vR 0@~@3N?VSE?rjƹI?hb>hϢ z]olIY=ZJ@~Ga}̿-/?jhrhZh ?bhv_9zhhBh!?hx}\hBhBhRY@ addTargetRange:: Added new target pos. range: 133.600006 m, deltaT: 3.528816 s, deltaX: -2.000000 m, approachRate: -0.566762 m/s, rangeRepo size: 4  Added new target pos. range: 133.600006 m, bearing: 194.557908 deg, lat: 36.779422 deg, lon: -121.859466 deg, deltaT: 3.528816 s, deltaX: -2.000000 m, approachRate: -0.566762 m/s, posRepo size: 4 gFNOT Ignoring new targets: 133.60 m.gg ProNav: ac range: 133.600006 m, nav range: 124.055466 m, bearing: 194.557908 deg, approach rate: 0.000000 m/s, LOS rate: 0.101023 deg/s, cmd heading: 173.017106 deg, new cmd heading: 173.194883 deg. g bg uA@Zg rg jg Rg Zf Rfee"d9c9cAcE@3`@cE`?ɢ_B?) 顕w;I ɡiI:D=IuA@i7c=i5 <)uA@)I4=)=AAvB>~BBIBQ^BBBBBj;B)Eԑc<DnD^D,DEO]: E;96Eg4:E"E4;!-E5;!-*E;!-E;!5IE9iAIM0IԹ>A < A yAIIANu>04L,0)ALyM/@ٱM=@MiM^b=MH@W#ĿhC?=?an\i??G?@?IM/@)M+^;iMCe]BeIMb@Mb@Mb@ )IiV-?!0=MQ)>% H?9% H?9%EY%E%/;A->1Q 1=g4٪5vNJ?Q 5=g45' 5mB9=>?Q A=:Y=A@Q EE?y5!C)5<:I5:i5g4YIMAIeB*** querying acoustic contact ***:haBhagq}FNOT Ignoring new targets: 133.60 m.g}:g}:  ProNav: ac range: 133.600006 m, nav range: 123.807007 m, bearing: 194.602286 deg, approach rate: -0.561805 m/s, LOS rate: 0.100549 deg/s, cmd heading: 173.194883 deg, new cmd heading: 173.328286 deg. g ;bg  A@ZgrgjgRgZfRfee"dcc!c!c%n?ɢm_BubQB qu5Iq qɡyiyI}@=I} A@imb=ic<) A@)ܪ&T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I9iDqDbD.DE2h: E96Eـ4:E! @! @! @! @! >A X< checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986871A I I N >:L,0)A8yV0@ٱV>@V}Ved=VHÿ]R?"?@`p? ?M??IV0@)VK^;iVC^q]Bb.Ib=bR=BDj6DjO4Yr+n>!rU=rQ)r>t9t9vEYvEz;Az>|Q 1g4٪~bcNJ?Q 5g4~& ~nB9YA@Q E ?y~!C)~:I~:i~g4YBA1Eg9=FNOT Ignoring new targets: 133.60 m.gE:gE:U ProNav: ac range: 133.600006 m, nav range: 123.598419 m, bearing: 194.639471 deg, approach rate: -0.543312 m/s, LOS rate: 0.097018 deg/s, cmd heading: 173.328290 deg, new cmd heading: 173.440031 deg. gU*;bgUA@ZgQrgYjgYRgYZfYRfYeaea"dacacacicm?ɢ`BӉE 顝((I ɡiI==IA@itb=iQ<)A@)ԁ2D ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239368I9i"5vB9~B9B= IB=^BB9B9B9B=ij;B=)EDe nDe ZDe +Da Ee O]: Ee a96Ee [4:Ea "Ea !u Ea !u *Ee ;!u Ee ;!u >Au <1 A AI I N >>nBL,1 0)AyF0@ٱF>@F.Fl=FH@ÿM??_z?@?T=?`M?IF0@)F./^;iFCj]BnPI~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491266) @ABD 6D 14Y%8=!%.=-:Q)->5K?95K?95EY=E=?;A=>IQ 1Ug4٪MyLNJ?Q 5Ug4M& MnnB9QYUA@Q E]?yM0"C)M;IM:iMj"g4YeBeAe0EgFNOT Ignoring new targets: 133.60 m.g:g: ProNav: ac range: 133.600006 m, nav range: 123.343063 m, bearing: 194.684999 deg, approach rate: -0.542724 m/s, LOS rate: 0.096964 deg/s, cmd heading: 173.440032 deg, new cmd heading: 173.576899 deg. g;bg#A@ZgrgjgRgZfRfee"dcccc๢?ɢC`BFB, &I ɡiIE9=I#A@ia=i1;)#A@)  I ) IqI-9i))-P5)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742801ԩD sD aD D E so: E 96E :E ! @! @! @! @>A5 e< Aa Ii Iy N >|6IL,3&0)AyZ90@ٱZ4>@ZrLZ r=ZH0#_ÿD6?ǥ?jj??`?`?IZ90@)Z^;iZCn^BrIiMb@Mb@Mb@ )Ii"~j?&1?!.=q;Q)>99EYE)g;A>Q 1g4٪4NJ?Q 5g4i% nB9#?Q A:YzC@Q E?yy"C)` ;I ;i2g4Y cAg1=FNOT Ignoring new targets: 133.60 m.g=:g=:U ProNav: ac range: 133.600006 m, nav range: 123.077126 m, bearing: 194.729288 deg, approach rate: -0.569847 m/s, LOS rate: 0.095107 deg/s, cmd heading: 173.576895 deg, new cmd heading: 173.710050 deg. gU;bgU7 B@ZgQrgQjgQRgQZfQRfYeYeY"dacacacacm@ @ɢt`B " 顝 I ɡiI 5=I7 B@ia=i;)7 B@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997507I9i5ԙ>A=<} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246759Ay I I N > A) A- <vB1 ~B1 B5 IB5 _BB5 =B1 B1 B5 1j;B5 q)EPL,[@0)AɰD&pD&[D&,D$E&d: E&96E&g4:E$"E&y;!*E&z;!**E&;!*E&;!.yFq^0@ٱFqY>@FF)v=FH $, ÿl?@ld? ? ?h? {?IFq^0@)F^;iFCnV^BnIBDv6Dv4Y-c>!-X=-;Q)5>19195EY5E=;A=>AQ 1Mg4٪Ez!NJ?Q 5Mg4E$ E"oB9IYMC@Q EU?yE"C)E:IE:iE?g4Y]B]YAYgFNOT Ignoring new targets: 133.60 m.g`:g`: ProNav: ac range: 133.600006 m, nav range: 122.860786 m, bearing: 194.765224 deg, approach rate: -0.571046 m/s, LOS rate: 0.095022 deg/s, cmd heading: 173.710056 deg, new cmd heading: 173.818053 deg. gl;bg(B@ZgrgjgRgZfRfee"dccccN@ɢ`B' I ɡiI%2=I(B@i,a=iÂ;)(B@)I 9iz4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499173>A0;rA>jAAA I I N5 >Y [CVL,DZ0)Ay6z0@ٱ6u>@66*z=6H6¿?'5? ܉?@m???I6z0@)6:^;i6CB^BBI Mb@Mb@Mb@  ) I i  x&1?S㥫?I +? !? /]= 9<) AI 1Ai A nA  ABD%6D%&4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750951YE=!EH=EI9I9MEYMEU;AU>YQ 1eg4٪] NJ?Q 5eg4]f$ ]xoB9e9"?Q Ae:YeD@Q Em?y]"C)]Q:I]E:i]7Ng4YujBuAu/EB*** querying acoustic contact ***1:h1Bh1gAEFNOT Ignoring new targets: 133.60 m.gM:gM:} ProNav: ac range: 133.600006 m, nav range: 122.630150 m, bearing: 194.802806 deg, approach rate: -0.537313 m/s, LOS rate: 0.087720 deg/s, cmd heading: 173.818055 deg, new cmd heading: 173.931014 deg. g}p;bg}fHB@ZgyrgyjgyRgZfRfee"dccccq@ɢ`BU I ɡi)I-C/=I-fHB@i5`=i5d;)5fHB@)1DutDu\Du-DqEus: Eu96Eut4:Eq!}@!}@!}@!}@I9i?5Yԉ>A;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003189A I I N >Ա !j\L, t0)Ay60@ٱ6>@6 6|=6H`3Cx¿Ü?!~P=~(99EYE;A > Q 1g4٪ Ɗ?Q 5g4 # oB9Y5D@Q E?y .#C) +;I j;i [g4Y)-߿A)gIUFNOT Ignoring new targets: 133.60 m.gU3:g]3:m ProNav: ac range: 133.600006 m, nav range: 122.407135 m, bearing: 194.839050 deg, approach rate: -0.599261 m/s, LOS rate: 0.097568 deg/s, cmd heading: 173.931013 deg, new cmd heading: 174.039943 deg. gm;bgmgB@ZgirgijgiRgiZfqRfqeqeq"dycycycc$~ @ɢ`B 页OI ɡiIb ,=IgB@ic`=iH;)gB@)ԙIm9iqqu84qUBDAT read: Rx Time:18:20:19.8488 UTRx dataTimestamp_ set to:1755627621.955104]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256365vB>~BB IB9`BB =BBBj;B`)ED{D]D(DE=: E96Ec44:E"E;!E;!*E ;!E ;!>AuΒ;A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5068919 ?RcL,10)Aiy6p0@ٱ6p>@6ꑾ6}}=6HuP@9¿p\??? f?`xc??I6p0@)6[(^;i6CB$_BB9 IBDJ6DJ4YR!>!RP=V,-T9T9VEYVEZ;AZ>\Q 1bg4٪^CƊ?Q 5bg4^y# ^pB9`YfdD@Q Ef?y^k#C)^;I^:i^ig4YjRBjAj.Eg|~FNOT Ignoring new targets: 133.60 m.gn:gn: ProNav: ac range: 133.600006 m, nav range: 122.183853 m, bearing: 194.875149 deg, approach rate: -0.567923 m/s, LOS rate: 0.091987 deg/s, cmd heading: 174.039941 deg, new cmd heading: 174.148437 deg. g|;bgB@ZgrgjgRgZfRfe!e!"d!c!c)c)c-@/ @ɢaB2 I ɡiI5Ä(=ImB@i}_=io<)B@)!I}9iyy}4y@=@=DAT read: 18:20:19.8488 LVL= 29360, 32753, 32754, 32755, AGC= 64, IDX= 415,-0.07, 2.285, 0.457, 1.709, 1.636, PHS= 0.751,-1.134, 0.029, RAW= 127.7, 4.3, CAL= 128.6, 5.7, ROT= 21.4, -5.7 Ygot valid direction response: 18:20:19.8488 LVL= 29360, 32753, 32754, 32755, AGC= 64, IDX= 415,-0.07, 2.285, 0.457, 1.709, 1.636, PHS= 0.751,-1.134, 0.029, RAW= 127.7, 4.3, CAL= 128.6, 5.7, ROT= 21.4, -5.7 PDAT read: Bearing 321.9, 38.8 (Local) ~Local bearing/azimuth received: Bearing 321.9, 38.8 (Local) DAT read: Range 11 to 50 : 131.4 m (Round-trip 175.2 ms) speed 0.5 m/s *DAT read: user:904> BDAT read: Tx time:18:20:20.9694 $Ping request sent.]%˽IYiY)]'F>?tS|?%e?]i{ >]/N]t;> ]%˽IYiY:publishing transmit ping time9Fpublishing direction and range infoY]T<?=y4?tS|?%e?YYY YIYiYI BE|a4JEb4REȳ0D D ^D +D E  E ;96E [4:E ! @! @! @! @>A= p<bAA ZAE }Ay Am yAIy I N >0jL,g0)AyF1@ٱF?@FFّ~=FH_@x?@!+=? H?9 H?9EYE8;A>Q 1g4٪Ɗ?Q 5g4" pB9X$?Q A:YD@Q E?y#C):I<:igzg4Y;BA-EJhIRhM{O0)AhMfChM&9Mo^@~G@*@~MT<?=y4hM%˽ MgڵZ]y9<\mH@~M*J"v˿?jhMrhMZhM˟?bhMΪzhMBhIhMPhMBhMBhMa|Y@ addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.782125 s, deltaX: -2.200012 m, approachRate: -0.581687 m/s, rangeRepo size: 4  Added new target pos. range: 131.399994 m, bearing: 194.703460 deg, lat: 36.779422 deg, lon: -121.859461 deg, deltaT: 3.782125 s, deltaX: -2.200012 m, approachRate: -0.581687 m/s, posRepo size: 4 gFNOT Ignoring new targets: 131.40 m.gg- ProNav: ac range: 131.399994 m, nav range: 121.787498 m, bearing: 194.703460 deg, approach rate: 0.000000 m/s, LOS rate: 0.091987 deg/s, cmd heading: 174.148432 deg, new cmd heading: 174.286893 deg. g)bg-*B@Zg)rg)jg1Rg1Zf1Rf1e9e9"d9c9c9cEl`@cE?ɢ UaB 1 I ɡiIh$=I*B@iۂ_=iy`<)}*B@)AI59i19=o09ivB >~B ύCB N IB `BB =B B B i;B G)EBiBiBiBiBiBmܠ5>A Β;D] sD] oD] &DY E] so: E] :6E] 4:EY "E] ;!m E] ;!m *E] N;!m E] N;!m ԙ I I N >CqL,M0)Ay^G01@ٱ^G+?@^^ 4=^Hm`!?`?ڣ?`i? ?a?I^G01@)^^;i^CitIt~_B- I)͈G A)mAIE0EAEABD6Dߢ4Y=!)=n'99EYEg;A>Q 1g4٪ Ɗ?Q 5g4s" pB9YD@Q E?y$C)-:I:iPg4YyAgFNOT Ignoring new targets: 131.40 m.gk:gk:  ProNav: ac range: 131.399994 m, nav range: 121.507919 m, bearing: 194.747453 deg, approach rate: -0.608136 m/s, LOS rate: 0.095915 deg/s, cmd heading: 174.286893 deg, new cmd heading: 174.419178 deg. g ;bg B@Zg rgjgRgZfRfee"dc)c1c9c%`]?ɢmaBm~ quIq ɡiIG =IB@i/_=ic<)B@)I9i0Qq >A H<I I N >(xL,90)ADyD`D*DE: E96E(N4:E!@!@!@!@ɰ$&p;yBR]1@ٱBRX?@BB_=BH`{;(]??_c?1?_?@?IBR]1@)B ^;i@h $`B  IiIMb@Mb@Mb@ )Iip= ף?i|?5?Zd;O?%?q=j<)AIAiAA ABD6D4Y>!P=J99EYE;A>Q 1g4٪Ɗ?Q 5g4" 3qB9%?Q A:YNE@Q E?y?$C){;IH;ig4Y #BFA,E}B*** querying acoustic contact ***:hyBhygFNOT Ignoring new targets: 131.40 m.gV:gV: ProNav: ac range: 131.399994 m, nav range: 121.277924 m, bearing: 194.782989 deg, approach rate: -0.517732 m/s, LOS rate: 0.080144 deg/s, cmd heading: 174.419180 deg, new cmd heading: 174.525989 deg. g\;bgB@ZgrgjgRgZfRfee"dcccc=9r?ɢaB`ڼ 額yȾI ɡiID=IB@i`^=i<)B@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1 a I 9i / @ A@ }AM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500068ԡ -" XFailed to parse device response: 09,2707.51 >A<rA>jAII N>pL,0)AD6tD6bD61D4E6s: E696E6-4:E4ԡyJ1@ٱJ?@]n=Ha ?@? H?ځ?{?`^?IJ1@)P^;iCj`B IBD6DO4Y >!#=L9 9 EY Eh<A>Q 1g4٪Ɗ?Q 5g4! qB9YE@Q E?y$C)QAe X<I I N >L,R~0)Ay^ 2@ٱ^@@^ ^kJ=^H!@'?qp?`?3???I^ 2@)^h0^;i\j`Bj? Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004241Mb@Mb@Mb@ )Ii"~j?v/?I +?S#?xi=9<)AIAiAA ABD6D:4Y y>!O=PL99EYE <A>Q 1g4٪,qƊ?Q 5g4U! qB9$?Q A:YE@Q E?y$C)/:I;iYg4YAg)-FNOT Ignoring new targets: 131.40 m.g5U:g5U:E ProNav: ac range: 131.399994 m, nav range: 120.751526 m, bearing: 194.862824 deg, approach rate: -0.624961 m/s, LOS rate: 0.095004 deg/s, cmd heading: 174.665900 deg, new cmd heading: 174.766036 deg. gEf;bgE-7C@ZgArgIjgIRgIZfIRfIeQeQ"dQcYcYcYc]Lc@ɢbBļ 額I ɡiI)=I-7C@iD]=il<)-7C@) I)DwDcD-DE}: EL96Et4:EAI9i0q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256078ԙ >A 8k<II IY Ne >FL,50)ADiDybJM2@ٱbJH@@bzb h=bH 澿cE??-W?@{?ͯ??IbJM2@)b9^;ibCn*aBnx IBDz6Dz4Y>t>!W=vX 9 9 EY Ev1<A>Q 1%g4٪]Ɗ?Q 5%g4 ! )rB9!Y-F@Q E-?y%C)D;I;ig4Y5B5A1gY]FNOT Ignoring new targets: 131.40 m.ge:ge: ProNav: ac range: 131.399994 m, nav range: 120.528725 m, bearing: 194.896304 deg, approach rate: -0.586598 m/s, LOS rate: 0.088308 deg/s, cmd heading: 174.766031 deg, new cmd heading: 174.866655 deg. gkr;bgSC@ZgrgjgRgZfRfe)e)"d)c)c)c1c5`[@aɢ;bB. ӈI ɡiI=ISC@i]=i-<)SC@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508221Iu9iqqyyvB>~B͍CB IB5bBB =BB`DBi;B!)EԉDxDeD)DEˀ: E96EFA4:E"E;!E;!*E"*;!E"*;!Թ>Ajb<A- AI1 IA Ne >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760228?L,Y5O0)Ayv2@ٱv@@vz{v=vH@߽? ? %.?? L}? ?Iv2@)v^;ivCcaB IBD6D4Y-Q >!-I=-,W5K?95K?95EY5 E=4<A=>AQ 1Mg4٪EmHƊ?Q 5Mg4E  EtrB9IYULF@Q EU?yEH%C)E:IE:iEg4Y]ݞB]A]*EgFNOT Ignoring new targets: 131.40 m.g:g: ProNav: ac range: 131.399994 m, nav range: 120.289825 m, bearing: 194.931901 deg, approach rate: -0.587078 m/s, LOS rate: 0.087652 deg/s, cmd heading: 174.866653 deg, new cmd heading: 174.973658 deg. gp;bgrC@ZgrgjgRgZfRfee"dcccc@ɢebB" I ɡiIs=IrC@iWd]=id<)rC@)Ii0}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012094>A]<1 D tD cD .D E s: E L96E ـ4:E ! @! @! @! @Aa Ii Iy N >Q ̙L,zi0)AyJ2@ٱJ@@J`uJA=JH? u4??@D?j?;?z?IJ2@)J4^;iHVaBV ImMb@Mb@Mb@i i)iIiiim r?J +?/$?m#?mH=m<)mAImAim/AmA im(ABD6D4YU>!D=]99EYE4<A>Q 1g4٪2Ɗ?Q 5g4g  rB9&$?Q A:YE@Q E?y%C) ;Ir;iwg4YAB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 131.40 m.g:g:  ProNav: ac range: 131.399994 m, nav range: 120.044800 m, bearing: 194.969818 deg, approach rate: -0.585960 m/s, LOS rate: 0.090861 deg/s, cmd heading: 174.973655 deg, new cmd heading: 175.087638 deg. g my;bg $C@Zg rg jg Rg ZfRfee"dcccc%  @ɢMbBM>2k QUVIQ QɡQiQI] =I]$C@i]]=ieΙ<)e$C@)aBDAT read: Rx Time:18:20:23.5458 TRx dataTimestamp_ set to:1755627625.734717checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265311)Ii 0Y>A<ԁ A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516179vB >~B ̍CB IB bBB =B HDB _DB qi;B (EL,f0)AD8D:dD8D8E8 E:96E8:E8"E:;!NE:;!N*E:~&;!RE:~&;!R\ɰ!%4!u==}_y9y9}EYE<A>Q 1g4٪Ɗ?Q 5g4   sB9YE@Q E?y%C)p:I:ig4YƞBA)EgIUFNOT Ignoring new targets: 131.40 m.gU}:gU}:m ProNav: ac range: 131.399994 m, nav range: 119.785294 m, bearing: 195.009671 deg, approach rate: -0.577970 m/s, LOS rate: 0.088952 deg/s, cmd heading: 175.087637 deg, new cmd heading: 175.207455 deg. gm0t;bgugC@ZgqrgqjgqRgqZfqRfyeyey"dyccccΠ @ɢbBJ 页 @I ɡiIޗ =IgC@i\=i<)gC@)>>I]9iaae0a@m~A@mA%DAT read: 18:20:23.5458 LVL= 28528, 32753, 32754, 32755, AGC= 63, IDX= 417,-0.19, 1.720,-0.107, 1.189, 1.175, PHS= 0.647,-1.237,-0.030, RAW= 129.2, 7.5, CAL= 129.5, 8.8, ROT= 20.5, -8.8 -Ygot valid direction response: 18:20:23.5458 LVL= 28528, 32753, 32754, 32755, AGC= 63, IDX= 417,-0.19, 1.720,-0.107, 1.189, 1.175, PHS= 0.647,-1.237,-0.030, RAW= 129.2, 7.5, CAL= 129.5, 8.8, ROT= 20.5, -8.8 5PDAT read: Bearing 327.6, 35.2 (Local) 5~Local bearing/azimuth received: Bearing 327.6, 35.2 (Local) EDAT read: Range 11 to 50 : 129.2 m (Round-trip 172.3 ms) speed 0.5 m/s E*DAT read: user:905> MBDAT read: Tx time:18:20:24.6694 M$Ping request sent.M$@nF>0>nFIi)'O?WD{W? ?Z$>0> nFIi}:publishing transmit ping time9I}Fpublishing direction and range infor? +A&?8C ?Ii )IiIi)'O?WD{W? ? Ii1>A uܦL,ǜ0)AyRV63@ٱRV1A@R(iR$=RH``q ?෕?@Y? o?\?@?IRV63@)R=^;iRC^YbBn2 I 99AMb@Mb@Mb@ )Iiy&1?~jt?Mb?`%?=<)َAIAiA “ABD6D4YZ>!U=q H?9 H?9EYE<A>Q 1g4٪Ɗ?Q 5g4 LsB9%?Q A:YD@Q E?y &C):I:ig4Y B A(EJhRh?0)Ah3Ch,9W=W]@~ؗi[F@~ 3@~r? +A&?8C ?h0>hnF tv#\%yU^=Y )H@~ϣͿjJ?jhrhZh䟊?bh!$zh?BhŶ?hv_9h?BhBhlY@ addTargetRange:: Added new target pos. range: 129.199997 m, deltaT: 3.780299 s, deltaX: -2.199997 m, approachRate: -0.581964 m/s, rangeRepo size: 4  Added new target pos. range: 129.199997 m, bearing: 194.648565 deg, lat: 36.779421 deg, lon: -121.859451 deg, deltaT: 3.780299 s, deltaX: -2.199997 m, approachRate: -0.581964 m/s, posRepo size: 4 g FNOT Ignoring new targets: 129.20 m.gg% ProNav: ac range: 129.199997 m, nav range: 119.396980 m, bearing: 194.648565 deg, approach rate: 0.000000 m/s, LOS rate: 0.088952 deg/s, cmd heading: 175.207453 deg, new cmd heading: 175.310949 deg. g!bg-C@Zg)rg)jg)Rg)Zf1Rf1e9e9"d9c9c9cE`f&`@cET?DuxDuiDu(DqEuˀ: Eu96Euc44:Eq!}@!}@!}@!}@ɢMbBMo* QUIY YɡYiaIe1=iIC@i|\=il<)C@)Ii/ԙ >A ፨<A5 AI9 II Ne >L,0)Ay:;u3@ٱ:;pA@:1c:Q&=:H@ͺ`? ?(U?B5?T?x&?I:;u3@):R%^;i8DBbBFP IBDN6DN4YV.=!ZL=ZnZK?9^K?9^EY^ E^<A^>`Q 1fh4٪bŊ?Q 5jh4bA bsB9hYj4E@Q Ej?ybL&C)b:Ib:ib h4YlnApg FNOT Ignoring new targets: 129.20 m.g -:g-: ProNav: ac range: 129.199997 m, nav range: 119.158340 m, bearing: 194.686074 deg, approach rate: -0.627778 m/s, LOS rate: 0.098870 deg/s, cmd heading: 175.310944 deg, new cmd heading: 175.423695 deg. g%;bg%=C@Zg!rg!jg!Rg!Zf)Rf)e)e)"d1c1c1c1c5@f?ɢecBe) amIi iɡiiiImj2=Iu=C@iuD\=iu-߸<)u=C@)yAIAMAAvBU>~BUˍCBU IBUzcBBU =BQBQBU i;BU(EIu8iqqqqԱDusDujDu)DqEuso: Eu96EuFA4:Eq"Euߑ;!}Eu;!}*EuU<;!}EuU<;! >A`=<A  I IA N] >jL,0)Aiy:c3@ٱ:cA@:O]:2=:H #?@?(?r?H?1?I:c3@):G^;i:CBbBF IBDJ6DJm4YRjI>!VL=VxX9X9ZEYZ%EZ <AZ>`Q 1fh4٪bŊ?Q 5fh4b bsB9dYjkE@Q Ej?yb&C)b:Ib:ibh4YnBnAn'E|gFNOT Ignoring new targets: 129.20 m.gw:gw: ProNav: ac range: 129.199997 m, nav range: 118.919212 m, bearing: 194.723397 deg, approach rate: -0.574292 m/s, LOS rate: 0.089817 deg/s, cmd heading: 175.423696 deg, new cmd heading: 175.535892 deg. gv;bgRD@ZgrgjgRgZfRfee"dcccc`˲?ɢ-JcB-& )5߽I1 1ɡ9iAIEG=I}RD@iq\=i<)RD@) 1IE9i0@@QBEșT4JET\4RE0DyDdD+DE: E96E [4:E!@!@!@!@>A*<bAZAzAԁ A I I N >L,0)Ay:3@ٱ:A@:fV:π=:HEX? M?@l?`O?y?@m!=@=EDqAI9A9MEYM*EUW <AU>YQ 1eh4٪]Ŋ?Q 5eh4]c ]tB9e!?Q Am:YmyD@Q Em?y]&C)]` ;I] ;i])h4YuBuɳAq-B*** querying acoustic contact ***:h)Bh)g9=FNOT Ignoring new targets: 129.20 m.geY:geY:u ProNav: ac range: 129.199997 m, nav range: 118.671577 m, bearing: 194.764177 deg, approach rate: -0.575759 m/s, LOS rate: 0.095011 deg/s, cmd heading: 175.535889 deg, new cmd heading: 175.658482 deg. gui;bgu`6D@ZgyrgyjgyRgyZfyRfyee"dcccc?ɢ{cBsͻ y}࿽Iy ɡiIĻ~BI BM H IBM dB Y Y e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.BI BI BI BM h;BM (E>A} e< D |D `D )D E : E 96E FA4:E "E ;! E ;! *E ;! E ;! A I I N >}L,A0)A)~G rA)-AIecerAeAyp4@ٱpB@P=H`&㌸@3?C?ʲ??z? UF?Ip4@)^;iCfcB IԹBD6Dx4Y0>!B=d99EY0E ;A>Q 1h4٪Ŋ?Q 5h4 NtB9YD@Q E?y'C);I;i8h4Y5AgAMFNOT Ignoring new targets: 129.20 m.gU:gU:m ProNav: ac range: 129.199997 m, nav range: 118.426727 m, bearing: 194.804258 deg, approach rate: -0.607288 m/s, LOS rate: 0.099618 deg/s, cmd heading: 175.658477 deg, new cmd heading: 175.778971 deg. gm;bgmXD@ZgirgqjgqRgyZfyRfyee"dcccc@?ɢMcBUv QUƒIQ QɡYiYI]ܚAM TcL,C 0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253615ɰ y>wQ4@ٱ>wLB@>EJ>}=>H@ 3'ڷ^?y?7@?/? ?`uP?I>wQ4@)>C,^;i>CJcBJ I LNAMb@Mb@Mb@ )IiRQ?Zd;O?I +?"?j<94<)rAIAiA{A 3ABD6DD4Yl>!L=r99EY5E)<A>Q 1h4٪)Ŋ?Q 5h4w tB9"?Q A:YD@Q E?yQ'C) ;Iu ;iFh4YiBA&Eg FNOT Ignoring new targets: 129.20 m.g U:gU:% ProNav: ac range: 129.199997 m, nav range: 118.191940 m, bearing: 194.843014 deg, approach rate: -0.592902 m/s, LOS rate: 0.098063 deg/s, cmd heading: 175.778975 deg, new cmd heading: 175.895473 deg. g-;bg-%zD@Zg)rg)jg)Rg)Zf)Rf1e1e1"d9c9c9c9c=@D]D]cD]+DYE]a: E]L96E] [4:EY!e@!e@!e@!e@ɢ cB-h 15 I1 9ɡ9i9I=LArAjA>A I) I9 NE >ԙ L,'90)Ay:4@ٱ:B@: D:jv=:H@>5??`?Ht???@Z?I:4@):3^;i:CBcBB. IBDJ6DJ4YV=!V]=VX9X9ZEYZ:EZ <A^>|Q 1h4٪~bŊ?Q 5 h4~ ~tB9 Y D@Q E ?y~'C)~d:I~:i~Sh4YQBbA%EgYeFNOT Ignoring new targets: 129.20 m.ge:gm: ProNav: ac range: 129.199997 m, nav range: 117.969086 m, bearing: 194.879564 deg, approach rate: -0.582453 m/s, LOS rate: 0.095708 deg/s, cmd heading: 175.895471 deg, new cmd heading: 176.005329 deg. g^;bgD@ZgrgjgRgZfRfee"dcccc@ɢ=dB==· 9=`jIA AɡAiAIE7~BB IBdBBBBBg;B(EBˍCB̍CBBº =B¹ =BA5=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758547I-9i))-0)DmzDiDm.DiEml: Ei6Emـ4:Ei"EmЧ;!uEmѧ;!u*Em";!}Em";!}ԡ>A<Ay I I N > BDAT read: Rx Time:18:20:27.2429  TRx dataTimestamp_ set to:1755627629.262615 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010681 L,1S0)A;dB[ IBD-6D-m4Y=,>!=A=EQ)E>A9A9EEYM?EMAM>QQ 1]h4٪UsŊ?Q 5eh4U UtB9aYaQ Ee?yU'C)U+ ;IUY!;iU>bh4YiuаAqgFNOT Ignoring new targets: 129.20 m.g8:g8: ProNav: ac range: 129.199997 m, nav range: 117.725037 m, bearing: 194.919760 deg, approach rate: -0.593857 m/s, LOS rate: 0.098014 deg/s, cmd heading: 176.005328 deg, new cmd heading: 176.126166 deg. g;bgD@ZgrgjgRgZfRfee"dcccc  @ɢ.dB#f: MA<) Dm |Dm fDm +Di Em : Em 96Em [4:Ei !} @!} @!} @!} @A I I N Y L,m0)AXiXDAT read: 18:20:27.2429 LVL= 24016, 32433, 29538, 32755, AGC= 62, IDX= 419, 0.08,-2.305, 2.063,-2.869,-2.852, PHS= 0.649,-1.323,-0.061, RAW= 129.2, 8.5, CAL= 129.3, 9.8, ROT= 20.7, -9.8 Ygot valid direction response: 18:20:27.2429 LVL= 24016, 32433, 29538, 32755, AGC= 62, IDX= 419, 0.08,-2.305, 2.063,-2.869,-2.852, PHS= 0.649,-1.323,-0.061, RAW= 129.2, 8.5, CAL= 129.3, 9.8, ROT= 20.7, -9.8 PDAT read: Bearing 330.0, 32.2 (Local) ~Local bearing/azimuth received: Bearing 330.0, 32.2 (Local) DAT read: Range 11 to 50 : 127.0 m (Round-trip 169.4 ms) speed 0.3 m/s *DAT read: user:906> R#Rx 1: Read range and direction messages.\direction in FSK: [0.921794,0.348317,0.170209]Fpublishing direction and range infoXQsU?lJ?rl?BI]i~bs>$&? X)#yIi>m@%/>>%/Ii)_{QY=?mz1??A$>> %/IiT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.yU4@ٱUB@Ua9U1,n=UHT?J?`H? ?D?l?IU4@)U^;iQdB IMb@Mb@Mb@ )Iijt?y&1?MbP? ?`e<:)AIAiA ABD6D4Y>!=9!9%EY%FE%3<A%>IQ 1Uh4٪MWŊ?Q 5]h4M M1uB9] ?Q A]:Y]RD@Q E]?yM%(C)M:IM:iMuh4Y:BA$EJhRh.q0)AhBh 7j~NWD]@whp=F@ٝ5@~XQsU?lJ?rl?h>h%/ u|Kvk\B@C^jF@~쿠zS"п 0K?jhrhZh*?bhhEfzhBh䟊?hhhBhżY@ addTargetRange:: Added new target pos. range: 127.000000 m, deltaT: 3.529192 s, deltaX: -2.199997 m, approachRate: -0.623371 m/s, rangeRepo size: 4 AU Added new target pos. range: 127.000000 m, bearing: 194.928640 deg, lat: 36.779418 deg, lon: -121.859451 deg, deltaT: 3.529192 s, deltaX: -2.199997 m, approachRate: -0.623371 m/s, posRepo size: 4 gQUFNOT Ignoring new targets: 127.00 m.g]gY ProNav: ac range: 127.000000 m, nav range: 117.751999 m, bearing: 194.928640 deg, approach rate: 0.000000 m/s, LOS rate: 0.098014 deg/s, cmd heading: 176.126168 deg, new cmd heading: 176.289111 deg. gbgD@ZgrgjgRgZfRfee"dccc_@c ?ɢ pdBh: @y5>vB>~BB IB9eBBBBBf;B'EI9i3= >DAT read: Tx tm:18:20:28.3694 = \unknown deviceResponse_: Tx tm:18:20:28.3694 E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766795ԑ DM DM dDM .DI EM : EM 96EM ـ4:EI "EM ;! EM ;! *EM ~&;! EM ~&;! ԙ >A F<II N>8L,0)Ay6T 5@ٱ6SC@636s=6H]@mB?⽷?@:Υ?`?@u?s?I6T 5@)67^;i6CBdBB IBDJ6DJɌ4YR(>!Rk=Ry`Q 1bh4٪bEŊ?Q 5fh4b bYuB9dYfwD@Q Ef?yb[(C)b:Ib;ibh4Yn#BnAn#EzB*** querying acoustic contact ***:hxBhxgFNOT Ignoring new targets: 127.00 m.g :g : ProNav: ac range: 127.000000 m, nav range: 117.550453 m, bearing: 194.962552 deg, approach rate: -0.613541 m/s, LOS rate: 0.103412 deg/s, cmd heading: 176.289109 deg, new cmd heading: 176.391020 deg. g;bgE@Zg!rg!jg!Rg!Zf!Rf!e)e)"d)c1c1c1c5?ɢ]dBen%G; ae =Ia aɡiiiIm<checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017716IE@i3dZ=i<)E@)I9i0>A]<IQIyN_> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2698319 rD =jD 4=m^L,K0)AD"wD"]D"(D E"}: E"96E"c44:E !&@!&@!&@!&@5dB5 IMb@Mb@Mb@ )Iix&1?{Gz?Mb`!?#<)hAI+Ai"A ABD6Dm4YT<!8=Q)>99EYPEA>Q 1h4٪.Ŋ?Q 5h4 uB9 !?Q A :Y D@Q E ?y(C):I:ih4Y BA"Eg9EFNOT Ignoring new targets: 127.00 m.gE:gE:] ProNav: ac range: 127.000000 m, nav range: 117.290421 m, bearing: 195.007381 deg, approach rate: -0.586646 m/s, LOS rate: 0.101360 deg/s, cmd heading: 176.391015 deg, new cmd heading: 176.525799 deg. g] ;bg]d.E@ZgYrgYjgYRgYZfaRfaeaea"dicicicicu?ɢdB5  I !ɡ!i!I%A <Iq I N >ԙ A A ?AvB! ~B! B% B IB% eBB% =B! B! B% e;B% !'EDL,-!0)Aɰ2checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777621yfZ5@ٱfUC@f*f<|=fH`n'>`?`b?7`ϧ?)?=?`?IfZ5@)f1^;ifCr!eBr IBDz6DzX4Ytz>!Z= 9 9 EY UES<A>Q 1%h4٪#Ŋ?Q 5%h4 uB9!Y%_D@Q E%?y(C)_:IN:ih4Y15A1gY]FNOT Ignoring new targets: 127.00 m.ge:ge:u ProNav: ac range: 127.000000 m, nav range: 117.070412 m, bearing: 195.044893 deg, approach rate: -0.588050 m/s, LOS rate: 0.100452 deg/s, cmd heading: 176.525802 deg, new cmd heading: 176.638549 deg. gu;bguNE@ZgqrgqjgqyRgyZfyRfee"dcccc`v?ɢdBO^; 顽|<=I ɡiIA}<IIN> :tL,0)A-\eB- IMb@Mb@Mb@ )IiCl?I +?;?9<)ZAIxAi›AMzA pABD6D04Y[=!/=Q)>99EYZEA>Q 1h4٪Ŋ?Q 5h4# uB9T?Q A:mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.281670YE@Q E?y')C)oA <Iy I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533623Q L,0)Ay65@ٱ6 C@6j 6Ѓ=6Hr}@@@? ֵ? Z?\?C??I65@)6^;i6CNeBR) IBDT6DTY^>!bu=b+~BB IB-fBBBBBd;B&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.785702>A<ԡD|DdD+DE : E96E [4:E"E;!E;!*E~&;!E~&;!A! I) I9 NM >Թ @L,W0)Aiy6S5@ٱ6RC@6A6=6HTS I?@3?CB?]???I6S5@)61^;i6CNeBR< IBDV6DV:4Y^W=!bJ=brAd9d9fEYfdEfR;Af>hQ 1nh4٪jĊ?Q 5rh4j j-vB9pYrE@Q Er?yj)C)j;Ij;ijh4YvޝBv&Az!E B*** querying acoustic contact ***:h Bh gFNOT Ignoring new targets: 127.00 m.g%:g%:5 ProNav: ac range: 127.000000 m, nav range: 116.367439 m, bearing: 195.157345 deg, approach rate: -0.600291 m/s, LOS rate: 0.095976 deg/s, cmd heading: 176.863254 deg, new cmd heading: 176.976615 deg. g5;bg5NE@Zg1rg1jg1Rg1ZfRfee"dcccc(@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037725ɢ5eBU.; QU@=IY YɡYiYI]A-< checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290017A! I) I9 NI BEJEwX4RE0D D kD *D E : E :6E (N4:E ! @! @! @! @ L,(0)Ay6f5@ٱ6eC@66w=6H#m@T? ~?@Nz? ?K?@?I6f5@)6^;i6CjeBj_ I]Mb@Mb@Mb@Y Y)YIYiY]Pn?Q?{Gzt]$?]<]ף)]AI]Ai]A]xA Y]\ABDq6DqY>!>=299EYiE9A>Q 1h4٪Ċ?Q 5h4E UvB9G$?Q A:YF@Q E?y)C)U:I:ih4YǝBWA EgFNOT Ignoring new targets: 127.00 m.g:g: ProNav: ac range: 127.000000 m, nav range: 116.106895 m, bearing: 195.197390 deg, approach rate: -0.606871 m/s, LOS rate: 0.093484 deg/s, cmd heading: 176.976622 deg, new cmd heading: 177.097025 deg. gP;bgE@ZgrgjgRgZfRfe e "d c c ccw@ɢeB̀N; X==I ɡiIAA A <vB >~B ̍CB IB fBB =B B `DB c;B +&EԒL,gB0)A&BDAT read: Rx Time:18:20:30.9400 &TRx dataTimestamp_ set to:1755627633.046708*checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794768yNհ5@ٱNԫC@Ns%Nwl=NH Bh@? Q?T?4?n@?0?INհ5@)N@^;iNCZfBZ} IBDb6Db4Yj>!jW=jAl9l9nEYnnEr};Ar>tQ 1zh4٪vĊ?Q 5zh4v  vwvB9xYzF@Q Ez?yv*C)v9:IvR:ivh4YAg)-FNOT Ignoring new targets: 127.00 m.g5F:g5F:U ProNav: ac range: 127.000000 m, nav range: 115.875732 m, bearing: 195.232987 deg, approach rate: -0.607054 m/s, LOS rate: 0.093666 deg/s, cmd heading: 177.097024 deg, new cmd heading: 177.204027 deg. gU;bgUUE@ZgYrgYjgYRgaZfaRfaeieq"dqcccc @D]zD]hD]-DYE]l: E]]96E]t4:EY"E]Ч;!mE]ѧ;!m*E] 5;!mE]5;!miI8C)  AɢeB) ra;I== A=)A =>QIEH=IA AɡAiAIEAM 8<rAU >jAU >ԩ IA IY Ne >L,jO\0)A@y5@ٱC@; X=Hҕ`?0?`@$?&?ڪ?Ҧ?I5@) ^;iCUBfBU IMb@Mb@Mb@ )Iip= ף?Mb?Mb%?=)IAiA ABD|6D4d4Y=}DAT read: 18:20:30.9400 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 405, 0.00, 3.141, 1.196, 2.517, 2.574, PHS= 0.669,-1.333,-0.101, RAW= 127.6, 8.8, CAL= 127.9, 10.0, ROT= 22.1, -10.0 Ygot valid direction response: 18:20:30.9400 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 405, 0.00, 3.141, 1.196, 2.517, 2.574, PHS= 0.669,-1.333,-0.101, RAW= 127.6, 8.8, CAL= 127.9, 10.0, ROT= 22.1, -10.0 PDAT read: Bearing 330.9, 31.0 (Local) ~Local bearing/azimuth received: Bearing 330.9, 31.0 (Local) DAT read: Range 11 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.5 m/s *DAT read: user:907> ԡBDAT read: Tx time:18:20:32.0694 $Ping request sent.M@M¸2>M|>M¸2IIiI)M#?\RX?f`Vô?e#|?M.>MvM|> M¸2IIiI:publishing transmit ping time9Fpublishing direction and range infoIM˽2?7ӣi?ٖNs:?IIIIiIIIII I)IIIiIIIIIIIiI)M#?\RX?f`Vô?e#|?III IIIiI!+=99EYuET:A>Q 1Eh4٪Ċ?Q 5Eh4 vB9MU%?Q AM:YMF@Q EM?yw*C),7hM¸2 MS7\{Am <I I N >ȸL,y0)Ay6~5@ٱ6}C@6j6N=6Hvt?&?`? x? ??I6~5@)6?^;i6CBZfBB IBDJ6DJZ4YRw=!RX=R\p~BˍCBIBfBBBB_DBc;B%EBBˍCBBù =BB"45>A< ߹޹IIN%+>ԙDvDhD)DEVz: E]96EFA4:E"EG;!EH;!*E!E! ($L,M0)Ay:5@ٱ:C@:i:^I=:H@D@L?㺴?ǣ?@a??Ȳ?I:5@):^;i:CnhfBn IBDv6Dv&4Y~ =!~E=rA99 EY ~E %9;A >Q 1i4٪mĊ?Q 5i4X vB9!Y%G@Q E%?y*C)8;I;iki4Y-B-6A)MB*** querying acoustic contact ***:hIBhIgY]FNOT Ignoring new targets: 124.80 m.ge:ge:u ProNav: ac range: 124.800003 m, nav range: 115.373833 m, bearing: 195.314409 deg, approach rate: -0.612230 m/s, LOS rate: 0.093558 deg/s, cmd heading: 177.452905 deg, new cmd heading: 177.569180 deg. guj;bguXF@ZgqrgqjgqRgyZfyRfyee"dcccc@g?ɢtfBT 顽=I ɡiI9A ]<bA ZA |AY Ia Iq N >*L,0)Ay65@ٱ6C@6r6Q=6H@`@A?0{?z??@??I65@)6^;i6C>fBB IMMb@Mb@Mb@I I)IIIiIME?L7A`?~jtxM&?M+=MĻ)IIMAiMAMMzA IMׇABDe6DeX4YuF>!u@=u0y9y9}EY}E;A>Q 1i4٪UĊ?Q 5i4" vB9&?Q A:Y/G@Q E?y5+C) ;IL:i@i4YAgFNOT Ignoring new targets: 124.80 m.g1:g1: ProNav: ac range: 124.800003 m, nav range: 115.111061 m, bearing: 195.354385 deg, approach rate: -0.619787 m/s, LOS rate: 0.094505 deg/s, cmd heading: 177.569182 deg, new cmd heading: 177.689384 deg. g;bg{F@ZgrgjgRgZfRfee"dcccc?ɢ%fB-K9 )-@;;I) )ɡ)i1I5I{~B B <IB JgBB B B B b;B %E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500038ԉ >A <D D zD )D E  E  :6E FA4:E "E 7;! E 9;! *E v;! E v;! AyAIIN%>8(3L,=0)AHfB IBD%6D%4Y5=!5'==Q)=>= H?9= H?9EEYEEEAE>IQ 1Ui4٪MD;Ċ?Q 5Ui4M M%wB9YYYQ E]?yM+C)Mr;IM;iMN0i4YekBeAeEgFNOT Ignoring new targets: 124.80 m.g#:g#: ProNav: ac range: 124.800003 m, nav range: 114.809036 m, bearing: 195.400569 deg, approach rate: -0.619109 m/s, LOS rate: 0.094918 deg/s, cmd heading: 177.689379 deg, new cmd heading: 177.828293 deg. gH;bgآF@ZgrgjgRgZfRfee"dcccc?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752055ɢefBewA imIi iɡiiiIm4A R5<D% D% pD% -D! E% : E%  :6E% t4:E! !- @!- @!- @!5 @I AIIN!:L,i0)Ay: 6@ٱ: D@:MXό:P=:H a`M?p?O@?~???I: 6@):K/^;i:CFgBFIMMb@Mb@Mb@IQ I)IIIiIMsh|??&1?Mb`M)?MP=M)MAIMZAiM1AMxA IMABD6Dm4YD=!="99EYE;A>Q 1i4٪Ċ?Q 5i4 LwB9|*?Q A:Y I@Q E?y+C):If:i>Bi4YTB@AEgFNOT Ignoring new targets: 124.80 m.g:g:- ProNav: ac range: 124.800003 m, nav range: 114.481598 m, bearing: 195.445781 deg, approach rate: -0.637741 m/s, LOS rate: 0.088311 deg/s, cmd heading: 177.828292 deg, new cmd heading: 177.964318 deg. g-mr;bg-F@Zg1rg1jg1Rg1Zf1Rf1e9e9"d9c9cAcAcE@ɢugBu+ź y}Iy yɡyiyI}ݫA'<vB >~B B nIB gBB =B B B ab;B t%E = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507959AU AIi I N >AL,70)Aɰ46;yRA6@ٱRE=RH u?.?@dG{?`? [}?`?IRA6@)R6!^;iRC^+gB^)Ii`I` dfABDj6Dj4Yrc=!rZ=r1vK?9vK?9vEYvEz;Az>D{DbD*DE=: E96E(N4:E"E;!E;!*E6;!E7;!|Q 1i4٪~ Ċ?Q 5i4~ ~gwB9!Y%HQ E%?y~,C)~;I~/;i~WOi4Y-=B-A5EgQFNOT Ignoring new targets: 124.80 m.gk:gk:m ProNav: ac range: 124.800003 m, nav range: 114.242279 m, bearing: 195.478726 deg, approach rate: -0.631917 m/s, LOS rate: 0.087173 deg/s, cmd heading: 177.964322 deg, new cmd heading: 178.063364 deg. gmMo;bgmF@ZgqrgjgRgZfRfee"dcccc <%@ɢ%SgB-m/ )-!II QɡQiQIUEA- 9g<AY Ia I ԡ N >:GL, 0)AyEi6@ٱEdD@EнE==EHoy׺?`N?GAԣ?`?ǐ?`?IEi6@)EF9^;iECWgBDI checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013408QMb@Mb@Mb@ )Iiq= ףp?V-?Mbp+?m=)EAIAiAMzA AD=xD=eD=,D9E=ˀ: E=96E=g4:E9!M@!M@!M@!M@BDU6DUɌ4Yez=!=Q;Q)>99EYE;A>Q 1i4٪8Ê?Q 5i4 wB9*,?Q A:Y*HQ E?yv,C)Z;IY;iai4Y&BAEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 124.80 m.gs:gs: ProNav: ac range: 124.800003 m, nav range: 113.903549 m, bearing: 195.523352 deg, approach rate: -0.649894 m/s, LOS rate: 0.085875 deg/s, cmd heading: 178.063360 deg, new cmd heading: 178.197635 deg. gk;bgv G@ZgrgjgRg Zf Rf e e"dcccc @ɢEgBE/] IMVII IɡIiIIU@m>ԁI9i0@@=ԩ BDAT read: Rx Time:18:20:34.6369  TRx dataTimestamp_ set to:1755627636.826566 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264977>A D-< A yAI I) N5 >bNL,`W<0)Ay66@ٱ6D@6 &ɽ6G=6HPrŰ`??`@\?`i?Ԩ? ?I66@)6^;i6CBgBBfIBDJ6DJ&4YR0>!R=VSL~BBIBgBB =BBB@b;Bb%E5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517129IAiAAM0IDmyDmkDm-DiEm: Em:6Emt4:Ei"Em;!Em;!*Em?;!Em?;!)>Au<A AI I N >Q  DAT read: 18:20:34.6369 LVL= 25312, 32609, 32754, 32755, AGC= 61, IDX= 405, 0.00, 2.436, 0.476, 1.775, 1.860, PHS= 0.679,-1.339,-0.128, RAW= 126.6, 9.0, CAL= 126.9, 10.2, ROT= 23.1, -10.2  Ygot valid direction response: 18:20:34.6369 LVL= 25312, 32609, 32754, 32755, AGC= 61, IDX= 405, 0.00, 2.436, 0.476, 1.775, 1.860, PHS= 0.679,-1.339,-0.128, RAW= 126.6, 9.0, CAL= 126.9, 10.2, ROT= 23.1, -10.2  PDAT read: Bearing 331.5, 29.3 (Local)  ~Local bearing/azimuth received: Bearing 331.5, 29.3 (Local) % DAT read: Range 11 to 50 : 122.4 m (Round-trip 163.3 ms) speed 0.4 m/s % *DAT read: user:908> - BDAT read: Tx time:18:20:35.7694 5 $Ping request sent.5 @ K6> pl> K6I i ) be?/;?rL? ׫= n pl> K6I i ] :publishing transmit ping time91 ] Fpublishing direction and range info mY?u?ki? I i ) I i EUL,V0)A(i( I i ) be?/;?rL? I i y6@ٱD@_[$\=H H@T?[?M(?"? a??I6@)A^;iCgBnIBD6DD4Yv<!7=$ K?9 K?9 EY E h;A >1QQ 1}i4٪UOÊ?Q 5}i4UD UwB9yY}GQ E}?yU,C)UO;IU;iU6|i4YBAEJh Rh 7U0)Ah Bh 3 X[@OjG@0 ج5@~ mY?u?ki?h pl>h K6  4[~SHC 0?BA@~ -dM,*Կ^t ?jh Brh Zh @>?bh zh ٸBh *?h hEfh Bh rBh S[@5 addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 3.780049 s, deltaX: -2.400002 m, approachRate: -0.634913 m/s, rangeRepo size: 4 E Added new target pos. range: 122.400002 m, bearing: 196.351126 deg, lat: 36.779412 deg, lon: -121.859470 deg, deltaT: 3.780049 s, deltaX: -2.400002 m, approachRate: -0.634913 m/s, posRepo size: 4 gAEFNOT Ignoring new targets: 122.40 m.gMgI} ProNav: ac range: 122.400002 m, nav range: 114.224304 m, bearing: 196.351126 deg, approach rate: 0.000000 m/s, LOS rate: 0.081193 deg/s, cmd heading: 178.275792 deg, new cmd heading: 178.386185 deg. gybg}`BG@ZgrgjgRgZfRfee"dccc^@c`?ɢgB ΤI ɡiI"A `=<Թ A I! I1 NE >e[L,po0)AyF6@ٱFD@FFOp=FHӮ4?}?"`? :?`?-?IF6@)F7$^;iDgBIMb@Mb@Mb@ )IiS㥛? rh?$&?C=)AIAiʌAxA zABD6Dr4Y %=! K=99EYE';A>!Q 1-i4٪%Ê?Q 5-i4% %wB95 '?Q A5:Y5FQ E5?y%:-C)% ;I%X ;i% i4Y=B=GA9gamFNOT Ignoring new targets: 122.40 m.gm:gm:} ProNav: ac range: 122.400002 m, nav range: 113.975090 m, bearing: 196.382632 deg, approach rate: -0.655144 m/s, LOS rate: 0.083005 deg/s, cmd heading: 178.386182 deg, new cmd heading: 178.480906 deg. g}c;bgv]G@ZgrgjgRgZfRfee"dcccca ?ԱɢMhBMu IU0IQ QɡQiQIUQ~BBIB)hBB =BBBb;BR%E >A D-<rA% >jA% >AU yAIY Ii N >) ) A1 I= cA E AHbL,0)AD&vD&gD&+D$E&Vz: E&&96E& [4:E$"E&F;!*E&H;!**E&i1;!*E&j1;!.=gB=IBD}6D}04Y=!C=Q)> H?9 H?9EYEA>Q 1i4٪Ê?Q 5i4 wB9YQ E?y-C):Iq;iϘi4Y&Ag15FNOT Ignoring new targets: 122.40 m.g=:g=:M ProNav: ac range: 122.400002 m, nav range: 113.708900 m, bearing: 196.416441 deg, approach rate: -0.620581 m/s, LOS rate: 0.079006 deg/s, cmd heading: 178.480903 deg, new cmd heading: 178.582568 deg. gMX;bgMzG@ZgIrgIjgIRgQZfQRfQeQeY"dYcYcYcYcer?ɢNhB: 顕I ɡiI8ʜA oE<DzDjD/DEl: E96EJ4:E!@!@!@!@AAIIN?2LjL,10)Ay6+7@ٱ6&E@6᫽6L=6HoVj?@(?=ꆯ?u? ??I6+7@)69^;i6CfhBfI jAjAUMb@Mb@Mb@Q Q)QIQiQUsh|??V-?MbP?U)?Uh=U:)U;AIQiUnAQ QUƒABDmt6Dm{U4Y}=!}&=&gK?9K?9EYE<A>Q 1i4٪IyÊ?Q 5i43 xB9*?Q A:Y%FQ E?y-C);I+;iթi4YBAEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 122.40 m.g&:g&: ProNav: ac range: 122.400002 m, nav range: 113.394379 m, bearing: 196.455503 deg, approach rate: -0.653392 m/s, LOS rate: 0.081373 deg/s, cmd heading: 178.582563 deg, new cmd heading: 178.700074 deg. ga_;bg"G@ZgrgjgRgZfRfee"dcc c c ?ɢhB  I ɡiIN<I"G@i%U=i-q<)-"G@))yb]ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.I}9iyy}/y>A u<ԩ vBQ ~BQ BU IBU fhBBU =BQ BQ BU a;BU 3%EBBBBBB˪95A I I N5 >R&qL,x0)Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757445`y%M7@ٱ%HE@%%J=%H JCv??@@? ? ?j?I%M7@)%$^;i%C]!}L=b;Q)>99EYE;A>Q 1i4٪bÊ?Q 5i4 (xB9YFQ E?y.C):I3:iӷi4Y˜BAEgFNOT Ignoring new targets: 122.40 m.g:g: ProNav: ac range: 122.400002 m, nav range: 113.135742 m, bearing: 196.487510 deg, approach rate: -0.646915 m/s, LOS rate: 0.080241 deg/s, cmd heading: 178.700070 deg, new cmd heading: 178.796310 deg. gF\;bgG@ZgrgjgRgZfRfee"dcccc ?ɢhB 顕I ɡiIt~wL,o0)Ay6p7@ٱ6kE@66%.=6HE?I?Ș? ?`B? \?I6p7@)67^;i6CBOhBBIBDJ6DJX4YR?=!RS=R;Q)R>T9T9VEYVEXV;AZ>\Q 1bi4٪^!MÊ?Q 5fi4^ ^?xB9dYfEQ Ef?y^Z.C)^ :I^e:i^ei4YjBn5AnEg|FNOT Ignoring new targets: 122.40 m.g:g:5 ProNav: ac range: 122.400002 m, nav range: 112.884682 m, bearing: 196.518437 deg, approach rate: -0.646425 m/s, LOS rate: 0.079806 deg/s, cmd heading: 178.796307 deg, new cmd heading: 178.889293 deg. g=[;bg=>G@Zg9rg9jg9Rg9ZfARfAeAeA"dIcIccc@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263011ɢhBP/ 页n&I ɡiIQuG@iT=i><)>G@)Ia=)=D}zD}dD},DyE}l: E}96E}g4:Ey!@!@!@!@ %9I i O5 ! 4Uninitialize Rudder Servo.! Powering down@ @ @ @ a % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513160A yAI I N >}L,^00)Ay: 7@ٱ: E@:' :Ɖ=:H=c?Ϋ?@`Y#?@bp=9Mb@Mb@Mb@ )Ii(\?㥛 ?~jth?'?=D;)AIXAiAwA GABD6Dm4Yf=!;=;Q)> H?9 H?9EYE;A>Q 1i4٪4Ê?Q 5i4L YxB9(?Q A:YtEQ E?y.C) ;I2 ;ii4YAg FNOT Ignoring new targets: 122.40 m.g:g:% ProNav: ac range: 122.400002 m, nav range: 112.605499 m, bearing: 196.551992 deg, approach rate: -0.638949 m/s, LOS rate: 0.076986 deg/s, cmd heading: 178.889293 deg, new cmd heading: 178.990208 deg. g%VS;bg-G@Zg)rg)jg)Rg)Zf)Rf)e1e1"d9c9c9c9c=@ɢm#iBm-[ imR:Ii qɡqiqIu~BBIBhBBBBBa;B %E y}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764748ԑI9i2DwDgD+DE}: E&96E [4:E"E!E!*Ei1;!Ej1;!I I N > nManaging dock network, ignoring radio surface power off L, 0)Ay6ʼ7@ٱ6ɷE@606#Dž=6Hi#E`P??d .r? ??#?I6ʼ7@)6rG^;i4BhBBIBDJ6DJ4YR=!R]=V;Q)V>T9T9VEYVEZ*;AZ>\Q 1bi4٪^ Ê?Q 5bi4^ ^mxB9`YfOEQ Ef?y^.C)^/;I^<;i^i4YjBj^AjEg|~FNOT Ignoring new targets: 122.40 m.gO:gO: ProNav: ac range: 122.400002 m, nav range: 112.369591 m, bearing: 196.580195 deg, approach rate: -0.639681 m/s, LOS rate: 0.076634 deg/s, cmd heading: 178.990203 deg, new cmd heading: 179.074989 deg. g_R;bgXH@ZgrgjgRgZfRfe!e!"d!c!c!c)c-`3 @ɢUQiBUtgdԙ 顽CI ɡiIjjAe> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268508I & ^Clearing failed state for component RudderServo I N  D |D cD *D E : E L96E (N4:E ! @! @! @! @L,%,0)Ay67@ٱ6E@6Ɏ6k=6H`@9`@?v??ձ?@W`?G?I67@)6c^;i6CBhBB IUMb@Mb@Mb@Q Q)QIQiQU"~j?㥛 ?Mb`?US#?QU;)QIUKAiUAUxA QUABDu6Du4Y<!==;Q)>99EYE;A>Q 1i4٪W Ê?Q 5i4" xB9d$?Q A:YDQ E?y(/C) :IH:ii4YBAEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 122.40 m.gm:gm: ProNav: ac range: 122.400002 m, nav range: 112.099945 m, bearing: 196.611809 deg, approach rate: -0.622735 m/s, LOS rate: 0.073187 deg/s, cmd heading: 179.074992 deg, new cmd heading: 179.170063 deg. gH;bg"H@ZgrgjgRgZfRfee "d c c c c` @ɢ=iB=l AEnIA AɡAiAIM, UR#Rx 1: Read range and direction messages.]\direction in FSK: [0.901859,0.369879,0.223250]IiIy]Fpublishing direction and range info2g&o?b}?Nu?3BI0hi}B#? O)\BI@iQ>l@f>SF>fIi)ڐ[ ?O-)?cQ,Z?< >MQSF> fIiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.N@>QA <A <vB >~B B 6IB hBB B B B 6a;B $Eԁ ڜL,F0)A&BDAT read: Tx time:18:20:39.4694 &$Ping request sent.&99EYE;A> Q 15i4٪ Š?Q 5=i4  xB99Y=DQ EE?y m/C) l;I ;i Ni4YIQDevDepDaDaEeVz: Ee :6Ea:Ea"EeF;!uEeH;!}*Ee,R;!}Ee,R;!}MAJh!Rh%bH70)Ah%3Bh%3%mQ [@6F@f:@~%2g&o?b}?Nu?h%SF>h%f %s[MSBiB@~%}$3X'ӿ(?jh%rh%Zh% Ae?bh%`zh%Bh%n?h%"Lh%)Bh%ABh%v]@U addTargetRange:: Added new target pos. range: 120.099998 m, deltaT: 3.533946 s, deltaX: -2.300003 m, approachRate: -0.650831 m/s, rangeRepo size: 4 e Added new target pos. range: 120.099998 m, bearing: 198.265095 deg, lat: 36.779406 deg, lon: -121.859511 deg, deltaT: 3.533946 s, deltaX: -2.300003 m, approachRate: -0.650831 m/s, posRepo size: 4 gaeFNOT Ignoring new targets: 120.10 m.gmgy ProNav: ac range: 120.099998 m, nav range: 113.627396 m, bearing: 198.265095 deg, approach rate: 0.000000 m/s, LOS rate: 0.073187 deg/s, cmd heading: 179.170069 deg, new cmd heading: 179.268105 deg. gbg>H@ZgrgjgRgZfRfee"dccc`f^@cO?ɢiB' I ɡiI7uH@iSS=i#<)>H@)ԁIU9iQQYY%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255793ԩIQ Ia Nm > ɗL,m`0)Ay6%8@ٱ6 F@6|6X=6H@?GD?Li?@l?x?s??I6%8@)6^;i6CBhBBIBDJ6DJJz4YR#!R^=V8;Q)V>T9T9VEYVEZ ;AZ>\Q 1bj4٪^MŠ?Q 5bj4^ ^xB9`YfDQ Ef?y^/C)^W:I^:i^ j4YjqBjoAhg|~FNOT Ignoring new targets: 120.10 m.g:g: ProNav: ac range: 120.099998 m, nav range: 113.402901 m, bearing: 198.294158 deg, approach rate: -0.672892 m/s, LOS rate: 0.087284 deg/s, cmd heading: 179.268109 deg, new cmd heading: 179.355470 deg. go;bgWH@ZgrgjgRgZfRfe!e!"d!c!c)c)c- d?ɢ]iB]s*μ Y]Ia iɡiiqIubDYZDYDe{DedDaDaEe=: Ee96Ea:Ea!m@!m@!m@!m@  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7553841 ^L,{z0)AvhBv<IuMb@Mb@Mb@q q)qIqiqu'1Z?V-?~jtx?u"?uh=u;)qIuAiuAq quABD6D4Y?>!<=Q)>99EYEA>Q 1j4٪Š?Q 5j4| xB9#?Q A:YDQ E?y/C)n:I:i-j4YZBAEgFNOT Ignoring new targets: 120.10 m.gn:gn: ProNav: ac range: 120.099998 m, nav range: 113.134026 m, bearing: 198.329574 deg, approach rate: -0.617233 m/s, LOS rate: 0.081496 deg/s, cmd heading: 179.355467 deg, new cmd heading: 179.461969 deg. g_;bgvH@ZgrgjgRgZfRfee"d!c!c!c!c- ?ɢU!jBU: Y]ɛIY YɡYiYI]i~BYB]\IB]iBB] =BYB]`DB]`;B]$EIu9iqqqqII N%+>9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007370D}D}pD}1DyE}: E} :6E}-4:Ey"E}<;!E}=;!*Ey!Ey!i ؤL,XS0)Ai0y:s8@ٱ:nF@:%u:@Q=:H`n ??`? ??@?I:s8@):I^;i:CnhBrAIBDv6Dv4Y~4<!U=^Q 9 9 EY E K<A >Q 1j4٪bŠ?Q 5%j4 xB9!Y%DQ E%?y.0C)<;I;i(j4Y)5A1gQ]FNOT Ignoring new targets: 120.10 m.g]:ge:m ProNav: ac range: 120.099998 m, nav range: 112.897179 m, bearing: 198.360314 deg, approach rate: -0.618335 m/s, LOS rate: 0.080421 deg/s, cmd heading: 179.461964 deg, new cmd heading: 179.554377 deg. gu\;bgumH@ZgqrgqjgqRgqZfqRfyeyey"dcccc ?ɢRjBɼchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259480 Y1<4I ɡiI2jA>AAIINI>Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513647 BEJEd4RE#e0D D D *D E ~: E 6E (N4:E ! @! @! @! @L,.0)Ay6{8@ٱ6zF@6i6[=6H ߹hd??c@~?`8? U??I6{8@)6,^;i6CBiBBZI\Mb@Mb@Mb@ )Ii%C?V-?Mbp?Z$?m=;)~AI5AiA/yA ABDm6Dmm4Yu=!}C=};Q)}>K?9K?9EYEs;A>Q 1j4٪Š?Q 5j4K xB9%?Q A:YEQ E?ys0C) ;I" ;i97j4YDBݞAEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 120.10 m.g!:g!: ProNav: ac range: 120.099998 m, nav range: 112.637161 m, bearing: 198.396791 deg, approach rate: -0.619073 m/s, LOS rate: 0.087047 deg/s, cmd heading: 179.554376 deg, new cmd heading: 179.664058 deg. gn;bgʯH@ZgrgjgRgZfRfee"dcccc`?ɢ5jB5Ǽ 15궾I9 9ɡ9i9I=AA AE @AvBI ~BI BM {IBM PiBBI BI BI BM `;BM $Ey CLiI,0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016263)>UG FrA)RAIj쭿jrAjA9Ul?]Ay:8@ٱ8F@_q=H`@?]?}?ޫ?A??I:8@)iG^;iC+iBdIBD6Dދ4Y#=!B=;Q) > 9 9EYE;A>!DADElDE,DAEA EE:6EEg4:EA"EE|;!UEE~;!U*EEC;!UEEC;!]Q 1j4٪%Š?Q 5j4% %xB9YEQ E?y%0C)%x <) [H@)aIiԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267440A II)N5>Թ L,q0)Ay6j8@ٱ6hF@6T6W=6H\7ƞ? $?`X?@? gǰ?R?I6j8@)6.^;i4B8iBBlIi@I@BDJ6DJv4YR=!Rd=R;Q)V>T9T9VEYVEZ(;AZ>\Q 1bj4٪^nrŠ?Q 5bj4^ ^ yB9`YfxEQ Ef?y^0C)^ ;I^;i^Rj4YhjGAhg!-FNOT Ignoring new targets: 120.10 m.g5:g5:M ProNav: ac range: 120.099998 m, nav range: 112.152771 m, bearing: 198.464285 deg, approach rate: -0.649537 m/s, LOS rate: 0.090445 deg/s, cmd heading: 179.774445 deg, new cmd heading: 179.866982 deg. gMIx;bgUH@ZgQrgQjgQRgYZfaRfaeiei"dicicqcc`@ɢjB ܾI ɡiIO<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522114I H@ieVR=i}<)H@)DM}DMaDIDIEM݉: EM96EI:EI!U@!U@!U@!U@"I 9i 5  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771373A >A <bA ZA }AiAI IN=?vBU>~BQBUIBUiBBU =BQBU_DBU`;BU$EBBBBи =Bи =BЖ85&"L,0)AyvA9@ٱv99EYEBDAT read: Rx Time:18:20:42.0307 TRx dataTimestamp_ set to:1755627644.138798checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024601 <A >Q 1j4٪GRŠ?Q 5j4  yB9|&?Q A:Y}EQ E?yU1C);I{;igj4Y-B-A-EgQ]FNOT Ignoring new targets: 120.10 m.g]:g]:m ProNav: ac range: 120.099998 m, nav range: 111.784142 m, bearing: 198.515862 deg, approach rate: -0.631177 m/s, LOS rate: 0.088601 deg/s, cmd heading: 179.866980 deg, new cmd heading: 180.022219 deg. gu9s;bgu5I@ZgqrgqjgqRgqZfqRfyeyey"dcccclW @ɢ8kB[ 顽I ɡiI-A~E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275342y IL,?0)Ay6f9@ٱ6aG@646C=6H.`p?`? @旰?B??*?I6f9@)6#^;i4BoiBBIBDJ6DJދ4Y r]=!Z==p;Q)E>Qa9Q9}EY}En;A>Q 1-j4٪<Š?Q 5=j4 .yB9IYUYEQ E}?y1C)# BDAT read: Tx time:18:20:43.1194 $Ping request sent.N@r>>rIi)"D&/?\k3?)!?>k>D%}D%iD%*D!E%݉: E%96E%(N4:E!!-@!-@!-@!-@ rIi=:publishing transmit ping time9=Fpublishing direction and range infoay#?Z5?⩝?Ii )IiIi)"D&/?\k3?)!? IiԱ a I 9i 0 @ A@ A >Aq<rA%>jA%>9A<AvB>~BʍCBIBiBB =BBB`;B$EAIIN?sL,F0)Ay69@ٱ6G@6ז+6u=6Ht窕4??Ȱ??q???I69@)6?^;i6C>{iBBIB=By9y9}EYEAs;A>ԑQ 1j4٪Š?Q 5j4 EyB9&?Q A:YDQ E?y1C)7:I:i'j4YBAEJhRhf0)0)AhBh2DQU^Z@nE@=@~ay#?Z5?⩝?h>hr  AZsC",aq:/B@~p*ۀ쿘Ԑ~]տ-߬?jhorhZh?bhk*zhzBhh`hBhBht^@ addTargetRange:: Added new target pos. range: 117.900002 m, deltaT: 3.779786 s, deltaX: -2.199997 m, approachRate: -0.582043 m/s, rangeRepo size: 4  Added new target pos. range: 117.900002 m, bearing: 199.494696 deg, lat: 36.779406 deg, lon: -121.859531 deg, deltaT: 3.779786 s, deltaX: -2.199997 m, approachRate: -0.582043 m/s, posRepo size: 4 gFNOT Ignoring new targets: 117.90 m.g%g!= ProNav: ac range: 117.900002 m, nav range: 111.754883 m, bearing: 199.494696 deg, approach rate: 0.000000 m/s, LOS rate: 0.080519 deg/s, cmd heading: 180.126910 deg, new cmd heading: 180.265884 deg. g9bg=[I@ZgArgAjgARgAZfARfIeQeQ"dQcYcYc]y]@c] ?ɢ%kB%V )-I) 1ɡ1i1I5_AE < A I I N >L,_0)A iB IBD6DY-{q=!-O=5Q)5>1919=EY= E=A=>AQ 1Mj4٪EŠ?Q 5Mj4E"  ESyB9QYQQ EU?yE>2C)E;IEH;iEj4Y]ԛB]+A]E}B*** querying acoustic contact ***:hyBhyg)5FNOT Ignoring new targets: 117.90 m.g5:g5:u ProNav: ac range: 117.900002 m, nav range: 111.507980 m, bearing: 199.530112 deg, approach rate: -0.600673 m/s, LOS rate: 0.086354 deg/s, cmd heading: 180.265891 deg, new cmd heading: 180.372376 deg. gum;bguVzI@ZgyrgyjgyRgyZfRfee"dcccc d?ɢ-kB-( )-I) 1ɡ1i1I5AU M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206030LL,y0)Ay6 9@ٱ6 G@6n6=6H@r{ `??`pT? ̣??\?I6 9@)6XE^;i4BiBBI]Mb@Mb@Mb@Y Y)YIYiY] r?/$?~jtx?]#?],=];)]r|AIYi]AY Y]ABDu6Duq4Y<!E=;Q)>99EYER<A>Q 1j4٪?Q 5j4u  byB9#?Q A:YFQ E?y2C)P ;IP ;iyj4YBA EgFNOT Ignoring new targets: 117.90 m.g:g: ProNav: ac range: 117.900002 m, nav range: 111.254272 m, bearing: 199.569757 deg, approach rate: -0.644390 m/s, LOS rate: 0.100923 deg/s, cmd heading: 180.372373 deg, new cmd heading: 180.491579 deg. g;bglI@ZgrgjgRgZfRfee"dc c c c F:?ɢ=$lB=G; =~B!B%IB%iBB% =B!B!B%`;B%$Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.458051>A<bA ZA AԡD ~D fD ,D E : E 96E g4:E "E Z;! E [;! *E -;! E -;! AQ IY Iq N} > ˩L,!0)Ay6, :@ٱ6*H@66ⴇ=6H&M-?׷?`C`ʰ?0?@b?@G?I6, :@)6~/^;i6CBiBBIiDIDBDJ6DJX4YnÝ<!nV=rlL;Q)r>p9t9vEYvEv;Av>xQ 1~j4٪z*?Q 5~j4z  znyB9YEQ E?yz2C)z;Iz;izɳj4Y  A g15FNOT Ignoring new targets: 117.90 m.g=:g=:M ProNav: ac range: 117.900002 m, nav range: 111.020988 m, bearing: 199.606074 deg, approach rate: -0.612545 m/s, LOS rate: 0.095560 deg/s, cmd heading: 180.491574 deg, new cmd heading: 180.600754 deg. gM);bgUI@ZgQrgQjgQRgQZfQRfQeaea"dacacacicmS?ɢVlBkzE 顝,I ɡiIX\AU< A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9643379 L,j0)Ay6(:@ٱ6#H@626A =6H@??@N?~?@ް?@?I6(:@)6K^;i4rD<jD>=DFzDFjDF/DDEFl: EF96EFJ4:ED!J@!J@!J@!J@JiBNI%Mb@Mb@Mb@! !)!I!i!%S㥛?{Gz?y&1|?%$&?%#=%`;)%EzAI!i%A%EzA !%(ABD6D4Yr<!:=CK;Q)>99EYE;A>Q 1 j4٪)?Q 5j4! }yB9x&?Q A:YFQ E?y 3C) ;I` ;i"j4Y%B%GA% EgAMFNOT Ignoring new targets: 117.90 m.gM:gU:e ProNav: ac range: 117.900002 m, nav range: 110.748245 m, bearing: 199.649088 deg, approach rate: -0.620877 m/s, LOS rate: 0.098158 deg/s, cmd heading: 180.600747 deg, new cmd heading: 180.730106 deg. ge;bgeI@ZgargajgaRgaZfiRfieiei"dqcqcqcyc}d,@ɢlBuE 顭8I ɡiIAMe~B1 B5 IB5 iBB5 =B1 B5 ^DB5 `;B5 $EI N >ٻL,E0)A riBrIBDz6Dz4Y=!Z= Q) > 9 9 EY EA>Q 1%j4٪?Q 5%j4i!Q 9%tI yB9)Y)Q E-?yG3C):I:i4j4Y5B5A5 EgYeFNOT Ignoring new targets: 117.90 m.ge:ge:u ProNav: ac range: 117.900002 m, nav range: 110.515945 m, bearing: 199.685899 deg, approach rate: -0.621186 m/s, LOS rate: 0.098642 deg/s, cmd heading: 180.730111 deg, new cmd heading: 180.840776 deg. gud;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466222bguGJ@ZgrgjgRgZfRfee"dcccc@%2@ɢlB~Y f=I ɡiI"A5 <rA9 jA= > AiIqIN>L,(0)Ay6Up:@ٱ6SkH@6+ 6z=6H@I@?؍?n!? V?jI? ?I6Up:@)6^;i6CRiBVIV>V4<BD^6D^q4Yf<!f.=fٝ;Q)j>h9h9jEYn&En<An>pQ 1vj4٪r?Q 5vj4r! ryB9tYzEQ Ez?yr3C)r ;Ir&;irj4Y|~A|B*** querying acoustic contact ***:hBhg!-FNOT Ignoring new targets: 117.90 m.g-S:g5S:U ProNav: ac range: 117.900002 m, nav range: 110.223679 m, bearing: 199.731701 deg, approach rate: -0.621294 m/s, LOS rate: 0.097623 deg/s, cmd heading: 180.840774 deg, new cmd heading: 180.978544 deg. g];bg]'J@ZgargajgaRgaZfaRfaeiei"dicqcqcqcu x@ԉɢmBOR KI ɡiIͬAq< checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223190A  I! I1 N= >O)L,c0)AiB IMb@Mb@Mb@ )IiS㥛? rh?Mb?C =<)X{AIAiA+yA ABD6D4Y! =!8=%Q)%>)9)9-EY-,E=A=>AQ 1Mj4٪E|?Q 5Uj4E#" EyB9]b&?Q A]:Y]gFQ E]?yE3C)E2`;IE i;iEFj4Yu|Bu/AqvB>~BBIBjBBBBB[`;Bm$EgFNOT Ignoring new targets: 117.90 m.g:g: ProNav: ac range: 117.900002 m, nav range: 109.946396 m, bearing: 199.776861 deg, approach rate: -0.577952 m/s, LOS rate: 0.094366 deg/s, cmd heading: 180.978539 deg, new cmd heading: 181.114360 deg. g;bgNJ@ZgrgjgRgZfRfee"dcccc  @ɢAmB\ %XI ɡi!I%[N<)5G checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4764521)I]aeGAI1Gi>P=i,<)NJ@)IR=)=DwDjD-DE}: E96Et4:E"Ei;!Ej;!*EU<;!EU<;!Q] ;<ԁ I i 1 @ =@ =M DAT read: 18:20:45.6775 LVL= 32112, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.12,-2.065, 2.245,-2.649,-2.489, PHS= 0.527,-1.504,-0.204, RAW= 129.2, 13.2, CAL= 128.7, 14.4, ROT= 21.3, -14.4 ] Ygot valid direction response: 18:20:45.6775 LVL= 32112, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.12,-2.065, 2.245,-2.649,-2.489, PHS= 0.527,-1.504,-0.204, RAW= 129.2, 13.2, CAL= 128.7, 14.4, ROT= 21.3, -14.4 ] PDAT read: Bearing 339.0, 23.6 (Local) e ~Local bearing/azimuth received: Bearing 339.0, 23.6 (Local) u DAT read: Range 11 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.8 m/s } *DAT read: user:911>  BDAT read: Tx time:18:20:46.7693  $Ping request sent.  `@ > V> I i ) z˕?I-?y4? u5$> Mk V>  I i :publishing transmit ping time9 Fpublishing direction and range info  x&ՠ?-]·?l?  I i      ) I i     I i ԩ) z˕?I-?y4?    I i >A]0<IQIaNu#?֟ L,^( 0)Ay:N:@ٱ:LH@:U :96x=:H@Mi@C?@ u?6?"?x?a?I:N:@):)^;i:C\\i`I` fAfABDj6Dj4r+:Q)r>t9t9vEYv4E~<A>Q 1=k4٪[?Q 5Ek4" yB9IԑYMFQ E?yC4C)#B=IB=i9k4YfBיA EJh1Rh5@ 0)Ah5BDmvDmeDiDiEmVz: Em96Ei:Ei!u@!u@!u@!u@h5uY25`U Z@QD@C<@~5x&ՠ?-]·?l?h5V>h5 5"NY8tX/%ClJ0MA@~5 z2ò97տ,?jh5)rh5Zh5(X?bh5 zh5%Bh5 Ae?h5h5zBh5Bh5_@ addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.779410 s, deltaX: -2.400002 m, approachRate: -0.635020 m/s, rangeRepo size: 4  Added new target pos. range: 115.500000 m, bearing: 200.302851 deg, lat: 36.779405 deg, lon: -121.859542 deg, deltaT: 3.779410 s, deltaX: -2.400002 m, approachRate: -0.635020 m/s, posRepo size: 4 gFNOT Ignoring new targets: 115.50 m.gg-1 ProNav: ac range: 115.500000 m, nav range: 110.012161 m, bearing: 200.302851 deg, approach rate: -12407297371639098793486094004 m/s, LOS rate: 0.094366 deg/s, cmd heading: 181.114364 deg, new cmd heading: 181.296578 deg. g)bg-J@Zg)rg)jg)Rg1Zf1Rf1e1e9"d9c9cYce\@ceBt?ɢmB5P 页nI ɡiIv <ԹIGi%6O=i% <)%J@)! ))I5)5IY iY Y ] /Y  AIAM<vBU>~BQBUIBUjBBU =BQBU_DBU`;BUM$EBʍCBʍCBBͺ =Bͺ =BͤP5y>A<IaIyN ?L,K 0)Ayb:@ٱbH@b" b~q=bHh_@?o/p?u?`l?&?`?Ib:@)b];ibCniBnIpuMb@Mb@Mb@q q)qIqiqush|??+?~jth?u)?u=uD;)uAzAIqiuAq qu3ABD6DӀ4Y;!<޺Q)>99EY;E5 ;A > Q 1k4٪ ;?Q 5k4 (# yB9G*?Q A:YEQ E?y 4C)  ;I 2 ;i Bk4Y-PB-qA- EDmDmDm.DiEm: Em,:6Emـ4:Ei"Em;!uEm;!u*Em4;!}Em4;!}gFNOT Ignoring new targets: 115.50 m.g;g; ProNav: ac range: 115.500000 m, nav range: 109.648239 m, bearing: 200.361677 deg, approach rate: -0.719751 m/s, LOS rate: 0.116729 deg/s, cmd heading: 181.296580 deg, new cmd heading: 181.473641 deg. g8;bg@J@ZgrgjgRgZfRfee"dcccc?ɢmBe |I ɡiIAU<IIN>i L,sd 0)AyB:@ٱBH@BB s=BH J ??@k h? xc?x0?`9`9bEYb@Eb9;Ab>dQ 1jk4٪f'?Q 5jk4f# fyB9lYnEQ En?yf4C)f;If+;if%k4Yr:BrAvEYgFNOT Ignoring new targets: 115.50 m.g":g": ProNav: ac range: 115.500000 m, nav range: 109.419815 m, bearing: 200.398675 deg, approach rate: -0.619800 m/s, LOS rate: 0.100599 deg/s, cmd heading: 181.473646 deg, new cmd heading: 181.584872 deg. g;bgJ@ZgrgjgRgZfRfee"dcccc W?ɢ nB9 уI ɡiI<0@A@ԉD}vD}]D}*DyE}Vz: E}96E}(N4:Ey!@!@!@!@Ա>AT<rA>jA>II Ia Nm > L,~ 0)Ay6":@ٱ6 H@6>6x=6H?,?.?J`??`&??%?I6":@)6];i6CBiBBIB>B> Mb@Mb@Mb@  ) I i  ˡE?~jt? '? = ) X{AI zAi    BD%6D%4Y5<!5C==Q)=>99A9EEYEEEE! ;AE>IQ 1Uk4٪Mk?Q 5Uk4M# MyB9]7(?Q A]:Y]~EQ Ee?yM(5C)M";IM!;iM4k4YimAiԹB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 115.50 m.gj:gj: ProNav: ac range: 115.500000 m, nav range: 109.156441 m, bearing: 200.441486 deg, approach rate: -0.602054 m/s, LOS rate: 0.098100 deg/s, cmd heading: 181.584868 deg, new cmd heading: 181.713612 deg. g;bgJ@ZgrgjgRgZfRfee"dcccc`n?vB>~BBIB%jBB =BBB_;B$Eɢ JnBs I ɡiI~AE Vo<I I N >9 %L,k 0)Ay>:@ٱ>H@>ӂ> #y=>H}???4^?@@;?`"???I>:@)> ];i>CFiBFIBDR6DRɌ4YVCɼ!ZS=ZQ)Z>\9\9^EY^JEb:Ab>dQ 1fk4٪f ?Q 5jk4fH$ fyB9hYj{EQ Ej?yfi5C)f:Ify:if Bk4Yr$BrArEg  FNOT Ignoring new targets: 115.50 m.g ;g ;% ProNav: ac range: 115.500000 m, nav range: 108.913841 m, bearing: 200.481082 deg, approach rate: -0.689703 m/s, LOS rate: 0.112820 deg/s, cmd heading: 181.713618 deg, new cmd heading: 181.832669 deg. g%ښ;bg%K@Zg!rg!jg)Rg)Zf)Rf)e)e1"d1c1c1c1c= k?ɢevnBeCϳ mA}<I1IANM>Iq} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254009D D eD +D E ~: E 96E [4:E ! @! @! @! @ԙ %+L,H 0)Ay6q:@ٱ6oH@6- 6#y=6H@@HpM?n?fX?? ?j?`?I6q:@)6t^;i6CBiB@mMb@Mb@Mb@i i)iIiiimˡE?kt?Mb`im 0=m)iIiimAi imABD6Dm4Y~;!<=Q)>99EYOE*V:A>Q 1k4٪?Q 5k4$ yB9L(?Q A:YDQ E?y5C)7 ;I ;i3Qk4YBWAgFNOT Ignoring new targets: 115.50 m.g%:g%:5 ProNav: ac range: 115.500000 m, nav range: 108.641022 m, bearing: 200.524553 deg, approach rate: -0.621032 m/s, LOS rate: 0.099204 deg/s, cmd heading: 181.832668 deg, new cmd heading: 181.963409 deg. g5*;bg=MAK@Zg9rg9jg9Rg9Zf9Rf9eAeA"dAcAcIcIcM@qɢ}nB}q 顅I ɡiI >I-9i))-?0)@1@5=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506366ԡ>AUu<A A vB >~B ˍCB IB :jBB =B B B 0_;B #EA yAI I N > 2L,!# 0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758082yj:@ٱjH@j_)ju=jHO??#?RZ?? ?`??Ij:@)j!_;ih-iB-Ii1I1BDm6Dm4Y}@<!}L=ԤQ)> H?9 H?9EYTE A>Q 1k4٪?Q 5k44% zB9YDQ E?y5C);IL;i._k4YBAED=yD=iD9D9E=: E=96E9:E9"E=;!ME=;!M*E=8;!ME=8;!MgFNOT Ignoring new targets: 115.50 m.g:g: ProNav: ac range: 115.500000 m, nav range: 108.389580 m, bearing: 200.564838 deg, approach rate: -0.597967 m/s, LOS rate: 0.096025 deg/s, cmd heading: 181.963411 deg, new cmd heading: 182.084545 deg. g̓;bgcK@ZgrgjgRgZfRfee"d!c!c!c!c-@ɢnB% 顽9I ɡiISLA oE<A1 IA IQ Y Ne >9L, 0)AyB:@ٱBH@B0B =BH`a`Q?A? (3[?~`9`9bEYbYEfAf>hQ 1nk4٪j?Q 5nk4j% jzB9lYrDQ Er?yj66C)j:Ij:ijlk4YtvAtgFNOT Ignoring new targets: 115.50 m.g:g:- ProNav: ac range: 115.500000 m, nav range: 108.149925 m, bearing: 200.603422 deg, approach rate: -0.673817 m/s, LOS rate: 0.108725 deg/s, cmd heading: 182.084538 deg, new cmd heading: 182.200548 deg. g5<;bg5K@Zg1rg1jg1Rg1Zf1Rf9e9e9"d9cAcAcAcE`r @ɢuoBu,ɽ qu룿Iy yɡyiyI}4 - BDAT read: Tx time:18:20:50.4193 5 $Ping request sent.5 ? ) }?5I i k]> @ s> q> sI i >A R5<ԩ ) )P?a?*u? $> a] q> sI i  :publishing transmit ping time91  Fpublishing direction and range info y+r?j~?#? I i ) I i I i ) )P?a?*u? I i A]AIqIN>{)AL,!0)Ayz:@ٱzH@z=zY=zH@15?$?]a?`??$?`?Iz:@)z`;ixvB>~BBIBDjBBBB`DB^;B#E)eiBeIuMb@Mb@Mb@q q)qIqiquuV?J +?~jth?ur(?uH=uD;)u+yAIuAiuAuuA qu}ABD6D!|4Y;!=Q)>K?9K?9EY`EXA%>)Q 15k4٪- ?Q 5k4-R& -$zB9(?Q A:YtDQ E?y-6C)-hs c:NY)딿 CL4U?@@~r4쿏DkyտU?jhmrhqZhdAG?bh06zhϷBh(X?h06h%BhBh"&`@= addTargetRange:: Added new target pos. range: 113.199997 m, deltaT: 3.526847 s, deltaX: -2.300003 m, approachRate: -0.652141 m/s, rangeRepo size: 4 M Added new target pos. range: 113.199997 m, bearing: 200.668576 deg, lat: 36.779403 deg, lon: -121.859543 deg, deltaT: 3.526847 s, deltaX: -2.300003 m, approachRate: -0.652141 m/s, posRepo size: 4 gIUFNOT Ignoring new targets: 113.20 m.Qgugq ProNav: ac range: 113.199997 m, nav range: 107.965988 m, bearing: 200.668576 deg, approach rate: 0.000000 m/s, LOS rate: 0.108725 deg/s, cmd heading: 182.200542 deg, new cmd heading: 182.390570 deg. gbgsK@ZgrgjgRgZfRfee"dcccL\@c?ɢ ioB|֞ I ɡiIAe<rA>jA>A%yAI)IANM?DIL,5))!0)Ay6;@ٱ6H@6 D6%W<=6H`?Q? Ɂ?H7R?@[`ʁ?? ݁? ?I6;@)6 a;i4>iBBIBDJ6DJ4YRμ!R%=RMQ)R>V H?9V H?9VEYVfEV;AZ>\Q 1bk4٪^~?Q 5bk4^& ^6zB9`YbcDQ Eb?y^6C)^ :I^:i^k4Y͚BWAEUB*** querying acoustic contact ***:hQBhQgYeFNOT Ignoring new targets: 113.20 m.geB:geB: ProNav: ac range: 113.199997 m, nav range: 107.658401 m, bearing: 200.717019 deg, approach rate: -0.648338 m/s, LOS rate: 0.102403 deg/s, cmd heading: 182.390571 deg, new cmd heading: 182.536318 deg. g;bg K@ZgrgjgRgZfRfee"dcT****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.c!c!c% l?rD%=jD<BE [4JEd4RE/D=|D=cD=.D9E= : E=L96E=ـ4:E9!m@!m@!m@!m@ɢoB\ 顕EI ɡiI4Ah<AaAe<vBu>~BqBuIBuXjBBu =BqBqBue^;Bu|#Ei I 3C)͈Gԙ A)IAAAQIaIyN ?_RL,99EYmE :A>Q 1k4٪f^?Q 5k4' LzB9)?Q A:YCQ E?yG7C);IW;ik4YBٖAEgFNOT Ignoring new targets: 113.20 m.g&:g&: ProNav: ac range: 113.199997 m, nav range: 107.295296 m, bearing: 200.771912 deg, approach rate: -0.651727 m/s, LOS rate: 0.098858 deg/s, cmd heading: 182.536314 deg, new cmd heading: 182.701548 deg. g;bg`L@ZgrgjgRgZfRfe e9"dcccc ,1?DwDrD,DE}: E?:6Eg4:E"Ei;!Ej;!*EsY;!EtY;!ɢoBǿ  I  ɡ i IM8A a<A AI I1 NM > |XL,hze!0)Ay6;@ٱ6I@6 uQ65=6H@Jh g?!?=A?+? ?@A?I6;@)6Na;i4BjBBIBDJ6DJr4YR=!R[=RQ)R>VK?9VK?9VEYVrEZ:AZ>\Q 1bk4٪^I?Q 5bk4^X( ^[zB9`YbCQ Eb?y^7C)^z;I^;i^k4YjBjkAhg|~FNOT Ignoring new targets: 113.20 m.g:g: ProNav: ac range: 113.199997 m, nav range: 107.057999 m, bearing: 200.807899 deg, approach rate: -0.637469 m/s, LOS rate: 0.096888 deg/s, cmd heading: 182.701550 deg, new cmd heading: 182.809749 deg. g;bgQ3L@ZgrgjgRgZfRfee"dcccc?Աɢ'pB}Cܽ ¿I ɡiIA/C<bAZA|A A I I N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0045299 _L,GV!0)AyR4;@ٱR/I@RZR"'<=RH`_q? -?R_@N ?@@?>z??IR4;@)Ra;iRCZjBZIEMb@Mb@Mb@A A)AIAiAEL7A`? rh?{Gzt?E+'?EC=Eף;)EX{AIEAiEAEtA AEp}ABDU6DU4Ye F<!e>=m}Q)m>i9q9uEYuxEutN;Au>yQ 1k4٪}2?Q 5k4} ) }nzB9(?Q A:YPBQ E?y}7C)};I};i}k4Y`AgFNOT Ignoring new targets: 113.20 m.g:g: ProNav: ac range: 113.199997 m, nav range: 106.785973 m, bearing: 200.846377 deg, approach rate: -0.594980 m/s, LOS rate: 0.084375 deg/s, cmd heading: 182.809754 deg, new cmd heading: 182.925482 deg. gg;bgiTL@ZgrgjgRgZfRfee"dcccc@@@ɢ=]pB=OLܽ 9=ɿI9 AɡAiAIEu~BB*IBljBB =BBB@^;Bh#EBˍCBˍCBB÷ =B÷ =Bð5I9i[19checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256465>A -<D xD cD ,D E ˀ: E L96E g4:E "E ;!- E ;!- *E ";!- E ";!- i I! I9 NE >fL,0!0)A y:R;@ٱ:MI@:d:JA=:H@.:z?@q?nL? 0?u'??I:R;@):Sa;i:Cr(jBrIv8>v;BDz6Dz4YF=!Q= ,׻Q) > 99EY}Eg;A>Q 1%k4٪?Q 5%k4) zB9)Y-2BQ E-?y8C):I:ik4Y5B5A=EgYeFNOT Ignoring new targets: 113.20 m.ge:ge:u ProNav: ac range: 113.199997 m, nav range: 106.537827 m, bearing: 200.881388 deg, approach rate: -0.682038 m/s, LOS rate: 0.096452 deg/s, cmd heading: 182.925484 deg, new cmd heading: 183.030761 deg. guc;bg}rL@ZgyrgyjgyRgyZfyRfee"dcccc)@ɢpB o̿I ɡiI%Ax/<I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778943rD =jD <D= }D= fD= .D9 E= ݉: E= 9Q.lL,+!0)A6Eeـ4:Ea!"@!"@!"@!"@Lys;@ٱnI@pJ=Hqʁ?L?w@?`?G?@?Is;@)8b;iC5%jB5I Mb@Mb@Mb@  ) I i  Pn?Dl?9999=EY=EE;AE>IQ 1Uk4٪M?Q 5Uk4M* MzB9U%?Q A]:Y]AQ E]?yMX8C)M ;IM ;iMk4YexBeAeEB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 113.20 m.g:g: ProNav: ac range: 113.199997 m, nav range: 106.262123 m, bearing: 200.919657 deg, approach rate: -0.621354 m/s, LOS rate: 0.086472 deg/s, cmd heading: 183.030765 deg, new cmd heading: 183.145871 deg. gam;bgnL@ZgrgjgRgZfRfee"dcccc@ɢpBx  ԿI ɡiIjA,<II IY Nm >A A vB ~B B 6IB jBB B B B k^;B ~#E! sL,!0)Aiy6;@ٱ6ߒI@6\}63U=6H` ?d?@XdI?g?? 8?I6;@)6ka;i6C^-jB^IBDf6DfX4Yn<!nc=r Q)r>p9t9vEYvEvB;Av>x|Q 1k4٪zl?Q 5k4zb+ zzB9YAQ E ?yz8C)z+;Iz),;izk4YAechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284536gFNOT Ignoring new targets: 113.20 m.gW:gW:- ProNav: ac range: 113.199997 m, nav range: 106.038147 m, bearing: 200.950616 deg, approach rate: -0.584904 m/s, LOS rate: 0.081019 deg/s, cmd heading: 183.145867 deg, new cmd heading: 183.238940 deg. g-h^;bg- L@Zg)rg)jg)Rg)Zf1Rf1eqeq"dycycycycx @DzDbD+DEl: E96E [4:E"EЧ;!Eҧ;!*E6;!E7;!ɢ pB & ٿI ɡiIvAK'<Iq I N > DAT read: 18:20:52.9712 LVL= 22784, 30129, 28114, 32755, AGC= 65, IDX= 406, 0.00,-2.963, 1.367, 2.753, 2.874, PHS= 0.548,-1.463,-0.166, RAW= 129.5, 12.2, CAL= 129.1, 13.4, ROT= 20.9, -13.4  Ygot valid direction response: 18:20:52.9712 LVL= 22784, 30129, 28114, 32755, AGC= 65, IDX= 406, 0.00,-2.963, 1.367, 2.753, 2.874, PHS= 0.548,-1.463,-0.166, RAW= 129.5, 12.2, CAL= 129.1, 13.4, ROT= 20.9, -13.4  PDAT read: Bearing 339.3, 24.7 (Local)  ~Local bearing/azimuth received: Bearing 339.3, 24.7 (Local)  DAT read: Range 11 to 50 : 110.8 m (Round-trip 147.8 ms) speed 0.4 m/s  *DAT read: user:913>  BDAT read: Tx time:18:20:54.0693  $Ping request sent.  4@ |o> ú> |oI i ) %҃?,4?Kh? )> DZ ú>  |oI i  :publishing transmit ping time9  Fpublishing direction and range info  g#?0A5?] A?  I i      ) I i     I i ) %҃?,4?Kh?    I ԉ i O>yL,!0)Ay6;@ٱ6I@66_=6H@=? =? =텿`U?L??U?I6;@)6da;i6C^0jB^Ii`IbABDj6Dj}4YY;!@=7Q)>99EYED;A>Q 1k4٪jڿ?Q 5k4;, zB9YAQ E?y8C)6;I;ik4YbB(AEJhIRhM!0)AhMBhMk1MtzG,Y@ 1ѩ9C@{9@~Mg#?0A5?] A?hMú>hM|o M}XCoCS'T A@~M=k<)L@)ԁIE9iAAEZ2ADyDiD-DE: E96Et4:E!-@!-@!-@!-@Ա>Am *:<I I N > %L,"0)Ay6n;@ٱ6lI@6k㌽6ѝk=6H?]?ዿ@??@ߘ?]? ?I6n;@)6a;i6C>4jBBIEMb@Mb@Mb@A A)AIAiAE?~jt?Mb?Ef&?E=E<)AIAiEAEqA AE|AԹBD 6D m4Y<!A=Q)%>!9!9%EY%E-.;A->1Q 1=l4٪5ÿ?Q 5=l45*- 5zB9='?Q AE:YE@Q EE?y5 9C)5? ;I5v:i5Vl4YMMBM˔AMEgquFNOT Ignoring new targets: 110.80 m.g}:g}: ProNav: ac range: 110.800003 m, nav range: 105.379486 m, bearing: 201.072926 deg, approach rate: -0.665096 m/s, LOS rate: 0.087805 deg/s, cmd heading: 183.341989 deg, new cmd heading: 183.447536 deg. g q;bgL@ZgrgjgRgZfRfee"dcccc ?ɢbqBą I ɡiIm~BBIIBjBBBBB^;B#EIm 9iiimK5q>A:<bA~AZA~ADDgD'DE: E&96E'4:E"E;! E;! *Ei1;! Ej1;! A yAI I N >I !OL,Wv"0)Aɰhhy O<@ٱ JJ@i꤂=H ?N ?$@@?@nh?E?`?I O<@)c;iOjBIBD6Dv4Yބ=!M=cQ)> H?9 H?9EYE b<A >aQ 1ml4٪í?Q 5ml4. zB9qYuj@Q Eu?yc9C)SALM< ߉ ލ AA AI) II N > D= yD= iD= *D9 E= : E= 96E= (N4:E9 |L,B_4"0)A!@!@!@!@y}P<@ٱ}N{J@}뢽}<=}H`d?`&?`\@? W???I}P<@)}c;iyJjBI==?Mb@Mb@Mb@ )IiNbX9?UK?9UK?9UEYUEUq;A]>YQ 1el4٪]O?Q 5ml4]/ ]{B9m&?Q Au:Yu@Q Eu?y]9C)]q+;I] +;i]$l4Yy}KAB*** querying acoustic contact ***:hBhgԩFNOT Ignoring new targets: 110.80 m.gd:gd: ProNav: ac range: 110.800003 m, nav range: 104.864838 m, bearing: 201.139997 deg, approach rate: -0.644962 m/s, LOS rate: 0.084975 deg/s, cmd heading: 183.545939 deg, new cmd heading: 183.649233 deg. gEi;bg_#M@ZgIrgIjgIRgIZfIRfIeQeQ"dQcQcYcYc]!?ɢqB rI ɡiI^~B B \IB jBB =B B B '_;B #E>A <A I I) 1 N= >%YL, N"0)AijB(IBDEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7412666DE4Ye=!e\=eQ)e>i9i9mEYmEuAu>yQ 1l4٪}2?Q 5l4}/ }){B9YQ E?y}9C)} :I};i}1l4Y#BAgFNOT Ignoring new targets: 110.80 m.g=:g=: ProNav: ac range: 110.800003 m, nav range: 104.630798 m, bearing: 201.170905 deg, approach rate: -0.631595 m/s, LOS rate: 0.083597 deg/s, cmd heading: 183.649238 deg, new cmd heading: 183.742170 deg. g|e;bg=M@ZgrgjgRgZfRfee"dcccc|?ɢqBצ I ɡiINo<)=M@D|DjD+DE : E96E [4:E"E;!E;!*EU<;!EU<;!))Ii55I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993137>A O<rA >jA ԁ AU yAIY Iq N} >|L,g"0)Ai0y:O<@ٱ:MJ@:"2:I=:H*`4?@ƴ?Џql?@?#װ?@?I:O<@): b;i:CBtjBF/IBDJ6DJhm4Yv<!vS=veQ)z>z H?9z H?9zEYzE~;A~>Q 15l4٪-n?Q 55l40 D{B91Y5h@Q E5?y&:C)2;I{;ib?l4YEBEAEEgimFNOT Ignoring new targets: 110.80 m.gu:gu: ProNav: ac range: 110.800003 m, nav range: 104.385925 m, bearing: 201.202986 deg, approach rate: -0.624756 m/s, LOS rate: 0.082041 deg/s, cmd heading: 183.742170 deg, new cmd heading: 183.838638 deg. g7a;bgYM@ZgrgjgRgZfRfee"dccccd@ɢ,rBq I ɡiItcAMd<A A I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497139&dL,"0)AyN<@ٱNJ@N".N[=NH`3(??@c@_̣?`??@G?IN<@)N`;iNC`fjBf;IihIjAMb@Mb@Mb@ )IiL7A`?㥛 ?K?9K?9EYE%.;A%>)Q 15l4٪-1V?Q 55l4-1 -d{B959(?Q A=:Y=0@Q E=?y-o:C)-? ;I- ;i-Nl4YAEcAAgimFNOT Ignoring new targets: 110.80 m.gus:gus: ProNav: ac range: 110.800003 m, nav range: 104.106255 m, bearing: 201.239261 deg, approach rate: -0.640124 m/s, LOS rate: 0.083252 deg/s, cmd heading: 183.838640 deg, new cmd heading: 183.947758 deg. gd;bgxM@ZgrgjgRgZfRfee"dcccc {@vB]>~BYB]uIB]jBB] =BYBYB]_;B]$E)G rA)IMAUrAU߰AɢkrB8 lI ɡiIfA t0<A I I N >!L,ڜ"0)A8yN==@ٱN8K@N0NM=NH qq?n$?2 ?`ʷ? /3?`?IN==@)Na;iNCvjBvFIBD~6D~}4Y T9=! Q= \Q) >99EYEWw<A>!Q 1-l4٪%@?Q 5-l4%2 %{B9)Y-?Q E5?y%:C)%a;I%];i%p\l4Y=B=A=EgaeFNOT Ignoring new targets: 110.80 m.gm$:gm$:} ProNav: ac range: 110.800003 m, nav range: 103.857132 m, bearing: 201.270878 deg, approach rate: -0.636181 m/s, LOS rate: 0.080933 deg/s, cmd heading: 183.947759 deg, new cmd heading: 184.042836 deg. g},^;bg}M@ZgrgjgRgZfRfee"dcccc@ɢrB0 xI ɡiI$Ay< BDAT read: Rx Time:18:20:56.6181  TRx dataTimestamp_ set to:1755627658.774574 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254197A  I I N- >rD} =jD} 4=D }D fD ,D E ݉: E 96E g4:E ! @! @! @! @] L,"0)Ahɰxz4q9q9uEYuE};A}>Q 1l4٪(?Q 5l43 {B9&?Q A:Yv?Q E?y:C) ;I ;i ll4YBwAB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 110.80 m.g:g: ProNav: ac range: 110.800003 m, nav range: 103.573929 m, bearing: 201.306120 deg, approach rate: -0.630409 m/s, LOS rate: 0.078665 deg/s, cmd heading: 184.042835 deg, new cmd heading: 184.148852 deg. gW;bg=M@ZgrgjgRgZfRfee"dcccc` @ɢ%rB% )-HI) )ɡ)i)I5 A`=<vB~BBIBkBBBBB_;B $EBqBqBqBqBqBuȮ4i Aq Iy I N >L,"0)Ay> =@ٱ>K@>D˽>w֊=>H@XC?울?iS?]?A??I> =@)>a;i>CJjBfDAT read: 18:20:56.6181 LVL= 28080, 32753, 30514, 32755, AGC= 64, IDX= 406, 0.19, 2.570, 0.601, 2.049, 2.096, PHS= 0.576,-1.450,-0.091, RAW= 131.2, 10.8, CAL= 130.8, 12.0, ROT= 19.2, -12.0 jYgot valid direction response: 18:20:56.6181 LVL= 28080, 32753, 30514, 32755, AGC= 64, IDX= 406, 0.19, 2.570, 0.601, 2.049, 2.096, PHS= 0.576,-1.450,-0.091, RAW= 131.2, 10.8, CAL= 130.8, 12.0, ROT= 19.2, -12.0 nPDAT read: Bearing 339.1, 25.1 (Local) n~Local bearing/azimuth received: Bearing 339.1, 25.1 (Local) vDAT read: Range 11 to 50 : 108.5 m (Round-trip 144.7 ms) speed 0.5 m/s z*DAT read: user:914> ~BDAT read: Tx time:18:20:57.7193 ~$Ping request sent.~N@NPwV>N>NPwVILiL)Nd$J?ymS?6 ?N_G>Nr AN> NPwVILiL-:publishing transmit ping time9|-Fpublishing direction and range infoLN%7)F?lRh?hٜ?LLIL15NI=>=;BDM6DMhm4iLLLLL L)LILiLLLLLILiL)Nd$J?ymS?6 ?LLL LILiLYm! \=Q)>99EYE;A>!D5xD5gD5*D1E5ˀ: E5&96E5(N4:E1"E5;!=E5;!E*E1!EE1!EQ 1Ml4٪%?Q 5Ml4%4 %{B9QYUG?Q EU?y%<;C)%;I%O;i%yl4YY]}AYJhLRhN "0)AhNBhNcn1NgrY@AKn~sA@d6@~N%7)F?lRh?hٜ?hN>hNPwV N|HLW !8B*WA@~Nb"Gl7տ{t?jhNirhN¿ZhNd?bhN{;zhNBhN5Ё?hLhLhNBhN`@m addTargetRange:: Added new target pos. range: 108.500000 m, deltaT: 3.778467 s, deltaX: -2.300003 m, approachRate: -0.608713 m/s, rangeRepo size: 4 } Added new target pos. range: 108.500000 m, bearing: 201.405235 deg, lat: 36.779408 deg, lon: -121.859544 deg, deltaT: 3.778467 s, deltaX: -2.300003 m, approachRate: -0.608713 m/s, posRepo size: 4 gy}FNOT Ignoring new targets: 108.50 m.gg ProNav: ac range: 108.500000 m, nav range: 103.011002 m, bearing: 201.405235 deg, approach rate: 0.000000 m/s, LOS rate: 0.078665 deg/s, cmd heading: 184.148853 deg, new cmd heading: 184.246921 deg. gbgHM@ZgrgjgRgZfRfee"dcc c  [@c ?ɢUsB]qa Y}Iy ɡiI\5A A yAI I N >|L,3"0)Ay6w=@ٱ6tK@6ҽ6=6H `4?@f?㝥 :R?6?"?x?I6w=@)6a;i6CBjBBaIBDJ6DJsx4YR=!RK=RtQ)R>V H?9V H?9VEYVEZM<AZ>\Q 1bl4٪^?Q 5bl4^5 ^{B9`Yb?Q Ef?y^{;C)^g:I^:i^/l4hYjޙBnAnEg|FNOT Ignoring new targets: 108.50 m.g:g : ProNav: ac range: 108.500000 m, nav range: 102.769798 m, bearing: 201.434981 deg, approach rate: -0.672263 m/s, LOS rate: 0.083099 deg/s, cmd heading: 184.246921 deg, new cmd heading: 184.336367 deg. gd;bgM@ZgrgjgRgZf!Rf!e!e!"d)c)c)c1c5`C?ɢ]/sB]:% aeIa aɡaiaIe~A<A AI I N >Q ]L,#0)Aiy6=@ٱ6K@6DZؽ6=6H`? y,?J !Q?J ???I6=@)6a;i4BjBBoI9EMb@Mb@Mb@A A)AIAiAE r? rh?:v?E#?EC=ET<)EtAIEAiAElA AEzABD]6D]v4Ym0W=!m?=mQ)m>uK?9uK?9uEYuEu;A}>Q 1l4٪P辊?Q 5l47  |B9$?Q A:Yl?Q E?y;C)z:I :i!l4vB~BBIBLkBBBBB_;B1$EYəBjAEgFNOT Ignoring new targets: 108.50 m.g:g: ProNav: ac range: 108.500000 m, nav range: 102.504097 m, bearing: 201.468743 deg, approach rate: -0.615923 m/s, LOS rate: 0.078466 deg/s, cmd heading: 184.336369 deg, new cmd heading: 184.437916 deg. gfW;bgN@ZgrgjgRgZfRfe e "d c c cc ?ɢhsBu I ɡiIA]< A I I N >L,#0)Ay>C#>@ٱ>AL@> ߽>7=>H-?@?K@`R?`ӻ??t?I>C#>@)>a;id9d9fEYfEf;Af>hQ 1nl4٪j Ծ?Q 5rl4j7 j,|B9pYrB?Q Er?yj;C)j+;IjH;ij|l4YtvvAxg)5FNOT Ignoring new targets: 108.50 m.gEK:gEK:m ProNav: ac range: 108.500000 m, nav range: 102.266731 m, bearing: 201.498701 deg, approach rate: -0.622991 m/s, LOS rate: 0.078813 deg/s, cmd heading: 184.437920 deg, new cmd heading: 184.528005 deg. guZX;bguN@ZgqrgqjgqRgyZfRfee"dccԙccL?ɢesBe" am Ii iɡiiiIm*A1A yAI D |D lD )D E : E :6E FA4:E ! @! @! @! @I ) NM >SL,W9#0)AMkBMIMb@Mb@Mb@ )Iip= ף?Mb?Q?%?=u<)I}AiIAhA pyABD6D!|4Y=!7=Q)>  H?9  H?9 EY EA>Q 1l4٪?Q 5%l49 U|B9%%?Q A%:Y%?Q E-?yIN@ZgyrgyjgyRgyZfyRfee"dcccc-H?ɢ5sB5T Y] IY aɡaiaIeбN@)qeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.IU9iQQU65QAAvB>~BBIBkBBBBB_;B>$E9>A 8JL,NS#0)Aɰy6~>@ٱ6yL@6v꽹6=6H`?@5G?`C@/h?|H?ð??I6~>@)6a;i6C^kB^IBDf|6Df4d4Yn<!r`=rQ)r>rK?9vK?9vEYvEv{<Av>xDewDemDe-DaEe}: Ee:6Eet4:Ea"Eei;!mEej;!m*Ee@G;!uEeAG;!uQ 1l4٪z?Q 5l4z: zw|B9Y]?Q E?yzA <I I) N5 > L,IIm#0)Ay6[>@ٱ6XL@6𽹱6܈=6H?0?P?=c?``?`(?X?I6[>@)6a;i6CB*kBBIF8>FBDJz6DJ`4YR=!RM=V Q)V>X9X9ZEYZEZs;A^>\Q 1bl4٪^K?Q 5bl4^; ^|B9dYf9?Q Ef?y^ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508250I9i/>A<DevDefDe0DaEeVz: Ee96Ee4:Ea!m@!m@!m@!m@IINI>} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760028) L,#0)Ay:>@ٱ:L@::ʇ=:H`g? ?@$`?@ʪ?ְ?#?I:>@):,b;i:CFNkBFIMb@Mb@Mb@ )Ii!rh?T㥛 ?:v?l'?vBA~BABEIBEkBBABABABE_;BE<$E=T<)rAIn|AigA QxABD6Dm4Y =!0=Q)>99EYE|;A>Q 1l4٪y?Q 5l4B< |B9;(?Q A:YG?Q E?y=C)C:I :i@l4YBAgQmFNOT Ignoring new targets: 108.50 m.gV:gV: ProNav: ac range: 108.500000 m, nav range: 101.211044 m, bearing: 201.635096 deg, approach rate: -0.622708 m/s, LOS rate: 0.080580 deg/s, cmd heading: 184.822487 deg, new cmd heading: 184.938269 deg. g4];bgN@ZgrgjgRgZfRfee"dcc)c)c-`n@ɢjtB I ɡiIaĴA <I I N >ML, ߠ#0)Ai Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263507M`kBUIBDe6Det4Yu@=!u_=uQ)}>y9y9}EY}EA>Q 1l4٪;f?Q 5l43= |B9YQ E?yQ=C);I ;il4YvBAEgFNOT Ignoring new targets: 108.50 m.g:g: ProNav: ac range: 108.500000 m, nav range: 100.981819 m, bearing: 201.664829 deg, approach rate: -0.649036 m/s, LOS rate: 0.084377 deg/s, cmd heading: 184.938273 deg, new cmd heading: 185.027673 deg. gg;bgN@ZgrgjgRgZfRfee"dcccc`f @ɢ%tB-a9 )-I) )ɡ)i1I5!A5}<IIN> e DAT read: 18:21:00.2650 LVL= 30368, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.04, 0.693,-1.214, 0.227, 0.212, PHS= 0.582,-1.381,-0.029, RAW= 132.3, 9.5, CAL= 132.1, 10.7, ROT= 17.9, -10.7 u Ygot valid direction response: 18:21:00.2650 LVL= 30368, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.04, 0.693,-1.214, 0.227, 0.212, PHS= 0.582,-1.381,-0.029, RAW= 132.3, 9.5, CAL= 132.1, 10.7, ROT= 17.9, -10.7 u PDAT read: Bearing 339.3, 25.4 (Local) } ~Local bearing/azimuth received: Bearing 339.3, 25.4 (Local)  DAT read: Range 11 to 50 : 106.2 m (Round-trip 141.6 ms) speed 0.6 m/s  *DAT read: user:915>  BDAT read: Tx time:18:21:01.3693  $Ping request sent.  @ t;?> > t;?I i ) m{,?ZJ]?a{ * >  t;?I i  :publishing transmit ping time9  Fpublishing direction and range info  &n)?Ph,T? &K{?  I i      ) I i     I i ) m{,?ZJ]?a{@ٱ}L@}Դ}=}Hv?@?` $? ?`:??I}>@)}Pa;i}CM{kBMIiQIQMb@Mb@Mb@ )Iiv/?Mb?:v?x)?=)IX{AifA wABD%6D%Jz4Y=\=!U$=e'7Q)e>i9i9mEYmEu;Au>yQ 1l4٪}J?Q 5l4}> }#}B9K*?Q A:Y ?Q E?y}=C)}:I}@:i}jl4YbBAEJh!Rh%#0)Ah%fBh%iO1%,VX@q&p @@c^3@~%&n)?Ph,T? &K{?h%>h%t;? %v*pWN̔>Bl$@@~%(P@ewCHտ8>*{?jh%rh%Zh%wZwm?bh%COzh%Bh%wZwm?h%06h%Bh%Bh%9a@} addTargetRange:: Added new target pos. range: 106.199997 m, deltaT: 3.530121 s, deltaX: -2.300003 m, approachRate: -0.651537 m/s, rangeRepo size: 4  Added new target pos. range: 106.199997 m, bearing: 201.633145 deg, lat: 36.779406 deg, lon: -121.859543 deg, deltaT: 3.530121 s, deltaX: -2.300003 m, approachRate: -0.651537 m/s, posRepo size: 4 gFNOT Ignoring new targets: 106.20 m.gg ProNav: ac range: 106.199997 m, nav range: 100.868958 m, bearing: 201.633145 deg, approach rate: 2567.958008 m/s, LOS rate: 0.084377 deg/s, cmd heading: 185.027666 deg, new cmd heading: 185.159663 deg. gbgIN@ZgrgjgRgZfRfee"dccčZ@cl?ɢmtBm quoIq qɡqiqI}u~B9B=*IB= lBB9B9B9B=_;B=6$E)y  A)IR AAIe9iaamd1i >A *<bA ZA AI I N >dTL,Z#0)Ay6_?@ٱ6\M@6S6K=6HM ͱ? Q?D`6?^? ?`?I6_?@)6da;i6CBzkBBIBDJ{6DJ]b4DV|DViDTDTEV : EV96ET:ET"EV;!ZEV;!Z*EV8;!^EV8;!^Yb63!b=bQ)f?d9d9fEYfEjuw;Aj?lQ 1rm4٪n9?Q 5rm4nf? nC}B9pYr>Q Er?yn=C)nv:In:inMm4YxzAx B*** querying acoustic contact ***:hBhg%FNOT Ignoring new targets: 106.20 m.g%:g%:5 ProNav: ac range: 106.199997 m, nav range: 100.669144 m, bearing: 201.658565 deg, approach rate: -0.684575 m/s, LOS rate: 0.087263 deg/s, cmd heading: 185.159667 deg, new cmd heading: 185.236077 deg. g5o;bg5#N@Zg9rg9jg9Rg9Zf9RfAeAeA"dAcIcIcIcM@o?ɢ}tB}M A$=I ɡiIٷA2<Ա A% yAI1 IA N] >/pL,#0)Aɰ;y6?@ٱ6M@6,,6=6HЪk?r?@گ@{`%??Y??I6?@)6g{b;i6CBkBBIBDJ6DJ4PYRG >!VN=VޔQ)V>V H?9Z H?9ZEYZEZA;AZ>\Q 1bm4٪^$?Q 5fm4^|@ ^m}B9dYf>Q Ef?y^>C)^-:I^:i^,m4YjNBjՍAnEg|FNOT Ignoring new targets: 106.20 m.g*:g *: ProNav: ac range: 106.199997 m, nav range: 100.414474 m, bearing: 201.690929 deg, approach rate: -0.642155 m/s, LOS rate: 0.081816 deg/s, cmd heading: 185.236083 deg, new cmd heading: 185.333423 deg. g`;bgO@ZgrgjgRgZf!Rf!e!e!"d)c)c)c)c-Y?ɢ%uB& _4<AI ɡiIAu< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243254! A% AI) I9 NU >X L, $0)AvB~BBVIBTlBBBBB_;B/$EBqBqBqBqBqBua4y%e!?@ٱ%bM@%u%y=%H /D? N?' @?%??@ѯ?t?I%e!?@)%cc;i!EkBEIMb@Mb@Mb@ )IiZd;O?~jt?:v?~*?D=)qAI9zAiЅA`cA vABD{6D]b4Y-m=!-4=5Q)5>5K?95K?9=EY=E=܉:A=>AQ 1Mm4٪E ?Q 5Mm4EA E}B9U*?Q AU:YUp@Q EU?yEi>C)ES;IE;iE %m4Y]9B]MAeEgFNOT Ignoring new targets: 106.20 m.g :g : ProNav: ac range: 106.199997 m, nav range: 100.123962 m, bearing: 201.732300 deg, approach rate: -0.639856 m/s, LOS rate: 0.091384 deg/s, cmd heading: 185.333427 deg, new cmd heading: 185.457899 deg. gz;bg(O@ZgrgjgRgZfRfee"dcccc@r?ɢZuB܈# I ɡiIԆAe<rA>jA>ԁ A I! IA Na 0 L,#$0)Ay6o+?@ٱ6l&M@60 6`}=6H@m? ?@1K@?`C(?`d??I6o+?@)6e;i6CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747422FkBFIBDR6DRJz4YVx=!Vf=ZǻQ)Z>X9\9^EY^E^,:Ab>`Q 1fm4٪bw?Q 5jm4b_B b}B9hYjf@Q Ej?yb>C)b:Ib:ibr1m4YlrApg FNOT Ignoring new targets: 106.20 m.g :g :Y ProNav: ac range: 106.199997 m, nav range: 99.896660 m, bearing: 201.764751 deg, approach rate: -0.640357 m/s, LOS rate: 0.091628 deg/s, cmd heading: 185.457900 deg, new cmd heading: 185.555473 deg. g{;bgxDO@ZgrgjgRgZfRfee"dcccc@}?ɢuB#=2  I ɡ i I BiF=i@<)UxDO@)Yԁ})<ԹI9ir3Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001176D uD rD .D E v: E ?:6E ـ4:E ! @! @! @! @ >A} U<AIIN%> L,2wC$0)Aiy6P4?@ٱ6M/M@6qC 6On=6Ho{?@?ZS ?`hz?D~??I6P4?@)6Fe;i6CBkBBIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251283}Mb@Mb@Mb@y y)yIyiy}L7A`??:v?}+'?}L=y)yI} xAi}EA}3aA y}GuABD|6D4d4Y<!=-Q)>99EYE:A>Q 1m4٪۽?Q 5m4C }B9'?Q A:Y@Q E?y>C)v:IH:iCm4Y%BAEgFNOT Ignoring new targets: 106.20 m.gi:gi: ProNav: ac range: 106.199997 m, nav range: 99.565399 m, bearing: 201.811272 deg, approach rate: -0.627950 m/s, LOS rate: 0.088481 deg/s, cmd heading: 185.555476 deg, new cmd heading: 185.695504 deg. gr;bglO@ZgrgjgRgZfRf!e!e!"d!c)c)c)c- @ɢ]uB]M1 Y].Ia aɡaiaIeA <bA }AZA }AAIIN>9] L,c$0)A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755070"lB7IiIBD-}6D- f4Y5=!=*==Q)=>A9A9EEYE EEAM>IQ 1Um4٪M?Q 5]m4MD M/~B9YYYQ E]?yML?C)MW:IM:iMTm4YeBmAiB*** querying acoustic contact ***:hBhgFNOT Ignoring new targets: 106.20 m.g:g: ProNav: ac range: 106.199997 m, nav range: 99.263565 m, bearing: 201.853940 deg, approach rate: -0.627646 m/s, LOS rate: 0.088995 deg/s, cmd heading: 185.695509 deg, new cmd heading: 185.823901 deg. gNt;bg:O@ZgrgjgRgZfRfee"dcccc` a@ɢuB|6! I ɡiI\AM R5<ԁ A I I N >C L,n3$0)AyN@?@ٱN;M@NVNNP=NHf}?`?1?`?? é?#?IN@?@)NCg;iNCbZlBbYI]Mb@Mb@Mb@Y Y)YIYiY] rh?Mb?{Gzt?]C+?]@=]ף;)]XoAI]uAi]A]`A Y]sABD}t6D}{U4BDAT read: Rx Time:18:21:03.9119 TRx dataTimestamp_ set to:1755627666.086763checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260416Y=!#="Q)>99EYE:A>Q 1m4٪Y?Q 5m4E d~B9+?Q A:Y`@Q E?y?C)q ;I ;i0fm4Y3BAEgFNOT Ignoring new targets: 106.20 m.gn:gn: ProNav: ac range: 106.199997 m, nav range: 98.941414 m, bearing: 201.900735 deg, approach rate: -0.643193 m/s, LOS rate: 0.093735 deg/s, cmd heading: 185.823902 deg, new cmd heading: 185.964746 deg. g;bgO@ZgrgjgRgZfRfee!"d!c!c)c)c-b @ɢA <M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512627Y D D fD +D E  E 96E [4:E "E |;!= E ~;!E *E -;!M E -;!M AQ I I NM >Ϸ& L,f-$0)A!ɰu499EYE*;A>!Q 15m4٪%f?Q 55m4%G %~B9YY]M@Q E]?y%?C)%;I%;i%um4Ye#BmAmEgFNOT Ignoring new targets: 106.20 m.g :g : ProNav: ac range: 106.199997 m, nav range: 98.651520 m, bearing: 201.942902 deg, approach rate: -0.629650 m/s, LOS rate: 0.091854 deg/s, cmd heading: 185.964741 deg, new cmd heading: 186.091611 deg. g'|;bgO@ZgrgjgRgZfRfee"dcccc%R"@QɢmqvBDAT read: 18:21:03.9119 LVL= 26208, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.38,-1.164,-3.094,-1.632,-1.635, PHS= 0.573,-1.414,-0.041, RAW= 132.4, 10.0, CAL= 132.2, 11.2, ROT= 17.8, -11.2 Ygot valid direction response: 18:21:03.9119 LVL= 26208, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.38,-1.164,-3.094,-1.632,-1.635, PHS= 0.573,-1.414,-0.041, RAW= 132.4, 10.0, CAL= 132.2, 11.2, ROT= 17.8, -11.2 PDAT read: Bearing 340.6, 26.4 (Local) ~Local bearing/azimuth received: Bearing 340.6, 26.4 (Local) DAT read: Range 11 to 50 : 103.8 m (Round-trip 138.4 ms) speed 0.4 m/s *DAT read: user:916> BDAT read: Tx time:18:21:05.0193 $Ping request sent.7@+H>>+HIi)=_?-K %?YN?E^>rZ3> +HIi:publishing transmit ping time9Fpublishing direction and range info vL? 1?mVѫ?Ii )IiIi)=_?-K %?YN? IiI9iԁԩ >A e<rA >jA >A] yAIa Iq N >x- L,$0)A,D@DBgDB-D@E@ EB&96EBt4:E@!F@!F@!F@!F@yF\`?@ٱFY[M@FFHY=FH(?|?`?)?{? ?IF\`?@)F^i;iFCjlBjIn=n<BDv6Dvt4Y~>!O=Q)> H?9 H?9EYE:A>1Q 1um4٪5u?Q 5}m45H 5~B9Y@@Q E?y53@C)5Ăh+H yUV0¯7B!ZA@~ J뿿t9Jֿ)?jhrhմZhz?bhzh1Bh5Ё?h{;hhBhga@ addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 3.781860 s, deltaX: -2.399994 m, approachRate: -0.634607 m/s, rangeRepo size: 4  Added new target pos. range: 103.800003 m, bearing: 201.790697 deg, lat: 36.779408 deg, lon: -121.859538 deg, deltaT: 3.781860 s, deltaX: -2.399994 m, approachRate: -0.634607 m/s, posRepo size: 4 gFNOT Ignoring new targets: 103.80 m.gEgA ProNav: ac range: 103.800003 m, nav range: 97.995827 m, bearing: 201.790697 deg, approach rate: 0.000000 m/s, LOS rate: 0.091854 deg/s, cmd heading: 186.091605 deg, new cmd heading: 186.214946 deg. gbg P@ZgrgjgRgZfRfee"dccc@3Y@c?ɢvBa %  I ɡiI~B B $IB mBB B B B }_;B $E >A < A=AIIIYNm>Lj5 L,$0)Ay61n?@ٱ6.iM@6o6W=6Ha?`?0/ Y?C??r?I61n?@)6i;i6CBlBBIEMb@Mb@Mb@A A)AIAiAEv/??{Gz?Ex)?EL=E#<)EnpAIEtAiEEAE]A AE\sABD]6D]hm4Ym*=!m(=D}vD}aD}*DyE}Vz: E}96E}(N4:Ey"E}G;!E}H;!*E};!E};!Q)>K?9K?9EY!E6:A>Q 1m4٪\?Q 5m4 I ~B9)?Q A:Y?Q E?y@C) ;IT ;i.m4YBنAEgFNOT Ignoring new targets: 103.80 m.g>:g>: ProNav: ac range: 103.800003 m, nav range: 97.707359 m, bearing: 201.831523 deg, approach rate: -0.705969 m/s, LOS rate: 0.100209 deg/s, cmd heading: 186.214944 deg, new cmd heading: 186.337784 deg. g;bg,$P@ZgrgjgRgZfRf e e "dcccç?ɢvBR9 !I ɡiIAjb<AQ Q Ia Iq N} >r; L,|$0)Aiy6;?@ٱ68|M@66HoU=6H@Ќ ?? xR? (?Z? '?I6;?@)6ui;i6CBlBBIBDJ6DJ}4YRƌ=!RY=VQ)V>T9T9VEYV&EZ L;AZ>\Q 1bm4٪^H?Q 5bm4^ J ^!B9`Yf?Q Ef?y^@C)^;I^,:i^9m4YjBjeAjEzB*** querying acoustic contact ***:hxBhxg|FNOT Ignoring new targets: 103.80 m.g:g: ProNav: ac range: 103.800003 m, nav range: 97.470001 m, bearing: 201.865125 deg, approach rate: -0.636163 m/s, LOS rate: 0.090278 deg/s, cmd heading: 186.337779 deg, new cmd heading: 186.438829 deg. gw;bgAP@Zgrgjg!Rg!Zf!Rf!e)e)"d)c)c)c1c5`L?ɢwB@ "I ɡiI|Aԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500222A I I N >Թ )A |B L,*o %0)A )I2A06nAy?@ٱM@V=HZKʳ?7?s@U ??4??I?@)}i;ivB5>~B1B5VIB5mBB1B1B1B5p_;B5#EMlBUIiQIQMb@Mb@Mb@ )IiFx??I +?+?94<)AnAIrAiA\A qABDx6D\4Y{=!5=Q)> 9 9 EY ,E\:A>Q 1%m4٪/?Q 5%m4.K WB9%F,?Q A%:Y-?Q E-?y AC) ;I ;im4Y5B5A1ԉgFNOT Ignoring new targets: 103.80 m.g:g: ProNav: ac range: 103.800003 m, nav range: 97.179886 m, bearing: 201.906569 deg, approach rate: -0.622579 m/s, LOS rate: 0.089203 deg/s, cmd heading: 186.438824 deg, new cmd heading: 186.563528 deg. gt;bgdP@ZgrgjgRgZfRfee"d!cAcAcAcM@?ɢ8wB#x( 顝m$I ɡiI%ɾA NJN<A I I  N >H L,+5$%0)Ay6?@ٱ6M@6 6{iV=6H7+?`hp?SⱿ W/?z?u?f?I6?@)63i;i6CNmBNIBDZv6DZ)Y4YbZ=!bb=b)Q)b>d9d9fEYf0Ef~;Aj>hQ 1rm4٪j?Q 5rm4jL jB9pYr?Q Er?yjGAC)jP;Ij ;ijm4YxzAxgFNOT Ignoring new targets: 103.80 m.g%:g%:5 ProNav: ac range: 103.800003 m, nav range: 96.947220 m, bearing: 201.939781 deg, approach rate: -0.673929 m/s, LOS rate: 0.096431 deg/s, cmd heading: 186.563530 deg, new cmd heading: 186.663405 deg. g5\;bg5IP@Zg1rg1jg1Rg1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004381ZfRfee"dcccc8D@ɢ awBcvD 页$I ɡiIA9<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256616Q D }D iD ,D E ݉: E 96E g4:E ! @! @! @! @A yAI I N >BN L,!>%0)A ɰv;v4 H?9 H?9EY6E];A> Q 1m4٪ ?Q 5m4 VM B9(?Q A:Y@?Q E?y AC) 3:I :i Gm4Y%B%"A-EgIUFNOT Ignoring new targets: 103.80 m.gU:gU:am ProNav: ac range: 103.800003 m, nav range: 96.645554 m, bearing: 201.981591 deg, approach rate: -0.631756 m/s, LOS rate: 0.087833 deg/s, cmd heading: 186.663401 deg, new cmd heading: 186.789222 deg. gmq;bgmDP@ZgirgqjgqRgqZfqRfqeyey"dycycycc`@ɢ-wB-* 15&I1 1ɡ1i1I5iؿ<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508401I=rzAi]C=ie.<)eDP@)aI9i@~A@AԑvB ~B B IB PnBB  =B B B [_;B #EB)B)B)B)B)B-5Թ >A= G8<rA= >jA= ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760289A AI I N >JU L,X%0)Ay:?@ٱ:M@:M$:sc=:H@'?`?3 @??` ??I:?@):'j;i8BmmBBIF%>F=BDN6DN4YV>!Vp=VϻQ)V?ZK?9ZK?9ZEYZ:E^<A^?`Q 1fm4٪b{*?Q 5fm4b>N bB9dYf?Q Ef?ybAC)bW:Ibf;ib2m4YnԗBnwAnED={D=nD=+D9E==: E=:6E= [4:E9"E=;!ME=;!M*E=J;!ME=J;!MgyFNOT Ignoring new targets: 103.80 m.gZ:gZ: ProNav: ac range: 103.800003 m, nav range: 96.430031 m, bearing: 202.011225 deg, approach rate: -0.603837 m/s, LOS rate: 0.083210 deg/s, cmd heading: 186.789227 deg, new cmd heading: 186.878325 deg. gld;bgP@ZgrgjgRgZfRfee"dcccc@ɢ=wB=7/E 9=2%I9 AɡAiAIE$Ae0<Թ A I I N >d \ L,߈r%0)Ay6@@ٱ6N@6X&6d=6Hz@A??|`=}??`6?Ɇ?I6@@)6_yj;i4PRmBRIBDZw6DZ[4Ybf=!bI=f{Q)f>d9d9jEYj@Ejg;Aj>lQ 1rm4٪nټ?Q 5rm4nWO n B9tYv>Q Ev?ynBC)n:In:infm4YxzHA|B*** querying acoustic contact ***:hBhg!%FNOT Ignoring new targets: 103.80 m.g-:g-:= ProNav: ac range: 103.800003 m, nav range: 96.173180 m, bearing: 202.046273 deg, approach rate: -0.657149 m/s, LOS rate: 0.089910 deg/s, cmd heading: 186.878320 deg, new cmd heading: 186.983746 deg. g=v;bg=P@Zg9rg9jgARgAZfARfAeIeI"dIcIcIcQcU`B @ɢ=wBE; AE&IA AɡIiIIMAAULM<E DAT read: 18:21:07.5586 LVL= 23264, 32401, 28962, 32755, AGC= 64, IDX= 405,-0.39, 1.612,-0.357, 1.166, 1.119, PHS= 0.595,-1.431, 0.004, RAW= 133.5, 9.3, CAL= 133.3, 10.4, ROT= 16.7, -10.4 M Ygot valid direction response: 18:21:07.5586 LVL= 23264, 32401, 28962, 32755, AGC= 64, IDX= 405,-0.39, 1.612,-0.357, 1.166, 1.119, PHS= 0.595,-1.431, 0.004, RAW= 133.5, 9.3, CAL= 133.3, 10.4, ROT= 16.7, -10.4 U PDAT read: Bearing 340.2, 26.5 (Local) U ~Local bearing/azimuth received: Bearing 340.2, 26.5 (Local) a m DAT read: Range 11 to 50 : 101.4 m (Round-trip 135.2 ms) speed 0.7 m/s u *DAT read: user:917> u BDAT read: Tx time:18:21:08.6693 u $Ping request sent.} @ 9> ;> 9I i ) 3?ss݊?s]? ^q> u% ;> 9I i  :publishing transmit ping time9q  Fpublishing direction and range info \b%?**x?lE@? I i ) I i I i ) 3?ss݊?s]? I i A I I N >b L,r%0)AvB.>~B,B.IB.nBB,B,B,B.:_;B.#Ey9y9}EY}FE;A>Q 1m4٪?Q 5m4P )B9*?Q A:Y}=Q E?yfBC):I:im4Y֗BAEJh1Rh5%0)Ah5Bh5I15&aW@K8Oߨ<@o+M2@~5\b%?**x?lE@?h5;>h59 5!V5iA~֐A@~5 ?xR6uտ^DK?jh5I rh5Zh5} ?bh5zh5zBh5d?h5h5Bh5Bh5a@EPExceeded connect timeout, disconnecting.au addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.528147 s, deltaX: -2.400002 m, approachRate: -0.680244 m/s, rangeRepo size: 4  Added new target pos. range: 101.400002 m, bearing: 201.968584 deg, lat: 36.779408 deg, lon: -121.859536 deg, deltaT: 3.528147 s, deltaX: -2.400002 m, approachRate: -0.680244 m/s, posRepo size: 4 gFNOT Ignoring new targets: 101.40 m.gg ProNav: ac range: 101.400002 m, nav range: 95.748383 m, bearing: 201.968584 deg, approach rate: 0.000000 m/s, LOS rate: 0.089910 deg/s, cmd heading: 186.983750 deg, new cmd heading: 187.122053 deg. gbgpQ@ZgrgjgRgZfRfee"dcccYY@c?ɢE)xBEw4& IM'II IɡIiIIM8A NJN<bA ZA AAe yAIq I N >i L,7%0)A,y:[@@ٱ:VN@:N+:k=:H9rz??6Ǵ>:+?`IP?J?G?I:[@@):h;i8BmBB:IiDIDBDnl6DnF4Yv=!vb=vQ)v>  H?9  H?9 EY JE ;A>Q 1n4٪3?Q 5%n4Q @B9!Y%_=Q E%?yBC)1:I(:iUn4Y-ǗB5A5EgY]FNOT Ignoring new targets: 101.40 m.ge:ge:u ProNav: ac range: 101.400002 m, nav range: 95.518204 m, bearing: 201.996687 deg, approach rate: -0.669960 m/s, LOS rate: 0.081994 deg/s, cmd heading: 187.122048 deg, new cmd heading: 187.206561 deg. gua;bguQ@ZgqrgqjgyRgyZfyRfyee"dccccA?ɢNxBzbP 顽f(I ɡiIFA LM<rD- %=jD) DE DE kDA DA EE O: EE :6EA :EA !U @!U @!U @!U @ AQ Iq I N >fp L,%0)A\ybsr@@ٱbpmN@b-bzo=bH n? (?@+!p@??팭?`|?Ibsr@@)bh;ibCnmBnXIMb@Mb@Mb@ )IiL7A`?L7A`?{Gz?+'?)gAIi;UA pmABDp6DN4Y=!>=QQ)>99EYPE[;A>Q 1n4٪]?Q 5n4US [B9 (?Q A:Y3=Q E?yBC)D;I{;iHn4Y+AgFNOT Ignoring new targets: 101.40 m.g~:g~:- ProNav: ac range: 101.400002 m, nav range: 95.247932 m, bearing: 202.029408 deg, approach rate: -0.631865 m/s, LOS rate: 0.076714 deg/s, cmd heading: 187.206565 deg, new cmd heading: 187.305005 deg. g-R;bg58Q@Zg1rg1jg1Rg1Zf1Rf9e9e9"d9cAcAcAcE`4?ɢuxBu:^6 que(Iq yɡyiyI}E~BBIBoBB =BBB4_;B#E>A) nManaging dock network, ignoring radio surface power offA A] AIa Iy N >D= uD= dD= *D9 E= v: E= 96E= (N4:E9 "E= $;!E E= %;!E *E= ~&;!E E= &;!M v L,%0)Aɰ;y6V@@ٱ6SN@6d306S{=6H@i@~? ?p@c@3`???w?I6V@@)6ҹh;i6CBnBBeIBDJl6DJF4YRhg=!R_=RܻQ)R>VK?9VK?9VEYVUEZy;AZ>\Q 1bn4٪^ˀ?Q 5bn4^}T ^sB9`Yb=Q Ef?y^%CC)^;I^!;i^"n4YjBj‚AjEg|FNOT Ignoring new targets: 101.40 m.g:g: ProNav: ac range: 101.400002 m, nav range: 95.016182 m, bearing: 202.057379 deg, approach rate: -0.630792 m/s, LOS rate: 0.076319 deg/s, cmd heading: 187.305002 deg, new cmd heading: 187.389120 deg. gQ;bgPQ@Zgrg!jg!Rg!Zf!Rf!e)e)"d)c)c1c1c5?ɢxB{F )I ɡiItA9<rA>jA>AA II IY Nm >ԡ | L,_%0)Ay:ӯ@@ٱ:ЪN@:2:9=:HBd@-?i?( ,?ZB? ?r?I:ӯ@@):h;i:CFAnBFIJ=J>BDNr6DNQ4YV =!VJ=ZۻQ)Z>X9X9ZEY^ZE^.;A^>`Q 1fn4٪b.k?Q 5fn4bU bB9hYjAUNJN<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AM yAIQ Ia Nu >vB >~B ʍCB JIB oBB =B B B ,_;B #E ރ L,O;&0)Ay6+@@ٱ6(N@6ۧ56=6H^??`F?`?`p?An?I6+@@)6i;i6CNtnBRI-Mb@Mb@Mb@) )))I)i)-L7A`?㥛 ?Mb?)-=-<)-fAI-AnAi-A-$TA )-kABD6Dhm4Y=!<=ŻQ)> H?9 H?9EY_E;A>Q 1n4٪T?Q 5n4BW B98(?Q A:YA19A AI I N >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506185 L,*&0)Aiy62@@ٱ6/N@6E86χ=6H Yq? Q??? ?j?I62@@)6HPi;i6CfnBfI)l nBABDr{6Dr]b4Yv=!vU=zڻQ)z>zK?9~K?9~EY~dE߇;A> Q 1 n4٪ ??Q 5n4 X ÀB9Y;Q E?y CC) :I :i Ln4Y%B%GA%EgIMFNOT Ignoring new targets: 101.40 m.gUx:gUx:e ProNav: ac range: 101.400002 m, nav range: 94.242508 m, bearing: 202.146052 deg, approach rate: -0.633985 m/s, LOS rate: 0.071021 deg/s, cmd heading: 187.574289 deg, new cmd heading: 187.655873 deg. geB;bgmQ@ZgirgijgiRgiZfiRfieqeq"dqcycycyc}@ɢ2yBB 顭N*I ɡiIcAjb<bA~AZA}AԉBEșT4JE-W4RET/D }D tD D E ݉: E v:6E :E !- @!- @!- @!- @A I I N >  L,C&0)AyzA@ٱzO@z:z=zHU???Y`8?/?? f?IzA@)zi;izCnB Ii I Mb@Mb@Mb@ )IiZd;O?333333?{Gz?~*?=#<)eAI+mAi/AQA 3kABDi6D=A4Y=!;=Q)>99EYjEh;A>Q 1 n4٪(?Q 5n4Z B9+?Q A:Y;Q E?y8DC) ;I ;i\n4YB%A!gYmFNOT Ignoring new targets: 101.40 m.uBDAT read: Rx Time:18:21:11.2054 }TRx dataTimestamp_ set to:1755627673.142776}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011389g:g:ԉ ProNav: ac range: 101.400002 m, nav range: 93.960091 m, bearing: 202.177466 deg, approach rate: -0.642620 m/s, LOS rate: 0.071693 deg/s, cmd heading: 187.655868 deg, new cmd heading: 187.750391 deg. gD;bgQ@ZgrgjgRgZfRfee"dciIc)MUG mrA)cIc}@IrA.AɢMiyBU, Ur>A a< ) ) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264110D D eD +D E : E 96E [4:E "E ;!% E ½;!% *E !% E !- ) A1 I9 II N] >} L,u]&0)Ay6A@ٱ6O@6ކ<6=6HQ+?z?@Ϻ J{D?n?`ƥ?c?I6A@)6uj;i4BnBBIBDJ|6DJ4d4YR=!Rb=RQ)V>T9T9VEYVnEZ;AZ>\Q 1bn4٪^x?Q 5bn4^i[ ^B9`Yb;Q Ef?y^uDC)^|:I^t:i^hn4YhjdAhg|~FNOT Ignoring new targets: 101.40 m.g>:g>: ProNav: ac range: 101.400002 m, nav range: 93.726288 m, bearing: 202.203381 deg, approach rate: -0.650035 m/s, LOS rate: 0.072233 deg/s, cmd heading: 187.750385 deg, new cmd heading: 187.828326 deg. gJF;bggQ@ZgrgjgRgZfRfee"dcccc@O @ɢyBJM 顕*I ɡiIA= LMD L,w&0)Aɰ4<y:>A@ٱ:9O@:>:u^=:HL&??`/? ???wa?I:>A@):ej;i:CFoBF IBDN{6DN]b4YR: >!VK=VQ)V>X9X9ZEYZsEZ;A^>`Q 1bn4٪b?Q 5fn4b\ bB9dYf;Q Ef?ybDC)b1:Ib:ibvn4YjyBnoAnEDAT read: 18:21:11.2054 LVL= 25072, 32753, 31730, 32755, AGC= 64, IDX= 404, 0.24, 2.515, 0.619, 2.136, 2.036, PHS= 0.582,-1.372, 0.056, RAW= 134.9, 8.4, CAL= 134.8, 9.5, ROT= 15.2, -9.5 %Ygot valid direction response: 18:21:11.2054 LVL= 25072, 32753, 31730, 32755, AGC= 64, IDX= 404, 0.24, 2.515, 0.619, 2.136, 2.036, PHS= 0.582,-1.372, 0.056, RAW= 134.9, 8.4, CAL= 134.8, 9.5, ROT= 15.2, -9.5 %PDAT read: Bearing 340.3, 26.5 (Local) -~Local bearing/azimuth received: Bearing 340.3, 26.5 (Local) 5DAT read: Range 11 to 50 : 99.0 m (Round-trip 132.0 ms) speed 0.5 m/s =*DAT read: user:918> EBDAT read: Tx time:18:21:12.3193 E$Ping request sent.Er@r)>rԇ>r)Ipip)r2?@)M?na,?r[>r[rԇ> r)Ipip:publishing transmit ping time9AFpublishing direction and range infopr6At?L)gˌ?G ?ppIpippppp p)pIpJhpRhry&0)AhrBhr 1rl}W@ᓣʙ9@wmV0@~r6At?L)gˌ?G ?hrԇ>hr) r9aU1^{@i%njA@~r5LvNտذ?jhrrhrZhrhX?bhr[ֿzhrBhrhX?hrCOhrzBhrBhra@ipppppIpip)r2?@)M?na,?ppp pIpipM addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 3.780411 s, deltaX: -2.400002 m, approachRate: -0.634852 m/s, rangeRepo size: 4  Added new target pos. range: 99.000000 m, bearing: 202.220537 deg, lat: 36.779408 deg, lon: -121.859535 deg, deltaT: 3.780411 s, deltaX: -2.400002 m, approachRate: -0.634852 m/s, posRepo size: 4 gDNOT Ignoring new targets: 99.00 m.ggDyDhD*DE: E]96E(N4:E!@!@!@!@) ProNav: ac range: 99.000000 m, nav range: 93.441048 m, bearing: 202.220537 deg, approach rate: 180220955058280336315492104929 m/s, LOS rate: 0.072233 deg/s, cmd heading: 187.828331 deg, new cmd heading: 187.924745 deg. gbgQ@ZgrgjgRgZfRfe e "d Qc cQcUX@c]?ɢyB6 顥*I ɡiI6Ae jZX<rAi jAm >IA IQ N] >r0 L,)&0)A99EYyEA>Q 1-n4٪今?Q 5-n4~^ 8B9-+?Q A-:Y-R! L,YM&0)Ay6A@ٱ6O@6HC6gt=6HA C?k^? ;c`:?N??\?I6A@)6Dk;i4>oBBOIBDJu6DJRW4YRt[>!RJ=R,AQ)R>T9T9VEYVEVE<AZ>\Q 1bn4٪^λ?Q 5bn4^_ ^UB9`Yb;Q Eb?y^MEC)^ :I^:i^n4Yf[Bj|AjEvB*** querying acoustic contact ***:htBhtg|~DNOT Ignoring new targets: 99.00 m.g2:g2: ProNav: ac range: 99.000000 m, nav range: 92.870842 m, bearing: 202.286911 deg, approach rate: -0.671397 m/s, LOS rate: 0.077458 deg/s, cmd heading: 188.033988 deg, new cmd heading: 188.124483 deg. gT;bg#R@ZgrgjgRgZfRfe!e!"d!c!c)c)c-'?ԩɢzB,= )I! !ɡ!i!I%qD|DgD+DE : E&96E [4:E!@!@!@!@ 1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247746m L,b/&0)A i yFaA@ٱF]O@FEFtq=FH< ??n?@칿@??Z?`~Y?IFaA@)Fek;iFCVoBVUIAUAAAQvB]>~B]ˍCB]IB]pBBYBYBYB]^;B]#EMb@Mb@Mb@ )IiHzG?Dl?Mb?=*?O=)3aAIgAiA 3gABDx6D\4Y{<!6=Q)> 9 9EYE;A>Q 1%n4٪?Q 5%n4a uB9-*+?Q A-:Y-;Q E-?yEC)~ ;IK ;ixn4Y15|A9gDNOT Ignoring new targets: 99.00 m.g¢:g¢: ProNav: ac range: 99.000000 m, nav range: 92.581505 m, bearing: 202.319645 deg, approach rate: -0.626907 m/s, LOS rate: 0.071147 deg/s, cmd heading: 188.124488 deg, new cmd heading: 188.222998 deg. gOC;bgB?R@ZgrgjgRgZfRfee!"d!c!c)c)c-?ɢQzB/ 額+I ɡiI=i#m<)B?R@) ~AA9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499733iԅ< ~A AD uD dD (D E v: E 96E c44:E "E $;! E %;! *E ~&;! E ~&;! I 9i 5 I I N >Թ ` L,<&0)Ay6A@ٱ6O@65G6u=6H7*? u?i@n}?z? ?]V?I6A@)6j;i6CBoBB|Ii@I@BDJr6DJQ4YR/>!Rc=V͜Q)V>T9T9ZEYZEZH<AZ>\Q 1bn4٪^%?Q 5bn4^b ^B9dYf;Q Ef?y^EC)^:I^;i^n4YjLBj{AjEg|~DNOT Ignoring new targets: 99.00 m.gm:gm: ProNav: ac range: 99.000000 m, nav range: 92.350304 m, bearing: 202.345453 deg, approach rate: -0.665731 m/s, LOS rate: 0.074499 deg/s, cmd heading: 188.222993 deg, new cmd heading: 188.300611 deg. gL;bgtUR@ZgrgjgRgZfRfe!e!"d!c!c)c)c-9@?ɢ]rzB][ Y])IY aɡaiaIe=imP<)mtUR@)q }}Iy)yԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751826ԱI9i/I I!N-p> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003953 j L,u&0)AbD0ZD0D6{D6hD6,D4E6=: E6]96E6g4:E4!:@!:@!:@!:@y^!B@ٱ^P@^!%I^tp=^H1??@ @d?T? \k?T?I^!B@)^bk;i^CjoBjIBDrt6Dr{U4Yz}=!zF=zbQ)z>|9|9~EY~E <A> Q 1n4٪ ?Q 5n4 Qd B9!Y%L;Q E-?y FC) Q;I h;i mn4YE=ig#<)nR@)I59i99=09-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2559921vBm>~BiBmcIBmJqBBiBiBiBms^;Bmy#E>Ama L,'0)Aɰ;y>_B@ٱ>ZP@>$J>-``=>H@,˿?u?K ? ?}?T?I>_B@)>k;i>CJ5pBJIMMb@Mb@Mb@I I)IIIiIMFx?Dl?~jtx?M+?IM;)M_AIMfAiMAMLA IMdABDex6De\4Yu >!uB=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507996GQ)>99EYEM<A>Q 1n4٪ v?Q 5n4e ́B9,?Q A:Y;Q E?yaFC)":I:i3n4YyAgDNOT Ignoring new targets: 99.00 m.g7:g7: ProNav: ac range: 99.000000 m, nav range: 91.810555 m, bearing: 202.404461 deg, approach rate: -0.662480 m/s, LOS rate: 0.072222 deg/s, cmd heading: 188.388324 deg, new cmd heading: 188.478162 deg. gBF;bg:R@ZgrgjgRgZfRfee"dc c c c CM@ɢ=zB=@ AEu)IA AɡAiAIEVL=iM <)M:R@)YDyD}gD}-DyEy E}&96E}t4:Ey"E};!E};!*E}i1;!E}j1;!I=9i99=/Ay>AUu<rA]>jA]>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759757ԩ Aa Ii Iy N > L,1'0)ADy>B@ٱ>P@>xuJ>Y=>H(`? !?@jRo?$?@?U?I>B@)>S l;iV=BD^f6D^;4Y~ =!~R=99EY E -<A >Q 1n4٪a?Q 5n4bg B9!Y%:Q E%?yFC);I;in4Y--B-wA)MB*** querying acoustic contact ***:hIBhIgQ]DNOT Ignoring new targets: 99.00 m.ge:ge:u ProNav: ac range: 99.000000 m, nav range: 91.559258 m, bearing: 202.431269 deg, approach rate: -0.649821 m/s, LOS rate: 0.069511 deg/s, cmd heading: 188.478169 deg, new cmd heading: 188.558812 deg. gu>;bguIR@ZgqrgqjgqRgqZfyRfyeye"dccccf@ɢzB%A 顽)I ɡiITA< A! II Ii N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263743 L,yK'0)AyN,B@ٱN(P@NPJN_=NH $ N? ?J@V? ?h?`T?IN,B@)N?l;iNC^pB^I`vB>~BBIBqBB =BBaDBD^;Bd#EMb@Mb@Mb@ )Iix&?99EYE3<A> Q 1n4٪ I?Q 5n4 i B9=*?Q A:Y6:Q E?y FC) <:I ;i  n4Y%B%vA%EgIMDNOT Ignoring new targets: 99.00 m.gU:gU:e ProNav: ac range: 99.000000 m, nav range: 91.278046 m, bearing: 202.459663 deg, approach rate: -0.641300 m/s, LOS rate: 0.064951 deg/s, cmd heading: 188.558806 deg, new cmd heading: 188.644249 deg. geM2;bgeR@ZgargajgiRgiZfiRfieqeq"dqcqcycyc} @ɢ%{BC5 顭s)I ɡiIz BDAT read: Tx time:18:21:15.9692 $Ping request sent.}@}|>}}>}|Iyiy)}1~?ZWh?]H,-?}X>}S* }}> }|Iyiy:publishing transmit ping time9Fpublishing direction and range infoy}myQ?lg] ?ni\?yyIyiyyyyy y)yIyiyyyyyIyiy)}1~?ZWh?]H,-?yyy yIyiy>A <D vD bD D E Vz: E 96E :E "E G;! E H;! *E 6;! E 7;! Q A! I) IA NM > L,;e'0)Aiy6e#C@ٱ6aQ@6_J6!My=6H! ?? ݣ`?s??!v_=vV:Q)v>x9x9zEYzEz/<A~>!Q 1-n4٪%5?Q 5-n4%j %$B9)Y-9Q E-?y%)GC)%z:I%:i%n49Yy}uAyJhRhE['0)Ah3BhE0v$W@=ql7@(==9-@~myQ?lg] ?ni\?h}>h| qKU:@( @@~Rgֿ3Θk?jhDrh=Zh0]?bhIzhBh0]?hIhhBh2a@ addTargetRange:: Added new target pos. range: 96.599998 m, deltaT: 3.527561 s, deltaX: -2.400002 m, approachRate: -0.680357 m/s, rangeRepo size: 4 5 Added new target pos. range: 96.599998 m, bearing: 201.607070 deg, lat: 36.779408 deg, lon: -121.859518 deg, deltaT: 3.527561 s, deltaX: -2.400002 m, approachRate: -0.680357 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 96.60 m.g=gAM ProNav: ac range: 96.599998 m, nav range: 90.477852 m, bearing: 201.607070 deg, approach rate: 0.000000 m/s, LOS rate: 0.064951 deg/s, cmd heading: 188.644251 deg, new cmd heading: 188.720444 deg. gQbguR@ZgqrgqjgqRgqZfyRfyeyey"dccc`f&X@ct?ɢQ{B9; (I ɡiIbA- e<bA) ZA- ~A A} yAI I N > L,'0)ABEQJEQREU- 0D&xD&lD&.D$E&ˀ: E&:6E&ـ4:E$!.@!.@!.@!.@yZP]C@ٱZLXQ@ZIZ׊=ZH@)??l3Қ ?G?@?iO?IZP]C@)ZrTl;iZC5pB=1IiaIaBDmU6Dmn4Y}=!}A=I:Q)> H?9 H?9EYE<A>ԙQ 1o4٪?Q 5o4Gl CB9Y9Q E?ynGC);Iu;io4YBtAEg5DNOT Ignoring new targets: 96.60 m.g=:g=:M ProNav: ac range: 96.599998 m, nav range: 90.208733 m, bearing: 201.630799 deg, approach rate: -0.661859 m/s, LOS rate: 0.058533 deg/s, cmd heading: 188.720449 deg, new cmd heading: 188.791849 deg. gM ;bgMR@ZgIrgIjgQRgQZfqRfqeyey"dycyccc?ɢ%}{B-m9 )-D(I) qɡyiyI}A= c<A AI I N >[ L,2'0)Ay6C@ٱ6Q@6UH6k=6H`?y?+; i??[S? P?I6C@)6[l;i6CBqBBFID-only read 2 of 4 data items for bottom velocity. Device response is::BS, +64, +670, !@! !@! !@! !@! BDl6DF4Yؗ=!1=:Q)>K?9K?9EYE ;A >Q 1%o4٪?Q 5-o41n eBQ =5+:91Q A5:Y59Q E5?yGC)_;I<>io4YEBMsAMEgDNOT Ignoring new targets: 96.60 m.gW:gW: ProNav: ac range: 96.599998 m, nav range: 89.908089 m, bearing: 201.656875 deg, approach rate: -0.644668 m/s, LOS rate: 0.056102 deg/s, cmd heading: 188.791852 deg, new cmd heading: 188.870342 deg. g;bg_R@ZgrgjgRgZfRfDDiD0DE: E96E4:E"E;!-E;!-*E8;!-E8;!-e1e1"d1c1c9cYc]?ɢ{Bd/ 顭.)I ɡiI<ԹIU'?i*)==iA<)_R@)Iiiiiii >A <A I I N >y* L,8'0)Aɰ4<,yNC@ٱNQ@NFNe=NH@3@~:?)? C9`*?Ʃ?=?S?INC@)N[l;iLZ]qBZoIBDbe6Db94Yj%>!jO=n!;Q)n>l9l9nEYrEr`<Ar>tQ 1zo4٪vU?Q 5zo4vo vBQ =z :9|Q A~Q:Y~89Q E~?yvGC)v ;Iv[?ivo4YrAB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 96.60 m.gq:gq: ProNav: ac range: 96.599998 m, nav range: 89.658180 m, bearing: 201.677826 deg, approach rate: -0.628403 m/s, LOS rate: 0.052828 deg/s, cmd heading: 188.870344 deg, new cmd heading: 188.933372 deg. g;bge S@ZgrgjgRgZfRfee"dccccO?UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.ɢE{Be\(@ ae'Ii iɡiiiImA<rA>jA> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753025 vB >~B B DIB rBB =B B `DB ];B @#EB]ˍCBYBYB]˷ =B]˷ =B]˨5A I I N% > L,'0)AyND@ٱNQ@NENL=NHFe? ?Cz@y {˷?t?԰?V?IND@)Nl;iNCZqBZIZ>Zx>l!E!E !E!E !E!E !E!E EMb@Mb@Mb@A A)AIAiAE rh?Zd;?{Gz?EC+?Ey=E#<)EhWAIE`cAiE9zAEFA AE^ABDen6DepJ4Ym=!mA=u;Q)u>q9y9}EY}E}&;A>Q 1o4٪ۺ?Q 5o4~q BQ =T:9+?Q A:YA:Q E?yCHC);I>;i,o4YBqAEgDNOT Ignoring new targets: 96.60 m.g:g: ProNav: ac range: 96.599998 m, nav range: 89.383553 m, bearing: 201.703888 deg, approach rate: -0.675596 m/s, LOS rate: 0.064311 deg/s, cmd heading: 188.933373 deg, new cmd heading: 189.011800 deg. g0;bg S@ZgrgjgRgZfRfee"dcccc Pv?ɢ|B7 顭0'I ɡiIei,<=i =) S@) I9i@=@= mAimchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0046199D}DfDDE݉: E96E:E"E8;!E9;!*E-;!%E-;!%>A=a A yAI I N >7 L,'0)AyVD@ٱVR@VDVE=VHs? ?@8#_?`To?pa? ?X?IVD@)V1l;iTbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256063fqBfIBDnp6DnN4Yv>!vS=zs ;Q)z>z H?9z H?9zEYzE~$d;A~>Q 1 o4٪ƺ?Q 5 o4 s B9Y*:Q E?yHC):I:i:o4YBpAE9gIMDNOT Ignoring new targets: 96.60 m.gUь:gUь:e ProNav: ac range: 96.599998 m, nav range: 89.131905 m, bearing: 201.727687 deg, approach rate: -0.649064 m/s, LOS rate: 0.061556 deg/s, cmd heading: 189.011798 deg, new cmd heading: 189.083395 deg. ge(;bgeK5S@ZgargajgiRgiZfiRfieqeq"dqcqcqcyc}U@ɢ)|Bo_A 顭c&I ɡiIPi <=i =)K5S@)IU9iQQU0Qi>Au=ԙ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509001I I N >bDa ZDe AA D ~D lD ,D E : E :6E g4:E !% @!% @!% @!% @ L,$(0)A,i,yVT$D@ٱVPR@VCVe=VHʈ? ? X`?*V?Q~?Z?IVT$D@)V0k;iVC^qBbIBDd6DdYnm>!rK=r:Q)r>p9t9vEYvEv:Av>xQ 1~o4٪z?Q 5~o4zt zقB9Y:Q E?yzHC)z;Iz;iz Ho4Y  oAg1=DNOT Ignoring new targets: 96.60 m.g=j:g=j:M ProNav: ac range: 96.599998 m, nav range: 88.870689 m, bearing: 201.752417 deg, approach rate: -0.651044 m/s, LOS rate: 0.061818 deg/s, cmd heading: 189.083392 deg, new cmd heading: 189.157801 deg. gM);bgUJS@ZgQrgQjgQRgQZfQRfQeYeY"dacacacace @ԡɢW|B|1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762684vB>~BBIBi<=i=)JS@)!I9i0>A 9=bA }AZA }A)  BDAT read: Rx Time:18:21:18.4989  TRx dataTimestamp_ set to:1755627680.450709 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013062I I N% > L,M (0)ADbxDboDb'D`Ebˀ: Eb:6Eb'4:E`"Eb;!jEb;!j*EbN;!jEbN;!j!y-k(D@ٱ-g#R@-C-x=-H2@??CT:?lN?P|?#\?I-k(D@)-%j;i)=-rB=IiaIaMb@Mb@Mb@ )IiZd;O?Zd;?:v?~*?T<)QVAI`Ai xACA \ABD5c6D5264YE=!E+=E`:Q)E>I9I9MEYMEMR :AU>QQ 1eo4٪U?Q 5eo4Uv UB9e=+?Q Ae:Ye:Q Ee?yUIC)UC ;IU ;iUXo4YuBu{nAuEgDNOT Ignoring new targets: 96.60 m.g:g: ProNav: ac range: 96.599998 m, nav range: 88.562599 m, bearing: 201.781673 deg, approach rate: -0.601078 m/s, LOS rate: 0.057276 deg/s, cmd heading: 189.157800 deg, new cmd heading: 189.245873 deg. g;;bgcS@ZgrgjgRgZfRfee"dcccc% @Qɢ|B/' %I ɡiIDiՇ<=i<)cS@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264423Ii/y>A <ԩ I I! N= >% L,9(0)Ay6,D@ٱ6'R@6TC62z=6H[ ??`@ye?qY?Į?`T[?I6,D@)6dHj;i6CRmrBRIBDZt6DZ{U4Yb]3>!fh=f~Q)f>d9h9jEYjEjM:Aj>lQ 1ro4٪n?Q 5vo4nw nB9tYv:Q Ev?ynSIC)n[:In:ineo4YzזBzmA~EB*** querying acoustic contact ***:hBhg!%DNOT Ignoring new targets: 96.60 m.g->:g->:= ProNav: ac range: 96.599998 m, nav range: 88.334404 m, bearing: 201.803434 deg, approach rate: -0.718936 m/s, LOS rate: 0.068736 deg/s, cmd heading: 189.245868 deg, new cmd heading: 189.311320 deg. g=<;bg=xvS@Zg9rgAjgARgAZfARfAeIeI"dIcIcIcQcU- @ yychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516260ɢ|B9S 顕#I ԙɡiI3in<=i<)xvS@)IQi70DDnD/DE~: E:6EJ4:E!@!@!@!@>AG<II e DAT read: 18:21:18.4989 LVL= 24000, 32753, 31842, 32755, AGC= 62, IDX= 402,-0.00,-0.666,-2.546,-0.977,-1.143, PHS= 0.580,-1.357, 0.123, RAW= 136.9, 7.5, CAL= 136.8, 8.5, ROT= 13.2, -8.5 u Ygot valid direction response: 18:21:18.4989 LVL= 24000, 32753, 31842, 32755, AGC= 62, IDX= 402,-0.00,-0.666,-2.546,-0.977,-1.143, PHS= 0.580,-1.357, 0.123, RAW= 136.9, 7.5, CAL= 136.8, 8.5, ROT= 13.2, -8.5 u PDAT read: Bearing 342.0, 24.8 (Local) } ~Local bearing/azimuth received: Bearing 342.0, 24.8 (Local)  DAT read: Range 11 to 50 : 94.1 m (Round-trip 125.5 ms) speed 0.5 m/s  *DAT read: user:920>  BDAT read: Tx time:18:21:19.6192  $Ping request sent. 5 3B1 I5 ]i5 5 b|1 5 >5 z? 5 -)5 m=I5 4@i5 >5 @5 >5 k>5 I1 i1 )5 I南X?9?U5~C?5 >5 s<5 k> 5 I1 i1  :publishing transmit ping time9 vB >~B ʍCB IB sBB =B B B ^;B A#E Fpublishing direction and range info1 5  *?r$PFi?%)k?1 1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 1 I1 i1 )5 I南X?9?U5~C?1 1 1 1 I1 i1 !  L,S(0)Aɰ;y6.D@ٱ6)R@6D6W~=6HU?`f?{@?m? 99EYE9A>Q 1o4٪k?Q 5 o4y 9B9 {)?Q A :Y :Q E-?yIC);I>;iuo4Y5ȖB=lA9JhaRhe @M(0)Ahe3Bhe+1e6'V@^u@5@ٺV+@~e *?r$PFi?%)k?hek>he eT}|*@ʔj \@@~eap,eտ?jheSrheZhe aU?bhe#>zheBhehX?he#>hezBheïBhe,a@ addTargetRange:: Added new target pos. range: 94.099998 m, deltaT: 3.780916 s, deltaX: -2.500000 m, approachRate: -0.661215 m/s, rangeRepo size: 4  Added new target pos. range: 94.099998 m, bearing: 201.586512 deg, lat: 36.779408 deg, lon: -121.859514 deg, deltaT: 3.780916 s, deltaX: -2.500000 m, approachRate: -0.661215 m/s, posRepo size: 4 gDNOT Ignoring new targets: 94.10 m.gg5 ProNav: ac range: 94.099998 m, nav range: 87.881859 m, bearing: 201.586512 deg, approach rate: 0.000000 m/s, LOS rate: 0.068736 deg/s, cmd heading: 189.311315 deg, new cmd heading: 189.412158 deg. g1bg5NS@Zg1rg1jg1Rg1Zf1Rf9e9e9"dAcAcAce`fW@ceލ?ɢ|Bi# 页%I ɡiIS#i?<=i><)NS@)!D{DhD+DE=: E]96E [4:E"E;!E;!*E 5;!E5;!Ii/Q>A )<rA >jA >IA y I N > L,m(0)Ay6&D@ٱ6!R@6(E6~Zw=6H` w?>1?d9??@YS?X?I6&D@)6i <=i <)AS@)QI9i_0ԁ>AI9IINU>ԱD zD bD 2D E l: E 96E 4:E ! @! @! @! @ }! L,<(0)Ay6"D@ٱ6 R@6GG6;e=6H c?t?ó`@c)? ?`>"? X?I6"D@)6i;i6CBrBB`IBDJi6DJ=A4YR >!RK=RgQ)R>T9T9VEYVEV5AZ>XQ 1bo4٪ZD?Q 5bo4Z| ZqB9`Yb:Q Eb?yZJC)Z;IZ;iZJo4YfBj5jAjEg|~DNOT Ignoring new targets: 94.10 m.g:g: ProNav: ac range: 94.099998 m, nav range: 87.413445 m, bearing: 201.630485 deg, approach rate: -0.664777 m/s, LOS rate: 0.062766 deg/s, cmd heading: 189.471428 deg, new cmd heading: 189.544436 deg. gM,;bg"S@ZgrgjgRgZfRfe!e!"d)c1c9cAcMz?ɢ]&}Bec9 iu#I ɡiI <vB>~BˍCB+IB0tBBBBB:^;BZ#EԱIf>i;=i<)"S@)Ie9iiim0i>A o=< A AI I N% >' L,c(0)AiD&wD&`D&/D$E&}: E&96E&J4:E$"E&i;!*E&j;!**E&;!*E&;!*yF"D@ٱFR@FHF:O=FH` F?`?3a z׳??re?X?IF"D@)Fi;iFCNsBNIl-Mb@Mb@Mb@) )))I)i)-y&1?v/?K?9K?9EYE9A>Q 1o4٪-?Q 5o4e~ B9&?Q A:YS:Q E?ybJC) ;I ;iɞo4YBhAEg)-DNOT Ignoring new targets: 94.10 m.g5:g5:E ProNav: ac range: 94.099998 m, nav range: 87.136230 m, bearing: 201.657530 deg, approach rate: -0.625259 m/s, LOS rate: 0.061194 deg/s, cmd heading: 189.544443 deg, new cmd heading: 189.625836 deg. gE';bgEhS@ZgIrgIjgIRgIZfIRfIeQeQ"dQcYcYcYc]`D?ɢS}B#v1 額#I ɡiIgbi';=i;<)hS@)I8i;01>AZ<bAAZAa A I) I9 NM >. L, =(0)Ay>#/D@ٱ>*R@>[J>;=>Hu D??pJ@?_!?!?@X?I>#/D@)>:i;i>CN`sBNIiPIPBDZ^6DZ,4YbeC>!b]=bQ)b>d9d9fEYfEj;Aj>lQ 1ro4٪n?Q 5ro4n nB9pYrD:Q Er?ynJC)nL;Inj;ino4YxzgAx B*** querying acoustic contact ***:h Bh g%DNOT Ignoring new targets: 94.10 m.g%:g%:5 ProNav: ac range: 94.099998 m, nav range: 86.905708 m, bearing: 201.680009 deg, approach rate: -0.624258 m/s, LOS rate: 0.061035 deg/s, cmd heading: 189.625832 deg, new cmd heading: 189.693447 deg. g5';bg5S@Zg99rg9jgARgAZfARfAeIeI"dIcIcIcQcU.?ɢ}x}B}d@ 顅!I ɡiI&ia;=i<)S@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BEM|a4JEMk4REM0DU~DUgDU+DQEU: EU&96EU [4:EQ!e@!e@!e@!e@Im9iiim2iii-=I5-Cԙ)tG>Am< rA))Im0urAu̮A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017716vB >~B B }IB tBB =B B aDB J^;B c#EA I I N >{5 L,(0)Ay:OID@ٱ:KDR@:BL:7=:H r?9?@ @-?T?j?@U?I:OID@):?i;i:CFsBFI-nonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, !n@!r !r@!r !r@!r !r@!r BDvt6Dv{U4Y~>!~G=~Q)>99EYE ~;A >Q 1o4٪^?Q 5o4` ̓BQ =+:9Q A:Y%):Q E%?yJC) ;I>iPo4Y-B-fA-EgQUDNOT Ignoring new targets: 94.10 m.g]0:g]0:m ProNav: ac range: 94.099998 m, nav range: 86.648682 m, bearing: 201.704926 deg, approach rate: -0.625753 m/s, LOS rate: 0.060844 deg/s, cmd heading: 189.693450 deg, new cmd heading: 189.768425 deg. gm';bgm.S@ZgirgijgqRgqZfqRfqeyey"dycyccc _@ԙɢ}B7 顽 I ʻɡiIiTo;=iyg<).S@)IM9iIIM0Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268831De}DehDe,DaEe݉: Ee]96Eeg4:Ea"Ee8;!mEe9;!u*Ee 5;!uEe5;!u>A8<A yAI I ! N- >1; L,o(0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519343ɰ "4VD@ٱ>QR@>M>;=>H`?(c? ¿$ ??@]?S?I>VD@)>h;i>CFsBFIBDNV6DNE4YVX=!VO=ZQ)Z>Z H?9Z H?9^EY^E^f ;A^>`Q 1fo4٪b?Q 5fo4b bBQ =j :9hQ AjV:Yj:Q Ej?yb KC)b:IbN?ib\o4YlreApg DNOT Ignoring new targets: 94.10 m.g :g:% ProNav: ac range: 94.099998 m, nav range: 86.402260 m, bearing: 201.728818 deg, approach rate: -0.624715 m/s, LOS rate: 0.060742 deg/s, cmd heading: 189.768419 deg, new cmd heading: 189.840298 deg. g%&;bg% T@Zg!rg!jg!Rg!Zf)Rf)e)e)"d1c1c1c1c5 @ɢ}B%8 _ I rɡiIi%@;=i%<)- T@))I9i2@=@=!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772581>Am<rA>jA>QDy D} sD} )Dy Ey  E} Z:6E} FA4:Ey ! @! @! @! @A- AI1 IA NU >y |B L,_)0)AyJvD@ٱJqR@J3OJ!9=JH??`P¿`? R?@v? P?IJvD@)JM#h;iJCsBIN>BD5n6D5pJ4YMd=!MA=MKtQ)U>UK?9UK?9]EY]Ee;Ae>iQ 1o4٪mڹ?Q 5o4m m BQ =99Q A-:Y9Q E?ymeKC)mL;Imn?imBo4YBdAEgDNOT Ignoring new targets: 94.10 m.g~:g ~:E ProNav: ac range: 94.099998 m, nav range: 86.136627 m, bearing: 201.754368 deg, approach rate: -0.613876 m/s, LOS rate: 0.059228 deg/s, cmd heading: 189.840300 deg, new cmd heading: 189.917186 deg. gM";bgM#T@YZgirgijgiRgZfRfe)MBDAT read: Rx Time:18:21:22.1457 ]TRx dataTimestamp_ set to:1755627684.245744mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.029026vB~BBIB8uBB =BBB@^;B]#EBBBB¸ =B¸ =Bi4e"dcccc@|@ɢm}Bm/ im Ii ucs.ɡqiqIuAe 8< checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275713 D} yD} {Dy Dy E} : E} 5":6Ey :Ey "E} ;! E} ;! *E} 6z;! E} 6z;! A I I N >H L,#)0)AyJD@ٱJR@JOJC?=JHN(?`?¿@ ?? {?N?IJD@)Jf;iJCR6tBV/I!5!5 !5!5 !5!5 !=!= =Mb@Mb@Mb@9 9)9I9i9=L7A`?J +?{Gz?=+'?=H==#<)=PAI=$TAi=qA=5!1={̺Q)>99EYE;A> Q 15o4٪  ¹?Q 5=o4 Q .BQ =MT:9M'?Q AM:YU:Q EU?y KC) $T@ZgIrgIjgIRgIZfIRfIeQeQ"dQcYcYcyc}` @ɢ'~B&i7 I #RɡiIiT@)aԁDAT read: 18:21:22.1457 LVL= 24944, 32753, 28898, 32755, AGC= 63, IDX= 401,-0.10, 2.350, 0.434, 2.040, 1.861, PHS= 0.591,-1.382, 0.135, RAW= 137.2, 7.4, CAL= 137.1, 8.3, ROT= 12.9, -8.3 Ygot valid direction response: 18:21:22.1457 LVL= 24944, 32753, 28898, 32755, AGC= 63, IDX= 401,-0.10, 2.350, 0.434, 2.040, 1.861, PHS= 0.591,-1.382, 0.135, RAW= 137.2, 7.4, CAL= 137.1, 8.3, ROT= 12.9, -8.3 PDAT read: Bearing 342.0, 24.9 (Local)  ~Local bearing/azimuth received: Bearing 342.0, 24.9 (Local) DAT read: Range 11 to 50 : 91.7 m (Round-trip 122.3 ms) speed 0.6 m/s %*DAT read: user:921> -BDAT read: Tx time:18:21:23.2692 -$Ping request sent.-I@@i A>f$@V>f>VIi)K2ެN?C ?q>Εt?!>5f> VIi:publishing transmit ping time9)Fpublishing direction and range info?ƚ?F?'ЌCz?Ii )IiIiI9i0)K2ެN?C ?q>Εt? Iiԡ>A m< AA IQ I N >P L,P@)0)A(i(yJDD@ٱJ@R@J8PJB=JH0`]?@.? ¿`ó?^?@FΧ?M?IJDD@)Jtf;iJCVctBVKIBD^k6D^D4Yj=!M=Q)>!9!9%EY%E-z;A->1Q 1=o4٪5٭?Q 5=o45Ň 5KB99Y=:Q E=?y5KC)5;I5;i5Mo4YMqBMaAMEaDmDmjDiDiEmO: Em96Ei:Ei!u@!u@!u@!u@JhRh/)0)AhfBhٸ03;V@|A4@my*@~?ƚ?F?'ЌCz?hf>hV _tS#?,U?@~sݸA뿊NHֿdHށ%.?jhqrhZhIc?bhszhBhkak?hhBh«BhVa@ addTargetRange:: Added new target pos. range: 91.699997 m, deltaT: 3.538969 s, deltaX: -2.400002 m, approachRate: -0.678164 m/s, rangeRepo size: 4  Added new target pos. range: 91.699997 m, bearing: 201.734463 deg, lat: 36.779405 deg, lon: -121.859514 deg, deltaT: 3.538969 s, deltaX: -2.400002 m, approachRate: -0.678164 m/s, posRepo size: 4 gDNOT Ignoring new targets: 91.70 m.gg ProNav: ac range: 91.699997 m, nav range: 85.880089 m, bearing: 201.734463 deg, approach rate: 0.000000 m/s, LOS rate: 0.064726 deg/s, cmd heading: 190.011246 deg, new cmd heading: 190.084052 deg. gbgpST@ZgrgjgRgZfRfee"dcccV@c ?ɢ%K~B%qJ !%I! -:oɡ)i)I-nFA}<bA~AZA~AvB>~BBIBuBB =BBB'^;BO#EA) I1 IA NU > 0V L,Y)0)Ay6D@ٱ6R@6*Q6P1A=6H`??@H1ÿd޳?`?f?L?I6D@)6e;i6CB}tBB[Ii@I@Mb@Mb@Mb@ )IiK7?Zd;?{Gz?)?y=)NAIQAi+mA8A QABD5]6D5'+4YE=!EI=EúQ)M>I9I9MEYMEUA<AU>YQ 1eo4٪]K?Q 5eo4]w ]iB9ev*?Q Am:YmA9Q Em?y]5LC)]':I]/:i]o4YquaAq-B*** querying acoustic contact ***:h)Bh)gamDNOT Ignoring new targets: 91.70 m.g{:g{: AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 91.699997 m, nav range: 85.618629 m, bearing: 201.757761 deg, approach rate: -0.615295 m/s, LOS rate: 0.054994 deg/s, cmd heading: 190.084055 deg, new cmd heading: 190.154162 deg. g;bg|gT@Zg!rg!jg!Rg!Zf)Rf)eqeq"dqcqcqcyc} ?ɢy~B7 )-I) -ɡ)i)I5섷A m1\ L,nnu)0)AyFE@ٱFS@FQFP=FHm@C?Ū? ÿ@`R??t? kJ?IFE@)F f;iFCRtBRIBDZY6DZ#4Yb1>!bF=f>Q)f>f H?9f H?9jEYj Ej~;Aj>lQ 1rp4٪nc?Q 5rp4n6 nB9tYv9Q Ev?ynzLC)nB:In:inp4YzcBz_A~Eg%DNOT Ignoring new targets: 91.70 m.g%/:g%/:= ProNav: ac range: 91.699997 m, nav range: 85.352577 m, bearing: 201.781076 deg, approach rate: -0.687134 m/s, LOS rate: 0.060406 deg/s, cmd heading: 190.154160 deg, new cmd heading: 190.224326 deg. g=%;bg={T@Zg9rg9jg9Rg9Zf9RfAeAeA"dIcIcIcIcU?qɢ}~B&

A q<A= AII IY Ne > 9c L,8J)0)AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499270vBj>~BjʍCBjpIBjAvBBj =BhBj`DBj^;BjD#Eɰ;yERE@ٱEMS@E~REG\=EH ?Ө?XÿR}1?| ?@??G?IERE@)Ee;iECUtBUIMb@Mb@Mb@ )Ii!rh?MbX9?=K?9=K?9=EY=E=;A=>AQ 1Mp4٪EFi?Q 5Up4E| EB9U(?Q AU:YU6Q EU?yELC)E:IEH:iEp4Y]TBe^AeEgDNOT Ignoring new targets: 91.70 m.gA:gA: ProNav: ac range: 91.699997 m, nav range: 85.043762 m, bearing: 201.801482 deg, approach rate: -0.639081 m/s, LOS rate: 0.042381 deg/s, cmd heading: 190.224320 deg, new cmd heading: 190.285758 deg. g:bgT@ZgrgjgRgZfRfee"dccccJ?ɢ~B26 nI ɡiIUA U<D D kD -D E O: E :6E t4:E "E ;! E ;! *E ?;! E ?;! Q A I I N >#i L,)0)AyJE@ٱJS@JRJ[^=JH!f|=f4VQ)f ?h9h9jEYjEn!=<An ?pQ 1vp4٪rrX?Q 5vp4r rńB9tYv6Q Ev?yrLC)r:Ir|:ir%p4Y|~]A|g!%DNOT Ignoring new targets: 91.70 m.g-;:g-;:= ProNav: ac range: 91.699997 m, nav range: 84.836533 m, bearing: 201.814730 deg, approach rate: -0.639631 m/s, LOS rate: 0.040992 deg/s, cmd heading: 190.285764 deg, new cmd heading: 190.325607 deg. g=:bg=T@Zg9rgAjgARgAZfARfAeIeI"dIcIcIcQcU@d?ɢ}~BoW 顅I oǸɡiIA<ԉA yAI I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253322Թ p L,)0)Ay:E@ٱ:{S@:R:#_=:Hh??Ŀ@,q ;?(?dX?$G?I:E@):f;i:CFouBFIDPDRoDR,DPEP ER:6ERg4:EP!V@!Z@!Z@!Z@BDZS6DZ4Y=!E=c75Q)%>% H?9% H?9%EY%E-,<A->1Q 1=p4٪5B?Q 5=p45  5B99YEx6Q EE?y5BMC)5;I5 ;i5-p4YMZBM]AMEgquDNOT Ignoring new targets: 91.70 m.g}3:g}3: ProNav: ac range: 91.699997 m, nav range: 84.571579 m, bearing: 201.830974 deg, approach rate: -0.639628 m/s, LOS rate: 0.039339 deg/s, cmd heading: 190.325612 deg, new cmd heading: 190.374498 deg. g:bg~T@ZgrgjgRgZfRfee"dcccc@ɢB޲B 1I (ɼɡiIH~B!B%IB%vBB% =B!B!B% ^;B%<#E>A=A AI I N  Gv L,\)0)Ai@y>@F@ٱ><T@>YR> s=>H sB?Sd?YPſ@iԷ?? ?E?I>@F@)>e;i>CFuBJ IEMb@Mb@Mb@A A)AIAiAEK7?MbX9?Mb?E)?AE<)ECIAIAiEhAE3A AEMABDv6D)Y4Y?=!<=nu:Q)> K?9 K?9 EY  E 3;A >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7573491Q 1=p4٪5+?Q 5Ep450 5B9U*?Q AU:YUf6Q EU?y5MC)5;I5/;i5A d= BDAT read: Rx Time:18:21:25.7925  TRx dataTimestamp_ set to:1755627687.772235 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012327A I I N >M} L,)0)Ay>&F@ٱ>!T@> R>f݃=>H?6?@yſ@b@.??`Z ?C?I>&F@)>Ue;i>CJuBJ)IBDR^6DR,4YZ>!Zb=^R:Q)^> 9 9 EY $E ;A >Q 1p4٪?Q 5%p4 !B9!Y%F6Q E%?yMC);I<;iIp4Y)50[A1gQ]DNOT Ignoring new targets: 91.70 m.ge3:ge3:u ProNav: ac range: 91.699997 m, nav range: 84.049759 m, bearing: 201.862554 deg, approach rate: -0.653289 m/s, LOS rate: 0.039303 deg/s, cmd heading: 190.426576 deg, new cmd heading: 190.469531 deg. gu:bguT@ZgqrgyjgyRgyZfyRfyee"dccccB @ɢ`BT :I pɡiIA A yA) G  )) IU Q U AIY Iq N >@ L,|*0)AvBV>~BTBV IBV?wBBV =BTBTBV];BV9#E5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534777Qy9F@ٱ4T@4\QU=Hf?@}?ſ W]G??1?|B?I9F@)T-e;iCuBEI}Mb@Mb@Mb@y y)yIyiy}MbX?ʡE?y&1?}*?}=}`e<)}EAI}MAi}iA}|3A y}QLABDi6D=A4Y=!#=u:Q)> H?9 H?9EY*E;A>Q 1p4٪?Q 5p4l HB9+?Q A:Yx6Q E?yNC) ;IT ;iZp4Y>B ZAEgDNOT Ignoring new targets: 91.70 m.g::g:: ProNav: ac range: 91.699997 m, nav range: 83.730415 m, bearing: 201.882520 deg, approach rate: -0.650703 m/s, LOS rate: 0.040838 deg/s, cmd heading: 190.469538 deg, new cmd heading: 190.529663 deg. g6:bgT@ZgrgjgRgZfRf%DReached init depth of 61.494381 m.e!e!"d)c)c)c1c50 @ɢ]B]%: aeYIa e3iɡaiiIm" - BDAT read: Tx time:18:21:26.9192 - $Ping request sent.- I? M _?̲BIei1|oA? &)}?5>I@i5=#@'g >4QO>'g Ii)߯95?JX?Y/ ?>4QO> 'g IiU :publishing transmit ping time9) U Fpublishing direction and range infonQYOo?>I? M _?Ii )IiIi)߯95?JX?Y/ ? IiD }D |D D E ݉: E P$:6E :E "E 7;! E 9;! *E };! E };! >A r =rA >jA >A I I) N5 > L,2,*0)Aɰp;yFYF@ٱFTT@F`PFĊ=FHE*??*ſ'[??I?C?\IFYF@)FSPe;iFCfBvBfqIBDp6DN4Y-M>!-h=-:Q)5>Q9Q9UEYU/E]в;A]>aQ 1mp4٪e츊?Q 5mp4e0 edB9iYX6Q E?yeVNC)e;IeF;ieUgp4Y0ByXAEJhRht"*0)Ah̲Bho0VxnU@Q&>_1@,D(@~nQYOo?>I? M _?h4QO>h'g  S R?`i>@~N/-yCֿ<†?jhrhZhpA 3=A I I N- >rD jD a=D D nD *D E : E :6E (N4:E ! @! @! @! @m L,E*0)AyRjF@ٱReT@R2PR=RH*?`J? Dƿ [??`g?@F?IRjF@)R.e;iP^UvBb}If=fBDjc6Dj264YrA=!rO=v:Q)v>t9t9zEYz4Ez,;Az>|Q 1p4٪~p׸?Q 5p4~! ~B9 Y G6Q E ?y~NC)~V:I~M:i~tp4Y-XAgAEDNOT Ignoring new targets: 89.40 m.gMX=:gMX=:] ProNav: ac range: 89.400002 m, nav range: 83.333534 m, bearing: 201.887710 deg, approach rate: -0.678151 m/s, LOS rate: 0.041385 deg/s, cmd heading: 190.575255 deg, new cmd heading: 190.621769 deg. g]7:bg]3T@ZgargajgaRgaZfaRfaeiei"dicicicqcul?ɢBW 顥I  ɡiIdA]r =yIQ Ia Nm >ԡ 1 L,_*0)AyFwF@ٱFrT@F,aOFt}=FH@+? ?&/ƿI]??`?6I?IFwF@)FUre;iFCRvBRI5Mb@Mb@Mb@1 1)1I1i15K7A`?bX9ȶ?y&1?5+?5E=1)5DAI5lKAi5\cA1 15IABDMZ6DM%4qY>!<=w:Q)>99EY9E:A>Q 1p4٪?Q 5p4n B9,?Q A:Y5Q E?yNC) ;IX ;ip4Y"BVAB*** querying acoustic contact ***:hBhg!-DNOT Ignoring new targets: 89.40 m.g-:g-:E ProNav: ac range: 89.400002 m, nav range: 83.049622 m, bearing: 201.901389 deg, approach rate: -0.654833 m/s, LOS rate: 0.031657 deg/s, cmd heading: 190.621769 deg, new cmd heading: 190.662944 deg. gEέ:bgET@ZgArgAjgARgAZfIRfIeIeMB"dQcQcQcQc]t?ɢvBt Rk額DI G ɡiI MAM3=bAQZAU{AIIN>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. J L,y*0)Ay6F@ٱ6~T@6N6$ n=6H 1?L?Mƿ^??`p"?L?I6F@)6R}e;i6C~vB~IBD [6D y'4Y==!=T=E:Q)E>A9A9EEYE>EM ;AM>QQ 1}p4٪UV?Q 5}p4U{ UÅB9yY5Q E?yU!OC)U;;IU;iUp4YBUAEgDNOT Ignoring new targets: 89.40 m.g :g : ProNav: ac range: 89.400002 m, nav range: 82.797249 m, bearing: 201.913447 deg, approach rate: -0.642665 m/s, LOS rate: 0.030800 deg/s, cmd heading: 190.662941 deg, new cmd heading: 190.699226 deg. g:bgYU@ZgrgjgRgZfRfe e "d c c ccH?ɢvBF) !%H2=I) -^ ɡ)i I :AA I I N >a vB >~B B IB 2xBB =B B B ];B #EϬ L,Ǜ*0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7546371yEØF@ٱET@E]NEeMg=EH J??Wqƿ Y^_?` ?P?iM?IEØF@)Ebte;iECUvB]IiYIYMb@Mb@Mb@ )IiB`"?bX9ȶ?~jt?.?D<)BAI&KAicA 1A HABDl6DF4Y =! 0=Y:Q)>99EYDEM;A>!Q 1-p4٪%V?Q 5-p4% %B95Z0?Q A5:Y55Q E5?y%qOC)% ;I%e ;i%͡p4Y9=TA9g%DNOT Ignoring new targets: 89.40 m.g-:g-:= ProNav: ac range: 89.400002 m, nav range: 82.486389 m, bearing: 201.928772 deg, approach rate: -0.652814 m/s, LOS rate: 0.032303 deg/s, cmd heading: 190.699223 deg, new cmd heading: 190.745370 deg. g=[:bg=U@Zg9rg9jg9Rg9Zf9RfAeIeMB"dIcIcIcQcU@l?ɢyH\ 顅=I q ɡiIrAy I I N > Ӫ L,'j*0)Ay6.F@ٱ6)T@6ON6 h=6HmR?@e?@wƿ]m?@a?i?hM?I6.F@)6q?e;i6CRwBRIBDZ^6DZ,4Yf=!fx=fB-9Q)j?h9h9jEYjHEn&:An?pQ 1vp4٪r?Q 5vp4rǣ rB9tYv5Q Ez?yrOC)r_:Ir:irQp4Y~B~SA~Eg!%DNOT Ignoring new targets: 89.40 m.g-!:g-!:= ProNav: ac range: 89.400002 m, nav range: 82.265633 m, bearing: 201.939693 deg, approach rate: -0.713284 m/s, LOS rate: 0.035384 deg/s, cmd heading: 190.745368 deg, new cmd heading: 190.778221 deg. g=D:bg=U@ZgArgAjgARgAZfARfAeIeI"dIcIcQcQcU@ɢ}vB 顅F>I 2 ɡiIA r =rA% >jA% >D D oD +D E ~: E :6E [4:E ! @! @! @! @ Am AIy I N >\ L,*0)AyBF@ٱBT@B7OBOi=BHVme?`?ƿ\? ?`?K?IBF@)B#d;i@RNwBVIBDb\6DbP)4Yn=!n7=naQ)r>rK?9rK?9vEYvNEv&:Az>|Q 1 p4٪~ni?Q 5 p4~7 ~%B9 Y5Q E?y~OC)~FL;I~M;i~p4Y%B%RA%EԩgDNOT Ignoring new targets: 89.40 m.g:g:  ProNav: ac range: 89.400002 m, nav range: 81.965172 m, bearing: 201.954552 deg, approach rate: -0.636955 m/s, LOS rate: 0.031615 deg/s, cmd heading: 190.778221 deg, new cmd heading: 190.822961 deg. g :bg &U@Zg rg jgRgZfRfee"dccc!c%4m@ɢUvBU26 QU 4>IY ] ɡYiYI]T~BBIBxBBBBBv];B"EI 9iB5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762896 >Ay 1 A I I N > L,*0)A6BDAT read: Rx Time:18:21:29.4392 6TRx dataTimestamp_ set to:1755627691.570744:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013634yN7F@ٱN2T@NSCPN-i=NH H Oo??@ƿa\B??䇬?(J?IN7F@)N|c;iNCV|wBV2IZ%>ZC==Mb@Mb@Mb@9 9)9I9i9=x&?Mb?Q?=7)?===u<)=\AAI=GAi=_A=90A 9==FABDU]DexDetDe,DaEeˀ: Eev:6Eeg4:Ea"Ee;!mEe;!m*Ee`;!uEe`;!u6DU'+4Y=!@="Q)>99EYSE(:A>Q 1p4٪~S?Q 5p4 FB9*?Q A:YL4Q E?y=PC):IX:ip4YQAB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 89.40 m.gM9gM9 ProNav: ac range: 89.400002 m, nav range: 81.690956 m, bearing: 201.965862 deg, approach rate: -0.634585 m/s, LOS rate: 0.026261 deg/s, cmd heading: 190.822959 deg, new cmd heading: 190.857002 deg. g.:bgw0U@ZgrgjgRgZfRfeeB"d!c!c!c!c% b@ɢvB`K 顕`>I 6 ɡiIA =ԩ AQ Iy I N >Ͼ L,} *0)AwB`IBD6DY/>!C=Q)>99EYXEA>Q 1p4٪=?Q 5p4ͪ gB9YQ E?yPC);Iz;ikp4YBGPAEg  DNOT Ignoring new targets: 89.40 m.g:g:% ProNav: ac range: 89.400002 m, nav range: 81.418922 m, bearing: 201.977158 deg, approach rate: -0.703659 m/s, LOS rate: 0.029315 deg/s, cmd heading: 190.857001 deg, new cmd heading: 190.891000 deg. g%:bg%0:U@Zg!rg!jg!Rg!Zf))Rf1e1e1"d1c9c9c9c= @]DAT read: 18:21:29.4392 LVL= 24336, 30849, 28594, 32755, AGC= 64, IDX= 415, 0.07,-0.464,-2.337,-0.697,-0.937, PHS= 0.576,-1.355, 0.196, RAW= 139.3, 6.6, CAL= 139.1, 7.5, ROT= 10.9, -7.5 eYgot valid direction response: 18:21:29.4392 LVL= 24336, 30849, 28594, 32755, AGC= 64, IDX= 415, 0.07,-0.464,-2.337,-0.697,-0.937, PHS= 0.576,-1.355, 0.196, RAW= 139.3, 6.6, CAL= 139.1, 7.5, ROT= 10.9, -7.5 mPDAT read: Bearing 343.0, 22.9 (Local) m~Local bearing/azimuth received: Bearing 343.0, 22.9 (Local) }DAT read: Range 11 to 50 : 86.9 m (Round-trip 115.9 ms) speed 0.6 m/s }*DAT read: user:923> BDAT read: Tx time:18:21:30.5692 $Ping request sent.I-@i-=-O`@- >-B>- I)i))-tU'?0? 9甽?-an>-.-B> - I)i):publishing transmit ping time9Fpublishing direction and range info)-Feb'?D? /?))I)i))))) )))I)i)))))I)i))-tU'?0? 9甽?))) )I)i)D-zD-~D-*D)E-l: E-(:6E-(N4:E)!5@!5@!5@!5@ɢ5vB=rO =]Q=>I9 O ɡiIFA%[=bA)ZA-~AAuyAIyIN ?A L, +0)Ai@yJF@ٱJT@JRJpF=JHa?|?ƿ``d? ?F?J?IJF@)Jb;iJCRwBV{IiTIT5Mb@Mb@Mb@1 1)1I1i15 rh?ˡE?{Gzt?5,?5=5ף;)5@AI5AFAi5]A5.A 15DABDMP6DM:4Y]=!]=eSQ)e>e H?9e H?9mEYm_Em ;Am>qyQ 1p4٪}C!?Q 5p4} }B9-?Q A:Y5Q E?y}PC)}:I}:i}p4YޕB)OAJhRhǺ+0)Ah̭BhQ 12&U@w3,J0@Ry&@~Feb'?D? /?hB>h  ׻ SqV->]=@~Th)ֿCn];m?jhrh`Zh  ?bhzh*Bh aU?hhBhqBh4a@} addTargetRange:: Added new target pos. range: 86.900002 m, deltaT: 3.528035 s, deltaX: -2.500000 m, approachRate: -0.708610 m/s, rangeRepo size: 4  Added new target pos. range: 86.900002 m, bearing: 201.952252 deg, lat: 36.779403 deg, lon: -121.859514 deg, deltaT: 3.528035 s, deltaX: -2.500000 m, approachRate: -0.708610 m/s, posRepo size: 4 gDNOT Ignoring new targets: 86.90 m.gg ProNav: ac range: 86.900002 m, nav range: 81.221802 m, bearing: 201.952252 deg, approach rate: 0.000000 m/s, LOS rate: 0.029315 deg/s, cmd heading: 190.891001 deg, new cmd heading: 190.940090 deg. DuDfD(DEv: E96Ec44:E"E$;!E%;!*E-;!E-;!gbg :HU@Zg rg jg RgZfRfeeB"dcccU@c%@`?ɢmvBmb qu>Iq uɡqiqIu2 A 3= A I I) N5 > L,:+0)Ay6&F@ٱ6"T@6H1Q6WH?=6H&k?@l?ƿ``-??@g?L?I6&F@)6b;i6CB6xBBIBDJd6DJ 84YR3>!RY=V ;Q)V>T9T9ZEYZdEZ:AZ>\Q 1bp4٪^: ?Q 5bp4^ ^B9dYfw5Q Ef?y^QC)^:I^[:i^9p4YjѕBjMAnEgy}DNOT Ignoring new targets: 86.90 m.g>):g>): ProNav: ac range: 86.900002 m, nav range: 80.973213 m, bearing: 201.965820 deg, approach rate: -0.675681 m/s, LOS rate: 0.036991 deg/s, cmd heading: 190.940097 deg, new cmd heading: 190.980924 deg. g:bgSU@Zgrgjg Rg ZfRfee"dc!c!c)c- /?ɢuvB}ȸ~ y} >I  ɡiaIe6A r =A1 I9 II N] >q A A <vB >~B B IB yBB B B B ];B "E L,XTT+0)AyF@ٱT@$fOGm;=H@G~? v8?ƿ=`?@|?@?@&P?IF@)Sb;ijxBIQMb@Mb@Mb@ )IiK7A`?MbX9?{Gzt?+?ʡ=)>AI\AAix[A*A pAABDP6D:4Y=!-=r;Q)>99EYjEg:A>Q 1q4٪=?Q 5q4 ͆B94,?Q A:Ym5Q Em?ymQC)DI lԁɡiI@E=Du Du Du *Dq Eu O: Eu =:6Eu (N4:Eq "Eu ;!} Eu ;!} *Eu Ô;!} Eu Ĕ;!} >AY A AI I N > L,q+0)Ay6UF@ٱ6QT@6L66C=6HT}}?@ ?`cƿ`_@~??l?@?S?I6UF@)6a;i6CBxBBIB=BBDJL6DJ 4YR_>>!RX=R;Q)V>VK?9VK?9VEYVnEZf;AZ>\Q 1bq4٪^3්?Q 5bq4^ ^B9`Yb5Q Ef?y^QC)^:I^1:i^q4YjٕBjLAjEzB*** querying acoustic contact ***:hxBhxg|DNOT Ignoring new targets: 86.90 m.gz6:gz6: ProNav: ac range: 86.900002 m, nav range: 80.415100 m, bearing: 201.997705 deg, approach rate: -0.691574 m/s, LOS rate: 0.039883 deg/s, cmd heading: 191.033957 deg, new cmd heading: 191.076921 deg. g:bgZoU@ZgrgjgRgZfRf!e!e!"d!c)c)c)c-`?ԑɢvB"; 顥?I VɡiIxA A II)N5>6 L,ݎ+0)AyBF@ٱBT@BNIBI=BH@X{?o?@ƿ _`V?`?,?@X?IBF@)Ba;iBCNxBNIBDVW6DV 4Y^)=!^.=^*;Q)b>`9`9bEYftEfAf>hQ 1nq4٪jcǷ?Q 5nq4jf j B9pYr5Q Er?yjQC)j|:Ij:ij](q4Yv̕BvJAxgDNOT Ignoring new targets: 86.90 m.g@/:g@/:- ProNav: ac range: 86.900002 m, nav range: 80.107643 m, bearing: 202.015576 deg, approach rate: -0.656487 m/s, LOS rate: 0.038304 deg/s, cmd heading: 191.076919 deg, new cmd heading: 191.130737 deg. g5M:bg5~U@Zg1rg1jg1Rg1Zf1Rf9e9e9"d9cAcAcAcM@ɢuvBu%; qu?Iy }5ɡyiyI}el~BBIB$zBB =BBB\;B"EBBBB =B =B4eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257117I9i0)>A=3=Y Ai Iq I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508231DM wDM hDM (DI EM }: EM ]96EM c44:EI "EM i;!U EM j;!] *EM 5;!] EM 5;!] U L,C:+0)Ay:F@ٱ:T@:hE:@=:H`o?@0 ?`ƿ@w``ɴ?9?٢?^?I:F@):źa;i:CByBF3IMb@Mb@Mb@ )Iix&?ʡE?I +?7)?=94<);AI?AiYA(A \?ABDT6D4Yu=!:=L99EYzEs9A>Q 1q4٪b?Q 5q4 *B9b*?Q A:Y5Q E?yERC):I:i7q4YIAgDNOT Ignoring new targets: 86.90 m.gE2:gE2: ProNav: ac range: 86.900002 m, nav range: 79.822762 m, bearing: 202.032644 deg, approach rate: -0.648037 m/s, LOS rate: 0.038964 deg/s, cmd heading: 191.130741 deg, new cmd heading: 191.182128 deg. g :bg pU@Zg rg jg Rg Zf RfeeB"dcccc@ɢMvBM6#< IU?IQ UɡQiQIUկ` >I]9iYY]/Yԑ >A d=  BDAT read: Rx Time:18:21:33.0859  TRx dataTimestamp_ set to:1755627695.100959checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016378AIID|DeD.DE : E96Eـ4:E!%@!%@!%@!%@N?y L,a+0)AymF@ٱmT@ms@m{/=mHp?y?@ ǿ a ?n? |?g?ImF@)ma;ii[yBYIiIBDk6DD4Y=!=99EYEH;A>Q 1q4٪?Q 5q4V OB9!Y%5Q E%?yRC):I:iLJq4Y-B-HAUEgDNOT Ignoring new targets: 86.90 m.g9/:g9/: ProNav: ac range: 86.900002 m, nav range: 79.477905 m, bearing: 202.053216 deg, approach rate: -0.639228 m/s, LOS rate: 0.038298 deg/s, cmd heading: 191.182131 deg, new cmd heading: 191.244115 deg. gD:bg)U@ZgrgjgRgZfRfee"dcccc} @ɢ-vB5 c"< 15+?I1 5ɡ9i9I=wR~BIBM IBMzBBM =BIBIBM\;BM"Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266624yI9i4ԩ >A =]DAT read: 18:21:33.0859 LVL= 25072, 32753, 29106, 32755, AGC= 65, IDX= 413, 0.31,-1.431, 2.927,-1.674,-1.912, PHS= 0.583,-1.399, 0.193, RAW= 139.3, 6.9, CAL= 139.0, 7.7, ROT= 11.0, -7.7 Ygot valid direction response: 18:21:33.0859 LVL= 25072, 32753, 29106, 32755, AGC= 65, IDX= 413, 0.31,-1.431, 2.927,-1.674,-1.912, PHS= 0.583,-1.399, 0.193, RAW= 139.3, 6.9, CAL= 139.0, 7.7, ROT= 11.0, -7.7 PDAT read: Bearing 343.2, 22.2 (Local) ~Local bearing/azimuth received: Bearing 343.2, 22.2 (Local) DAT read: Range 11 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.7 m/s D{DiD-DE=: E96Et4:E"E;!E;!*E8;!E8;!*DAT read: user:924> BDAT read: Tx time:18:21:34.1692 $Ping request sent.Iy i} Ϣ=} C@} >} D>} Iy iy )} j?|2? 7Ǿ?} p>} 2} D> } Iy iy :publishing transmit ping time9Fpublishing direction and range infoy } u; ?YOMa 4?L`u&?y y Iy iy y y A!I1IANM? L,u+0)AX )IiIi)j?|2? 7Ǿ? IiyG@ٱU@e4+=H@/? ?@@ǿ ]???Sy?IG@)>Pa;iC-yB-I]Mb@Mb@Mb@Y Y)YIYiY]sh|??~jt?!=99EYE;A>Q 1q4٪v?Q 5q49 tB9+?Q A:Y5Q E?yRC):I:i]q4YBFA%EJhRhx+0)AhBhg0*ORT@S\/@&@~u; ?YOMa 4?L`u&?h D>h   0ؖRn\|=C/:@~?9 (ifֿǑ?jhrhZh?bhzh:BhpA d=a A I I N>  L,v,0)Ay6GG@ٱ6BU@6-6IJ6=6Hh*?%?>ǿ`X`=_? ]? os??I6GG@)6Ea;i6C>zBBIBDF\6DFP)4YNz>!Re=RP9T9VEYVEV;AV>D`DblDb.D`E` Eb:6Ebـ4:E`!f@!f@!f@!f@dQ 1nq4٪fd?Q 5nq4f fB9lYn}5Q En?yf8SC)f;If8:ifijq4YrBvDAvEB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 84.30 m.g2:g2:- ProNav: ac range: 84.300003 m, nav range: 79.147148 m, bearing: 202.009113 deg, approach rate: -0.684952 m/s, LOS rate: 0.038908 deg/s, cmd heading: 191.309419 deg, new cmd heading: 191.349450 deg. g-:bg5HU@Zg1rg1jg1Rg1Zf9Rf9eAeA"dAcIcIcIc@?ɢMvBU = UFUW?IQ ] ɡYiYI]:~BˍCBqIB"{BB =BBB\;B"EԱ5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.>A]3=A yAI I N >  L,j!,0)Ay6|G@ٱ6 wU@6$&64=6H@j?O>?SSȿ`S@T?`?UP?`ۋ?I6|G@)6Oaa;i4B0zBBI=Mb@Mb@Mb@9 9)9I9i9=K7A`?Dl?:v?=+?=O==T<)=b8AI=:Ai=jNA9 9==:ABDUT6DU4YeҐ=!e?=e=m H?9m H?9mEYmEu;Au>yQ 1q4٪}}M?Q 5q4}? }B9+?Q A:Y6Q E?y}SC)}L:I}:i}?yq4YBDAEgDNOT Ignoring new targets: 84.30 m.g>:g>: ProNav: ac range: 84.300003 m, nav range: 78.867981 m, bearing: 202.026718 deg, approach rate: -0.658371 m/s, LOS rate: 0.041666 deg/s, cmd heading: 191.349443 deg, new cmd heading: 191.402447 deg. g:bgpU@ZgrgjgRgZfRfeeƄB"dcccc?ɢvB= ^?I $Jɡ!i!I%[0A5=Y M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215229Ae AIi I N >/ L,,;,0)A y>G@ٱ>U@>>,=>H ?yP?ȿ`N\?@4?[?f?I>G@)>Ka;i>CJzBJIBDRe6DR94YZS>!ZV=^>^K?9bK?9bEYbEb%<Ab>dQ 1jq4٪f)9?Q 5jq4f8 fB9lYn5Q En?yfSC)f ;Ifj;ifq4YprBAtg!-DNOT Ignoring new targets: 84.30 m.g=(6:g=(6:] ProNav: ac range: 84.300003 m, nav range: 78.616249 m, bearing: 202.042004 deg, approach rate: -0.653562 m/s, LOS rate: 0.039813 deg/s, cmd heading: 191.402446 deg, new cmd heading: 191.448450 deg. g]:bg]U@ZgargajgaRgaZfiRfieqeq"dqcycycc?ɢvBU = QUq?IQ ]O/ɡYiYI]VP&A5#'= IQ Ia Nm >vB >~B B IB {BB B B bDB \;B "E" L,YU,0)Ay6G@ٱ6U@6e6C0=6H g?Y?Zɿ`)Hx_?? ݥ??I6G@)6Fa;i6CBzBB)IBDJX6DJ!4PYR5=!RK=VT9T9ZEYZEZ <AZ>\Q 1bq4٪^#?Q 5bq4^R ^ՇB9dYf5Q Ef?y^TC)^:I^_:i^q4YjBjAAhchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.722037gqDNOT Ignoring new targets: 84.30 m.g+:g+:- ProNav: ac range: 84.300003 m, nav range: 78.351318 m, bearing: 202.057460 deg, approach rate: -0.641396 m/s, LOS rate: 0.037546 deg/s, cmd heading: 191.448454 deg, new cmd heading: 191.494980 deg. gU$:bg]U@ZgYrgajgaRgiZfRfee"dcccc6?ɢvB7=  |?I ؼɡiIAm31=bAm}AZAm{AIIIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.223365Nu ?O L,xw,0)Aiy:=0H@ٱ:9+V@::>nG=:H?G?!ɿ? }?j?@E??I:=0H@):7a;i:CBzBrJImMb@Mb@Mb@i i)iIiiim(\?㥛 ?Mb?m'?m=m<)m7AIiimVJAm?'A im8ABDc6D264Y =!=XO99EYE^;A>Q 1q4٪'?Q 5q4X B9(?Q A:Y4Q E?ycTC)e:I:iq4Y~Bj@AEgDNOT Ignoring new targets: 84.30 m.g':g': ProNav: ac range: 84.300003 m, nav range: 77.982071 m, bearing: 202.076193 deg, approach rate: -0.665298 m/s, LOS rate: 0.033912 deg/s, cmd heading: 191.494981 deg, new cmd heading: 191.551445 deg. g /:bg  U@Zg rg jg Rg Zf RfeeB"dcccc4@ɢ=vB== 9=!?IA ECϼɡIiIIMFA- C;=IM dM rAM AI I N >,$ L,,0)Ay6eXH@ٱ6aSV@6Q6Bf=6H T;?g!V\=VX9X9ZEYZEZ;AZ>\Q 1bq4٪^?Q 5fq4^U ^ B9dYf4Q Ef?y^TC)^R:I^1:i^q4Yhj?AlzB*** querying acoustic contact ***:hxBhxvBE>~BABEIBE{BBABABEaDBE\;BE"EgDNOT Ignoring new targets: 84.30 m.gx :gx : ProNav: ac range: 84.300003 m, nav range: 77.741302 m, bearing: 202.088130 deg, approach rate: -0.621723 m/s, LOS rate: 0.030921 deg/s, cmd heading: 191.551439 deg, new cmd heading: 191.587363 deg. gĩ:bgQV@ZgrgjgRgZfRfee"dcccc @ɢvB5)|`= 9=NJ?I9 =fɼɡ9i9I=$A SE=D xD fD *D E ˀ: E 96E (N4:E "E ;! E ;! *E -;! E -;! IY Ii N} >j* L,,0)AyFzH@ٱFuV@FF~=FH ?j? 1dʿZ0:???@?IFzH@)F"a;iFC^X{B^Ih]Mb@Mb@Mb@Y Y)YIYiY]Fx?x&?{Gz?]+?]7=]#<)]x3AI]7Ai]lEA]j&A Y]5ABDuT6Du4Y >!;=99EYE;A>Q 1q4٪f۶?Q 5q4  B9,?Q A:YL5Q E?yTC) ;IC ;iq4YrB/>AEgDNOT Ignoring new targets: 84.30 m.gn4:gn4: ProNav: ac range: 84.300003 m, nav range: 77.450226 m, bearing: 202.104679 deg, approach rate: -0.691036 m/s, LOS rate: 0.039436 deg/s, cmd heading: 191.587366 deg, new cmd heading: 191.637200 deg. g:bgV@ZgrgjgRgZfRfeeʄB"d c c c c`A, @ɢ=vB=B_= AE?IA EɡAiAIEE;IM%]>I 9i   ?5 @=@=BDAT read: Rx Time:18:21:36.6828 TRx dataTimestamp_ set to:1755627698.878830checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2324931>AIiIN>Y eN1 L,z,0)Ay:H@ٱ:V@:Ӎ򽹱:=:H??۠ʿ+Ƕ?`??@9? ?I:H@):a;i:CF{BFIBDNX6DN!4YV`>!VZ=ViX9X9ZEYZE^ە;A^>`Q 1fq4٪bNǶ?Q 5fq4b b1B9dYj35Q Ej?yb,UC)b|:Ib:ibq4YneBnɡyiyI};I~B!B%3IB%]|BB% =B!B%bDB% ];B%"EBˍCBˍCBBƷ =BƷ =B|#5>AJM=ԙII N>= DAT read: 18:21:36.6828 LVL= 24608, 31585, 27570, 32755, AGC= 63, IDX= 413, 0.15, 3.039, 1.140, 2.841, 2.618, PHS= 0.523,-1.433, 0.179, RAW= 140.5, 8.1, CAL= 140.1, 9.0, ROT= 9.9, -9.0 E Ygot valid direction response: 18:21:36.6828 LVL= 24608, 31585, 27570, 32755, AGC= 63, IDX= 413, 0.15, 3.039, 1.140, 2.841, 2.618, PHS= 0.523,-1.433, 0.179, RAW= 140.5, 8.1, CAL= 140.1, 9.0, ROT= 9.9, -9.0 M PDAT read: Bearing 345.3, 17.8 (Local) U ~Local bearing/azimuth received: Bearing 345.3, 17.8 (Local) ] DAT read: Range 11 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.8 m/s e *DAT read: user:925> u BDAT read: Tx time:18:21:37.7692 } $Ping request sent.} I @i > C~@ | > ;0> | I i ) 喕?0"J5?I0C,? []> ,V ;0> | I i  :publishing transmit ping time9y  Fpublishing direction and range info \ǂ "?[NZi?p ? I i ) I i I i ) 喕?0"J5?I0C,? I i z7 L,^,0)Ay:ĜH@ٱ:V@:佹:6=:H`@>?`7?ʿ+x?t?Ȱ?@?I:ĜH@):8a;i8N{BNIԑMb@Mb@Mb@ )IiE?L7A`?~jtx?&?+=;)d/AI6AiXAA;'A 3ABD`6D04Y=!-=t99EYEB:A>Q 1q4٪|?Q 5q4. FB9'?Q A:Y5Q E?y{UC):I:iq4Y5pB5h=|  =!DgRR== ;J6@~=FVl쿟JֿlF֏?jh=rh=Zh=M?bh=Nzh=۪Bh=  ?h=Nh=*Bh=Bh=a@ addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.778596 s, deltaX: -2.300003 m, approachRate: -0.608693 m/s, rangeRepo size: 4  Added new target pos. range: 82.000000 m, bearing: 202.049706 deg, lat: 36.779395 deg, lon: -121.859515 deg, deltaT: 3.778596 s, deltaX: -2.300003 m, approachRate: -0.608693 m/s, posRepo size: 4 gDNOT Ignoring new targets: 82.00 m.ggM ProNav: ac range: 82.000000 m, nav range: 77.452713 m, bearing: 202.049706 deg, approach rate: 0.000000 m/s, LOS rate: 0.037499 deg/s, cmd heading: 191.679369 deg, new cmd heading: 191.735282 deg. gIbgM+V@ZgIrgIjgIRgQZfQRfQeQe]B"dYcYcYc]T@c ?ɢvB([= q?I گɡi I ;I ;iV8=i(=N=)+V@) !DwDiD)DE}: E96EFA4:E"Ei;!Ej;!*E8;!E8;!I9i1@A@A>A dO=! A I I N >Q> L,,0)Ay6H@ٱ6V@6fֽ6,=6HDc??ʿ-jе?.Ѻ?s|??I6H@)6a;i4B{BBIBDFT6DF4YNX=!Rd=RT9T9VEYVEVAV>\Q 1^q4٪^?Q 5bq4^  ^TB9`Yb5Q Eb?y^UC)^[:I^:i^q4Ydj^AA I I N >D L,`-0)AvB>~BBeIB|BB =BBB,];B"EyF|{H@ٱFwvV@FxʽF =FH%@R?O[?@yʿ3 Ҵ?D?@=?3?IF|{H@)Fa;iFCN |BR IiPIP)VAA TBDZb6DZ[44YbT>!bI=btd9d9fEYfEjAj>lQ 1rq4٪nÆ?Q 5rq4n* ncB9pYv35Q Ev?ynUC)nH;InT;in0q4YzdBz:AzEB*** querying acoustic contact ***:hBhg%DNOT Ignoring new targets: 82.00 m.g%%:g%%:5 ProNav: ac range: 82.000000 m, nav range: 76.958923 m, bearing: 202.076876 deg, approach rate: -0.647266 m/s, LOS rate: 0.036212 deg/s, cmd heading: 191.772779 deg, new cmd heading: 191.817052 deg. g5:bg=BV@Zg9rg9jg9Rg9Zf9RfAeAeA"dAcIcIcIcM@1k?ԹT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɢ5vB5= 9=?I9 =u̠ɡ9iAIEsh;IE;iM8=iMA=)MBV@)II9i!%4)>A5G= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247044A I I N >D wD D .D E }: E 6E ـ4:E "E ! E ! *E ,R;! E ,R;! 9 aK L,?p.-0)Ay6G\H@ٱ6BWV@66m=6H -@T?%4?@ʿ9`c?ͷ?@`~??I6G\H@)6Vb;i4N7|BRIUMb@Mb@Mb@Q Q)QIQiQUQ?AU?'A QU=2ABDmS6Dm4Y}W=!}?=[99EYEՑA>Q 1r4٪ p?Q 5r4z rB9)?Q A:Y4Q E?yBVC)* ;I ;i% r4YE:AgDNOT Ignoring new targets: 82.00 m.g]:g]: ProNav: ac range: 82.000000 m, nav range: 76.676918 m, bearing: 202.091430 deg, approach rate: -0.659768 m/s, LOS rate: 0.034176 deg/s, cmd heading: 191.817052 deg, new cmd heading: 191.860876 deg. g:bgOV@ZgrgjgRgZfRfe e ɄB"d c cccI?ɢEvBM= IM?II MaɡIiQIUXћ;I].;i]S8=i]&9=)]OV@)YI 9iA4-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498935I>AK@=rA>jA>qA I I! N- >ԙ AQ L,bKH-0)Ay:0H@ٱ:*V@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750799:Oⴽ:|c=:H`5G? y/?|ɿO@? Ĕ?wO?|?I:0H@):;Bc;i:CNo|BN>IBDVh6DVf?4Y^">!^X=^WO`9`9bEYbEfAf>hQ 1nr4٪j \?Q 5nr4j jB9lYr4Q Er?yjVC)j&;Ij;ijer4YvXBv9AvEg!%DNOT Ignoring new targets: 82.00 m.g-":g-":E ProNav: ac range: 82.000000 m, nav range: 76.427017 m, bearing: 202.104933 deg, approach rate: -0.655309 m/s, LOS rate: 0.035524 deg/s, cmd heading: 191.860874 deg, new cmd heading: 191.901515 deg. gM :bgM&[V@ZgIrgIjgIRgIZfQRfQeYeY"dacacacicm@`?ɢvBp= 页O?D{DjD/DE=: E96EJ4:E!@!@!@!@I ЫɡiI;I;i8=ij-=)&[V@)qI 9i   }2 ԡvB!~B!B%IB%|BB% =B!B!B%b];B%"E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002676>A=п8=] PExceeded connect timeout, disconnecting.A I I N > u$X L,&b-0)Ay6H@ٱ6U@6\J6zxV=6H@^=`1?@ =t299EYEQӻA>Q 1r4٪E?Q 5r4 B9&?Q A:YN6Q E?yVC):I:io(r4YLB~8AEgDNOT Ignoring new targets: 82.00 m.gP:gP: ProNav: ac range: 82.000000 m, nav range: 76.148811 m, bearing: 202.124408 deg, approach rate: -0.649809 m/s, LOS rate: 0.045655 deg/s, cmd heading: 191.901514 deg, new cmd heading: 191.960153 deg. g:bgkV@ZgrgjgRgZfRfeeB"d c c c c%@ɢMvBMz= IUٱ?IQ UɡQiQIUiq;I]ʳ;i]8=ie =)ekV@)achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255506Ii/DDdD+DE: E96E [4:E"E;!E;!*E~&;!E&;!>A+,=1 AA II IY Nm >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506885*O^ L,l|-0)Ay>G@ٱ>U@>%^>6B=>HE`ˮ?.v?+)ɿP,ǯ?SF? 0??I>G@)>bb;i>Cv|Bv`IBD M6D  4Y%=!%Q=-P61919=EY=E=AE>IQ 1]r4٪M0?Q 5er4M MB9aYm6Q Em?yM WC)Mg;IMg;iM26r4Yy}7AgDNOT Ignoring new targets: 82.00 m.gZW:gZW: ProNav: ac range: 82.000000 m, nav range: 75.894234 m, bearing: 202.143043 deg, approach rate: -0.640885 m/s, LOS rate: 0.047069 deg/s, cmd heading: 191.960158 deg, new cmd heading: 192.016250 deg. g6;bg{V@ZgrgjgRgZfRfee"dcccc`p@ɢ vB1 7= qu?Iq uuɡqiyI}@M;I;i8=iZ=){V@)I-9i115S41Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758660D{DlD,DE=: E:6Eg4:E!@!@!@!@>A- ȿ=bA5 ~AZA5 Aԉ Ay I I N >vB >~B B IB =}BB =B IDB aDB ];B "E6e L,Yݕ-0)A0y:MG@ٱ:HU@: :Y(/=:H9LYX??@ȿ3V`??ӥ?`?I:MG@):b;i:CB|BBwIBDJY6DJ#4Y% =!%J=%8)9)9-EY-E5,A5>9Q 1Er4٪=?Q 5Er4= =B9AYE6Q EE?y=NWC)=:I=[:i=6Dr4YU@BU6AQmB*** querying acoustic contact ***:hiBhigyDNOT Ignoring new targets: 82.00 m.gua:gua: ProNav: ac range: 82.000000 m, nav range: 75.634895 m, bearing: 202.162593 deg, approach rate: -0.651455 m/s, LOS rate: 0.049277 deg/s, cmd heading: 192.016248 deg, new cmd heading: 192.075098 deg. gF;bgɌV@ZgrgjgRgZfRfee"dcccc @ɢvBξ= ?I ydɡiI*-;I;i8=i.=)ɌV@)BDAT read: Rx Time:18:21:40.2796 TRx dataTimestamp_ set to:1755627702.406763checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011911ԙI9i0nManaging dock network, ignoring radio surface power off>A]=AyAIINf> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262681 D D jD D E ~: E 96E :E "E |;! E ~;! *E U<;! E U<;! `k L,9-0)ApyU6G@ٱU2U@UWU$!=UH@P ?m?ȿ1Z`8ժ?`&?-0?F?IU6G@)U݅b;iQ|BIiIMb@Mb@Mb@ )IiK7?Q?{GztI,?\=ף),AI50Ai6A (A  /ABD N6D 4Ym=!.=% H?9% H?9%EY%E%"EA->1Q 1=r4٪5L?Q 5=r45 5B9=8-?Q A=:Y=5Q E=?y5WC)5@:I53:i5Tr4YM4BM6AMEgq}DNOT Ignoring new targets: 82.00 m.g}N:g}N: ProNav: ac range: 82.000000 m, nav range: 75.319695 m, bearing: 202.183704 deg, approach rate: -0.672424 m/s, LOS rate: 0.045226 deg/s, cmd heading: 192.075096 deg, new cmd heading: 192.138696 deg. gN:bgV@ZgrgjgRgZfRfeeB"dcccc @ɢvBf= ?I MɡiI\;I;iB8=iA<)V@)UDAT read: 18:21:40.2796 LVL= 28560, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.01, 1.252,-0.656, 1.007, 0.900, PHS= 0.455,-1.510, 0.063, RAW= 139.1, 11.0, CAL= 138.6, 12.0, ROT= 11.4, -12.0 ]Ygot valid direction response: 18:21:40.2796 LVL= 28560, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.01, 1.252,-0.656, 1.007, 0.900, PHS= 0.455,-1.510, 0.063, RAW= 139.1, 11.0, CAL= 138.6, 12.0, ROT= 11.4, -12.0 ePDAT read: Bearing 348.0, 16.2 (Local) e~Local bearing/azimuth received: Bearing 348.0, 16.2 (Local) uDAT read: Range 11 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.5 m/s }*DAT read: user:926> }BDAT read: Tx time:18:21:41.3692 $Ping request sent. G) %=I O`@i  D> T@ PwV> %K> PwVI i )  wH礬?[ ?Wʛv? > D %K> PwVI i :publishing transmit ping time9Fpublishing direction and range info  º?cM?hٜ?  I i      ) I i     I i )  wH礬?[ ?Wʛv?    I i I9i09>A a A I! I1 N= >:=r L,Id-0)AyNMpG@ٱNIkU@N N.=NHMV?@o?ȿ`^?"?`ް? (??INMpG@)N b;iNC^}B^IipIrCBDU6Dn4Q)eG )BE=g4JE=g4RE=OJ0DzDfD)DEl: E96EFA4:E!@!@!@!@I%t!%AY=!U=?`A@99EYEFA>Q 1r4٪쵊?Q 5r4 B9Y 6Q E?yWC) :I[:iHbr4Y(B&5AEJhQRhU5C-0)AhUfBhUE0UK+S@A$'m.@R0@~Uº?cM?hٜ?hU%K>hUPwV Uz%Q j<>%!6@~U[ªvT9׿n-?jhUcrhUɍZhUg?bhUjzhUƪBhU?hQhU:BhUvBhUa@ addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.528456 s, deltaX: -2.300003 m, approachRate: -0.651844 m/s, rangeRepo size: 4  Added new target pos. range: 79.699997 m, bearing: 202.147262 deg, lat: 36.779394 deg, lon: -121.859515 deg, deltaT: 3.528456 s, deltaX: -2.300003 m, approachRate: -0.651844 m/s, posRepo size: 4 gDNOT Ignoring new targets: 79.70 m.gg ProNav: ac range: 79.699997 m, nav range: 75.231911 m, bearing: 202.147262 deg, approach rate: 0.000000 m/s, LOS rate: 0.045226 deg/s, cmd heading: 192.138699 deg, new cmd heading: 192.193939 deg. gbgŮV@ZgrgjgRgZf!Rf!e!e!"d)c)c)c-S@c52?ԁɢ}wB= ?I 8ɡiI:Ip;if8=i<)ŮV@) AAvB>~BBIBz}BB =BBbDBB"EI}9iyy}4y@=@=ԩ>A V< A- AI1 II NU >px L,vT-0)Ay6*gG@ٱ6%bU@6J{6Ds<6HY?Cī?qȿ`a`?Jd?۝??I6*gG@)65'a;i6CB|BBIXMb@Mb@Mb@ )IiˡE?V-?y&1|'?h=`)-AI,AiI4A;'A -ABD%L6D% 4Y5!=P==@EK?9EK?9EEYEEE^AE>IQ 1Ur4٪Mص?Q 5]r4M MB9](?Q A]:Y]5Q E]?yM#XC)M]:IMf:iMor4YamU5Aig)5DNOT Ignoring new targets: 79.70 m.g5C:g5C:e ProNav: ac range: 79.699997 m, nav range: 74.979691 m, bearing: 202.163835 deg, approach rate: -0.649403 m/s, LOS rate: 0.042815 deg/s, cmd heading: 192.193942 deg, new cmd heading: 192.243828 deg. ge:bgm V@ZgirgijgiRgiZfiRfieqeuB"dqcycycyc} # ?ɢwB= ?I C&ɡiI:Ib;i)E8=i;<) V@)AD{DeDDE=: E96E:E"E;!E;!*E"*;!E"*;!I9i/)>A2  L,-0)AyBpG@ٱB kU@B+dBWBDVV6DVE4Y^e >!^T=^hi`9`9bEYbEf):Af>hQ 1nr4٪jĵ?Q 5nr4j jB9lYr5Q Er?yjeXC)j;Ij;ij5}r4YvBv4AvEgDNOT Ignoring new targets: 79.70 m.gHQ:gHQ:- ProNav: ac range: 79.699997 m, nav range: 74.726013 m, bearing: 202.180522 deg, approach rate: -0.693026 m/s, LOS rate: 0.045742 deg/s, cmd heading: 192.243829 deg, new cmd heading: 192.294060 deg. g-#:bg-fV@Zg)rg)jg1Rg1Zf1Rf19e9e9"dAcAcAcAcMi?ɢu wBuP@= q}?Iy }ɡyiyI}L:INT;i+%8=i><)fV@)I59i11501ibD@AZDD}DjD,DE݉: E96Eg4:E!@!@!@!@>Au <ԙA I I N > vB >~B B IB }BB =B B B w];B "EBBBBBBw;5 L,R.0)Ay6G@ٱ6U@6K6%<6H[?=?sȿo``G?r?`??I6G@)6`;i4BT}BBIBDJ_6DJ.4YRV=!RL=RzT9T9VEYVEZ_`;AZ>\Q 1br4٪^ۮ?Q 5br4^ ^ƈB9`Yf5Q Ef?y^XC)^;I^3;i^7r4YjBj:3AjEzB*** querying acoustic contact ***:hxBhxT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.gDNOT Ignoring new targets: 79.70 m.g%B:g%B:5 ProNav: ac range: 79.699997 m, nav range: 74.462692 m, bearing: 202.197690 deg, approach rate: -0.650861 m/s, LOS rate: 0.042586 deg/s, cmd heading: 192.294059 deg, new cmd heading: 192.345746 deg. g5:bg5.V@Zg1rg1jg1Rg1ԙZf9Rfee"dccccƈ?ɢ5wB5/= 9=?I9 =ɡ9i9I=NJ8IEE;iEy7=iEd<)M.V@)IIe8iaim/i@q@u}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748864>A <D vD pD *D E Vz: E  :6E (N4:E "E G;! E H;! *E ,R;! E ,R;! ! A I! I1 N= >e L,ܝ2.0)Ay6ԳG@ٱ6ϮU@616<6HYHy}BBI Mb@Mb@Mb@  ) I i  ?333333?y&1| f&? = ) I ~*Ai 2A %A  (,ABD!6D!Y50=!5C=54y9999=EY=EE;AE>A Q 1mr4٪Eܘ?Q 5mr4E< EˈB9m'?Q Am:Ym5Q Eu?yEXC)E=IE=iEr4Yy}2AygDNOT Ignoring new targets: 79.70 m.g:g:= ProNav: ac range: 79.699997 m, nav range: 74.189156 m, bearing: 202.213562 deg, approach rate: -0.591739 m/s, LOS rate: 0.034463 deg/s, cmd heading: 192.345750 deg, new cmd heading: 192.393543 deg. gE7:bgEV@ZgIrgIjgIRgIZfIRfIeQeUB"dQcQcYcYc] H?ɢwBm= 页?I ͻɡiIμ߹I7;i7=iA`<)V@)%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000807I599i1YYYa>A <ԑ A A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254433I I N >w L,dL.0)Ay>G@ٱ>U@Db{DbkDb,D`Eb=: Eb:6Ebg4:E`!f@!f@!j@!j@>X >m<=>H@)W@ޔ??Bkɿ U+?R?á?~?I>G@)>@`;i>C5}B5Ii9I9BDMW6DM 4Y]=!]H=]ہa9a9eEYeEm;Am>qQ 1}r4٪u{?Q 5}r4ui uψB9yY}4Q E?yu3YC)u/;Iu];iu#r4YB1AgDNOT Ignoring new targets: 79.70 m.g>:g>: ProNav: ac range: 79.699997 m, nav range: 73.922974 m, bearing: 202.228529 deg, approach rate: -0.736261 m/s, LOS rate: 0.041548 deg/s, cmd heading: 192.393547 deg, new cmd heading: 192.438610 deg. g:bgV@ZgrgjgRgZfRfeQeQ"dYcYcYcYc]Y@qɢ wBit= 顭^?I /ɡiIjdI*;iX7=i=)V@)I9ivB>~BB IB}BB =BBB];B"Eԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504808>Au8<A I I N >  L,99EYE<A>Q 1r4٪m?Q 5r4 ӈB9(?Q A:Y4Q E?yxYC):I:ir4YBW2AEgDNOT Ignoring new targets: 79.70 m.g/#:g/#:- ProNav: ac range: 79.699997 m, nav range: 73.651917 m, bearing: 202.243331 deg, approach rate: -0.650747 m/s, LOS rate: 0.035667 deg/s, cmd heading: 192.438613 deg, new cmd heading: 192.483182 deg. g-:bg5{W@Zg1rg1jg1Rg1Zf1Rf9e9e=B"d9cAcAcAcE @ɢu'wBu8= q}]?Iy }dxɡyiyI}H!I:;i7=iJ =){W@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756885ԑDyDwD(DE: E:6Ec44:E"E;!E;!*Ek;!Ek;!I9i@ @ =Թ>A5p= M BDAT read: Rx Time:18:21:43.8764 U TRx dataTimestamp_ set to:1755627705.934651U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009896Aa Ii Iy N >I L,].0)Ay:,XH@ٱ:'SV@::*=:H@No?@L?9Tʿ@ H-U?`@#?`9M??I:,XH@):]a;i:C\b}BbIBDjX6Dj!4Yrl=!rP=vt9t9vEYv Ez <Az>|Q 1r4٪~Y?Q 5r4~ ~ՈB9Y z4Q E ?y~YC)~t:I~:i~r4Y1Ag9=DNOT Ignoring new targets: 79.70 m.gE:gE:U ProNav: ac range: 79.699997 m, nav range: 73.402527 m, bearing: 202.256320 deg, approach rate: -0.662999 m/s, LOS rate: 0.034647 deg/s, cmd heading: 192.483187 deg, new cmd heading: 192.522285 deg. gU9:bgU W@ZgQrgQjgYRgYZfYRfYeaea"dacacicicm @ɢ-wB0= 顝?I (ɡiII ;iՖ7=i' =) W@)I9iAIYichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261650D{DcD.DE=: EL96Eـ4:E!@!@!@!@>A5 =I1 II NU >A vB >~B B -IB }BB =B HDB B x];B "E3 L,.0)Ay>H@ٱ>zV@>RX>;=>H|K2?@s{|?ʿBĨ?`J?]{?6?I>H@)>, a;i>C^}B^I^>^;BDfY6Df#4Yn4<!nJ=np9p9rEYrEv;Av>5DAT read: 18:21:43.8764 LVL= 27632, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.06,-0.626,-2.535,-0.890,-0.948, PHS= 0.424,-1.542, 0.015, RAW= 138.6, 12.2, CAL= 138.0, 13.3, ROT= 12.0, -13.3 =Ygot valid direction response: 18:21:43.8764 LVL= 27632, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.06,-0.626,-2.535,-0.890,-0.948, PHS= 0.424,-1.542, 0.015, RAW= 138.6, 12.2, CAL= 138.0, 13.3, ROT= 12.0, -13.3 MPDAT read: Bearing 349.5, 13.8 (Local) M~Local bearing/azimuth received: Bearing 349.5, 13.8 (Local) eDAT read: Range 11 to 50 : 77.3 m (Round-trip 103.1 ms) speed 0.6 m/s u*DAT read: user:927> BDAT read: Tx time:18:21:44.9692 $Ping request sent. ~B`ſ)~u~%@~,m>~PwV>~,mI|i|)~w\?Z?Y0Z*&?~{>~Z~PwV>Jh|Rh~.0)Ah~Bh~?.~8_UMeR@O G/@`Θh1@~~ ]v?6C?gz}"Er?h~PwV>h~,m ~ G$QN*= N3@~~A 3= I I N>= L,.0)Ay6H@ٱ6V@6 .6z{V=6HJH`?D ʿ<_W?Å?@˪?@O?I6H@)6ta;i6CB}BB I%Mb@Mb@Mb@! !)!I!i!%(\?#~j?{Gz%'?%=%#)%)AI%-Ai%-A% (A !%\+ABDe[6Dey'4Ys=!&=O99EYE;A>Q 1r4٪*?Q 5r4 9(?Q A:Y3Q E?yPZC)v:I:i4r4YB o0A JhiRhihihm.m8_UMeR@O G/@`Θh1@~m ]v?6C?gz}"Er?hihi m^s)Q)uT=;a A[3@~m5 UkoaؿkY?jhmZrhmLZhm?bhmqzhmBhmg?hmjhmƪBhmJBhmMb@gQ]DNOT Ignoring new targets: 77.30 m.g]:g]: ProNav: ac range: 77.300003 m, nav range: 73.649590 m, bearing: 202.041808 deg, approach rate: -0.772011 m/s, LOS rate: 0.029529 deg/s, cmd heading: 192.572252 deg, new cmd heading: 192.609601 deg. g :bg%W@ZgrgjgRgZfRfeeB"dcccc ?ɢ>wB.= 額,?I m9ɡiI}+I:i9s7=iFG=)%W@)Iqiqqqq 9 >A I I! N- >rD5 =jD5 <D= zD= hD= 'D9 E= l: E= ]96E= '4:E9 !E @!E @!E @!E @+ L,NA.0)Ay6ؼH@ٱ6ӷV@6.6p=6H F@+?@a˿77?s???I6ؼH@)6a;i6CB}BBIBDJT6DJ4YRfû!Ra=VGT9T9VEYVEZ;AZ>\Q 1r4٪^?Q 5 r4^ \9 Y }3Q E ?y^ZC)^0DIn:i'h7=i7{ =vB>~BB9IB~BB =BBB];B#E)G-W@)YIIiIIIIuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.y>AB=I1 Iq ԩ N >IG L,i.0)Ay:?H@ٱ::V@:::=:HDh(?V@'7˿#5+?@B G?`?@I:?H@):,a;i:CF}BJ-Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.242466Mb@Mb@Mb@ )Iix&?ˡE?Q7)?=u)(AI,Ai,A(A *ABDN6D4YwT=!9=I99EDDqD,DE E$ :6Eg4:E"EЧ;! Eҧ;! *EU;! EU;! Y Eu:Au>yQ 1s4٪}?Q 5s4} }ՈB9*?Q A:Y`3Q E?y}ZC)}*:I}:i}s4YB/AEgDNOT Ignoring new targets: 77.30 m.gD9gD9= ProNav: ac range: 77.300003 m, nav range: 73.103287 m, bearing: 202.061787 deg, approach rate: -0.685257 m/s, LOS rate: 0.024836 deg/s, cmd heading: 192.636347 deg, new cmd heading: 192.669765 deg. g=\:bg=6W@Zg9rg9jg9Rg9ZfARfAeAeEB"dIcIcicicu?ԩɢNwB= ?I Q;ɡiI4^I:i5[7=i =)6W@)zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495710I 9i 5 @ =@ = y >A-ȿ=rA1jA5>IIN>[ L, /0)A)EsG yychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747709 )IRAyH@ٱV@^/<0q=HA`lG?Wg˿E5B?`녿@!?U?IH@)mSa;iC~B=IBD%c6D%264YEK=!E$=MI9Q9UEYU&EUP;AU>YQ 1es4٪]崊?Q 5es4]T ]шB9iYmG3Q Em?y]-[C)];I] ;i]s4YuBu/A}EgDNOT Ignoring new targets: 77.30 m.g 9g 9BE=(N4JE=¼P4RE=H0D~D}D*DE: Ek&:6E(N4:E!@!@!@!@ ProNav: ac range: 77.300003 m, nav range: 72.786110 m, bearing: 202.072960 deg, approach rate: -0.676863 m/s, LOS rate: 0.023947 deg/s, cmd heading: 192.669760 deg, new cmd heading: 192.703424 deg. gy:bgu@W@ZgrgjgRgZfRfee"dcccc^?ɢWwBv= ?I ;ɡiIxI%@:i%(O7=i%U=$=)%u@W@))vB9~B9B=@IB=~BB= =B9B9B=];B=#E I5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999691I 9i 3 q >A "=ԡAYIaIqN ?ߛ L,0,/0)Aɰ.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250514y>H@ٱ>|V@> <>~k=>H@H?B(`xo˿@5?B᏿`j? y?I>H@)>6a;i>CZ~BZGI=Mb@Mb@Mb@9 9)9I9i9=ˡE?{Gz?~jt='?=ף==D)=;'AI= ,Ai=~*A9 9I=)ABD]f6D];4Ye<!m=DDfD.DE~: E96Eـ4:E"E|;!E~;!*E-;!E-;!  9 9EY-E:A>Q 1%s4٪ɴ?Q 5%s4f ̈B9-5)?Q A-:Y-i3Q E-?y[C)A;I;iF#s4Y5ڔB=Y.A=EgyDNOT Ignoring new targets: 77.30 m.g9g9 ProNav: ac range: 77.300003 m, nav range: 72.434753 m, bearing: 202.086025 deg, approach rate: -0.654754 m/s, LOS rate: 0.024466 deg/s, cmd heading: 192.703419 deg, new cmd heading: 192.742806 deg. gR:bgKW@ZgrgjgRgZfRfeeB"dcccc@s@ɢ=awB== 9=?I9 }j;ɡyiyI}I:i A7=i6>"=)KW@) I)yԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503048I8i  0 >A! bA- }AZA- }AAQIaIqN? L,M/0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754533yVH@ٱVV@V|fp;BDj`6Dj04YrF=!r&=v>6x9x9zEYz3EzA~>|Q 1s4٪~)?Q 5s4~ ~LjB9 Y m3Q E ?y~[C)~;I~H;i~3s4Y-Ag9EDNOT Ignoring new targets: 77.30 m.gE9gE9] ProNav: ac range: 77.300003 m, nav range: 72.123528 m, bearing: 202.097757 deg, approach rate: -0.665937 m/s, LOS rate: 0.025212 deg/s, cmd heading: 192.742802 deg, new cmd heading: 192.778150 deg. g]k:bg]UW@ZgYrgYjgYRgYZfaRfaeaea"diDqDuhDu,DqEq Eu]96Eug4:Eq!}@!}@!}@!}@cccc@ԩɢkwB,= 顽a?I <ɡiI픻I:iE37=iMG=)MUW@)iI9i%0!AA<vB~BBBB =BBB];B#EBBBBBB 15BDAT read: Rx Time:18:21:47.4734 TRx dataTimestamp_ set to:1755627709.464265checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009122>A!Aq I I N >9 3N L,g/0)Ayb=H@ٱb8V@bj99EY8E7A>Q 1 s4٪?Q 5 s4 B9 F)?Q A :Y :3Q E ?y!\C):I7;iCs4YϔBs-AE=B*** querying acoustic contact ***:h9Bh9gIMDNOT Ignoring new targets: 77.30 m.gU9gU9e ProNav: ac range: 77.300003 m, nav range: 71.833420 m, bearing: 202.108068 deg, approach rate: -0.658655 m/s, LOS rate: 0.023504 deg/s, cmd heading: 192.778155 deg, new cmd heading: 192.809212 deg. ge :bge^W@ZgargajgaRgiZfiRfieieuلB"dqcqcqcyc}@@ @ɢtwB = 顭?I 4K<ɡiI#I:ih%7=i=)^W@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260257IM9iIIM0IDu|DufDu*DqEu : Eu96Eu(N4:Eq"Eu;!Eu;!*Eq!Eq!!Q>Amȿ=I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513227N >ԡ % L,/0)Aiy6H@ٱ6V@6<6xH=6H=FT9T9ZEYZ=EZs:AZ>\Q 1s4٪^Q?Q 5s4^  ^B9Y 53Q E ?y^^\C)^1:I^:i^Os4YŔB*-AgY]DNOT Ignoring new targets: 77.30 m.geV9geV9u ProNav: ac range: 77.300003 m, nav range: 71.597076 m, bearing: 202.116472 deg, approach rate: -0.647342 m/s, LOS rate: 0.023096 deg/s, cmd heading: 192.809219 deg, new cmd heading: 192.834515 deg. gu}:bgueW@ZgqrgqjgqRgZfRfee"dcccc# @ɢ5|wB5D> 9=^?I9 =h2<ɡ9i9IEGIEĹ:iE7=iMf=)MeW@)IԑI 9iN5DAT read: 18:21:47.4734 LVL= 28448, 32753, 32754, 32755, AGC= 69, IDX= 413, 0.07,-0.969,-2.912,-1.291,-1.294, PHS= 0.427,-1.573,-0.041, RAW= 137.1, 13.0, CAL= 136.4, 14.1, ROT= 13.6, -14.1 Ygot valid direction response: 18:21:47.4734 LVL= 28448, 32753, 32754, 32755, AGC= 69, IDX= 413, 0.07,-0.969,-2.912,-1.291,-1.294, PHS= 0.427,-1.573,-0.041, RAW= 137.1, 13.0, CAL= 136.4, 14.1, ROT= 13.6, -14.1 PDAT read: Bearing 350.6, 12.7 (Local) ~Local bearing/azimuth received: Bearing 350.6, 12.7 (Local) DAT read: Range 11 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.7 m/s *DAT read: user:928> BDAT read: Tx time:18:21:48.5692 $Ping request sent. ]Xɿ)]'I]f$@i]Vh>]:\@]d{>]s>]d{IYiY)]a?|N?0\?]>]i]s> ]d{IYiY:publishing transmit ping time9Fpublishing direction and range infoY]{Wj*? ('0? .?YYIYiYYYYY Y)YIYiYYYYYIYiY)]a?|N?0\?YD~DiD)DE: E96EFA4:E!@!@!@!@YY YIYiY>A=rA>jA>I I N >vB >~B B B B B B B ];B "#E P L, z/0)Ay6)H@ٱ6$V@6G=6-=6H O;P?U˿;`M?`O?`?I6)H@)6RR`;i4BM~BBdIiDIDBDJ^6DJ,4Yf =!fH=j9>p9p9rEYrBEvѷ:Az>yQ 1s4٪}p?Q 5s4}A  }B9Y-3Q E?y}\C)}=;I}<;i}^s4Y,AJhRh5/0)AhBh,BerڬQ@u1@zhE2@~{Wj*? ('0? .?hs>hd{ WPݑaE? w0@~DD^9 ڿ|D {?jh.rhLZhD}?bhCzhBhh!hRBhBhKc@] addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.779804 s, deltaX: -2.300003 m, approachRate: -0.608498 m/s, rangeRepo size: 4 m Added new target pos. range: 75.000000 m, bearing: 203.486443 deg, lat: 36.779383 deg, lon: -121.859538 deg, deltaT: 3.779804 s, deltaX: -2.300003 m, approachRate: -0.608498 m/s, posRepo size: 4 gimDNOT Ignoring new targets: 75.00 m.gugq ProNav: ac range: 75.000000 m, nav range: 72.377861 m, bearing: 203.486443 deg, approach rate: 0.000000 m/s, LOS rate: 0.023096 deg/s, cmd heading: 192.834518 deg, new cmd heading: 192.864976 deg. gbgnW@ZgrgjgRgZfRfe1e1"d1c9c9c=R@c=K?ɢewBm= ?I :BK<ɡiI"I :i 7=i%=)nW@)I9i0)I >A A=I) I9 NM >D {D gD -D E =: E &96E t4:E "E ;! E ;! *E i1;! E j1;! y L,~S/0)Ay6I@ٱ6W@6$=6=6H%6@?D@-˿i9 o?U?`g?I6I@)63`;i6CVD~BZ^I=Mb@Mb@Mb@9 9)9I9i9=L7A`?MbX9?~jtx=+'?=ʡ==Ļ)=(AI=,Ai=(A=K+A 9=)ABDUh6DUf?4YeǷ!eA=e5i9i9mEYmGEu;Au>yQ 1s4٪}[?Q 5s4} }B9d(?Q A:YS3Q E?y}\C)}:I}v:i}ls4YB,AEgDNOT Ignoring new targets: 75.00 m.gq0:gq0: ProNav: ac range: 75.000000 m, nav range: 72.113434 m, bearing: 203.501230 deg, approach rate: -0.687088 m/s, LOS rate: 0.038564 deg/s, cmd heading: 192.864980 deg, new cmd heading: 192.909505 deg. g:bgc{W@ZgrgjgRgZfRfeeńB"dcccc1?ɢwB6 > 顽?I E_<ɡiIIR:i6=ig~"=)c{W@)QIm9iiimE5qy>A=II N >ԩ a L,./0)Aɰy:FI@ٱ:AW@:z:9=@:x=:H`)/^?: ̿4 ? J%ɢ??I:FI@):xN`;i:CJW~BJjIBDjM6Dj 4Yr D=!rS=vYt9t9zEYzLEz;Az>|Q 1s4٪~G?Q 5s4~ ~B9 Y "3Q E ?y~+]C)~:I~:i~Hzs4Y˔B-AEg9EDNOT Ignoring new targets: 75.00 m.gE":gE":U ProNav: ac range: 75.000000 m, nav range: 71.858994 m, bearing: 203.514962 deg, approach rate: -0.655835 m/s, LOS rate: 0.035519 deg/s, cmd heading: 192.909500 deg, new cmd heading: 192.950840 deg. gU:bgU5W@DeDeoDe.DaEe: Ee:6Eeـ4:Ea!m@!m@!m@!m@ZgYrgijgqRgqZfqRfqeyey"dycyccc@?ɢwBح > 页?I t<ɡiIǻI:iT6=i8*=)5W@)I9i4AAvB>~B̍CBBB =BBB];B5#E>A"=bAZAzAIQIiNu> # L,;/0)AlyyI@ٱsW@N=M+=H'J?X̿/Ҙ? h۩D?@?IyI@)I`;iC%N~B%dI-=-Mb@Mb@Mb@ )IiL7A`?ˡE?=))AIz*Ai7'A.A *ABDV6DE4Y !8=C99EYRE;A>!Q 1-s4٪%x0?Q 55s4%u %B95{(?Q A5:Y52Q E5?y%v]C)%K ;I% ;i%ĉs4Y9E$-AA]B*** querying acoustic contact ***:hYBhYgimDNOT Ignoring new targets: 75.00 m.gu:gu: ProNav: ac range: 75.000000 m, nav range: 71.568245 m, bearing: 203.529080 deg, approach rate: -0.655031 m/s, LOS rate: 0.031938 deg/s, cmd heading: 192.950836 deg, new cmd heading: 192.993364 deg. gY:bg^W@ZgrgjgRgZfRfee߄B"dcccc?ɢwB > ?I ׊<ɡiIJлIX:i6=i1=-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.)^W@)DmDmdDm(DiEm: Em96Emc44:Ei"Em);!}Em*;!}*Em~&;!Em&;!I9iO5)>A )=Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752926I I N >s L,00)Ay6#I@ٱ6W@6l(g=6^l"=6H!? W̿+@? ᬿ`C?@?I6#I@)6P_;i6C>`~BBpIBDJd6DJ 84YRP=!Rf=RT9T9VEYVWEVl;AZ>XQ 1bs4٪Z?Q 5bs4Z ZB9`Yb2Q Eb?yZ]C)Z;IZ;iZ4s4YfBj,Ah9gq}DNOT Ignoring new targets: 75.00 m.g<:g<: ProNav: ac range: 75.000000 m, nav range: 71.334709 m, bearing: 203.540097 deg, approach rate: -0.629144 m/s, LOS rate: 0.029776 deg/s, cmd heading: 192.993361 deg, new cmd heading: 193.026519 deg. g{:bgٜW@ZgrgjgRgZfRfee"dcccc?ɢ-wB- > )-?I) 5y<ɡ1i1Iu%ػI݂:i.6=i6=)ٜW@)Im 9iiim5iqEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004569bDqZDu@AD}zD}oD},DyE}l: E}:6E}g4:Ey!@!@!@!@ԑ>AB4=Ii Iy vB >~B ˍCB 9IB ~BB =B B B $^;B I#EN >  L,00)A(i(yf߼I@ٱfڷW@f~=f3=fH`@]?(7Ϳ'\?@ίp?@K?If߼I@)f:`;ifCzV~BziIBDg6D=4Y%J!%B=-^)9)95EY5\E5;A5>9Q 1Es4٪=?Q 5Ms4= =B9IYMg2Q EM?y=]C)=:I=_:i=s4YUBUd,A]EgyDNOT Ignoring new targets: 75.00 m.g:g:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256635ԡ ProNav: ac range: 75.000000 m, nav range: 71.058311 m, bearing: 203.552780 deg, approach rate: -0.681930 m/s, LOS rate: 0.031414 deg/s, cmd heading: 193.026514 deg, new cmd heading: 193.064712 deg. gx:bgŧW@ZgrgjgRgZfRfee"dcccc.@ɢwB9 > S?I  <ɡiIj߻Iw:i6=i_:=)ŧW@)I  9i$4>AMG5=rAU>jAU>IIN>U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508541D D rD +D E : E ?:6E [4:E "E ;! E ;! *E sY;! E tY;! !  L,500)Ay6nI@ٱ6iW@6ى=6F=6H ?BͿ".P? 7 ̨? ?I6nI@)6j`;i4^X~B^jIEMb@Mb@Mb@A A)AIAiAEL7A`?ˡE?~jtx?AAE;)EO+AIE ,AiE;'AEd/A AE+ABDY6DYYm;!mF=mLq9q9uEYuaE}ԫ;A}>Q 1s4٪?Q 5s4 B9|(?Q A:YL2Q E-?y>^C)I Q]?IY ] <ɡYiYI]p+Iqm:i6=iB@=)CW@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763589!I9i@5I>A C;=i I #C) GI  )1 Ie Aa e ݮAq I N >U BDAT read: Rx Time:18:21:51.0701 ] TRx dataTimestamp_ set to:1755627713.242562e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013511 L,O00)Ayv J@ٱvX@v~T=vX=vH@X `&?Ϳ@y?f"?r?Iv J@)vV`;ivCa~BpIBDn6DpJ4Y%<!%N=rD)jD-a=BE|a4JE^4RE'0D5{D5eD5*D1E5=: E596E5(N4:E1!=@!=@!=@!=@ES?I9I9MEYMfEM0;AM>QQ 1]s4٪Uݳ?Q 5]s4U UB9aYe 2Q Ee?yU^C)U ;IU ;iU\s4YmBu+AuEgDNOT Ignoring new targets: 75.00 m.gU :gU : ProNav: ac range: 75.000000 m, nav range: 70.524429 m, bearing: 203.576266 deg, approach rate: -0.704672 m/s, LOS rate: 0.030454 deg/s, cmd heading: 193.101401 deg, new cmd heading: 193.135432 deg. g3:bgW@ZgrgjgRgZfRfee"dcccc@IɢwBQ9> 額)?I 1!<ɡiIIc:in7=i6G=)W@)vB!~B!B%-IB%}BB!B!B!B%D^;B%Y#EIU9iQY]/Yichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264594ԙ>A&==I9 I N > y L,`i00)Aɰdf;yU#J@ٱUX@U>=Ut j=UH#@T??:Z`UͿ \? @2*??IU#J@)U`;iQeD~Bm^IEMb@Mb@Mb@A A)AIAiAE!rh?T㥛 ?~jthEl'?E=ED)E)AIE-AiE%AE1A AE+ABD]W6D] 4YmP!m8=uW q9q9uEY}lE}WN;A}>Q 1s4٪Ƴ?Q 5s4~  zB93(?Q A:Y3Q E?y^C)I7 ;is4YB,AEԩB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 75.00 m.g:C:g:C: ProNav: ac range: 75.000000 m, nav range: 70.236465 m, bearing: 203.595051 deg, approach rate: -0.651447 m/s, LOS rate: 0.042670 deg/s, cmd heading: 193.135429 deg, new cmd heading: 193.192014 deg. gE:bg,W@ZgrgjgRgZfRfeeB"dcccc`5 @=DAT read: 18:21:51.0701 LVL= 29616, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.14, 1.538,-0.469, 1.070, 1.163, PHS= 0.476,-1.588,-0.138, RAW= 133.2, 13.5, CAL= 132.4, 14.6, ROT= 17.6, -14.6 EYgot valid direction response: 18:21:51.0701 LVL= 29616, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.14, 1.538,-0.469, 1.070, 1.163, PHS= 0.476,-1.588,-0.138, RAW= 133.2, 13.5, CAL= 132.4, 14.6, ROT= 17.6, -14.6 MPDAT read: Bearing 352.0, 14.0 (Local) U~Local bearing/azimuth received: Bearing 352.0, 14.0 (Local) ]DAT read: Range 11 to 50 : 72.6 m (Round-trip 96.8 ms) speed 0.6 m/s e*DAT read: user:929> BDAT read: Tx time:18:21:52.1691 $Ping request sent. C˿) O I ,@i :Fq> h@ w> nF> wI i ) D7K?ۉ4V?d?  &q nF> wI i :publishing transmit ping time9Fpublishing direction and range info  ^d?iC_ ?!?  I i      ) DM|DMoDIDIEM : EM:6EI:EI"EM;!UEM;!U*EMN;!]EMN;!]I i     I i ) D7K?ۉ4V?d?    I i ɢwB`> ?I <ɡiIo'IS:iw 7=ivG=),W@) IU9iQQU?5Q >Au <H=bA} ~AZA} }A1 A yAI I N >'! L,S00)Ay6S3J@ٱ6N.X@6?=6w=6H@3L?G<Ϳ?`s?R֮??I6S3J@)6=`;i6CNU~BRiIBD^P6D^:4Yf(=!fM=f/ H?9 H?9EYqEo;A>!Q 1-s4٪%?Q 5-s4%" %oB9)Y-3Q E-?y%_C)%T;I%O;i%s4YY]+AYԑJhRho00)Ah3Bh'EXP@@$B>5@Z!@L2@~^d?iC_ ?!?hnF>hw  =ZNA4bp2,@~ ?I <ɡiI^%ID:ir7=iG=)W@) ߩީԹDDiD,DE E96Eg4:E!@!@!@!@I9i;5vB>~BB IB}BB =BIDBBi^;Bj#EBiBiBiBmȶ =Bmȶ =Bmz5>A9  A I I N >X' L,vP00)Ay:GJ@ٱ: BX@:&N=:=:H`+U?ٹ NͿ@Α?1@F?`?I:GJ@):a;i8F.~BFQIBDNi6DN=A4YVK!VD=ZWX9X9ZEY^vE^@;A^>`Q 1fs4٪bE?Q 5fs4b% bcB9hYj3Q Ej?ybT_C)ba;Ib:ibOs4YnBn,AnEgDNOT Ignoring new targets: 72.60 m.g R:g R: ProNav: ac range: 72.599998 m, nav range: 69.560249 m, bearing: 203.834843 deg, approach rate: -0.680536 m/s, LOS rate: 0.046105 deg/s, cmd heading: 193.246091 deg, new cmd heading: 193.300408 deg. g!:bg+W@Zgrg!jg!aRg!ZfRfee"dcccc?ɢ-wB-> 15?I1 5[D<ɡ1i1I=I]4:ie7=ieH=)e+W@)aI9i/ԙԹ>AG=DaDejDe&DaEa Ee96Ee4:Ea"Ea!Ea!*EeU<;!EeU<;!AM AIQ Ia Nu > . L,Ϻ00)A i yN5LJ@ٱN0GX@N볽=N嬄=NH mV? (޺@eοh`=?Э`t?`?IN5LJ@)Na;iNC,~BPIMb@Mb@Mb@ )IiS㥛?y&1?$&?`e=))AI10Ai%A5A -A) BD_6D.4Y !9=kK?9K?9EY|E::A> Q 1s4٪ h?Q 5s4 }' VB9&?Q A:YS4Q E?y _C) :I j:i s4Y%B-+A)gDNOT Ignoring new targets: 72.60 m.gX:gX:% ProNav: ac range: 72.599998 m, nav range: 69.275284 m, bearing: 203.856594 deg, approach rate: -0.617860 m/s, LOS rate: 0.047355 deg/s, cmd heading: 193.300405 deg, new cmd heading: 193.365927 deg. g-;bg-W@Zg)rg)jg)Rg)Zf)Rf1e1e5 B"d1c9c9c9c=t?ɢwB> ?I <ɡiII!:i&7=inE=)W@)aII i   (0 @% =@% AE<H=vBM>~BIBMIBM}BBM =BMHDBIBM^;BMv#ErAe>jAaԡI!I9NU ?6 L,E00)AyFHJ@ٱFCX@F_=F9w=FH@5W?@Ϳb? ¸@W??IFHJ@)Fa;iFCR2~BRSIiTITBDZW6DZ 4Y~D<!~"= 99 EY E ҹA >Q 1t4٪Uk?Q 5t49* GB9!Y%V4Q E%?y_C):I:iNt4Y-B-w+A-EgQ]DNOT Ignoring new targets: 72.60 m.g]n:g]n:m ProNav: ac range: 72.599998 m, nav range: 68.950272 m, bearing: 203.881661 deg, approach rate: -0.673012 m/s, LOS rate: 0.052151 deg/s, cmd heading: 193.365920 deg, new cmd heading: 193.441474 deg. gm);bgmX@ZgqrgqqjgqRgyZfyRfyee"dccccp!?ɢxB> ,?I <ɡiII3 :i+7=i/@=)X@).I%9i))-4)ԡ>Ai a a IA IY Ne >D D fD -D E ~: E 96E t4:E "E |;! E ~;! *E -;! E -;! = L,00)Ay6RJ@ٱ6}MX@6=6M=6H@`1? ο@2ș?`񶹿?D?I6RJ@)6a;i6C>~BBGI Mb@Mb@Mb@  ) I i  J +?㥛 ?~jth (? = D) ,AI i  5A  -ABD%i6D%=A4Y5=!=G==|A9A9EEYEEEպ:AE>IQ 1Ut4٪MU?Q 5]t4M, M9B9])?Q A]:Y]2Q E]?yM7`C)M& ;IMm ;iMt4Yam+AiB*** querying acoustic contact ***:hBhg1=DNOT Ignoring new targets: 72.60 m.gE":gE": ProNav: ac range: 72.599998 m, nav range: 68.679298 m, bearing: 203.896992 deg, approach rate: -0.626225 m/s, LOS rate: 0.035572 deg/s, cmd heading: 193.441476 deg, new cmd heading: 193.487652 deg. gL:bg X@ZgrgjgRgZfRfee3B"dcc cc@ɢxB;&> 額)?I - <ɡiIalI9i"17=i1@=) X@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.P)Ie 9ia a e /i Y u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496029>A K@=D D D +D E : E 6E [4:E ! @! @! @! @bA }AZA ~AI)I9N}>ԁdE L,5c10)Aɰ~~B6IBD%l6D%F4Y};i!(=Q)>99EYEA>Q 1t4٪|~BBIB}BB =BBB^;B~#EgDNOT Ignoring new targets: 72.60 m.g3:g3:  ProNav: ac range: 72.599998 m, nav range: 68.360023 m, bearing: 203.915213 deg, approach rate: -0.682637 m/s, LOS rate: 0.039140 deg/s, cmd heading: 193.487648 deg, new cmd heading: 193.542566 deg. g :bg j0X@Zg rgjgRgZfRfee"dcc!c!c% C@ɢMxBU> QU?IQ ]V=ɡYiYI]iIeK9ie`47=ie<=)ej0X@)a qqIq)q)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752064YIiԁ >A ==IQ Iy N >eK L,/10)A yFTvJ@ٱFNqX@F=Fb=FH"`m?@ɼJο ?`Q`+?@?IFTvJ@)Fzd`;iFCR}BR#IR>R<^BDAT read: Rx Time:18:21:54.6669 bTRx dataTimestamp_ set to:1755627716.770820bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.001372EMb@Mb@Mb@A A)AIAiAEE?ʡE?~jtxE&?E=EĻ)E,AIAiEf&AEZ8A AE /ABD]k6D]D4Ym!mG=u{q9q9uEYuE};A}>Q 1t4٪g'?Q 5t42 B9'?Q A:Y2Q E?y`C)` ;I ;i;t4YB-AEgDNOT Ignoring new targets: 72.60 m.g :g : ProNav: ac range: 72.599998 m, nav range: 68.093269 m, bearing: 203.928325 deg, approach rate: -0.656078 m/s, LOS rate: 0.032376 deg/s, cmd heading: 193.542563 deg, new cmd heading: 193.582053 deg. g:bg;X@ZgrgjgRgZfRfDUDUnDU,DQEU: EU:6EUg4:EQ"EU(;!]EU*;!]*EUJ;!eEUJ;!eee9B"dcccc`@ɢ&xB> ?I %s=ɡ!i!I%D^I-9i-f:7=i-B=)5;X@)1AI9i_0qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255167>A #@=I I ԡ N >KR L,'I10)A<}BIBD%e6D%94Yef[!e<=mQ)m>q9q9uEYuEuAu>yQ 1t4٪}?Q 5t4}4 } B9YQ E?y}aC)};I};i}3Kt4Yf-AgDNOT Ignoring new targets: 72.60 m.g":g": ProNav: ac range: 72.599998 m, nav range: 67.809921 m, bearing: 203.942367 deg, approach rate: -0.650652 m/s, LOS rate: 0.032377 deg/s, cmd heading: 193.582055 deg, new cmd heading: 193.624354 deg. gñ:bgGX@ZgrgjgRgZfRfee"dcccc! @ɢ2xB> 9?I % =ɡ!i!I%D I-9i->7=i-A+?=)-GX@)1ԡDAT read: 18:21:54.6669 LVL= 26928, 32753, 29970, 32755, AGC= 69, IDX= 412, 0.21,-0.068,-2.088,-0.678,-0.467, PHS= 0.501,-1.576,-0.255, RAW= 128.9, 14.5, CAL= 128.3, 15.6, ROT= 21.7, -15.6 Ygot valid direction response: 18:21:54.6669 LVL= 26928, 32753, 29970, 32755, AGC= 69, IDX= 412, 0.21,-0.068,-2.088,-0.678,-0.467, PHS= 0.501,-1.576,-0.255, RAW= 128.9, 14.5, CAL= 128.3, 15.6, ROT= 21.7, -15.6 PDAT read: Bearing 353.6, 15.8 (Local) I9i0DmDmlDiDiEm: Em:6Ei:Ei!u@!u@!u@!u@~Local bearing/azimuth received: Bearing 353.6, 15.8 (Local) -DAT read: Range 11 to 50 : 70.2 m (Round-trip 93.7 ms) speed 0.4 m/s -*DAT read: user:930> 5BDAT read: Tx time:18:21:55.7691 =$Ping request sent.=O@'g>>'gIi)m?WF݋:? ?e>+f> 'gIie:publishing transmit ping time99eFpublishing direction and range infobDJ?'?]^|5?Ii )IiIi)m?WF݋:? ? IiAqAup<vB}>~B}̍CB}IB}=}BB} =ByByB}h^;B}m#E>AB=rA>jA> A yAI! I1 NE >rX L,oc10)Aiy>J@ٱ>X@>0Z=>"=>H`Ia ?`k voο{?ۼ!?@i?I>J@)>_;i>C^}BbIBDfm6DfH4lYr\!rg=vv H?9v H?9vEYvEzPu;Az>|Q 1t4٪~?Q 5t4~6 ~B9Y 1Q E ?y~QaC)~p:I~:i~Wt4YBn-AEJhRh Q10)AhfBh"bCiO@ 9@޸r2@~bDJ?'?]^|5?h>h'g D]Q}L渉TC y?I -=ɡiI I9iC7=iXVB=)QX@)I9i@51>AU==D}DnD*DE݉: E:6E(N4:E"E8;!E9;!*E!E!AE AII IY a Nm >*^ L,O}10)Ay:J@ٱ:X@:=:)=:H$&? R@ οVd???I:J@):`_;i:CR}BRIiTIT-Mb@Mb@Mb@) )))I)i)9-#~j?ˡE?Mb-%?-=-)-`/AI-1Ai-%A-9A )-0ABDM]6DM'+4Y]!]C=e3;Q)e>eK?9eK?9eEYeEmo4;Am>qQ 1}t4٪uy鲊?Q 5}t4u\9 uB99'?Q A:Ya1Q E?yuaC)uT ;IuH:iu:ft4YB-AEB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 70.20 m.g%F:g%F: ProNav: ac range: 70.199997 m, nav range: 68.176849 m, bearing: 205.728342 deg, approach rate: -0.650834 m/s, LOS rate: 0.043308 deg/s, cmd heading: 193.659086 deg, new cmd heading: 193.713222 deg. g:bg7aX@ZgrgjgRgZfRfee)B"dcccc?5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ɢIxBo> /-页?I =ɡiI@ I}9iI7=i9B=)7aX@)aIiG5)uG Aԑ)IEAEAEA>A-B= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.928375 A1 IA IQ Ne >bDy ZD} AABEʙT4JEʙT4REʇ 0D D D )D E : E 1:6E FA4:E ! @! @! @! @e L,$10)AyZJ@ٱZX@Z]=Z.=ZH`v )?`ο U0?y@?@X?IZJ@)Z_;iXbz}BfIBDnk6DnD4Yv~!vR=vx9x9zEYzEzu:A~>Q 1 t4٪ղ?Q 5 t4; ڇB9 Y Z1Q E?yaC)_:IV:ist4vB%>~B%ˍCB%IB%|BB!B!B!B%0^;B%P#EY=".A9gaeDNOT Ignoring new targets: 70.20 m.gmC:gmC:} ProNav: ac range: 70.199997 m, nav range: 67.925369 m, bearing: 205.745049 deg, approach rate: -0.640960 m/s, LOS rate: 0.042739 deg/s, cmd heading: 193.713222 deg, new cmd heading: 193.763527 deg. g}:bg}oX@ZgyrgyjgyRgZfRfee"dcccc 4?ԙɢTxB"> ?I =ɡiI I9iN7=i¬@=)oX@)Iu9iqqu4qMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.180277>AUB=bAYZA]zAA I I N >) k L,$10)Aɰ8:4<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.432420y^hJ@ٱ^cX@^U<=^TD4=^H?{ ο Ko?3[? ?I^hJ@)^`;i^Cj^}BjI]Mb@Mb@Mb@Y Y)YIYiY]!rh?I +?~jtx]l'?]9=]Ļ)YI]1Ai]7'A]?=A Y]p1ABDuR6Du4YG!@==;Q)>99EYEDdA>Q 1t4٪⿲?Q 5t4w> ȇB9(?Q A:Y0Q E?ybC):I:it4YxBM.AED5D5fD5-D1E51: E596E5t4:E1"E5m;!EE5o;!E*E5-;!EE5-;!Egy}DNOT Ignoring new targets: 70.20 m.g.:g.: ProNav: ac range: 70.199997 m, nav range: 67.648026 m, bearing: 205.761800 deg, approach rate: -0.629060 m/s, LOS rate: 0.038149 deg/s, cmd heading: 193.763533 deg, new cmd heading: 193.813992 deg. gt:bg~X@ZgrgjgRgZfRfeeCB"dcccc#e?ɢ5bxB5= 9=x?I9 =:^=ɡ9i9I= Ie9im@R7=im_Y==)m~X@)iI9i  ?5 !Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.684354Q>A% ==AQ IY Iq q N >r L,10)AyNFJ@ٱNAX@ND=N .==NH )?vο@? u?F?INFJ@)N#`;iNC^9}BbIf>f>BDnj6DnC4Yvz!zU=z;Q)z>|9|9EEYEEEAM>IQ 1Ut4٪M?Q 5Ut4M@ MB9YY]0Q E]?yM`bC)M+;IM;iMit4YepBm.AmEgDNOT Ignoring new targets: 70.20 m.gB:gB: ProNav: ac range: 70.199997 m, nav range: 67.391296 m, bearing: 205.777610 deg, approach rate: -0.688210 m/s, LOS rate: 0.042544 deg/s, cmd heading: 193.813994 deg, new cmd heading: 193.861606 deg. g:bgX@ZgrgjgRgZfRfee"dcccc`;?ɢmxB1> o?I W=ɡiIа I9iR7=iR7=)X@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.936453rDE%=jDADMDMmDM+DIEM: EM:6EM [4:EI!U@!U@!U@!U@ԉ}፨AA@AvB->~B)B-XIB-|BB- =B)B-aDB-^;B-8#EBBBBBBƙ5I9i_0Աe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188289 >AI rA] >jA] >IQIaNu>=y L,$10)Ay6J@ٱ6zX@6>6*==6H?KοJ?` ls? ?I6J@)6 0`;i6CB}BBIHBDJp6DJN4YRl!R0=V];Q)V>T9X9ZEYZEZ1>A^>\Q 1bt4٪^a?Q 5ft4^C ^B9dYf0Q Ef?y^bC)^9:I^R:i^Nt4Yhn /Algy}DNOT Ignoring new targets: 70.20 m.g*7:g*7: ProNav: ac range: 70.199997 m, nav range: 67.094360 m, bearing: 205.796378 deg, approach rate: -0.630606 m/s, LOS rate: 0.040034 deg/s, cmd heading: 193.861601 deg, new cmd heading: 193.918153 deg. g:bgћX@ZgrgjgRgZfRfee"dcccc q@ɢ~xB= ?I! %#=ɡ!i!I%J I-9i- N7=i-t/=)-ћX@)1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440635D=|D=eD=,D9E= : E=96E=g4:E9"E=;!EE=;!E*E="*;!ME="*;!ME.)I 9i 0 ! U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692239Q >A d6=IIN?z L, 20)A0ybRLJ@ٱbLGX@b">b{=bH` ?`UͿ` /}? PVe?@F?IbRLJ@)b_;i`r|BrIitItMb@Mb@Mb@ )Ii#~j?+η?~jtx%?v=)1AI2Ai 2ABDq6DO4Yh!={l;Q)>99EYE%A%>)Q 15t4٪-Hw?Q 55t4-{G -B95'?Q A5:Y=0Q E=?y- cC)-. ;I-e ;i-Wt4YEhBE/AAeB*** querying acoustic contact ***:haBhagiuDNOT Ignoring new targets: 70.20 m.guG4:g}G4: ProNav: ac range: 70.199997 m, nav range: 66.723137 m, bearing: 205.818234 deg, approach rate: -0.665555 m/s, LOS rate: 0.039403 deg/s, cmd heading: 193.918155 deg, new cmd heading: 193.984087 deg. gU:bgX@ZgrgjgRgZfRfeeB"dcccc@g@ɢxBܥ= ?I c(=ɡiI`k I q9i;A7=i =)X@) iiIi)iԉ ABDAT read: Rx Time:18:21:58.2640 TRx dataTimestamp_ set to:1755627720.299139checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945898D}DcD*DE݉: EL96E(N4:E!@!@!@!@ԹvBE>~BABE&IBEI|BBABABEbDBABE9#EI9i/  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196327>A r.=I I) 1 N= >l4 L,&20)Ay6v(J@ٱ6p#X@6?(>6P=6H@@?@SͿJ!X|?Y,?@?I6v(J@)6z_;i6CB|BByIBDJ_6DJ.4YR0!RS=RG:Q)V>T9T9VEYVEZAZ>\Q 1bt4٪^c?Q 5bt4^I ^zB9`Yb0Q Ef?y^LcC)^-:I^:i^t4Ym`Bm/AmEgDNOT Ignoring new targets: 70.20 m.g-:g-: ProNav: ac range: 70.199997 m, nav range: 66.472801 m, bearing: 205.833584 deg, approach rate: -0.617046 m/s, LOS rate: 0.037978 deg/s, cmd heading: 193.984093 deg, new cmd heading: 194.030317 deg. g:bgX@ZgrgjgRgZfRfee"dcccc @ɢxB.= ?I +=ɡiIIc9im17=iF"=)X@) )I9i0>A#'=bAZAAIINE>IeDAT read: 18:21:58.2640 LVL= 25792, 32593, 31554, 32755, AGC= 70, IDX= 414,-0.47,-0.902,-2.979,-1.678,-1.430, PHS= 0.630,-1.504,-0.292, RAW= 124.5, 12.5, CAL= 124.7, 13.7, ROT= 25.3, -13.7 mYgot valid direction response: 18:21:58.2640 LVL= 25792, 32593, 31554, 32755, AGC= 70, IDX= 414,-0.47,-0.902,-2.979,-1.678,-1.430, PHS= 0.630,-1.504,-0.292, RAW= 124.5, 12.5, CAL= 124.7, 13.7, ROT= 25.3, -13.7 uPDAT read: Bearing 351.5, 18.2 (Local) u~Local bearing/azimuth received: Bearing 351.5, 18.2 (Local) }DAT read: Range 11 to 50 : 68.1 m (Round-trip 90.8 ms) speed 0.5 m/s *DAT read: user:931> BDAT read: Tx time:18:21:59.3691 $Ping request sent.%J @%Gt>%=>%GtI!i!)%gJ4($?$拳?`0?% [=%0`%=> %GtI!i!:publishing transmit ping time9Fpublishing direction and range info!%?ɨm?4ӋHP?!!I!i!!!!! !)!I!i!!!!!I!i!)%gJ4($?$拳?`0?!!! !I!i!D{DhD-DE=: E]96Et4:E"E;!E;!*E 5;!E5;!y ; L,>]@20)A0y>J@ٱ>X@>t>>k =>H?@ #_Ϳ#%Eq?U?`?I>J@)>:_;i>C^|B^dI]Mb@Mb@Mb@Y Y)YIYiY]x&?Zd;O?{Gz]7)?]j=]#)]2AI]t3Ai](A]>A Y]33ABDuk6DuD4Y!==Q)>99EYE잻A>Q 1t4٪3M?Q 5t4L fB9*?Q A:Y'1Q E?ycC)T ;I ;it4YXB 0AEJhYRh];n320)Ah]3Bh]z]X^~M@vtfjF<@ 0@~]?ɨm?4ӋHP?h]=>h]Gt ]ԹJ@؎D])"@~]P 鿀QgD?jh]v$rh]UZh]#?bh]g&#zh]4Bh]Ќy`?h]YXh]]Bh]Bh]0k@ addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 3.529247 s, deltaX: -2.099998 m, approachRate: -0.595027 m/s, rangeRepo size: 4  Added new target pos. range: 68.099998 m, bearing: 210.554163 deg, lat: 36.779404 deg, lon: -121.859622 deg, deltaT: 3.529247 s, deltaX: -2.099998 m, approachRate: -0.595027 m/s, posRepo size: 4 gDNOT Ignoring new targets: 68.10 m.gg ProNav: ac range: 68.099998 m, nav range: 66.761826 m, bearing: 210.554163 deg, approach rate: 0.000000 m/s, LOS rate: 0.037978 deg/s, cmd heading: 194.030320 deg, new cmd heading: 194.079634 deg. gbgX@ZgrgjgRgZfRfee#B"dcc c `fQ@c K?ɢ}xB}= y}h?Iy /=ɡiIIU9ԉi-%7=i- =)-X@)1I9i0@@A >A *!=Ii I N >D D D ,D E  E 6E g4:E ! @! @! @! @vB] >~B] ̍CB] IB] {BB] =BY BY B] ^;B] D#EM L,~pZ20)APyUI@ٱU W@U̓>Uv$=UH@?P`Ϳ(@ ?(Gjq??IUI@)UB_;iUCei|Bm:ImR=m<BD}u6D}RW4YS'!I=AQ)>99EYEfA>Q 1t4٪8?Q 5t4>O SB9YI1Q E?ycC)|:IR:i1t4Y1AgAEDNOT Ignoring new targets: 68.10 m.gM:gM:} ProNav: ac range: 68.099998 m, nav range: 66.496193 m, bearing: 210.591525 deg, approach rate: -0.665461 m/s, LOS rate: 0.093972 deg/s, cmd heading: 194.079634 deg, new cmd heading: 194.192166 deg. g};bg},X@ZgyrgyjgyRgZfRfee"dcccc,?ɢxBB4= %l?I! % 2=ɡ!i!I%I-59i-6=i-<)5,X@)IM9iIIM0I>A%Nw =IIN^>) ej L,'t20)Ay6]I@ٱ6WW@6D>6L4 =6H.*?@`̿d+[?1@ܣ??I6]I@)6*;_;i6CBh|BB9I!D}DdD-DE݉: E96Et4:E"E8;!E9;!*E~&;!E&;!Mb@Mb@Mb@ )Ii#~j?|?5^?y&1|%?=`)t3AI5Ai(ASAA 4ABDa6D24Y ! D= ֺQ) >99EYEYA>!Q 1-t4٪%"?Q 5-t4%Q %AB9-'?Q A-:Y5%0Q E5?y%dC)%C:I%. ;i%t4Y=nB=1A=EgaeDNOT Ignoring new targets: 68.10 m.gmտ:gmտ:} ProNav: ac range: 68.099998 m, nav range: 66.227798 m, bearing: 210.625346 deg, approach rate: -0.662766 m/s, LOS rate: 0.083857 deg/s, cmd heading: 194.192168 deg, new cmd heading: 194.294044 deg. g}3f;bg}NY@ZgrgjgRgZfRfee/B"dcc cc ?ɢxB= 顽h?I 5=ɡiIIf9iV6=i<)NY@)QI9i0q>Am =rAm >jAm >ԩ A I I N >Q L,20)Ay60I@ٱ6*W@60>6W=6HĎ?@̿,fu?!ߥ??I60I@)6ʌ_;i6C>E|BB$IBDFI6DFX4YNƽ!Re=RQ)R>T9T9VEYVEVAV>XQ 1t4ԙ٪Z?Q 5t4ZDT Z2B9Y.0Q E?yZ[dC)Z*=IZ*=iZ>t4Y_2AEB*** querying acoustic contact ***:hABhAgIUDNOT Ignoring new targets: 68.10 m.g:g: ProNav: ac range: 68.099998 m, nav range: 65.997841 m, bearing: 210.654652 deg, approach rate: -0.573137 m/s, LOS rate: 0.073295 deg/s, cmd heading: 194.294047 deg, new cmd heading: 194.382270 deg. g4I;bg Y@ZgrgjgRgZfT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Rfee"dcccc`1??ɢxB= 額\?I! %i8=ɡ!iiImykIm-8iup6=iuh<)u Y@)qDDhD)DE: E]96EFA4:E!@!@!@!@Ii0@=@=vB>~BBIB{BB =BBcDB^;BF#E>AU<A I I! N5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744858! *| L,uȧ20)Ay:\I@ٱ:VW@:_>:%<:HU@?!Ϳ)B?㤞?d?I:\I@):(`;i8F?|BF IiHIHBDNe6DN94YVb!VI=Z1Q)Z>X9X9ZEYZE^;A^>`Q 1fu4٪b7?Q 5fu4bV b B9hYj0Q Ej?ybdC)b:Ib$:ibnu4YnfBn82AnEg DNOT Ignoring new targets: 68.10 m.g #:g #:% ProNav: ac range: 68.099998 m, nav range: 65.736488 m, bearing: 210.687756 deg, approach rate: -0.722337 m/s, LOS rate: 0.091858 deg/s, cmd heading: 194.382266 deg, new cmd heading: 194.481973 deg. g%*|;bg% =Y@Zg!rg!jg)Rg)Zf)Rf)e)e1"d1c1c1c9c=`?ɢexBe = im9X?Ii m:=ɡiiiIunIu8i}6=i}b<)} =Y@)I9iH5)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999584>A5<D~DrD(DE: E?:6Ec44:E"EZ;!E[;!*EtY;!EtY;!YA) II Iq N >y c L,Q20)Ay6J@ٱ6 X@6>6N<6H@ @E?rxͿ#Ah@`:c? ?I6J@)67`;i6CB|BB I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252242Mb@Mb@Mb@ )Ii~jt?+η?y&1|$?v=)5AI5Ai)ACA 6ABDf6D;4Y;!8=fZ9Q)>99EYE;A>Q 1 u4٪届?Q 5 u4Y  B9 T&?Q A :Y 0Q E?ydC)j:I:iu4Y_B2AEgAEDNOT Ignoring new targets: 68.10 m.gM:gM:Qe ProNav: ac range: 68.099998 m, nav range: 65.453583 m, bearing: 210.726773 deg, approach rate: -0.636125 m/s, LOS rate: 0.088111 deg/s, cmd heading: 194.481973 deg, new cmd heading: 194.599531 deg. geq;bge^Y@ZgargajgaRgiZfiRfieieu7B"dqcqcycyc} l@ɢ%xB%`= %|%K?I) -==ɡ)i)I5 IU 8iUr6=iU<)U^Y@)YI9iJ1iICԉ)UG rA)IrAAԩ>A <bA ZA }AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509416BE-g4JE-2`4RE-ʳ0D zD iD -D E l: E 96E t4:E ! @! @! @! @A9 IA IY Ne > A A AAvB ~B B IB _{BB B B B ];B 6#E4 L,20)AyfIJ@ٱfDX@fj>f*99EYE <A>Q 1u4٪ѱ?Q 5u4;\ B9Y0Q E?y*eC):I:i%u4Y2AgDNOT Ignoring new targets: 68.10 m.g :g : ProNav: ac range: 68.099998 m, nav range: 65.199066 m, bearing: 210.761386 deg, approach rate: -0.636602 m/s, LOS rate: 0.086912 deg/s, cmd heading: 194.599534 deg, new cmd heading: 194.703778 deg. gn;bgx|Y@Zgrg!jg!Rg!Zf!Rf!e)e)"d)c)c)c1c5@ɢ]xBeU= aeZB?Ia e[9@=ɡaiiImIm<8iuT6=iu<)ux|Y@)yԙI-9i))-O5)@5~A@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761093>AMj< AE yAIi I N > M BDAT read: Rx Time:18:22:01.8609 M TRx dataTimestamp_ set to:1755627723.835979U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015291ȼ L,o20)Ay6тJ@ٱ6}X@6N+>61I<6H`? sPο|~`@4:?v?I6тJ@)6_;i4B{BBIBi>BDE~DADE)DAEE: EA6EEFA4:EA"EA!MEA!M*EE8;!MEE8;!UMb@Mb@Mb@ )IiMb?Zd;O?#?j=)Z8AI5AiK+ADA \7ABDc6D264Y!(=5:Q)> H?9 H?9 EY E ;A >Q 1u4٪?Q 5u4D_ B9%$?Q A%:Y%c0Q E%?yxeC):I:i6u4Y-WB-[3A5EgQ]DNOT Ignoring new targets: 68.10 m.g]c:g]c:m ProNav: ac range: 68.099998 m, nav range: 64.895821 m, bearing: 210.802222 deg, approach rate: -0.631312 m/s, LOS rate: 0.085411 deg/s, cmd heading: 194.703777 deg, new cmd heading: 194.826857 deg. guwj;bguY@ZgqrgqjgqRgqZfqRfyeye}>B"dycccc`]u @ɢ yBR= 顽2?I B=ɡiI *I 8i06=i<)Y@)I}8iyy}0ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264943I >A +O# L,M30)Ay6ҦJ@ٱ6̡X@6>6>=6H E??@1ο`\p?M F2??I6ҦJ@)6ue_;i6CB{BBIBDJn6DJpJ4Y-ҝ!5{==:Q)= ?9999EEYEEE;AE ?IQ 1Uu4٪Mz?Q 5Uu4MVa MۆB9YY]?0Q E]?yMeC)M;IM;iMBu4YePBe3AaB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 68.10 m.g:g: ProNav: ac range: 68.099998 m, nav range: 64.690094 m, bearing: 210.829743 deg, approach rate: -0.631191 m/s, LOS rate: 0.084706 deg/s, cmd heading: 194.826857 deg, new cmd heading: 194.909682 deg. gh;bgYY@ZgrgjgRgZfRfee"dccccf @ɢyB%= )?I D=ɡiII\h8i6=i <)YY@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535597D {D rD D E =: E ?:6E :E !-@!5@!5@!5@vB5>~B1B5kIB5{BB1B1B5bDB5];B5$#EB̍CB̍CBBĴ =Bĵ =B652D )I9i0A  DAT read: 18:22:01.8609 LVL= 17744, 30353, 22962, 32755, AGC= 68, IDX= 414,-0.46,-2.782, 1.438, 2.690, 2.972, PHS= 0.631,-1.488,-0.326, RAW= 123.2, 12.8, CAL= 123.5, 14.0, ROT= 26.5, -14.0  Ygot valid direction response: 18:22:01.8609 LVL= 17744, 30353, 22962, 32755, AGC= 68, IDX= 414,-0.46,-2.782, 1.438, 2.690, 2.972, PHS= 0.631,-1.488,-0.326, RAW= 123.2, 12.8, CAL= 123.5, 14.0, ROT= 26.5, -14.0  PDAT read: Bearing 352.2, 19.2 (Local)  ~Local bearing/azimuth received: Bearing 352.2, 19.2 (Local)  DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.6 ms) speed 0.6 m/s % *DAT read: user:932> = BDAT read: Tx time:18:22:02.9691 M $Ping request sent.M i @ 5z> h> 5zI i ) พ['?nk׫?'Jf? sd= ke h> 5zI i } :publishing transmit ping time9A } Fpublishing direction and range info o?u Z?79K? I i ) I i I i ) พ['?nk׫?'Jf? I i >A 8<rA >jA >i I IN > L,-30)AyvJ@ٱvX@v`S>v'6=vH g?@ ο ? @?`^?`?IvJ@)v _;ivC{B%IBDUe6DU94Yen!e/=eՕ:Q)e>iԑ9i9EYE;A>Q 1u4٪?Q 5u4dd ȆB9Y0Q E?yeC)(:I:iRu4Y3AJh1Rh5&30)Ah5fBh5#5N5{L@: q<@]|/@~5o?u Z?79K?h5h>h55z 5t( 2"I< nDNk#@~5{迯X B&EpR?jh5$rh5IZh5?bh5Wjzh5=Bh5;7=?h5n֦8h5&Bh5Bh5B|p@ addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.802272 s, deltaX: -2.400002 m, approachRate: -0.631202 m/s, rangeRepo size: 4  Added new target pos. range: 65.699997 m, bearing: 215.293708 deg, lat: 36.779428 deg, lon: -121.859669 deg, deltaT: 3.802272 s, deltaX: -2.400002 m, approachRate: -0.631202 m/s, posRepo size: 4 gDNOT Ignoring new targets: 65.70 m.gg imA ProNav: ac range: 65.699997 m, nav range: 64.504318 m, bearing: 215.293708 deg, approach rate: 0.000000 m/s, LOS rate: 0.084706 deg/s, cmd heading: 194.909680 deg, new cmd heading: 195.034703 deg. gbgY@ZgrgjgRgZfRfee"dccclP@c?Թɢ-yB%:= !%h?I! %G=ɡ)i)I-SI5D8i5q5=i5<D=D=gD9D9E=: E=&96E9:E9"E=);!]E=*;!]*E=i1;!eE=j1;!e)5Y@)i q9I 9i   /  @! @% =A>A=<IIN?H L,?N30)Ay6K@ٱ6Y@6q >6O=6H!?EPϿ`?`{u@ũ??I6K@)65_;i6CVe{BVIiXIX=Mb@Mb@Mb@9 9)9I9i9=Pn?#~j?=$?==9)9I=7Ai=,A=9FA 9=z8ABDUr6DUQ4Ye!e=e:Q)e>i9i9mEYmEu/;Au>yQ 1u4٪}Wx?Q 5u4}gQ 9tI }B9f%?Q A:Y1Q E?y}NfC)};I};i}mdu4YIB4AEԱgDNOT Ignoring new targets: 65.70 m.g ;g ; ProNav: ac range: 65.699997 m, nav range: 64.190491 m, bearing: 215.362340 deg, approach rate: -0.640019 m/s, LOS rate: 0.140652 deg/s, cmd heading: 195.034699 deg, new cmd heading: 195.241601 deg. g;bgCZ@ZgrgjgRgZfRfee(B"dcccc?ɢ=yB= 顥 ?I ˀI=ɡiIcIr 8i5=i\<)CZ@) I)DDhD,DE~: E]96Eg4:E!@!@!@!@vB>~BˍCB9IBzBB =BBB];B/#EI9i 1 >A >=Iq I N > L,l"i30)Ay6$EK@ٱ6@Y@6>6y^=6Hø ?Ͽ?T돫?E?I6$EK@)6_;i6C@@BDJi6DJ=A4R:Q)R>T9T9VEYV EV<AZ>\Q 1bu4٪^d?Q 5bu4^i ^B9`Yb0Q Eb?y^fC)^1:I^I:i^qu4YfBBj}4AjEgq}DNOT Ignoring new targets: 65.70 m.g};g}; ProNav: ac range: 65.699997 m, nav range: 63.949192 m, bearing: 215.414746 deg, approach rate: -0.599540 m/s, LOS rate: 0.130701 deg/s, cmd heading: 195.241599 deg, new cmd heading: 195.399410 deg. ge;bgcCZ@ZgrgjgRgZfRfee"dccccis?ɢLyB'= g?I W*K=ɡiI]IS7iM5=iX=)cCZ@)I9i=0>AV<DDjD-DEO: E96Et4:E"E;!E;!*EU<;!EU<;!bAZAyA)I9IQNm>Q < L,30)A~A{B~IMb@Mb@Mb@ )Iiy&1?ʡE?`%?=)6AI:Ai,A GA p9ABDb6D[44YD-!<Q)>99EY EA>Q 1u4٪N?Q 5u4l B9&?Q A:Y<1Q E?yfC):I<:iVu4Y;B4AEgDNOT Ignoring new targets: 65.70 m.g%(;g%(;9E ProNav: ac range: 65.699997 m, nav range: 63.673607 m, bearing: 215.476966 deg, approach rate: -0.649835 m/s, LOS rate: 0.147352 deg/s, cmd heading: 195.399404 deg, new cmd heading: 195.586873 deg. gE@;bgExZ@ZgArgAjgARgAZfIRfIeIeM5B"dQcQcQcYc]B?ɢ\yBUU= 页>I L=ɡiI`I7iۗ5=i<)xZ@)Ii0@A@}Aaԉ>A 9= D D lD *D E ~: E :6E (N4:E ! @! @! @! @A AI vB >~B B IB zBB =B B B &^;B M#E I N > L,"Ĝ30)Ay6K@ٱ6Y@6>6=6H@@n?`rJ¿@Nп`/? I??I6K@)60_;i4B{BBiIF>F>BDJk6DJD4Yr!rZ=v(;Q)v>vK?9vK?9zEYz Ez<Az>|Q 1u4٪~;?Q 5u4~o ~B9 Y 0Q E ?y~gC)~t:I~:i~vu4Y5AUB*** querying acoustic contact ***:hQBhQgDNOT Ignoring new targets: 65.70 m.g;g; ProNav: ac range: 65.699997 m, nav range: 63.438126 m, bearing: 215.529008 deg, approach rate: -0.613247 m/s, LOS rate: 0.136031 deg/s, cmd heading: 195.586879 deg, new cmd heading: 195.743582 deg. g;bgΥZ@ZgrgjgRgZfRfee"dccccp?ɢ=kyB=Vu= AE>IA E&N=ɡAiAIE~IMy7iM5=iUxA=)UΥZ@)QԱIi0MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.>A5U< I) I9 NM >A o L,h30)AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252937D}}D}hD},DyE}݉: E}]96E}g4:Ey"E}8;!E}9;!*E} 5;!E}5;!y?K@ٱ9Y@:8>'t=H ?@¿~nп?v0? ?I?K@)Z_;iCzB[I -Mb@Mb@Mb@) )))I)i)-y&1? rh?)-C=))-7AI- >Ai--A-tIA )-3;ABDEv6DE)Y4YUY:!U)=Ul:Q)U>Y9Y9]EY] E]];Ae>iQ 1uu4٪m#?Q 5uu4mq moB9uJ&?Q Au:Yu1Q Eu?ymegC)ma:Imj:imcu4YTB6A EgDNOT Ignoring new targets: 65.70 m.g+;g+; ProNav: ac range: 65.699997 m, nav range: 63.135864 m, bearing: 215.599842 deg, approach rate: -0.635022 m/s, LOS rate: 0.149528 deg/s, cmd heading: 195.743577 deg, new cmd heading: 195.957097 deg. g=;bgZ@ZgrgjgRgZfRfeeLB"dcccc@ɢ}yBL= 額>I oO=ɡiIxٻI<7ia^5=i<)Z@)I59i11=09QMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502589a >A] Nw =rAe >jAe >IY Ii Nu > L,R30)Ay:K@ٱ:Y@:>:ؐ=:H~? #¿п1S???I:K@):>_;i:CZzBZ:IBDby6Db^4Yjg"!jz=j6:Q)n?l9l9nEYn Er;Ar?tQ 1zu4٪v?Q 5zu4vs vaB9xYzq1Q E~?yvgC)v;Iv;ivΪu4Y~7Ag)-DNOT Ignoring new targets: 65.70 m.g5/(;g5/(;E ProNav: ac range: 65.699997 m, nav range: 62.932018 m, bearing: 215.647689 deg, approach rate: -0.624417 m/s, LOS rate: 0.147037 deg/s, cmd heading: 195.957103 deg, new cmd heading: 196.101107 deg. gE;bgE [@ZgArgAjgARgIZfIRfIeQeQ"dQcQcQcYc]@ɢ}yB}ca= y}#>Iy P=ɡiIaӻI7iD5=i<) [@)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755588De|DedDe)DaEe : Ee96EeFA4:Ea!m@!m@!m@!m@Iu9iqqu0q@@=vBE>~BABEIBE/zBBE =BABABEs^;BEs#Eq>Ae<IIN>ԙ = BDAT read: Rx Time:18:22:05.4578 = TRx dataTimestamp_ set to:1755627727.630611E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007625L( L,p30)A@~zB~-IiIBD t6D {U4Y%M!%F=%Q)%>)9)9-EY- E-A5>1Q 1}u4٪5?Q 5}u45zv 5PB9YQ E?y5gC)5H#I9 EcQ=ɡAiAIEߏͻIM>6iMw#5=iM<)Mx@[@)QԱI9iP5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260616>AG<DzDiD/DEl: E96EJ4:E"EЧ;!Eҧ;!II *E8;! E8;!% N >  L,%t40)Ay:L@ٱ: Z@:X>:8=:H@8?|¿Cп@Ŝ? ~?`Ԧ?I:L@):KC_;i8FzBF Il%Mb@Mb@Mb@! !)!I!i!%Pn?ʡE?Mb`?%$?%=%;)%&9AI%OAAi%\/A%KA !%p=ABD5q6D5O4YElX!MH=M'_Q)M>Q9Q9UEYU" EUc;AU>YQ 1eu4٪]%鰊?Q 5mu4]y ]@B9mF%?Q Am:Yme0Q Em?y]"hC)]:I]:i]u4YuGB}7A}EgDNOT Ignoring new targets: 65.70 m.g-";g-"; ProNav: ac range: 65.699997 m, nav range: 62.419857 m, bearing: 215.765256 deg, approach rate: -0.634562 m/s, LOS rate: 0.141787 deg/s, cmd heading: 196.284446 deg, new cmd heading: 196.455261 deg. g;bgPq[@ZgrgjgRgZfRfeecB"dcccc . @=DAT read: 18:22:05.4578 LVL= 31136, 32753, 32402, 32755, AGC= 68, IDX= 414,-0.10, 2.599, 0.532, 1.805, 2.046, PHS= 0.654,-1.470,-0.286, RAW= 123.8, 11.9, CAL= 124.1, 13.1, ROT= 25.9, -13.1 EYgot valid direction response: 18:22:05.4578 LVL= 31136, 32753, 32402, 32755, AGC= 68, IDX= 414,-0.10, 2.599, 0.532, 1.805, 2.046, PHS= 0.654,-1.470,-0.286, RAW= 123.8, 11.9, CAL= 124.1, 13.1, ROT= 25.9, -13.1 MPDAT read: Bearing 351.7, 18.7 (Local) M~Local bearing/azimuth received: Bearing 351.7, 18.7 (Local) UDAT read: Range 11 to 50 : 63.3 m (Round-trip 84.5 ms) speed 0.6 m/s ]*DAT read: user:933> eBDAT read: Tx time:18:22:06.5707 e$Ping request sent.e @ j>q> jIi)rQ`=?n)Rb?vYw?W=#HUq>  jIi:publishing transmit ping time9aFpublishing direction and range infof ?Ei6OQ:?+#?Ii )IiIi)rQ`=?n)Rb?vYw? IiɢyBL#= 顭q>I y@R=ɡiI1ŻIe6i@4=iVw<)Pq[@))MG a)qIۮwA I}9iyy}?09i >A <bA ~AZA AI1 vBM >~BI BM IBM yBBM =BI BM aDBM ^;BM #EBEʷG4JE-W4RE(90Dm Dm hDm )Di Em O: Em ]96Em FA4:Ei "Em ;Em ;*Em 5;Em 5;I N >u: L,aQ40)Ay:L@ٱ:Z@:.>:ߌr=:H*J?7¿oп(?5 ?}?I:L@):_;i8RmzBRIBDZs6DZS4Yb{!bS=fQ)f>d9d9jEYj' EjN9Aj>lQ 1ru4٪nհ?Q 5ru4n{ n1B9tYva0Q Ev?ynahC)nF:In:inu4Yxz8AxJh1Rh5C40)Ah53}Bh5Y5K@f:@,@~5f ?Ei6OQ:?+#?h5q>h5 j 5D5ZH4 DC< @~5 5b迉gE S;$?jh5h rh5@Zh5?bh5Vzh5*Bh5#?h5g&#h5=Bh5[{Bh5QYt@9M addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 3.529700 s, deltaX: -2.399998 m, approachRate: -0.679944 m/s, rangeRepo size: 4 ] Added new target pos. range: 63.299999 m, bearing: 218.752501 deg, lat: 36.779440 deg, lon: -121.859703 deg, deltaT: 3.529700 s, deltaX: -2.399998 m, approachRate: -0.679944 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 63.30 m.gegau ProNav: ac range: 63.299999 m, nav range: 62.839378 m, bearing: 218.752501 deg, approach rate: 0.000000 m/s, LOS rate: 0.141787 deg/s, cmd heading: 196.455256 deg, new cmd heading: 196.621453 deg. gqbgu֠[@ZgqrgqjgyRgyZfyRfyee"dccc`fO@c 8?ɢyB~C= w2>I R=ɡiIſI~6i4=iu<)u֠[@)qI  9i   15 @@Aiԙ>Amq<IIN> g L,.9840)Aԙy L@ٱZ@/>Q6L=Ho5`?`ξп@h?iL? ?I L@)^;iC1zBI R= p<D-{D)D-*D)E-=: E)6E-(N4:E)"E-;E-;*E)E)Mb@Mb@Mb@ )Iijt?x&?Mb`? ?7=);AIBAi0A >ABD6Dt4Y%!%)=%9Q)->)9)9-EY-- E5jA5>9Q 1Eu4٪=?Q 5Eu4=l~ =B9E!?Q AM:YM;1Q EM?y=hC)= ;I= ;i=u4YUABUE9AUEuB*** querying acoustic contact ***:hqBhqgyDNOT Ignoring new targets: 63.30 m.gF;gF; ProNav: ac range: 63.299999 m, nav range: 62.551022 m, bearing: 218.835383 deg, approach rate: -0.601810 m/s, LOS rate: 0.173774 deg/s, cmd heading: 196.621448 deg, new cmd heading: 196.871238 deg. g;bgD[@ZgrgjgRgZfRfeeVB"dcccc ?ɢyB*l= =I TS=ɡiIIq76i4=i~<)D[@)ԹT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-?BɺI 9i /  >Ae<rA >jA >Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246897A9IQIiN ?f L,Z40)AAXAZ<vB^>~B\B^kIB^xyBB\B\B\B^^;B^#EBˍCBˍCBB =B =BC5DnyDnjDn)DlEn: En96EnFA4:El"En;En;*EnU<;EnU<;yUL@ٱUZ@U>UL=UH_Ih?п?X? ?IUL@)UC_;iQzBIBDq6DO4Y (! "= Q) >99EY4 Ew:A>Q 1Mu4٪0?Q 5Mu4t  B9QYU31Q EU?yiC)/;I;iu4Y];B]9AYgDNOT Ignoring new targets: 63.30 m.gE;gE; ProNav: ac range: 63.299999 m, nav range: 62.249142 m, bearing: 218.922875 deg, approach rate: -0.593268 m/s, LOS rate: 0.172776 deg/s, cmd heading: 196.871242 deg, new cmd heading: 197.134987 deg. g&;bg3\@ZgrgjgRgZfRfee"dcccc?ɢyB.+\= d=I DS=ɡiI+I5iuW4=iV<)3\@)H<9Iqiqqu0ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498838i>A ԅ<ԑ A I I! N5 ># L,Jt40)Ay6L@ٱ6Z@6F>6P[=6HN?Q` п@%?l ,?ࢰ?I6L@)6^;i6CByBBIBDF6DF4YRr!Rf=Vj@Q)Z>`9`9fEYf8 EjQAj>lQ 1rv4٪nk?Q 5rv4n nB9tYvG1Q Ev?yn:iC)n:In:in*v4Yxz8:Axԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755649g DNOT Ignoring new targets: 63.30 m.gM..;gM..; ProNav: ac range: 63.299999 m, nav range: 62.033493 m, bearing: 218.986186 deg, approach rate: -0.516894 m/s, LOS rate: 0.152280 deg/s, cmd heading: 197.134983 deg, new cmd heading: 197.325576 deg. DuDDDEv: E6E:E"E$;E%;*EEg;bg/j\@ZgrgjgRgZfRfee"dcccc\?ɢ-yB5,O= 15QI1 58S=ɡ1i9I=I=5iEw4=iE#\<)E/j\@)I QQIQ)Qԡa>>I 9i / @ =@ =5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007716 >A ]<)AIIN?m;% L,40)Ay6^K@ٱ6XY@6P>6 l=6H 3?/п`=T? 6`S? r?I6^K@)6ޭ^;i6CByBBIiDIDMb@Mb@Mb@ )Ii r?L7A`?Mbp?#?+=;)j99EY? E&A>Q 1v4٪w?Q 5v4 B9u$?Q A:Y1Q E?yiC)h;I ;inv4Y5B:Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260279EgIUDNOT Ignoring new targets: 63.30 m.g]h;geh;} ProNav: ac range: 63.299999 m, nav range: 61.698963 m, bearing: 219.086987 deg, approach rate: -0.669817 m/s, LOS rate: 0.202923 deg/s, cmd heading: 197.325572 deg, new cmd heading: 197.629610 deg. gC <bg \@ZgrgjgRgZfRfee%B"dcccc@^@D}DgD2DE݉: E&96E4:E! @! @! @!@vB->~B)B-2IB-yBB- =B)B)B-^;B-#Eɢ zB$?= 页I R=ɡiI[ԘI^5iS3=i<) \@)ԡI}9iyyyy>AULM<AIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510741 `+ L,40)Ay6hK@ٱ6bY@6=6w=6H ( ? P]pп@5̚?]޿8?o?I6hK@)6^;i6CByBBwIBDJy6DJ^4Yj9!jZ=nIQ)n>l9p9rEYrD ErꟻAr>tQ 1zv4٪vd?Q 5zv4v. vڅB9|Y~1Q E~?yviC)v;Iv;iv$v4Y/BN;A Eg)5DNOT Ignoring new targets: 63.30 m.g5gZ;g5gZ;E ProNav: ac range: 63.299999 m, nav range: 61.471722 m, bearing: 219.156562 deg, approach rate: -0.621342 m/s, LOS rate: 0.190942 deg/s, cmd heading: 197.629611 deg, new cmd heading: 197.839108 deg. gE <bgM\@ZgIrgIjgIRgIZfIRfIeQeQ"dQcYcYcYc] A<@ɢzBd&= 額 I 6R=ɡiI%I"5iVo3=i`;)\@)IU8iQQU0Q-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7662619DvDfD,DEVz: E96Eg4:E"EG;!EH;!*E-;!%E-;!->AUcy J2 L,140)A6BDAT read: Rx Time:18:22:09.0563 :TRx dataTimestamp_ set to:1755627731.164035>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017596jyBbIEMb@Mb@Mb@A A)AIAiAEp= ף?V-?{Gzt?E%?Eh=Eף;)E;=AIEBAiEA4AQEZNA AEz@ABDe6Dek4Yu3!u3=uQ)u>y9y9}EY}J E}A>Q 1v4٪M?Q 5v4 ɅB9&?Q A:YI1Q E?yjC)g;I;i4v4Y)B;AEB*** querying acoustic contact ***:hBhgIMDNOT Ignoring new targets: 63.30 m.gUT;gUT;e ProNav: ac range: 63.299999 m, nav range: 61.191254 m, bearing: 219.241257 deg, approach rate: -0.612883 m/s, LOS rate: 0.185924 deg/s, cmd heading: 197.839107 deg, new cmd heading: 198.094354 deg. ge2;bgeF]@ZgargajgRgZfRfee+B"dcccc} @ɢ-zB *=  BCI  Q=ɡiI I4ig3=iD8)F]@) iԁIi/@~A@>Ar;rA>jA>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268062ԱAIIN>DDjD'DE~: E96E'4:E! @! @! @! @A) A- @AvB5 >~B5 ̍CB5 IB5 xBB5 =B1 B5 bDB5 e^;B5 p#E u8 L,|40)Ay=pK@ٱ=jY@=D==ͪO==H˱=$?@Ykпq ??kpé??I=pK@)=s^;i=CM6yBUBIU0>U4<BDe{6De]b4Yub !u\=u{Q)}>y9y9}EY}N EA>Q 1v4٪:?Q 5v4H B9YP1Q E?yZjC);I;i~Av4Yu BDAT read: Tx time:18:22:10.1691 $Ping request sent.imf_>imf_Iiii)m; R?2oJ?0wf ?m3=mIi mf_Iiii:publishing transmit ping time9Fpublishing direction and range infoimś?|J?K?iiIiiiiiii i)iIiiiiiI9i0iiIiii)m; R?2oJ?0wf ?iii iIiii>A"5; A1 I I N >9 DE {DE hDE *DA EE =: EE ]96EE (N4:EA "EE ;!M > L,J40)AE};!*E} 5;!E}5;!yB,IMb@Mb@Mb@ )Iiw/?AIBAi5A GAABDy6D^4Y!E=Q)>99EYT EA>Q 1v4٪%?Q 5v4ސ B9'?Q A:YN1Q E?yjC) ;I ;iPv4YEB=A EJhRh440)AhftBh`dEaJ@{S:@7pr*@~ś?|J?K?hhf_ ,J|YKGdGYC @~iI:cffEЀSF{?jhrhZ:ZhqϠ?bh݊zhBhqϠ?h݊h4BhErBhdmu@ addTargetRange:: Added new target pos. range: 61.099998 m, deltaT: 3.530453 s, deltaX: -2.200001 m, approachRate: -0.623150 m/s, rangeRepo size: 4  Added new target pos. range: 61.099998 m, bearing: 219.717952 deg, lat: 36.779443 deg, lon: -121.859705 deg, deltaT: 3.530453 s, deltaX: -2.200001 m, approachRate: -0.623150 m/s, posRepo size: 4 gDNOT Ignoring new targets: 61.10 m.gg5 ProNav: ac range: 61.099998 m, nav range: 60.567631 m, bearing: 219.717952 deg, approach rate: 0.000000 m/s, LOS rate: 0.188297 deg/s, cmd heading: 198.304065 deg, new cmd heading: 198.549826 deg. g9bg=D]@Zg9rg9jg9Rg9Zf9RfAeAeEB"dAcIcIcm̌N@cmo?ɢQzBD< <6I O=ɡiI-ChI5rW4i5>32=i5)5D]@)9I9i/A>AeIIN>i E L,-%50)A y>K@ٱ>Y@>ǭ=>wN=>H`uX?п`Ɠ?ƼU??I>K@)>|^;i<^xB^IBDfz6Df`4Yn*G!n[=rQ)r>p9t9vEYvX Ev<Av>xQ 1uv4٪z?Q 5}v4z5 zB9Y1Q E?yzjC)z~BBIBoxBB =BBB1^;BX#E~A~AiI8i#0@=@=ԙPExceeded connect timeout, disconnecting.>Ar I I N >AK L, 050)APy ,L@ٱ 'Z@ s= xV= Hxȃ?k;п AW?绿ګ?@?I ,L@) q{^;i C=xBEIiAIEA II)Q QBDUr6DUQ4Y7<!@=gQ)>99EY^ E;;A>Q 1v4٪?Q 5v4 B9Y0Q E?y%kC)g:I:ikv4Y?BU>AU EgDNOT Ignoring new targets: 61.10 m.g];g]; ProNav: ac range: 61.099998 m, nav range: 60.072426 m, bearing: 219.873320 deg, approach rate: -0.614989 m/s, LOS rate: 0.193756 deg/s, cmd heading: 198.768327 deg, new cmd heading: 199.017864 deg. g<bgN^@ZgrgjgRgZfRfee"dcccc@W?ɢtzB~<  jӾI  ADM=ɡ iIvCI3ic1=ih)N^@)I9iA0DuD|D,DEv: EP$:6Eg4>A:E"E$;!-E&;!5*E};!=E};!=IINd>! ]R L,YJ50)AitIt)MG a)yIGA}xB}IMb@Mb@Mb@ )IiK7?T㥛 ?{Gzt?)?=ף;)OAAICAi7A+OA BABD6Di4Y-!-2=5Q)5>19195EY5d E=A=>AQ 1Mv4٪E䯊?Q 5Mv4E EB9M*?Q AU:YU1Q EU?yEskC)Eu;IE;iE{v4Y]:B]C?A] E}B*** querying acoustic contact ***:hyBhygDNOT Ignoring new targets: 61.10 m.g|;g|; ProNav: ac range: 61.099998 m, nav range: 59.785671 m, bearing: 219.968766 deg, approach rate: -0.660281 m/s, LOS rate: 0.220827 deg/s, cmd heading: 199.017861 deg, new cmd heading: 199.305569 deg. g<bg`^@ZgrgjgRgZfRfeeB"dcccc?ɢzB0ْ< I K=ɡiI.IU3i0=iY)`^@))YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BEe(N4JEe [4REe0DvDdD)DEVz: E96EFA4:E!@!@!@!@AA<vB>~BBIBxBB =BBB];B<#E 8<ԁ I 9i / @ A@ ~A nManaging dock network, ignoring radio surface power offԩ >ArA>jA>IIIYNm?KZ L,w.k50)A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999112UxBUIBDeu6DeRW4qYu!}6=yQ)}>99EYi EA>Q 1v4٪Zͯ?Q 5v4 wB9YQ E?ykC):I:iv4Y5B?AgIUDNOT Ignoring new targets: 61.10 m.gU5r;gU5r;e ProNav: ac range: 61.099998 m, nav range: 59.504570 m, bearing: 220.063277 deg, approach rate: -0.626848 m/s, LOS rate: 0.211753 deg/s, cmd heading: 199.305576 deg, new cmd heading: 199.590446 deg. geS<bge^@ZgargijgRgZfRfee"dcccc`@ɢzBvb< 页4I hpI=ɡiI I-3iH0=i)^@)ԡ#ےAM2DI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253822I9N>DDnDDE1: E:6E:E"Em;!e Eo;!m *EJ;!u EJ;!u 1 &/a L,50)Ay6L@ٱ6Z@6V=6=6Hۜ z+?ѿ@|m?`@F?i?I6L@)6^;i6CNYxBRIR8>R]Mb@Mb@Mb@Y Y)YIYiY]x&?Mb?Mb?]7)?]=]<)]~@AI]`EAi]&9AY Y]CABDux6Du\4Y#ǽ!J=ƺQ)>99EYo E<A>Q 1v4٪Z?Q 5v4 lB9*?Q A:Y1Q E?ylC):IH:iv4YF@AgDNOT Ignoring new targets: 61.10 m.g g;g g;% ProNav: ac range: 61.099998 m, nav range: 59.250854 m, bearing: 220.145914 deg, approach rate: -0.618956 m/s, LOS rate: 0.202459 deg/s, cmd heading: 199.590449 deg, new cmd heading: 199.839417 deg. g% <bg-9_@Zg)rg)jg)Rg)Zf)Rf)e1e5B"d9c9c9c9c=@ɢzBD; I %G=ɡ!i!I%]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503767Ie2iey/=im))m9_@)q I)AqI9i/ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754977ԙ vB >~B ͍CB jIB wBB =B B cDB ];B B̍CB̍CBbD ZD D D kD D E  E :6E :E "E n;E *E ?;E ?;B˵ =B˵ =B5>A5 lXbA5 }AZA1 AaIIN?fi L, ҥ50)AyJ+~M@ٱJ%y[@J=a=JB=JH s? Dҿ@$$?>㷿??IJ+~M@)J^;iJCV1xBVIBD^6D^}4Yfh!f'=fp[Q)j>l9l9nEYnu En7<Ar>pQ 1vv4٪r?Q 5zv4rD r`B9xYz0Q Ez?yrVlC)r;Ir;irv4Y~0B@A Eg!-DNOT Ignoring new targets: 61.10 m.g5_i;g5_i;E ProNav: ac range: 61.099998 m, nav range: 58.942532 m, bearing: 220.244370 deg, approach rate: -0.635606 m/s, LOS rate: 0.204029 deg/s, cmd heading: 199.839423 deg, new cmd heading: 200.136334 deg. gE <bgE_@ZgArgAjgARgAZfIRfIeIeQ"dQcQcQcQc]@ɢzB; 額"%I (E=ɡ i I eݺIƑ2i[/=i0)_@)IBDAT read: Rx Time:18:22:12.6516 TRx dataTimestamp_ set to:1755627734.691639checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009451I8i/@@=y>A0ԡA I) IA N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259987D {D rD *D E =: E ?:6E (N4:E ! @! @! @! @ -o L,Ω50)Ay%M@ٱ%[@%+Q=%=%H ?+_ҿ @0?P⶿?`?I%M@)%0_;i!5wB5IMb@Mb@Mb@ )Iiv/?T㥛 ?Mbp?x)?=;)IGAi9A QDABD|6D4d4Y@!:=Q)>99EYz E.<A>Q 1v4٪;?Q 5 v4) TB9 =*?Q A :Y M0Q E?ylC);I;i@v4Y+BjAAEgAEDNOT Ignoring new targets: 61.10 m.ԩgf;gf; ProNav: ac range: 61.099998 m, nav range: 58.665462 m, bearing: 220.332731 deg, approach rate: -0.629783 m/s, LOS rate: 0.201794 deg/s, cmd heading: 200.136332 deg, new cmd heading: 200.402664 deg. g} <bg_@ZgrgjgRgZfRfee B"d c c cc@En @ɢ}zB}@: 顅7I gB=ɡiIIUE2i]q.=i4)_@)mDAT read: 18:22:12.6516 LVL= 29360, 32753, 29218, 32755, AGC= 68, IDX= 415,-0.28,-0.614,-2.618,-1.319,-1.095, PHS= 0.584,-1.477,-0.267, RAW= 125.7, 12.9, CAL= 125.7, 14.1, ROT= 24.3, -14.1 uYgot valid direction response: 18:22:12.6516 LVL= 29360, 32753, 29218, 32755, AGC= 68, IDX= 415,-0.28,-0.614,-2.618,-1.319,-1.095, PHS= 0.584,-1.477,-0.267, RAW= 125.7, 12.9, CAL= 125.7, 14.1, ROT= 24.3, -14.1 PDAT read: Bearing 353.8, 19.2 (Local) ~Local bearing/azimuth received: Bearing 353.8, 19.2 (Local) I9i/DAT read: Range 11 to 50 : 58.8 m (Round-trip 78.4 ms) speed 0.7 m/s *DAT read: user:935> BDAT read: Tx time:18:22:13.7691 $Ping request sent.h @d{>%>d{Ii):d4 ?d?Y?nE=q'f%> d{Ii:publishing transmit ping time9Fpublishing direction and range info*Ø FI?gt? .?Ii )IiIi):d4 ?d?Y? Ii >A 1 A yAI I9 NM >v L,50)Ay6N@ٱ6{\@6Ǯ=6?=6H`{ U?lE@ҿ4@?@,ҵa??I6N@)6^;i6C <>AbwBbmIidIfABDj6Djq4Yr!rK=v)Q)v>v H?9v H?9zEYz EzbR<Az>|Q 1v4٪~qs?Q 5v4~צ ~JB9 Y /Q E ?y~lC)~-:I~:i~Pv4YvB%>~B!B%8IB%wBB% =B!B%bDB%^;B%G#E5AA1D]}D]uD].DYE]݉: E]:6E]ـ4:EY"E]8;!mE]9;!m*E]_d;!mE]`d;!mJhQRhU7o50)AhU3kBhUUI@ dW,w7@(OF-,@~U*Ø FI?gt? .?hU%>hUd{ Uļ1!FSO{B[q'@~Ud20\t7pt ?jhUrhU 1ZhUд᠊?bhU3szhUBhUд᠊?hQhQhUhBhUQ[v@ addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 3.528260 s, deltaX: -2.299999 m, approachRate: -0.651879 m/s, rangeRepo size: 4  Added new target pos. range: 58.799999 m, bearing: 220.549997 deg, lat: 36.779445 deg, lon: -121.859705 deg, deltaT: 3.528260 s, deltaX: -2.299999 m, approachRate: -0.651879 m/s, posRepo size: 4 gDNOT Ignoring new targets: 58.80 m.gPowering the camera and arming the capture device at range: 58.80 m.zggg ProNav: ac range: 58.799999 m, nav range: 58.248192 m, bearing: 220.549997 deg, approach rate: 0.000000 m/s, LOS rate: 0.201794 deg/s, cmd heading: 200.402668 deg, new cmd heading: 200.652956 deg. gbg!`@ZgrgjgRgzgZfRfee"dccc`ffM@c?QɢzB DI m?=ɡiIEI 1iu.=i)!`@) &Changing to mode: 2ԁI9i/ԩ>A A I I N >| L,À50)Ay:lN@ٱ: g\@:٥=: E=:H&s?Fi0ҿNA?@T?L?I:lN@):!_;i:CBwBBHIBDJp6DJN4YRc!RM=V3Q)V>X9X9ZEYZ EZ[@<AZ>\Q 1bv4٪^^?Q 5bv4^ ^AB9dYf/Q Ef?y^)mC)^];I^;i^6v4Yj'BnBAnEzB*** querying acoustic contact ***:hxBhxgDNOT Ignoring new targets: 58.80 m.g Powering the camera and arming the capture device at range: 58.80 m.zg gm;gm;% ProNav: ac range: 58.799999 m, nav range: 57.997028 m, bearing: 220.629813 deg, approach rate: -0.649243 m/s, LOS rate: 0.207213 deg/s, cmd heading: 200.652953 deg, new cmd heading: 200.893437 deg. g%5<bg%nf`@Zg!rg!jg!Rg)zg)Zf)Rf)e1e1"d1c1c1c9c=@?ɢe{Bm,g im>XIi mM==ɡiiqIu؀KIuG1i}.=i})}nf`@)y))ԡT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IP7i0@ @ ADu~DurDu0DqEu: Eu?:6Eu4:Eq!@!@!@!@>AyA I I N >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979231! h L,660)AyVۗN@ٱVՒ\@VG=Vw=VH o ?,Y'ӿ} b? x[??IVۗN@)VYa;iVC^wB^QIMMb@Mb@Mb@I I)IIIiIMK7?p= ף?~jth?M)?M=MD;)IIMtIAiM;AMZNA IMDABDe~6Deg4Ym=!m?=u9Q)u>y9y9}EY} E};A>Q 1v4٪H?Q 5v4r 8B9*?Q A:YR/Q E?yrmC)7 ;I ;i&v4Y"B\BAEgDNOT Ignoring new targets: 58.80 m.gPowering the camera and arming the capture device at range: 58.80 m.zggOe;gUOe;e ProNav: ac range: 58.799999 m, nav range: 57.726250 m, bearing: 220.715022 deg, approach rate: -0.634103 m/s, LOS rate: 0.200477 deg/s, cmd heading: 200.893431 deg, new cmd heading: 201.150255 deg. ge <bge߯`@ZgargajgiRgizgiZfiRfiee܄B"dcccc` ?ɢ{Bp.  ZI &:=ɡiI~Io1i-=i)߯`@)I4i9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231174vB%>~B%ˍCB% IB%?wBB% =B!B%aDB%c^;B%o#ED}D}oD}-DyE}: E}:6E}t4:Ey"E};!E}½;!*E}N;!E}N;!>Ai A I I N 9ʉ L,)60)A y:N@ٱ:\@:f,=: =:H@i? Uz_ӿ@t@?`AO??I:N@):a;i:CF|wBF2IBDNq6DNO4YV!VX=VNQ)V>X9X9ZEYZ E^(<A^>`Q 1fv4٪bf5?Q 5fv4b b0B9dYf/Q Ef?ybmC)b :Ib:ibbv4Yln"CAlgyDNOT Ignoring new targets: 58.80 m.gPowering the camera and arming the capture device at range: 58.80 m.zggg[;gg[;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483263 ProNav: ac range: 58.799999 m, nav range: 57.486076 m, bearing: 220.790404 deg, approach rate: -0.608602 m/s, LOS rate: 0.191818 deg/s, cmd heading: 201.150260 deg, new cmd heading: 201.377350 deg. g <bg `@Zg rg jg Rg zg Zf Rfee"dcccc%XC?ɢM({BM } IMkIQ UD7=ɡQiQIUTA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735237 A% AI) IA Ne >D }D mD 'D E ݉: E :6E '4:E ! @! @! @! @, L,B60)Ay6O@ٱ6 ]@6)=6=6H@HcYH?``(ӿiq?ܰ`o̳?`?I6O@)6xa;i6CLR{wBP-Mb@Mb@Mb@) )))I)i)-uV?eK?9eK?9eEYe Ee<Ae>iQ 1uw4٪m?Q 5}w4m m*B9}v)?Q A}:Y}-.Q E}?ymmC)m: ;Im ;imLw4Y?BDAEg)MDNOT Ignoring new targets: 58.80 m.gQuPowering the camera and arming the capture device at range: 58.80 m.zgqguZ;guZ; ProNav: ac range: 58.799999 m, nav range: 57.215866 m, bearing: 220.871717 deg, approach rate: -0.633067 m/s, LOS rate: 0.191406 deg/s, cmd heading: 201.377350 deg, new cmd heading: 201.622439 deg. g\<bg6a@ZgrgjgRgzgZfRfee҄B"dcccc .?ɢ={BNӢ pI ;3=ɡi!I%s8I-0i5,=i5$)56a@)9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987757I/i/@=@=>A ! I I1 N= >tҖ L,(\60)Ay6FLO@ٱ6@G]@6[w=6=>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2392456Hn\?ി qӿ^`c?` &?@?I6FLO@)6`;i4FTwBFIBDL6DLYVH˽!VX=ViQ)Z>X9X9^EY^ E^"<A^>`Q 1fw4٪bn ?Q 5fw4bʹ b$BAhAjp<vBn>~BlBnIBnwBBlBlBlBn^;Bn#E9dYz-Q Ez?yb;nC)b;Ib#;ibw4Y;BDAEg)5DNOT Ignoring new targets: 58.80 m.g15Powering the camera and arming the capture device at range: 58.80 m.zg1g=`;g=`;M ProNav: ac range: 58.799999 m, nav range: 56.975685 m, bearing: 220.943688 deg, approach rate: -0.652527 m/s, LOS rate: 0.196355 deg/s, cmd heading: 201.622444 deg, new cmd heading: 201.839265 deg. gM<DU{DUeDU*DQEU=: EU96EU(N4:EQ"EU;!eEU;!e*EU"*;!eEU"*;!ebgmta@ZgirgijgRgzgZfRfee"dcccc`%@ɢMP{BMJU IM~II Uu0=ɡQiQIU 9I]Ѫ0i]6Y,=i]F')]ta@)aI-i!!%1!Ai5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491771>AE6.IA IQ N] >ԑ L,_v60)Ay:;O@ٱ:5]@:b=:[I=:HU ?óԿUTꜭ?P;??I:;O@):n_;i:CF>wBF IiHIHBDR6DRv4YV>W!VK=ZRQ)Z>X9\9^EY^ E^]<Ab>`Q 1fw4٪b?Q 5jw4b bB9hYj-Q Ej?ybnC)b9:IbR:ibw4YprDAp~B*** querying acoustic contact ***:h|Bh|g  DNOT Ignoring new targets: 58.80 m.g Powering the camera and arming the capture device at range: 58.80 m.zgg\;g\;- ProNav: ac range: 58.799999 m, nav range: 56.720135 m, bearing: 221.019965 deg, approach rate: -0.641585 m/s, LOS rate: 0.192365 deg/s, cmd heading: 201.839262 deg, new cmd heading: 202.069124 deg. g-<bg5a@Zg1rg1jg1Rg1zg1Zf1Rf9e9e9"dAcAcAcAcM@ԉɢc{BA I _-=ɡiI\*:Ii0iU+=iU,.)Ua@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745541I*i/5D|DiDDE : E9ԩ6E:E!@!@!@!@>Aܪ&IYIiNu> )- G E Ae BDAT read: Rx Time:18:22:16.2484 e TRx dataTimestamp_ set to:1755627738.222242m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999849)i I ۿ A kAߣ L,<60)Ay6O@ٱ6 ]@6L=6=6H`fL?bWԿHP]?@Ci9i9mEYm Eu=(<Au>yQ 1w4٪}ᮊ?Q 5w4} }B9-?Q A:Y(-Q E?y}nC)}:I}:i}+w4Y7B8EA EgDNOT Ignoring new targets: 58.80 m.gPowering the camera and arming the capture device at range: 58.80 m.zggZ;gZ; ProNav: ac range: 58.799999 m, nav range: 56.442005 m, bearing: 221.101143 deg, approach rate: -0.651948 m/s, LOS rate: 0.191222 deg/s, cmd heading: 202.069125 deg, new cmd heading: 202.313857 deg. g;<bga@ZgrgjgRgzgZfRfeeÄB"dcccc` @ɢ%x{B%{L )-I) -C)=ɡ)i)I-hr:I5#0i=m|+=i=ܰ-)=a@)9 II(i5@}A@~A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247172vB>~BBIBvBB =BBB-_;B#EbDqZDu@ABEJE-W4RE0D}vD}pD})DyE}Vz: E} :6E}FA4:Ey"E}G;!E}H;!*E},R;!E},R;!>A01IIN>Y  L,#60)Ay:xP@ٱ:r^@:9=:nw=:HrA_?@YԿ`:j?`.. ⃴?9?I:xP@):v3_;i8FvBFIBDN6DNӀ4YV!VW=ZLQ)Z>X9X9ZEYZ E^P<A^>`Q 1fw4٪b9ή?Q 5fw4bѽ bB9hYj,Q Ej?yb oC)b:Ib:ib8w4Yn6BnEApg DNOT Ignoring new targets: 58.80 m.g  Powering the camera and arming the capture device at range: 58.80 m.zg gX;gX;% ProNav: ac range: 58.799999 m, nav range: 56.193874 m, bearing: 221.172954 deg, approach rate: -0.651761 m/s, LOS rate: 0.189457 deg/s, cmd heading: 202.313851 deg, new cmd heading: 202.530233 deg. g%<bg%{:b@Zg)rg)jg)Rg)zg)Zf)Rf)e1e1"d1c1c9c9c= C @ɢm{Bmc) imIi u]&=ɡqiqIu:I}:/i+=i){:b@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5025809I50&i99=3Aa>A}[1IIN%>ԉ DAT read: 18:22:16.2484 LVL= 27696, 32753, 25554, 32755, AGC= 62, IDX= 414, 0.17, 0.139,-1.787,-0.384,-0.255, PHS= 0.496,-1.486,-0.173, RAW= 130.6, 13.3, CAL= 130.0, 14.4, ROT= 20.0, -14.4  Ygot valid direction response: 18:22:16.2484 LVL= 27696, 32753, 25554, 32755, AGC= 62, IDX= 414, 0.17, 0.139,-1.787,-0.384,-0.255, PHS= 0.496,-1.486,-0.173, RAW= 130.6, 13.3, CAL= 130.0, 14.4, ROT= 20.0, -14.4  PDAT read: Bearing 356.5, 17.6 (Local)  ~Local bearing/azimuth received: Bearing 356.5, 17.6 (Local)  DAT read: Range 11 to 50 : 56.3 m (Round-trip 75.1 ms) speed 1.0 m/s  *DAT read: user:936>  BDAT read: Tx time:18:22:17.3691  $Ping request sent. > ?5) &1I @i ,m> 6@ > ¸> I i ) I@??rU? => l ¸> I i u :publishing transmit ping time9 u Fpublishing direction and range info   ?maқ3?l? I i ) D |D eD *D E : E 96E (N4:E ! @! @! @! @I i I i ) I@??rU? I i B L,60)AɰXXyu>qP@ٱu8l^@u9&=u%=uH5IJ?@ ԿQ+"4?`Ϥ?O?Iu>qP@)uD_;iuCvBIԉMb@Mb@Mb@ )Ii#~j?ˡE?99EY Eo!<A> Q 1w4٪ 洮?Q 5w4  B9E:'?Q AE:YE+Q EE?y aoC) ;I v;i Jw4YIM FAQJhRhmS60)Ah3aBh1b I@;u2@cx,@~  ?maқ3?l?h¸>h ,E @@~q*@~؃9^-3㿛af?jhrh-ZhDx?bhY(2zh3Bhhh=Bh{_Bh&w@} addTargetRange:: Added new target pos. range: 56.299999 m, deltaT: 3.779554 s, deltaX: -2.500000 m, approachRate: -0.661454 m/s, rangeRepo size: 4  Added new target pos. range: 56.299999 m, bearing: 221.261448 deg, lat: 36.779445 deg, lon: -121.859705 deg, deltaT: 3.779554 s, deltaX: -2.500000 m, approachRate: -0.661454 m/s, posRepo size: 4 gDNOT Ignoring new targets: 56.30 m.ԱgPowering the camera and arming the capture device at range: 56.30 m.zggg! ProNav: ac range: 56.299999 m, nav range: 55.870213 m, bearing: 221.261448 deg, approach rate: -20323944673858027520.000000 m/s, LOS rate: 0.189457 deg/s, cmd heading: 202.530231 deg, new cmd heading: 202.831279 deg. gbgb@ZgrgjgRgzgZfRfeeB"dcc c `f&L@c %W?ɢu{B} y}חIy } =ɡiI4:I#/iz*=i%)b@)IM"iIIM0I@U=@Q >Am 0A A vB >~B ̍CB IB vBB =B B bDB o_;B #EBˍCBBB̶ =BB6rD =jD <D ~D kD (D E : E :6E c44:E "E Z;! E [;! *E ?;! E ?;! AyAIIN>"X L,60)Ay6P@ٱ6^@6=6Ф=6H( ?@*F@oEտ N?`㐴??8I6P@)6!_;i6CBvBBIBDh6DhYr#f!rU=r7/Q)r>v H?9v H?9vEYv Eva<Az>|Q 1w4٪~ ?Q 5w4~ ~B9Yg+Q E?y~oC)~:I~I:i~)Xw4Y2BDFA Eg9=DNOT Ignoring new targets: 56.30 m.g9EPowering the camera and arming the capture device at range: 56.30 m.zgAgEJM;gEJM;] ProNav: ac range: 56.299999 m, nav range: 55.628265 m, bearing: 221.326886 deg, approach rate: -0.660726 m/s, LOS rate: 0.179478 deg/s, cmd heading: 202.831278 deg, new cmd heading: 203.028444 deg. g]Y;bg]b@ZgYrgYjgYRgYzgYZfaRfaeaea"dicicicqcu?ɢ{Bue 顥I ׎=ɡiI ':IV/i$*=i )b@)Ie: iaam4iԡ>A0A AI I N >f} L,X60)Ay6&Q@ٱ6!_@63=6N0=6H`f?Zέtտu ԰? 㺠>ݴ?[?I6&Q@)6C^;i6CNvBRIBDVw6DV[4Y^x!bM=bQ)b>fK?9fK?9fEYf Efm<Af>hlQ 1rw4٪j}?Q 5rw4j jB9tYv +Q Ev?yjoC)j.;Ij/;ijfw4Yz/BzFAz EB*** querying acoustic contact ***:hBhg!-DNOT Ignoring new targets: 56.30 m.g)-Powering the camera and arming the capture device at range: 56.30 m.zg)g5@;g5@;E ProNav: ac range: 56.299999 m, nav range: 55.376415 m, bearing: 221.394027 deg, approach rate: -0.629069 m/s, LOS rate: 0.168469 deg/s, cmd heading: 203.028439 deg, new cmd heading: 203.230779 deg. gE<;bgMc@ZgIrgIjgIRgIzgIZfIRfQeaei"dqDDhD*DE1: E]96E(N4:E!@!@!@!@cQccc?ɢ{B4 I =ɡiI+h; I/i)=iܻ)c@)I\i59T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A  a A I I N% >6e L,870)AyBQ@ٱB~_@B=(=SQ)>99EY EV<A>Q 1w4٪x?Q 5w4M 9U-?Q AU:YUi*Q EU?y.pC)uw4YaeGAagDNOT Ignoring new targets: 56.30 m.gPowering the camera and arming the capture device at range: 56.30 m.zgg:;g:;% ProNav: ac range: 56.299999 m, nav range: 55.091820 m, bearing: 221.467580 deg, approach rate: -0.628010 m/s, LOS rate: 0.163146 deg/s, cmd heading: 203.230776 deg, new cmd heading: 203.452573 deg. g%;bg%;Bc@Zg!rg)jg)Rg)zg)ZfIRfQeQeUB"dQcYcYcYc]?ɢ{Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500838vB%>~B!B%IB%svBB% =B!B!B%l_;B%#Ei8h 顭UI ==ɡiIU;Iz.iA)=iL3);Bc@)DDlD'DEa: E:6E'4:E"EK;!EL;!*EC;!EC;!I_i 5@@ԙ>A Qϻ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752525A I I N >y L,170)Ay6Q@ٱ6_@6_N<6˵=6H60 ?MNDֿ6P?ɚ@ԯ?@?I6Q@)6_;i6C^vB^IBDf6Dfsx4YnR<!nK=rQ)r>p9p9vEYv EvUK<Av>x|Q 1w4٪~`d?Q 5w4~ |9 Y *Q E ?y~tpC)~d:I~:i~;w4Y+BFA Eg9=DNOT Ignoring new targets: 56.30 m.gAEPowering the camera and arming the capture device at range: 56.30 m.zgAgMK;gMK;] ProNav: ac range: 56.299999 m, nav range: 54.829082 m, bearing: 221.534758 deg, approach rate: -0.693582 m/s, LOS rate: 0.178188 deg/s, cmd heading: 203.452580 deg, new cmd heading: 203.655078 deg. g];bg]#|c@ZgYrgYjgaRgazgaZfaRfaeiei"dicicqcqcuR?ɢ{BJ 顥I c\=ɡiI/);I.i<(=i)#|c@)IUNiQQU/U!}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004685ID]D]nD]/DYE]: E]:6E]J4:EY!m@!m@!m@!m@>A&tA I I N >y 7 L,ۢK70)AyNY:R@ٱNS5`@Nq9q9uEYu E}p<A}>Q 1w4٪O?Q 5w4 B9U'?Q A:Y*Q E?ypC):If:iw4YJBGAEgDNOT Ignoring new targets: 56.30 m.gPowering the camera and arming the capture device at range: 56.30 m.lFinal approach. Armed for intercept at range: 56.30 m.\Transitioning guidance mode to: FINAL_APPROACHg@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268535g^<;g^<; ProNav: ac range: 56.299999 m, nav range: 54.562572 m, bearing: 221.603621 deg, approach rate: -0.634255 m/s, LOS rate: 0.164683 deg/s, cmd heading: 203.655081 deg, new cmd heading: 203.862677 deg. g ;bgc@ZgrgjgRgZfRfeeB"dcccc-h@ɢ%|B%Ŗd )-I) K =ɡiI`;;I4h.i?(=i- )c@)ԁIEPiAAE3AԱ>Am +Am <Am <vBu >~Bu ˍCBu IBu _vBBu =Bq Bu aDBu :_;Bu #EbA |AZA |A A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521155D ~D eD *D E : E 96E (N4:E "E Z;! E [;! *E "*;! E "*;! I I N >o L,1ze70)A~vB~I%>BD6Dr4Y%k<!%O=%Q)%>)9)9-EY- E5A5>9Q 1Ew4٪=;g}]>; ProNav: ac range: 56.299999 m, nav range: 54.312523 m, bearing: 221.668863 deg, approach rate: -0.634942 m/s, LOS rate: 0.166430 deg/s, cmd heading: 203.862678 deg, new cmd heading: 204.059305 deg. gp;HeadingCmd: 3.561507 target range: 56.299999 and range: 56.30 m.bgc@ZgrgjgRgZfRfee"dcccc S@Թɢ&|B I "=ɡiICM;I/.i2(=iŻ)c@) IuNiqqu/q@}=@}=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772600>ANJκIq I N >9  L,U70)Ay6;S@ٱ66a@6G9<6"=6Hz`i?׿ ò?ܵ??I6;S@)65b;i6CB|vBBIBDJw6DJ[4RBDAT read: Rx Time:18:22:19.8452 VTRx dataTimestamp_ set to:1755627742.010639Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025636Y^} !^Q=^ᄼQ)^>`9`9bEYb Ef$=Af>hQ 1jw4٪j)?Q 5nw4jV jB9lYn)Q Er?yj=qC)j@;Ijn;ijYw4YvGBvGHAvED)D-kD)D)E) E-:6E):E)!=@!=@!=@!=@AeB*** querying acoustic contact ***:haBhag%DNOT Ignoring new targets: 56.30 m.g)g]J;geJ; ProNav: ac range: 56.299999 m, nav range: 54.063850 m, bearing: 221.729958 deg, approach rate: -0.542978 m/s, LOS rate: 0.134015 deg/s, cmd heading: 204.059305 deg, new cmd heading: 204.243433 deg. g;HeadingCmd: 3.564720 target range: 56.299999 and range: 56.30 m.bga$d@ZgrgjgRgZfRfee"dcccc@! @ɢ%@|B%jx !MxII Mq}=ɡIiIIMz`;IUT-iUJ'=iUv;)]a$d@)YaIOi/Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276533ԉ>AM [RӻI I N5 >  L,.70)AybǸS@ٱb³a@byW`ؿz?  ???IbǸS@)bha;ibCj~vBjIeMb@Mb@Mb@a a)aIaiae/$?ˡE?{Gz?e1(?aeף<)eBAIeKAie1FAeKA aeHABDu6Du4Y;!>=eQ)>99EY E<A>Q 1w4٪?Q 5w4 B9)?Q A:Y(Q E?yqC)3:I:icw4Y@HAgDNOT Ignoring new targets: 56.30 m.ggS;gS; ProNav: ac range: 56.299999 m, nav range: 53.785992 m, bearing: 221.796886 deg, approach rate: -0.764268 m/s, LOS rate: 0.185039 deg/s, cmd heading: 204.243434 deg, new cmd heading: 204.445252 deg. g;HeadingCmd: 3.568243 target range: 56.299999 and range: 56.30 m.bg^d@ZgrgjgRgZf Rf e e B"dccc!c% @ԑɢT|BvB>~BBwIBKvBB =BBB_;B#E-␜ QUIQ UYE<ɡQiQI]Fq;I]-i]A'=ieY9<)e^d@)aDAT read: 18:22:19.8452 LVL= 26240, 29489, 24290, 32323, AGC= 60, IDX= 413, 0.01, 2.969, 1.088, 2.759, 2.632, PHS= 0.439,-1.499, 0.084, RAW= 140.1, 10.9, CAL= 139.5, 11.9, ROT= 10.5, -11.9 Ygot valid direction response: 18:22:19.8452 LVL= 26240, 29489, 24290, 32323, AGC= 60, IDX= 413, 0.01, 2.969, 1.088, 2.759, 2.632, PHS= 0.439,-1.499, 0.084, RAW= 140.1, 10.9, CAL= 139.5, 11.9, ROT= 10.5, -11.9 PDAT read: Bearing 357.2, 10.3 (Local) ~Local bearing/azimuth received: Bearing 357.2, 10.3 (Local) DAT read: Range 11 to 50 : 53.9 m (Round-trip 71.9 ms) speed 0.5 m/s *DAT read: user:937> %BDAT read: Tx time:18:22:20.9691 %$Ping request sent.% ;߿)1=IC~@iB>IELiAAII@ȭT>f;>ȭTIi)ҁ?6?ѵ9D?U>nPCf;> ȭTIiu:publishing transmit ping time9!uFpublishing direction and range infoŷ?-#)?Fa5d?Ii )IiIi)ҁ?6?ѵ9D? Ii>A=0::rAE>jAE>IINa> + L,k 70)Ay6!T@ٱ6zb@6t<6=6H(??$iؿt h9h9jEYj Ej̉<An>pQ 1vw4٪rP?Q 5vw4r6 r#B9tYvI(Q Ev?yrqC)r:Ir_:irw4Y~DB~HA~EJhRh70)AhWBh%KkI@sЉk 9#@Z:&@~ŷ?-#)?Fa5d?hf;>hȭT ȱeF{İ\;g&@~w(9B'nMpljKoF?jhrh.3ZhC?bhぷzh*BhqϠ?h3sh*BhhTBhv@ addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 3.541535 s, deltaX: -2.399998 m, approachRate: -0.677672 m/s, rangeRepo size: 4  Added new target pos. range: 53.900002 m, bearing: 220.972078 deg, lat: 36.779443 deg, lon: -121.859694 deg, deltaT: 3.541535 s, deltaX: -2.399998 m, approachRate: -0.677672 m/s, posRepo size: 4 gDNOT Ignoring new targets: 53.90 m.ggg  ProNav: ac range: 53.900002 m, nav range: 53.101929 m, bearing: 220.972078 deg, approach rate: 0.000000 m/s, LOS rate: 0.185039 deg/s, cmd heading: 204.445252 deg, new cmd heading: 204.667102 deg. g=HeadingCmd: 3.572115 target range: 53.900002 and range: 53.90 m.bg=d@Zg9rg9jg9Rg9Zf9RfAeAeA"dAcIcIcM@3J@cM"?ɢek|BeN iI <ɡiI$;I.-i^P'=i|"<)d@)m|AiIFi/D=xD=eD9D9E=ˀ: E=96E9:E9!E@!E@!E@!E@I >A X;Ii Iy N > L,70)AiI)F G R~A)^AIO~AByEK|T@ٱEEwb@Eܺ;E=EH`Ǖ?`^mؿ,_X?`{[w]??IEK|T@)E@_;iECU6vBUjIMb@Mb@Mb@ )Ii)\(?L7A`?Zd;O?G!?+=j<)BAI&OAiGAAJA HABDv6D)Y4Y ̽! 8=  Q)>9)9-EY- E-J<A5>9Q 1Ew4٪=M?Q 5Ew4= =)B9ED"?Q AE:YE>)Q EE?y=rC)=:I=3:i=Rw4YUABU/IAQgDNOT Ignoring new targets: 53.90 m.gg*,;g*,;5 ProNav: ac range: 53.900002 m, nav range: 52.824966 m, bearing: 221.038607 deg, approach rate: -0.623345 m/s, LOS rate: 0.150520 deg/s, cmd heading: 204.667097 deg, new cmd heading: 204.867731 deg. g5;=HeadingCmd: 3.575616 target range: 53.900002 and range: 53.90 m.bg=d@Zg9rg9jg9Rg9Zf9RfAeAeEB"dIcIQcIcicm@?ɢ|B ɿI <ɡiI3;IH-i&'=ik=9<)d@)IENiAAE/IyA A vB >~B B B B B B B ^;B #EԱ rDA jDA BEJErO4RE0DU DU gDU /DQ EU 7: EU &96EU J4:EQ "EU ;!e EU ;!e *EU i1;!m EU j1;!m >Am &<A I I N >l L,70)Ay6JT@ٱ6Db@6^:6D=6H'q`?'礿ٿ`,L@N?+_ ??I6JT@)6^_;i6}C>JvBBvIBDJw6DJ[4YNX=!RZ=R%Q)R>T9T9VEYV EVw<AZ>XQ 1^w4٪Zۭ?Q 5bw4Z Z.B9`Yb(Q Eb?yZLrC)Z:IZ:iZVw4YhjHAlg|DNOT Ignoring new targets: 53.90 m.gg/;g/; ProNav: ac range: 53.900002 m, nav range: 52.594490 m, bearing: 221.093035 deg, approach rate: -0.645384 m/s, LOS rate: 0.153078 deg/s, cmd heading: 204.867727 deg, new cmd heading: 205.031725 deg. g;%HeadingCmd: 3.578479 target range: 53.900002 and range: 53.90 m.bg%e@Zg!rg!jg!Rg!Zf!Rf)e)e)"d1c1c1c1c5 [?ɢ|B }ɿI <ɡ i I ;I-i$&=iJ_<)e@)!IGi/I>A9<bA~AZAAy A I I N >ucL,'80)Aɰ0y>2U@DF|DFlDF+DDEF : EF:6EF [4:ED!J@!J@!J@!J@ٱ>-c@>[>=>H X_SK?`fP`eٿH<@l?r c?r??I>2U@)>?^;i>~C6vBjIBDj6DC4YEV@!EA=M#Q)U>a9a9mEYm Eu0S<A>Q 1w4٪ǭ?Q 5w4@ 5B9Y(Q E?yrC)'B%IA-E%B*** querying acoustic contact ***:h)Bh)gaeDNOT Ignoring new targets: 53.90 m.gagm;gm;ԉ ProNav: ac range: 53.900002 m, nav range: 52.327843 m, bearing: 221.154868 deg, approach rate: -0.555108 m/s, LOS rate: 0.129380 deg/s, cmd heading: 205.031719 deg, new cmd heading: 205.218162 deg. g;HeadingCmd: 3.581733 target range: 53.900002 and range: 53.90 m.bg;e@Zgrg jg Rg Zf Rfee"dccccP?ɢ|BZ ϿI  <ɡ i I&ϝ;I,i&=i5{<);e@)AU.?U8>ԹI@i/@=@p=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. >A i<A yAI I  N% >L,)80)Ay6U@ٱ6c@6ٻ6P=6H (N4? `Գٿ @/S?@?{?@튶??I6U@)6D^;i6CB$vBB_IUMb@Mb@Mb@Q Q)QIQiQUS㥛?V-? rh?U$?Um=UC<)QIUOAiUHAQ QUpIAvBq~BqBupIBuAvBBu =BqBqBu_;Bu#EB1B5ˍCB1B1B5 =B5ϗ5BDx6D\4YD$!9= Q)> H?9 H?9EY EB<A>Q 1x4٪ ?Q 5x4 ;B9%?Q A:Y)Q E?yrC)` ;I ;ix4YaIAgDNOT Ignoring new targets: 53.90 m.ggG;g G; ProNav: ac range: 53.900002 m, nav range: 52.053467 m, bearing: 221.221722 deg, approach rate: -0.713825 m/s, LOS rate: 0.174845 deg/s, cmd heading: 205.218156 deg, new cmd heading: 205.419773 deg. g;HeadingCmd: 3.585251 target range: 53.900002 and range: 53.90 m.bgte@Zg!rg!jg!Rg!Zf!Rf)e)e-B"d)c1c1c1c5@ɢe|B iimchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005893u-ͽ u2"A} oM<ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257645A AI I N > L,*680)A8yBU@ٱBc@Bq5BN=BH;`?ږ`vڿ dz??c?x?IBU@)B_^;i@NvBNZIBDZ6DZJz4Yj!jZ=z@Q)~>~K?9K?9EY E t<A >Q 1-x4٪꠭?Q 5-x4 AB9)Y-(Q E5?ysC)P;I;;ix4YM;BMkIAMEgDNOT Ignoring new targets: 53.90 m.gg*;g*; ProNav: ac range: 53.900002 m, nav range: 51.813046 m, bearing: 221.279235 deg, approach rate: -0.618492 m/s, LOS rate: 0.148643 deg/s, cmd heading: 205.419770 deg, new cmd heading: 205.593111 deg. g;HeadingCmd: 3.588277 target range: 53.900002 and range: 53.90 m.bgSe@ZgrgjgRgZfRfee"dcccc9@ɢ|B 額3ؿI w߹<ɡiIF;Iay,i>&=i<)Se@)ԉI@i/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509945DxDiDDEˀ: E96E:E!@!@!@!@Թ>A<rA>jA> A I! I9 NE >L,+P80)Ay66V@ٱ61d@6Y6 C=6H)R?@HRڿ@ ۲?? d?@?I66V@)6h^;i4BuBBGI\rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761633-Mb@Mb@Mb@) )))I)i)-MbX9?Zd;?{Gz?-!?-y=-#<)-CAI)i-AJA-FA )-GIABDo6DHL4Y!;=G+Q)>99EY E><A>Q 1x4٪?Q 5x4 FB9"?Q A:Y'Q E?y^sC)<:I:i x4Y[BJAEg!%DNOT Ignoring new targets: 53.90 m.g)g-%;g-%;= ProNav: ac range: 53.900002 m, nav range: 51.545547 m, bearing: 221.340029 deg, approach rate: -0.633406 m/s, LOS rate: 0.144701 deg/s, cmd heading: 205.593106 deg, new cmd heading: 205.776434 deg. gE;EHeadingCmd: 3.591476 target range: 53.900002 and range: 53.90 m.bgEe@ZgIrgIjgIRgIZfIRfIeQeUB"dQcYcYcYc]@@ɢ|B̽ 額޿I HX<ɡiI6;ID,i&=i?<)e@) I%Bi!!%/)vBy~ByByByByByByB}^;B}#EBDAT read: Rx Time:18:22:23.4420 TRx dataTimestamp_ set to:1755627745.542637checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014609rDjDD{DgD.DE=: E&96Eـ4:E"E;! E;! *Ei1;! Ej1;! >Am 7ƙ(L,j80)Ay6V@ٱ6d@66n=6H`:?@{ڿ@BDr?C?@=?`/?I6V@)6O^;i6CVvBVXIBDbx6Db\4Yf=!j\=j7Q)j>l9l9nEYv!Ev,a<Av>xQ 1~x4٪z{?Q 5x4z zKB9Y'Q E?yzsC)z/;Iz];iz-x4Y  xJAg9=DNOT Ignoring new targets: 53.90 m.g9gE;gE;U ProNav: ac range: 53.900002 m, nav range: 51.313175 m, bearing: 221.391952 deg, approach rate: -0.621261 m/s, LOS rate: 0.139446 deg/s, cmd heading: 205.776429 deg, new cmd heading: 205.932900 deg. gUf;]HeadingCmd: 3.594207 target range: 53.900002 and range: 53.90 m.bg]}f@ZgargajgaRgaZfaRfaeiei"dicicicqcuГ @ɢ }Bcؽ 顥%޿I <ɡiI;I7,i%=iF<)}f@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265666I'A K< DAT read: 18:22:23.4420 LVL= 24848, 31985, 22962, 32755, AGC= 61, IDX= 414,-0.15, 1.126,-0.548, 1.288, 0.904, PHS= 0.324,-1.407, 0.339, RAW= 150.4, 8.6, CAL= 150.0, 9.3, ROT= 0.0, -9.3  Ygot valid direction response: 18:22:23.4420 LVL= 24848, 31985, 22962, 32755, AGC= 61, IDX= 414,-0.15, 1.126,-0.548, 1.288, 0.904, PHS= 0.324,-1.407, 0.339, RAW= 150.4, 8.6, CAL= 150.0, 9.3, ROT= 0.0, -9.3  PDAT read: Bearing 358.2, 1.9 (Local)  ~Local bearing/azimuth received: Bearing 358.2, 1.9 (Local)  DAT read: Range 11 to 50 : 51.6 m (Round-trip 68.9 ms) speed 0.5 m/s D D mD (D E %: E :6E c44:E ! @! @! @! @ *DAT read: user:938> E BDAT read: Tx time:18:22:24.5690 E $Ping request sent.E ) h>I '@i `> 6'@ 6&> 6&I i ) E?0H?d5?U1P&? B?  6&I i m :publishing transmit ping time9A m Fpublishing direction and range info XpR?o? I i A I  ) I i I i ) E?0H?d5?U1P&? I i INM?"L,80)AԱuvBuKIMb@Mb@Mb@ )Ii}?5^I?x&?Mbp?M"?7=;)\EAILAiKA HABD6Dq4YM !M=UQ)U>Q9Q9UEYU !E]A]>aQ 1mx4٪eG_?Q 5mx4e eRB9u6#?Q Au:Yu&Q Eu?yesC)e :Ie:ielCx4Y}YBJAEJhRhs80)AhfNBhV.XuI@q @~XpR?o?hh6& Ba1G 4w)@"@~5Șv˦ٿ dC!?jhrh9Zhܾ?bh@+zhBhDx?hY(2hhHBh+&t@- addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.530610 s, deltaX: -2.300003 m, approachRate: -0.651446 m/s, rangeRepo size: 4 ] Added new target pos. range: 51.599998 m, bearing: 218.573638 deg, lat: 36.779434 deg, lon: -121.859667 deg, deltaT: 3.530610 s, deltaX: -2.300003 m, approachRate: -0.651446 m/s, posRepo size: 4 gaeDNOT Ignoring new targets: 51.60 m.gagmgi ProNav: ac range: 51.599998 m, nav range: 50.135738 m, bearing: 218.573638 deg, approach rate: 0.000000 m/s, LOS rate: 0.139446 deg/s, cmd heading: 205.932895 deg, new cmd heading: 206.196190 deg. gHeadingCmd: 3.598802 target range: 51.599998 and range: 51.60 m.bgRf@ZgrgjgRgZfRfeeB"dcccI@c?ɢ]0}B]x Y]Ia e瘐<ɡaiaIe ;Iu+i=%=i <)Rf@) vB >~B ̍CB B B B B B ^;B #E9 U <bD ZD AAD |D tD +D E : E v:6E [4:E "E ;!5 E ;!5 *E `;!5 E `;!= I Ai /0 a>AU<bA}AZAԑA!I)IANM!?0,L,%!80)Ay:W@ٱ:e@:':֚=:H"?t`ۿS8δ?@=?S??I:W@):S^;i:~CFuBF7IBDNx6DN\4YV{!V=VQ)V>X9X9ZEYZ!E^&<A^>`Q 1fx4٪bG?Q 5fx4bW bYB9dYf%Q Ej?ybStC)bw;IbL;ib\Ux4YnWBn'KAnE~B*** querying acoustic contact ***:h|Bh|g DNOT Ignoring new targets: 51.60 m.g g :g :% ProNav: ac range: 51.599998 m, nav range: 49.811329 m, bearing: 218.620049 deg, approach rate: -0.652389 m/s, LOS rate: 0.093940 deg/s, cmd heading: 206.196185 deg, new cmd heading: 206.336324 deg. g%;%HeadingCmd: 3.601248 target range: 51.599998 and range: 51.60 m.bg-zf@Zg)rg)jg)Rg)Zf)Rf1e1e1"d9c9c9c9c= Pa?ԑɢN}BϽ =I <ɡiI%;Iۤ+i%=iq<)zf@)  I)))Im@iiim 0iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D5D5gD1D1E5: E5&96E1:E1!=@!=@!=@!=@ >A <AyAI IN->4L,80)Ay6,W@ٱ6&e@6Q 6 l=6H ?o`ۿı`Q-?P?`d?@$?I6,W@)60x^;i6CBuBB=IMb@Mb@Mb@ )Ii{Gz?E H?9E H?9EEYE!EM<AM>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239416qQ 1}x4٪u/?Q 5x4u ucB9$?Q A:Y8%Q E?yutC)u:Iu;iugx4YTBJA EAgQUDNOT Ignoring new targets: 51.60 m.gQg]:g]: ProNav: ac range: 51.599998 m, nav range: 49.479275 m, bearing: 218.664087 deg, approach rate: -0.615765 m/s, LOS rate: 0.082212 deg/s, cmd heading: 206.336327 deg, new cmd heading: 206.469326 deg. ga;HeadingCmd: 3.603570 target range: 51.599998 and range: 51.60 m.bgf@ZgrgjgRgZfRfee|B"dccccBy?ɢn}B&sɽ I Fa<ɡ i I ];I ~+i d%=i*<)f@)1qIDi/>A <AAAAvB~BBBB =BBbDB^;B#E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491274Dm xDm jDi Di Em ˀ: Em 96Ei :Ei "Em ;!} Em ;! *Em U<;! Em V<;! ԙ A I! I1 NE >':L,-80)Ay:X@ٱ:f@:&:=:H`$!?FX]ܿ@a???`?I:X@):n^;i:C@FuBFAIiHIHBDRl6DRF4YV=o<!ZT=Z.Q)Z>X9\9^EY^!Eb07<Ab>dQ 1jx4٪f?Q 5jx4f( fjB9hYj$Q En?yftC)f:If:ifsx4YAEJAAgDNOT Ignoring new targets: 51.60 m.gg:g: ProNav: ac range: 51.599998 m, nav range: 49.256969 m, bearing: 218.692780 deg, approach rate: -0.636170 m/s, LOS rate: 0.082480 deg/s, cmd heading: 206.469324 deg, new cmd heading: 206.555790 deg. glb;HeadingCmd: 3.605079 target range: 51.599998 and range: 51.60 m.bgf@ZgrgjgRgZfRfee"dcccc?ɢ}B I 4M<ɡ!i!I%;I%f+i-PW%=i-uA=)-f@))=p>=>IIiO5Թuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743492>A<rA>jA>A AI I N > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995231AL,*t90)ADDeDDE: E96E:E!@!@!@!@yBleX@ٱBf`f@B?A.B=BH g?\V?QFܿԷ?`yƥ?2?m?IBleX@)B[^;iBCJuBJ>IBDVz6DV`4Y^,@!^J=^(Q)^>bK?9bK?9bEYb!Efm3<Af>hQ 1nx4٪j ?Q 5nx4j p jsB9pYr$Q Er?yj$uC)jF;IjF;ijԁx4YzRBzJAxgDNOT Ignoring new targets: 51.60 m.gg%:g%:5 ProNav: ac range: 51.599998 m, nav range: 48.998283 m, bearing: 218.725140 deg, approach rate: -0.673131 m/s, LOS rate: 0.084648 deg/s, cmd heading: 206.555794 deg, new cmd heading: 206.653386 deg. g5_h;=HeadingCmd: 3.606782 target range: 51.599998 and range: 51.60 m.bg=f@Zg9rg9jg9RgAZfARfAeAeI"dIcIcIcIcU@ɢe}BT 顥I 1<ɡiIF$;I2J+iI%=iY=)f@ ))tG rA)AI55rA58AIAi09}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247321>A y=a A I I N% >9GL,3O90)Ay6X@ٱ6f@6=6٩=6H?"r?yܿ_>?F?/??I6X@)6ԙ^;i6}CBuBB<I9MMb@Mb@Mb@I I)IIIiIM!rh?Q?~BeˍCBewIBeKvBBe =BaBeaDBey^;Be|#EMGIABD6D4Y!:=k Q)>99EY%!E<A>Q 1x4٪?Q 5x4 }B9e(?Q A:Y$Q E?ynuC):I:i%x4YJAg%DNOT Ignoring new targets: 51.60 m.g!g%e:g%e:= ProNav: ac range: 51.599998 m, nav range: 48.712406 m, bearing: 218.761905 deg, approach rate: -0.653526 m/s, LOS rate: 0.084540 deg/s, cmd heading: 206.653384 deg, new cmd heading: 206.764327 deg. g=h;EHeadingCmd: 3.608718 target range: 51.599998 and range: 51.60 m.bgE>f@ZgArgAjgARgAZfARfAeIeMB"dIcQcQcYc]@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499427bD1ZD5?ABE [4JE™T4RE/D=}D=xD=(D9E=݉: E=:6E=c44:E9"E=8;!ME=9;!M*E=Jo;!ME=Ko;!Mɢu}BuS2 qu)Iq } <ɡyiyI};Iw*+is@%=i=)>f@)iI%Fi!!-4)ԑ>AM V = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752309 A I I N >wfML,j4890)Aɰ((uB5IԑBD6D}4Y!L=Q)>99EY*!EA>Q 1x4٪_權?Q 5x4 B9YQ E?yuC)B:I:i)x4YsBLAEB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 51.60 m.gg  :g  : ProNav: ac range: 51.599998 m, nav range: 48.450813 m, bearing: 218.795930 deg, approach rate: -0.651974 m/s, LOS rate: 0.085260 deg/s, cmd heading: 206.764333 deg, new cmd heading: 206.866960 deg. g j;%HeadingCmd: 3.610510 target range: 51.599998 and range: 51.60 m.bg%g@Zg!rg!jg)Rg)Zf)Rf)e1e1"d1c1c9c9c==@ɢ}Bz I ;ɡiIr;I +i3%=if =)g@) IOi5@=@ >BDAT read: Rx Time:18:22:27.0390 TRx dataTimestamp_ set to:1755627749.070690checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004434DE{DEhDE,DAEE=: EE]96EEg4:EA!U@!U@!U@!U@>A =bA ZA }A AQ IY Ii N} >`TL,[R90)Ay6 Y@ٱ6g@6ʤZ6՘=6Ho?Z?`sܿk-?FQ?>?@?I6 Y@)6ag^;i6~C@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255468Mb@Mb@Mb@ )IiuV?+?~jt?r(?=D<)CAIVNAiVNABA HABD6D4Y !H=Q)>99EY/!EM<A>Q 1x4٪`Ӭ?Q 5x4 B9)?Q A:Y#Q E?yuC)W1;Il0;ivx4YLAg15DNOT Ignoring new targets: 51.60 m.g1g=u:g=u:M ProNav: ac range: 51.599998 m, nav range: 48.181625 m, bearing: 218.825587 deg, approach rate: -0.648891 m/s, LOS rate: 0.071890 deg/s, cmd heading: 206.866964 deg, new cmd heading: 206.956433 deg. gMYE;UHeadingCmd: 3.612071 target range: 51.599998 and range: 51.60 m.bgU-,g@ZgQrgYjgYRgYZfYRfYeaeepB"dacacicicm @ɢE}Bm quuIq }h;ɡyiyI} ~B̍CBIB_vBBBBbDBm^;Bv#EB̍CB̍CBBBBƺ 5)rD% %=jD% %=DE DE dDA DA EE O: EE 96EA :EA "EE ;!M EE ;!M *EE ~&;!M EE &;!M e DAT read: 18:22:27.0390 LVL= 27296, 32753, 23890, 31379, AGC= 63, IDX= 415, 0.09, 3.129, 1.537,-2.700, 3.052, PHS= 0.179,-1.470, 0.488, RAW= 158.4, 8.8, CAL= 158.2, 9.3, ROT= 351.8, -9.3 u Ygot valid direction response: 18:22:27.0390 LVL= 27296, 32753, 23890, 31379, AGC= 63, IDX= 415, 0.09, 3.129, 1.537,-2.700, 3.052, PHS= 0.179,-1.470, 0.488, RAW= 158.4, 8.8, CAL= 158.2, 9.3, ROT= 351.8, -9.3 u PDAT read: Bearing 1.3, -4.2 (Local) } ~Local bearing/azimuth received: Bearing 1.3, -4.2 (Local) >A} V = DAT read: Range 11 to 50 : 49.4 m (Round-trip 65.9 ms) speed 0.6 m/s  *DAT read: user:939>  BDAT read: Tx time:18:22:28.1690  $Ping request sent. ()#>I;0@inF> 0@p{@Ii)ƩN?UnXE?HV?P+?.T Ii5 :publishing transmit ping time9 ] Fpublishing direction and range infocA?||4=¿o?Ii )IiIi)ƩN?UnXE?HV? IiQ A I I N >tZL,[%l90)AyZ.?Y@ٱZ(:g@ZFiZ*=ZHv6?`OU?ݿc@?@? E?` ?IZ.?Y@)Zo^;iZCruBr9IBDz6Dz4Y<!I= Q)>99EY5!E<A>19Q 1Ex4٪=?Q 5Ex4= =B9IYMj#Q EM?y==vC)= :I=:i=x4YUqBUKA]EJhRhd90)AhEBhw4I H@J% @~cA?||4=¿o?hTh gF1s .*s$@~FZ/[uӿJ't?jhOprh7Zh?bhԤzhgBhC?hぷhh@Bhl@ addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.527870 s, deltaX: -2.199997 m, approachRate: -0.623605 m/s, rangeRepo size: 4 ] Added new target pos. range: 49.400002 m, bearing: 211.791053 deg, lat: 36.779401 deg, lon: -121.859614 deg, deltaT: 3.527870 s, deltaX: -2.199997 m, approachRate: -0.623605 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 49.40 m.gYgega ProNav: ac range: 49.400002 m, nav range: 48.201912 m, bearing: 211.791053 deg, approach rate: 0.000000 m/s, LOS rate: 0.071890 deg/s, cmd heading: 206.956439 deg, new cmd heading: 207.047244 deg. gHeadingCmd: 3.613656 target range: 49.400002 and range: 49.40 m.bg$Fg@ZgrgjgRgZfRfee"dccc@3H@c?ɢ~Bn !%I! %H;ɡ!i1I5MA =Թ A yAI! I1 D= zD9 D= )D9 E= l: E9 6E= FA4:E9 !E @!M @!M @!M @NU >maL,90)AiyVsY@ٱVng@V?wVi=VHi@f?WJ?w0ݿYc?`?@5??IVsY@)VH^;iV~CbuBb1IBDja6Dj24Yr!rZ=vQ)v>v H?9v H?9vEYv9!Ez <Az>|Q 1x4٪~@?Q 5x4~ ~B9Y 4#Q E ?y~zvC)~:I~F:i~x4YpBLAg9=DNOT Ignoring new targets: 49.40 m.g9gE7gE7U ProNav: ac range: 49.400002 m, nav range: 47.962620 m, bearing: 211.780563 deg, approach rate: -0.675787 m/s, LOS rate: -0.029773 deg/s, cmd heading: 207.047240 deg, new cmd heading: 207.015613 deg. gUvHeadingCmd: 3.613104 target range: 49.400002 and range: 49.40 m.bg=g@ZgrgjgRgZfRfqeeԙ"dcccc?ɢ~Bt  I w+;ɡi!I% A% C"=rA- >jA- ? Au AIy I N >˻gL,o90)Ay6Y@ٱ6g@6iӃ6F=6H] A?@1h? RXݿM ?w?F?l?I6Y@)62^;i6CBuBB+IvBL~BLBNIBNivBBN =BLBLBNa^;BNq#EMb@Mb@Mb@ )IiZd;O?ˡE?I +?~*?=94<)IMA IIiLABA HABD]{6D]]b4Yg!/=XQ)>K?9K?9EY?!E;A>DvDmD%DEVz: E:6E 4:E"EG;!EH;!*E@G;!EAG;!Q 1-x4٪?Q 5-x4# B95+?Q A5:Y5"Q E5?yvC)A} y 1=i A yAI I N >$nL,Q90)Ay6dY@ٱ6^g@6C6=6HR@r?h?@vݿDm?+}?F*?y?I6dY@)6D^;i6}C>uBB.IBDFu6DFRW4YNZ<!Re=R7Q)R>R H?9V H?9VEYVD!EV1;AV>XQ 1^x4٪Z숬?Q 5bx4ZG' ZB9`Yb"Q Eb?yZwC)Z:IZ$:iZx4YfnBfLAjEB*** querying acoustic contact ***:hBhg!-DNOT Ignoring new targets: 49.40 m.g)g--<g--A==A I I N >uL,90)Aɰ4<&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726874y>_Y@ٱ>Yg@>Gᔽ>~v=>H@F?ܖ?`ݿT< UD??@??I>_Y@)>}9^;i>CJuBJ;IMb@Mb@Mb@ )IiJ +?ʡE?~jt?(?=D<)DAIKAiVNAv@A GABDk6DD4Y 0=!-= Q)>99EYJ!Eñ;A>Q 1x4٪2s?Q 5x4+ ЅB9)?Q A:Y"Q E?yWwC)v:I':ix4YBLAgDNOT Ignoring new targets: 49.40 m.gg% #g% #5 ProNav: ac range: 49.400002 m, nav range: 47.100468 m, bearing: 211.733853 deg, approach rate: -0.668006 m/s, LOS rate: -0.035636 deg/s, cmd heading: 206.924501 deg, new cmd heading: 206.874625 deg. g5ú=HeadingCmd: 3.610643 target range: 49.400002 and range: 49.40 m.bg=g@Zg9rg9jg9Rg9ZfARfAeAeEQB"dIcIQcQcQcU&?ɢh~BA 顅I ֆ%ɡiI )A!A%@AvB)~B)B-IB-}vBB)B)B)B-p^;B-x#Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.978794D]xD]kD]*DYE]ˀ: E]:6E](N4:EY"E];!eE];!e*E]?;!eE]?;!m>AM <H=bAQ ZAQ ԩ I) I9 NE >1{L,90)A@UuBUAIBDmi6Dm=A4Y<!_=Q)>99EYN!EA>Q 1y4٪Qb?Q 5y4{/ ܅B9YQ E?ywC) ;Ib:iy4YBfLAEgDNOT Ignoring new targets: 49.40 m.gg"g" ProNav: ac range: 49.400002 m, nav range: 46.858433 m, bearing: 211.720874 deg, approach rate: -0.660033 m/s, LOS rate: -0.035576 deg/s, cmd heading: 206.874627 deg, new cmd heading: 206.835490 deg. gSúHeadingCmd: 3.609960 target range: 49.400002 and range: 49.40 m.bg g@Zgrgjg!Rg!Zf!Rf!e!e)"d)c)c)c)c5`?@ɢ]~B]_2$ aeIa e& ɡaiaIm_A`T=IQIiNu>   A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483019De wDe tDe -Da Ee }: Ee v:6Ee t4:Ea !m @!m @!m @!m @L,:0)Ay6@Z@ٱ6;h@6$6Mo=6H 0 *?d?ݿ@+)׶?ܞ?i̭?@s?I6@Z@)6U\^;i6~CRuBV=IBDfz6Df`4YY}T!==Q)>99EYT!E5/<A=>Q 1y4٪L?Q 5y44 B9Y}"Q E?ywC):I:i*y4YBMA#EgQUDNOT Ignoring new targets: 49.40 m.gYg]31g]31ԁ ProNav: ac range: 49.400002 m, nav range: 46.551643 m, bearing: 211.702335 deg, approach rate: -0.636734 m/s, LOS rate: -0.038731 deg/s, cmd heading: 206.835490 deg, new cmd heading: 206.779507 deg. gԺHeadingCmd: 3.608983 target range: 49.400002 and range: 49.40 m.bgf@ZgrgjgRgZfRfee"dc c c c  @ɢU~B]q Y], IY ]ҕͻɡiiiImk!AE lT=I I N >vB! ~B! B% IB% vBB! B! B! B% ^;B% #ECL,":0)Ay6ZZ@ٱ6Uh@6G-6,z=6H'%G? p?lݿ ??$?`?I6ZZ@)6^;i6}C5 vB5OI 99BDAT read: Rx Time:18:22:30.6359 TRx dataTimestamp_ set to:1755627752.598702checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987910Mb@Mb@Mb@ )Iish|??ˡE?{Gz?)?=#<)BAIAJAiOA?A 3GA)  bDIZDIDU{DUrDU,DQEU=: EU?:6EUg4:EQ"EU;!]EU;!]*EUsY;!eEUtY;!eBDn6DpJ4Y!=!D=Q)>99EYY!Eo;A>Q 1%y4٪);?Q 5%y47 B9%K+?Q A%:Y%!Q E-?y&xC)v:I':i y4YQU0MAQgDNOT Ignoring new targets: 49.40 m.ggR_gR_ ProNav: ac range: 49.400002 m, nav range: 46.293671 m, bearing: 211.683884 deg, approach rate: -0.678649 m/s, LOS rate: -0.048810 deg/s, cmd heading: 206.779510 deg, new cmd heading: 206.723848 deg. gHeadingCmd: 3.608012 target range: 49.400002 and range: 49.40 m.bgf@ZgrgjgRgZfRfeeRB"d c c cc.@ɢ]~B]N) ae Ia e =ɡiIY\%AUe=IIN>u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2387629 mL,M<:0)AyN|Z@ٱNwh@N2?Nxz=NH l?`?`޿ ?%?@'? o?IN|Z@)N&^;iN~CVvBZJIBDbt6Db{U4YjsҼ!js=j˼Q)j?l9195EY5]!E=V;A=?AQ 1My4٪Ek+?Q 5My4Ek; E B9IYM!Q EU?yEaxC)EN:IE:iE,y4Y]B]KMA]"EB*** querying acoustic contact ***:hBhg  DNOT Ignoring new targets: 49.40 m.g g^g^- ProNav: ac range: 49.400002 m, nav range: 46.065693 m, bearing: 211.666777 deg, approach rate: -0.645994 m/s, LOS rate: -0.048715 deg/s, cmd heading: 206.723844 deg, new cmd heading: 206.672268 deg. g-5HeadingCmd: 3.607111 target range: 49.400002 and range: 49.40 m.bg5f@Zg1rg1jg9Rg9Zf9Rf9e9eA"dAcAcAcAcM @ɢu~B}J4 y} Iy }BɡyiI)Ah=i9IAԱ)GI ) )Y I c AI N] >Թ UL,_V:0)AJDAT read: 18:22:30.6359 LVL= 32752, 32753, 27618, 32755, AGC= 65, IDX= 415, 0.32, 2.065, 0.483, 2.515, 1.991, PHS= 0.176,-1.463, 0.480, RAW= 158.4, 9.0, CAL= 158.1, 9.5, ROT= 351.9, -9.5 bYgot valid direction response: 18:22:30.6359 LVL= 32752, 32753, 27618, 32755, AGC= 65, IDX= 415, 0.32, 2.065, 0.483, 2.515, 1.991, PHS= 0.176,-1.463, 0.480, RAW= 158.4, 9.0, CAL= 158.1, 9.5, ROT= 351.9, -9.5 jPDAT read: Bearing 2.8, -2.3 (Local) j~Local bearing/azimuth received: Bearing 2.8, -2.3 (Local) DAT read: Range 11 to 50 : 47.0 m (Round-trip 62.7 ms) speed 0.7 m/s *DAT read: user:940> BDAT read: Tx time:18:22:31.7190 $Ping request sent. C)>Ii| >r0@)>@)Ii)&?Yc;?Ce?g+? yZ@ٱh@ƽ^=H  R??D޿ -?xո?~? a?IZ@)#!^;i{C vBԙ )Ii:publishing transmit ping time9Fpublishing direction and range info/ ??oELG ?Ii )IiOIIi)&?Yc;?Ce? Ii!@! !@! !@! !@! BDk6DD4Y|<!"= Q)>9 9 EY c!EVr;A>Q 1y4٪?Q 5%y4n@ BQ =%+:9!Q A%:Y%!Q E%?yxC);I?i:y4YQU+MAQJhRhaV:0)Ah~BBIBvBB =BBB^;B#Eee"dcccG@cA?ɢ=~B= AEuIA EFP@ɡIiIIM,A= (z=AIIN>L,b-u:0)Ay6Z@ٱ6h@6`Ͻ6 B=6H|ݜ?W?8޿`??=??I6Z@)6r^;i6}CBuBBAIF=F;HBDNo6DNHL4YVo!VY=V2Q)V>!9!9%EY%h!E-Ũ;A5>AQ 1Uy4٪E?Q 5Uy4E\D E-BQ =] :9YQ A]P:Y]!Q Ee?yExC)E9j;IEc?iECy4YmBu}MAu!EgDNOT Ignoring new targets: 47.00 m.ggEWgEW ProNav: ac range: 47.000000 m, nav range: 45.862144 m, bearing: 202.869574 deg, approach rate: -0.679103 m/s, LOS rate: -0.188206 deg/s, cmd heading: 206.598647 deg, new cmd heading: 206.389122 deg. g)HeadingCmd: 3.602170 target range: 47.000000 and range: 47.00 m.bgf@ZgrgjgRgZfRfe e"dcccc8s?ɢE BE:; IeSIa e=|ZɡiiiImQ0A} W^=! A AI IA Nu >L,h\:0)Ahy}fZ@ٱ}`h@}{׽}Y*=}Hw@&?$?`@޿@-? ? =?@?I}fZ@)}^;iy'vBaI!! !!% !%!% !%!% %Mb@Mb@Mb@! !)!I!i!%{Gz?sh|??Mb?%#?%=%<)!I%FAi%PA%bUK?9UK?9UEYUn!E]:A]>aQ 1my4٪er響?Q 5my4eH e?BQ =mT:9m9%?Q Au:Yu!Q Eu?ye@yC)eo;Ie;ieMSy4Y}B}LA} EgAEDNOT Ignoring new targets: 47.00 m.gAgMIgMI} ProNav: ac range: 47.000000 m, nav range: 45.583817 m, bearing: 202.789315 deg, approach rate: -0.605871 m/s, LOS rate: -0.175775 deg/s, cmd heading: 206.389124 deg, new cmd heading: 206.146880 deg. g}D񻝅HeadingCmd: 3.597942 target range: 47.000000 and range: 47.00 m.bgDf@ZgrgjgRgZfRfee2B"dccccG?ɢ*B! (I ɡiIѰ3A =D vD hD ,D E Vz: E ]96E g4:E "E G;! E H;! *E 5;! E 5;! A I I N >,L,⭪:0)Ay61Z@ٱ6+h@6>޽6"=6H9@?? O޿= $?»?`X1?@G?I61Z@)60^;8i4B1vBBgI)H HBDNp6DNN4YR4<!R[=V(Q)V>T9T9ZEYZs!EZT;A^>\Q 1by4٪^!߫?Q 5by4^oL ^NB9dYf!Q Ef?y^}yC)^:I^:i^W`y4YLAgaeDNOT Ignoring new targets: 47.00 m.gagmVgmV ProNav: ac range: 47.000000 m, nav range: 45.351131 m, bearing: 202.721041 deg, approach rate: -0.636858 m/s, LOS rate: -0.187826 deg/s, cmd heading: 206.146884 deg, new cmd heading: 205.941011 deg. gHeadingCmd: 3.594349 target range: 47.000000 and range: 47.00 m.bg f@ZgrgjgRgZfRfee"dcccc?ɢ%@B%tB !-I ɡiIG7>ԡI}@iyyy@@>A]=AIIN> L,.t:0)Ay:Z@ٱ:h@:;役:N)=:HN?O?&Q޿ % ? '???I:Z@):5^;i:zCFFvBFtIiHIHBDNy6DN^4YVV=!VJ=ZQ)Z>X9X9ZEY^x!E^r]:A^>`Q 1fy4٪b~ͫ?Q 5fy4bkP b_B9hYj Q Ej?ybyC)bN:Ib:ibqny4lYrΔBr[MAr)EB*** querying acoustic contact ***:hBhg DNOT Ignoring new targets: 47.00 m.ggL[gL[% ProNav: ac range: 47.000000 m, nav range: 45.099663 m, bearing: 202.646317 deg, approach rate: -0.641636 m/s, LOS rate: -0.191724 deg/s, cmd heading: 205.941009 deg, new cmd heading: 205.715590 deg. g--HeadingCmd: 3.590414 target range: 47.000000 and range: 47.00 m.bg5Ye@Zg1rg1jg1Rg1Zf1Rf1e9e9"d9cAcAcAcE`?ɢuZBu 6: qu=IqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. !ɡiI :A!95 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970497AI IY Iq N >a :L,O:0)Ay6Z@ٱ6h@6L뽹6R,=6Ho[?f?7P޿v? Y?`\o??I6Z@)6(^;i6|CN_vBRI-Mb@Mb@Mb@) )))I)i)-Fx?+η?~jth?-+?-v=-D;)-CAI--FAi-QA-:A9 )-EABDE6DEk4YUd=!U@=]Q)]>a9a9eEYe}!Ee9Ae>iQ 1uy4٪m?Q 5y4mT mqB9k-?Q A:Yd Q E?ym zC)m9~BABEIBE wBBABABABE^;BE#EgimDNOT Ignoring new targets: 47.00 m.gig!_g!_ ProNav: ac range: 47.000000 m, nav range: 44.821785 m, bearing: 202.559289 deg, approach rate: -0.619035 m/s, LOS rate: -0.195077 deg/s, cmd heading: 205.715585 deg, new cmd heading: 205.452884 deg. gHeadingCmd: 3.585829 target range: 47.000000 and range: 47.00 m.bg:~e@ZgrgjgRgZfRfeeIB"dcccc@@ɢ-yBMp- QUIQ UhPɡQiQI]L >A Т= A I I) M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474962NU >PeL,/:0)AynZ@ٱnh@nC𽹱n'=nH?Th?iH޿ y?)???InZ@)n[^;ilvxvBvIBD~d6D~ 84Y =! O=H߻Q)>99EY!EyA>!Q 1-y4٪%?Q 55y4%Y %B91Y5i Q E5?y%MzC)%:I%6;i% y4YAELAE(EgamDNOT Ignoring new targets: 47.00 m.gigu }gu } ProNav: ac range: 47.000000 m, nav range: 44.564026 m, bearing: 202.477673 deg, approach rate: -0.694658 m/s, LOS rate: -0.221225 deg/s, cmd heading: 205.452883 deg, new cmd heading: 205.206622 deg. gHeadingCmd: 3.581531 target range: 47.000000 and range: 47.00 m.bg7e@ZgrgjgRgZfRfԙee"dcccc@ɢBC I 1ɡiIC|AA5\=bA9ZA=~AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.726296IIN>rDm<jDm<DuxDujDu-DqEuˀ: Eu96Eut4:Eq!}@!}@!@!@! ?L,|;0)AɰR;PyEdZ@ٱE^h@EE =EH? ?F=޿Ŷ?P??@?IEdZ@)E3^;iA]vB]Ie8>e<Mb@Mb@Mb@ )Ii!rh?ʡE?99EY!E%lA%>)Q 15y4٪-?Q 55y4-P] -B9=(?Q A=:Y=!Q E=?y-zC)-;I-;i-Iy4YAE6LAABDAT read: Rx Time:18:22:34.1829 TRx dataTimestamp_ set to:1755627756.379648-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980831g)5DNOT Ignoring new targets: 47.00 m.g1g=YUgEYU} ProNav: ac range: 47.000000 m, nav range: 44.287964 m, bearing: 202.397266 deg, approach rate: -0.636425 m/s, LOS rate: -0.186525 deg/s, cmd heading: 205.206627 deg, new cmd heading: 204.963901 deg. g}HeadingCmd: 3.577295 target range: 47.000000 and range: 47.00 m.bgfd@ZgrgjgRgZfRfee2B"dcccc^@ɢ%B-/ )-CI) -@pʼɡ1i1I5kDA= p= A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230495D }D cD )D E ݉: E L96E FA4:E "E 8;! E 9;! *E ";! E ";! AQ Iy I NE >L,-;0)AyVZ@ٱVh@V%VF`޿ @۵?0?֭??IVZ@)V^;iV{CbvBbIBDjv6Dj)Y4Y =! K= pQ) >99EY!E:A>!Q 1-y4٪%?Q 5-y4%Ja %B9)Y5!Q E5?y%zC)% :I%:i%Vy4Y=͔B=KA='EgaeDNOT Ignoring new targets: 47.00 m.gagm+Xgm+X} ProNav: ac range: 47.000000 m, nav range: 44.032246 m, bearing: 202.321748 deg, approach rate: -0.636269 m/s, LOS rate: -0.188990 deg/s, cmd heading: 204.963896 deg, new cmd heading: 204.736030 deg. g}HeadingCmd: 3.573318 target range: 47.000000 and range: 47.00 m.bg=d@ZgrgjgRgZfRfee"dcccc@L @ɢBF I ׼ɡiIOHAEl=DAT read: 18:22:34.1829 LVL= 25376, 31889, 20978, 32755, AGC= 60, IDX= 416, 0.16, 0.689,-0.880, 1.103, 0.614, PHS= 0.177,-1.449, 0.445, RAW= 157.5, 9.4, CAL= 157.3, 10.0, ROT= 352.7, -10.0 Ygot valid direction response: 18:22:34.1829 LVL= 25376, 31889, 20978, 32755, AGC= 60, IDX= 416, 0.16, 0.689,-0.880, 1.103, 0.614, PHS= 0.177,-1.449, 0.445, RAW= 157.5, 9.4, CAL= 157.3, 10.0, ROT= 352.7, -10.0 PDAT read: Bearing 3.8, 0.2 (Local) ~Local bearing/azimuth received: Bearing 3.8, 0.2 (Local) DAT read: Range 11 to 50 : 44.7 m (Round-trip 59.7 ms) speed 0.5 m/s *DAT read: user:941> BDAT read: Tx time:18:22:35.2690 $Ping request sent. %x)% >I%/@i%'>%/@%¸2>%@%¸2I!i!)% ?y:?}uE?%['?%''%tw %¸2I!i!-:publishing transmit ping time9-Fpublishing direction and range info!%WE'B?,ncٖNs:?!!I!i!!!!! !)!I!i!!!!!I!i!)% ?y:?}uE?!!! !I!i!AqIIN^>)Y L,G;0)Ay6Z@ٱ6h@6uV6 <6H o?:u?8޿ h? 絿??`?I6Z@)6'^;i6zCVvBVIBD^y6D^^4Y<! K= BQ) >99EY!ElA>!Q 1-y4٪%hp?Q 5-y4%Fe %B9)Y-!Q E-?y%{C)%:I%:i%ny4Y9=KA9DeyDefDe*DaEe: Ee96Ee(N4:Ea!u@!u@!u@!u@JhYRh]v8;0)Ah]2Bh]y 2]x* E@;_k\ @~]WE'B?,ncٖNs:?h]twh]¸2 ]daDt.NRvs)@~]oBտX?jh]prh], Zh]B?bh]XWpzh]DBhYh]XWphYh],Bh]_@ addTargetRange:: Added new target pos. range: 44.700001 m, deltaT: 3.528344 s, deltaX: -2.299999 m, approachRate: -0.651864 m/s, rangeRepo size: 4  Added new target pos. range: 44.700001 m, bearing: 200.391753 deg, lat: 36.779369 deg, lon: -121.859530 deg, deltaT: 3.528344 s, deltaX: -2.299999 m, approachRate: -0.651864 m/s, posRepo size: 4 gDNOT Ignoring new targets: 44.70 m.ggg  ProNav: ac range: 44.700001 m, nav range: 43.226692 m, bearing: 200.391753 deg, approach rate: 0.000000 m/s, LOS rate: -0.188990 deg/s, cmd heading: 204.736027 deg, new cmd heading: 204.500935 deg. g 9HeadingCmd: 3.569215 target range: 44.700001 and range: 44.70 m.bgnd@ZgrgjgRgZfRfee"dcccYF@c?ɢ5B5M 9 IUIQ UɡQiQIUiKA =rA jA >A9 II IY Ne >Թ mL,aa;0)Ay6Z@ٱ6h@63l6<6HC Ŗ?@n?(޿?"? ??p?I6Z@)6#^;i6}CVvBZIiXIXA|A|vB~BBKIBwBBBBB^;B#E]Mb@Mb@Mb@Y Y)YIYiY]#~j?#~j?=!C=Q)>99EY!EA>Q 1y4٪]?Q 5y4ji ІB91'?Q A:Y_!Q E?ya{C):I:iy4YKAB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 44.70 m.ggg ProNav: ac range: 44.700001 m, nav range: 42.965179 m, bearing: 200.297366 deg, approach rate: -0.640402 m/s, LOS rate: -0.232546 deg/s, cmd heading: 204.500932 deg, new cmd heading: 204.216049 deg. gHeadingCmd: 3.564242 target range: 44.700001 and range: 44.70 m.bgd@ZgrgjgRgZfRfe e QB"d c ccԑcў?ɢBC I ɡiINAe=AIIN>E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984789 L,W={;0)Ay6ޣZ@ٱ6؞h@6D6<6H;}?0X? ޿ {?` ]??q?I6ޣZ@)6'8^;i6|CN wBRIBDZl6DZF4Yz>!zT=z"Q)~>|9|9EY!EA> Q 1y4٪ L?Q 5y4 8m B9Y}!Q E?y {C)  ;I ;i y4Y%̔B%AJA-&EgIUDNOT Ignoring new targets: 44.70 m.gQgU9gU9m ProNav: ac range: 44.700001 m, nav range: 42.724388 m, bearing: 200.210042 deg, approach rate: -0.624358 m/s, LOS rate: -0.227703 deg/s, cmd heading: 204.216045 deg, new cmd heading: 203.952597 deg. gmEmHeadingCmd: 3.559644 target range: 44.700001 and range: 44.70 m.bgu6c@ZgqrgqjgqRgqZfqRfqeyey"dycccc{?ɢBIJ 页6I נɡiIk$RAI ) UG A) A I I I  A AN >e L,(;0)Ay^Z@ٱ^{h@^^<^HZ? ?ݿ(#?`? E? }?I^Z@)^^;i^yCrwBrIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.488884 Mb@Mb@Mb@  ) I i  K7A?Mb?I +?  "? = 94<) I GAAi OA =4A  BABD%i6D%=A4Y5[<!57=5NQ)=>9999=EY=!EE@AE>IQ 1Uy4٪M9?Q 5Uy4MVq MB9U"?Q A]:Y]'#Q E]?yM{C)M:IM:iM%y4YeBeKKAe/EgDNOT Ignoring new targets: 44.70 m.ggggg ProNav: ac range: 44.700001 m, nav range: 42.452000 m, bearing: 200.120213 deg, approach rate: -0.611098 m/s, LOS rate: -0.202821 deg/s, cmd heading: 203.952591 deg, new cmd heading: 203.681379 deg. g1 HeadingCmd: 3.554911 target range: 44.700001 and range: 44.70 m.bgc@ZgrgjgRgZfRfee3B"dcccc ?IɢB: 页nI ][ ɡiIn^U~BB}IBwBBBBB^;B#E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740715>A S-=Ա bA ZA |ABE [4JEY4RE0D yD iD +D E : E 96E [4:E "E ;! E ;! *E 8;! E 8;! A I I N >1L,;0)Aɰp;y:hZ@ٱ:ch@:b:Ċ<:HJ?>BDrl6DrF4Yz>!zb=zQ)z>|9|9~EY!EA> Q 1y4٪ $)?Q 5y4 t  B9Y<#Q E?y #|C) -:I ;i y4Y!%rJA%.EgIMDNOT Ignoring new targets: 44.70 m.gQgURigURie ProNav: ac range: 44.700001 m, nav range: 42.230694 m, bearing: 200.046779 deg, approach rate: -0.611531 m/s, LOS rate: -0.203985 deg/s, cmd heading: 203.681377 deg, new cmd heading: 203.459920 deg. ge mHeadingCmd: 3.551045 target range: 44.700001 and range: 44.70 m.bgmTDc@ZgirgqjgqRgqZfqRfqeyey"dycycccg?ɢ)BvS 页I zɡiImXA=A yAI I N >L,;0)A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244880y>IZ@ٱ> Dh@>i><>H`?@ ?@÷ݿ`g<? ?7??I>IZ@)>?^;i  H?9  H?9 EY !ELA>Q 1-y4٪7?Q 5-y4jx B91Y5Z#Q E5?ye|C)-;I ;iy4DIDIDM,DIEI EI6EMg4:EI!U@!U@!U@!U@YaeVJAag DNOT Ignoring new targets: 44.70 m.gg]g]- ProNav: ac range: 44.700001 m, nav range: 41.982212 m, bearing: 199.964027 deg, approach rate: -0.579060 m/s, LOS rate: -0.193986 deg/s, cmd heading: 203.459915 deg, new cmd heading: 203.210192 deg. g-!5HeadingCmd: 3.546687 target range: 44.700001 and range: 44.70 m.bg5b@Zg1rgAjgIRgIZfIRfIeQeQ"dcccc`{@ɢ7BA I ɡiI\A L=a A I I N >CL,3;0)AAPAPvBV>~BTBVIBVGxBBTBTBTBV^;BV#EBiBiBiBiBiBmJ"5wB:I9Mb@Mb@Mb@ )Iip= ף?X9v?~jt?%?}=D<)GAAI?Ail3A AABD]6D'+4Y =!==UQ)U>Y9Y9]EY]!E]Ae>aQ 1mz4٪e$?Q 5mz4e| e5B9u%?Q Au:Yu#Q Eu?ye|C)eG;Ie ;ie z4YyIAB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 44.70 m.ggxgx ProNav: ac range: 44.700001 m, nav range: 41.704552 m, bearing: 199.872374 deg, approach rate: -0.655000 m/s, LOS rate: -0.217647 deg/s, cmd heading: 203.210190 deg, new cmd heading: 202.933405 deg. g^HeadingCmd: 3.541856 target range: 44.700001 and range: 44.70 m.bgŭb@ZgrgjgRgZfRfeeNB"dcccc@ɢ EBG !I !ɡiIY_At=rA>jA> A I I N > BDAT read: Rx Time:18:22:37.7299  TRx dataTimestamp_ set to:1755627759.918671 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013873onL,;0)A$i$yRZ@ٱR h@R R!,t9t9vEYv!EvAv>xQ 1~z4٪z ?Q 5z4z zGB9Y#Q E?yz|C)z;Iz+;izz4Y  1IAg1ԙDNOT Ignoring new targets: 44.70 m.ggflgfl ProNav: ac range: 44.700001 m, nav range: 41.482193 m, bearing: 199.799102 deg, approach rate: -0.623850 m/s, LOS rate: -0.206675 deg/s, cmd heading: 202.933403 deg, new cmd heading: 202.712409 deg. g HeadingCmd: 3.537999 target range: 44.700001 and range: 44.70 m.bgnb@ZgrgjgRgZfRfee"dcc c c  @ɢuQB}SP y}Iy }̏(ɡiIbAG=! AU AIy I N >XL,Dm<0)Ay=Y@ٱ=g@=Ƣ =%<=H` ?kg?mݿR`S?F??@?I=Y@)=4 ^;i=|CMwBMYIMb@Mb@Mb@ )IiNbX9? rh?eDAT read: 18:22:37.7299 LVL= 27344, 31473, 23746, 32755, AGC= 59, IDX= 418,-0.08, 0.072,-1.476, 0.457, 0.003, PHS= 0.172,-1.433, 0.410, RAW= 156.8, 9.8, CAL= 156.7, 10.6, ROT= 353.3, -10.6 mYgot valid direction response: 18:22:37.7299 LVL= 27344, 31473, 23746, 32755, AGC= 59, IDX= 418,-0.08, 0.072,-1.476, 0.457, 0.003, PHS= 0.172,-1.433, 0.410, RAW= 156.8, 9.8, CAL= 156.7, 10.6, ROT= 353.3, -10.6 uPDAT read: Bearing 3.6, 1.3 (Local) }~Local bearing/azimuth received: Bearing 3.6, 1.3 (Local) DAT read: Range 11 to 50 : 42.6 m (Round-trip 56.8 ms) speed 0.5 m/s *DAT read: user:942> BDAT read: Tx time:18:22:38.8190 $Ping request sent. 5l)5>I5%/@i5%/>5 /@5q=>5Q@5q=I1i1)5[ =?ځx"?X3o?5€$?5m/5| 5q=I1i1:publishing transmit ping time9Fpublishing direction and range info15oJ6=?͋:[ =η?11I1i11111 1)1I1i11111I1i1)5[ =?ځx"?X3o?111 1I1i1MK?9MK?9MEYM!EMQQ 1]z4٪UDݪ?Q 5ez4Ue U_B9e&?Q Ae:Yh#Q E?yU8}C)U;IU;iU)z4YHA-EJh1Rh5<0)Ah5f*Bh5o 25] "T%D@Ε쟊\7fX@~5oJ6=?͋:[ =η?h5|h5q= 5r;B'y,3%*@~5-a'sC|3 cտZi?jh5crh5~Zh5վe?bh5zh5Bh1h1h5Bh5$Bh5_@e addTargetRange:: Added new target pos. range: 42.599998 m, deltaT: 3.539726 s, deltaX: -2.100002 m, approachRate: -0.593267 m/s, rangeRepo size: 4 u Added new target pos. range: 42.599998 m, bearing: 199.695224 deg, lat: 36.779369 deg, lon: -121.859530 deg, deltaT: 3.539726 s, deltaX: -2.100002 m, approachRate: -0.593267 m/s, posRepo size: 4 gquDNOT Ignoring new targets: 42.60 m.gyg}gy ProNav: ac range: 42.599998 m, nav range: 41.180794 m, bearing: 199.695224 deg, approach rate: 0.000000 m/s, LOS rate: -0.206675 deg/s, cmd heading: 202.712406 deg, new cmd heading: 202.402856 deg. gHeadingCmd: 3.532596 target range: 42.599998 and range: 42.60 m.bgb@ZgrgjgRgZfRfYeYeeSB"dacacaceLE@cm`?ɢbB: I *2ɡiIae~BBIBxBBBBB^;B#EI@i0IDe yDe lDe )Da Ee : Ee :6Ee FA4:Ea "Ee ;!u Ee ;!u *Ee C;!u Ee C;!u y >A L%=AyAI I!N-> o L,&4<0)Ay6Y@ٱ6g@6|5 62$Q<6H`.?W>?Vݿ!RC=VQ)V>V H?9V H?9VEYV!EZMAZ>\Q 1bz4٪^(̪?Q 5bz4^ ^rB9dYf#Q Ef?y^v}C)^g:I^_:i^07z4YhjGAj,Eg|DNOT Ignoring new targets: 42.60 m.ggAgA ProNav: ac range: 42.599998 m, nav range: 40.944183 m, bearing: 199.613129 deg, approach rate: -0.652652 m/s, LOS rate: -0.227753 deg/s, cmd heading: 202.402862 deg, new cmd heading: 202.155156 deg. gN-HeadingCmd: 3.528273 target range: 42.599998 and range: 42.60 m.bg-:a@Zg)rg)jg1Rg1Zf9Rf9eAeA"dIcccc`?ɢUmBU{X Q];IY ]8ɡYiYI]niA~=bA~AZAAAIIIN> D zD bD ,D E l: E 96E g4:E ! @! @! @! @QL,M<0)ApxBIBD6DY%Jl=!-C=-Q)->)9195EY5!E5A5>9Q 1Ez4٪=9?Q 5Mz4=ߋ =B9IYIQ EM?y=}C)=:I=t:i=Ez4YQUZGAYgyDNOT Ignoring new targets: 42.60 m.ggs|gs| ProNav: ac range: 42.599998 m, nav range: 40.682468 m, bearing: 199.521178 deg, approach rate: -0.624170 m/s, LOS rate: -0.220708 deg/s, cmd heading: 202.155158 deg, new cmd heading: 201.877531 deg. gxHeadingCmd: 3.523427 target range: 42.599998 and range: 42.60 m.bga@ZgrgjgRgZfRfee"dcccc2;?ɢ{B^>J bI! %"V@ɡ!i!I%8lAM =i A <A vB >~B ͍CB IB xBB =B B cDB ^;B #EAy I I N >|L,Cg<0)A$xB I9Mb@Mb@Mb@ )IiK7A?㥛 ?Mb? "?=<)v@AI;Ai&OA(0A >ABD^6D,4YUD=!A=Q)>99EY!EA>Q 1z4٪?Q 5z4ҏ B9,#?Q A:Y"Q E?y~C):I':iTz4YGA+EB*** querying acoustic contact ***:hBhg!%DNOT Ignoring new targets: 42.60 m.g!g-끻g-끻= ProNav: ac range: 42.599998 m, nav range: 40.424137 m, bearing: 199.425208 deg, approach rate: -0.607608 m/s, LOS rate: -0.227167 deg/s, cmd heading: 201.877524 deg, new cmd heading: 201.587779 deg. g=EHeadingCmd: 3.518370 target range: 42.599998 and range: 42.60 m.bgE,a@ZgArgIjgIRgIZfIRfIeQeUTBD]yD]jD]-DYE]: E]96E]t4:EY"EY!mEY!m*E]U<;!mE]V<;!m"dqcqcqcyc}B|?ɢ%B%P !%I) -Gɡ)i)I5#}p)],a@)YqIAi  O5 >A=ԙAAI!I1N=> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. c L,b<0)Ay6Y@ٱ6g@6F 62Ѕ<6H)(?@u ?ݿ`d@? n???I6Y@)6];i6~CbVxBbIBDjv6Dj)Y4Yr>!rZ=rQ)r>vK?9vK?9vEYv!Ez-Az>xQ 1z4٪z'?Q 5z4zH zB9Y#Q E?yz<~C)z;Iz&;izaz4YBwGA5Eg1=DNOT Ignoring new targets: 42.60 m.g9gEgEU ProNav: ac range: 42.599998 m, nav range: 40.196266 m, bearing: 199.340904 deg, approach rate: -0.609525 m/s, LOS rate: -0.226780 deg/s, cmd heading: 201.587774 deg, new cmd heading: 201.333430 deg. gU]HeadingCmd: 3.513931 target range: 42.599998 and range: 42.60 m.bg]@`@ZgYrgYjgYRgYZfaRfaeaea"dicicicicug?ԙɢB`d[ 顥 I NɡiItA5=Aa Iq I N >! &L,~<0)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004133y>Y@ٱ>g@> >ˇS<>Hl.@dh??Q ݿ`6k?js?1?`ղ?I>Y@)>];i>xCFtxBFIiHIHmMb@Mb@Mb@i i)iIiiim~jt?sh|??~jt?m$?m=m<)m>AIm3=AimLAmX/A im>ABD}6D f4Y=!?=Q)>99EY!E|LA>Q 1z4٪:?Q 5z4_ ȇB9 &?Q A:YP"Q E?y~C);I;ipz4YGA4EgDNOT Ignoring new targets: 42.60 m.ggg  ProNav: ac range: 42.599998 m, nav range: 39.932915 m, bearing: 199.237166 deg, approach rate: -0.616243 m/s, LOS rate: -0.244349 deg/s, cmd heading: 201.333432 deg, new cmd heading: 201.020166 deg. g 'HeadingCmd: 3.508464 target range: 42.599998 and range: 42.60 m.bg`@ZgrgjgRgZfRfe!e%cB"d!c!c)c)c-K@ɢ]B]M Y] IY eUɡaiaIeqw)m`@)qI Bi   n4 vBu>~BqBuXIBuYyBBqBqBqBu^;Bu#E!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256109>AU=QDuDcD*DEv: EL96E(N4:E"E%;!E&;!*E";!E";!A I I N >y 8,L,Y<0)AyF%tY@ٱFog@Fh@ F!99EY!E iCA >Q 1%z4٪r?Q 5-z4 ݇B91Y5a"Q E5?y~C)G;IH;i-~z4YIMFAIgDNOT Ignoring new targets: 42.60 m.gghgh ProNav: ac range: 42.599998 m, nav range: 39.694965 m, bearing: 199.142592 deg, approach rate: -0.609656 m/s, LOS rate: -0.243762 deg/s, cmd heading: 201.020172 deg, new cmd heading: 200.734753 deg. gJ'HeadingCmd: 3.503482 target range: 42.599998 and range: 42.60 m.bg9`@ZgrgjgRgZfRfee"dcccc̾@QɢBR 顭< I Q]ɡiIo{)9`@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508250ImAiiim3i@u>@u>ԁ>A>ԱI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760845D yD nD -D E : E :6E t4:E ! @! @! @! @i I C 3L,tE<0)A)G *rA)4IJNrAN)AvO?vAy=^Y@ٱ=Yg@=K = [%<=H6`??`P?}ܿvF?ņ?@ty?m?I=^Y@)= ];i=zCuxBuIBDh6Df?4Y=!@=qQ)>99EY!EGA>Q 1z4٪U_?Q 5z4 B9Yv"Q E?yC)!;I;iz4YFA3Eg)MDNOT Ignoring new targets: 42.60 m.gIgUgUe ProNav: ac range: 42.599998 m, nav range: 39.434219 m, bearing: 199.038126 deg, approach rate: -0.611622 m/s, LOS rate: -0.246663 deg/s, cmd heading: 200.734752 deg, new cmd heading: 200.419283 deg. geH)HeadingCmd: 3.497976 target range: 42.599998 and range: 42.60 m.bg_@ZgrgjgRgZfRfee"dcccc7@ԩɢ B WS  I dɡiI.)%_@)!Ii5]BDAT read: Rx Time:18:22:41.2769 eTRx dataTimestamp_ set to:1755627763.446739echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013236 >A= >Aa Aa vBu >~Bu ̍CBu IBu yBBu =Bq Bq Bu _;Bu #E1 I9 II N] >99L,8-<0)Aɰ; xBIMb@Mb@Mb@ )Iiw/?ˡE?Q?&?=u<)>AI9AiKA$0A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264218=ABDk6DD4YI=!F=Q)>99EY!EA>Q 1z4٪L?Q 5z4  B9E(?Q A:Y"Q E?yKC)m ;I:i^z4YBEA2EB*** querying acoustic contact ***:hBhBEJE [4RE/D{DmD+DE=: E:6E [4:E"E;!E;!*E@G;!EAG;!PExceeded connect timeout, disconnecting.gDNOT Ignoring new targets: 42.60 m.ggpgp= ProNav: ac range: 42.599998 m, nav range: 39.176277 m, bearing: 198.934724 deg, approach rate: -0.599899 m/s, LOS rate: -0.242064 deg/s, cmd heading: 200.419279 deg, new cmd heading: 200.107036 deg. ge &}HeadingCmd: 3.492527 target range: 42.599998 and range: 42.60 m.bg_@ZgrgjgRgZfRfeenB"d!c)c1cYce` @ɢ=ɀBEZJ AE IA EemɡAiIIMZ)u_@)q1I@i05 DAT read: 18:22:41.2769 LVL= 26720, 32753, 22002, 32755, AGC= 57, IDX= 403, 0.03,-0.448,-2.026,-0.075,-0.562, PHS= 0.215,-1.420, 0.442, RAW= 156.4, 8.7, CAL= 156.1, 9.2, ROT= 353.9, -9.2  Ygot valid direction response: 18:22:41.2769 LVL= 26720, 32753, 22002, 32755, AGC= 57, IDX= 403, 0.03,-0.448,-2.026,-0.075,-0.562, PHS= 0.215,-1.420, 0.442, RAW= 156.4, 8.7, CAL= 156.1, 9.2, ROT= 353.9, -9.2  PDAT read: Bearing 1.1, 2.1 (Local)  ~Local bearing/azimuth received: Bearing 1.1, 2.1 (Local)  DAT read: Range 11 to 50 : 40.3 m (Round-trip 53.8 ms) speed 0.5 m/s  *DAT read: user:943>  BDAT read: Tx time:18:22:42.3690  $Ping request sent. ] µ)] M>I] R.@i] |>] ].@] l$>] @] l$IY iY )] !Gt?G?(e?] "?] 6] i ڽ ] l$IY iY  :publishing transmit ping time9  Fpublishing direction and range infoY ] &Th?FNںČsv?Y Y IY iY Y Y Y Y Y )Y IY iY Y Y Y Y IY iY )] !Gt?G?(e?Y Y Y Y IY iY >A5 D >I I FJI N >j@L,S=0)Ay6iX@ٱ6cf@6 6>[<6H@\M`?? ܿ` ?5?@g$? Ȱ?I6iX@)6];i4lxBIBDUv6DU)Y4Y=!==T3Q)>99EY!EsA>Q 1z4٪8?Q 5z4= "B9Y#Q E?yC):Ig:iz4Y @EA!JhRhX<0)Ah3!Bh\2NN6C@ XDmS$S@~&Th?FNںČsv?hi ڽhl$ 2(zBA{S**C9'@~[+쿠,A Aտ=?jh"VrhZh5ZS?bhCzhBhB?hhBhBhX^@ % addTargetRange:: Added new target pos. range: 40.299999 m, deltaT: 3.527814 s, deltaX: -2.299999 m, approachRate: -0.651962 m/s, rangeRepo size: 4 ] Added new target pos. range: 40.299999 m, bearing: 199.054302 deg, lat: 36.779374 deg, lon: -121.859530 deg, deltaT: 3.527814 s, deltaX: -2.299999 m, approachRate: -0.651962 m/s, posRepo size: 4 gYDNOT Ignoring new targets: 40.30 m.ggg A ProNav: ac range: 40.299999 m, nav range: 38.453903 m, bearing: 199.054302 deg, approach rate: 0.000000 m/s, LOS rate: -0.242064 deg/s, cmd heading: 200.107030 deg, new cmd heading: 199.787319 deg. gHeadingCmd: 3.486947 target range: 40.299999 and range: 40.30 m.bg"*_@ZgrgjgRgZfRfee"d c c c `f&D@c ǵ?ɢ]ՀB]GY Y]] IY HtɡiIw)"*_@)DyDfD*DE: E96E(N4:E!@!@!@!@9I?i5@~A@i >A 7>I9 IQ Ne >WFL,=0)Ay:X@ٱ:f@:,:BJ<:H`p\?Ń?qDܿ??"?p?I:X@):=];i:|CBxBFI1MMb@Mb@Mb@I I)IIIiIM/$?Zd;O?~jt?M1(?Mj=MD<)M/=AIM9AiIM,A IM;ABDea6De24Yu, =!ua=}eQ)}>y9y9EY!EKA>Q 1z4٪(?Q 5z4 6B9)?Q A:Yx"Q E?yC):I:i4z4YEAgDNOT Ignoring new targets: 40.30 m.ggg ProNav: ac range: 40.299999 m, nav range: 38.227009 m, bearing: 198.960015 deg, approach rate: -0.685869 m/s, LOS rate: -0.286709 deg/s, cmd heading: 199.787323 deg, new cmd heading: 199.502784 deg. gDHeadingCmd: 3.481981 target range: 40.299999 and range: 40.30 m.bg^@ZgrgjgRgZfRfeeZB"dcccc&?ɢ5߀B50s 5'&== I9 =!zɡ9i9I=j)M^@)II@i/vB>~BBIByBBBBBP_;B#EBB͍CBBô =Bô =Bjh5aԉ>Ae'~>IInManaging dock network, ignoring radio surface power offN>DDD.DE E6Eـ4:E"E;! E;! *E-;! E-;! Ա ML,6=0)A,i,yf7XX@ٱf1Sf@ffX> 9 9 EY !EWA>Q 1%z4٪?Q 5%z4 KB9!Y%"Q E%?yC):I:iz4Y15DA1gYeDNOT Ignoring new targets: 40.30 m.gage,ge,u ProNav: ac range: 40.299999 m, nav range: 37.982250 m, bearing: 198.858994 deg, approach rate: -0.632126 m/s, LOS rate: -0.262584 deg/s, cmd heading: 199.502791 deg, new cmd heading: 199.197777 deg. g}54}HeadingCmd: 3.476657 target range: 40.299999 and range: 40.30 m.bg^@ZgrgjgRgZfRfee"dcccc@6?ԙɢB``  I ɡiI#c)^@)Im?iqqu/q>At>IIN> D wD gD (D E }: E &96E c44:E ! @! @! @! @WSL,|P=0)Ay6W@ٱ6e@66<<6H ??ۿ`45?S?V?`8?I6W@)6v];i6zCB3yBB@IBDJN6DJ4YRU=!RP=VDQ)V>T9X9ZEYZ!EZzAZ>\Q 1bz4٪^?Q 5fz4^H ^`B9dYf,#Q Ef?y^)C)^:I^:i^vz4YjBBjIEAn:Eg|DNOT Ignoring new targets: 40.30 m.ggg  ProNav: ac range: 40.299999 m, nav range: 37.734131 m, bearing: 198.757596 deg, approach rate: -0.632185 m/s, LOS rate: -0.260051 deg/s, cmd heading: 199.197782 deg, new cmd heading: 198.891590 deg. gx2HeadingCmd: 3.471313 target range: 40.299999 and range: 40.30 m.bg)^@ZgrgjgRgZfRfee"dcccc ?ɢB`\   I  b@ɡ i I >Q)=)^@)9M]>M>Ii@>@4>)>AQA yAA A vB >~B ͍CB IB CzBB B B B _;B $EI) IA NM >y jZL,Wj=0)Ay6W@ٱ6~e@66*1;6H q?@?@6ۿ}^?`?w??I6W@)6];i6{CBSyBBTI Mb@Mb@Mb@  ) I i  {Gz?ˡE?I +? #? = 94<) >AI I8Ai lIA   \;ABD%l6D%F4Y5=!5B= ߙޙQ)> H?9 H?9EY!EA>Q 1z4٪3?Q 5z4A xB94%?Q A:Y^$Q E?yMC):I:iz4YBB@AB*** querying acoustic contact ***:hBhg DNOT Ignoring new targets: 40.30 m.g gggg% ProNav: ac range: 40.299999 m, nav range: 37.464073 m, bearing: 198.653904 deg, approach rate: -0.616732 m/s, LOS rate: -0.238508 deg/s, cmd heading: 198.891584 deg, new cmd heading: 198.578270 deg. g%#-HeadingCmd: 3.465845 target range: 40.299999 and range: 40.30 m.bg-f]@Zg)rg)jg)Rg)Zf)Rf1e1e5{B"d9c9c9c9cE`?QɢuBu|\ quQ Iq }KɡyiyI}7)f]@)DtDfD,DEs: E96Eg4:E"E;!E;!*E!E!ԁAQ AAIIN>.bL,$=0)Ay6W@ٱ6}e@6}L8696H@_ ?@)?rڿw&??5??I6W@)6Zs];i6xCFdyBF_IN=N>BDVe6DV94Yb=!b/=fQ)f>jK?9jK?9jEYj"EvhsAm>yQ 1z4٪}۩?Q 5z4} }B9Y$Q E?y}sC)}O;I}Q;i}>z4YB?AgDNOT Ignoring new targets: 40.30 m.ggXgX  ProNav: ac range: 40.299999 m, nav range: 37.172268 m, bearing: 198.543269 deg, approach rate: -0.610185 m/s, LOS rate: -0.233161 deg/s, cmd heading: 198.578270 deg, new cmd heading: 198.243765 deg. g  5HeadingCmd: 3.460006 target range: 40.299999 and range: 40.30 m.bg5p]@Zg1rg1jg1Rg1Zf9Rf9e9e9"dAcAcAcAcE/#@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260332ɢBbS {= I hɡiI)Mp]@)IrDijDm4=D}zD}hD}'DyE}l: E}]96E}'4:Ey!@!@!@!@ԡ%#=Ii/>A > - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512555A I I1 N= >2LhL,͢=0)Ay6wV@ٱ6qd@6 6\6H``8??,jڿY O?N?` |`?I6wV@)62];i6{CByBBzI|=Mb@Mb@Mb@9 9)9I9i9=!rh?kt?Mb`?=l'?= ==;)=;AI=5Ai==JA=n*A 9=p9ABDUn6DUpJ4YeH=!eB=eлvB>~BBIBzBB =BBB_;B7$EQ)>99EY "EA> Q 1{4٪ Zȩ?Q 5{4 V B9(?Q A:Y%Q E?y C) :I v:i {4Y%B%6?A%9EgIUDNOT Ignoring new targets: 40.30 m.gQgUZgUZm ProNav: ac range: 40.299999 m, nav range: 36.906784 m, bearing: 198.442666 deg, approach rate: -0.642989 m/s, LOS rate: -0.245410 deg/s, cmd heading: 198.243768 deg, new cmd heading: 197.939788 deg. gml(uHeadingCmd: 3.454701 target range: 40.299999 and range: 40.30 m.bgu]@ZgqrgqjgqRgqZfqRfqeye}]B"dycccch@ɢB&d 页 I 폽ɡiID)]@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764174DvDfD-DEVz: E96Et4:E"EG;!EH;!*E!E!&= IIECiAAE4A@I@Iq >A  >U BDAT read: Rx Time:18:22:44.8240 U TRx dataTimestamp_ set to:1755627766.979869] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018767ԡ A9IAIQNe>`;pL, =0)AyZU@ٱZc@Zþ!ZzZH`W? x?ٿM?Y"?R?IZU@)Z];iZxCfyBfI) BDb6D[44YM#=!M0=UdQ)U>Q9Q9]EY]"E]fA]>aQ 1{4٪eD?Q 5{4e\ eB9Y%Q E?yeC)e;IeX;ie{4Y>AgDNOT Ignoring new targets: 40.30 m.gg сg с ProNav: ac range: 40.299999 m, nav range: 36.621075 m, bearing: 198.339545 deg, approach rate: -0.624038 m/s, LOS rate: -0.226990 deg/s, cmd heading: 197.939784 deg, new cmd heading: 197.628011 deg. g%HeadingCmd: 3.449260 target range: 40.299999 and range: 40.30 m.bg%\@Zg!rgIjgIRgIZfIRfIeQeQ"dQcQcQcYc] " @iɢ,B Z 顥T I ɡiI)\@)Ip=)>r=ԑIM@iQQU1Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268197D|DcD*DE : EL96E(N4:E!@!@!@!@>AQ rAa jAe > A I I N >vL,=0)AUDAT read: 18:22:44.8240 LVL= 26352, 32753, 22322, 32755, AGC= 57, IDX= 405, 0.00,-1.267,-2.844,-0.960,-1.417, PHS= 0.252,-1.382, 0.413, RAW= 154.6, 8.4, CAL= 154.2, 8.9, ROT= 355.8, -8.9 ԹYgot valid direction response: 18:22:44.8240 LVL= 26352, 32753, 22322, 32755, AGC= 57, IDX= 405, 0.00,-1.267,-2.844,-0.960,-1.417, PHS= 0.252,-1.382, 0.413, RAW= 154.6, 8.4, CAL= 154.2, 8.9, ROT= 355.8, -8.9 PDAT read: Bearing 357.9, 4.7 (Local) ~Local bearing/azimuth received: Bearing 357.9, 4.7 (Local) DAT read: Range 11 to 50 : 38.1 m (Round-trip 50.8 ms) speed 0.5 m/s E*DAT read: user:944> MBDAT read: Tx time:18:22:45.9190 M$Ping request sent.U v`尿)vt>Iv,@ivQ >v9>,@v>vY@vItit)v ?&(?CsGa?v?vvi vItit:publishing transmit ping time9IFpublishing direction and range infotvQ[bء?)Aj?ttItittttt t)tItitttttItit)v ?&(?CsGa?ttt tItit5Mb@Mb@Mb@1 1)1I1i15?~jt?Mb`5f&?5=5)5>AI52Ai5lIA5'A 15z8ABDMi6DM=A4Y]<!]=]һQ)]>a9a9eEYe"Em}TAm>qQ 1}{4٪uC?Q 5}{4u9 uڈB9}4(?Q A}:Y}c%Q E?yuC)u:Iu:iup#{4YB>A8EAAAAvB~BBEIBzBBBBB`;BM$EJhtRhv=0)AhvfBhv_t3v$B@\f /*@~vQ[bء?)Aj?hvi hv vON6@8A%k'䑵'@~vĉTC Lߋ8<"Կj7^?jhv?rhvZhv4)]?bhv4b|zhvBhv5ZS?hvhvBhvBhv^@] addTargetRange:: Added new target pos. range: 38.099998 m, deltaT: 3.533648 s, deltaX: -2.200001 m, approachRate: -0.622586 m/s, rangeRepo size: 4  Added new target pos. range: 38.099998 m, bearing: 198.852655 deg, lat: 36.779375 deg, lon: -121.859534 deg, deltaT: 3.533648 s, deltaX: -2.200001 m, approachRate: -0.622586 m/s, posRepo size: 4 gDNOT Ignoring new targets: 38.10 m.ggg% ProNav: ac range: 38.099998 m, nav range: 36.198254 m, bearing: 198.852655 deg, approach rate: 0.000000 m/s, LOS rate: -0.226990 deg/s, cmd heading: 197.628013 deg, new cmd heading: 197.252791 deg. g)-HeadingCmd: 3.442711 target range: 38.099998 and range: 38.10 m.bg-_U\@Zg1rg1jg1Rg1Zf1Rf1eYe]OB"dYcacace C@ce?ɢ=BVP 页~ I @ɡiIE4)_U\@)  I)D uD eD D E v: E 96E :E "E %;! E &;! *E "*;! E #*;! A I] ?iY Y ] /a @q @u =i>A>ԙAQIYIiN}?L,P>0)Ay6T@ٱ6b@6N)66~6H`v $?!?`ؿ@%?` ?@yu?I6T@)6];i6xCByBBIBDJT6DJ4YR=!R)=RQ)R>T9T9VEYV"EZi~AZ>\Q 1b{4٪^?Q 5b{4^ ^B9`Yb%Q Eb?y^C)^:I^:i^V4{4YjBj >Aj7EGv vAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLGz~Entering USBL mode with 120.000000 count pings at 38.099998 m (mode 2.000000 count ).G~1H~B*** querying acoustic contact ***:hBhg DNOT Ignoring new targets: 38.10 m.ggg- ProNav: ac range: 38.099998 m, nav range: 35.892082 m, bearing: 198.742906 deg, approach rate: -0.657864 m/s, LOS rate: -0.237827 deg/s, cmd heading: 197.252790 deg, new cmd heading: 196.920738 deg. g-7#5HeadingCmd: 3.436915 target range: 38.099998 and range: 38.10 m.bg5k[@Zg1rg1jg1Rg1Zf9Rf9e9e9"d9cAcAcAcE`?ɢJBjb  I EɡiI0ړ)%k[@I)I!i!!% 1!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ)G  A)I== A=.AD}|DyD},DyE} : Ey6E}g4:Ey!@!@!@!@>A>ԩAQ Ia Iq N > L,>0)Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.963984ydT@ٱ_b@-Z#H`=?@?ANؿƖ0??@|`΄?IdT@)'];i%zB%IMb@Mb@Mb@ )Ii%C? ףp= ?Z$?Q=)/=AI$0AiGA 37ABDL6D 4Y%Z=!%3=-U Q)->)9)95EY5""E5\A5>9Q 1E{4٪=n?Q 5E{4=w = B9M%?Q AM:YM&Q EM?y=6C)=:I=:i=LD{4Y]B])=A]6Eiu^@1HuqHugDNOT Ignoring new targets: 38.10 m.ggwgwԑ ProNav: ac range: 38.099998 m, nav range: 35.606316 m, bearing: 198.645167 deg, approach rate: -0.628538 m/s, LOS rate: -0.216700 deg/s, cmd heading: 196.920733 deg, new cmd heading: 196.625165 deg. gHeadingCmd: 3.431756 target range: 38.099998 and range: 38.10 m.bg[@ZgrgjgRgZfRfeeTB"dcccca'?ɢWBd  I 'ɡiIe)[@)vBu>~BqBu~IBu7{BBqBqBqBu`;BqI @i   0 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.213629>AE >bAI ZAI BE(N4JEOS4RET0D} D} mD} (Dy E} : E} :6E} c44:Ey "E} ;! E} ;! *E} @G;! E} AG;! A} yAI I N > 6L,Ii7>0)Aɰ4<4b H?9f H?9fEYf'"EfAf>hQ 1n{4٪j^?Q 5n{4jy jB9pYr%'Q Er?yjSC)j;Ij;ijP{4YvȔBv=Av@Ei qH H gDNOT Ignoring new targets: 38.10 m.gg2gg2g ProNav: ac range: 38.099998 m, nav range: 35.384945 m, bearing: 198.570805 deg, approach rate: -0.597974 m/s, LOS rate: -0.202127 deg/s, cmd heading: 196.625164 deg, new cmd heading: 196.400681 deg. g HeadingCmd: 3.427839 target range: 38.099998 and range: 38.10 m.bga[@ZgrgjgRgZfRfee"dcccc ?ɢ=cB=4k 9E' IA E(ȤɡAiAIE)a[@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466020I!i!!%1!@1@19>AM c>y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717523A AI I N L,@Q>0)AD&{D&`D&&D$E&=: E&96E&4:E$!*@!*@!*@!*@(}GzB}IBDf6D;4Y0=!<=Q)>K?9K?9EY,"EA>Q 1{4٪I?Q 5{4) 7B9YQ E?yvC):I:i_{4YUǔB]=A]?E"iHCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLG Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLgDNOT Ignoring new targets: 38.10 m.ggngn- ProNav: ac range: 38.099998 m, nav range: 35.113411 m, bearing: 198.478282 deg, approach rate: -0.608297 m/s, LOS rate: -0.208873 deg/s, cmd heading: 196.400683 deg, new cmd heading: 196.120972 deg. g-YiHeadingCmd: 3.422957 target range: 38.099998 and range: 38.10 m.bg[@ZgrgjgRgZfRfee"dcccc~{?ɢUoBUh Y] IY ]7ɡYiYI]'y)[@)Iaiaim0iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.971802 A <A vB >~B ̍CB IB {BB =B B B ?`;B [$EBM͍CBIBIBMʳ =BMʳ =BM%4>A > A I! I1 NE >ڼL, m>0)Ay62S@ٱ6-a@676x6H GD=?B? ,׿d?? 鶜 z?I62S@)6];i6xC>czBBI Mb@Mb@Mb@  ) I i  {Gz?bX9ȶ? #? E= ) I .Ai HA $A  =6ABD%e6D%94Y5 =!5C=5[qQ)5>9999=EY=1"EEvAE>AQ 1U{4٪Ej6?Q 5U{4E ENB9Uj%?Q AU:Y]'Q E]?yEC)Ea:IE:iEtn{4Yae=iM>)MZ@)QI?iO5>At>rA>jA>AIIN>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4734809 sL,>0)A y6R@ٱ6`@696yü6H@Q ?`?ֿ;??``v?I6R@)6*];i6yCnzBnIipIpBDzY6Dz#4Y=!N=\Q)> 9 9 EY 6"EDA>Q 1%{4٪#?Q 5%{4 eB9!Y%D(Q E%?yC);IP;iI|{4Y5ŔB5;A5>EUB*** querying acoustic contact ***:hQBhUxgaeDNOT Ignoring new targets: 38.10 m.gagmtvgmtv} ProNav: ac range: 38.099998 m, nav range: 34.604832 m, bearing: 198.314281 deg, approach rate: -0.666767 m/s, LOS rate: -0.215466 deg/s, cmd heading: 195.864936 deg, new cmd heading: 195.625367 deg. g}HeadingCmd: 3.414307 target range: 38.099998 and range: 38.10 m.bgZ@ZgrgjgRgZfRfee"dccccd@ɢB w I !<ɡiIX)Z@)qIM@iIIM"5I@U=@U=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725705D|DfD,DE : E96Eg4:E!@!@!@!@ԙ>A*> I I N >U BDAT read: Rx Time:18:22:48.3710 ɧL,>0)A"TRx dataTimestamp_ set to:1755627770.517923*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991371LyMwR@ٱMq`@M99EY<"EEA>Q 1{4٪?Q 5{4 B9,#?Q A:Y^(Q E?y݁C):I:iB{4YĔB;Ag15DNOT Ignoring new targets: 38.10 m.g1g=ag=avBU>~BQBUIBU{BBU =BQBQBUH`;BU^$Em ProNav: ac range: 38.099998 m, nav range: 34.323727 m, bearing: 198.223452 deg, approach rate: -0.605732 m/s, LOS rate: -0.197322 deg/s, cmd heading: 195.625360 deg, new cmd heading: 195.350646 deg. gmkuHeadingCmd: 3.409512 target range: 38.099998 and range: 38.10 m.bgur5Z@ZgqrgqjgqRgqZfyRfyeye}IB"dcccc+ @ɢBd I ;fɡiI)Mr5Z@)II?iF5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229624DvDDDEVz: E6E:E"EG;!EH;!*E-;!E-;!>A >>) I I N >L,x>0)Ay6OAR@ٱ6H<`@6~?66H@Cg~??uFֿO>?`,?` d1p?I6OAR@)6\^;i6zC>zBB?IBDF^6DF,4YN=!Ro=RXQ)R?T9T9VEYVA"EVjXAV?XQ 1^{4٪ZB?Q 5b{4ZB ZB9`Yb(Q Eb?yZC)Z;IZL;iZ{4Ydf:Ahgx~DNOT Ignoring new targets: 38.10 m.gg9hg 9h ProNav: ac range: 38.099998 m, nav range: 34.115574 m, bearing: 198.156825 deg, approach rate: -0.630434 m/s, LOS rate: -0.203026 deg/s, cmd heading: 195.350650 deg, new cmd heading: 195.149549 deg. gU %HeadingCmd: 3.406002 target range: 38.099998 and range: 38.10 m.bg%Y@Zg!rg!jg!Rg!Zf!Rf)e)e)"d)c1c1c1c5` @ɢ5B5R 9=^I9 =)>ɡ9i9IE)MY@)IEDAT read: 18:22:48.3710 LVL= 28496, 32753, 24866, 32755, AGC= 59, IDX= 407,-0.10,-2.033, 2.606,-1.785,-2.238, PHS= 0.307,-1.395, 0.409, RAW= 152.9, 7.8, CAL= 152.4, 8.3, ROT= 357.6, -8.3 MYgot valid direction response: 18:22:48.3710 LVL= 28496, 32753, 24866, 32755, AGC= 59, IDX= 407,-0.10,-2.033, 2.606,-1.785,-2.238, PHS= 0.307,-1.395, 0.409, RAW= 152.9, 7.8, CAL= 152.4, 8.3, ROT= 357.6, -8.3 UPDAT read: Bearing 353.9, 8.0 (Local) ]~Local bearing/azimuth received: Bearing 353.9, 8.0 (Local) mDAT read: Range 11 to 50 : 35.9 m (Round-trip 47.9 ms) speed 0.5 m/s u*DAT read: user:945> }BDAT read: Tx time:18:22:49.4690 }$Ping request sent. \)sh>I{*@i'g >;*@V>I Bi  /1@VIi)$=?z F$6?U ZX?,?v0 Q+ VIiE:publishing transmit ping time9yMFpublishing direction and range info¹?17'ЌCz?Ii )IiIi)$=?z F$6?U ZX? IiQ>A5>bA=}AZA=}AIIN>ԁ D xD ]D &D E ˀ: E 96E 4:E ! @! @! @! @شL,T>0)Ay6jQ@ٱ6c_@67TB6^6H`q 9?`9?տC?D%?C@0l?I6jQ@)6^;i6xCrzBrVIv=vp=BD%m6D%H4aYmˮ=!m>=uһQ)u>99EYF"E7A>Q 1{4٪%먊?Q 5{4 B9Y(Q E?yC)L;I';iI{4YÔBA:A=EJh)Rh-u>0)Ah-Bh-_4-ڢA@5%E(ú@~-¹?17'ЌCz?h-Q+h-V -7@?Ν%L쟛'@~-zVA쿷kҿR  ?jh-D(rh-Zh-oO?bh-Rzh-Bh)h-Rh-Bh-iBh-^G]@ addTargetRange:: Added new target pos. range: 35.900002 m, deltaT: 3.527394 s, deltaX: -2.199997 m, approachRate: -0.623689 m/s, rangeRepo size: 4  Added new target pos. range: 35.900002 m, bearing: 198.099065 deg, lat: 36.779375 deg, lon: -121.859534 deg, deltaT: 3.527394 s, deltaX: -2.199997 m, approachRate: -0.623689 m/s, posRepo size: 4 gDNOT Ignoring new targets: 35.90 m.ggg ProNav: ac range: 35.900002 m, nav range: 33.853207 m, bearing: 198.099065 deg, approach rate: 0.000000 m/s, LOS rate: -0.203026 deg/s, cmd heading: 195.149542 deg, new cmd heading: 194.872570 deg. gHeadingCmd: 3.401168 target range: 35.900002 and range: 35.90 m.bgY@ZgrgjgRgZfRfe e "d)c1c1c5@3A@c5`V?ɢeBei aeIa m&ɡiiiI{)Y@)ԉI@i4ԱAQ AU @AvB] >~BY B] &IB] I|BBY BY BY B] N`;B] a$E>A =I) I9 Nu > L,.>0)Ay6Q@ٱ6۟_@6)E64Q6H@z? ?տ{ ?K~?@ g?I6Q@)6G^;i6yCB{BBoI Mb@Mb@Mb@  ) I i  -?(\µ?{Gz? 5? = #<) x7AI ,Ai GA  A  33ABD`6D04Y=!H=ݻQ)>99EYK"E3=A>Q 1{4٪ب?Q 5{4 ˉB9?Q A:Y)Q E?y;C);IK;in{4Y9AgDNOT Ignoring new targets: 35.90 m.ggwZg%wZ- ProNav: ac range: 35.900002 m, nav range: 33.609848 m, bearing: 198.025081 deg, approach rate: -0.623742 m/s, LOS rate: -0.190999 deg/s, cmd heading: 194.872564 deg, new cmd heading: 194.649006 deg. g5=HeadingCmd: 3.397266 target range: 35.900002 and range: 35.90 m.bg=lY@Zg9rg9jg9Rg9Zf9RfAeAeE\B"dAcIcIcIcM%?D]{D]bD]+DYE]=: E]96E] [4:EY"E];!mE];!m*E]6;!mE]7;!mɢB07w 顥iI 6SɡiIyLA) I I N >A L, ?0)Ay6rOQ@ٱ6kJ_@6t"H6b6H-?W?^տ@.??`ʋDc?I6rOQ@)6b^;i6vCRF{BRIBDX6DXYb=!bX=fQ)f>d9d9jEYjP"EjObAj>lQ 1r{4٪nǨ?Q 5r{4n nB9tYv)Q Ev?ynXC)n:In:in{4Yxz8AzAIQ Ia Nm > 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496744L,!?0)Ay P@ٱ ^@ K y4r H `L?@|c?տ,N? 8?]^?I P@) ];i xC%j{B%IMb@Mb@Mb@ )IiK?kt?~jt?^? =D<)5AI,AiFAdA 1ABD]6D'+4Y*=!8=ӻQ)>99EYV"E \;A >Q 1{4٪鳨?Q 5{4 B9%?Q A%:Y%)Q E%?yzC):IH:i*{4Y)-n8A1gQ]DNOT Ignoring new targets: 35.90 m.gYg]NgeNԩvB>~BBeIB|BBBBBW`;Bf$E  ProNav: ac range: 35.900002 m, nav range: 33.122105 m, bearing: 197.877809 deg, approach rate: -0.588893 m/s, LOS rate: -0.180577 deg/s, cmd heading: 194.443806 deg, new cmd heading: 194.203940 deg. g HeadingCmd: 3.389498 target range: 35.900002 and range: 35.90 m.bgX@ZgrgjgRgZfRfe!e%NB"d!cAcIcIcU ?ɢɁB=i I qĽɡiIWA 3=A) 1 I9 IQ N] >FL,;?0)Ay6P@ٱ6^@66M6!n6H$ >? ?xԿ :ͪ?m?R*Z?I6P@)6I];i6vCB{BBIBDJ[6DJy'4YR@>!Rc=RQ)R>T9T9VEYVZ"EZ>jAZ>\Q 1b{4٪^䣨?Q 5b{4^~ ^B9`Yb/*Q Ef?y^C)^:I^$:i^{4YjܔBj%8AjEEg|~DNOT Ignoring new targets: 35.90 m.g|g?Jg?J ProNav: ac range: 35.900002 m, nav range: 32.910652 m, bearing: 197.814464 deg, approach rate: -0.586475 m/s, LOS rate: -0.176819 deg/s, cmd heading: 194.203943 deg, new cmd heading: 194.012689 deg. g򻝅HeadingCmd: 3.386160 target range: 35.900002 and range: 35.90 m.bgٶX@Zgrgjg!Rg!Zf!Rf!e)e)"d)c1c1c1c5k?ɢҁB*J~ I 7ǽɡi I &eA!i =I Ci )} G rA) I rA 6AAQ IY } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250905Ii N >bDi ZDi Du Du tDu ,Dq Eu 1: Eu v:6Eu g4:Eq !} @!} @!} @!} @'L,U?0)A y^KP@ٱ^F^@^Q^d^H@/@o?`? eԿ H??` U?I^KP@)^];i\f{BjIBD U6D n4Y=!%C=%|Q)%>!9)9-EY-`"E-2\A->1Q 1M{4٪5L?Q 5U{45~ 56B9aYm*Q Em?y5C)5;I5!;i5^{4Yqur7AqgDNOT Ignoring new targets: 35.90 m.gg!Dg!D ProNav: ac range: 35.900002 m, nav range: 32.665695 m, bearing: 197.742486 deg, approach rate: -0.579205 m/s, LOS rate: -0.171470 deg/s, cmd heading: 194.012685 deg, new cmd heading: 193.795131 deg. g[뻝HeadingCmd: 3.382363 target range: 35.900002 and range: 35.90 m.bgxX@ZgrgjgRgZfRfee"dcccc`@ɢ݁BRq I  ~ʽɡ i I q:Am=AAvB>~BBIB)}BB =BBBY`;BA I I N >ORL,c|o?0)Aɰ;y6O@ٱ6]@6fS6f6HBH?`z?ԿX@̪?I?@#P?I6O@)6^;i6wCLR{BRIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756926eMb@Mb@Mb@a a)aIaiae-?x&?{Gz?e5?e7=e#<)e94AIen*AieXEAeA ae(0ABDf6D;4Yz=!C=лQ)>99EYe"EdA>!Q 1-{4٪%#}?Q 5-{4%mBE|a4JET4RE0D=yD=kD=*D9E=: E=:6E=(N4:E9"E9!ME9!M*E=?;!ME=?;!M %TB9u'?Q Au:Yu$-Q Eu?y%ׂC)%3&A =AI Y I I N >L,,?0)AyBO@ٱB ]@BCXBNsBH ??:ӿ \w \?@?\~H?IBO@)B^;iBsCJ6|BNIBDVQ6DV4Y^>!^B=^=`9`9bEYbj"EfAf>hQ 15|4٪jMj?Q 5=|4j jqB99Y=-Q E=?yjC)jOdA=) A I I N- >u DAT read: 18:22:51.9180 LVL= 25920, 32545, 24226, 32755, AGC= 58, IDX= 409, 0.04,-0.509,-2.198,-0.317,-0.776, PHS= 0.368,-1.377, 0.414, RAW= 151.3, 6.8, CAL= 150.6, 7.2, ROT= 359.4, -7.2  Ygot valid direction response: 18:22:51.9180 LVL= 25920, 32545, 24226, 32755, AGC= 58, IDX= 409, 0.04,-0.509,-2.198,-0.317,-0.776, PHS= 0.368,-1.377, 0.414, RAW= 151.3, 6.8, CAL= 150.6, 7.2, ROT= 359.4, -7.2  PDAT read: Bearing 350.4, 11.1 (Local)  ~Local bearing/azimuth received: Bearing 350.4, 11.1 (Local)  DAT read: Range 11 to 50 : 33.7 m (Round-trip 45.0 ms) speed 0.5 m/s  *DAT read: user:946>  BDAT read: Tx time:18:22:53.0189  $Ping request sent. A) >I )@i = 8(@ > @ I i ) 3f'?h?uJ3=? ? z D+ I i = :publishing transmit ping time9 = Fpublishing direction and range info !e??GcK ? I i ) I i I i ) 3f'?h?uJ3=? L,"?0)A vBE>~BABEIBE}BBABABABE1`;BES$EB̍CB̍CBB =B =BU4ym@N@ٱm:\@mAZmĆmH 5?`?ҿ`N`秮?`l"?@vp E?Im@N@)m];imwCh|B9I Iichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.0685965Mb@Mb@Mb@1 1)1I1i15$C?T㥛 ?I +?5?5=594<)52AI5(Ai15A 15.AiBDMc6DM264Y}v=!%=Q)>99EYq"E[A>Q 1|4٪S?Q 5|4- B9?Q A:Y.Q E?yC)U:I;i$|4Y45AJhRh?0)AhBh +6ׇY@@(cmYchֿ_k@~!e??GcK ?hD+h 76eg>]2&}"%Ӌn&@~F(iѿ\wM?jhrh;ZhNJQ?bh^zhBhhhBhAhi\@e addTargetRange:: Added new target pos. range: 33.700001 m, deltaT: 3.528353 s, deltaX: -2.200001 m, approachRate: -0.623521 m/s, rangeRepo size: 4  Added new target pos. range: 33.700001 m, bearing: 197.578152 deg, lat: 36.779375 deg, lon: -121.859534 deg, deltaT: 3.528353 s, deltaX: -2.200001 m, approachRate: -0.623521 m/s, posRepo size: 4 gDNOT Ignoring new targets: 33.70 m.ggg ProNav: ac range: 33.700001 m, nav range: 31.868032 m, bearing: 197.578152 deg, approach rate: 0.000000 m/s, LOS rate: -0.126722 deg/s, cmd heading: 193.465873 deg, new cmd heading: 193.276207 deg. gHeadingCmd: 3.373306 target range: 33.700001 and range: 33.70 m.bg@W@ZgrgjgRgZfRfe!e%vB"d!c)c)c-@@c- ?ɢ}B}Na }4m<}PI OսɡiIҥAZ= AE yAII Ia Nm >:L,ݿ?0)Aiy610N@ٱ6++\@6\6D6H?`qF? cҿ%@?_?`h sB?I610N@)6^;i6uCL^|B^JIBDf[6Dfy'4Y~L=!~~=%»Q) ? H?9  H?9 EY u"E (A  ?Q 1=|4٪E?Q 5=|4 B9AYE/Q EE?y4C);I;i?'|4YMٔBM4AMBEchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.464885gDNOT Ignoring new targets: 33.70 m.ggg ProNav: ac range: 33.700001 m, nav range: 31.681742 m, bearing: 197.544708 deg, approach rate: -0.594745 m/s, LOS rate: -0.107401 deg/s, cmd heading: 193.276213 deg, new cmd heading: 193.175290 deg. gjHeadingCmd: 3.371545 target range: 33.700001 and range: 33.70 m.bgdW@ZgrgjgRgZfRfee"dcc c c @?ɢ] B]Ճ ]t0<]Ia e׽ɡaiaIe<A-=m checking for new query: numPingsReceived=1, elapsed TxPingTime=0.720163) A] AIq I N >D {D cD /D E =: E L96E J4:E ! @! @! @! @ L,?0)AyJM@ٱJ[@J^^JXJHU? v?`/ѿ? ?Zq??IJM@)J ^;iJtCV|BVwIBDbe6Db94Yfw6>!jN=j4Q)j>jK?9nK?9nEYnz"EnAr>pQ 1v|4٪r2?Q 5z|4r rNJB9xYz/Q Ez?yrRC)r :Ir:ir'5|4|Y3Ag)5DNOT Ignoring new targets: 33.70 m.g1g5g5躝E ProNav: ac range: 33.700001 m, nav range: 31.448418 m, bearing: 197.505247 deg, approach rate: -0.597516 m/s, LOS rate: -0.101805 deg/s, cmd heading: 193.175290 deg, new cmd heading: 193.056028 deg. gMMHeadingCmd: 3.369463 target range: 33.700001 and range: 33.70 m.bgMJW@ZgQrgQjgQRgQZfQRfQeYeY"dYcacacace`T ?ɢB˾t 顕(I }ڽɡiI1AX=Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.971498AYIIN]>A=AAA=AAvBE>~BE͍CBELIBE'~BBABABABE`;BE>$Eqԡ ] checking for new query: numPingsReceived=1, elapsed TxPingTime=1.220713EQL,ũ?0)Ay6kM@ٱ6f[@6:_6Z6H`??ѿj@1?u?`(1999=EY="E=4A=>AQ 1M|4٪E?Q 5U|4E EB9U?Q AU:YU1Q EU?yEuC)Ez:IE:iED|4Y]ؔBe2AagDNOT Ignoring new targets: 33.70 m.ggg ProNav: ac range: 33.700001 m, nav range: 31.180565 m, bearing: 197.470659 deg, approach rate: -0.594475 m/s, LOS rate: -0.077425 deg/s, cmd heading: 193.056035 deg, new cmd heading: 192.951379 deg. gTHeadingCmd: 3.367637 target range: 33.700001 and range: 33.70 m.bg]W@ZgrgjgRgZfRfeeqB"dcccc%g?ɢmBmg quIq u"ݽɡqiqIulA 6[=bA ZA ~A!]checking for new query: numPingsReceived=1, elapsed TxPingTime=1.724773AIIN} ?OL,|F@0)AD&|D&iD$D$E& : E&96E$:E$!.@!.@!.@!.@yVM@ٱV[@VWCaVkVH F@? V? )^ѿ?@?@k?nj9?IVM@)Vj];iVvC^$}B^IdBDjR6Dj4Yr;=!r$=vk0Q)v>x9x9zEYz"Ez(A~>|Q 1|4٪~?Q 5 |4~ ~ B9 Y Q1Q E ?y~C)~;I~;i~TV|4YהB*2AAEB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 33.70 m.ggg ProNav: ac range: 33.700001 m, nav range: 30.883766 m, bearing: 197.434218 deg, approach rate: -0.576584 m/s, LOS rate: -0.071473 deg/s, cmd heading: 192.951382 deg, new cmd heading: 192.841009 deg. g4D%HeadingCmd: 3.365710 target range: 33.700001 and range: 33.70 m.bg%gW@Zg!rg!jg!Rg!Zf)Rf)e)e)"d1c1c1c1c5@z?ɢ+Bb eũ<顭;I ɡiIz~B ̍CB IB ~BB B B B _;B .$EQ >A 2=ԁ echecking for new query: numPingsReceived=1, elapsed TxPingTime=2.233316AyAIIN-> L,&6@0)ADNxDNeDN)DLENˀ: EN96ENFA4:EL"EN;!REN;!V*EL!VEL!Vq}v}B}IMMb@Mb@Mb@I I)IIIiIMOn?Mb?{Gz?M?M=M#<)M.AIMZ&AiMDAM A IM+ABDeU6Den4Yu>!u=}Q)}>} H?9} H?9}EY"EA>Q 1|4٪?Q 5|4(  2B9y?Q A:Y/Q E?yăC) ;I ;ii|4Y֔B0A@EgDNOT Ignoring new targets: 33.70 m.gg3g3亝 ProNav: ac range: 33.700001 m, nav range: 30.564959 m, bearing: 197.381667 deg, approach rate: -0.598929 m/s, LOS rate: -0.099754 deg/s, cmd heading: 192.841007 deg, new cmd heading: 192.681711 deg. g눻HeadingCmd: 3.362930 target range: 33.700001 and range: 33.70 m.bg@:W@ZgrgjgRgZfRfeeB"dcccc` >@ɢ58B5\` 15I߿I1 =3rɡ9i9I=%sA (= A5 AI9 II N] >L, P@0)Ay6YL@ٱ6RZ@6"d66H ??п@Hz?G?`54?I6YL@)6];i4B}BBIBDJS6DJ4YR0>!Rm=VBQ)V?VK?9VK?9VEYV"EZӼAZ?\Q 1b|4٪^ݧ?Q 5b|4^#  ^KB9dYf0Q Ef?y^ރC)^|:I^:i^u|4Yhj/Alg|DNOT Ignoring new targets: 33.70 m.ggɺgɺ ProNav: ac range: 33.700001 m, nav range: 30.364170 m, bearing: 197.351373 deg, approach rate: -0.581017 m/s, LOS rate: -0.088241 deg/s, cmd heading: 192.681713 deg, new cmd heading: 192.590230 deg. g~B! B% IB% /BB! B! B! B% _;B% ,$E>A5 !=rA= >jA= >A}yAIԡIN>#+L,n@0)AyBVL@ٱBQZ@BydBXBHY?@?п@?b?OgS3?IBVL@)B^];iBsCN}BNI%Mb@Mb@Mb@! !)!I!i!%Zd;?Dl?y&1|?%?%O=%`;)%,AI%#Ai%BA%;A !%*ABD96D9YM=!M#=U1޺Q)U>U H?9U H?9UEYU"E]лA]>aQ 1m|4٪eƧ?Q 5m|4e eoB9u?Q Au:YuF0Q Eu?yeC)e ;Ie: ;ie$|4Y}B}#0A}IEgDNOT Ignoring new targets: 33.70 m.gg4غg4غ ProNav: ac range: 33.700001 m, nav range: 30.069502 m, bearing: 197.303850 deg, approach rate: -0.580324 m/s, LOS rate: -0.094511 deg/s, cmd heading: 192.590229 deg, new cmd heading: 192.446262 deg. gHeadingCmd: 3.358821 target range: 33.700001 and range: 33.70 m.bgV@ZgrgjgRgchecking for new query: numPingsReceived=1, elapsed TxPingTime=3.242478!Zf)Rf)e1e5B"d1c9c9cAcEfe @ɢNB^ ٿI `ɡiI<D~DkD(DE: E:6Ec44:E"EZ;!E[;!*E?;!E?;!I(;iI=iD=)%V@)!I@i05Q>Au=AIIN% >q  DAT read: 18:22:55.4651 LVL= 23968, 27825, 24290, 32755, AGC= 57, IDX= 411, 0.12, 1.021,-0.745, 1.156, 0.691, PHS= 0.433,-1.390, 0.421, RAW= 149.7, 6.0, CAL= 149.0, 6.3, ROT= 1.0, -6.3  Ygot valid direction response: 18:22:55.4651 LVL= 23968, 27825, 24290, 32755, AGC= 57, IDX= 411, 0.12, 1.021,-0.745, 1.156, 0.691, PHS= 0.433,-1.390, 0.421, RAW= 149.7, 6.0, CAL= 149.0, 6.3, ROT= 1.0, -6.3  PDAT read: Bearing 346.2, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 346.2, 13.6 (Local)  DAT read: Range 11 to 50 : 31.5 m (Round-trip 42.0 ms) speed 0.5 m/s  *DAT read: user:947>  BDAT read: Tx time:18:22:56.5689  $Ping request sent. 뱿) P>I m7'@i Pw= Bo&@ z0= 5< z0I i ) Ld??ٙm? ? Խ 5< z0I i  :publishing transmit ping time9  Fpublishing direction and range info gI?c$*jÑ?,=? I i ) I i I i ) Ld??ٙm? I i 5 checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008449@ "L,z@0)A0yR-L@ٱR(Z@RߖeR,1RH@?.?xп.봨?uu?}2?IR-L@)R];iRvC] ~B]HIBDl6DF4Y3>!C=Q)>99EY"EAŻA>Q 1|4٪$?Q 5|4 B9Yp0Q E?y%C)w:I:iҖ|4Y.A)y ԙ)IRAJhRh@0)AhAh6,}N?@d{\|? . @~gI?c$*jÑ?,=?h5<hz0 Q{A S=bA ZA  A1 I9 IQ N] >(L,@0)A>checking for new query: numPingsReceived=2, elapsed TxPingTime=0.496084y5K@ٱ5Y@5p[f5;Q5H ?`? Iп ?i? QVvw1?I5K@)5];i5tCMQ~BMfIvBu>~BqBu@IBuBBu =BqBqBu_;Bu)$E=Mb@Mb@Mb@9 9)9I9i9=K?+?{Gzt?=^?===ף;)=)AI=#Ai=?A=A 9='ABDUD6DUJ3Ye=!e'=eɺQ)m>i9i9mEYm"Eu˻Au>yQ 1|4٪}?Q 5|4}q }B9?Q A:Y/Q E?y}HC)} ;I} ;i}ަ|4YB+.AHEB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 31.50 m.ggGgG ProNav: ac range: 31.500000 m, nav range: 29.558603 m, bearing: 197.198167 deg, approach rate: -0.637474 m/s, LOS rate: -0.119144 deg/s, cmd heading: 192.310560 deg, new cmd heading: 192.158861 deg. gHeadingCmd: 3.353805 target range: 31.500000 and range: 31.50 m.bgV@ZgrgjgRgZfRfeeB"dcccc?ɢ%cB%k )-οI) -lɡ)i)I-ħAU =i A AI I N >`/L,m@0)AyBK@ٱBY@B4fBBH@h??6п@t?@4?Wr0?IBK@)B%];i@N~BNIBDVP6DV:4Y^#>!^v=^bQ)b?bK?9bK?9bEYb"EfmAf?hQ 1n|4٪j?Q 5n|4jp jNjB9lYr/Q Er?yjaC)j :Ij[:ij|4YvBvI-AvGEgDNOT Ignoring new targets: 31.50 m.ggg- ProNav: ac range: 31.500000 m, nav range: 29.362383 m, bearing: 197.161709 deg, approach rate: -0.590526 m/s, LOS rate: -0.110453 deg/s, cmd heading: 192.158862 deg, new cmd heading: 192.048758 deg. g-5HeadingCmd: 3.351883 target range: 31.500000 and range: 31.50 m.bg5AV@Zg1rg9jg9Rg9Zf9Rf9eAeA"dAcAcAcIcM?ɢukB}.u y}ɿIy }ɡyiI2A=! AY Ia Iy N > checking for new query: numPingsReceived=2, elapsed TxPingTime=1.249724bD ?AZD AAD D ^D 2D E  E ;96E 4:E ! @! @! @! @&6L,E/@0)A0y:"K@ٱ:Y@:g:k:H! y?? пXͫ?@?`l10?I:"K@):];i:vCB~BFIBDNJ6DN04YV=!VL=VoQ)V>X9X9ZEYZ"E^HA^>`Q 1f|4٪b>{?Q 5f|4b bB9dYf/Q Ej?ybC)b:Ib:ib~|4Yln,AlgDNOT Ignoring new targets: 31.50 m.gg {g {] ProNav: ac range: 31.500000 m, nav range: 29.126541 m, bearing: 197.118059 deg, approach rate: -0.589176 m/s, LOS rate: -0.109930 deg/s, cmd heading: 192.048759 deg, new cmd heading: 191.916747 deg. g]㖻eHeadingCmd: 3.349579 target range: 31.500000 and range: 31.50 m.bge_V@ZgargajgaRgaZfiRfieiei"dqcqcqcqc ?ɢuBKh ƿI 8ɡiIJA =rA>jA>A@AAvB>~BBIBBBBBB_;B0$EBBBBǴ =BǴ =B 4 A I I N >+<L, @0)Ay6wK@ٱ6qY@6JTh6C6Ho"Dl?? п@@3??`G .?I6wK@)6^;i6uCB~BBI`mchecking for new query: numPingsReceived=2, elapsed TxPingTime=1.753248Mb@Mb@Mb@ )Ii/$? ףp= ??Q=)+'AIt!Ai^99EY"ETA>Q 1|4٪f?Q 5 |4 B9 [?Q A :Y .Q E ?yC)H:I:i |4YB+AFEgAEDNOT Ignoring new targets: 31.50 m.gAgMgMD]tD]`D]*DYE]s: E]96E](N4:EY"E];!mE];!m*E];!mE];!m} ProNav: ac range: 31.500000 m, nav range: 28.859959 m, bearing: 197.059224 deg, approach rate: -0.599106 m/s, LOS rate: -0.133445 deg/s, cmd heading: 191.916745 deg, new cmd heading: 191.738611 deg. g})HeadingCmd: 3.346470 target range: 31.500000 and range: 31.50 m.bg,V@ZgrgjgRgZfRfeeB"d)c1c1c1c50?ɢBb 顅¿I ɡiIA =A A I I N >CL,- A0)AyJKK@ٱJEY@JYiJ;JH@#qc?q?Ͽ !?c?@Ju?!+?IJKK@)JMm^;iJtCj"BjIilIlBDv_6Dv.4Yz>!~[=~Q)~>99EY"E :A >Q 1|4٪U?Q 5|4 B9!Y%.Q E%?yC).+;I,;i|4Y)-*A)gQ]DNOT Ignoring new targets: 31.50 m.gYg]CgeCm ProNav: ac range: 31.500000 m, nav range: 28.636179 m, bearing: 197.009837 deg, approach rate: -0.598516 m/s, LOS rate: -0.133120 deg/s, cmd heading: 191.738614 deg, new cmd heading: 191.589297 deg. gu}HeadingCmd: 3.343864 target range: 31.500000 and range: 31.50 m.bg}V@ZgyrgyjgyRgyZfyRfyee"dccccd@ɢBo 顽ֽI +ɡiIAu$ӿ=A9 II IY Nm >ԡ  checking for new query: numPingsReceived=2, elapsed TxPingTime=2.508599=IL,&A0)AԁvB>~B͍CBIBSBB =BBdDB_;B7$EyUdwK@ٱU^rY@UdkUz0)9)9-EY-"E5HkA5>9Q 1=|4٪=>?Q 5E|4=" =AB9E ?Q AE:YE$.Q EE?y=C)=:I=:i=|4YUBU)AQuB*** querying acoustic contact ***:hqBhqgyDNOT Ignoring new targets: 31.50 m.gg/g/5 ProNav: ac range: 31.500000 m, nav range: 28.349009 m, bearing: 196.937644 deg, approach rate: -0.605358 m/s, LOS rate: -0.153726 deg/s, cmd heading: 191.589292 deg, new cmd heading: 191.370519 deg. g5ӻ=HeadingCmd: 3.340046 target range: 31.500000 and range: 31.50 m.bg=OU@Zg9rg9jg9Rg9ZfARfAeaemsB"dicicicqcu@ b@ԩɢB\ !I +ɡiIA =bA! ZA! Am yAIy I N >PL,tACA0)AyBqEK@ٱBk@Y@BlBg!^_=^iOQ)b>b H?9b H?9bEYb"EfCAf>hQ 1n|4٪j-?Q 5n|4jz$ j\B9lYnU.Q Er?yjC)j:Ij:ij{|4YvBv)AvEEgDNOT Ignoring new targets: 31.50 m.ggp.gp.- ProNav: ac range: 31.500000 m, nav range: 28.127184 m, bearing: 196.882240 deg, approach rate: -0.605833 m/s, LOS rate: -0.152508 deg/s, cmd heading: 191.370521 deg, new cmd heading: 191.203001 deg. g-Tѻ5HeadingCmd: 3.337122 target range: 31.500000 and range: 31.50 m.bg5hU@Zg1rg1jg9Rg9Zf9Rf9e9eA"dAcAcAcAcM@@ɢuBun y}Iy }ɡyiI;Am2=m checking for new query: numPingsReceived=2, elapsed TxPingTime=3.268856A AI I N >DM yDM eDM ,DI EM : EM 96EM g4:EI !m @!m @!m @!m @y VL,]A0)Ay6K@ٱ6Y@6m6q<6H@.o?? ο@+_?`Mt? ? #?I6K@)6^;i6uCNBRCIR>RBDZN6DZ4Yb=!bJ=b;Q)f>fK?9fK?9fEYf"Ej|Aj>lQ 1r}4٪n?Q 5r}4n' n{B9tYv.Q Ez?yn C)nl;aIn<;in}4Yq(AgDNOT Ignoring new targets: 31.50 m.ggg5 ProNav: ac range: 31.500000 m, nav range: 27.882883 m, bearing: 196.822125 deg, approach rate: -0.524897 m/s, LOS rate: -0.130294 deg/s, cmd heading: 191.203004 deg, new cmd heading: 191.021078 deg. g=ֲ=HeadingCmd: 3.333947 target range: 31.500000 and range: 31.50 m.bg=b_U@ZgArgAjgARgAZfARfAeIeI"dicicqcqcuI @ɢB ] ϲI  nɡiIb mBDAT read: Tx time:18:23:00.1189 m$Ping request sent.m )>IT'@I?i/iV=ۋ&@Ϣ=<ϢIi),͢?$6?[p?vB}>~ByB}'IB}BByByByB}_;B}3$EԱ?'7< ϢIi:publishing transmit ping time9iFpublishing direction and range info@2?|ԬS?rjƹI?Ii )IiIi),͢?$6?[p? Iichecking for new query: numPingsReceived=3, elapsed TxPingTime=0.083548>A =  checking for new query: numPingsReceived=3, elapsed TxPingTime=0.231832A I I N >w]L,}xA0)AD"D"D")D E"~: E"a9:6E"FA4:E "E"};!&E"~;!&*E" ;!&E" ;!*yf\J@ٱfVX@fnfe!'=Q)>99EY"EbA>Q 1}4٪?Q 5}4M* B9+#?Q A:Y.Q E?yGC):I:i}4YBE'A DEJh9Rh=gA0)Ah=3Ah=m8=Op.=@(|@W?@ֺOA @~=@2?|ԬS?rjƹI?h=<h=Ϣ =: Z :a$@~= i\>οKJT)/?jh=rh=4Zh="3=?bh=}zh=bBh=oO?h=^h9h=Ah=Z@ addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 3.532640 s, deltaX: -2.100000 m, approachRate: -0.594456 m/s, rangeRepo size: 4  Added new target pos. range: 29.400000 m, bearing: 195.974088 deg, lat: 36.779375 deg, lon: -121.859530 deg, deltaT: 3.532640 s, deltaX: -2.100000 m, approachRate: -0.594456 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.40 m.ggg  ProNav: ac range: 29.400000 m, nav range: 27.500849 m, bearing: 195.974088 deg, approach rate: 0.000000 m/s, LOS rate: -0.130294 deg/s, cmd heading: 191.021075 deg, new cmd heading: 190.846222 deg. g HeadingCmd: 3.330895 target range: 29.400000 and range: 29.40 m.bgb-U@ZgrgjgRgZfRfe!e}B"dccc`ff=@c!?ɢBA\ PI ɡiImAu =A yAԩ I I N >2eL,ʕA0)AyFJ@ٱFX@FNpFcn H?9n H?9nEYn"En Ar>tQ 1z}4٪v ?Q 5z}4v, vB9xYz.Q Ez?yvfC)vN:IvF:iv'}4Y&Ag)-DNOT Ignoring new targets: 29.40 m.g)g5Kg5KE ProNav: ac range: 29.400000 m, nav range: 27.257593 m, bearing: 195.907066 deg, approach rate: -0.640489 m/s, LOS rate: -0.178043 deg/s, cmd heading: 190.846222 deg, new cmd heading: 190.643363 deg. gE`MHeadingCmd: 3.327354 target range: 29.400000 and range: 29.40 m.bgM`T@ZgIrgIjgIRgQZfQRfQeQeY"dYcYcYcYceD?DvDdD-DEVz: E96Et4:E!@!@!@!@ɢMBMg IMII U@ɡQiQIUZA==checking for new query: numPingsReceived=3, elapsed TxPingTime=0.9883229 vB >~B B xIB ׀BB B B B _;B 0$EA AI I N% >PkL,KvA0)Ay6`J@ٱ6[X@6}q6~<6H@;Q?o? wͿ?8? ??I6`J@)6K_;i6tCB3BBIiDIDMb@Mb@Mb@ )IiMbX9?&1?!?=)dAIAi5A A =ABD-=6D-3Y=uA>!=D==Q)E>EK?9EK?9EEYE"EMAM>QQ 1}4٪U ܦ?Q 5}4U/ UތB9#?Q A:Y;/Q E?yUC)UA O= checking for new query: numPingsReceived=3, elapsed TxPingTime=1.491635A I! I1 N= >.rL,$A0)ALy1J@ٱ,X@o*r^6.<H`>lA?`A? Ϳ i?E?+?@?I1J@)x_;isC5UB5IBDm\6DmP)4Y>!8=qQ)>99EY"EϻA>iIQ 1%}4٪-Ʀ?Q 55}4m2 B9I)UUGY]j/Q Ee? m AyC)R<)I A /=A I I N >xL,4JA0)A(pBIBD%G6D%4Y5>!5V=5Q)5>9999=EY="EEAE>AQ 1U}4٪E;?Q 5U}4E4 EB9QYQQ EU?yEɅC)E#;IE;iER}4YYes$AagDNOT Ignoring new targets: 29.40 m.ggZgZ ProNav: ac range: 29.400000 m, nav range: 26.492554 m, bearing: 195.700720 deg, approach rate: -0.692089 m/s, LOS rate: -0.190641 deg/s, cmd heading: 190.207996 deg, new cmd heading: 190.018391 deg. gHeadingCmd: 3.316447 target range: 29.400000 and range: 29.40 m.bg@T@ZgrgjgRgZfRfee"dccccY@checking for new query: numPingsReceived=3, elapsed TxPingTime=1.995670ɢԂB9e I ɡiIͤ~BM̍CBMIBMBBM =BMIDBIԉBM_;BM4$EIAi/ԩ>A = ߁ ށ  checking for new query: numPingsReceived=3, elapsed TxPingTime=2.248286 BE(N4JE^4REɌ0Dm rDm iDi Di Em k: Em 96Ei :Ei "Em ;! Em ;! *Em 8;! Em 8;! AQ IY Ii N} >~L,AA0)Ay6DI@ٱ6>W@6.cr6W*;6H,L(??n6̿@(? +?r?{?I6DI@)6W^;i6uCBBBIB>B=\EMb@Mb@Mb@A A)AIAiAE+?|?5^?y&1|?Ev?E=E`;)EAIEOAiE 5AE-A AEABD]R6D]4Ymo=!mG=u] Q)u>q9q9uEY}"E}LA}>Q 1}4٪Ԡ?Q 5}4Z7 =B9 ?Q A:Y/Q E?yC)n:I:iIa}4YB#AKEgDNOT Ignoring new targets: 29.40 m.gg>g> ProNav: ac range: 29.400000 m, nav range: 26.244665 m, bearing: 195.632904 deg, approach rate: -0.603674 m/s, LOS rate: -0.166709 deg/s, cmd heading: 190.018390 deg, new cmd heading: 189.813022 deg. g仝HeadingCmd: 3.312862 target range: 29.400000 and range: 29.40 m.bgT@ZgrgjgRgZfRfeeB"dcccc@d@ɢ-݂B-/Z )-ÔI1 5-ɡ1i1I5y+i=ݷN=i=p=)ET@)AI@i/checking for new query: numPingsReceived=3, elapsed TxPingTime=2.499806>A+=A! I) I9 A NU >pL,SB0)A&checking for new query: numPingsReceived=3, elapsed TxPingTime=2.751644yRI@ٱRW@RqR^:RH Q༹?)?˿ /`x?`?@A}S?l?IRI@)R$^;iRsCZBZDIBDf`6Df04Yjo4>!nT=n:Q)n>p9p9rEYr"EvAv>xQ 1z}4٪z?Q 5~}4z9 zZB9|Y~/Q E~?yzC)z;IzD;izn}4Y B |"A JErD%=jD<D%zD%mD%)D!E%l: E%:6E%FA4:E!!-@!-@!5@!5@1gIUDNOT Ignoring new targets: 29.40 m.gQgU\<g]\iO=if=)S@)Ii/@=@=IyBDAT read: Rx Time:18:23:02.5593 TRx dataTimestamp_ set to:1755627784.634680checking for new query: numPingsReceived=3, elapsed TxPingTime=3.004682>A=vBU >~BQ BU 'IBU fBBU =BQ BU cDBU #`;BU D$EB͍CB͍CBBɳ =BB5ԩ A yAI) I9 NE >n݋L,1B0)Ay6mI@ٱ6hW@6ap66H`Vf?m$? e˿3)?? \@J?I6mI@)6^;i6rCRȀBReIyMb@Mb@Mb@ )IiZd;?Cl?y&1|??;=)AI Ai1AA ABDK6D 4Yj=!9= ;Q)> H?9 H?9 EY "E A >Q 1}4٪y?Q 5}4< }B9%j!?Q A%:Y%A/Q E%?y*C):I:i)~}4Y)-!A1MB*** querying acoustic contact ***:hIBhIgY]DNOT Ignoring new targets: 29.40 m.gYgeOgeOu ProNav: ac range: 29.400000 m, nav range: 25.744282 m, bearing: 195.490651 deg, approach rate: -0.611013 m/s, LOS rate: -0.181719 deg/s, cmd heading: 189.621009 deg, new cmd heading: 189.382095 deg. gul}HeadingCmd: 3.305341 target range: 29.400000 and range: 29.40 m.bg}S@ZgyrgyjgRgZfRfeeB"dcccc  @ɢBUS I  ɡiI;iO=iqH=)S@)Uchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.255617D5wD5`D5*D1E5}: E596E5(N4:E1"E5i;!EE5j;!E*E5;!EE5;!MIM?iIQU0Qԩ>AK=5 DAT read: 18:23:02.5593 LVL= 25392, 30657, 25154, 32755, AGC= 56, IDX= 416, 0.01,-0.003,-1.741, 0.116,-0.352, PHS= 0.450,-1.344, 0.423, RAW= 149.2, 5.3, CAL= 148.6, 5.6, ROT= 1.4, -5.6 = Ygot valid direction response: 18:23:02.5593 LVL= 25392, 30657, 25154, 32755, AGC= 56, IDX= 416, 0.01,-0.003,-1.741, 0.116,-0.352, PHS= 0.450,-1.344, 0.423, RAW= 149.2, 5.3, CAL= 148.6, 5.6, ROT= 1.4, -5.6 E PDAT read: Bearing 342.8, 14.9 (Local) E ~Local bearing/azimuth received: Bearing 342.8, 14.9 (Local) U DAT read: Range 11 to 50 : 27.2 m (Round-trip 36.3 ms) speed 0.5 m/s U *DAT read: user:949> ] BDAT read: Tx time:18:23:03.6689 ] $Ping request sent.]  1) u>I r&@i q= %@ += +< +ȽI i ) f?Q B1"?C0ַ? ? R +<  +ȽI i  :publishing transmit ping time9Y  Fpublishing direction and range info  Tx?tz.?A_1?  I i      ) I i     I i ) f?Q B1"?C0ַ?    I i  checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008170A Aԩ I I N >ŒL,'KB0)Ay]WI@ٱ]yRW@]n] %]H\@?6?@?˿6 w??,d !?I]WI@)]m^;iYmBmIiqIqqBDS6D4Y>!?=۔;Q)>K?9K?9EY"E*NA>Q 1}4٪e?Q 5}4?? B9YX/Q E?yLC)[:I:iM}4Y-B5 A1Jh1Rh5HB0)Ah5Ah5#952C";@l *?*;@~5Tx?tz.?A_1?h5+<h5+Ƚ 5b8V O(!@~5nyT$z˺Ϳ|]*?jh5rh5tZh5!0?bh5zh5Bh5L?h5h5bBh5Ah5$Z@ addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 3.527287 s, deltaX: -2.199999 m, approachRate: -0.623708 m/s, rangeRepo size: 4 = Added new target pos. range: 27.200001 m, bearing: 195.289680 deg, lat: 36.779375 deg, lon: -121.859529 deg, deltaT: 3.527287 s, deltaX: -2.199999 m, approachRate: -0.623708 m/s, posRepo size: 4 gADNOT Ignoring new targets: 27.20 m.ggg ProNav: ac range: 27.200001 m, nav range: 25.495018 m, bearing: 195.289680 deg, approach rate: 0.000000 m/s, LOS rate: -0.181719 deg/s, cmd heading: 189.382089 deg, new cmd heading: 189.137491 deg. gHeadingCmd: 3.301072 target range: 27.200001 and range: 27.20 m.bgDS@ZgrgjgRgZfRfee "d c c c@33;@c?ɢ]B][wM z8A<顅I i ɡiIiP=iY=)DS@)ԡ}checking for new query: numPingsReceived=4, elapsed TxPingTime=0.242865bD=@AZD9DEDE_DE.DAEEf; EEr96EEـ4:EA!M@!M@!M@!M@IU@iYY]/Y>A} $= A I I N >L,hB0)A"checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492863y>6I@ٱ>1W@>l>>H*d?`?\J˿; 5? qX? ^s%?I>6I@)>^;i\9\9^EY^"Eb{Ab>`Q 1f}4٪bR?Q 5j}4bA bB9hYjz/Q Ej?ybjC)bn;Ib;ib}4YprApg  DNOT Ignoring new targets: 27.20 m.g AU<AUp<vB]>~BYB]IB]BB] =BYB]dDB]I`;B]X$Eԉg]g] ProNav: ac range: 27.200001 m, nav range: 25.263256 m, bearing: 195.219422 deg, approach rate: -0.634252 m/s, LOS rate: -0.194037 deg/s, cmd heading: 189.137487 deg, new cmd heading: 188.924778 deg. g*MHeadingCmd: 3.297359 target range: 27.200001 and range: 27.20 m.bgUS@ZgQrgYjgYRgYZfaRfee"d ccccE,?ɢ5B=R 9=Iq } ɡyԙiyI]Au 6[=A yAI I N JSL,B0)A4yBEI@ٱB? W@BjBBBH l@?R?-˿@?;S?`Q? ;)?IBEI@)Ba^;iBsCNBNI=Mb@Mb@Mb@9 9)9I9i9=Zd;O?B`"۹?~jt?=j?===D<)=OAI=jAi=S/A=A 9=zABDUY6DU#4YeI>!e,=eЗ;Q)e>m H?9m H?9mEYm#EuAu>yQ 1}4٪}A Z= De wDe oDe ,Da Ee }: Ee :6Ee g4:Ea !m @!m @!m @!m @A AI I N >jxL,?UB0)Ay6H@ٱ6V@6Ph6 6Hs@EG?W? @ʿCD?t?j-?I6H@)6s^;i4B9BBIBR=BV>BDJ;6DJ)3YR>!RX=R;Q)V>VK?9VK?9VEYV#EZAZ>`\Q 1b}4٪^*?Q 5f}4^F ^B9dYfc0Q Ef?y^C)^,;I^-;i^q}4YjBnAnHEgyDNOT Ignoring new targets: 27.20 m.gg :g : ProNav: ac range: 27.200001 m, nav range: 24.754341 m, bearing: 195.076122 deg, approach rate: -0.571569 m/s, LOS rate: -0.162724 deg/s, cmd heading: 188.683252 deg, new cmd heading: 188.490439 deg. gZ߻HeadingCmd: 3.289779 target range: 27.200001 and range: 27.20 m.bgR@ZgrgjgRgZfRfee"dcccc&?ɢBģP 顥lI  ɡiI~B͍CBIBBB =BBB`;Bt$E<)I@iA  checking for new query: numPingsReceived=4, elapsed TxPingTime=1.753368>A h=D} yD} gD} +Dy E} : E} &96E} [4:Ey "E} ;! E} ;! *E} j1;! E} j1;! ԉ IIN>*L,B0)Ay6H@ٱ6V@6f6e6HkzQ?l$?`ʿ ZG[T??0?I6H@)6`^;i4V\BVIeMb@Mb@Mb@a a)aIaiae`"?MbX?!=T;Q)>99EY #E/A>ԱQ 1}4٪G?Q 5}4I $B9?Q A:Yf0Q E?y҆C)2;I 2;i}4YAB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 27.20 m.ggFgF  ProNav: ac range: 27.200001 m, nav range: 24.453819 m, bearing: 194.989630 deg, approach rate: -0.596135 m/s, LOS rate: -0.173680 deg/s, cmd heading: 188.490436 deg, new cmd heading: 188.227773 deg. g cHeadingCmd: 3.285194 target range: 27.200001 and range: 27.20 m.bg@R@ZgrgjgRgZfRfe!e%aB"d!c!c!c)c-?ɢUB]dBG Y]`IY ] ɡaiaIeuA% I=I I N >A ҵL,lB0)AyRW[H@ٱRPVV@R@cRV{RH@ A?`?ɿ Q@qT? ;?n66?IRW[H@)Rn^;iRrC^}B^DIbchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.256889BDjY6Dj#4Yr .>!vV=v;Q)v>x9x9zEYz#EzAz>|Q 1}4٪~?Q 5 }4~K ~AB9 Y 0Q E ?y~C)~:I~A:i~}4YBAGEgAEDNOT Ignoring new targets: 27.20 m.gAgM9gM9] ProNav: ac range: 27.200001 m, nav range: 24.233044 m, bearing: 194.928501 deg, approach rate: -0.580805 m/s, LOS rate: -0.162279 deg/s, cmd heading: 188.227774 deg, new cmd heading: 188.042718 deg. g]޻eHeadingCmd: 3.281965 target range: 27.200001 and range: 27.20 m.bge R@ZgargajgaRgaZfiRfieiei"dqcqcqcqc}U@DwDiD.DE}: E96Eـ4:E!@!@!@!@ɢ#BK ?SI 8ɡiI!~BU ̍CBU ( IBU 6BBU =BQ BU cDBU `;BU |$E>A Z=) IQ Iy N >.L,B0)Ayv<(H@ٱv5#V@vsbv!vHFb?@~?TVɿU@?v? @8?Iv<(H@)v^;ivqCBmIiIMb@Mb@Mb@ )IiV-?J +?{Gzt??=ף;);AIAi(AA 3ABDZ6D%4Yv>!7=5;Q)>99EY#EA>Q 1}4٪쥊?Q 5}4nN aB9?Q A:Y1Q E?yC);I>;i}4YBAԉgDNOT Ignoring new targets: 27.20 m.gg)g) ProNav: ac range: 27.200001 m, nav range: 23.964266 m, bearing: 194.859820 deg, approach rate: -0.574610 m/s, LOS rate: -0.148478 deg/s, cmd heading: 188.042717 deg, new cmd heading: 187.834363 deg. g ˻HeadingCmd: 3.278328 target range: 27.200001 and range: 27.20 m.bg!Q@ZgrgjgRgZfRfe!e%kB"d!c!cAcIcM$@uchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.760956ɢ-BsB 顝XGI <`ɡiIq'A a5=bA ZA Iq I N >L,xC0)A)"TG 6rA)@IVdZrAZAy G@ٱ U@ aa ߩ; H:?`9?|ȿ@YGe?$?@2x?7:?I G@) ^;i pC%B%IBD5l6D5F4YE=!E>=M;Q)M>I9Q9UEYU#EUAU>YQ 1e}4٪]إ?Q 5e}4]P ]B9iYm1Q Em?y]2C)]@;I];i]}4YuBuA}PEԉgDNOT Ignoring new targets: 27.20 m.gg6g6m ProNav: ac range: 27.200001 m, nav range: 23.705084 m, bearing: 194.794559 deg, approach rate: -0.628363 m/s, LOS rate: -0.159950 deg/s, cmd heading: 187.834369 deg, new cmd heading: 187.636444 deg. gmۻ}HeadingCmd: 3.274874 target range: 27.200001 and range: 27.20 m.bg}Q@ZgyrgyjgRgZfRfee"dcccc t @ɢ5BD !%8BI! % ɡ)i)I-\A h=I I N > L,d)C0)Ay6G@ٱ6U@68`63B<6H lM?r?`&bȿ]`??9LJ?;?I6G@)6G_;i6qCZDAT read: 18:23:06.1064 LVL= 24032, 28401, 24290, 32755, AGC= 55, IDX= 418, 0.47,-0.071,-1.809, 0.048,-0.407, PHS= 0.438,-1.357, 0.411, RAW= 149.3, 5.8, CAL= 148.6, 6.1, ROT= 1.4, -6.1 nYgot valid direction response: 18:23:06.1064 LVL= 24032, 28401, 24290, 32755, AGC= 55, IDX= 418, 0.47,-0.071,-1.809, 0.048,-0.407, PHS= 0.438,-1.357, 0.411, RAW= 149.3, 5.8, CAL= 148.6, 6.1, ROT= 1.4, -6.1 rPDAT read: Bearing 341.7, 14.1 (Local) r~Local bearing/azimuth received: Bearing 341.7, 14.1 (Local) zDAT read: Range 11 to 50 : 24.9 m (Round-trip 33.3 ms) speed 0.5 m/s z*DAT read: user:950> BDAT read: Tx time:18:23:07.2205 %$Ping request sent.%~BABEy IBExBBE =BABEdDBEl`;BEf$EB7BA>сBIBDT6D4 B-)Bn>IB &@iB4Q=@B^ =@B^ ڽI@i@)BC?Cf+}?>?Bq?Bͽ@ B^ ڽI@i@:publishing transmit ping time9!Fpublishing direction and range info@BT/?ٱ|?O4?@@I@i@@@@@ @)@I@i@@@@ Ya>!>=%,;Q)%>!9!9%EY-"#E-A->1Q 1=~4٪5å?Q 5=~45ES 5B9AYE2Q EE?y5TC)5:I5:i5~4YM BMAMOE@I@i@)BC?Cf+}?>?@@@ @I@i@5checking for new query: numPingsReceived=5, elapsed TxPingTime=0.067474Jh@RhB*C0)AhB3AhB:B-_gj8@k'z[?~Ss$*@~BT/?ٱ|?O4?h@hB^ ڽ Bϳ7tX7_@~B]%ʿ˓y?jhBGrhB&ZhB_/?bhBfzhBBhB"3=?hBhBBhBL,ZGC0)Aɰp;y6]G@ٱ6XU@6 _6e<@6Hg ?T?Iǿd(? ?`K? =?I6]G@)6:u_;i4UBUIchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.484724ԡMb@Mb@Mb@ )Iiv?MbX9?~jtx??ʡ=;)AI Ai$An@ ABD;6D)3Y>!=:Q)>99EY)#E<A>Q 1~4٪?Q 5~4V ĎB9,?Q A:Y$4Q E?y}C):I ;i~4Y BANE%B*** querying acoustic contact ***:h!Bh!g)5DNOT Ignoring new targets: 24.90 m.g1g50g0 ProNav: ac range: 24.900000 m, nav range: 23.205757 m, bearing: 193.630313 deg, approach rate: -0.702275 m/s, LOS rate: -0.154653 deg/s, cmd heading: 187.386554 deg, new cmd heading: 187.172781 deg. gFԻHeadingCmd: 3.266781 target range: 24.900000 and range: 24.90 m.bgQ@Zgrgjg Rg Zf Rf1e9e=|B"dAcAcAcIcM:?ɢHBS< (I rɡiI(m checking for new query: numPingsReceived=5, elapsed TxPingTime=0.736660 DE DE cDE (DA EE ҝ: EE L96EE c44:EA !M @!M @!M @!M @Au yAIy I N >L,) aC0)Ay6PG@ٱ6J U@6^6^N<6H@3 <&? ?i?ǿ @lx? ?@/?@)>?I6PG@)6V+_;i4B BBIBDJB6DJ3YR>!R=R:Q)V'?V H?9V H?9VEYV,#EZbAZ(?\Q 1b~4٪^+?Q 5b~4^OW ^׎B9`Yft4Q Ef?y^C)^L;I^z;i^D"~4YjBj$AhpgDNOT Ignoring new targets: 24.90 m.ggg ProNav: ac range: 24.900000 m, nav range: 23.050417 m, bearing: 193.597756 deg, approach rate: -0.550243 m/s, LOS rate: -0.116101 deg/s, cmd heading: 187.172783 deg, new cmd heading: 187.074453 deg. g[HeadingCmd: 3.265065 target range: 24.900000 and range: 24.90 m.bgP@ZgrgjgRgZfRfee"dcccc ?ɢLB $L B I [ɡiIߙ~BqBu IBuBBu =BqBqBu0`;BuJ$EB-̍CB-̍CB)B-ŵ =B-ŵ =B-v5A9IAIYNeU>1a L,mzC0)Achecking for new query: numPingsReceived=5, elapsed TxPingTime=1.240339y:F@ٱ:T@: V_:s;:HI@J?G?@ƿw`k?=?`w?@=?I:F@):X_;i:oCDxDfDDEˀ: E96E:E"E;! E;! *E-;!E-;!"B I9Mb@Mb@Mb@ )IiQ?Dl?~jtx??O=)AI Ait!AA@ ABD=6D3Y4=!9=㐺Q)>99EY2#EHA>Q 1~4٪?Q 5~4LY B9?Q A:Y5Q E?yC)]:Ia';i1~4YBhAgDNOT Ignoring new targets: 24.90 m.ggeغgeغ ProNav: ac range: 24.900000 m, nav range: 22.797134 m, bearing: 193.556436 deg, approach rate: -0.573477 m/s, LOS rate: -0.094594 deg/s, cmd heading: 187.074455 deg, new cmd heading: 186.949120 deg. gցHeadingCmd: 3.262878 target range: 24.900000 and range: 24.90 m.bgP@ZgrgjgRgZf Rf eeeB"dcccc?ɢeUBm: 額gI NɡiI/Ϙ)iI?i/ԑchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.492497AAIIN%>Թ L,הC0)Ay:F@ٱ:~|T@:q`:ź:H?Jl? /ƿK~X?? XBR2 IiPIPBDZI6DZX4Yb>!b]=b?Q)f>fK?9fK?9fEYf7#Ej Aj>lQ 1=~4٪nw?Q 5=~4nZ nB99Y=5Q EE?yn͇C)nbY~4YIMAIgquDNOT Ignoring new targets: 24.90 m.gqg}Ժg}Ժ ProNav: ac range: 24.900000 m, nav range: 22.585278 m, bearing: 193.522833 deg, approach rate: -0.581070 m/s, LOS rate: -0.093032 deg/s, cmd heading: 186.949121 deg, new cmd heading: 186.847364 deg. gcHeadingCmd: 3.261102 target range: 24.900000 and range: 24.90 m.bgP@ԙZgrgjgRgZfRfee"dcccc@Qn?ɢ[BV6= I ɡiImAl=A I I! N- > checking for new query: numPingsReceived=5, elapsed TxPingTime=1.996229 vBe >~Ba Be !IBe BBa Ba Ba Be `;Be @$E$"L,[C0)A%UB%N IBDV6DE4Y,=!;=Q)>99EY<#E%A->YQ 1u~4٪]b?Q 5~4]\ ]-B9YQ E?y]C)] AM !=Ay ԁ I I N >L,FC0)Ay6F@ٱ6T@6Oc6s6Hf?i?? iſ(Z?`=?`*4?I6F@)6^;i6rCBnBBm I-Mb@Mb@Mb@) )))I)i)-7A`?Q?~jth-?-\=-D)-nAI-Ai-A-@ )- ABDUY6DU#4Ye>>!mP=m Q)u>q9q9}EY}A#E}ꂼA}>checking for new query: numPingsReceived=5, elapsed TxPingTime=2.500628Q 1 ~4٪A 2=D% {D% bD% /D! E% =: E% 96E% J4:E! !- @!- @!- @!- @A yAI I N >3L,gC0)AyBF@ٱBS@B&eBüBH`?`߀?9ſ@?@g?~ڗv1?IBF@)BY^;i@NBN IR>RBDV>6DV43Y^G=!^W=bcQ)b>b H?9f H?9fEYfF#EfdzAf>hQ 1n~4٪jP??Q 5n~4jI` j^B9pYr_6Q Er?yj&C)j;Ijj;ijh~4Yv BvHAzLE B*** querying acoustic contact ***:h Bh gDNOT Ignoring new targets: 24.90 m.gg%Ϻg%Ϻ5 ProNav: ac range: 24.900000 m, nav range: 21.887754 m, bearing: 193.414801 deg, approach rate: -0.598877 m/s, LOS rate: -0.090845 deg/s, cmd heading: 186.615098 deg, new cmd heading: 186.519832 deg. g5by=HeadingCmd: 3.255385 target range: 24.900000 and range: 24.90 m.bg=;XP@Zg9rg9jgARgAZfARfAeAeI"dIcIcIcIcUXP@ɢqBc8 顥I ɡiIAK=BDAT read: Rx Time:18:23:09.6552 TRx dataTimestamp_ set to:1755627791.691155checking for new query: numPingsReceived=5, elapsed TxPingTime=3.005820AA@AvB->~B)B-`!IB-4BB)B)B)B-_;B-)$EAAI!I9NEQ> 9 ] checking for new query: numPingsReceived=5, elapsed TxPingTime=3.256194mL,C0)ADbvDblDb*D`EbVz: Eb:6Eb(N4:E`"EbG;!jEbH;!j*EbC;!jEbC;!jB IMb@Mb@Mb@ )IiQ?㥛 ?~jth?=)jAIAi-A@  ABDZ6D%4Y 6=! 5= Q)>K?9K?9EYL#EA>!Q 1-~4٪%c*?Q 5-~4%Jb %{B9-?Q A5:Y56Q E5?y%HC)% ;I%u ;i%x~4Y= B=\A=KEgamDNOT Ignoring new targets: 24.90 m.gigmgmຝ ProNav: ac range: 24.900000 m, nav range: 21.628532 m, bearing: 193.371023 deg, approach rate: -0.575343 m/s, LOS rate: -0.098329 deg/s, cmd heading: 186.519830 deg, new cmd heading: 186.386923 deg. gHeadingCmd: 3.253066 target range: 24.900000 and range: 24.90 m.bg:2P@ZgrgjgRgZfRfeegB"dcccc@T @ɢyB0 NپI (TɡiIx% >A!=I u BDAT read: Tx time:18:23:10.7689 u $Ping request sent.u )o>Im%@ik=S$@=¸2=Ii)03?ߧ?*eܖ?>ݽ¸2= Ii :publishing transmit ping time9q  Fpublishing direction and range info?c/?NZl?Ii )IiIi)03?ߧ?*eܖ? Ii= checking for new query: numPingsReceived=6, elapsed TxPingTime=0.025567A I I) N5 >FL,!D0)A ĂB IBD->6D-43Y=@>!=[=AQ)E>A9A9EEYEP#EIAM>QQ 1}~4٪U?Q 5}~4Uc UB9yYyQ E?yUcC)Uq;IU2;iUʅ~4Y<AJhRhl D0)Ah3Ah:'&t6@nS?>u@~?c/?NZl?h¸2=h O>]c5ȞX@~}w7/\Sʿ0cp3?jhrhZhi(?bhwzhBh!0?h}hBhqAh4W@] addTargetRange:: Added new target pos. range: 22.900000 m, deltaT: 3.528199 s, deltaX: -2.000000 m, approachRate: -0.566861 m/s, rangeRepo size: 4 m Added new target pos. range: 22.900000 m, bearing: 193.129174 deg, lat: 36.779372 deg, lon: -121.859524 deg, deltaT: 3.528199 s, deltaX: -2.000000 m, approachRate: -0.566861 m/s, posRepo size: 4 gimDNOT Ignoring new targets: 22.90 m.gigg ProNav: ac range: 22.900000 m, nav range: 21.555256 m, bearing: 193.129174 deg, approach rate: 0.000000 m/s, LOS rate: -0.098329 deg/s, cmd heading: 186.386929 deg, new cmd heading: 186.270896 deg. gHeadingCmd: 3.251040 target range: 22.900000 and range: 22.90 m.bg P@ZgrgjgRgZfRfee"dccc`f6@c?checking for new query: numPingsReceived=6, elapsed TxPingTime=0.191394ɢB%. !%CI! %6ɡ)i)I-!A +=  checking for new query: numPingsReceived=6, elapsed TxPingTime=0.443223vB ~B B !IB vBB B B B _;B $EA} yAI I N >p L,/D0)A0i0PyNuE@ٱNpS@N?gN#黻NHB?6g?#Ŀ@ 8?>?mv/?INuE@)N<^;iNpCn؂Bn IBDv'6Dv3Y~=!~O=~Q)> H?9 H?9EYU#E 5A >Q 1~4٪?Q 5~4e B9!Y%6Q E-?yC)[f;I{;i~4YM BUAYgDNOT Ignoring new targets: 22.90 m.gg Ⱥg-ȺE ProNav: ac range: 22.900000 m, nav range: 21.328068 m, bearing: 193.092418 deg, approach rate: -0.536635 m/s, LOS rate: -0.087745 deg/s, cmd heading: 186.270897 deg, new cmd heading: 186.159455 deg. gEpMHeadingCmd: 3.249095 target range: 22.900000 and range: 22.90 m.bgM.O@ZgIrgIjgIRgYZfYRfYeYea"dacacacacm T?ɢB*, WD;MI ɡiI#A 6[=! A I I N >WL,cID0)AyFGE@ٱFBS@FgFFHK?z_?ÿ^@? ̹? ރA /?IFGE@)F5^;iDVBV !Ichecking for new query: numPingsReceived=6, elapsed TxPingTime=0.947304Mb@Mb@Mb@ )Iin?~jt??=) AIAiAX@ ABDL6D 4YX=!==ޜQ)>99EY[#EԻA>Q 1~4٪?Q 5~4g ʏB9E?Q A:Ye6Q E?yC):IU:i~4Y  Ag1=DNOT Ignoring new targets: 22.90 m.g9gE}gE}U ProNav: ac range: 22.900000 m, nav range: 21.079084 m, bearing: 193.049620 deg, approach rate: -0.645888 m/s, LOS rate: -0.112335 deg/s, cmd heading: 186.159456 deg, new cmd heading: 186.029544 deg. gU0]HeadingCmd: 3.246828 target range: 22.900000 and range: 22.90 m.bg]O@ZgYrgYjgYRgYZfaRfaeaeetB"dicicicicml?iG=I C)E͈G ]A)qI쮿AAɢB^+ I 1ɡiIA/=q5 checking for new query: numPingsReceived=6, elapsed TxPingTime=1.199492A= AIA IQ Ne >D ~D gD ,D E : E &96E g4:E ! @! @! @! @ԡ L,̵cD0)Ay6E@ٱ6S@6h6l;6H ~? {e?fÿ.£??Cl?-?I6E@)6_;i6oC>BB4!IBDF:6DF{3YRy6>!Ra=RQQ)R>VK?9VK?9VEYV_#EV"AZ>XQ 1b~4٪Zᤊ?Q 5b~4Zi ZB9`Yb6Q Eb?yZC)Z+;IZ;iZt~4YfBjAjJEvB*** querying acoustic contact ***:htBhtg|DNOT Ignoring new targets: 22.90 m.ggݺgݺ ProNav: ac range: 22.900000 m, nav range: 20.870003 m, bearing: 193.014686 deg, approach rate: -0.574313 m/s, LOS rate: -0.096919 deg/s, cmd heading: 186.029546 deg, new cmd heading: 185.923694 deg. gHeadingCmd: 3.244981 target range: 22.900000 and range: 22.90 m.bg%íO@Zg!rg!jg!Rg!Zf!Rf!e)e)"d)c)c1c1c5gq?ɢ]Be) ae[Ia eC]ɡiiiIm?>I)i)15*21checking for new query: numPingsReceived=6, elapsed TxPingTime=1.451201ԡvB>~B͍CB"IBBBBBeDB_;B#E>Ap=A- yAIa I N > = checking for new query: numPingsReceived=6, elapsed TxPingTime=1.703237L,}D0)Aɰ4<;BEM [4JEMwX4REM60DfyDdDdDdEf: Ed6Ed:Ed"Ef;!jEf;!n*Efi1;!nEfj1;!ne*BeS!IMb@Mb@Mb@ )IibX9?ˡE?~jth?E?=D;)AI`AixA@ ABD B6D 3Y=!5=%Q)%>% H?9% H?9%EY%e#E-A->1Q 1=~4٪5̤?Q 5=~45"k 5B9=?Q AE:YE5Q EE?y5܈C)5 ;I5:i5A~4YMBMAMIEgq}DNOT Ignoring new targets: 22.90 m.gyg}g} ProNav: ac range: 22.900000 m, nav range: 20.609785 m, bearing: 192.962789 deg, approach rate: -0.576145 m/s, LOS rate: -0.116356 deg/s, cmd heading: 185.923691 deg, new cmd heading: 185.766034 deg. g5HeadingCmd: 3.242229 target range: 22.900000 and range: 22.90 m.bg=O@Zg9rg9jg9Rg9Zf9Rf9eAeElB"dAcIcIcIcm?ɢBJ$ cI ӕɡiIA C=rA >jA >ԉ IIUchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.208019AAIIN ?-q'L,6D0)ADzDlD*D El: E:6E(N4:E !@!@!@!@-GB-x!IBD=F6D=4Y=! =Q)>K?9K?9EYk#EԩA>Q 1~4٪鴤?Q 5~4im %B9YQ E?yC)B:I[:i~4Y AgDNOT Ignoring new targets: 22.90 m.ggg  ProNav: ac range: 22.900000 m, nav range: 20.316364 m, bearing: 192.902671 deg, approach rate: -0.575816 m/s, LOS rate: -0.119681 deg/s, cmd heading: 185.766037 deg, new cmd heading: 185.583079 deg. g EHeadingCmd: 3.239036 target range: 22.900000 and range: 22.90 m.bg]LO@ZgrgjgRgZfRfe!e!"d!c!c)c)c-`@ɢUB]Ə! ]]7IY ]ɡYiaIe~B̍CBT"IBBB =BBdDB_;B#EBBBBƴ =Bƴ =B4>A=A1 9 Ia  PExceeded connect timeout, disconnecting.I N >7-L,D0)Ay>D@ٱ>R@>[h>2;>HZ?N?1d¿W0?`M?W |?i.?I>D@)>^;i!mN=m̪:Q)m>i9q9uEYuq#EuAu>yQ 1~4٪}u?Q 5~4}Bo }AB9?Q A:Y45Q E?y}C)}':I}:i}~4YB AHEgDNOT Ignoring new targets: 22.90 m.gg"g" ProNav: ac range: 22.900000 m, nav range: 20.087238 m, bearing: 192.846948 deg, approach rate: -0.579346 m/s, LOS rate: -0.142503 deg/s, cmd heading: 185.583084 deg, new cmd heading: 185.414008 deg. gûHeadingCmd: 3.236085 target range: 22.900000 and range: 22.90 m.bgO@ZgrgjgRgZfRfeesB"dcccc @ɢ-B- )-pI) 5ɡ1i1I5aA +=A I I N>Z5L,mtD0)Aiy6YD@ٱ6TR@6Vf6-0G<6H`4?E?z¿i 5?֌?JE?@1?I6YD@)6T^;i4BBB!IBDJE6DJ3YR[=!R;=Rv;Q)V>T9T9VEYVv#EZXA^>\Q 1b~4٪^ ?Q 5f~4^Gq ^_B9dYfi5Q Ef?y^@C)^:I^:i^&~4YjBn AnQEg|DNOT Ignoring new targets: 22.90 m.gg !g !M ProNav: ac range: 22.900000 m, nav range: 19.834028 m, bearing: 192.786232 deg, approach rate: -0.580013 m/s, LOS rate: -0.140853 deg/s, cmd heading: 185.414009 deg, new cmd heading: 185.229538 deg. gMTUHeadingCmd: 3.232865 target range: 22.900000 and range: 22.90 m.bgUDN@ZgQrgYjgYRgYZfYRfYeaea"dacacacc @ɢB\ I ɡiIĄ~B B "IB  BDAT read: Tx time:18:23:14.3189  $Ping request sent. Ie $@ie l=e Y3$@e =e PwV=e Ia ia )e |??Nj.?$R?e i>e e PwV= e Ia ia 5 :publishing transmit ping time9 5 Fpublishing direction and range infoa e ~L?an?U]k?a a Ia ia a a a a a )a Ia ia a a a a Ia ia )e |??Nj.?$R?a a a a Ia ia M checking for new query: numPingsReceived=7, elapsed TxPingTime=0.008450>A- =bA) ZA- Ay IQIN?E=L,D0)AnManaging dock network, ignoring radio surface power off`y D@ٱ R@ >@b ; H@?ި? f`C@?@D ? !nz?8?I D@) o^;i pCEBE!I5checking for new query: numPingsReceived=7, elapsed TxPingTime=0.229269Mb@Mb@Mb@ )Ii~jt?:v?~jth??=)AIO@ifA@ ABDM6D 4Y8=!=;Q)>DxDcD+DEˀ: EL96E [4:E"E;!E;!*E";!E";!%I9I9MEYM~#EMAU>QQ 1]4٪UZo?Q 5e4Ubt UB9e?Q A:Y4Q E?yUqC)U;IU;iUf4YB APEJhRhLD0)Ah3Ah<\T4@op?r* \?~~L?an?U]k?hPwV=h -23e@~Ӣ\6ǿ|ME4?jhurhZh]?bh_nzh/Bh_/?hwhBhTAhߠV@= addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 3.529284 s, deltaX: -2.000000 m, approachRate: -0.566687 m/s, rangeRepo size: 4 m Added new target pos. range: 20.900000 m, bearing: 192.145335 deg, lat: 36.779372 deg, lon: -121.859522 deg, deltaT: 3.529284 s, deltaX: -2.000000 m, approachRate: -0.566687 m/s, posRepo size: 4 gquDNOT Ignoring new targets: 20.90 m.gqg}gy ProNav: ac range: 20.900000 m, nav range: 19.416409 m, bearing: 192.145335 deg, approach rate: 0.000000 m/s, LOS rate: -0.140853 deg/s, cmd heading: 185.229539 deg, new cmd heading: 184.952035 deg. gHeadingCmd: 3.228022 target range: 20.900000 and range: 20.90 m.bgN@ZgrgjgRgZfRfee\B"dccc`f4@c?ɢ5B5; 1586IY ]ɡYiYI]WցAp=ԙII N?GL,^E0)Ay6iC@ٱ6bQ@6k`6j;6Ho? u?IK?? x?;?I6iC@)6^;>checking for new query: numPingsReceived=7, elapsed TxPingTime=0.733267i6mCFBF"IBDNF6DN4YV=!V)=Zr;Q)Z>X9\9^EY^#E^A^>`Q 1f4٪b`X?Q 5f4bv bB9hYj(5Q Ej?ybC)b ;IbH;ib4Yln Ap~B*** querying acoustic contact ***:h|Bh|g  DNOT Ignoring new targets: 20.90 m.g D]~D]oD]*DYE]: E]:6E](N4:EY!e@!e@!e@!e@guWguW ProNav: ac range: 20.900000 m, nav range: 19.131454 m, bearing: 192.060565 deg, approach rate: -0.624241 m/s, LOS rate: -0.188470 deg/s, cmd heading: 184.952029 deg, new cmd heading: 184.693932 deg. gXHeadingCmd: 3.223517 target range: 20.900000 and range: 20.90 m.bgNN@ZgrgjgRgZfRfee"dcccc@ ^?ԱɢƒB  xI ɡiIj~B͍CB"IBBB =BBB_;B$E>A  =5checking for new query: numPingsReceived=7, elapsed TxPingTime=0.985260IIIN>q ,9ML,qv7E0)Ay_C@ٱXQ@^^@;H`c? ;?J?@?`Pu?`{??I_C@)i^;iBJ"I-Mb@Mb@Mb@) )))I)i)-$C?1Zd?Mb`?-?-"=-;)-IAI- @i-"A-h@ )-QA)9 9BDE96DE3IY]s>!]2=] ;Q)]>a9a9eEYe#Em4Am>qQ 1}4٪upB?Q 5}4ux u̐B9}?Q A}:Y}4Q E?yuC)u:Iu:iu%4YB& AOEgDNOT Ignoring new targets: 20.90 m.gg[\g[\ ProNav: ac range: 20.900000 m, nav range: 18.859125 m, bearing: 191.973535 deg, approach rate: -0.594247 m/s, LOS rate: -0.192649 deg/s, cmd heading: 184.693930 deg, new cmd heading: 184.429072 deg. g6HeadingCmd: 3.218894 target range: 20.900000 and range: 20.90 m.bg^N@ZgrgjgRgZfRfeecB"dcccc?checking for new query: numPingsReceived=7, elapsed TxPingTime=1.237212ɢɃB 8=I JɡiIzA !=rA >jA >I I! N5 >= checking for new query: numPingsReceived=7, elapsed TxPingTime=1.489175 TL,AQE0)AybmC@ٱbfQ@b[b;bH e7?\?i\x?F?@Uw?`C?IbmC@)b(_;iboCvBvq"IBD 76D p3Y%.>!%a=-;Q)->1919=EY=#E={AE>QQ 1]4٪U0?Q 5e4Uz UB9aYm4Q Em?yUՉC)Uj;IUxk;iU14Yq})AygDNOT Ignoring new targets: 20.90 m.gg ]g ] ProNav: ac range: 20.900000 m, nav range: 18.641771 m, bearing: 191.903249 deg, approach rate: -0.590703 m/s, LOS rate: -0.193244 deg/s, cmd heading: 184.429068 deg, new cmd heading: 184.215752 deg. gHeadingCmd: 3.215171 target range: 20.900000 and range: 20.90 m.bg^M@ZgrgjgRgZfRfee"dccQcQc]n?ɢ΃Bk 顥>I ɡiIjw<ԱIWZDi [=i=)^M@)i>>Iiiiiii ߙޙchecking for new query: numPingsReceived=7, elapsed TxPingTime=1.741428D}{D}dD}/DyE}=: E}96E}J4:Ey!@!@!@!@>AU0=IIN> 9 WGZL,kE0)Ay6C@ٱ6Q@6EY6%;6H??@u Wn??}q?qG?I6C@)6^;i6nCR/BR"IiTITBDZS6DZ4Yb^>!bQ=b;Q)f>d9d9fEYf#EjAj>lQ 1r4٪nH?Q 5r4n| nB9pYv5Q Ev?ynC)n;In(:inq?4YzBz/AxvB>~B̍CBN#IBńBB =BBB_;B$EgDNOT Ignoring new targets: 20.90 m.ggGagGa ProNav: ac range: 20.900000 m, nav range: 18.410690 m, bearing: 191.828038 deg, approach rate: -0.597629 m/s, LOS rate: -0.196954 deg/s, cmd heading: 184.215748 deg, new cmd heading: 183.987285 deg. g*checking for new query: numPingsReceived=7, elapsed TxPingTime=1.993374HeadingCmd: 3.211184 target range: 20.900000 and range: 20.90 m.bg M@Zg!rg!jg!Rg!Zf!Rf!e)e)"d)c)c1c1cU@f5@ɢԃB 顭b6>I ɡiIrAM 6[=i  checking for new query: numPingsReceived=7, elapsed TxPingTime=2.246682I I N >D vD D (D E Vz: E 6E c44:E "E G;! E H;! *E ~&;! E &;! "/aL,nE0)A y:pC@ٱ:kQ@:ۦW:<::H ??`QM ѹ ɰ??\?J?I:pC@):L^;i:pCVHBV"I5Mb@Mb@Mb@1 1)1I1i15i9i9mEYm#EmMAm>qQ 1}4٪u ?Q 54u~ uB9,?Q A:YE4Q E?yuC)u ;Iu:iuBN4YB^ANEgDNOT Ignoring new targets: 20.90 m.ggJxgJx ProNav: ac range: 20.900000 m, nav range: 18.168587 m, bearing: 191.737194 deg, approach rate: -0.570901 m/s, LOS rate: -0.217072 deg/s, cmd heading: 183.987292 deg, new cmd heading: 183.711131 deg. gHeadingCmd: 3.206364 target range: 20.900000 and range: 20.90 m.bg5M@ZgrgjgRgZfRfeevB"dcccc@HV@ɢڃB 顥d\>I [ɡiInAA!=bAZA}A A I I N >EYgL,ҞE0)A6DDAT read: Rx Time:18:23:16.4731 6TRx dataTimestamp_ set to:1755627798.495137>PDAT read: Bearing 334.5, 15.4 (Local) >~Local bearing/azimuth received: Bearing 334.5, 15.4 (Local) FDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 ZDAT read: 18:23:16.4731 LVL= 20976, 23777, 19826, 30691, AGC= 53, IDX= 158, 0.05,-2.920, 1.587,-2.868, 2.950, PHS= 0.516,-1.318, 0.421, RAW= 147.4, 4.3, CAL= 146.7, 4.5, ROT= 3.3, -4.5 ^Ygot valid direction response: 18:23:16.4731 LVL= 20976, 23777, 19826, 30691, AGC= 53, IDX= 158, 0.05,-2.920, 1.587,-2.868, 2.950, PHS= 0.516,-1.318, 0.421, RAW= 147.4, 4.3, CAL= 146.7, 4.5, ROT= 3.3, -4.5 ^R#Rx 8: Read range and direction messages.b\direction in FSK: [0.995264,0.057387,0.078459]fFpublishing direction and range info46o4?a?5;?6fA4I6Qi6\6rM6w656? 69)6P>I6$@i6`=6#@6|٠=6k=6|٠I4i4)6fV? GPU?JM:?l6<>66k= 6|٠I4i4vchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.765574DEuDEZDE,DAEEv: EEa96EEg4:EA!M@!M@!M@!M@y~XC@ٱ~SQ@~qU~/}~H {?D? ̻c:?|?`N?I~XC@)~%^;i~oC gB "IBDE6D3Y-">!->=-A;Q)->19y9}EY}#E}[A}>Q 14٪?Q 54 1B9Y_4Q E?y2C)%_>1 nB@~6ڠ%:zǿ?jh6Xrh6Zh6-"?bh6Kzh6 Bh6i(?h6fh6Bh6ȏAh6`U@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 2.771704 s, deltaX: -2.100000 m, approachRate: -0.757657 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 191.023513 deg, lat: 36.779371 deg, lon: -121.859520 deg, deltaT: 2.771704 s, deltaX: -2.100000 m, approachRate: -0.757657 m/s, posRepo size: 4 gDNOT Ignoring new targets: 18.80 m.gg g - ProNav: ac range: 18.799999 m, nav range: 17.972691 m, bearing: 191.023513 deg, approach rate: 0.000000 m/s, LOS rate: -0.217072 deg/s, cmd heading: 183.711134 deg, new cmd heading: 183.409723 deg. g)5HeadingCmd: 3.201103 target range: 18.799999 and range: 18.80 m.bg5L@Zg1rg1jg1Rg1Zf1Rf9e9e9"d9cAcAcE2@cM ?ɢB: 顕>I \EɡiIi~BʍCB#IBBB =BBcDB_;B$Echecking for new query: numPingsReceived=8, elapsed TxPingTime=3.001348A >AM O)=A I I N% >|mL,E0)A y-RC@ٱ-MQ@-bS-:7-H@4Gp??`)@%?`S2?`>R?I-RC@)-r^;i)EBE#IM;>M=Mb@Mb@Mb@ )Iiףp= ?v/?{Gzt?x=)@IX@i& A@ \@BD;6D)3Y++>!@=;Q)>99EY#E dA >Q 14٪ᣊ?Q 54Ԃ KB9b!?Q A%:Y%4Q E%?ySC):I@:i2l4Y-B-0A-MEMB*** querying acoustic contact ***:hIBhIDDAT read: Rx Time:18:23:16.9729 TRx dataTimestamp_ set to:1755627798.999079PDAT read: Bearing 334.3, 15.2 (Local) ~Local bearing/azimuth received: Bearing 334.3, 15.2 (Local) DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 DAT read: 18:23:16.9729 LVL= 22160, 28305, 23218, 32755, AGC= 52, IDX= 508, 0.16,-2.635, 1.863,-2.582,-3.053, PHS= 0.520,-1.322, 0.427, RAW= 147.5, 4.2, CAL= 146.8, 4.4, ROT= 3.2, -4.4  Ygot valid direction response: 18:23:16.9729 LVL= 22160, 28305, 23218, 32755, AGC= 52, IDX= 508, 0.16,-2.635, 1.863,-2.582,-3.053, PHS= 0.520,-1.322, 0.427, RAW= 147.5, 4.2, CAL= 146.8, 4.4, ROT= 3.2, -4.4  R#Rx 9: Read range and direction messages.\direction in FSK: [0.995498,0.055657,0.076719]Fpublishing direction and range info.?I?.0ۣ?̔AIVinZ4? L7)>IS$@iQ =(#@nF=d=nFIi)f<%3S? ^|g?ĥhQղ?!>n͖d= nFIi5checking for new query: numPingsReceived=9, elapsed TxPingTime=3.273212BE™T4JEž]4REH0Du|DukDu*DqEu : Eu:6Eu(N4:Eq"Eu;!Eu;!*Eu?;!Eu?;!ԉ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503942 s, deltaX: -0.199999 m, approachRate: -0.396869 m/s, rangeRepo size: 4 gDNOT Ignoring new targets: 18.80 m.ggrgr ProNav: ac range: 18.799999 m, nav range: 17.716204 m, bearing: 190.922001 deg, approach rate: -0.589860 m/s, LOS rate: -0.236833 deg/s, cmd heading: 183.409717 deg, new cmd heading: 183.100776 deg. g"HeadingCmd: 3.195711 target range: 18.799999 and range: 18.60 m.bgL@ZgrgjgRgZfRfeehB"dcc!c%2@ce`?ɢMBMԥ QU>IQ U8ɡQiQIU6dAe e= A yAI I N >uL,zE0)Ay6EC@ٱ6@Q@69P6&z;6H`So?v?<" V??/n?`]V?I6EC@)6P^;i6mCBBB'#IBDNE6DN3YR0=!RH=V;Q)V>V H?9Z H?9ZEYZ#EZ%A^>\Q 1b4٪^ͣ?Q 5f4^ ^dB9dYf5Q Ef?y^sC)^:I^:i^z4YjBnRAnLEJhIRhME0)AhM̔AhM.=MG)2@ B?3?~M.?I?.0ۣ?hMd=hMnF MP1c =ݘ@~MH8n[ƿ̷?jhMSrhMZhMEa?bhM3zhMBhM-"?hIhM/BhMFAhMU@g%DNOT Ignoring new targets: 18.80 m.g!g%g% ProNav: ac range: 18.799999 m, nav range: 17.464941 m, bearing: 190.820333 deg, approach rate: -0.675650 m/s, LOS rate: -0.277319 deg/s, cmd heading: 183.100774 deg, new cmd heading: 182.791387 deg. gR>HeadingCmd: 3.190311 target range: 18.799999 and range: 18.60 m.bg.L@ZgrgjgRgZfRfee"dccc cM.P?iɢ}B}v y}G>I rɡiI`I1i15$@15k]=1I1i1)5{K?n3b?Tײ?5}*>5ᖽ5k]= 1I1i1>A==rA=>jA=?]checking for new query: numPingsReceived=10, elapsed TxPingTime=3.791915ԙAiIqIN}>A1 A5 AAvB= >~B9 B= #IB= NBB9 B9 B9 B= _;B= $EBBˍCBʔCBʵ =Bʶ =Bi=6  checking for new query: numPingsReceived=10, elapsed TxPingTime=4.011531z{L, WE0)AMɄBUR#IBD]76D]p3Ym/>!u1=uQ)u>y9y9}EY}#E}A}>Q 14٪?Q 544 B9YQ E?yC)N:I:i4Y>AJhaRhe;E0)AheAhe9L=ev2@ܶg?o0W?~e#ed?⯉S?.0ۣ?hek]=ha eofȧ11o$Т >b '@~eˋ,;<H{ƿuu?jheLrheZhe& ?bheQHzhe܎Bhe& ?heQHhe BheAhe~T@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504577 s, deltaX: -0.400000 m, approachRate: -0.792742 m/s, rangeRepo size: 4  Added new target pos. range: 18.200001 m, bearing: 190.531869 deg, lat: 36.779368 deg, lon: -121.859520 deg, deltaT: 1.008519 s, deltaX: -0.599998 m, approachRate: -0.594930 m/s, posRepo size: 4 gDNOT Ignoring new targets: 18.20 m.ggg- ProNav: ac range: 18.200001 m, nav range: 17.488588 m, bearing: 190.531869 deg, approach rate: 0.000000 m/s, LOS rate: -0.277319 deg/s, cmd heading: 182.791380 deg, new cmd heading: 182.404618 deg. g)5HeadingCmd: 3.183561 target range: 18.200001 and range: 18.20 m.bg5wK@Zg1rg9jg9Rg9Zf9Rf9eAeA"dAcAcIcM@332@cM ?ɢuB} y}>Iy }lSɡyiIP[I=$@i=`==Y3$@=l==PwV==lI9i9)=dPCA?k{? Kc?=f>=g@=PwV= =lI9i9checking for new query: numPingsReceived=11, elapsed TxPingTime=4.277540DDD,DE: E6Eg4:E"E;!E;!*EJ;!EJ;!%! >A w=A AI I N >RL,G! F0)ABr#IiIDDAT read: Rx Time:18:23:18.4721 TRx dataTimestamp_ set to:1755627800.261652checking for new query: numPingsReceived=11, elapsed TxPingTime=4.518946QuMb@Mb@Mb@q q)qIqiqu333333?X9v?u?u=u)u@Iu@iuAu@ qu=@BD=6D3Y`=!,=Q)>K?9K?9EY#EA>Q 14٪֟?Q 54 B9?Q A:Y4Q E?yC)q&ƿ"?jhuGrhu1ZhuP?bhu.MrzhuBhqhqhuBhuAhuST@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503721 s, deltaX: -0.300001 m, approachRate: -0.595570 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 190.394896 deg, lat: 36.779368 deg, lon: -121.859520 deg, deltaT: 0.503721 s, deltaX: -0.300001 m, approachRate: -0.595570 m/s, posRepo size: 4 gDNOT Ignoring new targets: 17.90 m.ggg% ProNav: ac range: 17.900000 m, nav range: 17.205017 m, bearing: 190.394896 deg, approach rate: 0.000000 m/s, LOS rate: -0.277319 deg/s, cmd heading: 182.404614 deg, new cmd heading: 181.995279 deg. g!-HeadingCmd: 3.176417 target range: 17.900000 and range: 17.90 m.bg-jJK@Zg)rg)jg1Rg1Zf1Rf1eYe]mB"dYcYcYce`f1@ce`?yɢB 页D>I ɡiI"V)jJK@)Iu@iqqu/q>AM =ԩ A A U PDAT read: Bearing 334.2, 14.6 (Local) U ~Local bearing/azimuth received: Bearing 334.2, 14.6 (Local) } DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5  DAT read: 18:23:18.4721 LVL= 22640, 26401, 23922, 32755, AGC= 51, IDX= 501,-0.30,-0.817,-2.589,-0.754,-1.220, PHS= 0.506,-1.324, 0.422, RAW= 147.7, 4.5, CAL= 147.0, 4.7, ROT= 3.0, -4.7  Ygot valid direction response: 18:23:18.4721 LVL= 22640, 26401, 23922, 32755, AGC= 51, IDX= 501,-0.30,-0.817,-2.589,-0.754,-1.220, PHS= 0.506,-1.324, 0.422, RAW= 147.7, 4.5, CAL= 147.0, 4.7, ROT= 3.0, -4.7  T#Rx 12: Read range and direction messages. \direction in FSK: [0.995272,0.052160,0.081939] Fpublishing direction and range infoA E قC?IA iE |٠=A E =A E IA iA )E A?|E f蟽A E IA iA  checking for new query: numPingsReceived=12, elapsed TxPingTime=4.790998D% D% sD% )D! E% : E% Z:6E% FA4:E! !- @!5 @!5 @!5 @Ay I I N >ЈL,$F0)Ay6B@ٱ6P@6!I6܉<6Hi&` ?`І?O`???Ya?I6B@)6^;i6oC@B BB#IBDJH6DJ4Yf >!f=fT)K@)ԱvB>~BɍCBH$IBBBBBbDB_;B$EI?iDDAT read: Rx Time:18:23:18.9721 TRx dataTimestamp_ set to:1755627800.766354PDAT read: Bearing 334.1, 14.3 (Local) ~Local bearing/azimuth received: Bearing 334.1, 14.3 (Local) checking for new query: numPingsReceived=12, elapsed TxPingTime=5.028532 >Ae 3=bAu ~AZAq Au yAIy I N >>L,+m?F0)Ay6B@ٱ6P@6F63l<6Hu,k?A?$ <)?@̨??e?I6B@)6s^;i6kC>BB#ITbDAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5 vDAT read: 18:23:18.9721 LVL= 24224, 28625, 25266, 32755, AGC= 51, IDX= 500,-0.16, 0.588,-1.180, 0.652, 0.187, PHS= 0.503,-1.322, 0.421, RAW= 147.7, 4.5, CAL= 147.1, 4.8, ROT= 2.9, -4.8 zYgot valid direction response: 18:23:18.9721 LVL= 24224, 28625, 25266, 32755, AGC= 51, IDX= 500,-0.16, 0.588,-1.180, 0.652, 0.187, PHS= 0.503,-1.322, 0.421, RAW= 147.7, 4.5, CAL= 147.1, 4.8, ROT= 2.9, -4.8 zT#Rx 13: Read range and direction messages.~\direction in FSK: [0.995217,0.050416,0.083678]Fpublishing direction and range infoXZC3?Щ?U]k?XXIZ^iZoZbXXZ? ZL7)ZP>IXiXZO$@Z=Z4QO=ZIXiX)ZHi]=?d?3#?Zm>ZZ4QO= ZIXiXchecking for new query: numPingsReceived=13, elapsed TxPingTime=5.281546DDlD'DEa: E:6E'4:E"EK;!EL;!*EC;!EC;!Mb@Mb@Mb@ )IiCl?)\(?Mb;?G=)@I@iA-@ @BD66D3Y=!)=;Q)> H?9% H?9%EY%#E-oA->1Q 1=4٪5;z?Q 5=45\ 5̑B9=!?Q A=:Y=5Q EE?y5C)5 ;I5;i54Ym Bu@uKEJhXRhZ@F0)AhXhZb>Z^(Q1@w1D?OK?~ZC3?Щ?U]k?hZ4QO=hZ ZLn2 k|0TJX ~ෝ@~ZNQ@B!ſE$?jhZ6rhZZhZWI ?bhZAtzhZBhZ& ?hXhZ܎BhZAhZrT@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503681 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.400000 m, bearing: 190.193242 deg, lat: 36.779368 deg, lon: -121.859520 deg, deltaT: 0.503681 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 17.40 m.g!g!g)5 ProNav: ac range: 17.400000 m, nav range: 16.740606 m, bearing: 190.193242 deg, approach rate: 0.000000 m/s, LOS rate: -0.277319 deg/s, cmd heading: 181.749449 deg, new cmd heading: 181.364471 deg. g9eHeadingCmd: 3.165407 target range: 17.400000 and range: 17.40 m.bgeJ@ZgargajgaRgaZfaRfieiemdB"dicqcqcqcuEe?ɢBl ߽ ?I Hɡ i I 1M)J@)Qme>m>IAiDDAT read: Rx Time:18:23:19.4718 TRx dataTimestamp_ set to:1755627801.271812PDAT read: Bearing 333.9, 14.1 (Local) ~Local bearing/azimuth received: Bearing 333.9, 14.1 (Local) ] DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5  Z#Rx 14: Read range message, but no direction.A checking for new query: numPingsReceived=14, elapsed TxPingTime=5.573340) >A 4>A AI I) N5 >vL,0)A4B#I%=<BD%=6D%3Y50>!=Z==Q)=>=K?9EK?9EEYE#EEAE>IQ 1U4٪Mg?Q 5]4M$ MB9YYYQ E]?yMC)M:IM:iM4Ye Be}@mJEB*** querying acoustic contact ***:hBh addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.257862 s, deltaX: -0.400000 m, approachRate: -1.551216 m/s, rangeRepo size: 4 gDNOT Ignoring new targets: 17.40 m.gg9g9 ProNav: ac range: 17.400000 m, nav range: 16.511929 m, bearing: 190.097148 deg, approach rate: -0.641183 m/s, LOS rate: -0.273166 deg/s, cmd heading: 181.364472 deg, new cmd heading: 181.072201 deg. gx;HeadingCmd: 3.160306 target range: 17.400000 and range: 17.00 m.bgtBJ@ZgrgjgRgZfRfee"dccc1@c`E?ɢ Bɽ ?I _ɡiISH)%tBJ@)) DAT read: 18:23:19.4718 LVL= 21456, 27969, 23138, 32755, AGC= 51, IDX= 497,-0.06,-0.348,-2.113,-0.284,-0.749, PHS= 0.503,-1.318, 0.422, RAW= 147.7, 4.5, CAL= 147.1, 4.7, ROT= 2.9, -4.7 Ygot valid direction response: 18:23:19.4718 LVL= 21456, 27969, 23138, 32755, AGC= 51, IDX= 497,-0.06,-0.348,-2.113,-0.284,-0.749, PHS= 0.503,-1.318, 0.422, RAW= 147.7, 4.5, CAL= 147.1, 4.7, ROT= 2.9, -4.7 Z#Rx 15: Read direction message, but no range.\direction in FSK: [0.995361,0.050423,0.081939]Ii=I)[yI` 5checking for new query: numPingsReceived=15, elapsed TxPingTime=5.783157ADD~D.DE: E(:6Eـ4:E!@!@!@!@-2;iI?iԙ vB }>~B ȍCB $IB ͅBB =B B aDB _;B $E DDAT read: Rx Time:18:23:19.9717  TRx dataTimestamp_ set to:1755627801.775100 PDAT read: Bearing 331.5, 16.8 (Local)  ~Local bearing/azimuth received: Bearing 331.5, 16.8 (Local)  DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5 % Z#Rx 16: Read range message, but no direction. fA  checking for new query: numPingsReceived=16, elapsed TxPingTime=6.051794>A G> A9IAIQNe>L,FyF0)AyJOB@ٱJJP@Jr>JM;JH@h?8?`g?\9@+?@.?~? ~r?IJOB@)J^;iJlCRSBR#IBD^06D^3YfK >!j3=rx9x9zEYz#E~A~>Q 1 4٪~P?Q 5 4N B9 Y t6Q E ?y;C)a;Ij;i$4Y B@SEJhRh=qF0)AhfAhw>،>ٸ0@l&cx?'#k?~'$4Q= ¸25checking for new query: numPingsReceived=17, elapsed TxPingTime=6.287254ɢ B ֽ 顭#?I (ɡiIW C)I@DDlD*DE: E:6E(N4:E"E;!E;!*E!E!)IIiIQU/Q >A} D > DDAT read: Rx Time:18:23:20.4714  TRx dataTimestamp_ set to:1755627802.279913 PDAT read: Bearing 333.3, 13.8 (Local) - ~Local bearing/azimuth received: Bearing 333.3, 13.8 (Local) rA >jA >u DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5  Z#Rx 18: Read range message, but no direction. 3A  checking for new query: numPingsReceived=18, elapsed TxPingTime=6.563474AAIIN>)L,D˜F0)Ay6B@ٱ6P@6;6'<6HkFb?A?`|#՝?rX?#??v?I6B@)6}^;i6mCBqBB!$I Mb@Mb@Mb@  ) I i   +?V-?Mbp ? = ) @I h@i `A @  @BDe?6De3Yu*=!u=u;Q)}>y9y9}EY}#E^A>Q 14٪N8?Q 54Q 9tI B9?Q A:Yj5Q E?yaC)x5;I4;i4YB@JhARhEF0)AhE3AhE0q;E{L0@.%l}?LlH6?~EBN?Fع?GU?hE4Q=hE¸2 E`)]I@) I)eDAT read: 18:23:20.4714 LVL= 21184, 26225, 22482, 32131, AGC= 51, IDX= 509, 0.15, 1.280,-0.477, 1.345, 0.877, PHS= 0.506,-1.309, 0.424, RAW= 147.7, 4.3, CAL= 147.1, 4.5, ROT= 2.9, -4.5 mYgot valid direction response: 18:23:20.4714 LVL= 21184, 26225, 22482, 32131, AGC= 51, IDX= 509, 0.15, 1.280,-0.477, 1.345, 0.877, PHS= 0.506,-1.309, 0.424, RAW= 147.7, 4.3, CAL= 147.1, 4.5, ROT= 2.9, -4.5 mZ#Rx 19: Read direction message, but no range.u\direction in FSK: [0.995641,0.050437,0.078459]AEI?wwBҩ?5;?AIERiEqfEWE}AE7? EP)E>IE$@iE`=EO$@E|٠=E4QO=E|٠IA)Eu>c@?s_M?H/D?E>EFE4QO= E|٠checking for new query: numPingsReceived=19, elapsed TxPingTime=6.790667D%D%zD%+D!E%ҝ: E% :6E% [4:E!!-@!-@!-@!-@ԙ 9Ii3vB x>~B ǍCB $IB BB =B B B _;B #E DDAT read: Rx Time:18:23:20.9712 % TRx dataTimestamp_ set to:1755627802.783368E PDAT read: Bearing 333.1, 13.6 (Local) M ~Local bearing/azimuth received: Bearing 333.1, 13.6 (Local) } DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 >A  Z#Rx 20: Read range message, but no direction.  ̀A  checking for new query: numPingsReceived=20, elapsed TxPingTime=7.062244 AIIN\iL,@F0)Ay6lA@ٱ6eO@686% 3<6H/N`t? ?KE|?`??z?I6lA@)6e^;i6lCBBBQ$Ii@I@BDNE6DN3YR(>!V/=V;Q)V>X9X9^EY^#E^ A^>`Q 1f4٪b"?Q 5f4bݕ b/B9hYj5Q Ej?ybC)b;Ib;ibD4YnBrD@rREJhRh"F0)Ah̀Ah?0@1?:LK6?~I?wwBҩ?5;?h4QO=h|٠  (ٽ.,+Qq|C@~gXx6fRÿvi?jhrhuZh?bh zhڍBh?h,h:Bh/yAhjS@q- addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503455 s, deltaX: -0.299999 m, approachRate: -0.595881 m/s, rangeRepo size: 4  Added new target pos. range: 16.100000 m, bearing: 189.267709 deg, lat: 36.779369 deg, lon: -121.859519 deg, deltaT: 0.503455 s, deltaX: -0.299999 m, approachRate: -0.595881 m/s, posRepo size: 4 gDNOT Ignoring new targets: 16.10 m.ggg ProNav: ac range: 16.100000 m, nav range: 15.574098 m, bearing: 189.267709 deg, approach rate: 0.000000 m/s, LOS rate: -0.273166 deg/s, cmd heading: 180.272994 deg, new cmd heading: 179.891013 deg. g!]HeadingCmd: 3.139690 target range: 16.100000 and range: 16.10 m.bgeH@ZgargajgRgZfRfee"dcc c0@cO?ɢEBEĽ AE??IA MzɡIiIIM.8)UH@)QDAT read: 18:23:20.9712 LVL= 22560, 28369, 23938, 32755, AGC= 51, IDX= 507, 0.27, 1.231,-0.518, 1.294, 0.832, PHS= 0.501,-1.305, 0.418, RAW= 147.7, 4.4, CAL= 147.0, 4.6, ROT= 3.0, -4.6 Ygot valid direction response: 18:23:20.9712 LVL= 22560, 28369, 23938, 32755, AGC= 51, IDX= 507, 0.27, 1.231,-0.518, 1.294, 0.832, PHS= 0.501,-1.305, 0.418, RAW= 147.7, 4.4, CAL= 147.0, 4.6, ROT= 3.0, -4.6 Z#Rx 21: Read direction message, but no range.\direction in FSK: [0.995413,0.052167,0.080199](l?0?zꇴ?I Xin]A? = )>IinF=Y3$@l=PwV=lI):'A?Hq?y}?<>PwV= lchecking for new query: numPingsReceived=21, elapsed TxPingTime=7.296221DDtD)DE: Ev:6EFA4:E"E';!E);!*E`;!E`;!Ii!4)>A 2 >Y i =I C)E UG Y  DDAT read: Rx Time:18:23:21.4709  TRx dataTimestamp_ set to:1755627803.291023 PDAT read: Bearing 332.6, 13.4 (Local) )  ~Local bearing/azimuth received: Bearing 332.6, 13.4 (Local) A1 IE 耿A E [AII Ia u xDAT read: Range 11 to 50 : m (trip time 10.4 ms) speed 0.5 u unknown deviceResponse_: Range 11 to 50 : m (trip time 10.4 ms) speed 0.5 N >L,XF0)ADAT read: 18:23:21.4709 LVL= 22000, 26385, 22450, 32051, AGC= 51, IDX= 504, 0.42, 0.015,-1.730, 0.077,-0.388, PHS= 0.505,-1.296, 0.422, RAW= 147.6, 4.2, CAL= 147.0, 4.5, ROT= 3.0, -4.5 Ygot valid direction response: 18:23:21.4709 LVL= 22000, 26385, 22450, 32051, AGC= 51, IDX= 504, 0.42, 0.015,-1.730, 0.077,-0.388, PHS= 0.505,-1.296, 0.422, RAW= 147.6, 4.2, CAL= 147.0, 4.5, ROT= 3.0, -4.5 :Z#Rx 22: Read direction message, but no range.>\direction in FSK: [0.995551,0.052175,0.078459]3?)Yڡ?5;?IUigW3}G? T㥿)b>I$@iQ =|٠=|٠I)C?}k6?8?|->s |٠jchecking for new query: numPingsReceived=22, elapsed TxPingTime=7.604448xy-!A@ٱ-O@-5-K9<-H`1VEg? OP?`}@ʝ?Г?_̆? ?I-!A@)-^;i-kCMBUn$IMb@Mb@Mb@ )IiK?v/?y9y9}EY#EA>Q 14٪U?Q 54u LB9?Q A:Ys6Q E?yC)om;I,m;i4YB@QEB*** querying acoustic contact ***:hBhg  DNOT Ignoring new targets: 16.10 m.g gLgLE ProNav: ac range: 16.100000 m, nav range: 15.233183 m, bearing: 189.101255 deg, approach rate: -0.596520 m/s, LOS rate: -0.297774 deg/s, cmd heading: 179.891009 deg, new cmd heading: 179.380483 deg. gE\LMHeadingCmd: 3.130780 target range: 16.100000 and range: 16.10 m.bgM^H@ZgIrgIjgIRgQZfQRfQeye}cB"dycycycc@?ɢB SH?I `ɡiI~2)^H@)checking for new query: numPingsReceived=22, elapsed TxPingTime=7.793341D]DYDYDYE]a: EY6EY:EY!e@!e@!m@!m@qI-Bi))-j3)@5A@5Aԙ >AM j>bAQ ZAU ~AvB% u>~B% ƍCB% #%IB% BBB% =B% JDB% `DB% _;B% #E mDDAT read: Rx Time:18:23:21.9708 uTRx dataTimestamp_ set to:1755627803.794994PDAT read: Bearing 332.7, 13.4 (Local) ~Local bearing/azimuth received: Bearing 332.7, 13.4 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.5 AI!I9NE>L,ͮF0)A"DAT read: 18:23:21.9708 LVL= 21712, 25745, 22690, 32307, AGC= 51, IDX= 504,-0.37,-0.925,-2.663,-0.869,-1.320, PHS= 0.497,-1.298, 0.406, RAW= 147.4, 4.6, CAL= 146.8, 4.8, ROT= 3.2, -4.8 &Ygot valid direction response: 18:23:21.9708 LVL= 21712, 25745, 22690, 32307, AGC= 51, IDX= 504,-0.37,-0.925,-2.663,-0.869,-1.320, PHS= 0.497,-1.298, 0.406, RAW= 147.4, 4.6, CAL= 146.8, 4.8, ROT= 3.2, -4.8 *T#Rx 23: Read range and direction messages.yA@ٱ{O@.;HDf ?@?a 字??}?ʈ?IA@)}^;imC]\direction in FSK: [0.994939,0.055626,0.083678]]Fpublishing direction and range info/[?z?U]k?xAITidX3~v> $);>I$@il=(#@=d=ImЅBm$IBD}E6D}3ԩi)tajȚP?-EPa?olY?>d= Iichecking for new query: numPingsReceived=23, elapsed TxPingTime=8.145477Y>!==}!9!9%EYM#EUAU>YQ 1]4٪]Q?Q 5e4]\ ]`B9aYe7Q E?y]ҋC)]f)-G@)~ABE(N4JEƼP4RE0DuDuoDu*DqEu1: Eu:6Eu(N4:Eq"Eul;!Eum;!*EuN;!EuN;! Ie@iaam0i1 >A r>DDAT read: Rx Time:18:23:22.4707 TRx dataTimestamp_ set to:1755627804.300022uPDAT read: Bearing 332.2, 13.2 (Local) }~Local bearing/azimuth received: Bearing 332.2, 13.2 (Local) DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 DAT read: 18:23:22.4707 LVL= 22896, 28769, 24050, 32755, AGC= 53, IDX= 501,-0.25,-1.404, 3.129,-1.349,-1.804, PHS= 0.501,-1.306, 0.411, RAW= 147.5, 4.5, CAL= 146.8, 4.8, ROT= 3.2, -4.8 A1I9IIYgot valid direction response: 18:23:22.4707 LVL= 22896, 28769, 24050, 32755, AGC= 53, IDX= 501,-0.25,-1.404, 3.129,-1.349,-1.804, PHS= 0.501,-1.306, 0.411, RAW= 147.5, 4.5, CAL= 146.8, 4.8, ROT= 3.2, -4.8 T#Rx 24: Read range and direction messages.\direction in FSK: [0.994939,0.055626,0.083678]Fpublishing direction and range infoN ?IL,G0)Ay}/[?z?U]k?}3sAyI}pYi}ap}]}}5}A? }+)}n>I}S$@i}|٠=yyyyIyiy)}pM?m?;1(?}r>}jy yIyiy&checking for new query: numPingsReceived=24, elapsed TxPingTime=8.631365y@@ٱN@Eu+͝;HenU?K2?!@$ғ?U?Ms? W?I@@)7V^;ilCB$I==i}Mb@Mb@Mb@y y)yIyiy}l?|?5^?~jth}?}=}D)}@I}@i}@}K@ y}@BD=6D3Y=! =;Q)>99EY#E>A>Q 14٪Ԣ?Q 54Ü }B9?Q A:YG8Q E?yC)z:I:ik4YB@PEJhyRh}3G0)Ah}3sAh}?}?.@Hm?bGY?~}/[?z?U]k?hyhy }X,L#- )BN:@~}WLkODN?jh}rh}iZh}H?bh}zh}zBhyh} h}Bh}tjAh}R@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505028 s, deltaX: -0.300000 m, approachRate: -0.594027 m/s, rangeRepo size: 4  Added new target pos. range: 15.200000 m, bearing: 188.508545 deg, lat: 36.779368 deg, lon: -121.859518 deg, deltaT: 0.505028 s, deltaX: -0.300000 m, approachRate: -0.594027 m/s, posRepo size: 4 gDNOT Ignoring new targets: 15.20 m.ggg ProNav: ac range: 15.200000 m, nav range: 14.653561 m, bearing: 188.508545 deg, approach rate: 0.000000 m/s, LOS rate: -0.297774 deg/s, cmd heading: 178.983482 deg, new cmd heading: 178.459937 deg. gHeadingCmd: 3.114713 target range: 15.200000 and range: 15.20 m.bgwWG@ZgrgjgRgZfRf!e!e%\B"d!c)c)c-`ff.@c-@{J?}checking for new query: numPingsReceived=24, elapsed TxPingTime=8.801247ԑɢ+B毽 顽`?I % ɡiI 9')wWG@D5D5uD5,D1E5ҝ: E5:6E5g4:E1!=@!E@!E@!E@)AIe?iaae/a vB t>~B B g%IB zBB =B B B K^;B :#EBǍCBǍCBB =B =B 6>A U DDAT read: Rx Time:18:23:22.9706 ] TRx dataTimestamp_ set to:1755627804.803949u PDAT read: Bearing 331.9, 13.0 (Local) u ~Local bearing/azimuth received: Bearing 331.9, 13.0 (Local)  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5  DAT read: 18:23:22.9706 LVL= 22880, 28305, 24850, 32755, AGC= 53, IDX= 500,-0.16,-0.254,-2.008,-0.203,-0.656, PHS= 0.504,-1.307, 0.409, RAW= 147.3, 4.5, CAL= 146.7, 4.8, ROT= 3.3, -4.8  Ygot valid direction response: 18:23:22.9706 LVL= 22880, 28305, 24850, 32755, AGC= 53, IDX= 500,-0.16,-0.254,-2.008,-0.203,-0.656, PHS= 0.504,-1.307, 0.409, RAW= 147.3, 4.5, CAL= 146.7, 4.8, ROT= 3.3, -4.8  T#Rx 25: Read range and direction messages. \direction in FSK: [0.994840,0.057362,0.083678] Fpublishing direction and range infoQ U m𞹻?1 ^?U]k?U pAQ IU `YiU nU aQ Q U %? U K)U sh>IU "$@iQ U #@Q U k=Q IQ iQ )U  W?˔GJ?z #?U 6>U TCU k= Q IQ iQ  checking for new query: numPingsReceived=25, elapsed TxPingTime=9.075388AuyAIyIN?DhL,;8G0)AyFW@@ٱFRN@F'F1;FH@vm"?? R~?+?Ue? ?IFW@@)FR^;iFmCrBr$IBDu+6DuE3Yc+>!9=;Q)> H?9 H?9EY#EpIA>Q 14٪E?Q 54 B9Y8Q E?y!C);I;i"4YBX@JhARhEs3G0)AhEpAhE@Ef_-@݁騈?<`*?~Em𞹻?1 ^?U]k?hEk=hA EYK(,~^~~j @~Er&vcv`?jhErhE\fZhE?bhEϯUzhElBhAhE.2hEzBhE!)]eF@)YDDsD/DEa: EZ:6EJ4:E"EJ;!EK;!*E];!E];!I@i >A *_>A  DDAT read: Rx Time:18:23:23.4703  TRx dataTimestamp_ set to:1755627805.307116% PDAT read: Bearing 331.6, 13.0 (Local) % ~Local bearing/azimuth received: Bearing 331.6, 13.0 (Local) A- AI1 IA NU >L,)TG0)A"DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5 (i(yJ+@@ٱJ$N@Jv$JtJHw~?h?  ?`IMO$@iMl=M_#@M%=M5z=M%IIiI)Mý{c?@Yab?4p?M0Y>MkM5z=  M%IIiIchecking for new query: numPingsReceived=26, elapsed TxPingTime=9.637586!@! !@! !@! !@! BD36D3Y;=!*=6;Q)>K?9K?9EY#E*AE>IQ 1U4٪M?Q 5U4Mh MBQ =U+:9QQ A]:Y]8Q E]?yMFC)M:IMq>iM%4YB@OEJhIRhMʧSG0)AhMiAhM<@M  -@ܿnj??~MMm#7?$?b$ݵ?hM5z=hM% M6 ,hhմAl @~MZXMRtj%?jhMrhM\`ZhM3i ?bhM3azhMGBhM3i ?hMhIhMbAhMR@u addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503167 s, deltaX: -0.400000 m, approachRate: -0.794964 m/s, rangeRepo size: 4  Added new target pos. range: 14.600000 m, bearing: 188.056902 deg, lat: 36.779368 deg, lon: -121.859517 deg, deltaT: 0.503167 s, deltaX: -0.400000 m, approachRate: -0.794964 m/s, posRepo size: 4 gDNOT Ignoring new targets: 14.60 m.ggg ProNav: ac range: 14.600000 m, nav range: 14.162372 m, bearing: 188.056902 deg, approach rate: 0.000000 m/s, LOS rate: -0.297774 deg/s, cmd heading: 178.061024 deg, new cmd heading: 177.619212 deg. gHeadingCmd: 3.100040 target range: 14.600000 and range: 14.60 m.bggF@ZgrgjgRgZfRfee"dccc@33-@cvh?9ɢe5Bm im{?Ii m ɡiiqIu|)gF@)]>>I)i))11]checking for new query: numPingsReceived=26, elapsed TxPingTime=9.810165DDD'DE: E*5:6E'4:E!@!@!@!@a>AQ ԑ A A A <vB ~B B %IB BB B B B 9];B "EI!IDDAT read: Rx Time:18:23:23.9702 TRx dataTimestamp_ set to:1755627805.808561%PDAT read: Bearing 335.4, 14.7 (Local) %~Local bearing/azimuth received: Bearing 335.4, 14.7 (Local) MDAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 N}?pL,"tG0)ADAT read: 18:23:23.9702 LVL= 24512, 31985, 26658, 32755, AGC= 49, IDX= 512, 0.05, 2.538, 0.547, 2.482, 2.155, PHS= 0.485,-1.563, 0.282, RAW= 144.8, 8.2, CAL= 144.4, 8.9, ROT= 5.6, -8.9 Ygot valid direction response: 18:23:23.9702 LVL= 24512, 31985, 26658, 32755, AGC= 49, IDX= 512, 0.05, 2.538, 0.547, 2.482, 2.155, PHS= 0.485,-1.563, 0.282, RAW= 144.8, 8.2, CAL= 144.4, 8.9, ROT= 5.6, -8.9 T#Rx 27: Read range and direction messages.\direction in FSK: [0.983245,0.096408,0.154710]Fpublishing direction and range infoF;v?N1?j?ffAI_i|"h1Q> bȿ)Nb>I?!@iC>K!@>+=Ii)FD? 6?ZmG>?>q+= IiFchecking for new query: numPingsReceived=27, elapsed TxPingTime=10.095232y2K?@ٱ*FM@񟌻H`? ϝ?@. w?{?^q?I2K?@)U^;iIB+%IiIBD;6D)3iY=!%="]99EY#EA>Q 14٪?Q 547 BQ = :9Q Ag:Y9Q E?ykC)W;Iy?i*4YB@NEJhRhwsG0)AhffAhQ>|)E@)ԡIyi]checking for new query: numPingsReceived=27, elapsed TxPingTime=10.317004DDD)DE%: E|;:6EFA4:E"E;!E;!*E;!E;!>A $z> A I Ia N >L, 3G0)AMDDAT read: Rx Time:18:23:24.4699 UTRx dataTimestamp_ set to:1755627806.311312]PDAT read: Bearing 330.5, 12.5 (Local) e~Local bearing/azimuth received: Bearing 330.5, 12.5 (Local) uDAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.5 ԁDAT read: 18:23:24.4699 LVL= 24976, 27105, 24146, 32755, AGC= 52, IDX= 509, 0.14, 0.520,-1.280, 0.559, 0.100, PHS= 0.522,-1.335, 0.415, RAW= 147.1, 4.4, CAL= 146.5, 4.7, ROT= 3.5, -4.7 Ygot valid direction response: 18:23:24.4699 LVL= 24976, 27105, 24146, 32755, AGC= 52, IDX= 509, 0.14, 0.520,-1.280, 0.559, 0.100, PHS= 0.522,-1.335, 0.415, RAW= 147.1, 4.4, CAL= 146.5, 4.7, ROT= 3.5, -4.7 T#Rx 28: Read range and direction messages.\direction in FSK: [0.994778,0.060843,0.081939]Fpublishing direction and range infoQUd9?!&??U`AQIUaiUiUR^QU4Uˡ? UHᪿ)Uz>IUO$@iUnF=U_#@U=U5z=UIQiQ)U/PCi?& ?#}#?U>U0BU5z= UIQiQyG>@ٱ@L@ iΫchecking for new query: numPingsReceived=28, elapsed TxPingTime=10.583833H@??z0?`Mn?/?;u`\?IG>@)|^;i ]B C%I!! !! !! !! Mb@Mb@Mb@ )Iil?bX9ȶ?y&1|E=`)@I-@iX@@ G@BDD6DJ3Y=!(=w;Q)>99EY$EGA>Q 14٪x?Q 54ϣ ԒBQ =T:9C?Q A:Y;Q E?yC)b;I:i(34Y15f@1JhQRhUG0)AhU`AhUK2AUTm+@NA?Z?~Ud9?!&??hU5z=hU U=l +@A95y @~U'"Woi?jhUտrhU\XZhU ?bhU£zhǓBhUH?hU3ahUlBhUYAhUQ@ԩ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.502751 s, deltaX: -0.400000 m, approachRate: -0.795622 m/s, rangeRepo size: 4  Added new target pos. range: 14.000000 m, bearing: 187.805775 deg, lat: 36.779368 deg, lon: -121.859517 deg, deltaT: 0.502751 s, deltaX: -0.400000 m, approachRate: -0.795622 m/s, posRepo size: 4 gDNOT Ignoring new targets: 14.00 m.ggg5 ProNav: ac range: 14.000000 m, nav range: 13.596450 m, bearing: 187.805775 deg, approach rate: 0.000000 m/s, LOS rate: -0.297774 deg/s, cmd heading: 177.184519 deg, new cmd heading: 176.757849 deg. g1=HeadingCmd: 3.085006 target range: 14.000000 and range: 14.00 m.bg=pE@Zg9rg9jg9Rg9ZfARfAeAemXB"dicicicu,@cu`Q?ɢ>B ?I  ɡiI)pE@)IAi4checking for new query: numPingsReceived=28, elapsed TxPingTime=10.817348D D rD *D E : E ?:6E (N4:E ! @! @! @! @ >A AI)9IINU>YDL,AG0)Aɰ;vBl~BlBn%IBnBBn =BlBlBn[;Bn"EyM>@ٱML@MMۻMH @]=??q7"aT??-{@Y?IM>@)Mg^;iMlC]DDAT read: Rx Time:18:23:24.9698 ]TRx dataTimestamp_ set to:1755627806.815295mPDAT read: Bearing 330.2, 12.4 (Local) m~Local bearing/azimuth received: Bearing 330.2, 12.4 (Local) }DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5 DAT read: 18:23:24.9698 LVL= 22720, 28577, 25202, 32755, AGC= 50, IDX= 508, 0.30, 2.149, 0.340, 2.180, 1.727, PHS= 0.524,-1.342, 0.409, RAW= 146.9, 4.6, CAL= 146.3, 4.9, ROT= 3.7, -4.9 Ygot valid direction response: 18:23:24.9698 LVL= 22720, 28577, 25202, 32755, AGC= 50, IDX= 508, 0.30, 2.149, 0.340, 2.180, 1.727, PHS= 0.524,-1.342, 0.409, RAW= 146.9, 4.6, CAL= 146.3, 4.9, ROT= 3.7, -4.9 T#Rx 29: Read range and direction messages.\direction in FSK: [0.994269,0.064296,0.085417]Fpublishing direction and range infoY]A|= ?Xmu?b$ݵ?]\AYI]Xi]o]rbY]2]$? ]ƫ)]sh>I]$@i]l=].k#@]%=] A=]%IYiY)]6u?mB?L3_?]_>](zBg%IBD:6D{3 ] A= ]%IYiYchecking for new query: numPingsReceived=29, elapsed TxPingTime=11.093550Y>!%7=5;Q)5>9999=EY=$EMMAU>aQ 1m4٪ea?Q 5u4e= eB9qYu;Q Eu?yeC)e:Ie:ie ;4Y}B}u@MEJhYRh]-G0)Ah]\Ah]RA]8)q+@[d?R,?~]A|= ?Xmu?b$ݵ?h] A=h]% ]P*,^~d|^ @~]IIŐgS ji?jh][Ͽrh]RUZh]v?bh]_zh]ҌBh] ?h]ϯUh]GBh]VAh]Q@m addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503983 s, deltaX: -0.200000 m, approachRate: -0.396838 m/s, rangeRepo size: 4 } Added new target pos. range: 13.800000 m, bearing: 187.689541 deg, lat: 36.779367 deg, lon: -121.859517 deg, deltaT: 0.503983 s, deltaX: -0.200000 m, approachRate: -0.396838 m/s, posRepo size: 4 gDNOT Ignoring new targets: 13.80 m.ggg ProNav: ac range: 13.800000 m, nav range: 13.380839 m, bearing: 187.689541 deg, approach rate: 0.000000 m/s, LOS rate: -0.297774 deg/s, cmd heading: 176.757851 deg, new cmd heading: 176.348324 deg. gHeadingCmd: 3.077859 target range: 13.800000 and range: 13.80 m.bgD@ZgrgjgRgZfRfee"dccc+@cc?ɢCBP ?I ɡiI )D@) 9Ii@5i  checking for new query: numPingsReceived=29, elapsed TxPingTime=11.321461D D pD ,D E : E  :6E g4:E "E ;! E ;! *E +R;! E ,R;! >A ԑ A I I N> L,G0)A%B%%IԱuMb@Mb@Mb@q q)qIqiqun?bX9ȶ?Mbu?qu)uZ@Iu@iu@u@ qu@)M@A M@ABDUF6DU4Ye>!m-=mQ)m>i9q9uEYu$EuAu>yQ 14٪}xK?Q 54} }B9?Q A:Y;Q E?y}ՌC)}:I}:i}'C4YB2@DDAT read: Rx Time:18:23:25.4695 TRx dataTimestamp_ set to:1755627807.319301PDAT read: Bearing 330.1, 12.3 (Local) ~Local bearing/azimuth received: Bearing 330.1, 12.3 (Local) DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 DAT read: 18:23:25.4695 LVL= 24368, 27825, 24306, 32755, AGC= 50, IDX= 506,-0.49,-0.646,-2.461,-0.623,-1.064, PHS= 0.520,-1.351, 0.397, RAW= 146.6, 4.8, CAL= 146.1, 5.2, ROT= 3.9, -5.2 Ygot valid direction response: 18:23:25.4695 LVL= 24368, 27825, 24306, 32755, AGC= 50, IDX= 506,-0.49,-0.646,-2.461,-0.623,-1.064, PHS= 0.520,-1.351, 0.397, RAW= 146.6, 4.8, CAL= 146.1, 5.2, ROT= 3.9, -5.2 T#Rx 30: Read range and direction messages.\direction in FSK: [0.993578,0.067735,0.090633]Fpublishing direction and range infood?4W?0L3?fVAI0_il^? )C>I#@i=1#@޹='g=޹Ii)hbvӀ?~ו?? >='g= ޹Ii}checking for new query: numPingsReceived=30, elapsed TxPingTime=11.601006JhRhmoG0)AhfVAhAڽ*@el. ?6~n?~od?4W?0L3?h'g=h޹  C)q?`dx, @~mZ6N뾿mO?jh)ϿrhNZh\ ?bhxGzhBh3i ?hxGhBhxPAhFQ@ addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504006 s, deltaX: -0.400001 m, approachRate: -0.793642 m/s, rangeRepo size: 4  Added new target pos. range: 13.400000 m, bearing: 187.135458 deg, lat: 36.779368 deg, lon: -121.859516 deg, deltaT: 0.504006 s, deltaX: -0.400001 m, approachRate: -0.793642 m/s, posRepo size: 4 gDNOT Ignoring new targets: 13.40 m.ggg ProNav: ac range: 13.400000 m, nav range: 13.029540 m, bearing: 187.135458 deg, approach rate: 0.000000 m/s, LOS rate: -0.297774 deg/s, cmd heading: 176.348326 deg, new cmd heading: 175.928619 deg. g HeadingCmd: 3.070534 target range: 13.400000 and range: 13.40 m.bg D@Zg rg jgRgQZfQRfQeYe]_B"dYcYcYce*@ce`EԬ?ɢHBDf 2?I 2ɡiI<)D@)Im?iiim2i@u>@u=] checking for new query: numPingsReceived=30, elapsed TxPingTime=11.826518a >A 4>bD ZD ?AD D uD -D E  E :6E t4:E !% @!% @!% @!% @A yAIIN%>L,HmG0)A(y6=@ٱ6K@6>6r"6H?R?@w dp?`|`?I6=@)6^^;i6kCBBB%IBDL6DLYRT=!V[=VFV H?9Z H?9ZEYZ$E^A^>\Q 1b4٪^P9?Q 5f4^ӧ ^B9dYf)=HD@)9vBQ~BQԉBU6&IBU"BBQBQBQBUxZ;BUU!EI@i4DDAT read: Rx Time:18:23:25.9695 TRx dataTimestamp_ set to:1755627807.823438PDAT read: Bearing 329.8, 12.2 (Local) ~Local bearing/azimuth received: Bearing 329.8, 12.2 (Local)  DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.5 -DAT read: 18:23:25.9695 LVL= 24928, 31297, 26450, 32755, AGC= 50, IDX= 505,-0.29, 0.478,-1.364, 0.495, 0.057, PHS= 0.523,-1.376, 0.394, RAW= 146.5, 5.1, CAL= 146.0, 5.4, ROT= 4.0, -5.4 =Ygot valid direction response: 18:23:25.9695 LVL= 24928, 31297, 26450, 32755, AGC= 50, IDX= 505,-0.29, 0.478,-1.364, 0.495, 0.057, PHS= 0.523,-1.376, 0.394, RAW= 146.5, 5.1, CAL= 146.0, 5.4, ROT= 4.0, -5.4 =T#Rx 31: Read range and direction messages.E\direction in FSK: [0.993137,0.069447,0.094108]EFpublishing direction and range infoSrP?|EDZ?|ӄ{?I`aiAzRgT?  )^>I_#@iK=e#@=5=Ii)?'v?>n5?>V]5= Iiechecking for new query: numPingsReceived=31, elapsed TxPingTime=12.093294>Ae1>ԱAIIN> L,BH0)A*checking for new query: numPingsReceived=31, elapsed TxPingTime=12.331030\lilD~D~mD~)D|E~: E~:6E~FA4:E|"E~;;! E~<;! *E~@G;! E~@G;! yUIl=@ٱUAgK@UH U1UH4.?y?rz@xo?@(?IUIl=@)U1j^;iUjCmĆBm%I]Mb@Mb@Mb@Y Y)YIYiY]I +?+?~jt]9?]=]D)]-@I]b@i]Q@]S@ Y]@BDu86Du3Y=!0=;Q)>99EY$EKA>Q 14٪"?Q 54 B9?Q A:Y>Q E?yC)G ;I ;iQ4YB@LEJhRh5G0)AhhBeC0*@=#'a?85D-?~SrP?|EDZ?|ӄ{?h5=h XL )f)C@))G ))Iu?iyy}A5yI=ADDAT read: Rx Time:18:23:26.4692 TRx dataTimestamp_ set to:1755627808.328050PDAT read: Bearing 329.3, 12.4 (Local) ~Local bearing/azimuth received: Bearing 329.3, 12.4 (Local) -DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5 ]DAT read: 18:23:26.4692 LVL= 24864, 28849, 25714, 32755, AGC= 49, IDX= 502,-0.11,-0.573,-2.408,-0.573,-1.002, PHS= 0.531,-1.361, 0.384, RAW= 146.0, 4.9, CAL= 145.5, 5.3, ROT= 4.5, -5.3 eYgot valid direction response: 18:23:26.4692 LVL= 24864, 28849, 25714, 32755, AGC= 49, IDX= 502,-0.11,-0.573,-2.408,-0.573,-1.002, PHS= 0.531,-1.361, 0.384, RAW= 146.0, 4.9, CAL= 145.5, 5.3, ROT= 4.5, -5.3 mT#Rx 32: Read range and direction messages.u\direction in FSK: [0.992655,0.078124,0.092371]uFpublishing direction and range infoy^?8Yz?{]U?fNAI aiprd1? ?5)>Ie#@i%=j"@q=|٠=qIi)~^ϧ?e?IKo?EL>0|٠= qIichecking for new query: numPingsReceived=32, elapsed TxPingTime=12.6016759 >A K >i A AI I N >L,!H0)Ay6=@ٱ6K@6V6y;6Hp??a枿 TB~? 9 ?I6=@)6w^;i6lC>܆B>%IBDJC6DJ3YNT=!RO=RVK?9VK?9VEYV$EZe~AZ>\Q 1^4٪^?Q 5b4^ ^#B9`Yb>Q Eb?y^1C)^:I^:i^X4Yj Bj@jKEJhRhH0)AhfNAhAۢ*I)@A?)}C@ԡ)I=@i99E5A>A8e>AIIqvB~BBh&IBJBBBBBBY;B EINE>e DDAT read: Rx Time:18:23:26.9691 m TRx dataTimestamp_ set to:1755627808.831184u PDAT read: Bearing 329.1, 12.3 (Local) u ~Local bearing/azimuth received: Bearing 329.1, 12.3 (Local)  DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4  DAT read: 18:23:26.9691 LVL= 29344, 31889, 31186, 32755, AGC= 49, IDX= 501, 0.04, 2.242, 0.396, 2.235, 1.817, PHS= 0.527,-1.376, 0.374, RAW= 145.9, 5.2, CAL= 145.4, 5.7, ROT= 4.6, -5.7  Ygot valid direction response: 18:23:26.9691 LVL= 29344, 31889, 31186, 32755, AGC= 49, IDX= 501, 0.04, 2.242, 0.396, 2.235, 1.817, PHS= 0.527,-1.376, 0.374, RAW= 145.9, 5.2, CAL= 145.4, 5.7, ROT= 4.6, -5.7  T#Rx 33: Read range and direction messages. \direction in FSK: [0.991850,0.079802,0.099320] Fpublishing direction and range infoi m 'rIm "@im ޹=m i"@m %=m l=m %˽Ii ii )m "Vq?7 ??,`?m B>m NIm l= m %˽Ii ii  checking for new query: numPingsReceived=33, elapsed TxPingTime=13.100871) + L,O?;H0)Ay6@<@ٱ68J@66*G6H .??=`W@J` ? f?I6@<@)6]^;i6hCNBR%IBDZ76DZp3Yv =!vF=vv x9x9zEYz"$Ez+A~>!Q 1-4٪%?Q 5-4% %0B9)Y->Q E-?y%PC)%:I%:i%_4Y1]@YJhRh25H0)AhLAh2B^0d)@W?7W?~'r)hC@)9I5?i99=W19i >A} 7>rA >jA ? DDAT read: Rx Time:18:23:27.4688  TRx dataTimestamp_ set to:1755627809.335191 PDAT read: Bearing 329.1, 12.4 (Local)  ~Local bearing/azimuth received: Bearing 329.1, 12.4 (Local)  DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4  DAT read: 18:23:27.4688 LVL= 28048, 30673, 30834, 32755, AGC= 48, IDX= 498, 0.24, 1.438,-0.407, 1.418, 1.021, PHS= 0.519,-1.383, 0.354, RAW= 145.5, 5.6, CAL= 145.0, 6.1, ROT= 5.0, -6.1  Ygot valid direction response: 18:23:27.4688 LVL= 28048, 30673, 30834, 32755, AGC= 48, IDX= 498, 0.24, 1.438,-0.407, 1.418, 1.021, PHS= 0.519,-1.383, 0.354, RAW= 145.5, 5.6, CAL= 145.0, 6.1, ROT= 5.0, -6.1  T#Rx 34: Read range and direction messages.% \direction in FSK: [0.990554,0.086662,0.106264]- Fpublishing direction and range info spU?zr/?O4? HA I mi w rx 0 /? %) }?>I j"@i += p!@ ^ = ¸= ^ ڽI i ) V璽?m?]M+? > حɽ ¸= ^ ڽI i  checking for new query: numPingsReceived=34, elapsed TxPingTime=13.623827A II!N5> L,YH0)AɰyV|=<@ٱVt8J@VVSVH ,`ݐ?-?@gc`7 ŅN'?`=ӽ?IV|=<@)V^;iVmC%B%&IuMb@Mb@Mb@q q)qIqiqubX9?#~j?:vuE?u=uT)u@Iu@iu@q qu @BD06D3YM=!=-;Q)>99EY)$E8A>Q 14٪⡊?Q 5 4I @B9 ?Q A :Y ?Q E ?yxC)y~;I};ii4Y B@JEJhRhsUH0)AhHAhBڿR(@oU? #v@?~spU?zr/?O4?h¸=h^ ڽ ϲ0(s.٪R&@~_AY?jh娿rhAZhL杊?bhAzhh{睊?hhBhBAhP@ addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504007 s, deltaX: -0.300000 m, approachRate: -0.595230 m/s, rangeRepo size: 4  Added new target pos. range: 12.500000 m, bearing: 186.213663 deg, lat: 36.779364 deg, lon: -121.859515 deg, deltaT: 0.504007 s, deltaX: -0.300000 m, approachRate: -0.595230 m/s, posRepo size: 4 gDNOT Ignoring new targets: 12.50 m.ggg ProNav: ac range: 12.500000 m, nav range: 12.163375 m, bearing: 186.213663 deg, approach rate: 0.000000 m/s, LOS rate: -0.201796 deg/s, cmd heading: 174.938726 deg, new cmd heading: 174.625274 deg. gHeadingCmd: 3.047786 target range: 12.500000 and range: 12.50 m.bgC@ZgrgjgRgZf!Rf!e!e-RB"d)c)c)c-)@c5`#?ɢ}[B6( 顥?I 44ɡiI;IC@i\n=id>)C@)Թchecking for new query: numPingsReceived=34, elapsed TxPingTime=13.841898I5@i99=\19DDuD+DEa: E:6E [4:E!@!@!@!@>A} >vB ~B B &IB xB B B B aDB ?X;B < EBƍCBƍCB˓CB =B =Bz4A I I N >)tL,IZ "@iZ4Q=Z!@Zz0=Zq=Zz0IXiX)ZQh?~v ?t+۽?Z>ZHνZq= Zz0IXiX-checking for new query: numPingsReceived=35, elapsed TxPingTime=14.108490y]^;@ٱ]YI@]]]o]H@f?z?`][r ܌?`) =?I]^;@)]t^;i]lCB$&I < 99EY.$EA>Q 1 4٪̡?Q 5 49 MB9Y?Q E?yC):IR:ip4YBG@JhXRhZuH0)AhZDAhZfBZ*iX(@3%&>@~Z;qlV?jhZrhZ>ZhZO^?bhZf]zhZBhZL杊?hZ^hXhZ>AhZ]O@- addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503964 s, deltaX: -0.200000 m, approachRate: -0.396853 m/s, rangeRepo size: 4 i} Added new target pos. range: 12.300000 m, bearing: 186.072676 deg, lat: 36.779364 deg, lon: -121.859515 deg, deltaT: 0.503964 s, deltaX: -0.200000 m, approachRate: -0.396853 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 12.30 m.ggg ProNav: ac range: 12.300000 m, nav range: 11.911819 m, bearing: 186.072676 deg, approach rate: 0.000000 m/s, LOS rate: -0.201796 deg/s, cmd heading: 174.625275 deg, new cmd heading: 174.354955 deg. gHeadingCmd: 3.043068 target range: 12.300000 and range: 12.30 m.bgB@ZgrgjgRgZfRfe)e)"d)c)c1c5(@c5?ɢ}_B}% 顅?I ɡiI[;IB@iao=i>)B@)}checking for new query: numPingsReceived=35, elapsed TxPingTime=14.347705Iiԡ0D= D= qD= 'D9 E= s: E= $ :6E= '4:E9 "E= ;!e E= ;!e *E= U;!m E= U;!m >AE 2>bAQ ZAU AAIIN?%L,nH0)A"DDAT read: Rx Time:18:23:28.4685 "TRx dataTimestamp_ set to:1755627810.343268*PDAT read: Bearing 327.8, 12.5 (Local) *~Local bearing/azimuth received: Bearing 327.8, 12.5 (Local) 2DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 FDAT read: 18:23:28.4685 LVL= 26288, 32753, 30194, 32755, AGC= 47, IDX= 511,-0.21,-0.638,-2.508,-0.681,-1.079, PHS= 0.543,-1.384, 0.355, RAW= 144.9, 5.3, CAL= 144.4, 5.8, ROT= 5.6, -5.8 JYgot valid direction response: 18:23:28.4685 LVL= 26288, 32753, 30194, 32755, AGC= 47, IDX= 511,-0.21,-0.638,-2.508,-0.681,-1.079, PHS= 0.543,-1.384, 0.355, RAW= 144.9, 5.3, CAL= 144.4, 5.8, ROT= 5.6, -5.8 JT#Rx 36: Read range and direction messages.N\direction in FSK: [0.990133,0.097083,0.101056]NFpublishing direction and range info "O$p*?:tڸ?+hg޹?"@A I"fi""u "/"  ? "&)"µ>I"!@i"q="K!@"4Q="+="4QϽI i )"ĵM?o&?ۥH̷?"c>""+= "4QϽI i rchecking for new query: numPingsReceived=36, elapsed TxPingTime=14.618417yx:@ٱpH@.4H@ZlEƽ?99EY5$E4A>Q 1 4٪?Q 5 4 ]B9?Q A:Y>Q E?yC):I:i) bB@)  9I?i/checking for new query: numPingsReceived=36, elapsed TxPingTime=14.850467DDxD)DE: E:6EFA4:E!@!@!@!@>A >A I I1 N= > BA+L,4H0)AvBY~BYB]&IB]BBYBYBYB]kW;B]E@BZ&IBD5C6D53YE>!e=Q)>99EY:$EA>Q 14٪7?Q 54a gB9YQ E?yڍC):I:i4YB`@IEB*** querying acoustic contact ***:hBhgDNOT Ignoring new targets: 12.00 m.ggFgF% ProNav: ac range: 12.000000 m, nav range: 11.398206 m, bearing: 185.887783 deg, approach rate: -0.600274 m/s, LOS rate: -0.173932 deg/s, cmd heading: 174.023972 deg, new cmd heading: 173.847990 deg. g%%HeadingCmd: 3.034220 target range: 12.000000 and range: 12.00 m.bg-0B@Zg)rg)jg)Rg)Zf)Rf1e1e1"d1c9c9c9c=A?]DDAT read: Rx Time:18:23:28.9683 ]TRx dataTimestamp_ set to:1755627810.847279mPDAT read: Bearing 327.5, 12.7 (Local) m~Local bearing/azimuth received: Bearing 327.5, 12.7 (Local) }DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 DAT read: 18:23:28.9683 LVL= 25968, 32753, 30386, 32755, AGC= 47, IDX= 509,-0.04,-0.332,-2.199,-0.391,-0.775, PHS= 0.546,-1.378, 0.340, RAW= 144.4, 5.4, CAL= 144.0, 6.0, ROT= 6.0, -6.0 Ygot valid direction response: 18:23:28.9683 LVL= 25968, 32753, 30386, 32755, AGC= 47, IDX= 509,-0.04,-0.332,-2.199,-0.391,-0.775, PHS= 0.546,-1.378, 0.340, RAW= 144.4, 5.4, CAL= 144.0, 6.0, ROT= 6.0, -6.0 T#Rx 37: Read range and direction messages.\direction in FSK: [0.989074,0.103956,0.104528]Fpublishing direction and range infoY]~?hٜ?4ޮ`º?]3;AYI]peiY]vYY] ? ]Nb)]{>I]K!@i]=]| @]Pw=]Pw=]PwֽIYiY)]6z?1!S?n:?]>]½]Pw= ]PwֽIYiYchecking for new query: numPingsReceived=37, elapsed TxPingTime=15.117297ɢfBt :k?I 6ɡiI׾;I0B@ip=i>H>)0B@) !Ii 0Q >A >% checking for new query: numPingsReceived=37, elapsed TxPingTime=15.355751D D pD +D E : E  :6E [4:E "E ;! E ;! *E +R;! E ,R;! y A I I N >2L,H0)AE?BEY&IMb@Mb@Mb@ )Ii9v?S㥻?Mb?/=)x@I@iZ@@ G@BD=6D3YO!H=Q)>99EY?$E A >Q 14٪^?Q 54 rB9?Q A%:Y%j=Q E%?yC) ;I ;i4Y-B-}@-QEJhRh9H0)Ah3;Ahk9B|$'@du?ewV?~~?hٜ?4ޮ`º?hPw=hPwֽ =&t)eA@DDAT read: Rx Time:18:23:29.4680 TRx dataTimestamp_ set to:1755627811.351377PDAT read: Bearing 326.9, 12.8 (Local) ~Local bearing/azimuth received: Bearing 326.9, 12.8 (Local) DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4 DAT read: 18:23:29.4680 LVL= 26608, 32753, 32482, 32755, AGC= 47, IDX= 506, 0.11, 0.077,-1.797, 0.006,-0.377, PHS= 0.556,-1.375, 0.339, RAW= 144.1, 5.3, CAL= 143.7, 5.8, ROT= 6.3, -5.8  Ygot valid direction response: 18:23:29.4680 LVL= 26608, 32753, 32482, 32755, AGC= 47, IDX= 506, 0.11, 0.077,-1.797, 0.006,-0.377, PHS= 0.556,-1.375, 0.339, RAW= 144.1, 5.3, CAL= 143.7, 5.8, ROT= 6.3, -5.8 T#Rx 38: Read range and direction messages.\direction in FSK: [0.988873,0.109173,0.101056]Fpublishing direction and range infoêؤ?}p?+hg޹?4AIgi~V? )h>I @iq= @4Q=z0=4QϽIi)(IR?W?ss?8y>n(z0= 4QϽIiEchecking for new query: numPingsReceived=38, elapsed TxPingTime=15.623397)Iyiyy}/y) >A r>e checking for new query: numPingsReceived=38, elapsed TxPingTime=15.857501DMDMuDM/DIEM: EM:6EMJ4:EI!U@!U@!U@!U@AyAIIN>9L,fH0)Ay69@ٱ6G@6H۽6ɗ6Hx`8? {?`@L7`S?`-ݒ?I69@)6~Z^;i4FTBFs&IHBDR:6DR{3YV=!Z:=Z^ H?9^ H?9^EY^E$Eb^0Ab>`Q 1f4٪bx?Q 5j4b b|B9hYj>Q En?ybC)bl;Ib;ibN4Ypr,@pJhRh|H0)Ah4AhCl8Y&@?^E?~êؤ?}p?+hg޹?hz0=h4QϽ ,af&osnb=q@~8 L0│KJLa?jhrh;0Zh؝?bh!9zhBh1ܝ?hC2hTBhX0Ah*(O@ addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504098 s, deltaX: -0.400000 m, approachRate: -0.793496 m/s, rangeRepo size: 4  Added new target pos. range: 11.300000 m, bearing: 185.456494 deg, lat: 36.779363 deg, lon: -121.859514 deg, deltaT: 0.504098 s, deltaX: -0.400000 m, approachRate: -0.793496 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.30 m.ggg  ProNav: ac range: 11.300000 m, nav range: 11.021655 m, bearing: 185.456494 deg, approach rate: 0.000000 m/s, LOS rate: -0.173932 deg/s, cmd heading: 173.610800 deg, new cmd heading: 173.396490 deg. g%HeadingCmd: 3.026340 target range: 11.300000 and range: 11.30 m.bg%A@Zg!rg!jg!Rg!Zf)Rf)e1e1"d1c1c9c=&@c=}?ɢ lB   ?I  ɡiI\;IUA@i]Hr=if>)A@)  vBI~BIBM&IBMBBM =BIBIBMV;BMEI@i0eDDAT read: Rx Time:18:23:29.9679 eTRx dataTimestamp_ set to:1755627811.856025uPDAT read: Bearing 326.8, 12.7 (Local) }~Local bearing/azimuth received: Bearing 326.8, 12.7 (Local) DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 DAT read: 18:23:29.9679 LVL= 26976, 29777, 32434, 32755, AGC= 48, IDX= 505, 0.25, 1.281,-0.597, 1.198, 0.830, PHS= 0.553,-1.382, 0.324, RAW= 143.8, 5.6, CAL= 143.4, 6.1, ROT= 6.6, -6.1 Ygot valid direction response: 18:23:29.9679 LVL= 26976, 29777, 32434, 32755, AGC= 48, IDX= 505, 0.25, 1.281,-0.597, 1.198, 0.830, PHS= 0.553,-1.382, 0.324, RAW= 143.8, 5.6, CAL= 143.4, 6.1, ROT= 6.6, -6.1 T#Rx 39: Read range and direction messages.\direction in FSK: [0.987748,0.114286,0.106264]Fpublishing direction and range infoaer/?kA?O4?e1AaIe`iieQte~ae0eh ? e`尿)eT>IeK @ie+=e- @e^ =e=e^ ڽIaia)eX$?U?r׸?e>e ǽe= e^ ڽIaiachecking for new query: numPingsReceived=39, elapsed TxPingTime=16.126581>A />! A AI I) N= >@L,[I0)Ay6 d9@ٱ6_G@6^Խ6'A6H&`> @[?@?D ?V-?I6 d9@)6,o^;i6kCBWBBw&IBDN;6DN)3YRτ<!VM=VtZK?9ZK?9ZEY^J$EboAf>pQ 1v4٪rd?Q 5v4r rB9xYz?Q Ez?yr8C)rh;Irc;ir]4Y~B~@| JhRhH0)Ah1Ah!C *%@12L?T*\?~r/?kA?O4?h=h^ ڽ 64c%qQeHE@~ϪEH.}W(.dMV?jhrh -Zhy՝?bh zhBh؝?h h?Bh5-Achecking for new query: numPingsReceived=39, elapsed TxPingTime=16.363897h_O@DDyD+DE: E:6E [4:E"E';!E);!*Er;!Er;! addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504648 s, deltaX: -0.200000 m, approachRate: -0.396315 m/s, rangeRepo size: 4 U Added new target pos. range: 11.100000 m, bearing: 185.327827 deg, lat: 36.779362 deg, lon: -121.859514 deg, deltaT: 0.504648 s, deltaX: -0.200000 m, approachRate: -0.396315 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 11.10 m.gQgYgYu ProNav: ac range: 11.100000 m, nav range: 10.825645 m, bearing: 185.327827 deg, approach rate: 0.000000 m/s, LOS rate: -0.173932 deg/s, cmd heading: 173.396496 deg, new cmd heading: 173.173638 deg. gqHeadingCmd: 3.022450 target range: 11.100000 and range: 11.10 m.bgoA@ZgrgjgRgZfRfee"dccc@33&@c ?9ɢMoBU䥾 QU?Iy }c)ɡyiI;IoA@i!r=i)oA@)ier绝 DDAT read: Rx Time:18:23:30.4676  TRx dataTimestamp_ set to:1755627812.360734 PDAT read: Bearing 326.4, 12.9 (Local)  ~Local bearing/azimuth received: Bearing 326.4, 12.9 (Local)  DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 I ?i /  DAT read: 18:23:30.4676 LVL= 24496, 27361, 29218, 32755, AGC= 48, IDX= 502, 0.49, 0.057,-1.816,-0.041,-0.399, PHS= 0.558,-1.372, 0.314, RAW= 143.3, 5.6, CAL= 142.9, 6.1, ROT= 7.1, -6.1 } Ygot valid direction response: 18:23:30.4676 LVL= 24496, 27361, 29218, 32755, AGC= 48, IDX= 502, 0.49, 0.057,-1.816,-0.041,-0.399, PHS= 0.558,-1.372, 0.314, RAW= 143.3, 5.6, CAL= 142.9, 6.1, ROT= 7.1, -6.1  T#Rx 40: Read range and direction messages. \direction in FSK: [0.986713,0.122902,0.106264] Fpublishing direction and range infoԙ  :p'?}T{v?O4? 3+A I _i j "r ? ) Ġ>I Q @i @ = I i ) rm>?ǀ;?U? E> bDƽ = I i  checking for new query: numPingsReceived=40, elapsed TxPingTime=16.655397>A Ƣ>A- yAI1 IA NU >aGL,I0)A8yZ8@ٱZF@Z#νZҙZH ϡ? ?O?"!?IZ8@)Z_^;iXbrBf&IMb@Mb@Mb@ )Ii&1?!rh?y&1|?l=`)K@I@i@@ @BDm@6Dm3Yu=!}%=}(;Q)}> H?9 H?9EYP$EdUA>Q 14٪5M?Q 54ֳ B9?Q A:Y>Q E?y]C)B;I;i4YB@PEJhRhDI0)Ah3+AhBA+%@#@o ?)})A@)yMmIivB ~B B 'IB ԇBB B B B `V;B PE  DDAT read: Rx Time:18:23:30.9676  TRx dataTimestamp_ set to:1755627812.864673 PDAT read: Bearing 326.3, 13.2 (Local)  ~Local bearing/azimuth received: Bearing 326.3, 13.2 (Local)  DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 >A a >% DAT read: 18:23:30.9676 LVL= 23728, 28897, 28402, 32755, AGC= 49, IDX= 502,-0.26,-0.202,-2.059,-0.316,-0.650, PHS= 0.551,-1.363, 0.290, RAW= 142.8, 5.9, CAL= 142.4, 6.5, ROT= 7.6, -6.5 - Ygot valid direction response: 18:23:30.9676 LVL= 23728, 28897, 28402, 32755, AGC= 49, IDX= 502,-0.26,-0.202,-2.059,-0.316,-0.650, PHS= 0.551,-1.363, 0.290, RAW= 142.8, 5.9, CAL= 142.4, 6.5, ROT= 7.6, -6.5 5 T#Rx 41: Read range and direction messages.= \direction in FSK: [0.984844,0.131406,0.113203]E Fpublishing direction and range info 3G׃?Y?5? I \i p n 1 V ? v) z>I W@i B= @ V= > VI i ) n6ˮY?5mۥ?X~9$? É> jѽ > VI i u checking for new query: numPingsReceived=41, elapsed TxPingTime=17.145765ԁ AAI!I1NE>(NL,5K?95K?95EY5U$E=mhA=>AQ 1M4٪E9?Q 5M4E״ EB9iYm>Q Eu?yE|C)E;IE;iE^4Yy}a@yJhRhV7I0)AhhB(W^%@e;*?5aa?~3G׃?Y?5?h>hV  Mb$ubVh@~^1)YvFCa?jhrh&iZh˝?bh{UzhBhy՝?h$NhBhp%AhN@ addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.700000 m, bearing: 185.301063 deg, lat: 36.779362 deg, lon: -121.859515 deg, deltaT: 0.503939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 10.70 m.ggg ProNav: ac range: 10.700000 m, nav range: 10.340014 m, bearing: 185.301063 deg, approach rate: 0.000000 m/s, LOS rate: -0.173932 deg/s, cmd heading: 172.929366 deg, new cmd heading: 172.701488 deg. gHeadingCmd: 3.014210 target range: 10.700000 and range: 10.70 m.bg@@ZgrgjgRgZf!Rf!e)e)"d)c)c)c1c5@f?ɢ}vB}rI 顭?I  ɡiIQ;I@@iAt=iU>)@@) I)checking for new query: numPingsReceived=41, elapsed TxPingTime=17.371862ԙDDnD,DEҝ: E:6Eg4:E"E;!E;!*EJ;! EJ;! I @i    @ =@ =i =I )M G i ) I { |A  DDAT read: Rx Time:18:23:31.4673  TRx dataTimestamp_ set to:1755627813.367105 PDAT read: Bearing 325.6, 13.1 (Local)  ~Local bearing/azimuth received: Bearing 325.6, 13.1 (Local)  DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 03 LVL= 21472, 27297, 24274, 32755, AGC= 49, IDX= 499,-0.12,-1.465, 2.956,-1.583,-1.924, PHS= 0.561,-1.357, 0.297, RAW= 142.7, 5.6, CAL= 142.3, 6.2, ROT= 7.7, -6.2  Z#Rx 42: Read range message, but no direction. 3#A  checking for new query: numPingsReceived=42, elapsed TxPingTime=17.631012>A%<>AQIaIyN ?WL,_I0)Ay:7@ٱ:E@:5:0:H& S? v{?KB`m>?@4!?I:7@):^;i:gCFBF&IiHIHMb@Mb@Mb@ )IiI9I9MEYM\$EUżAU>QQ 1]4٪U?Q 5e4U UB9{?Q A:Y?Q E?yUC)UXAM c>I  DDAT read: Rx Time:18:23:31.9672  TRx dataTimestamp_ set to:1755627813.872474 PDAT read: Bearing 324.8, 13.3 (Local)  ~Local bearing/azimuth received: Bearing 324.8, 13.3 (Local)  DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5  DAT read: 18:23:31.9672 LVL= 22000, 28465, 25426, 32755, AGC= 50, IDX= 498, 0.07, 0.227,-1.610, 0.098,-0.239, PHS= 0.568,-1.326, 0.292, RAW= 142.3, 5.3, CAL= 141.9, 5.9, ROT= 8.1, -5.9  Ygot valid direction response: 18:23:31.9672 LVL= 22000, 28465, 25426, 32755, AGC= 50, IDX= 498, 0.07, 0.227,-1.610, 0.098,-0.239, PHS= 0.568,-1.326, 0.292, RAW= 142.3, 5.3, CAL= 141.9, 5.9, ROT= 8.1, -5.9  T#Rx 43: Read range and direction messages. \direction in FSK: [0.984779,0.140155,0.102793] Fpublishing direction and range info |P0O?8?zBP? !A I Ui 1o Rc 2 sh? ^) >I \@i q= @ B= > BҽI i ) [)}?J ?o? > ٽ > BҽI i - checking for new query: numPingsReceived=43, elapsed TxPingTime=18.145721AA II IY Nu >ۺ]L,_yI0)Ay _X7@ٱ WSE@ f  H n? ­?e`,E?\㏿@?I _X7@) ^;i hC%B%&IBDU>6DU43Ye=!eF=m_i9i9uEYub$EuAu>yQ 14٪}T ?Q 54} }B9Y?Q E?y}ÎC)}6;I};i}4YB@NEJhRhwI0)Ah!AhC}#@vS&?ܵ|?~|P0O?8?zBP?h>hBҽ `C!#\boe{X ?~7A'7SZTRi?jh/[rh1Zh-ɝ?bhzhdBhhhBhuAh?N@ addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.505369 s, deltaX: -0.099999 m, approachRate: -0.197874 m/s, rangeRepo size: 4  Added new target pos. range: 10.100000 m, bearing: 185.023147 deg, lat: 36.779362 deg, lon: -121.859514 deg, deltaT: 1.007801 s, deltaX: -0.599999 m, approachRate: -0.595355 m/s, posRepo size: 4 gDNOT Ignoring new targets: 10.10 m.ggg  ProNav: ac range: 10.100000 m, nav range: 9.778575 m, bearing: 185.023147 deg, approach rate: 0.000000 m/s, LOS rate: -0.196997 deg/s, cmd heading: 172.384590 deg, new cmd heading: 172.143177 deg. g HeadingCmd: 3.004465 target range: 10.100000 and range: 10.10 m.bg)I@@ZgrgjgRgZfRf9eAeA"dAcAcIcM@33$@cM@@?ɢ|B 顽?I ɡiI#y;I)I@@i~u=i\;=))I@@)1I?i>Amط=checking for new query: numPingsReceived=43, elapsed TxPingTime=18.380920BE% [4JE%wX4RE%60DDmD,DE: E:6Eg4:E"E;!E;!*E@G;! E@G;!iAyIIN>ԑ dL,[`I0)Aɰ,.p;yJ*6@ٱJ"D@JJ"|JHmӰU?Oq?PB L?D@?IJ*6@)Jv^;iJiCZBZ&IuMb@Mb@Mb@q q)qIqiqu/$?/$?Mb`u&?u1>u)u@Iu/@iuK@q quG@BDB6D3YS=!G=99EYg$EtA>Q 14٪?Q 54 B9?Q A:Yh>Q E?yC):I<:i>4Y@gDNOT Ignoring new targets: 10.10 m.ggpgp ProNav: ac range: 10.100000 m, nav range: 9.541213 m, bearing: 184.910589 deg, approach rate: -0.609605 m/s, LOS rate: -0.296267 deg/s, cmd heading: 172.143184 deg, new cmd heading: 171.797116 deg. gSKHeadingCmd: 2.998425 target range: 10.100000 and range: 10.10 m.bg3?@ZgrgjgRgZfRfe!e%)B"d!c!=DDAT read: Rx Time:18:23:32.4668 =TRx dataTimestamp_ set to:1755627814.375347EPDAT read: Bearing 324.5, 13.5 (Local) M~Local bearing/azimuth received: Bearing 324.5, 13.5 (Local) ]DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.5 iDAT read: 18:23:32.4668 LVL= 22512, 29617, 24146, 32755, AGC= 48, IDX= 495, 0.33,-1.893, 2.592,-2.034,-2.354, PHS= 0.563,-1.292, 0.275, RAW= 141.7, 5.3, CAL= 141.4, 5.9, ROT= 8.6, -5.9 Ygot valid direction response: 18:23:32.4668 LVL= 22512, 29617, 24146, 32755, AGC= 48, IDX= 495, 0.33,-1.893, 2.592,-2.034,-2.354, PHS= 0.563,-1.292, 0.275, RAW= 141.7, 5.3, CAL= 141.4, 5.9, ROT= 8.6, -5.9 T#Rx 44: Read range and direction messages.\direction in FSK: [0.983519,0.148743,0.102793]Fpublishing direction and range info9=Sx? ?zBP?=A9I=Wi=s=R^9=0= ? =B`)=̌>I=G@i9=@9c)=`>9I9i9)=(e? 씪?%N?=1>=N=`> 9I9i9checking for new query: numPingsReceived=44, elapsed TxPingTime=18.657698c5#@c5@!t?ɢ~B 顥?I  ɡiI>g;I3?@iv=is=)3?@) ԙI@i@@>A M= checking for new query: numPingsReceived=44, elapsed TxPingTime=18.884720D D uD +D E  E :6E [4:E ! @! @! @! @I I N > t9t9vEYvl$EzsAz>|Q 14٪~:䠊?Q 54~ ~B9Y>Q E ?y~C)~r;I~:i~Ā4Y B@JhqRhuI0)AhuAhumCu4ƙկ"@n?!"??~uSx? ?zBP?hu`>hq upʍ";&Ah"o%?~u`9htؼÈ-(?jhuErhu Zhu:ӝ?bhu0zhu!Bhu:ӝ?hqhuȋBhuAhu\kN@ addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502873 s, deltaX: -0.600000 m, approachRate: -1.193145 m/s, rangeRepo size: 4 } Added new target pos. range: 9.500000 m, bearing: 184.796229 deg, lat: 36.779362 deg, lon: -121.859514 deg, deltaT: 0.502873 s, deltaX: -0.600000 m, approachRate: -1.193145 m/s, posRepo size: 4 gBNOT Ignoring new targets: 9.50 m.vB~BBU'IB BBBBBU;BEBBBB =B =BRv4gE6Short final. Range: 9.50 m.EVTransitioning guidance mode to: SHORT_FINALgE@@gMgI} ProNav: ac range: 9.500000 m, nav range: 9.348269 m, bearing: 184.796229 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 171.797112 deg, new cmd heading: 171.451608 deg. gy|HeadingCmd: 2.992395 target range: 9.500000 and range: 9.50 m.bgg?@ZgrgjgRgZfRfee"dcccc@?ɢBI]@i]+=])@]z0=]6&>]z0IYiY)]}Ȃ[?R?Fż?]>]ǽ]6&> ]z0IYiYchecking for new query: numPingsReceived=45, elapsed TxPingTime=19.179579) >A 3=I I N >Y qL,I0)A^checking for new query: numPingsReceived=45, elapsed TxPingTime=19.387678DDlD*DE E:6E(N4:E"E!E!*EC;!EC;!ye/6@ٱe*D@eBe6TeH ?ҳ? ?@@.@c?遊`?Ie/6@)e5^;iaчB 'I1Mb@Mb@Mb@ )Ii-??Mbp??>)@I@i@z@ @BD86D3Y=!#=;Q)>99EYr$E<A>Q 14٪[ˠ?Q 54 ʓB9?Q A:Yk@Q E?y$C)':Is:ì4Y B@MEJhRhUI0)AhAh]Cx}>"@j&?SKVT?~Aa8c?L gt?,=?h6&>hz0  LE7"`Hn|?~Wӊx`N9:zb??jhPrhZhI˝?bh*bzh2BhI˝?h$NhdBh@AhbN@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504885 s, deltaX: -0.200000 m, approachRate: -0.396129 m/s, rangeRepo size: 4  Added new target pos. range: 9.300000 m, bearing: 184.763804 deg, lat: 36.779361 deg, lon: -121.859515 deg, deltaT: 0.504885 s, deltaX: -0.200000 m, approachRate: -0.396129 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.30 m. 9.50 m.g g E ProNav: ac range: 9.500000 m, nav range: 9.050840 m, bearing: 184.699530 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 171.451613 deg, new cmd heading: 171.005675 deg. gAM|HeadingCmd: 2.984612 target range: 9.500000 and range: 9.50 m.bgM?@ZgIrgIjgIRgIZfQRfQYeqeu#B"dycycyc}"@c@mT?ɢBĻ j?I ɡiI{D;I?@i+4w=i =)?@)]DDAT read: Rx Time:18:23:33.4665 eTRx dataTimestamp_ set to:1755627815.384314uPDAT read: Bearing 323.7, 13.8 (Local) u~Local bearing/azimuth received: Bearing 323.7, 13.8 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5 Ii/ DAT read: 18:23:33.4665 LVL= 22800, 29105, 26594, 32755, AGC= 49, IDX= 507,-0.01,-0.715,-2.490,-0.882,-1.179, PHS= 0.566,-1.266, 0.253, RAW= 140.8, 5.3, CAL= 140.5, 6.0, ROT= 9.5, -6.0  Ygot valid direction response: 18:23:33.4665 LVL= 22800, 29105, 26594, 32755, AGC= 49, IDX= 507,-0.01,-0.715,-2.490,-0.882,-1.179, PHS= 0.566,-1.266, 0.253, RAW= 140.8, 5.3, CAL= 140.5, 6.0, ROT= 9.5, -6.0  T#Rx 46: Read range and direction messages.M \direction in FSK: [0.980883,0.164143,0.104528]M Fpublishing direction and range infoaecc?TͶ?4ޮ`º?efAaIeYieqegae1e`? eJ )e7>IenF@ieq=e@ePw=e)>ԁ ePwֽIaia)ei5?e&?JMﻷ?e/>eb%e)> ePwֽIaia checking for new query: numPingsReceived=46, elapsed TxPingTime=19.685434>A =bA ZA ~AԱ I I N >n:xL,I0)Aiy:u5@ٱ:mC@:2Z:N:H`}J??Y5g?͉ '?I:u5@):.^;i:gCzBz 'IBD56D3Yk=!q=Z:C)-;I-`;i-Ӏ4Yae@aJhRhI0)AhfAhC u!@q\A_?zq ?~cc?TͶ?4ޮ`º?h)>hPwֽ 4w!TQ5:Oz?~W4f￲/*õD?jhArh Zhڝ?bh=zhBhh=h2BhAh{N@M addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504082 s, deltaX: -0.400001 m, approachRate: -0.793523 m/s, rangeRepo size: 4 ] Added new target pos. range: 8.900000 m, bearing: 184.854096 deg, lat: 36.779361 deg, lon: -121.859515 deg, deltaT: 1.008967 s, deltaX: -0.600000 m, approachRate: -0.594668 m/s, posRepo size: 4 gYgYezIgnoring new targets. Set target to previous: 8.90 m. 9.50 m.gg ProNav: ac range: 9.500000 m, nav range: 8.849140 m, bearing: 184.637951 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 171.005670 deg, new cmd heading: 170.693209 deg. g|HeadingCmd: 2.979158 target range: 9.500000 and range: 9.50 m.bg>@Zgrgjgchecking for new query: numPingsReceived=46, elapsed TxPingTime=19.889280RgZfRfee"dccc!@c@s+?ɢMBM< IU?IQ U޽ɡQiQIUc4;I]>@iYi0=)>@)DDpD+DE: E :6E [4:E!@!@!@!@Ii%/!@-=@-=AAAA@AvB ~B B t'IB %BB B B B U;B E! >A= a=I I N > DDAT read: Rx Time:18:23:33.9664  TRx dataTimestamp_ set to:1755627815.887326 PDAT read: Bearing 323.3, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 323.3, 13.6 (Local)  DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4  DAT read: 18:23:33.9664 LVL= 23984, 32753, 26610, 32755, AGC= 49, IDX= 506, 0.19, 0.287,-1.496, 0.118,-0.179, PHS= 0.568,-1.272, 0.253, RAW= 140.8, 5.4, CAL= 140.5, 6.0, ROT= 9.5, -6.0  Ygot valid direction response: 18:23:33.9664 LVL= 23984, 32753, 26610, 32755, AGC= 49, IDX= 506, 0.19, 0.287,-1.496, 0.118,-0.179, PHS= 0.568,-1.272, 0.253, RAW= 140.8, 5.4, CAL= 140.5, 6.0, ROT= 9.5, -6.0  T#Rx 47: Read range and direction messages. \direction in FSK: [0.980883,0.164143,0.104528]% Fpublishing direction and range info cc?TͶ?4ޮ`º? 3 A I ]i  g sh? Т) I i = I i ) TrJ?>wc2?5ط? ȹ>  I i  checking for new query: numPingsReceived=47, elapsed TxPingTime=20.185677^~L,5FI0)Ayq5@ٱlC@JHH绶x?w?`Œp?=PW?Iq5@)C^;iiCeBe;'IiiIiBD}C6D}3Y=!D=99EY|$E``A>Q 14٪?Q 54~ דB9Y*AQ E?y^C):IR:iڀ4YB@LEJhRhI0)Ah3 AhCr&T>!@ VH?7 ?~cc?TͶ?4ޮ`º?hh j'i !dw[T4؈?~o%HǫM2I?jh0rhZhr՝?bhzhBh:ӝ?hh!Bh Ah3N@E addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503012 s, deltaX: -0.200000 m, approachRate: -0.397604 m/s, rangeRepo size: 4  Added new target pos. range: 8.700000 m, bearing: 184.601376 deg, lat: 36.779362 deg, lon: -121.859515 deg, deltaT: 1.511979 s, deltaX: -0.800000 m, approachRate: -0.529108 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 8.70 m. 9.50 m.gg ProNav: ac range: 9.500000 m, nav range: 8.600622 m, bearing: 184.567669 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 170.693203 deg, new cmd heading: 170.332096 deg. g|HeadingCmd: 2.972856 target range: 9.500000 and range: 9.50 m.bgEC>@ZgrgjgRgZfRfee"dccc`ff!@c J{?ɢMBImL< iu?Iq u۽ɡqiqIuf#;I}EC>@i}w=i}>)}EC>@)IE@iAAE/A checking for new query: numPingsReceived=47, elapsed TxPingTime=20.394121ԁDD~D(DE~: E(:6Ec44:E"E{;!-E};!-*E;!=E;!E>A =ԩ IA Iq N >EL,~J0)Ay> 5@ٱ>zC@>zD>T>H :R ? ?@`o `l? I o?I> 5@)>_;i>gCNBNB'I-Mb@Mb@Mb@) )))I)i)-9v?v/?{Gzt-?-x=-ף)-@I-̸@i-@-r@ )-p@BDE:6DE{3YMh<!UN=Ul$mDDAT read: Rx Time:18:23:34.4661 mTRx dataTimestamp_ set to:1755627816.391317uPDAT read: Bearing 322.7, 13.4 (Local) }~Local bearing/azimuth received: Bearing 322.7, 13.4 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.6 DAT read: 18:23:34.4661 LVL= 23280, 28849, 25394, 32755, AGC= 49, IDX= 503, 0.47,-1.576, 2.931,-1.747,-2.046, PHS= 0.573,-1.261, 0.255, RAW= 140.7, 5.2, CAL= 140.4, 5.8, ROT= 9.6, -5.8 Ygot valid direction response: 18:23:34.4661 LVL= 23280, 28849, 25394, 32755, AGC= 49, IDX= 503, 0.47,-1.576, 2.931,-1.747,-2.046, PHS= 0.573,-1.261, 0.255, RAW= 140.7, 5.2, CAL= 140.4, 5.8, ROT= 9.6, -5.8 T#Rx 48: Read range and direction messages.\direction in FSK: [0.980948,0.165915,0.101056]Fpublishing direction and range infoimv"c?=e%Im)@im޹=m @m4Q=m+>m4QϽIiii)mayR?|9~???m>m3m+> m4QϽIiiiEchecking for new query: numPingsReceived=48, elapsed TxPingTime=20.673489Y9A9EEYE$EMoAM>QQ 14٪U?Q 54U& UޓB9?Q A:YBQ E?yU~C)U;IUz:iUJ4Y  @ ԩJhiRhmV J0)AhmAhm3DmԘxH @ޭx?.?~mv"c?=e%hm4QϽ mU 㿩Mv?~mQ}￲5=*a?jhmrhmZhmLD?bhm6~zhmBhmr՝?hihmBhm(Ahme.N@% addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503991 s, deltaX: -0.400000 m, approachRate: -0.793664 m/s, rangeRepo size: 4 u Added new target pos. range: 8.300000 m, bearing: 184.583031 deg, lat: 36.779362 deg, lon: -121.859515 deg, deltaT: 2.015970 s, deltaX: -1.200000 m, approachRate: -0.595247 m/s, posRepo size: 4 gqgq}zIgnoring new targets. Set target to previous: 8.30 m. 9.50 m.gyg ProNav: ac range: 9.500000 m, nav range: 8.348142 m, bearing: 184.533849 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 170.332091 deg, new cmd heading: 169.919104 deg. g|HeadingCmd: 2.965648 target range: 9.500000 and range: 9.50 m.bg-=@ZgrgjgRgZfRfee9B"d c c c  @c  ?ɢ=BE{; ae?Ia m{ؽɡiiiIm;Iu-=@iu]x=iu>)u-=@)qI?i/ checking for new query: numPingsReceived=48, elapsed TxPingTime=20.897474rD %=jD 4=D D wD )D E : E :6E FA4:E ! @! @! @! @ >A= =9 Aq I I vB ~B B 'IB HBB  =B B B ]U;B ENe>vL,D4J0)Aɰ44@ٱ>B@>Hw>E]>Hع?`??c[? vA?I>4@)>\k_;i\9\9^EY^$EbiAb>dQ 1j4٪f{?Q 5j4f¼ fB9hYjCQ En?yfC)f:Ifb:if4YrBr@rKEB*** querying acoustic contact ***:hBhgigiuzIgnoring new targets. Set target to previous: 9.50 m. 9.50 m.gu~gu~ ProNav: ac range: 9.500000 m, nav range: 8.098775 m, bearing: 184.509053 deg, approach rate: -0.650365 m/s, LOS rate: -0.066660 deg/s, cmd heading: 169.919110 deg, new cmd heading: 169.842433 deg. g6|HeadingCmd: 2.964310 target range: 9.500000 and range: 9.50 m.bg@=@ZgrgjgRgZfRfee"dccc c  %v?mDDAT read: Rx Time:18:23:34.9661 mTRx dataTimestamp_ set to:1755627816.895415uPDAT read: Bearing 322.6, 13.7 (Local) }~Local bearing/azimuth received: Bearing 322.6, 13.7 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 DAT read: 18:23:34.9661 LVL= 23872, 31121, 26914, 32755, AGC= 48, IDX= 503,-0.17,-2.905, 1.608,-3.097, 2.907, PHS= 0.573,-1.254, 0.235, RAW= 140.0, 5.4, CAL= 139.8, 6.1, ROT= 10.2, -6.1 Ygot valid direction response: 18:23:34.9661 LVL= 23872, 31121, 26914, 32755, AGC= 48, IDX= 503,-0.17,-2.905, 1.608,-3.097, 2.907, PHS= 0.573,-1.254, 0.235, RAW= 140.0, 5.4, CAL= 139.8, 6.1, ROT= 10.2, -6.1 T#Rx 49: Read range and direction messages.\direction in FSK: [0.978623,0.176082,0.106264]Fpublishing direction and range infoimp+CP?jduۉ?O4?iiIm@]imym"iim0i m)mףp>Ima@im=my(@m^ =mK6>m^ ڽIiii)mإ?K?)߷?m>mo@mK6> m^ ڽIiiichecking for new query: numPingsReceived=49, elapsed TxPingTime=21.166174ɢBΕ<  ?I  սɡ i I J;I%@=@i-x=i-e=)-@=@)1Ii/@@)a>A>>- checking for new query: numPingsReceived=49, elapsed TxPingTime=21.403296D D lD +D E : E :6E [4:E "E ;!5 E ;!= *E C;!E AA Iq ԉ E C;! I N- >URL,MJ0)AyZT4@ٱZOB@Z5iZ bZH;@):?g?`/ "?5?IZT4@)Z/_;iXbBfl'IfY9Y9]EY]$Ee.Ae>iQ 1u4٪mc?Q 5u4m~ mB9u?Q A}:Y}BQ E}?ymC)mq:Im:im(4YBX@JhRh{N9J0)AhhF>D+O> @]:b?.gF9?~p+CP?jduۉ?O4?hK6>h^ ڽ j;jW څ-\:)?~8jcWo@le?jhrhZhUJ_?bh'zhÊBhh'hBhN@hg!N@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.300000 m, bearing: 184.537606 deg, lat: 36.779362 deg, lon: -121.859515 deg, deltaT: 2.520068 s, deltaX: -1.200000 m, approachRate: -0.476178 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 8.30 m. 9.50 m.ggp ProNav: ac range: 9.500000 m, nav range: 7.816462 m, bearing: 184.466721 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 169.842435 deg, new cmd heading: 169.417302 deg. gSK|HeadingCmd: 2.956890 target range: 9.500000 and range: 9.50 m.bg ==@Zg rg jg Rg Zf RfeeBB"dcccc8?ɢMBMx< IM%?IQ U҈ҽɡQiQIUQg:I]==@i]py=i]=)]==@)aDDAT read: Rx Time:18:23:35.4658 TRx dataTimestamp_ set to:1755627817.400288ԡPDAT read: Bearing 322.2, 13.4 (Local) ~Local bearing/azimuth received: Bearing 322.2, 13.4 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 I@i/DAT read: 18:23:35.4658 LVL= 24048, 30705, 27250, 32755, AGC= 48, IDX= 500, 0.01,-3.014, 1.495, 3.080, 2.798, PHS= 0.573,-1.258, 0.237, RAW= 140.1, 5.4, CAL= 139.8, 6.1, ROT= 10.2, -6.1 Ygot valid direction response: 18:23:35.4658 LVL= 24048, 30705, 27250, 32755, AGC= 48, IDX= 500, 0.01,-3.014, 1.495, 3.080, 2.798, PHS= 0.573,-1.258, 0.237, RAW= 140.1, 5.4, CAL= 139.8, 6.1, ROT= 10.2, -6.1 T#Rx 50: Read range and direction messages.]\direction in FSK: [0.978623,0.176082,0.106264]]Fpublishing direction and range infop+CP?jduۉ?O4?@I]iwrj %)!r>IC~@iIi)ZM'C?Ĝ+??Fݨ?d>ǔ Ii}checking for new query: numPingsReceived=50, elapsed TxPingTime=21.716999>A = A1 IA IQ N] >?L,gJ0)AyN3@ٱNA@N4[N9ANH@r`??? #gs?8+`?IN3@)N^;iLV)BVz'IBDb:6Db{3Yf=!f~=nchecking for new query: numPingsReceived=50, elapsed TxPingTime=21.905279j|'It@iK=C~@4Q=;0>4QϽIi)O[;*?b'?Ni޶?F><5;0> 4QϽIi checking for new query: numPingsReceived=51, elapsed TxPingTime=22.173214! >A} =Q A I I N >QL,#ۂJ0)AiyVP3@ٱVHA@VhUMV<9VH`־` Ш?ɏ?@n짩?@/?IVP3@)V~^;iVfCb4Br'IBDz;6Dz)3YHN=!>=   9 9EY$E[EA>Q 1%4٪U??Q 5%4 B9)Y-`CQ E-?yC)w;I;iI4Y5B5@5JEJh9Rh=yJ0)Ah=f@h=[GE=yT/@ț"??h=4QϽ =(? :hܿ ??~={*;ꭿ?jh=Wrh=AZh=p?bh=3_zh=|Bh=˝?h=6~h=Bh=@h=M@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503100 s, deltaX: -0.100000 m, approachRate: -0.198768 m/s, rangeRepo size: 4  Added new target pos. range: 7.700000 m, bearing: 184.076489 deg, lat: 36.779361 deg, lon: -121.859514 deg, deltaT: 3.528041 s, deltaX: -1.800000 m, approachRate: -0.510198 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 7.70 m. 9.50 m.g9g9M ProNav: ac range: 9.500000 m, nav range: 7.380734 m, bearing: 184.422236 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 169.107506 deg, new cmd heading: 168.738832 deg. gIU|HeadingCmd: 2.945048 target range: 9.500000 and range: 9.50 m.bgU{<@ZgQrgQjgYRgYZfyRfyee"dccc@cl?ԙ]checking for new query: numPingsReceived=51, elapsed TxPingTime=22.409271ɢBZ< ?I #̽ɡiI6:DUDUrDU+DQEU1: EU?:6EU [4:EQ"EUl;!EUm;!*EUsY;!EUsY;!I{<@iz=i>){<@))e͈G y)IzvWwAI?i@=@= DDAT read: Rx Time:18:23:36.4654  TRx dataTimestamp_ set to:1755627818.407047 PDAT read: Bearing 321.0, 12.9 (Local) % ~Local bearing/azimuth received: Bearing 321.0, 12.9 (Local) 5 DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 M DAT read: 18:23:36.4654 LVL= 23008, 7522, 327546, , 0.29,-0.530,-2.309,-0.720,-1.013, PHS= 0.585,-1.251, 0.249, RAW= 140.1, 5.0, CAL= 139.9, 5.7, ROT= 10.1, -5.7 U unknown deviceResponse_: 18:23:36.4654 LVL= 23008, 7522, 327546, , 0.29,-0.530,-2.309,-0.720,-1.013, PHS= 0.585,-1.251, 0.249, RAW= 140.1, 5.0, CAL= 139.9, 5.7, ROT= 10.1, -5.7 U Z#Rx 52: Read range message, but no direction.  f@ ] checking for new query: numPingsReceived=52, elapsed TxPingTime=22.671440! >A} =AIIN>L,:J0)A8y6`W3@ٱ6XRA@6{[>66?6H`ap`? 2ھ?@ >ɧ?@iۇ ?I6`W3@)6^;i6gCFEBF'IiHIHMb@Mb@Mb@ )IiM?A`"?~jthn?=D)S@I@i@r@ @BD5:6D5{3Y=z=!E%=Es;Q)E>I9I9MEYM$EU'AU>QQ 1]4٪U('?Q 5e4U UB9e?Q Ae:YeEQ Ee?yUC)U<:IU:iU4YB@IE= addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503659 s, deltaX: -0.500000 m, approachRate: -0.992735 m/s, rangeRepo size: 4 gAgAezIgnoring new targets. Set target to previous: 9.50 m. 9.50 m.gmD:gmD:} ProNav: ac range: 9.500000 m, nav range: 7.093335 m, bearing: 184.456661 deg, approach rate: -0.576150 m/s, LOS rate: 0.071807 deg/s, cmd heading: 168.738826 deg, new cmd heading: 168.846284 deg. g}E;|HeadingCmd: 2.946923 target range: 9.500000 and range: 9.50 m.bge<@ZgrgjgRgZfRfeeTB"dccc@cA} 4> Iq I N > DDAT read: Rx Time:18:23:36.9652  TRx dataTimestamp_ set to:1755627818.916886 PDAT read: Bearing 320.3, 12.4 (Local)  ~Local bearing/azimuth received: Bearing 320.3, 12.4 (Local)  DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4  DAT read: 18:23:36.9652 LVL= 22224, 29025, 25138, 32755, AGC= 46, IDX= 510, 0.43, 0.874,-0.923, 0.689, 0.383, PHS= 0.593,-1.260, 0.263, RAW= 140.4, 4.8, CAL= 140.1, 5.4, ROT= 9.9, -5.4  Ygot valid direction response: 18:23:36.9652 LVL= 22224, 29025, 25138, 32755, AGC= 46, IDX= 510, 0.43, 0.874,-0.923, 0.689, 0.383, PHS= 0.593,-1.260, 0.263, RAW= 140.4, 4.8, CAL= 140.1, 5.4, ROT= 9.9, -5.4  T#Rx 53: Read range and direction messages. \direction in FSK: [0.980737,0.171166,0.094108] Fpublishing direction and range info f8Y3b? ?|ӄ{? @ I Vi aq 2b . ? ) >I @i = = I i ) l6?l&8?3nJTH? V6> x I i = checking for new query: numPingsReceived=53, elapsed TxPingTime=23.186483(?L,HJ0)Ay63@ٱ6@@6p/6W06H'&?? `r I?`@?I63@)6S^;i6hCBUBB'IBDJD6DJJ3YR-=!RV=VT9X9ZEYZ$EZZAZ>\Q 1b4٪^p?Q 5f4^X ^B9dYffEQ Ef?y^;C)^|:I^:i^4YjBj~@llJhRhCJ0)Ah@hEǃ@FF`?a't?~f8Y3b? ?|ӄ{?hh ӫtQi?տ\e?~Z￸3+~x,?jhrhZh!Fԝ?bhzh/Bhh0hBh@hM@% addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.509839 s, deltaX: -0.300000 m, approachRate: -0.588421 m/s, rangeRepo size: 4 5 Added new target pos. range: 6.900000 m, bearing: 184.001189 deg, lat: 36.779361 deg, lon: -121.859514 deg, deltaT: 4.541539 s, deltaX: -2.600000 m, approachRate: -0.572493 m/s, posRepo size: 4 gQgY]zIgnoring new targets. Set target to previous: 6.90 m. 9.50 m.gegepu ProNav: ac range: 9.500000 m, nav range: 6.870852 m, bearing: 184.494795 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 168.846279 deg, new cmd heading: 168.492009 deg. gSK|HeadingCmd: 2.940740 target range: 9.500000 and range: 9.50 m.bg5<@ZgrgjgRgZfRfee"dccc@cƥ?ɢB̜= ?I ŽɡiIb=:I5<@ix{=if=)5<@ ) Ii0>A}=%checking for new query: numPingsReceived=53, elapsed TxPingTime=23.4218909BEuǙT4JEuǼP4REu(/DDrD+DE: E?:6E [4:E"E;!5E;!=*E!EE!EIIN >i ?'L,RJ0)Aɰ~\B~'I9eMb@Mb@Mb@a a)aIaiaeX9v?J +?{Gze?}DDAT read: Rx Time:18:23:37.4650 TRx dataTimestamp_ set to:1755627819.419314PDAT read: Bearing 320.2, 12.7 (Local) ~Local bearing/azimuth received: Bearing 320.2, 12.7 (Local) DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4 DAT read: 18:23:37.4650 LVL= 22496, 29009, 24146, 32755, AGC= 45, IDX= 508,-0.30,-1.471, 3.037,-1.668,-1.957, PHS= 0.588,-1.244, 0.245, RAW= 139.8, 4.9, CAL= 139.6, 5.6, ROT= 10.4, -5.6 e=e#)e=@IaieS@e@ ae=@BDG6D45Ygot valid direction response: 18:23:37.4650 LVL= 22496, 29009, 24146, 32755, AGC= 45, IDX= 508,-0.30,-1.471, 3.037,-1.668,-1.957, PHS= 0.588,-1.244, 0.245, RAW= 139.8, 4.9, CAL= 139.6, 5.6, ROT= 10.4, -5.6 5T#Rx 54: Read range and direction messages.=\direction in FSK: [0.978877,0.179658,0.097583]=Fpublishing direction and range infoqR??A_1?3@IWiQqR^-+? d;)Hz>Iy(@i%=I@Y-<!M(=UQ)U>Q9Q9]EY]$E]A]>a+=9>+ȽIi) !jx?CPڨ?)?s>K9> +ȽIi}checking for new query: numPingsReceived=54, elapsed TxPingTime=23.705881Q 14٪eB?Q 54e eB9?Q A:Y_FQ E?ye`C)e&h+Ƚ 4'Uؿs1?~[ۤ2?&#x?jh rhZhVH֝?bhL"zh,Bhh3_h|Bh.@hL@ addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.502428 s, deltaX: -0.300000 m, approachRate: -0.597101 m/s, rangeRepo size: 4  Added new target pos. range: 6.600000 m, bearing: 183.504164 deg, lat: 36.779361 deg, lon: -121.859513 deg, deltaT: 5.043967 s, deltaX: -2.900000 m, approachRate: -0.574944 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.60 m. 9.50 m.g g  ProNav: ac range: 9.500000 m, nav range: 6.583894 m, bearing: 184.585820 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 168.492011 deg, new cmd heading: 168.058693 deg. gE|HeadingCmd: 2.933177 target range: 9.500000 and range: 9.50 m.bgE.;@ZgArgAjgARgAZfIRfIeIeMfB"dQcQcQcU`ff@c]kз?ɢB8< x?I &½ɡiIN9I.;@i*7|=i=[>).;@)ԑI@i/@@- checking for new query: numPingsReceived=54, elapsed TxPingTime=23.925289 D D pD *D E s: E  :6E (N4:E ! @! @! @! @>Ay I I N >UL,J0)AԙyZ2@ٱzU@@q3H q@pġ?c?E狿0?`N?IZ2@)^;ifC%kB-'IvB1~B1B5'IB5BB1B1B1B5 U;B5EBBBBBB4u=up=BD}>6D}43Y=!T=99EY$EڼA>Q 14٪4韊?Q 54ٿ B9YGQ E?y}C)$:I:i4Y B @ MB*** querying acoustic contact ***:hIBhIgQgY]zIgnoring new targets. Set target to previous: 9.50 m. 9.50 m.ge;ge; ProNav: ac range: 9.500000 m, nav range: 6.357903 m, bearing: 184.684335 deg, approach rate: -0.623861 m/s, LOS rate: 0.281622 deg/s, cmd heading: 168.058690 deg, new cmd heading: 168.364736 deg. gFA<|HeadingCmd: 2.938519 target range: 9.500000 and range: 9.50 m.bg<@ZgrgjgRgZfRfee"dccccq?ɢBA=? )\>IE@i= @=X8>Ii)Ŋ4@??`Eek?L>sX8> Iichecking for new query: numPingsReceived=55, elapsed TxPingTime=24.218513II Nm> :L,V K0)Ay:2@ٱ:?@:7::H ¿`??@Xɉ2Ơ?0x`V?I:2@):^;i:hCRtBR'I llvchecking for new query: numPingsReceived=55, elapsed TxPingTime=24.429672BD^46D^f3YMuC=!Mb=U99EY$EUpA>DDlD'DE: E:6E'4:E"E;!E;!*EC;!EC;!Q 14٪#ן?Q 54 B9Y_GQ E?yC)9:I:iY$4Y@@JhRh&J0)Ah@h&F=akެw@IM?E[?~!97X?#!?|ӄ{?hX8>h &IпCI?~Ņ$S D G?jhMrh7ZhVT?bhzhBhhL"h/Bh@hL@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504937 s, deltaX: -0.100000 m, approachRate: -0.198044 m/s, rangeRepo size: 4  Added new target pos. range: 6.500000 m, bearing: 183.339155 deg, lat: 36.779361 deg, lon: -121.859513 deg, deltaT: 5.548904 s, deltaX: -3.000000 m, approachRate: -0.540647 m/s, posRepo size: 4 gg  zIgnoring new targets. Set target to previous: 6.50 m. 9.50 m.ggp!E ProNav: ac range: 9.500000 m, nav range: 6.143761 m, bearing: 184.795003 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 168.364737 deg, new cmd heading: 167.964050 deg. gESKM|HeadingCmd: 2.931526 target range: 9.500000 and range: 9.50 m.bgM;@ZgIrgIjgIRgIZfIRfQeQeQ"dQcYcYc]@c}%?ɢB@& = ?I ʿɡiI0I;@it}=iL=);@)I@i/QDDAT read: Rx Time:18:23:38.4646 TRx dataTimestamp_ set to:1755627820.427463PDAT read: Bearing 318.6, 12.1 (Local) ~Local bearing/azimuth received: Bearing 318.6, 12.1 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 DAT read: 18:23:38.4646 LVL= 21856, 29057, 24466, 32755, AGC= 44, IDX= 504, 0.10, 1.154,-0.649, 0.956, 0.643, PHS= 0.613,-1.247, 0.269, RAW= 140.0, 4.3, CAL= 139.8, 5.0, ROT= 10.2, -5.0 Ygot valid direction response: 18:23:38.4646 LVL= 21856, 29057, 24466, 32755, AGC= 44, IDX= 504, 0.10, 1.154,-0.649, 0.956, 0.643, PHS= 0.613,-1.247, 0.269, RAW= 140.0, 4.3, CAL= 139.8, 5.0, ROT= 10.2, -5.0 T#Rx 56: Read range and direction messages.\direction in FSK: [0.980450,0.176411,0.087156]Fpublishing direction and range info/_?&L?O?f@I`Uiq_,? )^>Ia@i`=y(@¸=K6>¸Ii)7?6,p?)B8?7>I噽K6> ¸IiU checking for new query: numPingsReceived=56, elapsed TxPingTime=24.705807y >A >bA ZA AI I1 N= >8WL,"K0)AiB'IMb@Mb@Mb@ )IiQ?Mb?y&1|\?=`)@Ir@i@E@ \@BD86D3Y}v=!D=Q)>99EY$EA>Q 14٪ß?Q 54% B9`?Q A:Y}GQ E?yC) ;I2 ;iq+4YBO@GEJhRh[K0)Ahf@hnF>P@z]??ؽJ?~/_?&L?O?hK6>h¸ 9Pt  nͿ!P_?~.^32.(?ijh$mrhZhB?bhS=zhBhp?hh,Bh@hY4L@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503212 s, deltaX: -0.300000 m, approachRate: -0.596171 m/s, rangeRepo size: 4  Added new target pos. range: 6.200000 m, bearing: 182.813361 deg, lat: 36.779360 deg, lon: -121.859512 deg, deltaT: 6.052116 s, deltaX: -3.300000 m, approachRate: -0.545264 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.20 m. 9.50 m.gg5 ProNav: ac range: 9.500000 m, nav range: 5.913644 m, bearing: 184.927056 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.964051 deg, new cmd heading: 167.667599 deg. g1=|HeadingCmd: 2.926352 target range: 9.500000 and range: 9.50 m.bg=XI;@Zg9rg9jg9Rg9ZfARfAeae]B"dccc@c@?ɢB4s= 顽?I ɡiI5鎹IXI;@i}=i(=)XI;@) checking for new query: numPingsReceived=56, elapsed TxPingTime=24.933290DDpD)DE: E :6EFA4:E!@!@!@!@I]?iaaep1a@m=@m=ԙ>AE0=IIAN>vBQ~BQBU(IBUBBQBQBQBUT;BUE DDAT read: Rx Time:18:23:38.9645  TRx dataTimestamp_ set to:1755627820.931356 PDAT read: Bearing 318.0, 12.0 (Local)  ~Local bearing/azimuth received: Bearing 318.0, 12.0 (Local)  DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4  DAT read: 18:23:38.9645 LVL= 22032, 29329, 24738, 32755, AGC= 44, IDX= 503, 0.34, 2.679, 0.878, 2.475, 2.159, PHS= 0.622,-1.237, 0.272, RAW= 139.8, 4.0, CAL= 139.7, 4.7, ROT= 10.3, -4.7  Ygot valid direction response: 18:23:38.9645 LVL= 22032, 29329, 24738, 32755, AGC= 44, IDX= 503, 0.34, 2.679, 0.878, 2.475, 2.159, PHS= 0.622,-1.237, 0.272, RAW= 139.8, 4.0, CAL= 139.7, 4.7, ROT= 10.3, -4.7  T#Rx 57: Read range and direction messages.% \direction in FSK: [0.980577,0.178201,0.081939]% Fpublishing direction and range info 3`?)J?? @ I Vi r ` d;? V) C>I y(@P~L,.Ii)(χ? ?ߍ#?>落X8> Iijchecking for new query: numPingsReceived=57, elapsed TxPingTime=25.231647}B}'IiIBD36D3Y?<!I=@w99EY$EȼA>Q 14٪I?Q 54< B9Y!HQ E?yӐC):Ig:i24Y  )@ JhRhV;K0)Ah@h0G~즩@˞w?b,v?~3`?)J??hX8>h whSƿ Uu?~I₩PŝFb+G?jh2rhӾZhưŹ?bhpzhˉBhB?hhBh@hK@ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503893 s, deltaX: -0.200000 m, approachRate: -0.396909 m/s, rangeRepo size: 4 U Added new target pos. range: 6.000000 m, bearing: 182.373765 deg, lat: 36.779359 deg, lon: -121.859512 deg, deltaT: 6.556009 s, deltaX: -3.500000 m, approachRate: -0.533861 m/s, posRepo size: 4 gQgQ]zIgnoring new targets. Set target to previous: 6.00 m. 9.50 m.gYgY ProNav: ac range: 9.500000 m, nav range: 5.683663 m, bearing: 185.092966 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.667593 deg, new cmd heading: 167.299182 deg. g|HeadingCmd: 2.919922 target range: 9.500000 and range: 9.50 m.bg:@ZgrgjgRgZfRfee"dccc@cq7?ɢBh:= 8?I µɡiI%QIE:@iM:}=iM=)M:@)IIi 3 -checking for new query: numPingsReceived=57, elapsed TxPingTime=25.438574D~DnD+DE: E:6E [4:E"EY;!%EZ;!%*EJ;!-EJ;!5 >A I=1 A1 I9 IQ N] >TL,\XK0)AyB 1@ٱB?@BB#BHFĿ`.,?O?@Κ ?@7|S?IB 1@)Bqn^;iBfCNBN'I%Mb@Mb@Mb@! !)!I!i!%gfffff?+η?I|@iO`@B>Ii)z$%?[?k@?>ᎍB> Ii]checking for new query: numPingsReceived=58, elapsed TxPingTime=25.719332!mB=e;Q)m>i9i9mEYm$Eu9Au>yQ 14٪}?Q 54}B y9!?Q A:YHQ E?y}C)};I};i}{:4YBw@FEJhRh-[K0)Ahf@hFq?9P@iTF0?/#?~L'Q?Tq??hB>h nja@?$%ɿDd?~,vقpv(>t(`?jh-IrhRZh}?bhLrmzhBh}?hS=hBhw@hנK@% addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504812 s, deltaX: -0.300000 m, approachRate: -0.594281 m/s, rangeRepo size: 4 = Added new target pos. range: 5.700000 m, bearing: 182.297518 deg, lat: 36.779359 deg, lon: -121.859511 deg, deltaT: 7.060821 s, deltaX: -3.800000 m, approachRate: -0.538181 m/s, posRepo size: 4 g9g9ezIgnoring new targets. Set target to previous: 5.70 m. 9.50 m.gigi} ProNav: ac range: 9.500000 m, nav range: 5.419878 m, bearing: 185.332047 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.299186 deg, new cmd heading: 166.913628 deg. gy|HeadingCmd: 2.913192 target range: 9.500000 and range: 9.50 m.bgq:@ZgrgjgRgZfRfeecB"dccc@c?ɢeBe1= ae)?Ii m&ɡiiiImEIuq:@iu~=iu=)q:@)I5@i115+11Q% checking for new query: numPingsReceived=58, elapsed TxPingTime=25.941423Y D D rD (D E : E ?:6E c44:E ! @! @! @! @>A =A yAI1 IY ԉ N ><L,SsK0)Aɰ4<ALAN<vBP~BPBR*(IBRBBR =BPBPBRT;BREyf0@ٱfy>@f"f9.fH %DĿy??`/ ?Ņ?If0@)f^^;ifeC%B%'IBD586D53Ye<!eE=m m H?9m H?9mEYm$EuN]Au>Q 14٪?Q 54? B9YH@Q E?yC):I:i;A4YB@EEB*** querying acoustic contact ***:hBhg!g!%zIgnoring new targets. Set target to previous: 9.50 m. 9.50 m.g-/5<g-/5<} ProNav: ac range: 9.500000 m, nav range: 5.196005 m, bearing: 185.566959 deg, approach rate: -0.578901 m/s, LOS rate: 0.633618 deg/s, cmd heading: 166.913622 deg, new cmd heading: 167.648682 deg. g}l<|HeadingCmd: 2.926022 target range: 9.500000 and range: 9.50 m.bgC;@ZgrgjgRgZfRfee "dcccc@v?ɢBRUd= 顅?I  ɡiINIC;@ii]\=)C;@) 5DDAT read: Rx Time:18:23:39.9641 5TRx dataTimestamp_ set to:1755627821.939346EPDAT read: Bearing 316.8, 12.4 (Local) E~Local bearing/azimuth received: Bearing 316.8, 12.4 (Local) UDAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 DAT read: 18:23:39.9641 LVL= 21872, 29169, 26098, 32755, AGC= 42, IDX= 499,-0.00,-0.029,-1.800,-0.255,-0.564, PHS= 0.637,-1.191, 0.265, RAW= 138.9, 3.5, CAL= 138.9, 4.2, ROT= 11.1, -4.2 Ygot valid direction response: 18:23:39.9641 LVL= 21872, 29169, 26098, 32755, AGC= 42, IDX= 499,-0.00,-0.029,-1.800,-0.255,-0.564, PHS= 0.637,-1.191, 0.265, RAW= 138.9, 3.5, CAL= 138.9, 4.2, ROT= 11.1, -4.2 T#Rx 59: Read range and direction messages.\direction in FSK: [0.978657,0.192005,0.073238]Fpublishing direction and range info15L~dH)Q?0O5??5̬@1I5pUi5q5e15*5o#? 5r)5>I5'@i55z=5'@5Q =5aF>5Q I1i1)5pAǝ7?p?*H4?5K>5y5aF> 5Q I1i1checking for new query: numPingsReceived=59, elapsed TxPingTime=26.222391Iaiaae@5a@i@i9i >A =A I  checking for new query: numPingsReceived=59, elapsed TxPingTime=26.445868I N >#L,g(K0)AD&}D&iD&.D$E&݉: E&96E&ـ4:E$"E&7;!*E&8;!**E&8;!.E&8;!.,y 0@ٱ =@ Lg  H`@ ƿ~w?? X q@*??I 0@) k^;i gCB'I<499EY$EBA >Q 14٪p?Q 543 9?Q A:YH@Q E?y5C)E:I:iI4Y)-@)JhiRhm?|K0)Ahm̬@hm]GmC}#@xז?TqO?~mL~dH)Q?0O5??hmaF>hmQ  m݂in̽.9?~mu)[4ãܵ?jhmcrhm Zhm}Ӫ?bhmNCzhm~BhmưŹ?hmLrmhmˉBhm@hmgK@u addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503178 s, deltaX: -0.300000 m, approachRate: -0.596210 m/s, rangeRepo size: 4  Added new target pos. range: 5.400000 m, bearing: 182.187573 deg, lat: 36.779359 deg, lon: -121.859511 deg, deltaT: 7.563999 s, deltaX: -4.100000 m, approachRate: -0.542041 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 5.40 m. 9.50 m.ggp ProNav: ac range: 9.500000 m, nav range: 4.925630 m, bearing: 185.895005 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.648687 deg, new cmd heading: 167.222768 deg. gSK|HeadingCmd: 2.918588 target range: 9.500000 and range: 9.50 m.bg%:@ZgrgjgRgZfRfee_B"dccc@cz?ɢB?= (?I _ɡiII%:@iJ~=i6=)%:@) ԙI?i<5MDDAT read: Rx Time:18:23:40.4638 MTRx dataTimestamp_ set to:1755627822.444242]PDAT read: Bearing 315.7, 11.8 (Local) e~Local bearing/azimuth received: Bearing 315.7, 11.8 (Local) >Au~E=}DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 DAT read: 18:23:40.4638 LVL= 20848, 28529, 26386, 32755, AGC= 44, IDX= 496, 0.19,-0.366,-2.140,-0.583,-0.916, PHS= 0.652,-1.179, 0.289, RAW= 139.2, 2.9, CAL= 139.2, 3.5, ROT= 10.8, -3.5 Ygot valid direction response: 18:23:40.4638 LVL= 20848, 28529, 26386, 32755, AGC= 44, IDX= 496, 0.19,-0.366,-2.140,-0.583,-0.916, PHS= 0.652,-1.179, 0.289, RAW= 139.2, 2.9, CAL= 139.2, 3.5, ROT= 10.8, -3.5 T#Rx 60: Read range and direction messages.\direction in FSK: [0.980455,0.187032,0.061049]Fpublishing direction and range infoIM]}X_?˂Ϗ?.xA?M@IIMpQiMqoMgIM,My&? My閿)M>IM|@iM4QO=M|@M5z=MA>M5zIIiI)MUD-.?(/ ?矩?M>M.MMA> M5zIIiI%checking for new query: numPingsReceived=60, elapsed TxPingTime=26.726768 A I I N >ML,uK0)APB(IBD;6D)3Yex=!e=mQ)m ?i9i9uEYu$EuAu ?Q 14٪`?Q 54+ 9YQ E?yLC):I:iYO4YB4@JhyRh}vnK0)Ah}@h}yH}*ZN@~có?#k?~}]}X_?˂Ϗ?.xA?h}A>h}5z }DE=* ,)s?~}lb[Uo²?jh}rh}Zh}wT?bh}H(Mzh}WBh}}?h}ph}Bh}@h}UK@E addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504896 s, deltaX: -0.400000 m, approachRate: -0.792243 m/s, rangeRepo size: 4 u Added new target pos. range: 5.000000 m, bearing: 182.032520 deg, lat: 36.779359 deg, lon: -121.859511 deg, deltaT: 8.068895 s, deltaX: -4.500000 m, approachRate: -0.557697 m/s, posRepo size: 4 gqgy}zIgnoring new targets. Set target to previous: 5.00 m. 9.50 m.ggchecking for new query: numPingsReceived=60, elapsed TxPingTime=26.949381 ProNav: ac range: 9.500000 m, nav range: 4.744784 m, bearing: 186.135421 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.222770 deg, new cmd heading: 166.927590 deg. g|HeadingCmd: 2.913436 target range: 9.500000 and range: 9.50 m.bgu:@ZgrgjgRgZfRfee"dccc@cn?ɢBnً= %}?I! %^ɡ!i!I%iػrDM<jDM<DUDU|DU-DQEU: EUP$:6EUt4:EQ!e@!e@!e@!e@Ieu:@ie1=ie=)eu:@)iI@if4vB~BǍCB6(IBˆBBBBBT;B>AVo=) U DDAT read: Rx Time:18:23:40.9638 ] TRx dataTimestamp_ set to:1755627822.947894m PDAT read: Bearing 312.1, 1.8 (Local) m ~Local bearing/azimuth received: Bearing 312.1, 1.8 (Local)  DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4  DAT read: 18:23:40.9638 LVL= 21056, 29649, 27634, 32755, AGC= 41, IDX= 512,-0.33,-0.920,-2.198,-0.768,-1.240, PHS= 0.422,-0.913, 0.428, RAW= 150.2, 0.9, CAL= 149.1, 0.5, ROT= 0.9, -0.5  Ygot valid direction response: 18:23:40.9638 LVL= 21056, 29649, 27634, 32755, AGC= 41, IDX= 512,-0.33,-0.920,-2.198,-0.768,-1.240, PHS= 0.422,-0.913, 0.428, RAW= 150.2, 0.9, CAL= 149.1, 0.5, ROT= 0.9, -0.5  T#Rx 61: Read range and direction messages.A AI I N% > \direction in FSK: [0.999839,0.015707,0.008727] Fpublishing direction and range infoQ U $o?cl?B7߁?Q Q IU @RiU sU kQ U )U b> U ^i)U ">IU g'@iU _/@ٱf5Z=@ff)fHvKǿ{?I?@v:`S?`Et?If>_/@)fe^;ifdC|=BE(IBDU@6DU3Yebu!eK=ejmK?9mK?9mEYm$Em˼Au>Q 14٪JM?Q 54 B9YG@Q E?yjC):IF:iV4YBA@DEJhRhLK0)Ahh\>@e,@iA Sk=i I ) G ) I q qA ? TA A1 I9 IQ Nu >CpL,PK0)AyFt/@ٱFk=@FFTFH sp ǿfp??Pp |v?nj|?IFt/@)FR^;iFcCRBR (IrDDAT read: Rx Time:18:23:41.4635 vTRx dataTimestamp_ set to:1755627823.451305zPDAT read: Bearing 314.1, 11.8 (Local) ~~Local bearing/azimuth received: Bearing 314.1, 11.8 (Local)  DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 -DAT read: 18:23:41.4635 LVL= 20624, 29089, 27266, 32755, AGC= 42, IDX= 509, 0.04, 2.957, 1.196, 2.726, 2.383, PHS= 0.676,-1.142, 0.299, RAW= 138.7, 2.0, CAL= 138.8, 2.7, ROT= 11.2, -2.7 5Ygot valid direction response: 18:23:41.4635 LVL= 20624, 29089, 27266, 32755, AGC= 42, IDX= 509, 0.04, 2.957, 1.196, 2.726, 2.383, PHS= 0.676,-1.142, 0.299, RAW= 138.7, 2.0, CAL= 138.8, 2.7, ROT= 11.2, -2.7 =T#Rx 62: Read range and direction messages.E\direction in FSK: [0.979866,0.194019,0.047106]EFpublishing direction and range infotv"M[??P7V?v@tIvPivqvjtv*vV-? v-)v>Iv@iv5=v @vA=v+H>vAItit)vK2L?%8y?GJKb-?v[֦>vvv+H> vAItitchecking for new query: numPingsReceived=62, elapsed TxPingTime=27.741201Mb@Mb@Mb@ )IiQ?RQ?Mb\?=)I/@i@E@ @ԱBD76Dp3Y<!0=;Q)>!9!9%EY%$E%A->1Q 1=4٪57?Q 5=45 5B9El?Q AE:YEG@Q EE?y5C)5:I5U:i5s^4Yim@qJhtRhv.K0)Ahv@hvHv+9@]ciN?"; "?~v"M[??P7V?hv+H>hvA v:e⟂EBk/Cf?~vkh B4|9"?jhvZrhvΏZhv켝?bhv1zhvBhv}?hvH(MhvWBhv@hvbWJ@ addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503411 s, deltaX: -0.500000 m, approachRate: -0.993224 m/s, rangeRepo size: 4  Added new target pos. range: 4.500000 m, bearing: 181.145393 deg, lat: 36.779359 deg, lon: -121.859510 deg, deltaT: 9.075958 s, deltaX: -5.000000 m, approachRate: -0.550906 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 4.50 m. 9.50 m.gg ProNav: ac range: 9.500000 m, nav range: 4.260646 m, bearing: 186.956068 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 166.562045 deg, new cmd heading: 166.139921 deg. g|HeadingCmd: 2.899689 target range: 9.500000 and range: 9.50 m.bg9@ZgrgjgRgAZfARfAeAeMVB"dIcIcIcM@cUz?ɢBLH= ?I PAɡiI2I9@iE=it=)9@)I?i05checking for new query: numPingsReceived=62, elapsed TxPingTime=27.957321 DU DU rDU +DQ EU : EU ?:6EU [4:EQ !] @!] @!] @!] @>A} Vo=rA >jA ?1 Au @AAu AAvBy ~By B} <(IB} ȈBBy By By B} T;B} EA I IN>xL,K0)Ay6.@ٱ6 <@6q"6rȪ6H@jaȿbW?8a?`i@vCd?Yu ?I6.@)6k^;i6dC@@BDN86DN3V@;Q)V>T9T9VEYV$EZ=6AZ>\Q 1b4٪^o%?Q 5b4^Ϳ ^B9dYfG@Q Ef?y^C)^-:I^F:i^e4YjBj@jCEQuB*** querying acoustic contact ***:hqBhqgygyzIgnoring new targets. Set target to previous: 9.50 m. 9.50 m.gj<gj< ProNav: ac range: 9.500000 m, nav range: 4.047184 m, bearing: 187.397856 deg, approach rate: -0.588782 m/s, LOS rate: 1.282821 deg/s, cmd heading: 166.139926 deg, new cmd heading: 167.534906 deg. g\=|HeadingCmd: 2.924036 target range: 9.500000 and range: 9.50 m.bgg#;@ZgrgjgRgZfRfee"dcccc,?=DDAT read: Rx Time:18:23:41.9634 =TRx dataTimestamp_ set to:1755627823.955374EPDAT read: Bearing 313.0, 11.6 (Local) M~Local bearing/azimuth received: Bearing 313.0, 11.6 (Local) ]DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 }DAT read: 18:23:41.9634 LVL= 20784, 30993, 27634, 32755, AGC= 41, IDX= 508, 0.35,-2.714, 1.804,-2.949, 2.974, PHS= 0.697,-1.125, 0.316, RAW= 138.6, 1.4, CAL= 138.7, 2.0, ROT= 11.3, -2.0 Ygot valid direction response: 18:23:41.9634 LVL= 20784, 30993, 27634, 32755, AGC= 41, IDX= 508, 0.35,-2.714, 1.804,-2.949, 2.974, PHS= 0.697,-1.125, 0.316, RAW= 138.6, 1.4, CAL= 138.7, 2.0, ROT= 11.3, -2.0 T#Rx 63: Read range and direction messages.\direction in FSK: [0.980017,0.195827,0.034899]Fpublishing direction and range info9=R:M\?lw?Xޡ?=̌@9I=0Qi=y=k9=)=n2? =)=ʡ>I=T@i=+<=@=5==I>=5I9i9)=qpS?=P¼=I> =5I9i9checking for new query: numPingsReceived=63, elapsed TxPingTime=28.225288ɢBUщ= ?I 1ɡiIHI^:@iii=)g#;@)!ԁI=Ai99=39ԩ>Ae C= checking for new query: numPingsReceived=63, elapsed TxPingTime=28.461605BE% [4JE%wX4RE%XQ0D D D ,D E ҝ:  E 6E g4:E "E ;! E ;! *E sY;!5 E tY;!= Iy I N >L,IL0)Aɰj;j;ly=ׂ.@ٱ=}<@=c9=C:1=H@}bȿ`T J? vb@Ie`,2F'f@?I=ׂ.@)=W^;i9eBe(I Mb@Mb@Mb@  ) I i  V-?kt?y&1|  ?  = `) @I i @ r@  ̴@BD-06D-3Y=K<!=<=;Q)=>A9A9EEYE$EE8"AM>IQ 1]4٪M?Q 5]4M MB9]G?Q A]:Y]\F@Q E]?yMɑC)M ;IM ;iMm4YmBm@mBEJhRh$K0)Aȟ@h$IR?@?ȧ?~R:M\?lw?Xޡ?hI>h5 N[D-pG4?~yl;JuliM Cu?jhjrhZh&?bh zhBh⭝?h1hBh@hI@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504069 s, deltaX: -0.100000 m, approachRate: -0.198385 m/s, rangeRepo size: 4  Added new target pos. range: 4.400000 m, bearing: 180.744584 deg, lat: 36.779358 deg, lon: -121.859509 deg, deltaT: 9.580027 s, deltaX: -5.100000 m, approachRate: -0.532358 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 4.40 m. 9.50 m.ggp ProNav: ac range: 9.500000 m, nav range: 3.781532 m, bearing: 188.094854 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.534910 deg, new cmd heading: 167.117512 deg. gSK|HeadingCmd: 2.916751 target range: 9.500000 and range: 9.50 m.bg :@ZgrgjgRgZfRfeeZB"dccc@c&4?ɢLBi= @I HsɡiIEI :@i=i=) :@) Y>uDDAT read: Rx Time:18:23:42.4632 }TRx dataTimestamp_ set to:1755627824.459337PDAT read: Bearing 312.9, 11.4 (Local) ~Local bearing/azimuth received: Bearing 312.9, 11.4 (Local) DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4 DAT read: 18:23:42.4632 LVL= 21120, 31825, 28834, 32755, AGC= 41, IDX= 506,-0.22,-0.223,-1.965,-0.453,-0.803, PHS= 0.682,-1.117, 0.306, RAW= 138.6, 1.6, CAL= 138.7, 2.3, ROT= 11.3, -2.3 Ygot valid direction response: 18:23:42.4632 LVL= 21120, 31825, 28834, 32755, AGC= 41, IDX= 506,-0.22,-0.223,-1.965,-0.453,-0.803, PHS= 0.682,-1.117, 0.306, RAW= 138.6, 1.6, CAL= 138.7, 2.3, ROT= 11.3, -2.3 T#Rx 64: Read range and direction messages.\direction in FSK: [0.979825,0.195788,0.040132]Fpublishing direction and range infoquQDZ?0?.='?u3@qIuRiuQ|upqqu.? u)u>IqiuuCq ul$Iqiqchecking for new query: numPingsReceived=64, elapsed TxPingTime=28.734715I?i4@@>A]H=9IYIiNu>a L,j-L0)Ay6=.@ٱ6 8<@6CH;6 .6H[Iɿl`?`[S`@pie?I6=.@)6.e^;i6cCDbD`Db+D`Eba: E`6Eb [4:E`!n@!n@!n@!n@vBv(IMDDAT read: Rx Time:18:23:42.9631 ]TRx dataTimestamp_ set to:1755627824.752602uPDAT read: Bearing 311.8, 11.1 (Local) y~Local bearing/azimuth received: Bearing 311.8, 11.1 (Local) checking for new query: numPingsReceived=64, elapsed TxPingTime=29.017801BDC6D3YH!S= ;Q)>Y9a9mEYm$E}k-A>Q 14٪g?Q 548 B9YF@Q E?yC);I;it4Y@JhRheL0)Ah3@hH@U( @ɭ?vz?~QDZ?0?.='?hhl$ 9c%D?FQ7?~0uD0k?H?jh!b<rhZhJ#?bhe۾zhBhh hBhM}@hELI@ addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503963 s, deltaX: -0.300000 m, approachRate: -0.595282 m/s, rangeRepo size: 4  Added new target pos. range: 4.100000 m, bearing: 180.211278 deg, lat: 36.779358 deg, lon: -121.859509 deg, deltaT: 10.083990 s, deltaX: -5.400000 m, approachRate: -0.535502 m/s, posRepo size: 4 ggvB~BBBBBBBT;B{EBǍCBǍCBB =B =BV4zIgnoring new targets. Set target to previous: 4.10 m. 9.50 m.g)g)= ProNav: ac range: 9.500000 m, nav range: 3.556411 m, bearing: 188.784527 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 167.117517 deg, new cmd heading: 166.740766 deg. g9E|HeadingCmd: 2.910175 target range: 9.500000 and range: 9.50 m.bgEP@:@ԩZgArgjgRgZfRfee"dccc`ff@c #?ɢAE,Ct= AE`@II M`͖ɡIiIIM!IUP@:@iU|4=iU=)UP@:@)YI@i5DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.5  DAT read: 18:23:42.9631 LVL= 21136, 32753, 28738, 32755, AGC= 40, IDX= 505, 0.04, 1.764, 0.018, 1.539, 1.166, PHS= 0.700,-1.103, 0.329, RAW= 138.8, 0.9, CAL= 138.9, 1.6, ROT= 11.1, -1.6  Ygot valid direction response: 18:23:42.9631 LVL= 21136, 32753, 28738, 32755, AGC= 40, IDX= 505, 0.04, 1.764, 0.018, 1.539, 1.166, PHS= 0.700,-1.103, 0.329, RAW= 138.8, 0.9, CAL= 138.9, 1.6, ROT= 11.1, -1.6  T#Rx 65: Read range and direction messages.% \direction in FSK: [0.980910,0.192447,0.027922]% Fpublishing direction and range infogc?Ǡ?|p}?y@IRiBp(333? /)r>I @i<'@<aF>Ii)K?9ٕ?BCb>?>vaF> Ii= checking for new query: numPingsReceived=65, elapsed TxPingTime=29.266764>A G= I! I1 NE >L,HGL0)Ay6.@ٱ6;@6 Ż;6U6H@U@ɿCy(?U `xwcj?I6.@)6.D^;i4^B^ (IBDf16Df[3Y~=![=';Q)%>!9!9%EY%$E-$A->1Q 1=4٪5꞊?Q 5=45 5B99YEE@Q EE?y5C)5;I5;i5z4YMޔBM@IJhRh?L0)Ahy@heH@Eӡ@Z3r?޾?~gc?Ǡ?|p}?haF>h  0 lQ?>F?~aVᅯE?mN1?jh%=rhyZh0?bhvzh܈Bh0?he۾hBhy@h`H@ addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.538744 s, deltaX: -0.200000 m, approachRate: -0.371233 m/s, rangeRepo size: 4  Added new target pos. range: 3.900000 m, bearing: 179.942375 deg, lat: 36.779357 deg, lon: -121.859508 deg, deltaT: 10.622734 s, deltaX: -5.600000 m, approachRate: -0.527171 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 3.90 m. 9.50 m.gg  ProNav: ac range: 9.500000 m, nav range: 3.362754 m, bearing: 189.465406 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 166.740764 deg, new cmd heading: 166.435386 deg. g |HeadingCmd: 2.904845 target range: 9.500000 and range: 9.50 m.bg9@ZgrgjgRgZfRf!e!e)"d)c)c1c5@33@c=@, ?ɢ= @I  ɡiIÇ/I9@iJ=iQ=)9@)DDAT read: Rx Time:18:23:43.4628 TRx dataTimestamp_ set to:1755627825.263511PDAT read: Bearing 312.0, 11.1 (Local) ~Local bearing/azimuth received: Bearing 312.0, 11.1 (Local) DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 5Z#Rx 66: Read range message, but no direction.DM`@checking for new query: numPingsReceived=66, elapsed TxPingTime=29.549925Iu?i/DMnDM-DIEM: EM:6EMt4:EI"EM';!MEM);!U*EMJ;!EMJ;!1>A =Ii Iy N >Y = DAT read: 18:23:43.4628 LVL= 22752, 32753, 31218, 32755, AGC= 39, IDX= 502, 0.25, 1.593,-0.137, 1.366, 1.013, PHS= 0.682,-1.105, 0.309, RAW= 138.6, 1.4, CAL= 138.7, 2.1, ROT= 11.3, -2.1 E Ygot valid direction response: 18:23:43.4628 LVL= 22752, 32753, 31218, 32755, AGC= 39, IDX= 502, 0.25, 1.593,-0.137, 1.366, 1.013, PHS= 0.682,-1.105, 0.309, RAW= 138.6, 1.4, CAL= 138.7, 2.1, ROT= 11.3, -2.1 E Z#Rx 67: Read direction message, but no range.M \direction in FSK: [0.979956,0.195815,0.036644]  T/[?qs?(א¢?L,aL0)AiIIMXiIMyIM'M.? Mp)M?5>IMT@iM+MQ II)Ma%=R?;zYe?ۄE?M>M-ʼMI> MQ *checking for new query: numPingsReceived=67, elapsed TxPingTime=29.782541yBF-@ٱB=;@Bt 99EY$EA>Q 14٪՞?Q 54 B9i ?Q A:YG@Q E?yC):Ia:iɂ4Y@JhRh]PL0)Ah`@hbH@1i;Sp @#Ze?C>j?~T/[?qs?(א¢?hI>hQ  N -?Ҡwxf?~75_֡#?%d+~?jhH=rh_Zh#?bh3ȽzhBhhhhi@h!I@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.265430 s, deltaX: -0.400000 m, approachRate: -1.506989 m/s, rangeRepo size: 4 - Added new target pos. range: 3.500000 m, bearing: 180.062791 deg, lat: 36.779357 deg, lon: -121.859508 deg, deltaT: 10.888164 s, deltaX: -6.000000 m, approachRate: -0.551057 m/s, posRepo size: 4 g1g15zIgnoring new targets. Set target to previous: 3.50 m. 9.50 m.g9g9M ProNav: ac range: 9.500000 m, nav range: 3.119267 m, bearing: 190.359779 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 166.435386 deg, new cmd heading: 166.035669 deg. gIU|HeadingCmd: 2.897869 target range: 9.500000 and range: 9.50 m.bgUv9@ZgQrgQjgQRgQZfYRfYeYe]UB"dacacace @cm^?ɢB= 顝@I ɡiI9A == DAT read: 18:23:43.9627 LVL= 22384, 32753, 30690, 32755, AGC= 39, IDX= 501,-0.50, 0.677,-0.993, 0.461, 0.125, PHS= 0.655,-1.073, 0.292, RAW= 138.5, 1.6, CAL= 138.7, 2.3, ROT= 11.3, -2.3 E Ygot valid direction response: 18:23:43.9627 LVL= 22384, 32753, 30690, 32755, AGC= 39, IDX= 501,-0.50, 0.677,-0.993, 0.461, 0.125, PHS= 0.655,-1.073, 0.292, RAW= 138.5, 1.6, CAL= 138.7, 2.3, ROT= 11.3, -2.3 E T#Rx 68: Read range and direction messages.Iq I N > \direction in FSK: [0.979825,0.195788,0.040132] Fpublishing direction and range infoQDZ?0?.='?3S@IpWiw'? X)>I@i<l$=l$Ii)|X\"U?-EO?j1^?lg>/ l$A A 4=vB ~B ƍCB B B =B B B T;B sEIi checking for new query: numPingsReceived=68, elapsed TxPingTime=30.099819Թ L,zL0)AnBn%(IipIpBDz66Dz3Y"<!^=Q)>99EY$EA>Q 14٪Ğ?Q 54 B9YQ E?y:C):I:iJ4YٔBN@AEJhRhGWqL0)Ah3S@hbH@w @P׵ܬ?D p?~QDZ?0?.='?hhl$ kKb -56Nӡ??/Ht?~ݲɆ3aLG?~0i?jh=rhSZh7?bhzhBhhvhBh\@hؓH@ addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.507441 s, deltaX: -0.200000 m, approachRate: -0.394135 m/s, rangeRepo size: 4 ԑPExceeded connect timeout, disconnecting. Added new target pos. range: 3.300000 m, bearing: 179.566330 deg, lat: 36.779357 deg, lon: -121.859508 deg, deltaT: 11.395605 s, deltaX: -6.200000 m, approachRate: -0.544069 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 3.30 m. 9.50 m.ggchecking for new query: numPingsReceived=68, elapsed TxPingTime=30.273264 ProNav: ac range: 9.500000 m, nav range: 2.920032 m, bearing: 191.205330 deg, approach rate: 0.000000 m/s, LOS rate: -0.296267 deg/s, cmd heading: 166.035670 deg, new cmd heading: 165.694135 deg. g |HeadingCmd: 2.891908 target range: 9.500000 and range: 9.50 m.bg 9@Zg rg jgRgZfRfee"dccc%`ff @c%r0?ɢ= 页|@I ["ɡiIQJI9@i=ih=)9@)I?i/Թ>A := ߩ ީ  DDAT read: Rx Time:18:23:44.4625  TRx dataTimestamp_ set to:1755627826.275860 PDAT read: Bearing 312.7, 10.8 (Local) D D pD -D E ҝ: E  :6E t4:E E ~Local bearing/azimuth received: Bearing 312.7, 10.8 (Local) "E ;!m E ;!u *E +R;! E ,R;! 1 A] yAI  DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 I Nu >%L,+LL0)A>DAT read: 18:23:44.4625 LVL= 24272, 32753, 32754, 32755, AGC= 39, IDX= 498,-0.17,-0.496,-2.116,-0.702,-1.006, PHS= 0.611,-1.065, 0.260, RAW= 138.5, 2.6, CAL= 138.6, 3.3, ROT= 11.4, -3.3 BYgot valid direction response: 18:23:44.4625 LVL= 24272, 32753, 32754, 32755, AGC= 39, IDX= 498,-0.17,-0.496,-2.116,-0.702,-1.006, PHS= 0.611,-1.065, 0.260, RAW= 138.5, 2.6, CAL= 138.6, 3.3, ROT= 11.4, -3.3 FT#Rx 69: Read range and direction messages.j\direction in FSK: [0.978646,0.197330,0.057564]jFpublishing direction and range infoMQ?B?`8.y?9@I^ij? Q)>Ii9=T@k=%K>kIi)uN?yV?3C?ξ>a7%K> kIi5checking for new query: numPingsReceived=69, elapsed TxPingTime=30.657442yb-@ٱ];@c<+;HYD>0˿Q.? EO:u?@>bb? 1?Ib-@)$B^;iMb@Mb@Mb@ )IiGz?/$?{Gzt?=)@Iir@ (@BDC6D3YEId:!E$=Ew-M H?9M H?9MEYM%EUKAU>Q 14٪ ?Q 54 B9<?Q A:YD@Q E?y_C):Ij:i:4YՔB@@EJhRhL0)Ah9@hH@um_@bmO?c%^?~MQ?B?`8.y?h%K>hk 9,H?+?~￞|S?b?jh5=rhe9Zh𷝊?bhzhBh7?h3Ƚhhp@@hH@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504908 s, deltaX: -0.400000 m, approachRate: -0.792223 m/s, rangeRepo size: 4  Added new target pos. range: 2.900000 m, bearing: 179.789170 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 11.900513 s, deltaX: -6.600000 m, approachRate: -0.554598 m/s, posRepo size: 4 checking for new query: numPingsReceived=69, elapsed TxPingTime=30.777384ggBIntercept lockout. Range: 2.90 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUTg@bgZgrgjgRgZfRfee^B"dccc@33@c P?ɢaew= im@Ii ɡiIVIiN=i=))I!i!!))>AM =i rD %=jD Dm Dm uDm + DDAT read: Rx Time:18:23:44.9624  TRx dataTimestamp_ set to:1755627826.779591 PDAT read: Bearing 309.8, 10.3 (Local)  ~Local bearing/azimuth received: Bearing 309.8, 10.3 (Local) % DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 5 Z#Rx 70: Read range message, but no direction. ,@ M checking for new query: numPingsReceived=70, elapsed TxPingTime=31.053738Di Em : Em :6Em [4:Ei !m @!m @!m @!m @I I N >,L,L0)Aɰ<vBP~BRǍCBR6(IBRˆBBR =BPBPBRT;BRlEy 3-@ٱ .;@ .< aY; H ? '˿ ,f~? ?{? Ӑ J+k?`?I 3-@) S^;i fCeBe(IBDuJ6Du04Y`!L= ;Q)>99EY%EA>Q 14٪?Q 54 B9YD@Q E?y|C):IB:i+4Y15@1uB*** querying acoustic contact ***:hqBhq addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503731 s, deltaX: -0.200000 m, approachRate: -0.397037 m/s, rangeRepo size: 4 ggbgZgrgjgRgZfRfee"dccc@c]?ɢ-B-r= 15!@I1 5ȅɡ1i1I5.cI9i=΀=i=4=)A)AԡI@i@@>A=nManaging dock network, ignoring radio surface power offeDAT read: 18:23:44.9624 LVL= 23504, 32753, 31378, 32755, AGC= 39, IDX= 497, 0.01, 3.057, 1.465, 2.861, 2.497, PHS= 0.661,-0.987, 0.320, RAW= 138.7, 0.1, CAL= 138.9, 0.7, ROT= 11.1, -0.7 mYgot valid direction response: 18:23:44.9624 LVL= 23504, 32753, 31378, 32755, AGC= 39, IDX= 497, 0.01, 3.057, 1.465, 2.861, 2.497, PHS= 0.661,-0.987, 0.320, RAW= 138.7, 0.1, CAL= 138.9, 0.7, ROT= 11.1, -0.7 uZ#Rx 71: Read direction message, but no range.}\direction in FSK: [0.981219,0.192508,0.012217]9=Ȝ3J&f?Y?I:?9I=[i9=z99=L7)? =|)= ף>I=@i=:='@=+H<=aF>=+HI9)=TjO? ?D*W?=>=V=aF> =+Hchecking for new query: numPingsReceived=71, elapsed TxPingTime=31.302380IIN> q3L,qL0)Ayj-@ٱj;@jQ9Q9UEYU %E]gA]>aYgot valid direction response: 18:23:45.4621 LVL= 31392, 32753, 32242, 31331, AGC= 40, IDX= 510, 0.27,-2.967, 1.780, 3.124, 2.666, PHS= 0.751,-0.841, 0.414, RAW= 138.4, -4.5, CAL= 138.6, -4.9, ROT= 11.4, 4.9 T#Rx 72: Read range and direction messages.^direction in FSK: [0.976689,0.196935,-0.085417]Fpublishing direction and range info)eA?f**5?b$ݵ3@Izi}cz(A@? KWQ 14٪eف?Q 54e# eB9YtD@Q E?yeC)eWfI#@i|٠T@%%K>%=Ii)} D?wzF'??iW>F=%K> %=Iichecking for new query: numPingsReceived=72, elapsed TxPingTime=31.646307JhRh/L0)Ah3@hJG@A@1H\#?XԐ%ɿ~)eA?f**5?b$ݵhh%= ~TL0YX?+y_ο~tᅵHfL??gijh:=rhbZh?bhzh+Bh#?hhBh& @hI@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504587 s, deltaX: -0.400000 m, approachRate: -0.792728 m/s, rangeRepo size: 4  Added new target pos. range: 2.300000 m, bearing: 180.458546 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 1.008318 s, deltaX: -0.600000 m, approachRate: -0.595051 m/s, posRepo size: 4 ggbgZgrgjgRgZfRfeAeA"dAcAcIcM`ff@cM`f?ɢr= @I rɡiI<@nIi =i  =) ) QIi5U checking for new query: numPingsReceived=72, elapsed TxPingTime=31.785295ԁ >A =Iy I N >?:L,L0)A B (IMb@Mb@Mb@ )Ii|?5^?(\µ?y&1| ?=`)Ii\@\@ @BD76Dp3Yin=! \= Q)>99EY%EA%>9bDZDAAQ 14٪=(p?Q 54=ļ =B9~?Q A:YD@Q E?y=C)= >I ) 3% b?7[W }? Xҿ l> eݔ> 5z>  >] checking for new query: numPingsReceived=74, elapsed TxPingTime=32.298473>Ae =I I Nu >L7AL,M0)A(HiHy,@ٱ:@:<;H.̿9g?0Uֈ?@昿@ |?`b?I,@)>^;idCBD-D6D-J3=]A9A9EEYE%EEqAM>QQ 1U4٪U\^?Q 5]4U\ UB9YY]fD@Q E]?yUՒC)U1:IU(:iU4Ym˔Bm@iggbgZgrgjgRgZfRfee"dcccc`.?ɢ|= @I jwɡiIdՃIic=i$=))ԁI@i/@=@=DDqD-DE1: E$ :6Et4:E"El;!Em;!*EU;!EU;!uDDAT read: Rx Time:18:23:46.4619 TRx dataTimestamp_ set to:1755627828.291383PDAT read: Bearing 278.8, 13.3 (Local) Ա~Local bearing/azimuth received: Bearing 278.8, 13.3 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.4  DAT read: 18:23:46.4619 LVL= 26032, 30497, 26146, 25155, AGC= 30, IDX= 507, 0.15,-1.466,-2.904,-1.770,-2.669, PHS= 1.305,-0.190, 0.855, RAW= 133.0, -27.7, CAL= 133.4, -28.7, ROT= 16.6, 28.7 %Ygot valid direction response: 18:23:46.4619 LVL= 26032, 30497, 26146, 25155, AGC= 30, IDX= 507, 0.15,-1.466,-2.904,-1.770,-2.669, PHS= 1.305,-0.190, 0.855, RAW= 133.0, -27.7, CAL= 133.4, -28.7, ROT= 16.6, 28.7 uT#Rx 75: Read range and direction messages.)%͈G 9>Ae=)IGw%xA^direction in FSK: [0.840589,0.250590,-0.480224]Fpublishing direction and range infoIIA y}?J냬 ?KTa޿}@yI}ei}!w}"f}CbN >}}= ? }\B)}HZ?I}@i}}\@};}V>};?Iyiy)}l4?.&c?$ّYԷݿ}Hg>}>>}V> };?Iyiy checking for new query: numPingsReceived=75, elapsed TxPingTime=32.651791 YGL,oM0)Ay6,@ٱ6}:@6<6>;6H)4̿И? ,?3|??I6,@)6Z^;i6aCBBB(Ii@I@l!r@!r !r@!r !r@!r !v@!v BDv36Dv3Y2!%<%w;Q)%>)9)9-EY-%E-zûA5>1Q 1]4٪5K?Q 5]45 5BQ =e+:9aQ Ae:Ye?D@Q Ee?y5C)5.;I5F>i5f4YmƔBu)@u>Echecking for new query: numPingsReceived=75, elapsed TxPingTime=32.793331JhRhM0)Ah@h0D?J냬 ?KTa~?J냬 ?KTa޿hV>h;? ۷DjveG~۷DjveGjhrhݿZh5m ?bhzhBh𷝊?hhhp?hA|K@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504581 s, deltaX: -0.300000 m, approachRate: -0.594553 m/s, rangeRepo size: 4 - Added new target pos. range: 2.000000 m, bearing: 182.169573 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 1.007205 s, deltaX: -0.300000 m, approachRate: -0.297854 m/s, posRepo size: 4 g)g)bg1Zg1rgqjgqRgqZfqRfyeyey"dyccc@cq?ɢB-= @I DpɡiI8Ii+=iz=))  I!i!!!!1DDzD*DE: E :6E(N4:E!@!@!@!@>A = DDAT read: Rx Time:18:23:46.9618  TRx dataTimestamp_ set to:1755627828.795357 PDAT read: Bearing 275.9, 11.4 (Local)  ~Local bearing/azimuth received: Bearing 275.9, 11.4 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.3  DAT read: 18:23:46.9618 LVL= 25536, 29809, 26946, 31843, AGC= 27, IDX= 507, 0.22, 2.017, 0.741, 1.785, 0.866, PHS= 1.253,-0.081, 0.875, RAW= 134.0, -31.3, CAL= 134.9, -31.6, ROT= 15.1, 31.6  Ygot valid direction response: 18:23:46.9618 LVL= 25536, 29809, 26946, 31843, AGC= 27, IDX= 507, 0.22, 2.017, 0.741, 1.785, 0.866, PHS= 1.253,-0.081, 0.875, RAW= 134.0, -31.3, CAL= 134.9, -31.6, ROT= 15.1, 31.6  T#Rx 76: Read range and direction messages. ^direction in FSK: [0.822319,0.221879,-0.523986] Fpublishing direction and range info EpP?Lf?F~ f? I ci qt Bi c|  Nb? T㥽) `?I @i K@ 0 V> 0 ?I i ) \X?+9?p࿩ ={> ? V> 0 ?I i 5 checking for new query: numPingsReceived=76, elapsed TxPingTime=33.070763a vBI ~BI BM *(IBM BBM =BI BI BM T;BM cEA AI I N >ML,8M0)A~B~(IBD 96D 39YE;:!EH=MQ)M>MK?9MK?9MEYM%EUAU>yQ 14٪}(8?Q 54}v }ߓBQ = :9Q Ax:YQ E?y}C)}i;I}Q?i}"4Y@JhRh!2M0)Ahf?hZ8F,ˮ?\$;x?Q|.~EpP?Lf?F~hV>h0 ?  )$?*) }3V~Y"W$hjhLrh!Zh?bh:zhBh?h:h+BhR?h[K@E addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503974 s, deltaX: -0.200000 m, approachRate: -0.396846 m/s, rangeRepo size: 4 } Added new target pos. range: 1.800000 m, bearing: 182.544120 deg, lat: 36.779359 deg, lon: -121.859507 deg, deltaT: 0.503974 s, deltaX: -0.200000 m, approachRate: -0.396846 m/s, posRepo size: 4 gygybgyZgyrgjgRgZfRfee"dccc?c`?ɢB>= ?I iɡiIXTI)i5e>=i5U=)1)1ichecking for new query: numPingsReceived=76, elapsed TxPingTime=33.298229I?iԑ>A = A= yAIa I BE|a4JEd4REˆ0D D oD (D E C: E :6E c44:E "E ;! E ;! *E N;! E N;!  DDAT read: Rx Time:18:23:47.4616  TRx dataTimestamp_ set to:1755627829.299926 PDAT read: Bearing 263.7, 13.0 (Local)  ~Local bearing/azimuth received: Bearing 263.7, 13.0 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.1  DAT read: 18:23:47.4616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 505,-0.00, 2.081, 0.956, 1.762, 0.649, PHS= 1.534, 0.352, 1.069, RAW= 127.0, -45.4, CAL= 130.3, -42.9, ROT= 19.7, 42.9 % Ygot valid direction response: 18:23:47.4616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 505,-0.00, 2.081, 0.956, 1.762, 0.649, PHS= 1.534, 0.352, 1.069, RAW= 127.0, -45.4, CAL= 130.3, -42.9, ROT= 19.7, 42.9 % T#Rx 77: Read range and direction messages.Nu >TL,XTM0)A^direction in FSK: [0.689668,0.246937,-0.680721]Fpublishing direction and range infoPƪ?{|?8F,w?IiZ? X9>)Ԉ?IA @ibJ@֭?x >֭??Ii)] P?0?I濩=LJ?x > ֭??IiJchecking for new query: numPingsReceived=77, elapsed TxPingTime=33.590393`ɰtv4 H?9 H?9EY&%E A>Q 14٪?Q 54 ړBQ =T:97?Q A:YjE@Q E?y8C);It;iÁ4YB@=EJhRh1SM0)Ah?hq@<@Q?aP\?j4aYV~Pƪ?{|?8F,whx >h֭?? J;𿢘mv'~K'U >=fjhn rhZh!1ĝ?bh` zhBh5m ?hhBhʗ?hGM@} addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504569 s, deltaX: -0.300000 m, approachRate: -0.594567 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 184.107027 deg, lat: 36.779359 deg, lon: -121.859507 deg, deltaT: 0.504569 s, deltaX: -0.300000 m, approachRate: -0.594567 m/s, posRepo size: 4 ggbgZgrgjgRgZfRfeeOB"dccc?c?checking for new query: numPingsReceived=77, elapsed TxPingTime=33.801327ɢ9=Ƨ= 9E@IA EP7`ɡAiAIE5IIiMR=iM=)I)I- @i) ) - -0) @1 @1 A >Au =ԁ bA ZA AD D rD *D E : E ?:6E (N4:E !5@!5@!=@!=@DDAT read: Rx Time:18:23:47.9616 TRx dataTimestamp_ set to:1755627829.803583PDAT read: Bearing 240.9, 12.7 (Local) ~Local bearing/azimuth received: Bearing 240.9, 12.7 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 18:23:47.9616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 504,-0.09,-0.020,-0.740,-0.367,-1.780, PHS= 1.861, 1.085, 1.369, RAW= 111.2, -66.0, CAL= 117.8, -63.8, ROT= 32.2, 63.8 Ygot valid direction response: 18:23:47.9616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 504,-0.09,-0.020,-0.740,-0.367,-1.780, PHS= 1.861, 1.085, 1.369, RAW= 111.2, -66.0, CAL= 117.8, -63.8, ROT= 32.2, 63.8 T#Rx 78: Read range and direction messages.^direction in FSK: [0.373599,0.235268,-0.897258]Fpublishing direction and range infoZ ?sI3C?U=&WIAAII1NE?\L,lvM0)AA A<vB~BB(IBBB =BBB|T;B`EBmƍCBmƍCBiBiBm =Bmw4,i?5? H?)d;?IUl?irx@Ӈ?Ӈ?Ii)D:? -᯿)RM:z8c?? Ӈ?IiVchecking for new query: numPingsReceived=78, elapsed TxPingTime=34.126881y+@ٱ9@h,=<H`ο Qs ?  C? (??I+@)^;iaCB(I<R=BD%46D%f3YUĻ!U<=]]K?9]K?9]EY],%Ee})Ae>iQ 14٪m ?Q 54m m֓B9Y!E@Q E?ymVC)mL:Im:imʁ4YB|@A X=A5 yAIa I N >*dL,zM0)ADDqD-DE E$ :6Et4:E"E;!2E;!6*EU;!:EU;!>D~DDAT read: Rx Time:18:23:48.4615 TRx dataTimestamp_ set to:1755627830.304990 PDAT read: Bearing 226.5, 9.9 (Local)  ~Local bearing/azimuth received: Bearing 226.5, 9.9 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 18:23:48.4615 LVL= 32752, 32753, 32754, 29587, AGC= 28, IDX= 503, 0.02, 0.487, 0.129, 0.266,-1.314, PHS= 1.903, 1.488, 1.535, RAW= 96.0, -77.3, CAL= 98.8, -76.6, ROT= 51.2, 76.6 Ygot valid direction response: 18:23:48.4615 LVL= 32752, 32753, 32754, 29587, AGC= 28, IDX= 503, 0.02, 0.487, 0.129, 0.266,-1.314, PHS= 1.903, 1.488, 1.535, RAW= 96.0, -77.3, CAL= 98.8, -76.6, ROT= 51.2, 76.6 T#Rx 79: Read range and direction messages.^direction in FSK: [0.145214,0.180610,-0.972776]Fpublishing direction and range info|~`?7:? "$ ~3?|I|i||~s~~? ~v?)~z?I~Pw?i~~?~D ~d?~D ?I|i|)~[`?c Iy6←~ ׾~?~d? ~D ?I|i|checking for new query: numPingsReceived=79, elapsed TxPingTime=34.6098375Bu(IԹBDU86DU3Y! =Q)> H?9 H?9EY2%EAE>IQ 1U4٪M?Q 5U4M% MѓB9YYYQ E]?yM{C)M:IM:iMӁ4Y!%@!Jh|Rh~M0)Ah~3?h~~NP?<A5 i=9 rA= >jA= >A%ADDuDDE1: E:6E:E!@!@!@!@II)N=?MDDAT read: Rx Time:18:23:48.9616 UTRx dataTimestamp_ set to:1755627830.807305]PDAT read: Bearing 221.2, 1.4 (Local) e~Local bearing/azimuth received: Bearing 221.2, 1.4 (Local) uDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ԁDAT read: 18:23:48.9616 LVL= 30112, 28625, 29170, 25139, AGC= 27, IDX= 504, 0.18,-0.142,-0.271,-0.143,-2.015, PHS= 1.975, 1.788, 1.827, RAW= 101.4, -85.1, CAL= 102.6, -84.8, ROT= 47.4, 84.8 Ygot valid direction response: 18:23:48.9616 LVL= 30112, 28625, 29170, 25139, AGC= 27, IDX= 504, 0.18,-0.142,-0.271,-0.143,-2.015, PHS= 1.975, 1.788, 1.827, RAW= 101.4, -85.1, CAL= 102.6, -84.8, ROT= 47.4, 84.8 T#Rx 80: Read range and direction messages.^direction in FSK: [0.061347,0.066714,-0.995884]Fpublishing direction and range infoQUNzh?q 1?HU?QIUuiUoUqU3bUU? U/?)U#?IU?iUU5?lLqS?q?Ii)+f-?;\!Ż←D5?S? q?Ii checking for new query: numPingsReceived=80, elapsed TxPingTime=35.078056,摴M0)APiPvB)~B)B-(IB-BB)B)B)B-eT;B-UEy]+@ٱ]9@]ۄ<]=]H @TOο@\! u1?@j?@n @?@1?I]+@)]6^;i]bCB(IMb@Mb@Mb@ )Iip= ף?:v?MbP??=:)@I@i/@@ ׳@BDG6D4Y:-=! ='Q)>D?9D?9EY9%E^A>Q 14٪۝?Q 54۹ ΓB9?Q A:YpF@Q E?yC).;I~:iX܁4Y%B%@!JhRh㪳M0)Ah?h<? I?-6~Nzh?q 1?HhS?hq? cY,殴sKM.*~.wݓ`d}!9jhJrhwZhfFԝ?bh0UzhBhfFԝ?h` hBhgI>h%@@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502315 s, deltaX: 0.100000 m, approachRate: 0.199078 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 245.746191 deg, lat: 36.779362 deg, lon: -121.859508 deg, deltaT: 0.502315 s, deltaX: 0.100000 m, approachRate: 0.199078 m/s, posRepo size: 4 g TStarting intercept timer at range: 1.50 m.XStarting latch delay timer at range: 1.50 m."Cable is present.gbgZgrgjgRg?ZfRfe!eEIB"dAcIcIcM?cM ?ɢB= 顝_@I kCHɡiIŤIiQx=i=))S{A!I% i!!%l !Uchecking for new query: numPingsReceived=80, elapsed TxPingTime=35.315578I >A= P=ԁ A I I N>%VtL,I0M0)ADDpD)DE: E :6EFA4:E"E!*E!.*E+R;!2E,R;!2jDDAT read: Rx Time:18:23:49.4615 nTRx dataTimestamp_ set to:1755627831.311258rPDAT read: Bearing 219.7, 8.7 (Local) r~Local bearing/azimuth received: Bearing 219.7, 8.7 (Local) zDAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 ]DAT read: 18:23:49.4615 LVL= 26512, 28513, 29410, 25395, AGC= 33, IDX= 503, 0.48,-1.967,-2.156,-2.168, 2.343, PHS= 2.075, 1.829, 1.728, RAW= 73.6, -81.2, CAL= 74.8, -80.7, ROT= 75.2, 80.7 eYgot valid direction response: 18:23:49.4615 LVL= 26512, 28513, 29410, 25395, AGC= 33, IDX= 503, 0.48,-1.967,-2.156,-2.168, 2.343, PHS= 2.075, 1.829, 1.728, RAW= 73.6, -81.2, CAL= 74.8, -80.7, ROT= 75.2, 80.7 eT#Rx 81: Read range and direction messages.m^direction in FSK: [0.041281,0.156242,-0.986856]uFpublishing direction and range infohjƔ\"?&[?kRj3?hIjgijaojrj3cj!j@ j?)j/?Ijl?ij gj?jIj?jI?Ihih)jC#"?/NX&'u^XԁjzOjX?j? jI?Ihihchecking for new query: numPingsReceived=81, elapsed TxPingTime=35.599594y'R+@ٱM9@$c<ז;H@U8Ͽ@1?o ~?˙pw? D?I'R+@)'^;idCUBU (IiI ABD:6D{3ԱY#Ƽ!#=oQ)>99EY?%E_A>Q 14٪Ý?Q 54 ˓B9YE@Q E?yC):I:ip4YB/@;EJhhRhjM0)Ahj3?hjj#?qߦ?/w~jƔ\"?&[?kRhj?hjI? j}۳ej˿@xx~jcsq]#ÿygђjhjW[rhj؞Zhj~R?bhj-#zhj܅Bhhhj-#hj߅Bhj>>hji@u addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503953 s, deltaX: -0.100000 m, approachRate: -0.198431 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 312.285721 deg, lat: 36.779362 deg, lon: -121.859508 deg, deltaT: 0.503953 s, deltaX: -0.100000 m, approachRate: -0.198431 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dccc`ff?c ga?ɢ-B5a= 15@I1 5Q?ɡ9i9I=$ϫIaie{=ies=)a)i u&Changing to mode: 1checking for new query: numPingsReceived=81, elapsed TxPingTime=35.817898I i >A̓=bA)ZA)ADDD+DE: E6E [4:E!@!@!@!@A-нA=DDAT read: Rx Time:18:23:49.9616 =TRx dataTimestamp_ set to:1755627831.815694MPDAT read: Bearing 218.2, 9.2 (Local) M~Local bearing/azimuth received: Bearing 218.2, 9.2 (Local) ]DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 }DAT read: 18:23:49.9616 LVL= 29808, 30881, 32754, 29875, AGC= 35, IDX= 505,-0.29,-2.485,-2.662,-2.704, 1.826, PHS= 2.075, 1.840, 1.710, RAW= 69.3, -80.9, CAL= 70.4, -80.4, ROT= 79.6, 80.4 IIYgot valid direction response: 18:23:49.9616 LVL= 29808, 30881, 32754, 29875, AGC= 35, IDX= 505,-0.29,-2.485,-2.662,-2.704, 1.826, PHS= 2.075, 1.840, 1.710, RAW= 69.3, -80.9, CAL= 70.4, -80.4, ROT= 79.6, 80.4 T#Rx 82: Read range and direction messages.^direction in FSK: [0.030105,0.164029,-0.985996]Fpublishing direction and range info9=2ӫӞ?2[?G=?9I=pti=x==tN5?]|L,ǍCB>'IB>BB<B<B<B>_T;B>RE# ?)H?ITњ?i{nF?ӱ??Ii).ݹ?۱(t5Ws←a2?ӱ? ?IiRchecking for new query: numPingsReceived=82, elapsed TxPingTime=36.122784yjF*@ٱjA8@j4$fUj=U)Ur@IU@iU\@Q QU@BD;6D)3Q)>WA?9WA?9EYE%EJA>Q 14٪?Q 54g ƓB9o>Q A ;YG@Q E?yؓC);Ir;i4Y JhRhU4M0)Ah?htP fހ?Z~?K¬~2ӫӞ?2[?Gahӱ?h? ַ&пЂm~4jȯzKſņk<{jh0rhZh"Ĭ?bh zhBhhR=h܅Bh>hkS@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504436 s, deltaX: 0.100000 m, approachRate: 0.198241 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 326.453168 deg, lat: 36.779362 deg, lon: -121.859509 deg, deltaT: 0.504436 s, deltaX: 0.100000 m, approachRate: 0.198241 m/s, posRepo size: 4 g zggbgZgrgjgRgzgZf9Rf9e9eEWB"dAcAcAcE?cM@?ɢBZ= 顝@I 7ɡiIݖIio=iQ=))Imiiqu qԑchecking for new query: numPingsReceived=82, elapsed TxPingTime=36.321472>AM{=Ay I I N >Թ ӃL,A N0)ALD}D}qD}-DyE}1: E}$ :6E}t4:Ey"E}l;!E}n;!*E}U;!E}U;! DDAT read: Rx Time:18:23:50.4615 TRx dataTimestamp_ set to:1755627832.319471-PDAT read: Bearing 218.0, 8.4 (Local) -~Local bearing/azimuth received: Bearing 218.0, 8.4 (Local) =DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 eDAT read: 18:23:50.4615 LVL= 27600, 27697, 31042, 26483, AGC= 34, IDX= 504,-0.19,-2.633,-2.815,-2.829, 1.720, PHS= 2.032, 1.793, 1.690, RAW= 72.9, -81.1, CAL= 74.1, -80.7, ROT= 75.9, 80.7 uBu'(IYgot valid direction response: 18:23:50.4615 LVL= 27600, 27697, 31042, 26483, AGC= 34, IDX= 504,-0.19,-2.633,-2.815,-2.829, 1.720, PHS= 2.032, 1.793, 1.690, RAW= 72.9, -81.1, CAL= 74.1, -80.7, ROT= 75.9, 80.7 T#Rx 83: Read range and direction messages.^direction in FSK: [0.039369,0.156735,-0.986856]Fpublishing direction and range info0(?*?kR3?Iki1lBysg"J @ ?)Q?I4ܢ?i-~?I?I?Ii);bٺ?Z5ݼC|7I←ORE?? I?Iichecking for new query: numPingsReceived=83, elapsed TxPingTime=36.593712BDC6D3YK=!<Q)>99EYJ%EA>Q 14٪?Q 54R B9YQ E?yC) ;I ;i4YBq@:EJhRh6rN0)Ah3?h|D8?1I@?/w~0(?*?kRh?hI? #Ÿn?t̿E~TTLh걱DSĿG9jhcrh/ƽZhW?bh7+zhBh~R?h7+hh®>h]@E addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503777 s, deltaX: -0.100000 m, approachRate: -0.198501 m/s, rangeRepo size: 4 U Added new target pos. range: 1.400000 m, bearing: 319.362379 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.503777 s, deltaX: -0.100000 m, approachRate: -0.198501 m/s, posRepo size: 4 gUzgYgYbgYZgYrgYjgYRgYzgYZfaRfaeieq"dccc`ff?c]?ɢB)۸= 顝@I /ɡiIIicb=i`X=) )Ii  checking for new query: numPingsReceived=83, elapsed TxPingTime=36.825417 >A rA ?jA ?Q A%AIIIN?[L,41N0)ATDDlD,DE: E:6Eg4:E!@!@!@!@yu R)@ٱuM7@u~<)@IE@ir@ (@vB~BB(IBBB =BBBBT;BDEBD=6D3Y!= ;Q)>D?9D?9EYP%EڼA>!Q 1-4٪%O?Q 5-4% %B9U# >Q AU;YU?@Q EU?y%C)%;I%a;i%4Yae{@aJhRh4N0)Ah?h N@+W?k?"~Xҳ?*\t?XUjyhZQ?hӱ? |_ ƿoPrпCM~L?>ͺmn%¿]"xjhrh@6ZhLP?bhtzh]Bh"Ĭ?hhBh|>h@5 addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503833 s, deltaX: 0.300000 m, approachRate: 0.595436 m/s, rangeRepo size: 4 E Added new target pos. range: 1.700000 m, bearing: 300.180465 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 0.503833 s, deltaX: 0.300000 m, approachRate: 0.595436 m/s, posRepo size: 4 gAzgAgAbgAZgargijgiRgizgiZfiRfieqeu^B"dqcqcyc}@33?c}j?ɢB3= @I 'ɡiI<ǻIixE=i!=)) )AI!i @@=>Au \=] checking for new query: numPingsReceived=84, elapsed TxPingTime=37.329357i A I I N >6L,JN0)AyR(@ٱR6@R F@Q E ?yC):IB:i4Y=B*** querying acoustic contact ***:h9Bh9gAzgAgAbgIZgIrgIjgIRgIzgIZfIRfIeQeQY"dYcYcacace`?ɢBE > W+顥9@I 5#ɡiIWϻIi/=i<))I5#i99E ADDpD+DE: E :6E [4:E"E;!%E;!%*E+R;!%E,R;!-ԁDDAT read: Rx Time:18:23:51.4616 TRx dataTimestamp_ set to:1755627833.327306PDAT read: Bearing 221.1, 8.8 (Local) ~Local bearing/azimuth received: Bearing 221.1, 8.8 (Local) iI)MMG eA)yDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 I-AADAT read: 18:23:51.4616 LVL= 29808, 29393, 32210, 25395, AGC= 34, IDX= 504,-0.20, 1.300, 0.996, 1.088,-0.584, PHS= 1.985, 1.625, 1.627, RAW= 90.4, -79.0, CAL= 92.5, -78.4, ROT= 57.5, 78.4 -Ygot valid direction response: 18:23:51.4616 LVL= 29808, 29393, 32210, 25395, AGC= 34, IDX= 504,-0.20, 1.300, 0.996, 1.088,-0.584, PHS= 1.985, 1.625, 1.627, RAW= 90.4, -79.0, CAL= 92.5, -78.4, ROT= 57.5, 78.4 5T#Rx 85: Read range and direction messages.e^direction in FSK: [0.108039,0.169587,-0.979575]eFpublishing direction and range info(?u'. )"9j←b>?t? %?Ii checking for new query: numPingsReceived=85, elapsed TxPingTime=37.654202Ա>AlT=A I I N% > L,dN0)Ay6'@ٱ65@6[<6O#<6H"ӿ`{?%Ӡ?*??I6'@)6e_;i4BBB4(I Mb@Mb@Mb@  ) I i  V-?kt?~jth <  0= D) r@I /@i E@%checking for new query: numPingsReceived=85, elapsed TxPingTime=37.865269 @  @BD-76D-p3Y=<!EI9I9MEYMY%EMsAM>QQ 1]4٪U?Q 5e4U3 UB9eT=Q Aeh@} addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504002 s, deltaX: -0.200000 m, approachRate: -0.396824 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 277.624920 deg, lat: 36.779356 deg, lon: -121.859509 deg, deltaT: 0.504002 s, deltaX: -0.200000 m, approachRate: -0.396824 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee_B"dccc?c?ɢ5B5I= 5Ҽ5@I1 =>rɡ9i9I=I{ػIAiE=iEz<)A)II%i >A=bA}AZA{ADDvD,DE E:6Eg4:E!@!@!@!@AIIN> DDAT read: Rx Time:18:23:51.9616  TRx dataTimestamp_ set to:1755627833.868691A <A vB ~B ƍCB (IB BB =B B B >T;B AE5 PDAT read: Bearing 221.6, 8.0 (Local) 5 ~Local bearing/azimuth received: Bearing 221.6, 8.0 (Local) E DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 m DAT read: 18:23:51.9616 LVL= 27072, 31089, 32754, 26899, AGC= 33, IDX= 504,-0.12, 1.498, 1.169, 1.301,-0.385, PHS= 1.985, 1.599, 1.642, RAW= 95.7, -78.8, CAL= 98.2, -78.2, ROT= 51.8, 78.2 u Ygot valid direction response: 18:23:51.9616 LVL= 27072, 31089, 32754, 26899, AGC= 33, IDX= 504,-0.12, 1.498, 1.169, 1.301,-0.385, PHS= 1.985, 1.599, 1.642, RAW= 95.7, -78.8, CAL= 98.2, -78.2, ROT= 51.8, 78.2 u T#Rx 86: Read range and direction messages.} ^direction in FSK: [0.126462,0.160705,-0.978867]} Fpublishing direction and range info  `/?v?5 ޭR  I ii qy  i !  ?) -?I ?i x  a? R qg? R?I i ) k\>?d^1b=U䏇c← |׾ ? qg?  R?I i  checking for new query: numPingsReceived=86, elapsed TxPingTime=38.1425369 wL,~N0)Ay6&@ٱ6 4@6&w<6<6Hf`ӿ)?+e`{? ON0?k?I6&@)6$^;i6cCBBB*(IBDH6DHY=,!=K==4;Q)E>A9A9EEYE^%EMx AM>QQ 1]4٪U6?Q 5]4U Q9YY]Q E]?yUC)UZ:IU:iU4YimC@iJh1Rh5wN0)Ah1h5C5P8G? ?fB)~~5`/?v?5 ޭRh5qg?h5R? 5钂Ϳ 9X˿S=cu~5 Wÿ^Y:¿YGjh5Zrh5nZh5/?bh5ρ(zh5ʅBh5LP?h1h5ʅBh5q>h5@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.541385 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 245.303997 deg, lat: 36.779355 deg, lon: -121.859509 deg, deltaT: 0.541385 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dcccc/?ɢ B= @I IɡiI%TI!i%&ɀ=i-Ym;))))=}A=}AI0'i @~A@~AUchecking for new query: numPingsReceived=86, elapsed TxPingTime=38.373837A>A5ԙ  DDAT read: Rx Time:18:23:52.4615  TRx dataTimestamp_ set to:1755627834.371164 PDAT read: Bearing 220.6, 8.5 (Local)  ~Local bearing/azimuth received: Bearing 220.6, 8.5 (Local) % DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 M DAT read: 18:23:52.4615 LVL= 29568, 29985, 32754, 26803, AGC= 33, IDX= 503,-0.02, 1.324, 0.996, 1.122,-0.574, PHS= 2.000, 1.615, 1.652, RAW= 94.9, -78.8, CAL= 97.3, -78.2, ROT= 52.7, 78.2 U Ygot valid direction response: 18:23:52.4615 LVL= 29568, 29985, 32754, 26803, AGC= 33, IDX= 503,-0.02, 1.324, 0.996, 1.122,-0.574, PHS= 2.000, 1.615, 1.652, RAW= 94.9, -78.8, CAL= 97.3, -78.2, ROT= 52.7, 78.2 ҥL,lN0)A"T#Rx 87: Read range and direction messages.&^direction in FSK: [0.123922,0.162671,-0.978867]&Fpublishing direction and range info15o^?B/i?5 ޭR53?1I5si5!u15h15@ 5R?)5t?I56?i15^?15Cwk?1I1i1)5{? d←5n߾5]?5Cwk? 1I1i12checking for new query: numPingsReceived=87, elapsed TxPingTime=38.648930yj>&@ٱj6 4@j쌹&@)j^;ijaCB,(IBD;6D)3Y &<ԁ!>=Q)> H?9 H?9EYd%EvҼA>Q 1%4٪?Q 5-4 B9)Y-qQ E?yC)fh5!r@m addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.502473 s, deltaX: -0.100000 m, approachRate: -0.199016 m/s, rangeRepo size: 4 } Added new target pos. range: 1.400000 m, bearing: 228.686989 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.502473 s, deltaX: -0.100000 m, approachRate: -0.199016 m/s, posRepo size: 4 gyzgygybgyZgyrgjgRgzgZfRfee"dccc`ff?cN?ɢ%B%= )-@I) - ɡ)i)I5I1i5u=i=ֺ)9)9ԡ]checking for new query: numPingsReceived=87, elapsed TxPingTime=38.877411- }UI 'i / >A H<rA #?jA ? D D vD D E : E :6E :E ! @! @! @! @A-%AI1IANU>AL,vN0)AyRR%@ٱRM3@R D?9 D?9 EYj%EʺA>Q 1e4٪D?Q 5e4 9er_49#MjhbDTrhbinZhb?bhb\ vzhbυBhb/?hb\ vhbυBhbo>hb,*y@e addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504163 s, deltaX: 0.100000 m, approachRate: 0.198349 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 223.063874 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.504163 s, deltaX: 0.100000 m, approachRate: 0.198349 m/s, posRepo size: 4 gzg gbgZgrgjgRgzgZfRfeebB"d!c!c!c%?c- r?ɢB7= 顝I@I ɡiI7Ii=ir1))ԩmchecking for new query: numPingsReceived=88, elapsed TxPingTime=39.381443  ѼI 'i @ DDD,DE: EX:6Eg4:E"E;!E;!*El;!El;!%DDAT read: Rx Time:18:23:53.4614 %TRx dataTimestamp_ set to:1755627835.379237-PDAT read: Bearing 218.0, 9.6 (Local) 5~Local bearing/azimuth received: Bearing 218.0, 9.6 (Local) EDAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 uDAT read: 18:23:53.4614 LVL= 26832, 28401, 32306, 24627, AGC= 32, IDX= 503, 0.24, 2.507, 2.201, 2.296, 0.588, PHS= 2.021, 1.658, 1.664, RAW= 90.9, -79.2, CAL= 93.0, -78.7, ROT= 57.0, 78.7 }Ygot valid direction response: 18:23:53.4614 LVL= 26832, 28401, 32306, 24627, AGC= 32, IDX= 503, 0.24, 2.507, 2.201, 2.296, 0.588, PHS= 2.021, 1.658, 1.664, RAW= 90.9, -79.2, CAL= 93.0, -78.7, ROT= 57.0, 78.7 T#Rx 89: Read range and direction messages.^direction in FSK: [0.106720,0.164334,-0.980615]Fpublishing direction and range info!>AP;A%Q?t?_<1a%?!I%hi%n%2~%3`% %X@ %X9?)%?I%?i%;ﰿ%?%Fѯ%~?%Fѯ?I!i!)% ?To*\d$o←%X%?%~? %Fѯ?I!i!checking for new query: numPingsReceived=89, elapsed TxPingTime=39.708096A!IAIQN]"?iL,N0)Ai|B3(IMb@Mb@Mb@ )IiL7A`堿Mb+)@I/@i (@BD=6D3Y;!=%Q)%>!9!9%EY%r%E-A->QQ 1]4٪U?Q 5]4U Q9] =Q AehM5t@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503910 s, deltaX: -0.300000 m, approachRate: -0.595344 m/s, rangeRepo size: 4 )M Added new target pos. range: 1.200000 m, bearing: 218.627367 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.503910 s, deltaX: -0.300000 m, approachRate: -0.595344 m/s, posRepo size: 4 gIzgIgIbgIZgQrgQjgQRgQzgQZfQRfQeYe]iB"dYcYcace@33?uchecking for new query: numPingsReceived=89, elapsed TxPingTime=39.885384ce`?ɢBܽ= @I OOɡiIIiM=it."))  I)YIE 'iA A E ] A ԉ bD ZD @AD D xD D E C: E :6E :E ! @! @! @! @>A% % DDAT read: Rx Time:18:23:53.9615 % TRx dataTimestamp_ set to:1755627835.8830585 PDAT read: Bearing 217.1, 8.4 (Local) 5 ~Local bearing/azimuth received: Bearing 217.1, 8.4 (Local) E DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 e DAT read: 18:23:53.9615 LVL= 27632, 29425, 32754, 26675, AGC= 30, IDX= 504, 0.44, 2.160, 1.864, 1.970, 0.284, PHS= 1.978, 1.625, 1.642, RAW= 92.4, -79.5, CAL= 94.6, -78.9, ROT= 55.4, 78.9 m Ygot valid direction response: 18:23:53.9615 LVL= 27632, 29425, 32754, 26675, AGC= 30, IDX= 504, 0.44, 2.160, 1.864, 1.970, 0.284, PHS= 1.978, 1.625, 1.642, RAW= 92.4, -79.5, CAL= 94.6, -78.9, ROT= 55.4, 78.9 u T#Rx 90: Read range and direction messages.A} AAA} AAvB s>~B B (IB BB =B B B CT;B CE ^direction in FSK: [0.109322,0.158472,-0.981293] Fpublishing direction and range info! % DŽ?*H?f% 3?! I% ki% r% % 3h% % /? % ?)% -?I% pl?i% Κ% V?% C% w?% C?I! i! )% 0?) n祵ɚu←% 7% ?% w? % C?I! i!  checking for new query: numPingsReceived=90, elapsed TxPingTime=40.156940Ա A-yAI1IANU>&L,/N0)AyVL"@ٱVD0@VUM H?9M H?9MEYMw%EUͽAU>YQ 1e4٪]%?Q 5e4] ]B9aYeQ Em?y]C)]:I]S:i]44Y@JhYRh]N0)Ah]3?h]̀]* h/?e?\$~]DŽ?*H?fh]w?h]C? ]%^vbʿY~ǿ$Z-~]~¿or& G5_jh];rh]SZh]FƋ?bh]zh]BhYh]h]Bh]C>h]~p@% addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503821 s, deltaX: 0.200000 m, approachRate: 0.396966 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.400000 m, bearing: 215.644240 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.503821 s, deltaX: 0.200000 m, approachRate: 0.396966 m/s, posRepo size: 4 gYzgYgYbgYZgYrgYjgaRgazgaZfaRfaԉeie"dccc`ff?c L?ɢB=  @I  Rɡ i I &Iik~=i=D))I'iM checking for new query: numPingsReceived=90, elapsed TxPingTime=40.389721Թ>A*:bA ZA }AAq Iy I N >D D ~D .D E : E (:6E ـ4:E "E ;! E ;! *E ;! E ;!  tL,O0)Ay^ !@ٱ^/@^Y<^;^H@ؿjv`[? 㱎? }??I^ !@)^$^;i^aCfBf3(IvDDAT read: Rx Time:18:23:54.4615 vTRx dataTimestamp_ set to:1755627836.387366~PDAT read: Bearing 215.3, 8.2 (Local) ~~Local bearing/azimuth received: Bearing 215.3, 8.2 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 5DAT read: 18:23:54.4615 LVL= 26304, 27681, 31218, 25587, AGC= 31, IDX= 504,-0.31,-0.843,-1.116,-1.016,-2.705, PHS= 1.964, 1.635, 1.645, RAW= 91.6, -80.1, CAL= 93.6, -79.6, ROT= 56.4, 79.6 =Ygot valid direction response: 18:23:54.4615 LVL= 26304, 27681, 31218, 25587, AGC= 31, IDX= 504,-0.31,-0.843,-1.116,-1.016,-2.705, PHS= 1.964, 1.635, 1.645, RAW= 91.6, -80.1, CAL= 93.6, -79.6, ROT= 56.4, 79.6 =T#Rx 91: Read range and direction messages.E^direction in FSK: [0.099898,0.150358,-0.983571]MFpublishing direction and range infotv}@=撹?>?XUjyttIvfiv!lvyvcvvZd? vG?)v\?Iv?iv񲿉v?vӱvd{?vӱ?Itit)vu`? :7|←vfv?vd{? vӱ?Ititechecking for new query: numPingsReceived=91, elapsed TxPingTime=40.657410BDm26Dm 3Y}<!}G=}IQ)>99EY|%E#A>Q 14٪M?Q 54, 9YX#Q E?y C)+;I{;i;4Yվ@JhtRhvO0)AhthvvcX??Y 21~v}@=撹?>?XUjyhvd{?hvӱ? v4uJǿӯĿ5;| ~vR<:}}:^jhvu$rhvm?Zhvی?bhv(ezhvBhvFƋ?hvھhthvѐ>hv3t@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504308 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 218.979400 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.504308 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dcccc?ɢMBM"H= IUf@IQ U ԼɡQiQIU IaimB}=imn)i) !I'ij @%}A@%}A>A`Ҽchecking for new query: numPingsReceived=91, elapsed TxPingTime=40.897079Q Aa Ii Iy N >L,0O0)A y=J @ٱ=B.@=<=:=H G<ٿ|?I a?`oB`_??I=J @)=<^;i=`CUƈBU;(IiYIYMb@Mb@Mb@ )IiI +~jtI +?9D94<)@IE@i BDE76DEp3YU<!U==]3;Q)]>Y9Y9]EYe%Ee6#Ae>iQ 1u4٪m񡝊?Q 5u4m mB9}=Q A} j@I  ɼɡiIIi%O^|=i%7,)!)!I  DDAT read: Rx Time:18:23:54.9616 TRx dataTimestamp_ set to:1755627836.896766vB5t>~B1B5(IB5BB5 =B1B1B5jT;B5WEePDAT read: Bearing 214.9, 9.8 (Local) e~Local bearing/azimuth received: Bearing 214.9, 9.8 (Local) }DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 18:23:54.9616 LVL= 30160, 30833, 32754, 28291, AGC= 30, IDX= 505,-0.14, 0.789, 0.478, 0.583,-1.075, PHS= 1.966, 1.597, 1.613, RAW= 92.2, -78.8, CAL= 94.5, -78.3, ROT= 55.5, 78.3 Ygot valid direction response: 18:23:54.9616 LVL= 30160, 30833, 32754, 28291, AGC= 30, IDX= 505,-0.14, 0.789, 0.478, 0.583,-1.075, PHS= 1.966, 1.597, 1.613, RAW= 92.2, -78.8, CAL= 94.5, -78.3, ROT= 55.5, 78.3 T#Rx 92: Read range and direction messages.^direction in FSK: [0.114860,0.167122,-0.979223] Fpublishing direction and range info'vg?DCd?$U?Iuiqxn? j?)v?I?ix r?쮿w??Ii)d?~P PTd←p?w? ?Iiuchecking for new query: numPingsReceived=92, elapsed TxPingTime=41.195381I'i q>Am CAy I ԙ I N > checking for new query: numPingsReceived=92, elapsed TxPingTime=41.402325]L,oJO0)Ag?@f@??INe<@)N^;iN]CB(IBD)6D)Y]!]\=]a9a9eEYe%EeaAm>iQ 1}4٪m?Q 54m mB9Y=Q E?ymC)m;ImƄ;imI4Y@JhQRhUd9O0)AhU?hUUjߔ ?ĕ3R2 ?[ UX~U'vg?DCd?$UhUw?hU? Ub~Ϳ8rE{i.ǿ_~Ux ATÿJ\辿`jhUs9rhU{mZhU?bhUDƾzhUBhUS #?hUDƾhQhUP>hUn@E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.509400 s, deltaX: 0.100000 m, approachRate: 0.196309 m/s, rangeRepo size: 4 % Added new target pos. range: 1.500000 m, bearing: 213.655011 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.509400 s, deltaX: 0.100000 m, approachRate: 0.196309 m/s, posRepo size: 4 gIzgQgQbgYZgYrgajgaRgazgyZfԱRfee"dc c c ?c @?ɢ]B]*= Y]@IY eG͹ɡaiIIi{=iW跽))DDD+DEU: E6E [4:E"E;!E;!*E5z;!E6z;!I(iu -DDAT read: Rx Time:18:23:55.4615 -TRx dataTimestamp_ set to:1755627837.400181=PDAT read: Bearing 213.9, 9.2 (Local) E~Local bearing/azimuth received: Bearing 213.9, 9.2 (Local) ]DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 }DAT read: 18:23:55.4615 LVL= 29936, 31025, 32754, 28579, AGC= 31, IDX= 504,-0.05,-0.078,-0.395,-0.275,-1.939, PHS= 1.963, 1.588, 1.620, RAW= 94.4, -78.9, CAL= 96.7, -78.3, ROT= 53.3, 78.3 Ygot valid direction response: 18:23:55.4615 LVL= 29936, 31025, 32754, 28579, AGC= 31, IDX= 504,-0.05,-0.078,-0.395,-0.275,-1.939, PHS= 1.963, 1.588, 1.620, RAW= 94.4, -78.9, CAL= 96.7, -78.3, ROT= 53.3, 78.3 T#Rx 93: Read range and direction messages.^direction in FSK: [0.121191,0.162590,-0.979223]Fpublishing direction and range info)-eC[?)脾?$U-3?)I-ti-1y)-o--C? -C?)-)\?I-B?i-C-?)-%n?)I)i))-1O?o]zDe←-"-+?-%n? )I)i)checking for new query: numPingsReceived=93, elapsed TxPingTime=41.671860 >A tErA +?jA 7?I I N >)L,eO0)A~B~4(IMb@Mb@Mb@ )Iii|?5~jtMb?<)@I/@i z@checking for new query: numPingsReceived=93, elapsed TxPingTime=41.905254BD86D3Yͯ=!8=Q)>99EY%EA>Q 14٪=?Q 5 4ȹ B9 >Q AM;YM>Q EM?yC)?&hrh@  addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503415 s, deltaX: -0.100000 m, approachRate: -0.198643 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 208.098106 deg, lat: 36.779354 deg, lon: -121.859508 deg, deltaT: 0.503415 s, deltaX: -0.100000 m, approachRate: -0.198643 m/s, posRepo size: 4 gzggbgZgrgjg!Rg!zg!Zf!RfAeIeI"dIcIcQcU`ff?cUJ#?aɢBO> :@I HҫɡiITIi y=i ಽ) ) %|A!I(i| 1@M=@M>ԑ>AumIID D xD -D E : E :6E t4:E !@!@!@!@N> DDAT read: Rx Time:18:23:55.9615  TRx dataTimestamp_ set to:1755627837.903356 PDAT read: Bearing 213.0, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 213.0, 8.7 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 Թ  DAT read: 18:23:55.9615 LVL= 26496, 29425, 32754, 26563, AGC= 31, IDX= 504, 0.03, 1.622, 1.291, 1.428,-0.263, PHS= 1.986, 1.599, 1.647, RAW= 96.5, -78.8, CAL= 99.0, -78.2, ROT= 51.0, 78.2  Ygot valid direction response: 18:23:55.9615 LVL= 26496, 29425, 32754, 26563, AGC= 31, IDX= 504, 0.03, 1.622, 1.291, 1.428,-0.263, PHS= 1.986, 1.599, 1.647, RAW= 96.5, -78.8, CAL= 99.0, -78.2, ROT= 51.0, 78.2  T#Rx 94: Read range and direction messages. ^direction in FSK: [0.128694,0.158923,-0.978867] Fpublishing direction and range info 2y?9xW?5 ޭR I gi r g ?5? ?) ?I D?i x +? R c? R?I i ) ϸ}?3:%0zhRd← nѾ ? c? R?I i  checking for new query: numPingsReceived=94, elapsed TxPingTime=42.173588vB ~B B B B B B B T;B gE8)L,O0)Ay6@ٱ6 *@6{6<6y*<6H@bu:ݿ5 3?@gw!?`6Á??I6@)6 u^;i6_CPRBR0(IVx9x9zEYz%E~x׽A>!Q 1-4٪%?Q 5-4% %œB91Y5=Q E5?y%#C)%q:I%%:i%X4Y9=@AJhRhyO0)Ahh$(%C? 4z? 7~2y?9xW?5 ޭRhc?hR?  HͿ dW¿s~j1ſ G;lԈ?cjhrhRlZhb1?bhuzhBh?hhh>hg@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 207.604598 deg, lat: 36.779355 deg, lon: -121.859508 deg, deltaT: 0.503175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZg rg jg Rg zg Zf Rf ee"d1c9c9c9c=.?ɢ}B > 額@I  ɡiI7mIiox=i'))checking for new query: numPingsReceived=94, elapsed TxPingTime=42.409248I(i~ >A õI I ! N- >) %G ) ADE DA DE 0DA EE 7: EA 6EE 4:EA "EE ;!M EE ;!M *EE Jo;!U EE Jo;!U Ie > a e B$L,XrO0)A *DDAT read: Rx Time:18:23:56.4614 *TRx dataTimestamp_ set to:1755627838.407671.PDAT read: Bearing 211.9, 9.2 (Local) 2~Local bearing/azimuth received: Bearing 211.9, 9.2 (Local) :DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 |DAT read: 18:23:56.4614 LVL= 25808, 28721, 32754, 26211, AGC= 31, IDX= 503, 0.13, 0.740, 0.398, 0.533,-1.141, PHS= 1.983, 1.584, 1.630, RAW= 96.0, -78.4, CAL= 98.6, -77.7, ROT= 51.4, 77.7 %Ygot valid direction response: 18:23:56.4614 LVL= 25808, 28721, 32754, 26211, AGC= 31, IDX= 503, 0.13, 0.740, 0.398, 0.533,-1.141, PHS= 1.983, 1.584, 1.630, RAW= 96.0, -78.4, CAL= 98.6, -77.7, ROT= 51.4, 77.7 %T#Rx 95: Read range and direction messages.-^direction in FSK: [0.132905,0.166488,-0.977046]-Fpublishing direction and range info(*׌ ?TwO?["(C*?(I*di*1p(*cf(*? *?)*ף?I*Pw?i*%*FF?*^*Le?*^?I(i()*ibޓ?:Hp͡W←* ־*?*Le? *^?I(i(checking for new query: numPingsReceived=95, elapsed TxPingTime=42.706310yߢ@ٱם)@u<jT<H3`W5޿җ`].?`5@ ? r@??Iߢ@)k^;i}ȈB}=(IBD<6D3YA*=!'=:Q)>99EY%E A>1iQ 1u4٪m?Q 5u4m| mʓB9yY}W=Q E}?ym,C)m>:Iml:ima4YB@;EJh(Rh*HO0)Ah*?h*=&* j?zRC?vf_~*׌ ?TwO?["(Ch*Le?h*^? *Jn$ʿfD(BHVh~*;$ƿ r/zXVjh*Grh*TZh*(?bh*{μzh*nBh*v?h*_h(h*H>h*tf@u addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.504315 s, deltaX: -0.200000 m, approachRate: -0.396577 m/s, rangeRepo size: 4  Added new target pos. range: 1.200000 m, bearing: 206.315099 deg, lat: 36.779355 deg, lon: -121.859508 deg, deltaT: 0.504315 s, deltaX: -0.200000 m, approachRate: -0.396577 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dccc@33?cO?ɢM{BMg= IM @II U yɡQiQIUZ-%IYi}]v=i}j )y)Q]3checking for new query: numPingsReceived=95, elapsed TxPingTime=42.914062I +(i   ԉ >A5 /[bA= |AZA= ~AI I ԩ N >6L,:@O0)ArD8jD:<D>D>D>&D<E>: E>g:6E>4:E(I=Mb@Mb@Mb@9 9)9I9i9=i|?5sh|?{Gz?9==#<)=@I=E@i=E@=@ 9=̴@)MAA IBDU66DU3YeJ;!eV=mJ|:Q)m>i9i9uEYu%Eu2Au>yQ 14٪}븝?Q 54}W }̓B9>Q A;YC=Q E?y}2C)}!.;I}-;i}5g4Y@B*** querying acoustic contact ***:hBhgzggbgZgrgjgRgzgZfRfee|B"dcccc?DDAT read: Rx Time:18:23:56.9615 TRx dataTimestamp_ set to:1755627838.911433PDAT read: Bearing 210.5, 8.9 (Local) ~Local bearing/azimuth received: Bearing 210.5, 8.9 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 =DAT read: 18:23:56.9615 LVL= 24976, 27969, 31986, 26099, AGC= 31, IDX= 504, 0.26, 2.145, 1.811, 1.943, 0.258, PHS= 1.990, 1.598, 1.641, RAW= 95.7, -78.6, CAL= 98.2, -78.0, ROT= 51.8, 78.0 vBI~BMǍCBIBIBIBIBIBMT;BMkE]Ygot valid direction response: 18:23:56.9615 LVL= 24976, 27969, 31986, 26099, AGC= 31, IDX= 504, 0.26, 2.145, 1.811, 1.943, 0.258, PHS= 1.990, 1.598, 1.641, RAW= 95.7, -78.6, CAL= 98.2, -78.0, ROT= 51.8, 78.0 eT#Rx 96: Read range and direction messages.m^direction in FSK: [0.128574,0.163389,-0.978148]mFpublishing direction and range info3Տu?s ?K6L3?IaiAm|eR? D?)J ?I?ia?@qg?@?Ii)Lz ?fj;Ĵˣb^←$ؾ?qg? @?Iichecking for new query: numPingsReceived=96, elapsed TxPingTime=43.196987ɢMyBM> IM @II U ɡQiQIUp*IYi}t=i})y) I)II(i >A} Lͽԁ  checking for new query: numPingsReceived=96, elapsed TxPingTime=43.417671I I N% >wL,O0)A0yT@ٱL'@<*;H@@m߿헿@g?஻@q?"w?@!?IT@)^;iB3(IBD56D3Y/+!F=Q)>99EY%E5A>Q 14٪齝?Q 542 ϓB9Y=Q E?y:C){;I:imn4Y#@Jh)Rh-TO0)Ah-3?h-'-[b\_ ?h~G?^~-3Տu?s ?K6Lh-qg?h-@? - <2xο4=c9l~-**ſD'Gg׸uajh- rh-sZh-`!ک?bh-żzh-Bh-b1?h-uh-Bh->h-ia@5 addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503762 s, deltaX: 0.200000 m, approachRate: 0.397013 m/s, rangeRepo size: 4 E Added new target pos. range: 1.400000 m, bearing: 201.459880 deg, lat: 36.779356 deg, lon: -121.859508 deg, deltaT: 0.503762 s, deltaX: 0.200000 m, approachRate: 0.397013 m/s, posRepo size: 4 gIzgIgIbgIZgIrgIjgIRgQzgQZfQRfQeYeY"dYcYcYce`ff?ce?ɢxBaX> 顕@I eɡiIi/Ii0s=i:$))BEg4JEg4RE"0DDwD.DE: E:6Eـ4:E"E ;!E ;!*Ek;!Ek;!ԱI%(i!!% ) DDAT read: Rx Time:18:23:57.4614  TRx dataTimestamp_ set to:1755627839.415543PDAT read: Bearing 208.8, 9.1 (Local) ~Local bearing/azimuth received: Bearing 208.8, 9.1 (Local) -DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 UDAT read: 18:23:57.4614 LVL= 24688, 27633, 31346, 25587, AGC= 31, IDX= 503, 0.46, 0.469, 0.150, 0.268,-1.416, PHS= 1.987, 1.611, 1.639, RAW= 93.9, -78.9, CAL= 96.2, -78.3, ROT= 53.8, 78.3 ]Ygot valid direction response: 18:23:57.4614 LVL= 24688, 27633, 31346, 25587, AGC= 31, IDX= 503, 0.46, 0.469, 0.150, 0.268,-1.416, PHS= 1.987, 1.611, 1.639, RAW= 93.9, -78.9, CAL= 96.2, -78.3, ROT= 53.8, 78.3 ]T#Rx 97: Read range and direction messages.e^direction in FSK: [0.119767,0.163641,-0.979223]mFpublishing direction and range info  h}5?0P.2?$U ? I p`i k rz c  V? ?5?) ?I M?i C ? 쮿 vap? ?I i ) Aߵ7?mZg← T UK? vap? ?I i checking for new query: numPingsReceived=97, elapsed TxPingTime=43.685638>AAթAIINE> L,8O0)A2checking for new query: numPingsReceived=97, elapsed TxPingTime=43.921246y>@ٱ>&@>1S<>r0;>HN`IL?` ;?c) f??I>@)>+^;i<^ÈB^7(IlMMb@Mb@Mb@I I)IIIiIMV-l~jthMmMMD)IIIiM\@M@ IMz@BD=6D3Y?<!F=Q)> ,?9 ,?9EY%E<A>!Q 154٪%?Q 5=4%Ӹ !9==Q A= Q EE?y%?C)%m;I%m;i%u4YQU@YJhARhEBO0)AhE?hE{ 'EARpe?+O"?ǃ~Eh}5?0P.2?$UhEvap?hE? E5&ɿ8ZT 5Դ~E2*,ĿpNfjjhErhE7IZhEP*k?bhEݻzhEhBhE(?hE{μhAhE >hEb@5 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.504110 s, deltaX: -0.200000 m, approachRate: -0.396739 m/s, rangeRepo size: 4 u Added new target pos. range: 1.200000 m, bearing: 203.158326 deg, lat: 36.779357 deg, lon: -121.859507 deg, deltaT: 0.504110 s, deltaX: -0.200000 m, approachRate: -0.396739 m/s, posRepo size: 4 gqzgqgqbgyZgyrgyjgyRgyzgyZfyRfyeeqB"dccc@33?c?ɢvB)>  @I %7Cɡ!i!I%p6I)i-p=i-a.)))1bDZDAADDjD*DE: E96E(N4:E!@!@!@!@AI (i %DDAT read: Rx Time:18:23:57.9616 %TRx dataTimestamp_ set to:1755627839.9201525PDAT read: Bearing 207.3, 9.1 (Local) 5~Local bearing/azimuth received: Bearing 207.3, 9.1 (Local) EDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 AU@AAU@AvBY~BYBYBYBYBYBYB]T;B]oEB)B-ƍCB)B)B)B-4DAT read: 18:23:57.9616 LVL= 25152, 27729, 31058, 25555, AGC= 31, IDX= 505,-0.26,-0.220,-0.519,-0.414,-2.089, PHS= 1.972, 1.615, 1.631, RAW= 92.3, -79.3, CAL= 94.5, -78.7, ROT= 55.5, 78.7 Ygot valid direction response: 18:23:57.9616 LVL= 25152, 27729, 31058, 25555, AGC= 31, IDX= 505,-0.26,-0.220,-0.519,-0.414,-2.089, PHS= 1.972, 1.615, 1.631, RAW= 92.3, -79.3, CAL= 94.5, -78.7, ROT= 55.5, 78.7 T#Rx 98: Read range and direction messages.^direction in FSK: [0.110985,0.161484,-0.980615]Fpublishing direction and range info!%QDi?!?_<1a%?!I%@bi%Ql%Ry%c!%j? %R?)%?I%?3?i%m(%r?%Fѯ%w?%Fѯ?I!i!)%k?JjF'Zq←%%?%w? %Fѯ?I!i!checking for new query: numPingsReceived=98, elapsed TxPingTime=44.198559a >A  ԑ A-,AI1IANU>L,P0)AyB+@ٱB&&@BHtb5&?9b5&?9bEYb%EfмAf>hQ 1n4٪j"ĝ?Q 5n4jt jΓB9lYnI>Q Er?yjDC)j:Ijh:ij}4YtvI@tJhYRh]O0)Ah]?h]%]LE=$O?2 eH?JGmv~]QDi?!?_<1ah]w?h]Fѯ? ]:EeKο"t|¿L!~](C2Ŀ.̆𥸿rjh]rh][rZh]0?bh]FAzh]Bh]`!ک?h]żhYh]p>h]h@M addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504609 s, deltaX: 0.300000 m, approachRate: 0.594520 m/s, rangeRepo size: 4 e Added new target pos. range: 1.500000 m, bearing: 207.749105 deg, lat: 36.779357 deg, lon: -121.859507 deg, deltaT: 0.504609 s, deltaX: 0.300000 m, approachRate: 0.594520 m/s, posRepo size: 4 gizgigibgi}checking for new query: numPingsReceived=98, elapsed TxPingTime=44.426010ZgirgjgRgzgZfRfee"dccc?c _?ɢuB*>i im@Iq u*ɡqiqIu;Iyi}$o=i}7)y) I(i!% !>AuDDsD-DEs: EZ:6Et4:E"E;!E;!*E];!E];!- DDAT read: Rx Time:18:23:58.4615 - TRx dataTimestamp_ set to:1755627840.423047= PDAT read: Bearing 206.0, 9.0 (Local) = ~Local bearing/azimuth received: Bearing 206.0, 9.0 (Local) M DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 u DAT read: 18:23:58.4615 LVL= 28832, 30289, 32754, 27555, AGC= 31, IDX= 504,-0.13,-1.299,-1.581,-1.486, 3.120, PHS= 1.966, 1.628, 1.633, RAW= 90.8, -79.7, CAL= 92.8, -79.2, ROT= 57.2, 79.2 u Ygot valid direction response: 18:23:58.4615 LVL= 28832, 30289, 32754, 27555, AGC= 31, IDX= 504,-0.13,-1.299,-1.581,-1.486, 3.120, PHS= 1.966, 1.628, 1.633, RAW= 90.8, -79.7, CAL= 92.8, -79.2, ROT= 57.2, 79.2 } T#Rx 99: Read range and direction messages. ^direction in FSK: [0.101506,0.157507,-0.982287] Fpublishing direction and range info) - UL?M,)?ޣѨn- 3?) I- pi- Qv- - k) - ? - Nb?)- %?I- b?i- / - 4Q?- ;ﰿ- r?- ;?I) i) )-  ?0 VZBK:|←- Ǽ- ?- r? - ;?I) i)  checking for new query: numPingsReceived=99, elapsed TxPingTime=44.692497 L, !P0)ALiLy{@ٱ v%@I<F5;H@*sǔ?`,7A? :צf?G?I{@) _;i]C5ĈB59(I=Mb@Mb@Mb@9 9)9I9i9=p= ףp= ףMb`?===;)9I9i9=@ 9=̴@BDu(6Du:3Y=!%=QQ)>"?9"?9EY%EA>Q 14٪ǝ?Q 54/ ϓB9M=Q AQ E?yJC)ZS)(^ ~]5]F ÿ$Z.L&}jh]J rh]4VZh]=?bh]wεzh]Bh]0?h]FAh]Bh]A>h]Ii@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.502895 s, deltaX: -0.100000 m, approachRate: -0.198849 m/s, rangeRepo size: 4 % Added new target pos. range: 1.400000 m, bearing: 208.848054 deg, lat: 36.779358 deg, lon: -121.859507 deg, deltaT: 0.502895 s, deltaX: -0.100000 m, approachRate: -0.198849 m/s, posRepo size: 4 g!zg)g)bg)Zg)rg)jg)Rg)zg)Zf1Rf1eQeUxB"dYcYcYc]`ff?ce?ɢsB = % @I DɡiI(rBI!i%pl=i%&A)!)QIIiIIM I! >A% .rD jD D D zD 0D E : E  :6E 4:E ! @! @! @! @A} /AI I N >= DDAT read: Rx Time:18:23:58.9616 = TRx dataTimestamp_ set to:1755627840.927221E PDAT read: Bearing 204.9, 9.0 (Local) M ~Local bearing/azimuth received: Bearing 204.9, 9.0 (Local) I 1L,;P0)AvB~BB(IBBBBBBT;BmE.DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 -DAT read: 18:23:58.9616 LVL= 25984, 27553, 30578, 25315, AGC= 31, IDX= 505,-0.01, 0.119,-0.156,-0.067,-1.761, PHS= 1.983, 1.651, 1.651, RAW= 90.0, -79.9, CAL= 91.9, -79.4, ROT= 58.1, 79.4 5Ygot valid direction response: 18:23:58.9616 LVL= 25984, 27553, 30578, 25315, AGC= 31, IDX= 505,-0.01, 0.119,-0.156,-0.067,-1.761, PHS= 1.983, 1.651, 1.651, RAW= 90.0, -79.9, CAL= 91.9, -79.4, ROT= 58.1, 79.4 =V#Rx 100: Read range and direction messages.E^direction in FSK: [0.097207,0.156169,-0.982935]EFpublishing direction and range infoquOC?龨\?4tu?qIueiukurwubqu? uS?)uS?Iu?iuu|N?uauˁ?y@ٱz$@-<K:H 2 EN0?@ ?`ř!qI?@g?I@)_;i^CɈB?(IBD>6D43Y<!f=|Q)>?9?9EY%EA%>!Q 1m4٪%ʝ?Q 5u4% %ГB9qYu_>Q Eu?y%NC)%#hurfe@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504174 s, deltaX: 0.100000 m, approachRate: 0.198344 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 205.369712 deg, lat: 36.779358 deg, lon: -121.859507 deg, deltaT: 0.504174 s, deltaX: 0.100000 m, approachRate: 0.198344 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dccc?cy?ɢerBeLc> im @Ii mֻɡiiiIm"rHIqiuj=i}tK)y)yI=-(i99= 9achecking for new query: numPingsReceived=100, elapsed TxPingTime=45.434090ԉ >A r.Ա A ڕAI I N >*jL,VP0)AD~D~wD~/D|E~1: E~:6E~J4:E|"E~l;!E~n;!*E~k;! E~k;!  ÈB 7(IBD%46D%f3Y-!mO=uQ)u>u?9}?9}EY}%E}A}>Q 14٪͝?Q 54ɷ 9YQ E?ySC)+;I{;i 4Y@B*** querying acoustic contact ***:hBhgzggbg Zg rg jg Rg zgZfRfee"dcccc%?UDDAT read: Rx Time:18:23:59.4615 ]TRx dataTimestamp_ set to:1755627841.431296ePDAT read: Bearing 204.4, 9.4 (Local) m~Local bearing/azimuth received: Bearing 204.4, 9.4 (Local) }DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 18:23:59.4615 LVL= 28400, 29681, 32754, 26803, AGC= 31, IDX= 504, 0.11,-0.026,-0.307,-0.222,-1.921, PHS= 1.997, 1.660, 1.655, RAW= 89.3, -79.7, CAL= 91.2, -79.2, ROT= 58.8, 79.2 Ygot valid direction response: 18:23:59.4615 LVL= 28400, 29681, 32754, 26803, AGC= 31, IDX= 504, 0.11,-0.026,-0.307,-0.222,-1.921, PHS= 1.997, 1.660, 1.655, RAW= 89.3, -79.7, CAL= 91.2, -79.2, ROT= 58.8, 79.2 V#Rx 101: Read range and direction messages.^direction in FSK: [0.097069,0.160279,-0.982287]Fpublishing direction and range infoY]|ٸ?C?ޣѨn]3?YI]ni]s]]hY]? ]z?)] ?I]?i]/ ]%?];ﰿ]G\?];?IYiY)]?xE S}←]fN ]3+?]G\? ];?IYiYchecking for new query: numPingsReceived=101, elapsed TxPingTime=45.711163ɢeqBeT> im= @Ii m-ՠɡiiqIuܬNIqi}`h=i}J)y)y}AI!i))5 1>A= 8AIIN>A  checking for new query: numPingsReceived=101, elapsed TxPingTime=45.937260L,7pP0)A@yEe@ٱE]#@E9999=EY=%E=AE>AQ 1U4٪E[Н?Q 5U4E EѓB9U=Q AU,hff@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504075 s, deltaX: -0.100000 m, approachRate: -0.198383 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 206.266417 deg, lat: 36.779359 deg, lon: -121.859507 deg, deltaT: 0.504075 s, deltaX: -0.100000 m, approachRate: -0.198383 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfeekB"dacicicm`ff?cmq?ԡɢpB\>  @I ,HɡiIIUIiRRf=i{V))bDZD@AD D vD .D E  E :6E ـ4:E !@!@!@!@mDDAT read: Rx Time:18:23:59.9615 uTRx dataTimestamp_ set to:1755627841.936235PDAT read: Bearing 204.2, 9.6 (Local) ~Local bearing/azimuth received: Bearing 204.2, 9.6 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 18:23:59.9615 LVL= 30064, 31217, 32754, 28403, AGC= 31, IDX= 504, 0.22, 0.283,-0.005, 0.082,-1.609, PHS= 1.995, 1.649, 1.647, RAW= 89.8, -79.5, CAL= 91.8, -79.0, ROT= 58.2, 79.0 vBs>~BƍCB#(IBBBBBBT;BYgot valid direction response: 18:23:59.9615 LVL= 30064, 31217, 32754, 28403, AGC= 31, IDX= 504, 0.22, 0.283,-0.005, 0.082,-1.609, PHS= 1.995, 1.649, 1.647, RAW= 89.8, -79.5, CAL= 91.8, -79.0, ROT= 58.2, 79.0 V#Rx 102: Read range and direction messages.^direction in FSK: [0.100548,0.162167,-0.981627]Fpublishing direction and range infoqub?n?,/o}iqqIupuiuyqunqu)\? uo?)u?Iuy?iuΚuK?IP(i u|u"?u|?Iqiq)u)Cb(?"QXEɗv←uQu?u"? u|?Iqiqchecking for new query: numPingsReceived=102, elapsed TxPingTime=46.231075 >A= LAm AIy I N > "L,P0)A:checking for new query: numPingsReceived=102, elapsed TxPingTime=46.441666@yz@ٱz#@z m??9u??9uEYu%E} 6A}>Q 14٪ҝ?Q 54 ғB9Y=Q E?y[C)Vk;IIn;iX4Y@JhIRhMF{P0)AhIhME&MY?\r?" ~Mb?n?,/o}ihM"?hM|? Mk_ʿoNEU[ 9& ~M%%9ÿA]m;IjhMrhMLWZhMQ$%?bhM_YzhM BhM,?hM 鮻hIhM>hM<9f@Թ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 206.106863 deg, lat: 36.779359 deg, lon: -121.859507 deg, deltaT: 0.504939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjg Rg zg Zf Rfee"dcccc;?ɢoB> 页 @I $ɡiI-"\IiTc=iL^Y))Ie?(iaim iDDlD0DEa: E:6E4:E"EJ;!EK;!*EC;!EC;!>A=OT%DDAT read: Rx Time:18:24:00.4614 %TRx dataTimestamp_ set to:1755627842.439262-PDAT read: Bearing 203.7, 9.4 (Local) 5~Local bearing/azimuth received: Bearing 203.7, 9.4 (Local) EDAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 DAT read: 18:24:00.4614 LVL= 26768, 28145, 31666, 24211, AGC= 32, IDX= 503, 0.37,-0.522,-0.806,-0.720,-2.433, PHS= 2.012, 1.672, 1.669, RAW= 89.5, -79.8, CAL= 91.5, -79.2, ROT= 58.5, 79.2 Ygot valid direction response: 18:24:00.4614 LVL= 26768, 28145, 31666, 24211, AGC= 32, IDX= 503, 0.37,-0.522,-0.806,-0.720,-2.433, PHS= 2.012, 1.672, 1.669, RAW= 89.5, -79.8, CAL= 91.5, -79.2, ROT= 58.5, 79.2 V#Rx 103: Read range and direction messages.^direction in FSK: [0.097906,0.159769,-0.982287]Fpublishing direction and range info!%sVf?hNs?ޣѨn%?!I%hi%m%{%^% %@ %?)%ˡ?I%?i%aF%i?%;ﰿ%?%;?I!i!)%ӞEe?\]oL }←%&%5?%? %;?I!i!checking for new query: numPingsReceived=103, elapsed TxPingTime=46.716557A} 1AI I N > <(L,2ɤP0)Axy%@ٱ%#@%<%c%HsG@?@ΥUJ?Tjs?I%@)%R^;i%]C]ЈB]G(IMb@Mb@Mb@ )Ii+S㥛MbP/ݼ)@Iir@ @BD86D3Yi<!4=1q;Q)>%?9%?9%EY-%E-1ֻA->1Q 1=4٪5ԝ?Q 5=45 19=UB=Q AEheWtg@!m addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503027 s, deltaX: -0.200000 m, approachRate: -0.397593 m/s, rangeRepo size: 4  Added new target pos. range: 1.200000 m, bearing: 207.208799 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.503027 s, deltaX: -0.200000 m, approachRate: -0.397593 m/s, posRepo size: 4 gzggbgZgrgjgRg!zg!Zf)Rf1eaemB"dqccc@33?c?ɢnBl> H @I }:ɡ)i)I-AcI1i5=a=i=?\)9)9E?E?I] dTimed out moving from: 10288 to: 14700 response: 1 - Hardware FaultD D D )D E : E ?:6E FA4:E ! @! @! @! @y 1 5 AE DDAT read: Rx Time:18:24:00.9616 E TRx dataTimestamp_ set to:1755627842.943418U PDAT read: Bearing 204.0, 10.0 (Local) U ~Local bearing/azimuth received: Bearing 204.0, 10.0 (Local) e DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 18:24:00.9616 LVL= 27760, 30801, 32754, 27219, AGC= 31, IDX= 505,-0.39,-1.209,-1.506,-1.417,-3.072, PHS= 1.965, 1.611, 1.611, RAW= 90.0, -79.1, CAL= 92.1, -78.5, ROT= 57.9, 78.5  Ygot valid direction response: 18:24:00.9616 LVL= 27760, 30801, 32754, 27219, AGC= 31, IDX= 505,-0.39,-1.209,-1.506,-1.417,-3.072, PHS= 1.965, 1.611, 1.611, RAW= 90.0, -79.1, CAL= 92.1, -78.5, ROT= 57.9, 78.5 vB q>~B B B B =B B B T;B qE V#Rx 104: Read range and direction messages. ^direction in FSK: [0.105944,0.168889,-0.979925] Fpublishing direction and range infoA E "?m6<'? [E ?A IE pliE QxE E SjE E ? E ?5?)E ?5?IE ?iE E ?E ^E Y?E ^?IA iA )E \ؖ?JB;k←E E e?E Y? E ^?IA iA  checking for new query: numPingsReceived=104, elapsed TxPingTime=47.216625ԩ >A;VA5݋AII-&]VHardware Fault in component: DockingStepperIaNm ?1L,7P0)A4y>@ٱ>#@>fK<>7 >Hgٯ`j?`{>ˉ?`5t"?I>@)>`;i>^CFBJ"(IJ^v?9^v?9bEYb%Eb:Af>dQ 1j4٪f֝?Q 5j4f d9lYn~xI~]"?m6<'? [h]Y?h]^? ]h1Ϳ{?iJI"¿<̼~]b{ ÿ -xjh]rh]lZh]Ý?bh]sLNzh]Bh]Q$%?hYh]Bh]>h]kg@= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504156 s, deltaX: 0.300000 m, approachRate: 0.595054 m/s, rangeRepo size: 4 U Added new target pos. range: 1.500000 m, bearing: 207.565769 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.504156 s, deltaX: 0.300000 m, approachRate: 0.595054 m/s, posRepo size: 4 gQchecking for new query: numPingsReceived=104, elapsed TxPingTime=47.449936zggbgZgrgjgRgzgZfRfee"dccc?c`%?ԑɢmB> 顭@I ]5;ɡiIiIi !^=i 7[)1)A M:Uninitialize Docking Stepper. UPowering downUU]]>Ae]iIC)]eG q)AI￙AAIIN>DDnD.DE: E:6Eـ4:E"E';!E);!*EJ;!EJ;! 5 DDAT read: Rx Time:18:24:01.4615 = TRx dataTimestamp_ set to:1755627843.447180E PDAT read: Bearing 204.1, 9.9 (Local) E ~Local bearing/azimuth received: Bearing 204.1, 9.9 (Local) U DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 18:24:01.4615 LVL= 24224, 27825, 30754, 25283, AGC= 31, IDX= 504,-0.23,-2.750,-3.045,-2.954, 1.673, PHS= 1.963, 1.610, 1.613, RAW= 90.3, -79.2, CAL= 92.5, -78.6, ROT= 57.5, 78.6  Ygot valid direction response: 18:24:01.4615 LVL= 24224, 27825, 30754, 25283, AGC= 31, IDX= 504,-0.23,-2.750,-3.045,-2.954, 1.673, PHS= 1.963, 1.610, 1.613, RAW= 90.3, -79.2, CAL= 92.5, -78.6, ROT= 57.5, 78.6  V#Rx 105: Read range and direction messages. ^direction in FSK: [0.106201,0.166703,-0.980271] Fpublishing direction and range info9 = n0?TV?Lȧa^= 3?9 I= ^i= l= "x= b9 = C? = {?)= v?I= n?i= ;ﰿ= ?= = t?= ?I9 i9 )= 𩊕?.9ʷGuf{m←= -&= #Ѱ?= t? = ?I9 i9  checking for new query: numPingsReceived=105, elapsed TxPingTime=47.7536817L,~P0)AyF0@ٱF(#@F=FFH X?߳@r?X ~c?IF0@)F%d`;iF]CbЈBbG(ItBDK6D 4Y%F>!-6=Cg;Q)>99EY%E,;A>Q 14٪e؝?Q 54 9Y k˿g.Aܘ!~`2ÿGщ!Uyjht rh][Zh{XƝ?bhzhBhÝ?hh Bh>hg@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503762 s, deltaX: -0.100000 m, approachRate: -0.198506 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 207.667894 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.503762 s, deltaX: -0.100000 m, approachRate: -0.198506 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRf e)e)"d)c)c1c5`ff?c5`?ɢy> 顅b @I @͙;ɡiIpIie\=iI:Z))checking for new query: numPingsReceived=105, elapsed TxPingTime=47.9535039>A\i A AI I N% >D D mD +D E : E :6E [4:E ! @! @! @! @>L,#P0)Ay6@ٱ6$@6VA=6B@6HyFw?`s@?eǠ ]e3?I6@)6La;i6^CBψBBE(I DDAT read: Rx Time:18:24:01.9616  TRx dataTimestamp_ set to:1755627843.951242PDAT read: Bearing 204.2, 9.7 (Local) ~Local bearing/azimuth received: Bearing 204.2, 9.7 (Local) -DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 vBEr>~BABABABE =BABABET;BEhEmDAT read: 18:24:01.9616 LVL= 23664, 27457, 30322, 25075, AGC= 31, IDX= 505,-0.10,-1.312,-1.605,-1.516, 3.111, PHS= 1.963, 1.612, 1.612, RAW= 90.1, -79.2, CAL= 92.1, -78.6, ROT= 57.9, 78.6 uYgot valid direction response: 18:24:01.9616 LVL= 23664, 27457, 30322, 25075, AGC= 31, IDX= 505,-0.10,-1.312,-1.605,-1.516, 3.111, PHS= 1.963, 1.612, 1.612, RAW= 90.1, -79.2, CAL= 92.1, -78.6, ROT= 57.9, 78.6 uV#Rx 106: Read range and direction messages.^direction in FSK: [0.105035,0.167440,-0.980271]Fpublishing direction and range info  [? \n?Lȧa^ ? I p\i Ak rv a   V?) V?I  I?i  ?  Y? I i ) ?) K mԙ   ۰? Y? I i checking for new query: numPingsReceived=106, elapsed TxPingTime=48.227283MMb@Mb@Mb@I I)IIIiIMy&1|Mb`M`MM)IIIiII IIBDF6D4Y!==;Q)> ?9 ?9 EY %E n<Am>qQ 1}4٪u؝?Q 5}4u q9;Q A=YQ E?yudC)u2:Iu:iu4Y@Jh Rh &P0)Ah ?h # D*??9=Ɇ~ [? \n?Lȧa^h Y?h   rdB>Ϳr3>ÿZ~  ÿCs娹"vjh rh iZh [ŝ?bh tzh ܅Bh [ŝ?h h h @>h j@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504062 s, deltaX: 0.100000 m, approachRate: 0.198388 m/s, rangeRepo size: 4 - Added new target pos. range: 1.500000 m, bearing: 210.130743 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.504062 s, deltaX: 0.100000 m, approachRate: 0.198388 m/s, posRepo size: 4 g)zg)g)bg)Zg)rg)jg1Rg1zg1Zf1Rf1e9e=B"d9c9cace?ce`@?ɢlBz%> 页R @I ~r;ɡiIҗwIi-Z=itU))@=@=checking for new query: numPingsReceived=106, elapsed TxPingTime=48.458843>A- Y) Aq Iy I N >b EL,,Q0)Aɰy6@ٱ6$@6U=6x96HLF I?? Z`S2?m?I6@)6a;i6[CV̈BVB(IBD^96D^3Yfx!fo=j:Q)j?h9l9nEYn%En<An?pQ 1v4٪r؝?Q 5v4r p9xYz:Q Ez?yp)r ;Ir ;irƂ4Y|@B*** querying acoustic contact ***:hBhg)zg)g)bg)Zg)rg)jg1Rg1zg1Zf1Rf1e9e9"d9c9cAcAcE?ɢquqE> u.b} @Iy }b<ɡyiyI}R}IiX=i&P))ԹBEـ4JEcw4REk0DuDuuDu.DqEu: Eu:6Euـ4:Eq"Eq!Eq!*Eu^d;!Eu_d;!>AuYDDAT read: Rx Time:18:24:02.4615 TRx dataTimestamp_ set to:1755627844.456150PDAT read: Bearing 204.4, 9.5 (Local) ~Local bearing/azimuth received: Bearing 204.4, 9.5 (Local) vDAT read: Range 11 to 50 : rip time 0.9 ms) speed 0.0 unknown deviceResponse_: Range 11 to 50 : rip time 0.9 ms) speed 0.0 %DAT read: 18:24:02.4615 LVL= 23664, 27425, 30258, 24723, AGC= 31, IDX= 504, 0.01,-1.505,-1.797,-1.710, 2.903, PHS= 1.978, 1.629, 1.627, RAW= 89.7, -79.3, CAL= 91.8, -78.7, ROT= 58.2, 78.7 -Ygot valid direction response: 18:24:02.4615 LVL= 23664, 27425, 30258, 24723, AGC= 31, IDX= 504, 0.01,-1.505,-1.797,-1.710, 2.903, PHS= 1.978, 1.629, 1.627, RAW= 89.7, -79.3, CAL= 91.8, -78.7, ROT= 58.2, 78.7 -\#Rx 107: Read direction message, but no range.5^direction in FSK: [0.103255,0.166533,-0.980615]n?_eoP?_<1a￙Ii!k2v`/? ?)A?IHd?im(K?Fѯ"?Fѯ?I)=Ɗ?TT5>vIq←Nu"?"? Fѯ?Uchecking for new query: numPingsReceived=107, elapsed TxPingTime=48.726757IIN>1  checking for new query: numPingsReceived=107, elapsed TxPingTime=48.9625022KL,.Q0)AyEB@ٱE:$@E} =E#+EHJ? R ͍?n`a@?IEB@)EX`;iE^CA(IuMb@Mb@Mb@q q)qIqiqu:v?V-?Mb`?uT99EY%E<A> Q 14٪ ם?Q 54 ܷ 9n=Q A -t8顕 @I {A"<ɡiIFIi}MV=iJ))ArD}=jD}<DDpD-DE: E :6Et4:E!@!@!@!@DDAT read: Rx Time:18:24:02.9616 TRx dataTimestamp_ set to:1755627844.959145PDAT read: Bearing 204.7, 9.6 (Local) ~Local bearing/azimuth received: Bearing 204.7, 9.6 (Local) vBs>~BB(IBBB =BBBT;BdEBBBBB =BƢp5-DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 MDAT read: 18:24:02.9616 LVL= 26208, 29425, 32754, 26003, AGC= 31, IDX= 505, 0.12, 0.623, 0.331, 0.413,-1.266, PHS= 1.991, 1.641, 1.635, RAW= 89.1, -79.3, CAL= 91.1, -78.7, ROT= 58.9, 78.7 Ygot valid direction response: 18:24:02.9616 LVL= 26208, 29425, 32754, 26003, AGC= 31, IDX= 505, 0.12, 0.623, 0.331, 0.413,-1.266, PHS= 1.991, 1.641, 1.635, RAW= 89.1, -79.3, CAL= 91.1, -78.7, ROT= 58.9, 78.7 V#Rx 108: Read range and direction messages.^direction in FSK: [0.101213,0.167782,-0.980615]Fpublishing direction and range info>A5&Vq6t?y?_<1aI`fire? J ?)G?I" ?i?x?Ii)^`x?3ՇrZ"p←0 g?x? Iichecking for new query: numPingsReceived=108, elapsed TxPingTime=49.277431I I N- >ԙ RL,xHQ0)Ay6;t@ٱ63o%@6>b=6*p':6H&@?+@}?W롿D??I6;t@)6Lr_;i6[CBˈB@BDJ16DJ[3Yf+!fu=j:;Q)j?l9p9rEYr%Ev<Av?xQ 14٪z֝?Q 54z x9 Y >#Q E ?yzgC)zG;Iz%H;izԂ4YȾ@!JhRhb=Q0)Ahh`V Wn??k?JGmv~6t?y?_<1ahx?hFѯ? L1ֲ˿7$ĿBkO~ !¿1yixjh`%rh_ZhGĝ?bhCzh؅BhhsLNh܅Bhby>h)k@Echecking for new query: numPingsReceived=108, elapsed TxPingTime=49.465923y addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 1.007903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 210.887079 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 1.007903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dc c c c=@!?ɢ">  @I A<ɡiI΅Ii  T=i 'fE) ) ԡ>A% LIIN^>DDuDDE: E:6E:E"E;!E;!*E!E! DDAT read: Rx Time:18:24:03.4615  TRx dataTimestamp_ set to:1755627845.463241 PDAT read: Bearing 205.1, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 205.1, 9.5 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 5 DAT read: 18:24:03.4615 LVL= 24016, 27569, 30162, 25171, AGC= 31, IDX= 504, 0.26,-0.982,-1.269,-1.188,-2.867, PHS= 1.986, 1.643, 1.635, RAW= 88.9, -79.4, CAL= 90.9, -78.9, ROT= 59.1, 78.9 = Ygot valid direction response: 18:24:03.4615 LVL= 24016, 27569, 30162, 25171, AGC= 31, IDX= 504, 0.26,-0.982,-1.269,-1.188,-2.867, PHS= 1.986, 1.643, 1.635, RAW= 88.9, -79.4, CAL= 90.9, -78.9, ROT= 59.1, 78.9 E V#Rx 109: Read range and direction messages.M ^direction in FSK: [0.098868,0.165196,-0.981293]M Fpublishing direction and range info DBhO?+ /'%?f 3? I ]i k u Sb ?5? M?) I ?i a ? C ? C?I i ) Wc?K80E^;5*u← & ~v? ? C?I i e checking for new query: numPingsReceived=109, elapsed TxPingTime=49.732784 DXL,bQ0)AiyF @ٱF%@FE@=Fe;FHA`4 #@ι?`Er? `-b??IF @)F^;iF\C``BDmE6Dm3Y;!;=]N;Q)e>i99EY%E)_<A>Q 14٪՝?Q 54< ӓB9Y"Q E?yiC)6;I0;i܂4Y@Jh!Rh%]Q0)Ah%3?h%%82?5i?\$~%DBhO?+ /'%?fh%?h%C? %QɿpY"ÿq){ ~%@¿eU.{jh%9rh%JZh%Cŝ?bh%+oFzh% Bh%Cŝ?h%th!h%qp>h%Izm@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504096 s, deltaX: -0.100000 m, approachRate: -0.198375 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 212.601066 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.504096 s, deltaX: -0.100000 m, approachRate: -0.198375 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"d c c c `ff?c ?ɢY]`+> Y] @Ia e ^<ɡaiI6Ii R=iA))Uchecking for new query: numPingsReceived=109, elapsed TxPingTime=49.970547m) D D D +D E  E 6E [4:E ! @! @! @! @Q >A J A DDAT read: Rx Time:18:24:03.9615  TRx dataTimestamp_ set to:1755627845.967410 PDAT read: Bearing 205.7, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 205.7, 9.3 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 E DAT read: 18:24:03.9615 LVL= 26608, 29393, 32754, 26435, AGC= 31, IDX= 504, 0.45,-1.397,-1.687,-1.600, 3.009, PHS= 1.979, 1.631, 1.630, RAW= 89.8, -79.3, CAL= 91.8, -78.8, ROT= 58.2, 78.8 M Ygot valid direction response: 18:24:03.9615 LVL= 26608, 29393, 32754, 26435, AGC= 31, IDX= 504, 0.45,-1.397,-1.687,-1.600, 3.009, PHS= 1.979, 1.631, 1.630, RAW= 89.8, -79.3, CAL= 91.8, -78.8, ROT= 58.2, 78.8 M V#Rx 110: Read range and direction messages.U ^direction in FSK: [0.102353,0.165078,-0.980955]] Fpublishing direction and range info  j3?bkI!? c  I gi r  Cg  O?  ?) ף?I y?i m( K? x  "? x ?I i ) hv?oP÷6+Tr← m B? "?  x ?I i u checking for new query: numPingsReceived=110, elapsed TxPingTime=50.237064A <A vB r>~B B B B =B B B kT;B VEI I N ><_L,hQ0)AyU/@ٱU*&@UH=U {;UH$W@6{?`[?q[o? ?IU/@)U^;iU[Cm̈BmC(IԑMb@Mb@Mb@ )IiL7A`?Mb?Mb`+=@=)@IiE@@ BD86D3YMNj;!M!=M O;Q)U>Q9Q9UEYU%E]J0<A]>aQ 14٪eӝ?Q 54e eғB9^k=Q Afhu@E addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504169 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 1.400000 m, bearing: 219.433363 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.504169 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gYzgYgYbgYZgrgjgRgzgZfRfeeB"dcccc`'?Թɢy. > = @I <ɡiI2挼I!i-O=i-q=)))1G8checking for new query: numPingsReceived=110, elapsed TxPingTime=50.474522>ABIIN > x$fL,iÙQ0)AD^D^rD^-D\E^: E^?:6E^t4:E\"E^N;!fE^O;!f*E^sY;!fE^sY;!fB3(IBD!6D!Y5!5s==Q)=?9999EEYE%EEAE?IQ 1U4٪MYҝ?Q 5U4M MѓB9YYYQ E]?yMoC)M;IMw;iM4Yaev@aB*** querying acoustic contact ***:hBhDDAT read: Rx Time:18:24:04.4615 TRx dataTimestamp_ set to:1755627846.471268-PDAT read: Bearing 206.4, 9.1 (Local) -~Local bearing/azimuth received: Bearing 206.4, 9.1 (Local) =DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 eDAT read: 18:24:04.4615 LVL= 26608, 29601, 32754, 26531, AGC= 31, IDX= 504,-0.34, 2.572, 2.280, 2.377, 0.708, PHS= 1.966, 1.616, 1.625, RAW= 91.3, -79.4, CAL= 93.4, -78.8, ROT= 56.6, 78.8 mYgot valid direction response: 18:24:04.4615 LVL= 26608, 29601, 32754, 26531, AGC= 31, IDX= 504,-0.34, 2.572, 2.280, 2.377, 0.708, PHS= 1.966, 1.616, 1.625, RAW= 91.3, -79.4, CAL= 93.4, -78.8, ROT= 56.6, 78.8 mV#Rx 111: Read range and direction messages.u^direction in FSK: [0.106922,0.162156,-0.980955]uFpublishing direction and range infoA_?p? cIisg? ?)?IW?iaY?'|?Ii)a3UM?um*iQ]s←`DgzggbgZgrgjgRgzgZfRfee"dcccc?VO?'|? Iichecking for new query: numPingsReceived=111, elapsed TxPingTime=50.749138ɢjB08> 顕 @I h<ɡiI!Ii`N=i>)!)! ))I)))I checking for new query: numPingsReceived=111, elapsed TxPingTime=50.978230ԁ >A @A%߁AI)I9NM>ImL,oQ0)A,5ÈB57(Ii9I9 99DDtD*DEƱ: Ev:6E(N4:E!@!@!@!@Mb@Mb@Mb@ )Ii?&1?MbP<P=)Ii BD A6D ?3Y*<!$=Q)%>%I?9%I?9%EY%%E)A->1Q 1=4٪5XН?Q 5=45! 19=h=Q A=i>r)??`'n0~UA_?p? chU'|?hQ Uґʿ$ G¿lkK~U(]¿`f8+NzjhUrhUPZhUJ,?bhU]zhUBhUGĝ?hU+oFhUBhU<>hUXJv@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 220.490642 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.503858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee{B"dcccc` ]?ɢkBZ$>  @I <͜<ɡiIדIiK=i "?) ) EDDAT read: Rx Time:18:24:04.9616 vB~BB(IBBBBBB7T;B=EԩTRx dataTimestamp_ set to:1755627846.993284PDAT read: Bearing 207.0, 9.1 (Local) ~Local bearing/azimuth received: Bearing 207.0, 9.1 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 -DAT read: 18:24:04.9616 LVL= 23328, 27681, 30130, 24819, AGC= 31, IDX= 505,-0.19,-2.219,-2.518,-2.417, 2.203, PHS= 1.963, 1.607, 1.619, RAW= 91.7, -79.2, CAL= 93.9, -78.6, ROT= 56.1, 78.6 5Ygot valid direction response: 18:24:04.9616 LVL= 23328, 27681, 30130, 24819, AGC= 31, IDX= 505,-0.19,-2.219,-2.518,-2.417, 2.203, PHS= 1.963, 1.607, 1.619, RAW= 91.7, -79.2, CAL= 93.9, -78.6, ROT= 56.1, 78.6 5V#Rx 112: Read range and direction messages.=^direction in FSK: [0.110242,0.164058,-0.980271]}Fpublishing direction and range info?8?J_?Lȧa^?I [i!lu`C? -?)d;?I?i;ﰿM?>z??Ii)Ҡ!?W'ھn←t?>z? ?Iichecking for new query: numPingsReceived=112, elapsed TxPingTime=51.275772>A-@> AY Iq I N > checking for new query: numPingsReceived=112, elapsed TxPingTime=51.4822541tL,Q0)Ahy~k@ٱ~c&@~+=~u ;~H}OYΠS?N?} >z??I~k@)~i^;i~ZCňB9(IBD%C6D%3Y5 =<!=Z==.99A9EEYE%EEO<AE>IQ 1U4٪MΝ?Q 5]4Mo MГB9YY]#Q E]?yMvC)M9:IM:iM[4YeBe׾@m;EJhRhQ0)Ah?h'|/Ъ*?h?9=Ɇ~?8?J_?Lȧa^h>z?h? +̿@Wſ:&\~l<9¿_U@u⣕ztjh*rh`ZhY?bhǾҽzh҅BhX?h8*hh=>hL.v@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.522016 s, deltaX: 0.100000 m, approachRate: 0.191565 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 220.392559 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.522016 s, deltaX: 0.100000 m, approachRate: 0.191565 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dccc?c@o?ɢims6> quI @Iq u)<ɡqiqIuH/Iyi}J=i}6))DDuD+DE: E:6E [4:E"E;!E;!*E^d;!E_d;!UDDAT read: Rx Time:18:24:05.4615 UTRx dataTimestamp_ set to:1755627847.481937ePDAT read: Bearing 207.4, 9.1 (Local) e~Local bearing/azimuth received: Bearing 207.4, 9.1 (Local) uDAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 18:24:05.4615 LVL= 23088, 27601, 30290, 24867, AGC= 31, IDX= 504,-0.08,-3.073, 2.906, 3.014, 1.352, PHS= 1.960, 1.599, 1.617, RAW= 92.7, -79.1, CAL= 94.9, -78.5, ROT= 55.1, 78.5 Ygot valid direction response: 18:24:05.4615 LVL= 23088, 27601, 30290, 24867, AGC= 31, IDX= 504,-0.08,-3.073, 2.906, 3.014, 1.352, PHS= 1.960, 1.599, 1.617, RAW= 92.7, -79.1, CAL= 94.9, -78.5, ROT= 55.1, 78.5 V#Rx 113: Read range and direction messages.^direction in FSK: [0.114068,0.163512,-0.979925]Fpublishing direction and range infoQU)3?V ? [U3?QIU0ZiUkURvU#aQUH? U?)U?IU?iU U6?U^Um0v?U^?IQiQ)Upcy?Rܔ_@l←U[lU?Um0v? U^?IQiQchecking for new query: numPingsReceived=113, elapsed TxPingTime=51.754066>A>)A% }AI) I9 NU >a =WzL,R_Q0)Ay6C@ٱ6;&@6h /=6<6H T"  N? >?xߥ?D?I6C@)63^;i6[CBÈBB7(Iychecking for new query: numPingsReceived=113, elapsed TxPingTime=51.985367Mb@Mb@Mb@ )Ii~jt?:v?D<T=)@IE@i/@ ̴@BDB6D3Y!?=:Q)>-?9-?95EY5%EE:AM>aQ 14٪e|͝?Q 54e a9Z=Q AxP B8p?X4%M?&,ĵG~)3?V ? [hm0v?h^?  'ʿQÿ5]f~jhÿ6G/[qjh]rh,VZh<ܻ?bhaPzhBhJ,?h]hBhT>h Kp@= addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.488653 s, deltaX: -0.100000 m, approachRate: -0.204644 m/s, rangeRepo size: 4 m Added new target pos. range: 1.400000 m, bearing: 215.121633 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.488653 s, deltaX: -0.100000 m, approachRate: -0.204644 m/s, posRepo size: 4 gizgigibgiZgirgqjgqRgqzgqZfqRfqeye}wB"dycycc`ff?cU?ԡɢ"> % @I! %F<ɡ!i!I%tI)i-G=i57)1)1@A@ADDvDDE: E:6E:E!@!@!@!@U DDAT read: Rx Time:18:24:05.9616 ] TRx dataTimestamp_ set to:1755627847.983211e PDAT read: Bearing 207.1, 8.6 (Local) e ~Local bearing/azimuth received: Bearing 207.1, 8.6 (Local) u DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 A A AAvB s>~B B (IB BB B B B T;B %E DAT read: 18:24:05.9616 LVL= 29744, 31793, 32754, 28403, AGC= 33, IDX= 505, 0.02,-0.745,-1.039,-0.934,-2.640, PHS= 1.997, 1.646, 1.662, RAW= 92.3, -79.6, CAL= 94.4, -79.1, ROT= 55.6, 79.1  Ygot valid direction response: 18:24:05.9616 LVL= 29744, 31793, 32754, 28403, AGC= 33, IDX= 505, 0.02,-0.745,-1.039,-0.934,-2.640, PHS= 1.997, 1.646, 1.662, RAW= 92.3, -79.6, CAL= 94.4, -79.1, ROT= 55.6, 79.1  V#Rx 114: Read range and direction messages. ^direction in FSK: [0.106833,0.156025,-0.981959] Fpublishing direction and range infoQ U cY??ۨ4lU ?Q IU 0tiU 1|U U nU !U ? U !?)U j?IU ?3?iU ӱU B?U U Ulx?U ?IQ iQ )U x6g?a=j%z←U iU .?U Ulx? U ?IQ iQ  checking for new query: numPingsReceived=114, elapsed TxPingTime=52.261471>A z6rA J>jA C> A I I1 N= >0L,R0)AyVA@ٱV9&@Ve0=V8f*99EY%E;A>Q 14٪7̝?Q 54K 9Y]Q E?y{C);I\;i' 4Y@JhRhQ0)Ah?ho ?|?ۤ~'~cY??ۨ4lhUlx?h ? ʿ}3ſoY~9˦D&S͵|jh(rhWZh*y?bh饢zhDžBhY?hǾҽhBhl>hp@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501274 s, deltaX: 0.100000 m, approachRate: 0.199492 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 215.452352 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.501274 s, deltaX: 0.100000 m, approachRate: 0.199492 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee!"d)c)c)c5?c5?ɢf5> 顽 @Ichecking for new query: numPingsReceived=114, elapsed TxPingTime=52.489326 <ɡiIm!Ii5:E=i5"9)Y)iI)}G rA)I/rA#0A>A8D- D- D- ,D) E- C: E- *:6E- g4:E) "E- ;!E E- ;!E *E- b;!E E- b;!E ԙ A I I) N= >} DDAT read: Rx Time:18:24:06.4615  TRx dataTimestamp_ set to:1755627848.487235 PDAT read: Bearing 206.9, 8.3 (Local)  ~Local bearing/azimuth received: Bearing 206.9, 8.3 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 18:24:06.4615 LVL= 29104, 28305, 30162, 24851, AGC= 33, IDX= 504, 0.12,-0.933,-1.225,-1.120,-2.839, PHS= 2.007, 1.659, 1.675, RAW= 92.3, -79.8, CAL= 94.4, -79.2, ROT= 55.6, 79.2  Ygot valid direction response: 18:24:06.4615 LVL= 29104, 28305, 30162, 24851, AGC= 33, IDX= 504, 0.12,-0.933,-1.225,-1.120,-2.839, PHS= 2.007, 1.659, 1.675, RAW= 92.3, -79.8, CAL= 94.4, -79.2, ROT= 55.6, 79.2  V#Rx 115: Read range and direction messages. ^direction in FSK: [0.105864,0.154611,-0.982287] Fpublishing direction and range infoy } ?J?ޣѨn} 3?y I} qi} n} u} ay } r@ } Z?)} ff?Iy i} aFy } ;ﰿy } ;?Iy iy )} h?'z$~←} ^:} =?y } ;?Iy iy  checking for new query: numPingsReceived=115, elapsed TxPingTime=52.756935ևL,C R0)AyB)(IBD-K6D- 4Y=!!=;==Q)=>A9A9EEYE%EEAM>IQ 1u4٪Mʝ?Q 5}4M I9yYyQ E}?yM~C)M;IMq;iM4Y@JhRh.R0)Ah3?hbh֑?=ʹ?~?J?ޣѨnhh;? xȿ]ÿy`n9 ~uq6&m-jhrhFZh?bhEzhBh<ܻ?haPhBh]>hFo@u addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504024 s, deltaX: -0.100000 m, approachRate: -0.198403 m/s, rangeRepo size: 4 U Added new target pos. range: 1.400000 m, bearing: 214.475456 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.504024 s, deltaX: -0.100000 m, approachRate: -0.198403 m/s, posRepo size: 4 gQzgYgYbgaZgrgjgRgzgZfԩRfee"dc cc`ff?cE?ɢlB(>   @I j<ɡiI5IAiMC=iM9)I)Qchecking for new query: numPingsReceived=115, elapsed TxPingTime=52.994637>Ae 9 A I I N >@4L,;R0)AD<D>tD>)D<E< E>v:6E>FA4:E~BB(IBBBBBBS;BE~Local bearing/azimuth received: Bearing 207.0, 8.7 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 =DAT read: 18:24:06.9615 LVL= 24880, 29649, 32754, 26515, AGC= 32, IDX= 504, 0.29,-1.356,-1.657,-1.555, 3.052, PHS= 1.977, 1.619, 1.632, RAW= 91.8, -79.2, CAL= 94.0, -78.7, ROT= 56.0, 78.7 EYgot valid direction response: 18:24:06.9615 LVL= 24880, 29649, 32754, 26515, AGC= 32, IDX= 504, 0.29,-1.356,-1.657,-1.555, 3.052, PHS= 1.977, 1.619, 1.632, RAW= 91.8, -79.2, CAL= 94.0, -78.7, ROT= 56.0, 78.7 MV#Rx 116: Read range and direction messages.U^direction in FSK: [0.109572,0.162447,-0.980615]UFpublishing direction and range infoub{ ?h?_<1aI0aisg V? d;?)`?IK?i;ﰿ~?Fѯ5z?Fѯ?Ii);x?-IʟDxo←kBDu<6Du3Y}=!@=Q)>99EY%E?5z? Fѯ?Ii checking for new query: numPingsReceived=116, elapsed TxPingTime=53.285126A>AQ 1M4٪Ejɝ?Q 5M4E A9U5=Q AUhss@u addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 1.400000 m, bearing: 218.214426 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfeenB"dcccc0?ɢ6> _X]顥 @I 1<ɡiIեIi8A=i:))@ =@ = DDAT read: Rx Time:18:24:07.4614  TRx dataTimestamp_ set to:1755627849.246673 checking for new query: numPingsReceived=116, elapsed TxPingTime=53.504078>A 89 A I I N >yL,VR0)Aɰy6@ٱ6&@6[x'=6k<6HQy'>?@T (? j?N?I6@)6^;i6[CBBB%(IBDf86Df3Yn݁!rZ=rQ)r>t9t9vEYv%EvuAv>xQ 1~4٪z>ȝ?Q 54z* x9YU*Q E?yzC)z:Iz:iz4Y  @5B*** querying acoustic contact ***:h1Bh1g9zgAgAbgAZgArgAjgARgAzgAZfIRfIeIeQ"dQcQcQcQc]Q?ɢmB@}Q> 額@I 5<ɡiIhIip@=iSD))BEU|a4JEUd4REUd/DDxD.DE: E:6Eـ4:E"E;!E;!*EJo;!EJo;!-PDAT read: Bearing 206.9, 8.7 (Local) -~Local bearing/azimuth received: Bearing 206.9, 8.7 (Local) AEDAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 mDAT read: 18:24:07.4614 LVL= 25568, 29809, 32754, 26611, AGC= 31, IDX= 503, 0.49,-2.997, 2.977, 3.085, 1.409, PHS= 1.979, 1.613, 1.633, RAW= 92.7, -79.1, CAL= 95.0, -78.5, ROT= 55.0, 78.5 uYgot valid direction response: 18:24:07.4614 LVL= 25568, 29809, 32754, 26611, AGC= 31, IDX= 503, 0.49,-2.997, 2.977, 3.085, 1.409, PHS= 1.979, 1.613, 1.633, RAW= 92.7, -79.1, CAL= 95.0, -78.5, ROT= 55.0, 78.5 uV#Rx 117: Read range and direction messages.}^direction in FSK: [0.114353,0.163313,-0.979925]Fpublishing direction and range info!%kȦ8F?`Tm? [%?!I%ci%qt!%g%%O? %v?)%%?I%?i% %g;?%^% u?%^?I!i!)%9,?e-f/k←%1%X?% u? %^?I!i!checking for new query: numPingsReceived=117, elapsed TxPingTime=53.764294>A9qAIIN>ԙ  DDAT read: Rx Time:18:24:07.9616  TRx dataTimestamp_ set to:1755627849.750507 PDAT read: Bearing 206.3, 8.6 (Local) % ~Local bearing/azimuth received: Bearing 206.3, 8.6 (Local) = checking for new query: numPingsReceived=117, elapsed TxPingTime=54.012825ܢL,>pR0)Aqy]@ٱU%@"=Gl<H7`f`? %:?(?Ă??I]@)&^;iB4(I=Mb@Mb@Mb@9 9)9I9i9=L7A`?Zd;O?~jtx=+==j<=Ļ)9I=\@i9=@ 9=@BDU?6DU3YeL=!e(=e3Q)m>i9i9mEYm%EuPAu>yQ 14٪}Ɲ?Q 54}2 }ϓB9&=Q A;i}'4Y@JhQRhU0_R0)AhU?hU!U8?2?㷭~UkȦ8F?`Tm? [hU u?hU^? U*0?0ȿ/,?g~U(ĿHK)2fjhUrhUAZhU Ю?bhU%zhUfBhU*y?hU%hUBhU'I>hU[x@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.502587 s, deltaX: -0.200000 m, approachRate: -0.397941 m/s, rangeRepo size: 4  Added new target pos. range: 1.200000 m, bearing: 222.861676 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.502587 s, deltaX: -0.200000 m, approachRate: -0.397941 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfe e yB"d c cc@33?c#?ԡɢ`,> f @I Z=ɡiI$$Iih==i6I))DDD+DEa: E0:6E [4:E!@!@!@!@>A”DUDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 18:24:07.9616 LVL= 23600, 27633, 30514, 24915, AGC= 31, IDX= 505,-0.28, 2.627, 2.327, 2.436, 0.765, PHS= 1.964, 1.607, 1.626, RAW= 92.8, -79.3, CAL= 95.0, -78.7, ROT= 55.0, 78.7 Ygot valid direction response: 18:24:07.9616 LVL= 23600, 27633, 30514, 24915, AGC= 31, IDX= 505,-0.28, 2.627, 2.327, 2.436, 0.765, PHS= 1.964, 1.607, 1.626, RAW= 92.8, -79.3, CAL= 95.0, -78.7, ROT= 55.0, 78.7 V#Rx 118: Read range and direction messages.^direction in FSK: [0.112390,0.160510,-0.980615]Fpublishing direction and range info9=8יż?~BB'IBBB =BBBS;BEBBBB =BB34=Sa9=Zd? =-?)= ?I=4Q?i=m(9=Fѯ9=Fѯ?I9i9)=Q1!m)?f9)յXp←=`=E?9 =Fѯ?I9i9checking for new query: numPingsReceived=118, elapsed TxPingTime=54.275928AEmvAIQIaNm> uL,R0)AyNyB@ٱNq=%@N<=Nz7n9>9EY&EZA?Q 14٪sŝ?Q 547 ͓B9YEQ E?yC)]Z;IP;i -4Y3@JhqRhuR0)Ahu?huC"upja3?B`?JGmv~u8יż?huHHv@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.505285 s, deltaX: 0.300000 m, approachRate: 0.593724 m/s, rangeRepo size: 4 - Added new target pos. range: 1.500000 m, bearing: 220.483426 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.505285 s, deltaX: 0.300000 m, approachRate: 0.593724 m/s, posRepo size: 4 g1zg1g1bg1Zg1rg9jg9Rg9zgAZfIRfQeiei"dycDDAT read: Rx Time:18:24:08.4615 TRx dataTimestamp_ set to:1755627850.254950PDAT read: Bearing 205.7, 8.7 (Local) ~Local bearing/azimuth received: Bearing 205.7, 8.7 (Local) =DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 ]\#Rx 119: Read range message, but no direction.3?checking for new query: numPingsReceived=119, elapsed TxPingTime=54.538376cc`ff?c ?ɢmnBmW<> im% @Iq u =ɡqiqIuDIyi};=i}P)y)1m-|,DDrD,DEs: E?:6Eg4:E"E;! E;! *EsY;! EsY;! e DAT read: 18:24:08.4615 LVL= 26352, 29793, 32754, 26771, AGC= 31, IDX= 504,-0.15, 1.657, 1.356, 1.463,-0.208, PHS= 1.968, 1.609, 1.627, RAW= 92.6, -79.2, CAL= 94.8, -78.7, ROT= 55.2, 78.7 m Ygot valid direction response: 18:24:08.4615 LVL= 26352, 29793, 32754, 26771, AGC= 31, IDX= 504,-0.15, 1.657, 1.356, 1.463,-0.208, PHS= 1.968, 1.609, 1.627, RAW= 92.6, -79.2, CAL= 94.8, -78.7, ROT= 55.2, 78.7 u \#Rx 120: Read direction message, but no range.} ^direction in FSK: [0.111829,0.160901,-0.980615]A E  +G֠?GMh?_<1a￙A IE fiE atE E hA E m? E ?)E A?IE ?iE ;ﰿE ?A E Ϣv?A IA )E 7}^??q'c7go←E @KE ?E Ϣv? A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Y >Au DrA} 8>jA} 0>ԑAIIN>L,ҨR0)ADiDˆB6(IMDDAT read: Rx Time:18:24:08.9616 ]TRx dataTimestamp_ set to:1755627850.758880uPDAT read: Bearing 205.0, 8.6 (Local) }~Local bearing/azimuth received: Bearing 205.0, 8.6 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 X#Rx 1: Read range message, but no direction.IM?I=2Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.}Mb@Mb@Mb@y y)yIyiy}:v?Mb`?Mb`}T<};})yIyi}\@}@ yyBDR6D4Y<!<Q)>99EY&EA>Q 14٪ĝ?Q 54  ̓B9YhM^x@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.759748 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 222.592456 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.759748 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfe e {B"d c c c?c@?ɢ]oB]!> ae^ @I Dt=ɡiIbٵIi8=iO))A e |^D D vD D E C: E :6E :E ! @! @! @! @>A= Q DAT read: 18:24:08.9616 LVL= 26656, 30513, 32754, 27571, AGC= 31, IDX= 505,-0.04, 3.043, 2.743, 2.852, 1.175, PHS= 1.970, 1.613, 1.632, RAW= 92.8, -79.3, CAL= 95.0, -78.8, ROT= 55.0, 78.8  Ygot valid direction response: 18:24:08.9616 LVL= 26656, 30513, 32754, 27571, AGC= 31, IDX= 505,-0.04, 3.043, 2.743, 2.852, 1.175, PHS= 1.970, 1.613, 1.632, RAW= 92.8, -79.3, CAL= 95.0, -78.8, ROT= 55.0, 78.8  X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.111408,0.159107,-0.980955] ??2]? c￙ I hi 1w k (? v?) `?I 4Q?i m( g;? x u? x ?I ) ǝc_?0õxVq← ` 0? u? x ?% XsL,R0)AyV".@ٱV)#@V=VA] 顭@I =ɡiIIi[7=iEIq)A)I YYI)%DDAT read: Rx Time:18:24:09.4615 5TRx dataTimestamp_ set to:1755627851.2633539mPDAT read: Bearing 204.2, 8.9 (Local) }~Local bearing/azimuth received: Bearing 204.2, 8.9 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 X#Rx 1: Read range message, but no direction.!%3?!=2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.aDe Da De *Da Ee : Ea 6Ee (N4:Ea "Ee ;!m Ee ;!m *Ee h;!m Ee h;!u >Au Oԙ  DAT read: 18:24:09.4615 LVL= 26560, 29841, 32754, 26915, AGC= 31, IDX= 504, 0.07, 2.876, 2.569, 2.676, 0.998, PHS= 1.980, 1.616, 1.634, RAW= 92.5, -79.1, CAL= 94.7, -78.6, ROT= 55.3, 78.6  Ygot valid direction response: 18:24:09.4615 LVL= 26560, 29841, 32754, 26915, AGC= 31, IDX= 504, 0.07, 2.876, 2.569, 2.676, 0.998, PHS= 1.980, 1.616, 1.634, RAW= 92.5, -79.1, CAL= 94.7, -78.6, ROT= 55.3, 78.6  X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.112522,0.162503,-0.980271] xBμ?G?Lȧa^￙ I gi t #i p? ?) &?I ?i ԏ?  0w? ?I ) pm?f9Lʏ l← P °? 0w? ? ?L,jKR0)A(yEY@ٱET"@Em =E%F99EY &E׼A>Q 14٪ ĝ?Q 54 9YF,@Q E?y):I:iE4Y)-@)JhARhER0)AhE3?hEc&E2e)?91)?xUD~ExBμ?G?Lȧa^hE0w?hE? E^N}_Ϳ5||6,t}~EbĿiJd@(MBhjhEi rhEjZhEh?bhEץzhEBhE?hAhEBhE>hE2Iq@ԉ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504473 s, deltaX: -0.100000 m, approachRate: -0.198227 m/s, rangeRepo size: 4 m Added new target pos. range: 1.400000 m, bearing: 216.010394 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 0.504473 s, deltaX: -0.100000 m, approachRate: -0.198227 m/s, posRepo size: 4 gqzggbgZgrgjgRgzgZfRfee"dccc`ff?c?ɢ]qBe>*> mD%f @I "=ɡDDAT read: Rx Time:18:24:09.9616 %TRx dataTimestamp_ set to:1755627851.766930EPDAT read: Bearing 203.3, 9.2 (Local) M~Local bearing/azimuth received: Bearing 203.3, 9.2 (Local) ԹiIֽ DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 X#Rx 1: Read range message, but no direction.Ii-]3=i-ޜw))?52Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.)Q>A` A I I N >˾L,R0)Ay:؀@ٱ:{!@: =: 87<:H`@ts?@UQ?@F= ??I:؀@):7^;DFDFDF,DDEF: EFE7:6EFg4:ED!J@!J@!J@!J@i:ZC\}DAT read: 18:24:09.9616 LVL= 26464, 30353, 32754, 27347, AGC= 31, IDX= 505, 0.17,-1.318,-1.627,-1.524, 3.081, PHS= 1.987, 1.621, 1.634, RAW= 91.8, -79.0, CAL= 94.0, -78.5, ROT= 56.0, 78.5 Ygot valid direction response: 18:24:09.9616 LVL= 26464, 30353, 32754, 27347, AGC= 31, IDX= 505, 0.17,-1.318,-1.627,-1.524, 3.081, PHS= 1.987, 1.621, 1.634, RAW= 91.8, -79.0, CAL= 94.0, -78.5, ROT= 56.0, 78.5 X#Rx 1: Read direction message, but no range.^direction in FSK: [0.111485,0.165284,-0.979925]Y]BJ?t(? [￙YvB~BBBBBB`DBS;BEI]`gi]vY]jY]V? ]|?)YI]K?i]|]~?]^]5z?]^?IY)]$ڧڀ}? (O =¿i←] ]?]5z? ]^?99EY&EZݼA>Q 14٪ĝ?Q 54 ˓B9%xI~]BJ?t(? [h]5z?h]^? ]6LϿMN@¿M7ǔ~]yCſ66UIfjh]rh]*Zh]롕?bh]gzh]DžBh]=:?h]%h]ЅBh]؍>h]Cn@m addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503577 s, deltaX: 0.100000 m, approachRate: 0.198579 m/s, rangeRepo size: 4 } Added new target pos. range: 1.500000 m, bearing: 213.303217 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 0.503577 s, deltaX: 0.100000 m, approachRate: 0.198579 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfeevB"dccc?c?ɢUrB}<> y顅@I Jd*=ɡiI,¼Iir1=i))!M DDAT read: Rx Time:18:24:10.4615 ] TRx dataTimestamp_ set to:1755627852.274456} PDAT read: Bearing 202.4, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 202.4, 9.0 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  X#Rx 1: Read range message, but no direction.Q U 3?Q  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A >A QFqAQ IY q Ii N} >HL,XS0)AyF[@ٱFS @F==FK#0 Uc顅 @I c/=ɡiIOżIii ))DiDmDm)DiEi Em]t:6EmFA4:Ei"EmN;!}EmO;!}*Em;!}Em;!}>A6s!DAT read: 18:24:10.4615 LVL= 24160, 27633, 31010, 25043, AGC= 31, IDX= 504, 0.32,-2.884, 3.091,-3.086, 1.517, PHS= 1.984, 1.618, 1.636, RAW= 92.4, -79.1, CAL= 94.6, -78.5, ROT= 55.4, 78.5 Ygot valid direction response: 18:24:10.4615 LVL= 24160, 27633, 31010, 25043, AGC= 31, IDX= 504, 0.32,-2.884, 3.091,-3.086, 1.517, PHS= 1.984, 1.618, 1.636, RAW= 92.4, -79.1, CAL= 94.6, -78.5, ROT= 55.4, 78.5 X#Rx 1: Read direction message, but no range.^direction in FSK: [0.113210,0.164107,-0.979925]aeHQ?#du? [￙aIe`^ieke"yeaae? e?)esh?Iepl?ie eV?aew?aIa)eaق?U&NeGJk←e~e˩?ew? aIy = DDAT read: Rx Time:18:24:10.9615 M TRx dataTimestamp_ set to:1755627852.779844m PDAT read: Bearing 201.1, 8.8 (Local) u ~Local bearing/azimuth received: Bearing 201.1, 8.8 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  X#Rx 1: Read range message, but no direction.A A A  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.jL,4S0)A4yN@ٱN@N)=N"99EY&EA>Q 14٪'Ɲ?Q 54" ʓB91=Q Ah‡o@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.505388 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 214.438684 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 1.012914 s, deltaX: -0.100000 m, approachRate: -0.098725 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfe e hB"d c cccY?ɢ]tB]&+8> e|eb @Ia 8=ɡiI9~ʼIii))DDDDE: E*:6E:E!@!@!@!@DAT read: 18:24:10.9615 LVL= 26304, 28049, 31042, 25747, AGC= 32, IDX= 505,-0.43, 1.547, 1.247, 1.353,-0.347, PHS= 1.996, 1.639, 1.656, RAW= 92.4, -79.5, CAL= 94.6, -78.9, ROT= 55.4, 78.9 Ygot valid direction response: 18:24:10.9615 LVL= 26304, 28049, 31042, 25747, AGC= 32, IDX= 505,-0.43, 1.547, 1.247, 1.353,-0.347, PHS= 1.996, 1.639, 1.656, RAW= 92.4, -79.5, CAL= 94.6, -78.9, ROT= 55.4, 78.9 X#Rx 1: Read direction message, but no range.^direction in FSK: [0.109322,0.158472,-0.981293]yԹ}DŽ?*H?f￙yI}fi}m}By}d} }|? }?)}?Iyi}Κy}Cy}C?Iy)}(?^[4P1u←}Fw}%w?y }C?~BB(IBBB =BBBS;BEJM >Au + ]DDAT read: Rx Time:18:24:11.4615 eTRx dataTimestamp_ set to:1755627853.283867A II!N5>!L,SS0)APDAT read: Bearing 200.3, 9.2 (Local) ~Local bearing/azimuth received: Bearing 200.3, 9.2 (Local) "DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 HiHfDAT read: 18:24:11.4615 LVL= 26800, 29937, 32754, 27091, AGC= 31, IDX= 504,-0.24,-0.083,-0.383,-0.282,-1.937, PHS= 1.956, 1.599, 1.611, RAW= 91.7, -79.1, CAL= 93.9, -78.6, ROT= 56.1, 78.6 iI%C) )I^A5Ygot valid direction response: 18:24:11.4615 LVL= 26800, 29937, 32754, 27091, AGC= 31, IDX= 504,-0.24,-0.083,-0.383,-0.282,-1.937, PHS= 1.956, 1.599, 1.611, RAW= 91.7, -79.1, CAL= 93.9, -78.6, ROT= 56.1, 78.6 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.110242,0.164058,-0.980271]EFpublishing direction and range info?8?J_?Lȧa^y%@ٱ%@%<%D <%HO ב@?*Q:8?``gf? ?I%@)%T^;i%ZC}B}1(IIhiti5^? ?)?5?I?i M?>z??Ii)G?Y궿aR(l←׿?>z? ?Ii2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.BD96D3Ye0Z!e=mQ)m>i9q9uEYu&EuƼAu>yQ 14٪}ǝ?Q 54} y9Y0F?Q E?y}C)}d:I}:i}e4YD@JhRh*RS0)Ahhm*8șd?AD1f?xUD~?8?J_?Lȧa^h>z?h? !9οxnl*^ v~"OſRh%%EjjhrhqZh?bhzhBhhghBh>ho@9M addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 1.400000 m, bearing: 214.749475 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 0.504023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gyzgygybgyZgrgjgRgzgZfRfee"dcccc?ɢ5uB5&6> 9=+ @I9 =CA=ɡ9i9I=̉ϼIAiAiI)I)IDDD*DE EE7:6E(N4:E"E ;!E ;!*EM;!EN;!5|A-}qAY Ia Iq N >ԑ bL,LmS0)Aq5DDAT read: Rx Time:18:24:11.9616 ETRx dataTimestamp_ set to:1755627853.787263ePDAT read: Bearing 199.2, 9.2 (Local) m~Local bearing/azimuth received: Bearing 199.2, 9.2 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 y B@ٱ=@h<ˏ;Hr-?g O? Gp`ɮ{?@1?I B@)];iYCB2(IDAT read: 18:24:11.9616 LVL= 27376, 30177, 32754, 27155, AGC= 31, IDX= 505,-0.10, 1.369, 1.073, 1.172,-0.499, PHS= 1.971, 1.617, 1.627, RAW= 91.4, -79.3, CAL= 93.5, -78.7, ROT= 56.5, 78.7 Ygot valid direction response: 18:24:11.9616 LVL= 27376, 30177, 32754, 27155, AGC= 31, IDX= 505,-0.10, 1.369, 1.073, 1.172,-0.499, PHS= 1.971, 1.617, 1.627, RAW= 91.4, -79.3, CAL= 93.5, -78.7, ROT= 56.5, 78.7 R#Rx 1: Read range and direction messages.^direction in FSK: [0.108150,0.163397,-0.980615]Fpublishing direction and range info15?v/?_<1a5?1I5ji5u15j15I? 5?)5A?I50?i5m(5?5Fѯ5q|?5Fѯ?I1i1)5TphZ?-Hȶ_­(p←5Sa5 ?5q|? 5Fѯ?I1i1M2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԡMb@Mb@Mb@ )Ii~jtxQMb`u)@Ii\@@ @BDK6D 4Y%;!%1=-E$Q)->)9)95EY5&EU@ɼAU>YQ 1e4٪]'ɝ?Q 5e4]1 Y9mw=Q Am[h5{.k@- addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503396 s, deltaX: 0.100000 m, approachRate: 0.198651 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.500000 m, bearing: 210.545490 deg, lat: 36.779358 deg, lon: -121.859508 deg, deltaT: 0.503396 s, deltaX: 0.100000 m, approachRate: 0.198651 m/s, posRepo size: 4 gazgagabgaZgargajgaRgizgiZfiRfieexB"dccc?c j?ɢvBqA> )-2 @I) 5gI=ɡ1i1I5]ԼI9i9i9)9)9 AAIi)iDDD,DEU: E.:6Eg4:E!@!@!@!@ ~B B (IB BB B B aDB S;B E )>A#bAAZAAQDDAT read: Rx Time:18:24:12.4615 TRx dataTimestamp_ set to:1755627854.290807PDAT read: Bearing 198.4, 9.5 (Local) ~Local bearing/azimuth received: Bearing 198.4, 9.5 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 18:24:12.4615 LVL= 27744, 30593, 32754, 27347, AGC= 31, IDX= 504, 0.01, 1.200, 0.902, 0.995,-0.678, PHS= 1.980, 1.625, 1.629, RAW= 90.6, -79.2, CAL= 92.7, -78.7, ROT= 57.3, 78.7 Ygot valid direction response: 18:24:12.4615 LVL= 27744, 30593, 32754, 27347, AGC= 31, IDX= 504, 0.01, 1.200, 0.902, 0.995,-0.678, PHS= 1.980, 1.625, 1.629, RAW= 90.6, -79.2, CAL= 92.7, -78.7, ROT= 57.3, 78.7 R#Rx 1: Read range and direction messages.^direction in FSK: [0.105858,0.164891,-0.980615]Fpublishing direction and range infoVO?LO$?_<1a3?I`lA!I1IANM?L,*S0)Aiwjp? ?)?Ig?i;ﰿ?j?Ii)k|Ж?;P }n←w?j? IiZ2Acoustic response timeout^Querying Benthos address 50 with 120 pings in terminal homing one-way mode.yM@ٱM@MI9I9UEYU!&EUAU>YQ 1e4٪]ʝ?Q 5e4] ]ɓB9YH?Q E?y]C)]%evB?s(df?c<~VO?LO$?_<1ahj?h b J οJy̕Ŷm~^ Rqſq Zj<7qjhrh(pZh>/3?bh❑zhBh?hhBhߤ>hBk@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503544 s, deltaX: -0.100000 m, approachRate: -0.198592 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 210.613941 deg, lat: 36.779358 deg, lon: -121.859507 deg, deltaT: 0.503544 s, deltaX: -0.100000 m, approachRate: -0.198592 m/s, posRepo size: 4 gzggbgZgrg!jg!Rg!zg!Zf!Rf!e)e)"d)c)c1c5`ff?c5?ɢ?;> 顝I @I R=ɡiIټIii))YBE]řT4JE]U4RE]A/DDzD)DE: E :6EFA4:E"EN;!EO;!*Ev;!Ev;!AԑA I I N >Ա L,S0)Ay(@ٱ @7<g:Hk]`??@PR??I(@) ^;i]DDAT read: Rx Time:18:24:12.9616 eTRx dataTimestamp_ set to:1755627854.795541PDAT read: Bearing 197.5, 9.3 (Local) ~Local bearing/azimuth received: Bearing 197.5, 9.3 (Local) ԉDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 18:24:12.9616 LVL= 24960, 27713, 31106, 25203, AGC= 31, IDX= 505, 0.12,-2.891, 3.101,-3.090, 1.497, PHS= 1.997, 1.650, 1.653, RAW= 90.5, -79.5, CAL= 92.5, -79.0, ROT= 57.5, 79.0 ˆB5(IYgot valid direction response: 18:24:12.9616 LVL= 24960, 27713, 31106, 25203, AGC= 31, IDX= 505, 0.12,-2.891, 3.101,-3.090, 1.497, PHS= 1.997, 1.650, 1.653, RAW= 90.5, -79.5, CAL= 92.5, -79.0, ROT= 57.5, 79.0 R#Rx 1: Read range and direction messages.^direction in FSK: [0.102522,0.160927,-0.981627]Fpublishing direction and range infoY]b>?yj>?,/o}i]?YI]ai]Al]y]sbY]? ]33?)]?I]-?i]Κ]?]|]t?]|?IYiY)]T/?lC趿_.2x←]]?]t? ]|?IYiYm2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.EMb@Mb@Mb@A A)AIAiAEv/Mb`EExiA)E@IEE@iEE@A AE̴@ԹBD&6Dދ3YȄ;!=ɺQ)>99EY%&ErA>Q 1 4٪̝?Q 5 4 9 i=Q A h?yj>?,/o}ih]t?h]|? ]~z*Ͽ2F\J*~]VƩQ$Ŀ!=TdZ{jh]rh]UyZh]x?bh]zh]΅Bh]" ?h]MhYh] >h]Vj@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504734 s, deltaX: 0.100000 m, approachRate: 0.198124 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 210.331661 deg, lat: 36.779358 deg, lon: -121.859507 deg, deltaT: 0.504734 s, deltaX: 0.100000 m, approachRate: 0.198124 m/s, posRepo size: 4 gzggbgZgrgjgRg!zg!Zf!Rf!e)e-uB"d)c)cQcU?cU?ɢ}wBM@> 顅W @I 4b[=ɡiI޼Iii))rDjD<DDD-DE7: E.:6Et4:E!@!@! @! @ A ?΅ A I I N>L,NS0)Ayv@ٱv@v* ˚ @I %a=ɡi I O㼝Ygot valid direction response: 18:24:13.4615 LVL= 27712, 30401, 32754, 27203, AGC= 31, IDX= 504, 0.27, 1.808, 1.513, 1.602,-0.079, PHS= 1.989, 1.637, 1.637, RAW= 90.0, -79.3, CAL= 92.1, -78.7, ROT= 57.9, 78.7 R#Rx 1: Read range and direction messages.^direction in FSK: [0.104126,0.165990,-0.980615]Fpublishing direction and range info1?Q ,??_<1a3?I@livCj? 7?IIQiQiQ)Q)Y)7?I?im(?FѯY?Fѯ?Ii)k⹚?lʷ >q← !?Y? Fѯ?Ii}2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.y>A#D1 D5 D5 &D1 E1  E5 ?:6E5 4:E1 "E5 ;!E E5 ;!E *E5 ;!M E5 ;!M % `L,6S0)A0i0yj @ٱj@jel? &LEw?,>te?Ij @)j^;ijYCȈB>(IBD<6D3Y%B!%M=-9Q)->)9)9-EY-+&E5"eA5>9Q 1E4٪=Ν?Q 5E4=9 =ȓB9AYM~\?Q EM?y=C)=:I=W:i=w4YQU@QJhRh*S0)Ah3?h\_.UhǨ?&7׾?c<ԙ~1?Q ,??_<1ahY?hFѯ?  ;Ϳ۔.%JόҀ~',_2ſ8DzwxjhWҽrhgmZh{>?bh!PzhBh>/3?h❑hh[>h9.k@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503935 s, deltaX: -0.100000 m, approachRate: -0.198438 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 210.544582 deg, lat: 36.779359 deg, lon: -121.859507 deg, deltaT: 0.503935 s, deltaX: -0.100000 m, approachRate: -0.198438 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfe!e!"d!c!c!c-`ff?c-?ɢL_> 顝 @I g=ɡiIgIii))DDAT read: Rx Time:18:24:13.9616 TRx dataTimestamp_ set to:1755627855.801460PDAT read: Bearing 196.2, 9.3 (Local) ~Local bearing/azimuth received: Bearing 196.2, 9.3 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 18:24:13.9616 LVL= 26192, 27009, 30562, 24563, AGC= 32, IDX= 505, 0.44, 2.659, 2.378, 2.469, 0.749, PHS= 2.012, 1.673, 1.675, RAW= 90.3, -79.9, CAL= 92.3, -79.4, ROT= 57.7, 79.4 Ygot valid direction response: 18:24:13.9616 LVL= 26192, 27009, 30562, 24563, AGC= 32, IDX= 505, 0.44, 2.659, 2.378, 2.469, 0.749, PHS= 2.012, 1.673, 1.675, RAW= 90.3, -79.9, CAL= 92.3, -79.4, ROT= 57.7, 79.4  R#Rx 1: Read range and direction messages.^direction in FSK: [0.098295,0.155487,-0.982935]Fpublishing direction and range info܌F)? ?4t?IPfiibw_ @ $?)ff?In?i?3?a.?a?Ii)w\?1=F)B←x?.? a?Ii-2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.>AuA I I N >! A L,#S0)Ay6| @ٱ6w@6<66HX5 ŷ?`'8`?ؘaTq?I6| @)6'^;i6WCB̈BBA(IDDD*DEy: EE7:6E(N4:E! @! @! @! @MMb@Mb@Mb@I I)IIIiIM{GzMbM#M@M)M@IIiM\@I IMz@BDm;6Dm)3Yuo<!E=X:Q)>99EY.&EA>Q 14٪!Н?Q 54 9D=Q Ahi@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501984 s, deltaX: 0.100000 m, approachRate: 0.199210 m/s, rangeRepo size: 4 % Added new target pos. range: 1.500000 m, bearing: 208.644450 deg, lat: 36.779359 deg, lon: -121.859507 deg, deltaT: 0.501984 s, deltaX: 0.100000 m, approachRate: 0.199210 m/s, posRepo size: 4 g!zg!g!bg!Zg!rg!jg)Rg)zg)Zf)RfieqeuzB"dqcqcyc}?c}@b?ɢwN> e @I Go=ɡiIIii))ԡ>AU DDAT read: Rx Time:18:24:14.4615  TRx dataTimestamp_ set to:1755627856.306309 PDAT read: Bearing 196.4, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 196.4, 10.0 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 - DAT read: 18:24:14.4615 LVL= 27616, 30305, 32754, 27379, AGC= 31, IDX= 505,-0.33, 0.216,-0.079, 0.011,-1.649, PHS= 1.967, 1.615, 1.616, RAW= 90.1, -79.2, CAL= 92.2, -78.6, ROT= 57.8, 78.6 5 Ygot valid direction response: 18:24:14.4615 LVL= 27616, 30305, 32754, 27379, AGC= 31, IDX= 505,-0.33, 0.216,-0.079, 0.011,-1.649, PHS= 1.967, 1.615, 1.616, RAW= 90.1, -79.2, CAL= 92.2, -78.6, ROT= 57.8, 78.6 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [0.105327,0.167256,-0.980271]E Fpublishing direction and range info 7]?ogh?Lȧa^ 3? I ki av  j  ? R?) ?I I?i ;ﰿ ?  ^ ? ?I i ) l{ ?G 񷿠&n← i F߰? ^ ? ?I i ] 2Acoustic response timeout] Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A I I N > L,T0)AΈBD(IBDC6D3Y7<! A= Q) >99EY2&EA>!Q 1%4٪%{ѝ?Q 5-4% !9)Y)Q E-?y%C)%:I%:i%4Yqu@yJhRhT0)Ah3?h.Ǣ??U?xUD~7]?ogh?Lȧa^h^ ?h? RͿQ,~UĹܟڤ~VHſ+S'grȆqxjh"νrhdnZhsKݽ?bh;zh Bh{>?h!PhBh>he@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504849 s, deltaX: -0.100000 m, approachRate: -0.198079 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.400000 m, bearing: 205.703211 deg, lat: 36.779359 deg, lon: -121.859506 deg, deltaT: 0.504849 s, deltaX: -0.100000 m, approachRate: -0.198079 m/s, posRepo size: 4 g1zg1g1bg9Zg9rg9jg9Rg9zg9Zf9RfAeAeA"dAcIcIcm`ff?cm ?ɢyBX> 顽 @I lv=ɡiILDDD+DEI: E6E [4:E"EA} # DDAT read: Rx Time:18:24:14.9615  TRx dataTimestamp_ set to:1755627856.811507 PDAT read: Bearing 196.5, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 196.5, 10.1 (Local)  DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 } DAT read: 18:24:14.9615 LVL= 27312, 30385, 32754, 27411, AGC= 31, IDX= 505,-0.18,-0.191,-0.487,-0.396,-2.045, PHS= 1.956, 1.603, 1.605, RAW= 90.2, -79.1, CAL= 92.3, -78.5, ROT= 57.7, 78.5  Ygot valid direction response: 18:24:14.9615 LVL= 27312, 30385, 32754, 27411, AGC= 31, IDX= 505,-0.18,-0.191,-0.487,-0.396,-2.045, PHS= 1.956, 1.603, 1.605, RAW= 90.2, -79.1, CAL= 92.3, -78.5, ROT= 57.7, 78.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.106533,0.168518,-0.979925]-Fpublishing direction and range info 'χpE?x? [ I ji v k 5^? /?) p?I z L,j8T0)Aɰ8y6gT @ٱ6_O@6=D<66H`'9l@?@'+ Aٌ?{w`?I6gT @)6];i6XCrʈBr@(IitIt5Mb@Mb@Mb@1 1)1I1i15Mb rh55C 1)5@I5/@i11 11BDm66Dm3Y}l!}!=3;Q)>99EY6&EYA>Q 14٪ҝ?Q 54O 9=Q Arxxjh]Z̽rh]nZh]?bh]Yzh] Bh]{ü?h]꒹h]Bh]>h]ee@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.505198 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 1.400000 m, bearing: 205.477943 deg, lat: 36.779359 deg, lon: -121.859506 deg, deltaT: 0.505198 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfeexB"dcccc@?ɢQUrH> QU! @IQDeDezDe*DaEe: Ee :6Ee(N4:Ea!m@!m@!m@!m@ }=ɡyiyI}UIii))vBI]A  Ai I I N >L,}ST0)ADDAT read: Rx Time:18:24:15.4614 TRx dataTimestamp_ set to:1755627857.311226"PDAT read: Bearing 196.6, 10.0 (Local) "~Local bearing/azimuth received: Bearing 196.6, 10.0 (Local) *DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 4BDAT read: 18:24:15.4614 LVL= 27232, 30321, 32754, 26899, AGC= 31, IDX= 504,-0.06,-1.085,-1.383,-1.290,-2.943, PHS= 1.960, 1.605, 1.609, RAW= 90.5, -79.1, CAL= 92.6, -78.5, ROT= 57.4, 78.5 FYgot valid direction response: 18:24:15.4614 LVL= 27232, 30321, 32754, 26899, AGC= 31, IDX= 504,-0.06,-1.085,-1.383,-1.290,-2.943, PHS= 1.960, 1.605, 1.609, RAW= 90.5, -79.1, CAL= 92.6, -78.5, ROT= 57.4, 78.5 FR#Rx 1: Read range and direction messages.J^direction in FSK: [0.107414,0.167958,-0.979925]JFpublishing direction and range info4u?=I'? [?I`jiqviH? p?)?I-?i?;?Ii)aoMc?j4׷Lk←w ?;? Iiv2Acoustic response timeoutzQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yn @ٱi@M<Hi0@3? 3@6?ନwn?In @)y];i-ȈB-=(IBDET6DE4YM(&!UU=U';Q)U>Y9Y9]EY]9&E]Պ;A]>aQ 1m4٪eӝ?Q 5u4e eɓB9qYun ?Q Eu?yeC)e~:Ieu:ie4Yy}@YJhRh ST0)Ah?hN#/?0vȷ`?㷭~4u?=I'? [h;?h }%ɿXdVݵT^~EI?ſ-s8T<*HyjhꮽrhKZh?bhUZzhlBhsKݽ?h;h Bhu>hod@e addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.499719 s, deltaX: -0.200000 m, approachRate: -0.400225 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 1.200000 m, bearing: 204.736712 deg, lat: 36.779360 deg, lon: -121.859506 deg, deltaT: 0.499719 s, deltaX: -0.200000 m, approachRate: -0.400225 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dccc@33?c@??ɢauW> qu @Iq uB=ɡyiyI}aIyii))DDD/DE: EE7:6EJ4:E"E ;!E ;!*E!E!A ) AIIIqN}?dL,HsT0)ADDAT read: Rx Time:18:24:15.9615 TRx dataTimestamp_ set to:1755627857.815308PDAT read: Bearing 196.7, 9.9 (Local) ~Local bearing/azimuth received: Bearing 196.7, 9.9 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2DAT read: 18:24:15.9615 LVL= 26272, 28129, 30962, 25331, AGC= 32, IDX= 505, 0.05, 1.923, 1.625, 1.715, 0.016, PHS= 2.009, 1.654, 1.655, RAW= 90.2, -79.3, CAL= 92.2, -78.8, ROT= 57.8, 78.8 6Ygot valid direction response: 18:24:15.9615 LVL= 26272, 28129, 30962, 25331, AGC= 32, IDX= 505, 0.05, 1.923, 1.625, 1.715, 0.016, PHS= 2.009, 1.654, 1.655, RAW= 90.2, -79.3, CAL= 92.2, -78.8, ROT= 57.8, 78.8 6R#Rx 1: Read range and direction messages.:^direction in FSK: [0.103503,0.164360,-0.980955]:Fpublishing direction and range info \)?u ? c3? Ifimxb u@ F?) ?I 99EY=&E5d;A5>9Q 1E4٪=ӝ?Q 5E4=ص =ȓB9M97jhVϽrhdZh'?bh-zhBh?hYh h>he@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504082 s, deltaX: 0.200000 m, approachRate: 0.396761 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.400000 m, bearing: 205.517099 deg, lat: 36.779360 deg, lon: -121.859506 deg, deltaT: 0.504082 s, deltaX: 0.200000 m, approachRate: 0.396761 m/s, posRepo size: 4 g1zg9g9bg9Zg9rg9jg9Rg9zg9ZfARfAeAeE}B"dIcIcicm`ff?cu`\?ɢzBGG> h @I Ն=ɡiIj*Iii)) I)DD{D,DEO: E5":6Eg4:E!@!@!@!@!vB~BB#(IBBBBBB>S;BE A] #ԁ u*DAT read: user:953> }DAT read: 50 }:unknown deviceResponse_: 50 }DAT read: Ok :unknown deviceResponse_: Ok 6D43Y<!,=Q)>99EYA&EA>Q 14٪ӝ?Q 54 ǓB9YQ E?yC):I:iy4Y@EB*** querying acoustic contact ***:hABhAgQzgQgQbgQZgYrgYjgYRgYzgYZfYRfYeaea"dccccs?ɢ15oU> 9=B @I9 =ӫ=ɡ9iaIeIIaiiii)i)iD]D]D]+DYE]ҝ: E].:6E] [4:EY"E];!eE];!m*E];!mE];!m1U$DAT read: user:5> ]BDAT read: Tx time:18:24:16.9685 ]$Ping request sent.]A](i I I N >1+L,4T0)Ay6K @ٱ6C@6{=6276H ߳1R`C;JP?)?`N$r@_?I6K @)6`];i4>LjBB<(IBDF?6DF3YN!Rt=R 顝 @I =ɡiInGIii))@@Aiԑ>A6ɅbA~AZA~ADu Du lDu *Dq Eu 1: Eu :6Eu (N4:Eq !} @!} @! @! @I I vB ~B B (IB BB B B B ,S;B EN- >u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504056 z2L,WT0)AvBv#(IixIx ||ԙMb@Mb@Mb@ )IiMbPMb?<)Ii\@@ BD=-6D=3YMx!M2=UQ)U>Q9Y9]EY]G&E]A]>aQ 1m4٪eӝ?Q 5m4e a9uS 顭@I u=ɡiIIii))checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754967>A(IqIN> C8L,T0)ABE5 [4JE5T\4RE5h0DDD-DEa: EA:6Et4:E"EJ;!EK;!*Eg;!Eg;!yFYS@ٱFQN@F=F3FH@(]r?a(e?<<3`f?IFYS@)Fz];iDRBR1(IBDZ46DZf3Yb.p=!bg=bW;Q)f>d9d9fEYfJ&Eji=Aj>lQ 1r4٪nhӝ?Q 5r4nŵ l9pYrI Q Ev?ynC)n;In:inrЃ4Yxz@x%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007107gzg!g)bg)Zg)rg)jg)Rg)zg)Zf)Rf1e1e1"d1c9c9cAcE@TE?ɢm|Bm6r> quI@Iq uNo=ɡqiqIu Iii))!>AE#IINg>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261208y m>L,T0)Ay:N@ٱ:F@:%=:E:HgO@Hʞ`|?T@?@㢿`DW@j?I:N@):k];i8FƈBF:(IMb@Mb@Mb@ )Ii{Gzt{Gz?Mb`?ף#=;)Ii BD-<6D-3Y==!EC=EwG;Q)E>A9I9MEYMM&EM<AM>QQ 1]4٪Uҝ?Q 5e4U' Q9eQ%=Q Ae ae2 @Ia eT=ɡaiiImX| Iiiqi))@=@=D=D=rD=+D9E=s: E=?:6E= [4:E9!M@!M@!M@!M@vB~BBBB =BBB S;BEByByByByByB}e45checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511225ԁ>AIIN>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943 UEL,_U0)Aiy6@ٱ6 @6bd=6DB96Hك`I@*KF?ꏗ?ZkL(??I6@)6Ir];i6XCBˆBB6(IBDJC6DJ3Y~Z!~O=~+;Q)>99EYP&E <A >Q 14٪ҝ?Q 54 ȓB9YQ E?yC)o:I:iރ4Y)-V@)gIzgQgQbgQZgQrgQjgQRgQzgQZfYRfYeYeY"dacacacace c@ɢ}Bh> 顕@I Ȏ=ɡiIIii))Ա>ADEDEqDE-DAEEO: EE$ :6EEt4:EA"EE;!UEE;!U*EEU;!UEEU;!UIaIqNZ>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015124 9 KL,;0U0)Ay6N@ٱ6I @6F =6;;6H `F?.r?t@`??I6N@)6S];i6VCNBR3(IBDX6DXYb62!bN=bD;Q)b>d9d9fEYfT&Ej<Aj>lQ 1r4٪nXѝ?Q 5r4n l9pYrzQ Ev?ynC)n ;In ;in4Yxzy@xB*** querying acoustic contact ***:hBhgzgg!bg!Zg!rg)jg)Rg1zgQZfYRfaeichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269229e"dcccc- T@ɢyZ> 页Y@I ա=ɡiII!i)i1)1)q@~A@AADU DU ~DU &DQ EU 1: EU (:6EU 4:EQ !] @!] @!] @!] @i vB ~B B (IB BB =B B B S;B E>A I I ] DDAT read: Rx Time:18:24:19.0990 ] TRx dataTimestamp_ set to:1755627861.092282m PDAT read: Bearing 202.0, 9.5 (Local) u ~Local bearing/azimuth received: Bearing 202.0, 9.5 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:24:19.0990 LVL= 23792, 27809, 31106, 25619, AGC= 32, IDX= 345, 0.01, 0.440, 0.130, 0.235,-1.437, PHS= 1.979, 1.612, 1.628, RAW= 92.2, -79.0, CAL= 94.5, -78.4, ROT= 55.5, 78.4  Ygot valid direction response: 18:24:19.0990 LVL= 23792, 27809, 31106, 25619, AGC= 32, IDX= 345, 0.01, 0.440, 0.130, 0.235,-1.437, PHS= 1.979, 1.612, 1.628, RAW= 92.2, -79.0, CAL= 94.5, -78.4, ROT= 55.5, 78.4  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.113892,0.165714,-0.979575] Fpublishing direction and range infoY ] Nb(?wp6?D.X] ff?Y I] \i] l] y] dY ] O? ] V?)] Nb?I] ?i] |] r?] %] w?] %?IY iY )] A;0?^+͜u϶ +ji←] T] r?] w? ] %?IY iY  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537109AQ Ii Iy N >ÃRL,"JU0)Ay@ٱ @#=X_;H`LTud? r?`o Fq?`e?I@)l];iSC-B-4(I1UMb@Mb@Mb@Q Q)QIQiQUMb`T㥛 ?MbPUU=U)U@IQiQQ QU̴@BDmE6Dm3Yc(;!"=e:Q)>99EYW&EF<A>Q 14٪ϝ?Q 54 9=Q ARhU5[@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 3.276974 s, deltaX: -0.500000 m, approachRate: -0.152580 m/s, rangeRepo size: 4  Added new target pos. range: 0.900000 m, bearing: 196.246799 deg, lat: 36.779360 deg, lon: -121.859506 deg, deltaT: 3.276974 s, deltaX: -0.500000 m, approachRate: -0.152580 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfeetB"dccc?c?ɢQUc> QUc@IY ]=ɡYiYI]eIaieK.=uchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.771163ie ))iԑ >A #A I I N >D% D% |D% -D! E% : E% P$:6E% t4:E! "E% ';!5 E% );!5 *E% };!5 E% };!5 XL,&4dU0)Aɰ4<y6Uk@ٱ6Mf!@65%=6 ;6H)×@ ? ڝ?ծ |??I6Uk@)6݄];i6TC@BBF1(IBDN?6DN3YVNj!V=V:Q)V?X9X9ZEYZZ&EZ<A^?`Q 1f4٪bΝ?Q 5f4b `9dYf$ Q Ef?ybC)b:Ib:ib4YhnH@vDDAT read: Rx Time:18:24:19.5988 vTRx dataTimestamp_ set to:1755627861.595432~PDAT read: Bearing 202.9, 9.3 (Local) ~~Local bearing/azimuth received: Bearing 202.9, 9.3 (Local)  DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -DAT read: 18:24:19.5988 LVL= 26336, 28257, 31154, 26099, AGC= 32, IDX= 503, 0.12,-0.959,-1.266,-1.165,-2.859, PHS= 2.002, 1.638, 1.650, RAW= 91.6, -79.2, CAL= 93.8, -78.6, ROT= 56.2, 78.6 5Ygot valid direction response: 18:24:19.5988 LVL= 26336, 28257, 31154, 26099, AGC= 32, IDX= 503, 0.12,-0.959,-1.266,-1.165,-2.859, PHS= 2.002, 1.638, 1.650, RAW= 91.6, -79.2, CAL= 93.8, -78.6, ROT= 56.2, 78.6 =R#Rx 2: Read range and direction messages.E^direction in FSK: [0.109956,0.164250,-0.980271]EFpublishing direction and range infotvL&?.d&?Lȧa^v?tIvfivanvyvetv @ v?)v33?Iv?iv;ﰿv?vv{?v?Itit)vy.d0?[ڶ;m←vY9vذ?v{? v?Ititechecking for new query: numPingsReceived=2, elapsed TxPingTime=3.039810lJhtRhvfU0)Ahv?hv%%v]$ l?!܈:?j:~vL&?.d&?Lȧa^hv{?hv? v 2=^P5=^~vXI& Ŀ '3 rjhvqrhvrZhv,ǝ?bhvzhvBhv?hthvlBhv>hv:X@% addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503150 s, deltaX: -0.300000 m, approachRate: -0.596244 m/s, rangeRepo size: 4 5 Added new target pos. range: 0.600000 m, bearing: 193.923081 deg, lat: 36.779360 deg, lon: -121.859506 deg, deltaT: 0.503150 s, deltaX: -0.300000 m, approachRate: -0.596244 m/s, posRepo size: 4 gQzgQgQbgQZgYrgYjgYRgYzgYZfYRfYeaea"dacacicm@33?cm?ɢ~B~> }9@I }=ɡiIIi*,=iyE))Ա>A_A9IAIYNmV>checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278363 ^L,~U0)Ay65@ٱ6-!@61s%=6(<6H2)Bh<@b? ,@?`t??I65@)61l];i6SCBBB3(Il=Mb@Mb@Mb@9 9)9I9i9=~jtx&?==7==)=@I9i=@9 9=׳@BDUA6DU?3Ye<!e?=mD Q)m>i9i9uEYu]&Eu<Au>yQ 14٪}Ν?Q 54} y9=Q A>  B@I  ѫ=ɡ i I HIi*=i}))@5=@5=DDvD*DEa: E:6E(N4:E!@!@!@!@A1A5<vB=r>~B9B= (IB=BB= =B9B9B=R;B=EDDAT read: Rx Time:18:24:20.0989 TRx dataTimestamp_ set to:1755627862.099243PDAT read: Bearing 204.1, 9.2 (Local) ~Local bearing/azimuth received: Bearing 204.1, 9.2 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 )EDAT read: 18:24:20.0989 LVL= 24016, 27633, 30898, 25267, AGC= 31, IDX= 504, 0.23, 0.385, 0.072, 0.180,-1.495, PHS= 1.982, 1.612, 1.631, RAW= 92.6, -78.9, CAL= 94.8, -78.4, ROT= 55.2, 78.4 MYgot valid direction response: 18:24:20.0989 LVL= 24016, 27633, 30898, 25267, AGC= 31, IDX= 504, 0.23, 0.385, 0.072, 0.180,-1.495, PHS= 1.982, 1.612, 1.631, RAW= 92.6, -78.9, CAL= 94.8, -78.4, ROT= 55.2, 78.4 MR#Rx 3: Read range and direction messages.U^direction in FSK: [0.114758,0.165115,-0.979575]UFpublishing direction and range info<`?׍|"?D.XL?I]ikxb-? V?)?I?iC?%Ϣv?%?Ii)Sb?]jUѓ!@h←4^?Ϣv? %?Iichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.545552>A=;rAM0>jAIQAIIN>ԁ  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778995WeL,U0)AaB2(IBDK6D 4Y!5=Q)>99EYa&EA>Q 14٪=͝?Q 54 ɓB9YQ E?yŔC) ;II;i4Y:@Jh)Rh-YU0)Ah-L?h-%-?d?(*~-<`?׍|"?D.Xh-Ϣv?h-%? - $o.`Ik ;O"~-mĿjn:x[jjh-rh-Zh-xU?bh-zh--Bh)h-h-Bh-==h-FI@U addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503811 s, deltaX: 0.200000 m, approachRate: 0.396974 m/s, rangeRepo size: 4 e Added new target pos. range: 0.800000 m, bearing: 180.613450 deg, lat: 36.779360 deg, lon: -121.859506 deg, deltaT: 0.503811 s, deltaX: 0.200000 m, approachRate: 0.396974 m/s, posRepo size: 4 gazgagabgaZgargijgiRgizgiZfiRfieqeq"dqcycyc}?c}?ɢnf> 顭@I aͯ=ɡiIIi'=i^C))ԁD D {D ,D E : E 5":6E g4:E "E ;!E ;!%*E 5z;!%E 6z;!%>A-u}DDAT read: Rx Time:18:24:20.5988  TRx dataTimestamp_ set to:1755627862.603443PDAT read: Bearing 205.0, 9.0 (Local) ~Local bearing/azimuth received: Bearing 205.0, 9.0 (Local) -DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 MDAT read: 18:24:20.5988 LVL= 26464, 30257, 32754, 27251, AGC= 31, IDX= 503, 0.41,-1.285,-1.596,-1.489, 3.124, PHS= 1.976, 1.608, 1.626, RAW= 92.5, -79.0, CAL= 94.8, -78.4, ROT= 55.2, 78.4 UYgot valid direction response: 18:24:20.5988 LVL= 26464, 30257, 32754, 27251, AGC= 31, IDX= 503, 0.41,-1.285,-1.596,-1.489, 3.124, PHS= 1.976, 1.608, 1.626, RAW= 92.5, -79.0, CAL= 94.8, -78.4, ROT= 55.2, 78.4 ]R#Rx 4: Read range and direction messages.e^direction in FSK: [0.114758,0.165115,-0.979575]eFpublishing direction and range info<`?׍|"?D.X?I`gi1vsj? ?) ?I?i|Ii)3}?27!oh←Qf? Ii}checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047389ԱA I1 IQ Nm > kL,ƱU0)Aiy6@ٱ6"@6x"=6f<6H JX%X?[Z@q?PT&??I6@)6ly];i4^B^/(Ib4=bp;BDj?6Dj3YM!m=Q)? 9 9 EY c&E<A?Q 1E4٪̝?Q 5M4 9QYmQ Em?yȔC)q;I;i" 4Yy}]@yԹJh1Rh5ϞU0)Ah5?h5$5H,v?3,\?;v⿝uchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.285843~5<`?׍|"?D.Xh1h1 5Le+nGy=Xw~5[^qĿc|OGM\cjh5?rh5\ɽZh5,Nĝ?bh5»zh5Bh5otÝ?h5̹h5-Bh5<=h5 A@% addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.504200 s, deltaX: -0.200000 m, approachRate: -0.396668 m/s, rangeRepo size: 4  Added new target pos. range: 0.600000 m, bearing: 173.580049 deg, lat: 36.779360 deg, lon: -121.859506 deg, deltaT: 0.504200 s, deltaX: -0.200000 m, approachRate: -0.396668 m/s, posRepo size: 4 gzggbgZg rg jg Rg zg Zf Rf ee"dccc@33?c?ɢim^b> im@Iq u;=ɡqiqIutIyi}%=i}Bv))rD jD vB9 ~B9 B= (IB= BB= =B9 B9 B= R;B= ED} D} vD} 0Dy E} I: E} :6E} 4:Ey "E} <E} <*E} h;E} h;% DDAT read: Rx Time:18:24:21.0990 - TRx dataTimestamp_ set to:1755627863.1099535 PDAT read: Bearing 205.6, 8.7 (Local) 5 ~Local bearing/azimuth received: Bearing 205.6, 8.7 (Local) E DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 u DAT read: 18:24:21.0990 LVL= 23792, 27969, 30962, 25635, AGC= 31, IDX= 505,-0.36,-1.985,-2.288,-2.179, 2.442, PHS= 1.958, 1.598, 1.619, RAW= 92.8, -79.2, CAL= 95.1, -78.6, ROT= 54.9, 78.6  Ygot valid direction response: 18:24:21.0990 LVL= 23792, 27969, 30962, 25635, AGC= 31, IDX= 505,-0.36,-1.985,-2.288,-2.179, 2.442, PHS= 1.958, 1.598, 1.619, RAW= 92.8, -79.2, CAL= 95.1, -78.6, ROT= 54.9, 78.6  R#Rx 5: Read range and direction messages. ^direction in FSK: [0.113654,0.161713,-0.980271] Fpublishing direction and range info! % htm?)y?Lȧa^% ff?! I% \i% Am% x% #d! % ? % D?)% d;?I% 4Q?i% ;ﰿ% t?% % Ku?% ?I! i! )% ڌ7l?xYٵZZo n←% v% ް?% Ku? % ?I! i!  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.556034 A i>Ad/}bAAZAAAI!I1N=?O;uL,xU0)A(i4I4Bchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.787314)l t) IM%yQUzAy@ٱ"@ =<HLc `?d@? g ??I@)@];iB+(IԁMb@Mb@Mb@ )IiMb`?S㥫?;/]=)@I\@i@ BD<6D3Y !<s|Q)>99EYi&EWi;A>Q 14٪ʝ?Q 54ݺ 9U]=Q Au ~@I =ɡiI"Iih"=icv))Ա>A?:vD=D=}D=,D9E=: E=k&:6E=g4:E9"E=;E=;*E=;E=;=DDAT read: Rx Time:18:24:21.5989 ETRx dataTimestamp_ set to:1755627863.612613UPDAT read: Bearing 205.8, 8.4 (Local) U~Local bearing/azimuth received: Bearing 205.8, 8.4 (Local) eDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:21.5989 LVL= 24496, 27393, 30850, 25315, AGC= 32, IDX= 504,-0.19,-2.875, 3.111,-3.066, 1.526, PHS= 1.984, 1.630, 1.647, RAW= 92.5, -79.5, CAL= 94.7, -78.9, ROT= 55.3, 78.9 Ygot valid direction response: 18:24:21.5989 LVL= 24496, 27393, 30850, 25315, AGC= 32, IDX= 504,-0.19,-2.875, 3.111,-3.066, 1.526, PHS= 1.984, 1.630, 1.647, RAW= 92.5, -79.5, CAL= 94.7, -78.9, ROT= 55.3, 78.9 R#Rx 6: Read range and direction messages.^direction in FSK: [0.109599,0.158281,-0.981293]Fpublishing direction and range info9=?7'B?f=L?9I=_i=k=x=b= =? =ף?)=?I=?i=Κ=ԏ?=C=0w?=C?I9i9)=Ӗ׽?:e8u←=HG=?=0w? =C?I9i9checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057325A I I N% > b{L,U0)Ay6@@ٱ68"@6=6><6H`;g  ?Oh?v??I6@@)6];i4LN,(IBDVB6DV3\YbK;!b=b.Q)f?d9d9fEYfk&EjZ.;Aj?lQ 1r4٪nɝ?Q 5r4n5 l9pYrL Q Ev?ynΔC)n`:InW:in4Yxz@xJhqRhu 5U0)AhuL?hu2#u "r?|S#<5?)~u?7'B?fhu0w?huC? uKЙ-}Ck 2D,$#~u0@9Ŀ?Uu~1\ljhurhulZhu V?bhuPczhu(BhuxU?hu»hqhu=huW@E addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.502660 s, deltaX: -0.100000 m, approachRate: -0.198942 m/s, rangeRepo size: 4 U Added new target pos. range: 0.800000 m, bearing: 192.968011 deg, lat: 36.779360 deg, lon: -121.859507 deg, deltaT: 0.502660 s, deltaX: -0.100000 m, approachRate: -0.198942 m/s, posRepo size: 4 gQzgQgYbgYZgYrgYjgYRgYzgYZfaRfaeaea"dicicicm?cu@ ?ɢg> !%@I! %G=ɡ!i!I%%I)i5O =i59v)1)9checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293679=+AA AE @AvBQ ~BQ BU 'IBU BBQ BQ BQ BU R;BU E>Ae PDvDu Du oDu )Dq Eu ~: Eu :6Eu FA4:Eq "Eu {;Eu |;*Eu N;Eu N;ԁ E DDAT read: Rx Time:18:24:22.0989 M TRx dataTimestamp_ set to:1755627864.115204U PDAT read: Bearing 206.3, 8.5 (Local) U ~Local bearing/azimuth received: Bearing 206.3, 8.5 (Local) e DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:22.0989 LVL= 23680, 27793, 30898, 25507, AGC= 31, IDX= 504,-0.08,-2.686,-2.985,-2.877, 1.732, PHS= 1.967, 1.611, 1.630, RAW= 92.7, -79.3, CAL= 94.9, -78.8, ROT= 55.1, 78.8  Ygot valid direction response: 18:24:22.0989 LVL= 23680, 27793, 30898, 25507, AGC= 31, IDX= 504,-0.08,-2.686,-2.985,-2.877, 1.732, PHS= 1.967, 1.611, 1.630, RAW= 92.7, -79.3, CAL= 94.9, -78.8, ROT= 55.1, 78.8  R#Rx 7: Read range and direction messages. ^direction in FSK: [0.111130,0.159302,-0.980955] Fpublishing direction and range infoA E p$ s?q c? cA A IE \iE lE xE cE E ? E ?5?)E ף?IE ?iE m(E 6?E x E m0v?E x ?IA iA )E @?]-Q!ar←E E :?E m0v? E x ?IA iA u checking for new query: numPingsReceived=7, elapsed TxPingTime=5.582317I &% dClearing failed state for component DockingStepper1% I) N= >žL, V0)A(ɰF;F;B*(IyMb@Mb@Mb@ )Ii~jth{Gz?D#=)@Ii/@@ ̴@BD46Df3Yһ!=Q)>99EYo&EA%>!Q 1-4٪%ɝ?Q 5-4% %ʓB95L$=Q A5hgDh@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.502591 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.800000 m, bearing: 207.936413 deg, lat: 36.779360 deg, lon: -121.859508 deg, deltaT: 0.502591 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g!zg!g!bg!Zg!rg!jg!Rg)zg)Zf)Rf)eQeUlB"dQcQcYcYc]`?ɢ}B>ma> 顭l@checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795176I  =ɡiIY(Ii#=i'w)) I)Ա 4Initializing EZServoServo. BE|a4JE^4RE0D D wD +D E U: E :6E [4:E ! @! @! @! @ u DDAT read: Rx Time:18:24:22.5988 u TRx dataTimestamp_ set to:1755627864.619982 PDAT read: Bearing 206.4, 8.5 (Local)  ~Local bearing/azimuth received: Bearing 206.4, 8.5 (Local)  DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 18:24:22.5988 LVL= 23968, 27697, 30706, 25267, AGC= 31, IDX= 503, 0.03,-2.904, 3.080,-3.097, 1.503, PHS= 1.978, 1.622, 1.639, RAW= 92.4, -79.3, CAL= 94.6, -78.8, ROT= 55.4, 78.8  Ygot valid direction response: 18:24:22.5988 LVL= 23968, 27697, 30706, 25267, AGC= 31, IDX= 503, 0.03,-2.904, 3.080,-3.097, 1.503, PHS= 1.978, 1.622, 1.639, RAW= 92.4, -79.3, CAL= 94.6, -78.8, ROT= 55.4, 78.8  R#Rx 8: Read range and direction messages. ^direction in FSK: [0.110295,0.159881,-0.980955] Fpublishing direction and range infoq u {AFAYIIN&?*L,'5V0)Ay:@ٱ:"@:=:R<:H`;{Q8-J?k;@? (#?V?I:@):.];i:UCFBF$(IBD^<6D^3Yf!!f=f^lQ)j>Uchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.301342q9y9EYt&EA>Q 1=4٪ȝ?Q 5=4; 99Y=Q EE?yԔC)\"=Ig;i-4YQ]@YJhRhɭ'V0)Ah?h~%G :?!yQʎ?K~{AF @I /=ɡiI+I i =i a))1vBq>~BB'IBBBBBBS;BEBBBBBB$A4rD jD R=DDzD,DE: E :6Eg4:E"E';!%E);!%*Ev;!-Ev;!->A-?:vIIN>DDAT read: Rx Time:18:24:23.0989 TRx dataTimestamp_ set to:1755627865.123241PDAT read: Bearing 206.3, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 206.3, 8.6 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 5 DAT read: 18:24:23.0989 LVL= 23728, 27345, 30562, 25059, AGC= 31, IDX= 504, 0.14,-1.438,-1.735,-1.633, 2.970, PHS= 1.978, 1.623, 1.636, RAW= 91.9, -79.4, CAL= 94.1, -78.8, ROT= 55.9, 78.8 = Ygot valid direction response: 18:24:23.0989 LVL= 23728, 27345, 30562, 25059, AGC= 31, IDX= 504, 0.14,-1.438,-1.735,-1.633, 2.970, PHS= 1.978, 1.623, 1.636, RAW= 91.9, -79.4, CAL= 94.1, -78.8, ROT= 55.9, 78.8 E R#Rx 9: Read range and direction messages.M ^direction in FSK: [0.108895,0.160838,-0.980955]M Fpublishing direction and range infoh?KT? cL?I\ijbwa w?)sh?I|N?ia8?|y?Ii)h:?>JYd~r←Qa |99EY w&E ׊A >Q 14٪ǝ?Q 5%4[ 9%WĿ~#2F\fjh-rh-Zh-Ἕ?bh- zh-'Bh-D?h--ٽh-'Bh-|=h-Ig@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503259 s, deltaX: 0.200000 m, approachRate: 0.397410 m/s, rangeRepo size: 4  Added new target pos. range: 0.800000 m, bearing: 207.060391 deg, lat: 36.779360 deg, lon: -121.859508 deg, deltaT: 0.503259 s, deltaX: 0.200000 m, approachRate: 0.397410 m/s, posRepo size: 4 gzg gbgZgrgjgRgzgZfRfee"dc!c!c%?c%YI?iɢ|B(}> 顥@I m=ɡiI.IiH=ic))]checking for new query: numPingsReceived=9, elapsed TxPingTime=6.804187>A~IIaNuW>ԙ D% D% sD% &D! E% C: E% Z:6E% 4:E! !- @!- @!- @!- @ DDAT read: Rx Time:18:24:23.5988  TRx dataTimestamp_ set to:1755627865.627142 PDAT read: Bearing 205.9, 8.5 (Local)  ~Local bearing/azimuth received: Bearing 205.9, 8.5 (Local) % DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 E DAT read: 18:24:23.5988 LVL= 26672, 27889, 30610, 25715, AGC= 32, IDX= 503, 0.30,-2.266,-2.560,-2.462, 2.113, PHS= 2.006, 1.655, 1.664, RAW= 91.2, -79.6, CAL= 93.2, -79.0, ROT= 56.8, 79.0 M Ygot valid direction response: 18:24:23.5988 LVL= 26672, 27889, 30610, 25715, AGC= 32, IDX= 503, 0.30,-2.266,-2.560,-2.462, 2.113, PHS= 2.006, 1.655, 1.664, RAW= 91.2, -79.6, CAL= 93.2, -79.0, ROT= 56.8, 79.0 U T#Rx 10: Read range and direction messages.qL,hV0)A^direction in FSK: [0.104480,0.159662,-0.981627]Fpublishing direction and range info15w2?do?,/o}i5?1I50hi5l5w5sd5 5Nb@ 5 ?)5?I5%?i5ӱ55?5|5}?5|?I1i1)5`lCS?CD +ϝx←5H5F±?5}? 5|?I1i12checking for new query: numPingsReceived=10, elapsed TxPingTime=7.0784899 9 EY z&E A >Q 1%4٪ǝ?Q 5%4{ 9!Y%Q E%?y)/:I:i;4Y15@1Jh1Rh5#hV0)Ah5?h5$5mQ ?QF}+?~5w2?do?,/o}ih5}?h5|? 5Yuwjw:X~5nRcĿ5")gljh5yrh5ýZh5͜?bh5 zh5yBh5 V?h5uh5(Bh5=h5h@ addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.503901 s, deltaX: -0.200000 m, approachRate: -0.396903 m/s, rangeRepo size: 4 - Added new target pos. range: 0.600000 m, bearing: 208.307859 deg, lat: 36.779360 deg, lon: -121.859508 deg, deltaT: 0.503901 s, deltaX: -0.200000 m, approachRate: -0.396903 m/s, posRepo size: 4 g1zg1g1bg1Zg1rg1jg1Rg9zg9Zf9Rf9eAeA"dAcAcAcM@33?cMd?ɢ={B=Pw> 9=f@I9 E2=ɡAiAIEv1Iiiiim )i)q@5A@5ADDAT read: Rx Time:18:24:24.0989 TRx dataTimestamp_ set to:1755627865.884454PDAT read: Bearing 205.9, 8.9 (Local) ~Local bearing/azimuth received: Bearing 205.9, 8.9 (Local) checking for new query: numPingsReceived=10, elapsed TxPingTime=7.323475! >A 0ƀIa Iy N >̺L,|V0)Ad B (IvBQ~BQBU'IBUBBU =BQBQBUS;BUEbDZDDDD)DE: E*5:6EFA4:E"E;;!E<;!*E|;!E|;! Mb@Mb@Mb@  ) I i  ~jthMbMb`? D  ;) I i @   (@BD%F6D%4Y5=!5D=5Q)5>9999=EY=}&EEAE>IQ 1U4٪Mȝ?Q 5U4M[ I9U[ @I t=ɡiI`4Iii))>AMI1IANUS>)Y e DDAT read: Rx Time:18:24:24.5989 u TRx dataTimestamp_ set to:1755627866.388758 PDAT read: Bearing 205.5, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 205.5, 8.7 (Local)  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.8237658ݦL,OʜV0)Ay6T@ٱ6L@6=6wo<6H܊7D@}铿G>?@ޠ???I6T@)6xo];i6SC>BB(IBDJ76DJp3Yrߧ!rd=r$7Q)r>t9t9vEYv&Ez&rAz>|Q 1%4٪~qȝ?Q 5%4~A ~˓B9!Y%u>?Q E%?y~הC)~B:I~:i~:I4Y15u@19JhRh"QV0)AhL?he's1ۄ?X;T?&N~L&?.d&?Lȧa^h{?h? ^p)!4):ApT\~Vsſ^x踿y=adjhirhK Zh $?bh"MzhBhK?h h'Bhm>hj@gzggbgZgrgjgRgzgZfRfee"dccccu?ɢUzBUެ> ]ѽ]@IY ]ĝ=ɡYiaIe6Iaiiii)i)iaDDsD'DEU: EZ:6E'4:E!@!@!@!@DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:24.5989 LVL= 23792, 27617, 30594, 25763, AGC= 31, IDX= 504,-0.30, 1.662, 1.364, 1.471,-0.199, PHS= 1.963, 1.608, 1.626, RAW= 92.5, -79.3, CAL= 94.7, -78.8, ROT= 55.3, 78.8 Ygot valid direction response: 18:24:24.5989 LVL= 23792, 27617, 30594, 25763, AGC= 31, IDX= 504,-0.30, 1.662, 1.364, 1.471,-0.199, PHS= 1.963, 1.608, 1.626, RAW= 92.5, -79.3, CAL= 94.7, -78.8, ROT= 55.3, 78.8 T#Rx 12: Read range and direction messages.^direction in FSK: [0.110574,0.159689,-0.980955]Fpublishing direction and range info^9N?ip? cI\ikwdC? ?) ?I?im(ԏ?x 0w?x ?Ii)%; ? *pֵ?:r←6?0w? x ?Iichecking for new query: numPingsReceived=12, elapsed TxPingTime=8.075489>A}rA,>jA,>ԱA I I N >Թ \L,QV0)Ay6 @ٱ6@6=6uJ]<6HR`uC?S ?i!??I6 @)6c];i6TCRBR(IiTITDDAT read: Rx Time:18:24:25.0990 -TRx dataTimestamp_ set to:1755627866.890555EPDAT read: Bearing 204.8, 8.7 (Local) U~Local bearing/azimuth received: Bearing 204.8, 8.7 (Local) ԑchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.371913BDzF6Dz4Y;!&=8Q)>99EY&EݻA>Q 14٪ȝ?Q 54 9Y;?Q E?yؔC) ;I;iQ4Y\@JhRhV0)Ahh~)>?t#Z?#~^9N?ip? ch0w?hx ? 'S;{X̲w#~y4ſy_2úljhurhZhƽ?bh zhBhƽ?hhh>hlj@  addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.503869 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.800000 m, bearing: 209.510151 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 1.006679 s, deltaX: 0.200000 m, approachRate: 0.198673 m/s, posRepo size: 4 gzggbg!Zg!rgAjgARgIzgIZfIRfIeQeQ"dQcQcQcYc]9@?ԡɢyBp> r@I =ɡiIy+:Iii))@-=@-=vBa~BaBe(IBeBBaBaBaBe?S;BeEDDvD*DEC: E:6E(N4:E"E;!E;!*Eh;!Eh;! ߱ޱDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:25.0990 LVL= 24112, 27713, 30706, 25347, AGC= 31, IDX= 505,-0.15,-3.126, 2.862, 2.966, 1.294, PHS= 1.964, 1.613, 1.628, RAW= 92.2, -79.4, CAL= 94.3, -78.8, ROT= 55.7, 78.8 Ygot valid direction response: 18:24:25.0990 LVL= 24112, 27713, 30706, 25347, AGC= 31, IDX= 505,-0.15,-3.126, 2.862, 2.966, 1.294, PHS= 1.964, 1.613, 1.628, RAW= 92.2, -79.4, CAL= 94.3, -78.8, ROT= 55.7, 78.8 T#Rx 13: Read range and direction messages. ^direction in FSK: [0.109456,0.160457,-0.980955] Fpublishing direction and range info~}P?ә(׉? cff?I0^iAlwcZd? v?)Nb?I?ia?x?Ii)N?1'+ķt←l?x? Ii checking for new query: numPingsReceived=13, elapsed TxPingTime=8.580584>Am # Ia Iq N} >L,V0)Ay6!M@ٱ6H@6P=6ܗ?<6H rF?l ?I?6?I6!M@)6w];i6RCNBR(IeMb@Mb@Mb@a a)aIaiaeMbP?kte:e 0e)aIeE@ie/@a ae׳@BD}86D}3YI!o=_g:Q)?99EY&E| A?Q 14٪ɝ?Q 54ͻ 9,0=Q A.?bhzhBh>.?hhBh0>h(j@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504314 s, deltaX: 0.100000 m, approachRate: 0.198289 m/s, rangeRepo size: 4  Added new target pos. range: 0.900000 m, bearing: 210.310051 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.504314 s, deltaX: 0.100000 m, approachRate: 0.198289 m/s, posRepo size: 4 gzggbgZgrg!jg!Rg!zg!Zf!Rf!e)e-NB"d)c1c1c5?c5`#?ԩɢxBᲊ> -@I S=ɡaiI$A D D {D +D E : E 5":6E [4:E ! @! @! @! @ DAT read: 18:24:25.5989 LVL= 23664, 27537, 30594, 24995, AGC= 31, IDX= 504,-0.04, 2.219, 1.921, 2.023, 0.349, PHS= 1.972, 1.617, 1.630, RAW= 92.0, -79.3, CAL= 94.1, -78.7, ROT= 55.9, 78.7  Ygot valid direction response: 18:24:25.5989 LVL= 23664, 27537, 30594, 24995, AGC= 31, IDX= 504,-0.04, 2.219, 1.921, 2.023, 0.349, PHS= 1.972, 1.617, 1.630, RAW= 92.0, -79.3, CAL= 94.1, -78.7, ROT= 55.9, 78.7  Z#Rx 15: Read direction message, but no range. ^direction in FSK: [0.109855,0.162255,-0.980615] Շv?D?_<1a￙ I p\i k w a j? ?) ף?I ?i m( 8? Fѯ |y? Fѯ?I ) z?Umluq← Q '? |y? Fѯ? checking for new query: numPingsReceived=15, elapsed TxPingTime=9.080594I I N >1 9L, V0)Ay@ٱ @=<H][?͛? rZ?`S?I@)]j];iB"(IBD;6D)3Y=!A=CB:Q)>9 9 EY &E ռA >1Q 1=4٪5ʝ?Q 5=45k 19AYE j?Q EE?y5ܔC)5`:I5W:i5C_4YI @Jh!Rh%HV0)Ah%L?h%B*%4Q-?m?vb~%Շv?D?_<1ah%|y?h%Fѯ? % eמ!&~%mQZ4ſmʽy%9ojh%rh%Zh%!w?bh%%=zh%Bh%ƽ?h% h!h%(:>h%m@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.256885 s, deltaX: -0.100000 m, approachRate: -0.389279 m/s, rangeRepo size: 4  Added new target pos. range: 0.800000 m, bearing: 212.920966 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.256885 s, deltaX: -0.100000 m, approachRate: -0.389279 m/s, posRepo size: 4 gzggbgZgrgjgRgzgZfRfee"dccc?c @_?ɢUwBU|> QUQ@IY ]=ɡYiYI]?Iii))UDDAT read: Rx Time:18:24:26.0989 eTRx dataTimestamp_ set to:1755627867.943164PDAT read: Bearing 203.4, 9.1 (Local) ~Local bearing/azimuth received: Bearing 203.4, 9.1 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 I e @i @i  DAT read: 18:24:26.0989 LVL= 23520, 27633, 30834, 25427, AGC= 31, IDX= 504, 0.06,-3.086, 2.895, 2.995, 1.322, PHS= 1.977, 1.618, 1.628, RAW= 91.5, -79.2, CAL= 93.6, -78.6, ROT= 56.4, 78.6  Ygot valid direction response: 18:24:26.0989 LVL= 23520, 27633, 30834, 25427, AGC= 31, IDX= 504, 0.06,-3.086, 2.895, 2.995, 1.322, PHS= 1.977, 1.618, 1.628, RAW= 91.5, -79.2, CAL= 93.6, -78.6, ROT= 56.4, 78.6  T#Rx 16: Read range and direction messages. ^direction in FSK: [0.109382,0.164633,-0.980271] Fpublishing direction and range infoY]s?Υ?Lȧa^YYI][i]k]rx]ScY]V? ]?)]Nb?I]i?i];ﰿ]?]]d{?]?IYiY)]w]=*? j3 rim←]<]ϰ?]d{? ]?IYiYe checking for new query: numPingsReceived=16, elapsed TxPingTime=9.438623q vB r>~B B (IB BB B B B PS;B E>A ?΅bA ~AZA ~AD D D .D E : E *:6E ـ4:E "E ;;! E <;! *E b;! E b;! II!N->0L,W0)A2checking for new query: numPingsReceived=16, elapsed TxPingTime=9.575365ԩ-B-(I5=5a=uMb@Mb@Mb@q q)qIqiqu{Gz?Q~jth?u#6D43Y5ػ!=Q)>99EY&EA>Q 14٪˝?Q 54 ̓B9msy=Q AuYh@q@ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.548144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.800000 m, bearing: 215.981493 deg, lat: 36.779359 deg, lon: -121.859508 deg, deltaT: 0.548144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gzggbgZgrg jg Rg zg Zf Rf eecB"dcccc`?ɢMvBMy> IMD@II U=ɡQiQIU"CIYiYiY)Y)aUaɽ ]&Changing to mode: 1)uG )-DDAT read: Rx Time:18:24:26.5988 =TRx dataTimestamp_ set to:1755627868.403074]PDAT read: Bearing 202.7, 9.4 (Local) m~Local bearing/azimuth received: Bearing 202.7, 9.4 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 Z#Rx 17: Read range message, but no direction.15?1checking for new query: numPingsReceived=17, elapsed TxPingTime=9.852528I- &1 5 M'AI O(i  >A I)I9NM>u2L,O&W0)Ay6Q@ٱ6L@6%@=61;6H qx?@?{?{q?C?I6Q@)6p];i4BBB'(IDNDNDN*DLENغ: EN*5:6EN(N4:EL!R@!R@!R@!R@BDJ-6DJ3Y^u=!^_=^K;Q)^>`9`9bEYb&Eb`Af>dhQ 1n4٪f̝?Q 5n4f0 d9pYrބ?Q Er?yfC)f+;If,;ifn4YtvĿ@t B*** querying acoustic contact ***:h Bh % addTargetRange:: Added new target pos. range: 0.600000 m, deltaT: 0.459910 s, deltaX: -0.200000 m, approachRate: -0.434868 m/s, rangeRepo size: 4 g!-Docking sequence complete at range 0.60 m. Lat: 36.779359 Lon: -121.859508 Cable present.B--ZTransitioning guidance mode to: UNINITIALIZEDg-1C5Zf9Rf9e9e9"dAcAcAcE@33?cE4? quADAT read: 18:24:26.5988 LVL= 26208, 29617, 32754, 26755, AGC= 31, IDX= 503, 0.19, 3.062, 2.756, 2.855, 1.178, PHS= 1.986, 1.623, 1.633, RAW= 91.3, -79.1, CAL= 93.5, -78.5, ROT= 56.5, 78.5 Ygot valid direction response: 18:24:26.5988 LVL= 26208, 29617, 32754, 26755, AGC= 31, IDX= 503, 0.19, 3.062, 2.756, 2.855, 1.178, PHS= 1.986, 1.623, 1.633, RAW= 91.3, -79.1, CAL= 93.5, -78.5, ROT= 56.5, 78.5 Z#Rx 18: Read direction message, but no range.^direction in FSK: [0.110039,0.166250,-0.979925]quVZ|+?~G? [￙qIu`fiusuuhqu?5? uw?)u%?IuW?iu u?u^uq|?u^?Iq)uAEQ?'"SBo:k←u ui?uq|? u^?checking for new query: numPingsReceived=18, elapsed TxPingTime=10.091492ɢuB%@= +@I \=ɡiA FӅI1 IA NU >PL,~BW0)Ayz1 @ٱz)@zU=z`;zH`9EH@? ;I@?oi (b??Iz1 @)z_;izPC LjB <(IvB~BB(IBBBBBB\S;BE Mb@Mb@Mb@  ) I i  Mbp?:vMbP? ; T :) @I E@i    (@BD%C6D%3Y5؊=!5)=5:Q)5>9999=EY=&E=ᢼAE>AQ 14٪E'Ν?Q 54E A9U=Q A~hs@EBDocked. Homing sequence complete.1CEqCEZfARfIeIeMpB"dIcQcQcU?cUN?aDAT read: 18:24:27.0989 LVL= 23536, 27889, 30610, 25299, AGC= 31, IDX= 504, 0.34,-2.430,-2.736,-2.638, 1.974, PHS= 1.981, 1.618, 1.627, RAW= 91.1, -79.0, CAL= 93.3, -78.4, ROT= 56.7, 78.4 Ygot valid direction response: 18:24:27.0989 LVL= 23536, 27889, 30610, 25299, AGC= 31, IDX= 504, 0.34,-2.430,-2.736,-2.638, 1.974, PHS= 1.981, 1.618, 1.627, RAW= 91.1, -79.0, CAL= 93.3, -78.4, ROT= 56.7, 78.4 Z#Rx 20: Read direction message, but no range.^direction in FSK: [0.110396,0.168062,-0.979575]B?͵?D.X￙I[ilwbh? ?)A?I?i|(o?%V}?%?I)ia?Plvvoi←y?V}? %?checking for new query: numPingsReceived=20, elapsed TxPingTime=10.616549ɢsBU= o @I =ɡiA%bA-ZA-rA-jA-Թ ] DDAT read: Rx Time:18:24:27.5989 e TRx dataTimestamp_ set to:1755627869.410857 PDAT read: Bearing 201.4, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 201.4, 9.4 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  Z#Rx 21: Read range message, but no direction.Y Y Y A- I9 II NU >L,_\W0)AH5checking for new query: numPingsReceived=21, elapsed TxPingTime=10.865856y @ٱ@"=KH@?`랿;?@Se?R`vI?I @)|`;iȈB=(Ii I BD76Dp3Y%I;!MK=M;Q)U>U9U9UEYQ],A]>aQ 14٪e=ϝ?Q 54e5 a9Y l?Q E?yeC)e~;Ie;ieW~4Y@JhRh{KZW0)Ahho,:T1?ݧ5?(*~B?͵?D.XhV}?h%? e?LIί쬢A,~, :OſרX᳿RzRwjhw~rhZh&ĝ?bh׺zh5Bh?h0hBh[>h?q@gqCZfRfAeAeAMCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1@M MAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAMMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlAM MUninitialize.qBMBMMCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance"dIcQcQcQcU?ZZU=bZU=jZ@@rZ l?ɢrB"= 顭 @I r=ɡiIi)ԹOo8BEEřT4JEEřT4REE0DD|D/DE%: EP$:6EJ4:E!@!@!@!@I}(i DAT read: 18:24:27.5989 LVL= 23600, 27457, 30546, 25011, AGC= 31, IDX= 504,-0.43, 0.836, 0.538, 0.638,-1.029, PHS= 1.967, 1.611, 1.623, RAW= 91.6, -79.2, CAL= 93.8, -78.7, ROT= 56.2, 78.7 Ygot valid direction response: 18:24:27.5989 LVL= 23600, 27457, 30546, 25011, AGC= 31, IDX= 504,-0.43, 0.836, 0.538, 0.638,-1.029, PHS= 1.967, 1.611, 1.623, RAW= 91.6, -79.2, CAL= 93.8, -78.7, ROT= 56.2, 78.7 Z#Rx 22: Read direction message, but no range.^direction in FSK: [0.109004,0.162828,-0.980615]$y-?粎?_<1a￙I0\iAkRwa? ?5?)w?I?i;ﰿ?Fѯ{?Fѯ?I)?m<гeo←t?{? Fѯ?Mchecking for new query: numPingsReceived=22, elapsed TxPingTime=11.110392>A-h^IIN> wL,vW0)AnوBrQ(IBDE6D3Y=!R=Q)>%DDAT read: Rx Time:18:24:28.0990 5TRx dataTimestamp_ set to:1755627869.916166UPDAT read: Bearing 201.2, 9.6 (Local) ]~Local bearing/azimuth received: Bearing 201.2, 9.6 (Local) 99}EYyA>Q 1%4UDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 ٪]Н?Q 5u4 ͓B9yYyQ E?yC)uz"i?iﶿW&)k←-%-?-|y? -^?I)i)8qAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence19 rAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock?Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceC 4Initialize Wait Component."dccc?c?checking for new query: numPingsReceived=23, elapsed TxPingTime=11.466382ZZbZjZrZI! -ɡ-i-I-i1)1eQA<AvB~BBBBBBBOS;BEBBBB =B =B4Io(iDD~D*DE: E(:6E(N4:E"E];!E^;!*E;!E;!>Am $Iq I  checking for new query: numPingsReceived=23, elapsed TxPingTime=11.592113N >ԁ [L,W0)A%؈B%P(IYMb@Mb@Mb@ )IiMb`?J +;H)@Ir@i@ p@BDF6D4Y!I=Q)>99EYA>Q 14٪Sѝ?Q 54` 9H=Q Ah]n@"dccccWy?ZZ5H=bZ5H=jZ5@rZ5b?IA AɡAiAIAiI)I UAU~Aԉ-DDAT read: Rx Time:18:24:28.5989 =TRx dataTimestamp_ set to:1755627870.419489]PDAT read: Bearing 201.1, 9.7 (Local) ~Local bearing/azimuth received: Bearing 201.1, 9.7 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:28.5989 LVL= 23328, 28225, 30834, 25683, AGC= 31, IDX= 504,-0.12, 0.591, 0.281, 0.387,-1.267, PHS= 1.960, 1.593, 1.610, RAW= 92.3, -78.9, CAL= 94.6, -78.3, ROT= 55.4, 78.3 Ygot valid direction response: 18:24:28.5989 LVL= 23328, 28225, 30834, 25683, AGC= 31, IDX= 504,-0.12, 0.591, 0.281, 0.387,-1.267, PHS= 1.960, 1.593, 1.610, RAW= 92.3, -78.9, CAL= 94.6, -78.3, ROT= 55.4, 78.3 T#Rx 24: Read range and direction messages.^direction in FSK: [0.115151,0.166922,-0.979223]Fpublishing direction and range info15᙭z?3~Z]?$U5L?1I5 [i5An5rx5Sd15H? 5m?)5{?I5?3?i5C5V?5쮿5w?U?B9]~A]|A5?I1i1)5{RR?׀鶿YyD0f←5v58?5w? 5?I1i1checking for new query: numPingsReceived=24, elapsed TxPingTime=11.927145ԱI(i @@}A>A I I N > D D {D D E  E 5":6E :E ! @! @! @! @.L,ԩW0)A:checking for new query: numPingsReceived=24, elapsed TxPingTime=12.095694yf( @ٱf#@f:B$=fvfH`:ixݟe??ކ`u>`e?If( @)fx1_;ifQC}ՈBM(I<BD.6DP3Yy!N=:Q)>99EYA>ԹQ 14٪`ҝ?Q 54 9Y`?Q E?yC):IF:i 4Y-@1F Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalFJhaRheؚW0)AheL?he/eoƐ@?\?Oo~e᙭z?3~Z]?$Uhew?he? eܨp9ޯ,~e +&Wſ0~f-wjhekrheZhe"ǝ?bhe>~zheBBhe&ĝ?he׺he4BheM>hem@"dccc?c c?ZZ9bZ9jZ9rZ=7`?II IɡQiQIQiQ)Y eeIe)eI(i 5DDAT read: Rx Time:18:24:29.0991 ETRx dataTimestamp_ set to:1755627870.923013]PDAT read: Bearing 201.0, 9.8 (Local) e~Local bearing/azimuth received: Bearing 201.0, 9.8 (Local) DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 Z#Rx 25: Read range message, but no direction.9=̌?9checking for new query: numPingsReceived=25, elapsed TxPingTime=12.366085Թ>A]IIA N > L,W0)Ay> @ٱ>@>x~(=>~T>H`Bw@ @s?`ʙ?I j?I> @)>^;i>OCbψBfF(ImMb@Mb@Mb@i i)iIiiimMbp:vMb`?mmԼm;)m@Im/@im\@m@ im(@BD56D3vB~BBBBBBBNS;BEYټ!I=&;Q)>99EYȺA>Q 14٪ӝ?Q 54η 9AHIINb> E DDAT read: Rx Time:18:24:29.5989 M TRx dataTimestamp_ set to:1755627871.426405e PDAT read: Bearing 201.1, 9.9 (Local) m ~Local bearing/azimuth received: Bearing 201.1, 9.9 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:29.5989 LVL= 23728, 28001, 31282, 25763, AGC= 31, IDX= 505, 0.08,-2.556,-2.876,-2.765, 1.857, PHS= 1.972, 1.596, 1.617, RAW= 92.9, -78.7, CAL= 95.2, -78.1, ROT= 54.8, 78.1  Ygot valid direction response: 18:24:29.5989 LVL= 23728, 28001, 31282, 25763, AGC= 31, IDX= 505, 0.08,-2.556,-2.876,-2.765, 1.857, PHS= 1.972, 1.596, 1.617, RAW= 92.9, -78.7, CAL= 95.2, -78.1, ROT= 54.8, 78.1  T#Rx 27: Read range and direction messages. ^direction in FSK: [0.118863,0.168499,-0.978509] Fpublishing direction and range infoA E 3cm?"]? OE L?A IE \iE amE 2zE dA E j? E I?)E ?IE d?iE FѯE ȭ?E !zE Gt?E !z?IA iA )E swK?v޶o}a←E E Uׯ?E Gt? E !z?IA iA  checking for new query: numPingsReceived=27, elapsed TxPingTime=12.8766559 L,W0)Ay6 @ٱ6@6[)=6^`6H| ۠`x? o`(ԙ?)l`?I6 @)6!^;i6QC}шB}H(IBDJ6D04YU&<!]@=]6:Q)]>a9a9eEYaeAe>iQ 14٪mӝ?Q 54m mΓB9Ye/?Q E?ymC)m?F<ImqFhuCh@"dcc c ?c @Lm?ZZIbZIjZIrZM;e/?IY YɡYiaIai);??DDD,DEC: E0:6Eg4:E!@!@!@!@I`(i!!% !@-=@->Achecking for new query: numPingsReceived=27, elapsed TxPingTime=13.103615>A5vтIAIYNew>i ;5L,eW0)A4yn @ٱn@n.=n@0nH@Nt@8%p?G?ݥf?In @)np];inOC͈BC(IiIDDAT read: Rx Time:18:24:30.0989  TRx dataTimestamp_ set to:1755627871.931092%PDAT read: Bearing 201.2, 9.9 (Local) -~Local bearing/azimuth received: Bearing 201.2, 9.9 (Local) ]DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:30.0989 LVL= 26528, 30481, 32754, 27315, AGC= 31, IDX= 505, 0.20,-2.257,-2.579,-2.468, 2.155, PHS= 1.973, 1.594, 1.617, RAW= 93.0, -78.6, CAL= 95.4, -78.0, ROT= 54.6, 78.0 Ygot valid direction response: 18:24:30.0989 LVL= 26528, 30481, 32754, 27315, AGC= 31, IDX= 505, 0.20,-2.257,-2.579,-2.468, 2.155, PHS= 1.973, 1.594, 1.617, RAW= 93.0, -78.6, CAL= 95.4, -78.0, ROT= 54.6, 78.0 T#Rx 28: Read range and direction messages.BDC6D3^direction in FSK: [0.120439,0.169475,-0.978148]Fpublishing direction and range infoUsIվ?8W?K6LIgiwjD?Ye!m:=ԑ 1?)I?i+ ?@s?@?Ii)0VHy?QͶGIث_←[=?s? @?IiC;Q)M>Y9Y9eEYa2C;A>checking for new query: numPingsReceived=28, elapsed TxPingTime=13.446902Q 14٪ԝ?Q 54h 9Y/?Q E?yC)):I6:i 4Y@JhRhW0)Ahh/ }?PZ?i9ec ~UsIվ?8W?K6Lhs?h@? R<$l9!Y5)~Cſֈ4R@sjhirh` ZhV'ɝ?bhzh:Bh"ǝ?h>~h:Bh6>h$f@"d9cccc|?ZZ bZ jZ rZ /?I ɡiIi!)!ԹvB~BBBBBBBIS;BEI(i bDZD?ADD|D+DEs: EP$:6E [4:E"E;!E;!*E};!E};! checking for new query: numPingsReceived=28, elapsed TxPingTime=13.607938 >A I I N% >L,@X0)A\~݈B~W(IMb@Mb@Mb@ )Ii{Gzt?y&1|ף;`)@Ii/@ ׳@BDE6D3Y=!k=Q)?99EYA?Q 14٪ԝ?Q 54V 9 A H L,"+X0)A*checking for new query: numPingsReceived=29, elapsed TxPingTime=14.112321D:D:lD:*D8E:: E::6E:(N4:E8!B@!B@!B@!B@yfW @ٱfO@f-=fx4fH``>' 9?_?@ׯ|f?IfW @)fY];idrۈBrT(IBDz=6Dz3Y^!V=pQ)> 9 9 EY  <A>Q 1%4٪ԝ?Q 5%4@ 9)Y-y?Q E-?y)>:I:i4Y1=ɽ@9JhIRhMX0)AhM?hMI/Mf̀d?Qɹ?RF~MA?|? OhM"s?hM!z? Md9ҹz3(΍o~M,ſ: U8,vjhM0rhMνZhMF-̝?bhMvhMe@"dccc@33?c2S?ZZ9bZ9jZ9rZ=y?II IɡIiIIiiq)q I(i    II)N= >Aq DDAT read: Rx Time:18:24:31.0990 TRx dataTimestamp_ set to:1755627872.937642PDAT read: Bearing 201.7, 9.7 (Local) ~Local bearing/azimuth received: Bearing 201.7, 9.7 (Local) -DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 UDAT read: 18:24:31.0990 LVL= 26352, 30177, 32754, 27187, AGC= 31, IDX= 506,-0.40, 2.395, 2.077, 2.191, 0.531, PHS= 1.966, 1.591, 1.616, RAW= 93.5, -78.8, CAL= 95.8, -78.2, ROT= 54.2, 78.2 ]Ygot valid direction response: 18:24:31.0990 LVL= 26352, 30177, 32754, 27187, AGC= 31, IDX= 506,-0.40, 2.395, 2.077, 2.191, 0.531, PHS= 1.966, 1.591, 1.616, RAW= 93.5, -78.8, CAL= 95.8, -78.2, ROT= 54.2, 78.2 ]T#Rx 30: Read range and direction messages.e^direction in FSK: [0.119622,0.165859,-0.978867]mFpublishing direction and range info  ܄?8ji:?5 ޭR ff? I fi u  3j  ? ?) ?I ?i x ? R *r? R?I i ) VD!K?g[O R#c←  ? *r? R?I i checking for new query: numPingsReceived=30, elapsed TxPingTime=14.381163Ա 0L,rDX0)A(i(yJ @ٱJ@J?-=JIJH* F&?i ? O.I?IJ @)J9];iJKCB\(I %= =vBEs>~BABABABABABABE=S;BEEyMb@Mb@Mb@ )IiMbp~jt?~jth<D)Ii\@@ ̴@BD96D3Y<!-=!Q)%>!9!9-EY)5;A=>A]checking for new query: numPingsReceived=30, elapsed TxPingTime=14.615676Q 1u4٪ELԝ?Q 5u4Ew E͓B9uhEpc@"dcc!c-?c-p?ZZm<bZm<jZm?rZm@Iy yɡyiyIyԡi)I](iYY] YIiIN[>iIC) UG E A)a I ƿ A A DDAT read: Rx Time:18:24:31.5989  TRx dataTimestamp_ set to:1755627873.439390 PDAT read: Bearing 201.8, 9.6 (Local)  ~Local bearing/azimuth received: Bearing 201.8, 9.6 (Local) - DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 M DAT read: 18:24:31.5989 LVL= 23776, 28193, 31186, 25587, AGC= 31, IDX= 505,-0.23, 0.789, 0.477, 0.589,-1.065, PHS= 1.957, 1.587, 1.610, RAW= 93.2, -78.9, CAL= 95.5, -78.3, ROT= 54.5, 78.3 U Ygot valid direction response: 18:24:31.5989 LVL= 23776, 28193, 31186, 25587, AGC= 31, IDX= 505,-0.23, 0.789, 0.477, 0.589,-1.065, PHS= 1.957, 1.587, 1.610, RAW= 93.2, -78.9, CAL= 95.5, -78.3, ROT= 54.5, 78.3 ] T#Rx 31: Read range and direction messages.e ^direction in FSK: [0.117759,0.165092,-0.979223]e Fpublishing direction and range info UHv%?8!?$U L? I \i !n y c ~? "?) {?I 5?i C [Y? 쮿 "s? ?I i ) D)l?@kTte← $ (? "s? ?I i  checking for new query: numPingsReceived=31, elapsed TxPingTime=14.883216ԉ YL,g^X0)AyE @ٱ=@ڎ(=H7H@U ?@?U O>?IE @)?L];iOC-B5[(IBDEG6DE4YUu!Ul=U#YQ)?99EYJ<A>Q 14٪ԝ?Q 54 9YQ E?yC);%S^ſ'0RȲ vjh=jprh=Zh=qȝ?bh=*zh=NBh=qȝ?h9h9h=+>h=Yb@Done Waiting.C 8Uninitialize Wait Component.C"dccc?c?ZZbZjZrZ_@I9 9ɡ9i9I9iA)AIo(i II N)>ԉD=D=mD=0D9E=: E=:6E=4:E9!E@!E@!E@!E@echecking for new query: numPingsReceived=31, elapsed TxPingTime=15.119028ԩ ԉL,xX0)Ay%zf @ٱ%ra@%b%=%["9%H G+K ??0:W?ߪ\7?R?I%zf @)%H:];i%MC݈BW(IDDAT read: Rx Time:18:24:32.0990 TRx dataTimestamp_ set to:1755627873.943310PDAT read: Bearing 202.3, 9.5 (Local) ~Local bearing/azimuth received: Bearing 202.3, 9.5 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:32.0990 LVL= 23664, 28001, 31186, 25763, AGC= 31, IDX= 506,-0.11, 2.109, 1.797, 1.910, 0.247, PHS= 1.964, 1.596, 1.619, RAW= 93.2, -79.0, CAL= 95.5, -78.4, ROT= 54.5, 78.4 Ygot valid direction response: 18:24:32.0990 LVL= 23664, 28001, 31186, 25763, AGC= 31, IDX= 506,-0.11, 2.109, 1.797, 1.910, 0.247, PHS= 1.964, 1.596, 1.619, RAW= 93.2, -79.0, CAL= 95.5, -78.4, ROT= 54.5, 78.4  T#Rx 32: Read range and direction messages.^direction in FSK: [0.116767,0.163701,-0.979575]Fpublishing direction and range infowi?*)$?D.Xff?Ip\iamdZd? I?)d;?Ii|%%?Ii),8m?1!Vh←iBD-?6D-3Y=!=<=E#Q)E>Fi? %?IiMchecking for new query: numPingsReceived=32, elapsed TxPingTime=15.391037Q9Q9UEYQ]3<A]>aQ 1m4٪eӝ?Q 5m4eз e̓B9iYuQ Eu?yeC)eo;Iej;ie˄4Yy@ԩJhRh1_|X0)Ahff?hW.to+?#m?OP66~wi?*)$?D.Xhh%? 0 ÿq<ﰿ5R~J?5ſئmѲ Dxjh~rhZhhǝ?bhzhBhh*h:Bh>h9a@8GuidanceMode 0.000000 count C"dccc?c?iNCompleted lineCaptureHoming:LineCapture4 ijAggregate::uninitialize lineCaptureHoming:LineCaptureq5jAggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes5 kNUninitialize AltitudeEnvelopeComponent.5kUninitialize.16 lNUninitialize OffshoreEnvelopeComponent.17q77 o|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass718 pUninitialize.q8pAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy8 q@Uninitialize Buoyancy Component.ZZibZijZirZmȆ@I ɡiIi)}A}AvB=t>~B=ǍCB9B9B= =B9B9B=9S;B=EIaiaam iIIN> D= D= wD= ,D9 E= : E= :6E= g4:E9 "E= ;!M E= ;!U *E= k;!U E= k;!U m checking for new query: numPingsReceived=32, elapsed TxPingTime=15.6237361 p$L,X0)Ay6C @ٱ6;@6$=6;6HD@H Ýp?;I}?בa?]?I6C @)6c_;i6QCJ؈BNP(IiLIL%Mb@Mb@Mb@! !)!I!i!%{Gz/$?MbP%#%<%)!I%E@i!%@ !!BD=B6D=3YM!U[=U9Q)U>Q9Y9]EYY]nQ<A]>aQ 1m4٪e~ӝ?Q 5u4e a9uDDAT read: Rx Time:18:24:32.5989 TRx dataTimestamp_ set to:1755627874.447307PDAT read: Bearing 202.7, 9.4 (Local) ~Local bearing/azimuth received: Bearing 202.7, 9.4 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:32.5989 LVL= 24560, 28193, 31298, 25699, AGC= 32, IDX= 505,-0.00, 1.855, 1.547, 1.654,-0.040, PHS= 1.997, 1.633, 1.651, RAW= 92.6, -79.2, CAL= 94.8, -78.6, ROT= 55.2, 78.6 Ygot valid direction response: 18:24:32.5989 LVL= 24560, 28193, 31298, 25699, AGC= 32, IDX= 505,-0.00, 1.855, 1.547, 1.654,-0.040, PHS= 1.997, 1.633, 1.651, RAW= 92.6, -79.2, CAL= 94.8, -78.6, ROT= 55.2, 78.6 T#Rx 33: Read range and direction messages.%^direction in FSK: [0.112806,0.162306,-0.980271]%Fpublishing direction and range info_e?/:r?Lȧa^L?I_i!nBzcd ? %?)S?I?i;ﰿ?Ϣv??Ii)i :?ˡGLo←PF?Ϣv? ?Ii]checking for new query: numPingsReceived=33, elapsed TxPingTime=15.8949061Y BE%|a4JE%b4RE%uf0D D lD D E : E :6E :E ! @! @! @! @u checking for new query: numPingsReceived=33, elapsed TxPingTime=16.126923*L,X0)A8y6 @ٱ6@6e"=6mrq;6H`XO@uC?\.? GK6(n??I6 @)6Z^;i6PCZ߈BZY(IBDb?6Db3YU=!K=ݯQ)>!9!9%EY!-<A->1Q 1=4٪5Jӝ?Q 5=45E 199Y=QQ E=?y5C)5:I5:i5ل4YIM@I2je1QeqQeJhRhX0)AhL?hi{,{D?\Fž?&N~_e?/:r?Lȧa^hϢv?h? b0}I#Fak,~ĿWyAwjhrh2ZhA?ȝ?bhj3zhLBhA?ȝ?hJ,hLBh >hkY@ZZbZjZrZ{@I  ɡiIi)ԡIo(i IIN>DDAT read: Rx Time:18:24:33.0990 TRx dataTimestamp_ set to:1755627874.951234PDAT read: Bearing 203.5, 9.4 (Local) ~Local bearing/azimuth received: Bearing 203.5, 9.4 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:33.0990 LVL= 24224, 27937, 31170, 25331, AGC= 31, IDX= 506, 0.10,-2.319,-2.630,-2.521, 2.089, PHS= 1.977, 1.609, 1.629, RAW= 92.7, -79.0, CAL= 94.9, -78.4, ROT= 55.1, 78.4 Ygot valid direction response: 18:24:33.0990 LVL= 24224, 27937, 31170, 25331, AGC= 31, IDX= 506, 0.10,-2.319,-2.630,-2.521, 2.089, PHS= 1.977, 1.609, 1.629, RAW= 92.7, -79.0, CAL= 94.9, -78.4, ROT= 55.1, 78.4 T#Rx 34: Read range and direction messages. ^direction in FSK: [0.115046,0.164914,-0.979575] Fpublishing direction and range info2s? ?D.Xff?I^i!mybV? ?)?I?i|6?%m0v?%?Ii)l޷?I(Zi\ bxi←Tp|?m0v? %?Iichecking for new query: numPingsReceived=34, elapsed TxPingTime=16.418819 }1L,AX0)Ay6\%@ٱ6T @6˙ =6լ;6Hi@㛿?wm:/?@:q??I6\%@)6^;i6OCN܈BRV(IvBp~BpBr(IBrBBr =BpBpBrCS;BrEBB|BBB =Bq5Mb@Mb@Mb@ )Ii{Gz:v?Mb`?ף<;)@Iiĸ@ @BDE26DE 3Yu?!9=Q)>99EY;A>DDqD*DEa: E$ :6E(N4:E"EJ;!EK;!*EU;!EU;!Q 14٪;ӝ?Q 54 ͓B9=Q Arqjh rh yZh GӄƝ?bh Vzh Bh Tǝ?h h Bh >h -|X@ZZ=bZ=jZ~@rZt=@I ɡiIi)?0>)I(i IIN>>Qԉ  DDAT read: Rx Time:18:24:33.5989  TRx dataTimestamp_ set to:1755627875.456016 PDAT read: Bearing 204.1, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 204.1, 9.4 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 5 DAT read: 18:24:33.5989 LVL= 26736, 30321, 32754, 27635, AGC= 31, IDX= 505, 0.23, 3.032, 2.718, 2.827, 1.147, PHS= 1.987, 1.616, 1.636, RAW= 92.7, -79.0, CAL= 95.0, -78.4, ROT= 55.0, 78.4 = Ygot valid direction response: 18:24:33.5989 LVL= 26736, 30321, 32754, 27635, AGC= 31, IDX= 505, 0.23, 3.032, 2.718, 2.827, 1.147, PHS= 1.987, 1.616, 1.636, RAW= 92.7, -79.0, CAL= 95.0, -78.4, ROT= 55.0, 78.4 E T#Rx 35: Read range and direction messages.M ^direction in FSK: [0.115334,0.164713,-0.979575]M Fpublishing direction and range info 5H?<8T?D.X L? I phi qv  k V? ?) sh?I i g;? u? I i ) Ϯd?SBs:|_h← 9 {e? u? I i m checking for new query: numPingsReceived=35, elapsed TxPingTime=16.8995787L,X0)Aiy:K@ٱ:F@: !=:u;:H@u?yf? Js? ?I:K@):];i:NCnBr_(Ir=r;BDzA6Dz?3YY=!D=p9Q)>99EYo;A>Q 14٪-ӝ?Q 54 9YοQ E?yC)):Iy:i4Y!-C@)Le efAggregate::initialize lineCaptureHoming:restartDHCPLee$Restarting DHCP...Le1MeJh!Rh%^/X0)Ah%L?h%%,%_ ͞?ab?(*~%5H?<8T?D.Xh% u?h! %n#c`.n6 gSyV'~%3̍vyſ!2̀,qjh%8rh%s Zh%ǝ?bh%Azh%QBh%ǝ?h%j3h%LBh% >h%*Y@ZZbZjZrZP@I  ɡiIi)ԉDuDuDu+DqEus: Eua9:6Eu [4:Eq!@!@!@!@I(i IINF>Echecking for new query: numPingsReceived=35, elapsed TxPingTime=17.135124Ա =L,OX0)Ay }x@ٱ us@ = ; H Wܙ?෇5F?ݡWlz??I }x@) ];i JC%݈B%W(IBD]G6D]4Ym=!ud=u/Q)u>y9y9}EYy};A>Q 14DDAT read: Rx Time:18:24:34.0989 TRx dataTimestamp_ set to:1755627875.959304PDAT read: Bearing 204.4, 9.0 (Local) ~Local bearing/azimuth received: Bearing 204.4, 9.0 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:34.0989 LVL= 23264, 26241, 28562, 24499, AGC= 31, IDX= 505, 0.39, 2.625, 2.321, 2.432, 0.730, PHS= 1.997, 1.637, 1.658, RAW= 93.0, -79.4, CAL= 95.2, -78.9, ROT= 54.8, 78.9 Ygot valid direction response: 18:24:34.0989 LVL= 23264, 26241, 28562, 24499, AGC= 31, IDX= 505, 0.39, 2.625, 2.321, 2.432, 0.730, PHS= 1.997, 1.637, 1.658, RAW= 93.0, -79.4, CAL= 95.2, -78.9, ROT= 54.8, 78.9 T#Rx 36: Read range and direction messages.^direction in FSK: [0.110976,0.157318,-0.981293]Fpublishing direction and range infoA h?!#?fIZifo_? 7?)X9?I?iaȭ?C٪"ӝ?Q 5 4Q ΓB9YοQ E?yC)1h`^@ZZbZjZrZg@I ɡiIi)=5Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shy9AAAAvBs>~BƍCB(IBBBBBB8S;BEIM(iQQU YbDiZDmAADyD}lD}*DyEy E}:6E}(N4:Ey"E};!E};!*E}C;!E}C;!IIN> A E AU checking for new query: numPingsReceived=36, elapsed TxPingTime=17.639914  DL,VY0)A~B~c(IMb@Mb@Mb@ )IiMbZd;O?~jthj<D)I\@ir@@ BDI6DX4Ym"=!%2=-Q)=>Y9Y9]EYaA>Q 14٪ҝ?Q 54 ͓B91Y D D D -D E : E 6E t4:E ! @! @! @! @] checking for new query: numPingsReceived=37, elapsed TxPingTime=18.142986BJL,-Y0)Aɰ4<4!5n==Q[Q)=?9999=EYAE@F<AE?IQ 1U4٪Mҝ?Q 5U4M͹ I9YY]xQ E]?yMC)M:IM:iM4Yae@iFWaiting on dock for 15.000000 min 1RqSJhRhaY0)Ahh+5S?=Y+?(*~Nb(?wp6?D.Xhw?h%? "7V wi#@j!~I]vſq,*cjjhrh Zh:ǝ?bhzhLBhhAhLBh>hY@ZZbZjZrZq@I ɡiIi)iyI=c(i99= 9IQIaNm>ԡDDAT read: Rx Time:18:24:35.0990 TRx dataTimestamp_ set to:1755627876.967234PDAT read: Bearing 205.5, 9.2 (Local) ~Local bearing/azimuth received: Bearing 205.5, 9.2 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:35.0990 LVL= 23920, 27681, 30930, 25267, AGC= 31, IDX= 506,-0.19, 1.034, 0.729, 0.836,-0.831, PHS= 1.967, 1.606, 1.623, RAW= 92.5, -79.1, CAL= 94.7, -78.5, ROT= 55.3, 78.5 Ygot valid direction response: 18:24:35.0990 LVL= 23920, 27681, 30930, 25267, AGC= 31, IDX= 506,-0.19, 1.034, 0.729, 0.836,-0.831, PHS= 1.967, 1.606, 1.623, RAW= 92.5, -79.1, CAL= 94.7, -78.5, ROT= 55.3, 78.5 T#Rx 38: Read range and direction messages. ^direction in FSK: [0.113496,0.163909,-0.979925] Fpublishing direction and range infoͳ|?? [ff?Ip]i!lxb? h?)w?I?i ԏ?^0w?^?Ii)vqd?61 `EfJl←yư?0w? ^?Ii-checking for new query: numPingsReceived=38, elapsed TxPingTime=18.411201 QL,]GY0)Ay6}@ٱ6u@6W=6n <6H`Y@l 6`eg? ۨ? `?@?I6}@)6O_;i4vBBt>~B@BB#(IBBBBB =B@B@BBAS;BBEr߈BpD=D=tD=2D9E=U: E=v:6E=4:E9"E=;!eE=;!e*E=`;!eE=`;!eMb@Mb@Mb@ )Ichecking for new query: numPingsReceived=38, elapsed TxPingTime=18.647099iMb rh?Mb`?C<;)@IE@i/@@ (@BDe26De 3Yk:!)= Q)>99EY! ;A>Q 14٪ҝ?Q 54 9h@X@ZZ<bZ<jZ@rZG@I ɡiIi)yz9] }dTimed out moving from: 10352 to: 14700 response: 1}- }Hardware FaultI-&VHardware Fault in component: DockingStepperIN >)  DDAT read: Rx Time:18:24:35.5989  TRx dataTimestamp_ set to:1755627877.471046 PDAT read: Bearing 205.9, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 205.9, 9.2 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:35.5989 LVL= 23920, 28193, 31026, 25939, AGC= 31, IDX= 505,-0.07, 0.120,-0.185,-0.080,-1.745, PHS= 1.967, 1.605, 1.621, RAW= 92.2, -79.1, CAL= 94.4, -78.5, ROT= 55.6, 78.5  Ygot valid direction response: 18:24:35.5989 LVL= 23920, 28193, 31026, 25939, AGC= 31, IDX= 505,-0.07, 0.120,-0.185,-0.080,-1.745, PHS= 1.967, 1.605, 1.621, RAW= 92.2, -79.1, CAL= 94.4, -78.5, ROT= 55.6, 78.5  T#Rx 39: Read range and direction messages.% ^direction in FSK: [0.112636,0.164501,-0.979925]% Fpublishing direction and range info ّٻռ?&_? [ L? I i !n 2y Se p?) |?I ?i B? Ulx? I i ) -u?Mqk← I ǩ? Ulx? I i E checking for new query: numPingsReceived=39, elapsed TxPingTime=18.914488WL,caY0)Ay:+@ٱ:#@:"w=:C<:H S*h@`vb??? -@'??I:+@):[Ra;i:QCf݈BfW(IBDn36Dn3Y޻!=a:Q) ?Y9Y9]EYYek;Ae?iQ 1u4٪mҝ?Q 5u4mK mΓB9qY-Q E?ymC)m;Im:;im 4Y@jSSInitialize. dInitializing internal variables to default values.k Q JhRh%^Y0)AhL?ht+@mc?dL?V,~ّٻռ?&_? [hUlx?h '*X'WJ{"~i2F/ſ쵿BkjhMrh Zh:=ǝ?bhW<zhKBh:=ǝ?hhKBhe>h,_@ZZbZjZrZĘ@I ɡiIi)Qy9 :Uninitialize Docking Stepper. Powering downI IN5 >DMDMyDM+DIEM: EM:6EM [4:EI!U@!U@!U@!U@%checking for new query: numPingsReceived=39, elapsed TxPingTime=19.151028yԡ (^L,c{Y0)A48i8MBMZ(IBD]A6D]?3uDDAT read: Rx Time:18:24:36.0990 }TRx dataTimestamp_ set to:1755627877.975380PDAT read: Bearing 205.9, 8.9 (Local) ~Local bearing/azimuth received: Bearing 205.9, 8.9 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:24:36.0990 LVL= 24784, 27761, 30914, 25155, AGC= 32, IDX= 506, 0.04, 2.336, 2.037, 2.138, 0.439, PHS= 1.999, 1.643, 1.655, RAW= 91.7, -79.4, CAL= 93.8, -78.9, ROT= 56.2, 78.9 Ygot valid direction response: 18:24:36.0990 LVL= 24784, 27761, 30914, 25155, AGC= 32, IDX= 506, 0.04, 2.336, 2.037, 2.138, 0.439, PHS= 1.999, 1.643, 1.655, RAW= 91.7, -79.4, CAL= 93.8, -78.9, ROT= 56.2, 78.9 T#Rx 40: Read range and direction messages.%^direction in FSK: [0.107099,0.159983,-0.981293]%Fpublishing direction and range infoquj?,lPz?fuff?qIu`iuqluxuCbu u;? uM?)u ?Iu?iuau?uCu{?uC?Iqiq)u?NN;out←utug?u{? uC?Iqiq=checking for new query: numPingsReceived=40, elapsed TxPingTime=19.429619Y<!/=Q)>99EYA>Q 1E4٪ҝ?Q 5E4 ϓB9AYAQ EE?yC)%huGb@ZZbZjZrZIٺ9)?"w=)= < ɡi)q q (eL,Y0)Ay:x@ٱ:p@:=:<:H`f W^w`X?? :??I:x@):?_;i:LCn݈BrW(I)G rA)I%Ŀ-rA-AYMb@Mb@Mb@ )IiI + rh?MbP?94:)I/@i\@ z@BDB6D3Y=!=7==jQ)=>A9A9EEYam`;Am>qQ 1}4٪uҝ?Q 5}4uк q9h^@ZZ<bZ<jZVI @rZ @I)>=  ɡiԩDe De De ,Da Ee C: Ee 0:6Ee g4:Ea !m @!u @!u @!u @ E checking for new query: numPingsReceived=41, elapsed TxPingTime=20.159054E XRequesting device enable set for address 50.K5kL,Y0)Ay63@ٱ6+@6 =6<6H* dy ^?'՟?6@@?`?I63@)6C3^;i6MC~B~_(IBD 6D Y]=!]=]K:Q)]?a9a9eEYamcTAm?qQ 1}4٪uҝ?Q 5}4u q9Y1ؿQ E?yu C)u:Iu:iu+ 4YC@kkkkZZbZjZrZ@I)4> =  ɡiI89i)I IN-=ԩDDAT read: Rx Time:18:24:37.0990 TRx dataTimestamp_ set to:1755627878.983163PDAT read: Bearing 206.6, 9.1 (Local) ~Local bearing/azimuth received: Bearing 206.6, 9.1 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:37.0990 LVL= 23904, 27569, 30930, 24771, AGC= 31, IDX= 506, 0.27, 2.777, 2.471, 2.576, 0.894, PHS= 1.986, 1.623, 1.639, RAW= 92.2, -79.2, CAL= 94.4, -78.6, ROT= 55.6, 78.6 Ygot valid direction response: 18:24:37.0990 LVL= 23904, 27569, 30930, 24771, AGC= 31, IDX= 506, 0.27, 2.777, 2.471, 2.576, 0.894, PHS= 1.986, 1.623, 1.639, RAW= 92.2, -79.2, CAL= 94.4, -78.6, ROT= 55.6, 78.6 T#Rx 42: Read range and direction messages.^direction in FSK: [0.111670,0.163090,-0.980271]Fpublishing direction and range infoe?I?Lȧa^ff?I`]ikx`?5? w?)?Ii;ﰿIi)o7L?JuMmm←ذ? Iichecking for new query: numPingsReceived=42, elapsed TxPingTime=20.427677XRequesting device enable set for address 50. 9 rL,Y0)AvB~BBBBBBBS;BEɰV;V;ڈBS(IDDvD*DE: E:6E(N4:E"E;!%E;!%*Eh;!%Eh;!%checking for new query: numPingsReceived=42, elapsed TxPingTime=20.663176XRequesting device enable set for address 50. eMb@Mb@Mb@a a)aIaiaeMbPMb?Mb`ee99EYA>Q 14٪bҝ?Q 54 9hb@ZZ<bZ<jZ?rZ@I)?  ɡiI:i)!1 9a  DDAT read: Rx Time:18:24:37.5989  TRx dataTimestamp_ set to:1755627879.488178 PDAT read: Bearing 206.7, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 206.7, 9.1 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:37.5989 LVL= 26544, 30193, 32754, 27251, AGC= 31, IDX= 505, 0.48, 1.193, 0.884, 0.990,-0.685, PHS= 1.980, 1.614, 1.631, RAW= 92.2, -79.0, CAL= 94.5, -78.5, ROT= 55.5, 78.5 % Ygot valid direction response: 18:24:37.5989 LVL= 26544, 30193, 32754, 27251, AGC= 31, IDX= 505, 0.48, 1.193, 0.884, 0.990,-0.685, PHS= 1.980, 1.614, 1.631, RAW= 92.2, -79.0, CAL= 94.5, -78.5, ROT= 55.5, 78.5 % T#Rx 43: Read range and direction messages.- ^direction in FSK: [0.112923,0.164304,-0.979925]- Fpublishing direction and range info ^Z?M? [ L? I gi u  sj p? ?) ?I i | r? ^ w? ^?I i ) 5-̏?&ݠlj← n ? w? ^?I i M checking for new query: numPingsReceived=43, elapsed TxPingTime=20.936846ԑ I I N > xL,~WY0)AyR@ٱJ|@=`<H@Au /@?@`6?oܣ??IR@)H];iЈBF(IBD?6D3YdW!]=!Q;Q)> 9 9 EY 2A>Q 14٪@ҝ?Q 5%4! ΓB9iYmQ Em?y C):Y0)AhL?hA+04n ?m#?V,~^Z?M? [hw?h^? dw>"S!U(8&$~HO)ſ i=0mjhrh ZhDƝ?bhzh=BhDƝ?hh=Bhp>hPb@ZZbZjZrZń@I)>=  ɡiIHH$:i)BE [4JEYe4REÈt0DeDe}DaDaEe: Eek&:6Ea:Ea!}@!}@!}@!}@<=checking for new query: numPingsReceived=43, elapsed TxPingTime=21.167074@II N >! ~L,Y0)Ay:i9@ٱ:a4@:!=:p <:Ho@sJ`?@rN?.8?W?I:i9@):,];i:KCF܈BFV(IVDDAT read: Rx Time:18:24:38.0990 VTRx dataTimestamp_ set to:1755627879.991363^PDAT read: Bearing 206.7, 9.1 (Local) ^~Local bearing/azimuth received: Bearing 206.7, 9.1 (Local) fDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 zDAT read: 18:24:38.0990 LVL= 26416, 30369, 32754, 27219, AGC= 31, IDX= 506,-0.30,-0.668,-0.969,-0.864,-2.515, PHS= 1.950, 1.591, 1.607, RAW= 92.3, -79.1, CAL= 94.5, -78.5, ROT= 55.5, 78.5 ~Ygot valid direction response: 18:24:38.0990 LVL= 26416, 30369, 32754, 27219, AGC= 31, IDX= 506,-0.30,-0.668,-0.969,-0.864,-2.515, PHS= 1.950, 1.591, 1.607, RAW= 92.3, -79.1, CAL= 94.5, -78.5, ROT= 55.5, 78.5 T#Rx 44: Read range and direction messages. ^direction in FSK: [0.112923,0.164304,-0.979925] Fpublishing direction and range infoTV^Z?M? [Vff?TIV0giVvTVSjTV? V?)V-?IV?3?iV TTTTITiT)V{v0w?:wH=k←VV?T TITiT-checking for new query: numPingsReceived=44, elapsed TxPingTime=21.436142BDNU6DNn4YE1=!EV=E:Q)E>I9I9MEYIU>AU>QQ 1e4٪Uҝ?Q 5e4U2Q 9etI Q9aYeQ Em?yQ)U;IUr;iU54Yqu@qkkkkJhTRhV~rY0)AhVff?hVf+VH{?5hV e@ZZbZjZrZ@I)>!=  ɡiIzB:i)IR=)p=AqAu@AvBy~B}ǍCByByB} =ByByB}S;B}EB)B)B)B)B- =B-ń#5A=<DyD}xDyDyEy E}:6Ey:Ey"E}];!E}^;!*E}Jo;!E}Jo;!@U<IYIqN}>checking for new query: numPingsReceived=44, elapsed TxPingTime=21.677389i L,OZ0)A y @ٱ@R$=j<HS5FǙ?Vۇ? `Հ?!?I @)\;i؈BQ(I=Mb@Mb@Mb@ )IiMb`?MbP;)IE@i z@BD<6D3Y!3=:Q)>99EY>A>Q 14٪ҝ?Q 547 9;Q A>Y xQ E ?y)";IH;i=4Y@k1k9k9k9ZZ];bZ];jZ]?rZ]cӀ@Iaii)m>uR$= q qɡyiyI}f:iy)iIDDAT read: Rx Time:18:24:38.5989 TRx dataTimestamp_ set to:1755627880.503051PDAT read: Bearing 206.6, 9.0 (Local) ~Local bearing/azimuth received: Bearing 206.6, 9.0 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 =DAT read: 18:24:38.5989 LVL= 23536, 27617, 30690, 25075, AGC= 31, IDX= 505,-0.16,-1.591,-1.893,-1.786, 2.837, PHS= 1.957, 1.598, 1.615, RAW= 92.5, -79.1, CAL= 94.7, -78.6, ROT= 55.3, 78.6 EYgot valid direction response: 18:24:38.5989 LVL= 23536, 27617, 30690, 25075, AGC= 31, IDX= 505,-0.16,-1.591,-1.893,-1.786, 2.837, PHS= 1.957, 1.598, 1.615, RAW= 92.5, -79.1, CAL= 94.7, -78.6, ROT= 55.3, 78.6 ET#Rx 45: Read range and direction messages.M^direction in FSK: [0.112522,0.162503,-0.980271]UFpublishing direction and range infoxBμ?G?Lȧa^L?I[ikwa~? D?)R?I?iԏ?0w??Ii)Q9Ka?|?Y+m←Жʰ?0w? ?Iimchecking for new query: numPingsReceived=45, elapsed TxPingTime=21.946945ԙ qqI})} D D }D ,D E : E k&:6E g4:E ! @! @! @! @@e ~A@e A checking for new query: numPingsReceived=45, elapsed TxPingTime=22.183092@U e<Ia Iy N >mL,(2Z0)A8y6~ @ٱ6y@6:\&=6<6H .3`ꙿ?F6͠?ʤQ?`?I6~ @)6];i6ICBψBBF(IBDN@6DN3YV>\!Vr=V(:Q)Z?X9X9ZEYX^A^?`Q 1f4٪bҝ?Q 5f4b: `9dYfQ Ej?y`)b ;Ib ;ibC4Yln@lkYkYkYkYJhRh1 Z0)AhL?h++ĉh ?FO?&N~xBμ?G?Lȧa^h0w?h? 9Sm Y'g'~ՓPſE*&p洿H$qjh…rhkZhPƝ?bhzhh :\&=  ɡiIۂ:i)@E"<IqԡIN>DDAT read: Rx Time:18:24:39.0990 TRx dataTimestamp_ set to:1755627881.007179PDAT read: Bearing 206.4, 9.1 (Local) ~Local bearing/azimuth received: Bearing 206.4, 9.1 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:39.0990 LVL= 23408, 27697, 30834, 25331, AGC= 31, IDX= 506,-0.05,-0.158,-0.463,-0.356,-2.015, PHS= 1.960, 1.598, 1.615, RAW= 92.4, -79.1, CAL= 94.7, -78.5, ROT= 55.3, 78.5 %Ygot valid direction response: 18:24:39.0990 LVL= 23408, 27697, 30834, 25331, AGC= 31, IDX= 506,-0.05,-0.158,-0.463,-0.356,-2.015, PHS= 1.960, 1.598, 1.615, RAW= 92.4, -79.1, CAL= 94.7, -78.5, ROT= 55.3, 78.5 %T#Rx 46: Read range and direction messages.-^direction in FSK: [0.113496,0.163909,-0.979925]-Fpublishing direction and range infoͳ|?? [ff?Ip[i1lrxbH? )Ipl?i^^?Ii)Q?~\¬9 Yqj←u99EYA>ԁQ 14٪^ҝ?Q 54R 9%'hc@ԱZZ'<bZ'<jZI@rZR@I)(?  ɡ i I *:i)@ <I I) N5 > DDAT read: Rx Time:18:24:39.5989  TRx dataTimestamp_ set to:1755627881.511188 PDAT read: Bearing 206.2, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 206.2, 9.2 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 5 DAT read: 18:24:39.5989 LVL= 23536, 27633, 30642, 24947, AGC= 31, IDX= 505, 0.05, 0.359, 0.048, 0.154,-1.519, PHS= 1.981, 1.613, 1.629, RAW= 92.3, -79.0, CAL= 94.6, -78.4, ROT= 55.4, 78.4 = Ygot valid direction response: 18:24:39.5989 LVL= 23536, 27633, 30642, 24947, AGC= 31, IDX= 505, 0.05, 0.359, 0.048, 0.154,-1.519, PHS= 1.981, 1.613, 1.629, RAW= 92.3, -79.0, CAL= 94.6, -78.4, ROT= 55.4, 78.4 e T#Rx 47: Read range and direction messages.m ^direction in FSK: [0.114181,0.165515,-0.979575]u Fpublishing direction and range info 9::?X/?D.X L? I [i k w sa h? v?) ?I ?3?i | V? % w? %?I i ) 6M?jAs۶Uhh← b ?f? w? %?I i  checking for new query: numPingsReceived=47, elapsed TxPingTime=22.959827 L,eZ0)AyF @ٱF@F3*=F{ h%d@ZZbZjZrZݱ@I)k>3*=  ɡiI:i)@g<IIN>D-D-D-1D)E-: E-a9:6E--4:E)!=@!=@!=@!=@Mchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.1910679 )L,tZ0)Ay6 @ٱ6@6*=6X <6H} Vs řl?h? OZ}??I6 @)6\;i6JCVDDAT read: Rx Time:18:24:40.0990 VTRx dataTimestamp_ set to:1755627882.015258^PDAT read: Bearing 205.7, 9.1 (Local) ^~Local bearing/azimuth received: Bearing 205.7, 9.1 (Local) fDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 zDAT read: 18:24:40.0990 LVL= 23408, 27617, 30690, 25139, AGC= 31, IDX= 506, 0.17, 1.837, 1.526, 1.634,-0.045, PHS= 1.984, 1.616, 1.635, RAW= 92.6, -79.0, CAL= 94.9, -78.5, ROT= 55.1, 78.5 ~Ygot valid direction response: 18:24:40.0990 LVL= 23408, 27617, 30690, 25139, AGC= 31, IDX= 506, 0.17, 1.837, 1.526, 1.634,-0.045, PHS= 1.984, 1.616, 1.635, RAW= 92.6, -79.0, CAL= 94.9, -78.5, ROT= 55.1, 78.5 T#Rx 48: Read range and direction messages.^direction in FSK: [0.114068,0.163512,-0.979925] Fpublishing direction and range infoTV)3?V ? [Vff?TIVp[iVkVwV3bTV? V?)VG?IV?iTV6?V^Vm0v?V^?ITiT)V.$?Bdgm6j←VfV?Vm0v? V^?ITiT%checking for new query: numPingsReceived=48, elapsed TxPingTime=23.459452}̈B}B(IBDA6D?3Y0=!6=4H9Q)>99EY-A>Q 14٪ҝ?Q 54s 9Y;Q E?y C)};I;iY4YIU@QAAvB ~B B (IB BB  =IB B B S;B kqkqkqkqJhTRhVZ0)AhVff?hVN-V~>G?^-1*?yI88~V)3?V ? [hVm0v?hV^? V&ÿin)9{J~V`zſ 0* ojhVrhV?ZhVŝ?bhVNzhVBhVŝ?hVg/hVBhV:*>hV.c@ZZbZjZrZ]@I)1)5J?5*= 1 9ɡYiYI]t:ia)iDEDEyDE)DAEEU: EE:6EEFA4:EA"EE;!UEE;!U*EEr;!UEEr;!]@}Ǩ<IIN> QUA]checking for new query: numPingsReceived=48, elapsed TxPingTime=23.695385qԙ L,sZ0)AyE @ٱE@E])=E_|6D43Y 3!S=HQ)>99EY<A%>!Q 1-4٪%ҝ?Q 554%m !95>O;Q A5>Y5cP?Q E5?y!)% ;I% ;i%`4YAE@AkakakakaiZZ>O;bZ>O;jZ˖@rZcP?I)>])=  ɡiIߝ:i!))DDAT read: Rx Time:18:24:40.5989 TRx dataTimestamp_ set to:1755627882.520036PDAT read: Bearing 205.1, 9.3 (Local) ~Local bearing/azimuth received: Bearing 205.1, 9.3 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:40.5989 LVL= 26192, 30385, 32754, 26915, AGC= 31, IDX= 505, 0.32, 0.231,-0.079, 0.026,-1.645, PHS= 1.979, 1.611, 1.627, RAW= 92.2, -79.0, CAL= 94.4, -78.4, ROT= 55.6, 78.4 Ygot valid direction response: 18:24:40.5989 LVL= 26192, 30385, 32754, 26915, AGC= 31, IDX= 505, 0.32, 0.231,-0.079, 0.026,-1.645, PHS= 1.979, 1.611, 1.627, RAW= 92.2, -79.0, CAL= 94.4, -78.4, ROT= 55.6, 78.4 T#Rx 49: Read range and direction messages.%^direction in FSK: [0.113602,0.165912,-0.979575]%Fpublishing direction and range info;d7 ?checking for new query: numPingsReceived=49, elapsed TxPingTime=23.974323ԙDE DE DE 0DA EE غ: EE 3:6EE 4:EA !M @!M @!M @!M @] checking for new query: numPingsReceived=49, elapsed TxPingTime=24.199005 ;L,NZ0)A$i$yN @ٱN@Nl['=Ns;NH>` @^]`k?^c? 餿~?`?IN @)N];iLnˆBr5(IBDv46Dvf3Y߬!^=úQ)> 9 9 EY  A>Q 14٪ҝ?Q 5%4h 9!Y%UN?Q E%?y);I;ig4Y)5Y@1kQkQkQkQJhRhEHZ0)AhL?hYH.a D?{kI?(*~;d7 ?h]c@ZZbZjZrZkUN?I) >l['=  ɡiI:i)@<I I)Nm=DDAT read: Rx Time:18:24:41.0990 TRx dataTimestamp_ set to:1755627883.023135PDAT read: Bearing 204.5, 9.4 (Local) ~Local bearing/azimuth received: Bearing 204.5, 9.4 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:24:41.0990 LVL= 26048, 29841, 32754, 26803, AGC= 31, IDX= 506,-0.42,-1.484,-1.789,-1.685, 2.945, PHS= 1.956, 1.594, 1.609, RAW= 92.1, -79.0, CAL= 94.4, -78.4, ROT= 55.6, 78.4 Ygot valid direction response: 18:24:41.0990 LVL= 26048, 29841, 32754, 26803, AGC= 31, IDX= 506,-0.42,-1.484,-1.789,-1.685, 2.945, PHS= 1.956, 1.594, 1.609, RAW= 92.1, -79.0, CAL= 94.4, -78.4, ROT= 55.6, 78.4 T#Rx 50: Read range and direction messages.^direction in FSK: [0.113602,0.165912,-0.979575]%Fpublishing direction and range info;d7 ??2Ӡ? Ӈ}?0?I6x @)6W\;i4NBN.(IrD~=jD~=DDD,DE E.:6Eg4:E"E6De43Y]Ӽ!<=׺Q)>99EYA> checking for new query: numPingsReceived=50, elapsed TxPingTime=24.703178Q 154٪ ӝ?Q 554 K ΓB95 +hCc@)ZZ  +<bZ  +<jZ tc@rZ  ?I99)=.>E&k$= A AɡAiAIeq:ii)i*@}="@}=@e<IqIN>i I )q ĀA)IMĀA%NAYɐ?Aԁ  DDAT read: Rx Time:18:24:41.5989  TRx dataTimestamp_ set to:1755627883.527261 PDAT read: Bearing 203.7, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 203.7, 9.3 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:41.5989 LVL= 23440, 27681, 30802, 25331, AGC= 31, IDX= 505,-0.22,-3.101, 2.881, 2.986, 1.327, PHS= 1.957, 1.599, 1.615, RAW= 92.2, -79.2, CAL= 94.4, -78.6, ROT= 55.6, 78.6  Ygot valid direction response: 18:24:41.5989 LVL= 23440, 27681, 30802, 25331, AGC= 31, IDX= 505,-0.22,-3.101, 2.881, 2.986, 1.327, PHS= 1.957, 1.599, 1.615, RAW= 92.2, -79.2, CAL= 94.4, -78.6, ROT= 55.6, 78.6  T#Rx 51: Read range and direction messages.% ^direction in FSK: [0.111670,0.163090,-0.980271]- Fpublishing direction and range info e?I?Lȧa^ L? I [i !l Rx b ~? ?) R?I ?i ;ﰿ  ?I i ) gYQ?M&0jDhvm← ԰? ?I i e checking for new query: numPingsReceived=51, elapsed TxPingTime=24.9748528NL,Z0)A,y6 @ٱ6@6* =61^;6H@ ?@^9?$m? 4L{??I6 @)6!];i4VBV1(IBDv86Dv3Y5<!Q=Q)>99EYϺA>Q 14٪ ӝ?Q 541 ͓B9Y?Q E?y);I;iu4Y@ kAkIkIkIJhRhZ0)AhL?h/Dt0η޶?L?&N~e?I?Lȧa^hh? }Ow5I(~Ai#ſE38P.rjhhrh Zhǝ?bh1zh,Bhǝ?h h,Bh">hf@ZZ bZ jZ rZ ?I)%>%* = ! !ɡ!i!I%3:iI)QԉDDD+DEU: E,:6E [4:E!%@!%@!%@!%@@-{<I9IINU>-checking for new query: numPingsReceived=51, elapsed TxPingTime=25.207018Թ +5L,[0)Aɰy6U @ٱ6P@683=6;6H rxm?`s?6e`w?@?I6U @)6\;i6JCFDDAT read: Rx Time:18:24:42.0990 FTRx dataTimestamp_ set to:1755627884.031207NPDAT read: Bearing 203.0, 9.4 (Local) N~Local bearing/azimuth received: Bearing 203.0, 9.4 (Local) VDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 jDAT read: 18:24:42.0990 LVL= 23504, 27441, 30434, 24979, AGC= 31, IDX= 506,-0.10,-1.576,-1.875,-1.775, 2.850, PHS= 1.958, 1.603, 1.614, RAW= 91.6, -79.2, CAL= 93.8, -78.6, ROT= 56.2, 78.6 nYgot valid direction response: 18:24:42.0990 LVL= 23504, 27441, 30434, 24979, AGC= 31, IDX= 506,-0.10,-1.576,-1.875,-1.775, 2.850, PHS= 1.958, 1.603, 1.614, RAW= 91.6, -79.2, CAL= 93.8, -78.6, ROT= 56.2, 78.6 lrT#Rx 52: Read range and direction messages.v^direction in FSK: [0.109956,0.164250,-0.980271]vFpublishing direction and range infoDFL&?.d&?Lȧa^Fff?DIF[iF1kFvFaDF? F/?)F?IF?iDF?DF{?DIDiD)F/; ?8k>ᶿgn←Fi!F?F{? DIDiD checking for new query: numPingsReceived=52, elapsed TxPingTime=25.475649ˆB5(IiIBD%G6D%4Y5U<!5P=5_Q)=>9999EEYAEڹAE>IQ 1U4٪Mӝ?Q 5U4M I9QYUԶ?Q E?yMC)MhFqe@ZZbZjZrZԶ?!AAAAI)>83= ) 1ɡ9i9ImX;vB~BB'IBBB =BBBS;BEi)bDZD?AD%D%D%,D!E%%: E%3:6E%g4:E!"E%;9!=E%;!=*E%;!=E%;!E@M<IYIiNuz>=checking for new query: numPingsReceived=52, elapsed TxPingTime=25.711052a cL,[0)Ayr$@ٱr@r_=r99;rH @?-`^T? cu?k?Ir$@)ru#];ip15B=.(IMb@Mb@Mb@ )IiMb`99EYvA>Q 1 4٪`ӝ?Q 5 4  9 5_= 1 1ɡ1i1I=_n;i9)ADDAT read: Rx Time:18:24:42.5989 TRx dataTimestamp_ set to:1755627884.535983PDAT read: Bearing 202.3, 9.5 (Local) ~Local bearing/azimuth received: Bearing 202.3, 9.5 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:42.5989 LVL= 23520, 27585, 30562, 24979, AGC= 31, IDX= 505,-0.00,-1.842,-2.140,-2.042, 2.575, PHS= 1.968, 1.612, 1.621, RAW= 91.3, -79.2, CAL= 93.4, -78.6, ROT= 56.6, 78.6 Ygot valid direction response: 18:24:42.5989 LVL= 23520, 27585, 30562, 24979, AGC= 31, IDX= 505,-0.00,-1.842,-2.140,-2.042, 2.575, PHS= 1.968, 1.612, 1.621, RAW= 91.3, -79.2, CAL= 93.4, -78.6, ROT= 56.6, 78.6 T#Rx 53: Read range and direction messages.^direction in FSK: [0.108807,0.165014,-0.980271]a@e<IqIN>Fpublishing direction and range infoFF2ڻ?%,?Lȧa^L?I[ikbwm? V?)|?IW?iY?'|?Ii)ʞy??rZ>n←]L?'|? Iichecking for new query: numPingsReceived=53, elapsed TxPingTime=26.004799ԉBE|a4JEg4RE0D% D% D% *D! E% s: E% |;:6E% (N4:E! !5 @!5 @!5 @!5 @Թ = checking for new query: numPingsReceived=53, elapsed TxPingTime=26.215061L,З4[0)Ay64@ٱ6/@6F=6;6He ? h ? 硿@1s??I64@)6];i4NBR-(IBDVY6DV#4Y^j!b`=bQ)b>`9d9fEYdf"¼Af>hQ 1n4٪jӝ?Q 5r4j h9pYr?Q Er?yjC)j;Ij;ij,4Ytzǿ@xkkkkJhRhM"[0)AhL?hR1u^H?Q?&N~FF2ڻ?%,?Lȧa^h'|?h Q3x몿''~ѭ @0ƿH-| BӰπqjh\WrhZhBQǝ?bhg_zh(Bh_J^ǝ?h\h(Bh#>hOd@ZZQbZQjZQrZUߡ?ԙI)j>F=  ɡi I ;ia)@(<IIN>DDAT read: Rx Time:18:24:43.0990 TRx dataTimestamp_ set to:1755627885.039170PDAT read: Bearing 201.7, 9.6 (Local) ~Local bearing/azimuth received: Bearing 201.7, 9.6 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:43.0990 LVL= 23664, 27633, 30706, 25331, AGC= 31, IDX= 506, 0.11, 0.321, 0.019, 0.114,-1.562, PHS= 1.985, 1.626, 1.632, RAW= 90.9, -79.1, CAL= 93.0, -78.6, ROT= 57.0, 78.6 Ygot valid direction response: 18:24:43.0990 LVL= 23664, 27633, 30706, 25331, AGC= 31, IDX= 506, 0.11, 0.321, 0.019, 0.114,-1.562, PHS= 1.985, 1.626, 1.632, RAW= 90.9, -79.1, CAL= 93.0, -78.6, ROT= 57.0, 78.6 T#Rx 54: Read range and direction messages.^direction in FSK: [0.107652,0.165769,-0.980271]Fpublishing direction and range infoʉ "?Mmx7?Lȧa^ff?Ip\ikwb{?  ?)`?I?i ?~?Ii)L#@C?)n燷E3l←NŰ?~? Ii%checking for new query: numPingsReceived=54, elapsed TxPingTime=26.483259! vBa ~Ba Ba Ba Be =Ba Ba Be T;Be .EB}ǍCB}ǍCByB} =B} =B}04uL,A9A9EEYAmAm>qQ 1}4٪uԝ?Q 5}4uݺ q9}uhҮc@ZZuu<bZuu<jZu˖@rZuKD?I)>c=  ɡiIS;i)*@="@@Q DDAT read: Rx Time:18:24:43.5989  TRx dataTimestamp_ set to:1755627885.543220 PDAT read: Bearing 201.0, 9.7 (Local)  ~Local bearing/azimuth received: Bearing 201.0, 9.7 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:43.5989 LVL= 23696, 27793, 30498, 25171, AGC= 31, IDX= 505, 0.24,-0.613,-0.913,-0.822,-2.493, PHS= 1.982, 1.625, 1.627, RAW= 90.3, -79.1, CAL= 92.4, -78.5, ROT= 57.6, 78.5  Ygot valid direction response: 18:24:43.5989 LVL= 23696, 27793, 30498, 25171, AGC= 31, IDX= 505, 0.24,-0.613,-0.913,-0.822,-2.493, PHS= 1.982, 1.625, 1.627, RAW= 90.3, -79.1, CAL= 92.4, -78.5, ROT= 57.6, 78.5  T#Rx 55: Read range and direction messages. ^direction in FSK: [0.106827,0.168332,-0.979925] Fpublishing direction and range info Es^X?Wvv? [ L? I \i l "w Sb -? ?) A?I n?i pl? ^ ? ^?I i ) 6?^?>L^|l←  ? ? ^?I i E checking for new query: numPingsReceived=55, elapsed TxPingTime=26.990808q L,y9y9}EYy}A>Q 14٪`ԝ?Q 54ú 9YB?Q E?y);Iu;i4Yҿ@kkkkJhRhb[0)AhL?h3[]?Č_chͤa@QZZbZjZrZB?I)Ǿ>=  ɡiIW #;i)@^<IDD|D3DE: EP$:6E4:E!@!@!@!@IN > checking for new query: numPingsReceived=55, elapsed TxPingTime=27.222990yԱ @L,&[0)A6DDAT read: Rx Time:18:24:44.0990 :TRx dataTimestamp_ set to:1755627886.047389>PDAT read: Bearing 200.3, 9.7 (Local) >~Local bearing/azimuth received: Bearing 200.3, 9.7 (Local) FDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 ZDAT read: 18:24:44.0990 LVL= 23664, 27761, 30322, 25379, AGC= 31, IDX= 506, 0.43, 0.133,-0.165,-0.075,-1.752, PHS= 1.986, 1.632, 1.633, RAW= 90.1, -79.2, CAL= 92.2, -78.7, ROT= 57.8, 78.7 ^Ygot valid direction response: 18:24:44.0990 LVL= 23664, 27761, 30322, 25379, AGC= 31, IDX= 506, 0.43, 0.133,-0.165,-0.075,-1.752, PHS= 1.986, 1.632, 1.633, RAW= 90.1, -79.2, CAL= 92.2, -78.7, ROT= 57.8, 78.7 bT#Rx 56: Read range and direction messages.f^direction in FSK: [0.104415,0.165808,-0.980615]fFpublishing direction and range info460?ei59?_<1a6ff?4I6p\i6ql6rv6#c46?5? 6`?)6%?I6 I?i6;ﰿ6?6Fѯ6^ ?6Fѯ?I4yzu@i4)6D?oB׷Qޱio←6j6@?6^ ? 6Fѯ?I4i4checking for new query: numPingsReceived=56, elapsed TxPingTime=27.495327ٱzm@zKA9A9EEYIM AM>QQ 1]4٪Uԝ?Q 5]4U Q9YYe@?Q Ee?yUC)U2:IU;iU4Yimǿ@ikkkkJh4Rh6l[0)Ah6ff?h6362[?gM=?_)=~60?ei59?_<1ah6^ ?h6Fѯ? 6]<ĿpNh BX/IL~6#|ƿ.% ?4qjh6=`rh6!Zh6.Qkǝ?bh6zh6Bh6.Qkǝ?h6g_h6Bh6%/>h6b@ZZbZjZrZ#@?ԱI)>K<  ɡiI(;i)@<A9A9IvB ~B B 'IB BB  =B B B 0T;B <EIiNB>DDD*DE: Ea9:6E(N4:E"E;! E;! *E;! E ;!=checking for new query: numPingsReceived=56, elapsed TxPingTime=27.730244 9 L,[0)Ay6D@ٱ6?@6<6;6H ӏ=?4? w؛@'4p? ?I6D@)6d:];i6HCZBZ/(I \^AEMb@Mb@Mb@A A)AIAiAEMbAEA)E@IAiAA AE@BD]=6D]3YmY;!mG=u*Q)u>q9q9uEYy}6A}>Q 14٪&՝?Q 54 9?Q E?yC);ID;iҦ4Y@kkkkZZ<bZ<jZrZ>?I)><  ɡiI.;i)@e|<IqIN=DDAT read: Rx Time:18:24:44.5990 TRx dataTimestamp_ set to:1755627886.558033PDAT read: Bearing 199.6, 9.5 (Local) ~Local bearing/azimuth received: Bearing 199.6, 9.5 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:44.5990 LVL= 26432, 29521, 32754, 26307, AGC= 31, IDX= 506,-0.33,-2.933, 3.063,-3.130, 1.489, PHS= 1.963, 1.618, 1.619, RAW= 90.2, -79.4, CAL= 92.2, -78.9, ROT= 57.8, 78.9 Ygot valid direction response: 18:24:44.5990 LVL= 26432, 29521, 32754, 26307, AGC= 31, IDX= 506,-0.33,-2.933, 3.063,-3.130, 1.489, PHS= 1.963, 1.618, 1.619, RAW= 90.2, -79.4, CAL= 92.2, -78.9, ROT= 57.8, 78.9 T#Rx 57: Read range and direction messages.^direction in FSK: [0.102590,0.162911,-0.981293]Fpublishing direction and range infoW \C?9)DB?fI@giQsfC? ?)d;?Ix9x9zEYxzքA~>Q 14٪՝?Q 54l 9Y@=?Q E?yC)vƿL뫿S7xtjh Irh!Zh>ȝ?bhMzhBhBQǝ?hhBh1>ha@ZZabZajZarZeK@=?Iqq)u>}< y yɡyiyI}4;i)ԉ@R<IIN>DDAT read: Rx Time:18:24:45.0990 TRx dataTimestamp_ set to:1755627887.063320PDAT read: Bearing 198.9, 9.5 (Local) ~Local bearing/azimuth received: Bearing 198.9, 9.5 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:24:45.0990 LVL= 23792, 27537, 30194, 24755, AGC= 31, IDX= 506,-0.17, 2.911, 2.630, 2.717, 1.049, PHS= 1.964, 1.626, 1.624, RAW= 89.7, -79.6, CAL= 91.7, -79.0, ROT= 58.3, 79.0 Ygot valid direction response: 18:24:45.0990 LVL= 23792, 27537, 30194, 24755, AGC= 31, IDX= 506,-0.17, 2.911, 2.630, 2.717, 1.049, PHS= 1.964, 1.626, 1.624, RAW= 89.7, -79.6, CAL= 91.7, -79.0, ROT= 58.3, 79.0 T#Rx 58: Read range and direction messages.^direction in FSK: [0.100265,0.162342,-0.981627]%Fpublishing direction and range info=?Xv{?,/o}iI\iku`Zd?  ?);?IHd?iӱ?|S>?|?Ii)"Ve?LZ-6x←iYpȱ?S>? |?Ii=checking for new query: numPingsReceived=58, elapsed TxPingTime=28.506870Ai vB ~B B 'IB BB B B B GT;B FE{L,![0)AD^D^wD^.D\E^: E^:6E^ـ4:E\"E^N;!fE^O;!f*E^k;!fE^k;!fy~@ٱ~|@~<~0;~Hk =@?mz?@8f??I~@)~K];i~IC1]ȈB]=(IMb@Mb@Mb@ )IiMb`?MbP?;̼:)Ii BD>6D43Y ?<! 9=checking for new query: numPingsReceived=58, elapsed TxPingTime=28.743103LQ)>9!9%EY!%QA%>)Q 154٪-*֝?Q 554-8 )9=?h|?  ĿwQcXŶHQ~kUSƿ q>-,vjhCrh Zhmȝ?bh yzhBh>ȝ?hhhD8>hS#c@ZZE<bZE<jZEY@rZEwxP?IQQ)]N>]< Y YɡYiYIez9;i)i@u<IIN%>ԉ DDAT read: Rx Time:18:24:45.5989  TRx dataTimestamp_ set to:1755627887.567254 PDAT read: Bearing 198.3, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 198.3, 9.5 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:45.5989 LVL= 23984, 27249, 30370, 24563, AGC= 31, IDX= 505,-0.05, 1.985, 1.707, 1.790, 0.115, PHS= 1.972, 1.637, 1.631, RAW= 89.1, -79.6, CAL= 91.0, -79.1, ROT= 59.0, 79.1 - Ygot valid direction response: 18:24:45.5989 LVL= 23984, 27249, 30370, 24563, AGC= 31, IDX= 505,-0.05, 1.985, 1.707, 1.790, 0.115, PHS= 1.972, 1.637, 1.631, RAW= 89.1, -79.6, CAL= 91.0, -79.1, ROT= 59.0, 79.1 - T#Rx 59: Read range and direction messages.5 ^direction in FSK: [0.097391,0.162086,-0.981959]= Fpublishing direction and range info #?h??ۨ4l L? I ]i qj v _ j? 7?) ?I " ?i K? ΃? ?I i ) ?E?ZՕ 'z← ? ΃? ?I i U checking for new query: numPingsReceived=59, elapsed TxPingTime=29.013100Թ OL,p[0)AyF1@ٱF,@F+t9t9vEYtv[Az>xQ 1~4٪z֝?Q 5~4z  x9Y5O?Q E?yzC)z:Iz*:iz4Y!%`@)kIkIkIkIԙJhRhM[0)AhL?hU6re??+Z]#~#?h??ۨ4lh΃?h ? b=󐠽lé` om-~ʤ-ƿ xjh+rh ZhG˝?bh*#%zh/Bhlȝ?hMhBh-9>h(_@ZZbZjZrZ5O?I  ) θ>+<  ɡiI=;i)@ ,<II)N==DDD1DE%: E*:6E-4:E!@!@!@!@-checking for new query: numPingsReceived=59, elapsed TxPingTime=29.247068 L,zo\0)Ay6@ٱ6@6?<6:6H`9@V; ?`9` ?@S? |?I6@)6m$];i4FDDAT read: Rx Time:18:24:46.0990 FTRx dataTimestamp_ set to:1755627888.071048JPDAT read: Bearing 198.0, 9.9 (Local) N~Local bearing/azimuth received: Bearing 198.0, 9.9 (Local) VDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 zDAT read: 18:24:46.0990 LVL= 27120, 29617, 32754, 26291, AGC= 31, IDX= 506, 0.05,-1.455,-1.738,-1.662, 2.948, PHS= 1.982, 1.642, 1.629, RAW= 88.3, -79.4, CAL= 90.2, -78.9, ROT= 59.8, 78.9 ~Ygot valid direction response: 18:24:46.0990 LVL= 27120, 29617, 32754, 26291, AGC= 31, IDX= 506, 0.05,-1.455,-1.738,-1.662, 2.948, PHS= 1.982, 1.642, 1.629, RAW= 88.3, -79.4, CAL= 90.2, -78.9, ROT= 59.8, 78.9 ~T#Rx 60: Read range and direction messages.^direction in FSK: [0.096842,0.166392,-0.981293]Fpublishing direction and range infoDFIrEPʸ?SL?fFff?DIFiiFsFFfDF-? F-?)F?IFC?iFaF99EYyA>Q 1 4٪Vם?Q 5 4ֹ 9 Y JN?Q E ?yC)F:I=:iRÅ4Y9E @Ak1k1k9k9JhDRhF \0)AhFff?hF 6FUSO?Y+?DB~FIrEPʸ?SL?fhF0?hFC? FnGgĿh#2SJUM~F(FƿLf=3rjhFBrhF>#ZhFZɝ?bhF)zhFBhFmȝ?hF yhFBhF1:>hFic_@AA)ZZQbZQjZQrZUJN?I!)-7?-?< 1 YɡYiYI]B;ia)aPExceeded connect timeout, disconnecting.bDZD@ADD|D*DE: EP$:6E(N4:E@U<IaIqN{> 15A=checking for new query: numPingsReceived=60, elapsed TxPingTime=29.751369Q)} G ) I #ݾ v@ԁ L,J\0)Ay6m@ٱ6e@66h<6|.:6H@' ? ?('?̑@E??I6m@)6A];i6HCR̈BRA(I=Mb@Mb@Mb@9 9)9I9i9=y&1|?~jtMbP=`;=ļ=)9I=r@i9=@ 9=p@BDU:6DU{3Ye<!eQ=eQ)m>i9i9mEYiu[Au>yQ 14٪}ם?Q 54} y96h<  ɡiIwE;i)Q@S<IIN=DDAT read: Rx Time:18:24:46.5989 TRx dataTimestamp_ set to:1755627888.575232PDAT read: Bearing 197.6, 9.6 (Local) ~Local bearing/azimuth received: Bearing 197.6, 9.6 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:46.5989 LVL= 24432, 27377, 30434, 24531, AGC= 31, IDX= 505, 0.17,-2.337,-2.614,-2.535, 2.058, PHS= 1.991, 1.656, 1.646, RAW= 88.5, -79.7, CAL= 90.4, -79.2, ROT= 59.6, 79.2 Ygot valid direction response: 18:24:46.5989 LVL= 24432, 27377, 30434, 24531, AGC= 31, IDX= 505, 0.17,-2.337,-2.614,-2.535, 2.058, PHS= 1.991, 1.656, 1.646, RAW= 88.5, -79.7, CAL= 90.4, -79.2, ROT= 59.6, 79.2 T#Rx 61: Read range and direction messages.^direction in FSK: [0.094821,0.161619,-0.982287]Fpublishing direction and range info'O5F?j0?ޣѨnL?Ip_ijv_? ?)!?ԁI?i/ ?;ﰿ%?;?Ii)-?G 㷿2C{←  ?%? ;?IiEchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.081783ԱD D }D -D E : E k&:6E t4:E E checking for new query: numPingsReceived=61, elapsed TxPingTime=30.254972 & L,9&7\0)Aɰ4`?I:ҫ@):/];i8PRB(I `bA)n@A lBDv96Dv3Y]V;!]O=mjQ)u>y99EYA>Q 14٪=؝?Q 54e 9 Y |?Q E ?yC)@L>w.~oo@ƿn zjhrhiZh*0̝?bhVjbzh9BhZɝ?h*#%hBh;>h`@ZZ!bZ!jZ!rZ%G|?IQY)]>]i< Y YɡYiaIey,I;ia)i@A@@eB<IqIN>DDAT read: Rx Time:18:24:47.0990 TRx dataTimestamp_ set to:1755627889.079191PDAT read: Bearing 197.4, 9.9 (Local) ~Local bearing/azimuth received: Bearing 197.4, 9.9 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:47.0990 LVL= 27728, 29569, 32754, 26195, AGC= 31, IDX= 506, 0.32,-1.626,-1.907,-1.833, 2.776, PHS= 1.983, 1.646, 1.631, RAW= 87.8, -79.5, CAL= 89.8, -79.0, ROT= 60.2, 79.0 Ygot valid direction response: 18:24:47.0990 LVL= 27728, 29569, 32754, 26195, AGC= 31, IDX= 506, 0.32,-1.626,-1.907,-1.833, 2.776, PHS= 1.983, 1.646, 1.631, RAW= 87.8, -79.5, CAL= 89.8, -79.0, ROT= 60.2, 79.0 T#Rx 62: Read range and direction messages.^direction in FSK: [0.094827,0.165577,-0.981627]Fpublishing direction and range infoUC$F? F1?,/o}iff?IPlisSf? !?)?I%?iΚy?||?|?Ii);*L?&Bָvv←?|? |?Iichecking for new query: numPingsReceived=62, elapsed TxPingTime=30.523134 vBA ~BA BE (IBE BBA BA BA BE UT;BE ME9 L,Q\0)AnManaging dock network, ignoring radio surface power offDZDZDZ,DXEZ: EZ*:6EZg4:EX"EZ];!bEZ_;!b*EZb;!bEZb;!by]@ٱ]@]g<]k$]H`r ?@4ބ?`ߌD /?I]@)]`I];i]GCuˈBuA(Ichecking for new query: numPingsReceived=62, elapsed TxPingTime=30.7634945Mb@Mb@Mb@1 1)1I1i15Mbp?a9a9eEYamAm>qQ 1}4٪u؝?Q 5}4u: u̓B9}O~P ƿZ}}tjhT0rh#Zh-˝?bh;\zhBhG˝?h)hBh4>hvc@ZZ<bZ<jZ:˝@rZo?I)>g<   ɡ i IL;i)@<I1IQN>1a  DDAT read: Rx Time:18:24:47.5989  TRx dataTimestamp_ set to:1755627889.587170 PDAT read: Bearing 197.1, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 197.1, 9.5 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:47.5989 LVL= 24800, 27697, 30674, 25075, AGC= 31, IDX= 506,-0.46, 2.340, 2.071, 2.148, 0.460, PHS= 1.982, 1.656, 1.644, RAW= 88.2, -79.9, CAL= 90.0, -79.4, ROT= 60.0, 79.4  Ygot valid direction response: 18:24:47.5989 LVL= 24800, 27697, 30674, 25075, AGC= 31, IDX= 506,-0.46, 2.340, 2.071, 2.148, 0.460, PHS= 1.982, 1.656, 1.644, RAW= 88.2, -79.9, CAL= 90.0, -79.4, ROT= 60.0, 79.4  T#Rx 63: Read range and direction messages. ^direction in FSK: [0.091976,0.159307,-0.982935] Fpublishing direction and range info d?|2(d?4t L? I `i 1l w a -? ?) n?I j ?i  ? a ? a?I i ) t R ?/3xu1i← Q  ·? ? a?I i  checking for new query: numPingsReceived=63, elapsed TxPingTime=31.047323w8L,@j\0)A0y6h@ٱ6`@6P<6肺6H@D?\ J?m\PT?I6h@)61];i6HCN̈BRB(IBDVP6DV:4Yfr;!fh=f{Q)f>h9h9jEYhjAn>Q 14٪؝?Q 5 4 9 Y o?Q E ?yC):I{:iޅ4Y}@ykkkkJhRh1e\0)AhL?hs8Þl,ֲ?, P?)~d?|2(d?4th ?ha?  s;k&B™1~k^ſ)kqӦ/t~jhrhp Zhg͝?bhizh9Bh-˝?hVjbh/Bh.>h[@ZZ9bZ9jZ9rZ=#o?III)Mw>MP< I IɡqiqIudN;iy)y@m9<IyԉIN=BE5 [4JE5m4RE5.0DDD*DE: EF:6E(N4:E!@!@!@!@-checking for new query: numPingsReceived=63, elapsed TxPingTime=31.267017Թ !L,(\0)Ay6@ٱ6@6;<6-6H` ??/zPV@t?I6@)6X];i4VDDAT read: Rx Time:18:24:48.0991 ZTRx dataTimestamp_ set to:1755627890.095361^PDAT read: Bearing 197.1, 9.6 (Local) ^~Local bearing/azimuth received: Bearing 197.1, 9.6 (Local) fDAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 lzDAT read: 18:24:48.0991 LVL= 28208, 29761, 32754, 26291, AGC= 31, IDX= 507,-0.25, 2.380, 2.111, 2.185, 0.520, PHS= 1.962, 1.636, 1.621, RAW= 87.8, -79.7, CAL= 89.6, -79.2, ROT= 60.4, 79.2 Ygot valid direction response: 18:24:48.0991 LVL= 28208, 29761, 32754, 26291, AGC= 31, IDX= 507,-0.25, 2.380, 2.111, 2.185, 0.520, PHS= 1.962, 1.636, 1.621, RAW= 87.8, -79.7, CAL= 89.6, -79.2, ROT= 60.4, 79.2 T#Rx 64: Read range and direction messages. ^direction in FSK: [0.092555,0.162927,-0.982287] Fpublishing direction and range infoTV&5*A?a?ޣѨnV̌?TIV0niVAtVVfTV"? Vsh?)V|?IV%?iV/ ҈BJ(I%<%4a9a9eEYam+?;Am>qQ 14٪uXٝ?Q 54u u˓B9Y'p?Q E?yuC)u=Iu=iuK4YS@k!k!k!k!JhTRhVe\0)AhV̌?hVD8VăI?U?##IAqAu4=~V&5*A?a?ޣѨnhVV?hV;? Vėh)ȿ!O 0KO~VRܧgƿCvQaxjhV3MrhV)EZhVHGɝ?bhV'9>zhVBhThV;\hVBhV5>hVe$]@ZZbZjZrZ'p?vB~BB#(IBBBBBBNT;BJE I)`>;<  ɡiI_Q;i) *@I"@M=DDD0DE: Ega:6E4:E"E!E!*E;!E;!9@]<IiIyN{>]checking for new query: numPingsReceived=64, elapsed TxPingTime=31.775101i I'L, \0)Ay6 @ٱ6@6(<626Hc)X@g?)`I\|? b S`?I6 @)6D;];i6FCR͈BRC(I-Mb@Mb@Mb@) )))I)i)-Mbp?Q)9-u-)-@I-E@i-r@-\@ )-z@BDMC6DM3Y]$Ҽ!]J=eDQ)e>a9a9mEYim;Am>qQ 1}4٪uٝ?Q 5}4uɸ q9Y~(<  ɡiI/S;i)@O<IIN=DDAT read: Rx Time:18:24:48.5990 TRx dataTimestamp_ set to:1755627890.599514PDAT read: Bearing 197.2, 9.6 (Local) ~Local bearing/azimuth received: Bearing 197.2, 9.6 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:48.5990 LVL= 28208, 30033, 32754, 26739, AGC= 31, IDX= 506,-0.11, 1.459, 1.190, 1.263,-0.413, PHS= 1.974, 1.648, 1.632, RAW= 87.7, -79.8, CAL= 89.5, -79.3, ROT= 60.5, 79.3  Ygot valid direction response: 18:24:48.5990 LVL= 28208, 30033, 32754, 26739, AGC= 31, IDX= 506,-0.11, 1.459, 1.190, 1.263,-0.413, PHS= 1.974, 1.648, 1.632, RAW= 87.7, -79.8, CAL= 89.5, -79.3, ROT= 60.5, 79.3  T#Rx 65: Read range and direction messages.^direction in FSK: [0.091427,0.161596,-0.982613]Fpublishing direction and range infoYҡRg?jů,?Q3nqff?IiQush? ?)`?Iv?iaF?m((?m(?Ii)nj%?V^G[Q|~←ۧdE?(? m(?Ii5checking for new query: numPingsReceived=65, elapsed TxPingTime=32.043350iԑD D tD ,D E : E v:6E g4:E ! @! @! @! @ e checking for new query: numPingsReceived=65, elapsed TxPingTime=32.279068w-L,=|\0)AyM@ٱM@MR99EY;A>Q 14٪ٝ?Q 54 9Ym|?Q E?yC)`:I:i4Y@k k kkJhRhp^\0)Ahff?h8b4?.>:?6͉L~YҡRg?jů,?Q3nqh(?hm(? lD[Ŀ޽tyo T~EȋWƿsI$j yjh%rh Zh̝?bh6zhBh*0̝?h'9>hBh.>h_`@ZZIbZIjZIrZMm|?IYY)]">]R< a aɡaiaIeAU;i)@<IIN>ԹDDAT read: Rx Time:18:24:49.0990 TRx dataTimestamp_ set to:1755627891.105996PDAT read: Bearing 197.4, 9.6 (Local) ~Local bearing/azimuth received: Bearing 197.4, 9.6 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 %DAT read: 18:24:49.0990 LVL= 28592, 29921, 32754, 26611, AGC= 31, IDX= 506,-0.01, 2.460, 2.189, 2.263, 0.580, PHS= 1.982, 1.654, 1.638, RAW= 87.7, -79.8, CAL= 89.5, -79.3, ROT= 60.5, 79.3 Ygot valid direction response: 18:24:49.0990 LVL= 28592, 29921, 32754, 26611, AGC= 31, IDX= 506,-0.01, 2.460, 2.189, 2.263, 0.580, PHS= 1.982, 1.654, 1.638, RAW= 87.7, -79.8, CAL= 89.5, -79.3, ROT= 60.5, 79.3 T#Rx 66: Read range and direction messages.^direction in FSK: [0.091427,0.161596,-0.982613]Fpublishing direction and range infoYҡRg?jů,?Q3nqIoitg-? F?)?IiIi)_30?Qj}← 9? Iimchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.565907vB ~B B 0(IB BB B B B mT;B YEBBBB =B =Bɢ3 _4L,X\0)ADJDJDJ*DHEJغ: EJ.:6EJ(N4:EH"EJ=Q)>99EYS<A>Q 14٪Jڝ?Q 54 ̓B9W:?6͉L~YҡRg?jů,?Q3nqhh  Fk$.Ŀ1 9Фbz'S~((lƿNe? bu&xjh&rhq!Zhe͝?bhJzhBh̝?hihBh.>h^@ZZW<bZW<jZ˖@rZ:?I!!)%>%\ < ! )ɡ)i)I-SuW;i1)1@A@E~A@-<I!IANMS>A DDAT read: Rx Time:18:24:49.5989  TRx dataTimestamp_ set to:1755627891.607173 PDAT read: Bearing 197.5, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 197.5, 9.5 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:49.5989 LVL= 28640, 30321, 32754, 26819, AGC= 31, IDX= 505, 0.10, 2.155, 1.883, 1.955, 0.260, PHS= 1.996, 1.668, 1.651, RAW= 87.5, -79.8, CAL= 89.3, -79.3, ROT= 60.7, 79.3  Ygot valid direction response: 18:24:49.5989 LVL= 28640, 30321, 32754, 26819, AGC= 31, IDX= 505, 0.10, 2.155, 1.883, 1.955, 0.260, PHS= 1.996, 1.668, 1.651, RAW= 87.5, -79.8, CAL= 89.3, -79.3, ROT= 60.7, 79.3  T#Rx 67: Read range and direction messages. ^direction in FSK: [0.090862,0.161914,-0.982613] Fpublishing direction and range info ПJKB? 2?Q3nq L? I oi qv h |? ?) S?I z?i ? 蚇? I i ) FRG ? uEw}← < #\? 蚇? I i y  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.092712:L,%\0)Aynt@ٱnl@n;nhw+nH ov?Com}u?[nE?Int@)nD];inHC ߈B Y(IBDeC6De3Ym%X=!u^=u!Q)u>99EYW<A>Q 14٪ڝ?Q 54v 9Y53h_[@ZZbZjZrZ3U; Q QɡQiQIUX;iY)aDDlD)DE: E:6EFA4:E!@!@!@!@@o<IIN>-checking for new query: numPingsReceived=67, elapsed TxPingTime=33.287075ԁԩ mAL,]0)Ay6@ٱ6@6$;686H@! @5rȢ?@@ct?@V{ ?@?I6@)6h];i4FDDAT read: Rx Time:18:24:50.0990 FTRx dataTimestamp_ set to:1755627892.111070NPDAT read: Bearing 197.8, 9.5 (Local) N~Local bearing/azimuth received: Bearing 197.8, 9.5 (Local) VDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 nDAT read: 18:24:50.0990 LVL= 28608, 30097, 32754, 26611, AGC= 31, IDX= 506, 0.22,-2.659,-2.930,-2.860, 1.732, PHS= 1.993, 1.666, 1.647, RAW= 87.2, -79.8, CAL= 89.0, -79.3, ROT= 61.0, 79.3 vYgot valid direction response: 18:24:50.0990 LVL= 28608, 30097, 32754, 26611, AGC= 31, IDX= 506, 0.22,-2.659,-2.930,-2.860, 1.732, PHS= 1.993, 1.666, 1.647, RAW= 87.2, -79.8, CAL= 89.0, -79.3, ROT= 61.0, 79.3 vT#Rx 68: Read range and direction messages.~^direction in FSK: [0.090013,0.162388,-0.982613]Fpublishing direction and range infoDF ??Q3nqFff?DIFoiFuDFgDF? F}??)F?IF?iDF?DF{F?DIDiD)F:Qt?d>3ï6←FF!Q?F{F? DIDiDMchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.563835UوB]Q(IBD<6D3Y!:=oQ)>99EYZ<A>ԱQ 14٪ڝ?Q 54\ ͓B9Y=?Q E?y C);I;iI 4Y@AAvB%u>~B!B%6(IB%ˆBB!B!B!B%tT;B%]EkkkkJhDRhF]0)AhFff?hF8FS-?*5J?6͉L~F ??Q3nqhF{F?hD F^MĿB_9/P~F|ƿ*豂15vjhFy0rhFo"ZhFB͝?bhF~zhFBhDhFJhDhFQ0>hF [@ZZibZijZirZm=?I11)=>=$;  ɡiI uZ;i)!DD{D3DE: E5":6E4:E"E;!E;!*E5z;!E6z;!@<IIN>=checking for new query: numPingsReceived=68, elapsed TxPingTime=33.791134 9 4GL,]0)Aiy6K@ٱ6F@6;6v!:6H5Q7m? Ms?>xD??I6K@)6X];i6ECNˈBR@(I-Mb@Mb@Mb@) )))I)i)-~jtx?)-;-))I-E@i-r@-\@ )-(@BDL6D 4Y!Y=zQ)>99EY<A>Q 14٪ڝ?Q 54f 9;Q A >YQQ E?y) ;IS;i4Y̾@kkkkZZ%;bZ%;jZ%?rZ%x@I11)5f>5; 9 9ɡ9i9I=m[;iA)A@5W<I9IQN]=DDAT read: Rx Time:18:24:50.5988 TRx dataTimestamp_ set to:1755627892.615220PDAT read: Bearing 198.1, 9.2 (Local) ~Local bearing/azimuth received: Bearing 198.1, 9.2 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 18:24:50.5988 LVL= 25936, 28193, 31138, 25459, AGC= 31, IDX= 505, 0.40, 1.985, 1.722, 1.793, 0.089, PHS= 1.998, 1.678, 1.660, RAW= 87.3, -80.1, CAL= 89.1, -79.6, ROT= 60.9, 79.6 -Ygot valid direction response: 18:24:50.5988 LVL= 25936, 28193, 31138, 25459, AGC= 31, IDX= 505, 0.40, 1.985, 1.722, 1.793, 0.089, PHS= 1.998, 1.678, 1.660, RAW= 87.3, -80.1, CAL= 89.1, -79.6, ROT= 60.9, 79.6 5T#Rx 69: Read range and direction messages.E^direction in FSK: [0.087793,0.157733,-0.983571]EFpublishing direction and range infoHy?0?XUjy?IPei!nyscw? ?)z?I?i񲿉" ?ӱJ ?ӱ?Ii)4Å?I˷N←n)?J ? ӱ?Iichecking for new query: numPingsReceived=69, elapsed TxPingTime=34.0797049i D D vD /D E C: E :6E J4:E ! @! @! @! @E checking for new query: numPingsReceived=69, elapsed TxPingTime=34.295033ML,-:]0)A y @ٱ@'8;N:H YDf@Y?%r?&uR??I @)];i15A(IBDE56DE3YU ;!UM=]Q)]>Y9Y9eEYae[<Ae>iQ 14٪mڝ?Q 54mq i9YQ E?yi)mH#h,Y@ZZibZijZirZm>y@Iyy)}9>'8;  ɡiI\;i)a@<IIN=DDAT read: Rx Time:18:24:51.0990 ԑTRx dataTimestamp_ set to:1755627893.120747PDAT read: Bearing 198.6, 9.3 (Local) ~Local bearing/azimuth received: Bearing 198.6, 9.3 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:24:51.0990 LVL= 28752, 29809, 32754, 26451, AGC= 31, IDX= 507,-0.36, 1.328, 1.066, 1.135,-0.542, PHS= 1.972, 1.653, 1.633, RAW= 87.1, -79.9, CAL= 88.9, -79.4, ROT= 61.1, 79.4  Ygot valid direction response: 18:24:51.0990 LVL= 28752, 29809, 32754, 26451, AGC= 31, IDX= 507,-0.36, 1.328, 1.066, 1.135,-0.542, PHS= 1.972, 1.653, 1.633, RAW= 87.1, -79.9, CAL= 88.9, -79.4, ROT= 61.1, 79.4 T#Rx 70: Read range and direction messages.^direction in FSK: [0.088900,0.161043,-0.982935]%Fpublishing direction and range info 2.¶? ?4tff?IPpiqtSgj? ?)%?IQ?i?a?a?Ii)C?OmVEXw-N←F?? a?IiUchecking for new query: numPingsReceived=70, elapsed TxPingTime=34.574642vB~BBBBBBBT;BlE TL,S]0)AD:D:qD:-D8E:ҝ: E:$ :6E:t4:E8"E:;!NE:;!N*E:U;!RE:U;!V\y.@ٱ)@d;6;H 2`=gX2? rs?`Lra? ?I.@)o];iGCшBH(Ichecking for new query: numPingsReceived=70, elapsed TxPingTime=34.799046iM'=IMC) UG 9)YI5@uMb@Mb@Mb@q q)qIqiquZd;O?~jth?quj99EYpa<A>Q 14٪ٝ?Q 54 ΓB9hV@ZZ-<bZ-<jZ)rZ-ʧy@IAA)EO>Ed; A IɡIiIIMB];iI)Q@a@eA@u-<IIN^>  DDAT read: Rx Time:18:24:51.5989  TRx dataTimestamp_ set to:1755627893.624707 PDAT read: Bearing 199.3, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 199.3, 9.3 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 18:24:51.5989 LVL= 28912, 30433, 32754, 26963, AGC= 31, IDX= 506,-0.18,-0.259,-0.518,-0.451,-2.125, PHS= 1.968, 1.652, 1.630, RAW= 86.6, -80.0, CAL= 88.4, -79.5, ROT= 61.6, 79.5 9 = Ygot valid direction response: 18:24:51.5989 LVL= 28912, 30433, 32754, 26963, AGC= 31, IDX= 506,-0.18,-0.259,-0.518,-0.451,-2.125, PHS= 1.968, 1.652, 1.630, RAW= 86.6, -80.0, CAL= 88.4, -79.5, ROT= 61.6, 79.5 E T#Rx 71: Read range and direction messages.U ^direction in FSK: [0.086676,0.160303,-0.983255]U Fpublishing direction and range info F_0?WЄ?pv L? I pi v Si m? t?) ף?I \w?i ¸ |? Κ ? Κ?I i ) ȓ??T;Fr@:ie%4Y@kkkkJhRh3g]0)AhL?h 6&L?p@j?$+~F_0?WЄ?pvh?hΚ? A8r7o*~Qjƿ\x+lmfujh/rhxZhS͝?bhzh4BhS͝?hh4Bh%>hTU@ZZYbZYjZYrZ]$z@Iii)m>m[v; i ɡiIR^;i)DyD}sD})DyEy E}Z:6E}FA4:Ey!@!@!@!@@5<IIN=Achecking for new query: numPingsReceived=71, elapsed TxPingTime=35.304832qԡ »aL,AE]0)A:DDAT read: Rx Time:18:24:52.0990 >TRx dataTimestamp_ set to:1755627894.128025FPDAT read: Bearing 200.1, 9.1 (Local) F~Local bearing/azimuth received: Bearing 200.1, 9.1 (Local) RDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 MDAT read: 18:24:52.0990 LVL= 29168, 30081, 32754, 26675, AGC= 31, IDX= 507,-0.07, 1.918, 1.657, 1.727, 0.038, PHS= 1.982, 1.664, 1.645, RAW= 87.0, -80.1, CAL= 88.8, -79.6, ROT= 61.2, 79.6 ]Ygot valid direction response: 18:24:52.0990 LVL= 29168, 30081, 32754, 26675, AGC= 31, IDX= 507,-0.07, 1.918, 1.657, 1.727, 0.038, PHS= 1.982, 1.664, 1.645, RAW= 87.0, -80.1, CAL= 88.8, -79.6, ROT= 61.2, 79.6 ]T#Rx 72: Read range and direction messages.m^direction in FSK: [0.086966,0.158190,-0.983571]mFpublishing direction and range info8:%tKcC?0ђ??XUjy:ff?8I:qi:u8:3hyy"@ٱ@zDE;Ә;Hlb&F?? Vbt?hp?`?I"@)z];iB5(I8:-? :?):\?I: \?i:񲿉:a?:ӱ:ܸ?:ӱ?I8i8):J?:[Q←::ٲ?:ܸ? :ӱ?I8i8-checking for new query: numPingsReceived=72, elapsed TxPingTime=35.613209BD=6D3Ym#Ǽ!m8=m>ߺQ)u>AAvB~BB0(IBBB =BBBT;BwE99EY<A>Q 14٪؝?Q 54 ϓB9YQ EM?y$C)>fh:X@ZZ9bZ9jZ9rZ=Gz@ԩI)1>zDE;  ɡiI_;i) @M<I9bDZDIDDnD,DE: E:6Eg4:E"E;!E;! *EJ;! EJ;!Nj>-DDAT read: Rx Time:18:24:52.5989 =TRx dataTimestamp_ set to:1755627894.381785Mchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.812607 /gL,!]0)Ay6v@ٱ6n@6;6"L;6Hi`8`?@?H&u? c`z)u?@?I6v@)63f];i6FCRˆBR6(I-Mb@Mb@Mb@) )))I)i)-{GztL7A`?-ף-+=-))I)i-@-r@ )-@BDEA6DE?3YUf;!U^=UQ)]>Y9Y9eEYae<Ae>iQ 1u4٪mP؝?Q 5u4m8 i9}=Q A};  ɡiIft_;i)*@"@=@?<II)N==PDAT read: Bearing 200.7, 9.1 (Local) ~Local bearing/azimuth received: Bearing 200.7, 9.1 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:52.5989 LVL= 29344, 30161, 32754, 26867, AGC= 31, IDX= 506, 0.04, 1.688, 1.428, 1.495,-0.205, PHS= 1.995, 1.678, 1.656, RAW= 86.6, -80.1, CAL= 88.4, -79.6, ROT= 61.6, 79.6 Ygot valid direction response: 18:24:52.5989 LVL= 29344, 30161, 32754, 26867, AGC= 31, IDX= 506, 0.04, 1.688, 1.428, 1.495,-0.205, PHS= 1.995, 1.678, 1.656, RAW= 86.6, -80.1, CAL= 88.4, -79.6, ROT= 61.6, 79.6  T#Rx 73: Read range and direction messages.^direction in FSK: [0.085859,0.158793,-0.983571]Fpublishing direction and range infoquVe?pWS?XUjyuL?qIuriuuquhqu)\? u?)u?Iu\w?iqu|?qu?qIqiq)u_?9*)c6←uu?u? qIqiqchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.0989691BEg4JEɨo4REɖ0D D D +D E : E 0:6E [4:E ! @! @! @! @= DDAT read: Rx Time:18:24:53.0989 E TRx dataTimestamp_ set to:1755627894.885605U PDAT read: Bearing 201.6, 9.0 (Local) a m ~Local bearing/azimuth received: Bearing 201.6, 9.0 (Local) } checking for new query: numPingsReceived=73, elapsed TxPingTime=36.321358vnL,]0)A0i0yN@ٱN@N:N;NHbྑhIl?̑?5w??7Z`z??IN@)Nv];iNCCB%+(IBDUV6DUE4Ye6)!eH=eQ)e>99EY <A>Q 14٪ם?Q 54 9Y Q E?y'C)$hMP@ZZbZjZrZ@I)>:  ɡiI_;i)@<IIN >QDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:24:53.0989 LVL= 29472, 30193, 32754, 26723, AGC= 31, IDX= 506, 0.15, 1.953, 1.691, 1.759, 0.058, PHS= 1.997, 1.677, 1.657, RAW= 86.9, -80.1, CAL= 88.7, -79.6, ROT= 61.3, 79.6 Ygot valid direction response: 18:24:53.0989 LVL= 29472, 30193, 32754, 26723, AGC= 31, IDX= 506, 0.15, 1.953, 1.691, 1.759, 0.058, PHS= 1.997, 1.677, 1.657, RAW= 86.9, -80.1, CAL= 88.7, -79.6, ROT= 61.3, 79.6 T#Rx 74: Read range and direction messages.^direction in FSK: [0.086690,0.158342,-0.983571]Fpublishing direction and range infoqu H1?ܰD?XUjyqqIu siuuquchqu? u?)u?Iu"?iqu_(?qu ?qIqiq)upI5?ɻ+y←u*wuز?u ? qIqiqchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.580139ԁvB~BB*(IBBB =BBBT;BEԱ tL,]0)AD*D*yD*)D(E*: E*:6E*FA4:E("E*;;!BE*<;!B*E*r;!FE*r;!FDDAT read: Rx Time:18:24:53.5988 TRx dataTimestamp_ set to:1755627895.390035 PDAT read: Bearing 202.2, 8.9 (Local) ~Local bearing/azimuth received: Bearing 202.2, 8.9 (Local) %checking for new query: numPingsReceived=74, elapsed TxPingTime=36.824432ԑyMkY @ٱMcT@M99EY8<A> Q 14٪ ֝?Q 54  9}6=Q AhgM@ZZ=}6=bZ=}6=jZ=A?rZ=@III)M?M DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 18:24:53.5988 LVL= 29472, 30305, 32754, 26979, AGC= 31, IDX= 505, 0.29, 1.066, 0.806, 0.873,-0.831, PHS= 2.000, 1.682, 1.660, RAW= 86.7, -80.1, CAL= 88.4, -79.6, ROT= 61.6, 79.6  Ygot valid direction response: 18:24:53.5988 LVL= 29472, 30305, 32754, 26979, AGC= 31, IDX= 505, 0.29, 1.066, 0.806, 0.873,-0.831, PHS= 2.000, 1.682, 1.660, RAW= 86.7, -80.1, CAL= 88.4, -79.6, ROT= 61.6, 79.6  T#Rx 75: Read range and direction messages. ^direction in FSK: [0.085859,0.158793,-0.983571] Fpublishing direction and range info Ve?pWS?XUjy ? I i av ci @ K?) z?I ?i |? ? I i ) y b?#46+ /←  =? ? I i  checking for new query: numPingsReceived=75, elapsed TxPingTime=37.082367 k"{L,]0)Ay6t @ٱ6l@686a <6H`JS{?@S?`}? c? ?I6t @)6s];i6FCBBB(IBDJ56DJ3Yf!f=f%>Q)f'?h9h9jEYhj6<An'?pQ 1r4٪r՝?Q 5v4rB p9tYv Q Ev?yr,C)r:Ir:irH4Yx~@|kkkkJhRh]0)Ah?hk4X?`?Xcd?qas~Ve?pWS?XUjyh?h M|8xԯ~ɬ2ƿ"VI %Y Wljh~rh۽ZhY̝?bh]f8zhBhhӺh'BhT=hpR@ZZbZjZrZ"@I)A>8  ɡiI`;i)@=IIN%=DU}DUnDU/DQEU݉: EU:6EUJ4:EQ!]@!]@!]@!]@DDAT read: Rx Time:18:24:54.0989  TRx dataTimestamp_ set to:1755627895.893942PDAT read: Bearing 202.7, 8.7 (Local) 5~Local bearing/azimuth received: Bearing 202.7, 8.7 (Local) UDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 eZ#Rx 76: Read range message, but no direction.L?checking for new query: numPingsReceived=76, elapsed TxPingTime=37.337490Ai f L,}^0)A6DAT read: 18:24:54.0989 LVL= 29216, 30337, 32754, 26963, AGC= 31, IDX= 506, 0.50, 1.092, 0.836, 0.903,-0.798, PHS= 1.992, 1.679, 1.656, RAW= 86.5, -80.2, CAL= 88.3, -79.7, ROT= 61.7, 79.7 :Ygot valid direction response: 18:24:54.0989 LVL= 29216, 30337, 32754, 26963, AGC= 31, IDX= 506, 0.50, 1.092, 0.836, 0.903,-0.798, PHS= 1.992, 1.679, 1.656, RAW= 86.5, -80.2, CAL= 88.3, -79.7, ROT= 61.7, 79.7 :Z#Rx 77: Read direction message, but no range.ɰTT^^direction in FSK: [0.084768,0.157431,-0.983885] "4N[?|&?SEq{￙ I" ri"v "Si "? "y?)"?I",>?i"$+"C?"/ "։?"/ ?pI )"!zi'?m ͪ雈←"I".?"։? "/ ?%checking for new query: numPingsReceived=77, elapsed TxPingTime=37.599648y= @ٱ=@=aQ=U@<=H"=?=? &?0,J? ?n?I= @)=k];i=CC]Be(IiiIiBD06D3Y7!9=[Q)>99EY <A>Q 1 4٪ԝ?Q 5 4AQAQvBY~BYB](IB]BBYBYBYB]T;B]EBBBBBB4 9Y Q E?y.C)aQ  ɡiDmDmmDm,DiEm: Em:6Emg4:Ei"Em;!Em;!*Em@G;!Em@G;!9 DDAT read: Rx Time:18:24:54.5989 TRx dataTimestamp_ set to:1755627896.397817%PDAT read: Bearing 202.8, 8.3 (Local) 5~Local bearing/azimuth received: Bearing 202.8, 8.3 (Local) uDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 Z#Rx 78: Read range message, but no direction.   checking for new query: numPingsReceived=78, elapsed TxPingTime=37.843994Y I4L,i9i9mEYiu;Au>yQ 14٪}ӝ?Q 54} y9j<=Q Aƒ  ɡi}>ԑDu Du zDu -Dq Eu : Eu  :6Eu t4:Eq !} @!} @!} @!} @ - DDAT read: Rx Time:18:24:55.0990 5 TRx dataTimestamp_ set to:1755627896.903308E PDAT read: Bearing 203.4, 8.5 (Local) M ~Local bearing/azimuth received: Bearing 203.4, 8.5 (Local) m DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 u Z#Rx 80: Read range message, but no direction.) - ff?)  checking for new query: numPingsReceived=80, elapsed TxPingTime=38.348125 _L,G<^0)Ay6$ @ٱ6@653L6Px<6HA@&?q'?``?ci?` ??I6$ @)6w];i6FC>BB(IBDJE6DJ3Y=a!EL=EzTQ)E>I9I9MEYIMV;AU>QQ 1}4٪Uҝ?Q 54U^ Q9YwQ E?yU3C)U[:IUN:iU?^4Y@ԙkkkkJhYRh]9^0)Ah]ff?h]o2]Z:?xp?7a~]I?UX9`?b#vh]K?h]$+? ]15Uÿ.#8 $M~]6fF~4ƿƠMc[rjh]lrh]Zh]PBŝ?bh]zh]؆Bh]Pʝ?h],<hYh]D=h]ԾE@ZZbZjZrZç|@I)>53L  ɡi~BQBU (IBUBBQBQBQBUT;BUE JL,r2V^0)ADDmD+DE: E:6E [4:E"E(;!2E);!2*E!6E!:DDAT read: Rx Time:18:24:55.5989 TRx dataTimestamp_ set to:1755627897.411007PDAT read: Bearing 203.6, 8.4 (Local) %~Local bearing/azimuth received: Bearing 203.6, 8.4 (Local) EDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 y; @ٱ3@~:͉<H@@' v?(?N?`Kr?@}9??I; @)k];iBC B (I=<MDAT read: 18:24:55.5989 LVL= 29376, 30145, 32754, 26739, AGC= 31, IDX= 506,-0.03,-0.787,-1.032,-0.971,-2.665, PHS= 1.980, 1.678, 1.650, RAW= 85.6, -80.4, CAL= 87.3, -79.9, ROT= 62.7, 79.9 UYgot valid direction response: 18:24:55.5989 LVL= 29376, 30145, 32754, 26739, AGC= 31, IDX= 506,-0.03,-0.787,-1.032,-0.971,-2.665, PHS= 1.980, 1.678, 1.650, RAW= 85.6, -80.4, CAL= 87.3, -79.9, ROT= 62.7, 79.9 UT#Rx 82: Read range and direction messages.]^direction in FSK: [0.080432,0.155834,-0.984503]eFpublishing direction and range info<@.?]?a/ L?Iriushp? ?)33?It;?i??Ii) ?|piH←?? Iichecking for new query: numPingsReceived=82, elapsed TxPingTime=38.897221}Mb@Mb@Mb@y y)yIyiy} rhkt?~jth?}C} 0=}D;)}r@I}r@iyy y}z@BD96D3Y/!=j;Q)>99EYA>9YQ 1e4٪]ҝ?Q 5e4] ]ГB9e==Q Ae?E~: A IɡIiM$ae checking for new query: numPingsReceived=82, elapsed TxPingTime=39.083046ԑ {pL,o^0)Ay6 @ٱ6@6Wλ6<6H 3近?25?` @t1?_y?ޒ? r?I6 @)6];i4BBB'IBDJC6DJ3Yf!f=fϻQ)f&?h9h9jEYhjAn&?pQ 1v4٪rѝ?Q 5v4rB rѓB9tYvQ Ev?yr8C)r:Ir:irl4Yx~a@qkkkkZZbZjZrZzT@I)>Wλ  ɡiY9Y9]EYYeAe>iQ 1m4٪mѝ?Q 54mż mғB9YcQ E?ym:C)mT;Im;im t4Y@kkkkJhRhFz^0)Ahff?h?4_J?? J_~}y+R?4~7? 4hX?h? ҈PſKF欬w绊B~(KVǿvzܯąfjhgerh (Zh}1Ý?bhIu>zhĆBh[ŝ?hh Bh;>h*K@ZZYbZYjZYrZ]6@Iii)H>8Z  ɡi)DUDUqDU)DQEU: EU$ :6EUFA4:EQ"EQ!}EQ!*EUU;!EUU;!)G DDAT read: Rx Time:18:24:56.5989 %TRx dataTimestamp_ set to:1755627898.419036=PDAT read: Bearing 202.7, 8.1 (Local) E~Local bearing/azimuth received: Bearing 202.7, 8.1 (Local) mvDAT read: Range 11 to 50 8 m (trip time 0.5 ms) speed 0.0 uunknown deviceResponse_: Range 11 to 50 8 m (trip time 0.5 ms) speed 0.0 checking for new query: numPingsReceived=84, elapsed TxPingTime=39.860130)IUؾ@) Q L,^0)Ay6` @ٱ6Z@6*6鮧<6H`]k9J?`m?` {}? ~P?2??I6` @)6ڪ];i6DC^Bb'IBDjZ6Dj%4Y<!O=ǻQ) > 9 9 EY  A>Q 1%4٪zН?Q 5%4- 9!Y%Q E-?y* 9 ɡi4SQDM DM oDM ,DI EM : EM :6EM g4:EI !U @!U @!U @!U @ԁ  DDAT read: Rx Time:18:24:57.0989 % TRx dataTimestamp_ set to:1755627898.922007= PDAT read: Bearing 202.4, 8.1 (Local) E ~Local bearing/azimuth received: Bearing 202.4, 8.1 (Local) e DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 u Z#Rx 85: Read range message, but no direction.  L?  checking for new query: numPingsReceived=85, elapsed TxPingTime=40.363338=L,^0)A,y6@ٱ6@6LO6u<6H@i{?̚?@8@x?b?ۭ??I6@)6];i6BCNBN'IBDZU6DZn4YT!A=eQ)>99EYŖA>Q 14٪ϝ?Q 54 ӓB9YQ E?y?C):I):i؁4YB@;EkQkYkYkYZZbZjZrZeʉ@I)j>LO)<  ɡi>;IU;i)I!I1N==ԉ}DAT read: 18:24:57.0989 LVL= 29312, 30017, 32754, 26611, AGC= 31, IDX= 506, 0.37, 0.589, 0.349, 0.406,-1.316, PHS= 2.008, 1.710, 1.679, RAW= 85.0, -80.6, CAL= 86.6, -80.2, ROT= 63.4, 80.2 Ygot valid direction response: 18:24:57.0989 LVL= 29312, 30017, 32754, 26611, AGC= 31, IDX= 506, 0.37, 0.589, 0.349, 0.406,-1.316, PHS= 2.008, 1.710, 1.679, RAW= 85.0, -80.6, CAL= 86.6, -80.2, ROT= 63.4, 80.2 Z#Rx 86: Read direction message, but no range.^direction in FSK: [0.076213,0.152194,-0.985408]Y]%5y?H{?b#v￙YI]ri]AuY]gY]@ ]H?)]y?I]N?iY]\w?]$+]?]$+?IY)]KP?uӷ9ؒ←]!]$?]? ]$+?checking for new query: numPingsReceived=86, elapsed TxPingTime=40.608490ԹvB~BB'IBBBBBBU;BE L,e^0)ADRDRDPDPERU: ERAr:6EP:EPp"ER;!~ER;!*ERC;! ERC;!DDAT read: Rx Time:18:24:57.5989  TRx dataTimestamp_ set to:1755627899.430682-PDAT read: Bearing 201.4, 7.6 (Local) ymK@ٱmF@msxmJX6Dm43Ys!=Q)>99EYiA>Q 1 4٪Ν?Q 5 4A ԓBQ =+:9Q Agu checking for new query: numPingsReceived=87, elapsed TxPingTime=41.103050a L,B^0)Ay6@ٱ6@6)6I<6HX/`G ?@ ?1e?(? r??I6@)6٤];i6CCRmBR'IBDZF6DZ4Yf^!f=fG!Q)f9?h9h9jEYhn!=An9?pQ 1r4٪rΝ?Q 5v4r rՓBQ =v :9tQ Av;M))M< I QɡQiUWIU3O;iY)YBEJEb4RE0DDmD*DE: E:6E(N4:E!@!@!@!@qDDAT read: Rx Time:18:24:58.0990 TRx dataTimestamp_ set to:1755627899.932434PDAT read: Bearing 200.9, 7.9 (Local) ~Local bearing/azimuth received: Bearing 200.9, 7.9 (Local) -DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 EH<DAT read: 18:24:58.0990 LVL= 29472, 30513, 32754, 26915, AGC= 31, IDX= 507,-0.21,-1.713,-1.939,-1.888, 2.685, PHS= 1.987, 1.704, 1.666, RAW= 83.8, -80.9, CAL= 85.3, -80.4, ROT= 64.7, 80.4 Ygot valid direction response: 18:24:58.0990 LVL= 29472, 30513, 32754, 26915, AGC= 31, IDX= 507,-0.21,-1.713,-1.939,-1.888, 2.685, PHS= 1.987, 1.704, 1.666, RAW= 83.8, -80.9, CAL= 85.3, -80.4, ROT= 64.7, 80.4 T#Rx 88: Read range and direction messages.^direction in FSK: [0.071270,0.150773,-0.985996]Fpublishing direction and range info6>?L?Gff?I si1w#iV? ?)}??I6?i{⏾???Ii) _Z?d=:←!c?? ?IiUchecking for new query: numPingsReceived=88, elapsed TxPingTime=41.405113ԑIIN> L,# _0)Achecking for new query: numPingsReceived=88, elapsed TxPingTime=41.607311yR=@ٱR5@RR99EY A >Q 14٪͝?Q 54 Q =99Q A%?L?Gh-?h-? -4 jſa)xcjh-=rh-,Zh-F|?bh-7//zh-Bh-}1Ý?h-Iu>h-؆Bh-:>h-q;@AAvB~BBBBBBBU;BEԹI11)=Y>=)= 9 9ɡ9i=*IE"K;iA)I9I!I1NE=DDtD+DEҝ: Ev:6E [4:E"E;!E;!*E`;!E`;!DDAT read: Rx Time:18:24:58.5989 %TRx dataTimestamp_ set to:1755627900.439642)5PDAT read: Bearing 199.8, 7.8 (Local) 5~Local bearing/azimuth received: Bearing 199.8, 7.8 (Local) EDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 eDAT read: 18:24:58.5989 LVL= 26384, 28017, 30562, 25283, AGC= 31, IDX= 506,-0.09,-2.619,-2.838,-2.788, 1.771, PHS= 1.996, 1.719, 1.680, RAW= 83.4, -81.1, CAL= 84.9, -80.7, ROT= 65.1, 80.7 Ygot valid direction response: 18:24:58.5989 LVL= 26384, 28017, 30562, 25283, AGC= 31, IDX= 506,-0.09,-2.619,-2.838,-2.788, 1.771, PHS= 1.996, 1.719, 1.680, RAW= 83.4, -81.1, CAL= 84.9, -80.7, ROT= 65.1, 80.7 T#Rx 89: Read range and direction messages.^direction in FSK: [0.068041,0.146582,-0.986856]Fpublishing direction and range info$ju"k?܏1?kRL?Igiqmbwb|? 1?)= ?IAQ?i-?IOo?I?Ii).p'(Ͽ?D1T0鋝←#2?Oo? I?Ii] checking for new query: numPingsReceived=89, elapsed TxPingTime=41.908718Y L,$_0)Ay6@ٱ6@66&<6H@@h?ڟ?c? ?`?I6@)6];i6BCR{BR'I!! !! !! !! Mb@Mb@Mb@ )Ii99EYNA>Q 14٪Ν?Q 54 Q =T:9kQ E?yGC) ;I ;i4Y  x@ 1kkkkJhQRhU#_0)AhUL?hUR9U_Q4ޫ? ?~(uC~U$ju"k?܏1?kRhUOo?hUI? U¿psڄC"~UxZimǿ`?n jjhUrhUZhUZ5?bhUr޿zhUBhU Ý?hU^phUBhU>hU~R@ZZ%k<bZ%k<jZ%@rZ%>Uchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.115166Iaa)e>e)eG7 a iɡiimIuE;i) I)aԉD D qD D E C: E $ :6E :E ! @! @! @! @Iy I N > DDAT read: Rx Time:18:24:59.0990  TRx dataTimestamp_ set to:1755627900.939301 PDAT read: Bearing 198.6, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 198.6, 8.0 (Local) - DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 U DAT read: 18:24:59.0990 LVL= 26400, 27761, 30322, 25171, AGC= 31, IDX= 507, 0.04,-0.424,-0.645,-0.601,-2.332, PHS= 2.010, 1.733, 1.687, RAW= 82.5, -81.0, CAL= 84.0, -80.6, ROT= 66.0, 80.6 ] Ygot valid direction response: 18:24:59.0990 LVL= 26400, 27761, 30322, 25171, AGC= 31, IDX= 507, 0.04,-0.424,-0.645,-0.601,-2.332, PHS= 2.010, 1.733, 1.687, RAW= 82.5, -81.0, CAL= 84.0, -80.6, ROT= 66.0, 80.6 ] T#Rx 90: Read range and direction messages.e ^direction in FSK: [0.066431,0.149206,-0.986572]e Fpublishing direction and range info ݰLۙ?FH,?{ ff? I gi ql rv Sb ף@ ?) ?I N?i f?  r? ?I i ) r:2?@0rMO← ' ? r? ?I i  checking for new query: numPingsReceived=90, elapsed TxPingTime=42.383297Թ L,>_0)AɰyJ@ٱJ|@JK̼J9 9 EY  A >1Q 1=4٪5Wϝ?Q 5=45վ 19AYEO>Q EE?y5HC)5:I5:i5Ş4YIM@IԑkkkkJh9Rh=<_0)Ah=ff?h=9:=)I{?QA0?Fi~=ݰLۙ?FH,?{h=r?h=? =J^rſ!"VK2C~=-/ǿ"i`f)p~gjh="rh=C,Zh=*?bh=zh=Bh=Z5?h=r޿h=ĆBh=$>h=BX@ZZ)bZ)jZ)rZ-O>IYa)e>eK̼ a aɡaiaIm$@;i)echecking for new query: numPingsReceived=90, elapsed TxPingTime=42.619411vB~BB'IBBBBBB'U;BEBaBaBaBaBaBe4@IIN> 6L,X_0)AD*D*zD**D(E*: E* :6E*(N4:E("E*];!:E*_;!>*E*v;!BE*v;!BDDAT read: Rx Time:18:24:59.5989 TRx dataTimestamp_ set to:1755627901.447477PDAT read: Bearing 197.5, 8.0 (Local) ~Local bearing/azimuth received: Bearing 197.5, 8.0 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 y^@ٱV@<߼/<H@9[?;?`L @C?#??I^@)^;i@C-DAT read: 18:24:59.5989 LVL= 29280, 29521, 32754, 26083, AGC= 31, IDX= 506, 0.16,-1.340,-1.557,-1.516, 3.028, PHS= 2.018, 1.744, 1.696, RAW= 82.1, -81.1, CAL= 83.5, -80.7, ROT= 66.5, 80.7 5Ygot valid direction response: 18:24:59.5989 LVL= 29280, 29521, 32754, 26083, AGC= 31, IDX= 506, 0.16,-1.340,-1.557,-1.516, 3.028, PHS= 2.018, 1.744, 1.696, RAW= 82.1, -81.1, CAL= 83.5, -80.7, ROT= 66.5, 80.7 =T#Rx 91: Read range and direction messages.E^direction in FSK: [0.064439,0.148200,-0.986856]EFpublishing direction and range info%uBM'I&?.;?kRL?I`riQse&@ d;?)?Ii?i-q?I?I?Ii)un?]k?*d2←օ)[C?? I?Iichecking for new query: numPingsReceived=91, elapsed TxPingTime=42.933102Mb@Mb@Mb@ )Ii{Gzt?J +ף;H)@I@i۹@ p@BD@6D3Y!=Q)>99EYҼA> Q 14٪ Н?Q 5U4 U ԓB9]I=Q A]h+]@ZZI=bZI=jZ @rZAP?I) ?<߼  ɡiI8;i)A u checking for new query: numPingsReceived=91, elapsed TxPingTime=43.123402@ :<I I) N= >T L,r_0)Ay>I(@ٱ>A#@>a񼹱>a<>H3@E?Æ?ڌ`[?`0?*?I?I>I(@)>];i5a 9 9ɡ9i9I=5;iA)A@5><IAIYNe=D}DyD},DyE}: Ey6E}g4:Ey!@!@!@!@ԹDDAT read: Rx Time:18:25:00.0990 TRx dataTimestamp_ set to:1755627901.947192PDAT read: Bearing 196.3, 8.2 (Local) ~Local bearing/azimuth received: Bearing 196.3, 8.2 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 UDAT read: 18:25:00.0990 LVL= 29072, 29329, 32754, 26355, AGC= 31, IDX= 507, 0.31,-0.609,-0.825,-0.787,-2.528, PHS= 2.021, 1.748, 1.697, RAW= 81.5, -81.1, CAL= 82.9, -80.7, ROT= 67.1, 80.7 ]Ygot valid direction response: 18:25:00.0990 LVL= 29072, 29329, 32754, 26355, AGC= 31, IDX= 507, 0.31,-0.609,-0.825,-0.787,-2.528, PHS= 2.021, 1.748, 1.697, RAW= 81.5, -81.1, CAL= 82.9, -80.7, ROT= 67.1, 80.7 eT#Rx 92: Read range and direction messages.m^direction in FSK: [0.062884,0.148867,-0.986856]mFpublishing direction and range info51)?(_ ?kRff?IqirfX@ w?)L7?I?iL3? ?Ii)@?k,E@ٱ>$@@>>|o<>HP0^ ??L5ly):? ލ?`?I>,E@)>];ia9a9eEYamGAm>qQ 1}4٪uҝ?Q 5}4u q9yY}I?Q E?yuPC)uf;Iu@;iu4Y@kkkkJhRh˞|_0)Ahff?h>ت?S4E&?R%k~51)?(_ ?kRh ?h Jmſg]5H~XǿV}Vў,sImjhݼrhh+Zhƪĝ?bhqzhBhhhBhY>h41b@ZZbZjZrZI?I)$>  ɡiIP.;i )  &Changing to mode: 1 Ip(iG @<I!IADDD*DEU: E6E(N4:E"E;!E;!*E!Nh>E!YDDAT read: Rx Time:18:25:00.5989  TRx dataTimestamp_ set to:1755627902.455638%PDAT read: Bearing 195.1, 8.3 (Local) 5~Local bearing/azimuth received: Bearing 195.1, 8.3 (Local) uDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:25:00.5989 LVL= 25888, 27889, 29746, 25203, AGC= 31, IDX= 507,-0.45,-2.915,-3.127,-3.091, 1.454, PHS= 2.017, 1.748, 1.695, RAW= 81.2, -81.2, CAL= 82.6, -80.8, ROT= 67.4, 80.8 Ygot valid direction response: 18:25:00.5989 LVL= 25888, 27889, 29746, 25203, AGC= 31, IDX= 507,-0.45,-2.915,-3.127,-3.091, 1.454, PHS= 2.017, 1.748, 1.695, RAW= 81.2, -81.2, CAL= 82.6, -80.8, ROT= 67.4, 80.8 T#Rx 93: Read range and direction messages.^direction in FSK: [0.061442,0.147604,-0.987136]Fpublishing direction and range infokO5Du?iR?ОL?I eil2tsb@ )?I g?i g?J?J?Ii)σ9?{gp←m}-c?? J?IiM checking for new query: numPingsReceived=93, elapsed TxPingTime=43.917873ԁ L,H_0)AyR2n@ٱR*i@RW RH99EYA>Q 1 4٪ԝ?Q 5 4A 9;=Q AFh-`@ZZ};=bZ};=jZ}&F@rZ}q/?I)x>W  ɡiI@;';i)5checking for new query: numPingsReceived=93, elapsed TxPingTime=44.131432IE(iAAM Iԁ@]m<IiIyN9>ԱD} D} Dy Dy E} : E} .:6Ey :Ey ! @! @! @! @ DDAT read: Rx Time:18:25:01.0990  TRx dataTimestamp_ set to:1755627902.955193 PDAT read: Bearing 194.1, 8.4 (Local)  ~Local bearing/azimuth received: Bearing 194.1, 8.4 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 - DAT read: 18:25:01.0990 LVL= 25744, 27713, 29554, 25491, AGC= 31, IDX= 507,-0.25, 2.270, 2.059, 2.092, 0.355, PHS= 2.017, 1.749, 1.693, RAW= 80.6, -81.2, CAL= 82.0, -80.7, ROT= 68.0, 80.7 5 Ygot valid direction response: 18:25:01.0990 LVL= 25744, 27713, 29554, 25491, AGC= 31, IDX= 507,-0.25, 2.270, 2.059, 2.092, 0.355, PHS= 2.017, 1.749, 1.693, RAW= 80.6, -81.2, CAL= 82.0, -80.7, ROT= 68.0, 80.7 5 T#Rx 94: Read range and direction messages.= ^direction in FSK: [0.060538,0.149837,-0.986856]E Fpublishing direction and range info KAh?Ha-?kR ff? I di Al rs c ;?) 9?I ?i 0? I ? I?I i ) )ȓI9I9MEYIM AM>QQ 1}4٪UN֝?Q 54Uּ Q9Y,?Q E?yUWC)U;IUK:iU4Y}@kkkkJhRh!_0)Ahff?h>oAV?]⫹B?R%k~KAh?Ha-?kRh?hI? PLyIſB7{dFK~;ǿݣ-pjh#rhL*Zh/Jȝ?bh-\zhˆBhƪĝ?hqhˆBh?_>hZ1[@ZZibZijZirZm,?ԑI)>  ɡiI;i)>>Ie(iiim+ i@}<IIԹNB>Echecking for new query: numPingsReceived=94, elapsed TxPingTime=44.634987vBi~BiBm(IBmBBiBiBiBmDU;BmEi g=I C5L, _0)ADDyD)DE: E:6EFA4:E"E;!*E;!.*Er;!2Er;!6)>UGL n A)|Im u Au@ ADDAT read: Rx Time:18:25:01.5989 TRx dataTimestamp_ set to:1755627903.463554PDAT read: Bearing 193.1, 8.4 (Local) ~Local bearing/azimuth received: Bearing 193.1, 8.4 (Local) =DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:25:01.5989 LVL= 29088, 29537, 32754, 26243, AGC= 32, IDX= 506,-0.10, 1.406, 1.200, 1.231,-0.528, PHS= 2.036, 1.773, 1.715, RAW= 80.2, -81.4, CAL= 81.6, -81.0, ROT= 68.4, 81.0 ɰE4!9!9-EY)m3#Au>yQ 14٪}؝?Q 54}: yQ =+:9Q A h5[@I  ) ? O  ɡiI~;i)M checking for new query: numPingsReceived=95, elapsed TxPingTime=45.139824Q I (i  *@ ="@ =@ <I I N >}ZL,p_0)AB(IBD-96D-3Y=֔=!==EQ)E3?A9I9MEYIMAM7?QQ 1]4٪Uٝ?Q 5]4U QQ =e :9aQ Ae  ɡiIȠ;i)YDMDMDM,DIEMC: EMa9:6EMg4:EI!@!@!@I(i$ !@@<IDDAT read: Rx Time:18:25:02.0990 TRx dataTimestamp_ set to:1755627903.963279PDAT read: Bearing 192.5, 8.7 (Local) ~Local bearing/azimuth received: Bearing 192.5, 8.7 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:25:02.0990 LVL= 26064, 27825, 29762, 25283, AGC= 31, IDX= 507, 0.01,-2.663,-2.875,-2.843, 1.693, PHS= 2.030, 1.761, 1.704, RAW= 80.6, -81.2, CAL= 82.0, -80.8, ROT= 68.0, 80.8 Ygot valid direction response: 18:25:02.0990 LVL= 26064, 27825, 29762, 25283, AGC= 31, IDX= 507, 0.01,-2.663,-2.875,-2.843, 1.693, PHS= 2.030, 1.761, 1.704, RAW= 80.6, -81.2, CAL= 82.0, -80.8, ROT= 68.0, 80.8 T#Rx 96: Read range and direction messages. ^direction in FSK: [0.059893,0.148239,-0.987136] Fpublishing direction and range infoi;?Dfp?Оff?IeilBtb@ sh?)?I?i g0?J?J?Ii)MU?7+t︿&U←"0I!N5->Y?? J?Ii=checking for new query: numPingsReceived=96, elapsed TxPingTime=45.409302yԩ ] checking for new query: numPingsReceived=96, elapsed TxPingTime=45.642872HL,v `0)Ay65?ٱ6 @6a6";6H@{ I h?? *ˢ?bv?`Z?I65?)6{_;i6ACHNBN(IBDV36DV3Yn <!nP=r:Q)r>p9p9rEYtvµAv>AxAxvB|~B|B~#(IB~BB|B|B|B~YU;B~EqQ 1}4٪u۝?Q 5}4u qQ =}99yQ A};Y}$?Q E?yuaC)u:Ius?iu+І4Y@kkkkJhRh]_0)Ahff?hvDZK5?3ב]?RlIm~i;?Dfp?Оh?hJ? ^y̧Ŀb{-oR~H&ǿtcpꢄJxjh3rh&ZhtΝ?bhcջzh׆Bh/Jȝ?h-\h׆BhCw>h[@Iqy)})>}a y yɡyiIY;i) IE(iAAE A@ <IIIiN:>DUDUDU*DQEUs: EUk:6EU(N4:EQ"EU;!}EU;!*EUB>?{.z?{?Ii)\?A*Tʸa՗←2Ͷ?.z? {?Iichecking for new query: numPingsReceived=97, elapsed TxPingTime=45.933601 fn L,'`0)A$i$yFG?ٱFK @FSF$;FHy ×??7`Ŝ?@d??IFG?)F^;iF>CnBn(I|!m!m !m!m !m!m !m!m mMb@Mb@Mb@i i)iIiiim{Gzt?T㥛 Mb`mף;mm)m@Im\@im@i im@BDF6D4Y!;=R:Q)>99EYT)A>Q 1 4٪ݝ?Q 5 4 ӓBQ = T:9 ~=Q AQUzh Bh f̝?h hh Bh Q>h VZ@ZZ}~=bZ}~=jZ}T@rZ};3?I)>S  ɡiI;i)5checking for new query: numPingsReceived=97, elapsed TxPingTime=46.150307I (i    )@<IIN )>QBE(N4JEșT4REȈ/De De uDa Da Ee : Ee :6Ea :Ea ! @! @! @! @ԁ  DDAT read: Rx Time:18:25:03.0990  TRx dataTimestamp_ set to:1755627904.971194 PDAT read: Bearing 191.6, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 191.6, 8.9 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:25:03.0990 LVL= 26320, 27441, 29842, 25139, AGC= 31, IDX= 507, 0.24,-1.365,-1.576,-1.546, 2.987, PHS= 2.033, 1.764, 1.705, RAW= 80.3, -81.2, CAL= 81.6, -80.7, ROT= 68.4, 80.7  Ygot valid direction response: 18:25:03.0990 LVL= 26320, 27441, 29842, 25139, AGC= 31, IDX= 507, 0.24,-1.365,-1.576,-1.546, 2.987, PHS= 2.033, 1.764, 1.705, RAW= 80.3, -81.2, CAL= 81.6, -80.7, ROT= 68.4, 80.7  T#Rx 98: Read range and direction messages.% ^direction in FSK: [0.059490,0.150255,-0.986856]% Fpublishing direction and range info Iu?(h;?kR ff? I fi 1k t 3b  @ ?) q=?I Ud?i g K? I Θ? I?I i ) UK?R]x)&)t~← p1 K? Θ? I?I i E checking for new query: numPingsReceived=98, elapsed TxPingTime=46.414780JUL,eA`0)Ay6{%?ٱ6 @66:6H@@@ɕ??ే iE?R??I6{%?)6s^;i6?CNBN(IBDZO6DZc4YE&<!MV=MT;Q)M>Q9Q9UEYQYU!A>Q 14٪ߝ?Q 54 9Y2?Q E?yhC)6;I;ibކ4Y@kAkAkAkAJhRh (>`0)Ahff?h!EMi?66O?R%k~Iu?(h;?kRhΘ?hI? ߧ6,ĿXv4-{V~n{? 2ƿ]ekO|jhi!rh#ZhlKѝ?bh2zhӆBhtΝ?hcջh׆BhS>h} y yɡyiIB:i)ԉIif -checking for new query: numPingsReceived=98, elapsed TxPingTime=46.652096@{<vB~BB*(IBBBBBB_U;BEI!I1NEs>Ա Dm Dm wDm ,Di Em ҝ: Em :6Em g4:Ei "Em ;! Em ;! *Em k;! Em k;! קL,l[`0)AyFH ?ٱF @F;t FB:FH `z?? l`M?.zC?Q?IFH ?)F;^;iFACNBN'IBD^?6D^3Yf!fM=n:X;Q)n>t9t9zEYx~MDDAT read: Rx Time:18:25:03.5989 ]TRx dataTimestamp_ set to:1755627905.479233}PDAT read: Bearing 191.7, 9.0 (Local) ԉ~Local bearing/azimuth received: Bearing 191.7, 9.0 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 A>Q 14٪?Q 542 9Yo2?Q E?DAT read: 18:25:03.5989 LVL= 26256, 27857, 29858, 25011, AGC= 31, IDX= 506, 0.41,-2.948, 3.117,-3.130, 1.406, PHS= 2.031, 1.756, 1.702, RAW= 81.3, -81.1, CAL= 82.7, -80.6, ROT= 67.3, 80.6  Ygot valid direction response: 18:25:03.5989 LVL= 26256, 27857, 29858, 25011, AGC= 31, IDX= 506, 0.41,-2.948, 3.117,-3.130, 1.406, PHS= 2.031, 1.756, 1.702, RAW= 81.3, -81.1, CAL= 82.7, -80.6, ROT= 67.3, 80.6  T#Rx 99: Read range and direction messages.^direction in FSK: [0.063028,0.150674,-0.986572]Fpublishing direction and range infoykC)?iU-U?UUY?U?IQiQ)U# ?7Y<>t!G←U^-U?UY? U?IQiQuchecking for new query: numPingsReceived=99, elapsed TxPingTime=46.977184kkkkJhQRhU^`0)AhUL?hUEUz.ѩ?۾?߯mA~Ut?"?٭IMI?{hUY?hU? UDBW¿(R^0}L[/~U ƿb :> 2{jhUrhUZhU`ԝ?bhUbzhUBhUlKѝ?hU>UhUBhUK?>hU W@ZZAbZAjZArZEso2?IQ)[>;t  ɡiI :i)~AԱ}AI(i @<IIN>checking for new query: numPingsReceived=99, elapsed TxPingTime=47.155025 /L,u`0)Aɰ;y6 n?ٱ61 @6e6wD6H ?@? o? H?I6 n?)6c_;i6=C^Bb(IMb@Mb@Mb@ )Ii{Gz?X9v#<)@IE@i۹@ DDoD-DE: E:6Et4:E!@!@!@!@BD-J6D-04YeY=!m(=m>;Q)m>q9q9uEYq};A}>yQ 14٪}ᝊ?Q 54} y9k=Q Ae  ɡiI] :i)QUֳ?IQiQ)UEly? L_/p7←U-Uô?Q Uֳ?IQiQchecking for new query: numPingsReceived=100, elapsed TxPingTime=47.427574)I}(iyy} @,<IIN>Qy  checking for new query: numPingsReceived=100, elapsed TxPingTime=47.659405i#L,%y`0)AA0A24=vB4~B4B4B4B4B4B4B6[U;B6EB)B)B)B)B)B-A/4yJ!?ٱJ| @J$JdJH3r? ?9 I|X?-U?IJ!?)J^;iJ;CnBn(IBDvT6Dv4Y~!{=;Q) ?9 9 EY  re<A  ?Q 14٪(❊?Q 54 9!Y%o?Q E%?ynC)w;Ia;i_4Y)-@)kIkIkQkQJhRh~`0)Ahff?hD3_"fY?Wh?tS g~HR,N?W}?QԦhhֳ? ܏tĿzC?5υ@W~~1fƿTEV< m=}jh.rh#Zhԝ?bhՔzh҆Bh[ѝ?h2h׆BhN>hUX@ZZAbZAjZArZEo?QIQy)}>$  ɡiI$:i)IM(iQQU Q@E<IyԉINB>bDZDDDqD+DE: E$ :6E [4:E"E;!E;!*EU;!EU;!}DDAT read: Rx Time:18:25:04.5989 TRx dataTimestamp_ set to:1755627906.487403PDAT read: Bearing 192.3, 9.1 (Local) ~Local bearing/azimuth received: Bearing 192.3, 9.1 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 Աm DAT read: 18:25:04.5989 LVL= 26400, 28145, 30354, 25443, AGC= 31, IDX= 506,-0.21, 0.584, 0.366, 0.402,-1.325, PHS= 2.011, 1.737, 1.683, RAW= 81.3, -81.0, CAL= 82.7, -80.5, ROT= 67.3, 80.5 u Ygot valid direction response: 18:25:04.5989 LVL= 26400, 28145, 30354, 25443, AGC= 31, IDX= 506,-0.21, 0.584, 0.366, 0.402,-1.325, PHS= 2.011, 1.737, 1.683, RAW= 81.3, -81.0, CAL= 82.7, -80.5, ROT= 67.3, 80.5 u V#Rx 101: Read range and direction messages.} ^direction in FSK: [0.063693,0.152263,-0.986286] Fpublishing direction and range infoHR,N?W}?QԦL?I gimvcc9@ V?)l?I>?iIi)A >?ͩs&-Қ←-? Ii checking for new query: numPingsReceived=101, elapsed TxPingTime=47.992699 8)L,R`0)Ay:?ٱ: @:=뼹::H^7?@? `꣘ v?V?I:?):hF^;i:@CRBR'I-Mb@Mb@Mb@) )))I)i)-Mb`{GztMb`--ף-)-ĸ@I-\@i-ĸ@) ))BDE66DE3YU !UE=U;Q)]>Y9Y9eEYaeHm<Ae>iQ 1u4٪mW❊?Q 5u4m mғB9}<;Q A}>Y}'>Q E}?ymoC)m;Im;im4Yo@kkkkJhRh1`0)AhL?htC)<­?8{).?3?~HR,N?W}?QԦhh sֿ ¿^ɵp|xi2~o/ƿ*۴؍6jh?rhMZhrUw֝?bhzhBhԝ?hbhBh6(>h&S@ZZ<;bZ<;jZȞ@rZ'>Iqq)u>u= y yɡyiyI}?$:i)checking for new query: numPingsReceived=101, elapsed TxPingTime=48.163074Թ??IM(iIIM' I@5p<IAIQNe4>DDD)DE: E6EFA4:E!@!@!@!@ m DDAT read: Rx Time:18:25:05.0990 u TRx dataTimestamp_ set to:1755627906.987175} PDAT read: Bearing 193.1, 9.2 (Local) } ~Local bearing/azimuth received: Bearing 193.1, 9.2 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:25:05.0990 LVL= 29808, 30161, 32754, 26867, AGC= 31, IDX= 507,-0.09, 2.173, 1.947, 1.989, 0.267, PHS= 2.008, 1.725, 1.679, RAW= 82.5, -80.8, CAL= 84.0, -80.4, ROT= 66.0, 80.4  Ygot valid direction response: 18:25:05.0990 LVL= 29808, 30161, 32754, 26867, AGC= 31, IDX= 507,-0.09, 2.173, 1.947, 1.989, 0.267, PHS= 2.008, 1.725, 1.679, RAW= 82.5, -80.8, CAL= 84.0, -80.4, ROT= 66.0, 80.4  V#Rx 102: Read range and direction messages. ^direction in FSK: [0.067831,0.152351,-0.985996] Fpublishing direction and range infoi m 6|^]?oM;?Gm ff?i Im ptim um m hi m @ m ?)m y?Im N?im Jm f?m m r?m ?Ii ii )m |2Ǜ/? r ĸD←m .'m j?m r? m ?Ii ii  checking for new query: numPingsReceived=102, elapsed TxPingTime=48.4309969 n0L,/`0)Ay6;?ٱ6q @64J߼6e6H`j@o??R 5d?0?I6;?)6#^;i6BC=B='IBDMT6DM4Yu|<!B=ij;Q)>99EY B<A >Q 154٪❊?Q 5]4 9YY]d>Q E]?y)7 hIN@ZZQbZQjZQrZUd>I)>4J߼  ɡiI7:i)Ie(iaae achecking for new query: numPingsReceived=102, elapsed TxPingTime=48.6671379vBa~BaBe#(IBeBBaBaBaBeLU;BeE@}<IIN^>i rD =jD %=D D pD +D E : E  :6E [4:E "E ! E ! *E +R;! E ,R;! 6L,h`0)A0%DDAT read: Rx Time:18:25:05.5989 -TRx dataTimestamp_ set to:1755627907.491187EPDAT read: Bearing 193.8, 9.0 (Local) M~Local bearing/azimuth received: Bearing 193.8, 9.0 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 =BE'IuDAT read: 18:25:05.5989 LVL= 26752, 28657, 30738, 25651, AGC= 31, IDX= 506, 0.01, 1.949, 1.723, 1.770, 0.036, PHS= 2.015, 1.733, 1.690, RAW= 83.1, -81.0, CAL= 84.6, -80.5, ROT= 65.4, 80.5 EYgot valid direction response: 18:25:05.5989 LVL= 26752, 28657, 30738, 25651, AGC= 31, IDX= 506, 0.01, 1.949, 1.723, 1.770, 0.036, PHS= 2.015, 1.733, 1.690, RAW= 83.1, -81.0, CAL= 84.6, -80.5, ROT= 65.4, 80.5 EV#Rx 103: Read range and direction messages.M^direction in FSK: [0.068706,0.150067,-0.986286]BDUF6DU4Yez;!e4=eQ)e>i9iԉFpublishing direction and range info)-K?(g5?QԦ-L?)I-hi-o-x-3d)-@ -?)-Q?I-?i--?-ֳ-?-ֳ?I)i))-ha3?ŧ2?R←-K%-ߴ?-? -ֳ?I)i)9EYA>Q 14٪❊?Q 54 ѓB9YQ E?y)=:IV: checking for new query: numPingsReceived=103, elapsed TxPingTime=49.014370i 4Y+@k9k9kAkAJh)Rh-o`0)Ah-L?h-(}D- \$?BV.ػ?3?~-K?(g5?QԦh-?h-ֳ? - G&¿Ȅ`M1~-cGدƿWM4rW}jh-G&rh-2Zh- ֝?bh- zh-Bh-Awԝ?h-h-Bh-}'>h-N@ZZAbZAjZArZAIQQ)]>Y Y YɡYiYI :i)ԹI9i99= 9@U<IYIqN}>checking for new query: numPingsReceived=103, elapsed TxPingTime=49.171062 =L,`0)Ay6U@ٱ6M@6!6!k:6H`ST [،? S?8 /?kX?*?I6U@)6 ^;i6=CBBB'I`Mb@Mb@Mb@ )Ii{Gz?:v?#<<)@IE@i۹@/@DDnDDEO: E:6E:E!@!@!@!@ BD`6D04Y-!-N=5}1919=EY9=J?=A=>AQ 1M4٪Eᝊ?Q 5M4E A9U3!  ɡiI #:i) }DDAT read: Rx Time:18:25:06.0990 TRx dataTimestamp_ set to:1755627908.004461PDAT read: Bearing 194.7, 8.9 (Local) ~Local bearing/azimuth received: Bearing 194.7, 8.9 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:25:06.0990 LVL= 26928, 28529, 30898, 25683, AGC= 31, IDX= 507, 0.12,-2.114,-2.341,-2.295, 2.253, PHS= 2.018, 1.733, 1.691, RAW= 83.1, -80.9, CAL= 84.6, -80.5, ROT= 65.4, 80.5 -Ygot valid direction response: 18:25:06.0990 LVL= 26928, 28529, 30898, 25683, AGC= 31, IDX= 507, 0.12,-2.114,-2.341,-2.295, 2.253, PHS= 2.018, 1.733, 1.691, RAW= 83.1, -80.9, CAL= 84.6, -80.5, ROT= 65.4, 80.5 5V#Rx 104: Read range and direction messages.=^direction in FSK: [0.068706,0.150067,-0.986286]=Fpublishing direction and range infoy}K?(g5?QԦ}ff?yI}0ii}qo}x}Sdy}&@ y)}r?Iyi}{yyyyIyiy)}w:8b6?q5M=S←}5T$}컴?y yIyiyUchecking for new query: numPingsReceived=104, elapsed TxPingTime=49.460606I=(i9AE\ A@]?<IqIN~>A % checking for new query: numPingsReceived=104, elapsed TxPingTime=49.683060AY A] ?AvBa ~Ba Be (IBe BBa Ba Ba Be AU;Be E,DL,sa0)Ay6a@ٱ6\@6{f6hX;6H a`Y??w? k?`v?I6a@)6K^;i6>CBBB'IiDID\BDJ>6DJ43Yf/<!jq=jE;Q)j?h9l9nEYl~W =A~?Q 1 4٪ᝊ?Q 5 4ɹ 9Y5Q E?yrC)6:I:i4Y9=o@AkkkkJhQRhUIa0)AhUff?hUsl?U~sy稯?%I?tS g~UK?(g5?QԦhQhQ UuĿhl X~UӏfWƿpNؿ;-TjhUGürhU ZhUӝ?bhUjzhUˆBhQhQhU҆BhU->hU*L@ZZbZjZrZf\@I  ) Q> {f  ɡiI:i)I(i   )mG )IϿ  ADmDmpDm*DiEm: Em :6Em(N4:Ei"Ei!}Ei!}*Ei!Ei!@<I I!N-N>=DDAT read: Rx Time:18:25:06.5989 MTRx dataTimestamp_ set to:1755627908.511295mPDAT read: Bearing 196.0, 8.9 (Local) u~Local bearing/azimuth received: Bearing 196.0, 8.9 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 -DAT read: 18:25:06.5989 LVL= 29872, 30545, 32754, 27427, AGC= 31, IDX= 506, 0.25,-3.091, 2.958, 3.010, 1.278, PHS= 2.016, 1.725, 1.688, RAW= 84.1, -80.8, CAL= 85.7, -80.3, ROT= 64.3, 80.3 MYgot valid direction response: 18:25:06.5989 LVL= 29872, 30545, 32754, 27427, AGC= 31, IDX= 506, 0.25,-3.091, 2.958, 3.010, 1.278, PHS= 2.016, 1.725, 1.688, RAW= 84.1, -80.8, CAL= 85.7, -80.3, ROT= 64.3, 80.3 m V#Rx 105: Read range and direction messages.u ^direction in FSK: [0.073067,0.151822,-0.985703]u Fpublishing direction and range infoAE)郴?:|n?@EL?AIEtiEQwEE#kAE%@ E?)Eb?IE?iEJEt?EUdEȥ?EUd?IAiA)E謾zז? B-]p←Es E}?Eȥ? EUd?IAiAE checking for new query: numPingsReceived=105, elapsed TxPingTime=50.033871 (JL,*a0)Ay6+@ٱ6&@6/66;6HO()_D?@?@)4D ? w??I6+@)6_;i6=CNBN(IeMb@Mb@Mb@a a)aIaiaeMbpJ +?eeH=a)aIaiaa aaBD}^6D},4Yz=!D=;Q)>99EY<A>Q 14٪ߝ?Q 54' 9_I=Q AT?@4?#a;~)郴?:|n?@hȥ?hUd? (S¿J#嗿b,~jZ^ƿ%6ߝ2xjh.rhZhӝ?bhźzhBhhYhBh#>h~F@1ZZE_I=bZE_I=jZE|?rZEy@IYY)]>]/ Y aɡaiaIe.:ia)ichecking for new query: numPingsReceived=105, elapsed TxPingTime=50.187027I(i @<II!N-->aԉDDnD(DEa: E:6Ec44:E!@!@!@!@ DDAT read: Rx Time:18:25:07.0990  TRx dataTimestamp_ set to:1755627909.011271 PDAT read: Bearing 197.0, 8.5 (Local)  ~Local bearing/azimuth received: Bearing 197.0, 8.5 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:25:07.0990 LVL= 24960, 26081, 27698, 24211, AGC= 31, IDX= 507, 0.37,-1.682,-1.909,-1.855, 2.696, PHS= 2.007, 1.723, 1.689, RAW= 84.3, -81.0, CAL= 85.8, -80.6, ROT= 64.2, 80.6  Ygot valid direction response: 18:25:07.0990 LVL= 24960, 26081, 27698, 24211, AGC= 31, IDX= 507, 0.37,-1.682,-1.909,-1.855, 2.696, PHS= 2.007, 1.723, 1.689, RAW= 84.3, -81.0, CAL= 85.8, -80.6, ROT= 64.2, 80.6  V#Rx 106: Read range and direction messages. ^direction in FSK: [0.071085,0.147045,-0.986572] Fpublishing direction and range info Mq2?qb?{ ff? I ai e 2l ^ r@ D?) '1?I S?i ֭?  l? ?I i ) O5;?W'V:uރ͛← 2 ? l? ?I i  checking for new query: numPingsReceived=106, elapsed TxPingTime=50.475685Թ xQL,vDa0)AyFP@ٱFH@FR|F/;FHsP?O? tB}ෞ?@}??IFP@)FB^;iF@CMBM(IBDe[6Dey'4Y !K=ۗ;Q)>99EYJ<A>Q 14٪ޝ?Q 54 ғB9YvQ E?ywC):I:i?%4YQ]@YԑkkkkJhRh@a0)Ahff?hW=~E`???Fi~Mq2?qb?{hl?h? \ĿZ$ܥ(}X~,w <ƿ,/ƖxdC'jh.rh ZhTtѝ?bh~BJzhцBhӝ?hjhцBh>hBF@ZZabZajZarZehz@I)>R|  ɡiI,T:i) }A ~AIi checking for new query: numPingsReceived=106, elapsed TxPingTime=50.691071vB~BB(IBBBBBB=U;BE@]<IiIyNZ>D D mD *D E s: E :6E (N4:E "E ;! E ;! *E @G;! E @G;! ) :WL,O^a0)Ay6@ٱ6@6jg6<6H``z_@N?_?^s`?@??I6@)6^;i6=CNBR'IBDZ@6DZ3Y^!bX=bZc;Q)b>d9d9fEYdf<Af>hQ 1n4٪jݝ?Q 5r4jݺ h9pYrQ Er?yjyC)j+;Ij;ij+4YtvR@xk)k1k1k1MDDAT read: Rx Time:18:25:07.5990 MTRx dataTimestamp_ set to:1755627909.515352UPDAT read: Bearing 198.3, 8.5 (Local) ]~Local bearing/azimuth received: Bearing 198.3, 8.5 (Local) mDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:25:07.5990 LVL= 29568, 30033, 32754, 26723, AGC= 31, IDX= 507,-0.38, 1.561, 1.330, 1.385,-0.336, PHS= 1.999, 1.710, 1.677, RAW= 84.5, -80.8, CAL= 86.1, -80.4, ROT= 63.9, 80.4 %Ygot valid direction response: 18:25:07.5990 LVL= 29568, 30033, 32754, 26723, AGC= 31, IDX= 507,-0.38, 1.561, 1.330, 1.385,-0.336, PHS= 1.999, 1.710, 1.677, RAW= 84.5, -80.8, CAL= 86.1, -80.4, ROT= 63.9, 80.4 -V#Rx 107: Read range and direction messages.^direction in FSK: [0.073368,0.149763,-0.985996]Fpublishing direction and range infoIMhy@Ȳ?߆in+?GIIIMsiMQuMMchIM;? MH?)M?IMZƼ?ZZ)bZ)jZ)rZ-c{@iMJMhY?MM?M?IIiI)Mcx?CP|/←MM?M? M?IIiII)P>jg  ɡiIT~: checking for new query: numPingsReceived=107, elapsed TxPingTime=51.025566i)1I(i !@<IINk>checking for new query: numPingsReceived=107, elapsed TxPingTime=51.195065I h]L,:xa0)ACB(I]Mb@Mb@Mb@Y Y)YIYiY]~jt?i|?5?MbP]D<]q=])]@I]\@i]ĸ@]E@ YYBDu46Duf3Y =!1=;Q)>BE [4JE-W4REͰ/DDsD,DE: EZ:6Eg4:E!@!@!@!@99%EY!-s=A->1Q 1=4٪5l۝?Q 5=45? 19=v=Q AE\8}?#d^?@IIIM`siMtIMgIM? M#?)M?IIiIIMUdIMUd?IIiI)Mɩ~?D̷<`U←MkM{?I MUd?IIiIchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.466911I9)>4  ɡiIt:i)I(i @u/<IIN>  checking for new query: numPingsReceived=108, elapsed TxPingTime=51.698898A <A <vB ~B B (IB BB B B B DU;B EaLdL,Sa0)AlrBr'IBDz86Dz3Y=!!=b=EQ)E>I9Q9]EYYmAu?yQ 14٪}ٝ?Q 54} y9YQ E?y}C)}:I}:i}2:4Y:@kkkkJhRh;a0)AhhDJ95?+An?dc~>8}?#d^?@hhUd? iĿrBڤHL~-gǿ5;f+`3bqjh&rh%ZhÈA̝?bh%zhφBhTtѝ?h~BJhцBh=h'xC@ZZbZjZrZI)ը>  ɡ i I am:i )??IM(iQQU& Y@U<IaIyN8>DDrDDEs: E?:6E:E"E!E!*EsY;!EtY;!1mDDAT read: Rx Time:18:25:08.5989 }TRx dataTimestamp_ set to:1755627910.525097PDAT read: Bearing 200.4, 8.4 (Local) ~Local bearing/azimuth received: Bearing 200.4, 8.4 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 EDAT read: 18:25:08.5989 LVL= 29424, 30193, 32754, 26611, AGC= 31, IDX= 506,-0.10, 0.198,-0.034, 0.022,-1.687, PHS= 1.987, 1.698, 1.665, RAW= 84.6, -80.8, CAL= 86.2, -80.3, ROT= 63.8, 80.3 ]Ygot valid direction response: 18:25:08.5989 LVL= 29424, 30193, 32754, 26611, AGC= 31, IDX= 506,-0.10, 0.198,-0.034, 0.022,-1.687, PHS= 1.987, 1.698, 1.665, RAW= 84.6, -80.8, CAL= 86.2, -80.3, ROT= 63.8, 80.3 eV#Rx 109: Read range and direction messages.] ^direction in FSK: [0.074389,0.151179,-0.985703] Fpublishing direction and range infoquq[2) ?a1Y?@uL?qIuriuuqqquV? uX?)u?Iu?iqu?quӇ?qIqa iq)uL۷?fyrEL←uuAz?uӇ? qIqiq checking for new query: numPingsReceived=109, elapsed TxPingTime=52.067356vjL,ma0)AnBn(IA%Mb@Mb@Mb@! !)!I!i!%99EYA>Q 14checking for new query: numPingsReceived=109, elapsed TxPingTime=52.203136٪؝?Q 54 9p=Q Aa  ɡiIb:i)a] dTimed out moving from: 10418 to: 14700 response: 1- Hardware Fault*@="@=ԙ@<I!-&5VHardware Fault in component: DockingStepperI1N=>DDvD.DEa: E:6Eـ4:E!@!@!@!@m DDAT read: Rx Time:18:25:09.0990 u TRx dataTimestamp_ set to:1755627911.027136} PDAT read: Bearing 201.3, 8.2 (Local) } ~Local bearing/azimuth received: Bearing 201.3, 8.2 (Local)  DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:25:09.0990 LVL= 29792, 30177, 32754, 27043, AGC= 31, IDX= 507, 0.01, 2.344, 2.107, 2.169, 0.446, PHS= 2.000, 1.706, 1.678, RAW= 85.6, -80.8, CAL= 87.2, -80.3, ROT= 62.8, 80.3  Ygot valid direction response: 18:25:09.0990 LVL= 29792, 30177, 32754, 27043, AGC= 31, IDX= 507, 0.01, 2.344, 2.107, 2.169, 0.446, PHS= 2.000, 1.706, 1.678, RAW= 85.6, -80.8, CAL= 87.2, -80.3, ROT= 62.8, 80.3  V#Rx 110: Read range and direction messages.Թ  ^direction in FSK: [0.077016,0.149857,-0.985703] Fpublishing direction and range infoi m T?~^.?@m ff?i Im `tim ui m ii m @ m 5^?)m ?Im t;?ii m ?i m K?i Ii ii )m u lY?ʁ0; k/←m 'm jw?m K? i Ii ii  checking for new query: numPingsReceived=110, elapsed TxPingTime=52.471210eqL,a0)Aye.@ٱe)@eem9 9 EY  Tk=A>Q 1E4٪v֝?Q 5M48 ӓB9IYMB#Q EM?yC)i;I;iH4YY]@YkkkkJhRha0)Ahff?h7τ?0xC?dc~T?~^.?@hK?h  ĿV1+"o H~1AǿK Y6mjhY9rht'Zhp#ȝ?bhtizhņBhÈA̝?h%hцBh=hnxP@ZZ9bZ9jZ9rZ=Jn@Iai)m>m i iɡiiiIuQ[:iq)y :Uninitialize Docking Stepper. Powering down@} <IIN>ԹvBu>~BB(IBBBBBB=U;BEBaBaŝchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.707199BaBaBaBe4 rD =jD <D }D uD -D E ݉: E :6E t4:E "E 7;! E 8;! *E ^d;! E _d;! wL,1a0)AB(I-DDAT read: Rx Time:18:25:09.5989 5TRx dataTimestamp_ set to:1755627911.531864=PDAT read: Bearing 201.9, 8.1 (Local) =~Local bearing/azimuth received: Bearing 201.9, 8.1 (Local) MDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 BDU6Dn4DAT read: 18:25:09.5989 LVL= 29520, 30113, 32754, 26611, AGC= 31, IDX= 506, 0.11, 2.137, 1.899, 1.961, 0.232, PHS= 2.007, 1.712, 1.685, RAW= 85.7, -80.8, CAL= 87.3, -80.4, ROT= 62.7, 80.4 Ye=!e5=Ygot valid direction response: 18:25:09.5989 LVL= 29520, 30113, 32754, 26611, AGC= 31, IDX= 506, 0.11, 2.137, 1.899, 1.961, 0.232, PHS= 2.007, 1.712, 1.685, RAW= 85.7, -80.8, CAL= 87.3, -80.4, ROT= 62.7, 80.4 Q)>99EYA>Q 14 V#Rx 111: Read range and direction messages.^direction in FSK: [0.076488,0.148194,-0.985996]Fpublishing direction and range info)-"]??G-L?)I-Psi-u)-g)٪ԝ?Q 5M4 ԓB9IYIQ EM?yC)m%]#ojh-V"rh-Zh-jȝ?bh-?zh-Bh-8l˝?h-Ӳռh-ֆBh-=h-@$N@!ZZIbZIjZIrZIIQY)]q>Y Y yɡiIVR:i)@] <IiIN[>Qchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.211029y }L,a0)AHiHyM@ٱM@MM,CeBe(IMb@Mb@Mb@ )Ii rh? ףp= ?Mb`?C<Q8=)\@Ii@/@ (@BDE6D3Y i<!a=e;Q)?99%EY!%<A%?)Q 154٪-Cӝ?Q 554-ɼ )954E=Q A=U Q QɡQiQIUL:iY)a@m~A@m}A%DDAT read: Rx Time:18:25:10.0990 -TRx dataTimestamp_ set to:1755627912.036186=PDAT read: Bearing 202.4, 8.0 (Local) =~Local bearing/azimuth received: Bearing 202.4, 8.0 (Local) MDAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 @u<IIN>DAT read: 18:25:10.0990 LVL= 26352, 27825, 30802, 25235, AGC= 31, IDX= 507, 0.23,-2.720,-2.956,-2.893, 1.660, PHS= 2.005, 1.712, 1.686, RAW= 85.7, -80.9, CAL= 87.3, -80.4, ROT= 62.7, 80.4 Ygot valid direction response: 18:25:10.0990 LVL= 26352, 27825, 30802, 25235, AGC= 31, IDX= 507, 0.23,-2.720,-2.956,-2.893, 1.660, PHS= 2.005, 1.712, 1.686, RAW= 85.7, -80.9, CAL= 87.3, -80.4, ROT= 62.7, 80.4 V#Rx 112: Read range and direction messages.^direction in FSK: [0.076488,0.148194,-0.985996]Fpublishing direction and range info)-"]??G-ff?)I-fi-l-Rx-b)-Q@ ))-?I)i-{))))I)i))-F/?8)ӶS←-I-.?) )I)i)5checking for new query: numPingsReceived=112, elapsed TxPingTime=53.499054qԙA A @AvB ~B B (IB BB B B B DU;B E checking for new query: numPingsReceived=112, elapsed TxPingTime=53.714874 L,ŏb0)A~B~(IBD C6D 3Yp=<!%Z=%Q)%>!9)9-EY)-A->1Q 1=4٪5ѝ?Q 5=45 5ՓB9AYAQ EE?y5C)5 ;I5;i5g]4YIM @IkikikikqJhIRhMPb0)AhMff?hMީ6M x? Bg?% )e~M"]??GhIhI M񫫎Ŀ!NB&CI~M͂oxǿ7QY\YmjhMDrhMP&ZhM ,ĝ?bhM/:zhMBhMp#ȝ?hMtihMBhM=hMR@ZZbZjZrZI9A)Eʼ>I I QɡYiYIeF:ii)yԙ@p<II N>bDaZDeAADmDmwDm+DiEm: Em:6Em [4:Ei"Em;!uEm;!u*Emk;!}Emk;!} !%A=DDAT read: Rx Time:18:25:10.5989 ETRx dataTimestamp_ set to:1755627912.542720MPDAT read: Bearing 202.8, 8.0 (Local) M~Local bearing/azimuth received: Bearing 202.8, 8.0 (Local) eDAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:25:10.5989 LVL= 29104, 29889, 32754, 26659, AGC= 31, IDX= 506, 0.41, 1.972, 1.732, 1.796, 0.069, PHS= 2.005, 1.708, 1.683, RAW= 86.0, -80.8, CAL= 87.6, -80.3, ROT= 62.4, 80.3 Ygot valid direction response: 18:25:10.5989 LVL= 29104, 29889, 32754, 26659, AGC= 31, IDX= 506, 0.41, 1.972, 1.732, 1.796, 0.069, PHS= 2.005, 1.708, 1.683, RAW= 86.0, -80.8, CAL= 87.6, -80.3, ROT= 62.4, 80.3 V#Rx 113: Read range and direction messages.^direction in FSK: [0.078060,0.149316,-0.985703]Fpublishing direction and range infoAE2?y?@EL?AIEqiEtEE#hAA E?)El?IE7 ?iEJEE?EUdE'g?EUd?IAiA)E\͍?v*Uŕ←EE!m?E'g? EUd?IAiA5 checking for new query: numPingsReceived=113, elapsed TxPingTime=54.035236 ĊL,*-b0)Ay6ɧ@ٱ6@6:.6Vp<6H@^ Д?`?@ځ?@~?~M??I6ɧ@)6_;i6:C@@eMb@Mb@Mb@a a)aIaiae~jt??e99EY:A>Q 14٪Н?Q 54 9=Q A%:. ) )ɡ)i)I-?@:i1checking for new query: numPingsReceived=113, elapsed TxPingTime=54.218983)@׷<IIN>ADDsD-DE1: EZ:6Et4:E!@!@!@!@i M DDAT read: Rx Time:18:25:11.0991 U TRx dataTimestamp_ set to:1755627913.043114] PDAT read: Bearing 202.7, 7.7 (Local) ] ~Local bearing/azimuth received: Bearing 202.7, 7.7 (Local) m DAT read: Range 11 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  DAT read: 18:25:11.0991 LVL= 26192, 27985, 30706, 25155, AGC= 32, IDX= 508,-0.35, 1.375, 1.149, 1.211,-0.528, PHS= 2.005, 1.721, 1.694, RAW= 85.5, -81.2, CAL= 87.0, -80.7, ROT= 63.0, 80.7  Ygot valid direction response: 18:25:11.0991 LVL= 26192, 27985, 30706, 25155, AGC= 32, IDX= 508,-0.35, 1.375, 1.149, 1.211,-0.528, PHS= 2.005, 1.721, 1.694, RAW= 85.5, -81.2, CAL= 87.0, -80.7, ROT= 63.0, 80.7  V#Rx 114: Read range and direction messages. ^direction in FSK: [0.073367,0.143990,-0.986856] Fpublishing direction and range infoI M 'Ȳ?˙Dn?kRM ̌?I IM PfiM QmM wM CbM I M I?)M ?IM C?iM gM \?M IM L?M I?II iI )M ;?NoNso←M M I?M L? M I?II iI  checking for new query: numPingsReceived=114, elapsed TxPingTime=54.486588TL, Gb0)Aɰ"; yfJy@ٱfBt@fԻf j 99EY]qA]>aQ 1m4٪eϝ?Q 5m4e a9qYuBQ Eu?yeC)e";IeL$;iek4YB)@;Ek1k1k1k1JhyRh}aBb0)Ah}̌?h}6}ʢ?%JF?p`^~}'Ȳ?˙Dn?kRh}L?h}I? }Vȿ?'wyV M~} 0-)Vƿf0Mxvjh}Dprh}DZh}N?bh}׋zh}vBh}Uzĝ?h} h}Bh}.>h}\c\@ZZbZjZrZdO@I)>Ի  ɡiIes::i)*@="@=i@7<IIN>vBA~BABABABABABABEXU;BEEchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.722996ԑiIېC)e G ĀA) I5 5 ĀA5 AD D rD +D E : E ?:6E [4:E "E ! E ! *E sY;! E tY;! ֗L,P`b0)AL DDAT read: Rx Time:18:25:11.5989  TRx dataTimestamp_ set to:1755627913.547171PDAT read: Bearing 203.0, 8.2 (Local) ~Local bearing/azimuth received: Bearing 203.0, 8.2 (Local) -DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 MDAT read: 18:25:11.5989 LVL= 29040, 29761, 32754, 26579, AGC= 31, IDX= 507,-0.20, 0.411, 0.15,-1.468, PHS= 1.980, 1.685, 1.659, RAW= 85.8, -80.7, CAL= 87.5, -80.2, ROT= 62.5, 80.2 U!unknown deviceResponse_: 18:25:11.5989 LVL= 29040, 29761, 32754, 26579, AGC= 31, IDX= 507,-0.20, 0.411, 0.15,-1.468, PHS= 1.980, 1.685, 1.659, RAW= 85.8, -80.7, CAL= 87.5, -80.2, ROT= 62.5, 80.2 U\#Rx 115: Read range message, but no direction.  L? }checking for new query: numPingsReceived=115, elapsed TxPingTime=54.990276B(IBDU6Dn4Y =!#=-Q)->19195EY1=A=>9Q 1e4٪=kΝ?Q 5m4= 99iYiQ Em?y=C)=i;I=;i=At4Yq}@ykkkkZZbZjZrZIai)m>i i iɡqiqIu3:iq)y@]<IiIyNZ>checking for new query: numPingsReceived=115, elapsed TxPingTime=55.227001) yL,zb0)AyrH@ٱr@@rmr(rZ%&(@I19)=ޝ>=m 9 9ɡ9i9IE0:iA)IDUDU}DQDQEUa: EUk&:6EQ:EQ!]@!e@!e@!e@@ <IIN>DDAT read: Rx Time:18:25:12.0989 TRx dataTimestamp_ set to:1755627914.051665!%PDAT read: Bearing 202.9, 8.2 (Local) -~Local bearing/azimuth received: Bearing 202.9, 8.2 (Local) =DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 ]DAT read: 18:25:12.0989 LVL= 28992, 30049, 32754, 26835, AGC= 31, IDX= 507,-0.08, 0.666, 0.425, 0.488,-1.216, PHS= 1.984, 1.686, 1.660, RAW= 85.9, -80.6, CAL= 87.5, -80.1, ROT= 62.5, 80.1 mYgot valid direction response: 18:25:12.0989 LVL= 28992, 30049, 32754, 26835, AGC= 31, IDX= 507,-0.08, 0.666, 0.425, 0.488,-1.216, PHS= 1.984, 1.686, 1.660, RAW= 85.9, -80.6, CAL= 87.5, -80.1, ROT= 62.5, 80.1 mV#Rx 116: Read range and direction messages.u^direction in FSK: [0.079388,0.152503,-0.985109]uFpublishing direction and range info}y+R?4~7? 4I@qiauh? ?)z?I?iz?X??Ii)\ igK?Thtds←*~?X? ?Iichecking for new query: numPingsReceived=116, elapsed TxPingTime=55.496216Qԁ A= <A= <vBA ~BA BE (IBE BBA BA BA BE dU;BE E checking for new query: numPingsReceived=116, elapsed TxPingTime=55.731030GL,gb0)AyJW@ٱJR@JFJC—!9!9%EY!%A->)Q 154٪-͝?Q 5=4- -֓B99Y='@Q E=?y))-;I-;i-4YAM@Iyk1k9k9k9JhIRhM{Nb0)AhML?hMtd7M-'8B?ọ;? 768~M}y+R?4~7? 4hMX?hM? MѢ¿t88[#"~M $/hǿ] | ߆+jjhM)rhMZhM?bhMbzhMBhM ,ĝ?hIhMBhM#=hM^`@ZZabZajZarZe>'@I)>F  ɡiI,:i)@A@A@@<ԩIIN!>DeDeqDaDaEe: Ee$ :6Ea:Ea"Ea!uEa!u*EeU;!uEeU;!u%DDAT read: Rx Time:18:25:12.5988 %TRx dataTimestamp_ set to:1755627914.555163-PDAT read: Bearing 202.7, 8.3 (Local) 5~Local bearing/azimuth received: Bearing 202.7, 8.3 (Local) EDAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 eDAT read: 18:25:12.5988 LVL= 28864, 29729, 32754, 26419, AGC= 31, IDX= 506, 0.03, 0.437, 0.192, 0.254,-1.457, PHS= 1.995, 1.694, 1.667, RAW= 85.9, -80.5, CAL= 87.5, -80.1, ROT= 62.5, 80.1 mYgot valid direction response: 18:25:12.5988 LVL= 28864, 29729, 32754, 26419, AGC= 31, IDX= 506, 0.03, 0.437, 0.192, 0.254,-1.457, PHS= 1.995, 1.694, 1.667, RAW= 85.9, -80.5, CAL= 87.5, -80.1, ROT= 62.5, 80.1 uV#Rx 117: Read range and direction messages.}^direction in FSK: [0.079388,0.152503,-0.985109]Fpublishing direction and range info!%}y+R?4~7? 4%?!I%pi%!t!%3g!%)\? %?)%B`?I!i%ֳ!!!!I!i!)%4~a?XVxĮ←%$ %B?! !I!i!Echecking for new query: numPingsReceived=117, elapsed TxPingTime=56.020260 `L,;pb0)AyFK@ٱFC@F@9ZFە99EYǤA>Q 14٪WΝ?Q 54̼ ՓB9~UuhUMlb@ZZ-<bZ-<jZ-¢@rZ-x?}checking for new query: numPingsReceived=117, elapsed TxPingTime=56.234970I)_>@9Z  ɡiIh*:i)@٪<IIN> 1BE|a4JEYe4RE@o/DuDusDu*DqEuҝ: EuZ:6Eu(N4:Eq!@!@!@!@5 DDAT read: Rx Time:18:25:13.0989 5 TRx dataTimestamp_ set to:1755627915.059192= PDAT read: Bearing 202.0, 8.0 (Local) E ~Local bearing/azimuth received: Bearing 202.0, 8.0 (Local) U DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 u DAT read: 18:25:13.0989 LVL= 25872, 27953, 30770, 25299, AGC= 32, IDX= 507, 0.14, 1.973, 1.737, 1.799, 0.057, PHS= 2.018, 1.724, 1.697, RAW= 85.6, -80.9, CAL= 87.2, -80.5, ROT= 62.8, 80.5 } Ygot valid direction response: 18:25:13.0989 LVL= 25872, 27953, 30770, 25299, AGC= 32, IDX= 507, 0.14, 1.973, 1.737, 1.799, 0.057, PHS= 2.018, 1.724, 1.697, RAW= 85.6, -80.9, CAL= 87.2, -80.5, ROT= 62.8, 80.5 } V#Rx 118: Read range and direction messages. ^direction in FSK: [0.075443,0.146796,-0.986286] Fpublishing direction and range info1 5 Q:P?56?QԦ5 L?1 I5 ei5 1m5 2x5 b5 5 &@ 5 ?)5 L7?I5 t;?i5 {5 ?5 ֳ5 K?5 ֳ?I1 i1 )5 DI9Q9UEYQ]vA]>aQ 14٪eΝ?Q 54e a9Yu?Q E?yeC)eL;Ie;ie⎇4Y@kkkkJhQ)RhUb0)AhUL?hUf7U!~S?: V?3?~UQ:P?56?QԦhUK?hUֳ? U\*v-~U@ǐGƿx s~ySjyjhUrhUZhU?bhUnzhUBhU?hUbhQhUg>hUn;a@ZZbZjZrZ߶u?I)>+  ɡiIc(:i)@7<IIN >vB~BBBBBBBoU;BEQ}checking for new query: numPingsReceived=118, elapsed TxPingTime=56.739037ԁDu Du {Du +Dq Eu : Eu 5":6Eu [4:Eq "Eu ;! Eu ;! *Eu 5z;! Eu 6z;! Ա 'L,P4b0)Aɰy6A@ٱ69@6D6et<6H ]a@M8?*b?@V?W?`d?`?I6A@)6];i68C\\i\I\BDfW6Df 4rDDAT read: Rx Time:18:25:13.5988 rTRx dataTimestamp_ set to:1755627915.563286zPDAT read: Bearing 201.9, 8.4 (Local) z~Local bearing/azimuth received: Bearing 201.9, 8.4 (Local) DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -DAT read: 18:25:13.5988 LVL= 28864, 30033, 32754, 26659, AGC= 31, IDX= 506, 0.25, 0.961, 0.711, 0.776,-0.937, PHS= 2.000, 1.693, 1.669, RAW= 86.4, -80.4, CAL= 88.0, -80.0, ROT= 62.0, 80.0 5Ygot valid direction response: 18:25:13.5988 LVL= 28864, 30033, 32754, 26659, AGC= 31, IDX= 506, 0.25, 0.961, 0.711, 0.776,-0.937, PHS= 2.000, 1.693, 1.669, RAW= 86.4, -80.4, CAL= 88.0, -80.0, ROT= 62.0, 80.0 5V#Rx 119: Read range and direction messages.=^direction in FSK: [0.081523,0.153322,-0.984808]=Fpublishing direction and range infopr'in޴?8>o?hr?pIrpirQurr#hrr@ r9?)rˡ?Ir?irr ?r¸rc?r¸?Ipip)rxɑ?-id←rrí?rc? r¸?Ipipchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.011868Y!@=;Q)>99EY%\A%>ԑ)Q 14٪-*ϝ?Q 54-o -ԓB9Y ?s?Q E ?y-C)-uo?hhrc?hr¸? r껿֚c'~rmeCǿ&`U`njhrrhrP߽Zhr@ŝ?bhr'zhrwBhphrnhphr>hr\@ZZbZjZrZS?s?I)))- >-D 1 1ɡ1i1I5݉&:iY)a*@m="@m=Թ@=!<IAIYNeV>checking for new query: numPingsReceived=119, elapsed TxPingTime=57.243004  2PL,b0)Ay6@ٱ6@6 6=`<6H@8wT??`v߆?1??;?I6@)6];i69CNBN(I%Mb@Mb@Mb@! !)!I!i!%~jth?~jt%D;%%)%@I%r@i%@%\@ !%@BDE;6DE)3YMj7<!UT=UK;Q)U>Y9Y9]EYY]Ae>aQ 1m4٪e Н?Q 5u4e+ a9u!=Q Au  ɡiI\&:i)@<IIN=DDAT read: Rx Time:18:25:14.0989 TRx dataTimestamp_ set to:1755627916.067176PDAT read: Bearing 201.2, 8.2 (Local) ~Local bearing/azimuth received: Bearing 201.2, 8.2 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 =DAT read: 18:25:14.0989 LVL= 26096, 28241, 30866, 25747, AGC= 32, IDX= 507, 0.44, 2.419, 2.178, 2.242, 0.503, PHS= 2.018, 1.721, 1.695, RAW= 86.0, -80.8, CAL= 87.6, -80.3, ROT= 62.4, 80.3 MYgot valid direction response: 18:25:14.0989 LVL= 26096, 28241, 30866, 25747, AGC= 32, IDX= 507, 0.44, 2.419, 2.178, 2.242, 0.503, PHS= 2.018, 1.721, 1.695, RAW= 86.0, -80.8, CAL= 87.6, -80.3, ROT= 62.4, 80.3 MV#Rx 120: Read range and direction messages.]^direction in FSK: [0.078060,0.149316,-0.985703]eFpublishing direction and range info2?y?@L?IeiQnxd &@ I?)?I7 ?iJE?Ud'g?Ud?Ii)` ?^ږ←d ?'g? Ud?IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I A A vB ~B B (IB BB B B B dU;B EBBBBBB3 9)95EY1EQ޼AE>YQ 1u4٪]Н?Q 5}4] Y9YC?Q E?y]C)]H;I];i]4YI@kkkkJh!Rh%Lc0)Ah%L?h% 9%S;?]Qs?#a;~%2?y?@h%'g?h%Ud? %U4lV?y_/~%/Gƿތ,x{jh% rh%Zh%<ŝ?bh%!Ǽzh%Bh%U"ŝ?h% "h!h%c>h%d@ZZabZajZarZeC?Iqq)}>}gd:)}y/ y yɡyi}Ib)':i)ԉDMDMtDM-DIEMa: EMv:6EMt4:EI"EMJ;!]EMK;!]*EM`;!]EM`;!]ԹDDAT read: Rx Time:18:25:14.5989 TRx dataTimestamp_ set to:1755627916.571149PDAT read: Bearing 201.1, 8.6 (Local) ~Local bearing/azimuth received: Bearing 201.1, 8.6 (Local) %DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 eDAT read: 18:25:14.5989 LVL= 29136, 29681, 32754, 26579, AGC= 31, IDX= 507,-0.34,-0.727,-0.976,-0.910,-2.601, PHS= 1.976, 1.669, 1.646, RAW= 86.4, -80.3, CAL= 88.1, -79.9, ROT= 61.9, 79.9 mYgot valid direction response: 18:25:14.5989 LVL= 29136, 29681, 32754, 26579, AGC= 31, IDX= 507,-0.34,-0.727,-0.976,-0.910,-2.601, PHS= 1.976, 1.669, 1.646, RAW= 86.4, -80.3, CAL= 88.1, -79.9, ROT= 61.9, 79.9 uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.082600,0.154696,-0.984503]Fpublishing direction and range info[p;B%?׀(?a/ Iqisg? ˡ?)!?I?iUd:?3I??Ii)U?gϷ[K@V←o?3I? ?Ii2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.@uU<IINE > `L,A/c0)Aiy6I@ٱ6A@6ɲ ;62<6Hw}?8 ? cc?@Xa@^[? ~?I6I@)6];i6;Cl~B~"(IMb@Mb@Mb@ )IiI +ˡEMbP?9':)\@I\@i z@BD>6D43Y=!?=E;Q)>99EYϼA>Q 14٪ҝ?Q 54̻ 9>=Q AQ E?yC)V:I:i`4Y\@kkkkJh1Rh5$c0)Ah1h5S;5Urf?ϡw??K 4~5[p;B%?׀(?a/ h53I?h5? 5b¿OiIj)~5ƿ8R-tjh5Nrh5Zh5t}Ɲ?bh5zh5Bh5<ŝ?h5'h5Bh5*>h5+]@]=bZu>=jZus @rZuC8>I)>ɲ ;)  ɡiI(:i)@R<IINg>1DmDmwDm0DiEmҝ: Em:6Em4:Ei!u@!u@!u@!u@ DDAT read: Rx Time:18:25:15.0990  TRx dataTimestamp_ set to:1755627917.075761- PDAT read: Bearing 200.6, 8.7 (Local) 5 ~Local bearing/azimuth received: Bearing 200.6, 8.7 (Local) M DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 18:25:15.0990 LVL= 29168, 29937, 32754, 26867, AGC= 31, IDX= 508,-0.19, 0.712, 0.461, 0.529,-1.166, PHS= 1.980, 1.672, 1.652, RAW= 86.8, -80.3, CAL= 88.6, -79.9, ROT= 61.4, 79.9  Ygot valid direction response: 18:25:15.0990 LVL= 29168, 29937, 32754, 26867, AGC= 31, IDX= 508,-0.19, 0.712, 0.461, 0.529,-1.166, PHS= 1.980, 1.672, 1.652, RAW= 86.8, -80.3, CAL= 88.6, -79.9, ROT= 61.4, 79.9  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.083947,0.153969,-0.984503] Fpublishing direction and range info  f*}?L>A?a/  ff? I qi t  h  p?  ?) t?I ?i  .?  >+? I i ) Ge#?Dkb[←  ~? >+?  I i % 2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode. IL,Ic0)Ayfv@ٱfn@ff;f(9!9%EY!%A%>)Q 1U4٪-1ԝ?Q 5U4- )9YY]i.>Q E]?y-C)-m;I-;i-4Yae@akkkkJhARhEEDc0)AhEff?hEW;Eg _W?Ģ?Z~Ef*}?L>A?a/ hE>+?hA ExĿӟrW:Q~EWƿ aI㢿dl`wjhErhE $ZhE@Ɲ?bhEJzhEBhE@ŝ?hE!ǼhEBhE1>hEX@ZZAbZAjZArZEZi.>Iqq)u<>uf;)u y yɡyi}ڼI}m,:i)vB~BBBBBBBrU;BEe De De vDe ,Da Ee a: Ee :6Ee g4:Ea "Ea !m Ea !m *Ee h;!u Ee h;!u rL,ncc0)Ay6l@ٱ6g@6X;6;6Hzy ?di?@-d?$y8?s ??I6l@)69^;i67C>BB(IBDF@6DF3YN.!Rf=Vw;Q)V>X9X9ZEY\jDDAT read: Rx Time:18:25:15.5989 nTRx dataTimestamp_ set to:1755627917.580722vPDAT read: Bearing 200.1, 8.9 (Local) z~Local bearing/azimuth received: Bearing 200.1, 8.9 (Local)  DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 =DAT read: 18:25:15.5989 LVL= 29168, 30337, 32754, 26787, AGC= 31, IDX= 507,-0.08,-0.289,-0.544,-0.476,-2.164, PHS= 1.977, 1.666, 1.644, RAW= 86.7, -80.2, CAL= 88.4, -79.7, ROT= 61.6, 79.7 MYgot valid direction response: 18:25:15.5989 LVL= 29168, 30337, 32754, 26787, AGC= 31, IDX= 507,-0.08,-0.289,-0.544,-0.476,-2.164, PHS= 1.977, 1.666, 1.644, RAW= 86.7, -80.2, CAL= 88.4, -79.7, ROT= 61.6, 79.7 UR#Rx 1: Read range and direction messages.^direction in FSK: [0.085043,0.157283,-0.983885]Fpublishing direction and range infohj[ŵ?!?SEq{jL?hIhijvhjhhjV? j}??)jn?Ij?ij$+j|?j/ j?j/ ?Ihih)jBd,?okacHe←j+jk0?j? j/ ?Ihih2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.A>Q 14٪՝?Q 5 4 9 Y %>Q E ?yC):I:i4Y1=I@9kkkkJhhRhj*ec0)AhjL?hj.<j$6˯j?,?&./~j[ŵ?!?SEq{hj?hj/ ? j >f¿%m,y*~jV"ƿ&.Ģ\ͫoujhj4rhj0ZhjTɝ?bhjhzhjBhjt}Ɲ?hjhjBhjW=>hjjV@!ZZ1bZ1jZ1rZ5%>I)>X;)  ɡi¼I'0:i)Quԁ L,I}c0)Aɰ~B~(IMb@Mb@Mb@ )Ii:v~jty&1|Լ`)@Iiĸ@r@ p@BDH6D4Y]<!9=Q)>99EYA>Q 14٪Hם?Q 54 ӓB9>=Q A=bZM>=jZMG@rZM)X=QIaa)eW>a)e%J i iɡiimcIm3:iq)qDDAT read: Rx Time:18:25:16.0989 TRx dataTimestamp_ set to:1755627918.084594PDAT read: Bearing 199.7, 9.0 (Local) ~Local bearing/azimuth received: Bearing 199.7, 9.0 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:25:16.0989 LVL= 28832, 30129, 32754, 26691, AGC= 31, IDX= 507, 0.02, 0.611, 0.352, 0.419,-1.275, PHS= 1.988, 1.671, 1.650, RAW= 86.7, -80.1, CAL= 88.5, -79.6, ROT= 61.5, 79.6 Ygot valid direction response: 18:25:16.0989 LVL= 28832, 30129, 32754, 26691, AGC= 31, IDX= 507, 0.02, 0.611, 0.352, 0.419,-1.275, PHS= 1.988, 1.671, 1.650, RAW= 86.7, -80.1, CAL= 88.5, -79.6, ROT= 61.5, 79.6 R#Rx 1: Read range and direction messages.^direction in FSK: [0.086136,0.158643,-0.983571]Fpublishing direction and range info\F ?thlN?XUjyIpiuChv? T?)33?Ii񲿉?ӱod?ӱ?Ii)~t#q? ȇ←$>?od? ӱ?Ii2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԁ@m<IINd>ԩA <A p<vB ~B B (IB BB =B B B oU;B E 99EYA>Q 14٪؝?Q 5 4 ѓB9Y!=Q E?yC);Iz;i2ȇ4YB@!kYkYkYkaJhRhic0)Ahh=<~ԛ?1l$>?t&"-~\F ?thlN?XUjyhod?hӱ? wnV¿flWɜ+~ǏǝƿT>;᡿GxvjhrhZh̝?bh.SzhBh@Ɲ?hJhha>h T@ZZbZjZrZi!=I  )->-;)-: ) )ɡ)i- I5.1;:i1)9bD%?AZD%?AD-D-tD-'D)E-U: E-v:6E-'4:E)"E-;!5E-;!=*E-`;!=E-`;!= DDAT read: Rx Time:18:25:16.5988 TRx dataTimestamp_ set to:1755627918.588711PDAT read: Bearing 199.3, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 199.3, 9.2 (Local) %DAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 ]DAT read: 18:25:16.5988 LVL= 28048, 29601, 32754, 26227, AGC= 31, IDX= 506, 0.12, 0.345, 0.081, 0.147,-1.549, PHS= 1.996, 1.676, 1.652, RAW= 86.5, -80.0, CAL= 88.3, -79.5, ROT= 61.7, 79.5 eYgot valid direction response: 18:25:16.5988 LVL= 28048, 29601, 32754, 26227, AGC= 31, IDX= 506, 0.12, 0.345, 0.081, 0.147,-1.549, PHS= 1.996, 1.676, 1.652, RAW= 86.5, -80.0, CAL= 88.3, -79.5, ROT= 61.7, 79.5 mR#Rx 1: Read range and direction messages.}^direction in FSK: [0.086396,0.160454,-0.983255]}Fpublishing direction and range infoh?MÉ?pv?Imissf|? +?)t?I,>?i¸C?Κ։?Κ?Ii)Kh?p影W← (?։? Κ?Ii=2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.@m<IyIN> 9 pL,c0)Ay6?ٱ6 @6r<6Ǯ;6H @O? @9?JN u?`?I6?)6Z^;i4>BB(IuMb@Mb@Mb@q q)qIqiqu~jtQ~jth?uuuD;)ur@IuE@iu@q qu(@BDE6D3YK<!^=q;Q)>99EYƦA>Q 14٪iڝ?Q 54 ғB9F=Q Ah%wQ@ZZ-F=bZ-F=jZ-s@rZ-d@=Ur<)]; Y YɡYi]M`I]A:ia)a9@}4<IIN_>D5D5|D5)D1E5C: E5P$:6E5FA4:E1!=@!E@!E@!E@i  DDAT read: Rx Time:18:25:17.0989  TRx dataTimestamp_ set to:1755627919.092262 PDAT read: Bearing 198.9, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 198.9, 9.0 (Local) - DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 e DAT read: 18:25:17.0989 LVL= 24496, 27377, 29762, 24659, AGC= 31, IDX= 507, 0.24, 1.732, 1.475, 1.542,-0.171, PHS= 2.005, 1.692, 1.669, RAW= 86.5, -80.3, CAL= 88.2, -79.8, ROT= 61.8, 79.8 m Ygot valid direction response: 18:25:17.0989 LVL= 24496, 27377, 29762, 24659, AGC= 31, IDX= 507, 0.24, 1.732, 1.475, 1.542,-0.171, PHS= 2.005, 1.692, 1.669, RAW= 86.5, -80.3, CAL= 88.2, -79.8, ROT= 61.8, 79.8 m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.083681,0.156065,-0.984196]u Fpublishing direction and range info X&l?~s?_ut·~ L? I _i j Bt S` Q@ u?) ˡ?I i Ud j ? aF ? aF?I i ) ]z ?o7߷5M← I V? ? aF?I i  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.ߘL,c0)A$i$yn ?ٱn݁ @n&99EYl~A>Q 14٪ܝ?Q 54ۻ 9YQ E?yC)H;I;iՇ4Y!%-@!kakakakaJh!Rh%c0)Ah%L?h%<%R#?7MQ?E2~%X&l?~s?_ut·~h%?h%aF? %ZG'p{2~%l1/ƿ-|w.jh%߼rh% Zh%XН?bh%nazh%Bh%̝?h!h!h%8>h%xP@ZZbZjZrZ0@I)&>&<) -<  ɡi3I{J:i!)!@Q@QqvB)~B)B)B)B- =B)B)B-mU;B-EE rD= %=jD= 4=DM DM DM -DI EM : EM rN:6EM t4:EI "EM ;;!U EM <;!U *EM S;!U EM S;!] $L,8c0)AZDDAT read: Rx Time:18:25:17.5988 ZTRx dataTimestamp_ set to:1755627919.596441fPDAT read: Bearing 198.7, 9.3 (Local) f~Local bearing/azimuth received: Bearing 198.7, 9.3 (Local) rDAT read: Range 11 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 18:25:17.5988 LVL= 26800, 29281, 32754, 26659, AGC= 31, IDX= 506, 0.43, 0.084,-0.178,-0.115,-1.808, PHS= 1.995, 1.676, 1.649, RAW= 86.1, -80.0, CAL= 87.9, -79.5, ROT= 62.1, 79.5 Ygot valid direction response: 18:25:17.5988 LVL= 26800, 29281, 32754, 26659, AGC= 31, IDX= 506, 0.43, 0.084,-0.178,-0.115,-1.808, PHS= 1.995, 1.676, 1.649, RAW= 86.1, -80.0, CAL= 87.9, -79.5, ROT= 62.1, 79.5 R#Rx 1: Read range and direction messages.%^direction in FSK: [0.085273,0.161053,-0.983255]%Fpublishing direction and range infoXZ?.zԵ?clf?pvZ?XIZhiZarZZ#hXZ)\? Z+?)Zo?IZhY?iZ¸Z^?ZΚZ?ZΚ?IXiX)Zbr ?ÿ} +Q←ZZ?Z? ZΚ?IXiXM2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.Ay`?ٱ* @8<>b};H k?yk?`o?j?I`?)];i9C5B5(IBDA6DAY]p?=!]4=e"";Q)>9I9MEYQ]_3iA>Q 14٪ݝ?Q 54 ӓB9 Y Q E?yC)n"hZtN@ZZbZjZrZ:@I)w?8<);<  ɡie\IHW:i)ԑUL,c0)Ay6?ٱ6i @6I<60*@;6Hw!JsA!?w5 ?V5h? X?I6?)6];i67CBBB,(I5Mb@Mb@Mb@1 1)1I1i15{Gz~jt5#5ļ5)5@I1i11 15z@BDMI6DMX4Y]lu=!]q=eF;Q)e?a9a9mEYimrXAm?qQ 1}4٪u ߝ?Q 5}4u. q9?=Q AI<)u<  ɡiB;Iĭ]:iBE [4JET\4RE0DDD+DE: EE7:6E [4:E! @! @! @! @)DDAT read: Rx Time:18:25:18.0990 TRx dataTimestamp_ set to:1755627920.100657PDAT read: Bearing 198.3, 8.9 (Local) ~Local bearing/azimuth received: Bearing 198.3, 8.9 (Local) DAT read: Range 11 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 18:25:18.0990 LVL= 24160, 25505, 26914, 23667, AGC= 31, IDX= 508,-0.35,-0.554,-0.799,-0.733,-2.431, PHS= 1.979, 1.677, 1.654, RAW= 86.4, -80.5, CAL= 88.1, -80.0, ROT= 61.9, 80.0 Ygot valid direction response: 18:25:18.0990 LVL= 24160, 25505, 26914, 23667, AGC= 31, IDX= 508,-0.35,-0.554,-0.799,-0.733,-2.431, PHS= 1.979, 1.677, 1.654, RAW= 86.4, -80.5, CAL= 88.1, -80.0, ROT= 61.9, 80.0 %R#Rx 1: Read range and direction messages.m^direction in FSK: [0.081790,0.153180,-0.984808]mFpublishing direction and range infoYpI6?Cjd?hff?I`^ic"is\O? ?)F?I?iֳ:?¸3I?¸?Ii)sS`?mAfbp}←H@׳?3I? ¸?Ii2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.@<I1IINUT>A! A! vB- t>~B) B) B) B) B) B) B- `U;B- E) e 99EY!%A%>)Q 154٪-?Q 554-e )91Y=%־Q E=?y-C)-:I-h:i-4YAE'@AkakakakaJhRh*qd0)Ahff?hm<5 1ز?tt?T\~YpI6?Cjd?hh3I?h¸? }riD9ÿe0!ž3XAa~2ef\ſ=/?灈jhrhZhӝ?bh$F/zhBhAIUѝ?hnahh]9>h0K@ZZbZjZrZ{@I)>R[<)<  ɡim'bD@AZD@ADDxD,DEҝ: E:6Eg4:E"E;! E;! *EJo;!EJo;!DDAT read: Rx Time:18:25:18.5989 TRx dataTimestamp_ set to:1755627920.603635PDAT read: Bearing 198.4, 9.3 (Local) ~Local bearing/azimuth received: Bearing 198.4, 9.3 (Local) DAT read: Range 11 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 DAT read: 18:25:18.5989 LVL= 27120, 29009, 32754, 25955, AGC= 31, IDX= 507,-0.19,-1.474,-1.733,-1.668, 2.938, PHS= 1.974, 1.658, 1.633, RAW= 86.3, -80.0, CAL= 88.0, -79.5, ROT= 62.0, 79.5  Ygot valid direction response: 18:25:18.5989 LVL= 27120, 29009, 32754, 25955, AGC= 31, IDX= 507,-0.19,-1.474,-1.733,-1.668, 2.938, PHS= 1.974, 1.658, 1.633, RAW= 86.3, -80.0, CAL= 88.0, -79.5, ROT= 62.0, 79.5 R#Rx 1: Read range and direction messages.^direction in FSK: [0.085554,0.160904,-0.983255]Fpublishing direction and range info?#E?pvL?IiiQqce? X9?)%?I?i¸ ?Κc?Κ?Ii)␊̇?cȸ6Lς←觲?c? Κ?Ii52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.Iq L,xG2d0)Ay6~@?ٱ67 @6i<6h./;6H(X8@xG7?`]X?=?8e?"?I6~@?)6|];i68CBBB/(I5Mb@Mb@Mb@1 1)1I1i15/${Gzti9i9mEYimAu>qQ 1}4٪uzᝊ?Q 54u uғB9 1=Q Ah;G@ZZ 1=bZ 1=jZ2P@rZ@I)\>i<)=  ɡ i :  *DAT read: user:955>  BDAT read: Tx time:18:25:19.5182  $Ping request sent. `9`9bEY`f Af>hQ 1~4٪jc❊?Q 5~4j jГB9|Y~WQ E?yjC)j;Ijm;ijn4Y  @ kIkIkIkIZZbZjZrZ@I)>t<  ɡi~BBBB =BBBeU;BEBBBBBB޾4%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250316 D% D% mD% )D! E% : E% :6E% FA4:E! "E% (;!- E% );!- *E% @G;!5 E% @G;!5 9 CL,ed0)ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502397DiDybw?ٱb3 @bN@-{s=?MO@?t`.g??Ibw?)bL];i`nBn'Ir=pBDt6DtY~F!F=:Q)> 9 9 EY  ͨA>Q 14٪^㝊?Q 5%4_ ΓB9!Y%XQ E%?yC);I';i4Y)-v@1kIkIkQkQZZibZijZirZm@ @I)>N<  ɡi!}C=}:Q)}>99EY1A>Q 14٪㝊?Q 54 995<  ɡi!I%}:i))1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006442ԙ@H<IIN>ԹA A <vB ~B B (IB BB =B B B bU;B E E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258481#&L,Md0)Ay6?ٱ6 @69d<6h8;6HO =`q}@h9h9jEYhn:An>pQ 1v4٪r㝊?Q 5v4rȽ r͓B9tYvQ Ev?yrC)r:IrG:ir 4Y|~@|kqkykykyZZbZjZrZ@I)d>9d<  ɡiIR:i)@<IIN=DDuDDEҝ: E:6E:E"E;!E;!*E^d;!E_d;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510387I J,L,Xd0)Aɰ4<4a9a9eEYam$i;Am>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762310Q 14٪u❊?Q 54u u̓B9}=Q ArZV@I)>;<  ɡiI'7:i)@<IIN>IqD- D- pD- 'D) E- : E-  :6E- '4:E) !5 @!5 @!5 @!5 @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014367ԡ 23L,jd0)AyF?ٱF @F})9)9-EY)-%;A->1Q 1M4٪5ᝊ?Q 5M45B 19QYU}@Q EU?y5C)5|;I5};i54YY]@aykkkkZZbZjZrZ6}@I) >}<  ɡiIQ:i)@<IIN=vBq~BqBu(IBuBBu =BqBqBuWU;BuEԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266390iI)Q a)yI׾@ D D yD +D E  E :6E [4:E "E ;!% E ;!% *E r;!% E r;!% \9L,xEd0)A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518316y:5?ٱ: @: z<:EE;:H4z `^? zKk? h??I:5?):];i:9C^ӈBbJ(IBDf46Dff3Yn_=!rO=rt:Q)r>p9t9vEYtv;Av>xQ 1~4٪z?Q 5~4z z˓B9Y@Q E?yz•C)z;Iz;iz"4Y  L@ k)k)k)k1ZZbZjZrZԦ@I!!)%>% z< ! !ɡ)i)I-:i))1@5<IYIiNu= %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708809Y H@L,M.e0)Aiy6FF?ٱ6 @6I<6&[;6Ha xb~@5?`?鑿Nak??I6FF?)6];i66CB׈BBO(I Mb@Mb@Mb@  ) I i  Q?Mb?MbP? u< < :) @I E@i \@   @BD%86D%3Y5֡<!5E==gQ)=>9999=EY9EC;AE>IQ 1U4٪M8?Q 5U4M I9UrZo+@I)>I<  ɡiIh:i)uBDAT read: Rx Time:18:25:21.9238 uTRx dataTimestamp_ set to:1755627924.131038}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024106@Y<II N>YԉAa Aa vBi ~Bi Bm #(IBm BBi Bi Bi Bm XU;Bm E% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274429 sFL,e0)Ayi?ٱ,Q @<FJP;H@* @~a?~b?`uӑ`Cj??Ii?)R ^;i5C-؈B-P(IBD=>6D=43YMwP;!MH=UdSQ)U>Q9Y9]EYY]~;A]>aQ 1m4٪eߝ?Q 5m4eؼ a9qYu+@Q Eu?yeĕC)e;Ie;ie>14Yy}@ykkkkZZbZjZrZ֢+@I).><  ɡiI0:i)ԉ@<II N=bDZDDqDupDqDqEq Eu :6Eq:Eq"Eu;!Eu;!*Eu+R;!Eu,R;!Ա quADAT read: 18:25:21.9238 LVL= 23872, 23073, 25970, 18851, AGC= 33, IDX= 218,-0.15, 2.552, 2.286, 2.359, 0.680, PHS= 1.975, 1.651, 1.636, RAW= 87.7, -79.9, CAL= 89.5, -79.4, ROT= 60.5, 79.4 Ygot valid direction response: 18:25:21.9238 LVL= 23872, 23073, 25970, 18851, AGC= 33, IDX= 218,-0.15, 2.552, 2.286, 2.359, 0.680, PHS= 1.975, 1.651, 1.636, RAW= 87.7, -79.9, CAL= 89.5, -79.4, ROT= 60.5, 79.4 PDAT read: Bearing 199.7, 9.4 (Local) ~Local bearing/azimuth received: Bearing 199.7, 9.4 (Local) DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s *DAT read: user:956> BDAT read: Tx time:18:25:23.0182 $Ping request sent.99EY`;A>Q 14٪ޝ?Q 54 ʓB9zhS@ZZz<bZz<jZ>rZ@I)}>wN<  ɡiI:i)@Uu<IqIN>BEg4JEb4RE x0DMDM}DM-DIEM1: EMk&:6EMt4:EI!]@!]@!]@!]@Y SL,ENe0)Aɰ;;y:r?ٱ:1 @:&<:nUr;:H`u1S|`C?@ /?@A@In??I:r?):5^;i:7CFBF((IBDR@6DR3YV39!VW=ZvQ)Z>X9\9^EY\^%<Ab>`Q 1f4٪bQޝ?Q 5f4bd bȓB9hYjQ@Q Ej?ybǕC)bF:Ib:ib>4Ylr@pkkkkZZ!bZ!jZ!rZ%Q@I11)5>5&< 1 9ɡ9i9I=H:iA)A*@U="@U=@<I!I9NE=vB~BB*(IBBB =BBB_U;BEIyԡ rD =jD =D= D= rD= /D9 E= : E= ?:6E= J4:E9 "E= ;!E E= ;!E *E= sY;!M E= tY;!M ̪YL, he0)Ay:?ٱ:g @:2<:Uu;@:H) n}{?``?@tߐtn??I:?):F^;i:6CbΈBbD(IBDj<6Dj3Yr=!vG=voQ)v>x9x9zEYxz<Az>|Q 14٪~ݝ?Q 5 4~( ~ǓB9 Y @Q E ?y~ȕC)~:I~ :i~,F4Y@k1k1k9k9ZZQbZQjZQrZU̍@Iii)mB>m2< i iɡqiqIu`:iq)y@u^<IIN=ԩ ޒ`L,he0)Ay6u?ٱ65 @6ς<6o;6H@]`zH?`,Î? Y $m??I6u?)6 ^;i64CRLjBR<(IpMb@Mb@Mb@ )Ii~jt?~jth?<D;)Ii@@ @BD>6D43Y!:=Q)>99EY @<A >DDtD)DE1: Ev:6EFA4:E!@!@!%@!%@Q 1-4٪ܝ?Q 5-4 9-#ς<  )ɡ1i1I5:i1)9 @5Q<IIIYNu>1A A 4<vB ~B B B B B B B lU;B EBBBBBB*4a fL,Ce0)Ay6 ?ٱ6p @6RG{<6 z;6H@̮x`ɭ?@[?hTo??I6 ?)6Dz^;i65CNΈBRE(IR>R>BDX6DXYb=!b`=f#Q)f>d9h9jEYhj!<Aj>lQ 1r4٪nwܝ?Q 5r4nɻ nƓB9tYvf@Q Ev?yn˕C)n:In):in8T4Yxz@xkkkkZZ1bZ1jZ1rZ5f@9III)M>MRG{< Q QɡQiQIU:i)@@~A@<IIN=iDDD+DE[: E6E [4:E"Eu(IMb@Mb@Mb@ )IiI9I9MEYIU9 <AU>YQ 1e4٪]۝?Q 5e4] Y9erZ@IQ)U>Un< Y YɡYiYI] :ia)a@U`<IaIN=DDD,DEa: E:6Eg4:E!@!@!@!@! sL,He0)Ay6:?ٱ6 @6^<6;6HC r6?C@͋?֋݂r?(?I6:?)6P^;i64C>ȈBB=(IBDFA6DF?3Yfn!jU=j7%Q)j>h9l9nEYln0 <Ar>pQ 1v4٪r۝?Q 5z4r p9xYz@Q Ez?yr͕C)rs;Ir;ir[b4Y@k!k!k!k)ZZAbZAjZArZE@IQQ)]>]^< Y YɡYiaIe+:ia)i@5<vB~BBBBBBBdU;BEIIN=BDAT read: Rx Time:18:25:25.4238 TRx dataTimestamp_ set to:1755627927.406610!QD D sD +D E : E Z:6E [4:E "E ;! E ½;! *E ];! E ];! y yL,e0)Aɰp;y:{@ٱ:s@:\L<:ҙ;:H@~Xc}@ %o|? qX(?`f 9s?E?I:{@):];i8BBF1(IiDIDBDNE6DN3YV&7!VI=V7Q)Z>X9X9ZEYX^<A^>`Q 1f4٪b ۝?Q 5f4bh bœB9dYf!@Q Ej?y`)b:Ib-:ibVi4Yln@lk|kykykyZZbZjZrZG!@I)>\L<  ɡiIE :i)*@"@=Y@l<IIN=ԉԱ 3L,f0)AyVI@ٱVD@V:99EY 5;A >Q 14٪ڝ?Q 54P 9urZmK$@Iyy)G>:<  ɡiIo*:i)ԹDAT read: 18:25:25.4238 LVL= 27440, 29553, 32754, 26227, AGC= 31, IDX= 442,-0.09, 1.533, 1.263, 1.339,-0.340, PHS= 1.975, 1.649, 1.635, RAW= 88.0, -79.8, CAL= 89.8, -79.3, ROT= 60.2, 79.3 Ygot valid direction response: 18:25:25.4238 LVL= 27440, 29553, 32754, 26227, AGC= 31, IDX= 442,-0.09, 1.533, 1.263, 1.339,-0.340, PHS= 1.975, 1.649, 1.635, RAW= 88.0, -79.8, CAL= 89.8, -79.3, ROT= 60.2, 79.3 PDAT read: Bearing 201.7, 9.6 (Local) ~Local bearing/azimuth received: Bearing 201.7, 9.6 (Local) DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s *DAT read: user:957> BDAT read: Tx time:18:25:26.5182 $Ping request sent.AAvB~BB#(IBBBBBBgU;BE ) 5 rA)Q I} fU} rA &VA1 L,֌f0)AyBEv@ٱB=q@Bl!t9t9vEYtv ;Av>xQ 1~4٪z.ڝ?Q 54z< zēB9Yz$@Q E?yzϕC)z;Iz];izw4Y  j@k)k)k1k1JhRh f0)Ahh]s<^v?^Oj?Q3nq~^v?^Oj?Q3nqh|?hm(? ]$ sǿֹppo~]$ sǿֹppojhrh;Zh'cʝ?bh2zhBhhhBh=h8{@ZZibZijZirZm]z$@I)>l!<  ɡiI:i)@u<IIN=DDtD,DE: Ev:6Eg4:E"E;!E;!*E`;!E`;!9i O5L,y9y9EY;A>Q 14٪ٝ?Q 54_ 9Y~A<  ɡiI =:i )@?<II1N==ԩDDnD.DEҝ: E:6Eـ4:E!@!@!@!@ L,AQf0)Ay60@ٱ6(@6,$;6T<6H`DGf?F?`ޞ@ ?{xrʀ??I60@)6];i63CBBB(IBDJC6DJ3YRՇ!RX=VjQ)V>T9T9VEYTZ;AZ>\Q 1b4٪^ٝ?Q 5b4^ \9`Yb#Q Ef?y^ѕC)^;I^;i^4Yhj@hlkxkxk|k|ZZbZjZrZ @I)>,$;  ɡiI:i)vBa~BaBe(IBeBBaBaBaBecU;BeE@}<IIN= 1a D D wD *D E : E :6E (N4:E "E ;! E ½;! *E k;! E k;! FL,kf0)AyFk@ٱFc@F;F%d9d9fEYdj;Aj>hQ 1r4٪j9ٝ?Q 5r4j h9pYrQ Er?yh)j@;Ij];ij4Yxz@xkkkkZZ1bZ1jZ1rZ5@9IAI)MC>M; I IɡIiQIU(:iQ)Y@5H<IAIYNe=iԑ 1L,f0)Aɰ(*4y9y9}EYy}yu;A>Q 14٪ٝ?Q 54ڻ ԑ9,J:  ɡiIX:i)@?<II N>AU<AU<vBY~BYB](IB]BBYBYBYB]qU;B]E <6H`/n?,0?p^oz?M?ч?@q?I6@)6c^;i60CBBB (IBDJA6DJ?3YzK!zQ=~лQ) >99EY;A>!Q 1-4٪%؝?Q 5-4% !9)Y5Q E5?y%ԕC)%u:I%`:i%4Y9=@9kYkYkYkYZZybZyjZyrZ}@I)>2o  ɡiYf@ٱ>^@> n>eP<>H@~/@?40?@ct?=m? ?H?I>f@)>.^;i>4CZBZ (IeMb@Mb@Mb@a a)aIaiae~jt?y&1|e̼e99EYA>Q 14٪؝?Q 54r ÓB9=Q A% n ! )ɡ)i-d9d9fEYdfAj>hQ 1n4٪j؝?Q 5r4jɼ j“B9pYrZֿQ Er?yjוC)j<;IjI;ijꨈ4Ytz@xk kkkZZ1bZ1jZ1rZ5.y@IAA)EF>Ee]ϻ A IɡIiML =BDAT read: Tx time:18:25:30.0182 =$Ping request sent.= rD jD %=D D oD D E 1: E :6E :E "E ! E ! *E N;! E N;! 9 L,uf0)Ay6@ٱ6@66ci<6H๭ o:$? y;?=[?X?+? ?I6@)6[^;i64CJBN(IBDV16DV[3Yb!bJ=bԻQ)b>d9d9fEYdj}Aj>|Q 14٪~؝?Q 54~( ~B9YֿQ E?y~ٕC)~:I~:i~4Y  @1kqkqkqkqJhRhZf0)Ahff?hz=[?^bq>?Z~1̴?KM~?a/ h'g?h? ſ`ەC~$k0ȿ,l{gjhrh'.Zht5ʝ?bh~zh҆Bh ++Н?hSshBh=h3P@ZZbZjZrZh@I ))->- 1 1ɡ1i5ĢY9a9eEYaeAe>iQ 1u4٪mi؝?Q 5u4mM mB9}3d<  ɡigAAAAvB~BBBBBBBnU;BE iL,] g0)Ay6@ٱ6@6Y&j6 Cr<6H@O?@P? bD?QG?D?I6@)6^;i62CNBN'Ih)  AABD>6D43Y%=!%M=-Q)->)9)9-EY15ɴA5>9Q 1E4٪=I؝?Q 5E4=p 99IYMQ EM?y9)=:I=:i=R4YQU@QkkkkZZbZjZrZۍ@I)>Y&j) <  ɡi;I:i)bDIZDM@ADUDUxDU,DQEU: EU:6EUg4:EQ"EUN;!]EUO;!]*EUJo;!eEUJo;!e@=<IIIYNmV>I pL,A:g0)AyV}@ٱVx@VGSVv99EYԻA>Q 14٪؝?Q 54 “B9Q5GS)5< 1 9ɡ9i=I=b:i9)A9@uv<IIN]>DUDU{DQDQEUs: EU5":6EQ:EQ!u@!}@!}@!}@ԁԑ ҺL,Sg0)Ay6YH@ٱ6QC@66Wz<6H`?jmD%? !n?jl@ w @?@O\?`?I6YH@)6];i6.C>|BB'IBDFQ6DF4YNS!N^=R?Q)R>P9T9VEYTVAV>XQ 1^4٪Z؝?Q 5^4Z X9`YbQ Eb?yZݕC)ZA;IZ<;iZ$̈4Ydf@dktktktktZZ bZ jZ rZ ߣ@I)%L>%)%h < ! !ɡ!i-)I-e|:i))1yvB~BBBBBBBgU;BEi1I9) ĀA@A@~A)I%V\-ĀA-]A@u<IIN >De De vDe /Da Ee 1: Ee :6Ee J4:Ea "Ee l;!u Ee n;!u *Ee h;!u Ee h;!u ) L,mg0)Ay6@ٱ6@6ީ61<6HP Շ?@?@R0}`n;?)?>?I6@)6f];i62CbBb'IBDjC6Dj3Yr#=!rF=rәQ)v>t9t9vEYtzAz>|Q 14٪~Hٝ?Q 54~( |9YBQ E?y~ޕC)~;I~:i~Yӈ4Y5@k1k1k1k1ZZQbZQjZQrZUP@Iaa)eE>eީ)eN i iɡiimIm:iq)q@\<IIN=!Qԙ L,g0)Ay6/x?ٱ6 @66m<6H1P?@?45:@dі? ]?@?I6/x?)6];i61CByBB'ID%D%{D%'D!E%: E%5":6E%'4:E!!-@!-@!-@!-@Mb@Mb@Mb@ )Ii~jtx?Mbp~jth;D)Iiĸ@/@ BDD6DJ3YK!<=HiQ)>99EY+A>Q 14٪Cٝ?Q 54 9;Q A =Y ?Q E ?yߕC)";I3;iڈ4Y@kIkIkIkIZZm;qbZm;jZm>@rZm?I)>)G7  ɡiI 3:i)@ n<II1NE>ԡA<A<vB~BBBBBBBYU;BE BDAT read: Rx Time:18:25:32.4237  TRx dataTimestamp_ set to:1755627934.466630 tL,ag0)AyB?ٱBpi @BB6}h9h9nEYlrQAr>xQ 14٪z@ٝ?Q 54z zB9Y ?Q E ?yx)z7;IzJ;izs4Y)@kQkQkQkQZZbZjZrZl?I!!)%>% ! !ɡ)i)I-:i))1*@e="@e=@5<I9IQN]=D5D5wD5+D1E5: E5:6E5 [4:E1"E5(;!=E5);!=*E5k;!=E5k;!E) 9L,)g0)Ay:'?ٱ: @:Ƽ:hb|<:HCe?@?`U И? ?`?I:'?):]];i:2CbDAT read: 18:25:32.4237 LVL= 26128, 28209, 30498, 25651, AGC= 31, IDX= 441, 0.11,-1.473,-1.698,-1.649, 2.899, PHS= 2.014, 1.732, 1.691, RAW= 83.4, -81.0, CAL= 84.8, -80.6, ROT= 65.2, 80.6 fYgot valid direction response: 18:25:32.4237 LVL= 26128, 28209, 30498, 25651, AGC= 31, IDX= 441, 0.11,-1.473,-1.698,-1.649, 2.899, PHS= 2.014, 1.732, 1.691, RAW= 83.4, -81.0, CAL= 84.8, -80.6, ROT= 65.2, 80.6 jPDAT read: Bearing 201.2, 7.9 (Local) j~Local bearing/azimuth received: Bearing 201.2, 7.9 (Local) nDAT read: Range 11 to 50 : 0.9 m (Round-trip 1.3 ms) speed 0.0 m/s r*DAT read: user:959> vBDAT read: Tx time:18:25:33.5182 v$Ping request sent.v99EY+A>Q 14٪zٝ?Q 54 9<;Q A>YЄ>Q E?y)i:I:i4Y%@!kkkkJhHRhJ4g0)AhHhJVrAJw?q^y?Fi~Jrbl?fh N?{hJ?hJ? J.yſJ>a` I~Jiǿіܰi\njhJLrhJ+ZhJW˝?bhJ/zhJBhJW˝?hJ{⍽hJ҆BhJ,>hJB@ZZ<;bZ<;jZȞ@rZЄ>I) ?Ƽ  ɡiI:i)BE [4JEŞ]4RE).0D}D}}D}-DyE}:ԉ E}k&:6E}t4:Ey!@!@!@!@@W<IIN>Ա eL,g0)Ay6~?ٱ6O @68ʼ63u<6H `S?`?q S [???I6~?)6^;i6.CPVuBV'IvBp~BpBr (IBrBBpBpBpBrHU;BrEBD^=6D^3Y != f޺Q) ? 9 9EYA?Q 1%4٪ٝ?Q 5%4 B9)Y-L>Q E-?yC):I:i4Y15)@1kQkQkQkYZZqbZqjZqrZuL>I)z>8ʼ  ɡiIص:i)@u<IIN=rD jD <D D rD )D E : E ?:6E FA4:E "E ;! E ;! *E sY;! E tY;! 9 [L,p|g0)Ay6?ٱ6ah @6J˼6ҙk<6H֪;Κ?`? 3@^&s?p?`?I6?)6)E^;i60CRoBR'IBDV86DV3Y^!bO=bntQ)b>d9d9fEYdfoOAf>h|Q 1=4٪jٝ?Q 5=4j h99YE>Q EE?yh)jaI)">J˼  ɡiIC:i) &Changing to mode: 1 )Im(iimmf i@M<IIN%M>Qԁ wxL,\ h0)AD&D&uD&0D$E&: E&:6E&4:E$!*@!*@!*@!*@YmqBm'Iu%=uN>Mb@Mb@Mb@ )Ii~jtx{GzĻף)Ir@iĸ@ BD%B6D%3Y-f;!-5=5Q)5>9999=EY9=AE>AQ 1M4٪Eڝ?Q 5M4E A9U Q EU?yEC)E;IE;iE4YYee@akkkkZZ <bZ <jZGx@rZ5>I) >  ɡiI;:i)ԁI(iL @<IINF>AA?AvB~BBBBBBB+?ٱ> @>4>rg<>H S@8p? 9?V ` &???I>+?)>Jb;i\9`9bEY`bAb>dQ 1j4٪f"۝?Q 5j4fѽ d9lYn;>Q En?yfC)f:If:if4Ypr8@tkkk k ZZ!bZ!jZ!rZ%=;>I99)=>=4 9 AɡAiAIEό:iA)IԩI(iP bDAZDADMDMqDM-DIEM: EM$ :6EMt4:EI"EM;;!UEM<;!U*EMU;!UEMU;!]@<IIN >1 L,>h0)AyVf?ٱVR. @VVKRh=!u?=u+;Q)}>y9y9}EYyfA>Q 14٪ܝ?Q 54߽ B9|  ɡiII:i)~A|AI(iQ 9@e<IIND>D]DYD])DYE]a: EY6E]FA4:EY!m@!m@!m@!m@iԑ dL,!Wh0)Ay6?ٱ6= @667<6H  o@NΕ?o?H?@+? ,?@?I6?)6 a;i4vB@~B@BB(IBBBB@B@B@BBGU;BBENBN'IiPIRABDZ[6DZy'4Y"<!Q=`;Q)>!9!9%EY!%)kA->)Q 154٪-ܝ?Q 554- -B99Y=>Q E=?y-C)-;I-; ;i-l4YAMR@IkikikikiZZbZjZrZJ@I)t>  ɡiIs:i)yI(i: @<II N >ԡrDm =jDm <Dq Du sDq Dq Eq  Eu Z:6Eq :Eq "Eu J;!} Eu K;!} *Eu ];! Eu ];! L,qh0)Ay6[?ٱ6%d @696+:<6H@vfє?`?"?a[??I6[?)6v`;i6,CBBB(IBDJ96DJ3Yf=!fO=f;Q)f>h9h9jEYhjAn>pQ 1r4٪rݝ?Q 5v4r rB9tYvEQ Ev?yrC)r:Ir:irO4Yx~@|kkkkZZbZjZrZ@I)>9  ɡiIb:i)I(ie @e<IqIN>BDAT read: Rx Time:18:25:35.9236 TRx dataTimestamp_ set to:1755627937.997135) "L,h0)ADD{D,DE: E5":6Eg4:E!@!@!@!@0yN[*?ٱN% @NN8J;i9i9uEYquFA>Q 1 4٪ޝ?Q 5 4 B9 =Q A   ɡiIR:i)??1I(iP @}A@@e <IqIN:>YA<AvB~BBBB =BBBDU;BE)  A) Im˿m AmAԁ  DAT read: 18:25:35.9236 LVL= 29104, 29777, 32754, 26723, AGC= 32, IDX= 441, 0.25,-2.415,-2.635,-2.593, 1.946, PHS= 2.024, 1.747, 1.700, RAW= 82.3, -81.1, CAL= 83.7, -80.7, ROT= 66.3, 80.7  Ygot valid direction response: 18:25:35.9236 LVL= 29104, 29777, 32754, 26723, AGC= 32, IDX= 441, 0.25,-2.415,-2.635,-2.593, 1.946, PHS= 2.024, 1.747, 1.700, RAW= 82.3, -81.1, CAL= 83.7, -80.7, ROT= 66.3, 80.7  PDAT read: Bearing 198.3, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 198.3, 8.2 (Local)  DAT read: Range 11 to 50 : 0.9 m (Round-trip 1.3 ms) speed 0.0 m/s  *DAT read: user:960>  BDAT read: Tx time:18:25:37.0181  $Ping request sent. b<BDjW6Dj 4Ii )IiIi){=]?cSA%← IiXRequesting device enable clr for address 50.Y58;!5N=5';Q)}>y9y9}EYycWA>Q 14٪ߝ?Q 54; B9YľQ E?yC);I;i(4Y@kkkkJhRhݟh0)AhhLB/Վ?B ?R%k~f ?E4?kRh?hI? a0PĿY>EőV2*W~lƿǛC&q~jh*rh"Zh+ҝ?bhIzh؆Bhh~hhy>h-F@ZZbZjZrZpƼ@I)>˂  ɡiID:i)D1D5yD5*D1E1 E5:6E5(N4:E1"E5;!EE5;!E*E5r;!EE5r;!EԉXRequesting device enable clr for address 50.Ii @<<IԹINc> (#/L,}h0)A2XRequesting device enable clr for address 50.Tyn?ٱnk @n]nC99EY+A>Q 14٪ᝊ?Q 54/ B9Q E?yC);I:i04Y@kkkkZZ<bZ<jZo@rZR>I)p>]  ɡiI28:i)I(iU D5D5vD5%D1E5&: E5:6E5 4:E1!E@!E@!E@!E@@<IIN`>ԁ ~6L,0h0)AvB$~B$B&(IB&BB$B$B$B&$U;B&EyV_?ٱV* @V:6V>5:6  ɡiIm0:i) I(i*@="@=@ <II)N5 >ԉԱDU DU DU -DQ EU : EU 0:6EU t4:EQ "EU ;!] EU ;!] *EU ؉;!] EU ؉;!e +<L, h0)Ay6?ٱ6@6X_6_;6HsBQ??`Bo`ڋ?X|?w?I6?)6C_;i60CNBR(IiPIPBDZ86DZ3Y~զ!~K=~;Q)>99EY ޻A >Q 14٪❊?Q 54 9!Y%/=Q E%?yC);I;i=4Y)-E@)kIkIkIkIZZibZijZirZm/=Iyy)%>X_  ɡiI(:i)IiM @<IIN >A CL, i0)ABEJET\4RE{0D&D&D&/D$E&: E&.:6E&J4:E$!*@!*@!.@!.@yB!?ٱB@BK黹Bwݡ;BH`:`#`??` ;`[kS)}?;t?@?IB!?)B^;i@NBN'(I}Mb@Mb@Mb@y y)yIyiy}Mb/$~jth?}}}D;)}@I}r@iy}/@ y}̴@BDC6D3Y=!@=;Q)>99EYJ-A>Q 14٪㝊?Q 54# B9=K 9 9ɡ9iAIE":iA)II(iL A@<IIN>>AEAAAEAAvBA~BABE(IBEBBABABABEU;BEEqԙ =IL,&i0)A~B~&(IBD Y6D #4Y[!S=%Q)%>!9!9-EY)-A->1Q 1=4٪5䝊?Q 5=45) 5B9AYAQ EE?y5C)5:I5A;i5K4YIM @IkikikikiZZbZjZrZI  )R>  ɡiI<:i)!-|A)qD]D]qD])DYE]: E]$ :6E]FA4:EY"E];!eE];!m*E]U;!mE]U;!mI(iS @@|A@<IIN&>ԡ j)PL,@i0)AyE]?ٱE@ECEE~;EH <*v??<WyHq?o??IE]?)EBg^;iE,CmňBm:(Iul>up=EMb@Mb@Mb@A A)AIAiAEy&1|?y&1{GztE`;E`eEף)AIE\@iAEE@ AABD];6D])3Ymk=!m7=mK;Q)u>q9q9uEYq}):A}>Q 14٪䝊?Q 54 B9C  ɡiI:i)DeDetDe+DaEe: Eev:6Ee [4:Ea!u@!u@!u@!u@I(iM @j<IIN>! vB9 ~B9 B= *(IB= BB= =B9 B9 B= T;B= EBBOVL,yyZi0)AB1B5 =B5 =B54y: ?ٱ:9 @:#K: E;:HC 8n?`C?D0`cIb? {h?@?I: ?):D^;i:.CFˆBF5(IBDRK6DR 4YV!Vl=Z(;Q)Z?X9X9^EY\^J;Ab?`Q 1f4٪b5坊?Q 5f4b `9hYjn?Q Ej?y`)b:Ib>:ibY4YY]Y@YkkkkZZbZjZrZn?I)>#K  ɡiI:i)IeBDAT read: Rx Time:18:25:39.4236 mTRx dataTimestamp_ set to:1755627941.524578I(i @4<IINF>yDm Dm sDm .Di Em ҝ: Em Z:6Em ـ4:Ei "Em ;!} Em ;!} *Em ];!} Em ];!} ԩ y\L,LSti0)Ay6j*?ٱ6- @6W7:6di ;6HJJ; VW?=?EJ\?F`+a??I6j*?)6_;i6+C@^ȈBb=(IBDfC6Df3Yn6<!rG=rH;Q)r>p9t9vEYtv;Av>xQ 1~4٪z|坊?Q 5~4z zB9Yl?Q E?yzC)z;Iz<;iz`4Y  @ k)k)k1k1ZZbZjZrZl?I)>W7:)|1  ɡiI­:i) ? @Iu(iyyF *@"@Թ5DAT read: 18:25:39.4236 LVL= 24880, 27633, 30034, 25139, AGC= 31, IDX= 441, 0.30,-3.088, 2.950, 3.007, 1.288, PHS= 2.009, 1.707, 1.675, RAW= 85.0, -80.5, CAL= 86.7, -80.0, ROT= 63.3, 80.0 ]Ygot valid direction response: 18:25:39.4236 LVL= 24880, 27633, 30034, 25139, AGC= 31, IDX= 441, 0.30,-3.088, 2.950, 3.007, 1.288, PHS= 2.009, 1.707, 1.675, RAW= 85.0, -80.5, CAL= 86.7, -80.0, ROT= 63.3, 80.0 }PDAT read: Bearing 198.0, 9.1 (Local) ~Local bearing/azimuth received: Bearing 198.0, 9.1 (Local) @<IIN>}DAT read: Range 11 to 50 : 0.9 m (Round-trip 1.3 ms) speed 0.0 m/s }*DAT read: user:961> BDAT read: Tx time:18:25:40.5181 $Ping request sent.=ھ;Q)>99EY;A>Q 14٪坊?Q 54{ B9hM@ZZ<bZ<jZ0@rZK?I )>9R;)  ɡiI:i)! I(ip vB~BB0(IBBBBBBT;BE1@ <I I) N= >a ċiL, i0)Ay6?ٱ6n @6.;6/:6H {`!b@?{r?@tE??I6?)6w^;i6+CBBB(IBDJ>6DJ43YR !R]=R';Q)V>T9T9VEYTZL<AZ>\Q 1b4٪^坊?Q 5b4^C ^B9`Ybۢ?Q Ef?y^C)^;I^;i^n4Yhj@h9kikqkqkqZZbZjZrZ\ۢ?I)S>.;)ݻ  ɡiѼI|:i)bD1ZD5?AD=D=yD=+D9E=1: E=:6E= [4:E9"E=l;!ME=n;!U*E=r;!UE=r;!UIM(iIIMN Iqԙ@|<I!I1NE> ypL,ri0)Ay]?ٱ] @];]u]HX`#r*?Lx?~ u7?I]?)]^;i]-CuBu3(IԉMb@Mb@Mb@ )Ii/$?I +~jth?<94D;)@IE@i@/@ (@BDC6D3Y-$=!-3=-M;Q)->19195EY1=1.<A=>9Q 1M4٪=坊?Q 5M4= =B9M;)/  ɡiIZ%:i) ԹI5(i19=R 9@E~A@AD=D=pD=.D9E=: E= :6E=ـ4:E9!E@!E@!E@!E@@% <I1 II NU > vB ~B B 6(IB ˆBB B B B T;B {Ei I vL,Si0)A)G *~A)>ATiTIZZ~AZBM`?MaAyU|?ٱU`9 @UH&99EY<A>Q 14٪坊?Q 54 9Y?Q E?yC)-H&<);  ɡicI-:i)=p=y͹9QI(ia rDA jDE <DU DU tDU ,DQ EU a: EU v:6EU g4:EQ "EU J;!e EU K;!e *EU `;!m EU `;!m q @ 0<I I N >k }L,i0)Ay6b?ٱ6 @6F<6D36H{n/~@T{?//ƒ?҈&hFe?I6b?)6]^;i6+C>ˈBBA(IBDJE6DJ3YRЃ=!RN=Rԡ;Q)V>T9T9VEYTZ<AZ>\Q 1b4٪^坊?Q 5b4^ ^B9`Yb?Q Eb?y^C)^;I^;i^4Yhjž@hkxkxkxkxZZbZjZrZӭ?I!))->-F<)-m< ) 1ɡ1i5.I517:i1)9ԡyEۺ9I(iN @V<IIN>) D D jD +D E : E 96E [4:E ! @! @! @! @L,j0)AyN!?ٱNE @Niq9q9uEYq}<A}>Q 14٪坊?Q 54_ 9hrZ]O&@Iii)m>mi<)mi< i qɡqi5ILD:i)ym9A@AAvB~BB0(IBBBBBBT;BnEQ] dTimed out moving from: 10447 to: 14700 response: 1- Hardware Fault*@ ="@ =q@% <I1 -&E VHardware Fault in component: DockingStepperIA NU >ԙ (L,F*j0)Ay6&?ٱ6 @6 <6I*º6H _m(~ '?6nh?+`cDX?I6&?)6_;i6)CbBb&(IBDjT6Dj4Yra!rS=v;Q)v>t9t9zEYxz:<Az>|Q 14٪~e䝊?Q 54~B ~B9 Y &@Q E ?y~C)~:I~N:i~4Y@k1k1k1k1ZZQbZQjZQrZU'&@Iaa)m>m <)m< i iɡiim;IuQ:iq)yi}AI}AD}}D}lD}/DyE}݉: E}:6E}J4:Ey"E}7;!E}8;!*E}C;!E}C;!ԉyl9 :Uninitialize Docking Stepper. Powering downԡ@E<IINm> BDAT read: Rx Time:18:25:42.9236  TRx dataTimestamp_ set to:1755627945.059284! L,Dj0)ALjB<(I]Mb@Mb@Mb@Y Y)YIYiY]I +?~jt?]9<]<])YIYi]@]\@ Y]@BDu66Du3Y=!2=Q)>!9!9-EY)5A5>9Q 1E4٪=C㝊?Q 5M4=+ 99M!)=  ɡi{8c:i)y9BE^n4JEm4RE0DDtD.DE: Ev:6Eـ4:E!@!@!@!@@q<IINJ>A vB ~B B #(IB BB B B B T;B oEl;L,mU^j0)A y63?ٱ6 @6ǰ<6;5:6H@j?9? s@ F?@?I63?)6Eǰ< I IɡIiM~ eBDAT read: Tx time:18:25:44.0181 qu$Ping request sent.}x9x9~EY|~<A~>Q 1 4٪ᝊ?Q 5 4  B9YO;@Q E?yC)6:Ii4Y.@!k9k9kAkAJhRhcj0)Ahh92CW?5Z Q.?UD?sWQ~6<~S?{w3?pvh ?hΚ? t`fÿ80< ]~Τſߤ81D؃jhrh5Zhdԝ?bheDzhBh+ҝ?hh؆BhE>hR]b@ZZybZyjZyrZ}O;@I)|><  ɡi6D43Yż!?=;Q)>99EYи<A>Q 14٪?Q 54T B9=Q A=X@< 9 9ɡ9i9I=9f:iA)Ay59@MتA<AvBt>~BB(IBBBBBBT;BdEBQBQBQBU =BU =BUĵj4yԡ -vL,j0)Ay6@ٱ6@6u<6~˛;6H`ް8 5?@ɱ҃?M@ws??I6@)6_;i6*CBBB(IBDJ?6DJ3YR:!R]=V\;Q)V>T9T9VEYTZ<AZ>\Q 1b4٪^ߝ?Q 5b4^ \9`YfQ Ef?y^C)^;I^;i^൉4Yhj @hkxkxkxkxZZbZjZrZ|@I!!)% >%u< ) )ɡ)i)I-=:i1)1yy5ը9*@A"@E=D}D}qD}.DyE}C: E}$ :6E}ـ4:Ey"E};!E};!*E}U;!E}U;!@@<II1N==ԩ `L,?j0)AyM@ٱM@MG 99EY<A>Q 14٪ߝ?Q 54E B9vs=Q A_MG < I IɡIiIIU :iQ)YyE9@FDeDeuDaDaEeU: Ee:6Ea:Ea!m@!m@!m@!m@IvB u>~B B 'IB BB B B B T;B jEq $L,5j0)A%B%(IBDEV6DEE4Y]=!e`=eQ)e>i9i9mEYi}A}>Q 14٪ޝ?Q 54Ͻ 9YQ E?y C)VP;I0Q;irĉ4Y@kkkkZZ bZ jZ rZ I!)->Q  ɡiI:i)y69@²<IIN!>ԁrDijDm=D}D}rD}*DyE}: E}?:6E}(N4:Ey"E};!E};!*E}sY;!E}tY;! L,{j0)Ay6Sy@ٱ6Kt@6D<68Q.<6HE ?DLh?hDž?:?I6Sy@)6 ^;i4NBN(IBDVe6DV94Yv !vQ=v:Q)v>x9x9zEYxE=AE>IQ 1U4٪Mݝ?Q 5U4Mg MB9QY]UQ E]?yM C)Mf;IM;iMcˉ4Yae@akkkkZZbZjZrZg@I)>D<  ɡiIɼ:i)ԩyҟ9@.<IIN> D} D} D} ,Dy E} s: E} *:6E} g4:Ey ! @! @! @! @9 QL,8Nk0)Ay6@ٱ6@6m<6P<6H_f5`<``f?e}[?Y`?@#?I6@)6LS^;i6(C>BB(IMb@Mb@Mb@ )Ii{Gzv/?Mb#xi=)Ir@i@@ (@BD-E6D-3YE!EE=EQ)E>I9I9MEYIMU<AU>QQ 14٪UAݝ?Q 54U UB9=Q A=m<  ɡiIa:i)yU9A1A1vB9~B9B='IB=BB9B9B9B=T;B=mE)MUG@U۷< eĀAIqIN>)AIȞĀAA9BDAT read: Rx Time:18:25:46.4236 TRx dataTimestamp_ set to:1755627948.586624i 2L,R(-k0)A %B%(IBD5B6D53YE"u<!EJ=EQ)M>I9I9MEYIUAU>YQ 1e4٪]ܝ?Q 5e4]ֿ ]B9aYaQ Em?y]C)]:I]y:i]ى4Yqu@qkkkkZZbZjZrZI):>  ɡiI~:bD1ZD1D=D=pD=+D9E=: E= :6E= [4:E9"E=}ԡ 5 DAT read: 18:25:46.4236 LVL= 26272, 27809, 30690, 25491, AGC= 32, IDX= 442,-0.45, 0.110,-0.169,-0.077,-1.784, PHS= 1.996, 1.659, 1.663, RAW= 90.5, -79.9, CAL= 92.5, -79.4, ROT= 57.5, 79.4 M Ygot valid direction response: 18:25:46.4236 LVL= 26272, 27809, 30690, 25491, AGC= 32, IDX= 442,-0.45, 0.110,-0.169,-0.077,-1.784, PHS= 1.996, 1.659, 1.663, RAW= 90.5, -79.9, CAL= 92.5, -79.4, ROT= 57.5, 79.4 SL,MGk0)A&PDAT read: Bearing 206.9, 8.2 (Local) *~Local bearing/azimuth received: Bearing 206.9, 8.2 (Local) LRDAT read: Range 11 to 50 : 0.9 m (Round-trip 1.3 ms) speed 0.0 m/s *DAT read: user:963> BDAT read: Tx time:18:25:47.5181 $Ping request sent.DEDEvDE-DAEE1: EE:6EEt4:EA!M@!M@!M@!M@I9Q9UEYQU3<A}>yQ 14٪}۝?Q 54} }B9n=Q Adh; @ZZn=bZn=jZI@rZw@I)?<  ɡiI:i)yΖ9*@="@=@<IIN>vB! ~B! B% 'IB% BB! B! B! B% T;B% rE9 L,`k0)Aɰ;|]B]'I aeABDuT6Du4Y6i!=Q)?99EYA?Q 14٪ ۝?Q 54 9YQ E?yC):Il:i4Y5@kkkkZZbZjZrZI)>  ɡiIm:i)y9)@e<IqIN>QDUDUpDU*DQEUs: EU :6EU(N4:EQ"EU;!eEU;!e*EQ!eEQ!eԁ L,zk0)Ay6@ٱ6 @6<6~\<6H`w8 ?Ԏ?~x?– *??I6@)6^;i6*CYB(IBDe6D94Y&>!D=Q)>99EY#A>Q 14٪^ڝ?Q 54 B9YQ E?yC):I:i4Y  @k1k1k1k1ZZQbZQjZQrZUig@Iaa)e>e< a iɡiiiIm:iq)yM9ԁ@U<IIN!>Թ BE|a4JE^4REʋS0De De zDe -Da Ee : Ee  :6Ee t4:Ea !u @!u @!u @!u @UL,pk0)ArBr(IMb@Mb@Mb@ )IiMbp?~jt?Mbp;Թ<)@Ii z@BDL6D 4Y!K=Q)>99EYA>Q 14٪ٝ?Q 54 B9Y Y aɡaiaIe&:ii)iu;qyU9@]A@]{AAA<vB~BBBBBBBT;BuEPExceeded connect timeout, disconnecting.@U<IaIyN{>9 L,~k0)Ay6sm@ٱ6kh@6/P<6m<6HA`k??+?@䚛?),??I6sm@)6^;i6)C>BB(IBDJH6DJ4YRƵ=!R`=RQ)V>T9T9VEYTZwAZ>\Q 1b4٪^ٝ?Q 5b4^ ^B9`Yb'Q Eb?y^ C)^B:I^:i^|4Yhj @hkxkxkxkxZZbZjZrZj@I!!)%>%/P< ) )ɡ)i)I-;i1)9D%D%wD%0D!E%g: E%:6E%4:E!"E%q;!-E%r;!-*E%k;!5E%k;!5ym9@d<IIN=Aiԑ jL,\k0)AiuBu (IMb@Mb@Mb@ )IiMb?~jthMbp<D)@I\@i BDJ6D04Y%=!-(=-Q)->19195EY15A5>9Q 1E4٪=؝?Q 5M4= =B9MvB ~B B 'IB BB B B B T;B zEBBBBBBac4 nManaging dock network, ignoring radio surface power off 'L,1k0)Aqu(IBDB6D3Yaq!h=Q)>99EYA>Q 14٪؝?Q 54 B9YQ E?y!C)b;Io;i$ 4Y|@kkkkZZbZjZrZI)L>  ɡ!i!I% ;i!))y 9*@="@@<IIN>D5D5rD5-D1E5: E5?:6E5t4:E1"E5;!=E5;!=*E5sY;!EE5tY;!E! NL,k0)Ay6@ٱ6ة@6`o<6i<6H@=PP@u?`ZO?`AR?`덿*r??I6@)6'^;i6'CBBB,(IiDIDBDNG6DN4YVOh=!V[=V:4Q)Z>X9X9ZEYX^A^>`Q 1f4٪b؝?Q 5f4b bB9dYf?Q Ef?y`)b):Ib:ib4Ylnο@lk!k!k!k!ZZAbZAjZArZE?IQQ)U>U`o< Y ɡiI ;i)yn9Q@=<IIN=mBDAT read: Rx Time:18:25:49.9237 mTRx dataTimestamp_ set to:1755627952.114675ԁԩ DE DE DA DA EE : EE P:6EA :EA !M @!M @!U @!U @c6L,l0)A@yJc?ٱJ @JUaI9I9MEYIUMAU>YQ 1e4٪]ٝ?Q 5e4]J Y9e8=Q AeDAT read: 18:25:49.9237 LVL= 24176, 27505, 30002, 25235, AGC= 31, IDX= 442,-0.35,-1.869,-2.130,-2.054, 2.549, PHS= 1.967, 1.649, 1.636, RAW= 88.0, -80.1, CAL= 89.8, -79.6, ROT= 60.2, 79.6 Ygot valid direction response: 18:25:49.9237 LVL= 24176, 27505, 30002, 25235, AGC= 31, IDX= 442,-0.35,-1.869,-2.130,-2.054, 2.549, PHS= 1.967, 1.649, 1.636, RAW= 88.0, -80.1, CAL= 89.8, -79.6, ROT= 60.2, 79.6 PDAT read: Bearing 204.5, 8.5 (Local) ~Local bearing/azimuth received: Bearing 204.5, 8.5 (Local) DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s *DAT read: user:964> BDAT read: Tx time:18:25:51.0181 $Ping request sent.h[@ZZbZDDD.DE: ErN:6Eـ4:E"E;! E;! *ES;! ES;! jZrZ{:?I!!)%F>%)Y< ! )ɡ)i)I-?;i1)qyMS|9 @M<IQIiNu>1a HL,lIl0)AHiHAy?ٱ @KV<<H`l)9?(?Dl@?1Ɋ׃? ?I?)^;i%C%B%(I%=%;Mb@Mb@Mb@ )Iiy&1?v/~jth`<xi)@I\@ir@@ @BD;6D)3Y9!,=Q)>99EYCA>Q 1u4٪۝?Q 5u4m B9}4=Q A}PKV<  ɡiI;i)ayw9D D rD ,D E : E ?:6E g4:E !@!@!@!@@t<IINB>ԑiyI}֐C)G  A) I5 DS5 A5 zSAvBq ~Bq Bu (IBu BBq Bq Bq Bu T;Bu E rL,ncl0)A~B~%(IBD 6D Y<!%k=%Q)%?!9)9-EY)-A-?1Q 1=4٪5uܝ?Q 5=45 5B9AYAQ EE?y5+C)5;I5;i5).4YIM.@IkikikikiZZbZjZrZԙI)h>  ɡiIo%;i)yr9@<IIN=DDqD+DEs: E$ :6E [4:E"E;!%E;!%*EU;!%EU;!- L,wI}l0)A=B=,(IBDI6DIY]f<!]F=aQ)e>a9a9eEYaiAm>qQ 1}4٪uݝ?Q 5}4uP q9yYyQ E?yu/C)u;IuM;iu[54Yٿ@kkkkZZbZjZrZI!!)%>! ) )ɡ)i)I-;i9)Ayjl9@H<IIN% >!QD% D% rD% *D! E% : E% ?:6E% (N4:E! !- @!- @!- @!5 @y %L,(l0)Aɰ499EYBA>Q 14٪Hߝ?Q 54߾ B9=Q AKԁԩ ܲ+L,Zl0)AyJ?ٱJ9K @J&h9h9jEYhn豼An>lQ 1r4٪n?Q 5v4nx l9tYv*?Q Ev?yn5C)n:Inq:in+C4Yx~@|kkkkkZZ9bZ9jZ9rZ=*?ɢIM&< IM@=/g?a47?@`dk_?IeW?)eA^;ie'CΈBD(IBDB6D3Y}t<!}2=} ;Q)}>99EYrA>Q 14٪❊?Q 54 9Y(?Q E?y9C)P:I:i3K4Y@kkkkkZZbZjZrZ{(?ɢ$< <IBEe^n4JEe^n4REe<0DDwD(DE: E:6Ec44:E!@!@!@!@IN(>1BDAT read: Rx Time:18:25:53.4237 TRx dataTimestamp_ set to:1755627955.390620vB ~B B (IB BB B B B T;B Ea 8L,l0)A i ʈB@(IMb@Mb@Mb@ )Iiy&1?V-~jth`e<mD)@Ii BD<6D3Y!U=Q)>99EYA>Q 14٪B䝊?Q 54 9t=Q A^L,Kl0)Ay6?ٱ6u[@6{ݟ<6)6H`)qS?_?@\&uS?I6?)6H^;i6&CBψBBF(IBDJC6DJ3YR?<!Ra=R;Q)R>T9T9VEYTZAZ>XQ 1b4٪Z坊?Q 5b4Z% ZB9`YbK?Q Eb?yZ?C)ZP;IZ* ;iZ=X4Yhj@hlk k kkkZZbZjZrZkK?ɢ{ݟ< UDAT read: 18:25:53.4237 LVL= 27328, 29457, 32754, 26099, AGC= 31, IDX= 442,-0.27,-2.947, 3.062, 3.138, 1.470, PHS= 1.968, 1.638, 1.624, RAW= 88.0, -79.7, CAL= 89.9, -79.1, ROT= 60.1, 79.1 eYgot valid direction response: 18:25:53.4237 LVL= 27328, 29457, 32754, 26099, AGC= 31, IDX= 442,-0.27,-2.947, 3.062, 3.138, 1.470, PHS= 1.968, 1.638, 1.624, RAW= 88.0, -79.7, CAL= 89.9, -79.1, ROT= 60.1, 79.1 mPDAT read: Bearing 199.3, 9.7 (Local) m~Local bearing/azimuth received: Bearing 199.3, 9.7 (Local) }DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s *DAT read: user:965> BDAT read: Tx time:18:25:54.5181 $Ping request sent.=m!;Q)m>q9q9uEYq}wA}>Q 14٪杊?Q 54 B9z=Q AQ E?yAC)k:IR:i_4YP@kkkkkJhQRhUX m0)AhQhUpeAUOȀ!??ۨ4l~UOȀ!??ۨ4lhUC?hU ? U/{.ƿBY[þV?~U/{.ƿBY[þV?jhUڪrhUs1ZhU$q;؝?bhUzhUچBhUdԝ?hUthQhU_>hUHoT@ZZz=bZz=jZ@rZ>ɢ  ̦<   =I  =8ɡiIi)AA@AvB~BBBBBBBT;BEByByByByByB}N4yJ9@ <I!I9NU>iԑ KL,G2m0)Ay6ܶ?ٱ6fV@66<6mBڻ6H@@6Fxb??PF{`?I6ܶ?)6g^;i6%CNÈBR6(IiPIPBDZA6DZ?3Yb~!bV=bD;Q)f>d9d9fEYdj:Aj>lQ 1r4٪n睊?Q 5r4n׼ l9pYr>Q Ev?ynCC)n8;In;inof4YxzO@xkkkkkԙZZbDZD@ADDD+DE: Ea9:6E [4:E"E!E!*E;!E ;!bZjZrZ >ɢ6< 4;I /8ɡiIi)yF9@i<IIN> VRL,c%Lm0)AyJ?ٱJ@JM6I9Q9UEYc;A%>AQ 1}4٪EZ靊?Q 54E EB9Y8>Q E?yEEC)EhiɢquM6< qu@Iq }r8ɡyiyIyi);;yY?9@A@~ADDsD,DE~: EZ:6Eg4:E!@!@!@!@!@e\<IqIN:>IvB~BB#(IBBBBBBT;BEy YL,em0)AˆB5(IMb@Mb@Mb@ )Ii~jth/$D)@Ii@j@ BDD6DJ3Y`=!@=Q)>)9)9-EY)5A5>9Q 1E4٪=Ꝋ?Q 5E4= 99EǭQ EM?y=FC)=:I=:i=Wu4YQQ]Y@YkykykykykyZZǭ<bZǭ<jZxA@rZF>ɢ 顭@:I >L8ɡiIi)y:9@<IIN%>ԁrDjD<DDmD-DE: E:6Et4:E"E;!E½;!*E@G;!E@G;!ԩ 8_L,m0)AiyN?k?ٱN0 @NB;Q)%>)9)95EY1=<A=>AQ 1M4٪EꝊ?Q 5M4E~Q 9MtI A9IYM>Q EU?yEGC)Eo:IE:iE{4YY]@YkykykykykZZbZjZrZm>ɢˆBB< 页!9!9%EY)-<A->1Q 1=4٪5Ꝋ?Q 5=45 19=9i JlL,m0)A y6?ٱ6:C @6<6{s6H \*f ?@N?@՚u?I6?)6_;i6%C^؈BbQ(IBDfR6Df4Yn><!ra=r ;Q)r>t9t9vEYtv<Av>xQ 1~4٪zꝊ?Q 54z߼ x9YȿQ E?yzIC)z;Iz^;izˉ4Y  @k)k)k1k1k1ZZIbZIjZIrZMז@DDtD/DEO: Ev:6EJ4:E"E;!E;!*E`;!E`;!ɢ< .=I  $9ɡiIi)y(9}BDAT read: Rx Time:18:25:56.9236 TRx dataTimestamp_ set to:1755627958.919281ԉ@]<IIN>ԙ 2sL,fjm0)Aɰy> ?ٱ>~ @> @<>|>Hl kbi? e?@+go`?PI> ?)>^;i>#CZшBZH(I `bABDfW6Df 4Yn!nK=n^:Q)r>p9p9rEYpv<Av>xQ 14٪zꝊ?Q 5 4z x9YǿQ E%?yzJC)z;Iz;izא4YAEb@IkkkkkZZ bZ jZ rZ '@ɢ9= @< 9=DAT read: 18:25:56.9236 LVL= 24240, 27585, 30498, 25203, AGC= 31, IDX= 442,-0.21, 2.367, 2.083, 2.168, 0.502, PHS= 1.967, 1.625, 1.622, RAW= 89.5, -79.4, CAL= 91.5, -78.9, ROT= 58.5, 78.9 =Ygot valid direction response: 18:25:56.9236 LVL= 24240, 27585, 30498, 25203, AGC= 31, IDX= 442,-0.21, 2.367, 2.083, 2.168, 0.502, PHS= 1.967, 1.625, 1.622, RAW= 89.5, -79.4, CAL= 91.5, -78.9, ROT= 58.5, 78.9 UPDAT read: Bearing 200.9, 9.7 (Local) ]~Local bearing/azimuth received: Bearing 200.9, 9.7 (Local) eDAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s m*DAT read: user:966> uBDAT read: Tx time:18:25:58.0180 u$Ping request sent.u{?? C?Ii:publishing transmit ping time9qFpublishing direction and range infoDxl?8Zo1?fIi )IiIi)007?"9#_u← IivB~BBBBBBBT;BE! ]yL,Gm0)Ay6g*?ٱ6+ @6QW<6 6H^R :Fȑ 8?}T͠?꛿a?I6g*?)6P^;i4>ΈBBE(I|-Mb@Mb@Mb@) )))I)i)-y&1|Q?Mb`?-`-\=-;)-@I-&@i-S@-@ ))BD:6D{3YQ!:=:Q)>99EY<A>!Q 1%4٪%靊?Q 5-4%] %B9-m=Q A-h:UQ@ZZm=bZm=jZT?rZ |@ɢÈBQW< pYDDsD.DEa: EZ:6Eـ4:E"EJ;!EK;!*E];!E];!ԉ EL,u!n0)AyNq?ٱND @NRl9l9nEYlr<Ar>tQ 1z4٪v蝊?Q 5z4v t9xYzQ Ez?yvMC)v:Iv:iv4Y@k!k!k!k!k!ZZAbZAjZArZET}@ɢQUR<ԙ Q@VI I9ɡiIi)y 9@=IIN>BEMg4JEMk4REM5/D D qD ,D E 1: E $ :6E g4:E ! @! @! @! @! nL,/n0)AiyB-?ٱB @Bќ xR??IB-?)B=^;iB#CJˈBN@(I%Mb@Mb@Mb@! !)!I!i!%Mb`A`"?Mb`%%Y=%)!I%=@i!! !%̴@BD=:6D={3YM(=!MC=Mw:Q)M>Q9Q9UEYQ](<A]>aQ 1m4٪ey睊?Q 5m4e a9meY=Q Amz!Qy L,4n0)Ay6` ?ٱ6 @6U<6Ki@;6H?`?@Q"? ` h??I6` ?)6l^;i4BÈBB6(IBDJ?6DJ3YjP(!jR=jP;:Q)n>l9l9nEYpr%<Ar>tQ 1z4٪v杊?Q 5z4vQ vB9xYzQ E~?yvSC)v :Iv:iv4YO@k!k!k!k!k!ZZAbZAjZArZEkt@ɢUĈBUU< Y]IY ]OT9ɡYiaIaia)iimAIiDDtD+DE Ev:6E [4:E"El;!En;!*E`;!E`;!Qy 9@@*@"@ QQԁIQIaNuW>ԩ L,Nn0)Ay6@ٱ6@65<6=;6H W}ey?X? }t?@v?I6@)6&^;i4>ȈBB=(IBDFJ6DF04YNk<!RM=R:Q)R>P9T9VEYTV<AV>XQ 1^4٪Z䝊?Q 5^4Z X9`YbQ Eb?yZVC)Za;IZ;iZ4Ypr@tkkkk1k9ԹZZ bZ jZ rZ u@ɢQU5< QU;IY ]Z9ɡYiYIYia)ayE%9IYIiN}>DDvD,DE: E:6Eg4:E!@!@!@!@vBY~BYB](IB]BBYBYBYB]T;B]EBBBBBB`74 1 *L,hn0)Aɰ;y6@ٱ6@6%<6 ;6H .GQ@<`M?ӑ 3?,@}?H?I6@)6\^;i6!CNˈBRA(IiPIP-Mb@Mb@Mb@) )))I)i)-y&1|?~jt?MbP-`;-D=-)-@I-S@i-j@-@ ))BDEF6DE4YU<!U@=U1:Q)>99EYg<A>Q 14٪,㝊?Q 54 9F=Q A$@ٱ>@>D<><>H +,^͆ (?uFb? y'`W?@?I>$@)>~W^;i> CN̈BRB(IBDZO6DZc4Yv;!vQ=v :Q)v>x9x9zEYxz~<A~>Q 14٪ᝊ?Q 5 4/ 9 Y 'Q E ?y[C):IB:iKŠ4Y@k1k1k9k9k9ZZYbZYjZYrZ]@jj@ɢmňBmD< im@dfz@ٱ>^u@>g<>/<>H@ౄq?`N?e|??I>fz@)>x^;i>!C^ˈBbA(IyMb@Mb@Mb@ )IiAA<vB~BB(IBBBBBBT;BE~jth?J +?D;H=)@I=@i=@@ BDEA6DE?3Y]|!]5=e#<:Q)e>i9i9mEYiu<<Au>Q 14٪O?Q 54 9EI=Q AEԱ DL,n0)Ay6¶@ٱ6@6]<6@<6H ,@ϫ@? `(?Ϟ4??I6¶@)6x_;i6C>ʈBB@(IB>Bp;BDJX6DJ!4YR{r!Rk=Vm:Q)V?T9X9ZEYXZ-<AZ?\Q 1b4٪^#ߝ?Q 5b4^ƿ \9dYf!Q Ef?y^`C)^:I^:i^CЊ4YhjϾ@hkxkxkxkxk|ZZbZjZrZiJp@ɢ-ƈB-]< )-@ BDAT read: Tx time:18:26:01.5170 $Ping request sent.(IBDZ]6DZ'+4Yf!fH=j]K:Q)j>h9h9jEYln;An>pQ 1v4٪rݝ?Q 5v4r p9xYz!Q Ez?yrbC)r:Ir:iri׊4Y|~@k)k1k1k1k9JhRhn0)Ahh76D(ƹ?!:?ޣѨn~D(ƹ?!:?ޣѨnht?h;? D~ƿ~$mq s~D~ƿ~$mq sjhiSrh5ZhΝ?bhxpzhцBhΝ?hxph׆Bh(=>h~/[@ZZybZyjZyrZ}2op@ɢ< 顝;I 99ɡiIi)ԁy8I!IIN=DmDmwDiDiEm: Em:6Ei:Ei!u@!}@!}@!}@ԡiIѐC)  G %rA)9IuOurAudPAvB~BB (IBBBBBBT;BE #L,n0)Ay6@ٱ6@6<6tY<6H: A <@? @p?@v@+?@i?I6@)6_;i6 CNBR(I]Mb@Mb@Mb@Y Y)YIYiY]~jt?I +?Mb`]D<]94=])YI]j@iY]@ YY)i iBDu;6Du)3Y6!?=+E:Q)>99EY)x:A>Q 14٪?ܝ?Q 54I 9:=Q Ao0)Ay60@ٱ6(@6+<6Ɨc<6H@P ?Cՠ?7 t9t9vEYtv Az>xQ 1~4٪zڝ?Q 54zx zB9Y.Q E?yzgC)z;Iz;iz4Y @k1k1k1k1k1ZZbZjZrZ`c@ɢ+<  I |-9ɡi I i )y8I I1N==Yԉ D D uD +D E ҝ: E :6E [4:E ! @! @! @! @ L,o0)A,y>@ٱ>@>}=>i g<>Hv??c݌?'?I>@)>#];i>CFBF)(IEMb@Mb@Mb@A A)AIAiAE{Gzt?:v?MbPEף;E99EYAAAAvB~BB(IBBBBBBU;BE5A5>9Q 1E4٪=ڝ?Q 5E4= 99E Ա 45L,e7o0)Ay6xM@ٱ6pH@6=6f<6H` @? *?2(??I6xM@)6T];i4RɈBR?(IBDZH6DZ4Ybr=!bW=f7:Q)f>d9d9fEYdjPiAj>llQ 1v4٪nOٝ?Q 5v4n l9tYvi*Q Ev?ynjC)n,;In[:in4Yx~@|kkkk!k!DEDEyDE)DAEE: EE:6EEFA4:EA"EE;;!MEE<;!U*EEr;!UEEr;!UZZYbZYjZYrZ]g@ɢiu= qu:Iq uU9ɡqiyIyiy)yuخ8IIN= 1a L,AQo0)Ai B 1(IBD_6D.4Y-DX!-D=5Q)5>1919=E9Y9EAE>IQ 1U4٪M{؝?Q 5U4M I9QYQQ EU?yMkC)M:IM;iM4Yae@akkkkkZZbZjZrZɢɈB  I  8ɡi!I!i1)AyU8I&dClearing failed state for component DockingStepper1I N>BE [4JE [4RE/DUDUDU/DQEU: EUE7:6EUJ4:EQ!]@!]@!]@!]@ieBDAT read: Rx Time:18:26:03.3984 eTRx dataTimestamp_ set to:1755627965.478629vB~BBBBBBBU;BE GL,ko0)Ay6u^@ٱ6mY@6w=6bV<6HWqj쫂@7e? p?=n@Ȋ??I6u^@)6I}];i6!CBňBB9(I Mb@Mb@Mb@  ) I i  ~jtxMbP? Ļ : ) I S@i    BD%>6D%43Y5.=!5J=5Ɣ:Q)5>9999=EY9EAE>IQ 1U4٪M؝?Q 5U4M I9UQ;Q AU>YQ E?yI)MX@rZ}k@ɢʈBw= 額I 8ɡiIi) 4Initializing EZServoServo. M8Initializing DockingStepper.IINc>rDQjDU=D]D]D]'DYE]%: E]:6E]'4:EY"E];!mE];!m*E]3;!mE]4;!mE DAT read: 18:26:03.3984 LVL= 23648, 23153, 26610, 17779, AGC= 33, IDX= 200,-0.23,-2.463,-2.748,-2.652, 1.964, PHS= 1.959, 1.617, 1.624, RAW= 91.0, -79.6, CAL= 93.1, -79.0, ROT= 56.9, 79.0 U Ygot valid direction response: 18:26:03.3984 LVL= 23648, 23153, 26610, 17779, AGC= 33, IDX= 200,-0.23,-2.463,-2.748,-2.652, 1.964, PHS= 1.959, 1.617, 1.624, RAW= 91.0, -79.6, CAL= 93.1, -79.0, ROT= 56.9, 79.0 U DAT read: OK ] :unknown deviceResponse_: OK e *DAT read: user:968> m BDAT read: Tx time:18:26:04.5170 m $Ping request sent.m (IBD =6D 3Y=<<!=J=EG:Q)E>A9A9MEYIM9AM>QQ 1}4٪U؝?Q 5}4U Q9YQ E?yUlC)U;IU`;iU 4Y@kkkkkZZ bZ jZ rZ #@ɢAEͻ= AEGIA Mn{8ɡIiIIIiI)QIiIN=AiD} D} vD} *Dy E} a: E} :6E} (N4:Ey ! @! @! @! @ԙ YL,Ӟo0)Aɰp;yN}W?ٱN& @N 6=N7Y9Y9]EYY]A]>aQ 1m4٪eٝ?Q 5m4e aq9u%ԡ rL,o0)Ay6?ٱ6ep @6=6<6H{`?G߉? ,㠿_?-?I6?)6^;i6C^B^ (IBDjE6Dj3YrD!re=ro#:Q)r>t9t9vEYtzKAz>xQ 14٪zڝ?Q 54z zB9Y7=Q E?yzoC)zr;Iz] ;iz4Yq@D%D%D!D!E%ҝ: E%.:6E!:E!"E%;!-E%;!5*E%;!5E%;!5kIkIkIkIkQZZbZjZrZ6=ɢ̈B= %YI! % 8ɡ!i!I!i))) qqII!N5->1 kL,o0)Ay:g?ٱ: @:-x =:K<:H ^@\3.?^/h?@2.N?` ?I:g?):];i:CJBJ&(IBDV96DV3YZW<!ZM=^M:Q)^>`9`9bEY`fmAf>dQ 1j4٪f۝?Q 5n4f fB9lYnh=Q En?yfpC)f;If8;if4Ytv#@tk k k k k ZZ)bZ)jZ)rZ-h=ɢ9=-x = 9=7IA EIɡAiAIAiI)IiUIUUU9D=D=pD=-D9E=a: E= :6E=t4:E9!E@!E@!E@!E@IQIaNm5>YvB9~B9B9B9B= =B9B9B= U;B=Eԉ QL,co0)Ai0y:?ٱ: @: =:!;:H tf@b a?9b+?}x??I:?):|^;i:!CBBB'(IEMb@Mb@Mb@A A)AIAiAE{Gzt ףp= EףEQ8E)E@IEj@iES@E@ AE̴@BD]T6D]4YmF;!m?=uY:Q)u>q9q9}EYy}ҼA}>Q 14٪ܝ?Q 54 9t9=Q AQ E?ysC):I:ik%4Y@kkkkkZZt9=bZt9=jZcA@rZ}>ɢ͈B = p8I #ɡiIi ) I!I9NE=ԉԹDEDEDE+DAEE: EE0:6EE [4:EA"EE h9h9jEYhjAj>lQ 1r4٪n?ޝ?Q 5v4nw l9tYvV>Q Ev?ynuC)n:In:in,4Yxz*@|kkkkkZZ1bZ1jZ1rZ5EV>ɢΈBO= GI ɡiIi)II1N]=D} D} yD} ,Dy E} 1: E} :6E} g4:Ey ! @! @! @! @ )M ܉G e ĀA)q I DQ ĀA RA L,` p0)A&BDAT read: Rx Time:18:26:06.3985 *TRx dataTimestamp_ set to:1755627968.515732yR3?ٱR @R=R.:RH(@_?@dM?`G9@3W??IR3?)Rn];iRCZBZ((IA`A`vB`~B`Bb (IBbBBb =B`B`BbT;BbE|-Uonly read 2 of 4 data items for bottom velocity. Device response is::BS, -56, -3, :6, -3, +0,A !U@!] !]@!] !]@!] !]@!] BDe=6De3Yu$<!u>=u6:Q)>99EYdɼA>Q 1 4٪ߝ?Q 5 4: Q =+:91Q A5mQ E5?ywC);I>il24YAE@Akkkkkɢ= ;I ɡiIi)I)I)N= >Qԁ L,u9:p0)Ay:?ٱ:@:n8=: (:H 9 Jz?<@?`E ?I:?):];i:CFBF+(IBDV36DV3Yb4L<!bV=fg;Q)f>d9d9jEYhj<Aj>bDlZDn@ADrDrDr)DpEra: ErrN:6ErFA4:Ep"ErJ;!zErK;!z*ErS;!zErS;!z|Q 14٪~ᝊ?Q 54~ |Q = :9Q A @Q E ?y~zC)~e:I~KQ?i~64Y@k1k1k1k1k1YɢeψBen8= ae-Ii m ɡiiiIiiq)qIIN]=}DAT read: 18:26:06.3985 LVL= 25648, 29681, 32754, 26483, AGC= 31, IDX= 441,-0.26,-2.156,-2.454,-2.363, 2.273, PHS= 1.955, 1.601, 1.602, RAW= 90.2, -79.0, CAL= 92.3, -78.5, ROT= 57.7, 78.5 Ygot valid direction response: 18:26:06.3985 LVL= 25648, 29681, 32754, 26483, AGC= 31, IDX= 441,-0.26,-2.156,-2.454,-2.363, 2.273, PHS= 1.955, 1.601, 1.602, RAW= 90.2, -79.0, CAL= 92.3, -78.5, ROT= 57.7, 78.5 DAT read: OK :unknown deviceResponse_: OK U*DAT read: user:969> ]BDAT read: Tx time:18:26:07.5170 ]$Ping request sent.]|9|9~EY|íA> Q 1 4٪ m❊?Q 54 ӿ Q =99Q AQ E?y |C) =:I ?i n:4Y!!!kAkAkAkAkAɢmЈBm2= iuH4Iq u6AɡqiqIqiy)y &Changing to mode: 4ԹI(i% %IYIN=DDD-DE: EC:6Et4:E!%@!%@!%@!%@vB~BB(IBBBBBBT;BE9 #L,5mp0)Ay6?ٱ6@6=6)6H?;`& 7? 0۞? t?I6?)6];i6CRBR$(I!-!- !-!- !-!- !-!- -Mb@Mb@Mb@) )))I)i)-99EYA>Q 14٪U䝊?Q 54V Q =T:9r=Q ADADD}D+DE1: Ek&:6E [4:E"El;! 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U cw?IJl?)J ^;iHB/(IMb@Mb@Mb@ )Ii~jth?MbMbP?D;@:)Ii@ z@BD96D3Y;!;=_;Q)>99EYxA>Q 14٪b睊?Q 54 9@=Q A) /.L,Mp0)Ay6C?ٱ6@6a.=66Hdr n j? x%?{ϥi؃-?I6C?)6];i6CBBB2(IBDJ@6DJ3YR?<!R^=Vu;Q)V>T9T9VEYTZԻAZ>DbDbvDb*D`EbC: Eb:6Eb(N4:E`"Eb;!jEb;!j*Ebh;!jEbh;!j\Q 1n4٪^蝊?Q 5r4^[ \9pYr?Q Er?y^C)^;I^;i^~V4Ytv@xkkkkkZZbZjZrZ?ɢ9=a.= AE!IA ELɡIiIIIiq)y1I-(i))- )I9IaNu>Yԑ X5L,cp0)Aɰ;,y:/?ٱ:@:4=:>!/:HmqIl?@u O?`ޅ`?I:/?):];i:C^B^,(Ii`I`BDfF6Df4Yz!~E=f;Q)>99EY׾A>!Q 1%4٪%靊?Q 5-4% %B9)Y-?Q E-?y%C)%:I%:i%]4Y9=ο@9kYkYkYkYkYZZbZjZrZ?ɢ ԈB 4=  NI  YBĹɡ1i9I9iI)QԙDD{D-DEغ: E5":6Et4:E!@!@!@!@I(i IYIN$>]BDAT read: Rx Time:18:26:09.3986 eTRx dataTimestamp_ set to:1755627971.542608vBq~BqBqBqBu =BqBqBuT;BuEB!B!B!B!B% =B%Ɗ4Ա LA;L, 5p0)Ay:BV?ٱ:&@:(:=:;:Huk Ag?}?tP@>w?I:BV?):_];i8`bBb4(IMMb@Mb@Mb@I I)IIIiIMQ?V-MbPMuy99EYp7;A>Q 14٪Ꝋ?Q 54½ B9=Q ArDjD<DDnDDE: E:6E:E"E';!E);!*EJ;!EJ;! DAT read: 18:26:09.3986 LVL= 29616, 29665, 32754, 26419, AGC= 33, IDX= 442,-0.34,-1.769,-2.061,-1.965, 2.633, PHS= 1.983, 1.634, 1.641, RAW= 91.0, -79.5, CAL= 93.0, -78.9, ROT= 57.0, 78.9  Ygot valid direction response: 18:26:09.3986 LVL= 29616, 29665, 32754, 26419, AGC= 33, IDX= 442,-0.34,-1.769,-2.061,-1.965, 2.633, PHS= 1.983, 1.634, 1.641, RAW= 91.0, -79.5, CAL= 93.0, -78.9, ROT= 57.0, 78.9  DAT read: OK  :unknown deviceResponse_: OK  Z#Rx 15: Read direction message, but no range. ^direction in FSK: [0.104855,0.161462,-0.981293]i m T1$׺?,4eͪ?f￙i Im sim si m 3gm !m ? m &?)m J ?Im K?im Κm ?m Cm ~?m C?Ii )m su?[2mf v←m Ɍm ?m ~? m C?A h)BL,' q0)Ay6n?ٱ6W@6N@@=6>6H^܈Z? w?ԇ@l?I6n?)6j];i6CvĈBv8(IBD:6D{3YF<!%P=-f;Q)->)9195EY15;A=>AQ 1M4٪E띊?Q 5U4Ex A9QYU?Q EU?yEC)E%);IE94;iEk4Yae2@ikkkkkZZbZjZrZC?ɢֈBN@@= I הɡiIi)Im(iiiu qIIN=IqD D vD ,D E : E :6E g4:E ! @! @! @!% @ԩ AY A] ?AvBa ~Ba Ba Ba Be =Ba Ba Be T;Be E0gHL,>#q0)Aiy6NS?ٱ6@6F=6/<:6HC J@AޡE?ѳ@?n@?I6NS?)67];i4JÈBN7(IQ}Mb@Mb@Mb@y y)yIyiy}{Gz?}#<}})}@I}&@i}@}ĸ@ yyBDG6D4YV!?=X;Q)>99EY4<A>Q 14٪Ꝋ?Q 54_ 9#yԱ }NL,2];i6C@@BDJ<6DJ3DRDRtDR+DPER: ERv:6ER [4:EP"ER;;!ZER<;!Z*ER`;!ZER`;!ZY^;!b]=bzT;Q)b>d9d9fEYdfЇ<Af>hQ 1n4٪jꝊ?Q 5r4jJ h9pYr@Q Ev?yjC)jk4;Ij3A;ijy4Y|~D@k1k1k9k9k9ZZibZijZirZm@ɢ؈BJ= % 'I! %-bɡ!i!I!i))) 99Ii IIN >1Y ReUL,Vq0)Ay:G?ٱ:@:zN=:,:H t-T\ ?`?@t̩.@#?I:G?):];i:CFBF/(IBDNP6DN:4YV!VL=Z ;Q)Z>X9X9ZEYX^<A^>`Q 1f4٪bꝊ?Q 5f4b3 `9dYj@Q Ej?y`)b:Ib:ibހ4Yln@lk|k|k|kkZZbZjZrZ@ɢ-وB-zN= 15eI1 5 ɡ1i1I1i9)A1Ii=Ii )5sG Q)yICIDDzD,DE1: E :6Eg4:E!@!@!@!@ xJAIyIN(>avB~BB(IBBB =BBBT;BEԉԹ g[L,|pq0)Aɰ4x9x9zEYxz<A~>Q 14٪gꝊ?Q 5 4 Q = +:9 Q A =Y  @Q E ?yC)#:I>i4Y @k9k9k9k9k9ɢڈBW(Q= HI QrɡiIi)>>ԑIiIIN=DDD*DE: E6E(N4:E"E;!E;!*Ev;!Ev;! wbL,Zq0)AyKv?ٱ @R=EH @`?@?`O`֭?IKv?)8];iCňB:(IBD U6D n4YI߻!8=M:Q)%>!9!9%EY!-i<A->1Q 1=4٪52Ꝋ?Q 5=45 1Q == :99Q A=Y=Y= @Q EE?y1)5;I5[[?i5Ƌ4YIM$@IkikikikikiɢۈBR= 顝0I  ɡiIi)I-(i))5{ 1IAIQN]>I D D mD +D E 1: E :6E [4:E ! @! @! @! @A A 4=vB ~B B (IB BB B B B T;B |EhL,Dq0)A,y6?ٱ6O @6 pR=6.߻6Hۓ:`?@(? 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E] n;! *EY ! EY ! X L,}z0)Aɰy6f?ٱ6+ @6ab=6r6H y v桿 E?`l ?@HDn`o?I6f?)6s];i4B׈BBO(IiDIDBDJ?6DJ3|Y! K= 8:Q) >99EY<A=>AQ 1U4٪EN䝊?Q 5]4E EBQ =] :9YQ A]99EY†<A>9Q 1u4٪=Y㝊?Q 5}4= =BQ =99Q AW d= x< ɡiI(;i) &Changing to mode: 1ԉI9i99= 9IIIaNmW>Ա vBE t>~BA BA BA BA BA BA BE iT;BE WEc L,,)80)AyJ>?ٱJ @JIc=JT JH c@` ?@G?@ue@.a@_?IJ>?)Ji#`;iJCZوBZR(IbnManaging dock network, ignoring radio surface power off!E!M !M!M !M!M !M!M MMb@Mb@Mb@I I)IIIiIM?I +?Mb`M99EY9<A> Q 14٪ C❊?Q 54  Q =5T:95=Q A5-Ic= 1 1ɡ1i1I53;i9)9I(i IIN=.>rDjD=DDxD,DE: E:6Eg4:E"E;!E;!*EJo;!EJo;!m *DAT read: user:971> u BDAT read: Tx time:18:27:23.6166 u $Ping request sent.u U?ٱ>"S @>b=>'>H@ζlС`_?` ?jRc@o?I>U?)> b;i>CJBJc(IBDRI6DRX4YZ=!ZW=Z!ɹQ)Z>\9\9^EY\b<Ab>dQ 1j4٪fDᝊ?Q 5j4f fB9hYj;@Q Ej?yfŗC)fd:If:ifV4Ypr@pkkkkZZ!bZ!jZ!rZ%x;@I11)5>5b= 9 9ɡ9i9I==;iA)AI(i II1N==AXRequesting device enable set for address 50.qD D D +D E : E 3:6E [4:E !% @!% @!} @!} @ԙ $v L,k0)Ay60?ٱ6R @6c=68׹6HN0s5 #? %Ѳ?@{@^: P?I60?)6xb;i4bBb4(I]Mb@Mb@Mb@Y Y)YIYiY]Q? rh?~jth]<]C =]D)YIYiYY YYBDu>6Du43Y1!>=@:Q)>99EY <A>Q 14٪ߝ?Q 54 B9!:=Q Ac=  ɡ i I 3dJ;i)qvB~BB(IBBBBBBaT;BSEԩ}q:I(i I!I1NE>bD ZD @ABEFA4JE˔K4RE˒0D D D (D E : E :6E c44:E "E ;;! E <;! *E #ۈBBT(IBDJB6DJ3YRV >!RZ=RQ)R>T9T9VEYTVs<AZ>XQ 1^4٪Z5ޝ?Q 5b4Z ZB9`YbjD@Q Eb?yZʗC)Z" ;IZ ;iZe4Ydjƽ@hkxkxkxkxZZibZijZirZmjD@I)>*b=  ɡiIU;i)<I (i   y II9NE>1 ۈ L,50)Aɰ;y:?@ٱ::@:ca=:"::H9` r@^ˠ@h?~g`?m|ID?`?I:?@):A_;i:CBڈBBS(IBDJA6DJ?3Yb_л!bH=f5Q)f>d9d9jEYhj9<Aj>lQ 1r4٪nܝ?Q 5r4n nB9tYvD@Q Ev?yn̗C)n:In:in.l4Yxz۽@xkk!k!k)ZZ9bZ9jZ9rZ=D@DDxD*DE E:6E(N4:E!@!@!@!@I) )5>5ca= 1 9ɡ9i9I=^1b;i9)AYu ԉ vB ~B ƍCB (IB BB =B B B UT;B LEBBBBBBʋ47 L,z0)A0yB`@ٱB[@Bsb=B );BHNm h]?sq9y9}EYy}›;A}>Q 14٪۝?Q 54 9+=Q AQ E?yΗC)7 ;I ;is4Y@kkkkZZ+=bZ+=jZ?rZr@Ii)u]>usb= q qɡqiqI}Ym;iy) I)ԉDDD.DEU: E*:6Eـ4:E"E;!E;!*Eb;!Eb;!I(i IIN>  L,^MӃ0)Ay6@ٱ6@6'a=65;6H`{@]<R?ȁ``?;7o? }?I6@)61^;i4@BY(IBDJH6DJ4YR7a!RY=R?Q)R>T9T9VEYTV;AZ>X`Q 1~4٪Zڝ?Q 5~4Z X9YQ E?yZЗC)Z"'a=  ɡiI x;i)I(i IIN&>BDAT read: Rx Time:18:27:25.5007 TRx dataTimestamp_ set to:1755628047.486656YDD}D,DE: Ek&:6Eg4:E! @! @! @! @i A L,(0)Aiy6@ٱ6@6e[=6$>;6H 9PG_6@Fp;Mb@Mb@Mb@ Y)IiMbP?<)Ii BDi6DiY}O!==hnQ)>99EY*<A>Q 14٪/ڝ?Q 54 9e[=  ɡ i I j5;i ) I(i IIN>ivB~BǍCBBB =BBBKT;BHEԑ D D D (D E : E *:6E c44:E "E ];! E ^;! *E ! E ! h!L,0)AyB@ٱB@BZ=B괫;BH@y)HN=?@ĝ??Y`nu?0?IB@)B^;iBC^܈BbU(IBDjW6Dj 4Yri=!rU=r⠹Q)r>t9t9vEYtvAz>xQ 1~4٪zٝ?Q 54zG x9YFQ E?yzҗC)z;Iz;izx4Y @k1k1k1k1ZZQbZQjZQrZUQu@Iaa)m>mZ= i iɡiiqIu;Թi)I(i IIN=5DAT read: 18:27:25.5007 LVL= 23984, 27233, 31314, 24227, AGC= 32, IDX= 228,-0.30,-1.656,-1.982,-1.857, 2.811, PHS= 1.918, 1.535, 1.571, RAW= 94.9, -78.3, CAL= 97.4, -77.7, ROT= 52.6, 77.7 =Ygot valid direction response: 18:27:25.5007 LVL= 23984, 27233, 31314, 24227, AGC= 32, IDX= 228,-0.30,-1.656,-1.982,-1.857, 2.811, PHS= 1.918, 1.535, 1.571, RAW= 94.9, -78.3, CAL= 97.4, -77.7, ROT= 52.6, 77.7 =DAT read: OK =:unknown deviceResponse_: OK E*DAT read: user:972> MBDAT read: Tx time:18:27:26.6166 M$Ping request sent.M1919=EY9=d:A=>AQ 1M4٪E؝?Q 5M4Et A9IYM@Q EU?yEӗC)E;IE;iE4YYe4@akkkkDDD.DEƱ: E6Eـ4:E!@!@!@!@ZZbZjZrZau@I)>.Y=  ɡiI3:;i)9I}(iyy} yIIN=>ivB ~B B (IB BB B B B PT;B KEԑ !L,:0)Ay:@ٱ:x@:EV=:띳;:H@@Ez`;?r?`DЪkv??I:@):v];i8BBB"(IiDIDEMb@Mb@Mb@A A)AIAiAEMbP?Q?Mb`E:Euq9q9uEYquF:Au>yQ 14٪}w؝?Q 54} y9yxEV=  ɡiI;i) }A }AqIu(iqqu qIIN=DDuD/DE: E:6EJ4:E"E;;!E<;!*E^d;!E_d;!Թ [!L,T0)Ay6@ٱ6@6S=6;6H`ۓ]L@ :B? ??B_ z??I6@)6*^;i6CBʈBB@(IBDJ?6DJ3Yr=!vS=vQ)z>x9|9~EY|gA> Q 14٪ ؝?Q 54  B9Y"Q E?y ՗C)  S=  ɡiI2;i)I(i IIN>DDD*DEs: E*:6E(N4:E!@!@!@!@a t!L,pn0)A y6@ٱ6@6,P=6;6H}[`9 }Q?@[̦?@@|?8?I6@)6^;i6CbňBb9(IUMb@Mb@Mb@Q Q)QIQiQU~jth?99EYA>Q 14٪ם?Q 54 9e,P= a aɡiiiIm ;ii)qiI-(i))- )IAIYvBy~ByB} (IB}BByByByB}ET;B}EEN>ԙ D D qD 1D E : E $ :6E -4:E "E ;! E ;! *E U;! E U;! Z!!L,K0)AiPyZ`@ٱZ[@ZM=ZH};ZHvn6i_?r@,? @5v?`?IZ`@)Z^;iZCbوBfR(Ij>j>BDvZ6Dv%4Y~=!~Z=uQ)> 9 9 EY HA>Q 1-4٪sם?Q 5-4 9)Y-&3Q E5?y);Ik;iګ4Y9E@AkikikikqZZbZjZrZ!^@I)>>M=  ɡiI;i)??Iaiiim iIyIN!  BDAT read: Rx Time:18:27:28.5008  TRx dataTimestamp_ set to:1755628050.510707z$(!L,&0)Ay6);@ٱ6!6@6T9T9VEYTZ>AZ>XQ 1 4٪Z(ם?Q 54Z ZB9YP3Q E%?yX)ZY]QvBy ~By B} (IB} BBy By By B} AT;B} CEԑ N.!L,0)Ay6W?ٱ6 @6wD=6t;6HR?w{ܘ?C@Km?`w?h?I6W?)6%_;i4NψBRF(Ia%Mb@Mb@Mb@! !)!I!i!%:v{Gzt%T%ף%)%@I!i!! !!BD=:6D={3YM<!M2=}DAT read: 18:27:28.5008 LVL= 24400, 28225, 31058, 25475, AGC= 32, IDX= 437,-0.34,-1.643,-1.956,-1.839, 2.777, PHS= 1.964, 1.594, 1.622, RAW= 93.9, -79.0, CAL= 96.2, -78.4, ROT= 53.8, 78.4 Ygot valid direction response: 18:27:28.5008 LVL= 24400, 28225, 31058, 25475, AGC= 32, IDX= 437,-0.34,-1.643,-1.956,-1.839, 2.777, PHS= 1.964, 1.594, 1.622, RAW= 93.9, -79.0, CAL= 96.2, -78.4, ROT= 53.8, 78.4 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:973> X#Rx 3: Read direction message, but no range.^direction in FSK: [0.118758,0.162262,-0.979575]Y])#Kf? ?D.X￙YI]P_i]An]Ry]cY]Zd? ]1?)]?I]M?i]|]?]%]vap?]%?IY)] ;c?dy{6Qh←]C]rn?]vap? ]%?U>Q)>99EY/A>Q 14٪ם?Q 54 93dwD=  ɡiIv1;i)ԉrD=jD%=BE t4JE ņs4RE ů0DDtD2DE Ev:6E4:E"E;!E;!*E`;!E`;!I(i IINC>Ա BDAT read: Tx time:18:27:29.6166  $Ping request sent. I9I9MEYIMAU>YQ 1]4٪]ם?Q 5e4] Y9aYe*Q Ee?y]ؗC)]u:I]:i],4Yim@qkkԱk)k)ZZIbZIjZIrZM @IYY)]θ>]E= Y aɡaiaIeZ²;ia)i qI(i II)N5 >DDwD*DEƱ: E:6E(N4:E!@!@!@!@9 `;!L,0)Ay:S?ٱ:$ @:UC=:T;:H@ `B ?U?Uhܕj??I:S?):U^;i:CbBb(IUMb@Mb@Mb@Q Q)QIQiQU:v:vQUTQ)QIU=@iQU۹@ QQBDm=6Dm3Y}_K!}G=bQ)>99EY-\A>Q 14٪؝?Q 54 B9UC=  ɡiI(;i)vB~BBBBBBB:T;B@EBBBBBB3IM(iIIM IIYIiN}>AqbD ZD ?AD D rD D E : E ?:6E :E "E ;! E ;! *E sY;! E tY;! Թ oHB!L,K 0)Ay>0a?ٱ> @>LC=>W;>H@b? |Ϥ?Ez nj??I>0a?)> ^;i>CJLjBN<(IBDZ<6DZ3Y%.>!-P=-Զ9Q)->19195EY1=A=>AQ 1U4٪E6ٝ?Q 5U4E A9QYU!Q EU?yEڗC)E;IE;iE>ϐ4Y@kkkkZZbZjZrZ@I1A)E>ELC= A IɡIiIIM;iIq)yI (i    II1N= >ԡ rH!L,3n#0)Aiy6wN?ٱ63" @6-D=6e;6HI:U ?@?0l?|?I6wN?)6k];i4VBZ.(IBDr96Dr3Yvg!zN=z :Q)z>|9|9~EY|ZA>Q 1 4٪ٝ?Q 54 9Y*Q E?yۗC):Ih:i)֐4Y@kkkkDmDiDm2DiEm: Ei6Em4:Ei!@!@!@!@ZZbZjZrZ@Ia)k>-D=  ɡiIoZ;i) |A|AI(i IINB>A vB ~B B B B B B B ,T;B 9ELN!L,#L=0)Ay6|?ٱ6F @6͊C=6;6H_/'?`*d8?@nc??I6|?)6#];i6CBΈBBD(I Mb@Mb@Mb@  ) I i  I +/$Mb`? 94  ;) @I i =@ ĸ@  BD%I6D%X4Y5=!5F==PQ)=>A9A9EEYAE}AM>IQ 1U4٪Mڝ?Q 5U4M I9]Q E]?yMܗC)M;IMv;iMaݐ4Yam@ikkkkZZM<bZM<jZM$[@rZM! >Iyy)}#>͊C=  ɡiI;i))Ie(iaae arDm=jDiDuDuuDu*DqEu: Eu:6Eu(N4:Eq"Eu;!}Eu;!}*Eu^d;!Eu_d;!IIN>>yԩ U!L,(W0)Ah9h9jEYhjJAj>lQ 1r4٪nh۝?Q 5v4n nB9tYv>Q Ev?ynݗC)n:In:in14Yxz@|kkkkZZ9bZ9jZ9rZ=>III)M>MHC= I QɡQiQIU;iY)YI (i  I!I1N==ԩiu=IuC)sG )AI=$￝MBDAT read: Rx Time:18:27:31.5008 MTRx dataTimestamp_ set to:1755628053.534783QUaAD}D}wD}+DyE}: E}:6E} [4:Ey!@!@!@!@) [!L,q0)Aɰ;y6?ٱ6 @6HZD=6y86H3n혛`f?{ @bI?ረ??I6?)6_;i6CRЈBRG(I|eMb@Mb@Mb@a a)aIaiae= 9Q)>99EYA>Q 14٪/ܝ?Q 54 9Q E?yޗC):I;i4Yp@kkkkZZ<bZ<jZC@rZ4>I)>HZD=  ɡiI ;i!)!5?5;>I(i IIN>vB~BB'IBBBBBB+T;B8E)QuDAT read: 18:27:31.5008 LVL= 26816, 31793, 32754, 28963, AGC= 33, IDX= 438,-0.37,-2.043,-2.355,-2.242, 2.363, PHS= 1.979, 1.610, 1.634, RAW= 93.3, -79.0, CAL= 95.6, -78.4, ROT= 54.4, 78.4 }Ygot valid direction response: 18:27:31.5008 LVL= 26816, 31793, 32754, 28963, AGC= 33, IDX= 438,-0.37,-2.043,-2.355,-2.242, 2.363, PHS= 1.979, 1.610, 1.634, RAW= 93.3, -79.0, CAL= 95.6, -78.4, ROT= 54.4, 78.4 }DAT read: OK :unknown deviceResponse_: OK X#Rx 4: Read direction message, but no range.^direction in FSK: [0.117052,0.163497,-0.979575]QUK( ?vE+u?D.X￙QIUhiU1|UU#qU!UO? 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E U;! $b!L,j݊0)AyFg?ٱFy @FfD=FNFH@`z@#?`Dͣ?r_?IFg?)F%^;iDRшBVH(IBD^Z6D^%4Yf`;!fW=j8Q)j>h9h9jEYhnAn>pQ 1v4٪rܝ?Q 5v4r p9tYz.>Q Ez?yrߗC)r:Ir:irR4Y|~e@|kkkk!YZZbZjZrZ.>I)>fD=  ɡiI$;i)Im(iiiiqIIN=ԁԱ h!L,ä0)Ay6/?ٱ6 @6V2G=6696H*@v?r?㨿g H?I6/?)6^;i4>҈BBI(IBDJU6DJn4YR ;!RM=R:Q)R>T9T9VEYTVAZ>\Q 1^4٪^ݝ?Q 5b4^ \9`Yb>(>Q Eb?y^C)^:I^:i^K4Ydf^@hktkxkxkxZZ bZ jZ rZ :>(>I!!)%>%V2G= ! !ɡ)i)I-;i))1ԱD=D9D=(D9E=1: E96E=c44:E9!M@!U@!U@!U@I(i IIAN= vB ~B B (IB BB B B B )T;B 9 n!L,󐾅0)Ay6?ٱ6Ҿ @6J=6~6H`@#FM?ڔ ?Np@?I6?)6];i6CBЈBBF(IF=F=Mb@Mb@Mb@9 9)9I9i9=~jtxS㥛MbP=Ļ=/ݼ=)=@I=S@i=&@=@ 9=̴@BDUI6DUX4Ye!e?=m':Q)m>i9i9uEYquCAu>yQ 14٪}ޝ?Q 54} y9Q E?y}C)}:I}:i}4Y~@kkkkZZ<bZ<jZ̏@rZ>I)t>J=  ɡiIip;i) 1Im(iqqu~ qIIN=ADMDMsDM,DIEM: EMZ:6EMg4:EI"EM;!]EM;!]*EM];!]EM];!]qԙ Ru!L,j؅0)Ay6?ٱ6g @6 M=6u6H@i T$`?`kp q?@n?I6?)6];i6CRՈBRM(IBDZ`6DZ04Yb<!bU=b:Q)b>d9d9fEYdjbAj>hQ 1r4٪j`ߝ?Q 5r4j h9pYra>Q Er?yjC)jf;Ij;ijw4Yxz%@xkkkkZZbZjZrZMa>I)> M=  ɡiI;i)qI(ij IIN=ԡD]D]~D]*DYE]y: E](:6E](N4:EY!e@!e@!e@!e@ {!L,G0)Ay6D?ٱ6 @6P=6I6HI r?@Q Pɤ?`p`Q?I6D?)607^;i6CF̈BFA(IMb@Mb@Mb@ )IiMb:vԼ)@Ii BD-P6D-:4Y=D5!=C=E;Q)E>A9A9EEYIM2AM>QQ 1]4٪UM?Q 5]4U Q9]Q Ee?yUC)Uj;IU;iU4Yim@ik1k1k1k9ZZ<bZ<jZ>@rZ>I)k>P=  ɡiIn;i)vB~BBBBBBB-T;B:E] dTimed out moving from: 10480 to: 14700 response: 1- Hardware FaultI-&VHardware Fault in component: DockingStepperINC>1 BEʙT4JEg4RE0Dm Dm vDm 2Di Em C: Em :6Em 4:Ei "Em ;!} Em ;!} *Em h;! Em h;! q!L,* 0)AɰyVi(?ٱV, @V8P=VVH`"D&` |?Kia? vA?IVi(?)V`;iTȈB>(Ii I BD=6D3Y%v!-K=-7Q)->19195EY1=D A=>AQ 1M4٪E0ᝊ?Q 5M4Eo A9IYM>Q EU?yEC)E:IE:iE4YY]@YkykykykyZZbZjZrZU>I)>8P=  ɡiIpn;i) :Uninitialize Docking Stepper. 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Ȁ"?I6٫?)6_;i4nوBrR(IBDz=6Dz3Y><!H=P;Q)> 9 9 EY  <A>Q 1%4٪坊?Q 5%4& 9!Y%>Q E%?ytC);I;i4Y)5@19kQkQkQkQkYZZqbZqjZqrZu>ɢnD= 額I >ɡiIi)m<IIN=iԡBEg4JEg4RET/Du Du uDu ,Dq Eu : Eu :6Eu g4:Eq "Eu ';!} Eu );! *Eu ^d;! Eu _d;! Å$L,u"0)Ay6T?ٱ6H @6J=6I66HWd`H?U?|Uu?I6T?)6_;i6ԑC>BBb(I Mb@Mb@Mb@  ) I i  QI +MbP u 94 ) @I i  ĸ@  BDuO6Duc4Yj=!B=\};Q)>99EYH<A>ԙQ 14٪杊?Q 548 9]Q=V&1VH``? r?(X?IV/?)Vh_;iT~B~](IBD U6D n4Y!Q=%;Q)%>!9)9-EY)-݋<A->1Q 1=4٪5睊?Q 5=45I 19AYE!Q EE?y5vC)5;I5<;i5H4YIMU@IkikikikikqnManaging dock network, ignoring radio surface power offZZ9bZ9jZ9rZ=ͽ@ɢq}>]Q= y}jIy ǹɡiIi) I)!BDAT read: Rx Time:18:28:25.3023  TRx dataTimestamp_ set to:1755628107.290683IINc>Qԁ M$L,ߒ0)Ay:!?ٱ:΋ @:X=:(:He@X{?C`?{?U`?I:!?):d_;i8FBF`(IMb@Mb@Mb@ )Ii{Gz?̼ף<)@I&@i=@@ (@BD5V6D5E4YE,<!EH=M;Q)M>I9I9UEYQU<AU>aQ 1m4٪e杊?Q 5m4e a9u"=Q Aut9t9vEYtz<Az>|Q 14٪~杊?Q 54~ ~B9 Y ҿQ E ?y~yC)~2:I~:i~H4Y@k1k1k1k9k9ZZQbZQjZQrZUym@ɢim._= imIi mɡqiqIqiy)yIIN_=ԱDAT read: 18:28:25.3023 LVL= 24416, 28545, 32242, 26035, AGC= 31, IDX= 456, 0.25, 0.079,-0.253,-0.136,-1.791, PHS= 1.972, 1.583, 1.611, RAW= 93.7, -78.4, CAL= 96.1, -77.8, ROT= 53.9, 77.8 Ygot valid direction response: 18:28:25.3023 LVL= 24416, 28545, 32242, 26035, AGC= 31, IDX= 456, 0.25, 0.079,-0.253,-0.136,-1.791, PHS= 1.972, 1.583, 1.611, RAW= 93.7, -78.4, CAL= 96.1, -77.8, ROT= 53.9, 77.8 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:975> BDAT read: Tx time:18:28:26.4163 $Ping request sent.F%=BDJQ6DJ4Yf;!fL=f;Q)f>h9h9jEYhj٠<An>pQ 1r4٪r杊?Q 5v4rK p9tYvѿQ Ev?yrzC)r:Ir:irF4Yx~ѽ@|kkkkk!ZZbZjZrZA@ɢ4g= pI  ɡiIi)I1IANU=A)=+G UA)eAIu:A1:ADU DU oDU +DQ EU ҝ: EU :6EU [4:EQ !] @!] @!] @!] @i H$L,o-0)Ay:;?ٱ: @:l4m=:H9һ:H`` ڣ?M>?O ;z`?I:;?):_;i:БCBՈBFM(I%Mb@Mb@Mb@! !)!I!i!%~jt~jt?MbP?%%=%:)%@I%S@i%S@! !%p@BDUD6DUJ3Ye!m@=m{h;Q)u>y9y9}EYyZ<A>Q 14٪杊?Q 54 9.=Q Ay99EYٳ<A>Q 14٪q坊?Q 54 B9Y]Q E?yC)p;Iy;iڲ4Yž@kAkIkIkIkIZZbZjZrZQa@ɢ+Is= 顭ѽI I6ɡiIi)IIN=ԩ $L,+0a0)Aɰ*;*p;yF?ٱFC @Fw=F-=FH&ܔ?.? g@?IF?)Fޝ_;iFёCR݈BRW(IiTITx}Mb@Mb@Mb@y y)yIyiy}~jt~jt?}D}D=})}@Iyi}&@}ĸ@ y}̴@BDP6D:4Y=!I=.;Q)>99EY<A>Q 14٪]䝊?Q 54 9J=Q AI;?+> 2?@M|`0LL ~?I6P?)6_;i4NֈBRN(IBDZU6DZn4Yb!bZ=b8;Q)b>d9d9fEYdj<Aj>hQ 1r4٪jb㝊?Q 5r4j h9pYrQ Er?yjC)j;Ij];ij}4Yxz@xkkkkkYZZbZjZrZg@ɢ |=  I rTɡiIi)I IANM=ԉvB~BBBBBBBT;BErDjDR=D%D%yD%*D!E%: E%:6E%(N4:E!"E!!5E!!5*E%r;!5E%r;!5Թ  BDAT read: Rx Time:18:28:28.3024  TRx dataTimestamp_ set to:1755628110.314660%$L,ה0)AyJkU@ٱJcP@JX=JHM:JHf k]碿^? o?@寿 1S??IJkU@)J8_;iJБCz؈BzP(IBDX6D!4Y8<!E=:Q)>9!9%EY!%<A%>)Q 154٪-N❊?Q 554-S )99Y=Q E=?y-C)-{;I-U;i-ǔ4YAE@AkakakakikiԹZZbZjZrZ>@ɢX= I (eɡiIi!)!I9&udClearing failed state for component DockingStepper1uIqN}=D5 D5 uD5 1D1 E5 : E5 :6E5 -4:E1 != @!= @!= @!= @9 "$L,ձ0)AiyR@ٱR@R*܀=Rb0;RHt 2J99EYv<A>Q 14٪?Q 54 9SV=Q A} X#Rx 6: Read direction message, but no range. ^direction in FSK: [0.126444,0.167188,-0.977783]) cM/?;mf?5J￙Igiqu @ ?)M?IV?i^i?\l??I)V?1Hyµ#q7]←?\l? ?Y)-#@1kIkIkQkQkQZZSV=bZSV=jZT?rZy@ɢ15*܀= 1=(RI9 =:rɡ9i9I9iA)A u4Initializing EZServoServo.A 8Initializing DockingStepper.I)I9N]>qm BDAT read: Tx time:18:28:29.4163 m $Ping request sent.m q9y9}EYyq<A>Q 14٪ߝ?Q 54 B9Y)Q E?yC)\(;Iw9;i֔4Yf@kkkkkZZbZjZrZqy@ɢ cF=  sI  ~c|ɡ i Ii)I1IANM=qԡ 7$L,x0)Ay^Y@ٱ^ T@^=^;^H@L@ޡ`?`^&?@0@!uv?`z?I^Y@)^h/_;i^БCjBj(IMb@Mb@Mb@ )IiMb?Mb?{Gzt<@=ף)x@Ii&@ BDB6D3Ys{!E=o9Q)>99EY5<A>Q 14٪<ޝ?Q 54[ B9ZD=Q A!rZ=rLQ)r>t9t9vEYtvn;Az>xQ 1~4٪zܝ?Q 54z zB9Y{(Q E?yzC)z;Izw;iz4Y @k)k1k1k1k1ZZQbZQjZQrZUi@ɢae"= aeIa mɡiiiIiiq)qyIIN">vB~BB(IBBBBBBT;BtEBQBQBQBQBQBUũ3DDqD*DE: E$ :6E(N4:E"E;!E;!%*EU;!%EU;!%ԙ F%L,0)Ay:<@ٱ:4|@:t=:'X;:HL?V?"}??I:<@):ث^;i:ΑCFLjBF<(IPBDNF6DN4YZ;!ZM=ZݩQ)Z>\9\9^EY\bI9Ab>dQ 1j4٪f۝?Q 5j4f fB9hYhQ Ej?yfC)f|:If:if4Ypr@pkkkkkZZ!bZ!jZ!rZ%i@ɢ15t= 15I1 ="ɡ9i9I9iA)AIYIiN}E=D D D -D E 1: E 6E t4:E ! @! @! @! @! q %L,/0)AyNw@ٱNr@N(~=N;NHd˜? [?˿?@?INw@)NgT^;iNБCVˆBV6(I|eMb@Mb@Mb@a a)aIaiae{Gzt?V-?eף;e6D}43YTļ!==@Q)>99EYA>Q 14٪ڝ?Q 54 9~B ǍCB 'IB BB B B B T;B dED D vD +D E : E :6E [4:E "E ];!- E ^;!- *E h;!- E h;!- X%L,sI0)AyF[D@ٱFS?@F q|=Fڴp9p9rEYpvAv>xQ 1 4٪zٝ?Q 5 4z! x9 YH)Q E?yzC)zg;Izi;iz 4YYy}@ykkkkkZZbZjZrZh@ɢ   q|= ܽI =ɡ9i9IAiI)IIN=ԁBDAT read: Rx Time:18:28:31.3025 TRx dataTimestamp_ set to:1755628113.342696Ա /%L,c0)Ai,I,)fG rrA)~AI-3R-rA-RAy@ٱ@y= <H5 <y-? E?.@bw?~?I@)C^;iΑCԱĈB8(I!=@!= =Mb@Mb@Mb@9 9)9I9i9=Mbp?MbP?Mb`?=;=:=;)=@I9i=@=ĸ@ 9=BDU^6DU,4Ye(!e3=mƺQ)m>q9q9uEYqu+(A}>yQ 14٪}ٝ?Q 54}Q 9tI y9);Q A3>Y@Q E?y}C)}y;I};i}4Y=@kkkkkDDzD*DEC: E :6E(N4:E!@!@!@!@ZZ);bZ);jZz>rZ:@ɢy= 顥I n̺ɡiIi)IIN%> DAT read: 18:28:31.3025 LVL= 29840, 30417, 32754, 27187, AGC= 34, IDX= 442, 0.13, 0.448, 0.132, 0.259,-1.450, PHS= 2.000, 1.627, 1.664, RAW= 95.2, -79.2, CAL= 97.6, -78.7, ROT= 52.4, 78.7 Ygot valid direction response: 18:28:31.3025 LVL= 29840, 30417, 32754, 27187, AGC= 34, IDX= 442, 0.13, 0.448, 0.132, 0.259,-1.450, PHS= 2.000, 1.627, 1.664, RAW= 95.2, -79.2, CAL= 97.6, -78.7, ROT= 52.4, 78.7 DAT read: OK :unknown deviceResponse_: OK X#Rx 7: Read direction message, but no range. ^direction in FSK: [0.119556,0.155246,-0.980615]x2?8d?_<1a￙Itiv3j" A?)?Iȭ?i;ﰿ^ ?Fѯ j?Fѯ?I)FRO?rj<Wxo←ݾt? j? Fѯ?9 %L,}0)Ay6@ٱ6@6v=6;<6H}`W G`I?6'ڪ?z??I6@)6_^;i4RƈBR:(IBDZ=6DZ3YfJ<!fi=j$Q)j>h9h9jEYhn(An>pQ 1v4٪rٝ?Q 5v4r rB9xYz@Q Ez?yp)r:Ir:ir4Y|~@|kkkk!k!ZZ9bZ9jZ9rZ= @ɢIMv= QUIQ UֺɡQiQIYiY)aIyINS=QvB)~B)B)B)B)B)B)B-zT;B-_EԁDDrD+DEU: E?:6E [4:E"E;!E;!*EsY;!EtY;!ԩ %%L,g0)Aɰ;;y6.@ٱ6)@6q=6;6H@XXyvIk?]Xl?2?~?I6.@)6g^;i6͑CRňBR9(IiPIPBDZK6DZ 4Y%+!%E=%(%Q)%>)9)9-EY)-9A5>1Q 1=4٪5iٝ?Q 5E45  19AYE4@Q EE?y1)5;I5H;i5[4YIU+@QkikqkqkqkqZZbZjZrZ4@ɢq= 顥(I m;ɡiIi) &Changing to mode: 4ԱI5(i115 5IAIQNe=DDtD*DE: Ev:6E(N4:E!@!@!@!@ 9 Ǿ+%L,WC0)Ay6X?ٱ6T @6m=67;6H$$s᝿B?!*@?`K _|??I6X?)6ZW_;i4BLjBB<(I! !  Mb@Mb@Mb@  ) I i  Mbp?99EY0A>Q 14٪ٝ?Q 54 9 9i A% <A% <vB% s>~B! B! B! B% =B! B! B% pT;B% ZEbD ZD D D vD )D E : E :6E FA4:E "E ;! E ;! *E h;! E h;! o2%L,d˔0)Ayn#(IBDB6D3Y B/<!J=- Q)>99EY%iA%>!Q 1-4٪%=ڝ?Q 554% !91Y5Z?Q E5?y%C)%:I%:i%4Y9E@AkakakakakaZZbZjZrZ7Z?ɢ i=  tٽI  ɡ1i1I1i9)A qiI(i    II)N= >ԙ d8%L,G0)ALhihy5?ٱ5cz @5e=5F[;5H `?ݱܥ?r?@ ?I5?)5"_;i5̑CMшBMH(IM9999=EY9EAE>AQ 1U4٪E۝?Q 5U4EU EB9U-=Q AU  ?%L,'0)Ay6?ٱ6s @6oTa=60zR;6H#j`s' Ý@?@p3?&Ej??I6?)6u,_;i6ΑCbʈBb?(IBDj06Dj3Yr!rc=v=Q)v>t9t9vEYtzAz>||Q 14٪~۝?Q 5 4~ ~B9 Y ?Q E ?y~C)~:I~:i~*4Yھ@k1k9k9k9k9ZZYbZYjZYrZ]?ɢimoTa= imֽIi ubɡqiqIqiy)yI(i I!I1NE=)vBt>~BB(IBBBBBBgT;BVErD=jD<DDxD,DEs: E:6Eg4:E"E;!E;!*EJo;!EJo;!Qԁ E%L,0)Ay6v?ٱ6C6 @6o\=6uL:6Hs( #U@ K?.Q?`{` X?!?I6v?)6?^;i4BшBBH(IBDJ?6DJ3Yf=!fL=f~CQ)f>h9h9jEYhn!ɼAn>pQ 1v4٪rܝ?Q 5v4r rB9tYvW}?Q Ev?yrC)r:Irl:ir14Y|~l@YykkkkkZZbZjZrZW}?ɢo\= `I e ɡiIi)~A~AI(i IIN=ԁԹBE= [4JE=wX4RE=L/DDpD+DEҝ: E :6E [4:E!@!@!@!@ L%L,20)Ay6,?ٱ6C @6 W=6L͹6H 8 y? 6@:? (9?I6,?)6^;i6ˑCB̈BBB(IiDID Mb@Mb@Mb@  ) I i  y&1?~jth `< L ) @I b@i @ @  µ@BD%D6D%J3Y5P!5D==0Q)=>99A9EEYAEhżAE>IQ 1U4٪Mtݝ?Q 5U4M MBԹ9U k=Q AgA A vB ~B B B B B B B kT;B XEBmǍCBmǍCBiBm =Bm =Bmo4A bD ZD ?AD D sD ,D E s: E Z:6E g4:E "E ! E ! *E ];! E ];! JS%L,7L0)AyZ?ٱZA @ZS=Z ZHs@N q?@V`T?2m d`?IZ?)Z#^;iZΑCbЈBbF(IBDn96Dn3Yr<!vO=v.Q)z>x9|9~EY|A >Q 1%4٪Uޝ?Q 5%4 9)Y-?Q E-?yC)`;Iq;i?4Y9=~@9kqkqkqkqkqB*** querying acoustic contact ***:hBhZZbZjZrZw?ɢS= ȿI ɡiIi)I)i))- )I9IINu>Ae2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.iԡ 2Y%L,ɑf0)Aj*DAT read: user:977> rBDAT read: Tx time:18:28:36.0172 v$Ping request sent.z99EYpA>Q 14٪ߝ?Q 54 B9T=Q A= >ԙI(i IINg>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.245794 `%L,h\0)Ay6b?ٱ6+ @6$M=6/»6H@kPH@o`?W?@ᡩ`>x`?I6b?)6^;i6͑CNBR4(IR%=PBDZ:6DZ{3Yb!b=b;Q)b?d9d9fEYdj Aj?hQ 1r4٪j?Q 5r4j h9pYrW?Q Er?yjC)j;Ij;ijM4Yxzk@xkkkkkZZ1bZ1jZ1rZ5WW?ɢAE$M= AMII Mq!ɡIiIIIiQ)QIi IIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497735vBUs>~BUƍCBU(IBUBBU =BQBQBUzT;BU_EDDzD*DE: E :6E(N4:E"EZ19195EY15X?A=>AQ 1E4٪Eᝊ?Q 5M4EK EB9IYMV?Q EM?yEC)E:IE2:iE U4YQ]^@YkykykykykyZZbZjZrZV?ɢfK= 顭ԷI %ɡiIi)IQiQQU QIaIqN=)UsG m A)Iz A@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010184DD}D/DE: Ek&:6EJ4:E!@!@!@!@! gjl%L,00)Ay6G?ٱ6Ğ@68"I=6y6H1r 8i_?@i3?!Nς?I6G?)6r_;i6̑CBψBBF(I|=Mb@Mb@Mb@9 9)9I9i9=y&1?)\(9=Ga=)=x@I=5@i=5@=@ 9=z@BDU56DU3Ye+!eF=mQ)m>i9i9uEYquAu>yQ 14٪}9㝊?Q 54}ٿ y9vh=Q Ai)Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509774AE <AE <vBI ~BI BM (IBM BBI BI BI BM T;BM sEԩ D D pD +D E : E  :6E [4:E "E N;! E O;! *E +R;! E ,R;! WRs%L,͕0)AɰyF?ٱFy@F#H=F~-FH``@89 ?@CP?t ?IF?)FV_;iF͑ClrE(IitIvABD~E6D~3YW!P=r͹Q)%>!9!9-EY)5<A5>yQ 14٪䝊?Q 54g 9YO?Q E?yC):I:i^c4Y@kkkkkZZbZjZrZ3O?ɢ #H=  TýI  '0ɡ i Ii)Ii IIN >ԡmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761801 y%L,y0)A^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016030yl?ٱk@H=7n?H ^"h?? G懿@?Il?)_;iˑCԹԈBL(ID=D=xD=.D9E=: E=:6E=ـ4:E9!M@!M@!M@!M@mMb@Mb@Mb@i i)iIiiim~jt?MbMb`mD99EYzA>Q 14٪W坊?Q 54 99 =Q A]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266260A c%L,Q0)Ay:?ٱ:bs@:VG=:A:HJd? ?@@0 ?I:?):I^;i8\bK(IBDf@6Df3Yn#!rm=rhQ)r?t9t9vEYtv:Av?xQ 1~4٪z坊?Q 5~4zؾ zB9Yj?Q E?yzC)z;Iz';izq4Y  ;@k)k)k1k1k1ZZIbZIjZIrZMoj?ɢaeVG= aeIa m8ɡiiiIiii)qy}A1I(i IIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517877DmDmqDm,DiEm: Em$ :6Emg4:EiqvBy~ByB}(IB}BByByByB}T;B}Eԉ BDAT read: Rx Time:18:28:38.4227  TRx dataTimestamp_ set to:1755628120.403003 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185Թ q%L,0)Aiy6>?ٱ6P@6p,I=6E6HO@ દ`?_`?)6<];i6͑CR҈BRJ(IBDZ>6DZ43Y}u!}A=z:Q)>99EY;A>Q 14٪杊?Q 54 9Yjk?Q E?yC);I;ix4YS@kkkkkZZ)bZ)jZ)rZ-jk?ɢ9=p,I= AE,IA E=ɡAiAIAiI)IԙI i    II)N= >checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023957DuDuDu+DqEuҝ: EuVL:6Eu [4:Eq"Eu;!Eu;!*Eu;!Eu;! G%L,Y50)Ay6?ٱ6i@66K=6bF6H/}ꢿ "?`,9?m@ՈI?I6?)6A];i6̑CBˈBBA(I Mb@Mb@Mb@  ) I i  {Gz?I +MbP #< 94 ) @I K@i @   z@BDu?6Du3Y.!J=z:Q)>99EY#(<A>Q 14٪杊?Q 54c B9tI  DAT read: 18:28:38.4227 LVL= 23344, 22305, 24898, 17203, AGC= 33, IDX= 122,-0.31, 0.768, 0.442, 0.559,-1.082, PHS= 1.952, 1.569, 1.597, RAW= 93.8, -78.4, CAL= 96.2, -77.8, ROT= 53.8, 77.8  Ygot valid direction response: 18:28:38.4227 LVL= 23344, 22305, 24898, 17203, AGC= 33, IDX= 122,-0.31, 0.768, 0.442, 0.559,-1.082, PHS= 1.952, 1.569, 1.597, RAW= 93.8, -78.4, CAL= 96.2, -77.8, ROT= 53.8, 77.8 % PDAT read: Bearing 210.8, 10.3 (Local) % ~Local bearing/azimuth received: Bearing 210.8, 10.3 (Local) 5 DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [0.124810,0.170531,-0.977416]E Fpublishing direction and range info tn[?]OS?*F ? 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Device response is::BD, , +2156.62, +26.38, 5.71, 0.00 !M@!M !M@!M !M@!M !M@!U BDUG6DU4Ye;!m?=mJQ)m>q9q9uEYquA}>yQ 14٪}|ᝊ?Q 54} }BQ =+:9Q AWi}c˙4ԙY@kkkkkɢaj= ,I 찈ɡiIi)IM(iIIM IIYIiN}> D D zD ,D E 1: E  :6E g4:E ! @! @! @! @)L,@0)Ay6e@ٱ6]@6ۀg=6*;6H`I`rx?FN`q?)쬿O??I6e@)6G];i4>BB3(IBDJ46DJf3YN:<!RX=RqQ)R>T9T9VEYTVAZ>XQ 1-4٪Z?Q 554ZN XQ =5 :91Q A5.@u?@2V?佬D??I6;?)6"];i6CBÈBB6(IiDID! !  ! !  ! ! !! Mb@Mb@Mb@ )Ii~jth{Gz?D#<)x@IK@i5@@ ̴@BD96D3YS<!<= UQ)>99EY#A>Q 14٪c?Q 54f Q =T:9 +ԡ )L,tD0)Ay6?ٱ6k @6Hd=6;6Ht ?F ?`|`G}??I6?)64];i4NBR+(IBDZ(6DZ:3YbE!bY=bQ)b>d9d9fEYdfWAj>hQ 1r4٪j0?Q 5r4j| h9pYr Q Er?yjC)j ;Ij;ijݙ4Yxz@xkkkkkZZ1bZ1jZ1rZ5G@ɢIMHd= QU IQ ])ɡYiYIaii)iIi IIN=DmDmxDm)DiEmg: Em:6EmFA4:Ei!u@!u@!u@!u@1 vB ~B B 'IB BB B B B 4T;B <E:)L,R^0)AyR;?ٱR @Rab=Rm;RH5?`溨?H@zz?S?IR;?)R^];iRC^LjB^;(IBDf76Dfp3Yne=!nH=rQ)r>p9p9rEYtvKnAv>xQ 1~4٪zߝ?Q 5~4z x9Y Q E?yx)z/;Iz* ;iz 4Y   @ k)k)k)k)k1ZZIbZIjZIrZM@ɢYeab= ae0Ia et狼ɡaiiIiii)qyyI(i IIN=)YDuDupDu2DqEu: Eu :6Eu4:Eq"Eu;!Eu;!*Eu+R;!Eu,R;!ԁ d)L,k*x0)A0y6n5?ٱ6 @6`=63;6H`vGg`? g?=v??I6n5?)6];i6CfBf.(Ij99EYA>Q 14٪V?Q 54w 9gl9l9nEYlr>Ar>pQ 1v4٪r?Q 5z4r] p9xYzB?Q Ez?yrC)r :Ir~:ir"4YquO@qkkkkkZZbZjZrZߊB?ɢ6_= I vɡiIi)Ii IIN=vB)~B)B)B)B)B)B)B-+T;B-8EI |v)L,a⫦0)Ay6^>?ٱ6' @6]=63;6HRQ8wn.? 0W@ ?@Drf??I6^>?)6[];i6CBBB.(I Mb@Mb@Mb@  ) I i  I +? rhMbP? 94< C :) I i K@ @  f@BD%/6D%3Y5!5D==LQ)=>99A9EEYAEAE>IQ 1U4٪Mlᝊ?Q 5U4M  I9m=Q AI)i))- )I9IIQN]>qԡ ^)L,MŦ0)Aɰ;y:Q)?ٱ: @:\=:::H@`TU?'?xRUX??I:Q)?):DZ];i:CJBJ/(IBDZ06DZ3Yf;!jQ=j1Q)j>l9l9nEYprܰAv>tQ 1~4٪v%❊?Q 54v t9Yuj?Q E ?yvC)vT;IvC;ivE4Y@kIkIkIkQkQyZZbZjZrZuj?ɢ\= 顥bI ,WɡiIi)I)i115 1IAIQNe=ԩBE|a4JEYe4REħ0DMDM}DM,DIEM: EMk&:6EMg4:EI!U@!U@!U@!]@ vB! ~B! B! B! B! B! B! B% :T;B% ?E)L, ߦ0)Ay: ?ٱ: @:&[=:xC:HF ,@d~? XŦ? wY3?I: ?): J];i:CFˆBF5(IBDb96Db3YjJ<!jJ=nQ)n>l9p9rEYprAr>tQ 1z4٪v❊?Q 5z4vv t9|Y~6(I5Mb@Mb@Mb@1 1)1I1i15 rh?Zd;OMbP5C<5j<5)5@I1i15@ 15@BDM+6DME3Y]L;!]B=e'Q)e>a9a9eEYimqAm>qQ 1}4٪u㝊?Q 5}4u q9H=Q Ax9x9zEYxzA~>Q 14٪䝊?Q 5 4 9 Y n?Q E ?yC):I:i|4Y@k1k9k9k9k9ZZbZjZrZn?ɢ_Z= I ͱɡiIi)ԑI(i IIN>vB~BB(IBBBBBB%T;B5EBBBBBB94Թ) [G ĀA)! I} ĀA @ T)L,(-0)AyBɗ?ٱBF @BY=BwBH@ZS ?!ca?`H4@azuP?IBɗ?)BF^;iBC^ĈBb8(I-vonly read 0 of 1 data item for BIT error. Device response is::TS,00022422170599,35.0, +10.5, 0.0,14 !v@!v !v@!v !v@!v !v@!v BDz86Dz3YS! H= 60Q) > 99EYcQA>Q 1%4٪坊?Q 5%43 BQ =-+:9)Q A-[iB4Y152@9kYkYkYkYkYɢY= 顅I oɡiIi)rD=jD<D%D%rD%*D!E%C: E%?:6E%(N4:E!"E%;!5E%;!5*E%sY;!=E%tY;!=I5(i115 1IAIQNe=ԩ )L, G0)AA9A9EEYAMk(AM>QQ 1]4٪U杊?Q 5]4U QQ =] :9YQ Ae1X9X9ZEYX^HA^>`Q 1f4٪b睊?Q 5f4bb `Q =f99dQ Afa9a9mEYimBAm>qQ 14٪u蝊?Q 54u qQ =T:9 "=Q Aԑ DE DE wDE .DA EE %: EE :6EE ـ4:EA !M @!M @!U @!U @C)L,%0)AyJ !?ٱJ}@JҏY=J"JH( 8ˢ?` G?`.H` ?IJ !?)J];iJCVȈBV=(IBD^=6D^3Yf\!fT=j]9Q)j>h9h9nEYlnIAn>pQ 1v4٪r靊?Q 5v4r p9xYzl?Q Ez?yrC)r`:Ir:ir24Y|~@kk!k!k!k!ZZ9bZ9jZ9rZ=3l?ɢQUҏY= QUݽIQ UvɡYiYIYia)aim>ԙI(i I!I1NE=vBq~BqBqBqBqBqBqBuT;Bu.E! )L,Xq0)Ay6,?ٱ6B@62FY=68'6H@ 袿? 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Ys b?%ʃ`?I:?):B];i:CbBb2(IBDh6DhYrI!vQ=vH9Q)v>t9x9zEYxzo<Az>|Q 14٪~띊?Q 54~ ~B9 Y ږ?Q E ?y~ C)~:I~ :i~V4Y@k1k1k1k9k9ZZQbZQjZQrZUږ?ɢim_\= im0Ii mdɡqiqIqiq)yI(i IIN =ivB~BBBBBBBT;B0Eԙ c *L,/0)AyF?ٱFQ @F]=FOFH`ٳ,c?ˡπ?`ւ?IF?)Fb];iFCLRĈBR8(I]Mb@Mb@Mb@Y Y)YIYiY]MbP99EY˂<A>Q 14٪Ꝋ?Q 54 99 cH*L,I0)AiyBe?ٱBQ @B]=Bjr BH@_?@Ȝ?!@g?IBe?)BN];iBCRÈBR6(IBD^>6D^43Yf!jW=jv9Q)j>l9l9rEYpr9<Av>xQ 1~4٪zꝊ?Q 5~4zɿ zB9YeQ E?yz C)z:;Izn;;iz/d4YO@!kAkAkIkIkIZZbZjZrZ͹v@ɢ]= I ɡiIi!)!Ii IIN>IDDiD,DEs: E96Eg4:E!@!@!@!@qvB ~B B B B B B B T;B *EBBBBBBɧ4ԡ v*L,Ac0)Ay:ޑ?ٱ: @:'>^=:;:H@?sи"k?`hؤ?Gī}?I:ޑ?):];i:CFLjBF<(IBDN/6DN3YV<!VL=V$#9Q)Z>X9\9^EY\^<A^>`Q 1f4٪bdꝊ?Q 5f4bٿ `9dYjQ Ej?y`)bS:Ib';ib*k4Yln@lk|k|k|kkZZbZjZrZ*w@ɢ)5'>^= 15LI1 =ɡ9i9I9iA)IyiYI]ѐC)G rA)I(i I-뾙5rA5@IAIQN]=ԙDDuD)DE: E:6EFA4:E"E;!E;!*E!E! i*L,kH}0)Ay6?ٱ6: @6^=6`,Ļ6H )*@Q@TI?$3`!?Ϋ>|x?I6?)6]^;i6CbBb4(IMMb@Mb@Mb@I I)IIIiIMMbp:v?MMy9y9EY<A>Q 14٪靊?Q 54  9X9X9ZEYXZ֬<A^>`Q 1b4٪b靊?Q 5f4b; `9dYfQ Ef?ybC)b>:Ib:ibBy4YhnH@lkxk|k9k9k9ZZybZyjZyrZ}v z@ɢl^= 額8I IɡiIi)1IM(iIIU QIaIqN}=vB~BBBBBBBT;B,Eaԉ +*L, 0)Ayb?ٱb{K @b^=b&AbHA k5?ὥ? ѫ`h?Ib?)b];ibCnBn0(IMb@Mb@Mb@ )Ii~jth+?D=)I5@i5@@ rD=jD4=DDlD*DE: E:6E(N4:E"E';!E);!*EC;!EC;!BD<6D3Y?ϼ!8=ҸQ)>99EY<A>Q 14٪睊?Q 54 97 =Q Ae^= m(= mɡmiiImсԹ ɖ2*L,ʨ0)AyN?ٱN8 @Na^=N4ѺNHC j? ?@ЫZ`?IN?)N ];iNCZʈBZ?(IBDf>6Df43Yjt=!n]=nfQ)n>p9p9rEYprl<Av>tQ 1z4٪v 睊?Q 5z4v t9|Y~Q E~?yvC)v;Iv;iv{4Y ھ@ k)k)k)k)ZZIbZIjZIrZMAv@IYY)]>]a^= Y aɡaiaIef E BDAT read: Tx time:18:29:53.9658 M $Ping request sent.M 99EYZn<A>Q 14٪坊?Q 54 9YwQ E?yC):I:i'4Y15ɽ@1kqkqkqkqZZbZjZrZv@I)4>;^=  ɡiIvnԑXRequesting device enable set for address 50.DDDDE: EX:6E:E"E;!E;!*El;!El;!Թ >*L,`0)Ay6XN?ٱ6$ @6C_=6::6H #X?@,*X?:﫿 ]??I6XN?)6a;i6CBBB2(I\EMb@Mb@Mb@A A)AIAiAEI +kt?E94E 0=A)E@IEb@iE&@Eҹ@ AEµ@BD]E6D]3Yml!mQ=m:Q)m>q9q9uEYq}<A}>Q 14٪ 坊?Q 54k 95=Q AC_=  ɡiI*A D D ~D -D E 2: E (:6E t4:E ! @! @! @! @E*L,zl0)Ay6 @ٱ6@6]^=6h;6HHK݂`I@Ux?HQ>??ȫ;m? ?I6 @)6U`;i6CNوBRQ(IBDZ86DZ3Y^c>!bV=b5LQ)b>d9d9fEYdf<Af>hQ 1n4٪j'䝊?Q 5r4j h9pYrQ Er?yjC)j;Ij;ij4Ytv@xk kkk!ZZ1bZ1jZ1rZ5 F@I)V>]^=  ɡiI1yԡ L*L,Mh20)AiuшBuH(IiqIqDDvDDE: E:6E:E"E;!E;!*Eh;!Eh;!5Mb@Mb@Mb@1 1)1I1i15~jt/$?Mb`5D5,=5)5@I5K@i5@5@ 15̴@BDM26DM 3Y] !]2=]Q)]>a9a9eEYamAm>qQ 1}4٪u$㝊?Q 5}4u1 q9}3=Q A}  ɡiI WR*L,)L0)Ay6@ٱ6@6a=6B{;6HUT@bI?s?7\o?`}?I6@)6^;i6C^ވB^X(IBDjA6Dj?3Yw=!d= |;Q) > 9 9 EY<A>Q 1%4٪\❊?Q 5%4 9)Y- Q E-?yC):I>:i㪚4Y15@1kQkYkYkYZZybZyjZyrZ}5@I)շ>a=  ɡiI)vBI ~BI BI BI BM =BI BI BI BM 2EY Y*L,lf0)AyR@ٱRy@R^=RE7;RHೢ? L"5?@c@Xx? 3ӫ@hs?@?IR@)R)^;iRCbوBbR(IBDr;6Dr)3YvӼ!vL=zQ)z>19195EY1=E(<A=>AQ 1M4٪Eyᝊ?Q 5M4E EB9IYM Q EM?yE!C)E:IE:iE4YY]@YkykykkZZbZjZrZ@I)[>^=  ɡiIԉԱ 8_*L,0)Ay6#@ٱ6@6^=6w;6H9'-?"?@ԫy??I6#@)6e_;i6CN҈BRJ(IRt>Rp=-Mb@Mb@Mb@) )))I)i)-MbpV-?~jth--<-D)-@I-x@i-5@-ҹ@ )-f@BDE66DE3YU!UD=U7Q)>99EYj_;A>Q 14٪?Q 54# 9M^= I QɡQiQIU;D D D D E : E a9:6E :E ! @! @! @! @ f*L,0)Ay:@ٱ:@:_=:g;:H =>j2?X_?r@,6~??I:@): ^;i:CF׈BFP(IBDN=6DN3YV5<!VU=Z.:Q)Z>X9X9^EY\^k/A^>`Q 1f4٪b?Q 5f4bX bB9hYjQ Ej?yb$C)b2:Ib:ibݿ4Yln@pk|kkkZZbZjZrZچ|@I)1)5V>5_= 1 1ɡ1i1I=gX4I9NE=IDAT read: 18:29:55.8548 LVL= 24416, 28561, 31778, 25875, AGC= 33, IDX= 279, 0.30, 0.949, 0.633, 0.752,-0.926, PHS= 1.977, 1.605, 1.634, RAW= 94.1, -79.0, CAL= 96.5, -78.4, ROT= 53.5, 78.4 -Ygot valid direction response: 18:29:55.8548 LVL= 24416, 28561, 31778, 25875, AGC= 33, IDX= 279, 0.30, 0.949, 0.633, 0.752,-0.926, PHS= 1.977, 1.605, 1.634, RAW= 94.1, -79.0, CAL= 96.5, -78.4, ROT= 53.5, 78.4 -DAT read: OK -:unknown deviceResponse_: OK 5*DAT read: user:979> =BDAT read: Tx time:18:29:56.9671 E$Ping request sent.E {??IEZ@)EQ^;iEC]؈BYrDqjDu%=DyD}D}'DyEy E}0:6E}'4:Ey"E};!E};!*E}؉;!E}؉;! Mb@Mb@Mb@  ) I i  {GzMb?Mb`? ף < ;) I 5@i    p@BD%76D%p3Y4r:!.=ӺQ)>99EY+ ;A>Q 14٪Z?Q 54 B98F\=  ɡiI>Թ t2s*L,hͩ0)Aɰ;;`yf}@ٱfu@f]=f3U;fH[JDٛ??@` B?볫 ~?`?If}@)f];ifCzȈBz=(IBDE16DE[3YU!Ud=];:Q)]>Y9a9eEYaeiQ 1u4٪m?Q 5u4m mB9yY}Q E}?ym'C)mU;Imr;im[Κ4Y@kkkkZZbZjZrZ|@I)b>]=  ɡiIGp9t9vEYtvKAv>xQ 1~4٪z?Q 5~4z x9Y.Q E?yz(C)za;Iz;iz&՚4Y  @ k1k1k1k1ZZQbZQjZQrZU9@I)>.a=  ɡiIAybDZDAADDtDDE: Ev:6E:E"E!E!*E`;!E`;!ԡ D*L,S 0)Ay:5@ٱ:/@:5-c=:H;:H[@v ❿k?]aK?av? G?I:5@):Aq];i:C^ΈBbD(IMMb@Mb@Mb@I I)IIIiIM{Gzty&1|Mb`MףM`M)M@IMb@iII IMµ@BDe<6De3Ym!uA=uh:Q)u>yy9y9EYA>Q 14٪ᝊ?Q 54 95-c=  ɡiI8D D uD .D E : E :6E ـ4:E ! @! @! @! @ n*L,j0)Ai@y6P?ٱ6 @6Ze=6c;6H. ՘?32?@x??I6P?)6S];i6CB߈BBY(IF=F>BDJ>6DJ43YR=!RX=Vd:Q)V>T9T9VEYTZRAZ>\Q 14٪^Mᝊ?Q 54^ \9YSZe=  ɡiI1a *L,40)A5BDAT read: Rx Time:18:29:58.8549 ETRx dataTimestamp_ set to:1755628200.866228rD]=jD]<DmDmwDm+DiEm: Em:6Em [4:Ei"Em];!}Em^;!}*Emk;!}Emk;!}y?ٱtR @g=;H`1/?`7?@ݬ`̧t?@?I?)ޤ^;1iCEԈBEK(IMb@Mb@Mb@ )Ii rh{Gz~jth?CףD;)Ii BD;6D)3Y%5!%(=-a\:Q)->)9)9-EY151^A5>9Q 1E4٪=_❊?Q 5E4= =B9En@QkqkqkqkqZZn<bZn<jZ@@rZi@I)>g=  ɡiIgԉԱ *L,N0)Ay:?ٱ: @:4pe=:;:Hч $?X?/t:p?@?I:?):?];i:C^B^Z(IBDfA6Df?3Ynۓ=!nx=rQ)r?p9p9rEYpvAv?xQ 1~4٪z㝊?Q 5~4z  x9|Y~Q E?yz+C)z\:Iz:izb4Y  |@ k)k)k)k)ZZIbZIjZIrZM@IYY)]?>e4pe= a aɡaiaIe\ DmDmDiDiEmU: Em0:6Ei:Ei!u@!u@!u@!u@}X#Rx 3: Read direction message, but no range.^direction in FSK: [0.123211,0.169585,-0.977783])-!X8?h3?5J￙)I-pni---cq)-? -V?)-?I-?i--Pw?--:Fq?-?I))-TC%?xƐ\←-,-5t?-:Fq? -?ԹvB~BBBBBBBT;B2E  BDAT read: Tx time:18:29:59.9671  $Ping request sent. h9h9jEYhj,An>yQ 14٪}䝊?Q 54} }B9Y+Q E?y}-C)}:I}:i}4Y"@kkkkZZ1bZ1jZ1rZ5+@IAA)M>MKd= I IɡIiIIM2DDqD'DE: E$ :6E'4:E"E;!E;!*EU;!EU;!I -*L,Mi0)Ay6F?ٱ6 @6d=6:6H@Lp"Ɵ?w Mɧ?A@wX?4?I6F?)6];i4NBR(I-Mb@Mb@Mb@) )))I)i)-Mbp?y&1Mb`-;-`-)-x@I-5@i)-@ )-̴@BDE:6DE{3YU?!UB=f8Q)>99EYA>Q 14٪䝊?Q 54 9 Hd=  ɡiIyԡ BE [4JE ʙT4RE f0D D |D -D E : E P$:6E t4:E ! @! @! @! @*L,=C0)Ay:|?ٱ:f @:jg=::H ;F@X?!VU=Z:Q)Z>X9X9^EY\^ůA^>`Q 1f4٪bc坊?Q 5f4b bB9hYj>?Q Ej?yb0C)b:Ib:ibu4Yln~@pk|k|kkZZbZjZrZ>?I)))5v>5jg= 1 1ɡ1i1I=T G?Mb@Mb@Mb@ )IiMb`?{Gz;#)@IK@i@ҹ@ BD56D3Y4<!*= 9Q) > 9 9 EY A>Q 1%4٪杊?Q 5%4[ 9- $=Q A-)h=  ɡiI1a γ*L,nϪ0)Ay68?ٱ6Y @6f=6-6H`m0?mW?H۬ a?I68?)6J];i6CB׈BBP(IBDJ.6DJP3YR<!R|=RajQ)R ?T9T9VEYTV3ʼAZ ?XQ 1^4٪Z睊?Q 5b4Z& X9`Yb$?Q Eb?yZ4C)ZM;IZY;iZ4Ydj@hkxkxkxkx9ZZbZjZrZ$?I)>f=  ɡiI=i)DUDUDU*DQEU: EU,:6EU(N4:EQ!]@!]@!e@!e@iI(i IIN>ԑvBY~BYBYBYBYBYBYB] T;B]'EBBBBBBȄ3 i I )U G*L,o0)A *rAyF?ٱF @F=cf=F oFH ң9re? X?Ȭ#m?IF?)FU_;iD)LrֈBIvvrAvAzN(IBD;6D)3Y 3!C=гQ)>99EY%\jA%>!Q 1-4٪%蝊?Q 554% !91Y5"?Q E5?y%6C)%:I%.:i%4YAE@AԙkkkkZZbZjZrZ"?I )>=cf= 1 9ɡ9i9I=P=iA)AI(i IIN>5BDAT read: Rx Time:18:30:01.8550 ETRx dataTimestamp_ set to:1755628203.889806DDD)DE: EA:6EFA4:E"E;!E;!*Eg;!Eg;! *L,0)Ay:\|?ٱ:& @:ic=:5:H`0|`?@,@?@Jx}v3?I:\|?):s^;i:CbՈBbM(IidIdMb@Mb@Mb@ )Ii rh?Q~jthC<D)@Ib@i@ @BD26D 3Yn!@=VQ)>99EYA>Q 14٪E靊?Q 54 B9 =Q Aic=  !ɡ!i!I%=i))1I(i IIN&>ԡM DAT read: 18:30:01.8550 LVL= 24896, 30321, 32754, 26467, AGC= 32, IDX= 441, 0.12, 0.577, 0.248, 0.354,-1.311, PHS= 1.991, 1.604, 1.621, RAW= 92.2, -78.4, CAL= 94.6, -77.8, ROT= 55.4, 77.8 U Ygot valid direction response: 18:30:01.8550 LVL= 24896, 30321, 32754, 26467, AGC= 32, IDX= 441, 0.12, 0.577, 0.248, 0.354,-1.311, PHS= 1.991, 1.604, 1.621, RAW= 92.2, -78.4, CAL= 94.6, -77.8, ROT= 55.4, 77.8 U DAT read: OK U :unknown deviceResponse_: OK ] X#Rx 4: Read direction message, but no range.Dm Dm {Dm 1Di Em %: Em 5":6Em -4:Ei !u @!u @!u @!u @} ^direction in FSK: [0.119999,0.173949,-0.977416]! % ADH? yC?*F￙! 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I <?`4ߪ@u?g?I-;?)-$h^;i)E܈BEU(IMb@Mb@Mb@ )Iiy&1|QMb`?`u;)@Ib@i5@ µ@BDA6D?3Y<!6=Q)>99EY  InA >Q 14٪?Q 54G 9Q E%?yC):I:i9X4Y@kkkkZZ<bZ<jZ ӈ@rZz=^>I!!)%D>-W= ) )ɡ)i)I-`:=i1)1I(i II)NE0>)vBi~BiBiBiBiBiBiBmIV;BmFEDDoD+DE: E:6E [4:E"E;!E;!*EN;!EN;!Y #,L,20)Aiy6_?ٱ6O @6~\=6hF<6H q@@? 묨?ho??I6_?)6__;i6CBۈBBT(IF%=F4<BDJ<6DJ3YRc!Rd=V r;Q)V>T9T9VEYTZAZ>\Q 1b4٪^"ᝊ?Q 5b4^? ^B9`Yb T>Q Ef?y\)^;I^;i^{^4Yhjͽ@hkxkxkxkx9ZZQbZQjZQrZU T>I)>~\=  ɡiI<;=i)iIm)iiim qIIN>ԑ rD jD 4=D D sD (D E C: E Z:6E c44:E ! @! @! @! @,L,PK0)Ay>y?ٱ> @>_=>̀;>H ^!`r?@?@8E|??I>y?)>ldc;i>CJڈBJS(IBDRD6DRJ3YZUQ!ZI=^8;Q)^>\9`9bEY`bAb>dQ 1j4٪fᝊ?Q 5j4f6 d9hYnJ>Q En?yfC)f:If::ife4Yprؽ@pkkkk ZZ!bZ!jZ!rZ%J>I11)=>=_= 9 9ɡ9iAIE;=iA)Iԙ4|E=IU(iQY] YIiIyN|>! +,L,0e0)Ay: ?ٱ:: @:a=:\;:H9)ˌ@ ?oȨ?. x?m?I: ?):`;i:CF߈BFZ(IMb@Mb@Mb@ )Iiy&1`)Ii BD->6D-43Y=g<!=B=E:Q)E>A9I9MEYIM̼AM>QQ 1]4٪U❊?Q 5]4U Q9e`a=  ɡiI<=i)vBv>~BB (IBBBBBB7V;B<E1BEg4JE7i4REI"0D}D}oD}/DyE}: E}:6E}J4:Ey"E};;!E}<;!*Ey!Ey!u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.k=AIAiIIM IIYIiN}7>y% *DAT read: user:981> - BDAT read: Tx time:18:30:36.3681 - $Ping request sent.- 99EY%mͼA%>)Q 1=4٪-E㝊?Q 5=4- )9AYEp?Q EE?y-C)-\;I-];i-s4YQUE@YkkkkZZbZjZrZp?I):>b=  ɡiI|q==i)IC=)a=qDDtD+DE: Ev:6E [4:E!@!@!@!@ԡhp=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250951I(i IIN> ,L,䂙0)Ay]~?ٱ]` @]Gc=]l:]HxHޞZm? ק?`CeET?b?I]~?)]A^;iYuÈBu7(Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503015 Mb@Mb@Mb@  ) I i  ~jtxQMb`? Ļ  ;) x@I K@i  @  ̴@BD%+6D%E3Y5!58==9Q)=>9999=EY9EüAE>IQ 1U4٪MQ䝊?Q 5U4M I9U)Q E]?yMC)Ms:IM:iM{4YaeA@akkkkZZE)<bZE)<jZEz@rZE u>Iqq)u->uGc= q yɡyiyI}bF>=iy) I)]}AYvBt>DDD(DE: E;J:6Ec44:E)KG }A) A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924I T }A A ~BB(IBBB =BBBV;B-EBBBBBB `5I)ii i u q I I N >E;,L,M0)Ay:?ٱ: @:*bg=:9:H~`R`?@:?@U謿@V7??I:?):@^;i:C^ȈBb=(IBDfA6Df?3lYr<!rc=vK6;Q)v>t9t9vEYxzjAz>|Q 14٪~-坊?Q 54~ ~B9Y >Q E ?y~C)~:I~:i~쁝4Y@k1k1k1k1ZZQbZQjZQrZUU>Iaa)e>m*bg= i iɡiiiIm>=iq)qI-)i115 1IAIQNe= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070079i rD =jD <D D D *D E : E 6E (N4:E "E ! E ! *E ;! E ;! 1#,L,(ͳ0)Ai&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258956y:5^?ٱ:* @:8h=:Q8:H N B l!?&Ut? ?`?I:5^?):^;i:CFˆBF5(IBDN36DN3YV!VN=ZO:Q)Z>X9X9ZEY\9^$Ae>iQ 1u4٪m-杊?Q 5u4m~ i9yY}>Q E}?ymC)m;Imw;im=4YY@kkkkZZbZjZrZ>I)O>8h=  ɡiI?=i)IM(iQQU QIaIqN=iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514428 =.Q)>99EYA>ԙQ 14٪m睊?Q 54> B90=Q A@vB~BƍCB'IBBBBBBU;BEkkkkZZ 0=bZ 0=jZ ˖@rZ ?I!!)%>%`h= ! )ɡ)i)I-q@=i))1E?E?DmDm~Dm+DiEm: Em(:6Em [4:Ei"Em;Em;*Em;Em;]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763624I(i IIN"> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936! 5-L,Q0)AyZ ?ٱZp@Z1g=ZPZHu@4@*?<ŧ?i?IZ ?)Zjdc;iZCj͈BjD(IBDzE6Dz3Y! R= ϹQ)>99EYA>!Q 1-4٪%蝊?Q 5-4% %B91Y5F?Q E5?y%C)%:I%:i%24Y9=@9kYkYkakaZZbZjZrZF?I )>1g= 1 9ɡ9i9I=0A=i9)AI(i IIN >!DmDmzDm(DiEms: Em :6Emc44:Ei!u@!u@!u@!u@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266940Qԁ b-L,0)Aɰlly?ٱSS@i=͐H a`zW?>˧?+'r?I?)v`;iCڈBS(Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519134iIAIMb@Mb@Mb@ )Ii99EYٻA>Q 14٪靊?Q 54 9/=Q AEi= A AɡAiIIMB=iI)QԁI(i IIN J>vBs>~BBBB =BBBU;BEDuDuDu*DqEu: Eu*:6Eu(N4:Eq"Eu;!}Eu;!}*Eub;!}Eub;!ԩm BDAT read: Rx Time:18:30:38.7736 m TRx dataTimestamp_ set to:1755628240.726696u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772107 ^ -L,40)Ay6N?ٱ6@6 g=6*6HT~}u? s^U? 1y}?I6N?)6):_;i6CNԈBRL(IBDZ66DZ3YzZ!~m=~Q)~?99EY A ? Q 14٪ CꝊ?Q 54 B 9Yw?Q E?y C) ;I ;i D4Y)-0@)kIkIkIkIZZibZijZirZmw?Iyy)}>} g=  ɡiI}B=i) ԱI)i I IN-=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963 rDy jD} =D D D )D E : E 0:6E FA4:E ! @! @! @! @9 rq-L, qN0)A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284929yb?ٱbUn@bPe=b"bH $QFU?`+.a?`>`q?Ib?)bc^;ibCzֈB~O(IBDmK6Dm 4Y<!==Q) >99EY5~A=>9Q 1E4٪=.띊?Q 5E4= 99IYM=v?Q EM?y=C)=u:I=:i=4Yqu@ykkkkZZbZjZrZ=v?I) > Pe=  ɡ)i1I5~C=i1)9I(i IIN-->AEDAT read: 18:30:38.7736 LVL= 29552, 27889, 29890, 22611, AGC= 36, IDX= 106,-0.48,-2.559,-2.863,-2.752, 1.839, PHS= 1.987, 1.626, 1.648, RAW= 93.2, -79.3, CAL= 95.4, -78.8, ROT= 54.6, 78.8 MYgot valid direction response: 18:30:38.7736 LVL= 29552, 27889, 29890, 22611, AGC= 36, IDX= 106,-0.48,-2.559,-2.863,-2.752, 1.839, PHS= 1.987, 1.626, 1.648, RAW= 93.2, -79.3, CAL= 95.4, -78.8, ROT= 54.6, 78.8 UPDAT read: Bearing 210.0, 9.4 (Local) U~Local bearing/azimuth received: Bearing 210.0, 9.4 (Local) ]DAT read: Range 11 to 50 : 0.9 m (Round-trip 1.3 ms) speed 0.0 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.112516,0.158326,-0.980955]mFpublishing direction and range infoP ͼ?bsD? cff?IpsiltSX$V?  ?)?I5?im(+ ?x s?x ?Ii)w-\$?JToI\SNr←'=m8?s? x ?Iiԁ %-L,Rh0)Aiy6A?ٱ6@6;Rf=6U,6H߿@t` ?߿?@eƬ݂@?I6A?)6];i6C\^N(IEMb@Mb@Mb@A A)AIAiAEy&1? rhMb`E`e99%EY!- A->D=D=D=,D9E=: E=,:6E=g4:E9"E= ;!EE= ;!E*E=4;!ME=4;!MIQ 1U4٪M띊?Q 5]4M MB9]=Q A]hE H@ZZ=bZ=jZK@rZ#h?I)>;Rf=  ɡiI9D=i)qI(i IIN>ԑ 6 -L,.0)AyJ?ٱJ@J]=JY !JH߿W&@l?`߿?@!?LIJ?)J];iHTVO(IBD^26D^ 3Yf;!fW=jɰQ)j>h9h9nEYln/ӻAn>pQ 1v4٪r읊?Q 5v4rC p9tYzoh?Q Ez?yrC)r.:Ir:ir[4Y|~@|kkkk!ZZ9bZ9jZ9rZ=oh?III)U>U]= Q QɡQiYI]D=iY)am|AiI )i    I!I1N==bD9ZD=AADADEDADAEA EE0:6EA:EA!U@!U@!U@!U@! &-L,0)A|yAN?ٱ@kZ=+!Hי߿`ޡ@U? n߿}:?$J?IAN?)];iCԈBK(IMb@Mb@Mb@ )Ii rh?MbMbPC<)@Ii&@@ ̴@BD96D3Y1!*=%Q)%>)9)9-EY)5[ӻA5>9Q 1E4٪=l흊?Q 5M4= =B9My=Q AMkZ=  ɡiI=E=i)!] UdTimed out moving from: 10475 to: 14700 response: 1U- UHardware FaultIa-&}VHardware Fault in component: DockingStepperIyNZ>vBQ~BQBQBQBU =BQBQBUnU;BUEiBE(N4JErO4RE?/DIDM~DM*DIEI EM(:6EM(N4:EI"EI!]EI!]*EM;!eEM;!ey T,-L,ܵ0)Aɰ4T=  ɡiIFF=i) :Uninitialize Docking Stepper. 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Ѫ?@x?\?I6 @)66w];i4BՈBBM(IF99EYA>Q 14٪ߝ?Q 54 9%e= ) )ɡ)i)I-Y=i11)9IQIaNm=aԉԹ !Y-L,Qى0)AyB@ٱB@B>f=B Ol9p9rEYprAv>xQ 1~4٪zߝ?Q 54z x9Y?Q E?yx)z8;Iz(;iz*4Y @k1k1k1k9ZZQbZQjZQrZU?Iaa)m>m>f= i iɡiiiIu³Y=iq)I I9NM=ԑbD@AZD@ADDsD2DE: EZ:6E4:E!@!@!@!@Թ ,-L,ꯣ0)Ay:{?ٱ:ø @:f=:5<:H,@`?/s?@;Ӭ??I:{?):_];i:CFֈBFN(IBDN86DN3YVOԻ!VM=Z9Q)Z>X9X9^EY\^A^>`Q 1f4٪bޝ?Q 5f4b `9hYj ?Q Ej?ybC)b:Ib:ib4Yln@pk|k|kkZZbZjZrZ ?I)))5>5f= 1 1ɡ1i1I5oZ=i9)AIyINU=vB-s>~B)B)B)B)B)B)B-dT;B-TEDDD,DE: E H:6Eg4:E"E;!E;!*Eݝ;!Eݝ;!I -L, 0)Aɰy6y?ٱ6Ʒ @6Wg=6<6H`hI@?,?@笿`?@?I6y?)6];i6C`b׈BbO(IidId dfAMb@Mb@Mb@ )IiMb?L7A`堿<+)x@Ii5@ BD<6D3Y;!7=9Q)>99EYA> Q 14٪ ߝ?Q 54 ! 97=Q A@rZ=?ɢquWg= uuIq uɡ}iyIyiy)II)N5 >XRequesting device enable clr for address 50.A rD =jD <D D D +D E : E 3:6E [4:E ! @! @! @! @!-L,f׷0)A*DAT read: user:982> "BDAT read: Tx time:18:30:53.7655 "$Ping request sent."h9h9jEYhn2An>pQ 1v4٪r?Q 5v4r r|B9tYv?Q Ez?yrC)r:IrK:irN4Y|~@|akkkkkZZbZjZrZ?ɢ)- Tg= )-HI) -xsIɡ1i1I1iQ)YIIN=Qy XRequesting device enable clr for address 50.ԡ vB! ~B! B% 'IB% BB! B! B! B% lT;B% XE޽-L,?0)Ay6O?ٱ6ܢ @6>g=6J;6H p@s?`(?㬿Mq? ?I6O?)6Κ^;i6CR҈BRJ(I-Mb@Mb@Mb@) )))I)i)-Zd;O?y&1-j<-`e)))I)i)-@ )-@BDE/6DE3YUDZ!UB=DeDeuDe.DaEe: Ee:6Eeـ4:Ea"Ee6Թ99EY}A>Q 14٪Uᝊ?Q 54? 9w=Q A[g= 顽HI ɡiIi)IIN=   9 &.L, 0)AyJ1?ٱJ @JMg=J:JH@\z"+?׀ͩ?嬿r[? ?IJ1?)Je^;iJCnBn[(Ir9 9 EY  1A >Q 14٪o❊?Q 5%4 9!Y%w?Q E%?yC)6;Id;i4Y)-m@1kIkIkQkQkQZZibZijZirZm/w?ɢMg= 顅PwI 7.ɡiIi)DmDmDiDiEm: Em|;:6Ei:Ei!u@!u@!u@!u@Aak=IINB>iԙ @.L,f$0)Ay6J?ٱ6N@6>3g=6nU6H% bG?`p`0? z⬿J@?I6J?)6^;i6CBӈBBK(IBDJ46DJf3YR}!RQ=RdQ)R>T9T9VEYTZOAZ>XQ 14٪Z㝊?Q 54Z= X9Yt?Q E?yZC)ZP3g= y}Iy }wɡyiIi)yB=IIiN=vB~BB(IBBBBBBBԡD}D}|DyDyE}ҝ: E}P$:6Ey:Ey"E};!E};!*E}};!E}};! ].L,|>0)AyN"?ٱN@NfFg=NA.iNH@Dz!G99EYKA>Q 14٪[坊?Q 54 {B9r=Q A7=!b[=ft7Q)f>d9d9jEYhj Aj>lQ 1r4٪n杊?Q 5r4n nzB9tYvW?Q Ev?yn C)n:In2:inƞ4YxzU@|kkkkkZZ1bZ1jZ1rZ5W?ɢAMQg= IMjII MɡIiQIQiQ)Y)}"IIN=>Q BDAT read: Rx Time:18:30:55.6565 TRx dataTimestamp_ set to:1755628257.649841 vB ~B B B B B B B oT;B YE+ .L,r0)Ay> `?ٱ>+@>f=>P>H`M`I?@?׬`x#?I> `?)>^;i>CPRBR_(I5Mb@Mb@Mb@1 1)1I1i1BE^n4JEs4REDN0DEDADE*DAEEg: EA6EE(N4:EA"EEq;!UEEr;!U*EEJo;!UEEJo;!]5{Gz?Q뱿5#<5\5)5@I55@i15@ 15z@BDm+6DmE3Y}q<!}@=Q)>99EYܼA>Q 14٪蝊?Q 54 9А=Q A;) X".L,h0)AyF?ٱFֆ@Ff=FgFH`߿@z?@߿? 샿?IF?)Fl^;iFCRBR[(IBDrB6Dr3YzT!zS=|~#Q)>99EY ӼA >Q 14٪Ꝋ?Q 54$ 9Yd(?Q E%?yC)u:I;iԞ4Y)-q@)kIkIkIkIkIZZibZijZirZmd(?ɢy}f= y顅yI kɡiIi)IINk=)bDAZDE?ADUDUDU0DQEUs: EUE7:6EU4:EQ!]@!]@!]@!]@DAT read: 18:30:55.6565 LVL= 24304, 30145, 32754, 26099, AGC= 33, IDX= 299, 0.14, 0.047,-0.279,-0.177,-1.840, PHS= 1.990, 1.607, 1.619, RAW= 91.6, -78.4, CAL= 94.0, -77.8, ROT= 56.0, 77.8 Ygot valid direction response: 18:30:55.6565 LVL= 24304, 30145, 32754, 26099, AGC= 33, IDX= 299, 0.14, 0.047,-0.279,-0.177,-1.840, PHS= 1.990, 1.607, 1.619, RAW= 91.6, -78.4, CAL= 94.0, -77.8, ROT= 56.0, 77.8 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:983> BDAT read: Tx time:18:30:56.7655 $Ping request sent.t9t9vEYtzAz>xQ 14٪z읊?Q 54z x9Ya&?Q E?yzC)z;Iz;iz۞4Y*@YkkkkkZZbZjZrZa&?ɢ id= 5UI1 5ɡ9i9I9i9)A)]G A)IEA aEAI1vBq~BqBu (IBuBBqBqBqBufT;BuUEB1ԉB1B1B1B1B5>r4IN>D]D]D]*DYE]: E],:6E](N4:EY"E]=ԹQ)>99EYA>Q 1%4٪?Q 5%44 Q =%+:9!Q A%i4Y15-@1kQkQkQkQkQɢyy y顅tI ɡiIi)IIN=Dm Dm Dm &Di Em s: Em .:6Em 4:Ei !u @!u @!u @!u @9 X06.L,8ٸ0)Ay:?ٱ:vf@:a=:r:H޿, Q% 9?l޿@?*?@Y8P?I:?):];i:CF܈BFU(IBDN#6DNӀ3Yj=!nZ=nQ)n>p9p9rEYpraҼAv>tQ 1z4٪vn?Q 5z4vʿ tQ =~ :9|Q A~;Y~#?Q E~?yvC)v;IvO?iv=4YB  @ k)k)k)k)k)ɢQUa= QU IQ ]CɡYiYIYia)aIyINU=AqvBi ~Bi Bm (IBm BBi Bi Bi Bm YT;Bm OEԙ Z<.L,0)Aɰ4<y6H?ٱ6P@62_=6"6Hr޿  k? ޿e? Tl?I6H?)6H ^;i6CN׈BRO(ID%D%zD%*D!E%: E% :6E%(N4:E!"E%;!5E%;!5*E%v;!5E%v;!5!! !! !! !! Mb@Mb@Mb@ )IiMb`?Zd;OMb`;j<)@Ii&@ҹ@ @BD+6DE3Y|!;=Q)>99EYRHA>Q 14٪?Q 54 Q =T:9<=Q A6DJ43YRK=!R`=V3aQ)V>T9T9VEYTZ ;AZ>\Q 1b4٪^?Q 5b4^J \9`Yb ?Q Ef?y^#C)^;I^j;i^<4YhjȽ@hkxkxkxkxkxZZbZjZrZ? ?ɢ!%^= )-|I) -Q;ɡ)i)I)i1)1IIIN}=D5D5nD5(D1E5: E5:6E5c44:E1!=@!=@!=@!=@9 mI.L,L'0)Ay>9?ٱ>y@>[=>Շ>H@4޿ x?@A޿5?6{;?I>9?)> ];i>C^B^k(IBDf:6Df{3Yn=!nG=rӺQ)r>p9p9rEYtvE<Av>xQ 1~4٪zx?Q 5~4z zyB9|Y ?Q E?yz&C)z0;Iz;izm4Y  @ k)k)k)k)k)ZZIbZIjZIrZM ?ɢY][= aepIa e6TCɡaiaIaii)iIIN[=BDAT read: Rx Time:18:30:58.6566 TRx dataTimestamp_ set to:1755628260.6746779vB!~B!B%(IB%BB!B!B!B!B!YD=D=yD=0D9E=s: E=:6E=4:E9"E=;!ME=;!M*E=r;!ME=r;!Mԉ TP.L,AcA0)Ai0y:?ٱ:@:oX=:L:H߿`GѤ ?߿in?O``Q?I:?):];i:CRBRv(I]Mb@Mb@Mb@Y Y)YIYiY]I +?S㥛Mb`]94<]/ݼY)YI]&@iY]@ Y]̴@BDu;6Du)3Y.=!@=wQ)>99EYd<A>Q 14٪ ?Q 54Ǿ 9e BDAT read: Tx time:18:30:59.7655 $Ping request sent.[0)Ay:u?ٱ:2y@: W=:Z":Hv߿@}ڤ ?`h߿`?િ`}?I:u?):L];i:CNBRj(I\BDZ06DZ3Yf!Q!fW=jMQ)j>h9l9nEYln<Ar>pQ 1v4٪r?Q 5v4r rxB9xYze?Q Ez?yr)C)r:Ir:ir 4Y|~@kk!k!k!k!ZZbZjZrZe?ɢ W= I NɡiI!i)))IyIN=vB! ~B! B% (IB% BB% =B! B! B% RT;B% KEq  PExceeded connect timeout, disconnecting.\.L,Nu0)Ay>/B?ٱ>@>0U=>퉼>H` Ԥv?6 Ȣ?7?I>/B?)>a];i>CJЈBJG(IDvDvpDv+DtEv: Ev :6Ev [4:Et"Ev;!zEv;!z*Ev+R;!~Ev,R;!~!=Mb@Mb@Mb@9 9)9I9i9=I +?~jth9=D=)9I9i=5@=ҹ@ 9=@BDU.6DUP3Ye!e@=m_^Q)m>i9q9uEYqu<Au>yQ 14٪}?Q 54}m y9 :!VY=Z3iQ)Z>X9X9^EY\^=A^>`Q 1f4٪b?Q 5f4bQ `9hYj?Q Ej?yb*C)b:Ib:ib4Yln@pk|k|kkkZZbZjZrZ?ɢ)5ET= 15HI1 5Jkɡ1i9I9i9)AIYIiNuB=ԙDDqDDEs: E$ :6E:E!@!@!@!@! Vi.L,:ͨ0)Ay6?ٱ6:@61S=6|Iw6H `@ 'd`;?p?`;c^ގ`.?I6?)6 ^];i6CzBz\(IBD%06D%3Y5GR!5B=5#Q)5>9999=EY9E0=AE>IQ 1U4٪Me?Q 5U4M2 I9QYUo?Q EU?yM+C)M:IMw;iM4Yae@akkkkkZZbZjZrZo?ɢ1S= sI ۙxɡiIi)I I!N-=vB~BB#(IBBBBBBFT;BDE!nManaging dock network, ignoring radio surface power offBEƙT4JE-W4REƅ0D-D-zD-'D)E-~: E- :6E-'4:E)"E-{;!=E-};!E*E-v;!EE-v;!EQy Ԣp.L,¹0)Ay6{?ٱ6Ƹ@6S=6Xa6H  ?)@!?r>! J?I6{?)6n];i6CBBBq(I Mb@Mb@Mb@  ) I i  Mb??Mb` < < ) I i &@ @  z@BDeB6De3Y<=!C=9Q)>99EY =A>Q 14٪Z?Q 542 wB9J>BDN<6DN3YV*<!V[=V{*:Q)Z>X9X9ZEYX^4=A^>`Q 1f4٪bl?Q 5f4b3 `9dYfHQ Ej?yb.C)b:Ib:ib,4Yln@lkkkkkZZIbZIjZIrZMJ@ɢ$T=  I 3ɡiIi ) I!&UdClearing failed state for component DockingStepper1]IYNe=ԱiIBDAT read: Rx Time:18:31:01.6571 TRx dataTimestamp_ set to:1755628263.699268)܉G MĀA)qIBĀACA vB t>~B ǍCB *(IB BB =B B B ;T;B @EBBBBBB41 |.L,^0)Ay6_?ٱ6' @6V=6Q,6H zlݔf? "?תG?I6_?)6^;i4VBVn(IDrDrqDpDpErs: Er$ :6Ep:Ep"Er;!zEr;!z*ErU;!zErU;!zuMb@Mb@Mb@q q)qIqiqu99EY=A>Q 14٪?Q 54W 9Q=Q Ai  DAT read: 18:31:01.6571 LVL= 29984, 32753, 32754, 31603, AGC= 32, IDX= 449, 0.07,-1.858,-2.184,-2.072, 2.538, PHS= 1.989, 1.606, 1.629, RAW= 93.0, -78.6, CAL= 95.4, -78.0, ROT= 54.6, 78.0  Ygot valid direction response: 18:31:01.6571 LVL= 29984, 32753, 32754, 31603, AGC= 32, IDX= 449, 0.07,-1.858,-2.184,-2.072, 2.538, PHS= 1.989, 1.606, 1.629, RAW= 93.0, -78.6, CAL= 95.4, -78.0, ROT= 54.6, 78.0  DAT read: OK  :unknown deviceResponse_: OK  X#Rx 4: Read direction message, but no range. ^direction in FSK: [0.120439,0.169475,-0.978148] UsIվ?8W?K6L￙ I ui  s{ ? h?) ?I ?i  + ? @ s? @?I ) ʈ?O+y.嶿ks^← 8 ? s? @?߃.L,<0)A y ?ٱ  @ Z=  Hi %@D?sdأ? RA; ?I ?) 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RE?IV?)V&M^;iT`jΈBjD(IBDp6DpYz᫻!zF=ze;Q)z>|9|9~EY|-<A> Q 14٪ ?Q 54  9Y>Q E?y XC) s;I ;i ؆4Y!%@!kakakakakaZZbZjZrZm>ɢsp= 顝ƽI ɡiIi)IU(iYY] aIIN>rD=jD<DDsD*DE: EZ:6E(N4:E!@!@!@!@1vBY~BYB](IB]BBYBYBYB]U;B]Ea c3L,{0)Aɰ;;y6t?ٱ62@6t=6;Y6H@|2>^ ?,?%ؤ?/?I6t?)6L#^;i4NֈBRN(IIeMb@Mb@Mb@a a)aIaiae{GztMb`?Mb`eףe;e)e@Iaiae@ ae̴@BD}66D}3Y=!A=;Q)>99EY<A>Q 14٪?Q 54 9<;Q A>YQ E?yYC)G:I:i=4Yk@kkkkkZZ<;bZ<;jZ0@rZɜ@ɢ  t= I gɡiIi)!Ii IINiԑDDmD-DE E:6Et4:E"E;!E;!*E@G;!E@G;! :i3L,թ0)Ay:?ٱ:@:ow=:ޑ:H"@F`?10?*鮿3?I:?):A^;i:cC^؈BbP(IBDj76Djp3Yrc&<!rV=r:Q)r>t9t9vEYtvD=Az>xQ 14٪z?Q 54z zB9 Y Q E ?yx)z);IzS*;izꔤ4YK@k1k1k1k1k1ZZQbZQjZQrZU.@ɢamow= imIi mɡiiiIqiqԙ)!%~AIi IIN> bD ZD D D oD +D E : E :6E [4:E ! @! @! @! @ p3L,0)AyR}~?ٱR6 @R.y=RRHE¹ bڧ@E? @?` |(?IR}~?)Rc^;iPZˈBZA(IvB~BB(IBBBBBBU;BEeMb@Mb@Mb@a a)aIaiae~jt rh?eDeC =e)aIaiae@ aez@BD}86D}3Y%q!@=:Q)>99EY=A>Q 14٪?Q 54 9=Q A9Qԁ  w3L,׊0)Aiy6rf?ٱ61 @6 z=6 Y6H@{ v@v&`n?@ @ ?<?I6rf?)6I6_;i4BΈBBD(IFT9T9VEYTZ"=AZ>\Q 14٪^P?Q 54^\ \9!Y%/ Q E%?y^]C)^^p9p9vEYtv=Av>xQ 1~4٪z?Q 54z x9Y2 Q E?yz_C)ze";Iz@#;iz4Y X@kkkkkZZ bZ jZ rZ @ɢAMRz= Y]LIY e)ɡiiiIqi)I(i IIN%>rDjDDDvDDE: E:6E:E!@!@!@!@vB~BBBB =BBBBBBBBBBt4) 3L,p@0)A ȈB=(IMb@Mb@Mb@ )Ii{GzMb?MbP?#=:)Ii5@@ ̴@BD86D3Y;!;=Q)>99EYA> Q 14٪ ?Q 54 2 B9%=Q A%LԙDDD(DE: E,:6Ec44:E"E;!E;!*E4;!E4;! 6G3L,+0)Ay>|?ٱ>6 @>+w=>`>H.)̤V?@9?`:ݮZv ?I>|?)>V^;i>`CJ̈BJB(IiLILPBDV46DVf3Y^<!^`=^Q)b>`9`9bEY`f=Af>hQ 1j4٪jx?Q 5n4j h9lYnQ En?yjeC)jU;Ij;ij 4Ytv@tk k k k k ZZ)bZ)jZ)rZ-%'|@ɢ9=+w= AEͽIA E~ɡAiAIAiI)IIi I)I9NE=! bD ZD ?AD D xD ,D E : E :6E g4:E ! @! @! @! @-/3L,D0)Ay6@ٱ6@6}t=6mH06H՗"Exңp:?͡%G?ea?I6@)6~^;i6cC@@vBT~BTBV(IBVBBV =BTBTBTBT|Mb@Mb@Mb@ )Ii~jtx99EY=A>Q 14٪?Q 545 B9=Q A75}t= 5I= =ɡ=i9I=5X[=iA)A e&Changing to mode: 1 a)Ii !I1IANMS>Qԁ ?Y3L,^0)Ay6@ٱ6@6q=6.96HV͢ (?lp?;2`%??I6@)6Tq^;i6aC>ΈBBD(IBDJ(6DJ:3YR;!RT9T9VEYTV$=AZ>XQ 1^4٪Z?Q 5b4Z X9`YbqQ Eb?yZmC)Z;IZ;iZ/Ƥ4Ydf@hktkxkxkxZZ bZ jZ rZ 5y@I!!)%>%q= ! )ɡ)i)I-\=i))1yD}D}wDyDyE}ҝ: E}:6Ey:Ey"E};!E};!*E}k;!E}k;!Im)iiqu qIIN=ԡeXRequesting device enable set for address 50. 3L,Ex0)Aiy:%@ٱ:@:n=:\C;:H@fD&`콡?LQ?jԭ#qh?` ?I:%@):6qa;i:bC^ӈB^J(IBDf<6Df3Yn<!nF=nQ)n>p9p9rEYpr<Av>tQ 1z4٪v?Q 5~4v; t9|Y~Q E~?yvqC)vo;IvI;ivcͤ4Y @ k)k)k)k)ZZIbZIjZIrZMPsz@IYY)]>]n= Y aɡaiaIe\=ia)i*DAT read: user:985> BDAT read: Tx time:18:32:24.3651 $Ping request sent.99EYA>Q 1 4٪?Q 54Q 9tI B9ء=Q A%'1 1 9ɡ9i9I=R]=i9)Aau#2:}~A}}ADDnD*DE E:6E(N4:E"El;!En;!*EJ;!EJ;!ԹI )i I I1 N= > f3L, d0)Ay:@ٱ:@:j=:Z3;:H`@W@`J?:x?` > z{?q?I:@):`;i:aC\`BDf+6DfE3YnV!r\=rJQ)r>t9t9vEYtvY=Av>xQ 1~4٪z?Q 54zO x9YQ E?yzyC)z;Iz;izۤ4Y  վ@k)k)k1k1ZZbZjZrZ^v@I)>j=  ɡiIX^=i)Ա8 D D oD /D E : E :6E J4:E ! @! @! @! @9 |3L,W=0)AvB$~B$B$B$B$B$B$B&U;B&EɰHJp;yn 8@ٱn3@n6f=n_=Q)>99EY-w<A%>)Q 154٪-?Q 5m4- -B9=Q ACm6f= q qɡqiqIu._=iy)ym`T=I )i II!N5O>9i Q3L,0)A y:F@ٱ:>@:e=:B"<:H`e6 |?2?N??I:F@):^;i:_Cn׈BnO(IBDz;6Dz)3Y~{=!V=-Q)> 9 9 EY  *<A>Q 14٪?Q 5%4 B9!Y%,Q E%?yC)z;Iv;i4Y-B- @1kQkQkQkQZZqbZqjZqrZu$e@I)>e=  ɡiI_=i)DeDezDe*DaEe: Ee :6Ee(N4:Ea"Ee;;!uEe<;!u*Eev;!uEev;!u@=qI-)i))- )I9IQN]>ԙ (ҽ3L,0)Ay6@ٱ6@6d=67<6H@$~A.?(>?ޛ? ?I6@)6^|^;i6bC>ՈBBM(IBDJ66DJ3LYR!RP=VQ)V>T9T9VEYXZ5<AZ>\Q 1b4٪^읊?Q 5b4^8 ^B9`Yb,Q Ef?y^C)^K:I^:i^4Yhj)@hkqkqkqkqZZbZjZrZXe@I)>d=  ɡiI`=i) I)DuDuwDu+DqEu: Eu:6Eu [4:Eq!}@!}@!}@!}@vBA~BABABABABABABE"U;BEEI)i I1IANU>U BDAT read: Rx Time:18:32:26.2590 U TRx dataTimestamp_ set to:1755628348.210601! a3L,0)A|҈B J(I x> p;Mb@Mb@Mb@ )IiMbP~jt?~jth?=D;)Ix@i5@ µ@BDC6D3Y%;!-5=-Q)->)9195EY15A=>9Q 1E4٪=띊?Q 5E4= =B9M/=Q AM  ɡiIo]a=i))Im)iiiu qIIN>QBE|a4JEYe4RE١0DuDupDu2DqEu7: Eu :6Eu4:Eq"Eu;!Eu;!*Eu+R;!Eu,R;!ԁ 3L,3-0)AQ)[G  A)!IMVڿU AUAy@ٱ@yb=^<H Ϛ ?@ީ? Ke΋??I@)^;i`CوBR(IBDD6DJ3Y=!@=Q)>99EYFA>Q 14٪Ꝋ?Q 54 B9YQ E?yC);Ij;i4Y@kkkkZZbZjZrZux@I)>yb=  ɡiI%,b=i)))ԁI(i IINI>DAT read: 18:32:26.2590 LVL= 29120, 32753, 32754, 31395, AGC= 32, IDX= 458,-0> unknown deviceResponse_: 18:32:26.2590 LVL= 29120, 32753, 32754, 31395, AGC= 32, IDX= 458,-0> BDAT read: Tx time:18:32:27.3651 $Ping request sent.99EYA>Q 14٪靊?Q 54 91 1 1ɡ1i1I5b=i9)9I)i IIN">1Y 3L,da0)Ay6!B@ٱ6=@6 a=6QR<6Hd1@$??=/???I6!B@)6<^;i6aCBBB!(Ii@I@BDJA6DJ?3Yf!fn=f$Q)f?h9h9jEYhjxAn?pQ 1v4٪r_靊?Q 5v4r rB9tYv:Q Ev?yrC)rK:Ir:ir 4Y|~_@|kkkkZZ9bZ9jZ9rZ=X@III)Ml>M a= Q QɡQiQIURzc=iY)YAD=D=D=0D9E=s: E=*5:6E=4:E9"E=;!]E=;!]*E=|;!]E=|;!]I(iIIN=aԙԹ 3L,={0)Ay:@ٱ:@:Τ_=:K<:H {Z``iN?`~b? `_k?)?I:@):];i:`CbʈBb@(IBDj06Dj3Yr=!rI=r Q)r>t9t9vEYtzAz>xQ 14٪z蝊?Q 54z x9Y:Q E?yzC)z;Iz;iz4Y Ͼ@k1k1k1k1ZZQbZQjZQrZUEW@Iaa)eA>eΤ_= a iɡiiiIm4d=iq)qԙI5)i99= AIyIN=rDE=jDE=DMDMwDM.DIEM: EM:6EMـ4:EI!U@!U@!U@!U@vB~BBBBBBB3U;BE 3L,0)AyJ=!@ٱJ5@JG"^=J.H99EYA>Q 14٪蝊?Q 54 9;Q A'>Y>Q E?y)o:I:i4Y  @k)k1k1k1ZZU;bZU;jZU@rZU]>Iaa)e>eG"^= a iɡiiiImld=iq)qI% )i))- )I9IaNm>DUDUoDU+DQEUs: EU:6EU [4:EQ"EQ!eEQ!e*EUN;!eEUN;!eI 13L,{0)Ay6n@ٱ6h@6v']=6 2<6H.;Y?>?~@G??I6n@)6];i6aCB؈BBQ(IFV>F>BDJ-6DJ3YR)>!Va=VP,Q)V>X9X9ZEYXZ@AZ>\Q 1b4٪^蝊?Q 5f4^ ^B9dYf{>Q Ef?y\)^:I^>:i^!4Yhj@lkxk|k|k|ZZbZjZrZz{>I)))-:>-v']= ) )ɡ1i1I5*e=i1)9QI(i" IIN>yԱ bD] ?AZD] ?ADe De pDe *Da Ee : Ee  :6Ee (N4:Ea !m @!m @!m @!m @vB ~B B 'IB BB B B B "U;B E3L,0)A@yzN@ٱzF@zU[=zJ119195EY1=A=>AQ 1M4٪E2Ꝋ?Q 5M4E A9M =Q AMQ EU?yEC)E:IE;iE)4YY] @YkykykykyZZ =bZ =jZrZj.Y>I)@>U[=  ɡiIkf=i)BDAT read: Rx Time:18:32:29.2591 TRx dataTimestamp_ set to:1755628351.234813ԩI-)i))- 1IAIQN]> C3L,0)Ay6i@ٱ6a@6lY=6+<6Hϒ lMB?` W?<`U?`?I6i@)6H:^;i6`CBԈBBL(ItBDJE6DJ3Yz=!~`=~jQ)~>99EY A > Q 14٪ 5띊?Q 5%4  B9)Y5K>Q E=?y C) P;I ;i G04YIM4@QkikqkqkqZZbZjZrZZK>I)Q>lY=  ɡiIg=i)DDrD0DE: E?:6E4:E"E;;!-E<;!-*EsY;!-EtY;!-Im(iiqu qIIN= 1a m3L,ׄ0)Ay6 ?ٱ6} @6SY=63;6H` 4B?:8?@9'«~?=?I6 ?)6W'^;i6^CN׈BRP(IiPIPBDZ/6DZ3Yby<!bN=bعQ)b>d9d9fEYdj{Aj>lQ 1r4٪nO읊?Q 5r4n l9pYr<>Q Er?ynC)n;Inr;in674Yxz@xYDAT read: 18:32:29.2591 LVL= 25520, 30689, 32754, 27491, AGC= 32, IDX= 442, 0.38, 0.039,-0.270,-0.158,-1.818, PHS= 1.959, 1.593, 1.616, RAW= 93.2, -79.0, CAL= 95.5, -78.4, ROT= 54.5, 78.4 Ygot valid direction response: 18:32:29.2591 LVL= 25520, 30689, 32754, 27491, AGC= 32, IDX= 442, 0.38, 0.039,-0.270,-0.158,-1.818, PHS= 1.959, 1.593, 1.616, RAW= 93.2, -79.0, CAL= 95.5, -78.4, ROT= 54.5, 78.4 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:987> BDAT read: Tx time:18:32:30.3651 $Ping request sent.Iyy)W>SY=  ɡiIlg=i)IU)iQY] aԉIrD)jD-<DEDEzDE-DAEE: EE :6EEt4:EA!M@!M@!M@!M@IQNe4>vB~BBBBBBBU;BEԱ U4L,(`0)Ay:T?ٱ:" @:"[T=:;:H17"?0?Y@t??I:T?):3^;i8R̈BRB(I}Mb@Mb@Mb@y y)yIyiy}{GzMb}#}@})}x@Iyiy}@ y}z@BD96D3YT!==7Q)>99EYA>ԹQ 14٪흊?Q 54 9D=Q AQ E?yC):IR:i>4Y@kkkkZZD=bZD=jZ@rZ>I!!)->-"[T= ) )ɡ)i)I5>|h=i1)9I)i IIN >D=D=vD=*D9E=: E=:6E=(N4:E9"E=(;!EE=);!E*E=h;!EE=h;!EA r 4L,=00)Ay6*?ٱ6; @6FQ=65O;6HCץ ?@Z@@?%i?D?I6*?)6^;i6\CNوBNR(IBDV66DV3Y^Ə=!bZ=bdQ)f>p9p9vEYtz$Az>|Q 14٪~R?Q 54~P |9 Y >Q E ?y~C)~:I~:i~kE4Y@k1k1k1k1ZZbZjZrZ>I)>FQ=  ɡiI2&i=i)I)i IIN>AiDE DE wDE ,DA EE : EE :6EE g4:EA !M @!M @!M @!M @vB ~B B 'IB BB B B B B ԙ Z4L,J0)A i yZ?ٱZ?t @ZZH=Z<8ZH L?~=?`^ 0?IZ?)ZQ^;iZ_Cf̈BfB(Ij=jF?Mb@Mb@Mb@ )IiS㥫Mb`?/];)Ib@i ̴@BD#6DӀ3Yii!7=nQ)>99EYhA>Q 14٪?Q 54 B9U]=Q AuEZH= A AɡAiAIEi=iI)II )i    II1N=>Aqԙ 4L,qtd0)AyNb?ٱN @N1D=NNHba? !?`Ls`?INb?)N2`;iN]CZ܈BZU(IBDb=6Db3Yj=!j\=j3Q)j>l9l9nEYlrͼAr>tQ 1z4٪ve?Q 5z4v t9xYz?Q Ez?yvC)v:Iv%:ivS4Y @k!k!k!k!ZZAbZAjZArZE?IQQ)Uw>U1D= Y YɡYiYI]ij=ia)aBEAJEE7i4REE0DDqD*DEs: E$ :6E(N4:E"E;!E;!*EU;!EU;!ԑI-)i))- )I9IIN]>i=IC)MG erA)yIrAA 24L,O~0)AyF1a?ٱF+ @FgvD=F{»FH@Pr``?`W?c :Txo?IF1a?)F_a;iF^CfBf](IBDn:6Dn{3YvU<!vI=vy*9Q)v>x9x9zEYxzؼA~> Q 1 4٪ ?Q 54 [ B9Y?Q E?y C) :I :i Z4Y!%@!kAkAkAkAZZabZajZarZe?Iqq)u>ugvD= q yɡyiyI} k=i)I)i II!N-=vB~BBBBBBBU;BEBBBBBB}4DDxD(DE: E:6Ec44:E"E;E;*EJo;EKo;BDAT read: Rx Time:18:32:32.2592 TRx dataTimestamp_ set to:1755628354.258518I %4L,4-0)Aɰ(*4<@yJ'$?ٱJ @JF=J! JH @\@.N??_Ш?IJ'$?)J_;iHVBVZ(IiXIX5Mb@Mb@Mb@1 1)1I1i15Mb?DlMb`?5<5O1)5@I5K@i5&@1 11BDH6D4Y7!@=:Q)>99EY۹A>Q 14٪?Q 54 9Q=Q A>F=  !ɡ!i!I%k=i!))ԩI)i IIN>DDyD,DE: E:6Eg4:E"E;E;*Er;Er;  DAT read: 18:32:32.2592 LVL= 24896, 29809, 32754, 26387, AGC= 32, IDX= 443, 0.31,-0.160,-0.475,-0.380,-2.045, PHS= 1.988, 1.615, 1.621, RAW= 90.8, -78.7, CAL= 93.0, -78.1, ROT= 57.0, 78.1  Ygot valid direction response: 18:32:32.2592 LVL= 24896, 29809, 32754, 26387, AGC= 32, IDX= 443, 0.31,-0.160,-0.475,-0.380,-2.045, PHS= 1.988, 1.615, 1.621, RAW= 90.8, -78.7, CAL= 93.0, -78.1, ROT= 57.0, 78.1  DAT read: OK  :unknown deviceResponse_: OK  X#Rx 6: Read direction message, but no range. ^direction in FSK: [0.112307,0.172937,-0.978509] >H$?Uc"? O￙ I @ai qt g v? R?) |?I b?i Fѯ ? !z ~? !z?I ) PbW?NQ燸``← Dr ? ~? !z?v+4L,(0)Aty=N?ٱ"@%F= 1H`)*ϡ`$? 9+?֨l?I=N?)f_;im߈BmY(IBD36D3Y!G=8Q) > 9 9 EY ~A>Q 1%4٪?Q 5E4c B9AYMl,?Q EM?yC);I;ii4YQU޽@QkkkkZZbZjZrZl,?I!!)%E>%%F= ) )ɡ)i)I-yll=i1)1I(i IIN(>Aq vB ~B B (IB BB B B B T;B ED1 D5 zD5 *D1 E1  E5  :6E5 (N4:E1 "E1 E1 *E5 v;E5 v;24L, 0)APExceeded connect timeout, disconnecting.y:q?ٱ:0@:1G=:Z:Hd`<@V`-7??`TV ?I:q?):z^;i8@DQeMb@Mb@Mb@a a)aIaiae{Gz?V-Mb`eף99EY6A>Q 14٪?Q 54 B9m{=Q AX1G=  ɡiIm=i)!I(i IIN>ԁԩ p84L,Q0)Aiy6Y?ٱ6@6J=66n6HpIZD?;?qOF?I6Y?)6=3^;i6]CBوBBQ(IF=F4<BDJ>6DJ43YR` !R[=V+:Q)V>T9T9ZEYXZ[ AZ>\Q 1b4٪^P?Q 5b4^q \9dYf'a?Q Ef?y^C)^:I^:i^v4Yhj=@hkxkxkxkxZZbZjZrZc'a?I!!)->-J= ) )ɡ)i)I-m=i1)1ԹDDD+DEغ: E0:6E [4:E!@!@!@!@Ii IIN=9 V)?4L,0)Ay:;7?ٱ:@:qL=:ph:H`Mׂ@H?ʮ?``g?I:;7?):^;i:\CF߈BFY(IBDRD6DRJ3YV}<!ZJ=Z~:Q)Z>X9\9^EY\^ +Ab>`Q 1f4٪b?Q 5f4b bB9hYj`?Q Ej?ybC)b:Ib):ib}4 ppYtvڽ@tk k k k ZZ)bZ)jZ)rZ-3`?I99)=>=qL= A AɡAiAIEIn=iI)I QI(i IIN==A<AvBw>~BB(IBBBDDD*DEy: E,:6E(N4:E"E=:Q)>99EY/:A>Q 14٪?Q 54 9 ==Q AtO=  ɡiI  o=i )q] dTimed out moving from: 10496 to: 14700 response: 1- Hardware FaultI-&VHardware Fault in component: DockingStepperIN>ԡDDvD)DE: E:6EFA4:E!@!@!@!@ `;L4L,M30)Aɰp;yB?ٱB@BCQ=BfBH`l 7棿@1??`z2 Ԍt?IB?)BO<`;iBZCR݈BRW(IBD\6D\Yj3^<!jV=nN:Q)r>p9t9vEYtvF<Az>|Q 1 4٪~?Q 5 4~0 |9 Y \?Q E ?y~C)~H%;I~%;i~%4Y!%@!kQkYkYkYZZbZjZrZ\?I)D>CQ=  ɡiIGo=i) =:Uninitialize Docking Stepper. =Powering down==EEIQIaNu=) DM DM sDM -DI EM : EM Z:6EM t4:EI vB ~B B B B B B B T;B E"S4L,&M0)AyV?ٱVFO@VU=VgVH +Nm?`_ʢ? @@?IV?)V`;iV^Cr׈BrP(ImMb@Mb@Mb@i i)iIiiim99EYRf<A>Q 14٪8?Q 54 9U=  ɡiIjp=i)II1QN]=yԩ 5MY4L,g0)Ay6u?ٱ62@6[Z=6yl6H(.@&@िv? ?9??:@?I6u?)6Ca;i6ZC@@@BDJ<6DJ3Yjc!jW=n7;Q)n>p9p9rEYprr<Av>tQ 1z4٪v?Q 5z4v t9|Y~t?Q E~?yvC)v;IvQ;iv<4Y V@ k)k)k)k)-B*** querying acoustic contact ***:h)Bh)ZZIbZIjZIrZMt?IYY)]Ե>e[Z= a aɡaiaIeB q=ii)iIINZ=DDxDDEƱ: E:6E:E"E,;!E-;!*EJo;!EKo;!ԩm2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode. 5`4L,ހ0)Ay6?ٱ6^ @6^=6Dg6Htt@B?W?4ѫ`錿 ?I6?)6`;i6]CB҈BBJ(Ib*DAT read: user:988> fBDAT read: Tx time:18:32:36.4660 f$Ping request sent.fx9x9zEYx~<A~>Q 14٪(?Q 54 9Yfw?Q E?yC)k;Il;i桥4Y!%@!kAkAkAkAZZbZjZrZfw?I):>^=  ɡiIq=i)II)N==AQAQDDuD+DEҝ: E:6E [4:E!@!@!@!@vB~BB (IBBBBBBT;BE1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251002a ;_f4L,๚0)Ay6?ٱ6H @6a=6F5[6H(@Eb %? `=?5@[?I6?)6O`;i6[CBȈBB>(I Mb@Mb@Mb@  ) I i  ~jtx?MbPMbP? ;  :) I i  ҹ@  BD%D6D%J3Y5@!5F=5:Q)5>9A9A9EEYAEx<AM>IQ 1U4٪M?Q 5U4M I9;Q A>Y?Q E?yI)M[ii}a= y yɡyiIr=i)IIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096iԑBE] [4JE]T\4RE]Dz0DDxD.DE1: E:6Eـ4:E"El;!En;!*E!E! ) [G - A)Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755094I A Al4L,0)A}ӈB}K(IBD56D3ԙY&K=!C=Q)>99EYA>Q 14٪?Q 54o 9YQ E?yC)" ;I|:iۯ4Y@k)k1k1k1ZZQbZQjZQrZQIai)m>i i iɡiiiIuFs=i)IIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007045D D zD (D E  E  :6E c44:E !% @!% @!% @!- @A vB1 ~B1 B5 (IB5 BB1 B1 B1 B5 T;B5 EB9B9B9B9B9B=< 4qs4L,o0)Ay6A?ٱ6 @6|f=626H`k@! +@?6w-M?ˬ T?I6A?)6^;i6]CbňBb9(IidIdMMb@Mb@Mb@I I)IIIiIMQ?MM99EY|=A>Q 14٪)?Q 54 9|f=  ɡiIs=i ) I)}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267161IN=Aq- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518963ԙ y4L,L0)Ay6}?ٱ6 @6zg=66H{`Τ@?@l?@?I6}?)6N^;i4BшBBH(IBDJF6DJ4Yf$z=!fV=fAq:Q)f>h9h9jEYhn=An>pQ 1v4٪ra?Q 5v4r p9tYv Q Ev?yrC)rW:Ir:ir4Yx~@qkkkkDDoD,DE: E:6Eg4:E"E;!E;!*EN;!EN;!ZZbZjZrZIq@I)N>zg=  ɡiI:t=i)I IN%=qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771821ԡ B4L,&0)Ay6f9?ٱ6 @6$h=66H`@=w?")-?@| ?I6f9?)6>];i4>͈BBC(IBDJE6DJ3YR!RM=V0 9Q)V>T9T9VEYTZ( =AZ>\Q 1b4٪^?Q 5b4^ \9`YbQ Ef?y^C)^+;I^;i^yĥ4Yhj@hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.023197kkkkZZ!bZ!jZ!rZ% &r@I)1)54>5$h= 1 1ɡ1i9I=}ru=i9)AIIN=AArD=jD=DDDDE: E;J:6E:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275823) Q 4L,| 0)Aiy>m@ٱ>ez@>g=>o>H` y@]@`3T?`?&ެ s?I>m@)>'];i>YC^҈B^I(IbR>bMMb@Mb@Mb@I I)IIIiIM{GztZd;O?MbP?MףMj<=M:)IIMK@iIM@ IIBDe?6De3Yum<!u>=uQ)}>y9y9}EYys=A>Q 14٪[?Q 54X B9==Q Aug= q yɡyiyI}=v=i)IIN=)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527040YDDmD.DE: E:6Eـ4:Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780689׌4L,50)A0y:b@ٱ:]@:*d=: `I:H@@?`u?@!i)?I:b@):w^;i:\C͈BD(IBD;6D)3Y-!-O=-EQ)->19195EY1=J=A=>AQ 1M4٪EC?Q 5M4E A9IYM_Q EM?yEC)E:IEK:iEҥ4YY]@YkykykykyZZbZjZrZ߿z@I)>*d=  ɡiIv=i)IIN=ԉԹBDAT read: Rx Time:18:32:38.8714 TRx dataTimestamp_ set to:1755628361.070618checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032103 bD @AZD @AD D D +D E ; E c:6E [4:E vB ~B B 'IB BB =B B B U;B Eп4L,O0)Ay6j5@ٱ6b0@6{ga=6T6H$ ?-@?K)PyJ?I6j5@)69];i6ZCBȈBB=(I\ Mb@Mb@Mb@  ) I i  MbpZd;?Mb`  y= ) @I i  @  BDuB6Du3Yݼ!E=> Q)>99EY<A>Q 14٪?Q 54# B9z=Q AX5{ga= 9 9ɡAiAIEظw=iI)Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284128IIaN=5 DAT read: 18:32:38.8714 LVL= 23280, 22433, 24898, 17219, AGC= 34, IDX= 41, 0.37, 2.423, 2.090, 2.216, 0.555, PHS= 1.970, 1.580, 1.617, RAW= 94.9, -78.4, CAL= 97.4, -77.8, ROT= 52.6, 77.8 = Ygot valid direction response: 18:32:38.8714 LVL= 23280, 22433, 24898, 17219, AGC= 34, IDX= 41, 0.37, 2.423, 2.090, 2.216, 0.555, PHS= 1.970, 1.580, 1.617, RAW= 94.9, -78.4, CAL= 97.4, -77.8, ROT= 52.6, 77.8 E PDAT read: Bearing 217.4, 9.7 (Local) E ~Local bearing/azimuth received: Bearing 217.4, 9.7 (Local) U DAT read: Range 11 to 50 : 0.9 m (Round-trip 1.3 ms) speed 0.0 m/s U R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.128354,0.167879,-0.977416]a m Fpublishing direction and range info  +ZGm?TC}?*F  I Zi W Ba CC " (?  q=?) ?I 6?i % ? έ k? έ?I i ) 憾/?\jJZ←  J? k?  έ?I i *4L,Օi0)Aɰ;y6*@ٱ6"@61]=6>:6H`p` ,k? w?֟T??I6*@)63#^;i6YCN̈BNB(IiPIP TVABDZ@6DZ3Yrl<!rU=r^3Q)v>t9t9vEYtz <Az>9|Q 1E4٪~C?Q 5E4~ |9IYMXQ EM?y~ǝC)~V;I~x;i~4YQU @YDDoD-DE1: E:6Et4:E"El;!En;!*EN;!E!kkkkJh1Rh5gd0)Ah1h5`~75Ҹ[?uV?ѮJ&~5+ZGm?TC}?*Fh5k?h5έ? 5ddΈĿʍ!HGM~5|c̊ƿ+%#Orjh5 9rh5F$Zh51靊?bh5Dzh5Bh1h51!h5Bh5>h5bI9@ZZbZjZrZy@IAA)EN>E1]= A IɡIiIIMqx=iQ)qIIN=aԙ VѠ4L,n0)Ay6E@ٱ6=@64X=6L2X;6H@_@8=V?ͻت?\j??I6E@)6M];i6[C^ʈB^@(IBDj?6Dj3Yr !rJ=vAQ)v>t9t9zEYxz<Az>|Q 14٪~?Q 54~ |9 Y Q E ?y~ʝC)~:I~:i~4Y'@k1k1k1k1ZZQbZQjZQrZUwz@Iii)m>m4X= i qɡqiqIuy=iy)yIԙINb=vBI~BIBIBIBM =BIBIBMU;BMErD%=jDR=DDpD*DE%: E :6E(N4:E"E;E;*E+R;E,R; 4L,J0)Ay6;H@ٱ63C@65$T=6C];6H m-`p۞#?@di?}@t??I6;H@)6 ];i4B͈BBC(I5Mb@Mb@Mb@1 1)1I1i15{GztS㥫?Mb`5ף5/]=1)1I55@i11 15z@BDM<6DM3Y]B[<!]C=eQ)e>a9i9mEYimڹ<Am>qQ 14٪ur?Q 54ur uB9G^=Q At5$T=  ɡiIy=i)II!N-=!DDxD(DE: E:6Ec44:E!@!@!@!@Yԁ %4L,$0)Ay6@ٱ6@6P=6;6H$@<@J? 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D D oD *D E %: E :6E (N4:E ! @! @! @! @ 7L,,0)Ay6\?ٱ6@) @6k^=6‰;6H@ш%?@ ?ҫ@1q??I6\?)6];i6KCNӈBRK(I|Mb@Mb@Mb@ )Ii{Gz~jtMb`?#;)I5@i&@ҹ@ ̴@BDA6D?3Yd<!<=7Q)>99EYA>Q 14٪?Q 54 9'!=Q AQ E?yC)w:I:i<4Y@kkkkZZ'!=bZ'!=jZ収@rZ>I)))-$>-k^= 1 1ɡ1i1I5r=i9)9IIN=)QvB~BB'IBBB =BBBT;BEԁ &7L,0)Ay6?ٱ6C @6Ь^=68;6Hv}f?ଜL?ҫpb?`?I6?)6];i6LCNЈBRF(IBDZK6DZ 4Yb!bZ=bDQ)b>d9d9fEYdfAj>hQ 1n4٪j?Q 5r4j jB9pYr>Q Er?yjC)j ;Ij ;ijƩ4Ytzξ@xk kkkYZZbZjZrZM>I)>Ь^=  ɡiI˟=i)I)IANM=rD=jD4=DDtD+DE: Ev:6E [4:E"E;;!E<;!*E`;!E`;!ԉԱ K-7L,0)Aɰ024@٦?s`)N)??IND?)NU];iLV؈BVQ(Ii\I\EMb@Mb@Mb@A A)AIAiAE~jthA`"EDEYE)Ex@IEb@iAA AE@BD]L6D] 4Ym!=!m@=msQ)m>Ա99EYA>Q 14٪?Q 54 9 oY=Q A y}w^= y yɡyiyI},=i)IIN=DDDDE: E,:6E:E!@!@!@!@ 9 37L,0)AyBm?ٱB. @B \=BXBH J( ~?5]? k\`?IBm?)B&];iBJCJ׈BJO(IBDVA6DV?3YZ!^W=^_Q)^>`9`9bEY`fuAf>dQ 1j4٪f ?Q 5n4f? d9lYnn ?Q En?yfC)fo;If;ifᷨ4Ytv]@tk k k k ZZ)bZ)jZ)rZ-n ?I99)=X>= \= 9 AɡAiAIE~=iI)IIaIqNH=vB=x>~B9B9B9B9B9B9B=T;B=EAqbD@AZD@ADDqD*DE: E$ :6E(N4:E"E!E!*EU;!EU;!ԙ (:7L,g0)Ay6?ٱ6 @6[=68x6HBH?Y?ʥ?`]n@;?I6?)6h^;i6KCBԈBBL(IBDJ]6DJ'+4Yn-!nH=rQ)r>t9t9vEYtzۼAz>xQ 14٪z?Q 54z x9Y?Q E?yzC)z;Iz;iz4Y@k1k1k1k1ZZQbZQjZQrZU?Iaa)e>e[= a iɡiiiImڠ=iq)qIIN\=yiAII)KG )ԡI]0;@BEAJEE|a4REE:0D D wD -D E : E :6E t4:E ! @! @! @! @ 7A7L,u0)Aiy6%Z?ٱ6 ( @6cY=6W6HNW&? TVsB?) B5w`U?I6%Z?)6];i6LCR͈BRD(ITT-nMonly read 0 of 1 data item for BIT error. Device response is::TS,00022422204117,35.0, +10.5, 0.0,1491.8,A, 0.00, 57.05, 56.71, 55.02, 57.39 !n@!n !n@!n !n@!n !r@!r BDv26Dv 3Yz !zH=vQ)>99EY俼A>Q 14٪G?Q 54 Q =+:9Q AJiŨ4Y@k!k!k!k!Ii)>cY=  ɡiIO<=i)II N==vB9~B9B9B9B9B9B=bDB=T;B=E) }9G7L,QM0)Ay:9?ٱ:@:)W=:;:Hx` f ??⪿K~y?I:9?):];i8BBFZ(IBDNG6DN4YV=!VP=VqQ)V>X9X9ZEYXZ0A^>`Q 1b4٪b?Q 5f4bj `Q =f :9dQ Af$%)W= ! )ɡ)i)I-֋=i1)1IIIN}=rDqjDqD}D}yD}+DyE}U: E}:6E} [4:Ey"E};!E};!*E}r;!E}r;!Qyԩ fM7L,680)A@ynKF?ٱn@nU=n:nH+`g$?6?~?InKF?)n];ilzڈBzS(I!}!} !}!} !}!} !}! Mb@Mb@Mb@ )Ii99EY튼A>Q 14٪A?Q 54 Q =T:9<`=Q ArU=  ɡiI-=i))1IiIyԩN=DDDDE: E*:6E:E!@!@!@!@ cLT7L,[R0)Aɰ;y6+?ٱ6@6R=6-6HApj;? $? Z`Y`?I6+?)6];i6ICbوBfR(IidId|BDnH6Dn4Y ܻ! U=Q)>99EY!_A>!Q 1-4٪%?Q 5-4% !9)Y5^7?Q E5?y%C)%%:I%:i%ר4Y9=:@9]hDone checking for power/comms, continuing with slide]DSlide state transition from 1 to 2kekekakakaZZbZjZrZ^7?ɢR= 顕I ɡiIi)IIvB~BB(IBBBBBBT;BEBBBB =B =B4N=)eXRequesting device enable clr for address 50.YDDsD0DEƱ: EZ:6E4:E"E,;!E-;!*E];!E];!ԁ vZ7L,\k0)Ay6i?ٱ6@6kQ=6RD6H/Q&٢K?'? *@?I6i?)6];i6MCB׈BBO(Ib*DAT read: user:989> fBDAT read: Tx time:18:33:24.1148 f$Ping request sent.f|9|9~EY|A> Q 14٪ ?Q 54 B 9Yh6?Q E?Yy C) ga9a9mEYimAm>qԹQ 14٪u?Q 54u q9B=Q Ao@>%N=>T>H/+X`9@R?ם?ک@}?I>];i>ICF߈BFY(IJ=Jp;BDR36DR3YZb=!ZV=ZLBQ)Z>\9\9^EY\b9Ab>dQ 1j4٪f?Q 5j4ft d9hYjo?Q Ej?yfC)fh:If:if4Ypr޽@pkkkkkZZ!bZ!jZ!rZ%o?ɢ15%N= 15I1 =IBɡ9i9I9iA)AD]D]xD]-DYE]a: E]:6E]t4:EY"E]J;!eE]K;!e*E]Jo;!mE]Ko;!mAex=IqIN:>ԁԡ m7L,20)Ay(?ٱ_@N=o]H O\^J? Rx?`a٩`?I(?)sX];iڈBS(IMb@Mb@Mb@ )Iiy&1?Q`e<)Ii&@@ BD16D[3Y}!8=ЬQ)>99EYD;A>Q 14٪?Q 54! 9=Q ADMDMwDM,DIEMƱ: EM:6EMg4:EI!U@!]@!]@!]@ԁԱ 2t7L,M0)Ay6?ٱ6Y@6,M=6=!f6H'@;n6? !?`?I6?)63];i6JCRBRa(IBDZ=6DZ3Ybjv=!b_=bR.Q)b>d9d9fEYdfO<Aj>hQ 1n4٪j$?Q 5r4j h9pYr}?Q Er?yjC)j@;Ij;ij4Ytzw@xk kkkkvBw>~BB(IBBBBBBT;BEZZbZjZrZ7}?ɢ,M= SI |蘹ɡiIi ) I4=)=I_<IIN=DuDuuDu+DqEu: Eu:6Eu [4:Eq"Eu;!Eu;!*Eu^d;!Eu_d;!9 z7L,g+0)Aɰy:?ٱ:>@:`O=:Aj:H'y!`k?`L&?;驿V>?I:?):zB];i:ICBBB`(IiHIHBD^B6D^3YnP!nI=nj:Q)r>p9t9vEYtzr<Az>|Q 1 4٪~?Q 5 4~ |9Y~?Q E?y~C)~);I~2*;i~4Y!-@)kYkYkakakaZZbZjZrZg~?ɢ9=`O= 9=@YI9 =ͯɡAiAIAiA)Iq:I!1I9NM=aUBDAT read: Rx Time:18:33:26.0107 ]TRx dataTimestamp_ set to:1755628407.978561ԉ D D wD ,D E : E :6E g4:E ! @! @! @! @7L,60)A0yF?ٱFV@FSQ=FkFHU#@@>o?-?'pu?IF?)F1];iDvBvl(IMb@Mb@Mb@ )Iiy&1?Qu)@I&@i5@ @BD26D 3Y%3=!<=Ǐ:Q)>99EEYIM<AM>YQ 1e4٪]?Q 5e4]U Y9evB}x>~ByB}(IB}BB} =ByByB}T;B}E և7L,? 0)AyB|?ٱB6a @BS=B\hBH`\fM@?`pA? {N 6?IB|?)B_];iBHCHNk(IBDV?6DV3YZ!^]=xzJ:Q)~>|9|9EY<A> Q 14٪ ?Q 54 % 9Yɩ?Q E?y C) ;I ;i 4Y!%@!kAkAkAkAkAZZabZajZarZeɩ?ɢquS= y}Iy }6̹ɡyiyIi) AADEDElDE*DAEE: EE:6EE(N4:EA"EE;!MEE;!M*EEC;!UEEC;!] yb]:I)IANMR>DAT read: 18:33:26.0107 LVL= 24336, 28529, 30994, 25459, AGC= 33, IDX= 349,-0.07,-0.849,-1.158,-1.052,-2.703, PHS= 1.955, 1.589, 1.606, RAW= 92.4, -78.9, CAL= 94.6, -78.3, ROT= 55.4, 78.3 Ygot valid direction response: 18:33:26.0107 LVL= 24336, 28529, 30994, 25459, AGC= 33, IDX= 349,-0.07,-0.849,-1.158,-1.052,-2.703, PHS= 1.955, 1.589, 1.606, RAW= 92.4, -78.9, CAL= 94.6, -78.3, ROT= 55.4, 78.3  DAT read: OK  :unknown deviceResponse_: OK *DAT read: user:990> BDAT read: Tx time:18:33:27.1148 $Ping request sent.;Mb@Mb@Mb@ )Ii rh?y&1|?MbP?C<`;:)@Ii@ ̴@BD R6D 4Y!!)=:Q)>!9!9%EY!x<A>Q 14٪{?Q 54 9ԖrZ!#@ɢ   7L,T0)Ay6?ٱ6 @6Z=6hN6H cƤ]?@i?`VЉ?I6?)6?];i6HCBوBBQ(IBDJD6DJJ3YRK!R}=RS0;Q)V ?T9T9VEYTZG+=AZ?\Q 1b4٪^?Q 5b4^ \9`Yb#@Q Eb?y^C)^:I^:i^4Yhj=@hkxkxkxkxkxvB~BB(IBBB =BBbDBU;BEZZbZjZrZ*#@ɢAEZ= AEIA MrɡIiIIIiQ)QIiIyNL=Ա bDZDDDpD.DE: E :6Eـ4:E"E;!E;!*E+R;!E,R;!1 7L,Wyn0)Ay^K?ٱ^ @^_=^CB^H c 'W =!?@nW?k>:?I^K?)^,];i\~҈B~I(IBD (6D :3Yo!C=4;Q)%>!9!9%EY!-<A->1Q 1=4٪5?Q 5=45 199Y=$@Q E=?y5C)5H;I53;i5d%4YIM@IkikikikikiZZbZjZrZM$@ɢ_= 顥 I ɡiIi)IIN|=QԩD D sD 0D E Ʊ: E Z:6E 4:E ! @! @! @! @ C7L,jK0)Ay6uq?ٱ6 @6Jc=6]-6Hk@bbY?yUգ?o` ?I6uq?)6];i4RڈBRS(IMb@Mb@Mb@ )IiI +?Mb?MbP94<=)IK@iK@@ µ@BD26D 3Y=!@=4;Q)>99EY =A>Q 14٪^?Q 54 B9 =Q A6DJ43Yf+=!f\=fa%;Q)f>h9h9jEYhjc =An>pQ 1r4٪r]?Q 5v4r p9tYv4Q Ev?yrC)r:Ir :irS34Yx~@|kkkkkZZ9bZ9jZ9rZ= ]@ɢIM*rg= IMjII Uf+ɡQiQIQiY)YIqI!N-=D]D]rD]*DYE]ҝ: E]?:6E](N4:EY"E];!eE];!m*E]sY;!mE]tY;!mԩ iR7L, 0)Aly}@ٱ}@}>Hk=}eq}HلRo@J?`?d@3~B?I}@)}];i}FCB^(IBDAT read: Rx Time:18:33:29.0108 TRx dataTimestamp_ set to:1755628411.002710Mb@Mb@Mb@ )Ii99EY=A>Q 14٪?Q 54O 9H=Q AHk= QUeIQ ]]9ɡYiYIYiY)aIIINU>DeDemDaDaEe: Ee:6Ea:Ea!m@!m@!m@!m@)Y f67L,0)Aiy6E@ٱ6=@6Ggn=6햸6H >Ф?_@m?`ȭw?I6E@)6׊];i6ICBۈBBT(IBDJ26DJ 3vBd~BdBf(IBfBBdBdBdBfU;BfEYZ9!n=;Q)%?!9!9%EY!-5=A-?19Q 1=4٪5`?Q 5E45 19AYE)Q EE?y5C)5},;I5W-;i5A4YIU@QkkkkkZZbZjZrZJh@ɢGgn= I Fɡ i I i )I)IYNe=iԑDuDuDu,DqEu: Eu:6Eug4:Eq"Eu;!Eu;!*Eu;!Eu;! b7L,U0)ABDAT read: 18:33:29.0108 LVL= 26608, 31153, 32754, 28467, AGC= 32, IDX= 446,-0.14,-1.161,-1.488,-1.365,-3.008, PHS= 1.949, 1.564, 1.599, RAW= 94.6, -78.5, CAL= 97.1, -77.8, ROT= 52.9, 77.8 FYgot valid direction response: 18:33:29.0108 LVL= 26608, 31153, 32754, 28467, AGC= 32, IDX= 446,-0.14,-1.161,-1.488,-1.365,-3.008, PHS= 1.949, 1.564, 1.599, RAW= 94.6, -78.5, CAL= 97.1, -77.8, ROT= 52.9, 77.8 JDAT read: OK J:unknown deviceResponse_: OK J*DAT read: user:991> NBDAT read: Tx time:18:33:30.1148 R$Ping request sent.R99EY =A>Q 1 4٪?Q 5u4 9qYu(Q Eu?yžC)pi D D qD -D E Ʊ: E $ :6E t4:E ! @! @! @! @N]7L, 0)AyZCi@ٱZ;d@Z~r=ZXZHTtܣ`i??QK`PK ?IZCi@)Z ^;iZHCjBj(ImMb@Mb@Mb@i i)iIiiimMbPX9v?~jthmm}=mD)mx@Iiim@i im̴@BD)6D3Yh!G=:Q)>99EY] =A>Q 14٪(Ii`I`BDj26Dj 3Y~>!~Z=[:Q)>99 EY  q =A >Q 14٪?Q 54 B9!Y%,Q E%?yɞC);I;iV4Y)-9@)kIkIkIkIkIZZibZijZirZm1w@ɢys= 顅TڽI SɡiIi)IINl=D=D=rD=+D9E=: E=?:6E= [4:E9"E=(;!ME=);!M*E=sY;!ME=tY;!MQԁԩ 7L,TS=0)Ay}@ٱ}@}t=}k;}H2@p@٢ q?:?{Vom?j?I}@)}];i}ECȈB=(I]Mb@Mb@Mb@Y Y)YIYiY]I +X9v?Mb`?]94Y];)YI]5@i]@]@ YYBDuI6DuX4Y;!4=9Q)>ԩ99EY<A> Q 14٪ t9t9vEYtvY<Av?xQ 1~4٪z%?Q 5~4z zB9YQ E?yzϞC)z;Iz;izd4Y  Z@ k)k)k)k1k1ZZIbZIjZIrZM@ɢLs= I ɡiIi)I)IaNm=9DiDmyDm2DiEi Em:6Em4:Ei"Emm;!uEmn;!u*Emr;!}Emr;!}i 7L,p0)Ai yFQ$@ٱFI@Flq=FR>BDZ?6DZ3Yb!bL=b Q)b>d9d9fEYdjI<Aj>hQ 1r4٪j?Q 5r4j2 h9pYreQ Er?yjҞC)j;Ij;ijk4Yxzľ@xkkkkkZZ1bZ1jZ1rZ5݁@ɢAElq= AE$II MɡIiIIIiQ)QiiIm֐C);G ĀA))ICIĀAxJAI&dClearing failed state for component DockingStepper1IN=qԩBDAT read: Rx Time:18:33:32.0109 TRx dataTimestamp_ set to:1755628414.026619 BE^n4JEt4RE0De Da De .Da Ee : Ea 6Ee ـ4:Ea !u @!u @!u @!u @_7L,aފ0)AyF@ٱF@Fгn=F&99EYb<A>Q 14٪k?Q 54 9=Q AG) % DAT read: 18:33:32.0109 LVL= 30192, 32753, 32754, 32179, AGC= 31, IDX= 447,-0.21,-1.599,-1.932,-1.798, 2.840, PHS= 1.946, 1.557, 1.602, RAW= 96.1, -78.4, CAL= 98.6, -77.8, ROT= 51.4, 77.8 - Ygot valid direction response: 18:33:32.0109 LVL= 30192, 32753, 32754, 32179, AGC= 31, IDX= 447,-0.21,-1.599,-1.932,-1.798, 2.840, PHS= 1.946, 1.557, 1.602, RAW= 96.1, -78.4, CAL= 98.6, -77.8, ROT= 51.4, 77.8 - DAT read: OK 5 :unknown deviceResponse_: OK 5 X#Rx 4: Read direction message, but no range.= ^direction in FSK: [0.131841,0.165155,-0.977416]  csN,?L#?*F￙ I ui   }  ?  K?) V?I ?i % FF?  Le? I ) xh?fH`ƴg\Z← վ =G? Le?  B7L,0)A|y @ٱ@@k==<HyX@K>K??@}ul?@?I @)Pr];iHCËBEB(IBDU26DU 3YW*!O=9Q)>99EY'<A>Q 14٪"?Q 54c B9Y Q E?yٞC):I:iiz4Y@k kkDDxD+DE1: E:6E [4:E"El;!-E!-*EJo;!-EKo;!-kk1ZZQbZQjZQrZU @ɢ@k= 顅ͽI ɡiIi)IIN =)Qԁ 7L,:0)AɰF;F499EY;A>Q 14٪.?Q 54 B9Q=Q A ԉD-D-mD-'D)E-a: E-:6E-'4:E)!5@!5@!5@!5@Ա $7L,j0)AvBy>~BBBBBBbDB?U;BEBQBQBQBQBQBU7{4yf@ٱf@fwf=fL]DADEDE-DAEA EE*5:6EEt4:EA"EEJ;!MEEK;!M*EE|;!]EE|;!]9 7L,G0)Ay:@ٱ:@:6c=:j<:H 'a,T?;?c@AK?`?I:@):];i:CCBBF'(IBDNE6DN3Yj<!jM=nQ)n>p9p9rEYprAr>tQ 1z4٪v?Q 5z4v t9|Y~Q E~?yvC)v;Iv;iv 4YB@ k!k!k)k)k)ZZAbZAjZArZE@ɢQ]6c= Y]6IY eRɡaiaIaia)iIINX=AqDM DM xDM .DI EM 1: EM :6EM ـ4:EI !U @!] @!] @!] @ԙ 8L,9& 0)Aiy:S@ٱ:N@:ݳ`=:u<:Hj?ؚt?6ҩ?`"??I:S@):];i:ECBBB#(IMb@Mb@Mb@ )Iiy&1|?Mbp`<)x@I@i@ f@BD>6D43YS!<=Q)>99EYJZA>Q 14٪?Q 54 B9/T9T9ZEYXZAZ>\Q 1b4٪^?Q 5b4^> \9dYfQ Ef?y^C)^;I^:i^!4Yhj8@hkxkxkxkxk|ZZbZjZrZ@ɢ!-?^= )-2I) -ɡ)i)I1i1)9IQrDjD<DDkD+DE: E:6E [4:E"E;! 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Z;L,г0)Ay6@ٱ6@6%3t=6:6H`8SXG? @?Á`5 T?`p?I6@)6p^;i6/CNňBR:(IBDZ&6DZދ3Yb !bM=bQ)b>d9d9fEYdf=Aj>hQ 1n4٪j_?Q 5r4j h9pYr(Q Er?yjC)j;Ij;ijWܭ4Ytvu@xk kkkk checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754607)KG %~A)9Ie뾙e~Am@ZZybZyjZyrZ}ZZi@Աɢ%3t= `I qnɡiIi)!I(i II)N5.> u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006500rD jD D D yD *D E : E :6E (N4:E ! @! @! @! @9 A;L,0)AiyF_@ٱFU@F 8r=F3P;FH2`ౢ ?@p@q٧?B@i??IF_@)F^;iF-CRˈBRA(I-Mb@Mb@Mb@) )))I)i)-Zd;?MbP--y=-)-@I-5@i)-ҹ@ )-@BDE/6DE3YU<!UA=]ŕQ)]>a9a9eEYae'<Ae>iQ 1u4٪m?Q 5u4mZ i9y=Q AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257773Yԉ n;L,L0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5098920yf@ٱf@fq=f*ۡ;fH>3?ER??6 Y2t??If@)fx;^;if,CrʈBr?(IvBx>~BBBBBBBU;BBDz76Dzp3Y%ջ!%M=%hjQ)->)9)9-EY)5 <A5>9Q 1E4٪=5?Q 5E4= 99AYEuQ EE?y=C)=:I=:i=4YQU.@QkqkqkqkqkqZZbZjZrZw@ɢq= 顭׽I ɡiIi)> >BET4JERE60D]D]D])DYE]s: E]C:6E]FA4:EY"EY!uEY!u*E]9;!uE]9;!uPExceeded connect timeout, disconnecting.I)i)15 1IAIQN]=ԉԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761799 T6DU43Ye=!eF=m8Q)m>i9i9uEYquߓ<Au>yQ 14٪}?Q 54}1 y9]=Q Au0)Aɰ4x9x9zEYxz]<A~>Q 14٪?Q 5 4 9 Y .Q E ?yC):I6:i4Yc@9kkkkkZZbZjZrZ{@ɢq= I ZɡiIi ) I(i IIN>iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518272vB~BB(IBBBBBBU;BEBBBBBBS4ԑDuDuyDu,DqEu1: Eu:6Eug4:Eq"Eul;!Eun;!*Eur;!Eur;!nManaging dock network, ignoring radio surface power off Ǩ d9d9fEYdj.<Aj>hQ 1r4٪ja?Q 5r4j h9pYrQ Er?yjC)j;Ij;ij4Yxz@xkkkkkZZAbZAjZArZE$|@ɢY]#q= aeIa eՄɡaiaIiii)iBDAT read: Rx Time:18:34:38.9211 TRx dataTimestamp_ set to:1755628480.882748checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943ԩ IU(iYY] aIIN>U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021768 rD} =jD} a=D D oD .D E : E :6E ـ4:E ! @! @! @! @P99EY?:A>Q 14٪?Q 54s 9 ==Q AԉԹ  DAT read: 18:34:38.9211 LVL= 23280, 22641, 24882, 17395, AGC= 34, IDX= 26,-0.33,-1.544,-1.874,-1.741, 2.919, PHS= 1.923, 1.535, 1.580, RAW= 96.0, -78.4, CAL= 98.6, -77.7, ROT= 51.4, 77.7  Ygot valid direction response: 18:34:38.9211 LVL= 23280, 22641, 24882, 17395, AGC= 34, IDX= 26,-0.33,-1.544,-1.874,-1.741, 2.919, PHS= 1.923, 1.535, 1.580, RAW= 96.0, -78.4, CAL= 98.6, -77.7, ROT= 51.4, 77.7  PDAT read: Bearing 222.0, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 222.0, 9.1 (Local)  DAT read: Range 11 to 50 : 1.0 m (Round-trip 1.4 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.132905,0.166488,-0.977046] Fpublishing direction and range infoY ] ׌ ?TwO?["(C] ?Y I] Zi] qX] 2a] C] "] $? ] z?)] q=?I] Pw?iY Y ] ^Y ] ^?IY i] )] ]?۽9 ڦV←] Kվ] g?Y ] ^?IY iY 5p=BD=>6D=43Ym;!mF=uùQ)u>q9q9uEYy}DA}>Q 14٪?Q 54 cB9YQ E?yC):IK:ij4YDDwD,DEO: E:6Eg4:E"E;!E;!*Ek;!Ek;!@9kkkkkJhRhh0)Ah?hY 3׌ ?TwO?["(C~׌ ?TwO?["(ChLe?h^? m[ǿ97_d~m[ǿ97_djh텽rh:ZhX ^㝊?bhʚzhdžBhpߝ?h0hh6>h,@ZZQbZQjZQrZU2&@ɢaep= im,Ii mxɡiiiIii)I)i))- )I9IIQN]3>qԩ f 99EYv A>Q 14٪?Q 543 9bDZD@ADDkD+DE: E:6E [4:E!@!@!@!@Թ &d9d9fEYdj߀Aj>hQ 1r4٪j?Q 5r4j~ h9pYrɿQ Er?yjC)j ;Ij ;ij4Yxzʿ@xkkkkkZZ1bZ1jZ1rZ5]@ɢUm= I [ɡi I i )Ii IIN>vBA~BABE'IBEBBABABABET;BE|EDDpD(DE: E :6Ec44:E"E;! E;! *E+R;! E,R;! 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B! B! B! B! B% bDB% 4T;B% @E"99EY;A>!Q 1-4٪%?Q 5-4% !9)Y-]a?Q E-?y%ڠC)%B:I%:i%S4Y9=Կ@9BEg4JEo4RET0DeDesDaDaEe: EeZ:6Ea:Ea"Ee;!uEe½;!u*Ee];!uEe];!ukykykykykyZZbZjZrZ']a?ɢ4s= 页I rKɡiIi)Im(iiqu qIIN=A f !9!9%EY!-<A->9Q 1E4٪=U?Q 5E4=h 99Eqԙ .4T9X9ZEYXZQs<AZ>\Q 1b4٪^?Q 5b4^> ^aB9dYf~?Q Ef?y^ܠC)^p:I^:i^84Yhj@hkxkxkxk|k|ZZbZjZrZ~?ɢ)-Fx= )-I) ->Йɡ1i1I1i1)9AAIi IIN=vB~BB(IBBB =BBB;T;BCEBBBBľ =BB24D}D}D}0DyE}: E}E7:6E}4:Ey"E};!E};!*E}N;!E}N;!9 0^`9`9bEY`fI<Af>hQ 1n4٪j ?Q 5n4j  h9lYnl?Q Er?yjݠC)jD;Ij;ijR4YtvX@tk k k k k ZZ)bZ)jZ)rZ-l?ɢ9=ez= AELIA EɡAiAIAiI)IIi IIN=IqrD =jD <D D jD *D E  E 96E (N4:E ! @! @! @! @Թ OF=:Q)>99EYj<A>Q 14٪?Q 54 `B9>aa<bZ>a<jZ5c>rZzV'@ɢ  5|=  ֽI  IɡiIi)ԑIi II N>vB ~B B B B =B B B B DE ,pX9X9ZEYXZ<A^>`Q 1f4٪bH?Q 5f4b b_B9dYf (@Q Ej?y`)b:Ib_:ibi4Yln@lk|k|k|k|kDEDErDE.DAEE~: EE?:6EEـ4:EA"EE|;!MEE};!M*EEsY;!UEEtY;!UZZbZjZrZ (@ɢSp|= 顭I  ɡiIi) Iiiiiu qIIN=I \!9!9%EY!-<A->1Q 1=4٪5%?Q 5=45 5`B9= =Q AEԑ (@:?I:%?):b_;i:(CF̈BFB(IPBDZ;6DZ)3YfcX!fc=jQ)j>l9p9rEYprn=Ar>xQ 14٪z=?Q 5 4zE x9 Y 'Q E?yzC)z;Iz;iz̮4Y%@!kQkQkYkYkYZZbZjZrZ)Gj@ɢhz= 顥ͽI WɡiIi)I(i I!I9NE=vBq~BqBqBqBu =BqBqBuET;BuHED]D]D]-DYE]: E]VL:6E]t4:EY"E](;!mE]);!m*E];!mE];!m) EX9X9ZEYX^=A^>`Q 1f4٪b@?Q 5f4bt `9dYf 'Q Ef?ybC)b1:Ib:ibӮ4Yln@lk|!k|kYkYkYZZbZjZrZk@ɢx= I 흼ɡiIi)IIiQQU QIaIqN=QqDm Dm qDm )Di Em : Em $ :6Em FA4:Ei !u @!u @!u @!u @ԡ ~A9A9EEYAEr<AM>IQ 1U4٪M?Q 5U4yM I94=Q AԡvBi ~Bi Bi Bi Bm =Bi Bi Bm GT;Bm IE a?ٱ> @>t=>M>HAB X@"@{?L ?`M*qT?I>?)>^;i>'CF͈BFC(IBDR26DR 3YVL!ZS=Z0Q)Z>X9\9^EY\^=Ab>`Q 1f4٪bn?Q 5f4b `9hYj2Q Ej?ybC)bl:Ib:ib4Ypr@pkkkkkD%D%pD!D!E%y: E% :6E!:E!"E% iԁ 819195EY1=<A=>9Q 1E4٪=[?Q 5M4=ԉ =_B9t=Q A^D-D-uD--D)E-ҝ: E-:6E-t4:E)!5@!5@!=@!=@I(i I I!N-->Թ b?INq@)N&c^;iN'CbψBbE(IBDn86Dn3Yv̼!va=zaQ)z>x9x9~EY|~<A~>Q 1 4٪?Q 5 4M ^B9Y-Q E?yC):Il:i4Yݾ@kkkkkZZbZjZrZe@ɢbn= TýI JiɡiIi)I(i IIN>vB~BB (IBBBBBBDT;BHEBE|a4JEYe4REƍH0D=D=tD=+D9E=: E=v:6E= [4:E9"E=;!ME=;!M*E=`;!ME=`;!MI qo@ٱ>e@>Ql=>rۤ:>Hi`?[? T?]?I>o@)>UN^;i>(CR؈BRQ(IBDZG6DZ4Yb:=!bM=bʺQ)f>d9d9fEYdjB<Aj>lQ 1r4٪n?Q 5r4n n]B9pYr},Q Er?ynC)n;In<;in4YxzH@xkkkkkZZ1bZ1jZ1rZ5We@ɢAEQl= AM,II M4堼ɡIiIIIiQ)QIi IIN=ԑ DM DM xDM .DI EM : EM :6EM ـ4:EI !U @!U @!U @!U @I9I9UEYQU<AU>YQ 1e4٪]O?Q 5e4] Y9m!^=Q Amt?rZ4o@I)'>j= U = ]ɡ]iYI]vW=iY)a m&Changing to mode: 1 q qq=Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shIi IINB>)1vB ~B B (IB BB =B B B QT;B NEBBBBɿ =BBCS4I 1999=EY9E<AE>IQ 1U4٪M?Q 5U4M; I9QY]{"Q E]?yMC)M;IM;iMN4Yae@ikkkkZZbZjZrZo@I)f>h=  ɡiI=i)I(i IIN=IXRequesting device enable set for address 50.qԡ =L,Pr 0)ATiTyyO@ٱJ@h=<;H(@b~Tr`r?` *?@฽w??IO@)Fa;i&CB_(I*DAT read: user:993> BDAT read: Tx time:18:34:54.6645 $Ping request sent.6D43Y=!5=W)8Q)>99EY<Am>qQ 1u4٪u?Q 5}4u u^B9}b`=Q A}reh= a iɡiiiIm3+=ii)qԡI)i I)I9NMR> XRequesting device enable set for address 50. '% =L,[&0)Ay:j@ٱ:e@:Zi=:"\;:H`U'v@柿i?)?2~?@r?I:j@):`;i8FۈBFT(IBDR*6DR3YVD!Zo=Z}/:Q)Z?\9\9^EY\^Ҝ;Ab?`Q 1f4٪b?Q 5j4b `9hYj&Q Ej?ybC)b: ;Ib`;ib)4Ypr@pkkkkZZ!bZ!jZ!rZ%7k@I11)=G>=Zi= 9 9ɡ9i9I=@t=iA)AvBy>~BBBBBBBdT;BXEq:|ADDyDDE E:6E:E"E;!%E;!%*Er;!-Er;!-IM(iIIM IIYIiN}z>!Q Q=L,~@0)AyBq@ٱBg@Byf=B(IBDV;6DV)3Y^!^J=^uQ)b>`9`9bEY`f;Af>hQ 1n4٪j ?Q 5n4j h9lYr&Q Er?yjC)j ;Ij ;ij74Ytv<@tk k k k ZZ)bZ)jZ)rZ-]k@I9A)E>Eyf= A AɡIiIIMtӣ=iI)Q9]h%iԉD- D- wD- ,D) E- 1: E- :6E- g4:E) !5 @!5 @!5 @!5 @Թ 0=L,Y0)Ay6@ٱ6@64f=6N<6H'@i@]? Ň?@輬C#??I6@)6^;i6(CB݈BBW(IiDIDEMb@Mb@Mb@A A)AIAiAE~jth/$?Mb`EDE,=E)E@IEb@iE&@A AE@BDY6DYYm=!m?=m:Q)u>q9q9uEYq}EA}>Q 14٪?Q 54p 9,=Q A4f=  ɡiI 8=i)ԑ <|^=I)i IIN>vB ~B B B B B B B ^T;B UE [=L,s0)Ay6e@ٱ6`@6f=6H<6Hwk?Ǩ?@ڬ%??I6e@)6Va^;i6)C^ڈB^S(IBDj:6Dj{3DrDrnDr/DpEr: Er:6ErJ4:Ep"Er];!zEr_;!z*ErJ;!zErJ;!zY~!~Q=:Q)>9 9 EY  ܻA >Q 14٪?Q 54 9YQ E?yC)%f= ) )ɡ)i)I-%=iQ)Q-t=56?5?I(i IIN&>I pF#=L,0)A ye@ٱe @eXh=e=B99EYT8A>Q 14٪~?Q 54 ]B9CXh=  ɡDDvD-DEs: E:6Et4:E!@!@!@!@iI=i)!ԑE$ӿ=m BDAT read: Rx Time:18:34:56.5632 u TRx dataTimestamp_ set to:1755628498.523138 I )i  I IA NU >}l)=L,0)Ay>*@ٱ> @>8 f=>~%<>H`;ZlܣԠ?^@or?Hk??I>*@)>!b;i>'CJ҈BJI(IN>Np;PBDV.6DVP3Y^<!^o=b׺Q)b?`9`9bEY`fmAf?hQ 1n4٪j!?Q 5n4j h9lYrpQ Er?yjC)j;Ij;ijt64Ytv@tk k k k ZZ)bZ)jZ)rZ-|@I9A)E>E8 f= A AɡAiIIMQ=iI)Q YYIY)YvBQ~BQBU (IBUBBQBQBQBUaT;BUWEI})iyy} yIIN_>DDtD*DE~: Ev:6E(N4:E"E|;! E};! *E`;! E`;!)G  A)I #޿ A \A! pW0=L,n0)A|y=#=@ٱ=8@=:"d==-<=H@'e`v?@+ *? `??I=#=@)=d`;i9uԈBuL(IBD+6DE3YV"<!;=Q)>99EYA>Q 14٪?Q 54+ 9YQ E?yC)f=;I >;i>4Y@k1k1k1k1ZZbZjZrZ*|@I)I>:"d=  ɡiIa=i)  !I(i IIN'>Q%DAT read: 18:34:56.5632 LVL= 30080, 30849, 32754, 27475, AGC= 34, IDX= 378, 0.16, 0.827, 0.515, 0.640,-1.073, PHS= 2.002, 1.633, 1.669, RAW= 95.1, -79.4, CAL= 97.4, -78.8, ROT= 52.6, 78.8 -Ygot valid direction response: 18:34:56.5632 LVL= 30080, 30849, 32754, 27475, AGC= 34, IDX= 378, 0.16, 0.827, 0.515, 0.640,-1.073, PHS= 2.002, 1.633, 1.669, RAW= 95.1, -79.4, CAL= 97.4, -78.8, ROT= 52.6, 78.8 -DAT read: OK 5:unknown deviceResponse_: OK 5*DAT read: user:994> =BDAT read: Tx time:18:34:57.6645 =$Ping request sent.=0)Ay6@ٱ6@63d=6<6H]@]9?`a5?@U??I6@)6%_;i6&CBӈBBJ(I Mb@Mb@Mb@  ) I i  MbMb`?~jth  ; D) I Yi @   (@BD}%6D}03Yi!M=E.8Q)>99EYɼA>Q 14٪?Q 54? \B93d=  ɡiI=i)!I)i IIN>ԉԱvBY ~BY B] (IB] BBY BY BY B] gT;B] ZE ͨ<=L,0)Aɰy6@ٱ6@6&xc=6<6H@A:R@4?? Gk? ?I6@)6|^;i4BBB.(IBDJ=6DJ3YR_!RZ=R-Q)V>T9T9VEYTZAZ>BEIJEMg4REM 0DbDbqDb*D`EbƱ: Eb$ :6Eb(N4:E`"Eb,;!jEb-;!n*EbU;!nEbU;!n\Q 1r4٪^?Q 5r4^R \9tYvQ Ev?y^C)^;I^|;i^K4Yxz@|kkkkZZ9bZ9jZ9rZ=/@III)M>M&xc= I QɡQiQIUl=iY)YԹI i I!I1NE=)A C=L,0)Aye!@ٱe@eb=e99EYؼA>Q 1 4٪?Q 5 4\ ]B9Qub= y yɡyiyI}ڦ=i)}ADDtDDE: Ev:6E:E!@!@!@!@I%(i!!% )I1aIaNu6>ԉԹ I=L,S(0)Ay6?ٱ6N @6' ]=66;6H\?` ?@h? ?I6?)67^;i6(CBňBB9(IBDJ36DJ3YRl!Rx=RtQ)V?T9T9VEYTZTAZ?\Q 1b4٪^?Q 5b4^cQ 9btI \9`Yf,Q Ef?y^ C)^ ;I^\ ;i^Y4Yhjx@hkqkqkqkqZZbZjZrZ'O@I)>' ]=  ɡiI)=i)ԑvB~BB'IBBB =BBBoT;B]EBBBB¾ =B¾ =B…A4I(i IIN=DDnDDE: E:6E:E"ES 99 EY  A>!Q 1-4٪%?Q 5-4%m %^B91Y5Q E5?y% C)%8<;I%mA]= i iɡqiqIub=iy)yI )i    I)I9NM>!I D D mD D E a: E :6E :E ! @! @! @! @V=L,a\0)Ay:R?ٱ:h @:7[=:8;:H U`Q6@+?`Z?cAq?3?I:R?):PHa;i:&CBˈBBA(IMb@Mb@Mb@ )IiMbMb~jth@D)@IK@i@ҹ@ BD-76D-p3Y=$=!=F=EtQ)E>A9A9EEYAMAM>QQ 1]4٪U3?Q 5]4U5 Q9eC=Q AeQ Ee?yUC)U;IU;iU)h4Yim@qkkkkZZMC=bZMC=jZMf@rZM]>Iyy)}>}7[= y ɡiIJ=i)??I QQeBDAT read: Rx Time:18:34:59.5633 eTRx dataTimestamp_ set to:1755628501.556417IE(iAAE- AIQIaNu6>yvB~BB'IBBBBBBtT;B`Eԡ \=L,_v0)Ay:N?ٱ: @:nX=:S::H@m&c?@ ʦ? Z?`?@I:N?):c;i8FBJ4(IDRDRsDR+DPER: ERZ:6ER [4:EP"ER;!ZER;!Z*ER];!ZER];!ZBD^:6D^{3YfP!fR=jQ)j>h9h9nEYlnsAn>pQ 1v4٪r?Q 5v4r r]B9xYz>Q Ez?yrC)r:Ir:irn4Y|~@k!k!k!k!ZZAbZAjZArZE=>IQQ)U2>UnX= Q YɡYiYI]R6=ia)aI(i IIN=ԩ c=L,L0)Aɰ ";yV+?ٱV @V7X=VYVHs ֦`C?C?*.K?IV+?)Vn`;iTpmʈB?(I5DAT read: 18:34:59.5633 LVL= 29680, 30417, 32754, 27123, AGC= 34, IDX= 443, 0.08, 0.170,-0.135,-0.022,-1.723, PHS= 1.995, 1.633, 1.657, RAW= 93.5, -79.4, CAL= 95.7, -78.8, ROT= 54.3, 78.8 UYgot valid direction response: 18:34:59.5633 LVL= 29680, 30417, 32754, 27123, AGC= 34, IDX= 443, 0.08, 0.170,-0.135,-0.022,-1.723, PHS= 1.995, 1.633, 1.657, RAW= 93.5, -79.4, CAL= 95.7, -78.8, ROT= 54.3, 78.8 ]DAT read: OK e:unknown deviceResponse_: OK  *DAT read: user:995> BDAT read: Tx time:18:35:00.6645 $Ping request sent.9999=EY9EGAE>IQ 1U4٪M/?Q 5U4Mu I9UJ=Q AUEY ' j=L,0)Ay6?ٱ6O @6nX=6M6H^ 8^`\?)f ݥ?@pƮi{?I6?)6^_;i6(CBBB(IBDJ'6DJ3Yf鏾!f=f:Q)f)?h9h9jEYhj:An,?pQ 1r4٪rf?Q 5v4r4 r\B9tYv?Q Ev?yrC)r:IrP:ir}4Yx~@|kkkk9ZZ9bZ9jZ9rZ=?III)Ub|>UnX= Q QɡQiQI]V=iY)avB~BBBBBBBpT;B^EI (i I!I1N==iDDvD-DEa: E:6Et4:E"EJ;!EK;!*Eh;!Eh;!ԑ p=L,0)AyZb?ٱZ@ZV=Z;囻ZH a_?!J?``us@?IZb?)Z'^;iZ&CnˆBn6(IBDx6DxYH>!G=hպQ)> 9 9 EY ƼA>Q 1%4٪X?Q 5%4 9!Y% ?Q E%?yC):IV:iG4Y15@1kQkQkQkQZZqbZqjZqrZu ?I)>V=  ɡiIC=ԑi)I-)i)15 1IIIaNu=YD D rD +D E C: E ?:6E [4:E ! @! @! @! @ w=L,20)Ay6kZ?ٱ6,(@65V=6)6HR4)@1!?`㐤?êbN@?I6kZ?)6~^;i6$CBBB,(I5Mb@Mb@Mb@1 1)1I1i15Mb㥛 Mb`?555;)5@I55@i15@ 15(@BDM&6DMދ3YeL!eE=eS8Q)e>i9i9mEYimAu>qQ 1}4٪u?Q 54uv u]B9t=Q A4Q E?yuC)u:Iu:iu4Y"@kkkkZZt=bZt=jZM@rZm>I)>5V=  ɡiI=i)Iu(iqqu qIIN=!ivB~BBBBBBBxT;BbEy D}=L,0)Ai6=I6CDFDFnDF.DDEF: EF:6EFـ4:ED"EF;!NEF;!N*EFJ;!NEFJ;!Rybj~?)z;Gٱb+@b6 U= ~Abc)bHtEl>?@`E?%{?Ibj~?))bV^;ib(CI}E⿙}~A}aÄBB(IBDB6D3Y=!F=v3Q)>99EYA>Q 14٪?Q 54 9Y>Q E?y#C)G:I:iԒ4Y @QkYkakakaZZbZjZrZ>I) >6 U=  ɡiI=i)Ii IIN>ԁԩ 0=L,d0)AyF?ٱF^@FaU=F 99EY%9Q 1]4٪=%?Q 5e4= =^B9iYm>Q Eu?y='C)=;I=;i=4Y1=@9ԱkkkkZZbZjZrZ>III)U>UaU= Q QɡQiQIU|X=iY)aDDwD+DE: E:6E [4:E!@!@!@!@] ]dTimed out moving from: 10494 to: 14700 response: 1]- ]Hardware FaultIq-&VHardware Fault in component: DockingStepperIN[> m BDAT read: Rx Time:18:35:02.5634 u TRx dataTimestamp_ set to:1755628504.5834141 W=L,^+0)Ay:?ٱ:;@:7W=:,]:H`G}e`ʣw_?@`yw?㪿@ ?I:?):ma;i:#C^ňBb9(Ii`I`MMb@Mb@Mb@I I)IIIiIMV-MbPMMmM)M@IIiM5@M@ IM@BDe66De3Yu!uB=} :Q)}>y99EYŪA>Q 14٪?Q 54z 9m=Q Ad}7W= y yɡyiyI}=i) :Uninitialize Docking Stepper. Powering downIIN=9BE% [4JE%b4RE%/DDuD/DEg: E:6EJ4:E"Eq;!Er;!*E^d;!E_d;!i Y?=L,q;E0)A2DAT read: 18:35:02.5634 LVL= 27840, 32241, 32754, 29027, AGC= 31, IDX= 444, 0.01,-0.569,-0.898,-0.790,-2.425, PHS= 1.958, 1.571, 1.591, RAW= 92.6, -78.2, CAL= 95.0, -77.6, ROT= 55.0, 77.6 6Ygot valid direction response: 18:35:02.5634 LVL= 27840, 32241, 32754, 29027, AGC= 31, IDX= 444, 0.01,-0.569,-0.898,-0.790,-2.425, PHS= 1.958, 1.571, 1.591, RAW= 92.6, -78.2, CAL= 95.0, -77.6, ROT= 55.0, 77.6 6DAT read: OK ::unknown deviceResponse_: OK :X#Rx 4: Read direction message, but no range.N^direction in FSK: [0.123167,0.175901,-0.976672] "Nᇿ?h?oֹ6@￙ I"li"} "cq""? "?)"?I"?i"R"g;?"-\" u?"-\?I )",g13?:\:'!S←""?" u? 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LH@%?` o=s??IB€@)B<];i@RՈBRM(IBD^B6D^3Yjt<!jY=n(Q)n>p9p9rEYpv <Av>xQ 14٪z]?Q 54zO z[B9Y ,Q E ?yzLC)z;Iz;izd4Y!%v@!kkkkZZbZjZrZDe@I)N>*_=  ɡiI:=i) I!IQN]=AqrDI jDM =De De |De )Da Ee : Ee P$:6Ee FA4:Ea ! @! @! @! @ԙ W=L,0)AyR@ٱR@R[=R.;RH`Qm@ m?rO ?p /x?`?IR@)Rx];iPb҈BbI(IeMb@Mb@Mb@a a)aIaiae{Gz?:v?Mb`eף99EY|<A>Q 1 4٪i?Q 54 ZB9Yd=Q Anu[= q yɡyiyI}=i)IIN=ԙvB~BBBBBBBT;BnManaging dock network, ignoring radio surface power off DU DU DU /DQ EU : EU *5:6EU J4:EQ "EU ];!e EU _;!e *EU |;!e EU |;!e =L,0)AyFn@@ٱFd;@F%X=F;FH@g@y?4? k}? b?IFn@@)FV];iF"CrوBvR(IixIxBD96D3Y =!Q=Q)>99EY%T<A%>)Q 154٪-?Q 554- )91Y53Q E5?y-RC)-:I-:i-4YAE:@IkakakikiZZbZjZrZd^@I)>%X=  ɡiImM=i)ԹIIN%=A d>L,0)Ay6x@ٱ6s@6LT=6:<6Hqtbg?/w?@:??I6x@)6Q];i4BֈBBO(IBDJ;6DJ)3YRI!RS=Rz Q)V>T9T9VEYTZ7<AZ>\Q 14٪^?Q 54^ ^YB9Y3Q E?y^UC)^DLT=  ɡiI=i)IIN}=9bDZDAAD5D5vD5*D1E5%: E5:6E5(N4:E1!U@!U@!U@!U@aԉԹ >L,~00)Ay6@ٱ6@6cS=6% <6Hk@k@a?A?vi`??I6@)6];i6#CBՈBBM(IvB`~B`Bb'IBbBB`B`B`BbT;BblEmMb@Mb@Mb@i i)iIiiim6D43Y»!<=DQ)>99EY!*;A>Q 14٪?Q 54  9(=Q A%cS= ! !ɡ!i!I%=i)))IAIYNe=ԑD!D%D%)D!E! 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N@R`?I6W?)6t];i6CBBBc(I Mb@Mb@Mb@  ) I i  {Gz?L7A`堿 #< + ) @I i    ̴@)! !BD-86D-3Y=̼!=E==:Q)=>A9A9EEYAM<AM>IQ 1]4٪M ?Q 5]4M  I9]< =Q A]E b= A AɡAiAIE\I=iI)iIIN=YԉԱ ͫ@L,1)Ay:A.?ٱ:@:9Re=:7:H@4@ܦK?@CA@ȣ?qO?I:A.?):i];i8FBF`(IBDR+6DRE3YZJ!ZT=Z:Q)Z>\9\9^EY\b<Ab>dQ 1f4٪fF ?Q 5j4f d9hYjS?Q Ej@yfC)f:IfS:if 4Ypr@pbD|ZD~AADDmD*DE: E:6E(N4:E!@!@!@!@kkkkZZ9bZ9jZ9rZ=ˡS?III)Mw>M9Re= I QɡQiQIU=iQ)YIqINP=ԑAAAAvB~BB(IBBBBBBU;BE @L,xa1)Ay:Uf?ٱ:!.@:Og=:4:H vfGa?@4@? 欿뒿`?I:Uf?):9];i:CNBRZ(IUMb@Mb@Mb@Q Q)QIQiQU:v?y&1|MbpU=:Q)>99EYJ<A>Q 14٪ ?Q 54} TB9Og=  ɡiI =i )I)I9NE=BEJEwX4REg/D~DrD)DE: E?:6EFA4:E"EZ;!E[;!%*EsY;!%EtY;!%I ߸@L,81)Aɰ4< y:?ٱ:@:0i=:V:H@@6]@0?- &? " `u?I:?):q];i:CFBF^(IiHIHBDN16DN[3YVa<!VY=Z:Q)Z>X9X9ZEYX^?<A^>`Q 1f4٪b ?Q 5f4b< bSB9dYj?Q Ej@ybC)b:Ib):ib4Yln@l~hDone checking for power/comms, continuing with slideݧ~Reached max slide retries without successful comms or charge, attempt will be abortedDSlide state transition from 1 to 2kkkkkZZybZyjZyrZ}?ɢ0i= 顕`gI ɡiIi)IIN=iXRequesting device enable clr for address 50.ԙrD=jD%=D%D%jD!D!E%~: E%96E!:E!!-@!-@!-@!-@ vB >~B ȍCB (IB BB B B bDB U;B EBɍCBɍCBB˻ =B˻ =B4@L,GW1)A@yF?ٱFþ@Faj=F=GFH ަ ?-'x9x9zEYxzE=A~>%*DAT read: user:996> -BDAT read: Tx time:18:35:54.4143 -$Ping request sent.-XRequesting device enable clr for address 50.D D {D /D E : E 5":6E J4:E "E ;! E ;! *E 6z;! E 6z;! ! 7@L,1)Ay6oz?ٱ6. @6l=6Nv6HGӺ@䝦@!?`)k?`B|_z?I6oz?)6];i6CB܈BBV(I|Mb@Mb@Mb@ )Ii~jt?S㥛?Mbp?D</<;)Ii BDe.6DeP3Yu!}C=}(,:Q)}>99EY=A>Q 14٪~ ?Q 54 9@Q E@y"C) ;I] ;i_(4Y@kkkkkZZ@<bZ@<jZz?rZZ*S@ɢl= XI qɡiIi ) I!I9NE=)Qԁ "@L,21)Aiy6?ٱ6C @6k=6Z6H@@p0i?@]? n7?I6?)6s];i6CBBB[(IF%=F=BDJ96DJ3YR<!RY=VQ)V>T9T9ZEYXZh2=AZ>\Q 1b4٪^ ?Q 5b4^  ^SB9dYf=Q Ef@y^#C)^:I^B:i^.4Yhj@hDrDrrDr)DpEr1: Er?:6ErFA4:Ep!v@!v@!v@!v@k k k k k ZZ)bZ)jZ)rZ-4T@ɢ9=k= 9=PwIA E$ɡAiAIAiI)IYԁAm<AivBu>~BqBqBqBu =BqBqBuU;BuEh=IING>Ա @L,fL1)Ay:7?ٱ: @:Kl=:s0:Ha(p~!?@?m`?@?I:7?):0^;i:CFΈBFD(IMb@Mb@Mb@ )Ii~jt?S㥫?/]=)I5@i&@ҹ@ @BD516D5[3YE!EA=E9Q)E>I9I9MEYIMR=AU>QQ 1e4٪U?Q 5e4UI Q9eb=Q Aeo];i4N׈BRP(IBDV66DV3YVC=!M=wjQ)>!9!9%EY!%+=A%>)Q 154٪- ?Q 554- -RB99Y=.Q E=@y-)C)-;I-;i-U=4YAES@IkakakikikiZZbZjZrZlc@ɢ74l= 顝ԠI xPɡiIi)u`k=ԱIIN==DDtD-DEs: Ev:6Et4:E!@! @! @! @ vBm >~Bi Bm (IBm BBi Bi Bi Bm U;Bm $E9 @L,_1)Aɰ;;y6?ٱ6 @6l=6+6H`Q;`&`z?`E̽?}>wA?I6?)6[0^;i4R߈BRY(IiTITBDZ/6DZ3Yb;=!bO=fRQ)f>d9h9jEYhj(=Aj>lQ 1r4٪n^?Q 5r4n l9tYv-Q Ev@yn,C)n:In:in7D4Yxz޽@xkkkkk!ZZbZjZrZtd@ɢl= I  ɡiIi)IR=)==H<I)IqN=9BDAT read: Rx Time:18:35:56.3149 TRx dataTimestamp_ set to:1755628558.294616i D D oD )D E : E :6E FA4:E "E ;! E ;! *E N;! E N;! @@L,771)A y:@ٱ:@:k=:^:HI ;v2? حo$?mki?I:@):/];i:Cn҈BnI(ImMb@Mb@Mb@i i)iIiiimQ? rh?~jthmu=Q)>99EYl=A>Q 14٪?Q 54 QB9=Q A>ɡiIi!)!iԡu"IIN> Ej@L,1)AyB@ٱB@Bkfj=B@LBH@L@? E?Hi}I`?IB@)B^;iBCLNJ(IPBDV46DVf3bD\ZD^@ADf~DfrDf+DdEf: Ef?:6Ef [4:Ed!j@!j@!j@!j@Yj;!jW=nBQ)=>A9A9EEYAM=AM>QQ 1U4٪U ?Q 5]4Uj UPB9YY]o+Q E]@yU3C)U8;IU3;iUR4Yim@ikkkkkZZbZjZrZf@ɢkfj= HI mɡiIi) I)) )IEKAELAA @AA AAvB~BB'IBBBBBBV;B(EI&dClearing failed state for component DockingStepper1INF>]DAT read: 18:35:56.3149 LVL= 26608, 31121, 32754, 27619, AGC= 31, IDX= 461, 0.32, 0.519, 0.187, 0.310,-1.324, PHS= 1.945, 1.556, 1.590, RAW= 94.5, -78.3, CAL= 97.0, -77.7, ROT= 53.0, 77.7 eYgot valid direction response: 18:35:56.3149 LVL= 26608, 31121, 32754, 27619, AGC= 31, IDX= 461, 0.32, 0.519, 0.187, 0.310,-1.324, PHS= 1.945, 1.556, 1.590, RAW= 94.5, -78.3, CAL= 97.0, -77.7, ROT= 53.0, 77.7 mDAT read: OK m:unknown deviceResponse_: OK m*DAT read: user:997> uBDAT read: Tx time:18:35:57.4143 u$Ping request sent.uR<|Mb@Mb@Mb@ )IiMb`?{Gz?~jth;ף=)@IK@i@ BD26D 3Y!;=-Q)>99EYS=A>Q 14٪?Q 54 9=Q A%Qԁ {@L,1)Ay6@ٱ6@6Li=6 ;6Hff z[?JЧ?0`-9s??I6@)6];i6CBBB+(IBDJ46DJf3YRu½!Ra=RQ)V>T9T9VEYTZ =AZ>\Q 1b4٪^?Q 5b4^t ^OB9`YbQ Eb@y^;C)^;I^j;i^]`4Yhj-@hkxkxkxkxkxZZbZjZrZHt@ɢ!%Li= !- I) -2ɡ)i)I)i1)1yIIN~=ԡrD%=jD<DDvD,DEU: E:6Eg4:E!@!@!@!@vB ~B B 'IB BB =B B B V;B )E) sAL,1)Ay:H@ٱ:C@:0i=: ;:H@..!?yV?@ߔ~? ?I:H@):];i:CBBB%(IBDJ36DJ3YRTǼ!RH=VʹQ)V>T9X9ZEYXZ<AZ>pQ 1v4٪r?Q 5v4r p9xYzQ Ez@yr?C)r:Ir:irg4Y~@kYkYkYkYkaZZbZjZrZNu@ɢ0i= 页I }SɡiIi)I1IiN=1BEQJEUb4REU30D D pD 2D E : E  :6E 4:E "E ;! E ;! *E +R;! E ,R;! Y 1AL,~1)Aɰp;yB@ٱB@B 0h=Bگ=bQ)>99EY<A>Q 14٪?Q 54 NB9=Q A:ԩ E AL,Y51)Ay6<@ٱ67@6!9!9%EY!-̄<A->1Q 154٪5S?Q 5=45 199Y=Q EE@y5GC)5f;I5;i5u4YIMw@IkikikikikiZZbZjZrZY|@ɢh=6X<6H:c%ǜ ʻ?f1?` ??I6}@)6+];i6CBBB(IuMb@Mb@Mb@q q)qIqiqu~jtp= ף?uu=u)ux@IuK@iqq quz@BD&6Dދ3Y/!==i6Q)>99EY<A>Q 14٪?Q 54 9=Q ACh= !%*I! %h͚ɡ!i!I!i)))IAIYNe=}BDAT read: Rx Time:18:35:59.3150 }TRx dataTimestamp_ set to:1755628561.318674DDD,DE: Ec:6Eg4:E"E;!E;!*E;!E;!9i AL,oi1)Ay6#@ٱ6@6Sg=6s<6Hm&@h?@p@%?欿eU? ?I6#@)6 t];i6C@BBB$(IFl>Fp=BDJ)6DJ3Yf<!fY=fQ)f>h9h9jEYhn;An>pQ 1v4٪r?Q 5v4rO rOB9tYvQ Ev@yrNC)r:Ir:ir4Yx~@|kkkkkZZ9bZ9jZ9rZ=@ɢIMSg= IM2IQ UhɡQiQIQiY)YIqIN =ԩDAT read: 18:35:59.3150 LVL= 29680, 32753, 32754, 31219, AGC= 32, IDX= 446, 0.20, 0.365, 0.035, 0.158,-1.526, PHS= 1.993, 1.606, 1.641, RAW= 94.6, -78.7, CAL= 97.0, -78.1, ROT= 53.0, 78.1 Ygot valid direction response: 18:35:59.3150 LVL= 29680, 32753, 32754, 31219, AGC= 32, IDX= 446, 0.20, 0.365, 0.035, 0.158,-1.526, PHS= 1.993, 1.606, 1.641, RAW= 94.6, -78.7, CAL= 97.0, -78.1, ROT= 53.0, 78.1 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:998> BDAT read: Tx time:18:36:00.4143 $Ping request sent.~B B 'IB BB B B B V;B 0E AL,>1)Ay6@ٱ6@6'{g=6G<6Hfۥ и?Ci@?s묿 !B??I6@)6];i4bBb'(IBDj;6Dj)3pYv<!zH=z8Q)z>x9|9~EY|~;A>Q 1 4٪?Q 54 9YQ E@yQC)::I:i犳4Y%i@!k9kAkAkAkAZZabZajZarZe@ɢqu'{g= qu6Iq } ѸɡyiyIyi)IIN =1D D mD D E : E :6E :E "E ;! E ½;! *E @G;! E AG;! a &AL,ǜ1)AyFH@ٱFC@F>f=FO99EYA>Q 14٪?Q 54i 9==Q Af= ae0Ia e~̺ɡiiiIiii)qIIN%=iԑ -AL,1)Ay6@ٱ6@6;pf=6P<6H()(?*@hR?#ʬY??I6@)6W];i6CDB}DBfDB-D@EB݉: EB96EBt4:E@!F@!F@!F@!F@JBJ"(IiLILBDV+6DVE3Yvom=!v[=vyQ)v>x9x9zEYxzA~>Q 14٪o?Q 5 4 NB9 Y Q E @yVC):I`:i4Y@k1k9k9k9k9ԙZZbZjZrZ^@ɢ;pf= I ۺɡiIi) %&Changing to mode: 4I)i$ IIN>AIAIvBU|>~BQBQBQBU =BQBQBUV;BU-E! 3AL,{1)Ay:P@ٱ:K@:?e=:%"<:H@-Q? =?" 1??I:P@):i];i:CFBF(IMb@Mb@Mb@ )IiMb?̼<)Iiҹ@ @BD5$6D53YEn!EE=Ek7Q)E>I9I9MEYIMAU>QQ 1]4٪U?Q 5e4U UOB9e!Qy X:AL,W1)Ay6@ٱ6@6^e=6<6H`f%EX?+? Ku?@?I6@)6\N];i6CBBB+(IBDJ'6DJ3YRAT=!RU=R8Q)R>T9T9VEYTVAZ>XQ 1^4٪Z?Q 5b4ZU X9`YbQ Eb@yZYC)ZU;IZQ;iZ4Ydf4@hk)k)k1k1k1ZZIbZIjZIrZMi@ɢ^e= 顝 I tjɡiIi)~A|AYI-)i115 1IAIQNe=ԁDDoD*DE: E:6E(N4:E!@!@!@!@i==IEC)BG rAԹ)IQrADRAvBM }>~BI BI BI BM =BI BI BM V;BM .E FAAL,21)Aiy6@ٱ6@6 e=66y<6H1b}@P?kd@ ?ɭ?@1?I6@)6t];i6CNBR.(IPRR>BDZ36DZ3Yf&><!fH=f8Q)j>h9h9jEYhnTAn>pQ 1v4٪ru?Q 5v4r p9tYv5Q Ez@yrZC)r):Iry:ir4Y|~ @|kkkkk!ZZbZjZrZ@ɢ e= 顭I dɡiIi)Iu(iqy} IIN>uBDAT read: Rx Time:18:36:02.3151 }TRx dataTimestamp_ set to:1755628564.342628 D D vD -D E غ: E :6E t4:E "E 99EYA >Q 14٪]?Q 54~ PB9Q E@y[C)M:I=:iߵ4Y!-@)kIkIkIkIkIZZm<bZm<jZmP@rZm>ɢyy y}I < ɡiIi)I=)i9AE AIQIaNm>1q  DAT read: 18:36:02.3151 LVL= 24304, 28193, 30834, 25443, AGC= 32, IDX= 447, 0.09, 0.391, 0.083, 0.201,-1.477, PHS= 1.970, 1.605, 1.634, RAW= 94.2, -79.2, CAL= 96.4, -78.6, ROT= 53.6, 78.6  Ygot valid direction response: 18:36:02.3151 LVL= 24304, 28193, 30834, 25443, AGC= 32, IDX= 447, 0.09, 0.391, 0.083, 0.201,-1.477, PHS= 1.970, 1.605, 1.634, RAW= 94.2, -79.2, CAL= 96.4, -78.6, ROT= 53.6, 78.6  DAT read: OK  :unknown deviceResponse_: OK  X#Rx 7: Read direction message, but no range. ^direction in FSK: [0.117294,0.159093,-0.980271]q u Q?q+*]?Lȧa^￙q Iu ^iu !nu rxu ccq u (? u p?)u &?Iu q?iu ;ﰿu \?u u |o?u ?Iq )u Tz?Un←u Suu ?u |o? u ?TMAL,71)A D6D6nD6(D4E6: E6:6E6c44:E4!:@!:@!:@!:@yRi@ٱR_@R f=R-Fd`1? z?rƈ?{?IRi@)R`];iRCB/(IBD36D3Yּ!O=9Q)>99EYOA>Q 14٪,?Q 54j 9Y>Q E@y]C);I;iż4Y  @ kIkIkIkIkQZZbZjZrZŢ>ɢ f= bI l]ɡ i I1i9)Aqu>u >A<Ap<vB|>~BB'IBBB =BBBV;B3EIi IIN&>ԙ l99EY&A>Q 14٪?Q 54 9*Y=Q AzA fZAL,Qk1)Ay6?ٱ6 @6f=6;6H `X?v?ҬW}?`?I6?)6r];i4BLjBB<(IBDJ16DJ[3YRC=!V\=V8Q)V>T9X9ZEYXZ`8AZ>\Q 1b4٪^?Q 5b4^ \9dYfq?Q Ef@y^bC)^S:I^>:i^Eʳ4YhjQ@hkxkxkxk|k|ZZbZjZrZq?ɢ)-f= 15I1 5ɡ1i1I1i)IIiQQU QIIN=IrDyjD}4=DDD)DE: EA:6EFA4:E!@!@!@!@qvB ~B B 'IB BB =B B B V;B 2EBBBBɽ =Bɽ =Bɷ4ԡ OaAL,1)Ay6?ٱ6 @6f=6΅;6H1d+`Tŝ?@jƨ? +Ԭ p??I6?)6];i6CR҈BVJ(IBDZ.6DZP3YbBT=!fH=f7Q)f>h9h9jEYhjDAj>lQ 1r4٪n?Q 5v4nx nQB9tYvk?Q Ev@yneC)n:In:iniѳ4Yx~@|kkkkkZZ9bZ9jZ9rZ=kk?ɢIMf= IM,II U"ɡQiQIQiY)Y aԁI i    I!IN=ԩD D D /D E 1: E E7:6E J4:E "E m;! 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JBL,^ 1)Ayj?ٱj@j1|=jjH1 `(p?=?G낿`?Ij?)j];ij C-B-2(IBDm+6DmE3Y<!D=Q)>99EY|A> Q 1%4٪ ?Q 5-4 ; BE|a4JEf4RE0DmDmDm.DiEm: Em3:6Emـ4:Ei"Em;!Em;!*Em;!Em;!91Y =Q E@y ܢC)  =I  =i $4Yؿ@kYkYkYkYkYZZbZjZrZt=ɢ1|= I ٻɡiIi) A A1I)i IIN>>Qԁ OsBL,Hjx 1)Ay6q?ٱ6/@6{=66H@/@٤X?;`?nD5?I6q?)6];i6 CFÈBF6(IHJ=YMb@Mb@Mb@ )Ii99EY.A>Q 14٪ ?Q 54L RB9ԉDmDm|Dm,DiEm: EmP$:6Emg4:Ei!u@!u@!u@!u@vB|>~BBBB =BBBU;BEBABABABEƽ =BEƽ =BE 5Ա [BL,VG 1)Ay:?ٱ:C@:X9\9^EY\^j Ab>`Q 1f4٪bH ?Q 5f4bZ `9hYjzQ Ej@ybߢC)b`:Ib:ibR24Ylrÿ@p6VEHICLE DETACHED FROM DOCK.QkkS1T Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletionqT ZZ)bZ)jZ)rZ-:@)=DqDuwDu0DqEq Eu:6Eu4:Eq"Eu;;!Eu<;!*Euk;!Euk;!9 ŅBL,}" 1)Ay>?ٱ>Y@>\w=>Us>H-8ג ?Cx?@4@e@?I>?)>^;i> CbBb)(IMMb@Mb@Mb@I I)IIIiIMMbpMb`MMM)M@IIiM5@I IM̴@BDe"6DeJz3Yu !u>=}ӯQ)}>y9y9EYM;A>Q 14٪h ?Q 54T QB9;Q A7>Y0 ?Q E@y)~ ;I;i94YM@1T Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletionqTU rAggregate::initialize lineCaptureHoming:Lap:Docked:DetachUZZe;bZe;jZe˖@rZe0 ?I ɡiIi)>Im)iiim iIIN>AqD D qD *D E C: E $ :6E (N4:E ! @! @! @! @ԙ mBL,~ 1)AvB~BBBBBBBU;BEyF'?ٱF @F=w=FXw FHA g?@ M`?⮿?IF'?)F _;iFCԈBL(IBD;6D)3Y%>!-O=-SιQ)->)9195EY15c;A5>9Q 1E4٪= ?Q 5E4=O 99IYM ?Q EM@y9)=::I=:i=@4YQU@QUu uvAggregate::uninitialize lineCaptureHoming:Lap:Docked:DetachUuVu unAggregate::initialize lineCaptureHoming:Lap:Docked:Wpt11W} }Initialize.qW}}Initialize.V}ZZbZjZrZ ?I ɡiIi)qIU)iQQU QIaIqN}=ԡ kBL,I 1)AyF?ٱFO@ @FUv=Fn\ FH |Vi?aer?ŮQ?IF?)F|4_;iF CRBR](IBDZ6DZ4d3Y)91DUDUDU+DQEU: EUi:6EU [4:EQ"EU;!}EU;!*EU;!EU;!9EY;A>Q 14٪ ?Q 54H 9Y%Z ?Q E%@y):I):iH4Y)-@)Ve mrAggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1Vm1WmqWmmUninitialize.WmupAggregate::initialize lineCaptureHoming:Lap:Docked:DriftqXuu) ½BL, 1)AyJ&?ٱJ @Jv$v=JKJH8r熤@? }@R?`ѿˁ ?IJ&?)Jߊ^;iJ C^߈BbZ(IMb@Mb@Mb@ )Ii99EY0<A>Q 14٪M ?Q 54& PB9Completed lineCaptureHoming:LapqP55ZAggregate::uninitialize lineCaptureHoming:LapZZM<bZM<jZM4=rZM@3U6Completed lineCaptureHoming']>lineCaptureHoming is completed.']PUninitializing Mission lineCaptureHoming] 3]RAggregate::uninitialize lineCaptureHoming]3]bAggregate::uninitialize lineCaptureHoming:Scienceq]]1]]7]|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent1e1.e \evAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq.e\eNUninitialize AltitudeEnvelopeComponent..e ]eUninitialize..e]eNUninitialize OffshoreEnvelopeComponent.q3eferAggregate::uninitialize lineCaptureHoming:MicromodemComms3e gmAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn3mEmmHUninitializing TrackAcousticContact.X}!S%!S-!S)aR}#aRy#aRu#aRq#=5bgot command load ./Missions/Engineering/OnDock.tlBm# Bi#Be#Ba#B]#BY#BU#BB<<<}I9I9MEYIUvf<AUd>QQ 1e4٪Ul?Q 5e4U UOB9e=Q Ae) G  A)1 I] 徙e Ae W@BL,^@ 1)AyJ6?ٱJ_ @J@t=J߻JH`u?`P?r {??IJ6?)Jzg^;iJ C^B^\(IBDj16Dj[3Y<!=Q) ?99EYٗ<A ?Q 14٪?Q 54b 9Y@Q E@yC) $@BL,9Z 1)AyJ?ٱJ @Ju=Jv!ػJH :dZ? lW? z`+?IJ?)J>*a;iJ C^B^b(IBDd6DdY%A<!%R=-b9Q)->)9195EY15}<A5>Q 14٪?Q 54 NB9Y@Q E@yC);IG;ili4Yb@I ɡiIi)!~A~AIU)iQQ]A Y@]}A@]~A@M9<IYIqN}>kBL,t 1)AyR?ٱRg @Ru=R RH@); D:?@Eq?Cw?IR?)R9]a;iPnBnd(IipIp5Mb@Mb@Mb@1 1)1I1i15Zd;O?I +?~jth?5j<594<5D;)5@I1i5@1 15̴@BDM:6DM{3Y};!}6=7:Q)>99EYx<A>Q 14٪?Q 54 OB9KSXBL, 1)Ay:q?ٱ:/ @:u=:q:Hdl`"`ߣ'?v`qs?䞮Eu8?I:q?):I_;i: CZBZi(IBDb36Db3Y5<!5a==Q)=>9999=EY9E<AE>IQ 1u4٪M/?Q 5u4M I9qY}Q(@Q E}@yMC)Mh;IM:iMYw4Y@I ɡiIi)Ie)iaae a@}<IIN>*~BL,Ч 1)Ay6?ٱ6\ @60t=66H@2a!?@:?o[YuU?I6?)6_;i6 C^B^f(I%Mb@Mb@Mb@! !)!I!i!%{Gz?Q?~jth%#=%u<%D)%@I%5@i%@%ҹ@ !!BD}6D}4d3Y(!7=,Q)>99EY<A>Q 14٪?Q 5 4 NB9Mi/=Q AMdBL,Y 1)Ay6?ٱ6 @6^t=606HU`@! M?`>??` Xs`U?I6?)6j^;i6CNBNj(IRI9I9MEYIM_<AU>QQ 1]4٪U?Q 5]4UX UMB9aYe#@Q Ee@yUC)U:IU:iUx4Y@I  ɡ i Iiq)qI)i @h<IINE>ʎBL,Z 1)Ay>0?ٱ>C @>]u=> z>H@@ɣj?&}?`@2o ??I>0?)>~^;i> CNBNc(IBDZ36DZ3YvT!vP=v":Q)v>x9x9zEYxz`<A~>9Q 1E4٪=?Q 5E4= =LB9IYMW$@Q EM@y=C)=[:I=:i=z4YQU[@yI ɡiIi)IIiIQU Q@m<IyIN>BL,\ 1)Ay:?ٱ: @:4u=:vc:HT,Tգ[?~6 w?al@!9!9%EY!-b<A->1Q 14٪5]?Q 5456 19 =Q ACL,.7 1)Aɰy:7@ٱ:2@:v=:<-P:H [\s>@h?e? ή i ?I:7@):8];i: CNBRa(IBDV<6DV3YU@6!UX=]m0:Q)]>Y9a9eEYae<Ae>iQ 1u4٪mR?Q 5u4mO mKB9YN6Q E@ymC)m;Imd;im4Yt@I ɡiIi)y8I(i @<IIN J>q CL,!) 1)AyR@ٱR@RMx=R$lRHҋPN,C?Nŧ?@$c?IR@)R_;iR CzBz^(I-Mb@Mb@Mb@) )))I)i)-~jt?Zd;O?MbP)-j<-)-x@I-5@i-@-@ )-̴@BDe56De3Y<!6=t:Q)>99EYJ<A>Q 14٪[?Q 54] 9CL,B 1)Ay6@%@ٱ66 @6u z=6?6H@ 9+`ۣ ??<W@?I6@%@)6;`;i6 C~܈B~V(IBD 36D 3YE !Ee=Mќ:Q)M>I9I9UEYQUf<AU>YQ 1e4٪]?Q 5e4]i Y9iYm=Q Em@y]C)]W:I]:i]ɨ4Yqu@I ɡiIi)y8}A|AIm)iiim i*@u="@u=@E|<IQIN:>CL,\ 1)Ay6x@ٱ6s@6|=6&-6H@᣿?@u?TQEj?I6x@)65__;i6CNBR`(IRx9x9zEYxznU<A~>QQ 1}4٪U?Q 5}4Uv UJB9Y 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . yΓ8Y#jn @'PDefineArg OnDock.DockedTime = 8.000000 hY#n'\DefineArg OnDock.DetachedTimeout = 30.000000 sY#MnI'UXDefineArg OnDock.RangeTimeout = 600.000000 sY#ena'hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 minY#n'^DefineArg OnDock.NumberOfPings = 1.000000 countY#n'=VDefineArg OnDock.TransponderCode = 50 countIM)iIIM IY#n'PDefineArg OnDock.MaxDepth = 275.000000 mY#n'RDefineArg OnDock.MinAltitude = 5.000000 m@-<IYINC>Y#% o!'TDefineArg OnDock.MinOffshore = 2.000000 kmY#o'=HDefineArg OnDock.StayOnDock = 0 boolY#E*oA'M\DefineArg OnDock.IfconfigInterval = 2.000000 hY#:o'HDefineArg OnDock.RunScience = 0 boolY#Jo @'XDefineArg OnDock.MissionTimeout = 8.000000 h'~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl '-rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl '=TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl '5 TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 Y# Zo ' vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 mY# jo ' |DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 mY# zo i@' tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 mY# o ' |DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 6Construct AltitudeEnvelope. 0Construct DepthEnvelope. = 6Construct OffshoreEnvelope. CL,)v 1)Ay6+@ٱ6!@6=6D|96HP z⣿? ta ?@x/? ?I6+@)6^;i6 C5B5^(IZ'-xInserting Stack from file: Missions/Insert/BackseatDriver.tl '-lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl '5TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tlMb@Mb@Mb@ )Ii{GzI +?#9<)@IK@i@ҹ@ p@BD:6D{3Y@!0=@:Q)>99EY<A>Q 14٪N?Q 54 9 [# q'nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 booly=8 2Construct BackseatDriver.'nInserting Stack from file: Missions/Insert/PowerOnly.tl 'bTethyslAPI: loading: Missions/Insert/PowerOnly.tl 'zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlIi @<IIN> '] qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a\#u :qq '} ZDefineArg OnDock:PowerOnly.SampleAll = 0 boola\# Jq ' ^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 boola\# Zq ' ^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 boola\# jq ' ^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 boola\# q ' hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool Construct Wait. Construct Wait.'M jInserting Stack from file: Missions/Insert/Science.tl 'M ^TethyslAPI: loading: Missions/Insert/Science.tl ' vTethyslAPI: mission file loaded: Missions/Insert/Science.tl#CL, 1)Ay:E@ٱ:;@:N=:uT::H G`?@`?@F`P?k?I:E@):.*^;i: CR߈BRZ(IBDZ)6DZ3YE!Eg=ER;Q)E>I9I9MEYIU+<AU>Q 14٪?Q 54 KB9Y_Q E@yC)p:I|:i*4Yн@I! !ɡ!i!I!i)))y-85?5?Ii @@@<IINA>\*CL,^h 1)Ayn4@ٱn/@nes=n}s:nH !`@q)`? +@@?`x\??In4@)n];inCv؈BvQ(Ii1I1eMb@Mb@Mb@a a)aIaiae:vI +?{Gzt?eԼaeף;)e@Iaie@a ae̴@BD46Df3Y!3=;Q)>99EY;A>Q 14٪?Q 54R LB9 =Q A1CL,a5 1)Ay>rb@ٱ>h]@>U†=>$.;>H 3k=κ?=@? .հke? >?I>rb@)>];i>CN߈BRY(IBDZ66DZ3YvO=!vp=vX;Q)v?x9x9zEYxzy<A~?!Q 1-4٪%?Q 5-4% %MB9)Y-2̿Q E-@y%C)%]:I%:i%˵4YY]޽@YIi iɡiiiIiiq)>f?y^8I)i))- )@E<IQIaNm5> +7CL, 1)Ay6߁@ٱ6|@6d=6bR;6H>}U?I?5)2=j??I6߁@)6];i6CNوBNR(IBDV$6DV3Y -м! H= gN;Q) >99EY ;A>9Q 1E4٪=?Q 5M4= =OB9IYM˿Q EM@y=C)=:I=:i=ӵ4Yq}3@yI ɡiIi)y8 Iaiiim i*@q"@u= ߑޕA@E<IQIqNER>?U=CL,1 1)Ay:@ٱ:@:T=:c;:H GD@?N@m?Jp??I:@):_;i: CN߈BNY(IPRp<Mb@Mb@Mb@ )Ii rh?MbPC<)@I5@i@ BD/6D3Y<!;= W;Q) > 9 9 EY 5;A5>9Q 1E4٪=?Q 5E4=S 99E=DCL, 1)Ay:S@ٱ:I@:==:D;:H`I箤 ?T ?@ñ ns?(?I:S@):a a;i: CNшBRH(IBDZ%6DZ03Y!\=$;Q)> 9 9 EY  ;A>Q 1=4٪P?Q 5E4 9AYEyQ EE@yC)";I(:i4YIM@QIa aɡaiaIaii)iiu|AIqy{8 :Uninitialize Docking Stepper. Powering down@<IIN>ZkJCL,+ 1)AyUˍ@ٱU@U=U}S;UHA>`?@L2?O` 9 9EYSA>Q 1%4٪I?Q 5E4 9EOQCL,E 1)Ay6n@ٱ6h@6=6ó;6H,5 ? N?@#@i?`~@oiv? x?I6n@)69S`;i4NوBNQ(IBDV'6DV3YB;!o= 9;Q) ? 99EY9A?9Q 1E4٪=E?Q 5E4=1 99IYM1̿Q EM@y=C)=:I=:i=O4YQU=@yI ɡiIi)y8@<IIN=yWCL,!X_ 1)Ay6;@ٱ66@6hE=6IȻ;6H9!`C_?,@;+?F䲿`hw??I6;@)6_;i6CN͈BNC(IBDZ26DZ 3Yv/f!vL=vL~;Q)v>x9x9zEYxzA~>Q 14٪>?Q 5 4{ PB9 Y ̿Q E @yC):I:i:4Y@I ɡiIi)l?y?y8@U<IIN>F]CL,v3y 1)Ay:"@ٱ:@:$=:NJ;:Hz@ ɥ?@?@?`7x??I:"@):*_;i:CN݈BRV(IMb@Mb@Mb@ )Ii{GzI +?MbP?ף94<:)@Ii@ ̴@BD$6D3Y==!=7==M;Q)=>A9A9EEYAE"AM>IQ 1}4٪Md?Q 5}4M I9}*dCL,| 1)AiyBؒ@ٱB΍@B=B;BH@t %`?@A?`𜳿`Dw?`?IBؒ@)BL^;iBCLPBDZ.6DZP3vP;Q)v>t9x9zEYxzAz>Q 1%4٪?Q 5%4 QB9)Y-Q E-@y C)u:I:ii4Y111I ɡiIi)yu 8@M-<IYIqNu= 'TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , 99EYMA>^m$% t!'%DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %^q$5t1AQ 1E4٪E?Q 5M4E ERB9MY^$t'DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml^$t '- fDefineOutput OnDock:science:Science.GoDown = 1 bool^$5 t1 '= lDefineOutput OnDock:science:Science.PeakChl = nan ug/l^$ t ' pDefineOutput OnDock:science:Science.PeakChlDepth = nan m^$ t ' DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC^$ t ' DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg^$= u9 'E DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg^$U uQ '} lDefineOutput OnDock:science:Science.EdgeChl = nan ug/l^$ "u ' pDefineOutput OnDock:science:Science.EdgeChlDepth = nan m^$ 2u ' DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC^$ Bu ' DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg^$ Ru ' DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg^$ bu '] pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/l^$e rua 'm pDefineOutput OnDock:science:Science.PeakNO3Depth = nan m^$ u ' DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg^$ u ' DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg^$ u '% nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3^$- u) '5 pDefineOutput OnDock:science:Science.PeakOilDepth = nan m^$E uA 'M DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdegqCL,T 1)Ay6@ٱ6@6/=6;6HсS=?Ͱ?E2@ku?Z?I6@)6 ^;i6C^܈B^U(IBDf36Df3^$u' DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg^$uY t=!=%v;Q)%?!9!9-EY)-ܼA-?1']lDefineOutput OnDock:science:Science.PeakFDOM = nan ppb^$mui'urDefineOutput OnDock:science:Science.PeakFDOMDepth = nan mQ 1}4٪5'?Q 5}45& 19yYAQ E@y1)5#^% v 'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC^%v!'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg^%v'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg^!%v'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s^%%v'%DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m^)%-v)'5DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC^-%=w9'mDefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg^1%uwq'}DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg^5%"w'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s^9%2w'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m^=%Bw'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC^A%]RwY'eDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg^E%ubwq'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg^I%rw'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s^M%w'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m^Q%w'5DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC^U%=wA'MDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg^Y%UwQ'}DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg^]%w'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml^a%w'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m^e%w'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC^i%w'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg^m%5x1'=DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg^q%ExA'uDefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml^u%}"xy'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m^y%2x'u DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC^}%} Bxy ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg^% Rx ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg^% bx ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml^% rx! '- DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m^%5 x1 '= DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC^% x ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg^% x ' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg^% x ' DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml^% x '% DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m^%- x) '5 DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC^%] xY 'e DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg^%u xq '= DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg^%E yA 'M nDefineOutput OnDock:science:Science.PatchChl = nan ug/lwCL, 1)Aɰy:4@ٱ:*@:=: ;:HH~`ꦿ@th?qV ?lq?@?I:4@):];i: C^шB^H(IBDf<6Df3^%nyl'vrDefineOutput OnDock:science:Science.PatchChlDepth = nan m^%z"yxY=6P!=H=E0;Q)E>A9A9MEYIMAM>Q'DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg^%2y'DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg^%Q 14By'xDefineOutput OnDock:science:Science.PatchChlDistance = nan m^%Ry٪Uy?Q 54U> USB9YDQ E@yU C)U^%UyQ']DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg^%y'xDefineOutput OnDock:science:Science.PatchOilDistance = nan m^%y'vDefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool^%-z)'5xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/l!au"E!ay"M!a}"!a"!a"!a"]8Construct PeakDetectVsDepth.E 8Construct EdgeDetectVsDepth.% >Construct PeakDetectHorizontal.l}CL,>{ 1)Ay6?ٱ6p} @6s=6yz;6H A L ? S?`5o?@]?I6?)6];i6 CbՈBbM(I 8Construct PeakDetectVsDepth.-Mb@Mb@Mb@) )))I)i)-y&1~jt~jth?-`e-D-D;))I)i)) ))BDm56Dm3Yđ<!1=:Q)>99EY s 8Construct PeakDetectVsDepth.A >QQ 1]4٪U.?Q 5]4UJ UTB9] Construct PeakDetectHorizontal.yD8*@"@@N<IINB> 8Construct PeakDetectVsDepth. 8Construct PeakDetectVsDepth.>Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth. 8Construct PeakDetectVsDepth.لCL,X1)Ay:?ٱ:b @:Ŧ=:iI;:H  G? `H?ҴD$i??I:?):];i:CNBNZ(IBDT6DTYr-x=!rt=r(;Q)r?t9t9vEYtv]Az?xQ 1]4٪z?Q 5]4zS x9aYeObQ Ee@yzC)ze %8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth.58Construct PeakDetectVsDepth.8Construct EdgeDetectVsDepth.],Construct ValueDetect. $Construct Execute. $Construct Execute. Construct Wait. Construct. dInitializing internal variables to default values.tu  M Construct. M dInitializing internal variables to default values.$CL,NE.1)AdidyҎ?ٱ_B @ =;H֌z@F?^?@`?k?IҎ?)h^;iBe(I<= '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 } } } =bLoaded ./Missions/Engineering/OnDock.tl id=OnDock-Mb@Mb@Mb@) )))I)i)-Q?{GzMb`-u<-ף-))I)i)-@ )-µ@)9 =AABDe;6De)3Yu\ =!u'=}T:Q)}>y9y9}EYA>Q 14٪?Q 54 9tCL,H1)Ay6pE?ٱ6 @6;=6h_:6HI7ڧe ?`,Yk?`K??I6pE?)6,^;i6CbBb_(IBDj#6DjӀ3Ye@޼!eu=e:Q)e?i9i9mEYimhAu?qQ 1}4٪u5?Q 54u uSB9Y?Q E@yuC)u+;Iu:iu64Y@I ɡiIi)i~AIy o8@@@-<I9IINm>SCL,`a1)Ay6b?ٱ6' @6 =6"6H`mg O?w?d:5`?I6b?)6+^;i4RBRZ(IBDV06DV3Yw!Q=:Q)> 9 9 EY  ּA>Q 1=4٪z?Q 5E4 RB9AYES?Q EE@yC);I;i<4YIMȽ@QI ɡ!i!I!i!))y8@P<IIN>W?CL, {1)Aɰp;yBݷ?ٱBV @BM&=BPBH@{? |?@j^ ^e?IBݷ?)B^;iB CNBRd(IiPIPMb@Mb@Mb@ )Ii/$?+~jtx<Ļ)@IK@i@ p@BD-6D3Y=!>=]u:Q)]>Y9a9eEYaeAe>iQ 14٪mE?Q 54m mQB97=Q A1'CL,1)Ay:]?ٱ: @:=: Q:Hn@?`N|?@wy"j`?I:]?): n^;i:CNBRk(IBDZ96DZ3Y<! X= :Q) >99EYмA>9Q 1E4٪=?Q 5E4= =OB9IYM1?Q EM@y=C)=:I=:i=K4YQU@yI ɡiIi)Q?)?yr8*@="@=@m2<IyIN=TCL, 1)Ay?ٱ@ @Ѭ=*H`N7*y?`oauu?࣓ss ?I?)a^;iC5B5v(IeMb@Mb@Mb@a a)aIaiae99EY A>Q 14٪?Q 5 4@ 9 >=Q A C9CL,S1)Aiy:ˋ?ٱ:@:=:W˻:H`$?`m,}? /iSy F?I:ˋ?):9 ^;i8NBRx(IPR<BDZ!6DZr3Yrg;!r=r;Q)r?t9t9vEYtzϼAz?xQ 1=4٪z?Q 5E4z zNB9AYEu?Q EE@yzC)z"cCL,01)Ay>I?ٱ>W@>1=>i>H@?>j? o?`]ߵ?I>I?)>^;i>CNBNv(IBDZ:6DZ{3Yrɮ!vJ=vk:Q)v>t9x9zEYxzAz>|Q 14٪~?Q 5 4~ |9 Y t?Q E @y~C)~S:I~K:i~`4Y_@9II IɡIiIIIiQ)QiyIyyu-8@y@}A@Ms<IYIiNu={CL, 1)Ai$I*C)jGyz ?ٱz~@z}=z] |zH`b1N?@u?K`Q9Q9UEYQU3A]>YQ 1e4٪][?Q 5e4]3 Y9mL=Q APExceeded connect timeout, disconnecting.[uCL,1)Aɰ;y:x?ٱ:j@:Bp=:-:HD@G諿 [.?z`?F>w?I:x?):1^;i8NBR(IiPIPBDZ%6DZ03YvT<!vw=v<;Q)v?x9x9zEYxz `A~?qQ 14٪u?Q 54u uOB9Y ?Q E@yu#C)uH;Iu:iun4Y@I ɡiIi)y@&<IIN>CL,r01)Ay f?ٱ )@ h= D H Oۨ9? -?@ak?I f?) FG^;i eBe(IMb@Mb@Mb@ )IiMbL7A`堿~jth?+D;)@Ib@i@ @BD]16D][3Y=<!=L:Q)>99EYA>Q 14٪?Q 54 PB9  =Q A Q E @y%C)lgg) fCL,1J1)A yBa?ٱB'{@BS=BTBH` SZRQ Er@yj&C)j;Ij;ij?|4Ytv@tz )zRAggregate::uninitialize DefaultWithUndockz)z8Uninitialize Wait Component.='z,Started mission OnDockKxYz ~8Aggregate::initialize OnDockY~~\Aggregate::initialize OnDock:StandardEnvelopes1Z~ ~JInitialize AltitudeEnvelopeComponent.qZDInitialize DepthEnvelopeComponent.Z  JInitialize OffshoreEnvelopeComponent.[  VAggregate::initialize OnDock:BackseatDriver1\ q\  LAggregate::initialize OnDock:PowerOnly\ \ 1] q] ] 4Initialize Wait Component.]JAggregate::initialize OnDock:dataRead1^^ HAggregate::initialize OnDock:science^XAggregate::initialize OnDock:science:Science1_q___1`q``qatAggregate::initialize OnDock:science:Science:PeakDetectChlaqb%tAggregate::initialize OnDock:science:Science:EdgeDetectChlb%c% %Aggregate::initialize OnDock:science:Science:HighestChlPeakReportc%%Initialize.1d% -tAggregate::initialize OnDock:science:Science:PeakDetectNO3qd-1e- -tAggregate::initialize OnDock:science:Science:PeakDetectOilqe-1f- -Aggregate::initialize OnDock:science:Science:HighestOilPeakReportqf--Initialize.f5 5vAggregate::initialize OnDock:science:Science:PeakDetectFDOMf5g5 5~Aggregate::initialize OnDock:science:Science:PeakDetectSalinityg5h5 5Aggregate::initialize OnDock:science:Science:HighestSaltPeakReporth==Initialize.1i= =Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROIqi=1jE EAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROIqjEqkEEAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROIkEqlEEAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROIlEmE MAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatomsmMnM MAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatomsnMoMUAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates1pUpUUAggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates1qU1rU UzAggregate::initialize OnDock:science:Science:ChlThreshTriggerqrUUInitialize.`]]rAggregate::initialize OnDock:science:Science:OceanCurrent1a]]99EY;AY>Q 14٪?Q 54O OB92Ai xCL, 1)Ay:?ٱ:K@:_K=:}Ty:H- ?`E#?@?I:?):];i:CFBJ(IBDR?6DR3YZ=!Z=Zd;Q)^?\9\9bEY`b}<Ab?dQ 1j4٪fp ?Q 5j4f% d9lYnW?Q En@yf*C)f;IfS;if4Yprź@tp|q[~[~I  ɡiIi)y|8I)I9NM=Qԁԩ CL,.1)Ay:X?ٱ:v@:,=:~:H@`7H2?K?m@?I:X?):];i:CFBF(IBDN06DN3Yja<!nH=nca;Q)n>p9p9rEYpv6<Av>xQ 1z4٪z ?Q 5~4z zNB9|Y~Y?Q E@yz+C)z ;Iz ;iz)4Y  @ p%x@[%qs%I1 1ɡ9i9I9iA)Ay8I)ԱIN= 9 CL,1)Aɰ4<499EY8<A>Q 14٪G ?Q 54 9-79i KCL,1)A y:5?ٱ:ĕ @:Y=:˸}:H!m@[ w?!@?I:5?):];i8BBF(IBDN56DN3YV=!VZ=VŽ;Q)Z>X9X9ZEYX^<A^>`Q 1f4٪bv ?Q 5f4b bOB9hYjZ|?Q Ej@yb-C)b;Ib;ib.4Ylr@pv