*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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I ɡ ʷiI- =i9)IU:9)>DDDVDEg: E=:6Ez~6:E!@!@!@!@AнAIIN>A A <vB >~B dCB DB s=B Q =B B B <B ]EBcCBcCBBQ =BQ =B@'5i,,غ)Ay6@ٱ6@6Fp6=6Ho`a`@A?Ԇ? v6>?Y?DE??I6@)6A_;i6C^=9^ND$C?Zd;׿Q?>9Yu>i rh?RQȿrh|?C=B?IPBiB`BB)BBD5 6D5:2YE!E6=E߃Q)M>MWA?)MWA?9MGYMFUnAU>YQ 1e=4٪]ϊ?Q 5e=4]R ]h/9e=$?Q Am:Yml?Q Em?y]8@)]:I]:i])=4Y9Bjj:jBj"jj zZ-J>Z-J>Z-s@Z-ٞ@y y}GIy ɡ2iIu=i)?>T:)lA lA9B>A II)N5>DDD[DE: EP:6E@6:E"EX DBD-6D-k1Y!V=yҽQ)>)9GYFaj=A>Q 1=4٪9 ϊ?Q 5=4W OZ>9YY?Q E?yl@)"GI ɡNKiI=i)!-(S:)- -i5I5g=i CIG)-mAIAimCɿumAuAA% %AI) I9 NE >D D D QD E : E .:6E sz6:E ! @! @! @! @|9,mq)Ay6 @ٱ6! @66%!.>6HO-ǁ?d?྅?3?@ޙ?Us?I6 @)6`;i6ޒCN=9ROjDBDV6DVJ2Yf;=!fY=f|=Q)j>jD?)jD?9jGYh~=A~>Q 1 =4٪ϊ?Q 5 =4 >9 Y `l?Q E?y@):I3:i=4Y=`B=0B=EjjQ:jQBjQ"jQjyzZZZZ@ @>GI ɡ{iIؔ=i)R:A%"AI)I9NM1>vB>~BcCBBBO =BBB<BvE Q@,T)Ay6E @ٱ6@@6<6 3>6Hv)$?@i]?aY?zZB??I6E @)69c`;i6ߒC^=9^pD)` bAlBDf6Df1Yv;!vH=v|>Q)v>zN?)zN?9zGYF{<A>!Q 1-=4٪%wϊ?Q 5-=4% %r)?9)Y-?Q E-?y%@)%:I%:i%!=4Y9=/B9jjQ:jQBjQ"jqjq}B*** querying acoustic contact ***zhyhyzZZZZ>@ Bf>GI ɡiI=i)ilADDD>DE>: ErN:6E&k6:E"E2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.1Y pF,')Ay6ȭ @ٱ6Ϩ@6؉=6=6H ?NM?iJ??I6ȭ @)6V`;i6CNR=9NcFDBDV 6DV2,DAT read: user:7354> BDAT read: Tx time:05:12:51.6413 $Ping request sent.%Q)m>Y?)Y?9GYFqA>Q 1U=4٪Nϊ?Q 5]=4 >i?9aYm\?Q Em?y@)KGI ɡxiI{=i ) a7O:bDZD@ADDDDEy: E H:6E6:E!@!@!@!@AAIINn>ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248633 Ay A} AAvB >~B B CB "=B Q =B B fDB <B EM,u7)Ay6a@ٱ6h@6>6=6H@j nt.t?W.? ??I6a@)6[`;i6ߒCN==9R=Dd;O?ʡEƿ+?9-2Yi/$? ףp= ?^I +?&q?Q=X>IBiĸBFB).BԙBD6D:Y!A==Q)>K?)K?9GYA>Q 1=4٪YΊ?Q 5 =4 ?9 ?Q A Q:Y @Q E ?y@):I/:iW=4YUcBUm=i )N:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5015829M@>DDD`DE: E,:6EC6:E"EY;!EZ;!*E7;!E7;!A yAI I N >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752319aT,P)Ay6[@ٱ6V@6 =6=6H 2jP`P?@<p?X9?.?I6[@)6"-`;i4N=9RDBDZ6DZkYr=!vZ=vQ)v>z H?)z H?9zGYzFzrA~>Q 1%>4٪Ί?Q 5->4 /?9)Y-@Q E-?y@@)l:I :iu>4Y5MB5B=Ejji:jiBji"jijqzZZZZG0@ cd>GI ɡiI=i)#?P?fL:9nH>)AIINI>-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005688Qy rD jD 4=D D D ZD E : E *5:6E ـ6:E ! @! @! @! @/Z,Ըj)AnJx=9nDBDv6DvY%!%G=%Q)%>)))9-GY)-A5>1Q 1]>4٪5@Ί?Q 5]>45 5?9aYaQ Ee?y5@)5;I5;i5>4Yim.Bqjj:jBj"jjzZZZZ m>GI ɡiI=i!)!Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256651EK:9)n>vB5>~B1B5HCB5<B5R =B1B5gDB5<B5EԁA"AIIN%M>ԩ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509101 a,)Ay6@ٱ6@6ý6)>6H`N`Gi?w?cx?h?ۅ?ӕ?I6@)6!`;i6ޒCND=9NHvDBDV6DVNYf=!fP=f߾Q)f>jN?)jN?9jGYjFjBPAn>Q 1%>4٪Ί?Q 5%>4ן ?9)Y-@Q E-?yA) :I:i$>4Y5PBUB]Ejji:jiBji"jqjqzZZZZ&62@ o;->GI ɡ>IiI$=i)D}D}D}MDyE}C: E}0:6E}:w6:Ey"E}#;!E}$;!*E}ډ;!E}ۉ;!ԱI:) iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760362IQIaNu> 9 YBg,zr)AyN @ٱN@N=N(>NH %|`[??*W??C?S?IN @)NG@`;iNCzchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013974=9DBDe6De:Y@<!9='Q)%>))q9uGY}F=A>Q 1>4٪Ί?Q 5>4C ?9Y&@Q E?yJ A):I:i4>4 YSBBjjI:jQBjQ"jQjQzZZZZ6.@ :>GI ɡ ѷi I =i )kAijAnManaging dock network, ignoring radio surface power off tH:BE ~6JE ů6RE ŋi3DDDUDE,: EE7:6E}6:E!@!@!@!@9IINe>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264367a vB% >~B! B% /DB% M=B% P =B! B! B% <B% Ekm,fJ)A y6\@ٱ6c@6ٽ6 ?>6H v `=7Y?n?<"o???D?I6\@)6_;i6ߒC^D=9^HvD#~jԿK7A?i|?5?㥾9 >Y=iEؿMb?ʡEƾ>-2I&BiB˜B)LBBD6D1Y tP! H= a2=Q) >)195GY1=<A=>AQ 1M>4٪EGΊ?Q 5M>4E@ E?9MBV?Q AM}:YMֿQ EM?yEW A)E:IE;iE;B>4Yy}!Byjj:jBj"jjzZQ?ZQ?ZG@ZUq@ E>GI  ɡ ri I=i1)1qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517320 F:IIN$>ԙDDDjDE E~:6EJ6:E"E 6HxFy+@?`?.?`j??@p?I6d@)6_;i4PR=9RCDBDZ6DZ2Yvg=!v_=vCx)x9zGYzFz¼A~>|Q 1>4٪~Ί?Q 5 >4~֡ ~ґ?9 Y ׿Q E ?y~&A)~:I~:i~N>4YBjj):j1Bj1"j1j1zZQZQZQZU$o@ GI ɡIiI.=i)-E:IIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020774 ! D D D UD E I: E E7:6E }6:E ! @! @! @! @H}z,)AyF@ٱF@FsFy=FH_ø@R??I å-O?? ?IF@)F_;iFޒCr=9rNDBDz6Dz|Y &! H= 0Q) >)9GYF7A>!Q 1%>4٪%-Ί?Q 5->4% %Y?9)Y-"տQ E-?y%A)%:I%:i%-]>4Y1=B9jjQ:jQBjQ"jQjYzZyZyZyZ}W@ 顕GI ɡS{iI=i)?>eBDAT read: Rx Time:05:12:54.5801 eTRx dataTimestamp_ set to:1755839575.765327mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274259uD:)vB>~BBDBM>BQ =BBfDB<BnEBBBBBBr59O{>II1N=r>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524872ԁ d,Q)Ay6w@ٱ6~@6뽹6l0=6H 2pP?i?@gh?٥?@?I6w@)6/`;i6ߒCb =9baDBDh6DhYrf<!rM=v=Q)v>t)t9vGYtzj=Az>|Q 1>4٪~Ί?Q 5>4~ ~?9Y ɿQ E ?y~A)~:I~:i~k>4YBjj):j)Bj)"j)j1zZIZIZIZM$M@Ya amGIi iɡmiiIm"G=iq)qDeDe|DeEDaEeƱ: EeP$:6Eep6:Ea"Ee6;!uEe7;!}*Ee};!}Ee};!}B:9#q>II!N- >ԁmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776181ԹI ܈G) ~nAI Aiu u ~nAu A Ԑ,)ADAT read: 05:12:54.5801 LVL= 23376, 23857, 23458, 32755, AGC= 86, IDX= 15, 0.25,-2.236, 3.022,-1.427,-2.376, PHS= 0.242,-0.840, 0.905, RAW= 172.1, -4.1, CAL= 172.2, -6.1, ROT= 337.8, 6.1 ԹYgot valid direction response: 05:12:54.5801 LVL= 23376, 23857, 23458, 32755, AGC= 86, IDX= 15, 0.25,-2.236, 3.022,-1.427,-2.376, PHS= 0.242,-0.840, 0.905, RAW= 172.1, -4.1, CAL= 172.2, -6.1, ROT= 337.8, 6.1 8DAT read: $Error in header *Received a bad headeryEKk@ٱERf@EJ)E+];EH t?@Gp?`/;7? w??IEKk@)Ev`;iEޒC]P=9]dDuX#Rx 1: Read direction message, but no range.}`direction in FSK: [0.920628,-0.375702,-0.106264]9df$v%u?K]M- ؿO4difP[f1]f[dfV fw>)f= WIfg?if<@@fCfhY@@f^ ڽf@ f^ =idIf?ү0?jA*fhh?ft= faƾ)f^ ==Q?K7A`ݿ/$?=\O?9=Y= ?i99=+?7A`?bX9?=v>>=>=E>I=˜Bi=wB=B=:B)9=BDaDe~DeNDaEa Ee(:6Eex6:Ea!m@!m@!u@!u@BD6DNY!=>Q)>)9GYFj<A>9Q 1E>4٪=Ί?Q 5E>4= =D?9M>Q AM:YM;Q EM?y=A)=:I= :i=H>4YUVB BEjj:jBj"jjzZ ?Z ?Z y@Z `@Y ea>eGIa aɡe}iaIe=ii)lAilA)@:9M cF>bAY ZA] lAvB >~B B DB ,>B P =B B B x<B 6EA] |AIa Iq N >ԁ ύ,c9)Ay6$@ٱ6+@6e6˖6H' -/?`% S`L?ْI?I6$@)6L`;i6ݒCZ}=9Z@DBDb6Db0Yj=!j=j >Q)n7?n=?)n=?9nGYnFrؽAr7?tQ 1>4٪v+Ί?Q 5>4vc vZ?9Y=Q E?yvA)v\;Iv;iv|>4Y!%B!jjY:jYBjY"jYjYzZZZZ\ё@)I Mj>MGII IɡMȸiQIUu =iQ)Y@:Q9E>ԁA AI! 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P?I>?)>_;i>ߒCHHHiHHiLNqA)NT LIL P)R3s@PPPPVqAiV94ITTITiVqA Zjiy)ybAZAlAqAIIN>ԙ%=i% CIĊG)"oAIiO"oA|AiߑIߕ= )t,#)Ay6k?ٱ60 @65=46%L|=6Hۿ:?@I?`Ѷ? ?EX?I6k?)6=^;i6C`/A9kGBD-6D-DE`DEKDE<DAEE*: EE]t96EE 4:EA!M@!M@!M@!M@YU>!UD=U};Q)]>Y)Y9eGYae8q<Ae>iQ 1uE4٪mĨʊ?Q 5uE4m mA9yY}@Q E}?ym B)mU;Im;im E4YBBEjj:jBj"jjzZZZZ'@ I ɡiIs>i)A!I1IANM>A c\,$)Ay6.?ٱ6 @6\36gr=6H ]ۿJtf?@>?߿@c?]?Vc?I6.?)6#_;i6ߒC%2A9% GBD56D5Ye>!eI=mP;Q)m>i)i9mGYm-Fuo<Au>yQ 1E4٪}ʊ?Q 5E4} }BA9Y@Q E?y}K B)}:I}:i}E4Y=Bjj:jBj"jjzZZZZO@ DI ɡiIV>i)vB]u>~B]CB]FGB]>;AB] =B]5DB]DB];B]/ErDIjDMa=DU^DUDDU8DQEUC#: EUa996EUF4:EQ"EU: ;!eEU= ;!e*EU0H:!mEU2H:!mqAIIN#>ԑԹ ,`[$)Ay6?ٱ6 @636=6H@ۿl@?@9?/߿@ɘ??p?I6?)6p_;i6C^5A9^~GIf@A)dBDj6DjNYn.>!rS=r;Q)r>t)t9vGYv.Fv`F<Av>xQ 1~E4٪zWʊ?Q 5E4z zgA9Y:@Q E?yz B)z;Iz;izF&E4Y BBEjj!:j)Bj)"j)j)5B*** querying acoustic contact ***zh1h1zZIZIZIZMl@ԙ I ɡiI>i!)!m2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.rA?jAI IN-,>DYD]BD]>DYEY E](96E]4:EY!e@!e@!e@!e@ DAT read:  BDAT read: Tx time:05:13:51.8927  $Ping request sent. X?ٱ>F' @>MA2>%s=>H@ۿ`γ?`6?:W߿D?ĩ? |?I>X?)>[e_;i>C^f8A9bGE rh?B`"۹ʡEEC+?9EνYEiAAEA`"?y&1|?S㥛E?E`;E/ݼIEBiEBAErB)AEBBD]6D]kYm>!mB=m[;Q)m>q)q9uGYq}+<A}>Q 1E4٪}ʊ?Q 5E4 A9A?Q A:YT @Q E?y B)Q:I:i5E4YBsBjj:jBj"jqjyzZ >Z >ZI @Z Ǝ@ I ɡiIZ">i ) !I1IANM1>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251203vBU<>~BU}CBUzGBUAABU =BQBUܺDBU>;BUلEibDa ZDe ?ADu ZDu EDu 5Dq Eu : Eu A96Eu 4:Eq "Eu &;! Eu (;! *Eu V:! Eu V:! y ,O$)Ay6?ٱ6g @6~16=6Hܿ6m`?5?@[` ߿s?ߢ? (?I6?)6x_;i6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503196n;A9nGBDz6DzY%j>!-O=-;Q)->))195GY5/F5y"<A5>9Q 1EE4٪=-ʊ?Q 5ME4= =ƎA9IYM @Q EM?y= B)=:I=$:i=BE4YQU BYjji:jiBjq"jqjqzZZZZ@ ?I ɡiI>i)QIIN=ԁuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755122Ա ,h$)A =A9 PGD%UD%QD%:D!E%: E%v96E%(4:E!!-@!-@!-@!-@BD56D5:YE`>!EI=EQ)E>I)I9MGYM0FUAU>QQ 1eE4٪U|ʊ?Q 5eE4U UA9aYaQ Ee?yUN B)U:IU:iUQE4YiuɿBqjj:jBj"jjzZZZZ I ɡiI>i)bAZAkAIyIԱN5=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007157  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2596729 ,ǂ$)Ay6s?ٱ6= @6f806=6HKܿY`:? TC?Ls ]޿%T?Y?˦?I6s?)6r^;i6ߒC^@A9^Gib=Ib=BDj6DjP)Yr>!rP=vPt)t9zGYxz;Az>|Q 1E4٪~Jsʊ?Q 5E4~ ~A9 Y  @Q E ?y~B)~9:I~R:i~^E4YpBjj):j)Bj)"j)j1zZIZIZIZM@ I ɡiỈ>i)vB>~BrCBGBHAB =BBҺDBw;BEIyIN=D5TD5JD59D1E59 E5k96E54:E1"E5:!EE5:!E*E5Ə:!EE5Ǐ:!E9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511113i &,$)A4y>[?ٱ>1e @>/>=>H>ܿ en?@R?@Td޿}I? ?|?I>[?)>V^;i>CJhCA9JPGBDR6DR0YZN>!ZN=ZŊ;Q)^>\)\9bGYb1Fb@Ab>dQ 1jE4٪fiʊ?Q 5jE4f f8A9hYn @Q En?yfB)f:If;iflE4YrBrBrEjj:jBj"jjzZ!Z!Z!Z% @i im%Iq qɡqiqIu >iy)yUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765358IIN=ԑԹDEWDEADE5DAEE : EE 96EE4:EA!M@!M@!M@!M@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015165 ,,}$)Ay6?ٱ6B @6/6Č=6H`.ܿsz?^?Q޿C??`:?I6?)6?^;i6ClrVFA9rGtV?n2?9VYLi&1?~jtx?:v?;ԼIBiͺBBSqB)BBBD6DY>!7= ;Q) > ) 9GY2FA>Q 1%E4٪_ʊ?Q 5%E4* nA9-?Q A-:Y-[ @Q E-?yB):I:iO|E4Y15B9jjI:jIBjI"jQjzZ IJ>Z IJ>Z @Z k@) 15jI1 1ɡ1i1I5Bb>i9)9rAM?jAM? Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267483AIINB>9A<A<vB>~BkCBFGBOAB! =B6DBκDBx;BEDM PDM ?DM 2DI EM 9 EM ?96EM 4:EI "EM :!] EM :!] *EM 9!] EM 9!] a 3,X$)Ay6M?ٱ6! @6щ/6?=6H ܿp?@e?@8@H޿FC?@ X? g?I6M?)6];i4B0IA9BlGBDJ6DJk)P RAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519420YZ>!Zc=Z5Q)^>\)\9^GY`bAb>dQ 1jE4٪fWʊ?Q 5jE4f fiA9hYj8 @Q En?yfJB)f`:Ify:ifE4Ypr[Bpjj|:j|Bj|"jj9zZZZZ@ I ɡiI>i!)!iAyAIIN!>ԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771197 :,U4$)ABE~4JE4RE,2DTDAD3DE9 E 96E4:E!-@!-@!-@!-@-KA95GBDE6DE1YM>>!UA=UQ)U>] H?)] H?9eGYe3FeAe>iQ 1uE4٪mnNʊ?Q 5uE4m mAԹ9qYQ E?ymB)miY)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027023AIIN'>9 e BDAT read: Rx Time:05:13:54.7654 m TRx dataTimestamp_ set to:1755839636.032626m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2763913@,%)Ay:2?ٱ  @&s/P=H Oܿ`?/j?`S}߿ A?1??I:2?)v];i5XNA95G=4!UJ=]_:Q)]>Y)Y9eGYae;Ae>iQ 1uE4٪mtEʊ?Q 5uE4m mA9yY} @Q E}?ymB)m!;Im";imE4YBvB>~BgCBHB=VAB% =B7DB˺DB\;BtEBerCBetCBeCBe =Be =BeI7jj:jBj"jjzZaZaZaZeX@ 額iI ɡiI>i)bAZAmADPD@D2DE9 E96E4:E"E:!%E:!%*E :!-E :!-IIN>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527213iԙ IE DG"G,%)A) I irʰpr$Aqy?ٱR @~8/>=H?ܿyw?-`?p:߿`g;? f??I?)Q];i-DAT read: 05:13:54.7654 LVL= 27040, 29937, 24786, 31091, AGC= 70, IDX= 282, 0.20, 2.434, 1.227, 2.931, 2.071, PHS= 0.465,-0.799, 0.816, RAW= 161.9, -6.6, CAL= 162.2, -8.3, ROT= 347.8, 8.3 5Ygot valid direction response: 05:13:54.7654 LVL= 27040, 29937, 24786, 31091, AGC= 70, IDX= 282, 0.20, 2.434, 1.227, 2.931, 2.071, PHS= 0.465,-0.799, 0.816, RAW= 161.9, -6.6, CAL= 162.2, -8.3, ROT= 347.8, 8.3 =PDAT read: Bearing 278.1, 26.9 (Local) =~Local bearing/azimuth received: Bearing 278.1, 26.9 (Local) mDAT read: Range 11 to 50 : 351.3 m (Round-trip 468.5 ms) speed 0.4 m/s mR#Rx 1: Read range and direction messages.u`direction in FSK: [0.967178,-0.209112,-0.144356]}Fpublishing direction and range info9)-.?)+ʿ'ЌCz¿-C)i-i-t-`-sy-F -{>)-DLI-`P?i-4@-뽩--5@-V-?@ -V>i))I-,ʼn,t->Q;?-P*= -t Z)-V>i))ԙDWD<D@DE : E86E4:E!%@!%@!%@!%@MQA9MHw/?Mb?{GztF?9!=ļ:Q)>)9GY4F>;A>Q 1E4٪5ʊ?Q 5E4w ̘A9$?Q A:Yj@Q E?yB):I:iE4Y)-FB)jjA:jABjA"jAjAh)h-o"%)Ah-Ch-Ch-T?z-α'u@U#KRh"BIj-.?)+ʿ'ЌCz¿h-t Zh-V>-F[VbLq@CMe@r-l&;ԿG?t:?h-Ch-Lh-ɥ?h-#yh-X9CzZ}*>Z}*>Z}B=@Z}@ ϯ= I ɡ i I >i ) I! 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Status code: 0x48E0.-FBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-JBattery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-NBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-RBattery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-VBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-VBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.ZCalculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 3.ٶBHB+pA@iBGB\A]nuFailed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 32, 33, 34, 35, 36, 37, 38, 39, 44, 58.vKA9vCHBD~6D~Y ӭ>! 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"E% :!5 E% :!5 *E% B9!5 E% G9!5 .Y,5/3)A yR2@ٱR--@RRWk=RH _]ؿ@?`? uCĿ[?߃??IR2@)R99^;iPZ B9Z3H=V-?/$ÿ/$?=!e@=eMQ)m>mK?)mK?9mGYmFu*<Au>Q 1M4٪À?Q 5M4N ;0B9zG?Q A:Y/@Q E?yB);I;i$M4Y%BB5Ejj:jBj"jj%B*** querying acoustic contact ***zh!h!zZ]??>Z]??>Z]0?Z]8@ 顕lI ɡiI" =i)iAI IN%,>ԙM 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode. @,tI3)APyV(@ٱV&|-@VFVߤ=VH@j kؿ ?@s?``ǯĿ`;_?}?]?IV(@)V6^;iVCfu B9fHBDr6Dr1YzB>!zR=~ۡQ)~>)9GYF H<A >Q 1M4٪bn?Q 5M4 0B9!Y%/@Q E%?yB);I ;i1M4Y-#B-hB-4EjjA:jABjA"jAjIzZaZaZaZea@y y})jIy yɡyiI=i)DLD;DDE9 E86E:E!@!@!@!5@AyAIIN >,DAT read: user:7356> BDAT read: Tx time:05:14:52.4412 $Ping request sent.~B CBHBeBB =BBDBl;B@KE! iQ IU <] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251152q,jc3)Ay6@ٱ6-@6!6|=6Hv@"ؿ [?@,?`4Ŀ@1e?q!??I6@)6>^;i6C|~B9~H) BD6DNY>!G=%M Q)%>% H?)% H?9-GY)-U<A5>1Q 1=M4٪5pZ?Q 5=M45` 51B9AYE40@Q EE?y5B)5:I5 :i58@M4YIU!BQjja:jaBja"jijizZZZZÕ@ 顝gI ɡiIc=i)A5AIAIQN]>DPD?D+DE9 E?96E [4:E"E:!Eǐ:!*E9!E9!Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502961q ,[%}3)Ay6& @ٱ6!.@6o6/=6HM@Z׿??|eÿ^m?̫??I6& @)61$^;i6CNB9RbHV4!bQ=bGQ)f>fK?)fK?9fGYfFj`H<Aj>lQ 1rM4٪ntG?Q 5rM4n no2B9pYv0@Q Ev?ynB)nX ;In ;inMM4Yz BzӍBxjj :j Bj "j j YzZZZZŇ@ eI ɡiI =i)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755095A]yAIqԉIN>ԹD- QD) D- )D) E- 29 E) 6E- FA4:E) !5 @!5 @!5 @!5 @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007449 |,3)AvB>~B CBeHBBB =BBDB;BJEyZp @ٱZk.@Z Z9=ZHd׿? n?Mÿt?7? .?IZp @)ZM^;iZCbB9bHBDj6Dj!Yr{>!rH=ve+Q)v>v H?)v H?9zGYzFzu4<Az>|Q 1M4٪~3?Q 5M4~ ~43B9 Y 0@Q E ?y~B)~:I~:i~$\M4YBjj):j)Bj)"j1j1zZQZQZQZU@a imcIi iɡiiiIu=iqԹ)A II!N5 >=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261526A D sD :D -D E so: E ;86E t4:E "E ;! E ;! *E Z9! E Z9! ,s۰3)AyF @ٱF.@F F0=FH=׿@6?xu?` C¿ |??w?IF @)F-^;iD^B9^аHir=Ir=etV?v/MbP?eR?9exYe:iaaeMbX?V-?&1?eJ?e<eP=IexIBieTBe BeTB)ae3iBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510982BD6D 8YG>!?=#Q)>)9GYK(<A>Q 1M4٪I?Q 5M4 4B9NK?Q A:Y81@Q E?yB)C ;I ;i kM4YB;B3EjjA:jABjA"jAjAzZV>ZV>Z*c?Zو@1 15`I1 1ɡ9i9I=M=i9)AAA}AIIN=>i5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762968ԡ ю,3)AyB @ٱB.@B\B=BH ֿ?:? K6¿??Y??IB @)B ^;iBCNcB9bHIh)j@ABDj6DjYr>!vV=vQ)v>vK?)zK?9zGYzFz5<Az>|Q 1M4٪~C ?Q 5 M4~ ~4B9 Y }1@Q E ?y~B)~:I~:i~cxM4YBB2EjjA:jABjI"jIjIzZZZZ.@ 顥q^I ɡiI<=i)qDOD?D,DE9 E?96Eg4:E!@!@!@!@AyAII!N- >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014962ԡAA<vB%>~B!B%@HB%_BB% =B%ADB!B%Ô;B%JE = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899D,͒3)Ay6J!@ٱ6E/@66>=6Hֿ@F??@R¿o?@P?@?I6J!@)65^;i6C>B9BjHBDF 6DF2YN>!RO=RvQ)R>V H?)V H?9VGYTV@<AV>XQ 1^M4٪Z?Q 5bM4ZH Z5B9`Yb1@Q Eb?yZB)ZD;IZ;iZ,M4YdfBhjjp:jpBjt"jtjtzZaZaZaZeؖ@ 額[I ɡiIl=i)AAII N >D}YD}CD}+DyE}: E}096E} [4:Ey"E};!E};!*E}9:!E}9:!)ߑ ߕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519139) ,7o3)Ay6a!@ٱ6^/@66=6H@ֿ1!?@?.¿?@^??I6a!@)6"^;i6C^B9^ H)` bABDf6DfYn>!rF=rlQ)r>vK?)vK?9vGYvFvB<Av>xQ 1~M4٪z?Q 5M4z zK6B9Y2@Q E?yzB)z;Iz;izM4Y B NB1Ejj!:j!Bj)"j)j)zZIZIZIZM#@ YI ɡiI3=i)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7714759AAIQIaNm>YBE(N4JE(N4RE0DMSDM=DIDIEM9 EM86EI:EI!]@!]@!]@!]@ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022903vB% >~B% CB% HB% BB% =B! B! B% f;B% 'JEB CB CBB =B =B]51,H4)A0yN!@ٱN/@NEN/=NHH ֿ /?`w? ¿?G??IN!@)Nt9^;iNCZ@B9Z޳Hpir4<BDr 6Dr2Yz>!zI=ۗQ)>!)!9%GY%F%?7<A%>)Q 15M4٪-x?Q 55M4- -7B9YY]k2@Q E]?y-B)-;I-;i-M4YeBeBijj:jBj"jjzZZZZ@ VI ɡiIƬ=i) ԑI]ĊG)Ii V^OAAAIaINC>iI4=BDAT read: Rx Time:05:14:55.2692  TRx dataTimestamp_ set to:1755839696.576720 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276276Թ D D >D *D E  E 96E (N4:E "E _:! E d:! *E ~9! E 9!  ,"24)Ay6<"@ٱ670@6 6S=6H/տ! I= ЊQ) >)9GY@X<A>!Q 1-M4٪%]?Q 5-M4%; %7BQ =-+:9)Q A-X:Y-2@Q E-?y%#B)%:I%>i%VM4Y9=B9jjQ:jQBjQ"jQjQechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527096 額TI ɡiI`=i)AII N>)= DAT read: 05:14:55.2692 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 498, 0.18,-1.984,-2.351,-0.571,-1.523, PHS=-0.359,-0.783, 0.908, RAW= 196.1, 3.1, CAL= 196.2, 0.7, ROT= 313.8, -0.7 E Ygot valid direction response: 05:14:55.2692 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 498, 0.18,-1.984,-2.351,-0.571,-1.523, PHS=-0.359,-0.783, 0.908, RAW= 196.1, 3.1, CAL= 196.2, 0.7, ROT= 313.8, -0.7 M PDAT read: Bearing 308.7, -12.2 (Local) M ~Local bearing/azimuth received: Bearing 308.7, -12.2 (Local) ] DAT read: Range 11 to 50 : 318.0 m (Round-trip 424.0 ms) speed 0.8 m/s ] R#Rx 1: Read range and direction messages.e ^direction in FSK: [0.692091,-0.721707,0.012217]m Fpublishing direction and range info9 磜%?l[e8I:? 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Oo?Q? c#?Q?I6ԑ@@)6<^;i6ߒC>GB9BwHID)F@ABDJ6DJk2YRa:>!R]=RVK?9VK?9VGYVFZv<AZ>\Q 1bR4٪^'?Q 5bR4^5Z ^uB9`YfsAQ Ef?y^B)^;I^3;i^R4Yhj6\Bhjjt:jtBjt"jtjt ׽I9 ɡ!i!I%d5=i!))Թ5_9IG)IiɢAvB>~BB=HB5HBBBBB*;B9EBCBCBB• =B• =BšX5IQIabDiZDm@ABEJEREî10Du_DuMDu,DqEu&: Eu96Eug4:Eq"Eue&;!Eug&;!*Eu:!Eu:!N>9 ,a55>)Ay:@@ٱ:N@:4:K=:H ^@c?,?@? q}?)? h[?I:@@):^;i:C^GB9bHEMb@Mb@Mb@ A)AIAiAAEn?Q?Mb?EVN?E<E!m>=m2{q9q9uGYuF}_S<A}>Q 1R4٪?Q 5R4Z[ vB9}N?Q A:Y@Q E?ygB)@:I:i R4YB[B߯Ejj:jBj"jj" |I39 ɡiI2=i)9IIIN%M>D}bD}OD}(DyE}1: E}96E}c44:Ey!@!@!@!@ԉԙ x,O>)Ay6gGA@ٱ6aBO@6-6A=6Hldu?I??eۧ"k?֟??e?I6gGA@)6(^;i4NHB9RHBDV6DVYz~=!zR=z|9|9~GY|i<A> Q 1R4٪ ۷?Q 5R4 n\ BvB9Y@Q E?y B) :I :i R4Y%B%[B%ޯEjj9:j9N="j9jAENCompleted lineCaptureHoming:InitialDive1NE EjAggregate::uninitialize lineCaptureHoming:InitialDiveqNEEUninitialize.NE EUninitialize.OMMdAggregate::initialize lineCaptureHoming:RepeatHack1PMu quIu_9 yɡyiyI}0=i)qԡ}9bAkAZAIIN5p>A) A) vB5 >~B5 CB5 HB5 HBB5 =B1 B5 uDB5 ΃;B5 8ED D KD +D E : E ]t96E [4:E "E +;! E -;! *E :! E :! ,h>)AyFhA@ٱFbO@FO'F֔=FH ^i@ؽ?X? ^?`a? ?n?IFhA@)FG^;iFCRBHB9RMHdif;BDr6Dr:Y .>!H=99GYFcA<A>Q 1=R4٪?Q 5ER4] vB9IYU1@Q E]?yB)@) 2,ɂ>)Ay:}A@ٱ:wO@:| :=:Hn.??}?Z@̃? ?@&*?v?I:}A@):#^;i:CBHB9FH Mb@Mb@Mb@ ) I i   @5^I ?l?{Gzt? bP? = ף;I GAi A /B )  ABD% 6D%2Y54>!5H=5DEdDESDE)DAEE9: EE96EEFA4:EA!U@!U@!U@!U@a9a9eGYeFm<Au>Q 1R4٪?Q 5 R4^ vB9 P?Q A:Y5j?Q E5?y\B){ԉ Ӧ,ܡ>)A4y>B@ٱ>P@> >$=>H %su??`?`/?S?@}?I>B@)>[^;i<FHB9FHiJ=IJ=BDR6DRYV=!ZS=ZZ9^9^GY\^)%<Ab>`Q 1fR4٪b?Q 5jR4b'` bvB9hYj,?Q Ej?ybB)bl:IbB:ibR4YnBrZBrܯE4~ i~fAggregate::initialize lineCaptureHoming:LineCaptureq5~j~Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes5~ k~JInitialize AltitudeEnvelopeComponent.5kDInitialize DepthEnvelopeComponent.16 lJInitialize OffshoreEnvelopeComponent.17q77 oxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass718 pInitialize.q8 p Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy8  q ~BCBHBGIBBBEDBtDBk;B>8EԉDEmDEQDE+DAEEY: EEv96EE [4:EA"EE(~;!UEE+~;!U*EE:!UEE:!U ,(~>)Ay6:NB@ٱ64IP@66O=6H`v $5?`?؇@? ?:??I6:NB@)6^;i6ߒCBIB9BIHp5Mb@Mb@Mb@ 1)1I1i115 rh?S㥫?Mb`?5L?5/]=5;I5/Ai5^A5tB5/A)15AIE@A)EAABDM6DMNY]M>!]@=]Ca9a9eGYam <Am>qQ 1}R4٪uo?Q 5}R4ua uwB9}M?Q A:Y=Q E?yuB)u ;Iu] ;iuR4YBZBۯEqKAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalKEntering Terminal tracking update period 2.000000 s sec at 318.000000 m (mode 0.000000 count ).KKBdddccD@b Q@15q6zZM?ZM?Z3=Z2T@I ɡiIi)II)N== 9DmkDmWDm'DiEmmR: Em96Em'4:Ei!u@!}@!}@!}@i ,W>)Ay6B@ٱ6 P@6/6=6Hy??a RϿ????I6B@)6Wj^;i6CR5IB9RxHBDZ6DZ:Y^.=!bU=b&wd9d9fGYdf1 <Aj>hQ 1nS4٪jV?Q 5rS4j5c jNwB9pYrM=Q Er?yj:B)j;Ij;ijS4Ytv]ZBxi@K1L  B*** querying acoustic contact ***zh h Bdddcc E@9c@q66zZZZZT@I ɡiIi)iIIN=i2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԙA<AvBr>~BCB%HBIBB =BBsDB;B7E D dD OD +D E 9: E 96E [4:E "E E;!- E E;!- *E :!- E :!5 D,r1>)Ay6B@ٱ6P@6>Y6k=6H~?5 ?gm? F?c?@ہ?I6B@)63^;i6CViIB9VH)X XBD^6D^k2Yv=!zG=5,DAT read: user:7357> MBDAT read: Tx time:05:15:38.8411 M$Ping request sent.U99GY 9;A>)Q 1mS4٪--9?Q 5mS4-d -wB9Y!=Q E?y-B)-C~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246379! ,o?)Ay6B@ٱ6 P@6 6]=6H`"W? y3? 6᾿|?n)?1ܽ??I6B@)6LC^;i6C^IB9^HMb@Mb@Mb@ )IiK7??I +?I?L=94=Hz99GYb;A>DkDTD*DEmR: E96E(N4:E!@!@!@!@Q 1S4٪?Q 5S4if wB9'J?Q A:YK=Q E?yB)@;I;iV!S4YBYBگEiqLrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqKAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalBdddccE@c685q5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence195 r5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockq95r=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide9= s=Initialize. s=dInitializing internal variables to default values.:=uEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;E vEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq!Qy i >I A@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750666",?)Ay6C@ٱ6 Q@6O6=6HJ?@P? !Rx`??@(??I6C@)6^;i6CBIB9B:HBDJ6DJYf@>!f[=f h9h9jGYhj*<An>AQ 1MS4٪E?Q 5MS4Eg EwB9IYM=Q EU?yE'B)E:IE:iE.S4Y}B}YB}ٯE?Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideq@qAAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA Uninitialize.AAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1BqBB:uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1; vAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq;q<xUninitialize.<19 sInitialize. sdInitializing internal variables to default values.sPDetached from dock at depth 50.455837 m.ddddBdddccE@zZAZAZAZEU@IIQvB}e>~B}CB}HB}'JBB} =ByB}rDB};B}^7E - )ɡ1i1I1i1)9IIN>DuDOD+DEv: E96E [4:E"E';!E(;!*E!E:!ԁMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004380Ա Q@6c!潹6ih=6H`-?b?`7`gu??JI?o?I6CC@)6f^;i4BIB9BWHiDIF=Mb@Mb@Mb@ )IiK7A?Mb?:v? B?@=T19195GY1=;A=>AQ 1MS4٪E?Q 5MS4Eai ExB9MrB?Q AM:YU =Q EU?yEB)E:IE:iEzC@ٱ>tQ@>sb׽>#7=>H` h9?j?`B@p?ߺ??u?I>zC@)>K$^;i>CFJB9FrHBDR6DRYVh=!ZS=ZX9\9^GY\^_ <Ab>`Q 1fS4٪brն?Q 5jS4bj b/xB9hYjchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7584309=iCIeGAqAu@AvB}]>~B}CB}HB}xJBB} =ByB}qDB}2;B}6EB=CB=CB=ȕCB=ț =B=ț =B=h\6)"oAIi"oA+|Ai rDA jDE a=BE(N4JE#E4REʐ'0DM fDM _DM *DI EM I@: EM r96EM (N4:EI "EM ER;!] EM GR;!] *EM L;!e EM L;!e ^,(|k?)A0y:C@ٱ:Q@:@Ƚ:+=:H@&{?xt?`0n`???=?I:C@):y ^;i:Cj8JB9nHBDz6Dzchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010491Y >! D=U99GY;A%>!Q 1-S4٪%{?Q 55S4%nl %VxB91Y= G,c_?)AyRC@ٱRQ@Rk+R=RH஑#?n?`t Cks?[?@ƾ??IRC@)R b^;iRޒC\fvJB9fHhihD5lD5TD5,D1E5V: E596E5g4:E1!=@!=@!=@!=@Mb@Mb@Mb@ )Ii+?Zd;O?y&1?v>?j<=`e!?=@99GYH;A>Q 1S4٪V?Q 5S4n |xB9>?Q A:Yw?Zu>?Zu|=ZuU@I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514491 ɡiIi)[ 9II N*>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766361np,3?)Ay:xD@ٱ:qR@:墳:=:H@?@? )hc?7?;??I:xD@):D^;i:CFJB9FHBDN6DNkYVN=!V^=ZaX9X9^GY\^<A^>`Q 1fS4٪bʊ?Q 5fS4b|o bxB9hYjA~BCB]HBJBB =BBpDBځ;B6E5 9IDUgDUWDU'DQEUC: EU96EU'4:EQ"EUX;!eEUX;!e*EU[:!eEU\:!mIIN)>)! !=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022346yԡ ,?)Ay PD@ٱ JR@  = Hณ@k?&?nX¿d?[?@Ѿ?ˬ?I PD@) QP^;i CJB9%@HqMb@Mb@Mb@ )IiQ?{Gz?{Gz?(99GYO<A>Q 1S4٪ p?Q 5S4&q xB9t)B`I%?in@I@-@ =iIU+ؿp _?2} ??= ֳ)=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsecc cF@zZtD=mD=VD=-D9E=Y: E=96E=t4:E9!E@!E@!E@!E@% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse !,?)Ay6D@ٱ6R@66[=6Hಽ?@5?`¿`'a@?`|???I6D@)60^;i6CBJB9BfHBDJ6DJk1Y~4=!~Y=99GY  <A >Q 1S4٪DY?Q 5S4r xB9!Y%@~BCBHBJBBBBBi;B 6E1DM nDM RDM )DI EM O]: EM 96EM FA4:EI "EM 5;!] EM 7;!] *EM :!] EM :!] Y ,?)Ay2tD@ٱ2nR@2y2=2H`\<?PL?Aÿ]`~?:?? ?I2tD@)25D^;i2CBJB9BHIFAA)DBDJ6DJYb+=!bN=fXd9d9jGYhj<Aj>rT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapsetQ 1zS4٪v"A?Q 5zS4v%t vxB9xYzT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙԹ ,@)ADsD\D*DEso: E96E(N4:E! @! @! @! @ KB9HMb@Mb@Mb@ )IiOn?l?MbP?8?=:IAiQA"AA)ABD]6D]1Yme=!m2=mQ)m>q9q9uGYq}A}>Q 1S4٪%?Q 5S4u yB98?Q A:ԑY Թ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ,x @)Ay69E@ٱ64S@6%>6,=6H@ ? ?v.Ŀ V5?`§??@*?I69E@)6];i6CB)KB9BHDiD)FA FABDJ6DJYR=!Rl=V,=Q)V?T9T9ZGYXZ<AZ?Q 1 S4٪?Q 5 S4Hw yB9 Y ;Q E?yB)F:It:iS4YWBdYdYdadadaBdadadacicmG@zZZZZuV@vBL>~BCBHB/KBB =BBoDBπ;B5EI  ɡiIi) 9I I!NU=DDD+DE E6E [4:E"E;!E;!*E` ;!%Ea ;!% T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ c ,XU:@)Ay6rE@ٱ6mS@6zC 6=6H?/b?`ĿS@?@ ? Qľ?`N?I6rE@)6 ^;i6C@BDKB9BH Mb@Mb@Mb@ ) I i   "~?X9v?y&1| 3? < `I SAi "A A A)  AqiuBD}6D}JY&}=!==99GY<A>Q 1S4٪E?Q 5S4x yB9&4?Q A:Y;Q E?yB):I:iS4YBWBܯEdddddBdddcc@wG@zZ &4?Z &4?Z 4=Z LNV@I  !ɡ!i!I!i)))]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse 9 u&Changing to mode: 3ԩi9_0II!N-O>D%nD%UD%&D!E%O]: E%P96E%4:E!!5@!5@!5@!5@ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ,w/T@)Ay6"E@ٱ6S@6G6d=6H/Fe?;ć?@ ſP?Eh?뿾?@s?I6"E@)6'^;i6CNbKB9R%HBDZ6DZβY^=!bX=b^d9d9fGYdf<Aj>hlQ 1rS4٪jaⵊ?Q 5rS4jZz j#yB9tYv;Q Ev?yjeT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse1AAAAvBH>~BB%HBbKBB =BBB*;B4ED- iD- VD- (D) E- ,K: E- 96E- c44:E) "E- e;!5 E- e;!= *E- :!= E- :!= a ,5 n@)A)` bAbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseKB9dHi%=I%=BD-6D-:29YE=!EB=MQ)M>I9I9MGYIUAU>iQ 1S4٪mɵ?Q 5S4m{ m+yB9YQ E?ymB)m8v;Im|n;imS4YBiWBۯEdddddBdddcc`5YH@zZ)Z)Z)Z)I  ɡ i I i)))iI9) i4 5IINc>ԑuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse !,C@)ADvnDvZDv)DtEvO]: Eva96EvFA4:Et!z@!z@!z@!z@~KB9~HԙMb@Mb@Mb@ )Ii rh?V-?y&1,?<`eIiAA)3AI@A)@ABD 6D Y=!==Q)>!9!9%GY!!A->)Q 1=S4٪-?Q 5=S4-} -0yB9=,?Q A=:Y=;Q E=?y-iB)-~ ;I- ;i-S4YIMAWBIdidqdqdqdqBdqdqdycyc}H@zZ,?Z,?Z 0=Z\V@I  ɡiIi)IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMm9iO2IINF>  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse.(,N@)AIFG)RmAI\izzmAzAvB-D>~B-CB-JHB-KBB- =B)B-nDB--;B-E4EBCBCBCB =B =B5Աy#F@ٱS@C?=HW>?@7ſ@K??`??I#F@)Z`;i-KB9-HPExceeded connect timeout, disconnecting.BDm6Dm02Y=!>=0B=Q)>99GY@O<A>Q 1T4٪癵?Q 5T4: /yB9Y>;Q E?yB):I=:iT4Y zB )WBگEdQdQdQdQdQBdQdYdYcYc]@uH@zZZZZeV@BE5FA4JE1RE5A0DrDbD(DEk: E96Ec44:E"E;!E;!*E7;!E8;!I  ɡiIi)f9ie/aaey1aIqIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseN\>1Y w6.,Ԝ@)Ay6-F@ٱ6&T@6*6=6HN`??ſ`:Ii?:Eu?a9a9mGYim;Am>qQ 1}T4٪u ?Q 5}T4u u+yB9'?Q A:Y:Q E?yutB)u ;IuC ;iuT4YuB WBٯEdddddBdddccFH@zZ'?Z'?Z);=Zq=W@I  ɡiIi)q9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiU-QQU4QIqIN>ԡDqDcD)DE2h: EL96EFA4:E! @! @!@!@m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapse j5,Fx@)Ay6GF@ٱ6BT@63:6X>=6H @?@`HƿEA? xQ@es? ?I6GF@)6)z_;i6CBKB9BHF;iFp<BDJ6DJ1YRv=!RW=V T9T9ZGYXZ`;AZ>\Q 1bT4٪^r?Q 5bT4^ ^%yB9dYf:Q Ef?y^B)^[:I^t:i^BT4YhjVBhzB*** querying acoustic contact ***zhxhxd|d|d|d|d|Bdddcc %I@zZaZaZaZesfW@Iq y yɡiIi)}9i +   0 II)N= >T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAYA]<vBe@>~BaBedHBeKBBe =BaBaBe~;Be3EnManaging dock network, ignoring radio surface power off) D rD `D +D E k: E 96E [4:E "E ! E ! *E ;! E ;! H;,LQ@)Ay:lF@ٱ:gT@:Q;:=:H x`G?ېƿ B?!}ƿ? l?@I:lF@):6^;i8FLB9JHBDR6DRkYV=!ZJ=Z{\9\9^GY\b;Ab>dQ 1fT4٪f\?Q 5jT4f fyB9hYj:Q Ej?yf{B)f:If-:ifl,T4YrpBrVBpdddddBd d d c c XI@%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapsezZ9Z9Z9Z=W@II I IɡQiQIQiQ)Y9qiM(IIM\0IIYIqNu>ԙT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 0B,0 A)AyF F@ٱFT@F_99GYԛ;A>Q 1T4٪:F?Q 5T4M yB9  ?Q A :Y 9Q E ?yB):I:i;T4YjBVBدEdYdYdadadaBdadadacicm?I@zZ= ?Z= ?Z=m=Z=qX@II i iɡqiqIqiq)y-T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseM09 UM?U?i%4IIN J>!  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseZH, #A)AyFF@ٱFT@F_s?`|ݿ?@?IFF@)F^;iFߒCZ'LB9ZHIfAA)dBDf6Df0Yv%=!v\=vY|vB 9>~B CB }HB KBB  =B B mDB |;B "3E)9|95GY1};A}>Q 1T4٪2?Q 5T4ӆ  yB9Y9Q E?yB):I :iIT4YVBdddddBdddcc JI@zZQZQZQZU%X@I  ɡiIi)L9bDZDDsDYD'DEso: E*96E'4:E"E;!E;!*E:!E:!IiE`#AAE4AIQIaNu6>=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseqԡ N,Si9i9uGYqyu;A}>Q 1T4٪?Q 5T4p yB9?Q A:Y8Q E?yB):I:iWT4Y%eB%VB-ׯEdydydydydyBdydydcc@I@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezZ?Z?ZT]=ZqY@I  ɡiI i)E9ԡi}n y5IIN>>DD`D-DE E96Et4:E!@!@!@!@E T****** received valid address query ******E R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse .lU,sVA)Ay:sG@ٱ:lT@:{<:#=:H 0n ?@8ǿ:`o?* Gl? ?I:sG@):^;i:C^@LB9b6HBDf6DfβYnQ@=!rT=rhp9t9vGYtv;Av>xQ 1~T4٪z ?Q 5~T4z zxB9Y8Q E?yzvB)z;Izw;izeT4Y `B VB֯E-B*** querying acoustic contact ***zh)h)d1d1d1d1d1Bd9d9d9cAcE`~(J@zZaZaZaZeęY@Iq q qɡqiqIqiy)9i-/))))I9IIN]>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsevB6>~BBHBKBB =BBB{;B2E1rD jD R=D nD _D &D E O]: E r96E 4:E "E 5;! E 6;! *E L;! E L;! Y N[,pA)Ay6w.G@ٱ6p)U@6=6)=6Hh GO? @7 ȿ8"? @yk??I6w.G@)6u^;i4NTLB9ROHVp99GY%j;A%>)Q 15T4٪-?Q 55T4- -xB91Y5Z8Q E=?y-B)-;I-L;i-usT4YAEmVBAdadadididiBdididicqcu ]J@zZZZZY@I  ɡiIi)99i&1IIN%>aԉDAT read: 99GY A;A >Q 1T4٪㴊?Q 5T4[ xB9T?Q A%:Y%8Q E%?ywB) ;IU:iT4Y-[B-TVB)dIdIdIdQdQBdQdQdYcYc]`J@zZ}T?Z}T?Z}P{=Z}mgY@I ԑ ɡiIi)9 Թ ~B0B2HB2KBB0B0B0B2'{;B2<2EyvG@ٱvU@v{?=v]=vH8\?@`Zȿ1jd?0@??IvG@)v^;ivCdLB9bHi =I =BD6DY%;!%T=-GV)9195GY15;A5>AQ 1T4٪Eд?Q 5T4E ExB9Y8Q E?yEB)EG@ٱ>U@>T=>|=>H S4T? Fɿ`,?~ +? 2?I>G@)>zQ`;i>C^fLB9beHEMb@Mb@Mb@ A)AIAiAAEm?Zd;O?:vE?Ej<ETIAiEAEAEA)AEAIQ)QBD]6D]:2YuNj;!}J=^F99GY(<A>Q 1T4٪ ?Q 5T4Q xB9?Q A:Y9Q E?y_B) ;Iz ;ieT4YBVBޯEsZDetected possible detachment. Starting timer.ddddBddd}aae05aIqIN\>ԙDqDjD)DE2h: E96EFA4:E!@!@!@!@ - d9d9jGYhjq8<Aj>)Q 15T4٪-q?Q 55T4- -xB91Y5=9Q E=?y-B)-;I-;i-T4YEzBEVBAB*** querying acoustic contact ***zhhddddBdddcc ,K@zZZZZX@I  ɡiIi)i))111IAIQN]>5=i5C~BߍCBHBKBBBBBz;B1EBmCBmCBmƓCBmƦ =Bmƥ =Bml5i~nAkABEUɷG4JEUwX4REUɩ]1D vD aD D E Vz: E 96E :E "E ! E ! *E ;! E ;! ! {,A)A)l nAr99GYA>Q 1T4٪?Q 5T4< xB9YQ E?yGB):I:iߺT4YVBddddBd!d!d!c!c%bK@zZQZQZQZQIq y yɡyiyIyi))l&9 ?0>i]0YY]0YIiIN[>QBDAT read: Response Not Received *response not received,DAT read: user:7359> BDAT read: Tx time:05:15:51.2911 $Ping request sent.99GY1<A>Q 1T4٪?Q 5T4 xB9 ?Q A:Yb:Q E?yB);I?;iT4YuBfVBݯEddddBdddccK@zZu ?Zu ?ZuBr<ZuAW@I  ɡiIi)(9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247768ԉin0IIaNu6>Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500098,%B)AvB&2>~B$B$B$B$B$B$B&y;B&1EyFH@ٱF~V@F=F=FHE-^*?Hd˿`?ds?X?IFH@)F'_;iFCNbLB9R`HBDZ6DZNY%!=P==9A9A9EGYAM3<AM>QQ 1]T4٪Uv?Q 5]T4U͕ UtxB9YY]:Q E]?yU!B)UQ:IU:iUvT4YimVBiddddBdddԹcc;K@zZZZZX@I   ɡiIi9)9-(9DkD_D+DEmR: Er96E [4:E"Eq;!Eq;!*EL;!EL;!i2O0IIN&>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7517339 $!,!u?B)Ay6n/I@ٱ6g*W@6F=6N=6H #?y@˿ @Rֺ?0$?@?I6n/I@)6H^;i4>LB9BHUMb@Mb@Mb@ Q)QIQiQQUp= ף?~jth?/$U?UD;UIUGAiU/AUvAUA)QU3ABDm6DmfY}=!}E=}%99GY$<A>Q 1T4٪d?Q 5T4 [xB9;?Q A:YD:Q E?yB)L ;I;iT4YpBZVBܯEddddBdddccK@zZ=;?Z=;?Z=D ;Z=IW@echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004556Ii i qɡqiyIyiy)m*9)qi3?0IIN-,>ADtD^D.DEs: E;96Eـ4:E!@!@!@!@i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255702ԙ ,NYB)Ay6rI@ٱ6mW@6*=65=6H{w ?`f̿@c?`{= ]?஧?I6rI@)6}^;i4BLB9BHID)FAABDJ6DJJYr.ݻ!vU=z6x9|9~GY|~-<A>Q 1 T4٪FT?Q 5 T4O CxB9Y:Q E?yB)l:I:i^T4Y%]VB!=B*** querying acoustic contact ***zh9h9dAdAdAdIBdIdIdIcIcU -L@zZqZqZqZu@X@I  ɡiIi!)!q+9i?4IIN">mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508096ԡA9A=@AvBE1>~BABABABE =BABABEx;BE1ED nD YD +D E O]: E *96E [4:E "E 5;! E 6;! *E :! E :! 2,*sB)Ay6I@ٱ6W@6 =6=6H Y?ؾ̿?.Pud?`?I6I@)6u^;i6ޒCNLB9RHjchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762097BDr6DrfY58=!=E==&A9A9EGYAE,<AM>IQ 1UU4٪MB?Q 5]U4M M(xB9YY]9Q E]?yMbB)M;IM];iMU4YekBmEVBmۯEddddBdddccbL@zZZZZJeX@I  ɡiIi)/-9im@iqu55qIIN'>iu?Iu?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012723) ,B)AD6pD6cD6)D4E6d: E6L96E6FA4:E4!:@!:@!:@!:@yB I@ٱBW@B[=BO8=BH@??뼿@eͿ@ hٹ?[˲?k?IB I@)BS^;iBCbLB9bH)d dMb@Mb@Mb@ )Iip= ף?Mbp? rh;C IZAi(ApAA)ABD6D02Y!B=99GY<A>Q 1U4٪ 1?Q 5U4  xB9h?Q A:Y'9Q E?yB)v:I:iU4YFVBddddBddd!c!c%L@zZEh?ZEh?ZED;ZEX@IQ Q YɡYiYIYiY)aQp/9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265448i%=!!%0)I9IINU2>yԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515744vBE 3>~BE CBE HBE KBBA BA BA BE w;BE 0ED,&ߦB)Ay67J@ٱ62X@6a=D6D=6HY? <轿ͿS?@C T?ଞ?I67J@)6^;i6ߒCVLB9VH^ph9l9nGYln*<Ar>pQ 1vU4٪rb!?Q 5zU4rO rwB9xYz8Q Ez?yr3B)rB:Ir|:irU4Y~fB5VBd!d!d!d!Bd)d)d)c)c-oL@zZQZQZQZU7Y@I  ɡiIi)M/9bDqZDu?ADD_D*DE Er96E(N4:E"Ez;!E{;!*EL;!EL;!ԩi?_0IIN&>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767638 r,,kB)AyRJ@ٱRX@RZ=RI]=RH@>@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019790y9y9GY<A>Q 1U4٪?Q 5U4 wB98?Q A:Y7Q E?yB). ;I ;i,U4Y`B6VBگEddddBdddccM@zZ8?Z8?Z~<ZzZ@I   ɡiIi) -19i>@0IINF>DlD[D)DEV: E96EFA4:E!@!@!@!@1 BDAT read: Rx Time:05:15:54.1007  TRx dataTimestamp_ set to:1755839755.336367 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272703a V,JB)AyF+J@ٱF$X@Fܑ=F:~=FH Vg?a?Ͽ W`/.?@Q??IF+J@)FeA^;iFCR}LB9RHBDZ 6DZ2Yb!b_=bd9d9fGYdja(<Aj?lQ 1-U4٪n>?Q 5-U4n7 nwB91Y5i7Q E5?ynB)n?U>iiIIN (>iE=IE%=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523980A<A<vB~BBHBKBB =BBB2w;BE0EԑD sD ]D -D E so: E 96E t4:E "E ;! E ;! *E  ;! E  ;! ,x}B)AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777930ԙy'K@ٱ!Y@Ye=1=H<@? Ͽ?ߺ d??I'K@)3^;iLB9HI)BABD6D0YE<!E5=E;Q)M>I9I9MGYQU.;AU>YQ 1eU4٪]?Q 5eU4] ]fwB9aYm57Q Em?y]zB)]F:I]j;i]HU4Yu[Bu1VBuٯEddddBdddcc@iM@zZZZZZ@IA I QɡYiYIYi)49iu@qqu?5yII}DAT read: 05:15:54.1007 LVL= 32752, 24513, 20210, 32755, AGC= 69, IDX= 421,-0.22, 2.886,-2.332,-0.770,-1.864, PHS=-1.432,-0.424, 1.049, RAW= 233.8, 7.5, CAL= 233.4, 8.8, ROT= 276.6, -8.8 Ygot valid direction response: 05:15:54.1007 LVL= 32752, 24513, 20210, 32755, AGC= 69, IDX= 421,-0.22, 2.886,-2.332,-0.770,-1.864, PHS=-1.432,-0.424, 1.049, RAW= 233.8, 7.5, CAL= 233.4, 8.8, ROT= 276.6, -8.8 PDAT read: Bearing 64.5, -74.3 (Local) ~Local bearing/azimuth received: Bearing 64.5, -74.3 (Local) DAT read: Range 11 to 50 : 304.1 m (Round-trip 405.5 ms) speed 0.0 m/s ,DAT read: user:7360> BDAT read: Tx time:05:15:55.1911 $Ping request sent.MZ@MnF>M{@ MnFiIIIM%ٿ OK*~?7 ?MI?Mi M?Q)MnFiII:publishing transmit ping timeYFpublishing direction and range info9IM|gy?^M\i8C ?IIiIIIII I)IIIiIIIII IiIIIM%ٿ OK*~?7 ?II I)IiIIN> p, nC)ADoD^D)DE`: E;96EFA4:E!"@!"@!"@!"@yz\K@ٱzWY@z>=zt=zHN?EH@п@Y?~? Y?Iz\K@)z'^;ix LB9 Mb@Mb@Mb@ )IiK7A?~jt?)\( ?<GaI=Ai A&AQA)ABD6DN2Yԇ!D=;Q)>99GY<A>Q 1U4٪ݳ?Q 5U4 8wB9?Q A:Y~5Q E?yB);I;iWU4YhqhuC)Ahu.Chu.Chu?zu5V+A@Ʀ!r G@ju|gy?^M\i8C ?hu?QhunFuU od[q@U/@ru]^<1׿?uL?huChu#hu?ˏ?huhhu#bBdidididiBdidqdqcus@cu@G?zZ=?Z=?Z=) =Z=\@II I IɡQiQIQi)u269i   1 II)N5r>AIU lG)u lAI Ai T lA Ai vB 2>~B ߍCB pHB KBB B B B v;B /EBߍCBߍCBB˥ =BB@5n,?(C)Ay6eK@ٱ6^Y@6==6=6H .` ?4п@<@?@ 萿?`?I6eK@)6b^;i6CBbLB9BaH)D FABDJ6DJܲYR>̽!Ro=R qԡ z,>BC)AyF2K@ٱF+Y@FmM=F=FH@ ?+¿i_пCmI?Y}? ?IF2K@)F4^;iFCZqLB9ZsHMb@Mb@Mb@ )IiV-?X9v?S㥫|></]ISAi"AhA)zA99GY;A>Q 1U4٪?Q 5U4¥ vB9?Q A:Y3Q E?yB):IU:iarU4Y;VBddd!d!Bd!d!d!c!c-(?zZM?ZM?ZMi"~=ZM^@IY Y YɡYiaIaia)iԱu89ie@aae_0aIqIN:>DeDeXDe*DaEe: Ee96Ee(N4:Ea!m@!m@!m@!m@ 9 ٤,[C)Ay:K@ٱ:Y@:s=:|=:H @;?H¿п? } С?@?I:K@):^;i:CFuLB9FxHBDN6DN YV,<!V^=Z`X9X9ZGYX^Y;A^>`Q 1fU4٪b?Q 5fU4bX bvB9dYjT3Q Ej?ybB)b:Ib:ibBU4YnQBn,VBlzB*** querying acoustic contact ***zhxhxddddBd d d c c @ ?zZ)Z)Z)Z-+^@I9 A AɡAiAIAiI)I5:9i9IIN5 >-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.AA?AvB~BCBWHBKBBBBBRv;B/E9Dm sDm \Dm (Di Em so: Em 96Em c44:Ei "Em ;!} Em ;!} *Em ` ;!} Em a ;! ԁ ,uC)A y6L@ٱ6Z@6=6K=6H <@[?P¿}п*W?̾B??I6L@)68^;i6C)@ BAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752279vLB9vHBD~6D~:Y `P=! D= x;Q)>99GY;A>!Q 1-U4٪%?Q 5-U4%& %vB9)Y5%3Q E5?y%oB)!I%:i%͍U4Y9=VB9dYdadadaBdadadacicm@?zZZZZ^@I  ɡiIi):9kAԩim8qqu?0yIIN&>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004018 /,\C)ADrDYD,DEk: E*96Eg4:E!@!@!@!@yBJFL@ٱBBAZ@B h=B=BH D{?@5ÿпߵ?xb ??IBJFL@)B^;iBCNLB9NH`uMb@Mb@Mb@ q)qIqiqqurh|?~jt?A`"u>uD=uYIqiquAu~A)qqI)@ABD6DNY˖!A=;Q)>99GY;A>Q 1U4٪z?Q 5U4' ]vB9>Q A:Y0Q E?yB)* ;I ;iU4YLBVBׯEddddBdddcc@zZ>Z>Z,=Z)ga@I) ) 1ɡ1i1I1i9)95<9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256054i>00IIN">A E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507974vB ~B ߍCB >HB vKBB B B B .v;B /E,oC)Ay6TlL@ٱ6LgZ@6>6=6H' ?ઔÿп@ϵ???`o?I6TlL@)63^;i6CFLB9FHBDN6DN:YVח!V[=V;Q)V>X9X9ZGYXZ;A^>`Q 1fU4٪bR?Q 5fU4b b4vB9dYf0Q Ef?yb5B)b:Ib:ibU4YhnVBld|d|d|d|Bdddcc @zZ)Z)Z)Z-a@I9 A AɡAiAIAiI)I5==9D=wD=bD9D9E=}: E=96E9:E9"E=k;!ME=l;!M*E=7;!ME=8;!Ui?H4IIN>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759953qԩ ,UC)AyRQL@ٱRIZ@Ro>Rv >RH  '?`0ÿ`!ѿO?tb˩?`.}?IRQL@)R@^;iPz|LB9~HqMb@Mb@Mb@ )Ii +?)\(?I +>Ga=94IlAiA)\ABD6Dk1YiR!;=;Q)>99GY;A>Q 1U4٪q?Q 5U4 vB9g>Q A:Y~/Q E?yBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012043):IZ g>Z =Z  b@I ! !ɡ!i)I)i1)15?9ԡi2_0IINB>DEDEDEIDAEEM; EE8;6EEe5:EA!M@!M@!M@!M@ BDAT read: Rx Time:05:15:58.0010  TRx dataTimestamp_ set to:1755839759.368410 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264998 , %C)Ay6L@ٱ6Z@6>6>6H@^gH?JHĿFѿ ֵ߰? ȿ?`Az?I6L@)6^;i4bLB9bHjpx9x9zGYxz;Az>Q 1U4٪c?Q 5 U4Q 9 tI uB9 Y T/Q E ?yB):I:iU4YpB_VBE5B*** querying acoustic contact ***zh1h1dAdAdAdABdAdAdIcIcM > @zZiZiZiZmb@Iy  ɡiIi)RA9i-7))->0)I9IQN]> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515960A!A%<vB-1>~B)B-%HB-bKBB)B)B)B-u;B-/E1rDU =jDU =Dm qDm `Dm 0Di Em 2h: Em 96Em 4:Ei "Em ;! Em ;! *Em ;! Em ;! a ,2C)AJDAT read: 05:15:58.0010 LVL= 28816, 26289, 16306, 29619, AGC= 65, IDX= 440,-0.27,-1.659,-0.396, 0.910,-0.050, PHS=-1.507,-0.301, 0.916, RAW= 239.8, 8.6, CAL= 239.5, 9.8, ROT= 270.5, -9.8 NYgot valid direction response: 05:15:58.0010 LVL= 28816, 26289, 16306, 29619, AGC= 65, IDX= 440,-0.27,-1.659,-0.396, 0.910,-0.050, PHS=-1.507,-0.301, 0.916, RAW= 239.8, 8.6, CAL= 239.5, 9.8, ROT= 270.5, -9.8 RPDAT read: Bearing 92.5, -72.4 (Local) V~Local bearing/azimuth received: Bearing 92.5, -72.4 (Local) ZDAT read: Range 11 to 50 : 304.3 m (Round-trip 405.8 ms) speed 0.1 m/s ^,DAT read: user:7361> bBDAT read: Tx time:05:15:59.0911 b$Ping request sent.bv>vH@g?ĿEiѿǝ?̿?w?IvBL@)v^;itI2~j?i2@2`>2Å@2%/>2a@ 2%/i00I27߿BuHr?>?2@2T 2ǿ)2%/i00m:publishing transmit ping timeY`mFpublishing direction and range info902̾o?wu'rl?00i00000 0)0I0i00000 0i00I27߿BuHr?>?00 0)0i00zLB9~H9BD6D1Y5{!5*==;;Q)=>9999EGYAE ;AE>IQ 1uU4٪MkQ?Q 5}U4MJ MuB9Y-/Q E?yMqB)M;IM;iMU4YfVBh0h2C)Ah2GCh2GCh2X?z2<`@ďr6"cȿI@j2̾o?wu'rl?h2ǿh2%/2lFUr@PXQۓ*@r2 t qҿ|N?X/q?h2Ch2]h2ů?ih2Fh2ÀBdYdYdadaBdadadacms@cmB?zZZZZb@I  ɡiIi)C9)ԑiM >I I U 0Q Ia I N >Թ D] ~D] dD] (DY E] : E] 96E] c44:EY !e @!m @!m @!m @, D)AyNbM@ٱNZ[@Nd >Nj#>NHZxW?4Ŀ@7ѿ;??ᨿ?u?INbM@)N8 ^;iNCVLB9VH5Mb@Mb@Mb@ 1)1I1i115I +? ףp= ?l59>5Q8=5I5fAi53A5A5A)15GABDM6DMY]<!]l=e;Q)e?a9i9mGYim;Am?qQ 1}U4٪uD?Q 5}U4u uuB9 >Q A:Yi0Q E?yuB)uT ;Iu2 ;iuU4YkBRVB߯EddddBdddcc?zZ] >yZ] >Z]4=Z]a@I  ɡiIi)C9i-?))-051IAIQN]3>ԩvBE />~BA BE HBE NKBBA BA BA BE xu;BE h/E / ,*D)A~rLB9~tHI @A) BD6D1Y%08!%O=-Q)->)9)9-GY)5A5>9Q 1EU4٪=.6?Q 5EU4= =huB9AYIQ EM?y=$B)=:I=F:i=U4YQUdVBQdqdqdydyBdydydcc ?zZZZZI  ɡiIi)E9bD)ZD-AADEzDADE+DAEEl: EA6EE [4:EA"EEҧ;!UEEӧ;!U*EE&;!UEE&;!Uim>iim15iIIN>I ,}DD)Ay6y`M@ٱ6q[[@6|>6}=6H@gz? \ſgѿd?`bN? r?I6y`M@)6r^;i4BiLB9BhH5Mb@Mb@Mb@ 1)1I1i115(\?/$?5,=5tI5OAi5A15A)15 ABDU6DU Y]!eG=ei9i9mGYimZ<Am>qQ 1}U4٪ut'?Q 5U4u u@uB9>Q A:YQ0Q E?yuB)u ;Iu:iuU4YfBcVBޯEddddBdddccK?zZ>Z>Zz=Za@I  ɡiIi)F9lAhAQi?h1IIN!>D%rD%bD%0D!E%k: E%96E%4:E!!-@!-@!-@!-@yԩ ?A,m^D)Ay6M@ٱ6[@6>6a=6H _6?ſWҿNb?k q?p?I6M@)6a-^;i6C@BwLB9BzHBDJ6DJYz=!zQ=~X;Q)~>|99GYA;A> Q 1V4٪ ~?Q 5V4 e uB9Y#0Q E?y B) /;I ;i  V4Y!%UVB)EB*** querying acoustic contact ***zhAhAdIdIdIdIBdQdQdQcQcU Z?zZyZyZyZ}a@I  ɡiIi)9H9G=iCI%G)="oAIUAi"oAiAԱiM>IIMo0IIYIiNu>AA@AvB~BBHBCKBBBBlDB3u;BF/Eiy?Im?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BBBBĤ =BĤ =Bğ4BEg4JE4REȘf2D5 pD5 ]D5 1D1 E5 d: E5 96E5 -4:E1 "E5 z;!E E5 {;!E *E5  ;!E E5  ;!E  Xk,HxD)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004637yBM@ٱB}[@B>B=>BHQX`?Iſ$-ҿ>?!&¿ڿ? l?IBM@)Bf^;iBC^LB9^Hf4t9x9zGYxzW;Az>|Q 1V4٪~# ?Q 5 V4~? ~tB9 Y /Q E ?y~>B)~-:I~:i~V4YaB.VBݯEddddBdddcc@zZZZZ%b@I 1 1ɡ9i9I9i9)A-]H9 i7?0II N5.>1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256233a D= xD= dD= ,D9 E= ˀ: E= 96E= g4:E9 !M @!M @!M @!M @b$,0dD)Ay>KM@ٱ>D[@>u%>>>>HO@I?Wƿ iZҿ KM@)>:9^;i>CF~LB9FHMb@Mb@Mb@ )IiˡE?y&1?l>`<I|AiAA)ABD-6D-Y=J!=C=E_;Q)E>A9A9MGYIM;AM>QQ 1]V4٪U}?Q 5]V4U UtB9e&>Q Ae:Ye1Q Ee?yUB)U ;IU& ;iUw)V4YimCVBid d d dBdddccS@zZ]&>Z]&>Z]i|=Z]`@Ii i iɡiiiIii)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508599mJ9 }p>}>Ii>/0II N*>yvB 0>~B B HB 9KBB =B B mDB u;B 8/E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760362}*,3D)Ay:mN@ٱ:f \@:>:h>:HGn?@Oƿ`BҿԆ T\?/¿ ?9h?I:mN@):^;i:C^LB9bHBDf6DfFYn<!rS=rFs;Q)r>p9t9vGYtvg;Av>xQ 1~V4٪z?Q 5~V4z ztB9Yf1Q E?yzB)z;Iz;iz7V4Y [B 2VB d1d1d1d1Bd1d1d9c9c=`@zZYZYZYZ]`@Ii i qɡqiqIqiy)yԹL9DyDhD)DE: E]96EFA4:E"E;!E;!*E5;! E5;! i-?))-00)I9IIN]>echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012408Q d1,+D)AyBq?N@ٱBj:\@B>B>BH??zƿԭҿH?`Ь¿? +g?IBq?N@)BB^;iBCJsLB9NuHEMb@Mb@Mb@ A)AIAiAAE+?:v?ktE>ET<E 0IEfAiE3AAEA)AEAI]AA)]BABDe6De:Ymn#!mA=uq9y9}GYy}{;A>Q 1V4٪ಊ?Q 5V4< ttB9>Q A:Y%3Q E?yRB)c;I;iEV4YDVBBDAT read: Rx Time:05:16:01.9013 TRx dataTimestamp_ set to:1755839763.149084checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266235ddddBdddcc rH @zZ=>Z=>Z=Q<Z=^@IQ  ɡiIi)L9Aiaaae 5aIqIN=>DwDcD/DE}: EL96EJ4:E! @! @!@!@iu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516447ԙ 7,D)Ay6vN@ٱ6q\@6>6>6Hv68?Uƿҿ `z ?¿pԿ?f?I6vN@)6$^;i6CBpLB9BrHBDJ 6DJ2YR !RX=R/;Q)R>T9T9VGYTV<AZ>XQ 1bV4٪ZӲ?Q 5bV4Z ZLtB9`Yb2Q Eb?yZB)Z;IZ;iZRV4YdjFVBhvB*** querying acoustic contact ***zhthtdddd Bd d dcc}E @zZZZZ#0_@I  ɡ i I i )qO9)AqAqvB2>~BBHB/KBB =BBBt;B/E-DAT read: 05:16:01.9013 LVL= 29216, 20977, 16018, 30995, AGC= 66, IDX= 443, 0.27,-1.818,-0.461, 0.678,-0.273, PHS=-1.443,-0.142, 0.907, RAW= 243.5, 6.7, CAL= 242.2, 7.4, ROT= 267.8, -7.4 5Ygot valid direction response: 05:16:01.9013 LVL= 29216, 20977, 16018, 30995, AGC= 66, IDX= 443, 0.27,-1.818,-0.461, 0.678,-0.273, PHS=-1.443,-0.142, 0.907, RAW= 243.5, 6.7, CAL= 242.2, 7.4, ROT= 267.8, -7.4 =PDAT read: Bearing 107.9, -72.6 (Local) =~Local bearing/azimuth received: Bearing 107.9, -72.6 (Local) =X#Rx 1: Read direction message, but no range.E`direction in FSK: [-0.038068,-0.990940,0.128796]9ɝ˪}`AȵOZ_|?i rQ>yB 9)shI'1h?i@|=E@ A>W@  AiI,͵}?){? @ Ϳ) A]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseim@qqu/5yԡIINB>D qD aD %D E 2h: E 96E 4:E "E ;!% E ;!% *E ;!- E ;!- ߹=,>D)A) AFDAT read: Range 11 to 50 : 304.5s ,DAT read: user:7362> BDAT read: Tx time:05:16:02.9911 $Ping request sent.JI>JH`-@?ƿӿ5sLZ?¿gͿ?@e?IJN@)J^;iJCRLB9RH)VA VABD^6D^1YNP=!D=U ;Q)> 9 9 GY  <A>Q 1%V4٪Ų?Q 5%V4E tB9!Y%2Q E%?yB) ;I ;iaV4Y5VB5&VB5ܯEhhD)Ah`Ch`Ch^{?z#x ' 9r3C@jɝ˪}`AȵOZ_|?hͿh AC)Tsk:=r@z@r$ѿB 2IAIiN9>) D uD ZD +D E v: E a96E [4:E !- @!- @!- @!- @D,nE)A,yNlN@ٱNd\@Nj>NK>NH$.?Tƿ@Bӿ@k`/;?@<ÿw?d?INlN@)N)^;iLZHLB9Z@H5Mb@Mb@Mb@ 1)1I1i1157A`?I +?Mb5>594<5@I5`Ai5-A5A5A)15AIiMBDM6DMܲY]!]D=e:Q)e>a9i9mGYim;Am>qQ 1}V4٪u[?Q 5}V4u usB9>Q A:Y2Q E?yuWB)u ;Iu:iupV4YdVBddddBdddcc`2?zZ>Z>Z<Z~_@I  ɡiqIqiq)y9M`Q9i?0II N)>Yԁ vBm 3>~Bm CBi Bi Bm =Bi Bi Bm t;Bm .EAJ,E-E)A0y:O@ٱ:]@: >:>:H!@_?`ƿuӿ@c -?ÿ@?c?I:O@):^;i:CByLB9B|HBDJ6DJ 8YR>!RW=Vm:Q)V>T9T9ZGYXZ<AZ>\Q 1V4٪^?Q 5V4^7 ^sB9Yi2Q E?y^B)^L;I^;i^\}V4Y%QB%)VB%ۯEdAdIdIdIBdIdIdIcQcU@?zZqZqZqZuε_@I  ɡiIi)DxD|D,DEˀ: EP$:6Eg4:E"E;!E;!*E};!E};!}S9kAԉiiiim`0iIyIN>Թ "Q,-GE)Ay>IO@ٱ>xD]@>>>0>>H?`ǿ ӿ`H\t%?"ÿ`k?=b?I>IO@)>.^;i<H9HiN%>IN=\uMb@Mb@Mb@ q)qIqiqquV-?Mb?:vuh>u<uTIuxAiquAuA)qufABD6DJ:Q)>99GY;A>Q 1V4٪@?Q 5V4 sB9">Q A;Y2Q E?yB),3;I!;iČV4Yd!d)d)d)Bd)d1d1c1c5 {?zZU">ZU">ZU6<ZU_@Ia a iɡiiiIiiq)qii5<0II!N-->DyDZD)DE: Ea96EFA4:E!@!@!@!@9 AW,3`E)AyJ,O@ٱJ${]@JA>JK>JH@~ |99GY $<A >!Q 1-V4٪^?Q 55V4/ jsB91Y5L2Q E5?yMB);I;iV4YAE*VBA]B*** querying acoustic contact ***zhYhYdidididiBdididqcqcu?zZZZZ_@Ia a aɡaiaIaii)imU9vB2>~BBHB%KBBBBB=t;B.EIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9/0II N*>qDrD_DDEk: Er96E:E"E;!E;! *EL;! EL;! ԡ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013685 ^, zE)AyBO@ٱB]@B>B`>BH??ǿ Կ@ M@앲? jBÿ R?`a?IBO@)B2^;iBCzvLB9zyHBD6DYAO!G=}:Q)>99GY%G<A%>)Q 15V4٪-?Q 55V4- -;sB91Y52Q E5?y-B)-';I-D;i-@V4YEKBE!VBEگEdadadadaBdidiqdqcqcu@zZZZZp`@I  ɡiIi)W9 i> >i 0   00 I!I1N= >ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266307 D pD ^D ,D E d: E ;96E g4:E ! @! @! @! @>d,lE)Ay6!O@ٱ6]@6>6J>6H`w&?Dǿ`9ԿOF2?vJÿ/?qb?I6!O@)6E^;i6CN|LB9RHmMb@Mb@Mb@ i)iIiiiimE?{Gzt?:vm>mף;iImrAim(AmAmA)imQABD6DY[<!C=Q:Q)>99GYH;A>Q 1V4٪$y?Q 5V4   sB9r>Q A;YH2Q E?yB)K ;Im ;iV4YVBddddBdddcc@zZr>Zr>ZS<Z_@I) ) )ɡ1i1I1i1)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5179141i>u4IIN">IG)I 9i=9=mAvB 1>~B B B B B B B ,t;B .EBCBBBɣ =BBG15 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769726Y Xk,vE)Ay6oP@ٱ6g^@6>6K>6HT[?DǿkԿ`>ޱ?Jÿ?1c?I6oP@)6:^;i6CBqLB9BsHF;iF<BDJ6DJܲYfT׼!fX=fQ)f>h9h9jGYhn <An>pQ 1vV4٪rm?Q 5vV4rp rrB9tYv2Q Ev?yr9B)r:Ir:irV4Y~FB||ddddBdddcc@zZZZZ7 `@I  ɡiIi)1Z9bDZDBE=(N4JE=R4RE=Z0DvDbD)DEVz: E96EFA4:E"EI;!EJ;!*E7;!E8;!i5IINa%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021761ԉ r,wE)AyfMP@ٱfG^@f>fq8>fH+?gRǿ@XԿ 6?Eÿ%ڿ?6b?IfMP@)fw^;idroLB9rqHBDAT read: Rx Time:05:16:05.8015 TRx dataTimestamp_ set to:1755839767.186288checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280665Mb@Mb@Mb@ )IiMb?~jtx?A`">;YIiVAB)3ABD6DkYƟ!8=垹Q)>99GYz;A>Q 1V4٪ a?Q 5V4 rB9>Q A ;Y1Q E?yB):I:iV4Y)-VB)dIdIdIdQBdQdQdQcQc]p @zZ}>Z}>Z}Q<Z}qx`@ԉI  ɡiIi)cZ9)i=?99=159IQIaNm5>ԹDoD^D*DE`: E;96E(N4:E!@!@!@!@e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532276 .x,QE)Ay5}P@ٱ5x^@5Y>52>5H?hǿԿ-.[?@ÿ8+?j`?I5}P@)5R^;i5CMfLB9MfHBD]6D]1Ymp!mT=m̹Q)u>q9q9uGYq};A}>Q 1V4٪U?Q 5V4T rB9Yr1Q E?yB);In;iV4YpBzVBEB*** querying acoustic contact ***zhhddddBdddccఆ @zZZZZu`@I  ɡiIi)\9vB0>~BߍCBHBKBB =BBB^t;B.EDAT read: 05:16:05.8015 LVL= 26288, 20977, 13730, 27251, AGC= 68, IDX= 445,-0.12, 1.214, 2.560,-2.528, 2.746, PHS=-1.429,-0.141, 0.966, RAW= 242.5, 5.9, CAL= 240.9, 6.6, ROT= 269.1, -6.6 Ygot valid direction response: 05:16:05.8015 LVL= 26288, 20977, 13730, 27251, AGC= 68, IDX= 445,-0.12, 1.214, 2.560,-2.528, 2.746, PHS=-1.429,-0.141, 0.966, RAW= 242.5, 5.9, CAL= 240.9, 6.6, ROT= 269.1, -6.6 PDAT read: Bearing 108.6, -73.9 (Local) %~Local bearing/azimuth received: Bearing 108.6, -73.9 (Local) 5DAT read: Range 11 to 50 : 304.7 m (Round-trip 406.3 ms) speed 0.0 m/s =,DAT read: user:7363> EBDAT read: Tx time:05:16:06.8911 E$Ping request sent.E5sjD y鶿)NbIKw?ip@B=@@=6K@ iI C ? |1?@ѽ ˿)i:publishing transmit ping timeYAFpublishing direction and range info9*􏿳XNZl?i )Ii iI C ? |1? )irDjD%=D|DbD(DE : E96Ec44:E"E;!E;!*E!E! I Y~,@1E)Aiy:EP@ٱ:>^@:?>:,>:H?iǿԿ&jc?O5ÿ@!9!9%GY!%;A->)Q 15V4٪-rJ?Q 5=V4- -[rB99Y=D1Q E=?y- B)-Q;I-o:i-V4YEkBMcVBMEhh E)AhzChzCh?zpzC.{riA@j*􏿳XNZl?h˿h2Wf!@q@k! r{bԿ1`?XnhʏChxh'?hc`Fh,?BddddBdddc@3 s@c\?zZZZZH`@I  ɡiIi)-^9Qi60IIN'>yԙ D yD cD +D E : E L96E [4:E ! @! @! @! @f=,<F)Ay6P@ٱ6^@6->6a>6H ?dTǿ տ`u?`%ÿ? @b?I6P@)6^;i6CPR9LB9R.H%Mb@Mb@Mb@ !)!I!i!!%Cl?~jth?:v%d>%D;%TI!i%?A%A%A)!%ABD6DY !@=0Q)>99GY;A>Q 1V4٪>?Q 5V4$ -rB9G>Q A;Y1Q E?ynB):I:iV4YVBdd!d!d!Bd!d!d!c)c-7?zZMG>ZMG>ZMJ<ZM`@IY Y YɡaiaIaia)i _9lAi?0II N*>vB />~B B B B =B B B nt;B .E! h,/F)Ay6jQ@ٱ6b _@6(e>6i6>6H@A?Eǿ`Qտ萱?NÿOۿ?c?I6jQ@)6>*^;i6CNXLB9NTH)RA RABDV6DVrY^Z=!b]=b}Q)b>`9d9fGYdf<Af>hQ 1nW4٪jG4?Q 5rW4jd jrB9pYrZ1Q Er?yjB)j;IjY;ij W4Ytv~VBx|ddddBddd!c!c%?zZAZAZAZE`@IQ Q YɡYiYIYiY)aUa9D|DkD.DE : E:6Eـ4:E"E!E!*E?;!E?;!i9II N >!Qԁ S,IF)Ay~@Q@ٱ~;_@~>~ 4>~H`On?@6;ǿ}տ`$ Sz? ÿaۿ?@d?I~@Q@)~^;i~CKLB9EHQMb@Mb@Mb@ )IiK?{Gzt?^>ף;LIiVA)3AiBD6D:YV!:=Q)>99GYU;A>Q 1W4٪ (?Q 5W4 qB9">Q A;Y0Q E?yB)?;I;i W4YeBVBddddBdddcc?zZ ">Z ">Z  a<Z 4Fa@I  ɡ!i!I!i!))Ja9ԁi;00IDzDjD)DEl: E96EFA4:E!@!@!@!@INE>ԩ py,HcF)Ay6pQ@ٱ6k_@6\>6>6H!@?/;ǿտ.?`¿?Qd?I6pQ@)631^;i4>[LB9BXHBDF6DF0YN:*=!Ra=RjQ)R>T9T9VGYTV<AV>XQ 1^W4٪Z?Q 5bW4Z( ZqB9`Yb0Q Eb?yZBB)Z;IZU;iZ&W4YdfpVBheB*** querying acoustic contact ***zhahadqdqdqdqBdqdqdycyc} ɥ?zZZZZwa@I  ɡiIԹi)Bc9 t>>AQAUAAvBY~BYB]HB]KBBYBYBYB]at;B].EiM1IIM/0IIYIqN}>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DDfD+DE E96E [4:E"Eҧ;!Eӧ;!*E-;!E-;!9 )9 9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248242;,8i}F)Ay6ΟQ@ٱ6ƚ_@6 >6@.>6H@@?=ǿVտa±?`¿d,?@c?I6ΟQ@)6r^;i6ߒCBVLB9BRHBDJ6DJ!Yf,!fH=fQ)f>h9h9jGYhj;An>pQ 1rW4٪r?Q 5vW4r rqB9tYvv0Q Ev?yrB)r:Ir:ir5W4Yx~tVB|ddddBd!d!d!c!c%@x@zZIZIZIZMa@I  ɡiIi)d9i60IIN>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.500078iԙ D D lD )D E O: E :6E FA4:E ! @! @! @! @,AF)AyFQ@ٱF_@F>F>FH?*ǿ`ֿ 8;?O¿!?e?IFQ@)F1;^;iDfOLB9fIHMMb@Mb@Mb@ I)IIIiIIM^I +?Mbp?A`"MX>M;MYIM\AiM?AMAMB)IMAIe@A)aBDm6DmYu0!}@=}dߺQ)}>99GYl;A>Q 1W4٪ ?Q 5W4 XqB9T>Q A;Y^0Q E?yB) ;I ;iCW4Y`BqVBEddddBdddccU@qzZT>ZT>Z5<Za@I  ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752605e9i@/5IINB>vBU ,>~BQ BQ BQ BQ BQ BU lDBU Vt;BU .E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003917 ,F)Ay6R@ٱ6_@6R>6>6H@Sv'? ǿ^3ֿ`n@E?¿?@f?I6R@)6^;i6CbLLB9bFHBDj6DjkYrܻ!rT=vQ)v>t9t9vGYxz;Az>|Q 1W4٪~?Q 5W4~h ~/qB9 Y /0Q E ?y~B)~:I~:i~pQW4YtVBd9d9d9d9Bd9dAdAcAcE,@zZaZaZaZe:a@Iq q yɡyiyIyi)D~DeD(DE: E96Ec44:E"E\;!E];!*E#*;!E#*;!g9)iiiiiiIyIN>BDAT read: Rx Time:05:16:09.7017  TRx dataTimestamp_ set to:1755839770.964463 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257049I , F)A y-2R@ٱ--`@-[>-|>-HTX?ƿ ^`ֿR?@¿8Ϳ?h?I-2R@)-^;i)E=LB9E3H]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508051Mb@Mb@Mb@ )IiZd;?t<mIiAA)BD6DNY!9=8 Q)>99GY;A >Q 1W4٪?Q 5W4 pB9E>Q A;Y.Q E?ymB):I':i`W4Y)-VB)sUDetached at range: 304.70 m. Transitioning docking module to standby.dQdQdQdQBdQdQdYcYc]` } @zZ}E>Z}E>Z}<Z}!c@I  ɡiIi)aj9i!2I)IANM1>DzD`D*DEl: E96E(N4:E!@!@!@!@ԑU DAT read: 05:16:09.7017 LVL= 23712, 20561, 14322, 24051, AGC= 67, IDX= 447,-0.33,-0.762, 0.647, 1.710, 0.756, PHS=-1.416,-0.064, 0.910, RAW= 245.4, 5.7, CAL= 243.4, 6.1, ROT= 266.6, -6.1 e Ygot valid direction response: 05:16:09.7017 LVL= 23712, 20561, 14322, 24051, AGC= 67, IDX= 447,-0.33,-0.762, 0.647, 1.710, 0.756, PHS=-1.416,-0.064, 0.910, RAW= 245.4, 5.7, CAL= 243.4, 6.1, ROT= 266.6, -6.1 m PDAT read: Bearing 117.3, -72.7 (Local) m ~Local bearing/azimuth received: Bearing 117.3, -72.7 (Local) u DAT read: Range 11 to 50 : 304.8 m (Round-trip 406.5 ms) speed 0.0 m/s } ,DAT read: user:7364>  BDAT read: Tx time:05:16:10.7911  $Ping request sent. e>H(?`)ƿ@ֿT ?v¿`ٿ?i?I1[R@)$^;i-?LB956H=Y9Y9]GYY;A>Q 1W4٪.届?Q 5W4 pB9Y.Q E?yB):I:ioW4A<AvB~BBHBJBBBBBnt;B.EBߍCBBBB£ =B4Y%^B-}VB5EԹhAhEF)AhEChEChEc?zE%>1jr@@jE [1 E)dGO4?hEWпhE^ ڽEc'@VLrr@XSz rEODӿjU?HL.؅hEChEhE#a[.?hE&hEQ?B*iE#a[.?2iE&:iELWBiEC"iE?d-d)d)d)d)Bd)d1d1c5 s@ce@?zZZZZJc@I  ɡiIi))j9 &Changing to mode: 1i]9YYe00aIqIN>BE-ȷG4JE-KJ4RE-0DDuD'DE: E:6E'4:E"Eý;!EĽ;!*E`d;!E`d;! ,uF)Ay:R@ٱ:`@:L>:>:HG?Dƿ`}ֿ` ? UY¿?j?I:R@):;^;i:ߒCF%LB9FHBDN6DN YVܘ!Vk=V,Q)Z?X9X9ZGYX^k <A^?`Q 1fW4٪b۱?Q 5fW4b bpB9dYf.Q Ej?ybB)b:Ib:ib{W4YlrVBp%B*** querying acoustic contact ***zh!h!d9d9d9d9dABdAdAdAcIcM*?zZZZZ^|c@I  ɡiIi)Fl9kA)iMIIM0IIYIiN}>YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԁ D }D _D -D E ݉: E r96E t4:E ! @! @! @! @,G)Ay6^R@ٱ6V`@6F>6UF>6H ?ʴƿlֿM@wN?8¿5?`k?I6^R@)6zOa;i6C@9@UMb@Mb@Mb@ Q)QIQiQQYUK?y&1?Zd;U^>U`e<UyIUVAiU9AUAUA)QUABDm6Dm밹]Q)>99GY?;A>Q 1W4٪=б?Q 5W4 ypB9>Q A;Y-Q E?yDB) ;IC ;iW4YdddddBdddcc6)?zZ>Z>Zu=Zd@I   ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992584l9iaT0ԑIIN!>ԱvB~BBHBJBBBBBt;B.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244110 ,d2G)Ay6³R@ٱ6`@6g>6r >6H@?`ƿ iֿP?`¿ ?`l?I6³R@)6a;i6CB6LB9B*HIFAA)DBDJ6DJYn<!rt9t9vGYtvJ;Av>xQ 1~W4٪zű?Q 5W4z zNpB9Y-Q E?yzB)z;Iz;izW4Y YB |VB߯EdddddBdԹddcc, ?zZZZZ?d@I   ɡ i Ii)bDqZDu@AD}zD}gD}.DyE}l: E}&96E}ـ4:Ey"E}ҧ;!E}ӧ;!*E}j1;!E}k1;!n9imiimD0iIyIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499781A y,OLG)AyEhR@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752765ٱE``@E >E>EHh?nƿ~ֿ@:?*?\n?IEhR@)E@a;iEC;LB90H EMb@Mb@Mb@ A)AIAiAAECl? rh?p= ףEd>EC<EIAiAAEA)AEQABD]6D]βYm&+<!m3=mQ)u>q9q9uGYq};A}>Q 1W4٪?Q 5W4 pB9>Q A;Y,Q E?yB) ;I; ;iW4YxVBdddddBdddcc`<?zZ>Z>Zi>=ZUe@I  ɡiIi)ep9 m>m?AD{DD,DE=: Ed:6Eg4:E!@!@!@!@i!.0I IN%N>i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004065ԑ ,fG)Ay>R@ٱ>`@>K>>>>H`?Iƿ@׿SA?@?o?I>R@)>J`;i<F@LB9F7HBDN6DN1YV<!Vl=Z3~Q)Z?X9X9ZGY\^;A^?`Q 1fW4٪b6?Q 5fW4b2 boB9hYj,Q Ej?ybB)b:Ib:ibW4YlnrVBpdddddBdd d c c 2F@zZ)Z)Z)Z-fpe@I9 A AɡAiAIAiI)IqAAAAvB*>~BBHBJBB =BBBt;B /Ep9i-P$))-/0)I9IIN]>im}?Im%=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256400ԡDD`D+DE: E96E [4:E"E;!E;!*E;!E;! % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508178@,G)AyvS@ٱv a@vF >v >vH ` 3?0ƿ'4׿Eh?}X?p?IvS@)v_;ivߒC96H%4A9A9MGYIM ;AM>QQ 1]W4٪UФ?Q 5]W4U UoB9aYe,Q Ee?yUhB)U];IUz;iUW4YmTBmhVBiB*** querying acoustic contact ***zhhdddddBdddcc @zZZZZe@I  ɡiIi)s9i-&))))I9IINYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763811) D zD bD *D E l: E 96E (N4:E ! @! @! @! @q(,ԙG)Ay6R+S@ٱ6J&a@6 >6J>6H{bK?@ƿ`M׿q?@j6?6q?I6R+S@)6'_;i6CBa9a9mGYim\;Am>qQ 1}W4٪u왱?Q 5}W4u uoB9>Q A;Y*Q E?yuB)uC ;Iu ;iu W4YlVBdddddBdddccm@zZ>Z>Zϖ=Z9qg@I  ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012013,s9)1i_)IIN>YvB+>~BBHBJBB =BBBgt;B.Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264124Q,G)A0y6+YS@ٱ6#Ta@6[c >6gG>6Ht x? kſ2y׿ /?>@:7?@r?I6+YS@)6^;i4B9LB9B.HBDJ6DJYRf!RW=ReQ)V>T9T9VGYTZ>;AZ>\Q 1bW4٪^ɏ?Q 5bW4^G ^ioB9`Yf*Q Ef?y^B)^n;I^;i^RW4YjNBjdVBjޯEdxdxdxd|d|Bd|d|dcc @zZ!Z!Z!Z%bg@I1 1 1ɡ1i9I9i9)A5Iu9Dm{DmjDm)DiEm=: Em96EmFA4:Ei"Em;!uEm;!u*EmV<;!}EmV<;!}ԉi+IIN>BDAT read: Rx Time:05:16:13.6021 TRx dataTimestamp_ set to:1755839775.001158checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518468 ;,ڎG)A`Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769916yAS@ٱ9za@ > >H o?ſH׿}? X%?@t?IAS@)^;iC5LB9)HMb@Mb@Mb@ )Iirh|?L7A`?T㥛 >+=Ii9A)AI)BD6D:2Y!-=0Q)>99GYQ;A>Q 1W4٪??Q 5W4d 5oB9f>Q A;YY)Q E?yNB):Ij:iW4YhVBd9d9d9dAdABdIdQdYcYce @zZf>Zf>Z=Zh@I  ɡi!I!i!))De|DaDe*DaEe : Ea6Ee(N4:Ea!u@!u@!u@!u@fw9iu.qqu4qIIN>= DAT read: 05:16:13.6021 LVL= 31664, 32753, 28002, 32755, AGC= 65, IDX= 451,-0.07,-2.690,-1.291,-0.156,-1.211, PHS=-1.376,-0.034, 1.011, RAW= 244.1, 3.9, CAL= 241.5, 4.3, ROT= 268.5, -4.3 M Ygot valid direction response: 05:16:13.6021 LVL= 31664, 32753, 28002, 32755, AGC= 65, IDX= 451,-0.07,-2.690,-1.291,-0.156,-1.211, PHS=-1.376,-0.034, 1.011, RAW= 244.1, 3.9, CAL= 241.5, 4.3, ROT= 268.5, -4.3 U PDAT read: Bearing 115.5, -75.6 (Local) U ~Local bearing/azimuth received: Bearing 115.5, -75.6 (Local) m DAT read: Range 11 to 50 : 305.1 m (Round-trip 406.9 ms) speed 0.0 m/s u ,DAT read: user:7365> } BDAT read: Tx time:05:16:14.6911  $Ping request sent. 6k>6HAl@ӹ?@\ſ׿[?? v?I6S@)6(^;i6ߒCNDLB9N~B9B9B9B= =B9B9B=s;B=.EIQ Q YɡYiYIYiY)aMx9Qi0#0IIN%>qDuwDubDu)DqEu}: Eu96EuFA4:Eq"Euk;!Eul;!*Eu7;!Eu8;!ԡ ) AM,FH)AyF^S@ٱFVa@F >F>FHe?/oſ ׿`{?S`y?`x?IF^S@)Fq^;iFCRKB9RH)T VABDZ6DZ:YbA!bL=f^Q)f>d9d9jGYhj;Aj>lQ 1rX4٪nzo?Q 5rX4n nnB9tYv)Q Ev?ynB)n :In|:inX4YzsBzVB~EB*** querying acoustic contact ***zhhd!d!d!d!d!Bd!d!d)c)c-`?zZIZIZIZMi@qI  ɡiIi!)!my9ԩip33II!N5->eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. D} xD} fD} ,Dy E} ˀ: E} 96E} g4:Ey ! @! @! @! @u,H)AyFS@ٱFa@Fl>F>FH`b?Bſ׿ e?ā? z?IFS@)F ^;iFCvLB9v HmMb@Mb@Mb@ i)iIiiiimK? rh?S㥫m^>mC =m/]ImOAimAmAmA)imAp=qQ)>99GY2;A>Q 1X4٪ d?Q 5X4 nB95>Q A;Y(Q E?y%B)!;I;iX4YVBdddddBdydydcc@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990366zZ5>Z5>ZT=Z!i@I  ɡ!i!I!i))1- |9 IEG)];mAI}Ai;mAAiP64IIN J>1vB=0>~B=CB9B9B= =B9B=mDB=s;B=.EBBBBǢ =BǢ =Bf-5m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241320Y ,4H)Ay6S@ٱ6a@6>6>6H]#!?@ſؿ6@?zP?A|?I6S@)6B^;i6ޒCNLB9R HBDZ6DZYz^!zU=z⁻Q)z>|9|9~GY|e;A> Q 1X4٪ Z?Q 5X4 l nB9Y(Q E?y kB) -:I ;i F%X4Y!%VB!dAdAdIdIdIBdIdIdIcQcU ?zZqZqZqZuT>i@I  ɡiIi)1BE|a4JEb4REL0DEDEkDE0DAEE~: EE:6EE4:EA"EE~;!EE;!*EE?;!EE?;!/|9iM7IIM44IIYIiN}>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494716ԉԹ ,NH)A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747456yT@ٱb@ L>K>H YcA??Ŀ1ؿk?@J?~?IT@)K^;iߒC DLB9 ;Hi=Ia=ԉMb@Mb@Mb@ )Ii ףp= ?L7A`?Zd;OQ>+=j99GY ˃;A >Q 1X4٪M?Q 5X4 knB9>Q A%;Y%)Q E%?yB)Q:I#:i5X4YMnBMVBIdddddBdddcca?zZ>Z>Z5=Zi@I   ɡiIi)=L~9DMvDIDM-DIEMVz: EI6EMt4:EI!U@!U@!U@!U@Թi9/5IIN%o>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998161 9,ȷhH)Ay6MT@ٱ6Hb@6=6G>6H`#Qs?Ŀ`%bؿ"? ῿@??I6MT@)6a;i6ݒCB!LB9BHID)DBDJ6DJYRӽ!Rt=R3Q)V?T9T9VGYTZ"<AZ?\Q 1bX4٪^"E?Q 5bX4^ ^NnB9`Yf(Q Ef?y^B)^:I^:i^0AX4YhjVBhsz4Docking module at standby.d|d|d|d|Bd|d|dcc@P@zZ!Z!Z!Z%Bi@I1 9 9ɡ9i9I9iA)AA@AA@AvB/>~BBBBBBBs;B.Ei)q5PExceeded connect timeout, disconnecting.i95II N>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249442DUDQDU*DQEU: EQ6EU(N4:EQ"EU;!]EU;!]*EQ!]EQ!eA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501721 ,jH)A yFuT@ٱFm{b@F&b=F>FH`H?@Ŀ ؿ@vα?w`?z?IFuT@)FOra;iFޒCvLB9vHBD~6D~k1Y ! D=u~Q)>99GY;A>!Q 1-X4٪%@:?Q 5-X4% %*nB91Y5(Q E5?y%HB)%K:I%d:i%OX4YAEVBA]B*** querying acoustic contact ***zhYhY=sm8Undocking sequence complete.9mq:mBdididqcqcu@@zZZZZvi@I ɡiIi)X9qiM9IIM/5IIaIqN}>ԙiE>IA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756946 De {De lDa Da Ee =: Ee :6Ea :Ea !m @!m @!m @!m @&,F`H)Ay6T@ٱ6b@6\=6 >6H5B?@ڏĿ~ؿm?.7?`ڀ?I6T@)6!`;i6ߒCPRLB9R H)VA T]Mb@Mb@Mb@ Y)YIYiYY]bX9?Zd;O?]j<]tI]9Ai]A]A]A)Y]3ABDq6DqY;!C=fQ)>99GYk;A>Q 1X4٪0/?Q 5X4  nB9>Q A;Yw*Q E?yB)j;I';i^X4YiBVBEtHTransitioning to midcourse guidance.q:%:%Bd!d!d!c!c-@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005353zZ>Z>Z!=Z3g@I  ɡ i I i)g9 IvB.>~BߍCBHBJBB =BBBs;B.EIN>- nManaging dock network, ignoring radio surface power off! M BDAT read: Rx Time:05:16:17.5026 M TRx dataTimestamp_ set to:1755839778.780374U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258351 ,,T;H)Ay6T@ٱ6b@6!=6[>6H <?dĿؿe?D3??I6T@)6O_;i6CN)LB9RHV4d9d9fGYdj;Aj>lQ 1rX4٪nT%?Q 5rX4nF nmB9pYrP*Q Ev?ynB)n;In;inkX4YxzVBx|e@:rCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq9rAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guider%Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockBd!d!d!c!c-` @zZZZZg@I ɡiIi)bDZDAAD-}D-fD)D)E-݉: E-96E):E)"E-:;!=E-;;!=*E--;!=E--;!=y9IIN=)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509359Qԁ 3,4H)AQDAT read: 05:16:17.5026 LVL= 25984, 22337, 19906, 29043, AGC= 67, IDX= 440,-0.20,-1.733,-0.365, 0.696,-0.226, PHS=-1.405,-0.094, 0.877, RAW= 244.9, 6.3, CAL= 243.3, 6.9, ROT= 266.7, -6.9 Ygot valid direction response: 05:16:17.5026 LVL= 25984, 22337, 19906, 29043, AGC= 67, IDX= 440,-0.20,-1.733,-0.365, 0.696,-0.226, PHS=-1.405,-0.094, 0.877, RAW= 244.9, 6.3, CAL= 243.3, 6.9, ROT= 266.7, -6.9 EPDAT read: Bearing 113.9, -72.9 (Local) M~Local bearing/azimuth received: Bearing 113.9, -72.9 (Local) UDAT read: Range 11 to 50 : 305.5 m (Round-trip 407.4 ms) speed 0.1 m/s ],DAT read: user:7366> eBDAT read: Tx time:05:16:18.5911 ymT@ٱmb@m=m>mH` 5`e?,/Ŀ@ٿ]?K ?@.?ImT@)m_;imC}MLB9}GHe$Ping request sent.`e<IOAiA AA)ABDU6DUP)Yer=!e =eE-Q)m> 9 9GY;A>Q 1%X4٪?Q 5MX4 mB9Un>Q AU;YU+Q EU?yAB);I;iX4YVBԩh|h~BH)Ah~Ch~Ch~ڃ?z~p[1r ";>B@j~ oK]B*.rjƹI?h~'oпh~Ϣ~|mYq@>?r~lNտ%%^v?fF?h~ΎCh~h~$ ?h~J-h~%MB*i~'?2i~c`F:i|i~C"i~K?:UuUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;U vUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqZ n>Z )'=Z Qf@ɢ HB 3r= = v<= a?I9 = ɡE iA IE %=9iA )M A5 9Iy I N > :,wH)Ay6T U@ٱ6Lc@6n=6!>6Hc/0D?Ŀ u(ٿVб? = ?6?I6T U@)68^;i6Cn5LB9n)HBDv6DvY~ӽ!~=лQ)F?9 9 GY  ,<A Z?Q 1=X4٪?Q 5=X4y mB9AYE+Q EE?ydB);I;i)X4YIMVBIA}<A}<vB0>~BCBHBJBB =BBBs;B|.EԹyZNavigating to waypoint: 36.779130,-122.859630eeKȿeebe2ee e@1<wCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange; wAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeBdddcc ?zZ)Z)Z)Z->tf@ɢy}R= }6*;顅i?I 9ɡiI=9$ɧI'-Ei > (kpHeading = 0.400000iB>)駽)9i %=I IqIN>D5zD5fD5'D1E5l: E596E5'4:E1"E5ҧ;!EE5ԧ;!E*E1!EE1!EA 2@,I)Ay6`EU@ٱ6X@c@6nx=6;>6H)i?ÿKٿ O@?@@~??I6`EU@)6`^;i6ߒCBLB9B HID)F@ABDJ6DJ02Yfv!fN=fQ)f>h9h9jGYhn;An>pQ 1vX4٪r^?Q 5vX4r  rmB9tYv+Q Ev?yrB)rp:Ir:ir X4Y~cB~VB~EqG~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqGB*** querying acoustic contact ***zhh?%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqA%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA--Initialize.A--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1B- -Initialize.qB-B-q@-?-B5zf5h7qB5rf5h7A55Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1B=qA=A=f9f=fBE$Terminal guidance.q@EBEEInitialize.EdInitializing internal variables to default values.EZTransitioning guidance mode to: UNINITIALIZEDgAMDRollout timeout set to 300.00 sec.MVIIR filter is initialized with decay: 0.00.UbTransitioning guidance mode to: TERMINAL_GUIDANCEgU?:UuUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;U vUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqUninitialize WaypointComponent.BdYdYdYcace3?zZ!Z!Z!Z% f@ɢULB]nx= ]] IY ]9ɡYieA-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.yDE DE jDE *DA EE m: EE 96EE (N4:EA !M @!M @!M @!M @ԙ `G,CI)Ay6eU@ٱ6x`c@61=61>6H$`F?Dÿjٿ`G :?` ?N?I6eU@)6F_^;i4^@LB9^6HMb@Mb@Mb@ )IiuV?S㥛r>/ݼIiAA)BD6DP)YX=!9=uQ)>99GYG;A> Q 1X4٪ \?Q 5mX4  {mB9m>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213236ԁQ A ;Y.Q E?y B) Z->Z-/3Z- d@ɢ9E7; E)]q&?)]AMȄ9ԡvBy~ByB}HB}KBByByByB}s;B}s.E9M0::IaIqN>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465183 *6H " n?@ÿ/ٿ`E?c?g-?[?I6U@)6dB^;i6C>QLB9BKHBDF6DFJYNz:=!Rc=R6Q)R>P9T9VGYTV`;AV>XQ 1^X4٪Zf?Q 5^X4Z ZcmB9`Yb-Q Eb?yZ.B)Z;IZ;iZX4YdfvVBhgx~FNOT Ignoring new targets: 303.75 m.g~vg|  ProNav pure pursuit: ac range: 303.750397 m, nav range: 303.534027 m, bearing: 107.474929 deg, approach rate: 0.040006 m/s, LOS rate: nan deg/s, cmd heading: 107.496802 deg, new cmd heading: 107.474929 deg. HeadingCmd: 1.875791 target range: 303.750397 and range: 305.50 m.g?ggggD}DfD'DE݉: E96E'4:E"E:;! E;;! *E! E!zfqrfqfyfyBdydydcc?zZZZZ5d@ɢLB; S=I 49ɡiIn :Il:Hii) ?) 99X<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717667>A "9I! ) IA NU >Q #&T,fQI)AyR6U@ٱR.c@R&=R]>RH$?|fÿQٿ5ha?G'?@?IR6U@)RC_^;iRC~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.97165799GYq;A>Q 1X4٪氊?Q 5X4 EmB9Y-Q E?y|B):I:iX4Y^BVB )gaeFNOT Ignoring new targets: 303.75 m.gm톺gi} ProNav pure pursuit: ac range: 303.750397 m, nav range: 303.552612 m, bearing: 107.446368 deg, approach rate: 0.038381 m/s, LOS rate: nan deg/s, cmd heading: 107.474932 deg, new cmd heading: 107.446368 deg. HeadingCmd: 1.875293 target range: 303.750397 and range: 305.50 m.g ?ggggzfrfffBdddcc@@zZZZZcd@ɢ8); `~By B} HB} %KBBy By By B} xs;B} l.EB=CB=CB9B=͡ =B=͡ =B=͎4 8Initializing DockingStepper.@ lA@ lA>Am=IIN>[,pI)Ay:U@ٱ:c@:R=:>:H ?5ÿ@ٿ@+N?ܻ(??I:U@):>^;i:ߒCB7LB9B,HxEMb@Mb@Mb@ A)AIAiAAECl?y&1L7A`堿E;>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473214E`eE+IAiAAE`A)AE3ABDu6DufY6!0=99GY;A>Q 1X4٪۰?Q 5X4 %mB9I>Q A);YA0Q E?yB)i ;I ;iVX4YVBgFNOT Ignoring new targets: 303.75 m.gg ProNav pure pursuit: ac range: 303.750397 m, nav range: 303.564117 m, bearing: 107.420359 deg, approach rate: 0.026204 m/s, LOS rate: nan deg/s, cmd heading: 107.446368 deg, new cmd heading: 107.420359 deg. HeadingCmd: 1.874839 target range: 303.750397 and range: 305.50 m.g?ggggzfrff f BdddccAX@zZ5I>Z5I>Z5U@Z5a@ɢELBM; IMxA-= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725240I I) NM >y }b,sI)ADLB9;HԙBD-6D-Y<!I=Q)>99GYA>Q 1X4٪Ұ?Q 5X4$  mB9YQ E?yB);I;iX4YxVB %B*** querying acoustic contact ***zh!h!g15FNOT Ignoring new targets: 303.75 m.g=pg9M ProNav pure pursuit: ac range: 303.750397 m, nav range: 303.574677 m, bearing: 107.396623 deg, approach rate: 0.025560 m/s, LOS rate: nan deg/s, cmd heading: 107.420359 deg, new cmd heading: 107.396623 deg. MHeadingCmd: 1.874425 target range: 303.750397 and range: 305.50 m.gU&?gQgQgQgQzfQrfYfYfYBdYdadacace@zZZZZɢLB`I; 顝=I :ɡiI ;I:@ii)&?)9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979053ԩ>AZ=IAIN J>D|DiDDE : E96E:E!@!@!@!@ % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229123xh,PI)Ay66H _?¿ 3ڿ@?@ȿ? }?I6̼'Ii3A)AI)AABD6D3Y!F=Q)>99GYG<A>Q 1 X4٪eȰ?Q 5 X4F  lB9>Q A*;Y2Q E?yBB)? ;I? ;iX4YYB%nVB%EgAMFNOT Ignoring new targets: 303.75 m.gMgQ] ProNav pure pursuit: ac range: 303.750397 m, nav range: 303.581482 m, bearing: 107.373507 deg, approach rate: 0.016724 m/s, LOS rate: nan deg/s, cmd heading: 107.396624 deg, new cmd heading: 107.373507 deg. eHeadingCmd: 1.874021 target range: 303.750397 and range: 305.50 m.ge?gigigigizfirfifqfqBdqdydycyc} @zZ>Z>Z9v@Z`@ɢ=LB=HB; AEh=IA EV:ɡAiAIM϶#;ImS,5@iqiq)u?)qM;9vB.>~BߍCBHB9KBBBBBs;Br.E >A%>IIN<>}BDAT read: Rx Time:05:16:21.4029 }TRx dataTimestamp_ set to:1755839782.812373checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4821451Y D yD vD *D E : E :6E (N4:E "E ! E ! *E h;! E h;! n,,I)Ay:hV@ٱ:cd@:^=:U>:H`U?¿[ڿ`%5? Œӿ?ד?I:hV@):^;i8rVLB9rRHBD6D1Y8=!K=uQ)>99GY;A>19Q 1EX4٪=?Q 5EX4=n  =lB9IYM1Q EM?y=B)=:I=:i=`X4Y[VBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.733204gQUFNOT Ignoring new targets: 303.75 m.g]sgYm ProNav pure pursuit: ac range: 303.750397 m, nav range: 303.588745 m, bearing: 107.350146 deg, approach rate: 0.016567 m/s, LOS rate: nan deg/s, cmd heading: 107.373511 deg, new cmd heading: 107.350146 deg. HeadingCmd: 1.873613 target range: 303.750397 and range: 305.50 m.g?ggggzfrfffBdddccOy@zZ!Z!Z!Z%4`@ɢ!LB; )-$U=I1 =!:aɡiI:;I%a.@i)i))5?)AI9ԙ>A ^1_>bA lAZA mA5 DAT read: 05:16:21.4029 LVL= 32752, 27217, 21490, 32755, AGC= 67, IDX= 443,-0.47, 0.088, 1.546, 2.349, 1.606, PHS=-1.416,-0.015, 0.699, RAW= 250.6, 7.9, CAL= 249.2, 8.1, ROT= 260.8, -8.1 U Ygot valid direction response: 05:16:21.4029 LVL= 32752, 27217, 21490, 32755, AGC= 67, IDX= 443,-0.47, 0.088, 1.546, 2.349, 1.606, PHS=-1.416,-0.015, 0.699, RAW= 250.6, 7.9, CAL= 249.2, 8.1, ROT= 260.8, -8.1 m PDAT read: Bearing 123.8, -68.7 (Local) u ~Local bearing/azimuth received: Bearing 123.8, -68.7 (Local) I I  DAT read: Range 11 to 50 : 305.7 m (Round-trip 407.7 ms) speed -0.2 m/s N >u,JI)A,DAT read: user:7367> BDAT read: Tx time:05:16:22.4911 $Ping request sent.-@>@ iIsˢEg?`FaY?@|M oݿ)iE:publishing transmit ping timeYEFpublishing direction and range info99k$BĿ*E:N ?i )Ii iIsˢEg?`FaY? )iy"V@ٱ~d@1=>H+`/?`o|¿ uڿJ ?]?8?I"V@)A,^;iޒCCLB9:HD9D=qD=(D9E9 E=$ :6E=c44:E9!U@!]@!]@!]@qMb@Mb@Mb@ )Ii333333?I +:v>9TIiA"A3A)AAiE4<BDM6DMNY]5!]'=ewQ)e>a9i9mGYim\;Am>qQ 1}Y4٪u?Q 5}Y4u  ulB9K>Q A-;Y0Q E?yuB)uh;Iuh;iu,Y4YoVBhhBI)AhChCh8?zk@k6H|er,DbiE@j9k$BĿ*E:N ?hoݿhAZiTP$Ir@h8vuZ#@r1ѿg?̬?hNChJh{lӕ?hRhsB*i2i:ii̗C"ie? addTargetRange:: Added new target pos. range: 305.700012 m, deltaT: 4.031242 s, deltaX: 0.200012 m, approachRate: 0.049616 m/s, rangeRepo size: 2  Added new target pos. range: 303.949219 m, bearing: 105.590515 deg, lat: 36.779064 deg, lon: -121.859675 deg, deltaT: 4.031242 s, deltaX: 0.198822 m, approachRate: 0.049320 m/s, posRepo size: 2 gFNOT Ignoring new targets: 303.95 m.ԡggProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 105.590515 deg.HeadingCmd: 1.842902 target range: 303.949219 and range: 305.70 m.g8?ggggzfrfffBdddc@3s@c m?zZK>ZK>Z.@Z(a@ɢ#LB-; 顽L=I Q):ɡiIS;I>(@ii)8?)9>A.%>vBm />~Bi Bm HBm CKBBi Bi Bi Bm s;Bm y.EA *@I I N > i{,ڮI)Ay6V@ٱ6d@6/?=6>6Hۼ? ?¿ڿ9ҟ?蜹`]?c?I6V@)6k^;i6ߒC^ LB9^HBDf6DfYnB!n=r߻Q)r?rb0>9rb0>9rGYtv6;Av?xQ 1~Y4٪z?Q 5~Y4z zlB9Y0Q E?yzB)z:Iz:izY4Y SB VB Eg15FNOT Ignoring new targets: 303.95 m.g=g=M ProNav: ac range: 303.949219 m, nav range: 303.605408 m, bearing: 107.308057 deg, approach rate: 0.023996 m/s, LOS rate: -0.059669 deg/s, cmd heading: 105.590517 deg, new cmd heading: 105.559404 deg. gMfں]HeadingCmd: 1.842359 target range: 303.949219 and range: 305.70 m.g]m?gagagagazfarfafifiBdididqcIcM G?ɢ$LB*屺 I G&:ɡiI&b;I+%@ii)m?) |9D|D`D)DE : E96EFA4:E"E;!E;!*E;!E;!1>A+>a A թAI I N , J)A y:V@ٱ:d@:~=:=:HA@?@Iڿ( ?04?ٚ?I:V@):a/^;i:ݒCF%LB9FHBDN6DNkYRJ~=!VN=V݈Q)V>Z,?9Z,?9ZGYXZ ;AZ>\Q 1bY4٪^?Q 5fY4^ ^elB9dYf0Q Ef?y^0B)^:I^:i^%Y4YhjVBQgFNOT Ignoring new targets: 303.95 m.gigi ProNav: ac range: 303.949219 m, nav range: 303.614288 m, bearing: 107.286127 deg, approach rate: 0.020697 m/s, LOS rate: -0.051108 deg/s, cmd heading: 105.559406 deg, new cmd heading: 105.515548 deg. gHeadingCmd: 1.841594 target range: 303.949219 and range: 305.70 m.gX?gggg!zf!rf!f!f)Bd)d)d)c)c5?ɢ]%LBe: aeIa e*u&:iɡiiqIux;Iu}@iyiy)}X?)yԡDuDfD'DEv: E96E'4:E!@!@!@!@>AM 3>rAU >jAU ? A ~AI I N >,\V%J)Ay6V@ٱ6ޮd@6.=6=6H@/?9Yڿ`jį?`$rͼ?@z?I6V@)6^;i6C>$LB9BHiF=IF=P Mb@Mb@Mb@ ) I i   A`"? t uI 9Ai   )  fABD%6D%NY-DI!5B=5TºQ)5>=3?9u3?9uGYuF}:A}>Q 1Y4٪?Q 5Y4 :lB9i>Q A-;Y/Q E?yuB) ;IX ;i6Y4Y~BVBEB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 303.95 m.g #gM#] ProNav: ac range: 303.949219 m, nav range: 303.626648 m, bearing: 107.260841 deg, approach rate: 0.028235 m/s, LOS rate: -0.057761 deg/s, cmd heading: 105.515549 deg, new cmd heading: 105.464980 deg. g]kӺeHeadingCmd: 1.840711 target range: 303.949219 and range: 305.70 m.gel?gagigigizfrfffBdddccM7?ɢ-'LB-#9 )-@vI1 5%:ɡ1i1I5x;I=@i9i9)=l?)AvBU1>~BUCBU HBUNKBBQBQBQBUs;BU.EE9}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.! >AE ;>bD ZD @AD {D lD *D E =: E :6E (N4:E "E ;! E ;! *E C;! E C;! A I I N >,#@J)A,yb!V@ٱbd@b=b =bH ? ڿ `?Ǹ?t?Ib!V@)b:^;ibߒC-!LB9-HBDe6DeY;»!;=Q)>99GY8:A>Q 1Y4٪o?Q 5Y4@ lB9Y0Q E?yB):I:iCY4YVBgFNOT Ignoring new targets: 303.95 m.g=g= ProNav: ac range: 303.949219 m, nav range: 303.637146 m, bearing: 107.238962 deg, approach rate: 0.026898 m/s, LOS rate: -0.056058 deg/s, cmd heading: 105.464978 deg, new cmd heading: 105.421221 deg. g.ͺHeadingCmd: 1.839947 target range: 303.949219 and range: 305.70 m.gf?ggggzfrf!f!f!Bd!d)d)=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693537c)c=9?ɢe)LBe 7 imIi m$:ɡqiqIu Z;Iu @iyiy)}f?)yԉ9Ա>A3> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945423 A ӳAI I) N= >]O,SwZJ)Ay>jV@ٱ>bd@>=>H=>H@".?}@ڿ ,?F???I>jV@)>!^;i>CFLB9F HTDzDgD-DEl: E&96Et4:E!@!@!@!@Mb@Mb@Mb@ )Ii#~j?MbPX9v>}IfAiA AA)ABD=6D=NYU$!]>=]Q)]>m*7?9m*7?9mGYmFuɹAu>Q 1Y4٪ ?Q 5Y4 kB9>Q A ;Yy,Q E?yB)d;Iud;i SY4YxBVBg FNOT Ignoring new targets: 303.95 m.g #g# ProNav: ac range: 303.949219 m, nav range: 303.657043 m, bearing: 107.213424 deg, approach rate: 0.045348 m/s, LOS rate: -0.058199 deg/s, cmd heading: 105.421224 deg, new cmd heading: 105.370152 deg. gպHeadingCmd: 1.839056 target range: 303.949219 and range: 305.70 m.g1f?ggggzfrfffBdddcc4@ɢ-,LB5I¹ 15wI1 %X :ɡiI;I}S@ii)1f?)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.1974979 &Changing to mode: 1 i8 0vB 0>~B B HB XKBB =B B B s;B .E1 >A x>bA jAZA i >I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450872y A 'AIIN%>d`,xJ)AyZV@ٱZ~d@Z=Zc=ZH@`?F z}ڿe? `T?`{?IZV@)Z8^;iXfLB9fHBDn6DnYvK!vD=v>z:?9z:?9~GY~F~EA~>Q 1 Y4٪ |?Q 5 Y4I kB9Y,Q E?y:B);IH;iaY4YVBgAMFNOT Ignoring new targets: 303.95 m.gM‰gM‰] ProNav: ac range: 303.949219 m, nav range: 303.675751 m, bearing: 107.188923 deg, approach rate: 0.045981 m/s, LOS rate: -0.060219 deg/s, cmd heading: 105.370155 deg, new cmd heading: 105.321155 deg. gejܺeHeadingCmd: 1.838201 target range: 303.949219 and range: 305.70 m.ge+J?gigigigizfirfqfyfyBdydydycc`@ɢ-.LB- 15I1 5:ɡ1i1I5: ;I=I @i9i9)E+J?)AԉDyDhD,DE: E]96Eg4:E"E;! E;! *E5;! E5;!5ݍ9i9Ա}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701412>AA5 |AI9 II N > B,ߑJ)Ay6PV@ٱ6Kd@6U=6C=6H@\?@%O uQڿ@`ĩ?`jcX'?`?I6PV@)6R!^;i6CB LB9BHBDJ6DJYR!RP=VDڻQ)V>V=?9V=?9ZGYXZAZ>\Q 1bY4٪^r?Q 5bY4^ ^kB9dYf,Q Ef?y^zB)^:I^:i^>oY4YhjVBhg|FNOT Ignoring new targets: 303.95 m.gg ProNav: ac range: 303.949219 m, nav range: 303.693329 m, bearing: 107.165602 deg, approach rate: 0.044696 m/s, LOS rate: -0.059294 deg/s, cmd heading: 105.321155 deg, new cmd heading: 105.274516 deg. gٺHeadingCmd: 1.837387 target range: 303.949219 and range: 305.70 m.g/?g!g!g!g!zf!rf!f)f)Bd)d)d1c1c50@ɢ]1LBe? aeIa eAx:ɡiiiImiD;Im`=@iqiq)u/?)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.953483+?1?9i90DDeD)DE: E96EFA4:E!@!@!@!@!>A"}>I  BDAT read: Rx Time:05:16:25.3031  TRx dataTimestamp_ set to:1755839786.594592 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208728I hm,MJ)Ay:pV@ٱ:hd@:93=:=:H?`7ڿR+`?`W9?}?I:pV@):!^;i8^LB9bHmMb@Mb@Mb@ i)iIiiiimV-?Mbp?y&1m|>m;vB/>~BBBBBBBs;B.EBABABABABABEZ 5m`eIiimzAm"AmA)imABD6DY<!:=Q)>99GYFL A>Q 1Y4٪7f?Q 5Y4 {kB9>Q A ;Ys,Q E?yB)X:I:i~Y4YsBVBE B*** querying acoustic contact ***zh h g%FNOT Ignoring new targets: 303.95 m.g%䜺g%䜺= ProNav: ac range: 303.949219 m, nav range: 303.717194 m, bearing: 107.135347 deg, approach rate: 0.054102 m/s, LOS rate: -0.068583 deg/s, cmd heading: 105.274518 deg, new cmd heading: 105.214014 deg. g=EHeadingCmd: 1.836331 target range: 303.949219 and range: 305.70 m.gE ?gAgAgAgAzfArfIfIfIBdIdQdQcQcUJ @ɢ4LB6 顅I o :ɡiID;I$?ii) ?)Q l>%>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458314i94yԩ >A @>BEȷG4JEKJ4RE- 0DU }DU qDU (DQ EU ݉: EU $ :6EU c44:EQ "EU :;! EU ;;!% *EU U;!5 EU U;!5 IA IQ N] >Y,XJ)A6DAT read: 05:16:25.3031 LVL= 30448, 22561, 17570, 31267, AGC= 67, IDX= 429, 0.03, 1.633, 3.042,-2.422, 3.102, PHS=-1.367,-0.015, 0.715, RAW= 249.8, 7.4, CAL= 248.2, 7.5, ROT= 261.8, -7.5 <>Ygot valid direction response: 05:16:25.3031 LVL= 30448, 22561, 17570, 31267, AGC= 67, IDX= 429, 0.03, 1.633, 3.042,-2.422, 3.102, PHS=-1.367,-0.015, 0.715, RAW= 249.8, 7.4, CAL= 248.2, 7.5, ROT= 261.8, -7.5 BPDAT read: Bearing 123.0, -71.8 (Local) B~Local bearing/azimuth received: Bearing 123.0, -71.8 (Local) JDAT read: Range 11 to 50 : 305.9 m (Round-trip 407.9 ms) speed -0.1 m/s N,DAT read: user:7368> RBDAT read: Tx time:05:16:26.3911 R$Ping request sent.R@ >y7@  iIM}EO"occ?L'zӪ\?@FA aۿ) if:publishing transmit ping timeYPfFpublishing direction and range info9Pȱ¿fᅴ /?i )Ii iIM}EO"occ?L'zӪ\? )iy,U@ٱ$c@Ӫ=0ظ=H%o?(ٿ9 &?A??I,U@).^;iC5LB95HBDE6DEP)YB0!F=ֻQ)>99GYF-?A->9Q 1EY4٪=Z?Q 5MY4=C =VkB9Y,Q E?y=B)=Mr@bt!0@rVѿg|a?I'?hChhܾ?h/hEB*i#a[.?2i&:i%MBiC"i՜?ԡ addTargetRange:: Added new target pos. range: 305.899994 m, deltaT: 3.779171 s, deltaX: 0.199982 m, approachRate: 0.052917 m/s, rangeRepo size: 3  Added new target pos. range: 304.149597 m, bearing: 106.030236 deg, lat: 36.779098 deg, lon: -121.859662 deg, deltaT: 3.779171 s, deltaX: 0.200378 m, approachRate: 0.053022 m/s, posRepo size: 3 gFNOT Ignoring new targets: 304.15 m.gg ProNav: ac range: 304.149597 m, nav range: 303.815063 m, bearing: 106.360943 deg, approach rate: 0.000000 m/s, LOS rate: -0.068583 deg/s, cmd heading: 105.214017 deg, new cmd heading: 105.151632 deg. gHeadingCmd: 1.835242 target range: 304.149597 and range: 305.90 m.g]7?gagagagazfarfafifiBdididqcu`fs@cu ?ɢ7LBC/ KI t:ɡiI;IS?ii)7?) 9im9iqu/5qi=I >A O>) Dm Dm oDm )Di Em a: Em :6Em FA4:Ei !u @!u @!u @!u @I I N >g0,XJ)AyFU@ٱFc@F%=F=FHg3H? XٿG&?3_<)?`?IFU@)Fݎ^;iFC^LB9^HMb@Mb@Mb@ )Ii"~?{Gz?Mb>#<@IiA9AA) ABD 6D:2Y5Nٻ!53=5Q)5>9999=GY9E1AE>IQ 1UY4٪ML?Q 5UY4M] M2kB9Ud>Q AU:YUb,Q E]?yMzB)M:IMa:iMY4YenBeVBeEԩgFNOT Ignoring new targets: 304.15 m.g껺g껺 ProNav: ac range: 304.149597 m, nav range: 303.844910 m, bearing: 106.326663 deg, approach rate: 0.071526 m/s, LOS rate: -0.082144 deg/s, cmd heading: 105.151630 deg, new cmd heading: 105.083076 deg. gUHeadingCmd: 1.834046 target range: 304.149597 and range: 305.90 m.g?ggggzfrfffBdddc!c%f?ɢu;LBuYW` qu dIq }:9ɡyiyI} ;I?ii)?)9AA<vB%0>~B!B!B!B% =B!B!B%,t;B%.Eie 9aae1a >Au ;>I I N >) U,!J)AyB=MU@ٱB5Hc@BDW=B۱=BHC?`Sjٿ V@?ų??IB=MU@)B1^;iBߒC^KB9^HBDf6Df:Yn!nd=rֻQ)r>p9p9vGYvFvNAv>xQ 1~Y4٪zQA?Q 5~Y4z zkB9Y,Q E?yzB)z<;Iz;izY4Y  VB gamFNOT Ignoring new targets: 304.15 m.gmgu ProNav: ac range: 304.149597 m, nav range: 303.868073 m, bearing: 106.299292 deg, approach rate: 0.064252 m/s, LOS rate: -0.075919 deg/s, cmd heading: 105.083075 deg, new cmd heading: 105.028338 deg. g HeadingCmd: 1.833090 target range: 304.149597 and range: 305.90 m.g?ggggzfrfffBdddcD5}D5mD5-D1E5݉: E5:6E5t4:E1"E1!EE1!E*E5AG;!EE5BG;!Ec?ɢ>LBK» I ,9ɡiI>;I7?ii)?)m>9)qi 919q >A bA kAZA jAI I N >F=,K)A yFU@ٱFb@Fƙ=F=FH`S?9&ٿ e|{?#4L? ?IFU@)Fe^;iFC^KB9bH)fA fABDj6DjNYrrV=!rJ=rQ)r>t9t9vGYtz_:Az>|Q 1Y4٪~4?Q 5Y4~ ~jB9Y-Q E ?y~B)~G;I~;i~Y4YVBg9=FNOT Ignoring new targets: 304.15 m.gEFgEFU ProNav: ac range: 304.149597 m, nav range: 303.893494 m, bearing: 106.268426 deg, approach rate: 0.063828 m/s, LOS rate: -0.077492 deg/s, cmd heading: 105.028338 deg, new cmd heading: 104.966611 deg. gU ]HeadingCmd: 1.832013 target range: 304.149597 and range: 305.90 m.g]g?gYgYgagazfarfafifiBdididicicu`?ɢALBB' I M9ɡiIL;Ig?ii)g?)_9yi93D D lD D E : E :6E :E !@!@!@!@ԙ>A@>IQ Ia Nm > vB% />~B! B! B! B! B! B! B% ^t;B% .Eg,/K)Ay6KT@ٱ6Cb@6Ĕ=6Z7=6He`? Ճ dؿuҤ?gm??I6KT@)6l^;i4BKB9BHP Mb@Mb@Mb@ ) I i   w/?Q?Q롿 > u< \I Ai MA OA A)  zABD6DY!!?=*Q)>99GYFGA>Q 1Y4٪&?Q 5Y4" jB9>Q A:Y,Q E?y|B) ;Im ;iY4YhBVBEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 304.15 m.gxgx ProNav: ac range: 304.149597 m, nav range: 303.923157 m, bearing: 106.232742 deg, approach rate: 0.069219 m/s, LOS rate: -0.083261 deg/s, cmd heading: 104.966614 deg, new cmd heading: 104.895252 deg. g`HeadingCmd: 1.830768 target range: 304.149597 and range: 305.90 m.gV?ggggzf!rf!f!f!Bd)d)d)c)c-h?ɢ]ELB] YeIa et29ɡaiaIe;Im7?iiii)mV?)q}%?}*?uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.M9i9  0 DMDMmDM)DIEMa: EM:6EMFA4:EI"EMM;!]EMN;!]*EI!]EI!]>AM ;>I I N >! % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002908P,tIK)AyVST@ٱVNb@VH=V+=VH`x:?@@*ؿ@q?1r??IVST@)Vi^;iTfKB9fHBDv6Dvk1|Yz{<!~U=Q)>99 GY F eA >Q 1Y4٪?Q 5Y4# jB9!Y%P-Q E%?yB);I;iY4Y)-VB)gQ]FNOT Ignoring new targets: 304.15 m.g]Rg]Rm ProNav: ac range: 304.149597 m, nav range: 303.948944 m, bearing: 106.200689 deg, approach rate: 0.067289 m/s, LOS rate: -0.083633 deg/s, cmd heading: 104.895252 deg, new cmd heading: 104.831151 deg. gmuHeadingCmd: 1.829649 target range: 304.149597 and range: 305.90 m.gu1?gygygygyzfyrfyffBdddcck@ɢHLB 顽VI YF9ɡiI"6;I1?ii)1?)m9kAjA)iE9IIM0I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254828Q>Au6>ԁ A %AI I N >D D jD +D E : E 96E [4:E !% @!% @!% @!% @y,ۉcK)AKB9HYMb@Mb@Mb@ )Iie;O?~jt?y&1>D<`Ii5AfA)BD6D) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507111Y"!<=Q)>D?9D?9GYA>Q 1 Y4٪ ?Q 5 Y4%& jB9;>Q A:Y-Q E?y=B):I ;i4Y4YcBVB!gAMFNOT Ignoring new targets: 304.15 m.gMʺgMʺ] ProNav: ac range: 304.149597 m, nav range: 303.978058 m, bearing: 106.162181 deg, approach rate: 0.067007 m/s, LOS rate: -0.088619 deg/s, cmd heading: 104.831150 deg, new cmd heading: 104.754143 deg. ge."eHeadingCmd: 1.828305 target range: 304.149597 and range: 305.90 m.gm?gigigigizfirfifqfqBdydydycyc}S@ɢMLBG 顭HٽI -J8ɡiI ;I?ii)?)9ԉie9aam/0ivB2>~BBBBBBBmt;B.EԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758918>A A yAI I N >,0f}K)AyFfS@ٱF^a@F=F=FH`\?``׿׫@ ?Ͱ@r?@?IFfS@)F'^;iFݒCZKB9ZHBDn6DnβYU%rD]=jD]a=!UT=mIQ)m>u H?9u H?9uGYuFuA}>Q 1Y4٪?Q 5Y4( jB9Y.Q E?yB)t:I:iY4YVBԹgFNOT Ignoring new targets: 304.15 m.gʺgʺDzDgD(DEl: E&96Ec44:E"Eҧ;!Eԧ;!*Ej1;!Ek1;! ProNav: ac range: 304.149597 m, nav range: 304.001923 m, bearing: 106.127769 deg, approach rate: 0.061534 m/s, LOS rate: -0.088723 deg/s, cmd heading: 104.754140 deg, new cmd heading: 104.685321 deg. g_"HeadingCmd: 1.827103 target range: 304.149597 and range: 305.90 m.g?ggggzfrff f Bd d dccs@ɢEQLBE  AE@IA M8g7ɡIiIIM;IU?iQiQ)U?)YM9i9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012258>A;>A I) I9 A NM >,gK)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262748y>3&S@ٱ>+!a@>=>#׃=>H -l6?@!t׿ x?@yo?`?I>3&S@)>W7^;i>ߒCJKB9JHBDR6DR2YZ˒;!ZT=ZmQ)^>\9\9^GY\bAb>dQ 1jY4٪f쯊?Q 5jY4f) fvjB9hYn#/Q En?yfB)f6:If:ifY4Yr]BrVBrEg)-FNOT Ignoring new targets: 304.15 m.g5ɺg5ɺE ProNav: ac range: 304.149597 m, nav range: 304.024384 m, bearing: 106.093734 deg, approach rate: 0.058136 m/s, LOS rate: -0.088086 deg/s, cmd heading: 104.685319 deg, new cmd heading: 104.617254 deg. gE5!MHeadingCmd: 1.825916 target range: 304.149597 and range: 305.90 m.gM?gIgIgIgQzfQrfQfQfYBdYdYdYcYce@G @ɢ-ULB-\n )-I) 5Fɡ1i1I5>DeDeeDe+DaEea: Ee96Ee [4:Ea!u@!u@!u@!u@1iQQQU0QBDAT read: Rx Time:05:16:29.2038 TRx dataTimestamp_ set to:1755839790.624455checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515946Y>A bA ZA ԉ vB 6>~B B HB NKBB =B B B t;B .EA %AI I N >,zK)Ay6R@ٱ6`@6G{=6#*s=6H?@׿;@E? ^R? 5?I6R@)66^;i6C@9D Mb@Mb@Mb@ ) I i   S㥛?Mb`?:v ? ; ԼI Ai GA bA A)  BD%6D%밹5Q)5>5D?9=D?9GYF4vA>Q 1Z4٪<ۯ?Q 5Z4!, \jB9?Q A:Y0Q E?ykB):I':i< Z4YB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 304.15 m.g ߺg ߺ ProNav: ac range: 304.149597 m, nav range: 304.045807 m, bearing: 106.051811 deg, approach rate: 0.049939 m/s, LOS rate: -0.097719 deg/s, cmd heading: 104.617256 deg, new cmd heading: 104.533416 deg. g2%HeadingCmd: 1.824452 target range: 304.149597 and range: 305.90 m.g%?g!g!g!g!zf!rf)f)f)Bd1d1d1c1c={ @ɢeYLBeټ am^Ii mAɡiiiImOA E>= DAT read: 05:16:29.2038 LVL= 30928, 22449, 18066, 30435, AGC= 66, IDX= 435, 0.28, 1.763,-3.069,-2.042,-3.022, PHS=-1.396,-0.002, 0.936, RAW= 246.4, 4.6, CAL= 243.9, 4.7, ROT= 266.1, -4.7 M Ygot valid direction response: 05:16:29.2038 LVL= 30928, 22449, 18066, 30435, AGC= 66, IDX= 435, 0.28, 1.763,-3.069,-2.042,-3.022, PHS=-1.396,-0.002, 0.936, RAW= 246.4, 4.6, CAL= 243.9, 4.7, ROT= 266.1, -4.7 M PDAT read: Bearing 115.7, -78.8 (Local) U ~Local bearing/azimuth received: Bearing 115.7, -78.8 (Local) ] DAT read: Range 11 to 50 : 306.3 m (Round-trip 408.5 ms) speed -0.2 m/s e ,DAT read: user:7369> m BDAT read: Tx time:05:16:30.2911 m $Ping request sent.m JMaR?^? r< @ >  Kѿ) i   :publishing transmit ping timeYi  Fpublishing direction and range info9   PqZ →?  i      ) I i      i  I >JMaR?^?   ) i  A yAI) I9 NU >B,K)AyzHR@ٱzB`@z;q=z']=zHI`x?@3 ɧֿ B?7`ᓫ??IzHR@)zw5^;ixKB9HBD6DβYD! < 못Q) > H?9 H?9GYFA>AQ 1EZ4٪E*ʯ?Q 5MZ4E1. EDjB9IYMp1Q EM?yEB)E:IEg:iEZ4YXBVBEh9h=-K)Ah=FCh=FCh=?z=h4>y0r3ʯX8@j= PqZ →?h=Kѿh==Ƚ)5:Vh1r@r-|#@r='kҿצ-? r?h=Ch=ѱh=o򅒊?h=Dh=rB*i=o򅒊?2i=D:i=rBi=2C"i=?M addTargetRange:: Added new target pos. range: 306.299988 m, deltaT: 4.032073 s, deltaX: 0.399994 m, approachRate: 0.099203 m/s, rangeRepo size: 4 } Added new target pos. range: 304.551300 m, bearing: 106.982927 deg, lat: 36.779053 deg, lon: -121.859675 deg, deltaT: 4.032073 s, deltaX: 0.401703 m, approachRate: 0.099627 m/s, posRepo size: 4 gFNOT Ignoring new targets: 304.55 m.gg ProNav: ac range: 304.551300 m, nav range: 304.395599 m, bearing: 106.981865 deg, approach rate: 0.000000 m/s, LOS rate: -0.097719 deg/s, cmd heading: 104.533416 deg, new cmd heading: 104.446467 deg. gHeadingCmd: 1.822935 target range: 304.551300 and range: 306.30 m.gU?ggggzfrfffBdddc$s@c`?ɢE_LBE~ IUIQ UͤɡQiQIUB A ;>Y =i CA I I N- >/,K)AI2ԉG)VlAIjAyfQ@ٱf_@fƺh=fhM=i 5 lA AfH` ?4ֿ@? Wຟ??IfQ@)f-^;ifߒCKB9HMb@Mb@Mb@ )IiˡE?~jtx??;̼IAiAtA)ABD6D Y!A=>Q)>99GYΒA>Q 1Z4٪Ǹ?Q 5Z4I0 ,jB9?Q A:Yx1Q E?yLB) ;Iu ;i*Z4YBRWBEagFNOT Ignoring new targets: 304.55 m.gg庝 ProNav: ac range: 304.551300 m, nav range: 304.411652 m, bearing: 106.940341 deg, approach rate: 0.038827 m/s, LOS rate: -0.100433 deg/s, cmd heading: 104.446467 deg, new cmd heading: 104.363424 deg. g7HeadingCmd: 1.821485 target range: 304.551300 and range: 306.30 m.go&?gggg!zf!rf!f)f)Bd)d)d)c)c5@?ɢdLBlK a0I ɡiI ~BBHBXKBBBBBs;B.EBYBYBYBYBYB]AG559)9ԉi94Թ>A rA ?jA ? BE [4JE̙T4RE<0D D kD %D E : E :6E 4:E "E ý;! E Ž;! *E ?;! E ?;! A I I N! L,L)Ay6NQ@ٱ6I_@6v8_=6mMA=6H@ @0? 5տ`Xv?㫿3? ?I6NQ@)6F^;i6C>KB9>HBDF6DFP)Y~<!~J=ﻻQ)>99GYF ښA >1Q 1=Z4٪5?Q 5=Z45L2 5jB99YE1Q EE?y5B)5:I5g:i58Z4YM}BM@WBMEgFNOT Ignoring new targets: 304.55 m.gg캝 ProNav: ac range: 304.551300 m, nav range: 304.425812 m, bearing: 106.899706 deg, approach rate: 0.036031 m/s, LOS rate: -0.103391 deg/s, cmd heading: 104.363426 deg, new cmd heading: 104.282160 deg. g7=HeadingCmd: 1.820067 target range: 304.551300 and range: 306.30 m.g?ggggzfrfffBdddccAy q A AI I N >,LL)Ay6P@ٱ6^@6-V=6>3=6H"`l!?`SSBտ U,w?@g 3^?@?I6P@)6c%^;i6ޒC<9@BDR6DRFbbK?9bK?9fGYfFf|Af>hQ 1nZ4٪j`?Q 5nZ4j,4 jjB9pYr2Q Er?yj$B)j;IjQ;ij~FZ4Ytttg9MFNOT Ignoring new targets: 304.55 m.Yg};Ѻg};ѺD~DfD)DE: E96EFA4:E!@!@!@!@= ProNav: ac range: 304.551300 m, nav range: 304.437775 m, bearing: 106.860881 deg, approach rate: 0.028183 m/s, LOS rate: -0.091462 deg/s, cmd heading: 104.282160 deg, new cmd heading: 104.204514 deg. g=b'UHeadingCmd: 1.818712 target range: 304.551300 and range: 306.30 m.gU?gQgQgYgYzfYrfYfafaBdadadacicm`?ɢnLBRK 顽3I /SCɡiI@m;>ԩvB 3>~B B B B B B B s;B }.E>A 6> A yAI I N >! ,7L)AyB=P@ٱB8^@BM=B#=BH:F? @ԿCE?`rh? ?IB=P@)B@^;iBCJKB9NH%Mb@Mb@Mb@ !)!I!i!!%oʡ?~jth?S㥛% ?%D;%/ݼI!i%A!!)!%\ABD=6D=NYMG:!MU H?9U H?9UGYQ]؜A]>aQ 1mZ4٪e?Q 5mZ4eK6 eiB9m: ?Q Au:Yum3Q Eu?yeB)e ;Ie ;ieUZ4Y}xB}4WB}EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 304.55 m.gg ProNav: ac range: 304.551300 m, nav range: 304.448517 m, bearing: 106.815120 deg, approach rate: 0.026460 m/s, LOS rate: -0.112712 deg/s, cmd heading: 104.204515 deg, new cmd heading: 104.112996 deg. gFNHeadingCmd: 1.817115 target range: 304.551300 and range: 306.30 m.g6?gg gigizfirfifqfqBdqdqdycyc}`i?ɢsLB ] 7I  xhɡiI\:AA I9 IQ N] >ԑ ,PL)Ay6yO@ٱ6q]@6cD=6_=6H@S@i? &F/Կ '\c?`ᒨA??I6yO@)6!^;i4>KB9VH^ph9h9nGYnFnżAn>pQ 1vZ4٪rs?Q 5vZ4r8 riB9xYz 4Q Ez?yrB)r:Ir-:ircZ4Y|~0WBg!-FNOT Ignoring new targets: 304.55 m.g-g-캝E ProNav: ac range: 304.551300 m, nav range: 304.456024 m, bearing: 106.775161 deg, approach rate: 0.019430 m/s, LOS rate: -0.103417 deg/s, cmd heading: 104.112997 deg, new cmd heading: 104.033081 deg. gEC=MHeadingCmd: 1.815720 target range: 304.551300 and range: 306.30 m.gMi?gIgIgIgIzfIrfIfQfQBdQdYdYcYc] p@ɢxLBj 額8I ]ɡiI/Ae3>I) I9 NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507084 .,JjL)A KB9 HMb@Mb@Mb@ )IiQ?Mbp?\?;̼IAiAxA)ABD6DYW#!==Q)>99GYFA>Q 1Z4٪_?Q 5Z4): iB9?Q A:Y3Q E?yB);IV;irZ4YrB7WBEg FNOT Ignoring new targets: 304.55 m.ggﺝ- ProNav: ac range: 304.551300 m, nav range: 304.465149 m, bearing: 106.729665 deg, approach rate: 0.021040 m/s, LOS rate: -0.104905 deg/s, cmd heading: 104.033084 deg, new cmd heading: 103.942094 deg. g-?5HeadingCmd: 1.814132 target range: 304.551300 and range: 306.30 m.g5x5?g1g1g1g1zf9rf9f9f9BdAdAdAcAcE@AAvB~BBBB =BBBs;Bz.Eɢ-~LB5s 15PI1 5ɡ1i9I=A E>I I N >DA DE fDE ,DA EA  EE 96EE g4:EA "EE ӧ;!U EE ԧ;!U *EE -;!U EE -;!U Q ,!,RL)Ay:_N@ٱ:Z\@:ɨ2=:Jl<:H%@?Dҿ d? ISJ??I:_N@):Q)r>t9t9vGYtvWAz>|Q 1Z4٪~N?Q 5Z4~; ~iB9Y:5Q E?y~B)~:I~:i~Z4YmB.WBg9=FNOT Ignoring new targets: 304.55 m.gEngEn𺝅U ProNav: ac range: 304.551300 m, nav range: 304.468994 m, bearing: 106.690000 deg, approach rate: 0.010189 m/s, LOS rate: -0.105101 deg/s, cmd heading: 103.942092 deg, new cmd heading: 103.862763 deg. gUX@]HeadingCmd: 1.812747 target range: 304.551300 and range: 306.30 m.g]?gYgYgYgazfarfafafiBdididicicu'@ɢLBξ 顥0XI `fɡiI!AirAu?jAu?IIN>ԁ - BDAT read: Rx Time:05:16:33.1042 - TRx dataTimestamp_ set to:1755839794.404477- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2641151B',qL)A0y#M@ٱ[@ن*=<H%I?@?GVҿAi?GO k?w?I#M@)^;iܒC]KB9]}HBD6DYĻ!<=mQ)>D qD ^D (D E 2h: E ;96E c44:E !u@!u@!u@!}@99GYFA>Q 1Z4٪:?Q 5Z4= iB9Y5Q E?yzB).;I;iZ4Y1WBgAMFNOT Ignoring new targets: 304.55 m.gmegme캝} ProNav: ac range: 304.551300 m, nav range: 304.471130 m, bearing: 106.641365 deg, approach rate: 0.004539 m/s, LOS rate: -0.103336 deg/s, cmd heading: 103.862766 deg, new cmd heading: 103.765497 deg. g}=HeadingCmd: 1.811050 target range: 304.551300 and range: 306.30 m.ԉgy?ggggzfrfffBdddcc 4 @ɢLBAۀ aI ̺ɡiIP%~BBBB =BBBs;B.E >A ;>I I N% >7k-,VHL)Ay6L@ٱ6Z@6~,"=6WV<6H m?\ѿfNЁ?4D@9?`?I6L@)6&^;i6ߒCL9P\EDAT read: 05:16:33.1042 LVL= 32736, 26993, 19106, 32755, AGC= 67, IDX= 425, 0.10, 0.115, 1.588, 2.695, 1.636, PHS=-1.418,-0.002, 1.015, RAW= 245.4, 3.9, CAL= 242.7, 4.0, ROT= 267.3, -4.0 MYgot valid direction response: 05:16:33.1042 LVL= 32736, 26993, 19106, 32755, AGC= 67, IDX= 425, 0.10, 0.115, 1.588, 2.695, 1.636, PHS=-1.418,-0.002, 1.015, RAW= 245.4, 3.9, CAL= 242.7, 4.0, ROT= 267.3, -4.0 UPDAT read: Bearing 110.9, -82.4 (Local) U~Local bearing/azimuth received: Bearing 110.9, -82.4 (Local) eDAT read: Range 11 to 50 : 306.7 m (Round-trip 409.0 ms) speed -0.1 m/s m,DAT read: user:7370> mBDAT read: Tx time:05:16:34.1911 u$Ping request sent.u19195GY5F=A=>AQ 1MZ4٪E(?Q 5MZ4Ey? EiB9MC?Q AM:YM7Q EU?yEB)E:IE; ;iEZ4Y]gB]&WB]EhphrL)AhryChryChrY?zrt,zr~#ϤE5@jrݼLj?&k۱?hrϿhr5r#4Qr@;/@rr,s3ͿO1^?88?hrChrhri՗?hrjhrB*irܾ?2ir/:irsBir C"irkAQ y AIIN>5,L)Ay6BL@ٱ6=Z@6=6<6H?@пx?`7=͐??I6BL@)6/^;i4>KB9>yHBDF6DF:YNi!NP9P9VGYTVoڼAV>XQ 1^Z4٪Z?Q 5^Z4Z3A ZriB9`Yb7Q Eb?yZjB)Z:IZR:iZZ4Ydf)WBdvB*** querying acoustic contact ***zhthtgq}FNOT Ignoring new targets: 304.95 m.g}|g}|T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 304.947266 m, nav range: 304.103851 m, bearing: 105.250562 deg, approach rate: 0.001454 m/s, LOS rate: -0.116703 deg/s, cmd heading: 103.677292 deg, new cmd heading: 103.584195 deg. gUHeadingCmd: 1.807885 target range: 304.947266 and range: 306.70 m.gh?ggggzfrfffBdddcc ?ɢULB]ǚ Y]rIY ]ӵɡaiaIe~+A @>y A) I1 II NU >;,L)AvB4>~BBBB =BBBs;B.E5kKB950HMb@Mb@Mb@ )IibX9?{Gzt?QE?ף;uI1AiAAGA)ABD6Df?YD!8=Q)>99GYFA>Q 1Z4٪?Q 5Z4C aiB9S?Q A:YO7Q E ?yB)*:Ii ;i(Z4YbBYWBEIgFNOT Ignoring new targets: 304.95 m.gg ProNav: ac range: 304.947266 m, nav range: 304.106873 m, bearing: 105.201364 deg, approach rate: 0.006729 m/s, LOS rate: -0.109581 deg/s, cmd heading: 103.584197 deg, new cmd heading: 103.485801 deg. gHHeadingCmd: 1.806168 target range: 304.947266 and range: 306.70 m.g0?ggggzfrfffBdd d c c  ?ɢ]LBe!= ae9Ii mn$ɡiiiIm/.A9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242369Am AIy I N >"B,x M)Ay6rJ@ٱ6jX@6) =6^ <6H X0?I'5Ͽ? j$`R? ?I6rJ@)610^;i4BKB9BKHBDJ6DJFYd=!S= +Q) > K?9 K?9GYF%iA>Q 1%Z4٪b쮊?Q 5%Z4D SiB9)Y-8Q E-?ydB):I:iZ4Y5]B58WB1gYeFNOT Ignoring new targets: 304.95 m.ge$ge$u ProNav: ac range: 304.947266 m, nav range: 304.104675 m, bearing: 105.158687 deg, approach rate: -0.005993 m/s, LOS rate: -0.116400 deg/s, cmd heading: 103.485801 deg, new cmd heading: 103.400448 deg. guU}HeadingCmd: 1.804678 target range: 304.947266 and range: 306.70 m.g?ggggzfrfffBdddcc)?ɢLB )I ɡiI\1AA yAIA Ia D tD aD +D E s: E 96E [4:E ! @! @! @! @ N >RH,`%M)AI^G)j~nAIti~nAXAySJ@ٱKX@k=8L;H??fGͿ_] w?@?ISJ@)9B^;iCKB9UH-Mb@Mb@Mb@ )))I)i))-S?y&1|?{Gzt-?-`;-ףI-AAi-rA-A-+A))-ABDE6DEYUd<!U7=UnQ)U>] H?9] H?9]GYYeԼAe>iQ 1uZ4٪mU֮?Q 5uZ4mPF mHiB9u?Q Au:YuI9Q E}?ymB)m* ;Im;imIZ4Y0WBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748101 g!%FNOT Ignoring new targets: 304.95 m.gMwgMw] ProNav: ac range: 304.947266 m, nav range: 304.099915 m, bearing: 105.107859 deg, approach rate: -0.010296 m/s, LOS rate: -0.109924 deg/s, cmd heading: 103.400451 deg, new cmd heading: 103.298793 deg. g],IeHeadingCmd: 1.802904 target range: 304.947266 and range: 306.70 m.ge?gagagagazfrfffBdddcc?ɢLBs_  ~BBBB =BBBs;B.EBBBBş =Bş =B 59iAiu 9qqu4q e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997858>A ;>rA ?jA ?1 A AI IN>ϯP,eBM)ABEFA4JEI4RE/D>yD>bD>(D<E>: E>96E>c44:E<"E>;!FE>;!F*E>7;!FE>8;!Fy6LI@ٱ6GW@6<63j;6H03;0?a 0̿6@h@Q 1Cm? [?I6LI@)6^;i6CRKB9RPHBDZ6DZ:Yr*!vE=vIQ)z>zK?9zK?9zGYzF~4A~>Q 1 Z4٪?Q 5 Z4G >iB9 Y:Q E?y7C);I&;iZ4YWB*WBEgAEFNOT Ignoring new targets: 304.95 m.gMIgMe ProNav: ac range: 304.947266 m, nav range: 304.092529 m, bearing: 105.060662 deg, approach rate: -0.018472 m/s, LOS rate: -0.118055 deg/s, cmd heading: 103.298791 deg, new cmd heading: 103.204395 deg. ge XmHeadingCmd: 1.801257 target range: 304.947266 and range: 306.70 m.gm?gig g g zf rf ffBdddcc@v@ɢLBп 顭I  |@ɡiI7A @>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501983A) I1 IA NU >^V,\M)Ay=G@ٱ=U@=<=[=H]R#?@& !ɿw`0@u@} 5 B?I=G@)=)^;i=ߒCUzKB9UCHBDe6DeNYu!uB=uxQ)}>y9y9}GY}F*nA>Q 1Z4٪׬?Q 5Z4;I 5iB9Y;Q E?yxC);I;iZ4YRB)WBEԱB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 304.95 m.gg ProNav: ac range: 304.947266 m, nav range: 304.079010 m, bearing: 105.012846 deg, approach rate: -0.032014 m/s, LOS rate: -0.113234 deg/s, cmd heading: 103.204397 deg, new cmd heading: 103.108761 deg. g;OHeadingCmd: 1.799587 target range: 304.947266 and range: 306.70 m.gX?gggg zfrfffBdddcc- '@DtDdD$DEs: E96E4:E!@!@!@!@ɢLBn tI LTɡiI_:A ;>A!I)I9NM>],PzM)Ay6F@>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005956ٱ6T@6]<6Tm6Hp@?5@Sǿr@v֘@[m ?I6F@)6tG^;i6ޒCFrKB9J9H=Mb@Mb@Mb@ 9)9I9i99=S?Mbp=/?==I9i999)99BDU6DUkYx!=MQ)>99GYGA>Q 1[4٪?Q 5[4J .iB9/?Q A:Y=Q E?yC):I:iy[4Y AB WB g15FNOT Ignoring new targets: 304.95 m.g=0g=0AU ProNav: ac range: 304.947266 m, nav range: 304.053070 m, bearing: 104.953579 deg, approach rate: -0.050578 m/s, LOS rate: -0.115569 deg/s, cmd heading: 103.108761 deg, new cmd heading: 102.990217 deg. gUS]HeadingCmd: 1.797518 target range: 304.947266 and range: 306.70 m.g]?gYgYgYgYzfYrfafafaBdididicicu`@ɢLBӼ 顝kI IgɡiI=>iU9QQUm0Qy-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257975ԙ >A} @>bA} jAZAy Iq I N >Je, M)Ay6|-F@ٱ6s(T@6ڭ<6m96H]?T NƿD6Uet?I6|-F@)68^;i6C@9@BDJ6DJNRQ)V?T9T9VGYVFZ AZ?\Q 1b[4٪^Z?Q 5b[4^K ^)iB9`Ybb>Q Ef?y^C)^9:I^:i^W[4Yj:BnWBnEg|FNOT Ignoring new targets: 304.95 m.gg ProNav: ac range: 304.947266 m, nav range: 304.033539 m, bearing: 104.914469 deg, approach rate: -0.057449 m/s, LOS rate: -0.115046 deg/s, cmd heading: 102.990216 deg, new cmd heading: 102.911991 deg. gR%HeadingCmd: 1.796153 target range: 304.947266 and range: 306.70 m.g%X?g!g!g!g!zf!rf)f)f)Bdd d c c` @ɢ]LB], Y]謾IY eswɡaiaIeO,@A ;>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761870I I) N= >+k,׮M)APvB}2>~ByByByByByByB}Hs;B}V.EySE@ٱNS@aS<憧H sj?ffĿ`->@t@?ISE@)^;iCxKB9@HMb@Mb@Mb@ )Ii)\(?G!?InAi\AAA)ABD6DJYU;!<:OQ)>99GYFIӼA%>)Q 1-[4٪-Wf?Q 55[4-L -"iB95G!?Q A5:Y5>Q E5?y-QC)-j:I-]:i-[&[4Y=WBE6WBAgimFNOT Ignoring new targets: 304.95 m.gu5gu5 ProNav: ac range: 304.947266 m, nav range: 304.001221 m, bearing: 104.853584 deg, approach rate: -0.062739 m/s, LOS rate: -0.118207 deg/s, cmd heading: 102.911990 deg, new cmd heading: 102.790208 deg. gTXHeadingCmd: 1.794028 target range: 304.947266 and range: 306.70 m.g?ggggzfrfffBdddcc@ɢLBӼ I *ɡiI&C BDAT read: Tx time:05:16:38.0910 $Ping request sent.{S?]sCYi]Pc][]C]3k]B ]n)]iu9qq}0yI]X?i]|@]d=] A@]ԇ=]k@ ]ԇiYYI]&YR߿M?4ېN??]P@]b ])]ԇiYY:publishing transmit ping timeYFpublishing direction and range info9Y]CM?Ԕ>{S?YYiYYYYY Y)YIYiYYYYY YiYYI]&YR߿M?4ېN??YY Y)YiYY! D lD YD *D E V: E *96E (N4:E "E w;! E w;! *E ! E ! >A I I) N= >r,wM)Ay:D@ٱ:zR@:@<:<:H`6?"ϒ¿/@ٸ@瓿exO?I:D@):9%^;i8ZdKB9Z'HBDv6Dv0Y%k!-=Q)?99GY$A ?Q 1-[4٪jU?Q 55[4M iB91Y5?Q E5?yC)e{S?hhԇ$$NbϨ⛠r@XP$m5@rcɿ7,A?+n.?hCh'wh y?h;bh B*i{lӕ?2iR:iBi%C"i? addTargetRange:: Added new target pos. range: 306.899994 m, deltaT: 4.032035 s, deltaX: 0.199982 m, approachRate: 0.049598 m/s, rangeRepo size: 4  Added new target pos. range: 305.146118 m, bearing: 101.712469 deg, lat: 36.779143 deg, lon: -121.859644 deg, deltaT: 4.032035 s, deltaX: 0.198853 m, approachRate: 0.049318 m/s, posRepo size: 4 gFNOT Ignoring new targets: 305.15 m.g-g)= ProNav: ac range: 305.146118 m, nav range: 304.293335 m, bearing: 104.161623 deg, approach rate: 0.000000 m/s, LOS rate: -0.118207 deg/s, cmd heading: 102.790208 deg, new cmd heading: 102.708282 deg. g9EHeadingCmd: 1.792598 target range: 305.146118 and range: 306.90 m.gEs?gAgAgAgazfirfififiBdqdqdqcu`f.s@cu??ɢLB> zI L^ɡiIEA I I1 N= >r+x,(DM)AyFGC@ٱF?Q@F@9 9 GY F A%>AQ 1U[4DunDu`Du(DqEuO]: Eu96Euc44:Eq!@!@!@!@Y٪EA?Q 5[4EN EiB9Y}@Q E?yEC)Ec=IEqc=iE?[4YPB`WBEB*** querying acoustic contact ***zhhg)MFNOT Ignoring new targets: 305.15 m.gUgUe ProNav: ac range: 305.146118 m, nav range: 304.265991 m, bearing: 104.116146 deg, approach rate: -0.065718 m/s, LOS rate: -0.109309 deg/s, cmd heading: 102.708280 deg, new cmd heading: 102.617319 deg. ge HmHeadingCmd: 1.791010 target range: 305.146118 and range: 306.90 m.g??ggggzfrfffBdddccY?ɢ LB HҾI G\ɡiI#PH~BCB HBNKBB =BBnDBXs;Bc.E>A I! I1 NA gU~,M)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989178yNB@ٱNP@NQ9Q9UGYUF]sA]>aQ 1e[4٪e)?Q 5m[4ezO eiB9mO"?Q Am:YmAQ Em?ye C)e:Ie{:ieN[4Y}IB}8WB}EgFNOT Ignoring new targets: 305.15 m.gugu ProNav: ac range: 305.146118 m, nav range: 304.230133 m, bearing: 104.063966 deg, approach rate: -0.092787 m/s, LOS rate: -0.135038 deg/s, cmd heading: 102.617322 deg, new cmd heading: 102.512949 deg. g"w%HeadingCmd: 1.789189 target range: 305.146118 and range: 306.90 m.g%!?g!g!g!g!zf)rf)fIfIBdQdQdQcQc]?ɢLB 顥ɾI ɡiIJA @>AQ Y Ia Iq N >!T,YN)Ay6A@ٱ6O@6t<66H REKB9>HBDF6DFYN0y!Nf=R8[Q)R>P9P9RGYTV AV> Q 1[4٪ @?Q 5[4 P  iB9YqBQ E?y FC) -:I F:i T[[4Y%rB%WB-EgQUFNOT Ignoring new targets: 305.15 m.g]5g]5m ProNav: ac range: 305.146118 m, nav range: 304.197327 m, bearing: 104.020626 deg, approach rate: -0.089469 m/s, LOS rate: -0.118209 deg/s, cmd heading: 102.512950 deg, new cmd heading: 102.426261 deg. gUXHeadingCmd: 1.787675 target range: 305.146118 and range: 306.90 m.g?ggggzfrfffBdddcc`m?ɢLB ׾I ";ɡiI8MA;>Y A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745175I N >uv,0N)A yV@@ٱVN@VU]~B%CB%HB%CKBB% =B!B%oDB%s;B%.EeMb@Mb@Mb@ a)aIaiaaex&?I +?Qe7)?e9<euIehAieVAeAeA)aaBDu6Du1Y<!<=UQ)>99GYFU A>Q 1=[4٪?Q 5=[4Q iB9EZ)?Q AE:YE AQ EE?yC)A! bDa ZDe AADu fDu XDu )Dq Eu I@: Eu 96Eu FA4:Eq "Eu FR;! Eu HR;! *Eu :! Eu :! Aq I I N >,JN)A$yVF@@ٱV=M@V Ct9t9vGYtz?Az>|Q 1[4٪~1魊?Q 5[4~Q ~hB9YBQ E ?y~C)~;I~@;i~w[4YdBWBEMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249262gaeFNOT Ignoring new targets: 305.15 m.gmgm} ProNav: ac range: 305.146118 m, nav range: 304.129791 m, bearing: 103.919993 deg, approach rate: -0.091228 m/s, LOS rate: -0.128325 deg/s, cmd heading: 102.321561 deg, new cmd heading: 102.224975 deg. g}jHeadingCmd: 1.784162 target range: 305.146118 and range: 306.90 m.go_?ggggzfrfffBdddcc:@ɢEMBET AM߾II MgŻɡIiIIM_RA@> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502927 I I N >T,OdN)AyF?@ٱFM@F*99GYFA> Q 15[4٪ 0ϭ?Q 55[4 R hB99Y=BQ E=?y  C) ;I 1:i -[4YE]BEWBEEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 305.15 m.g g  ProNav: ac range: 305.146118 m, nav range: 304.084259 m, bearing: 103.862228 deg, approach rate: -0.095501 m/s, LOS rate: -0.121176 deg/s, cmd heading: 102.224976 deg, new cmd heading: 102.109429 deg. g]HeadingCmd: 1.782146 target range: 305.146118 and range: 306.90 m.gZ?ggggzfrfffBdddcc @uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753244ɢ}MB}Y 顅I hԻɡiIZU~BCBHB9KBB =BBpDBs;B.EBCBCBƔCBƞ =BƝ =Bƾ6iU9YYYYA >A} 6>rA ?jA !?- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006310IY Ii q N} >T#,-N)AyVi>@ٱV`K@V @)VI^;iVߒCj+KB9jH!@! !@! !@! !@! BD6D0Y-!-U=5:Q)5>1999=GY=F=o*A=>AQ 1U[4٪E幭?Q 5U[4ES EhBQ =U+:9QQ AU:YUDQ E]?yEaC)E%;IEi>iE[4YaeWBagFNOT Ignoring new targets: 305.15 m.gg ProNav: ac range: 305.146118 m, nav range: 304.043213 m, bearing: 103.815096 deg, approach rate: -0.110797 m/s, LOS rate: -0.127242 deg/s, cmd heading: 102.109429 deg, new cmd heading: 102.015153 deg. ghHeadingCmd: 1.780500 target range: 305.146118 and range: 306.90 m.go?ggggzfrfffBdddcc`e @ɢMB~* 顭LI ߻ɡiIW<BE]·G4JE]#E4RE]m0DpDSDDEd: E96E:E"E{;!E|;!*E=:!E>:!Io?ii)o?) )9iU9YYYYUBDAT read: Rx Time:05:16:40.9044 ]TRx dataTimestamp_ set to:1755839802.216388]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258123ay >A} ;>I I N >G,zTN)A0y><@ٱ>J@>Pv<>Sv>H 9?`@2`"}MXpnĿn?I><@)>];i>ޒCJ#KB9JHBDR6DRβYZ!ZS=^R_Q)^>\9`9bGY`b'Ab>dQ 1j[4٪f_?Q 5j[4fS fhBQ =n :9lQ AnR:YnEQ En?yfC)f ;IfD?if[4YrWBrWBtg!-FNOT Ignoring new targets: 305.15 m.g5u g=u U ProNav: ac range: 305.146118 m, nav range: 303.997955 m, bearing: 103.767626 deg, approach rate: -0.116223 m/s, LOS rate: -0.121923 deg/s, cmd heading: 102.015152 deg, new cmd heading: 101.920198 deg. g]!_eHeadingCmd: 1.778843 target range: 305.146118 and range: 306.90 m.gm!?gigigigizfirfqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509094ffBdddc c  M @ɢ}"MB}<- y}Iy ~ɡiI}ZA)  DAT read: 05:16:40.9044 LVL= 26576, 27121, 16882, 27955, AGC= 63, IDX= 444, 0.31,-1.555,-0.740, 0.915,-0.298, PHS=-1.155,-0.397, 1.169, RAW= 228.7, 3.8, CAL= 227.1, 4.6, ROT= 282.9, -4.6  Ygot valid direction response: 05:16:40.9044 LVL= 26576, 27121, 16882, 27955, AGC= 63, IDX= 444, 0.31,-1.555,-0.740, 0.915,-0.298, PHS=-1.155,-0.397, 1.169, RAW= 228.7, 3.8, CAL= 227.1, 4.6, ROT= 282.9, -4.6  PDAT read: Bearing 347.0, -76.8 (Local)  ~Local bearing/azimuth received: Bearing 347.0, -76.8 (Local)  DAT read: Range 11 to 50 : 306.9 m (Round-trip 409.3 ms) speed -0.2 m/s  ,DAT read: user:7372>  BDAT read: Tx time:05:16:41.9910  $Ping request sent. im u@m ԇ=m S}@m l=m L@ m lii i Im kԿcHA?ٰ?m ڹ?m G憽 m ;>)m lii i  :publishing transmit ping timeY  Fpublishing direction and range info9i m {?x2̅zꇴ?i i ii i i i i i )i Ii ii i i i i i ii i Im kԿcHA?ٰ?i i i )i ii i vB M>~B CB HB /KBB =B B B It;B .Eq,1N)A\=.KB9EH!-!- !-!- !-!- !-!- -Mb@Mb@Mb@ )))I)i))- rh?㥛 ?~jt-,?-=-ļI-;Ai-lA-A-A))- ABDE6DE:Y}<!}1=}Q)}>99GYFA>Q 1[4٪3?Q 5[4T hBQ =T:9-?Q A:YA@Q E?yC);I;i[4YPBqWBEhhN)AhChCh?z*P@s>Lr"hlG\:SA dr@^s 9@r /!пG?V˴?h ChЙhS]9?hhB*iܾ?2i:iEBiޗC"i"?] addTargetRange:: Added new target pos. range: 306.899994 m, deltaT: 3.779907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 305.166107 m, bearing: 104.647482 deg, lat: 36.779114 deg, lon: -121.859656 deg, deltaT: 3.779907 s, deltaX: 0.019989 m, approachRate: 0.005288 m/s, posRepo size: 4 gFNOT Ignoring new targets: 305.17 m.gg ProNav: ac range: 305.166107 m, nav range: 303.741516 m, bearing: 104.357313 deg, approach rate: 0.000000 m/s, LOS rate: -0.121923 deg/s, cmd heading: 101.920199 deg, new cmd heading: 101.804109 deg. gHeadingCmd: 1.776817 target range: 305.166107 and range: 306.90 m.gn?ggggzfrfffBdddc c \;?ɢ-MBK" }I ɡiI{]A 6>bA ZA lAI9 II Nm > f,:AN)A) yB:@ٱBH@B;BE/BH`Vpu`p? `uŀ ?IB:@)B];iBߒCJ KB9JHBDV6DVP)YZŽ!Zj=^Q)^>\9`9bGYbFfŽAf>hQ 1j[4٪j^v?Q 5n[4jFU jhB9lYnnBQ En?yj/C)j:Ij:ijE[4YtvWBtgFNOT Ignoring new targets: 305.17 m.g{g{- ProNav: ac range: 305.166107 m, nav range: 303.706940 m, bearing: 104.313161 deg, approach rate: -0.103701 m/s, LOS rate: -0.132435 deg/s, cmd heading: 101.804106 deg, new cmd heading: 101.715792 deg. g5_r5HeadingCmd: 1.775275 target range: 305.166107 and range: 306.90 m.g5:A @>Iq I N >ԉ bD ZD @AD nD D %D E O]: E 6E 4:E ! @! @! @! @,N)Ayy-9@ٱ$G@˗z;&"(H l p? ؄`Ro"@?I-9@)^;i-KB9-HMb@Mb@Mb@ )Ii?sh|??99GYA>Q 1[4٪q[?Q 5[4 V hB9).?Q A:YBQ E ?yC) ;I ;i[4YIBWBE=B*** querying acoustic contact ***zh9h9gAMFNOT Ignoring new targets: 305.17 m.gMgU] ProNav: ac range: 305.166107 m, nav range: 303.659454 m, bearing: 104.253232 deg, approach rate: -0.100349 m/s, LOS rate: -0.126665 deg/s, cmd heading: 101.715792 deg, new cmd heading: 101.595916 deg. gegmHeadingCmd: 1.773183 target range: 305.166107 and range: 306.90 m.gm?gigigigizfirfqfqfqBdqdydycyc}K?ɢ%@MB-3 )- I) -- ɡ)i1I5b~ByB}HB}%KBByByByB}t;B}(/Ei95 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.>A ;> AM yAIQ Ia Nu >E,J&O)AyB38@ٱB*F@B e$;BUs,BH أ g`:ܣ?c@&W dL@?IB38@)B^;i@JKB9JHBDR6DR0XY^!^]=^hQ)b>b H?9b H?9bGYbFfICAf>hQ 1n[4٪jNF?Q 5n[4jV jhB9lYnCQ Er?yjC)j:Ij:ij[4YvABv}WBvEgFNOT Ignoring new targets: 305.17 m.gfgf- ProNav: ac range: 305.166107 m, nav range: 303.618103 m, bearing: 104.206381 deg, approach rate: -0.112179 m/s, LOS rate: -0.127117 deg/s, cmd heading: 101.595915 deg, new cmd heading: 101.502200 deg. g-h5HeadingCmd: 1.771548 target range: 305.166107 and range: 306.90 m.g5?g1g1g9g9zf9rf9fAfABdAdAdAcIcME0?ɢ}IMB}OM y}Iy ɡiI?eA!rA-?jA-?9 AU AIa Iq N} >#,O)ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752376yBNp7@ٱBEkE@B:B HBH` ? [ሿ@]Vv`?IBNp7@)B^;iBCNKB9NHBDV6DVkY^-A!^K=^9Q)b>bK?9bK?9bGYbFf8Af>hQ 1n[4٪jD/?Q 5n[4j%W jhB9lYnDQ Er?yjC)j;Ij;ij[4Yv:BvtWBtgyFNOT Ignoring new targets: 305.17 m.gcgc ProNav: ac range: 305.166107 m, nav range: 303.568420 m, bearing: 104.155532 deg, approach rate: -0.123320 m/s, LOS rate: -0.126235 deg/s, cmd heading: 101.502198 deg, new cmd heading: 101.400484 deg. ggHeadingCmd: 1.769772 target range: 305.166107 and range: 306.90 m.g?ggggzfrfffBdddccE?ɢ%TMB-9H )-I) -ɡ1i1I5_ hAA vBM Q>~BI BM HBM KBBI BI BM qDBM {u;BM /E A I I N >K,7O)A~KB9~HMb@Mb@Mb@ )Ii rh?J +?MbC+?=IhAiA)ABD6D02Y<!;=Q)>99GYA>Q 1[4٪}?Q 5[4W hB9-?Q A:YgCQ E?ySC):I]:i [4YpWBg9EFNOT Ignoring new targets: 305.17 m.gMgMm ProNav: ac range: 305.166107 m, nav range: 303.521912 m, bearing: 104.100505 deg, approach rate: -0.105400 m/s, LOS rate: -0.124723 deg/s, cmd heading: 101.400483 deg, new cmd heading: 101.290412 deg. gmAduHeadingCmd: 1.767851 target range: 305.166107 and range: 306.90 m.g}H?gygyggzfrfffBdddccA@ɢ_MBK I _#ɡi I j<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256375I H?i i)H?)9 iyyy 2DfDUD)DEI@: EP96EFA4:E"EFR;!EIR;!*E:!E:!1>Ae @>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508439Y A I I N >3s,&RO)AyJ,5@ٱJ'C@JJюJH@7Ss? 2 X?q?IJ,5@)J]];iJCRKB9RHBDZ6DZYbH!bS=fQ)f>d9d9fGYfFjAj>lQ 1r\4٪nc?Q 5r\4n2X nhB9pYvEQ Ev?ynC)ny:In:in\4Yz3BzgWBzEg!%FNOT Ignoring new targets: 305.17 m.g-g-= ProNav: ac range: 305.166107 m, nav range: 303.471588 m, bearing: 104.051846 deg, approach rate: -0.130950 m/s, LOS rate: -0.126640 deg/s, cmd heading: 101.290414 deg, new cmd heading: 101.193080 deg. g=gEHeadingCmd: 1.766152 target range: 305.166107 and range: 306.90 m.gEH?gAgAgAgAzfIrfIfIfIBdQdQdQcQc]@@ԱɢiMBʯY >I +ɡ i I mA;>bAkAZAkADU gDU YDU +DQ EU C: EU *96EU [4:EQ !] @!e @!e @!e @A I! A IQ N >[,΍lO)Ayr4@ٱrA@r0rmrH :@vWI?8?@⑿ f?`?Ir4@)r^;irݒCzJB9~H}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012523Mb@Mb@Mb@ )Ii/$?&1?~jth,?=DIiA)(ABD6DY!<=7Q)>99GYF*A>Q 1\4٪z笊?Q 5\4X hB9.?Q A:YFQ E?yC) ;I ;i\4Y,BaWBEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 305.17 m.gxg%x ProNav: ac range: 305.166107 m, nav range: 303.411469 m, bearing: 103.997149 deg, approach rate: -0.137838 m/s, LOS rate: -0.125431 deg/s, cmd heading: 101.193077 deg, new cmd heading: 101.083661 deg. geHeadingCmd: 1.764243 target range: 305.166107 and range: 306.90 m.g?ggggzfrfffBdddc c &@ɢUuMB]sU Y]2IY ]64ɡYiYIexp<AiAivBuU>~BuCBqBqBu =BqBqBu:v;Bu/EI?ii)?)99i 90i- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264325>AQ ԙ IY Ii Nu >,yO)Ay62@ٱ6@@6S6.6H@ݼ`#Z@\?uX?R7~p? Ց?I62@)6R];i6ߒC>KB9BHBDJ6DJYR\<!R[=RjQ)R>T9T9VGYTV AAZ>\Q 1b\4٪^Ҭ?Q 5b\4^X ^hB9`YbGQ Eb?y^#C)^:I^d:i^\4YhDnhDnRDn)DlEnG: En96EnFA4:El"En^;!vEn^;!v*En:!vEn:!vjVWBQgFNOT Ignoring new targets: 305.17 m.gg ProNav: ac range: 305.166107 m, nav range: 303.355743 m, bearing: 103.950399 deg, approach rate: -0.139605 m/s, LOS rate: -0.117142 deg/s, cmd heading: 101.083658 deg, new cmd heading: 100.990141 deg. gaV%HeadingCmd: 1.762610 target range: 305.166107 and range: 306.90 m.g%8?g!g!g!g)IzfQrfQfYfYBdYdYdacace @ɢ MBA I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768646 ,OyO)A5KB95HBDM6DMJY] <!]2=eQ)e>a9a9mGYmFmAm>qQ 1}\4٪uȷ?Q 5}\4uX uhB9YQ E?yusC)u:IuB:iu,\4Y%BDWBEԱgFNOT Ignoring new targets: 305.17 m.g+g+M ProNav: ac range: 305.166107 m, nav range: 303.287415 m, bearing: 103.892812 deg, approach rate: -0.157819 m/s, LOS rate: -0.133037 deg/s, cmd heading: 100.990139 deg, new cmd heading: 100.874940 deg. I}lGguys)IHeadingCmd: 1.760600 target range: 305.166107 and range: 306.90 m.iAgV[?ggggzfrfDjDOD(DEN: E96Ec44:E!@!@!@!@ff Bd)d)d)c1c5 e@ɢ]MB]4Z YeA!Ia eEɡaiI v BDAT read: Tx time:05:16:45.8910 $Ping request sent. &k۱?yyi}}}U}}C }+v)}2I}?i}q@}'g=}?p@}5=}z@ }5iyyI}dֻ7L?<q?} ?}џ }T)}5iyyE:publishing transmit ping timeYMFpublishing direction and range info9y}uy?uUa> &k۱?yyiyyyyy y)yIyiyyyyy yiyyI}dֻ7L?<q?yy y)yiyy vBU X>~BU CBU HBU KBBU =BQ BU rDBU w;BU S0EBCBCBɓCBɘ =Bɗ =B|5>AY I I N 9 C,TO)AvKB9vHuMb@Mb@Mb@ q)qIqiqqukt?J +?!B=Q)>99GYF1A5>9Q 1E\4٪=?Q 5E\4=X =hB9E1?Q AM:YM0HQ EM?y=C)=:I=;i=;\4YuBu6WByhhO)AhChCho?z__@ؿQRPquvI5@juy?uUa> &k۱?hTh5[7$rV 6'r@?*:@rҊ->ҿ pt?OZ+T?h9Chh?hVNhB*iS]9?2i:i Bi͗C"i? addTargetRange:: Added new target pos. range: 306.899994 m, deltaT: 4.032054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 305.174042 m, bearing: 107.177314 deg, lat: 36.779099 deg, lon: -121.859656 deg, deltaT: 4.032054 s, deltaX: 0.007935 m, approachRate: 0.001968 m/s, posRepo size: 4 g9=FNOT Ignoring new targets: 305.17 m.g=gAu ProNav: ac range: 305.174042 m, nav range: 303.602722 m, bearing: 104.128192 deg, approach rate: 0.000000 m/s, LOS rate: -0.133037 deg/s, cmd heading: 100.874941 deg, new cmd heading: 100.756509 deg. gq}HeadingCmd: 1.758533 target range: 305.174042 and range: 306.90 m.g}?gygygygyzfyrfffBdddccB?ɢ}MB}Rc y}$Iy NɡiIOyA ԙ I I N% >\6,O)Ay6/@ٱ6=@676s6HVz@ǿ os?`?`ox@# T9T9ZGYXZAZ?\Q 1b\4٪^A?Q 5b\4^X ^hB9dYfF@Q Ef?y^C)^;I^;i^!H\4YjBj9WBjEg|FNOT Ignoring new targets: 305.17 m.gg ProNav: ac range: 305.174042 m, nav range: 303.534607 m, bearing: 104.084346 deg, approach rate: -0.205126 m/s, LOS rate: -0.132068 deg/s, cmd heading: 100.756512 deg, new cmd heading: 100.668801 deg. gqHeadingCmd: 1.757002 target range: 305.174042 and range: 306.90 m.gq?g!g!g!g!zf!rf!f)f)Bd)d1d1c1c5 ?ɢeMBe: *I KUɡiIH{AI I N% >DE lDE WDE (DA EE V: EE 96EE c44:EA !M @!M @!M @!M @1 \,jO)Ay:j.@ٱ:e<@:B,:˜:H_:0ɿ Gw?)?] s99GYFUA>Q 1\4٪o?Q 5\4X hB94?Q A:Y:D@Q E?yNC):I:iW\4Y B WB E-B*** querying acoustic contact ***A5<A5<vB=Y>~B9B9B9B9B9B9B=w;B=0Ezh)h)gY]FNOT Ignoring new targets: 305.17 m.ge2ge2 ProNav: ac range: 305.174042 m, nav range: 303.436035 m, bearing: 104.028338 deg, approach rate: -0.220260 m/s, LOS rate: -0.125192 deg/s, cmd heading: 100.668799 deg, new cmd heading: 100.556746 deg. geHeadingCmd: 1.755046 target range: 305.174042 and range: 306.90 m.g[?ggggzfrfffBd!d!d!c)c-ૈ?ɢuMBu~g y}I*Iy }ڍ_ɡyiyI}~A bA jAZA mAI I N >O@,7q P)ADrDQD+DEk: Ev96E [4:E"E;!"E;!&*E!&E!&0yjI-@ٱjD;@j8GjqOjHARf˿ ٮ}?_?@&@@O?`)y?IjI-@)j^;ihzJB9zHBD 6D  8Y!X=%hQ)%>!9!9%GY-F->A->1Q 1\4٪5Y?Q 5\45mW 5hB9YC@Q E?y5C)5A)  I! I1 NE >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753122i,I#P)AyR*,@ٱR%:@RcRRH!JͿ`?7?r *K$`?s`?IR*,@)R];iPZKB9ZHBDb6DbYjd<!jO=nΌlQ)n>p9p9rGYpvP5Av>xQ 1~\4٪z,B?Q 5~\4zV zhB9|YA@Q E?yzC)z;Izn;izr\4Y  B WB Eg15FNOT Ignoring new targets: 305.17 m.g=g=M ProNav: ac range: 305.174042 m, nav range: 303.250610 m, bearing: 103.931235 deg, approach rate: -0.256736 m/s, LOS rate: -0.131134 deg/s, cmd heading: 100.461489 deg, new cmd heading: 100.362477 deg. gMoUHeadingCmd: 1.751656 target range: 305.174042 and range: 306.90 m.gUA6?gQgQgQgYzfYrfYfafaBdadadicicm`]?ɢMB 顝B0I YpɡiI䐁~B9B=HB=%KBB9B9B9B=.x;B=0E>A]6>IIN> PExceeded connect timeout, disconnecting.i q,0+=P)AJB9H9Mb@Mb@Mb@ )IiʡE?L7A`? rh?-2?+=C99GYFA>Q 1\4٪(?Q 5\4U hB93?Q A:Y;@@Q E?y'C));I';i\4YBWBg checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257266%FNOT Ignoring new targets: 305.17 m.g%$ g-$ = ProNav: ac range: 305.174042 m, nav range: 303.138428 m, bearing: 103.878261 deg, approach rate: -0.259366 m/s, LOS rate: -0.122521 deg/s, cmd heading: 100.362479 deg, new cmd heading: 100.256492 deg. g=:`EHeadingCmd: 1.749806 target range: 305.174042 and range: 306.90 m.gE?gAgAgAgAzfArfIfIfIBdQdQdQcQc]*>@ɢMBL 額4I fzɡiI>ai90DEoDADE,DAEE`: EA6EEg4:EA"EEY;!]EEZ;!]*EE:!]EE:!eԑ>Ae ;>rAm ?jAm ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509352I I N] >Թ {,VP)AKB9HBD-6D-Y=C=!=R=AQ)E>A9A9MGYIIAM>QQ 1]\4٪UQ?Q 5]\4UT UhB9aYaQ Ee?yUlC)UY;IU;iUR\4YimVBigԙFNOT Ignoring new targets: 305.17 m.g g  ProNav: ac range: 305.174042 m, nav range: 303.037811 m, bearing: 103.830607 deg, approach rate: -0.259442 m/s, LOS rate: -0.122916 deg/s, cmd heading: 100.256495 deg, new cmd heading: 100.161156 deg. g`HeadingCmd: 1.748142 target range: 305.174042 and range: 306.90 m.g?ggggzfrfffBdddcc U@ɢMBτ 20I -ɡ i I 3?A @>bDI ZDI DU fDU TDU *DQ EU I@: EU 96EU (N4:EQ !] @!] @!] @!] @Iq I N >! ,qP)A:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013133yV(@ٱV6@VVVH ҿz??#?`M?IV(@)V9];iVݒCvKB9vHmMb@Mb@Mb@ i)iIiiiim/$?Q?Q?m&1?mu=mu~BBHB/KBB =BBBx;B-1EBDE6DE02YUJ!U9=]"GQ)]>Y9Y9]GY]FeAe>iQ 1u\4٪m?Q 5u\4mR mhB9}1?Q A}:Y}[<@Q E}?ymC)m:Im:imƞ\4YBVBEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 305.17 m.gg ProNav: ac range: 305.174042 m, nav range: 302.907196 m, bearing: 103.778063 deg, approach rate: -0.294970 m/s, LOS rate: -0.118713 deg/s, cmd heading: 100.161159 deg, new cmd heading: 100.056025 deg. gAYHeadingCmd: 1.746307 target range: 305.174042 and range: 306.90 m.g?ggggzfrfffBdddcc@@ɢMBk Y4I ]ɡYiYI]A] ;>I I N >i ύ",FP)ADnDPD)DEO]: E?96EFA4:E"E7;!"E8;!&*Eg:!&Eh:!&KB9HBD6D0Yd̼!W=Q)>99GYFA>Q 1\4٪㫊?Q 5\4Q hB9YQ E?yC);I ;i\4YBVBEg  FNOT Ignoring new targets: 305.17 m.g@g@% ProNav: ac range: 305.174042 m, nav range: 302.794922 m, bearing: 103.732778 deg, approach rate: -0.295219 m/s, LOS rate: -0.119119 deg/s, cmd heading: 100.056022 deg, new cmd heading: 99.965418 deg. g%Z-HeadingCmd: 1.744726 target range: 305.174042 and range: 306.90 m.g-,S?g)g)g)g1zf1rf9f9f9BdAdAdAcAcE @QɢuMB}=P y}9Iy }1ɡiIņAQbAiZAmjAԹA I I N >u DAT read: 05:16:48.7037 LVL= 27600, 29537, 21106, 31683, AGC= 68, IDX= 436, 0.30,-2.746,-2.834,-0.528,-1.872, PHS=-0.772,-0.917, 1.299, RAW= 206.6, 3.7, CAL= 206.4, 2.6, ROT= 303.6, -2.6 } Ygot valid direction response: 05:16:48.7037 LVL= 27600, 29537, 21106, 31683, AGC= 68, IDX= 436, 0.30,-2.746,-2.834,-0.528,-1.872, PHS=-0.772,-0.917, 1.299, RAW= 206.6, 3.7, CAL= 206.4, 2.6, ROT= 303.6, -2.6  PDAT read: Bearing 307.5, -55.3 (Local)  ~Local bearing/azimuth received: Bearing 307.5, -55.3 (Local)  DAT read: Range 11 to 50 : 306.3 m (Round-trip 408.5 ms) speed 0.0 m/s  ,DAT read: user:7374>  BDAT read: Tx time:05:16:49.7910  $Ping request sent. `?3ZD꿁99?E &CA iE kE asE rRE {E D E ˡE)E jIE E?iE Af@E A=E f@E 9=E @ E 9iA A IE dI?+? =g?E b?E 3V E e{)E 9iA A  :publishing transmit ping timeY  Fpublishing direction and range info9A E >`?3ZD꿁99?A A iA A A A A A )A IA iA A A A A A iA A IE dI?+? =g?A A A )A iA A (,P)AyfS&@ٱfJ4@f"㻼fƼfH@^#Կ?`u?A] c@{? Әo?IfS&@)f*^;ifCKB9%HBD56D5Y<!M=oQ)>99GYA>Q 1\4٪0̫?Q 5\4O hB9Y,:@Q E?yF C):I:i(\4YBnVBدEhqhuHP)AhuJChuJChu8 ?zux.$ e@?JϭoL,+@ju>`?3ZD꿁99?hue{hu9uMSY\Or@&|7@ruпl?ɻ?huzChuhuy0?hu*<6hu,B*iq2iq:iu,BiuUC"iuϢ?Ա addTargetRange:: Added new target pos. range: 306.299988 m, deltaT: 3.783941 s, deltaX: -0.600006 m, approachRate: -0.158566 m/s, rangeRepo size: 4  Added new target pos. range: 304.581848 m, bearing: 105.247803 deg, lat: 36.779099 deg, lon: -121.859656 deg, deltaT: 3.783941 s, deltaX: -0.592194 m, approachRate: -0.156502 m/s, posRepo size: 4 gFNOT Ignoring new targets: 304.58 m.gg ProNav: ac range: 304.581848 m, nav range: 302.667847 m, bearing: 103.685655 deg, approach rate: 0.000000 m/s, LOS rate: -0.119119 deg/s, cmd heading: 99.965419 deg, new cmd heading: 99.864369 deg. g%HeadingCmd: 1.742962 target range: 304.581848 and range: 306.30 m.g%a?g!g!g!g)zf)rf)D5gD5YD1D1E5C: E5*96E1:E1!E@!E@!E@!E@fQfQBdQdQdQc]$s@c]ݒ?ɢNBi  \;I  Wɡ i I ~BBHBCKBB =BBBy;B1E >AE @>9 Ai Iy I N >?0,c P)Ay6Q}%@ٱ6Hx3@6wrɼ6Χټ6H/~7տ}?-? -`3-? 2 ?I6Q}%@)6/^;i6ݒCRJB9RHBDZ6DZܲYre!rA=rQ)v>t9t9vGYvFz*A~>Q 1%\4٪#?Q 5-\4M iB9)Y- 9@Q E-?y C):I:i\4Y9=VB9gFNOT Ignoring new targets: 304.58 m.g= g=  ProNav: ac range: 304.581848 m, nav range: 302.529541 m, bearing: 103.636403 deg, approach rate: -0.339237 m/s, LOS rate: -0.120860 deg/s, cmd heading: 99.864367 deg, new cmd heading: 99.765819 deg. g/]HeadingCmd: 1.741242 target range: 304.581848 and range: 306.30 m.g?ggggzfrfffBdddcc%q?ɢeNBe~ i額DI >ɡiIGAA I I N >q 4f6,P)AyZwV$@ٱZnQ2@ZQּZ޼ZHqMֿ?B?`K kɚ? 뿛/?IZwV$@)Z^;iZCjKB9jHBDz6Dz0Y {=!H=L{Q)>!9!9%GY%F-3A->1Q 1=\4٪5H?Q 5\45L 5iB9Y7@Q E?y5 C)5u`A;>rA?jA?I I! NU > %<, P)AvBV>~BCB HBNKBB =BBqDBJz;B1EBCBCBB =B =Bӏ5yJM0#@ٱJD+1@Jz弹JMۼJH@`׿@ά?`&U? [? w?IJM0#@)J^;iJܒCRKB9RH!f@!f !f@!f !f@!j !j@!j BDn6DnYrEB!rL=vQ)v>x9x9zGYxz8A~>|Q 1\4٪~܆?Q 5\4~I ~iBQ = +:9 Q A w:Y 6@Q E ?y~ C)~C ;I~>i~x\4YBUVB5B*** querying acoustic contact ***zh1h1gAEFNOT Ignoring new targets: 304.58 m.gM"gM"] ProNav: ac range: 304.581848 m, nav range: 302.254700 m, bearing: 103.544253 deg, approach rate: -0.356557 m/s, LOS rate: -0.117269 deg/s, cmd heading: 99.672554 deg, new cmd heading: 99.581439 deg. geVeHeadingCmd: 1.738024 target range: 304.581848 and range: 306.30 m.gew?gigigigqzfqrfqfqfyBdydydycyc)j?ɢ-*NB5 15EI1 5ɡ1i9I=A6> I! I1 NM >BEʷG4JEI4RES}/D D aD (D E : E 96E c44:E "E ;!% E ;!- *E ;!- E ;!- wC,/Q)A y:S"@ٱ:J0@:Q󼹱::H@*tؿ@֐?Tg?@|r?Y?I:S"@):];i:ےCbKB9bHBDj6DjYr<!vK=vQ)v>t9x9zGYzFz>8Az>|Q 1\4٪~qp?Q 5\4~G ~+iBQ =  :9 Q A H:Y 5@Q E ?y~h C)~:I~M?i~\4YB PBg9EFNOT Ignoring new targets: 304.58 m.gEJgMJU ProNav: ac range: 304.581848 m, nav range: 302.111267 m, bearing: 103.498912 deg, approach rate: -0.357402 m/s, LOS rate: -0.113033 deg/s, cmd heading: 99.581440 deg, new cmd heading: 99.490715 deg. g]NeHeadingCmd: 1.736441 target range: 304.581848 and range: 306.30 m.geC?gagagagazfirfififiBdqdqdqcqcu`-?ɢ7NB@ 顭TGI ɡiIԌ@Y>ԙ>A;>II)N5>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004225KI,bh(Q)AP~&KB9~HBD 6D Y<!G=%Q)%>!9!9%GY-F-A->1Q 1u\4٪5Y?Q 5u\45E 59iBQ =}99yQ A}":YyQ E}?y5 C)5~BABE%HBEbKBBE =BABABEz;BE>2E>A1IIN>! )P,|CBQ)Ay6Ǿ@ٱ6-@6q6 6H`@ڿ`n?@?ɦl?`S?I6Ǿ@)6];i4BIR<Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508544|!u!u !u!u !u!u !u!u uMb@Mb@Mb@ q)qIqiqqu/$?x&?Mbu,?u7=uIqiquKAuhA)quABD6Dk1YK=!@=cQ)>99GY,A>Q 1]4٪B?Q 5]4C >iBQ =T:9,?Q A:Y4@Q E?y C)T:I:i2]4YBOBկEg%FNOT Ignoring new targets: 304.58 m.g%g-= ProNav: ac range: 304.581848 m, nav range: 301.811493 m, bearing: 103.406352 deg, approach rate: -0.369646 m/s, LOS rate: -0.111327 deg/s, cmd heading: 99.397872 deg, new cmd heading: 99.305502 deg. g=KEHeadingCmd: 1.733208 target range: 304.581848 and range: 306.30 m.gE?gAgAgAgAzfArfIfIfIBdIdQdQcQc]@ɢSNB$ 顅EI 5,ɡiI-A6>I1 IA NU >ԁ V,A(\Q)AyJd@ٱJZ,@JJJJHۿ$=?? Eeա? j?IJd@)J];iJߒCRKB9VHBD^6D^fYf!f[=f曻Q)f>h9h9jGYjF%@A%>)Q 15]4٪-).?Q 55]4-@ -CiB91Y52@Q E=?y-< C)-;I-&;i-]4YE|BEOBEԯEQgiFNOT Ignoring new targets: 304.58 m.gDgD ProNav: ac range: 304.581848 m, nav range: 301.670441 m, bearing: 103.365422 deg, approach rate: -0.369303 m/s, LOS rate: -0.107214 deg/s, cmd heading: 99.305500 deg, new cmd heading: 99.223601 deg. g6DHeadingCmd: 1.731779 target range: 304.581848 and range: 306.30 m.g?ggggzfrfffBdddcc@ɢ`NB/ʣ xPI UɡiIRADmDD*DEY: E]:6E(N4:E!@!@!@!@I1IINU> u BDAT read: Rx Time:05:16:52.6025  TRx dataTimestamp_ set to:1755839813.815510 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269670A= AAA9 vB9 ~B9 B= >HB= vKBB= =B9 B9 B= I{;B= f2Eg\,uQ)AyVv@ٱVq+@VԫV?GVH~ܿY??`l4 o? 䢿?IVv@)V^;iVےCr4KB9rHԹMb@Mb@Mb@ )IiE?ʡE?{Gz&?=#IAi"AQA)ABD6D1YG=!8=OWQ)>99 GY F 'A >Q 1%]4٪?Q 5%]4:> HiB9%'?Q A%:Y%2@Q E%?y C):I:i]4Y15OB1mB*** querying acoustic contact ***zhihigFNOT Ignoring new targets: 304.58 m.gg뺝 ProNav: ac range: 304.581848 m, nav range: 301.514740 m, bearing: 103.320131 deg, approach rate: -0.353898 m/s, LOS rate: -0.102995 deg/s, cmd heading: 99.223599 deg, new cmd heading: 99.132972 deg. g~<HeadingCmd: 1.730197 target range: 304.581848 and range: 306.30 m.gw?ggggzfrfIfQfQBdQdQdYcYc] V @ɢpNBӚ NI GhɡiIdA @>rA jA ?D fD VD ,D E I@: E 96E g4:E "E GR;!% E IR;!% *E :!- E :!- I A I I N >Ec,ԏQ)AyJ9T@ٱJ/O*@JJρJH'[ ݿ"8?ˏ?yVFT?`k?IJ9T@)J];iJܒCf:KB9fHBDr6DrYvVy<!v^=zVQ)z>x9x9~GY|~DA>Q 1 ]4٪?Q 5]4; LiB9Y1@Q E?y C):IF:i+]4YtB%OB!gquFNOT Ignoring new targets: 304.58 m.g}g}캝 ProNav: ac range: 304.581848 m, nav range: 301.379150 m, bearing: 103.282098 deg, approach rate: -0.368758 m/s, LOS rate: -0.103483 deg/s, cmd heading: 99.132969 deg, new cmd heading: 99.056870 deg. gb=HeadingCmd: 1.728868 target range: 304.581848 and range: 306.30 m.gK?ggggzfrfffBdddcc @ɢ|NB=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770861Iuz 顅PI ɡiI׏A 6> DAT read: 05:16:52.6025 LVL= 32048, 31009, 21746, 32755, AGC= 67, IDX= 424, 0.20, 3.095, 2.678,-1.336,-2.488, PHS=-0.597,-1.072, 1.108, RAW= 198.1, 5.7, CAL= 198.3, 5.0, ROT= 311.7, -5.0  Ygot valid direction response: 05:16:52.6025 LVL= 32048, 31009, 21746, 32755, AGC= 67, IDX= 424, 0.20, 3.095, 2.678,-1.336,-2.488, PHS=-0.597,-1.072, 1.108, RAW= 198.1, 5.7, CAL= 198.3, 5.0, ROT= 311.7, -5.0 % PDAT read: Bearing 299.3, -46.1 (Local) % ~Local bearing/azimuth received: Bearing 299.3, -46.1 (Local) 5 DAT read: Range 11 to 50 : 305.5 m (Round-trip 407.4 ms) speed 0.3 m/s 5 ,DAT read: user:7375> = BDAT read: Tx time:05:16:53.6910 = $Ping request sent.= i,Q)Ay6'@ٱ6 ")@6' 6~ 6Hx޿? ?8@Ĩ? K@?I6'@)6^;i6ޒCB3KB9BHBDJ6DJYb΍!fM=f,[Q)f>d9h9jGYjFj<Aj>pQ 1r]4٪r?Q 5v]4rg9 rRiB9tYv0@Q Ev?yr C)r:Irg:ir9]4YxOBrD=jD%=DoDZD'DE`: Ea96E'4:E!@!@!@!@hhYQ)AhChCh).?zߝ,*i@@^>ln êy:@j-k4?Ru`/翝O?huWh¸;IPj3ZQr@d'D@re̿rN?HݙD?hChh\?h|h|B*i2i|:iBiC"i??5 addTargetRange:: Added new target pos. range: 305.500000 m, deltaT: 4.032285 s, deltaX: -0.799988 m, approachRate: -0.198396 m/s, rangeRepo size: 4 M Added new target pos. range: 303.777771 m, bearing: 103.034065 deg, lat: 36.779099 deg, lon: -121.859657 deg, deltaT: 4.032285 s, deltaX: -0.804077 m, approachRate: -0.199410 m/s, posRepo size: 4 gIMFNOT Ignoring new targets: 303.78 m.gugq ProNav: ac range: 303.777771 m, nav range: 301.130432 m, bearing: 103.245790 deg, approach rate: 0.000000 m/s, LOS rate: -0.103483 deg/s, cmd heading: 99.056867 deg, new cmd heading: 98.969041 deg. gHeadingCmd: 1.727336 target range: 303.777771 and range: 305.50 m.gU?ggԑggzfrfffBdddcs@c`n0?ɢ NB- 158VI1 5hżɡ1i1I5~BCBJHBKBB =BBBO{;Bg2E>A ;>A9 IA IQ Ne > p,Q)Ay6@ٱ6'@6y1&66H R[߿@Q?@?@ \#Ĥ?.蟿F?I6@)6];i6ڒCB6KB9BH%Mb@Mb@Mb@ !)!I!i!!%uV?RQ?y&1%r(?%=%`eI%tAi%A%^A%bA)!%ABD6DܲYT;!>=v`Q)>99GYFU*A>Q 1]4٪٪?Q 5]46 ViB9;*?Q A:Y1@Q E?yO C)] ;I ;iH]4YmBOBӯEgFNOT Ignoring new targets: 303.78 m.gg ProNav: ac range: 303.777771 m, nav range: 300.967773 m, bearing: 103.201014 deg, approach rate: -0.406654 m/s, LOS rate: -0.112003 deg/s, cmd heading: 98.969038 deg, new cmd heading: 98.879438 deg. g L HeadingCmd: 1.725772 target range: 303.777771 and range: 305.50 m.g ?ggggzfrfffBdd!d!c!c%`y?ɢUNBU2& QUXIY ]y]ʼɡYiYI]ܔAbAlAZAlAI A I I N >pw,kfQ)Ay6&@ٱ6&@6]+66HW@? M?0ಶ`j? v_?I6&@)68%^;i6ܒCB7KB9BHBDJ6DJYj;!jX=neZQ)n>p9p9rGYprDAr>Q 1]4٪Ū?Q 5]44 ZiB9!Y%/@Q E%?y C)U;I'<;iU]4Y-eB-OB-үEgQ]FNOT Ignoring new targets: 303.78 m.g]SgeS꺝m ProNav: ac range: 303.777771 m, nav range: 300.819580 m, bearing: 103.161686 deg, approach rate: -0.385782 m/s, LOS rate: -0.102432 deg/s, cmd heading: 98.879440 deg, new cmd heading: 98.800743 deg. guv;uHeadingCmd: 1.724398 target range: 303.777771 and range: 305.50 m.g}?gygygygyzfyrfffBdddcc`#?ɢNB㺱 顽"\I ϼɡiIjAu6>bDZDDiDYD&DE,K: E*96E4:E!@!@!@!@A I I N > vB N>~B B dHB KBB =B B pDB {;B D2E^1},UQ)Ay6@ٱ6%@6*w06z6H2@K ƾ??@1@ & ?R?I6@)6V^;i6ْCHN:KB9NHMMb@Mb@Mb@ I)IIIiIIMS㥛?1Zd?MbpM$?M"=MIM^AiIIMA)IMABD6D!YE;!8= 7Q)->19195GY5F='AE>Q 1]4٪?Q 5]4#1 diB9 '?Q A:Y+0@Q E?y C):I3:ie]4Y^BOBѯEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 303.78 m.gJgJ溝- ProNav: ac range: 303.777771 m, nav range: 300.647522 m, bearing: 103.115602 deg, approach rate: -0.375639 m/s, LOS rate: -0.100668 deg/s, cmd heading: 98.800742 deg, new cmd heading: 98.708523 deg. g-;85HeadingCmd: 1.722789 target range: 303.777771 and range: 305.50 m.g5W?g1g1g1g1zf9rf9f9fABdAdAdIcIcMGw?ɢNB" 顽_I >ּɡiI46A  D lD RD *D E V: E 96E (N4:E "E ! E ! *E :! E :! A I I) N5 > ,R)Ay6Ԃ@ٱ6}$@6{b46P]6HYUܕ? J? q?<@?I6Ԃ@)64^;i6ڒC>@KB9>HBDF6DF0YN<!Nf=R 1Q)R>P9P9VGYTVkSAV?XQ 1^]4٪Z?Q 5^]4Z. ZkiB9`Yb/@Q Eb?yZ C)Z:IZ[:iZq]4Y5/B5OB5ȯEgyFNOT Ignoring new targets: 303.78 m.gݺgݺ ProNav: ac range: 303.777771 m, nav range: 300.515839 m, bearing: 103.081568 deg, approach rate: -0.373804 m/s, LOS rate: -0.096652 deg/s, cmd heading: 98.708521 deg, new cmd heading: 98.640424 deg. g0HeadingCmd: 1.721600 target range: 303.777771 and range: 305.50 m.ge]?ggggzfrfffBdddcc)?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749832ɢ=NBEt AEiaIA E]ۼɡIiIIMvTA;>rA ?jA? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001987A I! I1 NE >ԙ I% G)= "oAIM Ai} Cɿ} "oA} A/,*R)Ay6W@ٱ6R#@6]766H@@`X?? -?x7@?I6W@)6B^;i6ܒCNDKB9RHBDV6DVk1Yr<!rG=vQ)v>t9t9vGYvFz5Az>|Q 1]4٪~숪?Q 5]4~+ ~tiB9Y -@Q E ?y~Z C)~:I~:i~]4Y'B OBǯEg9EFNOT Ignoring new targets: 303.78 m.gEgE뺝U ProNav: ac range: 303.777771 m, nav range: 300.352631 m, bearing: 103.040899 deg, approach rate: -0.413627 m/s, LOS rate: -0.103127 deg/s, cmd heading: 98.640424 deg, new cmd heading: 98.559041 deg. gU~BBpHBKBB =BBBz;B 2EBCBCBBŗ =BŘ =Br5>A6> A I) I9 NE >r,DR)Ay61@ٱ6,"@6s:66H> LA? ??<K@V??I61@)6b^;i4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505677D9FH}Mb@Mb@Mb@ y)yIyiyy}S㥛?rh|?MbPy}=}I}EAiyy}A)y}(ABD6DY!>=Q)>99GY F'+A>Q 1]4٪Cs?Q 5]4( iB9'?Q A:Y@.@Q E?y C):I:i]4Y OBg FNOT Ignoring new targets: 303.78 m.g Cg C亝 ProNav: ac range: 303.777771 m, nav range: 300.183228 m, bearing: 102.998032 deg, approach rate: -0.394100 m/s, LOS rate: -0.099781 deg/s, cmd heading: 98.559042 deg, new cmd heading: 98.473261 deg. g%6%HeadingCmd: 1.718683 target range: 303.777771 and range: 305.50 m.g-?g)g)g)g)zf)rf)f1f1Bd9d9d9cAcE@ɢNB%  chI  5[ɡ9i9I=bA- ;>AY Ii ԁ I N >@,k^R)Ay6@ٱ6!@6&">66H`?`?C§?`?I6@)6^;i4BVKB9BHBDv6DvY~B=!~V=~ Q)>99GY CA >Q 1]4٪-`?Q 5]4& iB9Y%-@Q E%?y C);I;is]4Y- B-NB)gQUFNOT Ignoring new targets: 303.78 m.g]g]ẝm ProNav: ac range: 303.777771 m, nav range: 300.029236 m, bearing: 102.960440 deg, approach rate: -0.404146 m/s, LOS rate: -0.098710 deg/s, cmd heading: 98.473262 deg, new cmd heading: 98.398039 deg. gm4uHeadingCmd: 1.717370 target range: 303.777771 and range: 305.50 m.gu?gqgqgygyzfyrfyffBdddccר@ɢNBý 顽6gI 3ɡiIA@>bAjAZADjDD(DEN: E6Ec44:E!@!@!@!@ԱA I I N >] BDAT read: Rx Time:05:16:56.5008 e TRx dataTimestamp_ set to:1755839817.847636u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267369vB J> ~B B }HB KB^n,UxR)ABBBBoz;B1EyR@ٱH@ͱEVH@5VT?B?@3{ij?PA?IR@)Y^;iޒCQKB9 H) Mb@Mb@Mb@ )IiMbX9?K7?{Gzt?!?I >ף;I/Ai)ABDԩ6D:2Y(!1=ڂQ)>99GY F\A>Q 1]4٪}I?Q 5]4" iB9%?Q A:Y`,@Q E?y/C):I:i]4Y-B-NB-ƯEmB*** querying acoustic contact ***zhihigy}FNOT Ignoring new targets: 303.78 m.gֺgֺ ProNav: ac range: 303.777771 m, nav range: 299.842773 m, bearing: 102.915851 deg, approach rate: -0.392280 m/s, LOS rate: -0.093865 deg/s, cmd heading: 98.398041 deg, new cmd heading: 98.308808 deg. g+HeadingCmd: 1.715812 target range: 303.777771 and range: 305.50 m.g?ggggzfrfffBdddcc% @ɢ%OB%M )-mI) -"}ɡ)i)I-3A 6>D D UD ,D E  E P96E g4:E "E Zk;!E E \k;!M *E :!] E :!] 1 A I I N >n,R)Ay6@ٱ6@6CMI66H$@\ے?@?` T'?8?I6@)6p^;i6ْCBeKB9B)HBDJ6DJܲYRX=!Rc=R Q)R>T9T9VGYV FZ+HAZ>\Q 1b]4٪^8?Q 5b]4^ ^iB9`Yb@+@Q Ef?y^jC)^ :I^F:i^-]4YhjNBheDAT read: 05:16:56.5008 LVL= 32752, 32753, 21490, 32755, AGC= 67, IDX= 423, 0.41,-1.870,-2.614,-0.165,-1.354, PHS=-0.414,-1.215, 1.145, RAW= 190.5, 4.7, CAL= 190.7, 2.9, ROT= 319.3, -2.9 uYgot valid direction response: 05:16:56.5008 LVL= 32752, 32753, 21490, 32755, AGC= 67, IDX= 423, 0.41,-1.870,-2.614,-0.165,-1.354, PHS=-0.414,-1.215, 1.145, RAW= 190.5, 4.7, CAL= 190.7, 2.9, ROT= 319.3, -2.9 uPDAT read: Bearing 286.5, -37.7 (Local) }~Local bearing/azimuth received: Bearing 286.5, -37.7 (Local) DAT read: Range 11 to 50 : 304.2 m (Round-trip 405.7 ms) speed 0.3 m/s ,DAT read: user:7376> BDAT read: Tx time:05:16:57.5910 $Ping request sent.A} ;>A yAI I N >ڪ,䆭R)AyBJm@ٱB@h@BLBD BH}`͖@Ɛ?@?`xۍ?/b?IBJm@)Br"^;iBےC^fKB9b*HBDf6DfN2DrlDrSDr-DpErV: Er96Ert4:Ep!v@!v@!z@!z@YzN ;!zF=~Q)~>~ H?9 H?9GY 3A> Q 1]4٪ $?Q 5]4  iB9Y*@Q E?y C) ;I ;i ]4Y%B%NB-ůEhihmd@R)Ahm=Chm=Chm޵?zmz֠l@z"̟hL.@jm'm5L:?K&俛|rQ?hmu5hm4QOm.1$HUkr@ʘ@@rmtnĿr6d?TiSr\C?hm]Chm%Ahmx??hmqhm}B*ii2ii:imBim•C"im?giuFNOT Ignoring new targets: 303.78 m.guRguR溝 ProNav: ac range: 303.777771 m, nav range: 299.521118 m, bearing: 102.842872 deg, approach rate: -0.450731 m/s, LOS rate: -0.100681 deg/s, cmd heading: 98.240359 deg, new cmd heading: 98.162770 deg. gB8HeadingCmd: 1.713264 target range: 303.777771 and range: 304.20 m.g8L?ggggzfrfffBdddcc`_?ɢ$OBh˽ oIQ UɡQiYI]͗~BCBHBKBB =BBB z;B1E>A AE AII IY Nm >i %=I 4=9 ɱ,|R)Ay61D @ٱ6'?@6N686H2z?K?lŮe۩? IP?I61D @)6P^;i6ڒCZYKB9ZHi^=I^=eMb@Mb@Mb@ a)aIaiaaex&1?(\?e!?ez>eIeEAieAeEAeA)ae\ABD6DYI!8=%Q)%>-K?9-K?9-GY- F-c'A5>1Q 1=]4٪5?Q 5=]45' 5iB9E%?Q AE:YE)@Q EE?y5C)5 ;I5 ;i5!]4YM BUNBUįEgq}FNOT Ignoring new targets: 303.78 m.g}غgغ ProNav: ac range: 303.777771 m, nav range: 299.333191 m, bearing: 102.801352 deg, approach rate: -0.427334 m/s, LOS rate: -0.094473 deg/s, cmd heading: 98.162768 deg, new cmd heading: 98.079676 deg. g,HeadingCmd: 1.711813 target range: 303.777771 and range: 304.20 m.g?ggggzfrfffBdddcck?ɢ5OBŽ wI nɡiIb:!i}9yy 51>Aa A I I N >,=R)A y:' @ٱ:"@:8S:(+:H`rg?ic?׸4j]?2>`?I:' @):^;i:ޒCrmKB9r3HBDz6DzβYSY=!_= 1Q) > 9 9 GY FMBA>Q 1%]4٪K?Q 5%]4  iB9)Y-(@Q E-?y4C):IR:i]4Y15NB1gYeFNOT Ignoring new targets: 303.78 m.ge;Ӻge;Ӻu ProNav: ac range: 303.777771 m, nav range: 299.175079 m, bearing: 102.767556 deg, approach rate: -0.431764 m/s, LOS rate: -0.092336 deg/s, cmd heading: 98.079679 deg, new cmd heading: 98.012053 deg. gu(}HeadingCmd: 1.710633 target range: 303.777771 and range: 304.20 m.g}?ggggzfrfffBdddcc`x?ɢDOB$ӽ uI ?`ɡiI'AA I I N >A <A vB L>~B CB HB KBB B B B y;B 1E,,R)AH5{KB95DHMb@Mb@Mb@ )IiRQ?V-?MbP"?h>I^Ai^AA)ABD6D:Y<!<=Q)>99GYA> Q 1]4٪ 詊?Q 5]4 x iB9&?Q A:Y6(@Q E?y }C)  ;I ]:i &]4Y%B%NB!=B*** querying acoustic contact ***zhAhAgIUFNOT Ignoring new targets: 303.78 m.gUӺgUӺe ProNav: ac range: 303.777771 m, nav range: 298.985107 m, bearing: 102.727354 deg, approach rate: -0.435601 m/s, LOS rate: -0.092242 deg/s, cmd heading: 98.012053 deg, new cmd heading: 97.931597 deg. ge(mHeadingCmd: 1.709229 target range: 303.777771 and range: 304.20 m.gu?gqgqgqgqzfqrfqfyfyBdyddcc?ɢVOB>Iɽ 页vI  ɡiIW~AbAkAZAhAD lD VD &D E V: E 96E 4:E "E w;! E w;! *E :! E :!% ) A I I N >,S)Ay6 @ٱ6@6Z6%6HHS?8?@B`S?` @?I6 @)6:^;i6ےCNKB9RMHBDZ6DZYv<!z]=zQ)z>x9|9~G|YFŽA> Q 1^4٪ 3ש?Q 5^4 * iB9Y%@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004325Q E?y C) c;I  e;i ^4Y5B5!NB5EgQ]FNOT Ignoring new targets: 303.78 m.ge/̺ge/̺u ProNav: ac range: 303.777771 m, nav range: 298.817322 m, bearing: 102.694241 deg, approach rate: -0.452011 m/s, LOS rate: -0.089257 deg/s, cmd heading: 97.931601 deg, new cmd heading: 97.865337 deg. guY#}HeadingCmd: 1.708072 target range: 303.777771 and range: 304.20 m.g}?gygygygyzfrfffBdddcc>@ɢeOBֽ xI  ɡiIAiP?I<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256509A I I N >ԁ (,.S)Ay:@ٱ:@:r<^:':H \@5?? q ī?@q?I:@):yB^;i:ܒCFKB9FOHBDN 6DN2YVbV;!VO=VQ)Z>X9X9ZGYZF^Y=A^>DbhDbXDb*D`EbG: Eb96Eb(N4:E`!j@!j@!j@!j@lQ 1r^4٪nĩ?Q 5r^4n  niB9pYr$@Q Ev?ynC)n;In:in ^4YzBzNBzEgFNOT Ignoring new targets: 303.78 m.g%ɺg%ɺ5 ProNav: ac range: 303.777771 m, nav range: 298.634064 m, bearing: 102.659301 deg, approach rate: -0.462700 m/s, LOS rate: -0.088272 deg/s, cmd heading: 97.865334 deg, new cmd heading: 97.795412 deg. g5!=HeadingCmd: 1.706852 target range: 303.777771 and range: 304.20 m.g= z?g9g9gAgAzfArfAfIfIBdIdIdIcQcU8i@YɢvOBս 顅|I *ɡiI ~ByB}HB}KBB} =ByByB}y;B}1E>AԹA I I N  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760238,vHS)AyB@ٱB@BaB.BH##e9?) ?@Uj@;?w?IB@)BX^;iBےCNKB9NcHMb@Mb@Mb@ )Ii+?On?y&1|?>`I/AiԹA)\ABD6DY-=!9=Q)>99GY((A>Q 1^4٪ᰩ?Q 5^4 iB9>$?Q A:Y~$@Q E?yEC)? ;I ;iU^4YNBg)5FNOT Ignoring new targets: 303.78 m.g5źg5źE ProNav: ac range: 303.777771 m, nav range: 298.433655 m, bearing: 102.621348 deg, approach rate: -0.456259 m/s, LOS rate: -0.086464 deg/s, cmd heading: 97.795414 deg, new cmd heading: 97.719456 deg. gM=MHeadingCmd: 1.705526 target range: 303.777771 and range: 304.20 m.gMN?gQgQgQgQzfQrfYfYfYBdYdadacace@!@ɢ OBѽ }I tɡiIAgAi rAu ?jAu ?9 A I I N >:,bS)AyB`t@ٱBVo@BeB BH Cy@x?@h?@ P`?@ `?IB`t@)B^;iBC^KB9btHif=If=BDj6Dj:Yr =!r[=rQ)r>t9t9vGYvFz9Az>|Q 1^4٪~?Q 5^4~ ~iB9Yg#@Q E ?y~C)~;I~;i~]*^4YBMBg9=FNOT Ignoring new targets: 303.78 m.gEºgEºU ProNav: ac range: 303.777771 m, nav range: 298.260773 m, bearing: 102.589639 deg, approach rate: -0.463864 m/s, LOS rate: -0.085128 deg/s, cmd heading: 97.719455 deg, new cmd heading: 97.656000 deg. gU]HeadingCmd: 1.704419 target range: 303.777771 and range: 304.20 m.g]e*?gYgYgYgYzfarfafafiBdididicicu @ɢOBt޽ 顥}I 7ɡiItA6>qA! I1 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518332vBm K>~Bi Bm HBm LBBi Bi Bi Bm y;Bm 1EBQBQBQBUʙ =BUʙ =BUʴ\5I N >! ei,qr|S)AKB9HMb@Mb@Mb@ )Ii~jt?S?Mb?>IEAiA)BD56D5Y=<!E6=EQ)E>A9I9MGYMFMAU>QQ 1]^4٪U??Q 5e^4U UjB9ec ?Q Ae:Ye#@Q Ee?yUC)U:IU:iU:^4YBMBEB*** querying acoustic contact ***zhhg)-FNOT Ignoring new targets: 303.78 m.g5g5E ProNav: ac range: 303.777771 m, nav range: 298.058807 m, bearing: 102.551865 deg, approach rate: -0.430964 m/s, LOS rate: -0.080658 deg/s, cmd heading: 97.656003 deg, new cmd heading: 97.580404 deg. gEMHeadingCmd: 1.703099 target range: 303.777771 and range: 304.20 m.gM)?gQgQgQgQzfQrfQfYfYBdYdYdacaceP @ɢOBÈѽ 顕I gɡiIA ;>BEm(N4JEmɼP4REmɼk0D oD ZD (D E `: E a96E c44:E "E Y;! E Z;! *E ! E ! I I N >L,.;S)A-DAT read: 05:17:00.3991 LVL= 32752, 32753, 22338, 32755, AGC= 70, IDX= 421, 0.01, 2.761, 1.932,-1.889, 3.141, PHS=-0.278,-1.164, 1.209, RAW= 188.3, 2.3, CAL= 188.5, -0.6, ROT= 321.5, 0.6 =Ygot valid direction response: 05:17:00.3991 LVL= 32752, 32753, 22338, 32755, AGC= 70, IDX= 421, 0.01, 2.761, 1.932,-1.889, 3.141, PHS=-0.278,-1.164, 1.209, RAW= 188.3, 2.3, CAL= 188.5, -0.6, ROT= 321.5, 0.6 EPDAT read: Bearing 271.9, -34.9 (Local) E~Local bearing/azimuth received: Bearing 271.9, -34.9 (Local) MDAT read: Range 11 to 50 : 303.0 m (Round-trip 404.0 ms) speed 0.3 m/s U,DAT read: user:7377> ]BDAT read: Tx time:05:17:01.4910 ]$Ping request sent.]Y9Y9]GYYYAe>aQ 1^4٪ex?Q 5^4e ejB9YQ E?yeC)e%A] 6>bAe lAZAe lA D nD eD ,D E O]: E 96E g4:E ! @! @! @! @I9 II NU >I,4S)Ay62@ٱ6( @6;o6 6Hyl!?ۅ?&r=%`?ز ?I62@)6?^;i6ܒC>KB9>bHBDF6DF YN.׽!RS=RѻQ)R>P9T9VGYVFV-AV?XQ 1^^4٪Zj?Q 5b^4Z ZjB9`Yb @Q Eb?yZHC)Zd:IZ9:iZU^4YfBfMBjEgx~FNOT Ignoring new targets: 301.29 m.g~ºgº  ProNav: ac range: 301.287048 m, nav range: 297.452240 m, bearing: 102.271489 deg, approach rate: -0.497861 m/s, LOS rate: -0.084851 deg/s, cmd heading: 97.509543 deg, new cmd heading: 97.453745 deg. gIHeadingCmd: 1.700889 target range: 301.287048 and range: 303.00 m.g?ggggzfrf!f!f!Bd!d)d)c)c-X?ɢOB lI  ɡiI~B5CB5HB5LBB5 =B1B1B5qy;B5s1Ei90>A;>I1IANU> 1 ,S)Ay6l@ٱ6b@65p6,6H? N֋?`? S?v`1?I6l@)6M^;i4>KB9BHMb@Mb@Mb@ )IiA`"?n?Mb`?V>IAAiAXAA)BD6DNY-}=!-B=-݅Q)->19195GY1=5A=>AQ 1M^4٪EX?Q 5M^4El E#jB9M+?Q AM:YM{@Q EU?yEC)E:IE:iEJd^4YMBg%FNOT Ignoring new targets: 301.29 m.g-g-] ProNav: ac range: 301.287048 m, nav range: 297.253479 m, bearing: 102.239780 deg, approach rate: -0.450791 m/s, LOS rate: -0.071966 deg/s, cmd heading: 97.453747 deg, new cmd heading: 97.390285 deg. g]eHeadingCmd: 1.699781 target range: 301.287048 and range: 303.00 m.gen?gagagagazfarfififiBdiddcc?rDjD<DrDVDDEk: E96E:E"E;!E;!*E:!E:!ɢOB޽ 'I ب$ɡiIkW<IUn?iQiY)]n?)Yi9O09>A i Iq I N > ,S)A y:3@ٱ:)@:~q:D:Hf@CVÌ?LE?GG+?h?I:3@):5N^;i:ޒC^KB9bHBDf6DfP)Ynq!nO=rQ)r>p9t9vGYvFvjCAv>xQ 1~^4٪z.I?Q 5~^4zh z/jB9YG@Q E?yzC)z;Iz;izr^4Y B MB gFNOT Ignoring new targets: 301.29 m.gשgש ProNav: ac range: 301.287048 m, nav range: 297.064575 m, bearing: 102.210727 deg, approach rate: -0.482440 m/s, LOS rate: -0.074244 deg/s, cmd heading: 97.390288 deg, new cmd heading: 97.332146 deg. gHeadingCmd: 1.698766 target range: 301.287048 and range: 303.00 m.g.q?ggggzfrfffBdddcc`i?ɢ%OB%R !%I) -!'ɡ)i)I-k¯A6>rAjA ?I9IINU>vB G>~B B ,HB 7LBB =B B B ey;B m1E 1,S)AL~KB9~H}Mb@Mb@Mb@ y)yIyiyy}x?HzG?~jtx?}K?}= >};I}Aiy}AA}A)y}=ABD6D:Y`=!:=Q)>99GYFA>Q 1 ^4٪7?Q 5 ^4 @jB9 3?Q A :Y @Q E?y C)P ;I ;if^4Y|B MBE=B*** querying acoustic contact ***zh9h9gIMFNOT Ignoring new targets: 301.29 m.gUgUe ProNav: ac range: 301.287048 m, nav range: 296.856476 m, bearing: 102.178882 deg, approach rate: -0.493080 m/s, LOS rate: -0.075508 deg/s, cmd heading: 97.332149 deg, new cmd heading: 97.268414 deg. ge0 mHeadingCmd: 1.697654 target range: 301.287048 and range: 303.00 m.gmL?gigigigizfqrfqfqfyBdydydycyc)?ɢPB 页rI s+ɡiI8AIIIbDZDDoD\DDE`: E96E:E"EX;!EZ;!*Ea ;!Ea ;!N>A )9 9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006660,T)AyZ~|?ٱZ59 @Z^tZZH @Y_?`? \24?l@3?IZ~|?)Z7O^;iZܒCjKB9jH|BD=6D=k1YM<!MU=UQ)U>Q9Y9]GYY]ʽA]>aQ 1m^4٪e9)?Q 5m^4e eNjB9qYu@Q Eu?yeHC)eD;Ie;ieӎ^4Y}tB}LBEgFNOT Ignoring new targets: 301.29 m.gg ProNav: ac range: 301.287048 m, nav range: 296.669037 m, bearing: 102.152330 deg, approach rate: -0.488879 m/s, LOS rate: -0.069296 deg/s, cmd heading: 97.268417 deg, new cmd heading: 97.215279 deg. gHeadingCmd: 1.696727 target range: 301.287048 and range: 303.00 m.gW.?ggggzfrfffBdddcc)@ɢ PB    I  x.ɡiIŧAm;>ԁ A I I N >D pD VD *D E d: E 96E (N4:E ! @! @! @! @\B ,KB9BHBDF6DF0YN9<!RV=ReQ)R>P9T9VGYVFV3OAV>XQ 1^^4٪Z?Q 5^^4Z Z\jB9`Ybg@Q Eb?yZC)Z<;IZ;iZ"^4YdfLBhgx~FNOT Ignoring new targets: 301.29 m.g~Ag~A  ProNav: ac range: 301.287048 m, nav range: 296.480713 m, bearing: 102.126671 deg, approach rate: -0.494582 m/s, LOS rate: -0.067430 deg/s, cmd heading: 97.215278 deg, new cmd heading: 97.163926 deg. gHeadingCmd: 1.695830 target range: 301.287048 and range: 303.00 m.g?ggggzfrff!f!Bd!d)d)c)c-ֱ@ԙɢU)PBz 顝5I 1ɡiI<vBF>~BBQHBVLBBBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509562BBXy;Be1EIU?iYiY)]?)a)i))15/09>A- 6>bA= kAZA9 iߥ >Iߥ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761757A A I I N >),DMT)AyBn?ٱB @B*yBN9BH`M`Xq`N?5$Z@q ?` {?IBn?)BB^;iBےCJKB9JH)L NAMb@Mb@Mb@ )Iil?Pn?~jt??>DI9I9MGYMFU5AU>QQ 1e^4٪Ut ?Q 5e^4U UojB9e#?Q Ae:Ye@Q Em?yUC)U@:IUQ:iU^4YumBuLBqgFNOT Ignoring new targets: 301.29 m.gg ProNav: ac range: 301.287048 m, nav range: 296.266846 m, bearing: 102.099204 deg, approach rate: -0.503142 m/s, LOS rate: -0.064666 deg/s, cmd heading: 97.163928 deg, new cmd heading: 97.108954 deg. g캝HeadingCmd: 1.694871 target range: 301.287048 and range: 303.00 m.g?ggggzfrfffBdddcc@1DiDND+DE,K: E҆96E [4:E"Ee;!Ee;!*E׬:!Eج:!ɢ=PBQ 顽I 5ɡiIĩAu;>ԙA I I N >Թ /T, gT)Ay:"!?ٱ:@:&|:8:H u@? x ?a*?I:"!?):M-^;i8F LB9FHBDR6DRYV<!VT=ZWQ)Z>X9X9^GY\^MA^>`Q 1f^4٪b?Q 5f^4b bjB9hYjZ@Q Ej?ybC)b:Ib:ibr^4YlnLBpg FNOT Ignoring new targets: 301.29 m.g g % ProNav: ac range: 301.287048 m, nav range: 296.070374 m, bearing: 102.074977 deg, approach rate: -0.510193 m/s, LOS rate: -0.062951 deg/s, cmd heading: 97.108952 deg, new cmd heading: 97.060468 deg. g%j溝-HeadingCmd: 1.694025 target range: 301.287048 and range: 303.00 m.g-?g)g)g)g)zf)rf)f1f1Bd1d9d9c9c=1- @eBDAT read: Rx Time:05:17:04.2969 eTRx dataTimestamp_ set to:1755839825.656524mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265845ɢ}OPB G=顅I 9ɡiIK,A1A@AAvBL>~BBwHBtLBB =B checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517198) BBy;B~1EA yAI I N >A A ,T)Ay?ٱ:X@j0H @@fqS?x`r? s??I?)tB^;i9EMb@Mb@Mb@ A)AIAiAAEK?)\(? rh?E^?EG=ECu H?9u H?9uGYuFuO&A}>yQ 1^4٪}?Q 5^4}. }jB9?Q A:Y@Q E?y}HC)}<I}܏ BDAT read: Tx time:05:17:05.3910 $Ping request sent.Ae @>rAe ?jAe ?q A I I N >j&,T)AyNe?ٱN-@N1N$&NHXf ? ߿}@E? ä/?INe?)N*^;iNܒCV$LB9VHBDn6DnYU=!]<]Q)]>a9a9eGYeFe2JAe>Q 1^4٪dᨊ?Q 5^4 jB9Y@Q E?yC):I:i^4YLBhh9T)Ah̕Ch̕Cht?zH0}p@5Y _H~R0@ji?^ebۿᢔ?hf߾hd e:,BUV}r@^C@rnׂ?`Y2?hCh/h80?hgkhB*ix??2iq:i}BiC"iG?U addTargetRange:: Added new target pos. range: 301.299988 m, deltaT: 3.780212 s, deltaX: -1.700012 m, approachRate: -0.449713 m/s, rangeRepo size: 4 e Added new target pos. range: 299.596405 m, bearing: 95.099156 deg, lat: 36.779264 deg, lon: -121.859604 deg, deltaT: 3.780212 s, deltaX: -1.690643 m, approachRate: -0.447235 m/s, posRepo size: 4 gFNOT Ignoring new targets: 299.60 m.gg ProNav: ac range: 299.596405 m, nav range: 297.179535 m, bearing: 98.602566 deg, approach rate: 0.000000 m/s, LOS rate: -0.056410 deg/s, cmd heading: 97.006568 deg, new cmd heading: 96.964446 deg. gHeadingCmd: 1.692349 target range: 299.596405 and range: 301.30 m.g?ggggzfrfffBdddcr@c`?ɢMxPBMf IMiII U@ɡQiQIUQXA% ;>Թ AU AIY Ii N} >D hD eD *D E G: E 96E (N4:E ! @! @! @! @U,,FT)Ay6l?ٱ6@6Ԇ616H߿`x?~޿Bװ?[.?I6l?)6nK^;i6ݒC>LB9BHBDJ6DJ PYRM!RW=V/^Q)V>VK?9VK?9ZGYXZoGAZ>\Q 1b^4٪^ը?Q 5b^4^ ^jB9dYf@Q Ef?y^C)^d:I^-:i^^4Yj5BjRLBjEg|FNOT Ignoring new targets: 299.60 m.gːgː ProNav: ac range: 299.596405 m, nav range: 296.982574 m, bearing: 98.579827 deg, approach rate: -0.547884 m/s, LOS rate: -0.063295 deg/s, cmd heading: 96.964446 deg, new cmd heading: 96.918938 deg. g纝HeadingCmd: 1.691555 target range: 299.596405 and range: 301.30 m.g܄?ggggzfrfffBdddcc?vBmd>~BmCBmHBmLBBm =BiBmsDBmHy;Bmq1EB5CB1B5”CB5š =B1B5”6ɢ%PB%v !-I) -iDɡ)iI;A bA ZA gABEUηG4JEUKJ4REUd/DDXD(DE E96Ec44:E"E^;!E^;!*E:!E:!AIIN?f!5,˄T)Ay6?ٱ6W@6׉6c<6H޿aB.-?ݿ7?`?I6?)6/^;i6ڒCB4LB9B(Ht=Mb@Mb@Mb@ 9)9I9i99=/$?i|?5?y&1?=?===`ei9i9mGYmFuAu>yQ 1^4٪}[è?Q 5^4}# }jB9?Q A:Y#@Q E?y}C)}<;I}K;i}^4Y-B&LBg FNOT Ignoring new targets: 299.60 m.g̈g̈= ProNav: ac range: 299.596405 m, nav range: 296.694672 m, bearing: 98.547127 deg, approach rate: -0.525984 m/s, LOS rate: -0.059799 deg/s, cmd heading: 96.918936 deg, new cmd heading: 96.853473 deg. g=ںHeadingCmd: 1.690412 target range: 299.596405 and range: 301.30 m.gl_?ggggzfrfffBdddcc Ac?ɢPB] 顭I IɡiI,Ae3>DnDUDDEO]: EP96E:E!@!@!@!@AIIN?]=,T)AA6<A6<vBFY>~BFCBFHBFLBBF =BDBFrDBF6y;BFd1EyE%;?ٱE@EA򐽹E+EHyܿ`z{@9?tۿ@> i?mK?IE%;?)E<^;iEےC]ALB9]7HBDm6DmNY}<!}=}D˻Q)}>99GYFuA>Q 1_4٪?Q 5_4ؽ jB9Y @Q E?ylC)l:IB:i _4YLBgFNOT Ignoring new targets: 299.60 m.g`g`u ProNav: ac range: 299.596405 m, nav range: 296.389404 m, bearing: 98.515126 deg, approach rate: -0.547261 m/s, LOS rate: -0.057429 deg/s, cmd heading: 96.853476 deg, new cmd heading: 96.789407 deg. gu4ҺuHeadingCmd: 1.689294 target range: 299.596405 and range: 301.30 m.g}:?gygygygyzfyrfyffBdddcc6? ɢPB I +NɡiIYAK>AIIN ?9F,͓U)Ay6 ?ٱ6O@6!46u 6H`ۿ9s#? ڿ K? @?I6 ?)6 )^;i4>JLB9>BHMb@Mb@Mb@ )IiZd;O?zG?y&1|?j? =`;Ii~A)=ABD6DJY-<!-=-zQ)5>19195GY5F=\A=>AQ 1M_4٪E?Q 5M_4E EkB9M?Q AM:YMr @Q EU?yEC)E/:IE:iE_4Y]%B]LB]E}B*** querying acoustic contact ***zhyhyg  FNOT Ignoring new targets: 299.60 m.g$og$o% ProNav: ac range: 299.596405 m, nav range: 296.088135 m, bearing: 98.486278 deg, approach rate: -0.545303 m/s, LOS rate: -0.052268 deg/s, cmd heading: 96.789409 deg, new cmd heading: 96.731654 deg. g%P-HeadingCmd: 1.688286 target range: 299.596405 and range: 301.30 m.g-?g)g)g)g)zf1rf1f1f1Bd9dIdIcQcU@ɢPBN I @SɡiI>A5 ;>Aa Dm lDm ZDm )Di Em V: Em a96Em FA4:Ei !} @!} @!} @!} @I I ԙ N >&L,;6U)Ay6?ٱ6?6;x6{"6Hٿ= x.%? ٿ ?3?I6?)6<^;i4>KLB9BDHBDJ6DJYR}^;!RU=R`Q)R>T9T9VGYTV<AZ>XQ 1^_4٪Zr?Q 5b_4Zj Z%kB9`YbQ @Q Eb?yZC)Z';IZw;iZw)_4YdfKBhgx~FNOT Ignoring new targets: 299.60 m.gugu ProNav: ac range: 299.596405 m, nav range: 295.874207 m, bearing: 98.466658 deg, approach rate: -0.584826 m/s, LOS rate: -0.053676 deg/s, cmd heading: 96.731653 deg, new cmd heading: 96.692383 deg. gwĺ%HeadingCmd: 1.687600 target range: 299.596405 and range: 301.30 m.g-K?g)g)g)g1zf1rfffBdddcvBJ>~BCBHBLBB =BBpDBNy;Bc @qɢPB 顅TI VɡiIt<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754146IK?ii)K?)iM9IIM/0Iԩ>AiM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006495A I I N > S,TPU)Ay:?ٱ:z?:a::HYؿ wx@^?`ؿ@!͵@Yz?ӣ`?I:?):/^;i8FvLB9FyH Mb@Mb@Mb@ ) I i   Zd;?Cl? ? ;= I Ai A A A)  ABD%6D%Y5=!5A==_Q)=>99A9EGYEFEw+AE>IQ 1U_4٪M?Q 5U_4M M7kB9]]?Q A]:Y] @Q E]?yMAC)MG ;IM ;iME8_4YeBecKBmEgFNOT Ignoring new targets: 299.60 m.g cg c ProNav: ac range: 299.596405 m, nav range: 295.639984 m, bearing: 98.445639 deg, approach rate: -0.552557 m/s, LOS rate: -0.049625 deg/s, cmd heading: 96.692386 deg, new cmd heading: 96.650315 deg. gHeadingCmd: 1.686866 target range: 299.596405 and range: 301.30 m.g;?ggggzfrfffBdddcc2 @D=nD=VD=(D9E=O]: E=96E=c44:E9"E=6;!EE=8;!E*E=:!ME=:!MɢQB 页I ZɡiI@8>BDAT read: Rx Time:05:17:08.1943 TRx dataTimestamp_ set to:1755839829.436500checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259159>AB>) A I I N% >rY,iU)AyFY?ٱFO?FFFHm׿ άzu?׿`?`. L?IFY?)FC^;iFڒCNgLB9NfHBDV6DVY^!bS=bQ)b>`9d9fGYfFf3Af>hQ 1n_4٪j?Q 5r_4j| jHkB9pYr@Q Er?yj}C)j#;IjQ;ijE_4YtvsKBxi%=I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510416g!-FNOT Ignoring new targets: 299.60 m.g-*Zg-*Z= ProNav: ac range: 299.596405 m, nav range: 295.423767 m, bearing: 98.427059 deg, approach rate: -0.554494 m/s, LOS rate: -0.047684 deg/s, cmd heading: 96.650312 deg, new cmd heading: 96.613125 deg. gEEHeadingCmd: 1.686217 target range: 299.596405 and range: 301.30 m.gE?gIgIgIgIzfIrfIfQfQBdQdQdYcYc] Q @ɢQB 額ʕI P^ɡiIMA};>vBG>~BCBHBLBB =BBBy;B1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.764343A I ԩ I N >`,U)A8-yLB9-|HMb@Mb@Mb@ )Ii9v?Cl?{Gz?#IihArA)ABD6DkY =!9=Q)>99GYA>Q 1_4٪s?Q 5_4 VkB9?Q A:Y@Q E?yC):I :iKU_4Y  aKB g15FNOT Ignoring new targets: 299.60 m.g=ZXg=ZXM ProNav: ac range: 299.596405 m, nav range: 295.185181 m, bearing: 98.406252 deg, approach rate: -0.541781 m/s, LOS rate: -0.047287 deg/s, cmd heading: 96.613121 deg, new cmd heading: 96.571473 deg. gMUHeadingCmd: 1.685490 target range: 299.596405 and range: 301.30 m.gU$?gQgQgQgQzfYrfYfYfYBdaddcc@ɢm-QBm quIq }.bɡyiyԡI}$ uBDAT read: Tx time:05:17:09.2910 u$Ping request sent.6@=&@ iI?J?=k?}B?[ Vh)i:publishing transmit ping timeYqFpublishing direction and range info9H5?u$̿A7X?i )Ii iI?J?=k? )iDM`DMTDM(DIEM*: EM96EMc44:EI"EM,;!UEM,;!U*EM:!]EM:!]>AY A I I N >^g,;U)Ay6?ٱ6?6G6F6H`|տ@?_@? տ`TC` ô?@s?I6?)6P^;i6ْCbLB9bHBDj6DjJlYrϾ<!r\=vcQ)v>t9t9zGYzFzĽAz>|Q 1_4٪~j?Q 5_4~ ~ckB9 Y @Q E ?y~C)~]:I~v:i~Cb_4YBIKBEh9h=EU)Ah=ڔCh=ڔCh=?z=qvq@-o-(P,eB@j=H5?u$̿A7X?h=Vhh==h,A8E Rr@Pb O@r=ȕ @I?n?h=zCh=h=+ԧ?h=C]h=pB*i=+ԧ?2i9:i=Bi=C"i=4?e addTargetRange:: Added new target pos. range: 299.399994 m, deltaT: 4.031995 s, deltaX: -1.899994 m, approachRate: -0.471229 m/s, rangeRepo size: 4 } Added new target pos. range: 297.705231 m, bearing: 97.048517 deg, lat: 36.779330 deg, lon: -121.859604 deg, deltaT: 4.031995 s, deltaX: -1.891174 m, approachRate: -0.469042 m/s, posRepo size: 4 gy}FNOT Ignoring new targets: 297.71 m.gg ProNav: ac range: 297.705231 m, nav range: 294.003021 m, bearing: 96.978986 deg, approach rate: 0.000000 m/s, LOS rate: -0.047287 deg/s, cmd heading: 96.571471 deg, new cmd heading: 96.535989 deg. gHeadingCmd: 1.684871 target range: 297.705231 and range: 299.40 m.g٩?ggggzfrfffBdddc`fr@cF?ɢ?QB< I N;fɡiI)٩?)i9O0@mA@ i>ArAjA?A% yAI) I9 NU >ԁ De iDe QDe 'Da Ee ,K: Ee v96Ee '4:Ea !m @!m @!m @!m @4 H?9  H?9 GY F\4A>YaQ 1m_4٪eM`?Q 5m_4e erkB9qYu@Q Eu?ye7C)ef:Ie<:iep_4vBN>~BCB?HBMBB =BBBxz;B1EYbKBB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 297.71 m.gHgH ProNav: ac range: 297.705231 m, nav range: 293.775452 m, bearing: 96.960527 deg, approach rate: -0.540223 m/s, LOS rate: -0.043853 deg/s, cmd heading: 96.535988 deg, new cmd heading: 96.499042 deg. g%%HeadingCmd: 1.684226 target range: 297.705231 and range: 299.40 m.g%?g)g)g)g)zf)rf)f1f1BdQdQdYcYc]@?}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ɢVQB 顭I ̑jɡiI?>)?)ԁi9/0>Am>ԱAII N>i- C>I- R=- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993547 't,lU)Ay6.?ٱ6?6626H[ӿvFwX?f{ӿ涿[?Ǡ@?I6.?)6\^;i6ڒC>LB9BHMb@Mb@Mb@ )Iim?v/?Q?x=uIAi\A)ABD%6D%ܲY-D=!-F=5JQ)5>9999=GY9=<A=>AQ 1M_4٪EV?Q 5M_4Eܐ E~kB9U?Q AU:YUa@Q EU?yErC)E-;IE;iE~_4Yae=KBagFNOT Ignoring new targets: 297.71 m.ԱrD=jD<DyDVD*DE: E96E(N4:E"E;!%E;!%*E:!-E:!-g-Eg-E= ProNav: ac range: 297.705231 m, nav range: 293.564880 m, bearing: 96.943548 deg, approach rate: -0.535934 m/s, LOS rate: -0.043245 deg/s, cmd heading: 96.499044 deg, new cmd heading: 96.465061 deg. gEIEHeadingCmd: 1.683633 target range: 297.705231 and range: 299.40 m.gEI?gIgIgIgIzfirfifqfqBdqdqdycyc}@?ɢkQB ˛I nɡiI)I?)i9 0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245985 >A 0p> '=i CA= AQ IU G)e mAIi Iy N >I i B mA #A ? A(Nz,;9U)AyN?ٱN ?N:`N NH كҿeV`?` dҿ eIŵ?= m?IN?)Nr^;iNےCZLB9ZHBDb6DbNYjf=!jQ=jbQ)n>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497359vK?9vK?9vGYv Fv7Az>xQ 1_4٪zM?Q 5_4z zkB9Y?@Q E?yzC)z;Iz';iz_4Y BJBEg1=FNOT Ignoring new targets: 297.71 m.gE9gE9U ProNav: ac range: 297.705231 m, nav range: 293.357117 m, bearing: 96.927602 deg, approach rate: -0.529016 m/s, LOS rate: -0.040631 deg/s, cmd heading: 96.465063 deg, new cmd heading: 96.433149 deg. gU]HeadingCmd: 1.683076 target range: 297.705231 and range: 299.40 m.g]o?gYgYgYgYzfarfafafaBdididicicu {?ɢQB 顥bI +FrɡiIT)o?)iqqqup0q@}4>@}>>AMGj>D-mD-QD)D)E-Y: E-v96E):E)!5@!5@!5@!5@AA=yAIQIN]>vB}l>~B}CB}qHB}?MBB} =ByB}tDB}~z;B}2EB]CB]CB]ǕCB]Ǘ =B]Ǘ =B]ǚ6qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749316ԡ :,%V)Ayv?ٱv?vNUvIvH`sѿ ҇?@Nѿwٷ #? $?Iv?)vq^;ivْCLB9HMb@Mb@Mb@ )IiQ?X9v? H?9 H?9GY!F"A>Q 1_4٪TD?Q 5_4% kB9 a ?Q A :Y 2@Q E ?yC)M;IM;i_4YJB!gYeFNOT Ignoring new targets: 297.71 m.igm/1gu/1 ProNav: ac range: 297.705231 m, nav range: 293.133820 m, bearing: 96.910481 deg, approach rate: -0.504678 m/s, LOS rate: -0.038727 deg/s, cmd heading: 96.433146 deg, new cmd heading: 96.398876 deg. gHeadingCmd: 1.682478 target range: 297.705231 and range: 299.40 m.go[?ggggzfrfffBdddcc?ɢQB 額VI vɡiI)o[?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003588i]9YY] 0aԙ>A5hW>bD)ZD-?ABE:4JEC4RE/D1D5[D5,D1E1 E596E5g4:E1"E5)~;!EE5+~;!E*E5;!EE5;!MAAIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257246 1`,V)Ay6ZW?ٱ6CM?6e6z6H^п ס?6пD,?>?I6ZW?)6r^;i6ؒCNLB9RHBDZ6DZY=! Y= WQ) >K?9K?9GY?A>9Q 1E_4٪=H)2K?)im9iim/0ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509375>A5TW>) Ae yAIi Iy N >DE oDE RDE (DA EE `: EE 96EE c44:EA !M @!M @!M @!U @Y ,8V)AyR5?ٱR*?RRmRH@$ο8@^r H?9r H?9rGYr"Fr +Ar>tQ 1z_4٪v.4?Q 5~_4v1| vkB9|Y~@Q E~?yvUC)vr;Iv;iv_4YJB vB]e>~BYB]HB]^MBB] =B]DDBYB]z;B]1EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 297.71 m.gT gT  ProNav: ac range: 297.705231 m, nav range: 292.735138 m, bearing: 96.882165 deg, approach rate: -0.505549 m/s, LOS rate: -0.035043 deg/s, cmd heading: 96.370486 deg, new cmd heading: 96.342212 deg. gCHeadingCmd: 1.681489 target range: 297.705231 and range: 299.40 m.g;?ggggzfrfffBdddcc@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761500ɢQB 顕I ~ɡiI);?))i=8AAE00A@MlA@I>A%XM>YIIN>y % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013248r,DRV)A@yF?ٱF ?F׻FJFH ̿/ * 6 ?{Q̿⸿r?`4@]?IF?)F[^;iFܒC^LB9^HuMb@Mb@Mb@ q)qIqiqqu%C?T㥛 ?:vuZ?u>uTIuAiuAubAu?A)qqBD6Dk1YJ[=!?=ƐQ)>99GY#A>Q 1_4٪+?Q 5_4v kB9D?Q A:YG@Q E?yC) ;I ;i_4YBnJBEgDD[D,DE E96Eg4:E"EZ;! E[;! *E! E! FNOT Ignoring new targets: 297.71 m.gy'gy'- ProNav: ac range: 297.705231 m, nav range: 292.521210 m, bearing: 96.867121 deg, approach rate: -0.520126 m/s, LOS rate: -0.036604 deg/s, cmd heading: 96.342209 deg, new cmd heading: 96.312098 deg. g-5HeadingCmd: 1.680963 target range: 297.705231 and range: 299.40 m.g5)?g1g1g1g1zf9rf9f9f9BdAdAdAcAcE d @ɢ}QB}(8 顅I fɡiI))?)1ԩi9 0)߉ ߉BDAT read: Rx Time:05:17:12.0916 TRx dataTimestamp_ set to:1755839833.473578checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267819>A/>IIN> Z,4lV)Ay6 ?ٱ6?676C6Hʿ RL@@C(?Zʿg?p&?I6 ?)6=^;i4>LB9BHBDJ 6DJ2YR=!R\=RQ)R>T9T9VGYV#FV0AZ>XQ 1b_4٪Z^$?Q 5b_4Z)r ZkB9`YbC@Q Eb?yZC)Z;IZ#;iZ_4YdjSJBhrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517431tg  FNOT Ignoring new targets: 297.71 m.g&g&% ProNav: ac range: 297.705231 m, nav range: 292.334167 m, bearing: 96.854603 deg, approach rate: -0.499876 m/s, LOS rate: -0.033474 deg/s, cmd heading: 96.312095 deg, new cmd heading: 96.287044 deg. g% u-HeadingCmd: 1.680526 target range: 297.705231 and range: 299.40 m.g-y?g)g)g1g1zf1rf1f9f9Bd9d9dAcAcE5[ @ɢuQBu quI HɡiIT)y?) i9N0D%nD%XD%-D!E%O]: E%96E%t4:E!!M@!U@!U@!U@AYAYvBeR>~BeCBeHBeMBBe =BeEDBeqDBey;Be1Eԁ>Ar.>bAlAZAjAI9IINU>DAT read: 05:17:12.0916 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.37,-0.845,-2.453,-0.548,-1.056, PHS= 0.313,-1.352, 0.464, RAW= 154.3, 6.7, CAL= 153.7, 6.8, ROT= 356.3, -6.8 Ygot valid direction response: 05:17:12.0916 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.37,-0.845,-2.453,-0.548,-1.056, PHS= 0.313,-1.352, 0.464, RAW= 154.3, 6.7, CAL= 153.7, 6.8, ROT= 356.3, -6.8 PDAT read: Bearing 250.9, 1.7 (Local) ~Local bearing/azimuth received: Bearing 250.9, 1.7 (Local) DAT read: Range 11 to 50 : 297.3 m (Round-trip 396.4 ms) speed 0.2 m/s ,DAT read: user:7380> BDAT read: Tx time:05:17:13.1910 $Ping request sent.)VIh>iZ,@|=>+@=@ iIQ7B??iH?I=?w )A)i :publishing transmit ping timeY Fpublishing direction and range info9ik?әtgEO?i )Ii iIQ7B??iH? )iԡ ,{V)AiLB9HMb@Mb@Mb@ )IiRQ?i|?5?y&1|?=`IAixA(A)ABD 6D2Y]! =Q)>99GY$FA> Q 1_4٪ ?Q 5_4 k kB9?Q A:Y@Q E?y C) ;I ;i _4YEsBEIBEEhh;p~V)AhГChГCh[?z7Nr@[M|2fxlA@jik?әtgEO?h)AhfE]2Nq@PTdO@r/·¿I;?0-)E<?)Ai0@=@>D lD D *D E V: E 6E (N4:E "E w;!E w;!*E :!E :!>A;>I1 IA NM > ,8V)A~LB9~!HBD 6D :Y=!=!Q)%?!9)9-GY))A-?1Q 1=_4٪5?Q 5=_45g 5kB9AYAQ EE?y50C)5;I5I;i5_4YIMIBIgq}FNOT Ignoring new targets: 295.63 m.g}g} ProNav: ac range: 295.626160 m, nav range: 291.925446 m, bearing: 96.828182 deg, approach rate: -0.523352 m/s, LOS rate: -0.033883 deg/s, cmd heading: 96.251654 deg, new cmd heading: 96.231790 deg. g xHeadingCmd: 1.679562 target range: 295.626160 and range: 297.30 m.g?ggggzfrfffBdddcc@?ɢRBG3 ?=ZI iɡiI&)?)iM9IIM/0I>A-v >IINA>1D- vD) D) D) E- Vz: E) 6E) :E) !E @!M @!M @!M @a zح,V)Ay6?ٱ6?6Ow˽6ǫ6HWſP4R?Yd?@?ſ@5d??I6?)6na^;i6ےCNMB9R?HBDZ6DZJYvt=!zM=zoQ)z>|9|vBJ>~BCBHBMBB =BBpDBy;B1E9GY%FDֽA%>!Q 1-_4٪%*?Q 55_4%b %kB91Y5?Q E5?y%fC)%>:I%:i%_4Y=lBEIBEE]B*** querying acoustic contact ***zhYhYgimFNOT Ignoring new targets: 295.63 m.gu,gu, ProNav: ac range: 295.626160 m, nav range: 291.723541 m, bearing: 96.816907 deg, approach rate: -0.501329 m/s, LOS rate: -0.028015 deg/s, cmd heading: 96.231792 deg, new cmd heading: 96.209227 deg. gMHeadingCmd: 1.679168 target range: 295.626160 and range: 297.30 m.g?ggggzfrfffBdddcc?ɢ0RB~ $I ɡiIA}>ԉA I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263946Թ ô,V)A|9|}Mb@Mb@Mb@ y)yIyiyy}Mb?y&1?}?}`=}I}Ai}Ay}A)y}AI)BADwDVDDE}: E96E:E"El;!Em;!*E:!E:!BDY6DYԑQ)>99GY&FA>Q 1`4٪?Q 5`4\ lB9+?Q A:YL?Q E?yC)<:I;i `4YgY]FNOT Ignoring new targets: 295.63 m.gege򹝅 ProNav: ac range: 295.626160 m, nav range: 291.491791 m, bearing: 96.804514 deg, approach rate: -0.495181 m/s, LOS rate: -0.026503 deg/s, cmd heading: 96.209225 deg, new cmd heading: 96.184418 deg. gBHeadingCmd: 1.678735 target range: 295.626160 and range: 297.30 m.g?ggggzfrfffBdddcc`?ɢ=LRB=~ 9=I ?ɡiI\LAmlw=A AI I N > z,V)Ay:3?ٱ:?:ӽ::H u¿2{?~?`Ur¿yq??I:3?):1^;i:ڒCFAMB9FsHBDN6DN0YVKR=!V~B CB ,HB MBB  =B B B z;B 1Ei9>A8=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021179I A I I N > ,W)AyDk?ٱ-a?ؽ+H;+X?? 5Zܺg?\q`?IDk?)W^;iْCXMB9HEMb@Mb@Mb@ A)AIAiAAE?A`"?{Gzt?Ef?E=Eף;IEhAiAAEA)AEABD 6D:2Y D=!.=ʌQ)>99GY'FϱA>Q 1`4٪k?Q 5`4uR 7lB9 ?Q A:Y ?Q E?yC) ;I ;i)`4YIBgFNOT Ignoring new targets: 295.63 m.gιgι ProNav: ac range: 295.626160 m, nav range: 291.078278 m, bearing: 96.785646 deg, approach rate: -0.519619 m/s, LOS rate: -0.022587 deg/s, cmd heading: 96.167861 deg, new cmd heading: 96.146658 deg. gX%HeadingCmd: 1.678076 target range: 295.626160 and range: 297.30 m.g0?g!g!g!g!zf!rf!f)f)Bd)d1d1c1c5`@IɢexRBm im Ii mWɡiiiIu#A z= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523930AU yAIY Ii N} >,!W)A(y6Z?ٱ6P?6A7ݽ6vͺ6H5ň??50Fm@&?5Y ??I6Z?)6EP^;i6ڒCZuMB9ZH^4n H?9n H?9nGYn(FrüAr>tQ 1z`4٪vb?Q 5z`4vM vMlB9xY~?Q E~?yv?C)v3;Ivr;iv'6`4Y:BHBwEg)-FNOT Ignoring new targets: 295.63 m.g5Eǹg5EǹE ProNav: ac range: 295.626160 m, nav range: 290.896545 m, bearing: 96.778050 deg, approach rate: -0.520711 m/s, LOS rate: -0.021777 deg/s, cmd heading: 96.146660 deg, new cmd heading: 96.131460 deg. gEjHeadingCmd: 1.677811 target range: 295.626160 and range: 297.30 m.g?ggggzfrfffBdddcc_@ɢERBMV( IMII MRCɡIiQIUA= A ADU wDU mDU (DQ EU }: EU :6EU c44:EQ !] @!] @!] @!] @I) I N >5,J;W)AvBFD>~BDBFkHBF NBBF =BDBDBF{;BF52EBIBMCBIBM =BM =BM6`y%w?ٱ%m?%㽹% S%HNx@??@@!eK?9eK?9eGYimMAm>qQ 1}`4٪us流?Q 5}`4uBH uhlB9Y?Q E?yuxC)u;Iu;iuD`4Y2BHBvEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 295.63 m.gg ProNav: ac range: 295.626160 m, nav range: 290.677826 m, bearing: 96.769205 deg, approach rate: -0.520550 m/s, LOS rate: -0.021066 deg/s, cmd heading: 96.131463 deg, new cmd heading: 96.113760 deg. g7HeadingCmd: 1.677502 target range: 295.626160 and range: 297.30 m.g_?ggggzfrfffBdddcc %@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028374ɢRB^$ ҥI! %dɡ!i!I%xAD=iM >IM 4=U BDAT read: Rx Time:05:17:15.9889 ] TRx dataTimestamp_ set to:1755839837.269450] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282315i A I I N > ,wUW)Ay6 ?ٱ6?6轹6ٺ6H 4ؼP? ?` ^漿 ?@Z ?I6 ?)6E^;i4NMB9RH9uMb@Mb@Mb@ q)qIqiqqux&?:v?{Gz?u7 ?u=u#!9!9%GY%)F%tA%>)Q 15`4٪-駊?Q 5=`4-sBQ 9=tI -lB9= ?Q A=:Y=Y?Q E=?y-C)-;I-X;i-S`4YAMHBIgi}FNOT Ignoring new targets: 295.63 m.g}g} ProNav: ac range: 295.626160 m, nav range: 290.450195 m, bearing: 96.760627 deg, approach rate: -0.532161 m/s, LOS rate: -0.020070 deg/s, cmd heading: 96.113759 deg, new cmd heading: 96.096590 deg. gHeadingCmd: 1.677202 target range: 295.626160 and range: 297.30 m.g?ggggzfrfffBdddcc` @ɢRB' I ɡiI4Ap,=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532383ԑAIIN> 1L,boW)Ayv?ٱv?v ケvm,-DAT read: 05:17:15.9889 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 413, 0.14,-0.321,-1.967,-0.216,-0.639, PHS= 0.419,-1.284, 0.379, RAW= 148.8, 5.8, CAL= 148.2, 6.2, ROT= 1.8, -6.2 5Ygot valid direction response: 05:17:15.9889 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 413, 0.14,-0.321,-1.967,-0.216,-0.639, PHS= 0.419,-1.284, 0.379, RAW= 148.8, 5.8, CAL= 148.2, 6.2, ROT= 1.8, -6.2 =PDAT read: Bearing 244.1, 8.7 (Local) =~Local bearing/azimuth received: Bearing 244.1, 8.7 (Local) MDAT read: Range 11 to 50 : 295.3 m (Round-trip 393.8 ms) speed 0.4 m/s M,DAT read: user:7381> UBDAT read: Tx time:05:17:17.0910 U$Ping request sent.U)~ZԹI~J >i~6&@~4Q=~~%@~k=~= ~kݽi||I~*?LRs? ;h?~?~xSн ~=)~kݽi||:publishing transmit ping timeYQFpublishing direction and range info9|~3?ˉ?Niإ?||i||||| |)|I|i||||| |i||I~*?LRs? ;h?|| |)|i||vH:A{?a?`&_̽Ͻ?w`?Iv?)vb^;ivےCMB9HI)AABD6DܲY \{=! ;=?Q)>99GY*F?A>!Q 1m`4٪%㧊?Q 5m`4%< %lB9qYu?Q Eu?y%C)%:I%:i% c`4Yy}HByh|h~dqW)Ah~ВCh~ВCh~#?z~e@~BCBHBHNBBBBBz;B*2Ei90@@mA9 >A= {=aAIIN>],!W)Ay6΅?ٱ6{?6>6a'6HKc?S?zƾ߫? ҄?I6΅?)6|P^;i6ؒCBMB9BHMb@Mb@Mb@ )Ii|?5^?S㥻?~jtx? ?/=;I;AiA)fABDu6DuFY}n5=!>=Q)>99GY A>Q 1`4٪ݧ?Q 5`4x6 lB9?Q A:YW?Q E?y.C)Z:I8:i r`4YHBgFNOT Ignoring new targets: 293.63 m.g=ǹg=ǹ ProNav: ac range: 293.627197 m, nav range: 287.135437 m, bearing: 96.810706 deg, approach rate: -0.599127 m/s, LOS rate: -0.021773 deg/s, cmd heading: 96.077635 deg, new cmd heading: 96.060444 deg. gdHeadingCmd: 1.676571 target range: 293.627197 and range: 295.30 m.g?ggggzf rf ffBdddcc?ɢERBED/ IM7II MCɡIiQIUAt=DetDecDe*DaEes: EeL96Ee(N4:Ea"Ee;!mEe;!m*Ee";!uEe";!uIIN`>A ,TW)A0y6+?ٱ6!?6+676HR广[ W?+?Z ?|Ɇ?I6+?)6o^;i6ڒCBMB9B HBDJ6DJܲYR<!VZ=VQ)V>T9X9ZGYZ+FZAZ>\Q 1b`4٪^~ا?Q 5b`4^01 ^lB9dYf?Q Ef?y^dC)^):I^B:i^&`4YhjHBlgyFNOT Ignoring new targets: 293.63 m.gg ProNav: ac range: 293.627197 m, nav range: 286.928802 m, bearing: 96.803304 deg, approach rate: -0.529695 m/s, LOS rate: -0.018988 deg/s, cmd heading: 96.060443 deg, new cmd heading: 96.045629 deg. g HeadingCmd: 1.676312 target range: 293.627197 and range: 295.30 m.gh?ggggzfrfffBdddcc?ɢ SB. I aɡiIAQf=bAZAlADu{Du_Du)DqEu=: Eur96EuFA4:Eq!@!@!@!@I I N >vB- A>~B) B- HB- NBB) B) B- oDB- }z;B- 1Ej,W)Ay:F?ٱ:.?:d: :H@l`po?ה? XKIRA?[?I:F?):1R^;i8BMB9B,HBDJ6DJYR=!RJ=VQ)V>T9T9ZGYXZAZ>`\Q 1j`4٪^ҧ?Q 5j`4^+ ^mB9hYj?Q Ej?y^C)^:I^:i^A`4YrBr*HBrlE~B*** querying acoustic contact ***zhhg  FNOT Ignoring new targets: 293.63 m.gg% ProNav: ac range: 293.627197 m, nav range: 286.706512 m, bearing: 96.795409 deg, approach rate: -0.570665 m/s, LOS rate: -0.020284 deg/s, cmd heading: 96.045628 deg, new cmd heading: 96.029826 deg. g%|-HeadingCmd: 1.676037 target range: 293.627197 and range: 295.30 m.g-^?g)g1g1g1zf1rf1ffBdddcc?ɢ5"SBU, Y]XIY ]ɡYiYI] AU `T=I I N >,IJW)Ay6"ƹ?ٱ6 ?6TY6L6H``A?ґ?` *`S׾? p ?I6"ƹ?)6K^;i6ؒCVMB9VYH5Mb@Mb@Mb@ 1)1I1i115&1?zG?{Gzt?5?5 =5ף;I5KAi5A5A5A)15ABDM6DM0Y]q=!]8=]Q)]>a9a9eGYe,Fe=Am>iQ 1u`4٪m̧?Q 5}`4m% m%mB9}_?Q A}:Y}p?Q E}?ymC)m:Im:imŜ`4YBGBgFNOT Ignoring new targets: 293.63 m.g笹g笹 ProNav: ac range: 293.627197 m, nav range: 286.456818 m, bearing: 96.787063 deg, approach rate: -0.564802 m/s, LOS rate: -0.018896 deg/s, cmd heading: 96.029823 deg, new cmd heading: 96.013116 deg. gS HeadingCmd: 1.675745 target range: 293.627197 and range: 295.30 m.g~?ggggzfrfffBdddcc?ɢAe XR=I I N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012305,R}W)AyZʳ?ٱZ?Z+^ Z ':ZH CRj??`.& O>?D? S?IZʳ?)ZUo^;iZגCn"NB9nHBD 6D ܲY%=!-N=-"Q)->19195GY5-F5⸺A=>Q 1`4٪ǧ?Q 5`4B GmB9Ya?Q E?yC)r;I;i`4YGBDwDhD*DE}: E]96E(N4:E!@!@!@!@gFNOT Ignoring new targets: 293.63 m.gg% ProNav: ac range: 293.627197 m, nav range: 286.227997 m, bearing: 96.779425 deg, approach rate: -0.558004 m/s, LOS rate: -0.018642 deg/s, cmd heading: 96.013117 deg, new cmd heading: 95.997827 deg. g-x5HeadingCmd: 1.675478 target range: 293.627197 and range: 295.30 m.g5v?g1g1g1g1zf9rf9f9f9BdAdAdAcAcE:@ɢuUSBu~- q}[Iy }.ɡyiyI}>~BYB]XHB]NBBYBYBYB]y;B]1E)PExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2641879/=Qi80ԉ >A JM=rA ?jA ?I I) N5 > W,4X)Ay6g?ٱ6N?6}P6 ;6Hܸ $,?@?`I@@j?p??I6g?)6O^;Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516353@i6ؒCF NB9FHMb@Mb@Mb@ )Ii-?1Zd?MbP???"=:I5AiAAA)BD6DY{y!4= Q)>99GY.FA>Q 1`4٪n?Q 5`4 lmB9?Q A:Y?Q E?y\C):I:iw`4YGBgFNOT Ignoring new targets: 293.63 m.g%Bg%BM ProNav: ac range: 293.627197 m, nav range: 285.971588 m, bearing: 96.770968 deg, approach rate: -0.583496 m/s, LOS rate: -0.019262 deg/s, cmd heading: 95.997831 deg, new cmd heading: 95.980902 deg. g HeadingCmd: 1.675183 target range: 293.627197 and range: 295.30 m.gcl?ggggzfrfffBdddcc @ԡɢsSBM* FDDgDDE E&96E:E"El;!Em;!*Ek1;!Ek1;!I wɡiI5A) ) A}yAIIN?' ,z2X)A.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024272hyӹ?ٱ?M OH<H@" }@jK?5?ܹCp¿?ň?@?Iӹ?)W^;iגCmANB9mHBD}6D}02Y=!"=qtQ)> H?9 H?9GY_;A>Q 1`4٪v?Q 5`46 mB9YF?Q E?yC);I;i`4YGBgFNOT Ignoring new targets: 293.63 m.g%zg%zE ProNav: ac range: 293.627197 m, nav range: 285.679413 m, bearing: 96.761227 deg, approach rate: -0.571372 m/s, LOS rate: -0.019068 deg/s, cmd heading: 95.980899 deg, new cmd heading: 95.961398 deg. gE UHeadingCmd: 1.674842 target range: 293.627197 and range: 295.30 m.gU~B-CB-HB-OBB- =B)B-nDB- y;B-41EnManaging dock network, ignoring radio surface power off))  BDAT read: Rx Time:05:17:19.8861 TRx dataTimestamp_ set to:1755839841.060665checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277530>AE ;O=a Au AI I N > ,LX)A9yM߹?ٱM?MM؋K?9K?9GY/FK:A>aQ 1e`4٪?Q 5m`41  mB9m3?Q Am:Ym ?Q Em?yC)4A Q=y i IG))9IAiuC¿q}wAAIIN>ҁ,lX)Ay6o?ٱ6V?6 6? <6H^`O`3z? w? oz.ÿ? ? ?I6o?)6^;i6ےCBNB9BHHiJBDN6DN1YV=!VR=VQ)V>X9X9ZGYZ0F^=:A^>`Q 1f`4٪b?Q 5f`4bh bmB9dYf$?Q Ef?yb*C)b2:Ib:ibH`4YnBnFBnaEgFNOT Ignoring new targets: 293.63 m.g Yg Y ProNav: ac range: 293.627197 m, nav range: 285.179413 m, bearing: 96.744661 deg, approach rate: -0.612009 m/s, LOS rate: -0.020365 deg/s, cmd heading: 95.943278 deg, new cmd heading: 95.928237 deg. g%HeadingCmd: 1.674264 target range: 293.627197 and range: 295.30 m.g%EN?g!g!g!g!zf)rf)f)f)Bdddcc@ɢSB6 I ) ﭽɡ1i1I5} UBDAT read: Tx time:05:17:20.9910 U$Ping request sent.U)(I5^>iMQ%@z0=S$@=¸2= iI:/o?/@'?_QA?> ¸2=):publishing transmit ping timeYQ9 ?-?EO?i )IiY iI:/o?/@'?_QA? )D]{D]nD])DYE]=: E]:6E]FA4:EY!}@!}@!}@!}@>A&V=ԁAAvB3>~BCBHBZOBB =BBB|x;B0EBUCBUCBUȔCBUț =BUȜ =BU5A= yAIA IQ Ne >Ա d!,مX)Ay6?ٱ6?6WD 6<½<6Hyr`@ӣ?r?@@ÿ`?m? ?I6?)6|^;i6ْCBNB9B:HBDJ6DJ2Yn=!nH=nQ)r>r H?9r H?9rGYpvc:Av>xQ 1~`4٪z?Q 5~`4zX znB9|Y~3?Q E?yzgC)z8;Iz;iz`4Y  FB g15FNOT Ignoring new targets: 293.63 m.g=g=M ProNav: ac range: 293.627197 m, nav range: 284.942749 m, bearing: 96.736757 deg, approach rate: -0.578683 m/s, LOS rate: -0.019342 deg/s, cmd heading: 95.928238 deg, new cmd heading: 95.912418 deg. gM UHeadingCmd: 1.673988 target range: 293.627197 and range: 295.30 m.gU9E?gQgQgQgQzfYrfYfafaBdadadacicm&v@ɢSB 6 顝I BɡiI*DAAe AIq I N >bDQ ZDQ BEəT4JE-W4REͰ/D] D] vD] +DY E] 1: E] :6E] [4:EY "E] p;!u E] q;!u *E] h;!u E] h;!u  ',[X)Ay6?ٱ6w ?6h#6/<6HE?n?뺿 ÿ@_?Q??I6?)6^;i6ؒCBNB9BSH Mb@Mb@Mb@ ) I i   5^I ?1Zd?MbP? ? "= :I Ai  A )  BD}6D}k1Y:=!@=.Q)>K?9K?9GY1F϶:A>Q 1a4٪?Q 5a4 ?nB9?Q A:Y&?Q E?yC){:IM:iza4YBFBgFNOT Ignoring new targets: 293.63 m.gg ProNav: ac range: 293.627197 m, nav range: 284.692230 m, bearing: 96.728396 deg, approach rate: -0.587318 m/s, LOS rate: -0.019619 deg/s, cmd heading: 95.912419 deg, new cmd heading: 95.895682 deg. gHeadingCmd: 1.673695 target range: 293.627197 and range: 295.30 m.g;?gg g g zf rf ffBdddccB+@ɢESBMx`3 IMzII MsDɡIiQIUA5[=rA?jA ?I A9 IA IQ Ne >@-,X)Ay:?ٱ:?:>&:<:H sCi?i?`fKĿ ? ›?l?I:?):\^;i8D9DBDJ6DJβVQ)V>T9T9ZGYZ2FZ 9AZ>\Q 1ba4٪^ȝ?Q 5ba4^K ^fnB9dYf/?Q Ef?y^C)^:I^:i^a4YhhhDDD-DEO: E6Et4:E! @! @! @!@gFNOT Ignoring new targets: 293.63 m.g%lg%l5 ProNav: ac range: 293.627197 m, nav range: 284.472260 m, bearing: 96.721030 deg, approach rate: -0.581845 m/s, LOS rate: -0.019499 deg/s, cmd heading: 95.895685 deg, new cmd heading: 95.880942 deg. g5=HeadingCmd: 1.673438 target range: 293.627197 and range: 295.30 m.g=83?g9g9g9g9zfArfAfAfABdIdIdIcIcM@@ɢTB; I PɡiI3~B9B=kHB=OBB= =B9B=mDB= x;B=0EQi5y>AԱ Ay I I N >4,jX)Ay6?ٱ6?6)6܆<6Hon^@?f? jĿT? ? ?I6?)6,Z^;i4XZNB9Z|Hib?Ib{?EMb@Mb@Mb@ A)AIAiAAEl?zG?Mb`E?E =EIEAiEAEAEXA)AEGABDe6De 8Yu'=!}<QϻQ)>99GY&ʺA>Q 1a4٪ʗ?Q 5a4 nB9?Q A:Y?Q E?y#C)b;Ib;i#a4YBFBXEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 293.63 m.gg ProNav: ac range: 293.627197 m, nav range: 284.217438 m, bearing: 96.712658 deg, approach rate: -0.560615 m/s, LOS rate: -0.018436 deg/s, cmd heading: 95.880939 deg, new cmd heading: 95.864179 deg. gHeadingCmd: 1.673146 target range: 293.627197 and range: 295.30 m.g)?ggggzfrfffBdddcc@؇@ɢ2TBv2 額"I QݶɡiIyA |^=) A I I N% >$:,tEX)Ay6Y?ٱ6@?6&,6=6Hk`+?b?@)Ŀ}?]? v?I6Y?)6E^;i6גC> OB9BHBDJ6DJܲYR_>!RY=V=Q)V>T9T9VGYV3FZf8AZ>\Q 1ba4٪^?Q 5ba4^/ ^nB9`Yf?Q Ef?y^\C)^;I^:i^0a4YhjEBhgq}FNOT Ignoring new targets: 293.63 m.gg ProNav: ac range: 293.627197 m, nav range: 283.999542 m, bearing: 96.705482 deg, approach rate: -0.595735 m/s, LOS rate: -0.019636 deg/s, cmd heading: 95.864178 deg, new cmd heading: 95.849814 deg. gHeadingCmd: 1.672895 target range: 293.627197 and range: 295.30 m.gk!?ggggzfrfffBdddcc@ɢJTB= 顽;I 7ǸɡiI ~BmߍCBmHBmOBBiBiBiBmw;Bmh0E>AmY=ԡ I I N > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA, Y)Ay>?ٱ>p?>]/>2 =>Hd6@@}?@_?  Aſ Q?[$??I>?)>EZ^;i>ؒC7OB9HBD6D0Y53^=!5B==eƻQ)E>A9I9MGYM4FUeAU>YQ 1ma4٪]֌?Q 5ma4] ]nB9qYu?Q Eu?y]C)]6;yI];i]?a4YyBEBWEgFNOT Ignoring new targets: 293.63 m.gU?gU?e ProNav: ac range: 293.627197 m, nav range: 283.750916 m, bearing: 96.697316 deg, approach rate: -0.599236 m/s, LOS rate: -0.019698 deg/s, cmd heading: 95.849814 deg, new cmd heading: 95.833468 deg. ge2mHeadingCmd: 1.672610 target range: 293.627197 and range: 295.30 m.gm?gqgqgygyzfyrfyffBdddcc`@ɢgTB5 額I )&ɡiI` <ԩI?i"b=iEP\=)M?)Qi9$4T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseD- D- uD- 0D) E- : E- :6E- 4:E) "E- ;!= E- ;!= *E- `d;!= E- ad;!= >A z^= I I N >1H,^"Y)Ay6Wڹ?ٱ6>?6R#26ju=6H< ?Y\?`Qſ'?@u?D?I6Wڹ?)6E^;i6ڒC>TOB9>H1=Mb@Mb@Mb@ 9)9I9i99= +?"~j?=?=S==I=Ai99=(A)9=zABD]6D]k1Ye=!e==mWͻQ)m>q9q9uGYquwA}>yQ 1a4٪}?Q 5a4}l }oBT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9p?Q A:Y?Q E?y}C)}f;I}f;i}Na4YEBgFNOT Ignoring new targets: 293.63 m.g}g} ProNav: ac range: 293.627197 m, nav range: 283.501221 m, bearing: 96.688557 deg, approach rate: -0.586728 m/s, LOS rate: -0.020599 deg/s, cmd heading: 95.833469 deg, new cmd heading: 95.815937 deg. gHeadingCmd: 1.672304 target range: 293.627197 and range: 295.30 m.g ?ggggzfrfffBdddcc@R@ɢ TB w=  xI Q+ɡiI1RAu \=E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseI I N >Ա UN,\ 9 9GY5FԺA>Q 1%a4٪??Q 5%a4 >oB9)Y-?Q E-?yC):Id:iN\a4Y15{EB1vBE*>~BABEIBENPBBE =BABABEv;BE0Egy}FNOT Ignoring new targets: 293.63 m.gSgS ProNav: ac range: 293.627197 m, nav range: 283.274628 m, bearing: 96.680621 deg, approach rate: -0.577771 m/s, LOS rate: -0.020253 deg/s, cmd heading: 95.815936 deg, new cmd heading: 95.800050 deg. gBԙHeadingCmd: 1.672026 target range: 293.627197 and range: 295.30 m.g?ggggzfrfffBdddcc@ɢTBk< lI <ɡiIq>i 914@@BDAT read: Rx Time:05:17:23.7829 TRx dataTimestamp_ set to:1755839845.092557T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse>AIQIiNu>! ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse9999EGYE6FEAE>IQ 1Ua4٪Mz?Q 5Ua4M MqoB9]?Q A]:Y]?Q E]?yM\C)M ;IM:iMka4YeGBeDBeNEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 293.63 m.gټgټ ProNav: ac range: 293.627197 m, nav range: 283.014130 m, bearing: 96.671463 deg, approach rate: -0.586554 m/s, LOS rate: -0.020638 deg/s, cmd heading: 95.800049 deg, new cmd heading: 95.781717 deg. gHeadingCmd: 1.671706 target range: 293.627197 and range: 295.30 m.gy?ggggzfrfffBdddcc@ɢTB2m7 I ɡiI )BDAT read: Tx time:05:17:24.8910 $Ping request sent.)y馿I>i%@޹=$@ =+=  ĽiId;?,?Y*?R~>Y +=) Ľi>A Y= :publishing transmit ping timeY Fpublishing direction and range info9G] "?uW?aVX?i )Ii iId;?,?Y*? )iI I N% >Y g[,oY)A~OB9~HBD 6D kY-=!-`=-Q)->19195GY1=A=>AQ 1Ma4٪Eu?Q 5Ma4E EoB9IYIQ EM?yEC)E:IE:iExa4YY]DBYhhfY)AhChCh?zBq@J>(@V;@jG] "?uW?aVX?h+=h Ļ̌#C6q@MDMS@rR4}?h+x?hChhܚ?hf{hC*iܚ?2iA:iBiC"i|? addTargetRange:: Added new target pos. range: 290.700012 m, deltaT: 7.823919 s, deltaX: -4.599976 m, approachRate: -0.587938 m/s, rangeRepo size: 4  Added new target pos. range: 289.036804 m, bearing: 97.912527 deg, lat: 36.779281 deg, lon: -121.859653 deg, deltaT: 7.823919 s, deltaX: -4.590393 m, approachRate: -0.586713 m/s, posRepo size: 4 gFNOT Ignoring new targets: 289.04 m.gg ProNav: ac range: 289.036804 m, nav range: 282.058929 m, bearing: 97.798725 deg, approach rate: 0.000000 m/s, LOS rate: -0.020638 deg/s, cmd heading: 95.781717 deg, new cmd heading: 95.766498 deg. gHeadingCmd: 1.671441 target range: 289.036804 and range: 290.70 m.g?ggggzfrfffBdddc@3+r@Qc`_$?ɢETBM; IMI "ýɡiI[~BABERIBEPBBABABABE=v;BE/EԱ>A -tY=I I N > Pb,Y)AyJM?ٱJoC?Jx9x9zGYz7FzA~>Q 1 a4٪*p?Q 5 a4 oB9 Y ?Q E ?yC):Id:ia4YDBgAMFNOT Ignoring new targets: 289.04 m.gMgM] ProNav: ac range: 289.036804 m, nav range: 281.827606 m, bearing: 97.791631 deg, approach rate: -0.589342 m/s, LOS rate: -0.018088 deg/s, cmd heading: 95.766499 deg, new cmd heading: 95.752300 deg. geieHeadingCmd: 1.671193 target range: 289.036804 and range: 290.70 m.ge?gigigigizfirfifqfqBdddcc`?ɢETBE!@ IMII MdŽɡIԱiIIEAy 9 A I I N >h,3Y)AyB?ٱB ?B݄>BA=BH`?iO?w*ǿ~??@0n?IB?)B^;iBגCJPB9NH-Mb@Mb@Mb@ )))I)i))--?!rh?y&1|?-??-l=-`;I)i)- A-A)))=pY9Y9]GYYe愻Ae>iQ 1ua4٪mj?Q 5ua4m< moB9u ?Q Au:Yu?Q E}?ymC)m;ImH;ima4Y?BmDBMEgFNOT Ignoring new targets: 289.04 m.gԤgԤ ProNav: ac range: 289.036804 m, nav range: 281.578003 m, bearing: 97.783829 deg, approach rate: -0.575713 m/s, LOS rate: -0.018013 deg/s, cmd heading: 95.752299 deg, new cmd heading: 95.736679 deg. gHeadingCmd: 1.670920 target range: 289.036804 and range: 290.70 m.g?giI}Ggyggԑ)mAIAzfrfimAAffBdddcc'?ɢU UBU/7 ](x<]oIY ]ǽɡYiYIeAdO=A1 I9 II N] >D D tD )D E : E v:6E FA4:E ! @! @! @! @ )n,lY)AvB6)>~B4B6IB6QBB4B4B4B6u;B6t/EB-ߍCB-ߍCB-CB- =B- =B-M5yJָ?ٱJs?J5@J=JH@n@? hM?`tǿ ?ݱ?j?IJָ?)J>b^;iJ֒CRPB9VHTiTBD^6D^βYf&=!fT=f#Q)j>h9h9jGYj8Fn㞻An>Q 1a4٪{d?Q 5a4G /pB9Y?Q E?yLC)p;I;ia4Y`DBgFNOT Ignoring new targets: 289.04 m.g g  ProNav: ac range: 289.036804 m, nav range: 281.344482 m, bearing: 97.776603 deg, approach rate: -0.571848 m/s, LOS rate: -0.017709 deg/s, cmd heading: 95.736678 deg, new cmd heading: 95.722215 deg. gHeadingCmd: 1.670668 target range: 289.036804 and range: 290.70 m.gq?ggggzfrfff Bd d d c c&?ɢ=%UB= C AEIA EaɽɡAiAIEpA-JM=Q A I I N >u,GY)AIPB9IMb@Mb@Mb@ )IiX9v?S㥻?y&1??/=`e99GY9FA>Q 1a4٪^?Q 5a43 epB9Q?Q A:Y?Q E?yC):I:ia4Y  BCBDE-B*** querying acoustic contact ***zh)h)g9EFNOT Ignoring new targets: 289.04 m.gEŚgEŚU ProNav: ac range: 289.036804 m, nav range: 281.106506 m, bearing: 97.769549 deg, approach rate: -0.570160 m/s, LOS rate: -0.016914 deg/s, cmd heading: 95.722212 deg, new cmd heading: 95.708093 deg. g]]HeadingCmd: 1.670421 target range: 289.036804 and range: 290.70 m.g]^?gagagagazfarfafifiBdididqcqcu?ɢBUBtI= 顥'I ˽ɡiIdy<rD=jDBE= [4JE= [4RE=¼0DD}D*DEҝ: Ek&:6E(N4:E"E;!E;!*E;!E;!I^?ia=iH=)^?)IiM 9IIMv4Iy=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.>A<H=ԩ Ae yAIi Iy N >{,"Y)Ay6YN?ٱ6>D?6kaE60=6H@X @}?I? j ȿ@#?`?c?I6YN?)6]^;i6ےC@>xPB9B3IID)F@ABDJ6DJ0YR>!Va=VIQ)V>V H?9Z H?9ZGYXZ,;AZ>\Q 1ba4٪^Z?Q 5ba4^ ^pB9dYfi?Q Ef?y^C)^>:I^y:i^Ea4YhjCBlgFNOT Ignoring new targets: 289.04 m.g[g[ ProNav: ac range: 289.036804 m, nav range: 280.900024 m, bearing: 97.763591 deg, approach rate: -0.542533 m/s, LOS rate: -0.015667 deg/s, cmd heading: 95.708094 deg, new cmd heading: 95.696169 deg. g_幝HeadingCmd: 1.670213 target range: 289.036804 and range: 290.70 m.g?ggggzfrfffBdddccb@ɢ%]UB%@ )-I) -ͽɡ)i1I5X~BiBmIBmjQBBiBiBiBmt;Bm/E9;=iU9QQUC1Q@]@]@]@]  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5001741 A)I1IANU>ڃ,*Z)AyFN?ٱF4?FGF=FH`y"@c;?VG?@S@ Vȿ?I?p`?IFN?)FM^;iFؒCNPB9RAIBDZ6DZYb9;=!f-=jQ)n>p9t9vGYz:F}~A>Q 1a4٪S?Q 5a4 pB9Y.?Q E%?y C) ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004065,)Z)APB9lIMb@Mb@Mb@ )Ii"~?A`"?y&1??=IbAiA9AnA)pABD6DY9!>!;=Q)>K?9K?9GY;FA>Q 1a4٪CN?Q 5a4  qB9z?Q A:Y?Q E?yD C):I:i a4YB4CBCEg!%FNOT Ignoring new targets: 289.04 m.g-fg5fq ProNav: ac range: 289.036804 m, nav range: 280.383942 m, bearing: 97.749037 deg, approach rate: -0.637806 m/s, LOS rate: -0.017747 deg/s, cmd heading: 95.680042 deg, new cmd heading: 95.667037 deg. gHeadingCmd: 1.669705 target range: 289.036804 and range: 290.70 m.g?ggggzfrf f fIBdQdQdQcQc]Y @ɢUB{@ (I ҽɡiIH~B ލCB IB QBB B FDB B s;B .EAA IY Ii N > ,CZ)A~PB9~I 4!9)9-GY))A->1Q 1=a4٪5TI?Q 5=a45, 5?qB9AYAQ EE?y5| C)5w;I5;i5ea4YIMCBIgqFNOT Ignoring new targets: 289.04 m.gg񐹝 ProNav: ac range: 289.036804 m, nav range: 280.166809 m, bearing: 97.742991 deg, approach rate: -0.568428 m/s, LOS rate: -0.015840 deg/s, cmd heading: 95.667038 deg, new cmd heading: 95.654937 deg. g繝HeadingCmd: 1.669494 target range: 289.036804 and range: 290.70 m.g?gg g g zf rff)f1Bd9d9d9cAcE HL @ɢmUBmC quOIq uAԽɡqiyI}m1 iu =Iu 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764320Q ,)]Z)Ay>z?ٱ>` ?>iiM><>H@@- =ާ?YC?ɿ.? gO?W?I>z?)>]n^;i>֒CDRDRDPDPER>: ERE7:6EP:EP"ERi9i9mGYmyQ 1a4٪}5D?Q 5a4} }zqB9(?Q A:Y?Q E?y} C)}s:I}:i}a4YBBB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 289.04 m.ggU ProNav: ac range: 289.036804 m, nav range: 279.926392 m, bearing: 97.737135 deg, approach rate: -0.580546 m/s, LOS rate: -0.014153 deg/s, cmd heading: 95.654935 deg, new cmd heading: 95.643212 deg. g]7Ϲ]HeadingCmd: 1.669289 target range: 289.036804 and range: 290.70 m.g]C?gagagagazfarfafifiBdddccz@ɢUB= sI IֽɡiI BDAT read: Tx time:05:17:28.7925 %$Ping request sent.%)d;I>iO$@%=_#@޹=5z= ޹iI`[Qa??Ҩ?G>/ 5z=)޹iM:publishing transmit ping timeY!MFpublishing direction and range info9+Or?H| ?0L3?i )YIi iI`[Qa??Ҩ? )i>AJM=ԁ A yAI! I- JI9 NE >;,8wZ)A0yB?ٱB?B_ OB A!ZV=^ÉQ)^>^ H?9b H?9bGYb=FbAb>dQ 1jb4٪f??Q 5jb4fR fqB9lYn0?Q En?yf C)f2:Ifi~BBLIB@RBB =BBlDB#s;B0.E>A[1=ԹAIIN-p> $,)^Z)Ay:hb?ٱ:NX?:?P:~=:H* h?B?+Yzɿ?_?+S?I:hb?):^;i:גC`j]QB9jIBDr6DrYzYN<!zF=z9Q)z>|9|9~GY|ػA> Q 1b4٪ :?Q 5b4 , qB9Y?Q E?y 1!C) S:I K:i b4Y15GBB9guFNOT Ignoring new targets: 286.85 m.gTxgTx- ProNav: ac range: 286.847748 m, nav range: 278.969421 m, bearing: 97.740078 deg, approach rate: -0.581313 m/s, LOS rate: -0.013569 deg/s, cmd heading: 95.631890 deg, new cmd heading: 95.620706 deg. g5ƹ5HeadingCmd: 1.668896 target range: 286.847748 and range: 288.50 m.g=d?g9g9g9g9zf9rf9fAfABdAdAdIcIcm3g?ɢVB< 顽I DڽɡiI3A r =A A AI I N >N,;Z)A%QB9%IMb@Mb@Mb@ )Iiv?1Zd?y&1??"=`e!;=Q)>K?9K?9GY>FA> Q 1b4٪ 5?Q 5b4 ~ *rB9O?Q A:Y?Q E?y s!C) T ;I  ;i %b4Y!%AB!gIMFNOT Ignoring new targets: 286.85 m.gUቹgUቹe ProNav: ac range: 286.847748 m, nav range: 278.713135 m, bearing: 97.733798 deg, approach rate: -0.614350 m/s, LOS rate: -0.015068 deg/s, cmd heading: 95.620709 deg, new cmd heading: 95.608137 deg. geܹmHeadingCmd: 1.668677 target range: 286.847748 and range: 288.50 m.gm3?gigigigqzfrfffBdddcc?ɢM-VBm-? iu Iq uLܽɡqiqIu ANw =D D D D E I: E C:6E :E ! @! @! @! @vB- >~B- ܍CB- IB- RBB- =B) B- jDB- r;B- -Eԡ A I) I9 NE >6,Z)Ay:j?ٱ:P?:mR:B =:He?|??/ɿ -??CN?I:j?):^;i:ڒCFQB9FIBDN6DN YV=!Vb=Z]Q)Z>X9X9^GY^?F^ A^>`Q 1fb4٪b0?Q 5fb4b&y b^rB9hYj)?Q Ej?yb!C)b2:Ib:ib}2b4YlnABpg FNOT Ignoring new targets: 286.85 m.g g  ProNav: ac range: 286.847748 m, nav range: 278.500549 m, bearing: 97.728712 deg, approach rate: -0.586671 m/s, LOS rate: -0.014046 deg/s, cmd heading: 95.608134 deg, new cmd heading: 95.597955 deg. g%͹%HeadingCmd: 1.668499 target range: 286.847748 and range: 288.50 m.g-a?g)g)g)g)zf)rf)f1f1Bd1d1d9c9c=|?ɢmFVBm-E imIi u ݽɡqiqIuYA1Aa I I N > 1`,Z)Ay6?ٱ6t?6%T6Z=6HJ `?=?ے@Aɿ`AT?D?~K?I6?)6X^;i6ْCrDB<jDB<DFDFDF-DDEFg: EFE7:6EFt4:ED"EFs;!JEFt;!J*EFN;!NEFN;!N>QB9R#IMb@Mb@Mb@ )IiZd;O?A`"?I +?j?=9499GY%dA%>)Q 1-b4٪-+?Q 55b4-8r -rB9U?Q AU:YU`?Q EU?y-!C)-;I-;i-1Bb4YeBeABaB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 286.85 m.gtgt ProNav: ac range: 286.847748 m, nav range: 278.230682 m, bearing: 97.722590 deg, approach rate: -0.589205 m/s, LOS rate: -0.013380 deg/s, cmd heading: 95.597957 deg, new cmd heading: 95.585701 deg. gùHeadingCmd: 1.668285 target range: 286.847748 and range: 288.50 m.g_?ggggzfrfffBddd!c!c%)?ɢiVB8 页YI P߽ɡiIW=)_?)iC I}G)"oAIAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i5i  "oA (A1>A% =i Aq I I N >,huZ)Ay6?ٱ6?6VU6=6H;1P߸?;?fʿy?"? I?I6?)6^;i4B9RB9BHIBDJ6DJܲYR}>!R\=RMQ)V>T9T9VGYZ@FZʈAZ>\Q 1bb4٪^&?Q 5bb4^l ^rB9`YbT?jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259823Q Ej?y^("C)^f;I^h;i^ Ob4YnBr@Br/Eg15FNOT Ignoring new targets: 286.85 m.g=zg=zM ProNav: ac range: 286.847748 m, nav range: 278.009949 m, bearing: 97.717590 deg, approach rate: -0.602636 m/s, LOS rate: -0.013661 deg/s, cmd heading: 95.585704 deg, new cmd heading: 95.575696 deg. gUȹUHeadingCmd: 1.668111 target range: 286.847748 and range: 288.50 m.g]?gYgYgYgYzfYrfYfafaBdddccx@ɢ=VB=Ύ@ 9eZIa mdɡiiiImb~BiBmIBmSBBm =BiBiBm&r;Bm-EB-ލCB-ݍCB-ÔCB-â =B-ä =B-`66EM [4:EI"EM\<EM\<*EM ;EM ;i80>A=9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512387AU yAIY Ii N} >i l,([)AhRB9 dIBD6DY|=!9=Q)> H?9  H?9 GYAFA%>9YQ 1eb4٪= ?Q 5mb4=e =sB9yYyQ E?y=n"C)=I<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764066ɢEVBE 8 im⇿Ii m(nɡiiiIu$E>ԁBEg4JEm4RE6/DmDmDiDiEmg: Em,:6Ei:Ei"Ems;Emt;*Em5;Em5;i 95ԩ>A 9= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016054 A AI! II Ne >B,;/[)AyJ9?ٱJ?JWJɕ-=JH^ ?7?~OGʿ B?6?D?IJ9?)JP^;iJ֒CRRB9VI]Mb@Mb@Mb@ Y)YIYiYY]ʡE?zG?~jt?]?] =]DK?9K?9GY:A>ԡQ 1b4٪?Q 5b4_ SsB9 ?Q A:Y ?Q E?y"C)t2;I:inmb4Y@BgFNOT Ignoring new targets: 286.85 m.grgr ProNav: ac range: 286.847748 m, nav range: 277.486206 m, bearing: 97.705815 deg, approach rate: -0.649739 m/s, LOS rate: -0.014474 deg/s, cmd heading: 95.563396 deg, new cmd heading: 95.552125 deg. gӹ HeadingCmd: 1.667699 target range: 286.847748 and range: 288.50 m.g +w?g g g g zf rfffBdddcc%1> @ɢMVBMH@ IMօIQ U4ɡQiQIUAr=vBe>~BaBe IBeSBBe =BaBekDBetq;BeS-EDDD/DEƱ: EE7:6EJ4:E"E.;E0;*EN;EN;A) I9 II NU >) ,JH[)AyJi?ٱJN?JXJu^==JH@[  ?5?G7Jdʿ`>?i"?@?IJi?)J_^;iHjRB9jIBDz6DzY>! T= OQ)>99GYBF%A%>)Q 15b4٪-?Q 5=b4-Y -sB9AYE?Q EE?y-"C)-H;I-`J;i-zb4YIM_@BQechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519804gFNOT Ignoring new targets: 286.85 m.gDugDu ProNav: ac range: 286.847748 m, nav range: 277.252686 m, bearing: 97.700612 deg, approach rate: -0.600895 m/s, LOS rate: -0.013402 deg/s, cmd heading: 95.552127 deg, new cmd heading: 95.541710 deg. g6ĹHeadingCmd: 1.667517 target range: 286.847748 and range: 288.50 m.g6q?ggggzfrfffBdddcc@3Z @ɢVB-R= ;I æɡiIA} =qU DAT read: 05:17:31.5783 LVL= 21744, 27345, 23842, 31219, AGC= 68, IDX= 416, 0.18,-1.076,-2.759,-1.031,-1.493, PHS= 0.519,-1.221, 0.418, RAW= 147.0, 3.4, CAL= 146.4, 3.5, ROT= 3.6, -3.5 ] Ygot valid direction response: 05:17:31.5783 LVL= 21744, 27345, 23842, 31219, AGC= 68, IDX= 416, 0.18,-1.076,-2.759,-1.031,-1.493, PHS= 0.519,-1.221, 0.418, RAW= 147.0, 3.4, CAL= 146.4, 3.5, ROT= 3.6, -3.5 e PDAT read: Bearing 238.7, 16.3 (Local) e ~Local bearing/azimuth received: Bearing 238.7, 16.3 (Local) u DAT read: Range 11 to 50 : 286.2 m (Round-trip 381.6 ms) speed 0.5 m/s } ,DAT read: user:7385> } BDAT read: Tx time:05:17:32.6910  $Ping request sent.  \direction in FSK: [0.996165,0.062673,0.061049] :publishing transmit ping timeY  Fpublishing direction and range info9  ~ە?O3D$] ?.xA? C i T j "] y  /?) II >i Y3$@ s= Ƈ#@ 5z= =  5zi  I Is?bZ ?1zU? Z> r  =) 5zi   :publishing transmit ping timeY  Fpublishing direction and range info9  ~ە?O3D$] ?.xA?  i      ) I i      i  I Is?bZ ?1zU?   ) i  D D D ,D E  E A:6E g4:E ! @! @! @! @ԙ uK,mb[)Ay6'?ٱ6 ?6Y6͜C=6HL_'ٯ? 14?@@wʿ?.?8>?I6'?)6E_;i6גCBRB9BIMb@Mb@Mb@ )Iijt?RQ?=NQ)> H?9 H?9GYCFA>!Q 1-b4٪%?Q 5-b4%/R %sB9M"?Q A]:Y]?Q E]?y%1#C)%;I%`;i%/b4qY;@BhAhE[[)AhEFChEFChET?zE=]q@qSyt1@H_1@jE~ە?O3D$] ?.xA?hE=hE5zE4AHfp@uhS@rE:e7a?G7:v?hEChEThE8SF?hEAe 9= A I I N ><,ß}[)Ay6?ٱ6?6t[6ڐD=6Hq? 0?~ʿ8??_;?I6?)6w_;i6֒C>SB9BIFp\9\9^GY`b;Ab>dQ 1jb4٪f ?Q 5jb4f=L ftB9lYn?Q En?yfl#C)fl:Ifd:ifLb4Yr[Br?Bv%EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 284.55 m.g\g\- ProNav: ac range: 284.551544 m, nav range: 273.693176 m, bearing: 97.777967 deg, approach rate: -0.655557 m/s, LOS rate: -0.012062 deg/s, cmd heading: 95.529478 deg, new cmd heading: 95.520977 deg. g-5HeadingCmd: 1.667156 target range: 284.551544 and range: 286.20 m.g5Ze?g1g1g1g1zf9rf9fAfABdAdAdAcIcM`+?ɢuWBuD q}xIyAA?AvB>~BBkIBTBB =BBBp;B,EDDD+DE: EC:6E [4:E"E\Au l =rA}?jA}?ԱA AI I N > ,?[)AHSB9%I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993792Mb@Mb@Mb@ )Ii'1Z?+η? rh?"?v=CK?9K?9GYDFA> Q 1b4٪ `?Q 5b4 D RtB9$?Q A:Y?Q E?y #C) ? ;I  ;i اb4Y!%o?B!gIFNOT Ignoring new targets: 284.55 m.g4Eg4E ProNav: ac range: 284.551544 m, nav range: 273.398865 m, bearing: 97.772874 deg, approach rate: -0.621989 m/s, LOS rate: -0.010776 deg/s, cmd heading: 95.520974 deg, new cmd heading: 95.510777 deg. gÝHeadingCmd: 1.666978 target range: 284.551544 and range: 286.20 m.g_?ggggzfrfffBdddcc@?ɢmCWBm~46 iu~Iq ubɡqiqIu)Ae =Y A I I N >,6[)Ay6?ٱ6?62^6PI=6H@a?E,?\˿?k?C6?I6?)6a;i6ՒC>|SB9BIBDJ6DJ:YR>!Rm=RQ)R?T9T9VGYTV9AZ?\Q 1^b4٪^r?Q 5bb4^ ? ^tB9`Yb?Q Eb?y^#C)^:I^:i^b4Ydj;?BhgFNOT Ignoring new targets: 284.55 m.g4<g4< ProNav: ac range: 284.551544 m, nav range: 273.184235 m, bearing: 97.769147 deg, approach rate: -0.591820 m/s, LOS rate: -0.010284 deg/s, cmd heading: 95.510777 deg, new cmd heading: 95.503318 deg. gHeadingCmd: 1.666847 target range: 284.551544 and range: 286.20 m.gA[?ggggzfrf ffBdd!d!c!c%`ׯ?ԩɢUaWBUb}= QU#yIQ UɡYiYI]4Y~B1B5IB5TBB5 =B1B1B5o;B5X,EbDiZDm?ADuDuDu.DqEu: EuR:6Euـ4:Eq"EuQ;!EuR;!*Eu;!Eu;! >AE  =Au yAI I N >) ,r[)A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749824yJ ?ٱJ?J._JL=JH(q`?`*?FU-˿హ??3?IJ ?)JΛb;iJ֒CnSB9n,IIt)vAABDz6DzY~=!E=QTQ)>  H?9  H?9 GY EF TA >Q 1b4٪?Q 5%b4}8 tB9!Y%?Q E%?y1$C);In;ijb4Y)- ?B1gQ]FNOT Ignoring new targets: 284.55 m.g]MgeMm ProNav: ac range: 284.551544 m, nav range: 272.926727 m, bearing: 97.764678 deg, approach rate: -0.647822 m/s, LOS rate: -0.011254 deg/s, cmd heading: 95.503318 deg, new cmd heading: 95.494371 deg. guĤ}HeadingCmd: 1.666691 target range: 284.551544 and range: 286.20 m.g}#V?gygygygyzfyrfffBdddccE?ɢU|WBUZ@ Y]sIY ]ɡYiYIeۥAUV =i D D D *D E I: E P:6E (N4:E ! @! @! @! @A AI I N >,[)Ay:[ ?ٱ:@?:D`:MO=:H.mHaΰ?'?W˿?sG?0?I:[ ?):b;i:גCBSB9B<I5Mb@Mb@Mb@ 1)1I1i115?+η?/$?5f&?15eK?9eK?9eGYmFFmf͸Am>qQ 1}b4٪u?Q 5}b4u1 uuB9.(?Q A:Y?Q E?yuu$C)u7 ;Ius:iub4Y>BgFNOT Ignoring new targets: 284.55 m.gAgA ProNav: ac range: 284.551544 m, nav range: 272.663025 m, bearing: 97.760277 deg, approach rate: -0.633405 m/s, LOS rate: -0.010581 deg/s, cmd heading: 95.494371 deg, new cmd heading: 95.485560 deg. gꚹHeadingCmd: 1.666537 target range: 284.551544 and range: 286.20 m.gQ?ggggzfrfffBdddccp@ɢWB; <^uI %Fɡ!i!I%ѦA= A I I N- >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505731G0,[)APApApvBv>~BtBvIBvUBBv =BtBtBvn;Bv+EDEDEDE-DAEEy: EEE7:6EEt4:EA"EE!}I=}Q)}>99GYA>Q 1b4٪U?Q 5b4 + ZuB9YQ E?y$C)Q;I;i2b4Y(B1>BEeB*** querying acoustic contact ***zhahagiFNOT Ignoring new targets: 284.55 m.g8g8 ProNav: ac range: 284.551544 m, nav range: 272.405029 m, bearing: 97.755962 deg, approach rate: -0.603386 m/s, LOS rate: -0.010100 deg/s, cmd heading: 95.485560 deg, new cmd heading: 95.476922 deg. gߓHeadingCmd: 1.666387 target range: 284.551544 and range: 286.20 m.g(L?ggggzfrfffBdddcc9@ɢ-WB56 15gI1 56ɡ9i9I='si 9%4!)y ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758036) >AU V =A I I N- >,~o\)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012951y]?ٱ] ?]@d]7Q=]H\` ?`"? bѴ _˿ bD?Δ?@A+?I]?)]?b;i]ՒCm=TB9uI5Mb@Mb@Mb@ 1)1I1i115p= ף?RQ?:v?5%?5=5a9i9mGYmGFmrV:Au>qQ 1}b4٪u?Q 5b4u# uuB9'?Q A:Y$?Q E?yu%C)u:Iu ;iu_b4Y>BgFNOT Ignoring new targets: 284.55 m.gTgT ProNav: ac range: 284.551544 m, nav range: 272.114777 m, bearing: 97.750817 deg, approach rate: -0.655737 m/s, LOS rate: -0.011636 deg/s, cmd heading: 95.476919 deg, new cmd heading: 95.466618 deg. g]HeadingCmd: 1.666207 target range: 284.551544 and range: 286.20 m.gDF?ggggzfrfffBdddcc ȳ@ɢWBE8 %hI! %ɡ!i!I%yFA) ԡ I9 II N] >ܯ ,65\)A@yfW?ٱf;?fefK=fH`2g` ~?q ?H˿Ae?٨?)?IfW?)f+b;ifԒCrzTB9rIpipBDz6DzY#)>!d=! 9 9 GY HFA>Q 1%b4٪즊?Q 5%b4 uB9!Y%?Q E-?y;%C):I:ib4Y5 B5=B5EgY]FNOT Ignoring new targets: 284.55 m.geBKgeBKu ProNav: ac range: 284.551544 m, nav range: 271.890198 m, bearing: 97.746843 deg, approach rate: -0.627033 m/s, LOS rate: -0.011107 deg/s, cmd heading: 95.466620 deg, new cmd heading: 95.458664 deg. gu=HeadingCmd: 1.666068 target range: 284.551544 and range: 286.20 m.g=A?g9g9g9g9zf9rfAfAfABdAdIdIcIcM @ɢUWB]B: Y]*aIY ]0ɡYiYIe:~BۍCBLIBUBB =BBBm;Bq+EB܍CB܍CBœCBŦ =BŦ =Bj5DDD.DE: ET:6Eـ4:E"EA IIN ?r,V\)Al9l9nGYnIFr 9Ar>tQ 1zc4٪v榊?Q 5zc4vd vHvB9xY~ ?Q E~?yv%C)v;Iv<;iv c4Y=Bg)-FNOT Ignoring new targets: 284.55 m.g5Lg5LE ProNav: ac range: 284.551544 m, nav range: 271.564758 m, bearing: 97.741061 deg, approach rate: -0.626710 m/s, LOS rate: -0.011148 deg/s, cmd heading: 95.458662 deg, new cmd heading: 95.447085 deg. gE7MHeadingCmd: 1.665866 target range: 284.551544 and range: 286.20 m.g;?ggggzfrfffBddd c c `B@ɢ'XBm/2 ^ԡI %W ɡ!i)I-U  BDAT read: Tx time:05:17:36.5910  $Ping request sent. iu.k#@u¸2=u"@uA=u`= uAiqqIu8/|?b Ea?YTn?u{>u4 u`=)uAiqq:publishing transmit ping timeY Fpublishing direction and range info9quo??E*Y,?P7V?qqiqqqqq q)qIqiqqqqq qiqqIu8/|?b Ea?YTn?qq q)qiqqBE]|a4JE]Ye4RE]).0D]D]D]*DYE]: E]k:6E](N4:EY!e@!e@!e@!e@9m< i 9   0 ! >AENw =bAUlAZAQIIN>,Gv\)AyR?ٱR?R! gRD=RH@X`;? ?@̿`??'?IR?)RНa;iR֒C^TB9^I=Mb@Mb@Mb@ 9)9I9i99=?kt?V-?=f&?= ==q9q9uGYq}a A}>Q 1c4٪aᦊ?Q 5c4  vB9(?Q A:Y$?Q E?y%C):I;ic4YB~BBIBVBBBBjDB*m;B*+EDDD)DE: Ee:6EFA4:E"E&*$,{\)Ay>D?ٱ>(?>Lg>==>HvE`r?G? [`b0̿ ?`!?&?I>D?)>c5a;i>ՒCZUB9ZIBDb6Db0Yj =!jI=j@Q)j>l9l9nGYnJFr<=Ar>tQ 1zc4٪vݦ?Q 5zc4v| vvB9xYz?Q Ez?yv#&C)v;Iv#;iv .c4YET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.iD% D% D% ,D! E% a: E% X:6E% g4:E! !- @!- @!5 @!5 @ԑ N*,;\)Ay6?ٱ6?6ug6:=6H0 B1??;{9̿??`&?I6?)6a;i4RMUB9R,I%Mb@Mb@Mb@ !)!I!i!!%/$?K?S㥛?%1(?%^=%/!MC=U>Q)U>Q9Q9]GY]KF]JA]>aQ 1mc4٪eRئ?Q 5mc4e e:wB9u)?Q Au:Yu?Q Eu?yeg&C)e:yIeE:ieU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457905vB >~B B IB VBB =B B B l;B *E bD9 ZD= AADE DE DA DA EE : EE rN:6EA :EA "EE T ! O= Q) >99GY A=>AQ 1Mc4٪EӦ?Q 5Mc4E EwB9IYM?Q EM?yE&C)E:IE :iEJc4Yy}P1Y } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964551z7,_\)AyM?ٱM?MgM`:=MH 60V6? ?TB8̿)? ? &?IM?)M~9`;iM֒C]UB9ewI)i mAMb@Mb@Mb@ )IiS㥛?K?!56==f8Q)=>A9A9EGYELFE):AM>IQ 1Uc4٪MΦ?Q 5Uc4M MwB9]'?Q A]:Y]'?Q E]?yM&C)Mi ;IMG ;iM/Zc4YeBm= >1i8-0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213949Y>A #=ԁ AY Ii Iy N >=,{\)Ay6 ?ٱ6?6Zg6p<=6H`Mho?? @]*̿@??`['?I6 ?)62 `;i6ؒC>UB9BIID)FBABDJ 6DJ2YR >!Rd=RR:Q)V>T9T9VGYVMFZ{:AZ>\Q 1bc4٪^ʦ?Q 5bc4^ ^ xB9`Yb1?Q Ef?y^+'C)^:I^y:i^fc4YjBjh;BjEg|~FNOT Ignoring new targets: 282.06 m.gFgF ProNav: ac range: 282.063873 m, nav range: 269.743713 m, bearing: 97.722280 deg, approach rate: -0.662118 m/s, LOS rate: -0.010873 deg/s, cmd heading: 95.402505 deg, new cmd heading: 95.395058 deg. g/HeadingCmd: 1.664958 target range: 282.063873 and range: 283.70 m.gW?ggggzfrfffBdddcc@ɢXB88 >I eɡiI~<)I5W?i5\=i5 =)5W?)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466466i 91vBM >~BMڍCBM:IBMWBBIBIBIBM: Ec:6E:E"EA%Nw =ԉe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718008Aq I I N >Ա D,j])Ay6?ٱ6?6_f6R]3=6HRdT?I?IS ̿ ? إ? )?I6?)6u`;i6ՒCJ0VB9JIBD^6D^Yj>!jH==:Q)E>Y9a9eGYam\:Am>yQ 1c4٪}Ʀ?Q 5c4} }VxB9Y>?Q E?y}p'C)}:I}:i}uc4Y1;BB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 282.06 m.g;g;5 ProNav: ac range: 282.063873 m, nav range: 269.473663 m, bearing: 97.717817 deg, approach rate: -0.619881 m/s, LOS rate: -0.010254 deg/s, cmd heading: 95.395060 deg, new cmd heading: 95.386126 deg. g5=HeadingCmd: 1.664802 target range: 282.063873 and range: 283.70 m.g=;?g9g9gAgAzfArfAfIfIBdIdIdIcQcUE@ԑɢYBpc2 9I WɡiIv AV =DDD*DE: E1]:6E(N4:E!@!@!@!@) A yAI I N >Q J,O-])Ay6"?ٱ6?69f6,=6Hb`)? &?Wog̿"??)?I6"?)6_;i6ԒC>qVB9BI)! !-BDAT read: Rx Time:05:17:39.3701 5TRx dataTimestamp_ set to:1755839860.7462215checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224802=Mb@Mb@Mb@ 9)9I9i99=y&1?|?5^?~jt?=`%?===D!eA=m9Q)m>m H?9m H?9uGYuNFU:AU>YQ 1ec4٪]?Q 5ec4] ]xB9e~'?Q Ae:Ye?Q Ee?y]'C)]:I]:i]ʄc4Yqu:BqgFNOT Ignoring new targets: 282.06 m.gvgv ProNav: ac range: 282.063873 m, nav range: 269.200195 m, bearing: 97.712095 deg, approach rate: -0.643884 m/s, LOS rate: -0.013487 deg/s, cmd heading: 95.386126 deg, new cmd heading: 95.374670 deg. gtŹHeadingCmd: 1.664602 target range: 282.063873 and range: 283.70 m.g?ggggzfrfffBdd d c c{ @)ɢ:YB1 顝&2I ɡiInA TZ =vBM >~BI BM IBM WBBI BI BI BM k;BM z*ED D D .D E : E [:6E ـ4:E "E v]K?9]K?9]GY]OFeϫ:Ae>iQ 1uc4٪m?Q 5uc4mN mxB9qYu?Q Eu?ym'C)m:Im`:im c4Y:Bg  FNOT Ignoring new targets: 282.06 m.glglE ProNav: ac range: 282.063873 m, nav range: 268.942596 m, bearing: 97.706665 deg, approach rate: -0.613116 m/s, LOS rate: -0.012938 deg/s, cmd heading: 95.374672 deg, new cmd heading: 95.363800 deg. gElMHeadingCmd: 1.664412 target range: 282.063873 and range: 283.70 m.gMv ?gIgIgIgIzfQrfQfQfQԹBdddcc)@MDAT read: 05:17:39.3701 LVL= 30192, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.16, 0.599,-1.171, 0.616, 0.173, PHS= 0.528,-1.298, 0.399, RAW= 146.4, 4.3, CAL= 145.8, 4.6, ROT= 4.2, -4.6 UYgot valid direction response: 05:17:39.3701 LVL= 30192, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.16, 0.599,-1.171, 0.616, 0.173, PHS= 0.528,-1.298, 0.399, RAW= 146.4, 4.3, CAL= 145.8, 4.6, ROT= 4.2, -4.6 ]PDAT read: Bearing 239.6, 17.6 (Local) ]~Local bearing/azimuth received: Bearing 239.6, 17.6 (Local) mDAT read: Range 11 to 50 : 281.2 m (Round-trip 375.0 ms) speed 0.4 m/s m,DAT read: user:7387> uBDAT read: Tx time:05:17:40.4910 }$Ping request sent.}?oG?zꇴ?CiuE +?)$II>iƇ#@`=4"@l=Q = liIToS? kzY?N?t>ꗽ Q =)li:publishing transmit ping timeYyFpublishing direction and range info9>?oG?zꇴ?i )Iiɢ`YBU0 1I 0ɡiI A- ]=A AY Iy I N >CX,c])Ay69?ٱ6k/?6je6_+=6H`Ʊ }??q̿@_?n?`U+?I69?)6-_;i6גCVVB9V"ID%D%D%/D!E%O: E%ga:6E%J4:E!!-@!-@!-@!-@MMb@Mb@Mb@ I)IIIiIIMMb?~jt?y&1|?M#?M=M`;IMAiMAM&AMA)IMfABDe6De2Yu~$>!uD=u9Q)u>y9y9}GYy59A>Q 1c4٪?Q 5c4  yB9$?Q A:Y?Q E?y<(C) ;I ;ic4Y:BhhO])AhɋChɋCh?zNw^q@+vbh4@gt0Bk6@j>?oG?zꇴ?hQ =hlrK*COJW{p@CE#U@r>`A d=I I N >^,}])Ay:7?ٱ:-?:.f:K,=:H@E± ? ?w` ̿?`q?*?I:7?):R_;i:֒CBWB9B8IBDJ6DJܲYR6=!RX=V$#Q)V>T9T9VGYVPFZAZ>\Q 1bc4٪^L?Q 5bc4^ ^[yB9`Yf?Q Ef?y^x(C)^;I^<;i^ͮc4Yj}Bj9BjEg|~FNOT Ignoring new targets: 279.57 m.g^g^ ProNav: ac range: 279.573730 m, nav range: 268.218536 m, bearing: 97.703733 deg, approach rate: -0.630462 m/s, LOS rate: -0.012169 deg/s, cmd heading: 95.353218 deg, new cmd heading: 95.344140 deg. g)HeadingCmd: 1.664069 target range: 279.573730 and range: 281.20 m.g8?ggggzfrfffBdddcc?ɢYBܼ5 b'I ɡi I D~BBIBXBB =BBBsk;BI*EB]ڍCB]ۍCBYB]¨ =B]¨ =B]N5Qi 95DEDEDE+DAEE: EE1]:6EE [4:EA"EEAr =) ԩ I I N >e,䂗])Ay6-?ٱ6"?6Cf6\/=6H j`e"??獴+̿?\?o*?I6-?)6jT^;i6ՒC@B;WB9B\IIH)HBDJ6DJP)YR?>!VJ=VXQ)V>X9X9ZGYXZ)SAZ>\Q 1bc4٪^?Q 5fc4^ ^yB9dYf?Q Ef?y^(C)^:I^:i^c4YjtBj9BnEzB*** querying acoustic contact ***zhxhxgFNOT Ignoring new targets: 279.57 m.gNPgNP ProNav: ac range: 279.573730 m, nav range: 267.966217 m, bearing: 97.698875 deg, approach rate: -0.590702 m/s, LOS rate: -0.011382 deg/s, cmd heading: 95.344141 deg, new cmd heading: 95.334417 deg. gHeadingCmd: 1.663899 target range: 279.573730 and range: 281.20 m.g?ggggzfrfffBdddcc?ɢYB/ !I o!ɡiI(AM=IIN> % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504262k,]])Ay:x'?ٱ:[?:Ef:0=:HY ?@?@@ ̿?`?O*?I:x'?):];i:ӒCFcWB9FtIlMb@Mb@Mb@ )IiK7A?A`"?~jtx? "?=;IAiA3AA) ABD-6D-Y=e=!=A==yQ)=>A9I9MGYMQFUҹAU>iQ 1c4٪m6?Q 5c4mH myB9O$?Q A:Y?Q E?ym(C)my~BB'IBXBB =BBBj;B*E>AM +=I I N >DI DM DM ,DI EI  EM g:6EM g4:EI "EM !bR=b:Q)b>d9d9fGYfRFfwAj>hQ 1rc4٪j`?Q 5rc4j" jzB9pYr?Q Er?yj;)C)j;Ij:ijNc4Ytz=9BxgFNOT Ignoring new targets: 279.57 m.g%g%5 ProNav: ac range: 279.573730 m, nav range: 267.463013 m, bearing: 97.687358 deg, approach rate: -0.662859 m/s, LOS rate: -0.015187 deg/s, cmd heading: 95.322325 deg, new cmd heading: 95.311361 deg. g5[޹9=HeadingCmd: 1.663497 target range: 279.573730 and range: 281.20 m.gEy?gAgAgAgAzfArfAfIfIBdIdIdQcQcU0?ɢZB1 顅"I "ɡiIj>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009236iM9IIU5Q@U@U@]@]iIYIiN}z>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262399 x,$])AyB?ٱB~?BeBى>=BH@`?(?`T@˿1u?|6? U*?IB?)B];iBђCJWB9JID%D%D%.D!E%,: E%Ar:6E%ـ4:E!!-@!-@!-@!-@]Mb@Mb@Mb@ Y)YIYiYY]Mb?MbX?:v?]#?]=]T="7Q)>99GԑY{A>Q 1c4٪>?Q 5c4> _zB9%?Q A:YK?Q E?y)C)m ;I ;iYc4Y9BgFNOT Ignoring new targets: 279.57 m.gfgf ProNav: ac range: 279.573730 m, nav range: 267.195190 m, bearing: 97.681933 deg, approach rate: -0.621939 m/s, LOS rate: -0.012611 deg/s, cmd heading: 95.311363 deg, new cmd heading: 95.300501 deg. gHeadingCmd: 1.663308 target range: 279.573730 and range: 281.20 m.gC?ggggzf rf ffBdddccG5@ɢE)ZBE, IM II M]ɡIiQIUԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512288! ,])Ay6 ?ٱ6?62e6;=6H@R`d?? 󎴿˿:i??@@+?I6 ?)6׼];i6ՒCR(XB9RIBDZ6DZ:YvW>!vU=v:Q)v>x9x9zGYzSFzsA~>Q 1c4٪?Q 5 c4 zB9 Y F?Q E ?y)C):I:ic4Y@BY8BEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764435gIUFNOT Ignoring new targets: 279.57 m.gUegUee ProNav: ac range: 279.573730 m, nav range: 266.957153 m, bearing: 97.677111 deg, approach rate: -0.619695 m/s, LOS rate: -0.012566 deg/s, cmd heading: 95.300503 deg, new cmd heading: 95.290849 deg. gmmHeadingCmd: 1.663139 target range: 279.573730 and range: 281.20 m.gm?gqgqgqgqzfqrfqfyfyBdyddcc@G@ɢJZB, 页I  ɡiI`t: E5X:6E5 [4:E1"E5Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016263y H,)^)Ay6?ٱ6?6d6s4=6H@xx f j?7!?c@:˿U?f? -?I6?)6];i6ӒCNUXB9R IBDV6DV!3Y^`=!bM=b:Q)b>f H?9f H?9fGYfTFfc"Af>hQ 1nd4٪j񔦊?Q 5rd4j jzB9pYr>?Q Er?yj)C)j;Ij;ijd4Ytv,8Bx B*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 279.57 m.g%gg%g5 ProNav: ac range: 279.573730 m, nav range: 266.709137 m, bearing: 97.672089 deg, approach rate: -0.624402 m/s, LOS rate: -0.012653 deg/s, cmd heading: 95.290851 deg, new cmd heading: 95.280800 deg. g5A=HeadingCmd: 1.662964 target range: 279.573730 and range: 281.20 m.g=?g9gAgAgAzfArfAfIfIBdIdIdIcQcUu @ɢmZB+ I yɡiIKD=D=D=2D9E=O: E= n:6E=4:E9!E@!E@!M@!M@ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520292+,~2^)Ay6A?ٱ6$?6'yd6,=6H\`@~?!?`Pd@˿`R?Q ?-?I6A?)60v];i6ԒC>}XB9B"IMb@Mb@Mb@ )IiPn?J +?Mb?$?=K?9K?9GYD:A>Q 1d4٪?Q 5d4 &{B9 &?Q A:Y?Q E?yC*C) ;I ;id4Y8B7BEg!-FNOT Ignoring new targets: 279.57 m.g-_cg5_cE ProNav: ac range: 279.573730 m, nav range: 266.434509 m, bearing: 97.666644 deg, approach rate: -0.625886 m/s, LOS rate: -0.012424 deg/s, cmd heading: 95.280797 deg, new cmd heading: 95.269895 deg. gE嵹MHeadingCmd: 1.662773 target range: 279.573730 and range: 281.20 m.gM?gIgIgIgIzfIrfQfQfQBdYdYdYcYc]@ @ɢZBf) [<顕dI ɡiI*W %BDAT read: Tx time:05:17:44.3910 -$Ping request sent.-~BABEIBEYBBABABABEui;BEK)E>A}x= - R#Rx 1: Read range and direction messages.5 \direction in FSK: [0.996373,0.069673,0.048850]5 :publishing transmit ping timeY)5 Fpublishing direction and range info9imרI?7ֱ?s!D?mLCiimiiim@ mh ?)mDImw>im#@mA=me#@m+H=m5= m+HiiiImEo?:ZY?};z?m->mC m5=)m+Hiiim :publishing transmit ping timeY)m Fpublishing direction and range info9imרI?7ֱ?s!D?iiiiiiii i)iIiiiiiii iiiiImEo?:ZY?};z?ii i)iiiibDA ZDE @ADM DM DM /DI EM : EM Ar:6EM J4:EI "EM E"9 ,EL^)Ay: ?ٱ:p?:Ud:q.=:H`_? ?@am˿V?B?@u-?I: ?):iv];i:֒CRXB9VQIBD^6D^NYvM>!vZ=vzQ)v>x9x9zGYzUFz8A~>Q 1 d4٪K?Q 5 d4 d{B9 Y ?Q E ?y*C)W:I:i d4Y=7BYhh4.B^)Ah~Ch~Ch=?zB?q@cNAwL3@*+@jרI?7ֱ?s!D?h5=h+H˲BvO'p@@UTR@r5!IH+pHN?Z#lY?hChh;?h6whHC*i;?2i6w:i_CiOC"i? addTargetRange:: Added new target pos. range: 278.600006 m, deltaT: 3.786344 s, deltaX: -2.600006 m, approachRate: -0.686680 m/s, rangeRepo size: 4 = Added new target pos. range: 276.988800 m, bearing: 98.063134 deg, lat: 36.779264 deg, lon: -121.859696 deg, deltaT: 3.786344 s, deltaX: -2.584930 m, approachRate: -0.682698 m/s, posRepo size: 4 g9=FNOT Ignoring new targets: 276.99 m.gEgAu ProNav: ac range: 276.988800 m, nav range: 266.617798 m, bearing: 98.062230 deg, approach rate: 0.000000 m/s, LOS rate: -0.012424 deg/s, cmd heading: 95.269896 deg, new cmd heading: 95.260193 deg. gq}HeadingCmd: 1.662604 target range: 276.988800 and range: 278.60 m.g}5?gygygygyzfrfffBdddciq@c`U?ɢZB' !%I! %{\ɡ!i!I-AM l=q A} yAI I N > (,gf^)A D~D~D~1D|E~>: E~rN:6E~-4:E|! @! @! @! @=XB9=bIiE=IE=Mb@Mb@Mb@ )Ii%C?+η?:v?Z$?v= H?9 H?9GYVFA>Q 1d4٪O?Q 5 d4 {B9 3&?Q A :Y ?Q E ?y*C)z ;I* ;i\/d4YB"7BEgFNOT Ignoring new targets: 276.99 m.g=g= ProNav: ac range: 276.988800 m, nav range: 266.344788 m, bearing: 98.057704 deg, approach rate: -0.624346 m/s, LOS rate: -0.010361 deg/s, cmd heading: 95.260191 deg, new cmd heading: 95.251130 deg. gHeadingCmd: 1.662446 target range: 276.988800 and range: 278.60 m.g?ggggzfrff)f)Bd)d1d1c1c5`u?iɢZB0?) I ɡiIA r =AQ IY Iq N} >G#,^)Ay6#?ٱ6?6Gld86<=6H`@冯?!?֥˿Q?`?,?I6#?)6o];i6ӒCB8YB9BIJ;iJ4<BDN6DN0YR b>!V^=V9Q)V>X9X9ZGYX^9A^>`Q 1bd4٪b?Q 5fd4b b{B9dYf?Q Ef?yb+C)bC ;Ib%;ib8A 3=) AAI)I9NE>E,^)AyB?ٱB?BdBI=BHr*? ?ɴ 5˿W?&?*?IB?)B&];iBԒCNaYB9NIBDV6DV:Y^o=!^.=^Q)^>bK?9bK?9bGYbWFb0Af>dQ 1nd4٪f|?Q 5nd4f" fD|B9lYn?Q En?yfL+C)f;If;ifLd4Ytv6BtB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 276.99 m.g=g=- ProNav: ac range: 276.988800 m, nav range: 265.822021 m, bearing: 98.049036 deg, approach rate: -0.624950 m/s, LOS rate: -0.010366 deg/s, cmd heading: 95.243498 deg, new cmd heading: 95.233776 deg. g-×5HeadingCmd: 1.662143 target range: 276.988800 and range: 278.60 m.g5?g9g9g9g9zf9rf9fAfABdAdAdAcIcM?ɢu$[B}U% y}Iy }ɡyiIIAiy checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738886A I I N >ԑ k,G^)AYB9I)! !Mb@Mb@Mb@ )IiL7A`?bX9ȶ?L7A`?+'?E=+=IXAi|AKA)ABD6D1Y5>!9=Q)>99GYXFA>Q 1d4٪w?Q 5d4z |B9(?Q A:Y?Q E ?y+C):I:i \d4YW6Bg9=FNOT Ignoring new targets: 276.99 m.gEo*gEo*U ProNav: ac range: 276.988800 m, nav range: 265.542816 m, bearing: 98.044938 deg, approach rate: -0.633885 m/s, LOS rate: -0.009313 deg/s, cmd heading: 95.233778 deg, new cmd heading: 95.225574 deg. gUY]HeadingCmd: 1.662000 target range: 276.988800 and range: 278.60 m.g]i?gYgagagazfarfafifiBdididiqcqc}?ɢK[B7# 顭6;I ɡiI~BBlIBZBB =BBBLh;B(EBBڍCBBũ =Bũ =Bh595<D%D%D!D!E%&: E%c:6E!:E!"E%X;A +=bA jAZA jA!AeyAIiIyN?,^)AyB?ٱB?BZCdBdJ=BHp`bE?!?@ȴ4˿L?? +?IB?)BB];iB֒CJYB9NIBDV6DV:Y^=!^-=^ZJ:Q)^>b H?9b H?9bGY`fQAf>hQ 1nd4٪jr?Q 5nd4jA =Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746931AE AIY Iq N > ,jP^)AyJ$?ٱJ?JvcJ`?=JH 0`gد? 8"?z#˿@7=?`Y?i-?IJ$?)J];iJВCR#ZB9V%IMb@Mb@Mb@ )IiK7A`?/$? rh?+?=C =IiXA)ABD6DJYJ>!+=v~:Q)>K?9K?9GYYF9A>Q 1d4٪m?Q 5d4:k G}B9,?Q A:Yf?Q E?y/,C)2;It2;i?}d4YBj5B߮Eg!-FNOT Ignoring new targets: 276.99 m.g-g-= ProNav: ac range: 276.988800 m, nav range: 264.934418 m, bearing: 98.036689 deg, approach rate: -0.646367 m/s, LOS rate: -0.008067 deg/s, cmd heading: 95.216799 deg, new cmd heading: 95.209058 deg. g=5lEHeadingCmd: 1.661712 target range: 276.988800 and range: 278.60 m.gM?gIgIgIgIzfIrfIfQfQBdQdQdYcYc]`@ɢ[B! 額ľI ɡiI~BQBUIBU$[BBQBQBQBUh;BU(EA>Ad=D D D +D E : E n:6E [4:E "E b,,_)Ay:)?ٱ:?:Ҹc:;=:HX b?@"?sG˿/;?`t?-?I:)?):(];i:ՒCBhZB9BPIBDJ6DJ:Yj9>!j\=nZ39Q)n>l9p9rGYrZFrI9Ar>tQ 1zd4٪vi?Q 5zd4ve v}B9|Y~l?Q E~?yvm,C)v;Ivn;iv9d4Y%5B g)5FNOT Ignoring new targets: 276.99 m.g5g5E ProNav: ac range: 276.988800 m, nav range: 264.694000 m, bearing: 98.033676 deg, approach rate: -0.648541 m/s, LOS rate: -0.008136 deg/s, cmd heading: 95.209060 deg, new cmd heading: 95.203028 deg. gM9nMHeadingCmd: 1.661606 target range: 276.988800 and range: 278.60 m.gM?gQgQgQgQzfQrfQffBdddcc @Y)Y ]Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255724ɢ[B I #ɡiIAA3=% BDAT read: Rx Time:05:17:47.1634 - TRx dataTimestamp_ set to:1755839868.567526- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509738A% yAIQ Iq N% >,)_)AD>D>D>,D<E>: E>L_:6E>g4:E% H?9% H?9%GY!MAM>QQ 1]d4٪UDd?Q 5]d4UD] U}B9]+1?Q A]:Ye?Q Ee?yU,C)U:IU:iUd4Y4BԡB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 276.99 m.g54g54  ProNav: ac range: 276.988800 m, nav range: 264.393585 m, bearing: 98.029152 deg, approach rate: -0.653100 m/s, LOS rate: -0.009847 deg/s, cmd heading: 95.203029 deg, new cmd heading: 95.193970 deg. g*HeadingCmd: 1.661448 target range: 276.988800 and range: 278.60 m.gV?ggggzfrffAfIBdQdYdcc`% @ɢ[B9 ƫI 4 ɡiI6cA A AI I! ) N5 >,YB_)Ay:)?ٱ:?:\b:~I=:H``Y?`#?`ִh˿ ?`? .?I:)?): ^;i:֒CJZB9JIBDR6DR0YZ4>!Zg=^1:Q)^>^K?9bK?9bGYb[Fb:Ab>ij4=IjR=DAT read: 05:17:47.1634 LVL= 32080, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.10,-0.331,-2.085,-0.280,-0.754, PHS= 0.524,-1.286, 0.430, RAW= 147.3, 3.8, CAL= 146.7, 4.0, ROT= 3.3, -4.0 vB>~BBIB[BB =BBBg;B(E-Ygot valid direction response: 05:17:47.1634 LVL= 32080, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.10,-0.331,-2.085,-0.280,-0.754, PHS= 0.524,-1.286, 0.430, RAW= 147.3, 3.8, CAL= 146.7, 4.0, ROT= 3.3, -4.0 5PDAT read: Bearing 240.2, 16.6 (Local) =~Local bearing/azimuth received: Bearing 240.2, 16.6 (Local) EDAT read: Range 11 to 50 : 276.2 m (Round-trip 368.3 ms) speed 0.5 m/s M,DAT read: user:7389> UBDAT read: Tx time:05:17:48.2910 U$Ping request sent.Ud4YB4Bhhhj-[D_)AhjMChjMChjU?zj$qDq@9/@Ɉ'3@jjiLs~?#f?&k۱?hjk=hj5jFn]v@AKp@͙=S@rj6:Zcba? ?hj\ChjOhjXg?hjn뢍hj6C*ih2ih:ihijC"ij?jE j$?)jIj(>ij"$@jԇ=j#@j5=jk= j5ihhIjX1D[?#A!5X?@?j2u>jl jk=)j5ihhU:publishing transmit ping timeYQUFpublishing direction and range info9hjiLs~?#f?&k۱?hhihhhhh h)hIhihu addTargetRange:: Added new target pos. range: 276.200012 m, deltaT: 4.033995 s, deltaX: -2.399994 m, approachRate: -0.594942 m/s, rangeRepo size: 4 hhhh hihhIjX1D[?#A!5X?@?hh h)hihh Added new target pos. range: 274.604675 m, bearing: 97.284537 deg, lat: 36.779264 deg, lon: -121.859696 deg, deltaT: 4.033995 s, deltaX: -2.384125 m, approachRate: -0.591008 m/s, posRepo size: 4 gFNOT Ignoring new targets: 274.60 m.gg ProNav: ac range: 274.604675 m, nav range: 264.160461 m, bearing: 98.025628 deg, approach rate: 0.000000 m/s, LOS rate: -0.009847 deg/s, cmd heading: 95.193972 deg, new cmd heading: 95.186356 deg. gHeadingCmd: 1.661315 target range: 274.604675 and range: 276.20 m.g?ggggzfrfffBd)dAdAcM@3Cq@c]`?DDD-DE: EX:6Et4:E"Eg%Aq A yAI I N >,{]_)Ay:>1?ٱ: '?:b:gL=:H/@?@$?P˿`?`? 9.?I:>1?):Z^;i:ԒCjZB9jIBDr6Dr:Yu=!u8=uS9Q)u>} H?9} H?9}GY}\FY:A>Q 1d4٪Z?Q 5d4O x~B9Y?Q E?yB-C) ;I;id4Y{B3B֮EhhhhhP\?z$qDq@9/@Ɉ'3@jiLs~?#f?&k۱?hh.T@Kp@DS@r AGAa?Fb?hhh" ^?h]؅h*i2i]؅:i6CiC"i?gAmFNOT Ignoring new targets: 274.60 m.gm,Fgm,F} ProNav: ac range: 274.604675 m, nav range: 263.865356 m, bearing: 98.021144 deg, approach rate: -0.711959 m/s, LOS rate: -0.010829 deg/s, cmd heading: 95.186356 deg, new cmd heading: 95.177380 deg. gHeadingCmd: 1.661159 target range: 274.604675 and range: 276.20 m.g٠?ggggzfrfffBdddcc:?ɢ57\B=.X 9=`I9 = ɡAiAAIE A] r =bAe lAZAe lAԙ A I I N >,,1?w_)A@yF\.?ٱF>$?FaFG=FH wl?%?@ش(n˿ ?b?@g0?IF\.?)Fg^;iDN[B9NIMb@Mb@Mb@ )Ii(\?+η?V-?.?v=Q9Q9UGYY]aQ 1md4٪eU?Q 5md4eNH e~B9m/?Q Au:Yu?Q Eu?ye-C)e;Ie6;ied4Y3BgFNOT Ignoring new targets: 274.60 m.g9g9% ProNav: ac range: 274.604675 m, nav range: 263.580719 m, bearing: 98.016843 deg, approach rate: -0.670984 m/s, LOS rate: -0.010151 deg/s, cmd heading: 95.177382 deg, new cmd heading: 95.168769 deg. g-5HeadingCmd: 1.661008 target range: 274.604675 and range: 276.20 m.g5?g1g1g1g1zf9rf9f9f9BdAdAdAcAcE?ԩɢ5^\B5{ 15xI1 =S ɡ9i9I=.AE y=Au AI I N >8,>_)Ay6@6?ٱ6",?6HW`6B=6H7ű ?@'?@ҴH˿??ç?$3?I6@6?)6s^;i4B^[B9BI\BDJ6DJ:YB>!N=XP;Q)>K?9K?9GY]F{ :A>Q 1d4٪fQ?Q 5d4A B9Y?Q E?y-C)+;Iz;id4Y3Bg FNOT Ignoring new targets: 274.60 m.g<g<% ProNav: ac range: 274.604675 m, nav range: 263.320648 m, bearing: 98.012890 deg, approach rate: -0.677813 m/s, LOS rate: -0.010311 deg/s, cmd heading: 95.168769 deg, new cmd heading: 95.160856 deg. g%-HeadingCmd: 1.660870 target range: 274.604675 and range: 276.20 m.g-f?ggggzfrfffBdddcc`?ɢ\BA 摾I 5< ɡiIA =a A D- D- D- -D) E- 2: E- L_:6E- t4:E) !5 @!5 @!5 @!= @IA IQ N] >g,_)Ay6=?ٱ63?6NJ_6B=6H Ա`?1)?޴ /˿`? ߾?4?I6=?)6M^;i6ӒCB[B9BIAMb@Mb@Mb@ )IiQ?Zd;O?~jt?\/?j=!F=:Q)>99GY^F:A>Q 1d4٪L?Q 5 d4}: YB9 1?Q A :Y ?Q E ?y.C) ;IG ;id4YfB"3B%ծE]B*** querying acoustic contact ***zhYhYgimFNOT Ignoring new targets: 274.60 m.gu2gu2 ProNav: ac range: 274.604675 m, nav range: 263.045105 m, bearing: 98.008816 deg, approach rate: -0.659325 m/s, LOS rate: -0.009760 deg/s, cmd heading: 95.160859 deg, new cmd heading: 95.152702 deg. g㎹HeadingCmd: 1.660728 target range: 274.604675 and range: 276.20 m.g?ggggzfrfffBdddccBs?ɢ\B I ^r ɡ i I ū >i-9))-0)@5=@5=ԡ>AM y= M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999859vBU >~BQ BU IBU \BBQ BQ BQ BU g;BU V(EA} yAI I N >^y,._)Ay D?ٱ :? ^ XE= HH㱿@u:?*?f˿`x? ? 5?I D?) *^;i ҒC5PExceeded connect timeout, disconnecting.=[B9=3IQBDM6DMkYe=!eN=e( ;Q)e>m H?9m H?9mGYiu :Au>Q 1d4٪G?Q 5d43 B9Y?Q E?yY.C)F;IG;id4Y2BbDiZDm?AD}D}D},DyE}: E}]t:6E}g4:Ey"E}&A} ;= A AI I N >,Q_)AyJX?ٱJN?J]J K?9 K?9 GY _F :A>Q 1%d4٪hC?Q 5%d4, B9!Y%?Q E%?y.C)3;IQ;i{d4Y-0B5X2B5̮EgQ]FNOT Ignoring new targets: 274.60 m.geGgeGu ProNav: ac range: 274.604675 m, nav range: 262.518311 m, bearing: 98.000953 deg, approach rate: -0.726579 m/s, LOS rate: -0.010909 deg/s, cmd heading: 95.144774 deg, new cmd heading: 95.136960 deg. gu}HeadingCmd: 1.660453 target range: 274.604675 and range: 276.20 m.g}?gygygygyzfrfffBdddcc@ɢ\BZ2 gI ) ɡiI4A=A yAI I N >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755891I ,_)AyJW?ٱJM?Jf\JaK=JHM `GY?@-?(@ʿ $_?ۨ? 8?IJW?)J_;iHR9\B9VnI! @!  ! @!  ! @!  ! @!  BD6D:2Y%=!-H=-);Q)->- H?95 H?95GY5`F5lnA5>9Q 1Ee4٪=>?Q 5Ee4=% =BQ =M+:9IQ AMx:YM?Q EM?y=.C)=:I=x>i=e4YQU(2BYgFNOT Ignoring new targets: 274.60 m.gH6gH6 ProNav: ac range: 274.604675 m, nav range: 262.244690 m, bearing: 97.996845 deg, approach rate: -0.662601 m/s, LOS rate: -0.009960 deg/s, cmd heading: 95.136960 deg, new cmd heading: 95.128734 deg. gӑHeadingCmd: 1.660310 target range: 274.604675 and range: 276.20 m.g?ggggzfrfffBdddcc@+@ɢ ]B ^ ^I  ɡiIʦ~BB IB5]BB =BBBg;BM(Ei4>I%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008317BqBqBqBuŨ =BqBu 45nManaging dock network, ignoring radio surface power off>AuC"=yDDD/DE; EAr:6EJ4:E"EAԙ ,>`)Ayff?ٱf\?f)[fF=fH&) I?/?B/Jʿ/?/? ;?Iff?)f_;idrn\B9rIIzAA)xBDz6DzY>!L= nr;Q) > K?9 K?9GY:A>%BDAT read: Rx Time:05:17:51.0596 %TRx dataTimestamp_ set to:1755839872.344588-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2611321Q 1e4٪59?Q 5e45 57BQ = :9Q AI:Y?Q E?y5'/C)56gAK =A IA Ii N >BE=^n4JE=ˆs4RE=n/D D D D E : E x:6E :E ! @! @! @! @ G ,-`)A}\B9}I!! !! !! !! Mb@Mb@Mb@ )IiHzG??~jtx?=*?=;IAi;A AA)fABD%6D%YU=!)=Q)>99GYaFA>}DAT read: 05:17:51.0596 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402, 0.10,-0.744,-2.476,-0.700,-1.138, PHS= 0.496,-1.293, 0.394, RAW= 147.1, 4.7, CAL= 146.5, 5.0, ROT= 3.5, -5.0 Ygot valid direction response: 05:17:51.0596 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402, 0.10,-0.744,-2.476,-0.700,-1.138, PHS= 0.496,-1.293, 0.394, RAW= 147.1, 4.7, CAL= 146.5, 5.0, ROT= 3.5, -5.0 PDAT read: Bearing 242.2, 16.2 (Local) ~Local bearing/azimuth received: Bearing 242.2, 16.2 (Local) DAT read: Range 11 to 50 : 273.4 m (Round-trip 364.6 ms) speed 0.4 m/s ,DAT read: user:7390> BDAT read: Tx time:05:17:52.1909 Q 1e4٪3?Q 5e4 ^BQ =T:9),?Q A:Y?Q E?yz/C))=I=^>i=O$@===_#@=¸==5z= =¸i99I=Ud? XS ?Ó?=>=lN =5z=)=¸i99 :publishing transmit ping timeYFpublishing direction and range info99=??N#?O?99i99999 9)9I9i99999 9i99h9h=e6`)Ah=Ch=Ch=D?z=4}p@@Z0@.Zа7@j=??N#?O?h=5z=h=¸=<A ap@\,RST@r=H}uD?F$?h=Ch=}h=k[?h=ȣh=xC*i=k[?2i=n뢍:i9i=@C"i=?I=Ud? XS ?Ó?99 9)9i99 addTargetRange:: Added new target pos. range: 273.399994 m, deltaT: 3.781880 s, deltaX: -2.800018 m, approachRate: -0.740377 m/s, rangeRepo size: 4  Added new target pos. range: 271.820068 m, bearing: 97.559607 deg, lat: 36.779284 deg, lon: -121.859706 deg, deltaT: 3.781880 s, deltaX: -2.784607 m, approachRate: -0.736302 m/s, posRepo size: 4 gFNOT Ignoring new targets: 271.82 m.gg ProNav: ac range: 271.820068 m, nav range: 260.505157 m, bearing: 97.525719 deg, approach rate: 0.000000 m/s, LOS rate: -0.009834 deg/s, cmd heading: 95.120568 deg, new cmd heading: 95.109867 deg. gHeadingCmd: 1.659980 target range: 271.820068 and range: 273.40 m.gA z!=DDD,DE: E n:6Eg4:E"E+d9d9fGYfbFfa;Aj>lQ 1re4٪ni.?Q 5re4nG nB9pYr?Q Er?yn/C)n:InN:in1e4YzBz1Bz®EhYhYhYhYh]-?z]4}p@@Z0@.Zа7@j]??N#?O?hYhY]9 OA yip@1m` T@r]5^MvpM?v )?h]Ch]| h]Ț?h] h]hC*iY2iY:iYi]C"i]z?g9=FNOT Ignoring new targets: 271.82 m.gE.gE.U ProNav: ac range: 271.820068 m, nav range: 260.222046 m, bearing: 97.519761 deg, approach rate: -0.758319 m/s, LOS rate: -0.015975 deg/s, cmd heading: 95.109865 deg, new cmd heading: 95.097937 deg. gU鹝eHeadingCmd: 1.659772 target range: 271.820068 and range: 273.40 m.gejs?gagagigizfqrfqfyfBdddccb?Iɢ]B 額BI Ɍ ɡiIA"=A yAI I N > u,:i`)Ayf.?ٱf?fUf4=fHMtz?`7?@?y@ʿ??  H?9  H?9GY%(:A->ԱQ 1e4٪(?Q 5e4x B9Y*?Q E?y0C)6:I9:iBe4Y0B-B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 271.82 m.gE{gE{u ProNav: ac range: 271.820068 m, nav range: 259.918854 m, bearing: 97.513318 deg, approach rate: -0.647011 m/s, LOS rate: -0.013764 deg/s, cmd heading: 95.097940 deg, new cmd heading: 95.085039 deg. guɹ}HeadingCmd: 1.659547 target range: 271.820068 and range: 273.40 m.g} l?gygggzfrfffBdddcc?ɢ]B~ !%II! %. ɡ!i1I5/VA= )=9 Ai Iy I A AAA AAvB >~B B IB (^BB B B B ig;B A(EN >g!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245122,ֆ`)Ay:K?ٱ:,?:xT:;#@=:H;ز@ݯ? 9?`ҳ4ɿR^?R~?`yG?I:K?):B_;i:ՒCFI]B9FI Mb@Mb@Mb@ ) I i   K7A`?bX9ȶ?~jt? +? E= D!M<=UzG;Q)U>Y9Y9]GԉYcF"j:A>Q 1e4٪#?Q 5%e46 ĀB9%,?Q A%:Y-?Q E-?yY0C);I;i Qe4YY]0BYgFNOT Ignoring new targets: 271.82 m.g-Og-ODDD-DE: ErN:6Et4:E"Eo%>ԩie9iim/0i@umA@q) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498123>AM S,= A} AI I N >',x`)Ay6yö?ٱ6Z?6OS6 =J=6Hp岿 x?`\;?@!ݵؤɿ:?? lH?I6yö?)6 ^;i6ҒC>~]B9>6I)D DBDJ6DJkYR >!RX=RC;Q)R>VK?9VK?9VGYVdFV :AZ>XQ 1e4٪Z?Q 5%e4Z" ZB9!Y%?Q E%?yZ0C)ZthA.=QA I I! N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001061y -,U`)Ay6?ٱ6?6Q6i S=6H`ò@ ?I>?ϵ@lnɿB? <ѩ?%J?I6?)6Z^;i6ВCN]B9RNI%Mb@Mb@Mb@ !)!I!i!!%MbX?ʡE? rh?%*?%-=%C99GYէA>Q 1e4٪?Q 5e4 B9@,?Q A:Y?Q E?y0C):I8:ile4Y?0BgFNOT Ignoring new targets: 271.82 m.g HNg HN ProNav: ac range: 271.820068 m, nav range: 259.116089 m, bearing: 97.499462 deg, approach rate: -0.670981 m/s, LOS rate: -0.011272 deg/s, cmd heading: 95.066896 deg, new cmd heading: 95.057293 deg. g%HeadingCmd: 1.659063 target range: 271.820068 and range: 273.40 m.g%+\?g!g!g!g!zf)rf)f)f1Bd1d9d9c9c=t@Qɢm8^Bm qu@Iq u ɡyiyI}jAIԱbD ZD @AD D D -D E : E c:6E t4:E "E !% E p 4,82`)AyF?ٱF?FkPFRU=FH@}@? A?`݊`Fɿ}?g? L?IF?)F^;iFӒCR]B9RxIBDZ6DZNYb6>!bZ=b(^;Q)f>d9d9fGYfeFj@Aj>lQ 1re4٪nS?Q 5re4np n!B9pYr`?Q Ev?yn1C)n:In:inze4YzBz/BzEgFNOT Ignoring new targets: 271.82 m.g%Fg%F5 ProNav: ac range: 271.820068 m, nav range: 258.871582 m, bearing: 97.495414 deg, approach rate: -0.653126 m/s, LOS rate: -0.010823 deg/s, cmd heading: 95.057293 deg, new cmd heading: 95.049190 deg. g5u=HeadingCmd: 1.658921 target range: 271.820068 and range: 273.40 m.g=W?g9g9g9gAzfArfAfAfIBdIdIdIcIcU@ɢ}]^B}" 顅*I 0 ɡiIe=A]l,= U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757442A I I N >D- D- D) D) E- : E- i:6E) :E) !U @:,`)A!}@!@!@`ib@ys?ٱi?%OU=HM ?C?V . ɿ?@0?N?Is?)_;iВC ^B9I]Mb@Mb@Mb@ Y)YIYiYY]q= ףp?ʡE?/$?]+?Y]IA9I9MGYUfFU<ϺAU>YQ 1ee4٪]?Q 5ee4]5 ]IB9m -?Q Am:Ym-?Q Em?y]o1C)]i ;I] ;i]e4Yqum/BqB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 271.82 m.gBgB ProNav: ac range: 271.820068 m, nav range: 258.552856 m, bearing: 97.490235 deg, approach rate: -0.654189 m/s, LOS rate: -0.010642 deg/s, cmd heading: 95.049193 deg, new cmd heading: 95.038823 deg. gΛHeadingCmd: 1.658740 target range: 271.820068 and range: 273.40 m.gQ?ggggzfrfffBdddcc@ɢ^Bƒ  EI  P ɡ i I ViA} $=A A <vB >~B B . IB _BB B B kDB 4g;B '(E] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261090A I I N >'B,c a)AyZj[?ٱZKQ?ZΨMZW=ZH  @9!? \F?`&@(ȿ`?`Hk? 3P?IZj[?)Z_;iZҒCjI^B9jIvp!]a=]-;Q)]>a9a9eGYae?Ae>iQ 1ue4٪m ?Q 5}e4m$ mfB9yY}?Q E}?ym1C)m6:Im-:ime4YB/BEgFNOT Ignoring new targets: 271.82 m.gzAgzA ProNav: ac range: 271.820068 m, nav range: 258.318024 m, bearing: 97.486454 deg, approach rate: -0.655950 m/s, LOS rate: -0.010572 deg/s, cmd heading: 95.038824 deg, new cmd heading: 95.031255 deg. gȚHeadingCmd: 1.658608 target range: 271.820068 and range: 273.40 m.gGM?ggggzfrfffBdddcc @ɢ^B $νI c ɡ!i!I%A#'=y A I I1 N= >JH,"a)A0y:tC?ٱ:U9?:L:xPV=:H<` ?cI?'Vȿ[U?T??`R?I:tC?):5`;i8Bl^B9BIBDJ6DJYR=!RX=Vϊ;Q)V>T9T9VGYZgFZAZ>\Q 1be4٪^?Q 5be4^ ^B9dYf?Q Ef?y^1C)^ ;I^:i^ʤe4Yhj.Bhg|FNOT Ignoring new targets: 271.82 m.g?g? ProNav: ac range: 271.820068 m, nav range: 258.069550 m, bearing: 97.482489 deg, approach rate: -0.655592 m/s, LOS rate: -0.010472 deg/s, cmd heading: 95.031256 deg, new cmd heading: 95.023318 deg. gRHeadingCmd: 1.658470 target range: 271.820068 and range: 273.40 m.gH?g!g!g!g!zf!rf!f)f)Bd)d)d1c1c5 @ɢ]^Beg ae,ҽIa e!x ɡiiiImƻA$= } DAT read: 05:17:54.9562 LVL= 30128, 32753, 32754, 32755, AGC= 68, IDX= 399, 085,-1.391, 0.355,-0.127, PHS= 0.514,-1.219, 0.438, RAW= 147.8, 3.2, CAL= 147.0, 3.3, ROT= 3.0, -3.3  !unknown deviceResponse_: 05:17:54.9562 LVL= 30128, 32753, 32754, 32755, AGC= 68, IDX= 399, 085,-1.391, 0.355,-0.127, PHS= 0.514,-1.219, 0.438, RAW= 147.8, 3.2, CAL= 147.0, 3.3, ROT= 3.0, -3.3  PDAT read: Bearing 241.6, 14.8 (Local)  ~Local bearing/azimuth received: Bearing 241.6, 14.8 (Local)  DAT read: Range 11 to 50 : 270.9 m (Round-trip 361.2 ms) speed 0.4 m/s A I  ,DAT read: user:7391>  BDAT read: Tx time:05:17:56.0409  $Ping request sent. [uN,)9)9-GY-hF5p9A]>aQ 1ee4٪e?Q 5me4e eBQ =m+:9iQ Am~:Ym?Q Em?ye92C)e%;Ie>ieñe4Y}B\.BE addTargetRange:: Added new target pos. range: 270.899994 m, deltaT: 4.029752 s, deltaX: -2.500000 m, approachRate: -0.620386 m/s, rangeRepo size: 4 gFNOT Ignoring new targets: 271.82 m.g=g=% ProNav: ac range: 271.820068 m, nav range: 257.769073 m, bearing: 97.477677 deg, approach rate: -0.644514 m/s, LOS rate: -0.010334 deg/s, cmd heading: 95.023320 deg, new cmd heading: 95.013684 deg. g%KMHeadingCmd: 1.658302 target range: 271.820068 and range: 270.90 m.gM:C?gQgQgQgQzfQrfQfYfYBdYdYdace`fp@ce@?ɢ_B ˽I * ɡiIA "=A A yAI! I1 NE >!Rh=VH;Q)V>V H?9V H?9VGYTZI:AZ>\Q 1be4٪^?Q 5be4^ ^ŁBQ =b :9dQ AfN:Yf?Q Ef?y^s2C)^':I^N?i^e4Yhj#.Blg|FNOT Ignoring new targets: 271.82 m.gCFgCF ProNav: ac range: 271.820068 m, nav range: 257.541077 m, bearing: 97.474002 deg, approach rate: -0.671648 m/s, LOS rate: -0.010833 deg/s, cmd heading: 95.013682 deg, new cmd heading: 95.006327 deg. g%%HeadingCmd: 1.658173 target range: 271.820068 and range: 270.90 m.g-??g)g)g)1g)zf1rf1f9f9Bd9d9dAcAcER?ɢ&_B ֛I < ɡiIޑAA AI! I1 N= >Ա BE)JE-ˣf4RE-˭<0D D D (D E : E :6E c44:E ! @! @! @! @n{[,(pa)AԑyD?ٱ9?B-HW=H I?`bO?`e洿`[Hȿ? t?`X?ID?)a;iђC^B9 I!! !! !! !! Mb@Mb@Mb@ )Iioʡ?|?5^?~jt?-?=K?9K?9GYiF|A>Q 1e4٪?Q 5e4 BQ =T:9)/?Q A:Y?Q E?y2C):IG:iRe4Y.BB*** querying acoustic contact ***zhhg)5FNOT Ignoring new targets: 271.82 m.g5g5E ProNav: ac range: 271.820068 m, nav range: 257.226715 m, bearing: 97.467370 deg, approach rate: -0.661551 m/s, LOS rate: -0.013975 deg/s, cmd heading: 95.006326 deg, new cmd heading: 94.993044 deg. gM̹MHeadingCmd: 1.657941 target range: 271.820068 and range: 270.90 m.gMl7?gQgQgQgQzfQrfQfYfYBdYdYdacacey?ɢU_B[ 顕껽I  ɡiI@A rA ?jA ?A @AA @AvB >~B B IB _BB =B B B f;B (E!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243844A) IA IQ N} >vb,TUa)Am/_B9m@ IBD}6D}Y>![=Q)>99GYjFA>Q 1e4٪?Q 5e4  B9YQ E?y3C)y:I:i\e4Y-BgFNOT Ignoring new targets: 271.82 m.glglD-D-D-.D)E-O: E-i:6E-ـ4:E)"E- A]ȿ=A I I N >I h,Ia)Ay6 ?ٱ6?6E6?A=6H؎@.?T?w. * ȿ`?ɲ?`^?I6 ?)6E`;i4B`_B9B_ IF4!R_=R;Q)V>T9T9VGYTZAZ>\Q 1be4٪^?Q 5be4^\ ^(B9`Yf?Q Ef?y^B3C)^D;I^;i^)e4Yhj-Bhg|~FNOT Ignoring new targets: 271.82 m.g }g } ProNav: ac range: 271.820068 m, nav range: 256.736847 m, bearing: 97.457085 deg, approach rate: -0.663009 m/s, LOS rate: -0.013831 deg/s, cmd heading: 94.982585 deg, new cmd heading: 94.972456 deg. gʹHeadingCmd: 1.657582 target range: 271.820068 and range: 270.90 m.g+?ggggzfrfffBdddcc@?1ɢE_BEd{ IMII M ɡIiIIM: EY6E](N4:EY!@!@!@!@>A!=ԑ- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999516Aa Ii Iy N >Թ n,a)Ay:L?ٱ:,?: E:Ƭ8=:H-i̭? wU?볿 ǿz?@?`?I:L?):`;i8F_B9Fr IMb@Mb@Mb@ )Iioʡ? ףp= ?{Gz?Q=ףA9A9EGYEkFEAM>IQ 1Ue4٪M륊?Q 5Ue4M MIB9].?Q A]:Y]?Q E]?yM3C)M ;IM ;iMe4Ym>Bm,BmEgFNOT Ignoring new targets: 271.82 m.gGgG ProNav: ac range: 271.820068 m, nav range: 256.456299 m, bearing: 97.452474 deg, approach rate: -0.663015 m/s, LOS rate: -0.010909 deg/s, cmd heading: 94.972455 deg, new cmd heading: 94.963223 deg. gHeadingCmd: 1.657421 target range: 271.820068 and range: 270.90 m.g^&?ggggzfrfffBdddcc*@ɢu_Bu" y}Iy } ɡyiyI}X[~BB IBl`BB =BBBg;B(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252339)>A58 =D]D]D]0DYE]: E]c:6E]4:EY"E]#Q u,6a)Ay6r?ٱ6Q?6ϛD6T2=6H5X@?@JV? Ƴǿ`l?@ߥ?a?I6r?)6Zk`;i6ҒC>_B9> IBDF6DFYNr[>!NT=R5:Q)R>R H?9V H?9VGYTV8AV>XQ 1^f4٪ZZ祊?Q 5^f4Z ZgB9`Yb?Q Eb?yZ3C)Z;IZ;iZef4Ydf,Bdrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503569gFNOT Ignoring new targets: 271.82 m.g Fg F ProNav: ac range: 271.820068 m, nav range: 256.201050 m, bearing: 97.448284 deg, approach rate: -0.660574 m/s, LOS rate: -0.010855 deg/s, cmd heading: 94.963221 deg, new cmd heading: 94.954832 deg. gힹ%HeadingCmd: 1.657274 target range: 271.820068 and range: 270.90 m.g%!?g!g!g)g)zf)rf)f1f1Bd1d1d9c9c= A@ɢ_B I g ɡiIAy=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755835ԉ A AI I N% >Du Du Du ,Dq Eu : Eu n:6Eu g4:Eq !} @!} @!} @! @n{,Ra)A0y?ٱ?ɼC2=HIT`z?W?ſ Qǿ@Q?? &c?I?)_;iВC_B9 I%Mb@Mb@Mb@ !)!I!i!!%(\??~jt?%.?%=%DK?9K?9GYlF A>Q 1f4٪᥊?Q 5f4^ B9/?Q A:Y?Q E?y4C);I*:if4Y,BB*** querying acoustic contact ***zhhg  FNOT Ignoring new targets: 271.82 m.g)qg)q% ProNav: ac range: 271.820068 m, nav range: 255.884979 m, bearing: 97.442080 deg, approach rate: -0.670530 m/s, LOS rate: -0.013178 deg/s, cmd heading: 94.954833 deg, new cmd heading: 94.942410 deg. g--HeadingCmd: 1.657058 target range: 271.820068 and range: 270.90 m.g5w?g1g1g1g1zf1rf1f9f9Bd9d9dAcAcE`@ɢu"`Bu quaIq } ɡyiyI}K}<ԁIw?iV=iHY=)w?)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020553i9ԩ>A= "= Ay A} <vB ~B B H IB `BB B B B ^g;B :(EA1 IA IQ Nm > BDAT read: Rx Time:05:17:58.8029  TRx dataTimestamp_ set to:1755839880.169218 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273346͂, b)ALyrݵ?ٱr?rKkCr+6=rH2Sn?`mX? ǿG?fn?@Dc?Irݵ?)r^;irΒCz0`B9z IBD 6D :YDF>!f=e:Q)>!9!9%GY%mF%'ºA->)Q 15f4٪-Bݥ?Q 5=f4-> -B99Y=?Q E=?y-Z4C)-;I- ;i-Of4YIMM,BIgiuFNOT Ignoring new targets: 271.82 m.g$pg$p ProNav: ac range: 271.820068 m, nav range: 255.647308 m, bearing: 97.437435 deg, approach rate: -0.670763 m/s, LOS rate: -0.013122 deg/s, cmd heading: 94.942409 deg, new cmd heading: 94.933111 deg. gHeadingCmd: 1.656895 target range: 271.820068 and range: 270.90 m.g&?ggDDD-DE: Ee:6Et4:E"E{>A) ) A] yAI I N >r,%b)Ay6t׵?ٱ6S?68C6W0=6H@s& ?X? `ǿ`MA???@d?I6t׵?)6DR^;i6ђC>e`B9B IiF=IF=BDJ6DJk2YR>!RR=Rx:Q)R>V H?9V H?9VGYTVtAZ>XQ 1bf4٪Zإ?Q 5bf4Z Z‚B9`Yb?Q Eb?yZ4C)Z3;IZr;iZ*f4Ydj,Bhgx|FNOT Ignoring new targets: 271.82 m.gogo ProNav: ac range: 271.820068 m, nav range: 255.387253 m, bearing: 97.432352 deg, approach rate: -0.669561 m/s, LOS rate: -0.013099 deg/s, cmd heading: 94.933113 deg, new cmd heading: 94.922938 deg. gȿ%HeadingCmd: 1.656718 target range: 271.820068 and range: 270.90 m.g%T?g!g!g!g!zf!rf!f)f)Bd)d1d1c1c5 - @ɢq`B%V !%P>I! !ɡ)i)I- BDAT read: Tx time:05:17:59.8909 $Ping request sent.i%@'g=O$@C=4QO= CiI 4QO=)Ciu:publishing transmit ping timeYuFpublishing direction and range info92z? ;iX֩? M?i )Ii iIA =ԁ A I! I9 NE >,wM?b)Ay6mŵ?ٱ6L?6RB6|0"=6H` `Ū?`Y? 9`ǿ7?`?e?I6mŵ?)6;^;i6͒C>`B9> IMb@Mb@Mb@ )Iiq= ףp?Zd;O?1999=GY=nF=A=>AQ 1Mf4٪Eӥ?Q 5Uf4Ea EB9U%-?Q AU:YU?Q EU?yE4C)E;IE;iE9f4Y]B]z+BeEԩhh*b)AhmChmChO ?z=Cp@Fv*@U'L3@j2z? ;iX֩? M?h4QO=hCWɿ8>I)/o@ցbQ@rCAܼUChخ??hChh_웊?hRAh_B*i" ^?2i:ii~C"i ? addTargetRange:: Added new target pos. range: 268.399994 m, deltaT: 3.792152 s, deltaX: -2.500000 m, approachRate: -0.659256 m/s, rangeRepo size: 4  Added new target pos. range: 266.852722 m, bearing: 96.706402 deg, lat: 36.779295 deg, lon: -121.859706 deg, deltaT: 7.821904 s, deltaX: -4.967346 m, approachRate: -0.635056 m/s, posRepo size: 4 gFNOT Ignoring new targets: 266.85 m.gg ProNav: ac range: 266.852722 m, nav range: 254.956802 m, bearing: 97.158447 deg, approach rate: 0.000000 m/s, LOS rate: -0.013099 deg/s, cmd heading: 94.922936 deg, new cmd heading: 94.911105 deg. gHeadingCmd: 1.656511 target range: 266.852722 and range: 268.40 m.g?ggggzfrfffBdddc`fp@c/?ɢ`B6m AEڻIA AɡAiAIEj7u~B)B- IB-UaBB)B)B)B-ug;B-F(Eii߽=I߽R=D)D-D-,D)E) E-ą:6E-g4:E)"E-A= y=1 I9 II N] >, Yb)Ay6ĵ?ٱ6?6aB6=6H@ @o?Z?@ ǿ/?(?f?I6ĵ?)66.^;i6ђC>`B9B8 IBDF6DF1YN=!RU=R8:Q)R>T9T9VGYVoFVۄAV>XQ 1^f4٪ZVϥ?Q 5bf4Zׄ ZB9`Y`Q Eb?yZ%5C)Z;IZI;iZFf4YfBf=+Bhgx~FNOT Ignoring new targets: 266.85 m.g~PrgPr  ProNav: ac range: 266.852722 m, nav range: 254.703552 m, bearing: 97.153790 deg, approach rate: -0.719264 m/s, LOS rate: -0.013241 deg/s, cmd heading: 94.911107 deg, new cmd heading: 94.901783 deg. gHeadingCmd: 1.656349 target range: 266.852722 and range: 268.40 m.g;?ggggzfrfffBdddcc?ɢ=`BELi AEJIA AɡAiAIMeke>iiCqIG) mAI AiE Sm mAm ADe De De 0Da Ee : Ee Ar:6Ee 4:Ea ! @! @! @! @ԡ >A =I I N->,vb)Ay6?ٱ6?6B6<=6H P? [? =ǿ@?@?zg?I6?)6K5^;i6ΒCB`B9BK I)D FAL%Mb@Mb@Mb@ !)!I!i!!% rh?I +?{Gz?%C+?%9=%#Q9Q9]GYY],.A]>aQ 1mf4٪eɥ?Q 5mf4e| eB9m,?Q Au:Yu?Q E?yew5C)eΗA =! I I N >+,b)ADDD-DE: Ek:6Et4:E"E#! O= ;Q)>9!9%GY%pF%8A->9Q 1Ef4٪=ť?Q 5Mf4=u =:B9QYU?Q EU?y=5C)=P;I=Q;i=ef4Y*Bg!-FNOT Ignoring new targets: 266.85 m.g-0Mg50Me ProNav: ac range: 266.852722 m, nav range: 254.120956 m, bearing: 97.143857 deg, approach rate: -0.656225 m/s, LOS rate: -0.011212 deg/s, cmd heading: 94.890841 deg, new cmd heading: 94.881894 deg. ge'mHeadingCmd: 1.656001 target range: 266.852722 and range: 268.40 m.gm?gigigigizfirfqffBdddcc?ɢ"aB#: `mAe r=ԁ I I N >C,tb)Ay:?ٱ:?:)@:*=:H@?]?`17`qǿ3?`? ,i?I:?): ;^;i:ҒCFcaB9F IBDN6DNYV>!VP=Z43;Q)Z>X9X9ZGYZqF^lsA^>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004049dQ 1jf4٪f6?Q 5nf4f!o fUB9lYn?Q En?yf5C)f<;IfH;ifsf4YvBv/*BvEg FNOT Ignoring new targets: 266.85 m.gZgZ- ProNav: ac range: 266.852722 m, nav range: 253.863739 m, bearing: 97.139462 deg, approach rate: -0.698681 m/s, LOS rate: -0.011951 deg/s, cmd heading: 94.881894 deg, new cmd heading: 94.873095 deg. g-5HeadingCmd: 1.655848 target range: 266.852722 and range: 268.40 m.g5?g1g1g1g1zf1rf9f9f9BdAdAdAcAcMC@YɢuGaB}b; y}8A = IA IQ Ne >,rRb)Ay>eܵ?ٱ>D?>{=>.=>H41?Na?} ǿ׌? o?`l?I>eܵ?)>}^;i>ϒCJaB9J IMb@Mb@Mb@ )Iioʡ?ˡE?{Gz?-?=ףA9A9MGYIM);AM>QQ 1]f4٪U?Q 5]f4Ug UuB9ef.?Q Ae:Yev?Q Ee?yUD6C)Ui ;IU ;iUBf4Yim)BigFNOT Ignoring new targets: 266.85 m.g5g5 ProNav: ac range: 266.852722 m, nav range: 253.584274 m, bearing: 97.135289 deg, approach rate: -0.663660 m/s, LOS rate: -0.009921 deg/s, cmd heading: 94.873097 deg, new cmd heading: 94.864741 deg. gBԹHeadingCmd: 1.655702 target range: 266.852722 and range: 268.40 m.g ?ggggzfrfffBdddcc)@vB>~BB) IBIbBB =BBBsg;BE(EɢwaBo;  Ae =I I N >)y y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760197ԙ \1,9+b)Ay6?ٱ6?6;96.63=6HA?fg?nƿ?g?r?I6?)6^;i6ΒCRaB9R ITiV<BDZ6DZܲYbQ >!bS=b&/d9d9fGYfrFj9Aj>lQ 1rf4٪n?Q 5rf4n9a nB9pYtQ Ev?yn6C)n;In:inӏf4YzBz)BxgFNOT Ignoring new targets: 266.85 m.g.g. ProNav: ac range: 266.852722 m, nav range: 253.326385 m, bearing: 97.131430 deg, approach rate: -0.638094 m/s, LOS rate: -0.009558 deg/s, cmd heading: 94.864743 deg, new cmd heading: 94.857018 deg. gHeadingCmd: 1.655567 target range: 266.852722 and range: 268.40 m.g?ggggzfrfffBdddcc@@ɢaBE2U; 8=I ɡi I 8Aȿ=I I N D D D .D E : E |:6E ـ4:E ! @! @! @! @ ^,Yb)AyJӵ?ٱJ?J3JA=JH+2zC?o?E ſa`?;ۧ?x?IJӵ?)Jf^;iJђCVaB9V I-Mb@Mb@Mb@ )))I)i))-oʡ?ˡE?X9v?))-Y9a9eGYae vAe>iQ 1f4٪m%?Q 5f4mY mB9.?Q A:YR?Q E?ym6C)mD~BBt IBbBBBBBg;B](E>AbAkAZA!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515954I I N >Y O,c)Ayfٵ?ٱf?f*.fM=fHY;`{?`v?@X&ſ? P? ?Ifٵ?)f^;ifϒCrAbB9r# IBDz6DzDDD,DE : Ega:6Eg4:E"EE"!O=g!9!9%GY%sF-9A->1Q 1=f4٪5瞋?Q 5=f45S 5уB99Y=O?Q E=?y57C)5:I5;i5f4YMBM%)BMEgquFNOT Ignoring new targets: 266.85 m.g};g}; ProNav: ac range: 266.852722 m, nav range: 252.780960 m, bearing: 97.123384 deg, approach rate: -0.692073 m/s, LOS rate: -0.010222 deg/s, cmd heading: 94.848720 deg, new cmd heading: 94.840905 deg. gHeadingCmd: 1.655286 target range: 266.852722 and range: 268.40 m.gj?ggggzfrfffBdddccQ @ɢaBv; =I ɡYiaIm& BDAT read: Tx time:05:18:03.7409 $Ping request sent.i-$@-|٠=)-=) -i))I--kj`=??jD?->-O ))-i)):publishing transmit ping timeYFpublishing direction and range info9)-C3?Щ?U]k?))i))))) )))I)i))))) )i))I--kj`=??jD?)) )))i))Iq >A "=IQ Ia Nm >{m,+c)A0 wbB9 E II)@ABD6D!Y->!-I=5Q)5>1919=GY=tF=A=>AQ 1Mf4٪E?Q 5Mf4E+L EB9QYQQ EU?yEW7C)E:IE):iEf4Y]]B]B(BeEhqhuc)AhuChuChu?zul⺃np@q0*@h 6@juC3?Щ?U]k?hqhuuL&3=v\o@ ͺP@rub+*by?nwV6?hu}ChuhuQ훊?hu47huB*iq2iu]؅:iqiu|C"iu? addTargetRange:: Added new target pos. range: 265.700012 m, deltaT: 3.779792 s, deltaX: -2.699982 m, approachRate: -0.714320 m/s, rangeRepo size: 4  Added new target pos. range: 264.170776 m, bearing: 96.650838 deg, lat: 36.779295 deg, lon: -121.859702 deg, deltaT: 3.779792 s, deltaX: -2.681946 m, approachRate: -0.709549 m/s, posRepo size: 4 gFNOT Ignoring new targets: 264.17 m.gg ProNav: ac range: 264.170776 m, nav range: 252.807022 m, bearing: 97.111099 deg, approach rate: 0.000000 m/s, LOS rate: -0.010222 deg/s, cmd heading: 94.840906 deg, new cmd heading: 94.832574 deg. gHeadingCmd: 1.655141 target range: 264.170776 and range: 265.70 m.g?ggggzfrfffBdddc@3p@c?ɢ%!bB%S; !-.=I) )ɡ)i)I-AII)N=> U,gEc)Ay6ӵ?ٱ6h?6D 6*U=6H`8_ /?u?f}`|ÿl?@iN?J?I6ӵ?)699GYvB>~BB IB=cBB =BGDBBg;B[(EA>Q 1f4٪X?Q 5f4D B9K0?Q A:Yt?Q E?y7C)O;IJO;i_f4YWB (Bg)5FNOT Ignoring new targets: 264.17 m.g=k#g=k#U ProNav: ac range: 264.170776 m, nav range: 252.524612 m, bearing: 97.107339 deg, approach rate: -0.670024 m/s, LOS rate: -0.008929 deg/s, cmd heading: 94.832573 deg, new cmd heading: 94.825046 deg. gUeHeadingCmd: 1.655009 target range: 264.170776 and range: 265.70 m.geX?gagagagazfqrfyffBdddcc@?ɢuPbBut; qu=Iq yɡyiyI}6>iE9AAM0I@Q@QDDD-DE>: Ec:6Et4:E"EAm &$=I I N >A ,s_c)Ay6_ӵ?ٱ6=?66W=6H => ? ?@lP¿%?横?@?I6_ӵ?)6Xe_;i6ђC>bB9R IBDZ6DZJYb8 >!bX=bd9d9fGYfuFffAj>hQ 1rf4٪j?Q 5rf4jZ> j,B9pYrm?Q Er?yj7C)jQ;Ij;ijif4Yxz'Bxg%FNOT Ignoring new targets: 264.17 m.g%%g-%5 ProNav: ac range: 264.170776 m, nav range: 252.273865 m, bearing: 97.104006 deg, approach rate: -0.680449 m/s, LOS rate: -0.009053 deg/s, cmd heading: 94.825046 deg, new cmd heading: 94.818374 deg. g=EHeadingCmd: 1.654893 target range: 264.170776 and range: 265.70 m.gE?gAgAgAgAzfIrfIfIfIBdQdQdQcQcU@T?ɢubB; 額=I ɡiI AUC"=qIIN>D D D .D E : E Ar:6E ـ4:E ! @! @! @! @ԡ ,[`yc)Ayf?ٱf?ffJX=fH\@?`?"r@EsO?`ƪ? l?If?)fJ_;idnbB9n IqMb@Mb@Mb@ )IitV?MbX9?+?2?IfAiAAA)zAp99GYvFv:A>Q 1f4٪󞥊?Q 5f46 LB94?Q A:Y$?Q E?y-8C)Z:Io:if4Y'B B*** querying acoustic contact ***zh h T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.gY]FNOT Ignoring new targets: 264.17 m.geCgeCu ProNav: ac range: 264.170776 m, nav range: 251.973083 m, bearing: 97.100152 deg, approach rate: -0.673976 m/s, LOS rate: -0.008648 deg/s, cmd heading: 94.818373 deg, new cmd heading: 94.810654 deg. gu8}}HeadingCmd: 1.654758 target range: 264.170776 and range: 265.70 m.g}?gygygygyzfrfffBdddcc>u?ɢbB5; N=I aɡaiaIm[A"= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752576 A AI! I1 NU >,/c)ADDD,DE: EV:6Eg4:E"E!W=  K?9 K?9 GY r)A>Q 1%f4٪?Q 5%f4/ gB9!Y-?Q E-?yp8C)l:Id:if4Y5!B5 'B5|EgYeFNOT Ignoring new targets: 264.17 m.ge$ge$u ProNav: ac range: 264.170776 m, nav range: 251.711365 m, bearing: 97.096813 deg, approach rate: -0.705622 m/s, LOS rate: -0.009010 deg/s, cmd heading: 94.810655 deg, new cmd heading: 94.803971 deg. guꃹ}HeadingCmd: 1.654641 target range: 264.170776 and range: 265.70 m.g}J?ggggzfrfffBdddccc?ɢbBrC; v=I ɡiI!;IJ?iU=i "=)J?))i9 5@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004691>AC"=bAlAZAjA1A I I N- >Y I G) "oAI Ai- - "oA- A,c)Ay63?ٱ6?6-6VQ=6HHiG)?S?@9@??Ͱ?I63?)6c_;i4Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256735>JcB9F IBDN6DNYVO=!VP=VX9X9ZGYZwF^6T:A^>`Q 1fg4٪b薥?Q 5fg4b( bB9dYf?Q Ej?yb8C)b6:Ibp:ibg4Yln&BlgFNOT Ignoring new targets: 264.17 m.g @"g @" ProNav: ac range: 264.170776 m, nav range: 251.440872 m, bearing: 97.093340 deg, approach rate: -0.689763 m/s, LOS rate: -0.008866 deg/s, cmd heading: 94.803968 deg, new cmd heading: 94.797015 deg. ǵ%HeadingCmd: 1.654520 target range: 264.170776 and range: 265.70 m.g%P?g!g!g)g)zf)rf)f1f1Bd1d1d1c1c~@9ɢMbBM; IM=IQ yɡyiyI});IP?iT=i¿#=)P?)DuDuDu0DqEu: Eu[:6Eu4:Eq!@!@!@!@iIIIM23Ii=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509046ԉ>AA yAI I N% >Թ t,Pc)A~cB9~ IMb@Mb@Mb@ )IiV-?bX9ȶ?V-?h1?E=~BqBua IBuEdBBu =BqBqBug;Bu^(EBBBB =BB4ԑY=!/=Q)> H?9 H?9GYxFA>Q 1g4٪?Q 5g4t  B93?Q A:Y$?Q E?y9C):I:ig4Y&BgFNOT Ignoring new targets: 264.17 m.gOgO ProNav: ac range: 264.170776 m, nav range: 251.119583 m, bearing: 97.088046 deg, approach rate: -0.685477 m/s, LOS rate: -0.011311 deg/s, cmd heading: 94.797015 deg, new cmd heading: 94.786412 deg. gHeadingCmd: 1.654335 target range: 264.170776 and range: 265.70 m.g@?g!g!g!g!zf!rf!f)f)Bd)d1d1c1c5@/@ɢe,cBe="; aef=Ia aɡiiiImR;Iu@?iuT=iu$=)u@?)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763428i9;2bDZDAAD D D ,D E : E :6E g4:E "E +A- "=E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012620A] AIa Iy N > ,Mc)Ay>*?ٱ>u ?>>FO=>H#@ ??~@Ǜ@飽?ϩ?@k?I>*?)>j_;i>͒C^cB9b IBDf6Df1Yn>!rl=rK=Q)r?vK?9vK?9vGYtv;Av?xQ 1~g4٪z?Q 5g4zI zB9Yb?Q E?yzE9C)z<;Iz;iz#g4Y B &Bg1=FNOT Ignoring new targets: 264.17 m.g=@VgE@VM ProNav: ac range: 264.170776 m, nav range: 250.881088 m, bearing: 97.084002 deg, approach rate: -0.689848 m/s, LOS rate: -0.011707 deg/s, cmd heading: 94.786415 deg, new cmd heading: 94.778320 deg. gUfUHeadingCmd: 1.654194 target range: 264.170776 and range: 265.70 m.gU?gYgYgYgYzfYrfafafaBdadidicicm@@ɢRcB; 顝6=I ɡiI1;I?iT=i,=)?)i94@!@!BDAT read: Rx Time:05:18:06.5334 TRx dataTimestamp_ set to:1755839887.731306checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268513>A5$=rAu ?jAu?BE t4JE }4RE 0D D D -D E >: E 6E t4:E !% @!% @!% @!% @I A I I N >,{c)A yXp?ٱ7f?.όN=H { A?@? O??$?IXp?)i._;iВC=cB9E IMb@Mb@Mb@ )I) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516940iI +?sh|??Q?94?=u!9)9-GY-yF-g;A5>1Q 1=g4٪5?Q 5Eg451 5ɄB9E5?Q AE:YEf?Q EE?y59C)5#:I58:i5,g4YQUa&BQuB*** querying acoustic contact ***zhqhqgyFNOT Ignoring new targets: 264.17 m.g4Cg4C ProNav: ac range: 264.170776 m, nav range: 250.568420 m, bearing: 97.079242 deg, approach rate: -0.699817 m/s, LOS rate: -0.010666 deg/s, cmd heading: 94.778321 deg, new cmd heading: 94.768790 deg. g*HeadingCmd: 1.654027 target range: 264.170776 and range: 265.70 m.g,?ggggzfrff)f)Bd)d)d)c1c5 @iɢcB; =I ɡiIH;I,?i0T=i 4=),?)i95ԙvBM>~BIBM IBMdBBIBIBIBMg;BMZ(E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768717 >A .=D D D D E O: E z:6E :E "E Z,Id)Ay6o?ٱ6N?6Խ6M=6Hw.??`}t?? ?I6o?)6._;i6ҒCBcB9B, IHiJ<BDN6DNYRȱ=!V^=VT9X9ZGYXZ߸;A^>\Q 1bg4٪^?Q 5fg4^  ^ڄB9dYf?Q Ef?y^9C)^:I^-:i^9g4YjBn%BnrEg|FNOT Ignoring new targets: 264.17 m.gLJg LJ ProNav: ac range: 264.170776 m, nav range: 250.310135 m, bearing: 97.075183 deg, approach rate: -0.702657 m/s, LOS rate: -0.011054 deg/s, cmd heading: 94.768793 deg, new cmd heading: 94.760666 deg. g֡%HeadingCmd: 1.653886 target range: 264.170776 and range: 265.70 m.g%?g!g)g)gzfrfffBdddcc-x@ɢcB ; (=I ɡiIζ;I?iT=izu;=)?)!ai]9aae 5aDAT read: 05:18:06.5334 LVL= 28912, 32753, 29362, 32755, AGC= 70, IDX= 85,-0.27, 2.497, 0.802, 2.551, 2.166, PHS= 0.433,-1.319, 0.341, RAW= 147.3, 6.4, CAL= 146.8, 6.9, ROT= 3.2, -6.9 Ygot valid direction response: 05:18:06.5334 LVL= 28912, 32753, 29362, 32755, AGC= 70, IDX= 85,-0.27, 2.497, 0.802, 2.551, 2.166, PHS= 0.433,-1.319, 0.341, RAW= 147.3, 6.4, CAL= 146.8, 6.9, ROT= 3.2, -6.9  PDAT read: Bearing 246.7, 10.0 (Local) ~Local bearing/azimuth received: Bearing 246.7, 10.0 (Local) %DAT read: Range 11 to 50 : 291.3 m (Round-trip 388.4 ms) speed 0.3 m/s -,DAT read: user:7394> 5BDAT read: Tx time:05:18:07.6409 5$Ping request sent.5)ԨI>i"$@=(#@Ϣ=d= ϢiI1E;??L@ 1?a?40> d=)Ϣi:publishing transmit ping timeY1Fpublishing direction and range info9+?T_?rjƹI?i )Ii iI1E;??L@ 1?a? )iԑ>Ae[1=Թ A I I N >u< , /d)Ay6E ?ٱ6$?6Ƚ6}@L=6H@ó R?@+?n ? f? ?I6E ?)62%_;i6ђCLRcB9R5 IBDZ6DZYb=!bI=fkd9d9fGYfzFj;Aj>pQ 1zg4٪r?Q 5~g4r rB9Y?Q E?yr!:C)r;Ir;irGg4Y9=%B9hhd)AhϐChϐChz?zgv@q@ 0@'ܳeA@j+?T_?rjƹI?hd=hϢmxBlBq@/dRO@rI GHO?HAZ ?h"Chh?h1Z8hB*ik[?2iRA:i_Bi|C"iUM?addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 291.299988 m, deltaT: 4.032102 s, deltaX: 25.599976 m, approachRate: 6.349040 m/s, rangeRepo size: 4gFNOT Ignoring new targets: 264.17 m.gGgG ProNav: ac range: 264.170776 m, nav range: 250.023819 m, bearing: 97.070506 deg, approach rate: -0.667409 m/s, LOS rate: -0.010914 deg/s, cmd heading: 94.760665 deg, new cmd heading: 94.751300 deg. g̟HeadingCmd: 1.653722 target range: 264.170776 and range: 265.70 m.g+?ggggzfrfDuDuDu/DqEu: Euc:6EuJ4:Eq!}@!}@!}@!}@f fBdddc4r@c?ɢcBST; AK@=bAZA! A5 yAII IY Ne >W , Hd)Ay^ee?ٱ^D[?^-d^lZT=^H@z fi=? ? µ@`w@㣷?~BB IBdBB =BBlDB|g;BH(EMb@Mb@Mb@ )Ii5^I ?ʡE?Mbp8?-=IiAԶAA)ABD6D 8YN=!:=K H?9 H?9GY{F9;A>Q 1g4٪{z?Q 5g4 B9 h9?Q A :Y ?Q E ?yr:C)e;I;i4Wg4Y%BgFNOT Ignoring new targets: 264.17 m.gngn ProNav: ac range: 264.170776 m, nav range: 249.708084 m, bearing: 97.064840 deg, approach rate: -0.726763 m/s, LOS rate: -0.013059 deg/s, cmd heading: 94.751301 deg, new cmd heading: 94.739954 deg. g2HeadingCmd: 1.653524 target range: 264.170776 and range: 265.70 m.g?ggggzfrfff Bd d d c1c5 P?ɢ}dB}8N; 顅8A G=Թ AAIIN?,cGjd)Ay:?ٱ:?:8맽:I=:H d ??|@b?v?w?I:?):W_;i8B6dB9FX IIf@A)dBDj6DjYr<!r'=rͯvK?9vK?9vGYv|FT<A> Q 1g4٪ `t?Q 5g4   B9Yo?Q E?y :C) P;I  ;i [hg4Y!%%B)gIUFNOT Ignoring new targets: 264.17 m.gU݁g]݁e ProNav: ac range: 264.170776 m, nav range: 249.355087 m, bearing: 97.058115 deg, approach rate: -0.743864 m/s, LOS rate: -0.014192 deg/s, cmd heading: 94.739956 deg, new cmd heading: 94.726486 deg. gmϹuHeadingCmd: 1.653289 target range: 264.170776 and range: 265.70 m.gu?gqgqgqgqzfqrfyfyfyBdyddcc I?ɢBdBnF 页>I ɡiIx;I?i_T=i?_=)?)!DDD0DE: E1]:6E4:E! @! @! @! @9Iiu8qqu0qy >Au dO=ԡ A I I N >!,d)Ay6_dB9Bq IMb@Mb@Mb@ )Iikt?/$?y&1| 0?=`IMAivAAƠA)\AAIAIBD]6D]1vB%>~B!B% IB%dBB% =B!B!B%Fg;B%-(EYE=!M"=MK$Q9Q9UGYQU;AU>YQ 1g4٪]Qn?Q 5g4] ]B9q1?Q A:Y?Q E?y]%;C)]2;I]:i]yg4YB$BhEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 264.17 m.g%rtg%rt5 ProNav: ac range: 264.170776 m, nav range: 249.010605 m, bearing: 97.051264 deg, approach rate: -0.670708 m/s, LOS rate: -0.013357 deg/s, cmd heading: 94.726487 deg, new cmd heading: 94.712766 deg. g5ùEHeadingCmd: 1.653050 target range: 264.170776 and range: 265.70 m.gE!?gAgAgAgAzfArfIfIfIBdIdQdQcQcU?ɢ~dB @I ɡiI;I!?iUT=i;e=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)!?))! !i!I! DqDuDu/DqEq Eu]t:6EuJ4:Eq"Eu5A} (a=ԑAIIN?̶),bd)Ay6g?ٱ6]?6e񒽹6c=6H 5%??oȷc $Z???I6g?)6 R_;i6ϒC>dB9B IiF=IF=BDJ6DJYn=!r-=rD4p9t9vGYv}FvK;Av>xQ 1~g4٪zh?Q 5g4z z$B9Y?Q E?yzy;C)z :Izg:iz]g4Y  $Bg1=FNOT Ignoring new targets: 264.17 m.g=&gE&U ProNav: ac range: 264.170776 m, nav range: 248.684814 m, bearing: 97.044686 deg, approach rate: -0.708914 m/s, LOS rate: -0.014333 deg/s, cmd heading: 94.712765 deg, new cmd heading: 94.699591 deg. gUѹ]HeadingCmd: 1.652820 target range: 264.170776 and range: 265.70 m.g]?gYgYgYgYzfYrfafafaBdadidicicm@ɢdB2N ݧM顝BI ɡiI;I?iT=ii=)?)i)))-0)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249455DDD+DE&: Eh:6E [4:E!@!@!@!@1>AIa Ay I I N >)1 1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5015940,d)A =dB9= IMb@Mb@Mb@ )Ii rh?/$?MbpC+?IAi-A9A)ip<BD6DβY%>=!%8=-Q)->)9)95GY5~F5A5>9Q 1Eg4٪=7c?Q 5Eg4= =/B9M,?Q AM:YMi?Q EM?y=;C)=:I=:i=g4YQ]$BYgyFNOT Ignoring new targets: 264.17 m.gg ProNav: ac range: 264.170776 m, nav range: 248.387054 m, bearing: 97.038439 deg, approach rate: -0.669620 m/s, LOS rate: -0.014064 deg/s, cmd heading: 94.699589 deg, new cmd heading: 94.687081 deg. g͹HeadingCmd: 1.652601 target range: 264.170776 and range: 265.70 m.gq?ggggzfrfffBdddcc(@ɢdB: @I ɡiIBy;Iq?i;T=i5/j=)q?)iqqqu0qvB>~BB IBeBB =BBkDB9g;B$(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7533709>AXh=bD ZD @AD D D D E : E k:6E :E "E 6,_`d)Ay6l?ٱ6ab?6&x6py=6H ђ,??@샷 %?@z?`?I6l?)6%_;i4RdB9R IBDZ6DZYb'=!bd=bd9d9fGYdf9Aj>hQ 1ng4٪j^?Q 5rg4j j7B9pYrk?Q Er?yjAibAukAZAumAD% D% D% .D! E% O: E% L_:6E% ـ4:E! !- @!- @!- @!- @%<,;d)Ay6L?ٱ6B?6%Xa6#h=6HU`@o?`R? ua'?| ?d?I6L?)6|_;i6͒C>dB9> IBDF6DF0YN1<!RM=R{jT9T9VGYVFVAV>XQ 15g4٪ZZ?Q 55g4Z Z>B91Y5J?Q E5?yZHA `k=! % DAT read: 05:18:10.4115 LVL= 27376, 32753, 29794, 32755, AGC= 68, IDX= 213, 0.34, 2.778, 1.056, 2.884, 2.488, PHS= 0.392,-1.387, 0.352, RAW= 148.9, 7.4, CAL= 148.3, 7.9, ROT= 1.7, -7.9 = Ygot valid direction response: 05:18:10.4115 LVL= 27376, 32753, 29794, 32755, AGC= 68, IDX= 213, 0.34, 2.778, 1.056, 2.884, 2.488, PHS= 0.392,-1.387, 0.352, RAW= 148.9, 7.4, CAL= 148.3, 7.9, ROT= 1.7, -7.9 E PDAT read: Bearing 248.5, 5.4 (Local) M ~Local bearing/azimuth received: Bearing 248.5, 5.4 (Local) ] DAT read: Range 11 to 50 : 274.8 m (Round-trip 366.5 ms) speed 0.5 m/s m ,DAT read: user:7395> u BDAT read: Tx time:05:18:11.5409 } $Ping request sent.} |D,WBe)A2\direction in FSK: [0.990074,0.029385,0.137445]2:publishing transmit ping timeY!2Fpublishing direction and range info9}+?ƺ?yjȗ?fCijbtD 9>)78IX9>iR&@ A>%@0 >< 0 iIqdÚ?dy UΥ??(E?ٱ%?%H%K=%H@͵@dz?_?k@Ȧ`e?@g??I%>?)%{_;rDQjDQD]D]D],DYE]2: E]:6E]g4:EY"E]*99GYF}A>ԡQ 1g4٪S?Q 5g47 JB9,?Q A:Y?Q E?yAGj=rA?jA>QBE=A{4JE=p4RE=X0DDD.DE: E]t:6Eـ4:E!@!@!@!@IIN?JoM,mY8e)Ay:?ٱ:ޭ?: :&=:H1Fd? ?`>?zդ?D?I:?):_;i:ϒCBdB9F IBDN6DNNYV<!V(=VX9X9ZGYZF^A^>`Q 1fg4٪bN?Q 5fg4bɺ bQB9dYfE?Q Ef?yb\g>\% ProNav: ac range: 273.219360 m, nav range: 249.988876 m, bearing: 96.647375 deg, approach rate: -0.590338 m/s, LOS rate: -0.012035 deg/s, cmd heading: 94.650603 deg, new cmd heading: 94.637309 deg. g%2-HeadingCmd: 1.651733 target range: 273.219360 and range: 274.80 m.g-k?g)g)g)g1zf1rf1f1f9Bd9d9mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.d9c9cE?ɢeBT `idI ɡiIʮQ;Ik?iLT=iFZ=)k?))  i I )vBE >~BA BE IBE 9eBBA BA BA BE Kg;BE ,(EiQ Q Q U f0Y Y i )>I 4=% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988919DmDmDm+DiEm: Emx:6Em [4:Ei"Emg%ABa=IIN?V;V,S#Ze)Ay6@?ٱ6?6D6 =6Ht n??@@a |?7?`/?I6@?)6^;i4BeB9B I=Mb@Mb@Mb@ 9)9I9i99=!rh?bX9ȶ?y&1|?=l'?=E==`;I=Ai=3A=vA= A)9=\AM4i9i9mGYmFuAu>yQ 1g4٪}G?Q 5g4}q }[B9(?Q A:Y?Q E?y}W=C)}{:I}:i}g4ԑY#BgFNOT Ignoring new targets: 273.22 m.g(g( ProNav: ac range: 273.219360 m, nav range: 249.626907 m, bearing: 96.638937 deg, approach rate: -0.791890 m/s, LOS rate: -0.018486 deg/s, cmd heading: 94.637312 deg, new cmd heading: 94.620412 deg. gSHeadingCmd: 1.651438 target range: 273.219360 and range: 274.80 m.gPb?ggggzfrfffBdddcc@1G?ɢ%eB%e )-jI) )ɡ)i1I5M;I5Pb?i==T=i9)=Pb?)9i94checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245100>Au \=IIN(>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496530a\,xse)Ay6?ٱ6ކ?6=6꼹6[=6H@崿 8Ԥ?L?+@w@E?=??I6?)6%^;i4beB9b IBDj6DjβYz=!~R=~?99GYкA > Q 1g4٪ B?Q 5g4 ٪ `B9Y?Q E?y =C) ;I n;i mg4Y%,B-B#B-TEgQUFNOT Ignoring new targets: 273.22 m.DeDeDe0DaEea: Eek:6Ee4:Ea!m@!m@!m@!m@gugu ProNav: ac range: 273.219360 m, nav range: 249.371582 m, bearing: 96.633009 deg, approach rate: -0.656907 m/s, LOS rate: -0.015269 deg/s, cmd heading: 94.620414 deg, new cmd heading: 94.608544 deg. g߹HeadingCmd: 1.651231 target range: 273.219360 and range: 274.80 m.g[?ggggzfrfffBdddcc?ɢfB+ I ɡiIK;I[?iiT=iY=)[?)iU9QQ]/Y@a@elA)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751025>AmY=bAlAZAjAII N>IA! A% AAy vB ~B B  IB NeBB B B B B vIc,Xɍe)A~/eB9~ IiMb@Mb@Mb@ )Ii?K?{Gz?f&?^=ףY9a9eGYeFeAe>iQ 1uh4٪mv=?Q 5}h4mM mjB9}(?Q A}:Y}1?Q E}?ym=C)m ;Im ;im h4Y(#BgFNOT Ignoring new targets: 273.22 m.gaga ProNav: ac range: 273.219360 m, nav range: 249.079163 m, bearing: 96.625988 deg, approach rate: -0.651893 m/s, LOS rate: -0.015669 deg/s, cmd heading: 94.608543 deg, new cmd heading: 94.594485 deg. gi幝HeadingCmd: 1.650985 target range: 273.219360 and range: 274.80 m.g|S?ggggzfrfffBdddcc#V@ɢUfB$ 页ޒI ɡiI{I;I|S?iyT=i*Z=)|S?)D}D}D}+DyE}: E}c:6E} [4:Ey"E}A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252033A yAI I N >ksi,ƣe)Ay6x?ٱ6n?6K6Ƶ=6HA|_?@i?@䴿 )鑿h?ଔ? ?I6x?)6e^;i6͒CB6eB9B IIH)HBDJ6DJkYR<!Vj=VҽC)^:I^:i^Mh4Yhj"#Blg|FNOT Ignoring new targets: 273.22 m.gg ProNav: ac range: 273.219360 m, nav range: 248.851639 m, bearing: 96.620553 deg, approach rate: -0.652278 m/s, LOS rate: -0.015596 deg/s, cmd heading: 94.594486 deg, new cmd heading: 94.583606 deg. gW九%HeadingCmd: 1.650795 target range: 273.219360 and range: 274.80 m.g%CM?g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5 @ɢ~fBļ !%I! !ɡ!i!I%J;I-CM?i-T=i5W=)5CM?Ա)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5037209jZXDDD-DE>: E[:6Et4:E!@!@!@!@i9R3@=@= A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755723>A AEAIIIaaNu?q,e)AyB]g?ٱB:]?B눼B=N=BHP`m⨣? W? ???1?IB]g?)B^;iBВCNMeB9R IeMb@Mb@Mb@ a)aIaiaaeNbX9?&1??e%?e=e~B!B% IB%beBB!B!B%lDB%g;B%K(EY= %=!==E;Q)E>EK?9EK?9MGYMFMazAM>QQ 1]h4٪U2?Q 5]h4U U|B9]'?Q Ae:Ye3?Q Ee?yU|>C)U&%;IU&;iU(h4Yqu #BqB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 273.22 m.gg ProNav: ac range: 273.219360 m, nav range: 248.489395 m, bearing: 96.610490 deg, approach rate: -0.648462 m/s, LOS rate: -0.018040 deg/s, cmd heading: 94.583606 deg, new cmd heading: 94.563451 deg. gHeadingCmd: 1.650444 target range: 273.219360 and range: 274.80 m.gA?ggggzfrfffBdddcc@ɢfBd I ɡ i I އK;IA?iT=iW=)A?)!9%#2?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009265i 95QbDiZDmAADuDuDu/DqEu: Eug:6EuJ4:Eq"Eu+A A yAI I N > x,+e)A0RBDAT read: Rx Time:05:18:14.3086 VTRx dataTimestamp_ set to:1755839895.548449Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260790TeB9 IBD-6D-fY=<!E]=EQ)E>E H?9M H?9MGYMFMAM>QQ 1]h4٪UX-?Q 5]h4U UB9aYaQ Ee?yU>C)Uo;IU;iU5h4YmBm"BmJEgFNOT Ignoring new targets: 273.22 m.gǣgǣ ProNav: ac range: 273.219360 m, nav range: 248.249344 m, bearing: 96.603806 deg, approach rate: -0.642135 m/s, LOS rate: -0.017898 deg/s, cmd heading: 94.563450 deg, new cmd heading: 94.550068 deg. gHeadingCmd: 1.650210 target range: 273.219360 and range: 274.80 m.g:?ggggzfrfffBdddcc @ɢfB ̾I ɡiI2M;I :?i T=i ޒX=):?))ԑ)) )i)I)Թ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511820i 9 0 D D D -D E D: E h:6E t4:E ! @! @! @! @ >A Y=bA ZA nAIqDAT read: 05:18:14.3086 LVL= 27552, 32753, 32754, 32755, AGC= 68, IDX= 206, 0.11, 0.432,-1.290, 0.437, 0.131, PHS= 0.403,-1.377, 0.262, RAW= 145.9, 8.4, CAL= 145.4, 9.1, ROT= 4.6, -9.1 %Ygot valid direction response: 05:18:14.3086 LVL= 27552, 32753, 32754, 32755, AGC= 68, IDX= 206, 0.11, 0.432,-1.290, 0.437, 0.131, PHS= 0.403,-1.377, 0.262, RAW= 145.9, 8.4, CAL= 145.4, 9.1, ROT= 4.6, -9.1 -PDAT read: Bearing 249.3, 5.8 (Local) -~Local bearing/azimuth received: Bearing 249.3, 5.8 (Local) IANU?6r,f)A"DAT read: Range 11 to 50 : 272.7 m (Round-trip 363.6 ms) speed 0.5 m/s &,DAT read: user:7396> *BDAT read: Tx time:05:18:15.3909 *$Ping request sent.*?YCik V>)AI$>i"@Q >i"@">l= "iI044z?;?ڙ?>0V l=)"iN:publishing transmit ping timeY(NFpublishing direction and range info9ɭ~?&E?@\~>?yZシ?ٱZx?Zd Z J=ZH@˴@??䴿iw?I>?`?IZシ?)Zl^;iZ͒CfeeB9f Ii )Ii iI044z?;?ڙ? )i9A<AvB>~BB IBveBB =BBBg;Bc(EMb@Mb@Mb@ )Ii rh??{Gz?C+?=ף19195GY5F=:A=>AQ 1Mh4٪E$?Q 5Mh4Em EB9m>-?Q Am:YmC?Q Eu?yE-?C)E;IE;iELh4Yy}r"Byhhgf)AhChCh$?zNYi`p@"L;x5@d)pE@jɭ~?&E?@\~>?hl=h"AetD>wtp@-?G@rߨ !PÿNb5t'?4n=?hCh#hu?hkchB*i2ikc:iBiC"i?i addTargetRange:: Added new target pos. range: 272.700012 m, deltaT: 3.801087 s, deltaX: -2.099976 m, approachRate: -0.552467 m/s, rangeRepo size: 4  Added new target pos. range: 271.133148 m, bearing: 98.809589 deg, lat: 36.779306 deg, lon: -121.859469 deg, deltaT: 3.801087 s, deltaX: -2.086212 m, approachRate: -0.548846 m/s, posRepo size: 4 gFNOT Ignoring new targets: 271.13 m.ggM ProNav: ac range: 271.133148 m, nav range: 265.495422 m, bearing: 96.150990 deg, approach rate: 0.000000 m/s, LOS rate: -0.017898 deg/s, cmd heading: 94.550070 deg, new cmd heading: 94.525299 deg. gQUHeadingCmd: 1.649778 target range: 271.133148 and range: 272.70 m.gU+?gYgYgYgYzfYrfyffBdddc@3 q@cӻ?i=IC=ɢ@gBʼ I ɡiI]OS;I+?iT=ic ]=)+?)ԑi0DDD,DE ; E:6Eg4:E"ElTA 5[=IIN>܈,,%f)AyVw?ٱVm?VgVZ=VH g@8??iʴ@o묀?U? ?IVw?)Vú^;iTneB9r$ IBDz6DzYe=!U=ˊ;Q)> 9 9 GY F&jA>Q 1%h4٪?Q 5%h4{ B9!Y%3?Q E%?yo?C)9:I:iBZh4Y15U"B1gy}FNOT Ignoring new targets: 271.13 m.g&g&5 ProNav: ac range: 271.133148 m, nav range: 265.238495 m, bearing: 96.144283 deg, approach rate: -0.728436 m/s, LOS rate: -0.019032 deg/s, cmd heading: 94.525297 deg, new cmd heading: 94.511871 deg. g5Q 5HeadingCmd: 1.649543 target range: 271.133148 and range: 272.70 m.g=<$?g9g9g9g9zf9rf9fAfABdAddcc. ?AIA H\=Iy I N >,>f)A@ybt?ٱbi?bJ򻹱bZ=bH ' X??hh/I~?@N?@?Ibt?)b _;ibΒCxeB9 IBD]6D]βY-ݸ!-:=m:Q)m>99GY7A>Q 1h4٪?Q 5h4s B9Y/?Q E?y?C)`:I:ijh4Y_"BgFNOT Ignoring new targets: 271.13 m.g!g!)  ProNav: ac range: 271.133148 m, nav range: 264.934998 m, bearing: 96.136352 deg, approach rate: -0.677174 m/s, LOS rate: -0.017718 deg/s, cmd heading: 94.511868 deg, new cmd heading: 94.495987 deg. gHeadingCmd: 1.649266 target range: 271.133148 and range: 272.70 m.g '?g g ggzfrfffBdddcc?ԩɢgB c 額 I ɡiI^;I'?igT=i\=)'?)) vBI~BIBM) IBMeBBIBIBIBMg;BM^(EBqBqBqBqBuƨ =BuV4i9@@@@ I I N >D= D= D= *D9 E= : E= ą:6E= (N4:E9 "E= E"99GYF2A>Q 1h4٪V?Q 5h4m B9+?Q A:Y?Q E?y?C)e ;I" ;iwh4YB!BAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 271.13 m.gVgV ProNav: ac range: 271.133148 m, nav range: 264.687073 m, bearing: 96.129900 deg, approach rate: -0.664274 m/s, LOS rate: -0.017303 deg/s, cmd heading: 94.495988 deg, new cmd heading: 94.483072 deg. gVHeadingCmd: 1.649041 target range: 271.133148 and range: 272.70 m.g?ggggzfrfffBdddccT?ɢmgBud( quZIq qɡqiyI}e;I}?iU=iY=)?) i%9!!%0!IIN@>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1a n,erf)Ay:1$?ٱ: ?:炙:6G=:H`I??To2U@t?9?4?I:1$?):/ _;i:̒CFeB9F, IBDN6DN:2YV<!VZ=Z2I;Q)Z>X9X9ZGYX^mxA^>`Q 1fh4٪b?Q 5fh4b g bB9hYj?Q Ej?yb>@C)bQ:Ib:ib.h4Yln!Bpg FNOT Ignoring new targets: 271.13 m.g Kg K ProNav: ac range: 271.133148 m, nav range: 264.437714 m, bearing: 96.123471 deg, approach rate: -0.666187 m/s, LOS rate: -0.017190 deg/s, cmd heading: 94.483072 deg, new cmd heading: 94.470204 deg. g%%HeadingCmd: 1.648816 target range: 271.133148 and range: 272.70 m.g-h ?g)g)g)g)zf)rf)f1f1Bd1d19d9cAcE6?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.731056ɢ}gB}8 y}I ɡiI56m;Ih ?i|U=iU=)h ?)BE}^n4JE}t4RE}0DDD2DE E&p:6E4:E!@! @! @! @i9"i=89AE0AԙI I)N>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985484 A= AAA9 vBA ~BA BE / IBE eBBA BA BA BE lg;BE ?(E,f)Ay ?ٱ ? 8 <8= H س`!?@C?೿Pr?v??I ?) ^;i ˒C=eB9=: IԡMb@Mb@Mb@ )IiK7?Zd;O?y&1|?I,?j=`;IۤAi)ABD6DYB=!-=:Q)>99GYFSA>Q 1h4٪ ?Q 5h4^ B9-?Q A:YO?Q E?y@C)Z:IM:ih4YB!B@Eg%FNOT Ignoring new targets: 271.13 m.g%ǎg%ǎ5 ProNav: ac range: 271.133148 m, nav range: 264.118683 m, bearing: 96.116110 deg, approach rate: -0.675382 m/s, LOS rate: -0.015603 deg/s, cmd heading: 94.470204 deg, new cmd heading: 94.455463 deg. g=r九=HeadingCmd: 1.648559 target range: 271.133148 and range: 272.70 m.gE?gAgAgAgAzfArfAfIfIBdQdQdQcQcU@ɢ/hB' 顅Y"I ɡiI1v;I?i+U=i;T=)?)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2350479u<}kAyi90bA kAZA iAD5D5D5+D1E5: E5~:6E5 [4:E1"E5#! )  % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487260U;,f)Ay6۶?ٱ6?6Zl6}*=6H`v~  q? )?;'m?]?`?I6۶?)6^;i6͒C>eB9B7 I@i@)D FABDJ6DJfYRN!Rp=V-;Q)V?T9T9ZGYZFZ΄AZ?\Q 1bh4٪^?Q 5bh4^X ^B9dYf#?Q Ef?y^@C)^:I^:i^h4Yhj!Blg|FNOT Ignoring new targets: 271.13 m.gDgD ProNav: ac range: 271.133148 m, nav range: 263.888824 m, bearing: 96.110862 deg, approach rate: -0.675573 m/s, LOS rate: -0.015438 deg/s, cmd heading: 94.455465 deg, new cmd heading: 94.444959 deg. g⹝HeadingCmd: 1.648376 target range: 271.133148 and range: 272.70 m.g%?g!g!g!g!zf!rf!f)f)Bd)d1d1c1c5N@ɢeYhBeeS ae.Ia iɡiiiImP~;I ?iU=inO=)?)) i!I!iIIIM0I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740044!DDDDE: EX:6E:E!@!@!@!@>AU -tY=Q Ae AI I N >,f)APchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.991018yM¯?ٱM?M^:M!$=MH&@j`?`?v*ڻ$? Wg?Ȃ?d?IM¯?)M^;iMϒC]eB9e@ I-Mb@Mb@Mb@ )))I)i))-|?5^?ʡE?Mb`?--?-=-;I)i-bA-A)))-QABDE6DEkYU<!U=]:Q)]>]K?9eK?9eGYaeu+Ae>iQ 1uh4٪mN?Q 5uh4mO mB9}.?Q A}:Y}?Q E}?ym%AC)m;Im;im{h4YfB!B7EgFNOT Ignoring new targets: 271.13 m.gtZgtZ ProNav: ac range: 271.133148 m, nav range: 263.540039 m, bearing: 96.104712 deg, approach rate: -0.676175 m/s, LOS rate: -0.011937 deg/s, cmd heading: 94.444960 deg, new cmd heading: 94.432645 deg. gîHeadingCmd: 1.648161 target range: 271.133148 and range: 272.70 m.g?ggggzf rf ffBdddcc% @ɢhBe6  :I ɡiI;I ?i T=i eL=)?vB>~BB< IBeBBBBBNg;B/(E)1i9i>I%=BDAT read: Rx Time:05:18:18.1546 TRx dataTimestamp_ set to:1755839899.350324checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246006A DU DU DU 0DQ EU : EU :6EU 4:EQ "EU E"Am L=Ii Iy N >5,T9T9VGYVFZAZ>\Q 1bh4٪^?Q 5bh4^I ^B9dYf?Q Ef?y^cAC)^:I^:i^h4hYln!BluB*** querying acoustic contact ***zhqhqgFNOT Ignoring new targets: 271.13 m.g Og O ProNav: ac range: 271.133148 m, nav range: 263.297974 m, bearing: 96.100546 deg, approach rate: -0.656618 m/s, LOS rate: -0.011313 deg/s, cmd heading: 94.432645 deg, new cmd heading: 94.424304 deg. gHeadingCmd: 1.648015 target range: 271.133148 and range: 272.70 m.g(?ggggzfrfffBdddcc`ծ @ɢhBhf )5FDI1 1ɡ1i1I5>;I=(?i=-T=i=XE=)=(?)A me>m>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495137i90!)>A% M=I I N% >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746941],^f)ADxDzDz,DxEx Ezga:6Ezg4:Ex!@!@!%@!%@Yiy%?ٱ?tź)=Hx@ e? ? `(S?X?@d? ?I%?)7_;i˒CeB9: Ii%=I%=BD-6D-Y=p!=3==5:Q)E>A9A9EGYEFMAM>Q 1h4٪?Q 5h4lA B9Y?Q E?yAC)):I:ih4Y'!BgFNOT Ignoring new targets: 271.13 m.gUgU ProNav: ac range: 271.133148 m, nav range: 262.982239 m, bearing: 96.095246 deg, approach rate: -0.694743 m/s, LOS rate: -0.011676 deg/s, cmd heading: 94.424305 deg, new cmd heading: 94.413693 deg. g򪹝HeadingCmd: 1.647830 target range: 271.133148 and range: 272.70 m.g?ggggzfrfffBdddcci@ɢhB^ "VI ɡiI찐;ԁI?iT=i-?=)?)iYYae0aDAT read: 05:18:18.1546 LVL= 28144, 32753, 31698, 32755, AGC= 69, IDX= 203, 0.27,-1.692, 2.826,-1.754,-2.047, PHS= 0.457,-1.365, 0.249, RAW= 144.0, 7.7, CAL= 143.6, 8.4, ROT= 6.4, -8.4 Ygot valid direction response: 05:18:18.1546 LVL= 28144, 32753, 31698, 32755, AGC= 69, IDX= 203, 0.27,-1.692, 2.826,-1.754,-2.047, PHS= 0.457,-1.365, 0.249, RAW= 144.0, 7.7, CAL= 143.6, 8.4, ROT= 6.4, -8.4 ԩPDAT read: Bearing 248.0, 7.0 (Local) ~Local bearing/azimuth received: Bearing 248.0, 7.0 (Local) DAT read: Range 11 to 50 : 269.7 m (Round-trip 359.6 ms) speed 0.8 m/s ,DAT read: user:7397> BDAT read: Tx time:05:18:19.2409 $Ping request sent.)RI~>i| @ >g @Q >= Q iI?b?R H ?2>I =)Q i:publishing transmit ping timeYFpublishing direction and range info9 u?O:?/8ٲ?i )Ii iI?b?R H ? )iA A vB ~B B B B B B B B >A g@=I I N >C,g)Ay:?ٱ:{?:: =:H@S@?`?Ρ$5S? U?`@?`?I:?):_;i8NeB9N> IMb@Mb@Mb@ )Ii/$?+?~jth,?=DIAiAAMA)ԹBD6DY<!P=:Q)>99GYnA>!Q 1-h4٪%?Q 5-h4%: !9-0-?Q A5:Y5?Q E]?y%AC)%;I%;i%h4Yae !Bah9h=&g)Ah=Ch=Ch=?z=C\yp@[ݑ=@Y C@j= u?O:?/8ٲ?h==h=Q =GPp@g1ED@r=~yƿBǫ%?Z?h=Ch=8h=?h=+ih=B*i=?2i9:i=Bi=C"i=? addTargetRange:: Added new target pos. range: 269.700012 m, deltaT: 4.036816 s, deltaX: -3.000000 m, approachRate: -0.743160 m/s, rangeRepo size: 4 % Added new target pos. range: 268.150391 m, bearing: 100.046530 deg, lat: 36.779246 deg, lon: -121.859469 deg, deltaT: 4.036816 s, deltaX: -2.982758 m, approachRate: -0.738889 m/s, posRepo size: 4 g!-FNOT Ignoring new targets: 268.15 m.g]gi} ProNav: ac range: 268.150391 m, nav range: 263.503418 m, bearing: 97.520602 deg, approach rate: 0.000000 m/s, LOS rate: -0.011676 deg/s, cmd heading: 94.413691 deg, new cmd heading: 94.404383 deg. gyHeadingCmd: 1.647667 target range: 268.150391 and range: 269.70 m.g?ggggzfrfffBdddc@3p@c:?rD=jD4=DDDDE: Eg:6E:E"E#A ==II IY Ne >9 jm,V+g)Ay>?ٱ>?>π> d=>H@6`z ?@t?6T? P?@ ?t?I>?)>MS_;i>̒CFeB9J" IBDR6DR1YVc!Za=ZE[:Q)Z>X9\9^GY^F^씻Ab>`Q 1fh4٪b?Q 5jh4bS4 `9hYjz?Q Ej?yb5BC)b:Ib:ibCh4YlrM!Bpg FNOT Ignoring new targets: 268.15 m.g >g>% ProNav: ac range: 268.150391 m, nav range: 263.260712 m, bearing: 97.517872 deg, approach rate: -0.709599 m/s, LOS rate: -0.007991 deg/s, cmd heading: 94.404382 deg, new cmd heading: 94.398915 deg. g%i-HeadingCmd: 1.647572 target range: 268.150391 and range: 269.70 m.g-?g)g)g)g)zf)rf1f1f1Bd1d9d9c9cE ?ɢmXiBm} quAl;=bAlAZAkADDD-DE: E~:6Et4:E! @! @! @! @II1N]v>qԩ gX,Eg)AyM`?ٱM;?M BM=MH尿@ ޠ?"?@Y䰿@\[?A@?@(??IM`?)M._;iM˒CeeB9e; IaiaMb@Mb@Mb@ )IiDl? rh?O-?C=IiAA|A)ABD56D5 8YE=!M3=M:Q)U>Q9Y9]GY]Fe1Ae>qqQ 1h4٪u줊?Q 5h4u4, uB9/.?Q A:YR?Q E?yuBC)uVT;Iu_;iuWh4Y%B B-EgQ]FNOT Ignoring new targets: 268.15 m.g]mg]mvB~BBBBBBB1g;B!(E ProNav: ac range: 268.150391 m, nav range: 262.947845 m, bearing: 97.515494 deg, approach rate: -0.651505 m/s, LOS rate: -0.004957 deg/s, cmd heading: 94.398918 deg, new cmd heading: 94.394157 deg. g$HeadingCmd: 1.647489 target range: 268.150391 and range: 269.70 m.g?ggggzfrfffBdddc c e?ɢ]iB]a{ Y]y{IY ɡiIN;I?iT=i%S1=)?)ԩi=999=929bD ZD @AD D D 3D E a: E i:6E 4:E "E (A] ·3= A yAI I N >k,a`g)Ay6f?ٱ6[?6*:6]=6H-s? ?@gf? \E(? ?I6f?)6^;i6ȒC>eB9B7 IBDJ6DJJYRl!Ra=RRQ;Q)R>V H?9V H?9VGYTZ;^AZ>\Q 1bi4٪^養?Q 5bi4^% \9`Yb*?Q Eb?y^BC)^;I^f;i^i4Yhj BhzB*** querying acoustic contact ***zhxhxg|FNOT Ignoring new targets: 268.15 m.gg ProNav: ac range: 268.150391 m, nav range: 262.702545 m, bearing: 97.513692 deg, approach rate: -0.719267 m/s, LOS rate: -0.005290 deg/s, cmd heading: 94.394157 deg, new cmd heading: 94.390549 deg. gHeadingCmd: 1.647426 target range: 268.150391 and range: 269.70 m.g?g!g!g!g!zf)rf)f)f1Bd1d1d1c1c= ?ɢiB棤 I ɡiID ;I?iT=iM-=)?)aeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ԑ=iCI G)mAI1i] ]mAeA9eAE [1=D D D +D E : E &p:6E [4:E ! @! @! @! @AuAIyIN>,og)A y>O*?ٱ>* ?>b'S;>=>H@`T@̠??αu?@dj"?@y?I>O*?)> ^;i>˒CFeB9F- IBDN6DNYV!V(=Z;Q)Z>ZK?9ZK?9^GY^F^uAb>dQ 1ji4٪f䤊?Q 5ji4f; d9hYj?Q Ej?yfCC)fy:IfN:ifi4Ypr Bpg  FNOT Ignoring new targets: 268.15 m.gg% ProNav: ac range: 268.150391 m, nav range: 262.371185 m, bearing: 97.511384 deg, approach rate: -0.680662 m/s, LOS rate: -0.004746 deg/s, cmd heading: 94.390551 deg, new cmd heading: 94.385929 deg. g% -HeadingCmd: 1.647345 target range: 268.150391 and range: 269.70 m.g-5?g)g)g)g)zf1rf1f1f1Bd9d9d9cAcE?ɢiB2Z I ɡiIs;I5?iT=ig'=)5?)9D-< lA jAychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.988449i92ԙA@AAvB>~BB6 IBeBBBBBg;B(EBiBiBiBmƧ =BmƧ =Bm3PExceeded connect timeout, disconnecting.>AS,=rA ?jA> A I) I9 NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239847,g)A\reB9r# IDDD/DE Ex:6EJ4:E"E=--99GYFA>Q 1i4٪ऊ?Q 5i4 B9/?Q A:Y?Q E?yeCC):I$A X%=i AIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743891N>wu,Tsg)Ay64(?ٱ6?6nG;6΢=6H`@?? C}?`Ht Z??I64(?)6^;i6ΒC>weB9B IBDJ6DJ1YR!R3=Rsx;Q)R>T9T9VGYTZ^AZ>\Q 1bi4٪^ܤ?Q 5bi4^o  ^B9`Yb?Q Ef?y^CC)^#;I^;i^ 6i4YjBje Bj#Eg|~FNOT Ignoring new targets: 268.15 m.gg ProNav: ac range: 268.150391 m, nav range: 261.763489 m, bearing: 97.508240 deg, approach rate: -0.702255 m/s, LOS rate: -0.003634 deg/s, cmd heading: 94.382860 deg, new cmd heading: 94.379631 deg. gԸHeadingCmd: 1.647235 target range: 268.150391 and range: 269.70 m.g?gggg!zf!rf!BEJEy4RE80DmDmDm.DiEm: Em:6Emـ4:Ei!}@!}@!}@!}@ԡffBdd d c c ฾@ɢ]ojB]. I ɡiI"~;I ?i VT=i O(=) ?) i90checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000902!>A}#'=vB >~B B ) IB eBB =B B B g;B (EIq I N >I % nManaging dock network, ignoring radio surface power offS,&g)Ay663?ٱ6)?6Sҭ;6{=6H/ w?~?`@o?Cu`7N? ?I663?)6_;i6̒CneB9n$ IeMb@Mb@Mb@ a)aIaiaaeB`"?MbX9?~jt?e.?eʡ=eD=DV:Q)>99GYFPL:A>Q 1i4٪Cؤ?Q 5i4 B9 0?Q A:Y?Q E?yDC)M:I:iEi4YZ BgFNOT Ignoring new targets: 268.15 m.gg ProNav: ac range: 268.150391 m, nav range: 261.467499 m, bearing: 97.505215 deg, approach rate: -0.686808 m/s, LOS rate: -0.007027 deg/s, cmd heading: 94.379629 deg, new cmd heading: 94.373572 deg. gMHeadingCmd: 1.647130 target range: 268.150391 and range: 269.70 m.g$?ggggzf rf f f Bd1ddcc0! @ɢjBTɲ < ;I BDAT read: Rx Time:05:18:22.0011 TRx dataTimestamp_ set to:1755839903.384601checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249089 ɡ)i)I-L;I5$?i5A@T=i=)=)=$?)9 IM>DDD-DE: E:6Et4:E"E.Am @%= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502151Ia Iq N >Թ L},g)Ay6[?ٱ6P?6;6^ =6H@&@@?@?ioG~?1s??I6[?)6^;i6˒CBzeB9B IBDJ6DJ0YR!RZ=RQ)R>T9T9VGYVFVT;AZ>XQ 1^i4٪ZhԤ?Q 5bi4Z ZB9`Yf?Q Ef?yZCDC)Z;IZ;iZ,Ri4Yx~c BB*** querying acoustic contact ***zhhgԙFNOT Ignoring new targets: 268.15 m.gg踝 ProNav: ac range: 268.150391 m, nav range: 261.210602 m, bearing: 97.502518 deg, approach rate: -0.605582 m/s, LOS rate: -0.006366 deg/s, cmd heading: 94.373571 deg, new cmd heading: 94.368170 deg. ge:HeadingCmd: 1.647035 target range: 268.150391 and range: 269.70 m.g ?ggggzfrfffBd d d cc@v @ɢjB+໽ 額I ɡiIj;I ?i+T=i=^.=) ?)iaaae1aUDAT read: 05:18:22.0011 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.18,-1.106,-2.946,-1.190,-1.455, PHS= 0.450,-1.447, 0.220, RAW= 143.6, 8.7, CAL= 143.2, 9.5, ROT= 6.8, -9.5 eYgot valid direction response: 05:18:22.0011 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.18,-1.106,-2.946,-1.190,-1.455, PHS= 0.450,-1.447, 0.220, RAW= 143.6, 8.7, CAL= 143.2, 9.5, ROT= 6.8, -9.5 ePDAT read: Bearing 248.5, 6.9 (Local) m~Local bearing/azimuth received: Bearing 248.5, 6.9 (Local) uDAT read: Range 11 to 50 : 267.0 m (Round-trip 356.1 ms) speed 0.1 m/s },DAT read: user:7398> BDAT read: Tx time:05:18:23.0909 $Ping request sent.)%L7I%Ga>i%g @%|>%@%)>%= %)i!!I%y?4âgY?ٔ=Pb?%>%ӫ %=)%)i!!:publishing transmit ping timeYFpublishing direction and range info9!%+(V?9)M?G ?!!i!!!!! !)!I!i!!!!! !i!!I%y?4âgY?ٔ=Pb?!! !)!i!!DDD+DE: Eą:6E [4:E!@!@!@!@ >A l,=I I N >9 le,#h)AyF?ٱFcu?Fu;Fv*=FHǰb w!?R?`2pz?~n @M??IF?)F^;iD^\eB9^ IBDv6DvYU!U@=e-Q)m>q99GY';A>Q 1i4٪Ϥ?Q 5i4F B9Y ?Q E?yDC) ~BB IBleBB =BBkDB%g;B(E5 ProNav: ac range: 265.465759 m, nav range: 261.735504 m, bearing: 98.767972 deg, approach rate: 0.000000 m/s, LOS rate: -0.006366 deg/s, cmd heading: 94.368168 deg, new cmd heading: 94.362708 deg. g1=HeadingCmd: 1.646940 target range: 265.465759 and range: 267.00 m.g=?g9g9g9g9zfArfAffBd ddcp@c9?ɢkB 顥,I ɡiIM;I?iT=i,2=)?)Aiu8qq}M0yi D D D D E : E g:6E :E "E &A .=I I N >,h)A y:k?ٱ:E?:ɍ;:m8=:H1`E?`|?&t?`a@ ??I:k?):^;i:ȒCfVeB9f IUMb@Mb@Mb@ Q)QIQiQQUm?#~j?Mb?U.?U=U99GYF;A>Q 1i4٪ˤ?Q 5i4@ B9/?Q A:Y?Q E?yDC) ;I ;i`oi4Yr BgFNOT Ignoring new targets: 265.47 m.gg ProNav: ac range: 265.465759 m, nav range: 261.464081 m, bearing: 98.766116 deg, approach rate: -0.761112 m/s, LOS rate: -0.005211 deg/s, cmd heading: 94.362711 deg, new cmd heading: 94.358994 deg. gHeadingCmd: 1.646875 target range: 265.465759 and range: 267.00 m.g?ggggzfrfffBdddcc ?ɢ;kBH 顽I ɡiIA;I?iW T=i7=)?)qԙ95%<)i9.0 >A 31=rA ?jA ? I9 II NU >>:,;h)AD2D2D2*D0E2: E2z:6E2(N4:E0!6@!6@!6@!6@yR?Ե?ٱR?RKK9RͅK=RHq 0]??j@Mm?@ci) n??IR?Ե?)R`_;iR̒CZp9p9rGYrFr;Ar>tQ 1zi4٪v7Ǥ?Q 5~i4v v…B9|Y~?Q E~?yvEC)vY;Iv;iv}i4YB B Eg)5FNOT Ignoring new targets: 265.47 m.g=g=M ProNav: ac range: 265.465759 m, nav range: 261.178284 m, bearing: 98.764104 deg, approach rate: -0.686255 m/s, LOS rate: -0.004836 deg/s, cmd heading: 94.358995 deg, new cmd heading: 94.354967 deg. gM UHeadingCmd: 1.646805 target range: 265.465759 and range: 267.00 m.gU?gQgQgQgQzfYrfYfYfYBdadadacaceso?ɢpkBٽ 顝ƿI ɡiI,T;I?i5S=i:=)?)9<iE9AAE4A>AE8=IvB>~BB IBNeBBBBBKg;B-(EIN >! ,tUh)A y6??ٱ6?6 J6^=6H`ұ6?? ױ G?ZAi?c۫??I6??)6%_;i6ʒCb!eB9b IEMb@Mb@Mb@ A)AIAiAAEm?sh|??{Gz?AE=E#99GYb;A>Q 1i4٪z¤?Q 5i4* ƅB9/?Q A:Y\?Q E?ykEC):I8:ii4i,?I0?Y9 Bg)-FNOT Ignoring new targets: 265.47 m.g5˸g5˸E ProNav: ac range: 265.465759 m, nav range: 260.880585 m, bearing: 98.761695 deg, approach rate: -0.684447 m/s, LOS rate: -0.005546 deg/s, cmd heading: 94.354965 deg, new cmd heading: 94.350141 deg. gEh"MHeadingCmd: 1.646721 target range: 265.465759 and range: 267.00 m.gM?gIgIgIgIzfQrfQfYfYBdYdYdYcaceRe?ɢkB!B 顕пI ɡiIA} l;= AIIN>,th)Ay6?ٱ6?6ٻ6n=6H :??<=d2{?ҭ??I6?)6%_;i4B&eB9B IBDJ6DJ0YR<!R5=RQ)R>T9T9VGYVFVp:AZ>\Q 1^i4٪^?Q 5bi4^' ^ʅB9`Ybr?Q Eb?y^EC)^):I^:i^ޜi4Ydj4 B1MB*** querying acoustic contact ***zhIhIQgy}FNOT Ignoring new targets: 265.47 m.gɸgɸ ProNav: ac range: 265.465759 m, nav range: 260.570557 m, bearing: 98.759133 deg, approach rate: -0.664014 m/s, LOS rate: -0.005492 deg/s, cmd heading: 94.350143 deg, new cmd heading: 94.345014 deg. g HeadingCmd: 1.646631 target range: 265.465759 and range: 267.00 m.g?ggggzfrfffBdddcc`?ɢ]kB],.ܽ ae ؿIa aɡaiaIe <uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.I?iS=i B=)?))a aiiIiDDDDE: E:6E:E!@!@!@!@yԩi80@=@== checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258123 AA AE ?AvBM >~BI BM IBM 9eBBM =BI BI BM Ug;BM 1(E>A -B= IIN>$,y@h)Ay67?ٱ6s-?6:46o=6H6`@.??>Yi{2?Nۭ?@?I67?)6^;i6ɒC>"eB9> I=Mb@Mb@Mb@ 9)9I9i99=S?#~j?Mb?=/?===i9i9mGYmFm:Au>qQ 1}i4٪u췤?Q 5i4u uЅB9V0?Q A:Y(?Q E?yuFC)u:Iu:iui4YvBBEgFNOT Ignoring new targets: 265.47 m.gʸgʸ ProNav: ac range: 265.465759 m, nav range: 260.215302 m, bearing: 98.756368 deg, approach rate: -0.710817 m/s, LOS rate: -0.005541 deg/s, cmd heading: 94.345014 deg, new cmd heading: 94.339475 deg. gC"HeadingCmd: 1.646534 target range: 265.465759 and range: 267.00 m.g?ggggzfrfffBdddcc`u@ɢ%lB%<` !%QI! !ɡ)i)I-O<)I5?i5S=i=xgE=)=?)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507879DMDMDM-DIEM: EM:6EMt4:EI"EM68AK@= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759677I I N >I G ) "oAI Ai d "oA `A$*, h)A]eB9] IBDu6DuβY !I=Q)>99GYFA>Q 1i4٪?Q 5i4 ԅB9YQ E?y]FC):I:i"i4YBgY]FNOT Ignoring new targets: 265.47 m.ge伸ge伸ԑ ProNav: ac range: 265.465759 m, nav range: 259.935333 m, bearing: 98.754183 deg, approach rate: -0.660597 m/s, LOS rate: -0.005161 deg/s, cmd heading: 94.339474 deg, new cmd heading: 94.335100 deg. gHeadingCmd: 1.646458 target range: 265.465759 and range: 267.00 m.g$?ggggzfrfffBdddcc(a@ɢ]lB =I ɡiIpA -B=Iq I N > 1,Xh)AyBsJ?ٱBM@?BBJZ=BH [K??񞑿?D??IBsJ?)BG^;iB˒CeB9  I]BDAT read: Rx Time:05:18:25.8483 mTRx dataTimestamp_ set to:1755839907.168415uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270000BD6DYVռ!E=ƼQ)>99 GY %:A%>Q 1 i4٪?Q 5 i4 څB9Y??Q E?yFC).+;I),;ii4YlBBvB=>~B9B= IB=%eBB= =B9B9B=Yg;B=4(EBBBBBB5gFNOT Ignoring new targets: 265.47 m.gNȸgNȸM ProNav: ac range: 265.465759 m, nav range: 259.625702 m, bearing: 98.751713 deg, approach rate: -0.685172 m/s, LOS rate: -0.005473 deg/s, cmd heading: 94.335103 deg, new cmd heading: 94.330157 deg. gM> UHeadingCmd: 1.646372 target range: 265.465759 and range: 267.00 m.gUP?gQgQgQgQzfQrfYfYfYBdadadacac @ɢlB 1I ɡiIA IA IQ Ne > 8,rh)AE eB9E IMb@Mb@Mb@ )Iioʡ?EԸ?Mb`?-?=;IibAbAA)(ABD 6D2Y%|;!%7=%Q)%>)9)9-GY5F5A5>9Q 1Ei4٪=?Q 5Ei4= =߅B9E.?Q AE:YMt?Q EM?y=FC)=Q:I=o:Qi=@i4YY]BYgFNOT Ignoring new targets: 265.47 m.g0g0 ProNav: ac range: 265.465759 m, nav range: 259.345184 m, bearing: 98.747913 deg, approach rate: -0.712724 m/s, LOS rate: -0.009665 deg/s, cmd heading: 94.330158 deg, new cmd heading: 94.322550 deg. gHeadingCmd: 1.646239 target range: 265.465759 and range: 267.00 m.g?ggggzfrfffBdddcc@ɢlB2 ^#=I ɡiIZ$ BDAT read: Tx time:05:18:26.9409 $Ping request sent.)M)\IM~>iMK!@M0 >M @M`>M^ = M`iIIIM)ܛ?B۟0+?EH.?M5>M3 M^ =)M`iII:publishing transmit ping timeYFpublishing direction and range info9IMtv?3?S&r#?IIiIIIII I)IIIiIIIII IiIIIM)ܛ?B۟0+?EH.?II I)IiIIԁi9Y0ԩ >A G=IA IQ Na 86>,̛h)Ay6V?ٱ6L?6V6~;=6H5s8?`?`=ϲ`Ӝ@"*?x?L?I6V?)6^;i6ʒC<BdB9B IBDJ6DJ0YR>!V}=VQ)V ?T9X9ZGYXZ:AZ ? Q 1i4٪ ?Q 5i4  B9Y?BEg4JEp4RE0D-D-D-0D)E-: E-i:6E-4:E)!5@!5@!5@!5@Q E=?y /GC) ;I %;i i4YAEBAhyh}]h)Ah}Ch}Ch}B?z}c /p@=qZ6;@'C@j}tv?3?S&r#?h}^ =h}`}i=s+F,oo@R' bH@r} Tſc.@V?Y,:Q?h}~Ch}[1h} ?h}0ɝh}B*i} ?2i}+i:iyi}ׁC"i}? addTargetRange:: Added new target pos. range: 264.899994 m, deltaT: 3.779811 s, deltaX: -2.100006 m, approachRate: -0.555585 m/s, rangeRepo size: 4  Added new target pos. range: 263.375885 m, bearing: 99.864157 deg, lat: 36.779149 deg, lon: -121.859472 deg, deltaT: 3.779811 s, deltaX: -2.089874 m, approachRate: -0.552904 m/s, posRepo size: 4 gFNOT Ignoring new targets: 263.38 m.gg ProNav: ac range: 263.375885 m, nav range: 259.687347 m, bearing: 99.830088 deg, approach rate: 0.000000 m/s, LOS rate: -0.009665 deg/s, cmd heading: 94.322549 deg, new cmd heading: 94.315977 deg. gHeadingCmd: 1.646124 target range: 263.375885 and range: 264.90 m.g4?ggggzfrfffBdddc`fp@c  ?ɢ5lB=2 9=I9 9ɡ9iAIEK*~BY B] IB] /eBBY BY B] lDB] Ig;B] ,(E A yAI I N >E,vi)Ay:SZ?ٱ:-P?:XA:8=:H Vyc`L??s㲿n Ǣ?!?8?I:SZ?):R^;i8FdB9F IlMb@Mb@Mb@ )IiMbX?|?5^?*?=IۤAi3AA A)ABD-6D-ܲY=*!=A=EEQ)E>E H?9E H?9MGYMFMރ9AM>QQ 1]i4٪UA?Q 5]i4U UB9e,?Q Ae:Ye?Q Ee?yUvGC)Ua;IU;iUOi4Ym4BmBmEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 263.38 m.gg ProNav: ac range: 263.375885 m, nav range: 259.409210 m, bearing: 99.826774 deg, approach rate: -0.686069 m/s, LOS rate: -0.008182 deg/s, cmd heading: 94.315979 deg, new cmd heading: 94.309345 deg. goHeadingCmd: 1.646009 target range: 263.375885 and range: 264.90 m.gi?ggggzfqrfqfyfyBdydydcc@?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢ-1mB- )-II QɡQiQIUrA0m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996193i IK,KX/i)AyZZ?ٱZ}P?Z&w,Z<@=ZHx qH?]?@`C???IZZ?)Z^^;iZ˒CfdB9f IBDn6DnβYv@=!vP=vaQ)z>zK?9zK?9zGYzF~7A~>Q 1 j4٪??Q 5 j4 B9 Y ?Q E?yGC)y:Ip:ij4Y%}B!9gIUFNOT Ignoring new targets: 263.38 m.gU gU e ProNav: ac range: 263.375885 m, nav range: 259.143921 m, bearing: 99.823606 deg, approach rate: -0.672051 m/s, LOS rate: -0.008035 deg/s, cmd heading: 94.309346 deg, new cmd heading: 94.303003 deg. geGkmHeadingCmd: 1.645898 target range: 263.375885 and range: 264.90 m.gmȬ?gigqgqgqzfqrfqfyfyBdydydcc?ɢUamBU Y]ZIY YɡYiYIe^50R,0Ii)AyfK?ٱfXA?fc2BfQH=fH Y_??``xaC?n? ?IfK?)fU^;ifʒCvdB9v I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502726BD6D:Y}e!A=ԡLQ)>99GY]A>Q 1 j4٪?Q 5j45 B9!Y-?Q E-?yHC)~BBBB =BBBWg;B3(EY15B1gFNOT Ignoring new targets: 263.38 m.gg ProNav: ac range: 263.375885 m, nav range: 258.851318 m, bearing: 99.820131 deg, approach rate: -0.605954 m/s, LOS rate: -0.007204 deg/s, cmd heading: 94.303001 deg, new cmd heading: 94.296044 deg. gR HeadingCmd: 1.645776 target range: 263.375885 and range: 264.90 m.g ͨ?ggggzfrfffBddd!c!c%f?ɢMmBUzi QU IQ QɡYiYI]6v;bDA ZDE ?ADM DM DM -DI EM : EM e:6EM t4:EI "EM o)9195GY5F5A=>9Q 1Ej4٪=퐤?Q 5Mj4=Z =B9M%?Q AM:YM?Q EM?y=IHC)=j:I=:i= j4YY]nBYgFNOT Ignoring new targets: 263.38 m.gugu ProNav: ac range: 263.375885 m, nav range: 258.584839 m, bearing: 99.817518 deg, approach rate: -0.731821 m/s, LOS rate: -0.007183 deg/s, cmd heading: 94.296041 deg, new cmd heading: 94.290810 deg. gVRHeadingCmd: 1.645685 target range: 263.375885 and range: 264.90 m.gϥ?ggggzfrfffBdddcc}?ɢmB#' c I ɡiI@A bA% jAZA% lAD] D] D] 0DY E] ,: E] H:6E] 4:EY !m @!m @!m @!m @A!I)IANM?ֽ`,;i)Ay>}1?ٱ>V'?>>38=>H !`q}1?)>_;i>˒CFdB9F IBDN6DN:YVb!V4=Z Q)Z>X9\9^GY^F^A^>`Q 1fj4٪b?Q 5fj4bڏ bB9hY?Q E?ybHC)b#~BB IBNeBBBBBAg;B*(Ei9n0>A |(H= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761324 Du Du Du /Dq Eu : Eu k:6Eu J4:Eq "Eu +5g,͠i)AyVl$?ٱVD?VV.=VH^sA?@?ɲ S?Х? ?IVl$?)V-&_;iVȒCndB9n IuMb@Mb@Mb@ q)qIqiqqup= ף?RQ?I +?u%?u=u9499GYFSA>Q 1j4٪݅?Q 5j4 B9&?Q A:Y?Q E?yHC):I8:iAj4YB)EB*** querying acoustic contact ***zhAhAgq}FNOT Ignoring new targets: 263.38 m.g}g}븝 ProNav: ac range: 263.375885 m, nav range: 257.972504 m, bearing: 99.811463 deg, approach rate: -0.637803 m/s, LOS rate: -0.006422 deg/s, cmd heading: 94.285147 deg, new cmd heading: 94.278688 deg. g<HeadingCmd: 1.645473 target range: 263.375885 and range: 264.90 m.g?ggggzfrfffBddd c c @W@ɢVnBs E<3I ɡiI&MKA 4|E=5 BDAT read: Rx Time:05:18:29.6750 5 TRx dataTimestamp_ set to:1755839910.944488= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265315AE yAIQ Ia N >n,ٽi)Ay6*(?ٱ6?65M6+=6H # ??@۲0ӱk?e??I6*(?)6_;i6˒C>dB9> IBDJ6DJYNܧ!NB=RHQ)R>V H?9V H?9VGYTV9AZ>XQ 1^j4٪Z瀤?Q 5^j4Z Z*B9`DfDfDf-DdEf: EfC:6Eft4:Ed!n@!n@!n@!n@Yb?Q En?yZ,IC)ZƟ;IZ];iZPj4YpvBtg FNOT Ignoring new targets: 263.38 m.gwgw ProNav: ac range: 263.375885 m, nav range: 257.699188 m, bearing: 99.808696 deg, approach rate: -0.669710 m/s, LOS rate: -0.006788 deg/s, cmd heading: 94.278686 deg, new cmd heading: 94.273145 deg. gFHeadingCmd: 1.645377 target range: 263.375885 and range: 264.90 m.g?ggggzfrfffBdddcc 0 @ɢMnBUw", QUIQ QɡQiYI]JP~BۍCB IBleBB =BFD>A rA- ?jA- ?BBg;B(Eq Ae AIi I N >u,i)A0}dB9 Iii߅=I߅%=DAT read: 05:18:29.6750 LVL= 25840, 32753, 29250, 32115, AGC= 69, IDX= 207,-0.04, 0.870,-0.861, 0.944, 0.549, PHS= 0.423,-1.365, 0.351, RAW= 148.0, 6.8, CAL= 147.4, 7.3, ROT= 2.6, -7.3 Ygot valid direction response: 05:18:29.6750 LVL= 25840, 32753, 29250, 32115, AGC= 69, IDX= 207,-0.04, 0.870,-0.861, 0.944, 0.549, PHS= 0.423,-1.365, 0.351, RAW= 148.0, 6.8, CAL= 147.4, 7.3, ROT= 2.6, -7.3 PDAT read: Bearing 247.5, 7.0 (Local) ~Local bearing/azimuth received: Bearing 247.5, 7.0 (Local) DAT read: Range 11 to 50 : 247.4 m (Round-trip 329.9 ms) speed 0.5 m/s ,DAT read: user:7400> BDAT read: Tx time:05:18:30.7909 $Ping request sent.)RIF>iMQ%@=EMb@Mb@Mb@ A)AIAiAAEp= ף?K? rh?A$@w>9= wiI3{??(?Y9L?>> 9=)wi]:publishing transmit ping timeY]Fpublishing direction and range info9$? =K?9=K?9=GY=F=A=>IQ 1Uj4٪Mz?Q 5Uj4Mdw M=B9U&?Q AU:Y]?Q E]?yMIC)M:IM:iMcj4YeBeBahhi)AhuChuChK?z/ڤ3wn@pW "&@TxfA?@j$? A5 G=AaIiIyN?5`},*i)AXneB9n IBDv6DvNYԂ=!I=Q)>99GYFA>Q 1j4٪(v?Q 5j4p JB9YQ E?yIC):I :i}qj4YBgFNOT Ignoring new targets: 245.98 m.gzָgzָ  ProNav: ac range: 245.980972 m, nav range: 256.335968 m, bearing: 99.832452 deg, approach rate: -0.676153 m/s, LOS rate: -0.005860 deg/s, cmd heading: 94.265483 deg, new cmd heading: 94.261091 deg. g +HeadingCmd: 1.645166 target range: 245.980972 and range: 247.40 m.gД?ggggzfrfff!Bd!d!d!c!c->?ɢeoBe>6> eD*=eIa iɡiiiImZ~B B 6 IB eBB B B mDB f;B 'EBABEۍCBABABE˦ =BE!5>A) !AyAIIN?,. j)AyNµ?ٱNĸ?NNT?=NH>< ?? ^`J-?#ϧ?`t?INµ?)N_;iNʒCT9TmMb@Mb@Mb@ i)iIiiiim?ˡE??mf&?m=m H?9 H?9GYFDĻA>Q 1j4٪p?Q 5j46h bB9'?Q A:Y?Q E?yJC)/:I:ij4YB1BEgFNOT Ignoring new targets: 245.98 m.g [g [ ProNav: ac range: 245.980972 m, nav range: 256.000885 m, bearing: 99.830907 deg, approach rate: -0.647845 m/s, LOS rate: -0.002992 deg/s, cmd heading: 94.261091 deg, new cmd heading: 94.257996 deg. g:HeadingCmd: 1.645112 target range: 245.980972 and range: 247.40 m.g ?gg!g!g!zf!rf!f)f)Bd)d)d1c1c5::?ɢ]JoBe*! ebAQ AAAIIN>&`,8j)Ay6?ٱ6?66(?=6HW@ ?`E?(@M`-?ħ??I6?)6._;i4>eB9> IBDJ6DJ:YRt;!R5=R9Q)R>VK?9VK?9VGYTV]AZ>Q 1j4٪k?Q 5j4p` wB9Y?Q E?ykJC):Ip:ij4Y-B-B-EEB*** querying acoustic contact ***zhIhIgQ]FNOT Ignoring new targets: 245.98 m.g]kRg]kRu ProNav: ac range: 245.980972 m, nav range: 255.699844 m, bearing: 99.829578 deg, approach rate: -0.650392 m/s, LOS rate: -0.002874 deg/s, cmd heading: 94.257997 deg, new cmd heading: 94.255336 deg. guU}HeadingCmd: 1.645066 target range: 245.980972 and range: 247.40 m.g}?gygygygyzfyrfffBdddcc@?ɢoB- 顽&I ɡiIrcA}`9=AIIN > E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744612vB >~B B U IB eBB =B B lDB f;B 'E1 G,Qj)Ay't?ٱi?{ȽgA=H` a?@G?ڱ`#3@? ??I't?)6^;iȒC5?eB95 IMb@Mb@Mb@ )IiK7A`?ʡE?Q?+?-=9999=GYEFEIAE>IQ 1Uj4٪M!g?Q 5Uj4MX MB9],?Q A]:Y]?Q E]?yMJC)M<:IM:iM=>i9/@@lAa ԑ >A- C;=rA5 ?jA5 ?e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250369AyIIN?0,Zrj)A y6T?ٱ6J?6߽Ͻ6A=6H<]d ? ?`W?@?@?I6T?)6l^;i4ROeB9R IBDZ6DZkYb =!b0=bkQ)b>d9d9fGYfFjsAj>lQ 1rj4٪nb?Q 5rj4nP nB9pYr?Q Er?ynKC)n:In:in|j4YxzBxgFNOT Ignoring new targets: 245.98 m.g%jg%j5 ProNav: ac range: 245.980972 m, nav range: 255.093903 m, bearing: 99.826619 deg, approach rate: -0.666719 m/s, LOS rate: -0.003197 deg/s, cmd heading: 94.252383 deg, new cmd heading: 94.249411 deg. g5?=HeadingCmd: 1.644963 target range: 245.980972 and range: 247.40 m.g="?g9g9g9gAzfArfAfAfIBdIdIdIcQcUO@ɢ}oB}1 顅*I ɡiIl: EF:6E(N4:E!@!@!@!@i9  ԙ >A 3=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753920AA I I N >m,.j)AA@A@vBD~BDBFt IBFfBBF =BFGDBDBFf;BF'EyjH'?ٱj ?jֽj`/<=jHU@Ҫ? +?@LO乿`@?b??IjH'?)j^;ij˒CVeB9 IABD6DYO<! = ƻQ)>99GYF-A>Q 1%j4٪\?Q 5%j4G †B9)Y-?Q E-?y`KC):IK:ij4Y5RB5NB=EgaeFNOT Ignoring new targets: 245.98 m.gm\\gm\\} ProNav: ac range: 245.980972 m, nav range: 254.744385 m, bearing: 99.825040 deg, approach rate: -0.665327 m/s, LOS rate: -0.003010 deg/s, cmd heading: 94.249412 deg, new cmd heading: 94.246249 deg. g}JHeadingCmd: 1.644907 target range: 245.980972 and range: 247.40 m.gS?ggggzfrfffBdddcc@ I@ɢCpB* .I ɡiIPqA ·3=Թ A I I N >#ѩ,,j)Ay>?ٱ>[?>۽>6=>H" J+? ?tݰ ~n?U??I>?)>^;i>ǒCNpeB9R I%Mb@Mb@Mb@ !)!I!i!!%n?Q?y&1?%V.?%\=%`Q9Q9UGYQ]A]?aQ 1mj4٪eVY?Q 5mj4eAQ 9mtI eԆB9mf/?Q Am:Ym?Q Eu?yeKC)eT:Iei:iej4Yy}3BygFNOT Ignoring new targets: 245.98 m.g7g7e ProNav: ac range: 245.980972 m, nav range: 254.511841 m, bearing: 99.825497 deg, approach rate: -0.678111 m/s, LOS rate: 0.001332 deg/s, cmd heading: 94.246249 deg, new cmd heading: 94.247163 deg. ge 8BDAT read: Rx Time:05:18:33.5215 TRx dataTimestamp_ set to:1755839914.725819checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259353ԹHeadingCmd: 1.644923 target range: 245.980972 and range: 247.40 m.gٌ?ggggzfrff!f!Bd!d)dIcQcU@i @ɢwpB|E l0I ɡiIuA S,=bA ZA - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508641rD jD %=D D D +D E s: E X:6E [4:E ! @! @! @! @A I I N 9 (,j)Aiy: ?ٱ:?:⽹:_,=:H P@? ?`l@{3?s??I: ?):^;i:ʒCBeB9B# IBDJ6DJN2Yr+=!rQ=vwQ)v>t9t9zGYzFzAz>Q 1%j4٪U?Q 5%j4: B9)Y-?Q E-?yKC)F:I_:ij4Y15"B1UB*** querying acoustic contact ***zhQhQgFNOT Ignoring new targets: 245.98 m.g7g7 ProNav: ac range: 245.980972 m, nav range: 254.244308 m, bearing: 99.826110 deg, approach rate: -0.669621 m/s, LOS rate: 0.001536 deg/s, cmd heading: 94.247164 deg, new cmd heading: 94.248392 deg. g38HeadingCmd: 1.644945 target range: 245.980972 and range: 247.40 m.g?ggggzfrfffBdddccJ @ɢepBedR eh=eK2Ia iɡiiiImMz~BB IBAfBB =BFDBmDB'g;B (E>AU#'=i A yAI I N >-,Lj)A y:?ٱ:c?:yt轹:"=:H y?x? `OT? BDAT read: Tx time:05:18:34.6409 $Ping request sent.)r ףIrТ>irN#@rz0=r"@r=r`= rippIrq k? |?2G!?rK=>r.߽ r`=)ripp:publishing transmit ping timeYFpublishing direction and range info9prjSPy?po=?EO?ppippppp p)pIpippppp pippIrq k? |?2G!?pp p)pippqMb@Mb@Mb@ )Ii> ףp=?(\µ?S㥛?1?=/= H?9E H?9EGYEFE)Ae>iQ 1uj4٪m^P?Q 5uj4m1 mB9}a3?Q A}:Y}?Q E}?ym;LC)m#:Im:imj4YBhphr$j)AhresChresChr-?zr. n@s!2@_<@jrjSPy?po=?EO?hr`=hrrF>3$Wm@ՂOL@rrO"X+?,?hrjChrwhrvL6?hr!hr B*ip2ir0ɝ:irBir}C"ir?m addTargetRange:: Added new target pos. range: 244.800003 m, deltaT: 4.029688 s, deltaX: -2.599991 m, approachRate: -0.645209 m/s, rangeRepo size: 4 } Added new target pos. range: 243.398178 m, bearing: 97.447547 deg, lat: 36.779149 deg, lon: -121.859482 deg, deltaT: 4.029688 s, deltaX: -2.582794 m, approachRate: -0.640942 m/s, posRepo size: 4 gFNOT Ignoring new targets: 243.40 m.gg ProNav: ac range: 243.398178 m, nav range: 253.777237 m, bearing: 99.829839 deg, approach rate: 0.000000 m/s, LOS rate: 0.001536 deg/s, cmd heading: 94.248394 deg, new cmd heading: 94.250027 deg. gHeadingCmd: 1.644973 target range: 243.398178 and range: 244.80 m.g|?ggg g zf rf ffBdddcn@c?ɢepBe{/ mRWAu ȿ= AIIN>J,j)AyFe?ٱFk[?FF^=FH@q`?`?l@,ͽ? B?@O?IFe?)F _;iFɒCReB9R* IBDZ6DZ:Yb+!b\=b Q)b>d9d9fGYdjaAj>lQ 1rj4٪nL?Q 5rj4n+ nB9pYr?Q Er?yn|LC)n:InK:inhj4YzBzBzݭEgFNOT Ignoring new targets: 243.40 m.g%zg%z5 ProNav: ac range: 243.398178 m, nav range: 253.522720 m, bearing: 99.829438 deg, approach rate: -0.738354 m/s, LOS rate: -0.001164 deg/s, cmd heading: 94.250026 deg, new cmd heading: 94.249223 deg. g5b=HeadingCmd: 1.644959 target range: 243.398178 and range: 244.80 m.g=?g9gAgAgAzfArfAfIfIBdIdIQdQcQc]#?ɢqBfd W,=顕8I ɡiIRAM=ԩA AI I N >vB% >~B! B% IB% tfBB% =B% GDB% lDB% g;B% \(E h<,k)Ayz??ٱz~5?z^zk=zH 0^j8?u?뮿@u?@+?@?Iz??)zF^;ixeB9B I)  AԙMb@Mb@Mb@ )IiʡE?l?{Gz?-2?=ף%K?9%K?9%GY%F%m(A->)Q 15k4٪-UH?Q 5=k4-" -3B9=@3?Q A=:Y=?Q E=?y-LC)-/;I-;i-#k4YAMlBIgiuFNOT Ignoring new targets: 243.40 m.g}7g}7 ProNav: ac range: 243.398178 m, nav range: 253.211197 m, bearing: 99.830132 deg, approach rate: -0.692022 m/s, LOS rate: 0.001542 deg/s, cmd heading: 94.249220 deg, new cmd heading: 94.250609 deg. g48HeadingCmd: 1.644983 target range: 243.398178 and range: 244.80 m.gю?ggggzfrfffBdddcc`d?ɢOqB D 9I ɡiI8pA 3=bA kAZA jAaA!I1IANU?,^6k)Ay>?ٱ>r?>E>N%=>H`\*@zf?*?ʭ 濿d=???I>?)>$^;i>ƒCFeB9FT IBDj6Dj0Yr=!r0=vQ)v>x9x9zGYzFzHAz>|Q 1k4٪~ D?Q 5k4~ ~MB9 Y }?Q E ?y~MC)~:I~;i~Qk4YNBg9EFNOT Ignoring new targets: 243.40 m.gE 8gE 8] ProNav: ac range: 243.398178 m, nav range: 252.891190 m, bearing: 99.831002 deg, approach rate: -0.691429 m/s, LOS rate: 0.001883 deg/s, cmd heading: 94.250607 deg, new cmd heading: 94.252350 deg. g]\8eHeadingCmd: 1.645014 target range: 243.398178 and range: 244.80 m.geЏ?gagagagazfarfififqBdqdqdqcqc}R?ɢqBFC fy=顥;I ɡiIi]: Ei:6Eـ4:E!@!@!@!@>AEr =ԁA I I N >Ա ,MOk)Ay6ҳ?ٱ6j?6C6=6H@J?? }?,x@1??`˴?I6ҳ?)6^;i6ǒCvBb >~B`Bb IBbfBBb =B`B`Bbh;Bb(EBۍCBBB =B =Bߊ5reB9r` IBDz6DzNY@;=!I= IQ)>99GYA> Q 1Mk4٪ @?Q 5Uk4  gB9yY}a?Q E?y kMC) |<ԙI !I ɡi I )ANw =rA ?jA ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.228725YAQIaIqN}?,tk)Ai@y6!?ٱ6?6s 6J=6H#l??5`@??ϰ?I6!?)6_;i6ʒCB fB9By Ix Mb@Mb@Mb@ ) I i   > ףp=?㥛 ?~jt? 1? = D9999=GY=FE AE>AQ 1k4٪E ;?Q 5k4E EB92?Q A:Y?Q E?yEMC)EA] =ԁ A I I N >,uk)A)( (.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732317y^3?ٱ^ ?^=^]=^H+L@"?`ߥ?F`ѐ?a??I^3?)^_;i^ȒCdjfB9j| IBDr6Dr0YzM<!zF=z^-Q)~>|9|9~GY~FA>A A AAvB >~BB IBfBBBBBh;B(E)Q 15k4٪-E7?Q 55k4-s -B99Y= ?Q E=?y-NC)-):I-:i-WOk4YAEBIgiuFNOT Ignoring new targets: 243.40 m.gud98g}d98 ProNav: ac range: 243.398178 m, nav range: 251.922592 m, bearing: 99.834192 deg, approach rate: -0.717563 m/s, LOS rate: 0.002533 deg/s, cmd heading: 94.256706 deg, new cmd heading: 94.258741 deg. gP8HeadingCmd: 1.645125 target range: 243.398178 and range: 244.80 m.gx?ggggzfrfffBdddccb@ɢA 9=ԁ A I I N>.,جk)AyN&?ٱNu?N9YN=NHR`X?5?@¿Z?"??IN&?)N _;iNƒC.fB9 IBDAT read: Rx Time:05:18:37.3677 TRx dataTimestamp_ set to:1755839918.756485checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237053Mb@Mb@Mb@ )IiGz?Q?I +?0?\=9499GYFhԺA>Q 1k4٪3?Q 5 k4 B9 1?Q A :Y ?Q E ?ykNC) ;I ;iR`k4YBgAEFNOT Ignoring new targets: 243.40 m.ԩg-_b8gE_b8] ProNav: ac range: 243.398178 m, nav range: 251.590103 m, bearing: 99.835692 deg, approach rate: -0.684211 m/s, LOS rate: 0.003092 deg/s, cmd heading: 94.258742 deg, new cmd heading: 94.261747 deg. g]8mHeadingCmd: 1.645178 target range: 243.398178 and range: 244.80 m.gm0?gigigigizfirfqfqfqBdqdydycyc}@ @ɢrB@  EI ɡiI`TA bA lAZA mAD D D D E [: E ]t:6E :E ! @! @! @! @1 IA Iq N >H,k)Ay x?ٱ n? E# K= H@0`٣??֫ض¿?`ٟ??I x?) i^;i -)fB9- IBDE6DEY]6A!]K=e2>Q)e>i9i9mGYiukAu>Q 1k4٪/?Q 5k4 ЇB9Y{?Q E?yNC)dE;I)G;irnk4YBqBӭEgFNOT Ignoring new targets: 243.40 m.ga8ga8  ProNav: ac range: 243.398178 m, nav range: 251.313644 m, bearing: 99.836951 deg, approach rate: -0.677255 m/s, LOS rate: 0.003086 deg/s, cmd heading: 94.261747 deg, new cmd heading: 94.264267 deg. g 8HeadingCmd: 1.645222 target range: 243.398178 and range: 244.80 m.g?ggggzfrfffBdd!d!c!ԁc%[ @ɢrB ] 顭HI ɡiI( BDAT read: Tx time:05:18:38.4908 $Ping request sent.~BB6IB?gBB =BBmDB8h;B(Ei}9yy4=Wꖼ?N9?zBP?=rC9i=9=}9=D =#>)=rI=}?>i9= =="@=B==nF= =BҽԱi99I=ј?67%?Ç?=U>=QĽ =nF=)=Bҽi99:publishing transmit ping timeYFpublishing direction and range info99=Wꖼ?N9?zBP?99i99999 9)9I9i99999 9i99I=ј?67%?Ç?99 9)9i99>A r=I I N > ,gk)Ay:n?ٱ:d?::#=:H;@e?f?@ iFÿ?`$ҟ?`M?I:n?):^;i:ȒCF[fB9F IMb@Mb@Mb@ )Iish|??ʡE?~jt?)?D%D%D%/D!E%: E%R:6E%J4:E!"E%+Y9a9eGYeFeFAe>iQ 1uk4٪m+?Q 5uk4m mB9}&+?Q A}:Y}P?Q E}?ymNC)m ;Im ;imj|k4YBBʭEhyh}'k)Ah}pCh}pCh}t?z} pm@:+O^2@DX8@j}Wꖼ?N9?zBP?h}nF=h}Bҽ}2ۢ[ =(l@=ZDzN@r}d>Sk᾿M*?`R?h}fCh}Jh}?h} 0h}B*i}vL6?2i}2:i}6Bi}lC"i}?u addTargetRange:: Added new target pos. range: 242.100006 m, deltaT: 3.780091 s, deltaX: -2.699997 m, approachRate: -0.714268 m/s, rangeRepo size: 4  Added new target pos. range: 240.713287 m, bearing: 97.166514 deg, lat: 36.779263 deg, lon: -121.859630 deg, deltaT: 3.780091 s, deltaX: -2.684891 m, approachRate: -0.710271 m/s, posRepo size: 4 gFNOT Ignoring new targets: 240.71 m.gg ProNav: ac range: 240.713287 m, nav range: 236.089630 m, bearing: 97.360689 deg, approach rate: 0.000000 m/s, LOS rate: 0.003086 deg/s, cmd heading: 94.264267 deg, new cmd heading: 94.266735 deg. gHeadingCmd: 1.645265 target range: 240.713287 and range: 242.10 m.g ?ggggzfrff f Bd)d1d1c5@3Cn@c5F?ɢrB_ 顅HI ɡiI(A V<I I N >&, Zk)Ay:7f?ٱ:\?:7!:k=:Hި??ȫÿK ???I:7f?):^;i8BPfB9B IBDJ6DJܲYR޼!RV=V 9Q)V>T9T9VGYVFZ6AZ>\Q 1bk4٪^[(?Q 5bk4^G ^B9`YfI?Q Ef?y^5OC)^;I^n;i^k4YhjBhzB*** querying acoustic contact ***zhxhxg|FNOT Ignoring new targets: 240.71 m.gܸg ܸ ProNav: ac range: 240.713287 m, nav range: 235.839050 m, bearing: 97.358416 deg, approach rate: -0.663709 m/s, LOS rate: -0.006029 deg/s, cmd heading: 94.266733 deg, new cmd heading: 94.262181 deg. g0%HeadingCmd: 1.645185 target range: 240.713287 and range: 242.10 m.g%p?g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5d?ɢesBey aeKIa iɡiiiImBʑ >T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Yi)))-0)DUDUDU+DQEU: EUg:6EU [4:EQ!]@!]@!]@!]@y>AIQIiN>ԩ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992261vB >~B B bIB gBB B B B +h;B (Ee,5l)Ai@@yJo?ٱJe?J%Jl=JHv? ?1\Ŀ\?塡??IJo?)J^;iJǒCRfB9V IIX)ZBABD^6D^ Yj=!nG=u +Q)}>99GY3:A>Q 15k4٪P$?Q 5=k4 B9IYMU?Q E?yOC)A Ii Iy N >: ,i/l)Alchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496259%fB9% IMb@Mb@Mb@ )Iish|??V-?~jt?h=IixAʶA&A)pABD6D:Y(=!;=Q)>99GYFA>Q 1k4٪ ?Q 5k4 4B9*?Q A:Y+?Q E?yOC)o? ɢ }sBne hMI ɡiIBA <DE DE DE /DA EE : EE k:6EE J4:EA !U @!U @!U @!U @a I I N >!,JHl)AyF?ٱF?F].F[&=FH @@v??@_~VſJ?@s?b?IF?)Ft^;iFɒCVfB9V IBD6DܲY=!W=6Q)%>!9)9-GY)-;;A5>9AQ 1Mk4٪Ev?Q 5Mk4EN EMB9QYUQ?Q EU?yEPC)E :IE9:iEk4Y]\BeBeEgFNOT Ignoring new targets: 240.71 m.gg ProNav: ac range: 240.713287 m, nav range: 235.031647 m, bearing: 97.352064 deg, approach rate: -0.707106 m/s, LOS rate: -0.005156 deg/s, cmd heading: 94.253127 deg, new cmd heading: 94.249466 deg. gHeadingCmd: 1.644964 target range: 240.713287 and range: 242.10 m.g*?ggggzfrfffBdddcc?ɢsBy INI ɡiIg~BBIBgBBBBB h;B(Eԙ>A1bAEkAZAElAA I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252356&J,bl)Ay6 ?ٱ6ߩ?626f)=6H) $?@y? f 1ſ %?\? }?I6 ?)6 ^;i6ƒCBfB9BIDEDEDE,DAEE%; EEga:6EEg4:EA"EEKA9A9EGYEFE ;AM>IQ 1Uk4٪Mn?Q 5]k4M MjB9] )?Q A]:Y]?Q E]?yMMPC)M ;IMe ;iMk4YamBigmFNOT Ignoring new targets: 240.71 m.gugu︝ ProNav: ac range: 240.713287 m, nav range: 234.748535 m, bearing: 97.349202 deg, approach rate: -0.647077 m/s, LOS rate: -0.006550 deg/s, cmd heading: 94.249466 deg, new cmd heading: 94.243735 deg. g?HeadingCmd: 1.644863 target range: 240.713287 and range: 242.10 m.g?ggggzfrfffBdddcc"7@=i%CɢsBIu\G)"oAIAiS"oAAU%S !%{OI! !ɡ!i!I%qA= I_^p ,Mׁl)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759892yR2?ٱR?R8R8=RHĪ?Oo?[SrƿR?? }r?IR2?)RQ^;iP^gB9^IBDf6DfܲYnL=!n9=rzQ)r>p9p9rGYrFvl;Av>iQ 1uk4٪m.?Q 5}k4mM mB9yY}?Q E}?ymPC)mp:ImF:imk4YBB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 240.71 m.gngnbDZDDDDDE: E?:6E:E!@!@!@!@ ProNav: ac range: 240.713287 m, nav range: 234.453262 m, bearing: 97.346089 deg, approach rate: -0.645572 m/s, LOS rate: -0.006815 deg/s, cmd heading: 94.243736 deg, new cmd heading: 94.237502 deg. gGHeadingCmd: 1.644755 target range: 240.713287 and range: 242.10 m.gR?ggggzfrfffBdddcc @ɢ5tB5ǵe 15DQI1 9ɡ9i9I=AƢ=vB>~BBIB3hBB =BBB6h;B(EBBBBBBC4 A I I N >1 &,l)Ay?ٱ ?<s==HCsP@?i?@Pǿ Up?>;?l?I?)7~^;iȒC2gB9-IMb@Mb@Mb@ )IiZd;O?333333?~jt?~*?=D9!9%GY%F%#N;A%>)Q 15k4٪-8?Q 5=k4- -B9=+?Q A=:Y=?Q E=?y-PC)-:I-:i-k4YAEBIgquFNOT Ignoring new targets: 240.71 m.g}g}긝 ProNav: ac range: 240.713287 m, nav range: 234.172592 m, bearing: 97.343347 deg, approach rate: -0.656236 m/s, LOS rate: -0.006418 deg/s, cmd heading: 94.237500 deg, new cmd heading: 94.232009 deg. g;HeadingCmd: 1.644659 target range: 240.713287 and range: 242.10 m.g.?ggggzfrfffBdddcc@& @ɢJtBc QI ɡiIಙAV =rA ?jA?a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516289A I! I1 N= >5,,vl)A yV)?ٱV]?Vk?V>H=VH@F?d?-m]jǿ e?? .g?IV)?)VGn^;iVǒCnVgB9nDIBDv6DvβY59=!5[=5Q)5>9999=GY9E:AE>IQ 1Uk4٪M ?Q 5Uk4M MˆB9QYU?Q EU?yMQC)M:IM';iMk4YeRBeNBeEgFNOT Ignoring new targets: 240.71 m.gg ProNav: ac range: 240.713287 m, nav range: 233.927887 m, bearing: 97.340914 deg, approach rate: -0.655289 m/s, LOS rate: -0.006521 deg/s, cmd heading: 94.232008 deg, new cmd heading: 94.227138 deg. g>HeadingCmd: 1.644574 target range: 240.713287 and range: 242.10 m.ge?ggggzfrfffBdddcc @ɢwtBs RI ɡiIN BDAT read: Tx time:05:18:42.3408 $Ping request sent.)]!I]>i]O$@]=]_#@]K=]5z= ]KiYYI]՟ׄc?Tb ?Gdž?]{>][j ]5z=)]KiYY:publishing transmit ping timeYFpublishing direction and range info9Y]5+9cY?#ٗh"??YYiYYYYY Y)YIYiYYYYY YiYYI]՟ׄc?Tb ?Gdž?YY Y)YiYY>A+=rDjD<BE9JE=Nj|4RE=L0DDD3DE: EX:6E4:E!@!@!@!@ A I I N >3,Sl)Ay>R?ٱ>H?>3B>V=>HzY&@?E_?@ǿ7?W?a?I>R?)>D^;i>ŒCL^ngB9bSIBDj6Dj:Yt=!M=Q)> 9 9 GY F O;A>Q 1Ek4٪ ?Q 5Ek4 ߈B9AYE?Q EE?ybQC):I9:ik4YUBUBUEhhl)Ah nCh nChl?zi$˗m@ŝ,@c-w+5@j5+9cY?#ٗh"??h5z=hKA Z4:UW8fl@H P@r#9+(_?Nov?h5cChhi?hbShKB*i?2i!:i BikgC"i{?vB>~BB IBhBB =BBB]h;B(E addTargetRange:: Added new target pos. range: 239.500000 m, deltaT: 3.783865 s, deltaX: -2.600006 m, approachRate: -0.687130 m/s, rangeRepo size: 4  Added new target pos. range: 238.128677 m, bearing: 96.578956 deg, lat: 36.779274 deg, lon: -121.859654 deg, deltaT: 3.783865 s, deltaX: -2.584610 m, approachRate: -0.683061 m/s, posRepo size: 4 gUFNOT Ignoring new targets: 238.13 m.g]gYm ProNav: ac range: 238.128677 m, nav range: 231.419220 m, bearing: 97.107114 deg, approach rate: 0.000000 m/s, LOS rate: -0.006521 deg/s, cmd heading: 94.227138 deg, new cmd heading: 94.221683 deg. giHeadingCmd: 1.644479 target range: 238.128677 and range: 239.50 m.gF~?ggggzfrfffBdddcm@c?ɢtBtb SI ɡi!I% ՛Ad=) D D D +D E : E i:6E [4:E "E +/9,-l)Ay:_x?ٱ:5n?:E:[=:H`謿@?!Z? VȿW?@?[?I:_x?):]^;i8FrgB9FUI|EMb@Mb@Mb@ A)AIAiAAEZd;O?+η? rh?AEv=ECu H?9u H?9uGYq}w4;A}>Q 1l4٪~?Q 5l4٤ B94,?Q A:Yo?Q E?yQC)o;I;i~ l4YBgFNOT Ignoring new targets: 238.13 m.g fg f  ProNav: ac range: 238.128677 m, nav range: 231.146255 m, bearing: 97.102086 deg, approach rate: -0.681673 m/s, LOS rate: -0.012570 deg/s, cmd heading: 94.221681 deg, new cmd heading: 94.211614 deg. g HeadingCmd: 1.644303 target range: 238.128677 and range: 239.50 m.gx?g!g!g!g!zf)rf)f1f9Bd9d9dAcAcMH?ɢ%tB%Xm !%VI) )ɡ)i)I-ߜA- =ԁ A] AIa Iy N >@,m)Ayfk?ٱfA?fHf\=fH@N%#?U? nȿ`?? W?Ifk?)fDn^;ifƒCrgB9rIBDz6DzkYHO>!Q=ٻQ)> K?9 K?9 GY F z ;A>Q 1%l4٪:?Q 5%l4@ B9!Y%?Q E%?yQC) ;I ;i"l4Y15pB1MB*** querying acoustic contact ***zhIhIYgaeFNOT Ignoring new targets: 238.13 m.gm`gm`} ProNav: ac range: 238.128677 m, nav range: 230.891113 m, bearing: 97.097319 deg, approach rate: -0.657100 m/s, LOS rate: -0.012291 deg/s, cmd heading: 94.211613 deg, new cmd heading: 94.202068 deg. g}HeadingCmd: 1.644136 target range: 238.128677 and range: 239.50 m.gs?ggggzfrfffBdddcc?DDDDE: E1]:6E:E!@!@!@!@ɢ uB!z pTI ɡiIAuy=vB >~BT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BIIBhBBBBBh;B(EA yAI I N >A `F,m)AymSǴ?ٱm)?mN7KmX=mH`O3?P?BȿPe H?9e H?9eGYeFe,g;Am>qQ 1ul4٪u@?Q 5}l4u u@B9}{+?Q A}:Y} ?Q E}?yu4RC)u8:IuM:iu)l4YVBgFNOT Ignoring new targets: 238.13 m.gLkgLk ProNav: ac range: 238.128677 m, nav range: 230.598923 m, bearing: 97.091565 deg, approach rate: -0.652118 m/s, LOS rate: -0.012857 deg/s, cmd heading: 94.202071 deg, new cmd heading: 94.190550 deg. g=HeadingCmd: 1.643935 target range: 238.128677 and range: 239.50 m.gxl?ggggzfrfffBdddcc,?ɢ?uBc )VI! !ɡ!i!-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499319I5A"= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751137A AI! I1 NE >ԑ M,6m)Ay6?ٱ6?6M6>_=6H ?@"L?pɿ`j? T?JO?I6?)6Lb_;i6ǒC4hB9IBD-6D-YUh>!Y= ֻQ)>K?9K?9GYoc;A>Q 1l4٪?Q 5l4M ^B9Y7?Q E?ytRC)y:I;i'7l4YBgAMFNOT Ignoring new targets: 238.13 m.gM,jgM,jq ProNav: ac range: 238.128677 m, nav range: 230.351273 m, bearing: 97.086593 deg, approach rate: -0.636626 m/s, LOS rate: -0.012796 deg/s, cmd heading: 94.190549 deg, new cmd heading: 94.180594 deg. gVHeadingCmd: 1.643761 target range: 238.128677 and range: 239.50 m.gf?ggggzfrfffBdddcc i?ɢouBp n SIi iɡiiiImAE $=rAM ?jAM > A I I N >,T,Qm)Ay:&?ٱ:c?:kP: g=:H@ ? G?XSɿ`?^?@ J?I:&?):_;i:ŒCVAhB9VIiZ=IXBDb6Db1Yf<!jP=j$ڻQ)j>l9l9nGYnFn0;An>pvBz>~BxBzIBzniBBxBxBxBzh;Bz(EQ 1 l4٪r?Q 5 l4rʼn r}B9Yl?Q E?yrRC)r;IrQ;irDl4YBBE5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255216gQUFNOT Ignoring new targets: 238.13 m.g]ug]u ProNav: ac range: 238.128677 m, nav range: 230.098495 m, bearing: 97.081405 deg, approach rate: -0.653505 m/s, LOS rate: -0.013428 deg/s, cmd heading: 94.180591 deg, new cmd heading: 94.170203 deg. gĹHeadingCmd: 1.643580 target range: 238.128677 and range: 239.50 m.g`?ggggzfrfffBdddcc%ge@aɢuBm 顕UI ɡiImIA+=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507673D D D 1D E  E T:6E -4:E "E * (NZ,;9km)Ay U?ٱ K? 0S p= Ha@zb?A?рɿ`M6?4w? D?I U?) '*`;i ƒC5nhB95IMb@Mb@Mb@ )Iiq= ףp? ףp= ?~jt?+?Q=D H?9 H?9GYFO;A>Q 1l4٪?Q 5l4 B9-?Q A:Y?Q E?ySC);IQ:iTl4YBBEgFNOT Ignoring new targets: 238.13 m.ghgh ProNav: ac range: 238.128677 m, nav range: 229.798935 m, bearing: 97.075678 deg, approach rate: -0.664330 m/s, LOS rate: -0.012717 deg/s, cmd heading: 94.170202 deg, new cmd heading: 94.158733 deg. g/HeadingCmd: 1.643380 target range: 238.128677 and range: 239.50 m.gFZ?ggggzfrfffBddd c c @%@ɢ=uB=*i 9=AVI9 AɡAiAIEA |1=1 A= AIA IY Ne > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0112046a,m)ALyvfl?ٱv;b?vUvu=vH*E`_²?!P="Q)>K?9K?9GY:A>Q 1l4٪h꣊?Q 5l4{ B9Y?Q E?yASC);IL;ial4YBBB*** querying acoustic contact ***zhhg%FNOT Ignoring new targets: 238.13 m.g- gg- gE ProNav: ac range: 238.128677 m, nav range: 229.550568 m, bearing: 97.070872 deg, approach rate: -0.651677 m/s, LOS rate: -0.012624 deg/s, cmd heading: 94.158734 deg, new cmd heading: 94.149111 deg. gEԸMHeadingCmd: 1.643212 target range: 238.128677 and range: 239.50 m.gMT?gQgQgQgYzfYrfYfafaBdadidicic}@p@1ɢ5vB=Jm 9=TI9 9ɡ9i9IEQ~~BBIBiBBBBBh;B(E]BDAT read: Rx Time:05:18:45.0611 ]TRx dataTimestamp_ set to:1755839926.320409echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264177>Ae 6=ԑ A I I N >cg,7m)A,yj?ٱU`?X2u=H:?l?`8?˳`Bʿ@?M?@<;?Ij?)_;iĒChB9)I) Ai߭=I߭<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515473Mb@Mb@Mb@ )IiFx? ףp= ?Q?+?uI9Q9UGYUFUAU>YQ 1el4٪]]壊?Q 5el4]s ]B9m[-?Q Am:Ym?Q Em?y]SC)]~:I]:i]ql4YquByԁgFNOT Ignoring new targets: 238.13 m.gigi ProNav: ac range: 238.128677 m, nav range: 229.251038 m, bearing: 97.065085 deg, approach rate: -0.658468 m/s, LOS rate: -0.012737 deg/s, cmd heading: 94.149110 deg, new cmd heading: 94.137522 deg. g{HeadingCmd: 1.643010 target range: 238.128677 and range: 239.50 m.g$N?ggggzfrfffBdddcc[ @DMDMDM1DIEM: EML_:6EM-4:EI"EM#  R#Rx 1: Read range and direction messages. \direction in FSK: [0.996037,0.050457,0.073238] Fpublishing direction and range info9q u ?4)u {Iu t>iu %@u 5=u O$@u Q =u 4QO= u Q iq q Iu  c?=?b??x+?u \>u $ u 4QO=)u Q iq q >A 8= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. A yAI I N >qYn,/m)AyF u?ٱFj?FAH[Fcj=FHQ@+?3?dzʿ@3?`?7?IF u?)F_;iFÒCbhB9bGIBDj6DjY>!V=KQ) >  H?9  H?9 GY F^:A5>9Q 1El4٪=ᣊ?Q 5El4=Rm =B9AYE?Q EM?y=SC)=y:I=p:i=fl4YuoBuBuEh h ۴m)Ah kCh kCh ǖ?z PYm@:F@;'@JrrC1@j ?4~BY B] $IB] bjBBY BY BY B] |h;B] (EB!B!B!B!B!B%4>A I6= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255978 AI IN5> /v,m)AyBKf?ٱB\?BM]BV=BH 2`?G0?@noʿy? w0?6?IBKf?)BG^;iBĒCj0iB9ngIxBD6DJYx=!/=NQ)>99GY%'~A%>)Q 15l4٪-ۣ?Q 55l4-{e -,B91Y=?Q E=?y-TC))I-:i-l4YAEBAgFNOT Ignoring new targets: 235.74 m.g}g} ProNav: ac range: 235.744614 m, nav range: 227.318390 m, bearing: 96.480160 deg, approach rate: -0.625239 m/s, LOS rate: -0.013853 deg/s, cmd heading: 94.127288 deg, new cmd heading: 94.113864 deg. gEʹ]HeadingCmd: 1.642597 target range: 235.744614 and range: 237.10 m.g]@?gYgYgYgyzfrfffBdddcc A?ɢvB_ WI ɡiI.%>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505002i91@mA@mADDD-DE: E?:6Et4:E"E&A п8=y AA IQ Ia Nm >.f|,ym)Ay6q?ٱ6Ug?6_6àB=6H!@=Q)>99GYF~R:A>Q 1l4٪fף?Q 5l4]^ PB9B+?Q A:Yp?Q E?ydTC)&%;I%;iul4YqBgFNOT Ignoring new targets: 235.74 m.g g  ProNav: ac range: 235.744614 m, nav range: 227.043411 m, bearing: 96.474238 deg, approach rate: -0.707608 m/s, LOS rate: -0.015259 deg/s, cmd heading: 94.113866 deg, new cmd heading: 94.102007 deg. gg߹%HeadingCmd: 1.642390 target range: 235.744614 and range: 237.10 m.g%9?g!g!g!g!zf)rfffBdddcc@_3?ɢvB~ v !%VI) )ɡ)i)I-Ae :=A]<A]4=vBa~BaBe{IBejBBaBaBaBekh;Be(EAIIN?,n)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259501y>{c?ٱ>OY?>Sa>m4=>H`g)`?!)?]˿ ?C?2?I>{c?)>ڬ^;i>ĒCFiB9FIBDN6DNkYVa=!V(=Z]Q)Z>X9X9^GY^F^-gA^>`Q 1fl4٪b1ң?Q 5fl4bCV bzB9hYjh?Q Ej?ybTC)b;Ib;ibkl4YlnVBl~B*** querying acoustic contact ***zh|h|g FNOT Ignoring new targets: 235.74 m.g~g~% ProNav: ac range: 235.744614 m, nav range: 226.730347 m, bearing: 96.467498 deg, approach rate: -0.645362 m/s, LOS rate: -0.013913 deg/s, cmd heading: 94.102009 deg, new cmd heading: 94.088511 deg. g%˹-HeadingCmd: 1.642154 target range: 235.744614 and range: 237.10 m.g-2?g)g)g)g)zf1rf1f1f1Bd9d9d9c9c=p?iɢ%wB-i[ )-WI) )ɡ)i1I54Aբ:=D D D ,D E : E z:6E g4:E "E 5(,.n)Ay>j?ٱ>`?>Uc> u,=>H>6@ZѬ?&?@˿ /?`?/?I>j?)>!^;i>ŒCRiB9RI%Mb@Mb@Mb@ !)!I!i!!%/$?㥛 ?/$?%,?%=%!MB=Mk}Q)U>UK?9UK?9UGYQ] :A]>aQ 1ml4٪e"Σ?Q 5ml4eO eB9m -?Q Au:Yu?Q Eu?yeTC)e*:Ie@:ie+l4Y})B}kB}EgFNOT Ignoring new targets: 235.74 m.gN=gN= ProNav: ac range: 235.744614 m, nav range: 226.454742 m, bearing: 96.463140 deg, approach rate: -0.653310 m/s, LOS rate: -0.010344 deg/s, cmd heading: 94.088513 deg, new cmd heading: 94.079785 deg. grHeadingCmd: 1.642002 target range: 235.744614 and range: 237.10 m.g-?ggggzfrfffBddQdQcYc]?ɢ7wB6f TI ɡiIvA 9=D D D D E : E :6E :E ! @! @! @! @A I!I9NU>a,Ln)A!9!9%GY-F-A->1Q 1=l4٪5ɣ?Q 5=l45BG 5ȊB9AYEu?Q EE?y5IUC)5K:I5:i5`l4YIMCBIgq}FNOT Ignoring new targets: 235.74 m.g}<g}< ProNav: ac range: 235.744614 m, nav range: 226.152100 m, bearing: 96.458369 deg, approach rate: -0.652826 m/s, LOS rate: -0.010304 deg/s, cmd heading: 94.079784 deg, new cmd heading: 94.070230 deg. gݖHeadingCmd: 1.641835 target range: 235.744614 and range: 237.10 m.g'?ggggzfrfffBdddcc@p@ɢiwBe UI ɡiI~BBIBkBBBBBwh;B(EԹi1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267995>A:=A I I9 N] >i >I R= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519748 5,(fn)Ayb;?ٱb1?b fb=bH`nU?`!?^`#̿?? ,?Ib;?)b^;ibÒCn]jBl9r IDeDeDe-DaEe: Eeą:6Eet4:Ea"Ee.!B=BQ)>99GYF A>Q 1l4٪kţ?Q 5l4@ B9.?Q A:Y?Q E?yUC):I:il4YBg)MFNOT Ignoring new targets: 235.74 m.gUFg]F ProNav: ac range: 235.744614 m, nav range: 225.875580 m, bearing: 96.453390 deg, approach rate: -0.603143 m/s, LOS rate: -0.010874 deg/s, cmd heading: 94.070228 deg, new cmd heading: 94.060258 deg. g2HeadingCmd: 1.641661 target range: 235.744614 and range: 237.10 m.g!?ggggzfrfffBdddcc}>@ ɢwBY %:TI! !ɡ!i!I%08A z:=a A I I N >,xn)AyJ49?ٱJ /?JyeJ=JH {@n,?A"? T̿@?ʂ?,?IJ49?)JA^;iJŒCjjB9jDIBDr6Dr!Yz/>!zW=z}9Q)z>|9|9~GY|bA> Q 1l4٪ ?Q 5l4 9 B9Y?Q E?y UC) :I  ;i ]l4Y!%B!9gQUFNOT Ignoring new targets: 235.74 m.gUpg]pm ProNav: ac range: 235.744614 m, nav range: 225.625473 m, bearing: 96.448881 deg, approach rate: -0.728900 m/s, LOS rate: -0.013157 deg/s, cmd heading: 94.060256 deg, new cmd heading: 94.051227 deg. gmuHeadingCmd: 1.641504 target range: 235.744614 and range: 237.10 m.gu?gqgygygyzfyrfyffBdddccp @ɢwB 顽RI ɡiIAп8=ԙrA?jA?A AAA vB >~B B $IB lBB B B B h;B (EA yAI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275520 G,aTn)AyJ8?ٱJx.?J fJ46=JH@5?"?T#̿ք?@??,?IJ8?)J];iJƒCVjB9VYIBD^6D^Yf=!fM=feQ)f>j H?9j H?9jGYjFj5An>pQ 1vl4٪r?Q 5vl4r2 r6B9tYv?Q Ev?yrVC)r:Ir:irLl4Yx~B|B*** querying acoustic contact ***zhhԙgFNOT Ignoring new targets: 235.74 m.g Og O ProNav: ac range: 235.744614 m, nav range: 225.363235 m, bearing: 96.444143 deg, approach rate: -0.625498 m/s, LOS rate: -0.011314 deg/s, cmd heading: 94.051227 deg, new cmd heading: 94.041740 deg. gHeadingCmd: 1.641338 target range: 235.744614 and range: 237.10 m.g]?ggggzfrfffBdddcc@M4 @ɢ-wB-g )-SI) 1ɡ1i1I5|AAE AII IY Nm > q,.n)AyJ+?ٱJa!?JҜfJ<"=JH!p@`Fn?`F!?p_a/̿`a?/ã?*?IJ+?)J];iJĒCbjB9fyImDAT read: 05:18:48.9075 LVL= 30112, 32753, 29122, 32755, AGC= 68, IDX= 397, 0.28,-0.811,-2.568,-0.758,-1.259, PHS= 0.550,-1.264, 0.457, RAW= 147.4, 2.9, CAL= 146.7, 3.0, ROT= 3.3, -3.0 }Ygot valid direction response: 05:18:48.9075 LVL= 30112, 32753, 29122, 32755, AGC= 68, IDX= 397, 0.28,-0.811,-2.568,-0.758,-1.259, PHS= 0.550,-1.264, 0.457, RAW= 147.4, 2.9, CAL= 146.7, 3.0, ROT= 3.3, -3.0 PDAT read: Bearing 243.3, 16.3 (Local) ~Local bearing/azimuth received: Bearing 243.3, 16.3 (Local) DAT read: Range 11 to 50 : 234.3 m (Round-trip 312.5 ms) speed 0.5 m/s ,DAT read: user:7405> BDAT read: Tx time:05:18:49.9908 $Ping request sent.Mb@Mb@Mb@ )IiDl?Q??O-?\==)R =k=)=PwVi99:publishing transmit ping timeYFpublishing direction and range info99=:5?.An?yoU˪?99i99999 9)9I9i99999 9IZAinA;AA)=ABD6DY=!7=뗺Q)>%K?9%K?9%GY%F%TjA->)i99I= 5`?qg?x@lzFB?99 9)9i99Q 1m4٪-a?Q 5m4-1+ -_B9Z.?Q A:Y?Q E?y-^VC)-H>i]9YY]1YQD D D ,D E >: E [:6E g4:E ! @! @! @! @>A l;=ԙ A yAI I N >(,&rn)Ay6k4?ٱ6?*?6VCg6 L%=6H u`@ܫ? ?}@_A̿઩?!?@x)?I6k4?)6]];i6ƒCX^3kB9^IBDr6Dr:Yv'>!zC=zxƺQ)z>~ H?9~ H?9~GY|):A>Q 1 m4٪|?Q 5m4 $ B9Y?Q E?yVC);I@;im4Y%B!gAMFNOT Ignoring new targets: 232.96 m.gU#gU#e ProNav: ac range: 232.960190 m, nav range: 223.669235 m, bearing: 96.909034 deg, approach rate: -0.727667 m/s, LOS rate: -0.008913 deg/s, cmd heading: 94.031187 deg, new cmd heading: 94.024442 deg. ge}mHeadingCmd: 1.641036 target range: 232.960190 and range: 234.30 m.gmx ?gigigigizfqrfqfqfqBdydydycyc}?ɢUxBvB~BB{IBlBB =BBBB(E *RI ɡiIHӢA6=9 A I I) N= >D D D -D E : E g:6E t4:E "E E"99GYFA>Q 1m4٪۰?Q 5m42 B9a.?Q A:Y_?Q E?yVC)U:I:i&m4YvBgFNOT Ignoring new targets: 232.96 m.g=g%=5 ProNav: ac range: 232.960190 m, nav range: 223.366486 m, bearing: 96.904253 deg, approach rate: -0.655098 m/s, LOS rate: -0.010360 deg/s, cmd heading: 94.024439 deg, new cmd heading: 94.014863 deg. g5=HeadingCmd: 1.640869 target range: 232.960190 and range: 234.30 m.g=?g9g9g9g9zf9rfAfAfABdAdIdIcIcM@>?ɢ}xB}=Z[ y}RI ɡiIyA z:=ԡ A I I N >5,'o)Ay6]7?ٱ61-?6h6D =6H wd??[@%y̿`??@'?I6]7?)6m];i6C>kB9BIBDJ6DJܲYRE!>!Rt=RAQ)R?T9T9VGYVFVˌ9AZ?XQ 1^m4٪Z?Q 5bm4Z ZЋB9`Ybg?Q Eb?yZ+WC)Z;IZ;iZg2m4YfBj0BjEgx~FNOT Ignoring new targets: 232.96 m.g>g> ProNav: ac range: 232.960190 m, nav range: 223.147415 m, bearing: 96.900769 deg, approach rate: -0.655252 m/s, LOS rate: -0.010429 deg/s, cmd heading: 94.014863 deg, new cmd heading: 94.007889 deg. gHeadingCmd: 1.640747 target range: 232.960190 and range: 234.30 m.g%?g!g!g!g!zf)rf)f)f)Bd1d1d1c1c=]5?yɢ-xB-w )-QI1 1ɡYiYI]Т~BBIBmBBBBB?h;B(EBBBBBǦ =BǼ4>A8=rA ?jAI I N > 8`,o)Ay64?ٱ6*?6i60' =6H&LΨ??* ٚ̿?@?`&?I64?)6#];i6’C>kB9>IBDF6DFk1YN>!NK=RQ)R>P9T9VGYTV>AV>XQ 1^m4٪Zt?Q 5^m4Z ZB9`Ybj?Q Eb?yZnWC)Z;IZI;iZ@m4YfBfBfEvB*** querying acoustic contact ***zhthtgx~FNOT Ignoring new targets: 232.96 m.gM?gM? ProNav: ac range: 232.960190 m, nav range: 222.883041 m, bearing: 96.896550 deg, approach rate: -0.654214 m/s, LOS rate: -0.010453 deg/s, cmd heading: 94.007889 deg, new cmd heading: 93.999441 deg. g HeadingCmd: 1.640600 target range: 232.960190 and range: 234.30 m.g,?ggggzf!rf!f!f!Bd)d1d9cAcM\?ɢExBMQa qufQIy ɡiIǔA Y I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004558_,8o)Ay6*?ٱ6_ ?6\j6=6H ie`@?@?[̿6 ??D&?I6*?)6u];i4>lB9B+IiF=IF=MMb@Mb@Mb@ I)IIIiIIMQ?333333??M\/?M=M!u==}ʺQ)}>y99GYF@A>Q 1m4٪??Q 5m4; B90?Q A:Ym?Q E?yWC)X ;I ;iOm4Y<BgFNOT Ignoring new targets: 232.96 m.g*g* ProNav: ac range: 232.960190 m, nav range: 222.596344 m, bearing: 96.892536 deg, approach rate: -0.664548 m/s, LOS rate: -0.009317 deg/s, cmd heading: 93.999440 deg, new cmd heading: 93.991401 deg. giHeadingCmd: 1.640459 target range: 232.960190 and range: 234.30 m.g?ggggzfrff f Bd d dcc @1ɢE yBES5o IMOII IɡIiIIMⲢAQ9=IyԑIN>BEYJE]4RE]ۋ0DDD.DE: E҆:6Eـ4:E!@!@!@!@Թ 5r,Ro)Ay:)2?ٱ:'?:߫k:.K=:H``??81̿`3?qP?/#?I:)2?):];i:ĒCFMlB9FRIBDN6DN0YV$>!VX=Z]Q)Z>X9X9ZGYZF^!:A^>`Q 1fm4٪b?Q 5fm4b bAB9hYjs?Q Ej?ybWC)b:Ib:ib\m4YlnBlg FNOT Ignoring new targets: 232.96 m.g M+g M+ ProNav: ac range: 232.960190 m, nav range: 222.345200 m, bearing: 96.888999 deg, approach rate: -0.663959 m/s, LOS rate: -0.009360 deg/s, cmd heading: 93.991401 deg, new cmd heading: 93.984320 deg. g% %HeadingCmd: 1.640336 target range: 232.960190 and range: 234.30 m.g%?g)g)g)g)zf)rf)f1f1Bd1d1d9c9c= N@vBe>~BaBe$IBemBBe =BaBenDBe6h;Be(Eɢ7yBm 額NI ɡiIA;=bAjAZAIIIaNmx>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760422D D D +D E  E V:6E [4:E "E #99GY59A>Q 1m4٪Ɯ?Q 5m4) iB91?Q A:Y ?Q E?yCXC):I:ilm4YBgFNOT Ignoring new targets: 232.96 m.gRmgRm ProNav: ac range: 232.960190 m, nav range: 222.053299 m, bearing: 96.883349 deg, approach rate: -0.669096 m/s, LOS rate: -0.012968 deg/s, cmd heading: 93.984318 deg, new cmd heading: 93.973004 deg. g۽HeadingCmd: 1.640138 target range: 232.960190 and range: 234.30 m.g% ?g!g!g!g!zf!rf!f)f)Bd)d1d1c1c5`K@ɢugyBuW ^ quNIq yɡyiyI}TA9=I9IIN]>ԡ C,}\o)Ay6E4?ٱ6*?6GDn6D:=6Hî?E?9ݲ@gͿ?`? ?I6E4?)6];i6’C@>lB9BI)D FABDJ6DJYn=!nX=rtPQ)r>p9t9vGYvFvAv>xBDAT read: Rx Time:05:18:52.7041  TRx dataTimestamp_ set to:1755839934.132553 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265499Q 1m4٪z?Q 5m4z zB9Y?Q E?yzXC)z;IzJ;izFym4Y!%B!gIMFNOT Ignoring new targets: 232.96 m.gUkgUkm ProNav: ac range: 232.960190 m, nav range: 221.800369 m, bearing: 96.878457 deg, approach rate: -0.664578 m/s, LOS rate: -0.012869 deg/s, cmd heading: 93.973001 deg, new cmd heading: 93.963205 deg. gmjuHeadingCmd: 1.639967 target range: 232.960190 and range: 234.30 m.gus?gqgygygyzfrfffBdddcc \ @ɢyBk ~NI ɡiI.F~BYB]uIB](nBB] =BYBYB]h;B](E>AC;=I9IINU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516288 E nManaging dock network, ignoring radio surface power offe,7o)Ay6/?ٱ6%?6]o6&X@=6HRq@v?N?@벿`-Ϳ`*?ka?k?I6/?)6 ];i4NlB9RIBDZ 6DZ2Yb>!bL=b/Q)b>d9d9fGYdfѪAj>hlQ 1rm4٪jB?Q 5rm4j jB9tYv?Q Ev?yjXC)jK,;Ij-;ijCm4YzgBzBz{EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 232.96 m.gbgb ProNav: ac range: 232.960190 m, nav range: 221.532654 m, bearing: 96.873275 deg, approach rate: -0.638659 m/s, LOS rate: -0.012376 deg/s, cmd heading: 93.963206 deg, new cmd heading: 93.952830 deg. g3HeadingCmd: 1.639786 target range: 232.960190 and range: 234.30 m.g?ggggzfrfffBdd dcc@ @ɢyBW MI ɡiIƎ mBDAT read: Tx time:05:18:53.7908 m$Ping request sent.ui "$@ +H= #@ 4QO= s= 4QOi  I |e? YU?a E? > qG s=) 4QOi  :publishing transmit ping timeYiFpublishing direction and range info9  ?X0AsS?|rQ?  i      ) I i      i  I |e? YU?a E?   ) i  iN=i;=)?)D}D}D}'DyE}m: E}]t:6E}'4:Ey"E}MA rA ?jA ? A AI I N% >A,˻o)Ay6'?ٱ6R?6o6=sA=6HeOU?`? Tಿ<Ϳu?@? h?I6'?)6];i6C>mB9>Id Mb@Mb@Mb@ ) I i   S?ʡE? rh? /? = C=K?9=K?9=GY=F=A=>AQ 1Mm4٪Eُ?Q 5Um4E EیB9UC0?Q AU:YU?Q EU?yEYC)E]:IEs:iEӖm4Y]_BeBezEhihm-o)AhmzfChmzfChmX?zm8l@āyM+@KZ5R'@jm?X0AsS?|rQ?hms=hm4QOm :gblk@lRP@rm"\꽿d8u?dž!?hmd[Chmthm&[?hmwZhm B*ii2imכ@T:imKBim7]C"imh?m addTargetRange:: Added new target pos. range: 231.800003 m, deltaT: 3.780032 s, deltaX: -2.500000 m, approachRate: -0.661370 m/s, rangeRepo size: 4  Added new target pos. range: 230.478149 m, bearing: 96.998466 deg, lat: 36.779281 deg, lon: -121.859681 deg, deltaT: 3.780032 s, deltaX: -2.482040 m, approachRate: -0.656619 m/s, posRepo size: 4 gFNOT Ignoring new targets: 230.48 m.gg ProNav: ac range: 230.478149 m, nav range: 221.215912 m, bearing: 96.869518 deg, approach rate: 0.000000 m/s, LOS rate: -0.012376 deg/s, cmd heading: 93.952831 deg, new cmd heading: 93.941648 deg. gHeadingCmd: 1.639591 target range: 230.478149 and range: 231.80 m.g?ggggzfrfffBdddcl@c ?ɢeyBe _ imMIi iɡiiiImA5 l;=I Ae yAIi I N >,vo)AvB&>~B$B&IB&nBB$B$B$B& h;B&(EyF&?ٱF?F]pF'==FH`lJ u)-??Բ{`Ϳ9?s?`?IF&?)F$^;iFCN9mB9NIiR=IR=BDZ6DZβYbb=!bS=bp3Q)b>f H?9f H?9fGYfFfzAj>hQ 1rm4٪j?Q 5rm4j_ jB9pYr?Q Er?yjWYC)j;Ij;ijVm4YtzBxg9FNOT Ignoring new targets: 230.48 m.gDgD ProNav: ac range: 230.478149 m, nav range: 220.959305 m, bearing: 96.865672 deg, approach rate: -0.715832 m/s, LOS rate: -0.010742 deg/s, cmd heading: 93.941650 deg, new cmd heading: 93.933948 deg. gUG]HeadingCmd: 1.639457 target range: 230.478149 and range: 231.80 m.g]?gYgYgYgYzfarfafafaBdididicicm@_?ɢ=zB=]Gh 9EPNIA AɡAiAIEAm C;= A AI I D aD D 1D E ݉; E |:6E -4:E "E H,rQo)Ay6"?ٱ6?6q62=6HƮ@e@? ? lj ~Ϳ?@?g?I6"?)6=Q^;i6ÒCBzmB9B ImMb@Mb@Mb@ i)iIiiiim rh?sh|??Q?m,?m=mu!>=DκQ)>ԙK?9K?9GYA>Q 1m4٪?Q 5m4 %B9-?Q A:Y?Q E?yYC)& ;I ;iim4YDBgimFNOT Ignoring new targets: 230.48 m.guKguK ProNav: ac range: 230.478149 m, nav range: 220.676956 m, bearing: 96.860700 deg, approach rate: -0.630964 m/s, LOS rate: -0.011125 deg/s, cmd heading: 93.933946 deg, new cmd heading: 93.923989 deg. gࢹHeadingCmd: 1.639283 target range: 230.478149 and range: 231.80 m.g?ggggzfrf1f1f1Bd1d9d9c9c= OY?ɢmKzBmb 顕 MI ɡiI~A bA lAZA gA! A I I N >1,<1 p)A}mB9}+IBD6DY>!H=bDZDQ)> D5D5D5-D1E5 ; E5ga:6E5t4:E1!=@!=@!=@!=@A9A9EGYEFMAM>QQ 1]m4٪U0?Q 5]m4U UKB9YYYQ E]?yUYC)U6:IU:iUGm4Ym!BmBmqEgFNOT Ignoring new targets: 230.48 m.g/\g/\ ProNav: ac range: 230.478149 m, nav range: 220.398453 m, bearing: 96.855783 deg, approach rate: -0.680636 m/s, LOS rate: -0.012031 deg/s, cmd heading: 93.923987 deg, new cmd heading: 93.914141 deg. g%HeadingCmd: 1.639111 target range: 230.478149 and range: 231.80 m.gc?ggggzfrfffBdddcc?ɢuzBh aLI ɡiIAAl;=A I I N% >y 7Z,S#p)Ay6FѴ?ٱ6?6's6`=6H@? ? Ϳ` ?,Ģ?w?I6FѴ?)6V^;i6’C>mB9BLIBDF6DF1YR>!R^=R̄Q)R>T9T9VGYVFVAZ>XQ 1^m4٪Z?Q 5bm4Z ZkB9`Yb?Q Eb?yZ!ZC)Z;IZ';iZm4Ydf]BhvB*** querying acoustic contact ***zhthtg|~FNOT Ignoring new targets: 230.48 m.gOgO ProNav: ac range: 230.478149 m, nav range: 220.168671 m, bearing: 96.851801 deg, approach rate: -0.653588 m/s, LOS rate: -0.011340 deg/s, cmd heading: 93.914138 deg, new cmd heading: 93.906165 deg. gHeadingCmd: 1.638972 target range: 230.478149 and range: 231.80 m.g?ggggzfrfYfyfBdddccb@MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.ɢzB/\ KI ɡiI⤟Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256134 Iy I N >,w=p)AnB9nIMb@Mb@Mb@ )IiʡE?kt?y&1|?/? =`;IiOAnAA)GABD6DkY=!2=Q)>99 GY eAe>iqQ 1}m4٪uz?Q 5}m4u uB9}0?Q A}:Y}1?Q E}?yurZC)uj:Iu:ium4Y&BgFNOT Ignoring new targets: 230.48 m.gw\gw\ ProNav: ac range: 230.478149 m, nav range: 219.854736 m, bearing: 96.846153 deg, approach rate: -0.668687 m/s, LOS rate: -0.012047 deg/s, cmd heading: 93.906167 deg, new cmd heading: 93.894856 deg. g_HeadingCmd: 1.638774 target range: 230.478149 and range: 231.80 m.g\?ggggzfrfffBdddcc\@ɢzB&Re #KI !ɡ!i!I%KA ?2=rA ?jA ?I I N > vB ~B B vIB oBB =B B B h;B (EBBBBˤ =B˥ =Bh4,BWp)Ay6X?ٱ6)?6mt6e5=6H ?! ? ͿC?;k?@c?I6X?)6^;i4>lnB9>IBDF6DF1YNa>!Nd=RcQ)R>P9T9VGYVFVAV?XQ 1^m4٪Zv?Q 5^m4ZŻ ZB9`Yb?Q Eb?yZZC)Z;IZI;iZm4Ydf BdgQUFNOT Ignoring new targets: 230.48 m.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760022g} Pg} P ProNav: ac range: 230.478149 m, nav range: 219.623520 m, bearing: 96.842088 deg, approach rate: -0.645952 m/s, LOS rate: -0.011368 deg/s, cmd heading: 93.894856 deg, new cmd heading: 93.886718 deg. gpHeadingCmd: 1.638632 target range: 230.478149 and range: 231.80 m.g?ggggzfrfffBdddcc@N@ɢEzBMFg IMHII IɡIiQIUAu;6=- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014669Q IY Ii N >D D D ,D E : E z:6E g4:E "E #uJ~i =JH`(䬿Q??谿@4 ο]?@͠? ?IJz?)J~^;iJCVnB9VI-Mb@Mb@Mb@ )))I)i))-(\?MbX9?{Gzt?-'?-ʡ=-ף;I-1Ai-A-A-߁A))-zAIE@A)E@ABDM6DMYU=!]>=]Q)]>a9a9eGYeFeJAe>iQ 1um4٪mr?Q 5}m4m m֍B9}(?Q A}:Y}P?Q E}?ymZC)m ;Im<:im m4Y BgFNOT Ignoring new targets: 230.48 m.gBgB ProNav: ac range: 230.478149 m, nav range: 219.349915 m, bearing: 96.837636 deg, approach rate: -0.653308 m/s, LOS rate: -0.010644 deg/s, cmd heading: 93.886715 deg, new cmd heading: 93.877799 deg. g֛HeadingCmd: 1.638477 target range: 230.478149 and range: 231.80 m.g?ggggzfrfffBdddccϒ @ɢ"{B ] 顥aII ɡiIXi$@s=$@5z=k]= 5ziIM?0=+?icy5 ?>sp k]=)5zMT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseq>A S,=Ii Iy N >ԡ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseB",p)A!====Q)=>99A9EGYAE̺AE>IQ 1Un4٪Mn?Q 5Un4M MB9YY]:?Q E]?yM:[C)M:IM:iM) n4YeڽBe BegEgFNOT Ignoring new targets: 230.48 m.g=g= ProNav: ac range: 230.478149 m, nav range: 219.073883 m, bearing: 96.833181 deg, approach rate: -0.641029 m/s, LOS rate: -0.010358 deg/s, cmd heading: 93.877801 deg, new cmd heading: 93.868881 deg. gHeadingCmd: 1.638321 target range: 230.478149 and range: 231.80 m.g?ggggzfrfffBdddcc @ɢN{B \ HI ɡiIA31=bAkAZAjAII IY Ne > (,Ҥp)Ay6T?ٱ6J?6Yov6=6HU`?:?@%),ο?pO??I6T?)6^;i6ÒC>oB9RIBDV6DVJY^)>!bf=b[Q)b>d9d9fGYfFf2Af>hlQ 1rn4٪j5k?Q 5rn4j jB9pYv?Q Ev?yjt[C)j*;Ij,;ijn4Yxz BxB*** querying acoustic contact ***zhhg)=FNOT Ignoring new targets: 230.48 m.gM8gM8] ProNav: ac range: 230.478149 m, nav range: 218.847565 m, bearing: 96.829578 deg, approach rate: -0.633104 m/s, LOS rate: -0.010091 deg/s, cmd heading: 93.868881 deg, new cmd heading: 93.861666 deg. g]eHeadingCmd: 1.638195 target range: 230.478149 and range: 231.80 m.gea?gagagagazfirfififiBdqdqdqcqcu@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɢ=u{BE]6j -GI ɡiIcA +,=i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAQ Ia Iq N >/, p)Ay6D?ٱ69?6 w6ß=6H ϫj?G?ꕰA?ο`:?@k?6 ?I6D?)6^;i6C>>oB9>!I)@ @Mb@Mb@Mb@ )Iiv/?{Gz?Mb?x)?ף=!5A=5uQ)=>9999=GY=FE]AE>IQ 1Un4٪Mg?Q 5Un4M M=B9U*?Q AU:YU?Q E]?yM[C)M;IM";iMd$n4Yaeu Bag)-FNOT Ignoring new targets: 230.48 m.g53g53E ProNav: ac range: 230.478149 m, nav range: 218.574280 m, bearing: 96.825237 deg, approach rate: -0.618100 m/s, LOS rate: -0.009829 deg/s, cmd heading: 93.861669 deg, new cmd heading: 93.852977 deg. gE菹mHeadingCmd: 1.638043 target range: 230.478149 and range: 231.80 m.gmh?gigigigizfqrfqfqfqBdydydycyc@ɢ{B5R %<額RFI ɡiIYA] #'=ԙ vB} >~By B} IB} pBB} =By By B} =i;B} )EA I I N >+5,p)Ay6#?ٱ6?6qw6 =6H@@R`j??hTTMοg? r? ?I6#?)6^;i4NtoB9RBIBDZ6DZ:Yb>!bS=bVQ)b>d9d9fGYdf%Aj>hQ 1rn4٪jVc?Q 5rn4j j_B9pYr?Q Er?yj[C)j;Ij;ij1n4Yxz@ Bx%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseygQFNOT Ignoring new targets: 230.48 m.g/g/ ProNav: ac range: 230.478149 m, nav range: 218.324554 m, bearing: 96.821325 deg, approach rate: -0.612880 m/s, LOS rate: -0.009613 deg/s, cmd heading: 93.852974 deg, new cmd heading: 93.845140 deg. gHeadingCmd: 1.637907 target range: 230.478149 and range: 231.80 m.g?ggggzfrfffBdddccf@ɢM{BMFW QUEIQ QɡQiQIUzAa rAm ?jAm ?D D D 2D E 2: E g:6E 4:E "E *F<,g~p)Ay6_ ?ٱ60?6w6T=6H@< ȩ?m? )[οZ?@l? ?I6_ ?)6$^;i6ĒC>oB9>`IMb@Mb@Mb@ )Ii(\?~jt?~jt?'?=D H?9 H?9GYF:ܺA>Q 1n4٪;_?Q 5n4Ē B9(?Q A:Y7?Q E?yC\C)7 ;I:iyAn4Y BgFNOT Ignoring new targets: 230.48 m.g5g5 ProNav: ac range: 230.478149 m, nav range: 218.042038 m, bearing: 96.817313 deg, approach rate: -0.698037 m/s, LOS rate: -0.009926 deg/s, cmd heading: 93.845139 deg, new cmd heading: 93.837105 deg. g SHeadingCmd: 1.637766 target range: 230.478149 and range: 231.80 m.gU?ggggzfrfffBdd!d!c!c%X@ɢU{BUyb QU3EIQ YɡYiYI] AA I! I1 NE > i} %=Iy  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse#*C,E q)AyF{ ?ٱFL?FxF=FH@? ?iDlnο`W?e? ?IF{ ?)F^;iFCDbDbDb+D`Eb: EbM:6Eb [4:E`!j@!j@!j@!j@oB9IBD-6D-0YQ>!H=ݺQ)>99GYF7A>Q 1n4٪i[?Q 5n4 B9 Y 6?Q E ?y\C):I:iOn4Y5B51 B=]EgyFNOT Ignoring new targets: 230.48 m.g"g" ProNav: ac range: 230.478149 m, nav range: 217.779205 m, bearing: 96.813572 deg, approach rate: -0.624331 m/s, LOS rate: -0.008898 deg/s, cmd heading: 93.837107 deg, new cmd heading: 93.829615 deg. gFHeadingCmd: 1.637636 target range: 230.478149 and range: 231.80 m.g ?ggggzfrfffBdddcc@ɢ]%|Be݅P aeBIa aɡaiiImՙ~BBvIBiqBBBBB1i;B)ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9#<1i) ) ) - 5) Y >AU "=bAe lAZAe mAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAAIID%D%D%-D!E%: E%:6E%t4:E!"E%#EK?9MK?9MGYIMAU>QQ 1]n4٪UuV?Q 5]n4Uۂ UێB9e*?Q Ae:Ye?Q Ee?yU\C)Us:IU;iUbn4Yiu BqB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 230.48 m.g"g" ProNav: ac range: 230.478149 m, nav range: 217.429108 m, bearing: 96.808996 deg, approach rate: -0.651756 m/s, LOS rate: -0.008531 deg/s, cmd heading: 93.829614 deg, new cmd heading: 93.820449 deg. gyHeadingCmd: 1.637476 target range: 230.478149 and range: 231.80 m.gΘ?gagagagazfarfififiBdidqdqcqcu`&@ɢ^|Bx: BI ɡiI A C"= Aa Iy I  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseN >(R,NLq)A!>=Q)>99GYFTA>Q 1n4٪R?Q 5n4{ B9Yq?Q E?y']C)P;I;iqn4Y Bg)MFNOT Ignoring new targets: 230.48 m.gU=gU=e ProNav: ac range: 230.478149 m, nav range: 217.153122 m, bearing: 96.805484 deg, approach rate: -0.631419 m/s, LOS rate: -0.008046 deg/s, cmd heading: 93.820448 deg, new cmd heading: 93.813415 deg. gekHeadingCmd: 1.637353 target range: 230.478149 and range: 231.80 m.gȔ?ggggzfrfffBdddccq@ԡɢ|BN 页@I ɡiI}A "=rA ?jA ?) A]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseIIN?vZ, ymq)A i DI^GD D D -D E : E |:6E t4:E "E >--)9)9-GY-F5τA5>9Q 1En4٪=8M?Q 5En4=r =8B9EL-?Q AE:YM$?Q EM?y=]C)=:I=:i=ޅn4YUBUU BQgy}FNOT Ignoring new targets: 230.48 m.g+g+ ProNav: ac range: 230.478149 m, nav range: 216.782852 m, bearing: 96.800224 deg, approach rate: -0.659402 m/s, LOS rate: -0.009383 deg/s, cmd heading: 93.813413 deg, new cmd heading: 93.802875 deg. gaHeadingCmd: 1.637169 target range: 230.478149 and range: 231.80 m.g?ggggzfrfffBdddԱcc@ɢ|B8 ?I ɡiICA ȿ= A I) I9 NE >0a,H6q)AyB&̳?ٱB?BwBdh#=BHT 0Ϊ?` ?`࣯.]ο? ӣ?` ?IB&̳?)B{^;iBCJ1qB9JSIBDR6DR1YZҥ>!^}=^i ;Q)^ ?\9`9bGYbFb8Ab ?dQ 1jn4٪f.J?Q 5nn4fl fWB9lYlQ En?yf]C)f;If;if$n4YrNBrl BvSExg!-FNOT Ignoring new targets: 230.48 m.g5(g5(M ProNav: ac range: 230.478149 m, nav range: 216.573074 m, bearing: 96.797235 deg, approach rate: -0.644016 m/s, LOS rate: -0.009185 deg/s, cmd heading: 93.802874 deg, new cmd heading: 93.796891 deg. gUy]HeadingCmd: 1.637065 target range: 230.478149 and range: 231.80 m.g]U?gYgYgagazfarfafifqBdqdqdycyc}@ɢ|BfT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 顝?;I ɡiIXAE;=E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapsey A I I N >g,q)Ay:<˳?ٱ: ?:v:/+=:HTzЫ?o?#ٯ2ο@?ؤ?`P ?I:<˳?):\^;i:CFXqB9FlIBDJ6DJ:3YR=!VL=VlF;Q)V>X9X9ZGYXZEAZ>\Q 1bn4٪^hF?Q 5fn4^e ^|B9dYf ?Q Ef?y^]C)^W:I^N:i^&n4Yj=Bj! Blg|FNOT Ignoring new targets: 230.48 m.g++g ++ ProNav: ac range: 230.478149 m, nav range: 216.312302 m, bearing: 96.793521 deg, approach rate: -0.655936 m/s, LOS rate: -0.009353 deg/s, cmd heading: 93.796891 deg, new cmd heading: 93.789454 deg. g%HeadingCmd: 1.636935 target range: 230.478149 and range: 231.80 m.g%?g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5@Yɢe }BmY iiIi m ɡiiqIuv-Au=bAyZA}lAԹA yAI I N > Ln,ֺq)Ay6ϳ?ٱ6?6Hju6e3=6Hp@? ?@ο Rb?`ƥ?9?I6ϳ?)6z^;i6CNqB9RIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseUMb@Mb@Mb@ Q)QIQiQQUZd;O?333333??U~*?U=U H?9 H?9GYFΨ9A>Q 1n4٪B?Q 5n4^ B9+?Q A:Yw?Q E?yE^C)" ;I:i;n4YBԹB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 230.48 m.gg ProNav: ac range: 230.478149 m, nav range: 216.034531 m, bearing: 96.789935 deg, approach rate: -0.641760 m/s, LOS rate: -0.008296 deg/s, cmd heading: 93.789453 deg, new cmd heading: 93.782272 deg. grHeadingCmd: 1.636809 target range: 230.478149 and range: 231.80 m.g?ggggzf rf f f Bdddcc@4 @ɢM8}BMߠO IM:II UeݻɡQiQI A=BEt4JEɭx4RE(90DU DU DU -DQ EU ; EU :6EU t4:EQ !e @!e @!e @!e @A AI I N% >Y 3t,>q)Ay6q?ٱ6A?6 t6q==6Ha` ? ?@Y@Ϳ7:?`?`?I6q?)6ɞ^;i6CBqB9BIBDJ6DJk1YRK>!RZ=R[;Q)R>VK?9VK?9VGYTZ:AZ>XQ 1bn4٪Z??Q 5bn4ZaX ZɏB9`Yb?Q Eb?yZ^C)Zn;IZ;iZ\n4YhjBhg|~FNOT Ignoring new targets: 230.48 m.gg ProNav: ac range: 230.478149 m, nav range: 215.792664 m, bearing: 96.786774 deg, approach rate: -0.646090 m/s, LOS rate: -0.008455 deg/s, cmd heading: 93.782274 deg, new cmd heading: 93.775944 deg. gwHeadingCmd: 1.636699 target range: 230.478149 and range: 231.80 m.gZ?ggggzf!rf!f!f!Bd)d)d)c)c5s!@vB>~BBIB2sBBBBBh;B(Eɢ`}BOY S8I ɡiIsA=ԑA I I! N- > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse {,Țq)ADDD,DE : EL_:6Eg4:E"EE"!.=&;Q)>99GYFzA>ԩQ 1n4٪:?Q 5n4cP B9.?Q A:Y?Q E?y^C):I:in4YcBgFNOT Ignoring new targets: 230.48 m.g7g7  ProNav: ac range: 230.478149 m, nav range: 215.484650 m, bearing: 96.782060 deg, approach rate: -0.655753 m/s, LOS rate: -0.010050 deg/s, cmd heading: 93.775943 deg, new cmd heading: 93.766502 deg. g $HeadingCmd: 1.636534 target range: 230.478149 and range: 231.80 m.gy?ggggzfrff!f!Bd!d!d)c)c- Kd"@ɢU}B]M Y]d7IY ]>ɡYiaIeeA"=rA?jA?! I I N >1 ,r)Ay>ݳ?ٱ>?>p>S=>HMPP?? 𑰿@\Ϳ?q?{?I>ݳ?)>M^;i>CN_rB9N IBDZ6DZ:YbjP>!fl=j;Q)j?l9l9rGYrFvnAz?Q 1n4٪)7?Q 5n4nJ B9!Y%?Q E%?y _C);I;in4Y5B=B=JEg FNOT Ignoring new targets: 230.48 m.g 33g 33 ProNav: ac range: 230.478149 m, nav range: 215.255020 m, bearing: 96.778553 deg, approach rate: -0.640495 m/s, LOS rate: -0.009792 deg/s, cmd heading: 93.766503 deg, new cmd heading: 93.759482 deg. g\EHeadingCmd: 1.636412 target range: 230.478149 and range: 231.80 m.gMu?gIgIgIgIzfIrfIfQfQBdQdQdYcYc]@&#@mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseɢ}BÐ] 页H5I $aɡiI~BBIBsBB =BBBh;B(E>AR5#=Y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseIa Iq N} >X+,C"r)A y>?ٱ>?>n>T=>Hz#@ml?@? 娰s&Ϳ ??h?I>?)>^;i>C^rB9b8IBDj6DjYrA*>!rJ=rf;Q)r>t9t9vGYtvY:Az>xQ 1n4٪zF3?Q 5n4zC z>B9Y?Q E?yzQ_C)zf;Iz;izn4Y WBg1=FNOT Ignoring new targets: 230.48 m.gE=gE=U ProNav: ac range: 230.478149 m, nav range: 214.991989 m, bearing: 96.774509 deg, approach rate: -0.671273 m/s, LOS rate: -0.010334 deg/s, cmd heading: 93.759482 deg, new cmd heading: 93.751384 deg. gUJ]HeadingCmd: 1.636270 target range: 230.478149 and range: 231.80 m.g]Nq?gYgYgYgYzfarfafafaBdididicicm`#@ɢ}Ba 顝B3I ˪ɡiInA]P"= E=z:6E=g4:E9"E=+ V,$!mB=m;Q)m>q9q9uGYuFu@A}>yQ 1n4٪}/?Q 5n4}\< }fB90?Q A:Y5?Q E?y}_C)}#:I}Z:i}n4Y5B5B5IEUB*** querying acoustic contact ***zhQhQgaeFNOT Ignoring new targets: 230.48 m.gmAgmA ProNav: ac range: 230.478149 m, nav range: 214.712341 m, bearing: 96.769833 deg, approach rate: -0.632048 m/s, LOS rate: -0.010583 deg/s, cmd heading: 93.751381 deg, new cmd heading: 93.742017 deg. g񚹝HeadingCmd: 1.636107 target range: 230.478149 and range: 231.80 m.gk?ggggzfrfffBdddcc`$@ɢ%~B-NJN 額2I |ɡiIciaaaaa@m=@m=A $=D) D- D- 3D) E)  E- ]t:6E- 4:E) !5 @!5 @!5 @!5 @IA IQ N] >a B=,Ur)Ay6?ٱ6?6k6SGF=6HH??׃`̿-?p??I6?)6^;i6CRsB9RzIBDZ6DZk1Yv>!vS=zt;Q)z>x9x9~GY~F~:A~>Q 1 o4٪+?Q 5 o45 B9YD?Q E?y_C)`:I:iMo4Y!%B!vBA~BABEKIBEctBBABABABEhh;BE(EgimFNOT Ignoring new targets: 230.48 m.gm)Vgu)V ProNav: ac range: 230.478149 m, nav range: 214.455017 m, bearing: 96.765487 deg, approach rate: -0.692167 m/s, LOS rate: -0.011702 deg/s, cmd heading: 93.742017 deg, new cmd heading: 93.733316 deg. gTHeadingCmd: 1.635955 target range: 230.478149 and range: 231.80 m.gf?ggggzfrfffBdddccQ%@ɢ)~Bf 1I EϦɡiIdAI9IINU>ԡ  99GYc:A>Q 1o4٪&?Q 5o4- B9--?Q A:Y?Q E?y)`C)s:I:io4YB"B@EgquFNOT Ignoring new targets: 230.48 m.g}Ag}A ProNav: ac range: 230.478149 m, nav range: 214.150467 m, bearing: 96.760456 deg, approach rate: -0.640386 m/s, LOS rate: -0.010595 deg/s, cmd heading: 93.733316 deg, new cmd heading: 93.723238 deg. gHeadingCmd: 1.635779 target range: 230.478149 and range: 231.80 m.g6a?ggggzfrfffBdddcc|&@ɢ5Y~B5K 9=0I9 =缼ɡ9i9IEyA #'=Ai Iq I N >b,Ֆr)Ay6=?ٱ6 ?6݅h6+2=6H;`2?"?Z q̿@?cĥ?&?8I6=?)6%%^;i4BsB9BIBDJ6DJ1YR+>!RY=R6|;Q)V>T9T9VGYVFZ9AZ>\Q 1bo4٪^"?Q 5bo4^m' ^אB9`Yf?Q Ef?y^h`C)^-:I^:i^o4YhjBhiz=Ix~~BBIBtBBBBBJh;B(E>Aa$,Yr)AyB?ٱB ?BٙgBCB6=BH6@1?@{#?`R̿4?1?`v'?IB?)BI,^;i@JsB9JIRp>!^J=^;Q)^>b H?9b H?9bGYbFf:Af>hQ 1jo4٪j?Q 5no4j  jB9lpYr$?Q Er?yj`C)j+;Ij,;ij-o4YtvBxgFNOT Ignoring new targets: 230.48 m.gRgR- ProNav: ac range: 230.478149 m, nav range: 213.640854 m, bearing: 96.751954 deg, approach rate: -0.684527 m/s, LOS rate: -0.011479 deg/s, cmd heading: 93.715079 deg, new cmd heading: 93.706219 deg. g55HeadingCmd: 1.635482 target range: 230.478149 and range: 231.80 m.g5zW?g9g9g9g9zf9rf9fAfABdAdIdIcIcM`(@ɢu~B}(d y},Iy ޼ɡiIjA%)=YAM AIQ Ia N >ԁ  BDAT read: Response Not Received  *response not received ,DAT read: user:7408>  BDAT read: Tx time:05:19:06.2408  $Ping request sent. EK?9MK?9MGYIM#79AM>QQ 1]o4٪UQ?Q 5]o4U U$BQ =e+:9aQ Ae~:Ye&?Q Ee?yU`C)U:IU>iU:o4YimfBqB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 230.48 m.gHgH ProNav: ac range: 230.478149 m, nav range: 213.344742 m, bearing: 96.746977 deg, approach rate: -0.652058 m/s, LOS rate: -0.010974 deg/s, cmd heading: 93.706220 deg, new cmd heading: 93.696253 deg. gHeadingCmd: 1.635308 target range: 230.478149 and range: 231.80 m.gQ?ggggzfrfffBdddcc@b(@ɢ~B}S ,I ɡiI׌A)=bAZAkA A yAI! I9 NE >vB >~B B IB uBB =B B oDB *h;B (EBBBB˦ =BB~057,'r)Ay6?ٱ6?6m1g6T9=6H@ݪ4`^? $?@]8E̿`|?a?'?I6?)6j];i6Cv=tB9v3IBD~6D~Y >! `=:Q)> H?9 H?9GYFp A>!Q 1-o4٪%?Q 5-o4% %EBQ =5 :91Q A5M:Y5 ?Q E5?y%4aC)%:I%/R?i%-Co4Y9=/BAgamFNOT Ignoring new targets: 230.48 m.gmGgmG} ProNav: ac range: 230.478149 m, nav range: 213.106689 m, bearing: 96.743017 deg, approach rate: -0.653037 m/s, LOS rate: -0.010874 deg/s, cmd heading: 93.696255 deg, new cmd heading: 93.688327 deg. g4HeadingCmd: 1.635170 target range: 230.478149 and range: 231.80 m.g>M?ggggzfrfffBdddcc)@Թɢ~BL/i U+I \ɡiIrM?iZL=iI)=)>M?)}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502345iU9QQUa1Q>Au+,=A I I N >i% =I% :?- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754426A D D D .D E a: E :6E ـ4:E "E (99GYFjA>Q 1o4٪k?Q 5o4x  hBQ =T:9e,?Q A:Y~?Q E?y|aC)a';I';i-Ro4YvBB6EgaeFNOT Ignoring new targets: 230.48 m.gm/Ogm/O ProNav: ac range: 230.478149 m, nav range: 212.826508 m, bearing: 96.738081 deg, approach rate: -0.641655 m/s, LOS rate: -0.011321 deg/s, cmd heading: 93.688325 deg, new cmd heading: 93.678439 deg. gHeadingCmd: 1.634997 target range: 230.478149 and range: 231.80 m.gG?ggggzfrfffBdddcc`*@ɢ%B%W ) +I - ɡiIuA #'=ԙ A AI I N >>I,m s)AyBHٳ?ٱB?B)fBH;=BH L A`?&?&̿^?QЦ?)?IBHٳ?)BUQ];iBCJtB9N{IBDV6DVY^~4>!^W=^G:Q)b>bK?9bK?9bGY`fAAf>hQ 1no4٪j?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258194Q 5vo4j= jB9tYvg?Q Ev?yjaC)j[j;Ijgk;ij _o4YznBz*B~5Eg%FNOT Ignoring new targets: 230.48 m.g%STg-ST5 ProNav: ac range: 230.478149 m, nav range: 212.586288 m, bearing: 96.733883 deg, approach rate: -0.663208 m/s, LOS rate: -0.011602 deg/s, cmd heading: 93.678442 deg, new cmd heading: 93.670037 deg. g=ܩEHeadingCmd: 1.634851 target range: 230.478149 and range: 231.80 m.gEB?gAgAgAgAzfArfIfIfIBdIdQdQcQcU`>+@ɢ?Bn ̞<顅(I ɡiI$A)=rA ?jA?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510597A yAI I N > s,f's)Ay6&?ٱ6?6oe6==6Hϩ`@? (?7̿p?C?*?I6&?)68];i6C>tB9>IBDF6DF YN/=!NL=R/:Q)R>R H?9V H?9VGYVFV AV>XQ 1^o4٪Z ?Q 5bo4Zw ZB9`YbF?Q Eb?yZaC)ZX;IZS;iZmo4YdfBhgx~FNOT Ignoring new targets: 230.48 m.g!Og!O- ProNav: ac range: 230.478149 m, nav range: 212.324890 m, bearing: 96.729376 deg, approach rate: -0.655655 m/s, LOS rate: -0.011318 deg/s, cmd heading: 93.670034 deg, new cmd heading: 93.661009 deg. g-EHeadingCmd: 1.634693 target range: 230.478149 and range: 231.80 m.gE=?gAgAgIgIzfIrfIfQfQBdYdadacace,@ɢ=hBE] AE>(IA EHɡIiIIM%mAmX%=I A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014063\,As)A%/uB9%I)) -AMb@Mb@Mb@ )Iioʡ?ʡE?y&1|?-?=IAiAA?kA)GABD6D:Yf(>!8=Q)>99GYFA>Q 1o4٪?Q 5o4 ̑B9/.?Q A:Y?Q E?yHbC)m ;I;i|o4YB%B*** querying acoustic contact ***zh!h!g)5FNOT Ignoring new targets: 230.48 m.g5$g=$E ProNav: ac range: 230.478149 m, nav range: 212.031677 m, bearing: 96.725383 deg, approach rate: -0.659967 m/s, LOS rate: -0.009000 deg/s, cmd heading: 93.661011 deg, new cmd heading: 93.653014 deg. gMŃMHeadingCmd: 1.634553 target range: 230.478149 and range: 231.80 m.gU 9?gQgQgQgQzfQrfYfYfYBdYdadacace,@ɢBn_ 顕 &I u$ɡiIGAe "=ԩ vB >~B B IB vBB B B B h;B (EA AI I N >b,Y[s)Ay6+?ٱ6}?6Sd6.-=6H  I?`+?`:v ˿F?`T?u.?I6+?)65H];i6C@BquB9BIBDJ6DJYRO3>!R`=Vj;Q)V>VK?9VK?9ZGYXZ8AZ>|Q 1o4٪~B?Q 5o4~ ~B9 Y Z?Q E ?y~bC)~ :I~:i~Ko4YkBgy}FNOT Ignoring new targets: 230.48 m.gg ProNav: ac range: 230.478149 m, nav range: 211.790573 m, bearing: 96.722188 deg, approach rate: -0.633075 m/s, LOS rate: -0.008399 deg/s, cmd heading: 93.653013 deg, new cmd heading: 93.646615 deg. guHeadingCmd: 1.634442 target range: 230.478149 and range: 231.80 m.gc5?ggggzfrfffBdddcc-@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518356ɢBc 页Q$I 6-ɡiI@A} ȿ=bA kAZA lA1 AIIN>,zs)AuB9IԁMb@Mb@Mb@ )Iish|??99GYFA>Q 1o4٪?Q 5 o4 B9 +?Q A :Y ?Q E ?ybC)~ ;I;iݛo4Y.BB,Eg9EFNOT Ignoring new targets: 230.48 m.gMgM] ProNav: ac range: 230.478149 m, nav range: 211.446442 m, bearing: 96.718148 deg, approach rate: -0.668106 m/s, LOS rate: -0.007857 deg/s, cmd heading: 93.646613 deg, new cmd heading: 93.638519 deg. g]feHeadingCmd: 1.634300 target range: 230.478149 and range: 231.80 m.ge0?gigigigizfirfifqfqBdqdqdycyc}.@ɢBgR 顭#I 7ɡiIhAe ;=IIvB~BBIB*wBBBBBh;B~(EN>J,0cs)Ai5uB955IBDM6DM:YU=!]+=YQ)]>a9a9eGYeFaAe>iQ 1uo4٪mt?Q 5}o4m m=B9yYyQ E}?ym-cC)m/;Im;imo4Y}BgFNOT Ignoring new targets: 230.48 m.g g  ProNav: ac range: 230.478149 m, nav range: 211.137970 m, bearing: 96.714515 deg, approach rate: -0.647791 m/s, LOS rate: -0.007640 deg/s, cmd heading: 93.638519 deg, new cmd heading: 93.631243 deg. g_HeadingCmd: 1.634174 target range: 230.478149 and range: 231.80 m.g,?ggggzfrfffBdddcc/@ɢBW #I 0AɡiIiT  BDAT read: Tx time:05:19:10.0408  $Ping request sent. i O$@ 5= Ƈ#@ Q = = Q i I yx?d?a>Q? l >  =) Q i E :publishing transmit ping timeY E Fpublishing direction and range info9 U X?F?(א¢? i ) I i i I yx?d?a>Q? ) i Թ >AE l"=bDQ ZDQ Du Du Du +Dq Eu I; Eu Z:6Eu [4:Eq "Eu ]j,)!s)A(vB9aIMMb@Mb@Mb@ I)IIIiIIMZd;O?l?~jt?M~*?M=IIM/AiMAAMAMhA)IMfABDe6De0Yq >!=Q)>99GYFA>Q 1 o4٪?Q 5o4 iB9+?Q A:Y?Q E?ycC):Is:i o4Y5B!ahhH߰s)Ah[Ch[Ch{?zzfDek@Y0'̓+@% @jU X?F?(א¢?h=hQ u8|\j@`pjL@rdaN?u˜M?hRChth^ ?h>^+hB*i^ ?2i:iiRC"iw? addTargetRange:: Added new target pos. range: 221.000000 m, deltaT: 16.127875 s, deltaX: -10.800003 m, approachRate: -0.669648 m/s, rangeRepo size: 4  Added new target pos. range: 219.745514 m, bearing: 96.507369 deg, lat: 36.779286 deg, lon: -121.859681 deg, deltaT: 16.127875 s, deltaX: -10.732635 m, approachRate: -0.665471 m/s, posRepo size: 4 gFNOT Ignoring new targets: 219.75 m.ggM ProNav: ac range: 219.745514 m, nav range: 210.725327 m, bearing: 96.554553 deg, approach rate: 0.000000 m/s, LOS rate: -0.007640 deg/s, cmd heading: 93.631245 deg, new cmd heading: 93.622834 deg. gIUHeadingCmd: 1.634027 target range: 219.745514 and range: 221.00 m.gU'?gQgQgQgQzfQrfYfyfBdddck@cH?ɢ#B J !I qMɡiI{dA $=IY Ii N} >,)s)Ay6U?ٱ6%?6_6BM=6HE` @-?4?l Ez˿??k8?I6U?)6];i6CLRLvB9RwIBDZ6DZP)DbDbDb)D`Eb: Eb1]:6EbFA4:E`!j@!j@!j@!j@Yn=!nl=rEMAC"=IQIaNu>! ,s)Ay:?ٱ:?:BR^:{=:Hɦ@$?_7?@8@Q˿??:?I:?):|];i:CFvB9FIBDN6DNNYV1G>!VN=VMV;Q)Z>X9X9ZGYZF^"A^>f'=ifCl|Q 1o4٪nN?Q 5%o4I)n2 nB)E;mA99YM`?Q EM?I]AyndC)n}A ]=I! I9 Nu >,wt)A~vB9~IaMb@Mb@Mb@ )IiuV?ʡE?y&1?r(?=`e99GYA>Q 1o4٪2뢊?Q 5o4z ʒB9)?Q A:Y$?Q E?yMdC) ;I;io4Y BgFNOT Ignoring new targets: 219.75 m.g6g6 ProNav: ac range: 219.745514 m, nav range: 209.949631 m, bearing: 96.544625 deg, approach rate: -0.724356 m/s, LOS rate: -0.009978 deg/s, cmd heading: 93.611137 deg, new cmd heading: 93.602951 deg. gHeadingCmd: 1.633680 target range: 219.745514 and range: 221.00 m.gj?ggg g zf rf ffBdddcc@?ɢEXBMNt IMII UeɡQiQIUErAl=IQ Ia Nm >vB >~B B IB =xBB B B B Dh;B (EBQBQBQBUɤ =BQBUɞz4 ,y t)Ay6VͲ?ٱ6%?6N\6=6H`D`mӦ?3;?Y ˿`S?ᐡ?3>?I6VͲ?)6];i6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752426VwB9VIBD^6D^Yfu@>!fl=j;Q)j?h9h9jGYnFnGAn?pQ 1vo4٪r!袊?Q 5vo4r rB9xYz?Q Ez?yrdC)r:Ir`:iro4Y|~Bg!-FNOT Ignoring new targets: 219.75 m.g-g-Թ ProNav: ac range: 219.745514 m, nav range: 209.726440 m, bearing: 96.541615 deg, approach rate: -0.643172 m/s, LOS rate: -0.008684 deg/s, cmd heading: 93.602948 deg, new cmd heading: 93.596921 deg. gE~HeadingCmd: 1.633574 target range: 219.745514 and range: 221.00 m.g?ggggzfrfffBdddcc ?ɢ-iB-Vr )-I1 5wlɡqiqIuA]]=D D D .D E : E y:6E ـ4:E "E E" ,T:t)Ay6?ٱ6?6z[6q=6H T?k=?b@iʿ 3-? ? ??I6?)6M ^;i6CNIwB9RIMMb@Mb@Mb@ I)IIIiIIM!rh?l?/$?Ml'?M=M!u@=}8;Q)}>99GYFZA>Q 1p4٪䢊?Q 5p4  B9(?Q A:Ym?Q E?ydC)2 ;IC ;ip4YBgFNOT Ignoring new targets: 219.75 m.gg ProNav: ac range: 219.745514 m, nav range: 209.455017 m, bearing: 96.538278 deg, approach rate: -0.637425 m/s, LOS rate: -0.007845 deg/s, cmd heading: 93.596924 deg, new cmd heading: 93.590243 deg. geHeadingCmd: 1.633458 target range: 219.745514 and range: 221.00 m.g&?ggggzfrfffBdddcc @ɢ=|B=ti 9=IA EƒtɡAiAIEVAA yAI I N% >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508556ԙ ,/Tt)AyF?ٱF?FPZF=FH Yp? >?jʿ ?i?A?IF?)F@`^;iFCBE-A{4JE)RE-0DRDRDR2DPER: ERc:6ER4:EP!Z@!Z@!Z@!Z@NtwB9^-Ib4r H?9r H?9rGYpvR;Av>xQ 1~p4٪z5ᢊ?Q 5~p4zB z)B9|Y?Q E?yz eC)z;Iz ;izip4Y B A E-B*** querying acoustic contact ***zh)h)g1=FNOT Ignoring new targets: 219.75 m.g=hgEhM ProNav: ac range: 219.745514 m, nav range: 209.210190 m, bearing: 96.535187 deg, approach rate: -0.637097 m/s, LOS rate: -0.008055 deg/s, cmd heading: 93.590244 deg, new cmd heading: 93.584053 deg. gUkUHeadingCmd: 1.633350 target range: 219.745514 and range: 221.00 m.gU?gYgYgYgYzfarfafafaBdididicicm @ɢ5B=Fl 9=I9 =k|ɡAiAIE.ΌA#=A AI) II N] > ,[ nt)Ay6?ٱ6?6gX6$%=6H@^妩?@? dʿ`?`aB?B?I6?)6پ^;i6C>wB9B\IBDJ6DJYN>>!RN=RWi;Q)R>VK?9VK?9VGYVFV:AV>XQ 1^p4٪Zݢ?Q 5bp4Z ZIB9`Yb?Q Eb?yZKeC)Z;IZY;iZCp4YdfAhgx~FNOT Ignoring new targets: 219.75 m.g~-g-  ProNav: ac range: 219.745514 m, nav range: 208.957382 m, bearing: 96.531943 deg, approach rate: -0.638756 m/s, LOS rate: -0.008206 deg/s, cmd heading: 93.584055 deg, new cmd heading: 93.577560 deg. gHpHeadingCmd: 1.633237 target range: 219.745514 and range: 221.00 m.g ?ggggzfrf!f!f!Bd)d)d)c)c- @ɢBo I _災ɡiI]I%=%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012915DDD.DEs: E]t:6Eـ4:E"E`0A+=)  BDAT read: Rx Time:05:19:12.7364  TRx dataTimestamp_ set to:1755839954.048399 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273940A I I N >Q >!,t)Ay6?ٱ6 ?6hW6=`'=6H` b?@B?@nʿI?`t?D?I6?)6\^;i6C>wB9BsIMb@Mb@Mb@ )IiK7?V-?~jt?I,?h=99GYFe:A>Q 1 p4٪ڢ?Q 5 p4  nB9 O-?Q A :Y ?Q E ?yeC) ;I ;i.p4YAgFNOT Ignoring new targets: 219.75 m.g-g- ProNav: ac range: 219.745514 m, nav range: 208.663834 m, bearing: 96.528747 deg, approach rate: -0.639447 m/s, LOS rate: -0.006972 deg/s, cmd heading: 93.577560 deg, new cmd heading: 93.571159 deg. g$LHeadingCmd: 1.633125 target range: 219.745514 and range: 221.00 m.g< ?ggggzfrfffBdddcc} @)ɢuBuea quAIq } oɡyiyI}ƩA =bA lAZA jAA1 I9 II N] >2(,ѡt)A,yB0R?ٱBG?BVBy(=BH@R`3? C?`q9 Vʿ@?ࠗ?E?IB0R?)B0^;iBCfDAT read: 05:19:12.7364 LVL= 32368, 32753, 29522, 32755, AGC= 69, IDX= 405,-0.01, 2.621, 0.810, 2.677, 2.192, PHS= 0.531,-1.337, 0.440, RAW= 147.5, 4.1, CAL= 146.9, 4.3, ROT= 3.1, -4.3 jYgot valid direction response: 05:19:12.7364 LVL= 32368, 32753, 29522, 32755, AGC= 69, IDX= 405,-0.01, 2.621, 0.810, 2.677, 2.192, PHS= 0.531,-1.337, 0.440, RAW= 147.5, 4.1, CAL= 146.9, 4.3, ROT= 3.1, -4.3 nPDAT read: Bearing 246.6, 15.6 (Local) n~Local bearing/azimuth received: Bearing 246.6, 15.6 (Local) vDAT read: Range 11 to 50 : 218.6 m (Round-trip 291.5 ms) speed 0.8 m/s v,DAT read: user:7410> zBDAT read: Tx time:05:19:13.8408 ~$Ping request sent.~iNS$@NC=N$@N`=Nk]= N`iLLINu ؙN?Sc?wxNB+?N>Na Nk]=)N`iLL%:publishing transmit ping timeYx%Fpublishing direction and range info9LN-F? C?]1?LLiLLLLL L)LILiLLLLL LiLLINu ؙN?Sc?wxNB+?LL L)LiLLU;xB9UIBDe6DeNYuv]>!uR=}.:Q)}>y9y9}GYy;A>Q 1p4٪֢?Q 5p4f B9Y?Q E?yeC)@;I<;i|A= r = Iq I N >.,99GYF2Q;A>Q 1p4٪Ң?Q 5p4 B9i0?Q A:YI?Q E?y$fC)X;I;iLp4YBAgFNOT Ignoring new targets: 217.36 m.g%)g%)5 ProNav: ac range: 217.359833 m, nav range: 208.108978 m, bearing: 96.522193 deg, approach rate: -0.762545 m/s, LOS rate: -0.009273 deg/s, cmd heading: 93.565033 deg, new cmd heading: 93.557758 deg. g5‡=HeadingCmd: 1.632891 target range: 217.359833 and range: 218.60 m.g=?g9g9gAgAzfArfAfIfIBdIdIdQcQcU w?ɢـBw 顕I UɡiI-A=A I I N >D D D *D E s: E k:6E (N4:E ! @! @! @! @i 5,Rt)AyB?ٱB?BKUBGG2=BH@m?`(D?ʿ>x?˥?UG?IB?)B^;iBCJ~xB9JIBDR6DR!YZۈ=!ZV=^:Q)^>\9`9bGYbFb#;Ab>dQ 1jp4٪fGϢ?Q 5jp4f fӓB9lYn?Q En?yfefC)f;If;ifgYp4YrQBrHAvEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 217.36 m.gg- ProNav: ac range: 217.359833 m, nav range: 207.854584 m, bearing: 96.518971 deg, approach rate: -0.681079 m/s, LOS rate: -0.008638 deg/s, cmd heading: 93.557759 deg, new cmd heading: 93.551307 deg. g-|5HeadingCmd: 1.632778 target range: 217.359833 and range: 218.60 m.g5?g1g1g1g1zf9rf9f9fABdAdAdAcAcM@'?vB>~BBIByBBBBBh;B(EɢBgv VI 㑽ɡiI~A$=rAjA?IyIN>ԁ ;,#t)A0y6?ٱ6?6tHT62@4=6H? ?`?E?֯ɿ X? ?@H?I6?)6^;i6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248251fxB9fIBDn6DnkYv<>!vG=vJ;Q)v>x9x9zGYx~\;A~>Q 1 p4٪ˢ?Q 5 p4 B9 Y ?Q E ?yfC):I:igp4YAgFNOT Ignoring new targets: 217.36 m.gcgc ProNav: ac range: 217.359833 m, nav range: 207.580200 m, bearing: 96.515385 deg, approach rate: -0.644579 m/s, LOS rate: -0.008436 deg/s, cmd heading: 93.551305 deg, new cmd heading: 93.544123 deg. gwHeadingCmd: 1.632653 target range: 217.359833 and range: 218.60 m.g?ggggzfrfffBdddcc)?DEDEDE(DAEE: EEخ:6EEc44:EA"EE#A *=Iy I N >B, u)Ay6?ٱ6?6vS6+f<=6Hvr@?E?j ɿ>? ?wI?I6?)6]_;i6C>xB9B I)D DhEMb@Mb@Mb@ A)AIAiAAEn?333333?~jt?EV.?E=Eq9q9uGYuFuv;A}>Q 1p4٪Ǣ?Q 5p4} B9u/?Q A:YU?Q E?yfC);Ib;ikvp4YHAgFNOT Ignoring new targets: 217.36 m.g7g7 ProNav: ac range: 217.359833 m, nav range: 207.300705 m, bearing: 96.511328 deg, approach rate: -0.691154 m/s, LOS rate: -0.010045 deg/s, cmd heading: 93.544119 deg, new cmd heading: 93.535996 deg. gHeadingCmd: 1.632511 target range: 217.359833 and range: 218.60 m.g ?ggggzfrfffBdddccC?ɢ%B%u )-I) -ɡ)i)I-АAmt(/=IIN >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004321EI,%u)Ay6H>?ٱ64?6R6?H=6H@/@ͮ?F? ϰAɿ!?@k~?I?I6H>?)6_;i6C>NyB9BQIBDJ6DJܲYRT>!RX=R;Q)R>T9T9VGYVFV$,;AZ>XQ 1bp4٪Z"Ģ?Q 5bp4Zw Z7B9`Ybr?Q Eb?yZ4gC)ZL ;IZ ;iZp4YhjAhg|~FNOT Ignoring new targets: 217.36 m.gc4gc4 ProNav: ac range: 217.359833 m, nav range: 207.049042 m, bearing: 96.507605 deg, approach rate: -0.665432 m/s, LOS rate: -0.009857 deg/s, cmd heading: 93.535998 deg, new cmd heading: 93.528543 deg. gO%HeadingCmd: 1.632381 target range: 217.359833 and range: 218.60 m.g%?g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5z@ɢBs I #ɡiIA;6=bAkAZADUDUDU,DQEUV: EUga:6EUg4:EQ"EU9ԡ ?0O,|?u)Ay6r`?ٱ6@V?6R6b+U=6HsyA?EG?;`ɿ.?_?`]I?I6r`?)6[_;i6C>syB9BhI5Mb@Mb@Mb@ 1)1I1i115(\?x&?{Gz?5.?57=5ףa9a9eGYam;Am>qyQ 1}p4٪uh?Q 5p4uo u[B9.?Q A:Y ?Q E?yu}gC)u6;Iu6;iup4YB\AEgFNOT Ignoring new targets: 217.36 m.gg ProNav: ac range: 217.359833 m, nav range: 206.765198 m, bearing: 96.504255 deg, approach rate: -0.661704 m/s, LOS rate: -0.007820 deg/s, cmd heading: 93.528540 deg, new cmd heading: 93.521831 deg. gdHeadingCmd: 1.632264 target range: 217.359833 and range: 218.60 m.g?ggggzfrfffBdddcc q@ɢ1B% Fk !%I! %Mɡ!i)I-KA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760683AA II IY Nm > De De Da Da Ee 2: Ee ]t:6Ea :Ea !m @!m @!m @!m @'V,Yu)Ay>h?ٱ>^?>bQ> X=>H`Ep?G? dS`ގɿ?m?@I?I>h?)>_`;i>CFyB9JIiN=ILBDR6DRYZ>!ZS=Z?:Q)Z>\9\9^GYbFb+:Ab>dQ 1jp4٪f ?Q 5jp4fi f{B9hYj?Q En?yfgC)f:If:ifp4YprApB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 217.36 m.gg- ProNav: ac range: 217.359833 m, nav range: 206.508499 m, bearing: 96.501202 deg, approach rate: -0.665319 m/s, LOS rate: -0.007922 deg/s, cmd heading: 93.521832 deg, new cmd heading: 93.515719 deg. g-g-HeadingCmd: 1.632157 target range: 217.359833 and range: 218.60 m.g5?g1g1g1g1zf1rf1vBE>~BABE?IBEzBBABABABEh;BE(EBBBB =BBm4fafaBdadidicicm7@ԹɢuCB}p y} Iy }ɡyiI{A C;=9 Ay I I N >B\,8jsu)Ay6k?ٱ6`?6Q6uZ=6H`?H?_@{ɿ?˪?fJ?I6k?)6 `;i6CVBDAT read: Rx Time:05:19:16.5329 VTRx dataTimestamp_ set to:1755839957.824560Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265538yB9IBD-6D-1Y]>!]B=eb:Q)e>a9i9mGYim19Am>qQ 1p4٪u\?Q 5p4ua uB9Y?Q E?yuhC)u;Iu&;iu׮p4YtAgDDD+D-FNOT Ignoring new targets: 217.36 m.E ; E&p:6E [4:E1"EvA ==rA ?jA ? A yAI I N >}c,u)AyBr?ٱBth?BPBoNS=BH@M¬`&?H?`U`({ɿ`? ک?bK?IBr?)B_;iBC5zB9=IMb@Mb@Mb@ )IitV? H?9 H?9GYF9i %=I ==DAT read: 05:19:16.5329 LVL= 28032, 32753, 26866, 32755, AGC= 65, IDX= 402,-0.21, 1.417,-0.302, 1.473, 1.027, PHS= 0.492,-1.284, 0.402, RAW= 147.4, 4.5, CAL= 146.8, 4.8, ROT= 3.2, -4.8 EYgot valid direction response: 05:19:16.5329 LVL= 28032, 32753, 26866, 32755, AGC= 65, IDX= 402,-0.21, 1.417,-0.302, 1.473, 1.027, PHS= 0.492,-1.284, 0.402, RAW= 147.4, 4.5, CAL= 146.8, 4.8, ROT= 3.2, -4.8 MPDAT read: Bearing 248.0, 15.3 (Local) U~Local bearing/azimuth received: Bearing 248.0, 15.3 (Local) ]DAT read: Range 11 to 50 : 215.9 m (Round-trip 287.9 ms) speed 0.5 m/s e,DAT read: user:7411> mBDAT read: Tx time:05:19:17.6408 m$Ping request sent.mQ 1p4٪˴?Q 5p4Y ǔB93?Q A:Y?Q E?y\hC):I:ip4  A m>) ZI >i $@ |٠= (#@ = d= i  I NP?Lïa?zN? M >  d=) i  :publishing transmit ping timeYiFpublishing direction and range info9  /[?z?U]k?  i      ) I i YA     i  I NP?Lïa?zN?   ) i  h h u)Ah VCh VCh A?BE g4JE d4RE ĿJ0DDD,DE&: E]t:6Eg4:E!@!@!@!@z T޲j@T'@1@j /[?z?U]k?h d=h  |KȭJ6Ji@6N@r g%*x?6oQ?h nLCh h Gȝ6?h Wh B*i 2i :i i MC"i x?% addTargetRange:: Added new target pos. range: 215.899994 m, deltaT: 3.780463 s, deltaX: -2.700012 m, approachRate: -0.714201 m/s, rangeRepo size: 4 5 Added new target pos. range: 214.676132 m, bearing: 96.353603 deg, lat: 36.779286 deg, lon: -121.859681 deg, deltaT: 3.780463 s, deltaX: -2.683701 m, approachRate: -0.709887 m/s, posRepo size: 4 gY]FNOT Ignoring new targets: 214.68 m.gegau ProNav: ac range: 214.676132 m, nav range: 205.892075 m, bearing: 96.493359 deg, approach rate: 0.000000 m/s, LOS rate: -0.007791 deg/s, cmd heading: 93.509033 deg, new cmd heading: 93.500871 deg. gqHeadingCmd: 1.631898 target range: 214.676132 and range: 215.90 m.g ?ggggzfrfffBdddcj@c.?ɢlBa  I NɡiI iS=)m ?)vB>~BBIBU{BBBBBh;B(Ei)))-0)Qq >AM C;=AyIIԩN>oj,5}u)Ay6p?ٱ6e?6Q6]M=6H@P )?H? > ɿ ?` ?K?I6p?)61 _;i6CBRzB9BI)D FABDJ6DJYRL >!RI=V1Q)V>T9T9ZGYZFZFAZ>\Q 1bp4٪^/?Q 5bp4^R ^B9dYf?Q Ef?y^hC)^{;I^;i^p4YhjAhg|FNOT Ignoring new targets: 214.68 m.g9g9 ProNav: ac range: 214.676132 m, nav range: 205.626038 m, bearing: 96.489791 deg, approach rate: -0.755931 m/s, LOS rate: -0.010151 deg/s, cmd heading: 93.500871 deg, new cmd heading: 93.493726 deg. gHeadingCmd: 1.631773 target range: 214.676132 and range: 215.90 m.g?g!g!g!g!zf!rf!f)f)Bd)d)d1c1c5+?ɢezBe ' eA}l;=q A AI I N >!q,!u)A0y:[?ٱ:Q?:~QQ:xG=:HhE?@H? ɿ ?[?K?I:[?):1^;i8zyzB9z IMb@Mb@Mb@ )IiK7?333333? rh?I,?=CK?9K?9GYF%mA%>)Q 15p4٪-?Q 5p4-pJ - B9h-?Q A:Y?Q E?y-hC)-mAM п8=bAM lAZAM lA vB >~B B IB {BB B B B h;B (EA yAI I N >+w,u)Ay6C?ٱ69?6aQ6`^==6H r? H?񴰿ɿO ? *?@L?I6C?)6^;i4FzB9F(IBDN6DN!YR >!Vd=V/Q)V>Z H?9Z H?9ZGYXZAZ>``Q 1fp4٪b?Q 5fp4bQD b(B9hYj?Q Ej?yb)iC)b6:Ibp:ibp4YlnAl~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 214.68 m.gAgA% ProNav: ac range: 214.676132 m, nav range: 205.095917 m, bearing: 96.481522 deg, approach rate: -0.680900 m/s, LOS rate: -0.010579 deg/s, cmd heading: 93.484492 deg, new cmd heading: 93.477168 deg. g%ᚹ-HeadingCmd: 1.631484 target range: 214.676132 and range: 215.90 m.g-{?g)g)g)g)zf)rf1f1f1Bd9ddcc?ɢB*| I xɡiIAQ9=i ?I a= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500138A% AI) I9 A NM >De De De *Da Ee &: Ee &p:6Ee (N4:Ea "Ee X;K?9K?9GYFgA>!Q 1-p4٪%K?Q 5-p4%; %NB9/?Q A:Y?Q E?y%{iC)%fAeC;=A<AvB~BB-IBS|BBBBB|h;B(EAUyAIaIqN?,nv)Ay>?ٱ>?>R>=>H@`#?8G?@?ɿ-? ? M?I>?)>a^;i<F{B9FgIBDN6DNJYV=!V%=ZQϺQ)Z>^ H?9^ H?9^GY^F^Ab>`Q 1fq4٪bӠ?Q 5fq4bj3 bvB9hYj?Q Ej?ybiC)bQ;Ib;ib q4YlrApgFNOT Ignoring new targets: 214.68 m.g$g$ ProNav: ac range: 214.676132 m, nav range: 204.445526 m, bearing: 96.472669 deg, approach rate: -0.662405 m/s, LOS rate: -0.008967 deg/s, cmd heading: 93.468366 deg, new cmd heading: 93.459432 deg. gGHeadingCmd: 1.631175 target range: 214.676132 and range: 215.90 m.gV?ggggzfrfffBdddcc`%@ɢƁB>k I IɡiIA3= A AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508003I N >) ,K9v)AD*D*D*-D(E*: E*~:6E*t4:E("E*68Rz%=zH?ު`@W?xG?2v,ɿ*?X?M?Iz?)z^;izCb{B9IBD6D02Y%>>!%D=-{9Q)->-K?9-K?9-GY15A5>9Q 1Eq4٪=?Q 5Eq4=1, =B9IYM?Q EM?y=jC)=:I= :i=q4YUBUWAUEgFNOT Ignoring new targets: 214.68 m.gC*gC* ProNav: ac range: 214.676132 m, nav range: 204.167679 m, bearing: 96.468919 deg, approach rate: -0.688368 m/s, LOS rate: -0.009304 deg/s, cmd heading: 93.459432 deg, new cmd heading: 93.451921 deg. g=6UHeadingCmd: 1.631044 target range: 214.676132 and range: 215.90 m.gU ?gygyggzfrfffBdddcc` S@ɢفBk  I) -Ľɡ)i)I-t@A 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012937DDDDE: E҆:6E:E!@!@!@!@A=yAIIIYNe ?F,[v)AyB?ٱB?B}RB\U!=BH窿L g? (G?`ɿ0? )? L?IB?)B];iBCN{B9NI)P PvB|~B|B~xIB~|BB|B|B|B~sh;B~(EEMb@Mb@Mb@ A)AIAiAAEMbX?333333?~jt?E*?E=ED H?9 H?9GYF09A>Q 1q4٪ꗢ?Q 5q4" •B9+?Q A:Y?Q E?ytjC) ;I] ;i1.q4YAgAMFNOT Ignoring new targets: 214.68 m.gU 9gU 9e ProNav: ac range: 214.676132 m, nav range: 203.802368 m, bearing: 96.463276 deg, approach rate: -0.653489 m/s, LOS rate: -0.010111 deg/s, cmd heading: 93.451919 deg, new cmd heading: 93.440614 deg. gemHeadingCmd: 1.630846 target range: 214.676132 and range: 215.90 m.gm?gigigigizfqrfqfqfqBdydydycyc| @ԉɢBW2i 顽!I 0ȽɡiIZA1 i= CI -G) I i 1  ˯AA AI I N > :,vuv)Ay:?ٱ:?:#S:!=:H.{֩?E? `ɿM?@ǣ?J?I:?):{];i8F{B9FIRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515787BDV6DV:YZI>!^_=^ "Q)^>bK?9bK?9bGYbFf9Af>hQ 1jq4٪j?Q 5nq4j{ jߕB9lYn?Q En?yjjC)j;Ij;ij;q4YtvTAtB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 214.68 m.g;g;- ProNav: ac range: 214.676132 m, nav range: 203.562805 m, bearing: 96.459556 deg, approach rate: -0.659346 m/s, LOS rate: -0.010253 deg/s, cmd heading: 93.440615 deg, new cmd heading: 93.433164 deg. g-5HeadingCmd: 1.630716 target range: 214.676132 and range: 215.90 m.g5P?g1g1g9g9zf9rf9fAfABdAdAdIcIcMd @ɢuB}t} y}^Iy }V0˽ɡiIUAr5=DAT read: 05:19:20.3294 LVL= 30960, 32753, 29394, 31779, AGC= 67, IDX= 416,-0.21,-1.031,-2.732,-0.965,-1.459, PHS= 0.530,-1.228, 0.450, RAW= 147.7, 2.9, CAL= 146.9, 3.0, ROT= 3.1, -3.0 Ygot valid direction response: 05:19:20.3294 LVL= 30960, 32753, 29394, 31779, AGC= 67, IDX= 416,-0.21,-1.031,-2.732,-0.965,-1.459, PHS= 0.530,-1.228, 0.450, RAW= 147.7, 2.9, CAL= 146.9, 3.0, ROT= 3.1, -3.0 PDAT read: Bearing 246.3, 15.2 (Local) ~Local bearing/azimuth received: Bearing 246.3, 15.2 (Local) DAT read: Range 11 to 50 : 213.4 m (Round-trip 284.6 ms) speed 0.7 m/s ,DAT read: user:7412> BDAT read: Tx time:05:19:21.4422 $Ping request sent.N?)뀦?yoU˪?]fUCYi]xI AI Ia Iy N >Y]r]#|]C ]?)]/I]ff>i]$@]4QO=]$@]PwV=]k]= ]PwViYYI] lYL?ܵ?Hc?]>r>];P ]k]=)]PwViYY :publishing transmit ping timeY Fpublishing direction and range info9Y]>N?)뀦?yoU˪?YYiYYYYY Y)YIYiYYYYY YiYYI] lYL?ܵ?Hc?YY Y)YiYY,Uv)Ay:k?ٱ:8?:OT:!=:H꪿2`ݩ?D?,  ʿ`?`Dˣ?I?I:k?):>];i:CN|B9NIMb@Mb@Mb@ )IiDl?333333?y&1?O-?`e99GY<A>Q 1q4٪q?Q 5q4 B9 h.?Q A :Y T?Q E ?yjC)#:I{:i~Jq4YAhhv)Ah0TCh0TCh?zN rj@ա>&&@ 5&@j>N?)뀦?yoU˪?hk]=hPwV `5 wxi@ nsK@r JFPT?V?Df?hKChhI=S?h?$hB*iGȝ6?2i]J:iiKC"i`!? addTargetRange:: Added new target pos. range: 213.399994 m, deltaT: 3.780449 s, deltaX: -2.500000 m, approachRate: -0.661297 m/s, rangeRepo size: 4  Added new target pos. range: 212.190369 m, bearing: 96.159466 deg, lat: 36.779290 deg, lon: -121.859677 deg, deltaT: 3.780449 s, deltaX: -2.485764 m, approachRate: -0.657531 m/s, posRepo size: 4 gFNOT Ignoring new targets: 212.19 m.gg5 ProNav: ac range: 212.190369 m, nav range: 203.567978 m, bearing: 96.297362 deg, approach rate: 0.000000 m/s, LOS rate: -0.010253 deg/s, cmd heading: 93.433163 deg, new cmd heading: 93.423746 deg. g9=HeadingCmd: 1.630552 target range: 212.190369 and range: 213.40 m.gE?gAgAgAgAzfArfAIfifiBdidqdqcu̬j@cu7?ɢB&Wl I v.ϽɡiI~BBIBQ}BBBBpDBUh;B(EBBBBBBƶ/4ԡ >A% ;6=rA- ?jA- ?AQ Ia Iy N > ,v)A(yN?ٱN?NjUN =NH `@2? MC?@p(ʿ|?A?H?IN?)N>^;iNCZ9|B9ZIBDb6DbYj>!jW=jQ)n>l9l9nGYnFritAr>tQ 1zq4٪v?Q 5zq4va v B9xY~J?Q E~?yv=kC)v;Iv ;ivWq4Y=BAEg)-FNOT Ignoring new targets: 212.19 m.g5+Hg5+HE ProNav: ac range: 212.190369 m, nav range: 203.318420 m, bearing: 96.293427 deg, approach rate: -0.692657 m/s, LOS rate: -0.010938 deg/s, cmd heading: 93.423744 deg, new cmd heading: 93.415863 deg. gE#MHeadingCmd: 1.630414 target range: 212.190369 and range: 213.40 m.gMk?gIgIgIgQzfQrfQfYfYBdYdYdYcace@?ɢBr 顕4I ѽɡiI Xٰ,v)Ay6(?ٱ6?66kV68=6H@q@?`A?@V Iʿ^? /?.G?I6(?)65];i4LRy|B9RDIUMb@Mb@Mb@ Q)QIQiQQUCl?#~j?:v?U/?U=UT!}@=}Q)>99GYFqNA>Q 1q4٪Ј?Q 5q4 CB91?Q A:Y6?Q E?ykC) ;I ;ifq4YAgFNOT Ignoring new targets: 212.19 m.g[g[ ProNav: ac range: 212.190369 m, nav range: 203.032745 m, bearing: 96.288326 deg, approach rate: -0.672091 m/s, LOS rate: -0.012017 deg/s, cmd heading: 93.415862 deg, new cmd heading: 93.405646 deg. g𯹝HeadingCmd: 1.630236 target range: 212.190369 and range: 213.40 m.g?ggggzfrff f Bd d dcc@! BEـ4JEʭx4REʓ/DE DE DE .DA EE : EE Ar:6EE ـ4:EA !U @!U @!U @!U @s,wfv)AvB6>~B4B6IB6}BB6 =B4B4B68h;B6(EyF?ٱFw?F&WFh=FHЪ@;?X@?@x`ʿK??F?IF?)FN];iFCN|B9NaIVp  H?9  H?9 GY =/:A>Q 1Eq4٪?Q 5Eq40 cB9AYE??Q EE?ykC):I$:itq4YQUAQgFNOT Ignoring new targets: 212.19 m.gVgV ProNav: ac range: 212.190369 m, nav range: 202.771729 m, bearing: 96.283632 deg, approach rate: -0.651822 m/s, LOS rate: -0.011737 deg/s, cmd heading: 93.405644 deg, new cmd heading: 93.396244 deg. gիHeadingCmd: 1.630072 target range: 212.190369 and range: 213.40 m.g3?ggggzf rf f f Bdddcc( ?ɢ@Bt  I  -ؽɡ1i1I5Iԁ ,,Av)Ay>?ٱ>?>dW>U=>H`pi? q??@t`qʿ9?I?D?I>?)>];i<J|B9J{I)L LBDR6DRkYZ=!ZO=^(Q)^>^K?9^K?9bGYbFbAb>dQ 1jq4٪f(?Q 5jq4fO fB9hYn;?Q En?yf lC)f`:If;if߁q4YprOApB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 212.19 m.gedged- ProNav: ac range: 212.190369 m, nav range: 202.506882 m, bearing: 96.278865 deg, approach rate: -0.692486 m/s, LOS rate: -0.012480 deg/s, cmd heading: 93.396246 deg, new cmd heading: 93.386700 deg. g-5HeadingCmd: 1.629905 target range: 212.190369 and range: 213.40 m.g5?g1g1g1g1zf1rf9f9f9BdAdAdAcAcE@?YɢuNB}< y}PIy ۽ɡiIAԱT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ,w)Ay6{?ٱ6H?6LX6#=6H@` ;?`=? دUʿa?G?B?I6{?)6R];i4B }B9BIMb@Mb@Mb@ )Iii|?5?L7A`?{Gz?1?+=#!>=Q)>99GYF~:A>Q 1q4٪v}?Q 5q4 B9{2?Q A:YU?Q E?yXlC)s:I:iq4YAԹgFNOT Ignoring new targets: 212.19 m.g>g> ProNav: ac range: 212.190369 m, nav range: 202.214920 m, bearing: 96.275476 deg, approach rate: -0.678003 m/s, LOS rate: -0.007882 deg/s, cmd heading: 93.386697 deg, new cmd heading: 93.379909 deg. gfHeadingCmd: 1.629787 target range: 212.190369 and range: 213.40 m.gۜ?ggggzf rf f f Bdddcc@@ɢE_BE@t AMII M߽ɡIiIIM~BaBeeIBeO~BBe =BaBaBe h;Be(E>A1rA5?jA5?PExceeded connect timeout, disconnecting.A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503899A Q,G+w)Ay6J ?ٱ6?6Y6'+=6HD!@ x4?`;?`bʿ?&?S@?I6J ?)6K^;i6C>6}B9BIBDF6DFk2YN=!RW=R>Q)R>P9T9VGYTVx:AV>XQ 1^q4٪Z3z?Q 5bq4Z ZĖB9`Yb`?Q Eb?yZlC)Z):IZd:iZ-q4YfBfAjݬEgx~FNOT Ignoring new targets: 212.19 m.g~!g~!  ProNav: ac range: 212.190369 m, nav range: 201.957474 m, bearing: 96.272453 deg, approach rate: -0.679215 m/s, LOS rate: -0.007985 deg/s, cmd heading: 93.379908 deg, new cmd heading: 93.373855 deg. g iHeadingCmd: 1.629681 target range: 212.190369 and range: 213.40 m.ge?ggggzfrff!f!Bd!d)d)c)c-`1@ɢ]nB]~ Y]IY ef ɡaiaIeAM==QA yAI I N% >ԉ 9,%#Ew)Ay> ?ٱ>x?>Z>I-=>H1?l:?%ʿ?56?>?I> ?)>Ȕ^;i<Fv}B9JI=Mb@Mb@Mb@ 9)9I9i99=m?{Gz?~jt?=.?=ף==D!:=úQ)> H?9 H?9GYFA>Q 1q4٪u?Q 5q4_ B9/?Q A:Y@?Q E?ylC)z;IHz;iq4Y A Qg FNOT Ignoring new targets: 212.19 m.guOguOM ProNav: ac range: 212.190369 m, nav range: 201.663162 m, bearing: 96.267106 deg, approach rate: -0.623009 m/s, LOS rate: -0.011336 deg/s, cmd heading: 93.373856 deg, new cmd heading: 93.363146 deg. gMUHeadingCmd: 1.629494 target range: 212.190369 and range: 213.40 m.gUE?gQgQgQgQzfQrfYfYfYBdYdadacac @ɢMBUk QUIQ UbɡQiQI]uA l;=D D D ,D E : E :6E g4:E !- @!- @!- @!- @ vB= >~B9 B= IB= ~BB9 B9 B9 B= 2h;B= (EA AI I N >x,L`w)A}B9IBD%6D%:2YE=!EF=MQ)M>UK?9UK?9UGYUFUA]>YQ 1eq4٪]q?Q 5eq4]L ] B9iYiQ Em?y]+mC)]":I];i]q4Yq}AynManaging dock network, ignoring radio surface power offgFNOT Ignoring new targets: 212.19 m.g7pg7p ProNav: ac range: 212.190369 m, nav range: 201.390701 m, bearing: 96.262142 deg, approach rate: -0.719443 m/s, LOS rate: -0.013126 deg/s, cmd heading: 93.363147 deg, new cmd heading: 93.353205 deg. g,HeadingCmd: 1.629321 target range: 212.190369 and range: 213.40 m.g?ggggzfrfffBdddcc` @ ɢBŁ `I VɡiI,aAbAkAZAiA I I N >i =I 4=- DAT read: 05:19:24.1275 LVL= 27280, 32753, 27426, 32755, AGC= 65, IDX= 412,-0.24, 2.879, 1.152, 2.928, 2.461, PHS= 0.520,-1.265, 0.423, RAW= 147.2, 3.7, CAL= 146.6, 3.9, ROT= 3.4, -3.9 ) = Ygot valid direction response: 05:19:24.1275 LVL= 27280, 32753, 27426, 32755, AGC= 65, IDX= 412,-0.24, 2.879, 1.152, 2.928, 2.461, PHS= 0.520,-1.265, 0.423, RAW= 147.2, 3.7, CAL= 146.6, 3.9, ROT= 3.4, -3.9 = PDAT read: Bearing 247.9, 16.0 (Local) E ~Local bearing/azimuth received: Bearing 247.9, 16.0 (Local) ,0zw)A2DAT read: Range 11 to 50 : 210.8 m (Round-trip 281.1 ms) speed 0.7 m/s 6,DAT read: user:7413> 6BDAT read: Tx time:05:19:25.2407 :$Ping request sent.:\direction in FSK: [0.995928,0.059169,0.068015]>:publishing transmit ping timeY8>Fpublishing direction and range info9ٽǤ?VugK?,::si?RCij"kA ?)롿Iu>il$@ A=#@'g=s= 'giI[d?S8?IwcR?`U>녽 s=)'giJ:publishing transmit ping timeY8NFpublishing direction and range info9ٽǤ?VugK?,::si?yV?ٱV?Ve]V#=VH&aRts?E5?`2 ˿@u??:?IV?)V`^;iTD%D%D%*D!E%: E%Ǚ:6E%(N4:E!"E%#99GY:A>Q 1q4٪m?Q 5q4 -B9YW?Q E?ysmC);I;iq4Y%B%+A)hhxw)AhQChQCh}?z%[j@F(@r*mJ,@jٽǤ?VugK?,::si?hs=h'g}K]e6h@h'M@r2H, ֻZv ?5ae?hGCh[h욊?h:NhEB*i2i:iEBiIC"iE ? addTargetRange:: Added new target pos. range: 210.800003 m, deltaT: 3.781913 s, deltaX: -2.599991 m, approachRate: -0.687480 m/s, rangeRepo size: 4  Added new target pos. range: 209.606201 m, bearing: 96.509132 deg, lat: 36.779290 deg, lon: -121.859677 deg, deltaT: 3.781913 s, deltaX: -2.584167 m, approachRate: -0.683296 m/s, posRepo size: 4 gFNOT Ignoring new targets: 209.61 m.g%g!5 ProNav: ac range: 209.606201 m, nav range: 201.110229 m, bearing: 96.256960 deg, approach rate: 0.000000 m/s, LOS rate: -0.013126 deg/s, cmd heading: 93.353202 deg, new cmd heading: 93.339443 deg. g1=HeadingCmd: 1.629081 target range: 209.606201 and range: 210.80 m.9g?ggggzfrfffBdddcYj@c?ɢB\e <I LɡiI=)?) -Y>->i i 9 5 @ @ @ @ ԑ AyAIIN?|,H6w)Ay6}'?ٱ6J?6^6^#=6H􇫿@.4w?@2? XI 0H˿}?D?8?I6}'?)6^;i6CDZDZDZ1DXEZ2: EZx:6EZ-4:EX!b@!b@!b@!b@z~B9zDIMb@Mb@Mb@ )Iin?x&?Q?V.?7=u~BBIBWBB =BBB7h;B(EBD6D:Y >!=(Q)> H?9 H?9 GY F k :A >Q 1q4٪Ri?Q 5q4 YB98/?Q A%:Y%?Q E%?ymC){:IM:iq4YBAӬEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 209.61 m.g  =g  = ProNav: ac range: 209.606201 m, nav range: 200.763321 m, bearing: 96.252414 deg, approach rate: -0.786808 m/s, LOS rate: -0.010329 deg/s, cmd heading: 93.339446 deg, new cmd heading: 93.330337 deg. g;!EHeadingCmd: 1.628922 target range: 209.606201 and range: 210.80 m.gE?gAgAgIgIzfIrfIfQfQBdQdQdQcYc]&?ɢB|} 顭DI ɡiI0py I G) mAI AiU t] mA] Al,w)A0y63.?ٱ6$?64`6%#=6H쟫`?20?Yt˿e??6?I63.?)6?^;i6CBS~B9BgIBDJ6DJܲYR >!Rd=VcQ)V>T9T9ZGYZFZ:AZ>\Q 1bq4٪^8f?Q 5bq4^ ^wB9dYf?Q Ef?y^ nC)^;I^:i^`q4Yhj!AhgFNOT Ignoring new targets: 209.61 m.g g  ProNav: ac range: 209.606201 m, nav range: 200.525803 m, bearing: 96.249275 deg, approach rate: -0.664575 m/s, LOS rate: -0.008791 deg/s, cmd heading: 93.330334 deg, new cmd heading: 93.324050 deg. gHeadingCmd: 1.628812 target range: 209.606201 and range: 210.80 m.g|?ggggzfrfffBdddcc ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974887ɢEÂBE AEIA MɡIiIIM5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228189 և,w)Ay60?ٱ6&?6Da6&=6H`G? -?vl Ӡ˿7? 9A? K3?I60?)6H_;i6CB~B9BI\5Mb@Mb@Mb@ 1)1I1i115n?y&1? rh?15`e=5CK?9K?9GY*99A>Q 1q4٪b?Q 5q47 B9.?Q A:Y?Q E?ySnC)s:I:iq4YAgFNOT Ignoring new targets: 209.61 m.gٸg%ٸ- ProNav: ac range: 209.606201 m, nav range: 200.234268 m, bearing: 96.246790 deg, approach rate: -0.696581 m/s, LOS rate: -0.005947 deg/s, cmd heading: 93.324051 deg, new cmd heading: 93.319072 deg. g5&.=HeadingCmd: 1.628725 target range: 209.606201 and range: 210.80 m.g=z?g9g9g9g9zf9rfAfAfABdAdIdIcIcM?ɢ}ӂB}x y}ZIy ߡɡiIҤW,w)ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.730947ynq@?ٱn>6?ndn*=nH1૿?L(?˿U?` Ҥ?-?Inq@?)nYK`;inCz~B9zIBD6D:Y=!O=Q)>!9!9%GY%F-ɣ:A->1Q 1=r4٪5_?Q 5=r45 5B99Y=?Q EE?y5nC)52 ;I5 ;i5'r4YIM_AIgquFNOT Ignoring new targets: 209.61 m.g}Ҹg}Ҹ ProNav: ac range: 209.606201 m, nav range: 199.980576 m, bearing: 96.244584 deg, approach rate: -0.662072 m/s, LOS rate: -0.005763 deg/s, cmd heading: 93.319071 deg, new cmd heading: 93.314655 deg. g(HeadingCmd: 1.628648 target range: 209.606201 and range: 210.80 m.gw?ggggzfrfffBdddcc`#?ɢBp} 顕I HgɡiInA) D D D D E : E :6E :E "E >--,ƅx)Aԙ~B9IBD6DP)YMf=!M8=MQ)U>] H?9] H?9eGYeFmAm>Q 1r4٪_\?Q 5r4 B9YQ E?ynC)I;I8;ir4YpBAʬEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235495gAuFNOT Ignoring new targets: 209.61 m.g}7g}7 ProNav: ac range: 209.606201 m, nav range: 199.684052 m, bearing: 96.241999 deg, approach rate: -0.598337 m/s, LOS rate: -0.005224 deg/s, cmd heading: 93.314652 deg, new cmd heading: 93.309474 deg. gHeadingCmd: 1.628558 target range: 209.606201 and range: 210.80 m.gt?ggggzfrfffBdddcc%@ɢBfj dI >ɡiI4~B B IB 5BB B B B "h;B (EI>A6G=bAZAjAyAAIIN?A ,J(x)AyR%?ٱR~?RfR3)=RHttf?$?Yn?̿??)?IR%?)R`;iRC^/B9^Izchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.738785Mb@Mb@Mb@ )Ii?K?9K?9GYFA>Q 1r4٪7W?Q 5r4# B9-?Q A:Y?Q E?y@oC)8:I:i)r4Y  dA %B*** querying acoustic contact ***zh!h!g15FNOT Ignoring new targets: 209.61 m.g= Og= OM ProNav: ac range: 209.606201 m, nav range: 199.309296 m, bearing: 96.236093 deg, approach rate: -0.716526 m/s, LOS rate: -0.011313 deg/s, cmd heading: 93.309475 deg, new cmd heading: 93.297641 deg. gMUHeadingCmd: 1.628351 target range: 209.606201 and range: 210.80 m.gUm?gQgQgYgYzfYrfYfafaBdadadicicm̊@ԡɢ5 B=m 9]cܿIY ]ɡaiaIe2ߥIߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.991088>A*A= De De De +Da Ee : Ee |:6Ee [4:Ea "Ee E"! z,Bx)Ay>"?ٱ>?> h>)=>Hmd`p@ |? "? lf̿?`?'?I>"?)>9`;i>CRxB9RIBDZ6DZJYb)H>!b_=fVQ)f>d9d9jGYhjAj>lQ 1rr4٪nS?Q 5rr4nߟ n5B9tYz?Q E~?yn~oC)nS;In;in6r4Y3BAgAEFNOT Ignoring new targets: 209.61 m.gM;gM;] ProNav: ac range: 209.606201 m, nav range: 199.068268 m, bearing: 96.232289 deg, approach rate: -0.649965 m/s, LOS rate: -0.010272 deg/s, cmd heading: 93.297638 deg, new cmd heading: 93.290020 deg. g]bmHeadingCmd: 1.628218 target range: 209.606201 and range: 210.80 m.gmsi?gqgqgygyzfrfffBdddcc`# @ɢ}B} y 顅ֿI mJɡiIOA B= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494714I I N >, [x)A y:?ٱ:?:h:K,=:H@} ҫ?!? E`|̿`"??&?I:?):`;i:CBB9BNI Mb@Mb@Mb@ ) I i   (\?333333?:v? .? = I vXAi =bA ZA BA)  _AD%D%D%/D!E%: E%k:6E%J4:E!!-@!-@!-@!-@BD56D5:YE@>!EB=MLQ)M>I9I9UGYUFUAU>vB>~BBIB|BB =BBBg;Bf(EQ 1%r4٪O?Q 5%r4: [B9%*/?Q A%:Y%a?Q E-?yoC)a:Iv:iFr4Y5*BUAUɬEgFNOT Ignoring new targets: 209.61 m.gHgH ProNav: ac range: 209.606201 m, nav range: 198.774063 m, bearing: 96.227385 deg, approach rate: -0.656421 m/s, LOS rate: -0.010957 deg/s, cmd heading: 93.290023 deg, new cmd heading: 93.280201 deg. gkHeadingCmd: 1.628047 target range: 209.606201 and range: 210.80 m.gc?ggggzfrfffBdddcc( @iɢ(BJqt пI ߳ɡiI=)c?) i>>i9ԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749463 >A K@=rA ?jA ?Ii Iy N >,Eux)Ay: ߳?ٱ:?:].i:.=:H`]?\!?&̿y?j??F%?I: ߳?):j`;i:CLRB9RkIBDZ6DZNYb=!bS=fQ)f>d9d9jGYhjZSAj>lQ 1rr4٪nrL?Q 5rr4n n{B9tYv8?Q Ev?ynpC)ny:Inp:inRr4YxzAxg%FNOT Ignoring new targets: 209.61 m.g%Jg%J5 ProNav: ac range: 209.606201 m, nav range: 198.533508 m, bearing: 96.223451 deg, approach rate: -0.677211 m/s, LOS rate: -0.011087 deg/s, cmd heading: 93.280201 deg, new cmd heading: 93.272324 deg. g5T=HeadingCmd: 1.627909 target range: 209.606201 and range: 210.80 m.g=T_?gAgAgAgAzfArfAfIfIBdIdIdQcQcU@@ɢ4B 顅ͿI _ɡiI, BDAT read: Tx time:05:19:29.0407 $Ping request sent.i}Y3$@}4QO=}.k#@}PwV=} A= }PwViyyI}noIo}?l? >t0?}3>}WL } A=)}PwViyy-:publishing transmit ping timeY-Fpublishing direction and range info9y}`.?Fpd?yoU˪?i11111yyiyyyyy y)yIyiyyyyy yiyyI}noIo}?l? >t0?yy y)yiyyD5D1D1D1E5: E16E1:E1"E5#Ae&t@=IINE>1 #,x)Ay6?ٱ6?6h6@N,=6Hk?e"?@ ̿? ?%?I6?)6Z`;i6CBB9BI| Mb@Mb@Mb@ ) I i   S?X9v?Q? /? }= u=9Q)>99GYFqA>Q 1r4٪I?Q 5r4 B9/?Q A:Yq?Q E?yPpC)b:I4:iar4YBbAEhhzx)AhOChOCh?zi@L̮*@럫h%@j`.?Fpd?yoU˪?h A=hPwV+47wSvh@P;`:L@r {eD?*tӟ?hEChAh#?h"?hQB*i2i:ii?FC"it?  addTargetRange:: Added new target pos. range: 208.199997 m, deltaT: 4.029405 s, deltaX: -2.600006 m, approachRate: -0.645258 m/s, rangeRepo size: 4  Added new target pos. range: 207.023666 m, bearing: 96.651568 deg, lat: 36.779290 deg, lon: -121.859677 deg, deltaT: 4.029405 s, deltaX: -2.582535 m, approachRate: -0.640922 m/s, posRepo size: 4 g!%FNOT Ignoring new targets: 207.02 m.g-g)= ProNav: ac range: 207.023666 m, nav range: 198.248016 m, bearing: 96.220566 deg, approach rate: 0.000000 m/s, LOS rate: -0.011087 deg/s, cmd heading: 93.272326 deg, new cmd heading: 93.262711 deg. g9EHeadingCmd: 1.627741 target range: 207.023666 and range: 208.20 m.gEY?gAgAgAgAzfArfIfIfIBdQdQdQcU`fj@c]|?ɢDBnr 額̿I 6ɡiItAC;=I I! N- >ԁ ),ox)Ay:w?ٱ:m?:h:n =:H ͨ`n?#?``̿`2??`'?I:w?):_;i8B8B9FIBDJ6DJNYRU>!VZ=V:Q)V>T9X9ZGYZFZAZ>\Q 1br4٪^F?Q 5br4^  ^B9dYf@?Q Ef?y^pC)^:I^:i^nr4YjBjAhg FNOT Ignoring new targets: 207.02 m.g ag a% ProNav: ac range: 207.023666 m, nav range: 197.998825 m, bearing: 96.218148 deg, approach rate: -0.670525 m/s, LOS rate: -0.006513 deg/s, cmd heading: 93.262709 deg, new cmd heading: 93.257868 deg. g%>-HeadingCmd: 1.627657 target range: 207.023666 and range: 208.20 m.g-W?g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=?YɢmQBuz qu8ƿIq }aɡyiyI}yݧA3=bAlAZAIyIN~>ԱDM DM DI DI EM : EM c:6EI :EI "EM 68LB9BIF4T9T9VGYTZlAZ>XQ 1br4٪ZB?Q 5br4Z} ZB9`Yb?Q Eb?yZpC)Z:IZ:iZ}r4Yhj_AhvB*** querying acoustic contact ***zhthtg|FNOT Ignoring new targets: 207.02 m.gigi㸝 ProNav: ac range: 207.023666 m, nav range: 197.730392 m, bearing: 96.215647 deg, approach rate: -0.665853 m/s, LOS rate: -0.006213 deg/s, cmd heading: 93.257866 deg, new cmd heading: 93.252857 deg. g5HeadingCmd: 1.627569 target range: 207.023666 and range: 208.20 m.g2T?gg!g!g!zf!rf!f)f)Bd)d)d1c9cE?ԹɢMbBu^Co y顅rſI ɡiIA |1=A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495491A I I) N= >6,x)Ay6?ٱ6?6g6´=6H h`s?@>&?@@v̿?`? *?I6?)6/__;i6C>lB9>IMb@Mb@Mb@ )Iioʡ?Q?Q?-?\=ITAi\A;{AV>A)ZADDD-DE2: E:6Et4:E!%@!%@!%@!%@BD56D5YEj>!EB=ER:Q)E>I9I9MGYMFMQAU>vB>~BBIBBBBHDBBfg;B%(EQ 1r4٪!??Q 5r4u  B9.?Q A:Y?Q E?yqC)^;I;iir4Y!%A!)gquFNOT Ignoring new targets: 207.02 m.g}g} ProNav: ac range: 207.023666 m, nav range: 197.440262 m, bearing: 96.211935 deg, approach rate: -0.647515 m/s, LOS rate: -0.008296 deg/s, cmd heading: 93.252860 deg, new cmd heading: 93.245425 deg. grHeadingCmd: 1.627440 target range: 207.023666 and range: 208.20 m.gO?ggggzfrfffBdddcc!?ɢ5pB5]t 15$I9 =E ɡ9i9I=igA- S,=I= dG)} "oAI Ai  "oA RAA1 I9 IQ N] >Ա = =,+x)AyB?ٱB?BgBV=BH`Ȧ`AK|?}&?u{̿? ʡ?)?IB?)B '_;iBCJB9JIBDR6DRN2YZ>!ZT=^nQ)^>`9`9bGYbFbUAf>dQ 1jr4٪fA #'=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251821A I I N > $C,ky)Ay6rѲ?ٱ6??6h6=6H F$~?&?@ɀ̿a??v)?I6rѲ?)6r^;i6C>B9B5IiF=IF=Mb@Mb@Mb@ )IiB`"?MbX9? rh?.?ʡ=C99GYA>Q 1r4٪#8?Q 5r4g PB90?Q A:Y?Q E?yqC) ;I/:iUr4YAgFNOT Ignoring new targets: 207.02 m.gAgA  ProNav: ac range: 207.023666 m, nav range: 196.911728 m, bearing: 96.204390 deg, approach rate: -0.670247 m/s, LOS rate: -0.010600 deg/s, cmd heading: 93.239431 deg, new cmd heading: 93.230316 deg. g1HeadingCmd: 1.627176 target range: 207.023666 and range: 208.20 m.gMG?ggggzfrf!f!f!Bd!d)d)c)c-AH@ɢ]B]w Y]溿Ia em ɡaiaIe7~BBIBVBBBBBkg;B&(EBYBYBYBYBYB]ǡ4>Am2&=I A yAI I N >kJ,2u*y)Ay6?ٱ6z?6h6W=6H`LʥƊ?@&?9ł̿q??`O)?I6?)6Y^;i6CBB9B^IBDJ6DJYR/>!R\=VQ)V>V H?9V H?9ZGYZFZ*AZ>\Q 1br4٪^4?Q 5br4^Ta ^qB9dYf?Q Ef?y^qC)^N:I^:i^Vr4YhjAhrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755169g  FNOT Ignoring new targets: 207.02 m.g<g<% ProNav: ac range: 207.023666 m, nav range: 196.664352 m, bearing: 96.200543 deg, approach rate: -0.662220 m/s, LOS rate: -0.010310 deg/s, cmd heading: 93.230313 deg, new cmd heading: 93.222610 deg. g%󖹝-HeadingCmd: 1.627041 target range: 207.023666 and range: 208.20 m.g-B?g)g)g)g)zf1rf1f1f1Bd9d9d9c9cEE@ɢmBmu iuIq uR ɡqiqIuvlA"=Թ DU DU DU +DQ EU D: EU n:6EU [4:EQ "EU 1ZK?9ZK?9^GY^F^A^>`Q 1fr4٪b$1?Q 5fr4bRZ bB9hYj?Q Ej?yb+rC)b:Ib:ibr4Yln Ap~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 207.02 m.g;g;% ProNav: ac range: 207.023666 m, nav range: 196.394836 m, bearing: 96.196418 deg, approach rate: -0.666957 m/s, LOS rate: -0.010223 deg/s, cmd heading: 93.222609 deg, new cmd heading: 93.214347 deg. g%-HeadingCmd: 1.626897 target range: 207.023666 and range: 208.20 m.g-+>?g)g)g1g1zf9rfAfIfIBdIdQdYcYc] @ɢBp ]I K ɡiI?iCH=i=)+>?) Y>>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261788i)))-4)>AM;= Ay I I N >i߭ %=Iߩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515318F5W,;^y)AhBEt4JEp4REa0D~D~D|D|E~; E~:6E|:E|! @! @! @! @vB=>~B9B=fIB=BB9B9B9B=og;B=((Eyr?ٱh?h=Hդ@uP?'? ̿?c?)?Ir?)];iCB9Ii) ]Mb@Mb@Mb@ Y)YIYiYY]n?V-?Q?]V.?]h=]u!0=2Q)>99GYzA>Q 1r4٪N-?Q 5r4LR B9R/?Q A:Y?Q E?yzrC)$ mBDAT read: Tx time:05:19:32.8407 m$Ping request sent.mi#@9=1#@+H='g= +HiIekEC?h1d?65?{>u= 'g=)+Hi:publishing transmit ping timeYiFpublishing direction and range info9'ʪE? ~ d?s!D?i )Ii iIekEC?h1d?65? )iY >A} =A yAI I N >],S$yy)AXyFi?ٱFy_?Fr~hF=FH`a6y?&?̿ ?٢? (?IFi?)F];iFCbB9fIBD~6D~Y  >! \= 0Q)->5 H?95 H?95GY5F=hCA=>AQ 1Mr4٪E5*?Q 5Mr4EK EߙB9iYm?Q Eu?yErC)ET;IE;iEr4Y}YB}A}Ehhly)AhLChLCh+?z4~l}i@~+@a|2#@j'ʪE? ~ d?s!D?h'g=h+H{G\5>rh@e9L@rWG6{nЕ?-S?hCCh*h8' ?hH3hbB*i8' ?2i"?:iQBiPDC"i3?- addTargetRange:: Added new target pos. range: 205.800003 m, deltaT: 3.780182 s, deltaX: -2.399994 m, approachRate: -0.634888 m/s, rangeRepo size: 4 = Added new target pos. range: 204.637115 m, bearing: 96.315232 deg, lat: 36.779286 deg, lon: -121.859672 deg, deltaT: 3.780182 s, deltaX: -2.386551 m, approachRate: -0.631332 m/s, posRepo size: 4 g9=FNOT Ignoring new targets: 204.64 m.gEgAu ProNav: ac range: 204.637115 m, nav range: 196.315201 m, bearing: 96.329713 deg, approach rate: 0.000000 m/s, LOS rate: -0.007558 deg/s, cmd heading: 93.207138 deg, new cmd heading: 93.201388 deg. gq}HeadingCmd: 1.626671 target range: 204.637115 and range: 205.80 m.g}6?gygyggzfrfffBdddci@c?ɢƃBq e髿Ia mɡiiiIm--A y=9 I I N >d,y)Ay6Pj?ٱ6`?6 i6v=6H5@k@ӧ?%?? ̿? ??'?I6Pj?)6 ^;i6C>&B9>I=Mb@Mb@Mb@ 9)9I9i99=n?~jt?Q?9==9I=MAi=AVA=rA=7A)9=SABDU6DUYe=!eF=eҨQ)e>i9i9mGYmFmG8Au>qQ 1r4٪u&?Q 5r4uD uB9u/?Q A:Y?Q E?yusC)u ;Iu:iu4r4YAgFNOT Ignoring new targets: 204.64 m.g%g% ProNav: ac range: 204.637115 m, nav range: 196.043808 m, bearing: 96.326154 deg, approach rate: -0.689853 m/s, LOS rate: -0.009060 deg/s, cmd heading: 93.201387 deg, new cmd heading: 93.194259 deg. gHeadingCmd: 1.626547 target range: 204.637115 and range: 205.80 m.g2?ggggzfrfDReached init depth of 64.575378 m.ffBdddcc@?ɢӃB%:[t !%VI! %U#ɡ)i)I-?*Am=rAqjAu?IY Iq N} >ԡ j,¬y)Ay:}?ٱ:s?:j:v=:HLp?`#?\ĩ@i̿@?c1?`%?I:}?):d];i:CBMB9B IiF=IF=BDN6DNP)YVM>!VW=V"Q)V>X9X9ZGYX^:A^>`Q 1fr4٪b\#?Q 5fr4b.> b$B9dYf?Q Ef?yb@sC)b:Iby:ibr4Yln-AlgFNOT Ignoring new targets: 204.64 m.g "g "y ProNav: ac range: 204.637115 m, nav range: 195.791336 m, bearing: 96.322786 deg, approach rate: -0.663150 m/s, LOS rate: -0.008858 deg/s, cmd heading: 93.194257 deg, new cmd heading: 93.187512 deg. gHeadingCmd: 1.626429 target range: 204.637115 and range: 205.80 m.g.?ggggzfrfffBdddcc"?ɢMBM\m Q顕I 8ɡiIAAm;=IIN>bD ZD ?AD D D D E : E :6E :E "E .!C=Q)>!9!9%GY%F%:A->)Q 1=s4٪-?Q 5=s4-6 -IB9AYE?Q EE?y-sC)-#=;I-r>;i-$ s4YQUAYB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 204.64 m.g!g! ProNav: ac range: 204.637115 m, nav range: 195.513962 m, bearing: 96.319019 deg, approach rate: -0.649731 m/s, LOS rate: -0.008837 deg/s, cmd heading: 93.187515 deg, new cmd heading: 93.179970 deg. g_HeadingCmd: 1.626297 target range: 204.637115 and range: 205.80 m.g*?ggggzfrff)f1Bd9d9eT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.dAccZS?ɢEBEg IMII M:kɡIiIIU"$A= Ho=I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748868y w,xy)AvB4~B4B6 IB6,BB4B4B4B6og;B6&(EDBDBDB)D@EB: EBP:6EBFA4:E@"EB&<EB&<*EBq<EBq!uE=uQ)u>y9y9}GYy;A>Q 1s4٪?Q 5s4/ mB902?Q A:YY?Q E?ysC);I;is4YBAEgFNOT Ignoring new targets: 204.64 m.g5Og5OQe ProNav: ac range: 204.637115 m, nav range: 195.234512 m, bearing: 96.314422 deg, approach rate: -0.687212 m/s, LOS rate: -0.011322 deg/s, cmd heading: 93.179968 deg, new cmd heading: 93.170760 deg. geĥmHeadingCmd: 1.626137 target range: 204.637115 and range: 205.80 m.gm>%?gigqggzfrfffBBdddcc`J?ɢ-B- n QU2IQ ]?VɡYiYI]5%?ieQH=imY"=)>%?)lAkAi8ԡ)a eAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001615ԩ>A ȿ=I I) N5 > },Sy)Ay6̲?ٱ6?6l6*=6HQ.J ?@t?ޥ ^ͿO?Ť?m?I6̲?)67M^;i6C>B9ByI)D DBDJ6DJ1YR=!RX=RQ)V>T9T9VGYVFZ ;AZ>\Q 1bs4٪^<?Q 5bs4^) ^B9`Ybs?Q Ef?y^tC)^;I^ ;i^&s4YhjAhgq}FNOT Ignoring new targets: 204.64 m.g(Fg(F ProNav: ac range: 204.637115 m, nav range: 194.980408 m, bearing: 96.310170 deg, approach rate: -0.646230 m/s, LOS rate: -0.010828 deg/s, cmd heading: 93.170761 deg, new cmd heading: 93.162246 deg. gchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253553HeadingCmd: 1.625988 target range: 204.637115 and range: 205.80 m.g_ ?ggggzfrfffBdddcc0@ɢ] B]m Y]ژIY e@ɡaiaIe<A"=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506605I I N >9 Є,/z)Ay>R?ٱ>?>Bm>b0=>Hi֦k?@?瀬Ϳ`d? x? ?I>R?)>`^;i>CFÁB9FIMb@Mb@Mb@ )Ii@5^I ?sh|?? rh?b0?C!=A==xкQ)E>A9A9EGYEFM4M;AM>QQ 1]s4٪U7?Q 5]s4U! UB9]1?Q A]:Ye?Q Ee?yUYtC)UP;IU;iU5s4YimQAigFNOT Ignoring new targets: 204.64 m.g[g[ ProNav: ac range: 204.637115 m, nav range: 194.696762 m, bearing: 96.305281 deg, approach rate: -0.695989 m/s, LOS rate: -0.012014 deg/s, cmd heading: 93.162243 deg, new cmd heading: 93.152451 deg. g㯹HeadingCmd: 1.625817 target range: 204.637115 and range: 205.80 m.g?ggggzfrfffBdddcc c@ɢuBu{dj q}}Iy }2ɡyiyI})~BaBey IBexBBaBaBeqDBe^g;Be(EDDD*DE: Ex:6E(N4:E"E6AmK'=i A AI I N >=, .z)ABDAT read: Rx Time:05:19:35.5158 TRx dataTimestamp_ set to:1755839976.724537checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010093 yB&?ٱB]?BmB 7=BH Bh???@zkkͿt?`?B?0?IB&?)BG^;i@JB9NIBDV6DVβY^XT>!^S=b¨Q)f>rK?9vK?9vGYx mi;A>I-G)AIYQi/AQ 15s4٪UZ?Q 5=s4U UښB99Y=?Q E=?yUtC)U'5>i90ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260869D D D /D E : E &p:6E J4:E ! @! @! @! @>A S,=rA ?jA ? I I N >,Gz)ALyRL?ٱRB?RnR\;=RH@'@o?[? %"Ϳ |?NȦ?@]?IRL?)RK^;iRC^B9bIBDn6DnYvp=!zG=~Q)~>|99GYF =;A >Q 1%s4٪ ?Q 5%s4 B9)Y-?Q E-?ytC)6;Ii);iQs4Y=B=3A=EmB*** querying acoustic contact ***zhihigFNOT Ignoring new targets: 204.64 m.gngn ProNav: ac range: 204.637115 m, nav range: 194.160553 m, bearing: 96.295689 deg, approach rate: -0.718379 m/s, LOS rate: -0.013009 deg/s, cmd heading: 93.142866 deg, new cmd heading: 93.133241 deg. gwHeadingCmd: 1.625482 target range: 204.637115 and range: 205.80 m.g?ggggzfrfQfYfaBdiddcc @)A Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518241ɢ8Bd %I! %V9ɡ!i!I%㑩A= .= ,DAT read: user:7416>  BDAT read: Tx time:05:19:36.6407  $Ping request sent. i "$@ A= #@ A= s= Ai vBe >~Ba Be IBe ĂBBe =Ba Ba Be Hg;Be (EBBBB̦ =BB̩4D D D ,D E : E :6E g4:E "E # f2? s=) Ai Q IY Ii N} >Ꟙ,,dz)A*:publishing transmit ping timeY*Fpublishing direction and range info9f?,T?P7V?i )Ii iIPH=j? .H?H ? )iyb.l?ٱba?bXnb0>=bH?`? i"Ϳ~?- ??Ib.l?)b~^;ibC~(B9~ IMb@Mb@Mb@ )Iigfffff?bX9ȶ?!=|,Q)>99GYFO:A>Q 1s4٪?Q 5s4y  0B94?Q A:Y?Q E?y?uC)]:I:ids4YͷBAEhh^z)AhIChIChW?zo2C,i@ A'@a#@jf?,T?P7V?hs=hAζ 5VMh@|yL@rI^O ?u?h@Chmh<?h5oo:hB*i2i5oo::iBiAC"i? addTargetRange:: Added new target pos. range: 203.100006 m, deltaT: 3.779838 s, deltaX: -2.699997 m, approachRate: -0.714316 m/s, rangeRepo size: 4  Added new target pos. range: 201.954605 m, bearing: 96.230859 deg, lat: 36.779286 deg, lon: -121.859670 deg, deltaT: 3.779838 s, deltaX: -2.682510 m, approachRate: -0.709689 m/s, posRepo size: 4 gFNOT Ignoring new targets: 201.95 m.gg ProNav: ac range: 201.954605 m, nav range: 193.999344 m, bearing: 96.281869 deg, approach rate: 0.000000 m/s, LOS rate: -0.013009 deg/s, cmd heading: 93.133243 deg, new cmd heading: 93.119188 deg. gHeadingCmd: 1.625236 target range: 201.954605 and range: 203.10 m.g?ggggzf rf f f Bddd1c5@3ci@c=_?ɢIBq~^ GI HɡiIA r5=I1 IA NM >ƞ,7}z)Ay6?ٱ6r?6p9n6xD=i>4=I>4=6H4@{? ? Ϳ ?Y?%?I6?)6^;i6CFIB9F? IBDN6DN:YVP>!V=Z!ɹQ)Z?X9\9^GY\^˂;A^?`Q 1fs4٪b?Q 5fs4b bMB9hYj?Q Ej?ybtuC)b;Ib;ibns4YlnApgFNOT Ignoring new targets: 201.95 m.g2g2 ProNav: ac range: 201.954605 m, nav range: 193.791855 m, bearing: 96.277540 deg, approach rate: -0.681225 m/s, LOS rate: -0.014228 deg/s, cmd heading: 93.119186 deg, new cmd heading: 93.110519 deg. gPйHeadingCmd: 1.625085 target range: 201.954605 and range: 203.10 m.g?ggggzfrfffBdddcc`?ɢETBEp IDUDUDU*DQEU: EU:6EU(N4:EQ!]@!]@!]@!]@MƂIa ezɡaiaIeSA;6=II IY Nm >Թ ,aėz)Ay6ե?ٱ6?6|Ln6(E=6Hw*ǡ??Я!Ϳ@?@??I6ե?)6Aq^;i6C>\B9BV IP5Mb@Mb@Mb@ 1)1I1i115Q?ʡE? rh?5\/?5-=5Ca9a9mGYmFm:Am>qQ 1}s4٪u?Q 5}s4u utB90?Q A:Y*?Q E?yuuC)u? ;Iu ;iu}s4YAgFNOT Ignoring new targets: 201.95 m.gHgH ProNav: ac range: 201.954605 m, nav range: 193.508804 m, bearing: 96.271585 deg, approach rate: -0.691372 m/s, LOS rate: -0.014565 deg/s, cmd heading: 93.110518 deg, new cmd heading: 93.098592 deg. g@չHeadingCmd: 1.624877 target range: 201.954605 and range: 203.10 m.g?ggggzfrfffBdddcct?ɢbBc I %Iɡ!i!I%Eب=)-?)1i4AAAAvB~BB.!IB BB =BBB8g;B (EBEA{4JEA&t@=IQ Ia Nu >! h֫,rz)Ay6ȳ?ٱ6?6n6"6H=6H`P@!??8 Ϳ}?W??I6ȳ?)64+^;i6CN~B9N IBDV6DVf?Y^3>!^U=b:Q)b>`9d9fGYf Ff6;Af>hQ 1ns4٪j?Q 5ns4j jB9pYrM?Q Er?yjuC)j;Ij;ijs4Ytv:At|gFNOT Ignoring new targets: 201.95 m.g%Hg%H5 ProNav: ac range: 201.954605 m, nav range: 193.253204 m, bearing: 96.266114 deg, approach rate: -0.664291 m/s, LOS rate: -0.014238 deg/s, cmd heading: 93.098593 deg, new cmd heading: 93.087636 deg. g5tй=HeadingCmd: 1.624686 target range: 201.954605 and range: 203.10 m.g=?g9g9gAgAzfArfAfAfIBdIdIdIcQcUKj?ɢ}pB}ӊb 顅xI ;zɡiIA-==DuDuDu*DqEu&: Eux:6Eu(N4:Eq!}@!}@!@!@I I! N- >ԁ ,z)Ay6Ƴ?ٱ6ڻ?6šm66OM=6H`;? ?NDͿ@'p??d?I6Ƴ?)6.^;i6CBB9B IBDJ6DJP)YR/>!RL=R:Q)R>T9T9VGYTVdAZ>XQ 1bs4٪Z?Q 5bs4Z6 ZB9`YbH?Q Eb?yZCvC)Z;IZH;iZ s4YdjAhvB*** querying acoustic contact ***zhxhxYgFNOT Ignoring new targets: 201.95 m. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.g-9vg-9v ProNav: ac range: 201.954605 m, nav range: 192.986832 m, bearing: 96.260408 deg, approach rate: -0.627164 m/s, LOS rate: -0.013454 deg/s, cmd heading: 93.087637 deg, new cmd heading: 93.076209 deg. gĹHeadingCmd: 1.624486 target range: 201.954605 and range: 203.10 m.g+?gg!g!g!zfIrfQfafaBdddcc`?ɢBY aeqIa mkɡiiiImA} @=vB ~B B !IB WBB =B B B &g;B (E D D D .D E D: E :6E ـ4:E "E 11=,Uz)A)5B95 Ii==I==Mb@Mb@Mb@ )IitV?ˡE? rh?2?=I?AiMJAfA,A)3GAI)BABD6DYD=!/=Q)> H?9 H?9GY FA>Q 1s4٪+?Q 5s4 B9 3?Q A:Y ?Q E?yvC);I;iUs4Y5B5CA5EgY]FNOT Ignoring new targets: 201.95 m.gsqgsq ProNav: ac range: 201.954605 m, nav range: 192.670853 m, bearing: 96.254534 deg, approach rate: -0.708545 m/s, LOS rate: -0.013193 deg/s, cmd heading: 93.076210 deg, new cmd heading: 93.064443 deg. g)HeadingCmd: 1.624281 target range: 201.954605 and range: 203.10 m.gp?ggggzf!rf!f!f!Bd)d)d)c)c5 @ɢB`U^ 顥%kI /ɡiI)A] G=Ա A AI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490290Q,z{)A~ނB9~ IBD 6D Yq<>!X=!Q)%>%K?9-K?9-GY- F)A->1Q 1=s4٪5y?Q 5=s45[ 5 B9AYAQ EE?y5vC)53;I5;i5s4YMBMAMEgy}FNOT Ignoring new targets: 201.95 m.g|jg|j ProNav: ac range: 201.954605 m, nav range: 192.414780 m, bearing: 96.249759 deg, approach rate: -0.686271 m/s, LOS rate: -0.012813 deg/s, cmd heading: 93.064442 deg, new cmd heading: 93.054880 deg. gԙrD=jD<DDD+DE : EAr:6E [4:E!@!@!@!@HeadingCmd: 1.624114 target range: 201.954605 and range: 203.10 m.g?ggggzfrfffBdddccy@ɢ%B%P` !%_I! -zɡ)i)I-?Am -B=A A yAI I N F,TS{)Ay6k?ٱ65?6m6\=6H BͰ??$N.̿^?Xߪ??I6k?)6Y^;i6C>B9> !I5Mb@Mb@Mb@ 1)1I1i115i|?5?V-?y&1?51?5h=5`ee H?9e H?9mGYimۺAm>qQ 1}s4٪u롊?Q 5}s4u! u/B92?Q A:Y?Q E?yuwC)uu ;Iu2 ;ius4YDAgFNOT Ignoring new targets: 201.95 m.gw+gw+ ProNav: ac range: 201.954605 m, nav range: 192.136963 m, bearing: 96.245910 deg, approach rate: -0.675293 m/s, LOS rate: -0.009369 deg/s, cmd heading: 93.054880 deg, new cmd heading: 93.047171 deg. g,HeadingCmd: 1.623979 target range: 201.954605 and range: 203.10 m.g?ggggzfrff f Bd d dcc @ɢEBMX[ IM ^II MɡIiIIUɦ<BDAT read: Rx Time:05:19:39.3123 TRx dataTimestamp_ set to:1755839980.504427checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995380I?iG=i]A=)?) R>>A<AvB~BB!IBBBBBB/g;B(Ei9DDD,DE: Exv:6Eg4:E"E>--A4|E=bAkAZAkA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246307A AI I N- >ԙ q,#/4{)Ay6?ٱ6I?6m6ɱM=6H-.t䘯?7?`i ̿D_??Y?I6?)69K^;i6Cb B9b.!IBDj 6Dj2Yr >!rR=v*Q)v>vK?9vK?9zGYz FzAz>|Q 1s4٪~o衊?Q 5s4~N ~RB9 Y ?Q E ?y~`wC)~:I~y:i~s4YAg9EFNOT Ignoring new targets: 201.95 m.gE(gE(U ProNav: ac range: 201.954605 m, nav range: 191.874695 m, bearing: 96.242329 deg, approach rate: -0.674535 m/s, LOS rate: -0.009224 deg/s, cmd heading: 93.047168 deg, new cmd heading: 93.039996 deg. gU ]HeadingCmd: 1.623854 target range: 201.954605 and range: 203.10 m.geu?gagagagazfarfafifiBdididqcqcuY @ɢB\ 顥WI 6ɡiIdA%K@=Aa Iq I N > X,W N{)Ay6톳?ٱ6|?6hm69=6H@??f Ϳ8i?x?@?I6톳?)6];i4>&B9BO!IBDJ6DJ02YRz>!RO=RNQ)V>\9`9bGYdjgAj>lQ 1rs4٪n䡊?Q 5rs4nM nvB9pYr?Q Ev?ynwC)n2 ;In. ;inys4Yz@BzgAzEB*** querying acoustic contact ***zhhg!5FNOT Ignoring new targets: 201.95 m.g='g='DAT read: 05:19:39.3123 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 400,-0.49, 2.146, 0.502, 2.226, 1.704, PHS= 0.543,-1.157, 0.478, RAW= 148.1, 1.6, CAL= 147.2, 1.5, ROT= 2.8, -1.5  ProNav: ac range: 201.954605 m, nav range: 191.605453 m, bearing: 96.238661 deg, approach rate: -0.671835 m/s, LOS rate: -0.009166 deg/s, cmd heading: 93.039997 deg, new cmd heading: 93.032650 deg. g1Ygot valid direction response: 05:19:39.3123 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 400,-0.49, 2.146, 0.502, 2.226, 1.704, PHS= 0.543,-1.157, 0.478, RAW= 148.1, 1.6, CAL= 147.2, 1.5, ROT= 2.8, -1.5 MHeadingCmd: 1.623726 target range: 201.954605 and range: 203.10 m.gUA?gQgQgQgQzfQrfQfYfYBdYdYdacace@mPDAT read: Bearing 247.0, 16.5 (Local) u~Local bearing/azimuth received: Bearing 247.0, 16.5 (Local) }DAT read: Range 11 to 50 : 200.5 m (Round-trip 267.4 ms) speed 0.4 m/s ,DAT read: user:7417> BDAT read: Tx time:05:19:40.4407 $Ping request sent.iMm%@M=)%A?)!iIIIM9?%ltj? ?M>M[ M+H=)MPwּiII:publishing transmit ping timeYFpublishing direction and range info9IM@j??P!Κ?IIiIIIII I)IIIiIIIII IiIIIM9?%ltj? ?II I)IiIIi@=@=1 >A &t@=vB ~B B ;"IB BB =B B B Ig;B (ED D D .D E O: E &p:6E ـ4:E "E v,Ͱg{)A UMB9U!I Mb@Mb@Mb@ ) I i   Cl?l?I +? /? = 94!55=5Q)5>= H?9= H?9=GY= F=AE>AQ 1Us4٪Eࡊ?Q 5Us4E EB9U0?Q AU:YU?Q EU?yEwC)E; ;IE;iEs4YaeAahhϾP{)Ah^GCh^GCh/?zqh@@!x#@E-@j@j??P!Κ?h+H=hPwּB "3g@EGK 3I@rvxiFWL?O("s?h?Chh@?h@hB*i2i:iiN?C"i-? addTargetRange:: Added new target pos. range: 200.500000 m, deltaT: 3.781669 s, deltaX: -2.600006 m, approachRate: -0.687529 m/s, rangeRepo size: 4  Added new target pos. range: 199.370926 m, bearing: 95.699029 deg, lat: 36.779286 deg, lon: -121.859670 deg, deltaT: 3.781669 s, deltaX: -2.583679 m, approachRate: -0.683211 m/s, posRepo size: 4 gFNOT Ignoring new targets: 199.37 m.gg ProNav: ac range: 199.370926 m, nav range: 191.306122 m, bearing: 96.234066 deg, approach rate: 0.000000 m/s, LOS rate: -0.009166 deg/s, cmd heading: 93.032647 deg, new cmd heading: 93.024394 deg. gHeadingCmd: 1.623582 target range: 199.370926 and range: 200.50 m.g?ggggzfrfffBdddci@c A*?ɢ%ۄB-Y )-FI) - ɡ1i1I55A% @>=ԡ AU AIa Iq N >],f{)Ay6vi?ٱ6@_?6m61=6Ho@KH? 9?Q@1"Ϳx??c?I6vi?)6v];i6C<BiB9B!IBDJ6DJJYR4>!Rh=VQ)V>VK?9VK?9VGYVFZ'AZ>Q 1s4٪ݡ?Q 5s41 B9Yr?Q E%?y0xC);I;is4Y)-]A)gQUFNOT Ignoring new targets: 199.37 m.g]z;g]z;m ProNav: ac range: 199.370926 m, nav range: 191.062820 m, bearing: 96.230383 deg, approach rate: -0.675886 m/s, LOS rate: -0.010244 deg/s, cmd heading: 93.024397 deg, new cmd heading: 93.017021 deg. gmuHeadingCmd: 1.623453 target range: 199.370926 and range: 200.50 m.guQ?gqgqgygyzfyrfyffBddDDD,DE ; Ee:6Eg4:E!@!@!@!@dcc>?ɢBmY ?I -!ɡiI_Ah>= A} yAI I N >c,Y{)Ay:OB?ٱ:8?:n:I(=:H@?J?rpp/ͿB?`v? ?I:OB?):c];i:CFvB9F!IlMb@Mb@Mb@ )IiQ?Mb?Mb?(?=ABD-6D-Y=v=!=A=EQ)E>E H?9E H?9EGYAM 9AM>QQ 1]t4٪Ubڡ?Q 5]t4UM UߜB9])?Q Ae:Ye?Q Ee?yUtxC)U;IU;iU= t4Yq})AgFNOT Ignoring new targets: 199.37 m.gKgK ProNav: ac range: 199.370926 m, nav range: 190.798203 m, bearing: 96.227327 deg, approach rate: -0.634368 m/s, LOS rate: -0.007338 deg/s, cmd heading: 93.017020 deg, new cmd heading: 93.010898 deg. gV]HeadingCmd: 1.623346 target range: 199.370926 and range: 200.50 m.g]?gYgYgYgYzfarfafafaBdididicicmg?ɢBU ,AI L!ɡiI0~BB"IB(BB =BBBg;B0(EBBBBå =BB_44 DDD)DE: EAr:6EFA4:E"E#A;=a I I N >t,4{)Ay>X+?ٱ>"!?>n>g=>H򚧿`Tߨ?? EͿ`W?JƢ??I>X+?)>d_];i>CNB9N!IBDV6DVY^VC>!^S=^Q)b>`9`9bGYbFfAf>hQ 1nt4٪jQס?Q 5nt4jҰ jB9lYr?Q Er?yjxC)j#;IjQ;ijt4YtvAtgFNOT Ignoring new targets: 199.37 m.gg- ProNav: ac range: 199.370926 m, nav range: 190.549225 m, bearing: 96.224491 deg, approach rate: -0.651338 m/s, LOS rate: -0.007429 deg/s, cmd heading: 93.010900 deg, new cmd heading: 93.005221 deg. g-Y5HeadingCmd: 1.623247 target range: 199.370926 and range: 200.50 m.g5?g1g1g1g99zfArfAfAfABdIdIdIcIcU`0?ɢBnW 顭4I _"ɡiIلA8=ԙD- D- D- -D) E- D: E- :6E- t4:E) !5 @!5 @!5 @!5 @IQ Ia Nm > c,0{)Ay6?ٱ6?6Tn69=6HX;@XD??d2`QPͿ?D??I6?)6I];i6CNB9R!I)T VABDZ6DZYb =!bJ=bQ)f>d9d9fGYfFjAj>lQ 1rt4٪n!ԡ?Q 5rt4n  n!B9pYr?Q Ev?ynxC)n;In;in&t4YzĶBzKAz{E)Q UAԡ]B*** querying acoustic contact ***zhahagFNOT Ignoring new targets: 199.37 m.gCgC縝 ProNav: ac range: 199.370926 m, nav range: 190.289108 m, bearing: 96.221577 deg, approach rate: -0.563319 m/s, LOS rate: -0.006318 deg/s, cmd heading: 93.005217 deg, new cmd heading: 92.999382 deg. g9HeadingCmd: 1.623145 target range: 199.370926 and range: 200.50 m.g;?ggggzfrfffBdddcc`@ɢEBEW[P ESJA ;6=II IY N > BEMg4JEMʣf4REM0D D D .D E  E $:6E ـ4:E "E 1AXA"#A)z!;=EQ)>99GYA>Q 1t4٪С?Q 5t4 FB9-?Q A:Y?Q E?y@yC)7:I*:i86t4YAg!-FNOT Ignoring new targets: 199.37 m.g-4wg-4w= ProNav: ac range: 199.370926 m, nav range: 190.001526 m, bearing: 96.216430 deg, approach rate: -0.753625 m/s, LOS rate: -0.013508 deg/s, cmd heading: 92.999384 deg, new cmd heading: 92.989075 deg. gEŹEHeadingCmd: 1.622966 target range: 199.370926 and range: 200.50 m.gMV?gIgIgIgIzfIrfIfQfQBdQdYdYcYc]@ɢ$B8V 額(I #ɡiI=AmX4=IIN>y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701248,;|)Ay6 ?ٱ6t?6p6=6H%'b?C?\6vͿ@k? ?@U?I6 ?)6];i6CvB9vG"IBD~6D~kY->!5T=5Q)5>1999=GY=F=.AE>IQ 1]t4٪M̡?Q 5]t4M MgB9aYiQ Em?yMyC)M;IM;iMCt4YB+AgFNOT Ignoring new targets: 199.37 m.gSgS ProNav: ac range: 199.370926 m, nav range: 189.748520 m, bearing: 96.211889 deg, approach rate: -0.643909 m/s, LOS rate: -0.011573 deg/s, cmd heading: 92.989078 deg, new cmd heading: 92.979983 deg. gqHeadingCmd: 1.622807 target range: 199.370926 and range: 200.50 m.g%"?g)g)g)g1qDDDDE: E:6E:E!@!@!@!@zf1rfffBdddcc@ɢ]3BeO ae!Ii m6$ɡiI i95ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.955923>A 6=I I N > ,|)Ay>?ٱ>?>~p>$=>H@S?? [CͿ`F??`?I>?)>|^;i>CFB9Fn"IiJ=IJ==Mb@Mb@Mb@ 9)9I9i99=Dl?V-?!eG=e׀Q)e>i9i9mGYmFmAu>qQ 1t4٪u ɡ?Q 5t4u uB9G.?Q A:Y?Q E?yuyC)u:Iu:iuQt4YAg1=FNOT Ignoring new targets: 199.37 m.g=Mg=MM ProNav: ac range: 199.370926 m, nav range: 189.478592 m, bearing: 96.208263 deg, approach rate: -0.647151 m/s, LOS rate: -0.008705 deg/s, cmd heading: 92.979980 deg, new cmd heading: 92.972718 deg. gM~uHeadingCmd: 1.622680 target range: 199.370926 and range: 200.50 m.g}?gygygygyzfyrfyffBdddcc`F& @BDAT read: Rx Time:05:19:43.1089 TRx dataTimestamp_ set to:1755839984.540535checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206412ɢABP I >$ɡ!i!I%O~B]ۍCB];#IB]BB] =BYBYB]g;B]=(E)iDDD0DE: E n:6E4:E"E<Am ǚ5=ԁAAIIN?,z=|)Ay:`ϲ?ٱ:*?:W@r:'=:H@0@`??`Ϳ@?dӡ??I:`ϲ?):^I_;i:CF+B9F"IBDN6DNkYV=!V$=VaQ)V>ZK?9ZK?9ZGYX^A^>`Q 1ft4٪bġ?Q 5ft4bq bB9dYf?Q Ef?ybzC)b>:Ib:ibgct4YnqBnAnqEgFNOT Ignoring new targets: 199.37 m.g $g $ ProNav: ac range: 199.370926 m, nav range: 189.150528 m, bearing: 96.203931 deg, approach rate: -0.680843 m/s, LOS rate: -0.009007 deg/s, cmd heading: 92.972719 deg, new cmd heading: 92.964040 deg. g݃HeadingCmd: 1.622529 target range: 199.370926 and range: 200.50 m.g?ggggzfrfffBdddcc@+@DAT read: 05:19:43.1089 LVL= 32496, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.26,-1.288,-2.931,-1.239,-1.757, PHS= 0.571,-1.130, 0.474, RAW= 147.1, 1.0, CAL= 146.4, 0.9, ROT= 3.6, -0.9 Ygot valid direction response: 05:19:43.1089 LVL= 32496, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.26,-1.288,-2.931,-1.239,-1.757, PHS= 0.571,-1.130, 0.474, RAW= 147.1, 1.0, CAL= 146.4, 0.9, ROT= 3.6, -0.9 PDAT read: Bearing 246.3, 17.8 (Local) ~Local bearing/azimuth received: Bearing 246.3, 17.8 (Local) DAT read: Range 11 to 50 : 198.0 m (Round-trip 264.1 ms) speed 0.7 m/s ,DAT read: user:7418> BDAT read: Tx time:05:19:44.1907 $Ping request sent.iUO$@U5UŔ U=)UiQQ:publishing transmit ping timeYFpublishing direction and range info9QUN??y&?QQiQQQQQ Q)QIQiQQQQQ QiQQIU|NI|?b#?;]?QQ Q)QiQQɢ=TBE".I 顥I 5%ɡiI[A}31=bAlAZAyAIIN?@,-a|)Ay6ˮ?ٱ6?6r6F=6HK@9? O?` Ϳ?@ ??I6ˮ?)6`_;i6C>KB9B"IvBU>~BQBU#IBUBBQBQBQBUg;BU\(E Mb@Mb@Mb@ ) I i    rh?ʡE?y&1? ,? -= `e99GYFߺA>Q 1t4٪3?Q 5t4 BԱ9.?Q A:Y?Q E?y|zC)4;I4;iwt4YAhhB|)AhDChDChN?z ?h@Nʸ(@]z@jN??y&?h=hx[4!0%Эg@0(H@rƭr?Ԁ?hn=Ch%h.?hQ hsB*i2iH3:ibBi =C"i_?e addTargetRange:: Added new target pos. range: 198.000000 m, deltaT: 3.782294 s, deltaX: -2.500000 m, approachRate: -0.660975 m/s, rangeRepo size: 4  Added new target pos. range: 196.884003 m, bearing: 96.181833 deg, lat: 36.779286 deg, lon: -121.859667 deg, deltaT: 3.782294 s, deltaX: -2.486923 m, approachRate: -0.657517 m/s, posRepo size: 4 gFNOT Ignoring new targets: 196.88 m.ggD D D .D E : E 6E ـ4:E "E #Ae S,=aAIIN? ,J|)Ay:?ٱ:r?:Ss:=:H , 2ͧ?`?~Ϳk'? ?-?I:?):#_;i:CFyB9F"IBDN6DN:YV]>>!V'=ZTȺQ)Z>X9\9^GY^F^FA^>`Q 1ft4٪b}?Q 5ft4b3z bB9hYj}?Q Ej?ybzC)bn;Ib;ibt4YlnAp~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 196.88 m.g}g}% ProNav: ac range: 196.884003 m, nav range: 188.718079 m, bearing: 96.180665 deg, approach rate: -0.675519 m/s, LOS rate: -0.013831 deg/s, cmd heading: 92.953240 deg, new cmd heading: 92.940146 deg. g-ʹHeadingCmd: 1.622112 target range: 196.884003 and range: 198.00 m.gZ?ggggzfrfffBdddcc?ɢ}xB}FG 顅\I UY&ɡrDjD%=DDD2DE: E6E4:E!@!@!@!@iIVAI I N% >Q &,`|)Ay>?ٱ>}?>$Es>=>HD >9??D2_Ϳ?ޘ?Y?I>?)>^;i>CFB9F&#I%Mb@Mb@Mb@ !)!I!i!!%oʡ?{Gz? rh?%-?%ף=%C!e@=e:Q)e>i9i9mGYmFmAm>qQ 1t4٪u?Q 5t4ur u=B9Q.?Q A:Y?Q E?yu{C)uz%;Iu:iut4Y/AgFNOT Ignoring new targets: 196.88 m.g Kg K ProNav: ac range: 196.884003 m, nav range: 188.439026 m, bearing: 96.175950 deg, approach rate: -0.655686 m/s, LOS rate: -0.011095 deg/s, cmd heading: 92.940146 deg, new cmd heading: 92.930703 deg. goHeadingCmd: 1.621947 target range: 196.884003 and range: 198.00 m.g?ggggzfrfffBdddccf?1ɢBF 顥I ^&ɡiI\ɚ~BB#IBNBB =BBBh;Bv(Eim9qqu 0qaDDD/DE; E:6EJ4:E"E @A+,=ԩrA ?jA?I dG) ~nAI) i] ] ~nA] խAIi Iy N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751192Թ *,,;|)Ay6(x?ٱ6m?6ns6t=6H 4ܤ֚?? Ϳ`$?M??I6(x?)6j^;i6CbÄB9bK#IBDj6DjYr>!rR=vչQ)v>t9t9vGYtzAz>Q 1-t4٪$?Q 5-t4Dl aB9)Y-?Q E-?yX{C)i%;I;int4Y5/B=A=hEgaeFNOT Ignoring new targets: 196.88 m.gmaIgmaI} ProNav: ac range: 196.884003 m, nav range: 188.182083 m, bearing: 96.171636 deg, approach rate: -0.654439 m/s, LOS rate: -0.011004 deg/s, cmd heading: 92.930700 deg, new cmd heading: 92.922060 deg. g}HeadingCmd: 1.621796 target range: 196.884003 and range: 198.00 m.g?ggggzfrfffBdddcc ?ɢB+E ѾI 'ɡiIAIIN%>bDZDDDD-DED: E:6Et4:E!@!@!@!@ 9 ^3,Y|)Ay6a?ٱ6W?6r6=6HN@ !?`? Ϳ.?`ѥ??I6a?)65^;i6CNB9Rx#IBDZ6DZNYb7>!bM=b:Q)b>d9d9fGYfFfvAj>hQ 1~t4٪j?Q 5t4je jB9 Y ?Q E ?yj{C)jY;Ijc;ijFt4Y&BAgEg9EFNOT Ignoring new targets: 196.88 m.gEYFgEYFU ProNav: ac range: 196.884003 m, nav range: 187.922195 m, bearing: 96.167314 deg, approach rate: -0.650852 m/s, LOS rate: -0.010838 deg/s, cmd heading: 92.922060 deg, new cmd heading: 92.913405 deg. gUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255367HeadingCmd: 1.621645 target range: 196.884003 and range: 198.00 m.g?ggggzfrfffBd d d c c `H2@ɢB@ ɺI X'ɡiIOA .=bA kAZA mAI! I1 NM >D D D )D E %; E :6E FA4:E "E K!<=;Q)>99GYF[%A>Q 1t4٪?Q 5t42^ B9+?Q A:Y$?Q E?y{C)(;I~(;i|t4YAg FNOT Ignoring new targets: 196.88 m.guPg}P ProNav: ac range: 196.884003 m, nav range: 187.640808 m, bearing: 96.162409 deg, approach rate: -0.653121 m/s, LOS rate: -0.011402 deg/s, cmd heading: 92.913406 deg, new cmd heading: 92.903581 deg. g𦹝HeadingCmd: 1.621473 target range: 196.884003 and range: 198.00 m.gq?ggggzfrfffBdddcc@ɢUBU> Y]IY ],'ɡYiYI]>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760254iAAAE0Aԙ>A #'= I I N >@,})A&BDAT read: Rx Time:05:19:46.8556 &TRx dataTimestamp_ set to:1755839988.068811*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012669yB7?ٱBJ-?BOCqB8=BH㣿w?Q? Z@DͿ.?g֡??IB7?)B];i@TZ,B9b#I)l nABDv6DvYO>!V= ":Q)>99GY%A%>)Q 1=t4٪-G?Q 5Et4-W -͞B9AYE?Q EM?y-"|C)-k;I-l;i-t4YAB*** querying acoustic contact ***zhhg!-FNOT Ignoring new targets: 196.88 m.g-Bg-B] ProNav: ac range: 196.884003 m, nav range: 187.392670 m, bearing: 96.158087 deg, approach rate: -0.609761 m/s, LOS rate: -0.010635 deg/s, cmd heading: 92.903584 deg, new cmd heading: 92.894928 deg. geeHeadingCmd: 1.621322 target range: 196.884003 and range: 198.00 m.gm~?gigigigizfirfiDDD0DE: E&p:6E4:E!@!@!@!@ffBdddcc@ɢEBMC< 顕I 'ɡiIAM $=) Ii Iy N >G,})Ay63?ٱ6j)?6p6P =6HգA?`|? tTͿ`?U?"?I63?)6s];i6CBEB9B#I|eMb@Mb@Mb@ a)aIaiaaeDl?ʡE?Q?eO-?e-=eu99GYF˓A>Q 1t4٪O?Q 5t4P B9.?Q A:Y?Q E?yi|C):I:it4YAgFNOT Ignoring new targets: 196.88 m.gygy ProNav: ac range: 196.884003 m, nav range: 187.116760 m, bearing: 96.152699 deg, approach rate: -0.698075 m/s, LOS rate: -0.013651 deg/s, cmd heading: 92.894930 deg, new cmd heading: 92.884139 deg. gǹHeadingCmd: 1.621134 target range: 196.884003 and range: 198.00 m.gR?gggg zf rf f fBdddcc @ɢ̅B+; DI (ɡiI5~BB$IBBB =BBrDBg;BY(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536274i-$=)R?))BE-ـ4JE-ŋ|4RE-g0DDD)DED: E~:6EFA4:E"E1A% "=rA- ?jA- ?ԉ 5 DAT read: 05:19:46.8556 LVL= 29984, 32753, 28482, 31843, AGC= 65, IDX= 411, 0.38,-2.716, 1.906,-2.643, 3.121, PHS= 0.548,-1.169, 0.475, RAW= 147.9, 1.8, CAL= 147.0, 1.7, ROT= 3.0, -1.7 = Ygot valid direction response: 05:19:46.8556 LVL= 29984, 32753, 28482, 31843, AGC= 65, IDX= 411, 0.38,-2.716, 1.906,-2.643, 3.121, PHS= 0.548,-1.169, 0.475, RAW= 147.9, 1.8, CAL= 147.0, 1.7, ROT= 3.0, -1.7 E PDAT read: Bearing 247.2, 17.2 (Local) E ~Local bearing/azimuth received: Bearing 247.2, 17.2 (Local) U DAT read: Range 11 to 50 : 195.6 m (Round-trip 260.8 ms) speed 0.6 m/s ] ,DAT read: user:7419> ] BDAT read: Tx time:05:19:47.9407 e $Ping request sent.e i 4%@ = Y3$@ < PwV=  i  I !a H?ܕ:3?oИTj? > _  PwV=) i   :publishing transmit ping timeYa  Fpublishing direction and range info9  E&,?gȪ? `?  i      ) I i      i  I !a H?ܕ:3?oИTj?   ) i  IA IQ N] >m@M,ݔ7})AQyF?ٱ!8=;Q)>99GYF:A>Q 1t4٪ ?Q 5t4H B9 Y ?Q E ?y|C) ;I ;i=t4YMBeAe^Eh)h-E4})Ah-BCh-BCh-?z-pDh@ցZY$@y܈@j-E&,?gȪ? `?h-PwV=h--Dn̜1Acl_g@( MI@r-"ij\?+瓦?h-:Ch-=h-ڛ?h-h-B*i-<?2i-:i-Bi-AY I I N >#T,]Q})AwB9)$Ii%=I%=BD-6D-Y=?=!Eg=EQ)E>I9I9MGYIMAU>QQ 1]t4٪U?Q 5et4UB U9B9aYaQ Ee?yU|C)U;IUr;iUot4YimAqgFNOT Ignoring new targets: 194.50 m.gg ProNav: ac range: 194.499802 m, nav range: 187.800827 m, bearing: 96.048577 deg, approach rate: -0.696149 m/s, LOS rate: -0.014048 deg/s, cmd heading: 92.871366 deg, new cmd heading: 92.862084 deg. g͹)߹ ߹HeadingCmd: 1.620749 target range: 194.499802 and range: 195.60 m.gt?ggggzfrfffBdddccB?ɢB 9  V\I  )r(ɡiIA)=IYIiNu>vB ~B B %IB 8BB B B qDB g;B <(E9 D D D 5D E : E ?:6E 4:E "E {>!mG=u;Q)u>q9q9GYFj;A>Q 1u4٪?Q 5u4; `B9)2?Q A:YB?Q E?y9}C) ;I7 ;i8 u4YAg15FNOT Ignoring new targets: 194.50 m.g=~g=~M ProNav: ac range: 194.499802 m, nav range: 187.516800 m, bearing: 96.042683 deg, approach rate: -0.669946 m/s, LOS rate: -0.013925 deg/s, cmd heading: 92.862084 deg, new cmd heading: 92.850277 deg. gM˹UHeadingCmd: 1.620543 target range: 194.499802 and range: 195.60 m.gUm?gQgYgYgYzfYrfYfafaBdadadacicm?ɢB3 顝"I c(ɡiIw AuK'=qbAyZA}gAIIN>ԙ 8a,})Aix>Ik?yz?ٱzy?z~iz0=zH ?R`F ?M$?j j̿ ?π?N$?Iz?)z];izC ąB9 $IBD6D Y-)>!-N=-u5;Q)->19195GY1=K;A=>AQ 1Mu4٪Eϔ?Q 5Mu4E4 EB9IYMe?Q EM?yE{}C)Eu:IE:iEu4YY]AYgFNOT Ignoring new targets: 194.50 m.gZgZ ProNav: ac range: 194.499802 m, nav range: 187.259628 m, bearing: 96.037245 deg, approach rate: -0.672768 m/s, LOS rate: -0.014245 deg/s, cmd heading: 92.850275 deg, new cmd heading: 92.839384 deg. gйHeadingCmd: 1.620353 target range: 194.499802 and range: 195.60 m.gg?ggggzfrfffBdddcc`?ɢBR1 XI (ɡD}D}D}*DyE}D: E}:6E}(N4:Ey!@!@!@!@ԑiI`A.=Ia I N > "sg,?})Ay6Dz?ٱ6a?6h6PK5=6H `N?%?ǫ`S̿?@y?%?I6Dz?)6,];i6CBB9B$I)D DMb@Mb@Mb@ )Iigfffff?ˡE?Mb?33?=!-H=5;Q)5>1999=GY=F=RC;A=>AQ 1Mu4٪E?Q 5Mu4E- EB9Ux4?Q AU:YU?Q EU?yE}C)E ;IE ;iE$u4Y]BeAeTEB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 194.50 m.g-rVg5rVE ProNav: ac range: 194.499802 m, nav range: 186.981262 m, bearing: 96.032270 deg, approach rate: -0.654734 m/s, LOS rate: -0.011718 deg/s, cmd heading: 92.839380 deg, new cmd heading: 92.829417 deg. gEEHeadingCmd: 1.620179 target range: 194.499802 and range: 195.60 m.gMb?gIgIgIgizfirfqfqfqBdqdydycyc}`?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.vB~BBn%IBBBBBrDB\g;B(EɢB- C;页I (ɡiI$A 3= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004368A I I N >Tm,߸})Ay:J?ٱ:?:g:8=:H`h@VG?&?xd̿@?|?'?I:J?):];i:CBB9B$IBDj6DjYrC>!rQ=r;Q)v>t9t9vGYvFz K;Az>|Q 1u4٪~K?Q 5u4~& ~˟B9Y(?Q E ?y~~C)~:I~6:i~2u4YB.ASEg9EFNOT Ignoring new targets: 194.50 m.gEJngEJnU ProNav: ac range: 194.499802 m, nav range: 186.714874 m, bearing: 96.027401 deg, approach rate: -0.711280 m/s, LOS rate: -0.013021 deg/s, cmd heading: 92.829415 deg, new cmd heading: 92.819662 deg. gU]HeadingCmd: 1.620009 target range: 194.499802 and range: 195.60 m.g]r\?gYgagagazfarfafifiBdididqcqcu`@ɢB&* 顥`ǼI  (ɡiI'Aп8=rA ?jA?DDD1DE: E&p:6E-4:E!@!@!@!@ԙ A I I N% >`rt,})Ay6?ٱ6?6f68>=6H@bb1`?@'? ;F@#G̿[?@*?(?I6?)6R];i6C@B)B9B%IBDJ6DJYR>!RO=V;Q)V>T9T9VGYTZY;AZ>\Q 1bu4٪^?Q 5bu4^ ^B9`YfQ?Q Ef?y^L~C)^;I^-:i^U@u4Yhj½Ahg|~FNOT Ignoring new targets: 194.50 m.gigi ProNav: ac range: 194.499802 m, nav range: 186.446091 m, bearing: 96.022370 deg, approach rate: -0.681733 m/s, LOS rate: -0.012778 deg/s, cmd heading: 92.819662 deg, new cmd heading: 92.809586 deg. gHeadingCmd: 1.619833 target range: 194.499802 and range: 195.60 m.gV?gg!g!g!zf!rf!f)f)Bd)d)d)c1c5 @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508435ɢ(B( 顝:I (ɡiIf=>Թi0vB >~B ڍCB %IB ˆBB =B B pDB )g;B 'EiU >IU 4=] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761653>Am l;= D D D ,D E : E :6E g4:E "E {>Bz,Ѐ})Ay>H??ٱ>5?>#$f>DF=>H@3`@B?(?`or)̿?=2?(?I>H??)>)];i>Cb>B9f%Iij=Ijp=lUMb@Mb@Mb@ Q)QIQiQQU&1?I +?Mb?U0?U9=QIUM"AiU(AU~@AU/A)QU3'ABDm6Dm1Y}=!}==8:Q)>99GYFL,;A>Q 1u4٪5?Q 5u4. B9_2?Q A:Y?Q E?y~C)%;I;ijOu4YkAg%=i!eFNOT Ignoring new targets: 194.50 m.I}G)"oAgIi"oALAg ProNav: ac range: 194.499802 m, nav range: 186.155685 m, bearing: 96.015891 deg, approach rate: -0.672641 m/s, LOS rate: -0.015029 deg/s, cmd heading: 92.809587 deg, new cmd heading: 92.796610 deg. g ܹHeadingCmd: 1.619606 target range: 194.499802 and range: 195.60 m.g CO?g g g g zf rf1fAfABdididqcqcu@ɢ6Bu' A B=ԑ rDjD<DDD2DE2: E?:6E4:E!@!@!@!@IIIYNm? ,V ~)Ay6c?ٱ6Y?6{e6TK=6H?H)?bĮ@J̿$v?ը? )?I6c?)6S^;i6CBaB9BH%IBDJ6DJYRv>!R+=V:Q)V>T9T9ZGYZFZ;AZ>\Q 1bu4٪^b?Q 5bu4^Q 9ftI ^?B9dYf?Q Ef?y^~C)^:I^:i^`u4QY5XBUۻA]JEgFNOT Ignoring new targets: 194.50 m.gfgf ProNav: ac range: 194.499802 m, nav range: 185.834030 m, bearing: 96.008586 deg, approach rate: -0.645583 m/s, LOS rate: -0.014688 deg/s, cmd heading: 92.796610 deg, new cmd heading: 92.781974 deg. g ׹HeadingCmd: 1.619351 target range: 194.499802 and range: 195.60 m.gF?ggggzfrfffBdddc c Y @ɢ}EB% 顅^=I (ɡiI4 BDAT read: Tx time:05:19:51.6907 Ա$Ping request sent.i=O$@=4QO= iIS`H?_SɄ?m64?> 4QO=)i:publishing transmit ping timeY Fpublishing direction and range info9|x?, ?Iz?i )Ii iIS`H?_SɄ?m64? )i>Ae -B= IA IY Nu >vB >~B ؍CB /&IB BB =B B B Cg;B 'EBBڍCB˔CBB˦ =Bˮ5:,R&~)AyJi]?ٱJ0S?JeJM=JH!kl6?`p*?䳮̿@+c? ?)?IJi]?)J0];iHVB9Vy%IԩMb@Mb@Mb@ )Iim?(\µ?Zd;O?.?=jAA)$ABD6DNY0>!6=:Q)>99GYF-4A->1Q 1=u4٪5{?Q 5=u45  5hB9= 0?Q AE:YE?Q EE?y56C)5s:I5f:i5ou4DUDUDU,DQEU: EUk:6EUg4:EQ"EU=--A<H=I I!N5>,F~)Ay:e?ٱ:[?:c:1DO=:H茨`@j?@!,?@ٮ˿C? B?+?I:e?):ж];i:CBB9F%I)H HBDN6DNYv=!v0=z ;Q)z>x9x9~GY|~:A~>Q 1 u4٪zw?Q 5 u4& B9Y?Q E?yC):I:iu4YٺA!=B*** querying acoustic contact ***zh9h9gQUFNOT Ignoring new targets: 191.91 m.g]g]u ProNav: ac range: 191.906494 m, nav range: 185.170578 m, bearing: 95.699253 deg, approach rate: -0.691105 m/s, LOS rate: -0.016292 deg/s, cmd heading: 92.768702 deg, new cmd heading: 92.754357 deg. g}HeadingCmd: 1.618869 target range: 191.906494 and range: 193.00 m.g7?ggggzfrfffBdddcc?ɢaB  >I }(ɡiI_A G=I I N >,b~)AyBf?ٱB\\?B~bBTA=BH󑨿 `?@@.?x@˿??.?IBf?)B];iBCNÆB9N%I-Mb@Mb@Mb@ )))I)i))-Cl?~jt?~jt?-/?-=-!6=,;Q)>99GY Ft8A>Q 1u4٪`s?Q 5u4L B91?Q A:Y?Q E?vB~BB&IBdBB =BBoDBNg;B'E9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.157980yC)=I=iďu4YRAgFNOT Ignoring new targets: 191.91 m.g-[g-[= ProNav: ac range: 191.906494 m, nav range: 184.868576 m, bearing: 95.693442 deg, approach rate: -0.622566 m/s, LOS rate: -0.011999 deg/s, cmd heading: 92.754358 deg, new cmd heading: 92.742717 deg. g=EHeadingCmd: 1.618666 target range: 191.906494 and range: 193.00 m.gEq0?gAgAgAgzfrfffBdddcc{?ɢpB, 顥%>I vS(ɡiIj-<BEMt4JEMȂ4REMP0DDD.DE2: E|:6Eـ4:E"E*A%I=IIN>8,[~)Ay:Dg?ٱ: ]?:kQa:e.=:H`F?0?W@N˿"?!H?;3?I:Dg?):f];i:CBB9B%IBDN6DNf?YV>!V4=V-N;Q)V>X9X9ZGYZ!F^A8A^>`Q 1fu4٪bHo?Q 5fu4bu bB9hYj?Q Ej?ybC)b ;Ib!;ibu4YnNBnAnIEg FNOT Ignoring new targets: 191.91 m.g  g   ProNav: ac range: 191.906494 m, nav range: 184.567230 m, bearing: 95.687613 deg, approach rate: -0.722234 m/s, LOS rate: -0.013993 deg/s, cmd heading: 92.742720 deg, new cmd heading: 92.731042 deg. g̹-HeadingCmd: 1.618462 target range: 191.906494 and range: 193.00 m.g-)?g)g)g)g)zf1rf1f1f1Bd9d9d9c9c= w5?ɢm|Bm imP>Iq u )(ɡqiqIu|AXM=Ա A I I) N5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.914057V,p~)AT B9&Ii=I=I)@ABD 6D  Y=4>!E5=UQ)]>i9q9}GYyA>Q 1u4٪k?Q 5u4h  B9YQ E?y7C)L$;IR;iu4Y BA@EgFNOT Ignoring new targets: 191.91 m.gmgm ProNav: ac range: 191.906494 m, nav range: 184.257751 m, bearing: 95.681606 deg, approach rate: -0.668402 m/s, LOS rate: -0.012994 deg/s, cmd heading: 92.731040 deg, new cmd heading: 92.719007 deg. g= HeadingCmd: 1.618252 target range: 191.906494 and range: 193.00 m.g "?g g g g zfrfffBdddcc%LN@ɢ%BAy 額>I 'ɡiIx~BB&IBBB =BBpDB8g;B'EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.166752i9DDD3DE: E:6E4:E"E=--A G=Q Ai Iy I N >x#,i~)A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.418214E8B9MQ&IMb@Mb@Mb@ )IiM?ʡE?~jt?n2?=D!;=Q)>99GY"FA> Q 1u4٪ #g?Q 5u4  /B93?Q A:Y?Q E?y \C) ':I :i u4Y!%QA)gIUFNOT Ignoring new targets: 191.91 m.gUsgUse ProNav: ac range: 191.906494 m, nav range: 183.967926 m, bearing: 95.675960 deg, approach rate: -0.680770 m/s, LOS rate: -0.013284 deg/s, cmd heading: 92.719005 deg, new cmd heading: 92.707695 deg. gm|¹mHeadingCmd: 1.618055 target range: 191.906494 and range: 193.00 m.gmi?gqgqgqgqzfqrfqfyfyBdydydcc@ɢ-B- 15>I1 5'ɡ1i1I5sA JM=A Da De De /Da Ea  Ee :6Ee J4:Ea !u @!u @!u @!} @I9 II NU >Q,~)Ay>G?ٱ>b=?>[>*=>H "`?@:?@7@ʿ >?פ?U=?I>G?)>t];i<JQB9Jp&IBDR6DR1YZ >!Zb=Z{\9\9^GY^#Ff.Aj>xQ 1~u4٪zc?Q 5~u4zc zMB9|Y?Q E?yz|C)z;Iz;izcu4Y  A -B*** querying acoustic contact ***zh)h)g1=FNOT Ignoring new targets: 191.91 m.g=2ogE2oM ProNav: ac range: 191.906494 m, nav range: 183.718750 m, bearing: 95.671177 deg, approach rate: -0.679954 m/s, LOS rate: -0.013070 deg/s, cmd heading: 92.707694 deg, new cmd heading: 92.698115 deg. gU[UHeadingCmd: 1.617887 target range: 191.906494 and range: 193.00 m.gU?gYgYgYgYzfYrfafafaBdadidicicm@ɢB'H 顝>I `e'ɡiI(Up>i9 0Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.922250ԁ>ArA ?jA?IIN>ԩ vBm >~Bm ٍCBm <'IBm BBi Bi Bi Bm f;Bm 'E% BDAT read: Rx Time:05:19:54.3488 - TRx dataTimestamp_ set to:1755839995.628420- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.175142M/,з~)A2PExceeded connect timeout, disconnecting.@yN,K?ٱN@?N"YN#=NH3 G?>?@D ` ʿ? ? A?IN,K?)NzY];iNCvvB9v&IxixD%D%D%1D!E%: E%1:6E%-4:E!"E%3!E3=M};Q)M>I9I9UGYQUz9AU>YQ 1eu4٪]_?Q 5eu4] ]rB9m0?Q Am:Ym ?Q Em?y]C)]:I]f:i]$u4Yq}YAygFNOT Ignoring new targets: 191.91 m.gygy ProNav: ac range: 191.906494 m, nav range: 183.416626 m, bearing: 95.665043 deg, approach rate: -0.670530 m/s, LOS rate: -0.013636 deg/s, cmd heading: 92.698118 deg, new cmd heading: 92.685830 deg. gǹHeadingCmd: 1.617673 target range: 191.906494 and range: 193.00 m.g?ggggzfrfffBdddcc? @ɢEBEZ/ AE>II Mv'ɡIiiImkAM wEF=I I N > ,n)AlDAT read: 05:19:54.3488 LVL= 26944, 28017, 27474, 30755, AGC= 64, IDX= 406,-0.36, 2.004, 0.306, 2.059, 1.569, PHS= 0.537,-1.218, 0.446, RAW= 147.3, 2.8, CAL= 146.6, 2.8, ROT= 3.4, -2.8  Ygot valid direction response: 05:19:54.3488 LVL= 26944, 28017, 27474, 30755, AGC= 64, IDX= 406,-0.36, 2.004, 0.306, 2.059, 1.569, PHS= 0.537,-1.218, 0.446, RAW= 147.3, 2.8, CAL= 146.6, 2.8, ROT= 3.4, -2.8 PDAT read: Bearing 249.3, 16.1 (Local) ~Local bearing/azimuth received: Bearing 249.3, 16.1 (Local) %DAT read: Range 11 to 50 : 190.5 m (Round-trip 254.0 ms) speed 0.4 m/s %,DAT read: user:7421> =BDAT read: Tx time:05:19:55.4407 =$Ping request sent.ECi@iqmRk#x@ x ?)m盿IZ>i"$@+H=#@+H=s=B9 &IrD%=jD%4=D-D-D-.D)E-; E-]t:6E-ـ4:E)!5@!5@!5@!5@ +HiI'Ac?8Ea?`1RԨ?~>ִF s=)+Him:publishing transmit ping timeY9mFpublishing direction and range info9_X?T?s!D?i )Ii iI'Ac?8Ea?`1RԨ?BD6D1Yؑ=!*=Q)>99GY$FA> )iQ 1u4٪[?Q 5u4 B9YQ E?ỳC):Id:i5u4Y-ʴB- A-6Ehhm)Ahl=Chl=Ch?zg@9p&@z "@j_X?T?s!D?hs=h+Hv3gXf@;H@rJsS?&?h5ChDhL⚊?hh8B*i2i:ii7C"i? addTargetRange:: Added new target pos. range: 190.500000 m, deltaT: 3.777609 s, deltaX: -2.500000 m, approachRate: -0.661794 m/s, rangeRepo size: 4  Added new target pos. range: 189.423187 m, bearing: 96.170695 deg, lat: 36.779296 deg, lon: -121.859653 deg, deltaT: 3.777609 s, deltaX: -2.483307 m, approachRate: -0.657375 m/s, posRepo size: 4 g FNOT Ignoring new targets: 189.42 m.g5g1E ProNav: ac range: 189.423187 m, nav range: 183.089340 m, bearing: 95.658375 deg, approach rate: 0.000000 m/s, LOS rate: -0.013636 deg/s, cmd heading: 92.685831 deg, new cmd heading: 92.671933 deg. gAMHeadingCmd: 1.617430 target range: 189.423187 and range: 190.50 m.gM?gIgQgQgqzfqrfqfyfyBdydydcg@c ~?ɢB5 >I ޝ&ɡiIKfA |(H=bA lAZA lAԉ I I N >,D!)AMB9M&IAiAivBu>~BqBu'IBu>BBu =BqBuqDBue;BuQ'EMb@Mb@Mb@ )Ii/$?Dl?y&1?,?O=`e!H=Q)>!9!9%GY%%F)A->1Q 15u4٪5W?Q 5=u45/ 5B9=,?Q A=:Y=?Q E=?y5C)5H;I5H;i52u4YQUuAQgFNOT Ignoring new targets: 189.42 m.gMgM- ProNav: ac range: 189.423187 m, nav range: 182.826843 m, bearing: 95.653937 deg, approach rate: -0.663474 m/s, LOS rate: -0.011232 deg/s, cmd heading: 92.671932 deg, new cmd heading: 92.663044 deg. g5r5HeadingCmd: 1.617275 target range: 189.423187 and range: 190.50 m.g5?g9gYgYgYzfYrfYfafaBdadadicicm`V?nManaging dock network, ignoring radio surface power offɢˆB) >I  D&ɡiIbA JM=Iq I N >5,;)AyF.?ٱFh$?FlPFI %ɡiIg_AQbD?AZDAADDD-DED: E:6Et4:E!@!@!@!@I I N > w,KtU)Ay69?ٱ6]/?6rN6J<6H2I?@P? uqɿ?@Ř?@W?I69?)6];i6C>݇B9>'IBDJ6DJP)`Yj%>!nL=n;Q)n>p9p9rGYr&Fv:W:Av>xQ 1zv4٪zQ?Q 5~v4z zB9|Y~?Q E~?yz,C)zD;Iza;izv4Y nB CA %B*** querying acoustic contact ***zh!h!g15FNOT Ignoring new targets: 189.42 m.g=Jg=JM ProNav: ac range: 189.423187 m, nav range: 182.345123 m, bearing: 95.645853 deg, approach rate: -0.657434 m/s, LOS rate: -0.011091 deg/s, cmd heading: 92.655894 deg, new cmd heading: 92.646853 deg. gMcUHeadingCmd: 1.616993 target range: 189.423187 and range: 190.50 m.gU?gQgQgYgYzfYrfYfafaBdadadicicm@?ɢBt 顝>I N%ɡiI-[AumF=rAjA?vB}>~ByB}'IB}BB} =ByByB}ae;B}'EB=ٍCB=ٍCB=ȓCB=Ȫ =B=Ȫ =B=Ȁ5u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466102I I N A D D D 2D E  E xv:6E 4:E "E 1?ٱ6z4?6K66<6H?T?$x@ɿ.R?m? Z?I6>?)6'];i4NB9R?'IMb@Mb@Mb@ )IiK7?MbX9?!:= ;Q)>99GY'FϽ9A>Q 1v4٪M?Q 5v4= B9|-?Q A:Yt?Q E?yPC):I:i"v4Y#BA,EgFNOT Ignoring new targets: 189.42 m.g g  ProNav: ac range: 189.423187 m, nav range: 182.060379 m, bearing: 95.639697 deg, approach rate: -0.661086 m/s, LOS rate: -0.014313 deg/s, cmd heading: 92.646851 deg, new cmd heading: 92.634522 deg. gѹ%HeadingCmd: 1.616777 target range: 189.423187 and range: 190.50 m.g%?g!g!g)g)zf)rf)f1f1Bd1d1d9c9c=?ɢeBe im?Ii mg%ɡiiiIuxWAJM=I1 IA N > 0,0)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.970768yVuE?ٱV;;?VNIVj=VHk1w@[?X? @Xȿ u??`]?IVuE?)V];iTnB9rg'Izp!EQ=M;Q)M>I9I9UGYQU' :AU>YQ 1ev4٪]I?Q 5ev4] ]0B9iYmw?Q Em?y]rC)]):I]B:i]0v4Yqu"AygIMFNOT Ignoring new targets: 189.42 m.gUxgUxe ProNav: ac range: 189.423187 m, nav range: 181.801758 m, bearing: 95.634084 deg, approach rate: -0.625538 m/s, LOS rate: -0.013597 deg/s, cmd heading: 92.634523 deg, new cmd heading: 92.623279 deg. geǹmHeadingCmd: 1.616581 target range: 189.423187 and range: 190.50 m.gm"?giD}D}D},DyE}: E}|:6E}g4:Ey!@!@!@!@gggzfrfffBdddcc`:@ɢB  ?I $ɡiI;dSAm L=IIN>! ],)Ay?ٱu?PGN=H @4?@D[?sz{ȿ ?`t?.`?I?)];iC-5B9-'IMb@Mb@Mb@ )Ii(\?~jt?~jth?.?=D;IAiGA(A$A)ABD6DNY=!@=;Q)>99GY(F;A>Q 1 v4٪F?Q 5 v4AAvB~BB6(IBˆBBBBB(e;B&E NB9*/?Q A:Y?Q E?yC)CA O=bA jAZA I1 II NU > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726001q V,q)Ay6?ٱ6\?6D6r"=6HGY@(?1^? ,ȿ`ox?Ȣ?`Ic?I6?)6xv];i6CROB9R'IBDZ6DZYb >!b`=b;Q)b>d9d9fGYf)Ff;Aj>hQ 1nv4٪jB?Q 5rv4jÚ jgB9pYr,?Q Er?yjC)j;Ij;ij(Lv4YvBzAxgFNOT Ignoring new targets: 189.42 m.g%g% ProNav: ac range: 189.423187 m, nav range: 181.272842 m, bearing: 95.623077 deg, approach rate: -0.688359 m/s, LOS rate: -0.014551 deg/s, cmd heading: 92.611553 deg, new cmd heading: 92.601236 deg. gչHeadingCmd: 1.616197 target range: 189.423187 and range: 190.50 m.g?ggggzfrfffBdddcc@ɢB % ?I /#ɡiIKAlT=IQIiNu>DDD.DE ; Ev:6Eـ4:E!@!@!@!@ԩ Kl,)AnlB9r'Iiv=Ivp=BDz6DzY%>!-D=-Q)->)9195GY15A5>9Q 1Ev4٪=>?Q 5Ev4= =B9IYIQ EM?y=فC)=:I=:i=Zv4YQUAYuB*** querying acoustic contact ***zhqhqBDAT read: Rx Time:05:19:58.0956 TRx dataTimestamp_ set to:1755839999.408573checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231210gYeFNOT Ignoring new targets: 189.42 m.ge{ge{ ProNav: ac range: 189.423187 m, nav range: 180.993546 m, bearing: 95.617164 deg, approach rate: -0.649349 m/s, LOS rate: -0.013769 deg/s, cmd heading: 92.601239 deg, new cmd heading: 92.589395 deg. gɹHeadingCmd: 1.615990 target range: 189.423187 and range: 190.50 m.g?ggggzfrfffBdԱddcc` @ɢB!  (?I  #ɡ i I-G~BB(IBBB =BBBd;B&E>A|^= U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482381A I) I9 NE >D D D *D E &: E :6E (N4:E "E X;99GY*Fcp;A>Q 1v4٪c:?Q 5v4P B9u,?Q A}:Y} ?Q E?yC) BDAT read: Tx time:05:19:59.1907  $Ping request sent. iY3$@.k#@4QO= A= 4QOiILo{?c  ??b >9H  A=)4QOi5:publishing transmit ping timeY 5Fpublishing direction and range info9't? ?|rQ?i )Ii iILo{?c  ?? )i)QAi8i >A S^=rA ?jA ?ԙ A I I N >, )Ay6?ٱ6?6>671=6H <8?h?B@Cǿ?ܥ?`k?I6?)6r^;i6CRB9V(IBD^6D^Yb}=!bI=f;Q)f>d9h9jGYj+Fj{An>lQ 1rv4٪n66?Q 5vv4nt nB9tYv?Q Ev?ynC)n9:In:inowv4Yx~A|hh2Y)Ah:Ch:ChE?zpӡIg@az(@B-e"@j't? ?|rQ?h A=h4QOv<5^mnjf@wcF@r lK.7i?s8I??hf4Chhk8?hZU{hB*i.?2iP:i2Bi4C"iw?E addTargetRange:: Added new target pos. range: 188.000000 m, deltaT: 3.780007 s, deltaX: -2.500000 m, approachRate: -0.661374 m/s, rangeRepo size: 4 ] Added new target pos. range: 186.939178 m, bearing: 96.713329 deg, lat: 36.779284 deg, lon: -121.859652 deg, deltaT: 3.780007 s, deltaX: -2.484009 m, approachRate: -0.657144 m/s, posRepo size: 4 gY]FNOT Ignoring new targets: 186.94 m.gegau ProNav: ac range: 186.939178 m, nav range: 180.696777 m, bearing: 96.000831 deg, approach rate: 0.000000 m/s, LOS rate: -0.017802 deg/s, cmd heading: 92.573529 deg, new cmd heading: 92.561040 deg. gq}HeadingCmd: 1.615495 target range: 186.939178 and range: 188.00 m.g}?gygyggzfrfffBdDDD0DE7; E:6E4:E!@!@!@!@ddcg@cU,?ɢ1B.׽ 4?I %!ɡiI?ABa= A yAI! I1 Nm >1 P ,%)Ay6OƳ?ٱ6?6zx;61=6H;?'l?gƿM? ݥ?~o?I6OƳ?)61^;i6C>B9B(I)D FAMb@Mb@Mb@ )Ii/$?/$?,?=Ix Ai/A|!AA)AvB}>~B}؍CB}(IB} H?9 H?9GYA>Q 1v4٪1?Q 5v4~ բB9^-?Q A:Y?Q E?yDC):I:iv4YAgFNOT Ignoring new targets: 186.94 m.g*g* ProNav: ac range: 186.939178 m, nav range: 180.410553 m, bearing: 95.994108 deg, approach rate: -0.669628 m/s, LOS rate: -0.015755 deg/s, cmd heading: 92.561043 deg, new cmd heading: 92.547575 deg. g湝HeadingCmd: 1.615260 target range: 186.939178 and range: 188.00 m.g?ggggzfrf!f!f!Bd!d)d)c)c-h?ɢeA% \c=y A] AIa Iq N >0,J?)A y>˰?ٱ>?>9>?,=>H驿@1:?@o? !/ ƿ?~,?ms?I>˰?)>^;i<FΈB9FD(IBDN6DNJYVB>!V[=Z;Q)Z>ZK?9ZK?9^GY^,F^A^>`Q 1fv4٪b7.?Q 5fv4bw bB9hYj?Q Ej?ybcC)b:Ibd:ibv4YrɳBrAr"Eg  FNOT Ignoring new targets: 186.94 m.gލgލ% ProNav: ac range: 186.939178 m, nav range: 180.163315 m, bearing: 95.988339 deg, approach rate: -0.663552 m/s, LOS rate: -0.015504 deg/s, cmd heading: 92.547574 deg, new cmd heading: 92.536021 deg. g%⹝-HeadingCmd: 1.615058 target range: 186.939178 and range: 188.00 m.g-:?g)g)g)g)zf1rf1f1f1Bd9d9d9c9cE`?ɢmFBmXϽ iuC?Iq u ɡqiqIu5&7A(a=bA%lAZA!DDD-DE: Ei:6Et4:E!@!@!@!@Ae yAIq I N > ,Y)Ay6J?ٱ6?666C(=6H`Ӛ?s?Jaƿ ?@?fw?I6J?)68^;i4>߈B9BY(IBDF6DF0PYN=!RK=R\;Q)V>V H?9V H?9VGYTZߺAZ>)` bA\Q 1fv4٪^=*?Q 5fv4^p ^B9hYj?Q Ej?y^C)^S;I^4T;i^v4YlnAl~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 186.94 m.gugu ProNav: ac range: 186.939178 m, nav range: 179.896149 m, bearing: 95.982151 deg, approach rate: -0.661702 m/s, LOS rate: -0.015350 deg/s, cmd heading: 92.536018 deg, new cmd heading: 92.523622 deg. g๝HeadingCmd: 1.614842 target range: 186.939178 and range: 188.00 m.g#?ggggzfrfffBdddcc?ɢRBu=ֽ 額GF?I  ɡiI2~B}׍CB})IB}tBB} =ByB}oDB}{e;B}'EuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.>A|^=) D D D /D E ; E ]t:6E J4:E "E .CI G) "oAI Ai- u- "oA- -AB,ks)Ay>?ٱ>E?>4> /=>H붩` xm?@Iv?`n#$ƿ`Lx?` ?ly?I>?)>];i>CFB9F(IiJ=IJ=-^only read 0 of 1 data item for BIT error. Device response is::TS9072109,35.0, +11.0, 0.0,1493.5, 0 !^@!^ !^@!^ !^@!^ !^@!^ Ib@A)`BDb6DbkYj'>!jG=nĎ;Q)n>p9p9rGYr-Fr:Av>tQ 1zv4٪v+&?Q 5zv4vi vBQ =~+:|9Q A}:Y?Q E?yvC)vR2;Iv>iv5v4Y B A Eg15FNOT Ignoring new targets: 186.94 m.g=Ig=IM ProNav: ac range: 186.939178 m, nav range: 179.623123 m, bearing: 95.975790 deg, approach rate: -0.666433 m/s, LOS rate: -0.015550 deg/s, cmd heading: 92.523621 deg, new cmd heading: 92.510880 deg. gM㹝UHeadingCmd: 1.614619 target range: 186.939178 and range: 188.00 m.gUګ?gQgYgYgYzfYrfYfafaBdadadicicm=?ɢ\BVĽ ǯ顝R?I jɡiI%._=)ګ?)i5911551checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004998)>AUu \=YIQ Ia Nu >ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2568274*#,=F)Ay6?ٱ6w?626i7=6H%w`!_?[y? έſ7?0? {?I6?)6c];i6CNB9R(IBDX6DXYbп=!bL=b;Q)b>d9d9fGYf.FfAj>hQ 1-v4٪j6"?Q 5-v4jb j8BQ =5 :91Q A5M:Y5?Q E5?yj˂C)jKDAJc=rA?jA>Iq I N > TV),))AyVv?ٱVhl?Vf0V8w;=VH ? |?l %ſs?`?~?IVv?)VP];iVCb/B9b(IvB%>~B%؍CB%V)IB%BB% =B!B%pDB%e;B%0'EB؍CB؍CBCBBB6!m!m !u!u !u!u !u!u uMb@Mb@Mb@ q)qIqiqquQ?K?~jthu(?u^=uDIuAiuzAuAu;@)qu ABD6Dk1Y=!==;Q)>99GYSA>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760088Q 1Ev4٪?Q 5Ev4V[ QBQ =ET:9E*?Q AM:YMAe -tY=I I ) A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012470N >y '<0,L)Ay:N?ٱ:dD?:\r.:==:H@s{S?? ̬Q]ſ U?`]??I:N?):];i:CrRB9r(I)| ~ABD 6D NYE23>!MP=U;Q)U>Q9Q9UGY]/FeKAe>iQ 1v4٪m?Q 5v4mT mhB9Y?Q E?ymC)mp;Imq;imPv4YըAgFNOT Ignoring new targets: 186.94 m.ggQ ProNav: ac range: 186.939178 m, nav range: 178.815460 m, bearing: 95.955003 deg, approach rate: -0.677757 m/s, LOS rate: -0.018204 deg/s, cmd heading: 92.483131 deg, new cmd heading: 92.469252 deg. gCHeadingCmd: 1.613893 target range: 186.939178 and range: 188.00 m.g ?ggggzfrfffBdddccZ @ɢ}BN hj?I +ɡiI "A mY=bA ZA mAIy I N >7,5y݀)Ay6J?ٱ6@?6],6VA=6Hf!S?`6?Ȭ'ſ@~?^ۧ?ࠂ?I6J?)6];i4>oB9B )IBDJ6DJܲYR>!RA=R{;Q)R>T9T9VGYV0FV]AZ>\Q 1^v4٪^K?Q 5bv4^yM ^B9`Yb ?Q Eb?y^4C)^:I^:i^v4YfGBj`AjEvB*** querying acoustic contact ***zhthtg|~FNOT Ignoring new targets: 186.94 m.gg ProNav: ac range: 186.939178 m, nav range: 178.539322 m, bearing: 95.947588 deg, approach rate: -0.666779 m/s, LOS rate: -0.017932 deg/s, cmd heading: 92.469252 deg, new cmd heading: 92.454400 deg. gDHeadingCmd: 1.613634 target range: 186.939178 and range: 188.00 m.g?gg!g!g!zf!rf!f)f)Bd)d)d)qccg @ɢBK 's?I! %/\ɡ!i!I%~BٍCB)IBBB =BBqDBce;B 'EuDAT read: 05:20:01.8422 LVL= 27248, 30177, 26610, 32755, AGC= 67, IDX= 402, 0.05, 1.609,-0.121, 1.670, 1.217, PHS= 0.493,-1.293, 0.408, RAW= 147.6, 4.5, CAL= 146.9, 4.8, ROT= 3.1, -4.8 }Ygot valid direction response: 05:20:01.8422 LVL= 27248, 30177, 26610, 32755, AGC= 67, IDX= 402, 0.05, 1.609,-0.121, 1.670, 1.217, PHS= 0.493,-1.293, 0.408, RAW= 147.6, 4.5, CAL= 146.9, 4.8, ROT= 3.1, -4.8 PDAT read: Bearing 251.5, 13.4 (Local) ~Local bearing/azimuth received: Bearing 251.5, 13.4 (Local) DAT read: Range 11 to 50 : 185.5 m (Round-trip 247.4 ms) speed 0.6 m/s ,DAT read: user:7423> BDAT read: Tx time:05:20:02.9407 $Ping request sent.)I`>i$@|٠=$@=k]= iI(F?l[?j֠D?rz>O k]=)i:publishing transmit ping timeYFpublishing direction and range info92R?_[?U]k?i )Ii iI(F?l[?j֠D? )i>A gW=BEt4JEcw4RE.0Dm Dm Dm /Di Em : Em 1:6Em J4:Ei "Em E" ,=,B)Ay6n'?ٱ64?6~*6>y8=6Hjݧ<?`?XĿ@6???I6n'?)60];i6C^B9^#)IUMb@Mb@Mb@ Q)QIQiQQUv/?RQ?Mb`Ux)?U=UIUMAiU3 AUAU@)QU ABDm6Dm:Y}=!}>=}A;Q)>99GYV$A>Q 1v4٪?Q 5v4$F B95+?Q A:Y?Q E?yXC)%;I;iv4YAhIhMcD)AhMt8ChMt8ChM??zMތZ3f@FiL#@y&0.@jM2R?_[?U]k?hMk]=hMMhM@?hMH~FhMB*iM@?2iI:iIiM-2C"iM? addTargetRange:: Added new target pos. range: 185.500000 m, deltaT: 3.779980 s, deltaX: -2.500000 m, approachRate: -0.661379 m/s, rangeRepo size: 4  Added new target pos. range: 184.453400 m, bearing: 95.672909 deg, lat: 36.779292 deg, lon: -121.859652 deg, deltaT: 3.779980 s, deltaX: -2.485779 m, approachRate: -0.657617 m/s, posRepo size: 4 gFNOT Ignoring new targets: 184.45 m.gg- ProNav: ac range: 184.453400 m, nav range: 178.176239 m, bearing: 95.686129 deg, approach rate: 0.000000 m/s, LOS rate: -0.017932 deg/s, cmd heading: 92.454397 deg, new cmd heading: 92.438817 deg. g)5HeadingCmd: 1.613362 target range: 184.453400 and range: 185.50 m.g5?g9g9g9g9zf9rf9fAfABdAdAdIcM0g@cM:?ɢBգ x?I mɡiIGAu eZ=D D D .D E : E ą:6E ـ4:E ! @! @! @! @ԩAAIIN>MaE,ѐ)Ay6?ٱ6?6(6I0=6HSݩ???28@.Ŀ?? c?I6?)6 ];i6CVB9VD)IBD^6D^:Yf=!f/=fi;Q)j>jK?9jK?9nGYn1FnAn>pQ 1vw4٪r ?Q 5vw4r0> rB9tYzy?Q Ez?yrC)r3;Ir;irnw4Y~=B~}A~Eg!-FNOT Ignoring new targets: 184.45 m.g-g-= ProNav: ac range: 184.453400 m, nav range: 177.869446 m, bearing: 95.677065 deg, approach rate: -0.662861 m/s, LOS rate: -0.019617 deg/s, cmd heading: 92.438817 deg, new cmd heading: 92.420659 deg. g=EHeadingCmd: 1.613045 target range: 184.453400 and range: 185.50 m.gE@x?gAgIgIgIzfIrfIfQfQBdQdQdYcYc]@G?ɢBɖ 額h?I ɡiI_~BI BM )IBM !BBM =BI BI BM d;BM &Ea >A `T=q D D D /D E : E ~:6E J4:E "E .jL,M2)AyJв?ٱJ?JS%J},=JH 󉦿@#2?`?EEĿm?@pF??IJв?)J];iHRB9Rf)I-Mb@Mb@Mb@ )))I)i))-HzG?bX9ȶ?MbP?-=*?-E=-:I- Ai- A-A-@))- ABDE6DENY=!.=A;Q)> H?9 H?9GY2F]A>Q 1w4٪&?Q 5w4)6 ΣB9+?Q A:Y?Q E?yC)/;I;iw4YAg FNOT Ignoring new targets: 184.45 m.g ޜg ޜ ProNav: ac range: 184.453400 m, nav range: 177.560379 m, bearing: 95.669044 deg, approach rate: -0.659404 m/s, LOS rate: -0.017143 deg/s, cmd heading: 92.420656 deg, new cmd heading: 92.404586 deg. g%HeadingCmd: 1.612764 target range: 184.453400 and range: 185.50 m.g%o?g!)g)g)g1zf1rf1f1f9Bd9d9d9c9cE@9?ɢmBm qu?Iq ujɡqiqI}QAAԁA AI I N >Ա *R,L)Ay:?ٱ:n?: }":r\,=iB ?IB?:H`K b@&? 6?mÿ9?D??I:?):];i8J։B9J)IBDR6DRYZ>!Z\=^;Q)^>^K?9bK?9bGY`b4Ab>dQ 1jw4٪fx?Q 5jw4f/ fB9lYn?Q En?yfǃC)f ;If ;ifw4YrBvAvEg FNOT Ignoring new targets: 184.45 m.gDgD- ProNav: ac range: 184.453400 m, nav range: 177.315460 m, bearing: 95.662712 deg, approach rate: -0.659634 m/s, LOS rate: -0.017077 deg/s, cmd heading: 92.404584 deg, new cmd heading: 92.391903 deg. g-5HeadingCmd: 1.612543 target range: 184.453400 and range: 185.50 m.g5g?g1g1g1g1zf1rf1f9f9BdAdAdAcAcE8?ɢuBuK qu?Iq }#ɡyiyI} >ԙDDDDE; E&p:6E:E!@!@!@!@i=8AAM/Y>Au L=A yAI I N > O%Y,)\f)A=B9E)Ii<vB>~BB**IBYBB =BBBod;B&EBDE6DEkYu>!}1=Q)> H?9 H?9GY3FA>Q 1w4٪?Q 5w4' B9YQ E?yC):I3;i.w4Y AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 184.45 m.gĜgĜ9} ProNav: ac range: 184.453400 m, nav range: 177.009415 m, bearing: 95.654775 deg, approach rate: -0.659456 m/s, LOS rate: -0.017132 deg/s, cmd heading: 92.391901 deg, new cmd heading: 92.375999 deg. g}HeadingCmd: 1.612265 target range: 184.453400 and range: 185.50 m.g^?gggT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.gzfrfffBdddccC@ɢ%B%= AM?II MɡIiIIM4eA L=)A A E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258077Թ A AI I N >k``,h)Ay6?ٱ6Ʀ?66[=6H ?E?eQ`0ÿp? o?@?I6?)6];i6CB B9B)IMb@Mb@Mb@ )Ii/$?ˡE?I +?,?=94K?9K?9GY4F*A>Q 1w4٪?Q 5w4  B9T-?Q A:YU?Q E ?yC);I;i=w4YAg9=FNOT Ignoring new targets: 184.45 m.gEgE} ProNav: ac range: 184.453400 m, nav range: 176.740646 m, bearing: 95.648888 deg, approach rate: -0.665777 m/s, LOS rate: -0.014605 deg/s, cmd heading: 92.376000 deg, new cmd heading: 92.364208 deg. g}չHeadingCmd: 1.612060 target range: 184.453400 and range: 185.50 m.gW?ggggzfrfffBdddcc@W@ɢEɇBEu IM?II MaɡIiIIMAXR=A A I I) N= >ff,Y)Ay:d?ٱ:)?:8:=:H  ?`B?2 ¿@d???I:d?):];i:CB*B9B)IBDJ6DJܲYR$>!Rb=VT9T9VGYTZ̹AZ>\Q 1bw4٪^?Q 5bw4^ ^*B9`YfN?Q Ef?y^/C)^;I^;i^Iw4YhjFAhechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761932gQ}FNOT Ignoring new targets: 184.45 m.gggg ProNav: ac range: 184.453400 m, nav range: 176.499725 m, bearing: 95.643612 deg, approach rate: -0.644921 m/s, LOS rate: -0.014142 deg/s, cmd heading: 92.364211 deg, new cmd heading: 92.353645 deg. g ϹHeadingCmd: 1.611875 target range: 184.453400 and range: 185.50 m.gQ?ggggzfrfffBdddcc c@ɢmӇBm iuԕ?Iq TɡiI w;IQ?i G=i#O=)Q?)QiԁAAAE@AvB]>~BYB]u*IB]BBYBYBYB]Od;B]&E>AJM=rA ?jA? checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014138ԩ I ԉGD- D- D- +D) E- ; E- M:6E- [4:E) "E- Ai 8Al,5)Ay6n?ٱ63?6{L6+=6H`ǥ1)??娿Y¿?Rţ??I6n?)6];i4@BGB9B*IEMb@Mb@Mb@ A)AIAiAAE rh?ʡE?Mb?EC+?E-=E!m>=upq9q9}GY}5F}A}>Q 1w4٪?Q 5w4/ BB9,?Q A:YC?Q E?yTC):I]:iXw4YѢAgFNOT Ignoring new targets: 184.45 m.g !g != ProNav: ac range: 184.453400 m, nav range: 176.214111 m, bearing: 95.636640 deg, approach rate: -0.670972 m/s, LOS rate: -0.016407 deg/s, cmd heading: 92.353645 deg, new cmd heading: 92.339677 deg. gE4𹝅UHeadingCmd: 1.611631 target range: 184.453400 and range: 185.50 m.gUI?gQgggzfrfffBdddcc @ԩuBDAT read: Rx Time:05:20:05.5888 uTRx dataTimestamp_ set to:1755840006.976527}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266986ɢe߇BeM ae3?Ii mɡiiiIm.;IuI?iuG=iuN=)uI?)yi]9YYe0a >A L=% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5182399 A I I N>0}tbDZDDDD,D E2: E:6Eg4:E !@!@!@!@, ҁ)AAy}I?ٱ}|?}9}_=}H@y`Uy? թ?@Q]b|?M?;?I}I?)}h];i}CYB9+*IBD6DY=! =0]99GY6FRA>Q 1 w4٪?Q 5 w4X  ]B9 Y *?Q E?yC):IB:ijw4Y}B}^A}EgFNOT Ignoring new targets: 184.45 m.g}g} ProNav: ac range: 184.453400 m, nav range: 175.873993 m, bearing: 95.628393 deg, approach rate: -0.654489 m/s, LOS rate: -0.015899 deg/s, cmd heading: 92.339677 deg, new cmd heading: 92.323152 deg. g蹝HeadingCmd: 1.611343 target range: 184.453400 and range: 185.50 m.g}@?ggggzfrfffBdddcc @ɢ%B%Z !%?I! %#ɡ)i)I-";I5}@?i5ȲG=i5lM=)5}@?)9q)ߩ ߩDAT read: 05:20:05.5888 LVL= 32608, 32753, 30290, 32755, AGC= 64, IDX= 400, 0.06, 2.891, 1.122, 2.922, 2.490, PHS= 0.503,-1.323, 0.388, RAW= 146.8, 4.9, CAL= 146.2, 5.3, ROT= 3.8, -5.3 Ygot valid direction response: 05:20:05.5888 LVL= 32608, 32753, 30290, 32755, AGC= 64, IDX= 400, 0.06, 2.891, 1.122, 2.922, 2.490, PHS= 0.503,-1.323, 0.388, RAW= 146.8, 4.9, CAL= 146.2, 5.3, ROT= 3.8, -5.3 PDAT read: Bearing 251.9, 12.7 (Local) ~Local bearing/azimuth received: Bearing 251.9, 12.7 (Local) DAT read: Range 11 to 50 : 183.0 m (Round-trip 244.1 ms) speed 0.6 m/s  ,DAT read: user:7424>  BDAT read: Tx time:05:20:06.6906 $Ping request sent.i(#@%=N#@q=ԇ= qiIKv?g?M4?G>( ԇ=)qi=:publishing transmit ping timeY=Fpublishing direction and range info92 ?{?{]U?i )Ii iIKv?g?M4? )ii]8YY]/aԙ>Au ȷL= vB ~B B *IB ΊBB =B B B Ud;B &EBMٍCBMٍCBM˓CBM˩ =BM˨ =BM˚D5A yAI! I1 NM >c!{,2)AMB9MZ*Iԩ!@! !@! !@! !@! BD6DYi>>!K=Q)> H?9 H?9GYA>Q 1w4٪ꠊ?Q 5w4h sBQ = +:9 Q A ~:Y Q E ?yC);I>ivw4YĠAD-D-D-.D)E-: E-~:6E-ـ4:E)"E-=--A dO=1 A AI I N >",MK?9MK?9MGYM7FUAU>aQ 1mw4٪e砊?Q 5mw4e eBQ =u :9qQ AuN:Yu?Q Eu?yeÄC)eT;IeI?ie~w4YAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 181.97 m.g+g+ ProNav: ac range: 181.969009 m, nav range: 175.898285 m, bearing: 95.965102 deg, approach rate: -0.690610 m/s, LOS rate: -0.015209 deg/s, cmd heading: 92.310369 deg, new cmd heading: 92.299164 deg. g޹HeadingCmd: 1.610924 target range: 181.969009 and range: 183.00 m.g2?ggggzfrfffBdddcc˙?5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ɢuBuHQ qu?Iq }EɡyiyI};I2?iG=iK=)2?)rDE%=jDE<DUDUDQDQEU: EUAr:6EQ:EQ!]@!]@!]@!]@ai9ԑ>A ȷL= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996524 A yAI I N >c+,C")Ay%`?ٱ%U?%h%\=%H mꤿ`zM?0?rUS?@hz??I%`?)%;];i%C5B95*IBDM6DM 8Y]"&>!eG=em H?9m H?9mGYm8FmAm>qQ 1}w4٪u2㠊?Q 5w4u uBQ =99Q A':Y?Q E?yuC)u;Iu?iuXw4YAgFNOT Ignoring new targets: 181.97 m.gg ProNav: ac range: 181.969009 m, nav range: 175.627426 m, bearing: 95.959155 deg, approach rate: -0.669437 m/s, LOS rate: -0.014720 deg/s, cmd heading: 92.299167 deg, new cmd heading: 92.287255 deg. g׹HeadingCmd: 1.610716 target range: 181.969009 and range: 183.00 m.g+?ggggzfrfffBdddcc@?ɢB~;  ?I! %{ɡ!i!I%ݖ;I-+?i-{G=i-K=)-+?)1i0A=<A9vBU>~BQBU*IBUBBQBQBQBU~d;BU&EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247696I>ABEـ4JE#4RELjt0D]D]D]+DYE]: E]:6E] [4:EY"E].qU,<)A yF`?ٱFoV?FF=FH錄 L?@Ϲ?n Q`|¿?`XѢ?"?IF`?)FV];iFC^B9b*I!E!E !M!M !M!M !M!M MMb@Mb@Mb@ I)IIIiIIMi|?5?#~j?~jtx?M1?M=M;IM$@iMlAM AM@)IM@BDe6DeܲYuJ=!uI=u}K?9K?9GY28A>Q 1w4٪uߠ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499686Q 5w4q BQ =T:92?Q A:YL?Q E?y C)q;I>iE8AAE 0I@M=@M=ԙU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752168>Am L= De De De .Da Ee 2: Ee :6Ee ـ4:Ea !m @!m @!m @!u @A I I N >U=,U)APՊB9*Ii!I%=BD-6D-k2YE >!EM=MQ)M>I9I9MGYM9FUAU>YQ 1ew4٪]۠?Q 5ew4]J ]B9iYiQ Em?y]-C)]`:I]:i]yw4YqulAqgFNOT Ignoring new targets: 181.97 m.gaga ProNav: ac range: 181.969009 m, nav range: 175.071075 m, bearing: 95.949302 deg, approach rate: -0.693910 m/s, LOS rate: -0.012329 deg/s, cmd heading: 92.277290 deg, new cmd heading: 92.267519 deg. gHeadingCmd: 1.610372 target range: 181.969009 and range: 183.00 m.g ?ggggzfrfffBdddcc?ɢBT" >?I  rBɡ i I ;I ?iG=i8M=) ?)i9j1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003635>AȷL=I I N >vB= >~B9 B= 7+IB= 3BB9 B9 B= rDB= d;B= &Ey ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255523Dm,to)AyVJ?ٱV??VdV*+=VH@` 2)? ?Tƽ?`ˡ?U?IVJ?)V];iTjB9j*I1eMb@Mb@Mb@ a)aIaiaae?+?~jtx?e,?e=aIe@ieI@edAa)ae=@BD6DY=!?=)99GY:FDDD+DEO: E]t:6E [4:E"E 1Q 1=w4٪5נ?Q 5=w45 5ԤB9=-?Q A=:Y= ?Q E=?y5RC)5:I5 :i5w4YIMAIgquFNOT Ignoring new targets: 181.97 m.g}Sg}S ProNav: ac range: 181.969009 m, nav range: 174.779999 m, bearing: 95.944311 deg, approach rate: -0.673414 m/s, LOS rate: -0.011564 deg/s, cmd heading: 92.267516 deg, new cmd heading: 92.257519 deg. gNHeadingCmd: 1.610197 target range: 181.969009 and range: 183.00 m.g?ggggzfrfffBBdddcc`@ɢ!B"4  ?I  ɡiI;I?iG=iS4K=)?)Yi9i2ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507586>A L=IY Iq N} >Ա P,J)Ay R?ٱ XH?  罹 = H`?&?@8` Ҽ?y? ?I R?) ];i B9*IBD-6D-kYE=!EX=E^"I9I9MGYIM4:AU>QQ 1]w4٪UԠ?Q 5ew4U' UB9aYe?Q Ee?yUrC)UR:IU:iUw4YimΝAqB*** querying acoustic contact ***zhhԙgFNOT Ignoring new targets: 181.97 m.gKTgKT ProNav: ac range: 181.969009 m, nav range: 174.527695 m, bearing: 95.939955 deg, approach rate: -0.670909 m/s, LOS rate: -0.011600 deg/s, cmd heading: 92.257517 deg, new cmd heading: 92.248792 deg. gթHeadingCmd: 1.610045 target range: 181.969009 and range: 183.00 m.g?ggggzfrfffBdddcc@ɢ*B   ?I   ɡiI;I?i.G=i^M=)?)!))checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760563i94@lA@mAD-D-D-.D)E-: E-:6E-ـ4:E)!5@!5@!5@!5@>AIQIaNu> BDAT read: Rx Time:05:20:09.3355  TRx dataTimestamp_ set to:1755840010.505681 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017094! |,)AyuQ?ٱuG?uL߽u-7=uHu??ksۻ?n(?@?IuQ?)u/];iuCB9*I) ABD6D1Y=!B=19195GY5;F=aA=>AQ 1Ew4٪EР?Q 5Mw4E EB9IYm?Q Em?yEC)E;IE;iEw4Yy}AygFNOT Ignoring new targets: 181.97 m.g^Rg^R ProNav: ac range: 181.969009 m, nav range: 174.235077 m, bearing: 95.934894 deg, approach rate: -0.663448 m/s, LOS rate: -0.011495 deg/s, cmd heading: 92.248794 deg, new cmd heading: 92.238655 deg. gKHeadingCmd: 1.609868 target range: 181.969009 and range: 183.00 m.g)?ggggzfrfffBdddccb @ɢ-4B- + )-?I1 5u ɡ9i9IE9;I])?i]UG=i]dM=)])?)avB >~BڍCBi+IB\BB =BBBd;B&E!%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264478i95D5D5D52D1E5V: E5:6E54:E1"E59A L=I I N% >y {,f)AyB?D?ٱB:?Bg׽B'w=BH`JnT?`?~ r>??@?IB?D?)B2];iBC^B9b+IEMb@Mb@Mb@ A)AIAiAAEK7A`?ˡE?{Gzt?E+?E=Eף;IE@iE3@E7AE@)AE@BDe6Dek1Ym0>!mQ=uN!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515794q99GYQ 1w4٪Y͠?Q 5w4 B9K,?Q A:Y?Q E?yC);I;i0w4Y$BAEgYFNOT Ignoring new targets: 181.97 m.gptgpt ProNav: ac range: 181.969009 m, nav range: 173.980698 m, bearing: 95.929916 deg, approach rate: -0.681529 m/s, LOS rate: -0.013357 deg/s, cmd heading: 92.238652 deg, new cmd heading: 92.228681 deg. gùHeadingCmd: 1.609694 target range: 181.969009 and range: 183.00 m.gu ?ggggzfIrfQffBBdddccJ @ɢ >B Ɛ%  ٷ?I sP ɡiI"g;Iu ?i%G=i  BDAT read: Tx time:05:20:10.4406  $Ping request sent. )5 I5 V>i5 S$@1 5 $@5 ޹=5 k]= 5 ޹i1 1 I5 xJ?ͧ)l?V܄?5 >5  5 k]=)5 ޹i1 1  :publishing transmit ping timeY  Fpublishing direction and range info91 5 y[X?僤 ?0L3?1 1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 1 1 i1 1 I5 xJ?ͧ)l?V܄?1 1 1 )1 i1 1 >A dO=I) I9 DE DE DE 3DA EE : EE :6EE 4:EA !U @!U @!U @!U @N] > ɋ,Cׂ)Ayf>?ٱfb4?fϽfPu=fHue>?@G?}'?A?"?If>?)f@];ifCn'B9n(+IBDv6Dv1YF=!G=99GYܹA>Q 1w4٪ɠ?Q 5w4 B9Y?Q E?yۅC);I6;irw4YAhYh]Ђ)Ah]3Ch]3Ch]?z]y6Rf@˙W#@ߴWF0@j]y[X?僤 ?0L3?h]k]=h]޹]r60<6e@{d QA@r]\kkHD?|rU?h]y/Ch]h]1{?h]ah]lB*iY2i]ZU{:i]Bi]-C"i])G? addTargetRange:: Added new target pos. range: 180.600006 m, deltaT: 3.779668 s, deltaX: -2.399994 m, approachRate: -0.634975 m/s, rangeRepo size: 4  Added new target pos. range: 179.585159 m, bearing: 95.247619 deg, lat: 36.779281 deg, lon: -121.859644 deg, deltaT: 3.779668 s, deltaX: -2.383850 m, approachRate: -0.630704 m/s, posRepo size: 4 gԱFNOT Ignoring new targets: 179.59 m.gg ProNav: ac range: 179.585159 m, nav range: 173.965240 m, bearing: 95.915808 deg, approach rate: 0.000000 m/s, LOS rate: -0.013357 deg/s, cmd heading: 92.228680 deg, new cmd heading: 92.217351 deg. gHeadingCmd: 1.609496 target range: 179.585159 and range: 180.60 m.g ?ggggzfrfffBddd!c%@3f@c%W?ɢFBռ 顕r?I CɡiIL`;I?iYG=iL=)?)ie8iim/i >A BJ=vB >~B ٍCB +IB BB B B B d;B &EA yAI I N >,&)ApirCIMG)emAI}AidmAgADDD/DEs: E n:6EJ4:E"E`05 H?95 H?95GY==F=W:A=>AQ 1Mw4٪ESŠ?Q 5Mw4E E(B9Uh-?Q AU:YUk?Q EU?yEC)E ;IE ;iEaw4Y]#B]ݛAYg!EFNOT Ignoring new targets: 179.59 m.gMWgMW] ProNav: ac range: 179.585159 m, nav range: 173.658981 m, bearing: 95.909373 deg, approach rate: -0.671583 m/s, LOS rate: -0.014135 deg/s, cmd heading: 92.217348 deg, new cmd heading: 92.204457 deg. g]ιeHeadingCmd: 1.609271 target range: 179.585159 and range: 180.60 m.ge?gagigigizfirfifqfuՉBBdqdqdqcyc} |?ɢOB~ ?I eɡiI:;I?iG=i&nO=)?)!9i9/a >A ?L=ԑ A1 I9 IQ N] >'#,( )AyfRW?ٱfM?ffq=fHqۤ`R??læ /?5F??IfRW?)f#];ifC~IB9~R+IBD56D5 8Y=+>!=Z=EQ9Q9]GY]>F]W#:A]>aQ 1x4٪e?Q 5x4eO e6B9Yq?Q E?ye#C)e^g>% ProNav: ac range: 179.585159 m, nav range: 173.406036 m, bearing: 95.904026 deg, approach rate: -0.677495 m/s, LOS rate: -0.014343 deg/s, cmd heading: 92.204460 deg, new cmd heading: 92.193750 deg. g-ѹ-HeadingCmd: 1.609084 target range: 179.585159 and range: 180.60 m.g-{?g1g1g1g1zf1rf1f9f9Bd9d9d9cAcEO?aɢuWBuk q}?Iy }:ɡyiyI}_;I{?i}G=iP=){?)rD=jDR=DDD+DE; E|:6E [4:E! @! @! @! @i/ԑ>AE0M=Թ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Aq I I N > D,#&)Ay:k?ٱ:a?:':V#=:H@Z.*@r\??`e඿UW?[?_?I:k?):];i8rLB9rU+IBDz6DzβYz3<!O= q  9 9 GY ;:A>Q 1%x4٪?Q 5%x4u DB9!Y-?Q E-?yEC)d:I:i<x4Y5B5A5ޫEgY]FNOT Ignoring new targets: 179.59 m.gengenu ProNav: ac range: 179.585159 m, nav range: 173.142380 m, bearing: 95.898388 deg, approach rate: -0.696083 m/s, LOS rate: -0.014909 deg/s, cmd heading: 92.193750 deg, new cmd heading: 92.182455 deg. guIڹ}HeadingCmd: 1.608887 target range: 179.585159 and range: 180.60 m.g}?gygggzfrfffBdddcc_?ɢ_BHǼ ?I sɡiI;I?iG=iΡS=)?)vB>~BB+IBBB =BBqDB e;B&EBQBQBQBU¨ =BQBU5iqyy0@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500877D5D5D5/D1E5: E5:6E5J4:E1"E55AXR=1 A I I! N- >Y .,D@)A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752405yB*d?ٱBY?B سB6.=BHW`ܚ?w?9 es?? ?IB*d?)B]S^;iBCndB9ns+IMb@Mb@Mb@ )Iiv/?sh|??x)?=I@i@QAb@)@BD6D02Y-=!-9=-G19195GY5?F=A=>AQ 1Mx4٪E?Q 5Mx4Eզ ERB9M*?Q AU:YU^?Q EU?yEkC)EX;IE ;iE#x4YY] AYgFNOT Ignoring new targets: 179.59 m.g g  ProNav: ac range: 179.585159 m, nav range: 172.848999 m, bearing: 95.892203 deg, approach rate: -0.662658 m/s, LOS rate: -0.013992 deg/s, cmd heading: 92.182453 deg, new cmd heading: 92.170063 deg. g̹HeadingCmd: 1.608671 target range: 179.585159 and range: 180.60 m.g?ggggzfrfffBBdddcc u?ɢiBT) im?Ii m`ɡiiiIuy;Iu?iuG=i}*S=)}?)yi!))-/)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003864>AE Q=ԁ bD! ZD% @AD) D- D- *D) E)  E- Z:6E- (N4:E) !5 @!5 @!5 @!5 @A AI I N >:W,NZ)A0y:L?ٱ:B?:鬽:-D3=:H`r .`I"??@eখ?`CR??I:L?):E^;i8fvB9f+IBDr6Dr:YvN=!za=z~~K?9~K?9~GY|A> Q 1 x4٪ ?Q 5x4  ]B9YF?Q E?y C) :I :i h0x4Y!%ژA!gIMFNOT Ignoring new targets: 179.59 m.gU~gU~e ProNav: ac range: 179.585159 m, nav range: 172.607910 m, bearing: 95.887166 deg, approach rate: -0.663539 m/s, LOS rate: -0.013883 deg/s, cmd heading: 92.170063 deg, new cmd heading: 92.159974 deg. geB˹mHeadingCmd: 1.608495 target range: 179.585159 and range: 180.60 m.gm*?gigigigizfqrfqfqfqBdydydycyc`n@ɢpB 顭h?I _@ɡiIl;I*?iG=i#Q=)*?)}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256707i8ԑ0Թ>A`T=vBu>~BqBu+IBuBBu =BuIDBqBue;Bu&E A yAI! II Nm >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510290ې,xt)Ay>MR?ٱ>H?>7Y>71=>HͤP??Ʃg1??`?I>MR?)>/^;i<D9DPBEIJEMـ4REM0DbDbDb-D`Eb: Eb:6Ebt4:E`"Eb=--m H?9m H?9mGYm@FmN9Au>Q 1x4٪?Q 5x4 jB9,?Q A:Y?Q E?yC):I#:i?x4YטAg1=FNOT Ignoring new targets: 179.59 m.g=gg=gM ProNav: ac range: 179.585159 m, nav range: 172.316071 m, bearing: 95.881628 deg, approach rate: -0.665724 m/s, LOS rate: -0.012654 deg/s, cmd heading: 92.159975 deg, new cmd heading: 92.148880 deg. gMCuHeadingCmd: 1.608301 target range: 179.585159 and range: 180.60 m.g}?gygygygyzfyrfyffÉBBdddcc,@ɢyB0ۼ D?I ɡiI`;I ?i  G=i R=)-?)1i90@=@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760907>AlT=) A I I N >Bx,)Ay6W?ٱ6M?6졽60=6H䤿nۤ?@? Ż`48?? ?I6W?)65^;i6Cb}B9b+IBDj6Dj1Yrp =!rS=v;Q)v>t9t9vGYzAFz9Az>|Q 1 x4٪F?Q 5 x4c uB9 Y ?Q E ?yφC):I6:iLx4YBAݫEgAEFNOT Ignoring new targets: 179.59 m.gMmgMm] ProNav: ac range: 179.585159 m, nav range: 172.062805 m, bearing: 95.876795 deg, approach rate: -0.679832 m/s, LOS rate: -0.012992 deg/s, cmd heading: 92.148882 deg, new cmd heading: 92.139203 deg. g]5eHeadingCmd: 1.608132 target range: 179.585159 and range: 180.60 m.geI?gagagagazfirfififiBdqdqdqcqc}@ɢBz 顭?I ɡiIZS;II?i~G=i߽N>I߽<BDAT read: Rx Time:05:20:13.0821 TRx dataTimestamp_ set to:1755840014.284915checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013443iS=)I?)i5899=>19DDDDEV: E:6E:E!@!@!@!@)>AUO=Yu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264616A AI I N >ԑ [,h)Ay6U?ٱ6J?6276|.=6H@ڤ`@`?\?W ?`??I6U?)6^;i6CBB9B+IBDJ6DJJYR;=!RN=V;Q)V>VK?9VK?9ZGYXZ]\AZ>\Q 1bx4٪^?Q 5bx4^z ^B9dYf?Q Ef?y^C)^:I^:i^Zx4YjbBj:AjӫEzB*** querying acoustic contact ***zhxhxgFNOT Ignoring new targets: 179.59 m.g  kg  k ProNav: ac range: 179.585159 m, nav range: 171.797104 m, bearing: 95.871719 deg, approach rate: -0.671244 m/s, LOS rate: -0.012843 deg/s, cmd heading: 92.139204 deg, new cmd heading: 92.129036 deg. g %HeadingCmd: 1.607955 target range: 179.585159 and range: 180.60 m.g%x?g!g!g!g!zf)rf)f)f)Bd1d1d1c1c5@KI @YɢB ?I ɡiIGfG;Ix?iG=i%T=AAAAvB>~B؍CB+IBыBBBBBIe;B&E)x?)i95ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519427DDD/DE2: E6EJ4:E"E*AlT=A yAI I N- > ,,Eƒ)A>DAT read: 05:20:13.0821 LVL= 28144, 32753, 28626, 32755, AGC= 68, IDX= 411, 0.25, 1.088,-0.699, 1.137, 0.715, PHS= 0.475,-1.368, 0.379, RAW= 147.3, 5.8, CAL= 146.8, 6.2, ROT= 3.2, -6.2 JYgot valid direction response: 05:20:13.0821 LVL= 28144, 32753, 28626, 32755, AGC= 68, IDX= 411, 0.25, 1.088,-0.699, 1.137, 0.715, PHS= 0.475,-1.368, 0.379, RAW= 147.3, 5.8, CAL= 146.8, 6.2, ROT= 3.2, -6.2 VPDAT read: Bearing 252.8, 8.4 (Local) V~Local bearing/azimuth received: Bearing 252.8, 8.4 (Local) bDAT read: Range 11 to 50 : 178.0 m (Round-trip 237.4 ms) speed 0.6 m/s b,DAT read: user:7426> fBDAT read: Tx time:05:20:14.1906 f$Ping request sent.f)IJ >i"$@4Q=(#@k=d= kݽiI `"wG?6H-7@?%¹?b>jν d=)kݽiz:publishing transmit ping timeYdzFpublishing direction and range info9b?,SJi?Niإ?i )Ii iI `"wG?6H-7@?%¹? )iԹy >o?ٱ e? z )= H@D`+??ަq?@"??I >o?) ^;i CEB9E+IMb@Mb@Mb@ )Ii%C?Zd;O?~jtx?Z$?j=;IiZ@@@)(@BD6DܲY5ΰ<!===;Q)=>E H?9E H?9GYBF:A>Q 1x4٪Y?Q 5x4} B9 &?Q A:Y?Q E?yC):Io:iZmx4Y  #A hh ƒ)Ah0Ch0Ch?zle@n#@3@jb?,SJi?Niإ?hd=hkݽ`[@0dve@i7@@r\$^R?}et?h=-Chh&L?h/ݵhxB*i@?2i:iBi+C"iI? addTargetRange:: Added new target pos. range: 178.000000 m, deltaT: 3.780649 s, deltaX: -2.600006 m, approachRate: -0.687714 m/s, rangeRepo size: 4  Added new target pos. range: 176.996506 m, bearing: 95.359399 deg, lat: 36.779292 deg, lon: -121.859637 deg, deltaT: 3.780649 s, deltaX: -2.588654 m, approachRate: -0.684711 m/s, posRepo size: 4 gFNOT Ignoring new targets: 177.00 m.gg- ProNav: ac range: 176.996506 m, nav range: 171.905716 m, bearing: 95.471445 deg, approach rate: 0.000000 m/s, LOS rate: -0.012843 deg/s, cmd heading: 92.129034 deg, new cmd heading: 92.114902 deg. g)5HeadingCmd: 1.607708 target range: 176.996506 and range: 178.00 m.g5c?g1g1g1g1zf9rfYfYfe‰BBdadadace@f@cmw*?ɢB ?I zɡiIB;;Ic?iEH=inW=) c?) kAi80@@D D D .D E : E :6E ـ4:E ! @! @! @! @9 >A bA ZA lAiA%AI9IQNm?@,)Ayb?ٱb}?bb0=bHz m?@?NC@Fұ@:R?@?r?Ib?)b];ibCjB9n+I)p pBDv6DvNY~ <!~L=~;Q)>K?9K?9GYCF ";A >Q 1x4٪?Q 5x4| B9Y?Q E%?y>C)B:I9:izx4Y)- A)gQUFNOT Ignoring new targets: 177.00 m.g]Rg]Rm ProNav: ac range: 176.996506 m, nav range: 171.659393 m, bearing: 95.464090 deg, approach rate: -0.666302 m/s, LOS rate: -0.019925 deg/s, cmd heading: 92.114902 deg, new cmd heading: 92.100170 deg. gmuHeadingCmd: 1.607451 target range: 176.996506 and range: 178.00 m.gu?gqgqgqgyzfyrfyfyfBdddccങ?ɢB0RĻ 顽?I 9eɡiI/;I?iS H=iy[=)?))i9v3vB>~BB,IBBBBBBe;B'EY>AmV=i>I;?ԉD D D D E s: E e:6E :E "E `0ԩ e,`)Ay68?ٱ6?62;6~7=6H2"`n?@?<ñ? ߦ? ?I68?)6'^;i6C>B9B+IMb@Mb@Mb@ )IiL7A`??y&1|?+'?=`;Ix@i-@@)@BD6DJY--=!-H=-ޮ;Q)->19195GY15:A=>Q 1x4٪?Q 5x4t B9 )?Q A:Y?Q E?yaC):I:ix4YAgFNOT Ignoring new targets: 177.00 m.g5ȹg5ȹ ProNav: ac range: 176.996506 m, nav range: 171.381516 m, bearing: 95.454819 deg, approach rate: -0.654713 m/s, LOS rate: -0.021880 deg/s, cmd heading: 92.100170 deg, new cmd heading: 92.081597 deg. g* %HeadingCmd: 1.607127 target range: 176.996506 and range: 178.00 m.g%W?g!g!g!g!zf!rf)f)f-BBd)d1d1c1c5`J2?ɢeBe(  ae?Ii mλɡiiiIm`#;IuW?i}(H=i}`I^=)}W?)ԙi-9)1551>AMu \=A I I N > L,\;)Ay:?ٱ:՛?:mq:U7=:H Z! Sj??@*?8?W?I:?):^;i:CD9DIH)JBArDPjDR<DVDVDV/DTEV: EV:6EVJ4:ET!Z@!Z@!Z@!Z@BDN6DN Yb:!bQ=f;Q)f>d9d9jGYjDFjEr:Aj>lQ 1rx4٪n왠?Q 5rx4nn nB9tYv ?Q Ev?ynC)n-:Ing:inx4Yz!BzAzʫEg%FNOT Ignoring new targets: 177.00 m.g%ɹg%ɹ5 ProNav: ac range: 176.996506 m, nav range: 171.135574 m, bearing: 95.446560 deg, approach rate: -0.655221 m/s, LOS rate: -0.022034 deg/s, cmd heading: 92.081598 deg, new cmd heading: 92.065057 deg. g5K!=HeadingCmd: 1.606838 target range: 176.996506 and range: 178.00 m.gE?gAgAgAgAzfArfAfIfIBdIdIdQcQcU?ɢB 顅?I gɡiI*;I?i!H=i_`=)?)i111541!>AU(a=I A yAI I N >A <A vB >~B ׍CB *,IB BB =B B pDB e;B ;'E<{ , (0)AI5G)]~nAIuAi쭿~nAA‹B9+IBD6D 3Yx=!+=Q)> H?9 H?9GYEFA> Q 1x4٪ ˔?Q 5x4 jf B9YQ E?y C) `:I B:i Ux4Y!%|A!EB*** querying acoustic contact ***zhAhAgQUFNOT Ignoring new targets: 177.00 m.gU'ʹg]'ʹam ProNav: ac range: 176.996506 m, nav range: 170.823364 m, bearing: 95.436042 deg, approach rate: -0.654557 m/s, LOS rate: -0.022092 deg/s, cmd heading: 92.065056 deg, new cmd heading: 92.043981 deg. gu!uHeadingCmd: 1.606470 target range: 176.996506 and range: 178.00 m.guӠ?gygygygyzfyrfyffBdddcca>?DDD-DE: E:6Et4:E"E68A ^= I I N >a,iI)ALyb?ٱb?b]~b7=bH2`K?}?+~Ư???Ib?)b];ibCnҋB9n+IBDv6DvY~=!~q=~ZrAm(a=II IY Nm > iU g?IU R=] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498963,c)Ay6?ٱ6?6Qv629=6H@_`?`9?@wŮ?2?`?I6?)6];i6C@9@F4T9X9ZGYZFFZ:AZ>\Q 1bx4٪^㌠?Q 5bx4^Y ^ҥB9dYf#?Q Ef?y^C)^6:I^p:i^x4YjBjAnɫExgFNOT Ignoring new targets: 177.00 m.g ̹g ̹ ProNav: ac range: 176.996506 m, nav range: 170.343048 m, bearing: 95.419717 deg, approach rate: -0.654218 m/s, LOS rate: -0.022366 deg/s, cmd heading: 92.028958 deg, new cmd heading: 92.011279 deg. g#%HeadingCmd: 1.605900 target range: 176.996506 and range: 178.00 m.g% ?g!g!g)g)zf)rf)f1f1Bd1d1d9c9c={@ɢˆBЖ !- ?I) -ɡ)i)I-:I5 ?i5ELH=i59sf=)= ?)9ivB~BBD,IBBB =BBBe;BA'EBE؍CBE؍CBABEĩ =BEĪ =BEIJ5Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752781>A-c=IIN >D D D /D E ; E ҆:6E J4:E "E A=6H ¦`? ?@&??@W?I6Ͳ?)6^;i4rB9r,IY!%@!% !%@!% !%@!% !%@!- BD=6D=1Y=!/=;Q)>99GYGFMY:A>Q 1x4٪ˇ?Q 5x4Q ޥBQ =+:9Q A:Y.?Q E?yC):I>iFx4YÔABDAT read: Rx Time:05:20:16.8288 TRx dataTimestamp_ set to:1755840018.064523%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003889g)-FNOT Ignoring new targets: 177.00 m.g5͹g5͹E ProNav: ac range: 176.996506 m, nav range: 170.034561 m, bearing: 95.409114 deg, approach rate: -0.652558 m/s, LOS rate: -0.022470 deg/s, cmd heading: 92.011281 deg, new cmd heading: 91.990037 deg. gE|$MHeadingCmd: 1.605529 target range: 176.996506 and range: 178.00 m.gM?gIgIgQgQzfQrfQfQfYBdYdYdYcYceC@ɢʈBP.2 顕?I  ɡiI#:I?i^H=ih=)?)ԉi)))))Ա>A ;h=I I N >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255006 .%,)Ay6?ٱ6?6Je6:=6Hx` P?C?@ɧ.@~?L??I6?)6S];i6CDBDBDB,D@EB&: EB:6EBg4:E@!J@!J@!J@!J@NB9N ,IBDV6DVY^ y=!^p=b;Q)b?`9`9bGY`fnۺAf?hQ 1nx4٪j$?Q 5nx4j5L jBQ =n :9pQ ArR:Yr?Q Er?yj+C)j ;IjO?ijx4YvְBvAvEgFNOT Ignoring new targets: 177.00 m.gzϹgzϹ ProNav: ac range: 176.996506 m, nav range: 169.812820 m, bearing: 95.401513 deg, approach rate: -0.660560 m/s, LOS rate: -0.022674 deg/s, cmd heading: 91.990040 deg, new cmd heading: 91.974817 deg. g%HeadingCmd: 1.605263 target range: 176.996506 and range: 178.00 m.gEy?ggԹggzfrfffBdddcc# @ɢ-шB5 X; QU?IQ ]+~ɡYiYI]:IeEy?ie5mH=ie?ag=)eEy?)iiIIIII Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509870>A11IIN>vB >~B B ],IB "BB =B B B e;B 0'EY ,+,)^)AyN?ٱN֡?N\N;A8=NH= x3?[?`} W???IN?)N];iNCVB9V),IId)f@ABDv6Dvk2YW =!%D=-H;Q)5>99A9EGYMHFUAU>iQ 1x4٪m?Q 5 x4mE mBYQ =99Q A*:Y ?Q E?ymOC)mj4=Im?imx4YxADAT read: 05:20:16.8288 LVL= 32416, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.04,-2.627, 1.875,-2.581,-2.988, PHS= 0.463,-1.375, 0.364, RAW= 147.2, 6.2, CAL= 146.7, 6.6, ROT= 3.3, -6.6 Ygot valid direction response: 05:20:16.8288 LVL= 32416, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.04,-2.627, 1.875,-2.581,-2.988, PHS= 0.463,-1.375, 0.364, RAW= 147.2, 6.2, CAL= 146.7, 6.6, ROT= 3.3, -6.6 %PDAT read: Bearing 253.4, 7.2 (Local) %~Local bearing/azimuth received: Bearing 253.4, 7.2 (Local) 5B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 177.00 m.gE~gE~uDAT read: Range 11 to 50 : 175.5 m (Round-trip 234.0 ms) speed 0.8 m/s u,DAT read: user:7427> }BDAT read: Tx time:05:20:17.9421 }$Ping request sent.)I5^>il$@k=#@=k= iI]15H?^#?R`/?>Ծܽ k=)i:publishing transmit ping timeYyFpublishing direction and range infof f Bd ddce@c_?9B,D7?"~G?NZl?i )Ii iI]15H?^#?R`/? )iɢڈBK ?I YTɡ!i!I%5:I-`n?i-H=i-F*g=)-`n?)1ԁiԩ>A TJg=rA jA ? A1 I9 II N] >.3,qŸ́)AyBX?ٱB?BZvTB 7=BH`g?b?8`\ྋ?צ?`?IBX?)B];iBCJB9J:,I!! !! !! !! Mb@Mb@Mb@ )IiZd;O?S㥻?~jtx?~*?/=;I@i@-@@)@BD56D54dYEw=!E9=M;Q)M>I9I9UGYUIFUzAU>YQ 1ex4٪]z?Q 5mx4]u= ]BQ =mT:9m,?Q Am:Ym!?Q Em?y]tC)];I];i]x4Yy}AAyhh򣏴)Ah.Ch.ChJU?z󃘼e@ #@>4@jB,D7?"~G?NZl?hk=hmݭw05:fe@حim=@ri('g'ige??h7+Chh[?h hB*i2ia:ilBi+C"i?e addTargetRange:: Added new target pos. range: 175.500000 m, deltaT: 3.780676 s, deltaX: -2.500000 m, approachRate: -0.661257 m/s, rangeRepo size: 4  Added new target pos. range: 174.506287 m, bearing: 95.492886 deg, lat: 36.779292 deg, lon: -121.859616 deg, deltaT: 3.780676 s, deltaX: -2.490219 m, approachRate: -0.658670 m/s, posRepo size: 4 gFNOT Ignoring new targets: 174.51 m.gg ProNav: ac range: 174.506287 m, nav range: 171.104309 m, bearing: 95.322469 deg, approach rate: 0.000000 m/s, LOS rate: -0.020053 deg/s, cmd heading: 91.955766 deg, new cmd heading: 91.939393 deg. gHeadingCmd: 1.604645 target range: 174.506287 and range: 175.50 m.ge?ggggzfrfffɉBBd d d c c%\?ɢB: =?I S߽ɡiI<:Ie?i H=if=)e?)DDD,DE: E҆:6Eg4:E!@!@!@!@i8 >A rg=A AM AIQ Ii Nu >h9,u)Ay6В?ٱ6?6QL6o5=6H)ڥ?@E?@ `m? ʤ? ?I6В?)6];i6C>B9BG,IBDJ6DJkYj\=!nO=n;Q)n>nK?9rK?9rGYprQjAr>tQ 1zx4٪vv?Q 5~x4v6 vB9|Y~?Q E~?yvC)v@;Iv;ivx4YA g)5FNOT Ignoring new targets: 174.51 m.g5 g= 󹝅E ProNav: ac range: 174.506287 m, nav range: 170.840866 m, bearing: 95.312678 deg, approach rate: -0.713532 m/s, LOS rate: -0.026561 deg/s, cmd heading: 91.939394 deg, new cmd heading: 91.919780 deg. gMpBMHeadingCmd: 1.604303 target range: 174.506287 and range: 175.50 m.gUY?gQgQgQgQzfQrfYfYfYBdYdadacace` ?ɢBA< 顕q?I ݽɡiIz:IY?iH=ipf=)Y?)vB->~B-֍CB-v,IB-6BB- =B)B-oDB-xe;B-'EiE9AIM0I)߁ ߁>Af=QDDD.DE2: Ee:6Eـ4:E"E*q cN@,H)AUB9UI,IMb@Mb@Mb@ )Iioʡ??~jt?-?=D% H?9% H?9%GY%JF-A->1Q 1=y4٪5Dq?Q 5=y45. 5B9=.?Q AE:YEB?Q EE?y5C)5:I5o:i5m y4YMBQM AUEgy}FNOT Ignoring new targets: 174.51 m.gɹgɹ ProNav: ac range: 174.506287 m, nav range: 170.538712 m, bearing: 95.302870 deg, approach rate: -0.677458 m/s, LOS rate: -0.022028 deg/s, cmd heading: 91.919777 deg, new cmd heading: 91.900128 deg. gA!HeadingCmd: 1.603960 target range: 174.506287 and range: 175.50 m.gN?ggggzfrfffBBdddccV?ɢB 9 ?I ȹڽɡiIM:IN?iH=i=h=)N?) Y>!>i9AAE0A@M@M@M@MyԩI I N >D D D /D E : E ҆:6E J4:E ! @! @! @! @ uF,)Ay6T9T9VGYTZ:AZ>\Q 1=y4٪^om?Q 5=y4^( ^B99Y=F?Q EE?y^܈C)^͍vB ~B B ,IB KBB B B B e;B &E) 9 L,i4)Ay@?ٱ?6VE=H@Wɥ`Q ?f?⦿)ĥ@"ݦ??T?I@?)];i,B9i,ID]DYDYDYE]: EY6EY:EY"E]6899GYKF6A> Q 1y4٪Eh?Q 5y44  $B93,?Q A:Y?Q E?yC);I;i'y4Y)-{A)EB*** querying acoustic contact ***zhAhAgFNOT Ignoring new targets: 174.51 m.g?˹g?˹  ProNav: ac range: 174.506287 m, nav range: 169.976715 m, bearing: 95.284323 deg, approach rate: -0.665723 m/s, LOS rate: -0.022212 deg/s, cmd heading: 91.884404 deg, new cmd heading: 91.862968 deg. g "HeadingCmd: 1.603311 target range: 174.506287 and range: 175.50 m.gN9?ggggzfrfff%BBd!dAdAcIcMN,@ɢB r~ 顝?I VսɡiI9IN9?iH=i)N9?)9iy?0rA?jA?II)N5r>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a S,N)A8~4B9~s,IBD 6D k1Y9=!n=%Q)%?!9!9-GY-LF-A-?1Q 1=y4٪5d?Q 5=y45E 5-B9AYAQ EE?y5#C)5;I5;i53y4YIM[AIgquFNOT Ignoring new targets: 174.51 m.g}ֹg}ֹ ProNav: ac range: 174.506287 m, nav range: 169.748093 m, bearing: 95.276685 deg, approach rate: -0.701797 m/s, LOS rate: -0.023479 deg/s, cmd heading: 91.862971 deg, new cmd heading: 91.847673 deg. g+HeadingCmd: 1.603044 target range: 174.506287 and range: 175.50 m.g0?ggggzfrfffBdddcc ƶ@ɢB< ^?I p ӽɡiI`9I0?i H=i0k=)0?)))Y Y]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455816iaaae4aԉIIN>DmDmDm,DiEml; Em:6Emg4:Ei!u@!u@!u@!u@Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706615ɱY,]h)Ay6\d?ٱ6Z?6&6 1=6H#J?9?M q᣿ դ? F*?@?I6\d?)6c];i6CR:B9Rz,IiV=IV=BDZ 6DZ2`Yf<!fP=fA%h9h9jGYhnUAn>pQ 1vy4٪rf`?Q 5vy4rr r6B9tYvX?Q Ez?yrEC)r>:Iry:ir^Ay4Y|~DA|g!%FNOT Ignoring new targets: 174.51 m.g-ʹg-ʹ= ProNav: ac range: 174.506287 m, nav range: 169.485275 m, bearing: 95.267984 deg, approach rate: -0.667547 m/s, LOS rate: -0.022134 deg/s, cmd heading: 91.847671 deg, new cmd heading: 91.830242 deg. g="EHeadingCmd: 1.602740 target range: 174.506287 and range: 175.50 m.gE&?gAgIgIgIzfIrfIfQfQBdQdQdQcYc]T@ɢ B <  ?I  F]нɡ i I ~9I&?iU)H=iUc.g=)]&?)YvB>~BB,IBZBB =BBBd;B&Ei3iCIdG)IiNAmBDAT read: Rx Time:05:20:20.5770 uTRx dataTimestamp_ set to:1755840021.845794uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.961003DDDDE: E^:6E:E"E!E!*EZAh=bAZAmAI1 IA NU >A `,)AyBj?ٱB`?B.BI%*=BH`= S@?? S`k8?@>??IBj?)B];i@NFB9N,I%Mb@Mb@Mb@ !)!I!i!!%sh|???~jt?%)?!%Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.21064299GYMF39A>Q 1y4٪[?Q 5y4  @B9 +?Q A :Y n?Q E ?ykC):I:iPy4YJBAEg9EFNOT Ignoring new targets: 174.51 m.gEk̹gMk̹] ProNav: ac range: 174.506287 m, nav range: 169.191208 m, bearing: 95.258150 deg, approach rate: -0.666836 m/s, LOS rate: -0.022340 deg/s, cmd heading: 91.830240 deg, new cmd heading: 91.810537 deg. g]#}HeadingCmd: 1.602396 target range: 174.506287 and range: 175.50 m.g}Q?ggggzfrfffBBdddccn @ɢBh8< ^?I ͽɡiI5 IQ?iI=ii=)Q?)Ii^0q>A Qf= DAT read: 05:20:20.5770 LVL= 28336, 32753, 29666, 32755, AGC= 66, IDX= 407,-0.20, 0.983,-0.756, 1.037, 0.691, PHS= 0.394,-1.402, 0.302, RAW= 147.4, 8.1, CAL= 146.9, 8.8, ROT= 3.1, -8.8  Ygot valid direction response: 05:20:20.5770 LVL= 28336, 32753, 29666, 32755, AGC= 66, IDX= 407,-0.20, 0.983,-0.756, 1.037, 0.691, PHS= 0.394,-1.402, 0.302, RAW= 147.4, 8.1, CAL= 146.9, 8.8, ROT= 3.1, -8.8  PDAT read: Bearing 255.3, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 255.3, 6.0 (Local)  DAT read: Range 11 to 50 : 173.0 m (Round-trip 230.7 ms) speed 0.8 m/s  ,DAT read: user:7428>  BDAT read: Tx time:05:20:21.6906  $Ping request sent. )u tIu >iu $@u >u $@u nF>u k]= u nFiq q Iu Q ? &?Q!,K?u >u  u k]=)u nFiq q M :publishing transmit ping timeY U Fpublishing direction and range info9q u =l?'\?8C ?q q iq q q q q q )q Iq iq q q q q q iq q Iu Q ? &?Q!,K?q q q )q iq q ԙ A I! I1 D D D D E D: E :6E :E ! @! @! @! @N >f,b)Ayf\?ٱfR?f#+f8(=fH n`'ޥ?o?ͥ` E?$?c?If\?)f];idyMB9,IBD6D:Y<!>=%;Q)->19Y9eGYeNFu熺A}>Q 1y4٪5W?Q 5y4 IB9Y`?Q E?yC)~BB,IBsBBBBBOd;Bo&EBu֍CBu֍CBqBuȭ =Buȭ =Buȍ5>A Xh= A I! IA N >m,{)A@D~D~D~+D|E~ ; E~:6E~ [4:E|"E~IQ!9!9-GY)-A->1Q 1=y4٪5 R?Q 5=y45 5QB9E2?Q AE:YE?Q EE?y5C)5:I5:i5oy4YIMݏAQmB*** querying acoustic contact ***zhihigy}FNOT Ignoring new targets: 172.02 m.g"g"ṝ ProNav: ac range: 172.017365 m, nav range: 168.571991 m, bearing: 95.190400 deg, approach rate: -0.741034 m/s, LOS rate: -0.024603 deg/s, cmd heading: 91.790332 deg, new cmd heading: 91.768681 deg. g4HeadingCmd: 1.601666 target range: 172.017365 and range: 173.00 m.ga?ggggԩzfrfffBBdddcc@ f?ɢ5B5.< 9=?I9 =اǽɡ9i9I=/IMa?iU(I=iUj=)Ua?)YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i4 >A rA% ?jA% ?1 Am AIq I N >"u,Յ)Ay6%q?ٱ6f?6A6G1=6HWrѦ?^?`/@] |?@'??I6%q?)6/];i6C>fB9B,INchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.990084BDJ6DJ:2Y =! Y= =-K?9K?9GYOF_:A>!Q 1-y4٪%M?Q 5-y4%P %XB9)Y-2?Q E5?y%ډC)%Q;I%;i%}y4Y=@B=iA=EgaeFNOT Ignoring new targets: 172.02 m.gm)Թgm)Թ} ProNav: ac range: 172.017365 m, nav range: 168.311508 m, bearing: 95.181687 deg, approach rate: -0.692129 m/s, LOS rate: -0.023186 deg/s, cmd heading: 91.768680 deg, new cmd heading: 91.751228 deg. g})HeadingCmd: 1.601361 target range: 172.017365 and range: 173.00 m.gf?ggggzfrfffBdddcc?ɢ%BM< 7?I ;6ŽɡiI.2 If?i9I=iIn=)f?)DDD.DE: E:6Eـ4:E!@!@!@!@iM9IIM/I>AiiM>IMa=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.242284! A yAI I N >vB ~B B ,IB BB B B B c;B .&EG{,HP)Ay6al?ٱ6"b?6q6%2=6HD`H??@ }????I6al?)6Ҵ];i6CBdB9B,IBDJ6DJYR!RR=R ;Q)V>V H?9V H?9VGYVPFZùAZ>\Q 1by4٪^I?Q 5by4^S ^^B9`Yf-?Q Ef?y^C)^f;I^;i^y4YjBjlAjEg|~FNOT Ignoring new targets: 172.02 m.gRԹgRԹ ProNav: ac range: 172.017365 m, nav range: 168.042404 m, bearing: 95.172672 deg, approach rate: -0.691509 m/s, LOS rate: -0.023203 deg/s, cmd heading: 91.751229 deg, new cmd heading: 91.733170 deg. g)HeadingCmd: 1.601046 target range: 172.017365 and range: 173.00 m.g?ggg!g!zf!rf!f)f)Bd)d)d)c)c5?ɢ+B8< 2?I 1½ɡiI3I?i0MI=i}n=)?) x>>Qi9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495518BEeg4JEeAԩ A AI I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745908f0,{. )A@yZQ?ٱZF?ZX.Z>0=ZHפ(?`C?@j2ꝿ|ğ?@p ? t?IZQ?)Z˽];iZCjiB9j,Iir=Irp=uMb@Mb@Mb@ q)qIqiqquK?9K?9GYA>Q 1y4٪E?Q 5y4X dB95?Q A:Y?Q E?y$C)P ;I ;iy4YYAgFNOT Ignoring new targets: 172.02 m.gg  ProNav: ac range: 172.017365 m, nav range: 167.735352 m, bearing: 95.163730 deg, approach rate: -0.704163 m/s, LOS rate: -0.020544 deg/s, cmd heading: 91.733170 deg, new cmd heading: 91.715253 deg. g cHeadingCmd: 1.600733 target range: 172.017365 and range: 173.00 m.g?ggggzfrff!f%ʼnBBd!d!d!c)c- ?ɢ2B0 h< ?I "ɡiI2e\I?i!aI=il=)?) Աichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997979DDD-DE; E^:6Et4:E!@!@!@!@>Ah=bAZA I I N >Z,#)Ay>9?ٱ>V/?>JD>0=>H@-zu@?`?& ל ]???I>9?)>];i>CJpB9J,IBDR6DRYZ =!ZZ=Z>;Q)^>\9\9^GYbQFbAb>dQ 1jy4٪f=A?Q 5jy4f} fiB9hYjj?Q En?yfFC)f`:lIf:ify4Ytv>AtgFNOT Ignoring new targets: 172.02 m.g̺g̺- ProNav: ac range: 172.017365 m, nav range: 167.471619 m, bearing: 95.156089 deg, approach rate: -0.703458 m/s, LOS rate: -0.020414 deg/s, cmd heading: 91.715254 deg, new cmd heading: 91.699948 deg. g-p5HeadingCmd: 1.600466 target range: 172.017365 and range: 173.00 m.g5?g1g1g1g1zf1rf9f9f9BdAdAdAcAcM@ɢu8Bu< y}?Iy }2MɡyiyIqI?ipI=i k=)?)%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250799i90 vB>~BՍCB,IBBB =BBnDBLc;B%E9>AQI1 IA NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501954i D D D +D E %; E :6E [4:E "E KuB9B,I1eMb@Mb@Mb@ a)aIaiaaeB`"?~jt?Mb`?e.?e=e;Ie@ie@e5@eS@)ae@BD}6D}ܲY<!==3;Q)>99GYRF1:A>Q 1y4٪ɡqiqIuI}?i}I=i}Jm=)}?))a%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754137i9ԉ>A I! I1 NE >Թ 0l,{V)Ay6R?ٱ6H?6伹6 !=6H@ߤ}??|m ߚ??|?I6R?)6^;i6CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006150FB9F,IHiH)H JABDR6DRYVlp=!ZZ=Z;Q)Z>X9\9^GY\^Q:Ab>`Q 1fy4٪b8?Q 5jy4b btB9hYj$?Q Ej?ybC)b:Ib:ib@y4YlrApg FNOT Ignoring new targets: 172.02 m.g ȹgȹ% ProNav: ac range: 172.017365 m, nav range: 166.917313 m, bearing: 95.138911 deg, approach rate: -0.703718 m/s, LOS rate: -0.021944 deg/s, cmd heading: 91.681602 deg, new cmd heading: 91.665537 deg. g% -HeadingCmd: 1.599865 target range: 172.017365 and range: 173.00 m.g-d?g)g)g)g)zf)rf1f1f1Bd1d9d9c9cE_@ԙɢDB< ?I ޷ɡiIıId?iI=isp=)d?)DDD.DE; E:6Eـ4:E!@!@!@!@iqqqu?0q@}=@}>>AIIN>=BDAT read: Rx Time:05:20:24.3220 =TRx dataTimestamp_ set to:1755840025.624452Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259066 vB >~B B ,IB BB =B B B b;B %ET,p)Ay6oD?ٱ60:?6qּ6"=6H!? ?=,K*`ٚ?`Y??I6oD?)6h_;i4N~B9R,IBDZ6DZYb*.!bI=b;Q)b>d9d9fGYfSFfPAj>hQ 1ny4٪j4?Q 5ry4j jyB9pYr?Q Er?yjC)jM;Ijj;ijpy4YvBvAzEgFNOT Ignoring new targets: 172.02 m.gùgù ProNav: ac range: 172.017365 m, nav range: 166.638626 m, bearing: 95.130250 deg, approach rate: -0.686537 m/s, LOS rate: -0.021372 deg/s, cmd heading: 91.665537 deg, new cmd heading: 91.648186 deg. gtHeadingCmd: 1.599563 target range: 172.017365 and range: 173.00 m.gx?g1g1g1g9zf9rf9f9fABdAdAdAcAcMU @ɢJB̹< ?I  ɡiIjºI%x?i%I=i%ho=)%x?))checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510090i80IDDD,DE=; Ex:6Eg4:E"EsIA np=I I N >u DAT read: 05:20:24.3220 LVL= 29728, 32753, 29042, 32755, AGC= 67, IDX= 404,-0.27,-1.910, 2.612,-1.854,-2.217, PHS= 0.410,-1.409, 0.319, RAW= 147.5, 7.7, CAL= 147.0, 8.3, ROT= 3.0, -8.3  Ygot valid direction response: 05:20:24.3220 LVL= 29728, 32753, 29042, 32755, AGC= 67, IDX= 404,-0.27,-1.910, 2.612,-1.854,-2.217, PHS= 0.410,-1.409, 0.319, RAW= 147.5, 7.7, CAL= 147.0, 8.3, ROT= 3.0, -8.3  PDAT read: Bearing 254.8, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 254.8, 5.1 (Local)  DAT read: Range 11 to 50 : 170.4 m (Round-trip 227.3 ms) speed 0.4 m/s ԙ  ,DAT read: user:7429>  BDAT read: Tx time:05:20:25.4406  $Ping request sent. )E ZIE S>iE S$@E >E Y3$@E V>E PwV= E ViA A IE (#?D*=?v4-?E X>E E PwV=)E ViA A  :publishing transmit ping timeY  Fpublishing direction and range info9A E Ō? ù탪?'ЌCz?A A iA A A A A A )A IA iA A A A A A iA A IE (#?D*=?v4-?A A A )A iA A M,B)Ay:'K?ٱ:@?::ʼ:&=:H)N?? B}U?8Τ?`?I:'K?):$_;i:C5B9=,I]Mb@Mb@Mb@ Y)YIYiYY]J +?B`"۹?{Gzt?](?]=]ף;IYiYY]@)Y]p@BD6D:2Y=! = >;Q)>99GYTFq9A>Q 1y4٪/?Q 5y4 B9*?Q A:Y?Q E?y݊C);I;isy4YBAEhhw0)Ahn)Chn)Ch)7?z*d@ OS~!@QKPu8@jŌ? ù탪?'ЌCz?hPwV=hVV5-Sd@IF<@reڭ9mUL"i?",:?hN&ChthhP2f?h hcB*iTe?2i/ݵ:ixBi&C"iA? addTargetRange:: Added new target pos. range: 170.399994 m, deltaT: 3.778824 s, deltaX: -2.600006 m, approachRate: -0.688046 m/s, rangeRepo size: 4  Added new target pos. range: 169.429962 m, bearing: 94.992586 deg, lat: 36.779295 deg, lon: -121.859614 deg, deltaT: 3.778824 s, deltaX: -2.587402 m, approachRate: -0.684711 m/s, posRepo size: 4 gFNOT Ignoring new targets: 169.43 m.gg- ProNav: ac range: 169.429962 m, nav range: 166.518158 m, bearing: 95.010839 deg, approach rate: 0.000000 m/s, LOS rate: -0.021372 deg/s, cmd heading: 91.648189 deg, new cmd heading: 91.625624 deg. g)-HeadingCmd: 1.599169 target range: 169.429962 and range: 170.40 m.g5?g1g1g1g1zf1rf1Af9f]ʼnBBdYdadaceLe@ce?ɢQBiJ< 页?I %ɡiInֺI?i"I=i}q=) ?) 9=lAi0DUDUDU+DQEU; EU:6EU [4:EQ!e@!e@!e@!e@iԙ >A AEyAIQIaNm>,܂)A,y:mT?ٱ:,J?:;E:&=:H@K椿 `T?? 0a i(?٤?@?I:mT?):`;i:CBB9B,IiF=IF=BDN6DN0YR!VZ=VH;Q)V>Z H?9Z H?9ZGYX^G:A^>`Q 1by4٪b+?Q 5fy4b bB9dYf?Q Ef?ybC)bl:IbB:ibjy4YnBnlAlgFNOT Ignoring new targets: 169.43 m.g Zg Z九 ProNav: ac range: 169.429962 m, nav range: 166.272385 m, bearing: 95.001904 deg, approach rate: -0.685419 m/s, LOS rate: -0.024955 deg/s, cmd heading: 91.625622 deg, new cmd heading: 91.607725 deg. g6%HeadingCmd: 1.598856 target range: 169.429962 and range: 170.40 m.g%T?g!g!g!g!zf)rf)f)f)Bd1d1d1c1c=&?ɢVBX= ?I aɡ i)I-%I5T?i5I=i5Gt=)5T?)9vB>~BB,IBBB =BBoDBb;B%Eԁi80I-G)E;mAI]A}PExceeded connect timeout, disconnecting.i;mAAԱ>ADi Dm Dm ,Di Ei  Em ':6Em g4:Ei "Em D˰,SÆ)Ay6o?ٱ6Xe?66n,=6H S`P ?? W˥q*_?Ԋ?`?I6o?)6Ea;i6C\^B9b,ImMb@Mb@Mb@ i)iIiiiimNbX9?Cl?y&1|?m%?m;=m`;Iiim@m@mj@)im@BD6DYS=!<=I*;Q)>K?9K?9GYUF{:A>Q 1y4٪'&?Q 5y4G B9'?Q A:Y?Q E?y!C) ;I;iy4Y>AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 169.43 m.gogo  ProNav: ac range: 169.429962 m, nav range: 165.989990 m, bearing: 94.990074 deg, approach rate: -0.649596 m/s, LOS rate: -0.027259 deg/s, cmd heading: 91.607727 deg, new cmd heading: 91.584026 deg. g GHeadingCmd: 1.598443 target range: 169.429962 and range: 170.40 m.gƙ?ggggzfrff!f%BBd!d!d)c)c-`o?ɢ]\B]H< Y]"?IY evɡaiaIe!Imƙ?imI=imx=)mƙ?)qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i   5 >A-| u=A A] yAm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251395Iq I N >D] D] DY DY E] : E] ~:6EY :EY !e @!e @!e @!e @,*S݆)AyJl?ٱJb?JJ25=JH@H`?#?kW?2?@5?IJl?)JUya;iJCVB9V,IBD^6D^JYf5!fW=fً;Q)f>j H?9j H?9jGYhniAn>pQ 1vz4٪r!?Q 5vz4rެ rB9tYv?Q Ez?yrAC)r ;Irj;ir z4Y~ޮB~eA~E g!-FNOT Ignoring new targets: 169.43 m.g5ag5aE ProNav: ac range: 169.429962 m, nav range: 165.742783 m, bearing: 94.979696 deg, approach rate: -0.650781 m/s, LOS rate: -0.027362 deg/s, cmd heading: 91.584026 deg, new cmd heading: 91.563238 deg. gENHMHeadingCmd: 1.598080 target range: 169.429962 and range: 170.40 m.gM?gIgIgIgIzfQrfQfQfQBdYdYdicicul?ɢEaBMP< IU?IQ ]/ɡiI I?i J=i y=)?) R> >9i95checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502984avB>~BB-IBBB =BBnDBMb;Bm%EBՍCBՍCBBȯ =Bȯ =BT5>A Hu=ԉ Ae Am nManaging dock network, ignoring radio surface power offIy I N >,)Ay6j?ٱ6_?6*6$8=6Hb=a g?f?C ?{?-?I6j?)6&a;i6C>B9B,I)D FABDJ6DJ0Y V=! G=b;Q)>K?9K?9GYVF%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754942-SA->1Q 1=z4٪5!?Q 5=z45 5B99Y=?Q EE?y5cC)5;I5;i5;z4YIM,AIgquFNOT Ignoring new targets: 169.43 m.ygg ProNav: ac range: 169.429962 m, nav range: 165.474930 m, bearing: 94.968426 deg, approach rate: -0.652272 m/s, LOS rate: -0.027489 deg/s, cmd heading: 91.563235 deg, new cmd heading: 91.540658 deg. g;IHeadingCmd: 1.597686 target range: 169.429962 and range: 170.40 m.g?ggggzfrfffBdddccq?ɢgBF< ?I ɡiI#I?i!J=i2z=)?)D-D-D-*D)E- ; E-:6E-(N4:E)"E-kTAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008723A I I N > ,+)Ay6-m?ٱ6b?6x6 :=6HI /@??@氥֎? A? 3?I6-m?)6a;i6CBB9B,I-Mb@Mb@Mb@ )))I)i))-S㥛?zG?Mb`?-$&?- =-;I-j@i-@-@-=@))-@BDE6DEYU=!UF=]N;Q)]>Y9a9eGYeWFe7o9Ae>iQ 1uz4٪m?Q 5uz4m mB9}N(?Q A}:Y}?Q E}?ymC)m" ;Im ;im)z4YAgFNOT Ignoring new targets: 169.43 m.gg﹝ ProNav: ac range: 169.429962 m, nav range: 165.206177 m, bearing: 94.957658 deg, approach rate: -0.652712 m/s, LOS rate: -0.026195 deg/s, cmd heading: 91.540661 deg, new cmd heading: 91.519090 deg. g?HeadingCmd: 1.597309 target range: 169.429962 and range: 170.40 m.gt?ggggzfrfffBBdddcc !@ɢlBp< f?I %F⤽ɡ!i!I%VI-t?i-;J=i-{=)-t?)1i/=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260008D%D%D%-D!E%s: E%h:6E%t4:E!!-@!-@!-@!-@>Auw=9A I I N >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510910/,*)A=B9=,III)MAABDM6DM:Y]!]J=eQ)e>a9i9mGYimAm>qQ 1}z4٪u?Q 5}z4u uB9YQ E?yuC)u;Iuj;iu7z4YծBAgFNOT Ignoring new targets: 169.43 m.gg𹝅 ProNav: ac range: 169.429962 m, nav range: 164.941833 m, bearing: 94.947031 deg, approach rate: -0.652986 m/s, LOS rate: -0.026291 deg/s, cmd heading: 91.519091 deg, new cmd heading: 91.497805 deg. gv@9uHeadingCmd: 1.596938 target range: 169.429962 and range: 170.40 m.guvh?gqgqgygyzfyrfyfyfBdddcc@vB>~BB -IBBB =BBBb;BF%EɢrB)< 顕?I !ɡiIP~(Ivh?i;YJ=i)}=)vh?))ie9aaaaiEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763303ԑBEJEȋ|4REB1DU DU DU <DQ EU %; EU :6EU 4:EQ "EU KA w=Թ A I I N >,D)Ay6h?ٱ6^?6C{6b;=6H`8'??@1 wz?i?@v?I6h?)6\a;i6CBB9B,IMb@Mb@Mb@ )Ii!rh?"~j?19195GY5XF=﮹A=>AQ 1Mz4٪Eu?Q 5Mz4EO EB9M)?Q AM:YU?Q EU?yEʋC)Ef:IE:iEEz4Y]ˮB]ƈAYB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 169.43 m.g  g  E ProNav: ac range: 169.429962 m, nav range: 164.680115 m, bearing: 94.935819 deg, approach rate: -0.631728 m/s, LOS rate: -0.027106 deg/s, cmd heading: 91.497802 deg, new cmd heading: 91.475342 deg. gEnFMHeadingCmd: 1.596546 target range: 169.429962 and range: 170.40 m.gu[?gqgqgygyzfyrfyffBBdddchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015692ԡcc A@ɢxB<  f?I  ]ɡ iI=2I[?itJ=if~=)[?)i9@lA@mA>A M BDAT read: Rx Time:05:20:28.0687 U TRx dataTimestamp_ set to:1755840029.409146] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268686A I I  N% >D9 D= D= .D9 E9  E= :6E= ـ4:E9 !M @!M @!M @!M @FA,m^)AyRX?ٱRN?R}4aR8==RH-?Y? F 8U&?a?|?IRX?)Rl?b;iRCfB9f,IBDz6Dz0Y B! L=;Q)>9!9%GY%YF-ߟA->9Q 1Mz4٪= ?Q 5Mz4=o =B9IYU?Q EU?y=C)=F;I=F;i=Sz4YmBmՇAmEgFNOT Ignoring new targets: 169.43 m.gg ProNav: ac range: 169.429962 m, nav range: 164.414993 m, bearing: 94.924472 deg, approach rate: -0.673396 m/s, LOS rate: -0.028868 deg/s, cmd heading: 91.475344 deg, new cmd heading: 91.452613 deg. gSSUHeadingCmd: 1.596149 target range: 169.429962 and range: 170.40 m.g]N?gYgYgYgYzfYrfYfafaBdadadicicm?i @ɢ|Bc= ?I ɡiI;IN?iJ=iµ}=)N?)i%8!!%0!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519552!vB>~BBBB =BBBa;B1%EI >Ai A yAI I N >j,cGx)Ay6I?ٱ6??6+V H?9V H?9VGYTZ㘺AZ>\Q 1bz4٪^U?Q 5bz4^Ӄ ^B9`Yf?Q Ef?y^ C)^L;I^;i^Kaz4YhjЇAh5DAT read: 05:20:28.0687 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403, 0.26,-3.041, 1.496,-3.011, 2.924, PHS= 0.420,-1.383, 0.305, RAW= 146.7, 7.6, CAL= 146.2, 8.2, ROT= 3.8, -8.2 EYgot valid direction response: 05:20:28.0687 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403, 0.26,-3.041, 1.496,-3.011, 2.924, PHS= 0.420,-1.383, 0.305, RAW= 146.7, 7.6, CAL= 146.2, 8.2, ROT= 3.8, -8.2 MPDAT read: Bearing 254.6, 5.1 (Local) M~Local bearing/azimuth received: Bearing 254.6, 5.1 (Local) ]DAT read: Range 11 to 50 : 168.0 m (Round-trip 224.1 ms) speed 0.8 m/s e,DAT read: user:7430> eBDAT read: Tx time:05:20:29.1905 m$Ping request sent.m)%I(>i#@>N#@C>ԇ= CiIYv/]T? ?hZl?>u ԇ=)Ci-:publishing transmit ping timeYa-Fpublishing direction and range info9.k?9fʰ?x0A?i5HeadingCmd: 1.595768 target range: 169.429962 and range: 170.40 m.g5 B?g9g9g9g9zf9rf9fAfABdAdAdAcMe@cM? )Ii iIYv/]T? ?hZl? )iiD D D -D E D: E :6E t4:E "E 1AY A AI I N >,)Ay67J?ٱ6??666h5=6H@ b??`a@Ԇ? ?k?I67J?)6a;i4>B9>,I)@ BAEMb@Mb@Mb@ A)AIAiAAE"~j?`"?{Gz?ES#?E=E#uK?9uK?9uGYuZF}(7A}>Q 1z4٪|?Q 5z4{ B9B&?Q A:Y#?Q E?y4C) ;I ;iqz4Y܇Ahh>[z)Ah 'Ch 'Ch=?z3h"d@:<%@8VJ7@j.k?9fʰ?x0A?hԇ=hCy0o"!d@Y3 :@r|^~Zr?t?h'$Choh.y?h 2hB*i&L?2i :iBiN$C"i3?  addTargetRange:: Added new target pos. range: 168.000000 m, deltaT: 3.783861 s, deltaX: -2.399994 m, approachRate: -0.634271 m/s, rangeRepo size: 4  Added new target pos. range: 167.044327 m, bearing: 95.758575 deg, lat: 36.779293 deg, lon: -121.859609 deg, deltaT: 3.783861 s, deltaX: -2.385635 m, approachRate: -0.630476 m/s, posRepo size: 4 g%FNOT Ignoring new targets: 167.04 m.g%g!5 ProNav: ac range: 167.044327 m, nav range: 164.305420 m, bearing: 94.986704 deg, approach rate: 0.000000 m/s, LOS rate: -0.028736 deg/s, cmd heading: 91.430770 deg, new cmd heading: 91.403026 deg. g1=HeadingCmd: 1.595284 target range: 167.044327 and range: 168.00 m.g=B2?g9gAgAgAzfArfAIfIfUBBdQdQdQcQc]@`?ɢBn= AE?IA MHɡIiIIM:NIUB2?iUJ=iU=)UB2?)YDDDDE7; Ex:6E:E!@!@!@!@i9yԡ>A rA ?jA ?AQ IY Ii N} > 1,)Ay62E?ٱ6:?6J&6$'=6HN -??ܤ]*Ʉ?`|? ?I62E?)6}a;i4>B9B,IBDJ6DJNYR>!RW=R,;Q)R>T9T9VGYV[FZӹAZ>\Q 1bz4٪^?Q 5bz4^u ^B9`Yb ?Q Eb?y^TC)^:AdAdvBh~BhBhBhBj =BhBhBja;Bj(%EI^:i^&z4YxzA|g%FNOT Ignoring new targets: 167.04 m.g%=g%=5 ProNav: ac range: 167.044327 m, nav range: 164.061539 m, bearing: 94.974698 deg, approach rate: -0.648339 m/s, LOS rate: -0.031963 deg/s, cmd heading: 91.403026 deg, new cmd heading: 91.378979 deg. g=i=HeadingCmd: 1.594864 target range: 167.044327 and range: 168.00 m.g=$?gAgAgAgAzfArfIfIfIBdQdQdQcQcU {?ɢB= 顅?I eɡiIfWI$?iJ=iG;=)$?)ԡiYYYYYDDDDE; E:6E:E"E.CA|= AM yAIQ Ia Nu >! ,ȇ)AyBC?ٱBz9?Bj?B=BH֤4`ͣ??@Τ~`ܧ?ଡ??IBC?)B]ga;iBCRB9R,Ii%>I!Mb@Mb@Mb@ )IiDl?X9v?O-?=Ii@@x@)=@BD6D0YO=!9=b;Q)> H?9 H?9GY ոA>Q 1z4٪a?Q 5z4m B9/?Q A:Y{?Q E?y{C);Ia;iz4YMB ܆A {E%B*** querying acoustic contact ***zh!h!g15FNOT Ignoring new targets: 167.04 m.g=Y g=Y M ProNav: ac range: 167.044327 m, nav range: 163.760757 m, bearing: 94.961220 deg, approach rate: -0.688161 m/s, LOS rate: -0.030894 deg/s, cmd heading: 91.378977 deg, new cmd heading: 91.351971 deg. gM(bUHeadingCmd: 1.594393 target range: 167.044327 and range: 168.00 m.gU?gQgQgYgYzfYrfYfafeBBdadadacicm|?ɢBPC< 顝n?I ɡiI_I?iJ=i=)?) Y>>im9iim0i9>A0=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i A AbD ZD ?AD D D )D E  E &p:6E FA4:E ! @! @! @! @I I N >:,')A y6?ٱ6R?66=6H@h?'?~?%ޣy N?D?`Z?I6?)6Pa;i6CrB9r,Iiv=Iv=BDz6DzY s! Y= Wv;Q) >K?9K?9GY\FTA>!Q 1%z4٪%?Q 5-z4%%g %B9)Y-S?Q E-?y%C)%:I%:i%ěz4Y1=A9gaeFNOT Ignoring new targets: 167.04 m.gmK gmK } ProNav: ac range: 167.044327 m, nav range: 163.503265 m, bearing: 94.949754 deg, approach rate: -0.682630 m/s, LOS rate: -0.030446 deg/s, cmd heading: 91.351970 deg, new cmd heading: 91.329002 deg. g}^HeadingCmd: 1.593992 target range: 167.044327 and range: 168.00 m.g?ggggzfrfffBdddcc`%?ɢB8:= ?I B^ɡiI hI?iK=i~=)?)qi915checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751937ԙvB>~BBBB =BBBa;B%E>AX=bAZAiAAiECIG)"oAIAi  "oA% A A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003084*e,`)Ay6 ?ٱ6?6tӻ6=6H`[;??@!tbz??f?I6 ?)6`;i6CLRB9R,IBDZ6DZYbR!bO=fN;Q)f>d9d9jGYj]Fj<8Aj>lQ 1rz4٪n쟊?Q 5vz4n(` nB9tYvT?Q Ev?ynC)n:In:inz4YzCBz̆A~zEDDD-DE~ ; E:6Et4:E"EUA =) A yAI! I1 N= >.B,I)Ay6?ٱ6?66*8=6H 8`\??̣Pou? E??I6?)6/`;i6CRB9V,I5Mb@Mb@Mb@ 1)1I1i115x&?X9v?57)?11I1i5@5@5K@)15@BDM6DMY]i=!]B=]@5;Q)e>e H?9e H?9eGYam辺Am>qQ 1}z4٪u矊?Q 5}z4uX uB9}+?Q A}:Y?Q E?yuC)u:Iu:iuFz4YAgFNOT Ignoring new targets: 167.04 m.gg ProNav: ac range: 167.044327 m, nav range: 162.953751 m, bearing: 94.924809 deg, approach rate: -0.724168 m/s, LOS rate: -0.033430 deg/s, cmd heading: 91.304856 deg, new cmd heading: 91.279026 deg. gtHeadingCmd: 1.593120 target range: 167.044327 and range: 168.00 m.gW?ggggzfrfffBBdddcc`+@ɢB4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507220 Ͽ?I hLɡiIyIW?i9OK=i{'=)W?))1ArDjD=i5DDD0DE ; E:6E4:E!@!@!@!@i>AN9=e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759613ԡ A AI I N >g ,E/)Ay6 ?ٱ6?636-=6H`ю~??9 ngbq?@e??I6 ?)6D_;i6CBB9B,IBDJ6DJAPAR<vBV>~BTBV,IBVBBV =BTBTBVa;BV%EBiBiBiBiBiBmk)5Yf鵽!fU=fT;Q)f>jK?9jK?9jGYj^Fn[MAn>pQ 1vz4٪r#㟊?Q 5vz4rGR rB9tYv?Q Ez?yrC)r:Ir:irz4Y|~܆A|g!%FNOT Ignoring new targets: 167.04 m.g- g- = ProNav: ac range: 167.044327 m, nav range: 162.697830 m, bearing: 94.913004 deg, approach rate: -0.666076 m/s, LOS rate: -0.030771 deg/s, cmd heading: 91.279024 deg, new cmd heading: 91.255378 deg. g=BaEHeadingCmd: 1.592707 target range: 167.044327 and range: 168.00 m.gE?gAgAgIgIzfIrfIfIfQBdQdQdQycQc22@ɢEBEt= AE^?IA MaɡIiIIMIU?iMiK=imp=)?)i)))-p4)ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011160>AU0ƀ=rAu ?jAu?DDD/DE: E&p:6EJ4:E"E3 P,ĵI)AyNP?ٱN?NPN3 =NHO :? !?@/\ [@Pj? ??INP?)NǮ_;iNC^B9^,I%BDAT read: Rx Time:05:20:31.8153 %TRx dataTimestamp_ set to:1755840033.188460-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264191Mb@Mb@Mb@ )IiHzG?:v?Mb`?=*?=;Ii@@b@)BD6DY;!<=0;Q)> H?9 H?9GY_FA>Q 1z4٪lޟ?Q 5z4J B9O,?Q A:Y?Q E?y)C):;I!;iz4YB܅AqEB*** querying acoustic contact ***zhhg!-FNOT Ignoring new targets: 167.04 m.g-g-湝= ProNav: ac range: 167.044327 m, nav range: 162.407181 m, bearing: 94.902004 deg, approach rate: -0.664664 m/s, LOS rate: -0.025200 deg/s, cmd heading: 91.255378 deg, new cmd heading: 91.233338 deg. gEz8EHeadingCmd: 1.592322 target range: 167.044327 and range: 168.00 m.gE6?gIgIgIgIzfIrfIfQfUBBdQdYdYcYc] @ɢ}B}:< y}t?Iy }UɡiIOI6?iyK=i?H=)6?) iE9AAEA4A)) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518401>Am 0=a D D D *D E ; E :6E (N4:E ! @! @! @! @A AI I) NU >~,Qc)Ay]B۱?ٱ]?]c]"n=]Hw@~?S? F @.N@b?`?a?I]B۱?)]i_;i]CB9,IBD6DY20<!K=u;Q)>K?9K?9GYA> Q 1z4٪ ٟ?Q 5z4 C B9Y?Q E?y MC)  :I |:i Sz4Y!%ӅA!)gQUFNOT Ignoring new targets: 167.04 m.g]g]鹝m ProNav: ac range: 167.044327 m, nav range: 162.130692 m, bearing: 94.891559 deg, approach rate: -0.672916 m/s, LOS rate: -0.025464 deg/s, cmd heading: 91.233337 deg, new cmd heading: 91.212411 deg. gmi:uHeadingCmd: 1.591957 target range: 167.044327 and range: 168.00 m.gu>?gqgqgqgyzfyrfyfyfBdddccw @ɢB = 顽?I ɡiI&4I>?iK=i=)>?)lA]DAT read: 05:20:31.8153 LVL= 26544, 32641, 25474, 32755, AGC= 66, IDX= 400, 0.16,-1.011,-2.788,-0.948,-1.340, PHS= 0.431,-1.403, 0.348, RAW= 147.7, 7.0, CAL= 147.2, 7.5, ROT= 2.8, -7.5 mYgot valid direction response: 05:20:31.8153 LVL= 26544, 32641, 25474, 32755, AGC= 66, IDX= 400, 0.16,-1.011,-2.788,-0.948,-1.340, PHS= 0.431,-1.403, 0.348, RAW= 147.7, 7.0, CAL= 147.2, 7.5, ROT= 2.8, -7.5 mPDAT read: Bearing 253.5, 3.4 (Local) u~Local bearing/azimuth received: Bearing 253.5, 3.4 (Local) }DAT read: Range 11 to 50 : 165.5 m (Round-trip 220.7 ms) speed 0.9 m/s ,DAT read: user:7431> BDAT read: Tx time:05:20:32.9405 $Ping request sent.)%I%->i%$@%5=%l$@% >%+H= % i!!I%`?_q? rL??%>%_ %+H=)% i!!:publishing transmit ping timeYFpublishing direction and range info9!%G8?9P̨? /?i9/!!i!!!!! !)!I!i!!!!! !i!!I%`?_q? rL??!! !)!i!!yvB~BB,IBBBBBBa;B%Eԡ>A~=A I I) N= > ,g})Ay6α?ٱ6?6cFߺ6b=6HҢ`?s?`֢?[?`??I6α?)6x_;i6C>B9B,IiF=IFp=BDH6DHYR!R]=V:Q)V>T9T9VGYV`FZsAZ>\Q 1bz4٪^֟?Q 5bz4^N= ^B9`Yf?Q Ef?y^lC)^;I^:i^z4YhjAhhahe]Ol)Ahe$Che$Chew?ze$7҅^d@&x @}z5@jeG8?9P̨? /?he+H=he e_DJz* |EQd@V Z6@reVJҮK?,v?he"CheSheiz?heJ|heB*ieTe?2ie :iecBie "C"ie?e addTargetRange:: Added new target pos. range: 165.500000 m, deltaT: 3.780525 s, deltaX: -2.500000 m, approachRate: -0.661284 m/s, rangeRepo size: 4 BEt4JEs4RE+0DDD-DEl; E]t:6Et4:E"EPFA Pڀ=bA ZA lA9 A yAI I N >J%,֭)A B9 ,IMb@Mb@Mb@ )IiS㥛?S㥻?~jtx?$?/=;Ib@i@x@K@)G@BD6D0Y!/=Q)> H?9 H?9GYA>Q 1 {4٪П?Q 5 {4l5 ĦB9,'?Q A:Y?Q E?yC):If:iA{4YAgAMFNOT Ignoring new targets: 164.56 m.gM;gM;] ProNav: ac range: 164.556412 m, nav range: 161.737442 m, bearing: 94.761831 deg, approach rate: -0.664558 m/s, LOS rate: -0.028245 deg/s, cmd heading: 91.193558 deg, new cmd heading: 91.167738 deg. g]NamHeadingCmd: 1.591177 target range: 164.556412 and range: 165.50 m.gm?gigigqgqzfqrfqfqf}~BBdydydycc@?ɢB:%= 页ɳ?I .~ɡiIkI?iK=i=)?)D}D}D},DyE}D: E}M:6E}g4:Ey!@!@!@!@i9ԑ>A0=I I N >A A vB ~B B ,IB BB B B B sa;B $E Y,,#g)Ay6?ٱ6m?62l96{<6HQ!@g??S?@F-`n??I6?)6Z_;i6CNB9N,IBDV6DVFY^G=!^`=b;Q)b>`9d9fGYfaFf|sAf>hQ 1n{4٪j̟?Q 5n{4jQ/ jŦB9pYr?Q Er?yjC)j;Ij;ij {4YvBvAvfEgFNOT Ignoring new targets: 164.56 m.g:g: ProNav: ac range: 164.556412 m, nav range: 161.502075 m, bearing: 94.751920 deg, approach rate: -0.648522 m/s, LOS rate: -0.027346 deg/s, cmd heading: 91.167739 deg, new cmd heading: 91.147890 deg. g/HHeadingCmd: 1.590831 target range: 164.556412 and range: 165.50 m.gX?ggggzfrfffBdddcc `?ɢBϓ = 顥?I zɡiIIX?iK=i}=)X?) N>>iDDD/DE2: Eą:6EJ4:E"E*Ap=1 I I N >Q 2,L̈)Ay:?ٱ:D?:::<:H`ࡿ,??ڡia? S8y9y9}GY}bF}>A>Q 1{4٪iȟ?Q 5{4( ǦB9'?Q A:Y?Q E?yՍC) ;Iu ;i{4YӄAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 164.56 m.gg幝 ProNav: ac range: 164.556412 m, nav range: 161.223770 m, bearing: 94.741203 deg, approach rate: -0.650279 m/s, LOS rate: -0.025085 deg/s, cmd heading: 91.147891 deg, new cmd heading: 91.126419 deg. g7HeadingCmd: 1.590456 target range: 164.556412 and range: 165.50 m.g?ggggzfrffflBBdddcc ?ɢBc= ?I suɡiI옻I?iV L=ii~=)?))i@=@=QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A|=rAjA?Ii ԁ I N >D} Dy D} .Dy E} : Ey 6E} ـ4:Ey ! @! @! @! @-9, )A0y:u?ٱ:Vk?:y';:Wl<:H m3`? :?4b6l?-d ?@?I:u?):o_;i:C^B9^,IBDf6DfYn<!nT=re;Q)r>p9p9rGYtvgAv>xQ 1~{4٪zfğ?Q 5~{4z! zɦB9Yb?Q E?yzC)z ;IzX ;izR){4Y  A g1EFNOT Ignoring new targets: 164.56 m.gMgM九] ProNav: ac range: 164.556412 m, nav range: 160.973267 m, bearing: 94.731604 deg, approach rate: -0.652018 m/s, LOS rate: -0.025024 deg/s, cmd heading: 91.126417 deg, new cmd heading: 91.107188 deg. g]/7eHeadingCmd: 1.590120 target range: 164.556412 and range: 165.50 m.ge?gagagigizfirfififqBdqdqdycyc}9?ɢ%B%5= !% ?I) -pɡ)i)I-I5?i5$L=i5|=)=?)9iuM?IuR=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004217ԉi8 0vB>~BԍCBBBBBmDBca;B$EԱ>A-|=IIN> % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254763,@?,I)AyV y?ٱVn?V^;Vx\99GYcF9A>Q 1{4٪俟?Q 5{4C ˦B9Yd?Q E?yC);Id:io8{4YAgI]FNOT Ignoring new targets: 164.56 m.gegm⹝% ProNav: ac range: 164.556412 m, nav range: 160.691681 m, bearing: 94.720771 deg, approach rate: -0.641195 m/s, LOS rate: -0.024710 deg/s, cmd heading: 91.107190 deg, new cmd heading: 91.085487 deg. g%4eHeadingCmd: 1.589742 target range: 164.556412 and range: 165.50 m.ge|?gagiggzfrfffBdddc!cM[@ɢĉB= 顥ϲ?I NkɡiINI|?iCL=iI~=)|?))checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506783i90I >A |=I I N5 >'F,)Ay>?ٱ>w?>c;>"=>H ??)s\u?`xp@??I>?)>_;i>CFB9F,IMb@Mb@Mb@ )Iim?1Zd?.?"=IK@iK@)@BD- 6D-2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758773Y}<!}?=}A:Q)>99GYdF(:A>Q 1{4٪'?Q 5{4 90?Q A:Y`?Q E?y@C);I;iG{4YADDD,DE: E:6Eg4:E!@!@!%@!%@g)5FNOT Ignoring new targets: 164.56 m.g5g5Ie ProNav: ac range: 164.556412 m, nav range: 160.395538 m, bearing: 94.709350 deg, approach rate: -0.635382 m/s, LOS rate: -0.024551 deg/s, cmd heading: 91.085483 deg, new cmd heading: 91.062598 deg. gm3mHeadingCmd: 1.589342 target range: 164.556412 and range: 165.50 m.guo?gqgqgqgqzfqrfqfyf}BBdydydcc1@ɢljB&= R?I qfɡiI:Io?i^L=iv]=)o?)i]9aae0a@i@mlAq checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010774>A bA kAZA kAԩ A A vB ܿ>~B ӍCB B B =B B B =a;B $EA I -GI I ) IQ N} >L,6)A(iVBhnAý?ٱw?Ĥ;=Hҝ!? ?@Ֆy?t';??Í?)-_;iCY9aBDu6DuNY ;!G=;Q)>99GYA>Q 1{4٪?Q 5{4M  9Y_?Q E?ydC);I;iU{4Y|BA]EgFNOT Ignoring new targets: 164.56 m.gxgx ProNav: ac range: 164.556412 m, nav range: 160.115799 m, bearing: 94.698523 deg, approach rate: -0.763748 m/s, LOS rate: -0.029609 deg/s, cmd heading: 91.062596 deg, new cmd heading: 91.040905 deg. gXHeadingCmd: 1.588964 target range: 164.556412 and range: 165.50 m.g(c?ggggzfrf f f Bd ddcc @ɢEˉBEC= AM?II M}bɡIiIIM@IU(c?iUVwL=iU@=)U(c?)YԁBDAT read: Rx Time:05:20:35.5620 TRx dataTimestamp_ set to:1755840036.969253checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264605i4DDD-DE: E:6Et4:E"E<AX= AU AIY Ii N} >u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514723wS,O)AyF5?ٱF?FB;F=FHg qP??`G}?Xx(?'?IF5?)FdF_;iFCNB9N,I\Mb@Mb@Mb@ )IiQ?ʡE?I +?(?=94K?9K?9GYeF:A>!Q 15{4٪%`?Q 5={4% %ΦB9M+?Q AM:YM?Q EU?y%C)%R;I%;i%e{4YY]AY}B*** querying acoustic contact ***zhyhygFNOT Ignoring new targets: 164.56 m.gy gy  ProNav: ac range: 164.556412 m, nav range: 159.815628 m, bearing: 94.684744 deg, approach rate: -0.658047 m/s, LOS rate: -0.030266 deg/s, cmd heading: 91.040903 deg, new cmd heading: 91.013291 deg. g]HeadingCmd: 1.588482 target range: 164.556412 and range: 165.50 m.g]S?ggggzfrfffBBdddccj @ɢωB'= y?I kG]ɡiII]S?iL=iJ=)]S?)kAi9!!%0!DAT read: 05:20:35.5620 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.45,-0.411,-2.196,-0.364,-0.749, PHS= 0.439,-1.402, 0.340, RAW= 147.3, 7.0, CAL= 146.7, 7.5, ROT= 3.3, -7.5 %Ygot valid direction response: 05:20:35.5620 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.45,-0.411,-2.196,-0.364,-0.749, PHS= 0.439,-1.402, 0.340, RAW= 147.3, 7.0, CAL= 146.7, 7.5, ROT= 3.3, -7.5 -PDAT read: Bearing 253.2, 3.2 (Local) -~Local bearing/azimuth received: Bearing 253.2, 3.2 (Local) =DAT read: Range 11 to 50 : 162.9 m (Round-trip 217.3 ms) speed 0.2 m/s M,DAT read: user:7432> BDAT read: Tx time:05:20:36.6905 $Ping request sent.)tI{>i"$@#@k= iIW#:;?,h?kpa4?(>aB k=)iE:publishing transmit ping timeYEFpublishing direction and range info9A0Tr?^{8? /?i )Ii iIW#:;?,h?kpa4? )ibDZD@ADDD*DE: Ev:6E(N4:E! @! @! @! @>A% Pڀ=Q AQ Ia Iq N >xZ,>j)AyF?ٱFH?F#f;F o=FH@@J??@ءo|?{l??IF?)FW_;iD^B9^,I)bA bABDjl6Dj:Y-!l=;Q)? 9 9 GY fF):A?9Q 1E{4٪=@?Q 5E{4=y =ЦB9AYE?Q EE?y=C)=:I=d:i=q{4YMrBUAU\Ehhe9^)Ah!Ch!ChGH?z Y d@f\F|"@=$5@jA0Tr?^{8? /?hk=h%G",7XSd@'e4@r7;~%˒?Vc?h ChahB_ ?hoh]B*i2i 2:iBiC"i{?  addTargetRange:: Added new target pos. range: 162.899994 m, deltaT: 3.779909 s, deltaX: -2.600006 m, approachRate: -0.687849 m/s, rangeRepo size: 4 = Added new target pos. range: 161.968185 m, bearing: 95.022511 deg, lat: 36.779295 deg, lon: -121.859604 deg, deltaT: 3.779909 s, deltaX: -2.588226 m, approachRate: -0.684732 m/s, posRepo size: 4 g9EFNOT Ignoring new targets: 161.97 m.gEgI ProNav: ac range: 161.968185 m, nav range: 159.878418 m, bearing: 94.665310 deg, approach rate: 0.000000 m/s, LOS rate: -0.030266 deg/s, cmd heading: 91.013288 deg, new cmd heading: 90.991327 deg. gHeadingCmd: 1.588098 target range: 161.968185 and range: 162.90 m.gF?ggggzfrfffBdddc\d@c?ɢ҉BB9= )-ɯ?I) 5eXɡ1i1I5{᯻I=F?i=ڴL=i=у=)=F?)A vBٿ>~BB,IBBB =BBBUa;B$EBԍCBԍCBBð =Bñ =Bþ5i951>A% S=rA- ?jA- ?i Aq I I N >D D D D E  E :6E :E "E &99GY:A>Q 1{4٪ȧ?Q 5{4z ӦB9!Y%?Q E%?yЎC));I ;i{4YY]AagFNOT Ignoring new targets: 161.97 m.g{g{ ProNav: ac range: 161.968185 m, nav range: 159.570160 m, bearing: 94.650963 deg, approach rate: -0.667786 m/s, LOS rate: -0.031142 deg/s, cmd heading: 90.991329 deg, new cmd heading: 90.962579 deg. gcHeadingCmd: 1.587597 target range: 161.968185 and range: 162.90 m.g]6?gggg zf rf ffBdddcc`3?ɢEՉBM>= IM?II MTɡIiQIUeIU]6?i]L=i]=)]]6?)Yii94ԑ>A! AQ Ia Iq N} >V6g,@)AquB9u,IMb@Mb@Mb@ )Ii rh?)\(?Mb?,?G=rDIjDM%=DUDUDU&DQEU: EU&p:6EU4:EQ!]@!]@!]@!]@99GYgFA>Q 1{4٪F?Q 5{4l ԦB9.?Q A:YC?Q E?yC):I:i{4Y3B`ASEg FNOT Ignoring new targets: 161.97 m.gg- ProNav: ac range: 161.968185 m, nav range: 159.298508 m, bearing: 94.639609 deg, approach rate: -0.704723 m/s, LOS rate: -0.029504 deg/s, cmd heading: 90.962581 deg, new cmd heading: 90.939835 deg. g-W5HeadingCmd: 1.587200 target range: 161.968185 and range: 162.90 m.g5[)?g1g1g1g1zf1rf9f9f=|BBd9dAdIcIcM?ɢu؉Bu^D= y}{?Iy }OɡyiyIqI[)?iL=i];=)[)?) e>ԙi=999=/9>A xr=A A @AvB ο>~B ҍCB B B =B B kDB Ca;B $E A yAI I) N= > [m,)AB9,IBD-6D-0YE!Ef=AQ)E>M H?9M H?9MGYMhFQAU>YQ 1e{4٪]G?Q 5e{4]+ ]զB9aYaQ Ee?y]C)]';I]:i]c{4Yqu{Aqg15FNOT Ignoring new targets: 161.97 m.g='g='M ProNav: ac range: 161.968185 m, nav range: 159.057724 m, bearing: 94.629512 deg, approach rate: -0.643121 m/s, LOS rate: -0.027010 deg/s, cmd heading: 90.939837 deg, new cmd heading: 90.919612 deg. gMEUHeadingCmd: 1.586847 target range: 161.968185 and range: 162.90 m.gU?gQgQgYgYzfYrfYfYfaBdadadacacm)?ɢۉBG= 顝?I DKɡiIzI?iM=ig܆=)?)iBEg4JEd4REď0DmDmDm+DiEm ; Em]t:6Em [4:Ei"EmIQAu[=bAZAjAA AI I N >Y Bt,щ)Ay>6?ٱ>?>ݞ*<>0=>H۶v`ץ?{? w?`S R??I>6?)>a;i<FB9F,IMb@Mb@Mb@ )IiK7A`?Zd;?I +?+?=94EK?9MK?9MGYIM?;AM>QQ 1]{4٪UG?Q 5e{4U" UצB9e-?Q Ae:Ye?Q Ee?yU6C)U* ;IU ;iU~{4YimWAqgFNOT Ignoring new targets: 161.97 m.g!g! ProNav: ac range: 161.968185 m, nav range: 158.786224 m, bearing: 94.615960 deg, approach rate: -0.706763 m/s, LOS rate: -0.035337 deg/s, cmd heading: 90.919612 deg, new cmd heading: 90.892463 deg. gWHeadingCmd: 1.586373 target range: 161.968185 and range: 162.90 m.gC?gggg9zfqrfqfyf}BBdydydcc`8?ɢ߉B<= ?I 0FɡiIeSIC?i%=M=i%=)%C?)!i   a)a eADuDuDqDqEua; Eu:6Eq:Eq!@!@!@!@ԙ>AI Ay I I N >Թ mz,)AyF ?ٱFt?Fu=d9d9fGYfiFj:Aj>lQ 1r{4٪ns?Q 5r{4n] n٦B9pYv?Q Ev?ynWC)n;In;in{4YxzfAxB*** querying acoustic contact ***zhhg%FNOT Ignoring new targets: 161.97 m.g%g-5 ProNav: ac range: 161.968185 m, nav range: 158.525146 m, bearing: 94.602809 deg, approach rate: -0.671453 m/s, LOS rate: -0.033879 deg/s, cmd heading: 90.892462 deg, new cmd heading: 90.866116 deg. g=xEHeadingCmd: 1.585913 target range: 161.968185 and range: 162.90 m.gE2?gAgIgIgIzfIrfIfQfQBdQdQdQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.cYcx;@ɢBoE= 顅٭?I =BɡiI_ûԑI2?ieM=iY=)2?))vB>~BύCBBB =BBiDB#a;B$Eiiiiii>Am=} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496294A I I! N- >D D D D E &: E ]t:6E :E "E X;Q9Q9UGYUjFUA]>YQ 1e{4٪]f?Q 5e{4] ]ۦB9iYiQ Em?y]C)]&}A R=rA ?jA ? BDAT read: Rx Time:05:20:39.3087  TRx dataTimestamp_ set to:1755840040.498068 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003183ԡ A II IY Ne >,!)Ayj[?ٱjQ?jGdl99GY Y;A >Q 1{4٪u?Q 5{4 93?Q A:YI?Q E%?yC)G ;I ;i{4Y-B-FA-IEgQUFNOT Ignoring new targets: 161.97 m.g]=!Yg]=!u ProNav: ac range: 161.968185 m, nav range: 157.922470 m, bearing: 94.572930 deg, approach rate: -0.726814 m/s, LOS rate: -0.035242 deg/s, cmd heading: 90.832958 deg, new cmd heading: 90.806245 deg. gu}HeadingCmd: 1.584868 target range: 161.968185 and range: 162.90 m.g}?gygygygyzfrfffyBBdddcc`I @ɢBU= ?I %e59ɡ!i!I%XʻI-?i-&M=i- =)-?)1i90ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.251744vBe>~Be̍CBe,IBeBBe =BeJDBegDBe`;Be$EԹ>A5 {=Iq I N > &,Z;)AyJ?ٱJu?J wx9x9~GY~kF~'E;A~>Q 1 {4٪څ?Q 5 {4 ڦB9Ym?Q E?yƏC)S:IK:i{4Y[A!gAMFNOT Ignoring new targets: 161.97 m.gMgMe ProNav: ac range: 161.968185 m, nav range: 157.667374 m, bearing: 94.560436 deg, approach rate: -0.695277 m/s, LOS rate: -0.034110 deg/s, cmd heading: 90.806245 deg, new cmd heading: 90.781215 deg. geymHeadingCmd: 1.584431 target range: 161.968185 and range: 162.90 m.gm?gigigigizfirfifqfqBdqdydycyc} X @ɢBU=  ?I b(5ɡiIRͻI?iM=iy'=)?) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520751i@0DDD'DED: E:6E'4:E"E1AÞ=) I) I9 NM > DAT read: 05:20:39.3087 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.30, 1.352,-0.400, 1.410, 1.050, PHS= 0.404,-1.406, 0.316, RAW= 147.5, 7.8, CAL= 147.0, 8.5, ROT= 3.0, -8.5  Ygot valid direction response: 05:20:39.3087 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.30, 1.352,-0.400, 1.410, 1.050, PHS= 0.404,-1.406, 0.316, RAW= 147.5, 7.8, CAL= 147.0, 8.5, ROT= 3.0, -8.5  PDAT read: Bearing 254.3, 2.5 (Local)  ~Local bearing/azimuth received: Bearing 254.3, 2.5 (Local)  DAT read: Range 11 to 50 : 160.5 m (Round-trip 214.1 ms) speed 0.5 m/s  ,DAT read: user:7433>  BDAT read: Tx time:05:20:40.4405  $Ping request sent. )e Ie ʡ>ie S$@e 'g >e Y3$@e >e PwV= e ia a Ie m#& ?XN?XTYf?e X>e v e PwV=)e ia a  :publishing transmit ping timeY  Fpublishing direction and range info9a e o?gn?%)k?a a ia a a a a a )a Ia ia a a a a a ia a Ie m#& ?XN?XTYf?a a a )a ia a 9,8U)Ayo?ٱ-?<Q"=H@K? Z?Jť ~͑?RE]? ?Io?)`;iCmB9m,IMb@Mb@Mb@ )IiˡE?v/?Mb?'?x=99GYlF;A>IQQ 1]{4٪U?Q 5]{4U UۦB9]w*?Q Ae:Ye?Q Ee?yUC)U/:IU:iU{4YBAhh"Q)AhChCh?zc@roE @ƞ- 7@jo?gn?%)k?hPwV=h(cXA,I]c@$",tk5@rHn/yd?.?h|Ch bhٚ?hhjB*iB_ ?2i:iBiC"i? addTargetRange:: Added new target pos. range: 160.500000 m, deltaT: 3.795478 s, deltaX: -2.399994 m, approachRate: -0.632330 m/s, rangeRepo size: 4 u Added new target pos. range: 159.562408 m, bearing: 95.126125 deg, lat: 36.779286 deg, lon: -121.859596 deg, deltaT: 3.795478 s, deltaX: -2.405777 m, approachRate: -0.633853 m/s, posRepo size: 4 gyFNOT Ignoring new targets: 159.56 m.gg ProNav: ac range: 159.562408 m, nav range: 158.066330 m, bearing: 94.910333 deg, approach rate: 0.000000 m/s, LOS rate: -0.034110 deg/s, cmd heading: 90.781212 deg, new cmd heading: 90.747387 deg. gHeadingCmd: 1.583841 target range: 159.562408 and range: 160.50 m.gK?gggg!zf!rf!f1f5zBBd1d9d9c=d@ce x?ɢBN3= 顽u?I lg/ɡiIѻIK?i0N=iӘ=)K?)yD}D}D}+DyE}; E}z:6E} [4:Ey!@!@!@!@i9/@@ԡ >A P=I9 IQ N] >;,o)A9999=GY9Ez ;AE>IQ 1U|4٪M|?Q 5U|4M" I9QY]?Q E]?yM C)M;IM;iMN|4YaeAaB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 159.56 m.g/g/ ProNav: ac range: 159.562408 m, nav range: 157.843262 m, bearing: 94.899776 deg, approach rate: -0.692591 m/s, LOS rate: -0.032826 deg/s, cmd heading: 90.747389 deg, new cmd heading: 90.726244 deg. gLpHeadingCmd: 1.583472 target range: 159.562408 and range: 160.50 m.g3?ggggzfrfffBdddcc`?vB>~BˍCB,IBBB =BBfDB|`;B[$Eyi}CIG)lAI AɢB-H=i= =lA=ݭA =p=N?IA Em,ɡAiAIe:ԻIm3?imQ[N=iup=)u3?)qԩiF1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A% G=I I N > D D D /D E ; E 1]:6E J4:E "E LA9I9UGYUmFeA:Ae>yQ 1|4٪}v?Q 5|4} y9Y?Q E?y}2C)}F8>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009003i9%5!)>AE =I I N >a )9 9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264633ES,1뢊)AyR?ٱR?R];I]@iYYY)Y]@BDu6DufY}=!U=^:Q)>99GYA>Q 1|4٪q?Q 5|4 9=/?Q A:Y%)?Q E%?ySC)"~B%ʍCB%,IB%BB% =B!B%eDB%_;B%#EB̍CB͍CBǖCBǿ =BǼ =B6>AU =Ա A I I N >t,)Ay:y?ٱ:6?:<:=:H@/? ?0?`] I!?`?I:y?):X9`;i:CjB9n,IBD 6D kY-!-Q=5q:Q)5>1999EGYEnFMh4AM>QQ 1e|4٪Ul?Q 5m|4U  Q9iYu?Q Eu?yUuC)Uc;IU~y;iU*|4YBA>EԙgFNOT Ignoring new targets: 159.56 m.g%g% ProNav: ac range: 159.562408 m, nav range: 157.029190 m, bearing: 94.858706 deg, approach rate: -0.697843 m/s, LOS rate: -0.036260 deg/s, cmd heading: 90.671663 deg, new cmd heading: 90.643962 deg. gHeadingCmd: 1.582036 target range: 159.562408 and range: 160.50 m.g$?ggggzfrfff Bd d d c c ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764362ɢB .\=  ?II U,ɡQiQIU޻I]$?i]N=i]n=)]$?)aDUDUDU*DQEUl; EU|:6EU(N4:EQ"EUOFȶ,t܊)Ay61?ٱ6?6h<6=6H `^??@ԫƔ?,??I61?)6_;i4>B9B,I=Mb@Mb@Mb@ 9)9I9i99=v/?rh|?y&1|?=x)?===`;I=@i9=b@9)9=Q@I)BD6D0YB!!=:Q)>99GYoF%CA%>)Q 15|4٪-f?Q 55|4- )95a,?Q A=:Y=?Q E=?y-C)-:I-:i-=|4YAEAAIgFNOT Ignoring new targets: 159.56 m.gUgU ProNav: ac range: 159.562408 m, nav range: 156.679504 m, bearing: 94.840500 deg, approach rate: -0.667396 m/s, LOS rate: -0.034825 deg/s, cmd heading: 90.643960 deg, new cmd heading: 90.607466 deg. g~HeadingCmd: 1.581399 target range: 159.562408 and range: 160.50 m.gEk?ggggzfrfffkBBdddcc`3@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268633ɢMBM_= IMq?II U%ɡQiQIUXI]Ek?i]GO=DDDDE; Ee:6E:E!@!@!@!@i=)Ek?)y9i))1511ԡA I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520344vB= >~B= ȍCB= ,IB= BB= =B9 B= dDB= ^;B= s#E 7,()AiyNJ?ٱN?NBDb6DbYj̚!j_=j:Q)j>l9l9nGYlr:Ar>tQ 1z|4٪vja?Q 5z|4v vڦB9xYz?Q Ez?yvC)v2:Iv ;ivI|4YA %B*** querying acoustic contact ***zh!h!g15FNOT Ignoring new targets: 159.56 m.g=#g=#M ProNav: ac range: 159.562408 m, nav range: 156.435654 m, bearing: 94.827697 deg, approach rate: -0.680247 m/s, LOS rate: -0.035770 deg/s, cmd heading: 90.607466 deg, new cmd heading: 90.581820 deg. gM킺UHeadingCmd: 1.580951 target range: 159.562408 and range: 160.50 m.gU\?gQgQgQgYzfYrfYfafaBdadadacicmN @ɢB-xq= )5?I1 50\ɡ1i1I=I=\?iEvO=iE=)E\?)A)I IiIIIԑԹ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774126iqqq}5yBEƙT4JEƙT4REƇ 0DDD)DE: Ev:6EFA4:E"E&! ,')Ay6▲?ٱ6?6<6(=6H<ޏ??@Œ`?\??I6▲?)6]^;i6CBB9B,I=Mb@Mb@Mb@ 9)9I9i99=gfffff?`"?MbP=33?===I=5@i=@9=x@)9=@BDU6DU1Ye|=!eC=e5:Q)e>i9i9mGYmpFuAu>yQ 1|4٪}\?Q 5|4} }ئB95?Q A:Ys?Q E?y}C)}:I}:i}tX|4BDAT read: Rx Time:05:20:43.0553 TRx dataTimestamp_ set to:1755840044.304577checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025517YmBHA5EgFNOT Ignoring new targets: 159.56 m.gg ProNav: ac range: 159.562408 m, nav range: 156.140396 m, bearing: 94.813563 deg, approach rate: -0.701086 m/s, LOS rate: -0.033623 deg/s, cmd heading: 90.581819 deg, new cmd heading: 90.553498 deg. g"vHeadingCmd: 1.580457 target range: 159.562408 and range: 160.50 m.ghL?ggggzfrffftBBdddcc xg@ɢBKU= 页{?I ,ɡiICIhL?iO=i8,=)hL?) ie8aae/a1AIINj>M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276295a D D D D E s: E Ar:6E :E ! @! @! @! @,))A y:|u?ٱ:8k?: <:6H=:Hj`B? ?e \?B┿? 7?I:|u?):^;i:C^wB9b,Ifpt9t9vGYvqFz,Az>|Q 1|4٪~2W?Q 5|4~ ~֦B9YR?Q E ?y~ C)~;I~:i~e|4YAgFNOT Ignoring new targets: 159.56 m.gg ProNav: ac range: 159.562408 m, nav range: 155.868103 m, bearing: 94.800585 deg, approach rate: -0.681181 m/s, LOS rate: -0.032524 deg/s, cmd heading: 90.553501 deg, new cmd heading: 90.527498 deg. gnHeadingCmd: 1.580003 target range: 159.562408 and range: 160.50 m.g=?ggggzfrf!f!f!Bd!d)d)c)c-` @ɢ5B5FRF= 9=͝?I9 = ɡ9i9IE&pIE=?iMFO=iMTH=)M=?)IyvB>~BǍCB,IB~BB =BBcDBx];B"Ei]9aaiiDAT read: 05:20:43.0553 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.36, 2.143, 0.383, 2.198, 1.840, PHS= 0.404,-1.413, 0.314, RAW= 147.5, 7.9, CAL= 147.0, 8.5, ROT= 3.0, -8.5 Ygot valid direction response: 05:20:43.0553 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.36, 2.143, 0.383, 2.198, 1.840, PHS= 0.404,-1.413, 0.314, RAW= 147.5, 7.9, CAL= 147.0, 8.5, ROT= 3.0, -8.5 PDAT read: Bearing 254.2, 2.2 (Local) ~Local bearing/azimuth received: Bearing 254.2, 2.2 (Local) DAT read: Range 11 to 50 : 158.0 m (Round-trip 210.7 ms) speed 0.1 m/s ,DAT read: user:7434> BDAT read: Tx time:05:20:44.1405 $Ping request sent.i0 > iIm#<?d"A??>- )i]:publishing transmit ping timeYԙFpublishing direction and range info9o?gn?%)k?i )Ii iIm#<?d"A?? )i>A D= A yAI I N >,C)AyBb H?9b H?9fGYdfDAf>hQ 1n|4٪j&R?Q 5r|4j{ jԦB9pYr+?Q Er?yj/C)j:Ij:ijs|4YtvAxhh3)AhChChuG?zf-dc@>YttB @ݫ+77@jo?gn?%)k?hhV(C+$]4>ec@|L.4@rߔL8&m?l1r?h)ChZh\՚?hEphдB*iٚ?2io:ijBiC"iD=?E addTargetRange:: Added new target pos. range: 158.000000 m, deltaT: 3.541834 s, deltaX: -2.500000 m, approachRate: -0.705849 m/s, rangeRepo size: 4 D]D]D]*DYE]O: E]|:6E](N4:EY"E] AEÜ= Ay I I N >,])Ayb ?ٱb?b:IK@i@5@@)G@BD6DY#Ž!<=^;Q)>99GYrFPA>Q 1|4٪JL?Q 5|4t ҦB9i-?Q A:Y?Q E?yUC);Ia;i,|4YbBA4EgFNOT Ignoring new targets: 157.06 m.g-g-- ProNav: ac range: 157.063812 m, nav range: 155.428238 m, bearing: 94.986934 deg, approach rate: -0.676019 m/s, LOS rate: -0.037968 deg/s, cmd heading: 90.502192 deg, new cmd heading: 90.469474 deg. g-HeadingCmd: 1.578990 target range: 157.063812 and range: 158.00 m.gZ?ggggzfrfffXBBdddcc@??) ɢ5B5:= 9=[?I9 =ɡ9i9I= oIEZ?iETP=iMu=)MZ?)i }V>}>)DuDuDu+DqEu; Eu&p:6Eu [4:Eq!@!@!@!@i   @mA@mAY>A- !=ԁ vB >~B B ,IB sBB =B B B \;B "EAY Ia Iy N ><,w)AyB:ر?ٱB?B\9`9bGYbsFbûAb>dQ 1j|4٪fXG?Q 5j|4fm fЦB9lYnF?Q En?yfuC)f;If<;if|4Yr#Br}Av+EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 157.06 m.g)g)- ProNav: ac range: 157.063812 m, nav range: 155.180069 m, bearing: 94.973179 deg, approach rate: -0.669089 m/s, LOS rate: -0.037144 deg/s, cmd heading: 90.469476 deg, new cmd heading: 90.441922 deg. g-􇺝5HeadingCmd: 1.578509 target range: 157.063812 and range: 158.00 m.g5 ?g1g1g9g9zf9rf9fAfABdAdAdIcIcM?YɢBEk= 顅?I tɡiIeI ?iP=iؗ=) ?)i5999=09ԉ%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.>Au;=DDD)DED: E n:6EFA4:E"E1 +,~)AyRd?ٱR ?Rv}K?9}K?9}GYy{A>ԩ!Q 1-|4٪%)B?Q 5-|4%(f %ΦB95.?Q A5:Y5?Q E5?y%C)%:I%:i%$|4Y9=}AAgFNOT Ignoring new targets: 157.06 m.gg ProNav: ac range: 157.063812 m, nav range: 154.888962 m, bearing: 94.959699 deg, approach rate: -0.635837 m/s, LOS rate: -0.029498 deg/s, cmd heading: 90.441923 deg, new cmd heading: 90.414912 deg. gWHeadingCmd: 1.578038 target range: 157.063812 and range: 158.00 m.g%?ggggzfrfffpBBdddcc?ɢBy9= ?I gɡiI)I%?i=P=i=L=)=%?)Ai9/% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723857>A ~=D} D} D} ,Dy E} : E} ?:6E} g4:Ey ! @! @! @! @9 A I I N >5N,q9)AyB3G?ٱB`9`9bGYbtFfvƻAf>hQ 1n|4٪j=?Q 5n|4j_ j̦B9lYr?Q Er?yjC)j;Ij ;ijb|4Ytv>~AtgFNOT Ignoring new targets: 157.06 m.gg- ProNav: ac range: 157.063812 m, nav range: 154.632294 m, bearing: 94.947990 deg, approach rate: -0.732114 m/s, LOS rate: -0.033454 deg/s, cmd heading: 90.414909 deg, new cmd heading: 90.391452 deg. g-t5HeadingCmd: 1.577628 target range: 157.063812 and range: 158.00 m.g5?g1g9g9g9zf9rf9fAfABdAdAdIcIcMI?ɢ}B}^y= y}?Iy BɡiII?iP=i2=)?))i5@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976292vB~BB,IBiBB =BBBZ;BT!EIGA)]~nAIuAi ~nAA>A=qAIIN >ԙ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227819t6,#ŋ)Ay6?ٱ6x?6Mi<6 <6H螿wÚ?@*?V&?@,؝??I6?)6^;i6C>`B9B,IBDF6DF1Yz<!zG=z N;Q)z>|9|9~GY~uF:A> Q 1|4٪ 8?Q 5|4 FX ʦB9Y?Q E?y C) o;I Q;i |4Y!%~A!DEDEDADAEE: EE:6EA:EA"EE3Av=rA ?jA?I I N > #b,ދ)AyNe?ٱN!?N mDImb@im@mK@i)im@BD6D:Ya !@=[;Q)>99GYA>Q 1|4٪r3?Q 5|4P ƦB9x.?Q A:YD?Q E?yC);I/;i|4YW~AgFNOT Ignoring new targets: 157.06 m.gg ProNav: ac range: 157.063812 m, nav range: 154.066559 m, bearing: 94.921074 deg, approach rate: -0.681238 m/s, LOS rate: -0.034267 deg/s, cmd heading: 90.366401 deg, new cmd heading: 90.337524 deg. g z HeadingCmd: 1.576687 target range: 157.063812 and range: 158.00 m.g?ggggzfrfffYBBdd!d!c!c% @ɢU BU^O= QUd?IY ]\ɡYiYI]Ie?ie+Q=ieK=)e?)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.732371Qi 9   4 bDAZDE?ADMDMDM/DIEM ; EM:6EMJ4:EI!]@!]@!]@!]@y>A-Ď=ԡ I I N% >vB >~B ȍCB ,IB ZBB =B B dDB X;B EBMǍC checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983952BMȍCBMʓCBM =BM =BM5Z,)Ay6h?ٱ6}^?6+<6ό<6H@Vq%?`?`Y=? [d`??I6h?)6^;i6C@@9@BDJ6DJYn-`;!nX=nU;Q)r>p9p9rGYrvFvmԻAv>xQ 1~|4٪z.?Q 5~|4z3J z¦B9Y?Q E?yz&C)z ;IzT ;iz|4Y ګB |A !E-B*** querying acoustic contact ***zh)h)g9EFNOT Ignoring new targets: 157.06 m.gE{gE{U ProNav: ac range: 157.063812 m, nav range: 153.810196 m, bearing: 94.908396 deg, approach rate: -0.672803 m/s, LOS rate: -0.033328 deg/s, cmd heading: 90.337523 deg, new cmd heading: 90.312125 deg. gUs]HeadingCmd: 1.576244 target range: 157.063812 and range: 158.00 m.ge\?gagagagazfarfafifiBdididqcqcu@ɢ Bc= 顥@?I 0޼ɡiII\?i_LQ=iӂ=)\?)lAiqqqu/q@}lA@yԱBDAT read: Rx Time:05:20:46.7521  TRx dataTimestamp_ set to:1755840048.084443 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236872>A5@=D]D]D])DYE]a: E]z:6E]FA4:EY"E]( v,)Ahyr*?ٱr?rD;Ii@)@I)BD6D02Y3!==k:Q)>99GYA>Q 1U|4٪.)?Q 5U|4B B9U)?Q AU:YU?Q E]?yKC)H= 页v?I rռɡiIIz?irQ=i =) z?) ik415 DAT read: 05:20:46.7521 LVL= 23856, 32753, 27730, 32755, AGC= 67, IDX= 409, 0.23,-1.923, 2.603,-1.909,-2.210, PHS= 0.389,-1.426, 0.257, RAW= 146.3, 8.9, CAL= 145.8, 9.7, ROT= 4.2, -9.7 = Ygot valid direction response: 05:20:46.7521 LVL= 23856, 32753, 27730, 32755, AGC= 67, IDX= 409, 0.23,-1.923, 2.603,-1.909,-2.210, PHS= 0.389,-1.426, 0.257, RAW= 146.3, 8.9, CAL= 145.8, 9.7, ROT= 4.2, -9.7 E PDAT read: Bearing 254.4, 2.8 (Local) M ~Local bearing/azimuth received: Bearing 254.4, 2.8 (Local) U DAT read: Range 11 to 50 : 155.6 m (Round-trip 207.5 ms) speed 0.8 m/s ] ,DAT read: user:7435> e BDAT read: Tx time:05:20:47.8405 e $Ping request sent.e ) +I >i .k#@ > 4"@ -\-> Q =  -\-i  I .>Y?]ϊ ?+? c>   Q =) -\-i   :publishing transmit ping timeYa  Fpublishing direction and range info9  2u?d{?RV?  i      ) I i      i  I .>Y?]ϊ ?+?   ) i  De De Da Da Ee : Ee xv:6Ea :Ea !m @!m @!m @!u @y >A} ff=I I N > ,Ã,)Ay6?ٱ6m?6'U=6<6H`OY @S'??EJ? ٗ??I6?)6g^;i6CNKB9N,IBDV6DVYnt!rY=r;Q)r>t9t9vGYvwFvAv>x9Q 1E|4٪zf$?Q 5E|4z}< zB9AYM?Q EM?yzkC)z/h=_B*i92i9:i=_Bi=GC"i=k? addTargetRange:: Added new target pos. range: 155.600006 m, deltaT: 3.778063 s, deltaX: -2.399994 m, approachRate: -0.635245 m/s, rangeRepo size: 4  Added new target pos. range: 154.679962 m, bearing: 95.202988 deg, lat: 36.779281 deg, lon: -121.859596 deg, deltaT: 3.778063 s, deltaX: -2.383850 m, approachRate: -0.630971 m/s, posRepo size: 4 gFNOT Ignoring new targets: 154.68 m.gg- ProNav: ac range: 154.679962 m, nav range: 153.280411 m, bearing: 94.879378 deg, approach rate: 0.000000 m/s, LOS rate: -0.034642 deg/s, cmd heading: 90.280853 deg, new cmd heading: 90.254740 deg. g)UHeadingCmd: 1.575242 target range: 154.679962 and range: 155.60 m.gu?gqgqgqgqzfyrfyfyfyBdddc@3sc@cV?ɢBe= 5?I ZμɡiI5 I?ijQ=isӄ=)?)A)A-<vB=>~B9B=,IB=KBB= =B9B=cDB=W;B=Eqi8/ԑ>A 8=Iq I N > U,\F)AnBB9r,IBE(N4JEU4REJ0D%D%D%*D!E%: E%:6E%(N4:E!"E%Q9Q9UGYUxFԙUA>Q 1}4٪?Q 5}4 5 B9YQ E?yC)Q;IIS;iR}4Y|A!gFNOT Ignoring new targets: 154.68 m.g&g& ProNav: ac range: 154.679962 m, nav range: 152.995773 m, bearing: 94.863824 deg, approach rate: -0.664921 m/s, LOS rate: -0.036401 deg/s, cmd heading: 90.254741 deg, new cmd heading: 90.223577 deg. g<HeadingCmd: 1.574698 target range: 154.679962 and range: 155.60 m.g?ggggzfrfffBdddccn?ɢBH= ?I +ƼɡiI{I?i LQ=ikZ=)?)! 15>i9@=@=iu=Iu:?>A [=) A1 IA IQ N] >1,K`)Ay6L?ٱ6dB?6F =6"<6H`M_?`1?LŐ Z?@(?@(?I6L?)6[^;i6CT9T-Mb@Mb@Mb@ )))I)i))-Fx?T㥛 ?~jth-+?->-DI-x@i-@)-@))-=@BDE6DEYU!UI=]Я;Q)]>Y9Y9eGYae<Ae>iQ 1u}4٪mZ?Q 5u}4mE. mB9}.?Q A}:Y} ?Q E}?ymC)m ;Im ;im}4YBzAEgFNOT Ignoring new targets: 154.68 m.gg ProNav: ac range: 154.679962 m, nav range: 152.731674 m, bearing: 94.852076 deg, approach rate: -0.704161 m/s, LOS rate: -0.031380 deg/s, cmd heading: 90.223575 deg, new cmd heading: 90.200037 deg. geHeadingCmd: 1.574288 target range: 154.679962 and range: 155.60 m.gB?ggggzfrfffLBBdddcc O?ɢBg= 页b?I ɡiI|.IB?ifQ=i%Ft|=)%B?))D-D-D-(D)E-: E-:6E-c44:E)!=@!=@!=@!=@i9I>AvB- >~B) B- |,IB- q w,z)Ay6#?ٱ6?6=6i<6H`{``—??/̍`?VԡQL? ?I6#?)62^;i6C>4B9Bs,I)D FABDJ6DJNYRr!RW=Rb;Q)R>T9T9VGYVyFZAZ>\Q 1b}4٪^?Q 5f}4^' ^B9dYf?Q Ef?y^ӒC)^Q:;I^n;;i^7}4Yhn9{AlzB*** querying acoustic contact ***zhxhxgFNOT Ignoring new targets: 154.68 m.g g  ProNav: ac range: 154.679962 m, nav range: 152.474274 m, bearing: 94.840760 deg, approach rate: -0.675184 m/s, LOS rate: -0.029731 deg/s, cmd heading: 90.200038 deg, new cmd heading: 90.177369 deg. gY%HeadingCmd: 1.573892 target range: 154.679962 and range: 155.60 m.g%Ku?g!g)g)g)zf)rf)f1f1Bd1d1d1cc`?QɢRDY= 額?I AɡiIMIKu?iQ=iWy=)Ku?)iiiim0qԁT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DEDEDE'DAEE: EE:6EE'4:EA"EEAj{=A I I N &$,)A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752691;B9|,IeMb@Mb@Mb@ a)aIaiaaey&1?p= ף?Mb`?e`%?e>e;Ieb@ie@eb@e@)ae@BD} 6D}2Y<!/=Q)>99GYzFA>ԩQ 1}4٪{?Q 5}4 B9(?Q A:Yq?Q E?yC)R2;I0;i-}4Y{AgFNOT Ignoring new targets: 154.68 m.gg ProNav: ac range: 154.679962 m, nav range: 152.168839 m, bearing: 94.825794 deg, approach rate: -0.654419 m/s, LOS rate: -0.032130 deg/s, cmd heading: 90.177369 deg, new cmd heading: 90.147377 deg. g3k HeadingCmd: 1.573369 target range: 154.679962 and range: 155.60 m.g $d?g g g g zfrfffKBBdddcc8?ɢMBMȺO= IU=?IQ UɡQiQIUI]$d?i]Q=i]o(|=)]$d?)a)1i9/@@kAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004439 D] D] D] ,DY E] ; E] z:6E] g4:EY !e @!e @!m @!m @>A x=1 A I I! N5 >]+,)Ay6:ޮ?ٱ6?6;=6\<6H<`t??@bj?`dƢ@??I6:ޮ?)62^;i6CR2B9Rp,IBDZ6DZ:YbF!b[=b;Q)b>d9d9fGYdfAj>lQ 1r}4٪n ?Q 5r}4nX nB9pYr=?Q Er?ynC)n>:In:in:}4YvBzzAzEgFNOT Ignoring new targets: 154.68 m.g%g%5 ProNav: ac range: 154.679962 m, nav range: 151.924576 m, bearing: 94.813930 deg, approach rate: -0.654277 m/s, LOS rate: -0.031831 deg/s, cmd heading: 90.147377 deg, new cmd heading: 90.123610 deg. g5i=HeadingCmd: 1.572954 target range: 154.679962 and range: 155.60 m.g=V?g9g9g9g9zfArfAfAfABdIdIdIcQcU .@ɢ}B}x@e= 顅?I # ɡiI{IV?i,R=iIw=)V?))vB>~BBi,IB,BB =BBBV;B*Ei%9))-o0)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256734Y>AM(z=ԑA I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508642Ա @2,usɌ)ADDDDE: EM:6E:E"Ey>99GY%{F%lA%>)Q 15}4٪-M?Q 55}4-W -B91Y ?Q E?y-A| u=A] yAIa Iq N > i8,I)Ay6s?ٱ6.u?6<'=6"<6H UPZ`In??@! ?椿2ݜ?@?I6s?)6^;i4B!B9B\,I5Mb@Mb@Mb@ 1)1I1i115v/?Dl?5x)?5O >5I5@i5@11)15@BDM6DMk1Y]h8!]F=];Q)]>e H?9e H?9eGYe|Fm]Am>qQ 1}}4٪uA?Q 5}}4u-  uB9}-?Q A}:Y}?Q E?yu`C)u ;Ium ;iuW}4YRByA EgFNOT Ignoring new targets: 154.68 m.gZ!gZ! ProNav: ac range: 154.679962 m, nav range: 151.378036 m, bearing: 94.786960 deg, approach rate: -0.696997 m/s, LOS rate: -0.035266 deg/s, cmd heading: 90.097544 deg, new cmd heading: 90.069575 deg. gHeadingCmd: 1.572011 target range: 154.679962 and range: 155.60 m.g7?) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013137ggggzfrfff@BBdddcc`9@ɢ!-(]= )-M?I) --ɡ)i1I5E I=7?i=$R=i=Ryq=)=7?)9MkAMkAD=D=D=+D9E= : E=E:6E= [4:E9!M@!M@!M@!M@i5@=@=)>Aur=eG=imCIG)vB|>~BƍCB],IB"BB =BBbDBU;B EI1 a iu ʹy } A BDAT read: Rx Time:05:20:50.4488  TRx dataTimestamp_ set to:1755840051.865318 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266541A% AI) IA NM >>,%)A ynk?ٱna?n,=nJ(? V?ě`? ?Y?Ink?)nB_;inC$B9_,Ii<BD6D:Y-f<!-M=-B;Q)5>5K?95K?95GY1=sźA=>AQ 1M}4٪Ef?Q 5M}4EB EB9IYU?Q EU?yEC)E`:IEW:iEje}4YY]pyAY}B*** querying acoustic contact ***zhyhygFNOT Ignoring new targets: 154.68 m.gg ProNav: ac range: 154.679962 m, nav range: 151.111221 m, bearing: 94.773497 deg, approach rate: -0.669396 m/s, LOS rate: -0.033835 deg/s, cmd heading: 90.069575 deg, new cmd heading: 90.042602 deg. gwHeadingCmd: 1.571540 target range: 154.679962 and range: 155.60 m.g8(?ggggzfrfffBdddcc\e @ɢB]= ?I KɡiI I8(?i4R=i)8(?)qiu9qq}4ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516647DMDMDM*DIEM: EM|:6EM(N4:EI"EM.A5r= A yAI I N >E, )AFDAT read: 05:20:50.4488 LVL= 19952, 28369, 21298, 28019, AGC= 69, IDX= 407, 0.01,-0.860,-2.785,-0.876,-1.207, PHS= 0.449,-1.533, 0.287, RAW= 145.8, 8.4, CAL= 145.3, 9.2, ROT= 4.7, -9.2 JYgot valid direction response: 05:20:50.4488 LVL= 19952, 28369, 21298, 28019, AGC= 69, IDX= 407, 0.01,-0.860,-2.785,-0.876,-1.207, PHS= 0.449,-1.533, 0.287, RAW= 145.8, 8.4, CAL= 145.3, 9.2, ROT= 4.7, -9.2 LNPDAT read: Bearing 252.7, 2.7 (Local) R~Local bearing/azimuth received: Bearing 252.7, 2.7 (Local) VDAT read: Range 11 to 50 : 153.0 m (Round-trip 204.1 ms) speed 0.5 m/s Z,DAT read: user:7436> nBDAT read: Tx time:05:20:51.5405 n$Ping request sent.n)&X9ĿI&>i&4"@&Q >&:M"@&l$>&= &l$i$$I&Rg?ɽrۈ?|?&_]>&%I &=)&l$i$$=:publishing transmit ping timeYl=Fpublishing direction and range info9$&:m{?ZIش?Čsv?$$i$$$$$ $)$I$i$$$$$ $i$$y:T?ٱI?43=><HÜ`j??耿퇦?d? g?I:T?)`;i=B9=W,II&Rg?ɽrۈ?|?$$ $)$i$$ Mb@Mb@Mb@ ) I i   E?Pn?y&1|? &? > `;I x@i @ x@ @)  3@BDE6DEYUDļ!U=]R;Q)}>} H?9} H?9GY}F߬A>Q 1}4٪2?Q 5}4 B9)?Q A:YH?Q E?yC)K;I);ixx}4YyAh$h&)Ah&Ch&Ch&?z&`9ɒb@D|(@m(P8@j&:m{?ZIش?Čsv?h&=h&l$&_ *ץAPb@4-#2@r&g ⵿? ,?v{?h&rCh&Ph&(?h&ʅh&VB*i&\՚?2i$:i&]Bi&C"i&E? addTargetRange:: Added new target pos. range: 153.000000 m, deltaT: 3.781509 s, deltaX: -2.600006 m, approachRate: -0.687558 m/s, rangeRepo size: 4  Added new target pos. range: 152.090149 m, bearing: 94.939375 deg, lat: 36.779280 deg, lon: -121.859596 deg, deltaT: 3.781509 s, deltaX: -2.589813 m, approachRate: -0.684862 m/s, posRepo size: 4 gFNOT Ignoring new targets: 152.09 m.gg ProNav: ac range: 152.090149 m, nav range: 150.756348 m, bearing: 94.775960 deg, approach rate: 0.000000 m/s, LOS rate: -0.033835 deg/s, cmd heading: 90.042602 deg, new cmd heading: 90.004250 deg. gHeadingCmd: 1.570871 target range: 152.090149 and range: 153.00 m.gI?ggggzfrfff7BBd d d c  c@cU@hv?ɢ:)= c顭?I |ɡiIq II?i'LR=i)I?)DU DU DQ DQ EU : EU $:6EQ :EQ !] @!] @!e @!e @i 0 @ mA@ lA! I >A @p=vBv>~BōCBD,IBBB =BBaDBU;BEBȍCBǍCBΔCB =B =B_6AAIIN%?AM,8)A(yN3;?ٱN0?N0:=N=NH_ `?@8?@E~0e? D@??IN3;?)N a;iNCZB9ZJ,IBDb6DbβYj^!jV=n;Q)n>nK?9nK?9nGYr~FrAr>tQ 1z}4٪v?Q 5z}4v vB9|Y~.?Q E~?yvѓC)v;Iv;iv}4YyAg)5FNOT Ignoring new targets: 152.09 m.g5g5E ProNav: ac range: 152.090149 m, nav range: 150.508118 m, bearing: 94.764498 deg, approach rate: -0.699273 m/s, LOS rate: -0.032341 deg/s, cmd heading: 90.004251 deg, new cmd heading: 89.981290 deg. gElHeadingCmd: 1.570470 target range: 152.090149 and range: 153.00 m.g'?ggggzfrfffBdddcc y?ɢjg= 顽~?I RɡiIA I'?ijZR=i#p=)'?)AԁiYYY]0Yԩ)) -ADDD(DEs: E|:6Ec44:E"E^0A} ur= A yAI I N >JuT,R)A`yf2%?ٱf?fMlA=f1=fH@V` \??@{XJ?<+?@?If2%?)fKc;idB9I,II ) @ABDM6DMY!2=3{;Q)> H?9 H?9GY A>Q 1}4٪힊?Q 5}4 B9Y?Q E?yC)6:I :i}4Y BwAEgFNOT Ignoring new targets: 152.09 m.g g  ProNav: ac range: 152.090149 m, nav range: 150.204605 m, bearing: 94.750511 deg, approach rate: -0.658340 m/s, LOS rate: -0.030400 deg/s, cmd heading: 89.981288 deg, new cmd heading: 89.953257 deg. g ^HeadingCmd: 1.569981 target range: 152.090149 and range: 153.00 m.g?ggggzfrfffBddd!c!c%Gh?ɢUBU+GS= QU,~?IQ ],ɡYiYI]i Ie?ie jR=ieo=)e?)ii 5 >Anp=I A AI! I1 N= >D D D 'D E a: E g:6E '4:E ! @! @! @! @Z,l)A%B9%E,I-only read 2 of 4 data items for bottom velocity. Device response is::BS, +133, +0,A !@! !@! !@! !@! BD6D:Yu!Z=Q)>K?9K?9GYFUAU>YQ 1e}4٪]H鞊?Q 5e}4] ]BQ =m+:9iQ Am:YiQ Em?y]C)]:I]D>i]}4YquwAygFNOT Ignoring new targets: 152.09 m.g g  ProNav: ac range: 152.090149 m, nav range: 149.945618 m, bearing: 94.738531 deg, approach rate: -0.658820 m/s, LOS rate: -0.030527 deg/s, cmd heading: 89.953257 deg, new cmd heading: 89.929256 deg. gy_HeadingCmd: 1.569562 target range: 152.090149 and range: 153.00 m.ge?ggggzfrfffBdddcc?ɢ`= |?I frɡ i I  Ie?iyR=i:rq=)e?)IvBn>~BB7,IBBB =BB`DBU;BE9)qi_0@=@ԡ >Au m= ABE1JE5(N4RE50DDD/DE: E n:6EJ4:E"E.b,)Ay:Mڭ?ٱ:?:=V=: =:Hw 8`:??Lp ڪ?Ī]??I:Mڭ?):xb;i:CFB9FF,IBDN6DNYV:!V2=V5X9X9ZGYZF^A^>`Q 1f}4٪ba䞊?Q 5f}4bf bBQ =f :9dQ AfQ:Yf?Q Ej?yb?C)b:IbU?ib}4YlnwAl~B*** querying acoustic contact ***zh|h|gFNOT Ignoring new targets: 152.09 m.g g = ProNav: ac range: 152.090149 m, nav range: 149.656311 m, bearing: 94.725357 deg, approach rate: -0.618569 m/s, LOS rate: -0.028223 deg/s, cmd heading: 89.929255 deg, new cmd heading: 89.902856 deg. g=NEHeadingCmd: 1.569101 target range: 152.090149 and range: 153.00 m.gEL?gAgAgAgAzfArfIfIfIBdIdQdycyc}@b?ɢE= !%|?I! %\bɡ!i!I%w IUL?iUR=iUlj=)UL?))T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.Q9 i} 9y y / ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248319D!D%D%(D!E! E%:6E%c44:E!!-@!-@!-@!-@>Aur=rA?jA?AIIN%?k,X)Ay6aҭ?ٱ6?6[=6=6Hv@gʡ?@?@n 厫?ya?+?I6aҭ?)6/Ec;i6C>B9B8,I-nonly read 0 of 1 data item for water mass range. Device response is::WD,337.98 linp;BDr6DrYz!z=z);Q)~>|9|9~GY~F#ҹA> Q 1}4٪ ݞ?Q 5}4  }BQ =99Q A*:Y?Q E?y rC) 7 ;I ?i %}4Y!%(xA!gFNOT Ignoring new targets: 152.09 m.gg ProNav: ac range: 152.090149 m, nav range: 149.259232 m, bearing: 94.707229 deg, approach rate: -0.691234 m/s, LOS rate: -0.031641 deg/s, cmd heading: 89.902857 deg, new cmd heading: 89.866504 deg. ggHeadingCmd: 1.568466 target range: 152.090149 and range: 153.00 m.g?ggggzfrfffBdddcc@@AIAMAAvBUm>~BUčCBU$,IBUBBU =BQBQBUU;BUEɢ-4= 額?w?I lPɡiI I?inR=il=)?)) iIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5006881i0Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752316>A Xh=DU DU DU *DQ EU : EU &p:6EU (N4:EQ "EU 48s,ύ)Ay>Pҭ?ٱ> ?>`=>U=>Hv? ?m?@@Ҫ?K?I>Pҭ?)>Lc;i>CJ B9JA,IBDR6DRYZ=!Z2=^r;Q)^>\9\9^GY`bAb>dQ 1j}4٪f؞?Q 5j}4f> fxBQ =n99lQ An :Yn?Q En?yfC)f* ;If?if}4YrI}<BDAT read: Rx Time:05:20:54.1453 TRx dataTimestamp_ set to:1755840055.397817ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014534>A .o=I I N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256365y,)Ay6$ݭ?ٱ6?6S_=6=6HWxvr?`?.p?뵢?Q?I6$ݭ?)6b;i6C>B9B.,ID%D%D%'D!E%: E%:6E%'4:E!!-@!-@!-@!-@!! !! !! !! Mb@Mb@Mb@ )IiCl?Q?Mb`/?\>I@i@b@Q@)@BD6D1Y !6=:{Q)>!9!9%GY%F-A:A->)Q 1=}4٪-Ӟ?Q 5=}4-( -pBQ ==T:9=|3?Q A=:Y=?Q EE?y-C)->;I-;i-}4YIMqAIgFNOT Ignoring new targets: 152.09 m.gg ProNav: ac range: 152.090149 m, nav range: 148.645096 m, bearing: 94.678230 deg, approach rate: -0.682515 m/s, LOS rate: -0.033198 deg/s, cmd heading: 89.838708 deg, new cmd heading: 89.808387 deg. gsHeadingCmd: 1.567452 target range: 152.090149 and range: 153.00 m.gE?ggggzfrfff?BBdddc c  @ɢY]O= aes?Ia e3ɡaiaIe֡ ImE?iu۽R=iuƕq=)uE?)qi80vBy~ByB},IB}BB} =ByByB}DU;B}E1=DAT read: 05:20:54.1453 LVL= 26656, 32753, 26418, 32627, AGC= 69, IDX= 404,-0.23, 0.338,-1.588, 0.233,-0.048, PHS= 0.487,-1.495, 0.237, RAW= 143.3, 8.3, CAL= 142.9, 9.1, ROT= 7.1, -9.1 EYgot valid direction response: 05:20:54.1453 LVL= 26656, 32753, 26418, 32627, AGC= 69, IDX= 404,-0.23, 0.338,-1.588, 0.233,-0.048, PHS= 0.487,-1.495, 0.237, RAW= 143.3, 8.3, CAL= 142.9, 9.1, ROT= 7.1, -9.1 MPDAT read: Bearing 252.1, 4.2 (Local) ~Local bearing/azimuth received: Bearing 252.1, 4.2 (Local) DAT read: Range 11 to 50 : 150.5 m (Round-trip 200.7 ms) speed 0.8 m/s ,DAT read: user:7437>  BDAT read: Tx time:05:20:55.2404  $Ping request sent.U A- @p= :publishing transmit ping timeY  Fpublishing direction and range info9!~%Z?Ad>?@\~>?Ci h2gs X>))\I!r>iQ @V>@I I N% >">= "iIEd??>=w?:>A =)"i :publishing transmit ping timeY  Fpublishing direction and range info9!~%Z?Ad>?@\~>?i )Ii iIEd??>=w? )iY (ـ,Ҏ)Aiy6˭?ٱ6H?6^=6&=6HM%v`h??leӫ?.?@?I6˭?)6Jb;i6CRB9R(,IIT)VAABDZ6DZ1Y%!%[=-Q)->)9)95GY5F5A5>YQ 1e}4٪]Ξ?Q 5e}4]Z ]iB9iYm?Q Em?y]C)]:I]:i]}4Yu1BqAhhp)AhChChY?zGlRb@" B2@5W 7@j!~%Z?Ad>?@\~>?h=h">W42$E0.rb@<P0@rC\&`?|?hChhwИ?hMOehB*i(?2i:iдBiVC"ih?- addTargetRange:: Added new target pos. range: 150.500000 m, deltaT: 3.528381 s, deltaX: -2.500000 m, approachRate: -0.708540 m/s, rangeRepo size: 4 1] Added new target pos. range: 149.599258 m, bearing: 97.031695 deg, lat: 36.779276 deg, lon: -121.859596 deg, deltaT: 3.528381 s, deltaX: -2.490891 m, approachRate: -0.705958 m/s, posRepo size: 4 gYeFNOT Ignoring new targets: 149.60 m.gega ProNav: ac range: 149.599258 m, nav range: 148.337189 m, bearing: 94.840892 deg, approach rate: 0.000000 m/s, LOS rate: -0.033198 deg/s, cmd heading: 89.808388 deg, new cmd heading: 89.782781 deg. gHeadingCmd: 1.567005 target range: 149.599258 and range: 150.50 m.g?ggggzfrfffBdddcb@c/?ɢka= 页Tq?I 'ɡiI I?iR=iIp=)?)D5D5D5*D1E5; E5:6E5(N4:E1"E5DA np=IA Ii N >Թ v,)AyV?ٱV?VT\=VӶ =VH`q8`V? ?`d?<{o?@S?IV?)Vsa;iVCbB9b,IEMb@Mb@Mb@ A)AIAiAAEV-?HzG?~jthE-?E= >EDIAiE$@Ex@E;@)AEf@BDe6DeYm !uE=u~+Q)u>y9y9}GYy}"A}>Q 1 }4٪ɞ?Q 5}4  bB90?Q A:Y?Q E?yC)YA@p=IIN >I G) ;mAI Ai B ;mA OA AI AM <vBU k>~BQ BU +IBU ֋BBQ BQ BQ BU T;BU pEK<,7)AyVyx?ٱV3n?VJ\=V{=VH@Zg b??/t9t9vGYvFz~Az>|Q 1}4٪~CŞ?Q 5}4~# ~[B9Y?Q E ?y~*C)~;I~:i~}4YBoAE%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957250gAMFNOT Ignoring new targets: 149.60 m.gMgMe ProNav: ac range: 149.599258 m, nav range: 147.789383 m, bearing: 94.816148 deg, approach rate: -0.713844 m/s, LOS rate: -0.032147 deg/s, cmd heading: 89.757196 deg, new cmd heading: 89.733206 deg. geSkmHeadingCmd: 1.566140 target range: 149.599258 and range: 150.50 m.gmFw?gigigigizfirfqfqfqBdqdydycyc}YK?ɢFn= 顭cl?I _QɡiI IFw?i&R=ik=)Fw?)iqqq}4y>AUnp=IIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209892I D- D- D- +D) E- : E- x:6E- [4:E) "E- 48d9d9fGYjFj[1Aj>lQ 1r~4٪n?Q 5r~4n nTB9tYv|?Q Ev?ynMC)nB:In:in~4Yxz4pAxgFNOT Ignoring new targets: 149.60 m.gg ProNav: ac range: 149.599258 m, nav range: 147.517670 m, bearing: 94.804004 deg, approach rate: -0.662153 m/s, LOS rate: -0.029650 deg/s, cmd heading: 89.733208 deg, new cmd heading: 89.708875 deg. g YHeadingCmd: 1.565715 target range: 149.599258 and range: 150.50 m.g[i?ggggzfrfffBd d d c c ?qɢB8[= h?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.464615 ߚɡiI I[i?ilR=i&i=)[i?) ԙi5 >A dh= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716897 A I I) bDQ ZDU @AD] D] D] *DY E] : E] xv:6E] (N4:EY !e @!e @!e @!e @Nu >͚,Om)AyJh/?ٱJ"%?J1dZ=J=JH?EU?@[?Q?CH?6Iɳ??IJh/?)J]a;iJCb܋B9f,IMMb@Mb@Mb@ I)IIIiIIM/$?M;IM@iM@Mb@MQ@)IM@BD6DY1!+=ӹQ)>9 9 GY A>Q 1%~4٪ܺ?Q 5%~4 MB9%/?Q A%:Y%)?Q E%?ywC):I:i~4Y15{pA1gY]FNOT Ignoring new targets: 149.60 m.ge!ge!u ProNav: ac range: 149.599258 m, nav range: 147.189865 m, bearing: 94.787599 deg, approach rate: -0.704137 m/s, LOS rate: -0.035317 deg/s, cmd heading: 89.708873 deg, new cmd heading: 89.675989 deg. guD}HeadingCmd: 1.565141 target range: 149.599258 and range: 150.50 m.g}V?gygyggzfrfff.BBdddcc,Q?ԩɢBS= d?I ɡiI IV?iR=irxg=)V?)vBj>~BB+IB̋BBBBB!T;B$EBčCBčCBēCB =B =Bı 5i 9   4 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.965747PExceeded connect timeout, disconnecting. >A% Xh=AQ Ia Iq N} >1 5,d!)AyB ?ٱB?B<:Y=B=BH Z?{?-[? ?`$<ܠ??IB ?)BNa;iBCJ݋B9J,IBDV6DVYZ ;!^`=^;LQ)^>`9`9bGYbFf ˺Af>hQ 1j~4٪j{?Q 5n~4j4 jGB9lYn?Q En?yjC)j<;IjH;ij!!~4YtvppAtg!%FNOT Ignoring new targets: 149.60 m.g-Jg-JE ProNav: ac range: 149.599258 m, nav range: 146.943787 m, bearing: 94.775291 deg, approach rate: -0.677451 m/s, LOS rate: -0.033941 deg/s, cmd heading: 89.675992 deg, new cmd heading: 89.651334 deg. gMvxUHeadingCmd: 1.564711 target range: 149.599258 and range: 150.50 m.gUsH?gQgQgYgYzfYrfafqfyBdddcchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.217661c~@ɢB"Dg= 顥e?I ZջɡiIu' DDDDE : EV:6E:E"EC"AU dh=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473451bA lAZA mAԡ I I N >-ݧ,)A  ًB9 ,Ii=I=Mb@Mb@Mb@ )Iiq= ףp?/$?Mbp+?1>I@i$@@;@) @BD6D1YQ!9=Q)>99GYFA>Q 1~4٪?Q 5~4p ?B9.?Q A:Y3?Q E?yC) ;I:i0~4Y  pA -B*** querying acoustic contact ***zh)h)g9=FNOT Ignoring new targets: 149.60 m.gE? gE? U ProNav: ac range: 149.599258 m, nav range: 146.644714 m, bearing: 94.762025 deg, approach rate: -0.679849 m/s, LOS rate: -0.030216 deg/s, cmd heading: 89.651335 deg, new cmd heading: 89.624750 deg. gU2]]HeadingCmd: 1.564247 target range: 149.599258 and range: 150.50 m.g]?9?gYgYgYgYzfarfafafe0BBdididicicuޓ@ɢB(Pb= ~d?I! %]Ҽɡ!i!I%F I-?9?i-S=iMWi=)M?9?)Q]kAYychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.721858i/DDDDE: E:6E:E!@!@!@!@ԙ>AXf= I I N >vB l>~B B +IB BB B B B S;B E] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973075 ,ﺎ)Ay6 ά?ٱ6?6]=6$=6H`b?@?` ?p? ?3੝??I6 ά?)6;a;i6CBҋB9B+IHBDN6DNJ2YR!V_=V);Q)Z>A9I9UGYQ]˻A]>unManaging dock network, ignoring radio surface power offaQ 1~4٪e~4YBnAEgFNOT Ignoring new targets: 149.60 m.g%g%U ProNav: ac range: 149.599258 m, nav range: 146.381912 m, bearing: 94.750574 deg, approach rate: -0.654473 m/s, LOS rate: -0.028570 deg/s, cmd heading: 89.624752 deg, new cmd heading: 89.601808 deg. gU$Q]HeadingCmd: 1.563847 target range: 149.599258 and range: 150.50 m.g] ,?gYgYgYgazfarfaffBdddcce@ɢBt{h= pa?I }ޥɡiIk I ,?iHS=i7a=) ,?)i8/BDAT read: Rx Time:05:20:57.8420 TRx dataTimestamp_ set to:1755840059.173407checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227513>AXh=BEJE#E4RE5/D D D 'D E : E :6E '4:E "E y> ,Ԏ)Ay6BЬ?ٱ6?6#_=668=6Hpb?{V??~p?߫?wߠ?Y?I6BЬ?)6|`;i6C^΋B9^+IBDf6Df1Yn!nH=r:Q)r>p9p9rGYrFvZ/9Av>x|Q 1~~4٪z羽?Q 5~4zɃ z1B9Y?Q E?yzC)z6);IzS*;izK~4Y%nA)gYeFNOT Ignoring new targets: 149.60 m.ge' gm' } ProNav: ac range: 149.599258 m, nav range: 146.119034 m, bearing: 94.739070 deg, approach rate: -0.693774 m/s, LOS rate: -0.030415 deg/s, cmd heading: 89.601809 deg, new cmd heading: 89.578760 deg. g}^HeadingCmd: 1.563444 target range: 149.599258 and range: 150.50 m.g?ggggzfrfffBdddcc @ɢBl= `?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479728 =BɡAiIIu8 I?iG&S=ibd=)?)Ii9/!Y>A (a=rA ?jA ?Iq ԁ I N > DAT read: 05:20:57.8420 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.36, 2.360, 0.510, 2.250, 1.969, PHS= 0.493,-1.414, 0.237, RAW= 142.9, 7.7, CAL= 142.5, 8.4, ROT= 7.5, -8.4  Ygot valid direction response: 05:20:57.8420 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.36, 2.360, 0.510, 2.250, 1.969, PHS= 0.493,-1.414, 0.237, RAW= 142.9, 7.7, CAL= 142.5, 8.4, ROT= 7.5, -8.4  PDAT read: Bearing 250.9, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 250.9, 4.6 (Local)  DAT read: Range 11 to 50 : 148.1 m (Round-trip 197.5 ms) speed 0.5 m/s  ,DAT read: user:7438>  BDAT read: Tx time:05:20:58.9404  $Ping request sent. ) I i @ > ,@ Q > > Q i I 6?C?8?m}? x> )M >) Q i E :publishing transmit ping timeY M Fpublishing direction and range info9 1m~b?n3?/8ٲ? i ) I i i I 6?C?8?m}? ) i D D D )D E : E ]t:6E FA4:E !% @!- @!- @!- @B,)Ay6?ٱ6f?6P[a=65=6H}Tf? ٠??r?(?'{?6?I6?)6m_;i4nNjB9r+IY5Mb@Mb@Mb@ 1)1I1i115Zd;O?Dl?Mbp5~*?5O >1I5@i5;@5@5h@)15@BDM6DMfY}I!}'=n:Q)>99GYF~A>Q 1~4٪C?Q 5~4${ (B9.?Q A:Y?Q E?y,C):I:i\~4YnAhh>)Ah6Ch6Ch"?zUHl b@ƦjR3@l!q`5@j1m~b?n3?/8ٲ?h >hQ <1a-b@nA@I,@rB(d>?TA*?hoCh-h?hjЉhB*iᑚ?2iEp:iVBiC"i?} addTargetRange:: Added new target pos. range: 148.100006 m, deltaT: 3.778146 s, deltaX: -2.399994 m, approachRate: -0.635231 m/s, rangeRepo size: 4 ԑvBs>~BōCB+IBBB =BBaDBR;BE Added new target pos. range: 147.213394 m, bearing: 97.015585 deg, lat: 36.779273 deg, lon: -121.859595 deg, deltaT: 3.778146 s, deltaX: -2.385864 m, approachRate: -0.631491 m/s, posRepo size: 4 gFNOT Ignoring new targets: 147.21 m.gg- ProNav: ac range: 147.213394 m, nav range: 145.935898 m, bearing: 94.857192 deg, approach rate: 0.000000 m/s, LOS rate: -0.030415 deg/s, cmd heading: 89.578757 deg, new cmd heading: 89.548062 deg. g)5HeadingCmd: 1.562909 target range: 147.213394 and range: 148.10 m.g5c ?g1g1g1g1zf1rf9f9f=8BBd9dadace@3b@cm@8?ɢ BVM= 页D]?I NeɡiIo@ Ic ?i0S=i)c ?) R>>i%%=I%%=iyy@mA@mAԱ >A h=I! I1 N= >,8)Ay6:?ٱ6?6R^e=6=6H 6q? `=? ?@rx?⒬?` U??I6:?)6o^;i4FB9F+IBDV6DV!Y^0!b=bN;Q)b?d9d9fGYhjAn?pQ 1v~4٪r?Q 5~~4ru r"B9 Y?Q E?yrGC)r+;Ir;irg~4Y)- oA)gFNOT Ignoring new targets: 147.21 m.g g  ProNav: ac range: 147.213394 m, nav range: 145.727661 m, bearing: 94.847676 deg, approach rate: -0.657728 m/s, LOS rate: -0.030100 deg/s, cmd heading: 89.548063 deg, new cmd heading: 89.529003 deg. gW\%HeadingCmd: 1.562576 target range: 147.213394 and range: 148.10 m.g%}?g!g!g!g!zf!rf)fIfIBdQdQdQcQcU?ɢ Bۆ= 顥LZ?I 1CɡiIۣ I}?i5S=i@_=)}?)D D D ,D E  : E k:6E g4:E "E C"A(a=IIN >Q ,O")Ay6k?ٱ6a?6hi=6<6Hu? ?`?6|??&@??I6k?)6N/^;i6CBB9B+I-Mb@Mb@Mb@ )))I)i))-?L7A`?Mb`-f&?-+>-I)i-Q@-x@-@))-@BD6DY孽!== ;Q)>99GYFf(A>Q 1~4٪?Q 5~4^n B9)?Q A:Y?Q E?ykC):I:iv~4YiBmAܪEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 147.21 m.g  g   ProNav: ac range: 147.213394 m, nav range: 145.443878 m, bearing: 94.835251 deg, approach rate: -0.696487 m/s, LOS rate: -0.030554 deg/s, cmd heading: 89.529006 deg, new cmd heading: 89.504108 deg. g_%HeadingCmd: 1.562141 target range: 147.213394 and range: 148.10 m.g%@?g!g!g)g)zf)rf)f1f5#B1Bd9d9d9c9cEѺ?ɢm BmZJb= quQ?Iq u3ɡqiqI}č I}@?i};;S=iD]=)@?)i0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aDDD#DE; E~:6E3:E!@!@!@!@>A|^=bAZAjAԑA! I) I9 NM >vB y>~B ƍCB +IB BB =B B bDB \R;B NEԹ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248397K,0;)Ay= ?ٱ=?=q==Ce<=H`?`?q?i?@*?}8`?@?I= ?)=B];i=CUB9U+IBDe6De Yu!uM=}{;Q)}>y9y9GYFA>Q 1~4٪Ж?Q 5~4g B9Y?Q E?yC):Iy:i~4YmAgFNOT Ignoring new targets: 147.21 m.gdgd ProNav: ac range: 147.213394 m, nav range: 145.181091 m, bearing: 94.824000 deg, approach rate: -0.659329 m/s, LOS rate: -0.028281 deg/s, cmd heading: 89.504110 deg, new cmd heading: 89.481566 deg. gOHeadingCmd: 1.561748 target range: 147.213394 and range: 148.10 m.g[?ggggzfrfffBdddcc :?ԉɢ Bc= =P?I  ݺɡ i I <] I[?i%AD- D- D- (D) E- : E- n:6E- c44:E) "E- y> -,U)A~B9~+IBD 6D βYʫ!%Q=%Q)%>!9)9-GY)-A->1Q 1=~4٪5?Q 5=~45` 5 B9AYAQ EE?y5C)5+;I5;i5e~4YIMnAQgqFNOT Ignoring new targets: 147.21 m.gg ProNav: ac range: 147.213394 m, nav range: 144.923492 m, bearing: 94.812930 deg, approach rate: -0.658422 m/s, LOS rate: -0.028344 deg/s, cmd heading: 89.481564 deg, new cmd heading: 89.459386 deg. g}OHeadingCmd: 1.561361 target range: 147.213394 and range: 148.10 m.g?ggg g zf rf ffBdddcc?ɢmBm`= imN?Ii utƆɡqiqIu_# I}?i}>S=i}ŏW=)}?)iuk?Iu?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766856i5>AmQ=I II IY Nu > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012441D D ED *D E a: E ;6E (N4:E !- @!- @!- @!- @ X,uo)AB9+IMb@Mb@Mb@ )IiuV?L7A`?~jthr(?DI@i@@)@BD6DY=D!==Q)>99 GY F A >Q 1~4٪?Q 5~4^Y B9%+?Q A%:Y%g?Q E%?yӖC);IA;i~4Y-^B-mA5۪EgQ]FNOT Ignoring new targets: 147.21 m.g]gem ProNav: ac range: 147.213394 m, nav range: 144.635193 m, bearing: 94.800762 deg, approach rate: -0.665897 m/s, LOS rate: -0.028161 deg/s, cmd heading: 89.459386 deg, new cmd heading: 89.435002 deg. gu&N}HeadingCmd: 1.560935 target range: 147.213394 and range: 148.10 m.g}?gygygygyzfyrfff2BBdddcc5@iQIUdG)m"oAIAi"oA\AɢBxa= ^N?I eɡiI I?iAS=iX=)?)vBU>~BUǍCBU+IBUBBU =BQBUcDBUQ;BUEi 5mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265894ԁԩ >A -tY=rA jA I) I9 NM >@,ir)ADyr?ٱrN?rw4~=r`)9)9-GY)50 A5>9Q 1E~4٪=?Q 5E~4=R =B9AYE?Q EE?y=C)=:I=t:i=~4YQUnAQgy}FNOT Ignoring new targets: 147.21 m.gg ProNav: ac range: 147.213394 m, nav range: 144.384537 m, bearing: 94.790463 deg, approach rate: -0.666687 m/s, LOS rate: -0.027440 deg/s, cmd heading: 89.435002 deg, new cmd heading: 89.414369 deg. gHHeadingCmd: 1.560575 target range: 147.213394 and range: 148.10 m.g?ggggzfrfffBdddcc`7@)߹ ߹checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516798ɢmBmf= imhK?Ii LW9ɡiI' I?i<@S=iM=)?)lADDD-DET; Ec:6Et4:E"EGA5[=I9 IQ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909N > pj,^L)AyJ ?ٱJƍ?JṀ=J=JH?@/|?`A? 2*? ?`?`?IJ ?)J&L];iJClrB9r+IMb@Mb@Mb@ )Iiy&1?T㥛 ?~jth?`%?>D;I@ih@@)@BD 6D2Y!A=Z:Q)>99GYFlA>Q 1~4٪ۅ?Q 5~4K B9~(?Q A:Y6?Q E?yC)m ;I ;it~4Y"BlAѪE B*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 147.21 m.g0g%0蹝- ProNav: ac range: 147.213394 m, nav range: 144.107620 m, bearing: 94.779724 deg, approach rate: -0.653059 m/s, LOS rate: -0.025375 deg/s, cmd heading: 89.414368 deg, new cmd heading: 89.392849 deg. g59=HeadingCmd: 1.560199 target range: 147.213394 and range: 148.10 m.g=?g9g9g9g9zf9rfAfAfE,BBdIdIdIcIcMv@ɢ}B}^= y}3E?I i:ɡiI, I?i<>S=i]O=)?) i/checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023087DDD(DE: E:6Ec44:E!@!@!@!@1>A L=IQ Ia Nm >AA AE @AvBI ~BI BM +IBM zBBI BI BI BM Q;BM EB ƍCB ƍCB ʔCB =B =B S6i ,()ABDAT read: Rx Time:05:21:01.5388 "TRx dataTimestamp_ set to:1755840062.962407*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2778759yEW?ٱE?E=E=EH˟? -֠? ?GՌ? ? W<i?J?IEW?)E)];iA}B9+IBD6DNY[ !L=1:Q)>99GYF-A>Q 1~4٪ށ?Q 5~4D B9Y-?Q E?y9C):I:iv~4YlAgFNOT Ignoring new targets: 147.21 m.gBgB鹝 ProNav: ac range: 147.213394 m, nav range: 143.845398 m, bearing: 94.769545 deg, approach rate: -0.655480 m/s, LOS rate: -0.025491 deg/s, cmd heading: 89.392846 deg, new cmd heading: 89.372451 deg. g:uHeadingCmd: 1.559844 target range: 147.213394 and range: 148.10 m.g}?gygygygyzfyrfyffBdddcc3 @ɢBY= B?I %Ri:ɡ!i!I%I-?i-IA &V=bA kAZA lA I I N >{,֏)AyJ?ٱJCw?JL@=J&=JH {?K? ? ٍ?G?)e@٠?@?IJ?)JĻ];iJCV|B9V+IBD^6D^:Yfa!fY=fs:Q)f>h9h9jGYhjAn>pQ 1v~4٪r"~?Q 5v~4rp> rB9tYv?Q Ev?yrYC)r:Ir:ir~4Yx~4mA|ԙgFNOT Ignoring new targets: 147.21 m.g޹g޹ ProNav: ac range: 147.213394 m, nav range: 143.599258 m, bearing: 94.759999 deg, approach rate: -0.626603 m/s, LOS rate: -0.024344 deg/s, cmd heading: 89.372452 deg, new cmd heading: 89.353326 deg. g52HeadingCmd: 1.559510 target range: 147.213394 and range: 148.10 m.g?ggggzfrfff Bd d d c c@ɢ=B='pd= AE0>?IA EfD ;ɡAiAIE)2IM?i]l:S=i]6NO=)]?)a V>>DAT read: 05:21:01.5388 LVL= 25216, 32753, 25378, 32755, AGC= 68, IDX= 402,-0.01, 0.361,-1.503, 0.239,-0.016, PHS= 0.479,-1.442, 0.211, RAW= 142.6, 8.4, CAL= 142.2, 9.2, ROT= 7.8, -9.2 i}9yy0eYgot valid direction response: 05:21:01.5388 LVL= 25216, 32753, 25378, 32755, AGC= 68, IDX= 402,-0.01, 0.361,-1.503, 0.239,-0.016, PHS= 0.479,-1.442, 0.211, RAW= 142.6, 8.4, CAL= 142.2, 9.2, ROT= 7.8, -9.2  PDAT read: Bearing 251.4, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 251.4, 4.4 (Local) DAT read: Range 11 to 50 : 145.7 m (Round-trip 194.3 ms) speed 0.5 m/s ,DAT read: user:7439> mBDAT read: Tx time:05:21:02.6404 m$Ping request sent.m4K?v%?Čsv?UCQiUbQU"cQUD U}?>)UuIUbX>iU&I@UQ >U@Ul$>U'g > Ul$iQQIUqؐ9?D RT?ujR?UT>U: U'g >)Ul$iQQ:publishing transmit ping timeYiFpublishing direction and range info9QU>4K?v%?Čsv?QQiQQQQQ Q)QIQiQQQQQ QiQQIUqؐ9?D RT?ujR?QQ Q)QiQQ>A- lT=I I  N5 >)A E AD% D% D! D! E% V: E% ą:6E! :E! !- @!- @!- @!- @W,)AyZFh?ٱZ]?ZN=Zrh =ZH@ ? pЛ?1?ň? g?䆰`#?O?IZFh?)Z3];iXfnB9f+IUMb@Mb@Mb@ Q)QIQiQQUZd;O?M?UtIQiU~@U@U@)QUz@BDm6Dmk1Y}B!}?=}:Q)}>99GYF3A>Q 1~4٪Iy?Q 5~46 ܥB9e.?Q A:Y?Q E?y~C):I:i~4YmAhqhuݏ)AhuChuChu(?zu+Ŵa@Sf\Lg3@yO, (7@ju>4K?v%?Čsv?hu'g >hul$uNq0fa@&3-@ru a]4?hEι?huChuDžhu~BBo+IBaBB =BBbDBQ;BEik7S=i%mM=)%?)!Yi/ԁ>A JM=Ia Iq N} >Ա ,2 )AyBQ?ٱBG?Bf=B4=BH@u?n9{??ts?h?@牰`?^?IBQ?)Bz];iBCN]B9Nj+IBDV6DV0YZ߲!^W=^l8Q)^>`9`9bGYbFfAf>hQ 1j~4٪jt?Q 5n~4jD0 jӥB9lYnu?Q En?yjC)j:Ij:ij~4Ytv,nAtgFNOT Ignoring new targets: 144.83 m.g,ٹg,ٹ- ProNav: ac range: 144.834991 m, nav range: 143.560181 m, bearing: 96.668235 deg, approach rate: -0.723477 m/s, LOS rate: -0.023733 deg/s, cmd heading: 89.332119 deg, new cmd heading: 89.315194 deg. g--5HeadingCmd: 1.558844 target range: 144.834991 and range: 145.70 m.g55?g1g1g1g1zf9rf9f9f9BdAdAdAcIcM`?ɢuBuf= y}0?Iy }R;ɡyiyI}I%5?i%4S=i%ZL=)%5?))yBE%™T4JE%(N4RE%0DDD/DE: E5:6EJ4:E"E6ArAjA?IQIiN>iߕ >Iߕ p= ;,$)Ay6??ٱ64?6D=6-=6H`ݠ?W??? e?,??I6??)66];i6C>XB9Bd+I)D D5Mb@Mb@Mb@ 1)1I1i115Q?l?{Gzt5(?5>5ףI1i5@15@)15p@BDM6DMY]!eA=eO Q)e>a9i9mGYimtAm>qQ 1}4٪up?Q 54u( uʥB9)-?Q A:Y?Q E?yu×C)u ;Iu:iu4YBslAȪEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 144.83 m.g޹g޹ ProNav: ac range: 144.834991 m, nav range: 143.276245 m, bearing: 96.657957 deg, approach rate: -0.670966 m/s, LOS rate: -0.024335 deg/s, cmd heading: 89.315194 deg, new cmd heading: 89.294598 deg. g$2HeadingCmd: 1.558485 target range: 144.834991 and range: 145.70 m.gn|?ggggzfrfffBBdddcc`U?ɢ%B%́N= !%x/?I) -V"x;ɡ)i)I-N.I5n|?i50S=i5K=)5n|?)9)Aio0 T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.DDD(DE: E:6Ec44:E!@!@!@!@>A L=I9IINU>I A <A <vB y>~B ƍCB P+IB HBB =B B B R;B bE,l>)A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451451y>7?ٱ>x-?>Fz=>S<>H?@/@շ? =?? ?`M? el@?o?I>7?)>-1];i>CFRB9J\+IBDV6DV{UYZ!^V=^Q)^>`9`9bGYbFbAf>dQ 1j4٪fk?Q 5n4fG" fB9lYn|?Q En?yfC)f;If";if4YrܨBvNlAvǪEg FNOT Ignoring new targets: 144.83 m.g߹g߹ ProNav: ac range: 144.834991 m, nav range: 143.018982 m, bearing: 96.648633 deg, approach rate: -0.673783 m/s, LOS rate: -0.024465 deg/s, cmd heading: 89.294601 deg, new cmd heading: 89.275919 deg. g3HeadingCmd: 1.558159 target range: 144.834991 and range: 145.70 m.gq?ggggzfrfffBdddcc`d?ɢB@T= y-?I ύ;ɡ i I Iq?iO-S=ieL=)5q?)9Qi83y>ABJ=) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.703903IIN>DDD*DE: E:6E(N4:E"E&T9T9VGYVFZSAZ>\Q 14٪^f?Q 54^M ^B9Yr?Q E?y^C)^CAK= AE yAII IY N} >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211654D% D% D% )D! E% : E% c:6E% FA4:E! !- @!- @!- @!- @D,#r)Aiy6?ٱ6 ?6:ԃ=6p=6H ?@`o? ?:?S?wU? ?I6?)6];i6CBEB9BM+IiF=IF=l Mb@Mb@Mb@ ) I i   ?Q?Mb ,? \> I ;@i  @ )  @BD%6D%Y5=!5A=5mQ)=> H?9 H?9GY,ӺA>Q 14٪"b?Q 54 B9}0?Q A:YQ?Q E?y.C);I;i\.4YlAgAEFNOT Ignoring new targets: 144.83 m.gMϻgMϻ} ProNav: ac range: 144.834991 m, nav range: 142.448303 m, bearing: 96.629929 deg, approach rate: -0.690524 m/s, LOS rate: -0.020524 deg/s, cmd heading: 89.256325 deg, new cmd heading: 89.238436 deg. g}?HeadingCmd: 1.557505 target range: 144.834991 and range: 145.70 m.gO\?ggggzfrfffBBdddcc9>@ɢ B xJ= 15)?I1 5g;ɡ1i1I5I=O\?i=<%S=i=LJ=)EO\?)AvBx>~BB7+IB3BB =BBaDBS;BE i9   5@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4635321>AM L=i A} AI I N >",)A~;B9~@+IBD 6D :2Y3O!%L=%Q)%>-K?9-K?9-GY-F-A->19Q 1E4٪5]?Q 5E45  5B9AYIQ EM?y5PC)5S.;I5/;i5;4YUBU&kAUEgyFNOT Ignoring new targets: 144.83 m.g{g{ ProNav: ac range: 144.834991 m, nav range: 142.184128 m, bearing: 96.622061 deg, approach rate: -0.697681 m/s, LOS rate: -0.020817 deg/s, cmd heading: 89.238436 deg, new cmd heading: 89.222672 deg. gbHeadingCmd: 1.557229 target range: 144.834991 and range: 145.70 m.gKS?ggggzfrfffBdddcc`3@ɢBbZ= %?I |;ɡiICyIKS?i!S=i L=)KS?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715848)bDZD?ADDD,DE2: E:6Eg4:E"E*ABJ= BDAT read: Rx Time:05:21:05.2355  TRx dataTimestamp_ set to:1755840066.505421 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969617A! II IA Nu >Y),Mڥ)Ay6?ٱ6?6Ƀ=6P=6HO?@WϠ??4B9B8+IMb@Mb@Mb@ )Ii/$?n?{Gzt1(?V>ףI$@i~@@)@BD6DfY-n!-J=-IQ)->19195GY5F5A=>AQ 1M4٪EY?Q 5M4E EB9M+?Q AM:YM?Q EM?yErC)E:IE/:iEI4ԙY]kAB*** querying acoustic contact ***zhhg%FNOT Ignoring new targets: 144.83 m.g%eg%eU ProNav: ac range: 144.834991 m, nav range: 141.913177 m, bearing: 96.613567 deg, approach rate: -0.638062 m/s, LOS rate: -0.020042 deg/s, cmd heading: 89.222672 deg, new cmd heading: 89.205651 deg. g]]HeadingCmd: 1.556932 target range: 144.834991 and range: 145.70 m.g]I?gagagagazfarfafifmBBdididqcc`ݦ @ɢBHI= #?I L;ɡiIII?iS=iFL=)I?)i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219803DDD(DE: E|:6Ec44:E!@!@!@!@IG)~nAIi=E~nAEA>A MK=A A AAvB {>~B ǍCB +IB BB =B B bDB iS;B EA% yA1 IY I N >4/,Ŀ)AVDAT read: 05:21:05.2355 LVL= 25072, 32753, 23010, 32755, AGC= 68, IDX= 400, 0.05, 1.115,-0.761, 0.993, 0.737, PHS= 0.480,-1.453, 0.212, RAW= 142.7, 8.4, CAL= 142.2, 9.2, ROT= 7.8, -9.2 ZYgot valid direction response: 05:21:05.2355 LVL= 25072, 32753, 23010, 32755, AGC= 68, IDX= 400, 0.05, 1.115,-0.761, 0.993, 0.737, PHS= 0.480,-1.453, 0.212, RAW= 142.7, 8.4, CAL= 142.2, 9.2, ROT= 7.8, -9.2 ^PDAT read: Bearing 251.5, 4.4 (Local) b~Local bearing/azimuth received: Bearing 251.5, 4.4 (Local) fDAT read: Range 11 to 50 : 143.2 m (Round-trip 191.0 ms) speed 0.4 m/s j,DAT read: user:7440> nBDAT read: Tx time:05:21:06.3404 r$Ping request sent.r4K?v%?Čsv?63C4i6a46Y44 6>)6I6Y>i6e@4444 4i44I6[Jp6?v`?)?6d>6 4)4i44:publishing transmit ping timeYpFpublishing direction and range info946>4K?v%?Čsv?44i44444 4)4I4i44444 4i44I6[Jp6?v`?)?44 4)4i44y?ٱ?z=<H!P??? V?`k?GŞ? "?I?)\;iC)B9++IBD6DYu0!u*=uR:Q)}>} H?9} H?9}GYyA>Q 14٪PT?Q 54F B9Y?Q E?yC):I:iZ4Y!%kA!h4h6)Ah6YCh6YCh6@?z6tfa@2x3@ <6@j6>4K?v%?Čsv?h4h46 }/?ggggzfrfffBdddc`fa@c 0?ɢ]Be`:= ae ?Ia e;ɡiiiIm'MIm>?i S=iI=)>?)i-9))-4)@5lA@1QDDDDE: E6E:E"E48AM GgL=AIIԡN>H7,ސ)Ay6r?ٱ6)?6x=66o<6H\?`i`ˋ?@?@$:? l?`]??I6r?)6\;i6C>B9>+IBDJ6DJ0YN!RR=R\wQ)R>T9T9VGYVFZ&AZ>dQ 1n4٪f%P?Q 5r4f fB9pYr?Q Er?yfC)f*;IfI;iflh4i4=IA BJ=AE AIQ Ia Nm >=,)A,y6?ٱ6?6e=6\<6H0?@?@?@x?j?`cܚ?@?I6?)6\;i6CBB9B+IvB^w>~B^ƍCB^*IB^BB^ =B\B^aDB^S;B^EBBBCB =B =B5Mb@Mb@Mb@ )IiV-?S㥛?{Gzt-?$>Ih@i@@) @BD6DY%!%3=Q)>K?9K?9GYF9A>Q 14٪YK?Q 54 }B90?Q A:Yh?Q E?yC);I;i y4YYB.jAEg!-FNOT Ignoring new targets: 142.35 m.g-g-= ProNav: ac range: 142.347824 m, nav range: 141.078613 m, bearing: 96.584050 deg, approach rate: -0.809230 m/s, LOS rate: -0.019627 deg/s, cmd heading: 89.169445 deg, new cmd heading: 89.153578 deg. g=EHeadingCmd: 1.556023 target range: 142.347824 and range: 143.20 m.gE+?gIgIgIgIzfIrfIfQfUBBdQdQdYcYc]I?ԁɢB"ON= 顕?I c<ɡiII+?iS=i4L=)+?)i9!!%/!Ա>A= J=bAE lAZAE mA Aq Iy I N >)߱ ߵ AbD,d)ADDD+DE: E:6E [4:E"Ey>d9d9fGYdjAj?lQ 1r4٪nG?Q 5r4n nvB9pYv[?Q Ev?ynC)nb:In:in̈́4YxzYjAxgFNOT Ignoring new targets: 142.35 m.g%Qg%Q5 ProNav: ac range: 142.347824 m, nav range: 140.847137 m, bearing: 96.578465 deg, approach rate: -0.688713 m/s, LOS rate: -0.016646 deg/s, cmd heading: 89.153578 deg, new cmd heading: 89.142389 deg. g5󹝅=HeadingCmd: 1.555828 target range: 142.347824 and range: 143.20 m.g=a%?g9g9gAgAzfArfAfIfIBdIdIdIcQcU@"?ɢBLTV= Z?I! %) <ɡ!i!I%XI-a%?i-! S=i-aK=)-a%?)1)9i8)>A uK=I I N- >A J,?,)Ay:?ٱ:X?:x=:݇<:H`"?`%͞?u??ԉ?ȟ?@,?I:?):W\;i:CD9D Mb@Mb@Mb@ ) I i   i|?5?Mb?~jtx 1? > ĻI Q@i @ $@ 3@)  @BD-6D-JY=:!=C=E:Q)E>A9A9EGYEFM:AM>QQ 1]4٪UC?Q 5]4Un UkB9]4?Q Ae:YeV?Q Ee?yU+C)U ;IUz ;iUu4YimWjAiB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 142.35 m.gg ProNav: ac range: 142.347824 m, nav range: 140.552261 m, bearing: 96.572284 deg, approach rate: -0.702151 m/s, LOS rate: -0.014749 deg/s, cmd heading: 89.142390 deg, new cmd heading: 89.130002 deg. g׹HeadingCmd: 1.555612 target range: 142.347824 and range: 143.20 m.gK?ggggzfrfffBBdddcc@?}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ɢމB$N= 顝?I  <ɡiIIK?iU S=i-N=)K?)D=D=D=,D9E=%; E=:6E=g4:E9!M@!M@!M@!M@Iiiiim0i@u@u@u@uA<AvB>~BȍCB*IBBB =BBcDBbS;BEyI i- O?I- N?5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000076I9 NM >ԡ tQ,"F)Ay6?ٱ6?6*=6;<6H?@P'? ? ~??հ?}?I6?)6\;i6CNB9R+IBDV6DV1Y^!bS=b:Q)b>`9d9fGYdfAf>hQ 1-4٪j @?Q 5-4jW jbB91Y5E?Q E5?yjNC)jEԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251362BE(N4JEŔK4RE/DmDmDm*DiEm: Em|:6Em(N4:Ei"Em#99%GY%F%_A%>)Q 154٪-Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755332DU DU DU )DQ EU : EU ]t:6EU FA4:EQ !] @!] @!] @!] @y ],Wy)AvB6>~B4B6*IB6݊BB6 =B4B4B6tS;B6EyFԪ?ٱF?FG=F=FH@t?X??`@a?`ܰ? ??@?IFԪ?)F3#];iDVB9V*IMb@Mb@Mb@ )Iiq= ףp?Q?+?=Ih@i@@`@)@BD 6D2Y <! ;= 9Q) >99GYF49A>!Q 1-4٪% 8?Q 5-4% %OB9-?.?Q A-:Y-?Q E-?y%C)%Q:I%f:i%4Y=B=hA=EQgimFNOT Ignoring new targets: 142.35 m.gmhguh ProNav: ac range: 142.347824 m, nav range: 139.691956 m, bearing: 96.555075 deg, approach rate: -0.683515 m/s, LOS rate: -0.012705 deg/s, cmd heading: 89.106498 deg, new cmd heading: 89.095512 deg. gHeadingCmd: 1.555010 target range: 142.347824 and range: 143.20 m.g ?ggggzfrfffBBdddcc@ɢՉBY= ?I x|*<ɡiI\Im ?iuR=iulL=)u ?)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007536i%8!!%_0)ԁIINA>ԩ BDAT read: Rx Time:05:21:08.9322  TRx dataTimestamp_ set to:1755840070.284407 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260346 D] DY D] +DY E] =; EY 6E] [4:EY "E] rI)9)9-GY)-A5>1Q 1]4٪54?Q 5e45i 5GB9aYeo?Q Ee?y5C)5;I5;i54YiuGiAqgFNOT Ignoring new targets: 142.35 m.g`g` ProNav: ac range: 142.347824 m, nav range: 139.435593 m, bearing: 96.550359 deg, approach rate: -0.665959 m/s, LOS rate: -0.012272 deg/s, cmd heading: 89.095515 deg, new cmd heading: 89.086067 deg. g%HeadingCmd: 1.554845 target range: 142.347824 and range: 143.20 m.g%+?g!g!g!g!zf)rf)f)f)Bd1d1d1ԑcc@' @ɢ=щBE&I= AE?IA E12<ɡAiAIMdIM+?iR=iLK=)+?)iE9IIM1Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511413>AU J=bAa ZAe lAA yAI I  N% >j,)Ay6ּ?ٱ6?6A=6 =6Hߒ? `? ?@=??`D"I??I6ּ?)6];i6CBB9B*IMb@Mb@Mb@ )IiB`"??~jth.?>DI@i@$@n@)=@BD6DܲY-!-K=-:Q)5>5 H?95 H?95GY5F=7A=>AQ 1M4٪E0?Q 5M4E0 E>B9M1?Q AM:YU?Q EU?yEݙC)Eo:IEb:iE4YziAB*** querying acoustic contact ***zhhg!%FNOT Ignoring new targets: 142.35 m.g-vg-vDAT read: 05:21:08.9322 LVL= 32752, 32753, 29042, 32755, AGC= 71, IDX= 414,-0.19,-0.230,-2.205,-0.384,-0.686, PHS= 0.558,-1.474, 0.258, RAW= 142.1, 7.0, CAL= 141.7, 7.7, ROT= 8.3, -7.7 Ygot valid direction response: 05:21:08.9322 LVL= 32752, 32753, 29042, 32755, AGC= 71, IDX= 414,-0.19,-0.230,-2.205,-0.384,-0.686, PHS= 0.558,-1.474, 0.258, RAW= 142.1, 7.0, CAL= 141.7, 7.7, ROT= 8.3, -7.7 PDAT read: Bearing 250.0, 4.7 (Local) ~Local bearing/azimuth received: Bearing 250.0, 4.7 (Local) DAT read: Range 11 to 50 : 140.7 m (Round-trip 187.6 ms) speed 0.6 m/s ,DAT read: user:7441>  BDAT read: Tx time:05:21:10.0404  $Ping request sent. i],@]5=]G@] >]V> ] iYYI]!]k?EH?ޭ)r?]x>Bdddc`fa@c@?] ]V>)] iYY:publishing transmit ping timeY Fpublishing direction and range info9Y]_sa?"tO?L`u&?YYiYYYYY Y)YIYiYYYYY YiYYI]!]k?EH?ޭ)r?YYɢ͉BH=  ?I 9< Y)YiYYɡi)I-UI5?i5R=i5XK=)5?)1i959vBu>~BuɍCBu*IBuɊBBu =BqBqBuS;BuEq >A D%K=A= AIA IQ Ne >Aq,}Ǒ)Ay6 ?ٱ6ש?6(=6! =6H}$?i@:)?@?@?L4?a`y? P?I6 ?)6];i6CBB9B*IBDJ6DJJYR:!RR=V:Q)V>VK?9ZK?9ZGYZFZ33AZ>\Q 1b4٪^ -?Q 5b4^2Q 9ftI ^5B9dYf?Q Ej?y^C)^@#;I^%;i^4YnBrqiArEhyh}]k)Ah} Ch} Ch}{?z}6$a@d94@U 2@j}_sa?"tO?L`u&?h}V>h} }s0 zOa@2/W+$@r}@ ܮ?Ih?h}~ Ch}h}w?h}_nzh}B*i}wИ?2iy:i}Bi} C"i}?] addTargetRange:: Added new target pos. range: 140.699997 m, deltaT: 3.778533 s, deltaX: -2.500000 m, approachRate: -0.661632 m/s, rangeRepo size: 4  Added new target pos. range: 139.867493 m, bearing: 96.901721 deg, lat: 36.779225 deg, lon: -121.859594 deg, deltaT: 3.778533 s, deltaX: -2.480331 m, approachRate: -0.656427 m/s, posRepo size: 4 gFNOT Ignoring new targets: 139.87 m.gg5 ProNav: ac range: 139.867493 m, nav range: 138.942947 m, bearing: 96.732196 deg, approach rate: 0.000000 m/s, LOS rate: -0.013484 deg/s, cmd heading: 89.074901 deg, new cmd heading: 89.064698 deg. g1=HeadingCmd: 1.554472 target range: 139.867493 and range: 140.70 m.g=?g9g9g9g9zf9rfAfAfABdIdIdIcIcU@?ɢʉBQ= 5 ?I b@<ɡ!i!I%I-?i-R=i-J=)-?)1ai94@mA@mADDD(DE: Eą:6Ec44:E"E.AJ= A- yAI9 II NU >zw,>@)Ay6]?ٱ6?6-=6. =6Hڒ?t`(??`E? A? Qn z?3?I6]?)6];i6C>׊B9B*IBDF6DF:2LYR(=!RK=V9Q)V>V H?9V H?9VGYTZ7:AZ>\Q 1b4٪^Q)?Q 5b4^ ^+B9`Yf?Q Ef?y^#C)^:I^ :i^4YjҧBjgAjEgFNOT Ignoring new targets: 139.87 m.gwjgwj ProNav: ac range: 139.867493 m, nav range: 138.664688 m, bearing: 96.726964 deg, approach rate: -0.680045 m/s, LOS rate: -0.012812 deg/s, cmd heading: 89.064697 deg, new cmd heading: 89.054212 deg. gHeadingCmd: 1.554289 target range: 139.867493 and range: 140.70 m.g?g g g gzf!rf!ffBddd cqc}?ɢƉBdC= g?I 7H<ɡiI]I%?ie3R=imL=)m?)ii904@@@ @ D5 D5 D5 ,D1 E5 D: E5 h:6E5 g4:E1 != @!= @!= @!= @ i CI I] G)u mAI Ai mA ɩA% ?- AA I I N >vBm >~Bm ʍCBm *IBm BBm =Bi Bm dDBm S;Bm E1~,+)AyVRê?ٱV ?V~ =VA=VH?6^?}?`(?UP?}@??IVRê?)Vj];iVCbՊB9b*ItMb@Mb@Mb@ )Iiv/?p= ף?~jth?x)?>D;I@i@Q@@)@BD6DY!6= :Q)>99GYF9A>Q 14٪$?Q 54( #B9,?Q A:Y?Q E?yJC) ;I ;i4YgAg%FNOT Ignoring new targets: 139.87 m.g%Ěg%Ě5 ProNav: ac range: 139.867493 m, nav range: 138.363586 m, bearing: 96.719695 deg, approach rate: -0.699076 m/s, LOS rate: -0.016913 deg/s, cmd heading: 89.054213 deg, new cmd heading: 89.039643 deg. g5HeadingCmd: 1.554035 target range: 139.867493 and range: 140.70 m.g?ggggzfrff f Bd d dccy?ɢEÉBMqP= IM) ?II MWN<ɡIiQIUI]?i]R=i]m0N=)]?)Y)ii 9 /AAYIIN>i bD ZD @AD D D *D E : E :6E (N4:E "E 6t9t9zGYzFzAz>|Q 14٪~-!?Q 54~ ~B9 Y Q E ?y~jC)~>:I~:i~& 4Y;hAg9EFNOT Ignoring new targets: 139.87 m.gE|gE|U ProNav: ac range: 139.867493 m, nav range: 138.112762 m, bearing: 96.713615 deg, approach rate: -0.672741 m/s, LOS rate: -0.016336 deg/s, cmd heading: 89.039644 deg, new cmd heading: 89.027462 deg. Yg],﹝eHeadingCmd: 1.553822 target range: 139.867493 and range: 140.70 m.ge?gagagigizfirfififqBdqdqdycyc}@x?ɢBe~U= 顭w?I )T<ɡiII?iR=iN=)?)i]9YY]/YԑAAIINA>Ա 8,/)Ay6H?ٱ6?6=6=6Hkj?@Rd??@"?A? %ݱ`3?A?I6H?)6'_;i6C>ĊB9B*IMb@Mb@Mb@ )IiHzG?1Zd?MbP?=*?"=:I@i@)BD 6D2Y-!-F=-tg;Q)->5K?95K?95GY159A=>ԹQ 14٪?Q 54& B9n,?Q A:Y?Q E?yC):I:i4YqhAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 139.87 m.g 5g 5𸝅 ProNav: ac range: 139.867493 m, nav range: 137.824829 m, bearing: 96.710805 deg, approach rate: -0.671117 m/s, LOS rate: -0.006563 deg/s, cmd heading: 89.027466 deg, new cmd heading: 89.021834 deg. g+@%HeadingCmd: 1.553724 target range: 139.867493 and range: 140.70 m.g%o?g!g!g)g)zf)rf)f1f5B=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.BdIdQdicqcu`e8@ɢB?D= 顥?I G\<ɡiI֡Io?iRR=i>L=)o?)DmDmDm,DiEma: Emh:6Emg4:Ei!}@!}@!}@!}@iM9IIIIbAUjAZAUjAvB>~BB*IBBB =BBB5T;BHEBɍCBɍCBB =B =B6AyAIINa> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249624A ,H)AyF?ٱFŜ?F|=Fi=FH?`z`?I?qX?ı?E??IF?)F_;iD B9*IBD-6D-NYEh!EI=MX:Q)M>M H?9M H?9MGYMFU䥹AU>YQ 1e4٪]?Q 5e4]K ] B9aYm ?Q Em?y]C)]:I]:i]z4YquhAqgFNOT Ignoring new targets: 139.87 m.gwgw𸝅 ProNav: ac range: 139.867493 m, nav range: 137.561676 m, bearing: 96.708242 deg, approach rate: -0.673052 m/s, LOS rate: -0.006570 deg/s, cmd heading: 89.021837 deg, new cmd heading: 89.016700 deg. g_@HeadingCmd: 1.553635 target range: 139.867493 and range: 140.70 m.g?ggggzfrfffBdddccI@ɢBM= Q?I b<ɡi I I ?i$R=igL=)?)!!i80Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501319IDeDeDe'DaEe: Eec:6Ee'4:Ea"EeABJ=qA AI I N >ԙ J,b)Ay6욪?ٱ6?6iސ=6o=6H`? >@?? J?`?`,??I6욪?)6_;i6C>B9B*IBDJ6DJkiR>IR<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753600YVY!VT=ZŸ:Q)Z>ZK?9^K?9^GY\^|Ab>`Q 1f4٪b?Q 5f4b bB9hYj?Q Ej?ybҚC)b>:Iby:ib34YnBrfArEg FNOT Ignoring new targets: 139.87 m.g RgR% ProNav: ac range: 139.867493 m, nav range: 137.303070 m, bearing: 96.705751 deg, approach rate: -0.672006 m/s, LOS rate: -0.006484 deg/s, cmd heading: 89.016701 deg, new cmd heading: 89.011711 deg. g%=-HeadingCmd: 1.553547 target range: 139.867493 and range: 140.70 m.g-?g)g)g)g)zf)rf1f1f1Bd1d9d9c9cEK^@ɢmBuN= %;?I! -i<ɡ1i1I=IM?ԙi?R=irSK=)?)i90ԡmBDAT read: Rx Time:05:21:12.6287 uTRx dataTimestamp_ set to:1755840073.819389uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009400>AȷL=Du Dq Du (Dq Eu : Eq 6Eu c44:Eq ! @! @! @! @A= yAIA IY N} >vB > ~B ɍCB o*IB BB =B B B T;B EDw,|)Ay6;?ٱ6?6=6lA=6Hq?0?`?5?T ?@>?`s?I6;?)6M^;i6C>B9B*IMMb@Mb@Mb@ I)IIIiIIMJ +?Q?M(?M=MIIiMX@Mh@M@)IMp@BDe6DekYu-1!u>=uk:Q)}>} H?9} H?9}GY}FzA>Q 14٪?Q 54 B9z+?Q A:Y?Q E?yC)p;I-;i%4Y1gAgFNOT Ignoring new targets: 139.87 m.g]g] ProNav: ac range: 139.867493 m, nav range: 137.016235 m, bearing: 96.700556 deg, approach rate: -0.667592 m/s, LOS rate: -0.012118 deg/s, cmd heading: 89.011708 deg, new cmd heading: 89.001295 deg. gjHeadingCmd: 1.553366 target range: 139.867493 and range: 140.70 m.g?ggggzfrfffBBdddcc@% @ɢ-B5TE= 15L>I1 53p<ɡ9i9I=I=?iER=iEAmuK=rAu ?jAu ?! A AI I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509337^,)ABET4JE(N4RE 0DDD+DE: E:6E [4:E"EEK?9 K?9 GY F9A>Q 14٪?Q 5%44{ B9!Y%?Q E%?yC):I :i-4Y5B59gA5EgY]FNOT Ignoring new targets: 139.87 m.geN_geN_u ProNav: ac range: 139.867493 m, nav range: 136.712341 m, bearing: 96.695017 deg, approach rate: -0.668043 m/s, LOS rate: -0.012202 deg/s, cmd heading: 89.001292 deg, new cmd heading: 88.990191 deg. gu}HeadingCmd: 1.553172 target range: 139.867493 and range: 140.70 m.g}V?gygygygyzfrfffBdddccr @ɢBa@= >I ]w<ɡiI9IV?ilR=iXK=)V?) i>>iAAIM0IDAT read: 05:21:12.6287 LVL= 24160, 29105, 25490, 32755, AGC= 68, IDX= 411, 0.30, 0.191,-1.682, 0.069,-0.215, PHS= 0.509,-1.422, 0.240, RAW= 142.6, 7.5, CAL= 142.2, 8.2, ROT= 7.8, -8.2 Ygot valid direction response: 05:21:12.6287 LVL= 24160, 29105, 25490, 32755, AGC= 68, IDX= 411, 0.30, 0.191,-1.682, 0.069,-0.215, PHS= 0.509,-1.422, 0.240, RAW= 142.6, 7.5, CAL= 142.2, 8.2, ROT= 7.8, -8.2 %PDAT read: Bearing 250.9, 4.1 (Local) %~Local bearing/azimuth received: Bearing 250.9, 4.1 (Local) 5DAT read: Range 11 to 50 : 138.1 m (Round-trip 184.2 ms) speed 0.8 m/s =,DAT read: user:7442> =BDAT read: Tx time:05:21:13.7418 E$Ping request sent.Ei&I@ >@C>'g > CiII?iQe? aW?> 'g >)Cim:publishing transmit ping timeYAmFpublishing direction and range info9Dd:a?GW1?x0A?i )Ii iII?iQe? aW? )i>A J=) A yAI I N >m,-[)AyF'?ٱF{?FE=F=FH@?@M?B?`E?&?Z??IF'?)Fp4];iFC^B9bv*I|Mb@Mb@Mb@ )Ii%C?rh|?~jth?Z$?=D;I@iA@~@)@BD%6D%Y5i!eY=e:Q)e>e H?9m H?9mGYimAm>Q 14٪ ?Q 54t B9W'?Q A:Y?Q E?y>C)]:I/:i}44YgAD5D5D5,D1E52: E5e:6E5g4:E1!M@!M@!M@!M@hhl)AhH ChH Ch?ztD`@Sqp2@/)ʥ3@jDd:a?GW1?x0A?h'g >hC-~4Ia@|j%@rxH'7ȶ?TN䣳?hChohU?h"yhB*iI }<ɡiIZGݻI?i4R=i"K=)?)AA@AvB>~BȍCB\*IBBB =BBcDB4U;BEi0Yԁ >A uK=A I I N >EԲ,˒)Ay6p?ٱ6&?63?=6=6H_?Q@ү?5?"?E/?`c ?;?I6p?)6=];i6C>B9>_*IHBDJ6DJkYR!RX=R9Q)V>T9T9VGYZFZ:AZ>\Q 1b4٪^?Q 5b4^jn ^B9`Yb?Q Ef?y^]C)^:I^K:i^:4YjNBjNfAjEzB*** querying acoustic contact ***zhxhxg|FNOT Ignoring new targets: 137.28 m.gVgV ProNav: ac range: 137.283890 m, nav range: 136.370682 m, bearing: 96.477690 deg, approach rate: -0.689207 m/s, LOS rate: -0.016320 deg/s, cmd heading: 88.980153 deg, new cmd heading: 88.968890 deg. gHeadingCmd: 1.552800 target range: 137.283890 and range: 138.10 m.g'?ggggzfrfffBdddcc`Su?ɢMBMPG= QU>IQ U<ɡQiQIU &ۻI]'?i]KR=i]L=)e'?)]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.i}9yy}4y@mA@mAD}D}D}+DyE}: E}:6E} [4:Ey"E}.A  AU AIa Iq N} > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990773,)Ay6|?ٱ6q?6=6=6Hg? `X?`?9?:?^q@*??I6|?)6 8];i4>B9BY*IBDF6DFYzͼ!~F= :Q)>%K?9%K?9%GY-F-A->1Q 1=4٪5?Q 5=45Zg 5פB9AYE?Q EE?y5C)5;I5;i5)B4YIMxfAIgqFNOT Ignoring new targets: 137.28 m.gg ProNav: ac range: 137.283890 m, nav range: 136.098755 m, bearing: 96.471296 deg, approach rate: -0.652056 m/s, LOS rate: -0.015363 deg/s, cmd heading: 88.968890 deg, new cmd heading: 88.956076 deg. g ๝%HeadingCmd: 1.552576 target range: 137.283890 and range: 138.10 m.g%Ӻ?g)g)g1gzfrfffBddd1c9c=?ɢB`8=  T>I  ̈́<ɡ i I׻IӺ?iR=ixYK=)Ӻ?))))i94Q)y }A}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243192DDD'DE : E҆:6E'4:E!@!@!@!@>A ?L=ԉ vB >~B ǍCB 7*IB cBB =B B bDB U;B EAq Iy I N >, )Ay6u?ٱ6k?6b7=6=6H?`??j?*?b@̒? ?I6u?)6X];i6C>zB9BS*IEMb@Mb@Mb@ A)AIAiAAEˡE?HzG?~jth?E'?E= >AIE@iE@E@E@)AE@BDm6DmkY}!>=Q)>99GYA>Q 14٪q?Q 54_ ϤB9t+?Q A:Yf?Q E?yC);I;iI4YfAgFNOT Ignoring new targets: 137.28 m.g:g: ProNav: ac range: 137.283890 m, nav range: 135.814026 m, bearing: 96.462948 deg, approach rate: -0.666683 m/s, LOS rate: -0.019587 deg/s, cmd heading: 88.956076 deg, new cmd heading: 88.939346 deg. gbHeadingCmd: 1.552284 target range: 137.283890 and range: 138.10 m.gB?ggggzf rf f fBBdddcc K?ɢEBE[G=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495248 N>I j<ɡiIջIB?iR=i*K=)B?)Ai8/i>AMK=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747442ԙ A I I N >bDY ZD] ?ADe De Da Da Ee 2: Ee i:6Ea :Ea "Ee *?Y?Ik?)޾];iC-mB9-C*IBD56D5k1YUv!UL=Ye9Q)e>a9a9eGYeFm}NAm>qQ 14٪uY?Q 54uY uǤB9Y[?Q E?yuƛC)u*%IA EZv<ɡAiIIMѢһIUF?iUR=iUxK=)UF?)Yԉi@=@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999070Ա>Am L= A I I N >aa,W3)Ay6n?ٱ6d?6=6"=6H cL?I?`7?@J>? f?TRB?@?I6n?)6x];i6C>bB9B6*Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250895ԹIdG)~nAIADDD,DE: Ek:6Eg4:E! @! @! @! @i505~nA5$A=Mb@Mb@Mb@ 9)9I9i99=J +?Mb?=(?=>=I=@i999)9=@BD}6D}YE2A!E/=USQ)U>Y9Y9eGYeFmXX9Am>yQ 14A A vBz>~BB*IBOBB =BBBV;B+E٪}?Q 5-4}P }B9-+?Q A-:Y-?Q E5?y}C)}IA Eڍ<ɡAiAIELλIeN?ieR=ie M=)eN?)achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5027879e m kAi A i N1 i>AȷL=)I IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756587rDe=jDaD}D}D})DyE}; E}i:6E}FA4:Ey"E}AM H?9U H?9UGYUFU8AU>YQ 1e4٪]?Q 5m4]wG ]B9iYm?Q Em?y]C)]Q;I];i]Nb4YuBueA}EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 137.28 m.g,g, ProNav: ac range: 137.283890 m, nav range: 134.869843 m, bearing: 96.438255 deg, approach rate: -0.712005 m/s, LOS rate: -0.017832 deg/s, cmd heading: 88.907958 deg, new cmd heading: 88.889847 deg. g!-HeadingCmd: 1.551420 target range: 137.283890 and range: 138.10 m.g-?g1g1g1g9zf9rfafafaBdididicicu#o@ɢB3/= >I <ɡiIO:˻I?iR=iAN=)?)UBDAT read: Rx Time:05:21:16.3271 ]TRx dataTimestamp_ set to:1755840077.596464]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007887a9 9ԁi9 0@lA@lAԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259400>A L=D%D%D%,D!E%: E%&p:6E%g4:E!!-@!-@!-@!-@AuAIIN?N,|)AvB.|>~B,B.)IB.5BB,B,B,B.-V;B.5EB%ǍCB%ȍCB%CB% =B% =B%6y^}r?ٱ^1h?^=^=^H{/?`Ð? ???±?Qƣ?`?I^}r?)^S/];i^CjDB9j*IMb@Mb@Mb@ )Iix&?HzG?Mbp7)?= >I@i@@)=@BD6DY{!=lQ)>K?9K?9GY8A>Q 14٪(흊?Q 54+> B9,?Q A:YC?Q E?yKC):I:ik4YBfA Eg)5FNOT Ignoring new targets: 137.28 m.g5g5AM ProNav: ac range: 137.283890 m, nav range: 134.511337 m, bearing: 96.427720 deg, approach rate: -0.671363 m/s, LOS rate: -0.019781 deg/s, cmd heading: 88.889844 deg, new cmd heading: 88.868718 deg. gMUHeadingCmd: 1.551052 target range: 137.283890 and range: 138.10 m.gU݈?gQgYgYgYzfYrfYfafeΈBBdadidicicm @ɢBF)= 顝>I eB<ɡaiaIm]ǻI=݈?iE߼R=iMǡO=)M݈?)Y) iIi=I=-DAT read: 05:21:16.3271 LVL= 24272, 28273, 24562, 32755, AGC= 66, IDX= 411, 0.22,-2.534, 1.931,-2.696,-2.918, PHS= 0.486,-1.389, 0.178, RAW= 141.2, 8.4, CAL= 140.8, 9.2, ROT= 9.2, -9.2 =Ygot valid direction response: 05:21:16.3271 LVL= 24272, 28273, 24562, 32755, AGC= 66, IDX= 411, 0.22,-2.534, 1.931,-2.696,-2.918, PHS= 0.486,-1.389, 0.178, RAW= 141.2, 8.4, CAL= 140.8, 9.2, ROT= 9.2, -9.2 =PDAT read: Bearing 252.2, 5.6 (Local) E~Local bearing/azimuth received: Bearing 252.2, 5.6 (Local) MDAT read: Range 11 to 50 : 135.8 m (Round-trip 181.1 ms) speed 0.8 m/s U,DAT read: user:7443> ]BDAT read: Tx time:05:21:17.4403 ]$Ping request sent.])ʱIE6>iϸ@Q >nF@l$>l$> l$iI8®6?od: ? |?Z> l$>)l$i:publishing transmit ping timeYYFpublishing direction and range info9s.? \ 3?Čsv?i )Ii iI8®6?od: ? |? )iԙi 9 / bD ZD D D D +D E ; E T:6E [4:E "E %NA 0M=!A-yAIAIQNe ?<,Z)AyBԃ?ٱBy?B=Bp=BH?&8??V?!?`ٸ/!??IBԃ?)B ];iBCJ9B9N*IBDV6DVܲY^H4!^#=^Q)^>b H?9b H?9bGYbFfn:Af>hQ 1n4٪j蝊?Q 5n4jr5 jB9lYnT?Q En?yjvC)j:Ij:ijbt4YtvqfAthhg)AhChCh?zPq`@0ZIN5@{B'5@js.? \ 3?Čsv?hl$>hl$N)!F1 "l#`@+Bi*@rV=WM?$3 ?h)ChZh ?h4hB*i2i:iBi,C"i4f?E addTargetRange:: Added new target pos. range: 135.800003 m, deltaT: 3.528340 s, deltaX: -2.300003 m, approachRate: -0.651865 m/s, rangeRepo size: 4 U Added new target pos. range: 134.991684 m, bearing: 97.611255 deg, lat: 36.779229 deg, lon: -121.859592 deg, deltaT: 3.528340 s, deltaX: -2.292206 m, approachRate: -0.649656 m/s, posRepo size: 4 gQUFNOT Ignoring new targets: 134.99 m.g]gYm ProNav: ac range: 134.991684 m, nav range: 134.175018 m, bearing: 96.417710 deg, approach rate: 0.000000 m/s, LOS rate: -0.019781 deg/s, cmd heading: 88.868718 deg, new cmd heading: 88.848740 deg. giuHeadingCmd: 1.550703 target range: 134.991684 and range: 135.80 m.gup}?gqgqgygyzfyrfyffBdddc`@c0(?ɢ|B_)= 顽>I ?S<ɡYiyI}¥ûIp}?iR=i+R=)p}?)i0)>A]dO=iA AI I N >ԁ [,)Ay>#y?ٱ>n?DBDBDB,D@EBa: EB:6EBg4:E@!J@!J@!J@!J@>-=>j=>H????C?@Vl?@??I>#y?)>L];i>Cn,B9n)I-Mb@Mb@Mb@ )))I)i))-(\??-'?->-I-A@i)-@-"@))-@BDE6DE1AYAYvB]>~BYB])IB]BB] =BYBYB])V;BYqY}[!}2=}FQ)>K?9K?9GYF:A>Q 14٪㝊?Q 54- B9*?Q A:Y?Q E?yC)':I:ie|4YʦBdAyEgYeFNOT Ignoring new targets: 134.99 m.gege ProNav: ac range: 134.991684 m, nav range: 133.870407 m, bearing: 96.410372 deg, approach rate: -0.645965 m/s, LOS rate: -0.015597 deg/s, cmd heading: 88.848740 deg, new cmd heading: 88.834030 deg. g\九HeadingCmd: 1.550446 target range: 134.991684 and range: 135.80 m.gu?ggggzfrfffЈBBdddcc?ɢ%vBM*= IM>II MY <ɡIiQIU0IUu?i]AR=i]R=)]u?)Yԩi0@=@=>A lT= A9 I I N >,>uӓ)AyVs?ٱVpi?V?=V0Z=VH`C&? M m? ? n?@G?@}? Z?IVs?)Vx\];iVCB9)I)  A4A9A9MGYMFM޹AM>QQ 1]4٪U?Q 5]4U& UB9aYe?Q Ee?yUC)U`:IU:iU-4YimqeAigFNOT Ignoring new targets: 134.99 m.gg ProNav: ac range: 134.991684 m, nav range: 133.612564 m, bearing: 96.404152 deg, approach rate: -0.696434 m/s, LOS rate: -0.016831 deg/s, cmd heading: 88.834028 deg, new cmd heading: 88.821565 deg. gmHeadingCmd: 1.550229 target range: 134.991684 and range: 135.80 m.gm?ggggzfrfffBdddcc R7?ɢrBp2= |>I <ɡ i I ޽Im?i R=iSR=)m?))!BEu [4JEu¼P4REu]%0DDD)DE: E:6EFA4:E"EAgW=iA yAI) I9 NU > s,TS)AyAl?ٱa?֊=Y=H,b?@[ Z?`d? G?`!?uW@H??IAl?)g];iCB9)I}Mb@Mb@Mb@ y)yIyiyy}sh|??/$?~jth})?}1>}DIyiy}@}9@)y}z@BD6DܲY{!6=ީQ)> H?9 H?9GYA>Q 14٪۝?Q 54 ~B9\-?Q A:Y?Q E?yC):IZ:Ii4YqueAqB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 134.99 m.gAgA ProNav: ac range: 134.991684 m, nav range: 133.309265 m, bearing: 96.395615 deg, approach rate: -0.643992 m/s, LOS rate: -0.018169 deg/s, cmd heading: 88.821563 deg, new cmd heading: 88.804449 deg. gHeadingCmd: 1.549930 target range: 134.991684 and range: 135.80 m.gd?ggggzfrfffLjBBdddccj?ɢkB9(=  >I  T<ɡ i I !Id?iR=iR=)d?)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9{1DDDMDED: Ec:6EH$5:E!@!@!@!@yvB|>~BB)IBBB =BBBV;B+Eԡ >A L=A AI I N >, )Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003257@] B9])IBDu6DuY!^=Q)>K?9K?9GYFA>Q 14٪ם?Q 54 vB9YQ E?yC)\G;IH;i}4YUeAQgFNOT Ignoring new targets: 134.99 m.gg ProNav: ac range: 134.991684 m, nav range: 133.060074 m, bearing: 96.388571 deg, approach rate: -0.673479 m/s, LOS rate: -0.019073 deg/s, cmd heading: 88.804446 deg, new cmd heading: 88.790332 deg. g HeadingCmd: 1.549684 target range: 134.991684 and range: 135.80 m.g \?ggggzfrfffBdddcc F@ɢEfBE/= AE>II M鰠<ɡIiIIiI \?i7R=i,uS=) \?)ԩi95@@kAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255155>A bA kAZA De De De .Da Ee : Ee T:6Ee ـ4:Ea "Ee &,0 )Ay6팪?ٱ6?6=6=6H^?`*? l?`ؖ?? st? ?I6팪?)6];i4B B9B)IBDJ6DJN2YR¾;!R\=VҊQ)V>T9T9VGYXZ0;AZ>\Q 1b4٪^ԝ?Q 5b4^ ^nB9`Yf?Q Ef?y^%C)^W:I^:i^4YhjeAhxgFNOT Ignoring new targets: 134.99 m.g 㼹g 㼹 ProNav: ac range: 134.991684 m, nav range: 132.810272 m, bearing: 96.381377 deg, approach rate: -0.715444 m/s, LOS rate: -0.020642 deg/s, cmd heading: 88.790335 deg, new cmd heading: 88.775920 deg. g%HeadingCmd: 1.549432 target range: 134.991684 and range: 135.80 m.g%S?g!g!g!g!zf)rf)f1f1Bd1d1d1c9c=ܞ@ɢebBeu9= im >Ii 썢<ɡiI ?IS?iMR=i X=)S?)lAkAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508373i8/Q>AgW=AQ IY Iq y N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759216Q ,Z:)ADnDnDn)DlEnO: Enx:6EnFA4:El!r@!r@!r@!r@AYAYvBe~>~BaBe)IBeBBe =BaBaBeU;BeEy}B9})IMb@Mb@Mb@ )Iiw/?X9v?&?=IX@i@@)@BDE 6DEf2YI!,=Q)>99GYFA>Q 1 4٪ϝ?Q 54  dB9)?Q A:Y?Q E?yMC);I;i=4YBdA%oEgFNOT Ignoring new targets: 134.99 m.gɒgɒ ProNav: ac range: 134.991684 m, nav range: 132.496948 m, bearing: 96.373671 deg, approach rate: -0.650717 m/s, LOS rate: -0.016041 deg/s, cmd heading: 88.775923 deg, new cmd heading: 88.760475 deg. g깝HeadingCmd: 1.549163 target range: 134.991684 and range: 135.80 m.gJ?ggggzfrfffBBdddcc @ɢ\BLC&= v>I &<ɡiII%J?i%R=i%pX=)EJ?)Iԡi9/echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011755>A A1 I9 II N] >,ӇT)Ay6?ٱ6ˏ?6t=6 =6HK?W ? ?y?`x?`?@?I6?)6J];i6CBB9B)IBDJ6DJYRљ!Ru=RNQ)R?T9T9VGYVFZڝ:AZ?\Q 1b4٪^̝?Q 5b4^& ^^B9`Yb?Q Eb?y^jC)^:I^6:i^4YhjudAhg|~FNOT Ignoring new targets: 134.99 m.gg ProNav: ac range: 134.991684 m, nav range: 132.276108 m, bearing: 96.368181 deg, approach rate: -0.678738 m/s, LOS rate: -0.016901 deg/s, cmd heading: 88.760473 deg, new cmd heading: 88.749475 deg. gsHeadingCmd: 1.548971 target range: 134.991684 and range: 135.80 m.gD?gggg!zf!rf!f!f)Bd)d)BDAT read: Rx Time:05:21:20.0222 TRx dataTimestamp_ set to:1755840081.376471checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264303d)ccV9 @ɢ WB t1= >I <ɡiILDDD(DE: E n:6Ec44:E"E!E!*E;!E;!ID?iiR=iZ=)D?)i]8YY]/Y@e=@e=!m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515791>A} [=Q I I N > ,DLn)A9B9)I!u@!u mMb@Mb@Mb@ i)iIiiiim(\?X9v?~jtx?m'?im;Imn@iim+@mO@)im99GYFA>Q 14٪ǝ?Q 54 VB9*?Q A:Yz?Q E?yC)j:I:iή4YdAB*** querying acoustic contact ***zh=ivCIu G)"oAhI DAT read: 05:21:20.0222 LVL= 29264, 32753, 30898, 32755, AGC= 68, IDX= 409, 0.06,-2.073, 2.371,-2.223,-2.503, PHS= 0.532,-1.364, 0.237, RAW= 141.7, 6.8, CAL= 141.3, 7.5, ROT= 8.7, -7.5 Ygot valid direction response: 05:21:20.0222 LVL= 29264, 32753, 30898, 32755, AGC= 68, IDX= 409, 0.06,-2.073, 2.371,-2.223,-2.503, PHS= 0.532,-1.364, 0.237, RAW= 141.7, 6.8, CAL= 141.3, 7.5, ROT= 8.7, -7.5 PDAT read: Bearing 251.1, 5.5 (Local) ~Local bearing/azimuth received: Bearing 251.1, 5.5 (Local) -DAT read: Range 11 to 50 : 133.3 m (Round-trip 177.8 ms) speed 0.5 m/s 5,DAT read: user:7444> 5BDAT read: Tx time:05:21:21.1403 =$Ping request sent.=iG@=h@ >|>a  iI^Ԭ?",|?<,C?w> |>) i}:publishing transmit ping timeY9Fpublishing direction and range info9qv\?5R2? /?i )Ii iI^Ԭ?",|?<,C? )iE addTargetRange:: Added new target pos. range: 133.300003 m, deltaT: 3.780718 s, deltaX: -2.500000 m, approachRate: -0.661250 m/s, rangeRepo size: 4 gIUFNOT Ignoring new targets: 134.99 m.gUgU ProNav: ac range: 134.991684 m, nav range: 131.943863 m, bearing: 96.360073 deg, approach rate: -0.592641 m/s, LOS rate: -0.014500 deg/s, cmd heading: 88.749477 deg, new cmd heading: 88.733219 deg. gIԹHeadingCmd: 1.548687 target range: 134.991684 and range: 133.30 m.g_;?ggggzfDDD'DE Eg:6E'4:E!@!@!@!@rfffBdddc`@cpu?ɢPBvB]>~B]ȍCB])IB]ډBB] =BYB]cDB]1U;B]Et= 页Ŝ>I  <ɡiII_;?i:R=iX[=)_;?) p>ԑiM 9Q Q U x4Q Թ >A5 -tY=I I!N->\#,H)Ay6?ٱ6Ψ?6=61' =6H`E.?@ޡ?@/?c?-?-9;??I6?)6ʓ];i6CNB9R)IBDZ6DZk1Yr<!rH=rQ)r>t9t9vGYtz?:Az>Q 1%4٪ĝ?Q 5%4g OB9!Y%?Q E%?yC)`:I:i4Y15dAQh)h-_x)Ah-Ch-Ch-e?z-k.N|;`@d>3@PK1@j-qv\?5R2? /?h-|>h- - 0]hb`@Gf+m#@r-)q?YR?$ò?h-Ch-h-:?h-|h-WB*i-w?2i-|:i-Bi-C"i-$?gFNOT Ignoring new targets: 134.99 m.gg ProNav: ac range: 134.991684 m, nav range: 131.669968 m, bearing: 96.353261 deg, approach rate: -0.745374 m/s, LOS rate: -0.018577 deg/s, cmd heading: 88.733221 deg, new cmd heading: 88.719568 deg. gHeadingCmd: 1.548449 target range: 134.991684 and range: 133.30 m.g3?ggggzfrff f BdQdQdQcQc]#?ɢLB3= 顥ɝ>I {y<ɡiIVI3?iVR=i_=)3?)i/bDZD)DDD(DE: Exv:6Ec44:E"E!A5[=I I! N5 >A ),委)Ay>?ٱ>˯?>0=> =>H?@@С?? "??`௿`1?y?I>?)>1];i>C^ωB9b)IBDf6Df\Yn !nK=rQ)r>p9t9vGYvFv :Av>xQ 1~4٪zF?Q 5~4z zIB9Y?Q E?yzٝC)z;Iz;iz4Y GB cAeEg1FNOT Ignoring new targets: 134.99 m.gTgT ProNav: ac range: 134.991684 m, nav range: 131.405106 m, bearing: 96.346623 deg, approach rate: -0.693334 m/s, LOS rate: -0.017412 deg/s, cmd heading: 88.719567 deg, new cmd heading: 88.706264 deg. gHeadingCmd: 1.548216 target range: 134.991684 and range: 133.30 m.g+?g1g1g1g1zf9rf9f9f9BdAdAdAcAcMc#?ɢGB@!= ‡>I n@<ɡiI䨻I+?i'R=i(@`=)+?) Qi8@mA@mAy>A= Ba=bAE lAZAA D D D 'D E ; E :6E '4:E ! @! @! @! @ I I N >A A vB >~B B o)IB BB B B bDB T;B EBIBMǍCBMʓCBM =BM =BM`5 k0,)Ay6?ٱ6?60|=6- =6Hg?T T=? ?˚?3? B? ?I6?)6];i6CPRΉB9P!=!= =Mb@Mb@Mb@ 9)9I9i99=q= ףp?K7A?=+?= >=I=@i99=f@)9= @BDU6DUNYeI!eB=mºQ)m>i9i9mGYuFuAu>Q 14٪6?Q 54 AB9.?Q A:Y?Q E?yC):I8:iWĀ4YcAgFNOT Ignoring new targets: 134.99 m.gdgd ProNav: ac range: 134.991684 m, nav range: 131.118164 m, bearing: 96.339377 deg, approach rate: -0.679637 m/s, LOS rate: -0.017200 deg/s, cmd heading: 88.706262 deg, new cmd heading: 88.691738 deg. gHeadingCmd: 1.547963 target range: 134.991684 and range: 133.30 m.g#?ggggzfrfffBBdddcc!a?ɢBB &= 顭>I  <ɡiII#?iR=ic_=)#?))im9iiqq>AIY Ii Nu >! )! % ArD= %=jD= 4=6,۔)AD.D.D.-D,E.: E.:6E.t4:E,"E.f%A9A9EGYAE/AM>IQ 1]4٪Mf?Q 5]4M  M9B9YY]?Q E]?yM!C)M';IMf;iMJˀ4Yam(dAigFNOT Ignoring new targets: 134.99 m.gg ProNav: ac range: 134.991684 m, nav range: 130.847763 m, bearing: 96.332584 deg, approach rate: -0.680042 m/s, LOS rate: -0.017117 deg/s, cmd heading: 88.691741 deg, new cmd heading: 88.678129 deg. gHeadingCmd: 1.547725 target range: 134.991684 and range: 133.30 m.g?ggggzfrfffBdddcc ?ɢ=B,$= ,>I ?<ɡiII?i0R=i,[^=)?) i0)Y>A-|^=IIN>ԁ L<,Bw)Ay6J?ٱ6?6v=6=6H@Q???@S)?lq?`]Ү?`?I6J?)6^;i4>B9Bi)I-Mb@Mb@Mb@ )))I)i))-x&?Dl?~jth?-7)?-O >-D;I)i-"@-X@-|@))-Q@BDE6DEYUм!UI=UQ)U>Ya9a9eGYeFe/DAm>iQ 1u4٪m?Q 5}4m m3B9},?Q A}:Y}?Q E}?ymDC)mC ;Im ;imjҀ4YSdAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 134.99 m.g̹g̹ ProNav: ac range: 134.991684 m, nav range: 130.573502 m, bearing: 96.323458 deg, approach rate: -0.671646 m/s, LOS rate: -0.022398 deg/s, cmd heading: 88.678129 deg, new cmd heading: 88.659836 deg. g#T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 1.547406 target range: 134.991684 and range: 133.30 m.gg?ggggzfrff fBBddd!c!c-` 3@ɢ}8B} l!= y}>Iy k<ɡiI IDDDDE: E:6E:E!@!@!@!@I5g?i5R=i5#_=)5g?)9vB=>~B=ǍCB=\)IB=BB= =B9B9B=T;B=lEԉi0@=@Ա>A- ^=rA5 ?jA5 ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255382 AY Ia Iq N >C,R)Ay6?ٱ69?6 q=6G =6H !l? `4Ң?W?"?? 8??I6?)6e_;i4<9Bj)IBDF6DFNYN:!RV=R=nQ)R>T9T9VGYTV>:AV>XQ 1^4٪Z?Q 5b4ZN Z-B9`Yb?Q Eb?yZeC)Z8;IZD;iZـ4YdfQdAhgquFNOT Ignoring new targets: 134.99 m.g}uǹg}uǹ ProNav: ac range: 134.991684 m, nav range: 130.317688 m, bearing: 96.314852 deg, approach rate: -0.646726 m/s, LOS rate: -0.021797 deg/s, cmd heading: 88.659837 deg, new cmd heading: 88.642593 deg. gHeadingCmd: 1.547105 target range: 134.991684 and range: 133.30 m.g?ggggzfrfffBdddccL@Թɢ4B.(= >I <ɡiI$}I?iR=ib=)?)kAlAiqqqu4qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507460BE]FA4JE]ƭx4RE]2DDD)DE: E:6EFA4:E"Ey>A<|^=A I I N >9 I,/))A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758140B9])IBD-6D-02Y=D!=A=EQ)E>A9A9MGYMFMAM>QQ 1]4٪U?Q 5]4U U&B9aYaQ Ee?yUC)U@;IU;iUz4YmBmmbAm[EgFNOT Ignoring new targets: 134.99 m.geعgeع ProNav: ac range: 134.991684 m, nav range: 130.032318 m, bearing: 96.305213 deg, approach rate: -0.698546 m/s, LOS rate: -0.023648 deg/s, cmd heading: 88.642591 deg, new cmd heading: 88.623270 deg. g-HeadingCmd: 1.546768 target range: 134.991684 and range: 133.30 m.g}?ggggzfrfffBdddccy@ɢ/B؃"= 顝>I <ɡiI[I}?iR=i c=)}?)iIIIM5IIBDAT read: Rx Time:05:21:23.7189 TRx dataTimestamp_ set to:1755840084.904965 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012620q>AJc=D D D 'D E 2: E ^:6E '4:E !% @!% @!% @!% @A- <A- <vB5 ~>~B1 B5 C)IB5 BB1 B1 B1 B5 yT;B5 aEA I I N >ԙ P,5C)Ay:׍?ٱ:?:̕g=:: =:H@Y?@'I?J?_?@? ??I:׍?):`;i:C^B9bR)IuMb@Mb@Mb@ q)qIqiqqun?x&?uV.?u7 >uIu@iu1@u@uG@)qu@BD6DY%!E= Q)>99GYFA>Q 14٪f?Q 54q B91?Q A:Ye?Q E?yC);I;i4YbAgFNOT Ignoring new targets: 134.99 m.gg  ProNav: ac range: 134.991684 m, nav range: 129.744675 m, bearing: 96.297016 deg, approach rate: -0.691540 m/s, LOS rate: -0.019749 deg/s, cmd heading: 88.623269 deg, new cmd heading: 88.606840 deg. g HeadingCmd: 1.546481 target range: 134.991684 and range: 133.30 m.g?ggggzfrff!f%BBd!d!d!c)c-{ @ɢU*B] Q#= Y]>IY ]y<ɡaiaIeIIe?imS=im~'a=)m?)iqechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263150i4@lA@ԡ>AbAjAZA! A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515333D= D= D= *D9 V,c\)AEe: Ee&p:6Ee(N4:Ea"Ee#99GYT7A>Q 14٪3?Q 54 B9YQ E?yӞC):I:i4YbAgy}FNOT Ignoring new targets: 134.99 m.g/g/ ProNav: ac range: 134.991684 m, nav range: 129.458359 m, bearing: 96.288822 deg, approach rate: -0.678881 m/s, LOS rate: -0.019473 deg/s, cmd heading: 88.606842 deg, new cmd heading: 88.590417 deg. gHeadingCmd: 1.546194 target range: 134.991684 and range: 133.30 m.g?ggggzfrfffBdddcciM @ɢ$Bd= x>I! %<<ɡ!i!I%ƚIIU?iU] S=iUb=)]?)Y V>i=9AAE4AyDAT read: 05:21:23.7189 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.05, 1.637,-0.239, 1.505, 1.214, PHS= 0.525,-1.408, 0.246, RAW= 142.3, 7.1, CAL= 141.9, 7.8, ROT= 8.1, -7.8 Ygot valid direction response: 05:21:23.7189 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.05, 1.637,-0.239, 1.505, 1.214, PHS= 0.525,-1.408, 0.246, RAW= 142.3, 7.1, CAL= 141.9, 7.8, ROT= 8.1, -7.8 PDAT read: Bearing 252.3, 5.2 (Local) ~Local bearing/azimuth received: Bearing 252.3, 5.2 (Local) DAT read: Range 11 to 50 : 130.8 m (Round-trip 174.5 ms) speed 0.7 m/s ,DAT read: user:7445> BDAT read: Tx time:05:21:24.8403 $Ping request sent.i]\@]=]@]'g >]> ]'g iYYI]p_? ?ȼaa?]>]Ð ]>)]'g iYY:publishing transmit ping timeYFpublishing direction and range info9Y]!PzA 3c= A yAI I9 NE >v],"v)ADeB9m1)IDDD)DE: Exv:6EFA4:E!@!@!@!@-Mb@Mb@Mb@ )))I)i))-V-?S㥛?{Gzt--?-$>-ףI-@i)-|@-t@))-G@BDe6DeYu⟽!}4=Q)> H?9 H?9GYFA>Q 14٪?ԹvB>~BȍCB*)IBBBBBBT;BEQ 54ղ B90?Q A:Y?Q E?yC)fh'g \ -}~`@j[&@rACaL#ު?5?hChoh?گ?h%ozhB*i2i%oz:iiC"i? addTargetRange:: Added new target pos. range: 130.800003 m, deltaT: 3.779051 s, deltaX: -2.500000 m, approachRate: -0.661542 m/s, rangeRepo size: 4  Added new target pos. range: 130.022964 m, bearing: 96.642999 deg, lat: 36.779221 deg, lon: -121.859588 deg, deltaT: 7.559769 s, deltaX: -4.968719 m, approachRate: -0.657258 m/s, posRepo size: 4 gFNOT Ignoring new targets: 130.02 m.gg ProNav: ac range: 130.022964 m, nav range: 129.551743 m, bearing: 96.681055 deg, approach rate: 0.000000 m/s, LOS rate: -0.019473 deg/s, cmd heading: 88.590415 deg, new cmd heading: 88.572097 deg. gHeadingCmd: 1.545875 target range: 130.022964 and range: 130.80 m.g9?gg g g zfrfffBBdddcY`@c%&?ɢB= 顕_>I <ɡiI5wI9?iS=i,c=)9?)iaaae4a >Ae c=A A AI I N >d,~)Ay6?ٱ6u?6Z=65=6H ʔ??9?@M??I6?)6_;i6C>B9>%)IBDF6DFβYNY!Ne=R毻Q)R>RK?9RK?9VGYVFVAV>XQ 1^4٪Z+?Q 5^4Z ZB9`Yb?Q Eb?yZC)Z):IZ:iZ&4YfƥBf bAfQEvB*** querying acoustic contact ***zhthtg|~FNOT Ignoring new targets: 130.02 m.gPgP ProNav: ac range: 130.022964 m, nav range: 129.308319 m, bearing: 96.675191 deg, approach rate: -0.730357 m/s, LOS rate: -0.017629 deg/s, cmd heading: 88.572097 deg, new cmd heading: 88.560345 deg. g HeadingCmd: 1.545670 target range: 130.022964 and range: 130.80 m.g?ggggzfrfffBdddcc@D?ɢ=B=~!= 9ET>IA E<ɡAiAIE IM?iMeS=iUްb=)U?)QԩuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.i9/@@@@DDD*DE: E|:6E(N4:E"E< checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995421) mj,F)Ay6ki?ٱ6_?6Y=6% =6H }?9ԡ? ?V?`?=??I6ki?)62l_;i6C>vB9B)IBDF6DFYRҐ!RK=RiQ)R>V H?9V H?9VGYTVߺAZ>XQ 1^4٪Z4?Q 5b4ZO ZB9`Yb?Q Eb?yZ>C)Z;IZ;iZ04YdjbAhgx~FNOT Ignoring new targets: 130.02 m.gg ProNav: ac range: 130.022964 m, nav range: 129.030853 m, bearing: 96.668564 deg, approach rate: -0.689385 m/s, LOS rate: -0.016499 deg/s, cmd heading: 88.560342 deg, new cmd heading: 88.547061 deg. g񹝅HeadingCmd: 1.545438 target range: 130.022964 and range: 130.80 m.g?ggggzf!rf!f!f!Bd)d)d)c)c-n_?ɢBq= ,A>I zT<ɡiIzpI ?i "S=i  a=) ?))Yi0ImEG)mAIAi쭿 mA AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248020AAIINb>DDD(DEm: E]t:6Ec44:E!@!@!@!@AqAqvBy~ByB})IB}tBB} =ByByB}#U;B}Ei jq,B"Ǖ)Ay6f?ٱ6[\?6OW=6 =6H? ???`?@檿?`?I6f?)6_;i6C@BoB9B )I Mb@Mb@Mb@ ) I i   V-?M?Mbp  n> I @i "@ @ |@)  BD6DfY!;=VQ)>K?9K?9GYF,IA>i*?I7?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500559Q 14٪n?Q 54q B9c1?Q A:Y?Q E?yeC);I;i 4Y  bA g9=FNOT Ignoring new targets: 130.02 m.gEŹgEŹU ProNav: ac range: 130.022964 m, nav range: 128.727127 m, bearing: 96.658991 deg, approach rate: -0.681667 m/s, LOS rate: -0.021537 deg/s, cmd heading: 88.547064 deg, new cmd heading: 88.527872 deg. gU]HeadingCmd: 1.545103 target range: 130.022964 and range: 130.80 m.g]?gYgagagazfarfafifmjBBdididicqcu ʂ?ɢB= 顥>>I $<ɡiII?i+S=iSb=)?)Աi/AI!I1N=r> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751375 rD =jD <D D D D E : E :6E :E "E #X9X9ZGYZFZ 7A^>`Q 1b4٪bl?Q 5f4b֖ bB9dYdQ Ef?ybC)b`:Ib:ibT4YjBnbAllg FNOT Ignoring new targets: 130.02 m.g ˹g ˹ ProNav: ac range: 130.022964 m, nav range: 128.472214 m, bearing: 96.650922 deg, approach rate: -0.699804 m/s, LOS rate: -0.022194 deg/s, cmd heading: 88.527871 deg, new cmd heading: 88.511702 deg. g%x"%HeadingCmd: 1.544821 target range: 130.022964 and range: 130.80 m.g-?g)g)g)g)zf)rf)f1f1Bd1d1d9c9c=T?ɢm Bmľ= im:>Ii u<ɡqiqIu!I}?i}02S=i}Vc=)}?)i9bAkAZA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003546AaIiIyN?>1i ~,)A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255396yBh?ٱB^?BO=B)r=BH`?@? ? +~?銩?f?`?IBh?)B"_;iBCJ_B9J(ID]D]D]+DYE]D: E]|:6E] [4:EY!m@!m@!m@!m@qMb@Mb@Mb@ )IiJ +?n?~jth(?V>DI@i|@@f@)@BD6DY(,!9= Q)>99GY9A>Q 14٪É?Q 54' B9j,?Q A:YQ E?yC);I;i 4YB`AGEvB>~BB(IB`BBBBBNU;BEBȍCBȍCBBB =BU$5gQUFNOT Ignoring new targets: 130.02 m.g]kg]km ProNav: ac range: 130.022964 m, nav range: 128.175629 m, bearing: 96.641494 deg, approach rate: -0.663408 m/s, LOS rate: -0.021138 deg/s, cmd heading: 88.511704 deg, new cmd heading: 88.492805 deg. gmuHeadingCmd: 1.544491 target range: 130.022964 and range: 130.80 m.gu?gqgqgygyzfyrfyff~BBdddccx@ɢ5B5= 1=2>I9 =<ɡ9i9I=GMIE?iEnAA Aq I I N >,ȱ)Ay6-[?ٱ6P?62L=6j=6H`? _?? ?*$? @e??I6-[?)6}_;i6CVWB9V(IBDb6Dbf?Yf+!f\=jQ)j>h9h9nGYnFnAn>pQ 1v4٪r܅?Q 5v4r rB9xYz?Q Ez?yr̟C)rF:Ir:ir 4Y|=aAB*** querying acoustic contact ***zhhg)-FNOT Ignoring new targets: 130.02 m.g5ƹg5ƹE ProNav: ac range: 130.022964 m, nav range: 127.926727 m, bearing: 96.633596 deg, approach rate: -0.680784 m/s, LOS rate: -0.021645 deg/s, cmd heading: 88.492805 deg, new cmd heading: 88.476978 deg. gErMHeadingCmd: 1.544215 target range: 130.022964 and range: 130.80 m.gMӨ?gIgIgIgQzfQrfQfQfYBdYdYdYcace ê@ɢBX= 顕+>I <ɡiILIӨ?iCS=i?d=)Ө?)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759492i]9YY]0YbDiZDm@ADuDuDqDqEua: Eu[:6Eq:Eq"Eu(;!Eu>;!>A}c=A yAI I N > BDAT read: Rx Time:05:21:27.4156  TRx dataTimestamp_ set to:1755840088.684434 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0123919 v,.)AyZE?ٱZ;?Z`UJ=Z8=ZH`뙖?@?`?k?Ө? H`Am??IZE?)ZF$_;iZCfOB9f(IBDn6Dn0Yv:!vH=v Q)z>z H?9z H?9zGYzF~кA~>Q 1 4٪?Q 5 4 ߣB9 Y?Q E?yC)d:I9:i'4Y}aAgAMFNOT Ignoring new targets: 130.02 m.gM¹gM¹] ProNav: ac range: 130.022964 m, nav range: 127.652985 m, bearing: 96.624955 deg, approach rate: -0.671919 m/s, LOS rate: -0.021257 deg/s, cmd heading: 88.476980 deg, new cmd heading: 88.459659 deg. geeHeadingCmd: 1.543912 target range: 130.022964 and range: 130.80 m.ge?gigigigizfirfifqfqBdqdqdcc@  @ɢ-B-= )-$&>I1 Uf$<ɡQiQIUWI]?i]LS=ie:b=)e?)ai9h1Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263364D}D}D}-DyE}2: E}k:6E}t4:Ey!@!@!@!@A5<A5<vB9~B9B=(IB=GBB9B9B9B=JU;B=E>AmJc=qrA} ?jA} ?Ii Iy N >] PExceeded connect timeout, disconnecting.ԙ ,zH)ADAT read: 05:21:27.4156 LVL= 24736, 30385, 25746, 32755, AGC= 67, IDX= 405, 0.36,-2.388, 2.105,-2.484,-2.777, PHS= 0.491,-1.356, 0.249, RAW= 143.1, 7.1, CAL= 142.6, 7.8, ROT= 7.4, -7.8 Ygot valid direction response: 05:21:27.4156 LVL= 24736, 30385, 25746, 32755, AGC= 67, IDX= 405, 0.36,-2.388, 2.105,-2.484,-2.777, PHS= 0.491,-1.356, 0.249, RAW= 143.1, 7.1, CAL= 142.6, 7.8, ROT= 7.4, -7.8 PDAT read: Bearing 253.0, 4.8 (Local) ~Local bearing/azimuth received: Bearing 253.0, 4.8 (Local) %DAT read: Range 11 to 50 : 128.3 m (Round-trip 171.1 ms) speed 0.8 m/s -,DAT read: user:7446> 5BDAT read: Tx time:05:21:28.5403 5$Ping request sent.5)hI~>i @&I@ A> iIHO 6?M&??wѿ?\7>4  A>)i=:publishing transmit ping timeY1=Fpublishing direction and range info9+ɔp?XcSU? M _?i )Ii iIHO 6?M&??wѿ? )iMb@Mb@Mb@ )IiZd;O?S㥛?y&1|~*?$>`I@iA@`A)(@BD6DY䃼!=Q)>99GY?A> Q 14٪ T|?Q 54 -x ֣B9-?Q A:Y?ԙQ E?y C) ͞hR)~|@_@\^'@rŻD4m??R?hBhI <ɡiIWI?i8XS=i!"c=)?) e>>)i m Ai / @ mA@ lABEʷG4JEI4RE/D D D )D E a: E ҆:6E FA4:E "E ! E ! *E ;! E ;! >A c=IIN?ڙ,"Ri)A =B9 (IBD6DY-!-R=5Q)5>19195GY=F=A=>AQ 1M4٪Ex?Q 5M4EVq EϣB9QYQQ EU?yE@C)E;IE;iE74YY]bAYgFNOT Ignoring new targets: 127.54 m.gg ProNav: ac range: 127.537979 m, nav range: 126.930298 m, bearing: 96.574126 deg, approach rate: -0.718534 m/s, LOS rate: -0.018660 deg/s, cmd heading: 88.435213 deg, new cmd heading: 88.421526 deg. gHeadingCmd: 1.543247 target range: 127.537979 and range: 128.30 m.g?gg!g!g!zf!rf!f)f)Bd)d)d1c1c5?ɢ]Be!= ae>Ia m<ɡiiiImډIu?iu_S=iud=)u?)qԩi!))-0)>AyIIN >D9 D= D= (D9 E9  E= c:6E= c44:E9 !E @!E @!E @!E @vB >~B B (IB 2BB =B B cDB KU;B E! H, )A3B9(IMb@Mb@Mb@ )IiMb?n?~jth#?V>DI@if@@IA)3@nManaging dock network, ignoring radio surface power offBD6DP)Y;8!A=Q)>99GYFA>Q 14٪t?Q 549j ɣB9&?Q A:Y?Q E?ycC) ;I ;i=?4YCB}`A>EgFNOT Ignoring new targets: 127.54 m.gѹgѹ ProNav: ac range: 127.537979 m, nav range: 126.655502 m, bearing: 96.564432 deg, approach rate: -0.648399 m/s, LOS rate: -0.022924 deg/s, cmd heading: 88.421525 deg, new cmd heading: 88.402095 deg. g'HeadingCmd: 1.542908 target range: 127.537979 and range: 128.30 m.g}?gggg1zf1rf9f9f=MBBdAdAdAcIcM?ɢB= >I 0<ɡiI I%}?i%iS=i%?e=)}?)i999E/0AAi >Ae Qf=bAu lAZAu mAI I N >n,\䜖)A DDD*DE: Eg:6E(N4:E"E#i9q9uGYqqAu>yQ 14٪}o?Q 54}c }ãB9YQ E?y}C)}:I}:i}F4Y8B'`A=EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 127.54 m.g۹g۹ ProNav: ac range: 127.537979 m, nav range: 126.402023 m, bearing: 96.555452 deg, approach rate: -0.676662 m/s, LOS rate: -0.024019 deg/s, cmd heading: 88.402093 deg, new cmd heading: 88.384098 deg. g/HeadingCmd: 1.542593 target range: 127.537979 and range: 128.30 m.gs?ggggzfrfffBdddcc xI) -k<ɡ)i)I-K׆Is?irS=i;Xf=)s?))qi95@=@=ԙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>Ad=IQ Ia N} > ,r)APyV2?ٱVN(?VF5=V1\=VH6? @M???D?_Ţ?`k?IV2?)Vt_;iT B9(IBDM6DM 8Y!H=,*Q)>99GYFUA]>qQ 14٪uek?Q 54uT\ uB9Y?Q E?yuC)u!;Iu;iuM4Y`A) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748030g1=FNOT Ignoring new targets: 127.54 m.g=˹g=˹u ProNav: ac range: 127.537979 m, nav range: 126.118973 m, bearing: 96.545412 deg, approach rate: -0.626495 m/s, LOS rate: -0.022273 deg/s, cmd heading: 88.384096 deg, new cmd heading: 88.363970 deg. gu #}HeadingCmd: 1.542242 target range: 127.537979 and range: 128.30 m.g}1h?gygygygyzfyrfffBdddccI?DDD(DEa: Exv:6Ec44:E!@!@!@!@AiAivBq~BqBu(IBu#BBu =BqBqBu5U;BuEɢBj= 顽\=I a<ɡiIDI1h?i6~S=i mf=) 1h?) i95 9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000600>A e=I! I1 NE >O, Ж)Ay6?ٱ6R?62=6\=6H ՗? UIU@iU|@U@UA)QUz@BDu6Du02Yƌ=!K=(Q)>99GY`ʺA>Q 14٪g?Q 54U B9+?Q A:YD?Q E?yȠC):I:iIA E4<ɡAiAIEIMl`?iMuS=iUfYe=)Ul`?)Qi8/!Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251645DDD0DED: E6E4:E"E1A?e=rA ?jA?ԡ A AI I N >M,t)Ay6$?ٱ6?61.=6nj=6HC?`%` ?`l?8?@K?`y?fK?9jK?9jGYjFj:Aj>lQ 1r4٪nd?Q 5v4n4O nB9tYvJ?Q Ev?ynC)n:InB:inZ4YzBz^A~4Eg%FNOT Ignoring new targets: 127.54 m.g%ۦg-ۦ5 ProNav: ac range: 127.537979 m, nav range: 125.613342 m, bearing: 96.531716 deg, approach rate: -0.669457 m/s, LOS rate: -0.018235 deg/s, cmd heading: 88.350382 deg, new cmd heading: 88.336522 deg. g=|EHeadingCmd: 1.541763 target range: 127.537979 and range: 128.30 m.gEX?gAgAgAgAzfIrfIfIfIBdQdQdQcQcUg%@i]>I]a=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504083yɢڈB"= 顝H$>I 6<ɡiI IX?iS=i2g=)X?)iU9QQU/Qԩ5=i5CIG)~nAI]Ai몿~nAAuQf= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755785D5 D5 D5 *D1 E5 : E5 i:6E5 (N4:E1 != @!= @!= @!= @vBm >~Bi Bm (IBm BBm =Bi Bm bDBm QU;Bm EA I I  N >H,HP)Ay6y?ٱ6+ ?6*=6=6H/?)`آ??[?@_?`nWT??I6y?)6_;i6C>+B9B(I-Ronly read 0 of 1 data item for BIT error. Device response is::TS,00022709085141,3571492.7, 0 !R@!V !V@!V !V@!V !V@!V BDZ6DZNYb!bK=bQ)f>d9d9fGYfFjAj>lQ 1r4٪n`?Q 5r4n3H nBQ =v+:9tQ Av:Yv8?Q Ev?yn C)n?';In>in`4Yxz^A|gFNOT Ignoring new targets: 127.54 m.g)g) ProNav: ac range: 127.537979 m, nav range: 125.343468 m, bearing: 96.524415 deg, approach rate: -0.629541 m/s, LOS rate: -0.017066 deg/s, cmd heading: 88.336524 deg, new cmd heading: 88.321892 deg. g%HeadingCmd: 1.541508 target range: 127.537979 and range: 128.30 m.g%!P?g!g!g!g!zf!rf)f)f)Bd)d1d1cqc}@ɢՈBż= 顝@->I *<ɡiISI!P?iS=ie=)!P?)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007823 i81>A dh=a A % BDAT read: Rx Time:05:21:31.1123 % TRx dataTimestamp_ set to:1755840092.464879- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261166I1 IA NU >d1,Z+)Ay6P?ٱ6?6m(=6=6H?#??h?Τ?E`??I6P?)6\_;i6~C>#B9>(IBDF6DFN2YN!NM=RĖQ)R>P9T9VGYTVAV>XQ 1^4٪Z<\?Q 5^4ZCA ZBQ =b :9`Q AbO:Yb?Q Eb?yZ-C)Z~ ;IZN?iZ*e4Ydf^AhDrDrDr(DpErs: Er:6Erc44:Ep"Er_0I ,|<ɡiI/セIG?iS=ic=)G?)iM9IIM/Qa}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511683ԉ>Af=bAkAZAnAA yAI IA Nm > _,/8)Ayi?ٱ?.%=@=H (?@6 -p?`??.? g?P?Ii?)_;i|C%B9-(IiM=IIBDu6Du1ԑY!-=Q)>DAT read: 05:21:31.1123 LVL= 27536, 32753, 30994, 32755, AGC= 68, IDX= 403, 0.41,-2.409, 2.006,-2.461,-2.799, PHS= 0.492,-1.433, 0.294, RAW= 144.6, 7.1, CAL= 144.2, 7.8, ROT= 5.8, -7.8 %Ygot valid direction response: 05:21:31.1123 LVL= 27536, 32753, 30994, 32755, AGC= 68, IDX= 403, 0.41,-2.409, 2.006,-2.461,-2.799, PHS= 0.492,-1.433, 0.294, RAW= 144.6, 7.1, CAL= 144.2, 7.8, ROT= 5.8, -7.8 -PDAT read: Bearing 253.8, 3.7 (Local) -~Local bearing/azimuth received: Bearing 253.8, 3.7 (Local) =DAT read: Range 11 to 50 : 125.8 m (Round-trip 167.8 ms) speed 0.5 m/s =,DAT read: user:7447> EBDAT read: Tx time:05:21:32.2403 DDD+DE: E n:6E [4:E!@!@!@!@ H?9 H?9GYFvB >~B B (IB BB  =B B B B EBBBB =B =B[5$Ping request sent.)lI+>i!@!@޸A>Q 1 4٪V?Q 5 47 BQ =99Q A(:Y?Q E?y\C)o:I?i=j44Q= iIX?k,y?є?$> 4Q=)i%:publishing transmit ping timeY%Fpublishing direction and range info9u6?h䌡? M _?i )Ii iIX?k,y?є? )iY^AԹhh >)AhBhBhg1?z % ^@X~{ )@Oc0@ju6?h䌡? M _?h4Q=hg/BR !@_@Qx;(@r܆ (8O?Rfj?hI <ɡiII>i /  >A Sf=AAAI I!N=?;,%Z)Ay?ٱl?#==H@'?"? ?@J?}? p1?`*?I?)f_;i9)!]!] !]!e !e!e !e!e eMb@Mb@Mb@ a)aIaiaaeHzG?L7A`?e=*?e+>eIe@ieAe@eA)ae@BD6Df?Y}Һ!=CQ)>K?9K?9GYFyA>Q 14٪zR?Q 54/ BQ =T:9-?Q A:Y?Q E?yC)r;I/;iVr4rD =jD <DDD)DE: E:6EFA4:E"EI -<ɡiIwƁIQ3?iS=i&_=)Q3?)Yie8aae/aԁ>A} Ba=A Ա I I N >aa,Ws)Ayf?ٱ?F$=C=H[??r֠?`O?`%??a`jD?J?If?)!_;i{C5B95(IBDE6DEYUp!Ug=U 9Q)U>Y9Y9]GY]FeiAe>iQ 1u4٪mO?Q 5u4mk) mB9qYu?Q Eu?ymC)m;Im;imx4YB\A)EgFNOT Ignoring new targets: 125.05 m.g7g7 ProNav: ac range: 125.053032 m, nav range: 124.157890 m, bearing: 96.493281 deg, approach rate: -0.684813 m/s, LOS rate: -0.017399 deg/s, cmd heading: 88.271514 deg, new cmd heading: 88.259370 deg. gHeadingCmd: 1.540417 target range: 125.053032 and range: 125.80 m.g_,?ggggzfrfffBdddcc`J?ɢ%ˆB-<= )52>I1 =>-<ɡ9i9IEIM_,?ԑiUS=i/\=)_,?)i9D%D%D%'D!E%O: E%~:6E%'4:E!!-@!5@!5@!5@vB=>~B=ʍCB=(IB= BB= =B9B=dDB=EU;B9>A<|^=rA ?jA>A= yAII IY Nm >) aI,ɍ)AyJr?ٱJg?J['=J8=JH`9?9|ؠ??+?%n? 餿=?` ?IJr?)J^;iHVB9V(I)X X-Mb@Mb@Mb@ )))I)i))-y&1?X9v?y&1|?-`%?-=-`;I-@i-EA-@)))-p@BDE6DEYU!UJ=:Q)> H?9 H?9GYA>Q 14٪bK?Q 54D" B9g(?Q A:Y?Q E?yơC):IZ:i4Y]Ag!%FNOT Ignoring new targets: 125.05 m.g-g-= ProNav: ac range: 125.053032 m, nav range: 123.882614 m, bearing: 96.487250 deg, approach rate: -0.656805 m/s, LOS rate: -0.014421 deg/s, cmd heading: 88.259370 deg, new cmd heading: 88.247282 deg. g=#ӹEHeadingCmd: 1.540206 target range: 125.053032 and range: 125.80 m.gEu%?gAgAgAgAzfIrfIfIfMQBBdQdQdQcYc](?ɢB= 額,>I XU<ɡiI=8Iu%?iS=iY=)u%?))Qi90y>A5t[=bD) ZD) BEJEL4REQ0D5 D5 D5 ,D1 E5 : E5 g:6E5 g4:E1 "E5 !|s,)A@yJt?ٱJj?Jb(=Jwt9t9vGYvFzMs9Az>|Q 14٪~H?Q 54~ ~B9Y?Q E ?y~C)~Y;I~v;i~`4Y]A-B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 125.05 m.gEgEU ProNav: ac range: 125.053032 m, nav range: 123.636665 m, bearing: 96.481826 deg, approach rate: -0.655818 m/s, LOS rate: -0.014491 deg/s, cmd heading: 88.247280 deg, new cmd heading: 88.236411 deg. gU(Թ]HeadingCmd: 1.540016 target range: 125.053032 and range: 125.80 m.ge>?gagagagazfarfafifiBdididqcqcu&?ɢB= 顥f8>I Fp<ɡiII>?i?)uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.i9_0Ա>AmY=A A IA I N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958943vB% >~B! B% (IB% BB% =B% IDB! B% 2U;B% ED= D= D9 D9 E= : E= z:6E9 :E9 "E= <E= <*E= ;E= ;_,)Aly=m?ٱ=c?= n)==<=HU[?G`J?`?%??`5,??I=m?)=5^;i=|CMB9U(IMb@Mb@Mb@ )IiK7?HzG?~jth?)?= >D;IG@iA@\A) @BD6D3Y;!9=?:Q)> K?9 K?9 GY cA>Q 1%4٪C?Q 5%4  B9%6-?Q A%:Y%?Q E%?y C):IA:i4Y15\A1gY]FNOT Ignoring new targets: 125.05 m.gege򩹝u ProNav: ac range: 125.053032 m, nav range: 123.338257 m, bearing: 96.473648 deg, approach rate: -0.676070 m/s, LOS rate: -0.018573 deg/s, cmd heading: 88.236414 deg, new cmd heading: 88.220018 deg. gu}HeadingCmd: 1.539730 target range: 125.053032 and range: 125.80 m.g}?gygygygzfrfffmBBdddcc 6@ɢB= lC>I <ɡiAIEΪIM?iMS=iM[=)U?)Qi?0}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208672)>AE Jc=bAE lAZAE mAa Aq I I N >W,Yۗ)Ay>$Z?ٱ>O?>`V)=>d<>H?YW?|?@%?@]?@)`N?`!?I>$Z?)>f^;i>{CFB9F(IBDN6DN:YVjl<!Vc=ZQ)Z>X9X9^GY^F^ۺA^>`Q 1f4٪b@@?Q 5f4b  bB9hYj?Q Ej?yb+C)b>:Iby:iba49YezBe [Ae EgFNOT Ignoring new targets: 125.05 m.gg ProNav: ac range: 125.053032 m, nav range: 123.095535 m, bearing: 96.467034 deg, approach rate: -0.644360 m/s, LOS rate: -0.017594 deg/s, cmd heading: 88.220021 deg, new cmd heading: 88.206766 deg. gHeadingCmd: 1.539498 target range: 125.053032 and range: 125.80 m.gI?ggggzfrfffBdddcc @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460815ɢB&= P>I r<ɡ i I sII?iS=iZ=)I?)!!DDD+DEa: ErN:6E [4:E! @! @! @! @i5@=@=iԑ>A-tY= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713105A I I N > ,]5)Ay>W?ٱ>oM?>ߺ'=>$<>H ?)? ?#??^R?`l?I>W?)>^;i>zCF B9F(IBDR6DRβYV6u!ZJ=Z~Q)Z>X9\9^GY^F^=Ab>`Q 1f4٪bSIa e\<ɡiiiImDdIm?iuS=i[=)?)iU9QY]4Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.967177vB>~BɍCB(IBBB =BBcDBU;BEDDD(DE: EAr:6Ec44:E"EAA I I ! N- >t,w)A&BDAT read: Rx Time:05:21:34.8089 &TRx dataTimestamp_ set to:1755840096.244533*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217837ybW?ٱbM?b'=b n`I1@i@)@BD6D Q)>99GYB;7A>!Q 1-4٪%8?Q 5-4% %}B9-*?Q A5:Y5&?Q E5?y%tC)%;I% ;i%H4Y999gamFNOT Ignoring new targets: 125.05 m.gm>gm> ProNav: ac range: 125.053032 m, nav range: 122.525406 m, bearing: 96.451250 deg, approach rate: -0.662715 m/s, LOS rate: -0.018605 deg/s, cmd heading: 88.191812 deg, new cmd heading: 88.175124 deg. g1HeadingCmd: 1.538946 target range: 125.053032 and range: 125.80 m.g1?ggggzfrfff_BBdddcc @ɢeBm2!= imH>I <ɡiIA rA ?jA ?ԁ A1 IA IQ N] >O ,q()Ayf`7?ٱf-?f5(=fCC@h??If`7?)fC>^;ifyCrB9r(I)t tzp99GYF.A>!Q 1-4٪%u4?Q 5-4% %wB91Y5?Q E5?y%C)%;I%7;i%˩4Y9=[AA]B*** querying acoustic contact ***zhYhYgimFNOT Ignoring new targets: 125.05 m.gugu񧹝 ProNav: ac range: 125.053032 m, nav range: 122.278534 m, bearing: 96.444420 deg, approach rate: -0.662033 m/s, LOS rate: -0.018354 deg/s, cmd heading: 88.175126 deg, new cmd heading: 88.161438 deg. g[HeadingCmd: 1.538707 target range: 125.053032 and range: 125.80 m.g]?ggggzfrfffBdddcc @ɢBw&= B>I V<ɡiI.I]?iS=iY=)]?)I}DAT read: 05:21:34.8089 LVL= 29168, 31137, 29474, 32755, AGC= 68, IDX= 401,-0.41,-0.077,-1.967,-0.149,-0.482, PHS= 0.507,-1.440, 0.289, RAW= 144.1, 7.0, CAL= 143.7, 7.7, ROT= 6.3, -7.7 Ygot valid direction response: 05:21:34.8089 LVL= 29168, 31137, 29474, 32755, AGC= 68, IDX= 401,-0.41,-0.077,-1.967,-0.149,-0.482, PHS= 0.507,-1.440, 0.289, RAW= 144.1, 7.0, CAL= 143.7, 7.7, ROT= 6.3, -7.7 PDAT read: Bearing 254.2, 4.1 (Local) ~Local bearing/azimuth received: Bearing 254.2, 4.1 (Local) DAT read: Range 11 to 50 : 123.3 m (Round-trip 164.5 ms) speed 0.8 m/s ,DAT read: user:7448> BDAT read: Tx time:05:21:35.8903 $Ping request sent.iM @M5=M @M >Mz0= M iIIIMY̿?7l ?Tc^O?M>M Mz0=)M iII:publishing transmit ping timeYFpublishing direction and range info9IMD?/ ֻ?L`u&?IIiIIIII I)IIIiIIIII IiIIIMY̿?7l ?Tc^O?II I)IiIIyIG)I>A 5[=iEIM AԡA] yAI I N >A < A vB n>~B ōCB {(IB BB =B JDB `DB %U;B ED D D D E : E :6E :E "E +94I"@iA@A)@BDE6DEFY}!})=F9Q)> H?9 H?9GYF3A>Q 14٪/?Q 54 oB9r/?Q A:Yt?Q E?yC);I;iT4Y4B-YA-Ehh/)AhBhBh?ztM.^@Ic*@:k0@jD?/ ֻ?L`u&?hz0=h SƁ/"{Ki^@]=''@r2WLp1(?`Xꭸ?hMBh~h1?h=,phB*iH?2i%oz:iBiB"i? addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.778679 s, deltaX: -2.500000 m, approachRate: -0.661607 m/s, rangeRepo size: 4  Added new target pos. range: 122.562080 m, bearing: 94.274916 deg, lat: 36.779238 deg, lon: -121.859588 deg, deltaT: 3.778679 s, deltaX: -2.490952 m, approachRate: -0.659212 m/s, posRepo size: 4 gFNOT Ignoring new targets: 122.56 m.gg- ProNav: ac range: 122.562080 m, nav range: 121.840378 m, bearing: 95.585048 deg, approach rate: 0.000000 m/s, LOS rate: -0.018354 deg/s, cmd heading: 88.161439 deg, new cmd heading: 88.142684 deg. g)5HeadingCmd: 1.538380 target range: 122.562080 and range: 123.30 m.g5?g1g1g1g1zf1rf9f9f=IBBdadadace@3^@cm?5?ɢBδ= 页C>I <ɡiII?iS=ixY=)?)i94 >A -tY=bA ZA lAA AMAIQIaNu>,a)Ay6 ?ٱ6]?62(=6yj =6Hß?J?&??u?H?k?I6 ?)6^;i4>B9B(IBDFD^D^D^,D\E^; E^:6E^g4:E\!b@!b@!b@!b@x6DFY!P=9Q)> K?9 K?9 GY 55sAE>IQ 1]4٪Mf,?Q 5]4M MhB9YY]i?Q E]?yMC)M:IM$:iM14YimYAigFNOT Ignoring new targets: 122.56 m.gg ProNav: ac range: 122.562080 m, nav range: 121.572006 m, bearing: 95.577260 deg, approach rate: -0.724465 m/s, LOS rate: -0.021070 deg/s, cmd heading: 88.142683 deg, new cmd heading: 88.127072 deg. g>HeadingCmd: 1.538108 target range: 122.562080 and range: 123.30 m.g?ggggzfrfffBdddccq?ɢB9)= *H>I S<ɡiII?iS=i S/Y=) ?) i8/@@@@!YA yAI I N >y Z,8z)Ay6?ٱ6l ?6%=6uy=6H? @?`@? ݠ??@ŴI?`z?I6?)6^;i6{CBB9Bs(IiF=IFp=BDJ6DJP)YR!RQ=RͺQ)V>V H?9V H?9VGYVFZ~AZ>\Q 1b4٪^(?Q 5b4^  ^aB9`Yf]?Q Ef?y^C)^;I^;i^濁4YjBBjqRAhYgFNOT Ignoring new targets: 122.56 m.g|g|} ProNav: ac range: 122.562080 m, nav range: 121.309807 m, bearing: 95.569663 deg, approach rate: -0.641685 m/s, LOS rate: -0.018631 deg/s, cmd heading: 88.127069 deg, new cmd heading: 88.111843 deg. g}cHeadingCmd: 1.537842 target range: 122.562080 and range: 123.30 m.g?ggggzfrffAfAvBut>~BqBun(IBuBBu =BqBqBuU;BuEBɍCBBÕCB =B =B6DDD)DE: EM:6EFA4:E"E#I <ɡiI I?i"S=iX=)?))!i9/ԱA AI I! N5 > A$,y)Ay6?ٱ6?6 =6!=6H@d?٤?z?/?n?` 3?L?I6?)6];i6|CRB9Rw(I%Mb@Mb@Mb@ !)!I!i!%A%K7A`?q= ףp?~jtx%+?%=%ĻI%9@i%`A%O@%`A)!%@BD=6D=kYM7<!M@=U4Q)U>UK?9UK?9]GY]F]A]>aQ 1u4٪e%?Q 5u4e e[B9-?Q A:Y?Q E?ye(C)e;Ie;ieXǁ4YCBZRAԹgFNOT Ignoring new targets: 122.56 m.g~g~ ProNav: ac range: 122.562080 m, nav range: 121.021500 m, bearing: 95.563986 deg, approach rate: -0.703185 m/s, LOS rate: -0.013881 deg/s, cmd heading: 88.111845 deg, new cmd heading: 88.100462 deg. g9˹HeadingCmd: 1.537643 target range: 122.562080 and range: 123.30 m.g~?ggggzfrfffYBBdddcc`?ɢB%)= !%dF>I! %7<ɡ!i)I-uIU~?iUS=iUxPW=)]~?)Yi9/rA%?jA%>) bDZDDDD*DE; Eh:6E(N4:E!@!@!@!@AUyAIYIqN}z>9 T+,e)Ay:e?ٱ:?:=:}=:H6?3W??@Ud? 5?`??I:e?):6r^;i:yC^B9bf(IBDf6Df0Yn:!nR=r$Q)r>r H?9v H?9vGYtvAv>xQ 1~4٪zy"?Q 5~4z zVB9Y?Q E?yzJC)z;Iz;iz&΁4Y  RA 5B*** querying acoustic contact ***zh1h1gAEFNOT Ignoring new targets: 122.56 m.gM|wgM|w] ProNav: ac range: 122.562080 m, nav range: 120.757912 m, bearing: 95.558832 deg, approach rate: -0.690124 m/s, LOS rate: -0.013523 deg/s, cmd heading: 88.100465 deg, new cmd heading: 88.090135 deg. g]ŹeHeadingCmd: 1.537463 target range: 122.562080 and range: 123.30 m.ge?gagagagizfirfififqBdqdqdqcqc}7@ɢB% $= 顭0>I 9<ɡiI6I?iS=i_V=)?)iu9qqu0qIAAIING>ԁT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AQ AU AAvBm >~Bm ȍCBm b(IBm BBm =Bi Bm bDBm U;Bm ED D D +D E : E &p:6E [4:E "E #tI1@iAG@A)BD6DY%N!%7=%Q)%>-K?9-K?9-GY-F5A5>9Q 1E4٪=w?Q 5E4= =OB9E,?Q AE:YE}?Q EM?y=pC)=:I=:i=Ձ4YUBUI `<ɡiIcIa?iS=i[W=)a?)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508676i9ԡ>AKY=bAZAA9 IA IY Ne > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759639 z+8,JD)Ay6?ٱ64?6 =6=6H ٚ?࿮??-??@? ??I6?)6Z_;i6xCrDLjDN<BE- [4JE-OS4RE-A/DRDRDR)DPER&: ER[:6ERFA4:EP!Z@!Z@!Z@!Z@^߈B9^Z(IBDf6DfkYn<!ra=reQ)r>p9t9vGYvFvAv>xQ 1~4٪z>?Q 5~4z zJB9Y=?Q E?yzC)z;Iz;izE܁4Y B >QA gFNOT Ignoring new targets: 122.56 m.g g  ProNav: ac range: 122.562080 m, nav range: 120.216141 m, bearing: 95.542886 deg, approach rate: -0.643695 m/s, LOS rate: -0.018701 deg/s, cmd heading: 88.072291 deg, new cmd heading: 88.058170 deg. gHeadingCmd: 1.536905 target range: 122.562080 and range: 123.30 m.gN?ggggzfrff f Bd d d cc@R@ɢ=B=F1 = AE,>IA E<ɡAiAIE8IMN?iU)S=iU8Q=)UN?)Qi90=BDAT read: Rx Time:05:21:38.4557 ETRx dataTimestamp_ set to:1755840099.772358Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012551>A)2X=1 A I) I9 NM >Q W>,()AyB?ٱB7?B=B>`9`9bGY`bAf>dQ 1j4٪f?Q 5n4f fDB9lYn%?Q En?yfC)f;Ifr;ifA4YpvQAtg FNOT Ignoring new targets: 122.56 m.gSgS- ProNav: ac range: 122.562080 m, nav range: 119.948135 m, bearing: 95.535174 deg, approach rate: -0.698515 m/s, LOS rate: -0.020144 deg/s, cmd heading: 88.058173 deg, new cmd heading: 88.042715 deg. g-v5HeadingCmd: 1.536635 target range: 122.562080 and range: 123.30 m.g=w?g9gAgAgIzfIrfYfYfYBdadadacace @ɢB= 顝<>I ^a<ɡiI,Iw?iS=i P=)w?)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2656621vB o>~B ōCB O(IB ׈BB  =B B `DB U;B EDDD(DED: E:6Ec44:E"E1AE M=ԁ u DAT read: 05:21:38.4556 LVL= 27440, 30097, 27250, 32755, AGC= 69, IDX= 416, 0.34,-2.769, 1.636,-2.844, 3.100, PHS= 0.516,-1.420, 0.295, RAW= 144.0, 6.7, CAL= 143.6, 7.3, ROT= 6.4, -7.3 } Ygot valid direction response: 05:21:38.4556 LVL= 27440, 30097, 27250, 32755, AGC= 69, IDX= 416, 0.34,-2.769, 1.636,-2.844, 3.100, PHS= 0.516,-1.420, 0.295, RAW= 144.0, 6.7, CAL= 143.6, 7.3, ROT= 6.4, -7.3  PDAT read: Bearing 254.0, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 254.0, 4.7 (Local)  DAT read: Range 11 to 50 : 120.9 m (Round-trip 161.3 ms) speed 0.8 m/s  ,DAT read: user:7449>  BDAT read: Tx time:05:21:39.5402  $Ping request sent. iE | @E |=E g @E w>E = E wiA A IE y#?'m?} Yӽ?E !>E % E =)E wiA A M :publishing transmit ping timeY M Fpublishing direction and range info9A E c?SN?>E,)A0yZ'?ٱZׄ?Z! =Z H?9 H?9GYFlGA>Q 14٪?Q 54/ >B9B(?Q A:YB?Q E?yۣC);I;i4Y{QAhqhu8)AhuZBhuZBhu@?zuMb]@s*@!N.@juc?SN?I <ɡiI?I\?iS=iP=)\?)bDZDAADDD-DE: E~:6Et4:E!@!@!@!@iQYY]0Y >A} `T=1 A I I N >.L,3)Ay6|?ٱ6:r?6. =6$=6H r? @???q?T??I6|?)6X_;i4>ÈB9>7(IBDJ6DJ0YR߽!Rc=RXQ)V>T9T9VGYVFZDϺAZ>\Q 1b4٪^?Q 5b4^  ^9B9`Yb0?Q Ef?y^C)^L;I^z;i^44YhjRAhzB*** querying acoustic contact ***zhxhxg|FNOT Ignoring new targets: 120.18 m.gg ProNav: ac range: 120.176125 m, nav range: 119.277977 m, bearing: 94.192777 deg, approach rate: -0.711237 m/s, LOS rate: -0.026094 deg/s, cmd heading: 88.021549 deg, new cmd heading: 88.004287 deg. g?HeadingCmd: 1.535965 target range: 120.176125 and range: 120.90 m.g}?g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5 ?ɢe~Be!= ae >Ii m<ɡiiiIm‚Iu}?iuS=iuO=)u}?)yԉiYYae5aԩ=T****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.AiAm<vB>~BǍCBC(IB͈BB =BBbDBU;BE>A&V=DUDUDU(DQEUm: EU:6EUc44:EQ"EUK S,L)Ay6w?ٱ6m?64f=6s{ =6H;?h@jI???b? `??I6w?)6z^;i6yC>ɈB9>>(I5Mb@Mb@Mb@ 1)1I1i115K7?Zd;?y&15I,?5=5`eI5G@i15@5\A)15 @BDM6DMY]<!]@=e媺Q)e>eK?9eK?9eGYam9Am>qQ 1}4٪u# ?Q 5}4u~ u2B9}!/?Q A:Y{?Q E?yuC)u ;Iu;iu4YǢBOAEgFNOT Ignoring new targets: 120.18 m.gmչgmչ ProNav: ac range: 120.176125 m, nav range: 118.988518 m, bearing: 94.182904 deg, approach rate: -0.682199 m/s, LOS rate: -0.023324 deg/s, cmd heading: 88.004290 deg, new cmd heading: 87.984497 deg. g*HeadingCmd: 1.535619 target range: 120.176125 and range: 120.90 m.g+?ggggzfrfff BBdddcc!?ɢzB= >I %ɥ<ɡ!i!I%I-+?i-&S=i-P=)-+?)1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993395ia4!>A L=Y A yAI I! N- >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245572De De De $Da Ee : Ee M:6Ee 4:Ea !m @!m @!m @!m @ 5Y,f)A yR1]?ٱRR?R=Ro =RH@"?_@???`I?J??IR1]?)RG^;iRzCZB9Z5(I\i\BDb6DbYj! !jS=njQ)n>r H?9r H?9rGYrFr0 Av>tQ 1z4٪v ?Q 5z4v v,B9|Y~`?Q E~?yv@C)v ;IvY;ivd4Y +PA g)5FNOT Ignoring new targets: 120.18 m.g5ӹg5ӹM ProNav: ac range: 120.176125 m, nav range: 118.724594 m, bearing: 94.173967 deg, approach rate: -0.681753 m/s, LOS rate: -0.023138 deg/s, cmd heading: 87.984496 deg, new cmd heading: 87.966581 deg. gMb)UHeadingCmd: 1.535306 target range: 120.176125 and range: 120.90 m.gU?gQgQgQgQzfQrfYfYfYBdadadacace?ɢvB"= 顝~>I L<ɡiIgI?iS=i`N=)?))i59115/1@==@=%=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497612ԡ>AQE=iEqCIG) mAI5 AAM AIQ Iq i} } mA AN > `,x)AXyJk?ٱJya?J=J<~BE̍CBE6(IBEˆBBE =BEIDBEfDBET;BEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751806D-D-D-*D)E-: E-:6E-(N4:E)"E-#K?9K?9GYFi:A>Q 14٪?Q 54ǘ %B9-?Q A:Y?Q E?ylC) ;I ;i 4YPAg%FNOT Ignoring new targets: 120.18 m.g%Uܹg-UܹE ProNav: ac range: 120.176125 m, nav range: 118.386299 m, bearing: 94.161965 deg, approach rate: -0.676774 m/s, LOS rate: -0.024079 deg/s, cmd heading: 87.966580 deg, new cmd heading: 87.942508 deg. gED0MHeadingCmd: 1.534886 target range: 120.176125 and range: 120.90 m.gU(w?gQgQgQgQzfYrfYfafeBBdadadqcqc} ?ɢqBV= AE2%>IA M<ɡIiIIMi^IU(w?iU6S=iUR=)](w?)Yi94checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001534! >A= JM=Q A I I N >f,F)Ay6u?ٱ6j?6=6Z<6H ?o?` ?V??@.F??I6u?)6ؖ^;i4>B9B'(IBDJ6DJfYN(!Rk=R:Q)R?P9T9VGYTVjT:AZ?XQ 1^4٪Z?Q 5b4Z Z B9`Yb?Q Eb?yZC)ZS:IZ:iZ14YdjPAhgx~FNOT Ignoring new targets: 120.18 m.g~޹g޹ ProNav: ac range: 120.176125 m, nav range: 118.151291 m, bearing: 94.153559 deg, approach rate: -0.677134 m/s, LOS rate: -0.024270 deg/s, cmd heading: 87.942510 deg, new cmd heading: 87.925664 deg. g1HeadingCmd: 1.534592 target range: 120.176125 and range: 120.90 m.gm?ggggzfrf!f!f!Bd!d)d)c)c5`@ɢ]nB]S = Y]>Ia eִ<ɡaiaIe:⃻Im?iS=iS=)m?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254911i/DDD)DE: Ei:6EFA4:E!@!@!@!@>AXR=! A yAI I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505518m,m)Ayno?ٱn5 H?9= H?9=GY=F=ϹAE>AQ 1M4٪Eg?Q 5M4E9 EB9QYU?Q EU?yEC)El:IE:iE4Y]BeNAeE}B*** querying acoustic contact ***zhyhygFNOT Ignoring new targets: 120.18 m.gB޹gB޹ ProNav: ac range: 120.176125 m, nav range: 117.866890 m, bearing: 94.143367 deg, approach rate: -0.676168 m/s, LOS rate: -0.024289 deg/s, cmd heading: 87.925667 deg, new cmd heading: 87.905235 deg. g1HeadingCmd: 1.534236 target range: 120.176125 and range: 120.90 m.ga?ggggzfrfffBdddccJ @ɢjB.= >I ͸<ɡiIM^Ia?iDS=iET=)a?) Qiu9qqu/q@}lA@}mAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757508AA@AvB>~B͍CB*(IBBB =BBBbT;BpEBȍCBɍCBŖCBB =Bz7ԁDDD,DE: E:6Eg4:E"E=-A`T=Ա A% AI) IA NM >t,Й)Ay6?ٱ6_?6h=6<6H`8?@z??J?i?@С ;??I6?)6q^;i4PRB9V(I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012071UMb@Mb@Mb@ Q)QIQiQQU? rh?Mb`Uf&?UC >UIUG@iUAUG@U\A)QU(ABDm6DmfY})!}E=o:Q)>K?9K?9GYh;A>Q 14٪t?Q 54 B9*?Q A:Y?Q E?yҤC) ;I ;i4YOAgFNOT Ignoring new targets: 120.18 m.gg ProNav: ac range: 120.176125 m, nav range: 117.593483 m, bearing: 94.130127 deg, approach rate: -0.660938 m/s, LOS rate: -0.032083 deg/s, cmd heading: 87.905238 deg, new cmd heading: 87.878695 deg. gjHeadingCmd: 1.533773 target range: 120.176125 and range: 120.90 m.gR?ggggzfrff f BBd d d cc p@ɢfBH=  l>I  U<ɡQiYI]IeR?ieS=ieu[=)mR?)Աi8BDAT read: Rx Time:05:21:42.1024 TRx dataTimestamp_ set to:1755840103.552414checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262568rD =jD R=D D D )D E : E c:6E FA4:E ! @! @! @! @ >AE lT=IA IQ Ne >4z,1)Ay6Ѩ?ٱ6v?6g=6|<6H?`9@k?A? ݅?ǡ? +|??I6Ѩ?)6m^;i6vCBB9B(IBDJ6DJNYNb!RY=R:Q)R>T9T9VGYVFV܄;AV>XQ 1^4٪Z?Q 5b4Z} ZB9`Yb2?Q Eb?yZC)Zd:IZ:iZ\$4YdhfOAhg|FNOT Ignoring new targets: 120.18 m.gVgV ProNav: ac range: 120.176125 m, nav range: 117.344360 m, bearing: 94.117820 deg, approach rate: -0.659318 m/s, LOS rate: -0.032640 deg/s, cmd heading: 87.878696 deg, new cmd heading: 87.854030 deg. gnHeadingCmd: 1.533342 target range: 120.176125 and range: 120.90 m.g%D?g!g!g!g!zf!rf!f)f)Bd1d1d1c1c5u @ɢecBen"= ae^>Ia mA<ɡiiiImc$ID?iS=i b=)D?)i9-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514191)>AmY=I I N >Y vB >~BˍCB(IBBB =BBdDB6T;BPE,ݚ)ADZDXDZ'DXEZ: EX6EZ'4:EX"EZ. BDAT read: Tx time:05:21:43.1902 $Ping request sent.)"Iw>i"@w> "@0 >%= 0 iI5h?g?i$J2?\> %=)0 iE:publishing transmit ping timeYEFpublishing direction and range info95,?o?yjȗ?i )Ii iI5h?g?i$J2? )iy}?ٱ}?}=}ү<}H@m?@@dǚ?`@??G?ε됙??I}?)}=M^;iyB9(IiAUMb@Mb@Mb@ Q)QIQiQQUp= ף? rh?MbpU%?QUIUt@iUEAaQUA)QQBD6D0Yӻ!=.;Q)>99GYF ;A>Q 14٪?Q 54pt  B9(?Q A:Y?Q E?yC);I;i-4Y  (OAhh)AhBhBh`?z}l]@#@]00@j5,?o?yjȗ?h%=h0 }!{ѣC=A]@tY(@r9vmK4?e\Gu?hBhhש ?hPnhB*iʤt@?2ij#t:iBi/B"in? addTargetRange:: Added new target pos. range: 118.500000 m, deltaT: 3.781586 s, deltaX: -2.400002 m, approachRate: -0.634655 m/s, rangeRepo size: 4  Added new target pos. range: 117.801033 m, bearing: 92.827433 deg, lat: 36.779264 deg, lon: -121.859586 deg, deltaT: 3.781586 s, deltaX: -2.375092 m, approachRate: -0.628068 m/s, posRepo size: 4 g-FNOT Ignoring new targets: 117.80 m.g5g1 ProNav: ac range: 117.801033 m, nav range: 117.092896 m, bearing: 94.010383 deg, approach rate: 0.000000 m/s, LOS rate: -0.032640 deg/s, cmd heading: 87.854032 deg, new cmd heading: 87.817310 deg. gHeadingCmd: 1.532701 target range: 117.801033 and range: 118.50 m.g/?ggggzfrfffBBdddc]@c@0?ɢm^Bms=ԑ 顕(>I <ɡiI SI/?i^S=i~|g=)/?)im 9i q u /q @} =@} =Թ >A Jc= I I N>v",y")Ay6/?ٱ6%?6&=6<6H`-K?)? ?@C9?`A?uܞ??I6/?)6”^;i6wC>B9B(IBDJ6DJ0YR!Rw=V.:Q)V?T9T9ZGYXZL;AZ?\Q 1b4٪^f?Q 5b4^n ^B9dYf?Q Ef?y^;C)^:I^:)h hi^y34YnRBrMArEg FNOT Ignoring new targets: 117.80 m.gR+gR+% ProNav: ac range: 117.801033 m, nav range: 116.878700 m, bearing: 93.999058 deg, approach rate: -0.706915 m/s, LOS rate: -0.037445 deg/s, cmd heading: 87.817313 deg, new cmd heading: 87.794621 deg. g%-HeadingCmd: 1.532305 target range: 117.801033 and range: 118.50 m.g-"?g)g)g)g)zf1rf1f1f1Bd9d9d9c9c=b?bDZD@ABE}:4JE}>4RE}S}0DDD(DE: Ek:6Ec44:E!@!@!@!@ɢE[Bu= qup=Iq u <ɡyiyI}sI"?iS=i;o=)"?)i]8YY]0Y1>AI I N% >Y E,;)A y6 ]?ٱ6R?6Q=6=6H@? ?`?`uG??P`4|??I6 ]?)6t^;i4p9r(IBDz6Dz!YK;!E= :Q) > 99GYFZ;A>Q 1%4٪N뜊?Q 5%4g B9)Y-?Q E-?y^C):I:i:4Y15MA1UB*** querying acoustic contact ***zhQhQgaeFNOT Ignoring new targets: 117.80 m.gm!gm!} ProNav: ac range: 117.801033 m, nav range: 116.607094 m, bearing: 93.984452 deg, approach rate: -0.655973 m/s, LOS rate: -0.035358 deg/s, cmd heading: 87.794623 deg, new cmd heading: 87.765343 deg. g}jHeadingCmd: 1.531794 target range: 117.801033 and range: 118.50 m.g?ggggzfrfffBdddcc@?ɢXB,f= h>I [{<ɡiII?iT=i{u=)?)qi0A<A<vB~>~BǍCB (IBBB =BJDBbDBT;B{ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DDDDE E6E:E"E#Ao=II)N5> iߝ a>Iߝ T? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.189740.,(U)Ay6W?ٱ6?60=6#=6HyX?`???`ۢ?`rhu??I6W?)6Xv^;i4BB9B(IPMb@Mb@Mb@ )IiQ?x&?~jth(?7 >DIG@i\A^@\A)BD6DJYtv<!>=:Q)>99GYFRd;A>Q 14٪眊?Q 54F` B9h,?Q A:Y,?Q E?yC);I;i@B4Y  MA gY]FNOT Ignoring new targets: 117.80 m.gegeu ProNav: ac range: 117.801033 m, nav range: 116.318626 m, bearing: 93.969739 deg, approach rate: -0.662198 m/s, LOS rate: -0.033859 deg/s, cmd heading: 87.765342 deg, new cmd heading: 87.735843 deg. guw}HeadingCmd: 1.531279 target range: 117.801033 and range: 118.50 m.g}?gygygygyzfrfffBBdddcc`?ɢ}TB}= y}>Iy <ɡiII?iT=i{=)?))ie9aae@0achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.441495rD=jD<DDD+DE; Ei:6E [4:E!%@!%@!%@!%@>A | u=! A I I N >W,o)AyB`?ٱB?BO=B-.=BH~?UT??`œ?@?O@ͥ??IB`?)BB^;iBuCJB9J(IBDR6DR1YZy!Z_=^Y:Q)^>`9`9bGY`bLZ;Ab>dQ 1j4٪f㜊?Q 5j4fY fB9lYnS?Q En?yfC)fw;If;ifH4YprMAtgFNOT Ignoring new targets: 117.80 m.g% g% 5 ProNav: ac range: 117.801033 m, nav range: 116.073112 m, bearing: 93.957010 deg, approach rate: -0.677242 m/s, LOS rate: -0.035187 deg/s, cmd heading: 87.735843 deg, new cmd heading: 87.710330 deg. g5ʀ5HeadingCmd: 1.530834 target range: 117.801033 and range: 118.50 m.g=_?g9g9g9g9zfArfAfAfABdIdIdIcIcM?ɢ}QB}"= y顅 >I M<ɡiII_?i0T=i=)_?)echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.694209i111549)>AU|=YA vB t>~B ƍCB 'IB BB =B B aDB U;B EI I N >)  A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947819ԉ D5 D5 D5 )D1 E5 >: E5 :6E5 FA4:E1 "E5 IiA1@rA)QABD6D0Ye\!6=/b:Q)>99GYF4:A%>!Q 154٪%ޜ?Q 554%>R %B95w(?Q A5:Y54?Q E5?y%ȥC)% ;I%u ;i%P4YAEMAAgimFNOT Ignoring new targets: 117.80 m.gui2gui2 ProNav: ac range: 117.801033 m, nav range: 115.779610 m, bearing: 93.939564 deg, approach rate: -0.654369 m/s, LOS rate: -0.038995 deg/s, cmd heading: 87.710332 deg, new cmd heading: 87.675351 deg. gHeadingCmd: 1.530224 target range: 117.801033 and range: 118.50 m.g^?ggggzfrfffBBdddcc`hj@ɢMB = h >I gQ<ɡiIɫI^?i%LT=i[=)^?)iIIIIIyechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.197685Ա>APڀ=A I I N >i,I)Ay6D?ٱ6?65=6 4=6HH?@? ?l?1?@BУ{??I6D?)6L;^;i6wC>B9B'IBDF6DFYN`!Rf=R8Q)R>T9T9VGYVFVuAV>Xbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.449492Q 14٪Z&ۜ?Q 54Z3L ZB9!Y%&?Q E%?yZC)ZeI #<ɡiII ?iMIeT=iUS6=)U?)iip4 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.701412>A- xr=I EG) ~nAI Ai d ~nA AI I 9 NM >擮,$)Ay?ٱ^?q=v2=H?`Ц? ?Ԝ? T?.H?'?I?)];isCmB9u'IBD6DY<!/=ֹQ)>99GYtA>Q 14٪M֜?Q 54@D B9Y"?Q E?yC)/;I];i^4YkLAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 117.80 m.g@;g@;  ProNav: ac range: 117.801033 m, nav range: 115.241974 m, bearing: 93.907509 deg, approach rate: -0.683531 m/s, LOS rate: -0.040927 deg/s, cmd heading: 87.647679 deg, new cmd heading: 87.611093 deg. g ͕HeadingCmd: 1.529102 target range: 117.801033 and range: 118.50 m.g?ggggzfrfffBd!d!d!c!c-.@AQAQvB]z>~BYB]'IB]BB] =BYBYB]GV;B]BEɢuFBu!= y}X>Iy }M <ɡyiyI}I?iT=iD=)?BDAT read: Rx Time:05:21:45.7492 TRx dataTimestamp_ set to:1755840107.080388checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954470)IDDD0DE: E]t:6E4:E"E+A Pڀ= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205934ԙ I I N >/ڵ,֋ؚ)Ay:Ȩ?ٱ:v?:d=:k.=:H?GF??/?.?`U#?@?I:Ȩ?): ^;i:tCVB9V'IUMb@Mb@Mb@ Q)QIQiQQU rh?S㥛?I +UC+?U$>U94IU1@iUrAUG@UA)QQBDm6DmNY}0"!}P=qQ)>99GYF}A>Q 14٪Ҝ?Q 54P= B9.?Q A:Yu?Q E?y0C)`;I ;ie4YLAԹgFNOT Ignoring new targets: 117.80 m.gg ProNav: ac range: 117.801033 m, nav range: 114.975883 m, bearing: 93.894344 deg, approach rate: -0.676696 m/s, LOS rate: -0.033558 deg/s, cmd heading: 87.611096 deg, new cmd heading: 87.584705 deg. guHeadingCmd: 1.528641 target range: 117.801033 and range: 118.50 m.g?ggggzfrff f BBd d d cc`& @ɢMBBM[= IM2 >II U<ɡQiQIU I]?i]$T=iY)]?)Yi8/UDAT read: 05:21:45.7492 LVL= 27680, 32753, 29330, 32755, AGC= 67, IDX= 414, 0.17, 2.584, 0.794, 2.594, 2.245, PHS= 0.440,-1.406, 0.304, RAW= 146.2, 7.5, CAL= 145.7, 8.1, ROT= 4.3, -8.1 eYgot valid direction response: 05:21:45.7492 LVL= 27680, 32753, 29330, 32755, AGC= 67, IDX= 414, 0.17, 2.584, 0.794, 2.594, 2.245, PHS= 0.440,-1.406, 0.304, RAW= 146.2, 7.5, CAL= 145.7, 8.1, ROT= 4.3, -8.1 mPDAT read: Bearing 256.6, 2.6 (Local) u~Local bearing/azimuth received: Bearing 256.6, 2.6 (Local) DAT read: Range 11 to 50 : 116.1 m (Round-trip 154.8 ms) speed 0.7 m/s ,DAT read: user:7451> BDAT read: Tx time:05:21:46.8402 $Ping request sent.)%I%㥛>i%N#@% >%"@%>%`= %i!!I%,w?u͊?% %`=)%i!!:publishing transmit ping timeYFpublishing direction and range info9!%fq?Y ?:N ?!!i!!!!! !)!I!i!!!!! !i!!I%,w?u͊?A W^=II IY Ne >9 ,e)Ay6Z?ٱ6?6=6>$=6HRP? #?? 7? ??W?I6Z?)6e^;i6vCBB9B'IBDJ 6DJ2Yv!vT=z15Q)z>x9x9~GY~F~A~>Q 1 4٪Μ?Q 5 46 ܢB9Y[?Q E?yQC):Id:il4YBcLA%EhQhUl])AhUBhUBhUX?zUş{\@)*"!@ ڌB0@jUfq?Y ?:N ?hU`=hUUfR\@H.l(@rU?e6gUT?9??hURBhUhU??hUnhUB*iU _k?2iU=,p:iUBiUB"iU*'? addTargetRange:: Added new target pos. range: 116.099998 m, deltaT: 3.526593 s, deltaX: -2.400002 m, approachRate: -0.680544 m/s, rangeRepo size: 4 ] Added new target pos. range: 115.406830 m, bearing: 92.364441 deg, lat: 36.779269 deg, lon: -121.859584 deg, deltaT: 3.526593 s, deltaX: -2.394203 m, approachRate: -0.678900 m/s, posRepo size: 4 gaeFNOT Ignoring new targets: 115.41 m.gmgi ProNav: ac range: 115.406830 m, nav range: 114.831253 m, bearing: 93.621741 deg, approach rate: 0.000000 m/s, LOS rate: -0.033558 deg/s, cmd heading: 87.584704 deg, new cmd heading: 87.557507 deg. gHeadingCmd: 1.528167 target range: 115.406830 and range: 116.10 m.g?ggggzfrfffBdd d c `f]@c {e?ɢ}?B}f"= y} >Iy <ɡiIᅻI?iϴT=itǂ=)?) V>aie9iim/iivB}>~BǍCB'IB{BB =BBBV;BgEB]ǍCB]ǍCB]ȕCB] =B] =B]Ȧ6>A I! D] D] D] )DY E] : E] :6E] FA4:EY "E] <ԡ ,? )AB9'IMb@Mb@Mb@ )Iiq= ףp?K7?{Gzt+?I >ףIiA^@rA)zABD6DY\ƻ!?=Q)>99GYA>Q 14٪ʜ?Q 54. עB9/?Q A:Y_?Q E?ywC)Q:I;is4YݡBJA۩Eg FNOT Ignoring new targets: 115.41 m.g f6gf6% ProNav: ac range: 115.406830 m, nav range: 114.540245 m, bearing: 93.605506 deg, approach rate: -0.712785 m/s, LOS rate: -0.039867 deg/s, cmd heading: 87.557506 deg, new cmd heading: 87.524954 deg. g%둺-HeadingCmd: 1.527599 target range: 115.406830 and range: 116.10 m.g-Z?g)g)g)g)zf1rf1qffBBdddcc@L?ɢ I1 5<ɡ1i1I5 I=Z?i=uT=i=#=)=Z?)Aiߍ=Iߍ;?i    /ԡ>A- p=I I N > ,e&)Ay64?ٱ6w*?6M =6 =6H$?`O?C?M??@? ?&?I64?)6(^;i6sC>|B9B'IBDZ6DZβYb%!bZ=fO9Q)f>d9d9fGYjFj)Aj>lQ 1r4٪nƜ?Q 5r4nJ( nҢB9tYv?Q Ev?ynC)n:In:inz4YxzKAxDDD,DE: Ex:6Eg4:E! @! @! @! @g1=FNOT Ignoring new targets: 115.41 m.gE(gE(U ProNav: ac range: 115.406830 m, nav range: 114.286186 m, bearing: 93.591620 deg, approach rate: -0.673359 m/s, LOS rate: -0.036887 deg/s, cmd heading: 87.524954 deg, new cmd heading: 87.497119 deg. gU]HeadingCmd: 1.527113 target range: 115.406830 and range: 116.10 m.g]ox?gYgYgYgYzfarfafafaBdididicicmk?ɢ58B="= 9=>I9 =<ɡAiAIE5IEox?iM-T=iM4 =)Mox?)Ii 9   0 >Axr=IiIN>) I?,?)AyR^¨?ٱR ?R^8=Rn 9 9GYF A>Q 1%4٪œ?Q 5%4  ̢B9)Y-?Q E-?yC):I:i4Y15UKA1gaeFNOT Ignoring new targets: 115.41 m.gm&gm&} ProNav: ac range: 115.406830 m, nav range: 114.005898 m, bearing: 93.576725 deg, approach rate: -0.684411 m/s, LOS rate: -0.036459 deg/s, cmd heading: 87.497121 deg, new cmd heading: 87.467258 deg. g}rHeadingCmd: 1.526592 target range: 115.406830 and range: 116.10 m.g[g?ggggzfrfffBdddcc}?ɢ5B= t=I hv<ɡiINI[g?iT=i4)u=)[g?)A9A=<vBE>~BEȍCBE'IBEqBBE =BABEbDBEV;BE4EQi9=0D%D%D%(D!E% : E%&p:6E%c44:E!"E%D"A\|=bAZAjAԩ A I I! N- >@),wY)A-I-t@i-rA))))-ABDM6DM1Y]2=!]E=e$Q)e>a9a9mGYim Am>qQ 1}4٪uѾ?Q 5}4u uȢB9-?Q A:Y?Q E?yuC)u:Iu,:iu4Y KA%B*** querying acoustic contact ***zh)h)g1=FNOT Ignoring new targets: 115.41 m.g=*g=*M ProNav: ac range: 115.406830 m, nav range: 113.726974 m, bearing: 93.560721 deg, approach rate: -0.646234 m/s, LOS rate: -0.037171 deg/s, cmd heading: 87.467259 deg, new cmd heading: 87.435172 deg. gu uHeadingCmd: 1.526032 target range: 115.406830 and range: 116.10 m.g}U?gygygygyzfyrfyffBBdddccxr?ɢ2By#= t>I <ɡiIЙI U?i U=i-)q=)-U?)1ԩi>0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BEƙT4JEƙT4RE^0DDD*DE: Ek:6E(N4:E!-@!-@!-@!-@>Ar= A yAI I N% >Q,s)AyJF?ٱJz H?9z H?9zGYzF~!A~>Q 1 4٪?Q 5 4 ĢB9 Y S?Q E?yC):I6:iʏ4YJKAgIUFNOT Ignoring new targets: 115.41 m.im%?Im=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255159g6g6 ProNav: ac range: 115.406830 m, nav range: 113.465591 m, bearing: 93.545905 deg, approach rate: -0.700458 m/s, LOS rate: -0.039797 deg/s, cmd heading: 87.435171 deg, new cmd heading: 87.405470 deg. gHeadingCmd: 1.525513 target range: 115.406830 and range: 116.10 m.gD?ggggzfrfffBdddcc@ F@ɢ-/B-RS$= t >I 9V<ɡiI}↻ID?iYU=i01m=)D?) i529vB=>~B=ɍCB='IB=lBB= =B=IDB=cDB=U;B=E>Aur= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505077D- D- D- )D) E- : E- g:6E- FA4:E) "E- e>,획)AyJ'?ٱJw?JB=J-I-G@i-\A-G@)))-QAIE@A)E@ABDM6DMY]l<!]C=eFQ)e>a9a9eGYimAm>qQ 1}4٪u?Q 5}4u  uB9-?Q A:YR?Q E?yu&C)u:Iu:iu 4YB IA ҩEg15FNOT Ignoring new targets: 115.41 m.g=g=m ProNav: ac range: 115.406830 m, nav range: 113.182213 m, bearing: 93.530902 deg, approach rate: -0.651102 m/s, LOS rate: -0.034558 deg/s, cmd heading: 87.405466 deg, new cmd heading: 87.375385 deg. gm|HeadingCmd: 1.524988 target range: 115.406830 and range: 116.10 m.g2?ggggzfrfffBBdddccٷ@ɢ+B%= >I ]<ɡiIMI2?iU=ial=)2?))uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757939yi95ԉ>A% 8k=Թ I I N% > BDAT read: Rx Time:05:21:49.3958  TRx dataTimestamp_ set to:1755840110.608435 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009753ui,y)ADnDnDlDlEn: En҆:6El:El!r@!r@!r@!r@yz"?ٱz?z_==zS19195GY5F5A=>9Q 1E4٪=A?Q 5M4= =B9IYML?Q EM?y=HC)=;I=+;i=4YQ]IAYgyFNOT Ignoring new targets: 115.41 m.gd+gd+ԉ ProNav: ac range: 115.406830 m, nav range: 112.913956 m, bearing: 93.516654 deg, approach rate: -0.703657 m/s, LOS rate: -0.037461 deg/s, cmd heading: 87.375386 deg, new cmd heading: 87.346824 deg. gHeadingCmd: 1.524490 target range: 115.406830 and range: 116.10 m.gz"?ggggzfrfffBdddcc`8@ɢ(B)= 額V>I 2G<ɡiIчIz"?i)U=im=)z"?)i4}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261526>A np=I I N > M,E)Ay6 ?ٱ6s?6=6d<6H5? 9??o?`?? d4!O?@?I6 ?)6K^;i6sCBrB9B'IBDJ 6DJf2YR6!RT=R4պQ)R>T9T9VGYVFZ7AZ>XQ 1b4٪Z?Q 5b4Z ZB9`Yb6?Q Eb?yZjC)Z:IZ:iZϤ4YjBjYIAjѩEg|FNOT Ignoring new targets: 115.41 m.g#g# ProNav: ac range: 115.406830 m, nav range: 112.653542 m, bearing: 93.502850 deg, approach rate: -0.674046 m/s, LOS rate: -0.035813 deg/s, cmd heading: 87.346822 deg, new cmd heading: 87.319150 deg. gHeadingCmd: 1.524007 target range: 115.406830 and range: 116.10 m.g?ggggzfrfffBdddccV @AAAAvB>~BˍCB'IBgBB =BBeDBT;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515791ɢ5%B=q'= 顕>I 3Y<ɡiIoDDDDEO: E|:6E:E"E  BDAT read: Tx time:05:21:50.4902  $Ping request sent. ) FI Nb>i !@ w> E/!@ 5> %= 5i I W?Ɋ ?z O? >  %=) 5i U :publishing transmit ping timeY ] Fpublishing direction and range info9 NZ*?v-?H@l? Թ >A i ) I i i I W?Ɋ ?z O? ) i I I) N5 >@,ܛ)Ay6{?ٱ6)?6h=6sչ<6H4Z?&\? ?` Ĥ?`q? &졿6??I6{?)6_;i6qCpB9'IiAԱMb@Mb@Mb@ )Iiv/?(\?~jth?x)?z>D;IEAiAA)ABD6DY%ܻ!%=eSQ)e>i9i9mGYmFm*Au>qQ 1}4٪ui?Q 5}4u uB9}-?Q A:Y?Q E?yuC)u~$I <ɡiI 3I?iHU=ie™n=)e?)a ue>u> i3@=@9  =i kC>A- hp=I GI I ) ;mAI Ai˺;mAAaNm>,0)Ay  ?ٱ :? L = 9< H92?U@6??|?ʠ? Bۖ? M?I  ?) _;i rC)%bB9-'IBDM6DMYUo!]*=]3Q)]>a9a9eGYam*:Am>iQ 1u4٪m?Q 5}4mF mB9yY}?Q E}?ymC)m:Im;im.4YhB4HAǩEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 112.93 m.gFgF ProNav: ac range: 112.930855 m, nav range: 111.968102 m, bearing: 93.193188 deg, approach rate: -0.699644 m/s, LOS rate: -0.043281 deg/s, cmd heading: 87.280412 deg, new cmd heading: 87.241190 deg. gjHeadingCmd: 1.522646 target range: 112.930855 and range: 113.60 m.g?ggggzfrfffBdddcc`s?ɢB`&= 顥0 >I <ɡiI>扻I?i6WU=i~BB'IBbBB =BBBT;BE) AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Qiu9qqu4qDDD*DE: EL_:6E(N4:E"EA= q=Am AIq I N >#,)A yj?ٱj?j=j`ĻIt@i\AEAA)pABD6Df?Y<!b=hQ)>K?9K?9GYF:A>Q 14٪%?Q 54 B91?Q A:Y?Q E?yC) ;I ;i4Y(HAg!-FNOT Ignoring new targets: 112.93 m.g-,g-,= ProNav: ac range: 112.930855 m, nav range: 111.718887 m, bearing: 93.178679 deg, approach rate: -0.646965 m/s, LOS rate: -0.037750 deg/s, cmd heading: 87.241193 deg, new cmd heading: 87.212110 deg. g=,AHeadingCmd: 1.522138 target range: 112.930855 and range: 113.60 m.go?ggggzf rf f f BBdddcc?ɢ%B%n'= !%z>I! -[<ɡ)i)I-׊I5o?i5thU=i5Nu=)5o?)1qi-9))-4)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242397ԡ D D D &D E : E H:6E 4:E ! @! @! @! @>Am ur=rAu ?jAu ? AI!I1N=> ,M5)AyV)?ٱV?VnY9Y9]GY]Fe&:Ae>iQ 1u4٪mc?Q 5u4m mB9qY}?Q E}?ym C)m;Im;imĂ4YiB HAgFNOT Ignoring new targets: 112.93 m.gCgC ProNav: ac range: 112.930855 m, nav range: 111.385757 m, bearing: 93.159099 deg, approach rate: -0.724851 m/s, LOS rate: -0.042732 deg/s, cmd heading: 87.212111 deg, new cmd heading: 87.172833 deg. ghHeadingCmd: 1.521453 target range: 112.930855 and range: 113.60 m.g?ggggzfrfffBdddcc?ɢ B"+= >I Y=ɡiII?i%vzU=i%Ny=)%?)!)1i9/9A<AvB>~BɍCBBB =BBcDBT;BEB}ɍCB}ʍCB}ǔCB}Ǽ =B}Ǿ =B}.}6>A Hu=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745840D D D (D E : E R:6E c44:E "E n>,xcO)A1y}90?ٱ}%?}<}.`<}HG? ? 6? ?`?hKș?@?I}90?)}_;i}oC9Mb@Mb@Mb@ )Ii&1? rh?{Gz0?C >#IAiAt@)ABD6DYt:!2=; Q)>99GY9A >Q 14٪'?Q 54 B9%N4?Q A-:Y-?Q E-?y4C)bY;Ij;î4Y9E HAAg1=FNOT Ignoring new targets: 112.93 m.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997890gMHgMH] ProNav: ac range: 112.930855 m, nav range: 111.064819 m, bearing: 93.142281 deg, approach rate: -0.658309 m/s, LOS rate: -0.034595 deg/s, cmd heading: 87.172830 deg, new cmd heading: 87.139098 deg. ag}@}HeadingCmd: 1.520864 target range: 112.930855 and range: 113.60 m.g?ggggzfrfffBBdddccy5@ɢEBEbz*= IM'>II MD=ɡIiIIMfIU?iUU=i{=)?)i-911541ԉ >A] (z=bAe kAZAe mA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249655D D D &D E : E g:6E 4:E ! @! @! @! @A I I N >,l)Ay:;?ٱ:g1?:N<:M<:H@qv?5??`ܣ?? (X??I:;?):^;i:rCBfB9B'IBDJ6DJYRc!R\=VQ)V>T9T9VGYVFZDw:AZ>\Q 1b4٪^?Q 5b4^ ^B9dYf?Q Ef?y^VC)^:I^ :i^tӂ4YU4BUnFAUEgy}FNOT Ignoring new targets: 112.93 m.g/g/ ProNav: ac range: 112.930855 m, nav range: 110.804527 m, bearing: 93.128522 deg, approach rate: -0.725905 m/s, LOS rate: -0.038462 deg/s, cmd heading: 87.139096 deg, new cmd heading: 87.111513 deg. gnjHeadingCmd: 1.520383 target range: 112.930855 and range: 113.60 m.g?ggggzfrfffBdddcc .@ɢ=B=٘4= AEj*>IA E =ɡAiAIEᎻI?iU=i~=)?)ii%8!!%/!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501832ԑ>A! A] yAI I N >yd!,(ׅ)AvBj>~BōCB'IB]BB =BJDB`DBcU;BEPyZMS?ٱZH?Zgz H?9z H?9zGYzF~:A~>Q 1 4٪ᑜ?Q 5 4^ B9Y7?Q E?y{C)IB:iڂ4YFA=B*** querying acoustic contact ***zh9h9gIMFNOT Ignoring new targets: 112.93 m.gM2gU2echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753898m ProNav: ac range: 112.930855 m, nav range: 110.516190 m, bearing: 93.113092 deg, approach rate: -0.727850 m/s, LOS rate: -0.039052 deg/s, cmd heading: 87.111516 deg, new cmd heading: 87.080575 deg. gmuHeadingCmd: 1.519843 target range: 112.930855 and range: 113.60 m.gu5?gqgygygyzfyrfyffBdddcc6@ɢBb{-= >IDDD)DE; E n:6EFA4:E"EAAX=% BDAT read: Rx Time:05:21:53.0426 % TRx dataTimestamp_ set to:1755840114.390288- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009112) A= AII IY Ne >',)A|~\B9~'IMb@Mb@Mb@ )IiʡE?HzG?:v/?= >TIt@iA)GABD6D YaB;!;=Q)>K?9K?9GYA>Q 1 4٪׍?Q 5 4n B9 3?Q A:YI P=ɡiIݑInw?i'U=izV=)nw?))mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258118iu9qqu/qBEFA4JE64REŖ/DDD*DE: E[:6E(N4:E!@!@!@!@Q>AW^=rA ?jA?ԡ A I1 II Ne >M DAT read: 05:21:53.0426 LVL= 24704, 26145, 23282, 32755, AGC= 68, IDX= 411, 0.21, 3.076, 1.213, 3.058, 2.684, PHS= 0.494,-1.426, 0.329, RAW= 145.6, 6.6, CAL= 145.1, 7.2, ROT= 4.9, -7.2 -,~)AYgot valid direction response: 05:21:53.0426 LVL= 24704, 26145, 23282, 32755, AGC= 68, IDX= 411, 0.21, 3.076, 1.213, 3.058, 2.684, PHS= 0.494,-1.426, 0.329, RAW= 145.6, 6.6, CAL= 145.1, 7.2, ROT= 4.9, -7.2 PDAT read: Bearing 256.3, 3.7 (Local) ~Local bearing/azimuth received: Bearing 256.3, 3.7 (Local) DAT read: Range 11 to 50 : 111.2 m (Round-trip 148.3 ms) speed 0.5 m/s ,DAT read: user:7453> "BDAT read: Tx time:05:21:54.1402 "$Ping request sent.&)M+IMr>iM"@M=M "@M>M%= MiIIIM5:?T(pl?hɘj?MX>M% M%=)MiII6:publishing transmit ping timeY :Fpublishing direction and range info9IM99GYFA>Q 14٪މ?Q 54 B9YQ E?yȨC):I|:i4YFAhIhM)AhMBhMBhMش?zM|`P[@^=A*޻"@|I8+@jMI =ɡiIoIc?iU=i\=)c?)!A!A%@AvB5h>~B5čCB5'IB5XBB5 =B1B5_DB58V;B51Ei9DDD(DE: E&p:6Ec44:E"EA =! AM yAIY Iq N >A5,p ֜)A\y^c?ٱ^Y?^@<^y=^HR֢?D?`? T?;V?`ԙẠ?C?I^c?)^ٶ^;i\nNB9n'IMb@Mb@Mb@ )Ii/$?n?I +,?V>94IiAAA)pABD6Df?Yz!A=Q)> H?9 H?9GYFE:A>Q 14٪݅?Q 54? B9/?Q A:Y?Q E?yC)* ;I;i4YBPEAEg)-FNOT Ignoring new targets: 110.53 m.g5tYg5tYE ProNav: ac range: 110.532867 m, nav range: 109.624382 m, bearing: 92.509648 deg, approach rate: -0.730170 m/s, LOS rate: -0.047529 deg/s, cmd heading: 87.013393 deg, new cmd heading: 86.976616 deg. gEmHeadingCmd: 1.518028 target range: 110.532867 and range: 111.20 m.guN?gqgqgygyzfyrfyfyfBBdddcc _?ɢuBu&+= }!J}>Iy }=ɡyiyIr,IN?i] V=i5u=)N?) >i8!@!@!>AM xr=9 rD] =jD] <De De De 'Da Ee I: Ee ga:6Ee '4:Ea !m @!m @!m @!m @AQ IY Iq N} >o;,)Ay6[?ٱ6BQ?6$<6=6H? @R??k?@!?Fޢ? ?I6[?)6{^;i6nC>JB9B'IBDJ6DJYR!R_=RQ)R>T9T9VGYTZ6AZ>\Q 1b4٪^U?Q 5b4^ ^|B9`Yb~?Q Eb?y^ C)^:I^:i^u4YhjnEAhg|~FNOT Ignoring new targets: 110.53 m.gJKgJK  ProNav: ac range: 110.532867 m, nav range: 109.374954 m, bearing: 92.493410 deg, approach rate: -0.681000 m/s, LOS rate: -0.044432 deg/s, cmd heading: 86.976612 deg, new cmd heading: 86.944064 deg. g%HeadingCmd: 1.517460 target range: 110.532867 and range: 111.20 m.g%#Ii mb=ɡqiqIuǖIu#A?΅=bAlAZAjAA AI I) N= >ԑ vB g>~B B 'IB NBB =B B B V;B tEWB,J )AyRkQ?ٱRG?RB9b'IBD6D0DDD)DE: Eg:6EFA4:E"E(=K?9=K?9=GY=F=@AE>AQ 1U4٪EF~?Q 5U4E8 EwB9QY]s?Q E]?yE2C)E ;IE:iE4YaeEAaiB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 110.53 m.gJgJ ProNav: ac range: 110.532867 m, nav range: 109.087631 m, bearing: 92.474665 deg, approach rate: -0.677957 m/s, LOS rate: -0.044347 deg/s, cmd heading: 86.944067 deg, new cmd heading: 86.906477 deg. gRHeadingCmd: 1.516804 target range: 110.532867 and range: 111.20 m.g&?ggggzfrfffBdddcc}#?ɢB$= x=I %>S=ɡ)i)I5I=&?i=OBV=i=n=)E&?)Ai8  0 @%@%@-@-ԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A yAI I N > |yH,z#)ADB9'I!i!)! %AMb@Mb@Mb@ )IiS㥛? rh?:v$?C >TI1@i)ABD6DY<!B=Q)>!] H?9e H?9eGYeFeAe>iQ 1u4٪mz?Q 5}4m mrB9}(?Q A}:Y}?Q E}?ymWC)m;Im;im4YEAgFNOT Ignoring new targets: 110.53 m.gKgK ProNav: ac range: 110.532867 m, nav range: 108.800781 m, bearing: 92.455193 deg, approach rate: -0.654826 m/s, LOS rate: -0.044569 deg/s, cmd heading: 86.906480 deg, new cmd heading: 86.867432 deg. g"HeadingCmd: 1.516123 target range: 110.532867 and range: 111.20 m.gO?ggggzfrfffʇBBdddcc"?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748184ɢ%B%)= !% >I! -=ɡ)i)I-I5O?i5aV=i5=)5O?)9bD)ZD-@AD5D5D1D1E5,: E5rN:6E1:E1!=@!=@!=@!=@A9q)qi0 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000507I G) "oAA AI I I ANE >iU uU "oAU NAԡ N,f=)Ay6j?ٱ6 ?6G<6/<6HZ?)M?@~?m? ?`@b?`0?I6j?)6^;i6oCbvK?9vK?9zGYxzAz>|Q 14٪~v?Q 54~ ~nB9 Y ?Q E ?y~uC)~:I~ :i~ 4YEAg9EFNOT Ignoring new targets: 110.53 m.gEIgEIU ProNav: ac range: 110.532867 m, nav range: 108.567818 m, bearing: 92.439541 deg, approach rate: -0.652853 m/s, LOS rate: -0.043957 deg/s, cmd heading: 86.867432 deg, new cmd heading: 86.836061 deg. gU䠺]HeadingCmd: 1.515575 target range: 110.532867 and range: 111.20 m.ge^?gagagagazfarfafifiBdididqcqcu`)@ɢB*= 顭P=I )=ɡiI"[I^?iyV=i =)^?)q9`Իi-9))-4)rAm ?jAm?A<AvBe>~BB'IBCBBBBBV;B`Eԡ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252855AIINc>D=D=D=+D9E= : E=1]:6E= [4:E9"E=C"B9F'I Mb@Mb@Mb@ ) I i    r?HzG?Q #? = > uI ^@i A t@ )  ABDe6DeYu6I<!uA=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5042079Q)>99GYFiA>Q 14٪r?Q 54t hB9='?Q A:Y?Q E?yC):I:i*4YĠB/DAEg FNOT Ignoring new targets: 110.53 m.g UCg UC ProNav: ac range: 110.532867 m, nav range: 108.293114 m, bearing: 92.421231 deg, approach rate: -0.638910 m/s, LOS rate: -0.042693 deg/s, cmd heading: 86.836061 deg, new cmd heading: 86.799348 deg. gD%HeadingCmd: 1.514934 target range: 110.532867 and range: 111.20 m.g%_?g)g)g)g)zf)rf)f1f5BBd1d9d9c9c=`h\@ɢeBm@*= im>Ii u&=ɡqiqIuiI}_?i}QV=i}U=)}_?))lA lA9mlAim8iimn0i- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7561319 DE DE DE *DA EE : EE n:6EE (N4:EA !U @!U @!U @!U @A I I N >Q [,&q)Ay6?ٱ6L?6<6A<6H &?`e͞??? ?`Sŝ?9?I6?)6e^;i6oC^4B9^'IBDf6DfJYnS!nT=nB:Q)n>p9p9rGYpv»Av>xQ 1~4٪zho?Q 5~4z zcB9|Y~C?Q E?yzC)za;Iz ;iz4Y B *DA g15FNOT Ignoring new targets: 110.53 m.g=FFg=FFM ProNav: ac range: 110.532867 m, nav range: 108.045197 m, bearing: 92.404930 deg, approach rate: -0.657605 m/s, LOS rate: -0.043336 deg/s, cmd heading: 86.799349 deg, new cmd heading: 86.766673 deg. gMUHeadingCmd: 1.514364 target range: 110.532867 and range: 111.20 m.gU?gQgYgYgYzfYrfYfafaBdadadacicm `@ɢB'= 顥4=I >=ɡiI=BB =B B B U;B EBMčCBMčCBMʓCBM =BM =BM65>A 8=bA ZA lA)A E AU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263359Ա Du Du Dq Dq Eu : Eu i:6Eq :Eq "Eu f%c,)AyfƦ?ٱfP?fy?] H?9 H?9GYF;A>Q 14٪j?Q 54| [B9Yy?Q E?yC).F;I;i:$4Y!% DA!B*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 110.53 m.g?2g?2 ProNav: ac range: 110.532867 m, nav range: 107.697395 m, bearing: 92.383090 deg, approach rate: -0.618423 m/s, LOS rate: -0.038959 deg/s, cmd heading: 86.766673 deg, new cmd heading: 86.722851 deg. g HeadingCmd: 1.513599 target range: 110.532867 and range: 111.20 m.g ?g g g g zfrff1f9Bd9d9d9cAcE` @ԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514869ɢBa%= f >I [=ɡiI,I%?i%gV=i-wn=)-?)) =R>=>i9o0 >A X=5 DAT read: 05:21:56.6894 LVL= 30704, 32753, 31010, 32755, AGC= 68, IDX= 410,-0.04,-0.980,-2.810,-0.991,-1.363, PHS= 0.485,-1.402, 0.328, RAW= 145.7, 6.6, CAL= 145.2, 7.1, ROT= 4.8, -7.1 = Ygot valid direction response: 05:21:56.6894 LVL= 30704, 32753, 31010, 32755, AGC= 68, IDX= 410,-0.04,-0.980,-2.810,-0.991,-1.363, PHS= 0.485,-1.402, 0.328, RAW= 145.7, 6.6, CAL= 145.2, 7.1, ROT= 4.8, -7.1  PDAT read: Bearing 256.6, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 256.6, 3.7 (Local) bDZDD D D +D E : E c:6E  [4:E !@!@!@!@)5DAT read: Range 11 to 50 : 108.8 m (Round-trip 145.1 ms) speed 0.6 m/s =,DAT read: user:7454> EBDAT read: Tx time:05:21:57.7902 E$Ping request sent.E) tI >i "@ 0"@ = = i I QXh?3ђ?yF3? o> ! =) i m:publishing transmit ping timeYAmFpublishing direction and range info9 VfL?PA?A7X? i IIN>6k,)A )Ii iIQXh?3ђ?yF3? )iyfsZ?ٱfP?f6L`eIi^@A)QABD6DY޼!!=MW<;Q)M>Y9Y9]GY]Fe;ջAm>qQ 14٪u8f?Q 54ut uTB9,?Q A:Y0?Q E?yuC)ua;Iur;iu-4YCDAhh)AhJBhJBhN?zìK'Z@cG!@-*@jVfL?PA?A7X?h=h@'`Z@0^\S%@r8ߛBv̿?(?r_=?h(Bhg<h<'n?hI +=ɡiI5Iڦ?iV=if=)ڦ?)i90 >A 8k=A A vB k>~B ōCB 'IB 4BB B B B T;B ~E) I I N >r,˝)Ay>N?ٱ>?><><>H`?*?@??`ۛ???I>N?)>^;i>mCJ(B9Jx'IBDR6DRNYZz?!ZX=^+;Q)^>\9\9^GYbFbAb>dQ 1j4٪fc?Q 5j4fm fNB9lYn?Q En?yf1C)f:If:if34DvDvDv%DtEv: Ev:6Ev 4:Et"Ev.AXh=rA ?jA?IYIiN}> x,V)Ay6ar?ٱ6 h?6Df<6< =6H`Җ?` ?x? ? \?`?? B?I6ar?)6^;i6nCB2B9B'IMb@Mb@Mb@ )Ii?n?~jth ?V>DIEAirAt@A)ABD6DY-C=!-E=-H;Q)5>19195GY1A>Q 14٪Y_?Q 54qf KB9#?Q A:Yn?Q E?yTC) ;I:i;4YBAgFNOT Ignoring new targets: 108.15 m.g?g ? ProNav: ac range: 108.145538 m, nav range: 106.838623 m, bearing: 92.162597 deg, approach rate: -0.640406 m/s, LOS rate: -0.041895 deg/s, cmd heading: 86.652431 deg, new cmd heading: 86.616675 deg. gW%HeadingCmd: 1.511746 target range: 108.145538 and range: 108.80 m.g%?g!g!g!g!zf!rf)f)f-BBd)d1d1c1c5hr?ɢeBe6.= ae>Ii mF=ɡiiiImHIu?iuV=iuR=)}?)y)) BE÷G4JEC4RE).0DDD,DEm: E[:6Eg4:E!%@!%@!%@!%@i-8))-/)!Q>Amu \=IIN>y ,Q1)Ay:?ٱ:L?:~e=:lA =:H`Y?R??Ѣ?ɋ?렿D??I:?):^;i8D9F'IIJAA)HBDN6DNf?YV풺!VS=Z;Q)Z>X9X9ZGY^F^.A^>`Q 1f4٪b=\?Q 5f4b;` bGB9hYj?Q Ej?ybsC)b>:Iby:ibA4YlnBApg FNOT Ignoring new targets: 108.15 m.g 9g 9% ProNav: ac range: 108.145538 m, nav range: 106.601295 m, bearing: 92.147571 deg, approach rate: -0.637455 m/s, LOS rate: -0.040451 deg/s, cmd heading: 86.616675 deg, new cmd heading: 86.586555 deg. g%%HeadingCmd: 1.511220 target range: 108.145538 and range: 108.80 m.g-o?g)g)g)g)zf)rf)f1f1Bd1d1d9c9c=?ɢmBm503= imh>Ii uc=ɡqiqIu.I}o?i}V=i}ۇF=)}o?)Qi111501vBz>~BǍCB{'IB*BB =BBaDBS;BE>A-XR=IIN>ԉD%D%D%)D!E%[: E%L_:6E%FA4:E!"E%u?NEÜ?@?I6zc?)6^;i6lCB0B9B'IMb@Mb@Mb@ )Ii)\(?7A`?Mb`G!?>IG@iEArA)ABD}6D}Y!==;Q)>99GYFA>Q 14٪lX?Q 54X BB9%?Q A:Y?Q E?yC)Z:I,:i)I4YBAB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 108.15 m.g Eg E% ProNav: ac range: 108.145538 m, nav range: 106.321350 m, bearing: 92.128802 deg, approach rate: -0.640918 m/s, LOS rate: -0.043084 deg/s, cmd heading: 86.586554 deg, new cmd heading: 86.548917 deg. g%-HeadingCmd: 1.510564 target range: 108.145538 and range: 108.80 m.g-&Z?g)g)g)g)zf)rf1f1f5BBd9d9d9c9c= Y?ɢmBm"#1= im,>Iq u=ɡqiqIuņI}&Z?i}V=i}a;=)&Z?)i/@=@=>A`T=bAkAZAiAIqIN> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.) D- D- D- &D) E- ; E- T:6E- 4:E) !5 @!5 @!5 @!5 @Q N%,^2)Ay:?ٱ:F?:]=:n<:H3?@Em?4? p?`Ģ?f髗??I:?):h^;i:nC^/B9^'IBDf6Df02Yn!nV=n;Q)r>p9p9rGYpvAv>xQ 1}4٪z-U?Q 5}4zR z>B9YN?Q E?yzC)zuI! %m =ɡ!i!I%=)IMG?iMV=iM 3=)UG?)Q]kAYuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.223777i9Y>A% V:=ԁ A <A vB- >~B- ȍCB- t'IB- %BB- =B) B- bDB- S;B- EI! I9 NM >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477006 ,DL)A0y6?ٱ6?6.&=6 <6H`?܉?O?H??^Ĥ`?E?I6?)6y^;i6lCB,B9B}'IF;iFp;BDJ6DJYRGh!RN=V;Q)V>T9T9ZGYZFZ䧻AZ>\Q 1b4٪^Q?Q 5b4^K ^9B9dYf ?Q Ef?y^תC)^:I^:i^V4YjRBj1AAjEnnManaging dock network, ignoring radio surface power offDvDvDv(DtEv: Evg:6Evc44:Et"EvI) - =ɡ)i1I5}I]4?i]CV=i]^.=)]4?)Yԑi!Թ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727444>Au[1= II IY Nm >4,f)Ay6壣?ٱ6?6,=6]<6H?4`Y?]?.? Y?Д??I6壣?)6^;i4>/B9B'I@i@)D DhEMb@Mb@Mb@ A)AIAiAAE"~j?jt?ES#?E >EIEt@iEAE^@A)AEABDU6DU!3Yed<!m?=mQs;Q)m>i9q9uGYquoκAu>Q 14٪M?Q 54D 4B93(?Q A:Y~?Q E?yC):I#:i1^4YGB@AEgFNOT Ignoring new targets: 108.15 m.gWgW ProNav: ac range: 108.145538 m, nav range: 105.544891 m, bearing: 92.076400 deg, approach rate: -0.658616 m/s, LOS rate: -0.047171 deg/s, cmd heading: 86.483855 deg, new cmd heading: 86.443858 deg. gHeadingCmd: 1.508730 target range: 108.145538 and range: 108.80 m.g?ggggzfrfffBBdddcc@ɢ%݇B%i8= )-%>I) -l =ɡ)i)I57̩I?ie|V=iҫ/=)?)BDAT read: Rx Time:05:22:00.3363 TRx dataTimestamp_ set to:1755840121.699125checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983135DDD)DE: E6EFA4:E!@!@!@!@i0!>Am+,=rAu?jAu?=iaCI I] GIa )} ~nAI N >i ʸ ~nA (AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231416,ly)Ay:"?ٱ:̆?:W2=: <:H ?`n??(c?`? ?+I?@T?I:"?):d^;i8F1B9F'IBDN6DNNYV<!VW=ZLm;Q)Z>X9X9^GY^F^:źAb>`Q 1f4٪b^J?Q 5f4b> b0B9hYjj?Q Ej?ybC)b:Ib-:ibd4Ylr@Apg FNOT Ignoring new targets: 108.15 m.g dUgdUE ProNav: ac range: 108.145538 m, nav range: 105.297340 m, bearing: 92.058711 deg, approach rate: -0.651184 m/s, LOS rate: -0.046641 deg/s, cmd heading: 86.443858 deg, new cmd heading: 86.408396 deg. gMuHeadingCmd: 1.508111 target range: 108.145538 and range: 108.80 m.g} ?gygggzfrfffBdddcYce`K @ɢڇBvB>~BBh'IBBB =BBBR;BzE%9= I  =ɡiII ?ieV=i) ?) x> >Ii%DAT read: 05:22:00.3363 LVL= 24368, 30097, 30290, 32755, AGC= 68, IDX= 410, 0.20,-1.413, 3.053,-1.533,-1.806, PHS= 0.495,-1.379, 0.229, RAW= 142.4, 7.5, CAL= 142.0, 8.3, ROT= 8.0, -8.3 5Ygot valid direction response: 05:22:00.3363 LVL= 24368, 30097, 30290, 32755, AGC= 68, IDX= 410, 0.20,-1.413, 3.053,-1.533,-1.806, PHS= 0.495,-1.379, 0.229, RAW= 142.4, 7.5, CAL= 142.0, 8.3, ROT= 8.0, -8.3 =PDAT read: Bearing 256.6, 6.0 (Local) E~Local bearing/azimuth received: Bearing 256.6, 6.0 (Local) MDAT read: Range 11 to 50 : 106.4 m (Round-trip 141.9 ms) speed 0.8 m/s U,DAT read: user:7455> BDAT read: Tx time:05:22:01.4402 $Ping request sent.)I~j>i@ >@V>5> ViDDD+DE: E[:6E [4:E"E;! E>;!Iٖ~Q? H>?V%ܻ?U>BA 5>)ViE:publishing transmit ping timeYMFpublishing direction and range info9kN[?ȂD?'ЌCz?i )Iqi iIٖ~Q? H>?V%ܻ? )i>A ·3=Iq ԡ I Nm >G,V)AyF^?ٱF?F896=F=FHa?{d?c?@[?@`?:Ŧ඼??IF^?)F _;iDb5B9b'IyMb@Mb@Mb@ )IiPn?On?$?>IirAt@)AI@A)AABD6DY F|<! 6=O ;Q)>Q9Q9UGY]F]%3:A]>aQ 1m4٪ezF?Q 5m4eN6 e*B9ux(?Q A:Y?Q E?yeAC)e;Ie;iel4Y@Ahhʌ)AhBhBhO?z_Y@h!-@@C.@jkN[?ȂD?'ЌCz?h5>hVa4\d |J|?Z@z<@G&@rQQ3?` ?hBhlhx6?h>olh|B*iiM?2i>ol:i|Bi#B"i?  addTargetRange:: Added new target pos. range: 106.400002 m, deltaT: 3.527035 s, deltaX: -2.400002 m, approachRate: -0.680459 m/s, rangeRepo size: 4  Added new target pos. range: 105.766823 m, bearing: 93.413919 deg, lat: 36.779283 deg, lon: -121.859582 deg, deltaT: 3.527035 s, deltaX: -2.378716 m, approachRate: -0.674424 m/s, posRepo size: 4 g-FNOT Ignoring new targets: 105.77 m.g5g1E ProNav: ac range: 105.766823 m, nav range: 105.070015 m, bearing: 92.207993 deg, approach rate: 0.000000 m/s, LOS rate: -0.046641 deg/s, cmd heading: 86.408395 deg, new cmd heading: 86.361970 deg. gAMHeadingCmd: 1.507301 target range: 105.766823 and range: 106.40 m.gM;?gIgIgIgIzfQrfQfQfUBBdYdYdYc]Z@c]ݮ?ԩɢׇB>=  <>I  =ɡiI7I;?iRV=i3=);?)iyyy} 0yD% D% D% (D! E% : E% :6E% c44:E! !- @!- @!- @!- @>A .= I I N- >x,N)AyN?ٱN?N:=N>g=NH$?2??m(?Υ?r>?.?IN?)Nq^;iNjC^$B9bs'IBDr6DrY~!~\=:#;Q)> 99GY;A%>!Q 1=4٪%YC?Q 5=4%0 %&B9AYE?Q EE?y%`C)%$1;I%F1;i%4s4YIMAAQmB*** querying acoustic contact ***zhihigy}FNOT Ignoring new targets: 105.77 m.g"Vg"V ProNav: ac range: 105.766823 m, nav range: 104.831429 m, bearing: 92.192728 deg, approach rate: -0.729810 m/s, LOS rate: -0.046802 deg/s, cmd heading: 86.361971 deg, new cmd heading: 86.331370 deg. gNHeadingCmd: 1.506767 target range: 105.766823 and range: 106.40 m.g?ggggzf!rf!fifiBdidqdqcqcu@eQ?ɢՇBoO<= N>I % =ɡiICI?iDV=i8=)?)MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.iaaae5a!>A}·3=bAlAZAlAII N >A A ?AvB >~B B b'IB BB =B B B R;B EBȍCBǍCBɔCB =B =BdV6I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983831[Y, Ξ)Ay6֣?ٱ6j̿?6v?=6=6H}?S`\???F?짿P??I6֣?)6(^;i6kCDbDbDb,D`Eb: EbrN:6Ebg4:E`"Eb99GY F ;A >Q 14٪??Q 54<) !B9!Y%?Q E%?yC);I;i0z4Y-B-b?A-EgQUFNOT Ignoring new targets: 105.77 m.gTCgTC  ProNav: ac range: 105.766823 m, nav range: 104.570488 m, bearing: 92.175813 deg, approach rate: -0.656985 m/s, LOS rate: -0.042692 deg/s, cmd heading: 86.331371 deg, new cmd heading: 86.297458 deg. g CHeadingCmd: 1.506175 target range: 105.766823 and range: 106.40 m.1g=V?g9g9g9g9zf9rfAfAfABdAdIdIcIcM?ɢ҇BQ<= V*>I ɱ =ɡiI/IV?i7V=i==)V?)Q)qi5911=49ii]>I]%=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236214ԉ>A l;=A AԹ I I N >,)AyBӣ?ٱBȿ?B3G=B=BH?`[#ݣ? ??@|?@㨿?1?IBӣ?)BY^;i@J.B9J'IMb@Mb@Mb@ )Ii%C?MbX9?Mb`Z$?!>IG@iA1@+A)pA-4MK?9MK?9MGYMFU4AU>YQ 1e4٪] I N =ɡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.488027iI I޳?i+V=iO>=)޳?)rD=jD4=DDD*DE>: EP:6E(N4:E!@!@!@!@im9iim/i>Am checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739950A yAI I N > k,)Ay6?ٱ6?6uSM=6H=6HgN?`??zɲ?9?@ɢ?@/?I6?)6^;i4B+B9B|'IBDJ6DJYfl!jR=j{;Q)j>j H?9n H?9nGYln ;Ar>pQ 1v4٪ra8?Q 5z4r~ rB9xYz?Q Ez?yrƫC)rS:Ir:ir54Y|F?AgFNOT Ignoring new targets: 105.77 m.g Sg S ProNav: ac range: 105.766823 m, nav range: 104.045074 m, bearing: 92.137570 deg, approach rate: -0.628478 m/s, LOS rate: -0.046128 deg/s, cmd heading: 86.258172 deg, new cmd heading: 86.220779 deg. g֨HeadingCmd: 1.504836 target range: 105.766823 and range: 106.40 m.g{?ggggzfrfffBdddcc7?ɢ ͇B 8C=  :>I  =ɡiIʩI{?i"V=i=D=)%{?)!vB]|>~B]ǍCB]['IB]BBYBYBYB]qS;B]Ei8/checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991864QDDDDE: E[:6E:E"Ef%;!E>;!>A(A=rA ?jA?i A AI) IY N} >,Û)A y>?ٱ>m?>yR=> Q=>H?@G|??ϋ??`= (? ?I>?)>_;i>jCJ1B9J'IMb@Mb@Mb@ )%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244007Ii'1Z?M?"?n>IEAit@A)ABD=6D= YM<!MC=M3;Q)M>UK?9UK?9UGYUFU`*;A]>aQ 1m4٪e4?Q 5m4ec eB9m&?Q Am:YmW?Q Eu?yeC)e;Ie;ie4Yy}?AygFNOT Ignoring new targets: 105.77 m.gAgA ProNav: ac range: 105.766823 m, nav range: 103.773506 m, bearing: 92.120508 deg, approach rate: -0.672862 m/s, LOS rate: -0.042384 deg/s, cmd heading: 86.220777 deg, new cmd heading: 86.186564 deg. g"HeadingCmd: 1.504239 target range: 105.766823 and range: 106.40 m.g?ggggzfrfffՇBBdqdqdycyc}@ɢˇBE= 顭ZK>I y=ɡiIuI?i\V=iI=)?)lAqie9aae/iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496140>AM G= bD ZD AABEJEɷG4RE0D D D ,D E : E :6E g4:E ! @! @! @! @Ay I I N >,5)ALyV{?ٱV%?VW=Vt-=VHB?%`?x?@I?O?`5?N?IV{?)VX_;iVlC^B9^m'IIfAA)dBDj6DjfYn봽!rQ=r`;Q)r>t9t9vGYtvF:Av>IQ 1U4٪M1?Q 5U4M  M B9YY]`?Q E]?yM C)M];IM&;iM4YeBe >AeEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 105.77 m.g;g; ProNav: ac range: 105.766823 m, nav range: 103.513596 m, bearing: 92.104056 deg, approach rate: -0.646990 m/s, LOS rate: -0.041058 deg/s, cmd heading: 86.186564 deg, new cmd heading: 86.153577 deg. gGHeadingCmd: 1.503664 target range: 105.766823 and range: 106.40 m.g x?ggggzfrfffBdddcc@@ɢɇBi@= ,>I =ɡiIB娻I x?icV=i CL=)  x?) iqyy}/y5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748812>AAM <AI vBU {>~BQ BU U'IBU BBU =BQ BU aDBU TT;BU OEA I ! I) N= > BDAT read: Rx Time:05:22:03.9830  TRx dataTimestamp_ set to:1755840125.224429 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000906',PRO)ADRDRDR)DPER[: ER n:6ERFA4:EP"ERuQ9Q9UGYUFUJ9A}>Q 14٪9.?Q 54 B9Yb?Q E?y,C):I:i4Y՟B=AEgFNOT Ignoring new targets: 105.77 m.g 9g 9= ProNav: ac range: 105.766823 m, nav range: 103.247993 m, bearing: 92.087146 deg, approach rate: -0.635194 m/s, LOS rate: -0.040544 deg/s, cmd heading: 86.153575 deg, new cmd heading: 86.119669 deg. g=f]HeadingCmd: 1.503072 target range: 105.766823 and range: 106.40 m.g]d?gYgYgYgYzfarfafafaBdididicicmr@)ɢ=LJBeJ<= iu0>Iq }=ɡiI觻Id?i V=i [N=)d?)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.252244Yi@=@ԁ >A 0M=bA kAZA kAԱ AmyAIIN>) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508028}9,Io)ADrDrDr'DpErV: Ere:6Er'4:Ep!v@!v@!v@!v@ԹUB9Uc'IMb@Mb@Mb@ )IiMb?㥛 ?~jth?#?>D;I\AiAG@A)=Ap% H?9% H?9EGYEFEAE>IQ 1U4٪M;)?Q 5U4M MB9]M'?Q A]:Y]?Q E]?yM]C)M:IM:iM4Yam=AigFNOT Ignoring new targets: 105.77 m.g Hg H ProNav: ac range: 105.766823 m, nav range: 102.866753 m, bearing: 92.061886 deg, approach rate: -0.657465 m/s, LOS rate: -0.043724 deg/s, cmd heading: 86.119670 deg, new cmd heading: 86.068962 deg. g HeadingCmd: 1.502187 target range: 105.766823 and range: 106.40 m.gG?ggggzfrfffŇBBdddcc @ɢćBg9= 0%>I Pu=ɡiIhƦI G?i  V=iVQ=)G?)i/DAT read: 05:22:03.9830 LVL= 24368, 32065, 27346, 32755, AGC= 67, IDX= 409,-0.44, 2.909, 1.030, 2.796, 2.489, PHS= 0.522,-1.414, 0.263, RAW= 142.9, 7.0, CAL= 142.5, 7.7, ROT= 7.5, -7.7 Ygot valid direction response: 05:22:03.9830 LVL= 24368, 32065, 27346, 32755, AGC= 67, IDX= 409,-0.44, 2.909, 1.030, 2.796, 2.489, PHS= 0.522,-1.414, 0.263, RAW= 142.9, 7.0, CAL= 142.5, 7.7, ROT= 7.5, -7.7 PDAT read: Bearing 256.3, 4.9 (Local) ~Local bearing/azimuth received: Bearing 256.3, 4.9 (Local) DAT read: Range 11 to 50 : 104.0 m (Round-trip 138.7 ms) speed 0.7 m/s ,DAT read: user:7456> BDAT read: Tx time:05:22:05.0901 $Ping request sent.i}@}5=},@} >} > } iyyI}\oA?`)? ?}>} } >)} iyy :publishing transmit ping timeY Fpublishing direction and range info9y}jp?L?L`u&?yyiyyyyy y)yIyiyyyyy yiyyI}\oA?`)? ?yy y)yiyy>A dO=A A I I N- >/,)AvBl~BlBn<'IBnBBn =BlBlBn)U;BnE9}B9}`'IBD6DNY^!j=Q)>99GYFA?Q 14٪K&?Q 54 B9YQ E?yzC);I;i4Y >Ahhϼ~)AhBhBh?zr"VΎdY@@ۀ*@Yv+@jjp?L?L`u&?h >h ]*$HԵY@ʅY!@rA6VIN? 5xI =ɡiI- I55?i5B V=i5S=)55?)9ii8/ԙ>A Q= A AI) I9 NM >F,yu)Ay6mۣ?ٱ6ѿ?6ug=6HP=6H@q?`Y(?`?@4/?g?@ꬿ `? R?I6mۣ?)6{^;i6jC> B9>T'I@i@Mb@Mb@Mb@ )IiRQ?L7A`?"?+>It@i+AAA)ABD%6D%k2Y5L!5R==f;Q)=>=K?9=K?9EGYAEAE>ԩQ 14٪Y#?Q 5 4 B9&?Q A:Y ?Q E?yC);I;i/4YB%<= 页T>I g=ɡiIx Id&?ibV=iӬL=)d&?)i]9YY]0Y@a@elAD5D5D5,D1E5: E5rN:6E5g4:E1!=@!=@!E@!E@ >A`T=I] G)q I A yAI I i  EAN >) ,+)Ay>?ٱ>±?>.k=>vA=>H?`LmM?@?c?`|?^.?`Z?I>?)>^;i<J B9JR'IIP)PBDV6DV:YZ!^T=^;Q)^>b H?9b H?9bGYbFfh"Af>dQ 1j4٪f ?Q 5n4f fB9lYn?Q Er?yfC)f;If;if4YtvI c=ɡiIID?iV=iaK=)D?)i1AAiAmAAvB~BB)'IBBBBBBT;BE>AJ=5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.qDU DU DU (DQ EU : EU 1:6EU c44:EQ "EU ԙ ,d؟)Ay6?ٱ6?6*l=69=6H?P fY?? ?N?`-??I6?)6<_;i6hCbB9fD'IBDv6DvY3N!7=W:Q)=>A9I9MGYMF]4A]>yQ 14٪f?Q 54 B9!Y%?Q E-?yC)I ]=ɡiI}I?i,U=iH=)E?)Iԡi0>A M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7516921 Dm Dm Dm 'Di Em [: Em xv:6Em '4:Ei !} @!} @!} @!} @A} AI I N >,2)Ayb:x?ٱbm?bnji=b/G,=bHD7?Ũ??`׳?us?`-P~? t?Ib:x?)bqY_;ibiCjB9jH'IYMb@Mb@Mb@ )Iiy&1?HzG?`%?= >I^@iAEAAA)BD6D:Y]<!7=ۺQ)>K?9K?9GYA>Q 14٪P?Q 54| ޡB9(?Q A:Y?Q E?yC) ;I ;i0˃4Y =Ag FNOT Ignoring new targets: 103.38 m.g6g6- ProNav: ac range: 103.379822 m, nav range: 101.609909 m, bearing: 92.585158 deg, approach rate: -0.705006 m/s, LOS rate: -0.034143 deg/s, cmd heading: 85.958935 deg, new cmd heading: 85.931852 deg. g-y5HeadingCmd: 1.499794 target range: 103.379822 and range: 104.00 m.g5>?g1g1g1g1zf9rf9f9f=ćBBdAdAdAcAcM`o?ɢuBu:= y} >Iy }"=ɡyiyIfI>?ijU=i}G=)>?)ԉi81 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003415Թ>AG=vB |>~B B 'IB هBB B B B T;B mEB%ǍCB!B%˓CB% =B% =B%ۓ5 A I I! N- >Շ,)ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255381yV[?ٱV6Q?Vh=V9#=VHkp?``?@?c?l?:`l]?G?IV[?)V _;iVhCbB9b:'Ij4t9x9zGYzFzAz>|Q 14٪~?Q 5 4~ ~ءB9 Y ?Q E ?y~%C)~>:I~:i~у4YB]=Ag9EFNOT Ignoring new targets: 103.38 m.gMgM] ProNav: ac range: 103.379822 m, nav range: 101.364319 m, bearing: 92.573354 deg, approach rate: -0.657110 m/s, LOS rate: -0.031658 deg/s, cmd heading: 85.931853 deg, new cmd heading: 85.908189 deg. g]geHeadingCmd: 1.499381 target range: 103.379822 and range: 104.00 m.ge?gagagagazfirfififiBdqdqdqcqc} d@DDD(DE: Eg:6Ec44:E"E!y ,()Ay>V?ٱ>pL?>Oe=>u$=>H)z?,? b?? a?ࡌ??I>V?)>_;i>jCFB9F4'IMb@Mb@Mb@ )IiˡE?X9v?Mb`'?=IEAi+AA)3ABD-6D-0Y=!=D==Q)E>A9A9EGYAMAM>QQ 1]4٪U ?Q 5]4U UѡB9]*?Q Ae:Ye=?Q Ee?yUHC)U:IU:iU؃4YmnBm;AoEg15FNOT Ignoring new targets: 103.38 m.g=ٹg=ٹIm ProNav: ac range: 103.379822 m, nav range: 101.087486 m, bearing: 92.563010 deg, approach rate: -0.634566 m/s, LOS rate: -0.023775 deg/s, cmd heading: 85.908186 deg, new cmd heading: 85.887442 deg. gm .uHeadingCmd: 1.499019 target range: 103.379822 and range: 104.00 m.gu߿?gygygygyzfyrfyffBBdddcc`@ɢBZ?1= =I n=ɡiI8I ߿?i U=i =?G=) ߿?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759492DDD)DE: EV:6EFA4:E!@!@!@!@i94rAjA?ԁAII Nm>ԡ= BDAT read: Rx Time:05:22:07.6298 = TRx dataTimestamp_ set to:1755840129.004498E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012437 ,B)AyZsc?ٱZY?ZK_=Z-=ZHMa?ç?;??5?Y`?@l?IZsc?)Z_;iZgC~܇B9~'IBD6DY%Ͻ!%L=-J]Q)->)9)9-GY-F5o}:A5>yQ 14٪}?Q 54} }ʡB9YH?Q E?y}kC)}):I}B:i}4Y~BB'IBɇBB =BBBJT;BKEA9IAIQNeU>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265356DDDDE: EL_:6E:E"E!E!*E;!E;! 9 +,=a\)Ay O?ٱD?vd\=6=H -? a@?@6?`)?@?'Gզ?`?I O?)"X_;iۇB9'IeDAT read: 05:22:07.6298 LVL= 28400, 32753, 30578, 32755, AGC= 69, IDX= 409, 0.35, 1.191,-0.748, 1.062, 0.749, PHS= 0.544,-1.452, 0.269, RAW= 142.7, 6.9, CAL= 142.3, 7.6, ROT= 7.7, -7.6 mYgot valid direction response: 05:22:07.6298 LVL= 28400, 32753, 30578, 32755, AGC= 69, IDX= 409, 0.35, 1.191,-0.748, 1.062, 0.749, PHS= 0.544,-1.452, 0.269, RAW= 142.7, 6.9, CAL= 142.3, 7.6, ROT= 7.7, -7.6 uPDAT read: Bearing 256.2, 4.9 (Local) u~Local bearing/azimuth received: Bearing 256.2, 4.9 (Local) DAT read: Range 11 to 50 : 101.7 m (Round-trip 135.6 ms) speed 0.9 m/s ,DAT read: user:7457> BDAT read: Tx time:05:22:08.7401 $Ping request sent.ie@Ϣ=\@> > iI37O?@:?_I²*?>4  >)i:publishing transmit ping timeYFpublishing direction and range info9K)n?=?) ?i )Ii iI37O?@:?_I²*? )iMb@Mb@Mb@ )IiQ?S㥛?~jtx(?$>ĻIAiAAA)I@A)@ABD6D2YJT!=˺Q)>99GYFeA%>IQ 1U4٪M?Q 5U4Mj MB9UC,?Q A]:Y]h?Q E]?yMC)Ms:IME:iM\4YecBeBhdb$&Y@Qu 1!@r)x 6}?iĵ?h1Bhh%]?h&{fh B*i%]?2i&{f:iBitB"i? addTargetRange:: Added new target pos. range: 101.699997 m, deltaT: 3.529206 s, deltaX: -2.300003 m, approachRate: -0.651706 m/s, rangeRepo size: 4 - Added new target pos. range: 101.093407 m, bearing: 92.925762 deg, lat: 36.779267 deg, lon: -121.859580 deg, deltaT: 3.529206 s, deltaX: -2.286415 m, approachRate: -0.647855 m/s, posRepo size: 4 g)-FNOT Ignoring new targets: 101.09 m.g5g19e ProNav: ac range: 101.093407 m, nav range: 100.727325 m, bearing: 92.925423 deg, approach rate: 0.000000 m/s, LOS rate: -0.026479 deg/s, cmd heading: 85.866884 deg, new cmd heading: 85.838231 deg. gamHeadingCmd: 1.498160 target range: 101.093407 and range: 101.70 m.gmÿ?gigigqgqzfqrfqfyfBBdddclY@cT?ɢB%= =I 5\=ɡ9i9I=[IEÿ?iEdU=iEI=)Eÿ?)Ai95bAlAZAmAi BE]FA4JE]FA4RE]/D D D *D E : E 1]:6E (N4:E ! @! @! @! @A I) I9 N] >W,@v)Ay:W?ٱ:L?:ΜW=:kA=:Hjz? &???I? j`"??I:W?):<_;i:fCbЇB9b 'IBDj6DjβYE)!E=EQ)M?I9I9MGYIUf:AU?YQ 1e4٪] ?Q 5e4] ]B9aYmp?Q Em?y]C)][:I]:i],4YquA vBe }>~Ba Be &IBe BBe =Ba Ba Be )T;Be =EA yAI! I1 NE >#,)Aiy>SE?ٱ>:?>S=>SL=>H? ?@?IG?@i?i|`n? ?I>SE?)>#_;i>hCLRƇB9R&IBDZ6DZYbM!bS=fQ)f>f H?9f H?9fGYjFjAj>lQ 1r4٪nn ?Q 5r4nɰ nB9tYv^?Q Ev?ynҭC)n`:InW:in4YxzAm JM=) A I I N >6*,N)A|B9&IMb@Mb@Mb@ )Ii/$?T㥛 ?{Gzt1(?>ףIiAAA)Ai<BD6DYoN!;=Q)>99GYFA>Q 14٪?Q 54& B9C+?Q A:Y?Q E?yC)Q:I:i4Y1B;AeEg!%FNOT Ignoring new targets: 101.09 m.g-g-⹝= ProNav: ac range: 101.093407 m, nav range: 99.991455 m, bearing: 92.897529 deg, approach rate: -0.691756 m/s, LOS rate: -0.024787 deg/s, cmd heading: 85.803213 deg, new cmd heading: 85.782306 deg. g=t5EHeadingCmd: 1.497184 target range: 101.093407 and range: 101.70 m.gE?gAgIgIgIzfIrfIfQfUBBdQdYdYcYc]@̐?ɢB}= 額AU<H=A Aԁ I I N >H0,Bà)Ay6R7?ٱ6,?6*M=6E=6H_?O?U?+X?*?j? C?I6R7?)6_;i6iC>B9B&IBDF6DFJYN>!R_=RQ)R>RK?9VK?9VGYTVAV>XQ 1^4٪ZV?Q 5b4Z¢ ZB9`Yby?Q Eb?yZC)Z8;IZU;iZ4Ydf;Ahgx~FNOT Ignoring new targets: 101.09 m.gHڹgHڹ ProNav: ac range: 101.093407 m, nav range: 99.747490 m, bearing: 92.888827 deg, approach rate: -0.667146 m/s, LOS rate: -0.023855 deg/s, cmd heading: 85.782306 deg, new cmd heading: 85.764859 deg. g.HeadingCmd: 1.496879 target range: 101.093407 and range: 101.70 m.g?ggggzf!rf!f!f!Bd)d)d)c)c-Hi?Yɢ]Be%D= ae@Q~B ȍCB &IB BB B B bDB !T;B >Eԁ>ADDD*DE: Ec:6E(N4:E"E 47,ݠ)Ayf '?ٱf?fpJ=ffB=fHڳ?.?B?`t?EW?UB??If '?)f_;ifgC B9&IBDM6DM2Y !<=/Q)>99GYFA>Q 14٪?Q 54 B9Yi?Q E?y=C)A% JM=)߉ ߍ A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A) I9 ԑ IQ N >D D D D E : E ]t:6E :E ! @! @! @! @I<=,)Ay60?ٱ6?66|H=6v<;=6H? J??@^?`R? @L^?@?I60?)6Y`;i6fCRB9R&ItitIuG)"oAIi"oAA-ڽ?-ʰAQ]Mb@Mb@Mb@ Y)YIYiYY]w/?L7A`?Mb]&?]+>]I]Ai]A]XA]&A)YYImAA)mAABDu6DukYM!;=FQ)>99GYFA>Q 14٪?Q 54 B9O*?Q A:Y?Q E?y`C)o:I:i,4YNe>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502728ԁi0Ա>A vB >~B ʍCB &IB BB =B IDB dDB ;T;B TEA I I N >#D, \)A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753216y>n?ٱ>پ?>7D=>)=>Ha? ?@??@ͦ?@ A4??I>n?)>`;i<JB9J&IBDR6DRYZҽ!Zm=Z-)Q)Z?\9\9^GY\bIAb?dQ 1j4٪fU?Q 5j4f fB9hYj}?Q Ej?yf~C)f:If:if14YrBrN;Ar\EgFNOT Ignoring new targets: 101.09 m.gg ProNav: ac range: 101.093407 m, nav range: 98.940804 m, bearing: 92.857316 deg, approach rate: -0.652820 m/s, LOS rate: -0.026756 deg/s, cmd heading: 85.720377 deg, new cmd heading: 85.701669 deg. gCHeadingCmd: 1.495776 target range: 101.093407 and range: 101.70 m.g5u?g9g9g9g9zf9rf9fAfABdAdAdAcIcMͰ@DuDuDu-DqEu : Eug:6Eut4:Eq"EuD"AG=1 A yAI I N >I NJ,:+)Ay6Ģ?ٱ6N?6B=6v=6H k? `?%??`ԣ?`]AlӢ?A?I6Ģ?)62a;i4>B9B&IMb@Mb@Mb@ )Iiy&1?x&?Mb`%?7 >IAiSAASA)QABD6D1Y-9<!-C=-кQ)->5 H?95 H?95GY5F5A=>AQ 1M4٪Eq?Q 5M4El EB9M(?Q AM:YM?Q EU?yEC)EM:IEA:iE4YY];;AYgFNOT Ignoring new targets: 101.09 m.gYg Y= ProNav: ac range: 101.093407 m, nav range: 98.665062 m, bearing: 92.845367 deg, approach rate: -0.665676 m/s, LOS rate: -0.028927 deg/s, cmd heading: 85.701669 deg, new cmd heading: 85.677704 deg. g=SEHeadingCmd: 1.495358 target range: 101.093407 and range: 101.70 m.gEg?gAgIgIgIzfIrfIfQfuBBdqdqdycyc} @ɢBC =  I (=ɡiI&Ig?iϢU=i%D=)%g?)!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257436i94D%D!D%+D!E%: E!6E% [4:E!!-@!-@!-@!-@9>A wEF=i A AI I N > DAT read: 05:22:11.2768 LVL= 25616, 32753, 27026, 32755, AGC= 66, IDX= 410, 0.29, 2.641, 0.790, 2.507, 2.223, PHS= 0.520,-1.388, 0.240, RAW= 142.2, 7.1, CAL= 141.8, 7.8, ROT= 8.2, -7.8  Ygot valid direction response: 05:22:11.2768 LVL= 25616, 32753, 27026, 32755, AGC= 66, IDX= 410, 0.29, 2.641, 0.790, 2.507, 2.223, PHS= 0.520,-1.388, 0.240, RAW= 142.2, 7.1, CAL= 141.8, 7.8, ROT= 8.2, -7.8  PDAT read: Bearing 256.4, 5.8 (Local)  ~Local bearing/azimuth received: Bearing 256.4, 5.8 (Local)  DAT read: Range 11 to 50 : 99.4 m (Round-trip 132.6 ms) speed 0.4 m/s  ,DAT read: user:7458>  BDAT read: Tx time:05:22:12.3901  $Ping request sent. i @ = bd@ 'g > C>  'g i  I Od6g?.Mn?1? K>  C>) 'g i  = :publishing transmit ping timeY = Fpublishing direction and range info9  Dd:a?^l? M _?  i      ) I i      i  I Od6g?.Mn?1?   ) i  S6Q,E)A y:ό?ٱ:x?:B=:YK=:H?@`?@?`s?Ҧ?@?$??I:ό?):,`;i:gCBB9B&IJpZK?9ZK?9ZGYXZA^>`Q 1f4٪b?Q 5f4b bB9dYf?Q Ef?yb®C)b`:IbW:ibK&4Yhn;AlhIhM|B)AhMBhMBhMQ,?zM$w9X@ (+@0&(*@jMDd:a?^l? M _?hMC>hM'g M.].NgX@t/z"@rM襍8Nt??hMtBhMϮhM6x+?hMd^hhMB*iM)U?2iI:iM BiMB"iM?e addTargetRange:: Added new target pos. range: 99.400002 m, deltaT: 3.529375 s, deltaX: -2.299995 m, approachRate: -0.651672 m/s, rangeRepo size: 4  Added new target pos. range: 98.813026 m, bearing: 93.183133 deg, lat: 36.779266 deg, lon: -121.859580 deg, deltaT: 3.529375 s, deltaX: -2.280380 m, approachRate: -0.646114 m/s, posRepo size: 4 gDNOT Ignoring new targets: 98.81 m.gAA<g% ProNav: ac range: 98.813026 m, nav range: 98.415466 m, bearing: 92.893214 deg, approach rate: 0.000000 m/s, LOS rate: -0.028927 deg/s, cmd heading: 85.677702 deg, new cmd heading: 85.653997 deg. g!vBU>~BUˍCBU&IBU}BBU =BQBUeDBU|T;BUwEBmȍCBmɍCBmÕCBiBm =Bmøy6q-HeadingCmd: 1.494944 target range: 98.813026 and range: 99.40 m.gUZ?ggggzfrfffBdddcX@cZ?ɢ-B-;= 15(OI1 5\=ɡ1i1I5NI=UZ?i=U=iE2K?=)EUZ?)A)qi9 4ԙD5D5D5*D1E5: E5:6E5(N4:E1"E5f%A% K@=AU yAIa Iq N} >3yW,X_)A8yrFY?ٱrN?rcB=r H?9 H?9GYF0YA>Q 14٪?Q 54w }B9Y?Q E?yC)!;I;i.4Y;A-B*** querying acoustic contact ***zh)h)g1]DNOT Ignoring new targets: 98.81 m.gegeu ProNav: ac range: 98.813026 m, nav range: 98.103722 m, bearing: 92.880346 deg, approach rate: -0.701319 m/s, LOS rate: -0.029040 deg/s, cmd heading: 85.653994 deg, new cmd heading: 85.628177 deg. guTԙHeadingCmd: 1.494494 target range: 98.813026 and range: 99.40 m.gK?ggggzfrfffBdddcc@hK?ɢBL= LI =ɡ i I I K?iU=i;=)K?)9i8/@=@== T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode. >A _>=D D D D E V: E xv:6E :E ! @! @! @! @A! I) IA NM >ٞ], y)Ay65?ٱ6+?6A=6<6H?``?4?? ? =??I65?)6H`;i6fC>kB9>&Ih Mb@Mb@Mb@ ) I i   }?5^I?V-?y&1| M"? h> `I Ai A \A XA)  ABD%6D%fY-k!5c=5׹Q)5>9999=GY=F=GAE>AQ 1M4٪E?Q 54Eq EwB9U&?Q A:Yo?Q E?yEC)E9?gagggzfrfffQBBdddcc *?ɢB< 顭@߽I h=ɡiIqIV>?i{U=iז9=)V>?)iߥ=Iߥp=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975538i9/)vB >~B ̍CB &IB iBB =B B B T;B E>A C;=a A- AI1 II U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226668Ne >wd,)A)y=$?ٱ=?=B==R <=H`qݵ? v??9??[S@؜?~?I=$?)=o!`;i=cCMrB9M&IIY)YBDe6De 8Yu=!uE=u9Q)u>}K?9}K?9}GYy}A>DDD-DE: Ez:6Et4:E"E.A8=bAZAgAԩ A! I1 IA NU >j,¬)Ay6 ?ٱ6*?63D=6#=6H ?d??kN?`?~?X?I6 ?)6_;i6gC>lB9B&IMb@Mb@Mb@ )IiMb?/$?tIAiAAA)ABD6D Y-!-P=-x:Q)->19195GY5Fԙ=A>Q 14٪@웊?Q 54c iB9&?Q A:Y?Q E?yLC){:Io:i*C4Y:AgDNOT Ignoring new targets: 98.81 m.g pg p ProNav: ac range: 98.813026 m, nav range: 97.341476 m, bearing: 92.844328 deg, approach rate: -0.647952 m/s, LOS rate: -0.027150 deg/s, cmd heading: 85.577967 deg, new cmd heading: 85.555952 deg. gF%HeadingCmd: 1.493233 target range: 98.813026 and range: 99.40 m.g%C"?g!g!g!g)zf)rf)f)f5CBBd1d1d9c9c=@?ɢeBe+< imʽIi mQ=ɡiiiIu冻IuC"?i}aU=i}:=)}C"?)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.731148BEm(N4JEmOS4REml0D5D5D5.D1E5a: E5i:6E5ـ4:E1!E@!E@!E@!E@9im8qqu/q@}lA@}kA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982613A >AQ iAvB>~BˍCBt&IBUBB =BBdDB=U;BEIIN>r,6 ̡)A%gB9%&IBD56D5Yu!u#=}Q)}>y9y9}GYFA>Q 14٪雊?Q 54q[ `B9YQ E?ytC)2:I:iK4Y:AgDNOT Ignoring new targets: 98.81 m.g>g> ProNav: ac range: 98.813026 m, nav range: 97.027740 m, bearing: 92.831139 deg, approach rate: -0.648448 m/s, LOS rate: -0.027347 deg/s, cmd heading: 85.555954 deg, new cmd heading: 85.529491 deg. g1HHeadingCmd: 1.492771 target range: 98.813026 and range: 99.40 m.g!?ggggzfrfffBdddcc @ɢ5B5< 15`ԽI9 =-f=ɡ9i9I=IE!?iErQU=iE7<=)E!?)Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.236886DDD,DED: Ek:6Eg4:E"E1A- ==9 AuyAIIN>3z,\)Ay6;B?ٱ67?6G=6ޮ=6H@?@??#?`@? 2??I6;B?)68a;i6cCBiB9B&IXEMb@Mb@Mb@ A)AIAiAAEPn? rh?AIErAiEAAE\AEA)AE(AYi]BD]6D]Ym<!u+=u:Q)u>} H?9} H?9}GY}F} ;A}>Q 14٪囊?Q 54GS WB9'?Q A:Y?Q E?yC);I;iS4Y:AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 98.81 m.g9g9 ProNav: ac range: 98.813026 m, nav range: 96.715790 m, bearing: 92.817143 deg, approach rate: -0.651749 m/s, LOS rate: -0.029337 deg/s, cmd heading: 85.529493 deg, new cmd heading: 85.501410 deg. gVHeadingCmd: 1.492281 target range: 98.813026 and range: 99.40 m.g?ggggzfrfffTBBdddcc`@ɢ5B5< 15I1 ==ɡ9i9I=eIE?iEDU=iE"A=)E?)I)Q QiQIQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.740125D}D}D}.DyE}: E}x:6E}ـ4:Ey!@!@!@!@ a>> i9/9 >A X;=rA ?jA ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991242i AI IN->$,=})Ay>:?ٱ>,0?>pK=>!=>Hȱ?@Q?X?4?L? \z4?u?I>:?)>Sa;i>bCNaB9N&IBDZ6DZYf!f8=j;Q)j>l9l9nGYlr Ar>tQ 1~4٪v⛊?Q 5~4vK vOB9Y ?Q E?yvC)vG;Ivo7;iv[4YBv9AHEvB>~BBa&IBEBB =BBeDBU;B/EgDNOT Ignoring new targets: 98.81 m.gPgP ProNav: ac range: 98.813026 m, nav range: 96.425560 m, bearing: 92.804077 deg, approach rate: -0.621105 m/s, LOS rate: -0.028045 deg/s, cmd heading: 85.501408 deg, new cmd heading: 85.475198 deg. gMMHeadingCmd: 1.491824 target range: 98.813026 and range: 99.40 m.g?ggg g zf)rf)f1f1Bd1d1d1c9c=@T @iɢByq< ѽI =ɡiIe I?i8U=ipA=)?)i8/)y yBDAT read: Rx Time:05:22:14.9235 ԙTRx dataTimestamp_ set to:1755840136.314320checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247465DDD-DEO: E n:6Et4:E"E A SE=A5 AI9 II N] > /,S")Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.497273y%;0?ٱ%%?%SQ=%0f-=%H@ŵ?@kЧ?`?@SU?0?'ߣ??I%;0?)%wa;i%dC5jB95&I)9 9Mb@Mb@Mb@ )Ii)\(?S㥛?~jthG!?$>DIAirAXA)ABD6Dk2Y #=!+=5;Q)%>5K?95K?9=GY=FU?*A]>Q 14٪Mߛ?Q 54B GB9$?Q A:Yk?Q E?yC)B;I;id4Y9=/9AAgDNOT Ignoring new targets: 98.81 m.gg ProNav: ac range: 98.813026 m, nav range: 96.087822 m, bearing: 92.789748 deg, approach rate: -0.637900 m/s, LOS rate: -0.027160 deg/s, cmd heading: 85.475200 deg, new cmd heading: 85.446441 deg. gFHeadingCmd: 1.491322 target range: 98.813026 and range: 99.40 m.g?ggggzfrf f f jBBd ddc1c5@ @ɢB< 顅蟽I JJ=ɡiI4XyI?i,U=iBB=)?)iM9IIM/QDAT read: 05:22:14.9235 LVL= 26960, 32753, 25586, 32755, AGC= 69, IDX= 408,-0.28, 2.575, 0.658, 2.449, 2.132, PHS= 0.546,-1.429, 0.273, RAW= 142.7, 6.6, CAL= 142.3, 7.3, ROT= 7.7, -7.3 Ygot valid direction response: 05:22:14.9235 LVL= 26960, 32753, 25586, 32755, AGC= 69, IDX= 408,-0.28, 2.575, 0.658, 2.449, 2.132, PHS= 0.546,-1.429, 0.273, RAW= 142.7, 6.6, CAL= 142.3, 7.3, ROT= 7.7, -7.3  PDAT read: Bearing 256.0, 5.2 (Local)  ~Local bearing/azimuth received: Bearing 256.0, 5.2 (Local)  DAT read: Range 11 to 50 : 96.9 m (Round-trip 129.2 ms) speed 0.6 m/s ! E ,DAT read: user:7459> M BDAT read: Tx time:05:22:16.0401 M $Ping request sent.M ie@=\@w> > wiI5$WQT?s?H+畽?>6  >)wi :publishing transmit ping timeYI  Fpublishing direction and range info9-pUt?=L?Au &t@=AIIN>O,y99GYFA>Q 14٪ܛ?Q 54q< AB9YQ E?y C);I;ik4Y9AhQhUC4)AhUBhUBhUQ?zUWW@\z)@8_&z(@jU-pUt?=L?hUwU<_o7zk5 W@5xF@rU/奿Xv)? u:Yh ?hUԿBhUуhU3?hUƥahU5B*iQ2iQ:iUBiUB"iU_E? addTargetRange:: Added new target pos. range: 96.900002 m, deltaT: 3.777735 s, deltaX: -2.500000 m, approachRate: -0.661772 m/s, rangeRepo size: 4 M Added new target pos. range: 96.328697 m, bearing: 92.459241 deg, lat: 36.779266 deg, lon: -121.859580 deg, deltaT: 3.777735 s, deltaX: -2.484329 m, approachRate: -0.657624 m/s, posRepo size: 4 gIUDNOT Ignoring new targets: 96.33 m.g]gYm ProNav: ac range: 96.328697 m, nav range: 95.843391 m, bearing: 92.779314 deg, approach rate: 0.000000 m/s, LOS rate: -0.027160 deg/s, cmd heading: 85.446438 deg, new cmd heading: 85.426860 deg. giHeadingCmd: 1.490980 target range: 96.328697 and range: 96.90 m.goؾ?ggggzfrfffBdddc9X@c?ɢB< I =ɡiItIeoؾ?ie#U=imyC=)moؾ?)ii/A)A)vB5>~B5̍CB5U&IB5;BB5 =B1B1B5V;B5E>AE B=DE DE DE )DA EE : EE T:6EE FA4:EA "EE "u,H[)AyB?ٱBF?BNY=B8_A=BH@R?`f?N???/ ?@T?IB?)B4`;i@JRB9Nq&IBDf6DfYn!nR=rP;Q)r>p9t9vGYtv̺Av>xQ 1~4٪z[ڛ?Q 5~4z6 z;B9YW?Q E?yz+C)zY;Iz;izPr4Y  9A gY]DNOT Ignoring new targets: 96.33 m.ge ge u ProNav: ac range: 96.328697 m, nav range: 95.597588 m, bearing: 92.768858 deg, approach rate: -0.648420 m/s, LOS rate: -0.027653 deg/s, cmd heading: 85.426863 deg, new cmd heading: 85.405897 deg. gunJ}HeadingCmd: 1.490614 target range: 96.328697 and range: 96.90 m.g}q̾?gygygygzfrfffBdddccV ?ɢB< I =ɡiISoIq̾?i U=i`B=)q̾?)iu8qqu0q@y@}lAQy>AA yAI I N >ԡ )A A ΢,t)Ay:>?ٱ:?:^=:<=:HZ,???;Ҷ??ѫ@?@4?I:>?):g`;i8VVB9Vv&ID~D~D|D|E~ ; E~ą:6E|:E|! @! @! @! @qMb@Mb@Mb@ )Ii333333?Pn?Mb??> H?9 H?9GYFA>Q 14٪כ?Q 54. 7B9 ?Q A :Y ?Q E ?yNC):I:iy4Y_BH8A?E5B*** querying acoustic contact ***zh1h1gAEDNOT Ignoring new targets: 96.33 m.gM!gM!] ProNav: ac range: 96.328697 m, nav range: 95.329239 m, bearing: 92.756605 deg, approach rate: -0.611597 m/s, LOS rate: -0.028005 deg/s, cmd heading: 85.405894 deg, new cmd heading: 85.381319 deg. geMeHeadingCmd: 1.490185 target range: 96.328697 and range: 96.90 m.gec?gigigigizfirfqfqfuoBBdqdydycyc},{?ɢB< 顭ӽI J=ɡiIjIc?iU=iuZ@=)c?)MkAMkAԡi9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A% -B= vB% >~B% ˍCB% O&IB% 6BB% =B! B% dDB% W;B% EBˍCBˍCBʓCBʻ =Bʻ =BӦ5Au AI I N >͇,Ύ)AyJ@}?ٱJr?Jn=J!- =JH'?@ %? {?8? ?˭@*}?T?IJ@}?)J`;iJaCbPB9bn&Ij4zK?9zK?9zGYzFzT+Az>Q 14٪>՛?Q 5 4 ) 3B9 Y ?Q E ?ykC):I:iv4Yz8AgAEDNOT Ignoring new targets: 96.33 m.gMgM] ProNav: ac range: 96.328697 m, nav range: 95.102371 m, bearing: 92.746683 deg, approach rate: -0.612876 m/s, LOS rate: -0.026869 deg/s, cmd heading: 85.381319 deg, new cmd heading: 85.361427 deg. g]DeHeadingCmd: 1.489838 target range: 96.328697 and range: 96.90 m.ge?gagagagizfirfififiBdqdqdqcqc?ɢB(< I =ɡiIKcI?i1U=it 3=)?)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488400DDD-DE: E:6Et4:E"E&Am&t@=A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743252I I NE >a #,֪)AyN/?ٱNp%?Nv=NR_;iNcCZRB9Zq&I=Mb@Mb@Mb@ 9)9I9i99='1Z?T㥛 ?=ti9i9mGYimAu>qQ 14٪uқ?Q 54u! u-B9%?Q A:Y#?Q E?yuC)u:Iu:iuɇ4Yc8AgDNOT Ignoring new targets: 96.33 m.gg ProNav: ac range: 96.328697 m, nav range: 94.831169 m, bearing: 92.737789 deg, approach rate: -0.643792 m/s, LOS rate: -0.021173 deg/s, cmd heading: 85.361430 deg, new cmd heading: 85.343592 deg. gHeadingCmd: 1.489527 target range: 96.328697 and range: 96.90 m.gϨ?ggggzfrf1fqfugBBdqdydycyc}A31=ԑI I N >Թ ,˅¢)AyJ?ٱJh?JH}=Joh9h9jGYjFj᣻An>pQ 1v4٪rЛ?Q 5v4ri r(B9tYv?Q Ev?yrC)r:Ir :ir4Yx~j8A|g!-DNOT Ignoring new targets: 96.33 m.g-νg-νE ProNav: ac range: 96.328697 m, nav range: 94.582169 m, bearing: 92.729859 deg, approach rate: -0.649628 m/s, LOS rate: -0.020742 deg/s, cmd heading: 85.343589 deg, new cmd heading: 85.327688 deg. gEMHeadingCmd: 1.489249 target range: 96.328697 and range: 96.90 m.gM?gIgIgIgIzfIrfQfQfQBdQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243636dadacicmg&@ɢeBe< impɽIi mF=ɡiiiImUIu?i}T=i} '=)}?)y ]>>ԙi  4vB>~B̍CBB&IB,BB =BBfDBW;B E>A5+,= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495851D- D- D- +D) E- a: E- x:6E- [4:E) "E- ( ö,`ܢ)AyJ?ٱJ?J =J0h9h9jGYjFngAn>9Q 1E4٪=Λ?Q 5E4=_ ="B9AYE?Q EE?y=аC)= :I=N:i=Õ4YUTBU7AU>Egy}DNOT Ignoring new targets: 96.33 m.gHgH ProNav: ac range: 96.328697 m, nav range: 94.313606 m, bearing: 92.721488 deg, approach rate: -0.647762 m/s, LOS rate: -0.020248 deg/s, cmd heading: 85.327689 deg, new cmd heading: 85.310899 deg. g:HeadingCmd: 1.488956 target range: 96.328697 and range: 96.90 m.g?ggggzfrfffBdddcc s@ɢB%ӏ< !%xI! %4=ɡ!i)I-_NI-?i5eT=i5O$=)5?)9i8"0}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748666!>A5$=IIN>I  BDAT read: Rx Time:05:22:18.5704 % TRx dataTimestamp_ set to:1755840139.840374% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000513,S)ABE]g4JE]b4RE]/DnDnDn-DlEn: EnAr:6Ent4:El!r@!r@!v@!v@y~v?ٱ~l?~8<=~e[<~H.?#]??`??R?@3??I~v?)~^_;i~aCNB9m&I=Mb@Mb@Mb@ 9)9I9i99=E??{Gzt?=&?=>=ף;I=&Ai=SA=A= A)9==ABDU6DUNYeɼ!e2=m΁;Q)m>i9i9mGYqu飻Au>yQ 14٪}M̛?Q 54}  }B9)?Q A:Y?Q E?y}C)} ;I} ;i}4Y#B6A5EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 96.33 m.gנgנ ProNav: ac range: 96.328697 m, nav range: 94.018135 m, bearing: 92.713649 deg, approach rate: -0.660421 m/s, LOS rate: -0.017577 deg/s, cmd heading: 85.310900 deg, new cmd heading: 85.295172 deg. gHeadingCmd: 1.488682 target range: 96.328697 and range: 96.90 m.g?ggggzfrfff}BBdddccg @aɢB؀< `ĽI m=ɡiIEI?ijT=i?=)?)i]9YY]m3Y@a@emAԑim8>Im<uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.251742>A $=Թ I I N- >vB >~B ΍CB 6&IB "BB =B B gDB ^X;B p E,u)Ay6c&?ٱ6 ?6=6e<6H͹? ~?@?&? ȑ?@[?`y?I6c&?)6@_;i6_C>EB9Ba&IiF=IF=BDJ 6DJ:2LYRV!Rl=V;Q)V?T9X9ZGYZFZAZ?\Q 1b4٪^ʛ?Q 5b4^ ^B9dYfh?Q Ef?y^C)^>:I^:i^4Yhj6AlgDNOT Ignoring new targets: 96.33 m.DAT read: 05:22:18.5704 LVL= 25232, 32753, 24482, 32755, AGC= 68, IDX= 408, 0.49,-2.428, 1.929,-2.580,-2.891, PHS= 0.564,-1.418, 0.266, RAW= 142.0, 6.4, CAL= 141.6, 7.1, ROT= 8.4, -7.1 %Ygot valid direction response: 05:22:18.5704 LVL= 25232, 32753, 24482, 32755, AGC= 68, IDX= 408, 0.49,-2.428, 1.929,-2.580,-2.891, PHS= 0.564,-1.418, 0.266, RAW= 142.0, 6.4, CAL= 141.6, 7.1, ROT= 8.4, -7.1 -PDAT read: Bearing 256.0, 5.0 (Local) 5~Local bearing/azimuth received: Bearing 256.0, 5.0 (Local) =DAT read: Range 11 to 50 : 94.6 m (Round-trip 126.2 ms) speed 0.5 m/s E,DAT read: user:7460> EBDAT read: Tx time:05:22:19.6900 M$Ping request sent.Ui@=2+@=Q > iI6݊|?v?"5.?|w> Q >)i:publishing transmit ping timeYIFpublishing direction and range info9 i?$?A7X?i )IiDDD2DE; E:6E4:E"EDA% =I I N- >,))AyN?ٱN?N=N{s99GY FA>Q 14٪ɛ?Q 54   B9C+?Q A:Y?Q E?y8C):Io:i,4YAM6AIhh)AhBhBhhM?zNL(W@ LD+@HS?'@j i?$?A7X?hQ >hb+߽9WsW@XsX@r{Y뤿"?h0?hBhuhǍL?h[hPB*i%]?2ie:i Bi B"ie? addTargetRange:: Added new target pos. range: 94.599998 m, deltaT: 3.527204 s, deltaX: -2.300003 m, approachRate: -0.652075 m/s, rangeRepo size: 4  Added new target pos. range: 94.047539 m, bearing: 92.345741 deg, lat: 36.779267 deg, lon: -121.859579 deg, deltaT: 3.527204 s, deltaX: -2.281158 m, approachRate: -0.646733 m/s, posRepo size: 4 gDNOT Ignoring new targets: 94.05 m.gg  ProNav: ac range: 94.047539 m, nav range: 93.521935 m, bearing: 92.642972 deg, approach rate: 0.000000 m/s, LOS rate: -0.014347 deg/s, cmd heading: 85.283593 deg, new cmd heading: 85.271439 deg. gHeadingCmd: 1.488267 target range: 94.047539 and range: 94.60 m.g?gggAgzfarfafifuBBdqddcc?ɢU{B]b"< Y]IY ] =ɡYiYIe p3Ie?im?ST=im=)m?)bD ZD @ADDD+DE1; E&p:6E [4:E!-@!-@!-@!-@iiE9AAEr1Iԙ >A = A}yAIIN>,|H)Ay>LΟ?ٱ>û?><=>rhq<>H0{?`_?2?`{ͺ?F?ñ`'? ]?I>LΟ?)>Ъ_;i>cCJ-B9NC&IBDZ6DZYb !f4=f>5;Q)f>j H?9n H?9nGYln Ar>tQ 1~4٪vǛ?Q 5~4v vB9|Y?Q E?yv_C)vE;IvF;iv4Y 7AgDNOT Ignoring new targets: 94.05 m.gڸgڸ ProNav: ac range: 94.047539 m, nav range: 93.218521 m, bearing: 92.640426 deg, approach rate: -0.710648 m/s, LOS rate: -0.005982 deg/s, cmd heading: 85.271442 deg, new cmd heading: 85.266334 deg. g,/HeadingCmd: 1.488178 target range: 94.047539 and range: 94.60 m.g|?ggggzfrf!f!f!Bd!d)vB5ο>~B5ҍCB5)&IB5BB5 =B1B5jDB5X;B5 EIdQcQcU?ɢzB\< <顥LI q =ɡiIѝ*I|?i2T=i4%=)|?)ie8aae/a@m=@m=ԁDDD/DEa: E:6EJ4:E"E(A#=I I N >9 +,Db)Ay6ᵟ?ٱ6?6=6Տ<6Hت?Sz??f ?q?0`??I6ᵟ?)6_;i6aC>/B9BE&IBDF6DFYN<!RM=R5;Q)R>P9T9VGYV FVAAV>XQ 1^4٪ZFƛ?Q 5b4Z! ZB9`Yb?Q Eb?yZC)Z3;IZ;iZ4Ydf7Ahgx~DNOT Ignoring new targets: 94.05 m.gθgθ ProNav: ac range: 94.047539 m, nav range: 92.954025 m, bearing: 92.638320 deg, approach rate: -0.707310 m/s, LOS rate: -0.005647 deg/s, cmd heading: 85.266333 deg, new cmd heading: 85.262110 deg. gY%HeadingCmd: 1.488105 target range: 94.047539 and range: 94.60 m.g6z?g!g!g!g!zf!rf!f)f)Bd)d)d1c1c5`?ɢ]xBeRU< aeDIa e =ɡiiiImХ!Im6z?iu T=iu! =)u6z?)qiii9/!@5@5@=@=I I I N >D D D -D E ; E :6E t4:E ! @! @! @! @m =im \CI G) mAI AiE SE mAE AU,|)Ayf;?ٱf␻?f=f99GY FA>Q 14٪ě?Q 54b B9*?Q A:Y?Q E?yC)" ;IT ;i4YBY6A+E]B*** querying acoustic contact ***zhYhYgimDNOT Ignoring new targets: 94.05 m.guAguA ProNav: ac range: 94.047539 m, nav range: 92.659256 m, bearing: 92.637128 deg, approach rate: -0.652828 m/s, LOS rate: -0.002649 deg/s, cmd heading: 85.262112 deg, new cmd heading: 85.259720 deg. g#HeadingCmd: 1.488063 target range: 94.047539 and range: 94.60 m.gx?ggggzfrfff~BBdddcc@?ɢ-vBQ-< QUIY ] n =ɡYiYI]*Iex?ie}S=ie$ =)ex?)i-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.iAAAAAIINE>yvB=տ>~B=ԍCB=&IB=BB= =B=HDB=kDB=X;B= Eԩ <,b)Ay6W?ٱ6?6FӘ=6b=6HѺ? o%??{? ,? .? ?I6W?)6`;i6`CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000321D-"B9-5&IDDD,DE7; Exv:6Eg4:E"EZ 9 9 GY  i9A >Q 14٪Û?Q 5%47 B9!Y%?Q E%?yʱC):I:iȄ4Y)-6A1gY]DNOT Ignoring new targets: 94.05 m.geILgeILu ProNav: ac range: 94.047539 m, nav range: 92.386276 m, bearing: 92.636010 deg, approach rate: -0.679575 m/s, LOS rate: -0.002791 deg/s, cmd heading: 85.259721 deg, new cmd heading: 85.257479 deg. gnHeadingCmd: 1.488024 target range: 94.047539 and range: 94.60 m.gw?ggggzfrfffBdd d c c @@ɢ]uB]d< Y]&IY e; =ɡaiaIet Imw?imTS=im4 =)w?)Ա9"Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254539i 8 /  I I N >g,Aկ)Aiy>ԟ?ٱ>2ʻ?>=> =>H`k?@S?@Ƽ?\&?'G?@Pȡ?`?I>ԟ?)>a;i>aCFB9F+&IiJ=IJa=l%Mb@Mb@Mb@ !)!I!i!!%K7?&1?I +?%I,?%=%94q9q9}GY} F;A>Q 14٪›?Q 54R B9G.?Q A:Y?Q E?yC)S;I;iτ4Y6AgDNOT Ignoring new targets: 94.05 m.ggⵝ ProNav: ac range: 94.047539 m, nav range: 92.123878 m, bearing: 92.635971 deg, approach rate: -0.638655 m/s, LOS rate: -0.000097 deg/s, cmd heading: 85.257481 deg, new cmd heading: 85.257402 deg. gT5HeadingCmd: 1.488022 target range: 94.047539 and range: 94.60 m.gw?ggggzfrfffBBdddcc@ɢ}sB}J< y}~4Iy OK =ɡiIEIw?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504351iS=i=)w?) 98;DDDDEx; E҆:6E:E!@!@!@!@i90IIN^>1a iE >IE 4=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756528P,ɣ)Ayz?ٱz?z9=z1=zH~A9A9EGYAE:AE>IQ 1U4٪M?Q 5]4M< MޠB9YY]?Q E]?yMC)M';IM;iMք4YeBeW7AigDNOT Ignoring new targets: 94.05 m.g g  ProNav: ac range: 94.047539 m, nav range: 91.854218 m, bearing: 92.635810 deg, approach rate: -0.725256 m/s, LOS rate: -0.000432 deg/s, cmd heading: 85.257399 deg, new cmd heading: 85.257078 deg. goJHeadingCmd: 1.488017 target range: 94.047539 and range: 94.60 m.gUw?ggggzfrfffBdddcc!@AAvBֿ>~BB%IBBBBBlDBY;B EBҍCBэCBCB =B =B6ɢrB:-< 顕[I  =ɡiICIUw?i{S=i=)Uw?)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0082519 <ԙDDD1DE: EB:6E-4:E"E{>A +=bA kAZA kA UBDAT read: Rx Time:05:22:22.2171 ]TRx dataTimestamp_ set to:1755840143.621267echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262520A!I)IANM?,d)Ayu?ٱu ?uD=u,=uH@?`??Z?P޲? Z?`~?Iu?)uSda;iqB9 &I Mb@Mb@Mb@ ) I i   Fx?q= ףp?~jt? +? = D99GY F;A>Q 14٪l?Q 54 ӠB9N.?Q A:Y?Q E?y@C)q';I';i4YB5A"EgDNOT Ignoring new targets: 94.05 m.gc(g c(5 ProNav: ac range: 94.047539 m, nav range: 91.459808 m, bearing: 92.630490 deg, approach rate: -0.679176 m/s, LOS rate: -0.009201 deg/s, cmd heading: 85.257078 deg, new cmd heading: 85.246392 deg. g5MHeadingCmd: 1.487830 target range: 94.047539 and range: 94.60 m.gM8q?gIgQgQgQzfQrfYfafeBBdididqcqcu௢ @ɢ=pBE< AE_IA E =ɡAiAIMĺIM8q?iUMS=iU=)U8q?)y) iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512431DDD.DE: E҆:6Eـ4:E!@!@!@!@!)Q i    / Q DAT read: 05:22:22.2171 LVL= 28352, 32193, 28290, 32755, AGC= 66, IDX= 408, 0.06, 1.252,-0.642, 1.019, 0.809, PHS= 0.545,-1.406, 0.166, RAW= 139.4, 7.8, CAL= 139.1, 8.7, ROT= 10.9, -8.7 Ygot valid direction response: 05:22:22.2171 LVL= 28352, 32193, 28290, 32755, AGC= 66, IDX= 408, 0.06, 1.252,-0.642, 1.019, 0.809, PHS= 0.545,-1.406, 0.166, RAW= 139.4, 7.8, CAL= 139.1, 8.7, ROT= 10.9, -8.7 PDAT read: Bearing 257.3, 6.8 (Local) ~Local bearing/azimuth received: Bearing 257.3, 6.8 (Local) DAT read: Range 11 to 50 : 92.2 m (Round-trip 123.0 ms) speed 0.7 m/s ,DAT read: user:7461> BDAT read: Tx time:05:22:23.3400 $Ping request sent.ie@e'g >eO`@e|>eB> e|ia>A=aIe#?6{?.rˢc?e&í>e eB>)e|iaa:publishing transmit ping timeYFpublishing direction and range info9aep5??ni\?aaiaaaaa a)aIaiaaaaa aiaaIe#?6{?.rˢc?aa a)aiaavBuٿ>~BqBu%IBuBBqBqBqBu9Z;But!EAAIIN?w,K!)A@yz7̠?ٱz?z=ze(=zH@U?JŨ?`?]? ? 9ڳ*? k?Iz7̠?)z^`;ix ݆B9 %II9)=AABDE6DEYM !u!=u%=Q)}>K?9K?9GYF#/<A>Q 14٪E?Q 54 ʠB9Ye?Q E?ymC)M;IX;i4Y7Ahh)AhWBhWBhE?zp>V@++ԍ"1@8>s+@jp5??ni\?hB>h|5E*fq@V@u@rE4i쵿=|?5sD?hBh7h.'?hIehB*i2iIe:i5Bi8B"i? addTargetRange:: Added new target pos. range: 92.199997 m, deltaT: 3.779865 s, deltaX: -2.400002 m, approachRate: -0.634944 m/s, rangeRepo size: 4  Added new target pos. range: 91.670265 m, bearing: 94.929830 deg, lat: 36.779267 deg, lon: -121.859579 deg, deltaT: 3.779865 s, deltaX: -2.377274 m, approachRate: -0.628931 m/s, posRepo size: 4 gDNOT Ignoring new targets: 91.67 m.ggU ProNav: ac range: 91.670265 m, nav range: 91.111099 m, bearing: 92.624474 deg, approach rate: 0.000000 m/s, LOS rate: -0.009201 deg/s, cmd heading: 85.246389 deg, new cmd heading: 85.236338 deg. gQ]HeadingCmd: 1.487655 target range: 91.670265 and range: 92.20 m.g]xk?gYgYgYgYzfYrfaffBdddc W@cHK?ԡɢoB< I %O=ɡ!i!I%I-xk?i-/S=i-*=)-xk?)1DeDeDe,DaEeD: Ee~:6Eeg4:Ea"Ee1A 3=Am yAIy I N > ,"))ALy"?ٱ?W9= Y3=Hӷ?@?5?Ẹ?{? :`fX? ?I"?)N#`;i^CB9 %IMb@Mb@Mb@ )Ii/$?"~j?{Gzt?,?S=ף;Ii A&AA) ABD6DfY&!/=Q)> H?9 H?9GYF 3;A >Q 14٪n?Q 54~ B9^.?Q A:Y?Q E?yC);In;i4YAM78AIeB*** querying acoustic contact ***zhahagquDNOT Ignoring new targets: 91.67 m.g}tJg}tJ ProNav: ac range: 91.670265 m, nav range: 90.799225 m, bearing: 92.619706 deg, approach rate: -0.721182 m/s, LOS rate: -0.011062 deg/s, cmd heading: 85.236335 deg, new cmd heading: 85.226767 deg. gHeadingCmd: 1.487488 target range: 91.670265 and range: 92.20 m.ge?ggggzfrfff\BBdddcc?ԹɢnB < TI =ɡiI΃Ie?iS=i 3=)e?)iYYY]/Y>A-%)= T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bD!ZD%AABE^n4JEA{4REDZo0D-D-D-+D)E-: E-Ar:6E- [4:E)!=@!=@!=@!=@A]AIiIyN> l,!C)Aiy:?ٱ:?:K=:/B=:H ??`? ? ?@D1?`?I:?):_;i8BB9F%IiJ=IJ=BDN6DN0YV"k!Vw=VlQ)V?ZK?9ZK?9ZGYX^'<A^?`Q 1f4٪b ?Q 5f4b bB9dYfs?Q Ef?ybC)b:Ib:ib4lYlrJ8Apg DNOT Ignoring new targets: 91.67 m.g [\g[\% ProNav: ac range: 91.670265 m, nav range: 90.574127 m, bearing: 92.615772 deg, approach rate: -0.687298 m/s, LOS rate: -0.012041 deg/s, cmd heading: 85.226766 deg, new cmd heading: 85.218879 deg. g%I-HeadingCmd: 1.487350 target range: 91.670265 and range: 92.20 m.g-|a?g)g)g)g)zf)rf1f1f1Bd9d9d9c9c= ?ɢlB8; I =ɡi1I5&UI=|a?i=S=i=Lx?=)=|a?)9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.999649i0 AE<AE<vBMѿ>~BMӍCBM%IBMBBM =BIBMkDBM_\;BM"E9>AK'=)   checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248760A% yAI) I9 NM >a D% D% D% )D! E% : E% Z:6E% FA4:E! "E% g%n H?9r H?9rGYrFrK<Ar>tQ 1E4٪v??Q 5E4vW vB9IYM?Q EM?yvղC)vEA}K@=ԑ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500601AAIINe>Ա %,w)Ay6?ٱ6^?6%=6=H=6H?4?-??-԰? ??I6?)6_;i6_C^B9^%Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752570MMb@Mb@Mb@ I)IIIiIIM(\?X9v?{Gzt?M'?M=IIMAiMK AMAMA)IM3 ABDe6Dek1Yu!uA=ԹrDjDDDD,DEV: EAr:6Eg4:E! @! @! @! @  Q)>K?9K?9GYF<A>!Q 1-4٪%ص?Q 5-4% %B9-n*?Q A5:Y5|?Q E5?y%C)%;I%;i%g4YY]7AYgDNOT Ignoring new targets: 91.67 m.g2ɹg2ɹ ProNav: ac range: 91.670265 m, nav range: 90.004204 m, bearing: 92.600629 deg, approach rate: -0.668091 m/s, LOS rate: -0.021987 deg/s, cmd heading: 85.207832 deg, new cmd heading: 85.188493 deg. g HeadingCmd: 1.486820 target range: 91.670265 and range: 92.20 m.gP?ggggzfrfffbBBdddccld?ɢejBmd; 額ԾI R=ɡiIr|IP?iS=iZ=)P?)ie8aimq0ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004525>A &t@=bA ZA jAA vBm >~Bm ЍCBm [%IBm pBBm =Bm IDBm hDBm ^;Bm #EA I I1 N= >#,⫐)Ay6 ?ٱ6?6a9a9mGYiu#<Au>Q 14٪?Q 54 B9Y?Q E?yC)m;Io;i 4Y8AgDNOT Ignoring new targets: 91.67 m.gC۹gC۹ ProNav: ac range: 91.670265 m, nav range: 89.751419 m, bearing: 92.591680 deg, approach rate: -0.674967 m/s, LOS rate: -0.023962 deg/s, cmd heading: 85.188496 deg, new cmd heading: 85.170548 deg. gi/HeadingCmd: 1.486506 target range: 91.670265 and range: 92.20 m.gE?ggggzfrfffBdddc )c ` @ɢhB5 页I Z=ɡiI3IE?ioS=iF1h=)E?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258795D-D-D-.D)E-: E-x:6E-ـ4:E)"E-+AU-tY=AԉIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508462 m*,:u)AyFtj?ٱF`?F?'=FX=FH`P? l?Q?-?S?*"?H?IFtj?)F_;iF`CNfB9RN%IBDr6Dr Yd!G=g Q)>99GYF @;A>IQ 14ԙ٪M7?Q 54M MB9YQ?Q E?yM@C)MXA% 5[= Au yAIy I N >[+1,Ĥ)Ay6أ?ٱ6ο?6wq=6_=6H9v?{h?f?@I?`f?|*?@?I6أ?)6,`;i6[C>eB9@Mb@Mb@Mb@ )Ii'1Z?Pn?{Gz?"?>#5 H?95 H?9=GY=F=<A=>AQ 1M4٪E?Q 5M4E$ EB9&&?Q A:YH?Q E?yE_C)E~BB)%IBGBB =BBiDB_;B$Ei}8yy}4y>A]zt=AAIIN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264521D D D /D E : E 6E J4:E "E 3jK?9jK?9jGYhn ;An>1Q 1=4٪5ǫ?Q 5=45] 5B99Y=?Q EE?y5C)5U;I5;i5+"4YIM8AIgquDNOT Ignoring new targets: 91.67 m.g})g}) ProNav: ac range: 91.670265 m, nav range: 88.962875 m, bearing: 92.554089 deg, approach rate: -0.681516 m/s, LOS rate: -0.037138 deg/s, cmd heading: 85.123357 deg, new cmd heading: 85.095146 deg. gHeadingCmd: 1.485191 target range: 91.670265 and range: 92.20 m.g?ggggzfrfffBdddcc^G @ɢeB   I <ɡiIx9I?iXS=i =)?)Iia/@=@=DAT read: 05:22:25.8639 LVL= 27376, 28145, 28402, 32755, AGC= 70, IDX= 407,-0.03,-0.908,-2.760,-1.011,-1.302, PHS= 0.497,-1.413, 0.248, RAW= 143.1, 7.5, CAL= 142.7, 8.2, ROT= 7.3, -8.2 Ygot valid direction response: 05:22:25.8639 LVL= 27376, 28145, 28402, 32755, AGC= 70, IDX= 407,-0.03,-0.908,-2.760,-1.011,-1.302, PHS= 0.497,-1.413, 0.248, RAW= 143.1, 7.5, CAL= 142.7, 8.2, ROT= 7.3, -8.2 PDAT read: Bearing 258.6, 4.2 (Local) ~Local bearing/azimuth received: Bearing 258.6, 4.2 (Local) DAT read: Range 11 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.6 m/s ,DAT read: user:7462> BDAT read: Tx time:05:22:26.9900 $Ping request sent.)U/ݴIU}>iU @U >Ue@UC>Uw> UCiQQIUR'G.?7aa?Urwm?Ux>U Uw>)UCiQQ:publishing transmit ping timeYFpublishing direction and range info9QU*6gj?E?x0A?QQiQQQQQ Q)QIQiQQQQQ QiQQIUR'G.?7aa?Urwm?QQ Q)QiQQY>Ar=ԉ A yAI I) N5 >{=,)A,y:4?ٱ:$*?:#*U=:`i=:H?@E?@'? ?F?@0?@?I:4?):@_;i:_CRGB9R)%IMb@Mb@Mb@ )IiDDD1DEO: Eg:6E-4:E!@!@!@!@)\(?HzG?Mb?G!?= > H?9 H?9GYF:A>!Q 1-4٪%w?Q 5-4% %B95$?Q AE:YE?Q EE?y%C)%;I%;i%)4YQ]j8AYhh)AhBhBh%N?zK\FU@I24t&@),?w)@j*6gj?E?x0A?hw>hCGw8SZa/V@6CÌ!@r%˰ר#&?c\)?h{Bhh3n;?hdahԗB*i3n;?2ida:iiB"iM? addTargetRange:: Added new target pos. range: 89.800003 m, deltaT: 3.530211 s, deltaX: -2.399994 m, approachRate: -0.679844 m/s, rangeRepo size: 4 % Added new target pos. range: 89.278259 m, bearing: 92.794659 deg, lat: 36.779264 deg, lon: -121.859578 deg, deltaT: 3.530211 s, deltaX: -2.392006 m, approachRate: -0.677582 m/s, posRepo size: 4 g)MDNOT Ignoring new targets: 89.28 m.gUgQe ProNav: ac range: 89.278259 m, nav range: 88.846008 m, bearing: 92.794360 deg, approach rate: 0.000000 m/s, LOS rate: -0.037138 deg/s, cmd heading: 85.095148 deg, new cmd heading: 85.061651 deg. gaԉHeadingCmd: 1.484606 target range: 89.278259 and range: 89.80 m.g?ggggzfrfff3BBdddc@3sV@cR?ɢdB鼻 ,I <ɡiI1:I?iyS=iL=)%?))i9/Թ>A W^= vB Ŀ>~B эCB $IB $BB =B B B _;B $EBэCBҍCBʔCBBʰ =BI6A1 II Ia N >>D,8)A,y^@?ٱ^p6?^FGG=^BQb=^H ީ?@p??W?m٦?d樿`=??I^@?)^_;i^]Cf+B9f%IBDn6DnܲYv+!vU=zQ)z>x9|9~GY~F~p:A~>Q 1 4٪?Q 5 4y B9Y?Q E?yijC);I&;ij04YI9A!gIMDNOT Ignoring new targets: 89.28 m.g!7g!7 ProNav: ac range: 89.278259 m, nav range: 88.602280 m, bearing: 92.779788 deg, approach rate: -0.667645 m/s, LOS rate: -0.040027 deg/s, cmd heading: 85.061653 deg, new cmd heading: 85.032429 deg. gHeadingCmd: 1.484096 target range: 89.278259 and range: 89.80 m.g?ggggzfrfffBdddcc?ɢMbBM{ QUyIQ U<ɡQiQIUa:I]?i]S=ieІ=)e?)aԉDmDmDm+DiEmV: Em҆:6Em [4:Ei"Em9Axr= A I I! N5 >J,-)A\yv+?ٱv ?v?;=vU=vH@ձ? y0??o?s?eŘ?^?Iv+?)vJ_;iv_C-B95$IBDu6Du:Y!?=Q)>99GYȺA>Q 14٪B?Q 5%4`rQ 9%tI B9Y?Q E?yC)A b$=A- AI1 IA N] >+R,I)AiV?IVR=Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499514yRi ?ٱR?R/=R K=RHu?@:`۪? ???X?f?IRi ?)R`;iR^CnB9n$I}Mb@Mb@Mb@ y)yIyiyy}Zd;O?Pn?y&1?}j?}>}`eK?9K?9GYF% A%>)Q 154٪-?Q 554-'k -B95?Q A5:Y=t?Q E=?y- C)-:I-:i-?4YE%BE8AMEgiuDNOT Ignoring new targets: 89.28 m.gu(3g}(3 ProNav: ac range: 89.278259 m, nav range: 88.046669 m, bearing: 92.747300 deg, approach rate: -0.682720 m/s, LOS rate: -0.039158 deg/s, cmd heading: 84.998918 deg, new cmd heading: 84.967245 deg. gSHeadingCmd: 1.482958 target range: 89.278259 and range: 89.80 m.gѽ?ggggzfrfffBBdddcc2?ɢ_B k%I <ɡiI :Iѽ?iS=iх=)ѽ?)QvB>~BЍCB$IBBBBBhDB_;B#Ei]9YY]0Yԁmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751135>A8=D} D} D} *Dy E} : E} :6E} (N4:Ey "E} 3JX,b)AP~B9~$IBD 6D Y;R<!]=%Q)%>!9!9-GY)-A->1Q 1u4٪5v?Q 5u45#e 5B9yYyQ E}?y5)C)5t?ɢ]B% !%j#I! % <ɡ!i)I-o4:I-i½?i5S=i5҆=)5i½?)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002596i8/0>A5=! Aa Ii Iy N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254441|^,{|)ABE1JE5^n4RE50DDD)DE: Ee:6EFA4:E!@!@!@!@yf?ٱfR?f"=fstB=fH3ղ?y`7??RI??} G? ?If?)f`;if[CnB9n$IpeMb@Mb@Mb@ a)aIaiaaeT㥛 ?K7A?y&1?e!?e >aIe AieAe AeA)ae ABD}6D}kYO!:=u5Q)>99GYF%6ڻA%>)Q 154٪-?Q 554-] -B95P$?Q A5:Y5?Q E=?y-MC)-;I-;i-M4YAE8AAgiuDNOT Ignoring new targets: 89.28 m.gug} ProNav: ac range: 89.278259 m, nav range: 87.535973 m, bearing: 92.719994 deg, approach rate: -0.650284 m/s, LOS rate: -0.032724 deg/s, cmd heading: 84.940731 deg, new cmd heading: 84.912472 deg. goHeadingCmd: 1.482002 target range: 89.278259 and range: 89.80 m.g@?ggggzfrfffBBdddcc@@ɢ[B &I ?_<ɡiI+:I@?i T=ia5=)@?) V>>i9w0@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5075499>Ab$=vB >~B B $IB BB =B B B @^;B `#Eq AE yAIQ Ia Nm >\e,})Ay6v?ٱ6k?6=6tB=6HX@?@?c?c? 쯠?ŕe:?k?I6v?)6$`;i6^CRB9R$IZf H?9j H?9jGYjFjAj>lQ 1r4٪n&?Q 5v4nW nB9tYv?Q Ev?ynjC)nS:In:in+T4Yxz/9A|g%DNOT Ignoring new targets: 89.28 m.g%g-5 ProNav: ac range: 89.278259 m, nav range: 87.306541 m, bearing: 92.708665 deg, approach rate: -0.640622 m/s, LOS rate: -0.031715 deg/s, cmd heading: 84.912475 deg, new cmd heading: 84.889758 deg. g=+hEHeadingCmd: 1.481606 target range: 89.278259 and range: 89.80 m.gEB?gAgAgAgAzfArfIfIfIBdIdQdQcQcU@,@YɢZBW 額(-I `f<ɡiIX.:IB?iT=im=)B?)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758699i5911541DmDmDm+DiEmV: EmAr:6Em [4:Ei"Em9A t0=ԉA9IAIQNeU>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010462 k,Qf)Ay9?ٱi/?;=^28=H`ȸ?_ S?? v??`桿??I9?)v4`;i\CB9$I}Mb@Mb@Mb@ y)yIyiyy}Cl?HzG?:v?};?}= >}I9I9MGYMFUxAU>YQ 1e4٪]?Q 5e4]O ]B9m#?Q Am:YmA?Q Em?y]C)] ;I] ;i]\4YuBu7AuEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 89.28 m.g%g% ProNav: ac range: 89.278259 m, nav range: 86.998108 m, bearing: 92.690942 deg, approach rate: -0.628497 m/s, LOS rate: -0.036244 deg/s, cmd heading: 84.889757 deg, new cmd heading: 84.854185 deg. g%HeadingCmd: 1.480985 target range: 89.278259 and range: 89.80 m.g%ꐽ?g!g!g9g9zf9rfQfQfUBBdYdYdYcc` @ɢ-WB-<} )-R.I1 5؍<ɡ1i1I5xq;EBDAT read: Rx Time:05:22:29.5110 MTRx dataTimestamp_ set to:1755840150.928686Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263767Iꐽ?i:T=iv%}=)ꐽ?)DeDeDe.DaEe: Ee҆:6Eeـ4:Ea!m@!u@!u@!u@i5811501)>AU Pڀ=Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515039A AI I N?vB>~BB$IBBB =BBB];B#EWIt,ѥ)Ay=?ٱ=?=R==%==H`V?l>??F?Ԟ?` @c?:?I=?)=D`;i=]CmB9u$I)y yBD6DYA!%=_Q)>K?9K?9GYA>Q 14٪E?Q 54G B9Y.?Q E?yC);IV:id4Y@8A -PExceeded connect timeout, disconnecting.gY]DNOT Ignoring new targets: 89.28 m.geX%geX%u ProNav: ac range: 89.278259 m, nav range: 86.697929 m, bearing: 92.673686 deg, approach rate: -0.626492 m/s, LOS rate: -0.036139 deg/s, cmd heading: 84.854186 deg, new cmd heading: 84.819554 deg. guG}HeadingCmd: 1.480381 target range: 89.278259 and range: 89.80 m.g}}?gygyggzfrfffBdddcc @ɢ=UB=_d 9= 3Ia e;D<ɡaiaIeX;Im}?imRT=iu6|=)u}?)qDAT read: 05:22:29.5110 LVL= 24720, 29793, 23986, 32755, AGC= 67, IDX= 409,-0.13,-1.881, 2.593,-1.911,-2.257, PHS= 0.478,-1.389, 0.302, RAW= 145.1, 6.9, CAL= 144.6, 7.5, ROT= 5.4, -7.5 Ygot valid direction response: 05:22:29.5110 LVL= 24720, 29793, 23986, 32755, AGC= 67, IDX= 409,-0.13,-1.881, 2.593,-1.911,-2.257, PHS= 0.478,-1.389, 0.302, RAW= 145.1, 6.9, CAL= 144.6, 7.5, ROT= 5.4, -7.5 PDAT read: Bearing 258.3, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 258.3, 3.7 (Local) %DAT read: Range 11 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.7 m/s -,DAT read: user:7463> -BDAT read: Tx time:05:22:30.6400 -$Ping request sent.5)ʱI>i "@Ϣ=!@ >=  iI[?rbC?`?R> =DDD*DEO: E:6E(N4:E"E A |=ԑ A yAI I N >}Cz,| )Ay>?ٱ>޾?>U=>;=>H@|Z?;?@??Ɲ? J1נ? k?I>?)>_;i>XCFB9F$IIh)jBABDl6DlYr<!r_=vQ)v>v H?9v H?9zGYzFzsA~>|Q 14٪~?Q 54~A ~B9 Y ?Q E ?y~ִC)~>:I~:i~Sk4YB7AEh1h5ۥ)Ah5.Bh5.Bh5T?z5?}U@SL`i@ @,`y1&@j54kޕ?H? /?h5=h5 5Gk{gU@!@r5֙g2z7~?VV ?h5CBh5[h5mME?h5f'[h5B*i53?2i5ƥa:i1i5B"i5j?e addTargetRange:: Added new target pos. range: 87.599998 m, deltaT: 3.778327 s, deltaX: -2.200005 m, approachRate: -0.582269 m/s, rangeRepo size: 4 } Added new target pos. range: 87.090324 m, bearing: 90.568013 deg, lat: 36.779271 deg, lon: -121.859578 deg, deltaT: 3.778327 s, deltaX: -2.187935 m, approachRate: -0.579075 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 87.09 m.gg ProNav: ac range: 87.090324 m, nav range: 86.442986 m, bearing: 92.107958 deg, approach rate: 0.000000 m/s, LOS rate: -0.036139 deg/s, cmd heading: 84.819557 deg, new cmd heading: 84.793583 deg. gHeadingCmd: 1.479927 target range: 87.090324 and range: 87.60 m.gAn?ggggzfrfffBdddc`fU@c?ɢSB9"ݼ T1I T<ɡiIg ;IAn?icT=iox=)An?)iqqy}4@@@@rAU?jAQiIG)1IMAiEAD- D- D- )D) E- : E- :6E- FA4:E) !5 @!5 @!5 @!5 @9 A AI I N >I (,)Ay6˴?ٱ6q?62<6<6H~´?@@ठ?0??J?E֞?`v?I6˴?)6Z_;i6\C^B9^$ImMb@Mb@Mb@ i)iIiiiimMb?M?mtK?9K?9GYFuA>Q 14٪q?Q 54: B91'?Q A:Y?Q E?yC) ;I ;ir4YB8AgDNOT Ignoring new targets: 87.09 m.geLgeL ProNav: ac range: 87.090324 m, nav range: 86.166748 m, bearing: 92.089199 deg, approach rate: -0.655769 m/s, LOS rate: -0.044674 deg/s, cmd heading: 84.793582 deg, new cmd heading: 84.755944 deg. gHeadingCmd: 1.479270 target range: 87.090324 and range: 87.60 m.gX?ggggzfrff!f%BBd!d)d)c)c5 ?ɢ}QB}`Ƽ 顅6I Ib<ɡiI]+(;IX?i\uT=iu=)X?)lA)ie9aam4ivB~BB$IB؅BBBBB ];B"EYAyAIINj>nManaging dock network, ignoring radio surface power offԁ D= D= D= +D9 E= : E= x:6E= [4:E9 "E= 3 H?9 H?9GYA>!Q 1%4٪%?Q 5-4%3 %B9)Y-?Q E-?y%C)%:I%:i%y4Y1=I8A9gaeDNOT Ignoring new targets: 87.09 m.gmJgmJ} ProNav: ac range: 87.090324 m, nav range: 85.915970 m, bearing: 92.072146 deg, approach rate: -0.649844 m/s, LOS rate: -0.044320 deg/s, cmd heading: 84.755947 deg, new cmd heading: 84.721741 deg. g}8HeadingCmd: 1.478673 target range: 87.090324 and range: 87.60 m.g+E?ggggzfrfffBdddcc?ɢOB]޼ H6I  <ɡiIk3;I+E?iT=iv=)+E?)iQQQU/QԉAIINI>Թ z,r8)Ay6?ٱ6?6<6<6Hy?@f@c?@q?H ?ԙ?o`U?1?I6?)6_;i4BօB9B$I\ Mb@Mb@Mb@ ) I i   Mb?Pn? rh?  ? > CA9A9EGYEFEAM>IQ 1U4٪Mބ?Q 5U4M - I9#?Q A:Yo?Q E?yM}<ɡaiaIeV?;ImH4?imT=imh3x=)H4?)i/9AAIIN> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A vB >~B B $IB ͅBB =B B iDB \;B "EBЍCBЍCB˓CB˵ =B˵ =B!55c,gR)AyN'?ٱN̜?N[ZnK?9nK?9nGYlr9Ar>tQ 1z4٪vV?Q 5z4v& vB9xYzs?Q Ez?yv\C)v:Iv;iv4Y$7AYgDNOT Ignoring new targets: 87.09 m.gY*gY* ProNav: ac range: 87.090324 m, nav range: 85.404861 m, bearing: 92.043276 deg, approach rate: -0.654749 m/s, LOS rate: -0.037233 deg/s, cmd heading: 84.692215 deg, new cmd heading: 84.663827 deg. gGHeadingCmd: 1.477663 target range: 87.090324 and range: 87.60 m.g $?ggggzfrfffBdddcc?ɢuJBuMe q}8Iy }<ɡyiyI}fJ;I $?iT=i z=) $?) a>>i9/ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997654DDD+DE : EZ:6E [4:E"ED"A|=A I I N >,}?l)Ai"?I"<&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250041y>?ٱ>??>n<>=>H@??)>fa;i>ZCvхB9v$IBD~ 6D~f2Y  ! G=vQ)>99GYFH&A>!Q 1-4٪%?Q 5-4% %B91Y5f?Q E5?y%}C)%:I%y:i%4Y9=^7A9gamDNOT Ignoring new targets: 87.09 m.gm-gm- ProNav: ac range: 87.090324 m, nav range: 85.142357 m, bearing: 92.028372 deg, approach rate: -0.663930 m/s, LOS rate: -0.037812 deg/s, cmd heading: 84.663828 deg, new cmd heading: 84.633928 deg. gfHeadingCmd: 1.477141 target range: 87.090324 and range: 87.60 m.g?ggggzfrfffBdddcc~@ԹɢGBa ;I z<ɡiI\U;I?iT=ism{=)?)iu9yy}/>Ay=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502756D D D /D E 2: E ~:6E J4:E !% @!% @!- @!- @A I I N >A t,)Ay6?ٱ6$x?6<6l!=6H(?@??\?t?ᕿ+? ?I6?)6b;i6[CBͅB9B$I Mb@Mb@Mb@ ) I i   }?5^I?X9v?Q? M"? = u9999=GY=FE AE>IQ 1U4٪MB}?Q 5U4M MB9Ul%?Q AU:YU ?Q EU?yMC)MA (z= BDAT read: Rx Time:05:22:33.1577  TRx dataTimestamp_ set to:1755840154.457329 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007968ԙ A I I N >D% D% D% ,D! E% : E% Ar:6E% g4:E! "E% .9!9%GY!%úA%>)Q 154٪-z?Q 554-  -B99Y=?Q E=?y-C)-;I-;i-Ӝ4YAE7AIgiuDNOT Ignoring new targets: 87.09 m.gugu ProNav: ac range: 87.090324 m, nav range: 84.621017 m, bearing: 92.002367 deg, approach rate: -0.693919 m/s, LOS rate: -0.034674 deg/s, cmd heading: 84.607541 deg, new cmd heading: 84.581758 deg. g}HeadingCmd: 1.476230 target range: 87.090324 and range: 87.60 m.g?ggggzfrfffBdddcc@ @ɢBB\ BI <ɡiIXk;I?iT=iTy=)?))yiu8qquo0q@}lA@}lAԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257729>Aw=A I I Nm > ̭,n޹)Aye}_?ٱe"U?eY BDAT read: Tx time:05:22:34.2400 $Ping request sent.)9I1>iƇ#@5="@C= iIWp?_ZL?ia?Yf> C=)i]:publishing transmit ping timeY]Fpublishing direction and range info9 Al!?zų%? /?i )IiBE] [4JE]b4RE]/DDD+DE: Ei:6E [4:E!@!@!@!@ iIWp?_ZL?ia? )iMb@Mb@Mb@ )Ii r?!rh?{Gz?#?l=#99GYFeaA>Q 14٪.x?Q 54 B9$&?Q A:Y?Q E?yC)& ;Iv;im4YBJ6AEhho)Ah6Bh6Bh?z*9.T@uB@q"&@j Al!?zų%? /?hC=hwؤ?s5U@#@rfl?x?8)W?h Bh]?h?h{fhOB*iǍL?2ida:iBiB"ip? addTargetRange:: Added new target pos. range: 85.099998 m, deltaT: 3.527735 s, deltaX: -2.500000 m, approachRate: -0.708670 m/s, rangeRepo size: 4  Added new target pos. range: 84.605484 m, bearing: 88.991331 deg, lat: 36.779272 deg, lon: -121.859578 deg, deltaT: 3.527735 s, deltaX: -2.484840 m, approachRate: -0.704373 m/s, posRepo size: 4 gDNOT Ignoring new targets: 84.61 m.gg!U ProNav: ac range: 84.605484 m, nav range: 84.251472 m, bearing: 91.960201 deg, approach rate: 0.000000 m/s, LOS rate: -0.034674 deg/s, cmd heading: 84.581757 deg, new cmd heading: 84.541341 deg. gQ]HeadingCmd: 1.475525 target range: 84.605484 and range: 85.10 m.geݼ?gagagagazfirfiffBBdddc`fFU@c5`?ɢ}>B놭 額:~B ЍCB $IB BB B B B \;B K"EQ >Aew=ԉAIIN ?,4ܦ)AUB9Ur$IBDe6DeD}D}D}KDyE} ; E}B:6E}5:Ey"E}L99GY FA>Q 14٪v?Q 54 9YQ E?yC)';I;i4Y6AuB*** querying acoustic contact ***zhqhqgDNOT Ignoring new targets: 84.61 m.g0g0칝 ProNav: ac range: 84.605484 m, nav range: 83.979668 m, bearing: 91.949765 deg, approach rate: -0.670081 m/s, LOS rate: -0.025811 deg/s, cmd heading: 84.541343 deg, new cmd heading: 84.520403 deg. g<HeadingCmd: 1.475159 target range: 84.605484 and range: 85.10 m.gҼ?ggggzfrfffBdddcc`,?ɢ;Bg 5DI ˅<ɡiI ';IҼ?iU=i|=)Ҽ?)i8 T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a>A|=A yAI I N >ԁ 2,)A 9s$IYMb@Mb@Mb@ )Ii#~j?v/?Mb`?%?x=;I AiAAA)ABD6DNYh;!8=Q)> H?9 H?9GY!FA>Q 14٪s?Q 54 B9o(?Q A:Y?Q E?y6C) ;I ;i4Y6Ag!-DNOT Ignoring new targets: 84.61 m.g-<g-<򹝅= ProNav: ac range: 84.605484 m, nav range: 83.688057 m, bearing: 91.938567 deg, approach rate: -0.686977 m/s, LOS rate: -0.026472 deg/s, cmd heading: 84.520401 deg, new cmd heading: 84.497927 deg. g=AEHeadingCmd: 1.474767 target range: 84.605484 and range: 85.10 m.gE+ż?gIgIgIgIzfIrfIfQfUBBdQdQdYcYc]h?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996237ɢ8B 顝FBI n8<ɡiI͆;I+ż?i+U=i [}=)+ż?)kADDD/DEa: E^:6EJ4:E!@!@!@!@i]9aae 0a@m=@m=ԉԡ>A 0=% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248805A AI I N >,R)AvBz>~BxBzt$IBzBBxBxBxBz[;Bz9"EyU?ٱUMܽ?Ui@K?9K?9GY#A>Q 14٪r?Q 54 9Y ?Q E?yUC):I:i4Y6AgamDNOT Ignoring new targets: 84.61 m.gmcչgmcչ ProNav: ac range: 84.605484 m, nav range: 83.444504 m, bearing: 91.929763 deg, approach rate: -0.643226 m/s, LOS rate: -0.023320 deg/s, cmd heading: 84.497930 deg, new cmd heading: 84.480270 deg. g*HeadingCmd: 1.474459 target range: 84.605484 and range: 85.10 m.g?ggggzfrfԱffBdddcc`>Y?ɢ5B BI  7<ɡiI;I?i:U=i Ep=)?)i800checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500241DDDDE: E:6E:E"E.A V}=A I! I1 9 NE >,Q*)AyJ?ٱJ?J!G}?@<?N?IJ?)Jh;iJZCRB9R`$IBD^6D^ܲYf{!f[=fQ)j>h9h9jGYj"FnۋAn>pQ 1v4٪rcp?Q 5v4r* p9tYz?Q Ez?yruC)r;Ir;irn…4Y~aB~5A~ިEgDNOT Ignoring new targets: 84.61 m.gιgι ProNav: ac range: 84.605484 m, nav range: 83.202263 m, bearing: 91.921213 deg, approach rate: -0.638523 m/s, LOS rate: -0.022602 deg/s, cmd heading: 84.480267 deg, new cmd heading: 84.463117 deg. gu%HeadingCmd: 1.474159 target range: 84.605484 and range: 85.10 m.gB?ggggzfrfffchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752245Bdddcc??ɢ%3B-HR$ )-_GI) -ϫ<ɡ)i1I5{a;I5B?i=EU=i=Rm=)=B?)9)i95>A}fm=QAIIN~>IM-G)aI}Ai0ͨAy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004208D D D -D E s: E :6E t4:E ! @! @! @! @,D)A0yRyv?ٱRl?R i9i9mGYimAm>qQ 1}4٪umn?Q 54u uB9-&?Q A:Y?Q E?yuC)u ;Iu:iuɅ4YUB5AݨEgDNOT Ignoring new targets: 84.61 m.g޹g޹ ProNav: ac range: 84.605484 m, nav range: 82.929245 m, bearing: 91.911451 deg, approach rate: -0.678106 m/s, LOS rate: -0.024325 deg/s, cmd heading: 84.463116 deg, new cmd heading: 84.443529 deg. g2UHeadingCmd: 1.473818 target range: 84.605484 and range: 85.10 m.g]?gYgYgYgYzfYrfYfafeBBdadadicicm_u@ɢ0B FI ;<ɡiIT;I%?i-PU=iuHbh=)u?)yԑ V>>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257049i!!!-4)@1@1ԹA<A<vB ÿ>~B эCB m$IB BB B B B [;B 8"E>AM ur= A I I N >S&,])A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508213yB5_?ٱBT?BZ;B)W99%GY%#F%BA%>)Q 1U4٪-l?Q 5U4-E -B9QY]?Q E]?y-C)-;I-7;i-Ѕ4YeOBew5AaD}D}D}*DyE}O; E}:6E}(N4:Ey"E}YA0f=9 I I N >O,w)AAyyJ?ٱ@?2;x<Hז?9`?@?`?@|_?Qfs M?`?IyJ?)i;iVCB9W$IuMb@Mb@Mb@ q)qIqiqquy&1?Cl?Mb`?u`%?u;=u;IuxAiuAuAubA)quABD6DN2Yy!4=Q)>99GY$FⶺA>!Q 1-4٪%j?Q 5-4%: !9-'?Q A5:Y5?Q E5?y%C)%;I%P;i%؅4Y9=5A9]B*** querying acoustic contact ***zhYhYmBDAT read: Rx Time:05:22:36.7546 uTRx dataTimestamp_ set to:1755840157.984540uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013278gy}DNOT Ignoring new targets: 84.61 m.glgl ProNav: ac range: 84.605484 m, nav range: 82.366348 m, bearing: 91.893502 deg, approach rate: -0.661342 m/s, LOS rate: -0.019171 deg/s, cmd heading: 84.425270 deg, new cmd heading: 84.407506 deg. gV HeadingCmd: 1.473189 target range: 84.605484 and range: 85.10 m.gt?ggggzfrfffBBdddccD@ɢ*B FI <ɡiI;It?idU=if=)t?)arDjD=DDD%DE: E n:6E 4:E!@!@!@!@iYaaaaԉ>A h= i %=I % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264450IY Ii N} >:,)AvBNĿ>~BLBNg$IBNBBN =BLBLBN[;BN4"EBeэCBeэCBaBe =Be =Bey4yr+?ٱr{!?rQ;rUI=rHӷ?;@e]?@e?v׷?v-?`N8j qH?`?Ir+?)ri;irZCzB9~Q$IBD6D:Y]Ѽ!f=Q)>9!9%GY!%m,A%>)Q 154٪-Hi?Q 5=4-^ -B99Y=?Q E=?y-C)-W:I--:i-ޅ4YAE5AIԉg  DNOT Ignoring new targets: 84.61 m.gg%5 ProNav: ac range: 84.605484 m, nav range: 82.143211 m, bearing: 91.887164 deg, approach rate: -0.623760 m/s, LOS rate: -0.017767 deg/s, cmd heading: 84.407505 deg, new cmd heading: 84.394793 deg. g==HeadingCmd: 1.472967 target range: 84.605484 and range: 85.10 m.g=/?gAgAgAgAzfArfIfIfIBdIdQdQcQcU%% @ɢ'B>, 顥GI w<ɡiI;I/?i kU=i\"d=)/?))AԹi/@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518664DDD1DE: Ex:6E-4:E"E&A0f=I! I1 NE > ],5{)Ay6 ?ٱ6?6Po:67 =6H? ? #?? ?-T m\`v ?`?I6 ?)6i;i4@9BR$IID)FAABDJ6DJYRy:!RS=VwQ)V>T9T9VGYV%FZnAZ>\Q 1b4٪^g?Q 5b4^ ^B9`Yfe?Q Ef?y^C)^;I^:i^4Yj#BjS4AjԨEgy}DNOT Ignoring new targets: 84.61 m.gégé ProNav: ac range: 84.605484 m, nav range: 81.889671 m, bearing: 91.880069 deg, approach rate: -0.660958 m/s, LOS rate: -0.018552 deg/s, cmd heading: 84.394794 deg, new cmd heading: 84.380561 deg. gHeadingCmd: 1.472719 target range: 84.605484 and range: 85.10 m.g ?ggggzfrfffBdddcc`:@ DAT read: 05:22:36.7545 LVL= 26416, 32737, 27634, 32755, AGC= 65, IDX= 408, 0.35,-3.076, 1.395,-3.078, 2.831, PHS= 0.478,-1.391, 0.331, RAW= 145.9, 6.5, CAL= 145.4, 7.1, ROT= 4.6, -7.1 Ygot valid direction response: 05:22:36.7545 LVL= 26416, 32737, 27634, 32755, AGC= 65, IDX= 408, 0.35,-3.076, 1.395,-3.078, 2.831, PHS= 0.478,-1.391, 0.331, RAW= 145.9, 6.5, CAL= 145.4, 7.1, ROT= 4.6, -7.1 PDAT read: Bearing 256.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 256.6, 4.6 (Local) -DAT read: Range 11 to 50 : 82.8 m (Round-trip 110.5 ms) speed 0.5 m/s 5,DAT read: user:7465> 5BDAT read: Tx time:05:22:37.8399 =$Ping request sent.=)J QIx>i"@V=i"@=l= iI??|?G?P> l=)iu:publishing transmit ping timeY9}Fpublishing direction and range info9?A94_?A7X?i )Ii iI??|?G? )iɢe%Be am FIi ms!m<ɡ i I r;I ?irU=iGb=) ?)ԁi9/ԩ>A (a=Ii Iy N >D D D -D E : E :6E t4:E ! @! @! @! @ F,Wŧ)Ay6N?ٱ6?6rĮ96<<6H}B?@q@#? "?@W@?d@5Pƞ?L?I6N?)6i;i6XCNB9RS$I%Mb@Mb@Mb@ !)!I!i!!%'1Z?i|?5?~jtx?%"?%=%;I%K Ai%A!%A)!% ABD6DܲY7;!;=bRQ)>99GY&FA>Q 14٪e?Q 54N B9%?Q A:YY?Q E?yAC):I:i>4YI4Ah h W)Ah Bh Bh "?z ͼ1[T@r4@r'}Y$@j ?A94_?A7X?h l=h  "{?֐iT@* $@r Y_xP?硾?l?h NBh C?h u4䛊?h 􍂜_h HB*i mME?2i :i ԗBi !B"i ϩ?U addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.779801 s, deltaX: -2.299995 m, approachRate: -0.608496 m/s, rangeRepo size: 4 m Added new target pos. range: 82.319267 m, bearing: 88.946124 deg, lat: 36.779292 deg, lon: -121.859578 deg, deltaT: 3.779801 s, deltaX: -2.286217 m, approachRate: -0.604851 m/s, posRepo size: 4 gq}DNOT Ignoring new targets: 82.32 m.gg ProNav: ac range: 82.319267 m, nav range: 81.564934 m, bearing: 90.269196 deg, approach rate: 0.000000 m/s, LOS rate: -0.018552 deg/s, cmd heading: 84.380560 deg, new cmd heading: 84.364610 deg. gHeadingCmd: 1.472440 target range: 82.319267 and range: 82.80 m.gx?ggggԱzfrfffBBdddc@3T@cm`,(?ɢ5!B5%e 1=CI9 =a/b<ɡ9i9I=ū;IEx?iExU=iԃ`=)x?)iAIIM/IAAAAvBǿ>~BB[$IBBBBBB[;B:"E >Ae Qf=I I N >9 p,1ߧ)Ay:;Π?ٱ:ü?:,:b\<:H J?`c͜?8?`ɉ?oQ? ?@?I:;Π?):'3i;i8^B9^F$IBDf6DfYn e!nX=rrQ)r>p9t9vGYtv IAv>xQ 1~4٪zc?Q 54z zB9Y4?Q E?yz`C)z ;Iz. ;iz4Y  4Ag1=DNOT Ignoring new targets: 82.32 m.gEA0gEA0U ProNav: ac range: 82.319267 m, nav range: 81.320946 m, bearing: 90.255008 deg, approach rate: -0.660507 m/s, LOS rate: -0.038523 deg/s, cmd heading: 84.364611 deg, new cmd heading: 84.336151 deg. gUDDD)DEa: Ez:6EFA4:E"E(Ia=>AeBa=IIN >i , )A$B9B$Ii-=I-=Mb@Mb@Mb@ )Ii%C?v/?99GY'FA>Q 14٪a?Q 54ٴ B9&?Q A:Y 3?Q E ?yC)s:I,:i4Y4A5B*** querying acoustic contact ***zh1h1g9EDNOT Ignoring new targets: 82.32 m.gM gM UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.i} ProNav: ac range: 82.319267 m, nav range: 81.015144 m, bearing: 90.238810 deg, approach rate: -0.649687 m/s, LOS rate: -0.034544 deg/s, cmd heading: 84.336150 deg, new cmd heading: 84.303631 deg. g}|HeadingCmd: 1.471376 target range: 82.319267 and range: 82.80 m.g V?ggggzfrfffBBdddccN?ɢB& GI M<ɡiImE;I V?iU=in`=) V?)BEـ4JEÃ4RE/2DDD/DE: E n:6EJ4:E!@!@!@!@i90ԡ >A u \= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500202AU yAIa Iq N} >j,=)AvB"̿>~B"ҍCB B B" =B B"jDB"[;B"E"EA|^= A AI I N > ,-)Ay6?ٱ6H?6W6=6H?`ޡ??)?`A#cv? :??I6?)6i;i6VCRB9R;$IBDZ6DZYb'!bK=fluQ)f>fK?9fK?9jGYj(Fj2FAj>ppQ 1v4٪r^?Q 5v4r$ rB9tYz?Q Ez?yrƷC)r:Ir:ir 4Y|~3A|g!-DNOT Ignoring new targets: 82.32 m.g-k"g-k"E ProNav: ac range: 82.319267 m, nav range: 80.531761 m, bearing: 90.213556 deg, approach rate: -0.676975 m/s, LOS rate: -0.035500 deg/s, cmd heading: 84.280477 deg, new cmd heading: 84.252974 deg. gEMHeadingCmd: 1.470492 target range: 82.319267 and range: 82.80 m.gM9?gIgIgIgIzfIrfQfQfQBdQdQdYcYc]@k@ɢB9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006024 HI V;<ɡiI ;I9?iSU=i]=)9?) >iU9YY]4Y 9>A-tY=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256508A% yAI) IA NM >a D D D ,D E ; E ҆:6E g4:E ! @! @! @! @v,YF)Ay6fi?ٱ6 _?6G׻6=6HV?K? ?`B?g섿@5% H?9- H?9-GY-)F5b<A5>9Q 1E4٪= \?Q 5M4=y =B9MZ'?Q AM:YM?Q EM?y=C)=/:I=:i=4YY]!3AYgDNOT Ignoring new targets: 82.32 m.gXgX ProNav: ac range: 82.319267 m, nav range: 80.240204 m, bearing: 90.192360 deg, approach rate: -0.649926 m/s, LOS rate: -0.047420 deg/s, cmd heading: 84.252972 deg, new cmd heading: 84.210427 deg. gHeadingCmd: 1.469749 target range: 82.319267 and range: 82.80 m.g ?ggggzfrfff߆BBdddcc@<@ɢB  @I  0<ɡ)i1I5տ;I5 ?i=U=i=[=)= ?)9ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509328i94vBEͿ>~BABET$IBEBBABABABE[;BE<"Eԑ>A|^= A AI9 II N] >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760206,g`)Ay6M?ٱ6C?66$=6HX? @=? ?@v? [?*?`??I6M?)6 Hi;i6WC>B9B9$IBDJ6DJYR#!Ra=RQ)R>VK?9VK?9VGYTVAZ>\Q 1b4٪^Y?Q 5b4^d ^B9`Ybl?Q Ef?y^ C)^:I^):i^4Y153A1DUDUDU-DQEU: EUAr:6EUt4:EQ"EU5AEY=A I I N > ,ݖz)A*=i.WCInG)"oAIyi쵿"oAAy},?ٱ}T"?}s}5=}H Ϲ?V??ᵹ?e_@? E?l?I},?)}Si;i}TCB9C$I-only read 0 of 1 data item for BIT error. Device response is::TS,00022709100146,35.,4 !@! !@! !@! !@! BD6DNY=!-=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264448M4Q)M>Q9Q9UGYU*F]A]>aQ 1m4٪e6W?Q 5m4e eBQ =+:9Q A:YK?Q E?ye2C)e&ie 4YS3AB*** querying acoustic contact ***zhhg-DNOT Ignoring new targets: 82.32 m.g5Yg5YE ProNav: ac range: 82.319267 m, nav range: 79.690697 m, bearing: 90.152543 deg, approach rate: -0.654800 m/s, LOS rate: -0.047576 deg/s, cmd heading: 84.176747 deg, new cmd heading: 84.130510 deg. DmDmDiDiEm: Em:6Ei:Ei!@!@!@!@gE#HeadingCmd: 1.468354 target range: 82.319267 and range: 82.80 m.g ?g g gg)zfrfAfQfYBdddcc  @ɢ B ?I <ɡiIQ;I ?iU=i @.Z=)  ?) )!Qi95@lA@mA5 DAT read: 05:22:40.3516 LVL= 22768, 32753, 23250, 32755, AGC= 65, IDX= 410,-0.22, 0.727,-1.065, 0.731, 0.346, PHS= 0.483,-1.366, 0.341, RAW= 146.0, 6.1, CAL= 145.5, 6.6, ROT= 4.5, -6.6 ] Ygot valid direction response: 05:22:40.3516 LVL= 22768, 32753, 23250, 32755, AGC= 65, IDX= 410,-0.22, 0.727,-1.065, 0.731, 0.346, PHS= 0.483,-1.366, 0.341, RAW= 146.0, 6.1, CAL= 145.5, 6.6, ROT= 4.5, -6.6 y  PDAT read: Bearing 255.5, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 255.5, 5.3 (Local)  DAT read: Range 11 to 50 : 80.7 m (Round-trip 107.6 ms) speed 0.8 m/s  ,DAT read: user:7466>  BDAT read: Tx time:05:22:41.4399  $Ping request sent. ~Ba Ba Ba Ba Ba Ba Be [;Be A"E K>) ٮI >i e#@ ^ = j"@ = |٠= i I m?,5?{u^? > S[۽ |٠=) i  :publishing transmit ping timeY >A -tY=bA ZA  Fpublishing direction and range info9  Kⴟ?&?NZl? i ) I i i I m?,5?{u^? ) i ԩAII!N->HL&,fj)Ay6?ٱ6I?6(6! =6H 3?`@???@l?`c? ?I6?)6̇i;i4RB9R@$IiV=ITBDz6Dz1Yr1!:=YQ) > 9 9 GY +F5jA5>9Q 1E4٪=T?Q 5E4= =BQ =E :9AQ AEU:YM?Q EM?y=UC)=:I=k?i="4YU˛BU 2AUEhhx')AhwBhwBh?zzj-S@yVre@Yɒq"@j Kⴟ?&?NZl?h|٠=hSj@S@#B~$@r 4I?@¹?riu!Y?hBh @hn?h({^h B*iu4䛊?2i_:iOBi B"iR? addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.528301 s, deltaX: -2.100006 m, approachRate: -0.595189 m/s, rangeRepo size: 4  Added new target pos. range: 80.233337 m, bearing: 88.404043 deg, lat: 36.779309 deg, lon: -121.859577 deg, deltaT: 3.528301 s, deltaX: -2.085930 m, approachRate: -0.591200 m/s, posRepo size: 4 gDNOT Ignoring new targets: 80.23 m.gg!u ProNav: ac range: 80.233337 m, nav range: 79.520607 m, bearing: 88.773673 deg, approach rate: 0.000000 m/s, LOS rate: -0.047576 deg/s, cmd heading: 84.130514 deg, new cmd heading: 84.089938 deg. gq}HeadingCmd: 1.467646 target range: 80.233337 and range: 80.70 m.g}ۻ?gygygygyzfyrfffԩBdddc,T@c`?ɢ B_: ?I %0<ɡ!i!I-E;I-ۻ?i-۔U=i5HW=)5ۻ?)1DDD,DE: E:6Eg4:E"E+A u \= Au yAIy I N >) =q,,/)Ay65՟?ٱ6ʻ?6=6/=6Hf}?@q?x?`^a?7?`uѠ?@?I65՟?)6Ći;i6VCBuB9B&$IBDJ6DJkYR۽!RQ=RXQ)R>V H?9V H?9VGYTZAAZ>\Q 1b4٪^R?Q 5b4^! ^BQ =b99`Q Ab,:Yb?Q Ef?y^vC)^2 ;I^?i^&4Yhj2Ahg|}DNOT Ignoring new targets: 80.23 m.gbgb ProNav: ac range: 80.233337 m, nav range: 79.270309 m, bearing: 88.751458 deg, approach rate: -0.669608 m/s, LOS rate: -0.059618 deg/s, cmd heading: 84.089935 deg, new cmd heading: 84.045366 deg. g6ںHeadingCmd: 1.466868 target range: 80.233337 and range: 80.70 m.gX»?ggggzfrfffBdddcc@?ɢ}B}WC 顅II <ɡiI{l;IX»?iEU=in>V=)X»?)i9bDZD@ADDDDE E:6E:E!@!@!@!@>A`T=i A AI I N >`3,*Ψ)Ay:@?ٱ:㟻?:$R:I/=:H`Һ?{? ;??`HkD? Ԅ??I:@?):i;i:TCB|B9B/$I!=!= !=!= !=!E !E!E EMb@Mb@Mb@ A)AIAiAAECl?T㥛 ?E;?E>EIE AiEAEAE A)AEABDu6Du Y%=!-3=-0Q)->5K?95K?95GY5,F5|<A5>9Q 1e4٪=`P?Q 5m4=| =BQ =mT:9mw"?Q Am:Ym2?Q Em?y=C)=;I=;i=}.4Yq}z2AygDNOT Ignoring new targets: 80.23 m.gqgq ProNav: ac range: 80.233337 m, nav range: 78.983047 m, bearing: 88.727049 deg, approach rate: -0.619237 m/s, LOS rate: -0.052809 deg/s, cmd heading: 84.045368 deg, new cmd heading: 83.996373 deg. vB-ѿ>~B-ӍCB)B)B- =B-HDB)B-\;B-S"EBҍCBҍCBB± =B± =B5ageJmHeadingCmd: 1.466013 target range: 80.233337 and range: 80.70 m.gmS?gigigigizfqrfqfqfuBBdydydccF?ɢ B ~. CI ʅ;ɡiI;IS?iU=i%ZT=)%S?)!i@@=ԉԹ >A lT=rA ?jA ?D D D D E : E :6E :E "E .9,)Ay6X?ٱ6u?6mj6V<6H@%?A??`[?`tM?ȟ?6?I6X?H)6/j;i6QCVB9Z2$IBDb6DbYjl<!jc=jQ)n>l9l9nGYn-FrhAr>tQ 1z4٪vN?Q 5z4vv vB9xY~ ?Q E~?yvC)vY;Iv;iv44YB2AEg)5DNOT Ignoring new targets: 80.23 m.g54zg=4zE ProNav: ac range: 80.233337 m, nav range: 78.756332 m, bearing: 88.707870 deg, approach rate: -0.644568 m/s, LOS rate: -0.054686 deg/s, cmd heading: 83.996376 deg, new cmd heading: 83.957906 deg. gM)ȺUHeadingCmd: 1.465342 target range: 80.233337 and range: 80.70 m.gUS?gQgQgQgQzfQrfYfYfYBdYdadacacen?ɢBDT 顕;AI ܘ;ɡiIP*;IS?iϓU=i[R=)S?)iAIIM/I>A`T=A I I N >! j@,)Ay:^W?ٱ:M?:x:H<:HBw?p@ޜ?? V?@b .?ƞ?F?I:^W?):j;i:SCFB9F3$I|Mb@Mb@Mb@ )IiX9v?T㥛 ?~jtx?ĻIK AiAA)BD]6D]0Ym̆;!mA=uhQ)u>qrD}=jD}<DDD0DE ; E|:6E4:E!@!@!@!@99GYx@A>Q 14٪tL?Q 54o  B98!?Q A:Y?Q E?yڸC):I:i9<4YB0AEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 80.23 m.gugu ProNav: ac range: 80.233337 m, nav range: 78.489845 m, bearing: 88.685067 deg, approach rate: -0.625015 m/s, LOS rate: -0.053663 deg/s, cmd heading: 83.957908 deg, new cmd heading: 83.912148 deg. gjĺHeadingCmd: 1.464543 target range: 80.233337 and range: 80.70 m.g'v?g g g g zf rf ffBBdddcc@??ɢMBMB}5 IM6?II M\;ɡQiQIUY;I]'v?i]U=i]nAmXR=vB1 ~B1 B1 B1 B1 B1 B1 B5 #\;B5 c"EA ԁ I I N >;F,^)AnB9r7$IBDv6DvY%z<!-O=-Q)->19195GY5.F5A5>9Q 1E4٪=J?Q 5M4=i =àB9IYIQ EM?y=C)=:I=:i=C4YQU0AYYgDNOT Ignoring new targets: 80.23 m.g$og$o ProNav: ac range: 80.233337 m, nav range: 78.244904 m, bearing: 88.663970 deg, approach rate: -0.604968 m/s, LOS rate: -0.052268 deg/s, cmd heading: 83.912146 deg, new cmd heading: 83.869820 deg. g P HeadingCmd: 1.463804 target range: 80.233337 and range: 80.70 m.g ]?ggggzfrfffBddd!c!c%W@ɢMBU9 QU T=)e]?)i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240740iO0@@ԉDDD)DE: E:6EFA4:E"E+AbAZAnAA! I1 II Ne > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491723 0L,v5)Ay6 ?ٱ6?6\Ҙ62<6Hd2?9? ? ?`r???I6 ?)6wk;i4RB9R2$IBDZ6DZYbי!bQ=fQ)f>d9d9fGYf/FjAj>lQ 1r4٪nH?Q 5r4nb nŠB9pYv?Q Ev?ynC)n:In :inI4Yxz0AxgDNOT Ignoring new targets: 80.23 m.g%{g%{5 ProNav: ac range: 80.233337 m, nav range: 78.000313 m, bearing: 88.643293 deg, approach rate: -0.648378 m/s, LOS rate: -0.054985 deg/s, cmd heading: 83.869819 deg, new cmd heading: 83.828335 deg. g5Aɺ=HeadingCmd: 1.463080 target range: 80.233337 and range: 80.70 m.g=8F?g9gAgAgAzfArfAfIfIBdIdIdIcQcU @ɢ}B >D 顅A5T=bDZDBE%^n4JE%džs4RE%xE0DDD1DE: E:6E-4:E!@!@!@!@Ai I I N >9 S,QO)Ayb?ٱb?b4b99GYq} A}>Q 14٪F?Q 547[ ȠB98?Q A:Y?Q E?y>C)b:I:iQ4Yk0AAAvB~BB[$IBBB =BBBw\;B"Eg!%DNOT Ignoring new targets: 80.23 m.g-:g-:] ProNav: ac range: 80.233337 m, nav range: 77.718513 m, bearing: 88.624153 deg, approach rate: -0.599206 m/s, LOS rate: -0.040846 deg/s, cmd heading: 83.828332 deg, new cmd heading: 83.789913 deg. g]eHeadingCmd: 1.462410 target range: 80.233337 and range: 80.70 m.ge?0?gagagagazfarfiffBBdddccJ@ɢ}B}$ 顅6I ;ɡiI;I?0?iރU=iaG=)?0?)Ai9?0qU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247708D D D -D E ; E 6E t4:E "E &NA \J=rA% ?jA% ?ԡ I9 Ia N >vZ,mk)A)yuu?ٱuk?u{u99GY0FoA>Q 14٪E?Q 54`T ̠B9Y?Q E?y_C);I;iEY4Y0AgAMDNOT Ignoring new targets: 80.23 m.gUy>gUy>% ProNav: ac range: 80.233337 m, nav range: 77.458969 m, bearing: 88.606784 deg, approach rate: -0.620004 m/s, LOS rate: -0.041631 deg/s, cmd heading: 83.789913 deg, new cmd heading: 83.755058 deg. g-`-HeadingCmd: 1.461802 target range: 80.233337 and range: 80.70 m.g-P?g1g1g1g1zf1rf1DAT read: 05:22:43.9485 LVL= 24736, 29601, 22834, 32755, AGC= 66, IDX= 410,-0.30, 0.863,-0.959, 0.871, 0.492, PHS= 0.473,-1.406, 0.335, RAW= 146.2, 6.7, CAL= 145.7, 7.2, ROT= 4.3, -7.2 Ygot valid direction response: 05:22:43.9485 LVL= 24736, 29601, 22834, 32755, AGC= 66, IDX= 410,-0.30, 0.863,-0.959, 0.871, 0.492, PHS= 0.473,-1.406, 0.335, RAW= 146.2, 6.7, CAL= 145.7, 7.2, ROT= 4.3, -7.2 PDAT read: Bearing 255.3, 5.9 (Local) ~Local bearing/azimuth received: Bearing 255.3, 5.9 (Local) DAT read: Range 11 to 50 : 78.3 m (Round-trip 104.4 ms) speed 0.4 m/s ,DAT read: user:7467> BDAT read: Tx time:05:22:45.0399 $Ping request sent.)]I]>i]N#@]|=]"@]>]`= ]iYYI]Ѓ?E?HvӶ8?]4S>]0 ]`=)]iYY:publishing transmit ping timeYFpublishing direction and range info9Y]$e?;- ?cK ?YYiYYYYY Y)YIYiYYYYY YiYYffBdddc@3S@ci8?YI]Ѓ?E?HvӶ8?YY Y)YiYYɢB3 顥w8I \z;ɡiI3;IP?iyU=iSC=)P?)Qi9_0ԉԱ >A G=Dm Dm Dm /Di Em ; Em 1:6Em J4:Ei !u @!u @!u @!u @I I N >xa, )Ay6.?ٱ6$?6p6 x<6HCý?`3?`a?`f?@7?gl??I6.?)6:k;i6RCNB9NA$I)P PMb@Mb@Mb@ )IiQ?:v?(?=IiAA" A) AI!)%BABD-6D-k1YEE=!E;=E5Q)M>Q9Q9UGYU1F]A]>aQ 1m4٪eUD?Q 5m4e=M eϠB9ui?Q Au:Yu?Q Eu?yeC)e ;Ie ;ie`4Y}jB}.A}Ehhr)AhBhBhW?zk$;AS@/)@hp}#@j$e?;- ?cK ?h`=hyw- @?n9S@ɓB'@rn?a?I ?h˙Bh \@h.f?hĤfhΜB*i?2i:i BibB"ik?m addTargetRange:: Added new target pos. range: 78.300003 m, deltaT: 3.527663 s, deltaX: -2.399994 m, approachRate: -0.680335 m/s, rangeRepo size: 4 } Added new target pos. range: 77.847870 m, bearing: 87.439889 deg, lat: 36.779311 deg, lon: -121.859577 deg, deltaT: 3.527663 s, deltaX: -2.385468 m, approachRate: -0.676217 m/s, posRepo size: 4 gDNOT Ignoring new targets: 77.85 m.gg ProNav: ac range: 77.847870 m, nav range: 77.193123 m, bearing: 88.444797 deg, approach rate: 0.000000 m/s, LOS rate: -0.041631 deg/s, cmd heading: 83.755058 deg, new cmd heading: 83.717846 deg. gHeadingCmd: 1.461152 target range: 77.847870 and range: 78.30 m.g?ggggzfrfffBBdddcc?Qɢ%B- 91 1=h1IY emS;ɡaiaIe9;Im?immU=im~>=)m?)qiM1vB%ӿ>~B!B%a$IB%BB% =B!B%kDB%\;B%"Eqԙ >A K@=Iy I N >g,x)Ay64?ٱ6ٹ?6%6<6HW? 5,՛??q(?Yvޗ?ޞ? ?I64?)6Brl;i4NB9R<$IBDZ6DZYb!bg=bC*Q)b>d9d9fGYdjԻAj>hQ 154٪jjC?Q 554jG jҠB91Y5v?Q E5?yjC)jI-A&t@=bAlAZAjAIIN> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. "m,GT)AI~B9H$I)mAI5AieemAeABD6DY 4=!==Q)>99GY2FA>Q 14٪IB?Q 54{@ ֠B9YQ E?yC);IL;in4Y.AgI]DNOT Ignoring new targets: 77.85 m.gm$gm$ ProNav: ac range: 77.847870 m, nav range: 76.708832 m, bearing: 88.416831 deg, approach rate: -0.618917 m/s, LOS rate: -0.035966 deg/s, cmd heading: 83.692753 deg, new cmd heading: 83.661739 deg. gHeadingCmd: 1.460173 target range: 77.847870 and range: 78.30 m.g?ggggzfrffyfyBdddccg?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248656ɢBp$ 页+I  ;ɡiI;I?iUQU=ir:=)?)DDDDEa: E6E:E!@!@!@!@i9~41>A% ;6=Y I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500493t,/ԩ)AyRum?ٱRc?Rd˼Rm~B`Bbm$IBbBB`B`B`Bb];Bb#Eir=Irp=]Mb@Mb@Mb@ Y)YIYiYY]333333??~jtx?]?]=];I] AiYY] A)Y]G Aup99GY3F A>Q 14٪jA?Q 54: ۠B9?Q A:Y~?Q E?y߹C):Iw:iu4Y.AgDNOT Ignoring new targets: 77.85 m.g0g0I ProNav: ac range: 77.847870 m, nav range: 76.465736 m, bearing: 88.404051 deg, approach rate: -0.622417 m/s, LOS rate: -0.032827 deg/s, cmd heading: 83.661737 deg, new cmd heading: 83.636095 deg. gNpHeadingCmd: 1.459725 target range: 77.847870 and range: 78.30 m.gGغ?ggggzfrfffBBdddcc ?ɢ%B%D )-j+I) M&:ɡIiIIU;IUGغ?i]=@U=i]0V.=)]Gغ?)Yi 9/a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752543ԑDDDDE: EM:6E:E"E&Am C;=I I N >Թ z,_ )Ay6V?ٱ6]L?6MMԼ6.=6H@o??9?`8?S爚?)N??I6V?)6$&l;i6PCBB9BN$IBDJ6DJNYR)=!VZ=Z8Q)Z>\9`9bGY`fpAj>YQ 1m4٪]@?Q 5m4]3 ]B9qYuf?Q Eu?y]C)][;I]U;i]|4Y.AgDNOT Ignoring new targets: 77.85 m.gg- ProNav: ac range: 77.847870 m, nav range: 76.226059 m, bearing: 88.391498 deg, approach rate: -0.593298 m/s, LOS rate: -0.031171 deg/s, cmd heading: 83.636097 deg, new cmd heading: 83.610912 deg. g-0d5HeadingCmd: 1.459286 target range: 77.847870 and range: 78.30 m.g5ɺ?g1g1gQgQzfQrfYfYfYBdYdadacace@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004571ɢ=BEF3 AE%IA E햕:ɡAiIIM;IUɺ?iU,U=iU.=)Uɺ?)Yi / @=@=>AS,=rA ?jA?AyAII)N=> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258849D D D (D E : E ?:6E c44:E ! @! @! @! @ !,2)Ay6#?ٱ6?6޼6-<6H`Կ?M{1?f??`›?k? ?I6#?)6x/k;i6RC>B9B_$I5Mb@Mb@Mb@ 1)1I1i115Zd;O?~jt?y&1|?5j?5=5`;I5" Ai5bA5A5" A)11BD6D0YSm=!:=2Q)> H?9 H?9GY4FUhA>Q 14٪??Q 54, B9X?Q A:Y?Q E?yC){:Io:i샆4Y@B,AEg!-DNOT Ignoring new targets: 77.85 m.g-g5E ProNav: ac range: 77.847870 m, nav range: 75.966957 m, bearing: 88.379972 deg, approach rate: -0.627279 m/s, LOS rate: -0.027998 deg/s, cmd heading: 83.610914 deg, new cmd heading: 83.587784 deg. gELMHeadingCmd: 1.458882 target range: 77.847870 and range: 78.30 m.gM?gIgIgIgIzfIrfQfQfUBBdYdYdYcYce=@ɢކB.2 額I )0:ɡiI T;I?iU=iƭ*=)?)iU9QQU/Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508596vBؿ>~BԍCBz$IBBB =BBB];BH#EBӍCBӍCBBư =Bư =Bƅj5>Aum,=I A AI I N > ,!)Ay:?ٱ:J?:弹:/=:H?`-??I?VN?|? ?I:?): j;i:PCBB9BZ$I)D DIH)J@ABDN6DN1YV!V^=VI$Q)V>ZK?9ZK?9ZGYZ5FZJA^>`Q 1f4٪bS??Q 5f4b& bB9dYf?Q Ef?ybAm+,= BDAT read: Rx Time:05:22:47.5455  TRx dataTimestamp_ set to:1755840168.822216 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015338ԩ A I I N >;6,؛;)A@~B9~e$IBD 6D :Y&-=!%C=%Q)%>!9)9-GY)-A->1Q 1=4٪5>?Q 5E45&  5B9AYAQ EE?y5]C)5 ;I5 ;i54YIM,AQgDNOT Ignoring new targets: 77.85 m.gg ProNav: ac range: 77.847870 m, nav range: 75.481438 m, bearing: 88.358587 deg, approach rate: -0.627427 m/s, LOS rate: -0.027814 deg/s, cmd heading: 83.567781 deg, new cmd heading: 83.544875 deg. gKHeadingCmd: 1.458133 target range: 77.847870 and range: 78.30 m.g?ggggzfrff f Bdddcc @mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267016ɢ׆Ben I DɹɡiI3;I?i|T=i )=)?)DDD-DE: EM:6Et4:E!@!@!@!@i9/@ lA@  >A= K'=bAQ ZAU lA- DAT read: 05:22:47.5455 LVL= 30432, 30513, 29618, 32755, AGC= 67, IDX= 411, 0.14, 1.493,-0.340, 1.496, 1.112, PHS= 0.484,-1.406, 0.341, RAW= 146.1, 6.4, CAL= 145.6, 7.0, ROT= 4.4, -7.0 5 Ygot valid direction response: 05:22:47.5455 LVL= 30432, 30513, 29618, 32755, AGC= 67, IDX= 411, 0.14, 1.493,-0.340, 1.496, 1.112, PHS= 0.484,-1.406, 0.341, RAW= 146.1, 6.4, CAL= 145.6, 7.0, ROT= 4.4, -7.0 = PDAT read: Bearing 254.2, 6.6 (Local) E ~Local bearing/azimuth received: Bearing 254.2, 6.6 (Local) M DAT read: Range 11 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.6 m/s U ,DAT read: user:7468>  BDAT read: Tx time:05:22:48.6399  $Ping request sent. ~B B $IB ȅBB =B B B ];B Q#E >) I >i 1#@ = "@ 5= nF= 5i I R?+?> lC? D> nF=) 5i - :publishing transmit ping timeY - Fpublishing direction and range info9 d?tha~?UM7P2?1  i ) I i i I R?+?> lC? ) i A I I N>,Y)A B9 k$IIEMb@Mb@Mb@ A)AIAiAAE%C?K?MbpEZ$?E^=EIE AiExAEAE A)AE ABDQ6DQYe<!m=iQ)m>q9q9uGYu6FqAu>Q 14٪4>?Q 54b B9%?Q A:Y?Q E?yC)U:I#:i4Y,AhihmT)Ahm Bhm Bhm@O?zm)бR@@o}?j"@jmd?tha~?UM7P2?hmnF=hm5mt@lv2R@@³&@rmyn.?mh?pUs?hm)Bhm|@hm+*?hm lhmB*imn?2im{f:imHBimB"im?e addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.528027 s, deltaX: -2.300003 m, approachRate: -0.651923 m/s, rangeRepo size: 4 u Added new target pos. range: 75.562607 m, bearing: 86.977485 deg, lat: 36.779314 deg, lon: -121.859580 deg, deltaT: 3.528027 s, deltaX: -2.285263 m, approachRate: -0.647745 m/s, posRepo size: 4 gqyDNOT Ignoring new targets: 75.56 m.gg ProNav: ac range: 75.562607 m, nav range: 74.855255 m, bearing: 88.097585 deg, approach rate: 0.000000 m/s, LOS rate: -0.027814 deg/s, cmd heading: 83.544873 deg, new cmd heading: 83.512894 deg. gHeadingCmd: 1.457575 target range: 75.562607 and range: 76.00 m.gё?ggggzfrfffBdddcS@c}"?ɢeӆBe aeuIa m&ɡiiiImU;Iё?iT=i+=)ё?)DDD0DE ; Ega:6E4:E"ERAM .=AIIN>Y,nw)A$yNN?ٱN?N N=NHq?1? ?;?@o p2?J?7?INN?)N4h;iNNCZB9Zl$Ii^=I^=BDf6DfβYj;!j`=n!Q)n>l9l9rGYr7Fr;Av>tQ 1z4٪v=?Q 5z4v9 vB9|Y~?Q E~?yvC)vG:Iv`:iv4Y,A g)5DNOT Ignoring new targets: 75.56 m.g5g5깝M ProNav: ac range: 75.562607 m, nav range: 74.621353 m, bearing: 88.088736 deg, approach rate: -0.675867 m/s, LOS rate: -0.025650 deg/s, cmd heading: 83.512894 deg, new cmd heading: 83.495140 deg. gM;UHeadingCmd: 1.457265 target range: 75.562607 and range: 76.00 m.gU?gQgQgYgYzfYrfYfafaBdadadicicm`?ɢцBg6 ]IY ]ֳɡYiYI]O{;Ie?ieºT=im/=)m?)iqi5911501ԩrD=jDBE!JE%^n4RE%:0DDD-DE: E:6Et4:E!@!@!@!@>AP/= A yAI I N >3,)AyJh0?ٱJ &?J5 Ja=JH?@? ?g?5o`?O?@?IJh0?)J#i;iH`fB9fx$IUMb@Mb@Mb@ Q)QIQiQQU~jt?B`"۹?MbP?U$?U=U:IQiUbAUAUA)QU ABDm 6Dm2Y}4=!}B=ZQ)> H?9 H?9GY':A>Q 14٪)=?Q 54  B9&?Q A:Y?Q E?yκC);I3;i^4YMB$AEgDNOT Ignoring new targets: 75.56 m.gg ProNav: ac range: 75.562607 m, nav range: 74.347672 m, bearing: 88.075057 deg, approach rate: -0.646991 m/s, LOS rate: -0.032458 deg/s, cmd heading: 83.495142 deg, new cmd heading: 83.467682 deg. gmHeadingCmd: 1.456786 target range: 75.562607 and range: 76.00 m.gw?ggggzfrff f Bd d dccP?vB]ۿ>~BYB]$IB]؅BB] =BYBYB]$^;B]f#EɢΆB? O I kɡiI<;Iw?iT=i j3=)w?)i90@=@=>A.=rA ?jA>A D D D (D E ; E xv:6E c44:E "E Db,ڏ)AyNZ?ٱNO?NdN+=NH`g?AK? ͽ? ?# ?3z??INZ?)Nh;iLVB9V}$IBD^6D^JYf<!fU=f5wQ)j>jK?9jK?9jGYn8FnZY;An>pQ 1v4٪rz?Q Ez?yrC)r;Ir;ir4Y|~$A|B*** querying acoustic contact ***zhhg)5DNOT Ignoring new targets: 75.56 m.g5g5E ProNav: ac range: 75.562607 m, nav range: 74.099297 m, bearing: 88.062313 deg, approach rate: -0.649351 m/s, LOS rate: -0.033430 deg/s, cmd heading: 83.467685 deg, new cmd heading: 83.442111 deg. gEtMHeadingCmd: 1.456340 target range: 75.562607 and range: 76.00 m.gMVi?gQgQgQgQzfQrfYfYfYBdYdadacace@n?ɢ̆B( 顝I JɡiIp;I-Vi?i-T=i59^9=)5Vi?)9i5AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y>A 04=A] yAԙ I I! N >UK,mŪ)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746171qbDqZDqD}D}D}*DyE}: E}:6E}(N4:Ey!@!@!@!@mB9ms$I)y }AMb@Mb@Mb@ )Ii%C?RQ?Z$?=Ii AxAA) ABD56D5k2YE !E(=EQ)M>M H?9M H?9MGYM9FUAU>YQ 1e4٪];?Q 5e4]4 ] B9e$&?Q Ae:Ye?Q Em?y]C)]* ;I];i]4Yqu$AqgDNOT Ignoring new targets: 75.56 m.gEgEU ProNav: ac range: 75.562607 m, nav range: 73.785416 m, bearing: 88.048247 deg, approach rate: -0.648781 m/s, LOS rate: -0.029196 deg/s, cmd heading: 83.442112 deg, new cmd heading: 83.413862 deg. gUU]HeadingCmd: 1.455847 target range: 75.562607 and range: 76.00 m.g].Y?gYgygygyzfyrfffBBdddԡcc?ɢȆBo  I ,&8ɡiIz;I.Y?iT=i*:=).Y?)i9m0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997422AIAM@AvBUܿ>~BQBU$IBUBBQBQBUlDBU^;BU#E >A C;=A AI I!N->b,,)Ay6 ?ٱ6?6C6Oa?=6Hھ?׼??s?Bf`? ??I6 ?)6 i;i6OCBB9B$IBDJ6DJ1YRd=!RX=R^Q)R>VK?9VK?9VGYTZ;AZ>\Q 1b4٪^O;?Q 5b4^ ^B9`Ybb?Q Eb?y^6C)^:I^:i^&4Yhjx$Ahg|~DNOT Ignoring new targets: 75.56 m.g) g)  ProNav: ac range: 75.562607 m, nav range: 73.540131 m, bearing: 88.036761 deg, approach rate: -0.647383 m/s, LOS rate: -0.030416 deg/s, cmd heading: 83.413863 deg, new cmd heading: 83.390814 deg. g^HeadingCmd: 1.455444 target range: 75.562607 and range: 76.00 m.gL?ggg!g!zf!rf!f)f)Bd)d)d1c1c5 @Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248316ɢņBn. I fNɡiI[;I L?i ;T=i C=) L?)DDD(DEa: Ei:6Ec44:E"E(A8=i 7?I = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501714y A I I N] > i LCI )5 ~nAy,6)AIA0iBB~nABoAyNÝ?ٱNL?N&N"DC=NH1?@@h9h9nGYn:Fn);An>pQ 1v4٪r:?Q 5v4r rB9xYz?Q Ez?yrWC)rh:Ir:irFƆ4Y=+B=H#A=EgDNOT Ignoring new targets: 75.56 m.g g  ProNav: ac range: 75.562607 m, nav range: 73.276253 m, bearing: 88.024101 deg, approach rate: -0.628727 m/s, LOS rate: -0.030274 deg/s, cmd heading: 83.390818 deg, new cmd heading: 83.365406 deg. g]HeadingCmd: 1.455001 target range: 75.562607 and range: 76.00 m.gw=?ggggzfrfffBdddcc`<@ɢ†B5> 3I 3-kɡiIp;Iw=?iyT=i|G=)w=?)!ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754378i94DDD1DEs: EAr:6E-4:E!@!@!@!@Թ>A <H= A9 IA IQ Ne >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006753ml,{)AvBۿ>~BB$IBBB =BBkDB^;B#E\yv?ٱvPع?vv H=vHX?J?@?? s???Iv?)vhh;it~DžB9~$Ii=I=Mb@Mb@Mb@ )Ii!rh?:v?Mb`l'?=I| AiK AAA)\ ABD6DkY<!==9Q)>99GY;F;A>Q 14٪9?Q 54G B9)?Q A:Y ?Q E?y|C):Ib:i͆4YU,B]%#AYgDNOT Ignoring new targets: 75.56 m.g+g+ ProNav: ac range: 75.562607 m, nav range: 72.991173 m, bearing: 88.007655 deg, approach rate: -0.647753 m/s, LOS rate: -0.037515 deg/s, cmd heading: 83.365403 deg, new cmd heading: 83.332381 deg. gPHeadingCmd: 1.454424 target range: 75.562607 and range: 76.00 m.g*?ggggzfrfff BBdddcc @ɢeBe  im\Ii  ɡiIg;I*?ibuT=iL=)*?)i90@@@@}BDAT read: Rx Time:05:22:51.1424 }TRx dataTimestamp_ set to:1755840172.600400checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257209DDD,DE ; Eą:6Eg4:E"EIQV H?9Z H?9ZGYXZ;AZ>\Q 1b4٪^8?Q 5f4^ ^B9dYf"?Q Ef?y^C)^:I^d:i^_Ԇ4Yhj5#AlzB*** querying acoustic contact ***zhxhx|g  DNOT Ignoring new targets: 75.56 m.gj;gj;% ProNav: ac range: 75.562607 m, nav range: 72.743805 m, bearing: 87.993133 deg, approach rate: -0.695402 m/s, LOS rate: -0.040963 deg/s, cmd heading: 83.332379 deg, new cmd heading: 83.303236 deg. g%-HeadingCmd: 1.453916 target range: 75.562607 and range: 76.00 m.g-?g)g)g)g)zf1rf1f1f1Bd9d9d9c9cE @ɢmBmڽ' iu.Iq u@ۍɡqiqIuZ+;I?isT=i9Q=)?)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509678i}9y/)QAAIIN> eDAT read: 05:22:51.1424 LVL= 24816, 29073, 26610, 32755, AGC= 64, IDX= 412, 0.24, 0.356,-1.442, 0.369, 0.002, PHS= 0.456,-1.399, 0.322, RAW= 146.3,2399  unknown deviceResponse_: 05:22:51.1424 LVL= 24816, 29073, 26610, 32755, AGC= 64, IDX= 412, 0.24, 0.356,-1.442, 0.369, 0.002, PHS= 0.456,-1.399, 0.322, RAW= 146.3,2399  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777959D D D 0D E s: E :6E 4:E ! @! @! @! @,J)Ayj?ٱj?jjsiM=jHb?͆??W?@T?@?W?Ij?)jAh;ijOCzɅB9~$I}Mb@Mb@Mb@ y)yIyiyy}Pn?&1?}$?}=}I}Ai} A}tA}A)y} ABD6DY*<!==Q)>K?9K?9GYQ 14٪7?Q 54a $B9)&?Q A:Y,?Q E?yC) :IA:iۆ4Y#Ag DNOT Ignoring new targets: 75.56 m.g_0g_0 ProNav: ac range: 75.562607 m, nav range: 72.463913 m, bearing: 87.976515 deg, approach rate: -0.646805 m/s, LOS rate: -0.038549 deg/s, cmd heading: 83.303234 deg, new cmd heading: 83.269871 deg. gHeadingCmd: 1.453333 target range: 75.562607 and range: 76.00 m.g?gggg zf rf ffBBdddcc@ɢB 額$I 9ɡiIZ;I?irT=iS=)?)i!!!%/!checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012728vB%ٿ>~B!B%$IB%BB% =B!B!B%&_;B%#EBԍCBԍCBBů =Bů =Bm5AyAIIN>)Y W,Pd)Ay6?ٱ6N?6=6KN=6H`$?5?r?`??ϩ? ?I6?)65h;i6MC>ЅB9B$IBDJ6DJܲYR=!R\=V4ܺQ)V>V H?9V H?9VGYV=FZqJAZ>\Q 1b4٪^27?Q 5b4^ ^)B9`Yf"?Q Ef?y^޻C)^ ;I^;i^h4Yhj"AhEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.264239g|}DNOT Ignoring new targets: 75.56 m.gY1gY1 ProNav: ac range: 75.562607 m, nav range: 72.224319 m, bearing: 87.962242 deg, approach rate: -0.648540 m/s, LOS rate: -0.038763 deg/s, cmd heading: 83.269869 deg, new cmd heading: 83.241228 deg. g፺HeadingCmd: 1.452834 target range: 75.562607 and range: 76.00 m.gs?ggggzfrfffBdddcc5@9DDD*DE: Ez:6E(N4:E"E=--ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.516187Թ ,c+~)Ay:B?ٱ:߹?:X :oR=:HAI?Z@??mҽ? H2Q?-G??I:B?):q4h;i8^ͅB9^$IBDf6Df:Yr+!rF=rNQ)v>vK?9vK?9vGYtzAz>|Q 14٪~P6?Q 54~  ~/B9Y?Q E ?y~C)~Y;I~ :i~4Y B!AEg9=DNOT Ignoring new targets: 75.56 m.gE0gE0U ProNav: ac range: 75.562607 m, nav range: 71.957817 m, bearing: 87.946375 deg, approach rate: -0.646758 m/s, LOS rate: -0.038650 deg/s, cmd heading: 83.241230 deg, new cmd heading: 83.209378 deg. gUw]HeadingCmd: 1.452278 target range: 75.562607 and range: 76.00 m.g]AG=A yAI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=5.020192vB% ۿ>~B! B% $IB% BB% =B! B! B% n_;B% $E,p)AyBН?ٱBƹ?Bn BqU=BH m{?@[b??)?`q??@?IBН?)B[g;iBOCJօB9J$IMb@Mb@Mb@ )Ii+?EԸ??=ISAi AA) A5 H?9 H?9GY>F!A>Q 14٪5?Q 54 5B9!?Q A:Y?Q E?y#C)8:I:i4Y!AgDNOT Ignoring new targets: 75.56 m.g#g# ProNav: ac range: 75.562607 m, nav range: 71.688210 m, bearing: 87.931148 deg, approach rate: -0.628825 m/s, LOS rate: -0.035649 deg/s, cmd heading: 83.209381 deg, new cmd heading: 83.178811 deg. g|%HeadingCmd: 1.451744 target range: 75.562607 and range: 76.00 m.g%ҹ?g!g!g!g!zf!rf)f)f-BBd1d1d1c1c=~@ɢeBe% amܾIi m8ɡiiiImo;Iuҹ?iuqT=i}S=)}ҹ?)yQiO0y]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.272159>A5T=DDD)DE: E:6EFA4:E"E6z,vᱫ)Ay:?ٱ:?:؊:ѽR=:H8ƾ?@q?b?I?G3 `0?@P??I:?@): g;i:JCFՅB9F$IBDR6DR02YV?!Z[=Z"Q)Z>^K?9^K?9^GY\bJAb>`Q 1f4٪b4?Q 5j4b b:B9hYj[?Q Ej?ybAC)b:Ib:ib4Ylr!Ap~B*** querying acoustic contact ***zh|h|g  DNOT Ignoring new targets: 75.56 m.g!g!- ProNav: ac range: 75.562607 m, nav range: 71.453278 m, bearing: 87.918001 deg, approach rate: -0.629190 m/s, LOS rate: -0.035325 deg/s, cmd heading: 83.178809 deg, new cmd heading: 83.152429 deg. g-L5HeadingCmd: 1.451284 target range: 75.562607 and range: 76.00 m.g5ù?g1g1g1g1zf1rf9f9f9BdAdAdAcAcE@@ɢuBui qu۾Iy }%ɻɡyiyI}Ԛ;Iù?i&pT=ijP=)ù?)checking for new query: numPingsReceived=0, elapsed TxPingTime=5.524984i111551Ա>A]`T=rAajAe?A I I N > } checking for new query: numPingsReceived=0, elapsed TxPingTime=5.778331BEM(N4JEMT\4REM0D D D +D E : E :6E [4:E ! @! @! @! @,b˫)Ay6r?ٱ6g?6K6C=6H 7?`???&þ?gKx?k? V?I6r?)6"f;i6OCNB9R$Il-Mb@Mb@Mb@ )))I)i))-+?B`"۹?MbP?-v?-=-:I-=Ai- A-bA-=A))- ABDE6DEY"=!:=Q)>99GY?FA>Q 154٪3?Q 5=4k @B9= ?Q AE:YE?Q EE?yeC)~BB$IBBB =BBlDBe_;B$Eie8aam0i@ulA@umA9a >A lT=A I I N >mI,)Ay6 ?ٱ6>?616g0=6H`ؿ?@N??]p?`T3`y?`M?`?I6 ?)62e;>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.280309i6MCFB9F$ILIL)NAABDR6DRkYZ !ZQ=^7Q)^>\9`9bGYb@Fb~ӻAb>dQ 1j4٪f/3?Q 5j4f fFB9lYn?Q En?yfC)f8;IfU;if4YrBrB Av~Eg DNOT Ignoring new targets: 75.56 m.g4g4 ProNav: ac range: 75.562607 m, nav range: 70.934753 m, bearing: 87.886732 deg, approach rate: -0.661046 m/s, LOS rate: -0.039451 deg/s, cmd heading: 83.118368 deg, new cmd heading: 83.089663 deg. geHeadingCmd: 1.450188 target range: 75.562607 and range: 76.00 m.DDD)DE; E:6EFA4:E"E @AJM==checking for new query: numPingsReceived=0, elapsed TxPingTime=6.533419 A= yAIA IQ N} >p,,b)Ay6Y?ٱ6޸?6_6#=6H#?``?@? ?lZp?p??I6Y?)6B9B$I@i@)D FABDJ6DJβYR<!RL=VѺQ)V>V H?9V H?9VGYTZAZ>\Q 1b4٪^q2?Q 5b4^| ^LB9`Yf?Q Ef?y^C)^&;I^D;i^ 4Yhj Ah9gyDNOT Ignoring new targets: 75.56 m.g3!g3! ProNav: ac range: 75.562607 m, nav range: 70.684570 m, bearing: 87.872087 deg, approach rate: -0.599775 m/s, LOS rate: -0.035233 deg/s, cmd heading: 83.089661 deg, new cmd heading: 83.060267 deg. gHeadingCmd: 1.449675 target range: 75.562607 and range: 76.00 m.g?ggggzfrfffBdddcc@ɢ=BEl AEnľIA EB`ɡIiIIM;IM?iUC\T=iu)B=)u?)yBDAT read: Rx Time:05:22:54.7394 TRx dataTimestamp_ set to:1755840176.129230checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786392i%/!qDDD/DE: E:6EJ4:E!5@!=@!=@!=@ԑ>Au+WB=bAZAjAA A I I N >vB! ~B! B% $IB% BB! B! B! B% Z_;B% $EE checking for new query: numPingsReceived=0, elapsed TxPingTime=7.036080V,)Ay6ָ?ٱ6v?66=6HS?@?H?&?m09?`,??I6ָ?)6G9e;i6MCRB9R$IԡMb@Mb@Mb@ )IiZd;?y&1?MbP??`=IOAi AK A"A) ABD6D:Y<!*=VQ)>K?9K?9 GY AF IA->1Q 1=4٪5$1?Q 5=45s 5SB9E!?Q AE:YE?Q EE?y5˼C)5{:I5:i54YimAqgDNOT Ignoring new targets: 75.56 m.g Rg R ProNav: ac range: 75.562607 m, nav range: 70.379745 m, bearing: 87.850293 deg, approach rate: -0.639342 m/s, LOS rate: -0.045910 deg/s, cmd heading: 83.060271 deg, new cmd heading: 83.016493 deg. g HeadingCmd: 1.448911 target range: 75.562607 and range: 76.00 m.gu?ggggzfrfffBBdd)d)c)c- @ɢBz 顝ɺI 3ɡiI:;I u?i OT=i J @=) u?)DAT read: 05:22:54.7394 LVL= 27312, 32545, 27490, 32755, AGC= 65, IDX= 413, 0.06,-0.494,-2.324,-0.454,-0.864, PHS= 0.471,-1.415, 0.365, RAW= 147.1, 6.4, CAL= 146.6, 6.8, ROT= 3.4, -6.8 Ygot valid direction response: 05:22:54.7394 LVL= 27312, 32545, 27490, 32755, AGC= 65, IDX= 413, 0.06,-0.494,-2.324,-0.454,-0.864, PHS= 0.471,-1.415, 0.365, RAW= 147.1, 6.4, CAL= 146.6, 6.8, ROT= 3.4, -6.8 PDAT read: Bearing 253.8, 6.0 (Local) ~Local bearing/azimuth received: Bearing 253.8, 6.0 (Local) DAT read: Range 11 to 50 : 71.5 m (Round-trip 95.4 ms) speed 0.7 m/s ,DAT read: user:7470> i94eBDAT read: Tx time:05:22:55.8399 e$Ping request sent.e)IH>iO$@#@=s= iI y>M?uӘk?``?cv>} s=)i:publishing transmit ping timeYaFpublishing direction and range info98?%&?EO?@=@=DDD.DE; E$:6Eـ4:E"EA\M?uӘk?``? )i! >Au &t@=QAIIN> ,M9)AyB}?ٱBr?BBBo =BHL? ̷EU? Z?@e? N=?I??IB}?)B^e;i@NB9N$IR4`9`9bGYbBFfAf>hQ 1n4٪j0?Q 5n4j jYB9pYrJ?Q Er?yjC)j:Ij:ij4YtvAthQhU n()AhU-BhU-BhU?zUXĄQ@ ۾@%n @jU8?%&?EO?hUs=hUUC@Q@@Hd&@IrU6?#?p ä(?)hUBhU@hUw&朊?hU KhIAhUNB*iU.f?2iUĤf:iUNBiUVB"iUY?iʴmAu addTargetRange:: Added new target pos. range: 71.500000 m, deltaT: 7.307992 s, deltaX: -4.500000 m, approachRate: -0.615764 m/s, rangeRepo size: 4  Added new target pos. range: 71.089203 m, bearing: 85.747406 deg, lat: 36.779323 deg, lon: -121.859580 deg, deltaT: 7.307992 s, deltaX: -4.473404 m, approachRate: -0.612125 m/s, posRepo size: 4 gԩDNOT Ignoring new targets: 71.09 m.gg ProNav: ac range: 71.089203 m, nav range: 70.168068 m, bearing: 86.994725 deg, approach rate: 0.000000 m/s, LOS rate: -0.045910 deg/s, cmd heading: 83.016496 deg, new cmd heading: 82.975834 deg. gHeadingCmd: 1.448202 target range: 71.089203 and range: 71.50 m.g^?ggggzfrfffBdddcQ@cx?ɢB= I dɡiIS;I^?iE BT=iE1<=)E^?)Ii94DDD-DE : E:6Et4:E!@!@!@!@ >A K@=) AM yAIQ Ii Nu >,S)Ay6Y?ٱ6N?66=6H?+`?#?S? ^=@P?\??I6Y?)6wd;i6LC>B9>$I=Mb@Mb@Mb@ 9)9I9i99=T㥛 ?:v?~jth=!?===DI=9Ai= A=5 A9)9=zABDU6DUkYe35!e>=mQ)m>m H?9m H?9uGYquv'Au>yQ 14٪}S/?Q 54} }^B96#?Q A:YM?Q E?y}C)}:I};i}7$4YޙBAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 71.09 m.gdgd ProNav: ac range: 71.089203 m, nav range: 69.895386 m, bearing: 86.975546 deg, approach rate: -0.705942 m/s, LOS rate: -0.049846 deg/s, cmd heading: 82.975836 deg, new cmd heading: 82.937329 deg. grHeadingCmd: 1.447529 target range: 71.089203 and range: 71.50 m.gH?ggggzfrfffVBBdddcc ?ɢ%B%t )A)A-<vB5ۿ>~B1B5$IB5BB5 =B1B1B5{_;B5$EuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.I EɡiI8;IH?i6T=i ;=)H?)i/>AC;=rA ?jA ?A - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983511A- AI1 II NU >D} D} D} ,Dy E} : E} $:6E} g4:Ey "E} .K?9K?9GYCFGٺA>Q 14٪.?Q 54 cB9Y7?Q E?y0C)h:I:iV+4YB(AtEgDNOT Ignoring new targets: 71.09 m.g:Mg:M= ProNav: ac range: 71.089203 m, nav range: 69.636688 m, bearing: 86.957356 deg, approach rate: -0.635570 m/s, LOS rate: -0.044856 deg/s, cmd heading: 82.937327 deg, new cmd heading: 82.900812 deg. g=.EHeadingCmd: 1.446892 target range: 71.089203 and range: 71.50 m.gE3?gAgAgAgIzfIrfIfIfQBdQdqdqcyc}@ ?ɢ5B5 9=妾I9 =Kɡ9i9I= ;QI3?i(T=i)3?)i%8))))@5mA@1iߍ?Iߍ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235771y>A) ԩ AY Ia Iy N >!,a)Ay6Q.?ٱ6#?66=6HJ?@?@ڲ?e?&?`??I6Q.?)6d;i6LC@>B9B$IID)DBDJ6DJJYR18=!RZ=V:Q)V>T9T9ZGYZDFZۺAZ>vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.487349\Q 1e4٪^-?Q 5m4^i ^gB9iYm#?Q Em?y^OC)^+;I^ #;i^14YArD==jD=4=D]D]D](DYE]: E] n:6E]c44:EY!}@!}@!}@!@g9MDNOT Ignoring new targets: 71.09 m.g@+g@+Ա ProNav: ac range: 71.089203 m, nav range: 69.398949 m, bearing: 86.940644 deg, approach rate: -0.530653 m/s, LOS rate: -0.037430 deg/s, cmd heading: 82.900813 deg, new cmd heading: 82.867275 deg. gHeadingCmd: 1.446307 target range: 71.089203 and range: 71.50 m.g ?gg g gzfrfffBd!d!dIcIcM ?ɢB 页0I ho ɡiI;I ?i'T=i:=) ?)i}9y/vB=ٿ>~B9B=$IB=$BB9B9B=kDB=_;B=4$EBBBBBBǗ!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738740) >A `9=A I I N >YA(,)A(y:,?ٱ:"?:8:3=:H?f??@V? ֤`oۢ?ZQ? G?I:,?):ąc;i:MCJB9J$IMb@Mb@Mb@ )Ii/$?zG?? =I=AiA9 AA)ABD56D5:Y=<!E8=E:Q)E>A9I9MGYIM\ȸAU>QQ 1]4٪U-?Q 5e4U&~ UmB9e?Q Ae:Ye?Q Ee?yUrC)U:IU:iU94Y  A gQUDNOT Ignoring new targets: 71.09 m.g]qg]q ProNav: ac range: 71.089203 m, nav range: 69.123718 m, bearing: 86.919798 deg, approach rate: -0.694847 m/s, LOS rate: -0.052838 deg/s, cmd heading: 82.867277 deg, new cmd heading: 82.825418 deg. gfHeadingCmd: 1.445576 target range: 71.089203 and range: 71.50 m.g?ggggzfrfffiBBdddcc?ɢBJ vI nɡiIU;I?iST=ip==)?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.991007ԁ)DDD,DEO; E҆:6Eg4:E"EYA} :=bA lAZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243962A yAI I N >d.,_)Ay65?ٱ6[+?6!6=6H@?޵`銛? O?੯?`˾'â?^?N?I65?)6#c;i6JCNB9R$IBDZ6DZ0|Y<!O=[9Q)>  H?9  H?9 GY EF 2:A>Q 1%4٪P,?Q 5%4w sB9!Y%?Q E%?yC);IL;i@4Y15A1gQ]DNOT Ignoring new targets: 71.09 m.geAggeAgu ProNav: ac range: 71.089203 m, nav range: 68.880180 m, bearing: 86.901158 deg, approach rate: -0.658075 m/s, LOS rate: -0.050545 deg/s, cmd heading: 82.825415 deg, new cmd heading: 82.788004 deg. gu}HeadingCmd: 1.444923 target range: 71.089203 and range: 71.50 m.g}??gygygygyzfrfffBdddcc @ɢB !I g_ɡiIҳ;I??iT=iNJ@=)??)iu9qqu0q@}=@}=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496395!bDZDDDDDE: E:6E:E! @! @! @! @>A5C;=A IQ Ia Nm >L5,X;֬)Ay6P?ٱ6E?6%6=6H?@?@1????e?I6P?)6b;i4NB9R$I-Mb@Mb@Mb@ )))I)i))-Cl?zG?-;?))I)i-jA- A-A))- AvBEؿ>~BEӍCBE%IBE3BBE =BABABE_;BE?$Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746826i4<BD6DY"!<!:=9Q)>99%GY%FF%%:A%>)Q 154٪-x+?Q 554-qp -yB9=|!?Q A=:Y=?Q E=?y-C)- ;I-z ;i-;H4YAEAAeB*** querying acoustic contact ***zhahagiuDNOT Ignoring new targets: 71.09 m.g}~Yg}~Y ProNav: ac range: 71.089203 m, nav range: 68.604439 m, bearing: 86.880332 deg, approach rate: -0.626889 m/s, LOS rate: -0.047537 deg/s, cmd heading: 82.788006 deg, new cmd heading: 82.746187 deg. gHeadingCmd: 1.444193 target range: 71.089203 and range: 71.50 m.gT۸?ggggzfrfffNBBdddccj@ɢBp I UɡiI;IT۸?iS=iE=)T۸?)Qi!!)-0)q>Am K@=u BDAT read: Rx Time:05:22:58.3364 } TRx dataTimestamp_ set to:1755840179.657215} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000581Ա D D D +D E : E xv:6E [4:E "E 6gw;,)Ay6!n?ٱ6c?666+#=6H1?ɡ?+? Vm?@3>?`??I6!n?)6c;i6ICNB9R$IBDZ6DZkYb=!bc=by7Q)b>d9d9fGYdf&;Aj>hQ 1n4٪j*?Q 5r4jxj j~B9pYr?Q Er?yjҽC)j;Ije;ijN4YvBz/AzkEygDNOT Ignoring new targets: 71.09 m.gSgS ProNav: ac range: 71.089203 m, nav range: 68.378212 m, bearing: 86.862950 deg, approach rate: -0.598564 m/s, LOS rate: -0.046143 deg/s, cmd heading: 82.746185 deg, new cmd heading: 82.711305 deg. g娺HeadingCmd: 1.443585 target range: 71.089203 and range: 71.50 m.gaǸ?ggggzfrfffBdddccq @ɢ B ڼ  sI JɡiI;IaǸ?iS=iJ=)%aǸ?)!i5ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.250921>AG=rA ?jA ?II)N5> \`B, )A) 6DAT read: 05:22:58.3364 LVL= 25376, 30513, 26002, 32755, AGC= 65, IDX= 415,-0.28,-0.753,-2.579,-0.725,-1.125, PHS= 0.474,-1.409, 0.356, RAW= 146.8, 6.4, CAL= 146.3, 6.9, ROT= 3.7, -6.9 >Ygot valid direction response: 05:22:58.3364 LVL= 25376, 30513, 26002, 32755, AGC= 65, IDX= 415,-0.28,-0.753,-2.579,-0.725,-1.125, PHS= 0.474,-1.409, 0.356, RAW= 146.8, 6.4, CAL= 146.3, 6.9, ROT= 3.7, -6.9 FPDAT read: Bearing 253.5, 6.4 (Local) F~Local bearing/azimuth received: Bearing 253.5, 6.4 (Local) NDAT read: Range 11 to 50 : 69.3 m (Round-trip 92.4 ms) speed 0.5 m/s R,DAT read: user:7471> VBDAT read: Tx time:05:22:59.4398 Z$Ping request sent.Z)ZIE>i(#@.k#@Ϣ= A= ϢiI/(yc?&F?IqF遼?fm>  A=)ϢBEg4JEb4REz:0DDD*DEs: E]t:6E(N4:E!@!@!@!@i:publishing transmit ping timeYX Fpublishing direction and range info9}Jp?Zf?rjƹI?iye.? )Ii iI/(yc?&F?IqF遼? )iٱë́?e+ea,=eH`o|?`?7?kI?^ eĢ?膥???Ie.?)e0b;ieKCB9$IMb@Mb@Mb@ )Iiףp= ?v/?~jth?x=DIAi| A AA)I)BD6DJ2YR<!= Q)>99GYGF:A>9Q 1E4٪=")?Q 5E4=` =B9Ma!?Q AM:YM?Q EM?y=C)=s:I=:i=X4YQ}AyhhI )Ah͉Bh͉Bh*?zVWgQ@y*@~;8 @j}Jp?Zf?rjƹI?h A=hϢPVP@`%P@,%@r=2茱?e@R?q]zX?hBh'@h.?h!'ghB*i+*?2i!'g:iiB"i+?% addTargetRange:: Added new target pos. range: 69.300003 m, deltaT: 3.529035 s, deltaX: -2.199997 m, approachRate: -0.623399 m/s, rangeRepo size: 4 vB=Կ>~B9B=%IB==BB9B9B9B=_;B="$E] Added new target pos. range: 68.901085 m, bearing: 86.018221 deg, lat: 36.779327 deg, lon: -121.859580 deg, deltaT: 3.529035 s, deltaX: -2.188118 m, approachRate: -0.620033 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 68.90 m.gega ProNav: ac range: 68.901085 m, nav range: 67.989944 m, bearing: 86.468203 deg, approach rate: 0.000000 m/s, LOS rate: -0.046143 deg/s, cmd heading: 82.711303 deg, new cmd heading: 82.657425 deg. gHeadingCmd: 1.442644 target range: 68.901085 and range: 69.30 m.g?ggggzfrfffbBBdddc@3SQ@c ?ɢB%𮷼 !%cI! %8ɡ!i)I-m;)I5?i5S=i=KQ=)=?)9i / @ lA@ lAY >A 0M=IiIԉN>I,Z()Ay6?ٱ6B9>$IBDF6DF0YN#!R=RF9Q)R?P9T9VGYVHFV ;AZ?XQ 1^4٪ZK(?Q 5b4Z[ ZB9`Yb?Q Eb?yZC)Z:IZK:iZ]4Ydj?AhgQ]DNOT Ignoring new targets: 68.90 m.g]cg]c ProNav: ac range: 68.901085 m, nav range: 67.804573 m, bearing: 86.450086 deg, approach rate: -0.644031 m/s, LOS rate: -0.063117 deg/s, cmd heading: 82.657426 deg, new cmd heading: 82.621092 deg. g纝HeadingCmd: 1.442010 target range: 68.901085 and range: 69.30 m.gɓ?ggggzfrfffBdddcc?ɢ%B- )-TkI) -!ɡ)i1I5;I5ɓ?i=YS=i=U=)=ɓ?)9DMDMDM-DIEM: EM:6EMt4:EI"EM=--A%JM=IIN>i%=Iy 9P,CB)A0y>?ٱ>?>1> 3=>HZ??L?V%?Zy ,Ţ?'z??I>?)>7b;i>GC^B9b$I`i`)d fABDj6DjYr‰<!rG=r!Q)v>t9t9vGYtz6:Az>|Q 14٪~'?Q 54~'U ~B9Y?Q E ?y~:C)~@;I~ :i~ e4Y#Ag9=DNOT Ignoring new targets: 68.90 m.gEgEU ProNav: ac range: 68.901085 m, nav range: 67.547577 m, bearing: 86.424738 deg, approach rate: -0.644592 m/s, LOS rate: -0.063817 deg/s, cmd heading: 82.621090 deg, new cmd heading: 82.570202 deg. gU麝]HeadingCmd: 1.441122 target range: 68.901085 and range: 69.30 m.g]v?gYgagagazfarfafifiBdididicqcu}?ɢBhѼ 顥_I $ɡiI;Iv?iS=iUaY=)Uv?)Yԑi 94D}D}D}(DyE}: E}|:6E}c44:Ey!@!@!@!@>A5lT= Ae AIi Iy N >vB Ͽ>~B ҍCB )%IB GBB =B IDB jDB _;B $EV,\)Ay6?ٱ6 ?6_6:=6HcZ?/?@C?X"? Tܢ?N??I6?)6fb;i6ICB&B9B%I\ Mb@Mb@Mb@ ) I i   ףp= ?y&1?  `= I  Ai   A A)  A%pEK?9EK?9EGYEIFM8AM>QQ 14٪U&?Q 54UIN UB9I!?Q A:Y?Q E?yU[C)U5L'ɡ9i9I= ;IEY?iE7S=iM\=)MY?)Ii9W4]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.>A- mY=D D D *D E ; E :6E (N4:E "E Ao\,u)Ay:)?ٱ:Ȭ?:7 :u[B=:H T? ?6??+??D?`?I:)?):4b;i:LC^0B9b %IBDf 6Df2YnS=!rP=rKQ)r>t9t9vGYvJFv9Av>xQ 1~4٪z$?Q 54zG zB9Y?Q E?yz{C)zI;Iz3;iz's4Y  cAg9EDNOT Ignoring new targets: 68.90 m.gE8gE8U ProNav: ac range: 68.901085 m, nav range: 67.042587 m, bearing: 86.375766 deg, approach rate: -0.658141 m/s, LOS rate: -0.064354 deg/s, cmd heading: 82.519846 deg, new cmd heading: 82.471889 deg. gU뺝mHeadingCmd: 1.439406 target range: 68.901085 and range: 69.30 m.gmu>?gigigigizfqrfqffBdddccg?ɢB 額#Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754319 R)ɡiIco;iGCIa)yIAiAIu>?i#T=i#_=)u>?)Ii/q>A 5[=m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006318ԩ Iq I N% >qc,T揭)ADDD-DED: E:6Et4:E!.@!.@!.@!2@yy'?ٱƨ?s&K=H|X?˴ ?`˶?+?"̦ .?`m??I'?)b;iIC1B9%IMb@Mb@Mb@ )IiS?&1?/?=IAijA AnA)ABD6D:Y>r;!/=#Q)>99GYbA>Q 14٪$?Q 54,@ B9V?Q A:Y?Q E?yC) ;I ;iO{4Y\AgDNOT Ignoring new targets: 68.90 m.g%tg%t5 ProNav: ac range: 68.901085 m, nav range: 66.753815 m, bearing: 86.350974 deg, approach rate: -0.619833 m/s, LOS rate: -0.053446 deg/s, cmd heading: 82.471891 deg, new cmd heading: 82.422092 deg. g5ú=HeadingCmd: 1.438537 target range: 68.901085 and range: 69.30 m.g=!?g9g9g9g9zfArfAfIfMZBBdIdIdIcQcU:@ɢ}B}z 顅`I +ɡiI(e;I!?i T=iQa=)!?) Y>>ԡvBѿ>~BB5%IBRBB =BBB_;B $Ei9/iB?I<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259989PExceeded connect timeout, disconnecting.>A} Ba=I I N > i,佩)A~8B9~%II)@ABD 6D N2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510344Y-=!-h=-Q)->1919=GY=KFMAU>iQ 1m4٪ma#?Q 5u4mX: mB9qYqQ E}?ymC)m;Im;im4Y'AgiuDNOT Ignoring new targets: 68.90 m.g}Ihg}Ih- ProNav: ac range: 68.901085 m, nav range: 66.533081 m, bearing: 86.331876 deg, approach rate: -0.584886 m/s, LOS rate: -0.050770 deg/s, cmd heading: 82.422092 deg, new cmd heading: 82.383771 deg. g-Թ5HeadingCmd: 1.437868 target range: 68.901085 and range: 69.30 m.g5 ?g1g1g1g1zf9rf9f9f9BdAdAdADMDMDM.DIEM: EMk:6EMـ4:EI"EM6A I I N >Y up,í)Ay:с?ٱ:pw?: :vI=:H_?m@;i?2?I?@ЦP? t'??I:с?):}a;i:FCFX9X9ZGYX^A^>`Q 1f4٪b"?Q 5f4b4 bB9hYj?Q Ej?yb۾C)b:Ib6:ib:4YlnAlg DNOT Ignoring new targets: 68.90 m.g ʀg ʀ- ProNav: ac range: 68.901085 m, nav range: 66.296455 m, bearing: 86.311573 deg, approach rate: -0.653812 m/s, LOS rate: -0.056299 deg/s, cmd heading: 82.383768 deg, new cmd heading: 82.343016 deg. g5κMHeadingCmd: 1.437157 target range: 68.901085 and range: 69.30 m.gM?gQgQgQgQzfYrfafyfyBdydydcc$@ɢ{B+ 页I .ɡiI;I?iT=i `=)?)1i1115015BDAT read: Rx Time:05:23:01.9333 5TRx dataTimestamp_ set to:1755840183.192691=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015413iDDD,DE: E:6Eg4:E!E@!M@!M@!M@>AUJc=IIN>ԉvB ӿ>~B ӍCB H%IB aBB =B B kDB 0_;B #EBmӍCBmӍCBiBmʱ =Bmʱ =Bmʓ5Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266194Mw,ݭ)Ay6o?ٱ6(e?66E<=6Hv?פ?@?`"`?`AУ?@=e?Q)e>a9a9mGYmLFmAm>qQ 14٪u!?Q 54u, uB9n#?Q A:Y?Q E?yuC)u9 BDAT read: Tx time:05:23:03.0398 $Ping request sent. %~>)% ׳I%η>i%"$@%V=%(#@%5=%d=DDD(DE ; E :6Ec44:E"EL%~ %d=)%5i!!:publishing transmit ping timeYFpublishing direction and range info9!%B?Ra^?UM7P2?!!i!!!!! !)!I!i!!!!! !i!!I%HRO|@?6(?z?!! !)!i!!>A |^=bA kAZA mA A1 IQ Ia Nm >(},[)AyJJB?ٱJ7?JJm =JHS? [?'??@*@C?(??IJJB?)Jy`;iJECbBB9b#%Ij4A9I9MGYMMFM}OAM>QQ 1e4٪U@!?Q 5m4U% UB9iYm?Q Em?yU"C)UyH;IUI;iU]4Yq}Ayh9h=')Ah=Bh=Bh= Ⱦ?z=T zP@ކO]{ @UH6 @j=B?Ra^?UM7P2?h=d=h=5=j_nM@N -[P@s6g%@r=}D?Gty?ݼ?h=؂Bh=@h=8ܜ?h=6lh=ЛB*i=.?2i= Kh:i9Թi=B"i=? addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 3.536524 s, deltaX: -2.400002 m, approachRate: -0.678633 m/s, rangeRepo size: 4  Added new target pos. range: 66.514008 m, bearing: 85.398211 deg, lat: 36.779331 deg, lon: -121.859581 deg, deltaT: 3.536524 s, deltaX: -2.387077 m, approachRate: -0.674978 m/s, posRepo size: 4 gDNOT Ignoring new targets: 66.51 m.gg] ProNav: ac range: 66.514008 m, nav range: 65.770264 m, bearing: 85.799545 deg, approach rate: 0.000000 m/s, LOS rate: -0.050175 deg/s, cmd heading: 82.297325 deg, new cmd heading: 82.255451 deg. gaeHeadingCmd: 1.435628 target range: 66.514008 and range: 66.90 m.ge·?gigigigizfirfiffBdddcP@c?ɢEuBE # IM(ɽII uH1ɡqiqIu9;I}·?i}&T=i}ڛ_=)}·?)i!!)))>AM Jc=D D D /D E : E :6E J4:E ! @! @! @! @A A} yAI I Nm >,Ą,)Ay^ '?ٱ^?^|^7=^H;?7ʠ? ??T5?@??I^ '?)^:`;i^HCfKB9f-%IMb@Mb@Mb@ )Ii'1Z?|?5^?{Gzt?"?ף;IjAi9AfASA)ABD6DܲY=!<=(Q)> H?9  H?9 GY NF &A>Q 14٪ ?Q 5%4< ¡B9%$?Q A%:Y%?Q E%?yEC):Ib:i4Y5B5A1gY]DNOT Ignoring new targets: 66.51 m.gegeu ProNav: ac range: 66.514008 m, nav range: 65.492577 m, bearing: 85.774867 deg, approach rate: -0.649484 m/s, LOS rate: -0.057964 deg/s, cmd heading: 82.255449 deg, new cmd heading: 82.205884 deg. gu)Ժ}HeadingCmd: 1.434763 target range: 66.514008 and range: 66.90 m.g}S?gygygygzfrffvBѿ>~BB[%IBpBBBBjDB_;B#EfBd)d)d)c)c-?ɢerBe㯄 im Ii m2ɡiiiImT;IS?i-T=i `=)S?)iE9AAE0AI>Ae |^=q A I I N >S,-)A(i(yvx ?ٱv?vWv; =vH? Ӳ)9)9-GY)- A5>D=D=D=*D9E==; E=|:6E=(N4:E9"E=sIA(a=rA?jA?A AI I N% > Kґ,ƣG)Ay>?ٱ>|?>yK>H@? ??`?5>2?DǤ?4?I>?)>^;i>HCNNB9N1%IIV@A)VAABDZ6DZ{UYb`k!bQ=fY:Q)f>jK?9jK?9jGYjOFnsAn>tQ 1z4٪v{?Q 5z4v= vСB9|Y~m?Q E?yvC)vF;Iv+;;iv^4Y  AgIUDNOT Ignoring new targets: 66.51 m.gUg5E ProNav: ac range: 66.514008 m, nav range: 65.000786 m, bearing: 85.731180 deg, approach rate: -0.659551 m/s, LOS rate: -0.058800 deg/s, cmd heading: 82.162763 deg, new cmd heading: 82.118182 deg. gE8׺MHeadingCmd: 1.433233 target range: 66.514008 and range: 66.90 m.gM+t?gIgIgQgQzfrfffBdddcc@?ɢlBx vBE-^n4JE)RE-@o0DDD-DE: E:6Et4:E!@!@!@!@I \4ɡiIZ;Iu+t?iu9T=iy)+t?)i9-0AAvBп>~BҍCBz%IBBB =BBB^;B#E >A ya=9 A I IN%>,~Re)AyB ܛ?ٱBѷ?BB/=BH-?) ??@?` ??Lܥ?@?IB ܛ?)B^;iBECbgB9bO%I9MMb@Mb@Mb@ I)IIIiIIM r?~jt?Mbp?M#?M=M;IIiMOAMAMA)IMABDe6DeYm=!u(=u":Q)u>y9y9GYPFIA>Q 14٪?Q 54  ءB9l%?Q A:Y?Q E?yC) ;I ;i״4YBANEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 66.51 m.gjgj ProNav: ac range: 66.514008 m, nav range: 64.689194 m, bearing: 85.706639 deg, approach rate: -0.647857 m/s, LOS rate: -0.051272 deg/s, cmd heading: 82.118183 deg, new cmd heading: 82.068863 deg. gHeadingCmd: 1.432372 target range: 66.514008 and range: 66.90 m.gW?ggggzfrfffgBBdddcc`?ɢ}jB}s: }N}@Iy }}r4ɡiI;IW?iS@T=ie`=)W?)T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.qDDD.DE; E:6Eـ4:E"EA\A p\=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242890A) I9 II N] >N,6)AyR?ٱR?R,RO4=RHmJ?Į~???[Y~? Y??IR?)R]^;iRGCZnB9ZX%IBDf6DffYj=!jT=nZ$8Q)n>p9p9rGYprAv>tQ 1z4٪v?Q 5~4v} vޡB9|Y~?Q E~?yv̿C)v;Iv;iv4YB JA gDNOT Ignoring new targets: 66.51 m.gaԙga ProNav: ac range: 66.514008 m, nav range: 64.442070 m, bearing: 85.687205 deg, approach rate: -0.624700 m/s, LOS rate: -0.049314 deg/s, cmd heading: 82.068862 deg, new cmd heading: 82.029846 deg. gHeadingCmd: 1.431691 target range: 66.514008 and range: 66.90 m.gA?ggggzfrfffBdddcc@h@ɢgBw% 額L>i4)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496665DDD-DE: E:6Et4:E!%@!%@!%@!%@>AmPa=I I N > , )AvBfϿ>~BdBf%IBfBBf =BdBdBf^;Bf#EwB9d%IMb@Mb@Mb@ )Ii"~j?X9v?y&1|?S#?=`;IAiASAAA)Ap 9 9 GY QFA>Q 1%4٪?Q 5%4 B9%'&?Q A%:Y%B?Q E-?yC)o;IT:iGÇ4Y15A1]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747123gimDNOT Ignoring new targets: 66.51 m.gm֧gu֧ ProNav: ac range: 66.514008 m, nav range: 64.157913 m, bearing: 85.655656 deg, approach rate: -0.657883 m/s, LOS rate: -0.073368 deg/s, cmd heading: 82.029848 deg, new cmd heading: 81.966469 deg. gEHeadingCmd: 1.430585 target range: 66.514008 and range: 66.90 m.gg?ggggzfrfffYBBdddcc<@ɢeB X=I 3ɡiIh';Ig?iMT=ic=)g?)!i-9))-2)Q>AM (a= BDAT read: Rx Time:05:23:05.5302  TRx dataTimestamp_ set to:1755840186.721370% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002049D% D% D% )D! E% ; E% :6E% FA4:E! "E% @[#,2鲮)A9BD-6D-0Y=˓!=X=AQ)E>A9A9EGYIIAM>QQ 1]4٪U?Q 5]4U UB9aYaQ Ee?yUC)Ua;IU ;iUɇ4YimAigDNOT Ignoring new targets: 66.51 m.gg ProNav: ac range: 66.514008 m, nav range: 63.914471 m, bearing: 85.628402 deg, approach rate: -0.644579 m/s, LOS rate: -0.072436 deg/s, cmd heading: 81.966471 deg, new cmd heading: 81.911756 deg. gHeadingCmd: 1.429630 target range: 66.514008 and range: 66.90 m.g?ggggzfrfffBdddccA @ɢcB  #=I }O3ɡiIQ/;I ?i VT=i g=)?)QIEG)IiUQ]Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254697ԉ9Β;i94ԩ>A Jc= I I N >1B,ڪͮ)A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504117DDD*DE&: E:6E(N4:E!@!@!@!@yfk|?ٱf r?f %f:Z =fHI?`A(??l[?/e?`1??Ifk|?)f];ifCCyB9f%IIBD= 6D=:2Y5;!5)=EQ)M>Y9y9GYRF3A>Q 1 4٪d?Q 5=4 B99Y=?Q E=?y:C)\~BQBU%IBUBBQBQBQBU^;BU#E5DAT read: 05:23:05.5302 LVL= 30256, 32753, 31794, 32755, AGC= 65, IDX= 416, 0.14,-1.344, 3.137,-1.289,-1.680, PHS= 0.438,-1.421, 0.347, RAW= 147.5, 7.1, CAL= 147.0, 7.6, ROT= 3.0, -7.6 =Ygot valid direction response: 05:23:05.5302 LVL= 30256, 32753, 31794, 32755, AGC= 65, IDX= 416, 0.14,-1.344, 3.137,-1.289,-1.680, PHS= 0.438,-1.421, 0.347, RAW= 147.5, 7.1, CAL= 147.0, 7.6, ROT= 3.0, -7.6 EPDAT read: Bearing 254.2, 5.8 (Local) E~Local bearing/azimuth received: Bearing 254.2, 5.8 (Local) UDAT read: Range 11 to 50 : 64.7 m (Round-trip 86.3 ms) speed 0.6 m/s ],DAT read: user:7473> ]BDAT read: Tx time:05:23:06.6398 e$Ping request sent.e)T㵿I>iS$@=Y3$@>PwV= iIjN*??V? V߶x?>.i PwV=)i:publishing transmit ping timeYaFpublishing direction and range info94?A鄏?) ?i )Ii ԙiIjN*??V? V߶x? )i9 ) ie 9i i m i0i @q @u mA)߹ ߽A>AMTJg=rAU ?jAU?IIDDDDEl; Ez:6E:E"EPF99GYSFAA>Q 14٪?Q 54 B9&?Q A:Y?Q E?ybC)Q:I#:iۇ4YAhhqޮ)AhBhBh}?zGp6O@~& @vq!@j4?A鄏?) ?hPwV=hhˑ&@/2:rO@;X$&@r< Axö?xV8d?A ?hm|Bh @h?hghB*i8ܜ?2i:iiC}B"i?? addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 3.778376 s, deltaX: -2.200005 m, approachRate: -0.582262 m/s, rangeRepo size: 4  Added new target pos. range: 64.325974 m, bearing: 84.821016 deg, lat: 36.779336 deg, lon: -121.859581 deg, deltaT: 3.778376 s, deltaX: -2.188034 m, approachRate: -0.579094 m/s, posRepo size: 4 gDNOT Ignoring new targets: 64.33 m.gg ProNav: ac range: 64.325974 m, nav range: 63.315647 m, bearing: 85.159563 deg, approach rate: 0.000000 m/s, LOS rate: -0.069757 deg/s, cmd heading: 81.839914 deg, new cmd heading: 81.771612 deg. gHeadingCmd: 1.427184 target range: 64.325974 and range: 64.70 m.g?ggggzfrfffEbBBdIdIdIcM,P@cUƥ?ɢ]B+J 顥=I %.1ɡ!i!I%;I-?i-lT=i-ãf=)-?)1)9 9i9I9aԉie 9a a e _0a >A Ba= I I1NE>,)Ay6`?ٱ6V?66=6H]? ­Ϩ?}?y?A=@ڣ?л? Y?I6`?)6ɵ];i6DC>B9Bn%IBDJ6DJYN!R<=R Q)R>T9T9VGYVTFVCAV>XQ 1^4٪ZI?Q 5b4ZJ ZB9`Yb?Q Eb?yZC)Z;IZ1:iZ4YdfAhvB*** querying acoustic contact ***zhthtDDD)DE ; E:6EFA4:E! @! @! @! @gDNOT Ignoring new targets: 64.33 m.gg- ProNav: ac range: 64.325974 m, nav range: 63.034664 m, bearing: 85.132313 deg, approach rate: -0.671387 m/s, LOS rate: -0.065401 deg/s, cmd heading: 81.771612 deg, new cmd heading: 81.716870 deg. g-aﺝ5HeadingCmd: 1.426228 target range: 64.325974 and range: 64.70 m.g5?g1gggzfrfffBdddcc+?ɢM[BMOĻ y}=I K50ɡiI ;I?iwT=i-h=)?)!i!!!%4!vBʿ>~BB%IBBB =BBB^;B#EBҍCBҍCBBŲ =BŲ =B.5iߕ>Iߕa=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) >AE Qf=Ay I I N >,B()AB9%I!i!)) -AMb@Mb@Mb@ )Ii"~j?v/?y&1|?S#?x=`;ISAi A"Ad@)ABD6DYF=!9=Q)>99GY A >!Q 1-4٪%Z?Q 5-4% %B95%?Q A5:Y5?Q E=?y%C)%M;I%WH;i%4YIMRAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248671g9EDNOT Ignoring new targets: 64.33 m.gE坺gM坺Q} ProNav: ac range: 64.325974 m, nav range: 62.745850 m, bearing: 85.099697 deg, approach rate: -0.608387 m/s, LOS rate: -0.069021 deg/s, cmd heading: 81.716868 deg, new cmd heading: 81.651337 deg. g}HeadingCmd: 1.425085 target range: 64.325974 and range: 64.70 m.g-i?ggggzfrfffKBBdddcc ?ɢYB!] DDD,DE: Eą:6Eg4:E"E.A Xh= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501587A I I N >m,U/D)Ay6A?ٱ667?6X6n=6Hg?`ɬ3?Z??N?@0?i?I6A?)6T];i6BCNB9N%IR;iRBDV6DVY^"<!^Q=btչQ)b>`9`9bGYbUFf"Af>hQ 1n4٪j?Q 5n4j jB9pYr?Q Er?yjC)j:IjN:ijF4YvbBvrAv;Eg9=DNOT Ignoring new targets: 64.33 m.gEgEU ProNav: ac range: 64.325974 m, nav range: 62.499416 m, bearing: 85.071846 deg, approach rate: -0.684263 m/s, LOS rate: -0.077640 deg/s, cmd heading: 81.651339 deg, new cmd heading: 81.595416 deg. gU]HeadingCmd: 1.424109 target range: 64.325974 and range: 64.70 m.g]1I?gYgagagazfarfafifiBdididqcqcu`0?ɢXB(hܺ 顥|=I .-ɡiI6c;I1I?iݏT=iKsl=)1I?)i%9!!%/))Q UA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7528361DuDuDu-DqEu: Eu:6Eut4:Eq!}@!}@!}@!}@>AEnp=A9 a I I N >A A <vB! ~B% эCB% %IB% ƆBB% =B! B! B% ^;B% #E!,])A yNa.?ٱN#?NR Nl=NH e?X`0D?? 5?R`|?`,??INa.?)N];iNCCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004419fB9f%I}Mb@Mb@Mb@ y)yIyiyy}MbX9?ʡE?~jth}!?}=}DI}=Aiyyy)y}=ABD6D1YPz=!==ȥQ)>99GYVFFA>Q 14٪?Q 54 B9$?Q A:Y?Q E?yC):IZ:i4YAgDNOT Ignoring new targets: 64.33 m.g.g. ProNav: ac range: 64.325974 m, nav range: 62.224735 m, bearing: 85.038971 deg, approach rate: -0.615208 m/s, LOS rate: -0.073955 deg/s, cmd heading: 81.595414 deg, new cmd heading: 81.529374 deg. gXHeadingCmd: 1.422956 target range: 64.325974 and range: 64.70 m.gl#?ggggzfrfffPBBdddcc`u@ɢ]VB]00= Y]">IY el*ɡaiaIeuƵ;Iml#?ii-T=i-n=)-l#?)1i/ԙuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256479D D D (D E O: E :6E c44:E "E A ]n= A1 IA IQ N] >P,'w)Ay6?ٱ6?6+ 6+=6H?S??`?X? ??I6?)6;];i6DC>B9>%IiB=IB=HBDJ6DJP)YR*!R[=V^Q)V>T9T9ZGYXZAZ>\Q 1b4٪^?Q 5b4^ ^"B9dYf?Q Ef?y^C)^`:I^:i^T4YpvAxg!-DNOT Ignoring new targets: 64.33 m.g-4g-4= ProNav: ac range: 64.325974 m, nav range: 61.987186 m, bearing: 85.010416 deg, approach rate: -0.663680 m/s, LOS rate: -0.080084 deg/s, cmd heading: 81.529373 deg, new cmd heading: 81.472044 deg. gEEHeadingCmd: 1.421955 target range: 64.325974 and range: 64.70 m.gM?gIgIgIgIzfIrfffBdddcc6@ɢTB\ : ->I) -2)ɡ1i1I5P;I5?i=T=i= >p=)=?)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509312i8/@@>Afm= A9 II Ia Nu >} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7605653,ퟑ)ABEU(N4JEUwX4REU]%0D&D&D&*D$E&T; E&z:6E&(N4:E$!*@!*@!.@!.@|yJ ?ٱJv?Jb Jv=JH ?-,?`?O?&l?L ??IJ ?)Jg%];iJFCB9%IIa)e@ABDm6DmY9;!<=Q)>99GYWFA>Q 14٪?Q 54# (B9Yv?Q E?y2C):Iy:i4Y A B*** querying acoustic contact ***zh h g1DNOT Ignoring new targets: 64.33 m.gxgxU ProNav: ac range: 64.325974 m, nav range: 61.707943 m, bearing: 84.976710 deg, approach rate: -0.639821 m/s, LOS rate: -0.077578 deg/s, cmd heading: 81.472047 deg, new cmd heading: 81.404331 deg. g] HeadingCmd: 1.420774 target range: 64.325974 and range: 64.70 m.g۵?ggggzfrfffBd ddc!c%@z@)ɢRB 顥|>vBп>~BҍCB%IBцBBBBB^;B#EI `&ɡi I  ;I ۵?iVT=iSTr=)۵?)i9/BDAT read: Rx Time:05:23:09.1273 TRx dataTimestamp_ set to:1755840190.501790checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014899Yԁ >A @p=A I1 IA N] >),2)A(yfz?ٱf?f#f\=fH ?? ??S`??l?Ifz?)f4];ifDCnB9r%I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264562uMb@Mb@Mb@ q)qIqiqquK7A?i|?5?y&1|u "?u=u`Iul@iuAuAu?@)quABD6D:Y=!;=AQ)>99GYXF]A>Q 14٪?Q 54ͱ -B9$?Q A:Y?Q E?yUC):I:i4Y AgDNOT Ignoring new targets: 64.33 m.gg  ProNav: ac range: 64.325974 m, nav range: 61.431145 m, bearing: 84.942769 deg, approach rate: -0.642253 m/s, LOS rate: -0.079108 deg/s, cmd heading: 81.404332 deg, new cmd heading: 81.336145 deg. gHeadingCmd: 1.419584 target range: 64.325974 and range: 64.70 m.g괵?ggggzfrfDMDMDM,DIEM: EM:6EMg4:EI"EM6I MY$ɡIiIIM";IU괵?iUT=iUt=)U괵?)Yyi!%/)ԩ DAT read: 05:23:09.1273 LVL= 27504, 29105, 27890, 32755, AGC= 60, IDX= 418,-0.18, 1.989, 0.224, 2.039, 1.651, PHS= 0.440,-1.382, 0.344, RAW= 147.3, 6.8, CAL= 146.8, 7.3, ROT= 3.2, -7.3  Ygot valid direction response: 05:23:09.1273 LVL= 27504, 29105, 27890, 32755, AGC= 60, IDX= 418,-0.18, 1.989, 0.224, 2.039, 1.651, PHS= 0.440,-1.382, 0.344, RAW= 147.3, 6.8, CAL= 146.8, 7.3, ROT= 3.2, -7.3 % PDAT read: Bearing 253.4, 6.0 (Local) % ~Local bearing/azimuth received: Bearing 253.4, 6.0 (Local) - DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.5 m/s 5 ,DAT read: user:7474> = BDAT read: Tx time:05:23:10.2414 = $Ping request sent.= )`尿I >i"$@=(#@w>d= wiIr(j;?Y*?Y$KC? > d=)wi :publishing transmit ping timeY9  Fpublishing direction and range info9y?TY?A5 5tr=Ae yAIq I N >,ǯ)A H?95 H?9=GY9=%AE>IQ 14٪M?Q 54M M1B9Y?Q E?yMvC)MEI1 5!ɡ1i1I5LΣ;I=-?i] T=iew=)e-?)aD-D-D)D)E-V: E-&p:6E):E)!5@!5@!=@!=@i9@@=A A vB ؿ>~B ӍCB %IB ۆBB =B B kDB C^;B q#E >A Hu=bA% lAZA! iߵ =Iߵ =AM AIY Ii Nu >h ,)Ay6ޚ?ٱ6uԶ?6I#6;=6H'?ba???@㦿`y?`??I6ޚ?)6;];i6BCBB9B%IX Mb@Mb@Mb@ ) I i   V-?V-?Mb ? = I V@i nA A (@)  Ap=+7Q)>K?9K?9GYYFϭA>Q 14٪?Q 54# 6B9?Q A:Y?Q E?yC);I;i4Y! Ag DNOT Ignoring new targets: 62.04 m.g úgú ProNav: ac range: 62.039501 m, nav range: 60.923889 m, bearing: 84.792934 deg, approach rate: -0.666221 m/s, LOS rate: -0.085670 deg/s, cmd heading: 81.268412 deg, new cmd heading: 81.201068 deg. g%%HeadingCmd: 1.417226 target range: 62.039501 and range: 62.40 m.g-g?g)g)g)g)zf)rf1f1f5*BBd1d9d9c9c=B?ɢmNBm(:>; imZ->Iq uɡqiqIuݟ;I}g?i}T=i}y=)}g?)i%9!!%0! DDD*DE: E$:6E(N4:E"E58AEw=9 A yAI I N >E,8)A4i:LCIjUG)vmAIi5 5mA5AyMgך?ٱMͶ?MM$Mg=MH@=/?`o^? H?9 H?9GYZFqA>Q 14٪?Q 54כ ;B9Y?Q E?yC)$:I_:i%4Y Ag  DNOT Ignoring new targets: 62.04 m.gg% ProNav: ac range: 62.039501 m, nav range: 60.611099 m, bearing: 84.752569 deg, approach rate: -0.585413 m/s, LOS rate: -0.075937 deg/s, cmd heading: 81.201066 deg, new cmd heading: 81.119918 deg. g% -HeadingCmd: 1.415810 target range: 62.039501 and range: 62.40 m.g-@9?g)g)g)g)zf1rf1f1f1Bd9d9d9cAcE`-?ɢuLB}: 顅7>I ɡiI ;I@9?i; U=i}=y)@9?)ii i i m /i @q @q ԡ D% D% D% ,D! E% : E% :6E% g4:E! !5 @!5 @!5 @!= @>Au Jz= vBٿ>~BB%IBBBBBB];BH#EAAIIN ?N,z)AyNO?ٱNֶ?N:%N=NHd%?0???0?@+??INO?)N_];iNBCVB9V%Ix=Mb@Mb@Mb@ 9)9I9i99=`"?Cl?~jtx=?=;==ĻI=?@i=A= A=@)9=QABDU6DUJYe=!eB=m Q)m>mK?9uK?9uGYqu;:Au>yQ 14٪}?Q 54}N }@B9[?Q A:Y'?Q E?y}C)}:I};i},4Yy AB*** querying acoustic contact ***zhhgImDNOT Ignoring new targets: 62.04 m.gu1gu1 ProNav: ac range: 62.039501 m, nav range: 60.364613 m, bearing: 84.721657 deg, approach rate: -0.611649 m/s, LOS rate: -0.077020 deg/s, cmd heading: 81.119916 deg, new cmd heading: 81.057840 deg. g HeadingCmd: 1.414726 target range: 62.039501 and range: 62.40 m.g?ggggzfrfffBdddcc?ɢ JB Ȳ; ^>I QɡiIW;I?i$U=i_=)%?)A!i0Q>A 0=m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.y D D D -D E a: E xv:6E t4:E "E (, ,A7)Ay6?ٱ6׶?6D&6=6H$?`e7h?s??`7BPϤ?!Ԣ?`?I6?)6F];i4bB9b%IId)fAABDj6Dj0Yr!rT=vBQ)v>t9t9vGYv[Fzo8Az>|Q 14٪~?Q 54~1 ~DB9Y (?Q E ?y~C)~:I~:i~34Y%B A(EgAEDNOT Ignoring new targets: 62.04 m.gMgMY] ProNav: ac range: 62.039501 m, nav range: 60.134026 m, bearing: 84.692502 deg, approach rate: -0.625971 m/s, LOS rate: -0.079448 deg/s, cmd heading: 81.057837 deg, new cmd heading: 80.999305 deg. gefeHeadingCmd: 1.413705 target range: 62.039501 and range: 62.40 m.gmE?gigigigizfirfifqfqBdqdydycyc}?ɢIB2; 顭X>I RɡiI ;IE?i ;U=i$=)E?)im8qqu5qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004501>Ap=ԹA I I N > ~,Q)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256576y:ٚ?ٱ:)϶?:&:=:H@-?E*?@$?`4?9Ҥ? x??I:ٚ?):];i:>CFĆB9F%IBDN6DNβYV=!VN=V`Q)Z>X9X9ZGYZ\F^+A^>`Q 1f4٪b)?Q 5f4b bIB9dYf?Q Ej?ybC)bh:Ib:ib:4Yln AlgDNOT Ignoring new targets: 62.04 m.g ήg ή ProNav: ac range: 62.039501 m, nav range: 59.896935 m, bearing: 84.662350 deg, approach rate: -0.598488 m/s, LOS rate: -0.076414 deg/s, cmd heading: 80.999302 deg, new cmd heading: 80.938759 deg. g %HeadingCmd: 1.412648 target range: 62.039501 and range: 62.40 m.g%Ѵ?g!g!g)g)zf)rf)f1f1Bd1d1d1c9DEDEDE+DAEE%; EEą:6EE [4:EA!M@!M@!M@!M@Թc`@ɢGB< z>I !ɡiIg;IѴ?iUU=iV=)Ѵ?)i94@=@=AAvBݿ>~BԍCB%IBBB =BHDBlDB];B5#EBUӍCBUӍCBUŔCBUŰ =BUű =BU56checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508415>A'=bAjAZAA! I) I9 NM >9 >,j)Ay6QȚ?ٱ6?6l'6=6H >?^?~??9D R?T?@?I6QȚ?)6];i6@C<9@Mb@Mb@Mb@ )Ii`"?V-?Mb=I(@iA@)ABD6D1uQ)>99GYA>Q 14٪?Q 54 MB9?Q A:Y?Q E?y?C)z ;I ;i`B4Yg)5DNOT Ignoring new targets: 62.04 m.g5g=E ProNav: ac range: 62.039501 m, nav range: 59.633087 m, bearing: 84.625679 deg, approach rate: -0.596651 m/s, LOS rate: -0.083294 deg/s, cmd heading: 80.938759 deg, new cmd heading: 80.865092 deg. gMoMHeadingCmd: 1.411362 target range: 62.039501 and range: 62.40 m.gM?gQg ggzfrfff+BBdddc!c%(@)1 1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760883ɢ EB ; >I YGɡiIe;I?iVvU=i=)?)!DUDUDU1DQEU: EU$:6EU-4:EQ"EU5AE ;= BDAT read: Rx Time:05:23:12.7258  TRx dataTimestamp_ set to:1755840194.028544 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0136271 A I I N >Z!,)AyV?ٱVJ?V.(V =VH}J?@̧x,???`@?5\?`;?IV?)VZ];iTԆB9%Ii4<BD6DY-=!-<5]5Q)5>1919=GY=]F=A=>AQ 1M4٪E ?Q 5M4E{ ERB9Yz?Q E?yE]C)EdI l ɡiIz;Iz?i\U=i=)z?)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264420i4rD%=jDDDD.DE: E:6Eـ4:E!@!@!@!@ >A= 2=vB ؿ>~B ӍC1 B &IB BB =B IDB kDB ];B 3#EAa Iq  DAT read: 05:23:12.7258 LVL= 24304, 27697, 24018, 32755, AGC= 61, IDX= 403, 0.04, 2.663, 0.861, 2.722, 2.312,ing 253.1, 5.8 (Local)  yLocal bearing/azimuth received: 05:23:12.7258 LVL= 24304, 27697, 24018, 32755, AGC= 61, IDX= 403, 0.04, 2.663, 0.861, 2.722, 2.312,ing 253.1, 5.8 (Local)  DAT read: Range 11 to 50 : 60.2 m (Round-trip 80.3 ms) speed 0.6 m/s  ,DAT read: user:7475>  BDAT read: Tx time:05:23:13.8398  $Ping request sent. a(,&)AYi9IyEI?ٱE呶?E/)E$+=EH@|i?`k??u1?@q$?Q^?`?IEI?)E/];iAچB9%IBD6D:2Yܭ<!=Q)>99GY^FA>Q 14٪ ?Q 54r XB9Y \?Q E ?yC)2:I:iR4YX A5B*** querying acoustic contact ***zh1h1M addTargetRange:: Added new target pos. range: 60.200001 m, deltaT: 3.528152 s, deltaX: -2.200001 m, approachRate: -0.623556 m/s, rangeRepo size: 4 gQ]DNOT Ignoring new targets: 62.04 m.ge#ɺge#ɺԁ ProNav: ac range: 62.039501 m, nav range: 59.067726 m, bearing: 84.546493 deg, approach rate: -0.623480 m/s, LOS rate: -0.087925 deg/s, cmd heading: 80.798583 deg, new cmd heading: 80.705939 deg. g HeadingCmd: 1.408584 target range: 62.039501 and range: 60.20 m.g~L?ggggzfrff1f9Bd9dAdAcMN@cM`4d?ɢ@B h$< >I  3ɡiIq;I~L?iU=im=)~L?)i5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ԩi!!!%-2)@)@)DUDUDU+DQEU: EU:6EU [4:EQ"EQ!eEQ!e*EU;!eEU;!e >AM b$=rAI jAM ? AyIIN>s0,y)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.490204iy>~?ٱ>ot?> *>9=>H? ܣ? ?@H?@v Y?,?x?I>~?)>];i>?CF܆B9F%IBDN6DN 8YZ<!ZY=^Q)^>\9\9bGY`bAb>dQ 1j4٪f ?Q 5j4fl f\B9lYn??Q En?yfC)f:Ify:ifzY4Yr Br ArEg DNOT Ignoring new targets: 62.04 m.gQgQ% ProNav: ac range: 62.039501 m, nav range: 58.842930 m, bearing: 84.514864 deg, approach rate: -0.598308 m/s, LOS rate: -0.084506 deg/s, cmd heading: 80.705939 deg, new cmd heading: 80.642438 deg. g%-HeadingCmd: 1.407476 target range: 62.039501 and range: 60.20 m.g5-(?g1g1g1g1zf1rf1f9f9Bd9d9dAcAcE <>?ɢ>Bo< X>I ɡiIg;I-(?ioU=iFh=)-(?)ԁi/Ա>A) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.744172BEg4JEm4REJ0D- D- D- ,D) E- : E- i:6E- g4:E) !E @!E @!E @!E @A yAI I) N= > 6,۰)AvBp~BpBr&IBrBBr =BpBpBr];BrN#E ֆB9%I-only read 3 of 4 data items for bottom velocity. Device response is::BS, +109, +602, -7 0.00 !@! !@! !@! !@! I!)%@ABD)6D)Y=F!=(==Q)=>E H?9E H?9EGMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994544YU_FUAU>YQ 1e4٪] ?Q 5e4]4e ]aBQ =m+:9iQ Am:YiQ Em?y]C)];I]F>i]^`4Yqu AygDNOT Ignoring new targets: 62.04 m.gúgú ProNav: ac range: 62.039501 m, nav range: 58.552029 m, bearing: 84.473568 deg, approach rate: -0.597531 m/s, LOS rate: -0.085246 deg/s, cmd heading: 80.642438 deg, new cmd heading: 80.559436 deg. gHeadingCmd: 1.406027 target range: 62.039501 and range: 60.20 m.g?ggggzfrfffBdddcc`i?ɢI ɡ i I =Y;I?iU=i=)?)9Mq:A i  0  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246377D D D -D E ; E Ǚ:6E t4:E "E DA bA kAZA hAԙA5AIAIQN] ?>,)Ay:@/?ٱ:$?:@,:ct0=:H?`[`?? 9?@q??)?I:@/?):Ou];i:@CFB9F%IBDN6DN:YV=!V5=VHQ)V>ZK?9ZK?9ZGYZ`F^A^>`Q 1f4٪bx?Q 5f4b ^ bfBQ =f :9dQ Aff:Yf?Q Ej?ybC)b;Ibp?ibe4Yln. AlgDNOT Ignoring new targets: 62.04 m.g g  ProNav: ac range: 62.039501 m, nav range: 58.282539 m, bearing: 84.435600 deg, approach rate: -0.597684 m/s, LOS rate: -0.084596 deg/s, cmd heading: 80.559438 deg, new cmd heading: 80.483151 deg. gHeadingCmd: 1.404696 target range: 62.039501 and range: 60.20 m.gͳ?ggggzfrfffBdddcc?ɢ%:B%i< !%>I)iM8>IM_?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498910 ]VɡYiYI]1K;Ieͳ?ie V=ieȈ=)eͳ?i)99=ԙi95 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750421>A ,Š=D D D 'D E  E ]t:6E '4:E !% @!% @!- @!- @ Am yAIq I N >.E,=)Ay6?ٱ6m?6JE)6=6H`"?  ??? §'?`5?V H?9V H?9VGYVaFZeAZ>\Q 1b4٪^?Q 5b4^W ^kBQ =b99`Q Af::Yf?Q Ef?y^ C)^;I^)?i^_i4YhjAhg|~DNOT Ignoring new targets: 62.04 m.g3g3 ProNav: ac range: 62.039501 m, nav range: 58.035542 m, bearing: 84.400859 deg, approach rate: -0.597894 m/s, LOS rate: -0.084454 deg/s, cmd heading: 80.483152 deg, new cmd heading: 80.413374 deg. g5HeadingCmd: 1.403478 target range: 62.039501 and range: 60.20 m.g5,?g9g9g9gAzfArfAfIfIBdIdIdQcQcUKM?ɢ8BL< >I = ɡAiAIE|D?;vB}ڿ>ԡ~B}ԍCB}/&IB}BByByB}lDB}G^;B}s#EI=,?iE?V=iMf=)M,?)Y)q qiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002450i90  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254852>A 8=rA jA ?D D D .D E : E :6E ـ4:E "E .`M,8)A0yv?ٱv۵?vl%vMK?9K?9GYA>Q 14٪?Q 54N sBQ =T:9 ?Q A:Y?Q E?y7C);I`;ir4Y%B%A%E=B*** querying acoustic contact ***zh9h9gqI G)~nAI5DNOT Ignoring new targets: 62.04 m.iEE~nAEAgMgM] ProNav: ac range: 62.039501 m, nav range: 57.713970 m, bearing: 84.357355 deg, approach rate: -0.596159 m/s, LOS rate: -0.081101 deg/s, cmd heading: 80.413374 deg, new cmd heading: 80.325881 deg. g]lԁHeadingCmd: 1.401951 target range: 62.039501 and range: 60.20 m.g"s?ggggzfrfff8BBdddcc@ɢ-6B-!< )->I) -3;ڻɡ1i1I5-;I5"s?i=kV=i=)=)="s?)Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508165i95Ա >A b$=I I! N5 >DT,6Q)Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758346dyr ?ٱrյ?rm!rv!9!9%GY%bF%A->)Q 154٪-?Q 5=4-H -xB99Y=?Q E=?y-TC)-;I-;i-Ny4YAMnAIgiuDNOT Ignoring new targets: 62.04 m.g}Lg}L ProNav: ac range: 62.039501 m, nav range: 57.489052 m, bearing: 84.326672 deg, approach rate: -0.604207 m/s, LOS rate: -0.082748 deg/s, cmd heading: 80.325880 deg, new cmd heading: 80.264273 deg. gpHeadingCmd: 1.400876 target range: 62.039501 and range: 60.20 m.gO?ggggzfrfffBdddccai@ɢ5BDDD*DEV: E:6E(N4:E!@!@!@!@{< Z>I  rѻɡiI";IO?iV=iՋ=)O?)i8/vBؿ>~BӍCBH&IB1BBBBkDB^;B#E)>Ai=uBDAT read: Rx Time:05:23:16.3212 }TRx dataTimestamp_ set to:1755840197.556497}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011491I I N >A oZ,k)Ay3ۙ?ٱе?nWa<H@)?`B?`Н? ? L?&??I3ۙ?)"];iB9 &IMb@Mb@Mb@ )Iirh|?Cl?MbP??;=Ii=A=A^@)@BD6D02Y%=!%-=-&m;Q)->19195GY5cF5A=>9Q 1E4٪= ?Q 5M4=TA =~B9Ma?Q AM:YM~?Q EM?y=yC)= ;I= ;i=4YY]#AYgDNOT Ignoring new targets: 62.04 m.gg ProNav: ac range: 62.039501 m, nav range: 57.199627 m, bearing: 84.289997 deg, approach rate: -0.613061 m/s, LOS rate: -0.078077 deg/s, cmd heading: 80.264271 deg, new cmd heading: 80.190551 deg. gHeadingCmd: 1.399589 target range: 62.039501 and range: 60.20 m.g%?ggggzfrfff BBdddcc@0 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262548ɢ3B< >I ûɡiI;AI%?i7V=iܾ=)%?))DDD,DE: EAr:6Eg4:E"E"A] m=ԡ I II  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517030N >Ta,)Ay^י?ٱ^,͵?^;^<<^H,? ? M?'?磿K9?>?@Q?I^י?)^7];i^>CjB9j0&IIp)rAABDv6DvβYz]=!~v=~;Q)~?99GY iA ?Q 14٪?Q 54; B9Yz?Q E?yC);IL;iY4Y)-A)gQUDNOT Ignoring new targets: 62.04 m.g]˳g]˳m ProNav: ac range: 62.039501 m, nav range: 56.996212 m, bearing: 84.264023 deg, approach rate: -0.613325 m/s, LOS rate: -0.078594 deg/s, cmd heading: 80.190553 deg, new cmd heading: 80.138420 deg. gmuHeadingCmd: 1.398679 target range: 62.039501 and range: 60.20 m.gu?gqgqgqgqyzfyrfffBdddcc` @ɢ1Bh< >I .ɡiI;I?iuWV=i}=)}?)i)))-/1ԩ%DAT read: 05:23:16.3212 LVL= 25360, 31889, 26210, 32755, AGC= 64, IDX= 405,-0.02, 2.344, 0.536, 2.410, 1.988, PHS= 0.458,-1.408, 0.378, RAW= 147.8, 6.3, CAL= 147.3, 6.8, ROT= 2.7, -6.8 -Ygot valid direction response: 05:23:16.3212 LVL= 25360, 31889, 26210, 32755, AGC= 64, IDX= 405,-0.02, 2.344, 0.536, 2.410, 1.988, PHS= 0.458,-1.408, 0.378, RAW= 147.8, 6.3, CAL= 147.3, 6.8, ROT= 2.7, -6.8 5PDAT read: Bearing 252.5, 5.5 (Local) 5~Local bearing/azimuth received: Bearing 252.5, 5.5 (Local) EDAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.5 m/s E,DAT read: user:7476> MBDAT read: Tx time:05:23:17.4397 M$Ping request sent.M)X9I7>i%@z0="$@=A= iI޸ ?|5?A (?e>ؼ A=)iu:publishing transmit ping timeYIuFpublishing direction and range info9mfW?H?EO?i )Ii iI޸ ?|5?A (? )irD=jD=DDD-DE: E:6Et4:E! @! @! @! @>A =Iq I N > vB ӿ>~B B a&IB EBB B B B ^;B #EByByB}˓CByB}˰ =B}H4g,Y)Aynm?ٱn ڵ?n) n99GYdFQ]:A>Q 1 4٪?Q 5 4Z4 B9?Q A:Y?Q E?yC)C ;I ;iy4YB{Ah1h53)Ah5fBh5fBh5w?z5"]&L@>n@D㷷O@j5mfW?H?EO?h5A=h55c&)@J&UL@|c!@r59]Ѻ?ꄋq?ZH?h5bBh5O@h5-k ?h5azah5ϘB*i12i5!'g:i5ЛBi5bB"i5*? addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 3.782138 s, deltaX: -2.200001 m, approachRate: -0.581682 m/s, rangeRepo size: 4  Added new target pos. range: 57.665710 m, bearing: 83.914867 deg, lat: 36.779336 deg, lon: -121.859580 deg, deltaT: 7.310290 s, deltaX: -4.373791 m, approachRate: -0.598306 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 57.67 m.g!%Powering the camera and arming the capture device at range: 58.00 m.g%g-g)= ProNav: ac range: 57.665710 m, nav range: 56.723686 m, bearing: 84.228146 deg, approach rate: 0.000000 m/s, LOS rate: -0.078594 deg/s, cmd heading: 80.138418 deg, new cmd heading: 80.062821 deg. g9eHeadingCmd: 1.397360 target range: 57.665710 and range: 58.00 m.geܲ?gggggzfrfffBBdddcM@c@?ɢ/B< >I pɡ i I 4C:Iܲ?iW=i=)ܲ?) &Changing to mode: 2IiiiiiiD D D D E &: E :6E :E "E X;A tn=Iq I N >=n,)Ay6 ?ٱ6?6-6=6H@R? h7? #?K?%?56?`?I6 ?)6T9T9VGYVeFZ:AZ>\Q 1b4٪^o?Q 5b4^Q. ^B9`Yb?Q Eb?y^C)^~:I^:i^4YjBjAj EzB*** querying acoustic contact ***zhxhxg|DNOT Ignoring new targets: 57.67 m.gPowering the camera and arming the capture device at range: 58.00 m.gg ºg º% ProNav: ac range: 57.665710 m, nav range: 56.496109 m, bearing: 84.198207 deg, approach rate: -0.642324 m/s, LOS rate: -0.084839 deg/s, cmd heading: 80.062822 deg, new cmd heading: 80.002704 deg. g%C-HeadingCmd: 1.396311 target range: 57.665710 and range: 58.00 m.g-N?g)g1g1g1g1zf1rf9f9f9Bd9dAdAcAcE ?ɢ-BW= >I ɡiIev:IN?i#W=iyB=)N?)Ai7/%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.9q>AH=AU yAIY Iq N} >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993950Ku,wձ)Ai@yJN?ٱJ޵?JJ9(=JH@z?)???ޡ@ӝ?@??IJN?)JU_;iJ>CDRDRDR.DPER: ER:6ERـ4:EP!Z@!Z@!Z@!Z@b>B9bX&Ihijp;BDn6DnY =! E= ;Q) > H?9 H?9GYG A>yQ 14٪?Q 54G' B9Y?Q E?yC):I:iz4YAgDNOT Ignoring new targets: 57.67 m.g Powering the camera and arming the capture device at range: 58.00 m.g g gE ProNav: ac range: 57.665710 m, nav range: 56.230598 m, bearing: 84.162998 deg, approach rate: -0.609369 m/s, LOS rate: -0.081189 deg/s, cmd heading: 80.002702 deg, new cmd heading: 79.931952 deg. gEMHeadingCmd: 1.395076 target range: 57.665710 and range: 58.00 m.gMב?gIgIgIgIgIzfIrfQfqfqBdydydycyc}Z?ɢ+B4< K ?I kɡiI;:Iב?iRW=i21=)ב?)A=AAA=@AvB]Ͽ>~B]ҍCB]t&IB]UBB] =BYB]jDB]^;B]#Eԩi5=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245921>Am = A AI I N >]H{,R)Ay6?ٱ6^ߵ?6)&ؼ62=6Hg? ݝN?`K?`U??3>?`i?I6?)6y_;i6?CBJB9Bg&IMb@Mb@Mb@ )IiGz?)\(?~jthp?DI@i?@)@BD6DFY-2a=!-H=5H;Q)5>5K?95K?9=GY=fFE 8AE>IQ 1U4٪M=?Q 5U4M  MB9U?Q AU:YU?Q E]?yMC)M ;IM ;iMX4YaeAag!-DNOT Ignoring new targets: 57.67 m.g)-Powering the camera and arming the capture device at range: 58.00 m.g1gUõgUõe ProNav: ac range: 57.665710 m, nav range: 55.987148 m, bearing: 84.130664 deg, approach rate: -0.595639 m/s, LOS rate: -0.079455 deg/s, cmd heading: 79.931948 deg, new cmd heading: 79.866999 deg. geimHeadingCmd: 1.393942 target range: 57.665710 and range: 58.00 m.gml?gigqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498155gggzfrfff+BBdddcc~G?ɢ*BK= !%?I! %l$ɡ!i!I%Q:Iul?iuW=iu+=)ul?)yDDDDEf; E:6E:E"EWA- =bA5 jAZA1 m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753679A yAI) I9 NE >Ա u0,. )AyN?ٱN|?NżN M*=NH? ʞ~4?@5? i?-?yF??IN?)N _;iL^NB9^l&IBDj6Dj03Yv<!vN=z;Q)z>~ H?9~ H?9GYgFt:A >Q 1%4٪?Q 5-4N B9)Y5?Q E5?y7C);I:;iH4YQ]Aag9UDNOT Ignoring new targets: 57.67 m.gQ]Powering the camera and arming the capture device at range: 58.00 m.gYg]gem ProNav: ac range: 57.665710 m, nav range: 55.741421 m, bearing: 84.097645 deg, approach rate: -0.604338 m/s, LOS rate: -0.081564 deg/s, cmd heading: 79.867000 deg, new cmd heading: 79.800671 deg. qguE}HeadingCmd: 1.392784 target range: 57.665710 and range: 58.00 m.g}F?gggggzfrfffBdddcc$?ɢ(B%^= !%?I! %,aɡ)i)I-f:I5F?i5A ~=vB- ̿>~B) B- &IB- dBB) B) B) B- ^;B- #EA AI  I) N > ~,#)Ai^j?I^%=^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254383yVә?ٱV4ɵ?V=V "$=VH2?ӝ ?`w?@?Z ???IVә?)Vw^;iV]I]G@i]?@]@]1@)Y]f@Iq)u@ABD}6D}NY=!==;Q)>K?9K?9GYA>Q 14٪v?Q 54, B9C!?Q A:Y?Q E?yZC)nA = AI IQ Ii Nu >췎,ϻ=)Ay6 ?ٱ6?66l=6H?[? &>?`U?@?[ 2?@S?`[?I6 ?)6+^;i6;CBXB9Bx&IBDJ6DJ:YRuM<!RX=R8;Q)V>T9T9VGYVhFZ>VA >Q 14٪g?Q 5%4  B9!Y%?Q E%?yyC)>:I:i4Y-B-A5EMB*** querying acoustic contact ***zhIhIgY]DNOT Ignoring new targets: 57.67 m.gYePowering the camera and arming the capture device at range: 58.00 m.gagegm񺝅} ProNav: ac range: 57.665710 m, nav range: 55.230114 m, bearing: 84.014833 deg, approach rate: -0.649205 m/s, LOS rate: -0.105676 deg/s, cmd heading: 79.713396 deg, new cmd heading: 79.634285 deg. g}fAHeadingCmd: 1.389880 target range: 57.665710 and range: 58.00 m.g?gggggzfrfffBdddccƞ@ɢ%BTz+= D?I M%ɡiI4:I?iX=i=)?)iZ+/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759900>A=rA ?jA?! A I I N >} BDAT read: Rx Time:05:23:19.9183 } TRx dataTimestamp_ set to:1755840201.340442 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015065,0W)ADDD*DE; EL_:6E(N4:E!@!@!@!@(y |?ٱ Kr? Ȉ = H;?6Hp? ޞ? xr?Ϭ?@T?I9I9UGYUiFUZAU>yQ 14٪}N?Q 54} }B9Yn?Q E?y}C)}:I}:i}4YAgDNOT Ignoring new targets: 57.67 m.gPowering the camera and arming the capture device at range: 58.00 m.gg g 㺝= ProNav: ac range: 57.665710 m, nav range: 54.971447 m, bearing: 83.972917 deg, approach rate: -0.610928 m/s, LOS rate: -0.099465 deg/s, cmd heading: 79.634282 deg, new cmd heading: 79.550055 deg. g=6EHeadingCmd: 1.388410 target range: 57.665710 and range: 58.00 m.gEn?gAgAgAgAgIzfIrfIfIfIBdQdqdqcyc}: @ɢ$Bi&= #?I  5ɡ i I 9I5n?i5gFX=i5=)5n?)9)AYA<AvB~BэCB&IBnBB =BBB^;B#Ei(/ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266067Ա >A I I N >ś,]q)Ay6:?ٱ6H0?6?w6P=6H?? ?@?@4ݔ@?` ?@?I6:?)6];i6;C@BcB9B&IMMb@Mb@Mb@ I)IIIiIIMX9v?ʡE?Mb`IM=IIM^@iM@M@M^@)IM@e499GYŠA>Q 14٪?Q 54! B9 ?Q A:Y-?Q E?yC) ;IG ;iȈ4YHAgDNOT Ignoring new targets: 57.67 m.gPowering the camera and arming the capture device at range: 58.00 m.gg Ӻg Ӻ ProNav: ac range: 57.665710 m, nav range: 54.718712 m, bearing: 83.936336 deg, approach rate: -0.634460 m/s, LOS rate: -0.092256 deg/s, cmd heading: 79.550052 deg, new cmd heading: 79.476553 deg. g(HeadingCmd: 1.387128 target range: 57.665710 and range: 58.00 m.ge?gggggzfrfff&BBd d d c c 1 @DAT read: 05:23:19.9183 LVL= 21952, 28657, 25826, 32755, AGC= 60, IDX= 407, 0.20, 2.980, 1.184, 3.050, 2.621, PHS= 0.461,-1.393, 0.385, RAW= 147.9, 6.1, CAL= 147.3, 6.5, ROT= 2.7, -6.5 Ygot valid direction response: 05:23:19.9183 LVL= 21952, 28657, 25826, 32755, AGC= 60, IDX= 407, 0.20, 2.980, 1.184, 3.050, 2.621, PHS= 0.461,-1.393, 0.385, RAW= 147.9, 6.1, CAL= 147.3, 6.5, ROT= 2.7, -6.5 PDAT read: Bearing 252.0, 4.3 (Local) ~Local bearing/azimuth received: Bearing 252.0, 4.3 (Local) DAT read: Range 11 to 50 : 55.8 m (Round-trip 74.5 ms) speed 0.5 m/s ,DAT read: user:7477> D5D5D5)D1E5: E5:6E5FA4:E1"E55)=MI=>i=4%@=^ =9=V=9 =Vi99I=$q?{ ?w?=>=#ٽ 9)=Vi99=:publishing transmit ping timeY=Fpublishing direction and range info99=JN?S?5?99i99999 9)9I9i99i&   999 9i99I=$q?{ ?w?99 9)9i99iIG)5;mAIMAi} };mA}+B>A- *= I! I1 NE >ǯ,D)ApdB9&IBD6D Yj;!F=Q)>99GYjFA>Q 14٪?Q 54R B9YQ E?yC);I8;i6ψ4Y@Ahaheu)Ahe]Bhe]Bhe?ze%vK@v@@jeJN?S?5?haheVe)[#@'3uTK@@reUMf?jп?+%?heZBhe@he葈?heꚋZheʕB*ie?2ieg:ieBieYB"ieú? addTargetRange:: Added new target pos. range: 55.799999 m, deltaT: 3.529831 s, deltaX: -2.200001 m, approachRate: -0.623260 m/s, rangeRepo size: 4  Added new target pos. range: 55.477303 m, bearing: 83.576193 deg, lat: 36.779339 deg, lon: -121.859580 deg, deltaT: 3.529831 s, deltaX: -2.188408 m, approachRate: -0.619975 m/s, posRepo size: 4 gDNOT Ignoring new targets: 55.48 m.gPowering the camera and arming the capture device at range: 55.80 m.ggg ProNav: ac range: 55.477303 m, nav range: 54.497162 m, bearing: 83.599955 deg, approach rate: 0.000000 m/s, LOS rate: -0.092256 deg/s, cmd heading: 79.476552 deg, new cmd heading: 79.397128 deg. gHeadingCmd: 1.385741 target range: 55.477303 and range: 55.80 m.g_?gggggzfrfffBdddc`fK@cn?ɢ!B%)= !%!?I! %_tɡ!i)I-&8I5_?i5 X=i5=)5_?)1i#/DEDEDE.DAEE: EE:6EEـ4:EA!M@!M@!M@!M@1>A=bAZAjAII N >vBm ҿ>~Bm ҍCBm &IBm xBBm =Bi Bm kDBm w^;Bm #EY ڨ,")AyV8?ٱVӋ?V`OV9 =VH 'm?ʟ?`Z?@\?B?&?`?IV8?)V];iV99GYkFAIA>Q 14٪N?Q 54 B9!?Q A:Y?Q E?yC):I:iZֈ4YcA g15DNOT Ignoring new targets: 55.48 m.g1=Powering the camera and arming the capture device at range: 55.80 m.g9g=޺g=޺U ProNav: ac range: 55.477303 m, nav range: 54.241833 m, bearing: 83.562067 deg, approach rate: -0.653194 m/s, LOS rate: -0.097384 deg/s, cmd heading: 79.397131 deg, new cmd heading: 79.320998 deg. gU92UHeadingCmd: 1.384413 target range: 55.477303 and range: 55.80 m.g]n4?gYgYgYgYgYzfYrfafafeBBdadidicicu0?ɢ BD4= 顝?I ɡiIRIn4?ijX=iF=)n4?)jAjAiE AAE0Aiԉ)I MA>Am=IIN>DM DM DM (DI EM : EM ?:6EM c44:EI "EM &X9X9ZGYX^A^>`Q 1f4٪b?Q 5f4b{ bB9dYjH?Q Ej?ybC)b:Ib :ib܈4YnxBrArEB*** querying acoustic contact ***zhhg DNOT Ignoring new targets: 55.48 m.gPowering the camera and arming the capture device at range: 55.80 m.ggIҺgIҺ- ProNav: ac range: 55.477303 m, nav range: 54.013573 m, bearing: 83.528555 deg, approach rate: -0.623476 m/s, LOS rate: -0.091923 deg/s, cmd heading: 79.320995 deg, new cmd heading: 79.253688 deg. g5:(5HeadingCmd: 1.383238 target range: 55.477303 and range: 55.80 m.g5 ?g9g9g9g9g9zfArfAfAfABdIdIdIcIcU?ɢ}B}H= 顅_+?I 18ɡiI|I ?i:X=iW=) ?)ԙiUQQU4QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>Au<=IIN> e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460382bDU ?AZDU AADe De De *Da Ee T; Ee z:6Ee (N4:Ea !m @!m @!m @!m @,ز)Ay6J?ٱ6ڳ?6Go96/=6H?:=/?`N? ?ʐ-? D?V?I6J?)6˜];i6T9T9VGYVlFZ_ڻAZ>\Q 1^4٪^U?Q 5b4^ ^B9dYf?Q Ef?y^~B B &IB BB B B B %^;B \#EBҍCBҍCBB³ =B³ =B5i4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712434>A̓=rAjA?9IAIQNe>a ],)Ay:p?ٱ:e?:C+:<:H? A.?~?I?Vh?`[?`?I:p?):_];i:;CFB9F&IMb@Mb@Mb@ )Ii?V-?{Gzt ?=ףIG@i@1@)@BD- 6D-:2Y=q=!EB=E;Q)E>I9I9MGYIMS AU>QQ 1]4٪U?Q 5e4U UB9e"?Q Ae:Ye?Q Ee?yU^C)U;IU':iU-4Yiu^@qgDNOT Ignoring new targets: 55.48 m.gPowering the camera and arming the capture device at range: 55.80 m.ggȺgȺ ProNav: ac range: 55.477303 m, nav range: 53.494495 m, bearing: 83.455137 deg, approach rate: -0.631202 m/s, LOS rate: -0.087434 deg/s, cmd heading: 79.179658 deg, new cmd heading: 79.106142 deg. g HeadingCmd: 1.380663 target range: 55.477303 and range: 55.80 m.g?gggggzfrfff&BBdddcchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.964523Qcu`@ɢBfF= 2?I :ɡiI*&I?DDD-DE: Ex:6Et4:E"E5A- H= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216423Ay I I N > ,΋ )A5}B9=&IEpa9a9mGYmmFmAm>qQ 1}4٪u?Q 5}4u uB9YQ E?yuC)u :Iu9:iuR4Y@gDNOT Ignoring new targets: 55.48 m.g!%Powering the camera and arming the capture device at range: 55.80 m.g!g-úg-ú= ProNav: ac range: 55.477303 m, nav range: 53.236828 m, bearing: 83.419270 deg, approach rate: -0.611106 m/s, LOS rate: -0.085478 deg/s, cmd heading: 79.106144 deg, new cmd heading: 79.034063 deg. g=nEHeadingCmd: 1.379405 target range: 55.477303 and range: 55.80 m.gEU?gAgAgAgAgAzfIrfIfQfQBdQdQdQcYc]n@ɢBM= 額0?I ":ɡiI)YIU?ilY=iL=)U?)ԩiEAIIM/M%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468594rDjD4=D%D%D!D!E%: E%:6E!:E!!-@!-@!-@!-@>A-=vB ~B B &IB BB B B B ];B 1#E! A I) I9 NE >9 J),l&)AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.722592yC?ٱݕ?}T5<H`=\? #? ?X?݅ %0?6?,?IC?)`;i7C-uB9-&IMb@Mb@Mb@ )IiCl?V-?~jtxd?ĻIt@i@@)(@BD6DkY:!B=t;Q)>99GYnFvA>Q 14٪f?Q 54  96?Q A:Y?Q E?yC):I<:i4YAgDNOT Ignoring new targets: 55.48 m.gPowering the camera and arming the capture device at range: 55.80 m.lFinal approach. Armed for intercept at range: 55.80 m.\Transitioning guidance mode to: FINAL_APPROACHg@ gtgtM ProNav: ac range: 55.477303 m, nav range: 52.978958 m, bearing: 83.383328 deg, approach rate: -0.603783 m/s, LOS rate: -0.084565 deg/s, cmd heading: 79.034065 deg, new cmd heading: 78.961831 deg. gUUHeadingCmd: 1.378144 target range: 55.477303 and range: 55.80 m.gUg?gYg]:g]33?gYzfYrfYfafBBdddcc* @ɢB?= Z-?I ;ɡiI)I%g?i%tY= %33? -(kpHeading = 0.700000)-: -(kiHeading = 0.001000i-=)-g?)1i@@=@=15BDAT read: Rx Time:05:23:23.5154 5TRx dataTimestamp_ set to:1755840204.868565=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973575D5 D5 D5 0D1 E5 ; E5 :6E5 4:E1 "E5 @A ~4=bA! ZA! AI IY Ii Nu >!,C@)A5{B95&IBDE6DENYUc<!UQ=]Q)]>Y9a9eGYaeAe>iQ 1}4٪m!?Q 5}4m i9yYyQ E}?ymC)m;Im:im4YcB@EB*** querying acoustic contact ***zhhgAEDNOT Ignoring new targets: 55.48 m.gAgMfƺgMfƺ] ProNav: ac range: 55.477303 m, nav range: 52.739521 m, bearing: 83.349638 deg, approach rate: -0.613584 m/s, LOS rate: -0.086727 deg/s, cmd heading: 78.961829 deg, new cmd heading: 78.894143 deg. g]eHeadingCmd: 1.376963 target range: 55.477303 and range: 55.80 m.geO@?gagagagazfirfifqfqBdqdqdqcyc}` @ɢBO[= 顭x0?I |;;ɡiIٞIO@?i{Y=i8=)O@?))I}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226479i!!!-/)>A;=qAIIqIN>ԙ M DAT read: 05:23:23.5154 LVL= 23776, 30705, 25458, 32755, AGC= 61, IDX= 409, 0.06, 2.891, 1.042, 2.906, 2.513, PHS= 0.480,-1.426, 0.349, RAW= 146.5, 6.5, CAL= 146.0, 7.1, ROT= 4.0, -7.1 U Ygot valid direction response: 05:23:23.5154 LVL= 23776, 30705, 25458, 32755, AGC= 61, IDX= 409, 0.06, 2.891, 1.042, 2.906, 2.513, PHS= 0.480,-1.426, 0.349, RAW= 146.5, 6.5, CAL= 146.0, 7.1, ROT= 4.0, -7.1 ] PDAT read: Bearing 251.3, 4.9 (Local) ] ~Local bearing/azimuth received: Bearing 251.3, 4.9 (Local) e DAT read: Range 11 to 50 : 53.6 m (Round-trip 71.5 ms) speed 0.5 m/s m ,DAT read: user:7478> u BDAT read: Tx time:05:23:24.6397 u $Ping request sent.} ) +I !>i _#@ V= e#@ = 5=  i  I 6xu?PT$X?d? > 3h  5=) i   :publishing transmit ping timeYq  Fpublishing direction and range info9  .a?XV?A7X?  i      ) I i      i BEJEˁj4RE˧0D D D .D E &: E :6E ـ4:E !% @!% @!% @!% @dG,UZ)A@QIU6xu?PT$X?d?QQ Q)QiQQy%?ٱ%|?%<~%1;%H8?{`v?z??@ O?_|??I%?)%_;b;i%:C5xB95&IIa)e@ABDm6DmY}#?!}I=}F;Q)}>99GYoF>A>Q 14٪?Q 54 9Y'?Q E?yC)%~BB&IBBBBBjDB];B#E addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 3.527965 s, deltaX: -2.200001 m, approachRate: -0.623589 m/s, rangeRepo size: 4  Added new target pos. range: 53.290691 m, bearing: 83.621102 deg, lat: 36.779339 deg, lon: -121.859578 deg, deltaT: 3.527965 s, deltaX: -2.186611 m, approachRate: -0.619794 m/s, posRepo size: 4 g DNOT Ignoring new targets: 53.29 m.ggg% ProNav: ac range: 53.290691 m, nav range: 52.713467 m, bearing: 83.343982 deg, approach rate: 0.000000 m/s, LOS rate: -0.086727 deg/s, cmd heading: 78.894142 deg, new cmd heading: 78.823213 deg. g!-HeadingCmd: 1.375725 target range: 53.290691 and range: 53.60 m.g-?g1g1g9g9zfArfifqfqBdqdqdyc}J@c}?ԩɢBI= /?I) -+c;ɡ)i)I-}I5?i5Y=i5=)5?)9i / >A xr=rA ?jA ?A yAI I N >,u)AyFMܕ?ٱFѱ?FR껹Fš;FH'?5yv?y? ?YR}?{??IFMܕ?)FSa;iF;CN{B9R&I%Mb@Mb@Mb@ !)!I!i!!%S?X9v?{Gz%?%=%#I%G@i%G@%@%@)!%=@BDE6DEβYU,(<!]B=][:Q)]>e H?9e H?9eGYepFe@Ae>iQ 1}4٪m}?Q 5}4m> mB9}?Q A}:Y}?Q E}?ymC)m:Im:im4Y@D5D5D5,D1E5s: E5:6E5g4:E1"E5_0AM p=A AI I N >^,vK?9vK?9vGYtzAz>|Q 14٪~?Q 54~ ~B9Y?Q E ?y~!C)~:I~:i~ 4Yw@g9=DNOT Ignoring new targets: 53.29 m.g9gEgEẝU ProNav: ac range: 53.290691 m, nav range: 52.208965 m, bearing: 83.267815 deg, approach rate: -0.649799 m/s, LOS rate: -0.098712 deg/s, cmd heading: 78.745353 deg, new cmd heading: 78.670138 deg. gU4]HeadingCmd: 1.373053 target range: 53.290691 and range: 53.60 m.g]3?gYgagagazfarfafifiBdididqcqcuo?ɢxl= 顥/2?I ǔ;ɡiI"I3?iY=iо=)3?)lAIiaaimO0iDDD)DE; E n:6EFA4:E!@!@!@!@qvB}˿>~ByByByB} =ByByB}];B} #E>APڀ=ԩ A yAI! IA N >i} t?I} A@,3)A@yR何?ٱR?RLR\>  H?9  H?9 GY qF8A>Q 1%4٪?Q 5%4 B9%W?Q A-:Y-Q?Q E-?yCC)Q:If:i4Y5PB5@5EgYeDNOT Ignoring new targets: 53.29 m.gage̺ge̺} ProNav: ac range: 53.290691 m, nav range: 51.947975 m, bearing: 83.228675 deg, approach rate: -0.593333 m/s, LOS rate: -0.089426 deg/s, cmd heading: 78.670139 deg, new cmd heading: 78.591468 deg. g}#}HeadingCmd: 1.371680 target range: 53.290691 and range: 53.60 m.g5?ggggzfrfffBBdddcc?ɢBP= /?I 5;ɡiI,.IM5?iUDY=iU=)U5?)Qԩi N0 DDD,DEV: E:6Eg4:E"E9A] xr=I EG) mA I iM 5 M mAU lBIa Iq N >,ij)Ay6?ٱ6E?6<硻6Gl<6H ];?`4w@5?w?8?ܞ~ h9h9jGYjrFn@pAr>tQ 1z4٪vY?Q 5z4v vB9xYzR?Q Ez?yv_C)v:Iv:iv$4YZ@ %B*** querying acoustic contact ***zh!h!g15DNOT Ignoring new targets: 53.29 m.g1g=ͺg=ͺM ProNav: ac range: 53.290691 m, nav range: 51.731449 m, bearing: 83.195896 deg, approach rate: -0.592130 m/s, LOS rate: -0.090015 deg/s, cmd heading: 78.591469 deg, new cmd heading: 78.525637 deg. gM$UHeadingCmd: 1.370531 target range: 53.290691 and range: 53.60 m.gUm?gQgQgQgQzfYrfYfafaBdadadacicm`?ɢB h= 顝F2?I DC;ɡiI Im?iY=i=)m?)=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.i99AE4A@]=@]= 9>Au[=IQ Ia Nm > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004269a D D D )D E : E Z:6E FA4:E ! @! @! @! @!,ݳ)A ~B9 &IvB-ʿ>~B-эCB)B)B- =B)B)B-];B-#E9BD6DYM<!UB=UQ)U>Q9Y9]GYY]Ae>aQ 1m4٪e?Q 5m4ea a9qYqQ Eu?yeC)e::Ie:ies+4Yy"@gDNOT Ignoring new targets: 53.29 m.gguκguκ ProNav: ac range: 53.290691 m, nav range: 51.482151 m, bearing: 83.157811 deg, approach rate: -0.587899 m/s, LOS rate: -0.090249 deg/s, cmd heading: 78.525640 deg, new cmd heading: 78.449100 deg. g*%HeadingCmd: 1.369195 target range: 53.290691 and range: 53.60 m.gA?ggggzfrfffBdddccJ@ɢ5B5O^= 1=4?I9 =;ɡ9i9I= #IEA?iEY=iEǂ=)EA?)I U'?U,>i4qmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259421ԑ>A58=IIN> K,)Ay6Zԕ?ٱ6ɱ?626R<6H@%?w`C? x?v"?@ٽx@u@f?@? ?I6Zԕ?)6|];i67CB|B9B&IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508262Mb@Mb@Mb@ )Ii"~?q= ףp?{Gz?=#IG@iG@t@)@I!)%AABD-6D-Y= !EK=ES;Q)E>I9I9MGYMsFM:AM>DDD/DEV: E^:6EJ4:E"E9@)gquDNOT Ignoring new targets: 53.29 m.gyg}qg}q ProNav: ac range: 53.290691 m, nav range: 51.247528 m, bearing: 83.122378 deg, approach rate: -0.557372 m/s, LOS rate: -0.084560 deg/s, cmd heading: 78.449101 deg, new cmd heading: 78.377911 deg. gHeadingCmd: 1.367953 target range: 53.290691 and range: 53.60 m.g?ggggzfrfffBBdddcc@ɢ5B5C^= 9=b4?I9 =;ɡ9i9IEX(IE?iM3Y=iMr=)M?)ii  R4 ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760644>Am z=I I) N5 >9 3,)Ay6?ٱ60?6 ź6<ҳ<6H M ?5x`ԕ?z? ?@u>v X?y?`?I6?)6^];i4@9B&IBDJ6DJk1YR!RU=VO;Q)Z>`9`9fGYdf3;Af>hQ 1-4٪ja?Q 5-4j% jB91Y5?Q E5?yjC)j;C94Y=JB=@9gDNOT Ignoring new targets: 53.29 m.ggbҺgbҺ ProNav: ac range: 53.290691 m, nav range: 51.021194 m, bearing: 83.087675 deg, approach rate: -0.597144 m/s, LOS rate: -0.091966 deg/s, cmd heading: 78.377910 deg, new cmd heading: 78.308195 deg. gN(HeadingCmd: 1.366736 target range: 53.290691 and range: 53.60 m.g3?ggggzfrfffBdddcc?@ɢBq= 4?I ;ɡiIM3I3?iY=id=) 3?) BDAT read: Rx Time:05:23:27.1125 TRx dataTimestamp_ set to:1755840208.396612checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013450i/@@mADDD+DE; E$:6E [4:E!@!@!@!@AvB%̿>~B%ҍCB!B!B% =B!B!B%u];B%#EBBBBBB5>Ap,=qIyIN>} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266425ԡ a ,a+)Ay~t?ٱ~?~;~(<~H?{x`? z??@ss`3?Ud?{?I~t?)~{];i| uB9 &IiMb@Mb@Mb@ )IiCl?`"?99GYtF:A>!Q 1-4٪%?Q 554%` %B95/?Q A5:Y5%?Q E5?y%C)%P;I% ;i%A4Y=7BE'@EܧEgamDNOT Ignoring new targets: 53.29 m.igqgugu꺝 ProNav: ac range: 53.290691 m, nav range: 50.766724 m, bearing: 83.043519 deg, approach rate: -0.588522 m/s, LOS rate: -0.102633 deg/s, cmd heading: 78.308194 deg, new cmd heading: 78.219439 deg. g;HeadingCmd: 1.365187 target range: 53.290691 and range: 53.60 m.gq?ggggzfrfffBBdddcc`*( @ɢBN`=  2?I y<ɡiI89@Iq?i_Y=ii=)q?))i))15/9ԡ) ADAT read: 05:23:27.1125 LVL= 26256, 32753, 26706, 32755, AGC= 63, IDX= 411,-0.24,-1.435, 3.036,-1.455,-1.794, PHS= 0.460,-1.408, 0.295, RAW= 145.4, 7.3, CAL= 145.0, 8.0, ROT= 5.0, -8.0 Ygot valid direction response: 05:23:27.1125 LVL= 26256, 32753, 26706, 32755, AGC= 63, IDX= 411,-0.24,-1.435, 3.036,-1.455,-1.794, PHS= 0.460,-1.408, 0.295, RAW= 145.4, 7.3, CAL= 145.0, 8.0, ROT= 5.0, -8.0 PDAT read: Bearing 252.1, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 252.1, 5.5 (Local) =DAT read: Range 11 to 50 : 51.4 m (Round-trip 68.6 ms) speed 0.4 m/s E,DAT read: user:7479> MBDAT read: Tx time:05:23:28.2397 M$Ping request sent.M)X9I= >ii"@w>p!@5>¸= 5iI?we@@?vK\?1>B ¸=)5iu:publishing transmit ping timeYIuFpublishing direction and range info9och?AE {=Aq I I N > E,OWE)Ay6?ٱ60 ?6l=:6<6H?0y?{??2Hp`G ՚?@/?I6?)6];i66CRyB9R&IZ4x9x9zGYzuFz2:Az>)Q 1]4٪-?Q 5e4-ʼn -B9aYe=?Q Ee?y-C)-l;I-;i-G4Yim@qhhy9)AhiLBhiLBh5?zr4I@A% _ =D D D +D E &: E ҆:6E [4:E ! @! @! @! @Q A AI I N >|,I`)AA*<A*<vB.ʿ>~B,B.&IB.BB,B,B,B.p];B."EyF?ٱFn?FN$;FXmK?9mK?9uGYqu/9Au>yQ 14٪}k?Q 54}L }B9YC?Q E?y}C)}n;I};i} O4Y@B*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 51.10 m.gg!g! ProNav: ac range: 51.102951 m, nav range: 50.424419 m, bearing: 83.254153 deg, approach rate: -0.603872 m/s, LOS rate: -0.104095 deg/s, cmd heading: 78.138061 deg, new cmd heading: 78.054115 deg. g>HeadingCmd: 1.362301 target range: 51.102951 and range: 51.40 m.g_?ggggzfrfffBdddcc`>?ɢ%B%l0|= -HÓ-,6?I) -R_<ɡ)i)I5+XI5_?i=Y=i=ܖ=)=_?)9i?0T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A= AU yAIY Iq N} >V,y)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.989428yr0?ٱrd&?r;r=rH$?x? }?N?_`p ՠ??Ir0?)rU];ir:CzvB9z&ID%D%D%)D!E%: E%Z:6E%FA4:E!"E%=- H?9 H?9GYvFZ:A>Q 14٪?Q 54G} B9 ?Q A:Y'?Q E?y4C):I:iDV4Y@gDNOT Ignoring new targets: 51.10 m.ggκgκ ProNav: ac range: 51.102951 m, nav range: 50.198029 m, bearing: 83.215173 deg, approach rate: -0.522233 m/s, LOS rate: -0.090325 deg/s, cmd heading: 78.054118 deg, new cmd heading: 77.975805 deg. gM%HeadingCmd: 1.360934 target range: 51.102951 and range: 51.40 m.g3?ggggzfrfffBBddd c c ?Qɢ] B]vh= ae-5?Ia e<ɡaiaIejdI3?iY=i=)3?)kAkAi>/ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.242408>Am ~=Ա I I N >$,)ADbB9b&IIh)hBDn6DnkY L=! W= Q)>99GYwFA>!Q 1-4٪%~BeэCBaBaBe =BaBeiDBe];Be#E>A5=I I! N5 >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748693q*,҉)AyRs4?ٱR *?Rߦ;RAc=RH@|?6wj?}??5dGx %K??IRs4?)R];iR6Clr}B9r&IeMb@Mb@Mb@ a)aIaiaaeQ?A`"?MbPe\?e=eIe@iet@e1@e1@)ae@BD}6D} Yk!B=;Q)>99GY9A>Q 14٪?Q 54nq 9?Q A:Y?Q E?ymC):I :iEd4Y@gDNOT Ignoring new targets: 51.10 m.gg g } ProNav: ac range: 51.102951 m, nav range: 49.751892 m, bearing: 83.143969 deg, approach rate: -0.564496 m/s, LOS rate: -0.083514 deg/s, cmd heading: 77.903095 deg, new cmd heading: 77.832755 deg. gHeadingCmd: 1.358438 target range: 51.102951 and range: 51.40 m.gK?ggggzfrfffBBdddcc@T?ɢ B-Z\r= 158:?I1 5ͪ2<ɡ1i1I5|I=K?i=Z=iEL=)EK?)A Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997403DEDEDE-DAEED: EE:6EEt4:EA"EE1A5 =I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250040N >n2,ʴ)Ayz6?ٱz+?z' ;ze =zH?vYY? }?@?2? S!~{??Iz6?)z];ixB9&I i BD6D:Y%e<!-7=-9;Q)->19195GY5xF58A=>AQ 1E4٪E?Q 5M4Ej A9IYM?Q EM?yEC)E2:IEK:iEl4Y%B@ӧEgDNOT Ignoring new targets: 51.10 m.ggg ProNav: ac range: 51.102951 m, nav range: 49.498981 m, bearing: 83.106346 deg, approach rate: -0.551121 m/s, LOS rate: -0.082404 deg/s, cmd heading: 77.832758 deg, new cmd heading: 77.757127 deg. g%HeadingCmd: 1.357118 target range: 51.102951 and range: 51.40 m.g% ?g!g!g!g!zf!rf)f)f)Bd)d1dqcqcu @ɢB'Ix= ]>?I =<ɡiI5LI ?i7Z=iL=) ?)9ie?aaeL0achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501540DDDDE; EZ:6E:E!@!@!@!@) >A ܝ=I I N- >vB Ͽ>~B ҍCB B B =B B jDB ];B #E 8,)Ay:(?ٱ:#?:y<:Z =:H` ?vrr?@||? ?wL?_ ? v?I:(?):8^];i8BB9F&IHiJ<BDN6DNβYZ!ZR=Z:Q)Z>\9\9^GY^yF aA>Q 14٪?Q 5%4d 9!Y% ?Q E%?yC){;I;i s4Y)55@1MB*** querying acoustic contact ***zhIhIgY]DNOT Ignoring new targets: 51.10 m.gage]Ⱥge]Ⱥu ProNav: ac range: 51.102951 m, nav range: 49.273834 m, bearing: 83.072634 deg, approach rate: -0.582293 m/s, LOS rate: -0.087586 deg/s, cmd heading: 77.757127 deg, new cmd heading: 77.689396 deg. guJ }HeadingCmd: 1.355936 target range: 51.102951 and range: 51.40 m.g}N?ggggzfrfffBdddcc@ɢB= >?I F<ɡiIIN?i#Z=i}V=)N?)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757015Y9(yi>0ԩ  BDAT read: Rx Time:05:23:30.7098  TRx dataTimestamp_ set to:1755840211.929418 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011520D D D *D E  E :6E (N4:E "E AA Ia Iq N >?,J)AI G)N~nAIZAizz~nAzAyM ?ٱM9?M 3Y9Y9]GYYez Ae>iQ 1u4٪m?Q 5u4m] mB9u?Q A}:Y}z?Q E}?ymC)m:Im:im {4Y@@gDNOT Ignoring new targets: 51.10 m.gg$ĺg$ĺ ProNav: ac range: 51.102951 m, nav range: 49.006607 m, bearing: 83.033645 deg, approach rate: -0.584476 m/s, LOS rate: -0.085740 deg/s, cmd heading: 77.689399 deg, new cmd heading: 77.610997 deg. gHeadingCmd: 1.354567 target range: 51.102951 and range: 51.40 m.gwb?ggggzfrfffBBdddccu @aɢBy= 页^??I U_R<ɡiIT^Iwb?iE5Z=i=)wb?)) iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258545ԉ)iY Y ] e 0a @m =@m >Թ } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511323>A ȝ=DDDDEO: EAr:6E:E!@!@!@!@vB]޿>~B]ԍCBYBYB] =BYB]lDB]G];B]"EAIIN ?,0H,W")Ay6P ?ٱ6?6n5<6b=6H?u_ ?`z?]?,p?QV? ?I6P ?)6];i4BB9B&IBDJ6DJfYN><!R&=R-M;Q)R>T9T9VGYVzFVQAV>)Q 154٪-?Q 554-U -B99Y=e?Q E=?y-C)-;I-;i-僉4YAE@AgiuDNOT Ignoring new targets: 51.10 m.gqguźguź ProNav: ac range: 51.102951 m, nav range: 48.710606 m, bearing: 82.990184 deg, approach rate: -0.584464 m/s, LOS rate: -0.086337 deg/s, cmd heading: 77.610996 deg, new cmd heading: 77.523545 deg. gHeadingCmd: 1.353041 target range: 51.102951 and range: 51.40 m.gs0?ggggzfrfffBdddcc @ɢBF~= D?I ^<ɡiI)㖻Is0?iuHZ=i^?=)s0?)ԉiM@IIU5Qiu=Iu4=%DAT read: 05:23:30.7098 LVL= 22240, 27889, 22290, 30307, AGC= 61, IDX= 416, 0.04,-2.992, 1.490,-2.977, 2.952, PHS= 0.441,-1.418, 0.310, RAW= 146.4, 7.5, CAL= 145.9, 8.1, ROT= 4.1, -8.1 ]Ygot valid direction response: 05:23:30.7098 LVL= 22240, 27889, 22290, 30307, AGC= 61, IDX= 416, 0.04,-2.992, 1.490,-2.977, 2.952, PHS= 0.441,-1.418, 0.310, RAW= 146.4, 7.5, CAL= 145.9, 8.1, ROT= 4.1, -8.1 ]PDAT read: Bearing 252.5, 4.2 (Local) e~Local bearing/azimuth received: Bearing 252.5, 4.2 (Local) mDAT read: Range 11 to 50 : 49.5 m (Round-trip 66.0 ms) speed 0.4 m/s ,DAT read: user:7480> BDAT read: Tx time:05:23:31.8397 $Ping request sent.)IR>iƇ#@ >"@>C= iI7l?L2?|!dc?> C=)i>AM`=]:publishing transmit ping timeYeFpublishing direction and range info9?<=#?:N ?i )Ii iI7l?L2?|!dc? )i Ay I I N >) VN,!<)Ay6o?ٱ6?6zI<69=6H`*?t !?y?V?u? @;Q??I6o?)6w^;i65CBB9B&IDbDbDb,D`Eb: Ebz:6Ebg4:E`"Eb=--99GY{FA>Q 1 4٪?Q 5 4ZO B9 v?Q A :Y 6?Q E ?yC):I&:ii4Y=B=@=ɧEhh+)AhDBhDBh_?zɖ*LH@ } @L @j?<=#?:N ?hC=hcX@)QQU0Qԡ >Au ͢=rA} ?jA} ? AAIIN>2|V,]3[)A15B95&IBDE6DE:2DQDUDQDQEQ EU&p:6EQ:EQ!e@!e@!e@!e@Ymx!u,=uQ)u>}K?9}K?9}GY}|F}A}>Q 14٪?Q 54IH B9YQ E?y6C)j;I;i4Y@gMDNOT Ignoring new targets: 49.22 m.gIgM2gM2𺝅] ProNav: ac range: 49.216072 m, nav range: 48.240330 m, bearing: 82.906330 deg, approach rate: -0.591261 m/s, LOS rate: -0.104998 deg/s, cmd heading: 77.445787 deg, new cmd heading: 77.351376 deg. g](@eHeadingCmd: 1.350036 target range: 49.216072 and range: 49.50 m.geͬ?gigigigizfirfifqfqBdqdqdycyc}OL?ɢB%= E?I 1u<ɡiImIͬ?iFnZ=iZ=)ͬ?)A1A1vBEտ>~BEӍCBABABE =BABEkDBE*];BE"EBBB”CBB² =BX6YiU?QY]0Y}PExceeded connect timeout, disconnecting.ԉ>A =Ա A yAI I N% >\,t)Ay6:ؕ?ٱ6ͱ?6M\<6=6H ? r Y? )x?0?Vy?4돿@^9?@:?I6:ؕ?)63`;i64CBB9B&Iԙ Mb@Mb@Mb@ ) I i   㥛 ?i|?5?~jth? ? = D;I i  1@ )  @BDE6DE Yu6=!u;=}?;Q)}>} H?9 H?9GY A>Q 14٪)?Q 54tA B9?Q A:YG?Q E?yWC)t;IQt;i=4Y?@B*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 49.22 m.ggg亝uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 49.216072 m, nav range: 47.983143 m, bearing: 82.862695 deg, approach rate: -0.586492 m/s, LOS rate: -0.100039 deg/s, cmd heading: 77.351373 deg, new cmd heading: 77.263635 deg. g7HeadingCmd: 1.348505 target range: 49.216072 and range: 49.50 m.gΛ?ggggzfrfffBBdddcc@]]?ɢEBEpK=DuDuDu+DqEuO: Eu$:6Eu [4:Eq"Eu A =% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431160) Iy I N >Kc,Xȏ)Ay^e̕?ٱ^?^ʒ<^= =^H,?s¦?Ow?=?@i?Y*F?`?I^e̕?)^ a;i^5CjB9j&Inp|9|9~GY~}FA> Q 14٪ ?Q 54 ; 9Y=?Q E?y sC) K:I  :i 4Y!%b@!gIUDNOT Ignoring new targets: 49.22 m.gQgU:gU:ԡ ProNav: ac range: 49.216072 m, nav range: 47.764931 m, bearing: 82.825384 deg, approach rate: -0.593552 m/s, LOS rate: -0.101952 deg/s, cmd heading: 77.263633 deg, new cmd heading: 77.188670 deg. g:HeadingCmd: 1.347196 target range: 49.216072 and range: 49.50 m.gp?ggggzfrfffBdddcc` ?ɢBw,= 顥J?I /j<ɡiIVIp?i.Z=i=)p?)i@@4@%=@%> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683190DDD/DE ; EAr:6EJ4:E!-@!-@!-@!-@>AUh=bA]kAZAYvB̿>~BҍCBBB =BBjDB];B"EIQ Ia Nu > nManaging dock network, ignoring radio surface power off! [i,l)Ay]?ٱ]H?]l<]<]HA?rX\?u?vS?`? ~?@v?I]?)]Ea;i]6Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.935319B9&IBD6D1YG<!A=m;Q)>99GY̺A>Q 14٪~?Q 544 B9Y)?Q E?yC);I;i&4Y1=7@9gDNOT Ignoring new targets: 49.22 m.gg>Һg>Һ ProNav: ac range: 49.216072 m, nav range: 47.513577 m, bearing: 82.782170 deg, approach rate: -0.531746 m/s, LOS rate: -0.091905 deg/s, cmd heading: 77.188671 deg, new cmd heading: 77.101785 deg. g2(-HeadingCmd: 1.345680 target range: 49.216072 and range: 49.50 m.g->??g)g)g)g)zf1rf1f1f1Bd9d9d9c9c=@ɢB= 页M?I Δ<ɡiII>??iZ=i-D=)>??)Ai}?y4q)) - A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187418D5 D5 D5 *D1 E5 ; E5 :6E5 (N4:E1 "E5 DAe =I I N >ԙ fp,aõ)AMB9U&IMb@Mb@Mb@ )IiV-??t99GY~FA>!Q 1-4٪%?Q 554%. %B95?Q A5:Y5R?Q E5?y%C)%~ ;I%P ;i%k4Y=B=@EEigDNOT Ignoring new targets: 49.22 m.ggg ProNav: ac range: 49.216072 m, nav range: 47.274693 m, bearing: 82.735669 deg, approach rate: -0.637056 m/s, LOS rate: -0.124635 deg/s, cmd heading: 77.101784 deg, new cmd heading: 77.008313 deg. gdHeadingCmd: 1.344049 target range: 49.216072 and range: 49.50 m.g ?ggggzfrfffBBdddccЮ@ɢB= P?I ~^<ɡiII ?igZ=i=) ?) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439366ԑi/>A ʞ=IA IQ N] > 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691174/v,p&ݵ)Ayb6?ٱbЏ?bV<!\=%!9!9%GY-F-2A->1Q 1=4٪59?Q 5=45( 19AYE3?Q EE?y5C)5;I5;i5궉4YIU@QgDNOT Ignoring new targets: 49.22 m.ggg ProNav: ac range: 49.216072 m, nav range: 47.061249 m, bearing: 82.693963 deg, approach rate: -0.577440 m/s, LOS rate: -0.113340 deg/s, cmd heading: 77.008313 deg, new cmd heading: 76.924524 deg. glOHeadingCmd: 1.342586 target range: 49.216072 and range: 49.50 m.g٫?ggggzfrfffBdddcc@AqAqvB}Ͽ>~ByB}&IB}BByByByB}G];B}"EɢB#͠= 顕R?I K<ɡiIbϿI٫?iWZ=i=)٫?)i)))))BDAT read: Rx Time:05:23:34.3069 TRx dataTimestamp_ set to:1755840215.709187checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950669>ArA?jA?9 Ia I N >Q L}, )AyB↕?ٱB||?Bߖy9y9}GYA>Q 14٪?Q 54v" B9?Q A:YZ?Q E?yC);I;i.4YB:@EgDNOT Ignoring new targets: 49.22 m.ggugu󺝅 ProNav: ac range: 49.216072 m, nav range: 46.817719 m, bearing: 82.650317 deg, approach rate: -0.590729 m/s, LOS rate: -0.106423 deg/s, cmd heading: 76.924527 deg, new cmd heading: 76.836781 deg. gBHeadingCmd: 1.341055 target range: 49.216072 and range: 49.50 m.g?ggggzfrfffBBdddcc @ɢ]B]}= Y]cQ?IY eY<ɡaiaIe@ŻIm?imQZ=im=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195152)?))DDD+DEO: E:6E [4:E"E A벫=Iq ԉ I N  DAT read: 05:23:34.3069 LVL= 23984, 27969, 24114, 31171, AGC= 62, IDX= 419,-0.11, 1.154,-0.620, 1.151, 0.800, PHS= 0.457,-1.375, 0.307, RAW= 145.8, 7.0, CAL= 145.3, 7.6, ROT= 4.7, -7.6  Ygot valid direction response: 05:23:34.3069 LVL= 23984, 27969, 24114, 31171, AGC= 62, IDX= 419,-0.11, 1.154,-0.620, 1.151, 0.800, PHS= 0.457,-1.375, 0.307, RAW= 145.8, 7.0, CAL= 145.3, 7.6, ROT= 4.7, -7.6  PDAT read: Bearing 252.0, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 252.0, 3.9 (Local)  DAT read: Range 11 to 50 : 47.3 m (Round-trip 63.1 ms) speed 0.5 m/s  ,DAT read: user:7481> E BDAT read: Tx time:05:23:35.4396 E $Ping request sent.E >) I />i 4"@ 5= :M"@ > = i I {3X?T#>?411 '? K> =) i m :publishing transmit ping timeYA m Fpublishing direction and range info9 3 *?۩ʴ?) ? i x,)A0 )Ii iI{3X?T#>?411 '? )iyjm?ٱjc?jv99GYFA>Q 14٪?Q 54 B9YA?Q E?y C):I:iYʼn4Y!%/@)hh   / ԹDDD(DE: Exv:6Ec44:E! @! @! @! @vBu̿>~BqBu&IBuBBu =BqBqBu];Bu#E >A% =AQ Ii I N >qo,+)Ay:h?ٱ:N^?:ew<:}<:Ho?`n` d?p??K?@ܭQڟ??I:h?):_c;i:3CFB9F&IBDN6DNf?YV:!VQ=V$;Q)V>X9X9ZGYZFZxĹA^>`Q 1f4٪b,?Q 5f4b  bB9dYf=?Q Ef?yb*C)b:Ib:ib ̉4YprH@pB*** querying acoustic contact ***zhhg)5DNOT Ignoring new targets: 47.03 m.g1g=g=񺝅M ProNav: ac range: 47.026875 m, nav range: 46.402927 m, bearing: 83.027842 deg, approach rate: -0.613591 m/s, LOS rate: -0.105763 deg/s, cmd heading: 76.744702 deg, new cmd heading: 76.666320 deg. gMAUHeadingCmd: 1.338080 target range: 47.026875 and range: 47.30 m.gU2F?gQgQgQgQzfYrfYfqfyBddd1c9c=@f?qɢBb= 顝^R?I v<ɡiIϻI2F?i[=i=)2F?)lAie?aae/aԙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I GD D D *D E : E :6E (N4:E "E 5A i mA AA1 I9 II N] >[,qE)Ay6cU?ٱ6J?6<6<6H@? ,n L?To??b?@?@q?I6cU?)6b;i64C<9 99GYA>)Q 1=4٪-?Q 5=4- -B9m?Q Am:Ym?Q Em?y-MC)-A = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239453D D D /D E ; E :6E J4:E ! @! @! @! @A AI I N >,a)AyR3?ٱR)?Ri =Rf"~BlBlBlBn =BlBlBn];Bn:#EYm!uG=u;Q)u>}K?9}K?9}GY}F}#A}>Q 14٪?Q 54^ B9Ym?Q E?ymC);I;iۉ4Y@gDNOT Ignoring new targets: 47.03 m.ggmgm㺝 ProNav: ac range: 47.026875 m, nav range: 45.887341 m, bearing: 82.946891 deg, approach rate: -0.628773 m/s, LOS rate: -0.099417 deg/s, cmd heading: 76.580805 deg, new cmd heading: 76.503509 deg. g5HeadingCmd: 1.335238 target range: 47.026875 and range: 47.30 m.g?ggggzfrfffBdddcc ?ɢ5B5aa= 15jQ?I9 =*"<ɡ9i9I=ٻIE?iE.[=iEu=)M?)Iai@5Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.493786ԉ>A Թ AQ IY Iq N} >q,z)APyR%?ٱR?R-=R99Gchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743528YFfA>Q 14٪9?Q 54 B9F?Q A:Y?Q E?yC) ;Iz ;i?4Y@gDDD+DEs: E~:6E [4:E"E_0Am =rAm ?jAm ?! Iy I N >3,>)AyJJ?ٱJ?Jil=JTx9|9~GY||=A> Q 14٪ k?Q 54  B9Y?Q E?y C) @;I ;i 4Y!%u@!gIUDNOT Ignoring new targets: 47.03 m.gQgUWǺgUWǺe ProNav: ac range: 47.026875 m, nav range: 45.411213 m, bearing: 82.878512 deg, approach rate: -0.602221 m/s, LOS rate: -0.087138 deg/s, cmd heading: 76.432795 deg, new cmd heading: 76.366035 deg. gmxmHeadingCmd: 1.332839 target range: 47.026875 and range: 47.30 m.guv?gqgqgqgqzfqrfqfyfyBdyddccR@ɢB1= 页R?I ʰ<ɡiI[Iv?iaW[=iɽ=)v?)im=qqu/q)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247553DDD(DE: Eą:6Ec44:E!@!@!@!@vBѿ>~BB&IB}BBBBB];B4#EBBBƓCBBƳ =B04Q>A=I I N >ԁ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499343-,쥮)AyN?ٱN?Nb=Nx9x9~GY~F~WA~>Q 1 4٪?Q 5 4P B9Y?Q E%?yC)3;yI;i4Y@B*** querying acoustic contact ***zhhg)-DNOT Ignoring new targets: 47.03 m.g)g5og5oe ProNav: ac range: 47.026875 m, nav range: 45.167683 m, bearing: 82.843331 deg, approach rate: -0.521988 m/s, LOS rate: -0.075814 deg/s, cmd heading: 76.366037 deg, new cmd heading: 76.295295 deg. ge mHeadingCmd: 1.331604 target range: 47.026875 and range: 47.30 m.gmr?gigigigqzfqrfqfqfqBdydydycyc@ɢB= O?I R<ɡiIEZI%r?i%q[=i%K=)%r?))ԙi?3checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751390DDD,DED: EǙ:6Eg4:E"E1A l=Iy I N > s,~ȶ)Ayjؔ?ٱjeΰ?jr@&=j5A9A9EGYEFMuAM>QQ 1]4٪U?Q 5]4UK U}B9]6?Q A]:Y]]?Q Ee?yUC)U:IU:iU4YmBm@mEgDNOT Ignoring new targets: 47.03 m.gg<Ӻg<Ӻ ProNav: ac range: 47.026875 m, nav range: 44.902199 m, bearing: 82.808025 deg, approach rate: -0.690253 m/s, LOS rate: -0.092339 deg/s, cmd heading: 76.295296 deg, new cmd heading: 76.224266 deg. g(HeadingCmd: 1.330364 target range: 47.026875 and range: 47.30 m.gbI?ggggzfrfffBBdddcc!@ɢB,= K?I <ɡi BDAT read: Rx Time:05:23:37.9041 TRx dataTimestamp_ set to:1755840219.232535checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004550IgIbI?ī[=i%=)%bI?)!i/9a>AbAZAI I N% > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255397ԑ D D D (D E : E z:6E c44:E ! @! @! @! @O0,X)Ay6}?ٱ6?6A-=62P<6H`/? gSN? d?V?5? ?`?I6}?A<A>@AvBB޿>~BBԍCBB&IBBsBBB =B@BBlDBB];BB2#E)6a;i62CN|B9N&IBDV6DVYU!]Z=]t;Q)]>a9a9eGYaeAe>iQ 1u4٪m?Q 5}4mg mwB9yY}D?Q E}?ymC)m[:Im:im]4YW@gDNOT Ignoring new targets: 47.03 m.ggngn ProNav: ac range: 47.026875 m, nav range: 44.679337 m, bearing: 82.778281 deg, approach rate: -0.594539 m/s, LOS rate: -0.079746 deg/s, cmd heading: 76.224269 deg, new cmd heading: 76.164483 deg. gHeadingCmd: 1.329321 target range: 47.026875 and range: 47.30 m.g1'?ggggzfrfffBdddccy @ɢ6= QJ?I %<ɡ!i!I%NI-1'?i-͘[=i-(H=)-1'?)1qiԙEDAT read: 05:23:37.9041 LVL= 24048, 32753, 25522, 32755, AGC= 61, IDX= 407, 0.32, 2.853, 1.062, 2.817, 2.481, PHS= 0.474,-1.373, 0.292, RAW= 144.9, 6.9, CAL= 144.4, 7.6, ROT= 5.6, -7.6 MYgot valid direction response: 05:23:37.9041 LVL= 24048, 32753, 25522, 32755, AGC= 61, IDX= 407, 0.32, 2.853, 1.062, 2.817, 2.481, PHS= 0.474,-1.373, 0.292, RAW= 144.9, 6.9, CAL= 144.4, 7.6, ROT= 5.6, -7.6 ]PDAT read: Bearing 251.8, 3.7 (Local) ]~Local bearing/azimuth received: Bearing 251.8, 3.7 (Local) eDAT read: Range 11 to 50 : 45.3 m (Round-trip 60.4 ms) speed 0.5 m/s m,DAT read: user:7482> uBDAT read: Tx time:05:23:38.9896 }$Ping request sent.})wI>i!@Ϣ=K!@+= iI{?99?F??> +=)i:publishing transmit ping timeYqFpublishing direction and range info9lH?Bø?) ?i )Ii iI{?99?F? )i>A=II N > NV,`")Ay6?ٱ6?63=6`<6H DF? _fҩ? Lc?o?Ww?#yD?2?I6?)6ha;i60CNzB9N&ImMb@Mb@Mb@ i)iIiiiimkt?~jt?~jthm ?m=mDIiiim@m@)im=@BD6DY:N!G=;Q)>99GYFA>Q 14٪?Q 54; qB95?Q A:YC?Q E?y&C)7 ;I ;i4Y@hIhM)AhM(4BhM(4BhM˛?zMfU27F@7etm@Zc@jMlH?Bø?) ?hM+=hIM`m@N~QF@RmPu@rM&^qø?$)?XAJ;c?hM2BhMk@hMM`?hMqLhMB*iM*񖜊?2iMGYU:iMuBiMA2B"iMߥ?% addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.528046 s, deltaX: -2.000000 m, approachRate: -0.566886 m/s, rangeRepo size: 4 5 Added new target pos. range: 45.039944 m, bearing: 84.425587 deg, lat: 36.779328 deg, lon: -121.859573 deg, deltaT: 3.528046 s, deltaX: -1.986931 m, approachRate: -0.563182 m/s, posRepo size: 4 g1=DNOT Ignoring new targets: 45.04 m.g9g=g9M ProNav: ac range: 45.039944 m, nav range: 44.563992 m, bearing: 83.547957 deg, approach rate: 0.000000 m/s, LOS rate: -0.079746 deg/s, cmd heading: 76.164484 deg, new cmd heading: 76.098226 deg. gQ]HeadingCmd: 1.328165 target range: 45.039944 and range: 45.30 m.g]L?gYgYgYgYzfYrfafafeBBdadidicm`fF@cm~?DDD,DEV: E:6Eg4:E"E9A1 1 A} yAI I N >Q ?,)Ay6?ٱ6?68=6o<6HR?e`m?:b?|?>)?G? ?I6?)6voa;i6/C>jB9B&IIFAA)FAABDJ6DJkYR룽!R[=R-];Q)R>V H?9V H?9VGYTVAZ>Q 14٪\?Q 5%4 lB9!Y%7?Q E%?yBC):I:i 4Y)5v@1gY]DNOT Ignoring new targets: 45.04 m.gagefgefu ProNav: ac range: 45.039944 m, nav range: 44.352386 m, bearing: 83.523187 deg, approach rate: -0.555264 m/s, LOS rate: -0.065308 deg/s, cmd heading: 76.098225 deg, new cmd heading: 76.048448 deg. g} ﺝ}HeadingCmd: 1.327296 target range: 45.039944 and range: 45.30 m.g}?ggggzfrfffBdddcc~?ɢBѧ= A?I b<ɡiII?i[=i=)?))iM@IIM0QBE [4JE [4RE V0DDD/DEa: E~:6EJ4:E!@!@!@!@YvBy~ByB}&IB}iBB} =B}HDByByB}3#E>Au =rA}?jA}?ԉ A I I N >g,E/)A0y6?ٱ6z?6==6T<6H dh?`daO?`?`?`Ϥ?`??I6?)6T9T9VGYZFZ޺AZ>\Q 1b4٪^?Q 5b4^ ^gB9dYf ?Q Ef?y^_C)^:I^:i^4Yhj+@hg%DNOT Ignoring new targets: 45.04 m.g!g-g-= ProNav: ac range: 45.039944 m, nav range: 44.122868 m, bearing: 83.496253 deg, approach rate: -0.580021 m/s, LOS rate: -0.068419 deg/s, cmd heading: 76.048446 deg, new cmd heading: 75.994298 deg. gmHeadingCmd: 1.326351 target range: 45.039944 and range: 45.30 m.g%ũ?g)g)g)g1zfYrfYfifBdddcc@?ԉɢڜ= D?I <ɡiIhIũ?i[=i =)ũ?)i? 0Թ)ߑ ߕADDD*DEf; Ea:6E(N4:E"EWAM = A AI I N >mQ,I)Alyj~?ٱj&t?jB=jZK?9K?9GYFڹA>Q 14٪?Q 54 aB9?Q A:Yn?Q E?yC)o:I:i4Yh@B*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 45.04 m.gg Rg R% ProNav: ac range: 45.039944 m, nav range: 43.877541 m, bearing: 83.461331 deg, approach rate: -0.565935 m/s, LOS rate: -0.081011 deg/s, cmd heading: 75.994297 deg, new cmd heading: 75.924062 deg. g%B-HeadingCmd: 1.325125 target range: 45.039944 and range: 45.30 m.g-?g)g)g)g)zfrfffBBdddcc`?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢaeJ= aeB?I <ɡiII?i[=iպ=)?) iO01>A a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751924D D D ,D E V: E :6E g4:E ! @! @! @! @A yAI I) N= >n,1^c)AAA<vB">~B"ՍCB"z&IB"ZBB" =B B B"];B"8#Eyf?ٱf|?fF=fk5 H?95 H?9=GY9=.:A=>AQ 1M4٪E?Q 5M4E`Q E[B9QYUw?Q E]?yEC)E+;IE,;iE~!4YeҖBe@eEgDNOT Ignoring new targets: 45.04 m.gg칺g칺 ProNav: ac range: 45.039944 m, nav range: 43.661491 m, bearing: 83.430174 deg, approach rate: -0.560798 m/s, LOS rate: -0.081274 deg/s, cmd heading: 75.924062 deg, new cmd heading: 75.861440 deg. gHeadingCmd: 1.324032 target range: 45.039944 and range: 45.30 m.gy?ggggzfrfffBdddcc?ɢmBu&{= quhA?Iq u <ɡyiyI}I}y?i \=i=)y?)yi@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003859Ա>A ˺=bA% jAZA! A} AI I N >,#})Ay6?ٱ6N}?6J=6г<6HPd?@e@?@_?`n? ?@Yr??I6?)6`;i6-CBcB9B&IHiJCIvĉG)~~nAIAiEE~nAE~Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256014Թ5Mb@Mb@Mb@ 1)1I1i115S?|?5^?5?5=5I51@i5@5@1)15@BDU6DUYe!e9=e;Q)e>mK?9mK?9mGYmFmT8Au>yQ 14٪}2?Q 54} }UB9?Q A:Y?Q E?y}C)};I}b;i}8)4Y@DDD.DE : Ev:6Eـ4:E"EE"A A A I I N >{,)Ay6{?ٱ6?6DN=6ӛ<6HO?Df?N`?|?P?ũ`٪?]B9B&IBDJ6DJYR !Rl=RM;Q)R?T9T9VGYVFV:AZ?XQ 1b4٪ZX?Q 5b4Z ZQB9`Yb?Q Eb?yZC)Z; ;IZG ;iZF/4YdjO@hgx~DNOT Ignoring new targets: 45.04 m.g|gg ProNav: ac range: 45.039944 m, nav range: 43.216202 m, bearing: 83.367764 deg, approach rate: -0.571407 m/s, LOS rate: -0.081183 deg/s, cmd heading: 75.791549 deg, new cmd heading: 75.735972 deg. gHeadingCmd: 1.321842 target range: 45.039944 and range: 45.30 m.g2?ggggzfrfffBdddccl@ɢ%d= !%D~BABEn&IBEPBBE =BABABE];BE1#E>A:=qAa Ii Iy N > E BDAT read: Rx Time:05:23:41.4514 E TRx dataTimestamp_ set to:1755840222.760535M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013081m,3ݰ)Ayv?ٱv?vR=v99GYo:A>Q 14٪?Q 54 KB9Y?Q E?yC);I;i64Yd@gDNOT Ignoring new targets: 45.04 m.ggTgT ProNav: ac range: 45.039944 m, nav range: 42.970497 m, bearing: 83.332523 deg, approach rate: -0.497987 m/s, LOS rate: -0.071833 deg/s, cmd heading: 75.735972 deg, new cmd heading: 75.665088 deg. gvHeadingCmd: 1.320605 target range: 45.039944 and range: 45.30 m.g ?gg)g)g)zf)rf)f1f1Bd1d1d1c9c=S @ɢ= 顭;?I <ɡiIFiI ?iV\=iv=) ?)iYYYYYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263867DDD1DE: E:6E-4:E"E<AA rAM ?jAM ?A9 a I I N- >P,̷)Ay=?ٱ=9?=X==LJ<=HI? eu?_?@X}? |?\??I=?)=`;i=.CUbB9]&IMb@Mb@Mb@ )IiB`"?1Zd?~jtx?"=ĻIit@@@)=@BD 6D2Y<!4=E;Q)>EDAT read: 05:23:41.4514 LVL= 22432, 28433, 23138, 32755, AGC= 63, IDX= 412,-0.49,-3.117, 1.373, 3.140, 2.808, PHS= 0.460,-1.390, 0.288, RAW= 145.2, 7.3, CAL= 144.7, 8.0, ROT= 5.3, -8.0 IMYgot valid direction response: 05:23:41.4514 LVL= 22432, 28433, 23138, 32755, AGC= 63, IDX= 412,-0.49,-3.117, 1.373, 3.140, 2.808, PHS= 0.460,-1.390, 0.288, RAW= 145.2, 7.3, CAL= 144.7, 8.0, ROT= 5.3, -8.0 UPDAT read: Bearing 252.2, 2.9 (Local) ]~Local bearing/azimuth received: Bearing 252.2, 2.9 (Local) eDAT read: Range 11 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.5 m/s ,DAT read: user:7483> BDAT read: Tx time:05:23:42.5396 $Ping request sent.)뱿It>i0"@w>!@5>q= 5iIjĹ?#Ʒu?zSG?M>' q=)5iM:publishing transmit ping timeYMFpublishing direction and range info9?Xj?H@l?i )Ii iIjĹ?#Ʒu?zSG?99GYFjA>Q 14٪?Q 54 CB9u?Q A:Y?Q E?yC);I;i?4Y@hh з)Ah+Bh+Bh?z -E@H{Ѽqn@l]I@j?Xj?H@l?hq= )ih5/@5FE@賯@r A"5?R?߶?h7*Bh@hG_e?hMGlQhB*iz?2iT:iBi*B"iW? addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.528095 s, deltaX: -2.099998 m, approachRate: -0.595222 m/s, rangeRepo size: 4  Added new target pos. range: 42.952412 m, bearing: 84.100469 deg, lat: 36.779327 deg, lon: -121.859572 deg, deltaT: 3.528095 s, deltaX: -2.087532 m, approachRate: -0.591688 m/s, posRepo size: 4 g DNOT Ignoring new targets: 42.95 m.gggQe ProNav: ac range: 42.952412 m, nav range: 42.719318 m, bearing: 83.410219 deg, approach rate: 0.000000 m/s, LOS rate: -0.071833 deg/s, cmd heading: 75.665088 deg, new cmd heading: 75.597553 deg. gimHeadingCmd: 1.319426 target range: 42.952412 and range: 43.20 m.gm?gqgqgqgqyzfrfffBBdddcE@ce?ɢ = 顕t>?I v<ɡiII?iu\=i=)?)i-@))-4)ԩD D D ,D E : E $:6E g4:E ! @! @! @! @vB] տ>~B] ӍCB] [&IB] @BB] =B] IDB] kDB] ^;B] R#EBԍCBԍCBBˮ =B˯ =Bˤ5 >AM +W=AyIIN>=S,N)A(y:?ٱ:?:?[=:V<:H@>?`Nfe?_?r?}d?r <՚?f?I:?):hk`;i:,CRTB9Rt&IBDZ6DZYby!b:=b;Q)b>d9d9fGYfFf^:Aj>lQ 1r4٪n?Q 5r4nߪ nںg%>ں= ProNav: ac range: 42.952412 m, nav range: 42.499077 m, bearing: 83.376178 deg, approach rate: -0.614044 m/s, LOS rate: -0.095402 deg/s, cmd heading: 75.597551 deg, new cmd heading: 75.529115 deg. g=.EHeadingCmd: 1.318232 target range: 42.952412 and range: 43.20 m.gEѻ?gAgAgAgAzfArfAfIfIBdIdQdQcQcUi2?ɢƬ= 顅7?I }<ɡiIlIѻ?iM\=i8=)ѻ?)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iE>AIM/IԁԹ>AiA yAI I N > } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.731757D D D +D E  E :6E [4:E "E 5 H?9 H?9GYo9A>Q 14٪ ?Q 54 6B9 ?Q A:Y?Q E?yRC)<;;I'r;iM4Y@gDNOT Ignoring new targets: 42.95 m.gg~g~ຝ ProNav: ac range: 42.952412 m, nav range: 42.264400 m, bearing: 83.332081 deg, approach rate: -0.519371 m/s, LOS rate: -0.098134 deg/s, cmd heading: 75.529113 deg, new cmd heading: 75.440430 deg. g3HeadingCmd: 1.316684 target range: 42.952412 and range: 43.20 m.g?ggggzfrff)f5ޅBBd1d1d1c1c= v?ɢ= 顅q/?I 7=ɡiI I?i\=i=)?)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984328i@%/!@->@-=>AE /=I bAM lAZAI A I I N >=,)Ay6Ĕ?ٱ6 ?6ea=6xK=6H&? eM?C`?Ue? E?`MpB??I6Ĕ?)6_;i6-C>OB9Bn&IdBDJ6DJ:nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.235860YrTc=!rN=v[:Q)v>t9t9zGYzFzï:A~>|Q 14٪~?Q 54~ܞ ~1B9 Y ?Q E ?y~nC)~:I~:i~T4YH@g9EDNOT Ignoring new targets: 42.95 m.gAgMgM] ProNav: ac range: 42.952412 m, nav range: 42.046673 m, bearing: 83.290574 deg, approach rate: -0.584449 m/s, LOS rate: -0.111995 deg/s, cmd heading: 75.440430 deg, new cmd heading: 75.356986 deg. g]LeHeadingCmd: 1.315228 target range: 42.952412 and range: 43.20 m.ge`Y?gagagagazfirfififqBdqdqdqcyc}}?ɢu= 顭5?I j=ɡiI# I`Y?i\=i=)`Y?)DDD-DED: E:6Et4:E!@!@!@!@vB]п>~B]ҍCB]H&IB]1BB] =BYB]jDB]l^;B]#EiE?AIM0I >AuK=iߝ*?Iߝ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491968A AI I N >9 . ,9)AuBB9u^&I-only read 0 of 1 data item for BIT error. Device response is::TS,00022709110, +10.6, 0.0,1492.0, 0 !@! !@! !@! !@! BD6DY h! 9=Q)>K?9K?9GYFA>!Q 1-4٪%>?Q 5-4%o %+BQ =-+:91Q A5:Y1Q E5?y%C)% ;I%>i%[4Y9=@9gaeDNOT Ignoring new targets: 42.95 m.gigm;gm;󺝅} ProNav: ac range: 42.952412 m, nav range: 41.804718 m, bearing: 83.243937 deg, approach rate: -0.548443 m/s, LOS rate: -0.106325 deg/s, cmd heading: 75.356985 deg, new cmd heading: 75.263172 deg. gBHeadingCmd: 1.313590 target range: 42.952412 and range: 43.20 m.g#?ggggzfrfffBdddcc`?ɢj= .?I zg=ɡiI} I#?i\=i=)#?)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741154Ai/D-D-D-,D)E-&: E-Ar:6E-g4:E)"E-X;A$=ԙ A yAI! I1 N= > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9916744,kS)Ay6”?ٱ6?6Ǭi=6L =6H`(?jd&?2_?mn?@vM?1@??I6”?)6מ_;i6,CB>B9BX&IID)FAABDJ6DJYRڼ!Re=R;Q)V>V H?9V H?9VGYTZ\AZ>\Q 1b4٪^?Q 5b4^= ^&BQ =b :9`Q Ab{:Yf?Q Ef?y^C)^ ;I^L?i^_4Yhjc@hyg|DNOT Ignoring new targets: 42.95 m.gg_g_ ProNav: ac range: 42.952412 m, nav range: 41.609161 m, bearing: 83.205864 deg, approach rate: -0.548348 m/s, LOS rate: -0.107260 deg/s, cmd heading: 75.263173 deg, new cmd heading: 75.186669 deg. gLDHeadingCmd: 1.312255 target range: 42.952412 and range: 43.20 m.g?ggggzfrfffBdddcc@r@ɢKۧ= h,?I %z=ɡiI I?i\=i$=)?) iO0ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243754>AD%=rA?jA?BE^n4JEv4REǭ<0D=D=D=.D9E= ;AQAU<vBa~BaBe<&IBe'BBe =BaBaBe^;Be#E E=:6E=ـ4:E9"E=kT<E=lT<*E=;E=;A AI I1 NM > ?,Em)A~;B9~U&IBD  6D 2Y9!%C=%Q)%>%K?9-K?9-GY-F-A->1Q 1=4٪5m?Q 5=45  5!BQ =E99AQ AEK:YAQ EE?y5C)5;I5?i5c4YMBM@UEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 42.95 m.gggﺝ ProNav: ac range: 42.952412 m, nav range: 41.378967 m, bearing: 83.160582 deg, approach rate: -0.529489 m/s, LOS rate: -0.104737 deg/s, cmd heading: 75.186668 deg, new cmd heading: 75.095599 deg. g? HeadingCmd: 1.310665 target range: 42.952412 and range: 43.20 m.g ç?g g g gzfrfffBddd!c!c%@ɢIM= Q]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495917UV+?Ia e =ɡaiaIeyImç?imo]=im5=)mç?)qi!!%o1! >AL=1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747796A I I N >DE DE DE (DA EE ; EE Ar:6EE c44:EA "EE &N<EE 'N<*EE C;EE D;Y !, )A5B9%N&I!! !! !! !! Mb@Mb@Mb@ )Iiq= ףp??Mbp ?>I1@i@@)@BD%6D%Y5Ѽ!5:=19Q)=>99A9EGYEFAAE>IQ 14٪M?Q 54M MBQ =T:9%?Q A:Y?Q E?yMC)MA% 6[= AU yAIa Iq N} >',PQ)Ay6E?ٱ68;?6ix=6y<6H`:?@(ai?W? B?l?W?@0?I6E?)6U_;Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.251898i6+Cn2B9nJ&Iv4 H?9  H?9 GY  (A >Q 14٪!?Q 5%4? B9!Y%(?Q E%?yC):Il:i(q4Y)-@1gY]DNOT Ignoring new targets: 42.95 m.gYgegeu ProNav: ac range: 42.952412 m, nav range: 40.932491 m, bearing: 83.063948 deg, approach rate: -0.583222 m/s, LOS rate: -0.125923 deg/s, cmd heading: 74.989296 deg, new cmd heading: 74.901275 deg. gusf}HeadingCmd: 1.307274 target range: 42.952412 and range: 43.20 m.g}T?gygygygyzfrfffBdddcc :v @ɢ֍= P'?I =ɡiIAvBҿ>~BB)&IBBB =BBkDB._;B#EDDD/DE: E~:6EJ4:E"Ez><E{><*E/;E/;IT?i _U]=ԉiea=)mT?)qi5Թ}DAT read: 05:23:44.9988 LVL= 24928, 31729, 25138, 29299, AGC= 62, IDX= 416,-0.03,-1.672, 2.879,-1.693,-2.009, PHS= 0.440,-1.349, 0.272, RAW= 145.1, 7.5, CAL= 144.7, 8.2, ROT= 5.3, -8.2 Ygot valid direction response: 05:23:44.9988 LVL= 24928, 31729, 25138, 29299, AGC= 62, IDX= 416,-0.03,-1.672, 2.879,-1.693,-2.009, PHS= 0.440,-1.349, 0.272, RAW= 145.1, 7.5, CAL= 144.7, 8.2, ROT= 5.3, -8.2 PDAT read: Bearing 252.4, 2.4 (Local) ~Local bearing/azimuth received: Bearing 252.4, 2.4 (Local) DAT read: Range 11 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.4 m/s ,DAT read: user:7484> BDAT read: Tx time:05:23:46.0896 $Ping request sent. MG>)MIMC>iM "@M >IMC>I MCiIIIMc3?FT )w?4dz?Mq>M I)MCiII:publishing transmit ping timeYFpublishing direction and range info9IM,B+锉?bHWg?x0A?IIiIIIII I)IIIiIIIII IiIIIMc3?FT )w?4dz?II I)IiII>A ^=bA kAZA mA AU AIq I N >V.,$)AI)IiAqy}?ٱ} ?}|=}=<}H ?_¡?T?=?f? $~ ? J?I}?)}ˡ_;i})C)B9>&I)1 1Mb@Mb@Mb@ )Ii"~?S㥛?tI@i@1@(@)f@BD 6D2Y!=`:Q)>K?9K?9GDmDmDm,DiEm: Em^:6Emg4:Ei!}@!}@!}@!}@YuFM-A>Q 14٪`?Q 54xQ 9tI B9?Q A:Y?Q E?y'C);Ib;iz4Y+@hhD)Ah#Bh#Bha?z<.c/D@$ @#B^@j,B+锉?bHWg?x0A?hhCCWj@K*JD@:˵vw @r-BQ6?8M˜?T,ku?hW"BhU@hK]?h?jMhB*iG_e?2iMGlQ:iBi"B"im ?u addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.527723 s, deltaX: -2.000000 m, approachRate: -0.566938 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 40.962341 m, bearing: 83.876439 deg, lat: 36.779323 deg, lon: -121.859571 deg, deltaT: 3.527723 s, deltaX: -1.990070 m, approachRate: -0.564123 m/s, posRepo size: 4 gDNOT Ignoring new targets: 40.96 m.ggg ProNav: ac range: 40.962341 m, nav range: 40.676804 m, bearing: 83.723783 deg, approach rate: 0.000000 m/s, LOS rate: -0.125923 deg/s, cmd heading: 74.901275 deg, new cmd heading: 74.762105 deg. g]HeadingCmd: 1.304845 target range: 40.962341 and range: 41.20 m.g](?gagagagazfirfiffBBdddcD@ct?ɢ5B]4= Ye"?Ia e6$=ɡaiaIeIm(?im]=im =)m(?)iI I I M @0I >Am :=!AIIN?6,Gݸ)Ay6?ٱ6߯?6K=6<6H.?`]S?MR?H1?@?5䯿@h??I6?)6_;i6+CB"B9B6&IBDJ6DJYR_!RH=R:Q)R>T9T9VGYVFZgAZ>\Q 1b4٪^횊?Q 5b4^r ^B9`Yb?Q Eb?y^DC)^ :I^:i^Q4Yhj@hg|~DNOT Ignoring new targets: 40.96 m.g|gg ProNav: ac range: 40.962341 m, nav range: 40.449051 m, bearing: 83.679479 deg, approach rate: -0.612115 m/s, LOS rate: -0.119743 deg/s, cmd heading: 74.762103 deg, new cmd heading: 74.672996 deg. g$[HeadingCmd: 1.303290 target range: 40.962341 and range: 41.20 m.g2Ҧ?gggg!zf!rf!f!f)Bd)d)d1c1c5ˌ?ɢY]ԑ= ae^?Ia e{=ɡaiaII2Ҧ?i ]=iM=)2Ҧ?)ԉiaaae4abD@AZD@AD D D -D E D: E B:6E t4:E vBq~BqBu&IBuBBqBqBqBu9_;Bu#EԱ>AVo=A yAI I N > =,K)AyFœ?ٱF?F>=FǑ H?9 H?9GYg)A>Q 14٪K횊?Q 54l B9Y^?Q E?yeC);I;i툊4YB@%EB*** querying acoustic contact ***zhhg 5DNOT Ignoring new targets: 40.96 m.g1g5g5E ProNav: ac range: 40.962341 m, nav range: 40.194031 m, bearing: 83.629677 deg, approach rate: -0.542869 m/s, LOS rate: -0.106689 deg/s, cmd heading: 74.672997 deg, new cmd heading: 74.572759 deg. gE@CHeadingCmd: 1.301540 target range: 40.962341 and range: 41.20 m.gޘ?ggggzfrfffBdddcc?ɢF˙= ?I bu=ɡiI"Iޘ?i]=i D=)ޘ?)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!iaaae5a@i@mlAD%D%D%3D!E%s: E%e:6E%4:E!"E%_0A ^=rA ?jA ?y A I I N >WD,7)Ay6?ٱ6#?6<=6<6HE?@Z ^6?@M?}?`?D`??I6?)6l^;i6+C>B9>+&INchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500899eMb@Mb@Mb@ a)aIaiaaex&?X9v?Mbpe7 ?e=eIet@ie@e@e?@)ae@BD6DY(!==u:Q)>99GYF@A>Q 14٪욊?Q 54f B9 ?Q A:Y?Q E?yC)ʠ;IV;iM4YN@gDNOT Ignoring new targets: 40.96 m.gg6g65 ProNav: ac range: 40.962341 m, nav range: 39.964767 m, bearing: 83.586345 deg, approach rate: -0.582302 m/s, LOS rate: -0.110688 deg/s, cmd heading: 74.572757 deg, new cmd heading: 74.485597 deg. g5J=HeadingCmd: 1.300019 target range: 40.962341 and range: 41.20 m.g=g?g9g9g9g9zf9rf9fAfEхBBdAԩdId c c ,z?ɢv= 顕F?I =ɡiI«Ig?i]=i=)g?) i5)I IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753085 D D D )D E : E g:6E FA4:E ! @! @! @! @vB Կ>~B ӍCB &IB BB B B B _;B #EB ҍCB ҍCB B ɲ =B ɳ =B 5>A z=1 A% AI1 IA NM >J,.)Ay6Q?ٱ6u?6lU=6ѧ<6H`?Xˠ?`/L?!??@g?@r?I6Q?)6b^;i4> B9B3&IBDJ6DJ02YR<!VI=^@:Q)b>fK?9jK?9jGYjFj An>lQ 1r4٪n욊?Q 5r4n` nB9tYv?Q Ev?ynC)n:In:iny4Yx~@|gyDNOT Ignoring new targets: 40.96 m.ggg麝 ProNav: ac range: 40.962341 m, nav range: 39.741856 m, bearing: 83.544010 deg, approach rate: -0.535237 m/s, LOS rate: -0.102222 deg/s, cmd heading: 74.485597 deg, new cmd heading: 74.400451 deg. g;HeadingCmd: 1.298533 target range: 40.962341 and range: 41.20 m.gS6?ggggzfrfffBdddcc ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004953ɢB^,= ?I h=ɡiII5S6?i5+]=i5=)=S6?)Ai999= 29Aa>AY e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256856D D D +D E  E :6E [4:E "E 3Q,G)AyM0?ٱMe&?MV-=M=99GYqA>Q 14٪<욊?Q 543Y ݡB9?Q A:Y?Q E?yC) ;IC ;i4YBJ@g!-DNOT Ignoring new targets: 40.96 m.g)g5Eg5E򺝅E ProNav: ac range: 40.962341 m, nav range: 39.481441 m, bearing: 83.495890 deg, approach rate: -0.569375 m/s, LOS rate: -0.105904 deg/s, cmd heading: 74.400451 deg, new cmd heading: 74.303577 deg. gEAMHeadingCmd: 1.296842 target range: 40.962341 and range: 41.20 m.gU?gQgQgQgQzfQrfQfYf]BBdYdYdacace(@ɢ= 顕?I =ɡiIJI?ik^=iw=)?)i >   / ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509797>A5 ==bA1 ZA5 jAA= yAII IY Ne > >X,a)AyF?ٱF?F=F~BiBm%IBmBBm =BiBiBm_;Bm#EDDD.DE; E:6Eـ4:E"E @<E @<*EH;EI;ɢ%|= )-?I) -b=ɡ)i)I-Ie֥?ie9^=im=)m֥?)qi?BDAT read: Rx Time:05:23:48.5461 TRx dataTimestamp_ set to:1755840229.816343checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013764 >A =A% AI IY I N >^,J })AB9#&I5Mb@Mb@Mb@ 1)1I1i115J +?`"?~jth5?5=5DI5t@i5@5G@5=A)15@BDI6DIY]3<!],=eQ)e>eK?9eK?9eGYmFmAm>qQ 1}4٪u뚊?Q 5}4u]Mԁ u̡B9+ ?Q A:Y?Q E?yuC)u$5;Iu_3;iu4YB@}EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 40.96 m.ggg ProNav: ac range: 40.962341 m, nav range: 39.035194 m, bearing: 83.409861 deg, approach rate: -0.542697 m/s, LOS rate: -0.108214 deg/s, cmd heading: 74.233296 deg, new cmd heading: 74.130509 deg. g Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264938HeadingCmd: 1.293821 target range: 40.962341 and range: 41.20 m.g?ggggzfrfffBBdddccF @ɢ)-ޜ= )-?I1 5# =ɡqiqIuII}?i}]^=i}=)?)D%D%D%*D!E%: E% n:6E%(N4:E!!5@!=@!=@!=@Աi))15/1>Au =} DAT read: 05:23:48.5461 LVL= 22048, 28257, 22994, 32755, AGC= 60, IDX= 421, 0.22,-0.449,-2.238,-0.455,-0.788, PHS= 0.441,-1.405, 0.289, RAW= 145.8, 7.7, CAL= 145.3, 8.3, ROT= 4.7, -8.3  Ygot valid direction response: 05:23:48.5461 LVL= 22048, 28257, 22994, 32755, AGC= 60, IDX= 421, 0.22,-0.449,-2.238,-0.455,-0.788, PHS= 0.441,-1.405, 0.289, RAW= 145.8, 7.7, CAL= 145.3, 8.3, ROT= 4.7, -8.3  PDAT read: Bearing 251.9, 1.4 (Local)  ~Local bearing/azimuth received: Bearing 251.9, 1.4 (Local)  DAT read: Range 11 to 50 : 39.3 m (Round-trip 52.4 ms) speed 0.4 m/s  ,DAT read: user:7485>  BDAT read: Tx time:05:23:49.6396  $Ping request sent. )= ׳I= >i= 4"@= >= :M"@= V>= = = Vi9 9 I= @@?۠?6â?= (>= P = =)= Vi9 9  :publishing transmit ping timeY  Fpublishing direction and range info99 = ?AQ*?'ЌCz?9 9 i9 9 9 9 9 9 )9 I9 i9 9 9 9 9 ! 9 i9 9 I= @@?۠?6â?9 9 9 )9 i9 9 A I) I9 NE >e,i☹)Ay%{?ٱ%?%aG=%q<%HX"?FO $?`?? MX?5?i`J?{?I%{?)%I];i%,CB9&II)AABD6DYK!C=;Q)>99GY6ֻA>)Q 154٪-?뚊?Q 5=4-=G -ġB99Y=G?Q E=?y-C)-:I-:i-`4YAmV@ihyh}u)Ah}KBh}KBh}Nĸ?z}PaDC@4N?X @F5Yߏ@j}?AQ*?'ЌCz?h}=h}V} ۷s@ )QC@ee]@r}쯰3?[KJ?7=?h}Bh}C@h}?h}Nh} B*iy2i}N:i}Bi}B"i}/F? addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.529858 s, deltaX: -1.900002 m, approachRate: -0.538266 m/s, rangeRepo size: 4 5 Added new target pos. range: 39.073490 m, bearing: 82.705929 deg, lat: 36.779323 deg, lon: -121.859570 deg, deltaT: 3.529858 s, deltaX: -1.888851 m, approachRate: -0.535107 m/s, posRepo size: 4 g1=DNOT Ignoring new targets: 39.07 m.g9g=g9u ProNav: ac range: 39.073490 m, nav range: 38.898659 m, bearing: 83.380650 deg, approach rate: 0.000000 m/s, LOS rate: -0.108214 deg/s, cmd heading: 74.130509 deg, new cmd heading: 74.035547 deg. gq}HeadingCmd: 1.292164 target range: 39.073490 and range: 39.30 m.g}e?gygygygzfrfffBdddc`fC@c4?ɢ= !%6?I! %"=ɡ!i!I-:I-e?i-@~^=i5=)5e?)1)ei/vBϿ>~BҍCB%IBBB =BBjDB^;B#EABEYJE]p4RE]0DeDeDe0DaEes: Ee|:6Ee4:Ea"Ee_0A =rA ?jA ?q A- yAI1 IA Ne >L l,]ܲ)Ay6&x?ٱ6m?6e=6=)<6H`?|K?`!f H?9f H?9fGYfFjAj>lir=Ir=Q 1v4٪nꚊ?Q 5v4n B nB9xYz?Q Ez?yn2C)nU;InV;in4Y|~@|G Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLG-Entering USBL mode with 120.000000 count pings at 39.299999 m (mode 2.000000 count ).G-1H-g1=DNOT Ignoring new targets: 39.07 m.g9gElgElU ProNav: ac range: 39.073490 m, nav range: 38.702515 m, bearing: 83.342426 deg, approach rate: -0.556658 m/s, LOS rate: -0.109031 deg/s, cmd heading: 74.035549 deg, new cmd heading: 73.958712 deg. gUG]HeadingCmd: 1.290823 target range: 39.073490 and range: 39.30 m.g]9?gYgYgYgazfarfafafiBdididicicu n?9ɢE,3= AE?IA E=$=ɡAiIIMIM9?iU:^=iU:=)U9?)Qi199=/9q>AuI=ԩA AI I N >DE DE DE (DA EE : EE ]t:6EE c44:EA !U @!U @!U @!U @ @r,M̹)AyR35?ٱR*?R=RK?9K?9GYFcA>Q 14٪뚊?Q 54; B9h?Q A:Y?Q E?yQC)8:I:i$Ê4Yc@1jiM^@1HMqHMgyDNOT Ignoring new targets: 39.07 m.ggѺgѺԱ ProNav: ac range: 39.073490 m, nav range: 38.462952 m, bearing: 83.302102 deg, approach rate: -0.541597 m/s, LOS rate: -0.091730 deg/s, cmd heading: 73.958709 deg, new cmd heading: 73.877560 deg. g'HeadingCmd: 1.289407 target range: 39.073490 and range: 39.30 m.gG ?ggggzfrfffمBBdddcc1?ɢAMs;= IM ?I) -d1&=ɡ)i)I-$8I5G ?i5Ѻ^=i5g]=)=G ?)9i@0 >A A!=A I I N >9 v%y,\)Ay6 ?ٱ6?6=6-<6H?@Bܣ?4?G)?R@?@%?@L?I6 ?)6];i6)CA@ABAAvBFͿ>~BDBF%IBFֆBBF =BDBDBFe^;BF{#ERB9V&Itiv4<BD6DJYϻ!H=$:Q)>99GYUA>DDD*DE: Eg:6E(N4:E"E58U0@>@>9i >A bA lAZA lA i CI= -GAE yAԑ ) mAI I N >J,&:)AIi2v2mA2óAyZ?ٱZ?Z=Z H?9 H?9GYF@ƻA>Q 1 4٪Y뚊?Q 5 48/ BQ =+:9Q A:Y?Q E5?yC)O;I>i`Њ4YEBE$@EtEziyH}}Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLG} }Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLB*** querying acoustic contact ***zhhxgDNOT Ignoring new targets: 39.07 m.gg2ֺg2ֺ ProNav: ac range: 39.073490 m, nav range: 37.991512 m, bearing: 83.223643 deg, approach rate: -0.562160 m/s, LOS rate: -0.093632 deg/s, cmd heading: 73.798685 deg, new cmd heading: 73.719668 deg. g[+HeadingCmd: 1.286651 target range: 39.073490 and range: 39.30 m.g?ggggzfrfffBddd c cu?ɢ)5T= 15?I1 =)=ɡ9i9I=DMDMDM,DIEM: EM:6EMg4:EI!]@!]@!]@!]@IE?imj^=im=)m?)q!i%?!)-0)I i߽ [?I߽ z? T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.>Aa y A AI I N >n,@)Ay6e?ٱ6S[?6rr=6 2<6HKk?: ? h,?l?Uf? PJ ?1?I6e?)6];i6+CBB9B%IBDJ6DJ:2YR<!RT=V ;Q)V>VK?9ZK?9ZGYZFZAZ>\Q 1b4٪^뚊?Q 5b4^) ^BQ =b :9dQ Afu:Yf?Q Ef?y^C)^ ;I^M?i^Ԋ4Yhj@lg|DNOT Ignoring new targets: 39.07 m.ggںg ں ProNav: ac range: 39.073490 m, nav range: 37.777561 m, bearing: 83.188364 deg, approach rate: -0.576711 m/s, LOS rate: -0.095635 deg/s, cmd heading: 73.719666 deg, new cmd heading: 73.648708 deg. g/%HeadingCmd: 1.285412 target range: 39.073490 and range: 39.30 m.g%e?g!g!g!g!zf!rf)f)f)Bd1d1d1c1c=F@ɢae= aei ?I _+=ɡiI#Ie?in_=i+E=)e?)i@4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253798vBп>~BB%IBƆBB =BBB^;BY#ErD=jD<DDD*DE2: E6E(N4:E"E*A= A I I N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505357ތ,5)Ay:++?ٱ: ?:=:^#<:H@:?`>8? !)??P?@X`hӘ??I:++?):z\;i:(CFB9F%IIH)J@ABDN 6DN2YV!VK=V:Q)Z>X9X9ZGYX^A^>Q 1 4٪뚊?Q 5 4p# BQ = 99 Q A F:Y ?Q E?yC) :I`?i؊4Y=@9gDNOT Ignoring new targets: 39.07 m.ggкgк ProNav: ac range: 39.073490 m, nav range: 37.546268 m, bearing: 83.150409 deg, approach rate: -0.552300 m/s, LOS rate: -0.091191 deg/s, cmd heading: 73.648707 deg, new cmd heading: 73.572329 deg. g&HeadingCmd: 1.284079 target range: 39.073490 and range: 39.30 m.g\?ggggzfrfffBdddcc>@ɢ5BU]= Y]?IY ]*-=ɡYiYI]Iu\?iu._=i=)\?)Qi?4ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757296>A:=rAjAD D D +D E : E ą:6E [4:E ! @! @! @! @ I I N% >dƓ,VO)Ay>ې?ٱ>Ь?@>C=>N<>H@?=5q?}$?0?`?y@?` ?I>ې?)>];i>&CJB9J%I!! !! !! !! Mb@Mb@Mb@ )IiCl?"~j?{Gz?S=#I@i@G@A)@BD56D5fYE!EA=E:Q)M>I9I9MGYMFUAU>YQ 1e4٪]@욊?Q 5e4]4 ]BQ =eT:9e?Q Am:Ym?Q Eu?y]C)]{;I]Ԗ;i]ߊ4Y@gDNOT Ignoring new targets: 39.07 m.gg g U ProNav: ac range: 39.073490 m, nav range: 37.310120 m, bearing: 83.115906 deg, approach rate: -0.573947 m/s, LOS rate: -0.084388 deg/s, cmd heading: 73.572332 deg, new cmd heading: 73.502889 deg. gUp]HeadingCmd: 1.282867 target range: 39.073490 and range: 39.30 m.g]5?gYgYgagazfarfafafmBBdididicicu? @ɢ#= >I .=ɡiIBDAT read: Rx Time:05:23:52.0935 TRx dataTimestamp_ set to:1755840233.344571checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010500I5?iL_=i=)5?)Աi/>A S-=  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261358I I N >A <A vB ҿ>~B ӍCB %IB BB =B B kDB ];B I#EBIBIBIBIBM˲ =BM5bD9 ZD9 ,i)Ai@D.D.D.*D,E. ; E.:6E.(N4:E,"E.kTA9A9MGYIMAM>QQ 1]4٪U욊?Q 5]4U& U|B9aYaQ Ee?yUC)U/;IU;iU4Yim&@igDNOT Ignoring new targets: 39.07 m.ggúgú ProNav: ac range: 39.073490 m, nav range: 37.081032 m, bearing: 83.082013 deg, approach rate: -0.574217 m/s, LOS rate: -0.085478 deg/s, cmd heading: 73.502890 deg, new cmd heading: 73.434685 deg. goHeadingCmd: 1.281677 target range: 39.073490 and range: 39.30 m.g ?ggggzfrfffBdddcc @ɢߡ= >I En0=ɡiISZI  ?i f_=i t$=)  ?)i> DAT read: 05:23:52.0935 LVL= 24208, 30385, 25362, 32755, AGC= 61, IDX= 411, 0.00, 1.119,-0.692, 1.066, 0.785, PHS= 0.437,-1.432, 0.237, RAW= 144.4, 8.6, CAL= 144.0, 9.4, ROT= 6.0, -9.4 Ygot valid direction response: 05:23:52.0935 LVL= 24208, 30385, 25362, 32755, AGC= 61, IDX= 411, 0.00, 1.119,-0.692, 1.066, 0.785, PHS= 0.437,-1.432, 0.237, RAW= 144.4, 8.6, CAL= 144.0, 9.4, ROT= 6.0, -9.4 PDAT read: Bearing 252.0, 2.4 (Local) ~Local bearing/azimuth received: Bearing 252.0, 2.4 (Local) DAT read: Range 11 to 50 : 37.4 m (Round-trip 49.9 ms) speed 0.5 m/s ,DAT read: user:7486> BDAT read: Tx time:05:23:53.1895 $Ping request sent.) KI !r>i K!@ `> | @ '> Pw= 'i  I we{?W&?2:S? |> < Pw=) 'i  :publishing transmit ping timeYFpublishing direction and range info9  .e?Ldf?$vz?  i      ) I i      i  I we{?W&?2:S?   ) i  checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008507>A=I9IINU>Yԁ P٠,z)Ay6VU?ٱ6J?6L=6Vx<6H(s?. c?`+?@? =?`0岿??I6VU?)6|+];i6'C>B9B%I%Mb@Mb@Mb@ !)!I!i!!%oʡ?Q?~jtx% ?%=%ĻI%@i%(@%t@%A)!!echecking for new query: numPingsReceived=1, elapsed TxPingTime=0.226356BDm6DmN2Y7=!C=;Q)>99GYF'A>Q 14٪욊?Q 5 4 sB9 ^?Q A5:Y5?Q E5?y!C) A Z=bA kAZA mAIa Iq N > ,f)Ay6W?ٱ6?65=6<6H?*m?? ? $?$" h?`?I6W?)6\;i6(C>ĆB9B%IBDJ6DJ:YN<!R^=RB&;Q)R>T9T9VGYVFVAV>XQ 14٪Z횊?Q 54Z  ZjB9Y?Q E?yZI D3=ɡiII?i۝_=i=)?)ԹiU?QQU/Q>A-/=)i iuchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.730711IIN>vB5Կ>~B1B5%IB5BB5 =B1B1B5];B5G#EDDD)DE ; E:6EFA4:E"EL!9!9%GY!-ͲA->)Q 154٪-e횊?Q 5=4-M -aB99Y=I?Q E=?y-ZC)-;I-a;i-4YIM\@IgquDNOT Ignoring new targets: 37.18 m.gqg}g}ẝ ProNav: ac range: 37.184219 m, nav range: 36.463341 m, bearing: 82.976759 deg, approach rate: -0.574830 m/s, LOS rate: -0.098582 deg/s, cmd heading: 73.283722 deg, new cmd heading: 73.203280 deg. gj4HeadingCmd: 1.277638 target range: 37.184219 and range: 37.40 m.g?ggggzfrfffBdddcc ?ɢs= >I /5=ɡiIJI?i<_=ih=)?)iqqqu%0qA}checking for new query: numPingsReceived=1, elapsed TxPingTime=1.234644>A=I!I9NU>D D D D E : E :6E :E !% @!% @!% @!% @i ,B#Ѻ)Ay:ւ?ٱ:lx?:=:06<:H >?`9"ߡ? ?~??@̘8?`?I:ւ?):];i:'CBΆB9B%IMb@Mb@Mb@ )Iii|?5?X9v?~jt?=DI@i^@A)3@I)BD%6D%Y5cP!5H=5i;Q)5>9999EGYEFEAE>IQ 1U4٪M횊?Q 5U4M MUB9]?Q A]:Y]?Q E]?yMxC)M ;IM ;iM4Yae@agDNOT Ignoring new targets: 37.18 m.gg5g5ẝE ProNav: ac range: 37.184219 m, nav range: 36.228138 m, bearing: 82.936736 deg, approach rate: -0.576507 m/s, LOS rate: -0.098737 deg/s, cmd heading: 73.203283 deg, new cmd heading: 73.122718 deg. gE4MHeadingCmd: 1.276232 target range: 37.184219 and range: 37.40 m.gM[?gIgqgqgqzfqrfqfyf}BBdydydcc'?checking for new query: numPingsReceived=1, elapsed TxPingTime=1.486203ɢ= >I 6=ɡiI2I[?i_=i==)[?) ii@=0@@hAԙ>A*=  checking for new query: numPingsReceived=1, elapsed TxPingTime=1.739556A! A! vB- ѿ>~B) B- %IB- BB) B) B) B- ];B- H#EAQ Ia Iy N >BE(N4JE̔K4RE̖/D D D 'D E D: E :6E '4:E "E 199GYF={pA=>AQ 1M4٪E ?Q 5M4E EJB9IYM?Q EM?yEC)E:IEy:iE 4Yy}@ygDNOT Ignoring new targets: 37.18 m.ggnݺgnݺ ProNav: ac range: 37.184219 m, nav range: 35.995968 m, bearing: 82.897252 deg, approach rate: -0.565518 m/s, LOS rate: -0.096795 deg/s, cmd heading: 73.122721 deg, new cmd heading: 73.043244 deg. g%1HeadingCmd: 1.274845 target range: 37.184219 and range: 37.40 m.g .?gg g g zf rf ffBdQdYdYcYc] ha?ɢ= 顭>I 68=ɡiII .?i:_=i=) .?)i?1checking for new query: numPingsReceived=1, elapsed TxPingTime=1.990176>A!=) A IA I N >',)Ay6\?ٱ6?6ᓟ=6R<6H ˟?Q"??G?D?Q`O?1?I6\?)6];i6'C>†B9B%I|Uchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.243889Mb@Mb@Mb@ )Iioʡ?X9v?y&1| ?=`I@i?@@A)(@BD6D1Y=!>=v:Q)>99GYxA>Q 1 4٪t?Q 5 4 @B9Q?Q A:Yl?Q E?yC)Y;I&;i4Y)-P@)DDD(DE: E:6Ec44:E!@!@!@!@gimDNOT Ignoring new targets: 37.18 m.gqguɺguɺ ProNav: ac range: 37.184219 m, nav range: 35.756687 m, bearing: 82.857479 deg, approach rate: -0.526872 m/s, LOS rate: -0.088163 deg/s, cmd heading: 73.043245 deg, new cmd heading: 72.963166 deg. gY!HeadingCmd: 1.273448 target range: 37.184219 and range: 37.40 m.gT?ggggzfrfffBBdddcc@)ɢMBUG= QU>IQ U9=ɡQiQI]NI]T?ie`=iet_=)eT?)aiD3Qchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.494223>A D%=ԁ A yAI I N >P,})Ay6?ٱ6#ݪ?6#=6B<6H?.CT?n?`$? ?& Nt?O?I6?)6\;i4>B9B%IDiDBDJ6DJ0YR!R`=R;Q)R>V H?9V H?9VGYVFZޓAZ>XQ 1b4٪Z?Q 5b4ZD Z7B9`Yb7?Q Eb?yZC)ZU;IZ;iZ4YjlBj@jaEvB*** querying acoustic contact ***zhxhxg|DNOT Ignoring new targets: 37.18 m.ggg꺝 ProNav: ac range: 37.184219 m, nav range: 35.554455 m, bearing: 82.823978 deg, approach rate: -0.615513 m/s, LOS rate: -0.102543 deg/s, cmd heading: 72.963168 deg, new cmd heading: 72.895785 deg. g;YHeadingCmd: 1.272272 target range: 37.184219 and range: 37.40 m.g٢?ggggzfrfffBdddcc`{@ɢܝ= >I :=ɡ i I  5I٢?i5$`=i5׸=)=٢?)9Uchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.746557ԉvBϿ>~BҍCBz%IBBB =BBjDB];BDDD,DE: Eą:6Eg4:E"E+A A= BDAT read: Rx Time:05:23:55.6410  TRx dataTimestamp_ set to:1755840236.873221 checking for new query: numPingsReceived=1, elapsed TxPingTime=3.000395A AI IN>1^,tC<)Ay6ʎ?ٱ6q?6=6_ں<6H?+ߤ?S?>? Z?`KG??I6ʎ?)6];i6&CNB9N%IBDV6DVkY^K!^/=b:Q)b>bK?9bK?9bGYbFfxAf>hQ 1n4٪jW?Q 5n4jb j,B9lYr?Q Er?yjC)jp:Ij:ij 4Ytv@tgDNOT Ignoring new targets: 37.18 m.gg%Mֺg%Mֺ5 ProNav: ac range: 37.184219 m, nav range: 35.294193 m, bearing: 82.780667 deg, approach rate: -0.558797 m/s, LOS rate: -0.093678 deg/s, cmd heading: 72.895788 deg, new cmd heading: 72.808527 deg. g5p+=HeadingCmd: 1.270748 target range: 37.184219 and range: 37.40 m.g=㧢?g9g9gAgAzfArfAfIfIBdadidcce& @IG)~nAIiܾ~nAϱA!ɢMBU,= y顅>I <=ɡiII 㧢?iqG`=i==)E㧢?)Ichecking for new query: numPingsReceived=1, elapsed TxPingTime=3.252054ID5D5D5.D1E5: E5xv:6E5ـ4:E1!E@!E@!E@!E@9y iQ Q Q U /Q ԩ ] checking for new query: numPingsReceived=1, elapsed TxPingTime=3.504321>AAyAIIN ?ݓ,`_)AyB{?ٱB?BJ;=B*M H?9U H?9UGYUFU6AU>YQ 1e4٪]?Q 5e4] ]B9m?Q Am:Ym?Q Em?y]C)],:I];i]*4YuvB}@}bEgDNOT Ignoring new targets: 37.18 m.g gMTպgMTպ] ProNav: ac range: 37.184219 m, nav range: 34.971584 m, bearing: 82.727787 deg, approach rate: -0.563725 m/s, LOS rate: -0.093253 deg/s, cmd heading: 72.808526 deg, new cmd heading: 72.701792 deg. g]*eHeadingCmd: 1.268886 target range: 37.184219 and range: 37.40 m.gej?gagagagzfrfff̅BBdddcc{ @ɢt=  C>I  />=ɡ i IIj?i[j`=iV=)j?)) iIAaAe4=vBuο>~BqBu[%IBupBBu =BqBqBu$^;Bu\#EDAT read: 05:23:55.6410 LVL= 28800, 32753, 26210, 32755, AGC= 59, IDX= 417,-0.27, 2.210, 0.461, 2.108, 1.885, PHS= 0.427,-1.379, 0.179, RAW= 142.7, 9.2, CAL= 142.3, 10.0, ROT= 7.7, -10.0 Ygot valid direction response: 05:23:55.6410 LVL= 28800, 32753, 26210, 32755, AGC= 59, IDX= 417,-0.27, 2.210, 0.461, 2.108, 1.885, PHS= 0.427,-1.379, 0.179, RAW= 142.7, 9.2, CAL= 142.3, 10.0, ROT= 7.7, -10.0 PDAT read: Bearing 251.7, 3.6 (Local) ~Local bearing/azimuth received: Bearing 251.7, 3.6 (Local) DAT read: Range 11 to 50 : 35.4 m (Round-trip 47.3 ms) speed 0.5 m/s ,DAT read: user:7487> BDAT read: Tx time:05:23:56.7395 $Ping request sent.) I K7>i e@ l$> \@ ¸2>  > ¸29i  I 0-#??`W1h? O>^? > #  >) ¸2i  e:publishing transmit ping timeYeFpublishing direction and range info9  c::?$5)?ٖNs:?  i      ) I i      i  I 0-#??`W1h? O>^?   DDD/DE; E|:6EJ4:E"E @A =AI!I1NE> 5,)Ay:N?ٱ:4D?:Ձ=:6w<:He? w? t?'? c? A괿̎?@?I:N?):N];i:&CBB9F%IBDN6DNP)YV-!Z*=b9Y;Q)f>h9h9jGYhntAn>pQ 1v4٪r?Q 5v4r rB9tYvi?Q Ev?yr=C)r:Ir1hM¸2MKuK@|{AiA@v5 @rM?Dܒ%?a "e?hMJ BhMv@hMsq5?hMګBhMIB*iI2iI:iMBiM B"iMb? addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 3.778850 s, deltaX: -2.000000 m, approachRate: -0.529262 m/s, rangeRepo size: 4  Added new target pos. range: 35.195446 m, bearing: 83.679422 deg, lat: 36.779323 deg, lon: -121.859569 deg, deltaT: 3.778850 s, deltaX: -1.988773 m, approachRate: -0.526291 m/s, posRepo size: 4 gDNOT Ignoring new targets: 35.20 m.gg g 5checking for new query: numPingsReceived=2, elapsed TxPingTime=0.482579m ProNav: ac range: 35.195446 m, nav range: 34.698895 m, bearing: 82.683332 deg, approach rate: 0.000000 m/s, LOS rate: -0.093253 deg/s, cmd heading: 72.701790 deg, new cmd heading: 72.596232 deg. giuHeadingCmd: 1.267043 target range: 35.195446 and range: 35.40 m.guy.?gqgqgqgqzfyrfffBdddc@3A@c ?DDD*DE2: E:6E(N4:E!@!@!@!@ɢB( = k>I ?=ɡiIƔIy.?i ۑ`=i !=) y.?) i>/ i >I AM M=AIIN>yU,ž)Ay6o ?ٱ6?66=6ȉ<6H ߑ?q .|?(?@?9z? )??I6o ?)6O\;i4HNB9Ny%I]Mb@Mb@Mb@ Y)YIYiYY]/$?X9v?y&1|]1?Y]`I]@i]d@]t@]A)Y]@mp99GYF5A>Q 14٪4?Q 54g B9 ?Q A:Yd?Q E?y`C)8:I* ;ie;4YlB;@XEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 35.20 m.ggdgd ProNav: ac range: 35.195446 m, nav range: 34.424667 m, bearing: 82.634382 deg, approach rate: -0.643301 m/s, LOS rate: -0.115744 deg/s, cmd heading: 72.596230 deg, new cmd heading: 72.497550 deg. gSHeadingCmd: 1.265321 target range: 35.195446 and range: 35.40 m.g ?gggg zf rf ff˅BBdddcc yu?ɢAEU= IMa>II M@=ɡQiQIUJI] ?i] `=i]c=)] ?)Yi0checking for new query: numPingsReceived=2, elapsed TxPingTime=0.986187vBʿ>~BэCBB%IB\BB =BBBS^;Bq#EBBBBBBM5D]D]D]+DYE]: E]x:6E] [4:EY"E]g%AD%=A I I  N% >z,7)Achecking for new query: numPingsReceived=2, elapsed TxPingTime=1.237405y:4?ٱ:?:=:)a<:Hh? @!?`:? ? Z?6@Y?@3?I:4?):;];i:$CbtB9b`%IBDj6DjJYrҽ!rV=rHh:Q)v>t9t9vGYvFzlAz>||Q 14٪~?Q 5 4~ ~B9 Y 7?Q E ?y~{C)~.;I~t:i~B4Y}@gAEDNOT Ignoring new targets: 35.20 m.gAgMݺgMݺ- ProNav: ac range: 35.195446 m, nav range: 34.218498 m, bearing: 82.597536 deg, approach rate: -0.539336 m/s, LOS rate: -0.096971 deg/s, cmd heading: 72.497547 deg, new cmd heading: 72.423410 deg. g-w15HeadingCmd: 1.264027 target range: 35.195446 and range: 35.40 m.g5ˡ?g1g9g9g9zf9rf9fAfABdAdAdAcIcM@+E?ɢq}B̈= y}>Iy },A=ɡyiI$Iˡ?i4`=i6=)ˡ?)i ?   1 1Ychecking for new query: numPingsReceived=2, elapsed TxPingTime=1.490032>AU0=D D D -D E : E :6E t4:E ! @! @! @! @ԁ A AI I N >b,kdһ)Ay:|͍?ٱ:é?:=:<:H?4@^??K9?8?Q?H?I:|͍?):-"];i:"CJmB9JW%IMb@Mb@Mb@ )Ii rh?rh|?{GzC ?=#IV@i@"A)@BD5 6D52YEW !ED=E:Q)E>MK?9MK?9MGYIUE5AU>YYQ 1e4٪]?Q 5e4] ]B9m?Q Am:Yme?Q Em?y]C)]:I]M:i]WI4Yqu@ygDNOT Ignoring new targets: 35.20 m.gg+g+麝 ProNav: ac range: 35.195446 m, nav range: 33.988747 m, bearing: 82.555399 deg, approach rate: -0.552023 m/s, LOS rate: -0.101925 deg/s, cmd heading: 72.423412 deg, new cmd heading: 72.338570 deg. g:HeadingCmd: 1.262546 target range: 35.195446 and range: 35.40 m.g?ggggzfrfff΅BBdddQcQcU?ɢ2(= 顭>I B=ɡiI|5I?i`=i=)?)=checking for new query: numPingsReceived=2, elapsed TxPingTime=1.741559i)))-5)ԉԹ>Am!=A I I  checking for new query: numPingsReceived=2, elapsed TxPingTime=1.993310 N >A A vB ~B B )%IB GBB =B B B q^;B #E,C)AD"D"D"0D E"l; E"xv:6E"4:E "E"PF)9)9-GY-F-DA5>YQ 1]4٪]k?Q 5e4] ]B9aYe>?Q Ee?y]C)]:I]:i]{P4Yim@qԑgDNOT Ignoring new targets: 35.20 m.ggygy庝 ProNav: ac range: 35.195446 m, nav range: 33.763126 m, bearing: 82.513917 deg, approach rate: -0.541958 m/s, LOS rate: -0.100310 deg/s, cmd heading: 72.338568 deg, new cmd heading: 72.255048 deg. g7HeadingCmd: 1.261088 target range: 35.195446 and range: 35.40 m.gYk?g!g!g!g!zf!rf!f)f)Bd)d1d9c9c=`@ɢ= >I ȓC=ɡiIAIYk?iQ`=ia@=)Yk?)iaaae4achecking for new query: numPingsReceived=2, elapsed TxPingTime=2.245362>A-(S=Ay I I N > ,f)Achecking for new query: numPingsReceived=2, elapsed TxPingTime=2.497950y?ٱv?=O<H*?lǢ?s?`:?}99GYFEA>Q 1%4٪$?Q 5%4; נB9-& ?Q A-:Y-?Q E-?yC)z ;I ;iX4Y1=#A9DUDUDU+DQEU: EU҆:6EU [4:EQ!e@!e@!e@!e@gDNOT Ignoring new targets: 35.20 m.gg<Ӻg<Ӻ ProNav: ac range: 35.195446 m, nav range: 33.510548 m, bearing: 82.471979 deg, approach rate: -0.551959 m/s, LOS rate: -0.092338 deg/s, cmd heading: 72.255048 deg, new cmd heading: 72.170540 deg. g(HeadingCmd: 1.259614 target range: 35.195446 and range: 35.40 m.g;?ggggzfrfffɅBBdddccU@ɢu]= >I -D=ɡiI&I;?ia=i=);?)!i@4@@mAIM BDAT read: Rx Time:05:23:59.1882 M TRx dataTimestamp_ set to:1755840240.404091U checking for new query: numPingsReceived=2, elapsed TxPingTime=2.754056>A L=y A1 I9 II N] >5,K )Ayjg?ٱj]?j=jd:I:i|^4Y1=sA9UB*** querying acoustic contact ***zhQhQgaeDNOT Ignoring new targets: 35.20 m.gagm:Ժgm:Ժ} ProNav: ac range: 35.195446 m, nav range: 33.325089 m, bearing: 82.441026 deg, approach rate: -0.552784 m/s, LOS rate: -0.092771 deg/s, cmd heading: 72.170538 deg, new cmd heading: 72.108289 deg. g})HeadingCmd: 1.258527 target range: 35.195446 and range: 35.40 m.gj?ggggzfrfffBdddcc@bm@ɢ҇=I Us>IQ Us(E=ɡQiQIUVI]j?i]1a=i]S=)ej?)ai?   / )߉ ߉checking for new query: numPingsReceived=2, elapsed TxPingTime=3.002939vBǿ>~BB %IB.BB =BBiDBB~#EyBEg4JEŁj4REb0DYD]D],DYEY E]:6E]g4:EY"E].AeGg=ԩA I I N > U checking for new query: numPingsReceived=2, elapsed TxPingTime=3.256091 ,b-:)AyM=?ٱM93?MZC=Mf99GYF8A>ԡQ 14٪p?Q 54ʫ àB9Yw?Q E?y C).;I;ihf4YcB}AOEgEDNOT Ignoring new targets: 35.20 m.gAgMκgMκ] ProNav: ac range: 35.195446 m, nav range: 33.077267 m, bearing: 82.399675 deg, approach rate: -0.537670 m/s, LOS rate: -0.090388 deg/s, cmd heading: 72.108288 deg, new cmd heading: 72.024965 deg. g]k%HeadingCmd: 1.257073 target range: 35.195446 and range: 35.40 m.g?ggggzfrfffBdddcc |/ @ɢ)<~= 額_>I ' F=ɡiIYI?iLRa=i=)?)iaa/DAT read: 05:23:59.1882 LVL= 25504, 32753, 23330, 32755, AGC= 59, IDX= 422,-0.47,-2.795, 1.710,-2.889,-3.107, PHS= 0.414,-1.421, 0.175, RAW= 143.1, 9.7, CAL= 142.6, 10.5, ROT= 7.4, -10.5 Ygot valid direction response: 05:23:59.1882 LVL= 25504, 32753, 23330, 32755, AGC= 59, IDX= 422,-0.47,-2.795, 1.710,-2.889,-3.107, PHS= 0.414,-1.421, 0.175, RAW= 143.1, 9.7, CAL= 142.6, 10.5, ROT= 7.4, -10.5  PDAT read: Bearing 251.9, 2.9 (Local)  ~Local bearing/azimuth received: Bearing 251.9, 2.9 (Local) DAT read: Range 11 to 50 : 33.4 m (Round-trip 44.6 ms) speed 0.4 m/s -,DAT read: user:7488> 5BDAT read: Tx time:05:24:00.2895 5$Ping request sent.5)T㵿I333>i @-\->&I@f;> A> f;iI f*/?Յ)? :'{?>d,  A>)f;im:publishing transmit ping timeY1mFpublishing direction and range info9X[3?8x%5?m~S?i )Ii iI f*/?Յ)? :'{? )ichecking for new query: numPingsReceived=3, elapsed TxPingTime=0.012721De De De )Da Ee : Ee :6Ee FA4:Ea !m @!m @!m @!u @>A +=1 A I I N>,}W)Ay6?ٱ63?6=6CϤ<6H? ʤ?`? '?a?"ֵU?}?I6?)6A0];i6%CBOB9B3%IMb@Mb@Mb@ )IiS㥛?T㥛 ?Mbp$?>Id@ijA@)ABD6DP)Y-Ȑ!-E=]checking for new query: numPingsReceived=3, elapsed TxPingTime=0.234560Y;:Q)>99GYFIA>Q 14٪?Q 54 B9 ?Q A:Y\?Q E?y+C):I:i n4YAh1h5LJ)Ah5Bh5Bh5?z5E%m0@@`3"@T4@j5X[3?8x%5?m~S?h5 A>h5f;5 嬧@[tb@@J @r5~Y ?]3?}`Թ?h5Bh5=@h5S?h5/Gh5B*i5K]?2i5MmwJ:i5IBi5B"i5bc?] addTargetRange:: Added new target pos. range: 33.400002 m, deltaT: 3.532374 s, deltaX: -2.000000 m, approachRate: -0.566191 m/s, rangeRepo size: 4 m Added new target pos. range: 33.206314 m, bearing: 82.759563 deg, lat: 36.779322 deg, lon: -121.859568 deg, deltaT: 3.532374 s, deltaX: -1.989132 m, approachRate: -0.563115 m/s, posRepo size: 4 gquDNOT Ignoring new targets: 33.21 m.gqg}gy ProNav: ac range: 33.206314 m, nav range: 32.943302 m, bearing: 82.536456 deg, approach rate: 0.000000 m/s, LOS rate: -0.090388 deg/s, cmd heading: 72.024966 deg, new cmd heading: 71.946547 deg. gHeadingCmd: 1.255704 target range: 33.206314 and range: 33.40 m.g꺠?ggggzfrfffʅBBdddc@3@@c ?ɢB2= NX>I F=ɡiIwIE꺠?iEUna=iE=)M꺠?)Iԁi@@@@ԩAA<vB~BB$IBBB =BBBP^;Bn#E checking for new query: numPingsReceived=3, elapsed TxPingTime=0.487198A yAI D D D -D E s: E :6E t4:E "E _0,]q)Ay>z?ٱ>?>l:=>f<>HP? Ƥ?`?@?!?vൿCi?@f?I>z?)>*];i>"CF>B9F%IBDN6DN:YVc!VT=Zl9Q)Z>Z H?9Z H?9ZGYX^/A^>`Q 1f4٪b?Q 5f4bx bB9dYjN?Q Ej?ybEC)b2:Ibl:ibjt4Yln#Alg DNOT Ignoring new targets: 33.21 m.g g g % ProNav: ac range: 33.206314 m, nav range: 32.748867 m, bearing: 82.496623 deg, approach rate: -0.540233 m/s, LOS rate: -0.111333 deg/s, cmd heading: 71.946549 deg, new cmd heading: 71.866409 deg. g%K-HeadingCmd: 1.254305 target range: 33.206314 and range: 33.40 m.g-?g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=`?ɢimr/~= im7>Ii ueCG=ɡqiqIu֑I}?i}^a=i}m=)}?)9i/}checking for new query: numPingsReceived=3, elapsed TxPingTime=0.739987A!I)I9NM1>qiI-G)-mAI=AimummAmAԩ )  - checking for new query: numPingsReceived=3, elapsed TxPingTime=0.991529C",B)Ay:?ٱ:?:=:K<:H ?`M??*?a? 鵿u֓?e?I:?):\;i:$CF3B9F%IeMb@Mb@Mb@ a)aIaiaae!rh?X9v?{Gztel?e=eףIeAieAe@a)aeGAD}D}D}*DyE}: E}^:6E}(N4:Ey!@!@!@!@BD6DJYR!;=9Q)>99GYFՐA>Q 14٪Q?Q 54A B9 ?Q A:Y?Q E?ycC):I:i |4YAgDNOT Ignoring new targets: 33.21 m.gg ag a ProNav: ac range: 33.206314 m, nav range: 32.514103 m, bearing: 82.450318 deg, approach rate: -0.537717 m/s, LOS rate: -0.106827 deg/s, cmd heading: 71.866410 deg, new cmd heading: 71.773131 deg. gC%HeadingCmd: 1.252677 target range: 33.206314 and range: 33.40 m.g%W?g!g!g!g!zf)rf)f)f-…BBd1d1d1c1c=@e?ɢeBe8s= im,!>Ii mG=ɡiiiIuIuW?iu6a=i}h=)}W?)yԙi!))-/)IyIN]>}checking for new query: numPingsReceived=3, elapsed TxPingTime=1.242593 ](,<)Ay6`ߌ?ٱ6Ԩ?6=64H<6H? ?8?`w ?@? ??I6`ߌ?)6];i6"CB-B9B %IBDJ6DJ:YZ!^[=5;:Q)=>A9A9MGYMFU)AU>YQ 1m4٪]?Q 5m4] ]B9qY}p?Q E}?y]~C)];I];i]₋4YAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 33.21 m.gg_g_򺝅 ProNav: ac range: 33.206314 m, nav range: 32.303535 m, bearing: 82.408588 deg, approach rate: -0.531154 m/s, LOS rate: -0.105949 deg/s, cmd heading: 71.773130 deg, new cmd heading: 71.689127 deg. gAHeadingCmd: 1.251211 target range: 33.206314 and range: 33.40 m.g'?ggggzfrfffBdddcc?ɢ)-`r= )5>I1 5MH=ɡ1i1I5 I='?i=aa=iE+=)E'?)AvBy~ByB}$IB}BB} =ByByB}];B}C#Echecking for new query: numPingsReceived=3, elapsed TxPingTime=1.494793rD=jD<DDD/DE: E:6EJ4:E"E58I  checking for new query: numPingsReceived=3, elapsed TxPingTime=1.746489b/,ᄐ)A y6Œ?ٱ6?6=66<6H`?@\?U?@??TZ?@?I6Œ?)6m\;i6!CB'B9B%IBDJ6DJ02YR!RK=V9Q)V>T9T9VGYTZAZ>\Q 1b4٪^?Q 5b4^< ^B9`YfS?Q Ef?y^C)^r;I^;i^4YjZBjAjEEg|DNOT Ignoring new targets: 33.21 m.ggg ProNav: ac range: 33.206314 m, nav range: 32.097641 m, bearing: 82.367573 deg, approach rate: -0.545100 m/s, LOS rate: -0.109284 deg/s, cmd heading: 71.689126 deg, new cmd heading: 71.606569 deg. gH%HeadingCmd: 1.249770 target range: 33.206314 and range: 33.40 m.g%z?g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5?ɢBzrp=  >I H=ɡiI; Iz?ia=i;=)z?)1qi0checking for new query: numPingsReceived=3, elapsed TxPingTime=2.001351ԙDDD.DE: E:6Eـ4:E!@!@!@!@>A(S=I9IINU> ;5,ؼ)ATnB9r$IEchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.250598mMb@Mb@Mb@ i)iIiiiimˡE?K7A?Mbm?m >mImAimjAm@mfA)im=ABD6D1Y!<=Q)>99GYFA>Q 14٪c?Q 54 B9 ?Q A:Y?Q E?yC);ID;i04YAgDNOT Ignoring new targets: 33.21 m.gg g   ProNav: ac range: 33.206314 m, nav range: 31.862328 m, bearing: 82.318006 deg, approach rate: -0.539879 m/s, LOS rate: -0.114560 deg/s, cmd heading: 71.606569 deg, new cmd heading: 71.506705 deg. gQHeadingCmd: 1.248027 target range: 33.206314 and range: 33.40 m.g]?ggggzfrf!f!f%ͅBBd!d)d)c)c-@`@ɢBj= T=I 0I=ɡi!I% I%]?i-?a=i-=)-]?))i>D2vB}Ŀ>~ByB}$IB}BB} =ByByB}];B}#EBEэCBEэCBABEȴ =BEȴ =BEk,5>A:=checking for new query: numPingsReceived=3, elapsed TxPingTime=2.503244I I N >! bD ?AZD D D D /D E ; E ҆:6E J4:E "E Lt9t9vGYtvAz>x|Q 14٪z?Q 54z z}B9 Y ?Q E ?yzC)zp/;Iz0;izӗ4Yg9EDNOT Ignoring new targets: 33.21 m.gAgEogMoU ProNav: ac range: 33.206314 m, nav range: 31.657166 m, bearing: 82.275194 deg, approach rate: -0.538791 m/s, LOS rate: -0.113161 deg/s, cmd heading: 71.506705 deg, new cmd heading: 71.420526 deg. g]OeHeadingCmd: 1.246523 target range: 33.206314 and range: 33.40 m.ge?gagagagazfarfififiBdidqdqcqcu &l@ɢ߅B o= 顭p=I ώI=ɡiI:I?ib=i‰=)?)iu@qqua4q)Uchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.755120Q>A=IIN>ԉ  BDAT read: Rx Time:05:24:02.7358 % TRx dataTimestamp_ set to:1755840244.187302- checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012017OB, )Ay6F?ٱ6XĻISAiA)BD6D3Y-#!-<58Q)5>1999=GY=F=A=>AQ 1M4٪E?Q 5M4E1} ErB9U ?Q Au:Yuu?Q Eu?yEC)E;IE;iE4Yy}AgDNOT Ignoring new targets: 33.21 m.ggg ProNav: ac range: 33.206314 m, nav range: 31.416403 m, bearing: 82.221224 deg, approach rate: -0.530008 m/s, LOS rate: -0.119720 deg/s, cmd heading: 71.420529 deg, new cmd heading: 71.311761 deg. g[ HeadingCmd: 1.244625 target range: 33.206314 and range: 33.40 m.g O?g g g g zfrf!f!f%ƅBBd!d)d)c)c`&5 @ɢޅBZxg= =I I=ɡiIYIO?i:b=i7=)O?)ԉi4@lA@lAi]%=I]4=]checking for new query: numPingsReceived=3, elapsed TxPingTime=3.258824Թ>AI A AI I N >'I,e&)Ayr?ٱr|?r=r%K?9%K?9%GY%F-A->1Q 1=4٪59?Q 5=45w 5iB99Y=4?Q EE?y5 C)5<;I5z;i54YIMAImB*** querying acoustic contact ***zhihigq}DNOT Ignoring new targets: 33.21 m.gyg g  ProNav: ac range: 33.206314 m, nav range: 31.217443 m, bearing: 82.176727 deg, approach rate: -0.550216 m/s, LOS rate: -0.123838 deg/s, cmd heading: 71.311758 deg, new cmd heading: 71.222198 deg. gbHeadingCmd: 1.243062 target range: 33.206314 and range: 33.40 m.g?ggggzfrfffBdddԱcc @vB¿>~BЍCB$IB؅BBBBBy];B#Eɢe݅Be_b= ae=Ia mB:J=ɡiiiIm}Iu?iuTb=iuTj=)u?)yDAT read: 05:24:02.7358 LVL= 24400, 32209, 24706, 32035, AGC= 58, IDX= 412,-0.12,-0.971,-2.772,-1.035,-1.279, PHS= 0.410,-1.448, 0.200, RAW= 144.1, 9.5, CAL= 143.6, 10.4, ROT= 6.4, -10.4 Ygot valid direction response: 05:24:02.7358 LVL= 24400, 32209, 24706, 32035, AGC= 58, IDX= 412,-0.12,-0.971,-2.772,-1.035,-1.279, PHS= 0.410,-1.448, 0.200, RAW= 144.1, 9.5, CAL= 143.6, 10.4, ROT= 6.4, -10.4 PDAT read: Bearing 251.3, 1.9 (Local) ~Local bearing/azimuth received: Bearing 251.3, 1.9 (Local) DAT read: Range 11 to 50 : 31.5 m (Round-trip 42.1 ms) speed 0.4 m/s ,DAT read: user:7489> BDAT read: Tx time:05:24:03.8395 $Ping request sent.)XIL>i @)>g @9>= 9iI?(?c8?'>* =)9i:publishing transmit ping timeYFpublishing direction and range info9z{3G?6?lE@?i )Ii iPExceeded connect timeout, disconnecting.i>/I?(?c8? )i-checking for new query: numPingsReceived=4, elapsed TxPingTime=0.034643DuDuDu.DqEu; Eu:6Euـ4:Eq"Eu.CAM^=e checking for new query: numPingsReceived=4, elapsed TxPingTime=0.238697A} yAI I N >9 P,8@)Ay6G?ٱ6۬?6n=6<6H q?`q?@? ?ܳ?:ߔ??I6G?)6\;i4BB9B$IBDJ6DJYfE!fP=j-SQ)j>j H?9j H?9jGYhnǻAn>pQ 1v4٪r?Q 5v4rMr r_B9tYz?Q Ez?yr%C)r:Ir:ir4Y|~Ahh,)AhAhAh,S?zFJ>@[}O'w @@jz{3G?6?lE@?h=h9˃Jt%@ 5>@cHZﯚ@r|:Z?B'w?ݽ$?h]Ah+@hd$⊜?hGKHh*B*iv[m?2iGKH:i BiA"i? addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 3.526916 s, deltaX: -1.900002 m, approachRate: -0.538715 m/s, rangeRepo size: 4  Added new target pos. range: 31.316973 m, bearing: 81.165244 deg, lat: 36.779324 deg, lon: -121.859567 deg, deltaT: 3.526916 s, deltaX: -1.889341 m, approachRate: -0.535692 m/s, posRepo size: 4 gDNOT Ignoring new targets: 31.32 m.ggg ProNav: ac range: 31.316973 m, nav range: 31.113695 m, bearing: 81.802726 deg, approach rate: 0.000000 m/s, LOS rate: -0.123838 deg/s, cmd heading: 71.222201 deg, new cmd heading: 71.119627 deg. g HeadingCmd: 1.241272 target range: 31.316973 and range: 31.50 m.g ?g g g g zf rfffBdd!d!c%?@c%`q?ɢM܅BU|`= UZUp=IQ ]zJ=ɡYiYI]FIe?ieqb=ie=)e?)ii?/Ichecking for new query: numPingsReceived=4, elapsed TxPingTime=0.493491DDDDE: E:6E:E!@!@!@!@>AqA% AI) I9 NM >ԙ K7V,^Z)Ay6_?ٱ6U?6X=6*p<6H?TYˤ?.??"?굿 v[?@t?I6_?)6(*];i6!C>B9B$I%checking for new query: numPingsReceived=4, elapsed TxPingTime=0.742708=Mb@Mb@Mb@ 9)9I9i99=sh|??Q?{Gzt= ?===ףI9i9=@9)9=ABDU6DU1Ye!eA=mϹQ)m>mK?9mK?9uGYuFu;ϻAu>yQ 14٪}a?Q 54}.l }TB9^ ?Q A:Y?Q E?y}CC)}:I}:i}]4YRBWAIIII@U=@U=ԡA<A<vB>~BB$IBÅBB =BBhDBW];B"E>Achecking for new query: numPingsReceived=4, elapsed TxPingTime=0.994999 nManaging dock network, ignoring radio surface power offBE A{4JE ^n4RE ʂL0D D D *D E : E 6E (N4:E "E 5 `\,5s)Ayb?ٱbJ?bq=b  H?9 H?9GYF p޻A >Q 14٪6?Q 54f KB9Y)?Q E%?y_C);I+;i-4Y)- A)gQUDNOT Ignoring new targets: 31.32 m.gQg]6g]6纝m ProNav: ac range: 31.316973 m, nav range: 30.668440 m, bearing: 81.720649 deg, approach rate: -0.548082 m/s, LOS rate: -0.101071 deg/s, cmd heading: 71.032997 deg, new cmd heading: 70.954280 deg. gm8uHeadingCmd: 1.238386 target range: 31.316973 and range: 31.50 m.gum?gqgygygyzfyrfyffBdddcc>?ɢڅBW= 7=I HJ=ɡiIQIm?ib=i=)m?)i=?99=/9i-?>I-Z?5checking for new query: numPingsReceived=4, elapsed TxPingTime=1.246930>A]6[=1 IY Iq N > checking for new query: numPingsReceived=4, elapsed TxPingTime=1.501200Uc,)AyJ?ٱJR?J;=Jw99GYλA>Q 14٪$?Q 54j` AB9] ?Q A:Y?Q E?y|C):I2:i‹4Y2AgDNOT Ignoring new targets: 31.32 m.ggg庝  ProNav: ac range: 31.316973 m, nav range: 30.436302 m, bearing: 81.678054 deg, approach rate: -0.543707 m/s, LOS rate: -0.100524 deg/s, cmd heading: 70.954280 deg, new cmd heading: 70.868441 deg. g 7HeadingCmd: 1.236888 target range: 31.316973 and range: 31.50 m.gVR?ggggzfrfff҅BBd!d!d!c!c%`F?ɢU؅BUP9U= QUP=IY ]J=ɡYiYI]IeVR?ieb=ie}`=)mVR?)iY9K'ԉ-checking for new query: numPingsReceived=4, elapsed TxPingTime=1.750995i@/@@Ա >A O= I I N >W3j,Ȫ)AvB">~B B"t$IB"BB B B B"K];B""Ey^fL?ٱ^A?^=^d_<^H ? B?4?A??xz /Ӌ?[?I^fL?)^];i^CjB9j$IBDr6DrYv!z>=zƉQ)z>|9|9~GY~FA> Q 1 4٪ #?checking for new query: numPingsReceived=4, elapsed TxPingTime=2.002718Q 54 AZ 6B9!Y%?Q E%?y C) f;I f;i #ʋ4Y)-TA)MB*** querying acoustic contact ***zhIhIgY]DNOT Ignoring new targets: 31.32 m.gYge:ge:ẝu ProNav: ac range: 31.316973 m, nav range: 30.202856 m, bearing: 81.635928 deg, approach rate: -0.541408 m/s, LOS rate: -0.098455 deg/s, cmd heading: 70.868445 deg, new cmd heading: 70.783540 deg. gu/4}HeadingCmd: 1.235406 target range: 31.316973 and range: 31.50 m.g}!?gygyggzfrfffBdddcc!A@ɢׅBS= (=I EJ=ɡiIQI!?ib=i=)!?)I9NJκDDD-DE: E҆:6Et4:E"E30yԡchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.255214>AL=II IY Ne >I} G) ~nAI Ai u ~nA A q,Ľ)AޅB9$II1)5@ABDE6DENYe/2!eD=eQ)m>q9q9uGYuF}A>Q 14٪?Q 54A ?=IY Ii Nu >w,K)Ay6€?ٱ6Wv?6#ר=6X<6H?@?s?@?W? S?v?I6€?)6<];i6 C>ՅB9>$I5Mb@Mb@Mb@ 1)1I1i115HzG?`"?~jth5= ?5=1I1i115| A)15ABDM6DM0Y]!]9=egQ)e>a9i9mGYimhAm>qQ 14٪uE?Q 54uM u"B9 ?Q A:Y?Q E?yuC)uN;Iu;iu"ً4YJBA2EgDNOT Ignoring new targets: 31.32 m.ggٺgٺ ProNav: ac range: 31.316973 m, nav range: 29.733797 m, bearing: 81.552300 deg, approach rate: -0.544354 m/s, LOS rate: -0.095262 deg/s, cmd heading: 70.699295 deg, new cmd heading: 70.614968 deg. gW. HeadingCmd: 1.232464 target range: 31.316973 and range: 31.50 m.g _?g gggzfrfffBBdddc!c%@&@ɢ-ՅB-LK= )-:I1 5J=ɡ9i9I=ΤIM_?iMMc=iU7=)U_?)Y) iIA!A%@AvB->~B)B-[$IB-BB- =B)B)B-*];B-"Echecking for new query: numPingsReceived=4, elapsed TxPingTime=3.010650DDD/DE: Ev:6EJ4:E"E! E! *E;! E;! Ii/q >A /=IQ Ii Nq ~,)A:checking for new query: numPingsReceived=4, elapsed TxPingTime=3.265862yR?ٱR7?R=Rwyap9p9rGYrFvAz>|Q 1~4٪~y?Q 54~G ~B9YA?Q E?y~C)~>:I~y:i~4YA)g9EDNOT Ignoring new targets: 31.32 m.gAgE׺gM׺ ProNav: ac range: 31.316973 m, nav range: 29.500443 m, bearing: 81.513012 deg, approach rate: -0.555508 m/s, LOS rate: -0.094265 deg/s, cmd heading: 70.614969 deg, new cmd heading: 70.535773 deg. g,HeadingCmd: 1.231081 target range: 31.316973 and range: 31.50 m.g?ggg!gzfrfffBdddAcIcM @ɢԅBH= 顥I J=ɡiII?i8c=iNj=)?)ai5>19=O09>A==IINe>ԉ) DAT read: 05:24:06.2833 LVL= 24640, 32561, 21746, 31475, AGC= 57, IDX= 418, 0.36,-3.106, 1.410, 3.120, 2.885, PHS= 0.394,-1.430, 0.191, RAW= 144.2, 9.8, CAL= 143.7, 10.7, ROT= 6.3, -10.7 Ygot valid direction response: 05:24:06.2833 LVL= 24640, 32561, 21746, 31475, AGC= 57, IDX= 418, 0.36,-3.106, 1.410, 3.120, 2.885, PHS= 0.394,-1.430, 0.191, RAW= 144.2, 9.8, CAL= 143.7, 10.7, ROT= 6.3, -10.7 PDAT read: Bearing 250.5, 1.8 (Local) ~Local bearing/azimuth received: Bearing 250.5, 1.8 (Local)  DAT read: Range 11 to 50 : 29.7 m (Round-trip 39.6 ms) speed 0.4 m/s  ,DAT read: user:7490>  BDAT read: Tx time:05:24:07.3895 % $Ping request sent.% )= IC>i!@%/> @t;?>z0= t;?iI41I ?5LJ??@?>. z0=)t;?iM :publishing transmit ping timeY M Fpublishing direction and range info9@?"ā? &K{?i )Ii iI41I ?5LJ??@? )i checking for new query: numPingsReceived=5, elapsed TxPingTime=0.045613Ա l,L)AyJ?ٱJ?J}=J%OtIAiA A)zA4Q9Q9]GY]F] A]>aQ 1m4٪e?Q 5m4eA e B97?Q A:Y?Q E?yeC)e;Ie%;iee4YAhQhUM )AhU7AhU7AhUJ?zULv<@BEox @C@jU@?"ā? &K{?hUz0=hUt;?UCO@?gh<@ZP2 @rUG_?IoN?:`?hUAhU2@hUbZ?hUPIhU;B*iQ2iQ:iUBiUA"iU?U addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 3.530347 s, deltaX: -1.799999 m, approachRate: -0.509865 m/s, rangeRepo size: 4 e Added new target pos. range: 29.527164 m, bearing: 79.807602 deg, lat: 36.779324 deg, lon: -121.859567 deg, deltaT: 3.530347 s, deltaX: -1.789808 m, approachRate: -0.506978 m/s, posRepo size: 4 uchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.216372ga}DNOT Ignoring new targets: 29.53 m.gyg}g ProNav: ac range: 29.527164 m, nav range: 29.249640 m, bearing: 81.468363 deg, approach rate: 0.000000 m/s, LOS rate: -0.094265 deg/s, cmd heading: 70.535773 deg, new cmd heading: 70.448151 deg. gHeadingCmd: 1.229552 target range: 29.527164 and range: 29.70 m.ga?ggggzfrfffBBdddc@3=@c?ɢ҅BD= %I! %J=ɡ!i!I-}IMa?iMQc=iM^=)Ma?)Qi?Z1vB >~B B N$IB BB =B B B \;B "EBЍCBЍCBBɶ =Bɶ =B-5>A5 :_=% checking for new query: numPingsReceived=5, elapsed TxPingTime=0.468167) A AI I N >̋,~1)ArD%=jD%=DDD-DE: Ek:6Et4:E"Eg%rK?9rK?9rGYtvqAv>xQ 1~4٪z?Q 5~4z; zB9Y?Q E?yz0C)zW:Iz:iz4Y  A-B*** querying acoustic contact ***zh)h)g9=DNOT Ignoring new targets: 29.53 m.g9gEMgEMﺝU ProNav: ac range: 29.527164 m, nav range: 29.042437 m, bearing: 81.431522 deg, approach rate: -0.584165 m/s, LOS rate: -0.104607 deg/s, cmd heading: 70.448149 deg, new cmd heading: 70.373941 deg. gUq?]HeadingCmd: 1.228257 target range: 29.527164 and range: 29.70 m.g]7?gYgYgagazfarfafafiBdididqcqcuD?ԉɢхB>X9= %dI! -zJ=ɡ)i)I-I57?i5fc=i5b+=)57?)9i>4Թchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.720199>A% C=AU yAIa Iy N > 4,%>K)Ay:g?ٱ:J]?:=:%5<:HB ?(q?@?a&?@:?#׳`??I:g?):I];i:CbB9bs$IBDr6DrYz!zJ=~jQ)~> H?9 H?9GYF L#A >Q 14٪?Q 545 B9Y`?Q E?yMC);I#;i4Y)5A9checking for new query: numPingsReceived=5, elapsed TxPingTime=0.974869gDNOT Ignoring new targets: 29.53 m.gg-̺g=̺DUDQDU1DQEU: EQ6EU-4:EQ!e@!e@!e@!e@ ProNav: ac range: 29.527164 m, nav range: 28.815683 m, bearing: 81.391060 deg, approach rate: -0.495934 m/s, LOS rate: -0.089190 deg/s, cmd heading: 70.373939 deg, new cmd heading: 70.292379 deg. g:#HeadingCmd: 1.226833 target range: 29.527164 and range: 29.70 m.g?ggggzfrfffBdddccK?ɢυBro<=  ]I ݇J=ɡiII%?iEc=iM=)M?)I!i?4I- checking for new query: numPingsReceived=5, elapsed TxPingTime=1.224185>A% =y AU AIY Ii N >,e)Ay^3?ٱ^2)?^ؽ=^"$<^H@]$? *?@? >?'?t?M?I^3?)^k];i^CrB9vp$IMb@Mb@Mb@ )IiS?rh|?y&1|?=`I"Ai"A=A)ABD6DP)YA!:=LQ)>K?9K?9GYF,mA>Q 14٪_?Q 54/ B9?Q A:Y?Q E?ymC) ;I" ;i4YDBA)E g!%DNOT Ignoring new targets: 29.53 m.g)g-g-= ProNav: ac range: 29.527164 m, nav range: 28.565935 m, bearing: 81.351177 deg, approach rate: -0.643424 m/s, LOS rate: -0.103648 deg/s, cmd heading: 70.292380 deg, new cmd heading: 70.211917 deg. g==EHeadingCmd: 1.225429 target range: 29.527164 and range: 29.70 m.gEڜ?gIgIgIgIzfIrfIfQfUBBdQdQdYcYc]`-)?ɢ΅B[9= 額@gI \J=ɡiIΗ߻Iڜ?iqc=i=)ڜ?)AAvBÿ>~BB;$IBBBBBiDB\;B"EEchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.476385iIIIM/I@Q@U=9DDD.DE E~:6Eـ4:E"E.Ae+W=iA I I N >ԙ  checking for new query: numPingsReceived=5, elapsed TxPingTime=1.728266E!,u)Ay6?ٱ6* ?6=6!<6H1?`ȩ? ٔ?`EK??杳,??I6?)6' ^;i6C>B9BY$IBDJ6DJ0YRY˽!R`=RdQ)R>T9T9VGYTZwAZ>\Q 1b4٪^?Q 5b4^) ^B9`Yb?Q Eb?y^C)^/;I^<;i^4Yhj)AhgY]DNOT Ignoring new targets: 29.53 m.gYgeҺgeҺu ProNav: ac range: 29.527164 m, nav range: 28.358250 m, bearing: 81.317839 deg, approach rate: -0.569658 m/s, LOS rate: -0.092112 deg/s, cmd heading: 70.211920 deg, new cmd heading: 70.144756 deg. gu(HeadingCmd: 1.224257 target range: 29.527164 and range: 29.70 m.gt?ggggzfrfffBdddcc??ɢ%̅B%0= !%I! -J=ɡ)i)I-%ܻqI}t?ixc=i/=)t?)i/ԡuchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.982467>A C=D5 D5 D5 ,D1 E5 ; E5 :6E5 g4:E1 !E @!E @!E @!E @A I) I9 NE > ,N)AyF?ٱF3?F=Fs7?@?`f?Y?hб?Frd݆??IF?)F^;iFCNB9NQ$I%Mb@Mb@Mb@ !)!I!i!!%K7?Zd;?{Gz%I ?%=%#I%Ai%A%d@!)!%ABD96D9YMc!M@=MͺQ)M>Q9Q9UGYUFUIA]>aQ 1m4٪e?Q 5m4ed# eڟB9m?Q Au:Yu?Q Eu?yeC)eZ:Ie:iew 4Yy}\AygDNOT Ignoring new targets: 29.53 m.ggֺgֺ ProNav: ac range: 29.527164 m, nav range: 28.120878 m, bearing: 81.278237 deg, approach rate: -0.557323 m/s, LOS rate: -0.093767 deg/s, cmd heading: 70.144759 deg, new cmd heading: 70.064885 deg. g+HeadingCmd: 1.222863 target range: 29.527164 and range: 29.70 m.gƆ?ggggzfrfffBBdddcc@ɢ˅Bg-= 額LʽI JI=checking for new query: numPingsReceived=5, elapsed TxPingTime=2.232316ɡiI{ػIƆ?ic=i;1=)Ɔ?)i@/>A2=) vB ~B эCB "$IB rBB =B B B \;B "Em checking for new query: numPingsReceived=5, elapsed TxPingTime=2.484309A I I N% >BEJEA{4RE/D= D= D= +D9 E= : E= &p:6E= [4:E9 "E= "X9X9ZGYX^hA^>`Q 1f4٪bP?Q 5f4b bПB9dYf?Q Ef?ybC)b%:Ib:ib*4YlnAlzB*** querying acoustic contact ***zh|h|g DNOT Ignoring new targets: 29.53 m.g g ֺgֺ% ProNav: ac range: 29.527164 m, nav range: 27.907187 m, bearing: 81.242604 deg, approach rate: -0.557021 m/s, LOS rate: -0.093593 deg/s, cmd heading: 70.064886 deg, new cmd heading: 69.993076 deg. g%I+-HeadingCmd: 1.221610 target range: 29.527164 and range: 29.70 m.g-]?g)g)g)g)zf1rf1f1f1Bd9d9d9c9cE@ɢɅB 's)=  I   dI=ɡiIcջI=]?i=c=i=Q=)=]?)9Qi?/checking for new query: numPingsReceived=5, elapsed TxPingTime=2.736184y>A-=Ա Ae yAIi I N >,h;)Aiy6薇?ٱ6|?6ӗ=6V<6H=p?Ҟ?)?`y?`-?`˒?@l?I6薇?)6_;i4@BB9F5$IBDN6DN:YVe!VJ=VQ)V>Z H?9Z H?9ZGYZF^ʏA^>hQ 1v4٪j?Q 5v4j jƟB9tYv?Q Ev?yjC)j!d;IjEP;ijA4Yx~AUBDAT read: Rx Time:05:24:09.8306 eTRx dataTimestamp_ set to:1755840251.247760uchecking for new query: numPingsReceived=5, elapsed TxPingTime=2.997995D D D D E a: E c:6E :E !-@!5@!5@!5@gIUDNOT Ignoring new targets: 29.53 m.gQgUzg]ze ProNav: ac range: 29.527164 m, nav range: 27.681000 m, bearing: 81.205118 deg, approach rate: -0.485250 m/s, LOS rate: -0.081078 deg/s, cmd heading: 69.993074 deg, new cmd heading: 69.917489 deg. gmaԩHeadingCmd: 1.220290 target range: 29.527164 and range: 29.70 m.gz2?ggggzfrfffBdddcc-@ɢuDžBu%= y} Iy }H=ɡyiyI}LлIz2?ic=i*=)z2?)i999E/Achecking for new query: numPingsReceived=5, elapsed TxPingTime=3.244234>A I! II Ne > N,)AyBh?ٱB_^?Bɖ=BI9Q9UGYUFU9XAU>YQ 1e4٪]{ ?Q 54]g ]B9?Q A:Y ?Q E?y]C)]J~B-ЍCB- $IB-^BB)B)B-hDB-\;B-"EɢEŅBEs"= AEIA ML|H=ɡIiIIMڗͻIU ?iUd=iU=)U ?)Q}DAT read: 05:24:09.8306 LVL= 23456, 32225, 24050, 32755, AGC= 59, IDX= 408, 0.32,-0.540,-2.351,-0.613,-0.828, PHS= 0.390,-1.478, 0.172, RAW= 143.9, 10.4, CAL= 143.4, 11.3, ROT= 6.6, -11.3 Ygot valid direction response: 05:24:09.8306 LVL= 23456, 32225, 24050, 32755, AGC= 59, IDX= 408, 0.32,-0.540,-2.351,-0.613,-0.828, PHS= 0.390,-1.478, 0.172, RAW= 143.9, 10.4, CAL= 143.4, 11.3, ROT= 6.6, -11.3 PDAT read: Bearing 250.1, 2.5 (Local) ~Local bearing/azimuth received: Bearing 250.1, 2.5 (Local) DAT read: Range 11 to 50 : 27.8 m (Round-trip 37.1 ms) speed 0.4 m/s ,DAT read: user:7491> BDAT read: Tx time:05:24:10.9394 $Ping request sent.x_?=fA9i=[=}=]==; =>)=/I= 0>i= @iU>QQU0Q=9>=- @=I>== =Ii99I=5{K?E@sz?Ɉ,' ?=V>=f9 ==)=Ii99:publishing transmit ping timeYFpublishing direction and range info99=衍+?ڼ?>x_?99i99999 9)9I9i99999 9i99I=5{K?E@sz?Ɉ,' ?99 9)9i99checking for new query: numPingsReceived=6, elapsed TxPingTime=0.031567DDDDET; E:6E:E"EGA} 2=Q IQ Ia Nm > =i {C checking for new query: numPingsReceived=6, elapsed TxPingTime=0.234660k0,)AI-G)*mAI4iNNmANnAz?zϺA9yk+?ٱ ?"=h<H ?ݕĤ?!? u?Q?@&^??Ik+?)f_;iCyB9+$Ii=I=I)BD 6Df2Yz`!D=(Q)>99GYA>Q 14٪D ?Q 54  B9Yͽ?Q E?yC)`:I:i'4Y=B#A Ehqhu)AhuAhuAhu1?zuӑC:@5?o@—@ju衍+?ڼ?>x_?hu=huIua~T@h:@G @ruՉ?m 81?9?huAhu@hu?huFhu{B*iud$⊜?2iu/G:iu{Biu;A"iu+?u addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 3.529637 s, deltaX: -1.900002 m, approachRate: -0.538299 m/s, rangeRepo size: 4  Added new target pos. range: 27.638298 m, bearing: 79.316169 deg, lat: 36.779327 deg, lon: -121.859567 deg, deltaT: 3.529637 s, deltaX: -1.888866 m, approachRate: -0.535145 m/s, posRepo size: 4 gDNOT Ignoring new targets: 27.64 m.ggg ProNav: ac range: 27.638298 m, nav range: 27.278883 m, bearing: 80.418611 deg, approach rate: 0.000000 m/s, LOS rate: -0.090418 deg/s, cmd heading: 69.848089 deg, new cmd heading: 69.774424 deg. gHeadingCmd: 1.217793 target range: 27.638298 and range: 27.80 m.g?ggggzfrfffBdddc;@c5?ɢÅBN= I G=ɡiIɻI?i,d=i(=)?)ai}=0mchecking for new query: numPingsReceived=6, elapsed TxPingTime=0.485143ԙD D D 2D E O: E :6E 4:E !- @!- @!- @!- @>A =rA ?jA ?I I N >Թ V,-)Ay6?ٱ6?6=6̂<6HԹ????@z.?q`Sb??I6?)6_;i4BhB9B$I-Mb@Mb@Mb@ )))I)i))- rh?`"?y&1|- ?-=-`I-Ai-A-A- A)))BDM6DMYU]!UR=] Q)]>a9a9eGYeFehAm>iQ 1u4٪m ?Q 5}4m] mB9}?Q A}:Y}Ծ?Q E}?ym9C)m ;ImG ;im.4YAԙgDNOT Ignoring new targets: 27.64 m.ggg󺝅 ProNav: ac range: 27.638298 m, nav range: 27.061338 m, bearing: 80.378298 deg, approach rate: -0.570799 m/s, LOS rate: -0.106624 deg/s, cmd heading: 69.774426 deg, new cmd heading: 69.693152 deg. g"CHeadingCmd: 1.216375 target range: 27.638298 and range: 27.80 m.g-?ggggzfrfffBBdddcc@`?ɢB%}= !%1I! %{G=ɡ)i)I->tƻI--?i5Ad=i5q=)5-?)9checking for new query: numPingsReceived=6, elapsed TxPingTime=0.734925i?4>A/=I9IIN]>vB1 ~B1 B5 #IB5 IBB1 B1 B1 B5 \;B5 "E)a a m checking for new query: numPingsReceived=6, elapsed TxPingTime=0.986772! D% D% D% ,D! E% : E% :6E% g4:E! "E% 3|9|9~GY~FgA> Q 14٪ <?Q 54  B9Y?Q E?y UC) :I A;i 54Y!%A!EB*** querying acoustic contact ***zhAhAgIUDNOT Ignoring new targets: 27.64 m.gQgUgUm ProNav: ac range: 27.638298 m, nav range: 26.842949 m, bearing: 80.337825 deg, approach rate: -0.558880 m/s, LOS rate: -0.104417 deg/s, cmd heading: 69.693153 deg, new cmd heading: 69.611549 deg. gm?uHeadingCmd: 1.214951 target range: 27.638298 and range: 27.80 m.gu?gqgqgqgqzfqrfyfyfyBdddcc@V?ɢBI= 顽?I F=ɡiI»I?iXd=iU=)?)iaiim/i!checking for new query: numPingsReceived=6, elapsed TxPingTime=1.238553Y>Au=IIN>y h,LN)Ay6?ٱ6~?6_j=6^<6H?`k?z?@??`NI`u??I6?)6_;i6C>XB9B$I)D FAF;iFBDJ6DJ:Yr!rK=rTQ)r>t9t9vGYtvAz>xQ 14٪z?Q 54z zB9Y^?Q E?yzqC)z;Iz;iz<45checking for new query: numPingsReceived=6, elapsed TxPingTime=1.492856Y=GB=vA9gamDNOT Ignoring new targets: 27.64 m.gigmigmi麝 ProNav: ac range: 27.638298 m, nav range: 26.618692 m, bearing: 80.296647 deg, approach rate: -0.551027 m/s, LOS rate: -0.102031 deg/s, cmd heading: 69.611546 deg, new cmd heading: 69.528497 deg. g:HeadingCmd: 1.213501 target range: 27.638298 and range: 27.80 m.gT?ggggzfrfffBdddcc?yDDD.DE&: E˭:6Eـ4:E!@!@!@!@ɢBX= 页GI H#F=ɡiI YIT?iFtd=i|9=)T?)i/@@@@ԡchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.742452bA) ZA- jAI I N > ,$'h)Ay68R?ٱ6G?6=6. <6H  ?@0Z?`w?@+? s?; ൑?`?I68R?)6I_;i6C>WB9B$I5Mb@Mb@Mb@ 1)1I1i115L7A`?L7A`?Mb5+?5+>5I59Ai15SA5 A)15ABDM6DM02YUʨ!]C=]UQ)]>a9a9eGYeFeAm>iQ 1u4٪m?Q 5}4m mB9}W ?Q A}:Y}?Q E}?ymC)m ;Im ;imC4YAgDNOT Ignoring new targets: 27.64 m.ggsgs ProNav: ac range: 27.638298 m, nav range: 26.392567 m, bearing: 80.241262 deg, approach rate: -0.546613 m/s, LOS rate: -0.135031 deg/s, cmd heading: 69.528498 deg, new cmd heading: 69.416778 deg. gwHeadingCmd: 1.211551 target range: 27.638298 and range: 27.80 m.g?ggggzfrfffBBdddcc?gJTimed out from 2025-08-22T05:14:13.5Z3gfCompleted lineCaptureHoming:MicromodemComms:CheckIn3 gAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInfVCompleted lineCaptureHoming:MicromodemCommsɢ%B%ҹ = !%EI! -kE=ɡ)i)I-޺I5?i5 d=i5=)5?)9AA<vBĿ>~BэCB#IB0BBBBiDB\;B"EBBBBµ =Bµ =BO4i/=checking for new query: numPingsReceived=6, elapsed TxPingTime=1.995576AAIIbD@AZDDDD,DE : Ee:6Eg4:E"ED")  checking for new query: numPingsReceived=6, elapsed TxPingTime=2.246469X{,W)A,y6 ?ٱ6?6=6<6H 1? ޢ?`q?O?@$?;}??I6 ?)6y_;i6CRHB9R#IBDZ6DZ1Y52!5M=5pp3Q)=>=K?9=K?9=GYEFE,ƻAE>IQ 1U4٪M?Q 5U4M  MB9YY]t?Q E]?yMC)M ;IM ;iMJ4YeABmAmEgDNOT Ignoring new targets: 27.64 m.gg`g` ProNav: ac range: 27.638298 m, nav range: 26.177122 m, bearing: 80.188753 deg, approach rate: -0.531461 m/s, LOS rate: -0.130594 deg/s, cmd heading: 69.416777 deg, new cmd heading: 69.310896 deg. goHeadingCmd: 1.209703 target range: 27.638298 and range: 27.80 m.gך?ggggzfrff f Bdddcc%@q3-f5nAggregate::initialize lineCaptureHoming:MicromodemComms35 g5~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn3=1ɢeBe = am]Ii 5D=ɡiI-zIך?id=i=)ך?)i@YEchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.499022AII9D D D +D E ; E c:6E [4:E !E @!E @!E @!M @ԉ Ա checking for new query: numPingsReceived=6, elapsed TxPingTime=2.750727N?rQ,㢿)AyFͅ?ٱFXá?Fw=F=z?`c?IFͅ?)F_;iFCRIiAjA A)ABD6DNY1!=Q)> 9 9 GY  uEA>Q 14٪?Q 54" xB9%?Q A%:Y%?Q E%?yC)K ;I~ ;iaT4Y15%A1gY]DNOT Ignoring new targets: 27.64 m.gYgegeu ProNav: ac range: 27.638298 m, nav range: 25.876396 m, bearing: 80.128953 deg, approach rate: -0.563337 m/s, LOS rate: -0.113324 deg/s, cmd heading: 69.310895 deg, new cmd heading: 69.189904 deg. gueO}HeadingCmd: 1.207592 target range: 27.638298 and range: 27.80 m.g}]?gygygygzfrfffBBdddcc @ɢBu= ToI C=ɡiI8I]?i*d=iw=)]?)ԩ Y>>iU?QQYYvBſ>~BB#IBBBBBB\;B"E BDAT read: Rx Time:05:24:13.3780 TRx dataTimestamp_ set to:1755840254.775665checking for new query: numPingsReceived=6, elapsed TxPingTime=3.007141AIIN>rD=jD<DDDDE; Ega:6E:E"E.C99GYFVA>Q 14٪?Q 54l pB9Yq?Q E?yC);I;i.[4YAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 27.64 m.ggogo ProNav: ac range: 27.638298 m, nav range: 25.659369 m, bearing: 80.085548 deg, approach rate: -0.556738 m/s, LOS rate: -0.112288 deg/s, cmd heading: 69.189905 deg, new cmd heading: 69.102361 deg. gMHeadingCmd: 1.206064 target range: 27.638298 and range: 27.80 m.gL`?ggggzf!rf!f!f!Bd)d)d)c)c-!* @]checking for new query: numPingsReceived=6, elapsed TxPingTime=3.254932ɢB$<  I B=ɡiImDIL`?i bd=i _=) L`?) i1>A=M DAT read: 05:24:13.3780 LVL= 23728, 28961, 22738, 32755, AGC= 62, IDX= 413,-0.11, 1.033,-0.763, 0.973, 0.757, PHS= 0.378,-1.475, 0.172, RAW= 144.2, 10.5, CAL= 143.7, 11.5, ROT= 6.3, -11.5 ] Ygot valid direction response: 05:24:13.3780 LVL= 23728, 28961, 22738, 32755, AGC= 62, IDX= 413,-0.11, 1.033,-0.763, 0.973, 0.757, PHS= 0.378,-1.475, 0.172, RAW= 144.2, 10.5, CAL= 143.7, 11.5, ROT= 6.3, -11.5 a  PDAT read: Bearing 249.3, 2.5 (Local)  ~Local bearing/azimuth received: Bearing 249.3, 2.5 (Local)  DAT read: Range 11 to 50 : 25.8 m (Round-trip 34.4 ms) speed 0.4 m/s  ,DAT read: user:7492>  BDAT read: Tx time:05:24:14.4910  $Ping request sent. 7>) ̼I i !@ f;> @ M> z0= Mi N >,&׿)AI:qh?vV?\Hke?2>D:< z0=)Mi6:publishing transmit ping timeY:Fpublishing direction and range info9Ղ+?&x,?i?i )Ii iI:qh?vV?\Hke? )iFchecking for new query: numPingsReceived=7, elapsed TxPingTime=0.082279tym?ٱac?=u"W<H`x? v Sj?`6f?U?@*?Ҋ??Im?)z_;iC-B9#I%Mb@Mb@Mb@ !)!I!i!!%/$?X9v?{Gzt%1?%=%ףI%Ai%OA%A%5 A)!%\ABD] 6D]2Ym:<!m,=uJQ)u>q9q9}GYFbA>Q 14٪Z?Q 54 fB9 ?Q A:Y˾?Q E?yC):I:ic4YAhhɭѿ)Ah3Ah3Ah?zs֭8@aۤ@ƅËt@jՂ+?&x,?i?hz0=hM @@x8@ <1 @rHTi?X[I?JSC?h3AhȤ@hZWIʜ?hWHJhB*ibZ?2iGKH:i;BiA"iE? addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 3.528437 s, deltaX: -2.000000 m, approachRate: -0.566823 m/s, rangeRepo size: 4  Added new target pos. range: 25.650135 m, bearing: 78.315773 deg, lat: 36.779331 deg, lon: -121.859567 deg, deltaT: 3.528437 s, deltaX: -1.988163 m, approachRate: -0.563468 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.65 m.gggchecking for new query: numPingsReceived=7, elapsed TxPingTime=0.2317905 ProNav: ac range: 25.650135 m, nav range: 25.465883 m, bearing: 78.903829 deg, approach rate: 0.000000 m/s, LOS rate: -0.112288 deg/s, cmd heading: 69.102363 deg, new cmd heading: 68.989787 deg. g1=HeadingCmd: 1.204099 target range: 25.650135 and range: 25.80 m.g=?g9g9gAgAzfArfAfIfIBdIdidqcu9@cu`&?ɢBB= :I [A=ɡiII?id=i=)?)Ii/q A1 A1 vB= ɿ>~B9 B= #IB= BB= =B9 B9 B= \;B= "E>A +W= checking for new query: numPingsReceived=7, elapsed TxPingTime=0.483676ԙ A IIN%>),)AbD(ZD*?ABEe|a4JEem4REe]0D.D.D..D,E.: E.:6E.ـ4:E,"E.g%d9d9fGYdjf*Aj>lQ 1r4٪n?Q 5r4nH n^B9pYv?Q Ev?yn(C)n:In:inj4Y1BAgDNOT Ignoring new targets: 25.65 m.gggM ProNav: ac range: 25.650135 m, nav range: 25.264797 m, bearing: 78.852313 deg, approach rate: -0.530308 m/s, LOS rate: -0.136938 deg/s, cmd heading: 68.989787 deg, new cmd heading: 68.885937 deg. gMzUHeadingCmd: 1.202286 target range: 25.650135 and range: 25.80 m.gU?gQgQgQgQzfYrfYfYfYBdadadacac}@ ?ԩɢBW< I A=ɡiII?i e=i&V=)?)i/]checking for new query: numPingsReceived=7, elapsed TxPingTime=0.735794>A2= A I I N >) ax,")A~B9~#IBD 6D Yj!%E=%Q)%>!9)9-GY-F-A->1Q 1=4٪5G?Q 5=45^ 5UB9AYAQ EE?y5EC)5;I5;i5Eq4YM.BMAM Echecking for new query: numPingsReceived=7, elapsed TxPingTime=0.987538DDD+DE: E]t:6E [4:E!@!@!@!@g1=DNOT Ignoring new targets: 25.65 m.gAgg ProNav: ac range: 25.650135 m, nav range: 25.040638 m, bearing: 78.793905 deg, approach rate: -0.474250 m/s, LOS rate: -0.124680 deg/s, cmd heading: 68.885934 deg, new cmd heading: 68.768072 deg. g-dHeadingCmd: 1.200229 target range: 25.650135 and range: 25.80 m.g?ggggzfrfffBdddcc}?ɢEBE< AM"II MR?=ɡIiIIM\IU?iU*e=iU=)U?)YAi11999@Ep=@E=im ?Im Y?u checking for new query: numPingsReceived=7, elapsed TxPingTime=1.239881q >A ԙ AM yAIY Ii Nu >3 ,X*)Ay6?ٱ6D?6 =6y<6H?l@?V_??@L?. ZÖ?`?I6?)6|_;i6C> B9B#IvBȿ>~BB#IBBBBBB\;B"EImMb@Mb@Mb@ i)iIiiiimMbX9?X9v?~jth?m?m=mD;ImOAimAmAm A)im(ABD6DβY;X!&=+Q)>  H?9  H?9 GY FA>Q 1=4٪?Q 5U4 NB9UR?Q AU:YU?Q EU?yfC)3=ɡ i I ՙI!R?iCe=i=)!R?)!%hADeDeDaDaEes: Ee~:6Ea:Eay"Ee_0A ==I G) ~nAI i  ~nA #A] checking for new query: numPingsReceived=7, elapsed TxPingTime=1.743647I I N > ,D)Ay-ׄ?ٱ-#͠?-p=-Ǻ<-H`? Jh`ص?[?Z?@ѭ?ɖ??I-ׄ?)-_;i-CEB9E#IiM=IMa=IQ)QBD]6D]Ymn!ma=mXQ)m>q9q9uGYqA>Q 14٪b?Q 54 IB9YU?Q E?y~C)I;I;i84YdAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 25.65 m.gg: g:  ProNav: ac range: 25.650135 m, nav range: 24.598663 m, bearing: 78.677457 deg, approach rate: -0.526263 m/s, LOS rate: -0.140080 deg/s, cmd heading: 68.629966 deg, new cmd heading: 68.533032 deg. g.HeadingCmd: 1.196127 target range: 25.650135 and range: 25.80 m.g?ggggzfrfffBdddcc @ ?ɢ=B=g^< 9E'IA E ==ɡAiAIMɰIU?iUYe=iU=)]?)YԱie@iimQ0ichecking for new query: numPingsReceived=7, elapsed TxPingTime=1.995753DDDDEa: Eą:6E>A!=:E!@!@!@!@ I I N >1 A, m^)Ay>?ٱ>?>Wg=>X<>H_? c?`fW?@?`(?I??I>?)> `;i<zB9z#I}Mb@Mb@Mb@ y)yIyiyy}%C?Zd;?~jth}Z?}=}DI}Ai}| A} A}5 A)y}QABD6DkYλ!G=Q)>99GYFSA>Q 14٪?Q 54 AB9?Q A:YJ?Q E?yC),:I:i^4YoAchecking for new query: numPingsReceived=7, elapsed TxPingTime=2.247708gDNOT Ignoring new targets: 25.65 m.gg=g= ProNav: ac range: 25.650135 m, nav range: 24.383150 m, bearing: 78.619749 deg, approach rate: -0.502413 m/s, LOS rate: -0.135721 deg/s, cmd heading: 68.533032 deg, new cmd heading: 68.416596 deg. gbxHeadingCmd: 1.194095 target range: 25.650135 and range: 25.80 m.gؘ?ggggzfrfffqBBdd1dc9c=`op@ɢBժ< DI ?<=ɡiILI%ؘ?i%ve=i%4 =)%ؘ?)Ii?R0@lA@lA9A<A<-"pFailed to parse device response: 66.930,3.74571,2603.05 i >A = checking for new query: numPingsReceived=7, elapsed TxPingTime=2.499684I1 II NU >D D D .D E : E ҆:6E ـ4:E k,Gx)A y:S?ٱ:H?:=:J<:H@?`?] ?R?#? B0?+??I:S?):+z`;i:C B9#IBD%6D%NY-*c!5R=5mQ)5>1999=GY=F=AE>AQ 1M4٪Ek!?Q 5M4E E;B9QYU?Q EU?yEC)E:IE:iE-4YYeAagDNOT Ignoring new targets: 25.65 m.ggQ+gQ+ ProNav: ac range: 25.650135 m, nav range: 24.177961 m, bearing: 78.564892 deg, approach rate: -0.555521 m/s, LOS rate: -0.149777 deg/s, cmd heading: 68.416598 deg, new cmd heading: 68.305954 deg. g HeadingCmd: 1.192164 target range: 25.650135 and range: 25.80 m.gӘ?ggggzfrfffBdddccG@ɢBQP< I ;=ɡiIâIӘ?ie=i=)Ә?) ]> qi4i%>I%4=-checking for new query: numPingsReceived=7, elapsed TxPingTime=2.752010ԙ>AII1NE> R$,")Ay6 ?ٱ6W?6U=6Z<6HL#?iW?M? E?@I?ć@љ?@K?I6 ?)6Ӗ`;i6CFBDAT read: Rx Time:05:24:16.9270 FTRx dataTimestamp_ set to:1755840258.300574Jchecking for new query: numPingsReceived=7, elapsed TxPingTime=3.004851JB9J#ILdiL)d dBDj6Dj0Yr_<!vO=vQ)v>x9x9zGYxz&Az>Q 14٪"?Q 5 4  4B9 Y?Q E?yC)Ly;Iy;i4Y1=A9D]D]D]*DYE]; E]&p:6E](N4:EYgDNOT Ignoring new targets: 25.65 m.ggg ProNav: ac range: 25.650135 m, nav range: 23.969889 m, bearing: 78.509423 deg, approach rate: -0.493377 m/s, LOS rate: -0.132668 deg/s, cmd heading: 68.305956 deg, new cmd heading: 68.194055 deg. grHeadingCmd: 1.190211 target range: 25.650135 and range: 25.80 m.gX?ggggzfrfffBddd c c _ @ɢUB]4< Y]IY ]C:=ɡYiaIe'IX?iHe=ig=)X?)i!!%5!=checking for new query: numPingsReceived=7, elapsed TxPingTime=3.255661>AA I I I N >g*,)Ayvǃ?ٱv?v-Հ=vJ~BBT#IBʄBBBBB\;B"EMb@Mb@Mb@ )IiMb?"~j??S=Ii AAK A) ABD6D02Y3 !<=Q)>99GYFtA>Q 14٪%?Q 54- -B9?Q A:Y?Q E?yC)* ;I:i4Y,BAEgDNOT Ignoring new targets: 25.65 m.ggg ProNav: ac range: 25.650135 m, nav range: 23.743307 m, bearing: 78.459265 deg, approach rate: -0.526272 m/s, LOS rate: -0.117613 deg/s, cmd heading: 68.194057 deg, new cmd heading: 68.092783 deg. g>WHeadingCmd: 1.188443 target range: 25.650135 and range: 25.80 m.g?ggggzfrffAfEzBBdIdIdIcIcM * @)߁ ߁DAT read: 05:24:16.9270 LVL= 25376, 32753, 24786, 32755, AGC= 60, IDX= 419, 0.36,-1.516, 3.055,-1.507,-1.740, PHS= 0.325,-1.443, 0.189, RAW= 146.0, 10.9, CAL= 145.7, 11.9, ROT= 4.3, -11.9 Ygot valid direction response: 05:24:16.9270 LVL= 25376, 32753, 24786, 32755, AGC= 60, IDX= 419, 0.36,-1.516, 3.055,-1.507,-1.740, PHS= 0.325,-1.443, 0.189, RAW= 146.0, 10.9, CAL= 145.7, 11.9, ROT= 4.3, -11.9 PDAT read: Bearing 249.0, 1.1 (Local) ~Local bearing/azimuth received: Bearing 249.0, 1.1 (Local) DAT read: Range 11 to 50 : 23.9 m (Round-trip 31.9 ms) speed 0.4 m/s ,DAT read: user:7493> BDAT read: Tx time:05:24:18.0410 $Ping request sent.)9I7A>ie#@B>"@ȭT>`= ȭTiI2B `=)ȭTi:publishing transmit ping timeYFpublishing direction and range info9P寽a9?Z4Ȳ?Fa5d?i )Ii iI24@=@=iԙ >A ==E checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240403A I I N- >1,)Ay6%}?ٱ6r?6z=6*<6Hjg?M-?@ND?ń??Y &Z?`?I6%}?)6`;i6C>B9>r#IBDF6DFkLYR<!RP=RQ)R>T9T9VGYVFZaAZ>9Q 1E4٪='?Q 5M4= ='B9IYMϺ?Q EU?y=C)=Q>;I=);i=գ4YaeLAahhx)AhAhAhN]?z}ph/7@\ȑ?D@jP寽a9?Z4Ȳ?Fa5d?h`=hȭTFn(@ԀB6@q-W @r7a?ۡS?:O?hAh@h> y?hPhB*i?2iPI:i*BiA"i?= addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 3.528003 s, deltaX: -1.900000 m, approachRate: -0.538548 m/s, rangeRepo size: 4 M Added new target pos. range: 23.761290 m, bearing: 75.363855 deg, lat: 36.779332 deg, lon: -121.859567 deg, deltaT: 3.528003 s, deltaX: -1.888845 m, approachRate: -0.535387 m/s, posRepo size: 4 gQ]DNOT Ignoring new targets: 23.76 m.gYg]ga ProNav: ac range: 23.761290 m, nav range: 23.499687 m, bearing: 78.302471 deg, approach rate: 0.000000 m/s, LOS rate: -0.117613 deg/s, cmd heading: 68.092785 deg, new cmd heading: 67.996208 deg. gHeadingCmd: 1.186758 target range: 23.761290 and range: 23.90 m.g?ggggzfrfffBdddc `f7@cM?ɢ}B}t< y}Iy f8=ɡiI=#~I?i e=i@=)?))i]?Yae/achecking for new query: numPingsReceived=8, elapsed TxPingTime=0.491784DDDDE: Ez:6E:E!@!@!@!@>Ae ~=rAu ?jAu ? A AI I N >x7, )AyBO(?ٱB?B`t=B?P?`N?`s9F?{?IBO(?)B6`;iBCJքB9Jb#I|%checking for new query: numPingsReceived=8, elapsed TxPingTime=0.743716-Mb@Mb@Mb@ )))I)i))-uV?q= ףp?-r?-=)I-fAi)-"A- A))-p ABDE6DEYU2q!U@=UowQ)]>eK?9eK?9mGYiu4ƻAu>Q 14٪>)?Q 54 !B9 ?Q A:YY?Q E?y$C)K;I;i 4YAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 23.76 m.ggg ProNav: ac range: 23.761290 m, nav range: 23.275648 m, bearing: 78.253132 deg, approach rate: -0.535052 m/s, LOS rate: -0.118968 deg/s, cmd heading: 67.996207 deg, new cmd heading: 67.896578 deg. gYHeadingCmd: 1.185019 target range: 23.761290 and range: 23.90 m.g ?ggggzfrfffjBBddd!c!c%)I?ɢBP,< 页I /7=ɡiIuI?ive=i=)?)9iAAvBĿ>~BBA#IBBB =BBB];B"EBeэCBeэCBaBe =Be =BeV5Qchecking for new query: numPingsReceived=8, elapsed TxPingTime=0.995644>A  =D D D .D E : E :6E ـ4:E "E D"&>,X)Ay6 ނ?ٱ6Ӟ?6 m=6߻<6H?@?9?@?`?۹`?L?I6 ނ?)6`;i6C>ԄB9B`#IBDH6DHYR޻!RV=RQ)R>T9T9VGYVFVĻAZ>XQ 1^4٪ZD+?Q 5b4ZW ZB9`Yb?Q Eb?yZ>C)Z;IZ;iZ4YdjAhYgDNOT Ignoring new targets: 23.76 m.ggU gU  ProNav: ac range: 23.761290 m, nav range: 23.071169 m, bearing: 78.208428 deg, approach rate: -0.552297 m/s, LOS rate: -0.121815 deg/s, cmd heading: 67.896575 deg, new cmd heading: 67.806375 deg. g^HeadingCmd: 1.183444 target range: 23.761290 and range: 23.90 m.g{?ggggzf rf f f Bdddcc?ɢEBE< AE߻II MZ6=ɡIiIIMmIU{?i] f=i]!=)]{?)ai    0 @@@@5checking for new query: numPingsReceived=8, elapsed TxPingTime=1.247726ԉԹA I I! N- >  checking for new query: numPingsReceived=8, elapsed TxPingTime=1.499641E,"6)Ay6A?ٱ6҃?6g=6j<6H ?@<}? D3?@?`9`9fGYdfûAf>hQ 1n4٪j-?Q 5n4j jB9pYr?Q Er?yj[C)j0;Ij<;ijĸ4YtvAtDDD+DEs: E:6E [4Թ:E!@!@!@!@gDNOT Ignoring new targets: 23.76 m.ggg5 ProNav: ac range: 23.761290 m, nav range: 22.849909 m, bearing: 78.160505 deg, approach rate: -0.507632 m/s, LOS rate: -0.111013 deg/s, cmd heading: 67.806375 deg, new cmd heading: 67.709601 deg. g5*K=HeadingCmd: 1.181755 target range: 23.761290 and range: 23.90 m.g=C?g9g9g9g9zfArfAfAfABdIdIdicicu`:?ɢBRx< 顽VI 4=ɡiIwSeIC?i%f=i+ =)C?)jAi/Mchecking for new query: numPingsReceived=8, elapsed TxPingTime=1.753515AyAII!N5>9 8K,/)AvB6ÿ>~B4B6;#IB6BB4B4B6hDB6*];B6"EyF2Q?ٱFF?F7C`=FC H?9 H?9GYF\A>Q 14٪/?Q 54` B9 ?Q A:Y?Q E?yyC):I :il4Y*BAEg!-DNOT Ignoring new targets: 23.76 m.g)g-%g-%E ProNav: ac range: 23.761290 m, nav range: 22.615084 m, bearing: 78.104737 deg, approach rate: -0.604217 m/s, LOS rate: -0.144983 deg/s, cmd heading: 67.709598 deg, new cmd heading: 67.596905 deg. gEMHeadingCmd: 1.179789 target range: 23.761290 and range: 23.90 m.gMP?gIgIgIgIzfIrfQchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.003500ffiBBdddcc1@ɢ%B-=W< )--I) UF3=ɡQiQIUt^I]P?i]=f=i]=)]P?)aBE [4JE|a4RE"/DDDDED: E:6E:E"E1qU checking for new query: numPingsReceived=8, elapsed TxPingTime=2.257164ԙ R,-H)AEЄB9E[#IBD]6D]YmqƼ!mP=mQ)m>uK?9uK?9uGYuFA>Q 14٪1?Q 54lj  B9YQ E?yC);II;i`nj4Y2BAgDNOT Ignoring new targets: 23.76 m.gg/g/  ProNav: ac range: 23.761290 m, nav range: 22.401878 m, bearing: 78.053087 deg, approach rate: -0.536890 m/s, LOS rate: -0.131303 deg/s, cmd heading: 67.596907 deg, new cmd heading: 67.492623 deg. g LpHeadingCmd: 1.177969 target range: 23.761290 and range: 23.90 m.gǖ?ggggzfrfff!Bd!d!d!c!c-B>@ɢUBUߏ< Y]ɸIY ]2=ɡYiYI]ݦVIeǖ?ieSf=ieݟ=)mǖ?)iqiV1checking for new query: numPingsReceived=8, elapsed TxPingTime=2.507699ԩAyAI!I1NuX>DDD(DEs: E:6Ec44:E!@!@!@!@ JX,b)Ay:#?ٱ:?:(V=:U8<:H@ ? 0 Ѡ?(?4?@t???I:#?):"a;i:Cb„B9bJ#I%checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763253Mb@Mb@Mb@ )Ii rh?y&1?Mbp ?`=IAi AOAbA)= ABD6DkY!B=MQ)> H?9 H?9uGYq})ʻA}>yQ 14٪}4?Q 54} }B9q?Q A:Y?Q E?y}C)}f:I}:i}Ό4YAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 23.76 m.gg%yg-y񺝅] ProNav: ac range: 23.761290 m, nav range: 22.161615 m, bearing: 78.007513 deg, approach rate: -0.550521 m/s, LOS rate: -0.105557 deg/s, cmd heading: 67.492624 deg, new cmd heading: 67.400488 deg. g].A]HeadingCmd: 1.176360 target range: 23.761290 and range: 23.90 m.ge?gagagagazfarfafifpBBdddcc@ɢB&*<  TľI  1=ɡiI{NI?iof=if=)?) V>>i%0!A]<AYvBa~BaBe.#IBeBBaBaBaBeP];Be"EBDAT read: Rx Time:05:24:20.4745 TRx dataTimestamp_ set to:1755840261.828424checking for new query: numPingsReceived=8, elapsed TxPingTime=3.012687) >A K=rA% ?jA% ?D D D *D E : E &p:6E (N4:E "E 3^,})Ay6ف?ٱ6.ϝ?6zQ=6<6Hw0?+@?&?FG?? /N?f?I6ف?)6Ja;i6C>ɄB9>R#IBDJ 6DJ2YN5=!N^=R8GQ)R>RK?9VK?9VGYVFVG9A->)Q 154٪-6?Q 5=4-&~ -B99Y=?Q E=?y-C)-`:I-6:i-OՌ4YAEIAIgiuDNOT Ignoring new targets: 23.76 m.gqgu gu  ProNav: ac range: 23.761290 m, nav range: 21.956923 m, bearing: 77.968434 deg, approach rate: -0.567414 m/s, LOS rate: -0.109339 deg/s, cmd heading: 67.400491 deg, new cmd heading: 67.321604 deg. gHHeadingCmd: 1.174984 target range: 23.761290 and range: 23.90 m.ge?ggggzfrfffBdddcc ǝ @iIG))IiidqAɢ5B=< 9="I9 =/=ɡ9iAIE+GIe?if=iW=)e?)checking for new query: numPingsReceived=8, elapsed TxPingTime=3.265115i51Y >A 2= DAT read: 05:24:20.4745 LVL= 22208, 28337, 20818, 30019, AGC= 57, IDX= 410, 0.32,-1.190,-2.955,-1.160,-1.423, PHS= 0.334,-1.488, 0.219, RAW= 146.8, 10.6, CAL= 146.4, 11.6, ROT= 3.6, -11.6  Ygot valid direction response: 05:24:20.4745 LVL= 22208, 28337, 20818, 30019, AGC= 57, IDX= 410, 0.32,-1.190,-2.955,-1.160,-1.423, PHS= 0.334,-1.488, 0.219, RAW= 146.8, 10.6, CAL= 146.4, 11.6, ROT= 3.6, -11.6  PDAT read: Bearing 247.6, 1.0 (Local)  ~Local bearing/azimuth received: Bearing 247.6, 1.0 (Local)  DAT read: Range 11 to 50 : 22.0 m (Round-trip 29.4 ms) speed 0.4 m/s  ,DAT read: user:7494>  BDAT read: Tx time:05:24:21.5893  $Ping request sent. ) vI A`>i (#@ q=> Ƈ#@ 4QO> = 4QOi I HzW?ЗU?]Rշ? 6> Y= =) 4QOi % :publishing transmit ping timeY % Fpublishing direction and range infoA- yAI1 IA NU >qe,Ԗ)A9y:Á?ٱ:7?:^M=:<DMDMDM(DIEM: EMg:6EMc44:EI!m@!u@!u@!u@,pvH? w*}?o?:H ;? (:?4%? oT?`L?`@? ?I:Á?):ka;i:Ci )IiÄB9K#I iIHzW?ЗU?]Rշ? )ichecking for new query: numPingsReceived=9, elapsed TxPingTime=0.103894BD6DaYƼ!$=Q)> H?9 H?9GYFA>AQ 1M4٪E:?Q 5M4Ev EB9IYM?Q EU?yEC)EN:IE[:iEތ4YY]{Ayhh?)AhAhAh?zKb5@`?+@j,pvH? w*}?o?h=h4QO#@P}4@6D @rL1j? `?Rɡ?hAh@@h(7d4?hC~ThxB*iZWIʜ?2iWHJ:iBi^A"iȬ?  addTargetRange:: Added new target pos. range: 22.000000 m, deltaT: 3.527773 s, deltaX: -1.900000 m, approachRate: -0.538583 m/s, rangeRepo size: 4 = Added new target pos. range: 21.872055 m, bearing: 73.860767 deg, lat: 36.779334 deg, lon: -121.859568 deg, deltaT: 3.527773 s, deltaX: -1.889235 m, approachRate: -0.535532 m/s, posRepo size: 4 g9EDNOT Ignoring new targets: 21.87 m.gAgEgAu ProNav: ac range: 21.872055 m, nav range: 21.671051 m, bearing: 77.342052 deg, approach rate: 0.000000 m/s, LOS rate: -0.109339 deg/s, cmd heading: 67.321602 deg, new cmd heading: 67.207702 deg. gy}HeadingCmd: 1.172996 target range: 21.872055 and range: 22.00 m.g$?ggggzfrfffBdddc6@cV ?ɢBB< I .n.=ɡ i I ?I $?iUf=i]=)]$?)aԙchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.239528i!))-3)Թ >AM K=vB= Ŀ>~B9 B= "#IB= BB9 B9 B9 B= O];B9 checking for new query: numPingsReceived=9, elapsed TxPingTime=0.490378AIIN> l,)AyV?ٱV/?ViH=Vzq9q9uGYq}ۃA}>Q 14٪AU ==bA] lAZA] lA A I I N >s,ސ)Ay69g?ٱ6\?6!F=6<6H g?\!ˆ?? ~? ?dר ? ?I69g?)6sa;i6CBB9B:#IBDJ6DJ:Yn!rU=r,Q)r>t9t9vGYvFvHAv>xQ 1~4٪z??Q 54z=k zB9Y?Q E?yz*C)z+;IzY;iz4Y 0B AEg1=DNOT Ignoring new targets: 21.87 m.g9gE%gE%U ProNav: ac range: 21.872055 m, nav range: 21.229536 m, bearing: 77.235621 deg, approach rate: -0.592329 m/s, LOS rate: -0.144782 deg/s, cmd heading: 67.098706 deg, new cmd heading: 66.992637 deg. gU{UHeadingCmd: 1.169242 target range: 21.872055 and range: 22.00 m.g]?gYgYgYgYzfYrfafafaBdadidicicm@?ɢ}BR< 顝ǾI F ,=ɡiI1I?i f=i$=)?)Թ) checking for new query: numPingsReceived=9, elapsed TxPingTime=0.995603iqqqu/qDMDMDM)DIEMD: EM:6EMFA4:EI!U@!U@!U@!U@>A~=A AI I N% > checking for new query: numPingsReceived=9, elapsed TxPingTime=1.247411A y,n)Ay64>?ٱ63?6D=6<6H@{z?Y??h?`-? i?)6j[a;i6CBB9B3#I Mb@Mb@Mb@ ) I i   q= ףp?v/?  ? x= I i  OA )  = ABDu6DuܲY!@=YQ)>K?9K?9GYF@A>Q 14٪A?Q 54e B9?Q A:Y?Q E?yIC){:Io:i(4Y AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 21.87 m.gghgh ProNav: ac range: 21.872055 m, nav range: 20.993643 m, bearing: 77.179818 deg, approach rate: -0.553357 m/s, LOS rate: -0.132372 deg/s, cmd heading: 66.992640 deg, new cmd heading: 66.879781 deg. gArHeadingCmd: 1.167272 target range: 21.872055 and range: 22.00 m.g.i?ggg g zf rf ff]BBdddcc%Z'?ɢM{BU\q< QU{˾IY ]*=ɡYiYI]{b*Ie.i?iemf=ie=)e.i?)iAqAqvB}ȿ>~ByB}#IB}BB} =ByB}iDB}2];B}"Ei    /Achecking for new query: numPingsReceived=9, elapsed TxPingTime=1.498428>A!=DeDeDe*DaEe: Ee:6Ee(N4:Eay"Ee<ԙ ʀ,Q)Ay^/&?ٱ^?^B=^<^H? Uգ?@ ?:?Թ?EQ ?]?I^/&?)^ a;i^CrB9r/#IBD6DY!%Q=%Q)%>)9)95GY1=DA=>AQ 1M4٪EBD?Q 5M4E__ EߞB9QYU?Q EU?yEeC)E:]checking for new query: numPingsReceived=9, elapsed TxPingTime=1.750559IEe;iE4Yim$AigDNOT Ignoring new targets: 21.87 m.gg)g) ProNav: ac range: 21.872055 m, nav range: 20.775774 m, bearing: 77.127601 deg, approach rate: -0.552901 m/s, LOS rate: -0.133906 deg/s, cmd heading: 66.879778 deg, new cmd heading: 66.774248 deg. guHeadingCmd: 1.165430 target range: 21.872055 and range: 22.00 m.g,?ggggzfrfffBdddcc`r?qɢ5xB5W< 9=̾I9 =^)=ɡ9iAIEM#Im,?im g=iu=)u,?)yi}>yy/@lA@lAԡ5 checking for new query: numPingsReceived=9, elapsed TxPingTime=2.005874>A D%=Du Du Du 'Dq Eu : Eu i:6Eu '4:Eq ! @! @! @! @ A IQ I N >+,)Ays ?ٱ?}@= b<H? K.5??p?o?`Û?@?Is ?)`;iC-B9-)#Ii5=I1Mb@Mb@Mb@ )Ii rh?rh|?Mb`?C ?=;I| Ai A A) ABD6D1Y!9=Q)>99GYF#A>Q 14٪F?Q 54X ڞB9?Q A:Yx?Q E?yC)w:II:i4Y  GA g15DNOT Ignoring new targets: 21.87 m.g1g=:9g=:9M ProNav: ac range: 21.872055 m, nav range: 20.532127 m, bearing: 77.057420 deg, approach rate: -0.555609 m/s, LOS rate: -0.161938 deg/s, cmd heading: 66.774245 deg, new cmd heading: 66.632218 deg. gM.UHeadingCmd: 1.162952 target range: 21.872055 and range: 22.00 m.gU۔?gQgQgQgYzfYrfYafafe`BBdididicicu`@ɢ5vB5n< 15ξI1 ]?'=ɡYiYIeIm۔?im'g=imS=)m۔?)qchecking for new query: numPingsReceived=9, elapsed TxPingTime=2.254440iU?QQU/QԑvB ɿ>~B B #IB BB =B B B ];B "EBBBBȵ =Bȵ =B.`5>A L= checking for new query: numPingsReceived=9, elapsed TxPingTime=2.506398A yA I I! N- >L,7)Ay>?ٱ>X?>չ>=><>H` ?Ѡ??7?_/? է?`?I>?)>1p`;i>CJB9J#IBDR6DRYZD_!Z`=ZQ)^>^ H?9^ H?9^GYbFb׺Ab>dQ 1j4٪fH?Q 5j4fS f֞B9hYjc?Q En?yfC)f:If:if4YprApg  DNOT Ignoring new targets: 21.87 m.gg;g;% ProNav: ac range: 21.872055 m, nav range: 20.330067 m, bearing: 76.998304 deg, approach rate: -0.555238 m/s, LOS rate: -0.164058 deg/s, cmd heading: 66.632218 deg, new cmd heading: 66.512811 deg. g%-HeadingCmd: 1.160868 target range: 21.872055 and range: 22.00 m.g-O?g)g1g1g1zf1rf1f9f9Bd9d9dAcAcE@rD=jD%=DDD+DEl; Ez:6E [4:E"EPFAMGg=y A AI I N >3,˟Q)A y60߀?ٱ6Ԝ?6<=6S<6H@?n`u?@?]? ?z??I60߀?)6 `;i6CnB9n#IBDv6DvY~9M!~F=TQ)>K?9K?9 GY  A >Q 14٪>K?Q 54M ҞB9!Y%H?Q E%?yC);I;iL4Y-/B-A-EgQUDNOT Ignoring new targets: 21.87 m.gYg]3>ge3>m ProNav: ac range: 21.872055 m, nav range: 20.100952 m, bearing: 76.930365 deg, approach rate: -0.554451 m/s, LOS rate: -0.166286 deg/s, cmd heading: 66.512812 deg, new cmd heading: 66.375384 deg. gm)uHeadingCmd: 1.158469 target range: 21.872055 and range: 22.00 m.guH?gqgygygyzfyrfyffBdddcc@@ɢrB;.< 顽i׾I ?%=ɡiI4 IH?i[g=i|=)H?) >BDAT read: Rx Time:05:24:24.0205 TRx dataTimestamp_ set to:1755840265.356969checking for new query: numPingsReceived=9, elapsed TxPingTime=3.012301iQQQU0Q@]=@]=yDDDDE1; E:6E:E!@!@!@!@ԡ>A2= A yAI I! i- >I- %=- checking for new query: numPingsReceived=9, elapsed TxPingTime=3.262726N= >],zk)Ay6ҫ?ٱ6c?6;=6<6H@?`;g?\?/?`"?F``?C?I6ҫ?)6_;i4BB9B#I)D FAP Mb@Mb@Mb@ ) I i   @5^I ?&1?~jt? b? P= D H?9 H?9GYFJmA>Q 1}4٪P?Q 54_GvBȿ>~BB"IBBBBBB\;B"E ОB9M?Q AM:YU?Q EU?yC)~=I`=i4Y]7B]A]EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 21.87 m.gg=H:g=H: ProNav: ac range: 21.872055 m, nav range: 19.853811 m, bearing: 76.951385 deg, approach rate: -0.508238 m/s, LOS rate: 0.043766 deg/s, cmd heading: 66.375382 deg, new cmd heading: 66.417946 deg. g1:HeadingCmd: 1.159212 target range: 21.872055 and range: 22.00 m.ga?gg!g!g!zf!rf!fIfMFBBdIdIdQcQcU @ɢoB`< ־I) -΄#=ɡ)i)I-I5a?i5~g=i5ؤ=)5a?)9DAT read: 05:24:24.0205 LVL= 25840, 32241, 22162, 29747, AGC= 58, IDX= 417, 0.03,-1.970, 2.596,-1.821,-2.139, PHS= 0.270,-1.503, 0.273, RAW= 150.1, 10.8, CAL= 149.9, 11.9, ROT= 0.1, -11.9 Ygot valid direction response: 05:24:24.0205 LVL= 25840, 32241, 22162, 29747, AGC= 58, IDX= 417, 0.03,-1.970, 2.596,-1.821,-2.139, PHS= 0.270,-1.503, 0.273, RAW= 150.1, 10.8, CAL= 149.9, 11.9, ROT= 0.1, -11.9 PDAT read: Bearing 247.4, -1.8 (Local) ~Local bearing/azimuth received: Bearing 247.4, -1.8 (Local) DAT read: Range 11 to 50 : 20.2 m (Round-trip 27.0 ms) speed 0.4 m/s ,DAT read: user:7495> BDAT read: Tx time:05:24:25.1393 $Ping request sent.)NbIƋ>iϩ'@A>p'@ȭT>: ȭTiIPgC2?Q?D ?j?=A :)ȭTi5:publishing transmit ping timeY=Fpublishing direction and range info9*O?̅v3[?Fa5d?i )Ii iIPgC2?Q?D ?i0 )ichecking for new query: numPingsReceived=10, elapsed TxPingTime=0.030790bDZDAABEe(N4JEe͋4REeFs3DDDhDEf; EZ:6EA{5:E"EWA ==A I I) = checking for new query: numPingsReceived=10, elapsed TxPingTime=0.237655NE >׽,M)Ayjd}?ٱjr?j":=j99GYFr[A>Q 14٪U?Q 542A ͞B9Y?Q E?yC)'8;Ic2;ik4Y!%MA!hhw)AhAhAhY?z|3@z?@j*O?̅v3[?Fa5d?h:hȭTڅW@S]2@Q @rC5*? _?9?hҔAh@hrΕ?h/5Wh B*i> y?2iP:iBiA"i? addTargetRange:: Added new target pos. range: 20.200001 m, deltaT: 3.527826 s, deltaX: -1.799999 m, approachRate: -0.510229 m/s, rangeRepo size: 4  Added new target pos. range: 20.082790 m, bearing: 69.824592 deg, lat: 36.779342 deg, lon: -121.859570 deg, deltaT: 3.527826 s, deltaX: -1.789265 m, approachRate: -0.507186 m/s, posRepo size: 4 gDNOT Ignoring new targets: 20.08 m.ggg ProNav: ac range: 20.082790 m, nav range: 19.636328 m, bearing: 74.087103 deg, approach rate: 0.000000 m/s, LOS rate: 0.043766 deg/s, cmd heading: 66.417948 deg, new cmd heading: 66.452640 deg. g!%HeadingCmd: 1.159817 target range: 20.082790 and range: 20.20 m.g%t?g)g)g)g)zf)rf)f1f1Bd19dQdYc]@334@c} ?ɢmBP&< 顭߾I r"=ɡiIJIt?i5g=i5=)5t?)9ig0i)ߡ ߡchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.489949ԑ >A 2=D D D /D E a: E n:6E J4:E ! @! @! @! @Ae AIq I N >Z,a)AyF Q?ٱFF?F7=F ףp=?Zd;?y&1|]?]=]`I]| AiY]A]bA)Y] ABD6DfYH|!B=Q)>K?9K?9GYlTA>Q 14٪X?Q 54: ǞB9<?Q A:YT?Q E?yC)Y;IJ;i%4YAgchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.741788DNOT Ignoring new targets: 20.08 m.ggg󉻝% ProNav: ac range: 20.082790 m, nav range: 19.400412 m, bearing: 73.989480 deg, approach rate: -0.575902 m/s, LOS rate: -0.241210 deg/s, cmd heading: 66.452638 deg, new cmd heading: 66.255017 deg. g-ܻ-HeadingCmd: 1.156368 target range: 20.082790 and range: 20.20 m.g-?g1g1g1g1zf1rf1Yf9feHBBdadadacicm?ɢkBw; 9=I9 =م =ɡ9i9I= IE?iEg=iE=)M?)I)Yi2@@mAԉvBʿ>~BҍCB"IByBBBBB ];B"EԱ >A (S= checking for new query: numPingsReceived=10, elapsed TxPingTime=0.994730Aa Iq I N pL,)ArDjD<DDD+DE : EZ:6E [4:E"ED"99GYF鑻A >Q 14٪y\?Q 54e2 B9Y?Q E?yCC)-/;ԩIH%;iz/4Yy}AgDNOT Ignoring new targets: 20.08 m.gg%g%5 ProNav: ac range: 20.082790 m, nav range: 19.073553 m, bearing: 73.852638 deg, approach rate: -0.552644 m/s, LOS rate: -0.235333 deg/s, cmd heading: 66.255021 deg, new cmd heading: 65.976649 deg. g5W׻=HeadingCmd: 1.151510 target range: 20.082790 and range: 20.20 m.g=d?g9g9g9g9zfArfAfAfABdIdIdIcIcM੕?ɢ}gB}:A< y} Iy k=ɡiIAvֺId?ig=iW=)d?) i 0  M checking for new query: numPingsReceived=10, elapsed TxPingTime=1.497673>A]S-=DDDDE; Eą:6E:E!@!@!@!@9AQIaIqN ?J,ٔ)AyeZ?ٱe墛?e8=e9x1919=GY=F=ǻA=>AQ 1U4٪EG_?Q 5U4ET, EB9YY?Q E?yEaC)E=ɡiI$źI?i g=i}=)?) iM>IIMI0IA A AAvB% ˿>~B! B% "IB% jBB% =B% HDB! B% 6];B% "E9 >Am ==)) ) 5 checking for new query: numPingsReceived=10, elapsed TxPingTime=2.002216a I I N >N,)Ay6~?ٱ6M?6s:=6W<6H>_?N=??v?`Š?S8?6?I6~?)68^`;i4>vB9>"IUMb@Mb@Mb@ Q)QIQiQQUCl?X9v?y&1|U?U=QIQiU5 AUAU A)QQBDm6DmY}f.=!}N=:Q)>99GYٻA>Q 14٪a?Q 54v& B9W?Q A:Y*?Q E?y~C)Q:If:iQ=4YAB*** querying acoustic contact ***DDD*DE; E:6E(N4:E"EbA ^=A I I N >ہ,)Ay6}?ٱ6?6 ;=6T<6H ? !@~?N?ढ??nI?*?I6}?)6N`;i6CBeB9B"I)D FAJX9X9ZGYZFZsA^>`Q 1b4٪bd?Q 5f4b  bB9dYfƶ?Q Ef?ybC)b):Ib :ibC4YhjAlgDNOT Ignoring new targets: 20.08 m.gg g  ProNav: ac range: 20.082790 m, nav range: 18.406189 m, bearing: 73.560288 deg, approach rate: -0.575751 m/s, LOS rate: -0.259972 deg/s, cmd heading: 65.577978 deg, new cmd heading: 65.384974 deg. g%HeadingCmd: 1.141183 target range: 20.082790 and range: 20.20 m.g%I?g!g!g!g!zf)rf)f)f)Bd1d1d1c1c5@U@ɢe`Be]: aeIi m=ɡiiiImܯIuI?iu,h=iu:=)uI?)checking for new query: numPingsReceived=10, elapsed TxPingTime=2.505860Qi/DDD8DE ; E|:6EF4:E!@!@!@!@ԁ>Aa5=I9IQN>ԩ iE >IE <M checking for new query: numPingsReceived=10, elapsed TxPingTime=2.757938,,)Ay6}?ٱ6v?6k<=6ڠ<6H? ¡??@?I`? ??I6}?)6KK`;i6C@B`B9B"I5Mb@Mb@Mb@ 1)1I1i115Fx?ʡE?Mb`5 ?5=5I1i5K A5fA1)153 ABDM6DM02Yuż!u>=}9Q)}>99GYFA>Q 14٪g?Q 54 B9?Q A:Y?Q E?yC)T ;I ;igK4YAgDNOT Ignoring new targets: 20.08 m.ggRgR ProNav: ac range: 20.082790 m, nav range: 18.168205 m, bearing: 73.458957 deg, approach rate: -0.552578 m/s, LOS rate: -0.238366 deg/s, cmd heading: 65.384971 deg, new cmd heading: 65.179653 deg. gڻHeadingCmd: 1.137600 target range: 20.082790 and range: 20.20 m.gݜ?ggggzfrfff-BBdddcc `>@ɢ5^B=Ѐv; 9=I9 =5?=ɡ9iAIE IEݜ?iMKh=iI)Mݜ?)IvB}ɿ>~B}эCB}"IB}[BB} =B}IDByB}0];B}"EԱiiiim/iBDAT read: Rx Time:05:24:27.5678 TRx dataTimestamp_ set to:1755840268.884633checking for new query: numPingsReceived=10, elapsed TxPingTime=3.010906rDjD<DDD*DE: E:6E(N4:E"E5A1IIN> ԓ,ǝF)Ay610|?ٱ6 ?6x<=6"ғ<6H?` ?@?`z?֨? 󌧿u?@?I610|?)6?l`;i6CNUB9R"IBDV6DVkY^l!bV=b9Q)b>`9d9fGYdf= Af>hlQ 1r4٪j_j?Q 5r4j jB9pYv?Q Ev?yjC)j);Ij*;ij R4Yxz Axchecking for new query: numPingsReceived=10, elapsed TxPingTime=3.261720gDNOT Ignoring new targets: 20.08 m.ggg ProNav: ac range: 20.082790 m, nav range: 17.958027 m, bearing: 73.369382 deg, approach rate: -0.526216 m/s, LOS rate: -0.226889 deg/s, cmd heading: 65.179655 deg, new cmd heading: 64.998410 deg. gϻ%HeadingCmd: 1.134436 target range: 20.082790 and range: 20.20 m.g%55?g!g!g)g)zf)rf)fqfqBdyddcc~ @ɢU[BUP; QUIY ]o=ɡYiYI]{Ie55?iekh=ie(=)e55?)i 99?BIDAT read: 05:24:27.5678 LVL= 21872, 29025, 19954, 31011, AGC= 57, IDX= 422,-0.01,-0.465,-2.157,-0.238,-0.567, PHS= 0.205,-1.545, 0.285, RAW= 152.2, 11.8, CAL= 152.2, 13.0, ROT= 357.8, -13.0  Ygot valid direction response: 05:24:27.5678 LVL= 21872, 29025, 19954, 31011, AGC= 57, IDX= 422,-0.01,-0.465,-2.157,-0.238,-0.567, PHS= 0.205,-1.545, 0.285, RAW= 152.2, 11.8, CAL= 152.2, 13.0, ROT= 357.8, -13.0  PDAT read: Bearing 247.2, -4.3 (Local)  ~Local bearing/azimuth received: Bearing 247.2, -4.3 (Local) iu >y y } 5y  DAT read: Range 11 to 50 : 18.3 m (Round-trip 24.4 ms) speed 0.4 m/s  ,DAT read: user:7496>  BDAT read: Tx time:05:24:28.6893  $Ping request sent. )ſI>iP*@BR>P*@Vh>M@ VhiI%8?y'ᝳ?h??7R F)Vhi} :publishing transmit ping timeY  Fpublishing direction and range info9'(?tͧ&:/2?i )IiD D D -D E : E :6E t4:E ! @! @! @! @ iI%8?y'ᝳ?h? )im checking for new query: numPingsReceived=11, elapsed TxPingTime=0.052451>AY rAm ?jAm ?ԙ I IN>,3e)A}checking for new query: numPingsReceived=11, elapsed TxPingTime=0.215732NB9"IMb@Mb@Mb@ )Iish|??i|?5?{Gzt ?=ףI AiAA) ABD 6D:2YY! =Q)%>)9)9-GY-F5A5>9Q 1=4٪=n?Q 5E4=  =B9eA ?Q Ae:Ye?Q Ee?y=C)=;I=;i=\4Yqu<Au֦EhQhUX)AhUAhUAhUo?zU Wy1@MWYB^@jU'(?tͧ&:/2?hUFhUVhUG@Pk0@D @rUL?%;R?2 3?hU\AhU@hUndƝ?hUa\hUӊB*iU(7d4?2iUC~T:iUxBiUA"iU"-?% addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 3.528530 s, deltaX: -1.900002 m, approachRate: -0.538468 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.193844 m, bearing: 66.542753 deg, lat: 36.779345 deg, lon: -121.859572 deg, deltaT: 3.528530 s, deltaX: -1.888947 m, approachRate: -0.535335 m/s, posRepo size: 4 g15DNOT Ignoring new targets: 18.19 m.g1g=g9m ProNav: ac range: 18.193844 m, nav range: 17.565937 m, bearing: 72.146262 deg, approach rate: 0.000000 m/s, LOS rate: -0.226889 deg/s, cmd heading: 64.998409 deg, new cmd heading: 64.727914 deg. giuHeadingCmd: 1.129715 target range: 18.193844 and range: 18.30 m.gu?gqgqgqgqzfyrfyff/BBdddcL2@c?A<A=vB̿>~BҍCB"IBKBBBBB2];B"EBҍCBҍCBBų =Bų =BŎ4ɢ]WB]4=; YehIa e=ɡaiaIeJIm?imdh=im=)m?)q15 checking for new query: numPingsReceived=11, elapsed TxPingTime=0.4679529 A=h=i>I:?checking for new query: numPingsReceived=11, elapsed TxPingTime=0.720882ԹAiIyIN?,V،)A=B9"IBD%6D%JYU!]=YQ)]>a9a9eGYeFaAe>qQ 1}4٪u1r?Q 5}4u uB9yYyQ E}?yu"C)u<:Iu:iue4Y=BAצEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 18.19 m.ggg ProNav: ac range: 18.193844 m, nav range: 17.284277 m, bearing: 71.995291 deg, approach rate: -0.560906 m/s, LOS rate: -0.305545 deg/s, cmd heading: 64.727913 deg, new cmd heading: 64.421056 deg. g HeadingCmd: 1.124359 target range: 18.193844 and range: 18.30 m.g?ggggzfrfffBdddcc?ɢTB@D: %T I! %=ɡ!i!I% ;I-?i-gh=i-=)5?)1)9 9i9I9Iqchecking for new query: numPingsReceived=11, elapsed TxPingTime=0.972406iYYYaaDMDMDM*DIEMV: EM|:6EM(N4:EI!U@!U@!U@!]@ԡ>Au t=  checking for new query: numPingsReceived=11, elapsed TxPingTime=1.223784A yAI I N >w,W)Ay6y?ٱ6?6\m9=6hUw<6H ?r??@?`?+@D??I6y?)6a;i6Cb6B9b"IMMb@Mb@Mb@ I)IIIiIIM#~j?"~j?Mb`M?MS=MIIiM AM| AI)IM ABDe6De Yu !u2=uӺQ)}>} H?9} H?9}GY}F;A>Q 14٪u?Q 54 B9?Q A:Y?Q E?yAC) ;I ;im4YB0AgIMDNOT Ignoring new targets: 18.19 m.gIgUޗgUޗe ProNav: ac range: 18.193844 m, nav range: 17.041666 m, bearing: 71.875164 deg, approach rate: -0.528778 m/s, LOS rate: -0.265549 deg/s, cmd heading: 64.421053 deg, new cmd heading: 64.177379 deg. ge򻝅HeadingCmd: 1.120107 target range: 18.193844 and range: 18.30 m.g_?ggggzfrfffBBdddccࠨ?ɢMPBM7 IMJ II U=ɡQiQIUF(޹I]_?i]gh=i]=)]_?))vB%ʿ>~B!B%"IB%7BB!B%HDB!B%k];B%#E9i=?99=n19uchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.476023y>A= =bAA ZAE kABEM [4JEM^n4REM?1D D D )D E O: E $:6E FA4:E "E ,)AyZx?ٱZg?Z 5=ZMt9x9zGYxzAz>|Q 14٪~x?Q 5 4~b ~B9 Y 4?Q E ?y~\C)~:I~:i~St4YAqgDNOT Ignoring new targets: 18.19 m.ggg ProNav: ac range: 18.193844 m, nav range: 16.838007 m, bearing: 71.773548 deg, approach rate: -0.507457 m/s, LOS rate: -0.256259 deg/s, cmd heading: 64.177380 deg, new cmd heading: 63.971690 deg. g}껝HeadingCmd: 1.116517 target range: 18.193844 and range: 18.30 m.g?ggggzfrfffBdddcc?ɢ]MBe ae Ia eG =ɡiiiImrI?iii=i3=)?)checking for new query: numPingsReceived=11, elapsed TxPingTime=1.730425i4ԡ>Aas=AqIyIN~> checking for new query: numPingsReceived=11, elapsed TxPingTime=1.983783 ,&)Ay:Ex?ٱ:?:R0=:3<DBDBDB-D@EBa: EB:6EBt4:E@!J@!J@!J@!J@:H t?}Ԛ?̨?`?O?6k??I:Ex?):}_;i:CR-B9R"IBDZ6DZYf%P!fL=f[Q)f>h9h9jGYjFjƻAn>pQ 1r4٪r{?Q 5v4r rB9tYv?Q Ev?yrwC)r:Ir[:irO{4Yx~rA|g!%DNOT Ignoring new targets: 18.19 m.g!g-Lg-L= ProNav: ac range: 18.193844 m, nav range: 16.626787 m, bearing: 71.667314 deg, approach rate: -0.550284 m/s, LOS rate: -0.280284 deg/s, cmd heading: 63.971688 deg, new cmd heading: 63.756522 deg. g=<EHeadingCmd: 1.112761 target range: 18.193844 and range: 18.30 m.gEn?gAgAgAgIzfIrfIfIfQBdQdQdQcQc]@^@ɢKB ƻ 額I *4 =ɡiIIn?i"!i=i*=)n?)yi / ԡchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.235863>AZ=AM AIQ Ia Nu >A A @AvB ſ>~B эCB "IB (BB =B IDB B ];B %#E 3<,#)Ar*B9r"Iechecking for new query: numPingsReceived=11, elapsed TxPingTime=2.487904Mb@Mb@Mb@ )IiE?1Zd?K?9K?9GYFA>Q 14٪:?Q 54 }B9n ?Q A:Yױ?Q E?yC);Ia;i₍4YB7AΦEg DNOT Ignoring new targets: 18.19 m.g gg% ProNav: ac range: 18.193844 m, nav range: 16.396767 m, bearing: 71.555208 deg, approach rate: -0.530904 m/s, LOS rate: -0.262376 deg/s, cmd heading: 63.756524 deg, new cmd heading: 63.529170 deg. g%𻝅-HeadingCmd: 1.108793 target range: 18.193844 and range: 18.30 m.g-?g)g)g)g)zf)rf1f1f5%BBd9d9d9c9cE@j@ɢmHBmz im Iq uQ8 =ɡqiqIu\8I}?i}BEi=i}v=)?)DDD*DE: EL_:6E(N4:E"Ez>AE =rAM ?jAM ?Y Aq Iy I N >H,0)AyRSw?ٱR:w?R1=RIp9p9rGYprPAv>tQ 1z4٪vt?Q 5~4v vwB9|Y~5?Q E~?yvC)v4:Ivo:iv4YEA %B*** querying acoustic contact ***zh!h!g15DNOT Ignoring new targets: 18.19 m.g1g=g=M ProNav: ac range: 18.193844 m, nav range: 16.191954 m, bearing: 71.456331 deg, approach rate: -0.531118 m/s, LOS rate: -0.259651 deg/s, cmd heading: 63.529167 deg, new cmd heading: 63.328912 deg. gMUHeadingCmd: 1.105298 target range: 18.193844 and range: 18.30 m.gUhz?gQgQgQgQzfQrfQfYfYBdYdYdacace@ɢEB`Sӻ 顕I nv=ɡiI59Ihz?idi=i!/=)hz?)i)))))>AM=)9 9EBDAT read: Rx Time:05:24:31.1154 MTRx dataTimestamp_ set to:1755840272.420102Mchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.996538D]D]D])DYE]O: E]xv:6E]FA4:EY!e@!e@!e@!e@AIIN`>A  checking for new query: numPingsReceived=11, elapsed TxPingTime=3.248218m ,+)Ay:Lv?ٱ: ?:=:9<:HT?M̘?`!? ^?@P?@z]5?#?I:Lv?):m`;i:CB$B9B"I Mb@Mb@Mb@ ) I i   S㥛?X9v?{Gzt $? = ףI  Ai   A bA)  ( ABD-6D-kY5!5E=}]ѻQ)}>99GYFw׻A>Q 14٪?Q 54 rB9 ?Q A:Y?Q E?yC)X ;Iz ;i4YBbAgDNOT Ignoring new targets: 18.19 m.ggg- ProNav: ac range: 18.193844 m, nav range: 15.967542 m, bearing: 71.328845 deg, approach rate: -0.525125 m/s, LOS rate: -0.302511 deg/s, cmd heading: 63.328913 deg, new cmd heading: 63.070358 deg. g-h 5HeadingCmd: 1.100785 target range: 18.193844 and range: 18.30 m.g5?g1gQgQgQzfQrfYfYfuBBdqdqdycyc} @ɢBB@! 顭,I s=ɡiI9I?iɉi=iz=)?)YvB}ƿ>~ByB}y"IB}BB} =ByByB}];B}+#EiyyԁDAT read: 05:24:31.1154 LVL= 20208, 25425, 20722, 30195, AGC= 55, IDX= 413,-0.12,-1.473,-3.086,-1.180,-1.528, PHS= 0.157,-1.513, 0.304, RAW= 154.2, 12.0, CAL= 154.3, 13.4, ROT= 355.7, -13.4 Ygot valid direction response: 05:24:31.1154 LVL= 20208, 25425, 20722, 30195, AGC= 55, IDX= 413,-0.12,-1.473,-3.086,-1.180,-1.528, PHS= 0.157,-1.513, 0.304, RAW= 154.2, 12.0, CAL= 154.3, 13.4, ROT= 355.7, -13.4 PDAT read: Bearing 246.1, -6.0 (Local) ~Local bearing/azimuth received: Bearing 246.1, -6.0 (Local) DAT read: Range 11 to 50 : 16.4 m (Round-trip 21.9 ms) speed 0.4 m/s  ,DAT read: user:7497> BDAT read: Tx time:05:24:32.2393 $Ping request sent.Al9=^direction in FSK: [0.970038,-0.072937,0.231748] :publishing transmit ping timeY Fpublishing direction and range info9Y]-s ?=Q{] A?]3AYi]N]Qc]P]u]7 ] >)]I]㥛>i]9>,@]PwV>]Z,@]|o>]@ ]|oiYYI]6 ?o+r?s&?][?]تVrDi jDm =Du Du Du .Dq Eu : Eu Ar:6Eu ـ4:Eq "Eu D"U,JE)Ay6u?ٱ6轖?6b =6}<6H Ԁ? @\?׊?؈?9?" Q? ?I6u?)6'@a;i6C@n"B9n"IBD~6D~ܲY-e!-K=-ڻQ)->5 H?95 H?95GY5F}A}>Q 14٪?Q 54 nB9Y[?Q E?yC)>:IW:i4YrAhhq;)AhoAhoAh?z?ðAߡ/@)cL;:@j-s ?=Q{] A?h)h|o@wW,@% @r䘚Of?@ ?9f?hcAh@heꝊ?hz<8fhB*irΕ?2i/5W:i BikA"ih?checking for new query: numPingsReceived=12, elapsed TxPingTime=0.207864 addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 3.535369 s, deltaX: -1.900000 m, approachRate: -0.537426 m/s, rangeRepo size: 4  Added new target pos. range: 16.304682 m, bearing: 63.079764 deg, lat: 36.779355 deg, lon: -121.859574 deg, deltaT: 3.535369 s, deltaX: -1.889162 m, approachRate: -0.534361 m/s, posRepo size: 4 gDNOT Ignoring new targets: 16.30 m.ggg!} ProNav: ac range: 16.304682 m, nav range: 16.052269 m, bearing: 67.158192 deg, approach rate: 0.000000 m/s, LOS rate: -0.302511 deg/s, cmd heading: 63.070356 deg, new cmd heading: 62.811308 deg. gyHeadingCmd: 1.096264 target range: 16.304682 and range: 16.40 m.gbR?ggggzfrfԩffBdddc`ff0@cI?ɢ%?B- )-I) -g=ɡ1i1I5*9I5bR?i=i=i=#=)=bR?)9i=!! >AI } checking for new query: numPingsReceived=12, elapsed TxPingTime=0.461081AU AIY Iq D} D} Dy Dy E} s!; E} z:6Ey :Ey ! @! @! @! @N >,_)Aiy6Fu?ٱ64y?6<6<6H@+?`9@??(?`֘?#ޜ??I6Fu?)6Fa;i4BB9B"IBDJ6DJNLYRͼ!VO=V&Q)V>VK?9ZK?9ZGYXZĭAZ>\Q 1b4٪^?Q 5b4^ ^jB9dYf?Q Ef?y^C)^K:I^:i^ў4YhjAlgDNOT Ignoring new targets: 16.30 m.ggBg B ProNav: ac range: 16.304682 m, nav range: 15.849931 m, bearing: 66.989206 deg, approach rate: -0.519415 m/s, LOS rate: -0.439335 deg/s, cmd heading: 62.811308 deg, new cmd heading: 62.469025 deg. gIHeadingCmd: 1.090290 target range: 16.304682 and range: 16.40 m.g?ggggzfrf!fQfQBdYdadccYO?ɢ:I?ii=i=)?)checking for new query: numPingsReceived=12, elapsed TxPingTime=0.712185i?%/!A- <A- <vB5 ǿ>~B1 B5 s"IB5 BB5 =B1 B1 B5 ];B5 '#E! >AE =Aq Iy I N >\,3jz)A)L LNchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.963441\UB9U{"IMb@Mb@Mb@ )Ii#~j?)\(?~jtx?G=ĻI Ai5 A AA)z ABD6DYX!3=Q)>99 GY F A>Q 14٪?Q 54N eB9%?Q A%:Y% ?Q E%?y"C):I:iͦ4Y)5A1gauDNOT Ignoring new targets: 16.30 m.gqgg ProNav: ac range: 16.304682 m, nav range: 15.611459 m, bearing: 66.798983 deg, approach rate: -0.560659 m/s, LOS rate: -0.454055 deg/s, cmd heading: 62.469026 deg, new cmd heading: 62.082774 deg. gOHeadingCmd: 1.083549 target range: 16.304682 and range: 16.40 m.g?ggggbDZDDDD,DE: E6Eg4:E"E6A] =rAe ?jAe ?9 A yAI I N >$, P)Ay6`&t?ٱ6?6u<6|<6H?{{@z?.{?? ~ڑ?@}?`c?I6`&t?)6Mca;i4> B9Bi"IBDJ6DJkYND!Nc=Rr^Q)R>R H?9V H?9VGYVFV]AZ>XQ 1^4٪Z?Q 5b4ZX ZbB9`Yb?Q Eb?yZ;C)Z:IZ:iZ4YjBjAjŦEzB*** querying acoustic contact ***zhxhxg|DNOT Ignoring new targets: 16.30 m.ggzg z  ProNav: ac range: 16.304682 m, nav range: 15.423767 m, bearing: 66.647533 deg, approach rate: -0.521262 m/s, LOS rate: -0.425728 deg/s, cmd heading: 62.082772 deg, new cmd heading: 61.776190 deg. gB%HeadingCmd: 1.078198 target range: 16.304682 and range: 16.40 m.g%d?g!g!g)g)zf)rf)f1f1Bd1d1d9c9c=n?ɢe7Bea im4Ii mr%<ɡqiqIuR:Iud?i}i=i}S=)}d?)yiy5checking for new query: numPingsReceived=12, elapsed TxPingTime=1.4689609>A]=DDD-DE: Exv:6Et4:E!@!@!@!@AIIN`>yԑ U checking for new query: numPingsReceived=12, elapsed TxPingTime=1.719148G*,( )Ay6)s?ٱ6ŕ?6}<6φ<6H?@t1? t??}D?Ϙ@~ؐ?|?I6)s?)6a;i6CBB9B|"I Mb@Mb@Mb@ ) I i   sh|??y&1?y&1|  ? `= `I i K A  A  A)   ABD%6D%βY-`=!5B=56Q)5>1y999GY0A>Q 14٪?Q 54) ^B9 ?Q A:Y?Q E?yYC):I:i4YAgDNOT Ignoring new targets: 16.30 m.ggg ProNav: ac range: 16.304682 m, nav range: 15.189631 m, bearing: 66.457346 deg, approach rate: -0.538691 m/s, LOS rate: -0.444317 deg/s, cmd heading: 61.776192 deg, new cmd heading: 61.389962 deg. gIKHeadingCmd: 1.071457 target range: 16.304682 and range: 16.40 m.g%?g!g!g!g!zf!rf!f9fE BBdIdQdYcYc]`+?ɢ4BH ̻ 額 IvBɿ>~BBm"IBBB =BBB];B,#EBeэCBeэCBaBe´ =Be´ =BeY5 x/<ɡiI,n:I%?i$j=iy>)%?)Թi!!!%5!checking for new query: numPingsReceived=12, elapsed TxPingTime=1.971160>A=rD jD <D% D% D! D! E% ; E% 5:6E! :E! "E% R1,6)Ay>:s?ٱ>Ғ?><> <>H l ?`o ?p? A? @A?8?@?I>:s?)>a;i>CRB9Rq"IBDb6Db1Yj14!nP=rOQ)r>rK?9vK?9vGYvFz Az>|Q 1 4٪~?Q 5 4~ ~ZB9 Yկ?Q E?y~tC)~@;I~55;i~U4Y)-A)gimDNOT Ignoring new targets: 16.30 m.giguVguV ProNav: ac range: 16.304682 m, nav range: 14.985485 m, bearing: 66.287824 deg, approach rate: -0.530424 m/s, LOS rate: -0.446462 deg/s, cmd heading: 61.389959 deg, new cmd heading: 61.046301 deg. gDLHeadingCmd: 1.065459 target range: 16.304682 and range: 16.40 m.g`?ggggzfrfffBdddcc` @=checking for new query: numPingsReceived=12, elapsed TxPingTime=2.226712Aɢ2BLC 額 I jv<ɡiI$:I`?iPj=i>)`?)iU4aԑ>A= DDAT read: Rx Time:05:24:34.3880  TRx dataTimestamp_ set to:1755840275.448722 PDAT read: Bearing 245.4, -8.2 (Local)  ~Local bearing/azimuth received: Bearing 245.4, -8.2 (Local)  DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 I I N >5 DAT read: 05:24:34.3880 LVL= 19136, 24209, 18866, 30787, AGC= 56, IDX= 421,-0.26,-3.014, 1.703,-2.606,-3.008, PHS= 0.096,-1.527, 0.358, RAW= 157.4, 12.1, CAL= 157.6, 13.5, ROT= 352.4, -13.5 = Ygot valid direction response: 05:24:34.3880 LVL= 19136, 24209, 18866, 30787, AGC= 56, IDX= 421,-0.26,-3.014, 1.703,-2.606,-3.008, PHS= 0.096,-1.527, 0.358, RAW= 157.4, 12.1, CAL= 157.6, 13.5, ROT= 352.4, -13.5 = T#Rx 13: Read range and direction messages.e ^direction in FSK: [0.963828,-0.128602,0.233445]e Fpublishing direction and range info9 ޶3?Zv%E? 3kA i J ^ I Cx 8 =) tÿI K>i F/@ @X> x 0@ :Fq> :@ :Fqi I a/ڔ? I?/S? &? ]X ) :Fqi  checking for new query: numPingsReceived=13, elapsed TxPingTime=2.535032Թ D% D% D% ,D! E% ; E% :6E% g4:E! !- @!- @!- @!- @ 8,L)AyFr?ٱFfV?Fi9i9mGYmFuAu>Q 14٪蝛?Q 54 VB9Y?Q E?yC):I:i4YA ԙh!h%ܷ)Ah%iAh%iAh%e?z%6,,@pXc:K @j%޶3?Zv%E?h%h%:Fq%tS_@,C(@Yg~g@r% ?hMV_?x`t?h%2DAh%@h%dS?h%k*xh%+B*i%ndƝ?2i%a\:i%ӊBi%qmA"i%l? addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 2.524989 s, deltaX: -1.700000 m, approachRate: -0.673270 m/s, rangeRepo size: 4  Added new target pos. range: 14.614690 m, bearing: 59.085215 deg, lat: 36.779360 deg, lon: -121.859576 deg, deltaT: 2.524989 s, deltaX: -1.689992 m, approachRate: -0.669307 m/s, posRepo size: 4 gDNOT Ignoring new targets: 14.61 m.ggg ProNav: ac range: 14.614690 m, nav range: 14.840138 m, bearing: 63.751507 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 61.046298 deg, new cmd heading: 60.598885 deg. gHeadingCmd: 1.057650 target range: 14.614690 and range: 14.70 m.ga?ggggzfrfffBdd d c `ff-@c y:?-checking for new query: numPingsReceived=13, elapsed TxPingTime=2.727333ɢu/B}Б y}I 8<ɡiI&:Ia?ij=ia >)a?)ԹlAiU@QY]5Y@e>@e,>AAAAvBĿ>~BBBBBBhDB];B+#E PExceeded connect timeout, disconnecting.>A} >!  DDAT read: Rx Time:05:24:34.8877  TRx dataTimestamp_ set to:1755840275.953259% PDAT read: Bearing 245.0, -9.1 (Local) u ~Local bearing/azimuth received: Bearing 245.0, -9.1 (Local) I I N >e>,)A*DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 ^DAT read: 05:24:34.8877 LVL= 21024, 25201, 22098, 29683, AGC= 56, IDX= 498, 0.08,-3.002, 1.713,-2.559,-2.986, PHS= 0.086,-1.539, 0.383, RAW= 158.2, 11.9, CAL= 158.5, 13.3, ROT= 351.5, -13.3 bYgot valid direction response: 05:24:34.8877 LVL= 21024, 25201, 22098, 29683, AGC= 56, IDX= 498, 0.08,-3.002, 1.713,-2.559,-2.986, PHS= 0.086,-1.539, 0.383, RAW= 158.2, 11.9, CAL= 158.5, 13.3, ROT= 351.5, -13.3 bT#Rx 14: Read range and direction messages. ^direction in FSK: [0.962489,-0.143845,0.230050]Fpublishing direction and range info9jw?``ɂi¿gz}"Er?dAi RqbRVs =)ĿI>i 0@ȭT> 1@,m>P@ ,miIh;\dj?8zb?N~wD'p?g*? U BE^n4JEj4RE/DmDmDiDiEmD: Em:6Ei:Ei"Em199GYA>Q 1 4٪?Q 5 4 SB95?Q A5:Y5?Q E5?yC)P;I;i̍4YAEAIhh2)AhxcAhxcAh?z]+@t6\iW** @jjw?``ɂi¿gz}"Er?hh,mد(U@5:9]'@Lv!T@rŌށ?aBz?lB?h2=Ah@h鲿 ?h&{hB*ieꝊ?2iz<8f:iBitfA"i?E addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504537 s, deltaX: -0.400000 m, approachRate: -0.792805 m/s, rangeRepo size: 4 u Added new target pos. range: 14.216877 m, bearing: 58.192813 deg, lat: 36.779364 deg, lon: -121.859580 deg, deltaT: 0.504537 s, deltaX: -0.397813 m, approachRate: -0.788471 m/s, posRepo size: 4 gq}DNOT Ignoring new targets: 14.22 m.gygygy ProNav: ac range: 14.216877 m, nav range: 14.403323 m, bearing: 61.311350 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 60.598886 deg, new cmd heading: 60.142353 deg. gHeadingCmd: 1.049682 target range: 14.216877 and range: 14.30 m.g[?ggggzfrfff Bi=I=checking for new query: numPingsReceived=14, elapsed TxPingTime=3.231564Bdddc,@c?ɢ5,B=䝐 9= I9 =k<ɡ9iAIeP:Im[?imj=im`>)m[?)qi ?   2 >AE ~>rAU ?jAU ?I 9IaDDAT read: Rx Time:05:24:35.3875 TRx dataTimestamp_ set to:1755840276.457487PDAT read: Bearing 245.4, -9.7 (Local) ~Local bearing/azimuth received: Bearing 245.4, -9.7 (Local) DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 N5>CG,)y)ADAT read: 05:24:35.3875 LVL= 19808, 24929, 19794, 31395, AGC= 56, IDX= 496,-0.45, 1.131,-0.412, 1.582, 1.167, PHS= 0.065,-1.535, 0.370, RAW= 158.6, 12.4, CAL= 158.9, 13.9, ROT= 351.1, -13.9 Ygot valid direction response: 05:24:35.3875 LVL= 19808, 24929, 19794, 31395, AGC= 56, IDX= 496,-0.45, 1.131,-0.412, 1.582, 1.167, PHS= 0.065,-1.535, 0.370, RAW= 158.6, 12.4, CAL= 158.9, 13.9, ROT= 351.1, -13.9 T#Rx 15: Read range and direction messages.n^direction in FSK: [0.959029,-0.150180,0.240228]nFpublishing direction and range info9΂o]?s9ÿؼʿ?\Ai`MaaRMz =)zĿIp>im(1@k]>5~1@Ulx>[@ UlxiI9bo?ӭ|?LRcoo?fV,?2] )Ulxi=checking for new query: numPingsReceived=15, elapsed TxPingTime=3.546575DDD)DE: E:6EFA4:E!@!@!@!@yUp?ٱUA?U~1919=GY=F=ߜA=>AQ 1M4٪E?Q 5M4E" EPB9QYUΫ?Q EU?yEC)E{;IE;iEEԍ4Y]B]FA]EhhxG)Ah[Ah[Ah+?zP*@ H{] @j΂o]?s9ÿؼʿ?hhUlx$@W]P&@.t@rQ=?#wS?RZ?h4Ah@@hA ?hy<hB*idS?2ik*x:i+Bi\A"i\[?5 addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504228 s, deltaX: -0.500000 m, approachRate: -0.991615 m/s, rangeRepo size: 4 i Added new target pos. range: 13.719783 m, bearing: 57.371915 deg, lat: 36.779367 deg, lon: -121.859587 deg, deltaT: 0.504228 s, deltaX: -0.497094 m, approachRate: -0.985852 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 13.72 m.g!g!g)] ProNav: ac range: 13.719783 m, nav range: 13.754178 m, bearing: 58.350768 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 60.142356 deg, new cmd heading: 59.734434 deg. gY]HeadingCmd: 1.042563 target range: 13.719783 and range: 13.80 m.ger?gagagagazfarfafifiBdididqc+@c`t?checking for new query: numPingsReceived=15, elapsed TxPingTime=3.735232ɢ )B ϥ  I f!<ɡiI( :I5r?i5uk=i5p >)=r?)9ԉi|0vBM >~BM ЍCBI BI BM =BI BI BM ];BM #E nManaging dock network, ignoring radio surface power offԹ >A  >I1 IA Ne >6M,:)AeDDAT read: Rx Time:05:24:35.8875 yTRx dataTimestamp_ set to:1755840276.962141PDAT read: Bearing 245.4, -10.3 (Local) ~Local bearing/azimuth received: Bearing 245.4, -10.3 (Local) DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 y o?-DAT read: 05:24:35.8875 LVL= 21376, 25041, 20818, 30787, AGC= 56, IDX= 511,-0.07, 2.622, 1.083, 3.095, 2.673, PHS= 0.052,-1.545, 0.378, RAW= 159.1, 12.5, CAL= 159.5, 14.1, ROT= 350.5, -14.1 ٱ “? < ;#< H?B?#A??@V?vq??I o?) 0z`;i C9DDD-DE: E|:6Et4:E"E5img1@mf_>m)2@md{>m@ md{iiiImNˮ6>?أ ?j=?m.?m^ m))md{iiiMchecking for new query: numPingsReceived=16, elapsed TxPingTime=4.120287Mb@Mb@Mb@ )IiuV?)\(?Mb?r?G=I9I9MGYUFU(A>Q 1 4٪?Q 5 4E NB95V ?Q A5:Y5ʭ?Q E5?yC);IV;iލ4YAELAIhihm=)Ahm[Ahm[Ahm|?zmѹ<`?*@S@F- @jm7m:?̗ܳU}Ŀ .?hm)hmd{m/I@̍1[&@*E@rmtX7?9?[dg?hm2Ahm:@hmdS?hm9~hmB*imA ?2im&{:imBimUA"im5?% addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504654 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 13.719612 m, bearing: 56.561897 deg, lat: 36.779368 deg, lon: -121.859589 deg, deltaT: 0.504654 s, deltaX: -0.000171 m, approachRate: -0.000338 m/s, posRepo size: 4 gQ]DNOT Ignoring new targets: 13.72 m.gYgYgY ProNav: ac range: 13.719612 m, nav range: 13.363065 m, bearing: 57.591641 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 59.734437 deg, new cmd heading: 59.249793 deg. gHeadingCmd: 1.034104 target range: 13.719612 and range: 13.80 m.g]?gchecking for new query: numPingsReceived=16, elapsed TxPingTime=4.239296gggzfrfffBBddd c c `?ɢM %BU 햻 Q U IQ U <ɡY iY I] V:I] ]?ie Ck=i ʃ>) ]?) > i    0 @! @% mA!>Ae >IIANm ?V,$])A&DDAT read: Rx Time:05:24:36.3872 2TRx dataTimestamp_ set to:1755840277.465763BPDAT read: Bearing 245.4, -10.7 (Local) F~Local bearing/azimuth received: Bearing 245.4, -10.7 (Local) NDAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 lDAT read: 05:24:36.3872 LVL= 21872, 25313, 21106, 31907, AGC= 55, IDX= 508, 0.24, 3.061, 1.528,-2.741, 3.123, PHS= 0.040,-1.550, 0.375, RAW= 159.4, 12.7, CAL= 159.8, 14.4, ROT= 350.2, -14.4 Ygot valid direction response: 05:24:36.3872 LVL= 21872, 25313, 21106, 31907, AGC= 55, IDX= 508, 0.24, 3.061, 1.528,-2.741, 3.123, PHS= 0.040,-1.550, 0.375, RAW= 159.4, 12.7, CAL= 159.8, 14.4, ROT= 350.2, -14.4 T#Rx 17: Read range and direction messages.%^direction in FSK: [0.954450,-0.164862,0.248690]%Fpublishing direction and range info9(*:ي?P)3ſl?*fVA(i*pU*b*rR*|*7 * #=)*ffƿI*>i*/ 2@*b>*2@y=wn?ٱ=i1?=V4<=_<=H "?4?1?)?@!?@t坿)?/?I=wn?)=GE`;i= CU B*>*@ *i((I*!? ?+=j!?*5/?*tb *%/)*i((echecking for new query: numPingsReceived=17, elapsed TxPingTime=4.5638079Ui"IDDDDEV: E6E:E!@!@!@!@BD6DkYY!0=u;Q)>99GYFA> YQ 14٪]w?Q 54] ]MB9Y9?Q E?y]"C)]z;I];i]4YBAEh(h*])Ah*&UAh*&UAh*Uz?z*/S$n)@  @j*:ي?P)3ſl?h*%/h**]R_ @ҪZ%@21Ҙ]@r*XEP8=r?:yf?<=iB?h*w,Ah*j@h*?h*Qih*B*i*鲿 ?2i*9~:i*Bi**QA"i*}?M addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503622 s, deltaX: -0.400001 m, approachRate: -0.794248 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.321942 m, bearing: 56.027782 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503622 s, deltaX: -0.397670 m, approachRate: -0.789620 m/s, posRepo size: 4 gYDNOT Ignoring new targets: 13.32 m.ggg  ProNav: ac range: 13.321942 m, nav range: 13.072909 m, bearing: 56.795565 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 59.249794 deg, new cmd heading: 58.851340 deg. g mHeadingCmd: 1.027150 target range: 13.321942 and range: 13.40 m.gmy?gqgqggzfrfffBdddc*@c%?Achecking for new query: numPingsReceived=17, elapsed TxPingTime=4.743241ɢ#B  I 4W<ɡiId:Iy?iAk=i!>)y?)i / a A <A 4=vB ~B B f"IB BB B B B c];B "Eԑ >A >DDAT read: Rx Time:05:24:36.8871 TRx dataTimestamp_ set to:1755840277.970005PDAT read: Bearing 245.5, -10.7 (Local) ~Local bearing/azimuth received: Bearing 245.5, -10.7 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 I I-DAT read: 05:24:36.8871 LVL= 17328, 20289, 18418, 24643, AGC= 54, IDX= 508,-0.26, 2.185, 0.647, 2.658, 2.255, PHS= 0.032,-1.563, 0.359, RAW= 159.2, 13.1, CAL= 159.6, 14.9, ROT= 350.4, -14.9 5Ygot valid direction response: 05:24:36.8871 LVL= 17328, 20289, 18418, 24643, AGC= 54, IDX= 508,-0.26, 2.185, 0.647, 2.658, 2.255, PHS= 0.032,-1.563, 0.359, RAW= 159.2, 13.1, CAL= 159.6, 14.9, ROT= 350.4, -14.9 5T#Rx 18: Read range and direction messages.=^direction in FSK: [0.952843,-0.161162,0.257133]EFpublishing direction and range info9}?uĿFht?3SAiCAOGC`6 o=)bȿIη>i1@ j>aF2@%>E@ %iI$ +?Y?⟚I?.?j +)%i]checking for new query: numPingsReceived=18, elapsed TxPingTime=5.021733Na%_,w)A,y%Hk?ٱ%4ݑ?%hl=%;%H ?`h?P?G?@?,%q??I%Hk?)%?V`;i% C B9j"IDDD/DET; Ev:6EJ4:E"EG!9!9%GY-F-ќA->1Q 1=4٪5?Q 5]45< 5KB9e,?Q Ae:Ye?Q Ee?y5HC)5;I5;i5N4YimAihh~)AhQAhQAhx?z-)@Pge @j}?uĿFht?h+h%cz@a/o%@G%@r.?/R?<?h(Ah{@hQ?huwhB*i?2iuw:iijLA"iy? addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504242 s, deltaX: -0.200000 m, approachRate: -0.396635 m/s, rangeRepo size: 4  Added new target pos. range: 13.123104 m, bearing: 55.704724 deg, lat: 36.779369 deg, lon: -121.859591 deg, deltaT: 0.504242 s, deltaX: -0.198838 m, approachRate: -0.394331 m/s, posRepo size: 4 gDNOT Ignoring new targets: 13.12 m.ggg ProNav: ac range: 13.123104 m, nav range: 12.776016 m, bearing: 55.749828 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 58.851341 deg, new cmd heading: 58.370024 deg. gHeadingCmd: 1.018749 target range: 13.123104 and range: 13.20 m.g_f?ggggzfrff f BBd d dc=`ff*@c=@k?ɢ B 額 I <<ɡԱiI:I_f?iTk=iGl>)_f?)checking for new query: numPingsReceived=18, elapsed TxPingTime=5.251395i/ >A > DDAT read: Rx Time:05:24:37.3869 TRx dataTimestamp_ set to:1755840278.474806PDAT read: Bearing 245.1, -11.0 (Local) ~Local bearing/azimuth received: Bearing 245.1, -11.0 (Local) DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 DAT read: 05:24:37.3869 LVL= 21744, 24881, 21282, 30403, AGC= 56, IDX= 505, 0.06, 2.357, 0.820, 2.839, 2.432, PHS= 0.027,-1.567, 0.363, RAW= 159.4, 13.1, CAL= 159.9, 15.0, ROT= 350.1, -15.0 Ygot valid direction response: 05:24:37.3869 LVL= 21744, 24881, 21282, 30403, AGC= 56, IDX= 505, 0.06, 2.357, 0.820, 2.839, 2.432, PHS= 0.027,-1.567, 0.363, RAW= 159.4, 13.1, CAL= 159.9, 15.0, ROT= 350.1, -15.0  T#Rx 19: Read range and direction messages.^direction in FSK: [0.951543,-0.166071,0.258819]Fpublishing direction and range info9x~_ s?ڵAſV!}?fNAiT1aI!I1N]?g,)A"Sv8 /<)uȿI#۹>i/ 2@)2@ >a@ iI!@?7?W4 ?/?ylj 40) lirchecking for new query: numPingsReceived=19, elapsed TxPingTime=5.555284yv6j?ٱv?v=v;W;vH v???@? ?@P?@qj? ?Iv6j?)vr`;iv C B9h"IBD6Dk1Y\!%;=%!(;Q)%>!9)9-GY)-iA->D5D5D5.D1E5; E5]t:6E5ـ4:E1!=@!=@!=@!E@QQ 1]4٪Uͽ?Q 5e4U؏ UIB9aYe ?Q Ee?yUhC)UW:IU :iU4YmݔBmAEhh9c)Ah2MAh2MAhv?zm"h(@^p Sw'~ @jx~_ s?ڵAſV!}?h40h $<@z$@@UKJ@r;ܔI?'?Šm?h#Ah@h{?h3]h݉B*iQ?2iQi:iiGA"itGv? addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504801 s, deltaX: -0.300000 m, approachRate: -0.594294 m/s, rangeRepo size: 4  Added new target pos. range: 12.824851 m, bearing: 55.065334 deg, lat: 36.779369 deg, lon: -121.859592 deg, deltaT: 0.504801 s, deltaX: -0.298253 m, approachRate: -0.590833 m/s, posRepo size: 4 g!%DNOT Ignoring new targets: 12.82 m.g!gQgQ ProNav: ac range: 12.824851 m, nav range: 12.486919 m, bearing: 55.120133 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 58.370025 deg, new cmd heading: 57.970046 deg. g-HeadingCmd: 1.011768 target range: 12.824851 and range: 12.90 m.g-?g1g1g1g9zfrfffBd!d)d1c5)@c]W@?ɢB 顭 I x<ɡiI";I?iYl=ih>)?)) checking for new query: numPingsReceived=19, elapsed TxPingTime=5.7572101im@iqu/qvB >~B B `"IB BB =B B B Q];B "Ea >A >I II Nu >Nn,S)A5DDAT read: Rx Time:05:24:37.8867 =TRx dataTimestamp_ set to:1755840278.977108EPDAT read: Bearing 245.2, -10.7 (Local) E~Local bearing/azimuth received: Bearing 245.2, -10.7 (Local) UDAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 }DAT read: 05:24:37.8867 LVL= 21616, 26801, 20930, 32755, AGC= 54, IDX= 503, 0.46, 1.340,-0.193, 1.803, 1.419, PHS= 0.022,-1.568, 0.340, RAW= 158.9, 13.5, CAL= 159.5, 15.5, ROT= 350.5, -15.5 Ygot valid direction response: 05:24:37.8867 LVL= 21616, 26801, 20930, 32755, AGC= 54, IDX= 503, 0.46, 1.340,-0.193, 1.803, 1.419, PHS= 0.022,-1.568, 0.340, RAW= 158.9, 13.5, CAL= 159.5, 15.5, ROT= 350.5, -15.5 T#Rx 20: Read range and direction messages.^direction in FSK: [0.950415,-0.159045,0.267238]Fpublishing direction and range info915Kri?}h [Ŀ֚n?5IA1i5pT5h5Q556 5X9<)59ȿI5{>i55~1@5:Fq>5)2@5c>5@ 5ci11I5=91?Ho?Ih?5.?5*q 5))5ci11checking for new query: numPingsReceived=20, elapsed TxPingTime=6.027085ygh?ٱDD?M=5>:H`u? ??y?;?@FG??Igh?)`;i CB9Z"I) AADDD1DEa: E:6E-4:E"E(99GYF?A>Q 1%4٪ě?Q 5%4) FB9%?Q A%:Y%?Q E%?yC),:Ib:iU4YQUAQh1h5)Ah5lHAh5lHAh5dv?z5'@ߪ]߇- @j5Kri?}h [Ŀ֚n?h5)h5c5D@*ޤ|#@&Qz9@r5f}?Bwϯ?{aJs2?h5Ah5@h5?h5#2kh5B*i12i5#2k:i5Bi5CA"i5t? addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502302 s, deltaX: -0.299999 m, approachRate: -0.597249 m/s, rangeRepo size: 4  Added new target pos. range: 12.526514 m, bearing: 55.145887 deg, lat: 36.779369 deg, lon: -121.859591 deg, deltaT: 0.502302 s, deltaX: -0.298337 m, approachRate: -0.593939 m/s, posRepo size: 4 gDNOT Ignoring new targets: 12.53 m.gggU ProNav: ac range: 12.526514 m, nav range: 12.231360 m, bearing: 54.754764 deg, approach rate: 0.000000 m/s, LOS rate: -0.446462 deg/s, cmd heading: 57.970049 deg, new cmd heading: 57.510327 deg. gQ]HeadingCmd: 1.003745 target range: 12.526514 and range: 12.60 m.gez?gagagagaizfrfffBBdddc@33)@c?ɢeBeh{* im:Ii uD<ɡqiqIuߑ ;I}z?i}>l=i}>)}z?)ychecking for new query: numPingsReceived=20, elapsed TxPingTime=6.260729i= =9 9 9 9 ԑ >A I I N >ou,)Ay6f?ٱ6c?6Ά=66H*?j]??@Z?`?``xu?I6f?)6`;i6 C>B9>Q"IBDJ6DJP)YRe2!R=RQ)R?T9T9VGYVFVAZ?\Q 1b4٪^ț?Q 5b4^ȃ ^DB9dYf?Q Ef?y^C)^:I^ :i^4Yhj'AlB*** querying acoustic contact ***zhhQgi}DNOT Ignoring new targets: 12.53 m.ggigi ProNav: ac range: 12.526514 m, nav range: 12.067803 m, bearing: 54.485221 deg, approach rate: -0.489337 m/s, LOS rate: -0.817357 deg/s, cmd heading: 57.510329 deg, new cmd heading: 56.963956 deg. DDAT read: Rx Time:05:24:38.3864 TRx dataTimestamp_ set to:1755840279.481118PDAT read: Bearing 244.8, -10.5 (Local) ~Local bearing/azimuth received: Bearing 244.8, -10.5 (Local) DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 =DAT read: 05:24:38.3864 LVL= 20976, 24449, 22978, 30835, AGC= 55, IDX= 501,-0.12,-1.700, 3.052,-1.249,-1.621, PHS= 0.023,-1.566, 0.329, RAW= 158.7, 13.7, CAL= 159.2, 15.7, ROT= 350.8, -15.7 EYgot valid direction response: 05:24:38.3864 LVL= 20976, 24449, 22978, 30835, AGC= 55, IDX= 501,-0.12,-1.700, 3.052,-1.249,-1.621, PHS= 0.023,-1.566, 0.329, RAW= 158.7, 13.7, CAL= 159.2, 15.7, ROT= 350.8, -15.7 ET#Rx 21: Read range and direction messages.M^direction in FSK: [0.950308,-0.153916,0.270600]UFpublishing direction and range info9$h?^ÿRlyQ?DAiQ_Ysx7 j<)rȿIr>iE1@Gt>1@K>v@ KiI?H?bo k?9$z(K?t,?t l$)Kimchecking for new query: numPingsReceived=21, elapsed TxPingTime=6.527270guuHeadingCmd: 0.994209 target range: 12.526514 and range: 12.60 m.g}t~?gygygygyzfyrfyffBdddc(@c}?ɢB" I =A<ɡAiAIE]u;IMt~?iIiM>)Mt~?)IyDDD,DE: E:6Eg4:E!@!@!@!@i?/@%mA@!ԩ>A I  checking for new query: numPingsReceived=21, elapsed TxPingTime=6.763038I N > |,@h)Ay:R!e?ٱ:9?:<:6:H>?`{n?`?`~B!B%N"IB%BB% =B!B!B%U];B%"EBЍCBЍCBB =B =B5mMb@Mb@Mb@ i)iIiiiim/$?B`"۹?~jth?m&?m=mD;ImbAiim5 AmA)im=ABD 6D:2Y!<=P9Q)>99GY~A>Q 14٪Λ?Q 54z} AB9p?Q A:Y?Q E?yC)K;I;i8 4YHAh)h-)Ah-CAh-CAh-u?z-r='@WAW>x @j-$h?^ÿRlyQ?h-l$h-K-fQ@J{VEf#@lglt@r-r? b b?0Cn@X ?h-2Ah-@h-(?h-1Y~h-B*i-?2i):i-Bi-5=A"i-hq?Ա addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504010 s, deltaX: -0.300000 m, approachRate: -0.595227 m/s, rangeRepo size: 4  Added new target pos. range: 12.228338 m, bearing: 54.849608 deg, lat: 36.779369 deg, lon: -121.859591 deg, deltaT: 0.504010 s, deltaX: -0.298176 m, approachRate: -0.591607 m/s, posRepo size: 4 gDNOT Ignoring new targets: 12.23 m.ggg  ProNav: ac range: 12.228338 m, nav range: 11.825593 m, bearing: 54.131297 deg, approach rate: 0.000000 m/s, LOS rate: -0.817357 deg/s, cmd heading: 56.963955 deg, new cmd heading: 56.292220 deg. g%HeadingCmd: 0.982485 target range: 12.228338 and range: 12.30 m.g%{?g!g)g)g)zfIrfIfQfU"BBdQdQdYcYc]`?ɢB${ I s<ɡiI;I{?ii->)5{?)AlADDAT read: Rx Time:05:24:38.8863 TRx dataTimestamp_ set to:1755840279.986087%PDAT read: Bearing 244.1, -11.2 (Local) -~Local bearing/azimuth received: Bearing 244.1, -11.2 (Local) =DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 DAT read: 05:24:38.8863 LVL= 19600, 24689, 21106, 29171, AGC= 54, IDX= 500, 0.13, 0.928,-0.606, 1.406, 1.015, PHS= 0.015,-1.576, 0.347, RAW= 159.3, 13.5, CAL= 159.9, 15.5, ROT= 350.1, -15.5 i>0Ygot valid direction response: 05:24:38.8863 LVL= 19600, 24689, 21106, 29171, AGC= 54, IDX= 500, 0.13, 0.928,-0.606, 1.406, 1.015, PHS= 0.015,-1.576, 0.347, RAW= 159.3, 13.5, CAL= 159.9, 15.5, ROT= 350.1, -15.5 T#Rx 22: Read range and direction messages.^direction in FSK: [0.949281,-0.165676,0.267238]Fpublishing direction and range info9 +i1@:Fq>)2@c>a@ ciIFK?JEv?w敺?ؐ/?>r 40)ci5checking for new query: numPingsReceived=22, elapsed TxPingTime=7.046006DDD*DE Ex:6E(N4:E"E&A r>9 I I N >>,s )A^checking for new query: numPingsReceived=22, elapsed TxPingTime=7.267286ymc?ٱG?<H 2?@]a??P?ƙ;j?Imc?)ƃ`;i C-B9Qi]=I]p=BDm6DmkY!@=Q)>99GYFmnA>Q 14٪ԛ?Q 54;w =B9YO?Q E?yC):I:i4YB|A Eihh )AhBAhBAhƽp?z R '@*se#r5 @j +)ox?)i}?yy}0yԱuDDAT read: Rx Time:05:24:39.3860 uTRx dataTimestamp_ set to:1755840280.489083}PDAT read: Bearing 243.6, -11.3 (Local) ~Local bearing/azimuth received: Bearing 243.6, -11.3 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 DAT read: 05:24:39.3860 LVL= 19376, 25073, 20978, 29027, AGC= 54, IDX= 497, 0.46,-0.274,-1.803, 0.211,-0.184, PHS= 0.012,-1.573, 0.351, RAW= 159.5, 13.5, CAL= 160.1, 15.5, ROT= 349.9, -15.5 M Ygot valid direction response: 05:24:39.3860 LVL= 19376, 25073, 20978, 29027, AGC= 54, IDX= 497, 0.46,-0.274,-1.803, 0.211,-0.184, PHS= 0.012,-1.573, 0.351, RAW= 159.5, 13.5, CAL= 160.1, 15.5, ROT= 349.9, -15.5 U T#Rx 23: Read range and direction messages.] ^direction in FSK: [0.948697,-0.168989,0.267238]>Ae />E Fpublishing direction and range info9quvF[? gmſ֚n?u3;AqiuKuauQucqq uD<)uXɿI I D D D 0D E ; E xv:6E 4:E ! @! @! @! @N% >IuF>iu)2@qu[2@quk@ qiqqIu;U?C=?+T?u |0?u@q uT4)qiqq] checking for new query: numPingsReceived=23, elapsed TxPingTime=7.615386 d,Ef')Ay:b?ٱ:p?:D/<:*:H`\? t`?I?d?嚿`s?I:b?):Pm`;i:CNB9N@"IBDX6DXYvw>!vW=vuQ)z>x9x9zGYzF=jA=>AQ 1M4٪Eٛ?Q 5M4Eq E;B9QYU?Q EU?yEC)E):IE:iEv4Y  A1hh#M)Ah:Ah:Ahn?z$&@.Msk&@jvF[? gmſ֚n?hT4hm@'e"@LB@r< ?Og?h?checking for new query: numPingsReceived=23, elapsed TxPingTime=7.771301hAh0@h?h+ˑhB*i?2i#2k:i݉Bix5A"iTo? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.502996 s, deltaX: -0.500000 m, approachRate: -0.994044 m/s, rangeRepo size: 4 % Added new target pos. range: 11.631834 m, bearing: 53.390094 deg, lat: 36.779368 deg, lon: -121.859591 deg, deltaT: 0.502996 s, deltaX: -0.497087 m, approachRate: -0.988251 m/s, posRepo size: 4 g!EDNOT Ignoring new targets: 11.63 m.gAgIgI] ProNav: ac range: 11.631834 m, nav range: 11.341922 m, bearing: 53.636396 deg, approach rate: 0.000000 m/s, LOS rate: -0.817357 deg/s, cmd heading: 55.603098 deg, new cmd heading: 54.872136 deg. gYeHeadingCmd: 0.957699 target range: 11.631834 and range: 11.70 m.g+u?ggggzfrfffBdddc`ff'@c@?ɢB-o  I  D<ɡ i I /$0;I+u?ii~">)+u?)vB>~BBG"IBBBBBB];B"Ei1@ >@>1 >A ;>rA ?jA ?I! I1 N= > DDAT read: Rx Time:05:24:39.8860  TRx dataTimestamp_ set to:1755840280.993086 PDAT read: Bearing 238.8, -11.8 (Local)  ~Local bearing/azimuth received: Bearing 238.8, -11.8 (Local)  DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4  DAT read: 05:24:39.8860 LVL= 20256, 25585, 17826, 31635, AGC= 52, IDX= 513,-0.15, 0.451,-1.358, 1.056, 0.449, PHS= 0.104,-1.762, 0.563, RAW= 160.7, 10.3, CAL= 160.7, 11.2, ROT= 349.3, -11.2  Ygot valid direction response: 05:24:39.8860 LVL= 20256, 25585, 17826, 31635, AGC= 52, IDX= 513,-0.15, 0.451,-1.358, 1.056, 0.449, PHS= 0.104,-1.762, 0.563, RAW= 160.7, 10.3, CAL= 160.7, 11.2, ROT= 349.3, -11.2  T#Rx 24: Read range and direction messages. ^direction in FSK: [0.963899,-0.182131,0.194234] Fpublishing direction and range info9 )B?YvPǿmVѫ? i O c E { 4 =) 7I ?i 3@ X8> 3@ +H> @ +Hi I bM$?Y|?J(? p6? 7 t;?) +Hi  checking for new query: numPingsReceived=24, elapsed TxPingTime=8.039333dL,h@A)AyM՘`?ٱMA?Mz7@?IM՘`?)M`;iMCB9>"I-Mb@Mb@Mb@I )))I)i))-S?:v?~jth-?-=-DI-Ai-5 A)-tA))-ABDe6DeYu!u(=}-Q)}>y9y9}GY-KA>Q 14٪?Q 54j 6B9?Q A:Yˣ?Q E?y$C)7:I:i#4YؔBA Ehh?)Ah:Ah:Ahi?z,l&@f9r&!@j)B?YvPǿmVѫ?ht;?h+HG@@Nl""@R'F@r>?8?*45c?hAh@hf .?h.:|hB*i2i1Y~:iՉBi2A"imo? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504003 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.631866 m, bearing: 52.351668 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.504003 s, deltaX: 0.000032 m, approachRate: 0.000064 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.63 m.gggAM ProNav: ac range: 11.631866 m, nav range: 11.177665 m, bearing: 53.517583 deg, approach rate: 0.000000 m/s, LOS rate: -0.817357 deg/s, cmd heading: 54.872135 deg, new cmd heading: 54.161368 deg. gQUHeadingCmd: 0.945294 target range: 11.631866 and range: 11.70 m.gUq?gYgYgYgYzfYrfffBBdddcc@?ɢ BLz I  <ɡiI /9;I=q?iAiE'>)Eq?)A UR>U>ychecking for new query: numPingsReceived=24, elapsed TxPingTime=8.275936i2 >A K >I II Nm >,e[)A8yU1_?ٱUP?Uȫi / 2@ r> [2@ r> k@ ri   ProNav: ac range: 11.631866 m, nav range: 10.993392 m, bearing: 53.177390 deg, approach rate: -0.584870 m/s, LOS rate: -1.097843 deg/s, cmd heading: 54.161368 deg, new cmd heading: 53.469616 deg. g%HeadingCmd: 0.933221 target range: 11.631866 and range: 11.70 m.gn?ggggzfrffI dkB?,ױ?h}Qn? /"0? &~ T4) ri   checking for new query: numPingsReceived=25, elapsed TxPingTime=8.560835fBdd!d!c-&@c-@Uڢ?ԙɢB~ I 3<ɡiI@;I%n?i!i%,>)%n?)!D=D=D=.D9E=%; E=:6E=ـ4:E9!E@!E@!E@!E@i4>A6%>I)I9NEs> checking for new query: numPingsReceived=25, elapsed TxPingTime=8.781427 `,z4u)Ay6q]?ٱ6H͊?6<66H@Y? Iu@H? ?Qj?@`?I6q]?)6M`;i6 CA`Ab<vBf¿>~BdBfA"IBfBBdBdBdBf\;Bf"Epr߃B9r3"IMb@Mb@Mb@ )Ii/$?~jt?y&1| ?=`Ii AK AA)fABD6DY<!F=]Q)>99GYFjA>Q 14٪O뛊?Q 54` /B9 .?Q A :Y ?Q E ?y[C)E:I:i14YAhQhU_)AhU3AhU3AhU'j?zU)5%@feC9]Ȉ @jU#4?[lȅſHN-?hUT4hUrU,bf@Vk%!@ 0@rU`?6 Tk?@9?hU+ AhU7@hU1?hU~hUB*iU1?2iQ:iQiU;-A"iUJj? addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504289 s, deltaX: -0.400000 m, approachRate: -0.793195 m/s, rangeRepo size: 4 = Added new target pos. range: 11.234219 m, bearing: 52.406821 deg, lat: 36.779369 deg, lon: -121.859590 deg, deltaT: 0.504289 s, deltaX: -0.397648 m, approachRate: -0.788532 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 11.23 m.g9gEgAu ProNav: ac range: 11.234219 m, nav range: 10.826997 m, bearing: 52.436693 deg, approach rate: 0.000000 m/s, LOS rate: -1.097843 deg/s, cmd heading: 53.469617 deg, new cmd heading: 52.459080 deg. gq}HeadingCmd: 0.915584 target range: 11.234219 and range: 11.30 m.g}cj?gygygygyzfrfffBBdddcc@Q.?ɢB,썼 TIMDDAT read: Rx Time:05:24:40.8856 MTRx dataTimestamp_ set to:1755840282.004355UPDAT read: Bearing 242.7, -11.4 (Local) ]~Local bearing/azimuth received: Bearing 242.7, -11.4 (Local) mDAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 DAT read: 05:24:40.8856 LVL= 20368, 25553, 23250, 30883, AGC= 55, IDX= 509, 0.34, 1.788, 0.265, 2.293, 1.896, PHS=-0.006,-1.586, 0.353, RAW= 160.0, 13.8, CAL= 160.6, 15.9, ROT= 349.4, -15.9 Ygot valid direction response: 05:24:40.8856 LVL= 20368, 25553, 23250, 30883, AGC= 55, IDX= 509, 0.34, 1.788, 0.265, 2.293, 1.896, PHS=-0.006,-1.586, 0.353, RAW= 160.0, 13.8, CAL= 160.6, 15.9, ROT= 349.4, -15.9 T#Rx 26: Read range and direction messages. F|<ɡiI,I;Icj?iiT5>)cj?)^direction in FSK: [0.945330,-0.176914,0.273959]Fpublishing direction and range info9IM䌁#@?Oƿψ.?M1AIiMOMcMZMxM7 MĻ)M ˿IMj>iM¸2@MϢv>MUd3@Mq>MK$@ MqiIIIM(,N?v?,b|z?Ms2?M1v Mq=)MqiIIivCIchecking for new query: numPingsReceived=26, elapsed TxPingTime=9.065005)Ii   +A9DeDeDe)DaEes: Ee:6EeFA4:Ea"Ee_04@lA@lAa >A 9%>bA ZA jA checking for new query: numPingsReceived=26, elapsed TxPingTime=9.283318ԑ A)I1IINU>o,9)AyF0A\?ٱF'?Fj 9 9 GY PA5>9Q 1E4٪=?Q 5E4=Y =+B9AYEL?Q EM?y=zC)=:I=:i=84YuޔBu,AuEhyh}ZG)Ah}0Ah}0Ah}_f?z}Mܹ8$@a!)5^f?)i)i?!%/!ԙ>AM,>EDDAT read: Rx Time:05:24:41.3854 MTRx dataTimestamp_ set to:1755840282.506191]PDAT read: Bearing 243.2, -11.1 (Local) e~Local bearing/azimuth received: Bearing 243.2, -11.1 (Local) DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4 DAT read: 05:24:41.3854 LVL= 18768, 25969, 23026, 30707, AGC= 54, IDX= 507,-0.20,-1.188,-2.688,-0.700,-1.064, PHS=-0.022,-1.579, 0.320, RAW= 159.7, 14.5, CAL= 160.5, 16.8, ROT= 349.5, -16.8 ]Ygot valid direction response: 05:24:41.3854 LVL= 18768, 25969, 23026, 30707, AGC= 54, IDX= 507,-0.20,-1.188,-2.688,-0.700,-1.064, PHS=-0.022,-1.579, 0.320, RAW= 159.7, 14.5, CAL= 160.5, 16.8, ROT= 349.5, -16.8 eT#Rx 27: Read range and direction messages.^direction in FSK: [0.941289,-0.174458,0.289032]Fpublishing direction and range info9IM y; ?eRTƿ\.?IIN >M,AIiMPIMqeMYMwM6 MX9)MʿIM ף>iMb2@M>MG3@MQ >M2@ MQ iIIIM)X@H?ڄ99GYF2A>Q 14٪&?Q 54S (B9 F ?Q A:Y3?Q E?yC)G;I`;i@4YAhyh}oe)Ah}+Ah}+Ah}u{e?z} ,6$@p8/労@j} y; ?eRTƿ\.?h}t;h}Q }|c@O( @0y@r}ef2?ցf!?٪? ?h}Ah}@h}$?h}_xh}B*i}1?2i}~:iyi}%A"i}f?m addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.501836 s, deltaX: -0.300000 m, approachRate: -0.597805 m/s, rangeRepo size: 4 } Added new target pos. range: 10.737129 m, bearing: 51.360798 deg, lat: 36.779369 deg, lon: -121.859590 deg, deltaT: 0.501836 s, deltaX: -0.298254 m, approachRate: -0.594326 m/s, posRepo size: 4 gyDNOT Ignoring new targets: 10.74 m.ggg ProNav: ac range: 10.737129 m, nav range: 10.357529 m, bearing: 51.496492 deg, approach rate: 0.000000 m/s, LOS rate: -1.097843 deg/s, cmd heading: 51.559561 deg, new cmd heading: 50.567011 deg. gHeadingCmd: 0.882561 target range: 10.737129 and range: 10.80 m.ga?ggg!g!zf!rf!f)f-BBd)d)d)c5%@c5lu?ɢ} B} 顅!I ԯ<ɡiIYiY;Ia?iiGE>)a?)vB~BэCB5"IBBB =BBB\;B"EiE=AIM/Q! M DDAT read: Rx Time:05:24:41.8852 U TRx dataTimestamp_ set to:1755840283.008944] PDAT read: Bearing 242.3, -11.5 (Local) ] ~Local bearing/azimuth received: Bearing 242.3, -11.5 (Local) m DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4  DAT read: 05:24:41.8852 LVL= 18448, 25937, 23234, 30931, AGC= 55, IDX= 505, 0.10, 0.010,-1.491, 0.523, 0.135, PHS=-0.022,-1.580, 0.345, RAW= 160.3, 14.1, CAL= 161.0, 16.3, ROT= 349.0, -16.3  Ygot valid direction response: 05:24:41.8852 LVL= 18448, 25937, 23234, 30931, AGC= 55, IDX= 505, 0.10, 0.010,-1.491, 0.523, 0.135, PHS=-0.022,-1.580, 0.345, RAW= 160.3, 14.1, CAL= 161.0, 16.3, ROT= 349.0, -16.3  T#Rx 28: Read range and direction messages. ^direction in FSK: [0.942171,-0.183140,0.280667] Fpublishing direction and range info9I M 'aݫC&?_qǿrwkq?M (AI iM HM QeM ZM xM 7 I )M q=ʿIM ף>iM 3@M d{>M 3@M >M @ M iI I IM LL?oo3?l*?M @4?M { M D)M iI I  checking for new query: numPingsReceived=28, elapsed TxPingTime=10.056524>A s&4>rDq jDu <D D D )D E a: E |:6E FA4:E "E (,;)Ay6Y?ٱ6V?6kd<6]6H d?| uu ??0?6`,t?I6Y?)6`;i6 CvB9v"IBDM 6DM2Y!U=%TQ)>99GYFsA>Q 14٪?Q 54N &B9Yy?Q E?yC)`;I;iG4YԔBAEhh)Ah'Aԉh'Ahwa?z^.#@CG$Sp@j'aݫC&?_qǿrwkq?hDhJF@. @#)v]?) checking for new query: numPingsReceived=28, elapsed TxPingTime=10.291282i?>Auz:>IIN5q> DDAT read: Rx Time:05:24:42.3849  TRx dataTimestamp_ set to:1755840283.512968 PDAT read: Bearing 243.3, -10.7 (Local)  ~Local bearing/azimuth received: Bearing 243.3, -10.7 (Local)  DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4  DAT read: 05:24:42.3849 LVL= 18928, 26273, 21586, 32755, AGC= 53, IDX= 503,-0.36, 2.536, 1.048, 3.014, 2.677, PHS=-0.039,-1.584, 0.293, RAW= 159.5, 15.2, CAL= 160.4, 17.7, ROT= 349.6, -17.7  % Ygot valid direction response: 05:24:42.3849 LVL= 18928, 26273, 21586, 32755, AGC= 53, IDX= 503,-0.36, 2.536, 1.048, 3.014, 2.677, PHS=-0.039,-1.584, 0.293, RAW= 159.5, 15.2, CAL= 160.4, 17.7, ROT= 349.6, -17.7 % T#Rx 29: Read range and direction messages.,)AyVX?ٱV?VWi)2@ԇ>$+3@2+>@@ 2+iIobm?g#6v?K9۽?t0?u 9)2+i~checking for new query: numPingsReceived=29, elapsed TxPingTime=10.594629EÃB9E"IBDU6DUDDD6DE2: Eg:6Ec4:E!@!@!@!@Yu<!u@=uQ)u>y9y9}GYy5]A>Q 14٪?Q 54H #B9Y?Q E?yC)0;I;i#O4YAhhx)Ah Ah Ah b?zvOD"@o慮wBl@j|?Ip3:ƿz0Gu?h9h2+)QO@sA w@w@rխP{^?1o?!G?h@h}@hr?h(thB*i1?2i_x:iBiA"i)Y?)!iEAAIM/I5checking for new query: numPingsReceived=29, elapsed TxPingTime=10.797506I A) A) vB5 >~B5 ЍCB5 ""IB5 уBB1 B1 B1 B5 $];B5 "E>AU B>I I N >?J,)AB9"I)A A}DDAT read: Rx Time:05:24:42.8849 }TRx dataTimestamp_ set to:1755840284.017119PDAT read: Bearing 242.0, -11.5 (Local) ~Local bearing/azimuth received: Bearing 242.0, -11.5 (Local) DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 DAT read: 05:24:42.8849 LVL= 22800, 26257, 27106, 32755, AGC= 55, IDX= 502, 0.05,-1.400,-2.891,-0.888,-1.262, PHS=-0.036,-1.584, 0.330, RAW= 160.4, 14.5, CAL= 161.1, 16.9, ROT= 348.9, -16.9 Ygot valid direction response: 05:24:42.8849 LVL= 22800, 26257, 27106, 32755, AGC= 55, IDX= 502, 0.05,-1.400,-2.891,-0.888,-1.262, PHS=-0.036,-1.584, 0.330, RAW= 160.4, 14.5, CAL= 161.1, 16.9, ROT= 348.9, -16.9 T#Rx 30: Read range and direction messages.%^direction in FSK: [0.938914,-0.184208,0.290702]IUFpublishing direction and range info9y}* ?ǿTcݚ?yyi}Y}f}iy}7 }t)yI}>i}$+3@}>}P3@}>}@ }iyyI}'?Ր:6?fqHs?}sg4?}ց }aF)}iyychecking for new query: numPingsReceived=30, elapsed TxPingTime=11.088798Mb@Mb@Mb@ )Ii'1Z?RQ?MbP?=ItAi A AA)=ABD6D1DDD*DE E:6E(N4:E"E*99 GY F A >Q 14٪ ?Q 54B !B9?Q A:Y}?Q E?yC))T?)ԡ - checking for new query: numPingsReceived=30, elapsed TxPingTime=11.299617i] >Y Y Y Y >A5 sP>I I N >N.,)Ay6):R?)DDAT read: Rx Time:05:24:43.3846 TRx dataTimestamp_ set to:1755840284.523331PDAT read: Bearing 242.7, -10.8 (Local) ~Local bearing/azimuth received: Bearing 242.7, -10.8 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 mDAT read: 05:24:43.3846 LVL= 20720, 27025, 25586, 31107, AGC= 54, IDX= 500,-0.42, 1.766, 0.268, 2.248, 1.917, PHS=-0.049,-1.605, 0.287, RAW= 159.6, 15.4, CAL= 160.5, 18.1, ROT= 349.5, -18.1 i}</Ygot valid direction response: 05:24:43.3846 LVL= 20720, 27025, 25586, 31107, AGC= 54, IDX= 500,-0.42, 1.766, 0.268, 2.248, 1.917, PHS=-0.049,-1.605, 0.287, RAW= 159.6, 15.4, CAL= 160.5, 18.1, ROT= 349.5, -18.1 T#Rx 31: Read range and direction messages.^direction in FSK: [0.934599,-0.173218,0.310676]Fpublishing direction and range info9zՠiaF2@>G3@?>2@ ?iIV50?? S ?0? t;)?i%checking for new query: numPingsReceived=31, elapsed TxPingTime=11.603587DDDDE%; E&p:6E:E!@!@!@!@ >Ae ǵQ>I I N >[,#/)Azchecking for new query: numPingsReceived=31, elapsed TxPingTime=11.805387yv]Q?ٱK?R[-<ŽHM?%?cK?i?O`ב@L?Iv]Q?)?g`;iC B9 !IMb@Mb@Mb@ )Ii}?5^I?EԸ?M?=IiA)ABD 6Df2Y!/=mQ)>99GYdA>Q 14٪Z?Q 549 B9?Q A:Y?Q E?y#C):I:i{d4YڔBX AeEhhA~!)AhAhAh[[?zy!@9,ۆsW(@jzՠ~BB"IBǃBB =BBB?];B"EBBBBBB&5 addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.506212 s, deltaX: -0.500000 m, approachRate: -0.987728 m/s, rangeRepo size: 4 !m Added new target pos. range: 9.544074 m, bearing: 49.231001 deg, lat: 36.779369 deg, lon: -121.859592 deg, deltaT: 0.506212 s, deltaX: -0.497087 m, approachRate: -0.981973 m/s, posRepo size: 4 gimBNOT Ignoring new targets: 9.54 m.giu6Short final. Range: 9.60 m.uVTransitioning guidance mode to: SHORT_FINALgu@@g}gy ProNav: ac range: 9.544074 m, nav range: 9.212857 m, bearing: 48.811614 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 47.051729 deg, new cmd heading: 46.116742 deg. g|HeadingCmd: 0.804889 target range: 9.544074 and range: 9.60 m.g4 N?ggggzfrfff}BBdddc@33#@c`?IɢB + 顭,I) -ե<ɡ)i)I-B;I54 N?i1i5a>)=4 N?)9DDAT read: Rx Time:05:24:43.8846 TRx dataTimestamp_ set to:1755840285.028752PDAT read: Bearing 241.5, -11.5 (Local) ~Local bearing/azimuth received: Bearing 241.5, -11.5 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4  x> >] DAT read: 05:24:43.8846 LVL= 20848, 27617, 24050, 30563, AGC= 54, IDX= 499, 0.04,-2.249, 2.543,-1.736,-2.098, PHS=-0.049,-1.597, 0.318, RAW= 160.4, 14.9, CAL= 161.2, 17.5, ROT= 348.8, -17.5  Ygot valid direction response: 05:24:43.8846 LVL= 20848, 27617, 24050, 30563, AGC= 54, IDX= 499, 0.04,-2.249, 2.543,-1.736,-2.098, PHS=-0.049,-1.597, 0.318, RAW= 160.4, 14.9, CAL= 161.2, 17.5, ROT= 348.8, -17.5  T#Rx 32: Read range and direction messages. ^direction in FSK: [0.935553,-0.185245,0.300706] Fpublishing direction and range info9Z ?Wǿ->?ipQk]cw )j̿IТ>i$+3@%>4@a>@ aiIBc0?t6 ?X$~?σ4?r 4+H)aim checking for new query: numPingsReceived=32, elapsed TxPingTime=12.116469i} >y / ԁ D D D D E : E :6E :E "E 6AE$[>i=%=I=a=Echecking for new query: numPingsReceived=32, elapsed TxPingTime=12.307453AqIyIN ?ig,xR)AyZ8WO?ٱZ+?Z~rx9x9zGYzF~eA~>Q 1 4٪?Q 5 42 B9 Y ?Q E ?yCC):I;il4Y AhhA)AhhhW?zTP>!@Ha{lI-@jZ ?Wǿ->?h4+HhaճwX@{sX'@@ @rڼ{h?w[?c6ht?h:@h@hp?hiA[hKB*i2i:i_BiA"iW?m addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.505421 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 9.544004 m, bearing: 48.119528 deg, lat: 36.779369 deg, lon: -121.859592 deg, deltaT: 0.505421 s, deltaX: -0.000070 m, approachRate: -0.000138 m/s, posRepo size: 4 gygyzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gg ProNav: ac range: 9.544074 m, nav range: 8.978363 m, bearing: 48.239173 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 46.116741 deg, new cmd heading: 45.148711 deg. g|HeadingCmd: 0.787994 target range: 9.544074 and range: 9.60 m.gI?ggggzfrfffBdd)d)c)c51?ɢ}B}An y}9/I p<ɡiIs;I-I?i)i-+h>)-I?)1ai?0ԑeDDAT read: Rx Time:05:24:44.3844 mTRx dataTimestamp_ set to:1755840285.530554}PDAT read: Bearing 242.0, -10.8 (Local) }~Local bearing/azimuth received: Bearing 242.0, -10.8 (Local) DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 DAT read: 05:24:44.3844 LVL= 19312, 27889, 21330, 30067, AGC= 52, IDX= 497,-0.34, 0.911,-0.576, 1.389, 1.075, PHS=-0.062,-1.606, 0.270, RAW= 159.5, 15.9, CAL= 160.5, 18.7, ROT= 349.5, -18.7 %Ygot valid direction response: 05:24:44.3844 LVL= 19312, 27889, 21330, 30067, AGC= 52, IDX= 497,-0.34, 0.911,-0.576, 1.389, 1.075, PHS=-0.062,-1.606, 0.270, RAW= 159.5, 15.9, CAL= 160.5, 18.7, ROT= 349.5, -18.7 -T#Rx 33: Read range and direction messages.5^direction in FSK: [0.931349,-0.172616,0.320613]5Fpublishing direction and range info9aḛ? aNDƿC.j?eAaiepKeleRSesue4 e})ehͿIeq=>ie)2@eq>eG3@e>e2@ eiaaIe؊?tݗ?+D?e0?e, et;)eiaachecking for new query: numPingsReceived=33, elapsed TxPingTime=12.599616>Ae S^>Թ D D D /D E O: E xv:6E J4:E ! @! @! @! @A I I N >,S@l)Ay6BM?ٱ60?6f <6ü6H`? Ad9B?[?EE?Ɍo]?I6BM?)6o-`;i6CBB9B!IBDJ6DJPYR!VO=VQ)V>X9X9ZGYZFZ_AZ>|Q 14٪~"?Q 54~- ~B9 Y ?Q E ?y~^C)~:I~|:i~s4YϔBv AEhha)AhAhAhIX?zMD<8!@q#@j̰? aNDƿC.j?ht;h#oI@ j<@20k@rKi4&??-gu?k]C?h@hK@hb. ?hCh{B*ib. ?2iC:i{BiQ A"iIX? addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.501802 s, deltaX: -0.300000 m, approachRate: -0.597846 m/s, rangeRepo size: 4 } Added new target pos. range: 9.245754 m, bearing: 48.407993 deg, lat: 36.779368 deg, lon: -121.859591 deg, deltaT: 1.007223 s, deltaX: -0.298320 m, approachRate: -0.296181 m/s, posRepo size: 4 ggchecking for new query: numPingsReceived=33, elapsed TxPingTime=12.813163UzIgnoring new targets. Set target to previous: 9.25 m. 9.54 m.gaga  ProNav: ac range: 9.544074 m, nav range: 8.783992 m, bearing: 47.752499 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 45.148712 deg, new cmd heading: 44.272361 deg. g|HeadingCmd: 0.772698 target range: 9.544074 and range: 9.30 m.gE?ggggzfrff!f!Bd!d!dicm"@cmƈ?ɢBbټ 1I <ɡiI;A<A4=vB~BB"IBBB =BBgDB7];B"EIE?iil>)E?)i}@0) } DDAT read: Rx Time:05:24:44.8843  TRx dataTimestamp_ set to:1755840286.034661 PDAT read: Bearing 253.7, -9.2 (Local)  ~Local bearing/azimuth received: Bearing 253.7, -9.2 (Local)  DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4  DAT read: 05:24:44.8843 LVL= 22256, 27857, 26178, 30355, AGC= 54, IDX= 512, 0.12,-1.630, 2.934,-1.228,-1.297, PHS=-0.231,-2.007, 0.025, RAW= 156.6, 22.2, CAL= 159.3, 31.0, ROT= 350.7, -31.0 - Ygot valid direction response: 05:24:44.8843 LVL= 22256, 27857, 26178, 30355, AGC= 54, IDX= 512, 0.12,-1.630, 2.934,-1.228,-1.297, PHS=-0.231,-2.007, 0.025, RAW= 156.6, 22.2, CAL= 159.3, 31.0, ROT= 350.7, -31.0 5 T#Rx 34: Read range and direction messages.m ^direction in FSK: [0.845901,-0.138521,0.515038]m Fpublishing direction and range info9y } IQ?JpU1{?} 3Ay i} V} l} Bf} v} 6 } Dl)} rI} } 1@} c ?} +@ } c iy y I}  ?ı?AW ? ܙ/?} f#?} jƾ } 5&)} c iy y  checking for new query: numPingsReceived=34, elapsed TxPingTime=13.104080>A e>BE̙T4JEk4REp1D D D -D E V: E 1]:6E t4:E "E 9m, /)AB9!I9Mb@Mb@Mb@ )IiZd;?(\µ?~jtx>=ĻIAiK A AA)ABD6DY !=Q)>99GYFA>Q 1%4٪y+?Q 5%4(' B9-W?Q A-:Y-?Q E-?yC):I:ib}4YUДB] AYhh7)AhWAhWAhN_?zE@{vEh'@jIQ?JpU1{?h5&hc GVe9@.쎆@/HG@rW?Pg?RY?h@hˡ@hỶ՝?hAʈhB*i2i:ii=A"i[U? addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504107 s, deltaX: -0.100000 m, approachRate: -0.198371 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=34, elapsed TxPingTime=13.315335 Added new target pos. range: 9.146322 m, bearing: 49.979012 deg, lat: 36.779368 deg, lon: -121.859591 deg, deltaT: 1.511330 s, deltaX: -0.397752 m, approachRate: -0.263180 m/s, posRepo size: 4 gg!%zIgnoring new targets. Set target to previous: 9.15 m. 9.54 m.g)gI] ProNav: ac range: 9.544074 m, nav range: 8.530006 m, bearing: 47.118867 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 44.272361 deg, new cmd heading: 43.154709 deg. gYe|HeadingCmd: 0.753192 target range: 9.544074 and range: 9.20 m.ge-@?gagagagazfarfffބBBdddc`ff"@c*?ɢB d3I  s<ɡ i I &;I-@?iilN|>)-@?))Aii?@@ԙ>A h> DDAT read: Rx Time:05:24:45.3841  TRx dataTimestamp_ set to:1755840286.538612 PDAT read: Bearing 240.9, -10.1 (Local)  ~Local bearing/azimuth received: Bearing 240.9, -10.1 (Local) Թ  DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4  DAT read: 05:24:45.3841 LVL= 20016, 27697, 22738, 28771, AGC= 52, IDX= 510,-0.16, 0.159,-1.341, 0.612, 0.320, PHS=-0.059,-1.616, 0.248, RAW= 158.8, 16.2, CAL= 159.9, 19.1, ROT= 350.1, -19.1  Ygot valid direction response: 05:24:45.3841 LVL= 20016, 27697, 22738, 28771, AGC= 52, IDX= 510,-0.16, 0.159,-1.341, 0.612, 0.320, PHS=-0.059,-1.616, 0.248, RAW= 158.8, 16.2, CAL= 159.9, 19.1, ROT= 350.1, -19.1  T#Rx 35: Read range and direction messages. ^direction in FSK: [0.930878,-0.162464,0.327218]% Fpublishing direction and range info9 I.?#e͟Ŀ#e#? fA i 0N 1l X cp 4 q) οI }>i a1@ Ð> )2@ 㭪> a@ 㭪i I 05mL?tXC?t? 9-? 3 40) 㭪i M checking for new query: numPingsReceived=35, elapsed TxPingTime=13.592098D D D )D E D: E ~:6E FA4:E ! @! @! @! @A I I N>x,)A(i*@hUB9U!IBDe6DeܲYG!C=Q)>99GYA>Q 14٪ 2?Q 54" B9YQ E?yC);Ik:i4Y֔B AEhhx)Ah Ah Ah[?zUy @i'GDw)@jI.?#e͟Ŀ#e#?h40h㭪nw~@5I@\5C@rtY}?"?'O=?hI@h@h?hj-{hKB*i; ?2i:iiA"iTT? addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503951 s, deltaX: -0.300000 m, approachRate: -0.595296 m/s, rangeRepo size: 4  Added new target pos. range: 8.848072 m, bearing: 49.018065 deg, lat: 36.779368 deg, lon: -121.859591 deg, deltaT: 2.015281 s, deltaX: -0.696002 m, approachRate: -0.345362 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 8.85 m. 9.54 m.gg ProNav: ac range: 9.544074 m, nav range: 8.335126 m, bearing: 46.604538 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 43.154710 deg, new cmd heading: 42.267006 deg. g|HeadingCmd: 0.737698 target range: 9.544074 and range: 8.90 m.g )YY]0Y>AuKr>)vB>~BB!IBBB =BBB(];B"EAII NE >a a,))AFDDAT read: Rx Time:05:24:45.8840 JTRx dataTimestamp_ set to:1755840287.042376RPDAT read: Bearing 238.7, -10.5 (Local) V~Local bearing/azimuth received: Bearing 238.7, -10.5 (Local) bDAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 vDAT read: 05:24:45.8840 LVL= 24608, 30321, 26274, 32755, AGC= 53, IDX= 508, 0.38, 1.344,-0.198, 1.829, 1.485, PHS=-0.038,-1.637, 0.300, RAW= 159.4, 15.2, CAL= 160.3, 17.7, ROT= 349.7, -17.7 zYgot valid direction response: 05:24:45.8840 LVL= 24608, 30321, 26274, 32755, AGC= 53, IDX= 508, 0.38, 1.344,-0.198, 1.829, 1.485, PHS=-0.038,-1.637, 0.300, RAW= 159.4, 15.2, CAL= 160.3, 17.7, ROT= 349.7, -17.7 ~T#Rx 36: Read range and direction messages.^direction in FSK: [0.937309,-0.170338,0.304033]Fpublishing direction and range info9DFziF/ 2@Fԇ>F3@F2+>F0O@ F2+iDDIF^p\?M2n?3@z?Fi 0?Ft FT8)F2+iDD%checking for new query: numPingsReceived=36, elapsed TxPingTime=14.0921399IQ)iIyirADDDDE: EM:6E:E"Ez>]=]I]-Ai]5 A]bA]tA)Y] ABD6DkY!=Q)>99GYFA>Q 154٪\:?Q 554 B9=>Q A=:Y=?Q E=?yC)&)=7?)ai ? / Թ >A%Wx>DDAT read: Rx Time:05:24:46.3837 TRx dataTimestamp_ set to:1755840287.546486PDAT read: Bearing 237.6, -10.3 (Local) ~Local bearing/azimuth received: Bearing 237.6, -10.3 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 =DAT read: 05:24:46.3837 LVL= 22960, 29041, 24626, 32755, AGC= 52, IDX= 506, 0.09,-0.401,-1.946, 0.076,-0.271, PHS=-0.028,-1.630, 0.303, RAW= 159.2, 15.0, CAL= 160.0, 17.4, ROT= 350.0, -17.4 EYgot valid direction response: 05:24:46.3837 LVL= 22960, 29041, 24626, 32755, AGC= 52, IDX= 506, 0.09,-0.401,-1.946, 0.076,-0.271, PHS=-0.028,-1.630, 0.303, RAW= 159.2, 15.0, CAL= 160.0, 17.4, ROT= 350.0, -17.4 ET#Rx 37: Read range and direction messages.M^direction in FSK: [0.939743,-0.165702,0.299041]MFpublishing direction and range info9`?=C5ſ-{#?AiYqq2`4 B`)ףпI">i1@ >¸2@|>z@ |iI^?@9?!r?3/?)م 2)|iAyAIIN?,*)A ^checking for new query: numPingsReceived=37, elapsed TxPingTime=14.606064yVGtB?ٱVb_z?Vf.;VK$VH?Z9W@Z?*?K?`e w`S?IVGtB?)V8`;iVCDDD(DE ; E6Ec44:E!%@!%@!%@!%@vB9m!IBD6D0Y×!C=qfQ)> H?9 H?9GYFʽA>Q 14٪tA?Q 54 B9Y+?Q E?yC)S;I;iu4Y} Ahyh})Ah}Ah}Ah}P?z}Dw@N\wA͎@j}`?=C5ſ-{#?h}2h}|}+8Aϋ@APf@@r}V?c\9Z7?Sc?h}U@h}^@h} ]?h}h}B*iy2i}:iyi}`@"i}=Q? addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504110 s, deltaX: -0.400000 m, approachRate: -0.793477 m/s, rangeRepo size: 4  Added new target pos. range: 8.251575 m, bearing: 46.765777 deg, lat: 36.779367 deg, lon: -121.859591 deg, deltaT: 3.023155 s, deltaX: -1.292499 m, approachRate: -0.427533 m/s, posRepo size: 4 gg  zIgnoring new targets. Set target to previous: 8.25 m. 9.54 m.gg ProNav: ac range: 9.544074 m, nav range: 7.894866 m, bearing: 45.397162 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 41.125334 deg, new cmd heading: 40.231119 deg. g!AM|HeadingCmd: 0.702165 target range: 9.544074 and range: 8.30 m.gM3?gIgIgQgQzfQrfQfYfYBdYdYdYce @c ?ɢBU :I Tr<ɡiI;I3?ii}>)3?)i/ychecking for new query: numPingsReceived=37, elapsed TxPingTime=14.829375>A>A! A! vB- >~B) B- !IB- BB- =B) B) B- ];B- "EII IY Ne >ԙ , )Ay6J??ٱ65w?6 :6//6H/4?GKաRQ?/?@g?aC@=䥿?I6J??)6(`;i6C<BB9B!IMb@Mb@Mb@ )Ii^I +?sh|??y&1|X>=`IAi A A^A)ABDDDAT read: Rx Time:05:24:46.8837 TRx dataTimestamp_ set to:1755840288.049094PDAT read: Bearing 238.5, -9.3 (Local) ~Local bearing/azimuth received: Bearing 238.5, -9.3 (Local) -DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 MDAT read: 05:24:46.8837 LVL= 24976, 29985, 26322, 32755, AGC= 52, IDX= 506,-0.16,-1.039,-2.580,-0.609,-0.886, PHS=-0.051,-1.649, 0.233, RAW= 158.0, 16.4, CAL= 159.1, 19.2, ROT= 350.9, -19.2 UYgot valid direction response: 05:24:46.8837 LVL= 24976, 29985, 26322, 32755, AGC= 52, IDX= 506,-0.16,-1.039,-2.580,-0.609,-0.886, PHS=-0.051,-1.649, 0.233, RAW= 158.0, 16.4, CAL= 159.1, 19.2, ROT= 350.9, -19.2 ]T#Rx 38: Read range and direction messages.e^direction in FSK: [0.932490,-0.149361,0.328867]eFpublishing direction and range info9iI?fBÿf& ?ia!uf `P)oӿIn>i|0@C>g1@>@ iIB+?- ?*?3)? ")i}checking for new query: numPingsReceived=38, elapsed TxPingTime=15.0957146D 8Ynռ!>=6Q)>99GYA>Q 14ԩ٪ I?Q 54 B9>Q A:Y?Q E?yC)Z=IY=i4Y AD5D5D5.D1E5a: E5I:6E5ـ4:E1"E5()g/?)i>/ checking for new query: numPingsReceived=38, elapsed TxPingTime=15.331401 >A 6>A IIN>q%,<)Ay:8?ٱ:p?:|=:1::H@z?`}麣`?X?@#?g?Xq?I:8?):@ `;i:CFB9F!IIH)JAABDN6DNβYV<!VA=VQ)Z>X9X9ZGY^F^uA^>`Q 1f4٪bP?Q 5f4b  b B9dYf܍?Q Ej?ybC)b:Ib):ibc4YnҔBnf AnE~B*** querying acoustic contact ***zh|h|gg  zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gA̼ԑgA̼ ProNav: ac range: 9.544074 m, nav range: 7.496716 m, bearing: 44.355633 deg, approach rate: -0.539253 m/s, LOS rate: -1.428593 deg/s, cmd heading: 39.257667 deg, new cmd heading: 38.210373 deg. gg#|HeadingCmd: 0.666897 target range: 9.544074 and range: 8.30 m.g*?ggggzfrfff Bdididqcqcu?DDAT read: Rx Time:05:24:47.3835 TRx dataTimestamp_ set to:1755840288.553164PDAT read: Bearing 235.7, -9.8 (Local) ~Local bearing/azimuth received: Bearing 235.7, -9.8 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 DAT read: 05:24:47.3835 LVL= 26144, 28321, 29426, 32755, AGC= 52, IDX= 503, 0.48,-1.009,-2.575,-0.539,-0.882, PHS=-0.025,-1.648, 0.299, RAW= 158.9, 15.0, CAL= 159.8, 17.5, ROT= 350.2, -17.5 Ygot valid direction response: 05:24:47.3835 LVL= 26144, 28321, 29426, 32755, AGC= 52, IDX= 503, 0.48,-1.009,-2.575,-0.539,-0.882, PHS=-0.025,-1.648, 0.299, RAW= 158.9, 15.0, CAL= 159.8, 17.5, ROT= 350.2, -17.5 T#Rx 39: Read range and direction messages.^direction in FSK: [0.939800,-0.162332,0.300706]Fpublishing direction and range info9 8R?HĿ->?Ai fnr ̼)ҿI>i5~1@ >2@a>@ aiI{ ?#A wk?!4?-?,x %/)ai5checking for new query: numPingsReceived=39, elapsed TxPingTime=15.603734ɢmBm quW9Iq u?u]<ɡqiqIuNQ;I}*?iyip~>)*?)!DDD/DE: E]t:6EJ4:E!@!@!@!@i@/@@>Axr>II Nm>e checking for new query: numPingsReceived=39, elapsed TxPingTime=15.8384979 )L ,7)AvB4~B4B4B4B6 =B4B4B6\;B6"EB9!IMb@Mb@Mb@ )IitV?{Gz?ף=tIAi A^A)ABD6DfYȯ!%)=%Q)%>)9)9-GY-F-A5>1Q 1=4٪5Y?Q 5E45$ 5 B9E)>Q AE:YE?Q EE?y5+C)5\:I5z:i5֬4YQUp AQhh g#)Ah@h@hCH?znev@ +;v"@j 8R?HĿ->?h%/hal@YW@>η@rn\ ?Dw?kj?h@hd@h?hzhtB*iaH?2i0{:iBiT@"i N? addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504070 s, deltaX: -0.300000 m, approachRate: -0.595156 m/s, rangeRepo size: 4  Added new target pos. range: 7.953299 m, bearing: 44.891072 deg, lat: 36.779367 deg, lon: -121.859589 deg, deltaT: 4.029833 s, deltaX: -1.590775 m, approachRate: -0.394750 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 7.95 m. 9.54 m.g!gUe ProNav: ac range: 9.544074 m, nav range: 7.277406 m, bearing: 43.758625 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 38.210373 deg, new cmd heading: 37.185575 deg. gm𼝅m|HeadingCmd: 0.649011 target range: 9.544074 and range: 8.00 m.gm%&?gqgqgqgqzfqrfqfyf}BBdy)ߡ ߡDDAT read: Rx Time:05:24:47.8835 TRx dataTimestamp_ set to:1755840289.057387PDAT read: Bearing 235.0, -10.5 (Local) ~Local bearing/azimuth received: Bearing 235.0, -10.5 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 DAT read: 05:24:47.8835 LVL= 26672, 25697, 27954, 32755, AGC= 51, IDX= 503, 0.19, 0.194,-1.356, 0.693, 0.341, PHS=-0.045,-1.652, 0.308, RAW= 159.7, 15.2, CAL= 160.6, 17.7, ROT= 349.4, -17.7 Ygot valid direction response: 05:24:47.8835 LVL= 26672, 25697, 27954, 32755, AGC= 51, IDX= 503, 0.19, 0.194,-1.356, 0.693, 0.341, PHS=-0.045,-1.652, 0.308, RAW= 159.7, 15.2, CAL= 160.6, 17.7, ROT= 349.4, -17.7 T#Rx 40: Read range and direction messages.^direction in FSK: [0.936405,-0.175243,0.304033] Fpublishing direction and range info9,~O?~$`nƿz0Gu?i0had2m3 Q8)tӿI->ib2@ԇ>Ud3@2+>K$@ 2+iddc% @c%ˍ?I>Ѯ;?XYn?uy@?1?) q=)2+iEchecking for new query: numPingsReceived=40, elapsed TxPingTime=16.107334ɢmBm qu8Iq uQ<ɡqiqIu&1;I]%&?iYi] >)]%&?)aDDD)DE; Eą:6EFA4:E"EA/y >A S>IQ Ii Nu >^,4S)A"checking for new query: numPingsReceived=40, elapsed TxPingTime=16.3512801=B9=!IBDM6DM0Y]<!]U=aQ)e>a9a9mGYiiAm>qQ 1}4٪u`?Q 5}4u uB9YQ E?yuCC)u:Iu:iu4YT Ahh;C)AhhhN E?zfB>@Y.!&L2X@j,~O?~$`nƿz0Gu?hq=h2+-A< @Q|^@hqI@rk ?6tӴ#?\?h @h@h>A)?h\xhB*i ]?2iz:iBi@"iL? addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504223 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 7.953299 m, bearing: 44.099029 deg, lat: 36.779367 deg, lon: -121.859588 deg, deltaT: 4.534056 s, deltaX: -1.590775 m, approachRate: -0.350850 m/s, posRepo size: 4 gguzIgnoring new targets. Set target to previous: 7.95 m. 9.54 m.gqgq ProNav: ac range: 9.544074 m, nav range: 7.104493 m, bearing: 43.260236 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 37.185575 deg, new cmd heading: 36.381631 deg. g|HeadingCmd: 0.634979 target range: 9.544074 and range: 8.00 m.g"?ggggzfrfffBdddcc?qɢBn 5I BKH<ɡiIϫ;I%"?i!i!)%"?))i0>Au>ԑIIDDAT read: Rx Time:05:24:48.3833 TRx dataTimestamp_ set to:1755840289.573055 PDAT read: Bearing 235.5, -11.2 (Local)  ~Local bearing/azimuth received: Bearing 235.5, -11.2 (Local) DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 =DAT read: 05:24:48.3833 LVL= 24816, 23793, 26498, 32755, AGC= 50, IDX= 501,-0.02,-2.882, 1.914,-2.376,-2.693, PHS=-0.087,-1.631, 0.273, RAW= 160.2, 16.3, CAL= 161.3, 19.2, ROT= 348.7, -19.2 EYgot valid direction response: 05:24:48.3833 LVL= 24816, 23793, 26498, 32755, AGC= 50, IDX= 501,-0.02,-2.882, 1.914,-2.376,-2.693, PHS=-0.087,-1.631, 0.273, RAW= 160.2, 16.3, CAL= 161.3, 19.2, ROT= 348.7, -19.2 MT#Rx 41: Read range and direction messages.U^direction in FSK: [0.926069,-0.185047,0.328867]UFpublishing direction and range info9*Q%\?Мǿf& ?f@i`\g2 -)пIƋ>i2@>,4@>6@ iIXr?x?d[?k3?Nu>>F I)i}checking for new query: numPingsReceived=41, elapsed TxPingTime=16.620478D D D -D E &; E :6E t4:E ! @! @! @! @Թ ,m)Ay6+.?ٱ6(f?6]86cB\6H?H ?`??DZ?Gr?Ԅ?I6+.?)6p_;i6CBB9B!IFph9h9jGYjFn#ݽAn>pQ 1v4٪r-h?Q 5v4r rB9tYvI?Q Ev?yr[C)rK:Ird:ir?4Y|~K A|h)h-d)Ah-@h-@h-O8?z-/>[@38(+?7#@j-*Q%\?Мǿf& ?h-Ih--K @hk@ڦ}@r->??v?|q?h-@h-@h-/?h-ԁh-ƈB*i-?2i-0{:i)i-@"i-eC?M addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.515668 s, deltaX: -0.300000 m, approachRate: -0.581770 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 7.655050 m, bearing: 41.251010 deg, lat: 36.779370 deg, lon: -121.859589 deg, deltaT: 5.049724 s, deltaX: -1.889024 m, approachRate: -0.374085 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 7.66 m. 9.54 m.gg  ProNav: ac range: 9.544074 m, nav range: 6.928518 m, bearing: 42.793963 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 36.381631 deg, new cmd heading: 35.572046 deg. g |HeadingCmd: 0.620849 target range: 9.544074 and range: 7.70 m.g?ggggzfrff!f!Bd!d!d)c-@c-@F?ɢB$2 顭S4I @<ɡiI;I?ii~>)?)uchecking for new query: numPingsReceived=41, elapsed TxPingTime=16.857971AM<AM<vBU>~BUύCBQBQBU =BQBQBU\;BU"EBBBBŷ =BŶ =Bh4i@5@;>@=>A > DDAT read: Rx Time:05:24:48.8833  TRx dataTimestamp_ set to:1755840290.077955! 5 PDAT read: Bearing 235.1, -13.5 (Local) 5 ~Local bearing/azimuth received: Bearing 235.1, -13.5 (Local) M DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 u DAT read: 05:24:48.8833 LVL= 24032, 23841, 22242, 32755, AGC= 48, IDX= 501,-0.22,-2.798, 2.123,-2.224,-2.559, PHS=-0.137,-1.556, 0.291, RAW= 162.8, 16.5, CAL= 163.8, 19.9, ROT= 346.2, -19.9 } Ygot valid direction response: 05:24:48.8833 LVL= 24032, 23841, 22242, 32755, AGC= 48, IDX= 501,-0.22,-2.798, 2.123,-2.224,-2.559, PHS=-0.137,-1.556, 0.291, RAW= 162.8, 16.5, CAL= 163.8, 19.9, ROT= 346.2, -19.9 } T#Rx 42: Read range and direction messages. ^direction in FSK: [0.913146,-0.224290,0.340380] Fpublishing direction and range info9  Ss6~8?Z̿"T? @ i ] !] V  0  I ) +ǿI >i o5@ r> c6@ ӱ> Z@  ӱi  I z?1ҁ?{b*? .?? Y  v) ӱi   checking for new query: numPingsReceived=42, elapsed TxPingTime=17.127592A AI I N >D D D +D E : E i:6E [4:E "E &uK?9}K?9}GY}F}A}>Q 14٪Yr?Q 54 B9d>Q A:YA?Q E?yzC);I;i)Î4YؔBP AEhh7)Ah@h@h>)?zXI?<@tk_RM@jSs6~8?Z̿"T?hvhӱ@&@FmNax?@rْ?V5g?*].?h7@h@h 5A?h9&h݈B*i>A)?2i:iƈBi@"i |=?m addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504900 s, deltaX: -0.200000 m, approachRate: -0.396118 m/s, rangeRepo size: 4 } Added new target pos. range: 7.456205 m, bearing: 37.986117 deg, lat: 36.779371 deg, lon: -121.859589 deg, deltaT: 5.554624 s, deltaX: -2.087869 m, approachRate: -0.375879 m/s, posRepo size: 4 gygzIgnoring new targets. Set target to previous: 7.46 m. 9.54 m.ԉgg ProNav: ac range: 9.544074 m, nav range: 6.695107 m, bearing: 42.153387 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 35.572045 deg, new cmd heading: 34.473630 deg. g|HeadingCmd: 0.601678 target range: 9.544074 and range: 7.50 m.g?ggggzfrfffՄBBdddc@cB?ɢeBe imC0Ii mQ5<ɡiiiIm@;Iu?iqiu>)u?)ychecking for new query: numPingsReceived=42, elapsed TxPingTime=17.359259i?1Ա>A& >bAZAlAI I N% > ;(,v)Ay:&?ٱ:^?:f:]N:H@j?jܤs?ٞ? t?l?ȩ?I:&?):@_;i:CNB9N!IBDZ6DZk1YrQ!v~=v;Q)v ?x9x9zGYxzR;Az ?|Q 14٪~x?Q 5 4~w ~B9 Y i?Q E ?y~C)~2:I~):i~Ȏ4Y A5B*** querying acoustic contact ***zh1h1EDDAT read: Rx Time:05:24:49.3831 MTRx dataTimestamp_ set to:1755840290.581099UPDAT read: Bearing 229.9, -13.6 (Local) U~Local bearing/azimuth received: Bearing 229.9, -13.6 (Local) eDAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 DAT read: 05:24:49.3831 LVL= 22752, 20849, 23506, 31523, AGC= 48, IDX= 498, 0.42,-2.042, 2.744,-1.406,-1.874, PHS=-0.066,-1.620, 0.424, RAW= 163.3, 13.6, CAL= 163.8, 15.9, ROT= 346.2, -15.9 Ygot valid direction response: 05:24:49.3831 LVL= 22752, 20849, 23506, 31523, AGC= 48, IDX= 498, 0.42,-2.042, 2.744,-1.406,-1.874, PHS=-0.066,-1.620, 0.424, RAW= 163.3, 13.6, CAL= 163.8, 15.9, ROT= 346.2, -15.9 T#Rx 43: Read range and direction messages.^direction in FSK: [0.933980,-0.229407,0.273959]Fpublishing direction and range info9IMؼ *?;vV6]Ϳψ.?Mf@IiMXMqQM[M#{I M+)M)\ϿIM>iMih6@Ms>IMq>I MqiIIIM? h)W?)iAAAE3A9 checking for new query: numPingsReceived=43, elapsed TxPingTime=17.865730>Am Wg~>vB >~B B B B B B B \;B "Eq I IA Nm >ru.,)Ayz[ #?ٱztZ?z+iBz(BzH? {N''??≝?#Mh?B ?Iz[ #?)z_;izC B9 !IMb@Mb@Mb@ )Ii rh?㥛 ?Mb`>=IAi A)ABD6DNYk<!<=O:Q)>99GYF[A>Q 14٪쁜?Q 54 B9{>Q A:Y~?Q E?yC)";IK,;iLЎ4Yub AyhYh]0)Ah] @h] @h] ?z]{؇Qн@0ZEoh-`?j]ؼ *?;vV6]Ϳψ.?hYh]q]Ս2@AJ @s@r] ?^]?Fb?h]؀@h]@h]󭇍U?h]uh]B*i]/?2i]ԁ:i]Bi]@"i] 1?g9g9EzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gE+gE+u ProNav: ac range: 9.544074 m, nav range: 6.354827 m, bearing: 41.238664 deg, approach rate: -0.450230 m/s, LOS rate: -1.218154 deg/s, cmd heading: 33.648527 deg, new cmd heading: 32.595123 deg. guU }|HeadingCmd: 0.568892 target range: 9.544074 and range: 7.20 m.g}?gygggzfrfffBBdddcc.?ɢB e/I #<5DDAT read: Rx Time:05:24:49.8830 =TRx dataTimestamp_ set to:1755840291.085045EPDAT read: Bearing 223.2, -15.9 (Local) E~Local bearing/azimuth received: Bearing 223.2, -15.9 (Local) ]DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 }DAT read: 05:24:49.8830 LVL= 20608, 20129, 20978, 32755, AGC= 47, IDX= 497, 0.14,-2.152, 2.690,-1.399,-2.051, PHS= 0.001,-1.497, 0.607, RAW= 166.3, 9.5, CAL= 166.1, 10.3, ROT= 343.9, -10.3 Ygot valid direction response: 05:24:49.8830 LVL= 20608, 20129, 20978, 32755, AGC= 47, IDX= 497, 0.14,-2.152, 2.690,-1.399,-2.051, PHS= 0.001,-1.497, 0.607, RAW= 166.3, 9.5, CAL= 166.1, 10.3, ROT= 343.9, -10.3 T#Rx 44: Read range and direction messages.^direction in FSK: [0.945296,-0.272846,0.178802]Fpublishing direction and range info915k9?? v&Nvѿ?53@1i5P5N5Q55/ 5o:)5I5Zd?i5F9@5)>59@5X8>5@ 5X8i11I56c?M){?(&?51N?5) 5ޏ)5X8i11checking for new query: numPingsReceived=44, elapsed TxPingTime=18.131620ɡiI;I?iie>)?)kAABE|a4JE^4REm0D D D ,D E : E :6E g4:E "E =-A+>IIN>iԙ  checking for new query: numPingsReceived=44, elapsed TxPingTime=18.367184XM5,=)Ay6Zn?ٱ6sYW?6X6Z!6H`vT?u?P?`?@c?*?I6Zn?)6_;i6CBB9B!I)FA FABDJ6DJJYfH=!f]=f:Q)f>h9h9jGYjFjeAn>pQ 1v4٪rӉ?Q 5v4r rB9tYvd?Q Ev?yrC)r:Ir:ir֎4YzΔB~ A~Ehhaq)Ah@h@h2?zqN@>0nx1?jk9?? v&Nvѿ?hޏhX8_@o @@?r 5?#}?>ȑ?. ډ?h3n@h@h 1v?h68hIB*i 5A?2iu:ii@"ih#? addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503946 s, deltaX: -0.100000 m, approachRate: -0.198434 m/s, rangeRepo size: 4 = Added new target pos. range: 7.058516 m, bearing: 32.497045 deg, lat: 36.779374 deg, lon: -121.859594 deg, deltaT: 6.561714 s, deltaX: -2.485559 m, approachRate: -0.378797 m/s, posRepo size: 4 gIgIzIgnoring new targets. Set target to previous: 7.06 m. 9.54 m.ԙggU} ProNav: ac range: 9.544074 m, nav range: 6.188636 m, bearing: 40.799265 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 32.595124 deg, new cmd heading: 31.856913 deg. g𼝅|HeadingCmd: 0.556008 target range: 9.544074 and range: 7.10 m.gV?ggggzfrfffBdddc`ff@cm?ɢ5B5) 15)I1 5a/<ɡ9i9I=ږ;I=V?iAiE>)EV?)ii/eDDAT read: Rx Time:05:24:50.3828 eTRx dataTimestamp_ set to:1755840291.589283uPDAT read: Bearing 223.4, -13.4 (Local) u~Local bearing/azimuth received: Bearing 223.4, -13.4 (Local) DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 DAT read: 05:24:50.3828 LVL= 21712, 19825, 23154, 31443, AGC= 48, IDX= 495,-0.17, 2.970, 1.438,-2.651, 3.040, PHS= 0.032,-1.557, 0.549, RAW= 163.6, 10.3, CAL= 163.6, 11.3, ROT= 346.4, -11.3 Ygot valid direction response: 05:24:50.3828 LVL= 21712, 19825, 23154, 31443, AGC= 48, IDX= 495,-0.17, 2.970, 1.438,-2.651, 3.040, PHS= 0.032,-1.557, 0.549, RAW= 163.6, 10.3, CAL= 163.6, 11.3, ROT= 346.4, -11.3 T#Rx 45: Read range and direction messages.^direction in FSK: [0.953119,-0.230584,0.195946]Fpublishing direction and range info9ae?qyǃͿ>x_?e@aieTeqMerZeze0 eo=)eKǿIeD ?ie36@eX8>e36@eI>e\w@ eIiaaIebz?Eٸ? s?eB?e(7 es)eIiaachecking for new query: numPingsReceived=45, elapsed TxPingTime=18.635969D5 D5 D5 -D1 E5 ; E5 e:6E5 t4:E1 != @!= @!= @!= @>A! I I N > qw;,")Ay6#?ٱ6h9h9jGYhjvAn>pQ 1v4٪r?Q 5v4r rB9tYv{?Q Ev?yrC)rK:Ir:irݎ4YzӔB~ AuEhhж)AhT@hT@h3{?zߡS@x_?hshI@}䲲 @a=`W)?rAo?4B̠u?۩9?hm@hF@h9`?heVhYB*iU?2ieV:iBie@"i@F? addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504238 s, deltaX: -0.300000 m, approachRate: -0.594957 m/s, rangeRepo size: 4  Added new target pos. range: 6.760269 m, bearing: 34.127079 deg, lat: 36.779376 deg, lon: -121.859594 deg, deltaT: 7.065952 s, deltaX: -2.783805 m, approachRate: -0.393975 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.76 m. 9.54 m.gg ProNav: ac range: 9.544074 m, nav range: 6.006776 m, bearing: 40.316601 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 31.856914 deg, new cmd heading: 31.007952 deg. g|HeadingCmd: 0.541191 target range: 9.544074 and range: 6.80 m.g| ?ggggzfrfffBddd c @33@c @#J?ɢ=B=L' 9=j)I9 E<ɡAiAIE!;IM| ?iIiM >)M| ?)Ychecking for new query: numPingsReceived=45, elapsed TxPingTime=18.871262!i/A}AAAyvB~BB!IBBBBBBs\;B"EI>A ->IikCII -G)) IA NU >iu q u yAq m DDAT read: Rx Time:05:24:50.8827 u TRx dataTimestamp_ set to:1755840292.092979} PDAT read: Bearing 218.8, -5.3 (Local) } ~Local bearing/azimuth received: Bearing 218.8, -5.3 (Local)  DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4  DAT read: 05:24:50.8827 LVL= 18096, 18977, 20034, 31971, AGC= 47, IDX= 510, 0.29, 2.355, 0.488, 2.751, 2.151, PHS= 0.306,-1.617, 0.556, RAW= 156.0, 7.4, CAL= 155.5, 7.6, ROT= 354.5, -7.6  Ygot valid direction response: 05:24:50.8827 LVL= 18096, 18977, 20034, 31971, AGC= 47, IDX= 510, 0.29, 2.355, 0.488, 2.751, 2.151, PHS= 0.306,-1.617, 0.556, RAW= 156.0, 7.4, CAL= 155.5, 7.6, ROT= 354.5, -7.6  T#Rx 46: Read range and direction messages. ^direction in FSK: [0.986652,-0.095004,0.132256] Fpublishing direction and range info9q u o͋?@A~'/R) ?u 3@q iu Fu !Ju BNu |u / u >)u οIu V?iu @.@u A>u -@u >u z@ u iq q Iu :wΘ?Nq*?,t?u "!?u  u )Ľ)u iq q  checking for new query: numPingsReceived=46, elapsed TxPingTime=19.139326DE DE DA DA EE =; EE k:6EA :EA r`B, )A"EurIUh=U#IU-AiU AUbAU A)QUfABDm6DmkY<!-=C ;Q)>99GYFA> Q 14٪ G?Q 54  B9K?Q A:Y*t?Q E?y C) :I :i #4Y!- A)ihh^)Ah@h@h1;8?zi"&8@S㿘?jo͋?@A~'/R) ?h)ĽhRfY@RK#@UVk?r?Q??G46S?h@hr@h,D:?hy(shaB*i2i:iYBi=@"i? addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503696 s, deltaX: -0.200000 m, approachRate: -0.397065 m/s, rangeRepo size: 4  Added new target pos. range: 6.561431 m, bearing: 41.233089 deg, lat: 36.779376 deg, lon: -121.859594 deg, deltaT: 7.569648 s, deltaX: -2.982643 m, approachRate: -0.394027 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.56 m. 9.54 m.gg- ProNav: ac range: 9.544074 m, nav range: 5.776120 m, bearing: 39.731345 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 31.007952 deg, new cmd heading: 30.020943 deg. g)5|HeadingCmd: 0.523964 target range: 9.544074 and range: 6.60 m.g5"?g1g1g1g9zf9rf9f9fË́BBdAdIdIcM`ff@cU?ɢB>6 顽%I Zu <ɡiI 1;I"?ii>)"?) Y>checking for new query: numPingsReceived=46, elapsed TxPingTime=19.376314ԙi/@>@ > >Aa A I I N >H,U$)A(bDDAT read: Rx Time:05:24:51.3825 bTRx dataTimestamp_ set to:1755840292.596983fPDAT read: Bearing 217.5, 0.8 (Local) j~Local bearing/azimuth received: Bearing 217.5, 0.8 (Local) rDAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 DAT read: 05:24:51.3825 LVL= 17840, 24209, 22930, 32291, AGC= 47, IDX= 508,-0.07, 2.068,-0.000, 2.211, 1.698, PHS= 0.473,-1.653, 0.470, RAW= 149.9, 6.7, CAL= 149.3, 7.2, ROT= 0.7, -7.2  Ygot valid direction response: 05:24:51.3825 LVL= 17840, 24209, 22930, 32291, AGC= 47, IDX= 508,-0.07, 2.068,-0.000, 2.211, 1.698, PHS= 0.473,-1.653, 0.470, RAW= 149.9, 6.7, CAL= 149.3, 7.2, ROT= 0.7, -7.2 T#Rx 47: Read range and direction messages.\direction in FSK: [0.992041,0.012121,0.125333]Fpublishing direction and range info9`b&̾?jrB҈?cK ?b@`ibEb^bYb#~` b->)bӿIbף>ibp'@b|=b &@b>b+H< bi``Ib9tp?M|+?6# ?bm?b b+H<)bUB9U!Ii``uchecking for new query: numPingsReceived=47, elapsed TxPingTime=19.650841BDe6DeY<![=Q)>99GYFA>Q 14٪N?Q 54 B9YQ E?y C);I3;i4Y Ah`hb4&)Ahbl@hbl@hbS?zb+)t@a0 o?m?jb&̾?jrB҈?cK ?hb+H<hbb4pR@s/M@:;<.?rb z?y@j`?lR?hbi@hb@hbd ?hbSghb2B*i`2ibu:ibIBib@"ib? addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504004 s, deltaX: -0.300000 m, approachRate: -0.595233 m/s, rangeRepo size: 4 DDD*DE: E:6E(N4:E!@!@!@!@ Added new target pos. range: 6.263185 m, bearing: 47.421769 deg, lat: 36.779376 deg, lon: -121.859594 deg, deltaT: 8.073652 s, deltaX: -3.280890 m, approachRate: -0.406370 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.26 m. 9.54 m.gg5 ProNav: ac range: 9.544074 m, nav range: 5.597400 m, bearing: 39.243489 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 30.020942 deg, new cmd heading: 29.263639 deg. g15|HeadingCmd: 0.510747 target range: 9.544074 and range: 6.30 m.g=N?g9g9g9g9zf9rf9fafaBdadidicm@33@cm wf?ԁɢB 顽!I <ɡiI;IN?ii >)N?)i=/ԱiyI}R=checking for new query: numPingsReceived=47, elapsed TxPingTime=19.883829>A 7J> vB% >~B% ЍCB! B! B! B! B! B% o\;B% ~"EAM yAIY Ii Nu >`N,>)AHy~?ٱ~ҰH?~y:~~H?ZF 5?ڧ??"V`y?I~?)~?_;i~C%B9%!IMb@Mb@Mb@ )Ii ףp= ?t=IAi AbA)ABD6DYh<!3=;Q)>% H?9% H?9-GY)-{A->1Q 1=4٪5?Q 5=45! 19= >Q AE:Yegn?Q Ee?y5)C)5d;I5d;i54YmٔBm AmEDDAT read: Rx Time:05:24:51.8824 TRx dataTimestamp_ set to:1755840293.101139PDAT read: Bearing 219.2, 5.1 (Local) ~Local bearing/azimuth received: Bearing 219.2, 5.1 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 DAT read: 05:24:51.8824 LVL= 21840, 30449, 27362, 31187, AGC= 46, IDX= 508,-0.46,-1.634, 2.502,-1.687,-2.021, PHS= 0.489,-1.716, 0.290, RAW= 145.3, 8.9, CAL= 144.9, 9.7, ROT= 5.1, -9.7 Ygot valid direction response: 05:24:51.8824 LVL= 21840, 30449, 27362, 31187, AGC= 46, IDX= 508,-0.46,-1.634, 2.502,-1.687,-2.021, PHS= 0.489,-1.716, 0.290, RAW= 145.3, 8.9, CAL= 144.9, 9.7, ROT= 5.1, -9.7 T#Rx 48: Read range and direction messages. \direction in FSK: [0.981801,0.087623,0.168489] Fpublishing direction and range info9ZS6j?`|n?RV?f@iPUvjy. 5^>)ۿIz>i:M"@>!@-\->K= -\-iIz|?ђ ?H~?D>3H K=)-\-i-checking for new query: numPingsReceived=48, elapsed TxPingTime=20.147575hhyF)Ah=@h=@hH`?z)B4@îPqH?3r֝?jZS6j?`|n?RV?hK=h-\-!a!@!@j~2Q?r2<3?G>?s2.?hq@h y@h?hK`hB*i,D:?2iy(s:iBi;@"ip4? addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504156 s, deltaX: -0.100000 m, approachRate: -0.198352 m/s, rangeRepo size: 4  Added new target pos. range: 6.163801 m, bearing: 50.196853 deg, lat: 36.779373 deg, lon: -121.859585 deg, deltaT: 8.577808 s, deltaX: -3.380273 m, approachRate: -0.394072 m/s, posRepo size: 4 gg zIgnoring new targets. Set target to previous: 6.16 m. 9.54 m.g g M ProNav: ac range: 9.544074 m, nav range: 5.378875 m, bearing: 38.657437 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 29.263638 deg, new cmd heading: 28.214610 deg. gQ]|HeadingCmd: 0.492438 target range: 9.544074 and range: 6.20 m.g] >gYgagagazfarfififm˄BBdqrD=jD=DDD,DE; Ex:6Eg4:E"E.Ciiec>) >)i?/ ] checking for new query: numPingsReceived=48, elapsed TxPingTime=20.383287>A 6>I AUAIaIqN}?tW,D_)Ai@y: ?ٱ:E?:;:G:Hs?Cw`ND?U?j?@u?c葿?I: ?):ܘ_;i:C^B9^!IIf@A)dBDn6DnJxYf!8=-;Q)>%K?9%K?9-GY-F-AU>aQ 14٪e뽜?Q 54e eB9Yj?Q E?yeEC)eH;Ie;iew4Y AB*** querying acoustic contact ***zhhg g zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gѼgѼ% ProNav: ac range: 9.544074 m, nav range: 5.165812 m, bearing: 38.072849 deg, approach rate: -0.513667 m/s, LOS rate: -1.467474 deg/s, cmd heading: 28.214610 deg, new cmd heading: 26.997415 deg. g%'U|HeadingCmd: 0.471194 target range: 9.544074 and range: 6.20 m.gUP@>gQgQgQgQzfYrfYfYfYBdadadacace@?ɢބB I c;ɡiIO:;IP@>ii >) P@>) DDAT read: Rx Time:05:24:52.3821 TRx dataTimestamp_ set to:1755840293.605933PDAT read: Bearing 221.4, 9.2 (Local) ~Local bearing/azimuth received: Bearing 221.4, 9.2 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 DAT read: 05:24:52.3821 LVL= 30864, 32753, 32754, 32755, AGC= 49, IDX= 505, 0.22,-1.392, 2.745,-1.614,-1.746, PHS= 0.456,-1.746, 0.088, RAW= 141.0, 11.7, CAL= 140.4, 12.7, ROT= 9.6, -12.7 !5Ygot valid direction response: 05:24:52.3821 LVL= 30864, 32753, 32754, 32755, AGC= 49, IDX= 505, 0.22,-1.392, 2.745,-1.614,-1.746, PHS= 0.456,-1.746, 0.088, RAW= 141.0, 11.7, CAL= 140.4, 12.7, ROT= 9.6, -12.7 =T#Rx 49: Read range and direction messages.E\direction in FSK: [0.961873,0.162689,0.219846]MFpublishing direction and range info9LI?=?F#?̼@ix1 x>)|߿IX9=i@Q>iaiim/i @b>+> biI(#U>?׶I!{?8`HL?>}R +>)bichecking for new query: numPingsReceived=49, elapsed TxPingTime=20.684738DeDeDaDaEea: Eei:6Ea:Ea!m@!m@!m@!m@I>Aay A I I N >= checking for new query: numPingsReceived=49, elapsed TxPingTime=20.887150d],y)AA6<A6<vBF>~BDBF!IBFBBF =BDBFhDBFK\;YBFn"E-B9))1 1MMb@Mb@Mb@ I)IIIiIIMe;O?333333?Mb`?M>M=M;IMtAiMK AMbAI)IMfAԁBDu6DuY!;!=Q)>99GYFA>Q 14٪ʜ?Q 54A 9>Q A:Yl?Q E ?yeC)\;Iz[;i4Y A!hhf)Ah@h@hp?zUt\@yW?D?jLI?=?F#?h+>hbt"& @qx@۰8m&?rD%h?RA?AT{?h$@hW@h^R 睊?hv}Wh&B*id ?2iSg:ii@"iPP?u addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504794 s, deltaX: -0.300000 m, approachRate: -0.594301 m/s, rangeRepo size: 4  Added new target pos. range: 5.865592 m, bearing: 53.910194 deg, lat: 36.779368 deg, lon: -121.859580 deg, deltaT: 9.082602 s, deltaX: -3.678482 m, approachRate: -0.405003 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 5.87 m. 9.54 m.ggU ProNav: ac range: 9.544074 m, nav range: 4.923162 m, bearing: 37.317920 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 26.997416 deg, new cmd heading: 25.906528 deg. g𼝅|HeadingCmd: 0.452154 target range: 9.544074 and range: 5.90 m.g€>ggggzfrff1fUԄBBdQdYdYc]@c]z?ɢ܄B 額SIDDAT read: Rx Time:05:24:52.8821 TRx dataTimestamp_ set to:1755840294.109085PDAT read: Bearing 223.0, 12.4 (Local) ~Local bearing/azimuth received: Bearing 223.0, 12.4 (Local) DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.3 DAT read: 05:24:52.8821 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.11,-1.741, 2.388,-2.090,-2.068, PHS= 0.430,-1.782,-0.066, RAW= 137.7, 14.0, CAL= 136.9, 15.1, ROT= 13.1, -15.1 Ygot valid direction response: 05:24:52.8821 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.11,-1.741, 2.388,-2.090,-2.068, PHS= 0.430,-1.782,-0.066, RAW= 137.7, 14.0, CAL= 136.9, 15.1, ROT= 13.1, -15.1 T#Rx 50: Read range and direction messages.\direction in FSK: [0.940347,0.218826,0.260505]Fpublishing direction and range info9juKR?"z?QfJ0?i6 (>)I+i@5z>4@V> j> ViI#lAޕ?S;~?4 7?֝>@z  j>)Vichecking for new query: numPingsReceived=50, elapsed TxPingTime=21.155262 ;ɡ1iAIE\;IM€>iIiI)M€>)QԱbDiZDiDyD}D}-DyEy E}L_:6E}t4:Ey"E}(A ;>Uchecking for new query: numPingsReceived=50, elapsed TxPingTime=21.391937AyAI)I9NE? e,")A5B9=!IBDu6Du1Y?<!N=Q)> H?9 H?9GYA>Q 1}4٪Ԝ?Q 5}4 9YQ E?yC)`ahVOk@!n-! @#?r,Z?y?i ?H?h@hXC@h<՝?hyZOhB*i?2iK`:ii'@"iY^? addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503152 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 5.865592 m, bearing: 57.447099 deg, lat: 36.779366 deg, lon: -121.859577 deg, deltaT: 9.585754 s, deltaX: -3.678482 m, approachRate: -0.383745 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 5.87 m. 9.54 m.gg  ProNav: ac range: 9.544074 m, nav range: 4.733618 m, bearing: 36.672166 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 25.906528 deg, new cmd heading: 25.032791 deg. g |HeadingCmd: 0.436905 target range: 9.544074 and range: 5.90 m.g>ggggzfrff!f!Bd!d!d)c)c-`i?ɢUڄB]v aeCIi m-;ɡqiqIu;I}>ii)>)i> 0 1DDAT read: Rx Time:05:24:53.3819 TRx dataTimestamp_ set to:1755840294.613175PDAT read: Bearing 231.9, 11.0 (Local) ~Local bearing/azimuth received: Bearing 231.9, 11.0 (Local) DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.3 DAT read: 05:24:53.3819 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503, 0.16,-0.504,-2.478,-0.852,-0.582, PHS= 0.180,-1.850,-0.314, RAW= 136.5, 20.9, CAL= 137.2, 24.8, ROT= 12.8, -24.8  Ygot valid direction response: 05:24:53.3819 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503, 0.16,-0.504,-2.478,-0.852,-0.582, PHS= 0.180,-1.850,-0.314, RAW= 136.5, 20.9, CAL= 137.2, 24.8, ROT= 12.8, -24.8  T#Rx 51: Read range and direction messages.\direction in FSK: [0.885219,0.201117,0.419452]Fpublishing direction and range info9,S?V x1?KsM?3@i Q8>)IĠix@ú>@@k>d> kݾiI &?s ?.~?>n d>)kݾiUchecking for new query: numPingsReceived=51, elapsed TxPingTime=21.663227A>AA DU DU DU )DQ EU : EU ]t:6EU FA4:EQ ! @! @! @! @Aq Iy I N >ԙ ^#l,>)Ay63?ٱ6:?60;63ؼ6H?C( D??ӗ? u?I63?)6rK_;i6C@9F!IZ499GY F A >Q 14٪:ޜ?Q 54| B9!Y%a?Q E%?yC);I;i 4Y)- A)hhB>)Ah'@h'@h.v?z*Hx @Od;?H@j,S?V x1?KsM?hd>hkݾ+i@@8ˉ@Y:@r': ?D$!%?cQ1?hP@h:@hP&ӝ?hJ[h3B*i^R 睊?2iJ[:i&Bi@"i6l?} addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.504090 s, deltaX: -0.300000 m, approachRate: -0.595132 m/s, rangeRepo size: 4  Added new target pos. range: 5.567341 m, bearing: 55.098641 deg, lat: 36.779364 deg, lon: -121.859575 deg, deltaT: 10.089844 s, deltaX: -3.976733 m, approachRate: -0.394132 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 5.57 m. 9.54 m.gg ProNav: ac range: 9.544074 m, nav range: 4.560417 m, bearing: 36.132852 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 25.032792 deg, new cmd heading: 24.281759 deg. g|HeadingCmd: 0.423797 target range: 9.544074 and range: 5.60 m.g>ggggzfrfffBdddc`ff@c ?ɢ؄B checking for new query: numPingsReceived=51, elapsed TxPingTime=21.895290 %<%I! %Q ;ɡ!i!I-;I->i1i1)5>)1yvB>~BB!IBBBBBBP\;i?Bq"E-q11BQBQBQBQBU÷ =BU5ԡ>A56> DDAT read: Rx Time:05:24:53.8818  TRx dataTimestamp_ set to:1755840295.117784 PDAT read: Bearing 251.6, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 251.6, 5.3 (Local)  DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 % DAT read: 05:24:53.8818 LVL= 28000, 24545, 30322, 32755, AGC= 52, IDX= 502, 0.21, 1.776, 0.413, 1.526, 2.102, PHS=-0.224,-1.643,-0.620, RAW= 134.3, 34.7, CAL= 140.3, 45.8, ROT= 9.7, -45.8 - Ygot valid direction response: 05:24:53.8818 LVL= 28000, 24545, 30322, 32755, AGC= 52, IDX= 502, 0.21, 1.776, 0.413, 1.526, 2.102, PHS=-0.224,-1.643,-0.620, RAW= 134.3, 34.7, CAL= 140.3, 45.8, ROT= 9.7, -45.8 - T#Rx 52: Read range and direction messages.5 \direction in FSK: [0.687198,0.117465,0.716911]5 Fpublishing direction and range info9 ?"Ć?H 5.?[? ̬@ i `m _ rv 4 B`e) MҿI Ri @ ? t@ L? -\-> Li I Q{?OM?}7o;? ~> L1 -\->) Li U checking for new query: numPingsReceived=52, elapsed TxPingTime=22.164219Ae AIi Iy N >D D D 2D E ; E :6E 4:E "E @ٱNR3?N_;N' NH9|?G9?w??@u d (?INoL>)NN._;iL~B9~!I=Mb@Mb@Mb@ 9)9I9i99= +?MbX9?=>=ʡ==I=Ai= A= A9)9=ABD}6D} 83Yb'=!4=dQ)>K?9K?9GYFuA>Q 14٪꜊?Q 54 B9>Q A:Y\?Q E?yC)6;I ;i%4Y8 Ah h Ɖ)Ah ˫@h ˫@h ~f?z Q蓃 @<-?kB@j ?"Ć?H 5.?[?h -\->h L  @bɹ@kq@r ' =aW?-Ʀ]?v2Ѯ?h >@h N@h n?h vh JB*i <՝?2i :i Bi @"i u? addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504609 s, deltaX: -0.200000 m, approachRate: -0.396346 m/s, rangeRepo size: 4  Added new target pos. range: 5.368535 m, bearing: 51.670318 deg, lat: 36.779362 deg, lon: -121.859575 deg, deltaT: 10.594453 s, deltaX: -4.175539 m, approachRate: -0.394125 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 5.37 m. 9.54 m.gg ProNav: ac range: 9.544074 m, nav range: 4.342514 m, bearing: 35.455030 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 24.281760 deg, new cmd heading: 23.289385 deg. g|HeadingCmd: 0.406476 target range: 9.544074 and range: 5.40 m.g>ggggzf!rf)f)f-BBd1d1d1c5@c5?ɢׄBRU 顥EI ;ɡiI=;I>ii@>)>) e>>-checking for new query: numPingsReceived=52, elapsed TxPingTime=22.399309)i=O0@mA@mAQ >A y A  DDAT read: Rx Time:05:24:54.3816  TRx dataTimestamp_ set to:1755840295.621037 DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.3  Z#Rx 53: Read range message, but no direction.9  3@  checking for new query: numPingsReceived=53, elapsed TxPingTime=22.654974I I N >Cy,J)Ay6= >ٱ69p/?62;6! 6H@b?K>{@??`T?`PFs 1?I6= >)6 )_;i6C>B9>!IBD6DDDD-DEV: EAr:6Et4:E!@!@!@!@Y!K=ȺQ)>99GYA>Q 14٪[?Q 54- B9YY?Q E?yC)K:I%ggggzfrfffBdddc`ff@c`n?ɢՄB 額I ?;ɡiI+;I>ii >)>)i5?11551Աie=Ie<mchecking for new query: numPingsReceived=53, elapsed TxPingTime=22.903370A@AAvBɿ>~BэCB"IBBB =BBiDB!\;B_"E>A A5 yAII IY Nm >f,CU)Ay6>ٱ6+?6gw;66H@ ? 0`ް`?`?"?@nzA?I6>)6^;i6CBB9B!IMb@Mb@Mb@ )IiZd;O?sh|??y&1|j>=`IAi AA)BD6DY-d5=!-Q=-?Q)5>5 H?9= H?9=GY=F= A=>AQ 1M4٪E^?Q 5M4E\ EB9>Q A:YrV?Q E?yEC)EgagagiDDAT read: Rx Time:05:24:54.8816 TRx dataTimestamp_ set to:1755840296.125207PDAT read: Bearing 325.2, -12.0 (Local) ~Local bearing/azimuth received: Bearing 325.2, -12.0 (Local) DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.3 DAT read: 05:24:54.8816 LVL= 29264, 19521, 32754, 32755, AGC= 53, IDX= 500, 0.09, 2.144,-3.118, 2.610,-2.532, PHS=-1.505,-0.541,-1.185, RAW= 311.0, 53.3, CAL= 311.7, 56.8, ROT= 198.3, -56.8  Ygot valid direction response: 05:24:54.8816 LVL= 29264, 19521, 32754, 32755, AGC= 53, IDX= 500, 0.09, 2.144,-3.118, 2.610,-2.532, PHS=-1.505,-0.541,-1.185, RAW= 311.0, 53.3, CAL= 311.7, 56.8, ROT= 198.3, -56.8  T#Rx 54: Read range and direction messages.`direction in FSK: [-0.519870,-0.171931,0.836764]Fpublishing direction and range info9Ud[Ǣ-ƿM?iPrAL5 ף)~ Ii@%n? @}?Ԁ]@ }iIL)~'Lsj~TR?<'Ln 4)}i5checking for new query: numPingsReceived=54, elapsed TxPingTime=23.171865gzfrfffBBdddcc@?BE^n4JE^n4RE^0DDD,DE; E&p:6Eg4:E"E.Cii);>)19E A;>rA ?jA?ԹA5AIAIQN]?=,&)A^DDAT read: Rx Time:05:24:55.3813 ^TRx dataTimestamp_ set to:1755840296.628991bPDAT read: Bearing 338.0, -15.0 (Local) f~Local bearing/azimuth received: Bearing 338.0, -15.0 (Local) nDAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 ~DAT read: 05:24:55.3813 LVL= 32752, 20529, 32754, 32755, AGC= 51, IDX= 498,-0.03,-1.228, 0.141,-0.641, 0.305, PHS=-1.431,-0.119,-0.990, RAW= 310.7, 37.8, CAL= 311.7, 42.8, ROT= 198.3, -42.8 Ygot valid direction response: 05:24:55.3813 LVL= 32752, 20529, 32754, 32755, AGC= 51, IDX= 498,-0.03,-1.228, 0.141,-0.641, 0.305, PHS=-1.431,-0.119,-0.990, RAW= 310.7, 37.8, CAL= 311.7, 42.8, ROT= 198.3, -42.8  T#Rx 55: Read range and direction messages.`direction in FSK: [-0.696622,-0.230386,0.679441]Fpublishing direction and range info9\^DƹJ/G}ͿU+?^f@\i^^1P\\^3 ^+)^FI^p}i^@^[(?\^t;??\ ^t;?i\\I^HJ.!RoOX¿#d?^=^ ) \MB9M!I)Q Qԉ)^t;?i\\Mchecking for new query: numPingsReceived=55, elapsed TxPingTime=23.710894DDD+DED: Ex:6E [4:E!@!@!@!@BD]6D]02YE;!E=EQ)E>MK?9MK?9MGYMFUAU>QQ 14٪US?Q 54U# UB9YQ E?yU C)U;IU;iU 44YBd Ah\h^cA()Ah^@h^@h^w@@z^գt p9D#6 f @j^DƹJ/G}ͿU+?h^4h^t;?^*f `y+] @r^ggڿ-whs>=?h^[1h^Sh^}n?h^h^&B*i^P&ӝ?2i\:i^3Bi^@"i^u|?E addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 1.007954 s, deltaX: -0.400000 m, approachRate: -0.396844 m/s, rangeRepo size: 4 U Added new target pos. range: 4.672701 m, bearing: 235.005478 deg, lat: 36.779362 deg, lon: -121.859575 deg, deltaT: 12.105660 s, deltaX: -4.871373 m, approachRate: -0.402405 m/s, posRepo size: 4 gQgQ}zIgnoring new targets. Set target to previous: 4.67 m. 9.54 m.g}g}U ProNav: ac range: 9.544074 m, nav range: 3.655258 m, bearing: 33.015379 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 20.673389 deg, new cmd heading: 19.342672 deg. g𼝅|HeadingCmd: 0.337593 target range: 9.544074 and range: 4.70 m.g٬>ggggzfrfffBdddc@c?Աɢ=҄B= 9=I9 EI;ɡAiAIE;IM٬>iIiI)M٬>)Qmchecking for new query: numPingsReceived=55, elapsed TxPingTime=23.911434vB ӿ>~B ӍCB "IB BB =B HDB jDB [;B T"E9 u< i / I G) I i ؓ A9>A3>%DDAT read: Rx Time:05:24:55.8813 %TRx dataTimestamp_ set to:1755840297.1340265DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.3 =Z#Rx 56: Read range message, but no direction.9!!!Mchecking for new query: numPingsReceived=56, elapsed TxPingTime=24.169411iDDD*DE2: Ec:6E(N4:E"E*ٱbi!?b b%bH@?`!?f?dn?@bC? 7 ?Ib>)b^;ibCjB9j!I}Mb@Mb@Mb@ y)yIyiyy}ʡE?EԸ?y&1|}>}=yI}Ai} Ay}A)y}ABD6DY!==Q)> H?9 H?9GYFWA>Q 14٪6!?Q 54 B9>Q A:YU?Q E?y/C);I;i=4Yv A addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.505035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gg zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g"g"% ProNav: ac range: 9.544074 m, nav range: 3.401552 m, bearing: 31.883789 deg, approach rate: -0.474761 m/s, LOS rate: -2.275338 deg/s, cmd heading: 19.342672 deg, new cmd heading: 16.912309 deg. g% )%|HeadingCmd: 0.295175 target range: 9.544074 and range: 4.70 m.g-=!>g1g1g1g1zf1rf1f9f=BBd9d9dAcAcE`?ɢmЄBu  qu=Iq uF<#;ɡyiyI};I}=!>ii)=!>)) iI]checking for new query: numPingsReceived=56, elapsed TxPingTime=24.415234ai>/ԁԱ >A 5 DDAT read: Rx Time:05:24:56.3811 5 TRx dataTimestamp_ set to:1755840297.640929E PDAT read: Bearing 297.0, -37.0 (Local) M ~Local bearing/azimuth received: Bearing 297.0, -37.0 (Local) ] DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.3  DAT read: 05:24:56.3811 LVL= 24752, 27281, 26402, 32755, AGC= 49, IDX= 495, 0.41, 0.903, 1.615, 2.107, 2.533, PHS=-1.528,-0.873,-0.470, RAW= 247.8, 47.7, CAL= 250.4, 54.3, ROT= 259.6, -54.3  Ygot valid direction response: 05:24:56.3811 LVL= 24752, 27281, 26402, 32755, AGC= 49, IDX= 495, 0.41, 0.903, 1.615, 2.107, 2.533, PHS=-1.528,-0.873,-0.470, RAW= 247.8, 47.7, CAL= 250.4, 54.3, ROT= 259.6, -54.3  T#Rx 57: Read range and direction messages. `direction in FSK: [-0.105340,-0.573954,0.812084] Fpublishing direction and range info91 5  s]⿇\?5 ̌@1 i5 `5 j5 "g1 5 1 5 ÿ)5 |_I5 ףi5 e@5 + U?5 ً@5 _r?5 @ 5 _ri1 1 I5 Yoڿ?V?5 @5 T 5 K)5 _ri1 1  checking for new query: numPingsReceived=57, elapsed TxPingTime=24.690977A I I N >3,j)ADnDnDn-DlEn: Enxv:6Ent4:El!r@!r@!r@!r@ty->ٱ-?-Z-Ѽ-H@J?~ ?@]?r*? [`?W6@L?I->)-z^;i-C=B9E!IBD6DYz߼!2=QQ)>99GYFA>Q 14٪-?Q 54 B9YR?Q E?yKC):I;iE4YהBZ AyEhhi)Ah@h@h g@z4~ݿxp"NOqk @j s]⿇\?hKh_r1 C?ɄX^ @rb!O? >kjp?hh?h ?hhB*in?2iv:i&BiD&@"in? addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.506903 s, deltaX: -0.300000 m, approachRate: -0.591829 m/s, rangeRepo size: 4 5 Added new target pos. range: 4.374576 m, bearing: 294.362127 deg, lat: 36.779358 deg, lon: -121.859587 deg, deltaT: 13.117598 s, deltaX: -5.169498 m, approachRate: -0.394089 m/s, posRepo size: 4 g1g1=zIgnoring new targets. Set target to previous: 4.37 m. 9.54 m.g=g=Um ProNav: ac range: 9.544074 m, nav range: 3.187980 m, bearing: 30.844161 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 16.912308 deg, new cmd heading: 15.877796 deg. gm𼝅u|HeadingCmd: 0.277120 target range: 9.544074 and range: 4.40 m.gu>gqgqgqgqzfyrfyfyfyBdddc@c?ɢτB I _:ɡiI;I%p>i!i))->))15lAi@/checking for new query: numPingsReceived=57, elapsed TxPingTime=24.9193421AA<vBѿ>~BB"IBƒBBBBB\;B^"E>A% ;>bA- kAZA- kAa Am AIq I N >M:,F&)Ay>o>ٱ>R0?>'[>Ƽ>Ht^?`- ␿!?`\?!?sk?mИ`?I>o>)>^;i>CJB9J!IiN=INa=x%Mb@Mb@Mb@ !)!I!i!!%ʡE?{Gz?%ף=%tI!i!!%A)!%ABD96D9YE#=!EL=MvRQ)M>MK?9UK?9UGYQUA]>YQ 1e4٪]u9?Q 5e4]F ]B9m>Q Am:YmD?Q Em?y]cC)]w:I]:i]L4YuܔB}F A}zEB*** querying acoustic contact ***zhhggzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gz*gz* ProNav: ac range: 9.544074 m, nav range: 3.003450 m, bearing: 30.016459 deg, approach rate: -0.500892 m/s, LOS rate: -2.384689 deg/s, cmd heading: 15.877796 deg, new cmd heading: 14.121298 deg. ga|HeadingCmd: 0.246463 target range: 9.544074 and range: 4.40 m.g`|>ggggzfDDAT read: Rx Time:05:24:56.8810 TRx dataTimestamp_ set to:1755840298.140693DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.3 Z#Rx 58: Read range message, but no direction.9f@checking for new query: numPingsReceived=58, elapsed TxPingTime=25.175362rfifqfuBBdydydyc@c@ܕ?ɢ΄B% )-: I) -WR:ɡ)i)I-U;I5~>>i1i9)=`|>)9DDD+DE: E:6E [4:E"E=--A checking for new query: numPingsReceived=58, elapsed TxPingTime=25.423525y A5 yAI9 IQ N] >`,V)A%B9%!II9)9BDE6DEYYe+ <!eI=mQ)m>m H?9m H?9uGYuFuAu>yQ 14٪}GE?Q 54} }B9YQ E?y}|C)}:I}:i}S4Y7 A addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.499764 s, deltaX: -0.200000 m, approachRate: -0.400189 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g4g4 ProNav: ac range: 9.544074 m, nav range: 2.814502 m, bearing: 29.052704 deg, approach rate: -0.465056 m/s, LOS rate: -2.531208 deg/s, cmd heading: 14.121297 deg, new cmd heading: 12.065366 deg. gÐ|HeadingCmd: 0.210580 target range: 9.544074 and range: 4.20 m.gaW>ggggzfrfffBdddcc@"?ɢ-̈́B-YR )- I1 5:ɡ1i1I5;I=$(a>i9i9)EaW>)Ai>0ԉDDAT read: Rx Time:05:24:57.3808 TRx dataTimestamp_ set to:1755840298.644635DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.3 Z#Rx 59: Read range message, but no direction.9y@ checking for new query: numPingsReceived=59, elapsed TxPingTime=25.678619DDDDE: E:6E:E!@!@!@!@Թ>A1Ae AIi Iy N > ,h͸)A&checking for new query: numPingsReceived=59, elapsed TxPingTime=25.927214yr5>ٱr?rrɼrH?`%`fڑBb?4?v?Ys?3@l?Ir5>)r^;irCvB%Ͽ>~B%ҍCB%"IB%̃BB% =B!B!B%K\;B%x"EB9=!IBDM6DM:3Y]R!]K=]sQ)]>eK?9eK?9mGYmF}A>Q 14٪kQ?Q 54< B9Y=?Q E?yC)6gqgqgqgqzfyrfyfyfyBdddc@33@cL?ɢ̄Bl I %:ɡ!i!I%i)i))-L1>)1i?/@G>@8>DDAT read: Rx Time:05:24:57.8806 TRx dataTimestamp_ set to:1755840299.149472DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.3 %Z#Rx 60: Read range message, but no direction.9ff@5checking for new query: numPingsReceived=60, elapsed TxPingTime=26.185949D D D .D E &: E v:6E ـ4:E "E X;A 3>rA ?jA ?9 A I I N > Ŵ,u)Ay67 >ٱ6o?66м6HO? .ԏ{??\?bv?@)6q^;i6C>B9>!I=Mb@Mb@Mb@ 9)9I9i99=)\(?㥛 ?Q=G>===uI=Ai= A9= A)9= ABDM6DMY]}<!]@=e@Q)e>a9a9mGYimqAm>yQ 14٪}L]?Q 54} }ݝB9}>Q A:YI9?Q E?y}C)}:I}V:i}Ib4Y A addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.504837 s, deltaX: -0.300000 m, approachRate: -0.594252 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g^g^ ProNav: ac range: 9.544074 m, nav range: 2.442301 m, bearing: 27.041907 deg, approach rate: -0.517128 m/s, LOS rate: -3.114016 deg/s, cmd heading: 9.948973 deg, new cmd heading: 7.750362 deg. g|HeadingCmd: 0.135269 target range: 9.544074 and range: 3.60 m.g >ggggzfrfffՄBBdddc @c *?checking for new query: numPingsReceived=60, elapsed TxPingTime=26.433144ɢ)- u I  R"9ɡiI%iiii)u >)qԡi>0>A ;>)e A e Am DDAT read: Rx Time:05:24:58.3805 u TRx dataTimestamp_ set to:1755840299.653553 DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3  Z#Rx 61: Read range message, but no direction.9i m `@i  checking for new query: numPingsReceived=61, elapsed TxPingTime=26.689884 A I I1 N= >D= D= D= +D9 E= : E= k:6E= [4:E9 !E @!E @!E @!E @,)Ay6e>ٱ6 ?6LsĻ6(o6H@w[? !u?Y?U?_x?`ͬ?I6e>)6^;i6CNB9R!IVd9d9fGYfFjAj>lQ 1r4٪n5h?Q 5r4n  nڝB9pYvq5?Q Ev?ynC)n:In:inh4Yxz Ax% addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504081 s, deltaX: -0.100000 m, approachRate: -0.198381 m/s, rangeRepo size: 4 g!g!-zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g-Ig5IE ProNav: ac range: 9.544074 m, nav range: 2.276911 m, bearing: 26.035385 deg, approach rate: -0.432566 m/s, LOS rate: -2.823564 deg/s, cmd heading: 7.750362 deg, new cmd heading: 5.592226 deg. gE{E|HeadingCmd: 0.097603 target range: 9.544074 and range: 3.50 m.gE=gIgIgIgIzfIrfIfQfQBdQdQdYc] @c]+?ɢ%˄B%p& )-I) -ɡ)i)I-b~BeӍCBaBaBe =BaBaBe\;Be"EB]ӍCB]ҍCBYB]Ʊ =B]Ʋ =B]ƿ69>A Y A I I N >(,3)Ay6x>ٱ6?60̻656H ?U0#Γ 3??@#? y?wA?I6x>)6^;i6CVB9Z!I5PDAT read: Bearing 276.0, 36.7 (Local) 5~Local bearing/azimuth received: Bearing 276.0, 36.7 (Local) MDAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.2 DAT read: 05:24:58.8805 LVL= 12528, 7057, 14066, 19027, AGC= 45, IDX= 506,-0.40,-2.516, 2.845, 2.563,-2.078, PHS=-0.335,-1.315,-1.687, RAW= 74.5, 44.3, CAL= 70.8, 50.6, ROT= 79.2, -50.6 Ygot valid direction response: 05:24:58.8805 LVL= 12528, 7057, 14066, 19027, AGC= 45, IDX= 506,-0.40,-2.516, 2.845, 2.563,-2.078, PHS=-0.335,-1.315,-1.687, RAW= 74.5, 44.3, CAL= 70.8, 50.6, ROT= 79.2, -50.6 T#Rx 62: Read range and direction messages.\direction in FSK: [0.118937,0.623488,0.772734]Fpublishing direction and range info9!%M9r??;?!!i%0%%6%SJ%- %)%QI%׿i%Bo?%.E?%2+?%=b?%;? %=bi!!I%&Ҋ?PMR*ZW?%, K%dE %;?)%=bi!!checking for new query: numPingsReceived=62, elapsed TxPingTime=27.215660 Mb@Mb@Mb@ ) I i 9  -?)\(? Ga= tI i  A bA bA)  BD6D1DDD.DE; EAr:6Eـ4:E"E @99GYF%A%>)Q 1u4٪-:v?Q 5u4- -֝B9u,>Q Au:Y}'?Q E}?y-C)-.&A= 3>bAA ZAE jAԹ Aq Iy I N >;,%$)AyF >ٱF!?FeٻFFHM?0߿@~??a?>{?`8@!?IF >)F^;iFCbB9b!IBDz6Dz02Y<!X= Q) > 9)95GY15@$A5>9Q 1E4٪=?Q 5E4=  =ҝB9IYM#?Q EM?y=C)=:QI=:i=x4YuBu AqB*** querying acoustic contact ***zhhggzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g7Wg7W ProNav: ac range: 9.544074 m, nav range: 1.908253 m, bearing: 23.847062 deg, approach rate: -0.440962 m/s, LOS rate: -3.010505 deg/s, cmd heading: 4.541460 deg, new cmd heading: 2.310990 deg. g,|HeadingCmd: 0.040334 target range: 9.544074 and range: 3.50 m.g5%=ggggzfrf f)f)Bd1d1d1c1c5?ɢ . 顭@I 狀ɡiI} Ƈ#?f;>AY  DDAT read: Rx Time:05:24:59.8803  TRx dataTimestamp_ set to:1755840300.916694 DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.1  Z#Rx 64: Read range message, but no direction.9   checking for new query: numPingsReceived=64, elapsed TxPingTime=27.950705 vB ޿>~B ԍCB B B =B B kDB W];B #EA9 Ia I NU > ,#,@)A\B9!IMb@Mb@Mb@ )Ii> ףp=?V-?/$><IAi A)AIAA)BD6DY r(! "= Q) >99GYFA>!Q 1%4٪%?Q 5-4% %ΝB9->Q A-;Y-?Q E-?y%C)%:I%:i%À4Y9= A9hh:)AhK@hK@h;@z:%6SjNs?S`E!@jr X)rv?[ Q?h@h<()NLlH+?-@r51@ f:?0V?h>hhɜ?h hӇB*im3?2i :ii>?"i-@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.760636 s, deltaX: -0.300000 m, approachRate: -0.394407 m/s, rangeRepo size: 4  Added new target pos. range: 3.181584 m, bearing: 168.098860 deg, lat: 36.779345 deg, lon: -121.859594 deg, deltaT: 16.393363 s, deltaX: -6.362491 m, approachRate: -0.388114 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 3.18 m. 9.54 m.ggU ProNav: ac range: 9.544074 m, nav range: 1.706041 m, bearing: 22.691077 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 2.310990 deg, new cmd heading: 1.269530 deg. g𼝅|HeadingCmd: 0.022157 target range: 9.544074 and range: 3.20 m.g<ggggzfrfff҄BBdddc @c@?ɢɄBg   [I  ɡ i I8 A ;>) A yAI I N5 >F,RZ)ADDAT read: Rx Time:05:25:00.3805 TRx dataTimestamp_ set to:1755840301.417779"DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 "Z#Rx 65: Read range message, but no direction.9`@&checking for new query: numPingsReceived=65, elapsed TxPingTime=28.451744pyz#>ٱz>zzƼzH&J? ݿq@?H? _?M~?ݘ Z?Iz#>)z̏^;ix-B9-!IBD}6D}fYRؼ!c="Q)> H?9 H?9GYFHA>Q 14٪?Q 54 ʝB9Y<?Q E?y!C):I:i 4Y=B=b A=|E addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.501085 s, deltaX: 0.300000 m, approachRate: 0.598701 m/s, rangeRepo size: 4 gTStarting intercept timer at range: 3.50 m.gzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gp7gp7 ProNav: ac range: 9.544074 m, nav range: 1.558402 m, bearing: 21.816345 deg, approach rate: -0.395627 m/s, LOS rate: -2.565973 deg/s, cmd heading: 1.269530 deg, new cmd heading: 359.355113 deg. g%|HeadingCmd: 6.271930 target range: 9.544074 and range: 3.50 m.g%@g)g)g)g)zfQrfYfafaBdadadicm @cm`?aɢ' 顽I YɡiI A 3>rA ?jA ?ԩ I I N >,t)Ay6}>ٱ6T>66k6H`? ݿ`{?@Ձ?|? /8?%?I6}>)6^;i4>B9B!IBDF6DFYN<!NU=RQ)R>P9T9VGYTV!AV>XQ 1^4٪Z񥝊?Q 5^4Z ZǝB9`Ybw ?Q Eb?yZ5C)Z:IZ:iZ4YfBf AfsEgxg|~zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g[g[ ProNav: ac range: 9.544074 m, nav range: 1.404847 m, bearing: 20.803428 deg, approach rate: -0.419786 m/s, LOS rate: -3.071604 deg/s, cmd heading: 359.355104 deg, new cmd heading: 357.109106 deg. g|HeadingCmd: 6.232730 target range: 9.544074 and range: 3.50 m.gr@ggggzfrf!f!f!Bd!d)d)c)1c-{?ɢYeC aeIa ex.ɡaiaIm~B֍CB"IBǃBB =BBlDB];B;#E5checking for new query: numPingsReceived=66, elapsed TxPingTime=29.024323=iaCIQ)iԉIiA>A DAT read: 05:25:00.8808 LVL= 32752, 26801, 32754, 32755, AGC= 55, IDX= 503,-0.23, 0.528, 0.227,-1.175, 1.030, PHS=-0.400,-0.758,-2.249, RAW= 40.5, 35.4, CAL= 38.0, 41.7, ROT= 112.0, -41.7  Ygot valid direction response: 05:25:00.8808 LVL= 32752, 26801, 32754, 32755, AGC= 55, IDX= 503,-0.23, 0.528, 0.227,-1.175, 1.030, PHS=-0.400,-0.758,-2.249, RAW= 40.5, 35.4, CAL= 38.0, 41.7, ROT= 112.0, -41.7  Z#Rx 67: Read direction message, but no range. ^direction in FSK: [-0.279696,0.692271,0.665230]9 N+YQѿ S-'?z:I? i  h   7 ̾) J BI i 4? 2+? )? AQ:? 5? AQ:i I hm?g#ۂ? 쐱 I 5?) AQ:I I! N- >5 checking for new query: numPingsReceived=67, elapsed TxPingTime=29.218033(y,d)ADDD.DE: E:6Eـ4:E"E+ٱF?{>F F}FH?@S,ܿb.?{?,?1?@?IFJs>)F͚^;iFCnB9n!IԹMb@Mb@Mb@ )IiL7A`?Mb?Mb+><IAi AK A) Ap)9)95GYUFU< A]>YQ 1e4٪]E?Q 5m4] ]ĝB9m`>Q Am;Ym>Q Em?y]LC)]#:I];i]4YB4 AhIhMf2{)AhM+x@hM+x@hMg@zM jXZVy@w -ۢ@jMN+YQѿ S-'?z:I?hM5?hMAQ:ML1XU?iڙ9@rMM3 t D)?ņ[`?hM?hMU hMr~?hM8ZhMB*iMr~?2iI:iMBiMH @"iMA@% addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.507172 s, deltaX: 0.400000 m, approachRate: 0.788687 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.877634 m, bearing: 138.230172 deg, lat: 36.779339 deg, lon: -121.859594 deg, deltaT: 17.401620 s, deltaX: -5.666440 m, approachRate: -0.325627 m/s, posRepo size: 4 g]]RStopped intercept timer at range: 3.90 m.gYezIgnoring new targets. Set target to previous: 3.88 m. 9.54 m.gegeU ProNav: ac range: 9.544074 m, nav range: 1.228186 m, bearing: 19.868541 deg, approach rate: 0.000000 m/s, LOS rate: -1.051465 deg/s, cmd heading: 357.109119 deg, new cmd heading: 356.113398 deg. g𼝅|HeadingCmd: 6.215351 target range: 9.544074 and range: 3.90 m.g(@ggggzfrfffÄBBdddc@33@c̱?ɢam  im%Ii mISɡqiqIu|AA I I N >9 V,h)Ay6Sc>ٱ6>6k6'k6H?>Fۿ@H?`?@:?O͂?0}@?I6Sc>)6^;i6C>B9B!IBDJ6DJfYN !Rg=RQ)R>T9T9VGYTV6AV>XQ 1^4٪Z?Q 5b4Z% ZB9`Yb>Q Eb?yZ]C)Z;IZ;iZכ4Ydfc Ahechecking for new query: numPingsReceived=68, elapsed TxPingTime=29.707220uB*** querying acoustic contact ***zhqhq addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.501100 s, deltaX: -0.300000 m, approachRate: -0.598683 m/s, rangeRepo size: 4 gTStarting intercept timer at range: 3.60 m.gzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g8g8 ProNav: ac range: 9.544074 m, nav range: 1.093233 m, bearing: 19.060785 deg, approach rate: -0.384330 m/s, LOS rate: -2.584257 deg/s, cmd heading: 356.113386 deg, new cmd heading: 354.299116 deg. g˓|HeadingCmd: 6.183686 target range: 9.544074 and range: 3.60 m.g@ggggzfrfffBdddc @c`?ɢȄB4G I [lɡiIP.A;>bAlAZAlAqIIN> DDAT read: Rx Time:05:25:01.8800  TRx dataTimestamp_ set to:1755840302.928620% DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.1 % Z#Rx 69: Read range message, but no direction.9  ,@ - checking for new query: numPingsReceived=69, elapsed TxPingTime=29.962584vB- >~B- ՍCB- "IB- ƒBB- =B) B) B- Y^;B- #Eԡ Ս,R)Ay-2-S>ٱ-l>-'-qd-H@(?[ڿݍ` ^?@(?@GՁ?0ރ??I-2-S>)-س^;i)mB9m!IMb@Mb@Mb@ )IiK7?{Gz rhI>#CIAi AbA A) ABD6D0Y%!%4=%Q)->)9)95GY5 F5A5>9Q 1E4٪=˝?Q 5E4=J =B9E>Q AM;YML>Q EM?y=tC)=;I=;i=ɣ4YQUl AQi addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502569 s, deltaX: -0.900000 m, approachRate: -1.790799 m/s, rangeRepo size: 4 gRStopped intercept timer at range: 2.70 m.gBIntercept lockout. Range: 2.70 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUTg@gggggzfrfffBBdddc@c?ɢ81 EI ɡiI%A3>II IY Ne >  DDAT read: Rx Time:05:25:02.3799  TRx dataTimestamp_ set to:1755840303.432595% DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - Z#Rx 70: Read range message, but no direction.9  f&@ 5 checking for new query: numPingsReceived=70, elapsed TxPingTime=30.466560,)Ay6B>ٱ6I>6ݠ+68w6H`\?#mٿ@K`o?\?s?t?@ ?I6B>)6V^;i4rB9r!IIx)z@ABD~6D~YZ<!U=.Q)>99GY F'A>Q 14٪؝?Q 5%4 B9!Y%">Q E-?yC)p3;I4;i4YeBeq AmtE addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503975 s, deltaX: -0.100000 m, approachRate: -0.198423 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@cX?ɢDŽB4 !%I! %舖ɡ!i!I%\A;>I ) I) N= >DU DU DU /DQ EU : EU ҆:6EU J4:EQ !] @!] @!] @!] @Q ,)Ay62>ٱ6.>6K6Έ6H?/}ؿ s?/?`?ip??I62>)68^;i4>B9B!IBDJ6DJYN[u=!RZ=RjQ)R>T9T9VGYTV0AV>XQ 1^4٪ZZ㝊?Q 5b4Z^ ZB9`Yb>Q Eb?yZC)Z;IZB:iZ4Ydf AhgqgqgqgqgygygyzfyrfyffBdddcc`?ɢr6 页 I ɡDDAT read: Rx Time:05:25:02.8800 TRx dataTimestamp_ set to:1755840303.9439611MPDAT read: Bearing 332.7, 33.8 (Local) ]~Local bearing/azimuth received: Bearing 332.7, 33.8 (Local) iiIm}<DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 I(˽ii))AAvB>~BB "IBBBBBB^;B#EuDAT read: 05:25:02.8800 LVL= 20192, 7217, 25538, 22067, AGC= 46, IDX= 501, 0.17, 2.887,-2.579, 1.537,-2.810, PHS=-0.484, 0.276,-1.980, RAW= 10.7, 21.3, CAL= 10.0, 25.7, ROT= 140.0, -25.7 Ygot valid direction response: 05:25:02.8800 LVL= 20192, 7217, 25538, 22067, AGC= 46, IDX= 501, 0.17, 2.887,-2.579, 1.537,-2.810, PHS=-0.484, 0.276,-1.980, RAW= 10.7, 21.3, CAL= 10.0, 25.7, ROT= 140.0, -25.7 T#Rx 71: Read range and direction messages.%^direction in FSK: [-0.690265,0.579201,0.433659]-Fpublishing direction and range info9u˲濡>uЈ?x1?,@iN1c3V. )O>Ipit;?>V>i]aae.1a¸2>L>a@ LiI5?ӿ7#UBQ!5?@ a@)Li=checking for new query: numPingsReceived=71, elapsed TxPingTime=31.073656y>A rA ?jA ?ԩ  checking for new query: numPingsReceived=71, elapsed TxPingTime=31.219292A I I N >,p)ADDD,DE: Ez:6Eg4:E"E&ٱnv>nnnnHu?.׿|[@??@.?@ύ?@"@?InuA)>)nkP^;inCvB9v!ImMb@Mb@Mb@ i)iIiiiimm`emףImbAiim Ai)im ABD6D1Yt!<=Q)>99GY FA>Q 14٪?Q 54 B9>Q A;Y>Q E?yC)r;I?;i4YBv AuEhAhEi)AhE+@hE+@hE4@zE :nk?Ni?jEu˲濡>uЈ?x1?hEa@hELE0&p|m i?DH?rE^B=D=0?̝zϽ_?hENC?hEhE-?hEqhE݅B*iE-?2iEq:iEBiE@"iE4@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.511366 s, deltaX: 0.100000 m, approachRate: 0.195555 m/s, rangeRepo size: 4  Added new target pos. range: 2.684512 m, bearing: 161.825608 deg, lat: 36.779344 deg, lon: -121.859585 deg, deltaT: 19.420630 s, deltaX: -6.859562 m, approachRate: -0.353210 m/s, posRepo size: 4 gggggggzfrfffBBdddc@c?ɢƄB`.ԩ jI ɡiIv$A 3> A I! I1 NE > ,܂))Ay6d+>ٱ6|>6b66H@?[ؿ?@?H? ? ?I6d+>)6A^;i6C>B9B!IFp;iFBDJ6DJ:2YRzs=!R]=RQQ)V>T9T9VGYV FZ;AZ>\Q 1b4٪^?Q 5b4^^Q 9btI ^B9`Yfij>Q Ef?y^C)^:I^:i^4Yhj AhxzB*** querying acoustic contact ***zh|h|  addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502001 s, deltaX: -0.100000 m, approachRate: -0.199203 m/s, rangeRepo size: 4 g g gggggzfrfffBdd!d!c%@c% ?DAT read: 05:25:03.3799 LVL= 23584, 10801, 24242, 25907, AGC= 44, IDX= 500, 0.07, 2.412, 2.348, 1.089, 3.125, PHS=-0.611,-0.732,-2.080, RAW= 34.3, 40.6, CAL= 32.2, 46.1, ROT= 117.8, -46.1 Ygot valid direction response: 05:25:03.3799 LVL= 23584, 10801, 24242, 25907, AGC= 44, IDX= 500, 0.07, 2.412, 2.348, 1.089, 3.125, PHS=-0.611,-0.732,-2.080, RAW= 34.3, 40.6, CAL= 32.2, 46.1, ROT= 117.8, -46.1 Z#Rx 73: Read direction message, but no range.^direction in FSK: [-0.323393,0.613370,0.720551]9qujyԿLjE?Ϸ03?qiu \u1*u^u3eu, uj)uZd;Iuiu@?u g5?u?uM?ux@ uMiqIu sج?M;迃QĎ>?uzu]5 ux@)uMchecking for new query: numPingsReceived=73, elapsed TxPingTime=31.736710ɢ-ńB-< 15n I1 5ɡ1i1I5A)U DDAT read: Rx Time:05:25:03.8800 e TRx dataTimestamp_ set to:1755840304.954163 PDAT read: Bearing 291.9, 34.4 (Local)  ~Local bearing/azimuth received: Bearing 291.9, 34.4 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 vB >~B B "IB ƒBB =B B B j_;B $EBՍCBՍCBBɬ =Bɬ =BɁ5y A I % DAT read: 05:25:03.8800 LVL= 24560, 8785, 22290, 26995, AGC= 45, IDX= 501, 0.04,-1.801,-2.033,-3.114,-0.954, PHS=-0.745,-1.035,-2.205, RAW= 40.8, 46.5, CAL= 38.8, 51.6, ROT= 111.2, -51.6 = Ygot valid direction response: 05:25:03.8800 LVL= 24560, 8785, 22290, 26995, AGC= 45, IDX= 501, 0.04,-1.801,-2.033,-3.114,-0.954, PHS=-0.745,-1.035,-2.205, RAW= 40.8, 46.5, CAL= 38.8, 51.6, ROT= 111.2, -51.6 = T#Rx 74: Read range and direction messages.E ^direction in FSK: [-0.224622,0.579111,0.783693]E Fpublishing direction and range infoI 9Q U  k̿(@?I?U ,@Q iU _U Q"U WU siU - U R>)U zN] >IU  iU K6?U O?U -\-?U f?U Ul? U fiQ Q IU _=X?re2?U 谿U {O U Ul?)U fiQ Q  checking for new query: numPingsReceived=74, elapsed TxPingTime=32.075397,C)AAy7>ٱ>jH~?ؿi`E?@ ?ta?+ ?`?I7>),^;iC9!IMb@Mb@Mb@ )Ii? rh?Mb`f>C =ItAi A5 A) ABD56D5YE2Y!E=EQ)M>uchecking for new query: numPingsReceived=74, elapsed TxPingTime=32.231209yy9y9}GYy<A>Q 14٪ ?Q 54+ B9O>Q A";Y?Q E?yC);I;ibȏ4Y Ahqhu=)Ahu+@hu+@hu@zuw˺KH崊?КȚ@ju k̿(@?I?huUl?hufuޅ*˦tC?Fy@ru4f4ܿUGW?;FB ?hu?huThu>?hul~bhuڇB*iq2iul~b:iuڇBiu8@"iuF~-@e addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.508201 s, deltaX: 0.100000 m, approachRate: 0.196773 m/s, rangeRepo size: 4  Added new target pos. range: 2.684482 m, bearing: 134.853822 deg, lat: 36.779344 deg, lon: -121.859578 deg, deltaT: 1.010202 s, deltaX: -0.000030 m, approachRate: -0.000030 m/s, posRepo size: 4 gggggggzfrfffBBdddc@c`?ɢĄB} IDMDMDM/DIEM: EM~:6EMJ4:EI"EM"A bA ZA  ^direction in FSK: [-0.342359,0.513346,0.786935] Fpublishing direction and range info9A E sE5տ_Sm??e.?E f&@A iE kE )E OE E , E Ck)E /]IE ( iE Q>E BR?E >E 5g?E , @ E 5giA A IE Ba}s| Hä}?E NͿE S E , @)E 5giA A % checking for new query: numPingsReceived=75, elapsed TxPingTime=32.514057 AIIN>^,c)AyFL>ٱF>FFFH0=?9ٿ ?h>?@`?? ~?IFL>)F]^;iFCbB9b"IBDj6DjY][=!S=9Q) > 9 9 GY  F5=Y=A5>9Q 1E4٪=?Q 5E4= 99AYM?Q EM?y=C)=:I=:i=Ϗ4YuBu AuvEhh8])Ahq%@hq%@h%@z;PR$؀;?$0F@jsE5տ_Sm??e.?h, @h5gͪn-GeXlq?yL/ @rmA(Ύli;?bD^?h[?hkhN2잝?hpihB*i2ipi:iӇBi7@"iV5@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502387 s, deltaX: -0.100000 m, approachRate: -0.199050 m/s, rangeRepo size: 4  Added new target pos. range: 2.585057 m, bearing: 148.254312 deg, lat: 36.779344 deg, lon: -121.859581 deg, deltaT: 0.502387 s, deltaX: -0.099425 m, approachRate: -0.197906 m/s, posRepo size: 4 g TStarting intercept timer at range: 2.60 m.g g g1g1g1g1zf1rf1f9f9Bd9d9dAcE@cE@/?ɢÄB52 'I kɡiIpAA I! II N} >ԙ C,|)A&DDAT read: Rx Time:05:25:04.8799 *TRx dataTimestamp_ set to:1755840305.961775.PDAT read: Bearing 306.1, 27.8 (Local) 2~Local bearing/azimuth received: Bearing 306.1, 27.8 (Local) :DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 JDAT read: 05:25:04.8799 LVL= 31776, 9745, 19010, 32755, AGC= 44, IDX= 500, 0.36, 1.324, 1.615, 0.356, 2.408, PHS=-0.982,-0.748,-2.096, RAW= 20.6, 47.3, CAL= 19.3, 52.0, ROT= 130.7, -52.0 RYgot valid direction response: 05:25:04.8799 LVL= 31776, 9745, 19010, 32755, AGC= 44, IDX= 500, 0.36, 1.324, 1.615, 0.356, 2.408, PHS=-0.982,-0.748,-2.096, RAW= 20.6, 47.3, CAL= 19.3, 52.0, ROT= 130.7, -52.0 VT#Rx 76: Read range and direction messages.V^direction in FSK: [-0.401472,0.466754,0.788011]ZFpublishing direction and range info9$& ٿd`L?&+Ob7?$$i& |&&&BJ$$ &Zd{)&|?I&$i&X>&VS?&iw>&Vh?&I@ &Vhi$$I&n51Ra!h?&>ݿ&gS &I@)&Vhi$$fchecking for new query: numPingsReceived=76, elapsed TxPingTime=33.008858vBv>~BtBv"IBṽBBv =BtBtBv_;BvJ$Ey%xg>ٱ%p>%g%l;%H`?.ۿF o??Ƞ?@v??iI%xg>)%?^;i%C}B9} "II@A)BD6DY$(<!0=2;Q)>99GYFAj=A>Q 1U4٪?Q 5]4o~ B9aYm ?Q Em?yC)s:A ;>rA ?jA ?QDDAT read: Rx Time:05:25:05.3798 TRx dataTimestamp_ set to:1755840306.463407PDAT read: Bearing 306.1, 28.6 (Local) ~Local bearing/azimuth received: Bearing 306.1, 28.6 (Local) AIIDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:25:05.3798 LVL= 31280, 12945, 17906, 32755, AGC= 44, IDX= 500,-0.33,-2.519,-2.261, 2.876,-1.447, PHS=-0.970,-0.770,-2.004, RAW= 21.3, 49.1, CAL= 20.0, 53.6, ROT= 130.0, -53.6  Ygot valid direction response: 05:25:05.3798 LVL= 31280, 12945, 17906, 32755, AGC= 44, IDX= 500,-0.33,-2.519,-2.261, 2.876,-1.447, PHS=-0.970,-0.770,-2.004, RAW= 21.3, 49.1, CAL= 20.0, 53.6, ROT= 130.0, -53.6  T#Rx 77: Read range and direction messages.^direction in FSK: [-0.381442,0.454585,0.804894]N5?a',)A&Fpublishing direction and range info9 iؿU?y?@i0z2E Qx)EIAiV>a[?¸>|o?6@ |oiIyihPC>m.?evܿR[ 6@)|oi checking for new query: numPingsReceived=77, elapsed TxPingTime=33.5486151y>ٱ>XUa[=H`nQ? ݿnx??D?ea`9? Vm? ?I>)^;iC̃B9"IMb@Mb@Mb@ )Iiy&1?Q?Mbp?`e>(>;IK Ai A5 A)Q ABD-6D-:Y=.=!= ==:Q)=>A9Q9UGYUFe=Ae>iQ 1u4٪m$?Q 5u4mz mB9}u>Q A}>;Y}"?Q E}?ymC)m{:Im :imI4Y} Ahhv)Ah@h@hN4@z&ee ?:[?c;W?j iؿU?y?h6@h|o_ s*hphqE?hKohB*i@*?2in:iBi2?"i:5@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.501632 s, deltaX: -0.200000 m, approachRate: -0.398698 m/s, rangeRepo size: 4 E Added new target pos. range: 2.386218 m, bearing: 161.419702 deg, lat: 36.779357 deg, lon: -121.859583 deg, deltaT: 0.501632 s, deltaX: -0.198851 m, approachRate: -0.396409 m/s, posRepo size: 4 gMMRStopped intercept timer at range: 2.40 m.gIgIgIgIgIgQzfQrfQfQf]BBdYadYdyc@33@c;?ɢB I ɡiI A 3> A %AIIANm>.,M)ADDAT read: Rx Time:05:25:05.8799 TRx dataTimestamp_ set to:1755840306.965046&PDAT read: Bearing 305.9, 29.9 (Local) &~Local bearing/azimuth received: Bearing 305.9, 29.9 (Local) .DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 4BDAT read: 05:25:05.8799 LVL= 31712, 13297, 20626, 32755, AGC= 44, IDX= 501,-0.20,-0.955,-0.732,-1.863, 0.112, PHS=-0.965,-0.799,-2.019, RAW= 22.8, 49.4, CAL= 21.4, 53.9, ROT= 128.6, -53.9 FPExceeded connect timeout, disconnecting.vBnۿ>~BnԍCBn""IBnуBBn =BlBnkDBnt`;Bn$E-Ygot valid direction response: 05:25:05.8799 LVL= 31712, 13297, 20626, 32755, AGC= 44, IDX= 501,-0.20,-0.955,-0.732,-1.863, 0.112, PHS=-0.965,-0.799,-2.019, RAW= 22.8, 49.4, CAL= 21.4, 53.9, ROT= 128.6, -53.9 5T#Rx 78: Read range and direction messages.=^direction in FSK: [-0.367588,0.460469,0.807990]EFpublishing direction and range info9/׿Rx?p ?f&@i{3P = w)DLIL7i%>\?t;>p?ȥ@ piI8崿k'^0<܃L?)ٿ\ ȥ@)pichecking for new query: numPingsReceived=78, elapsed TxPingTime=34.045773yma>ٱm7>m̅m\*=mH1?`C޿?@qC??`0`m? "?@?Ima>IEG)YIԩiǏA)m}^;imC5ɃB9"I-Eonly read 0 of 1 data item for BIT error. Device response is::TS,00022709122659,35.0, +10.6, 9 !E@!E !E@!E !E@!E !E@!E BD6D1Y!=Q)>D?9D?9GYu<A>Q 14٪*?Q 54v BQ =+:9Q A;Y,?Q E?y(C):I?i'4Y  A hhPý)Ahq%@hq%@h4@zq8h[/A ?w@j/׿Rx?p ?hȥ@hpb` Dʽ?at(^&@rZ(C}࿐YU?Q?h>hhܶ?hjhB*i>?2ij:i·Bi?"i6@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501639 s, deltaX: 0.200000 m, approachRate: 0.398693 m/s, rangeRepo size: 4  Added new target pos. range: 2.585022 m, bearing: 161.234435 deg, lat: 36.779357 deg, lon: -121.859582 deg, deltaT: 0.501639 s, deltaX: 0.198804 m, approachRate: 0.396310 m/s, posRepo size: 4 gTStarting intercept timer at range: 2.60 m.ggggggzfrfchecking for new query: numPingsReceived=78, elapsed TxPingTime=34.247284ffBdddc@c Y?ɢB 額I  ɡiI<"ADDAT read: Rx Time:05:25:06.3799 TRx dataTimestamp_ set to:1755840307.469305PDAT read: Bearing 305.8, 30.4 (Local) ~Local bearing/azimuth received: Bearing 305.8, 30.4 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:25:06.3799 LVL= 28752, 11889, 19426, 32755, AGC= 45, IDX= 500,-0.11,-1.694,-1.491,-2.629,-0.644, PHS=-0.949,-0.802,-2.029, RAW= 23.7, 49.0, CAL= 22.3, 53.6, ROT= 127.7, -53.6 Ygot valid direction response: 05:25:06.3799 LVL= 28752, 11889, 19426, 32755, AGC= 45, IDX= 500,-0.11,-1.694,-1.491,-2.629,-0.644, PHS=-0.949,-0.802,-2.029, RAW= 23.7, 49.0, CAL= 22.3, 53.6, ROT= 127.7, -53.6 T#Rx 79: Read range and direction messages.%^direction in FSK: [-0.362892,0.469527,0.804894]aFpublishing direction and range info9vD9׿X ?y?iPpq.K- r)OMI#i>!Z?SF>|o?l@ |oiI%O{~i{俊V8+k)?!׿[ l@)|oi%checking for new query: numPingsReceived=79, elapsed TxPingTime=34.549683A!I1IANM?8,)AyvŠ>ٱv>vv:q=vH)va^;ivCUуB9U""IBD}6D}JY =!G=pQ)>!9!9%GY%F%A%>)QQ 1U4٪US.?Q 5]4U@t UĝBQ =] :9YQ A]:Y]͏?Q E]?yU6C)U<:IU3y?iU4YP Ahh )Ahhhη2@zaYBxk?jER5@jvD9׿X ?y?hl@h|o?U=?MM @r~/ r?۽(o^?h@?h'h1[?hRghB*iܶ?2i:ii>?"iK9@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504259 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 2.585022 m, bearing: 159.996663 deg, lat: 36.779359 deg, lon: -121.859582 deg, deltaT: 0.504259 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gIgagagagagagizfirfififqBdqdqdqcqc}c?ɢB' I TɡiIe#A ;> A yAI1 IY N >_h>,&n)ArDDAT read: Rx Time:05:25:06.8800 rTRx dataTimestamp_ set to:1755840307.973045zPDAT read: Bearing 305.6, 30.6 (Local) z~Local bearing/azimuth received: Bearing 305.6, 30.6 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 nManaging dock network, ignoring radio surface power offAYA]AAvBeٿ>~BaBe("IBeփBBe =BaBaBe`;Be$E5DAT read: 05:25:06.8800 LVL= 32624, 12513, 19762, 32755, AGC= 44, IDX= 501, 0.02, 0.653, 0.845,-0.319, 1.716, PHS=-0.961,-0.827,-2.080, RAW= 24.4, 48.9, CAL= 23.0, 53.5, ROT= 127.0, -53.5 =Ygot valid direction response: 05:25:06.8800 LVL= 32624, 12513, 19762, 32755, AGC= 44, IDX= 501, 0.02, 0.653, 0.845,-0.319, 1.716, PHS=-0.961,-0.827,-2.080, RAW= 24.4, 48.9, CAL= 23.0, 53.5, ROT= 127.0, -53.5 ET#Rx 80: Read range and direction messages.E^direction in FSK: [-0.357973,0.475047,0.803857]MFpublishing direction and range info9pyn׈>ٱ>hʧ_=HK?Dݿf~?@?=?[` ? ??In׈>)]^;iCeރB9e1"Ir *ֿ)g? 2?r,@pirpr0r2Mpr, rv)rFSIrir^ >r|Z?r>rQ o?rA @ rQ oippIrE`^D?f% ?rտrZ rA @)rQ oippchecking for new query: numPingsReceived=80, elapsed TxPingTime=35.065304BD6DYb=!4=%9Q)%>] H?9] H?9]GY]FeAe>Q 14٪3?Q 54:q ȝBQ =99Q A:YX?Q E?yGC);Is?i04YB Ahphr_F)Ahr+@hr+@hrw1@zr-D$rnWg? R`C@jr *ֿ)g? 2?hrA @hrQ orf* q\Nt?'q!@rr VaHT?3}cF?hr[ ?hrhrΑ?hr'bhrGB*irqE?2ip:irBir?"ir]>@= addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503740 s, deltaX: 0.100000 m, approachRate: 0.198515 m/s, rangeRepo size: 4 A Added new target pos. range: 2.684431 m, bearing: 158.877124 deg, lat: 36.779359 deg, lon: -121.859582 deg, deltaT: 0.503740 s, deltaX: 0.099409 m, approachRate: 0.197343 m/s, posRepo size: 4 gggggggzfArfIfIfIBdQdQdYc]@ce?ɢB 8߾I ɡi I u$AM 3>A]%AIIN?G,v)A>DDAT read: Rx Time:05:25:07.3799 BTRx dataTimestamp_ set to:1755840308.479352NPDAT read: Bearing 305.7, 31.9 (Local) R~Local bearing/azimuth received: Bearing 305.7, 31.9 (Local) ^DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:25:07.3799 LVL= 31296, 11041, 19346, 32755, AGC= 45, IDX= 500, 0.17, 0.019, 0.168,-1.037, 1.072, PHS=-0.951,-0.860,-2.154, RAW= 26.4, 48.3, CAL= 24.9, 52.9, ROT= 125.1, -52.9 MYgot valid direction response: 05:25:07.3799 LVL= 31296, 11041, 19346, 32755, AGC= 45, IDX= 500, 0.17, 0.019, 0.168,-1.037, 1.072, PHS=-0.951,-0.860,-2.154, RAW= 26.4, 48.3, CAL= 24.9, 52.9, ROT= 125.1, -52.9 MT#Rx 81: Read range and direction messages.]^direction in FSK: [-0.346848,0.493514,0.797584]mFpublishing direction and range info9@BI2ֿd?(΅?Bf&@@iB@zB!+BK@B- Bts)B(\IB# iB>BuW?B/>B\l?B @ B\li@@IB7yQC$+%?B!ѿBW B @)B\li@@checking for new query: numPingsReceived=81, elapsed TxPingTime=35.544903B99"I!U!U !U!] !]!] !]!] ]Mb@Mb@Mb@ Y)YIYiYY]Cl?Zd;?];=]y=]I]| Ai]AYY)Y] AIAA)BD6DYv<!=Q)>D?9D?9GYFA>Q 14٪46?Q 54o ɝBQ =T:9=Q A;Y~?Q E?yPC) ;I;i4YBAmEh@AhB)AhBp%@hBp%@hB)/@zB6#li?sl|~@jBI2ֿd?(΅?hB @hB\lBJU?9S@rBȅi>щ^ ?B4?hB?hBʯhBy?hB8`hBB*iB1[?2iBRg:iBBiB?"iB;@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.506307 s, deltaX: -0.100000 m, approachRate: -0.197509 m/s, rangeRepo size: 4  Added new target pos. range: 2.585008 m, bearing: 156.814255 deg, lat: 36.779359 deg, lon: -121.859580 deg, deltaT: 0.506307 s, deltaX: -0.099423 m, approachRate: -0.196370 m/s, posRepo size: 4 gggggggzfrfff߄BBdddc@c?ɢY]p aeؾIa emɡaiaIe|%A= ;>AiIIN>YN,.=)ArDDAT read: Rx Time:05:25:07.8801 rTRx dataTimestamp_ set to:1755840308.984690~PDAT read: Bearing 307.2, 31.5 (Local) ~~Local bearing/azimuth received: Bearing 307.2, 31.5 (Local) vB%ڿ>~B!B%A"IB%BB% =B!B!B%`;B%$EMDAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 yi>ٱ ?[q=DAT read: 05:25:07.8801 LVL= 31600, 9969, 18978, 32755, AGC= 44, IDX= 502, 0.33, 2.035, 2.212, 1.004, 3.099, PHS=-0.962,-0.842,-2.139, RAW= 25.2, 48.3, CAL= 23.7, 52.9, ROT= 126.3, -52.9 Ygot valid direction response: 05:25:07.8801 LVL= 31600, 9969, 18978, 32755, AGC= 44, IDX= 502, 0.33, 2.035, 2.212, 1.004, 3.099, PHS=-0.962,-0.842,-2.139, RAW= 25.2, 48.3, CAL= 23.7, 52.9, ROT= 126.3, -52.9 T#Rx 82: Read range and direction messages.H2?&߿@6D?@$??@ ?@*?~?Ii>)S^;iC=B9=:"I^direction in FSK: [-0.357107,0.486142,0.797584]Fpublishing direction and range info9prLֿ?(΅?r9@pirp{r&r"Jpr, rEv)rPWIr`irz0>pr>pr @ pippIrUK@ 탷4~#lI?rQӿrWBD 6D JY @;!9=];Q)%>!9!9%GY! r @)pipp5checking for new query: numPingsReceived=82, elapsed TxPingTime=36.090996uM=A}>Q 14٪8?Q 54in ˝B9YP?Q E?yWC):I[:i4YAhphr)?)Ahr8@hr8@hr`2@zrAI AԡIIN?Z;W,"U^)A2DDAT read: Rx Time:05:25:08.3800 2TRx dataTimestamp_ set to:1755840309.486214:PDAT read: Bearing 309.0, 31.2 (Local) >~Local bearing/azimuth received: Bearing 309.0, 31.2 (Local) NDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 vDAT read: 05:25:08.3800 LVL= 31344, 10945, 19698, 32755, AGC= 44, IDX= 502,-0.43,-0.940,-0.731,-1.936, 0.106, PHS=-0.944,-0.792,-2.085, RAW= 23.8, 47.8, CAL= 22.4, 52.5, ROT= 127.6, -52.5 ~Ygot valid direction response: 05:25:08.3800 LVL= 31344, 10945, 19698, 32755, AGC= 44, IDX= 502,-0.43,-0.940,-0.731,-1.936, 0.106, PHS=-0.944,-0.792,-2.085, RAW= 23.8, 47.8, CAL= 22.4, 52.5, ROT= 127.6, -52.5 T#Rx 83: Read range and direction messages.-^direction in FSK: [-0.371433,0.482315,0.793353]-Fpublishing direction and range info902e2׿%moA?m &c?2,@0i2pz2*2L00 2q)2JI2pi2ȭ>2U?2+>2j?2Ӈ@ 2ji00I2gHy.|J\忶?2tֿ2 U 2Ӈ@y]r>ٱ]g?]>ԏ]3=]H û?f߿ ;?`?U?O,@K? N?`?)2ji00Echecking for new query: numPingsReceived=83, elapsed TxPingTime=36.578880I]r>)]67^;i]CB9A"I) A Mb@Mb@Mb@ ) I i   kt?V-?~jth?  0= = D;I Ai A   A)  Q ABDE6DEYuގ<!u =u;8Q)u>y9y9}GY}F}=<A>Q 14٪7?Q 54l ΝB9p=Q A;Yy?Q E?y`C)\:Iq:i4YaA)h0h2!_)Ah2+@h2+@h2J4@z2C&]G?/҇ @j2e2׿%moA?m &c?h2Ӈ@h2j2R+Ah6?/o@r2(^ῌM!A?p/?h2>h2ټh2g?h2e-_h2KB*i2Α?2i28`:i2GBi2a?"i2z5@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501524 s, deltaX: -0.200000 m, approachRate: -0.398785 m/s, rangeRepo size: 4  Added new target pos. range: 2.684438 m, bearing: 161.708419 deg, lat: 36.779359 deg, lon: -121.859577 deg, deltaT: 0.501524 s, deltaX: -0.198848 m, approachRate: -0.396487 m/s, posRepo size: 4 gggggggzfrfffۄBBdddc@c#?ɢMBM3 IMоIQ U,ɡQiQIU 'Aa AIDDAT read: Rx Time:05:25:08.8800 TRx dataTimestamp_ set to:1755840309.990479PDAT read: Bearing 309.1, 31.4 (Local) ~Local bearing/azimuth received: Bearing 309.1, 31.4 (Local) AA<vB׿>~BӍCBN"IBBBBBB`;B$EBԍCBԍCBBϯ =BϮ =Bϱ5EDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 mDAT read: 05:25:08.8800 LVL= 32752, 10401, 19730, 32755, AGC= 44, IDX= 502,-0.24,-1.335,-1.143,-2.345,-0.308, PHS=-0.925,-0.790,-2.081, RAW= 24.6, 47.5, CAL= 23.1, 52.2, ROT= 126.9, -52.2 uYgot valid direction response: 05:25:08.8800 LVL= 32752, 10401, 19730, 32755, AGC= 44, IDX= 502,-0.24,-1.335,-1.143,-2.345,-0.308, PHS=-0.925,-0.790,-2.081, RAW= 24.6, 47.5, CAL= 23.1, 52.2, ROT= 126.9, -52.2 uT#Rx 84: Read range and direction messages.}^direction in FSK: [-0.368002,0.490132,0.790155]}Fpublishing direction and range info9G@W׿<1T^?.H?i(M l)q=JI/i>g;T?pl>Z;i? @ Z;iiI#n*Gr/ 忪dif?AտNT  @)Z;iichecking for new query: numPingsReceived=84, elapsed TxPingTime=37.048519ԡIN ?l`,L)Ay5) >ٱ5?5{5|o=5H?`5Ȉ?3??`!ϔ?|?@O?I5) >)576^;i5CmB9m;"IBD6DfY !3= »Q) >a9i9mGYmF+<A>Q 14٪6?Q 5 4j ѝB9 Y ?Q E ?yhC)[A 3>  DDAT read: Rx Time:05:25:09.3799  TRx dataTimestamp_ set to:1755840310.495405 PDAT read: Bearing 309.1, 31.1 (Local)  ~Local bearing/azimuth received: Bearing 309.1, 31.1 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 %DAT read: 05:25:09.3799 LVL= 30784, 9665, 20450, 32755, AGC= 44, IDX= 501,-0.16,-1.395,-1.194,-2.393,-0.379, PHS=-0.914,-0.770,-2.058, RAW= 24.2, 47.3, CAL= 22.7, 52.0, ROT= 127.3, -52.0 A)I1IANU>$g,S)AJYgot valid direction response: 05:25:09.3799 LVL= 30784, 9665, 20450, 32755, AGC= 44, IDX= 501,-0.16,-1.395,-1.194,-2.393,-0.379, PHS=-0.914,-0.770,-2.058, RAW= 24.2, 47.3, CAL= 22.7, 52.0, ROT= 127.3, -52.0 NT#Rx 85: Read range and direction messages.R^direction in FSK: [-0.373084,0.489742,0.788011]RFpublishing direction and range info9\ä׿qW?&+Ob7?f&@i@x%O i)EIFi@>VS?b>hVh? 2@ VhiIʞ;*LI忚7?$ֿ&-S 2@)Vhi~checking for new query: numPingsReceived=85, elapsed TxPingTime=37.583874y>ٱb??^^=H t?u ǂ?`?ݡ? Yng?Ы??I>)%^;iC%B9%9"IMMb@Mb@Mb@ I)IIIiIIMMb?EԸ?MbpM=M=MIMAiMAM AM A)IM( ABDe6DeYu+!u%=}Q)}>y9y9}GYFYA>Q 14٪6?Q 54i 9X=Q Ahhdƻ?h\hB*ig?2ix_:i?BiM?"i7@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504926 s, deltaX: -0.100000 m, approachRate: -0.198049 m/s, rangeRepo size: 4 % Added new target pos. range: 2.584998 m, bearing: 161.232002 deg, lat: 36.779359 deg, lon: -121.859577 deg, deltaT: 0.504926 s, deltaX: -0.099423 m, approachRate: -0.196906 m/s, posRepo size: 4 g!g!g!g)g)g)g)zf)rf)f1f5ЄBBd1d1d1c=@c=@?ɢ! ־I {9ɡiI!*A ;>A I IA ԉ N >_n,)AiyZ@_>ٱZ?ZPrZV=ZH?߳߿@??\?UM? QԪ?!?IZ@_>)Z6^;iZCh9hi|I~=vB~BBZ"IBBB =BBB`;B$E=DDAT read: Rx Time:05:25:09.8801 ETRx dataTimestamp_ set to:1755840311.005404mPDAT read: Bearing 308.9, 30.8 (Local) u~Local bearing/azimuth received: Bearing 308.9, 30.8 (Local) DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 DAT read: 05:25:09.8801 LVL= 28880, 9921, 19442, 32755, AGC= 44, IDX= 502,-0.09, 0.824, 1.033,-0.162, 1.837, PHS=-0.911,-0.759,-2.043, RAW= 23.8, 47.2, CAL= 22.3, 52.0, ROT= 127.7, -52.0  Ygot valid direction response: 05:25:09.8801 LVL= 28880, 9921, 19442, 32755, AGC= 44, IDX= 502,-0.09, 0.824, 1.033,-0.162, 1.837, PHS=-0.911,-0.759,-2.043, RAW= 23.8, 47.2, CAL= 22.3, 52.0, ROT= 127.7, -52.0  T#Rx 86: Read range and direction messages.^direction in FSK: [-0.376494,0.487126,0.788011]Fpublishing direction and range info99=[m`xؿ-?&+Ob7?=9@9i=p=&=K99 =L7i)=MBI=i=ȭ>=BR?=SF>9BD6Dkm/;Q)m>i9q9uGYquAu>yQ 14=l@ 9i99I=FDֲVmXlb{?=ֿ=R =l@)9i99checking for new query: numPingsReceived=86, elapsed TxPingTime=38.079746٪}D5?Q 54}h }ҝB9Y?Q E?y}tC)};I}G;i}^&4Yh9h=X)Ah=8@h=8@h=3@z='9V^2: x?r%-@j=[m`xؿ-?&+Ob7?h=l@h9=0؜O?ss&|@r=jFL`Q?L2?h=?h=4Ͽh=ڬ?h=Zh=B!*i=[?2i=ů]:i=KBi=?"i=(}7@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.509999 s, deltaX: 0.300000 m, approachRate: 0.588237 m/s, rangeRepo size: 4  Added new target pos. range: 2.883266 m, bearing: 161.083629 deg, lat: 36.779359 deg, lon: -121.859576 deg, deltaT: 0.509999 s, deltaX: 0.298268 m, approachRate: 0.584841 m/s, posRepo size: 4 gggYgYgYgYgYzfarfafafaBdididicm@33@cuۻ?Yɢ 顝־I A@ɡiIL+-Ai ԩ AyAIIN->{w,)APyN">ٱN|?NQkNP [=NH?s߿` A?`p?@?@ $1?`\??IN">)Nq'^;iNCjڃB9j-"I5DDAT read: Rx Time:05:25:10.3800 =TRx dataTimestamp_ set to:1755840311.502400EPDAT read: Bearing 306.9, 30.8 (Local) E~Local bearing/azimuth received: Bearing 306.9, 30.8 (Local) UDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 }DAT read: 05:25:10.3800 LVL= 29872, 9889, 18418, 32755, AGC= 44, IDX= 501,-0.00, 0.639, 0.807,-0.328, 1.660, PHS=-0.919,-0.808,-2.032, RAW= 25.3, 48.6, CAL= 23.8, 53.2, ROT= 126.2, -53.2 Ygot valid direction response: 05:25:10.3800 LVL= 29872, 9889, 18418, 32755, AGC= 44, IDX= 501,-0.00, 0.639, 0.807,-0.328, 1.660, PHS=-0.919,-0.808,-2.032, RAW= 25.3, 48.6, CAL= 23.8, 53.2, ROT= 126.2, -53.2 T#Rx 87: Read range and direction messages.^direction in FSK: [-0.353787,0.483388,0.800731]Fpublishing direction and range info915}pֿ3N?@p?5,@1i5t5&5G11 5Ck)5NI5J i5=>5%Y?5ȭ>5,m?5} @ 5,mi11I51wūG'9$?5ӿ5?Y 5} @)5,mi11checking for new query: numPingsReceived=87, elapsed TxPingTime=38.548553%Mb@Mb@Mb@ !)!I!i!!%:v rh?%Լ%C =%I%| Ai%tA!%5 A)!%z ABDu6Du0Y!<6;Q)> H?9 H?9-GY-F-A5>1Q 1=4٪5m3?Q 5E45]h 19EQ/=Q AEl 47?h5 ?h5\h5?h5VuZh5@B*i5?2i5\:i5@Bi5?"i5T6@U addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.496996 s, deltaX: -0.200000 m, approachRate: -0.402418 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.684420 m, bearing: 159.333602 deg, lat: 36.779359 deg, lon: -121.859576 deg, deltaT: 0.496996 s, deltaX: -0.198846 m, approachRate: -0.400096 m/s, posRepo size: 4 gggggggzfrfffBdddc@c v?ɢ I GɡiI=e,A 3>Y A I1IaN>t~,@)AyD>ٱ?&[7{q=H?`Iy߿#Ǒ?S{??`d?@<*?@ ?ID>)K^;iC)9)BDE6DEYe:!eK=m&qAA@AvB~BB`"IBBBBBB`;B$EDDAT read: Rx Time:05:25:10.8801 TRx dataTimestamp_ set to:1755840312.009052PDAT read: Bearing 305.0, 31.3 (Local) ~Local bearing/azimuth received: Bearing 305.0, 31.3 (Local) DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 %DAT read: 05:25:10.8801 LVL= 28912, 10081, 19058, 32755, AGC= 44, IDX= 502, 0.10, 2.858, 2.974, 1.899,-2.403, PHS=-0.920,-0.862,-2.026, RAW= 27.4, 49.8, CAL= 26.0, 54.3, ROT= 124.0, -54.3 -Ygot valid direction response: 05:25:10.8801 LVL= 28912, 10081, 19058, 32755, AGC= 44, IDX= 502, 0.10, 2.858, 2.974, 1.899,-2.403, PHS=-0.920,-0.862,-2.026, RAW= 27.4, 49.8, CAL= 26.0, 54.3, ROT= 124.0, -54.3 5T#Rx 88: Read range and direction messages.=^direction in FSK: [-0.326312,0.483778,0.812084]=Fpublishing direction and range info9?KԿn c6?\?9@ipa'rJ k)\IiG>/^?V>_r?c @ _riI,Φ2qt?οl^ c @)_ri]checking for new query: numPingsReceived=88, elapsed TxPingTime=39.055298a9q9GYF:A>Q 14٪1?Q 54,h 9YP/@Q E?yyC):I:i74i%fCIĉG)YAIiA=W?=4AhhO)Ah8@h8@h!/@z$of/XQ?*L@j?KԿn c6?\?hc @h_rndhi?źA@r|ʒ@࿵4u;?Ki+?h ?hph?h{ XhB*i[?2iVuZ:ii?"i02@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.506652 s, deltaX: 0.200000 m, approachRate: 0.394748 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 2.883267 m, bearing: 157.270097 deg, lat: 36.779359 deg, lon: -121.859574 deg, deltaT: 0.506652 s, deltaX: 0.198847 m, approachRate: 0.392473 m/s, posRepo size: 4 gggggggzfrfffBdddc@33@c@^?ɢ1= 9=I9 =*Oɡ9iAIE.]>ԩ checking for new query: numPingsReceived=88, elapsed TxPingTime=39.291977i & 0 DE DE DE 1DA EE : EE ~:6EE -4:EA "EE &A5;>A9IQIaN} ?q,&:)Ai\I^<fDDAT read: Rx Time:05:25:11.3799 fTRx dataTimestamp_ set to:1755840312.513321jPDAT read: Bearing 304.3, 32.4 (Local) n~Local bearing/azimuth received: Bearing 304.3, 32.4 (Local) vDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 05:25:11.3799 LVL= 30192, 11249, 19378, 32755, AGC= 46, IDX= 501, 0.25, 1.295, 1.384, 0.307, 2.309, PHS=-0.912,-0.880,-2.046, RAW= 28.6, 49.7, CAL= 27.1, 54.2, ROT= 122.9, -54.2 Ygot valid direction response: 05:25:11.3799 LVL= 30192, 11249, 19378, 32755, AGC= 46, IDX= 501, 0.25, 1.295, 1.384, 0.307, 2.309, PHS=-0.912,-0.880,-2.046, RAW= 28.6, 49.7, CAL= 27.1, 54.2, ROT= 122.9, -54.2 T#Rx 89: Read range and direction messages.%^direction in FSK: [-0.317734,0.491142,0.811064]%Fpublishing direction and range info9dfzUԿOn?΄yf^?f*>f*r?fG @ f*riddy=>ٱ=G?=gܻ=#==HQ?߿??@ ?@{?`֦{? z??I=>)=?^;i=CMB9M4"IIf&珿ͯPIh?fY%̿f^ fG @)f*ridd]checking for new query: numPingsReceived=89, elapsed TxPingTime=39.563213ԱMb@Mb@Mb@ )Ii㥛 Q?Mbp?\=;Ix AiA1 A A) ABD]6D]kY<!=0199GYF;A>Q 14٪.?Q 54Ch ԝB9=Q A#A 3>ԩ A I I9Nu>O,=)A$y^0>ٱ^]?^?^=^H`,?`w"߿?`;? ?R s?ᚶ?@?I^0>)^Wr^;i^CnЃB9r "IBDM6DMNY]\vBi~BiBmZ"IBmBBiBiBiBm`;Bm$E!}H=;Q)>99GY!A>Q 14٪\+?DDAT read: Rx Time:05:25:11.8800 TRx dataTimestamp_ set to:1755840313.017073PDAT read: Bearing 304.9, 33.2 (Local) ~Local bearing/azimuth received: Bearing 304.9, 33.2 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 05:25:11.8800 LVL= 27856, 10961, 21346, 32755, AGC= 44, IDX= 502, 0.46, 2.177, 2.291, 1.163,-3.091, PHS=-0.913,-0.856,-2.073, RAW= 27.6, 48.8, CAL= 26.1, 53.4, ROT= 123.9, -53.4 Ygot valid direction response: 05:25:11.8800 LVL= 27856, 10961, 21346, 32755, AGC= 44, IDX= 502, 0.46, 2.177, 2.291, 1.163,-3.091, PHS=-0.913,-0.856,-2.073, RAW= 27.6, 48.8, CAL= 26.1, 53.4, ROT= 123.9, -53.4 T#Rx 90: Read range and direction messages. ^direction in FSK: [-0.332542,0.494874,0.802817] Fpublishing direction and range info9/\HտU?@۾F?,@il*bS, ^i)"[IiϢ>^ Z?Z;>n?e @ niIОtMBL8?`οZ e @)ni-checking for new query: numPingsReceived=90, elapsed TxPingTime=40.064232Q 554Rh ֝B91Y5DQ E5?yC)0@z1r:א5SA?NmH=@j/\HտU?@۾F?he @hn}hv ?C@rna ߿y} !??hH ?hhP?hdYhUB*i2iZ:iUBi?"iw0@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503752 s, deltaX: 0.100000 m, approachRate: 0.198511 m/s, rangeRepo size: 4 q Added new target pos. range: 2.684419 m, bearing: 157.780546 deg, lat: 36.779359 deg, lon: -121.859574 deg, deltaT: 0.503752 s, deltaX: 0.099421 m, approachRate: 0.197361 m/s, posRepo size: 4 gggggggzfrfffBdddc@c O=?ɢEBEt5 AMII M\ɡiiiIm2Am ;>rAm @?jAm J?D D D D E 2: E x:6E :E "E *͕,XX)A,y6>ٱ6¶>6b6=6H ,.?M7޿U?kR? ?RCl?G??I6>)6\^;i6CR܃B9R/"IMb@Mb@Mb@ )IiMbXy&1|Mb?ʽ`)9)9-GY5F= A=>AQ 1U4٪E(?Q 5U4Eh EםB9]=Q A]Mf?M>+ @ MfiIIIMW"X-҂]8M?M˿MP M>+ @)MfiIIchecking for new query: numPingsReceived=91, elapsed TxPingTime=40.567165ɢ<4 ߾I ebɡiI 5A 3> checking for new query: numPingsReceived=91, elapsed TxPingTime=40.804054I I N >6,:s)Ay6>ٱ6,x>6$6x=6H`?@,ܿ@?@? d? 3@b?`FǶ?`|?I6>)6^;i6CB̓B9B"IDnDnDn,DlEn: En:6Eng4:El!r@!r@!r@!r@BDJ6DJ1YU}!]a=]T;Q)]>a9a9eGYeFeeyAe>iQ 1u4٪mu%?Q 5}4mzi mٝB9yY}%Q E}?ymC)mA:Im:imOW4Y AhhXa)Ahp%@hp%@h(+@z<r$Yg?e//@jRLտmR?iŪ: ?h>+ @hf|48߇?uP)@rqs8H;࿜w?[3`Wh?h>$?hէhx?h֚XhB*i2idY:i@Bi?"iT;-@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503970 s, deltaX: -0.100000 m, approachRate: -0.198425 m/s, rangeRepo size: 4  Added new target pos. range: 2.584996 m, bearing: 153.927007 deg, lat: 36.779359 deg, lon: -121.859574 deg, deltaT: 0.503970 s, deltaX: -0.099423 m, approachRate: -0.197279 m/s, posRepo size: 4 gggggggzfrfffBdddc@c ?ɢZ,G 額5I gɡiIP7~ByB}G"IB}BByByB}jDB}`;B}$EԑDDAT read: Rx Time:05:25:12.8800 TRx dataTimestamp_ set to:1755840314.025046PDAT read: Bearing 303.1, 36.6 (Local) ~Local bearing/azimuth received: Bearing 303.1, 36.6 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 MDAT read: 05:25:12.8800 LVL= 30688, 9569, 19746, 32755, AGC= 44, IDX= 502,-0.15,-0.094,-0.045,-1.279, 0.850, PHS=-0.842,-0.849,-2.172, RAW= 30.3, 45.8, CAL= 28.5, 50.7, ROT= 121.5, -50.7 UYgot valid direction response: 05:25:12.8800 LVL= 30688, 9569, 19746, 32755, AGC= 44, IDX= 502,-0.15,-0.094,-0.045,-1.279, 0.850, PHS=-0.842,-0.849,-2.172, RAW= 30.3, 45.8, CAL= 28.5, 50.7, ROT= 121.5, -50.7 ]T#Rx 92: Read range and direction messages.e^direction in FSK: [-0.330941,0.540046,0.773840]eFpublishing direction and range info9x1!.տD~H?OL?,@iwa%"M PW)XYI  ia?L?>b?@ biI-'^j?N-yKpdx?zȿL @)bichecking for new query: numPingsReceived=92, elapsed TxPingTime=41.080917>A I I N >,)ALyl>ٱ> =H%?.ۿ`?,?`M?`p_ wR?@y?\?Il>)q^;ĩB9"I%Mb@Mb@Mb@ !)!I!i!!5checking for new query: numPingsReceived=92, elapsed TxPingTime=41.307301%|?5^/$MbP%ҽ%%I%OAi%A%5 A% A)!% ABDE6DEkYU聻!U;=]W,;Q)]>Y9Y9eGYaeqTAe>iQ 1u4٪m`#?Q 5u4mj mםB9}>Q A};Y}Q E}?ymC)m:Im:im^4Y& Ah h [)Ah +@h +@h N(@z ;m2?PPT@j x1!.տD~H?OL?h @h b ĝIojD?|~J@r ~Kf࿜hB?uS+,?h @?h Ӭh 0l?h !Wh 0B*i x?2i ֚X:i ?Bi ?"i Ef)@U addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504003 s, deltaX: 0.100000 m, approachRate: 0.198412 m/s, rangeRepo size: 4  Added new target pos. range: 2.684417 m, bearing: 150.948022 deg, lat: 36.779359 deg, lon: -121.859574 deg, deltaT: 0.504003 s, deltaX: 0.099422 m, approachRate: 0.197264 m/s, posRepo size: 4 gggggggzfrfffфBBdddc@c@9 ?DDD3DE; E:6E4:E"EDA bA kAZA jA DDAT read: Rx Time:05:25:13.3799  TRx dataTimestamp_ set to:1755840314.530387 PDAT read: Bearing 302.1, 37.7 (Local)  ~Local bearing/azimuth received: Bearing 302.1, 37.7 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  IA IQ N] >e DAT read: 05:25:13.3799 LVL= 29168, 9921, 21426, 31139, AGC= 43, IDX= 501,-0.02,-0.754,-0.728,-2.001, 0.159, PHS=-0.811,-0.842,-2.204, RAW= 31.1, 44.7, CAL= 29.3, 49.7, ROT= 120.7, -49.7 m Ygot valid direction response: 05:25:13.3799 LVL= 29168, 9921, 21426, 31139, AGC= 43, IDX= 501,-0.02,-0.754,-0.728,-2.001, 0.159, PHS=-0.811,-0.842,-2.204, RAW= 31.1, 44.7, CAL= 29.3, 49.7, ROT= 120.7, -49.7 u T#Rx 93: Read range and direction messages.} ^direction in FSK: [-0.330214,0.556144,0.762668] Fpublishing direction and range info9 dW9"տLr@?3hqg? f&@ i q & S y + O) PWI V i ? G? ? ^? @ ^i I d\?>Sr? Nƿ G @) ^i ] checking for new query: numPingsReceived=93, elapsed TxPingTime=41.607170E,7)Ay6^W>ٱ6r>6s6!=6H?ڿ`+?`m?@?zN?c??I6^W>)6Z^;i4^˃B9^"IBDf6DfβYn !rf=r#:;Q)r>p9t9vGYvFvXiAv>x|Q 14٪z!?Q 54zk z՝B9!Y%Q E%?yzC)z;Iz;iz$e4Y)-3 A1h)h-)Ah-p%@h-p%@h-#&@z-P#r?AIi I N >ԁ ,,)AvBԿ>~BB5"IBBBBBB`;B$EBuӍCBuӍCBqBu =Bu =BuX4VDDAT read: Rx Time:05:25:13.8800 ^TRx dataTimestamp_ set to:1755840315.034392fPDAT read: Bearing 298.4, 38.4 (Local) f~Local bearing/azimuth received: Bearing 298.4, 38.4 (Local) rDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 EDAT read: 05:25:13.8800 LVL= 26256, 10417, 20610, 26467, AGC= 45, IDX= 502, 0.10, 1.548, 1.484, 0.249, 2.456, PHS=-0.807,-0.927,-2.251, RAW= 34.3, 45.4, CAL= 32.4, 50.4, ROT= 117.6, -50.4 UYgot valid direction response: 05:25:13.8800 LVL= 26256, 10417, 20610, 26467, AGC= 45, IDX= 502, 0.10, 1.548, 1.484, 0.249, 2.456, PHS=-0.807,-0.927,-2.251, RAW= 34.3, 45.4, CAL= 32.4, 50.4, ROT= 117.6, -50.4 UT#Rx 94: Read range and direction messages.Y^direction in FSK: [-0.295316,0.564887,0.770513]Fpublishing direction and range info9XZuҿtΎ?d/c ?Z,@XiZfZ(ZPZcgZ- ZN)ZOmIZbiZ@?ZbJ?Z?Zz0a?ZG\@ Zz0aiXXIZ?hPd/?ZwZAJ ZG\@)Zz0aiXXEchecking for new query: numPingsReceived=94, elapsed TxPingTime=42.115952MƒB9M"I)Q UABD}6D}Y!2=Q)>99GYFA>Q 14٪Q?Q 54jm ӝB9YQ E?yC);I;iIA E|ɡIiIIUc?A ;>Iq I N >~$,A)Aybjs;>ٱb>bٵ:bKò=bH@t?`|ؿ`?? AX?qg@?V %Q??Ibjs;>)b^;ibCɃB9"IDDAT read: Rx Time:05:25:14.3799 %TRx dataTimestamp_ set to:1755840315.537060-PDAT read: Bearing 298.0, 38.8 (Local) -~Local bearing/azimuth received: Bearing 298.0, 38.8 (Local) =DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 eDAT read: 05:25:14.3799 LVL= 27968, 10609, 21874, 29267, AGC= 44, IDX= 501, 0.27, 0.132, 0.066,-1.190, 1.030, PHS=-0.796,-0.919,-2.264, RAW= 34.3, 44.9, CAL= 32.4, 50.0, ROT= 117.6, -50.0 mYgot valid direction response: 05:25:14.3799 LVL= 27968, 10609, 21874, 29267, AGC= 44, IDX= 501, 0.27, 0.132, 0.066,-1.190, 1.030, PHS=-0.796,-0.919,-2.264, RAW= 34.3, 44.9, CAL= 32.4, 50.0, ROT= 117.6, -50.0 mT#Rx 95: Read range and direction messages.u^direction in FSK: [-0.297801,0.569641,0.766044]uFpublishing direction and range info9]:+ӿk:?ZnUo?f&@i@mq)rUSr, K)CkI`iyH?f_? f_iI&Y}`?G=弗?bH )f_ichecking for new query: numPingsReceived=95, elapsed TxPingTime=42.586792IMb@Mb@Mb@ )IiPn+Mb`?;IAiZA AK A)G ABD6DY<!=%6;Q)->Y9Y9]GY]FeyMAe>iQ 1u4٪mF?Q 5u4m)o mҝB9ua>Q Au;Yu Q E}?ymC)m ;Im;imv4YA Ahh1_)Ahp%@hp%@hu @zr-}E d?"?j]:+ӿk:?ZnUo?hhf_tc?u@rݿW i?ƤA?hCd?hh*?hhWhB*i2i:iBi?"i" @U addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502668 s, deltaX: -0.100000 m, approachRate: -0.198939 m/s, rangeRepo size: 4 e Added new target pos. range: 2.584977 m, bearing: 143.651459 deg, lat: 36.779358 deg, lon: -121.859573 deg, deltaT: 0.502668 s, deltaX: -0.099422 m, approachRate: -0.197789 m/s, posRepo size: 4 gagagagigigigizfirfifqqfu؄BBdddc@ca?ɢ%B%< )-I) -]ɡ)iQIUBA 3> IIN5>¾,)A`yfh2>ٱffH>fɪ:f=fH?eؿR?h?l?n!YUk??Ifh2>)fq^;ifCt9v"IBD~6D~Y ! ]= qQ)>99GYоAm>qQ 1}4٪u~?Q 5}4uWp uѝB9Y( Q E?yuC)u;Iu;iu0}4YB AvEAAAAvB~BB("IBփBB =BBB_`;B$EB*** querying acoustic contact ***zhhgggggggzfrfffBdddcc?EDDAT read: Rx Time:05:25:14.8800 MTRx dataTimestamp_ set to:1755840316.041600UPDAT read: Bearing 301.3, 39.2 (Local) U~Local bearing/azimuth received: Bearing 301.3, 39.2 (Local) eDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 05:25:14.8800 LVL= 27824, 10577, 21618, 27763, AGC= 43, IDX= 503,-0.50,-0.461,-0.422,-1.785, 0.422, PHS=-0.781,-0.799,-2.251, RAW= 30.6, 42.8, CAL= 28.7, 48.1, ROT= 121.3, -48.1 Ygot valid direction response: 05:25:14.8800 LVL= 27824, 10577, 21618, 27763, AGC= 43, IDX= 503,-0.50,-0.461,-0.422,-1.785, 0.422, PHS=-0.781,-0.799,-2.251, RAW= 30.6, 42.8, CAL= 28.7, 48.1, ROT= 121.3, -48.1 T#Rx 96: Read range and direction messages.^direction in FSK: [-0.346952,0.570635,0.744312]Fpublishing direction and range info9AEiu4ֿ騸)B? jf?E,@AiElEQ)ErTEslE+ EG)EDLIEbiEܸ?Et;??E;?EV?EP~@ EViAAIE/ҿ,?!SwC8E?E>ǿEL_? EP~@)EViAAchecking for new query: numPingsReceived=96, elapsed TxPingTime=43.096176ɢBS I DɡiI% EYi-/>A)  checking for new query: numPingsReceived=96, elapsed TxPingTime=43.325542A I I N >BE%A{4JE%cw4RE%k0D D D D E a: E $:6E :E "E (ٱFN>F:F;=FH`5? ׿`m? ??@e`;@v[?v?IF(>)F`^;iDfȃB9dij=Ij=AMb@Mb@Mb@ )IiEԸZd;MbpƽyIiK AA) ABD6D:Y5!5.==VۺQ)=>A9A9EGYEFUwAU>YQ 1u4٪]?Q 5u4]vq ]ϝB9u=Q Au;Yu Q Eu?y]C)]p;I]y;i]F4Y)- A)ihh)Ah+@h+@hg$@z'@B3{L?*?jiu4ֿ騸)B? jf?hP~@hVp?0*@rtT)࿴Vj ??h_?h􈭿h+?h&|wZhB*inSѳ?2i:iBiv?"i.@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504540 s, deltaX: 0.100000 m, approachRate: 0.198201 m/s, rangeRepo size: 4  Added new target pos. range: 2.684396 m, bearing: 147.183443 deg, lat: 36.779358 deg, lon: -121.859573 deg, deltaT: 0.504540 s, deltaX: 0.099419 m, approachRate: 0.197048 m/s, posRepo size: 4 gggggggzfrfffBBd!d!d!c-@c- ?uDDAT read: Rx Time:05:25:15.3799 uTRx dataTimestamp_ set to:1755840316.545288}PDAT read: Bearing 300.5, 40.7 (Local) ~Local bearing/azimuth received: Bearing 300.5, 40.7 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:25:15.3799 LVL= 27728, 10705, 21858, 26291, AGC= 44, IDX= 502,-0.29,-1.869,-1.869, 3.040,-1.033, PHS=-0.733,-0.791,-2.254, RAW= 31.9, 41.8, CAL= 30.0, 47.1, ROT= 120.0, -47.1 Ygot valid direction response: 05:25:15.3799 LVL= 27728, 10705, 21858, 26291, AGC= 44, IDX= 502,-0.29,-1.869,-1.869, 3.040,-1.033, PHS=-0.733,-0.791,-2.254, RAW= 31.9, 41.8, CAL= 30.0, 47.1, ROT= 120.0, -47.1 T#Rx 97: Read range and direction messages.^direction in FSK: [-0.340360,0.589522,0.732543]Fpublishing direction and range info9qu"jWwտs0ZX\?0Œp?uf&@qiuPlu)ubUufu, u;)u~JIuAiuӇ?u:?u ?uqR?u @ uqRiqqIuF=6?pՠinV?uĿu8: u @)uqRiqqchecking for new query: numPingsReceived=97, elapsed TxPingTime=43.591473ɢU„BU@ 顝I bQɡiIR5HA ;>bA ZA I  checking for new query: numPingsReceived=97, elapsed TxPingTime=43.827240I N% >.,3)Ay6N>ٱ6}>6J6h=6H?@ֿ?^?۰?iR? ĺ?@?I6N>)6^;i6C@9F"IBDN6DNYV!Vj=V&Q)V?X9X9ZGYXZ4A^?\dQ 1f4٪^?Q 5f4^Jr ^͝B9hYj Q Ej?y^C)^*;I^*;i^M4Yln Alhh")Ahp%@hp%@h!@zT}:'쿁 a?FZ93L?j"jWwտs0ZX\?0Œp?h @hqRg`ZF2 j-?_[ %U@r%)_?t7E?hki?h h?hgNZh݇B*i2ihW:iBi?"i@DDD*DE: E:6E(N4:E!@!@!@!@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503688 s, deltaX: -0.100000 m, approachRate: -0.198536 m/s, rangeRepo size: 4  Added new target pos. range: 2.584974 m, bearing: 144.896567 deg, lat: 36.779358 deg, lon: -121.859573 deg, deltaT: 0.503688 s, deltaX: -0.099422 m, approachRate: -0.197388 m/s, posRepo size: 4 gggggggzfrff f Bd d d c@c?ɢ}ÄB}g 顅I ɡiIeJ~BB"IB̃BBBBB7`;Bk$E!iߙIߝ%=DDAT read: Rx Time:05:25:15.8801 TRx dataTimestamp_ set to:1755840317.049242PDAT read: Bearing 298.8, 41.4 (Local) ~Local bearing/azimuth received: Bearing 298.8, 41.4 (Local) I--G)IIYiٟADAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 DAT read: 05:25:15.8801 LVL= 26416, 10817, 22850, 25763, AGC= 44, IDX= 503,-0.16,-0.294,-0.334,-1.691, 0.511, PHS=-0.703,-0.800,-2.246, RAW= 33.2, 41.5, CAL= 31.2, 46.9, ROT= 118.8, -46.9 Ygot valid direction response: 05:25:15.8801 LVL= 26416, 10817, 22850, 25763, AGC= 44, IDX= 503,-0.16,-0.294,-0.334,-1.691, 0.511, PHS=-0.703,-0.800,-2.246, RAW= 33.2, 41.5, CAL= 31.2, 46.9, ROT= 118.8, -46.9 T#Rx 98: Read range and direction messages.^direction in FSK: [-0.329170,0.598757,0.730162]Fpublishing direction and range info>AQ 92տd)?0Y}]?9@i0gA*BYd 3)LIwiV?}l9?'g ?Q?m@ QiI|Y?4j⫱6?9 m@)Qi checking for new query: numPingsReceived=98, elapsed TxPingTime=44.141399I I N >I ,L)AIǃB9"IMb@Mb@Mb@ )Ii#~jsh|?~jtxchecking for new query: numPingsReceived=98, elapsed TxPingTime=44.331310㥽ĻI9Ai A)p ABDE6DE2YUJh!U'=]Q)]>Y9Y9eGYeFeAe>iQ 1u4٪m?Q 5u4ms mɝB9}=Q A};Y}Q E}?ymC)m:Im:imד4Y Ahh&C)Ah8@h8@hWV @zα(^FQ2(?<:@j2տd)?0Y}]?hm@hQ/0u$?+^/@rlmS߿F]Oe?6:?h?hh?hdWhSB*i?2idW:iBi?"i@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503954 s, deltaX: 0.300000 m, approachRate: 0.595293 m/s, rangeRepo size: 4  Added new target pos. range: 2.883233 m, bearing: 143.541381 deg, lat: 36.779357 deg, lon: -121.859574 deg, deltaT: 0.503954 s, deltaX: 0.298259 m, approachRate: 0.591838 m/s, posRepo size: 4 ggiggigigigizfqrfqfqfuۄBBdydydyc}@33@c}?DDD+DE; Ex:6E [4:E"E.CAA I I I NM >F1,Xf)Ayfk=ٱ1>o/=HY?BԿ?J?;?Bm? ̏??Ifk=){o^;iB9"I) AiBD%6D%Y5b!5_=5YQ)=>Y9Y9]GY] FeAe>iQ 1u4٪mb?Q 5u4mt mƝB9qYuQ E}?ymC)m;Imu;imO4Y Ahh=cc)Ah+@h+@hh@z!tn;4-?R\?jpo:MԿ ty]@?0Y}]?hr$@h0mqz5kj? @r)٦ ޿%??hV?h3h?hXhB*i+?2iX:iBi ?"i~8@u addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503690 s, deltaX: -0.200000 m, approachRate: -0.397070 m/s, rangeRepo size: 4  Added new target pos. range: 2.684389 m, bearing: 140.024362 deg, lat: 36.779357 deg, lon: -121.859574 deg, deltaT: 0.503690 s, deltaX: -0.198844 m, approachRate: -0.394774 m/s, posRepo size: 4 gggggggzfrfffBdddc@cl?ɢ%ńB%0] !-<I) -[Βɡ)i)I-OA 3>ԡ A AI) I9 NE >,^K)AAZ<AZ<vB\~B\B\B\B\B\B\B^`;B^P$EzB9~!IBD-6D-NY=!=\=EQ)E>EK?9MK?9MGYIMAM>QQ 1]4٪U?Q 5]4Uu UĝB9aYaQ Ee?yUC)U:IU:iU4YmBm AuuEDDAT read: Rx Time:05:25:16.8800 TRx dataTimestamp_ set to:1755840318.057157PDAT read: Bearing 293.9, 40.7 (Local) ~Local bearing/azimuth received: Bearing 293.9, 40.7 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 05:25:16.8800 LVL= 25520, 10913, 22930, 26163, AGC= 44, IDX= 502, 0.07,-0.061,-0.181,-1.455, 0.742, PHS=-0.702,-0.879,-2.242, RAW= 36.0, 42.8, CAL= 34.0, 48.2, ROT= 116.0, -48.2 Ygot valid direction response: 05:25:16.8800 LVL= 25520, 10913, 22930, 26163, AGC= 44, IDX= 502, 0.07,-0.061,-0.181,-1.455, 0.742, PHS=-0.702,-0.879,-2.242, RAW= 36.0, 42.8, CAL= 34.0, 48.2, ROT= 116.0, -48.2 V#Rx 100: Read range and direction messages.^direction in FSK: [-0.292189,0.599075,0.745476]Fpublishing direction and range info9n7ҿD6;+??Mx?ic*Y3f F3)%aI|i| ?t;???\W?@ \WiI<̿?:&\Yd'?&@z^Ic鿏x?+U[@jn7ҿD6;+??Mx?h@h\W XioAy+X?V+@r<yܿ-&]?3/O?h?h{hZu?hXhB*i2iX:iBi?"i3D@E addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.684393 m, bearing: 137.686973 deg, lat: 36.779357 deg, lon: -121.859574 deg, deltaT: 0.504225 s, deltaX: 0.000004 m, approachRate: 0.000009 m/s, posRepo size: 4 gggggggzfrfffBdddccD?ɢDŽBpUb ! I nɡiIJRA D D D 1D E  E x:6E -4:E "E 3M,5)Ay-=ٱ-{>-5-=-HNu?Νӿ?? $c?ܰգ?ΰ? ?I-=)-*^;i-CEʃB9E"IԑMb@Mb@Mb@ )IiJ +V-{GzHm#IAipA A) ABD6Dk2Yn=!-=SһQ) > 9 9 GY !F9A>Q 1%4٪ ?Q 5%4v B9%ל=Q A%- ]6 @)]PwViYYchecking for new query: numPingsReceived=101, elapsed TxPingTime=45.611267ɢȄB%dU )-I) -ɡ)i)I-TA ;> checking for new query: numPingsReceived=101, elapsed TxPingTime=45.843224! A1 I9 II N] >U,Ӷ)AD.D.D..D,E.; E.:6E.ـ4:E,!2@!2@!6@!6@yB=ٱBzZ>Bxd9d9fGYf"FjƻAj>lQ 1r4٪n ?Q 5r4n.w nB9pYrQ Er?ynC)n:In:inT4Yxz Axhh)Ahp%@hp%@h!@zJe)Jiy|.?mr?jdkԿѦ6 ?:?h6 @hPwVFb iT?9$)@r>L޿| ??h?h+h/?h[hćB*i/?2i:iip?"i.x@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504180 s, deltaX: -0.100000 m, approachRate: -0.198342 m/s, rangeRepo size: 4 = Added new target pos. range: 2.584971 m, bearing: 139.776813 deg, lat: 36.779357 deg, lon: -121.859574 deg, deltaT: 0.504180 s, deltaX: -0.099422 m, approachRate: -0.197196 m/s, posRepo size: 4 gagagigigigigizfirfqfyfyBdyddcc?ɢ-ʄB5Ia 15I1 5mɡ9i9I=VA9 y Ai I I N >$F,))Achecking for new query: numPingsReceived=102, elapsed TxPingTime=46.347176ǃB9"IԱMb@Mb@Mb@ )Ii:v~jt~jtxTĻIAi-A A) ABD6DfY <!)=Q)>99GYA>Q 14٪ ?Q 54tw B9A 3> DAT read: 05:25:18.3799 LVL= 26048, 10929, 23218, 26483, AGC= 44, IDX= 502,-0.42,-2.745,-2.670, 2.175,-1.913, PHS=-0.731,-0.712,-2.239, RAW= 29.4, 40.6, CAL= 27.5, 46.1, ROT= 122.5, -46.1  Ygot valid direction response: 05:25:18.3799 LVL= 26048, 10929, 23218, 26483, AGC= 44, IDX= 502,-0.42,-2.745,-2.670, 2.175,-1.913, PHS=-0.731,-0.712,-2.239, RAW= 29.4, 40.6, CAL= 27.5, 46.1, ROT= 122.5, -46.1  V#Rx 103: Read range and direction messages. ^direction in FSK: [-0.372565,0.584809,0.720551] Fpublishing direction and range info9]׿w?Ϸ03?f&@ie*Zsg ";)E6IKiG\? g5? >M?u@ MiI]#ԬڀDtI ?&sʿ=5 u@)Mi9 E checking for new query: numPingsReceived=103, elapsed TxPingTime=46.673573A I I N >m,o)Ay6B=ٱ6&>6~E6 =6H@?>Uӿ?U? e??⽴?@x?I6B=)6hb^;i6CFƃB9F"IBDN6DNNYf(!fn=f˺Q)f?h9h9jGYj#Fn<An?Q 1 4٪N ?Q 5 4w B9 Y Q E ?yC):I:i޽4YEy AIh!h%)Ah%p%@h%p%@h%Qq @z%@t0|/?":9?j%]׿w?Ϸ03?h%u@h%M%.zu&0?y?r%w/w,HՕ?>IZ?h%~?h%٬h%E?h%]h%B*i!2i%vZ:i!i%?"i%7@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.507431 s, deltaX: -0.100000 m, approachRate: -0.197071 m/s, rangeRepo size: 4  Added new target pos. range: 2.584970 m, bearing: 143.635724 deg, lat: 36.779357 deg, lon: -121.859575 deg, deltaT: 0.507431 s, deltaX: -0.099422 m, approachRate: -0.195932 m/s, posRepo size: 4 ggggggg1zf1rf9f9f9Bd9dAdAcE@cET?ɢm̈́Bmg quIq uAɡqiqI}4[>5checking for new query: numPingsReceived=103, elapsed TxPingTime=46.851196Aie/aae4aDDDDE: EL_:6E:E!@!@!@!@y>A A A @AvB ~B B ."IB ܃BB =B B B _;B $EBBBBʱ =Bʱ =B4ԙ i I < DDAT read: Rx Time:05:25:18.8800  TRx dataTimestamp_ set to:1755840320.073198 PDAT read: Bearing 298.3, 39.1 (Local)  ~Local bearing/azimuth received: Bearing 298.3, 39.1 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 5 DAT read: 05:25:18.8800 LVL= 26352, 10737, 23218, 26419, AGC= 43, IDX= 503,-0.23,-1.941,-1.878, 2.977,-1.116, PHS=-0.723,-0.717,-2.234, RAW= 29.8, 40.6, CAL= 27.9, 46.1, ROT= 122.1, -46.1 = Ygot valid direction response: 05:25:18.8800 LVL= 26352, 10737, 23218, 26419, AGC= 43, IDX= 503,-0.23,-1.941,-1.878, 2.977,-1.116, PHS=-0.723,-0.717,-2.234, RAW= 29.8, 40.6, CAL= 27.9, 46.1, ROT= 122.1, -46.1 = V#Rx 104: Read range and direction messages.E ^direction in FSK: [-0.368473,0.587396,0.720551]E Fpublishing direction and range info9 x׿y?Ϸ03? ,@ i f ) 3g + 9) P7I i %? Q> AQ I I c@ i I n[GVe=_YJI߸3? Qɿ K5 c@) i  checking for new query: numPingsReceived=104, elapsed TxPingTime=47.131927N >,0)AyVح=ٱVoL>VjjEV =VHy?@ӿ ܋?X?@k? k &?z?`?IVح=)V {^;iVCrɃB9r"I)t tBDz6Dz02YMR<!M;=U;7Q)U>99GY$FA>Q 14٪ ?Q 5 4w B9 YqQ E?yC):A ԁ Aq I I N >,!)AyJ ==ٱJwe>JY9a9eGYaeAe>iQ 1u4٪m ?Q 5}4mw mB9}[=Q A}wA9 )߁ ߅ A checking for new query: numPingsReceived=105, elapsed TxPingTime=47.860146D= D= D= +D9 E= ; E= :6E= [4:E9 !M @!M @!M @!M @IQ Ia Nu >ԑ  ,:)Aye|=ٱM>rH=H ?(ҿ,??s? )? ʵ? ?Ie|=))8^;i5ЃB95 "IBDE6DE YU<!U<]oQ)]>Y9Y9eGYe%FeAe>iqQ 1}4٪u?Q 5}4ux uB9yY}#Q E}?yuC)u.:Iu:iuMԐ4Y+ Ah h $)Ah h h @z jK@NJ?QQ\?j 'տ?0Y}]?h {@h Q vNz*H?,iyn@r ,ncDs߿p?p?h A?h h Aܡ?h G[h B*i Aܡ?2i G[:i i ?"i @gggggggzfrfffBdddcc ?ɢЄBh+f I  QɡiI~b˽i)i))))))9vBԿ>~BB5"IBBB =BBBr_;B $EiDDAT read: Rx Time:05:25:19.8801 TRx dataTimestamp_ set to:1755840321.081133PDAT read: Bearing 292.3, 40.5 (Local) ~Local bearing/azimuth received: Bearing 292.3, 40.5 (Local) DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 MDAT read: 05:25:19.8801 LVL= 27024, 11297, 23154, 25971, AGC= 43, IDX= 503, 0.01,-0.501,-0.606,-1.894, 0.313, PHS=-0.712,-0.874,-2.251, RAW= 35.5, 42.8, CAL= 33.5, 48.1, ROT= 116.5, -48.1 }Ygot valid direction response: 05:25:19.8801 LVL= 27024, 11297, 23154, 25971, AGC= 43, IDX= 503, 0.01,-0.501,-0.606,-1.894, 0.313, PHS=-0.712,-0.874,-2.251, RAW= 35.5, 42.8, CAL= 33.5, 48.1, ROT= 116.5, -48.1 }V#Rx 106: Read range and direction messages.^direction in FSK: [-0.297985,0.597666,0.744312]Fpublishing direction and range info9O1ӿ ( ? jf?9@ii!,rZse E6)w_Ibi?t;???V?!@ ViԙIcl?uBמ^(Զ%{?nȼ@? !@)Vichecking for new query: numPingsReceived=106, elapsed TxPingTime=48.139851>AI I N% > i,T)A"checking for new query: numPingsReceived=106, elapsed TxPingTime=48.3632555̃B9="IiE=IEa=rD=jD<BE|a4JEk4RE'0DDDDE: E$:6E:E"E.I9I9MGYM&FUAU>YQ 1]4٪]?Q 5e4]x ]B9e.~=Q AeUA} ;>I I N >,"n)AڃB9-"IBD-6D-Y=T=!E]=AQ)E>I9I9MGYIIAM>QQ 1]4٪U?Q 5]4Uw Q9aYaQ Ee?yUC)U;IU;iU4Yim Aqh9h=e)Ah=+@h=+@h=@z=6k?迭?@j=d} |ҿٶS ??h=(v@h=%Y=Y@m,G?@r=Ak%m,ܿ d"?.f{?h=?h=Bh=\ 3?h=2uZh=!B*i92i9:i9i= ?"i=E@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504911 s, deltaX: -0.200000 m, approachRate: -0.396110 m/s, rangeRepo size: 4  Added new target pos. range: 2.684397 m, bearing: 136.702156 deg, lat: 36.779357 deg, lon: -121.859575 deg, deltaT: 0.504911 s, deltaX: -0.198844 m, approachRate: -0.393821 m/s, posRepo size: 4 gggggggzfrfffBdddc@c?ɢ҄B>x 页0I ̴ɡiIu:gAiIIN>Ա A A <vB ӿ>~B B ;"IB BB B B B m_;B $E i WCI MG) I  DDAT read: Rx Time:05:25:20.8800  TRx dataTimestamp_ set to:1755840322.089412 PDAT read: Bearing 290.9, 40.7 (Local) % ~Local bearing/azimuth received: Bearing 290.9, 40.7 (Local) 5 DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 U DAT read: 05:25:20.8800 LVL= 26688, 10913, 22690, 26579, AGC= 44, IDX= 502, 0.26,-1.056,-1.208,-2.456,-0.233, PHS=-0.721,-0.931,-2.267, RAW= 37.2, 43.7, CAL= 35.1, 49.0, ROT= 114.9, -49.0 ] Ygot valid direction response: 05:25:20.8800 LVL= 26688, 10913, 22690, 26579, AGC= 44, IDX= 502, 0.26,-1.056,-1.208,-2.456,-0.233, PHS=-0.721,-0.931,-2.267, RAW= 37.2, 43.7, CAL= 35.1, 49.0, ROT= 114.9, -49.0 ] V#Rx 108: Read range and direction messages.e ^direction in FSK: [-0.276224,0.595074,0.754710]m Fpublishing direction and range info9   j¨ѿKh ?&?  i @h * X g ,  u8) VnI i 6&? @C? ? !Z? 3X@  !Zi  I 㝧1?Ʒ?  LC  3X@) !Zi   checking for new query: numPingsReceived=108, elapsed TxPingTime=49.135017i .A",k)A@yri=ٱr}>rfrB=rH` p?|ӿ ??K?k̷Ќ? Nڷ?`?Iri=)rwO^;irCЃB9 "IBD6DYUD!A=덻Q)>99GY'F,=A>Q 154٪?Q 5=4w B99Y=l>Q E=?yC)H$@r=eOۿQ-w?H"Cr?h=4?h=Oh=4?h=e [h=B*i=Ð?2i=e [:i=Bi=?"i=V@u addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503368 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.684393 m, bearing: 136.801241 deg, lat: 36.779357 deg, lon: -121.859575 deg, deltaT: 0.503368 s, deltaX: -0.000003 m, approachRate: -0.000007 m/s, posRepo size: 4 gggggԩggzfrfffBdddccn?ɢMӄBeBd imIi m똸ɡiiqIuiA I! I1 NE >-(,J)Ay6E=ٱ6zg>6z6_5=6Ha\?@L2Կ@Õ?@c2?6? o;Z?`A (v@)Yi=checking for new query: numPingsReceived=109, elapsed TxPingTime=49.639076Y=\!=D=EBQ)E>A9A9MGYM(FM <AM>QQ 1]4٪U?Q 5]4Ufw Q9eɲ=Q AeQ Ee?yUC)U:IU:iUw4Yimq Aqhh)Ahp%@hp%@h@z:A8?bj?j7TWsҿQ`K?$[ ?h(v@hYHnX#( {?A@r}m9ܿз?L?h؃?hhζ?h+O\hB*i\ 3?2i:iiN?"iA@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503772 s, deltaX: -0.100000 m, approachRate: -0.198503 m/s, rangeRepo size: 4 M Added new target pos. range: 2.584971 m, bearing: 138.430655 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.503772 s, deltaX: -0.099422 m, approachRate: -0.197356 m/s, posRepo size: 4 gIgIgIgIgIgQgQzfQrfQfQf]BBdYdYdYc]@ceB?ɢԄB;m I -ɡiIlA 3>D% D% D% MD! E% V: E% :6E% H$5:E! !5 @!5 @!5 @!5 @I1 II N] >.,Z)AyV-G=ٱV>VvV@}=VHLJ?@Կ@U?`q?$?C`Ws?@%?@H?IV-G=)V/^;iVCb˃B9b"IBDj6DjβYr'!rO=v쏻Q)v>t9t9zGYxz<Az>|Q 14٪~8?Q 54~v ~B9 Y >Q E ?y~C)~:I~;i~[4Y} A5B*** querying acoustic contact ***zh1h1g9gAgAgAgAgAgAzfIrfIfIfIBdQdQdQcQcUw)?ɢՄB 額I WɡiIn~BBBB =BBBB$Ei,5YDDAT read: Rx Time:05:25:21.8800 TRx dataTimestamp_ set to:1755840323.098019PDAT read: Bearing 296.3, 39.9 (Local) ~Local bearing/azimuth received: Bearing 296.3, 39.9 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 %DAT read: 05:25:21.8800 LVL= 27744, 10609, 22146, 27219, AGC= 43, IDX= 503,-0.34,-2.548,-2.558, 2.377,-1.716, PHS=-0.730,-0.797,-2.234, RAW= 32.3, 42.1, CAL= 30.3, 47.4, ROT= 119.7, -47.4 -Ygot valid direction response: 05:25:21.8800 LVL= 27744, 10609, 22146, 27219, AGC= 43, IDX= 503,-0.34,-2.548,-2.558, 2.377,-1.716, PHS=-0.730,-0.797,-2.234, RAW= 32.3, 42.1, CAL= 30.3, 47.4, ROT= 119.7, -47.4 -V#Rx 110: Read range and direction messages.5^direction in FSK: [-0.335364,0.587956,0.736097]5Fpublishing direction and range info9vտ?0/z?,@i`lq)VSj+ H:)1LIiZQ?AE;>I I) Ne >Ա  checking for new query: numPingsReceived=110, elapsed TxPingTime=50.381084q5,)AyF=ٱF>F⟼F]=FH:?Կ_???<? 顷?t?IF=)F)^;iFCPDrDrDr/DpEr : Ere:6ErJ4:Ep"Ep! Ep! *ErX;!ErX;!-ԃB9-%"I}Mb@Mb@Mb@ y)yIyiyy}+η?~jt?}v=}<yI}Ai}VA}^A} A)y} ABD6D:Y =!'=eQ)>99GY)FqG<A>Q 14٪?Q 54Hv B9=Q A i=-99E1ADDAT read: Rx Time:05:25:22.3800 TRx dataTimestamp_ set to:1755840323.602457 PDAT read: Bearing 297.5, 39.5 (Local)  ~Local bearing/azimuth received: Bearing 297.5, 39.5 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 EDAT read: 05:25:22.3800 LVL= 27888, 10337, 22002, 27379, AGC= 43, IDX= 502,-0.18, 2.279, 2.298, 0.932, 3.115, PHS=-0.734,-0.772,-2.228, RAW= 31.3, 41.8, CAL= 29.4, 47.2, ROT= 120.6, -47.2 MYgot valid direction response: 05:25:22.3800 LVL= 27888, 10337, 22002, 27379, AGC= 43, IDX= 502,-0.18, 2.279, 2.298, 0.932, 3.115, PHS=-0.734,-0.772,-2.228, RAW= 31.3, 41.8, CAL= 29.4, 47.2, ROT= 120.6, -47.2 MV#Rx 111: Read range and direction messages.U^direction in FSK: [-0.345864,0.584824,0.733730]]Fpublishing direction and range info9>L{"ֿ0?WBz?ila(Uj m;)ˡEIi ?:?G\?BR?$@ BRiI=-|?~6I}UўV?4ƿ?: $@)BRi}checking for new query: numPingsReceived=111, elapsed TxPingTime=50.650764I >A I! I9 NE >;,7)Ayf\=ٱf>f]fY=fH)?@`տ‚?V?`N??@??If\=)fT^;ifC=̓B9="IiE=IE=BDM6DMk1Y}{!}u=?Q)?99GY*F}<A?Q 14٪ ?Q 54u B9Y~?Q E?yC);Ir;i4Yn A=checking for new query: numPingsReceived=111, elapsed TxPingTime=50.883247h!h%)Ah!h!h%Ƃ!@z% 5cцI?J?Sx?j%>L{"ֿ0?WBz?h%$@h%BR%@g"l? p?@r%mͫw ?i?6?h%d{?h%Ұh%Pv\?h% [h%B*i!2i%[:i%Bi%?"i%<^ @ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.684390 m, bearing: 144.592015 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.504438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggzfrfffBdd d c c 0?ɢ=ׄB=K 9=I9 E3ƼɡAiAIE\r~BBBB =BBB_;B$E>Ai I I  DDAT read: Rx Time:05:25:22.8801  TRx dataTimestamp_ set to:1755840324.105206 PDAT read: Bearing 296.5, 39.5 (Local)  ~Local bearing/azimuth received: Bearing 296.5, 39.5 (Local)  DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 = DAT read: 05:25:22.8801 LVL= 27888, 10481, 21570, 27555, AGC= 44, IDX= 503,-0.06,-2.473,-2.491, 2.465,-1.638, PHS=-0.733,-0.808,-2.224, RAW= 32.6, 42.4, CAL= 30.6, 47.7, ROT= 119.4, -47.7 E Ygot valid direction response: 05:25:22.8801 LVL= 27888, 10481, 21570, 27555, AGC= 44, IDX= 503,-0.06,-2.473,-2.491, 2.465,-1.638, PHS=-0.733,-0.808,-2.224, RAW= 32.6, 42.4, CAL= 30.6, 47.7, ROT= 119.4, -47.7 M V#Rx 112: Read range and direction messages.U ^direction in FSK: [-0.330384,0.586338,0.739631]U Fpublishing direction and range info9 +[%տs rG?V? 9@ i ( BT k , ;) NI Vi ? q=? ܸ? + U? ^@ + Ui I d ݠ?D]$緙? Xÿ %= ^@) + Ui m checking for new query: numPingsReceived=112, elapsed TxPingTime=51.151630Nu >ԡ =B, )AyyuM>ٱu|>u#ɼuH=uH_?Bտ{?׼??6#?`i?@?IuM>)uB^;iq9BD=6D=YMe!M>=UQ)U>Q9Y9]GYY]|<A]>aQ 1m4٪e#?Q 5m4e3u eB9qYu6?Q Eu?yeC)e;Ie;ieJ 4Yy}o Ah!h%)Ah%8@h%8@h% @z%!3w{v ?Tg@j%+[%տs rG?V?h%^@h%+ U%,O1 ?@r%γI2+࿵N?inX ?h%i?h%xh%Z⨝?h%+Yh%LB*i%ʛ8?2i!:i!i% ?"i%l"@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.502749 s, deltaX: 0.200000 m, approachRate: 0.397813 m/s, rangeRepo size: 4  Added new target pos. range: 2.883223 m, bearing: 143.812965 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.502749 s, deltaX: 0.198833 m, approachRate: 0.395492 m/s, posRepo size: 4 gggggggzfrfffBdddc@33@cpw?ɢ%؄B-4y )-YI) 5Πɼɡ1i1I5GtA Iq I N > H,J%)AiR4=IR%=VDDAT read: Rx Time:05:25:23.3799 ZTRx dataTimestamp_ set to:1755840324.609290^PDAT read: Bearing 292.9, 39.4 (Local) ^~Local bearing/azimuth received: Bearing 292.9, 39.4 (Local) fDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:25:23.3799 LVL= 28384, 10385, 21330, 27043, AGC= 43, IDX= 502, 0.06,-1.828,-1.951, 3.121,-0.982, PHS=-0.744,-0.924,-2.224, RAW= 36.4, 44.5, CAL= 34.4, 49.7, ROT= 115.6, -49.7 Ygot valid direction response: 05:25:23.3799 LVL= 28384, 10385, 21330, 27043, AGC= 43, IDX= 502, 0.06,-1.828,-1.951, 3.121,-0.982, PHS=-0.744,-0.924,-2.224, RAW= 36.4, 44.5, CAL= 34.4, 49.7, ROT= 115.6, -49.7 V#Rx 113: Read range and direction messages.%^direction in FSK: [-0.279469,0.583296,0.762668]%Fpublishing direction and range info9TVx<ѿ~xڃ\?3hqg?Vf&@TiVnV(VRSViV+ Vv>)VDlITiV"?VF?V`?V^?V^ @ V^iTT99="IIV!ꊭV?eCq?VNĺVF V^ @)V^iTTchecking for new query: numPingsReceived=113, elapsed TxPingTime=51.667274Mb@Mb@Mb@ )Ii/$?X9v?{Gzt=<ףIAiAbA A)p ABD6D02Y!>=Q)>99GY+F%A%>)Q 1U4٪-&?Q 5U4-t )9U=Q AU@?>1]checking for new query: numPingsReceived=113, elapsed TxPingTime=51.891289D% D% D% -D! E% ; E% i:6E% t4:E! !M @!M @!U @!U @>Ae 3>ԁ A yAI I N >P,$B)Ay6>ٱ6>6'뼹6Q=6H =?ֿAq?D??`t?Y?P?I6>)6`^;i6CFσB9F"I)H JANp~B^ҍCB^A"IB^BB^ =B\B\B^_;B^$EBBBBBB5lQ)n>r H?9r H?9rGYr,FvA=Av>xQ 1~4٪zG(?Q 5~4zs x9|Y~8?Q E?yzC)z:Iz:izo4Y  _ A -B*** querying acoustic contact ***zh)h)g9g9g9g9g9g9gAzfArfAfAfABdIdIdIcIc[?ɢ~ AI мɡ!i!I% x?99i9='=S=3n=, 9)=vI9i=V)?=A)  checking for new query: numPingsReceived=114, elapsed TxPingTime=52.400738a A- AIY I D D D D E 2: E e:6E :E "E *GV,zr\)A1ye">ٱe>ebe=eH'?ʛ׿St?`9?@&?` @˞?PӶ??Ie">)edf^;ieC}ȃB9}"I%Mb@Mb@Mb@ !)!I!i!!%{Gz?i|?5?{Gzt?%#=%q=%ף;I!i%A!% A)!% ABD=6D=P)YM!U3=U;Q)U>UK?9]K?9]GYY]<A]>aQ 1m4٪e(?Q 5u4e"s eB9uW=Q Au9?hm?hm`m>]^?~%1@rm7Q6~ ݿ+??hmu?hmhmK Ɲ?hmYhmB*ii2imZ:imBim?"im$@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503782 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.584944 m, bearing: 140.706498 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.503782 s, deltaX: -0.000015 m, approachRate: -0.000029 m/s, posRepo size: 4 gggggggzfrfff̈́BBdddccvi?ɢ%ڄB% } )-@ I) -VԼɡ)i)I5yA! Թ AQ IY Ii N} >\,:v)AyBT.>ٱB6>B\Bź=BH@?Xؿlv? (D?Ls?`@?@yM? ?IBT.>)B>^;iBCNǃB9N"IVchecking for new query: numPingsReceived=115, elapsed TxPingTime=52.899239BDZ6DZ0Yfp!fh=f!wQ)f>h9h9jGYj-Fj=An>pQ 1r4٪rL)?Q 5v4r~r rB9tYvh?Q Ev?yrC)r\:Iru:ir)4Yx~ A|hhg)Ah@h@h@zOH?qI?jyb.9ѿş?ԟ?h?hT_T!]уdo?= s?r3jݿY"j4?w6~BBBBBBiDB_;B)$EuDDAT read: Rx Time:05:25:24.8799 }TRx dataTimestamp_ set to:1755840326.124502PDAT read: Bearing 301.7, 38.4 (Local) ~Local bearing/azimuth received: Bearing 301.7, 38.4 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:25:24.8799 LVL= 28656, 9889, 21378, 28019, AGC= 44, IDX= 503,-0.41, 2.839, 2.910, 1.544,-2.600, PHS=-0.741,-0.728,-2.183, RAW= 29.5, 41.7, CAL= 27.7, 47.1, ROT= 122.3, -47.1 Ygot valid direction response: 05:25:24.8799 LVL= 28656, 9889, 21378, 28019, AGC= 44, IDX= 503,-0.41, 2.839, 2.910, 1.544,-2.600, PHS=-0.741,-0.728,-2.183, RAW= 29.5, 41.7, CAL= 27.7, 47.1, ROT= 122.3, -47.1 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.363745,0.575387,0.732543]Fpublishing direction and range info9y}z_G׿ϒi?0Œp?}f&@yi}o}&}S}smy }-=)}5^:I}F i}?}AQ:?}>}qR?}D@>A ;>bA lAZA kA }qRiyyI}Ԭtw翉J?}ʿ}_: }D@)}qRiyy checking for new query: numPingsReceived=116, elapsed TxPingTime=53.182007! Ay I I N >c,*)Ay6p9>ٱ6>6H6[E=6Hv?ؿ8`x?`P?P?@]޸ ?@}??I6p9>)6lY^;i4L9LBDV6DV:Y 6! F= (Q) >99GY<A=>AQ 1M4٪E)?Q 5M4Eq EĝB9IYUɯ?Q EU?yEC)E:IE:iE04YY] AYhh)Aho%@ho%@h](@zMF{X#?<;L?jz_G׿ϒi?0Œp?hD@hqR_a6%G?2?r Li#b ?wc[>?hP?hhiް?h~[\h‡B*i2i:iBi?"i!@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.506362 s, deltaX: 0.200000 m, approachRate: 0.394974 m/s, rangeRepo size: 4  Added new target pos. range: 2.584934 m, bearing: 150.469139 deg, lat: 36.779360 deg, lon: -121.859575 deg, deltaT: 0.506362 s, deltaX: 0.198831 m, approachRate: 0.392666 m/s, posRepo size: 4 gg!g!g!g!g!g!zf!rf!f)f)Bd)d)d1cU@cU@&?ɢ܄B8 d I ۼɡiI:}A3>A I! I9 NE >e DDAT read: Rx Time:05:25:25.3798 m TRx dataTimestamp_ set to:1755840326.624937u PDAT read: Bearing 305.5, 37.4 (Local) u ~Local bearing/azimuth received: Bearing 305.5, 37.4 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 05:25:25.3798 LVL= 28144, 9537, 21682, 27091, AGC= 44, IDX= 502,-0.24, 1.321, 1.498, 0.044, 2.176, PHS=-0.752,-0.633,-2.176, RAW= 26.0, 40.3, CAL= 24.2, 45.8, ROT= 125.8, -45.8  Ygot valid direction response: 05:25:25.3798 LVL= 28144, 9537, 21682, 27091, AGC= 44, IDX= 502,-0.24, 1.321, 1.498, 0.044, 2.176, PHS=-0.752,-0.633,-2.176, RAW= 26.0, 40.3, CAL= 24.2, 45.8, ROT= 125.8, -45.8  V#Rx 117: Read range and direction messages. ^direction in FSK: [-0.407812,0.565445,0.716911] Fpublishing direction and range info9i m 3@*ڿպ ?[?m @i im mm A%m Tm ii m @)m J "Im C im V>m 4?m @>m L?m  @ m Lii i Im 6%t}(]uK?m ѿm Q3 m  @)m Lii i  checking for new query: numPingsReceived=117, elapsed TxPingTime=53.670719 j,X<)AăB9"Iԑ5Mb@Mb@Mb@ 1)1I1i115y&1?㥛 ?{Gzt?5`<5=1I55Ai5A5A5 A)11BDu6DuܲY}-!}'=Q)>99GY.FA>Q 14٪)?Q 54p ǝB9s=Q A)A9  vB ~B B G"IB BB =B B B _;B -$EI G) I1 iU Y ] ߒAA yAI I N >@q,o)Ay6H>ٱ6=>6 6{=6HE?ٿIs? ?!?`?V?B?I6H>)6t7^;i4BB9B"IRDDAT read: Rx Time:05:25:25.8800 RTRx dataTimestamp_ set to:1755840327.129140ZPDAT read: Bearing 306.5, 36.8 (Local) Z~Local bearing/azimuth received: Bearing 306.5, 36.8 (Local) bDAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 05:25:25.8800 LVL= 27984, 9713, 21634, 27987, AGC= 43, IDX= 503,-0.11, 2.800, 3.007, 1.542,-2.618, PHS=-0.763,-0.613,-2.167, RAW= 25.0, 40.2, CAL= 23.2, 45.7, ROT= 126.8, -45.7 Ygot valid direction response: 05:25:25.8800 LVL= 27984, 9713, 21634, 27987, AGC= 43, IDX= 503,-0.11, 2.800, 3.007, 1.542,-2.618, PHS=-0.763,-0.613,-2.167, RAW= 25.0, 40.2, CAL= 23.2, 45.7, ROT= 126.8, -45.7 V#Rx 118: Read range and direction messages.%^direction in FSK: [-0.418367,0.559243,0.715693]%Fpublishing direction and range info9PRRɀڿ@ږQ?'tr?R,@PiRPmR%BD=6D=:YU@!UX=]ΧQ)]>e H?9e H?9eGYe/Fm!=Am>ԑQ 14RTRSmR+٪)?Q 54o ʝB9Yp?Q E?y#C);I5;i?4 RSC)RIR! iRf>R3?R4Q>R0L?R @ R0LiPYB AlEPIR\5]@4f?RFԿR^i3 R @)R0LiPPchecking for new query: numPingsReceived=118, elapsed TxPingTime=54.208530hPhRC)AhR+@hR+@hR.@zR9L&4 ?5?jRRɀڿ@ږQ?'tr?hR @hR0LRjq da?*ɭx@rR .7^mePxk?g՞z?hR ;?hRϿhR?hR%\hRB*iRԩ?2iR~[\:iRBiRC?"iR.)@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504203 s, deltaX: 0.300000 m, approachRate: 0.594998 m/s, rangeRepo size: 4  Added new target pos. range: 2.684351 m, bearing: 155.786316 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.504203 s, deltaX: 0.298258 m, approachRate: 0.591543 m/s, posRepo size: 4 gggggAgAgAzfIrfIfIfIBdQdQdQcU@cUʠ?ɢ݄B I VɡiIl>i 0mchecking for new query: numPingsReceived=118, elapsed TxPingTime=54.413841D D D D E : E :6E :E "E #A} ;> A I I N >x,<)AăB9"I) QMb@Mb@Mb@ )IiQ?v/?MbP?u<xi=:IKAiVA)p A499GY0FA>Q 14٪6)?Q 54Po ˝B9tq=Q AaIF i?q=? >ȭT?u@ ȭTiISl^翂1,?ʿI= u@)ȭTichecking for new query: numPingsReceived=119, elapsed TxPingTime=54.684696ɢ  I ;ɡiI1FA% 3> checking for new query: numPingsReceived=119, elapsed TxPingTime=54.915306 I I! N= >~,)ADFDFDDDDEF: EF;J:6ED:ED!N@!N@!N@!N@yZlO>ٱZ>ZZ%=ZH`G.?@Cڿ1 r?9+? ?茸?@?ٶ?)?IZlO>)Z@^;iZCdjB9j!IBDr6DrܲYz!zI=~Q)~>|9|9~GY|<A> Q 14٪ (?Q 54 n ̝B9Y`?Q E?y )C) v:I :i N4Y!% A!hahe)Aheo%@heo%@he()@ze4jcU?9۩#?jeCU/׿)2?vQl m?heu@heȭTe~XW.wz?{ʦW?reB0sV?Y?heD?heuheȮ?heWy~ZheB*ieiް?2ia:ieBie?"ieA+@u addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503975 s, deltaX: -0.100000 m, approachRate: -0.198423 m/s, rangeRepo size: 4  Added new target pos. range: 2.584930 m, bearing: 152.070063 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.503975 s, deltaX: -0.099421 m, approachRate: -0.197273 m/s, posRepo size: 4 gggggggzfrfffBdddc@ca?ɢބB I ɡiI4)~BqBqBqBqBqBqBu_;Bu$$E=DDAT read: Rx Time:05:25:26.8800 ETRx dataTimestamp_ set to:1755840328.137089MPDAT read: Bearing 301.4, 37.8 (Local) M~Local bearing/azimuth received: Bearing 301.4, 37.8 (Local) ]DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 05:25:26.8800 LVL= 28448, 9633, 21362, 27731, AGC= 43, IDX= 503, 0.13,-2.094,-2.053, 2.917,-1.228, PHS=-0.765,-0.780,-2.183, RAW= 30.5, 43.1, CAL= 28.7, 48.2, ROT= 121.3, -48.2 Ygot valid direction response: 05:25:26.8800 LVL= 28448, 9633, 21362, 27731, AGC= 43, IDX= 503, 0.13,-2.094,-2.053, 2.917,-1.228, PHS=-0.765,-0.780,-2.183, RAW= 30.5, 43.1, CAL= 28.7, 48.2, ROT= 121.3, -48.2 V#Rx 120: Read range and direction messages.^direction in FSK: [-0.346276,0.569525,0.745476]Fpublishing direction and range info99=^Td)ֿc{9??Mx?=,@9i= o=%=rS=Sl=+ = C)=GI9i={F?=@?=;?=\W?=P~@ =\Wi99I=G6͏{?9Ra翼 ?=ǿ=b@ =P~@)=\Wi99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.)>AaIA IQ Ne >Q },)A)P PZٱvC>vWvG\=vH@$?mڿx?@U?@|?Y@֡? _?@?Iv R>)v^;ivCB9!IMb@Mb@Mb@ )Ii~jtˡE?~jth?'=D;I5AiA) ABD6D:Y"!"=<:Q)>99%GY%1F%e;A%>)Q 154٪-l'?Q 554-On -ΝB9=9=Q A=A Iy I N >ŋ,`1)AB9!Ii!I%=BD-6D- 8Y=!E=EQ)E?I9I9MGYIMAM?QQ 1]4٪U&?Q 5e4Un UϝB9aYaQ Ee?yU.C)UI;IU:iU\4Yim% Aqhh))Aho%@ho%@h&@z˯8 9?VGLr?j!;ѱԿJ]?ԏs?h^@h^ Z͎Q?YWU@r@࿮˻?6 3G?hO?hXh?h Xh‡B*i2iWy~Z:iiV?"i`-*@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503941 s, deltaX: -0.100000 m, approachRate: -0.198436 m/s, rangeRepo size: 4  Added new target pos. range: 2.584922 m, bearing: 149.242751 deg, lat: 36.779358 deg, lon: -121.859575 deg, deltaT: 0.503941 s, deltaX: -0.099420 m, approachRate: -0.197286 m/s, posRepo size: 4 gggggggzfrfffBdddc@c?ɢd頽 d<顝I ɡiI A;>II N >vBu ѿ>~Bq Bu ;"IBu BBu =Bq Bu jDBu _;Bu %$Eia Ie 4=u BDAT read: R Time:05:25:27.8799 u `unknown deviceResponse_: R Time:05:25:27.8799  PDAT read: Bearing 302.0, 38.5 (Local)  ~Local bearing/azimuth received: Bearing 302.0, 38.5 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 05:25:27.8799 LVL= 27184, 9697, 21522, 28515, AGC= 43, IDX= 502, 0.49, 3.007, 3.043, 1.708,-2.417, PHS=-0.758,-0.779,-2.203, RAW= 30.7, 42.7, CAL= 28.9, 47.9, ROT= 121.1, -47.9  Ygot valid direction response: 05:25:27.8799 LVL= 27184, 9697, 21522, 28515, AGC= 43, IDX= 502, 0.49, 3.007, 3.043, 1.708,-2.417, PHS=-0.758,-0.779,-2.203, RAW= 30.7, 42.7, CAL= 28.9, 47.9, ROT= 121.1, -47.9  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.346298,0.574064,0.741976] Fpublishing direction and range info9a e lo)ֿu^?yR!D?a a ie 0je %e Te coe + e J B)e lGIe ie >+ ?e >?e ^ ?e V?e E@ e Via a Ie  w6[?% e E@ )e Via a % 2Acoustic response timeout% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.䭒,V>ٱ>w*>> >3=>H?ڿ? F?f? :!??|?I>V>)>Qe^;i>CB9!IBDe6DeN2Yu ϻ!uG=Y;Q)>99GY2F{<A>Q 14٪T%?Q 54m НB9YE@Q E?y0C)?;I;id4Y/ Ahhd;I)Ahhh(@zL($*(?Dž?jlo)ֿu^?yR!D?hE@hV:lZg 8?IH*@r}@Gk7??3?hF?hܴhEuB?h5XYhB*iEuB?2i5XY:iiZ?"i(@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503220 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 2.584947 m, bearing: 151.220133 deg, lat: 36.779358 deg, lon: -121.859574 deg, deltaT: 0.503220 s, deltaX: 0.000026 m, approachRate: 0.000051 m/s, posRepo size: 4 g!g!g)g)g)g)gizfirfifqfqBdqdydycyc}?ɢ I %gɡiIAY I I N >ט,e)AyFV>ٱFr7>FFFh=FHl?|ڿƄ? Ў? ?w `?`ø?` ?IFV>)F];iFCRB9R!I-Mb@Mb@Mb@ )))I)i))-y&1Q9Q9]GY]3F]9Ae>aQ 1m4٪e;$?Q 5m4em a9uW=Q Auaݿ-+~Z?f &?M@IiM`hM&MWMrM* MSC)MIMz iMa>M;*?M0>MEC?M$@ MECiIIIMk8An9zۮ?MlڿM* M$@)MECiII2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ɢ  鿗  I) 5&ɡ1i1I5#Am 3>ԩ  D= D= D= *D9 E= : E= $:6E= (N4:E9 ,~)A@yNYT>ٱN>NN=NH`Y ?@ڿ샄?k??Ah?`z?d?INYT>)N];iNC^B9^!IBDt6DtY~gż!O=JQ)> 9 9 GY  ûA >Q 14٪##?Q 5%4m ѝB9!Y%?@Q E%?y4C);I;iq4Y)-f A1hyh}i)Ah}@h}@h}1@z}&8I C?jl?j}9~>aݿ-+~Z?f &?h}$@h}EC} v}!?6d?r}y!m.\+?LF?h}?h}ÿh}e%?h}`^h}B*iy2iy:i}Bi}6?"i}(@} addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.510033 s, deltaX: -0.200000 m, approachRate: -0.392131 m/s, rangeRepo size: 4  Added new target pos. range: 2.386105 m, bearing: 159.213446 deg, lat: 36.779358 deg, lon: -121.859574 deg, deltaT: 0.510033 s, deltaX: -0.198842 m, approachRate: -0.389861 m/s, posRepo size: 4 gggggggzfrfffBdddc@33@c ?ɢʛ I ɡiI(~BӍCB."IB܃BB =BBB_;BBҍCBҍCBB³ =B³ =B¡d5ԩ5DDAT read: Rx Time:05:25:28.8800 =TRx dataTimestamp_ set to:1755840330.154338MPDAT read: Bearing 307.2, 37.9 (Local) M~Local bearing/azimuth received: Bearing 307.2, 37.9 (Local) }xDAT read: Range 11 to 0: . m(rip time 1.8 ms) speed 0.0 unknown deviceResponse_: Range 11 to 0: . m(rip time 1.8 ms) speed 0.0 DAT read: 05:25:28.8800 LVL= 26912, 10161, 22642, 29171, AGC= 44, IDX= 503,-0.14, 1.548, 1.743, 0.229, 2.400, PHS=-0.750,-0.612,-2.214, RAW= 25.5, 39.4, CAL= 23.8, 45.0, ROT= 126.2, -45.0 Ygot valid direction response: 05:25:28.8800 LVL= 26912, 10161, 22642, 29171, AGC= 44, IDX= 503,-0.14, 1.548, 1.743, 0.229, 2.400, PHS=-0.750,-0.612,-2.214, RAW= 25.5, 39.4, CAL= 23.8, 45.0, ROT= 126.2, -45.0 X#Rx 1: Read direction message, but no range.^direction in FSK: [-0.417621,0.570607,0.707107]99=FJvNڿciB?An?=i= i='=rX=q=, =@)=I=- i=>=x 0?=ȭ>=I?=} @ =Ii9I=G𼮿@|N迭qR?=Dӿ=*0 =} @)=IA  DDAT read: Rx Time:05:25:29.3799  TRx dataTimestamp_ set to:1755840330.407890 99GY4F%A%>!Q 1-4٪%"?Q 554%n %ϝB95#=Q A53?>0L? @ 0LiIE.TL2gW?iο~3  @)0LA ׄ> Querying Benthos address 50 with 120 pings in terminal homing one-way mode.a D]D]D]0DYE]>: E]:6E]4:EY!m@!m@!m@!m@AEAIIIYNm?#,})Ay6y@>ٱ6nF>6G6n=6H`^?gٿr?LN? j/?ۻ@q?@y]??I6y@>)6%^;i6CbB9b!I BD6DkY-Qj!-,=UeQ)U>UK?9UK?9]GY]5F]."A]>aQ 14٪e!?Q 54en e͝B9YQ E?ye9C)e2;Ie;ie4Y Aggg!g!g)g)g)zf)rf)f1f1Bd1d1d1c9c=h?vBmԿ>~BiBm""IBmуBBiBiBiBmb_;Bm$Eɢ݄B쐽 7I ɡiIAU ܄> DDAT read: Rx Time:05:25:30.3799  TRx dataTimestamp_ set to:1755840331.423561 PDAT read: Bearing 295.1, 41.8 (Local)  ~Local bearing/azimuth received: Bearing 295.1, 41.8 (Local) - DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 M X#Rx 1: Read range message, but no direction.9  f&@ e 2Acoustic response timeoutu Querying Benthos address 50 with 120 pings in terminal homing one-way mode. DUDUDU.DQEUD: EUAr:6EUـ4:EQ"EU1},)AyJY49>ٱJ^p>J5J=JHXv?$ؿ~?+?xC?%? e?)J;^;iJCfB9f!IMb@Mb@Mb@ )IiDktZd;OMb` 0j<I9AiA A) ABD6DYW=!=Q)>99GY6FdA>Q 14٪ ?Q 54Vo ˝B9=Q ARAa I9 II Nu >ԑ vͽ,i)A>DDAT read: Rx Time:05:25:30.8800 FTRx dataTimestamp_ set to:1755840331.920947VPDAT read: Bearing 298.7, 42.1 (Local) Z~Local bearing/azimuth received: Bearing 298.7, 42.1 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0  X#Rx 1: Read range message, but no direction.9@B,@@E2Acoustic response timeoutDUDUDU/DQEU>: EUz:6EUJ4:EQ!]@!]@!]@!]@iuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.y`1>ٱW>:O=H !?ؿs|?`c?@WX? գ?]u? ?I`1>)c^;iCUB9U!IBD6DܲY\3!<=dQ)>99GYA>Q 14٪;?Q 54p ɝB9YqQ E?yAC)`;I;i4YBn AvE-B*** querying acoustic contact ***zh)h)e addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.497386 s, deltaX: 0.100000 m, approachRate: 0.201051 m/s, rangeRepo size: 4 gagagagigigigizfirfifqfqBdqddc@ct?iaCIE-G)YIqԡi룿AAAAAvBֿ>~BBBB =BBB_;B#Eɢ܄Ba I z ɡi I BA ׄ> rA B?jA 5?Iq I N >$,@)AyF8*>ٱFP>FE&F=FH`:?r&ؿ_7x?Y?g?7`IǤ?3z??IF8*>)F^;iFCRB9R!IBDZ6DZYbh]<!b=buQ)f ?d9d9fGYf7FjAj ?lQ 1r4٪n?Q 5r4n}p nȝB9pYrCQ Ev?ynCC)nP:Inh:in4Yxz\ Axg!g!g!g!g!g!g!zf!rf)f)f)Bd)d1d9c9c=?ɢae| imDIi m: ɡiiqIueAII N >- DAT read: 05:25:31.3799 LVL= 25968, 10897, 24498, 26675, AGC= 43, IDX= 503,-0.31, 0.443, 0.486,-0.955, 1.172, PHS=-0.627,-0.641,-2.171, RAW= 30.5, 3.,CAL= 28.4, 44.0, ROT= 2.6 -44.0 5 %unknown deviceResponse_: 05:25:31.3799 LVL= 25968, 10897, 24498, 26675, AGC= 43, IDX= 503,-0.31, 0.443, 0.486,-0.955, 1.172, PHS=-0.627,-0.641,-2.171, RAW= 30.5, 3.,CAL= 28.4, 44.0, ROT= 2.6 -44.0 = 99GY8FA>Q 1 4٪?Q 5 4-q ƝBQ = +:9 Q A*i⠑4Y" AM addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.508620 s, deltaX: -0.100000 m, approachRate: -0.196611 m/s, rangeRepo size: 4 gIgQgQgQgQgQgQzfYrfYfYfYBdadadace@ce?ɢۄBⰓ 顝>I  ɡiI?SAiR#Rx 1: Read range and direction messages.^direction in FSK: [-0.383950,0.616841,0.687088]Fpublishing direction and range info9QUF~ؿv)?)?U,@QiU@dU(UR`UhU, UZdIIN> )UjIU# iU|?Uq(?U>UA?U)@ UAiQQIU]P]?SBU鿸뉌?UbȿU>( U)@)UAiQQ% 2Acoustic response timeout% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.vBE ؿ>~BE ԍCBA BA BE =BA BE kDBE ^;BE #E],.G)Ay6ލ>ٱ6#>6XK86=6H?@T`׿B?2?j?`῿m??@8?I6ލ>)6 c^;i6CNB9R!IBD^6D^Y]m!]Y=e>Q)e>i9i9mGYiuAu>Q 14٪?Q 54q ĝBQ = :9Q A &@ze"}Zj~?Fh͂?jF~ؿv)?)?h)@hA 箢?aeȝ?rr8٢_?Š.?hm?hȿh'M?heYhB*i櫝?2i:ii?"iPZ"@= addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504435 s, deltaX: 0.100000 m, approachRate: 0.198242 m/s, rangeRepo size: 4 M Added new target pos. range: 2.684424 m, bearing: 149.356648 deg, lat: 36.779358 deg, lon: -121.859574 deg, deltaT: 3.279719 s, deltaX: 0.298319 m, approachRate: 0.090959 m/s, posRepo size: 4 gIgIgIgIgIgIgIzfQrfQfYfYBdYdYdYce@ce/?ɢڄBI UIQ UʱɡQiQI]A bA! ZA% lA DDAT read: Rx Time:05:25:32.3799  TRx dataTimestamp_ set to:1755840333.437116 PDAT read: Bearing 304.7, 41.5 (Local)  ~Local bearing/azimuth received: Bearing 304.7, 41.5 (Local) - DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 E X#Rx 1: Read range message, but no direction.9  f&@ U 2Acoustic response timeoutIy  Querying Benthos address 50 with 120 pings in terminal homing one-way mode.I D] D] D] .DY E] : E] z:6E] ـ4:EY "E] + ,Ta)Aly-v>ٱ->- WD-Ll=-H+?ֿXr@P?e?HPy?Lռ?g?I-v>)-^;i)mB9m!I!e!e !e!e !e!e !m!m mMb@Mb@Mb@ i)iIiiim@mV-A`"{GztmmYmףImAimAmAm A)iiBD6D1Y!8=CٻQ)>99GY9F%A>Q 14٪?Q 54or BQ =T:9Nx=Q AZ7 @?od @ 7 @iIpoύR}>K}V?6˿ & od @)7 @MA ҄>a A II  DDAT read: Rx Time:05:25:32.8800  TRx dataTimestamp_ set to:1755840333.941095 PDAT read: Bearing 300.6, 41.9 (Local)  ~Local bearing/azimuth received: Bearing 300.6, 41.9 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 I N= >,9}})A(DDD*DE2: E1:6E(N4:E!%@!%@!%@!%@DAT read: 05:25:32.8800 LVL= 28912, 10225, 23138, 28899, AGC= 44, IDX= 503, 0.09, 1.509, 1.495, 0.120, 2.218, PHS=-0.607,-0.678,-2.141, RAW= 32.3, 38.9, CAL= 30.3, 44.6, ROT= 119.7, -44.6 Ygot valid direction response: 05:25:32.8800 LVL= 28912, 10225, 23138, 28899, AGC= 44, IDX= 503, 0.09, 1.509, 1.495, 0.120, 2.218, PHS=-0.607,-0.678,-2.141, RAW= 32.3, 38.9, CAL= 30.3, 44.6, ROT= 119.7, -44.6 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.352779,0.618488,0.702153]Fpublishing direction and range info9P"'ֿ8?Ў x?,@ip'bZpy˽ >ٱ5>[N~6=H ?~ֿ)E?@?9|ө?Ip?R?I˽ >)h^;iB9!I Zd)h-I% iZQ?-?a?SFG?ȴ@ SFGiIOOT?,\,7Z'? ÿ,- ȴ@)SFGi2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.iM=IM=BD]6D]Y=!==Q)>99GY:FA>Q 14٪l?Q 5 4s B9 Y aۿQ E ?yPC)}f~BEӍCBE("IBEփBBE =BABEjDBE^;BE#Eɢ؄B[ 顥pI ɡiIA ܄> A% yAI1 IA NU >9,Mj)A}DDAT read: Rx Time:05:25:33.3799 TRx dataTimestamp_ set to:1755840334.445443PDAT read: Bearing 300.7, 41.2 (Local) ~Local bearing/azimuth received: Bearing 300.7, 41.2 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 bD)ZD)DEDEDE-DAEE; EEZ:6EEt4:EA"EE&N H?9 H?9GY;FA>Q 14٪0?Q 54s B9=Q AA]ׄ>rAe??jAeD?ԙADDAT read: Rx Time:05:25:33.8800 TRx dataTimestamp_ set to:1755840334.949418 PDAT read: Bearing 311.5, 37.4 (Local) ~Local bearing/azimuth received: Bearing 311.5, 37.4 (Local) =DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 ]DAT read: 05:25:33.8800 LVL= 27312, 11377, 24242, 25443, AGC= 43, IDX= 503, 0.47, 0.871, 1.235,-0.483, 1.609, PHS=-0.636,-0.329,-2.136, RAW= 20.9, 33.2, CAL= 19.1, 39.3, ROT= 130.9, -39.3 eYgot valid direction response: 05:25:33.8800 LVL= 27312, 11377, 24242, 25443, AGC= 43, IDX= 503, 0.47, 0.871, 1.235,-0.483, 1.609, PHS=-0.636,-0.329,-2.136, RAW= 20.9, 33.2, CAL= 19.1, 39.3, ROT= 130.9, -39.3 eR#Rx 1: Read range and direction messages.u^direction in FSK: [-0.506665,0.584910,0.633381]uFpublishing direction and range info9Ƙ6࿰?W^;D?,@ijq,^cc+ ")rI9iú>V?㭪>/?y7@ /iI5)S;{#o?wݿ%c y7@)/i2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.IIN?,о)ADZDZDZ+DXEZ: EZ~:6EZ [4:EX!^@!^@!b@!b@ty~>ٱ~a>~`b~=~H@?nտ)`?@?X`V?U??I~>)~^;i~CuB9u!IBD6D:2YU{!U8=U95Q)U>Y9Y9]GYY]ѼAe>Q 14٪?Q 54t B9YڿQ E?yUC)):Id:iHƑ4Y- AhhDü)Ah+@h+@h-@zMlJ?OC?4?jƘ6࿰?W^;D?hy7@h/2ИuG!?Ih]?r&8`3?$K?hU?hh8?hڄ^h8B*ii?2iZ:iBi?"iQ$@5 addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503975 s, deltaX: 0.100000 m, approachRate: 0.198423 m/s, rangeRepo size: 4  Added new target pos. range: 2.684412 m, bearing: 155.695317 deg, lat: 36.779356 deg, lon: -121.859575 deg, deltaT: 0.503975 s, deltaX: 0.099423 m, approachRate: 0.197278 m/s, posRepo size: 4 gggggggzfrfffBddvBտ>~BB;"IBBB =BBB^;B#EBӍCBӍCBBð =Bð =B+#5dc@c ?ɢ}քB}ٗ y顅/I ɡiIE֐Aq y A AI I N >3,m)Ay:D =ٱ:E>:d:=:H?տP}?1?!2s???I:D =):xq_;i:CdzB9z!I)| |BD-6D-fM,DAT read: user:7498> ]mK?9uK?9GYD]D]D])DYE]: E]:6E]FA4:EY"E]5A Ȅ>A yAI! I1 NE >,)Ay6k=ٱ60>6Md6=6Hr?\տ ߙTi??@=<?`??I6k=)6SU`;i4FB9F!IEMb@Mb@Mb@ A)AIAiAAEMb`? rh~jthE;ECEDIEAiEZAE-AEfA)AEp ABD]6D]NYmT<!uG=ufQ)u>u H?9} H?9}GY}=F}PTA}>Q 14٪ ?Q 54t 9\=YCQ E?yXC);I;iԑ4Y7 AgggggggzfrfffȄBBdddcc-v?ɢ ԄB   I fPɡiIDA%ׄ>A)A-?AvB5ѿ>~B1B5G"IB5BB5 =B1B1B5^;B5#EbAMkAZAMjA A] AIi Iy N > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503623,)Ay6m=ٱ61>6a6Pb=6H ?'տ`-S`R?`?1q:? ??x?I6m=)6`;i6CBB9B!IBDJ6DJ0LYV0!VX=VW:Q)V>ZK?9ZK?9ZGYXZ}A^>`Q 1f4٪bK?Q 5f4bt bB9dYf~Q Ef?ybYC)b:Ib:ibPۑ4Yhn Algggggggzf rf f f Bdddcc@~D?ɢ҄B iI 1ɡiIcA>DDDDE: E:6E:E"E6 T^6=6H ?@տ~`fH?`e ?`f`ǫ? ? ?I6e=)6`;i6CBB9B!I| Mb@Mb@Mb@ ) I i   Mb?~jth < D I OAi A A A)   ABD%6D%Y56=!5B== ;Q)=>A9A9EGYE>FE4ںAE>IQ 1U4٪M?Q 5U4Mt I9][Q E]?yMZC)M;IM;iM4Yamb Aii>I @checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007862gYgYgYgagagagazfarfafifmBBdididicqc4?ɢфBc )I @ɡiIA>A ׄ> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260347ԁ A I) I9 NU >D D D -D E s: E ga:6E t4:E ! @! @! @! @\,PC)AIvG)mAIAiEbEmAEAYye=ٱe쁭>eVe=eHy#?`uտ KG@??  ?X֪? i??Ie=)e7`;ieC}B9}"IBD6DkY =!C=;Q)>99GY?F"ȺA>Q 14٪n?Q 54t 9Y>Q E?y[C)\:I:i4Y AvB]п>~B]ҍCB]N"IB]BB] =BYBYB]^;BYgggggggzfrfffBdddcc@ɢ=ЄB='s 9E IA EN!ɡAiAIM!Ae Ä>rAm A?jAm B? A yAI I N >X,"])A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763655y>y=ٱ>t>>zO>:=>Hv$?{sտF$>? }? ْi?y? ?I>y=)>_;i>CJB9J"IBD6D:Y-!-R=5;Q)5>5 H?95 H?9=GY9= A=>AQ 1M4٪E?Q 5M4Et A9QYU>Q EU?yE\C)E:IE:iE4YY]$ Aagggggggzfrf ff!Bd)d)BEg4JEYe4RE/DDDDE : EL_:6E:E"ED"A K>A A AI I N% >,v)AB9!IMb@Mb@Mb@ )IiV-?MbP?Mbp?<:;Ii-A| A)BD6DYH!A=Q)>K?9K?9GY@FA>Q 14٪?Q 54t B9Q E?y]C)<;I@;i+4Y y AUB*** querying acoustic contact ***zhQhQgigigigiuDDAT read: Rx Time:05:25:36.9228 TRx dataTimestamp_ set to:1755840337.973014PDAT read: Bearing 307.2, 38.0 (Local) ~Local bearing/azimuth received: Bearing 307.2, 38.0 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 gqg gzfrf!UX#Rx 1: Read range message, but no direction.9y}@yfifmBBdqdqdqcu@33@c}@Y?checking for new query: numPingsReceived=1, elapsed TxPingTime=2.302298ɢ̄BJ JI )$ɡiIg~B]ӍCB]T"IB]BB] =BYBYB]^;B]#Eq PExceeded connect timeout, disconnecting.>A ;>5 DAT read: 05:25:36.9228 LVL= 26816, 11585, 22002, 27379, AGC= 44, IDX= 381, 0.41, 1.143, 1.419,-0.203, 1.907, PHS=-0.662,-0.443,-2.154, RAW= 23.3, 35.5, CAL= 21.4, 41.6, ROT= 128.6, -41.6 E Ygot valid direction response: 05:25:36.9228 LVL= 26816, 11585, 22002, 27379, AGC= 44, IDX= 381, 0.41, 1.143, 1.419,-0.203, 1.907, PHS=-0.662,-0.443,-2.154, RAW= 23.3, 35.5, CAL= 21.4, 41.6, ROT= 128.6, -41.6 M X#Rx 2: Read direction message, but no range.U ^direction in FSK: [-0.466536,0.584420,0.663926]9  * ݿY]J?\!>? i h A- U j , x)) I # i 5> ? t;> 9? ȥ@ 9i I of#lr:?IX? t&ؿ  ȥ@) 9} checking for new query: numPingsReceived=2, elapsed TxPingTime=2.534453ԙ I I N >J$,z)Ay}>ٱ%>L;k=HA?տ(@v??x`a??L?I}>)^;iCEB9E!IBD}6D}0Y."=!E=@B99GYH<A>Q 14٪?Q 54t B9YԺ>Q E?y_C):Iu:i~4Y5 Ah!h%E~)Ah%@h%@h%j+@z%[mO?oX?j% * ݿY]J?\!>?h%ȥ@h%9%-”RiM?g?r%law俤K_?Q$C?h%oB?h%Ŀh%dg?h%;`h%B*i%dg?2i!:i!i%?"i%$@5 addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 3.023596 s, deltaX: -0.300000 m, approachRate: -0.099220 m/s, rangeRepo size: 4 E Added new target pos. range: 2.386121 m, bearing: 153.693604 deg, lat: 36.779356 deg, lon: -121.859575 deg, deltaT: 3.023596 s, deltaX: -0.298292 m, approachRate: -0.098655 m/s, posRepo size: 4 gAgIgIgIgIgIgIzfIrfQfQfQBdQdYdYcYc]3?ɢ˄B> ^ I &ɡiI:A B>bA ZA lAI I) N5 >i m*,)Ay6M>ٱ6Z>626=6H?տStv?? iV???I6M>)6^;i6C^B9b!IeDAT read: 05:25:37.4227 LVL= 29232, 10481, 24178, 28035, AGC= 44, IDX= 509,-0.38,-1.027,-0.783,-2.379,-0.276, PHS=-0.649,-0.462,-2.147, RAW= 24.2, 35.8, CAL= 22.4, 41.8, ROT= 127.6, -41.8 mYgot valid direction response: 05:25:37.4227 LVL= 29232, 10481, 24178, 28035, AGC= 44, IDX= 509,-0.38,-1.027,-0.783,-2.379,-0.276, PHS=-0.649,-0.462,-2.147, RAW= 24.2, 35.8, CAL= 22.4, 41.8, ROT= 127.6, -41.8 mX#Rx 4: Read direction message, but no range.u^direction in FSK: [-0.454849,0.590633,0.666532]99=zd=ݿ>%$w?S,;T?9i=0r=(=r^=m9 =$&)=DI=sh i=@>=?=+>=:?=Ӈ@q =:i9I=B0}ttVײ?= ֿ=  =Ӈ@)=:checking for new query: numPingsReceived=4, elapsed TxPingTime=3.076269Mb@Mb@Mb@ )Ii~jt?Mb`?{Gzt?=;ף;IipAA) ABD56D5 3Y=ȼ!E2=E;Q)E>I9I9MGYMAFh;A>Q 14٪:!?Q 54\t B94=Q AQ E?yaC)A:IV:i4Yd AhAhEڒ)AhEY@hEY@hE%+@zEy?A𿮷m_? ΃b?jEzd=ݿ>%$w?S,;T?hEӇ@hE:E4(|?JZX?rE e@]Y)?e׊?hEAE ;>I I N > U1,F)Ay6">ٱ6>6*6B=6H@ ? ֿ,MH?.?@Oc@,^?r??I6">)6V^;i6CFB9F!IBDn6DnN2Yv&!vy=z;Q)z?x9x9zGYzBF~<A~ ?Q 1 4٪,"?Q 5 4=t B9YO>Q E?ybC)C:I:i* 4Y9= A9vB~BBG"IBBB =BBB=_;B#Eu addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505500 s, deltaX: 0.100000 m, approachRate: 0.197824 m/s, rangeRepo size: 4 gygygygygygygzfrfffBdddc@33@cW?ɢMȄBM imYIq u]*ɡqiqIu=MV)?M >M@C?M3I @ M@CiIIM8!Jӆ l848?MͿM) M3I @)M@Cchecking for new query: numPingsReceived=6, elapsed TxPingTime=3.541149i#/1 >A I I) NE >% DDAT read: Rx Time:05:25:38.4228 5 TRx dataTimestamp_ set to:1755840339.485582,7,,~)A &PDAT read: Bearing 300.3, 41.8 (Local) .~Local bearing/azimuth received: Bearing 300.3, 41.8 (Local) 6DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 ~DAT read: 05:25:38.4228 LVL= 26432, 10129, 23138, 25219, AGC= 44, IDX= 509,-0.10,-1.027,-1.000,-2.401,-0.293, PHS=-0.632,-0.662,-2.152, RAW= 31.0, 39.0, CAL= 29.0, 44.6, ROT= 121.0, -44.6 Ygot valid direction response: 05:25:38.4228 LVL= 26432, 10129, 23138, 25219, AGC= 44, IDX= 509,-0.10,-1.027,-1.000,-2.401,-0.293, PHS=-0.632,-0.662,-2.152, RAW= 31.0, 39.0, CAL= 29.0, 44.6, ROT= 121.0, -44.6 R#Rx 7: Read range and direction messages. ^direction in FSK: [-0.366721,0.610325,0.702153] Fpublishing direction and range info9QU NYx׿3Lɇ?Ў x?QrD=jDDDD/DE: Ek:6EJ4:E"Eٱ>M%=H? +ֿĘ\?"? ?`>@???`?IM>)^;iC-B9-!I]Mb@Mb@Mb@ Y)YIYiYY]X9v?{Gzt?]<]YI]Ai]A]A] A)Y]fABD6DβY!=";Q)>99GYCF-x;A>Q 14٪#?Q 54t B9=Q AQ E?yeC):II:i4Y AhQhU)AhU@hU@hUo$@zUTڴ M?Qf?jU NYx׿3Lɇ?Ў x?hU(@hUSFGUE(xZB?[?rUxEF R?2N?hUZ?hUEhU?hUB]hU.B*iU1С?2iQ:iU.BiU/?"iUE?)@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502369 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.386124 m, bearing: 147.210342 deg, lat: 36.779357 deg, lon: -121.859576 deg, deltaT: 1.007869 s, deltaX: 0.099425 m, approachRate: 0.098649 m/s, posRepo size: 4 ԑgggggggzfrfffʄBBdddccJ?ɢ=ƄB=0 9=qI9 Ex,ɡAiAIEA) rA= @?jA= A?I I N>>,N )ADDAT read: Rx Time:05:25:38.9229 %TRx dataTimestamp_ set to:1755840339.989685EPDAT read: Bearing 294.4, 42.8 (Local) U~Local bearing/azimuth received: Bearing 294.4, 42.8 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 5DAT read: 05:25:38.9229 LVL= 23632, 10113, 22562, 26979, AGC= 44, IDX= 510, 0.01, 1.159, 1.017,-0.241, 1.891, PHS=-0.630,-0.828,-2.176, RAW= 36.8, 41.4, CAL= 34.6, 47.0, ROT= 115.4, -47.0 =Ygot valid direction response: 05:25:38.9229 LVL= 23632, 10113, 22562, 26979, AGC= 44, IDX= 510, 0.01, 1.159, 1.017,-0.241, 1.891, PHS=-0.630,-0.828,-2.176, RAW= 36.8, 41.4, CAL= 34.6, 47.0, ROT= 115.4, -47.0 =R#Rx 8: Read range and direction messages.^direction in FSK: [-0.292533,0.616073,0.731354]Fpublishing direction and range info9ܸҿ4߶??g?f&@iP\'"Xci G!)SIC il$?8?#?~Q?.@ ~QiI)&?".6)?8 .@D D D -D E  E V:6E t4:E !@!@!@!@)~Qimchecking for new query: numPingsReceived=8, elapsed TxPingTime=4.365009yh >ٱ>$=H@A?qYֿ^?3?p?`??`?Ih >)L^;iCB9!IBD6DY%g<!%F=%@:Q)%>)9)9-GY)5;A5>9Q 1E4٪=$?Q 5E4=s =B9AYE&>Q EE?y=fC)=:I=:i=#4YIU AqhhW)Ahp%@hp%@hGa@z^X2{Ӌz?@ly??jܸҿ4߶??g?h.@h~Q,-VQ?˶xi5@rSקK^9߿4jW?2?h(~?hmhQG?h9HYhB*iwD?2i:ii?"ip(@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504103 s, deltaX: 0.200000 m, approachRate: 0.396744 m/s, rangeRepo size: 4  Added new target pos. range: 2.584967 m, bearing: 141.789139 deg, lat: 36.779357 deg, lon: -121.859576 deg, deltaT: 0.504103 s, deltaX: 0.198843 m, approachRate: 0.394450 m/s, posRepo size: 4 gggggggzf!rf!f!f!Bd)d)1dc@c[?AAAAvBѿ>~BB."IB܃BBBBB_;B+$EByByByB}Ų =B}Ų =B}15ɢńB0Ч )-I) 5.ɡ1i1I58Aa AyAIIN>SF,)A)1 5A]DDAT read: Rx Time:05:25:39.4227 uTRx dataTimestamp_ set to:1755840340.495726PDAT read: Bearing 292.4, 42.8 (Local) ~Local bearing/azimuth received: Bearing 292.4, 42.8 (Local) uDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Թy >ٱW>%/=H ?@rֿM?K?@?&ষ?&Q??I >)ߴ^;iCBDAT read: 05:25:39.4227 LVL= 23568, 10129, 22514, 26659, AGC= 44, IDX= 509, 0.13, 0.275, 0.083,-1.122, 1.014, PHS=-0.637,-0.886,-2.180, RAW= 38.7, 42.4, CAL= 36.5, 47.9, ROT= 113.5, -47.9 %Ygot valid direction response: 05:25:39.4227 LVL= 23568, 10129, 22514, 26659, AGC= 44, IDX= 509, 0.13, 0.275, 0.083,-1.122, 1.014, PHS=-0.637,-0.886,-2.180, RAW= 38.7, 42.4, CAL= 36.5, 47.9, ROT= 113.5, -47.9 -R#Rx 9: Read range and direction messages.5^direction in FSK: [-0.267332,0.614821,0.741976]5Fpublishing direction and range info9im*ѿA ?yR!D?DEDEDE.DAEE : EEe:6EEـ4:EA"EEE" H?9 H?9GYDF_=;A>Q 14٪%?Q 54s B9Y!>Q E?yhC);I;i'4Y Ahihm)AhmY@hmY@hmnQ@zm1&h<ԏ㿇R}~?q]%?jm*ѿA ?yR!D?hm?hmVm߾f,j?Tԣ ?rm.ݿ&h(0 ?.\uh?hme?hm1hmL8̝?hmVN\hm=B*im?2imB]:iiim?"im^%@} addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.506041 s, deltaX: -0.300000 m, approachRate: -0.592837 m/s, rangeRepo size: 4  Added new target pos. range: 2.286697 m, bearing: 139.943222 deg, lat: 36.779358 deg, lon: -121.859576 deg, deltaT: 0.506041 s, deltaX: -0.298270 m, approachRate: -0.589419 m/s, posRepo size: 4 gg g g g g g zf rf ffBdddc`ff@c@?ɢmÄBmX퟽ iiIi u1ɡqiqIuAy yAAIIN%?N,>)ABDDAT read: Rx Time:05:25:39.9227 JTRx dataTimestamp_ set to:1755840340.997708ZPDAT read: Bearing 291.7, 42.7 (Local) ^~Local bearing/azimuth received: Bearing 291.7, 42.7 (Local) fDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:25:39.9227 LVL= 23632, 9905, 22258, 26419, AGC= 43, IDX= 509, 0.28, 0.613, 0.401,-0.784, 1.354, PHS=-0.639,-0.908,-2.182, RAW= 39.4, 42.7, CAL= 37.2, 48.2, ROT= 112.8, -48.2 Ygot valid direction response: 05:25:39.9227 LVL= 23632, 9905, 22258, 26419, AGC= 43, IDX= 509, 0.28, 0.613, 0.401,-0.784, 1.354, PHS=-0.639,-0.908,-2.182, RAW= 39.4, 42.7, CAL= 37.2, 48.2, ROT= 112.8, -48.2 T#Rx 10: Read range and direction messages.^direction in FSK: [-0.258292,0.614452,0.745476]Fpublishing direction and range info9DF,ڇпF^??Mx?DDiFP\F&FVF3gF+ F#)FrhIF iFx 0?F>?F6&?F\W?Fd? F\WiDDIFZ|?G1翷GJ̵?FFD> Fd?)F\WiDDechecking for new query: numPingsReceived=10, elapsed TxPingTime=5.357782DuDuDu-DqEu: Eu1]:6Eut4:Eq!}@!}@!}@!}@ԁy}>ٱ}>}%)}=}H@?@ֿ"?@? ?0#???I}>)}^;i}C9Mb@Mb@Mb@ )IiL7A`?~jthMb`+=DIAiA A) ABD6D1ӺQ)>K?9K?9GYEF;A>Q 14٪>'?Q 54s 9 =Q A Q E?ykC)ʢ;I¢;iy04Y!!!hDhFs?)AhDhDhFa@zF?{їi%{?F6\F?jF,ڇпF^??Mx?hFd?hF\WFpP?x(?rFRp_ݿ&P.y!?+ͼ?hFe?hFVhFiΝ?hF[\hF@B*iFQG?2iFVN\:iF=BiF?"iFz"@ԙ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.501982 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.286697 m, bearing: 139.449961 deg, lat: 36.779359 deg, lon: -121.859575 deg, deltaT: 0.501982 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggzf)rf)f1fUBBdQdQdYcYc]c?vBq~BqBu"IBuǃBBqBqBqBu_;Bu&$Eɢ„BL 顭;I P3ɡiIUA AyA1IYIN?DDAT read: Rx Time:05:25:40.4226 TRx dataTimestamp_ set to:1755840341.502277PDAT read: Bearing 294.2, 42.3 (Local) ~Local bearing/azimuth received: Bearing 294.2, 42.3 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ]DAT read: 05:25:40.4226 LVL= 23536, 10161, 22002, 25875, AGC= 43, IDX= 508, 0.46,-0.966,-1.116,-2.351,-0.224, PHS=-0.640,-0.847,-2.171, RAW= 37.1, 41.9, CAL= 35.0, 47.5, ROT= 115.0, -47.5 eYgot valid direction response: 05:25:40.4226 LVL= 23536, 10161, 22002, 25875, AGC= 43, IDX= 508, 0.46,-0.966,-1.116,-2.351,-0.224, PHS=-0.640,-0.847,-2.171, RAW= 37.1, 41.9, CAL= 35.0, 47.5, ROT= 115.0, -47.5 eT#Rx 11: Read range and direction messages.m^direction in FSK: [-0.285517,0.612293,0.737277]mFpublishing direction and range info9{W/CEҿG?*Ɨ?f@+W,:a)Ai['Ue  #)XI i%?6;?a?g;T?t@ g;TiICv?+yR{՜ud?=r; t@)g;Ti>checking for new query: numPingsReceived=11, elapsed TxPingTime=5.833485rDajDaD}D}D}'DyE}: E}:6E}'4:Ey"E}5ٱ=G>=Hl,=9==H?ֿ %?)?`\ 狥? ? g?I=>)='c^;i=CB9!IMMb@Mb@Mb@ I)IIIiIIMMb`?{Gzt?~jth?M;Mף;MD;IIiIIM A)IIBD]6D]Y;!<Q)> H?9 H?9GYFFH;A>Q 14٪?'?Q 54s B9;Q A>Y?Q E?y):I/:i`:4Y AhhN%`)Ah@h@hƚ@zb':t?o?j{W/CEҿG?*Ɨ?ht@hg;T>G;]^?FvVL?rAY DDAT read: Rx Time:05:25:40.9227 TRx dataTimestamp_ set to:1755840342.004121PDAT read: Bearing 302.5, 41.2 (Local) ~Local bearing/azimuth received: Bearing 302.5, 41.2 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:25:40.9227 LVL= 23472, 9953, 22002, 25955, AGC= 44, IDX= 510,-0.30,-1.564,-1.499,-2.935,-0.824, PHS=-0.638,-0.630,-2.155, RAW= 29.7, 38.5, CAL= 27.7, 44.2, ROT= 122.3, -44.2 Ygot valid direction response: 05:25:40.9227 LVL= 23472, 9953, 22002, 25955, AGC= 44, IDX= 510,-0.30,-1.564,-1.499,-2.935,-0.824, PHS=-0.638,-0.630,-2.155, RAW= 29.7, 38.5, CAL= 27.7, 44.2, ROT= 122.3, -44.2 T#Rx 12: Read range and direction messages.%^direction in FSK: [-0.383083,0.605977,0.697165]%Fpublishing direction and range info96nؿ#0*d?;-O?3@i[&ce, S#)G!I im?,?>|E?D@ |EiI/ 3m2[ ݼ??ɿ, D@)|EiEchecking for new query: numPingsReceived=12, elapsed TxPingTime=6.317928AI1IINU?`,hx)AD:D:D:,D8E:: E:c:6E:g4:E8!>@!>@!>@!>@LiNWCIz-G) ~nAI%AiU@U~nAU9A!B9!IA<ABD6DY%sѼ!-3=-Q)5>Q9Y9]GY]GFeAe>iQ 14٪m?'?Q 54ms mB9YQ E?yi)mQ~BUҍCBQBQBQBQBQBU}_;BU $EhQ?h^hB*i2i:ii?"i"@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.501844 s, deltaX: 0.200000 m, approachRate: 0.398530 m/s, rangeRepo size: 4  Added new target pos. range: 2.286694 m, bearing: 149.104112 deg, lat: 36.779361 deg, lon: -121.859575 deg, deltaT: 0.501844 s, deltaX: 0.198843 m, approachRate: 0.396225 m/s, posRepo size: 4 gggggggzfrfffBdddc`ff@c1?ɢEBIm imGIi uƴ8ɡqiqIuAi ԩ I  DDAT read: Rx Time:05:25:41.4227  TRx dataTimestamp_ set to:1755840342.505079 PDAT read: Bearing 304.2, 40.9 (Local)  ~Local bearing/azimuth received: Bearing 304.2, 40.9 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 05:25:41.4227 LVL= 25936, 10321, 22482, 25843, AGC= 43, IDX= 509,-0.16,-2.466,-2.364, 2.449,-1.731, PHS=-0.633,-0.588,-2.147, RAW= 28.5, 37.8, CAL= 26.6, 43.5, ROT= 123.4, -43.5 Ygot valid direction response: 05:25:41.4227 LVL= 25936, 10321, 22482, 25843, AGC= 43, IDX= 509,-0.16,-2.466,-2.364, 2.449,-1.731, PHS=-0.633,-0.588,-2.147, RAW= 28.5, 37.8, CAL= 26.6, 43.5, ROT= 123.4, -43.5 T#Rx 13: Read range and direction messages.^direction in FSK: [-0.399305,0.605577,0.688355]Fpublishing direction and range info9 k5ٿ?|}`?K%t)? i Pe Q( W d + J ") +I sh i > [(? ,> \B? @ \Bi I `<`IPɋ ? N̿ ѽ( @) \Bi 5checking for new query: numPingsReceived=13, elapsed TxPingTime=6.818990IANM> g,p)ADyM$>ٱM>M9M;=MH?׿ S@?|?@~v=?,)??IM$>)ML^;iMCmB9m!IBD}6D}1bDZD?ABE ^n4JE x4RE 81DDDDE: E:6E:E"E5899GY=A>iQ 14٪m?'?Q 54ms mÝB9QY]O?Q E]?ymlC)m =Im=imI4Y AԹhh7S)Ahhh-(@z7(?Q/?jk5ٿ?|}`?K%t)?h @h \B5Mzf ?_?rB۵㿑OB?c\(l?hN@?hhuX9?h _hB*i2i^:iBi,?"ic @ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.500958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.286689 m, bearing: 151.174888 deg, lat: 36.779361 deg, lon: -121.859576 deg, deltaT: 0.500958 s, deltaX: -0.000005 m, approachRate: -0.000010 m/s, posRepo size: 4 gggggg g zf rf ffBdddcc?ɢeB 額I :ɡiIA I I N- >,n,)AyUL(>ٱUZU>Ui>U=UHפ?`Aؿa4?p?<`˧?ͻ??IUL(>)U^;iQB9!Ii) ADDAT read: Rx Time:05:25:41.9228 TRx dataTimestamp_ set to:1755840343.008994PDAT read: Bearing 303.6, 41.0 (Local) ~Local bearing/azimuth received: Bearing 303.6, 41.0 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:25:41.9228 LVL= 25744, 9761, 22562, 25363, AGC= 44, IDX= 510,-0.04,-0.968,-0.893,-2.339,-0.234, PHS=-0.633,-0.614,-2.149, RAW= 29.4, 38.2, CAL= 27.4, 43.9, ROT= 122.6, -43.9 Ygot valid direction response: 05:25:41.9228 LVL= 25744, 9761, 22562, 25363, AGC= 44, IDX= 510,-0.04,-0.968,-0.893,-2.339,-0.234, PHS=-0.633,-0.614,-2.149, RAW= 29.4, 38.2, CAL= 27.4, 43.9, ROT= 122.6, -43.9 T#Rx 14: Read range and direction messages.^direction in FSK: [-0.388212,0.607030,0.693402]Fpublishing direction and range info9G"uvؿ0l? )+Y0?@id!&"Xc, )/I7 iG\?*?G>%D? @ %DiI,!+[02"%鿻䎴b?Iqʿ˱*  @)%Dichecking for new query: numPingsReceived=14, elapsed TxPingTime=7.323163)DDD.DEs: E|:6Eـ4:E!@!@!@!@-Mb@Mb@Mb@ )))I)i))-Mb`~jt?Mb`?--D<-;I-Ai)))))- AIA)E@ABDM6DMY]=^<!] =] Q)]>99GYHF. <A>Q 14٪&?Q 54cs 9I6?A?hzJ?hhpe?he^h(B*iQ?2i:iiu?"i-&@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503915 s, deltaX: 0.100000 m, approachRate: 0.198446 m/s, rangeRepo size: 4  Added new target pos. range: 2.386110 m, bearing: 150.661108 deg, lat: 36.779359 deg, lon: -121.859576 deg, deltaT: 0.503915 s, deltaX: 0.099421 m, approachRate: 0.197298 m/s, posRepo size: 4 gggg9g9g9g9zf9rfAfAfMȄBBdIdIdQYcU@33@cuD?ɢB8? y I q=ɡiI~BэCB"IB̃BB =BBiDBe_;B#E)!)Qi # 0 U checking for new query: numPingsReceived=14, elapsed TxPingTime=7.560515ԉ Ա >A)bA5lAZA1IIN>+v,)AyVA,>ٱVT>V CV{{=VH?Pؿm@?`g?н_?`E:?1?IVA,>)V_;iTuB9!I1BD)I IUDDAT read: Rx Time:05:25:42.4227 ]TRx dataTimestamp_ set to:1755840343.513267ePDAT read: Bearing 303.0, 41.0 (Local) e~Local bearing/azimuth received: Bearing 303.0, 41.0 (Local) uDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:25:42.4227 LVL= 28448, 10209, 24562, 28211, AGC= 43, IDX= 509, 0.07,-1.117,-1.065,-2.481,-0.382, PHS=-0.633,-0.638,-2.143, RAW= 30.2, 38.7, CAL= 28.1, 44.4, ROT= 121.9, -44.4 Ygot valid direction response: 05:25:42.4227 LVL= 28448, 10209, 24562, 28211, AGC= 43, IDX= 509, 0.07,-1.117,-1.065,-2.481,-0.382, PHS=-0.633,-0.638,-2.143, RAW= 30.2, 38.7, CAL= 28.1, 44.4, ROT= 121.9, -44.4 T#Rx 15: Read range and direction messages.^direction in FSK: [-0.377555,0.606567,0.699663]Fpublishing direction and range info9QUS)ؿ^@ch?/;^c?U3@QiU oU'U_U3nU+ Q)US#IU& iUV?U,?U>UaF?U)@ UaFiQQIUO>^b?.j迻_'?UȿU, U)@)UaFiQQchecking for new query: numPingsReceived=15, elapsed TxPingTime=7.8279446DY!<=^*Q)>99GYIFe<Ae>iQ 1u4٪m&?Q 5u4mEs mĝB9yY}@Q E}?ymmC)m):Im$-A9IIN?;~,*)AyfR-1>ٱfl>fGf=fH`^? ؿtc?@[?E??)?IfR-1>)f6_;ifCB9!I9DDAT read: Rx Time:05:25:42.9227 TRx dataTimestamp_ set to:1755840344.017054PDAT read: Bearing 303.9, 40.5 (Local) ~Local bearing/azimuth received: Bearing 303.9, 40.5 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:25:42.9227 LVL= 28656, 9857, 24386, 28147, AGC= 43, IDX= 509, 0.21,-0.787,-0.709,-2.143,-0.042, PHS=-0.643,-0.622,-2.145, RAW= 29.3, 38.6, CAL= 27.3, 44.2, ROT= 122.7, -44.2 %Ygot valid direction response: 05:25:42.9227 LVL= 28656, 9857, 24386, 28147, AGC= 43, IDX= 509, 0.21,-0.787,-0.709,-2.143,-0.042, PHS=-0.643,-0.622,-2.145, RAW= 29.3, 38.6, CAL= 27.3, 44.2, ROT= 122.7, -44.2 %T#Rx 16: Read range and direction messages.-^direction in FSK: [-0.387304,0.603288,0.697165]-Fpublishing direction and range info9}Tؿ<2"N?;-O?io&B_m $)d;IG i?iw,?>|E? @ |EiInA@R.?ؙʿE,  @)|Eimchecking for new query: numPingsReceived=16, elapsed TxPingTime=8.335409Mb@Mb@Mb@ )Ii~jtI +?MbP?9<:I9Ai)ABD6DY<!= Q)>99GY<A>Q 14٪%?Q 54s ŝB9E?hh&qf?hQ|_h*iuX9?2i6_:iBi?"iK(@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503787 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.286646 m, bearing: 151.182587 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.503787 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggzfrfff˄BBdddcc׸?ɢ=B= 9=o I9 ESAɡAiAIE>~BЍCB""IBуBB =BIDBhDBP_;B#Eim%iim/iԉ checking for new query: numPingsReceived=16, elapsed TxPingTime=8.567785Ա >A 3>AAIYINW,/Q)Ay<<>ٱ>L$=H@h?.9ٿ~ B?H>?#???I<<>)_;iC9BD-6D-ܲY=1o!=.=E?Q)E>EK?9EK?9EGYEJFM<AM>QmDDAT read: Rx Time:05:25:43.4226 mTRx dataTimestamp_ set to:1755840344.521140uPDAT read: Bearing 310.5, 38.7 (Local) }~Local bearing/azimuth received: Bearing 310.5, 38.7 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 05:25:43.4226 LVL= 26736, 10225, 22066, 27411, AGC= 43, IDX= 508, 0.38,-2.349,-2.080, 2.573,-1.603, PHS=-0.643,-0.431,-2.151, RAW= 23.5, 35.1, CAL= 21.7, 41.2, ROT= 128.3, -41.2 Ygot valid direction response: 05:25:43.4226 LVL= 26736, 10225, 22066, 27411, AGC= 43, IDX= 508, 0.38,-2.349,-2.080, 2.573,-1.603, PHS=-0.643,-0.431,-2.151, RAW= 23.5, 35.1, CAL= 21.7, 41.2, ROT= 128.3, -41.2 ԹT#Rx 17: Read range and direction messages.^direction in FSK: [-0.466331,0.590477,0.658689]Fpublishing direction and range info9ima7^ݿh0?Zx?mf@iimphm'm2Vmki i)mܾIm im~>m ?m>mX8?mO@ mX8iiiImyWz(sb?m\׿m  mO@)mX8iiichecking for new query: numPingsReceived=17, elapsed TxPingTime=8.836284Q 14٪U$?Q 54Ur Q9Ya,@Q E?yUqC)UaA ;>rA D?jA ٱzt>zNGMz=zHX? ٿ"O?S1?4F)?*??Iz)z^;izCB9!Ii=DDAT read: Rx Time:05:25:43.9227 ETRx dataTimestamp_ set to:1755840345.025479MPDAT read: Bearing 322.3, 34.8 (Local) M~Local bearing/azimuth received: Bearing 322.3, 34.8 (Local) ]DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:25:43.9227 LVL= 29728, 10641, 24114, 30003, AGC= 43, IDX= 510,-0.37,-3.042,-2.392, 1.924,-2.268, PHS=-0.672,-0.079,-2.135, RAW= 13.7, 29.1, CAL= 12.3, 34.5, ROT= 137.7, -34.5 Ygot valid direction response: 05:25:43.9227 LVL= 29728, 10641, 24114, 30003, AGC= 43, IDX= 510,-0.37,-3.042,-2.392, 1.924,-2.268, PHS=-0.672,-0.079,-2.135, RAW= 13.7, 29.1, CAL= 12.3, 34.5, ROT= 137.7, -34.5 T#Rx 18: Read range and direction messages.^direction in FSK: [-0.609549,0.554647,0.566406]Fpublishing direction and range info99=^}mKb??5?=3@9i= t=)=2^=3u9 =1,)=ʡI=ףi=Gt>="?=[>=%?=@ =%i99I=$ UϿDvY(꿵џ|!?=~i=  =@)=%i99checking for new query: numPingsReceived=18, elapsed TxPingTime=9.343905 -Mb@Mb@Mb@ )))I)i))- rh9999=GY=KFDIDMDM*DIEI EM:6EM(N4:EI!U@!U@!U@!U@e <A>Q 14٪#?Q 54r ƝB9#=Q Ap/?_x2?h=>h=h=㋝?h=:~BB."IB܃BB =BBB&_;B#EB5эCB5эCB5ƔCB1B5ƴ =B5_L6ɢae D aeIa m` FɡiiiIbA AyAIAIiN>V,])AyuF>ٱu{1>uLu:=uHG?Sٿ!? 6"?(?ks?C?IuF>)us^;iuCB9!IBD6DY(5!>=P9Q)> H?9 H?9GYLFK<A>Q 14٪"?Q 54Br 9Yz@Q E?yvC);I;i}4Y ADDAT read: Rx Time:05:25:44.4226 TRx dataTimestamp_ set to:1755840345.529072 PDAT read: Bearing 324.4, 33.4 (Local)  ~Local bearing/azimuth received: Bearing 324.4, 33.4 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 EDAT read: 05:25:44.4226 LVL= 28464, 14257, 22386, 28963, AGC= 42, IDX= 509,-0.19, 2.312, 3.058, 1.016, 3.109, PHS=-0.696,-0.006,-2.138, RAW= 11.5, 28.1, CAL= 10.3, 33.3, ROT= 139.7, -33.3 MYgot valid direction response: 05:25:44.4226 LVL= 28464, 14257, 22386, 28963, AGC= 42, IDX= 509,-0.19, 2.312, 3.058, 1.016, 3.109, PHS=-0.696,-0.006,-2.138, RAW= 11.5, 28.1, CAL= 10.3, 33.3, ROT= 139.7, -33.3 MT#Rx 19: Read range and direction messages.U^direction in FSK: [-0.637444,0.540592,0.549023]UFpublishing direction and range info9enʆL?S=L?f@i0o7rW#q* -2)ĻIiM>>X8>,? @ ,iI?rѿHvh` ?,^  @),hhQa)Ah@h@h;@z3ZK†?c"V?jenʆL?S=L?h @h,CT? ;3?r$cCe[??# ?h?>hp׿h=?h@bhhB*ig?2iZJc:iBi̼?"i /@5 addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503593 s, deltaX: -0.200000 m, approachRate: -0.397146 m/s, rangeRepo size: 4 = Added new target pos. range: 2.087772 m, bearing: 167.423875 deg, lat: 36.779358 deg, lon: -121.859578 deg, deltaT: 0.503593 s, deltaX: -0.198820 m, approachRate: -0.394802 m/s, posRepo size: 4 gAgAgAgAIiUchecking for new query: numPingsReceived=19, elapsed TxPingTime=9.871672gAggzfrfffBdddc@c ٪?D D D +D E : E g:6E  [4:E "E 3A A A I I N >1,x)A B9!IMb@Mb@Mb@ )Ii~jtQ?ļ\=IiZA) ABD 6D2YJ;!1=Q)> K?9K?9%GY%MF-A5>QQ 1u4٪U ?Q 5}4Uq UǝB9-=Q A?]*W?m@iimrm8mXmsm+ mF3)mv=Imim'>m>mQ >mK ?m2+@ mK iiiIm+PM#ԿrhIbm?mm m2+@)mK iiichecking for new query: numPingsReceived=20, elapsed TxPingTime=10.348477 addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504225 s, deltaX: 0.300000 m, approachRate: 0.594973 m/s, rangeRepo size: 4 g!g!g!g!g!g!g!zf)rf)f)f-BBdQdQdQcU@33@c]`.?ɢBNp 顽x I IɡiIjA- 3>bA) ZA) Թ I!I9NE>q,Ֆ)Ay6QL>ٱ6>6G6=6H6? .ڿ @? ?Z?:q??I6QL>)6_;i4BB9B!IBDJ6DJ1YR=!RN=VHS;Q)V>T9T9ZGYXZm[<AZ>\Q 1b4٪^u?Q 5b4^q \9dYf%@Q Ef?y^zC)^h:I^:i^4YhjM Alhh!)Ah@h@hM<@zd6_}SZ=?~ݥ ?j5[ڼg )@>?]*W?h2+@hK 䁳 $O.=?IkQ?r?2꿳_FQ?4";?h>hh\Bx?h -ghUl>;0>h?C~@ hiI].sKҿH*? Da?T2 C~@)hichecking for new query: numPingsReceived=21, elapsed TxPingTime=10.851523DDD/DE: Ez:6EJ4:E"E"A;>I I! NU >1 N,)Archecking for new query: numPingsReceived=21, elapsed TxPingTime=11.087484vB9v!IuMb@Mb@Mb@ q)qIqiqqu~jtS㥛?Mb`?qu/<u;IqiquAq)quG ABD6DY\!<=Q)>99GYNFA>Q 14٪A?Q 54q ȝB91=Q A`?~t?r JG1?9ftc?h>hKh.?hA*gh>B*i㋝?2iA*g:i>Bi ?"i:@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503946 s, deltaX: -0.100000 m, approachRate: -0.198434 m/s, rangeRepo size: 4 - Added new target pos. range: 2.286609 m, bearing: 167.927889 deg, lat: 36.779354 deg, lon: -121.859580 deg, deltaT: 1.008171 s, deltaX: 0.198837 m, approachRate: 0.197226 m/s, posRepo size: 4 g1g1g1ggggzfrfffBBdddc`ff@c@??ɢ]Beԅ 額*I HMɡiIXA- B>5 Fpublishing direction and range info9-83|W 㐦?=Ad?@i0i5RSCi 4)KI- ic>0 ?Ulx>r&?q@ r&iIFѤ9˿tԾdL5?]b* q@)r&iU checking for new query: numPingsReceived=22, elapsed TxPingTime=11.363835I I I] G)q I D D D .D E ; E :6E ـ4:E ! @! @! @! @N >i ݓAԙ ,~)AvBN>~BLBNA"IBNBBLBLBLBN^;BN#EyEz9L>ٱE>E>E==EH7? Iڿfy`??8@???IEz9L>)E_;iEߑC}B9}!IBD6DYV<!J=ܽ;Q)>99GY:A>Q 14٪?Q 54oq ɝB9YY.@Q E?y~C):I$:i4YI Ahhw)Ah@h@h7@z{LxHn?Eg"?j-83|W 㐦?=Ad?hq@hr&靥>0c/?%Ai?rS-( 迂?P&H?hy>hhR慝?h]dhB*iR慝?2i:ii?"i$Y;@q addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.507402 s, deltaX: 0.100000 m, approachRate: 0.197083 m/s, rangeRepo size: 4  Added new target pos. range: 2.386018 m, bearing: 164.518872 deg, lat: 36.779354 deg, lon: -121.859580 deg, deltaT: 0.507402 s, deltaX: 0.099408 m, approachRate: 0.195916 m/s, posRepo size: 4 gggggggzfrfffBdddc@33@c@>?ɢ)5۰ AEIi m(NɡiiiImdԡ>AI rAe E?jAe G?I I1 NU > DDAT read: Rx Time:05:25:46.4227  TRx dataTimestamp_ set to:1755840347.545016 PDAT read: Bearing 311.8, 36.6 (Local)  ~Local bearing/azimuth received: Bearing 311.8, 36.6 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 05:25:46.4227 LVL= 27504, 12833, 21586, 27251, AGC= 43, IDX= 509, 0.29,-2.195,-1.841, 2.773,-1.391, PHS=-0.702,-0.405,-2.163, RAW= 20.9, 35.3, CAL= 19.1, 41.4, ROT= 130.9, -41.4  Ygot valid direction response: 05:25:46.4227 LVL= 27504, 12833, 21586, 27251, AGC= 43, IDX= 509, 0.29,-2.195,-1.841, 2.773,-1.391, PHS=-0.702,-0.405,-2.163, RAW= 20.9, 35.3, CAL= 19.1, 41.4, ROT= 130.9, -41.4  T#Rx 23: Read range and direction messages. ^direction in FSK: [-0.491128,0.566974,0.661312] Fpublishing direction and range info9  F(n߿>$?w)? 3@ i pk !2 RT sj F3) )\ϾI n i ú> ϸ? 㭪> 8? y7@ 8i I ׁ$y:Pu? Xݿ 8 y7@) 8i  checking for new query: numPingsReceived=23, elapsed TxPingTime=11.859806,S)AyJDL>ٱJ@>JC7J=JH`s7? ڿm?`?*?o?P?IJDL>)J:_;iJC5B91BEt4JEp4REͰ/DeDeDe,DaEe: Ee:6Eeg4:Ea"Ee.99GYOF<8A>Q 14٪?Q 54>q ʝB9Y].@Q E?yC):Ie;ir4YM Ahh)AhW@hW@h2@z3eN(?;?51?j F(n߿>$?w)?hy7@h8ؼz9_c~/?tC)?r/}ӨqC?"?4YN?h~?hǿh O?h3KbhֆB*i2i:ii?"iy;@} addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.500371 s, deltaX: -0.100000 m, approachRate: -0.199852 m/s, rangeRepo size: 4  Added new target pos. range: 2.286600 m, bearing: 159.978352 deg, lat: 36.779354 deg, lon: -121.859580 deg, deltaT: 0.500371 s, deltaX: -0.099417 m, approachRate: -0.198687 m/s, posRepo size: 4 gggggggzfrfffBdddc`ff@cr?ɢ-B-Ʃ 15I1 5Qɡ1i1I5ŧA 3>Y I I N >3,)AyZ%K>ٱZF>ZFs1Z=ZH[9?ڿxM ?@? ,? J?`P?IZ%K>)Zw^;iZޑCfB9j"IUMb@Mb@Mb@ Q)QIQiQQU:vI +?MbP?UTU94<U:IUAiQQQ)QUp ABDm6DmY}<!}q=;Q)?99GYPFrA?DDAT read: Rx Time:05:25:46.9228 TRx dataTimestamp_ set to:1755840348.049107PDAT read: Bearing 309.9, 37.7 (Local) ~Local bearing/azimuth received: Bearing 309.9, 37.7 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:25:46.9228 LVL= 27216, 12273, 22002, 27475, AGC= 43, IDX= 510, 0.48,-1.398,-1.112,-2.724,-0.601, PHS=-0.695,-0.466,-2.167, RAW= 22.9, 36.3, CAL= 21.1, 42.3, ROT= 128.9, -42.3 Ygot valid direction response: 05:25:46.9228 LVL= 27216, 12273, 22002, 27475, AGC= 43, IDX= 510, 0.48,-1.398,-1.112,-2.724,-0.601, PHS=-0.695,-0.466,-2.167, RAW= 22.9, 36.3, CAL= 21.1, 42.3, ROT= 128.9, -42.3 T#Rx 24: Read range and direction messages.^direction in FSK: [-0.464461,0.575613,0.673013]Fpublishing direction and range info9ݿpkk?[ Q?@iPj/USk 1)I! i>0"?)>~BBBB =BBBg^;Bz#Eiu!qy}@0yM checking for new query: numPingsReceived=24, elapsed TxPingTime=12.599835>A B> A I I N >,B)AyBsK>ٱBn>BM+B=BH:?@ ڿj\?_?N?U@.r?%?&?IBsK>)Bx6^;iBߑCbB9f"IBD6DkY^<!8= O;Q)E>Q9Y9}GYQFA>Q 14٪?Q 54&q 9YQ E?yC)`:I:i74Y AB*** querying acoustic contact ***zhhg ggggggzfrff9f9Bd9dAdAcAcE@0?ɢ 页DDAT read: Rx Time:05:25:47.4227 TRx dataTimestamp_ set to:1755840348.553039PDAT read: Bearing 313.5, 36.8 (Local) ~Local bearing/azimuth received: Bearing 313.5, 36.8 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -DAT read: 05:25:47.4227 LVL= 27248, 11313, 22226, 26995, AGC= 43, IDX= 510,-0.32, 2.551, 2.957, 1.226,-2.936, PHS=-0.694,-0.346,-2.166, RAW= 19.6, 34.1, CAL= 17.8, 40.3, ROT= 132.2, -40.3 5Ygot valid direction response: 05:25:47.4227 LVL= 27248, 11313, 22226, 26995, AGC= 43, IDX= 510,-0.32, 2.551, 2.957, 1.226,-2.936, PHS=-0.694,-0.346,-2.166, RAW= 19.6, 34.1, CAL= 17.8, 40.3, ROT= 132.2, -40.3 5T#Rx 25: Read range and direction messages.=^direction in FSK: [-0.512300,0.564988,0.646790]=Fpublishing direction and range info9* \dErVb?Gn8k?3@ipj1,Vsi 1)&I i%>:\?>4?7@ 4iInjϙ%ÿËZO:~A?=jI U@TɡQiQIUA ;>bA kAZA  checking for new query: numPingsReceived=25, elapsed TxPingTime=13.103672ԑ I I N- >,4)AyRսI>ٱR>R&R=RH`@?`dٿ.n?`??廿ܤ?@s?'?IRսI>)RL^;iP^B9b "IMMb@Mb@Mb@ I)IIIiIIMMb`~jtxMMĻMIM9AiMAIM A)IM ABD6D1Y =!R=B;Q)>99GYכA>Q 14٪?Q 546q 9>;Q A>YQ E?yC):I:i·4Y Ayh)h-d#)Ah-W@h-W@h-H4@z-7ޜ,@?ہp̩?j-* \dErVb?Gn8k?h-7@h-4-8El(GI?>^?r-B@<濮=???h-L ?h-b˿h-Ɣ?h-΄ch-܆B*i-Ɣ?2i-΄c:i-ֆBi-?"i-H4@u addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503932 s, deltaX: -0.100000 m, approachRate: -0.198440 m/s, rangeRepo size: 4  Added new target pos. range: 2.286608 m, bearing: 161.222304 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.503932 s, deltaX: -0.099410 m, approachRate: -0.197268 m/s, posRepo size: 4 gggggggzfrfff߄BBdd)d1c=`ff@cE &o?ԡɢ` 顭I xVɡiI6˽ii)) DDAT read: Rx Time:05:25:47.9227 TRx dataTimestamp_ set to:1755840349.058534%PDAT read: Bearing 311.9, 37.5 (Local) %~Local bearing/azimuth received: Bearing 311.9, 37.5 (Local) 5DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 ]DAT read: 05:25:47.9227 LVL= 26336, 10657, 22114, 26899, AGC= 43, IDX= 510,-0.17, 2.194, 2.551, 0.860, 2.985, PHS=-0.689,-0.389,-2.169, RAW= 20.9, 34.8, CAL= 19.2, 40.9, ROT= 130.8, -40.9 eYgot valid direction response: 05:25:47.9227 LVL= 26336, 10657, 22114, 26899, AGC= 43, IDX= 510,-0.17, 2.194, 2.551, 0.860, 2.985, PHS=-0.689,-0.389,-2.169, RAW= 20.9, 34.8, CAL= 19.2, 40.9, ROT= 130.8, -40.9 eT#Rx 26: Read range and direction messages.m^direction in FSK: [-0.493890,0.572177,0.654741]mFpublishing direction and range info9߿ ҩFO?{S?i}/yy} 4yif)bVi Nb0)+ǾI iú>|?>36?@ 36iI~^3y鿐 @E?7Kݿ @)36ichecking for new query: numPingsReceived=26, elapsed TxPingTime=13.382671D D D ,D E : E :6E g4:E ! @! @! @! @vB- ÿ>~B- эCB) B) B- =B) B) B- .^;B- _#E>A B> Iy I N >:,DQ)Ay>B>ٱ>B>>(M >=>HZ?`n}ٿTst?a^?+?U?A? }?I>B>)>^;i<NB9N "IBDV6DVY^j!^A=^{;Q)b>`9`9bGYbRFfؒAf>hQ 1n4٪j?Q 5n4jGq h9pYrQ Er?yh)j%:Ij`:ij4zchecking for new query: numPingsReceived=26, elapsed TxPingTime=13.607782Y|~ A|hhC)Ahhh2@zjlK?!ʾI?j߿ ҩFO?{S?h@h36C̟ Ij?{??rQ 81vA?k1?h?hVƿh%<?hzbhB*i񬖝?2i3Kb:i܆Bi_?"i2@U addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.505495 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 2.286615 m, bearing: 159.454435 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.505495 s, deltaX: 0.000007 m, approachRate: 0.000014 m/s, posRepo size: 4 gagagagiԩgig!g!zf)rf)f)f)Bd1d1d1c1c=?ɢ=\ 顭I xzWɡiIC]Ae;>DDAT read: Rx Time:05:25:48.4227 TRx dataTimestamp_ set to:1755840349.561007PDAT read: Bearing 308.0, 38.9 (Local) ~Local bearing/azimuth received: Bearing 308.0, 38.9 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:25:48.4227 LVL= 25824, 9921, 22546, 27091, AGC= 44, IDX= 509,-0.05, 1.362, 1.593, 0.007, 2.143, PHS=-0.679,-0.505,-2.180, RAW= 24.6, 36.7, CAL= 22.7, 42.6, ROT= 127.3, -42.6 Ygot valid direction response: 05:25:48.4227 LVL= 25824, 9921, 22546, 27091, AGC= 44, IDX= 509,-0.05, 1.362, 1.593, 0.007, 2.143, PHS=-0.679,-0.505,-2.180, RAW= 24.6, 36.7, CAL= 22.7, 42.6, ROT= 127.3, -42.6 T#Rx 27: Read range and direction messages.I I N% >- ^direction in FSK: [-0.446066,0.585546,0.676876]- Fpublishing direction and range info9'DܯYܿa_ʼ?a2?id&Xi, -)GI i>(#?b>V>? 2@ V>iIR_@c'鿦 ?+տ"$  2@)V>iM checking for new query: numPingsReceived=27, elapsed TxPingTime=13.880615D D D -D E ; E v:6E t4:E "E Oٱ > ؇ 1= Hh?:ٿ1r?@?:?5ûϣ???I v=>) 32^;i ݑCMB9M "I]Mb@Mb@Mb@ Y)YIYiYY]I +]]9YI]AiY]tAY)Y]p ABDu6DuY}<!&=e:Q)>99GYSFA>Q 14٪ ?Q 54q ɝB99?j'DܯYܿa_ʼ?a2?h 2@hV> BUFNJ`?z%(?r5hsT?z=?h'?hhp)?hcP`hB*i%<?2izb:iBi?"i21@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.502473 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Uchecking for new query: numPingsReceived=27, elapsed TxPingTime=14.119656] Added new target pos. range: 2.286615 m, bearing: 155.814373 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.502473 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gYgagagagagagazfrfffԄBBdddcc` +?ɢB I QaYɡ i I ɲA I I ԙ N > DDAT read: Rx Time:05:25:48.9228 % TRx dataTimestamp_ set to:1755840350.076346- PDAT read: Bearing 298.3, 40.7 (Local) - ~Local bearing/azimuth received: Bearing 298.3, 40.7 (Local) E DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 E,eV)A.DAT read: 05:25:48.9228 LVL= 25840, 10145, 22162, 27475, AGC= 43, IDX= 510, 0.05,-1.989,-2.031, 2.938,-1.211, PHS=-0.676,-0.774,-2.178, RAW= 33.4, 41.4, CAL= 31.3, 46.8, ROT= 118.7, -46.8 yN=8>rYgot valid direction response: 05:25:48.9228 LVL= 25840, 10145, 22162, 27475, AGC= 43, IDX= 510, 0.05,-1.989,-2.031, 2.938,-1.211, PHS=-0.676,-0.774,-2.178, RAW= 33.4, 41.4, CAL= 31.3, 46.8, ROT= 118.7, -46.8 rT#Rx 28: Read range and direction messages.v^direction in FSK: [-0.328736,0.600448,0.728969]vFpublishing direction and range info9QU] տē{6?S?U@QiUdU'UVUSkU+ UV-)U$FIUZd iU;?U8?U ?UQ?UԖ@ UQiQQIU:(f?kw,sfQ(?UU8 UԖ@)UQiQQ-checking for new query: numPingsReceived=28, elapsed TxPingTime=14.420994ٱNR?>NNy=NH/w?ؿl?:?J?@\b?ʋ?@?IN=8>)N6^;iNߑCmB9m"IDDD0DE: E1:6E4:E!@!@!@!@BD6DJyY!X=%:Q)>99GYA<A4=vBʿ>~BBBB =BBiDB];BD#EB5ЍCB1B5ÓCB5ö =B5ö =B5B5aEAm>qQ 1}4٪uW?Q 5}4uq q9YQ E?yuC)uh:Iu:iuΒ4Y AhQhU)AhU@hU@hUq$@zUE@鿻Oa?t?jU] տē{6?S?hUԖ@hUQUʑ ]f↙F?ʍy?rU7sῪtY:?v+Q?hU4R?hU0hU篝?hU'\hUkB*iQ2iU@`:iUBiU?"iU/@] addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.515339 s, deltaX: 0.100000 m, approachRate: 0.194047 m/s, rangeRepo size: 4  Added new target pos. range: 2.386069 m, bearing: 147.215995 deg, lat: 36.779355 deg, lon: -121.859577 deg, deltaT: 0.515339 s, deltaX: 0.099453 m, approachRate: 0.192986 m/s, posRepo size: 4 gggggggzfrfffBdddc@33@cT?ɢ" I +[ɡiIA Ia I N > r,>)Ayn+3>ٱn>ndfnp=nH@U?6ؿʉf?W?;[?k ?2?`8?In+3>)n}^;inܑCzăB9z"IBD6D02YM1=!Md=MM:Q)M>Q9Y9]GY]TF](ZAe>aQ 1m4٪e?Q 5m4eq a9qYu Q Eu?yeC)ei ;Ieu ;ieԒ4Yy AB*** querying acoustic contact ***zhhgggggggzfrfffBdddcc?ɢ¼  I 5\ɡiIk,AIIN>A e checking for new query: numPingsReceived=29, elapsed TxPingTime=15.127538, )A0eB9e"IMb@Mb@Mb@ )IiI +?X9v{Gzt94<qףIipAA)BD6DJ2Yn<!+=Q)>99GYUFA>Q 14٪x?Q 54:r ǝB9G=Q A~BҍCBBB =BHDBB];B#E >A B>bA lAZA kAA I! I1 N= >v,J)AyN+>ٱN>NN=NHҞ? 7ؿf??`t?` ?P?@*?IN+>)N^;iNۑCZB\9Z"IBDr6Dr02Y.4<!=h;Q) ?99GY%ǼA% ?)=checking for new query: numPingsReceived=30, elapsed TxPingTime=15.631739Q 1U4٪-?Q 5U4-mr -ŝB9YY]TQ E]?y-C)-;I-;i-4Yae Aahh@)Ah@h@h@zޥN*N忨`b ?ؠK)?jQ:ѿO}R?Equ?h;@huWz%2Iv?4?r*|߿"?:hQ?hc?hhpW?h[hB*i篝?2ig\:iIBiR?"i$@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504105 s, deltaX: 0.100000 m, approachRate: 0.198372 m/s, rangeRepo size: 4 % Added new target pos. range: 2.386074 m, bearing: 142.440390 deg, lat: 36.779358 deg, lon: -121.859576 deg, deltaT: 0.504105 s, deltaX: 0.099425 m, approachRate: 0.197230 m/s, posRepo size: 4 g!g)g)g)gIgIgIzfQrfQfQfQBdYdYdYc]@33@c]@e?ɢ̼ |%=I +_ɡiIAM;>DDAT read: Rx Time:05:25:50.4227 TRx dataTimestamp_ set to:1755840351.585016PDAT read: Bearing 302.9, 39.7 (Local)  ~Local bearing/azimuth received: Bearing 302.9, 39.7 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 5 DAT read: 05:25:50.4227 LVL= 24656, 9937, 22594, 27555, AGC= 44, IDX= 510,-0.47, 1.779, 1.899, 0.426, 2.563, PHS=-0.682,-0.619,-2.181, RAW= 28.0, 38.8, CAL= 26.1, 44.5, ROT= 123.9, -44.5 = Ygot valid direction response: 05:25:50.4227 LVL= 24656, 9937, 22594, 27555, AGC= 44, IDX= 510,-0.47, 1.779, 1.899, 0.426, 2.563, PHS=-0.682,-0.619,-2.181, RAW= 28.0, 38.8, CAL= 26.1, 44.5, ROT= 123.9, -44.5 E T#Rx 31: Read range and direction messages.M ^direction in FSK: [-0.397812,0.592007,0.700909]M Fpublishing direction and range info97?uٿC? mHm?3@iP`&BXk .)vI i5>-\-?Z;>F?e @ FiI(2n Mi`y ?{Ϳ\U- e @)Fim checking for new query: numPingsReceived=31, elapsed TxPingTime=15.899642A rD <jD D D D -D E : E g:6E t4:E "E g%,)A!y :>)>ٱ Qu> \h = H.?`ؿd?@e?K}?`ˢ???I :>)>) d^;i ޑCB9 "IMb@Mb@Mb@ )Ii:v?Mb~jthT<DIAiA| A) ABD6D1Yy8<!$=1:Q)>9!9-GY-VF-7A->1Q 1=4٪5?Q 5=45r 5ĝB9E=Q AEA5 3>rA= ??jA= F? Q%i} y } AD D D /D E : E ą:6E J4:E ! @! @! @! @  T j  ) jI i |> ;*? /> %D? @  %Di  I f𰦿dG#q? qFп C*  @) %Di  uchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.462440A A @AvBÿ>~BэCBBB =BIDBhDBA];B"EAIIN?-,V )AqB9"IBD6D02Y!9=Q)>99GYWFA>Q 14٪?Q 54s ÝB9YQ E?yC):I:i4Y  A hh:)AhW@hW@hN/*@z~ Qt2k?H9c^?jrО:ڿKV? )+Y0?h @h%DؙK#?L?rr RBA} ;> )߹ ߹  DDAT read: Rx Time:05:25:51.4227  TRx dataTimestamp_ set to:1755840352.594765 PDAT read: Bearing 302.4, 39.4 (Local)  ~Local bearing/azimuth received: Bearing 302.4, 39.4 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Iq I N >x ,k')ADAT read: 05:25:51.4227 LVL= 25040, 9969, 21586, 27443, AGC= 42, IDX= 509,-0.13, 0.518, 0.647,-0.825, 1.311, PHS=-0.691,-0.619,-2.180, RAW= 27.7, 39.0, CAL= 25.8, 44.6, ROT= 124.2, -44.6 "Ygot valid direction response: 05:25:51.4227 LVL= 25040, 9969, 21586, 27443, AGC= 42, IDX= 509,-0.13, 0.518, 0.647,-0.825, 1.311, PHS=-0.691,-0.619,-2.180, RAW= 27.7, 39.0, CAL= 25.8, 44.6, ROT= 124.2, -44.6 "T#Rx 33: Read range and direction messages.&^direction in FSK: [-0.400218,0.588903,0.702153]&Fpublishing direction and range info9>\+ٿ_K?Ў x?ia&RT3k* `0)vI i>@.?>SFG? @ SFGiIKޕ+D a ?f`8?Jο . @)SFGifchecking for new query: numPingsReceived=33, elapsed TxPingTime=16.945112BEA{4JEـ4RE 0D~D~D~-D|E~: E~:6E~t4:E|"E~39999=GY9AAE>IQ 14٪M?Q 54MMs MB9YQ E?yMC)MM:IM:iM\4Y Ahh&)AhhhgF)@zWPH ?t3Z?j>\+ٿ_K?Ў x?h @hSFGuxrLTuj?Q-|?r`35"M{?Cǧ?hS;?hЬh"?h8`h#B*i"?2ih!E_:i#Bij?"i0(@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.505762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.286617 m, bearing: 151.542875 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.505762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggggzfrfff BdddcIcUuR?ɢB/ I ceɡiII?od @ IiI!mtmY:Yf?i˿%0 od @)Iichecking for new query: numPingsReceived=34, elapsed TxPingTime=17.411207>AbAkAZAjADeDeDe/DaEe: Ee:6EeJ4:Ea!u@!u@!u@!u@vB>~BЍCB;"IBBB =BBB ];B"EԙII!N5?N,M)Ayz$>ٱz(>zz&=zHN?׿_? ?+?i`?Ʒ?`?Iz$>)z_;izݑC ЃB9  "IEMb@Mb@Mb@ A)AIAiAAE~jth?y&1ED;E`EIEKAiEVAEtAE A)AEp ABD}6D}ԉY`W=!=".;Q)>99GYXFA>Q 14٪ ?Q 54s B9W?ɢuBu* y}I {gɡiIpA>IIN>,&Vm)Ay\&>ٱb&>gg=H?|׿6`@? n? ̡? ô? ?I\&>)6_;iۑCiʃB9"Iechecking for new query: numPingsReceived=35, elapsed TxPingTime=18.151508eMb@Mb@Mb@ a)aIaiaae{GzMbPeeףeIeAieAeAa)aeG ABD}6D}:2Y! =G:Q)>99GYYFsT;A>Q 14٪ ?Q 5=4s B9=  ;0? ^ > I? K @  Ii  ԡ I }^奔䔣Ec? zѿ 0  K @) Ii   checking for new query: numPingsReceived=36, elapsed TxPingTime=18.456013) D D D +D E : E :6E  [4:E !@!@!@!@A<A<vB>~BBBBBBB];B"Ei}#y+ @8>@!>Ա>A܄>checking for new query: numPingsReceived=36, elapsed TxPingTime=18.655676I IN%(?b%,6)Ay6 )>ٱ6-[>6(6[=6H=?ؿ)6_;i4@9@BDN6DNYUMZ!U=]eQ)e>i9i9mGYmZFud;A}>Q 14٪4!?Q 54]?]K>]8?]@ ]8iYYI]]4;ƿR4~mIe?]]L ]@)]8iYYchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.925817bD! ZD% ?AD- D- D- -D) E- : E- :6E- t4:E) "E- +A9 I I N >+,q)A-ȃB9-"Ichecking for new query: numPingsReceived=37, elapsed TxPingTime=19.159639Mb@Mb@Mb@ )Ii~jthMbpMbpDIAiCAA A) ABD6DβY!4=I}Q)}>99GY[FA>Q 14٪'!?Q 54Kt B9;Q A>YQ E?y);Is;i 4Y Ahh)AhW@hW@h3@zݕ7*< ?î1?j2 ࿝-?w)?h@h8i8WE??~ھr?roBL濶)ݖ?k~þ?h?h*ʿh(?hzmehB*i2i8`:ii?"i*{(@m addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504169 s, deltaX: -0.100000 m, approachRate: -0.198346 m/s, rangeRepo size: 4  Added new target pos. range: 2.286587 m, bearing: 160.308021 deg, lat: 36.779358 deg, lon: -121.859577 deg, deltaT: 0.504169 s, deltaX: -0.099417 m, approachRate: -0.197190 m/s, posRepo size: 4 ggggg g g g g zf rf ff҄BBddd9c=`ff@c= k?yɢ5„B5B 15I1 5bmɡ9i9I=m ޹=m C?m ?!@ m Cii i Im 4TֿFZw"d亷?m m = m ?!@)m Cii i - checking for new query: numPingsReceived=38, elapsed TxPingTime=19.437656D= D= D= *D9 E= : E= :6E= (N4:E9 !M @!M @!M @!M @ vB ~B B B B B B B .];B "EBBЍCBB̷ =B̵ =B_6>Am >AIIN?i4,)Ay>L1>ٱ>>>a>X=>H? sؿ∿cq??ǯA?N??I>L1>)>^;i>ܑCJʃB9J"ILiL)L NAIP)PBDV6DV1Y^.<!^7=^89Q)^>`9`9bGY`f<Af>hQ 1n4٪j!?Q 5n4jXt jB9lYnQ En?yh)j:Ij:ij'(4Ytv Ath)h-<)Ah-@h-@h-܂=@z-@8zuCX?EH'?j-]CC?foU?h-?!@h-C-3>"?WX?r-vs꿹N?X?h-D>h-wh- z?h-jh-`B*i- ?2i-DV4`:i)i-v?"i-!)@= addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503877 s, deltaX: 0.100000 m, approachRate: 0.198461 m/s, rangeRepo size: 4 M Added new target pos. range: 2.386004 m, bearing: 169.659215 deg, lat: 36.779357 deg, lon: -121.859577 deg, deltaT: 0.503877 s, deltaX: 0.099416 m, approachRate: 0.197303 m/s, posRepo size: 4 gIgIgIgIgQgQgQgQgQzfQrfQfYfYBdYdYdace@33@ceP?Mchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.663630ɢUÄB]ۿ Y]IY ]`oɡaiaIe?\AaԹ  DDAT read: Rx Time:05:25:54.4227  TRx dataTimestamp_ set to:1755840355.616960 PDAT read: Bearing 325.2, 28.2 (Local)  ~Local bearing/azimuth received: Bearing 325.2, 28.2 (Local) % DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 E DAT read: 05:25:54.4227 LVL= 26544, 13617, 19538, 28659, AGC= 43, IDX= 510,-0.19,-0.108, 0.932,-1.267, 0.817, PHS=-0.823, 0.160,-2.128, RAW= 4.7, 26.4, CAL= 3.8, 31.4, ROT= 146.2, -31.4 M Ygot valid direction response: 05:25:54.4227 LVL= 26544, 13617, 19538, 28659, AGC= 43, IDX= 510,-0.19,-0.108, 0.932,-1.267, 0.817, PHS=-0.823, 0.160,-2.128, RAW= 4.7, 26.4, CAL= 3.8, 31.4, ROT= 146.2, -31.4 U T#Rx 39: Read range and direction messages.] ^direction in FSK: [-0.709287,0.474827,0.521010]] Fpublishing direction and range info9  ꎭ{濮NLc?]*W? 3@ i g 15 RL o +  !R) #>I '1i = > ԇ= K ? N#@  K i  I *\3fؿW H鿀2jt? = I  N#@) K i  u checking for new query: numPingsReceived=39, elapsed TxPingTime=19.931025I I N >rD jD D D D -D E V: E :6E t4:E "E 999GY\FA>Q 14٪!?Q 54et B9YQ E?y)3;Ii/4Y AhAhEF|)AhEW@hEW@hE>@zE G۠(_? ?jEꎭ{濮NLc?]*W?hEN#@hEK E}W!?yQ ?rEW䲻n:?ʃ"?hE>hEhE|~?hELlhEB*iE(?2iEzme:iEBiE?"iE2@e addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503918 s, deltaX: -0.100000 m, approachRate: -0.198445 m/s, rangeRepo size: 4   Added new target pos. range: 2.286587 m, bearing: 170.931738 deg, lat: 36.779356 deg, lon: -121.859579 deg, deltaT: 0.503918 s, deltaX: -0.099417 m, approachRate: -0.197288 m/s, posRepo size: 4 g)g1g1g9g9gAgAgIgIzfQrfQffBdddc`ff@c?ɢńB 4I oqɡiI+A ܄>I I  DDAT read: Rx Time:05:25:54.9227 % TRx dataTimestamp_ set to:1755840356.121154- PDAT read: Bearing 323.9, 27.9 (Local) 5 ~Local bearing/azimuth received: Bearing 323.9, 27.9 (Local) E DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 e DAT read: 05:25:54.9227 LVL= 23376, 12145, 18866, 25843, AGC= 41, IDX= 510,-0.06,-0.522, 0.471,-1.641, 0.415, PHS=-0.835, 0.101,-2.100, RAW= 4.9, 27.6, CAL= 3.9, 32.8, ROT= 146.1, -32.8 m Ygot valid direction response: 05:25:54.9227 LVL= 23376, 12145, 18866, 25843, AGC= 41, IDX= 510,-0.06,-0.522, 0.471,-1.641, 0.415, PHS=-0.835, 0.101,-2.100, RAW= 4.9, 27.6, CAL= 3.9, 32.8, ROT= 146.1, -32.8 q u T#Rx 40: Read range and direction messages.} ^direction in FSK: [-0.697681,0.468822,0.541708]} Fpublishing direction and range info9! % (,LfS ~-?foU?! ! i% P[% q/% I% d% ) % U)% =I% ffi% %=% Ϣ>% 'g=% C?% 1#@ % Ci! ! I% PKgؿ6wy鿭V/?% %  % 1#@)% Ci! !  checking for new query: numPingsReceived=40, elapsed TxPingTime=20.435818N >hB,)Ay-:>ٱ-+E>- -eS=-Hq?` ٿ K?@f?4`͡? i?:?I-:>)-]^;i-ؑCDMDMDM,DIEM: EM&p:6EMg4:EI!]@!]@!]@!]@mB9m "IAAAAAAvB >~B B 5"IB BB  =B B B ];B "EMb@Mb@Mb@ )IiMb`{Gzt?MbPף;IiA A)z ABD  6D f2Yb<!=n:Q)>99GY]F<A>Q 14٪ ?Q 54Wt 9z;Q A>Y @Q E?yC);I;i84Y Ahh)Ahhhw?@z\i'qa&?[Ӗ?j(,LfS ~-?foU?h1#@hClmSKa?n`O?r!]Pj? oN?h>hmh?hlh:B*i?2ij:i`Bi?"i=@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504194 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.286599 m, bearing: 171.411597 deg, lat: 36.779353 deg, lon: -121.859582 deg, deltaT: 0.504194 s, deltaX: 0.000012 m, approachRate: 0.000023 m/s, posRepo size: 4 g g g g g ggggzfrfffBBddd!c!c% ?ɢƄBę 顕I OcsɡiI$A rA C?jA R?I I N >:H,")A(yb4@>ٱb%>b!| b\=bH_?@)aٿڿJ?`aS?$? _?`F?Ib4@>)b^;ibّCñB9n"IBDv6DvY~=!=9Q)?9 9 GY  <A ?Q 14٪ ?Q 5%4Ot 9!Y%i@Q E%?y);I;i&>4Y)-z A1MB*** querying acoustic contact ***zhIhIgYgYgYgYgYgagagagazfarfafifiBdididicqcum?ɢDŽBZϽ 顥YI =tɡiI '0?V=ϸ?J @ ϸiIԿ+ mbk?+o J @)ϸiMchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.946220iiu2qqu qDuDuDu0DqEu=; Euh:6Eu4:Eq"EurIA>IIIqN> M checking for new query: numPingsReceived=41, elapsed TxPingTime=21.175550dN,F_<)A!y=w/G>ٱ=m>= =k==H@"K?Jٿ͐ Z?)=^;i=ܑCuăB9u"IMb@Mb@Mb@ )IiMb?~jth?<D;I| AiA A)BD6DY%I!%,=-Ф:Q)->)9)95GY5^F5Q]<A5>9Q 1E4٪= ?Q 5E4=!t =B9M[hBhR?hxkhnB*i2ixk:iik?"i4>@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.505117 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.286599 m, bearing: 169.930732 deg, lat: 36.779353 deg, lon: -121.859582 deg, deltaT: 0.505117 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggggzfrfffBBdddcc9[?II)mAIAimAAɢ=ɄB=!< AekIa evɡaiaIe6!6?6&>D +?)@ D +iI~ ѿu*~U@[75?X )@)D +i-checking for new query: numPingsReceived=42, elapsed TxPingTime=21.444834)yDDD+DE: EM:6E [4:E!@!@!@!@ԙiO6 vB%ÿ>~B%эCB!B!B!B!B!B%\;B%"E >A ܄>bA jAZA Ia Iq N} > `U,V)Anchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.679489y="N>ٱ==>=[ =X==H4?'ڿt?8#?!*? ?R?I="N>)=^;i=ۑCyȃB9"II)AABD6DβYmH<!mY=u9Q)u>q9q9uGYu_F}N<A}>Q 14٪U ?Q 54s B9Y?Q E?yC)"hDh/l?hihȆB*i2i:ii?"i_>@  addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503045 s, deltaX: 0.100000 m, approachRate: 0.198790 m/s, rangeRepo size: 4 = Added new target pos. range: 2.386033 m, bearing: 168.020928 deg, lat: 36.779353 deg, lon: -121.859582 deg, deltaT: 0.503045 s, deltaX: 0.099434 m, approachRate: 0.197664 m/s, posRepo size: 4 gAgAgAgAgAgAgAgIgIzfIrfIfQfQBdQdQdQc]@33@c}`?ɢʄB$½ I oxɡiIG2+?Ϣv>8? #@ 8iITU{ ʿk(cB[|ۈ?Z*%  #@)8i checking for new query: numPingsReceived=43, elapsed TxPingTime=21.963526BE t4JE v4RE 30De De De .Da Ee V: Ee :6Ee ـ4:Ea "Ee 9A A ~AI)IANm>E\,t)AyuU>ٱux>uO5u=uH?Ôڿ]_~? ?)u^;iuّCɃB9"Ichecking for new query: numPingsReceived=43, elapsed TxPingTime=22.185265Mb@Mb@Mb@ )Ii:Q)>3?93?9GY \<A>Q 14٪}?Q 5 4s B9ihϿh?hVJghB*iR?2i:inBi?"igC>@- addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503681 s, deltaX: -0.100000 m, approachRate: -0.198539 m/s, rangeRepo size: 4 = Added new target pos. range: 2.286615 m, bearing: 164.493443 deg, lat: 36.779354 deg, lon: -121.859582 deg, deltaT: 0.503681 s, deltaX: -0.099418 m, approachRate: -0.197383 m/s, posRepo size: 4 gAgAgAgAgAgIgIgIgIzfIrfIfQfUBBdQdQdYc]`ff@c]?ɢ˄Bν 額I }zɡiIx} ?} ȭT>} -\-?} ZB@ } -\-iy I} e+ Vοbi _Wh^?} } n } ZB@)} -\- checking for new query: numPingsReceived=44, elapsed TxPingTime=22.448954DU DU DU )DQ EU : EU :6EU FA4:EQ !] @!] @!] @!] @A A <vB ƿ>~B B B B =B HDB iDB \;B "E>Ae ׄ>q AթAIIN>id,ۿ)Ay6g[>ٱ6h>6F6Se=6H?`ڿ8=}?@? S쳿)6>sb;i6ؑCBB9B!IBDJ6DJYR!Re=V9Q)V>V,?9V,?9ZGYZ`FZ<AZ>\Q 1b4٪^?Q 5b4^s ^B9dYf@Q Ef?y^C)^:I^:i^\4hYln7 Alg Docking sequence complete at range 2.30 m. Lat: 36.779354 Lon: -121.859582 Cable present. Reached intercept timeout.B  ZTransitioning guidance mode to: UNINITIALIZEDg 1CzfrfffBdddc!c%?ɢ̄BF  I {ɡik^Ii)}checking for new query: numPingsReceived=44, elapsed TxPingTime=22.689060ii 1>ArA +?jA >I I % DDAT read: Rx Time:05:25:57.4226 - TRx dataTimestamp_ set to:1755840358.6410455 PDAT read: Bearing 317.8, 32.5 (Local) 5 ~Local bearing/azimuth received: Bearing 317.8, 32.5 (Local) M DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Y u DAT read: 05:25:57.4226 LVL= 24400, 10065, 19682, 27299, AGC= 42, IDX= 510,-0.21,-2.144,-1.519, 2.943,-1.271, PHS=-0.771,-0.204,-2.114, RAW= 13.2, 32.7, CAL= 11.5, 38.6, ROT= 138.5, -38.6 } Ygot valid direction response: 05:25:57.4226 LVL= 24400, 10065, 19682, 27299, AGC= 42, IDX= 510,-0.21,-2.144,-1.519, 2.943,-1.271, PHS=-0.771,-0.204,-2.114, RAW= 13.2, 32.7, CAL= 11.5, 38.6, ROT= 138.5, -38.6 } T#Rx 45: Read range and direction messages. ^direction in FSK: [-0.585324,0.517851,0.623880] Fpublishing direction and range info9) - Eo;- ?- M>- iw,?- @ - iw,i) ) I- '6PrϿ/鿤ϟM?- S- @ - @)- iw,i) )  checking for new query: numPingsReceived=45, elapsed TxPingTime=22.955908N >D D D D E &: E v:6E :E "E X;ٱvp>vrv6ˎ=vHI? ;ۿXDf&?P?ų }?%ӱ??IvM5a>)v&b;ivڑC%B9%!IBD56D539Yeͥ!e?=e)Q)m>i9i9mGYmaFuI<Au>Q 14٪J?Q 54]s B9Y#@Q E?yC)>:I:igd4Y[ Ahahe)Ahe@he@he|:@zeix*DwL?i.?jeEo;۷?4Mn?he>heȿhe B?heTiheZB*ie/l?2ieTi:iaie?"ie{<@=BDocked. Homing sequence complete.1C=qC=zf9rf9fAfABdAdAdAcM@cMފ?ɢ̈́Br 顽I >}ɡiIi) qchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.194824>A]\|>bAmZAmrAujAuԙ A% I) I9 NE >q,|b)AvDDAT read: Rx Time:05:25:57.9227 zTRx dataTimestamp_ set to:1755840359.145407PDAT read: Bearing 318.5, 32.2 (Local) ~Local bearing/azimuth received: Bearing 318.5, 32.2 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 MDAT read: 05:25:57.9227 LVL= 24560, 11057, 19522, 27571, AGC= 42, IDX= 511,-0.07,-0.688,-0.046,-1.883, 0.192, PHS=-0.778,-0.193,-2.118, RAW= 12.8, 32.6, CAL= 11.1, 38.4, ROT= 138.9, -38.4 UYgot valid direction response: 05:25:57.9227 LVL= 24560, 11057, 19522, 27571, AGC= 42, IDX= 511,-0.07,-0.688,-0.046,-1.883, 0.192, PHS=-0.778,-0.193,-2.118, RAW= 12.8, 32.6, CAL= 11.1, 38.4, ROT= 138.9, -38.4 UT#Rx 46: Read range and direction messages.Թ^direction in FSK: [-0.590563,0.515181,0.621148]Fpublishing direction and range info9tvL N3\|?-fq?v3@tiv_v1+vBLvkt v+G)vˡEIvPivd>v?vaF>v+?v'@ v+ittIvʜ\DϿ_ :?v+v v'@)v+ittchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.477945B9!Ii%=I%=DDD*DE=; Ez:6E(N4:E!@!@!@!@vB=Ŀ>~B9B9B9B= =B=IDB=hDB=];B="E=Mb@Mb@Mb@ 9)9I9i99=y&1|V-?=`=<=I9i=-A=bA= A)9= ABDu6Du:YӠ<!!=Q)>99GYA>Q 14٪}?Q 54s 9dhvܿhv;52?hv$ ihvB*iv;52?2ivi:ivBiv1?"ivMA<@gqCzfrfffBCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1@ Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA Uninitialize.qBBCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceBdddc`ff@c?zZ-d<Z-d<Z-`?Z-@ɢ]΄BY ae Ia eo"ɡaiaIaii)i@%>@)>>ADM>IIN>checking for new query: numPingsReceived=46, elapsed TxPingTime=23.696272A w,W@)A~ЃB9~ "IBD 6D N2YN;>!=!Q)%?!9!9-GY))A-?1Q 1=4٪5 ?Q 5=45r 19AYAQ EE?y5C)5;I5;i5Kr4YIMW AIqGeeAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal1Fe eAggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalqFm1FmmNo longer in Terminal. Resuming normal ranging with 1.000000 count pings.qFmFmuB*** querying acoustic contact ***zhqhq8}q}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence19} r}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock?}}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceC} }4Initialize Wait Component.Bdddcc ?zZZZZI ɡiIi)DDAT read: Rx Time:05:25:58.4227 TRx dataTimestamp_ set to:1755840359.648985PDAT read: Bearing 316.1, 33.0 (Local) ~Local bearing/azimuth received: Bearing 316.1, 33.0 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 =DAT read: 05:25:58.4227 LVL= 24800, 11153, 19650, 27507, AGC= 42, IDX= 510, 0.04,-0.821,-0.272,-2.032, 0.056, PHS=-0.774,-0.283,-2.131, RAW= 15.1, 34.2, CAL= 13.4, 40.2, ROT= 136.6, -40.2 EYgot valid direction response: 05:25:58.4227 LVL= 24800, 11153, 19650, 27507, AGC= 42, IDX= 510, 0.04,-0.821,-0.272,-2.032, 0.056, PHS=-0.774,-0.283,-2.131, RAW= 15.1, 34.2, CAL= 13.4, 40.2, ROT= 136.6, -40.2 ET#Rx 47: Read range and direction messages.M^direction in FSK: [-0.554955,0.524795,0.645458]UFpublishing direction and range info9Ԛ0(PH?qj䖧?i`+Lsk $F)`吾INbiV>?|o>3?k@ 3iIL&˿ٵ`鿂{?B k@)3imchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.963469IDDDDEa: E&p:6E:E"E(A9 >IINf>i checking for new query: numPingsReceived=47, elapsed TxPingTime=24.200335Ա ~, !)Ay6Mp>ٱ6Z7>6v6S=6H "?ܿĂ[?<?y?@ؐ-?`??I6Mp>)6_;i6֑CNσB9LyMb@Mb@Mb@ )IiI +y&1?94`<IAitA A) AI)@ABD6D2Y5!0=)Q)>99GY=A>Q 14٪+?Q 54r B9qh%տh%䏝?h%Dhh%؆B*i%䏝?2i%$ i:i%ȆBi%?"i%F;@Bdadadacicm?zZq<Zq<Z?Z[@I ɡiIi)9oE<>A}G=IԙIN>>DDAT read: Rx Time:05:25:58.9227  TRx dataTimestamp_ set to:1755840360.153678PDAT read: Bearing 311.7, 35.8 (Local) ~Local bearing/azimuth received: Bearing 311.7, 35.8 (Local) 5DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 eDAT read: 05:25:58.9227 LVL= 27680, 12593, 21634, 30579, AGC= 43, IDX= 510, 0.18,-0.365,-0.011,-1.628, 0.474, PHS=-0.737,-0.440,-2.146, RAW= 20.6, 36.7, CAL= 18.9, 42.5, ROT= 131.1, -42.5 mYgot valid direction response: 05:25:58.9227 LVL= 27680, 12593, 21634, 30579, AGC= 43, IDX= 510, 0.18,-0.365,-0.011,-1.628, 0.474, PHS=-0.737,-0.440,-2.146, RAW= 20.6, 36.7, CAL= 18.9, 42.5, ROT= 131.1, -42.5 T#Rx 48: Read range and direction messages.^direction in FSK: [-0.484668,0.555585,0.675590]Fpublishing direction and range info9߿P֛Z?iOo?i l11Tsw+ <)GIX iX>(#?[>N=?p@ N=iISd?޿W# p@)N=iDDD1DE2: EX:6E-4:E!@!@!@!@checking for new query: numPingsReceived=48, elapsed TxPingTime=24.515776A- @AA- @AvB1 ~B1 B1 B1 B5 =B1 B1 B5 G];B5 "EBэCBэCBBɵ =BBɆ5 E,)Ay6~u>ٱ6>6@[6s=6H ?@`ܿJu?OJ? ?@s ?D??I6~u>)6G_;i6ؑCNуB9R""IBDZ 6DZ:2Yv(<!vs=vQ:Q)v?x9x9zGYxza<A~?Q 14٪?Q 5 4tr 9 Y  @Q E ?yC):I:iL4YN A1F- 5Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalF5h9h= )Ah9h9h=W4@z=Q`fVS?@'?j=߿P֛Z?iOo?h=p@h=N==];\&?tc!?r=Y+/3mA?v?h=6?h=4ƿh= ?h=z,.eh=B*i=?2i=Dh:i=؆Bi=?"i=9@BdQdYdYcYce?zZZZZ@ @I !ɡ!i!I!i)echecking for new query: numPingsReceived=48, elapsed TxPingTime=24.704647)i9M9@]mA@]nA>A5ǒ=IiIN'>)  DDAT read: Rx Time:05:25:59.4226  TRx dataTimestamp_ set to:1755840360.656962 PDAT read: Bearing 312.1, 37.2 (Local) % ~Local bearing/azimuth received: Bearing 312.1, 37.2 (Local) 5 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 U DAT read: 05:25:59.4226 LVL= 29776, 12401, 22162, 30707, AGC= 43, IDX= 509, 0.34,-1.776,-1.463,-3.066,-0.980, PHS=-0.694,-0.438,-2.131, RAW= 21.9, 36.1, CAL= 20.2, 42.1, ROT= 129.8, -42.1 ] Ygot valid direction response: 05:25:59.4226 LVL= 29776, 12401, 22162, 30707, AGC= 43, IDX= 509, 0.34,-1.776,-1.463,-3.066,-0.980, PHS=-0.694,-0.438,-2.131, RAW= 21.9, 36.1, CAL= 20.2, 42.1, ROT= 129.8, -42.1 ] T#Rx 49: Read range and direction messages.e ^direction in FSK: [-0.474946,0.570048,0.670427]m Fpublishing direction and range info9  ;֨e޿=? J|"t? f@ i Pt q0 V w  1) AI Nbi E> K!? J> ٱ>R۴=H?`ܿ@ր??Iy?c/f?o??I]z>)_;iבC-҃B9-#"IBDe6DeN2YmI;!uB=u:Q)u>y9y9}GYy?<A>Q 14٪?Q 54hE8hE?hE[ehEB*iE ?2iA:iEBiE?"iE9@Bd!d!d!c%@c%?zZZZZ^@I ɡiIi)) iIIiu%=Iua=checking for new query: numPingsReceived=49, elapsed TxPingTime=25.210758y>Am<I!IyN>ԡ ,֩H)Ay>~>Dٱ>T>>(>1=>H`Œ?`ܿT?`>?g? ѡ? D??I>~>)>-^;i>ّCT9V""IjDDAT read: Rx Time:05:25:59.9227 jTRx dataTimestamp_ set to:1755840361.161901rPDAT read: Bearing 320.5, 36.0 (Local) r~Local bearing/azimuth received: Bearing 320.5, 36.0 (Local) ~DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -DAT read: 05:25:59.9227 LVL= 26848, 12193, 22194, 29011, AGC= 43, IDX= 511,-0.41,-2.315,-1.785, 2.676,-1.539, PHS=-0.673,-0.200,-2.112, RAW= 16.3, 31.5, CAL= 14.6, 37.2, ROT= 135.4, -37.2 5Ygot valid direction response: 05:25:59.9227 LVL= 26848, 12193, 22194, 29011, AGC= 43, IDX= 511,-0.41,-2.315,-1.785, 2.676,-1.539, PHS=-0.673,-0.200,-2.112, RAW= 16.3, 31.5, CAL= 14.6, 37.2, ROT= 135.4, -37.2 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.567150,0.559286,0.604599]Fpublishing direction and range info9hj&ƫ?@X?j3@hijhj/jVjSqh jI,)jLIj+ij>jL ?jw>j6&?jE>@ j6&ihhIj ɿ8fvڃR.#?jj< jE>@)j6&ihh]checking for new query: numPingsReceived=50, elapsed TxPingTime=25.511448DDD.DE>: Ec:6Eـ4:E!@!@!@!@vBɿ>~BҍCBBB =BHDBiDBh];B#Eԩ=Mb@Mb@Mb@ 9)9I9i99=ktZd;O?~jth?= 0=j<=D;I=9Ai=A=A= A)9= Aup99GYB<A>Q 14٪?Q 549r ĝB9H=Q A@hj6&j2?E #?rj过oji?J{k=?hj&>hjNܿhjM?hj8ghjB*ij䏝?2ij8g:ihijY?"ij8@BdQdQdQcU`ff@cU ?zZH=ZH=Z)@ZH@I ɡiIi)uchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.711571 >A 9IQ Ii Nu >:,b)Ay>>ٱ>]>>R>t=>H}? ݿ@g/?B ?Y?󖸿i?  ??I>>)>^;i>ؑCJЃB9N!"IBDT6DTY^,!^=b@Q)b4?`9d9fGYdf<Af4?hlQ 1r4٪j?Q 5r4j8r h9pYrPH@Q Ev?yjC)j6);IjS*;ij`4YxzU Ax B*** querying acoustic contact ***zh h Bdddcc`!s?zZ9Z9Z9Z=PH@II IɡIiIIQiQ)Q@e@e@m@mDDAT read: Rx Time:05:26:00.4226 TRx dataTimestamp_ set to:1755840361.664993PDAT read: Bearing 324.4, 35.4 (Local) ~Local bearing/azimuth received: Bearing 324.4, 35.4 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 %DAT read: 05:26:00.4226 LVL= 27568, 11857, 21698, 28883, AGC= 44, IDX= 510,-0.22, 2.510, 3.140, 1.206,-3.007, PHS=-0.664,-0.091,-2.114, RAW= 14.1, 29.3, CAL= 12.6, 34.7, ROT= 137.4, -34.7 -Ygot valid direction response: 05:26:00.4226 LVL= 27568, 11857, 21698, 28883, AGC= 44, IDX= 510,-0.22, 2.510, 3.140, 1.206,-3.007, PHS=-0.664,-0.091,-2.114, RAW= 14.1, 29.3, CAL= 12.6, 34.7, ROT= 137.4, -34.7 -T#Rx 51: Read range and direction messages.5^direction in FSK: [-0.605178,0.556490,0.569280]5Fpublishing direction and range info9C]ӟR?0}7?f@ikQ.Tp, ))5^IKid{>?z0a> ?.z@  iI 8$οm/֡\P4W? .z@) iUchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.979996IIN )>DDD2DED: E6E4:E"E1ٱv$>voAv+e=vHt? 9Dݿ?/?iP?ǂQ7?`??Iv>)v_^;iv֑CB94"IMb@Mb@Mb@ )Ii:v{Gz?Mb`Tף<IAiA A)p ABD6D:Y=!.=)Q)>99GYu;A>Q 14٪T?Q 54Jr 9Yd=Q Anh jҿh Ƚ͊?h Wfih \B*i 2i :i i ?"i o8@Bdddc@c;?zZ Yd=Z Yd=Z 1@Z O@I ɡi!I!i!))iiRCIyIG)oAI Ai=!ɿ=oA=bAIANM1>DDAT read: Rx Time:05:26:00.9227 TRx dataTimestamp_ set to:1755840362.169498PDAT read: Bearing 325.2, 35.2 (Local) ~Local bearing/azimuth received: Bearing 325.2, 35.2 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 EDAT read: 05:26:00.9227 LVL= 27968, 12209, 21330, 28387, AGC= 43, IDX= 511,-0.06,-2.229,-1.583, 2.758,-1.469, PHS=-0.658,-0.070,-2.101, RAW= 13.6, 28.9, CAL= 12.2, 34.3, ROT= 137.8, -34.3 MYgot valid direction response: 05:26:00.9227 LVL= 27968, 12209, 21330, 28387, AGC= 43, IDX= 511,-0.06,-2.229,-1.583, 2.758,-1.469, PHS=-0.658,-0.070,-2.101, RAW= 13.6, 28.9, CAL= 12.2, 34.3, ROT= 137.8, -34.3 UT#Rx 52: Read range and direction messages.]^direction in FSK: [-0.611978,0.554907,0.563526]]Fpublishing direction and range info9~zQ㿛 ?ʩg?3@i@m/RSn+ r())\Ivis>^ ?^ Z>@?@ @iI?:4䆄ϿcԘ?^Q; @)@i}checking for new query: numPingsReceived=52, elapsed TxPingTime=26.487223ԑDDD/DE ; E:6EJ4:E!@!@!@!@AAvBӿ>~BӍCB;"IBBB =BBjDBV];B"E CM,<)Ay6B>ٱ6vt>66͹=6H{n?]ݿ?hG?I?EԸiv?-??I6B>)6Ԗ^;i6ՑC^׃B9b)"IIh)hBDr6Dr1YNE!j=Q)>9!9%GY!-;A->1Q 1E4٪5?Q 5E45Xr 5ÝB9IYM@BQ EM?y5C)5@;I5eA;i54YY] Aahԙhي)AhY@hY@h<@zVc2oM? T*?j~zQ㿛 ?ʩg?h@h@m!2O~??r ʸ_8!D[?k;?h{>hh[ z?hhhB*iȽ͊?2i:iBi?"i8@Bdddc`ff@c M?zZZZZ9O@I ɡiIi ) I!}checking for new query: numPingsReceived=52, elapsed TxPingTime=26.727623IN=5 DDAT read: Rx Time:05:26:01.4227 5 TRx dataTimestamp_ set to:1755840362.680965= PDAT read: Bearing 325.1, 35.9 (Local) = ~Local bearing/azimuth received: Bearing 325.1, 35.9 (Local) U DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 u DAT read: 05:26:01.4227 LVL= 27632, 11713, 23218, 28595, AGC= 44, IDX= 510, 0.05,-2.272,-1.661, 2.686,-1.532, PHS=-0.638,-0.084,-2.108, RAW= 14.7, 28.9, CAL= 13.2, 34.3, ROT= 136.8, -34.3 } Ygot valid direction response: 05:26:01.4227 LVL= 27632, 11713, 23218, 28595, AGC= 44, IDX= 510, 0.05,-2.272,-1.661, 2.686,-1.532, PHS=-0.638,-0.084,-2.108, RAW= 14.7, 28.9, CAL= 13.2, 34.3, ROT= 136.8, -34.3 } T#Rx 53: Read range and direction messages. ^direction in FSK: [-0.602200,0.565503,0.563526] Fpublishing direction and range info91 5 Dr8E_+?ʩg?1 1 i5 k5 -5 Z5 o5 , 5 S#)5 1I5 yi5 G\>1 5 k>1 5 @ 1 i1 1 I5 >|IFͿ33?5 e^5 , 5 @)1 i1 1  checking for new query: numPingsReceived=53, elapsed TxPingTime=26.995113 BEE4JEEcw4REE0D D D D E : E &p:6E :E "E g%ٱ6>6ؾ6ݶ=6Hl?,fݿ? P?0D?@Z@ϖ???I6d>)6_n^;i6ԑCN݃B9N0"I)RA RABDX6DXY=<!=H=EUQ)E>A9A9EGYAM :AM>QQ 1}4٪U?Q 54Uir Q9Y5BQ E?yUC)U;IU;iUת4YAhahe)Ahahahe);@zeBR$e*ﮰ? T*?jeDr8E_+?ʩg?he@hae=ȃ@?mI?reT^-hehe%y?heHUhheB*ieM?2ieHUh:ieBie?"ieTb:@Bdddcc`%?zZQZQZQZUO@Ia aɡaiiIiii)IIN=)checking for new query: numPingsReceived=53, elapsed TxPingTime=27.233332Qy `,M)AyBY>ٱB>BB=BH ym?_ݿk?LK?B?`u=@sy? ø?7?IBY>)Bp^;iB֑CrDDAT read: Rx Time:05:26:01.9228 vTRx dataTimestamp_ set to:1755840363.184913zPDAT read: Bearing 322.7, 37.4 (Local) z~Local bearing/azimuth received: Bearing 322.7, 37.4 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -DAT read: 05:26:01.9228 LVL= 27488, 11297, 23826, 28147, AGC= 44, IDX= 511, 0.18,-0.714,-0.210,-2.065, 0.000, PHS=-0.613,-0.166,-2.109, RAW= 17.3, 30.1, CAL= 15.7, 35.6, ROT= 134.3, -35.6 5Ygot valid direction response: 05:26:01.9228 LVL= 27488, 11297, 23826, 28147, AGC= 44, IDX= 511, 0.18,-0.714,-0.210,-2.065, 0.000, PHS=-0.613,-0.166,-2.109, RAW= 17.3, 30.1, CAL= 15.7, 35.6, ROT= 134.3, -35.6 T#Rx 54: Read range and direction messages.^direction in FSK: [-0.567882,0.581930,0.582123]Fpublishing direction and range info9tvB,N,?%I?v@tiv`kv!,v]vmt v)v)Iviv#>v|?vK>v?v@ vittIvsuSȿˏ\Z}Ko ?vgvk v@)vB96"IQD}D}DyDyE}2: E}:6Ey:Ey!@!@!@!@vBԿ>~BBG"IBBB =BBB];B"Eittchecking for new query: numPingsReceived=54, elapsed TxPingTime=27.543293Mb@Mb@Mb@ )IiV-y&1?Mb`?h`e<;I9AiCAA) AY9Y9]GYYe"BAe>Q 14٪?Q 54r 9C=Q A7hvshvWu?hvW|fhvІB*iv[ z?2it:itiv>?"iv:@EDone Waiting.CE E8Uninitialize Wait Component.CEBdAdAdAcM@33@cMb?ԁzZC=ZC=Z <@ZI[@I ɡiIi)IIN%M>checking for new query: numPingsReceived=54, elapsed TxPingTime=27.736115ԩ X,)Ay6>>ٱ65>66=6HWq?WPݿp?`>)6~^;i6ՑCL9R5"IBDZ6DZ1YvA!v=v:Q)v?x9x9zGYxzaA~?QQ 1]4٪U ?Q 5]4Ur Q9aYe6Q Ee?yUC)U;IU;iU4YimAiB*** querying acoustic contact ***zhh8GuidanceMode 0.000000 count CBdddccM?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.zZZZZ:[@I ɡiIi)IIN=ԱDDAT read: Rx Time:05:26:02.4227  TRx dataTimestamp_ set to:1755840363.690845PDAT read: Bearing 323.8, 37.9 (Local) ~Local bearing/azimuth received: Bearing 323.8, 37.9 (Local) %DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 MDAT read: 05:26:02.4227 LVL= 27792, 10401, 23602, 28371, AGC= 43, IDX= 510, 0.35,-2.257,-1.747, 2.668,-1.568, PHS=-0.587,-0.134,-2.092, RAW= 17.2, 29.3, CAL= 15.7, 34.7, ROT= 134.3, -34.7 UYgot valid direction response: 05:26:02.4227 LVL= 27792, 10401, 23602, 28371, AGC= 43, IDX= 510, 0.35,-2.257,-1.747, 2.668,-1.568, PHS=-0.587,-0.134,-2.092, RAW= 17.2, 29.3, CAL= 15.7, 34.7, ROT= 134.3, -34.7 ]T#Rx 55: Read range and direction messages.e^direction in FSK: [-0.574198,0.588402,0.569280]eFpublishing direction and range info9Sn_$w1?0}7?3@il(2\n+ E)L7 ITi`>? ?  iIm!ȿyF>U:뿙^6KG? ) i}checking for new query: numPingsReceived=55, elapsed TxPingTime=28.005596DDD-DE: E n:6Et4:E"E6ٱmPH>mm}=mH)mt^;imґCB96"I Mb@Mb@Mb@ ) I i   )\(I +?~jth Ga 94< DI "Ai A tA  A)   ABDM6DMY];!]5=]5:Q)]>a9a9eGYaeaAm>qQ 1u4٪u ?Q 5}4us uB9}f=Q A}l1rKJ?+(?r52O迬?+erN?h5R>h5h54Mv?h5fh5B*i5%y?2i1:i1i5?"i5?:@zZf=Zf=Zm<@ZkZ@Ip: ɡiIi) II1N==9DDAT read: Rx Time:05:26:02.9227 TRx dataTimestamp_ set to:1755840364.193085 PDAT read: Bearing 330.5, 35.9 (Local) ~Local bearing/azimuth received: Bearing 330.5, 35.9 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 EDAT read: 05:26:02.9227 LVL= 28336, 10097, 23778, 27939, AGC= 44, IDX= 511,-0.40, 2.263, 2.998, 0.907, 2.950, PHS=-0.584, 0.093,-2.086, RAW= 12.3, 25.3, CAL= 11.2, 30.2, ROT= 138.8, -30.2 MYgot valid direction response: 05:26:02.9227 LVL= 28336, 10097, 23778, 27939, AGC= 44, IDX= 511,-0.40, 2.263, 2.998, 0.907, 2.950, PHS=-0.584, 0.093,-2.086, RAW= 12.3, 25.3, CAL= 11.2, 30.2, ROT= 138.8, -30.2 UT#Rx 56: Read range and direction messages.]^direction in FSK: [-0.650293,0.569289,0.503020]]Fpublishing direction and range info9;35Ԝ7?6]?inq'\#m, )v=Ii[>=>+H>V? @ ViI֘ѿ]曞뿢N{M?6  @)Viuchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.507545AiAmAAvBuϿ>~BqBqBqBu =BqBqBu ];BqDDD0DE; E:6E4:E"EA<EA<*EH;EI;a R,+)A yR>ٱR>RȳR=RH`)?`:ݿ܈??W?"ӹ?ti??IR>)R@^;iRԑCfڃB9f,"IIl)lBDv6Dv0YC6!c= \7:Q) >99GYAm>qQ 1}4٪u\ ?Q 54u)s q9Y7Q E?yuC)u";Iu#;iu%Ǔ4YAj1QqQh1h5[ )Ah1h1h5I<@z5?\Z?ńng?j5;35Ԝ7?6]?h5 @h5V5Hn ??u?r5Eˬ꿺'KT?åE?h5>h5uh5bi?h5ih5IB*i54Mv?2i1:i1i5?"i5<:@zZZZZAZ@I ɡiIi)II)NE=]checking for new query: numPingsReceived=56, elapsed TxPingTime=28.743692qԙ  DDAT read: Rx Time:05:26:03.4226  TRx dataTimestamp_ set to:1755840364.697022 PDAT read: Bearing 331.4, 35.0 (Local) % ~Local bearing/azimuth received: Bearing 331.4, 35.0 (Local) 5 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 U DAT read: 05:26:03.4226 LVL= 28816, 10849, 23730, 28627, AGC= 43, IDX= 510,-0.23, 0.690, 1.487,-0.652, 1.389, PHS=-0.598, 0.143,-2.086, RAW= 11.0, 24.6, CAL= 10.0, 29.4, ROT= 140.0, -29.4 ] Ygot valid direction response: 05:26:03.4226 LVL= 28816, 10849, 23730, 28627, AGC= 43, IDX= 510,-0.23, 0.690, 1.487,-0.652, 1.389, PHS=-0.598, 0.143,-2.086, RAW= 11.0, 24.6, CAL= 10.0, 29.4, ROT= 140.0, -29.4 e T#Rx 57: Read range and direction messages.m ^direction in FSK: [-0.667388,0.560005,0.490904]m Fpublishing direction and range info9   z?[2?xފj? f@ i p a* \ o +  ) n>I i D> > ¸2> G\? a@  G\i  I ҿ + ? _ fp۾  a@) G\i   checking for new query: numPingsReceived=57, elapsed TxPingTime=29.011442D D D -D E s: E k:6E t4:E ! @! @! @! @,`1)Ay6f~>ٱ6 >6 61=6H?@kܿg??g?G@,?ٷ?q?I6f~>)6Z^;i6בCLR߃B9R3"IBDZ6DZJYbB<!bN=f:Q)f>d9d9fGYhjAj>lQ 1r4٪n?Q 5r4nOs nB9tYv8Q Ev?ynC)nd:In:in͓4YxzAx(Mode 0.000000 count qQQ ZAggregate::initialize lineCaptureHoming:Lap:EhAhE,)AhE@hE@hE=@zE[dK o?͔09 f?jE z?[2?xފj?hEa@hEG\EE-A|&TV?&d| J?rE&C꿈xy?9Ώ?hE>hE3hEeXs?hE)khE B*iEWu?2iA:iAiE?"iE9@zZZZZZ@I ɡiIi)II9NE=checking for new query: numPingsReceived=57, elapsed TxPingTime=29.251383! ϭ,}ٱ:r>: :ǟ=:H`?Cܿ@w?a?y?@ `[?ҧ?8?I:|y>):X>^;i:ՑCfDDAT read: Rx Time:05:26:03.9227 fTRx dataTimestamp_ set to:1755840365.200956jPDAT read: Bearing 331.3, 34.9 (Local) n~Local bearing/azimuth received: Bearing 331.3, 34.9 (Local) vDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 05:26:03.9227 LVL= 30016, 10817, 23666, 28659, AGC= 43, IDX= 511,-0.09, 2.226, 3.033, 0.876, 2.927, PHS=-0.599, 0.152,-2.094, RAW= 10.8, 24.4, CAL= 9.9, 29.2, ROT= 140.1, -29.2 Ygot valid direction response: 05:26:03.9227 LVL= 30016, 10817, 23666, 28659, AGC= 43, IDX= 511,-0.09, 2.226, 3.033, 0.876, 2.927, PHS=-0.599, 0.152,-2.094, RAW= 10.8, 24.4, CAL= 9.9, 29.2, ROT= 140.1, -29.2 %T#Rx 58: Read range and direction messages.-^direction in FSK: [-0.669675,0.559935,0.487860]-Fpublishing direction and range info9df9m(?M9?f3@dif@ufA*fr\fod fX)f>IfifA>f^ >f;0>fw?fC~@ fwiddIf N/$ӿkpmjp?ffY ھ fC~@)fwiddEchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.516209MB9M<"IMb@Mb@Mb@ )Ii&1Mb?~jthP<I9AiZAA A)G ABD6Dk1Y <!8=M:Q)>99GY /A >D]D]D].DYE]: E]]t:6E]ـ4:EYvBq~BuҍCBqBqBu =BqBqBuA];Bu"EBӍCBҍCBB =B =B5Q 14٪?Q 54}s B9S=Q Ahfhfdh(c?hf*VjhfAB*ifeXs?2ifi:ifIBif?"ifHo;@zZS=ZS=Z?@ZA\\@I ɡiIi!))IaIqN}7>qiߍ4=Iߍ4=DDAT read: Rx Time:05:26:04.4227 TRx dataTimestamp_ set to:1755840365.458190PDAT read: Bearing 326.2, 36.7 (Local) ~Local bearing/azimuth received: Bearing 326.2, 36.7 (Local) checking for new query: numPingsReceived=58, elapsed TxPingTime=29.762859ԡ ~,e)Ay6#s>ٱ6F>66X;=6H@?Aܿ?` 0?@?@-?ͷ? ?I6#s>)6];i6֑CNރB9R2"IVp!9!9%GY!-{A->1Q 1=4٪54?Q 5=45s 5B99Y="6Q EE?y5C)5;I5w;i5-ܓ4YIMAIe`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh1MeeNCompleted lineCaptureHoming:restartDHCPLe ejAggregate::uninitialize lineCaptureHoming:restartDHCPmB*** querying acoustic contact ***zhihi=Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shzZYZYZYZ][@I ɡiIi ) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 =DAT read: 05:26:04.4227 LVL= 29888, 11313, 23266, 29347, AGC= 44, IDX= 510, 0.02, 2.096, 2.734, 0.727, 2.791, PHS=-0.593,-0.013,-2.108, RAW= 14.4, 27.1, CAL= 13.1, 32.2, ROT= 136.9, -32.2 MYgot valid direction response: 05:26:04.4227 LVL= 29888, 11313, 23266, 29347, AGC= 44, IDX= 510, 0.02, 2.096, 2.734, 0.727, 2.791, PHS=-0.593,-0.013,-2.108, RAW= 14.4, 27.1, CAL= 13.1, 32.2, ROT= 136.9, -32.2 MT#Rx 59: Read range and direction messages.U^direction in FSK: [-0.617858,0.578182,0.532876]]Fpublishing direction and range info9~~v?KR ?it1,Zr, )TIyi>*> j>?4@ iI>6<ο["yp뿐0w,?NV 4@)ichecking for new query: numPingsReceived=59, elapsed TxPingTime=30.045752DmDmDm/DiEm; Em҆:6EmJ4:Ei"EmA\ DDAT read: Rx Time:05:26:04.9228  TRx dataTimestamp_ set to:1755840365.973663,1)APDAT read: Bearing 317.5, 39.0 (Local) ~Local bearing/azimuth received: Bearing 317.5, 39.0 (Local) -DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 yEl>ٱED>EEoN=EH?ۿ ???m8 J#??{?IEl>)E^;iEԑCDAT read: 05:26:04.9228 LVL= 30288, 10737, 22962, 28979, AGC= 44, IDX= 511, 0.13,-2.648,-2.268, 2.258,-1.961, PHS=-0.586,-0.262,-2.108, RAW= 20.5, 31.5, CAL= 18.8, 37.3, ROT= 131.2, -37.3 ߃B93"IYgot valid direction response: 05:26:04.9228 LVL= 30288, 10737, 22962, 28979, AGC= 44, IDX= 511, 0.13,-2.648,-2.268, 2.258,-1.961, PHS=-0.586,-0.262,-2.108, RAW= 20.5, 31.5, CAL= 18.8, 37.3, ROT= 131.2, -37.3 T#Rx 60: Read range and direction messages.^direction in FSK: [-0.523970,0.598526,0.605988]Fpublishing direction and range info9"\gO '?=Ad?@iPv)Y3q )$Ii0>L ?>r&?C@ r&iIǡMU[꿮 a? 2޿( C@)r&ichecking for new query: numPingsReceived=60, elapsed TxPingTime=30.405661Mb@Mb@Mb@ )Ii99GY>A >Q 14٪?Q 54s B9=Q A~B9B9B9B= =B9B=iDB=w];B= #ED]D]D]2DYE]+$; E]~:6E]4:EY"E]*}<E]+}<*E]/;E]/;zZ=Z=ZS@Zo9p@I  ɡ i I iI )Q - 9IA IQ N] >=] T/mnt/mmc/started/2025-08-22UTC052606_sh Y ԁ s,sؘ)Ayrd>ٱr4>r1󼹱rߘ=rH(?kgۿ_?`9Z?@'?0d?G?@t?Ird>)r0%^;ir֑C=уB9E!"IBDM6DM1YN˽!=;Q)?9!9%GY!5(A5"?qDDAT read: Rx Time:05:26:05.4227 TRx dataTimestamp_ set to:1755840366.475497PDAT read: Bearing 310.0, 40.5 (Local) ~Local bearing/azimuth received: Bearing 310.0, 40.5 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 Z#Rx 61: Read range message, but no direction.93@checking for new query: numPingsReceived=61, elapsed TxPingTime=30.788492IQ 1E4٪M?Q 5E4Mt I9AYEi"Q EE?yMC)M=IM=iM4YQU$ AQFWaiting on dock for 15.000000 min 1RqSzZ1Z1Z1Z5o@IA AɡAiIIIiI)Qԙ9IINg>e DAT read: 05:26:05.4227 LVL= 29872, 11569, 22562, 28915, AGC= 44, IDX= 510, 0.26, 2.766, 2.960, 1.381,-2.824, PHS=-0.591,-0.454,-2.122, RAW= 25.8, 34.9, CAL= 23.8, 41.0, ROT= 126.2, -41.0 m Ygot valid direction response: 05:26:05.4227 LVL= 29872, 11569, 22562, 28915, AGC= 44, IDX= 510, 0.26, 2.766, 2.960, 1.381,-2.824, PHS=-0.591,-0.454,-2.122, RAW= 25.8, 34.9, CAL= 23.8, 41.0, ROT= 126.2, -41.0 m Z#Rx 62: Read direction message, but no range.u ^direction in FSK: [-0.445736,0.609021,0.656059]9A E Wsj/ܿ?}?*E I?E ȭ>E 07?E } @ E 07iA IE Y ",I*pMQ?E ҿE  E } @)E 07 checking for new query: numPingsReceived=62, elapsed TxPingTime=31.033875D} D} D} +Dy E} : E} Ar:6E} [4:Ey ! @! @! @! @ ,T)Ay6[>ٱ6>6]⼹6=6H`?@ڿsT?@>??=\?8J??I6[>)6^;i6ґCN׃B9N)"IIT)VAABDZ6DZ:2Yf=!f`=f;Q)f>h9h9jGYhjƼA~>Q 1 4٪)?Q 5 4Kt B9 Y "Q E?yC):I/:iA4Y9=AA"k^@qSSzZZZZ['o@I! )ɡ)i)I)iq)yz9IIN>-DDAT read: Rx Time:05:26:05.9228 ETRx dataTimestamp_ set to:1755840366.994432PDAT read: Bearing 302.1, 41.7 (Local)  ~Local bearing/azimuth received: Bearing 302.1, 41.7 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:05.9228 LVL= 29600, 11249, 22322, 28963, AGC= 43, IDX= 511, 0.43,-2.001,-1.998, 2.905,-1.296, PHS=-0.603,-0.657,-2.126, RAW= 31.8, 38.7, CAL= 29.7, 44.3, ROT= 120.3, -44.3 Ygot valid direction response: 05:26:05.9228 LVL= 29600, 11249, 22322, 28963, AGC= 43, IDX= 511, 0.43,-2.001,-1.998, 2.905,-1.296, PHS=-0.603,-0.657,-2.126, RAW= 31.8, 38.7, CAL= 29.7, 44.3, ROT= 120.3, -44.3 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.361087,0.617926,0.698415]Fpublishing direction and range info915& ׿h- ?yjY?5@1i5s5+52W5#q5+ 55^)5'1(I5bi5q?5,?5m?5.E?5[`@ 5.Ei11I56\'b?ܘAG迪?5ſ5, 5[`@)5.Ei11}checking for new query: numPingsReceived=63, elapsed TxPingTime=31.368210) I ĉG) "oAI i Ӿ "oA @Q B,)Ay60R>ٱ6>6i\Ҽ6H=6H*)?Uڿ~9?M?y? 踿J? ]??I60R>)6^;i6ӑC^σB9^"Ichecking for new query: numPingsReceived=63, elapsed TxPingTime=31.531736]Mb@Mb@Mb@ Y)YIYiYY]y&1~jth]̼]`e]DIYi]AY] A)Y]p ABDu6DuY!?=;Q)>99GY[A>Q 14٪?Q 54t B9QDDAT read: Rx Time:05:26:06.4227 TRx dataTimestamp_ set to:1755840367.487189PDAT read: Bearing 309.2, 40.0 (Local)  ~Local bearing/azimuth received: Bearing 309.2, 40.0 (Local) - DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 5 Z#Rx 64: Read range message, but no direction.93@U checking for new query: numPingsReceived=64, elapsed TxPingTime=31.800673ԁ %,t])A0y6^I>ٱ6>6'6b=6HE?ٿ J?.? ?S ?;??I6^I>)6Y^;i6ґCR˃B9R"I)VA VABDZ6DZkYv!vU=vv;Q)v>x9x9zGYxzA~>Q 1 4٪?Q 5 4t B9 Y eQ E ?yC)H:I:i^4YR AkkkkzZZZZ܁@Iٺ9 ɡiIi)z9I1IANU=ԉMDAT read: 05:26:06.4227 LVL= 30480, 10865, 22626, 28995, AGC= 43, IDX= 511,-0.35, 1.341, 1.578,-0.030, 2.056, PHS=-0.612,-0.433,-2.129, RAW= 24.5, 34.8, CAL= 22.6, 40.9, ROT= 127.4, -40.9 UYgot valid direction response: 05:26:06.4227 LVL= 30480, 10865, 22626, 28995, AGC= 43, IDX= 511,-0.35, 1.341, 1.578,-0.030, 2.056, PHS=-0.612,-0.433,-2.129, RAW= 24.5, 34.8, CAL= 22.6, 40.9, ROT= 127.4, -40.9 ]Z#Rx 65: Read direction message, but no range.e^direction in FSK: [-0.459087,0.600461,0.654741]9)-ZGaݿ>6?{S?)i-w-q*-bX-Cq) -)--ݾI-Ai-!>-|?->-36?-N@ -36i)I-)0!&KD?-`տ- -N@)-36checking for new query: numPingsReceived=65, elapsed TxPingTime=32.046230XRequesting device enable set for address 50.BEـ4JE~4REI"0DmDmDm.DiEmf; Em1:6Emـ4:Ei!}@!}@!}@!}@Թ  DDAT read: Rx Time:05:26:06.9227 % TRx dataTimestamp_ set to:1755840367.995326M PDAT read: Bearing 300.3, 42.4 (Local) U ~Local bearing/azimuth received: Bearing 300.3, 42.4 (Local) ,A)A|5DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 yV?>ٱ?>_=H@f?;ٿ ˔?q:?`;?Fv???IV?>)N1^;iԑCB9 "IUDAT read: 05:26:06.9227 LVL= 29856, 10913, 22754, 29027, AGC= 43, IDX= 511,-0.20, 1.703, 1.691, 0.310, 2.402, PHS=-0.597,-0.666,-2.136, RAW= 32.3, 38.6, CAL= 30.2, 44.3, ROT= 119.8, -44.3 ]Ygot valid direction response: 05:26:06.9227 LVL= 29856, 10913, 22754, 29027, AGC= 43, IDX= 511,-0.20, 1.703, 1.691, 0.310, 2.402, PHS=-0.597,-0.666,-2.136, RAW= 32.3, 38.6, CAL= 30.2, 44.3, ROT= 119.8, -44.3 ]T#Rx 66: Read range and direction messages.e^direction in FSK: [-0.355681,0.621053,0.698415]mFpublishing direction and range info9AE$xֿ*p?yjY?AAiEtE*EXEcqA E)E~*IE9iEZQ?Eiw,?EV?E.E?Ea@ E.EiAEIE'Mß?p:7lQ/?EÿEp, Ea@)E.EiAAEchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.409843EXRequesting device enable set for address 50.Mb@Mb@Mb@ )Ii rhMbMbPCIAipA A A) AiBD6Dk2!YMC!M=U;Q)U>Q9Y9]GYY]A>Q 14٪?Q 54Cu B9y=Q A=checking for new query: numPingsReceived=66, elapsed TxPingTime=32.539642=XRequesting device enable set for address 50.QAAAAvB˿>~BB."IB܃BBBBB^;BO#EDuDuDu0DqEul; Eu5:6Eu4:Eq"EuPFٱ6`x>6u˖6#Q=6H }? Lؿ N?@m?T?(ْ?ڻ??I6YD5>)6^^;i6ґCRB9R"IBDZ6DZYvk!v=v:?WBz?is*R^x )`IAiK6?}l9?,?BR?? BRiI 8?Ug0?zZZZZ/ē@I ɡiIE9 ?)BRichecking for new query: numPingsReceived=67, elapsed TxPingTime=32.835606i) 4Initializing EZServoServo. 8Initializing DockingStepper.IIN>M checking for new query: numPingsReceived=67, elapsed TxPingTime=33.043625 D D D -D E : E n:6E t4:E ! @! @! @! @~a ,3)Ay6)+>ٱ6j>66 =6H?^ؿ`d?4? tl? TE??l?I6)+>)6w^;i4fB9f"Iij=Ija=BDn6Dn02YvR!vJ=z^;Q)z>x9|9~GY|~ǼA>Q 1 4٪?Q 54u B9YֿQ E?yC):I:i4Y% A!kAkAkAkAh h  )Ah h h @z 9X8+ۏi ? >?j sϿM>:?WBz?h ?h BR qRcg?dL9?r =ܿ$?.$?h =l?h h 'ǯ?h Ĥ]h _B*i Z|?2i p_:i ,Bi "?"i }%@zZyZyZyZ}Zm@I ɡiIi)IIN=)DDAT read: Rx Time:05:26:07.9228 TRx dataTimestamp_ set to:1755840369.002855PDAT read: Bearing 285.6, 46.0 (Local)  ~Local bearing/azimuth received: Bearing 285.6, 46.0 (Local) =DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:07.9228 LVL= 27072, 10833, 24690, 28915, AGC= 44, IDX= 511, 0.01,-3.014, 2.879, 1.834,-2.373, PHS=-0.539,-0.986,-2.121, RAW= 45.9, 42.4, CAL= 43.4, 47.9, ROT= 106.6, -47.9 Ygot valid direction response: 05:26:07.9228 LVL= 27072, 10833, 24690, 28915, AGC= 44, IDX= 511, 0.01,-3.014, 2.879, 1.834,-2.373, PHS=-0.539,-0.986,-2.121, RAW= 45.9, 42.4, CAL= 43.4, 47.9, ROT= 106.6, -47.9 T#Rx 68: Read range and direction messages.^direction in FSK: [-0.191533,0.642485,0.741976]Fpublishing direction and range info9)G'ȿ'ٱ6ha>6zY6>6H?Vf׿@1C? {?b?":>? ??I6g!>)6N^;i6ӑCRB9R!Ichecking for new query: numPingsReceived=68, elapsed TxPingTime=33.547684}Mb@Mb@Mb@ y)yIyiyy}~jth ףp= }D}Q8}Iyi}A}bA}5 A)y}G AI)vBʿ>~BB"IB̃BB =BBB?^;Bl#EBD6D0Y]4!==;Q)>99GYɺA>Q 14٪%?Q 54fv B98=Q Aٱ:'>: ;:>:HZ?ֿ@e?R?@?+:a?`q??I:>):[^;i:ґCNB9N!IBDV6DVYr !rZ=r;Q)v>t9t9vGYtzȼAz>|Q 14٪~?Q 54~v ~B9Y Q E ?y~C)~:I~1:i~"4Y1 Ak1k1k1k1hh&`)AhX@hX@hk@zuUڿ-L?7Cd0?j1qZǿ—?:?h?hPwV4v"뿘PSM?z+I?rzټ׿S-?_Ԕv5?h"?hYh׋?h}\hnB*i'ǯ?2iĤ]:i_Bi?"ix+@zZqZqZqZul@I ɡiIi)9 checking for new query: numPingsReceived=69, elapsed TxPingTime=34.051575IQIaNu>DEDEDE+DAEE; EE:6EE [4:EA!M@!M@!M@!M@Qԁ  DDAT read: Rx Time:05:26:08.9228  TRx dataTimestamp_ set to:1755840370.010191 PDAT read: Bearing 284.3, 46.6 (Local)  ~Local bearing/azimuth received: Bearing 284.3, 46.6 (Local) _ ,搁)A<JDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 \i\zDAT read: 05:26:08.9228 LVL= 25136, 11345, 25650, 28019, AGC= 43, IDX= 511, 0.27,-2.311,-2.695, 2.552,-1.669, PHS=-0.540,-0.981,-2.107, RAW= 45.8, 42.5, CAL= 43.3, 48.0, ROT= 106.7, -48.0 Ygot valid direction response: 05:26:08.9228 LVL= 25136, 11345, 25650, 28019, AGC= 43, IDX= 511, 0.27,-2.311,-2.695, 2.552,-1.669, PHS=-0.540,-0.981,-2.107, RAW= 45.8, 42.5, CAL= 43.3, 48.0, ROT= 106.7, -48.0 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.192282,0.640908,0.743145]Fpublishing direction and range info9'xޯȿ0R?:?@i0bQ,2dsm q= )"{IiL?N=?\wA?^? iI n?01uY۞?= ^?)iEchecking for new query: numPingsReceived=70, elapsed TxPingTime=34.397842yuh>ٱuhX>u-uL>uH@?`տ׿?? ?`$?L?`;?Iuh>)u7^;iqB9!IԡMMb@Mb@Mb@ I)IIIiIIMMb?J +~jthM99GYA>Q 1%4٪?Q 5-4jw B9-K=Q A-checking for new query: numPingsReceived=70, elapsed TxPingTime=34.555592A<A<vBǿ>~BэCB"IBƒBB =BBB`^;B{#EB]ҍCBYBYB]Dz =B]Dz =B]RI5DMDMDM,DIEM~ ; EM|:6EMg4:EI"EMU?vQl m?}3@yi}b}(}2h}Cx}, })}-}I}wi}5P?}f;?} D?}ȭT?}h? }ȭTiyyI}7?gG濍?vQl m?h}h?h}ȭT}{PWY?T?r}4׿kݽ?~?h}̂?h}Xh}I?h}ū\h}iB*i}?2iy:iyi}?"i}@@)zZIZIZIZIIY YɡYiYIYia)II N*>Q- checking for new query: numPingsReceived=71, elapsed TxPingTime=35.059589y bDY ZD] @ADe De Da Da Ee T; Ee ą:6Ea :Ea !m @!m @!m @!m @,,6)Ay6ԇ>ٱ6>6176X=6H? տ ? w??Ͼ?@?e?I6ԇ>)6NP^;i4nB9r"IBD 6D 0Y-v=!-O=51Q)5>Yy99GYA>Q 14٪?Q 544x B9YQ E?yC)6lH6=6H -? 6տ?{E??z?ƽ??I6=)6k^;i6ϑCNB9R"Irchecking for new query: numPingsReceived=72, elapsed TxPingTime=35.5635765Mb@Mb@Mb@ 1)1I1i11vBEĿ>~BABE "IBEBBE =BEIDBEhDBE^;BE#EԹ5Q?/$y&1|5u<5,5`I5 Ai5A5 A5 A)15ADDD+DE; E$:6E [4:E"E]i9i9mGYimKAAu>Q 14٪?Q 54x B98=Q A2f?Ll"$?hƝ?h_wh-?h*XhQB*i2i=[:iip?"iz@zZ8=Z8=Zš@Z@I ɡiIi)IIN )>iߕ=Iߕ=DDAT read: Rx Time:05:26:10.4228 TRx dataTimestamp_ set to:1755840371.517305PDAT read: Bearing 287.9, 44.8 (Local) ~Local bearing/azimuth received: Bearing 287.9, 44.8 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:10.4228 LVL= 26192, 10785, 26514, 28435, AGC= 43, IDX= 511,-0.16, 0.915, 0.667,-0.504, 1.581, PHS=-0.564,-0.869,-2.129, RAW= 40.6, 41.2, CAL= 38.3, 46.9, ROT= 111.7, -46.9 Ygot valid direction response: 05:26:10.4228 LVL= 26192, 10785, 26514, 28435, AGC= 43, IDX= 511,-0.16, 0.915, 0.667,-0.504, 1.581, PHS=-0.564,-0.869,-2.129, RAW= 40.6, 41.2, CAL= 38.3, 46.9, ROT= 111.7, -46.9 T#Rx 73: Read range and direction messages.^direction in FSK: [-0.252638,0.634852,0.730162]Fpublishing direction and range info9Ƌ9+пjgP?0Y}]?iPf!*go Nb)v^IAi g5?X8?D +?Q?J? QiISڰϱ?ϡeJDUP?2f88 J?)Qi checking for new query: numPingsReceived=73, elapsed TxPingTime=35.832108I Y X9,)Ay6f=ٱ6N>6_6=6H@5?տp?`?? d?`?`Y?I6f=)6)^;i6ёCNB9N "IBDZ6DZk1Yv=!vf=vQ)v>x9x9zGYxzyA>!Q 1-4٪%?Q 5-4%x %B9)Y-waQ E-?y%C)%:I%:i% F4YY] AYkkkkhh)Ahhh@z t+JT?[7?r2ۿ0?LT?hy?hyhB^?hխ]hB*i2i}\:ii?"i @zZ)Z)Z)Z-@1IY aɡaiaIaia)iIIN=checking for new query: numPingsReceived=73, elapsed TxPingTime=36.067673rD%=jD%R=D-D-D--D)E-s: E-:6E-t4:E)!5@!5@!5@!5@aԉ DDAT read: Rx Time:05:26:10.9228  TRx dataTimestamp_ set to:1755840372.025140 PDAT read: Bearing 287.6, 44.2 (Local)  ~Local bearing/azimuth received: Bearing 287.6, 44.2 (Local) 9 W@, )A.DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 EDAT read: 05:26:10.9228 LVL= 26976, 10737, 26098, 29427, AGC= 43, IDX= 511,-0.04, 1.237, 0.991,-0.183, 1.914, PHS=-0.574,-0.877,-2.140, RAW= 40.5, 41.4, CAL= 38.3, 47.1, ROT= 111.7, -47.1 MYgot valid direction response: 05:26:10.9228 LVL= 26976, 10737, 26098, 29427, AGC= 43, IDX= 511,-0.04, 1.237, 0.991,-0.183, 1.914, PHS=-0.574,-0.877,-2.140, RAW= 40.5, 41.4, CAL= 38.3, 47.1, ROT= 111.7, -47.1 MT#Rx 74: Read range and direction messages.iI)1IIi}Ǔy} A^direction in FSK: [-0.251694,0.632480,0.732543]?-AFpublishing direction and range info9 пbDF=?0Œp?i`i)er )`I i4?8?qR? qRiIvuR?^&,?Y9 )qRi=checking for new query: numPingsReceived=74, elapsed TxPingTime=36.449570ym=ٱm(>mJƆmc=mH9?"Կ?2??@sҹؐ???@?Im=)mxj^;iiB9!IMb@Mb@Mb@ )Ii:v? rh~jtxT<CĻI"AiA A5 A)p ABD)6D)Y}!=Q)>99GY/GA>Q 14٪?Q 54y B9~B=ЍCB="IB=ƒBB= =B9B9B=*_;B=#Eiiiimo iDDD,DE; Eą:6Eg4:E"E @a GF,)AB9 "IBD6DY=!= Q) ? 99GYA?Q 1%4٪/?Q 5%4%y B9)Y)Q E-?yC)<;I;iT4Y15 A1kQkQkQkYmDDAT read: Rx Time:05:26:11.4227 uTRx dataTimestamp_ set to:1755840372.529137}PDAT read: Bearing 284.5, 44.1 (Local) }~Local bearing/azimuth received: Bearing 284.5, 44.1 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:26:11.4227 LVL= 27872, 10769, 25266, 29347, AGC= 43, IDX= 510, 0.08, 1.064, 0.738,-0.356, 1.744, PHS=-0.578,-0.961,-2.143, RAW= 43.6, 42.6, CAL= 41.2, 48.2, ROT= 108.8, -48.2 Ygot valid direction response: 05:26:11.4227 LVL= 27872, 10769, 25266, 29347, AGC= 43, IDX= 510, 0.08, 1.064, 0.738,-0.356, 1.744, PHS=-0.578,-0.961,-2.143, RAW= 43.6, 42.6, CAL= 41.2, 48.2, ROT= 108.8, -48.2 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.214801,0.630972,0.745476]Fpublishing direction and range info9im"ݕ~˿=N+0??Mx?m3@iimlm*mbmri m)mvIm& imB?mV>?mX8?m\W?m? m\WzZZZZI ɡi I i )YiiiImSv3'? |濈Oͱ?mWm> m?)m\Wiiichecking for new query: numPingsReceived=75, elapsed TxPingTime=36.876495iu"9qqup qIIN=>ԉԱ  checking for new query: numPingsReceived=75, elapsed TxPingTime=37.079464BEg4JEp4RE/D D D D E : E z:6E :E ! @! @! @! @L,J}6)AyRT]=ٱR>RF'R{=RH6?`տX?`?( ?`, ?=??IRT]=)Rm^;iRБC`nB9n "IBD~6D~kY)<!]=4Q)>9999EGYAED;AE>yQ 14٪}?Q 54}Ay }B9YQ E?y}C)}:I}:i}U[4Y Akkkkhha!)AhW@hW@h#@zݽm>i%9!%t )IaIN>iߍ%=Iߍ%=DDAT read: Rx Time:05:26:11.9229 TRx dataTimestamp_ set to:1755840373.034154PDAT read: Bearing 299.9, 46.4 (Local) ~Local bearing/azimuth received: Bearing 299.9, 46.4 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:26:11.9229 LVL= 27776, 11217, 25522, 29683, AGC= 43, IDX= 512, 0.22, 2.595, 2.532, 1.036, 3.127, PHS=-0.430,-0.550,-2.135, RAW= 33.6, 33.7, CAL= 31.3, 40.0, ROT= 118.7, -40.0 Ygot valid direction response: 05:26:11.9229 LVL= 27776, 11217, 25522, 29683, AGC= 43, IDX= 512, 0.22, 2.595, 2.532, 1.036, 3.127, PHS=-0.430,-0.550,-2.135, RAW= 33.6, 33.7, CAL= 31.3, 40.0, ROT= 118.7, -40.0 5T#Rx 76: Read range and direction messages.M^direction in FSK: [-0.367873,0.671933,0.642788]UFpublishing direction and range info9S)I9׿ϥy?I?f&@il+cs (ܾ) IףiQ ?? ?¸2?Ԗ@ ¸2iIRrSת?ㅯ (?{+ Ԗ@)¸2ichecking for new query: numPingsReceived=76, elapsed TxPingTime=37.370121! S,YP)Ay66=ٱ6L>6Ow6=6H-?@տ@?g????a??I66=)6 _^;i4L9Prchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.583740|vBz>~BxBz"IBzǃBBz =BxBxBz$_;Bz#EMb@Mb@Mb@ )Ii99GY;A>!Q 1-4٪%?Q 5-4%;y !9-]Q E5?y%C)%&;I%;i%b4Y9= A9D]D]D]0DYE]: E]ą:6E]4:EY"E].I ɡiIi)1im"9iim} iIyIN>YDDAT read: Rx Time:05:26:12.4228 TRx dataTimestamp_ set to:1755840373.537005PDAT read: Bearing 283.9, 44.8 (Local) ~Local bearing/azimuth received: Bearing 283.9, 44.8 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:12.4228 LVL= 26848, 10945, 23154, 28931, AGC= 43, IDX= 511, 0.41, 2.366, 2.003, 0.949, 3.034, PHS=-0.566,-0.986,-2.129, RAW= 45.0, 42.9, CAL= 42.6, 48.4, ROT= 107.4, -48.4 Ygot valid direction response: 05:26:12.4228 LVL= 26848, 10945, 23154, 28931, AGC= 43, IDX= 511, 0.41, 2.366, 2.003, 0.949, 3.034, PHS=-0.566,-0.986,-2.129, RAW= 45.0, 42.9, CAL= 42.6, 48.4, ROT= 107.4, -48.4 T#Rx 77: Read range and direction messages.^direction in FSK: [-0.198541,0.633545,0.747798]Fpublishing direction and range info9Qiɿ F?I?@ih*rZq `)j|IAiI?֭??V>?@X?? @XiI\X?@"p@#ʙS?5rf? ?)@Xi checking for new query: numPingsReceived=77, elapsed TxPingTime=37.851585ԁ Z,4j)Ay:G=ٱ:/>:H:-=:H@8!?տ1? k??@U?}?c?I:G=):K^;i:ϑCR˃B9R"IBDZ6DZ2Yb$t=!ba=fQ)f>d9d9jGYhjLP<Aj>lQ 1r4٪nU?Q 5r4n6y l9tYvn>Q Ev?yl)nw:In,:in-i4YxzR Axk1k1k9kAhhJ^b)Ah@h@hC@zd/xQ޿kø/?pT?jQiɿ F?I?h?h@XXoՈxS l?7J?Yr>MؿPyy?A=?h?hkh:?h>WJ]hB*i2i:iwBi?"i@zZZZZʪn>I ɡiIi)i5!9115 1IAIQN]=checking for new query: numPingsReceived=77, elapsed TxPingTime=38.087593ԁDmDmDm+DiEms: Emxv:6Em [4:Ei!u@!u@!u@!u@Ա  DDAT read: Rx Time:05:26:12.9229  TRx dataTimestamp_ set to:1755840374.041371 PDAT read: Bearing 293.8, 46.4 (Local)  ~Local bearing/azimuth received: Bearing 293.8, 46.4 (Local) M DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 `,)ADAT read: 05:26:12.9229 LVL= 27072, 11041, 25330, 30243, AGC= 43, IDX= 513,-0.35, 0.401, 0.210,-1.093, 0.989, PHS=-0.486,-0.734,-2.126, RAW= 38.1, 37.7, CAL= 35.7, 43.7, ROT= 114.3, -43.7 Ygot valid direction response: 05:26:12.9229 LVL= 27072, 11041, 25330, 30243, AGC= 43, IDX= 513,-0.35, 0.401, 0.210,-1.093, 0.989, PHS=-0.486,-0.734,-2.126, RAW= 38.1, 37.7, CAL= 35.7, 43.7, ROT= 114.3, -43.7 T#Rx 78: Read range and direction messages.Ա^direction in FSK: [-0.297511,0.658915,0.690882]Fpublishing direction and range info9ԵVm ӿ,G ?O u?f&@ii!+b#v )m;Ibi;*?q(?W?@C?BY? @CiIʼn(j?.nr.T?? g( BY?)@Ciy] >ٱ]D>]]=]H?@!Kֿ6? M? ?uV;6?m??I] >)];^;i]ёCy9"Ichecking for new query: numPingsReceived=78, elapsed TxPingTime=38.430386]Mb@Mb@Mb@ Y)YIYiYY]~jt?V-?{Gzt?]D<]<]ף;I]"Ai]A]bAY)Y]p ABD6DYU:!=1ҺQ)>99GYY<A>Q 14٪d?Q 54x B9%,=Q A%’?jԵVm ӿ,G ?O u?hBY?h@CxpBgr>$?mD?rlZߒ߿ m?0y1?hQ?h:h?hg9[hB*i2i>WJ]:ii?"i@zZ,=Z,=Zז?Z'?I ɡi!I!i!)))1AA<checking for new query: numPingsReceived=78, elapsed TxPingTime=38.592213vB~BB""IBуBBBBB^;B#EiIIN> DmDmDm-DiEm: Em:6Emt4:Ei"Em58ٱ-Hչ>-f -@=-H?ֿ?? m? .Ô?ǽ??I-(>)-9`^;i-ϑCEǃB9E"I)I MABD]6D]0Ym!m=mQ)u?q9q9uGYy}<A}?Q 14٪j?Q 54x B9Y?Q E?yC);I/;iw4YBt AkkkkzZZZZ?I ɡiIi)]DDAT read: Rx Time:05:26:13.4229 ]TRx dataTimestamp_ set to:1755840374.545083ePDAT read: Bearing 294.1, 45.8 (Local) m~Local bearing/azimuth received: Bearing 294.1, 45.8 (Local) }DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:26:13.4229 LVL= 26080, 10993, 22930, 28051, AGC= 43, IDX= 512,-0.18,-1.129,-1.286,-2.518,-0.534, PHS=-0.494,-0.708,-2.028, RAW= 37.4, 38.4, CAL= 35.1, 44.3, ROT= 114.9, -44.3 Ygot valid direction response: 05:26:13.4229 LVL= 26080, 10993, 22930, 28051, AGC= 43, IDX= 512,-0.18,-1.129,-1.286,-2.518,-0.534, PHS=-0.494,-0.708,-2.028, RAW= 37.4, 38.4, CAL= 35.1, 44.3, ROT= 114.9, -44.3 T#Rx 79: Read range and direction messages.^direction in FSK: [-0.301332,0.649165,0.698415]Fpublishing direction and range info9Y]FIӿ'~V?yjY?YYi]e]*]Y]mY ])]}?5I]i]'?]+?] ?].E?]3X@ ].EiYYI].ӹ?Zckށsk?]ه]B+ ]3X@)].EiYYchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.868351i#9IIN>9i checking for new query: numPingsReceived=79, elapsed TxPingTime=39.095642D} D} D} *Dy E} : E} 1:6E} (N4:Ey ! @! @! @! @ԑ Mm,hͷ)A%̓B9%"IBD56D51YE<!EM=MQ)M>I9I9MGYIUAU>YQ 1e4٪]s?Q 5e4]9x ]B9aYiQ Em?y]C)]:I]k:i]~4YquC Aqkkkkhh)Ahhhq@zO<p7a?.?jFIӿ'~V?yjY?h3X@h.E楍ov2;"?T۳?rF '߿ (ؖ?%9i?h?h3hZ?hS!\hB*i?2iS!\:iBi7?"i_@zZZZZI ɡiIi)yi!9 IIN >mDDAT read: Rx Time:05:26:13.9230 mTRx dataTimestamp_ set to:1755840375.048958uPDAT read: Bearing 289.2, 47.6 (Local) }~Local bearing/azimuth received: Bearing 289.2, 47.6 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 ԡDAT read: 05:26:13.9230 LVL= 27360, 11361, 24402, 30707, AGC= 43, IDX= 513,-0.06, 0.409, 0.060,-1.122, 0.974, PHS=-0.463,-0.869,-2.140, RAW= 43.4, 39.0, CAL= 40.9, 45.0, ROT= 109.1, -45.0 eYgot valid direction response: 05:26:13.9230 LVL= 27360, 11361, 24402, 30707, AGC= 43, IDX= 513,-0.06, 0.409, 0.060,-1.122, 0.974, PHS=-0.463,-0.869,-2.140, RAW= 43.4, 39.0, CAL= 40.9, 45.0, ROT= 109.1, -45.0 mT#Rx 80: Read range and direction messages.e^direction in FSK: [-0.231378,0.668180,0.707107]mFpublishing direction and range info9imP ˝ͿAa?An?m,@iimjma,mR_mwi mV)mv^ImimA?m@.?m36?mI?mS? mIiiiImeiE@?(x#/r~y$?mmL. mS?)mIiii]checking for new query: numPingsReceived=80, elapsed TxPingTime=39.444897 3t,)Ay:0>ٱ:̾>::=vBF¿>~BDBF."IBF܃BBF =BDBDBF;^;BFe#EBUЍCBUЍCBQBU =BU =BUw<5:H6? 6*׿`E?`,?d? Ƚ???*?I:0>):V^;jchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.601357i:͑CvփB9v'"ImMb@Mb@Mb@ i)iIiiiim{Gzt?{Gz?{Gzt?mף;m#=iImAimAim A)im ABD6DY=!E=Q)>99GY-<A>Q 14٪?Q 54w B9a&=Q A?8ۤ?hF?hhM'T?hWhB*i2ig9[:iBi(?"i'@zZ]a&=Z]a&=Z]$?Z]?I ɡiIi)lAmAi)))5 1IiINC>}DDAT read: Rx Time:05:26:14.4228 }TRx dataTimestamp_ set to:1755840375.553055PDAT read: Bearing 291.0, 46.1 (Local) ~Local bearing/azimuth received: Bearing 291.0, 46.1 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:14.4228 LVL= 26544, 10945, 24114, 27795, AGC= 43, IDX= 512, 0.06, 1.048, 0.794,-0.352, 1.648, PHS=-0.498,-0.809,-2.045, RAW= 41.0, 39.9, CAL= 38.6, 45.8, ROT= 111.4, -45.8 Ygot valid direction response: 05:26:14.4228 LVL= 26544, 10945, 24114, 27795, AGC= 43, IDX= 512, 0.06, 1.048, 0.794,-0.352, 1.648, PHS=-0.498,-0.809,-2.045, RAW= 41.0, 39.9, CAL= 38.6, 45.8, ROT= 111.4, -45.8  T#Rx 81: Read range and direction messages. ^direction in FSK: [-0.254379,0.649100,0.716911] Fpublishing direction and range info9y}L}Gп hl?[?}@yi}g}*}2^}ly }) )}OI}Hi}07?}aF2?}iw,?}L?}? }LiyyI}]V?wH.݆?}ݖ}G2 }?)}Liyy= checking for new query: numPingsReceived=81, elapsed TxPingTime=39.877323Q u`z,)Ay64k#>ٱ6΋>6"鬼65=6H`?׿v??`?) ?.?`o?I64k#>)6^;i6̑CRӃB9R$"IiZ=IXBDb6Db1Y[!T=pQ) > 9 9 GY <A>Q 1%4٪?Q 5%4lw B9)Y-?Q E-?yC)$:I:i4Y15 A9kkkkhhAe)Ah@h@h@z%/lfI)&?n}^?jL}Gп hl?[?h?hLE`nPMvz?Js2?r,?wZݿC? ?h?hh>?hnv]hB*iM'T?2iS!\:iib?"iU@zZZZZ?I) )ɡ1i1I1i1)9)checking for new query: numPingsReceived=81, elapsed TxPingTime=40.103584i 9 II N>QDuDuDu*DqEu: Eu1]:6Eu(N4:Eq!}@!@!@!@ԉ  DDAT read: Rx Time:05:26:14.9228  TRx dataTimestamp_ set to:1755840376.060571 PDAT read: Bearing 289.0, 47.3 (Local)  ~Local bearing/azimuth received: Bearing 289.0, 47.3 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 05:26:14.9228 LVL= 28512, 10865, 24562, 29667, AGC= 43, IDX= 512, 0.17, 1.370, 1.035,-0.026, 1.916, PHS=-0.444,-0.836,-1.986, RAW= 44.2, 39.8, CAL= 41.6, 45.7, ROT= 108.4, -45.7  Ygot valid direction response: 05:26:14.9228 LVL= 28512, 10865, 24562, 29667, AGC= 43, IDX= 512, 0.17, 1.370, 1.035,-0.026, 1.916, PHS=-0.444,-0.836,-1.986, RAW= 44.2, 39.8, CAL= 41.6, 45.7, ROT= 108.4, -45.7  T#Rx 82: Read range and direction messages.vM,v)A(M^direction in FSK: [-0.220454,0.662710,0.715693]UFpublishing direction and range info9gp7̿x4?'tr?i`oq*_s S)VI?5i|E?1?9?0L?*? 0LiIo?I^گ翨Tv?p*1 *?)0Lichecking for new query: numPingsReceived=82, elapsed TxPingTime=40.441452yUE1>ٱUx>yUzU=UH@? fؿ ?j?@S?Ͼ}/??@?IUE1>)U^;iUΑC΃B9"IMb@Mb@Mb@ )Ii?~jth?L=D;I"AiA5 A) ABD6DYC!=ہQ)>99GY<A>Q 14٪?Q 54v B9 +M=Q A ~BuэCBu5"IBuBBu =BqBqBu];Bu #Ekkkkԩchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.607800hhe)Ahhh>@z1]T*L?R?jgp7̿x4?'tr?h*?h0LETm?ŐW?rmP9ۿ}>i I IA NM >D] D] D] -DY E] : E] xv:6E] t4:EY "E] +ٱf>fvf=fHb~?ؿb?X?L@? ó\1?E?`?If7>)f];idv׃B9v)"IBD~6D~!YT=! = IQ) 7?99GY[<A7?!Q 1%4٪%}?Q 5-4%tv %B9)Y-~?Q E-?y%C)%:I%:i%4Y9=A9kYkYkYkYzZyZyZyZ}~?I ɡiIi)EDDAT read: Rx Time:05:26:15.4227 ETRx dataTimestamp_ set to:1755840376.561658UPDAT read: Bearing 288.0, 45.4 (Local) ]~Local bearing/azimuth received: Bearing 288.0, 45.4 (Local) mDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:26:15.4227 LVL= 28000, 10833, 25650, 30195, AGC= 44, IDX= 511, 0.32, 1.107, 0.781,-0.304, 1.768, PHS=-0.558,-0.942,-2.116, RAW= 43.7, 42.3, CAL= 41.3, 47.9, ROT= 108.7, -47.9 Ygot valid direction response: 05:26:15.4227 LVL= 28000, 10833, 25650, 30195, AGC= 44, IDX= 511, 0.32, 1.107, 0.781,-0.304, 1.768, PHS=-0.558,-0.942,-2.116, RAW= 43.7, 42.3, CAL= 41.3, 47.9, ROT= 108.7, -47.9 T#Rx 83: Read range and direction messages.^direction in FSK: [-0.214947,0.635035,0.741976]Fpublishing direction and range info9AEYe˿s4R?yR!D?E3@AiE`mEQ*E2dEuE, E)E&qIEliE@C?EٱJ+>JY𯼹J]=JH@o?z ٿ?&?2?r1`?j|??IJk<>)J+^;iJ͑C%ЃB9- "I)1 5ABD=6D=YM !MF=MG9Q)M>Q9Q9UGYQ]?<A]>aQ 1m4٪e?Q 5m4eu eB9iYm?Q Em?yeC)e:Ie8:ie4Yy}/ Aykkkkhqhu4#)AhuX@huX@hu'7@zut߿E&;;?Y ]%?juYe˿s4R?yR!D?hu?huVu8C/"=Do?p[?ruGۿ[?K?hun?hu~yhuٯ?hu9q]huB*iu>?2iuS!\:iuBiuL?i?M@IiMuM+MR^MxI MZ)M7!IMjiM| ?Mg ?MQ ?Mf;?M"@ Mf;iIIIMkۙ?`7r4鿖w"Ӿ?MM[8 M"@)Mf;iIIchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.384068INL>I)IIayi6@ԙ ,R)AvB&ǿ>~B$B$B$B& =B$B&iDB&A];B&"ERchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.615463y^{d?>ٱ^r>^%^Y=^Hyf?5ٿ@$?6;?+?@ ཿQ?+?`?I^{d?>)^i^;i^ΑC%ރB9%1"I!u@!u !u@!u !u@!u !u@!u yI)BD6D0Y.=!D=s9Q)>99GYj;A>Q 14٪?Q 54wu BQ =+:9Q AVi৔4YAkIkIkQkQhhc+D)Ah@h@h- @z; ]:,ۆi?`h?jzo%տ>L?i?h"@hf;8Svk?a/?rw῿v=?֊?h^s?hHh7?hyv\haB*iDDD.DE: Eą:6Eـ4:E"E6iU=IQ]DDAT read: Rx Time:05:26:16.4227 eTRx dataTimestamp_ set to:1755840377.569298mPDAT read: Bearing 311.9, 48.5 (Local) m~Local bearing/azimuth received: Bearing 311.9, 48.5 (Local) }DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:26:16.4227 LVL= 27824, 10657, 22514, 28787, AGC= 43, IDX= 512,-0.25,-1.891,-1.855, 3.063,-1.512, PHS=-0.277,-0.298,-1.752, RAW= 30.7, 29.3, CAL= 28.4, 34.6, ROT= 121.6, -34.6 Ygot valid direction response: 05:26:16.4227 LVL= 27824, 10657, 22514, 28787, AGC= 43, IDX= 512,-0.25,-1.891,-1.855, 3.063,-1.512, PHS=-0.277,-0.298,-1.752, RAW= 30.7, 29.3, CAL= 28.4, 34.6, ROT= 121.6, -34.6 T#Rx 85: Read range and direction messages.^direction in FSK: [-0.431312,0.701087,0.567844]Fpublishing direction and range info9Y]N*ۿ+ ?]?]>]#?]@ ]#iYYI]w¦,?/Ž뿽讜X?]xǿ] ]@)]#iYY5 checking for new query: numPingsReceived=85, elapsed TxPingTime=41.895767 ᱚ,l)Ay>@>ٱ>'>>c>x=>Hb? Gٿ@yț?M?'? ˽Õ?z? I?I>@>)> q_;i>ˑCjӃB9j#"IBDr6DrNYzp!zV=z9Q)~>|9|9~GY|Q;A> Q 14٪ ~?Q 54 u BQ = :9Q A-BEt4JEٱe >ee\x=eHTc?@Cٿ!?@ J?D(?@f使W?6;?@?Iexg@>)eK_;ie͑CуB9""IiԩI!! !! !!  ! !  Mb@Mb@Mb@ ) I i   {Gz?Q?MbP? #< \= :I Ai A K A )  p ABD%6D%kY5!5 =59Q)5>9999=GY9eAe>iQ 1u4٪mK?Q 5u4mt mBQ =uT:9u'=Q Au~B%ҍCB%A"IB%BB% =B%HDB!B%\;B%"Echecking for new query: numPingsReceived=86, elapsed TxPingTime=42.624111i))15 1I9IQNex>DDD(DE: E:6Ec44:E"E#ٱ6y>6ҩ6=6Hee?{9ٿv?`@?`)?9?h?:?I6?>)6< _;i4RăB9R"IBDZ6DZk1Yw!=/:Q)?99%GY!%1 A%?)Q 154٪--?Q 554-At -B91Y=b?Q E=?y-C)-;I-;i-f4YAE AAkakakakazZZZZHb?I ɡiIi)%DDAT read: Rx Time:05:26:17.4228 %TRx dataTimestamp_ set to:1755840378.5772695PDAT read: Bearing 303.0, 45.1 (Local) =~Local bearing/azimuth received: Bearing 303.0, 45.1 (Local) MDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:17.4228 LVL= 28240, 10801, 24882, 30995, AGC= 44, IDX= 512,-0.01,-1.016,-1.028,-2.568,-0.378, PHS=-0.536,-0.605,-2.234, RAW= 32.1, 35.6, CAL= 29.9, 41.6, ROT= 120.1, -41.6 Ygot valid direction response: 05:26:17.4228 LVL= 28240, 10801, 24882, 30995, AGC= 44, IDX= 512,-0.01,-1.016,-1.028,-2.568,-0.378, PHS=-0.536,-0.605,-2.234, RAW= 32.1, 35.6, CAL= 29.9, 41.6, ROT= 120.1, -41.6 T#Rx 87: Read range and direction messages.^direction in FSK: [-0.375029,0.646959,0.663926]Fpublishing direction and range info9!%3QxؿO&i?\!>?%@!i%Pn%1*%2a%y%, %L7 )%HI%i%l?%?%0?%9? i I)IA%*'@ %9i!!I% (p?!.Ȥ?%GwĿ%7 %*'@)%9i!!Uchecking for new query: numPingsReceived=87, elapsed TxPingTime=42.915028N]=9i  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.127716DE DE DE ,DA EE : EE ~:6EE g4:EA !M @!M @!M @!M @,V)A0y6>>ٱ64>6p6=6Hk?ٿW?'?-?Xc ?۾??I6>>)6^;i6ΑCNσB9R"IBDV6DVN2YbDS=!bP=bs:Q)f>d9d9fGYdj-Aj>lQ 1r4٪n?Q 5r4ns nB9pYr%?Q Er?ynC)n2:In:inE4Yxz: A|kkkkhQhU)AhU@hU@hU/%@zUQz딢m?#TX?jU3QxؿO&i?\!>?hU*'@hU9U#T,?)?rU1Xd-DDAT read: Rx Time:05:26:17.9228 5TRx dataTimestamp_ set to:1755840379.081042=PDAT read: Bearing 304.0, 50.3 (Local) =~Local bearing/azimuth received: Bearing 304.0, 50.3 (Local) MDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 uDAT read: 05:26:17.9228 LVL= 27808, 10977, 23186, 28883, AGC= 43, IDX= 512, 0.11, 0.032,-0.112,-1.436, 0.413, PHS=-0.279,-0.480,-1.893, RAW= 36.6, 31.6, CAL= 34.0, 37.6, ROT= 116.0, -37.6 }Ygot valid direction response: 05:26:17.9228 LVL= 27808, 10977, 23186, 28883, AGC= 43, IDX= 512, 0.11, 0.032,-0.112,-1.436, 0.413, PHS=-0.279,-0.480,-1.893, RAW= 36.6, 31.6, CAL= 34.0, 37.6, ROT= 116.0, -37.6 }T#Rx 88: Read range and direction messages.^direction in FSK: [-0.347317,0.712105,0.610145]Fpublishing direction and range info915wTp:ֿ?X'O?11i5l5*5Z5p5+ 5َ)5I5Mi5Ƈ#?50 ?5?5'?5@ 5'i11I5.3R?5S%1>?5g5Z< 5@)5'i11checking for new query: numPingsReceived=88, elapsed TxPingTime=43.395416 vB% ˿>~B! B% ;"IB% BB! B! B! B% \;B% "E`д,0)Ay6Q;>ٱ6\>61/6Q=6H r?YؿW?@?`4?J%?,?p?I6Q;>)6^;i6ˑCFchecking for new query: numPingsReceived=88, elapsed TxPingTime=43.631729RكB9R,"ITiT)VA T\Mb@Mb@Mb@ )Ii{Gzt?I +?Mb`?ף;94<;DDD.DE2: E1:6Eـ4:E"E*9999=GY9EAE>IQ 1M4٪M ?Q 5U4Ms MB9uH>=DDAT read: Rx Time:05:26:18.4227 =TRx dataTimestamp_ set to:1755840379.584926MPDAT read: Bearing 285.0, 45.1 (Local) M~Local bearing/azimuth received: Bearing 285.0, 45.1 (Local) ]DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 }DAT read: 05:26:18.4227 LVL= 27568, 10193, 21122, 27155, AGC= 43, IDX= 511, 0.24, 0.563, 0.159,-0.861, 1.255, PHS=-0.591,-1.052,-2.161, RAW= 46.6, 43.9, CAL= 44.1, 49.2, ROT= 105.9, -49.2 Ygot valid direction response: 05:26:18.4227 LVL= 27568, 10193, 21122, 27155, AGC= 43, IDX= 511, 0.24, 0.563, 0.159,-0.861, 1.255, PHS=-0.591,-1.052,-2.161, RAW= 46.6, 43.9, CAL= 44.1, 49.2, ROT= 105.9, -49.2 T#Rx 89: Read range and direction messages.^direction in FSK: [-0.179011,0.628422,0.756995]Fpublishing direction and range info99=ƿ9AC?M9?=3@9i=k='=R=j9 =K)=𧆿I=M i=5P?=%D?=j E?=[?=7? =[i99I=pX?|$RK0?=="D =7?)=[i99checking for new query: numPingsReceived=89, elapsed TxPingTime=43.899067A k, )Ay67>ٱ6>6B6=6H 0~?eؿ`? S?'??@Ҿȓ?9^??I67>)6?^;i6ΑCN˃B9R"IBDZ6DZ1Yf!fd=f:Q)f>h9h9jGYhn!An>pQ 1v4٪r?Q 5v4rs p9tYv?Q Ev?yp)rh:Ir:iriϔ4Y|~T Ak!k!k!k!hihmmo)AhmX@hmX@hmˇ@zm0L2ڿ"b?N $?jmƿ9AC?M9?hm7?hm[mXv5dH?V3,?rmyFYؿAN?|?v[z/c?hm@r?hmahmuĸ?hmZhmB*ii2imZ:iiimt?"im "@zZZZZ=?I ɡiIi)i 9 checking for new query: numPingsReceived=89, elapsed TxPingTime=44.136810IIN>IrDjD%=D D D +D E a: E :6E  [4:E !@!@!@!@yԡ M DDAT read: Rx Time:05:26:18.9228 M TRx dataTimestamp_ set to:1755840380.089042U PDAT read: Bearing 293.7, 48.0 (Local) ] ~Local bearing/azimuth received: Bearing 293.7, 48.0 (Local) m DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 05:26:18.9228 LVL= 27520, 11185, 23282, 29171, AGC= 43, IDX= 512, 0.43,-0.066,-0.317,-1.476, 0.449, PHS=-0.413,-0.721,-1.969, RAW= 40.8, 37.5, CAL= 38.3, 43.7, ROT= 111.7, -43.7  Ygot valid direction response: 05:26:18.9228 LVL= 27520, 11185, 23282, 29171, AGC= 43, IDX= 512, 0.43,-0.066,-0.317,-1.476, 0.449, PHS=-0.413,-0.721,-1.969, RAW= 40.8, 37.5, CAL= 38.3, 43.7, ROT= 111.7, -43.7  T#Rx 90: Read range and direction messages. ^direction in FSK: [-0.267315,0.671732,0.690882] Fpublishing direction and range info9I M ȼBѿ]~?O u?M @I iM kM +M ZM qI M tӾ)M u8IM 1iM K6?M 6'?M D +?M @C?M J? M @CiI I IM m6?fU Pĩ?M ?M ' M J?)M @CiI I  checking for new query: numPingsReceived=90, elapsed TxPingTime=44.408524?,)Aԉy- 2>ٱ-5>-]- u=-H,?`uؿ`nV? %?@NO?˾XK?Y??I- 2>)-+^;i-ˑCŃB9"IMb@Mb@Mb@ )Ii{Gz?a9a9eGYawA>Q 14٪?Q 54s 9^~BB."IB܃BBBBB\;B"EBҍCBэCBBų =BŴ =B{}5checking for new query: numPingsReceived=90, elapsed TxPingTime=44.640789i99999IaIyN|>DDD(DE; EX:6Ec44:E"EAٱ6M>6c6=6H@? ؿࠃ?++?a??`!? *?`?I6,>)6^;i4NȃB9N"IBDV6DVYrx<!r=r:Q)r?t9t9vGYtz롼Az?|Q 14٪~?Q 54~s ~B9YQ E ?y~C)~G:I~:i~ݔ4Yk Ak1k9k9k9zZYZYZYZ]ʦ@Ia iɡiiiIiiq)qiI<DDAT read: Rx Time:05:26:19.4227  TRx dataTimestamp_ set to:1755840380.593854PDAT read: Bearing 323.1, 47.6 (Local) ~Local bearing/azimuth received: Bearing 323.1, 47.6 (Local) 5DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 ]DAT read: 05:26:19.4227 LVL= 28080, 10993, 25330, 29875, AGC= 44, IDX= 512,-0.34,-2.889,-2.628, 1.823,-2.525, PHS=-0.262,-0.058,-1.980, RAW= 24.4, 24.0, CAL= 22.5, 28.4, ROT= 127.5, -28.4 mYgot valid direction response: 05:26:19.4227 LVL= 28080, 10993, 25330, 29875, AGC= 44, IDX= 512,-0.34,-2.889,-2.628, 1.823,-2.525, PHS=-0.262,-0.058,-1.980, RAW= 24.4, 24.0, CAL= 22.5, 28.4, ROT= 127.5, -28.4 uT#Rx 91: Read range and direction messages.}^direction in FSK: [-0.535496,0.697872,0.475624]}Fpublishing direction and range info9 "ῈhT?yp?3@im*bt, $)hmIpi^ >Pw>>>;k@ iI]lZ1Lzw?rտW>־ ;k@)ichecking for new query: numPingsReceived=91, elapsed TxPingTime=44.913574i !9    II)N==) checking for new query: numPingsReceived=91, elapsed TxPingTime=45.144527D D D .D E 2: E h:6E ـ4:E !- @!- @!- @!- @y }6,;)AyBN%>ٱB[>BDB*=BH5?@N׿W??kx?:\@U?о??IBN%>)BH_;i@=ăB9E"IBD6D:2Y !;=:Q)>9 9 GY A%>QaQ 1m4٪ee?Q 5m4es eB9qYuDQ Eu?ya)e{;IeD;ieu4Yy Akkkkh9h=&)Ah=X@h=X@h=G*@z=dy͈k?D5ff?j= "ῈhT?yp?h=;k@h==W/Ÿ+hhB[?A?r=翲|_0?:A|z?h=b?h=\ٿh=Ku?h=[w\h=DB*i=$?2i=Z:i=JBi=?"i=/"@zZZZZk@I ɡiIi)i"9IIN> DDAT read: Rx Time:05:26:19.9229 TRx dataTimestamp_ set to:1755840381.096967PDAT read: Bearing 300.6, 49.5 (Local) ~Local bearing/azimuth received: Bearing 300.6, 49.5 (Local) 5DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 UDAT read: 05:26:19.9229 LVL= 26736, 10737, 23330, 29491, AGC= 43, IDX= 513,-0.18,-2.104,-2.258, 2.702,-1.677, PHS=-0.325,-0.536,-1.948, RAW= 36.9, 33.0, CAL= 34.4, 39.3, ROT= 115.6, -39.3 ]Ygot valid direction response: 05:26:19.9229 LVL= 26736, 10737, 23330, 29491, AGC= 43, IDX= 513,-0.18,-2.104,-2.258, 2.702,-1.677, PHS=-0.325,-0.536,-1.948, RAW= 36.9, 33.0, CAL= 34.4, 39.3, ROT= 115.6, -39.3 uT#Rx 92: Read range and direction messages.ԁ=^direction in FSK: [-0.334365,0.697874,0.633381]=Fpublishing direction and range info9 =fտ:6VzT?W^;D?f&@iph)"[3s+ ff)L7 IXi$?r?`?/?^ @ /iI/Q(m멹?BdB K`o?4 ^ @)/i]checking for new query: numPingsReceived=92, elapsed TxPingTime=45.438244ԱvB ӿ>~B ӍCB ("IB փBB =B B jDB \;B "E a,!xU)A6checking for new query: numPingsReceived=92, elapsed TxPingTime=45.647781yj>ٱj;>ju$j#D=jHm?@BD׿+?`\L?`?IĒ?@t?`o?Ij>)j9_;ihMɃB9M"IDDD/DE: E:6EJ4:E"Eg%A9A9MGYIMAM>QQ 1]4٪U?Q 5]4Ut UB9euDDAT read: Rx Time:05:26:20.4228 %TRx dataTimestamp_ set to:1755840381.601021-PDAT read: Bearing 309.5, 50.3 (Local) -~Local bearing/azimuth received: Bearing 309.5, 50.3 (Local) =DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 eDAT read: 05:26:20.4228 LVL= 27312, 10545, 23314, 29555, AGC= 43, IDX= 512,-0.06,-2.974,-3.005, 1.785,-2.607, PHS=-0.266,-0.353,-1.936, RAW= 32.7, 29.0, CAL= 30.1, 34.2, ROT= 119.9, -34.2 mYgot valid direction response: 05:26:20.4228 LVL= 27312, 10545, 23314, 29555, AGC= 43, IDX= 512,-0.06,-2.974,-3.005, 1.785,-2.607, PHS=-0.266,-0.353,-1.936, RAW= 32.7, 29.0, CAL= 30.1, 34.2, ROT= 119.9, -34.2  T#Rx 93: Read range and direction messages. ^direction in FSK: [-0.412289,0.716993,0.562083] Fpublishing direction and range info9֫`bڿT?I?@ij1)[ss '1)jIi??|??@ iIڛ??b6뿻^!\ ?#ÿ @)i5 checking for new query: numPingsReceived=93, elapsed TxPingTime=45.9360089 H,So)Ay6>ٱ6>6zA6'=6H@[?`ֿ™?? ?ݽ맒?1?s?I6>)6_;i4RÃB9R"IBDZ6DZkYv!vc=v|9Q)v>x9x9zGYxz6A~>IQ 1U4٪M?Q 5U4M6t I9YY]Q E]?yM C)M ;IM ;iM4Yam AikkkkhIhM!wf)AhM@hM@hM !@zMH}{￱m_?}u?jM֫`bڿT?I?hM@hMM㢟1hB?hVe??rMV} /75?~R?hM?hMHhM?hMWhMˆB*iME?2iI:iIiM?"iMw @zZZZZ@I ɡiIi)}checking for new query: numPingsReceived=93, elapsed TxPingTime=46.152439i IIN>DDD0DE; E:6E4:E!@!@!@!@Ai M DDAT read: Rx Time:05:26:20.9229 M TRx dataTimestamp_ set to:1755840382.109318] PDAT read: Bearing 286.5, 49.9 (Local) ] ~Local bearing/azimuth received: Bearing 286.5, 49.9 (Local) m DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 05:26:20.9229 LVL= 27280, 11025, 23570, 29491, AGC= 43, IDX= 513, 0.05,-0.012,-0.424,-1.455, 0.437, PHS=-0.347,-0.816,-1.936, RAW= 46.7, 37.8, CAL= 43.9, 43.8, ROT= 106.1, -43.8  Ygot valid direction response: 05:26:20.9229 LVL= 27280, 11025, 23570, 29491, AGC= 43, IDX= 513, 0.05,-0.012,-0.424,-1.455, 0.437, PHS=-0.347,-0.816,-1.936, RAW= 46.7, 37.8, CAL= 43.9, 43.8, ROT= 106.1, -43.8  T#Rx 94: Read range and direction messages. ^direction in FSK: [-0.200155,0.693452,0.692143] Fpublishing direction and range info9I M xgɿ!0?f &?M f&@I iM jM +M \M 3sI M )M `PII iM YP?M [(?M %D?M EC?M ? M ECiI I IM ~?: yt?M |ţM (( M ?)M ECiI I  checking for new query: numPingsReceived=94, elapsed TxPingTime=46.423985 =i BC2,9)AIl)I1i9@y\ >ٱⴶ>_VF8=H? Tֿ[?\Z?@?vν ?`??I\ >)M_;iiB9 "IMb@Mb@Mb@ )Ii~jtxMb~jthĻDIiA A) ABD-6D-:Y5!===Q)=>A9A9EGYAMNgAM>QQ 1U4٪UB?Ae<Ae<vBe׿>~BaBe""IBeуBBe =BaBaBe\;Be"EQ 5]4Ut UB9=Q A]>DDD,DE: E:6Eg4:E"E! E!*E;!E;!i 9 IIa N > Z, )Ay6>ٱ6t>6*6M>=6H /? տb??? ۽@???I6>)6%M_;i6ȑCLRB9R "IBDZ 6DZf2YvX<!v=v<8Q)v*?x9x9zGYxzA~*?Q 14٪`?Q 5 4tQ 9 tI B9 Y Q E ?yC)w:I:i4Y AkkkkDDAT read: Rx Time:05:26:21.4228 TRx dataTimestamp_ set to:1755840382.609121PDAT read: Bearing 285.8, 48.2 (Local) ~Local bearing/azimuth received: Bearing 285.8, 48.2 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -DAT read: 05:26:21.4228 LVL= 26944, 9073, 26482, 29763, AGC= 43, IDX= 512, 0.17,-0.800,-1.169,-2.199,-0.284, PHS=-0.414,-0.840,-1.959, RAW= 45.5, 39.4, CAL= 42.8, 45.3, ROT= 107.2, -45.3 5Ygot valid direction response: 05:26:21.4228 LVL= 26944, 9073, 26482, 29763, AGC= 43, IDX= 512, 0.17,-0.800,-1.169,-2.199,-0.284, PHS=-0.414,-0.840,-1.959, RAW= 45.5, 39.4, CAL= 42.8, 45.3, ROT= 107.2, -45.3 5T#Rx 95: Read range and direction messages.=^direction in FSK: [-0.207999,0.671938,0.710799]=Fpublishing direction and range info9-ʿ2_0?]W޾?@i@iq#rgCt Ӿ)= WIiKK?x 0?t;??gJ?|? gJiI+(e?44"翖o9Q?y0 |?)gJi]checking for new query: numPingsReceived=95, elapsed TxPingTime=46.924015zZaZaZaZe @Iq qɡqiyIyiy)i!9 IIQN]>)ߑ ߑ  checking for new query: numPingsReceived=95, elapsed TxPingTime=47.161049! BEJEm4REi0D D D .D E l; E :6E ـ4:E !% @!% @!% @!% @,)Ay{=ٱSɮ>&7=H`%?hտ??l?@?@?0?z?I{=)w0_;iˑCB9"Ii=I=BD6DY;!9= u6Q)>99GY%芼A%>)Q 154٪-?Q 554->u -B99Y=Q E=?y-C)-[;I-;i-4YAE AAkakakakahh)Ah@h@h@zO߿f-J?wi#?j-ʿ2_0?]W޾?h|?hgJ̯R%?-?rۓFxٿ)5k?o ;Y?h.?h>wh,-?hiWhpB*i2iiW:ioBi`?"ij@zZZZZΛ@I ɡiIi)i%9))- )I9IINQYDDAT read: Rx Time:05:26:21.9228 TRx dataTimestamp_ set to:1755840383.113039PDAT read: Bearing 291.6, 46.2 (Local) ~Local bearing/azimuth received: Bearing 291.6, 46.2 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 5DAT read: 05:26:21.9228 LVL= 26928, 10929, 26002, 28531, AGC= 44, IDX= 512, 0.33,-1.145,-1.335,-2.551,-0.543, PHS=-0.500,-0.747,-2.052, RAW= 38.5, 38.9, CAL= 36.2, 44.8, ROT= 113.8, -44.8 =Ygot valid direction response: 05:26:21.9228 LVL= 26928, 10929, 26002, 28531, AGC= 44, IDX= 512, 0.33,-1.145,-1.335,-2.551,-0.543, PHS=-0.500,-0.747,-2.052, RAW= 38.5, 38.9, CAL= 36.2, 44.8, ROT= 113.8, -44.8 =T#Rx 96: Read range and direction messages.E^direction in FSK: [-0.286344,0.649229,0.704634]EFpublishing direction and range info9=uSҿH\{?F]?i0i*eso, )d;?ISi,?-??!?+H?M;? +HiIh~?&J8迻L5?A a- M;?)+Hiechecking for new query: numPingsReceived=96, elapsed TxPingTime=47.427402yԙ vBe ҿ>~Ba Ba Ba Be =Ba Ba Be 9];Be "ECn,.)A&checking for new query: numPingsReceived=96, elapsed TxPingTime=47.663757yJ1=ٱJb>J@J9=JH8?տh??~?L@ǒ?ds?s?IJ1=)J*\_;iHB9"IqMb@Mb@Mb@ )Ii{Gzt+MbpףIiA)G AI)@ABD6DN2DDD/DE; E:6EJ4:E"ED99GYDA>Q 14٪?Q 54u B9!=Q At%1t?r">ݿ.DDAT read: Rx Time:05:26:22.4227 TRx dataTimestamp_ set to:1755840383.617024 PDAT read: Bearing 301.7, 51.1 (Local)  ~Local bearing/azimuth received: Bearing 301.7, 51.1 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 EDAT read: 05:26:22.4227 LVL= 26464, 11217, 23970, 29795, AGC= 43, IDX= 512,-0.42, 2.334, 2.183, 0.724, 2.716, PHS=-0.280,-0.488,-2.036, RAW= 36.2, 30.8, CAL= 33.6, 36.6, ROT= 116.4, -36.6 MYgot valid direction response: 05:26:22.4227 LVL= 26464, 11217, 23970, 29795, AGC= 43, IDX= 512,-0.42, 2.334, 2.183, 0.724, 2.716, PHS=-0.280,-0.488,-2.036, RAW= 36.2, 30.8, CAL= 33.6, 36.6, ROT= 116.4, -36.6 MT#Rx 97: Read range and direction messages.U^direction in FSK: [-0.356961,0.719093,0.596225]UFpublishing direction and range info9grֿ^n?|(F?3@i`g+]ct+ )\)#IMi?!? ?Q ?Ƈ#?"@ Ƈ#iIfrԷ?(oQـd?( "@)Ƈ#iuchecking for new query: numPingsReceived=97, elapsed TxPingTime=47.931461 ,ؚ)Ay6r/=ٱ6">6$6 =6HH?mԿ?,? ?@?*??I6r/=)6D_;i4NB9R"IBDZ6DZk2Yv=<!v[=voQ)v>x9x9zGYxzA~>Q 14٪?Q 5 4v B9 Y $Q E ?yC):I:i4Y Ak1kkkh)h-R})Ah-Y@h-Y@h-@z-\^MJO?v?j-grֿ^n?|(F?h-"@h-Ƈ#- m`T$E?`?r-gbL?wo`{?h-$?h-h-)?h-@Xh-φB*i)2i-W:i-iBi--?"i-@zZZZZF@I  ɡ i I i)]checking for new query: numPingsReceived=97, elapsed TxPingTime=48.167873i!9 IIN>DDD,DE: Exv:6Eg4:E!@!@!@!@1 DDAT read: Rx Time:05:26:22.9228  TRx dataTimestamp_ set to:1755840384.120977 PDAT read: Bearing 288.0, 52.5 (Local)  ~Local bearing/azimuth received: Bearing 288.0, 52.5 (Local) - DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 M DAT read: 05:26:22.9228 LVL= 26224, 11345, 23794, 28547, AGC= 44, IDX= 513,-0.23,-3.025, 2.824, 1.677,-2.678, PHS=-0.246,-0.737,-1.973, RAW= 46.0, 34.1, CAL= 43.0, 40.7, ROT= 107.0, -40.7 U Ygot valid direction response: 05:26:22.9228 LVL= 26224, 11345, 23794, 28547, AGC= 44, IDX= 513,-0.23,-3.025, 2.824, 1.677,-2.678, PHS=-0.246,-0.737,-1.973, RAW= 46.0, 34.1, CAL= 43.0, 40.7, ROT= 107.0, -40.7 ] T#Rx 98: Read range and direction messages.e ^direction in FSK: [-0.221657,0.725007,0.652098]e Fpublishing direction and range info9 HfB_̿B3?? @ i pf Q, \ o , m{) ]=H@V?sSԿuɔ? T? ^?X`Wk?`?D?I[=)f_;iuB9u "I)}A }AMb@Mb@Mb@ )IiMb`99GY5A=>AQ 1E4٪E~?Q 5M4E{v EB9M1=Q AM~BBBB =BBBt];B#EY Ak9kAkAkAhh)Ah@h@hD@z*4?`?jHfB_̿B3??hQ ?ho5\NO]?Ȧ?rzzVۿt0bv?1\?h?hvh뚰?hUhI ,V%)Ay:Ƭ=ٱ:fA>:V9:v=:H@a?ԿD?? %?Ӌ&???I:Ƭ=):_;i:ɑCH9HBDR6DRZK Q)Z?\9\9^GY\bzAb?dQ 1j4٪f?Q 5j4fv fB9hYjQ Ej?yfC)f~:Ifu:ifY$4YpppkkkkzZ!Z!Z!Z%R@I1 1ɡ1i1I1MDDAT read: Rx Time:05:26:23.4228 MTRx dataTimestamp_ set to:1755840384.625120UPDAT read: Bearing 291.0, 46.5 (Local) ]~Local bearing/azimuth received: Bearing 291.0, 46.5 (Local) mDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:23.4228 LVL= 26432, 10945, 23746, 28659, AGC= 43, IDX= 512,-0.08, 2.505, 2.314, 1.057, 3.107, PHS=-0.501,-0.749,-2.095, RAW= 38.3, 38.5, CAL= 36.0, 44.5, ROT= 114.0, -44.5 Ygot valid direction response: 05:26:23.4228 LVL= 26432, 10945, 23746, 28659, AGC= 43, IDX= 512,-0.08, 2.505, 2.314, 1.057, 3.107, PHS=-0.501,-0.749,-2.095, RAW= 38.3, 38.5, CAL= 36.0, 44.5, ROT= 114.0, -44.5 T#Rx 99: Read range and direction messages.^direction in FSK: [-0.290105,0.651587,0.700909]Fpublishing direction and range info9IMl~BҿsQ? mHm?IIiM@gM*M\MoM+ MA)Mw?IM{iMD +?M,?M| ?MF?M? MFiIIIM^2?8ffD=fHj? Eӿ#H?u? Y0?4=5??`y?If=)fË_;idrƒB9r"IBDz6DzYmo;!<"Q) > 9 9 GY A>Q 1%4٪ ?Q 5%4w B9)Y-gQ E-?yC)%:I:i+4Y15 A9kQkYkYkYhqhu()Ahqhqhu|@zu&濾 `?o?jul~BҿsQ? mHm?hu?huFuTm@C?_C?ruJ$ݿNI?t؆?hu?huThuȀW?hu9_[hujB*iuȀW?2iu@X:iqiu?"iuan@zZZZZ5@I ɡiIi)ԉi     I!I1N==MDDAT read: Rx Time:05:26:23.9229 UTRx dataTimestamp_ set to:1755840385.128975]PDAT read: Bearing 298.4, 50.9 (Local) ]~Local bearing/azimuth received: Bearing 298.4, 50.9 (Local) mDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:26:23.9229 LVL= 27280, 11217, 23842, 29235, AGC= 43, IDX= 513, 0.03,-1.499,-1.673,-2.990,-1.124, PHS=-0.272,-0.503,-1.910, RAW= 37.5, 31.7, CAL= 34.9, 37.8, ROT= 115.1, -37.8 Ygot valid direction response: 05:26:23.9229 LVL= 27280, 11217, 23842, 29235, AGC= 43, IDX= 513, 0.03,-1.499,-1.673,-2.990,-1.124, PHS=-0.272,-0.503,-1.910, RAW= 37.5, 31.7, CAL= 34.9, 37.8, ROT= 115.1, -37.8 V#Rx 100: Read range and direction messages.^direction in FSK: [-0.335183,0.715540,0.612907]Fpublishing direction and range info9IMqsտM?o m4?Mf&@IiMjM+M"]M3rI MC)MIMziM6'?M ?MI?M[(?Md@ M[(iIIIM43^?@И?MVM Md@)M[(iIIchecking for new query: numPingsReceived=100, elapsed TxPingTime=49.444042ԹvB ۿ>~B ԍCB B B =B B kDB ];B 1#EBEӍCBEӍCBABEʰ =BEʰ =BE5 checking for new query: numPingsReceived=100, elapsed TxPingTime=49.679642 <,Y)Ay:;=ٱ:>:P:G=:H`Jq?fӿ? g?8?i?@Rv??I:;=):l_;i:ʑCjB9j "Iin=Inp=D%D%D%+D!E%V: E%:6E% [4:E!"E%999GYȻA>Q 14٪?Q 54fw B9eDDAT read: Rx Time:05:26:24.4228 eTRx dataTimestamp_ set to:1755840385.632963mPDAT read: Bearing 289.3, 48.2 (Local) u~Local bearing/azimuth received: Bearing 289.3, 48.2 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:24.4228 LVL= 27312, 11185, 24098, 29939, AGC= 43, IDX= 512, 0.17,-2.309,-2.540, 2.695,-1.843, PHS=-0.364,-0.652,-1.790, RAW= 41.0, 37.2, CAL= 38.6, 43.4, ROT= 111.4, -43.4 Ygot valid direction response: 05:26:24.4228 LVL= 27312, 11185, 24098, 29939, AGC= 43, IDX= 512, 0.17,-2.309,-2.540, 2.695,-1.843, PHS=-0.364,-0.652,-1.790, RAW= 41.0, 37.2, CAL= 38.6, 43.4, ROT= 111.4, -43.4 V#Rx 101: Read range and direction messages.^direction in FSK: [-0.265110,0.676482,0.687088]Fpublishing direction and range info9ae\Jп??)?e@aieje+e"^eta e5^)ey&Ieie07?e6&?eiw,?eA?e? eAiaaIe& w?pXei4[?epweuM& e?)eAiaachecking for new query: numPingsReceived=101, elapsed TxPingTime=49.947346I :#,r)A5B95 "IBDU6DUkYm[2!mN=uQ)}>99GYA>Q 14٪?Q 54w B9YQ E?yC)F;I9;i94Y Akkkkhhwh)Ah@h@ht@z:@> ?R o;?j\Jп??)?h?hAl16;?h?rG7bܿ/0P?b2$?hܑ?hhTZh?hYhXB*iȀW?2i:ii?"iK@zZ9Z9Z9Z9II IɡIiQIQiQ)Y=checking for new query: numPingsReceived=101, elapsed TxPingTime=50.200588Qi"9 IIN >rD-%=jD)D5D5D5-D1E5: E5$:6E5t4:E1!=@!=@!=@!=@yԱ  DDAT read: Rx Time:05:26:24.9229  TRx dataTimestamp_ set to:1755840386.153666 PDAT read: Bearing 307.4, 47.6 (Local)  ~Local bearing/azimuth received: Bearing 307.4, 47.6 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 M DAT read: 05:26:24.9229 LVL= 28304, 11089, 24658, 30675, AGC= 44, IDX= 513, 0.32,-1.459,-1.387,-3.010,-1.005, PHS=-0.352,-0.337,-2.049, RAW= 29.6, 29.6, CAL= 27.3, 34.9, ROT= 122.7, -34.9 U Ygot valid direction response: 05:26:24.9229 LVL= 28304, 11089, 24658, 30675, AGC= 44, IDX= 513, 0.32,-1.459,-1.387,-3.010,-1.005, PHS=-0.352,-0.337,-2.049, RAW= 29.6, 29.6, CAL= 27.3, 34.9, ROT= 122.7, -34.9 ] V#Rx 102: Read range and direction messages.e ^direction in FSK: [-0.443079,0.690167,0.572146]m Fpublishing direction and range info9 g[ܿx?O? f&@ i n Q+ R` w , X9) DI "i A? A? > I?  @ Ii I i${@+7xEe? ʿ 8  @) Ii  checking for new query: numPingsReceived=102, elapsed TxPingTime=50.473251d #,Ō)A@yfU/=ٱf >f?żfP=fHuv?ƕӿ@??A?`D?`x?@?IfU/=)fYc_;ifȑCEB9M "IBD6D02Y4ܻ!5=6Q)>99GYA>1Q 1=4٪5?Q 5=45w 5B99Y=aϿQ E=?y5C)5>:I5:i5A4YIM AԩIA5<A5<vB=ؿ>~B9B9B9B= =B9B9B=^;B=X#Ekkkkh!h%Չ)Ah%p%@h%p%@h%!@z%hSUK?}?j%g[ܿx?O?h% @h%I%~bw 57?f8q>?r%  俬92?ӃN?h%?h%TϿh%{k~?h%?U2Yh%B*i!2i%?U2Y:i!i%q?"i%!@zZ9Z9Z9Z=7@Ii iɡiiiIiiq)q)Mchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.704033i 9 I)D=D=D=.D9E=V: E=:6E=ـ4:E9"E9!ME9!M*E=;!ME=;!MIYNew> 4),ǜ)Ay:X׼=ٱ: >:~Vͼ:o=:Hxu?`ӿ@?y?^A?%ؼ?IpP!?F2 ?)07ichecking for new query: numPingsReceived=103, elapsed TxPingTime=50.984146}Mb@Mb@Mb@ y)yIyiyy}Mb`?=Q)>99GY?:A>Q 14٪?Q 54 x 9 e checking for new query: numPingsReceived=103, elapsed TxPingTime=51.208893bDA ZDE AADM DM DM -DI EM : EM xv:6EM t4:EI !U @!U @!] @!] @a R0,z)Ay6}[=ٱ6>69ռ6=6H2r?SӿYĂ?@?;>?ۼ`]?-?@p?I6}[=)6M=_;i6ƑCbƃB9b"IBDj6DjY1=! = EQ)  ? 99GY;A?Q 1%4٪4?Q 5-4x 9)Y-Q E-?y):I:iN4Y195 A9kakakakazZZZZ@I ɡiIi)iM9IIU QIaIqN}=I1)IiIqi%@DDAT read: Rx Time:05:26:25.9228 TRx dataTimestamp_ set to:1755840387.161794PDAT read: Bearing 314.4, 44.0 (Local) ~Local bearing/azimuth received: Bearing 314.4, 44.0 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:25.9228 LVL= 29504, 10993, 24306, 30675, AGC= 44, IDX= 513,-0.25, 2.390, 2.728, 0.800, 2.923, PHS=-0.431,-0.150,-2.167, RAW= 22.6, 27.2, CAL= 20.8, 32.2, ROT= 129.2, -32.2 Ygot valid direction response: 05:26:25.9228 LVL= 29504, 10993, 24306, 30675, AGC= 44, IDX= 513,-0.25, 2.390, 2.728, 0.800, 2.923, PHS=-0.431,-0.150,-2.167, RAW= 22.6, 27.2, CAL= 20.8, 32.2, ROT= 129.2, -32.2 %V#Rx 104: Read range and direction messages.-^direction in FSK: [-0.534819,0.655753,0.532876]5Fpublishing direction and range info9r~V<Ὼ3:?KR ?i@s*^w, ܾ)I! i>>޹>?ZQ@ iI4In:[i;?Ƒٿ^ ZQ@)iUchecking for new query: numPingsReceived=104, elapsed TxPingTime=51.481075ԙvB5 ҿ>~B5 ӍCB5 ("IB5 փBB5 =B1 B5 jDB5 2^;B5 k#E ] checking for new query: numPingsReceived=104, elapsed TxPingTime=51.711536XM6,n)Ay6=2=ٱ6â>6ݼ6l=6HCm?ӿg`?`?8?`l?? I9I9MGYIUO;AU>YQ 1e4٪]e?Q 5e4]x ]B9e;Q Ae!>Ye>Q Em?y]C)];I];i]BW4Yquy AqkkkkhhZ)Ahhh*(@zSk5u ?X?jr~V<Ὼ3:?KR ?hZQ@hvBe?]k?r{?+П%7&7?Hw1?hp?h׿h I ɡiIi)ԹlAiM!9QQQQIaIqN}Y>DDAT read: Rx Time:05:26:26.4228 TRx dataTimestamp_ set to:1755840387.665030PDAT read: Bearing 305.0, 46.5 (Local) ~Local bearing/azimuth received: Bearing 305.0, 46.5 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:26.4228 LVL= 29776, 10865, 24562, 30835, AGC= 43, IDX= 512,-0.11, 0.876, 0.935,-0.730, 1.392, PHS=-0.414,-0.412,-2.166, RAW= 29.9, 31.1, CAL= 27.7, 36.8, ROT= 122.3, -36.8 Ygot valid direction response: 05:26:26.4228 LVL= 29776, 10865, 24562, 30835, AGC= 43, IDX= 512,-0.11, 0.876, 0.935,-0.730, 1.392, PHS=-0.414,-0.412,-2.166, RAW= 29.9, 31.1, CAL= 27.7, 36.8, ROT= 122.3, -36.8  V#Rx 105: Read range and direction messages.^direction in FSK: [-0.427873,0.676828,0.599024]Fpublishing direction and range info9*.Dbۿmv?]3+?iPtq*_sx+ Ӿ)ҾI i0? ?>l$?D@ l$iIc3iKye뿢7vz?;0ɿy D@)l$i-checking for new query: numPingsReceived=105, elapsed TxPingTime=51.980000 Wq<,I0)AyBҞ=ٱB>B㼹B=BH`f?@Bӿ??@e1?5{?}h?7?IBҞ=)By9_;i@b΃B9b"IBDr6Dr0YzU-=!~z==Q)E?I9I9MGYIU<AU?yQ 14٪}?Q 54}x y9YL>Q E?yy)};I} ;i}8]4YA Akkkkhhڏ)Ahhhg!@zM8U𿥑~?F?j*.Dbۿmv?]3+?hD@hl$]4e%Lϰ?2}!?r?㿴'\??h?h)hzP?h躤\hB*izP?2iY:iBi?"iB@zZZZZL>I  ɡiIi)checking for new query: numPingsReceived=105, elapsed TxPingTime=52.216022i$9 IIN=BEA{4JE~4REsq0D%D%D%1D!E%: E%a:6E%-4:E!!U@!U@!U@!U@)Q DDAT read: Rx Time:05:26:26.9229  TRx dataTimestamp_ set to:1755840388.169445 PDAT read: Bearing 306.8, 48.4 (Local)  ~Local bearing/azimuth received: Bearing 306.8, 48.4 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - DAT read: 05:26:26.9229 LVL= 28272, 9825, 22002, 27811, AGC= 43, IDX= 513, 0.01,-3.050,-3.035, 1.633,-2.624, PHS=-0.324,-0.365,-2.070, RAW= 31.2, 29.5, CAL= 28.8, 34.8, ROT= 121.2, -34.8 5 Ygot valid direction response: 05:26:26.9229 LVL= 28272, 9825, 22002, 27811, AGC= 43, IDX= 513, 0.01,-3.050,-3.035, 1.633,-2.624, PHS=-0.324,-0.365,-2.070, RAW= 31.2, 29.5, CAL= 28.8, 34.8, ROT= 121.2, -34.8 5 V#Rx 106: Read range and direction messages.= ^direction in FSK: [-0.425377,0.702382,0.570714]= Fpublishing direction and range info9 }kb9ۿ)3y? IC? f&@ i pn a& U l T㥾) HẾI zi 'g ? ? ? |? a@ |i I  +W?5(4Rl)}? mƿ  a@) |i ] checking for new query: numPingsReceived=106, elapsed TxPingTime=52.486214ԩ YC,$ )Ay6{=ٱ6ɣ>6ܓ뼹6U=6H/]?1Կǐ?`!?4'? qq? ?`?I6{=)6)_;i6ǑC\9^"IBDj6DjkY P;!I=]Q)e>i9q9uGY <A>YQ 14٪?Q 54x 9Y0>Q E ?y)~BB."IB܃BB =BBBY^;B#EkAkAkAkAhh0 )Ahp%@hp%@h @z!2o*^ ?Xy˼?j}kb9ۿ)3y? IC?ha@h|Rt{L?#v1?rK Z;'J?C?h?h[Ϳh\?h%ZXhB*i\?2i?U2Y:iim?"iJ @zZZZZ0>I  ɡ iIi)ԁ-checking for new query: numPingsReceived=106, elapsed TxPingTime=52.720165i9IINc>D5D5D5*D1E5: E5~:6E5(N4:E1"E56>𼹱64}=6H5S?|mԿ? !Y?^?@T?`ܼ?9?I6S=)6|B_;i4bσB9b"IMMb@Mb@Mb@ I)IIIiIIMMb`{Gz?~jth?MM#<MD;IIiMAMAI)IM ABDe6DeYu;!uD=uQ)u>DDAT read: Rx Time:05:26:27.4228 TRx dataTimestamp_ set to:1755840388.673080PDAT read: Bearing 289.2, 48.1 (Local) ~Local bearing/azimuth received: Bearing 289.2, 48.1 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:27.4228 LVL= 27984, 10865, 24258, 27427, AGC= 43, IDX= 512, 0.13, 2.437, 2.155, 1.014, 2.927, PHS=-0.388,-0.727,-1.957, RAW= 41.9, 37.2, CAL= 39.4, 43.4, ROT= 110.6, -43.4 Ygot valid direction response: 05:26:27.4228 LVL= 27984, 10865, 24258, 27427, AGC= 43, IDX= 512, 0.13, 2.437, 2.155, 1.014, 2.927, PHS=-0.388,-0.727,-1.957, RAW= 41.9, 37.2, CAL= 39.4, 43.4, ROT= 110.6, -43.4 V#Rx 107: Read range and direction messages.^direction in FSK: [-0.255639,0.680117,0.687088]Fpublishing direction and range info9Mnd\п?)?@iPmq*^#k ƾ):I~i6;?6&?x 0?A?0? AiIc?d1tZ?$J& 0?)Aichecking for new query: numPingsReceived=107, elapsed TxPingTime=52.98754999GY <A >Q 1u4٪?Q 5}4w B9}*. )) ) 5 checking for new query: numPingsReceived=107, elapsed TxPingTime=53.223900D= D= D= +D9 E= l; E= V:6E= [4:E9 !} @! @! @! @9 pkP,A)Ay6w=ٱ6ܧ>66t=6H1H?@_Կ,C?@??@O??y?I6w=)60_;i6ƑCNʃB9R"I)T VABDZ6DZܲYfݼ!fU=jQ)j>h9h9nGYln:<An>pQ 1v4٪rc?Q 5v4rw rB9xYzq@Q Ez?yp)r:Ir):irr4Y|~_ AkkkkzZZZZq@I ɡiIi)i!9 IIN=DDAT read: Rx Time:05:26:27.9229 TRx dataTimestamp_ set to:1755840389.177668PDAT read: Bearing 294.3, 50.2 (Local) ~Local bearing/azimuth received: Bearing 294.3, 50.2 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 05:26:27.9229 LVL= 27632, 9505, 22386, 27091, AGC= 44, IDX= 513, 0.28,-2.347,-2.604, 2.436,-1.961, PHS=-0.285,-0.599,-1.930, RAW= 40.3, 33.3, CAL= 37.7, 39.9, ROT= 112.3, -39.9 Ygot valid direction response: 05:26:27.9229 LVL= 27632, 9505, 22386, 27091, AGC= 44, IDX= 513, 0.28,-2.347,-2.604, 2.436,-1.961, PHS=-0.285,-0.599,-1.930, RAW= 40.3, 33.3, CAL= 37.7, 39.9, ROT= 112.3, -39.9 V#Rx 108: Read range and direction messages.^direction in FSK: [-0.291106,0.709789,0.641450]Fpublishing direction and range info9]ZHyҿ@ ?I#k?f&@ik!%rWi, 둾)XI= i4?,?q(?aF2?p? aF2iIp7,9?tLB?챿 p?)aF2ichecking for new query: numPingsReceived=108, elapsed TxPingTime=53.4928869q vB տ>~B B ;"IB BB =B B B ^;B #E= checking for new query: numPingsReceived=108, elapsed TxPingTime=53.727573=V,[)ADnDn<Dn/DlEn2: En1;6EnJ4:El"En*E[E1=EH;?7Կ?` ??, ?+>?`?IEKo=)EML_;iEőCɃB9"IMb@Mb@Mb@ )Ii9 9 GY  <A >QYQ 1e4٪]%?Q 5e4]w Y9et M[??48?j]ZHyҿ@ ?I#k?hp?haF2 5;v`z?iSBT?r#~;y?+Ǖ?hף?h hԙ?hVhsB*i2i:ii-?"im@zZUt<ZUt<ZU?ZU?Iy yɡyiyIi)i II)N5O>ԁiyI}%=DDAT read: Rx Time:05:26:28.4228 TRx dataTimestamp_ set to:1755840389.681259PDAT read: Bearing 288.5, 49.3 (Local) ~Local bearing/azimuth received: Bearing 288.5, 49.3 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:28.4228 LVL= 27808, 10449, 24562, 28019, AGC= 43, IDX= 512, 0.50, 2.333, 1.999, 0.916, 2.775, PHS=-0.340,-0.731,-1.903, RAW= 43.9, 36.7, CAL= 41.2, 43.0, ROT= 108.8, -43.0 Ygot valid direction response: 05:26:28.4228 LVL= 27808, 10449, 24562, 28019, AGC= 43, IDX= 512, 0.50, 2.333, 1.999, 0.916, 2.775, PHS=-0.340,-0.731,-1.903, RAW= 43.9, 36.7, CAL= 41.2, 43.0, ROT= 108.8, -43.0 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.235690,0.692335,0.681998]Fpublishing direction and range info93+ο>7'?ʩ%2?@il(_sm+ {)";Ii%D?(#?X8?7 @?? 7 @iIsڧ?BS>h#?m#$ ?)7 @imchecking for new query: numPingsReceived=109, elapsed TxPingTime=54.009785Ա U\,u)ALyZY=ٱZʉ>ZJZSw=ZH/?;տ@F7?`&?@4?h\?z?`?IZY=)ZN(_;iXd9j"IBDr6DrβYv[);!zu=zLQ)z?|9|9~GY|n`<A? Q 1 4٪ ?Q 54 w 9Y?Q E?y "C) ^;I ;i E4Y!%d A!kAkAkAkAhhk)Ah@h@h@z ڑn_an?C ?j3+ο>7'?ʩ%2?h?h7 @ Yjʀ*?㳾?ry(3ܿ"e2<8Q?q)?ht?hha?hXh]B*iԙ?2iX:i]Bi7?"i@zZZZZ?I ɡiIi)checking for new query: numPingsReceived=109, elapsed TxPingTime=54.232533i 9 II)N5=rD=jD<D D D *D E &: E :6E (N4:E !-@!-@!-@!-@)  DDAT read: Rx Time:05:26:28.9229  TRx dataTimestamp_ set to:1755840390.184925 PDAT read: Bearing 288.0, 49.8 (Local)  ~Local bearing/azimuth received: Bearing 288.0, 49.8 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 05:26:28.9229 LVL= 29600, 10529, 24658, 30643, AGC= 43, IDX= 514,-0.29, 1.731, 1.331, 0.170, 2.185, PHS=-0.351,-0.809,-2.058, RAW= 45.0, 36.6, CAL= 42.3, 42.9, ROT= 107.7, -42.9  Ygot valid direction response: 05:26:28.9229 LVL= 29600, 10529, 24658, 30643, AGC= 43, IDX= 514,-0.29, 1.731, 1.331, 0.170, 2.185, PHS=-0.351,-0.809,-2.058, RAW= 45.0, 36.6, CAL= 42.3, 42.9, ROT= 107.7, -42.9  V#Rx 110: Read range and direction messages. ^direction in FSK: [-0.222717,0.697865,0.680721] Fpublishing direction and range info9 ̿ T?8F,w? f&@ i s !) R` w F) OI Fi I? Ƈ#? 6x6=6H #?<տ[?@j?l?JԾύ?j? ?I6=)6H_;i6ƑCNσB9N"I|BDV6DV:2Y%m<!-G=-rQ)->)9195GY15|/<A5>Q 14٪?Q 5 4Xw B9Y9?Q E?y#C)~BBBB =BBkDB_;B#EBABABABABABE5kkkkhhՋ)Ahp%@hp%@he@zA9Tlõ?z"'?j̿ T?8F,w?h?h֭?o1ƥ8O?w^ ?rpRۿd.k?D;?R?h?hhn?h~ѣUhB*in?2i%ZX:ieBi?"iĽ@)zZyZyZyZ}:9?I ɡiIi)mA checking for new query: numPingsReceived=110, elapsed TxPingTime=54.736244i=999= AIiIN_>D D D +D E  E z:6E  [4:E "E X;ٱ6>66;Q=6H/?տ@d0?? ?)Wџ?s??I6|>)6r_;i4N̓B9R"IMMb@Mb@Mb@ I)IIIiIIMI +~jt?Mb`?M94eDDAT read: Rx Time:05:26:29.4228 mTRx dataTimestamp_ set to:1755840390.689150uPDAT read: Bearing 285.8, 50.3 (Local) }~Local bearing/azimuth received: Bearing 285.8, 50.3 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:29.4228 LVL= 28016, 10849, 25394, 27187, AGC= 44, IDX= 513,-0.13, 1.068, 0.622,-0.423, 1.498, PHS=-0.328,-0.832,-1.965, RAW= 47.5, 37.3, CAL= 44.5, 43.4, ROT= 105.5, -43.4 Ygot valid direction response: 05:26:29.4228 LVL= 28016, 10849, 25394, 27187, AGC= 44, IDX= 513,-0.13, 1.068, 0.622,-0.423, 1.498, PHS=-0.328,-0.832,-1.965, RAW= 47.5, 37.3, CAL= 44.5, 43.4, ROT= 105.5, -43.4 V#Rx 111: Read range and direction messages.^direction in FSK: [-0.194169,0.700149,0.687088]Fpublishing direction and range info9im$+ȿ}ڟg?)?m@iimpmma*m2cm3jm, m茶)mTImimg;T?mr&?mF?mA?ms? mAiiiImsa]?1Uq Jh}P`?mmӀ& ms?)mAiiichecking for new query: numPingsReceived=111, elapsed TxPingTime=55.004196M<M;IM"AiMAMbAM5 A)IM ABD6DYĻ!== Q) > 9 9 GY )<A>Q 1%4٪-?Q 5%42w B9-1 checking for new query: numPingsReceived=111, elapsed TxPingTime=55.239521bD ZD ?AD- D- D- .D) E- : E- ~:6E- ـ4:E) !M @!M @!M @!M @ԡ p,= )Ay6x%>ٱ6h>6S6=6Hs ?e ֿV??`?e???I6x%>)6 _;i6őCNŃB9R"IBDV6DVkYf8!fa=fQ)f>h9h9jGYhnL<An>pQ 1v4٪r?Q 5v4rw p9tYvk@Q Ev?yr%C)r:Ir:ir[4Y|~ A|kkkkzZ9Z9Z9Z=k@II IɡIiIIQiQ)YQi!9 IIN=uDDAT read: Rx Time:05:26:29.9228 uTRx dataTimestamp_ set to:1755840391.192997PDAT read: Bearing 293.9, 51.2 (Local) ~Local bearing/azimuth received: Bearing 293.9, 51.2 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 05:26:29.9228 LVL= 28208, 10881, 25586, 26819, AGC= 44, IDX= 513,-0.03, 1.317, 1.021,-0.128, 1.669, PHS=-0.250,-0.603,-1.841, RAW= 42.2, 33.4, CAL= 39.5, 40.0, ROT= 110.5, -40.0 Ygot valid direction response: 05:26:29.9228 LVL= 28208, 10881, 25586, 26819, AGC= 44, IDX= 513,-0.03, 1.317, 1.021,-0.128, 1.669, PHS=-0.250,-0.603,-1.841, RAW= 42.2, 33.4, CAL= 39.5, 40.0, ROT= 110.5, -40.0 V#Rx 112: Read range and direction messages.^direction in FSK: [-0.268274,0.717533,0.642788]Fpublishing direction and range info9quyh+ѿU?I?qqiu0nu*ucuhq u)u5^Iuiu)~B ԍCB B B B B B 4_;B #E % checking for new query: numPingsReceived=112, elapsed TxPingTime=55.743679^v,)ADfDfDf2DdEf; EfVL:6Ef4:Ed"EfAٱh>/T=H ?`Hֿ֙?4?@? 8@K?}T?@C?Ii^ >) _;i̓B9"I)! %AԩMb@Mb@Mb@ )IiQ rh?uC<IAiAtA A)BD6DY<!+=׌Q)>99GY  <A >Q 14٪?Q 54v B9i] 9YY] YIiIN:>}DDAT read: Rx Time:05:26:30.4227 }TRx dataTimestamp_ set to:1755840391.696977PDAT read: Bearing 295.5, 49.9 (Local) ~Local bearing/azimuth received: Bearing 295.5, 49.9 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 05:26:30.4227 LVL= 27856, 10641, 24306, 25827, AGC= 43, IDX= 512, 0.09, 1.137, 0.885,-0.351, 1.547, PHS=-0.308,-0.617,-1.942, RAW= 40.2, 34.0, CAL= 37.7, 40.5, ROT= 112.3, -40.5 Ygot valid direction response: 05:26:30.4227 LVL= 27856, 10641, 24306, 25827, AGC= 43, IDX= 512, 0.09, 1.137, 0.885,-0.351, 1.547, PHS=-0.308,-0.617,-1.942, RAW= 40.2, 34.0, CAL= 37.7, 40.5, ROT= 112.3, -40.5 V#Rx 113: Read range and direction messages.^direction in FSK: [-0.288541,0.703535,0.649448]Fpublishing direction and range info9y}z4Oswҿ"/[?AG?}3@yi}l})}^}d}+ }-)}I}ui}3?}?}q(?}4?}p? }4iyyI}4?7* |b?}e(}( }p?)}4iyychecking for new query: numPingsReceived=113, elapsed TxPingTime=56.011341 1 B },@)Ay6P[>ٱ6܃>6=6=6H? ֿXP?p??y! ?a???I6P[>)6:^;i6ǑCRуB9R!"IBDZ6DZ:Yb<!bw=b[+Q)f?d9d9fGYdjA<Aj?lQ 1r4٪nM?Q 5r4nv l9tYv*@Q Ev?yn'C)n;In;ins4Yxz( A|k!k!k!k)hhE)AhZ@hZ@h*@z( D心k?qo=A?jz4Oswҿ"/[?AG?hp?h4l#݅¤~ۗO?$|zK?rR~6BNcH?V[?h}?h&hb?haZhB*i2iW:i]Bi?"iǖ@zZAZAZAZE*@checking for new query: numPingsReceived=113, elapsed TxPingTime=56.249958IQ !ɡ!i!I)rD=jD=i)iD=D=D9D9E=: E=T:6E9:E9!@!@!@!@i%#9!!% !I19IINUS>yiyI-G) I) ie a e @i  DDAT read: Rx Time:05:26:30.9228  TRx dataTimestamp_ set to:1755840392.201002 PDAT read: Bearing 306.0, 46.0 (Local)  ~Local bearing/azimuth received: Bearing 306.0, 46.0 (Local)  DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 05:26:30.9228 LVL= 27888, 11089, 23938, 27699, AGC= 43, IDX= 513, 0.21, 2.559, 2.609, 1.083, 3.084, PHS=-0.423,-0.430,-2.045, RAW= 30.2, 32.3, CAL= 28.0, 38.2, ROT= 122.0, -38.2  Ygot valid direction response: 05:26:30.9228 LVL= 27888, 11089, 23938, 27699, AGC= 43, IDX= 513, 0.21, 2.559, 2.609, 1.083, 3.084, PHS=-0.423,-0.430,-2.045, RAW= 30.2, 32.3, CAL= 28.0, 38.2, ROT= 122.0, -38.2  V#Rx 114: Read range and direction messages. ^direction in FSK: [-0.416441,0.666444,0.618408] Fpublishing direction and range info9 }m)ڿ-S? ybr? @ i l Q+ ] 3l uؾ) (ܾI Hi V? ZQ? 5> *? {F@ *i I =Ci?k Z? ȿ Wz {F@) *i  checking for new query: numPingsReceived=114, elapsed TxPingTime=56.515110>, )Ay6ڧ>ٱ6!*>66C=6H ^?@ֿ?@ ?e?-@?`^R?Q?I6ڧ>)6_;i6ƑCEŃB9E"IBD}6D}Yb!>=9Q)>99GY_;A>Q 1%4٪?Q 5-4v 9YY]J*@Q Ee?y)C)x~B5ՍCB1B1B5 =B1B5lDB5(_;B5#Eqkkkkhh7 )Ah@h@hޝ$@z=VNmq?bK?j}m)ڿ-S? ybr?h{F@h*wƕUȐ2?$EzX?r߉㿴O?Lߦ?hq?hh;X?h]hB*ib?2i:i6Bi?"iI@zZ9Z9Z9Z=J*@Ii iɡiiiIqiq)yDDAT read: Rx Time:05:26:31.4227 TRx dataTimestamp_ set to:1755840392.455721PDAT read: Bearing 293.0, 49.0 (Local) i% 9!!- )E~Local bearing/azimuth received: Bearing 293.0, 49.0 (Local) Uchecking for new query: numPingsReceived=114, elapsed TxPingTime=56.764946IԙIDDD/DE: E:6EJ4:E"E. M,t*)Ay6p>ٱ66>66%=6H u?`ֿ(̋???@d@??i?I6p>)60_;i6đCPR˃B9R"I-Mb@Mb@Mb@ )))I)i))-1919=GY9=s;A=>AQ 1M4٪E?Q 5M4Ev EB9Uκ DDAT read: Rx Time:05:26:31.9228  TRx dataTimestamp_ set to:1755840392.959465% PDAT read: Bearing 291.0, 48.6 (Local) - ~Local bearing/azimuth received: Bearing 291.0, 48.6 (Local) = checking for new query: numPingsReceived=115, elapsed TxPingTime=57.264431bD ZD @ABE4JE4REɢ0D D D 0D E : E z:6E 4:E !5 @!5 @!5 @!= @A ,QD)Ay6D>ٱ6ָ>6w6[=6H ?` ׿8Y?? ?{ ??%?I6D>)6i_;i4bŃB9b"I|BDj6DjJY Q! ^=')8Q)>99GY>;A>!Q 1-4٪%?Q 5-4%v !91Y56@Q E5?y%+C)%:I%:i%͸4Y9= AAkYkYkakazZyZyZyZ}6@I ɡiIi)i-9115 1IIIaNu=)]DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 }DAT read: 05:26:31.9228 LVL= 27600, 11201, 24994, 27411, AGC= 43, IDX= 514,-0.38, 0.957, 0.604,-0.663, 1.491, PHS=-0.431,-0.842,-2.198, RAW= 42.8, 37.5, CAL= 40.3, 43.7, ROT= 109.7, -43.7 Ygot valid direction response: 05:26:31.9228 LVL= 27600, 11201, 24994, 27411, AGC= 43, IDX= 514,-0.38, 0.957, 0.604,-0.663, 1.491, PHS=-0.431,-0.842,-2.198, RAW= 42.8, 37.5, CAL= 40.3, 43.7, ROT= 109.7, -43.7 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.243709,0.680652,0.690882]Fpublishing direction and range info9IMeH#1ϿiH?O u?M@IiMkM+MaMkI Mܾ)MPWIM iMt;??M6'?M4?M@C?Mx? M@CiIIIMco?_.追Zv?M`M`' Mx?)M@CiIIchecking for new query: numPingsReceived=116, elapsed TxPingTime=57.520020QvB- >~B) B) B) B- =B) B) B- V_;B- $Eԁ )   DDAT read: Rx Time:05:26:32.4227 - TRx dataTimestamp_ set to:1755840393.464697E PDAT read: Bearing 280.8, 48.2 (Local) M ~Local bearing/azimuth received: Bearing 280.8, 48.2 (Local) 83,3^)ADZDZDZ-DXEZ2: EZ5:6EZt4:EX"EZ*ٱƼ>]~=H`?׿?? ? `x?`>?`?I>)3_;DAT read: 05:26:32.4227 LVL= 27296, 10305, 23922, 26771, AGC= 44, IDX= 513,-0.21,-0.563,-1.112,-2.034,-0.009, PHS=-0.452,-1.058,-2.069, RAW= 51.8, 41.8, CAL= 48.7, 47.3, ROT= 101.3, -47.3 Ygot valid direction response: 05:26:32.4227 LVL= 27296, 10305, 23922, 26771, AGC= 44, IDX= 513,-0.21,-0.563,-1.112,-2.034,-0.009, PHS=-0.452,-1.058,-2.069, RAW= 51.8, 41.8, CAL= 48.7, 47.3, ROT= 101.3, -47.3 V#Rx 117: Read range and direction messages. ^direction in FSK: [-0.132883,0.665013,0.734915] Fpublishing direction and range info9QiÑC%̓B9%"IUM$gG?lk?U3@QiUjUA(Ur]UhU, Ul)UlIUjiUqg?U:?UY?UVS?UoN? UVSiQQIUylFб? 8}&xT?UalU: UoN?)UVSiQQmchecking for new query: numPingsReceived=117, elapsed TxPingTime=57.849792Mb@Mb@Mb@ )Ii{GzI +?ף94<IiAA A) ABD6D:Y<!%=G8Q)>99GY;A>Q 14٪.?Q 54v 9]checking for new query: numPingsReceived=117, elapsed TxPingTime=58.011730Ա S[,x)Ay>W6>ٱ>`q>>>=>H?c2׿ ?@!? ?L"L???I>W6>)>_;i>đC^B9b "IBDf6DfYn7!r=rQ)r?t9t9vGYtv;Av?xQ 1~4٪z?Q 54zv x9Y@@Q E?yz-C)z ;Iz ;izƕ4Y  Ak)k1k1k1zZQZQZQZUm@@Ia aɡaiaIaii)iԹDDAT read: Rx Time:05:26:32.9229 TRx dataTimestamp_ set to:1755840393.968355PDAT read: Bearing 288.6, 46.6 (Local) ~Local bearing/azimuth received: Bearing 288.6, 46.6 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -\#Rx 118: Read range message, but no direction.i999AA9f&@checking for new query: numPingsReceived=118, elapsed TxPingTime=58.289330IrD=jD<DDD2DE: E&p:6E4:E!@!@!@!@IN> DAT read: 05:26:32.9229 LVL= 27088, 6929, 21394, 26403, AGC= 47, IDX= 2,-0.09, 2.394, 2.077, 0.977, 2.997, PHS=-0.500,-0.875,-2.064, RAW= 43.3, 40.7, CAL= 40.8, 46.5, ROT= 109.2, -46.5  Ygot valid direction response: 05:26:32.9229 LVL= 27088, 6929, 21394, 26403, AGC= 47, IDX= 2,-0.09, 2.394, 2.077, 0.977, 2.997, PHS=-0.500,-0.875,-2.064, RAW= 43.3, 40.7, CAL= 40.8, 46.5, ROT= 109.2, -46.5  \#Rx 119: Read direction message, but no range. ^direction in FSK: [-0.226377,0.650066,0.725374]9a e / U̿)*vV?3upMD6?a ie ie e Se #ge / e )e `Ie ie \wA?e o5?e K6?e O?e ? e Oia Ie hQI?7!5kzq?e ge 5 e ?)e O checking for new query: numPingsReceived=119, elapsed TxPingTime=58.524860a iE,)Ay6&>ٱ6?>6+66=6H #?vJ׿!|?`9??Q&???I6&>)6_;i6ÑCNʃB9N"IBDV6DVfYr2=!rJ=vXQ)v>t9t9zGYxz~;Az>|Q 1 4٪~?Q 5 4~~v |9Y@@Q E?y~.C)~q|;I~p;i~͕4Y)-a A1kikqkykyhh})A9hr%@hr%@h@z&ueR:?݉?j/ U̿)*vV?3upMD6?h?hO(("Pj)t?>pg@rz8ۿ.yŚ9?̶da?hÌ?A<AvB>~BBBB =BBBd_;B $Eh,hv砝?h5 YhB*i2i:iij?"i5@zZZZZ@@I ɡiIi)!aDDAT read: Rx Time:05:26:33.4228 TRx dataTimestamp_ set to:1755840394.471891PDAT read: Bearing 282.4, 47.5 (Local) ~Local bearing/azimuth received: Bearing 282.4, 47.5 (Local) %DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 5\#Rx 120: Read range message, but no direction.i=#9AAM IIDDD0DE Ec:6E4:E"E5ԉԹ m,ӽ)Ay6l>ٱ6jǾ>66>6H?Z׿ۗ?I?`?k\P? ? 9?I6l>)6^;i6‘CNуB9R""IEDAT read: 05:26:33.4228 LVL= 26944, 10353, 23282, 25555, AGC= 44, IDX= 497, 0.03, 2.402, 1.909, 0.961, 2.988, PHS=-0.484,-1.034,-2.071, RAW= 50.0, 42.3, CAL= 47.1, 47.7, ROT= 102.9, -47.7 MYgot valid direction response: 05:26:33.4228 LVL= 26944, 10353, 23282, 25555, AGC= 44, IDX= 497, 0.03, 2.402, 1.909, 0.961, 2.988, PHS=-0.484,-1.034,-2.071, RAW= 50.0, 42.3, CAL= 47.1, 47.7, ROT= 102.9, -47.7 MX#Rx 1: Read direction message, but no range.U^direction in FSK: [-0.150250,0.656026,0.739631]94e;ÿ0z*+?V?i@iq(Zc, )ZIDif_?99GY;A>Q 14٪0?Q 54uv B9M@Q E?y/C):I:iՕ4Y $ Ak1k1k1k1hhv3)Ah@h@h@z4*#ֿL# ?7#*=?j4e;ÿ0z*+?V?h}?h+ U\tL 5Se?8,?rP׿B<)?6w?h-?hZ`h@I9 9ɡAiAIAiA)I U>Qi IIN*>ԹDDAT read: Rx Time:05:26:33.9228 TRx dataTimestamp_ set to:1755840394.976118 PDAT read: Bearing 299.3, 50.0 (Local)  ~Local bearing/azimuth received: Bearing 299.3, 50.0 (Local) 5 DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 U X#Rx 1: Read range message, but no direction.9ԑ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.D D D 5D E a: E k:6E 4:E ! @! @! @! @U,٘)A y6>ٱ6>61690>6H? QW׿ϐ?`F?ޅ?XxE??ɺ?I6>)6׈^;i4NăB9R"IBDX6DXYfC!f^=fk9Q)j>h9h9jGYhn An>pQ 1v4٪r?Q 5v4rnv p9tYv>@Q Ez?yr0C)r:Ir:irە4Y|] AYkkkkzZZZZ>@I ɡiIi)ii 9 IIN=MDAT read: 05:26:33.9228 LVL= 28096, 11633, 24914, 27059, AGC= 44, IDX= 513, 0.15, 1.211, 1.015,-0.228, 1.610, PHS=-0.297,-0.550,-1.882, RAW= 38.5, 33.2, CAL= 3, 39.7, ROT= 114.0, -39.7 UIgot valid direction response: 05:26:33.9228 LVL= 28096, 11633, 24914, 27059, AGC= 44, IDX= 513, 0.15, 1.211, 1.015,-0.228, 1.610, PHS=-0.297,-0.550,-1.882, RAW= 38.5, 33.2, CAL= 3, 39.7, ROT= 114.0, -39.7 UX#Rx 1: Read direction message, but no range.]^direction in FSK: [-0.312943,0.702881,0.638768]9)-5BԿ>~?Lή3p?)i-m-q--Ra-i) -b)- I-`i-,?-V?-PwV=-a1?-? -a1i)I-ӨUgӿ?OK{5û?--%N -?)-a1u~BBBB =BBB_;B"$EBՍCBՍCBBȭ =Bȭ =B5  DDAT read: Rx Time:05:26:34.4227  TRx dataTimestamp_ set to:1755840395.480270 PDAT read: Bearing 282.9, 50.4 (Local) % ~Local bearing/azimuth received: Bearing 282.9, 50.4 (Local) M DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 i,^)AD>D>D>.D<E>: E>z:6E>ـ4:E<"E>=->-;!FE>;!FLX#Rx 1: Read range message, but no direction.9)-3@) 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.y>ٱ>H?K׿j?`Q:??.r e^?x? ?I>)];iC-ɃB9-"I]Mb@Mb@Mb@ Y)YIYiYY]~jth{Gzt?]D]ף;YI] Ai](AY] A)Y] ABDu 6Du2Y<!%=yɹQ)>99GYպA>Q 14٪u?Q 54bv 9;Q A >YL@Q E?y1C);Iy;i4Yi Akkkkh)h-)Ah-Z@h-Z@h-S6@z-l |+;O?A$_?j-5BԿ>~?Lή3p?h-?h-a1-6!Ɠ?Y! ?r- ]/ῑ8q?8m>?h-?h-1h-?h-"[h- B*i)2i):i)i-0?"i-@zZm;Zm;Zm)@ZmL@I ɡiIi)iQQQU QIaIyNZ>UDAT read: 05:26:34.4227 LVL= 28400, 10641, 25042, 27459, AGC= 44, IDX= 512, 0.32,-0.242,-0.776,-1.688, 0.201, PHS=-0.341,-0.932,-1.933, RAW= 51.5, 39.1, CAL= 48.3, 44.9, ROT= 101.7, -44.9 ]Ygot valid direction response: 05:26:34.4227 LVL= 28400, 10641, 25042, 27459, AGC= 44, IDX= 512, 0.32,-0.242,-0.776,-1.688, 0.201, PHS=-0.341,-0.932,-1.933, RAW= 51.5, 39.1, CAL= 48.3, 44.9, ROT= 101.7, -44.9 eX#Rx 1: Read direction message, but no range.m^direction in FSK: [-0.143642,0.693623,0.705872]915]|tb¿3'2?"?1i5n5)5a5Ck1 5)5nI5li5f?5R.?5uW?5yH?513? 5yHi1I5җ;?㢕|0?5c5. 513?)5yHٱ6ڻ>6C6=6H ?G=׿X?T*?@? AJ@?? {?I6L>)6r];i6ÑCNÃB9R"IBDV6DVYv&!v=vQ)v ?x9x9zGYxzVA~ ?|Q 1 4٪V?Q 5 4[v 9Y:@Q E?y)y:I :i%4Y Akk!k!k!zZDDAT read: Rx Time:05:26:34.9228 TRx dataTimestamp_ set to:1755840395.992609PDAT read: Bearing 311.8, 47.4 (Local) %~Local bearing/azimuth received: Bearing 311.8, 47.4 (Local) UDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 eX#Rx 1: Read range message, but no direction.Z9@u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.rD=jD<DDD/DE: Ek:6EJ4:E!@!@!@!@ZZ:@I ɡiIi)))1i IINF>Qm DAT read: 05:26:34.9228 LVL= 28464, 11649, 24498, 27347, AGC= 44, IDX= 514,-0.45,-0.209,-0.124,-1.637, 0.224, PHS=-0.331,-0.303,-1.905, RAW= 29.1, 29.5, CAL= 26.9, 34.8, ROT= 123.1, -34.8 u Ygot valid direction response: 05:26:34.9228 LVL= 28464, 11649, 24498, 27347, AGC= 44, IDX= 514,-0.45,-0.209,-0.124,-1.637, 0.224, PHS=-0.331,-0.303,-1.905, RAW= 29.1, 29.5, CAL= 26.9, 34.8, ROT= 123.1, -34.8 u X#Rx 1: Read direction message, but no range.} ^direction in FSK: [-0.448431,0.687892,0.570714]9A E 0|ܿS]W6? IC?ԉ A iE 0oE -E _E jA E x)E "IE iE "?E ?E va>E |?E  @ E |iA IE k8̯;_}?E .˿E & E  @)E | ٱFK1>F F=FH ?.׿@0_?@??  5?=8?P?IF.>)F_];iFCVσB9Z"IBDf6Df:2YrZ=!rJ=vDѺQ)v>x9|9~GY|*A> Q 14٪ -?Q 54 Qv 9!Y%'@Q E%?y ) _;I `;i ;4Y1=: A9Ykikikikih!h%)Ah%@h%@h%&@z%oq񿗻/[kC?:AW?j%0|ܿS]W6? IC?h% @h%|%I-'- 1ٚ?~|??r%H"d6?4'S?h%u?h%nɿh%?ky?h%0o]h%׆B*i%v砝?2i!:i!i%?"i%ǧ@zZ!Z!Z!Z%'@AYA]AAvBq~BqBqBqBu =BqBqBu`;Bub$EI ɡiIi)ԉi!9 II!NM1>)ߩ ߩDDAT read: Rx Time:05:26:35.4227 TRx dataTimestamp_ set to:1755840396.489703PDAT read: Bearing 302.7, 49.5 (Local) ~Local bearing/azimuth received: Bearing 302.7, 49.5 (Local) EDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 UX#Rx 1: Read range message, but no direction.93@]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.DDDDEs: Ei:6E:E"E`0ٱ6>6 6==6H`k?n"׿ۈ?` ?@ߕ?a쿿U??r?I6>)6J<];i6C^̃B9^"I%DAT read: 05:26:35.4227 LVL= 28816, 11201, 24002, 27379, AGC= 44, IDX= 513,-0.25,-2.371,-2.498, 2.489,-1.973, PHS=-0.296,-0.480,-1.865, RAW= 36.1, 32.2, CAL= 33.6, 38.2, ROT= 116.4, -38.2 -Ygot valid direction response: 05:26:35.4227 LVL= 28816, 11201, 24002, 27379, AGC= 44, IDX= 513,-0.25,-2.371,-2.498, 2.489,-1.973, PHS=-0.296,-0.480,-1.865, RAW= 36.1, 32.2, CAL= 33.6, 38.2, ROT= 116.4, -38.2 -X#Rx 1: Read direction message, but no range.5^direction in FSK: [-0.349420,0.703901,0.618408]9|~-\ֿZ[? ybr?|i~p~+~]~j| ~P)~I~Ri~K!?~?~Q ?~*?~"@ ~*i|I~l???VD_?~>N~ ~"@)~*M)9195GY1=cA=>iQ 1}4٪m?Q 5}4mQv i9;Q A>Y3C@Q E?yi)m:G;Im5;im4YK Ak)k1k1k1hhKW)AhZ@hZ@he@zԑ|>?6Yt?j-\ֿZ[? ybr?h"@h*c}Yi$:b?xW?r-ċS⿺i2?m?h?hh#5?h6a[hB*i?2i"[:i Bi?"i.@zZ;Z;Ztc+@Z3C@I ɡiIi)i} 9yy} yIINc>DDAT read: Rx Time:05:26:35.9229 TRx dataTimestamp_ set to:1755840396.992282PDAT read: Bearing 290.8, 46.0 (Local) ~Local bearing/azimuth received: Bearing 290.8, 46.0 (Local) % DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 bD ?AZD D D D -D E : E :6E t4:E ! @! @! @! @ DAT read: 05:26:35.9229 LVL= 28848, 8369, 20690, 26611, AGC= 46, IDX= 2,-0.11, 0.699, 0.437,-0.720, 1.304, PHS=-0.503,-0.822,-2.068, RAW= 41.1, 40.0, CAL= 38.8, 45.8, ROT= 111.2, -45.8  Ygot valid direction response: 05:26:35.9229 LVL= 28848, 8369, 20690, 26611, AGC= 46, IDX= 2,-0.11, 0.699, 0.437,-0.720, 1.304, PHS=-0.503,-0.822,-2.068, RAW= 41.1, 40.0, CAL= 38.8, 45.8, ROT= 111.2, -45.8  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.252112,0.649984,0.716911] Fpublishing direction and range info97"п0z?[?f&@ip Pg. )nRIZi7?¸2?-\-?L?Ul? LiI \)?cZdck‹?8z2 Ul?)Li 2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.9 H,F)Ay6>ٱ6>6 6=6H`?׿?F? Y?{ ? Y?V?I6>)6zc];i6CN΃B9N"IBDV6DV:2I]MG)yIi@Y<!`=Q)>99GY WA >1Q 1E4٪5?Q 5E45Pv 19AYEC@Q EM?y1)5 ;I5;i54Yq? Akkkkhh?)Ahq%@hq%@h@zAS?lP?j7"п0z?[?hUl?hLd%c{?QXE @r;2ݿ:ܐ\ ?vq??hދ?hɘhCo?hީYhևB*i2i:ii?"iB)@zZ)Z)Z)Z-}C@I9 AɡAiAIAiA)iqulAvBU>~BQBQBQBU =BQBQBU`;BU$Eiԙ  DDAT read: Rx Time:05:26:36.4228  TRx dataTimestamp_ set to:1755840397.496882 PDAT read: Bearing 285.4, 46.3 (Local)  ~Local bearing/azimuth received: Bearing 285.4, 46.3 (Local) = DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 ,`)AD2D2D0D0E2l; E2|:6E0:E0"E2PFٱvg>Ԙd=H?ֿo?`^??C .ҡ???I">)aO];iC9lc{Lvȿy]?0/z?@iPm!'[d+ )EvIˡiplN?AQ:?B?S?,? SiI͛k?p܁WHd/nM?̤z: ,?)Si52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.Y9aim=Im=qMb@Mb@Mb@ )Ii/$?~jtx?<;I Ai A)BD%6D%밹u\kQ)u>q9q9}GYy}EA}>Q 14٪?Q 54)v 9Z$?I ɡiIi)ԡi"9 IINg>ٱ66T>6e6=6H ?ֿ?`5? ?便`??@?I6>)6];i4BʃB9B"IBDN6DNYV,!V  = BDAT read: Tx time:05:26:37.4385 = $Ping request sent.= ٱNJ>N"N"=NH ?`ֿ??@V? UѾ?ৎ?#?IN>)Nq];iLX9XBD`6D`z|9|9~GY|0A> Q 154٪ ?Q 554 u 91Y5#?Q E5?y 5C) ;I :i 4YAAAkkkkzZZZZ?#?I ɡiIi)A<A<vB>~BBA"IBBBBBB`;B$E M>I)i!9 II9Ne>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249640IDuDuDu3DqEu; Eu:6Eu4:Eq"Eup&a>ٱ>>>J>=>H?Rֿ>?W??`k?Fm? ?I>&a>)>oi];i<H9HipIpvchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502004-Mb@Mb@Mb@ )))I)i))-~jt?MbP?Mb`?-<-:-;I-Ai-A)- A)))BDE6DEβYMv !UQ9Y9]GYYeûAe>iQ 1m4٪m?Q 5u4mu i9uuQ Eu?ym6C)m;Ima;im4Y] AkkkkzZu<Zu<Zi*=Z]>I ɡqiqIqiy)ԉi)))- )I9IIN]>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753749bD ZD D D D ,D E >: E 5:6E g4:E ! @! @! @! @ ,&)Ay6d< >ٱ6ft>6Z6bF=6H?`@kֿN?LP?پ?`&ϡ?`xs? ?I6d< >)6{];i6C`nŃB9n"IBD~6D~kY ߼! O=9Q)>99GY!%A%>1Q 1=4٪5C?Q 5=45u 5B9AYE>Q EE?y57C)55;I5<;i5"4YQU AQkkkkzZZZZ>I ɡiIi)im 9iiu qIIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005754vB>~BBBB =BBB`;BI )ߙ ߝ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257939,~)AD&D&D&+D$E& ; E&&p:6E& [4:E$"E&LٱBʹ>BS B=BH? 9ֿ־?? i?ܾ??? ?IB >)BȂ];i@^˃B9b"IMb@Mb@Mb@ )Iiy&1?~jthMbP?`<D:IAiAA A) ABD6DY(<!?=:Q)>99GYJA>Q 14٪>?Q 54u 9Q E?y9C):II:i,*4YZ AkkkkzZ=<Z=<Z=z@Z=Jx>II IɡIiIIIiQ)Y)ai "9    IIIANU>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509855qԡ E,)Ay6>ٱ68>6, 6%=6H ? kֿ@1? ?^? $?? /?I6>)6h];i6C^B9b"IBDj6Dj:2YrF!rZ=r;Q)r>t9t9vGYtvHAz>xQ 14٪z?Q 54zu zB9Yu>Q E?yz:C)za;Iz] ;iz04Y  Ak1k1k1k1zZQZQZQZUڃu>yI ɡiIi) ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761692rDU=jDU%=D]D]D].DYE]: E]M:6E]ـ4:EY!m@!m@!m@!m@i 9 IIN=ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013691 -,o)Ay:u2>ٱ:no>:9:V=:H?տ@j%?`?7?G`? B?@7?I:u2>):g];i:CRȃB9R"IBDZ6DZYb=!bL=b$;Q)f>d9d9fGYdjAj>lQ 1r4٪n?Q 5r4nu l9pYrq>Q Ev?ynIA AɡAiIIIiI)QAA@AvB>~BBBB =BBB`;B$EBaBaBaBaBaBe!}59i I9IaN>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265678iDeDeDe,DaEe ; Ee:6Eeg4:Ea"EeR6"6=6H?տ@Y(? d~??`@?`ġ? ?I6Pr=)6];i6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517592-ăB9-"IMb@Mb@Mb@ )IiMb?{Gzt=ףI"AiAtA) ABD6DkY!9=;Q)>99 GY  A >Q 1%4٪8?Q 5-4ou 9-=Q A-Q E5?y=C)c;I Q;i{?4YAE AAԑkkkkzZ%=Z%=Z%@Z%jQA>IY YɡYiYIYia)ai!!!% !I1IINU2>)q q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769926D D D D E : E |:6E :E ! @! @! @! @ _@,zqI)AyFl)=ٱF`>Fb3F=FH/+?SտX?@@??`ݿ-E?@ ?෿?IFl)=)Fɧ];iD~B9~ "Ii)  ABD6D!Yeɼ!eT=e;Q)e>i9i9mGYim,Au>yQ 1}4٪}??Q 54}`u y9Y5=>Q E?y}?C)}:I}h:i}-F4Y AkkkkzZZZZj5=>I ɡiIi)i#9 IIN=BDAT read: Rx Time:05:26:39.8459 TRx dataTimestamp_ set to:1755840401.272548checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022849vBؿ>~BӍCB5"IBBB =BBjDB`;B$EI  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275787Zj,Lc)A$DiDDjDjDj/DhEj; Eje:6EjJ4:Eh"EjA󼹱J(=H7? տ#??@?@53b?m?g?I=)];iCEB9M "IMb@Mb@Mb@ )IiMb?~jtMbPDIiA A)BD6D0YBٻ!3=*:Q)>99GYT!A>i Q 1u4٪ ?Q 5}4 bu 9} =Q A}ԙ DAT read: 05:26:39.8459 LVL= 28112, 9681, 23026, 27811, AGC= 45, IDX= 222, 0.13, 2.895, 2.555, 1.477,-2.739, PHS=-0.548,-0.944,-2.111, RAW= 44.1, 42.1, CAL= 41.7, 47.8, ROT= 108.3, -47.8 Ygot valid direction response: 05:26:39.8459 LVL= 28112, 9681, 23026, 27811, AGC= 45, IDX= 222, 0.13, 2.895, 2.555, 1.477,-2.739, PHS=-0.548,-0.944,-2.111, RAW= 44.1, 42.1, CAL= 41.7, 47.8, ROT= 108.3, -47.8 PDAT read: Bearing 284.8, 45.2 (Local) ~Local bearing/azimuth received: Bearing 284.8, 45.2 (Local) -DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s -,DAT read: user:7501> 5BDAT read: Tx time:05:26:40.9385 =$Ping request sent.=6뼹6 =6HFD?Կ.?$?? 6@r?`]¿?M?I6T=)6];i6CLRB9R "IBDZ6DZ1Yz\;!zr=~0;Q)~?99GYcA? Q 14٪ ?Q 54 cu 9YQ E?y BC) ;I  ;i T4Y!- A)kIkIkIkIh h on?+@m?r {Jbٿr?|?h +?h Grh Χȸ?h ,mZh B*i Co?2i MUZ:i Bi ?"i @zZZZZ U@I ɡiIi) >i5 9115 1IAIQN]=DDD1DEf; E n:6E-4:E!@!@!@!@i4CIG)1IUAi5l\A! {%,)Ay6=ٱ6H>6B弹6>6HP? ZyԿ?j?` ?`t^Ѷ??`?I6=)65];i4^B9b"Iif=If=BDj6DjYr!rL=r1:Q)r>t9t9vGYtvT>Az>x|Q 14٪z ?Q 54zfu zB9 Y Q E ?yzDC)z';Iz(;iz[4Y AvBEڿ>~BABE("IBEփBBE =BABABE=a;BE$EkkkkzZ Z Z Z /@I! !ɡ!i!I!i)))i I)I!N>DDD.DE: E:6Eـ4:E"E.6EἹ6>6H@\?,2Կ?#?J?,!?zG?\?I6=)6];i6CRB9V"IMMb@Mb@Mb@ I)IIIiIIMI +?:vM919195GY1=,&A=>AQ 1M4٪E ?Q 5M4Evu A9MVԱBEuA{4JEu44REu?z0D D D -D E : E ҆:6E t4:E ! @! @! @! @ 2,)AyJ7=ٱJ>Ji;޼J>JH`h?ӿQ?`? "?Hƛ?`"r? ?IJ7=)J];iHVB9V"IBD^6D^Yf!fa=j{:Q)j>h9h9jGYhnZVAn>pQ 1v4٪rb ?Q 5v4ru p9tYzZQ Ez?yrGC)r:Ir:ir$i4Y|~ A|kkkk!zZ9Z9Z9Z=8@II IɡQiQIQiQ)Y)aԹi 9 IIN%=i߭)?I߭R?vB=>~B=ՍCB=""IB=уBB= =B9B=kDB=[a;B=%EA 8,)Ay6:n=ٱ61>60ۼ6>6H`ct? ӿQ??,?G{???I6:n=)6R];i6CBB9F "IDiD)H JADPDRDR.DPEP ERc:6ERـ4:EP"ER599GYL.A>Q 14٪ ?Q 54u B9)Aiԙ >,]o)Ay67Z=ٱ6>6ZXܼ6^>6Hg? \ӿ.? M?s7?1?)??I67Z=)6O];i6CBB9B"IBDN6DNfYVR!V^=VQ)V>X9X9ZGYXZDA^>`Q 1b4٪b ?Q 5f4bu `9dYf yQ Ef?ybIC)b:Ib:ib.w4Yhn Alkxk|k|k|zZZZZ@I ɡiIi)qim 9iim qIIN=DDDDE: E~:6E:E!@!@!@!@ԡ E,sH)Ay6=ٱ6hϚ>68ݼ6e>6H`?ӿG? ?B?`8?\?@?I6=)6@];i6C^B9b"IBDf6Dfk1vBr>~Br֍CBr"IBr̃BBr =BpBrlDBr#a;Br$EY~Y=!~E=5Q)>99 GY  '#A >Q 14٪f ?Q 54u 9!Y%zQ E%?yJC);I;il~4Y)- A)kIkIkIkIzZiZiZiZmo̩@I ɡiIi)i9 IIN= >=BDAT read: Rx Time:05:26:43.3458 MTRx dataTimestamp_ set to:1755840404.551288DDD,DE: EZ:6Eg4:E"E=--V߼V$>VH@8?ҿ??M? ?W??IV=)VK];iVCjB9j"Iir=Ir=Mb@Mb@Mb@ )Ii~jt99GYA>Q 14٪- ?Q 544v B9ԙbD @AZD D D D D E a: E :6E :E ! @! @! @! @) R,K)Ay6=ٱ6_>6伹6>6H+?ࢫҿ??@$U?~?c?Y?I6=)6];i6C^B9^ "IBDj6Dj Y5<!U=ںQ)>99%GY!% A%>)Q 154٪- ?Q 554-hv -B91Y5Q E=?y-LC)-+;I-;i-4YAE AAkakakakazZZZZ)@I ɡiIi)iU9QQU QIyDAT read: 05:26:43.3458 LVL= 26224, 10977, 24706, 27827, AGC= 44, IDX= 445, 0.26, 0.843, 0.455,-0.580, 1.481, PHS=-0.536,-0.981,-2.105, RAW= 46.0, 42.5, CAL= 43.4, 48.0, ROT= 106.6, -48.0 1MYgot valid direction response: 05:26:43.3458 LVL= 26224, 10977, 24706, 27827, AGC= 44, IDX= 445, 0.26, 0.843, 0.455,-0.580, 1.481, PHS=-0.536,-0.981,-2.105, RAW= 46.0, 42.5, CAL= 43.4, 48.0, ROT= 106.6, -48.0 IN>PDAT read: Bearing 280.9, 45.9 (Local) ~Local bearing/azimuth received: Bearing 280.9, 45.9 (Local) DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s ,DAT read: user:7502> BDAT read: Tx time:05:26:44.4385 %$Ping request sent.%~BՍCBBB =BBB`;B$EBBԍCBƔCBƮ =BƯ =Bƍ6Yԉ Y,ze)Ay6v=ٱ63>63꼹64>6Hj?@uҿ?@a? ]?umE?_Y??I6v=)6];i6CDBDBDB0D@EB ; EB1:6EB4:E@"EBkT19195GY1=A=>AQ 1M4٪EL ?Q 5M4Ev EB9M >iU!9QQQQIiIyԁN>)ߙ ߝAԱ 0_,)Ay6vΎ=ٱ6҉>6Y6T|>6Hܪ?Dҿ?`).?e??vB??I6vΎ=)6];i6C<>rA>i>piF99GYA>!Q 1-4٪% ?Q 5-4%v %B9)Y-RQ E5?y%NC)%q:I%:i%4Y9= A9kYkYkYkYzZyZyZyZ}{@I ɡiIi)i I!I9NE=DDD,DEO: E n:6Eg4:E!@!@!@!@A !f,)Ay6Yr=ٱ62>6G66>6H? ҿ{??m?B`?? *?I6Yr=)6Ř];i6CvBF׿>~BFԍCBF""IBFуBBF =BDBFkDBF`;BF$E999BDM6DMY]0!]E=e! Q)e>a9a9eGYamϻAm>qQ 1}4٪u ?Q 5}4uw uB9yYyQ E?yuPC)uo;Iu;iu4Y AkkkkzZZZZ,{@I ɡiIi)im9qqu qIIN=IDDD-DE; EL_:6Et4:E"E&NRWR=RH?,ѿu?#?ct?`BGb??_?IR =)Rw];iRC]B9]"IMb@Mb@Mb@ )Iil{GzMbP#I AiA A) ABD6D:Yڝ<!@=̺Q)> 9 9 GY  A>Q 1%4٪?Q 5%4:w 9% =Q A%ԙD D D *D E >: E |:6E (N4:E ! @! @! @! @I -G) I Ai] pY ] `A -s,iT)Ay6QZ=ٱ6>6ɤ6=6H?ѿ=j??|?@Կ3?˾?b?I6QZ=)6r];i6C^B9^ "Iib=Ib=BDf6Dfk2YnI=!n_=nQ)r>p9p9rGYpvǻAv>xQ 1~4٪z?Q 5~4zkw zB9|Y~s&Q E~?yzTC)zD;Iz@;izǯ4Y   A k)k)k)k)zZIZIZIZM&k@IY YɡYiYIaia)ii!9 I I!N]=vB}Ŀ>~B}эCByByB} =B}IDB}hDB}a;B}$E! Uy,')AD2D2D20D0E2: E2h:6E24:E0"E2#vvZ=vH@޾?Lѿ2[?ԟ??Io??N?Ivx=)v];ivC9 "IMb@Mb@Mb@ )Iikt{GztMb` 0ףIibA) ABD6DY>!>=‰Q)>99GYA>Q 14٪s?Q 54w B91=Q Ayԡ <,)Ay6p=ٱ6>6R6;k=6H ?`ɠѿ9??@g?`^@?!9?%?I6p=)6];i4@FB9F"IBDN6DN1YV1!V]=VQ)V>X9X9ZGYXZϩA^>`Q 1j4٪b5?Q 5j4bw `99Y=G0Q E=?ybXC)bȃI %=BDAT read: Rx Time:05:26:46.8458 TRx dataTimestamp_ set to:1755840408.083918iQQQU QIaBE^n4JEt4RET0DuDuDu+DqEu=; Eu:6Eu [4:Eq!@!@!@!@ԱIN= 1f,)AvB>~BύCB("IBփBB =BBgDBMa;B$ElB9 "I!i!)) -ABD56D5kYD=!==Q)>99GYA>Q 14٪?Q 54w B9YQ E?yZC):I[:iRŖ4Y AkkkkzZZZZI ɡiIi ) i IIN>DDD1DE: Ec:6E-4:E"E&6d67/=6H&?@Gaѿ9D@C? ʘ?7+??w?I6`=)6<];i6CZDAT read: 05:26:46.8458 LVL= 28304, 10337, 23906, 27731, AGC= 45, IDX= 445, 0.46,-0.922,-1.385,-2.353,-0.317, PHS=-0.503,-1.024,-2.080, RAW= 48.9, 42.5, CAL= 46.1, 48.0, ROT= 103.9, -48.0 ^Ygot valid direction response: 05:26:46.8458 LVL= 28304, 10337, 23906, 27731, AGC= 45, IDX= 445, 0.46,-0.922,-1.385,-2.353,-0.317, PHS=-0.503,-1.024,-2.080, RAW= 48.9, 42.5, CAL= 46.1, 48.0, ROT= 103.9, -48.0 bPDAT read: Bearing 277.3, 45.6 (Local) b~Local bearing/azimuth received: Bearing 277.3, 45.6 (Local) jDAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s j,DAT read: user:7503> nBDAT read: Tx time:05:26:47.9384 n$Ping request sent.nBĿ?:?@@iBnBa(Bb]BSlB- B)BoIBiB|Z?@BM?@Bf? @i@@IB>k?~vQ濏٢ރ?B̞B-= Bf?)@i@@%:publishing transmit ping timeYl-Fpublishing direction and range info9@Bi>BĿ?:?@@i@@@@@ @)@I@i@@@@@9 @i@@IB>k?~vQ濏٢ރ?@@ @)@i@@MB9M "IMb@Mb@Mb@ )IiS㥛I +~jtx/ݼ94ĻIAiAA) ABD6DNY:!+=:Q)>99GYA>Q 1 4٪?Q 5 4)x B9 BĿ?:?hBf?h@BIQ/P|ּ?6i;?rB"$8տ@S_?9?hB?hBJhB)?hBV#;YhBB*iBΧȸ?2iBY:i@iB ?"iB,W@zZU<ZU<ZUma@ZUIr@Ii iɡiiiIiiq)q >>i I IN%o>ԑbD ZD AAD D D -D E : E :6E t4:E ! @! @! @! @ }x,N)A~B9~!IBD 6D Y!=%Q)% ?!9!9%GY!-A- ?1Q 1=4٪56?Q 5=45Nx 5B99YAQ EE?y5]C)5 ;I5;i55Ӗ4YIMQ AIkikikikizZZZZԙI ɡiIi)iU9YY] YIqIN=vB%>~B!B%."IB%܃BB!B!B!B%@a;B%$E! iM >IM :?,wh)AD(D*D*/D(E( E*1]:6E*J4:E("E*f%E*g%*E*;!BE*;!ByR=ٱ >J=HJ?+'ѿp'A? ??@<?'?k?IR=) ];i-B9-"IMb@Mb@Mb@ )Ii rhy&1{GztC`eףI9AipA5 A)BD6DY=!>=;Q)>99GYA>Q 14٪?Q 54x B9Iq ,B)Ay61|L=ٱ6e>6M꼹6=6H?`vѿ]?[?ܣ?`9 H?1?@?I61|L=)6];i6C^B9b"IBDj6Dj Yr☻!r\=r8W;Q)r>t9t9vGYtvrAz>xQ 14٪z\?Q 54zx zB9Y Q E?yz`C)z#;Iz;iz14Y  AkkkkzZZZZu@I ɡiIi)QiU!9QQU QrDqjDua=D}D}D},DyE}: E}Ar:6E}g4:Ey!@!@!@!@IIN=ԁԩ A A vB% >~B! B% 5"IB% BB! B! B! B% `;B% $EBύCBЍCB˕CB˺ =B˷ =B6T,)AyN I=ٱN>N[༹NT=NH ?@<ѿ(Ti?7? ?P#?x??IN I=)Nk];iLZƒB9Z"IBDb6Db:2Yj8=!jK=j9;Q)n>l9l9nGYprAr>tQ 1z4٪v?Q 5z4vx vB9xYz Q E~?yvaC)v:Iv\:iv94Y Ak!k!k!k!zZAZAZAZE@IQ QɡQiYIYiY)aԹi 9 I)I9NM=DDD-DE: Ee:6Et4:E"E=-F=ٱ>>>gؼ>=>H@?Xп:q?Q? (?ԋ ? ȼ?-?I>F=)>];i>CH9L%Mb@Mb@Mb@ !)!I!i!!%y&1Mb%`e%%I%Ai%A%bA% A)!%p A54Q9Q9UGYQU鞺A]>aQ 1m4٪e?Q 5m4ey a9m*6Sм6O=6H 0?Oпw?@?F?ƽ ?`o?`D?I6DF=)6];i6C@r̓B9r"IBD~6D~kY W_=! N=";Q)>!9!9%GY!-VA->AQ 1M4٪EJ?Q 5U4ECy EB9QYUQ EU?yEcC)E&;IE';iE4YimD AikkkkzZZZZJ@I ɡiIi)i IԩIN=vB~BBBB =BBB_;B)$E = BDAT read: Rx Time:05:26:50.3458 M TRx dataTimestamp_ set to:1755840411.615890),&)AD&D&D&-D$E&; E&~:6E&t4:E$"E&A\E&/;!Blym H=ٱmx>mM+ʼm=mHT?.пz??Ţ?`W潿D? E? ?Im H=)m[];imCȃB9"I=Mb@Mb@Mb@ 9)9I9i99=Mb`?~jtMb`=;=D=I="Ai=A99)99BDU6DUJYe(!e6=mO:Q)m>i9q9uGYquH:Au>Q 14٪{?Q 54cy B9I)q q)Y ,)AAy5L=ٱ5u>5o<Ƽ5X?=5H7?> ѿE}??s?'콿`Ƙ?,U??I5L=)5];i5C̓B9"Ii=I=IAA)AAMDAT read: 05:26:50.3458 LVL= 27040, 10865, 26354, 26803, AGC= 44, IDX= 446,-0.36, 2.825, 2.530, 1.401,-2.848, PHS=-0.508,-0.860,-2.078, RAW= 42.3, 40.5, CAL= 40.0, 46.4, ROT= 110.0, -46.4 UYgot valid direction response: 05:26:50.3458 LVL= 27040, 10865, 26354, 26803, AGC= 44, IDX= 446,-0.36, 2.825, 2.530, 1.401,-2.848, PHS=-0.508,-0.860,-2.078, RAW= 42.3, 40.5, CAL= 40.0, 46.4, ROT= 110.0, -46.4 ]PDAT read: Bearing 282.6, 45.0 (Local) ]~Local bearing/azimuth received: Bearing 282.6, 45.0 (Local) mDAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s ,DAT read: user:7504> BDAT read: Tx time:05:26:51.4384 $Ping request sent.Q9Q9UGYQU;AU>Ya iIf)?Hbg<翞vR? )iQ 14٪]?Q 54]y Y9Y'Q E?yY)]e vB >~B B B B B B B ^;B #E,g)AnɃB9r"IBDz6DzܲY-Bּ!-=-Q)-?19195GY1eAm?iQ 1u4٪m?Q 5}4my mB9yYyQ E}?ymeC)mY;Im;im 4Yf AԙkkkkzZZZZI ɡiIi)iU 9QQU QIaIqN=DuDuDu,DqEuV: Eu1:6Eug4:Eq"Eu9:[ż:=:H@ ?zQѿjc?A? ޖ? Ž-?[0? ,?I:_=):];i:CFʃB9DMb@Mb@Mb@ )Ii rh?C<IiA A) ABD-6D-Y=P;!=I==;9Q)E>A9A9EGYAM9<AM>QQ 1]4٪U^?Q 5]4Uy Q9]CQ Ee?yUfC)U:IU=:iU4Yima AikkkkzZ-C<Z-C<Z-/3Z-5ҋ>Ia aɡaiaIai)i!!!!!I1IINU>IBEt4JEcw4RE0Dm Dm Dm /Di Em ; Em :6Em J4:Ei !} @! @! @! @q h,Q)AyNn=ٱNg>NDɼN=NH ?ѿ~?Sz?N?@@'? I?`?INn=)NF];iNCbŃB9b"I)h jAlin;BDp6DpYɲ!O=Q)> 9 9GY<A>!Q 154٪%?Q 554%y !99Y=>Q E=?y%gC)%O;I%JK;i%4YQU AQkqkqkqkyzZZZZe>I ɡiIi)Qi1115 1IAIYNm=vBm>~BiBiBiBiBiBiBm];Bm=#Eԁԩ MB,k)ADDD-DE ; Eg:6Et4:E"ERݔͼk=H@?ѿ~}?ٺ?چ?l걙?^Ƽ?}?I!n=)];iCȃB9"IEMb@Mb@Mb@ A)AIAiAAEy&1|?{Gz?~jtx?E`;Eף<E;IAiEAEbAA)AEp ABD]6D]:Ym}[<!m5=uƘQ)u>q9q9}GYy}<A}>Q 1 4٪?Q 5 4Ey B9 h! &,1ф)Ay6Pˉ=ٱ6I>6AҼ6=6H`P?ҿ|?-?D|?`+; }G??8?I6Pˉ=)6۰];i6CFЃB9F "IBDN6DNYRG)=!Vm=VغQ)V?X9X9ZGYXZi<AZ?`Q 1f4٪b?Q 5f4by bB9dYf&?Q Ef?ybiC)b:Ib:ib'4Yhn1 Alk|k|k|k|zZZZZ&?I) )ɡ)i)I)i1)1i 9 IIN=rD1jD5%=D=D=D=,D9E=: E=c:6E=g4:E9!E@!E@!M@!M@Qy vBa ~Ba Be ;"IBe BBe =Ba Ba Be Z];Be "EP,)Ay:n=ٱ:>:׼@:J=:HI?`nqҿn{?`^?@o? m?@W??I:n=):];i:CZԃB9Z&"IBDb6DbYj<!jG=jٺQ)n>|9|9~GY|Z<A> Q 14٪ ?Q 54 x B9Y?Q E?y jC) #DUDUDU-DQEU: EU:6EUt4:EQ"EUg%:ܼ:5=:H@? ҿ>z?`?`b?5뼿Ñ?@"?b?I:=):];i:CRփB9R("IlUMb@Mb@Mb@ Q)QIQiQQUS㥛? rh?~jth?U/99GY)_<A>Q 14٪?Q 54kx B9B2=Q A9BDAT read: Rx Time:05:26:53.8458 TRx dataTimestamp_ set to:1755840415.140429bDI ZDI DU DU DU .DQ EU ; EU T:6EU ـ4:EQ !] @!] @!] @!] @ԁ c,ji)AEڃB9E,"IYBDU6DUNYe<!mL=mQ)m>q9q9uGYquA}>yQ 14٪} ?Q 54}x }B9YQ E?y}nC)}k;I}h;i}F=4YAkkkkzZZZZI ɡiIi)!i 9 IIN>ԁvB >~B B A"IB BB B B B \;B "EBBύCBēCBĹ =BĹ =BĄ 5Ա DAT read: 05:26:53.8458 LVL= 31408, 9137, 24978, 30707, AGC= 45, IDX= 446,-0.24, 1.504, 1.366, 0.073, 2.146, PHS=-0.540,-0.734,-2.117, RAW= 36.5, 38.8, CAL= 34.3, 44.7, ROT= 115.7, -44.7  Ygot valid direction response: 05:26:53.8458 LVL= 31408, 9137, 24978, 30707, AGC= 45, IDX= 446,-0.24, 1.504, 1.366, 0.073, 2.146, PHS=-0.540,-0.734,-2.117, RAW= 36.5, 38.8, CAL= 34.3, 44.7, ROT= 115.7, -44.7 % PDAT read: Bearing 290.4, 43.8 (Local) % ~Local bearing/azimuth received: Bearing 290.4, 43.8 (Local) - DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s 5 ,DAT read: user:7505> = BDAT read: Tx time:05:26:54.9384 = $Ping request sent.= 5,!輹5=5HFm?@9ӿ@??;0?>D'?`? A?I5=)5];i1ۃB9."I5Mb@Mb@Mb@ 1)1I1i115y&1?ˡE?Mbp?5`<5'=5;I5Ai5A5tA5 A)11BD6Dk1Y;!=+Q)>99GY<A> Q 14٪ ?Q 554 Vw B9=L=Q A=Aq ,S#)AŃB9"IBD-6D- Y=<!==EQ)E?I9I9MGYIUAU?YQ 1m4٪]?Q 5m4]v ]B9iYiQ Eu?y]sC)]Z;I]9;i]K4Y AkkkkzZZZZI ɡiIi ) QrDjDR=DDD)DE2: E$:6EFA4:E!@!@!@!@i"9 IIN=ԁԩA A AAvB >~B B G"IB BB =B B B \;B "E a, )Ay:=ٱ:lM>:1꼹:!>=:H_?"Կ@?m?V#?5E?@NR??I:=):];i:CFʃB9F"IBDN6DNfYVB<!VT=V+Q)Z>X9X9ZGYXbb<Ab>pQ 1v4٪r?Q 5z4rv rB9xYz?Q Ez?yrvC)rS:Ir:ircR4YY]_ AakkkkzZZZZ?I ɡiIi)Աim!9iiu qIIN=DDD,DEs: E8:6Eg4:E"E_06B꼹6m=6HU?]Կg?J?`?`D =LQ)>99GYX <A>Q 14٪?Q 54u B9B=Q AyI}G)Iir!bAbDZD?ADDD2DEa: E]t:6E4:E!@!@!@!@ԩ <,dT)Ay:=ٱ::Ŧ>:漹:׊=:H/N?Կ@z?x??@}ќ???@?I:=):];@i8^ЃB9^ "IBDf6DfYno<!nU=r:Q)r>p9p9rGYtv=<Av>xQ 1~4٪z?Q 5~4zu zB9|Yغ?Q E?yz{C)zQ;Iz;iz`4Y  / A k)k)k)k)zZIZIZIZMCغ?IY YɡaiaIaia)ii IIN%=ԩvB5>~B5ЍCB1B1B1B1B1B5;\;B5d"E D D D .D E ; E :6E ـ4:E "E ]CἹn=HI?Կ@?M??]'?'?99GYu;A>Q 1 4٪?Q 54u B9R=Q A1Y P",h)AyJ&0=ٱJ>b>JrؼJw=JHhK?Կ@&???. ?@w ??IJ&0=)J|];iJC^҃B9^""I)d fABDn6DnYv<!zr=zP;Q)z?Ai9i9mGYiuպAu>Q 14٪?Q 54t B9Yg?Q E?y~C)S:I:in4Y! AkkkkzZZZZPg?I ɡiIi)rDu=jDqBEJEv4RE¨h0D}D}D}+DyE}: E}xv:6E} [4:Ey!@!@!@!@i!9 IIN=iԑA! A% p<vB- >~B) B- A"IB- BB) B) B- hDB- [;B- A"E *(,}A)A0i0yNb=ٱNW>N|ͼN#=NHQ?xԿ?0l??@? ?m?INb=)Nc];iNCZӃB9Z$"IBDf6DfJ2Yj;!jL=n|d;Q)n>p9p9rGYprAv>tQ 1z4٪v?Q 5z4vat vB9|Y~?Q E~?yvC)vv;Iv;ivu4Y  A k)k)k)k)zZIZIZIZMc?ԙIY ɡiIi)iiqqu qIIN=UBDAT read: Rx Time:05:26:57.3458 UTRx dataTimestamp_ set to:1755840418.676426DDD*DE: E:6E(N4:E"E.I =U.,) )AyR K=ٱR>Rd¼RqU=RHX?wIԿK?@?(?о 6Y?u?`x?IR K=)Rk];iRC^уB9^""IEMb@Mb@Mb@ A)AIAiAAEy&1|?Mb?Mb`?E`;E<AIE9AiEAEK AE A)AABD]6D]Ym!mA=m@;Q)m>q9q9uGYq}ػA}>Q 14٪?Q 54Ft B981)DAT read: 05:26:57.3458 LVL= 28848, 10513, 22610, 30243, AGC= 43, IDX= 446,-0.13, 0.828, 0.763,-0.557, 1.544, PHS=-0.614,-0.736,-2.145, RAW= 34.1, 40.0, CAL= 32.0, 45.6, ROT= 118.0, -45.6 Ygot valid direction response: 05:26:57.3458 LVL= 28848, 10513, 22610, 30243, AGC= 43, IDX= 446,-0.13, 0.828, 0.763,-0.557, 1.544, PHS=-0.614,-0.736,-2.145, RAW= 34.1, 40.0, CAL= 32.0, 45.6, ROT= 118.0, -45.6 PDAT read: Bearing 292.1, 41.9 (Local) ~Local bearing/azimuth received: Bearing 292.1, 41.9 (Local) DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s ,DAT read: user:7506> BDAT read: Tx time:05:26:58.4384 $Ping request sent.?]࿿]2 ]@)]%KiYY:publishing transmit ping timeYFpublishing direction and range info9Y]pLտȟV?9?YYiYYYYY Y)YIYiYYYYY YiYYI]{ ?C[uU4>?YY Y)YiYYQDDD+DE: EX:6E [4:E!@!@!@!@y C5,)Ay>On=ٱ>>>hR>&d=>Hb?@b ԿG$?Y?@ !?` ?@Jտ?@T?I>On=)>~^];i>CJ̃B9N"IiR=IR=IR@A)PBDV6DVYn.Ҽ!nS=nuX;Q)r>p9p9rGYpvf"Av>xQ 1~4٪z?Q 5~4z-t zB9|Y?Q E?yx)zK:Izd:iz܃4Y  M A)kikikikihyh})Ah}@h}@h}?@z}Nuf:?; `F?j}pLտȟV?9?h}@h}%K}ut~BэCB;"IBBB =BBiDB[;B?"EIIN >qԡ)Y ] AD D D ,D E ; E x:6E g4:E "E @h>Hn?`ӿؓ?`*?<(?5,? a??IT=)т];iԉB9!IEMb@Mb@Mb@ A)AIAiAAEQMb`?EEuAIE"AiAEbAA)AABD]6D]:Ym-!m=u&:Q)u>q9q9uGYy}3A}>Q 14٪5?Q 54`t 9w (PB, )ArAii  ErA) C I  ) qA'qAi94I!I!i! !)))) -qA-))5LC5qAI5)1i1)=CI=9|A99 99}ǃB9}"IBD6D0Y>!=Q)?99GYA?Q 14٪T?Q 54~t 9YQ E?yC)G:I;i_4Yt AkkkkD]D]DYDYE]: E]Z:6EY:EY!e@!e@!e@!e@zZZZZI ɡiIi)im 9iim iIIN>9i>I~B B ."IB ܃BB =B HDB B \;B X"EBЍCBЍCBɔCBɷ =Bɶ =Bɮ 6yH,#)A y6=ٱ6՚>646 >6H@?Qӿ?`v???&a?`G"? y?I6=)6];i4ƃB9"I!i!)! !BD56D5fYE!EP=E6;Q)E>I9I9MGYIUAU>QQ 1e4٪Uz?Q 5e4Ut Q9aYeYQ Ee?yUC)U:IU:iU;4Yiu AqkkkkzZZZZy@I ɡiIi)im"9iqu qIIN=ԡD}D}D})DyE}: E}:6E}FA4:Ey"E}66>6H`?༳ҿbj?@]?@N? ? X??I6ϟ=)6zw];i6C\9Mb@Mb@Mb@ )IiMbpL7A`堿Mb`+I Ai(A AK A) ABD6D02Yd;!?= -Q) >Q9Q9uGYq[A>Q 14٪?Q 54u B9g=Q A)9 =AbDqZDuAAD}D}D},DyE}: E}]t:6E}g4:Ey!@!@!@!@A U,AW)Ay:=ٱ:>:%:>:H ?Yҿ?`sS?^?`dpQ?@յ??I:=):r];i:C^ăB9b"IBDf6Df2YnR!r^=rzQ)r>p9t9vGYtvLAv>xQ 1~4٪z?Q 5~4zPu zB9Y Q E?yzC)z:Iz;iz!4Y   A k1k1k1k1zZQZQZQZUOM@Ia aɡaiaIiii)ii"9 I!I1NE=vBu¿>~BuЍCBu("IBuփBBu =BuIDBuhDBu5\;Bue"EIqԡ D D D +D E : E L_:6E [4:E "E #A>H`? ѿO?@o?`q?=@h?? ?Io=)];iCB9"IMb@Mb@Mb@ )Ii~jtkt~jtxD 0ĻIAi5 A)BD6D1Ys!-=˺Q)>99GYMA>Q 14٪?Q 54u B9 8=Q A iߝ>Iߝ%= i *Cb,)AI2G)n󾼹n=nH?@ѿjԅ???ݗ?C?`?Inv=)ne];inCzB9z"IBDAT read: Rx Time:05:27:00.8458 TRx dataTimestamp_ set to:1755840422.204589BD6D0YF =!_= Q)>99GYA>Q 14٪?Q 54Fv B9YKȿQ E?yC):I:iƵ4Y AkkkkrD5%=jD1D=D=D=3D9E=V: E=:6E=4:E9!E@!E@!E@!E@zZIZIZIZM @IY YɡaiaIaia)ii   II)N5 >)Aa Ae <vBi ~Bi Bm ""IBm уBBm =Bi Bi Bm z\;Bm "EY h,)Ayx$a=ٱ>3Ƽ|=H`o?Vѿ@L? uF?@?zX HØ?Ƚ??Ix$a=)];iCMȃB9M"IBD]6D] Ymx =!mP=mQ)m>99GYWA>Q 14٪?Q 54v B9YȿQ E?yC)%:I`:iƼ4Yk AkkkkzZZZZԖ@I! )ɡ)i)I)1i1)9i9 IIN>5DAT read: 05:27:00.8458 LVL= 27248, 10929, 24946, 29987, AGC= 45, IDX= 446,-0.04,-0.011,-0.310,-1.430, 0.635, PHS=-0.544,-0.900,-2.109, RAW= 42.5, 41.5, CAL= 40.2, 47.2, ROT= 109.8, -47.2 EYgot valid direction response: 05:27:00.8458 LVL= 27248, 10929, 24946, 29987, AGC= 45, IDX= 446,-0.04,-0.011,-0.310,-1.430, 0.635, PHS=-0.544,-0.900,-2.109, RAW= 42.5, 41.5, CAL= 40.2, 47.2, ROT= 109.8, -47.2 MPDAT read: Bearing 282.6, 45.0 (Local) M~Local bearing/azimuth received: Bearing 282.6, 45.0 (Local) UDAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s ],DAT read: user:7507> eBDAT read: Tx time:05:27:01.9384 m$Ping request sent.m6>μ6=6Hw?ѿKz??J?Ǚ?m??I6 N=)6[];i4NB9R "I)VA T%Mb@Mb@Mb@ !)!I!i!!%{GzQ롿Mbp%ף%\%I% Ai%A%bA% A)!!BD=6D=YM6:!MM=M"Q)M>Q9Q9UGYQ;A>Q 14٪?Q 54%w B9%=Q A>ԙi !9   % II1N= >bDQZDU@ABEg4JE^n4REӣ0DYD]D]/DYEY E]x:6E]J4:EY!e@!e@!e@!e@ u,)Ay6?=ٱ6ȇ>6ռ6zF=6H?Gп1s? ??-ѽ@?%?@&?I6?=)6P{];i6CbB9b!IBDj6Dj:Y! O= Q) >99GYA>Q 1%4٪9?Q 5-4w B9)Y-Q E-?yC)S:I:iʗ4Y15% A9kQkYkYkYzZyZyZyZ}@I ɡiIi)i 9 vBʿ>~BэCBBBBBiDB\;B"EI)I9NM=ԁ De De Da Da Ee : Ee V:6Ea :Ea "Ee 6uUܼu=uH?ʷп9k?e?&?z㉛?@?v?Iuai6=)u<];iqB9"IBD6DNY%D=!%9=-Q)->)9195GY15ΥA=>9Q 1E4٪=?Q 5E4=w =B9IYMOQ EM?y=C)=:I=:i=;җ4YQ] AYkykykykyzZZZZ|@I! !ɡ!i)I)iI)Qqi!9* II!N5.>ԑ ,}? )Ay61=ٱ6>61⼹6w:=6H?@п`???`X?5?`?I61=)6r];i6CBB9B"IiF=IF=PMb@Mb@Mb@ )Ii/$S㥛MbP/ݼIAiA A)ABD-6D-βY={!E[=E6 Q)E>A9I9MGYIM7DAM>QQ 14٪Um?Q 54UGx UB9* =Q A~B ӍCB ("IB փBB =B HDB jDB \;B "E! ,&)Ay:1=ٱ:l >:I輹:=:H?@yпF???`h?@C??I:1=):];i:CF˃B9J"IBDR6DRNYZڢ=!ZT=ZQ)Z>\9\9^GY\bAb>dQ 1f4٪f?Q 5j4fx d9hYjlQ Ej?yfC)fh:If:ifߗ4YprZ Ap|kkk k zZ!Z!Z!Z%@I1 9ɡ9i9I9iA)Ai, IIN=)DYD]DYDYEY E]:6EY:EY"E]O6H-6,=6H`? п<R? 0?  ĝ? ??I64=)6+];i6CNB9R"IUMb@Mb@Mb@ QY)QIQiQQU:v~jtxUUTUĻIQiUAUAU A)QUp ABDu6DuY!>=ǺQ)>99GY:A>Q 14٪?Q 54x B9jԁԱbD5?AZD5?ADDD*DE; E:6E(N4:E!@!@!@!@ ',Y)Ay6cE<=ٱ6^>6𼹱6n=6H`? п:O??K6?@? ?I6cE<=)6c];i6CBƒB9B"I)FA FAJpX9X9ZGYXZ;AZ>`Q 1b4٪b:?Q 5f4bx bB9dYfQ Ef?ybC)b:Ib:ib4Yhj Alkxk|k|k|zZZZZ)џ@I) )ɡ)i)I)i1)1ԹvBԿ>~BB."IB܃BB =BBB\;B"EB}эCB}ҍCByB}µ =B}³ =B}½b6iI)I9NM=)  BDAT read: Rx Time:05:27:04.3458  TRx dataTimestamp_ set to:1755840425.732701I D D D D E a: E :6E :E "E (񼹱\=H ? Cп|K`b?ƫ?ڨ41?P? ?IJG=)];iC5̓B95"IMb@Mb@Mb@ )IiMb`Mb`IOAipAbA A) ABD 6D Yq6=!(==Q)>!9!9%GY!-;A->1Q 1=4٪5&?Q 5=45x 5B9=]9;Q A=>Y=>Q E=?y1)5s:I5:i54YIMD AIkkkkzZ ]9;Z ]9;Z I@Z TS@I ɡiIiA)A9i& IINJ>iԑ 9,#)Ay6V=ٱ6ư>6Y6=6H@?N8ѿ`$?@? ػ?Ѻ?f?I6V=)6];i6CBB9B"IBDJ6DJzDAT read: 05:27:04.3458 LVL= 28256, 11105, 23442, 28083, AGC= 45, IDX= 446, 0.12, 0.247,-0.243,-1.189, 0.884, PHS=-0.535,-1.082,-2.117, RAW= 49.9, 43.5, CAL= 47.1, 48.8, ROT= 102.9, -48.8 ~Ygot valid direction response: 05:27:04.3458 LVL= 28256, 11105, 23442, 28083, AGC= 45, IDX= 446, 0.12, 0.247,-0.243,-1.189, 0.884, PHS=-0.535,-1.082,-2.117, RAW= 49.9, 43.5, CAL= 47.1, 48.8, ROT= 102.9, -48.8 PDAT read: Bearing 274.8, 44.8 (Local) ~Local bearing/azimuth received: Bearing 274.8, 44.8 (Local) DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s ,DAT read: user:7508> BDAT read: Tx time:05:27:05.4383 %$Ping request sent.%!9!9-GY)-!<A->DuDuDu+DqEu: Eu&p:6Eu [4:Eq!}@!}@!@!@ԁIQ 14٪M?Q 54Mx I9Y>Q E?yI)M,UAA<vBܿ>~BԍCB5"IBBB =BBkDB*];B"E Ed,=d)Ay6 g=ٱ6s>6#6_=6H;?uѿf}R? \??9s?;? ?I6 g=)6];i6CNB9R "IBDV6DV:Yv4!v_=vB:Q)v>x9x9zGYxz1<A~>Q 14٪?Q 5 4x B9 Y u>Q E ?y):I:i4Y Ak1k9k9k9zZYZYZYZ]S@Ii iɡiiiIiiq)qi% IIN=D}D}D}-DyE}D: E}:6E}t4:Ey"E}1)Ay6Sz=ٱ6>2>6^꼹6b=6Hw? ѿGf??@ۋ? g˼J?Aۻ??I6Sz=)6];i6CLfB9f"IUMb@Mb@Mb@ Q)QIQiQQU{Gz?99GY;<A>Q 14٪H?Q 54x 9^6'h弹6=6Hz?ҿ|s??|?`~@? @?\?I6 R=)6];i6C^B9`BDf6DfYn]!nU=r:Q)r>p9t9vGYtvc<Av>xQ 1U4٪z?Q 5U4zx x9YY]M?Q E]?yx)z~BeՍCBaBaBe =BaBelDBe];Be!#Eim!9iiu! qIIN=Iqԩ D% D% D% /D! E% : E% x:6E% J4:E! "E% &FQ༹F[=FHj?iҿL|?U?l?%Ie?`Y?`D?IF=)F];iFCRB9R "IXiXBDZ6DZܲYrs3=!rJ=z:Q)z>9 9 GY Fc<A%>1Q 1M4٪5?Q 5U4ԁ5|x 19Y?Q E?y5C)5 4,)Ay6XƟ=ٱ6Ǘ>6ڼ6%=6H?ҿ?p?[?W?a]?`:?I6XƟ=)6 ];i6CvŃB9v"IMb@Mb@Mb@ )IiMb?V-?Mbp?<<;I"AiAA A)BD6DkY<!<=:Q)>rD%=jD%=BEt4JERE/DDD-DE: E҆:6Et4:E!@!@!@!@99GYZ<A>Q 1 4٪?Q 5 4'x B91AYA]AAvBe>~BaBe("IBeփBBe =BaBaBe];Be\#EY j,Χ()Ay6=ٱ6ع>6[`׼6O=6H@?ӿ? ?K?@ @?`??I6=)6];i6CBB9F"IBDJ6DJ1YR1F!V_=V:Q)V>T9X9ZGYXZV<AZ>\Q 1b4٪^?Q 5b4^w ^B9dYfQ?Q Ef?y^C)^G:I^:i^&4Yhj Ahkxkxkxk|zZZZZ>Q?I ɡiIi)1i5!9115. 1IAIQNe=DDD,DE: Ek:6Eg4:E"E.F>ӼF(=FH@}?-gӿ??Y?Y9Y9]GYYe/B<Ae>iQ 1u4٪mT?Q 5u4m|w mB9uK=Q AuBDAT read: Rx Time:05:27:07.8457 TRx dataTimestamp_ set to:1755840429.261171bDZD@ADDD.DE: E:6Eـ4:E!@!@!@!@ ,R`\)Ay:=ٱ:ָ>:KҼ:=:H r? fӿa?`? M0?`O@H?EĿ??I:=):];i:CJB9J"IBDV6DV1YZ%;!ZU=^n :Q)^>`9`9bGY`bH<Af>dQ 1j4٪f?Q 5j4f$w fB9lYn{?Q En?yfC)fm ;If;if;44Ytv Atk k k k zZ)Z)Z)Z- {?I9 9ɡ9i9I9iA)AvB>~B֍CBBBBBB^;B#Ei!9( IIN=a  DAT read: 05:27:07.8457 LVL= 29280, 11585, 26226, 29411, AGC= 44, IDX= 445, 0.22,-2.108,-2.526, 2.755,-1.474, PHS=-0.533,-1.008,-2.098, RAW= 47.2, 42.8, CAL= 44.6, 48.2, ROT= 105.4, -48.2  Ygot valid direction response: 05:27:07.8457 LVL= 29280, 11585, 26226, 29411, AGC= 44, IDX= 445, 0.22,-2.108,-2.526, 2.755,-1.474, PHS=-0.533,-1.008,-2.098, RAW= 47.2, 42.8, CAL= 44.6, 48.2, ROT= 105.4, -48.2 - PDAT read: Bearing 279.7, 46.2 (Local) - ~Local bearing/azimuth received: Bearing 279.7, 46.2 (Local) = DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s E R#Rx 9: Read range and direction messages.M ^direction in FSK: [-0.177002,0.642601,0.745476]M Fpublishing direction and range info9 a'ƿ4U/??Mx? i `r A- rf r , r) %I Ei BR? t;?? SFG? \W? Cw? \Wi I  }4k?)9!n"? G /2? 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Iӿl?@n??3?`?"?@+?I6{=)6QF];i6CB,DAT read: user:7509> FBDAT read: Tx time:05:28:05.1880 F$Ping request sent.F99GYYA>Q 14٪H ?Q 54t B9ADDD0DE : EǙ:6E4:E!@!@!@!@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250923qԙ 7f,)Ay6=ٱ6ĝ>66b=6Hy?`9ӿ8b?Tf?(D?`mʽ?`X?R?I6=)6 -];i6CRǃB9R"IBDZ6DZ\Yvq!vk=vWQ)v?x9x9zGYxzA~?IQ 1U4٪M` ?Q 5U4Mt MB9QYU춿Q E]?yMBC)Mj;IM;iM4Yaev AakkkkzZZZZT@I ɡiIi)yi1115} 1IAIQN]=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502926ԡAQ AQ vBi ~Bi Bm ."IBm ܃BBm =Bi Bi Bm Y;Bm A!ED D D +D E : E :6E [4:E "E 6=ٱ6ģ>6ޓ6=6H`?$ӿ]??LS?ɽ?? W?I6>6=)6"a];i4^ƒB9b"IEMb@Mb@Mb@ A)AIAiAAEq9q9uGYquDnA>Q 14٪f ?Q 54Wu B9:=Q Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0109159 mJs,d)AI.G)BmAILibbmAb@y~(=ٱ~j`>~~- =~H@_?ҿ3`?=?@a?E:N?`W ??I~(=)~H];i|B9 "Ii%=I%=I!)%@ABD-6D-:Y=1!=M=E:Q)E>A9A9EGYAMAM>QQ 1]4٪Uj ?Q 5]4Uu UB9YYe'ǿQ Ee?yUEC)U;IUn;iU4Yim AikkkkzZZZZF@DDD*DE: Eą:6E(N4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262833IQ QɡQiQIQiY)YQi 9   r II)N9yԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514953_sy,)Ay6-5=ٱ6>66.=6H@"?@lҿBj?xO?0i?pZ&~?@B?@I?I6-5=)69];i6C@p9r "IBD6DYS!M=%:Q)%>!9)9-GY)5ZA5>AQ 1M4٪Em ?Q 5M4Eu EB9QYUǿQ E]?yEGC)EoR;IES;iE&4Yim AqkkkkzZZZZ@I ɡiIi)iqqy}x ԱvB ~B B 5"IB BB  =B B B Y;B @!EIQIqbDZDDDD)DE: E:6EFA4:E"E6 Y[,$)Ay6Ĉ=ٱ6W>6P6c=6H ?ҿp? w?@bp?`=`S]?s??I6Ĉ=)6Y];i4)@ @Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019242^ȃB9b"IpMb@Mb@Mb@ )IiMbQ롿{Gzt\ףIAiAtA) ABD6DY1*=!@=h:Q)>99GYDA>Q 14٪ ?Q 54bv B9y=Q A 1DDD-DE: Exv:6Et4:E!@!@!@!@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270985a ,Z)Ay61=ٱ6h>616,=6Hi? ѿQp?!?z?@B6`?>m??I61=)6W];i6CBƒB9F"I)D DJ4X9X9ZGYX^cGA^>`Q 1f4٪b ?Q 5f4bv bB9dYfQ Ej?ybJC)b%:Ib:ib34Yln Alk|k|k|k|zZZZZQ@I) )ɡ)i)I1i1)19i 9| I IN-=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522896iԑA A vB >~B B B B =B B B Y;B =!E BE} [4JE}^4RE}(90D iM >IM 4=e BDAT read: Rx Time:05:28:07.5955 m TRx dataTimestamp_ set to:1755840488.800642D D )D E : E e:6E FA4:E "E 6766Z,=6H?@ѿd?i??x|? ?`?I6{j=)6>];i6CBǃB9B"IMb@Mb@Mb@ )IiQ/${Gztu,IAԙiA A) ABD6DYe<!9=:Q) >99GYn8A>!Q 1-4٪%u ?Q 5-4%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026977 ,O)Ay6.Z=ٱ6 >6!6=6H?=Gѿ.L?*?9? B???I6.Z=)6`];i4^ƃB9b"IBDf6DfNYn>e!r[=r*:Q)r>p9t9vGYtvg2Av>xQ 1~4٪z\ ?Q 5~4zw zB9Y+ҿQ E?yzOC)z:Iz;iz#B4Y  } A DDD,DE : E[:6Eg4:E!@!@!@!@kkkkchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279006zZiZiZiZm@I ɡiIi )i!9w IIN&>!Q)ߩ ߭ A DAT read: 05:28:07.5955 LVL= 27008, 11105, 24050, 27363, AGC= 43, IDX= 446, 0.09,-0.864,-1.322,-2.294,-0.240, PHS=-0.522,-1.038,-2.099, RAW= 48.7, 42.9, CAL= 46.0, 48.3, ROT= 104.0, -48.3  Ygot valid direction response: 05:28:07.5955 LVL= 27008, 11105, 24050, 27363, AGC= 43, IDX= 446, 0.09,-0.864,-1.322,-2.294,-0.240, PHS=-0.522,-1.038,-2.099, RAW= 48.7, 42.9, CAL= 46.0, 48.3, ROT= 104.0, -48.3  PDAT read: Bearing 278.0, 46.4 (Local)  ~Local bearing/azimuth received: Bearing 278.0, 46.4 (Local)  DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.160934,0.645470,0.746638] Fpublishing direction and range info9 PN LzĿ:?Equ? i i a+ ] j + ˡ) /݄I Vi Y? ֭?? M? uW? 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E% O; E% :6E% g4:E! !- @!- @!- @!- @,]1*Ay6>ٱ668>6a缹6=6H?K+׿? ??꺿A?? ?I6>)6V_;i6UC^˃B9^"IMb@Mb@Mb@ )Ii{GztMbpףIAi) ABD6D1Y}Ļ!=='":Q)>99GY<A>Q 14٪?Q 54bx B9;Q A>Y4Q E?y)u:I:i4YZ AkkkkzZ=;Z=;Z=˖@Z=@II IɡIiIIIiY)Y)ii !9    II)NE>1Y =,K*Ay6d#>ٱ6>6⼹6=6H`ƺ?é׿@?`S?@ދ?@QMs]??@?I6d#>)6Y^;i6WCNуB9N!"IBDV6DVYr"<!rY=r:Q)r>t9t9vGYtvn<Az>|Q 14٪~?Q 54~lx ~B9Y.Q E?y|)~U:I~:i~#4Y* Ak1k1k1k1zZQZQZQZUJģ@Ia aɡaiaIiiiAqAu@AvB}>~ByB};"IB}BByByByB}X;B} E))ibDZDAADDD0DEO: Ek:6E4:E"E aԉԱ |,ėe*Ay>,>ٱ>>>(ݼ>`=>H?d/ؿ@q?$? 4n?@ڻ&?8D?@f?I>,>)>7^;i>TCJσB9J"I%Mb@Mb@Mb@ !)!I!i!!%Mbp rh?MbP?%%C<%:I!i!%bA!)!%G ABD=6D=2YM̻!MD=M:Q)M>Q9Q9UGYQUw<A]>aQ 1m4٪e?Q 5m4eEx eB9mMٱ6l>6ռ6p=6Ht?@ؿ`ƒ??pO?@At@M? ??I6o5>)6q_;i6UC^ЃB9^!"Iib=Ib=If@A)f@ABDj6DjYr;!rQ=v;Q)v>t9t9vGYtzH<Az>|Q 1]4٪~M?Q 5]4~ x |9aYe @Q Ee?y~9C)~;I~;i~=,4Yim, AikkkkzZZZZ @I ɡiIi)iM 9QQU QIaIqN=,DAT read: user:7510> BDAT read: Tx time:05:30:05.2874 $Ping request sent.ٱ6 `>6Tμ6=6Hf?@9ٿ?6?`&0? `ə?OѼ?Q?I6?>)6}_;i6WCR΃B9R"IBDf6DfkYrR!rJ=r;Q)v>t9x9zGYx~^<A>Q 14٪?Q 54w B9!Y% @Q E-?y:C)V;I(O;iZ34Y15A A9kkkkzZZZZ @I1 9ɡ9i9I9iA)Aԙi I)IQN}>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923 D D D +D E m: E ;J:6E [4:E ! @! @! @! @2,Z)*AyFH>ٱF'C>F#ǼF$=FHG?ٿ+? ??ྋ`?@=?`?IFH>)Fa;iFVC\=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825-҃B9-#"I5Mb@Mb@Mb@ 1)1I1i115:v? rh?Mbp?5T<5C =5;I5"Ai15A5 A)15 ABDU6DU2Ym<!u=u:Q)}>99GYl<A>Q 14٪?Q 54~w B9=Q Ai ?I ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007131I ,d*Ay6Q>ٱ6&>66¼6=6HE+? _CڿUR?`GF?`L?彿]?b??I6Q>)6WRb;i4i>C>ffA)> @IBPJ@BpAi@IBfTF@IFYCiD F#D)DJLC HHHHLLIL)LiL)~@CI~pA  CAi   rA /ݼi i)ף IA<A4<vB!~B!B!B!B% =B!B!B%X;B% EBBBBBB9V5A Y)]IrAY]uFYaaiaIaaIiii ii)ii qutqqqqIy)yiy)ځIڅ~Aفف ځ9iBD6D:Q) ?99GY<A ?Q 14٪?Q 542w B9Y9?Q E?y>C)G:I:iA4Y   k)k)k)k1zZiZiZiZm9?I ɡiIi)DDD/DE,: Ec:6EJ4:E"EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259004Ա >E,*Ay6Z>ٱ6O>66_=6H` ?@ڿ S? ?2? $h?Ow? ?I6Z>)6r(a;i4Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510829΃B9"IԹ5Mb@Mb@Mb@ 1)1I1i115~jt?I +?{Gz?5D<594=5#a9a9eGYam<Am>iQ 1}4٪m?Q 5}4mv mB9}>?=Q A}?=Z>?=ZN?Z'?I9 9ɡ9i9I9iA)Ai II)N5.>DDD+DE: E:6E [4:E!@!@!@!@)Q Q]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631039 /,2*Ay6c>ٱ6>6{6;=6H? Hۿ*?jP?? LN?@þ? ~?I6c>)6i`;i6UCu߃B9u3"IIAA)BD6D0Yӭ=!S=M:Q)>99GYn<A>Q 14٪P?Q 54Fv B9Y@?Q E?yCC)';I;iP4YAk!k!k!k!zZAZAZAZE@?IQ YɡYiYIYiY)a)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015314i!!)- )IAIQNe>9vB>~BB;"IBBB =BBB,Y;B EirDjDR=DDD)DE: EVL:6EFA4:E"Eg%ٱvB>v^?vJS=vH@?@ۿ驠?l? ?a`j'??@J?Ivl>)vP_;ivTC܃B90"IBD6Dk1Y%^!%V=-%9Q)->)9)9-GY)5<A5>9Q 1E4٪=?Q 5E4=u =B9AYMO?Q EM?y=EC)=:I=:i=V4YQUAQkqkqkqkyzZZZZ&O?I ɡiIi)qi    I!IANu=ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519686D D D *D E : E $:6E (N4:E ! @! @! @! @ ,p4*Ay6l_t>ٱ6>6󸼹6=6H0? 0ܿ`!e?)6^;i4BՃB9B'"I]Mb@Mb@Mb@ Y)YIYiYY]V-?Mb?{Gzt?]<]@=]ף;IYi]A]bAY)Y] ABDu6Du0Y !E=8Q)>99GY<A>Q 14٪@?Q 54?u B9"c=Q Aoٱ:>:z⹼:0=:H ?`ܿ@ ? $? [?<;?O? ?I:]q{>):^;i:SCA`A`vBd~BdBdBdBf =BdBffDBfY;Bf En܃B9n/"Ivp 9 9 GY  <A>Q 14٪j?Q 54t B9Y?Q E?yJC)9ٱ6y>6ҽ6M>6H?`Cܿʓ?d? nD?`ZM? ?`?I6l>)62^;i6VCVDAT read: 05:30:07.6947 LVL= 28464, 10225, 25378, 28147, AGC= 45, IDX= 446,-0.24,-2.128,-2.317, 2.751,-1.472, PHS=-0.554,-0.800,-2.104, RAW= 38.5, 40.3, CAL= 36.3, 46.0, ROT= 113.7, -46.0 ^Ygot valid direction response: 05:30:07.6947 LVL= 28464, 10225, 25378, 28147, AGC= 45, IDX= 446,-0.24,-2.128,-2.317, 2.751,-1.472, PHS=-0.554,-0.800,-2.104, RAW= 38.5, 40.3, CAL= 36.3, 46.0, ROT= 113.7, -46.0 bPDAT read: Bearing 297.0, 45.2 (Local) b~Local bearing/azimuth received: Bearing 297.0, 45.2 (Local) fDAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s jR#Rx 1: Read range and direction messages.n^direction in FSK: [-0.279216,0.636073,0.719340]nFpublishing direction and range info9@Bs&ѿ${0Z?(?@@iB0oB'B"cBmB- B )BLIBiB,?B4?B0"?BM?B? 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B? C? ?IFz >)F^b;iF!CԹDDD+DEs: Ex:6E [4:E!@!@!@!@UB9U"IMb@Mb@Mb@ )Ii{GzI +~jth#9DI"Ai A) ABD6D0Ym8!m=uI6Q)u>q9q9}GYy}hA}>Q 14٪M?Q 54:v B9|9 X ,d5*Ay6 >ٱ66f>6~?缹6W=6H 2?j׿~)?\?ؕ? ?]B?$?I6 >)6Zb;i6%C<>qABi@@i@@)B̼ @ID D)Fs@DDDHHiJ9IHHILiL LL)L| nrAI Լ) i  UB9U"IBDe6De:YuN;!u=u:Q)u#?y9y9}GYy_A#?Q 14٪F?Q 54ev 9YпQ E?yC)G:I;i%V4Y AkkkkzZZZZK @I ɡiIi)i 9 IIN% >AAiAm?AvBu>~Bu͍CBqBqBu =BqBqBuW;Bu' EBEAJEE^n4REEƶC0DDD)DE: ET:6EFA4:E"E5899GYA>Q 14٪:?Q 54v B9YQ E?yC):Ih:i>]4Y AkkkkB*** querying acoustic contact ***zhhzZZZZI ɡiI i )ԁi IIN >ԡ2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.bD ZD ?AD D D .D E : E :6E ـ4:E ! @! @! @! @ e ,i5*Ay6.>ٱ6>6༹6]=6H?u[׿|*? N??$@?t{?`?I6.>)6_;i6"CB9"IMb@Mb@Mb@ )Ii:vMb`TIi A) AI)BD6D1Y!C=R;Q)>99GYA > Q 14٪ e?Q 54 v B9W uBDAT read: Tx time:05:32:05.6368 u$Ping request sent.ui))15 1IAIQNe>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249087vBe >~Ba Be ("IBe փBBa Ba Ba Be X;Be I El ,c5*A0DFDFDDDDEF: EF[:6ED:ED"EF;!JEF>;!NyfQ>ٱfܡ>fw޼fy=fH`?o׿͑?`c?K?OΛ?G??IfQ>)fA_;if#C-B9-"IBD=6D=YM=!MV=M#,:Q)U>Q9Q9UGYQ]Ml;A]>aQ 1m4٪e?Q 5m4ev eB9iYm9Q Em?yeC)e::Ie:ie=k4Yy} AykkkkzZZZZp@I ɡiIi)iiiqu qIԑIN=ieC=Ie=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500938 r , J5*AyR!W">ٱR>RoݼR=RH ?׿@ ?ƌ?e? 3??@?IR!W">)Rv^;iR"Cfchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754122hDDD+DE: E:6E [4:E!@!@!@!@B9!Ii=I= Mb@Mb@Mb@ ) I i   ~jth?Mb`Mb`? D;  ;I Ai A tA )   Ap9999EGYAE;AE>IQ 1U4٪M?Q 5U4Mv MB9U;Q A]F>Y]Q E]?yI)Mr;IM;iMt4YaeJ AikkkkzZ%;Z%;Z%>@Z%Ĕ@I1 QɡYiYIYiY)aI%G) mAI)iezemAe@i IIN>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0046109 y ,5*Ay6b%>ٱ6e>6 !޼6=6Hh?׿)??`?`BÛ?1%?`O?I6b%>)6:^;i6#Ci<>s@)< @I@@@iBI@@IDiD DD)DH JbAHHHLLIL)LiL)PIPPP PPTTiTTTZB9Z "IBDf6DfNYj~>!n=n Q)n+?p9p9rGYpvrG<Av+?xQ 1z4٪z?Q 5~4zv x9|Y~>Q E~?yx)z;Iz;izy4Y   A k)k)k1k1zZIZIZIZM@Ia aɡaiaIaii)ii9 Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257342IN>IAAvB ~B B B B B B B X;B  EB͍CB͍CBBĺ =Bĺ =B05DDD*DE: E~:6E(N4:E"E"ٱB >BZܼBm=BH?Hؿ@' ??`s?\輿 ?@e?s?IBu)>)B^;iB"C]ǃB9]"IBDm6DmkyY}.=!@=9Q)>99GY<A>Q 14٪?Q 54v 9YxQ E?y)< ;I:i4Yv AkakakakazZZZZN@I ɡiIi)i-!9))- )I9IIN]>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760640D D D -D E : E :6E t4:E ! @! @! @! @ ( ,6*Ay6]->ٱ6>6ܼ6}d=6Hu?Aؿ ?8?@_e?@`%?`??I6]->)6x^;i6#C~уB9~""IMb@Mb@Mb@ )Ii~jt?y&1|?Mb`?<`;I AipA A) ABD6DY>K=!H=|9Q)>99GYL,<A>Q 14٪?Q 54v B9tZ_)?I ɡiIi)kAi IIN!>) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264671vB >~B B B B B B B Y;B EY T ,36*AD2D2D2)D0E2: E2V:6E2FA4:E0"E0!6E0!:*E2;!:E2;!:ԃB9%"IBD-6D-Y}T<!}M=Q)>99GYA>Q 14٪A?Q 54v B9YQ E?yC):I:i4Y AkkkkzZZZZI! !ɡ!i!I!i)1)1i 9 II N>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516616YԉԹ aA ,rM6*Ay>8>ٱ>>>ܼ>=>H{??ؿ`M? ?B?c W???I>8>)>x9^;i<)H JANchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769020NЃB9N "IBDV6DVY^!^W=bpQ)b>`9`9fGYdf?<Af>hQ 1n4٪j?Q 5n4jsv h9pYr<,?Q Er?yjC)j::Ij:ijP4Ytv/ Axk)k)k)k)zZIZIZIZM<,?IY YɡYiYIYia)qԉDDD,DEO: Eg:6Eg4:E!@!@!@!@i II!N]>ԱMBDAT read: Rx Time:05:32:08.0441 MTRx dataTimestamp_ set to:1755840729.484530Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021815 c ,|bg6*Ay:@>>ٱ:>:Yܼ:=:Hi?/ٿ$?)? /?@J?Qj? ?I:@>>):Y^;i8F̃B9F"IMb@Mb@Mb@ )IiI +?Q?A9A9EGYAM\<AM>QQ 1e4٪U?Q 5m4UCv UB9}GAA@AvB>~BBBB =BBB'Y;B EDDDDEy: Ex:6E:E"E?e M?e \W?e f? e \Wia a Ie  yQl?S^=*?e `➿e > e f?)e \Wia a LL ,@6*A y:C>ٱ:.>:tݼ:$=:H &X?_}ٿ."?w??` `p?3? t?I:C>):^;i:"Cv˃B9v"IBD6DY%R!%<=%7޹Q)%>)9)9-GY)-D<A5>YQ 1]4٪]/?Q 5e4]v ]B9aYe=?Q Ee?y]C)]:I]y:i]D4YiR Akkkkhh;:6*Ahhhu@zmsؿL8?e5u?jh5~Ŀ%V??Mx?hf?h\WK(B_IP[?į?roؿ??{?h?hԙbD ZD @AD D D (D E : E ga:6E c44:E ! @! @! @! @ ٱ6]>6g༹6*=6HF?ٿ1??Y ?r ?l0??I6I>)6}_;i4LRσB9R"IMMb@Mb@Mb@ I)IIIiIIM{Gz??Mbp?Mף99GY]<A>Q 14٪u?Q 54u B9'=Q A) A! vB >~B ̍CB ."IB ܃BB =B B B +Y;B Et ,6*ABEU|a4JEU^4REU'0D&D&D&*D$E&>: E&5:6E&(N4:E$"E&ٱfX>fnv⼹fV=fH@8?@H ڿ@"?` ?N?ξM?@?.?IfGM>)fZg`;if#CrՃB9r&"Itit)x zA|BD~6D~Y5u<!=N==+Q)=>A9A9EGYAE9<AM>IQ 1U4٪M?Q 5]4Msu MB9YY]N?Q E]?yMC)MQ;IML;iMʱ4Yim AikkkkzZZZZ!N?I ɡiIi)iU9QQU QIaIqN=)Yԁ , 6*Ay6:R>ٱ6>6㼹6=6H(? 9Qڿ #F? 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S?I6F#>)6B^;i4^ǃB9^"ImMb@Mb@Mb@ i)iIiiiim:v99GYUA>Q 14٪' ?Q 54t B9=Q AYԁ } ,DAT read: user:7512>  BDAT read: Tx time:05:34:05.8864  $Ping request sent. ٱB>BԼB=BH`?@.׿`֓??@h?@y?&?1?IB`">)B^;iBCnB9n "Ipip)t vABDz6Dz:YE?!EP=EQ)E>I9I9MGYIUsAU>yQ 14٪}0 ?Q 54}'u }B9YhſQ E@y}C)};I}M;i}Ր4Y AkkkkBEt4JEԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879 J,qS*Ay:">ٱ:&>:޼:H=:H%? ׿ڏ??@2?޽ ^ޛ?@`? ?I:">): _;i:CNB9R!I\-Mb@Mb@Mb@ )))I)i))- rhy&1|-C-̼-`I-Ai-A-bA-5 A))-p ABDE6DEβYUv!UI=]EQ)]>Y9Y9eGYae:Ae>iQ 1u4٪m ?Q 5u4mtu mB9}7~BBBBBBdDBX;B Ei     II)N= >D-D-D-,D)E-V: E-M:6E-g4:E)"E-9ٱ6h>6y缹6o=6H@H? ׿U?+??O`R?`??I6i2$>)6$^;i6CBB9B!IBDJ6DJ:2Yj=!jS=j1Q)j>l9l9nGYlr ;Ar>tQ 1z4٪v ?Q 5z4vuQ 9ztI vB9xYzPQ Ez@yvC)v:Iv{:iv4YC Ak)k)k)k)zZIZIZIZM{@IY YɡaiaIaia)ii"9 IIN=IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846yD=D=D=#D9E=s: E=xv:6E=3:E9!E@!E@!E@!E@ԡ w0,gS*Ay6&>ٱ6|>67^6(*=6H '? ׿@3?`?K|?O?`3??I6&>)6w_^;i6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258786VB9V!IBD^6D^ Yf=!fK=fQ)j>h9h9jGYhnº;An>pQ 1v4٪r ?Q 5v4r v r}B9tYvQ Ez@yrC)rG:Ir:ir4Y|] AYԁkkkkzZyZyZyZ}@I ɡiIi9)AmAԡiE!9AAE AIYIqN9>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510897A<AvB>~BB"IB̃BB =BBBY;B EByByByB}ȼ =ByB}=I4 DE DE DE ,DA EE : EE X:6EE g4:EA "EE n99GYA>Q 1%4٪ ?Q 5-40v |B9-1)a a e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015075i -B ,wj3T*AyN0>ٱN>NXPN=NH? oؿA?^?_?t h?S??IN0>)N];iNCZB9Z"IBDb6Db1Yj <!j]=n?Q)n>l9l9rGYpr<Ar>tQ 1z4٪v ?Q 5z4vOv vzB9|Y~Q E~@yvC)v@;Iv;ivг4Y Ak!k!k!k)zZAZAZAZEu@IQ QɡYiYIYia)aDDD.DE E1]:6Eـ4:E! @! @! @! @1i 9 IIN=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267249ԡԹ *,EMT*Ay6֝6>ٱ6%>66P=6H?ؿ?@M?DM?os?y??I6֝6>)6^;i6C@9@)D D=Mb@Mb@Mb@ 9)9I9i99=Mb~jtx?MbP==;=I9i=A9= A)9= AII)MAABDU6DU1Ye;!eA=m׺Q)m>i9i9mGYiue<Au>yQ 14٪} ?Q 54}bv y9k=Q A~BYB]("IB]փBBYBYBYB]ZY;B] EԑiU#9QQU YIiIyN=rDjDD D D (D E : E ]t:6E c44:E "E I < BDAT read: Rx Time:05:34:08.2938  TRx dataTimestamp_ set to:1755840849.528683 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772176 T,["gT*Ay6޶<>ٱ61>66?=6Hl?#ٿfr??:?R@6? W?@?I6޶<>)6`;i6CNŃB9R"IBDZ6DZkYvO<!vR=vGQ)v>x9x9zGYxzM{<A~>IQ 1U4٪M?Q 5]4Muv I9YY]L;Q E]@yMC)M;IM7;iM'´4Yam AikkkkzZZZZV@I ɡiIi)iM 9IQU QIaIqN}=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025967DDD,DE: ET:6Eg4:E!%@!%@!%@!%@I |> ,T*AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276559PyxdC>ٱp> I)=HW?@Sٿ;?@(t?%?/1pH?`j4?r?IxdC>)v>`;iC˃B9"IBD6D1Yo<!:=Q)>99GYs<A >Q 14٪m?Q 54v yB9Y:Q E@yC):I:iɴ4Y9=Z AAkkkkzZZZZ=W@I1 1ɡ9i9I9iA)ii I)IQNeU>AIAIvBQ~BQBU."IBU܃BBQBQBQBUY;BU E}DAT read: 05:34:08.2938 LVL= 28784, 11041, 25058, 28723, AGC= 45, IDX= 446, 0.04, 0.753, 0.185,-0.684, 1.354, PHS=-0.499,-1.123,-2.081, RAW= 53.1, 43.5, CAL= 50.0, 48.7, ROT= 100.0, -48.7 Ygot valid direction response: 05:34:08.2938 LVL= 28784, 11041, 25058, 28723, AGC= 45, IDX= 446, 0.04, 0.753, 0.185,-0.684, 1.354, PHS=-0.499,-1.123,-2.081, RAW= 53.1, 43.5, CAL= 50.0, 48.7, ROT= 100.0, -48.7 PDAT read: Bearing 280.0, 46.4 (Local) ~Local bearing/azimuth received: Bearing 280.0, 46.4 (Local) DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.114608,0.649975,0.751264]Fpublishing direction and range info9)-eV*ܗ?$[ ?))i-pp-!+-a-3p) -|)-wI-/i-@m?- \B?-f_?-Y?-f? -Yi))I-JB..?K.\忭?-(-}NB -f?)-Yi))A D% D% D% -D! 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?r?I6S>)6ak^;i6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728ƒBI=G9 "I)-mAIEAiu`umAu@BD6D:2YE/!E=|jQ)>99GY窻A>Q 14٪% ?Q 54r {B9YGQ E@yC)d;I%;iϼ4Y AkAkAkAkAzZZZZJ@I ɡiIi)iaiim iIyIN>9vB>~BʍCB"IB̃BB =BBBJT;B]Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505007BE ȷG4JE wX4RE i0DDDDE: ET:6E:E"E6ٱ:>:9ȼ:=:H 0?@+ڿ }V?@-?`?l?`Ջ??I:yO>):^;i:ߐCNȃB9R"I%Mb@Mb@Mb@ !)!I!i!!%I +~jtx?Mbp%94%;%I% Ai%A!!)!%G ABD6DY<!I=D:Q)>99GYRA>Q 14٪?Q 54r 9Wԙ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006718rDy jD} 4=D D D *D E : E Ar:6E (N4:E ! @! @! @! @>,p@r*A@yVRL>ٱV];>VcмV=VH:?ڿb? ?}?U ???IVRL>)V^;iVݐC`9`BDj6DjYr:!rV=v*Q)v>t9t9vGYtzAz>|Q 14٪~P?Q 54~r ~zB9Y A@Q E @y~C)~;I~;i~ݼ4Yo Ak1k1k1k1zZQZQZQZUA@Ia aɡiiiIiii)qiu9qqu yIIN=Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258787 ",u2r*AA A"<vB$~B$B&""IB&уBB$B$B$B&AT;B&YEB9B9B9B= =B9B=A 5yf J>ٱf(>f8ּf=fHC?ٿ9?? ?9Vƚ?м?@?If J>)fM^;ifސC=B9E "IDMDMDM)DIEMO: EMz:6EMFA4:EI"EM 99GYA >1Q 1=4٪5?Q 5=45r 5yB99Y=A@Q E=@y5C)5:I5:i54YAM AIkikikikizZZZZA@I ɡiIi))i 9IIN>>Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777ԡ  ,Lr*Ay6;#G>ٱ6g>6ؼ6=6HL?@ձٿ c?`??`?h?`?I6;#G>)6_^;i6CNǃB9R"IyMb@Mb@Mb@ )IiMby&1|?~jth`;DIAiAA A)BD6DYs=!`=D`Q)>99GY*A>Q 14٪?Q 54r 94i%T?I%<-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015052DMDMDM(DIEM: EM:6EMc44:EI!U@!U@!U@!U@ 4,Efr*Ay6C>ٱ6d>6[g׼6=6H@Y?@.wٿK?q?C%?@ ?e/?`Y?I6C>)6E2^;i6CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266865\9b"IBDj6Dj:Yr֗;!rZ=ry9Q)r>t9t9vGYtzR,Az>xQ 14٪z.?Q 54zwr zxB9Y3@Q E@yzC)z;IzY;iz4Yr Ak1k1k1k1zZZZZ3@I ɡiIi)i IIN>vBA~BABE("IBEփBBABABABE-T;BEOEMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520448DmDmDm*DiEm: Em|:6Em(N4:Ei"Em&>ٱ6>6 м6J=6H@>i?`?/ٿŔ?L*?B4?@?W??I6H>>)6EW^;i6CNB9N "IMb@Mb@Mb@ )Ii:vMbPTIAilA^A A) ABD56D52YE!ED=E}:Q)M>I9I9MGYIU8AU>YQ 1e4٪]?Q 5m4]r Y9mUԹ= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865D] D] D] +DY E] a: E] :6E] [4:EY !e @!e @!m @!m @ F,7Tr*AyV^9>ٱVc>V%ɼV=VHw?ؿ\??A?` @ $?`?`3?IV^9>)V`^;iVܐC~̓B9~"IBD 6D 2Y6=!M=%l;Q)%>!9)9-GY)-9A->1Q 1]4٪5[?Q 5]45r 19aYe0Q Ee@y5C)5;I5;i54YimJ AikkkkzZZZZb@I ɡ!i!I!i!))i9 IIN>!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276768I A9 A9 vBE >~BA BE ."IBE ܃BBA BA BA BE T;BE FEt,;r*Ay:5>ٱ:>:򾼹:S?=:H̓?Үؿ??9J?@*`ݗ?`?k?I:5>):A_;i:ސCFÃB9F"IBDN6DN:YV:!VR=VNQ;Q)V>X9X9ZGYXA>!Q 1-4٪%?Q 5-4%r %wB9)Y-I0Q E-@y%C)%:I%;i%4Yi Ai=I=D-D-D-0D)E-f; E-x:6E-4:E)"E-W>ԑ \Y, r*Ay>0>ٱ><>>5>{=>Hও?@;`ؿv+?c?V?s*f??$?I>0>)>^;i>ߐCPnуB9z!"IMb@Mb@Mb@ )Ii~jthI +MbPD94IiA A) ABD6DYZq=!:=qU;Q)>99GY0>A>Q 14٪?Q 54r 9;D-D-D-(D)E-a; E-]t:6E-c44:E)!5@!5@!5@!5@) ,Lr*Ay:#+>ٱ:h>::V=:H ?ؿ^?@]?`d?H? 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Sؿ ?1?N?k罿Û?3A?@?I634>)6\];i6ːCBփB9B("I5Mb@Mb@Mb@ 1)1I1i115Mb`?~jt5;5ļ1I1i5A5^A1)15 AEa9a9eGYamdAm>qQ 1}4٪u ?Q 5}4u~q q9}J1Y O#,1I*AyF->ٱFę>F/F=FH?q-ؿК? 3?@c?@]`>? 8??IF->)F];iFǐCVσB9V"IBDb6Dbk1Yn9!nS=ro:Q)r>p9t9vGYtvÇAv>xQ 1M4٪z. ?Q 5U4zq znB9QYUfQ EU@yz1C)zBJ~BuɍCBu."IBu܃BBqBqBqBu,S;BuEDDD-DE; Eg:6Et4:E"EA\ٱb%>b1bG=bH?׿?v?y?8o?=??Ib]&>)b^;ibɐC 9 "Ii5=I1BDU6DU1Y%J:!-7=)A Am9Q)m>q9q9uGYq}sA}>Q 14٪ ?Q 54q 9YEQ E@y2C)2:ԑIl:i4Y3 AkkkkzZZZZl@II IɡQiQIQiQ)Yi" II N*>ԹDDD.DE: Ei:6Eـ4:E!@!@!@!@ #,f}*Ay:>ٱ:п>:TI:==:H`?_e׿ ?cj??Uȓ?\??I:>): 1^;i:ǐCF˃B9F"IMb@Mb@Mb@ )Ii rhMb~jthCDIAiA A A) AI-@A))BD-6D-Y=ϼ!=Z=E#:Q)E>A9A9MGYIMAM>QQ 1]4٪Uw ?Q 5]4UNr UlB9e=Q Ae!Q vBm >~Bi Bm ("IBm փBBm =Bi Bi Bm S;Bm EbD ZD ?AD D D -D E ,: E X:6E t4:E "E ٱ6_ϼ>66=6H?@ ׿ 5?`?ȟ?`/IR?v?`?I6V>)6U];i6ʐCfÃB9f"IBDn6DnYvT!vP=z:Q)z>x9x9~GY|~tA~>Q 1 4٪R ?Q 5 4r kB9YؿQ E@y5C) :IG:i4Y A!k9kAkAkAzZYZYZYZ]?֒@Ii qɡqiqIqiy)yi- 9115" 1IAIYNe=iԙ #,*Ay6>ٱ6N>66ޫ=6HO?_ֿ`ܘ?!?o?@|Lޒ?½? ?I6>)6];i6ǐCBʃB9B"I)D DPEMb@Mb@Mb@ A)AIAiAAEZd;Oq9y9GYz=A>Q 14٪ ?Q 54!s iB9,0=Q AA :#,"ʏ*Ay>C>ٱ>ط>>{䓼>@=>HG?"vֿ`?|?@E?ǽM|???I>C>)>];i>ƐCJăB9J"IPiR<BDV6DVk2YZ!ZV=^}:Q)^>`9`9bGY`b PAf>dQ 1j4٪f ?Q 5j4fs fgB9lYnQ En@yf:C)f;If;if4Ypv Atkk k k  B*** querying acoustic contact ***zh h zZ)Z)Z)Z-ۏ@IA AɡAiAIAiI)IiM 9IIU/ QIaIqN}=A A vB>~BB""IBуBBBBBR;BEIDDD*DE: E]t:6E(N4:E"E.ٱRj>R] R?=RH`?@,ֿ@?3?`?`н?h!?`?IR) >)R];iPvƃB9v"IBD%6D%kYe<!m@=uO:ԁQ)>99GY3A>-,DAT read: user:7514> =BDAT read: Tx time:05:38:06.7858 E$Ping request sent.EDDD/DE: E[:6EJ4:E!@!@!@!@i 4=I %= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247528 #,6*A|9i=I=Mb@Mb@Mb@ )IiQ롿~jty&1|\`I"AipAK A A) ABD-6D-ܲYEl!E==EQ)E>I9I9MGYIMAU>YQ 1]4٪] ?Q 5e4]t ]bB9eU=Q Ae~5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4997061vB >~B ȍCB "IB ̃BB =B B aDB R;B EbD ZD @AD D D +D E : E :6E [4:E "E ٱV4>VlɊV=VH'?Jտ@*??@? X?@?}?IV>)Vf];iVȐCÃB9"IIEAA)E@ABDM6DM0Y]!mZ=m6:Q)u>q9q9uGYq}A}>Q 14٪ ?Q 54t `B9YLQ E@yAC):I:i 4Y AkkkkzZZZZ@I) )ɡ)i)I)1i1)9i!9 IIN>aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006623ԉԹ  $,Vd2*Ay6p>ٱ6ld>6@ꈼ6q=6H?_տ?ǜ?`?@@軿??G?I6p>)6];i6ƐCBB9B"IUMb@Mb@Mb@ Q)QIQiQQU~jt99GYջA>BE!JE%~4RE%B1DDD,DE: ET:6Eg4:E!@!@!@!@Q 14٪8 ?Q 54zu ^B9W=Q A{M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507627 B$,lBL*Ay6=ٱ6Uů>69|6=6H` ?տ???tUϐ?S??I6=)6A];i4BɃB9B"I)D FABDJ6DJkYR<)=!RY=VN:Q)V>T9T9ZGYXZ`SAZ>\Q 1b4٪^w?Q 5b4^u ^\B9hYj/Q Er@y^FC)^;I^ƾ;i^Y4Yqud AykkkkzZZZZ(x@I ɡiIi)i)115+ 1IAIQNe=AA<vB>~BBBB =BBBR;BEBuɍCBuɍCBqBu =Bu =Bu35DDD*DE: E;J:6E(N4:E"EBB=BH!?տ ?`??3u?2k? ?IB=)B%];iBǐCRǃB9R"Ij4)919=GY9MAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013389Q 1=4٪?Q 5E4vv YB9IYM.Q EU@yIC)ԹDDD/DE: E:6EJ4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263225 ?$,@*A`yf &>ٱf:i>fpf6=fH!? տ_?`?@?`WoQ?U??If &>)f];ifŐCz̃B9z"IMb@Mb@Mb@ )Iil񢿚Mbp̼IipA A A)BD6DY<!@=9Q)>99GY;A>QQ 1]4٪U?Q 5]4Uv UXB9]7=Q Ae)) )5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520172vB ~B B B B B B B R;B EA D D D .D E : E VL:6E ـ4:E "E 399GYA>Q 14٪?Q 545w VB9YQ E@yNC):I:i.4Y_ AkkkkzZZZZI ɡiIi ) iqqqu qIIN=IyMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025131ԡ Q,$, *AyJc] >ٱJ愵>J0Jb=JH~? 0ֿJ? 6???,g?L?IJc] >)JH];iHV΃B9Z"I]Mb@Mb@Mb@ Y)YIYiYY]I +~jtMbp]94]DYIYi]A]K AY)Y] AIq)qDDD-DE: EF:6Et4:E!@!@!@!@ԑBD6D0Y<!H=VQ)>99GY<A>Q 14٪?Q 54]w UB9Rԩ } DAT read: 05:38:09.1931 LVL= 27840, 10033, 23234, 26691, AGC= 44, IDX= 445, 0.09,-0.410,-0.896,-1.840, 0.216, PHS=-0.524,-1.067,-2.100, RAW= 49.8, 43.3, CAL= 47.0, 48.6, ROT= 103.0, -48.6  Ygot valid direction response: 05:38:09.1931 LVL= 27840, 10033, 23234, 26691, AGC= 44, IDX= 445, 0.09,-0.410,-0.896,-1.840, 0.216, PHS=-0.524,-1.067,-2.100, RAW= 49.8, 43.3, CAL= 47.0, 48.6, ROT= 103.0, -48.6  PDAT read: Bearing 278.8, 45.7 (Local)  ~Local bearing/azimuth received: Bearing 278.8, 45.7 (Local)  DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.148763,0.644363,0.750111] Fpublishing direction and range info9A E & ÿ??A A iE lE 1'E ZE ChA E $)E uIE ffiE /^?E \wA?E ~Q?E %Y?E ? 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Xs@k~?6?X?I2wb>)2M^;i2CB̓B9B"I| Mb@Mb@Mb@ ) I i   :v~jtMbP T ļ I i A 1 A  A)  G ABD%6D%Y5c=!5D=5Q)5>9999=GY9EAE>IQ 1U4٪Mg ?Q 5U4M| MLB9UQԁ k+,*AyFR>ٱF]&>F `F>FH?ֿS??`)?7? ? ?IFR>)F )^;vBZw>~BXBZ"IBZǃBBZ =BXBXBZN;BZEiFCrăB9v"IBD6D1Y7,!L=%Q)%>!9!9-GY)5ۻA5>9Q 1M4٪=G ?Q 5M4=} =KB9QYUڿQ EU@y=CY)=6;I= ;i="&4Yqu AqkkkkzZZZZ m@I ɡiIi)DDD(DE: E:6Ec44:E"E.ԉԱ /r+,|˭*Ay6>ٱ6_>6s6>6H?,ֿ`$???2 *c???I6>)6&^;i6CF̓B9F"IHiHiN=INp=Ij@A)jAABDn6Dn2Yvr:=!vM=v?Q)v>x9x9zGYx~zA~>Q 1 4٪( ?Q 5 4^} JB9 Y ڿQ E @yC):I:i-4YD AkYkYkYkYeB*** querying acoustic contact ***zhahazZyZyZyZ}-b@I ɡiIi)Թiqyy) IIN>DDD,DE: E n:6Eg4:E!@!@!@!@52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.9 ?x+,W*Ay6>ٱ6ø>6ή6=6H[?ֿ@$?0?`?־@?g?` ?I6>)6A^;i4^҃B9^#"ImMb@Mb@Mb@ i)iIiiiimMb` rh~jthmmCmDImAimAmG AmG A)imp ABD6D0Y<!@=PQ)>99GY6A>Q 14٪M ?Q 54} IB9\=YQ E@yC) ;I2 ;i44Y AkkkkzZ \<Z \<Z  @Z o@I !ɡ!i!I!i!)),DAT read: user:7515> BDAT read: Tx time:05:40:06.8357 $Ping request sent.AAA@AvBv>~BƍCBBBBBB O;BEI-tG)IIYiX@iDDD)DE: E|:6EFA4:E"Enٱ6߸>6Y6Z=6H?Xֿg_?U?I?nOJ?? ?I67>)6 !^;i6CB΃B9B"IBDJ6DJ:YR!RX=VːQ)V>T9X9ZGYXZ:AZ>\Q 1b4٪^n ?Q 5f4^} ^HB9dYfQ Ef@y^C)^\:I^:i^;4Yhj? Alkxkxk|k|zZZZZŪ@I! )ɡ)i)I)i1)1Qi92 IIN=y}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502522D D D D E : E xv:6E :E ! @! @! @! @ +, *Ay6>ٱ6u/>6/6.=6H ?`ֿ`?y? ?v?7??I6>)6:^;i4vƃB9v"ImMb@Mb@Mb@ i)iIiiiim{Gzt?y&1|Mbpmף;m`mImAiim Am A)im ABD6DkY !>=cnQ)>99GY:A>Q 14٪ ?Q 54} GB9n)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006588{"+,2*AvB*w>~B*ǍCB*"IB*̃BB(B(B(B*N;B*Eynx>ٱnp>n$fnZ=nH?@Bֿ ? ??q޼^l?ڼ??Inx>)nx ^;inC˃B9"IBD-6D-Y=U<!EP=EyQ)E>A9I9MGYIMF;AM>QQ 1]4٪U ?Q 5e4U} UFB9aYe Q Ee@yUC)U;IU/;iUzI4YimT AqkkkkzZZZZܬ@I ɡiIi)DDD4DE7; Ez:6E4:E"EZt>ٱ>>>m;@>>U=>H?nֿ`?o??M.?@??I>t>)>^;i>C^׃B9b)"IBDf6Df:Ynpx=!rQ=rqQ)r>p9t9vGYtv:Av>xQ 1~4٪z'?Q 5~4z} zEB9Y Q E@yx)z';IzU;izSP4Y  A k)k)k1k1zZZZZ@I 9ɡ9iAIAiq)Աi!9 IIN>DDD.DE: Ega:6Eـ4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762583 5+, f*ApB9="IMb@Mb@Mb@ )Ii~jt?99GY-A5>9Q 1E4٪=t?Q 5E4=} 99EuAE<AE<vBMx>~BIBM("IBMփBBM =BIBIBMN;BMEBBBB =B =BƘ51BEg4JEg4REȲ0DDD+DE: E:6E [4:E"Eٱ6ꮻ>68dǼ6=6Hz?Sֿ6???d׻?o?``?I6k>)6_3^;i6CbB9b5"IBDj 6Dj2Yv!vY=vQ)z>x9x9zGYx~ <A~>Q 1 4٪?Q 5 4} FB9 Y?Q E@yC):Iy:iz^4YA9kAkAkAkAzZaZaZaZe?Iq yɡyiyIyi)i-9115- 1IAIQNe=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526631ԑ D D D *D E l; E ՚:6E (N4:E ! @! @! @! @G+,GT*Ay6%>ٱ6>6$˼6Q=6H@R?׿mڐ???@t{?` ??I6%>)6\C^;i6C^ރB9b1"IԙMb@Mb@Mb@ )IiQ?Q?u<u<IAiVAG A1 A) ABD6D0YS!<=ͥQ)>99GY;A>Q 14٪?Q 54[} 9ǭi >I C= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030852 q+, 1*AvBuw>~BqBu5"IBuBBu =BqBqBuN;BuEy:>ٱ:0>:@Aм:=:H@?>׿ҏ?6??@@p?a? 4?I:>):(^;i:CJB9J4"IBDR6DRkYZ@<!Z_=ZQ)Z>\9\9^GY\bD;Ab>dQ 1j4٪fF?Q 5j4f,} d9hYjד?Q Ej@yfC)f:If:ifxl4YprApkk k k zZ!Z!Z!Z%ד?I1 9ɡ9i9I9iA)A)IDDD-DE: E:6Et4:E"E!E!*E ٱ:F>:>Լ:+=ZDAT read: 05:40:09.2429 LVL= 28368, 10561, 26482, 29587, AGC= 44, IDX= 445,-0.45,-0.243,-0.564,-1.634, 0.417, PHS=-0.558,-0.936,-2.096, RAW= 43.6, 42.4, CAL= 41.3, 48.0, ROT= 108.7, -48.0 ^Ygot valid direction response: 05:40:09.2429 LVL= 28368, 10561, 26482, 29587, AGC= 44, IDX= 445,-0.45,-0.243,-0.564,-1.634, 0.417, PHS=-0.558,-0.936,-2.096, RAW= 43.6, 42.4, CAL= 41.3, 48.0, ROT= 108.7, -48.0 bPDAT read: Bearing 286.5, 44.6 (Local) b~Local bearing/azimuth received: Bearing 286.5, 44.6 (Local) fDAT read: Range 11 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s jR#Rx 1: Read range and direction messages.n^direction in FSK: [-0.214532,0.633807,0.743145]nFpublishing direction and range info9@B|kM u˿o&H?:?B3@@iBnBA)BrgBs@ B)BoIB$iBB?Bq=?B8?BPwV?B? 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D[?@Đ?@~?I:"D>):];i:CFB9F@"IBDN6DNfYVČ!Vh=Z>:Q)Z>X9X9^GY\dn<Ar>tQ 1z4٪v*?Q 5~4vz v6B9|Y~?Q E~@yvzC)v";Iv?;iv/4Y  A k)k)k)k)zZIZIZIZMJ?IY YɡYiYIaia)aiI!I1NE=rD <jD D D D D E : E ;J:6E :E ! @! @! @! @A ./,^+*Ay6-G>ٱ6e>6֢h6d=6HN?@Ęٿء?}??@]?=y??I6-G>)6];i6CBB9BH"IBDJ6DJY~<!~E=h:Q)>9 9 GY  ;A >Q 1%4٪M?Q 5%4z 7B9!Y%K?Q E-@y{C)m(;Iy);i64Y15XA1kQkQkQkQzZqZqZqZuK?I ɡiIi)vB!~B!B%N"IB%BB% =B!B!B%lM;B%Ei591150 1IAIQNe=Iqԡ d5/,}ؼ*AD6D6D6+D4E6m: E6[:6E6 [4:E4"E6K;!>E6>;!>yZ$qK>ٱZƎ>Z PZM=ZH A?kٿ;???r?@E? ?IZ$qK>)Z];iZCfB9jB"Iin=In=yMb@Mb@Mb@ )Ii:v rh?TC<Ii A)Q AI)@ABD6DܲY!==Z;Q)>99GY<A>Q 14٪?Q 54uz 8B9Q4YyA5JTimed out from 2025-08-22T05:26:07.3ZS51T= =Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletionqTEzZ]Q<Z]Q<Z]+P@Z]H)@Imp: iɡqiqIqiy)y i- 9))-. )I9IaNu>ԡ X;/,*A~ރB9~2"IBD 6D Y!%X=%Q)%>!9)9-GY)-A->1Q 1=4٪5?Q 5E45[z 19AYAQ EE@y5}C)5;I5;i5&E4YIMAQ1Tm mAggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletionqTmUm urAggregate::initialize lineCaptureHoming:Lap:Docked:DetachUuIeG)Ii@zZZZZI! !ɡ!i!I!i)))== ==bDiZDm@AD}D}D},DyE}: E}T:6E}g4:Ey!@!@!@!@IINh>AAvB~BBG"IBBBBBB\M;BE1a `B/, *AyvK>ٱvd>vj_:v=vH ?B?ٿ ?`)?`* ?@ļ`K?`A%?x?IvK>)v*];ivCB9 7"IMb@Mb@Mb@ )Iiy&1?MbP?̼`e<:IiA)z ABD6DkYǍ<!A=T;Q)>99GYFA>)Q 1U4٪?Q 5]4Tz 9]ٱF04>FE,FN=FHC?`ٿt?@? ?j??`?IFJ>)FQ];iFCfB9fL"IBDn6DnYv6=!vY=zs;Q)z>x9x9zGY|~8A~>Q 1 4٪?Q 5 4Nz 9B9Y}C@Q E@yC)`:Iy:i)S4Y:A!V= =rAggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1V=1W=qW=EUninitialize.WEEpAggregate::initialize lineCaptureHoming:Lap:Docked:DriftqXEEٱJ>J7J=JHuG?ٿ ? J? ?@ ϼƃ?f??IJI>)J];iJCnB9n?"IBDv 6Dv2YP!I=1 ;Q)> 9 9 GY  ;A>Q 1%4٪?Q 5%4Gz 9!Y%kC@Q E%@yC);I@;iCZ4Y)5A1WMUtAggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift1XUqXUU@Uninitialize Buoyancy Component.XUXU1YU UUninitialize.ULCompleted lineCaptureHoming:Lap:DockedQUUhAggregate::uninitialize lineCaptureHoming:Lap:DockedvBm>~BB;"IBBBBBB4M;BEU>Completed lineCaptureHoming:LapqPZAggregate::uninitialize lineCaptureHoming:LapzZ9Z9Z9Z=PkC@3E6Completed lineCaptureHoming'E>lineCaptureHoming is completed.'EPUninitializing Mission lineCaptureHomingE 3ERAggregate::uninitialize lineCaptureHomingE3MbAggregate::uninitialize lineCaptureHoming:ScienceqMM1MM7M|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent1M1.M \MvAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq.M\MNUninitialize AltitudeEnvelopeComponent..M ]MUninitialize..U]UNUninitialize OffshoreEnvelopeComponent.q3ufurAggregate::uninitialize lineCaptureHoming:MicromodemComms3u guAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn3uEuuHUninitializing TrackAcousticContact.X=bgot command load ./Missions/Engineering/OnDock.tl!S%5!S-5!S)5aR#=aR#=aR#=aR}#=By#Bu#Bq#Bm#Bi#Be#Ba#B]# B B <u<}<}V/,ZE]*Ay%ږG>ٱ%>%%7=%HM?ٿ?@?? *8`8???I%ږG>)%];i!,DAT read: user:7516> BDAT read: Tx time:05:41:08.6846 $Ping request sent. 9 9 GY  +A u>9 Q 1E 4٪= .?Q 5E 4= {z 9 9M =Q AM @^/,{*AyVH9E>ٱVr>Vb V ,=VH iU?pٿkJ??`?L˽BL?@?@2?IVH9E>)Vs];iVC\\\i``i``)p vhbFIt t)ttvuFxzLCxixIxxI|i~qA ||)| ء٩٩I٭/ݼ)٩i٩)ڱIڵ~Aٱٱ ڱ܃B9/"IBD6DkY!= ':Q) 4? 9 9 GY A4?Q 1E4٪?Q 5E4z 9AYM4Q EM@yC);Iz;iPk4YQUAQi߁I߁I ɡiIi)ۺ9I)IANM>e/,Oy*Ay6A>ٱ6>6m"6gj>6H@k`?;ٿ$?@d_?K!?u@?`$"? b?I6A>)6(];i4~B9~9"IMb@Mb@Mb@ )IiQ롿y&1\`eIilA1 A A)Q ABD6DY+=!K= D9Q) > 9 9GYuAu>yQ 14٪}?Q 54}z y9g=Q AHk/,T*Ay6n=>ٱ6k>66X>6Hl?ٿG?&?`*?? v??I6n=>)6Ү];i6CB95"IBD-6D-Y!B=Q)>99GYJA>Q 14٪?Q 54{ 9YQ E@yC):I:iy4YAI! !ɡ!i!I!i))1====mۺ9IIN>! @! @! @! @! @! @! @! @A A A A 0r/,ٱF>FeFvf>FHDz?ؿƲ??@6?L??B?IFn9>)F:];iFC`9`BDz6Dz밹LϺQ)>!9I9UGYq.A>Q 14٪?Q 54h{ 8B9YOQ E@yC)K:I :iˀ4Y)I9 9ɡ9iAIAiA)I-9I9IQN]>0\x/,*Ay65>ٱ6b>6c$6>6H?}ؿդ??D?`ߔh???I65>)6];i6CNB9NC"IMb@Mb@Mb@ )IiZd;O~jth̼jDIAiA1 A)BD6D0Y <! <+.Q)>99GY4A>!Q 1-4٪%M?Q 5-4%{ %7B9U =Q AUBDAT read: Rx Time:05:41:10.5732 %TRx dataTimestamp_ set to:1755841271.780569̄~/,`*Ay60>ٱ65>6Q=6->6H?Gؿ`?`Ld?@R? Z?Y?U?I60>)6];i4^B9^K"IIf@A)dBDj6Djk1Yv=!v_=v6Q)v>x9x9zGYxz>A~>!Q 1%4٪%?Q 5-4%| %6B9)Y-%Q E-@y%C)%l:I% :i%4Y1]?AYIi iɡiiiIiiq)qo9IIN=)1 1 k/,8*Ay6 ,>ٱ69/>6X6V>6HA?`Nؿ`?,(?@Na?澿f?`L?@ ?I6 ,>)6];i4B9Q"IMb@Mb@Mb@ )IiY9Y9]GYY]+Ae>aQ 1m4٪e?Q 5m4eM| e4B9iDAT read: 05:41:10.5732 LVL= 25824, 12273, 25922, 29587, AGC= 45, IDX= 260,-0.43,-0.852,-1.181,-2.249,-0.211, PHS=-0.539,-0.925,-2.082, RAW= 43.9, 42.0, CAL= 41.5, 47.7, ROT= 108.5, -47.7 Ygot valid direction response: 05:41:10.5732 LVL= 25824, 12273, 25922, 29587, AGC= 45, IDX= 260,-0.43,-0.852,-1.181,-2.249,-0.211, PHS=-0.539,-0.925,-2.082, RAW= 43.9, 42.0, CAL= 41.5, 47.7, ROT= 108.5, -47.7 DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:7517> BDAT read: Tx time:05:41:11.6860 $Ping request sent.ٱ6A;>6dyw66 =6H@ˬ?׿4??`p? i!`?@??I6(>)6];i6CNB9NH"IBDV6DVYf,!fd=fҪQ)f>h9h9jGYhjP0A~>Q 1 4٪?Q 5 4| 3B9 Y vƿQ E @yC):I:i4Y9=XA9II IɡIiIIIiQ)Y59IIIYNm=iѐCIEG)]~nAIqiq~nAaA?<@~/,vJ*Ay>u%>ٱ>2>>>5T=>Hu?_׿`E?z?@}?@gV? ׽??I>u%>)>U(^;i>C^B9^6"IBDf6Dfk1YE!MC=UQ)}>99GYBA>Q 14٪?Q 54| 2B9YƿQ E @yC)Q!٧/,Md*Ay6">ٱ6->6W6=6Hj?x׿ rR??V?7w u?̲??I6">)6'^;i4BB9BO"IMb@Mb@Mb@ )Ii{Gzt?y&1~jthף;`eIAiA A)BD6DkY=!B=Q)>99GYջA>Q 1 4٪=?Q 5 4| 1B9 yxٱ6>6~69=6H?׿ ?~?@?@`wo?x? ?I6V!>)6_^;i6CNB9NF"IBDV6DVYb&!b\=fSQ)f>d9h9jGYhjPjAj>lQ 1r4٪n?Q 5r4n } n0B9tYv VQ Ev@yl)n:In\:in)4YxzdAI! )ɡ)i)I)i1)1=9I)I9NE=b/, *Ay: >ٱ:u;>:9:!=:Hm?L{׿dU?gv??@? V?@r?I: >):br^;i:CNB9NT"IMb@Mb@Mb@ )Ii:v?y&1|Mbp<`IAiVA1 A A)( ABD6D:2YT=!==ZkQ)>99GYe_Ae>iQ 1u4٪m?Q 5u4m} m/B9uQ E}@ymC)m*:Im@:im4YAI ɡiIi)kAikAa9IIN > ')OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . Y#n'PDefineArg OnDock.DockedTime = 8.000000 hY#n'\DefineArg OnDock.DetachedTimeout = 30.000000 sieq?Ie 5 1.5 200 2000 Y#% o! '- vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 mY#M oI 'U |DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 mY#] o] i@'e tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 mY#m oi 'u |DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m } 6Construct AltitudeEnvelope./,Ȿ*Ay6W >ٱ6*>6ü6J=6H`?@8|׿@?Gt??# w??J?I6W >)6^^;i4NB9RZ"IbBDAT read: Rx Time:05:41:13.5733 fTRx dataTimestamp_ set to:1755841274.804367BDZ6DZN2YE$<!MQ=MkQ)M>Q9Q9UGYQU}0Construct DepthEnvelope.AU>Q 14٪i?Q 54| .B9Y>Q E@yC):I:i4 6Construct OffshoreEnvelope.Z YAI! )ɡ)i)I)i))q'xInserting Stack from file: Missions/Insert/BackseatDriver.tl 'lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl 'TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tlM]9IaIqN= '=TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: [#MbqI'UnDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool m2Construct BackseatDriver.'}nInserting Stack from file: Missions/Insert/PowerOnly.tl '}bTethyslAPI: loading: Missions/Insert/PowerOnly.tl 'zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 'qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 a\#q'ZDefineArg OnDock:PowerOnly.SampleAll = 0 boola\#q' ^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 boola\# q ' ^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 boola\# q '% ^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 boola\#5 q1 '= hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool u Construct Wait. Construct Wait.' jInserting Stack from file: Missions/Insert/Science.tl ' ^TethyslAPI: loading: Missions/Insert/Science.tl ' vTethyslAPI: mission file loaded: Missions/Insert/Science.tl̲/,˾*Ay62!>ٱ6o>6 aμ6=6H@?܅׿8?|??Pn˙?^??I62!>)6?Q^;i4NB9NW"IBDV6DV:2YvX!vP=vXQ)z>x9x9zGYx.:A>!Q 1-4٪%I?Q 5-4%| !91Y>Q E@y%C)%z DAT read: 05:41:13.5733 LVL= 28736, 11025, 25522, 30163, AGC= 43, IDX= 420, 0.35, 0.828, 0.360,-0.586, 1.488, PHS=-0.558,-1.083,-2.119, RAW= 49.3, 44.0, CAL= 46.6, 49.3, ROT= 103.4, -49.3  Ygot valid direction response: 05:41:13.5733 LVL= 28736, 11025, 25522, 30163, AGC= 43, IDX= 420, 0.35, 0.828, 0.360,-0.586, 1.488, PHS=-0.558,-1.083,-2.119, RAW= 49.3, 44.0, CAL= 46.6, 49.3, ROT= 103.4, -49.3  DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:7518>  BDAT read: Tx time:05:41:14.6860  $Ping request sent. ٱ6(>6dSؼ6G=6H@A?׿@?@b?@ȋ? 軿 ?Y???I6">)6^;i6CB9d"IMb@Mb@Mb@ )Ii/$?99GY-;A>Q 1%4٪?Q 5%4| 9-* /,t*Ay6$>ٱ6E>6g⼹6t0=6H`l?@׿ )6&^;i6CNB9RM"IBDZ6DZY{!=Q)!? 9 9 GY <A!?Q 1E4٪c?Q 5E4| 9AYE]H?Q EE@yC):I:i4YQU6AQI ɡi I i )i=4=I=4=59IAIYNm=% /,P*Ay:P&>ٱ:#>:m輹:=:H`? ׿@?`?|?X`? ?@c?I:P&>):j^;i:CNB9RU"IMb@Mb@Mb@ )Ii~jt?Q?Mb`=u<Ii^A A)Q ABD6DY=!@=ԺQ)>99GY;A>Q 14٪s?Q 54F| 9'=Q Aٱ6>6=輹6e=6H?\׿@%??z?=F?`+?2?I6(>)6];i6C)L LfB9fP"IBDr6DrkY%b!%S=-bQ)->)9)95GY15oi;A5>9Q 1E4٪=j?Q 5E4={ =/B9AYMB?Q EM@y=C)=:I=\:i=4YQUAQI ɡiIi)lAilAIIN=!/,M*Ay6;b)>ٱ6R>6n輹6=6H@Ш? 7ؿ?#?}u?y|?@$ʻ? C?I6;b)>)6(^;i4NB9R\"IBDZ 6DZ2Yf==!fP=f\7Q)f>h9h9jGYhj^;An>iQ 1u4٪mp?Q 54m{ i9YEC?Q E@ymC)mi] ?I] %=8E/,f*Ay6*>ٱ644>6 鼹6e9=6H?`ؿd?$ ?n?9}6?㔼?m?I6*>)6];i6CNB9R]"IMb@Mb@Mb@ )IiL7A`?99GY D;A>Q 14٪I?Q 5 4\{ 9 =Q A ٱ:s>:)缹:I=:H`?@ؿWp?{? *j?ս?@9E??I:~\+>):];i:CNB9R["ITiVp;BDZ6DZ2Yf!f\=fe>:Q)f>h9h9jGYhnz:An>Q 1 4٪?Q 5 4{ 0B9 Y b?Q E @yC):I:i4Y=A9II QɡQiQIQiy)yR?)?=9IIIN=) AU DAT read: 05:41:16.5734 LVL= 23920, 10801, 24306, 23635, AGC= 43, IDX= 437, 0.14, 0.569, 0.209,-0.809, 1.231, PHS=-0.559,-0.976,-2.084, RAW= 45.3, 43.2, CAL= 42.9, 48.6, ROT= 107.1, -48.6 e Ygot valid direction response: 05:41:16.5734 LVL= 23920, 10801, 24306, 23635, AGC= 43, IDX= 437, 0.14, 0.569, 0.209,-0.809, 1.231, PHS=-0.559,-0.976,-2.084, RAW= 45.3, 43.2, CAL= 42.9, 48.6, ROT= 107.1, -48.6 e DAT read: OK e :unknown deviceResponse_: OK e X#Rx 4: Read direction message, but no range.m ^direction in FSK: [-0.194452,0.632077,0.750111]9 /39ȿR$$9?? i p] 1* ^ S\ ) #yI B`i gJ? A? ֭?? %Y? C? %Yi I \}?H#? ʦ @ C?) %Y]V/,*Ay6K+>ٱ6Z>6H5伹69=6HQ?@ ؿ??ji?ؽ@?@S?@?I6K+>)6];i6CB9S"IMb@Mb@Mb@ )Ii~jt?Mb?Mb`?<<;IAilA A)BD6Dk1YƼ!=ZF:Q)>99GY9A>Q 1 4٪?Q 5 4z 1B9 /,x*Ay6,+>ٱ6l>6oἹ6=6Hࠣ?ؿWҒ??)6];i6Ci@B3s@)@ @I@DFpAiFIDDIHiJ?qA HH)HL NbALLLLPIP)PiP)PIRpATT TTVATiTXX~B9~K"IBD 6D Y=c2!=== :Q)=?A9A9EGYAE:AM?IQ 1u4٪M[?Q 5}4Mz I9yY}2?Q E}@yMC)M;IMm;iM 4Y?AIQ QɡYiYIYiY)am19IyIN=i/,Nο*Ay:r)>ٱ:m>:G#༹:=:H`? ׿C??Kk?便???I:r)>):_^;i:C~B9~G"IiBD 6D 1Y!D=9Q)>99GY|A>Q 14٪?Q 54z 2B9Y2?Q E@yC):I:ie 4Y[AI !ɡ)i)Iii)i@9IIN"> ' 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 = , , , , , 'DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool^E$bs'vDefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool)9)95GY15(A5>9Q 1E4٪=i?Q 5E4=z 99M]!'DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool^]$s'xDefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool^a$t'DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count^e$t'DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count^i$"t'jDefineArg OnDock:science:Science.ShallowBound = nan m^m$2t']dDefineArg OnDock:science:Science.DeepBound = nan m^q$eBta'mDefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m^u$Rt'DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %^y$bt'DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %^}$rt'|DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l^$utq'uDefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count^$t'DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool^$t'tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l^$t'tDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l^$t'DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count^$ t) '5 DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s^$= t9 'E DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s^$m ti 'u DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml^$} uy ' DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml^$  u ' fDefineOutput OnDock:science:Science.GoDown = 1 bool^$ u ' lDefineOutput OnDock:science:Science.PeakChl = nan ug/l^$ *u ' pDefineOutput OnDock:science:Science.PeakChlDepth = nan m^$- :u) '5 DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC^$= Ju9 'e DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg^$m Zui 'u DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg^$ ju ' lDefineOutput OnDock:science:Science.EdgeChl = nan ug/l^$ zu ' pDefineOutput OnDock:science:Science.EdgeChlDepth = nan m^$ u ' DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC^$= u9 'E DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg^$U uQ '} DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg^$ u ' pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/l^$ u ' pDefineOutput OnDock:science:Science.PeakNO3Depth = nan m^$ u ' DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg^$ u! '- DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg^$5 u1 g{0,*Ay6_%>ٱ6>6Ἱ6>6H`?׿?Ź?+q? 79?? #?I6_%>)6];i4^B9^="I'rnDefineOutput OnDock:science:Science.PeakOil = nan kg/m3^$v vt'zpDefineOutput OnDock:science:Science.PeakOilDepth = nan mBDf6Df1Y! l= ;mQ) ?99GYA?^$=v9'MDefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg^$U*vQYQ 1e4٪]?Q 5e4]z Y9iYmQ Em@yY)] :I]%:i]U4'DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg^$:v'lDefineOutput OnDock:science:Science.PeakFDOM = nan ppbYqAI ɡiIi)^$uJvq'}rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan m^$Zv'DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC^$jv'DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg`9IIN%=^%5zv1'=DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg^%EvA'ulDefineOutput OnDock:science:Science.PeakSalt = nan psu^ %}vy'rDefineOutput OnDock:science:Science.PeakSaltDepth = nan m^ %v'DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC^%v' DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg^%v'%DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg^%MvI'UDefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s^%]vY'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m^!%v'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC^%% w'DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg^)%w'%DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg^-%-*w)'5DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s^1%:w'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m^5%Jw'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC^9%eZwa'mDefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg^=%ujwq'DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg^A%zw'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s^E%w'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m^I%w'UDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC^M%ewa'mDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg^Q%w'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg^U%w'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s^Y%]wY'eDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m^]%mw'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC^a%- w) 'm DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg^e%  x ' DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg^i% x ' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml^m% *x ' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m^q% :x 'e DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC^u%m Jxi 'u DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg^y% Zx ' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg^}% jx ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml^% zx ' DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m^% x '% DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC^%- x) e0,**Ay6(">ٱ6>6漹6G>6HT?@׿`3k??x?t?G?5?I6(">)6];i4^B9^A"I'~DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg^%x'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg^%=x9'EDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml^%MxI'UDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan mMb@Mb@Mb@ )Ii^%x'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC^% x 'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg^%x'-DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdegy&1|Q`uIAi)Q ABDE6DE3^%5 y'DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml^%y'DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m^%*y'DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degCYme<!1=Q)>99GYO޻A>Q 14٪?Q 54z 9^%y'tDefineOutput OnDock:science:Science.PatchSaltDepth = nan m^%yi%=IR='DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg^%y'DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg^%y'zDefineOutput OnDock:science:Science.PatchSaltDistance = nan m^%y'lDefineOutput OnDock:science:Science.PatchOil = nan psu^% z'%rDefineOutput OnDock:science:Science.PatchOilDepth = nan m^%5z1'=DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg^%E*zA'MDefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg^%U:zQ'exDefineOutput OnDock:science:Science.PatchOilDistance = nan m^%mJzi'uvDefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool^%Zz'xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/l!a}"!a"!a"!a"!a"!a"8Construct PeakDetectVsDepth.e 8Construct EdgeDetectVsDepth. >Construct PeakDetectHorizontal.  8Construct PeakDetectVsDepth. 0,ܷ5*Ay:N>ٱ:}>:$:>:H`z?i׿@5?P_?i?@ q?N??I:N>):];i:C^B9b@"IBDj6DjkY}Sj!c=2Q)>99GYA>Q 14٪?Q 54z 1B9!Y%ѿQ E%@yC):I:i)4Y)-A)I9 AɡAiAIAiI)I ˵8Construct PeakDetectVsDepth.QIaIqN=̕>Construct PeakDetectHorizontal. u8Construct PeakDetectVsDepth. ]8Construct PeakDetectVsDepth.=>Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth.] 8Construct PeakDetectVsDepth.٭ 8Construct EdgeDetectVsDepth.0,̘O*Ay6>ٱ6߽>6>6>6H?@<׿?.?O?@b??Z?I6>)6];i4NB9N9"IBDV 6DV2Y=z!EN=ELQ)E>A9I9MGYIMAM> ]8Construct PeakDetectVsDepth.QQ 14٪U?Q 54U{ Q9YrѿQ E@yUC)UR;IUU;8Construct PeakDetectVsDepth.8Construct EdgeDetectVsDepth.,Construct ValueDetect. $Construct Execute. $Construct Execute.  Construct Wait.% Construct.- dInitializing internal variables to default values.tu]  Construct. dInitializing internal variables to default values. ' a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } = bLoaded ./Missions/Engineering/OnDock.tl id=OnDockT0,pi*AnڃB9n,"Iir=Ir=Mb@Mb@Mb@ )IiL7A`堿/$+I|AiA^A A) ABD6DY%iH!%==%Q)%>)9)9-GY)-A5>QQ 1]4٪U?Q 5e4Uq{ U0B9e7 =Q AeZ/:0,*Ay:>ٱ:>:&:k=:H`?ֿA?xq? ?5ܽ)Ӥ? |??I:>):D];i:C~ۃB9~."IMb@Mb@Mb@ )IiX9v{Gzi9i9GYkA>Q 14٪?Q 54(} &B9=Q A A0,*Ay6|=>ٱ6t>6e-6=6H ?@9ֿQl??@:콿f???I6|=>)6@];i6CփB9%'"II-AA)-AABD56D5k2Ye!e\=mQ)m>i9i9uGYqu NAu>yQ 14٪} ?Q 54}n} }#B9YQ E@y}C)}%:I}:i}a4Y* AI ɡiIi)iIIN=)q q b@G0,ٱ6>6L36J=6H? Πֿd@t?@?@$O{?`=?7?I6>)6; ^;i6CBӃB9B$"IMb@Mb@Mb@ )IiˡE~jthMbp'DI|AiVA^AA)BD6DNY (!B=Q)>99GYޝ:A>!Q 1-4٪%?Q 5-4%} %"B9-.)=Q A5ٱ:>:!9:=:Hb?ֿ\m~?`5?1"?`L??I:}>):5^;i:CNփB9R'"IBDV6DVkYfT<!f_=fTcQ)j>h9h9jGYhn):A~>Q 1 4٪?Q 5 4} !B9 Y .Q E @yC):I :io4Y9=) A9II IɡIiQIQiQ)YUC9IiIyN=^ST0,$R*Ay6.>ٱ6<>6>6&=6H?@-ֿ`s@?? rW`[ڧ?@?*?I6.>)6Q^;i4rB9r5"IBDz6DzY R=! F= _Q) >99GYn;A>Q 14٪7?Q 54} B9Y-Q E@yC):I:i>w4YAI ɡiIi)W??v9IaIN=>=]Rgot command set OnDock.DockedTime 12 hourn]@=]got command run=uRunning qqԙ }Z0,k*Ay6>ٱ6>6WtD6s%=6HU? ֿx ڭ?`?[!?]λ?`?I6>)6E^;i6CR܃B9R/"IUMb@Mb@Mb@ Q)QIQiQQUMbMbpUUQIUAiUlAUAUbA)QU ABDm6Dm1Y} !}C=}TQ)>99GY h;A>Q 14٪4?Q 54~ B9=Q A99GY ;A >Q 14٪)?Q 54}