*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" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e 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J_~@\?ߌ?I6E?)61_;i6БCB>9B3DBDJ^I6DJ:Yr=!rJ=rQ)v>t)t9v.DYv@zMFAz>Q 1%<4٪r?Q 5%<4/^ Y?9!Y-ŀQ E-?y"@)q:I2:in<4Y5B5;B5PEjjI:jIBjI"jIjQzZZZZ<@ nGI ɡ%iI'=i)t:AyAI IN%,>vB5 >~B5 CB5 CB5 <B5 A =B1 B1 B5 y<B5 iESK,G/%*ArD=jD<D"D"D"D E": E"i:6E"56:E "E"t9^#DS㥫- H?)- H?95.DY5+6@5һ=A5>9Q 1E<4٪=Nr?Q 5E<4=\ =?9m>Q Am;Ym`?Q Eu?y=D&@)=1;I=;i=<4YyABjj:jBj"jjzZW<>ZW<>Z}>Z?Q QUxGIQ Yɡ]iYI]=i)ms:9-( >A} |AI I N >0yK,}X/%*Ay6Ւ?ٱ6Bˮ?6z6P=6H?vK]?`SR? ^?쎕?@7??I6Ւ?)6Q_;i6ΑCR=9R)DZ`SBD MO Status=0, MOMSN=973, MT Status=0, MTMSN=0Z.No messages in MT queueBDbz6Db) :Yj@ּ!ja=j_Q)j>n=?)~=?9~.DY~ Q 1<4٪ q?Q 5<4 [ [?9Y"?Q E?y )@) :I 6;i <4YAEEBAjjy:jyBjy"jyjyzZZZZ? i">GI ɡɸiI2|=i)(?#?r:D]DYD]DYE]: EY6E]36:EY!m@!m@!m@!m@9i>A'AIINI>IK,3/%*Ay6:?ٱ6۪?6Ӄ6|I?=6H? ? ~ ?? ɲw?Jڧ?@?I6:?)6!`;i6БCN>9RDBDZZ6DZ:Y]'<!mB=ѽQ)>:?):?9.DY@[@A>Q 1U<4٪q?Q 5U<4JZ ?>9YY]?Q E]?yo,@)I9~BBCB"=BBBDB <BEYqCBjj:jBj"jj zZ)Z)Z)Z-_?Y ](>]~GIa aɡexiaIeQV=ii)p:i R=I =DeDeDeDaEe2: Ee]t:6Ee156:Ea"Ee *A yAI I N >L, 0%*Aɰ;y:??ٱ:?:xc:̺=:H? 8??`x?`Fس`\k?H?^?I:??):50`;i8v1 >9vD~a=i~4=BD+6D) :YD<!O=ũ% H?)% H?9%/DY%Lp@-ޢA->1Q 1<4٪5kq?Q 5<45X 5>9Y?Q E?y5/@)5=I5=i5(<4Y?Bjj:jABjI"jIjIzZZZZ?i m2y!>uuGIq qɡuNiqI}+Z"=i)n:96>Du Du Du Dq Eu : Eu h:6Eu .6:Eq ! @! @! @! @A I I! N- > L,-,0%*Ay6x?ٱ6Nn?6k<6(">6H@1?@I` ?`d?`}?  f.??I6x?)6_;i4N >9RDBDZ6DZ:Y;!B=D>Q)>)9/DY݁@1A>Q 1<4٪p?Q 5%<4W =>9!Y%0?Q E%?y2@):Ij:i(<4Y1->B1jjA:jABjI"jIjzZZZZ?y  ?>顅tGI ɡ iI?)=i)im:vB>~BBHCB<B= =BBDB <BEQ iQ 9E >D} D} D} Dy E} [: E} 1]:6E} !6:Ey "E} |L,ܞG0%*AyJ?ٱJ`?Je4=J5D>JH`ƒ? #,??L?m,EZ?Ab?IJ?)J7`;iJёC5c>95D-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 750.34, 750.34, 697.03 !@!% !%@!% !%@!% !%@!% BDuГ6Du_:YI<!7=^=Q)>)9/DY]@<A>Q 1m<4٪Qp?Q 5m<4]V >Q =m+:9iQ Au;Yu;?Q Eu?y 6@)/;I]>i<4Yy}!>AнAIIN >^L,ea0%*Aiy6?ٱ6?6-軹6D>6HB?χ O??@?`}?s?h?I6?)6_;i6ϑC^1 >9^DId)f@ABDj6Dj:Yv!vj=vfQ)v?zWA?)zWA?9z/DYz@~=A=?AQ 1E=4٪Eo?Q 5M=4EFU Ep>Q =M :9IQ AMh;YM]uGIY aɡe$iaIe6=ii)iI DDDDE: EAr:6E%6:E!-@!-@!-@!-@)9IQeak:i}DؿyXA9M9>A|AIINa> L,A{0%*An >9nDBD~6D~9YM;!UD=Q)>=?)=?9/DY@A>Q 1=4٪n?Q 5=4AA<vB>~BCBCB"=B@ =BBDB <BxES >Q =99Q A<;YQ E?y;@)qtGI )ɡ-1i1I5==i1)9E.?E?Ei:BEmő16JEmŚ06REmM2D%D%D%D!E%[: E%T:6E%*16:E!"E%{A wAI I N >%L,30%*Ay6~?ٱ6뮦?6R6]=6H`?`_@?? H?j^? ??I6~?)6_;i6ΑCB=9B{DBDJ[6DJ:YRy!RV=R*;Q)V>VMR?)VMR?9V/DYVo@Z7AZ>\Q 1 =4٪^n?Q 5 =4^R ^>Q = 99 Q A ;Y ?Q E?y^>@)^6GI !ɡ%-=i!I%7C=i)))5h:i5=I5=9(8>A=AIAIYNeU>D5 D5 D5 D1 E5 : E5 ]t:6E5 66:E1 != @!= @!= @!= @2+L,#0%*Aɰ4<y6)?ٱ6?6JSC6G=6H 1?4`?>?@?e岿 h?v? ?I6)?)6_;i6БC^=9^)Ddifp=BDjO6Dj:Y]=!]?=eV=Q)e>eK?)mK?9m/DYmS@m?Am>qQ 1=4٪usn?Q 5=4u\Q uw>Q =99Q A:YE?Q E?yuTB@)uD;Iu_@iuR=4YCBjj:jBj"jjI \/>顕GI ɡJiII=i)0g:9q3>vB>~BCBCBJK=BD =BBBu <BHEBCBBǔCBBB|6bAhAZAhAA I I N >D= D= D= D9 E= : E= z:6E= *16:E9 "E= 9rخD!! !! !! !! Q?/$+η\>9Yvi~jt?:v?)9/DYW@=A>Q 1=4٪Rn?Q 5 =4P Ho>Q = T:9 X=Q A zZ|>Z?@Z甋@! %%<>%qGI! !ɡ-Qi)I-R=i))1yiy57e:)=jA =iA9 v/>A I I N>"9L,P0%*A)\ \yy?ٱn?/>H-u?? W\?>?>@?,? V?Iy?)_;i%>9-DD=D=D=D9E=: E=L_:6E=*6:E9!E@!E@!E@!E@BDU*6DU :Ye;!eg=ei)i9m/DYmW@=A>Q 1=4٪)n?Q 5=45P Gi>9Y?Q E?y&E@):I:i8=4Y:Bjj):j)Bji"jijizZZZZ@ pGI ɡiIHX=i!))d:95>A %AII)N=r>A1 A1 vB= >~B= CB= HDB= =B= @ =@L,L1%*Aiy6?ٱ6ڮ?6B6 >6H? ]?@+S?k?Ť'? P?`?I6?)6~_;i6ԑCN >9RԴDIT)VAABqBuDBu? <BuEBDZ6DZ :Y~ ;!Q=~SQ)>D?) D?9 /DY @ =BA >Q 1==4٪m?Q 5==4O fc>9AYEA?Q EE?ycF@);Iq;i3F=4YIM8BUFEjj:jBj"jjB*** querying acoustic contact ***zhhzZZZZ@ 額lGI ɡiIm^=i)b:2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DQDUDQDQEQ EUxv:6EQ:EQ"EUl%rA= ?jA=?A I I N > &DAT read: user:8>  BDAT read: Tx time:16:03:17.4015  $Ping request sent. 6H d? t@ym?*?E? @Ѩ?9?͢?I6p?)6p_;i6ϑCN>9RDBDZ^6DZ:Y='!}G=LJQ)>)90DYH@z:A>Q 1=4٪m?Q 5=4O e]>91Y=?Q E=?yG@)R5U=4YAEABAjjQ:jQBjY"jYjYzZZZZp@ M/>M~GII IɡIiIIM,f=iQ)Q]*?]>?%=a:)- -i-I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251081DeDeDaDaEe: Ee n:6Ea:Ea!m@!m@!m@!m@A wAI I N% >[LL,=31%*Ay6?ٱ6?66" >6H? )@7?p?]1?˞ |?@f?`Ŗ?I6?)6HX_;i6ґC~=9~4DBD 6D %:Y=!L=%yQ)%>%MR?)-MR?9-0DY-@-A->1Q 1}=4٪5m?Q 5}=45N 5X>9Y?Q E?y5 I@)5%5GI1 1ɡ9i9I=$k=i9)Am&`:vB>~BB/DBM=BBBB1 <BEA}"AIIN^>iq checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755040rDe =jDa Dm Dm Dm Di Em ,: Em i:6Em /6:Ei "Em &=9B_wD=i|?5?uV?=q>9=Y=rh>i99=ktlQ?= ==\=I=]Bi9=ZB=B)9=BQiUa=BDٰ6D :Y,!B=dQ)>N?)N?90DYz@<A>Q 1=4٪un?Q 5=4O b>9 =Q A Z *>Z 7@Z ۄ@ 顝GI ɡiIq=i)u^:Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007679ԡIIN l> dmYL,~g1%*Ay6?ٱ60 ?6A6[=6H@? aR?%?o?! 2?`??I6?)6t_;i6БC>ܤ=9BJDRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827BDF6DF:D%D%D%D!E%m: E%V:6E%26:E!!-@!-@!-@!-@Y5h:!5R=}*=Q)}>y)90DY@HA>Q 1=4٪o?Q 5=4P m>9Y Q E?yN@)$顭GI ɡiIyw=i)hAidA L]:IIN%M>)iU3?IUo?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511306I A <A <vB />~B CB aDB =B C =B B DB h <B GEAU`L,e1%*Ay:b?ٱ:W?:콼:L6=:Hj?@g??@?񔨿?!??I:b?):_;i:ӑC^>9^9DBDf6Df:Yv>!vO=v=Q)v>x)x9z0DYzAzy A~>9Q 1E=4٪=o?Q 5E=4=Q =ry>9IYMůQ EM?y=P@)=:I=:i==4YQU>Byjj:jBj"jjzZ Z Z Z ,@A AExGIA IɡMiIIM}=iI)IU+\:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763076D1D5D5D1E1 E5T:6E5&6:E1"E5QII)N5>ԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015027dfL,@1%*A@y>@{?ٱ>p?>L>b=>Ha??m3?@?@1!q?%??I>@{?)>_;i>ϑCb>9bDIh)jBABDrP6Dr&:Y5!5F=5y)y9}0DY}S A'=A>Q 1=4٪pp?Q 5=4R >9YDQ E?yS@)*iyCI ))I9imh忹imtAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267027Y\?&LADuDuDuDqEu: Eu[:6Eul6:Eq!@!@!@!@9q<>IqIN> lL,1%*Al~O >9~ۨDBD Ϊ6D n :Y;!D=Q)>)90DYAA>Q 1=4٪%q?Q 5=4S %>9YQ E?yU@))EvGIA AɡEͷiIIM=i)(?0?X:) iIvB>~BCBHDB=B< =BBDBq <BCE1IIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771023BE +6JE,6RE)X2DM DM DM DI EM : EM T:a 6EM +6:EI "EM Y ʸ?mc? .T? QȖ?@`?[?I62?)6 |_;i6БCNu>9RD9(\?ʡEl¿z>9YiʡE?+?&1?>>=IjBiBBB)pBBDC6D,9Y.!F=Q)>)950DY5A5=A=>9Q 1E=4٪=3n?Q 5M=4=P =>9MR>Q AM;YM?Q EM?y=^@)=:I=:i=|=4YBABOEjjA:jABjA"jAjAzZ7>Z7>Zp1?ZE8@ GI ɡAiIj=i)q W:MBDAT read: Rx Time:16:03:19.9141 UTRx dataTimestamp_ set to:1755878599.407229Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028852AUyAIYIqN{>ԑ yL,=1%*Aɰ;y6D?ٱ6?661=6H?eEq?`j?\8? }?س?o?I6D?)6Df_;i6ґCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278889^>9^ȡDdifp=BDj6Dj:Yv<!v\=vQ)v>z H?)z H?9z0DYzAz=A~>DDDDE: Ec:6E!6:E! @! @! @! @9Q 1E=4٪=^k?Q 5E=4=L =>9IYM0?Q EM?y=f@)=$:I=R:i=u=4YQԙU@BFEjj:jBj"jjzZZZZN=@ v5>|GI ɡ8KiITG=i) V:A}"AIINb>]DAT read: Range 11 to 50 : 81.3 m (Round-trip 108.4 ms) speed 0.0 m/s eX#Rx 1: Read range message, but no direction.9QUBQ Ay A} @AvB #>~B CB DB s=B D =B B DB  <B EBABECBE˓CBE@ =BABE86dL,O2%*Ay6J?ٱ6?66-=6HP?jTi?@Xn?~?`?{jԱ?϶?p?I6J?)6(_;i6ёC>=9BzDBDFK6DF:Yd!G=%QQ)%>%N?)%N?9-0DY-A-1Q 1}=4٪5Bh?Q 5}=45yI 5>9yY}?Q E?y53o@)5#@Q GI ɡU|iI<=i)DDDDE: E n:6E)6:E"E Qy `ІL,p2%*A5=95{DBDEw6DE:Y9:!?=Q)> H?) H?91DYH#AA>Q 15=4٪d?Q 55=4E >91Y1Q E=?yUx@)v#A I I N > L,^c62%*Aiy: ?ٱ:y?:=:D=:H?@?? ??rD?@?I: ?):_;i:ԑCn>9nmDIt)v@ABDvV\6Dvg:Y%=!%W=%>Q)%>)))9-1DY- (A-]JA5>1Q 1]=4٪5b?Q 5e=45xB 5W?9aYe?Q Ee?y5a@)5z;I5:i5=4YimBBqjj:jBj"jjzZZZZK0@ %Oi>%GI! !ɡ%vBM*>~BMCBIBIBMA =BIBMDBM <BMɴEA5AIAIQN]v> D- D- D- D) E- : E- g:6E- .6:E) "E- 9Erh>YEiAAE!rh?V- rh?El?EhEC>IEȊBiEBEZBE3B)AEBBD]w6D]:Ymi!mF=mQQ)m>uK?)uK?9u1DYuK-A=A>Q 1=4٪j?Q 5=4<  ?9[?Q A:Y?Q E?y@)s:I:i`=4YGBjj:jBj"jjzZe7?Ze7?Ze@Ze > qT>顕GI ɡɸiI.k=i)-??P:A95>i AE %AII IY Ne >L,j2%*A yF?ٱF#?F?YF:>FHQ?; ?\s? ?c?}0??IF?)FD?)D?91DY2A=A > Q 1>4٪ ~p?Q 5>4 7 ;?9Y0?Q E?y +@) +;I 7;i  >4Y%B-EB-GEjj9:jABjA"jAjAzZYZYZYZ]|>q uF>uGIq qɡ}!iyI}k=iy)@O:q9<>AIINI>ԙ vB% >~B% CB! B! B% ? =B! 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Վ??`l?I:褥?):^;i:CF A9FGBDNe6DN;8YV$?!Vi=V#X)X9Z>DYZQPB^)A^>`Q 1fC4٪bݰ?Q 5fC4bRb b@9dYf?Q Ef?yb]A)b:Ib:ibyC4YlnDBljjx:jxBjx"jxjxzZZZZs?! !%%I! )ɡ)i)I-A>i1)19i=jAyF8AaIqIN>ԡDETDEADE;DAEE9 EE 96EE4:EA"EE:!UEE:!U*EE:!UEE:!UIG)1IIiu qugA (KO,!s?%*Ay6u?ٱ62k?626ټ=6H t??؄?`@???Vu?I6u?)6^;i6Cb A9bGId)fBABDjd6Dj998Yr>!vG=vF;Q)z>|)|9~>DYQBcA >Q 1%C4٪:?Q 5-C4] @9)Y5?Q E5?yʿA)k;IRl;iC4YAEBAjji:jiBji"jijqzZZZZ}? 9%I ɡiI>i)i}C=I}4=8AeyAIiIyN;>1DU WDU CDU 8DQ EU : EU 096EU F4:EQ !] @!] @!] @!] @Y 3O,k?%*Ai@y6Q}?ٱ6r?6P16 =6Hsc?E??=?͇vz?2?`{?I6Q}?)6Bf^;i6CN A9RGBDZb6DZq58A`Ab<vBf:>~Bf{CBfGBfRABf" =BdBfںDBf>;BfՃEYn>!rK=rS;Q)r>v H?)v H?9v>DYvRBv>:Av>xQ 1~C4٪z?Q 5C4zY zJ@9Y?Q E?yz*A)z;Iz;izC4Y hB BEjj:jBj"jjzZZZZ)? $I ɡiI>i)1u8AaaIqINԉԹ \O,D?%*ABEa4JE4RE"0DUDAD=DE: E 96E|4:E"E:!E:!*E~:!E:!"yFǥ?ٱFZ?Fi1Fû=FH4?@&? |?"Y +x??W~?IFǥ?)F1t^;iFCRiA9RGBDZ_6DZ/8Yb>!bL=bn:Q)f>d)d9f>DYf#TBj;Aj>lQ 1vD4٪n?Q 5vD4nT n@9tYv?Q Ev?ynA)nG;InG;in D4Y|~[B|jj:jBj"jjzZ1Z1Z1Z5s?A AE#II IɡIiIIMj >iQ)Q]?]x>r8ԑII!N5 > !HO,.?%*AyF-F?ٱF;?F1F=FH ?8X?!?&jry?ý? q~?IF-F?)FG^;iFCNA9RG!%@!% !%@!% !%@!% !%@!- !-@!- %T㥛 ?Zd;?ףp= ?%!?9%y=Y%>i!!%Mb@Mb@Mb@%% %I%i!%%)%%9i=4=BDEB\6DE)8YU>!UA=UKQ)]>Y)Y9]>DY]vUBe<Ae>iQ 1mD4٪m6?Q 5uD4mO m@Q =u+:9qQ Au:Yu??Q E}?ymA)mz ;Im>imD4YeBBEjj:jBj"jj C#I ɡiI >iI)Q-58D]TD]DD];DYE]9 E]a996E]4:EY!}@!@!@!@I1IIN]3>vBA>~BxCBGB!AB@ =B6DBغDB;BEB}ƁCB}ƀCB}ƙCB} =B}# =B}7A $oO,?%*Aɰp;y:>?ٱ:?:1:紵=:H ?`@k??4@(|?@l?@'|?I:>?):G^;i:CBA9FGBDNIX6DNz"8Yn>!nR=r̺Q)r>p)t9v>DYvVBvT<Av>xQ 1~D4٪zw?Q 5~D4zjK z;@Q = :9Q A:Y?Q E?yzVA)zN;Iz`P?izD4Y  dBjj!:j!Bj)"j)j)Q QU"IQ QɡQiYI]k >iY)au8II N=IDEXDEFDE<DAEE~ : EE;J96EE 4:EA"EE':!MEE,:!U*EEEe:!UEEGe:!Uԁԩ ?7?(?@Ӂ?)?x?IVv?)V 3^;iVCf@A9j=GBDvT6Dv8YE5>!ED=MQ)M>I)I9M>DYUWBUs<AU>YQ 1eD4٪]?Q 5eD4]F ]@Q =e99aQ Aml:Ym?Q Em?y]A)]f:I]?i]'D4Yqu~Bqjj:jBj"jj 顽!I ɡiI >i)iԩ8IINb>DU VDU ?DU 2DQ EU =: EU ?96EU 4:EQ !] @!] @!] @!] @ P,@%*AvB6)>~B6tCB6GB6(AB6K =B67DB6ֺDB6`;B6EyFª?ٱF)?FoI2F=FHs8?``:??@<ה@` ?nϰ?Nu?IFª?)FTb^;iDNA9RGIT)V@ABDZQ6DZ8Yb>!bS=fw Q)f>d)d9f?DYf1YBj<Aj>llQ 1rD4٪n?Q 5vD4nUB n@Q =v99tQ Av?:Yv~?Q Ev?ynA)n}0;IniI)I )a am2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.8IaIqNZ>1a P,֋(@%*AbD?AZDDUD=D6DE: E86Ec4:E"E:!"E:!"*Es9!"Ex9!",i,yJ?ٱJ?JR2J=JHÛ?n@x?@w?ɨ@݅? iF?@v?IJ?)JUY^;iJCVeA9VGb&DAT read: user:9> fBDAT read: Tx time:16:04:17.6516 f$Ping request sent.f!vH=vhQ)v>x)x9z?DYzxZBzŨ<A~>Q 1D4٪?Q 5 D4= 5@Q = 99 Q A :Y y?Q E ?yA):I@i_2D4Yq}Bjj1:j1Bj1"j1j19a ae Ia aɡaiiImϳ >ii)qI!IQNe=iԑuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866 &P,/iB@%*Ay6?ٱ6?626~=6H0?4@u?@?9-|?`&?@|?I6?)6O^;i6CbA9bG!E!M !M!M !M!M !M!M !M!M MMbX?ˡE?y&1?Mj?9M=YM`e=iIIMgfffff?"~j?T㥛 ?M33?MSc>M=IM˛BiMBMCM[B)MM3BBDedN6DeD8Yu>!uB=ux;Q)}>y)y9}?DY}[B<A>Q 1D4٪-?Q 5D4K8 @Q =T:9ZD>Z`d$@Z @  I ɡiI2 >i)D5SD5?D59D1E59 E5?96E54:E1!E@!E@!E@!E@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503520AeAIqIN>vBe>~BeqCBeGBe.ABeO =BaBeԺDBe;BeۀE!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933LP,kD\@%*Ay6?ٱ6?616p=6HlRz?`?R?~j`t?_ɭ? }?I6?)6Hw^;i6CBM#A9BGDiFa=BDJM6DJ8YR?!RX=Vo;Q)V>VK?)VK?9Z?DYZ\BZ<AZ>\Q 1bD4٪^j?Q 5bD4^o3 ^=@9dYf?Q Ef?y^A)^;I^ ;i^MND4Yhj{Bhjjt:jtBjt"jxjxzZiZiZiZmP@ 顥,I ɡiI >i)AAIYIiNu>!DERDE>DE2DAEEs9 EE96EE4:EA"EE:!UEE:!U*EE9!UEE9!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875Qy P,p%v@%*Aɰ$&;yFT0?ٱF%?F0F43=FH@N?'?짿*U9c?;??IFT0?)F^;iDn%A9nGBDvM6Dv 8Y~>!~E=;Q)>)9?DYO^B <A >Q 1D4٪Д?Q 5D4. @9Y?Q E%?yA);I;i\D4Y-bB-[{B-EjjA:jABjA"jAjAzZaZaZaZe@q I ɡiI/ >i)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259659QAAIIIaNm>yԩDM QDM ADM 8DI EM 29 EM  96EM F4:EI !] @!] @!] @!] @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511569 #P,@%*AAA<vB>~BoCBoGB5ABP =BBҺDB;BEy^1?ٱ^'?^0^=^H&z`{???!V |>@P?`?ࡩ?I^1?)^,^;i^Cf(A9jGBDrL6Dr 8Yvx>!zK=z;Q)z>|)|9~?DY~_B<A>Q 1 D4٪Q?Q 5D4( z@9Yj?Q E?ylA):I|:ijD4Y%eB%zB%Ejj1:j1Bj9"j9j9zZQZQZQZUށ@i imIi iɡqiqIux>iq)yiԹMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762911IyIN~> 9 )P,ө@%*AD>iD*VD*CD*7D(IJGE*=: E*09)VlAI\ibM?Ib=fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019183i~Dп~lA~zA6E*Ժ4:E("E*:!%E*:!-*E*9:!-E*9:!-P?Ay?ٱ?j/ŋ=Hຈ@)??`9@)H@? F&?@ݶ?I?)[^;i=+A9=GIA)ABDMVL6DM| 8Y}f>!}4=ҹ;Q)>)9?DY aB<A>Q 1D4٪?Q 5D4# @9Y@Q E?yeA):I:izD4YyBjj:jBj"jjzZ!Z!Z!Z%l @9 9=I9 AɡAiAIE>iA)IIQIiN}7>9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266916q K0P,@%*Ai y:9¯?ٱ:?:.:*=:Hy_?`?<"}`3? y?`޿?I:9¯?):z^;i:CB.A9FG uV?~jtMbX r(?9 DY ʽi   V-?ʡE?Mb h1? > I ߖBi B 6C QB)  BBD%K6D%P 8Y5?!5b=5;Q)=>9)99=?DY=/bBE i<AE>IQ 1UD4٪MV?Q 5UD4ML M@9U8?Q AU:YU?Q E]?yM5A)M ;IM; ;iMjD4YaeyBajj:jBj"jjzZ5=0>Z5=0>Z5v?Z59<@A IMSII IɡIiIIM^>iQ)YrAm ?jAm?IIN=D=UD=DD9D9E=: E=a996E9:E9!M@!M@!M@!M@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519208vB%>~B%nCB%GB%!zO=zg;Q)z>|)|9~?DY~qcB;A> Q 1 D4٪ jy?Q 5D4  =@9Y~?Q E?y 5A) :I [:i =D4Y!%txB!jj1:j1Bj9"j9j9zZqZqZqZuy<@ 顅I ɡiI>i)IYIiN}=BEԺ4JEŊ4RE70DEVDE>DE4DAEE=: EE96EE4:EA"EE:!UEE:!U*EE9!UEE9!]BDAT read: Rx Time:16:04:20.1908 TRx dataTimestamp_ set to:1755878659.682773checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024014A 5=P,fh@%*Ay6G??ٱ64?6A.6K+=6H-q?c?؉{#?`O?`?I6G??)6[^;i6CBG4A9BGBDJQJ6DJ8Yf>!fM=fsC;Q)f>h)h9j?DYjdBnN:An>1Q 1=D4٪5Cs?Q 5=D45p 5cA9AYE?Q EE?y5HA)5D;I5;i5D4YIMwBIjja:jaBja"jijizZZZZ <@ 顝I ɡiIZ>i)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275116I)I9NE=IqDU DU =DU 6DQ EU C: EU 86EU c4:EQ !e @!e @!e @!e @% DAT read: 16:04:20.1908 LVL= 32752, 20945, 32754, 32755, AGC= 71, IDX= 195, 0.26,-2.497,-0.597,-1.720,-1.727, PHS=-0.667, 1.175,-0.037, RAW= 310.3, -5.9, CAL= 309.7, -9.4, ROT= 200.3, 9.4 - Ygot valid direction response: 16:04:20.1908 LVL= 32752, 20945, 32754, 32755, AGC= 71, IDX= 195, 0.26,-2.497,-0.597,-1.720,-1.727, PHS=-0.667, 1.175,-0.037, RAW= 310.3, -5.9, CAL= 309.7, -9.4, ROT= 200.3, 9.4 5 PDAT read: Bearing 82.8, -59.0 (Local) 5 ~Local bearing/azimuth received: Bearing 82.8, -59.0 (Local) E DAT read: Range 11 to 50 : 101.2 m (Round-trip 135.0 ms) speed -0.6 m/s M R#Rx 1: Read range and direction messages.U bdirection in FSK: [-0.925295,-0.342277,-0.163326]U Fpublishing direction and range info9 a ] Ph=տ$vzĿ fB i  Q   G *) ff?I Pi M@ Bҽ @ ' _@ '>i I η4P"ƿ /<-& = k= b2) '>i < $>Թ vB% >~B% lCB% nGB% CAB% G =B! 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S,O%*Aɰy:4j?ٱ:/@: :O =:Hnؿ?Js?߿@<ۿ +? =? ;?I:4j?):0^;i8FB9FץHBDN 6DN+6YV>!VN=ZC4;Q)Z>X)X9ZMDYZtB^<A^>`Q 1fL4٪bR?Q 5fL4bN bA9dYjy @Q Ej?ybkB)b:Ib:ibL4YlntBljjx:jxBjx"jxjx|zZZZZ/@) )-OI) 1ɡ1i1I5~=i9)9rAM?jAM?DfDTD+DEI@: E96E [4:E! @! @! @! @AIIN>)Qԁ IS,2O%*Ay6?ٱ6 f@6 60=6Hؿ`?@ym?[4߿wۿ`??@A?I6?)6f^;i6CBcB9BHF~BVCBV=HBV BBV =BTBV~DBV;BV{GEY>!D=<;Q)>)!9%NDY%B%<A%>)Q 15L4٪-E?Q 55L4- -A91Y= @Q E=?y-lB)-;I-a;i-L4YE(BEBAYjja:jaBja"jajamB*** querying acoustic contact ***zhihizZZZZ/@ 顝8I ɡiI"X=i)A yAII!N5 >ԉD nD ^D -D E O]: E ;96E t4:E "E 8;!E 9;!*E ;!E ;!iߥ=Iߥ<2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Ա tS,@m8O%*Ay6:?ٱ6+@6TU 6X=6Hؿ`?2i?V߿ nۿő?QM?G?I6:?)6mu^;i4RB9R!HIT)V@ABDZ 6DZ 6Yb>!bP=f m;Q)f>f H?)f H?9fNDYfBj;Aj>lQ 1rL4٪n9?Q 5rL4n  nxA9pYv @Q Ev?ynmB)n3;In:in,L4Yz0Bz}BzE(DAT read: user:10>  BDAT read: Tx time:16:05:17.9017  $Ping request sent. bDZD@ADDUD.DE EP96Eـ4:E!-@!-@!-@!-@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2516089 [S,8HRO%*Aiy6?ٱ6@6^ 6=6Hؿs?c?@{߿6ڿ@? ? .M?I6?)6:]^;i6CN`B9RHUPn?Zd;~jtUD?9UYUiQQUx&1? ףp= ?Zd;O?UA@?UQ=Uj<=IUY*BiU8BQUB)QU\"BBDm 6DmS6Y}h>!}?=}1;Q)>)9NDYfBg;A>Q 1L4٪ -?Q 5L4 A9A?Q A:Y @Q E?y nB)* ;I;i;L4Y3BBEjj:jBj"jjzZc>Zc>Z|?Z#x@ ~I ɡiI=i) IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923N= >AvB$>~BBHB BBBBB;BGEqD% qD% ZD% -D! E% 2h: E% a96E% t4:E! "E% ;!5 E% ;!5 *E% ;!5 E% ;!= ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755231OS,(lO%*Ay6?ٱ6p@6 6=6H$ٿʼ?@`\?4߿@ڿ@?`?`]R?I6?)6r^;i6CB B9BH@i@iF=IF=BDJ 6DJ<6Yb6>!bW=f<;Q)f>d)d9jNDYjBj <Aj>|Q 1L4٪~e!?Q 5L4~ ~IA9Y @Q E?y~oB)~3;I~;i~BIL4Y!%XB!jj9:j9Bj9"jAjAzZyZyZyZ}Ox@ 顕{I ɡiI=i)IYIiqN}=ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761 mS,O%*Ay:?ٱ:.=@:n :H=:HSٿbP?#V?@߿඿ڿy?x? TX?I:?):vT^;i:CF B9FHLiLBDRO 6DR6YV֍>!ZL=ZIO;Q)Z>\)\9^NDY^B^ <Ab>`Q 1fL4٪bT?Q 5fL4b bA9hYj @Q Ej?ybpB)b6:Ibp:ibWL4YlrBpjjx:jxBjx"j|j|zZZZZwx@) )-zI) 1ɡ1i1I5ش=i1)9IIrD=jDDD_D,DE Er96Eg4:E!@!@!@!@NE=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259665) - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912S,ܟO%*Aɰp;A"<A"<vB&>~B&CB&HB&X BB& =B$B$B&;B&FE,yF?ٱFv@Fz+ FO=FHٿ?|N? ߿ಳڿ@q?.5?]?IF?)Fq^;iFC- B9-ߩHBD=? 6D=6YM>!MA=Md;Q)M>Q)Q9UNDYUIB]`<A]>aQ 1eL4٪e\?Q 5mL4e eB9iYmV @Q Em?ye!qB)el:Ie:ieeL4Y}5B}KByjj:jBj"jjzZZZZx@ wI ɡiI=i)IYIiN=)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763176DrD`D.DEk: E96Eـ4:E"E;!%EÎ;!-*E;!-E;!-Ym=imCIĉG);mAIi%-%;mA%xAq?_Aԁ jS,O%*Ay69l?ٱ6˰@6, 6ў=6Hٿ@-?F? ڿUj? #?b?I69l?)6,[^;i6C@B B9BHF4>F>BDJ& 6DJ#6Yf>!fS=fj5;Q)f>h)h9jNDYjBjA<An>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952tQ 1zL4٪ve?Q 5zL4v v;B9xY~ @Q E~?yvrB)v ;Iv7;ivsL4YBjj:jBj"j!j!zZZZZx@Ա  )uI  ɡ i I ؟=i)IAIQNeU>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267509D oD bD ,D E `: E 96E g4:E ! @! @! @! @ S,͏O%*Ay:?ٱ:@: :[ٝ=:HOٿk?`M@?"ڿa??ch?I:?):U^;i:CF. B9F-Hlp= ף? rh?"=#=I&Bi[3BB)BI-@A)-AABD- 6D-~6Y=>!EC=E6D;Q)E>A)I9MNDYMBMR<AM>QQ 1]L4٪U?Q 5eL4UU UB9e@?Q Ae:Ye@Q Ee?yU$sB)U;IU;iUL4Ym@BuQBuEjj:jBj"jjzZ1>Z1>Zg3t?ZG@ 顽DsI ɡiIꊴ=i)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519296 IQIaN>vBE>~BECBEDHBE BBE =BABE}DBET;BEEE1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896D sD YD -D E so: E *96E t4:E "E ;! E ;! *E :! E :! S,nO%*Aiy6Y\?ٱ6(@6N 6y=6H ڿ |@?@7??[ڿ,Z?S?l?I6Y\?)6Y^;i6CB B9BHBDJ 6DJğ6AYMb>!UI=m&;Q)m>q)q9uNDYu0B}<A}>Q 1L4٪Ꮚ?Q 5L4 B9Y@Q E?y*tB):IB:iqL4YBjj:jBj"jjzZZZZH@ pI ɡiIt=i)IyIN=iBDAT read: Rx Time:16:05:20.4432 TRx dataTimestamp_ set to:1755878719.939111 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024299ԑ T,FP%*Ay6?ٱ6 g@6r 6Hŝ=6HKڿn? .?W=ڿMR?@K? lq?I6?)6_F^;i6CN5 B9RpHPiPiV=IV=BDZ 6DZޝ6Yb>!bT=fc?;Q)f>d)d9fNDYfBj"<Aj>lQ 1rL4٪nVՏ?Q 5rL4n nFB9pYr@Q Ev?ynuB)n;In_:in͝L4YxzKBxjj:jBj"jԙjzZ1Z1Z1Z5LH@I Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275435DuqDuaDu+DqEu2h: Eu96Eu [4:Eq!@!@!@!@U+oI ɡiI`=i)I9IINU=5 DAT read: 16:05:20.4432 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 443, 0.44,-0.428, 0.250,-1.281, 0.209, PHS=-0.534, 0.086,-1.534, RAW= 7.7, 26.3, CAL= 6.7, 31.4, ROT= 143.3, -31.4 = Ygot valid direction response: 16:05:20.4432 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 443, 0.44,-0.428, 0.250,-1.281, 0.209, PHS=-0.534, 0.086,-1.534, RAW= 7.7, 26.3, CAL= 6.7, 31.4, ROT= 143.3, -31.4 E PDAT read: Bearing 56.0, 7.0 (Local) E ~Local bearing/azimuth received: Bearing 56.0, 7.0 (Local) U DAT read: Range 11 to 50 : 103.0 m (Round-trip 137.4 ms) speed -0.5 m/s U R#Rx 1: Read range and direction messages.] ^direction in FSK: [-0.684356,0.510103,0.521010]e Fpublishing direction and range info9 rU.?忦KR?]*W? 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[?I6@)6&^;i6 CNHB9R4HBDZ6DZ5Yb>!bS=bf9f9f[DYdf9<Aj>hQ 1nS4٪j2?Q 5rS4jUǿ jVB9pYr9-@Q Er?yj:B)jU;Ij@;ij/S4Yv7BvAzE4  i fAggregate::initialize lineCaptureHoming:LineCaptureq5 j Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes5  k JInitialize AltitudeEnvelopeComponent.5 k DInitialize DepthEnvelopeComponent.16 lJInitialize OffshoreEnvelopeComponent.17q77 oxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass718 pInitialize.q8pAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy8 qI D {D gD *D E =: E &96E (N4:E ! @! @! @! @? W,S)\%*Ay:{@ٱ:~v&@:Ծ0:G9=:H i`D߿ ?q9?@ϔz%z?? a?I:{@):\];i: CB]IB9BHDiD Mb@Mb@Mb@ ) I i   %C??!5C=5C9999=[DY9Eq<AE>IQ 1US4٪M?Q 5US4MMÿ MoVB9Ue?Q AUl:YU-@Q EU?AAvB>~B֍CBHBIBB =BBBm;B+EyMB)MS4Y=:B=-AAqKU]Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalK]eEntering Terminal tracking update period 2.000000 s sec at 103.000000 m (mode 0.000000 count ).KeKeBdididicqc@$H@b Q@15q6zZe?Ze?ZT=Z\-@I ɡiIi)iQe'=iaIG);mAIi-Ƞ-;mA-Ay) U9IiIyN|>ԩ W,-C\%*ADyJ@ٱJ&@J*J=JH@]%ׅ߿.?? u?*?p+?c?IJ@)J];iJ CZIB9ZHdifp=BDn6Dn5Yz>!~N=~99 [DY  ]<A>Q 1-S4٪H憊?Q 5-S4 VB91Y5-@Q E5?yB),7;I88;iLLS4YE=BMAMEim@Km1LuuB*** querying acoustic contact ***zhqhqBdydydcc TH@c@q66DxDrD)DEˀ: E?:6EFA4:E=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode."E;!ME;!M*EsY;!UEtY;!UzZZZZ -@I ɡiIi)ԱIIN> (DAT read: user:11>  BDAT read: Tx time:16:06:10.4017  $Ping request sent. !-=  9 9 [DY  <A>Q 1S4٪ dž?Q 5%S4 WB9%a?Q A%p:Y%-@Q E%?yyB) ;I ;i\S4Y5?B5RA5EiU@1LUqLUBdYdadqcqcuH@c}Q@6}6}bDZDzZa?Za?Z=Zh-@I ɡiIi) DE|DEpDE+DAEE : EE :6EE [4:EA!U@!U@!U@!U@9II!N5.>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251144)vB>~BBHBJBB =BBBm;B\+EY =W,v\%*ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096~IB9~KH==BD6D5Y%<!%o=%Q)%?)9)9-[DY)-A5?19Q 1ES4٪5T?Q 5ES45跿 5JWB9IYIQ EM?y5B)5-;I5.;i5hS4YQU>AQiaqLeerCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqKmmAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalBdiddccH@c68qAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence19 rAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockq9rAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide9 sInitialize. sdInitializing internal variables to default values.:uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1; vAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq<xInitialize.< yInitialize.q;?Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@ Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlAInitialize.AAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1B Initialize.qBBq@zZZZZI ɡiIi) ?>iF 9IIN&>DU{DUgDU,DQEU=: EU&96EUg4:EQ"EU;!eEU;!e*EUi1;!eEUj1;!eԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755022 s#W,v\%*Ay6@ٱ6N'@66yE=6Hu@9޿2?؋?@T?`i?@v)?t?I6@)6G>^;i6 CR6JB9RHIT)VBABDZ6DZ5YvCX>!vN=vix9x9z[DYxz=<A~>Q 1S4٪ӕ?Q 5 S48 WB9 Y 8.@Q E ?yB) :I:ivS4YBBA?5=Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@= =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideq@=qA==Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA= =Uninitialize.A=EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1BEqBEBE:EuEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;E vEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq;Eq~B׍CB+HBJBB =BBBEm;B.+EBQBQBQBU =BU =BUG5uMb@Mb@Mb@ q)qIqiqqu +?S㥻?Zd;O?uV?u/=uj19195[DY1=*<A=>9Q 1ES4٪=x?Q 5MS4= =WB9MX?Q AMz:YM 0@Q EM?y=B)=:I=j:i=S4Y]ZB]A]EdddddBdddcc`;)I@zZEX?ZEX?ZE>ZE 0@Iq y yɡyiyIyi)ec 9IIN%>!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511026Qy 1W,x}\%*AyZR@ٱZM(@ZZ9B=BEG4JEKJ4RE5/D^D^eD^)D\E^: E^96E^FA4:E\"E^;!fE^;!f*E^"*;!fE^#*;!jZH . J޿??`@Iף??ϖ?`?IZR@)Z*^;iZ CrJB9r&HtitBDz6Dz5Y>!_=. 9 9 [DY %Z<A%>5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7665059Q 1ES4٪=^?Q 5ES4=+ = XB9IYMY0@Q EM?y=+B)=t:I=:Qi=2S4YuiBu~A}EB*** querying acoustic contact ***zhhdddddBdddcc\I@zZ1Z1Z1Z5Y0@Iq q yɡyiyIyi)ihA 9 4Initializing EZServoServo.y U8Initializing DockingStepper.IaIqN}>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019226 'I7W,\%*Aԙy:@ٱ(@+꽹=Hvݿ@?X?@h+? 2?p?\?I:@).];i CJB9aHbDQZDU@ADzDD(DEl: Ea9:6Ec44:E!@!@!@!@MMb@Mb@Mb@ I)IIIiIIMDl?MbX?~jt?MOM?M=My9y9}[DYyܓ<A>Q 1S4٪@?Q 5S4b KXB9N?Q A:Y0@Q E?yB):I:iS4YkB)A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2709165EdqdqdqdqdqBdqdqdycyc}}I@zZN?ZN?Z=Z0@I  ɡiIi) 9IIN l>vBY~BYB]HB]JBB] =BYB]fDB]m;B]+E ~d=W,#,\%*AɰRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523051JB9HBD-6D-Ȧ5Y= 7>!==EQ)E?A9A9M[DYIMAM?QQ 1]S4٪U.?Q 5]S4U UqXB9aYaQ Ee?yUiB)UU;IU;iU_S4YmnBmȿAmEdYdYdYdYdYBdddccI@zZZZZI 1 1ɡ1i1I1i9)9  9II1N= >9D|DdD*DE : E96E(N4:E"E;!E;!*E~&;!E&;!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775102i 6LDW,]%*A y:>@ٱ:8)@:#ٽ:=:HVNݿ?^? :@?L&?@;?%?I:>@):];i: CBKB9BHBDJ6DJݥ5YR$=!RT=ZF`9d9j\DYh5+L<A5>9Q 1ES4٪=?Q 5ES4= =XB9IYM0@Q EM?y= B)=:I=:i=eS4YQUAQdqdydydydyBdydydcc@I@zZZZZ0@I  ɡiIi)%%?%R?9qBDAT read: Rx Time:16:06:12.9874 TRx dataTimestamp_ set to:1755878772.403291checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028964IINB>ԙD zD kD )D E l: E :6E FA4:E ! @! @! @! @ ia Ie =e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279323vJW,v+]%*AL~~B!B%HB%XKBB!B!B!B%l;B%*E%Mb@Mb@Mb@ !)!I!i!!%Fx?zG?{Gz?%K?% =%ףY9Y9]\DYY]Ae>aQ 1mS4٪ea?Q 5mS4e eXB9uM?Q Au:Yus1@Q Eu?yeB)eP ;Ie ;ieS4Y}sBTAEdddddBdddcc@^*J@zZM?ZM?ZL>Z's1@IY a aɡaiaIaii)m%9IIN>DAT read: 16:06:12.9874 LVL= 32752, 31473, 32754, 32755, AGC= 68, IDX= 367,-0.12, 1.510, 3.106, 0.950, 2.180, PHS=-0.568, 0.971,-1.274, RAW= 347.9, 8.8, CAL= 347.9, 9.2, ROT= 162.1, -9.2 Ygot valid direction response: 16:06:12.9874 LVL= 32752, 31473, 32754, 32755, AGC= 68, IDX= 367,-0.12, 1.510, 3.106, 0.950, 2.180, PHS=-0.568, 0.971,-1.274, RAW= 347.9, 8.8, CAL= 347.9, 9.2, ROT= 162.1, -9.2 PDAT read: Bearing 110.2, 12.4 (Local) ~Local bearing/azimuth received: Bearing 110.2, 12.4 (Local)  DAT read: Range 11 to 50 : 136.1 m (Round-trip 181.5 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [-0.939353,0.303403,0.159881]Fpublishing direction and range info9I.zj?Čsv?CizD sh)ux?IoiM@nF>M@l$>D5@ l$iIgh2ҐxwKf+?(W D5@)l$i5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.! h`QW,E]%*AiD"}D"gD"'D E"݉: E"&96E"'4:E "E"8;!*E"9;!**E"j1;!*E"j1;!*y^@ٱ^N*@^^=^H@;@ܿNb?`?D?` ?վ?Ũ?I^@)^];i^ C|~mKB9~3HBD 6D 5YY>!`=%$=Q)%>!9)9-\DY)-`=A->1Q 1=S4٪5a⅊?Q 5=S45 5XB9AYEL2@Q EE?y5VB)5:I5t:i5S4YMvBMAIhh9]%*AhLChLChu_@h)&3_TzD@f͡5@hI.zj?Čsv?hD5@hl$itX@r*\kWD"N/@h{\?ށ'kό 4?hZhBhc?hJ=hBdddddBdddc@3a@cC?(DAT read: user:12> BDAT read: Tx time:16:06:14.2017 %$Ping request sent.%!Q checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935y sWW,_]%*Ayzt@ٱzfo*@zNҖz=zHTܿ@븾?@*d?T?@ղ?(?@?Izt@)zW^;iz C5KB9=dHaBD6D5Y=!5A=EQ9Y9]\DYYe@<Ae>iQ 1S4٪m^ƅ?Q 5S4mÚ m%YB9Y2@Q E?ym B)m;Im;imS4YxBAEB*** querying acoustic contact ***zhhdddd!d!Bd!d!d!c)c-?DU{DUfDU+DQEU=: EU96EU [4:EQ!]@!]@!]@!]@zZZZZ<2@I  ɡiIi) i jAԉIIN&>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503060vB>~B֍CB}HBKBBBBeDBl;B*EԱI݈G)jAIZAidjAA x]W,2sy]%*AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755083yN@ٱNi*@NN#==NH`iݎܿd?&%?@jb??d??IN@)N];iN CKB9TH--only read 0 of 1 data item for BIT error. Device response is::TS,00022719533341,35.0, +12.5, 07, 0 !-@!- !-@!- !-@!- !-@!5 1i5a=BD=6D=5YM!MQ=MQ9Q9U\DYQ]M<A]>aQ 1mS4٪e?Q 5mS4e! eEYBQ =m+:9iQ AmV:Ym2@Q Eu?yeB)eU;Ie*>ieS4Y}{B}޾A}EdddddBdddcc׺?I  ɡiIi)9IIN=DeDerDe(DaEe: Ee?:6Eec44:Ea"Ee½;!mEeý;!u*EetY;!uEetY;!u=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0075109 dW,O]%*AɰyJ@ٱJ; +@JhJT=JH@/Yܿj?@?rf(??z߽?`?IJ@)J{];iJ C^KB9bHBDj6Dj5Ya7>! O= $99\DY>L<A>iQ 1uS4٪m1?Q 5}S4mF meYBQ =} :9yQ A}-:Y};3@Q E}?ymIB)m ;ImG?imS4YLAdddddBdddccH?I  ɡiIi ) )IAIQN]=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258964AqDm vDm [Dm *Di Em Vz: Em 96Em (N4:Ei !} @!} @!} @!} @E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882ԙ &jW,0]%*AyROj@ٱRd+@R;GR-M=RHіܿf? !?H*??2Ͻ??IROj@)R+];iR CZKB9ZHA\A^<vB`~B`BbHBbKBBb =B`B`Bb>l;Bb*Er>r>!]!e !e!e !e!e !e!e eMb@Mb@Mb@ a)aIaiaaex&1?S㥻?~jt?eA?e/=e 9195\DY15I<A=>9Q 1ET4٪={?Q 5MT4= =YBQ =MT:9MC?Q AM:YMB4@Q EM?qy=B)=;I=&;i= T4Y}~B}AydddddBdddcc A?zZ-C?Z-C?Z-zM>Z-EB4@I9 9 9ɡ9iAIAiA)Iu,?qE9 U&Changing to mode: 3)Uԡ)ߙ ߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763347i#9O5I IN%o> ʰqW,@]%*ADyDhD,DE: E]96Eg4:E"E;!E;!*E 5;!E5;!yV@ٱV+@V#Vz=VHƧ,ۿ@?_?`? f?|?G??IV@)V&_;iVC~LB9~HIAA)BD 6D 5YP=!Z=%A!9!9-\DY)-+<A->1Q 1=T4٪5qd?Q 5=T45- 5YB9AYE4@Q EE?y5B)5d:I5:i5T4YMBMAMEdidqdqdqdqBdqdqdycyc}@zZZZZ4@I  ɡiIi)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015821(9i]7aae 5aIqIN>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266882wW,$]%*A,i,yJ@ٱJ+@JA<J͈=JH@۵mۿ@ڴ?@0?Ñ%?`F?پ? ?IJ@)J`;iJ CRLB9MHBDE6DEi5Y>!5=99\DY;A>Q 1T4٪H?Q 5T4U YB9Y4@Q E?y2B)N:I<;i(T4YBAEB*** querying acoustic contact ***zhhdddddBdddcca@zZ!Z!Z!D5D5jD5(D1E5: E596E5c44:E1!=@!=@!=@!=@Z% 4@IIQ Q QɡQiQIYiY)YeL9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519484i50I IN-N>qvB~BBHBLBB =BBBk;B*EB}֍CByByB}Ʋ =B}Ʋ =B}o4ԡ ~W,]%*A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865y:!@ٱ:,@:%¼@:z=:HYۿ ?` ?`?B?`N^??I:!@):m`;i: CJLB9JHHiHMb@Mb@Mb@ )Ii\(\?v/?!\=e99\DY2<A>Q 1T4٪2?Q 5T46 YB9(=?Q A:Y5@Q E?yB)G;I:i5T4Y7Ad)d)d)d1d1BdQdQdYcYc]@zZ(=?Z(=?Z>Z#5@I  ɡiIi)ii9ԱiAhAiE2AAEm0AIQIiN8>BEJE#E4REd/DEzDEeDE*DAEEl: EE96EE(N4:EA"EEѧ;!UEEҧ;!U*EE"*;!UEE#*;!]BDAT read: Rx Time:16:06:16.7904 %TRx dataTimestamp_ set to:1755878776.183141%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024583 W,^%*Ay6jd@ٱ6_,@6Tn6=6H`iۿ}V?Z?@Ѥʺ?`-?)??I6jd@)6_;i6 CNLB9NHTiTBDZ6DZ5Yb<!bY=bd9d9f]DYdf0<Aj>lhQ 1rT4٪jw?Q 5rT4j jYB9tYv6@Q Ev?yjLB)jl,;IjF-;ijBT4YzBz0AzEdddddBddd!c!c%d @zZAZAZAZE6@IQ Q QɡYiYIYiY)a9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275381ip0o0IIN>1rDI jDI De xDe cDe +Da Ee ˀ: Ee L96Ee [4:Ea !u @!u @!u @!u @a  DAT read: 16:06:16.7904 LVL= 28512, 32753, 32754, 32755, AGC= 64, IDX= 462, 0.19, 2.604,-2.298, 1.909, 3.078, PHS=-0.372, 0.952,-1.213, RAW= 352.6, 6.7, CAL= 352.5, 5.9, ROT= 157.5, -5.9  Ygot valid direction response: 16:06:16.7904 LVL= 28512, 32753, 32754, 32755, AGC= 64, IDX= 462, 0.19, 2.604,-2.298, 1.909, 3.078, PHS=-0.372, 0.952,-1.213, RAW= 352.6, 6.7, CAL= 352.5, 5.9, ROT= 157.5, -5.9  PDAT read: Bearing 116.9, 21.2 (Local)  ~Local bearing/azimuth received: Bearing 116.9, 21.2 (Local)  DAT read: Range 11 to 50 : 138.3 m (Round-trip 184.5 ms) speed -0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.918986,0.380656,0.102793] Fpublishing direction and range info9) - G`Thux\?zBP?- L C) i- `o- ) ) - @ - v)- Fs?I- Ci- @- |=- @- B=- /@ - Bҽi) ) I- ƛQJF㿶-ݜC鿀w?- V=- \T - /@)- Bҽi) ) % T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.W,u.^%*Aɰ4<vB4~B4B6HB6-LBB4B4B4B6k;B6k*EyJϢ@ٱJv,@J0J=JH?ۿ`??@@?€?`?@?IJϢ@)J/_;iJ CVLB9VH9}Mb@Mb@Mb@ y)yIyiyy}zG?Cl?~jth?} 7?};=}D;I}ʝAi}A}=A}A)y}ABD6D5Y<!/=99]DY<A>Q 1T4٪ ?Q 5T4| YB9(9?Q A:Y16@Q E?yB) ;I ;i>ST4YB)AEhYh]]+^%*Ah]| Ch]| Ch] @h]OyM_V*J@!'C,@h]G`Thux\?zBP?h]/@h]Bҽi]uu(W@ی?XWνw3@h]3)L?gB|4翠t@?h]ih]GBh]?h]Nh]8BdydydydydyBdydydcIa@c0?zZ(9?Z(9?Z>Z16@I  ɡiIi)i9i=_-99E4AIQIaNmV>(DAT read: user:13> BDAT read: Tx time:16:06:18.0017 $Ping request sent.E:9;!B*E:N;!BE:N;!ByJ@ٱJ,@JJg=JH`ۿ ?N?ླྀ zs?X]@?`??IJ@)J^;iJ CnLB9nHBDv6Dv)5Yw=!j= ij 99]DY-<A?!Q 1-T4٪%섊?Q 55T4% %YB91Y5m6@Q E5?y%zB)%-/;I%+;i%]_T4YEBMۼAMEdydydyddBdddcc`Ӄ?ԙzZZchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251584ZZgm6@Iq y yɡyiyIyi)1? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502945 $W,'b^%*Ay6_@ٱ6 -@6;6=6H@pڿ? ?*FM? :|6?l?I6_@)6Ə^;i6CVLB9ZHI)AABDI6DIY!<= 9!9%]DY)U!;A]>Q 1T4٪҄?Q 5T4- YB9Y6@Q E?y B)5Qy NW,|^%*Ai6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010892y>M@ٱ>tH-@>e<>]=>H `uڿ B ???u??I>M@)>R^;i<FLB9FHMb@Mb@Mb@ )Ii&1?S㥻?~jth?0?/=IAi$AA&A)ABD-6D-ݥ5Y=H>!V=~99]DY&<A>Q 1T4٪ռ?Q 5T45 YB9% 3?Q A%:Y%7@Q E%?yB) Z7@I   ɡiIi)P$9ԁi&5IINB>DDjD+DEO: E96E [4:E"E;!E;!*EU<;!EV<;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263011ԩ 9W,^%*Ay6Q~@ٱ6x-@6<6n=6H  ڿ͠? ?w`?s`?A?I6Q~@)6wa^;i6 C>LB9BHBDF6DFˣ5YRv\=!RT=RT9T9V]DYTV <AZ>XQ 1^T4٪Z?Q 5bT4Z\~ X9`YbH7@Q Eb?yZ-B)Z:IZ:iZFT4YfBfAjEdxdxdxdxdxBd|d|d|c|c~?zZ!Z!Z!Z%H7@I1 1 1ɡ9i9I9i9)AMhAiMhAM$9ԩuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515836i#5IIN> D yD cD )D E : E L96E FA4:E ! @! @! @! @i= Y?I= [?E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7713151 `W,c^%*AvB$~B$B&EHB&LLBB$B$B$B&k;B&d*EDiJCIvG)SkAIAiMMSkAMJA?Ay@ٱV-@<p=HX@ڿ@ ??`@6? "숿? ~?I@)^;i CLB9!HMb@Mb@Mb@ )Ii rh?&1?,?=I&Ai&A)Ai%=BD6D5Y-o=!,=a99]DY;A>Q 1T4٪鍄?Q 5T4| YB9.?Q A:Y,7@Q E?yB)]:I ;iԙT4YBAEdd!d!d!d!Bd!d!d)c)c- K@zZM.?ZM.?ZM>ZMW,7@IY Y YɡaiaIaia)iMl&9i k0IING>9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018952i HW,^%*Aɰ;D&xD&eD&-D$E&ˀ: E&96E&t4:E$"E&;!*E&;!**E&"*;!.E&#*;!.0yRv@ٱR-@R =R=RH X @yڿ@? j?@"?5``O??IRv@)RU^;iR CMB9"HBDU6DUƩ5Y;!b=&99]DY;A>Q 1T4٪y?Q 5T4>z YB9YZ7@Q E?yQB)g:I:i|T4YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271000dddddBdddcc7@zZZZZUZ7@I) ) 1ɡ1i1I1i9)95(9iiO`0IIN">ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522893 rW,p^%*APyV@ٱVd-@VO#=VR=VH%eڿRe?CJ?B?Cz?`+?IV@)V<]^;iVCjMB9nHHBDz6Dz5Y l=! R= 99]DYm;A>Q 1T4٪oc?Q 5T4Ex YB9Y |7@Q E ?yB)N! MW,YP^%*A"BDAT read: Rx Time:16:06:20.5932 &TRx dataTimestamp_ set to:1755878779.966789&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028037yB! @ٱB.@B ;=BM=BH,Jڿ?("?`]?`[_?R?IB! @)BE^;iB CJ4MB9JbH|%Mb@Mb@Mb@ !)!I!i!!%uV?|?5^?{Gzt%r(?%=%ףI%Ai%SA%A%ȦA)!!I5@A)5@ABD=6D=5YMM=!MF=U{`Q9Y9]]DYY]W;A]>aQ 1mT4٪e N?Q 5mT4esv eYB9u*?Q Au:Yu 8@Q Eu?yeeB)e:Ie;ieT4Y}B}-AEdddddBdddcc`E @zZM*?ZM*?ZMZ>ZM 8@Ia i ɡiIi))e+9i4I I!N-N>D{DoDDE=: E:6E:E"E;!E;!*EN;!EN;!Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278865ԁ W,&_%*Aiy6M @ٱ6kH.@6DQ=6=6Hw3,ڿ#p? i?`(++? y6@#?@?I6M @)6_;i6CV5MB9VdHBD^6D^Ȧ5YW;! O= lf99^DY;A>Q 1%T4٪8?Q 5-T4t YB9)Y-58@Q E-?yB):Ik:iNT4Y15*A9YdYdadadadaBdadadacicm3 @zZZZZ58@I  ɡiIi)Z+9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533258im7iim 5mIyԉIN>ԱD vD dD +D E Vz: E 96E [4:E ! @! @! @! @ - DAT read: 16:06:20.5932 LVL= 30960, 26673, 32754, 32755, AGC= 62, IDX= 459,-0.09,-0.834, 0.681,-1.445,-0.348, PHS=-0.385, 1.073,-1.141, RAW= 349.6, 4.7, CAL= 349.3, 2.6, ROT= 160.7, -2.6 5 Ygot valid direction response: 16:06:20.5932 LVL= 30960, 26673, 32754, 32755, AGC= 62, IDX= 459,-0.09,-0.834, 0.681,-1.445,-0.348, PHS=-0.385, 1.073,-1.141, RAW= 349.6, 4.7, CAL= 349.3, 2.6, ROT= 160.7, -2.6 = PDAT read: Bearing 122.2, 21.5 (Local) E ~Local bearing/azimuth received: Bearing 122.2, 21.5 (Local) M DAT read: Range 11 to 50 : 140.5 m (Round-trip 187.4 ms) speed -0.6 m/s U R#Rx 1: Read range and direction messages.] ^direction in FSK: [-0.942829,0.330174,0.045363]] Fpublishing direction and range info9  o+~j+!?99? C i x 1h   >  ž) X?I J i @@ = @ 9= 3@  9i  I CoṨJK近ćd?  姽  3@) 9i  u T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.A9 A= @AvBE >~BA BA BA BA BA BA BE k;BE Q*E&W,1_%*AB1B5֍CB1B1B1B54y:q @ٱ:.@:`Mh=:f=:H?ٿ)W?``z?@ο?>?I:q @):l`;i:Cn1MB9n_HMb@Mb@Mb@ )Ii"~j?(\µ?~jtxS#?=ĻIAiAݡAfA)ABD6Dd5Y!/=@99^DYr<A>Q 1-T4٪a ?Q 55T4vr YB95$?Q A5:Y5 7@Q E5?yB);I;iT4Y=BE=AEEh1h5i5._%*Ah5 Ch5 Ch56@h5?e v`2G@`!wX@h5o+~j+!?99?h53@h59i5kKiY@sWNG"x3@h5lI?"vK}忄AM ?h5h5JBh5gЕ?h50Ch5BsZDetected possible detachment. Starting timer.ddddBdddca@chU?zZ-$?Z-$?Z->Z- 7@I9 9 9ɡ9i9I9iA)iiAe/-9 m?m?)a eAm(DAT read: user:14> uBDAT read: Tx time:16:06:22.0017 u$Ping request sent.u1Y W,J_%*ABE% [4JE%|a4RE%/DDaD,DE E96Eg4:E"EG;!*EH;!**E;!.E;!.y^ @ٱ^.@^}=^ =^HIٿe}{~{?@?絛??I^ @)^O`;i^ Cn9MB9niHrR=irp=BDv6Dv)5Y5 <!5k==Vsԁe checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501370Ա W,зd_%*AɰyBq !@ٱB/@BÈ=B=BH R ܝٿD?bQ?9`ி?@?IBq !@)B `;iB C^MB9^+HBDf6Dfd5Yn!rQ=rLp9t9v^DYtvn<Av>xQ 1~T4٪z?Q 5~T4zo zYB9Y7@Q E?yzyB)zI;IzU;izxT4Y BɼAEdQdQdQdQBdQdQdYcYc]?zZyZyZyZ}7@I ԙ ɡiIi)DmyDm`Dm*DiEm: Em96Em(N4:Ei!@!@!@!@ /9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754056i0O0IIN>>vB>~BBBBBBBk;BL*E W,}~_%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005513y>=!@ٱ>l8/@>N=>=>H Zxٿ@P?_n.?E@?ի?I>=!@)>mMb@Mb@Mb@ i)iIiiiimZd;?sh|??Qm?m=muIm$Aiim Am۪A)im¥ABD6D)5Yz=!@=299^DY;A>Q 1U4٪&䃊?Q 5U41m YB9o ?Q A:Y7@Q E?yB)A4Z 7@I  !ɡ!i!I!i)))u6?uL?M19)UiF0II N-N>DmDmfDm'DiEmO: Em96Em'4:Ei"Em;!}Em;!}*Em-;!}Em-;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257378I >W,w_%*Ay: k!@ٱ:e/@:Jӛ=:T=:H`H`PXٿ@r?c?u?5?I: k!@):^;i8B@MB9BrHIJAA)JAABDN6DN5YV<!VZ=VJX9X9Z^DYX^V;A^>`Q 1fU4٪bу?Q 5fU4bk bvYB9dYf 8@Q Ef?ybzB)b:Ib9:ibU4YlnaAld|d|d|d|Bdddcc ?zZ!Z!Z!Z% 8@I  ɡiIi)395checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509398ii}/yy}?0yIIN">ԑD D D )D E ~: E 6E FA4:E ! @! @! @! @  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762573A A vB >~B ׍CB B B B B B Ik;B 0*EW,tF_%*A@i@Pybә!@ٱby/@b=bڼ=bHfZ5ٿyX߻?a&qz?@i` i?r?Ibә!@)bi^;i`jJMB9j~HUMb@Mb@Mb@ Q)QIQiQQUV-?ʡE?S㥛U?U-=U/ݼIUAiU¯AU9AUA)QU(ABDm6Dmy5Y}<!>=#99^DYc;A>Q 1U4٪t?Q 5U4i YYB9?Q A:Y8@Q E?yB). ;I ;i%U4YBXAEd)d1d1d1Bd1dQdYcYc]O@zZ?Z?Z]>Z8@I  ɡiIi)49iE0AAE05AIQIiNu6>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013362) W,,_%*ADDeD(DEs: E96Ec44:E"E;!E;!"*E"*;!"E#*;!"yn!@ٱn/@n=n=nH,m`,ٿ=U?`t/? ?`?In!@)nVK^;inCvPMB9vH|xixBD6Db5Yn}<!Q=%)!9!9-^DY)-p;A->1Q 1=U4٪5?Q 5=U45Dh 5>YB9AYE9@Q EE?y5}B)5;I5;i5=3U4YMBMVAIdidididqBdqdqdqcyc}`!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265525zZZZZL9@I  ɡiIi)iAijA69jAi!!)-?5))I9IQN]>QM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517436y W,_%*Ay6!@ٱ6/@6E=6ϓ=6HBsKؿc?s6?@I?` ?I6!@)6^;i6CBXMB9BHFa=iDBDJ6DJ5YVa<!VR=Vw$X9X9Z^DYXZ\;A^>`Q 1fU4٪b*?Q 5fU4bf b"YB9dYfI9@Q Ef?ybB)b:Ib:ib@U4YhnHAladydyddBdddcc _@zZZZZI9@I  ɡbD1ZD5AADMDMwDMADIEM: EM:6EMA4:EI!u@!u@!u@!u@iIi)ԉz69checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774649vB>~BB8HBALBB =BBBk;B*EIG)lAi!!!%_0!I1IQIiNY>i}lAAԱ =W,S_%*ABDAT read: Rx Time:16:06:24.5958 TRx dataTimestamp_ set to:1755878784.002700checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026443ɰ$$yR"@ٱR70@R=R$ =RH:x9ؿ 1dH=?q<?s+??IR"@)R$^;iP^3MB9^aHԹUMb@Mb@Mb@ Q)QIQiQQU +?J +?Q롿U?U=U\IQiUAUhAUMA)QQBDm6Dmv5Y}!}0=99^DY;A>Q 1U4٪z}?Q 5U4)e XB9?Q A:Y;@Q E?yB)j:I]:iQU4YBAEB*** querying acoustic contact ***zhhddddBdddcc 2 @zZ=?Z=?Z=(>Z=;@Ii i qɡqiqIqiy)ye89iL0II D=}D=D=,D9E=݉: E=|;:6E=g4:E9"E=8;!ME=9;!M*E=;!ME=;!MNUT>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277344 1 !X,g`%*Ay>H"@ٱ>C0@>=>/=>H*~eؿ`p?D@?@g?`f?I>H"@)>:];i> CFMB9FCHBDR6DRȦ5YVu!Vn=Z#aԉDm xDm iDm -Di Em ˀ: Em 96Em t4:Ei ! @! @! @! @i =I < (DAT read: user:15>  BDAT read: Tx time:16:06:25.8017  $Ping request sent. 99_DY/;A>Q 1U4٪U?Q 5U4b XB9?Q A:Y;@Q E?y}B):I:imU4Y A hihmGv `%*Ahm Chm Chm@hm,=T`BPG@v@hm^HzM'˯p? `?hm2@hmim7Z@mBFW/A7@hm,?sM%rY1?hm0hmBhm1?hmO hmBddddBdddca@c ?zZ-?Z-?Z-:.>Z-;@I9 9 9ɡ9iAIAi)e<9ԹMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251688i0!5I!IiN> D] ~D] cD] .DY E] : E] L96E] ـ4:EY "E] [;!m E] \;!m *E] ";!m E] ";!m dAX,~M`%*Aiy:"@ٱ:B0@:B=:E=:H`]vؿ` ?Q4?% ˾?Z?I:"@):];i:CBLB9B HBDJ6DJ)5RPExceeded connect timeout, disconnecting.YV 9!Vm=Z#5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7546589 \X,Dg`%*Ay>{"@ٱ>!0@>F{=>=>H@Yؿ@?V@uo? @ ?ƕ?I>{"@)>1];i<J3MB9JbHHiHBDR6DR<5YZ0>!ZL=Zk \9\9^_DY`b;Ab>dQ 1jU4٪f1?Q 5jU4f:` frXB9hYj<<@Q En?yf[B)f:If9:ifwU4YprApdddd Bd d d c c@r@?zZ)Z)Z)Z-<<@IA A IɡIiIIIiI)Q]jAiY==9D5xD5hD5*D1E5ˀ: E5]96E5(N4:E1Y!e@!e@!e@!e@i2/5Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854IN>vB)~B)B-HB-#LBB)B)B)B-j;B-)EB׍CB׍CBBİ =Bİ =BW4yԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258656J X,~9`%*Ay>"@ٱ>0@>(:=>a=>H$`>ؿ+|? a[ γ?@"ٻ@"@)>I];i99_DY;A>Q 1U4٪?Q 5U4^ FXB9y?Q A:Y=@Q E?yB) ;IL ;iU4YBϽAEB*** querying acoustic contact ***zhhddddBd!d!d!c!c-?zZMy?ZMy?ZM:@>ZM0=@IQ Y YɡYiYIYia)iԡ%Y?9i10IINE>BEřT4JEp4REw 2DDqD+DE: E$ :6E [4:E"E;!-E;!-*EU;!-EU;!-nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745 1o&X,`%*Aɰy6o#@ٱ61@6!=6&=6He\!ؿӭW? ``4?Ю`6P??I6o#@)6I];i4B!MB9BKHBDJ6DJ5YR@ջ!Rv=R!1DU tDU _DU (DQ EU s: EU r96EU c44:EQ !} @!} @!} @!} @i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016578A! A% <vB) ~B) B- HB- LBB) B) B) B- pj;B- )EK,X,״`%*Ay6s+#@ٱ6&1@6#k=6=6H  ؿn4? h@T?|??I6s+#@)6<^;i6CN&MB9RQH%Mb@Mb@Mb@ !)!I!i!!%|?5^?zG?Q9Y9]_DYY]G;Ae>aQ 1mU4٪es?Q 5uU4e\ eXB9u?Q Au:Yu=@Q Eu?yeB)e3:IeZq=@I  ɡiIi)6?iAhAii!!)-@0)I9IIN]3>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702ԑ D= uD= aD= &D9 E= v: E= 96E= 4:E9 "E= %;!M E= &;!M *E= ;!M E= ;!U r3X,)`%*AyVN#@ٱVH1@V:=V=VHo ׿@>? pP?L@4S?@T?IVN#@)V];iV Cn+MB9nWHIt)tBDz6Dz5YW<!O= 9 9 _DY  ۯ;A>Q 1U4٪8傊?Q 5%U4[Q 9%tI WB9!Y%=@Q E%?y3B). ;IK ;iIU4Y5 B5׽A5EdQdQdQdQBdQdYdYcYc]@"@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518876zZZZZ,=@ԙI  ɡiIi)C9iIIIM?0IIYIiN}>= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771510 59X,ō`%*Aiy6^p#@ٱ6k1@6Fm=6~=6H ׿ޱD?@:w@(?  ?J?I6^p#@)62 ^;i6CB)MB9BUHBDH6DHYR!RQ=VT9T9V_DYTZ;AZ>\Q 1U4٪^ӂ?Q 5U4^Z ^WB9Y=@Q E?y^B)^OQy M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275702@X,Dla%*AyR #@ٱR1@R7V=R=RH1d׿ ?|s? տ ?Q?IR #@)R^;iRCb$MB9bOHdidMb@Mb@Mb@ )IiZd;O?zG?l~ ?IAi A1A)ABD6D5Y!9=w;Q)>99_DY;A>Q 1U4٪?Q 5U4Y WB95e ?Q A5:Y5g>@Q E5?yB)&%Zig>@I  ɡiIi)-hAi) >>ԁi0/5IINB>D%zD%jD%.D!E%l: E%96E%ـ4:E!"E%ѧ;!-E%ҧ;!-*E%U<;!5E%V<;!5DAT read: 16:06:28.3979 LVL= 29872, 24897, 32754, 32755, AGC= 68, IDX= 460,-0.45, 2.906,-1.997, 2.260,-2.983, PHS=-0.293, 1.031,-1.084, RAW= 351.7, 3.8, CAL= 351.4, 1.2, ROT= 158.6, -1.2 Ygot valid direction response: 16:06:28.3979 LVL= 29872, 24897, 32754, 32755, AGC= 68, IDX= 460,-0.45, 2.906,-1.997, 2.260,-2.983, PHS=-0.293, 1.031,-1.084, RAW= 351.7, 3.8, CAL= 351.4, 1.2, ROT= 158.6, -1.2 =PDAT read: Bearing 126.4, 27.9 (Local) E~Local bearing/azimuth received: Bearing 126.4, 27.9 (Local) MDAT read: Range 11 to 50 : 144.0 m (Round-trip 192.0 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.930852,0.364797,0.020942]Fpublishing direction and range info9JS}_Xa} IE?IN( m(1@)i T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. FX,Ea%*Ay6 #@ٱ61@6m>6=6H'׿5@K??\B]?S?I6 #@)6];i6CB.MB9B[HFR=iF%=BDH6DHY~_<!~Y=f;Q)>99`DY  i;A >Q 1U4٪?Q 5U4Y kWB9Y%>@Q E%?yB)3;I;iU4Y-B-A-Ehhba%*Ah'Ch'Chb@h쬌)`ulJ@7 @hJS}_@I  ɡiIi)(DAT read: user:16> BDAT read: Tx time:16:06:29.6017 $Ping request sent. rD jD D |D bD D E : E 96E :E ! @! @! @! @! % =i! vB >~B B HB KBB =B B fDB j;B )E% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.265978Im G) I i C˿ ڻA9 LX,!6a%*Aɰy6#@ٱ61@6>6}r=6HO׿@~Գ ? $6?y?@M?I6#@)6X ^;i6CN#MB9RNHMMb@Mb@Mb@ I)IIIiIIME?RQ?~jtM?M=MIMAiMAMAM-A)IMABDm6Dmڨ5Y}mʼ!}C=};Q)}>99`DYD;A>Q 1U4٪?Q 5U4W CWB9. ?Q A:Y=@Q E?yB)C ;I ;iLU4YAB*** querying acoustic contact ***zhhddddBdddcc@?zZ. ?Z. ?Zz6>Z=@I   ɡ i Ii)H9 i1n1IIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502271Ai D% zD% iD% ,D! E% l: E% 96E% g4:E! "E! !- E! !- *E% 8;!5 E% 8;!5 %SX,Pa%*AyF#@ٱF1@F?W>F=FHg׿lu@k?N?N~?}?IF#@)F{];iF CbMB9b7HBDj6Dj5Yr<<!rT=r;Q)r>t9t9v`DYtv;Az>|Q 1V4٪~?Q 5V4~W ~WB9Y>@Q E?y~aB)~9:I~:i~V4Y B2AEd1d1d1d1Bd9d9d9c9c= ?]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754253zZiZiZiZm:>@I  ɡiIi) )? Y?yJ9)iie/aae0aIqIN>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070 XYX,ia%*Ay:?$@ٱ:2@:Ѷ >:B=:H+@F׿h@D?&@j?)@ݍ?`z?I:?$@):^;i:CF+MB9FXHIL)N@APBDR6DRì5YZ=!ZN=Z;Q)^>\9\9b`DY`bz;Ab>dQ 1jV4٪fTy?Q 5jV4f#V fVB9hYn->@Q En?yfB)f:If;ifV4YprApdd d d Bd d d cc3j?zZ1Z1Z1Z5->@IA A AɡAiAIIiI)Q5L9bDZD?ADxDfD+DEˀ: E96E [4:E!-@!-@!5@!5@i^0I9IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259955vB>~BBHBKBB =BBBj;B)EN">Qԁ % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510572`X,a%*Aiy6B$@ٱ6<2@6( >6Qs=6H + *׿@ "?nj?i 3?2x?I6B$@)6g];i4BMB9BEHUMb@Mb@Mb@Y Q)QIQiQQUS㥛? ףp= ?/$U$?UQ=U,IQiUAUKAUгA)QU\ABDu6Duڨ5Y!>=+;Q)>99`DY;A>Q 1V4٪f?Q 5V4U VB9?Q A:Y=@Q E?y@B):I/:i#V4YB'AddddBdddcc@M?zZ?Z?Z-.>Z=@I   ɡiIi)M9i?0IIN>ԹDzDuD*DEl: E:6E(N4:E"E!E!*E_d;!E`d;!}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762190 Y gX,ʋa%*Ay6`k$@ٱ6f2@6% >6(=6H> :׿"?@G?Ჾ?@u?I6`k$@)6,^;i6 CB*MB9BVHBDJ6DJƩ5YfD=!fW=fP;Q)f>h9h9j`DYhn-;An>pQ 1vV4٪rV?Q 5vV4r4T rVB9tYv>@Q Ev?yrB)r:Ir:ir0V4Y|~ AqddddBdddcc@zZZZZm>@I  ɡiIi)iAihAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840N9iIIN9DDsD/DE: EZ:6EJ4:E! @! @! @! @iߕ P?Iߕ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269527vB >~B B HB KBB =B B B i;B )Ea B9B9B9B=ʯ =B=ʯ =B=5@7mX,ana%*Ay6$@ٱ682@62>6R=6Hֿ?2?`۠?t?I6$@)6(^;i6C^!MB9^KHEMb@Mb@Mb@ A)AIAiAAEx&1?/$?ktE?E=E 0IAiAEAEA)AE§ABD]6D]ث5Ye!m@=m1;Q)m>i9q9u`DYqu';A}>yQ 1V4٪}VD?Q 5V4}9S }tVB9?Q A:Y=@Q E?y}B)}a:I}:i}?V4YB)AE-B*** querying acoustic contact ***1zhQhQdYdYdYdYBdYdadacace4A@zZ?Z?Zt(>Z=@I  ɡi I i)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518294ԉԹ BE|a4JE^4RE&0D ~D bD ,D E : E 96E g4:E "E [;! E \;! *E 7;! E 7;! stX,|Ba%*Aɰ46 =6Hľֿ^&?ë?@¿@? {s?I6=$@)6n^;i4r.MB9r[HBDz6Dzb5Y=!%O=%;Q)%>!9)9-`DY)-;A->1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770295Q 1MV4٪53?Q 5MV45SR 5JVB9IYM>@Q EM?y5yB)56g;I5g;i5MV4YY]AYdydydydBdddcc`A@zZZZZ@>@I  ɡiIi)ԑim1iim/5iIyIN>BDAT read: Rx Time:16:06:32.2000 TRx dataTimestamp_ set to:1755878791.562654checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023152  HzX,a%*Ay6z$@ٱ6 2@6X>6h=6H`:ֿ(ݷ?`V?P¿<*?r?I6z$@)6#^;i6C@9@BDJ6DJt5YR!RS=R ;Q)R>T9T9V`DYTV;AZ>XQ 1^V4٪Z#?Q 5bV4ZuQ Z VB9`Yb2>@Q Eb?yZB)Z;IZQ;iZ*[V4YfBfAjEdididqdqBdqdqdycyc}@z @zZZZZ2>@I  ɡiIi) ?DDgDDE: E&96E:E!@!@!@!@YS9 >>iM/QQ]25YvB>~BBHBKBBBBBi;B)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.293267II1N=/>I 2X,b%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.544224@y %@ٱ13@?>^4=HgֿU hM?9r? pw¿@ ? 5q?I %@)t^;iC)9-\HMb@Mb@Mb@ )IiK?kt?Zd;O^> =j)9)9-`DY)5;A5>9Q 1EV4٪=,?Q 5EV4=P =UB9EL>Q AE:YE?@Q EM?y=NB)=':I=:i= kV4YQUAQdqdqdqdyBdydydycyc_@zZL>ZL>ZZD2>Z{?@I  IɡIiIIIiQ)Yԡe}S9DwDqDDE}: E$ :6E:E"Ej;!Ek;!*EU;!EU;!i0_0I)I9NMR>DAT read: 16:06:32.2000 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 449,-0.10, 2.317,-2.600, 1.588, 2.647, PHS=-0.229, 1.081,-1.104, RAW= 353.5, 2.7, CAL= 353.1, -0.3, ROT= 156.9, 0.3 Ygot valid direction response: 16:06:32.2000 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 449,-0.10, 2.317,-2.600, 1.588, 2.647, PHS=-0.229, 1.081,-1.104, RAW= 353.5, 2.7, CAL= 353.1, -0.3, ROT= 156.9, 0.3  PDAT read: Bearing 129.3, 30.6 (Local)  ~Local bearing/azimuth received: Bearing 129.3, 30.6 (Local) DAT read: Range 11 to 50 : 145.6 m (Round-trip 194.2 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.%`direction in FSK: [-0.919809,0.392332,-0.005236]%Fpublishing direction and range info9.o.?sNruCicA ~j)5^?IOin@A=P5@LB/@ ;iI/@ -*鿼U?] t? LB/@);iET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode. [X,b%*Aiy6|R%@ٱ6"M3@6j>6(=6H@ T<ֿ?`Ѓ?`_¿`?jo?I6|R%@)6&^;i6CN!MB9NKHBDV6DV5Yb!bd=fO;Q)f>d9h9jaDYhj <Aj>lpQ 1vV4٪r?Q 5vV4rO rUB9tYvN?@Q Ez?yrB)r:Ir:irwV4Y~*B~iA~~Ehh`b%*AhChCh$@h߄)m`-dL@8@h.o.?sNruhLB/@h;i;!Z@驾Z8XyrK9@h:1w?LVk'^?hh Bhj?h Dh(B*i@夊?2i:iBiC"i&@dYdadadaBdadidicm@33b@cu@s?zZ!Z!Z!Z%N?@I1 9 9ɡ9i9I9iA)A5(DAT read: user:17> =BDAT read: Tx time:16:06:33.6017 =$Ping request sent.=1DDxD(DE: E:6Ec44:E!@!@!@!@Ai Ai vB >~B B HB KBB B B eDB i;B )E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252876X,d8b%*Ay:L%@ٱ:3@:kr>:2=:H ) ָֿ? , ?@¿ ?k?I:L%@):E^;i:C^$MB9^OHib>Ib=EMb@Mb@Mb@ A)AIAiAAEv?333333?&1E>E=EPIE3AiEAAErA)AE(ABD]6D]5Ymb<!m@=mb;Q)u>q9q9uaDYq}B;A}>Q 1V4٪?Q 5V4N UB9 >Q A:YD>@Q E?yB):IU:inV4ԙYbAB*** querying acoustic contact ***zhhddddBdddcc?zZ >Z >Z>ZD>@Iy  ɡiIi)uW9)yi/   ?0 I9IINU2>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502789 D ~D D +D E : E g:6E [4:E "E [;! E \;! *E *;! E *;! kX,+Rb%*Ay6B%@ٱ63@6n<>6M>6H`տظ ?``E;?¿פ?Kg?I6B%@)6g.^;i4>LB9BHFa=iFa=BDJ6DJ)5YRX(!RX=Rp;Q)V>T9T9VaDYTZ<AZ>\Q 1=V4٪^{⁊?Q 5EV4^+N ^lUB9AYE>@Q EE?y^nB)^1@I9 9 9ɡ9i9I9iA)A-"X9iIIN&>!QU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772y X,elb%*Aɰ;y6%@ٱ6U3@6*>6`>6H@տ@<߸;?*? ¿ _;? c?I6%@)6^;i6CNMB9REHBDZ6DZ5Yb>!bH=b:Q)b>d9d9faDYdfJ;Aj>hQ 1nV4٪j(ҁ?Q 5rV4jVM j=UB9pYr>@Q Er?yjB)jf;IjQ;ijV4Ytv}AxddddBdddcc`T?zZZZZ>>@I  ɡiIi)QDDD'DEs: EX:6E'4:E!@!@!@!@?Z9IUĉG)SkAIvB=>~B=֍CB9B9B= =B9B9B=j;B=)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261295i000I!ieeSkAmAԁIN=>Ա ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510777rX,Yb%*Ay6-&@ٱ6(4@6>6>6H`տ0LN?[`]?`9ÿBD?a?I6-&@)6`];i6C>MB9>DH!j@!j !j@!j !j@!j !j@!j BDn6Dn5Yvc !vG=zm:Q)z>x9|9~aDY|~<<A~>Q 1 V4٪?Q 5 V4L  UBQ =m+:9qQ Au:Yu>@Q Eu?y8B)dhiV4Y}0B}A}|EddddBdddcc+?IA a iɡiiiIiiq)yԩi4I)I9NM0>D{DeD+DE=: E96E [4:E"E;!E;!*E"*;!E#*;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774! X,b%*A y:n&@ٱ:h4@:>:\>:HrHտ? @m?ÿ@?b?I:n&@):u^;i:CNMB9N,HI\)\BDb6Dbì5Yn8G!nL=r:Q)r>t9t9vaDYxz <Az>Q 1 V4٪?Q 5 V4K TBQ = :9Q A:Y6?@Q E?yB)w;I;Q?iöV4Y)-A)dadididiBdqdqdqcqc@@I ! !ɡ!i!I!i)))\9) A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016369qi25IIN (>ԙrDjDR=DDaD)DE~: E96EFA4:E!@!@!@!@ vB >~B ׍CB }HB KBB B B B j;B )E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269031ѭX,b%*AiyBM&@ٱB4@BV>BK>BH Q տ *?@F?08ÿ@f߿?`b?IBM&@)B^;iBCPRMB9R7H!-!- !-!- !-!- !-!- -Mb@Mb@Mb@ )))I)i))-^I +?sh|??v/-X>-=-xiI-\Ai-XA-GA-?A))-ABDE6DE5YU <!UC=U :Q)]>Y9Y9eaDYae,<Ae>iQ 1uV4٪m?Q 5uV4m K mTBQ =uT:9u>Q A}:Y}@@Q E}?ymB)m;Im ;im[V4Y3BAB*** querying acoustic contact ***zhhddddBdddccy@zZU>ZU>ZUZ,>ZU@@Ia a aɡiiiIiii)u^9i0   05 II1N=/>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518767! D D bD 8D E ҝ: E 96E F4:E "E ;! E ;! *E 7;! E 7;! X,b%*Ay6&@ٱ6w4@6n >6->6H YԿr`B?@@cH?Nÿ?a?I6&@)61^;i6CvMB9z9H|BD6D`5YV;!N=$:Q)>9!9%aDY!%-<A%>)Q 15V4٪-?Q 55V4-gJ -|TB99Y=@@Q E=?y-dB)-;I-7;i-1V4YAEAAdadididiBdididicqcuA.@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909zZZZZ@@I  ɡiIi)ijA^9 >>)iIIIM4IIYIiN}>Y5 BDAT read: Rx Time:16:06:36.2021 5 TRx dataTimestamp_ set to:1755878795.610740= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023873ԁ X,b%*Ay6nB'@ٱ6=5@6>6w>6H @dԿҺ`RH?* `=?fÿ_?`?I6nB'@)6#^;i6CNMB9R7HVp=iV=BDZ6DZ5Yb֏!bP=f:Q)f>d9d9faDYdj6<Aj>lQ 1rV4٪nـ?Q 5rV4nI nLTB9pYv-A@Q Ev?ynB)n/;In:inV4Yz6BzAz{EYddddBdddccRx @zZZZZ-A@I  ɡiIi)bDqZDuAADDeD/DEO: E96EJ4:E!@!@!@!@a9vB>~BBdHBKBBBBBRj;B)EBBBBBî =Bcz5i]1Yae0achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277498ԹIIN@> *X,Cc%*AɰBDAT read: 16:06:36.2021 LVL= 32752, 29393, 32754, 32755, AGC= 64, IDX= 470, 0.05, 2.981,-2.022, 2.268,-3.047, PHS=-0.154, 1.070,-1.012, RAW= 354.2, 1.1, CAL= 353.9, -1.9, ROT= 156.1, 1.9 FYgot valid direction response: 16:06:36.2021 LVL= 32752, 29393, 32754, 32755, AGC= 64, IDX= 470, 0.05, 2.981,-2.022, 2.268,-3.047, PHS=-0.154, 1.070,-1.012, RAW= 354.2, 1.1, CAL= 353.9, -1.9, ROT= 156.1, 1.9 JPDAT read: Bearing 133.3, 31.6 (Local) J~Local bearing/azimuth received: Bearing 133.3, 31.6 (Local) yV'@ٱV5@VY>Ve>VH`*G=Կ@C1`??wÿ`*?``?IV'@)V7^;iVC}DAT read: Range 11 to 50 : 147.1 m (Round-trip 196.2 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.913751,0.404919,-0.033155]Fpublishing direction and range info9qu&s=| /?B3uCqiqurqqu@ u-)u?Iu7iu@unFʡ=IiA)QABDM6DM5Y]L˼!]=e]:Q)>99bDY<A>Q 1V4٪xl?Q 5V4I  TB9@>Q A:YpA@Q E?yBB);Ih;iZV4Y9BܾAzEhqhu^c%*Ahu<Chu<Chu@huw` UM@3dhu&s=| /?B3hu].@hu=iuYԐ|Z@˯ XƳ66@hu}?"3 忎3 ?huUhuBhu䤊?hu,r*huUB*iq2iq:iqiuC"iuڱ@BE JE 7i4RE Ja1D}DwD,DE݉: E:6Eg4:E"E8;!E:;!*Ek;!Ek;!ddddBdddc@3cb@c@.?zZ@>Z@>Z+>ZupA@I! ! !ɡ!i!I!i)))5Bc9(DAT read: user:18> BDAT read: Tx time:16:06:37.4517 $Ping request sent.Y X,Zd!c%*AyR'@ٱR-5@R >R9>RH5gӿ`4?q%?ÿ T?`?IR'@)R];iRCnLB9n HBDv6Dv5Y~ː!=;Q)? 9 9 bDY  n<A ?Q 1V4٪Ha?Q 5V4H SB9!Y%A@Q E%?yB)Y;I3;isV4Y)-A1dQdQdQdQBdQdQdYcYc]`?zZZZZ A@I   ɡ i I 1i9)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251226Qi/?0II N*>aDDyD+DEa: E:6E [4:E!@!@!@!@ԡA AAA vB >~B B WHB KBB =B B fDB B )Eiߵ =I߱  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505985 %X,S;c%*AyF)(@ٱF+$6@F>Fn>FH?౮ӿ`A廿l?/@?Ħÿ ? M^?IF)(@)F];iFCNLB9NH%Mb@Mb@Mb@ !)!I!i!!%m?I +?X9v%>%9=%}I%Ai%(A!%A)!%AI9)=AABD=6D=)5YMQ7!UE=U:Q)U>Q9Y9]bDYY]6<A]>aQ 1mW4٪e'Q?Q 5mW4e.H eSB9u>Q Au:YudC@Q Eu?yeB)e ;IeG ;ie W4Yy}-AB*** querying acoustic contact ***zhhddddBdddcc?zZM>ZM>ZMj?>ZMdC@IY a aɡaiaIaii)iԑd9i100I)I9NM1>Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755D D oD /D E O: E :6E J4:E "E ;! E ;! *E N;! E N;! X,]Uc%*Aiy6tu(@ٱ6p6@6Z>6 >6HIiӿ@* $?`:j$?ÿ? ]?I6tu(@)6];i6CBLB9BHBDJ6DJ'5Yr=!rR=r:Q)r>t9t9vbDYtz^C<Az>xQ 1W4٪zB?Q 5%W4zG zSB9!Y%C@Q E%?yzEB)z.;Iz;izW4Y-;B5A1echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006760ddddBdddccK?zZZZZDC@I  ɡ i I i)e91im0iim/0iIyIN>a checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258687ԉ 1X,Enc%*A0y:(@ٱ:6@:>:>:HTfӿ ?G`?ÿuͿ?;]?I:(@):];i:C^LB9bHBDf6Dfڨ5YnH!rJ=r:Q)r>t9t9vbDYtv7J<Az>xQ 1~W4٪z^2?Q 5W4zeG zSSB9YD@Q E?yzB)zw;Iz@;iz'W4Y  .AddddBdddcc`>?zZZZZD@I  ɡ i I i)D]D]vD],DYE]Ʊ: E]:6E]g4:EY!e@!e@!e@!e@g9vBU>~BQBU>HBUvKBBU =BQBUeDBUbj;BU)Eԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513078i3I)IqN;>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762667X,ψc%*A`99AMMb@Mb@Mb@ I)IIIiIIMm?kt?MbIM =MIIiMXAMvAMA)IMQAaiep=BDm6Dm95}Q)}>99bDYA>Q 1W4٪ ?Q 5W4F SB9>Q A:YC@Q E?yB)%;I ;i7W4Y>B9AyEddddBdddcc[@zZ>Z>Z::>ZLC@I  ɡiIi)!j9DmwDmcDm*DiEm}: EmL96Em(N4:Ei"Emj;!uEmk;!u*Em";!}Em";!}i/5IIN>>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015389A DX,uc%*Aɰ46Cr=6H@ hҿ @XF?b]m?@4ÿؾ?`_?I6^)@)6];i6CbLB9bHBDj6Dj5Yr@!vx9x9zbDYxz<Az>|Q 1W4٪~?Q 5 W4~F ~RB9 Y [D@Q E ?y~dB)~:I~$:i~CW4YLAdAdAdAdABdAdAdIcIcM@D@zZiZiZiZm2[D@Iy y yɡiIi)5?'?)j9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268449iIIIM,5IQIaIqN}>EG=iAyIG)lAIiTǿlA7ADuzDuaDu.DqEul: Eu96Euـ4:Eq!}@!@!@!@AI AM <vBU >~BQ BU 2HBU lKBBU =BQ BU fDBU cj;BU )E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752ԡ AqX,hc%*AyZ)@ٱZ7@Z{ >Z=ZH r ;ҿ`潿`?`o6?`ÿ? j`?IZ)@)Z ^;iZCfLB9fHj>j=qMb@Mb@Mb@ )Ii?K?Zd;f>^=yI+AiSAAݷA)ABD6D95Ypf<!>=A:Q)>99bDY3<A>Q 1W4٪?Q 5W4\F RB9!>Q A:YE@Q E?yB)C ;I ;iRW4YABKAxE%B*** querying acoustic contact ***zh!h!d1d1d1d1Bd9d9dAcAcEI=@zZu!>Zu!>ZuQL>Zu=E@Ii i iɡqiqIqiq)yejl9ԡ) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773149i10I IN-N> D |D eD ,D E : E 96E g4:E "E ;! E ;! *E "*;! E #*;! VX,ac%*Ay6O)@ٱ67@6 >6y=6H {`,ѿ`?xXE?pĿ`ƾ?7_?I6O)@)6];i4NLB9RHIT)TBDZ6DZb5Yb=<!b[=b :Q)f>d9d9fbDYdj:J<Aj>lQ 1rW4٪n?Q 5rW4n'F nRB9tYv F@Q Ev?ynB)n $;InX%;in`W4YxzBAxddddBdd!d!c!c%N, @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022883zZQZQZQZUl F@I  ɡiIi)l9iM0IIMI1IIYIiNu>1BDAT read: Rx Time:16:06:40.0538 TRx dataTimestamp_ set to:1755878799.642674checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275730Y IX,:=c%*Aiy6:*@ٱ6j58@6 >6=6H`Q@Źѿ  Kt?q?Ŀ @?2]?I6:*@)6"];i6CfLB9fHBDn6Dn5Yv`!vH=vy9Q)z>x9x9zbDYx~$<A~>Q 1 W4٪M倊?Q 5 W4E XRB9 Y PF@Q E?yzB)K:I:iQnW4YDBYAwEd9d9dAdABdAdAdAcAcMp @zZaZaZaZePF@Iq y yɡyiyIyi)iD]}D]~D].DYE]݉: E](:6E]ـ4:EY!e@!e@!e@!e@un9y)vB>~BB%HBbKBB =BBeDBej;B)Ei0I IN% >mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529154ԩ% DAT read: 16:06:40.0538 LVL= 32752, 30129, 32754, 32755, AGC= 66, IDX= 456,-0.29,-2.938,-1.646, 2.715,-2.626, PHS=-0.210, 1.025,-0.986, RAW= 3520, CAL= 352.1, -1.0, ROT= 157.9, 1.0 - !unknown deviceResponse_: 16:06:40.0538 LVL= 32752, 30129, 32754, 32755, AGC= 66, IDX= 456,-0.29,-2.938,-1.646, 2.715,-2.626, PHS=-0.210, 1.025,-0.986, RAW= 3520, CAL= 352.1, -1.0, ROT= 157.9, 1.0 5 PDAT read: Bearing 134.3, 30.5 (Local) = ~Local bearing/azimuth received: Bearing 134.3, 30.5 (Local) E DAT read: Range 11 to 50 : 148.4 m (Round-trip 197.9 ms) speed -0.3 m/s E X#Rx 1: Read range message, but no direction.9  fC 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.jY,# d%*A<LB9Hii=I=Mb@Mb@Mb@ )Ii)\(?Mb?i|?5G>=qIAirA A)QAԩBDQ6DQY!;!%=Q)>99cDYA>Q 1W4٪Ҁ?Q 5W4E RB9U>Q A:YG@Q E?yB)a:I:iW4Y)-RA)ddddBdddčb@c?zZU>ZU>ZW>Z#G@I  ɡ i I i)DezDedDe+DaEel: Ee96Ee [4:Ea"Eeѧ;!Eeҧ;!*Ee~&;!Ee&;!p9](DAT read: user:19> eBDAT read: Tx time:16:06:41.4017 e$Ping request sent.e nY,M#d%*Ay6ϳ*@ٱ6u8@6; >6>>6HLѿ8?@? _ĿU ?Y?I6ϳ*@)66];i6CNLB9NHVa=iTBDZ6DZb5Yb!b=b9Q)b?d9d9fcDYdfQ<Aj?lhQ 1rW4٪jǀ?Q 5rW4jE jQB9tYvG@Q Ev?yj.B)j-;Ij=:ij^W4YzFBzaAxddddBddd!c!c%?zZAZAZAZEjG@IQ Q YɡYiYIYiY)aUp9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250546i>0I IN >1rDijDm4=Du~DutDu/DqEu: Euv:6EuJ4:Eq!}@!}@!}@!@vB~B֍CBHBXKBB =BBBj;B)EBBBBȮ =BB\5m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502437i Y,=d%*Aɰ^4<\y~*@ٱ~8@~c >~>~H@1ѿj?•?Ŀ?`A[?I~*@)~#^;i~C LB9 H9Mb@Mb@Mb@ )Ii+?Zd;O?:v>j=TIiݷA)ABDe6Deث5Yub!u2=u¹Q)}>y9y9}cDYy<A>Q 1W4٪?Q 5W4E QB91>Q A:YaG@Q E?yB) ;I:irW4YAB*** querying acoustic contact ***zhhsDetached at range: 148.40 m. Transitioning docking module to standby.ddddBdddcc`8?zZu1>Zu1>ZuyT>ZuԉԹ BEg4JE^n4RE#0D D oD +D E : E :6E [4:E "E =;! E >;! *E N;! E N;! Y,rWd%*Ay6/+@ٱ6*9@6{ >6=6H`=`Yп@` P? h` )?`Jÿ&?]?I6/+@)6];i6C%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006468-LB9-HC=p>ԙBD6D5Y=!X=oQ)>99cDY.)<A>Q 1W4٪˨?Q 5W4pE QB9YG@Q E?yB)Y;I;iW4YIBAvEdddddBd d d c c @?zZ)Z)Z)Z-G@I9 A AɡAiAIAiI)It9 &Changing to mode: 1iYYY]/0aIqIN[>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258507 5Y,qd%*Ay6&j+@ٱ6d9@6u >6Я=6HZ Iп@便?n@?ÿ߾? _?I6&j+@)6y^;i4NLB9RHIT)V@ABDZ6DZb5Yb!b[=fY^Q)f>d9d9fcDYhj<Aj>lQ 1rW4٪n?Q 5rW4n[E ntQB9pYvG@Q Ev?yn=B)nw:In:inW4YxzAxdddddBdddcc?zZZZZG@I  ɡiIi)bD9ZD=?ADEDEnDE/DAEE: EE:6EEJ4:EA!U@!U@!U@!U@vB~BBBBBBBj;B-Iu9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512732iF 1)IIIqN;>Qy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763005/"Y,_d%*A4i4yZ+@ٱZ79@Z7>ZH=ZH@_pпz־_? !? ÿ@q?_?IZ+@)Zp`;iZCfMB9fDHMMb@Mb@Mb@ I)IIIiIIMʡE?K?:vM>M^=IIMZAiIIMA)IMABDe6De5Yu:.>!u@=LQ)>99cDYǥ;A>Q 1W4٪ ?Q 5W4EE DQB9>Q A:YG@Q E?yB) ;I; ;iW4YLB A uEd)d)d)d)d)Bd)d1d1c1c=@QzZ]>Z]>Z]ZT>Z]G@Ii i iɡiiqIqiq)yw9i%!!%4!I1DMzDMkDM)DIEMl: EM:6EMFA4:EI"EMѧ;!UEMҧ;!U*EM?;!]EM?;!]IaNu6>ԁ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014464ԩ (Y,9d%*Ay>l+@ٱ>9@> }>>=>Ht Nп?V?@ÿ[?@c^?I>l+@)>ia;i>CJMB9J8HHiHBDR6DRN5YZ ļ!ZX=ZQ)^>\9\9^cDY`b;Ab>dQ 1jW4٪f}?Q 5jW4f6E fQB9hYj H@Q En?yfB)f :If:ifW4YprApdddd d Bd d d cc`@zZ1Z1Z1Z5 H@IA A AɡAiAIAiI)I5w9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266472ԱiEI3IIN>DU{DUlDU&DQEU=: EU:6EU4:EQ!e@!e@!e@!e@vB>~BB HBNKBBBBBmj;B)E iE ?IE <M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518683A /Y,(d%*AyU+@ٱU9@U >U 0>UH`;18п,?@ֱ)i?`ÿ`?@\?IU+@)U`;iUCuMB9u)HMb@Mb@Mb@ )Ii1Zd?ʡE?&1">=PI&AiOAnAA)A i BD6D5Y%!%5=%|Q)->99cDYsm;A>Q 1W4٪ m?Q 5W4D PB9.>Q A:Y\F@Q E?yUB);I;i,W4YOB3AB*** querying acoustic contact ***zhhdddddBdd d c c  K@zZ-.>Z-.>Z-JF6>Z-b\F@I9 9 AɡAiAIAiI)Iy9ia"4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772418IING>1a D] DY D] ,DY E] : EY 6E] g4:EY "E] );!e E] *;!m *E] C;!m E] C;!m 5Y,d%*Aɰ y:+@ٱ:9@:2t>:k>:HʽHп@b?૵?@Pÿ@/?[?I:+@):`;i:C^MB9^(HBDf6DfƩ5Yn!nb=rкQ)r>p9t9vcDYtvm;Av?xBDAT read: Rx Time:16:06:44.0054  TRx dataTimestamp_ set to:1755878803.422825 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023592Q 1]W4٪z`?Q 5]W4zD zPB9YY]F@Q Ee?yzB)zeԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274394 SkAIHPy^',@ٱ^!:@^>^z>^HϿiL=?`C9s?@ɠÿ<3?p\?I^',@)^r_;i^CijjSkAjArMB9r3Hv%>v;BDz6Dz5Y<!H= Q) > 9 9 cDY  ;A>Q 1%W4٪Q?Q 5%W4D PB9!Y-F@Q E-?yB):I|:iW4Y15!A1dQddddBdddcc @vBI~BIBMHBMXKBBIBIBIBMEj;BM)ED-D-jD-*D)E-: E-96E-(N4:E)"E-;E-;*E-U<;E-V<;zZZZZ-F@I  ɡiIi)=DAT read: 16:06:44.0054 LVL= 32752, 26225, 32754, 32755, AGC= 66, IDX= 440,-0.10, 1.455, 2.756, 0.796, 1.801, PHS=-0.244, 1.000,-1.049, RAW= 352.9, 3.3, CAL= 352.6, 0.5, ROT= 157.4, -0.5 EYgot valid direction response: 16:06:44.0054 LVL= 32752, 26225, 32754, 32755, AGC= 66, IDX= 440,-0.10, 1.455, 2.756, 0.796, 1.801, PHS=-0.244, 1.000,-1.049, RAW= 352.9, 3.3, CAL= 352.6, 0.5, ROT= 157.4, -0.5 MPDAT read: Bearing 134.7, 31.1 (Local) M~Local bearing/azimuth received: Bearing 134.7, 31.1 (Local) ]DAT read: Range 11 to 50 : 149.7 m (Round-trip 199.6 ms) speed -0.3 m/s ]R#Rx 1: Read range and direction messages.}^direction in FSK: [-0.923175,0.384281,0.008727]Fpublishing direction and range info9  )D2?B7߁? C i  qf   B #y) ?I Ei @ k= @ 5< F/@ 5i  I DM?k wQ_%?   m F/@) 5i  }T****** received valid address query ******|9}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i'!%0!IAIQNew>!  (DAT read: user:20>  BDAT read: Tx time:16:06:45.2517  $Ping request sent. 6FM>6H oϿ G@?^@\]?Hÿ,?@g]?I60U,@)6V^;i4|-MB9-(H=Mb@Mb@Mb@ 9)9I9i99=5^I ?㥛 ?=>===LI=VAi= A9=ٷA)9=AIQ)UAABD]6D]<5YeT!m6=mQ)m>q9q9udDYq};A}>yQ 1X4٪} B?Q 5X4}wD }fPB9>Q A:YoF@Q E?y}ZB)} ;I}e ;i}V X4YRB?AtEh9h=Dd%*Ah=Ch=Ch=[@h=Z>Zf/>ZoF@I) ) 1ɡ1i1I1i9)9)-p~9D-yD-hD-+D)E-: E-]96E- [4:E)"E-;E-;*E-5;E-5;i*3IINF>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250103Qy G.IY,ǁ&e%*Aiy6,@ٱ6T:@6>6b>6H{ Ͽ?`@K?gÿ c0?^?I6,@)6^;i6CRMB9R'HBDZ6DZ5YbS"!bj=bYQ)b>d9d9fdDYdj <Aj>hQ 1rX4٪j5?Q 5rX4jRD jAPB9tYvF@Q Ev?yjB)j";Ij#;ijX4YxzAAxYdddddBdddccZ?zZZZZF@I  ɡiIi)iiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502684iO,5ԑIIN>ԱA5@AA5AAvB=>~B9B9B9B9B9B9B=3j;B=)EDUDUfDQDQEUa: EU96EQ:EQ"EUL;EUM;*EU-;EU-;- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754062 PY, m@e%*Aym<,@ٱm:@m>mn>mHο@0?@??Lÿ5?_?Im<,@)mo^;imC}MB9yiԱ Mb@Mb@Mb@ ) I i   :v?Dl?)\( > O= GaI Ai OA ?A 5A)  QABD%6D%b5Y5y:!55=5Q)=>9999=dDY9Ey;AE>AQ 1UX4٪E'&?Q 5UX4ED EPB9U>Q AU:YU~F@Q E]?yEB)E ;IE ;iEY'X4YeUBeKAesE}B*** querying acoustic contact ***zhyhydddddBdddcc`?zZ>Z>ZZP(>ZW~F@I  ɡiIi)F9i.!%1!I9IINe4>)y }Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006868 D= ~D= bD= ,D9 E= : E= 96E= g4:E9 !E @!E @!E @!M @I @VY,m:Ze%*AyN,@ٱN:@N >NR>NH`Gοl޽.?@$? 'ÿ/?Ba?IN,@)NL^;iNCZLB9ZH`iba=BDb6Dbd5Yj%!jd=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258256nPQ)v>t9t9vdDYtz<Az>|Q 1X4٪~?Q 5X4~C ~OB9YF@Q E ?y~PB)~:I~:i~3X4YdAd1d1d9d9d9Bd9d9dAcAcE`!e?zZaZaZaZeհF@Iq q qɡyiyIyiy)Ug9i 15IIN>Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510100ԙ ^j\Y, te%*Aɰ;y6-@ٱ6;@6,>6ך>6H VͿ`z??ÿ ;9?hb?I6-@)6V^;i6CfMB9f5HBDn6DnP5Yvk=!vI=v>Q)z>x9x9zdDYx~Z;A~>Q 1 X4٪ ?Q 5 X4C OB9 Y F@Q E ?yB)d:I:iBX4YWB@ArEdAdAdAdAdABdAdAdIcIcM?zZiZiZiZm]F@Iy y ɡiIi)&??vB~BB%HBbKBBBBB4j;B)EB֍CDDoD)DE E:6EFA4:E"E[;!E\;!*EN;!EN;!B֍CBB =B =B!%4qӁ9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765755i31!I1IANM>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014736 RcY,e%*Ay6?-@ٱ69;@6>6>6HV`Ϳ De(?`;?¿`H?c?I6?-@)69^;i6CBMB9BCHF)>F>=Mb@Mb@Mb@ 9)9I9i99="~?x&?V-=>=7==mI=VAi9=A9)9=ABDU6DU5Ye?<!eC=maQ)m>i9i9mdDYiuw;Au>yQ 1X4٪},?Q 5X4}C }OB9>Q A:YF@Q E?y}B)}:I}Q:i}PX4Y)AdddddBdddcc@@zZ>Z>ZK$>Z=F@I  ɡiIi)9im`6iim0iIyIN>BE [4JE-W4RE#e0D D lD ,D E : E :6E g4:E !@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266093) {iY,ǧe%*A y:l-@ٱ:g;@:/>:>>:HE;Ϳ0? @?o¿O?`d?I:l-@):Z^;i8bMB9b7HId)dBDj6Dj5Yr)Ҽ!rS=rSSQ)v>t9t9vdDYtzR;Az>|Q 1X4٪~?Q 5X4~C ~aOB9YG@Q E ?y~NB)~;I~;i~I^X4YZBHAd1d1d1d1d9Bd9d9d9cAcE@zZZZZYG@I   ɡiIi)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5181859qimq8iimx0iIyIN>ԙvB>~B׍CBBB =BBBi;B)ErDjDa=DDnD*DE: E:6E(N4:E"E½;!%Eý;!-*EJ;!-EJ;!-  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770166hpY,e%*ALlily>-@ٱ;@Mf>>H ̿ F_??.|¿ FY?@Pf?I>-@)=^;iC MB9-HmMb@Mb@Mb@ i)iIiiiim7A`?p= ף?Mbm>m=mIiiim?Ai)imABD6D5Y!1=FQ)>99dDY;A>Q 1X4٪?Q 5X4_C +OB9>Q A:YF@Q E?yB):I8:ifnX4YWAB*** querying acoustic contact ***zhhdddddBdddccJ @zZ>Z>Z*>ZF@I) ) )ɡ)i)I1i1)1=hAi=hAAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023402i 9/0IINJ> D D mD ,D E 1: E :6E g4:E !- @!- @!- @!- @YvY,e%*Ay6-@ٱ6k;@6>6;>6HJ̿`稼"? @? J¿ f?g?I6-@)6`;i6CBLB9BHDiDBDJ6DJ5YRu!Rq=V䒻Q)V?T9T9VdDYTZ <AZ?bBDAT read: Rx Time:16:06:47.8569 fTRx dataTimestamp_ set to:1755878807.454837fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275264|\Q 1X4٪^?Q 5X4^BC ^OB9 Y G@Q E ?y^B)^-zX4YAs54Docking module at standby.d9dYdYdYBdYdYdacacec @zZZZZG@I  !ɡ!i!I!i))qUڄ91i8IIN&>Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526105ԁ |Y, ]e%*Ay6* .@ٱ6<@6B>6(>6H ˿H?``C?¿@?j?I6* .@)6Wa;i6C>LB9BHFp=iFp=BDJ6DJ5YR!RJ=VzQ)V>T9T9VdDYTZS<AZ>\Q 1bX4٪^?Q 5bX4^#C ^NB9`YbRG@Q Ef?y^MB)^;I^:i^^X4Yj]BjοAjqE=sz8Undocking sequence complete.9zq:zBd|d|d|c|c`L@YvB~BB2HBlKBB =BBBi;Bk)EzZZZZRG@I ɡiIbDZDAAD~DjD*DE: E96E(N4:E"E[;!E\;!*EU<;!EV<;!i)9%DAT read: 16:06:47.8569 LVL= 21968, 32545, 30242, 32755, AGC= 61, IDX= 439, 0.37,-0.974, 0.178,-1.652,-0.643, PHS=-0.229, 0.866,-1.053, RAW= 355.3, 5.1, CAL= 355.1, 3.3, ROT= 154.9, -3.3 i591111ԁYgot valid direction response: 16:06:47.8569 LVL= 21968, 32545, 30242, 32755, AGC= 61, IDX= 439, 0.37,-0.974, 0.178,-1.652,-0.643, PHS=-0.229, 0.866,-1.053, RAW= 355.3, 5.1, CAL= 355.1, 3.3, ROT= 154.9, -3.3 PDAT read: Bearing 134.0, 33.5 (Local) ~Local bearing/azimuth received: Bearing 134.0, 33.5 (Local) DAT read: Range 11 to 50 : 150.7 m (Round-trip 201.0 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.904067,0.423496,0.057564]Fpublishing direction and range info9I\)Ώ?`8.y?CiU!"v= ~j)-]?IȆio@K=DS@k=c-@ kI iI7 8 ec~?u? . c-@INH>)ki=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Ա  (DAT read: user:21>  BDAT read: Tx time:16:06:49.3017  $Ping request sent. <@6>6>6H@p @`|˿@1P`5?~?.!?m?I6ZD.@)6a;i4LB9HMb@Mb@Mb@Թ )Iil?㥛 ?L7A`尿>=+IAi)ABD6D)5Y@!8=gQ)>99eDY,<A>Q 1X4٪H?Q 5X4C NB9\>Q A:YH@Q E ?yB)/:IZ:iX4YAhhSe%*AhChCh@h-'`뚭O@s?!@hI\)Ώ?`8.y?hc-@hki{6]@'YUN* ΂A@h&4?'`[??hhBh&X-?h(p.h.B*i2i:iBiC"il@tUHTransitioning to midcourse guidance.q:U:UBdYdYdYc]`fb@c]?zZ}\>Z}\>Z}j/>Z}H@I )ɡ)i)I)i1)1-955 55D|DmD'DE : E:6E'4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251060IIN%>9 ʉY,M)f%*Ay6y.@ٱ6It<@6 >6m\>6H @$ ˿u ?m^?v i?o?I6y.@)6,`;i6CBLB9BHBDH6DHYR;!Ra=RgQ)V>T9T9VeDYTZ<AZ>\Q 1bX4٪^?Q 5bX4^C ^vNB9`YbH@Q Eb?y^B)^;I^3;i^X4Yj_BjAjpEez@:zrzCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq9zrzAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guider~Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockBd|d|d|cc ?zZ!Z!Z!Z%H@I1 1ɡ1i1I1i9)9=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116E 9IYIiNu=u=iqI)jAI i5@ 5jA=BAvBy~ByByByByByByB}i;B}X)ED~DoD(DE: E:6Ec44:E"E!E!*EN;! EN;! qi =I a= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755244ԡ Y,Bf%*Ay.@ٱW<@/ >:>Hʿ`ٮy?`q@=e?w4?@p?I.@)K%_;iCLB9HiMb@Mb@Mb@ )Ii5^I ?~jt?p= ף>=IQAixA;A`A)I)@ABD6D5Yj=!,=gQ)>99eDY;A>Q 1X4٪?Q 5X4$C ?NB9 >Q A:YHQ E?y_B) ;I ;i5X4Y¿A=B*** querying acoustic contact ***zh9h9:EuEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1;E vEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqZ >Z v6>ZI@ɢLB7  =9I ɡiI_v:i)AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007204ԙ9I9IQN]U>D D sD 'D E : E Z:6E '4:E ! @! @! @! @ ܖY,\f%*Aiy6!.@ٱ6<@6 >6W>6H8 bʿ`~S .?@ ~u?=D X?@mq?I6!.@)6^;i6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258825nLB9nHBDv6DvP5YEj=!Mg=MQ)U>y9y9}eDY?;A>Q 1X4٪?Q 5X4-C NB9YwHQ E?yB)z?zZZZZӧI@ɢ%LB%_]: )- e(kpHeading = 0.400000)e: m(kiHeading = 0.001000ImL= (kdHeading = 0.050000i)j駕j);9IIN>)Q UA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511415) Y,Uvf%*Ay:N.@ٱ:<@:>:m>:H{$@(ʿ?;`qo? c?r?I:N.@):D^;i:CBMB9B$HiF=IF=BDJ6DJ<5YR=!VU=VQ)V>T9X9ZeDYXZ;AZ>\Q 1bX4٪^~?Q 5bX4^9C ^MB9dYf]HQ Ef?y^B)^:I^9:i^X4YhjAhqGvv~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqGv?~vB!~B!B!B!B!B!B!B%pi;B%F)E~Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1@} }Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqA}}Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA}}Initialize.A}Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1B Initialize.qBBq@?Bzfh7qBrfh7AAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1BqAAfffBDDD*D$Terminal guidance.q@BInitialize.dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZEDEm: E1]:6E(N4:E"ELUninitialize WaypointComponent.Bdddccl?zZYZYZYZ]9I@ɢmMBm> uuI ։s7ɡi6u>6H@(ɿ)`y?!;?@@>?@u?I6/@)6vD^;i6C<^MB9^"HUMb@Mb@Mb@ Q)QIQiQQU> ףp=?~jt?QU>QUuIUAiUIAU AUA)QQiim=BDm6Dmݥ5Y}.D!=={aQ)>99eDYu;A>Q 1X4٪o?Q 5X4LC MB9>Q A:YHQ E?yXB)a:I:iX4YeBAoE addTargetRange:: Added new target pos. range: 150.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 gg Added new target pos. range: 149.814468 m, bearing: 323.391373 deg, lat: 36.779555 deg, lon: -121.859438 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 gFNOT Ignoring new targets: 149.81 m.g g} ProNav pure pursuit: ac range: 149.814468 m, nav range: 148.712830 m, bearing: 319.928167 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 169.103504 deg, new cmd heading: 319.928167 deg. HeadingCmd: 5.583800 target range: 149.814468 and range: 150.70 m.g}@gg;gL?gzfrfffBdddcc)@zZ5>Z5>Z5*;>Z5J@ɢAEX^ E4 =E̺IA M]7ɡIiMIM:Iuk@@iq uL? }(kpHeading = 0.800000)}; }(kiHeading = 0.004000i}dqL)}}@)AԱI9DDlDDE: E:6E:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2671029#2:IIN > Y,Xf%*Aɰ;y6//@ٱ6}*=@6>6>6H2.ɿ虺 t?@@?@ٿ?y?I6//@)6H^;i4BLB9B HBDJ6DJ5YjYP!nV=lrCQ)r>p9p9veDYtvW;Av>xQ 1~X4٪zb?Q 5~X4z`C zMB9YGQ E?yzB)z;Iz;iztX4Y  A g15FNOT Ignoring new targets: 149.81 m.g=:g9M ProNav pure pursuit: ac range: 149.814468 m, nav range: 148.830750 m, bearing: 319.967804 deg, approach rate: 0.307987 m/s, LOS rate: nan deg/s, cmd heading: 319.928164 deg, new cmd heading: 319.967804 deg. UHeadingCmd: 5.584492 target range: 149.814468 and range: 150.70 m.gU(@gQgQgQgQzfYrfYfYfaBdadadacacm=@zZZZZ?J@ɢOѺ 顝I `rɡiIj:I C@ii)(@)%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519498j99u*;I IN% >AAvB%>~B!B!B!B!B!B%fDB%Li;B%5)EB׍C9B׍CBBƭ =Bƭ =Bf4D~DmD)DE: E:6EFA4:E"E[;!E\;!*EAG;!EAG;! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771129i Y,Ga/@ٱv[=@v$X>vz=vH<4 ɿ@r?"?<@[? y}?Iv>a/@)v];ivC9ELB9MHe>e<BD6DR5Y-&!-7=UQWQ)U>Q9Y9]eDYY];A]>aQ 1mX4٪eS?Q 5mX4ezC efMB9YGQ E?yeB)eFBEmʷG4JEmC4REm/D D D D E : E *5:6E :E ! @! @! @! @*Y,Vf%*Ay6Q/@ٱ6|=@6] >6=6H8ȿ2Z?F%>}?Ug? ~?I6Q/@)6H ^;i6CNBDAT read: Rx Time:16:06:51.9084 RTRx dataTimestamp_ set to:1755878811.488945Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279640ZLB9^HԙEMb@Mb@Mb@ A)AIAiAAECl?l?)\(E>E=EGaIAiExAAEA)AEAIY)YBDe6De5Y{=!D=|IQ)>99eDY-;A>Q 1Y4٪E?Q 5Y4C =MB9*>Q A:YGQ E?y\B)G,Z*>Z*8>Z!AJ@ɢUMBU%N Q]1IY ]¸ɡYiYI]Z2;Ie9Biiv)@) 9) iI5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526959 vB >~B B B B B B eDB Ki;B 4)E>A +:D D rD .D E : E ?:6E ـ4:E "E ;!E ;! *E tY;! E tY;! IIIN >*Y,wf%*AiilIn<-DAT read: 16:06:51.9085 LVL= 29872, 23585, 32754, 32755, AGC= 67, IDX= 439, 0.22, 1.142, 2.335, 0.436, 1.474, PHS=-0.230, 0.906,-1.082, RAW= 355.3, 4.8, CAL= 355.1, 2.8, ROT= 154.9, -2.8 ]Ygot valid direction response: 16:06:51.9085 LVL= 29872, 23585, 32754, 32755, AGC= 67, IDX= 439, 0.22, 1.142, 2.335, 0.436, 1.474, PHS=-0.230, 0.906,-1.082, RAW= 355.3, 4.8, CAL= 355.1, 2.8, ROT= 154.9, -2.8 ePDAT read: Bearing 136.1, 32.5 (Local) e~Local bearing/azimuth received: Bearing 136.1, 32.5 (Local) DAT read: Range 11 to 50 : 151.9 m (Round-trip 202.6 ms) speed -0.5 m/s R#Rx 1: Read range and direction messages.y/@ٱ@=@*>l>HB`Aȿ@uB?(`?` |(?}?I/@)m ^;iC^direction in FSK: [-0.904488,0.423693,0.048850]Fpublishing direction and range info9prVJ}(?s!D?rCpirtr!\rprC rk)rg?Ir~ipr=pr+H=p r+HippLB9HiIrէaG)G6.2?rN rȩ p)r+HippT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BD 6D 5YUZ!](=]Q)]>a9a9eeDYaeV<Ae>iQ 1Y4٪.4?Q 5Y4C  MB9YGQ E?yB)p:I:iY4YAahphruf%*AhrChrChrj@hrV"a:O@a @hrVJ}(?s!D?hphr+HiriCs#^@ė=Ugw1@@ԙhrA@?u< BDAT read: Tx time:16:06:53.3018 $Ping request sent.A% 0I I N > FY,jg%*Ay6/@ٱ66=@6=6O7>6HF`ǿf?`*m? Z?}?I6/@)6^;i4NLB9NHMb@Mb@Mb@ )IiHzG?t=LIiAA)GADDoD,DE: E:6Eg4:E!@!@!@! @BD 6D 5Y!%N=%Q)%>!9)9-fDY)-׿;A->1Q 1=Y4٪5J'?Q 5=Y45C 5LB9E)>Q AE;YE|GQ EE?y5B)5:I5:i5u(Y4YMjBM AUmEgFNOT Ignoring new targets: 151.01 m.g;g; ProNav: ac range: 151.007263 m, nav range: 146.921661 m, bearing: 323.794460 deg, approach rate: 0.394915 m/s, LOS rate: 0.118701 deg/s, cmd heading: 324.824427 deg, new cmd heading: 324.897277 deg. gZu)>ZuJ8>ZuJ@ɢ-MB- )-dYI1 5 Fɡ1i1I5cp;I=.5i9i9)=t@)a9) >A dII IY Ne > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824 Y,>@1g%*Ay:0@ٱ:>@:=:>:H7L8ǿGѸȧ?z/?q!P?@?I:0@):9^;i:CBLB9BHJa=iJp=BDJ6DJ5Yz!_=qQ) > 9 9 fDY s;A>Q 1%Y4٪?Q 5%Y4C LB9!Y%TGQ E-?y[B) ;I;iI5Y4Y15_A1gFNOT Ignoring new targets: 151.01 m.g:g: ProNav: ac range: 151.007263 m, nav range: 147.036285 m, bearing: 323.829046 deg, approach rate: 0.315396 m/s, LOS rate: 0.095092 deg/s, cmd heading: 324.897264 deg, new cmd heading: 324.966382 deg. g.;HeadingCmd: 5.671733 target range: 151.007263 and range: 151.90 m.g~@ggggzfrfffBdddcc?zZZZZJ@ɢMB   I  ܀ɡ iIn;I1ii)~@)ˍ9Q>A:bAiAZAhAA A @AvB>~BB>HBvKBBBBBOi;B6)EIQIaNm>D D D 'D E : E 6E '4:E "E =;!E >;!*E N;!E N;!y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756025ԩ LY,_%Kg%*A@yNI0@ٱND>@N@=N0>NH`tQ<ǿ͎T?@!5@Ҝ?#`u+??INI0@)Ns ^;iNC~LB9~H==Mb@Mb@Mb@ )IiHzG?Q?J +\=HIiݜAA)BD6Dˣ5Y-O=!-9=-vQ)5>19195fDY9=f;A=>AQ 1MY4٪E[ ?Q 5MY4EC ELB]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070489M>Q A];Y]GQ E]?yEB)Eu;IEt;iEDY4YmmBm;AiB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 151.01 m.g\:g\: ProNav: ac range: 151.007263 m, nav range: 147.174850 m, bearing: 323.870516 deg, approach rate: 0.317775 m/s, LOS rate: 0.095015 deg/s, cmd heading: 324.966385 deg, new cmd heading: 325.049248 deg. g-;HeadingCmd: 5.673180 target range: 151.007263 and range: 151.90 m.g@ggggzfrfffBdddcԩcl?zZ>Z>Z3>ZJ@ɢMB  I e ɡaiaIm֑;ImK\+iqiq)u@)q}jAiy9>A}tn IINk>D%zD%mD%&D!E%l: E%:6E%4:E!!5@!5@!5@!5@i ?I ^? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259613 Y,dg%*Ay6Eu0@ٱ6o>@6m=6F>6H^V@eƿRg? ;@M?``[ؿ??I6Eu0@)6L^;i6CRLB9RHBDZ6DZ5Yb!be=f|Q)f>d9d9ffDYdj;Aj>llQ 1vY4٪ny?Q 5vY4nD nLB9tYv[GQ Ez?ynB)nD;In:in?QY4Y|~SA|g!%FNOT Ignoring new targets: 151.01 m.g-#:g-#:= ProNav: ac range: 151.007263 m, nav range: 147.286560 m, bearing: 323.904040 deg, approach rate: 0.313619 m/s, LOS rate: 0.094044 deg/s, cmd heading: 325.049249 deg, new cmd heading: 325.116245 deg. g=,;EHeadingCmd: 5.674349 target range: 151.007263 and range: 151.90 m.gED@gAgAgIgIzfIrfIfQfQBdQdQdQcc@f?zZZZZNJ@ɢ MBe޻ 顭I RŹɡiI;I&ii)D@)9 >A6mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993AթAI݈GII N-o>)-jA1IIiuujA}3AvB >~B B JHB KBB B B fDB Yi;B <)Ea bD ZD ?AD% D% D% )D! E% a: E% L_:6E% FA4:E! "E% (@j`=j =jHZmƿk?H-S?@b ?S?Ij0@)jo5^;ijC-LB9-H1IA)ABDE6DE{5Y]v<!]A=] Q)e>e,?9e,?9efDYeCm;Am>qQ 1}Y4٪ua~?Q 5}Y4u9D u\LB9YAeA5~AI9IQN]v>ԑuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785Թ (Y,yg%*Ai@y60@ٱ6$>@6=6\=6H`ſȸ ??V?Fƽ??I60@)6^;i6CBLB9BH5Mb@Mb@Mb@ 1)1I1i115J +?5t=5j3?93?9fDYLCV<A>DDyD-DE: E:6Et4:E!@!@!@!@Q 1Y4٪~?Q 5Y4aD 8LB9j>Q A;YFQ E?yB)* ;I;inY4Y pB TA lEg15FNOT Ignoring new targets: 151.01 m.g=|:g=|:M ProNav: ac range: 151.007263 m, nav range: 147.548615 m, bearing: 323.983373 deg, approach rate: 0.309220 m/s, LOS rate: 0.094196 deg/s, cmd heading: 325.195770 deg, new cmd heading: 325.274762 deg. gMc,;UHeadingCmd: 5.677115 target range: 151.007263 and range: 151.90 m.gU@gQgYgYgYzfYrfYfafaBdadadacicm@ɢ MBOл !%TI) 5 ɡ1i1I5;IUiYiY)]@)aAPDvA ӳAI I N >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518950 Y,vg%*AyFT)1@ٱF#?@F =F8=FH h ?)ſr?@wb?1@??IFT)1@)FK^;iFCNLB9RHBDZ6DZݥ5Yb7=!b\=bʻQ)b>f*7?9f*7?9ffDYfCfZ<Aj>hQ 1nY4٪jY~?Q 5rY4jD jLB9pYrrFQ Er?yjB)j;Ija;ij{Y4Ytv:AxgFNOT Ignoring new targets: 151.01 m.g%:g%:5 ProNav: ac range: 151.007263 m, nav range: 147.661819 m, bearing: 324.018123 deg, approach rate: 0.307993 m/s, LOS rate: 0.094472 deg/s, cmd heading: 325.274755 deg, new cmd heading: 325.344202 deg. g5,;5HeadingCmd: 5.678328 target range: 151.007263 and range: 151.90 m.g=ܴ@g9g9gAgAzfArfAfIfIBdIdIdIcQcU@ɢuMB}c y}ܘIy }&ɡiI"3;Iii)ܴ@)m,9 }&Changing to mode: 1A<AvB>~BBBB =BBBei;BB)ErD=jD<DDlD*DE: E:6E(N4:E"E;!E;!*EC;!EC;!i9    5 A>Akchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867AIIYqIiN}>ԡ ]Y,2ug%*AyF|1@ٱFw?@F9=F}=FH`qVĿ?@Rg ]>?@=@%??IF|1@)F9^;iFCRLB9RHMMb@Mb@Mb@ I)IIIiIIMzG?T㥛 ?J +M >M=MHIMQAiMAM AMIA)IMAia=BD6D5Y;!6=ŻQ)>9!9%fDY%C%:<A%>5BDAT read: Rx Time:16:06:55.9100 =TRx dataTimestamp_ set to:1755878815.266866=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024008IQ 1UY4٪Ma~?Q 5UY4MD MKB9]>Q A]:Y]9HQ E]?yMRB)M:IM:iMkY4YerBe>AekEiB*** querying acoustic contact ***zhhgquFNOT Ignoring new targets: 151.01 m.g}$:g}$: ProNav: ac range: 151.007263 m, nav range: 147.813736 m, bearing: 324.062055 deg, approach rate: 0.314960 m/s, LOS rate: 0.090986 deg/s, cmd heading: 325.344204 deg, new cmd heading: 325.431976 deg. g&;HeadingCmd: 5.679860 target range: 151.007263 and range: 151.90 m.gi@ggggzfrfffBdd!d!c!c%ੵ @ɢMBW 页I %P'ɡiI;Iii)i@)ԡM9i900DDmD'DEO: E:6E'4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274884>A #bA hAZA gA A'AII!N->Y,2g%*Aɰy61@ٱ6o?@6.n=6=6Hzÿ@@T?@g`\?ɿ`@?`?I61@)6__^;i6CBLB9BHBDJ6DJ5YR!RD=RNQ)V>V:?9V:?9VfDYV0CZR<AZ>\Q 1bY4٪^ι~?Q 5bY4^D ^KB9`YbGQ Ef?y^B)^d:I^:i^ۙY4Yhj~Ahxg|FNOT Ignoring new targets: 151.01 m.g :g : ProNav: ac range: 151.007263 m, nav range: 147.951859 m, bearing: 324.102386 deg, approach rate: 0.359193 m/s, LOS rate: 0.104785 deg/s, cmd heading: 325.431985 deg, new cmd heading: 325.512573 deg. g?;%HeadingCmd: 5.681266 target range: 151.007263 and range: 151.90 m.g%̵@g!g!g!g!zf!rf)f)f)Bd1d1d1c1c= @ɢeMBe[ aeܽIa m_;ɡiI;I$ ii)̵@)hAijA_9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529691)iaaim?0qIvB>~BBdHBKBB =BBBwi;BJ)EBBBBBB4>AD- D- kD- +D) E- ҝ: E- :6E- [4:E) "E- ;!E E- ;!E *E- ?;!E E- ?;!M q I I N >E DAT read: 16:06:55.9100 LVL= 30832, 22465, 32754, 32755, AGC= 66, IDX= 439,-0.49, 0.513, 1.733,-0.227, 0.878, PHS=-0.263, 0.900,-1.149, RAW= 355.6, 5.8, CAL= 355.4, 4.5, ROT= 154.6, -4.5 M Ygot valid direction response: 16:06:55.9100 LVL= 30832, 22465, 32754, 32755, AGC= 66, IDX= 439,-0.49, 0.513, 1.733,-0.227, 0.878, PHS=-0.263, 0.900,-1.149, RAW= 355.6, 5.8, CAL= 355.4, 4.5, ROT= 154.6, -4.5 U PDAT read: Bearing 135.7, 31.8 (Local) U ~Local bearing/azimuth received: Bearing 135.7, 31.8 (Local) ] DAT read: Range 11 to 50 : 153.0 m (Round-trip 204.1 ms) speed -0.3 m/s e R#Rx 1: Read range and direction messages.m ^direction in FSK: [-0.900551,0.427613,0.078459]m Fpublishing direction and range info9  9[O쿷I^?5;? C i px W   B  𧆾) fff?I oi @ 4Q= (~@ |٠= ,@  |٠i  I !Y⿈lf?g8?   Ͻ  ,@) |٠i   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Z,h%*AYy62@ٱ1@@===H z`'ÿ 9@ؔ?@Lh`(? 0?r?I62@)i/^;iCLB9HBD6Di5Y41=!}6=Q)>99fDYCP<A>1Q 1MY4٪5~?Q 5uY45D 5KB9YmGQ E?y5B)5; BDAT read: Tx time:16:06:57.3018 $Ping request sent.E>ԱiR4U PExceeded connect timeout, disconnecting. BEJE˔K4REA0DM ~DM nDM )DI EM : EM :6EM FA4:EI !] @!] @!] @!] @>A rA ?jA ?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897IIN>aXZ,#h%*AyR2@ٱRd@@R=R8=RH D¿s/?lw?2 ?E?IR2@)R^;iP^LB9^H=Mb@Mb@Mb@ 9)9I9i99=w/?V-?Mb=>=m==@I9i9=ݜA=A)9=zAIQ)UAABD]6D]5Ye4!e0=mQ)m>q9q9ugDYuCu<A}>yQ 1Y4٪}~~?Q 5Y4}D }|KB9 >Q A:YkHQ E?y}uB)}G ;I} ;i}Y4YsAg9=FNOT Ignoring new targets: 152.10 m.gE:gE:i} ProNav: ac range: 152.101166 m, nav range: 149.458282 m, bearing: 324.985741 deg, approach rate: 0.404426 m/s, LOS rate: 0.110986 deg/s, cmd heading: 325.624925 deg, new cmd heading: 325.711923 deg. g}K;HeadingCmd: 5.684745 target range: 152.101166 and range: 153.00 m.go@ggggzfrfffBdddcc͠?ɢMB !%ѽI) -jɡ)i)I-P;I5bi1i1)5o@)99i9=4ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502495>A I) IA NM >AQ AQ vB] >~BY B] pHB] KBB] =BY BY B] `i;B] @)E }Z,6HE4@iѴ``? upv?(?`?I6 .3@)6-^;i4DFDFDF*DDEF: EF*5:6EF(N4:ED"EF½;!JEFý;!J*EF|;!JEF|;!NNLB9NHBDV6DVˣ5Y^!bV=bgQ)b>d9d9fgDYf!Cf<Aj>pQ 1zY4٪r~?Q 5zY4rD r[KB9|YGQ E?yrB)rǙ;IrY;irY4YxBA%jEgFNOT Ignoring new targets: 152.10 m.g:g: ProNav: ac range: 152.101166 m, nav range: 149.597336 m, bearing: 325.024499 deg, approach rate: 0.355796 m/s, LOS rate: 0.099077 deg/s, cmd heading: 325.711914 deg, new cmd heading: 325.789357 deg. gR5;=HeadingCmd: 5.686097 target range: 152.101166 and range: 153.00 m.g=@g9g9g9g9zfArfAfAfABdIdIdIcIcM` ?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754538ɢMBn 顝I nɡiI(A #I I - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006513N- >eZ,UVh%*ABnManaging dock network, ignoring radio surface power offy>p3@ٱ>A@>d=>->>H"`qF @?@ B?Jѿ?;?I>p3@)>R^;i<NLB9NH%Mb@Mb@Mb@ !)!I!i!!%Zd;?y&1?Mb%>%`e=!I%|Ai%A%A%tA)!% ABD=6D=~5YM'!MB=U=Q)U>Q9Q9]gDY]pC]ģ<A]>aQ 1mY4٪ex~?Q 5mY4eE e6KB9u>Q Au:YuOHQ Eu?ye5B)e:IeQ:ieY4Yy}AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 152.10 m.g=;g=;E ProNav: ac range: 152.101166 m, nav range: 149.763580 m, bearing: 325.070101 deg, approach rate: 0.418742 m/s, LOS rate: 0.114737 deg/s, cmd heading: 325.789368 deg, new cmd heading: 325.880472 deg. gEQ;MHeadingCmd: 5.687687 target range: 152.101166 and range: 153.00 m.gM@gIgIgIgIzfIrfIfqfqBdydydycyc}{?ɢ MB/ ?I ɡiI A bA iAZA dAII IY Nm >Z,9}ph%*Ay6L4@ٱ6/GB@6R=6+>6H`Ž`O`?`{?`bLʿ??I6L4@)6.^;i6C@BLB9BHJR=iJ%=BDJ6DJ5YR^!VU=VQ)V>X9X9ZgDYZCZ<AZ>\Q 1bY4٪^i~?Q 5fY4^E ^KB9dYfGQ Ef?y^B)^y:I^N:i^5Y4YjzBjAniErchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510521gy}FNOT Ignoring new targets: 152.10 m.g:g: ProNav: ac range: 152.101166 m, nav range: 149.914001 m, bearing: 325.112030 deg, approach rate: 0.377629 m/s, LOS rate: 0.105155 deg/s, cmd heading: 325.880483 deg, new cmd heading: 325.964256 deg. gr@;HeadingCmd: 5.689149 target range: 152.101166 and range: 153.00 m.g @ggggzfrfffBdddcc?ɢ=#MB=-= AEIA E ɡAiAIE9 ~B B B B B B B Zi;B >)EDDgD*DEO: E&96E(N4:E"E;!E;!*Ej1;!Ej1;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762506>A Iq I N >! x"Z,$^h%*Apy4@ٱ=B@Y=>Hh=0&`D??༃S? ?I4@)[^;iCLB9H%=%a>Mb@Mb@Mb@ )Ii{Gz?X9v?Mb?}=IٜAiҮA|AA)ABD6DC5Y/=!,=yQ)>9999=gDY=C=,<A=>AQ 1MY4٪ET~?Q 5UY4EYE EJB9UV?Q AU:YUFQ EU?yEB)E~ ;IE;iE;Y4YY]AagFNOT Ignoring new targets: 152.10 m.g ;g ; ProNav: ac range: 152.101166 m, nav range: 150.114288 m, bearing: 325.169410 deg, approach rate: 0.425100 m/s, LOS rate: 0.121624 deg/s, cmd heading: 325.964248 deg, new cmd heading: 326.078855 deg. g^;HeadingCmd: 5.691150 target range: 152.101166 and range: 153.00 m.g@ggggzfrfffBdddcc`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014595ɢ'MB  I ˕ɡiI< I ]ѿi i)@)9iA11i >A D yD fD +D E : E 96E [4:E ! @! @! @! @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266444A %AI I N >(Z,h%*AyB,5@ٱBЇC@B =B>BH OƧ割?@ #?@@7??IB,5@)B0^;i@HNLB9NHBDZ6DZ5Y^̽!bd=b#Q)b>fD?9fD?9fgDYfVCf]<Aj?hQ 1nZ4٪j E~?Q 5rZ4jE jJB9pYr,FQ Er?yjpB)jL:Ij":ijOZ4Yz}BzAzhEgFNOT Ignoring new targets: 152.10 m.g%';g%';5 ProNav: ac range: 152.101166 m, nav range: 150.255508 m, bearing: 325.210598 deg, approach rate: 0.408519 m/s, LOS rate: 0.119035 deg/s, cmd heading: 326.078859 deg, new cmd heading: 326.161157 deg. g5Y;=HeadingCmd: 5.692586 target range: 152.101166 and range: 153.00 m.g=)@g9g9g9g9zfArfAfAfABdIdIdcc@ɢ+MBNa *I ,jɡiIArA?jA ? AY A] <vBe >~Ba Ba Ba Ba Ba Ba Be [i;Ba A I I N >*/Z,Wh%*ADB}DBiDB(D@EB݉: EB96EBc44:E@"EB9;!FEB:;!J*EB8;!JEB8;!J|LB9HBD6D15checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770586Y S<!;=Q)>99gDYCA>Q 1Z4٪*2~?Q 5Z4E JB9YQ E?yB):I-:iZ4YAgFNOT Ignoring new targets: 152.10 m.g%;g%; ProNav: ac range: 152.101166 m, nav range: 150.433731 m, bearing: 325.262430 deg, approach rate: 0.409093 m/s, LOS rate: 0.118836 deg/s, cmd heading: 326.161149 deg, new cmd heading: 326.264692 deg. g{Y;HeadingCmd: 5.694393 target range: 152.101166 and range: 153.00 m.gx8@ggggzfrfffBdddcc@C@ɢ}/MB}BL y}q)Iy KҺɡiIVA ·ԉ AU yAIa Iq N} >p6Z,h%*Ay6!6@ٱ6D@6 =6 >6H1 38A`?͝? |`C??I6!6@)6];i6CBLB9BHDiDiF=IF= Mb@Mb@Mb@ ) I i Q  V-??I +  ? L= 94I i A  `A)  ץABD}6D}5YA!K=Q)> H?9 H?9gDYCV=A>Q 1Z4٪~?Q 5Z4F JB9?Q A:YFQ E?yTB) ;Ia;iZ4YBAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 152.10 m.g=;g=; ProNav: ac range: 152.101166 m, nav range: 150.611374 m, bearing: 325.312916 deg, approach rate: 0.441163 m/s, LOS rate: 0.125231 deg/s, cmd heading: 326.264695 deg, new cmd heading: 326.365548 deg. g/e; HeadingCmd: 5.696153 target range: 152.101166 and range: 153.00 m.g F@g g g g zfrfffBdddcc5 @ɢ]3MBe>k im1Ii ugɡqiqIu!A=  Au %AI I N5 >=3D?9D?9gDYYCA>Q 1Z4٪ ~?Q 5Z4FF cJB9YQ E?yB);I:i-Z4YB BDAT read: Tx time:16:07:01.1518 $Ping request sent.>!i} 9y y } 0y Q >AE #bA] hAZA] gAy}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250465AIIN?DZ,i%*AvdLB9vbHԡMb@Mb@Mb@ )IiʡE?:v?{Gz-?T=#IAitAMA)ABD6D 5Y]ӻ!.=Q)>99hDYCA>Q 1Z4٪A}?Q 5 Z4F >JB9 #?Q A :Y FQ E ?yaB):I/:iZ>Z4YBAg9EFNOT Ignoring new targets: 153.29 m.gE4;gM4;U ProNav: ac range: 153.294983 m, nav range: 151.032898 m, bearing: 325.432023 deg, approach rate: 0.485221 m/s, LOS rate: 0.136565 deg/s, cmd heading: 326.489572 deg, new cmd heading: 326.610198 deg. g]y;eHeadingCmd: 5.700423 target range: 153.294983 and range: 154.20 m.gei@gagagagazfarfififiBdidqdqcqcuj:?ɢA5 2) Am yAIq I N >KZ,q.i%*Aɰ4<46H PRܤ s֮`?-w?˰`?5?I659@)6_^;i6CBLB9B HFp=F=)D FABDJ6DJ5YRI!Vc=VGQ)V>V H?9Z H?9ZhDYZCZ=AZ>)Q 15Z4٪-}?Q 55Z4-F -%JB91Y=DQ EE?y-B)-'r;I-r;i-JZ4Y}B}A}fEgFNOT Ignoring new targets: 153.29 m.g;g; ProNav: ac range: 153.294983 m, nav range: 151.193451 m, bearing: 325.480462 deg, approach rate: 0.416764 m/s, LOS rate: 0.125603 deg/s, cmd heading: 326.610193 deg, new cmd heading: 326.706967 deg. ge;HeadingCmd: 5.702112 target range: 153.294983 and range: 154.20 m.gw@ggggzfrfffBdddcc ?ɢ-AMB-t 15ŒI1 5ajɡ1i1I=z1~BaBaBaBe =BaBeeDBei;Be])EB)B)B)B-Ƭ =B-Ƭ =B-4qDDqD(DEa: E$ :6Ec44:E"EL;!EM;!*EU;!EU;!>An] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007998A I) I9 NE >ԙ QZ,LHi%*Ay69@ٱ6G@6|=6Vw>6Hټ h? ?E~qR?@o?I69@)67^;i6CBRLB9BLHBDJ6DJ5Yf5>!fH=f$Q)f>h9h9jhDYjOCn<An>tQ 1 Z4٪vR}?Q 5 Z4vdG v JB9YCQ E?yvBB)v;Iv;ivCYZ4YB|AeEg)-FNOT Ignoring new targets: 153.29 m.g5W;g5W;E ProNav: ac range: 153.294983 m, nav range: 151.375244 m, bearing: 325.536461 deg, approach rate: 0.435734 m/s, LOS rate: 0.134062 deg/s, cmd heading: 326.706963 deg, new cmd heading: 326.818827 deg. gEXu;MHeadingCmd: 5.704064 target range: 153.294983 and range: 154.20 m.gM@gIgQgQgQzfQrfQfYfYBdadiydqcc@?ɢ%FMB- Y]tIa e&ɡiiI6A% #rA- ?jA- >BE(N4JERE.0D D hD 'D E ~: E ]96E '4:E ! @! @! @! @ A1 II ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510543Ii N > XZ,-di%*Ay>mS;@ٱ>NI@>^[=>>>H;Jr>UjomS;@)>A^;i>CFYLB9JUHMb@Mb@Mb@ )IiK?Mb?L7A`堿^?@=+IiEAA)zABD-6D-5Y=P<!=1==cQ)E>A9A9EhDYMCMR=AM>QQ 1]Z4٪U }?Q 5]Z4U Hԁ UIB9?Q A:YWCQ E?yUB)Uu:A- x vB >~B B dHB KBB =B B fDB j;B )EAa Ii Iy N >8^Z,~i%*AyjW<@ٱj J@jGI=jϻ >jH` ~?%˙ L"?`k9 )?`v?IjW<@)jZ^;ijCv+LB9vHxixiz=Iz=BD6D5Y!O=M-Q)>D%D%jD%*D!E% : E%96E%(N4:E!"E%E"AQ 1MZ4٪Eڢ}?Q 5MZ4EH EIB9QYUBQ EU?yEKB)E:IE:iEJwZ4Y]BeAagFNOT Ignoring new targets: 153.29 m.g0;g0; ProNav: ac range: 153.294983 m, nav range: 151.773163 m, bearing: 325.661930 deg, approach rate: 0.485042 m/s, LOS rate: 0.154410 deg/s, cmd heading: 326.952276 deg, new cmd heading: 327.069421 deg. gK;HeadingCmd: 5.708438 target range: 153.294983 and range: 154.20 m.g@ggggzfrfffBdddcc@ɢPMB I BɡiI=A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266470A I I1 N= >y eZ,pi%*AyB<@ٱB~J@BM7=B6">BH x?M̨(`?ᦿ@+?`Y?IB<@)BR^;iBCJ>LB9J4HMb@Mb@Mb@ )IiQ?kt?Zd;O(? 0=jI7AiAAA)BD56D55YE==!EG=M6Q)M>I9I9MhDYMLCU\<AU>YQ 1eZ4٪]}?Q 5eZ4]ZI ]IB9m?Q Am:YmxBQ Em?y]B)]3:I]:i]Z4YuBuA}dEgFNOT Ignoring new targets: 153.29 m.g);g); ProNav: ac range: 153.294983 m, nav range: 151.962952 m, bearing: 325.722452 deg, approach rate: 0.466246 m/s, LOS rate: 0.148496 deg/s, cmd heading: 327.069428 deg, new cmd heading: 327.190320 deg. g;HeadingCmd: 5.710548 target range: 153.294983 and range: 154.20 m.gм@ggggzfrfffBdddcc$@QɢUMB$o I QɡiIAA bA ZA jA A I! I1 N= >SkZ,i%*Ay6=@ٱ6?K@6a%=6#>6H D?wTͤ@#'?̪L\?`?I6=@)6Z^;i6C>@LB9>6HBDF6DF 5YR;!RW=R}:Q)R>T9T9VhDYVCZ"=AZ>\Q 1bZ4٪^z}?Q 5bZ4^J ^IB9`YbAQ Eb?y^AB)^[:I^R:i^ΒZ4YhjAh]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770624gFNOT Ignoring new targets: 153.29 m.g#;g#; ProNav: ac range: 153.294983 m, nav range: 152.138382 m, bearing: 325.779735 deg, approach rate: 0.438610 m/s, LOS rate: 0.143055 deg/s, cmd heading: 327.190322 deg, new cmd heading: 327.304757 deg. g;HeadingCmd: 5.712546 target range: 153.294983 and range: 154.20 m.g-Ͷ@ggggzfrfffBdddcc T@ɢU[MBUU Y]IIY ]_ɡYiYI]D~BBBBBBeDBEj;B)Ei=999=r19DUwDUgDU(DQEU}: EU&96EUc44:EQ"EUj;!eEUk;!e*EUj1;!eEUj1;!e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022312! >Ay A I I N >rZ,i%*AyF>@ٱF`L@F=Ft%>FH z`$?`Nj@CP?\ 2?`?IF>@)F -^;iFCR7LB9R,HV>V4<BDZ6DZ5Yfd!fH=f4Q)j>h9h9jhDYjCn =An>pQ 1vZ4٪re}?Q 5vZ4rJ rIB9tYv@Q Ez?yrB)rp:Irg:irZ4Y~B~A~cEg!%FNOT Ignoring new targets: 153.29 m.g-}7;g-}7;= ProNav: ac range: 153.294983 m, nav range: 152.324661 m, bearing: 325.842109 deg, approach rate: 0.479680 m/s, LOS rate: 0.160418 deg/s, cmd heading: 327.304769 deg, new cmd heading: 327.429363 deg. g=ʒ;EHeadingCmd: 5.714720 target range: 153.294983 and range: 154.20 m.gE޶@gAgAgAgIzfIrfIfIfQBdQdQdQcc @ɢe`MBmļ 額qI 4 oɡiI2GA (D sD cD *D E so: E L96E (N4:E ! @! @! @! @= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530510Au AIy I N >#yZ,Ui%*Ay6_r?@ٱ6mM@6 =6_)>6H``.¯?@vnOi? ?/?I6_r?@)6 ^;i4V(LB9ZHMb@Mb@Mb@ )Ii{Gz?L7A`?Mb#?+=IiAAA)ABD6D5Y5!)=Q)>K?9K?9hDYLCW<A>Q 1 Z4٪K}?Q 5 Z4K IB9$?Q A:Y-AQ E?y_B):I:iZ4YBA!=B*** querying acoustic contact ***zh9h9gIMFNOT Ignoring new targets: 153.29 m.gU4;gU4;ae ProNav: ac range: 153.294983 m, nav range: 152.557480 m, bearing: 325.918646 deg, approach rate: 0.481413 m/s, LOS rate: 0.158019 deg/s, cmd heading: 327.429351 deg, new cmd heading: 327.582192 deg. gm;mHeadingCmd: 5.717388 target range: 153.294983 and range: 154.20 m.gu@gqgqgqgqzfqrfqfyfyBdydydcc` H@ɢgMB:Ƽ 页zI ɡiITKU =U'g >U|٠=U@ U|٠iQQIUUؿE3̽qq??UUĽ U@)U|٠iQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ >A rA% ?jA% ?vB >~B B B B B B fDB lj;B )EAI IY Ii Nu >Z,Kuj%*Ay6sX@@ٱ6SN@6p<6x.>8D^{D^fD^,D\E^=: E^96E^g4:E\"E^;!bE^;!f*E^-;!fE^-;!f6HV?``p@f?> ??I6sX@@)6 1^;i6CmLB9mHIy)}@ABD6DH5YB!a=IQ)>99hDYC0=A>Q 1Z4٪v8}?Q 5Z4L IB9YF@Q E?yB);I!;iZ4YAhahei%*AheCheChe> @heF8]Z{^>CzW@}tI(@he 4g/=t?5;?he@he|٠iexp`@$S8ToTS?@heƍ ?࿔D?he¡he3Che=k?he[heB*ia2ie8:iaieCC"ie4@(DAT read: user:25> BDAT read: Tx time:16:07:05.1018 $Ping request sent.A -) AyAII1NM>'CZ,uj%*A@i@yf6CA@ٱf=O@ffH@&J?@@7_?;3 Mc??If6CA@)f^;idrLB9r HpipmMb@Mb@Mb@ i)iIiiiim!rh?I +?~jtxml'?m9<mĻImfAimAmbAmIA)im=ABD6D 5Yq<!.=Q)> H?9 H?9iDYC<A>Q 1Z4٪}?Q 5Z4M IB9'?Q A:Y@Q E?ytB)j:I:i Z4YBAbEDDgD*DE: E&96E(N4:E!@!@!@!@g9EFNOT Ignoring new targets: 154.79 m.gM.;gM.;] ProNav: ac range: 154.785339 m, nav range: 152.496185 m, bearing: 326.313142 deg, approach rate: 0.464096 m/s, LOS rate: 0.152783 deg/s, cmd heading: 327.701903 deg, new cmd heading: 327.853726 deg. g]͋;HeadingCmd: 5.722127 target range: 154.785339 and range: 155.70 m.g@ggggzfrfffBdddcc`'?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986ɢtMB vּ I Lqɡ i I MQA #] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755812ԩ A9 II IY Ne >qZ,K:j%*Ay6F2B@ٱ6,P@6[<6D7>6H " ?`dQNe?7ke?@{?I6F2B@)6^;i6C>LB9BHBDJ6DJH5YRSn!RH=RO;Q)R>T9T9ViDYVFCVN=AZ>\Q 1bZ4٪^}?Q 5bZ4^N ^~IB9`Yb?Q Eb?y^B)^:I^[:i^PZ4YfBjTAjaEg|FNOT Ignoring new targets: 154.79 m.gR;gR;AAAAvB~BBBB =BBBuj;B)E5 ProNav: ac range: 154.785339 m, nav range: 152.694778 m, bearing: 326.380305 deg, approach rate: 0.543741 m/s, LOS rate: 0.183652 deg/s, cmd heading: 327.853725 deg, new cmd heading: 327.987876 deg. g= ;=HeadingCmd: 5.724468 target range: 154.785339 and range: 155.70 m.g=.@gAgAgAgAzfArfAfIfIQBdIdQdQcYc]Wv?ɢzMB I G❻ɡiI\SA bA iAZA gA A I I N >[۔Z,_Tj%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259280yE)C@ٱE<$Q@E%YEH ?Dk; ?$ ?qx?IE)C@)E^;iA]LB9YԱEMb@Mb@Mb@ A)AIAiAAES?q9q9uiDYuC}=A}>Q 1Z4٪.|?Q 5Z4O vIB9/?Q A:Y@Q E?yB)f9;I8;irZ4YB_A`EgFNOT Ignoring new targets: 154.79 m.g?;g?; ProNav: ac range: 154.785339 m, nav range: 152.933182 m, bearing: 326.457875 deg, approach rate: 0.516361 m/s, LOS rate: 0.167748 deg/s, cmd heading: 327.987870 deg, new cmd heading: 328.142768 deg. g;HeadingCmd: 5.727172 target range: 154.785339 and range: 155.70 m.gD@ggggzfrfffBdddcc7>?ɢ-MB-l )-3I) 5ɡ1i1I58VA aAAI!I1NE? Z,vvj%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763013yZ%D@ٱZR@Z ZH~>)| |BD 6D Қ5Yu!'=Q)>%K?9%K?9%iDY%C%q=A->)Q 15Z4٪-E|?Q 5=Z4-(Q -oIB99Y=?Q E=?y-JB)-:I-g:i-Z4YEBMHAMjEQmB*** querying acoustic contact ***zhihigq}FNOT Ignoring new targets: 154.79 m.gB;gB; ProNav: ac range: 154.785339 m, nav range: 153.182846 m, bearing: 326.541294 deg, approach rate: 0.509787 m/s, LOS rate: 0.170055 deg/s, cmd heading: 328.142778 deg, new cmd heading: 328.309344 deg. g;HeadingCmd: 5.730079 target range: 154.785339 and range: 155.70 m.g\@ggggzfrfffBdddccv@ɢMBۃ žI ɡiIbX~B)B)B)B- =B)B-eDB-Oj;B-)EBBBBBB!49F<ԁi94!bDZDDwDlD%DE}: E:6E 4:E"Ej;! Ek;! *EC;!EC;!ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843>A ( AQ Ia Iq N >ޣZ,y;j%*Ay:E@ٱ:S@:Yy;:@>:H` ? ۠xÿN 5?.+o? n?I:E@):(^;i:CjLB9jHBDv6Dvs5Y%eR<!-J=5DQ)=>A9I9UiDYUYCeM=Ae>qQ 1[4٪uӺ|?Q 5[4uUR ujIB9Y>Q E?yuB)u"AE#rAM?jAM?AqIIԙN?5Z,7j%*Ay:G@ٱ:5U@:ɴ:X?>:Ho?}ǿ ?`6v?@j? q?I:G@):!0^;i8BKB9FH`i`zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048UMb@Mb@Mb@ Q)QIQiQQU"~? rhI +U3?UCU94IUAiUXAUҥAUA)QUABDm6Dm5Y}, !} =}쁼Q)>99iDYCZ=A>Q 1[4٪Ә|?Q 5[4T dIB9 4?Q A:Y`>Q E?yB)j:IQ:iG![4YB{AgFNOT Ignoring new targets: 154.79 m.g[;g[; ProNav: ac range: 154.785339 m, nav range: 153.690186 m, bearing: 326.716455 deg, approach rate: 0.555527 m/s, LOS rate: 0.192283 deg/s, cmd heading: 328.451585 deg, new cmd heading: 328.659072 deg. g;HeadingCmd: 5.736183 target range: 154.785339 and range: 155.70 m.gώ@ggggzfrfffBdd d c c ={@ɢMB< 顽l־I |GϻɡiI\Iߥ=BDAT read: Rx Time:16:07:07.7156 TRx dataTimestamp_ set to:1755878827.115054checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024272>A y I I1 N= >ސZ,j%*A0y:d!H@ٱ:V@:` :>>:H@U ?@Ü ɿ`s$y?  ?ö? q?I:d!H@):^;i:C@9@BDJr6DJ5V:Q)V>T9T9ViDYZCZ/=AZ>\Q 1b[4٪^|?Q 5b[4^aU ^aIB9dYfY=Q Ef?y^C)^;I^:i^Z.[4YjBjAjhEg|~FNOT Ignoring new targets: 154.79 m.gO;gO; ProNav: ac range: 154.785339 m, nav range: 153.880249 m, bearing: 326.784210 deg, approach rate: 0.508290 m/s, LOS rate: 0.180976 deg/s, cmd heading: 328.659059 deg, new cmd heading: 328.794402 deg. g;HeadingCmd: 5.738545 target range: 154.785339 and range: 155.70 m.g)@ggg!g!zf!rf!f)f)Bd)d)d)c)c5x @ɢ]MB] aeپIa e#?ٻɡaiaIe^AD wD hD D E }: E ]96E :E ! @! @! @! @ I IQ Nu > DAT read: 16:07:07.7156 LVL= 29040, 24897, 32754, 28115, AGC= 64, IDX= 447, 0.12,-0.235,-0.089,-1.807,-0.557, PHS= 0.425, 0.513,-1.294, RAW= 27.5, 4.1, CAL= 27.5, 2.8, ROT= 122.5, -2.8  Ygot valid direction response: 16:07:07.7156 LVL= 29040, 24897, 32754, 28115, AGC= 64, IDX= 447, 0.12,-0.235,-0.089,-1.807,-0.557, PHS= 0.425, 0.513,-1.294, RAW= 27.5, 4.1, CAL= 27.5, 2.8, ROT= 122.5, -2.8 % PDAT read: Bearing 168.9, 56.5 (Local) % ~Local bearing/azimuth received: Bearing 168.9, 56.5 (Local) 5 DAT read: Range 11 to 50 : 157.2 m (Round-trip 209.6 ms) speed -0.4 m/s (Z,j%*AR#Rx 1: Read range and direction messages."^direction in FSK: [-0.536658,0.842385,0.048850]&Fpublishing direction and range info9VM, d?s!D?3CipqAam@ >)S?Iˡi >C= >+H=u@ +HiIKSMΑ6?tοԑ u@)+HiRT****** received valid address query ******RR****** received valid ping request ******RQuerying Benthos address 50 with one ping in standard two-way mode.`yv)I@ٱv$W@vddv#t@>vH@9?@ ˿̸?ϕ??n?Iv)I@)v];it=KB9EHMb@Mb@Mb@ )Ii-?X9vI +?5?IAi(AtAҥA)ABD6D5Y}!}<} Q)}>99iDYC#=A>Q 1[4٪e|?Q 5[4 W ^IB9q5?Q A:Y=Q E?ytC)":In:i?[4YBAgEhhj%*AhFChFChw|@h\.PwTםt`@ia7@@hVM, d?s!D?hu@h+Hi[@rm밚ZΎ.>@h3X?25s(f?NS?hh`Bhઠ?hFhţB*i2i:iBi#C"i@ addTargetRange:: Added new target pos. range: 157.199997 m, deltaT: 3.781457 s, deltaX: 1.500000 m, approachRate: 0.396672 m/s, rangeRepo size: 4 M Added new target pos. range: 156.275742 m, bearing: 315.997317 deg, lat: 36.779609 deg, lon: -121.859317 deg, deltaT: 3.781457 s, deltaX: 1.490402 m, approachRate: 0.394134 m/s, posRepo size: 4 gQUFNOT Ignoring new targets: 156.28 m.g]gY ProNav: ac range: 156.275742 m, nav range: 154.137939 m, bearing: 326.875119 deg, approach rate: 0.000000 m/s, LOS rate: 0.180976 deg/s, cmd heading: 328.794406 deg, new cmd heading: 328.983641 deg. gHeadingCmd: 5.741848 target range: 156.275742 and range: 157.20 m.g7@ggggzfrfffBdddc`fc@c `ڌ?ɢuMBuRV quIq '=ɡiI9_ %BDAT read: Tx time:16:07:08.9018 %$Ping request sent.%>i) ) ) - 51 @= =@= =vB >~B B pHB KBB =B A B B i;B )ED }D oD +D E ݉: E :6E [4:E "E 9;! E :;! *E N;! E N;! >Am y I I N >SrZ,Ak%*AyFK7J@ٱF1X@FgF،C>FH?̴Ϳ@`(??@J?i?IFK7J@)F>^;iFCNKB9NHR=Rp;)T VABDX6DXYbV<!b^=b>Q)b>d9d9fiDYfCj6=Aj>nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251129pQ 1v[4٪r-P|?Q 5v[4raX r\IB9xYz}Am#checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505725 I) I9 NE >1 ,Z,sk%*Ay6GK@ٱ6BY@676G>6Hn?`ÛпO[?`w&??`Gb?I6GK@)6>^;i6CrKB9rHmMb@Mb@Mb@ i)iIiiiimOn?X9vQm8?imuImAiimEAm/A)iiBD6Dה5Yܽ!>=&Q)>99jDY$C=A>Q 1[4٪6|?Q 5[4Z ZIB98?Q A:YM;Q E?yC)X ;I ;i[[4YB AfEgFNOT Ignoring new targets: 156.28 m.gY;gY; ProNav: ac range: 156.275742 m, nav range: 154.540207 m, bearing: 327.023848 deg, approach rate: 0.507838 m/s, LOS rate: 0.190356 deg/s, cmd heading: 329.117993 deg, new cmd heading: 329.280690 deg. g/; HeadingCmd: 5.747032 target range: 156.275742 and range: 157.20 m.g @g g g g zf rfDDaD,DE E96Eg4:E!-@!-@!-@!-@f)f)Bd1d1d1c1c=i?ɢMB( |I ɡ i I a<IXA ii)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756636ը9i!!%5!AU G=i] Cy I ݈G) jAI >AA iM OM jAM AI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070070Z, 9k%*A y:RL@ٱ:GMZ@:ټ:$K>:H@ T?ѿ11B?=?`E? [?I:RL@):"^;i:C~KB9~HBD z6D ّ5Yތ=!R=%(Q)%>!9!9-jDY-sC-R+=A->1Q 1=[4٪5|?Q 5=[45[ 19AYEA:Q EE?y5MC)5;I5f;i5/i[4YMBMAIgquFNOT Ignoring new targets: 156.28 m.g}\;g}\; ProNav: ac range: 156.275742 m, nav range: 154.734650 m, bearing: 327.098963 deg, approach rate: 0.499823 m/s, LOS rate: 0.192844 deg/s, cmd heading: 329.280688 deg, new cmd heading: 329.430729 deg. gv;HeadingCmd: 5.749651 target range: 156.275742 and range: 157.20 m.g$@ggggzfrfffBdddcc`d?A@AAAAvB ~B B }HB KBB B B B i;B ^)EɢMBC. 页I 8ɡiInbA A I I N >Z,zSk%*Ay6hM@ٱ6b[@6[6W>L>6H` ?ҿ Oh?>*?Y?Y?I6hM@)6y ^;i4>KB9BH@i@iF=IF=BDJ6DJ5PYVC=!VR=^ Q)f>h9l9njDYnCn0=An>pQ 1v[4٪r}|?Q 5v[4r] p9xYz+9Q Ez?yrC)r[:Ir:irv[4Y~B~A~eEg!5FNOT Ignoring new targets: 156.28 m.gM_;gM_;)a a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514682  ProNav: ac range: 156.275742 m, nav range: 154.928268 m, bearing: 327.176039 deg, approach rate: 0.491761 m/s, LOS rate: 0.195518 deg/s, cmd heading: 329.430733 deg, new cmd heading: 329.584694 deg. g ;HeadingCmd: 5.752338 target range: 156.275742 and range: 157.20 m.g'@ggggzfrff!f!Bd!d!d!c)c-@&?ɢMB%! og<]I ɡiI;bA Q A I I N>Z,qk%*Ay69zN@ٱ6t\@6x 6TM>6H@0"?|ӿ] ҝ? ?z?#W?I69zN@)6.^;i4BKB9BH Mb@Mb@Mb@ ) I i   rh|?Q롿Q ;? \ I Ai A AA +A)  ABD%6D%ԗ5YG!"=Q)>99jDY)C =A>Q 1[4٪{?Q 5[4 ` \IB9(~BU֍CBUHBUKBBQBQBQBUi;BUT)ED |D D D E : E V:6E :E "E ;! E ;! *E ;! E ;! >A ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266901 A I I N >Z,8k%*AyBgO@ٱB ]@BSB;]L>BH`Y9?&Կ`Ӱ@?C?[?W?IBgO@)B"^;iBCJKB9JHBDR6DR5YZ;!ZU=^J%Q)^>\9\9bjDYbwCb;=Ab>dQ 1U[4٪f{?Q 5m[4f)b f^IB9qYuF7Q Eu?yf<C)fAY A I I Ա N >D {D sD (D E =: E Z:6E c44:E ! @! @! @! @Z,k%*A]KB9]He0>e;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771020%Mb@Mb@Mb@ !)!I!i!!%rh|? rhQ!%C !I%Ai%A%A!)!%ABD=6D=^5YE^Z!E4=MQ)M>I9Q9UjDYUCUA]>YQ 1e[4٪]Ǹ{?Q 5e[4]d ]aIB9m%~B B HB KBB B B B i;B \)EBqBu֍CBqBu˭ =Bu˭ =Buբ4 >A)rD jD =DD^D*DEҝ: E;96E(N4:E"E;!E;!*E;!%E;!%QAyIIN ?Z,;k%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275063y>Q@ٱ>_@>?9>9H>>H@o?暿Oֿ P X?8??Z?I>Q@)>0^;i<FKB9FHBDN6DNL5YZb!Z&=^nQ)^>`9`9bjDYb8Cf=Af>lQ 1v[4٪n{?Q 5[4ng ngIB9Y4Q E?ynC)n - 5?)- ff>I- }?i- J4?- +H=- g5?- Pw<- f? - Pwּi) ) I- އI-?`h}n^y98+?- - nI - f? )- Pwּi) ) % T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.>A 1 AQ IY Ii N} >Z,(k%*ABE]T4JE]R4RE]T/D*xD*cD*)D(E*ˀ: E*L96E*FA4:E(!.@!2@!2@!2@yV?T@ٱV~:b@VVVH>VHn ?O}ؿྌ???X?IV?T@)V,*^;iVC^KB9^H=Mb@Mb@Mb@ 9)9I9i99=)\(?y&1{Gzt=GA?=`e=ףI=Ai=A=A=A)9=fABDUr6DU5Y A=! (= hQ) >99jDYCc=A>Q 1%[4٪Z~{?Q 5-[4j sIB9-A?Q A-:Y-v4Q E-?yLC):I:i[4Y5B=A=bEh9h=Gk%*Ah=Ch=Ch=ɮ@h=Z#5J:b@7W@h=rGdC@տp;,?P!Κ?h=f?h=Pwּi=ډ|(eZ@D^bY\(NE>@h=8f?b+Hn?h=h=)Bh=zi??h=xf h=yB*i=𳐦?2i=_C:i=ţBi=C"i=p@ addTargetRange:: Added new target pos. range: 158.800003 m, deltaT: 3.819722 s, deltaX: 1.600006 m, approachRate: 0.418880 m/s, rangeRepo size: 4  Added new target pos. range: 157.865082 m, bearing: 312.957039 deg, lat: 36.779601 deg, lon: -121.859346 deg, deltaT: 3.819722 s, deltaX: 1.589340 m, approachRate: 0.416088 m/s, posRepo size: 4 gFNOT Ignoring new targets: 157.87 m.gg ProNav: ac range: 157.865082 m, nav range: 156.638092 m, bearing: 326.653305 deg, approach rate: 0.000000 m/s, LOS rate: 0.197369 deg/s, cmd heading: 330.331772 deg, new cmd heading: 330.512770 deg. gHeadingCmd: 5.768536 target range: 157.865082 and range: 158.80 m.gٗ@ggggzfrfffBdddcc@c.?](DAT read: user:27> eBDAT read: Tx time:16:07:12.7518 e$Ping request sent.e~B1 B5 HB5 KBB1 B1 B1 B5 i;B5 T)Ea >A ԉDDmD'DE,: E:6E'4:E"Ed65K>6H@YG?@ojٿ@'? ? 2?R?I6pU@)6^;i6C>KB9BH@i@BDJ6DJu5YR!R)=RQ)R>T9T9VjDYVCZo=AZ>\Q 1b[4٪^A )A E AM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756131A yAI I N > y[, l%*Ay6 V@ٱ6d@6j@p6 N>6H@ M?@[ڿzU Ad??@?`K?I6 V@)67;^;i6CVKB9ZH5Mb@Mb@Mb@ 1)1I1i115+?X9vy&1|?5??5}5`;I1i5ƷA15A)15̦ABDMu6DM5Y]G=!e?=eQ)e>e H?9m H?9mkDYmRCm2=Am>qQ 1}[4٪uG{?Q 5[4up uIB9h@?Q A:Y2Q E?yuC)u* ;Iu ;iu[4YBAjEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 157.87 m.gy;gy; ProNav: ac range: 157.865082 m, nav range: 157.051971 m, bearing: 326.853531 deg, approach rate: 0.449970 m/s, LOS rate: 0.218539 deg/s, cmd heading: 330.725956 deg, new cmd heading: 330.912693 deg. g;HeadingCmd: 5.775516 target range: 157.865082 and range: 158.80 m.gѸ@ggggzfrfffBdddcc` 2?DDeD,DEC: E96Eg4:E!@!@!@!@ɢNBH 顽I DɡiI bA A AI! I9 NE > [,6:l%*Ay6BW@ٱ6e@6{6UO>6H7R? ۿ u? r??@I?I6BW@)6(^;i6CBKB9BHBDJb6DJT5YRI!RX=RQ)V>VK?9VK?9VkDYVCZ;O=AZ>\Q 1b[4٪^1{?Q 5b[4^[s ^IB9`Yb1Q Ef?y^DC)^$:I^:i^[4YhjAhg|~FNOT Ignoring new targets: 157.87 m.g};g };%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259940M ProNav: ac range: 157.865082 m, nav range: 157.218216 m, bearing: 326.937310 deg, approach rate: 0.440800 m/s, LOS rate: 0.221904 deg/s, cmd heading: 330.912693 deg, new cmd heading: 331.080072 deg. gM ;]HeadingCmd: 5.778437 target range: 157.865082 and range: 158.80 m.g]@gYgagagazfarfaffBdddcc?vB~BBHBKBBBBBi;BL)EɢmNBm6Q qu>Iq u&LɡqiqIub[,*TTl%*AyBY@ٱBng@BŸBO>BH{? Wࡿeܿ \n? q?@? G?IBY@)B^;iBCJKB9JHPN=N>)P PBDZv6DZ5Yb7=!bI=bwQ)b>d9d9fkDYfCfF=Aj>hQ 1n\4٪j{?Q 5r\4j`v jIB9pYrW0Q Er?yjC)j;Ij;ij\4YvBzAziEgFNOT Ignoring new targets: 157.87 m.g$;g%$;- ProNav: ac range: 157.865082 m, nav range: 157.392273 m, bearing: 327.028346 deg, approach rate: 0.428868 m/s, LOS rate: 0.224061 deg/s, cmd heading: 331.080060 deg, new cmd heading: 331.261931 deg. g5;5HeadingCmd: 5.781611 target range: 157.865082 and range: 158.80 m.g5@g9g9g9g9zf9rf9fAfABdAdIdIcIcM@?ɢu"NB}W y} Iy RɡiIÃaDwDnD(DE}: E:6Ec44:E!@!@!@!@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880[,0nl%*Ay6AfZ@ٱ6`h@6v6P>6H `.:?@޿@t`4? _/??D?I6AfZ@)6\8^;i4BKB9BHMMb@Mb@Mb@ I)IIIiIIM)\(?kty&1|?MGA?M IIIiMAMAMA)IMfABDmi6Dm5YuA6!}?=} ߻Q)}>99kDYIC=A=A>Q 1\4٪Z{?Q 5\4y IB9B?Q A:Y0Q E?yC) ;I ;i \4YBAgFNOT Ignoring new targets: 157.87 m.gP;gP; ProNav: ac range: 157.865082 m, nav range: 157.580765 m, bearing: 327.124413 deg, approach rate: 0.440742 m/s, LOS rate: 0.224361 deg/s, cmd heading: 331.261934 deg, new cmd heading: 331.453838 deg. gM;HeadingCmd: 5.784961 target range: 157.865082 and range: 158.80 m.gf@ggggzfrfffBddd c c @ɢ,NBIGOKS)kA !%I1ieekAeAI) mZɡiiqIu`Y D zD _D +D E l: E r96E [4:E "E ѧ;! E ҧ;! *E K;! E L;! ![, l%*Ay6Ω[@ٱ6ri@66S>6HS?鞤`߿` P!?ѱ?#???I6Ω[@)6-^;i6CNKB9RHBDVv6DV5Y^L=!bW=bջQ)b>d9d9fkDYfCfT=Af>hQ 1n\4٪jz?Q 5n\4jp| jIB9pYr/Q Er?yj/C)j;Ij;ijT\4YvBvAzhEgFNOT Ignoring new targets: 157.87 m.gNs;gNs;% ProNav: ac range: 157.865082 m, nav range: 157.744110 m, bearing: 327.210850 deg, approach rate: 0.402400 m/s, LOS rate: 0.212716 deg/s, cmd heading: 331.453835 deg, new cmd heading: 331.626529 deg. g%;5HeadingCmd: 5.787975 target range: 157.865082 and range: 158.80 m.9g57@gQgQgQgQzfYrfYfYfYBdadadacace @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519076ɢ=7NB=-dQ AEIA EbɡAiAIEa_ԑe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773647Թ ,([,Rl%*Aiy6\@ٱ6j@6ꓽ6_U>6H&7?`C` Sk?`&y?`h? 9?I6\@)6V>^;i6CBKB9BHiF=IDMb@Mb@Mb@ )Ii}?5^I?Zd;O{Gz?MB?j#9999=kDY=CE;D=AE>AQ 1M\4٪E(z?Q 5U\4E EIB9UC?Q AU:YU.Q EU?yEC)E ;IE ;iE-\4YaeAa}B*** querying acoustic contact ***zhyhygFNOT Ignoring new targets: 157.87 m.gՋ;gՋ;% ProNav: ac range: 157.865082 m, nav range: 157.922516 m, bearing: 327.307340 deg, approach rate: 0.452583 m/s, LOS rate: 0.244501 deg/s, cmd heading: 331.626530 deg, new cmd heading: 331.819292 deg. g%;-HeadingCmd: 5.791339 target range: 157.865082 and range: 158.80 m.g-R@g)g)g)g)zfIrfQfQfQBdQdYdYcYc]@cX @DDcD,DE EL96Eg4:E!@!@!@!@ԡɢANB^ -I) - jɡ1i1I5^ +?.[,Ul%*AyR`;^@ٱR6l@RxRjX>RH`7@?` `m`[?b?@?3?IR`;^@)R[C^;iPbLB9fHA<A<vB~BBHBLBB =BBBji;B?)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.339315BD[6D5Y Q=!0=֬Q)>99kDYJC0=A>!Q 1-\4٪%z?Q 5-\4% %IB91Y5-Q E5?y%C)%;I%;i%6>\4Y=B=jA=gEgamFNOT Ignoring new targets: 157.87 m.guڄ;guڄ; ProNav: ac range: 157.865082 m, nav range: 158.114594 m, bearing: 327.415317 deg, approach rate: 0.413739 m/s, LOS rate: 0.232301 deg/s, cmd heading: 331.819305 deg, new cmd heading: 332.034995 deg. g;HeadingCmd: 5.795104 target range: 157.865082 and range: 158.80 m.g~q@ggggzfrfffBdddcc @ɢMNBQ 額 I  WrɡiI)A]&5[,(l%*Ay:&_@ٱ:|m@::DZ>:H`XJ?`1  ?@E?b?/?I:&_@):^;i:C^ LB9bHBDf`6Dfދ5YnDʼ!rv=rĻQ)r?p9t9vkDYvCvu=Av?xQ 1U\4٪zz?Q 5U\4z zJB9QY]_,Q E]?yzC)zXI%i%0L?%k]=%0L?!%)? !i!!I%%9Y?+!}u§WQ@?% ޥ%V` %)?IINE>)!i!!%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.yDDlD)DE E:6EFA4:Eԩ  (DAT read: user:28>  BDAT read: Tx time:16:07:16.8018  $Ping request sent. 6H @? *`Է*?0%??F/?I6]`@)6_^;i6CPV$LB9VHZ=Z=Mb@Mb@Mb@ )Ii)\(?!rhMbP?GA?l:IIAi&A)̦ABD%U6D%V5YUG=!u5=uėQ)u>y9y9}kDY}CF1=A>Q 1\4٪Hz?Q 5\4v  JB9nC?Q A:Y,Q E?yvC)" ;I ;iY\4YBZAfEhIhMi;l%*AhMChMChM}e@hMgC^uBc@O`@hMϿ t?P!Κ?hM)?hIiMe;]@r9LKY_ '!@@hMw?})hMB*iMi?2iM>:iIiMC"iMe@ addTargetRange:: Added new target pos. range: 160.000000 m, deltaT: 4.033028 s, deltaX: 1.199997 m, approachRate: 0.297542 m/s, rangeRepo size: 4 % Added new target pos. range: 159.057907 m, bearing: 319.417594 deg, lat: 36.779460 deg, lon: -121.859529 deg, deltaT: 4.033028 s, deltaX: 1.192825 m, approachRate: 0.295764 m/s, posRepo size: 4 g!-FNOT Ignoring new targets: 159.06 m.gMgI] ProNav: ac range: 159.057907 m, nav range: 155.526352 m, bearing: 319.418132 deg, approach rate: 0.000000 m/s, LOS rate: 0.227392 deg/s, cmd heading: 332.191004 deg, new cmd heading: 332.397085 deg. gaeHeadingCmd: 5.801424 target range: 159.057907 and range: 160.00 m.geC@gagigigizfrfffBdddcd@cq?ԩɢbNBkKT k;eI ɡiI2ZvB>~BB,HB7LBBBBB`i;B:)EB}֍CByByByByB}Y4 bD ZD @AD xD iD +D E ˀ: E 96E [4:E "E ;! E ;! *E 8;! E 8;! 9B[,LU m%*Ay6b@ٱ6Jp@66U>6H`Q+a9a9mkDYm5 CmVZ=Au>Q 1\4٪rz?Q 5\4ύ .JB9Yq+Q E?yC)1:I:if\4YAAgFNOT Ignoring new targets: 159.06 m.g%;g%;U ProNav: ac range: 159.057907 m, nav range: 155.637543 m, bearing: 319.514826 deg, approach rate: 0.297649 m/s, LOS rate: 0.258659 deg/s, cmd heading: 332.397085 deg, new cmd heading: 332.590335 deg. gU;]HeadingCmd: 5.804796 target range: 159.057907 and range: 160.00 m.g]@gYgYgagazfarfafifiBdididi}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503126cqc ;?ɢlNBh I ݃ɡiIҲY1E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757453i cH[,-#m%*Ay6Tc@ٱ6\Oq@66x&R>6H`?@ 8@J5?@=??q8?I6Tc@)6K^;i6CB>LB9B4HMb@Mb@Mb@ )IiK7A?HzG99lDY C=K=A>Q 1\4٪?[z?Q 5\4o 9JB9E?Q A:Y+Q E?yC)U:I:it\4YBAoEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 159.06 m.g~;g~; ProNav: ac range: 159.057907 m, nav range: 155.760666 m, bearing: 319.620098 deg, approach rate: 0.310056 m/s, LOS rate: 0.264892 deg/s, cmd heading: 332.590324 deg, new cmd heading: 332.800700 deg. gc; HeadingCmd: 5.808468 target range: 159.057907 and range: 160.00 m.g ޹@g g g g zfrfffBdddcc%@X?ɢMvNBMe IMIQ U^ɡQiQIUVXchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007093ԑ N[, =m%*Ay^^H`7g`?@`eE@=L? ?P?;9?I^9 9 lDY  C U=A >Q 1\4٪ Ez?Q 5%\4 EJB9!Y%l*Q E%?y[C)>;I);is\4Y-B5A5nEgQvBe>~BaBe^HBe`LBBaBaBaBeNi;Be2)E}FNOT Ignoring new targets: 159.06 m.g}Ε;g}Ε; ProNav: ac range: 159.057907 m, nav range: 155.873032 m, bearing: 319.721133 deg, approach rate: 0.291528 m/s, LOS rate: 0.261941 deg/s, cmd heading: 332.800694 deg, new cmd heading: 333.002617 deg. g;HeadingCmd: 5.811992 target range: 159.057907 and range: 160.00 m.g@ԙggggzfrfffBdddccғ?ɢNBf I #銼ɡiIV uU[,Vm%*Ay6e@ٱ6fs@6~64P>6H?=?@Nog;?? :?y9?I6e@)6s@^;i6CB`LB9B^HBDJ[6DJ5YRej=!VP=VQ)V>X9X9ZlDYZ'!CZU=AZ>\Q 1b\4٪^.z?Q 5f\4^֘ ^PJB9dYf)Q Ef?y^C)^:I^g:i^.\4YjBjAnmEgy}FNOT Ignoring new targets: 159.06 m.gܐ;gܐ; ProNav: ac range: 159.057907 m, nav range: 155.982224 m, bearing: 319.824696 deg, approach rate: 0.267247 m/s, LOS rate: 0.253294 deg/s, cmd heading: 333.002622 deg, new cmd heading: 333.209603 deg. g;HeadingCmd: 5.815605 target range: 159.057907 and range: 160.00 m.go@ggggzfrfffBdddccr ?ɢNBVb ( I 1ɡiI}BUqD}DjD(DE݉: E96Ec44:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919ԩ m[[,׿pm%*Ay6:g@ٱ64u@6 86qO>6H`b?1H??`d?`m9?I6:g@)6$^;i6CBgLB9BgHMb@Mb@Mb@ )Iijt?L7A` rh@?+CIEAiA"AA)ABDK6D 5Y-<!-B=-Q)5>19195lDY5}!CF=A>Q 1\4٪bz?Q 5\49 [JB9C?Q A:Y'Q E?yC):I:ii\4YAgFNOT Ignoring new targets: 159.06 m.g;g;  ProNav: ac range: 159.057907 m, nav range: 156.095276 m, bearing: 319.939746 deg, approach rate: 0.269156 m/s, LOS rate: 0.273713 deg/s, cmd heading: 333.209604 deg, new cmd heading: 333.439535 deg. gv;HeadingCmd: 5.819618 target range: 159.057907 and range: 160.00 m.gO:@ggggzfrf!f!f!Bd!d)d)c)c-@ɢ]NB]rb Y]I IY eGɡaiaIePuS~Be׍CBeHBeLBBaBaBaBeWi;Be8)Ei9b4AA II IY Nm >D xD pD D E ˀ: E  :6E :E "E ;! E ;! *E ,R;! E -R;! b[,m%*Ayjh@ٱjv@jQ7jHkP>jH@+t?c!d?߶??6?Ijh@)j]P^;ijCvLB9vHz!>za=)| ~ABDU6DV5Y=!J=RlQ)>!9!9%lDY%!C%K=A%>)Q 15\4٪-z?Q 5=\4-K -dJB99Y=6&Q E=?y-JC)-;I-;i-\4YEBExAIgiuFNOT Ignoring new targets: 159.06 m.gŗ;gŗ; ProNav: ac range: 159.057907 m, nav range: 156.191467 m, bearing: 320.043468 deg, approach rate: 0.246261 m/s, LOS rate: 0.265378 deg/s, cmd heading: 333.439535 deg, new cmd heading: 333.646852 deg. g; HeadingCmd: 5.823236 target range: 159.057907 and range: 160.00 m.g W@g g g g=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519193zf9rfAfAfABdAdIdIcIcM`.@ԱɢNB,\ I ɡiIXuQj[,+nm%*A(y:i@ٱ:w@:'𹽹:ER>:H?Y?ⱿD@? 5?@x?&3?I:i@):9^;i8BLB9BHmMb@Mb@Mb@ i)iIiiiimRQ?QI +mB?m\m9IiimAimΜA)imABD\6D5Y&! =)+Q)>99lDY7"C'=A>Q 1\4٪y?Q 5\4Ŧ nJB9E?Q A:YT%Q E?yC)*;IG);iؾ\4YBAlEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 159.06 m.g ;g; ProNav: ac range: 159.057907 m, nav range: 156.313797 m, bearing: 320.180516 deg, approach rate: 0.238795 m/s, LOS rate: 0.267316 deg/s, cmd heading: 333.646845 deg, new cmd heading: 333.920724 deg. g%;%HeadingCmd: 5.828016 target range: 159.057907 and range: 160.00 m.g%@g)g)g)g)zf)rf)f1f1Bd1d9d9c9c= @ɢmNBm[ im Ii u2ɡqiqIu&O E BDAT read: Rx Time:16:07:19.4208 E TRx dataTimestamp_ set to:1755878838.998760M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276094Ay Ay vB >~B B HB LBB =B B fDB \i;B ;)Eq[,3m%*Ay6$k@ٱ6y@6bۻ6~_U>6H`yK`H?)]7 1y*/? r?"^?-?I6$k@)6=Z^;i6CNLB9RHBDVY6DVB5`Yb=!bY=f=#Q)f>d9d9flDYf"Cj\=Aj>lQ 1r\4٪n>y?Q 5r\4n nvJB9pYv$Q Ev?ynC)nL;In:in\4Yxz8AxgFNOT Ignoring new targets: 159.06 m.g%5;g%5;5 ProNav: ac range: 159.057907 m, nav range: 156.399139 m, bearing: 320.282353 deg, approach rate: 0.229023 m/s, LOS rate: 0.273137 deg/s, cmd heading: 333.920736 deg, new cmd heading: 334.124297 deg. g5;EHeadingCmd: 5.831569 target range: 159.057907 and range: 160.00 m.gE7@gAgAgAgIzfIrfIfIfQBdQdQdQcQc] @ɢ]NBec aeIa e ɡaiiIm=M>im9iim4irAu ?jAu?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530889AI!IaN|>A *w[,=m%*AyF"xl@ٱFrz@FFvU>FHx9E? gW8 -@?S?h`?K,?IF"xl@)FV^;iDNLB9RHPiPBDZU6DZV5Yn =!rI=vsQ)z>iU=IU4=1DAT read: 16:07:19.4208 LVL= 20336, 26929, 32754, 25139, AGC= 62, IDX= 436,-0.06, 0.863, 0.129,-1.020, 0.087, PHS= 0.877, 0.087,-1.152, RAW= 52.7, 2.1, CAL= 52.9, -0.3, ROT= 97.1, 0.3 Ygot valid direction response: 16:07:19.4208 LVL= 20336, 26929, 32754, 25139, AGC= 62, IDX= 436,-0.06, 0.863, 0.129,-1.020, 0.087, PHS= 0.877, 0.087,-1.152, RAW= 52.7, 2.1, CAL= 52.9, -0.3, ROT= 97.1, 0.3 99lDY"C:5=A>Q 1\4٪y?Q 5\4R JB9Y"Q E?yU C)g:I:iY\4YBAuEg9=FNOT Ignoring new targets: 159.06 m.gE;gE;UPDAT read: Bearing 233.3, 72.9 (Local) ]~Local bearing/azimuth received: Bearing 233.3, 72.9 (Local) }DAT read: Range 11 to 50 : 161.1 m (Round-trip 214.8 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages. ProNav: ac range: 159.057907 m, nav range: 156.498825 m, bearing: 320.409693 deg, approach rate: 0.210458 m/s, LOS rate: 0.268671 deg/s, cmd heading: 334.124303 deg, new cmd heading: 334.378819 deg. g;HeadingCmd: 5.836011 target range: 159.057907 and range: 160.00 m.g@ggggzfrfffBdddcc @ `direction in FSK: [-0.123600,0.992318,-0.005236] Fpublishing direction and range info9Y]pLB;,d?sNru]!CYi]pO]1iY]3b]> ]`?)]-=I]ti]Cwk?]Q =]\l?]]i? ];iYYI]9 hK?g)_ы2?]N] ]i?)];iYY%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɢNBrKY 顭+I ɡiIbJ (DAT read: user:29>  BDAT read: Tx time:16:07:20.8518  $Ping request sent. 6HC]@?9d@}@s?@D?Al?@*?I69m@)6^;i6CVLB9VH-Mb@Mb@Mb@ )))I)i))-X9v?p= ף rh-=?--CI-tAi-A-QA)))-\ABDI6DIY]zR=!]B=]Q)]>a9a9elDYe,#Cmpo=Am>iQ 1}\4٪my?Q 5}\4m mJB9}@?Q A}:Y} Q E}?ym C)mL ;Im;im\4YBAtEhhm%*Ah' Ch' Ch6̴@hk3tjc@xhpLB;,d?sNruhi?h󧒫;iQwȲ_@9/EWXg?$>@h KU??M-%I?h)hBh'@a?h˽DhB*i2i:iiC"i @q addTargetRange:: Added new target pos. range: 161.100006 m, deltaT: 4.041695 s, deltaX: 1.100006 m, approachRate: 0.272165 m/s, rangeRepo size: 4  Added new target pos. range: 160.153595 m, bearing: 323.717047 deg, lat: 36.779460 deg, lon: -121.859529 deg, deltaT: 4.041695 s, deltaX: 1.095688 m, approachRate: 0.271096 m/s, posRepo size: 4 gFNOT Ignoring new targets: 160.15 m.gg ProNav: ac range: 160.153595 m, nav range: 156.566528 m, bearing: 320.505550 deg, approach rate: 0.000000 m/s, LOS rate: 0.268671 deg/s, cmd heading: 334.378823 deg, new cmd heading: 334.571336 deg. g HeadingCmd: 5.839371 target range: 160.153595 and range: 161.10 m.g !ܺ@g!g!g!g!zf!rf)fifiBdqdqdqcu@3#d@cu|A?ɢNBf I ¤ɡiIH~B1B5 HB5LBB1B1B5eDB5~i;B5K)Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250971ie9aam5iԡAIIN>bDZDD~D_DDE: Er96E:E"E!E!*EK;!EL;!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502883<[,n%*Ay67o@ٱ6}@6 6#/W>6H''? tg! w*?`??9(?I67o@)6|^;i6CNLB9RHBDVZ6DV|5Y^8!!bU=bGQ)b>d9d9fmDYfz#Cf%T=Af>hQ 1n\4٪j0y?Q 5n\4j jJB9pYrQ Er?yj C)j;Ij;ijT\4YtvAxgFNOT Ignoring new targets: 160.15 m.g;g; ProNav: ac range: 160.153595 m, nav range: 156.633789 m, bearing: 320.608490 deg, approach rate: 0.177247 m/s, LOS rate: 0.271153 deg/s, cmd heading: 334.571325 deg, new cmd heading: 334.777115 deg. g;HeadingCmd: 5.842963 target range: 160.153595 and range: 161.10 m.g@ggggzfrfffBddd1c1c=@n?ɢNBEr ^I ɡiIq;G<I%diIiI)U@)Q)Yi5bAZAlAA1IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756577IN>) D D dD )D E : E 96E FA4:E ! @! @! @! @Ef[,^+n%*Ay6Yp@ٱ67T~@6½6*W>6Hqޑ?xiS?R?ߓ?'?I6Yp@)6^;i6CBLB9B!HF=F=eMb@Mb@Mb@ a)aIaiaaerh|?x&~jte;?e7 eDIeғAieAaeA)aeABD}T6D}5Y >!>=~ Q)>99mDY#C;=A>Q 1]4٪{y?Q 5]4B JB9??Q A:YQ E?y7 C):Ij:i^]4YBvAsEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 160.15 m.g ;g ;  ProNav: ac range: 160.153595 m, nav range: 156.705475 m, bearing: 320.722894 deg, approach rate: 0.165656 m/s, LOS rate: 0.264250 deg/s, cmd heading: 334.777105 deg, new cmd heading: 335.005806 deg. g;HeadingCmd: 5.846954 target range: 160.153595 and range: 161.10 m.g@@ggggzfrf!f!f!Bd!d)d)c)c-?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006744ɢNBb EI UɡiIZ2Eԩ vB- >~B) B- KHB- !MBB) B) B) B- i;B) B׍CB׍CBBɬ =Bɬ =B14 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258886N[,{En%*Ay:q@ٱ:a@:J Ľ:U>@:HY?`f>q @z?w? sm?))?I:q@):G^;i:CFMB9J=HBDRM6DR5YZo=!ZY=ZTĺQ)Z>^ H?9^ H?9^mDY^$Cbw_=Ab>dQ 1j]4٪fmiy?Q 5j]4f¿ fJB9hYjQ Ej?yf C)f:If :if]4YrBrOArrEg  FNOT Ignoring new targets: 160.15 m.gq;gq;% ProNav: ac range: 160.153595 m, nav range: 156.763016 m, bearing: 320.823209 deg, approach rate: 0.153954 m/s, LOS rate: 0.268302 deg/s, cmd heading: 335.005807 deg, new cmd heading: 335.206364 deg. g%;-HeadingCmd: 5.850455 target range: 160.153595 and range: 161.10 m.g-6@g)g)g)g)zf1rf1f1f1Bd9dAdAcAcE4?ɢmNBu;d quIq } ɡyiyI};Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896 x[,V_n%*Ay6r@ٱ6Dy@6HŽ6-U>6Huf? :3iVI?T?m?(?I6r@)6^;i4>)MB9BUHBDJO6DJ5tYz @=!zJ=z"Q)z>~K?9~K?9~mDY~q$CJ=A>Q 15]4٪Uy?Q 55]4Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765033ȿ JB9qY}EQ E?y C)?_checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864a ࢝[,1yn%*Ay6OEt@ٱ6@6VŽ62_X>6H? W *,:?@U?w?@z$?I6OEt@)6^;i6CN?MB9RpHPiPAMb@Mb@Mb@ )IiQ?ʡEÿ{Gzt(99mDY$C!?=A> Q 1]4٪ [@y?Q 5]4 Ϳ JB9%@@?Q A%:Y%Q E%?y ! C) h;I u`;i 20]4YBAgq}FNOT Ignoring new targets: 160.15 m.g};g};vB>~B֍CBHB^MBBBBB^i;B9)E- ProNav: ac range: 160.153595 m, nav range: 156.884705 m, bearing: 321.051007 deg, approach rate: 0.155000 m/s, LOS rate: 0.283401 deg/s, cmd heading: 335.427885 deg, new cmd heading: 335.661790 deg. g-<5HeadingCmd: 5.858403 target range: 160.153595 and range: 161.10 m.g5 x@g1g1g1g1zf9rf9f9f9BdAdAdAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965icAc@Y8@ɢOB~8Z  NI  a"ɡ i I b=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518847ъ[,5 n%*AyJ=u@ٱJÁ@JTƽJZ>JH@u`)?@!!7/*?@θ??X ?IJ=u@)J~^;iHnaMB9nHBDz?6DzF5Y=!Z=Q)> 9 9 mDY %C |[=A>Q 1]4٪.y?Q 5%]4kҿ JB9!Y%mQ E%?yi C);I;i6=]4Y-B-A5{EgQ]FNOT Ignoring new targets: 160.15 m.ge;ge;u ProNav: ac range: 160.153595 m, nav range: 156.934402 m, bearing: 321.151398 deg, approach rate: 0.148693 m/s, LOS rate: 0.300268 deg/s, cmd heading: 335.661778 deg, new cmd heading: 335.862496 deg. gua <}HeadingCmd: 5.861907 target range: 160.153595 and range: 161.10 m.g}@gygyggzfrfffBdddcc@ԙɢ%OBfm  I MɡiIb<uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773109 D wD kD 'D E }: E :6E '4:E ! @! @! @! @ڴ[,n%*Ay6v@ٱ6?p@6x@ǽ6+[>6H`?E6Y ? ޸? ? t?I6v@)6`^;i6CNMB9RHMMb@Mb@Mb@ I)IIIiIIM`"?oʡſy&1|M7?M-M`IIiMAIMA)IM̤ABDm26DmI5Y}=!}C=}Q)}>99mDYk%C\M=A>Q 1]4٪y?Q 5]4׿ JB9QvB ~B B HB MBB =B B B Gi;B -)Em BDAT read: Rx Time:16:07:23.4715 m TRx dataTimestamp_ set to:1755878843.042673u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275872ԉ ʜ[,]n%*Ay6=x@ٱ6@6uǽ6{K]>6Hna? ̾ R^~??@%Q??I6=x@)6~^;i6CbMB9bHb8>b;BDjD6Djm5YrR3=!rT=rኹQ)v>t9t9vmDYv%CzW_=Az>|Q 1]4٪~ y?Q 5]4~ܿ ~JB9Y9Q E ?y~ C)~@;I~b:i~QY]4Y+BAzEg1=FNOT Ignoring new targets: 160.15 m.gE;gE;U ProNav: ac range: 160.153595 m, nav range: 157.036926 m, bearing: 321.364508 deg, approach rate: 0.120393 m/s, LOS rate: 0.265815 deg/s, cmd heading: 336.084430 deg, new cmd heading: 336.288590 deg. gU<;UHeadingCmd: 5.869343 target range: 160.153595 and range: 161.10 m.g]ѻ@gagagagazfarfafifiBdididicqcu` @ɢAOB5X 顥վI ;ϼɡiI7 Ʒ[,on%*Ay6y@ٱ6^˃@6\ǽ6~]>6H G?@ce`-x??\??I6y@)6c^;i6CBMB9BHBDJ:6DJ 5Yf=!fL=fތQ)j>h9h9jmDYj &Cr*Z=Ar>|Q 1 ]4٪~x?Q 5 ]4~ ~JB9 Y Q E ?y~M C)~\:I~[:i~tg]4YIAMDAT read: 16:07:23.4715 LVL= 25536, 30001, 30882, 32755, AGC= 65, IDX= 428, 0.27, 2.285, 1.200, 0.458, 1.492, PHS= 0.895,-0.247,-1.077, RAW= 65.2, 5.1, CAL= 64.3, 3.6, ROT= 85.7, -3.6 Ygot valid direction response: 16:07:23.4715 LVL= 25536, 30001, 30882, 32755, AGC= 65, IDX= 428, 0.27, 2.285, 1.200, 0.458, 1.492, PHS= 0.895,-0.247,-1.077, RAW= 65.2, 5.1, CAL= 64.3, 3.6, ROT= 85.7, -3.6 PDAT read: Bearing 283.6, 81.7 (Local) ~Local bearing/azimuth received: Bearing 283.6, 81.7 (Local) eDAT read: Range 11 to 50 : 161.7 m (Round-trip 215.6 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.Q\direction in FSK: [0.074831,0.995217,0.062791]Fpublishing direction and range info9!%`(?.?֏ ?%!C!i%c%1u%x%%A %e?)%|I%#ۉi%?%K=%ȥ?%=%t? %i!!I%[b?}jq 꿷9.?%Jt% %t?)%i!!T****** received valid address query ******R****** received valid ping request ******h!h%n%*Ah% Ch% Ch%x@h%V(@0[c@8/$@h%`(?.?֏ ?h%t?h%i%Dt[^@U-$Wi!81F@h%BVA?Dmu3?h%!h%Bh%HW?]Querying Benthos address 50 with one ping in standard two-way mode.h% &dh%5B*i!2i!:i!i%C"i%?@ addTargetRange:: Added new target pos. range: 161.699997 m, deltaT: 4.032052 s, deltaX: 0.599991 m, approachRate: 0.148805 m/s, rangeRepo size: 4 - Added new target pos. range: 160.748718 m, bearing: 323.128197 deg, lat: 36.779460 deg, lon: -121.859529 deg, deltaT: 4.032052 s, deltaX: 0.595123 m, approachRate: 0.147598 m/s, posRepo size: 4 g)5FNOT Ignoring new targets: 160.75 m.g5g1DmtDmtDm(DiEms: Emv:6Emc44:Ei!u@!u@!u@!u@ ProNav: ac range: 160.748718 m, nav range: 157.079773 m, bearing: 321.472170 deg, approach rate: 0.000000 m/s, LOS rate: 0.265815 deg/s, cmd heading: 336.288599 deg, new cmd heading: 336.562046 deg. gHeadingCmd: 5.874116 target range: 160.748718 and range: 161.70 m.g@ggggzfrfffBdddc`f6d@c4?yɢUOBB aѾI ɡiI3 BDAT read: Tx time:16:07:24.9018 $Ping request sent.[,{n%*A@=MB9EH}Mb@Mb@Mb@ y)yIyiyy}I +?x&1ȿQ}94?}A}uI}ғAiy}A}+A)y}ABD=6Dу5YQ<!-=Q)>9vBu>~BqBu HBuMBBqBqBqBu-i;Bu!)E9mDԩYk&CA>Q 1]4٪x?Q 5]4\ JB9:?Q A:YQ E?y C)d;I;ix]4Y-BDAyE5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249781gimFNOT Ignoring new targets: 160.75 m.gu;gu; ProNav: ac range: 160.748718 m, nav range: 157.142090 m, bearing: 321.601513 deg, approach rate: 0.156442 m/s, LOS rate: 0.324578 deg/s, cmd heading: 336.562052 deg, new cmd heading: 336.820634 deg. g<HeadingCmd: 5.878629 target range: 160.748718 and range: 161.70 m.g@ggggzfrfffBdddcc`?ɢ aOB 4b  DԾI ¼ɡiI1'[,"Qo%*Ai@vMB9vHxixiz=IxBD~#6D~{5Y5;!5O=1Q)5>9999=nDY=&CAAE>IQ 1U]4٪Mx?Q 5U]4M MKB9QYQQ EU?yM C)M:IM:iM]4Ye/BeFAExEԡgFNOT Ignoring new targets: 160.75 m.g;g; ProNav: ac range: 160.748718 m, nav range: 157.189362 m, bearing: 321.698448 deg, approach rate: 0.119112 m/s, LOS rate: 0.244176 deg/s, cmd heading: 336.820643 deg, new cmd heading: 337.014454 deg. go;HeadingCmd: 5.882012 target range: 160.748718 and range: 161.70 m.gq9@ggggzfrf f f Bd ddcce?ɢoOBp\ 額ھI 1żɡiIZ/ D D dD (D E O: E 96E c44:E !% @!% @!% @!% @f[,0o%*Ay:}@ٱ:ޅ@:~Ƚ:#X>:HbW?`~`gp޿:#??`%? "?I:}@)::^;i:CbMB9f(HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005701uMb@Mb@Mb@ q)qIqiqqui|?5?B`"ɿy&1u1?uNu`IuAiuMAuAq)qu£ABD86D5Yu=!@=PuQ)> H?9 H?9nDY'Cb>A>Q 1]4٪rx?Q 5 ]4 KB9 ,9?Q A :Y Q E ?y= C):I{:i]4Y$BAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 160.75 m.gӜ;gӜ; ProNav: ac range: 160.748718 m, nav range: 157.229019 m, bearing: 321.809426 deg, approach rate: 0.098015 m/s, LOS rate: 0.274215 deg/s, cmd heading: 337.014456 deg, new cmd heading: 337.236355 deg. g;%HeadingCmd: 5.885885 target range: 160.748718 and range: 161.70 m.g%+Y@g!g!g!g!zf)rf)Qf)fQBdQdYdYcYc] :D?ɢ}OBY  WԾI  0ȼɡ iIB-~BBkHB NBB =BBB+i;B)E98checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257678ԩ iA A A E 0I bAU iAZAQ II Ia Nu >[,|,Ko%*A0Db}DbkDb)D`Eb݉: Eb:6EbFA4:E`"Eb9;!fEb:;!f*Eb?;!jEb?;!jyrJ@ٱrG@rȽr?T>rH࡯ݿ@G?˞,` ܿA%?? @?)?IrJ@)rV^;irC~NB9~_HBD *6D ~5Y}=!V=Q)%>!9!9%nDY%]'C-=A->1Q 1=]4٪5~x?Q 5=]45 199Y=Q EE?y5 C)5{:I5:i5ߡ]4YM%BMAMEg 5FNOT Ignoring new targets: 160.75 m.g5];g5];E ProNav: ac range: 160.748718 m, nav range: 157.253250 m, bearing: 321.909859 deg, approach rate: 0.063443 m/s, LOS rate: 0.262918 deg/s, cmd heading: 337.236356 deg, new cmd heading: 337.437189 deg. gE;uHeadingCmd: 5.889390 target range: 160.748718 and range: 161.70 m.guu@gqgqgqgqzfyrfyfyfyBdddccE_?ɢOBU ľI zʼɡiIg*i >I s? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761896[,do%*AdyE@ٱE@EǽER>EHkܿ`OQ?`@bڿ?0?Y ?,?IE@)Em^;iAUNB9UvH]G>]> Mb@Mb@Mb@ ) I i   Gz?"~ʿ/$ 0? S ,I i   ZA)  ABD%76D%o5Y5=!5-=5q:Q)5>9999=nDY='CE*B=AE>AQ 1U]4٪EGx?Q 5U]4E EJB9U8?Q AU:YUQ E]?yE C)E ;IE ;iEY]4YaeoAagFNOT Ignoring new targets: 160.75 m.g;g; ProNav: ac range: 160.748718 m, nav range: 157.277420 m, bearing: 322.033460 deg, approach rate: 0.053526 m/s, LOS rate: 0.273681 deg/s, cmd heading: 337.437190 deg, new cmd heading: 337.684352 deg. gn;HeadingCmd: 5.893704 target range: 160.748718 and range: 161.70 m.g9@ggggzfrfffBdddcc `;@D{DoD*DE=: E:6E(N4:E!@!@!@!@ɢOBXO 額þI #ͼɡiI=(=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013722A [,~o%*AyR@ٱR趈@Rl ǽRS>RH@"ۿ`T? z¿@ٿ@V/?G׸?`"?`+?IR@)RW^;iRCn.NB9nHBDvB6Dv5Y~-=!v=:Q)? 9 9 nDY 'C k=A ?Q 1%]4٪x?Q 5%]4o JB9!Y-Q E-?yC)-;I-;i]4Y5'B5BA5EgY]FNOT Ignoring new targets: 160.75 m.geʕ;geʕ;u ProNav: ac range: 160.748718 m, nav range: 157.289490 m, bearing: 322.120637 deg, approach rate: 0.036265 m/s, LOS rate: 0.261913 deg/s, cmd heading: 337.684361 deg, new cmd heading: 337.858701 deg. gu;HeadingCmd: 5.896747 target range: 160.748718 and range: 161.70 m.vB>~BBHBHNBB =BBBi;B)EBe֍CBe֍CBaBe =Be =Be 4g&@ggggzfrfffBdddcc8@ɢOBP[ -I XϼɡiIzP&IIIN>DuDeD(DEv: E96Ec44:E"E%;!E&;!*E"*;!E#*;!qM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517651ԡ [,|o%*Ay6o@ٱ6Mm@6+tƽ6V>6H ٿ?`\ÿ=c:ؿ ?`ĸ?2p?`(?I6o@)6z^;i6CBHNB9BHBDJ96DJ5YN=!RN=R<:Q)R>T9T9VnDYVN(CZAe=AZ>XQ 1^]4٪Z|x?Q 5b]4ZB  ZJB9`YbQ Eb?yZbC)Z:IZ:iZ]4Y)5 A1qgFNOT Ignoring new targets: 160.75 m.gs;gs; ProNav: ac range: 160.748718 m, nav range: 157.297974 m, bearing: 322.225139 deg, approach rate: 0.019938 m/s, LOS rate: 0.245580 deg/s, cmd heading: 337.858695 deg, new cmd heading: 338.067687 deg. g;HeadingCmd: 5.900394 target range: 160.748718 and range: 161.70 m.gм@g!g!g)g)zf)rf)f1f1Bd1d1d1c1c=W@ɢOB*>M 額ַI oEҼɡiIC#checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771638D D rD D E : E ?:6E :E ! @! @! @! @ [,ɲo%*Ay:*@ٱ:'@:Ž:gY>:H ؿo?"UĿfֿD? ?x?"?I:*@):6j^;i:CBWNB9BHDiDrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021689Mb@Mb@Mb@ )Ii/$?"~ʿ~jt&1?DIiAAA)ABD5<6D55Y, =!:=r:Q)>99nDY(CT=A>Q 1]4٪lx?Q 5]4 JB9 P9?Q A :Y Q E ?yC):Is:i\]4Y)BAMB*** querying acoustic contact ***zhIhIgy}FNOT Ignoring new targets: 160.75 m.g;g; ProNav: ac range: 160.748718 m, nav range: 157.299774 m, bearing: 322.342022 deg, approach rate: 0.004254 m/s, LOS rate: 0.276137 deg/s, cmd heading: 338.067699 deg, new cmd heading: 338.301461 deg. g;HeadingCmd: 5.904474 target range: 160.748718 and range: 161.70 m.gt@ggggzfrfffBdddccÿ @ɢ=OB=f N AEzIA E>ԼɡAiAIE!!vBy~ByB}HB}zNBB} =ByByB}h;B}(E1BDAT read: Rx Time:16:07:27.5220 TRx dataTimestamp_ set to:1755878847.074695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274668a [,}o%*Ay:@ٱ:"@:ý:7Z>:H 0׿W]?Ŀ2/տ5? v?`?!?I:@):o^;rD>=jD<BE c44JE ?4RE +0DBDBhDB'D@EB: EB]96EB'4:E@"EB½;!JEBý;!N*EB5;!NEB5;!Ni:C~eNB9~HBD B6D 5YE =!ER=Mò:Q)M>I9I9MnDYM(CUm=AU>iQ 1u]4٪m]x?Q 5u]4m mJB9Y Q E?ymC)mj"ԉPExceeded connect timeout, disconnecting. DAT read: 16:07:27.5220 LVL= 20112, 27169, 32754, 32755, AGC= 66, IDX= 433,-0.25, 2.444, 0.939, 0.849, 1.602, PHS= 0.944,-0.618,-0.797, RAW= 84.6, 5.7, CAL= 83.7, 3.5, ROT= 66.3, -3.5  Ygot valid direction response: 16:07:27.5220 LVL= 20112, 27169, 32754, 32755, AGC= 66, IDX= 433,-0.25, 2.444, 0.939, 0.849, 1.602, PHS= 0.944,-0.618,-0.797, RAW= 84.6, 5.7, CAL= 83.7, 3.5, ROT= 66.3, -3.5  PDAT read: Bearing 11.2, 70.3 (Local)  ~Local bearing/azimuth received: Bearing 11.2, 70.3 (Local)  % DAT read: Range 11 to 50 : 162.0 m (Round-trip 216.1 ms) speed -0.2 m/s - R#Rx 1: Read range and direction messages.1[,`o%*AB\direction in FSK: [0.401198,0.913955,0.061049]FFpublishing direction and range info9l[:?)*??.xA?"CiN!jB q?)?5I1Li?%=?5z=? 5ziI}:?ٔ_mH?'̽ ?)5ziT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ye@ٱeL@eO½ePY>eHտ?aRſ 3`9<Կh?G?D?;#?Ie@)e ^;ieCNB9HD}DdD+DE݉: E96E [4:E!@!@!@!@Mb@Mb@Mb@ )IiCl?K7ɿJ +/?IHI-AixA9AA)ABDEK6DE 5Y/=!=I:Q)>K?9K?9nDY])CH3=A>Q 1]4٪(Lx?Q 5]4 JB9c7?Q A :Y c Q E ?yZC);I:i]4Y BkAhh o%*Ah !Ch !Cho@h8_#'P@%#zfb@iϩ#@hl[:?)*??.xA?h?h5zi/\@HYZ PG@hnjY?_)Ts?hhBh':S?hhB*i2i:iBiGC"ii)@ addTargetRange:: Added new target pos. range: 162.000000 m, deltaT: 4.031821 s, deltaX: 0.300003 m, approachRate: 0.074409 m/s, rangeRepo size: 4 E Added new target pos. range: 161.046570 m, bearing: 316.864355 deg, lat: 36.779460 deg, lon: -121.859529 deg, deltaT: 4.031821 s, deltaX: 0.297852 m, approachRate: 0.073875 m/s, posRepo size: 4 gAMFNOT Ignoring new targets: 161.05 m.gMgI} ProNav: ac range: 161.046570 m, nav range: 157.278107 m, bearing: 322.578398 deg, approach rate: 0.000000 m/s, LOS rate: 0.263630 deg/s, cmd heading: 338.504722 deg, new cmd heading: 338.789578 deg. gHeadingCmd: 5.912993 target range: 161.046570 and range: 162.00 m.g>7@ggggzfrfffBdddc@d@c`U?) A(DAT read: user:31> BDAT read: Tx time:16:07:28.9518 $Ping request sent.7@)yi! ! ) - @1) I Aq I I N >\,_p%*Ay:HW@ٱ:T@::W>:H`/xԿ?ſ@J+ %ҿ@j?? c?&?I:HW@): ^;i:CBNB9F%HF=Fp;)H HBD^M6D^5Yf=!f=j(;Q)j#?h9l9nnDYn)C~=A ?Q 1 ^4٪Bx?Q 5 ^4&" JB9Y Q E?yC):IB:i^4vB%>~B!B%?HB%NBB% =B!B!B%h;B%(EY9=ii)K@)QiM9IIM0IyAbDZDDDkD(DE: E:6Ec44:E"E;!E;!*E?;!E?;!IINf>ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502581G@\, 8p%*A@yJL @ٱJ@JJdX>JH@%ӿ8?2%ƿ8crѿd!9)9-oDY-)C5Z=A5>AQ 1M^4٪E5x?Q 5U^4E( EJB9QYUQ E?yEC)EYD wD iD D E }: E 96E :E ! @! @! @! @ tj \,f4p%*AiIF^G)RSkAIXbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006654tivvSkAvAym@ٱmѼ@m٩m[>mHѿ3?ƿޗ @п@a?k̷??!?Im@)mΈ^;imCNB9FH=Mb@Mb@Mb@ 9)9I9i99=@5^I ?Fxɿ~jt=b0?=K=I=\Ai9= A=A)9=ABDU-6DU"5Ye=!e7=e:Q)e>i9i9moDYmC*CmK=Au>yQ 1}^4٪}'x?Q 5^4}/ }JB97?Q A:YsQ E?y}*C)}:I}:i}"^4Y"BAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 161.05 m.gm;gm; ProNav: ac range: 161.046570 m, nav range: 157.205780 m, bearing: 322.873107 deg, approach rate: -0.076865 m/s, LOS rate: 0.270022 deg/s, cmd heading: 339.148044 deg, new cmd heading: 339.379072 deg. g;HeadingCmd: 5.923282 target range: 161.046570 and range: 162.00 m.g@ggggzfrfffBdddccP?ɢPB% N !%VI! %iɡ)i)I-0uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258480a =R\,(Mp%*ArD0jD2a=D6xD6gD6)D4E6ˀ: E6&96E6FA4:E4"E6;!:E6;!:*E6j1;!>E6j1;!>yFx@ٱFCv@FF=\>FH@iп]?0ǿͿ i9? ? J??IFx@)F9^;iFCRNB9R~HiV=IV=BDZ,6DZ59YU=!U]=]:Q)]>a9a9eoDYe*Cez=Ae>iQ 1u^4٪mx?Q 5u^4m5 mJB9YQ E?ymnC)m,q;Imq;imp/^4YBAEgFNOT Ignoring new targets: 161.05 m.g;g; ProNav: ac range: 161.046570 m, nav range: 157.172867 m, bearing: 322.969143 deg, approach rate: -0.088673 m/s, LOS rate: 0.258791 deg/s, cmd heading: 339.379068 deg, new cmd heading: 339.571180 deg. g;HeadingCmd: 5.926635 target range: 161.046570 and range: 162.00 m.g@ggggzfrfffBdddcc??ɢ&PBL !%ѝI! %Hɡ!i!I%Yԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763100|\,%gp%*AyJ5@ٱJN3@JGJJR[>JHͿ?`[ǿ`xʿ`Β?̀?`(?"?IJ5@)Ju^;iJCRNB9VHBDrK6Dr 5Y%<!%N=-:Q)5>A9A9MoDYM*CԩUfk=A>)Q 1E^4٪- x?Q 5M^4-= -JB9iYmQ Eu?y-C)-'^4YmAg FNOT Ignoring new targets: 161.05 m.g G;g-G;= ProNav: ac range: 161.046570 m, nav range: 157.128281 m, bearing: 323.080131 deg, approach rate: -0.099910 m/s, LOS rate: 0.248777 deg/s, cmd heading: 339.571187 deg, new cmd heading: 339.793225 deg. g=;EHeadingCmd: 5.930511 target range: 161.046570 and range: 162.00 m.gEƽ@gAgAgIgIzfIDu|DunDqDqEu : Eu:6Eq:Eq!@!@!@!@rfffBdddccQ@ɢ=:PBEuE AEIA &ɡiI>i]9YY]0YbAiZAmfAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015058I9IINU> Sd \,ʤp%*Ay>@ٱ>@>&>[>>HJ ˿`L?;ȿ"Q.ȿ ?}\?+?`T"?I>@)> p^;i>CFOB9FHvBb>~B`BbHBbOBB`B`B`Bbh;Bb(E5Mb@Mb@Mb@ 1)1I1i115Dl?> ףp=ʿMb5O-?5Q5I5Ai5ײA5hA5A)15ABDM66DM45Y]=!]G=]:Q)e>a9a9eoDYe3+Cmf=Am>qQ 1^4٪uox?Q 5^4uBC uJB9D5?Q A:YQ E?yuC)us;Iu4s;iuK^4YB6Ai=:?I=C==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884gIMFNOT Ignoring new targets: 161.05 m.gu;gu; ProNav: ac range: 161.046570 m, nav range: 157.087479 m, bearing: 323.177087 deg, approach rate: -0.107362 m/s, LOS rate: 0.255184 deg/s, cmd heading: 339.793223 deg, new cmd heading: 339.987184 deg. g;HeadingCmd: 5.933896 target range: 161.046570 and range: 162.00 m.gy@ggggzfrfffBdddcc@L@ɢ IPB 5M 15XI1 5&ɡ1i1I5Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518656y &\,Ap%*AyZ@ٱZ@ZPZzZ>ZH/ȿ@?ൂȿHJ LSſ@?? !?` ?$?IZ@)Z^;iXf/OB9fH)h jABDr<6Dr5Yv=!zQ=z;Q)z>|9|9~oDY~+Cv=A>Q 1 ^4٪w?Q 5^4I JB9YxQ E?yHC)):I:iXY^4Y%A!gAMFNOT Ignoring new targets: 161.05 m.gMC;gUC;e ProNav: ac range: 161.046570 m, nav range: 157.039597 m, bearing: 323.276456 deg, approach rate: -0.129091 m/s, LOS rate: 0.267984 deg/s, cmd heading: 339.987173 deg, new cmd heading: 340.185971 deg. ge8;mHeadingCmd: 5.937365 target range: 161.046570 and range: 162.00 m.gm@gigigigizfirfqfqfqBdddcc@7@ɢXPBK 顽=I <ɡiI0 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770580ԁԩD yD fD )D E : E 96E FA4:E ! @! @! @! @ Ҹ,\,\p%*Ay6t@ٱ68r@66mqV>6H07ſ?`\^ȿ(m#{¿?g?`?,?I6t@)6vw^;i4Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022560V 9 9oDY+C\=A>Q 1%^4٪w?Q 5%^4P JB9-1?Q A-:Y-Q E-?yC):I:ih^4Y5B5ŽA=EUB*** querying acoustic contact ***zhQhQgaeFNOT Ignoring new targets: 161.05 m.ge܍;gm܍;} ProNav: ac range: 161.046570 m, nav range: 156.980850 m, bearing: 323.385551 deg, approach rate: -0.133521 m/s, LOS rate: 0.248048 deg/s, cmd heading: 340.185959 deg, new cmd heading: 340.404230 deg. g};HeadingCmd: 5.941175 target range: 161.046570 and range: 162.00 m.g@ggggzfrfԱffBdddcc @ɢkPB(D 顭I pzɡiIYx AA<vB~BBHBPOBBBBBh;B(EBBBBBB 4UBDAT read: Rx Time:16:07:31.5716 ]TRx dataTimestamp_ set to:1755878851.106739]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275709 9 ڠ3\,7p%*AD2D2pD2,D0E2: E2 :6E2g4:E0"E2=;!:E2>;!:*E2,R;!:E2-R;!:yF68@ٱF5@FFX>FH6¿ ?ȿ` M??`?*?IF68@)Fʑ^;iFC^[OB9^ HBDf56Df5Ynj=!r^=r2;Q)r>t9t9voDYv',CvQ=Av>xQ 1~^4٪zw?Q 5~^4zW zJB9YQ E?yzC)z;Iz;izu^4Y  A g15FNOT Ignoring new targets: 161.05 m.g=;g=;M ProNav: ac range: 161.046570 m, nav range: 156.926376 m, bearing: 323.476059 deg, approach rate: -0.148989 m/s, LOS rate: 0.247629 deg/s, cmd heading: 340.404225 deg, new cmd heading: 340.585303 deg. gM;UHeadingCmd: 5.944335 target range: 161.046570 and range: 162.00 m.gU7@gQgggzfrfffBdddcc l @ɢ5{PBU=J QUIY ]#ɡYiYI]Ai i] =I] = DAT read: 16:07:31.5716 LVL= 25072, 32625, 32754, 32755, AGC= 66, IDX= 429, 0.18, 2.407, 0.856, 1.089, 1.702, PHS= 0.807,-0.801,-0.657, RAW= 94.6, 8.5, CAL= 94.7, 8.6, ROT= 55.3, -8.6  Ygot valid direction response: 16:07:31.5716 LVL= 25072, 32625, 32754, 32755, AGC= 66, IDX= 429, 0.18, 2.407, 0.856, 1.089, 1.702, PHS= 0.807,-0.801,-0.657, RAW= 94.6, 8.5, CAL= 94.7, 8.6, ROT= 55.3, -8.6  PDAT read: Bearing 44.5, 60.7 (Local)  ~Local bearing/azimuth received: Bearing 44.5, 60.7 (Local)  DAT read: Range 11 to 50 : 161.7 m (Round-trip 215.7 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.562879,0.812900,0.149535] Fpublishing direction and range info9a e _?\,G?S&r#?e !Ca ie ae qa a a e N?)e VMIe '1(ie V?e >e ԏ?e `>e 0w? e `ia a Ie D€w?-'ۿYn[?e e  e 0w?)e `ia a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.9\,3p%*A0y:@ٱ: @:ﳽ:.bX>:H@Km@"?SXɿ@0`6?v?X?*?I:@):Fz^;i:Cr{OB9r0Htitiz=Iz=BD536D55Y =!9=;Q)>99oDY,CM=A>1Q 1=^4٪5Ew?Q 5=^45_ 5JB99YEQ EE?y5,C)5:I51:i51^4DuDukDu*DqEu: Eu:6Eu(N4:Eq!}@!}@!@!@ԉYFAhh5 p%*Ah Ch Chֻ@hٞV@#`=U`@5? 8@h_?\,G?S&r#?h0w?h`izP[@>~XDSM@h珦8?V ZE)Z?hdh@Bhʚ?h'Xh B*i2i:i5BiC"i@= addTargetRange:: Added new target pos. range: 161.699997 m, deltaT: 4.032237 s, deltaX: -0.300003 m, approachRate: -0.074401 m/s, rangeRepo size: 4 ] Added new target pos. range: 160.748688 m, bearing: 318.231031 deg, lat: 36.779460 deg, lon: -121.859529 deg, deltaT: 4.032237 s, deltaX: -0.297882 m, approachRate: -0.073875 m/s, posRepo size: 4 gY]FNOT Ignoring new targets: 160.75 m.gega ProNav: ac range: 160.748688 m, nav range: 156.848236 m, bearing: 323.593578 deg, approach rate: 0.000000 m/s, LOS rate: 0.247629 deg/s, cmd heading: 340.585307 deg, new cmd heading: 340.834054 deg. gHeadingCmd: 5.948677 target range: 160.748688 and range: 161.70 m.g[@ggggzfrfffBd d d c `f6d@c .4?ɢ]PB]< Y]Iy bɡiI BDAT read: Tx time:16:07:32.9018 $Ping request sent. @\,q%*AvB6>~B4B6FHB6OBB4B4B4B6h;B6(EyFK@ٱF@F`FqW>FHAY`d4? Hɿ J٪?$??,?IFK@)Fr^;iFCbOB9bYHlMb@Mb@Mb@ )Ii}?5^I?zGʿ~jtM"? WļIAiвAAA)zABD86D5Y=!L=Y;Q)> H?9 H?9oDY,Cτ=A>Q 1 ^4٪Cw?Q 5 ^4e JB9 +?Q A:YFQ E?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250032yjC)i;I(j;i^4Y)-A)gIUFNOT Ignoring new targets: 160.75 m.g];g];m ProNav: ac range: 160.748688 m, nav range: 156.791550 m, bearing: 323.680239 deg, approach rate: -0.165764 m/s, LOS rate: 0.253508 deg/s, cmd heading: 340.834062 deg, new cmd heading: 341.007446 deg. gm;mHeadingCmd: 5.951703 target range: 160.748688 and range: 161.70 m.guYt@gqgqgqgqzfqrfyfyfyBdyddccF?ɢPBH 页ŀI ΰɡiIA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501920a F\,Pq%*Ay6@ٱ6?}@66 W>6H _ A?`ɿ@@(?ϵ?@/? .?I6@)6z^;i6C^OB9bWHfa=idBDj%6Dj|5Yre!r]=r g;Q)r>vK?9vK?9vpDYv-CzI=Az>9xQ 1]^4٪zw?Q 5]^4z k zJB9YYeFQ Ee?yzC)z_D {D eD )D E =: E 96E FA4:E ! @! @! @! @ M\,6q%*Aɰ;p;y:J@ٱ:2H@:O:ԔU>:Hc#`%L?@ɿ`͝I?C?@i?2?I:J@):k^;i:CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006011JOB9JHMb@Mb@Mb@ )Iiףp= ?x&1̿Mb?A`Ii)BD-'6D-}5Y==!ED=E ;Q)E>I9I9MpDYMq-CMs=AM>ԙQQ 1^4٪UNw?Q 5^4Uq U|JB9(?Q A:Y8Q E?yUC)UL=IUL=iUf^4YBzAEB*** querying acoustic contact ***zhhg15FNOT Ignoring new targets: 160.75 m.g=|;g=|;M ProNav: ac range: 160.748688 m, nav range: 156.657745 m, bearing: 323.864167 deg, approach rate: -0.162750 m/s, LOS rate: 0.221044 deg/s, cmd heading: 341.182129 deg, new cmd heading: 341.375443 deg. gMD;uHeadingCmd: 5.958126 target range: 160.748688 and range: 161.70 m.gu@gqgqgqgqzfyrfyfyfyBdddcc`?ɢPB< DtI :ɡiIonii)@) i0rAjA?AYA]@AvBe>~BaBeHBeOBBe =BaBaBeh;Be(EAyAIIN>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257988 |S\,}Pq%*AD&zD&hD&-D$E&l: E&]96E&t4:E$"E&ѧ;!*E&ӧ;!**E&5;!.E&5;!.yFf@ٱF@FlFTW>FH`@/L?Guʿ' }? ??0?IFf@)F^;iFCROB9RHBDZ)6DZn~5Yb$=!bR=fn;Q)f>f H?9f H?9fpDYj-Cjn=Aj>lQ 1r^4٪nw?Q 5r^4nx nrJB9pYvLQ Ev?yn1C)n:In|:in^4YxzZAxgFNOT Ignoring new targets: 160.75 m.g;g; ProNav: ac range: 160.748688 m, nav range: 156.586105 m, bearing: 323.953842 deg, approach rate: -0.213665 m/s, LOS rate: 0.267576 deg/s, cmd heading: 341.375450 deg, new cmd heading: 341.554882 deg. g;HeadingCmd: 5.961257 target range: 160.748688 and range: 161.70 m.g¾@ggggzfrfffBdddcc`]?ɢ]PB]6C Y]sIY eɡaiaIe;ImӤiiii)m¾@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510981i)))-0))A}AIIN^>QE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761917y %Z\,jq%*AyBď@ٱB=–@B(ȢB0nW>BH@>S K?ʿ!1??`S?m?2?IBď@)B(x^;i@JPB9NHIP)RBABDV,6DV5Yno >!nG=n:;Q)n>rK?9rK?9rpDYr.Cvj=Av>xQ 1~^4٪zѵw?Q 5~^4z~ zfJB9|Y~JQ E~?yzvC)z):IzT:izM^4Y  A gYAMFNOT Ignoring new targets: 160.75 m.g]Ӂ;geӁ; ProNav: ac range: 160.748688 m, nav range: 156.504791 m, bearing: 324.047980 deg, approach rate: -0.195977 m/s, LOS rate: 0.227002 deg/s, cmd heading: 341.554893 deg, new cmd heading: 341.743266 deg. g;HeadingCmd: 5.964545 target range: 160.748688 and range: 161.70 m.gݾ@ggg!g!zf)rf)D=D9D=(D9E=: E96E=c44:E9!M@!M@!M@!M@fQfQBdYdYdYcYce wQ@ɢPBF1 顭yNI ]ɡiI;I$ii)ݾ@)iIu͈G)lAIilAwAi    checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014609I!I9NM>ԑ vBE >~BA BE HBE PBBE =BA BA BE i;BE )Ea\,|q%*AiyN@ٱNM@NJPN2W>NH N?F?ʿU?%?ij?`]?3?IN@)N^;iNCVPB9ZHXiXi^=I^==Mb@Mb@Mb@ 9)9I9i99=l?S˿~jt=?=/]=I9i=/A=A9)9=ABDU96DU5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265899Y%m<!-6=-;Q)->19195pDY5m.C5FU=A=>9Q 1E^4٪=w?Q 5E^4= =UJB9M!?Q AM:YMEQ EM?y=C)=:I=;i=^4YUB]A]EgyFNOT Ignoring new targets: 160.75 m.gM};gM};ԑ ProNav: ac range: 160.748688 m, nav range: 156.415909 m, bearing: 324.146107 deg, approach rate: -0.200477 m/s, LOS rate: 0.221455 deg/s, cmd heading: 341.743270 deg, new cmd heading: 341.939634 deg. g;HeadingCmd: 5.967972 target range: 160.748688 and range: 161.70 m.g@ggggzfrfffBdddcc d@ɢPB9 (YI lɡiIV;I cii)@)i90bA iAZA hAԹbDIZDM?ADmuDmcDm*DiEmv: EmL96Em(N4:Ei"Em%;!Em&;!*Em";!Em";!IYIiN}z> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518120 *g\,q%*Ay6$?@ٱ6v<@6M6'xV>6H u???f˿Z?` h?c=?`?@Q6?I6$?@)6n^;i6CB4PB9B IBDJ+6DJZ5YjYi=!je=n¾;Q)n>p9p9rpDYr.Cr@=Ar>tQ 1z^4٪vXw?Q 5z^4v vHJB9|Y~]Q E~?yvC)v;Iv+;ivj^4YA g)5FNOT Ignoring new targets: 160.75 m.g5y;g5y;E ProNav: ac range: 160.748688 m, nav range: 156.340668 m, bearing: 324.223664 deg, approach rate: -0.211170 m/s, LOS rate: 0.217775 deg/s, cmd heading: 341.939624 deg, new cmd heading: 342.094812 deg. gEF;MHeadingCmd: 5.970681 target range: 160.748688 and range: 161.70 m.gM@gIgQgQgQzfQrfQfYfYBdYdYdacace <@ɢ QBd; 顥TI PɡiI;Iii)@)iQQQQQIIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7699469Du tDu fDq Dq Eu s: Eu 96Eq :Eq !} @!} @!} @!} @y Um\,hq%*A06BDAT read: Rx Time:16:07:35.5208 6TRx dataTimestamp_ set to:1755878854.887104:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023389yFn@ٱF@F:FGT>FHn_? 5?ʿ ?x?²?@?W;?IFn@)Fu^;iFC^TPB9^IMMb@Mb@Mb@ I)IIIiIIM9v?)\(̿ ףp= M?MGaMQ8IMAiMAMMAMƙA)IM\ABD;6D[5Yl=!1=4;Q)>99pDY/C{M=A>Q 1^4٪w?Q 5^4Ԓ 2JB9?Q A:YQ E?yAC)m ;I* ;i^4YBKAEB*** querying acoustic contact ***zhhg)-FNOT Ignoring new targets: 160.75 m.g5]p;g5]p;E ProNav: ac range: 160.748688 m, nav range: 156.241333 m, bearing: 324.322185 deg, approach rate: -0.211745 m/s, LOS rate: 0.210143 deg/s, cmd heading: 342.094806 deg, new cmd heading: 342.291972 deg. gEJ;mHeadingCmd: 5.974122 target range: 160.748688 and range: 161.70 m.gm,@gigqgqgqzfqrfqfyfyBdydydccW @ԉɢ QB M1 ;KI .ɡiIP;I=ii!)%,@)!i90A<A<vB >~B B IB DPBB  =B B B h;B (EIAIQNeU>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273913 >t\,q%*ArD=jD=DvDcD)DEVz: EL96EFA4:E"EH;!EI;!*E!E!yF㷒@ٱF5@F!;FPU>FH 2?"?-˿ ?86?Uc? 9 9pDY\/C=A>Q 1%_4٪dw?Q 5%_4q !JB9)Y-Q E-?yzC):I:i_4Y15 A9gYeFNOT Ignoring new targets: 160.75 m.gex;gex;u ProNav: ac range: 160.748688 m, nav range: 156.160599 m, bearing: 324.397284 deg, approach rate: -0.233819 m/s, LOS rate: 0.217612 deg/s, cmd heading: 342.291980 deg, new cmd heading: 342.442255 deg. g5 ;=HeadingCmd: 5.976745 target range: 160.748688 and range: 161.70 m.g=~A@g9g9g9g9zf9rfAfAfABdAdIdIcIcM + @ɢ0QB~4 顽 ;I ,FɡiIq;I圾ii)~A@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528118i!!!%0!IIN@>A M DAT read: 16:07:35.5208 LVL= 27984, 32753, 32754, 32755, AGC= 65, IDX= 436, 0.12,-1.470, 3.003,-2.652,-2.229, PHS= 0.861,-1.006,-0.467, RAW= 106.3, 7.4, CAL= 107.6, 8.1, ROT= 42.4, -8.1 U Ygot valid direction response: 16:07:35.5208 LVL= 27984, 32753, 32754, 32755, AGC= 65, IDX= 436, 0.12,-1.470, 3.003,-2.652,-2.229, PHS= 0.861,-1.006,-0.467, RAW= 106.3, 7.4, CAL= 107.6, 8.1, ROT= 42.4, -8.1 ] PDAT read: Bearing 60.4, 47.2 (Local) ] ~Local bearing/azimuth received: Bearing 60.4, 47.2 (Local) m DAT read: Range 11 to 50 : 161.1 m (Round-trip 214.8 ms) speed 0.2 m/s m R#Rx 1: Read range and direction messages.u \direction in FSK: [0.731088,0.667575,0.140901]u Fpublishing direction and range info9  B,e?h\?:N ? !C i Pm    A  j\?) ĀI i y? A> va? > q=?  i  I !a?cο%P嗀? u c  q=?) i   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.gz\,q%*Ay6r@ٱ6lo@6~N6WV>6H}? ?n˿?`3?@%?`? 9?I6r@)6]^;i6C!5pPB95.IBDm86Dm5YO5!5>=E ;Q)M>Q9Y9]pDYe/CmP=A>Q 1%_4٪w?Q 5%_4DUyDUpDU+DQEU: EU :6EU [4:EQ!u@!u@!u@!}@ҟ  JB9YQ E?yC)U BDAT read: Tx time:16:07:36.9018 $Ping request sent.ԡ vB ߿>~B ՍCB 2IB wPBB =B B B h;B (EBBBBBB 4`\,r%*Ay67+@ٱ6(@66RV>6HY?`?1˿ @f?9]?O??X8?I67+@)6hs^;i6CNPB9N9I-Zonly read 0 of 1 data item for BIT error. Device response is::TS7, 0 !n@!n !n@!n !n@!n !n@!n Qiߵ%=IߵR=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250332BDr.6Dr]5Y?"=!E=P:Q)> H?9 H?9 pDY 0C ji=A >Q 1_4٪w?Q 5_4 IBQ =%+:9!Q A%:Y%Q E%?yC):I>i_4YQUAQgFNOT Ignoring new targets: 160.15 m.g ;g ;m ProNav: ac range: 160.152130 m, nav range: 150.188522 m, bearing: 319.769055 deg, approach rate: -0.329474 m/s, LOS rate: 0.229126 deg/s, cmd heading: 342.665181 deg, new cmd heading: 342.823970 deg. gm;uHeadingCmd: 5.983407 target range: 160.152130 and range: 161.10 m.gux@gqgqgygyzfyrfyffBdddcc@O?ɢ5YQB5> 15XI9 =Bɡ9i9I=2;ԁI|ii)x@)i0bD%?AZD%AAD5}D5_D1D1E5݉: E5r96E1:E1"E58;!EE5:;!E*E5K;!ME5L;!MԱAIIQIaNu> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506213 ׇ\,r%*Ay6@ٱ6ޛ@66VW>6H@m)?`?˿ Yh?cġ??a?7?I6@)6E^^;i6CBPB9B;IiF=IF=BDJ66DJ45YRE<!Vc=V):Q)V>T9X9ZqDYZN0CZ}=AZ>\Q 1b_4٪^w?Q 5b_4^ ^IBQ =f :9dQ Af_:Yf߿Q Ef?y^9C)^:I^DM DM gDM )DI EM 1: EM &96EM FA4:EI !m @!m @!m @!u @A {\,?s9r%*A)$ &A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011411y s@ٱ Ś@ Q v%X> H`o ??˿@eo?b"? s??6?I s@) v^;i C-PB9-NI9!E!E !E!E !E!E !E!E EMb@Mb@Mb@ A)AIAiAAE&1?5^I ˿&1E?EXEPIE5AiAAEjA)AEABD]:6D] 5Ym9=!m1=mE9Q)u>q9q9uqDY}0C}@K=A}>Q 1_4٪4w?Q 5_4 IBQ =T:9/?Q A:YܿQ E?yC) ;I;i:6_4YBȸAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 160.15 m.g"a;g"a; ProNav: ac range: 160.152130 m, nav range: 149.930756 m, bearing: 319.933674 deg, approach rate: -0.316764 m/s, LOS rate: 0.196829 deg/s, cmd heading: 342.971747 deg, new cmd heading: 343.153505 deg. g;HeadingCmd: 5.989159 target range: 160.152130 and range: 161.10 m.g0@ggggzfrfffBdddcc`ԧ?ɢ-~QB-E: )5ZI1 5ɡ1i1I5;I=i9i9)=0@)Ai0aAAvB~BBKIBPBBBBBh;B(EAAI!I1N=r>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262027ԉԹ rD9 jD= <BEJE˔K4RE/DE vDE lDE (DA EE Vz: EE :6EE c44:EA "EE H;!U EE I;!U *EE C;\,QOSr%*A!EuC;!y:P@ٱ:N@:̏: Z>:H?c?D̿`]C O!?@??`? ?3?I:P@):vz^;i:CBPB9BTIHiJ4=BDN56DN5YV<!Vl=V1Q)V?ZK?9ZK?9ZqDYZ0CZ~=A^?`Q 1b_4٪bw?Q 5f_4bo bIB9dYf9ٿQ Ef?ybC)b6:Ib:ibUB_4YhnAlgFNOT Ignoring new targets: 160.15 m.gM;gM; ProNav: ac range: 160.152130 m, nav range: 149.817444 m, bearing: 320.000892 deg, approach rate: -0.303113 m/s, LOS rate: 0.179945 deg/s, cmd heading: 343.153512 deg, new cmd heading: 343.288048 deg. g;HeadingCmd: 5.991507 target range: 160.152130 and range: 161.10 m.gl@ggggzf!rf!f!f!Bd)d)d)c)c-ৱ?ԑɢQBA fdI  8ɡiI;IVii)l@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515347iAIINk> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766012 Ě\,)mr%*Aɰ02;yN-@ٱN@N͐NX>NH@օ?c?`/̿`?_?? ?@(5?IN-@)N^;iNCZPB9ZiIBDb;6Db[5Yjx=!jH=j霺Q)n>l9l9nqDYrD1CrZ=Ar>tQ 1z_4٪vωw?Q 5z_4v vIB9xYzrֿQ E~?yvC)v:Iv:ivP_4YBoAg)-FNOT Ignoring new targets: 160.15 m.g5Vk;g5Vk;M ProNav: ac range: 160.152130 m, nav range: 149.679352 m, bearing: 320.079322 deg, approach rate: -0.361926 m/s, LOS rate: 0.205747 deg/s, cmd heading: 343.288040 deg, new cmd heading: 343.445044 deg. gUD;HeadingCmd: 5.994247 target range: 160.152130 and range: 161.10 m.gп@ggggzfrfD D bD )D E : E 96E FA4:E !5@!5@!5@!5@AfIfQBdYdYdacc/z@ɢmQBmF; iuXIq uɡqiqIu;I}iyiy)}п@))i%9!!%0)rA=?jA=>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.020061ԁAiIyIN>ԩ vB ޿>~B B dIB PBB =B B B h;B (Ez\,)r%*Ay6@ٱ6ﲞ@6 6fV>6H5?h ףp=?|?5^ʿJ + ? R HI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270644i A A )  ABD@6D5Y-;!-6=5CQ)=>9999EqDYE1CEfE=AE>IQ 1]_4٪Mw?Q 5e_4M  MIB9e?Q Ae:YeҿQ Em?yM;C)MU\;IMc2;iM\`_4Yq}jAygFNOT Ignoring new targets: 160.15 m.g)V;g)V; ProNav: ac range: 160.152130 m, nav range: 149.520599 m, bearing: 320.164171 deg, approach rate: -0.349945 m/s, LOS rate: 0.187236 deg/s, cmd heading: 343.445052 deg, new cmd heading: 343.614931 deg. gT;-HeadingCmd: 5.997212 target range: 160.152130 and range: 161.10 m.g-)@g1g1g1g1zf1rf1f9f9Bd9d9dAcAcE@ԱɢQBThE MiI eɡiIN;I kii))@)i90bD@AZDD rD iD &D E k: E 96E 4:E "E ;!%E ;!%*E 8;!%E 8;!%A1I9IQN]>u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522575 ا\,r%*Ay6 g@ٱ6^d@636 yU>6H?@?u˿n?@?Y?Ol?:?I6 g@)6n^;i6CVPB9VxIIX)ZAABD^=6D^у5Yf=!fd=jۺQ)j>h9hl9nqDYn1Cr5w=Ar>tQ 1z_4٪v$w?Q 5z_4v vxIB9xYzϿQ E~?yvsC)vU;Iv;ivl_4Y9D% |D! D% *D! E% : E! 6E% (N4:E! !M @!M @!M @!M @ i I G) q I i A\,r%*ABDAT read: Rx Time:16:07:39.5194 TRx dataTimestamp_ set to:1755878858.924705"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029827APB9Ii}Mb@Mb@Mb@ y)yIyiyy}> ףp=?nʿ~jty}V}DI}Ai}A}Ay)y}ABD?6DF5Yk<!-=Q)>99qDYI2CA>Q 1_4٪w?Q 5_4E `IB9?Q A:YpпQ E ?yC)e:I:i]}_4YwBAE5B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 160.15 m.gEpV;gEpV;] ProNav: ac range: 160.152130 m, nav range: 149.220581 m, bearing: 320.319243 deg, approach rate: -0.360090 m/s, LOS rate: 0.187477 deg/s, cmd heading: 343.748504 deg, new cmd heading: 343.925407 deg. g];]HeadingCmd: 6.002631 target range: 160.152130 and range: 161.10 m.ge@gagagagazfarfafifiBdqdqdqcqcuU @ɢQB"B 顥uoI (<ɡiI/E;IԤii)@)iAaA-<A-<vB1~B1B5}IB5PBB1B1B1B5h;B5(EiaaaaaԙAIiI=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278960IN> rD =jD D% D% fD! D! E% : E% 96E! :E! "E% ½;!- E% ý;!- *E% -;!5 E% -;!5 ?\,r%*AyJȱ@ٱJ@J驕J#T>JH h??˿7g'?hv? ?N?`:?IJȱ@)Jh^;iJCRQB9VIBD^66D^45Yf=!fq=fQ)f?h9h9jqDYj2Cn=An?pQ 1r_4٪rsw?Q 5v_4r rOIB9tYvH˿Q Ev?yrC)rK:IrW:ir:_4Y|~A|g%FNOT Ignoring new targets: 160.15 m.g-P;g-P;e ProNav: ac range: 160.152130 m, nav range: 149.091827 m, bearing: 320.381075 deg, approach rate: -0.379717 m/s, LOS rate: 0.182510 deg/s, cmd heading: 343.925406 deg, new cmd heading: 344.049175 deg. ge;uHeadingCmd: 6.004791 target range: 160.152130 and range: 161.10 m.ԩg?'@ggggzfrf f9f9BdAdIdqcyc @eDAT read: 16:07:39.5194 LVL= 28944, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.34,-1.254, 3.078,-2.271,-1.975, PHS= 0.823,-1.185,-0.340, RAW= 114.8, 8.1, CAL= 116.1, 9.2, ROT= 33.9, -9.2 mYgot valid direction response: 16:07:39.5194 LVL= 28944, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.34,-1.254, 3.078,-2.271,-1.975, PHS= 0.823,-1.185,-0.340, RAW= 114.8, 8.1, CAL= 116.1, 9.2, ROT= 33.9, -9.2 uPDAT read: Bearing 75.7, 38.8 (Local) u~Local bearing/azimuth received: Bearing 75.7, 38.8 (Local) }DAT read: Range 11 to 50 : 160.0 m (Round-trip 213.4 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.819335,0.550570,0.159881]Fpublishing direction and range info9{7?^oBE?Čsv? Ciq !R?)I{i;@>X@l$>ww? l$iI\.̌?AZW?I ww?)l$iɢQB[D T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jgI ɡiI;Iii)?'@)i}9yP4AyAIIN> (DAT read: user:34>  BDAT read: Tx time:16:07:40.7018  $Ping request sent. :H ?Wy?I̿4$?@5X?ܲ? b?J9?I:ZT@): ^;i:Cn"QB9nItiva=BDz56Dz5Y+=! F= AֺQ) > H?9 H?9qDY2CiE=A>QQ 1_4٪Uw?Q 5_4U` U;IB9YȿQ E?yU2C)U ?hMhMB*iI2iI:iM-BiMC"iM@ addTargetRange:: Added new target pos. range: 160.000000 m, deltaT: 3.785475 s, deltaX: -1.100006 m, approachRate: -0.290586 m/s, rangeRepo size: 4 DtDeD)DEs: E96EFA4:E!%@!-@!-@!-@ Added new target pos. range: 159.057770 m, bearing: 321.226041 deg, lat: 36.779348 deg, lon: -121.859603 deg, deltaT: 3.785475 s, deltaX: -1.094360 m, approachRate: -0.289095 m/s, posRepo size: 4 gFNOT Ignoring new targets: 159.06 m.gg ProNav: ac range: 159.057770 m, nav range: 148.929321 m, bearing: 320.456259 deg, approach rate: 0.000000 m/s, LOS rate: 0.182510 deg/s, cmd heading: 344.049169 deg, new cmd heading: 344.213323 deg. gHeadingCmd: 6.007656 target range: 159.057770 and range: 160.00 m.g>@gg!g!g!zf!rfAfIfIBdIdQdQcUd@cU i?ɢRBE kI &ɡi I ;I 8ii)>@)!-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252184i4aII N >vB ݿ>~B B IB QBB =B B B h;B (Ey y \,is%*Aɰ4<y:8@ٱ:@:ȗ:S>:Hv?D?˿V?_ ??!9!9%rDY%83C-<=A->)Q 1=_4٪-w?Q 5=_4- -(IB9=C?Q A=:Y=ǿQ EE?y-sC)-" ;I-z ;i-_4YIMݷAIQgq}FNOT Ignoring new targets: 159.06 m.g}|U;g}|U; ProNav: ac range: 159.057770 m, nav range: 148.765472 m, bearing: 320.531152 deg, approach rate: -0.407887 m/s, LOS rate: 0.186645 deg/s, cmd heading: 344.213312 deg, new cmd heading: 344.363263 deg. gʪ;HeadingCmd: 6.010273 target range: 159.057770 and range: 160.00 m.g(T@ggggzfrfffBdddccc?ɢ RB] 7I 9ɡiI9;I"ii)(T@)i }>}>i9 0 rA ?jA?ԁDyDfD+DE: E96E [4:E"E;!E;!*E!E!II1N=r>Ա5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755018 54\,h"s%*Ay:7@ٱ:@:8:DQ>:H\ ?  ? ˿``?v??p??I:7@):x^;i:CV>QB9VIBD^"6D^5{5Yf->!fb=jƣQ)j>h9h9jrDYn3Cne=An>pQ 1v_4٪rFw?Q 5v_4r rIB9xYz+ſQ Ez?yrC)rl:Ir:ir_4Y|~_A|g!-FNOT Ignoring new targets: 159.06 m.g-D;g-D;] ProNav: ac range: 159.057770 m, nav range: 148.625198 m, bearing: 320.592932 deg, approach rate: -0.388894 m/s, LOS rate: 0.171440 deg/s, cmd heading: 344.363275 deg, new cmd heading: 344.486952 deg. g];eHeadingCmd: 6.012432 target range: 159.057770 and range: 160.00 m.gee@gagigigizfirfifqfqBdqdqdqcyc}ֈ?ɢ3RBO 顭tI SɡiI,;Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007027D% uD% |D% *D! E% v: E% P$:6E% (N4:E! !E @!M @!M @!M @Y = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024^\,E6HhG?e?N˿^@?)3Y? ,?@C?I6VK@)6\\^;i6CPR9QB9RIMb@Mb@Mb@ )Ii!rh?|?5^ʿll?RIiAA)BD)6Dn~5YOC!<=9Q)>99rDY3CB=A> Q 1%_4٪ "w?Q 5%_4 A IB9%?Q A-:Y-ÿQ E-?y C) ɋ;I ~;i _4Y=kBE9AMǢEgiFNOT Ignoring new targets: 159.06 m.g'9;g'9; ProNav: ac range: 159.057770 m, nav range: 148.458450 m, bearing: 320.665111 deg, approach rate: -0.373544 m/s, LOS rate: 0.161874 deg/s, cmd heading: 344.486957 deg, new cmd heading: 344.631476 deg. g;HeadingCmd: 6.014954 target range: 159.057770 and range: 160.00 m.gz@ggggzfrfffBdddcc9?ɢmKRBm$O quIq uTɡqiqI};I}Uii)z@)AAvB޿>~BBIBBQBB =BBB9h;B(EBuՍCBuՍCBqBuĮ =BqBuIJ4iE9AAAAIINE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511554! D yD fD (D E : E 96E c44:E "E !- E !- *E !- E !- bF\,Vs%*Aiy:@ٱ:/@:覗:UL>:H@?)?@ʿA@ ?n?`F?G?I:@):G^;i:Cr]QB9rIiv=Iv=BDz,6Dz5YM"=!MR=UF8Q)U>Q9Q9]rDY]%4C]_=A]>aQ 1m_4٪eBw?Q 5m_4e eHB9qYu4Q Eu?ye!C)e:Ie:ief_4Yy}AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 159.06 m.g8;g8; ProNav: ac range: 159.057770 m, nav range: 148.310699 m, bearing: 320.726671 deg, approach rate: -0.387122 m/s, LOS rate: 0.161455 deg/s, cmd heading: 344.631483 deg, new cmd heading: 344.754726 deg. g;HeadingCmd: 6.017105 target range: 159.057770 and range: 160.00 m.g @ggggzfrf ffBdddcc%?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763117ɢ_RB1R II ! ɡiI2};I ;iIiQ)U @)Q)Y)i0bAZAIiIyN9>Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971q\,&ps%*Ay66@ٱ6@6 6zL>6HO? F?fʿ'?>͑R?S?$G?I66@)6HY^;i6CBqQB9BIBDJ6DJsx5YRO=!RU=VO98Q)V>T9X9ZrDYZr4CZe=AZ>\Q 1b_4٪^Ɖw?Q 5f_4^ ^HB9dYfuQ Ef?y^YC)^:I^ :i^_4YhjʶAlgFNOT Ignoring new targets: 159.06 m.g @6;g @6; ProNav: ac range: 159.057770 m, nav range: 148.159668 m, bearing: 320.787143 deg, approach rate: -0.397540 m/s, LOS rate: 0.159336 deg/s, cmd heading: 344.754727 deg, new cmd heading: 344.875796 deg. g͑;%HeadingCmd: 6.019218 target range: 159.057770 and range: 160.00 m.g%o@g!g!g!g!zf)rf)f)f)Bd1d1d1cAcE@YɢurRB}U y}逾Iy } ɡyiIn;I&ii)o@)DtDaD,DEs: E96Eg4:E!@!@!@!@i0IIIYNe>ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267025ԹvB ~B B IB uQBB B B B g;B (E X\,׉s%*AyBbY@ٱBV@BBtN>BHF?0?Y˿b`]`?EU?`?`D?IBbY@)BOB^;iBCRQB9RIechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519334ԹMb@Mb@Mb@ )Iix&1?ClɿQ롿?O\Ii-A?A\A)̜ABD06DӀ5Y¨=!7=Q)>99rDY4CG=A>Q 1 _4٪w?Q 5 _4 HB9 ?Q A:YQ E?yC) ;I ;i\_4Y%A!gAMFNOT Ignoring new targets: 159.06 m.gU,;gU,;e ProNav: ac range: 159.057770 m, nav range: 147.989120 m, bearing: 320.854049 deg, approach rate: -0.383093 m/s, LOS rate: 0.150459 deg/s, cmd heading: 344.875786 deg, new cmd heading: 345.009750 deg. ge;mHeadingCmd: 6.021556 target range: 159.057770 and range: 160.00 m.gm@gigigigizfirfqfqfqBdydydycycCv@ɢRBoK 顭sI) - ɡ1i1I5?;I=Di9i9)=@)9i bDZD@ABEiJEm#E4REmœ/DDfD(DE E96Ec44:E"E;!E;!*E!E!AUAIiIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710369 j\,s%*Aɰ"; y> @ٱ>] @>a> R>>H`I?@j?Zi˿@Z Û?c`?`-? ]>?I> @)>a^;i>CJQB9JI)L NABDR26DRI5YZH!Za=^o9Q)^>^K?9bK?9brDYb5Cb {=Ab>dQ 1j_4٪fw?Q 5j_4f3  fHB9lYnQ En?yfC)f{;If@;if_4YprAtg FNOT Ignoring new targets: 159.06 m.gc(;gc(;% ProNav: ac range: 159.057770 m, nav range: 147.846848 m, bearing: 320.907545 deg, approach rate: -0.391149 m/s, LOS rate: 0.147217 deg/s, cmd heading: 345.009739 deg, new cmd heading: 345.116834 deg. g-;-HeadingCmd: 6.023425 target range: 159.057770 and range: 160.00 m.g-@g1g1g1g1zf1rf1fIfIBdIdQdQcQcU}c @ɢRBY 顅mI  ɡiI.;INii)@)iU9QQQQmBDAT read: Rx Time:16:07:43.3177 uTRx dataTimestamp_ set to:1755878862.702734uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024046iAIINE>qD }D _D D E ݉: E r96E :E !% @!% @!% @!- @ԙ )  A% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275239\,s%*Ay6lğ@ٱ6@6M6=U>6H@?B?)˿dU?@)H? d? '9?I6lğ@)6^^;i6CRQB9RIMb@Mb@Mb@ )Iix&1?|?5^ɿ/$A?M,I׌AiAA A)ABD(6D}5Y =!;=ѹ8Q)>99rDYn5CN=A>Q 1`4٪~w?Q 5`4S HB9 ?Q A:YŶQ E?yC)m ;I] ;iO `4YiBaAg FNOT Ignoring new targets: 159.06 m.g";g";% ProNav: ac range: 159.057770 m, nav range: 147.674133 m, bearing: 320.969451 deg, approach rate: -0.396119 m/s, LOS rate: 0.142149 deg/s, cmd heading: 345.116837 deg, new cmd heading: 345.240795 deg. g%;-HeadingCmd: 6.025589 target range: 159.057770 and range: 160.00 m.g-@g)g)g)g)zf)rf1f1f1Bd9d9d9c9c=`& @ɢmRBm΅V imIiq uy ɡyiyI}*;I}ヾii)@)AM<AM<vBY~BYB]IB]QBBYBYBYB]g;B]w(EiԡAIIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532155Nmx>rD jD <D vD aD &D E Vz: E 96E 4:E "E H;! E I;! *E ;! E ;!  c\,gs%*Ay:z@ٱ:%x@:|Ԗ::W>:H `??@˿?72ֲ??6?I:z@):{^;i:CQB9II)))BD=,6D=5YeB<!mO=u:Q)u>q9q9rDY5Ce=A>Q 1`4٪ww?Q 5`4 HB9Y⳿Q E?y=C)r];IWg;i1`4Y]BAѢEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 159.06 m.g8;g8; ProNav: ac range: 159.057770 m, nav range: 147.513641 m, bearing: 321.024604 deg, approach rate: -0.399542 m/s, LOS rate: 0.137451 deg/s, cmd heading: 345.240791 deg, new cmd heading: 345.351216 deg. g{;DAT read: 16:07:43.3177 LVL= 22912, 32753, 30818, 32755, AGC= 64, IDX= 421, 0.35,-0.874,-2.828,-1.523,-1.450, PHS= 0.678,-1.334,-0.117, RAW= 126.9, 8.9, CAL= 127.2, 10.1, ROT= 22.8, -10.1 Ygot valid direction response: 16:07:43.3177 LVL= 22912, 32753, 30818, 32755, AGC= 64, IDX= 421, 0.35,-0.874,-2.828,-1.523,-1.450, PHS= 0.678,-1.334,-0.117, RAW= 126.9, 8.9, CAL= 127.2, 10.1, ROT= 22.8, -10.1 PDAT read: Bearing 90.0, 28.2 (Local) ~Local bearing/azimuth received: Bearing 90.0, 28.2 (Local) %DAT read: Range 11 to 50 : 158.8 m (Round-trip 211.8 ms) speed 0.3 m/s -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.907577,0.381510,0.175367]5Fpublishing direction and range info9k}Y ?BDCj?:ujr?CiYbx@ h-?)Ii @>q@J4>%> J4iI c?[xh?eĈ?=- %>)J4iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 6.027516 target range: 159.057770 and range: 160.00 m.gi@ggggzfrfffBdddcc@c@4?ɢ%RBMY IMII Mߌ ɡQiQIU.;I]"炾iYiY)]i@)ai9!!%0!A1I9IINU>)  (DAT read: user:35>  BDAT read: Tx time:16:07:44.7518  $Ping request sent. FH@~?;?L˿:R?`?`L?@r5?IF0@)F0_^;iFC^QB9bIBDj.6Dj]5Yr=!rS=r:Q)r>t9t9vrDYv 6Cvk=Az>xQ 1~`4٪zw?Q 5`4z< zHB9Y Q E?yzrC)z;Iz#;iz$`4Y  ݵAh h F[s%*Ah Ch Ch dz@h ja@ӈN@9γ,;@h k}Y ?BDCj?:ujr?h %>h J4i 1g 5t]@m)5W n^I@h 0l?&87͊;?`LI?h ɸh Bh I@^?h fh B*i 2i :i i [C"i R@m addTargetRange:: Added new target pos. range: 158.800003 m, deltaT: 4.031332 s, deltaX: -1.199997 m, approachRate: -0.297668 m/s, rangeRepo size: 4 } Added new target pos. range: 157.865036 m, bearing: 321.895624 deg, lat: 36.779348 deg, lon: -121.859603 deg, deltaT: 4.031332 s, deltaX: -1.192734 m, approachRate: -0.295866 m/s, posRepo size: 4 gFNOT Ignoring new targets: 157.87 m.gg ProNav: ac range: 157.865036 m, nav range: 147.355698 m, bearing: 321.076659 deg, approach rate: 0.000000 m/s, LOS rate: 0.137451 deg/s, cmd heading: 345.351221 deg, new cmd heading: 345.457183 deg. gHeadingCmd: 6.029365 target range: 157.865036 and range: 158.80 m.g@ggggzfrfffBdddcc#?DDlD(DE: E:6Ec44:E!@!@!@!@I5݈G)]kAIikAAɢURB]rzc 額̊I 0JɡiI$;Iii)@) >>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251784i}9yy}3bAjAZAjAAyAIIN> vBM ݿ>~BI BM IBM QBBM =BI BI BM g;BM o(E ],$ t%*AyR[@ٱR@RRRU>RH?+?@˿ .?`-G@?u? 9?IR[@)RJ^;iRClnQB9r I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503021}Mb@Mb@Mb@ y)yIyiyy}X9v?K7ɿ}>}I}LI}(Aiy}A}\A)yyBD6DY6<!>=}:Q)> H?9 H?9sDYc6CV=A>Q 1`4٪w?Q 5`4"  yHB99 ?Q A:YSQ E?yC)8:I:i3`4Y͵AgFNOT Ignoring new targets: 157.87 m.g ;g ; ProNav: ac range: 157.865036 m, nav range: 147.176514 m, bearing: 321.132486 deg, approach rate: -0.422156 m/s, LOS rate: 0.131688 deg/s, cmd heading: 345.457171 deg, new cmd heading: 345.568961 deg. gq;HeadingCmd: 6.031316 target range: 157.865036 and range: 158.80 m.g@ggggzfrfffBdddcc@?ɢ=RBEo] AE?IA E&WɡAiIImM;Iuiqiq)u@)y i0bDZDD{DeD,DE=: E96Eg4:E"E;!E;!*E"*;!E#*;!9AUAIaIqN}>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754957a ],n$t%*Ay>գ@ٱ>'@>uP>BU>>H?e?ʿ ]?@F?e?:?I>գ@)>`^;i<^QB9bIdifp=BDj$6Dj!|5YrW=!rX=r);Q)r>vK?9vK?9vsDYv6Czx=Az>xQ 1`4٪zw?Q 5`4zH% zdHB9YiQ E?yzC)z;Iz;iz@`4Y Ag1IMFNOT Ignoring new targets: 157.87 m.gU;gU;e ProNav: ac range: 157.865036 m, nav range: 147.016541 m, bearing: 321.180190 deg, approach rate: -0.423491 m/s, LOS rate: 0.126423 deg/s, cmd heading: 345.568968 deg, new cmd heading: 345.664480 deg. ge^g;mHeadingCmd: 6.032983 target range: 157.865036 and range: 158.80 m.gm3@gigigigizfqrfqfqfyBdydydycct?ɢSBg 页I *ɡiI;;I}iyiy)}3@)iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007661iIINI>ԑDxDD*DEˀ: E6E(N4:E! @! @! @! @  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958],>t%*Aɰ4:H`_Q?^?ʿ#@Y?eʯ?m? :?I:]@):U^;i:CrQB9vI}Mb@Mb@Mb@ y)yIyiyy}Gz?Gzǿ&1}p>}p=}PIyi}-A}Ay)y}QABD,ԙ6D5Y)V!>=:Q)>99sDY7CX=A>Q 1`4٪>w?Q 5`4+Q 9tI LHB9?Q A:YिQ E?yC)b;I2:iO`4YAgFNOT Ignoring new targets: 157.87 m.g ';g '; ProNav: ac range: 157.865036 m, nav range: 146.830673 m, bearing: 321.230954 deg, approach rate: -0.432081 m/s, LOS rate: 0.118160 deg/s, cmd heading: 345.664481 deg, new cmd heading: 345.766138 deg. g>X;%HeadingCmd: 6.034758 target range: 157.865036 and range: 158.80 m.g%@g!g)g)g)zf)rf)f1f1Bdddcc?ɢ'SBTPg }I  Uɡ i I B;I5c~i1i1)=@)9)AAAAAAAvB~BB IBQBBBBBg;Bv(EirA ?jA ?IINn>i]*?I]M?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511243 D D jD +D E y: E 96E [4:E "E rH?"?҅ʿ? -:q?h?9;?Ir@)rp^;irCRB9-IBD% 6D%Jz5Y5=!5O=5_;Q)=>9999=sDY=X7CEg=AE>IQ 1U`4٪Mw?Q 5U`4M>0 M7HB9QYUQ EU?yMPC)Mw;IM:iM]`4YeQBe(AeڢEB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 157.87 m.g:g:M ProNav: ac range: 157.865036 m, nav range: 146.657379 m, bearing: 321.276213 deg, approach rate: -0.421283 m/s, LOS rate: 0.110155 deg/s, cmd heading: 345.766142 deg, new cmd heading: 345.856766 deg. gMI;UHeadingCmd: 6.036339 target range: 157.865036 and range: 158.80 m.gU)@gQgQgQgQzfQrfYfYfYBdYdachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763278dcca'@ɢ?SBf lI ~SɡiIE};I%(|i!i!)%)@))iI9IINU2>!= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900I 1 ],;rt%*Ay6Jʤ@ٱ6ǫ@6-6XMW>6Hv??xʿ``Mr?в ±?@? K8?I6Jʤ@)6}e^;i6C^RB9^)IId)dBDj)6Djn~5Yr!rS=r:Q)r>t9t9vsDYv7Cv j=Az>xQ 1~`4٪zw?Q 5`4zX5 z!HB9Y%Q E?yzC)z;Iz;iz6k`4Y  4Ag1FNOT Ignoring new targets: 157.87 m.g;g; ProNav: ac range: 157.865036 m, nav range: 146.484756 m, bearing: 321.319262 deg, approach rate: -0.465996 m/s, LOS rate: 0.116348 deg/s, cmd heading: 345.856765 deg, new cmd heading: 345.942964 deg. gT;HeadingCmd: 6.037844 target range: 157.865036 and range: 158.80 m.g6@ggggzfrfffBdddcc`%@Qɢ]TSB]s aeAIiDDfD'DEҝ: E96E'4:E!@!@!@!@ uORɡiII;I:{ii)6@)iIIIYNm5>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267036ԩvB ~B B 9IB !RBB B B B g;B w(EBBBBɭ =BBɴ4 "],qt%*A i y>@ٱ>؁@>#>U>>H`) ?@,? ʿ`>? qﳿ?@x? 0;?I>@)>|^;i<N&RB9N<Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519103]Mb@Mb@Mb@ Y)YIYiYY]Zd;?RQȿZd;O]>]B]j99sDY7CxW=A>Q 1`4٪w?Q 5`4 ;  HB9?Q A:YhQ E?yC):;I;iPz`4YOBAۢEg FNOT Ignoring new targets: 157.87 m.g:g:- ProNav: ac range: 157.865036 m, nav range: 146.289124 m, bearing: 321.366741 deg, approach rate: -0.452514 m/s, LOS rate: 0.109969 deg/s, cmd heading: 345.942962 deg, new cmd heading: 346.038047 deg. g-AI;5HeadingCmd: 6.039503 target range: 157.865036 and range: 158.80 m.g5C@g1g1g1g1zf9rf9f9f9BdAdAdAcAcEz@ԩɢ-mSB5l 15}I1 5sɡ1i9I=YG;I=ЇyiAiA)EC@)AujAqi0bA iAZA lAIIDuDiD+DEv: E96E [4:E"E%;!E&;!*E8;!E8;!N@>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770910 1 !)],:H-?F?ƭɿ_h@Q?촿{?`yP?y=?I:8@):q^;i:C^8RB9^GIBDf-6Df"5Yn_<=!nY=nD:Q)r>p9p9rsDYrK8Cvp=Av>xQ 1~`4٪zw?Q 5~`4z? zGB9|Y~Q E~?yzC)za;Iz<;izs`4Y  δA g)5FNOT Ignoring new targets: 157.87 m.g=t:g=t:M ProNav: ac range: 157.865036 m, nav range: 146.116806 m, bearing: 321.406672 deg, approach rate: -0.458718 m/s, LOS rate: 0.106423 deg/s, cmd heading: 346.038038 deg, new cmd heading: 346.117993 deg. gMB;UHeadingCmd: 6.040899 target range: 157.865036 and range: 158.80 m.gU O@gQgQgQgQzfYrfYfYfYBdadadacace`p{ @ɢSBs 饾I &{ɡiIb;Ixii) O@) -BDAT read: Rx Time:16:07:47.3657 5TRx dataTimestamp_ set to:1755878866.735586=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024917iIIN<>1DyD_D*DE: Er96E(N4:E!@!@!@!@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2750090],t%*A,y:@ٱ:d@:拽: U>:H?l6?ɿ2?@@Vy?@`?m^:mPImvAiimߟAi)iiBD 6DJz5Yg=!8=}i8Q)}>99sDY8C;=A>Q 1`4٪w?Q 5`4E GB9r?Q A:Y9Q E?y-C) ;I ;id`4YAgFNOT Ignoring new targets: 157.87 m.g:g: ProNav: ac range: 157.865036 m, nav range: 145.917374 m, bearing: 321.451067 deg, approach rate: -0.437079 m/s, LOS rate: 0.097431 deg/s, cmd heading: 346.118006 deg, new cmd heading: 346.206918 deg. gO2;HeadingCmd: 6.042450 target range: 157.865036 and range: 158.80 m.g[@ggggzfrfffBddd c c # @ɢ5SB=p 9=I9 =ɡ9iAIEP;IE8viIiI)M[@)IԉAAvB~BBLIB@RBB =BBBg;Bt(Ei 9    Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528951AYIyIN> 16],t%*ABEu(N4JEqREu0DNzDN`DLDLENl: EN96EL:EL"ENѧ;!VENҧ;!Z*EN;!ZEN;!ZyN@ٱN@NȊN rU>\NH ;??I<ɿ@[e?@a`U?Vm?H|9|9~sDY~8C=A> Q 1 `4٪ w?Q 5`4 I GB9Y]Q E?y [C) :I W:i ţ`4YAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 157.87 m.g:g:% ProNav: ac range: 157.865036 m, nav range: 145.760681 m, bearing: 321.484251 deg, approach rate: -0.418336 m/s, LOS rate: 0.088690 deg/s, cmd heading: 346.206907 deg, new cmd heading: 346.273347 deg. g%P";-HeadingCmd: 6.043610 target range: 157.865036 and range: 158.80 m.g-Ae@g)g)g)g)zf)rf)fQfQBdYdYdYcYc]@DAT read: 16:07:47.3657 LVL= 28656, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.20,-0.106,-2.027,-0.461,-0.507, PHS= 0.502,-1.475, 0.002, RAW= 135.9, 10.9, CAL= 135.4, 12.0, ROT= 14.6, -12.0 Ygot valid direction response: 16:07:47.3657 LVL= 28656, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.20,-0.106,-2.027,-0.461,-0.507, PHS= 0.502,-1.475, 0.002, RAW= 135.9, 10.9, CAL= 135.4, 12.0, ROT= 14.6, -12.0 PDAT read: Bearing 106.0, 20.2 (Local) ~Local bearing/azimuth received: Bearing 106.0, 20.2 (Local) DAT read: Range 11 to 50 : 157.2 m (Round-trip 209.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.946562,0.246561,0.207912]Fpublishing direction and range info9s:=J?#O?hٜ?3CioE ?)̼Io;i@@B>E>@PwV>w> PwViIuč'7?2=?;?M> C w>)PwVi T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢ5SB=Fx 9=I9 =ɡ9iAIE;IE,SuiIiI)MAe@)i-9))-0)AqIyIN~>M (DAT read: user:36> M BDAT read: Tx time:16:07:48.7518 U $Ping request sent.U 6H? zF? ȿ@?m`b??B@?I6EN@)6}m^;i6Cb_RB9b_IBDj06DjӀ5Y+b<! I= :Q) >99sDYC9C\=A>!Q 1-`4٪%w?Q 5-`4%N %GB91Y5Q E5?y%C)%:I%:i%`4Y9=A9hh]t%*AhFChFCh@hKF}b@XJCC@nK>@@hs:=J?#O?hٜ?hw>hPwViusnQ^@X?2if:ii4C"iE@ addTargetRange:: Added new target pos. range: 157.199997 m, deltaT: 4.031409 s, deltaX: -1.600006 m, approachRate: -0.396885 m/s, rangeRepo size: 4  Added new target pos. range: 156.274429 m, bearing: 325.968283 deg, lat: 36.779368 deg, lon: -121.859601 deg, deltaT: 4.031409 s, deltaX: -1.590607 m, approachRate: -0.394554 m/s, posRepo size: 4 gFNOT Ignoring new targets: 156.27 m.gg ProNav: ac range: 156.274429 m, nav range: 147.206650 m, bearing: 322.115787 deg, approach rate: 0.000000 m/s, LOS rate: 0.088690 deg/s, cmd heading: 346.273352 deg, new cmd heading: 346.343381 deg. gHeadingCmd: 6.044832 target range: 156.274429 and range: 157.20 m.gDo@ggggzfrfffBdddc`fc@c@~?ɢSB} !%ĵI! %ɡ!i!I%;I-ti)i))-Do@)DDfDDE: E96E:E!@!@!@!@Qichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251137IINb>qvB ~B B eIB iRBB =B B B h;B (Eԡ BC],6 u%*Ay6@ٱ6@66T9Q>6HC? ?u_ȿ`؃?@Hø n?`@? B?I6@)6u^;i6C^YRB9b[Ii~=I~4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503166UMb@Mb@Mb@ Q)QIQiQQUS?GzǿJ +U>Up=UHIQiU(AU1AUXA)QU›ABDm,6Dm5ԩYPG!@=Q)>99tDY9CeR=A>Q 1`4٪iw?Q 5`4S GB93?Q A:YӐQ E?yC) ;I; ;i`4YABSAEg FNOT Ignoring new targets: 156.27 m.g:g:- ProNav: ac range: 156.274429 m, nav range: 147.016327 m, bearing: 322.153493 deg, approach rate: -0.455404 m/s, LOS rate: 0.090339 deg/s, cmd heading: 346.343375 deg, new cmd heading: 346.418884 deg. g-T%;-HeadingCmd: 6.046150 target range: 156.274429 and range: 157.20 m.g5z@g1g1ggzfrfffBdddcc?ɢ SBM SžI )ɡiI~;ITri!i!)%z@)!ibDZDAADE~DEhDE,DAEE: EE]96EEg4:EA"EE[;!UEE\;!U*EE5;!UEE5;!UIINj>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755027! lI],'u%*Ay>#@ٱ>u@>Y5>R>>H ?H?`/ȿc?n *?@S?A?I>#@)>HW^;i<JqRB9JjIiN=IN=BDR/6DR5YZ|=!Z\=ZsdQ)^>\9\9btDYb9Cbu=Ab>dQ 1j`4٪ffw?Q 5j`4f@X fGB9hYnQ En?yfC)f:Ifz;if`4Ypr$Apg  FNOT Ignoring new targets: 156.27 m.gp:gp:% ProNav: ac range: 156.274429 m, nav range: 146.848587 m, bearing: 322.184989 deg, approach rate: -0.452152 m/s, LOS rate: 0.084996 deg/s, cmd heading: 346.418889 deg, new cmd heading: 346.481953 deg. g%;-HeadingCmd: 6.047251 target range: 156.274429 and range: 157.20 m.g-@g)g)g)g1zf1rf1f1f9Bd9d9d9cAcE?ɢmSBmx quHľIq u/FɡqiqIuh;IȘqii)@)YiIIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007129ԁ=iCIG)-SkAI9immSkAmAԱD5 D1 D5 )D1 E5 : E1 6E5 FA4:E1 !U @!U @!U @!U @)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259721 TP],EdAu%*Ay6,n@ٱ6~k@6$6T>6Hങ??@&ȿ}Bt?h ?U?u 0uLIuȊAiuzAquA)quGABD16D5Y0=!;=GQ)>99tDY>:CP=A>Q 1`4٪Fw?Q 5`49] pGB9>Q A:YQ E?y-C):I:i`4YAgFNOT Ignoring new targets: 156.27 m.g :g : ProNav: ac range: 156.274429 m, nav range: 146.649490 m, bearing: 322.218121 deg, approach rate: -0.456757 m/s, LOS rate: 0.076114 deg/s, cmd heading: 346.481945 deg, new cmd heading: 346.548301 deg. g%L ;%HeadingCmd: 6.048409 target range: 156.274429 and range: 157.20 m.g%@g)g)g)g)zf)rf)f1f1Bd1d9d9c9c=`!?ɢeTBm9 imIi mɡiiqIu̫;I}~B9B=wIB=RBB9B9B9B=.h;B=(Ei-9))))IIN">checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511032) rD <jD <D5 yD5 ]D5 (D1 E5 : E5 96E5 c44:E1 "E5 ;!E E5 ;!E *E5  ;!E E5  ;!E V],A[u%*Ay6O&@ٱ6#@6荽6V>6H@?3? ȿ`+?vּ q?@?9?I6O&@)6P^;i6C<RB9I!i%a=BD-76D-o5Y==!=R==|{Q)=>A9A9EtDYE:CMl=AM>IQ 1U`4٪Mw?Q 5]`4Ma M[GB9YY]Q E]?yM^C)MY;IMw;iM`4YamAiB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 156.27 m.g:g: ProNav: ac range: 156.274429 m, nav range: 146.470093 m, bearing: 322.246184 deg, approach rate: -0.450798 m/s, LOS rate: 0.070603 deg/s, cmd heading: 346.548308 deg, new cmd heading: 346.604502 deg. g6;HeadingCmd: 6.049390 target range: 156.274429 and range: 157.20 m.g@ggggzfrfffBdddc c N@ɢ5,TB5.X 9=I9 =ɡ9i9I=C;IEhoiAiI)M@)I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052)iI IN%,>Yԁ - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968\],uu%*Aɰ4<;y:\۫@ٱ:ز@:3⎽:4rW>:H ??Tǿ yl`Y?콿ر??7?I:\۫@):E^;i:CPRRB9RIBDZ#6DZ{5YvO=!vP=vQ)v>x9x9ztDYz:Cz f=A~>Q 1`4٪-w?Q 5 `4e FGB9 Y @Q E ?yC):I:iq`4Y@BWAEg9EFNOT Ignoring new targets: 156.27 m.gM:gM:] ProNav: ac range: 156.274429 m, nav range: 146.287033 m, bearing: 322.273061 deg, approach rate: -0.475622 m/s, LOS rate: 0.069920 deg/s, cmd heading: 346.604506 deg, new cmd heading: 346.658328 deg. g]:eHeadingCmd: 6.050329 target range: 156.274429 and range: 157.20 m.geL@gagagagazfirfififiBdqdqdqcqcu`@ɢFTBP I ɡiI;DzDsD)DEl: EZ:6EFA4:E!@!@!@!@Iqnii)L@)i9rAjA>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269375IANMR>vB5 ݿ>~B1 B5 IB5 RBB1 B1 B1 B5 Dh;B5 (E! Mc],u%*Ay:$@ٱ:v@:j:V>:H@Q??vǿ?@վ ?˛?8?I:$@):O^;i:C^RB9\rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519009|UMb@Mb@Mb@ Q)QIQiQQU?oʡſMbUf>U-U@IUAiU(AUߟAUA)QQBDm$6Dm!|5Y}I;!}A=}G!Q)}>99tDY3;CU=A>Q 1 a4٪ex?Q 5a4zj 1GB9I>Q A:Y9Q E?yC)M=IL=i6a4Y%UA!gAFNOT Ignoring new targets: 156.27 m.gm:gm: ProNav: ac range: 156.274429 m, nav range: 146.095871 m, bearing: 322.299862 deg, approach rate: -0.406128 m/s, LOS rate: 0.057014 deg/s, cmd heading: 346.658328 deg, new cmd heading: 346.712000 deg. g:HeadingCmd: 6.051266 target range: 156.274429 and range: 157.20 m.g@ggggzfrfffBdddcc@!ɢbTB< 页ƾI p ɡiI;I8|mi i ) @)bDZD@ADDgD(DE: E&96Ec44:E"E½;!Eý;!*Ej1;!Ej1;!i591119Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771843A yAI I N >ԁ i],Ϩu%*Ay>A@ٱ>>@>i)>qT>>Hf? ?DƿT`z3?E8 ^?@UA?=?I>A@)>1^;i>CFRB9FIIN@A)N@ABDR36DR5YV1=!ZX=Z|Q)Z>^ H?9^ H?9^tDY^;C^j=Ab>`Q 1fa4٪b x?Q 5fa4brn bGB9hYj{Q Ej?ybC)b):Ib:ibla4Ylr!Apg FNOT Ignoring new targets: 156.27 m.g :g : ProNav: ac range: 156.274429 m, nav range: 145.923615 m, bearing: 322.322467 deg, approach rate: -0.522165 m/s, LOS rate: 0.068604 deg/s, cmd heading: 346.712014 deg, new cmd heading: 346.757277 deg. g%:%HeadingCmd: 6.052056 target range: 156.274429 and range: 157.20 m.g%r@g)g)g)g)zf)rf)f1f1Bd1d1d9c9c=R @YɢmvTBmZ+ iuþIq u2y!ɡqiqIuީ;I} liyiy)r@)i0BDAT read: Rx Time:16:07:51.3633 TRx dataTimestamp_ set to:1755878870.766907checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024226ԉAEAIYIyN9>ԱDDaD'DEs: E96E'4:E!@!@!@!@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274963p],6u%*Aiy:R@ٱ:@: :R>:H?` ?ƿ_b?`@K ? ?>?I:R@):U^;i:CRSB9RI%Mb@Mb@Mb@ !)!I!i!!%Cl?MbX9ĿˡE%;>%!%'I!i%̬A%A!)!%ABD'6D}5Yf=!<=!ɹQ)>K?9K?9tDY;CQ=A>Q 1%a4٪x?Q 5%a4r  GB9-]>Q A-:Y-rQ E-?y(C)s:I:i$a4Y52B=A=EgYeFNOT Ignoring new targets: 156.27 m.gep:gmp:} ProNav: ac range: 156.274429 m, nav range: 145.724686 m, bearing: 322.345940 deg, approach rate: -0.443955 m/s, LOS rate: 0.052457 deg/s, cmd heading: 346.757284 deg, new cmd heading: 346.804294 deg. g}:HeadingCmd: 6.052877 target range: 156.274429 and range: 157.20 m.g+@ggggzfrfffBdddcc @ɢTBA "I "ɡiI)+;A<A<vB޿>~BBIBRBBBBB8h;B(EBBBBBB4W4I=ki9i9)=+@)Ai0bAZAjA)A5yAI9IQmDAT read: 16:07:51.3633 LVL= 32752, 32753, 28210, 32755, AGC= 66, IDX= 424, 0.30,-1.887, 2.579,-1.833,-2.222, PHS= 0.437,-1.438, 0.344, RAW= 147.5, 7.2, CAL= 147.0, 7.8, ROT= 3.0, -7.8 uYgot valid direction response: 16:07:51.3633 LVL= 32752, 32753, 28210, 32755, AGC= 66, IDX= 424, 0.30,-1.887, 2.579,-1.833,-2.222, PHS= 0.437,-1.438, 0.344, RAW= 147.5, 7.2, CAL= 147.0, 7.8, ROT= 3.0, -7.8 }PDAT read: Bearing 116.7, 8.5 (Local) }~Local bearing/azimuth received: Bearing 116.7, 8.5 (Local) DAT read: Range 11 to 50 : 155.5 m (Round-trip 207.4 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.N~>\direction in FSK: [0.989390,0.051852,0.135716]Fpublishing direction and range info9 U?QٕO? M _?Ci2nB w>)bI >iS$@>Y3$@'g >PwV= 'g iIqPu*?K?9'?>rD PwV=)'g iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Qy D |D qD )D E : E $ :6E FA4:E "E ;! E ;! *E U;! E U;! bv],u%*Ay6@ٱ6秵@6.J61T>6H@:?w?7Aƿh1 ? t?`D? z H?9z H?9ztDYz#|Q 1a4٪~x?Q 5 a4~yv ~FB9 Y [mQ E ?y~TC)~:I~:i~0a4YtAh1h5]u%*Ah5Ch5Ch5?g@h5_J=c@6 @$-+4@h5 U?QٕO? M _?h5PwV=h5'g i5K_@'Tir@@h58? 97z% eBDAT read: Tx time:16:07:52.5518 e$Ping request sent.eԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250831 |],`u%*Ay>\@ٱ>lY@>>ET>>H ??`ſ`]? ? G?\@)>U^;i>CF)SB9HLiNp=BDR&6DR }5YZ^!ZN=ZP:Q)Z>\9\9^tDY^sdQ 1ja4٪fK&x?Q 5ja4fHz fFB9hYjgQ Ej?yfC)f :If;if>a4YtvuAx%B*** querying acoustic contact ***zh)h)g9EFNOT Ignoring new targets: 154.59 m.gMb:gMb:e ProNav: ac range: 154.585129 m, nav range: 145.778595 m, bearing: 322.797014 deg, approach rate: -0.479833 m/s, LOS rate: 0.049399 deg/s, cmd heading: 346.846213 deg, new cmd heading: 346.882866 deg. gmϴ:uHeadingCmd: 6.054248 target range: 154.585129 and range: 155.50 m.gug@gqgqgygyzfyrfffBdddcc0'?DmsDmeDm*DiEmso: Em96Em(N4:Ei!u@!u@!u@!u@ԱɢTBzی %ξI Iq%ɡiI5燨;I5hnji9i9)=g@)9i90checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505526A5AIAIQN]v> vB ~B B IB SBB B B B $h;B (E9 ],@Kv%*Aɰ;y: @ٱ: @:S:FS>:H'?W?@qſ l?@ވ? 6? =?I: @):RA^;i:CN.SB9NIR-h-I)i))-MA))-fABDE6DEy5YUG<!U@=U-9Q)]>]K?9]K?9]uDY]iQ 1ua4٪m1x?Q 5ua4m"~ mFB9u>Q Au:Y}[Q E}?ymC)m;Im;imMa4Y0BeAEgFNOT Ignoring new targets: 154.59 m.g:g: ProNav: ac range: 154.585129 m, nav range: 145.588806 m, bearing: 322.812668 deg, approach rate: -0.420549 m/s, LOS rate: 0.034733 deg/s, cmd heading: 346.882878 deg, new cmd heading: 346.914227 deg. gC~:HeadingCmd: 6.054795 target range: 154.585129 and range: 155.50 m.g@ gg g g zfrfffBdddcc%@\?ɢTB 額پI ]&ɡiIn;Iiii)@))!BEFA4JEREͰ/DezDezDe+DaEel: Ee :6Ee [4:Ea"Eeѧ;!uEeҧ;!u*Eev;!uEev;!}9i9rA ?jA?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007323A yAI I! N- >a ],+*v%*A y:@ٱ:@@:W:oT>:H@[?|?ſs@?*¿@P?uU?f H?9f H?9juDYj=Cjl=Aj>lQ 1ra4٪n:x?Q 5ra4n nFB9tYvdUQ Ev?ynC)n`:In:in4Yz=BzOAxgFNOT Ignoring new targets: 154.59 m.g%$:g%$:5 ProNav: ac range: 154.585129 m, nav range: 145.416336 m, bearing: 322.825352 deg, approach rate: -0.488894 m/s, LOS rate: 0.035996 deg/s, cmd heading: 346.914215 deg, new cmd heading: 346.939611 deg. g5:=HeadingCmd: 6.055239 target range: 154.585129 and range: 155.50 m.g=@gAgAgAgAzfArfAfIfIBdIdIdQcQcUP?ɢ}TB/X 顅^ѾI  (ɡiI7;IjiiUǹi;~)@)i5911509qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259139AAIIN>>ԙDuyDusDu*DqEu: EuZ:6Eu(N4:Eq!@!@!@!@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513061],Cv%*Ay6p@ٱ6m@6:j6ۘS>6Hj?`T? $~Ŀw߿ h?¿@‰?@:3?>?I6p@)6A^;i6CBsSB9B IP Mb@Mb@Mb@ ) I i   :v?y&1 >  `I i zA ԝA A)  ABD%/6D%5Y5o=!5C=5:Q)=>K?9K?9uDYn=CL=A>Q 1 a4٪Fx?Q 5 a4 FB9 >Q A:YJQ E?yC)U:I ;i4ja4Y>BAgAEFNOT Ignoring new targets: 154.59 m.gM9gM9] ProNav: ac range: 154.585129 m, nav range: 145.230530 m, bearing: 322.835873 deg, approach rate: -0.420201 m/s, LOS rate: 0.023824 deg/s, cmd heading: 346.939623 deg, new cmd heading: 346.960692 deg. gef.:eHeadingCmd: 6.055606 target range: 154.585129 and range: 155.50 m.ge@gigigigizfirfifqfqBdqdydycyc}@Y?ɢUBp 顭ϾI )AAvBݿ>~BBIBRSBBBBBKh;B(Eɡi1I5;I=d ii=QpiEm)E@)Ai!!!%0)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763521AIIN>) D D oD D E : E :6E :E "E );! E +;! *E N;! E N;! ],]v%*AyV#@ٱV6!@V8VO>VH4 ?`,?ÿ@~޿?E¿2?#?@E?IV#@)V'^;iT^SB9^IBDf&6Df }5Yn==!nP=r_;Q)r>p9p9vuDYv=Cvgl=Av>x|Q 1a4٪zPx?Q 5a4z zFB9YEQ E?yz<C)z~(;Izi);iztwa4Y@ɢ+UB򸒽 顝ҾI *ɡiI.*;IXhia3iI\)@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897i0)AIINI>a checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266835ԙ I 5G) lAI i- t- lA- A;E],wv%*AyVѲ@ٱVYι@VfVM>VH@^?`?lÿ %Nݿ ? p¿۰?z?`I?IVѲ@)VH^;iVCjSB9jIBDz46Dz5Y  =! G=R;Q)>99%uDY%>C-@R=A->1Q 15a4٪5[x?Q 5=a45I 5FB99Y=?Q E=?y5iC)5n;I5;i5؅a4YIMƱAIԙB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 154.59 m.D=xD=hD=(D9E=ˀ: E=]96E=c44:E9!M@!M@!M@!M@g}і9g}і9 ProNav: ac range: 154.585129 m, nav range: 144.888916 m, bearing: 322.850856 deg, approach rate: -0.412387 m/s, LOS rate: 0.016482 deg/s, cmd heading: 346.976451 deg, new cmd heading: 346.990682 deg. gN9HeadingCmd: 6.056130 target range: 154.585129 and range: 155.50 m.g@ggggzfrfffBdddcc @ɢmIUBm0L quپIq uZ,ɡqiqI};I,hiilK)@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521471i}90>A #vB! ~B! B% 9IB% SBB! B! B! B% Jh;B% (E) A5 yAIA IQ N] >2],v%*Ay6C@ٱ6}@6H>6X4M>iN>IN=Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7712086H?-?y¿[ܿ@QX? Rÿ`؄?m?TK?I6C@)6Y'^;i6CVSB9V,I5Mb@Mb@Mb@ 1)1I1i1155/ݽ5ԼI5lAi5pA5&A5MA)15ABDM66DM45Y]5f=!]E=]9R;Q)]>e H?9e H?9euDYeb>CmS=Am>qQ 1}a4٪ufx?Q 5}a4uA uFB9}>Q A}:Y}w1Q E}?yuC)uE:Iu:iuMa4YAgFNOT Ignoring new targets: 154.59 m.g9g9 ProNav: ac range: 154.585129 m, nav range: 144.712402 m, bearing: 322.853991 deg, approach rate: -0.445141 m/s, LOS rate: 0.007918 deg/s, cmd heading: 346.990685 deg, new cmd heading: 346.996965 deg. gg9HeadingCmd: 6.056240 target range: 154.585129 and range: 155.50 m.g@ggggzfrfffBdddc c@ɢcUB _\ ھI -ɡiIx;I5dhi=$ i=Φ:)=@)Ii0!bD9ZD9DEtDEgDE)DAEEs: EE&96EEFA4:EA"EE;!UEE;!U*EEj1;!UEEj1;!U>AAII!N->MBDAT read: Rx Time:16:07:55.1612 UTRx dataTimestamp_ set to:1755878874.546733Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023926Yq W],^v%*Ay6(@ٱ6h%@6g6M>6H?]?@ڿ@?eÿ3*?#~? 4K?I6(@)6^;i6C^SB9b9I)d fABDj-6Dj"5YrXM=!rS=v.j;Q)v>t9t9zuDYz>CzVX=Az>|Q 1a4٪~sqx?Q 5a4~ ~FB9 Y 6,Q E ?y~C)~:I~l:i~ڡa4Y.B5AEgFNOT Ignoring new targets: 154.59 m.g+8g+8 ProNav: ac range: 154.585129 m, nav range: 144.546768 m, bearing: 322.855592 deg, approach rate: -0.410069 m/s, LOS rate: 0.003966 deg/s, cmd heading: 346.996969 deg, new cmd heading: 347.000173 deg. gE8HeadingCmd: 6.056295 target range: 154.585129 and range: 155.50 m.g,@ggg g zf rf ffBdddcc ~ @ɢE|UBE' IMݾII M?/ɡIiIIU쇫;QI]Uhi]i]~,*)e,@)achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275492i90>AA`ԁAIINn>DUwDU`DU*DQEU}: EU96EU(N4:EQ!e@!e@!e@!e@ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530808 >],9v%*Ay>ִ@ٱ>Wӻ@>Q}>FP>>H>?u?Ԭٿ`@?Ŀ ?? XG?I>ִ@)>n^;i>CFSB9JBIMb@Mb@Mb@ )IiDl?+ηZd;OO>vjIiAA)BD-36D-5Y=@=!=E=ES;Q)E>A9A9EuDYM?CMQ=AM>QQ 1]a4٪U }x?Q 5]a4U UFB9]>Q Ae;Ye Q Ee?yUC)U;IUT;iUZa4YimAig FNOT Ignoring new targets: 154.59 m.g=g=M ProNav: ac range: 154.585129 m, nav range: 144.375931 m, bearing: 322.854011 deg, approach rate: -0.415253 m/s, LOS rate: -0.003845 deg/s, cmd heading: 347.000166 deg, new cmd heading: 346.997002 deg. gM1ḝUHeadingCmd: 6.056240 target range: 154.585129 and range: 155.50 m.gu@gqgygygyzfyrfyffBdddA<A<ԱccR2@ɢ}UB} 顅oI ӯ0ɡivB~BBRIBSBBBBBYh;B(EI&Ь;IHdhi 5im&)m@)ii0@ jA@ kADAT read: 16:07:55.1612 LVL= 24128, 27937, 18546, 31411, AGC= 66, IDX= 418, 0.24, 2.700, 1.130,-2.972, 2.798, PHS= 0.004,-1.623, 0.469, RAW= 162.2, 12.1, CAL= 162.5, 13.7, ROT= 347.5, -13.7 Ygot valid direction response: 16:07:55.1612 LVL= 24128, 27937, 18546, 31411, AGC= 66, IDX= 418, 0.24, 2.700, 1.130,-2.972, 2.798, PHS= 0.004,-1.623, 0.469, RAW= 162.2, 12.1, CAL= 162.5, 13.7, ROT= 347.5, -13.7 PDAT read: Bearing 137.4, -5.6 (Local) ~Local bearing/azimuth received: Bearing 137.4, -5.6 (Local)  DAT read: Range 11 to 50 : 153.9 m (Round-trip 205.2 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.948520,-0.210282,0.236838]Fpublishing direction and range info9&LEZ?^ ʿ4ӋHP?Ci@^!mrHz o;)wϿI >i-5@@X>5@Gt>@ GtiI,},?I 'A? *H?A KDm |Dm cDi Di Em : Em L96Ei :Ei "Em ;!u Em ;!u *Em ";!} Em ";!} 9 A I I N >],/v%*AyZ"@ٱZu@Z3wZtQ>ZĤ???T Qqؿ@;?"ſ??aF?IZ"@)ZnI^;iXbSB9bNIIjAA)hBDn76Dno5YvV9=!vG=vU;Q)v>x9x9zuDYzU?C~zQ=A~>Q 1a4٪݈x?Q 5 a4  FB9 Y Q E ?yC):Ie:ia4YAhihmuZv%*AhmChmChm @hm7#b@]@E"B@hm&LEZ?^ ʿ4ӋHP?hmf_hmGtimFU]@ FV\ܔB@hma@?S \V?hmRhmBhmy-)?hmRhmEB*imy-)?2ii:imvBim C"im@u addTargetRange:: Added new target pos. range: 153.899994 m, deltaT: 4.031049 s, deltaX: -1.600006 m, approachRate: -0.396921 m/s, rangeRepo size: 4  Added new target pos. range: 152.994736 m, bearing: 322.310074 deg, lat: 36.779398 deg, lon: -121.859594 deg, deltaT: 4.031049 s, deltaX: -1.590393 m, approachRate: -0.394536 m/s, posRepo size: 4 gFNOT Ignoring new targets: 152.99 m.(DAT read: user:38> BDAT read: Tx time:16:07:56.6018 $Ping request sent.AoCAAIQIaNm>E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250703 ҽ],v%*Aiy> %@ٱ>]"@>շs>N>>H ?` ?C@C׿V?Mſ`r?͊?`rL?I> %@)>sD^;i>C^SB9^YIBDf,6Df5YnL0=!rK=r#;Q)r>p9t9vuDYv?CvJ=Av>xQ 1~a4٪z|x?Q 5a4z zFB9YQ E?yzCC)z ;Izz ;iza4Y ,B ưA-B*** querying acoustic contact ***zh)h)g1MFNOT Ignoring new targets: 152.99 m.gMS"gUS"e ProNav: ac range: 152.994736 m, nav range: 145.963120 m, bearing: 323.416159 deg, approach rate: -0.416880 m/s, LOS rate: -0.008870 deg/s, cmd heading: 346.993909 deg, new cmd heading: 346.986885 deg. ge܁mHeadingCmd: 6.056064 target range: 152.994736 and range: 153.90 m.gmF@gigigigizfirfqfqfqBdydydycyc p?DwDkD)DE}: E:6EFA4:E!@!@!@!@ɢUB KI x3ɡiIb;IhiqTi])F@)i 0>AuU#bAjAZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506447AIINf>vB) ~B) B- eIB- TBB) B) B) B- h;B- (EB B B B B B ɘ4I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754618R],lw%*Ay:ö@ٱ:@:p:EH>:H $?,#?@`g4ֿ?\Ŀ`y?y?dV?I:ö@):g^;i:CBSB9BHI Mb@Mb@Mb@ ) I i   Q?/$X9v \>  I Ai A tA A)  ABD16D5Yw!?=d;Q)>99vDY?C!*=A>Q 1a4٪Mx?Q 5a4 ~FB9]>Q A:Y[ Q E?ypC) ;I ;ia4YAg%FNOT Ignoring new targets: 152.99 m.g-菹g5菹M ProNav: ac range: 152.994736 m, nav range: 145.786606 m, bearing: 323.409334 deg, approach rate: -0.406261 m/s, LOS rate: -0.015727 deg/s, cmd heading: 346.986888 deg, new cmd heading: 346.973222 deg. gU@湝eHeadingCmd: 6.055825 target range: 152.994736 and range: 153.90 m.geR@gagagagazfirfifyfyBdyddccs?Iɢ]UB~r 顅I 5ɡiIr;I$hiwIdiӽ)R@)DDlD+DE: E:6E [4:E"E½;!Eý;!*EC;!EC;!i0@=@=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722ԡ >A 5%A) I1 IA NU >],v-w%*A8yBsG@ٱBD@B)QmBB>BHs%?#?پ$տ ?{jĿ奭? %?^?IBsG@)B^;iBCNTB9NcIPiRa=BDV&6DV }5Y^=!^Y=bD:Q)b>`9`9fvDYfF@Cf@=Af>hQ 1na4٪jx?Q 5na4j juFB9pYrQ Er?yjC)j:Ijy:ija4YtvAtgFNOT Ignoring new targets: 152.99 m.gîgî- ProNav: ac range: 152.994736 m, nav range: 145.631592 m, bearing: 323.402274 deg, approach rate: -0.418881 m/s, LOS rate: -0.019099 deg/s, cmd heading: 346.973227 deg, new cmd heading: 346.959092 deg. g- EHeadingCmd: 6.055579 target range: 152.994736 and range: 153.90 m.gEM@gAgAgAgAzfIrfIfQfQBdQdQdYcYc]M?ɢVB 額 I  6ɡiI;Iii niFD)M@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258989ԡ9ԅ#;iM9IIM0IDxDpD(DEˀ: E :6Ec44:E!@!@!@!@>A%  IA Ii N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513373],@Gw%*Ay6~ѷ@ٱ6ξ@6 k6]<>6H4R?-? }`1 ԿA?Ŀ]?p?g?I6~ѷ@)6h^;i6CNTB9RmIR>R> uMb@Mb@Mb@ q)qIqiqquK7?{GzuףutIqiuAuƛAq)quABD%6D|5Y=!<=AAݥ:Q)>99vDY@C=A>Q 1a4٪x?Q 5a49 iFB9*>Q A;YQ E?yC)O;IM;i.a4Y *B~AEgQ]FNOT Ignoring new targets: 152.99 m.g]˹ge˹vB޿>~BB~IB2TBBBBBh;B(E ProNav: ac range: 152.994736 m, nav range: 145.454773 m, bearing: 323.392412 deg, approach rate: -0.398791 m/s, LOS rate: -0.022270 deg/s, cmd heading: 346.959103 deg, new cmd heading: 346.939354 deg. g#HeadingCmd: 6.055234 target range: 152.994736 and range: 153.90 m.gz@ggggzfrfff Bd d dcc%U?ɢu%VBu y}Iy }.8ɡyiyI):;I liiVyiN)z@))i%S?I%?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762957Q9<iAhAiI I I M 0I >A% ֽԁ rD =jD <BEU(N4JEUʷG4REUʈ/D zD gD *D E l: E &96E (N4:E "E ѧ;! E ҧ;! *E j1;! E j1;! I! I1 NE >$],>aw%*AyRQ@ٱRHO@RhRh7>RH@y?F?@X K,ӿ!?Qÿ ? Z?ko?IRQ@)Ri^;iPZTB9ZrIBDb&6Db }5Yjɳ<!n[=n:Q)n>p9p9rvDYr@Cr-=Ar>tQ 1zb4٪v)x?Q 5zb4v v_FB9|Y~PQ E~?yvC)v:IvK:ivb4YnA g)5FNOT Ignoring new targets: 152.99 m.g= g= 蹝M ProNav: ac range: 152.994736 m, nav range: 145.305878 m, bearing: 323.383184 deg, approach rate: -0.408752 m/s, LOS rate: -0.025360 deg/s, cmd heading: 346.939350 deg, new cmd heading: 346.920874 deg. ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014857gM9HeadingCmd: 6.054912 target range: 152.994736 and range: 153.90 m.g@ggggzfrfffBdddcc[:@ɢM>VBU:r QUIQ U{x:ɡQiYI]Gܹ;I]iieQieN怽)e@)) iIԙi@@iAE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266698 >A ӽIq I N >3],{w%*AyBXɸ@ٱBƿ@BgB&3>BH ?Ln?^@xHҿH?@PÿLެ?z>?`v?IBXɸ@)BU7^;iBCJ'TB9JwIBDR/6DR5YZ<!ZI=^c:Q)^>\9`9bvDYb9ACb=Ab>dQ 1jb4٪fx?Q 5jb4f  fTFB9lYn"Q En?yf C)f ;If ;ifRb4Yr)BrVAvEB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 152.99 m.g g - ProNav: ac range: 152.994736 m, nav range: 145.142395 m, bearing: 323.372101 deg, approach rate: -0.401016 m/s, LOS rate: -0.027217 deg/s, cmd heading: 346.920881 deg, new cmd heading: 346.898690 deg. g-=GEHeadingCmd: 6.054524 target range: 152.994736 and range: 153.90 m.gE@gAgAgAgAzfArfIfIfID]D]cD],DYE]~: E]L96E]g4:EY!e@!e@!e@!e@BdIdidicicme@ԑɢYVB~ 顥y I <<ɡiIoƼ;I&jisie~R)@)iM9IIMO0I>A5ҽ)y }Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523553IIND>vBA~BABEIBEFTBBABABABEh;BE(E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770789],\w%*Ay63@ٱ6j0@6#h6q1>6H`t?[?ֹ }ѿf? SNÿj??w?I63@)6^;i4B5TB9BI@i@iF=IFp=Mb@Mb@Mb@ )Ii&1?/$ˡE>'IAiAA)=ABD36D5Y <! 7= Q) >99vDYAC5<A5>9Q 1Eb4٪=x?Q 5Eb4=: =EFB9MN>Q AM:YMJQ EM?y=G C)=:I=:i=#b4Yqu;AygFNOT Ignoring new targets: 152.99 m.gg  ProNav: ac range: 152.994736 m, nav range: 144.957504 m, bearing: 323.358823 deg, approach rate: -0.397834 m/s, LOS rate: -0.028607 deg/s, cmd heading: 346.898696 deg, new cmd heading: 346.872107 deg. g iQ5HeadingCmd: 6.054060 target range: 152.994736 and range: 153.90 m.g5ݺ@g1g1g1g1zf9rf9f9f9BdAdAdAcAcE( @ɢzVBЊ 页[I h>ɡiI;Iji7miz()ݺ@bDiZDmAADuuDugDu&DqEuv: Eu&96Eu4:Eq"Eu%;!}Eu&;!}*Eq!Eq!)!i999=09>Aۋ}BDAT read: Rx Time:16:07:59.2089 TRx dataTimestamp_ set to:1755878878.578948checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023993IIN>QPExceeded connect timeout, disconnecting.y {A],5w%*Ay:@ٱ:@:^h:3>:Hc?|?Ztп ?ÿ?DL?[u?I:@): ^;i:CFITB9FIBDN6DN&v5YVg=!Vd=Z%Q)Z>X9X9ZvDY^AC^=A^>`Q 1fb4٪bx?Q 5fb4b b9FB9hYjcQ Ej?ybm C)bF:Ib:ib}/b4YlnApg FNOT Ignoring new targets: 152.99 m.g g % ProNav: ac range: 152.994736 m, nav range: 144.811829 m, bearing: 323.347532 deg, approach rate: -0.427394 m/s, LOS rate: -0.033159 deg/s, cmd heading: 346.872113 deg, new cmd heading: 346.849509 deg. g%r-HeadingCmd: 6.053666 target range: 152.994736 and range: 153.90 m.g-@g)g)g)g)zf)rf1f1f1Bd1d9dIcIcM` @ɢuVB}ja y}Iy o?ɡiIe;Ikig쇻ii)@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275964i90@=@=QiQIG)IiEAMVAԁ>A5SD}wD}_D}(DyE}}: E}r96E}c44:Ey!@!@!@!@IIN>ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530484 )],w%*Ay:@ٱ:f@:aj:5>:H ? ?H'Ͽǖ?@Ŀ`>?tz? s?I:@): ];i:CbeTB9bIAU<AU<Mb@Mb@Mb@ )Ii:v?K/$>^,IiA?A)\AvB߿>~BBIBeTBBBBBh;B(EBD"6D5{5Y{=!8=wQ)>99vDY4BC<A}>ԱQ 1b4٪Ix?Q 5b4- )FB9>Q A:YQ E?y C):IG:i?b4Y'BӯAg1=FNOT Ignoring new targets: 152.99 m.g=gE ProNav: ac range: 152.994736 m, nav range: 144.615952 m, bearing: 323.332270 deg, approach rate: -0.411458 m/s, LOS rate: -0.032104 deg/s, cmd heading: 346.849519 deg, new cmd heading: 346.818953 deg. gkHeadingCmd: 6.053133 target range: 152.994736 and range: 153.90 m.gC@ggggzfrfffBdddcc E@ɢVBH~ I ?BɡiI@j;IkiIi)C@)i90DAT read: 16:07:59.2089 LVL= 32752, 32753, 26258, 32755, AGC= 60, IDX= 411,-0.00,-2.177, 2.839,-1.240,-1.928, PHS=-0.147,-1.472, 0.644, RAW= 171.7, 10.6, CAL= 171.7, 12.1, ROT= 338.3, -12.1 -Ygot valid direction response: 16:07:59.2089 LVL= 32752, 32753, 26258, 32755, AGC= 60, IDX= 411,-0.00,-2.177, 2.839,-1.240,-1.928, PHS=-0.147,-1.472, 0.644, RAW= 171.7, 10.6, CAL= 171.7, 12.1, ROT= 338.3, -12.1 5PDAT read: Bearing 147.8, -15.5 (Local) 5~Local bearing/azimuth received: Bearing 147.8, -15.5 (Local) EDAT read: Range 11 to 50 : 152.2 m (Round-trip 203.0 ms) speed 0.0 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.908490,-0.361532,0.209619]UFpublishing direction and range info9Y>Ae|(HCY?J4Y#׿9h?3Cif< +)jI/$?in?@q=>n?@@X>>@ @XiIv\~?I[X6?>&l?& g?t< )@XiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IYIiNu>ԑ D D mD D E : E :6E :E "E ;! E ;! *E AG;! E AG;! cU],w%*A,y6&\@ٱ6yY@6m6QX4>6H`??丿 #ο?@Ŀ?c?s?I6&\@)6M^;i6CNVTB9NIR=Rp;)VA VABDZ.6DZ]5Y%H#!%X=%Q)%>)9)9-vDY-BC-<A5>)9 9E(DAT read: user:39> EBDAT read: Tx time:16:08:00.6518 M$Ping request sent.M0i>AEԹII)N=r>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250702 }],zw%*Ay6㬺@ٱ66@6kp6/>6H `?q?k^FͿ?wÿ ?? y?I6㬺@)6];i6CR[TB9RI`BDZ$6DZ!|5Yfi<!jP=jQ)j>h9l9nvDYnBCn?<Ar>pQ 1vb4٪ry?Q 5vb4r rFB9xYzپQ Ez?yr C)r:Ir:irYb4Y~&B~AEB*** querying acoustic contact ***zhhg)-FNOT Ignoring new targets: 151.31 m.g5 g5 DUDUeDU*DQEUC: EU96EU(N4:EQ!]@!]@!]@!]@m ProNav: ac range: 151.305359 m, nav range: 146.269531 m, bearing: 323.587397 deg, approach rate: -0.421178 m/s, LOS rate: -0.035131 deg/s, cmd heading: 346.796080 deg, new cmd heading: 346.769079 deg. gmuHeadingCmd: 6.052262 target range: 151.305359 and range: 152.20 m.gu"@gqgqgqgqzfrf ffBd9dAdQccQd?ɢVBJ $I AFɡiIll;IwliΉi J)"@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503304i))15.01@Q@UjA>A :WI I N >Q i =I 8? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754905e^,x%*AyJ@ٱJ,@JrJY'>JH@%'??YַA̿?Ϲ¿RV?`v??IJ@)J^;iH^OTB9^I!Mb@Mb@Mb@ )Ii(\?Zd;O+z>jIhAiKAjA)ABDE6DE^y5YUtڼ!U4=]Q)]>Y9Y9]wDY])CCe<Ae>iQ 1ub4٪m!y?Q 5ub4m® mFB9u>Q A}:Y}NؾQ E}?ym#!C)m?;Im;imib4YAgFNOT Ignoring new targets: 151.31 m.g-!g5!E ProNav: ac range: 151.305359 m, nav range: 146.080750 m, bearing: 323.571378 deg, approach rate: -0.416518 m/s, LOS rate: -0.035389 deg/s, cmd heading: 346.769087 deg, new cmd heading: 346.737007 deg. gEEHeadingCmd: 6.051702 target range: 151.305359 and range: 152.20 m.gM@gIgIgIgIzfrfffBdddccO3?ɢ WB   /I  sHɡiI;I miOi'j;)@)!D]zD]D]'DYE]l: E].:6E]'4:EYii0>A}IINj>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006709ԑ ^,p}0x%*Ay6\'@ٱ6$@6Lr6>6HG3?? 'Qi˿?@ E? a?ُ?I6\'@)6 ^;i6CBsTB9BIiF=IF=BDJ*6DJ~5Yn=!nf=rj9Q)r>p9p9rwDYvpCCv<Av>xQ 1~b4٪zE-y?Q 5~b4z` zEB9|YlվQ E?yzJ!C)z;Iz;izIvb4Y B }A  Eg15FNOT Ignoring new targets: 151.31 m.ԙgf&gf& ProNav: ac range: 151.305359 m, nav range: 145.932770 m, bearing: 323.558448 deg, approach rate: -0.415808 m/s, LOS rate: -0.036369 deg/s, cmd heading: 346.737012 deg, new cmd heading: 346.711126 deg. gHeadingCmd: 6.051250 target range: 151.305359 and range: 152.20 m.gأ@ggggzfrf!f!f)Bd)d)d)c)c5?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258795ɢ}(WB}>$Ƚ 顅 -I JɡiIfh;I-`mi5qyi5j<)5أ@)1i9'0D]D]dD])DYE]O: E]96E]FA4:EY>A 3 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513550I I N >A x^,]Jx%*AApApvB~BBIBTBBBBBh;B(E=TB9=IMb@Mb@Mb@ )Iin?MbQ>IiAAA)(ABD46D5Y,=!-=Q)>99wDYCCA>Q 1 b4٪Q A :YؾQ E?y~!C)u ;IG ;iƆb4YBNAgAEFNOT Ignoring new targets: 151.31 m.gM#gM#] ProNav: ac range: 151.305359 m, nav range: 145.734940 m, bearing: 323.541653 deg, approach rate: -0.419298 m/s, LOS rate: -0.035644 deg/s, cmd heading: 346.711112 deg, new cmd heading: 346.677477 deg. g]weHeadingCmd: 6.050663 target range: 151.305359 and range: 152.20 m.ge @gagagagazfirfffBdddcc~P?ɢ=GWBEŽ Ae/Ia mLIMɡiiiIm;Iu4niuKiu=5<)u @)yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763601iAAAE0I@]=@]>>A;iAA IQ Ia Nm >D} uD} pD} +Dy E} v: E}  :6E} [4:Ey "E} %;! E} &;! *E} ,R;! E} -R;! ԙ ^,3dx%*Ay6~@ٱ6|@6P8r6K>6HE?0?ʿ?B?`-??I6~@)6^;i4RTB9RIBDZ86DZ5Yb;!bu=bs8Q)f?d9d9fwDYfDCj9=Aj?lQ 1rb4٪nGy?Q 5rb4n nEB9pYrԾQ Ev?yn!C)n3;In/;inib4YxzJAxg%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014795-FNOT Ignoring new targets: 151.31 m.g-}*g-}* ProNav: ac range: 151.305359 m, nav range: 145.595551 m, bearing: 323.529260 deg, approach rate: -0.418708 m/s, LOS rate: -0.037263 deg/s, cmd heading: 346.677480 deg, new cmd heading: 346.652670 deg. gdHeadingCmd: 6.050231 target range: 151.305359 and range: 152.20 m.g }@g g g g zf rf qffyBdydydycck@ɢ-bWB-ѽ )M 6I nOɡiI;Ini=iٵ<)}@)i!!!%o0!ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266655>AM <A] AIa Iy N > ^,~x%*Ay6A@ٱ6@6Tr6V >6H~L? =]??)ɿs?Ⱦ F?5?'?I6A@)6];i6CZTB9ZIZV>ZBDf(6Df}5Yjio=!nI=r芸Q)r>rK?9rK?9rwDYrdDCvl)<Av>xQ 1~b4٪zXUy?Q 5~b4z zEB9|Y+ҾQ E?yz!C)z;Iz;izb4Y B A  ED%}D%hD%)D!E%݉: E%]96E%FA4:E!!-@!-@!-@!-@EB*** querying acoustic contact ***zhAhAgIUFNOT Ignoring new targets: 151.31 m.gU,gU,m ProNav: ac range: 151.305359 m, nav range: 145.425262 m, bearing: 323.513829 deg, approach rate: -0.414546 m/s, LOS rate: -0.037608 deg/s, cmd heading: 346.652673 deg, new cmd heading: 346.621776 deg. gmuHeadingCmd: 6.049691 target range: 151.305359 and range: 152.20 m.gu@gqgqgqgqzfqrfyfyfyBdddccB{@ɢ}WB Խ [<6I QɡiI ;IoiiW{<)@)  l>>i 9   2]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523375>Au<AUyAIYIqN}z>vB޿>~BBIBTBBBBBh;B(EBBBBBBQ4A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776959%^,ipx%*A yJ@ٱJ@JdrJ7o>JHQ?F?@!ɿ+?v@H?`V;?h?IJ@)J^;iJCP9T-Mb@Mb@Mb@ )))I)i))-:v?J +Zd;O->-Ƚ-jI-ĊAi-7A)-A))-ABDM06DMӀ5 DQ) >  H?9 H?9wDYDC;A>Q 1%b4٪.dy?Q 5%b4 EB9-#>Q A-:Y-׾Q E-?y"C):I :idb4Y199gYeFNOT Ignoring new targets: 151.31 m.ge'ge'} ProNav: ac range: 151.305359 m, nav range: 145.236969 m, bearing: 323.497478 deg, approach rate: -0.421089 m/s, LOS rate: -0.036615 deg/s, cmd heading: 346.621773 deg, new cmd heading: 346.589027 deg. g}HeadingCmd: 6.049119 target range: 151.305359 and range: 152.20 m.gc@ggggzfrfffBdddcc@ @ɢWBн >I =TɡiI;Ioiiqt<)c@)bDZDBE}:4JE}<4RE} 0D~DdD&DE: E96E4:E"E[;!E\;!*E~&;!E&;!i19BDAT read: Rx Time:16:08:03.2567 %TRx dataTimestamp_ set to:1755878882.614841%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027861>AR5+^,3űx%*Ay6ֻ@ٱ6@6p6zb=6H#W?%?=`ȿ`6? !r??5?I6ֻ@)6^;i6C@BTB9BIIH)JAABDJ96DJ5YR=!RVK?9ZK?9ZwDYZECZ<AZ>\Q 1bb4٪^oy?Q 5bb4^ ^EB9dYfվQ Ef?y^'"C)^B:I^-:i^b4YhjծAhgY]FNOT Ignoring new targets: 151.31 m.ge(ge( ProNav: ac range: 151.305359 m, nav range: 145.090622 m, bearing: 323.484587 deg, approach rate: -0.417776 m/s, LOS rate: -0.036838 deg/s, cmd heading: 346.589016 deg, new cmd heading: 346.563207 deg. gՆHeadingCmd: 6.048669 target range: 151.305359 and range: 152.20 m.g@ggggzfrfffBdddccE @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280024ɢ-WB-ؽ 1=,>I9 =VɡAiAIE;IU%piUi]+<)]@)Yԩiq1>Am<DEDEiDE)DAEE: EE96EEFA4:EA!U@!U@!U@!U@A)I9IIN]>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5347482^,+x%*A0i0A><A><vB<~B<B>IB>TBB<B<B<B>Vh;B>(EhuTB9uIMb@Mb@Mb@ )Ii7A`?RQ½tIrAi~A`A)̔ABD6Dw5Ym<!m0=mQ)u>q9q9uwDYudEC}A}>Q 1b4٪"y?Q 5b4 EB9*>Q A:YYҾQ E?yZ"C) ;I;ib4YBA EgFNOT Ignoring new targets: 151.31 m.g.g. ProNav: ac range: 151.305359 m, nav range: 144.896301 m, bearing: 323.466880 deg, approach rate: -0.418939 m/s, LOS rate: -0.038226 deg/s, cmd heading: 346.563197 deg, new cmd heading: 346.527736 deg. gꋺHeadingCmd: 6.048050 target range: 151.305359 and range: 152.20 m.g@ggggzfrfffBdddcc@@ɢ%WB%ս )-CDI) -GYɡ)i)I-D;I5Xpi5I|i5A<)=@)9 DAT read: 16:08:03.2567 LVL= 32752, 32753, 31042, 32755, AGC= 64, IDX= 420, 0.08,-1.771,-2.954,-0.626,-1.402, PHS=-0.267,-1.507, 0.732, RAW= 176.4, 10.7, CAL= 176.4, 12.6, ROT= 333.6, -12.6 Ygot valid direction response: 16:08:03.2567 LVL= 32752, 32753, 31042, 32755, AGC= 64, IDX= 420, 0.08,-1.771,-2.954,-0.626,-1.402, PHS=-0.267,-1.507, 0.732, RAW= 176.4, 10.7, CAL= 176.4, 12.6, ROT= 333.6, -12.6 -PDAT read: Bearing 152.6, -20.7 (Local) 5~Local bearing/azimuth received: Bearing 152.6, -20.7 (Local) EDAT read: Range 11 to 50 : 150.5 m (Round-trip 200.7 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.874140,-0.433927,0.218143]]Fpublishing direction and range info9?3Ptۿ'$?CiBy@ 9)`IZd;?ij E@t;?>j E@z0a>AQ@ z0aiI갿`?=3?`?1|?a? )z0ai}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.)9 <)i    0 @ @ >D= D= hD= ,D9 E= : E= ]96E= g4:E9 "E= =;!M E= >;!M *E= 5;!M E= 5;!M Q >A bA iAZA u (DAT read: user:40> } BDAT read: Tx time:16:08:04.6518 ԉ  $Ping request sent. l@ٱ>@>xq>*=>HGb? ?`y@ǿ&P?z?ι??I>l@)> ^;i>CFTB9JIBDn-6Dn"5Yvޘ<!v(=vy׸Q)v>z H?9z H?9zwDYzEC~q<A~>Q 1 b4٪Uy?Q 5 b4ֽ EB9 Y PϾQ E ?y"C):I;ib4YAhhx%*AhChCh9@hsY`@C;PTPQ@@h?3Ptۿ'$?hhz0ai)GɆ\@mV&$[ @@h;g?~Fiƶ?hh6BhIM?ha#hB*i2iR:iBi|C"i@m addTargetRange:: Added new target pos. range: 150.500000 m, deltaT: 4.036225 s, deltaX: -1.699997 m, approachRate: -0.421185 m/s, rangeRepo size: 4 } Added new target pos. range: 149.615417 m, bearing: 321.499985 deg, lat: 36.779416 deg, lon: -121.859634 deg, deltaT: 4.036225 s, deltaX: -1.689941 m, approachRate: -0.418694 m/s, posRepo size: 4 gy}FNOT Ignoring new targets: 149.62 m.gg ProNav: ac range: 149.615417 m, nav range: 146.485291 m, bearing: 322.512361 deg, approach rate: 0.000000 m/s, LOS rate: -0.038226 deg/s, cmd heading: 346.527735 deg, new cmd heading: 346.490237 deg. gHeadingCmd: 6.047396 target range: 149.615417 and range: 150.50 m.gD@ggggzfrfffBdddcb@c?ɢXBԽ IKI [}\ɡiI;Irqilvi¬=)D@)9<ԉiiiiu0qI݈G)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245848Ii%ſ!-AԱ>A <DM DM bDM 'DI EM : EM 96EM '4:EI !u @!u @!u @!u @ AQ IY Ii N} >A^,Ky%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.496647yN@ٱN@N^rN=NH`d??V!ǿ)V?zC`JG?n?3?IN@)N!^;iNCXVTB9ZI\i\BD`6D`Yj !jK=nMQ)n>l9l9rwDYrFCvq;Az>Q 1%b4٪לy?Q 5-b4 EB99YEξQ EE?y"C)rA V =}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000608AAII N?BI^,)y%*Aɰy6,@ٱ6B*@6~t6/=6Hf?a?LiǿT[?yc`???I6,@)6^;i6CBUB9BIH)zA zAuMb@Mb@Mb@ q)qIqiqquzG?ˡEQu >u什uuIuAiupAuAu1A)quABD+6DZ5Y=!=Q)>K?9K?9xDYFC^;A>Q 1b4٪Ry?Q 5b4 EB9<>Q A:Y羾Q E?y"C):I:i;b4YFAgFNOT Ignoring new targets: 149.62 m.gurgur  ProNav: ac range: 149.615417 m, nav range: 146.090240 m, bearing: 322.469763 deg, approach rate: -0.466107 m/s, LOS rate: -0.052993 deg/s, cmd heading: 346.456373 deg, new cmd heading: 346.404936 deg. g HeadingCmd: 6.045907 target range: 149.615417 and range: 150.50 m.gx@ggggzfrff!f!Bd!ddcc B?ɢJXBڽ QI  cɡiI kI4=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254177>Ad= A I I N >D |D gD &D E : E &96E 4:E ! @! @! @! @7P^,mCy%*AyB>@ٱBP<@B%uB =BH j?i?-"ǿ@f`?c K?̶?`?IB>@)B@^;iBCNUB9NIBDV36DV5Y^~%=!bZ=b`Q)b>d9d9fxDYfFCf;Af>hQ 1nc4٪jy?Q 5nc4jl jEB9pYrڽQ Er?yj!#C)jA;IjM;ijI c4YvBv!Av E|gFNOT Ignoring new targets: 149.62 m.g%Wg%W5 ProNav: ac range: 149.615417 m, nav range: 145.936691 m, bearing: 322.452152 deg, approach rate: -0.410474 m/s, LOS rate: -0.047129 deg/s, cmd heading: 346.404928 deg, new cmd heading: 346.369669 deg. g5=HeadingCmd: 6.045291 target range: 149.615417 and range: 150.50 m.g=s@g9g9g9g9zfArfAfAfABdIdIdIcIcM`\?ɢeXBn TI seɡiIA5[=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757029Aa Ii Iy ԁ N >V^,{J]y%*Ay6XQ@ٱ6N@6Ğy6=6H`l?#?`D@'ƿ e?'.?@M@? ?I6XQ@)6B"^;i6CB(UB9BI5Mb@Mb@Mb@ 1)1I1i115~jt?333333I +5>5594I5ʌAi5A15A)15“AII)IBDM$6DM!|5YYe+P=!e@=e Q)m>i9i9mxDYm)GCu;Au>yQ 1c4٪}y?Q 5c4} }EB9 >Q A:Y2Q E?y}Q#C)}/:I}:i}&c4YAgFNOT Ignoring new targets: 149.62 m.glgl ProNav: ac range: 149.615417 m, nav range: 145.760040 m, bearing: 322.430262 deg, approach rate: -0.415857 m/s, LOS rate: -0.051595 deg/s, cmd heading: 346.369657 deg, new cmd heading: 346.325824 deg. gټHeadingCmd: 6.044526 target range: 149.615417 and range: 150.50 m.gl@ggggzfrfffBdddcc@W4@ɢXBU !%WI! %;bhɡ!i!I% A)=AA II IY Nm > &]^,(wy%*A(i(yb~i@ٱbf@b {b$=bH p??EC{ƿ`Dj?`IJo?` ӵ??Ib~i@)b:C^;ibCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260733v@UB9v$IBD~,6D~5Y w=! P=Q)>99xDYyGC;A>!Q 1-c4٪%y?Q 5-c4% %EB91Y5Q E5?y%|#C)%{:I%:i%(c4Y= B=A= EgaeFNOT Ignoring new targets: 149.62 m.gmpngmpn} ProNav: ac range: 149.615417 m, nav range: 145.596893 m, bearing: 322.409795 deg, approach rate: -0.414955 m/s, LOS rate: -0.052114 deg/s, cmd heading: 346.325835 deg, new cmd heading: 346.284855 deg. g}HeadingCmd: 6.043811 target range: 149.615417 and range: 150.50 m.gf@ggggzfrfffBdddccY@ԹɢXB2& 0YI kɡiI< A31=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512720A yAI I N >vB ~B B @IB mUBB B B B Qh;B (EA d^,zy%*Ay:@ٱ:b}@:?:X=:Hzt? eq?W"ƿ`Go?@QAݯ?Y??I:@):)^;i:CFYUB9F3IMb@Mb@Mb@ )Ii{Gz?Q뱿:v>\TIxAiA)ABD-&6D- }5Y=r=!=H==Q)E>E H?9E H?9ExDYEGCMi;AM>QQ 1Uc4٪Uy?Q 5]c4U/ UEB9]>Q A]:Y]}Q Ee?yU#C)U/;IU;iU37c4YimzAiB*** querying acoustic contact ***zhhg5FNOT Ignoring new targets: 149.62 m.g=|g=|M ProNav: ac range: 149.615417 m, nav range: 145.422302 m, bearing: 322.386310 deg, approach rate: -0.409951 m/s, LOS rate: -0.055209 deg/s, cmd heading: 346.284854 deg, new cmd heading: 346.237828 deg. gMʺuHeadingCmd: 6.042990 target range: 149.615417 and range: 150.50 m.gu-`@gqgqgygyzfyrfyffBdddcc@@ɢUXBU Y][IY ef@nɡaiaIm Am K@=Ia Iq N > BDAT read: Rx Time:16:08:07.2543  TRx dataTimestamp_ set to:1755878886.646731 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017639Ա 7j^,۪y%*Ay6e@ٱ6@6߁6^w=6H{w?#?Juſ@s?Cٱy-?`@޴?O?I6e@)6 ^;i6CrnUB9r@IiBD $6D !|5YM$Q=!MI=MQ)M>Q9Q9UxDYUHC]I;A]>aQ 1mc4٪evy?Q 5mc4e eEB9iYmCQ Em?ye#C)e`:Iey:ieeEc4Y} B}IAygFNOT Ignoring new targets: 149.62 m.g0g0 ProNav: ac range: 149.615417 m, nav range: 145.249252 m, bearing: 322.362795 deg, approach rate: -0.444007 m/s, LOS rate: -0.060407 deg/s, cmd heading: 346.237835 deg, new cmd heading: 346.190748 deg. gݺHeadingCmd: 6.042169 target range: 149.615417 and range: 150.50 m.grY@ggggzfrfffBdddcc @ɢXBÔ ]I  pɡ i I A5QO=rA5 ?jA5?I I! N5 >D ~D kD -D E : E :6E t4:E ! @! @! @! @ q^,ضy%*Aɰ4O????I6@)6%^;i4ByUB9BGIBDJ+6DJZ5YR<!RU=VQ)V>T9T9ZxDYZiHCZ;AZ>\Q 1bc4٪^<z?Q 5bc4^( ^EB9`YfvQ Ef?y^$C)^;I^:i^Rc4Yhj3AhDAT read: 16:08:07.2543 LVL= 32400, 32753, 29042, 32755, AGC= 63, IDX= 412, 0.49, 2.384, 1.253,-2.661, 2.762, PHS=-0.275,-1.464, 0.817, RAW= 178.6, 9.4, CAL= 178.4, 10.5, ROT= 331.6, -10.5 Ygot valid direction response: 16:08:07.2543 LVL= 32400, 32753, 29042, 32755, AGC= 63, IDX= 412, 0.49, 2.384, 1.253,-2.661, 2.762, PHS=-0.275,-1.464, 0.817, RAW= 178.6, 9.4, CAL= 178.4, 10.5, ROT= 331.6, -10.5 %PDAT read: Bearing 151.2, -23.5 (Local) -~Local bearing/azimuth received: Bearing 151.2, -23.5 (Local) g5FNOT Ignoring new targets: 149.62 m.g=dg=d ProNav: ac range: 149.615417 m, nav range: 145.086411 m, bearing: 322.340497 deg, approach rate: -0.364875 m/s, LOS rate: -0.050019 deg/s, cmd heading: 346.190761 deg, new cmd heading: 346.146115 deg. gDAT read: Range 11 to 50 : 148.8 m (Round-trip 198.4 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.HeadingCmd: 6.041389 target range: 149.615417 and range: 150.50 m.gS@gAqAqvBݿ>~BBeIBUBBBBB,h;B(EB9B9B9B9B9B=ĈZ4g^direction in FSK: [0.864919,-0.467660,0.182236] Fpublishing direction and range info9ae C*j?ܘn#ݿm~S?eCaie~g!g)zf1rf1aerqae? ě)eZdIe&Q?ieG@e'>eSFG@ef;>eL3@ ef;iaaIejs?vm(?A@?e7?eMk' e)ef;iaauT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ffBdddcb@c@?ɢ YB ;  peI  tɡiIi^i}y`=)}S@)i901  (DAT read: user:41>  BDAT read: Tx time:16:08:08.5018  $Ping request sent. A hW=Ia Iq y N >#aw^,y%*AyJ@ٱJS@JlJnÞ=JH`z??@ tſ6z?@ɰet?ȳ? ?IJ@)Jw^;iJCVUB9VTIMb@Mb@Mb@ )Ii'1Z?S㥫Mb>/]IʌAi AAԎA)ABD.6D]5Y_;=!4=Q)>99xDrD jD %=BEFA4JEC4REXQ0DuDbD(DEv: E96Ec44:E"E%;!%E&;!%*E7;!%E7;!%YEHCM,;AM>QQ 1Uc4٪Uz?Q 5]c4U UEB9]>Q A]:Y]Q E]?yU;$C)U:IU:iUbc4YBAEhahey%*AheCheCheB@heFqA__@/oKQ@ :@he C*j?ܘn#ݿm~S?hehef;iezU7$\@Vłӱ=@he\DY? 6w?hehe!Bhe!?hex-he,B*iey-)?2ie :ie]Bie|C"ie@ addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 3.781405 s, deltaX: -1.699997 m, approachRate: -0.449568 m/s, rangeRepo size: 4 !E Added new target pos. range: 147.925232 m, bearing: 320.966709 deg, lat: 36.779398 deg, lon: -121.859638 deg, deltaT: 3.781405 s, deltaX: -1.690186 m, approachRate: -0.446973 m/s, posRepo size: 4 gAMFNOT Ignoring new targets: 147.93 m.gMgI} ProNav: ac range: 147.925232 m, nav range: 143.486023 m, bearing: 321.733627 deg, approach rate: 0.000000 m/s, LOS rate: -0.050019 deg/s, cmd heading: 346.146119 deg, new cmd heading: 346.104701 deg. gyHeadingCmd: 6.040667 target range: 147.925232 and range: 148.80 m.g$M@ggggzfrfffBdddcc ?ɢ +YB   gI  3[wɡiInIA u \=I I) NM >}^,ɮy%*A0y:@ٱ:@::j=:H{??nſz?`Űf}?1ų?x?I:@):u];i:CBUB9B`IIH)JBABDJ6DJw5Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502928YZ+S=!Zc=ZVȹQ)^>\9\9bxDYb ICb:Ab>dQ 1jc4٪f z?Q 5jc4f fEB9hYjQ En?yfd$C)f~:If:if8oc4YprݬApg  FNOT Ignoring new targets: 147.93 m.g~g~ ProNav: ac range: 147.925232 m, nav range: 143.340088 m, bearing: 321.710345 deg, approach rate: -0.433836 m/s, LOS rate: -0.069283 deg/s, cmd heading: 346.104700 deg, new cmd heading: 346.058089 deg. gHeadingCmd: 6.039853 target range: 147.925232 and range: 148.80 m.gzF@ggggzfrfffBdddcc p?ɢ-FYB-3 )-'iI1 5 yɡQiiIm7AJc=bAjAZAhAI1 II N] > vBa ~Ba Be ~IBe UBBa Ba Ba Be h;Be (Ek^,"z%*Aiy6@ٱ6@6wل6k=6H {?`?ʡ`I^ſ {?)Ͱ3?γ?`)?I6@)6];i6C\bUB9beIEMb@Mb@Mb@ A)AIAiAAEm?v/~jtxE>ExiEĻIExAiE\AE\AExA)AABD]/6D]5Ym5<!m?=u"{Q)u>q9q9}yDY}aIC:A>Q 1c4٪0z?Q 5c4` FB9c>Q A:YQ E?y$C)N;I;i/~c4YBŬAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 147.93 m.ghgh ProNav: ac range: 147.925232 m, nav range: 143.153564 m, bearing: 321.680544 deg, approach rate: -0.432833 m/s, LOS rate: -0.069245 deg/s, cmd heading: 346.058091 deg, new cmd heading: 345.998411 deg. gsHeadingCmd: 6.038812 target range: 147.925232 and range: 148.80 m.g=@ggggzfrfffBdddcc?ɢEjYBM1 ImoIi uG}ɡqiqIuA h=A )a a m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259457A I I N >^,d,z%*Ay6@ٱ6@@6G̅64=6H|??`\=ſs|?Fհ`}?ֳ? ?I6@)6d];i6CBUB9BwIBDJ6DJcs5YRٜ=!RX=RQ)R>T9T9VyDYVICZ0;AZ>XQ 1bc4٪Z?z?Q 5bc4Z Z FB9`Yb4Q Ef?yZ$C)Ze ;IZ ;iZ^c4YjBjVAjEgx9}FNOT Ignoring new targets: 147.93 m.gNgN ProNav: ac range: 147.925232 m, nav range: 142.989304 m, bearing: 321.654155 deg, approach rate: -0.438423 m/s, LOS rate: -0.070513 deg/s, cmd heading: 345.998423 deg, new cmd heading: 345.945585 deg. g HeadingCmd: 6.037889 target range: 147.925232 and range: 148.80 m.gd6@ggggzfrfffBdddcch?ɢYBT 顝oI  ɡiIAmXh=A AI I N >DE xDE aDE *DA EE ˀ: EE 96EE (N4:EA !M @!M @!U @!U @}^,[@Fz%*AyJֻ@ٱJ)@JJ=JH|?`s?ҳ5ſ }?<԰?ི??IJֻ@)J];iJCVUB9VvI\i^p=BDb)6Dbn~5Yf!jG=jQ)j>jK?9nK?9nyDYnJCn:Ar>pQ 1vc4٪rNz?Q 5zc4r! rFB9xYzQ Ez?yr$C)r#:Ir]:irc4Y|[Ag!-FNOT Ignoring new targets: 147.93 m.g-g-E ProNav: ac range: 147.925232 m, nav range: 142.810852 m, bearing: 321.625391 deg, approach rate: -0.435232 m/s, LOS rate: -0.070241 deg/s, cmd heading: 345.945584 deg, new cmd heading: 345.887985 deg. gEEHeadingCmd: 6.036884 target range: 147.925232 and range: 148.80 m.gM(.@gIgIgIgIzfIrfIfQfQBdQdQdYcYc]`;?ɢYB+ 額BxI ɡiI+#<ԙIP6|i&i {=)(.@)%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763385i9!%>0!AA@AvB1~B1B5IB5UBB1B1B1B5g;B5z(E>Aur=rAjA? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014813A yAI I! N5 > ৗ^,P`z%*Ay6@ٱ6[@66=6H|?o?1ϳ 4ſ~?]ï??`?I6@)6C];i6CBUB9BI-Mb@Mb@Mb@ )))I)i))-S?J +Mb->-H-I-ʌAi)-A-&A))-ABDE36DE5YUgo=!UB=]Q)]>e H?9e H?9eyDYeUJCeQm8Am>iQ 1uc4٪m^z?Q 5}c4m mFB9}s>Q A}:Y},Q E}?ym(%C)mO;Im`;imlc4YB"AEgFNOT Ignoring new targets: 147.93 m.g g  ProNav: ac range: 147.925232 m, nav range: 142.628769 m, bearing: 321.594471 deg, approach rate: -0.432029 m/s, LOS rate: -0.073460 deg/s, cmd heading: 345.887992 deg, new cmd heading: 345.826072 deg. gpHeadingCmd: 6.035804 target range: 147.925232 and range: 148.80 m.gN%@ggggzfrfffBdddccL@DDoD&DE E:6E4:E"E;! E;!*E!E!ɢ=YB=N 9=zIA EHɡAiAIE,&Apu=A AI I N% >y ڝ^,zz%*A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518857y>@ٱ>@>Q>U%=>H {??ҳ:ſ?|S@&?`Ͷ??I>@)> ^;i>CFUB9FIBDR*6DR~5YZjj=!ZT=Z Q)Z>^K?9^K?9^yDY^JC^Ab>`Q 1fc4٪b\mz?Q 5jc4b b!FB9hYjRQ Ej?ybV%C)bw;Ibr;ib޵c4YlnApg FNOT Ignoring new targets: 147.93 m.gugu ProNav: ac range: 147.925232 m, nav range: 142.462524 m, bearing: 321.566188 deg, approach rate: -0.432344 m/s, LOS rate: -0.073639 deg/s, cmd heading: 345.826083 deg, new cmd heading: 345.769452 deg. g%-HeadingCmd: 6.034815 target range: 147.925232 and range: 148.80 m.g-5@g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=@^@ɢmYBm mA|=-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219ԙvB ߿>~B B IB .VBB B B fDB g;B p(EI I! N- > 1^,ؓz%*Ay6ֹ@ٱ6)@606=6Hn{?? <ſ`?5@#P?@*??I6ֹ@)6];i6CnUB9nIMb@Mb@Mb@ )Iigfffff?{Gz{Gz3>##IiAAxA)fAI)@ABD6D&v5Y?!9=aQ)>99yDYJC |\A >Q 1%c4٪~z?Q 5%c4* *FB9%>Q A-:Y-Q E-?y%C)':I/:isc4Y5B5A5EԱB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 147.93 m.ggu ProNav: ac range: 147.925232 m, nav range: 142.268692 m, bearing: 321.531214 deg, approach rate: -0.415551 m/s, LOS rate: -0.075081 deg/s, cmd heading: 345.769447 deg, new cmd heading: 345.699405 deg. gug }HeadingCmd: 6.033593 target range: 147.925232 and range: 148.80 m.g}1@gygygygyzfyrfffchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022983Bdddcc5 @ɢZBڴ  I ܆ɡiI:.A% p=M BDAT read: Rx Time:16:08:11.1022 U TRx dataTimestamp_ set to:1755878890.680689] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2782741 I I) N5 >U^,㉯z%*Ay>ᱼ@ٱ>4@>Ë>i=>Hy??7[ſƄ?@t?@$??I>ᱼ@)>Y^;i>CJUB9JILiLiR=IR=BDV6DVs5Y^a=!^P=^ѻQ)b>`9`9byDYbMKCf"Af>hQ 1nc4٪jz?Q 5nc4ja j2FB9lYnfQ Er?yj%C)j;Ij;ijc4Ytv߫Atg FNOT Ignoring new targets: 147.93 m.gg- ProNav: ac range: 147.925232 m, nav range: 142.098984 m, bearing: 321.500602 deg, approach rate: -0.458981 m/s, LOS rate: -0.082890 deg/s, cmd heading: 345.699397 deg, new cmd heading: 345.638100 deg. g-5HeadingCmd: 6.032523 target range: 147.925232 and range: 148.80 m.g5m @g1g1g1g9zf9rf9f9fABdAdAdAcAcM @ɢu.ZB} y}Iy }`ɡyiI01A1IIN->ԁDE yDE lDE *DA EE : EE :6EE (N4:EA !M @!M @!M @!M @Ա 9^,GUz%*Ay>@ٱ>@>>[=>Hx?` ?`{ſ?@&Ҟ?e??I>@)>^;i<NVB9NIBD^6D^x5Yj7=!jI=nκQ)n>p9p9ryDYrKCvAv>xQ 1c4٪zz?Q 5c4z z;FB9 Y Q E ?yz%C)zF;IzP';izWc4eDAT read: 16:08:11.1022 LVL= 26832, 32753, 23618, 32723, AGC= 64, IDX= 422, 0.05, 1.571, 0.452, 2.834, 1.960, PHS=-0.287,-1.463, 0.831, RAW= 179.2, 9.3, CAL= 179.0, 10.4, ROT= 331.0, -10.4 mYgot valid direction response: 16:08:11.1022 LVL= 26832, 32753, 23618, 32723, AGC= 64, IDX= 422, 0.05, 1.571, 0.452, 2.834, 1.960, PHS=-0.287,-1.463, 0.831, RAW= 179.2, 9.3, CAL= 179.0, 10.4, ROT= 331.0, -10.4 }PDAT read: Bearing 151.3, -24.1 (Local) ~Local bearing/azimuth received: Bearing 151.3, -24.1 (Local) DAT read: Range 11 to 50 : 147.1 m (Round-trip 196.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.860251,-0.476845,0.180519]%Fpublishing direction and range info9!%{E-?W&ޟ޿lE@?%C!i%h!%B\%%@ %)%CI%jT?i%+H@%6&>%G@%9>%ݸ@ %9i!YUBUAQ!I%B5R0? ?vtW?%G,?%% %)%9i!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԙAA=vB޿>~BBIBWVBB =BBBg;Bm(Eh!h%ѯz%*Ah%<Ch%<Ch%+@h%ۚf0-s_@ΖnQfcne:@h%{E-?W&ޟ޿lE@?h%h%9i%t d[@'V%ꊹ9?@h%k*? ?-d㿸!T?h%Ƶh%sBh%p(枊?h%-/h%{B*i%!?2i%a#:i%{Bi%C"i%K@ addTargetRange:: Added new target pos. range: 147.100006 m, deltaT: 4.030895 s, deltaX: -1.699997 m, approachRate: -0.421742 m/s, rangeRepo size: 4 m Added new target pos. range: 146.235947 m, bearing: 320.492460 deg, lat: 36.779397 deg, lon: -121.859653 deg, deltaT: 4.030895 s, deltaX: -1.689285 m, approachRate: -0.419084 m/s, posRepo size: 4 gimFNOT Ignoring new targets: 146.24 m.gugq ProNav: ac range: 146.235947 m, nav range: 142.686539 m, bearing: 321.026905 deg, approach rate: 0.000000 m/s, LOS rate: -0.082890 deg/s, cmd heading: 345.638089 deg, new cmd heading: 345.549523 deg. gHeadingCmd: 6.030977 target range: 146.235947 and range: 147.10 m.g@ggggzfrff9fABdAdIdIcM@3cb@cM?ɢ _ZBA QU艿IQ ]qɡYiYI]y6 BDAT read: Tx time:16:08:12.5018 $Ping request sent.AUS=IIN?&^,z%*AyF0@ٱF@F=FO=FHkt?O?@E>ſ?+s? ? /?LIF0@)Fs^;iDRVB9VIV=V<-Mb@Mb@Mb@ )))I)i))-Q?{GzMb->)-I-xAi-A-QA-ʌA))-\ABDE+6DEZ5YUd<!U=][(Q)]>Y9Y9eyDYeLCe\Ae>iQ 1uc4٪mRz?Q 5uc4m mEFB9}>Q A}:Y};Q E}?ym8&C)m ;Im ;imPc4YBAEgFNOT Ignoring new targets: 146.24 m.gg麝 ProNav: ac range: 146.235947 m, nav range: 142.423584 m, bearing: 320.978661 deg, approach rate: -0.555317 m/s, LOS rate: -0.102073 deg/s, cmd heading: 345.549515 deg, new cmd heading: 345.452848 deg. g:HeadingCmd: 6.029290 target range: 146.235947 and range: 147.10 m.g@ggggzfrfffBdddcc\|?ɢZB  I ܌ɡiIۇ:A {= I) I9 NE >D D mD (D E : E :6E c44:E ! @! @! @! @ ^,T{%*Ay>@ٱ>L@>c>C\M=>Hq?@?`1`ſ=?eH???I>@)>[ ^;i>CF(VB9FIBDR 6DRJz5YV=!ZV=Z3Q)Z>\9\9^yDY^hLCbAb>dQ 1fd4٪fSz?Q 5jd4f fKFB9hYjQ En?yfg&C)f ;If ;ifd4Ytv}Atg)5FNOT Ignoring new targets: 146.24 m.g=õgEõU ProNav: ac range: 146.235947 m, nav range: 142.256180 m, bearing: 320.947969 deg, approach rate: -0.432861 m/s, LOS rate: -0.079454 deg/s, cmd heading: 345.452855 deg, new cmd heading: 345.391398 deg. g]heHeadingCmd: 6.028217 target range: 146.235947 and range: 147.10 m.gm(@gigigigizfqrfqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755532fyfBdddcc/C?ɢ-ZB-H 15I1 UkɡQiYI]N>ie1=)e(@)avB9~B9B=IB=uVBB= =B9B9B=g;B=t(EBBBBBBݺ4)9]A [=Ա BE}ͷG4JE}mF4RE}EC0D D hD ,D E ҝ: E ]96E g4:E "E ;! E ;! *E 5;! E 5;! AIIQIaNu>B^,E&{%*An?VB9nI]Mb@Mb@Mb@ Y)YIYiYY](\?Q/$]>]u]I]$Ai]A]MA]ȌA)Y]ABD}6D}v5Y>=!#=Q)>99zDYLCA>Q 1d4٪Az?Q 5d4 PFB9K>Q A:YQ E?y&C)e ;I ;i)d4YBGAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 146.24 m.gg ProNav: ac range: 146.235947 m, nav range: 142.038239 m, bearing: 320.912520 deg, approach rate: -0.438890 m/s, LOS rate: -0.071496 deg/s, cmd heading: 345.391410 deg, new cmd heading: 345.320404 deg. gHeadingCmd: 6.026978 target range: 146.235947 and range: 147.10 m.g@ggg g ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003zfrfffBdddcc:?ɢZB ޑI ɡiIV7Ciaaam2ie checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837 >A AIIDzD`D)DEl: E96EFA4:E!@!@!@!@N>~^,EF{%*AiyZKq@ٱZn@Z\Z_P=ZHx9x9zzDYz.MC~BA~>Q 1 d4٪z?Q 5 d4O UFB9 Y xQ E ?y&C):Il:i%d4YAgAEFNOT Ignoring new targets: 146.24 m.gMrgMr] ProNav: ac range: 146.235947 m, nav range: 141.833130 m, bearing: 320.879371 deg, approach rate: -0.436048 m/s, LOS rate: -0.070574 deg/s, cmd heading: 345.320404 deg, new cmd heading: 345.254010 deg. g](eHeadingCmd: 6.025819 target range: 146.235947 and range: 147.10 m.ge@gagagagazfirfififiBdqdqdqcyc}`Zi?ɢZB  顥I /ɡiIG~Bu֍CBuIBuVBBqBqBqBug;Buo(Eԁ>AAE yAIQ Ia Nm >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014946^,`{%*Ay6A_@ٱ6\@6q+6TR=6Hf?(?@'hƿky?+?4?`m?I6A_@)6'y^;i6C@BSVB9BI Mb@Mb@Mb@ ) I i   i|?5?T㥛 S㥛 >  /ݼI vAi CA A lA)  ABD%6D%w5Y5EM!5F=5Q)5> H?9 H?9zDYMCA>Q 1d4٪`z?Q 5d4 WFB92>Q A:YrQ E?y'C):I:i4d4YBAEgFNOT Ignoring new targets: 146.24 m.gg򡺝  ProNav: ac range: 146.235947 m, nav range: 141.643799 m, bearing: 320.849197 deg, approach rate: -0.443607 m/s, LOS rate: -0.070792 deg/s, cmd heading: 345.254014 deg, new cmd heading: 345.193586 deg. g HeadingCmd: 6.024765 target range: 146.235947 and range: 147.10 m.g@ggggzfrff!f!Bd!d!d)c)c-Q@ɢ][B]s Y]IY eoEɡaiaIe[KAM{= A AI I N >IY )u lAI i !ɿ lA A^,Iy{%*AyBL@ٱBHJ@BqBuTM=BH@b?p?yXƿv?k?࿓?`?IBL@)Bq^;iBC^yVB9bIdidBDj6Djw5lYr=!rO=vQ)v>vK?9zK?9zzDYzMCzuAz>|Q 1d4٪~{?Q 5d4~b ~ZFB9 Y Q E ?y~>'C)~):I~:i~Ad4YͪAg9EFNOT Ignoring new targets: 146.24 m.gEogEoU ProNav: ac range: 146.235947 m, nav range: 141.474854 m, bearing: 320.822384 deg, approach rate: -0.444106 m/s, LOS rate: -0.070568 deg/s, cmd heading: 345.193581 deg, new cmd heading: 345.139890 deg. gU%]HeadingCmd: 6.023828 target range: 146.235947 and range: 147.10 m.ge2@gagagagazfarfafifiBdididqcqcuB)@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519142ɢ:[B" 页I !ɡiIwOAPڀ== checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771987A I I N >a vBu >~Bq Bu IBu VBBu =Bq Bq Bu g;Bu y(EҼ^,ޓ{%*AɰPP9y{5@ٱ2@QS<=H \??!``N?ǿs?@_@???I{5@)^;iCiVB9Ie>R=}Mb@Mb@Mb@ y)yIyiyy}ʡE?~jt:v}>}}ԼIyi}Ay}A)y}QABD6Dv5Y !1=Q)>99zDY.NCŻA>!Q 1-d4٪%{?Q 5-d4%_ %^FB9->Q A5:Y5Q E5?y%x'C)%;I%;i%nRd4Y=B=A9gaeFNOT Ignoring new targets: 146.24 m.gm$gm$} ProNav: ac range: 146.235947 m, nav range: 141.262436 m, bearing: 320.791661 deg, approach rate: -0.447058 m/s, LOS rate: -0.064757 deg/s, cmd heading: 345.139895 deg, new cmd heading: 345.078357 deg. g}HeadingCmd: 6.022754 target range: 146.235947 and range: 147.10 m.gf@ggggzfrfffBdddcc` @ɢc[Bp EI |ɡiI.TA )1 1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275391Ay I I N > ^,[{%*Ay6@ٱ6@6+6&=6HV?@2??kǿp?>`r,??@/?I6@)6p^;i6CB}VB9BIBDJ6DJw5YRwi=!Rj=RջQ)V?T9T9VzDYVuNCZrAZ?\Q 1bd4٪^v&{?Q 5bd4^ ^aFB9`YbfQ Ef?y^'C)^;I^Y;i^#^d4YhjAhzB*** querying acoustic contact ***zhxhxg|~FNOT Ignoring new targets: 146.24 m.gg ProNav: ac range: 146.235947 m, nav range: 141.112518 m, bearing: 320.770143 deg, approach rate: -0.447118 m/s, LOS rate: -0.064246 deg/s, cmd heading: 345.078369 deg, new cmd heading: 345.035286 deg. g'뺝HeadingCmd: 6.022002 target range: 146.235947 and range: 147.10 m.g=@ggg!g!zf!rf!f)f)Bd)d)d1c1c5 @ԁɢ[Br, EIA EdɡAiAIEЙXA}w=A I I N > D xD eD ,D E ˀ: E 96E g4:E ! @! @! @! @^,9 {%*Ay6@ٱ6@6P6=6HP?ǰ? xHȿ@#m? Γ r?M?m?I6@)6m^;i6CBVB9BIID)DBDJ6DJs5YRu\=!RL=RĔQ)V>T9T9VzDYVNCZHAZ>XQ 1bd4٪Z5{?Q 5bd4Z} ZfFB9`Yb-Q Eb?yZ'C)ZL;IZ;iZ'ld4YjBjAjEgx~FNOT Ignoring new targets: 146.24 m.g0g0 ProNav: ac range: 146.235947 m, nav range: 140.932846 m, bearing: 320.744572 deg, approach rate: -0.448444 m/s, LOS rate: -0.063903 deg/s, cmd heading: 345.035284 deg, new cmd heading: 344.984077 deg. g麝HeadingCmd: 6.021108 target range: 146.235947 and range: 147.10 m.g@ggggzfrfffBdddcc`@ɢm[BDAT read: 16:08:15.1000 LVL= 28240, 32753, 23778, 32755, AGC= 61, IDX= 414,-0.15,-2.310, 2.864,-1.055,-1.954, PHS=-0.254,-1.420, 0.856, RAW= 179.2, 8.4, CAL= 179.0, 8.9, ROT= 331.0, -8.9 Ygot valid direction response: 16:08:15.1000 LVL= 28240, 32753, 23778, 32755, AGC= 61, IDX= 414,-0.15,-2.310, 2.864,-1.055,-1.954, PHS=-0.254,-1.420, 0.856, RAW= 179.2, 8.4, CAL= 179.0, 8.9, ROT= 331.0, -8.9 PDAT read: Bearing 149.4, -23.6 (Local) ~Local bearing/azimuth received: Bearing 149.4, -23.6 (Local) DAT read: Range 11 to 50 : 145.4 m (Round-trip 193.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.864089,-0.478972,0.154710]Fpublishing direction and range info9??>pf{޿j?fCiPn\=AA<vB>~BB-IBVBBBBBg;Bp(E J )µI"[?iQ >> iI s7?ק1?ìL?9?* )iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.uT(! AE_IA MfɡIiIIM+\ u BDAT read: Tx time:16:08:16.5518 u $Ping request sent.u AU r=bAY ZA] jAAyAIԩIN>F^,{%*ADyDcD'DE: EL96E'4:E"E;!"E;!"*E";!"E";!"-VB9-I1i1Mb@Mb@Mb@ )IiX9v?(\µI +>9I$Ai9A)(ABD6Dcs5Y-X=!-=-Q)->5 H?95 H?95zDY52OC5A=>9Q 1Ed4٪=I{?Q 5Md4= =nFB9M>Q AM:YMrQ EM?y=(C)= ;I=f:i=~d4YQ]hAYhh6{%*AhChChl@h߰9_@oPNQi\6@h??>pf{޿j?hhiJGZ@V/Y>@h@6w[? 7UaS?hhBh?hGӤYhB*iIM?2ix-:iBiV C"i@ addTargetRange:: Added new target pos. range: 145.399994 m, deltaT: 4.031274 s, deltaX: -1.700012 m, approachRate: -0.421706 m/s, rangeRepo size: 4  Added new target pos. range: 144.546738 m, bearing: 319.466705 deg, lat: 36.779397 deg, lon: -121.859665 deg, deltaT: 4.031274 s, deltaX: -1.689209 m, approachRate: -0.419026 m/s, posRepo size: 4 gFNOT Ignoring new targets: 144.55 m.gg ProNav: ac range: 144.546738 m, nav range: 141.339020 m, bearing: 320.369466 deg, approach rate: 0.000000 m/s, LOS rate: -0.063903 deg/s, cmd heading: 344.984085 deg, new cmd heading: 344.915264 deg. gHeadingCmd: 6.019907 target range: 144.546738 and range: 145.40 m.g@ggggzfrfffechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250767Bdddc,b@c`f?ɢ[Bt I ZɡiIahoiq=)@)!i933Qq >A `k=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506455A= AIY Ii Nu >?_, |%*Ay:jݻ@ٱ:@: e:=:H`~F?1K?@ȿ@f?@Ķ?Š?`?I:jݻ@):}^;i:CBVB9BIBDN6DNw5YVX<!Zd=^.IQ)f>jK?9nK?9nzDYn|OCnHRAn>pQ 1vd4٪rW{?Q 5vd4r ruFB9xYz^Q Ez?yrA(C)r:Ir:ir{d4Y~B~XA~Eg!-FNOT Ignoring new targets: 144.55 m.g-g-= ProNav: ac range: 144.546738 m, nav range: 141.171997 m, bearing: 320.346798 deg, approach rate: -0.466728 m/s, LOS rate: -0.063418 deg/s, cmd heading: 344.915264 deg, new cmd heading: 344.869874 deg. g=躝HeadingCmd: 6.019115 target range: 144.546738 and range: 145.40 m.g@ggggzfrfffBdddcc@?ɢE[BEm7 AE&IA M9ɡIiIIMfA=ur= Am yAI I N >__,8|%*Ay6ɻ@ٱ6@6ú6gO=6H"A?`Ȗ?}`ȿ`b?@]z@6P?L??I6ɻ@)6^;i6CLVVB9ZI}Mb@Mb@Mb@ y)yIyiyy}e;O?RQ}½}tIyi}ݐAy}bA)y}Aia=BD6Dxr5Yh=!<=Q)> H?9 H?9{DYOCSA>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006985Q 1d4٪g{?Q 5d4 FB9>Q A:YZȾQ E?yv(C)7 ;I ;id4Y&Ag FNOT Ignoring new targets: 144.55 m.gQgQ% ProNav: ac range: 144.546738 m, nav range: 140.971771 m, bearing: 320.321554 deg, approach rate: -0.465042 m/s, LOS rate: -0.058714 deg/s, cmd heading: 344.869884 deg, new cmd heading: 344.819325 deg. g%ֺ-HeadingCmd: 6.018232 target range: 144.546738 and range: 145.40 m.g-\@g)g)g)g)zf1rf1f1f9Bd9d9d9c9cEFo?ɢm\Bm 0 iuIq M}ɡIiIIMgjiAAAE4A@I@MiADEDEgDE-DAEEa: EE&96EEt4:EA"EEL;!UEEM;!U*EEj1;!UEEj1;!Uu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258766>Au Ba=! A AI I N > _,4|%*Ayj@ٱjW@j:jx2 =jH 8?` ?O^Yɿ`\?e ?@1??Ij@)jʩ^;ijCzVB9~)I = ;BD% 6D%q5Y=ϻ=!EQ=MQ)M>UK?9UK?9U{DYU!PC]!A]>aQ 1md4٪ev{?Q 5md4e eFB9iYmSʾQ Eu?ye(C)e:Ie:ie1d4Y}B}֩AyB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 144.55 m.gg󄺝= ProNav: ac range: 144.546738 m, nav range: 140.789597 m, bearing: 320.298834 deg, approach rate: -0.465407 m/s, LOS rate: -0.058118 deg/s, cmd heading: 344.819314 deg, new cmd heading: 344.773815 deg. g=ԺEHeadingCmd: 6.017438 target range: 144.546738 and range: 145.40 m.gEێ@gAgIgIgIzfIrfIfQfQBdQdYdYcYc]?ɢ>\B1 I ¦ɡiInA) D] pD] eD] *DY E] d: E] 96E] (N4:EY !m @!m @!m @!m @ԉ Ay I I N >~q_,?qN|%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762937yN؜@ٱN+@NGýN=NH25? W:?@2ɿ`0Z?Ԁ@_?@X??IN؜@)Nl^;iNCZVB9Z+IBDb6Dbu5Yj;!jQ=jw=Q)n>l9l9r{DYrqPCrAr>tQ 1zd4٪v{?Q 5zd4v vFB9xYz˾Q E~?yv(CAA@AvB ~B B rIB _WBB B B B g;B V(EB֍CB֍CBB =B =B4Y)vh:IvA lT=! A I I N >BEJEI4RE 0D] vD] bD] (DY E] Vz: E] 96E] c44:EY "E] H;!m E] I;!m *E] 7;!u E] 7;!u _,%h|%*AyJ@ٱJ@JŽJB=JH v2?_? 빿@ɿ#X??1??IJ@)JH^;iJCRWB9RBIMb@Mb@Mb@ )IiI +?~jtĽtIȌAiMAA)3ABD 6Dq5Y=!:=Q)>99{DYPC;A>Q 1d4٪{?Q 5d4 FB9)>Q A:Y;Q E?y)C):IM:id4YەBIA*Eg!%FNOT Ignoring new targets: 144.55 m.g-g-򉺝= ProNav: ac range: 144.546738 m, nav range: 140.404373 m, bearing: 320.251276 deg, approach rate: -0.490948 m/s, LOS rate: -0.060301 deg/s, cmd heading: 344.728745 deg, new cmd heading: 344.678581 deg. g=ܺEHeadingCmd: 6.015776 target range: 144.546738 and range: 145.40 m.gE=@gAgAgIgIzfIrfIfQfBdddcc@6"@) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267219ɢU\BUv4 QUĮIQ ]7`ɡYiYI]wA)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519480AY a Ii Iy N > _,h|%*A,i,yZՈ@ٱZ(@ZƽZ=ZH/??3*ɿ.V?`Aϸ?@4}??IZՈ@)Z^;iZCb/WB9bUIBDj6Dj&v5Yr=!vY=vQ)v>x9x9z{DYzQCzNAz>|Q 1d4٪~2{?Q 5 d4~ ~FB9 Y ξQ E ?y~=)C)~:I~:i~=d4YAg9EFNOT Ignoring new targets: 144.55 m.gEgMU ProNav: ac range: 144.546738 m, nav range: 140.229843 m, bearing: 320.229900 deg, approach rate: -0.465881 m/s, LOS rate: -0.057131 deg/s, cmd heading: 344.678584 deg, new cmd heading: 344.635779 deg. gUѺ]HeadingCmd: 6.015029 target range: 144.546738 and range: 145.40 m.ge{@gagagagazfarfafifiBdididqcqcu@ɢ\B? (=顥 I YɡiI{~BՍCBIBWBBBBBg;Bj(E>AUXR=ԙA I I N > w&_,U|%*AyFǁ@ٱF@FȽFf=FH-??{`ɿ@T?t`?!??IFǁ@)F^;iDR:WB9R[I%Mb@Mb@Mb@ !)!I!i!!%Q?ˡEMb`%>%什%I%vAi!%A%A)!%ABD=6D=l5YM<!MC=U. Q)U>Y9Y9]{DY]kQC]Ae>aQ 1md4٪e{?Q 5md4iu >Iu<}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023215e eFB9R>Q A:YܿQ E?yeq)C)ea|;Ie{;ied4YٕBAgFNOT Ignoring new targets: 144.55 m.gwgw ProNav: ac range: 144.546738 m, nav range: 140.037231 m, bearing: 320.203837 deg, approach rate: -0.456379 m/s, LOS rate: -0.061840 deg/s, cmd heading: 344.635773 deg, new cmd heading: 344.583575 deg. gX⺝HeadingCmd: 6.014118 target range: 144.546738 and range: 145.40 m.gs@ggggzfrfffBdddc c `s\ @ԉɢ\BF6 I V䯽ɡiI*A- BDAT read: Rx Time:16:08:19.1474 5 TRx dataTimestamp_ set to:1755878898.743674= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277184I I N > W,_,/|%*A4i:~CIp)|Ii=BAEA?Ay~@ٱc{@Uʽw' =H(,?p?`U˺`ʿ`S? !M???I~@)}^;iC^WB9qIBD6Dg5YA=!A= Q)>99{DYQCoA>Q 1d4٪4{?Q 5d4 FB9Y Q E ?y)C):I<;id4YA5B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 144.55 m.gE,gE, ProNav: ac range: 144.546738 m, nav range: 139.842316 m, bearing: 320.177421 deg, approach rate: -0.464394 m/s, LOS rate: -0.063024 deg/s, cmd heading: 344.583563 deg, new cmd heading: 344.530658 deg. g溝HeadingCmd: 6.013195 target range: 144.546738 and range: 145.40 m.gl@ggggzf)rf)f1f1Bd1d1d1c9c=@ @ɢ\Bw9 =I bɡiIA Q=Iy I N >_3_,|%*ADAT read: 16:08:19.1474 LVL= 27632, 30561, 20450, 31171, AGC= 66, IDX= 420,-0.10,-0.385,-1.514, 0.843,-0.053, PHS=-0.230,-1.416, 0.851, RAW= 178.5, 8.1, CAL= 178.2, 8.5, ROT= 331.8, -8.5 "Ygot valid direction response: 16:08:19.1474 LVL= 27632, 30561, 20450, 31171, AGC= 66, IDX= 420,-0.10,-0.385,-1.514, 0.843,-0.053, PHS=-0.230,-1.416, 0.851, RAW= 178.5, 8.1, CAL= 178.2, 8.5, ROT= 331.8, -8.5 &PDAT read: Bearing 149.0, -22.1 (Local) &~Local bearing/azimuth received: Bearing 149.0, -22.1 (Local) *DAT read: Range 11 to 50 : 143.5 m (Round-trip 191.4 ms) speed 0.4 m/s .R#Rx 1: Read range and direction messages.0ɰ<>;A@AB<vBD~BDBFIBFWBBDBDBDBFh;BF(E~^direction in FSK: [0.871623,-0.467360,0.147809]~Fpublishing direction and range info9quU?Kq;ݿ%)k?uCqiukuawuOuyuB uk)u}?Iu#Y?iubG@u>u" G@u>uO@ uiqqIuCn? ?iԵI"?u?u uj)uiqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y{@ٱx@.̽A+=H*??`B4 ʿ@R??99{DYRCIA>Q 1d4٪{?Q 5d4k FB9 Y @huE?nKi俜cw?huhu BhuN?hu;ThuB*iup(枊?2iu-/:iuBiu1 C"iu@ addTargetRange:: Added new target pos. range: 143.500000 m, deltaT: 4.033057 s, deltaX: -1.899994 m, approachRate: -0.471105 m/s, rangeRepo size: 4  Added new target pos. range: 142.657715 m, bearing: 319.226715 deg, lat: 36.779391 deg, lon: -121.859665 deg, deltaT: 4.033057 s, deltaX: -1.889023 m, approachRate: -0.468385 m/s, posRepo size: 4 gFNOT Ignoring new targets: 142.66 m.gg ProNav: ac range: 142.657715 m, nav range: 139.191788 m, bearing: 319.949978 deg, approach rate: 0.000000 m/s, LOS rate: -0.063024 deg/s, cmd heading: 344.530670 deg, new cmd heading: 344.466540 deg. gHeadingCmd: 6.012075 target range: 142.657715 and range: 143.50 m.gb@g9g9g9g9zfArfAfAfABdIdIdIcMa@cMz?ɢ%]B/A6 顭gI IɡiI BDAT read: Tx time:16:08:20.5519 $Ping request sent.A=&V=IIN?c<_,|%*Ayj~w@ٱjt@jgϽj.=jH)?`f?`ɉʿR?a?Σ?@?Ij~w@)j7^;ijCrWB9vImMb@Mb@Mb@ i)iIiiiimʡE?+m>mmImAim/AimXA)imQAI)AAԉBD6Df5YM=!=6Q)>99{DYRCtZA>Q 1-e4٪o{?Q 5-e4 FB9->Q A-:Y-Q E-?y*C);I:i_e4Y=OB=A9gYeFNOT Ignoring new targets: 142.66 m.gmgm} ProNav: ac range: 142.657715 m, nav range: 138.927658 m, bearing: 319.913042 deg, approach rate: -0.545028 m/s, LOS rate: -0.076361 deg/s, cmd heading: 344.466548 deg, new cmd heading: 344.392536 deg. g} HeadingCmd: 6.010784 target range: 142.657715 and range: 143.50 m.gWX@ggggzfrfffBdddcc?ɢP]B`X; bI fɡiIAu gW=D uD fD D E v: E 96E :E ! @! @! @! @I I N > C_,~8}%*Ay6t@ٱ6q@6;ҽ6q.=6HT'?I?໿ 8$ʿ`Q? C7?@??I6t@)6H^;i6CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753862RWB9RIBDZ6DZb5YbA!b[=bgQ)b>d9d9f|DYfRCj+Aj>hQ 1re4٪j{?Q 5re4j jGB9pYrQ Er?yjJ*C)j;Ijw;ije4YzMBzAz,EvB1~B1B5IB5*XBB5 =B1B1B5 h;B5(EgFNOT Ignoring new targets: 142.66 m.gg ProNav: ac range: 142.657715 m, nav range: 138.766647 m, bearing: 319.890484 deg, approach rate: -0.423904 m/s, LOS rate: -0.059460 deg/s, cmd heading: 344.392536 deg, new cmd heading: 344.347367 deg. gٺHeadingCmd: 6.009995 target range: 142.657715 and range: 143.50 m.gQ@ggggzfrfffBd d d c c ?ɢ}t]B}֟H y}'I QɡiI\=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006670Qi90y >A u \=D D bD +D E : E 96E [4:E "E ½;! E ý;! *E 7;! E 7;! I9 II NU >KJ_,/+}%*AiyVn@ٱVQl@VfսVl3=VH$?@?@g`8ʿ^P?Ε :?@???IVn@)V& ^;iVCnWB9nIir=Ir=QuMb@Mb@Mb@ q)qIqiqquZd;O?Dly&1|uj>uOu`IulAiuݐAuMAuA)quABD6DN]5Y'>!0=Q)>99|DY4SCA>Q 1e4٪ |?Q 5e4 #GB9>Q A:YEQ E?y*C)#:I:i0/e4YAgIUFNOT Ignoring new targets: 142.66 m.gUgUe ProNav: ac range: 142.657715 m, nav range: 138.550476 m, bearing: 319.857462 deg, approach rate: -0.473382 m/s, LOS rate: -0.072426 deg/s, cmd heading: 344.347375 deg, new cmd heading: 344.281228 deg. gemHeadingCmd: 6.008841 target range: 142.657715 and range: 143.50 m.gmmH@gigqgqgqzfqrfqfyfyBdydydycc3'?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257860ɢ]B@ :I ɡiIiVABa=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510066 A I I1 N= >h/Q_,D}%*Ay6eo@ٱ6l@6!۽6?=6H@"??.@S5ʿP?:`V?఼? K?I6eo@)6^;i6CBWB9BIFR=iDBDJ6DJ f5YR=!R\=V޻Q)V>T9T9V|DYZSCZ 9AZ>\Q 1e4٪^|?Q 5e4^j ^3GB9Y:Q E?y^*C)^M~B)B-IB-qXBB)B)B)B-g;B-z(E>AU<|^=A I I N- >A \W_,^}%*Ay6Tj@ٱ6g@6Lό6DE=6H@?+? `Fʿ@ O?@<%??@?I6Tj@)6^;i6C^ XB9^I~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013813MMb@Mb@Mb@ I)IIIiIIMK?V-I +M^>MmM94IIiIIMXA)IMzABDe6DeIc5YmY=!u>=uoQ)u>y9y9}|DY}SC仺A>Q 1e4٪(|?Q 5=e41 EGB9E/>Q AE:YEQ EE?y*C)AJc=rA?jA?A yAI I N >ԑ ]_,x}%*Ay: e@ٱ:tb@:/H齹:B=:H\??Xʿ@qN?gY???I: e@):JU^;i:CFXB9FIJ;>J4<)L NABDR6DR f5YZd=!ZX=Z!Q)Z>^ H?9^ H?9^|DY^#TCbۺAb>dQ 1je4٪ff7|?Q 5je4f fUGB9hYjߦQ Ej?yf+C)f:Ify:ifzXe4YrHBrAr-Eg  FNOT Ignoring new targets: 142.66 m.g g % ProNav: ac range: 142.657715 m, nav range: 138.007874 m, bearing: 319.770440 deg, approach rate: -0.485319 m/s, LOS rate: -0.079582 deg/s, cmd heading: 344.163697 deg, new cmd heading: 344.106974 deg. g%-HeadingCmd: 6.005800 target range: 142.657715 and range: 143.50 m.g-/@g)g)g)g)zf1rf1f1f1Bd9d9d9cAcEo@ɢm ^BmZeR iuIq u%ĽɡqiqIu`A=0f=DzDfD-DEl: E96Et4:E!@!@!@!@AM AIY Iq N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769731vB! ~B! B% FIB% XBB% =B! B! B% g;B% l(EBՍCBՍCBBBBh4A kd_,׊}%*Ay6^@ٱ6[@6P𽹱6ӫ==6H??0ѿ`nʿM?`Ug@ ?c?୾?I6^@)6^x^;i4B,XB9BIID)DBDJ6DJY5YR=!RK=VQ)V>VK?9VK?9V|DYZuTCZAZ>\Q 1be4٪^%G|?Q 5be4^m ^gGB9dYfRQ Ef?y^M+C)^ ;I^:i^fe4YhjȤAhg FNOT Ignoring new targets: 142.66 m.gʪgʪ ProNav: ac range: 142.657715 m, nav range: 137.824356 m, bearing: 319.740374 deg, approach rate: -0.455101 m/s, LOS rate: -0.074658 deg/s, cmd heading: 344.106979 deg, new cmd heading: 344.046768 deg. gHeadingCmd: 6.004749 target range: 142.657715 and range: 143.50 m.g&@ggggzfrfffBdddc c 6@ɢu4^B%K 顕I ƽɡiI`i:i)Uh=)&@)iQQQ]4Y BDAT read: Rx Time:16:08:23.1449 %TRx dataTimestamp_ set to:1755878902.522814%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022892>Ah=) A I I N >BE)JE-(N4RE-ˈ0D wD _D ,D E }: E r96E g4:E "E j;! E k;! *E K;! E L;! Q j_,n}%*AUUXB9U IMb@Mb@Mb@ )IiGz?v/Mbp>xiI AiِAIAA)ABD6D^5Y =! 5=Q)>99|DYTCA>!Q 1-e4٪% Y|?Q 5-e4%K  %yGB95?>Q A5:Y5FQ E5?y%+C)% ;I%L ;i%Hve4Y=FB=oA=.EgaeFNOT Ignoring new targets: 142.66 m.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273879g}'g}' ProNav: ac range: 142.657715 m, nav range: 137.616333 m, bearing: 319.705793 deg, approach rate: -0.462514 m/s, LOS rate: -0.077003 deg/s, cmd heading: 344.046764 deg, new cmd heading: 343.977498 deg. g HeadingCmd: 6.003540 target range: 142.657715 and range: 143.50 m.g@ggggzfrfffBdddcc`xE @ɢ\^BlM I +GɽɡiIѮA ;h=ԉ i- %=I)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542440A I I N >^}q_,?}%*A0y: K@ٱ:^H@:k>:.?=:H ? '?@,ʿ+J?@ؓ*???I: K@):͓^;i8BxXB9BIDiDiJ=IJ=BDN6DNIc5Yv=!v_=zTQ)z>x9x9z|DY~UC~kԻA~>Q 1 e4٪g|?Q 5 e4  GB9 YQ E?y+C):I:ie4Y)A=B*** querying acoustic contact ***zh9h9gAMFNOT Ignoring new targets: 142.66 m.gUᮺgUᮺe ProNav: ac range: 142.657715 m, nav range: 137.447128 m, bearing: 319.677778 deg, approach rate: -0.461145 m/s, LOS rate: -0.076446 deg/s, cmd heading: 343.977506 deg, new cmd heading: 343.921407 deg. ge mHeadingCmd: 6.002561 target range: 142.657715 and range: 143.50 m.gm@gigigigizfirfqfqfqBdydydycyc@1@ɢ^BV 顭I ˽ɡiIAnp=A I ) I N >w_,?}%*Ay6z<@ٱ69@664=6H?g?j=ʿG?@o?.O? U?I6z<@)6#^;i6CbXB9b&Ir(DAT read: user:45> vBDAT read: Tx time:16:08:24.6019 v$Ping request sent.v99|DYqUCA>Q 1e4٪x|?Q 5e4  GB9&?Q A:YRQ E?y+C);Ic;ie4YDBA/Ehh}}%*Ah Ch Chq@hWSv_@pD%P_/@hd3?wu\ݿ5?h hViH01Z@]VrJ3}<@hp?c&eV cH?hhBhDR?h>hB*i2i>:iBi C"ik@ addTargetRange:: Added new target pos. range: 141.600006 m, deltaT: 4.031047 s, deltaX: -1.899994 m, approachRate: -0.471340 m/s, rangeRepo size: 4 % Added new target pos. range: 140.769577 m, bearing: 319.504814 deg, lat: 36.779391 deg, lon: -121.859672 deg, deltaT: 4.031047 s, deltaX: -1.888138 m, approachRate: -0.468399 m/s, posRepo size: 4 g!-FNOT Ignoring new targets: 140.77 m.g-g) ProNav: ac range: 140.769577 m, nav range: 137.632767 m, bearing: 319.456636 deg, approach rate: 0.000000 m/s, LOS rate: -0.076446 deg/s, cmd heading: 343.921417 deg, new cmd heading: 343.855848 deg. gHeadingCmd: 6.001417 target range: 140.769577 and range: 141.60 m.g @ggggzfrfffBdddc@3a@c`?ɢe^Be:M aeĿIi m+oνɡiiI<A 0f=ԉ Iy ) kAA I I I i R kA rAN >W}_,}%*Ay6&@ٱ6K$@6&6UE!=6H?? V@9˿D?@PG? v?u?I6&@)6T^;i6CBXB9B7IBDJ6DJ]5YR=!R[=R Q)V>T9T9V|DYVUCZgAZ>\Q 1be4٪^|?Q 5be4^^ ^GB9`YbʮQ Ef?y^,C)^+;I^H;i^e4YhjѣAhg|~FNOT Ignoring new targets: 140.77 m.g5g5 ProNav: ac range: 140.769577 m, nav range: 137.456223 m, bearing: 319.428408 deg, approach rate: -0.478407 m/s, LOS rate: -0.076590 deg/s, cmd heading: 343.855847 deg, new cmd heading: 343.799320 deg. g+ HeadingCmd: 6.000430 target range: 140.769577 and range: 141.60 m.g@gggg!zf!rf!f!f)Bd)d)d)c)c5P?Yɢe^Be` aeſIa mCнɡiiiImӝAf=rA?jA ?D}wD}oD}+DyE}}: E}:6E} [4:Ey!@!@!@!@A! I) IA N] >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758850vB ~B B IB [YBB B B B g;B x(E_,~%*Aɰ4<yz@ٱz@zN0 z>=zH?*? a +˿ @?X$x8?;?`F?Iz@)zZ^;izCMXB9M*IBDu6Dub\5Y/@!==Q)>99}DYVCûA>Q 1e4٪|?Q 5e4P GB9Y5Q E?yT,C)2:I):i!e4Y6BģA9EԹgFNOT Ignoring new targets: 140.77 m.gg] ProNav: ac range: 140.769577 m, nav range: 137.251343 m, bearing: 319.395826 deg, approach rate: -0.472294 m/s, LOS rate: -0.075222 deg/s, cmd heading: 343.799320 deg, new cmd heading: 343.734058 deg. g] eHeadingCmd: 5.999291 target range: 140.769577 and range: 141.60 m.ge1@gagagagazfarfififiBdiddcc@?ɢ^BiU  ͿI  Zӽɡ i ImA Ba=9 D {D hD 'D E =: E ]96E '4:E "E ! E ! *E 5;! E 5;! A yAI I N >_,.-~%*Ay65@ٱ6@6\ 6(=6H? ?{¿`N˿`;?8 [h?;|? ?I65@)6Mj^;i4^XB9^PImMb@Mb@Mb@ i)iIiiiimx&1?x&QmA?m7muIiimΎAmAmA)imAI)@ABD6Dra5Yl>!I=Q)> H?9 H?9}DYgVC3ԻA>Q 1e4٪D|?Q 5e4. GB9t?Q A:YAQ E?y,C) ;I ;iVe4YHAgFNOT Ignoring new targets: 140.77 m.gg  ProNav: ac range: 140.769577 m, nav range: 137.059570 m, bearing: 319.366134 deg, approach rate: -0.472391 m/s, LOS rate: -0.073241 deg/s, cmd heading: 343.734051 deg, new cmd heading: 343.674585 deg. g  HeadingCmd: 5.998253 target range: 140.769577 and range: 141.60 m.g@ggggzfrf!f!f!Bd!d)d)c)c-`?ɢ]_B]-_ Y]ʿIY eֽɡaiaIeq AUmY=y- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514962A I I N >ԩ ˑ_,χG~%*Ay6@ٱ6@61I6I=6H/??K¿̿`F8?@?`3?@8??I6@)6f^;i6CBXB9BfIBDJ6DJ`5YRg=!R[=RWQ)R>T9T9V}DYVVCVAZ>XQ 1~e4٪Z |?Q 5~e4Z ZGB9YRQ E?yZ,C)Z#A &V=bA hAZA gAA A II IY Nm >_,őa~%*Aiy6ߺ@ٱ6@66d=6H??¿`C̿5?L '?@??I6ߺ@)6yp^;i6CBXB9BgIfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019052Mb@Mb@Mb@ )Iix&1?Q뱿y&1\`eIhAi AA)̌ABD-6D-b5Y=;!=@==Q)E>K?9K?9}DY WC[A>Q 1e4٪q|?Q 5e4 HB9?Q A:Y"Q E?y,C);I;ie4YAg15FNOT Ignoring new targets: 140.77 m.g=sg=sm ProNav: ac range: 140.769577 m, nav range: 136.676254 m, bearing: 319.307635 deg, approach rate: -0.483345 m/s, LOS rate: -0.073198 deg/s, cmd heading: 343.620342 deg, new cmd heading: 343.557424 deg. gmuHeadingCmd: 5.996208 target range: 140.769577 and range: 141.60 m.gu@gqgqgqgqzfqrfyffBdddccΩ@Թɢo_B` /пI ]۽ɡYiYI]/AlT= A yAI I N >E_,;{~%*AyBԺ@ٱB@Bv)B+ =BH??¿$k̿ 3?xG@t? ,??IBԺ@)BS^;iBCN YB9NITiVa=BDX6DXY^>!bT=b˻Q)b>f H?9f H?9f}DYfUWCf=iAj>hQ 1ne4٪j4|?Q 5re4j jHB9pYrҺQ Er?yj!-C)jA;IjM;ije4Yv2BvAz:EgFNOT Ignoring new targets: 140.77 m.gfg%f- ProNav: ac range: 140.769577 m, nav range: 136.499817 m, bearing: 319.280992 deg, approach rate: -0.483962 m/s, LOS rate: -0.073176 deg/s, cmd heading: 343.557422 deg, new cmd heading: 343.504067 deg. g55HeadingCmd: 5.995277 target range: 140.769577 and range: 141.60 m.g5Oٿ@g9g9g9g9zf9rfAfAfABdAdIdIcIcM@ɢ}_B}j y}:οI >ݽɡiIADezDebDe(DaEel: Ee96Eec44:Ea!u@!u@!u@!u@Am AIq I N >ԩ vBe >~Ba Be IBe YBBe =Ba Ba Be h;Be (E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774992 _,~%*ADyfYɺ@ٱf@ffQ K?9 K?9 }DY WC]A>Q 1e4٪|?Q 5%e4 2HB9!Y%Q E%?yV-C):I:i$e4Y)5HA1gQFNOT Ignoring new targets: 140.77 m.glgl ProNav: ac range: 140.769577 m, nav range: 136.304443 m, bearing: 319.251543 deg, approach rate: -0.473263 m/s, LOS rate: -0.071437 deg/s, cmd heading: 343.504065 deg, new cmd heading: 343.445083 deg. gHeadingCmd: 5.994247 target range: 140.769577 and range: 141.60 m.gп@ggggzfrfffBddd c c @ɢ_B_ 顝ϿI ɡiI(A `T= A9 IA IQ De De hDe *Da Ee : Ee ]96Ee (N4:Ea "Ee ;!m Ee ;!u *Ee 5;!u Ee 5;!u N >1_, ~%*Ay:l@ٱ:@::!N<:HD?m?Sÿ6̿{.?m{?_? ??I:l@):'G^;i:CBUYB9BIFJ>F=lMMb@Mb@Mb@ I)IIIiIIMGz?{GzMףMtIMAiMrAMAMA)IMfABDe6DeZ5Yu#K=!uC=uݨQ)}>y9y9}DYWCcA>Q 1f4٪|?Q 5f4 IHB9r?Q A:Y:ǾQ E?y-C)] ;I;if4Y/BA;EgFNOT Ignoring new targets: 140.77 m.g7g7 ProNav: ac range: 140.769577 m, nav range: 136.106415 m, bearing: 319.223723 deg, approach rate: -0.472947 m/s, LOS rate: -0.066539 deg/s, cmd heading: 343.445079 deg, new cmd heading: 343.389358 deg. g󺝅HeadingCmd: 5.993275 target range: 140.769577 and range: 141.60 m.gȿ@ggggzfrfffBdddcc + @ɢ-_B-Th 15ѿI1 5Oiɡ1i9I=8)/;iEQ=)Eȿ@)A)Y ]A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279322i09>AXR=- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533652y A I! Ii Nu >_, ~%*Ay6@ٱ6߳@66<6H;??Ŕÿa̿ -?<~? I?l?Z?I6@)6)^;i6CVqYB9VII^@A)^AABD`6D`Yn=!nU=rOQ)r>t9t9v}DYvMXCzAz>|Q 1 f4٪~}?Q 5 f4~ ~_HB9 YǾQ E?y~-C)~;I~;i~@f4Y!%ܡA!AUB*** querying acoustic contact ***zhQhQgimFNOT Ignoring new targets: 140.77 m.g}g} ProNav: ac range: 140.769577 m, nav range: 135.923889 m, bearing: 319.198079 deg, approach rate: -0.465968 m/s, LOS rate: -0.065555 deg/s, cmd heading: 343.389345 deg, new cmd heading: 343.337988 deg. gﺝHeadingCmd: 5.992378 target range: 140.769577 and range: 141.60 m.g@ggggzfrfffBdddcc`T@ɢ `BYi XӿI jɡiI*~BB:IBEZBBBBBh;B(EBBBBBBĸ4DAT read: 16:08:27.1923 LVL= 26576, 29377, 22818, 29171, AGC= 56, IDX= 416,-0.04,-1.262,-2.384,-0.123,-1.091, PHS=-0.069,-1.248, 0.924, RAW= 177.2, 4.2, CAL= 176.7, 2.3, ROT= 333.3, -2.3 Ygot valid direction response: 16:08:27.1923 LVL= 26576, 29377, 22818, 29171, AGC= 56, IDX= 416,-0.04,-1.262,-2.384,-0.123,-1.091, PHS=-0.069,-1.248, 0.924, RAW= 177.2, 4.2, CAL= 176.7, 2.3, ROT= 333.3, -2.3 PDAT read: Bearing 142.3, -18.1 (Local) ~Local bearing/azimuth received: Bearing 142.3, -18.1 (Local) DAT read: Range 11 to 50 : 139.7 m (Round-trip 186.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.892652,-0.448957,0.040132] Fpublishing direction and range info9imo?}ܿ.='?m Ciimgmrm"Ymqm8 mO)mwImDl?im.E@mQ =m4`E@ml$=m[&@ ml$iiiIm7LM??nֲ?mo?mҖ m)ml$iii=T****** received valid address query ******=R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ԑ>AA yA I II Ny E_,~%*AyRz@ٱRέ@Rd R bBDAT read: Tx time:16:08:28.6019 f$Ping request sent.f] ]ףI]^Ai]hA]A]5A)Y]3ABDm6DmM5Y}=!@=*Q)> H?9 H?9}DYXCA>ԑQ 1f4٪j}?Q 5f4  vHB9?Q A:YT;Q E?y-C)E:I:if4Y-BAAA bAQ ZAU jA A AI I N >䡾_,g_~%*Ay6߫@ٱ63@6f6<6Hu??5Ŀi̿+?Mv?`I? ?`?I6߫@)6[?^;i6CBYB9BIDiDBDJ6DJU5YRR=!RR=R{Q)V>VK?9VK?9V}DYVXCZAZ>\Q 1bf4٪^'}?Q 5bf4^" ^HB9`Yb;Q Ef?y^&.C)^:I^:i^,f4YhjOAhg9=FNOT Ignoring new targets: 138.88 m.gEgEu ProNav: ac range: 138.881119 m, nav range: 135.534027 m, bearing: 319.145121 deg, approach rate: -0.522673 m/s, LOS rate: -0.071144 deg/s, cmd heading: 343.277794 deg, new cmd heading: 343.227133 deg. gu3}HeadingCmd: 5.990444 target range: 138.881119 and range: 139.70 m.g}@gygggzfrfffBdԑddcc z`?ɢU^`BUu Y]fտIY ]-ɡYiYIe3A}-tY=vB ~B B lIB ZBB B GDB B h;B (EA yAI I N >)  A% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755969) „_,%%*A~YB9~I p=i p=BD6DQ5Y%F=!%C=%Q)->- H?9- H?9-~DY-EYC5A5>9Q 1Ef4٪=7}?Q 5Ef4=% =HB9AYAQ EE?y=\.C)=;I=:i=K;f4YM+BUAQgq}FNOT Ignoring new targets: 138.88 m.gۘgۘ ProNav: ac range: 138.881119 m, nav range: 135.333267 m, bearing: 319.117747 deg, approach rate: -0.489304 m/s, LOS rate: -0.066818 deg/s, cmd heading: 343.227142 deg, new cmd heading: 343.172311 deg. gHeadingCmd: 5.989487 target range: 138.881119 and range: 139.70 m.g੿@ggggzfrfffBdddcc`$?ɢ`BMp ׿I uɡiIBAzS=QA AI I1 N= >bD ZD ?AD- rD- uD- %D) E- k: E- :6E- 4:E) "E- ;!5 E- ;!5 *E- _d;!5 E- `d;!= y _,G1%*Ay6j@ٱ6@66$63#=6H@?@?c#ſ)Ϳ`(?\?!? ?I6j@)6Zh^;i4BYB9BIMb@Mb@Mb@ )Ii?~jt:v?ĽԼIAiAA)ABD6DS5Y-=!-J=5[Q)5>5K?95K?95~DY=YC=A=>AQ 1Mf4٪EG}?Q 5Mf4EF' EHB9U?Q AU:YU׾Q EU?yE.C)E:IE:iEwIf4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259035YAYgFNOT Ignoring new targets: 138.88 m.gg ProNav: ac range: 138.881119 m, nav range: 135.136261 m, bearing: 319.092597 deg, approach rate: -0.451569 m/s, LOS rate: -0.057730 deg/s, cmd heading: 343.172309 deg, new cmd heading: 343.121937 deg. gNӺHeadingCmd: 5.988607 target range: 138.881119 and range: 139.70 m.g@ggggzfrfffBdiCd!dIcYIy)SkAce J?IiuSkA)Aɢ5`B5bh 15IڿI1 =ɡ9i9I=UAE 5[=rAM ?jAI Aq I I N >_,K%*Aɰ";"4!fJ=ftQ)f>h9h9j~DYjYCnԺAn>lQ 1rf4٪nW}?Q 5vf4n{) nHB9tYv׾Q Ev?yn.C)n:In2:inWf4Yz)B~nA~=EB*** querying acoustic contact ***zhhg!%FNOT Ignoring new targets: 138.88 m.g-g-= ProNav: ac range: 138.881119 m, nav range: 134.939926 m, bearing: 319.067506 deg, approach rate: -0.524808 m/s, LOS rate: -0.067167 deg/s, cmd heading: 343.121930 deg, new cmd heading: 343.071674 deg. g=EHeadingCmd: 5.987731 target range: 138.881119 and range: 139.70 m.gE}@gAgAgAgIzfIrfIDuDuaDu)DqEu: Eu96EuFA4:Eq!@!@!@!@ffBdddcc?Iɢ}`B}x y}#ؿI EPɡiI9~B֍CBIBZBBBFDBBh;B(Ei-9))501checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764197y>AelT=ԡAy I I N > 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880 _,|e%*AyN@ٱN@N|*N#=NH1??@ſ`[Ϳ %?*`g6?? R?IN@)NL^;iNCn1ZB9n.IeMb@Mb@Mb@ a)aIaiaaeZd;O?|?5^/$ej>eҽeIeSAieAeIAe|A)aeAIuAA)u@ABD}6D}{U5YN=!?=ǻQ)>99~DYAZC$/A>Q 1f4٪g}?Q 5f4+ HB9 ?Q A:YDQ E?y.C):I:iff4YBAgFNOT Ignoring new targets: 138.88 m.gUgU} ProNav: ac range: 138.881119 m, nav range: 134.733658 m, bearing: 319.042809 deg, approach rate: -0.482400 m/s, LOS rate: -0.057848 deg/s, cmd heading: 343.071687 deg, new cmd heading: 343.022217 deg. g}ӺHeadingCmd: 5.986867 target range: 138.881119 and range: 139.70 m.gj@ggggzfrfffBdddcc@ԱɢaBs  ڿI  Aɡ i)I--.AX= A I I N% >9 _,.W%*Ay6v}@ٱ6z@66-6=6Ht?G?@ƿͿ`!?_s?t???I6v}@)6%^;i6CBYZB9BGIBDJ6DJ O5YR=!RZ=VQ)V>T9T9Z~DYZZCZ»AZ>\Q 1f4٪^#v}?Q 5f4^- ^HB9YQ E ?y^,/C)^:I^:i^sf4Y&B%A%>EgamFNOT Ignoring new targets: 138.88 m.gul}gul} ProNav: ac range: 138.881119 m, nav range: 134.553207 m, bearing: 319.021346 deg, approach rate: -0.465075 m/s, LOS rate: -0.055390 deg/s, cmd heading: 343.022209 deg, new cmd heading: 342.979226 deg. gʺHeadingCmd: 5.986117 target range: 138.881119 and range: 139.70 m.gE@ggggzfrfffBdddcc@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519153ɢ.aBH> %)<%ڿI! %ɡ!i!I%AgW=bAiAZAi vB >~B B IB C[BB =B B B vh;B (E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771965A yAI I N >_,u:%*Aiy:n@ٱ:k@:/:=:H@Ǣ?D?`8ƿ@Ϳ4? Ȁ??`*?S?I:n@):>^;i:CF}ZB9F]IBDN6DNK5YV=!VJ=V-»Q)V>Z H?9Z H?9Z~DYZZCZVA^>`Q 1bf4٪b}?Q 5ff4bI0 bIB9dYfQ Ef?yb`/C)b:Iby:ibʁf4YjBnsAnGEg|FNOT Ignoring new targets: 138.88 m.g ]g ] ProNav: ac range: 138.881119 m, nav range: 134.357819 m, bearing: 318.998221 deg, approach rate: -0.499230 m/s, LOS rate: -0.059173 deg/s, cmd heading: 342.979233 deg, new cmd heading: 342.932915 deg. gغ%HeadingCmd: 5.985309 target range: 138.881119 and range: 139.70 m.g%@g!g!g!g!zf)rf)f)f)Bd1d1d1c1c=K@ɢeTaBeh aeڿIi iɡiiiImطI 4=-BDAT read: Rx Time:16:08:31.1898 =TRx dataTimestamp_ set to:1755878910.596368Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031624ԑ>AqA AI I N >D D oD )D E  E :6E FA4:E "E ;! E ;! *E N;! E N;!  nManaging dock network, ignoring radio surface power off-_,%*APMZB9MrI]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274943Mb@Mb@Mb@ )Ii)\(?:vZd;OG?ԽjIiAAAzA)Aa=ia=BD6D{U5Y-5=!-4=-Q)5>5K?95K?9=~DY=:[C=A=>AQ 1Mf4٪EE}?Q 5Mf4E2 E3IB9M?Q AU:YUQ EU?yE/C)E ;IE ;iEf4Y]B]$A]HEgFNOT Ignoring new targets: 138.88 m.gՇgՇ ProNav: ac range: 138.881119 m, nav range: 134.134125 m, bearing: 318.971343 deg, approach rate: -0.493359 m/s, LOS rate: -0.059378 deg/s, cmd heading: 342.932925 deg, new cmd heading: 342.879080 deg. gUٺHeadingCmd: 5.984369 target range: 138.881119 and range: 139.70 m.g@ggggzfrfffBdddccr @ɢaBP; 顅ܿI ɡiIA QO=9  ȟ?;QI ݿP!Κ? C i q A{ M s ;  u) ٞI s?i DF@ A= E@ Pw< w@  PwּA i  I s?&,?y,??GԼ? b? tM  :F) Pwּi   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I N- >F_,%*AyNT@ٱNQ@Np5N69999E~DYE[CE AE>ID]tD]iD]+DYE]s: E]96E] [4:EY!e@!e@!e@!e@Q 1uf4٪M˥}?Q 5uf4M5 MKIB9yY}Q E}?yM/C)M;IM\;iMf4Y՞AhAhE*%*AhEChEChEC@hE{^@,bBGO @hEȟ?;QI ݿP!Κ?hE:FhEPwּiEw{UY@FDV.7@hE@XƯ?n@俌af?hE'hEBhE.?hE\hEB*iEDR?2iE;T:iEBiEC"iE}@u addTargetRange:: Added new target pos. range: 137.699997 m, deltaT: 3.780354 s, deltaX: -2.000000 m, approachRate: -0.529051 m/s, rangeRepo size: 4  Added new target pos. range: 136.893768 m, bearing: 318.681636 deg, lat: 36.779393 deg, lon: -121.859681 deg, deltaT: 3.780354 s, deltaX: -1.987350 m, approachRate: -0.525705 m/s, posRepo size: 4 gFNOT Ignoring new targets: 136.89 m.gg ProNav: ac range: 136.893768 m, nav range: 134.634445 m, bearing: 318.732164 deg, approach rate: 0.000000 m/s, LOS rate: -0.059378 deg/s, cmd heading: 342.879075 deg, new cmd heading: 342.832395 deg. gHeadingCmd: 5.983554 target range: 136.893768 and range: 137.70 m.gFy@ggggzfrfffBdddc`f6a@c"?ɢ}aB}7xAA=vB~BBIB[BB =BGDBBbh;B(E ݿI ɡiIv mBDAT read: Tx time:16:08:32.4035 m$Ping request sent.mA&V=rA ?jA?IID{DdD)DE=: E96EFA4:E"E;!E;!*E~&;!E&;!N ?_,UK%*Ay>L@ٱ>J@>i;>S<>H?+2?=hǿ L@)>r^;i>CJZB9JINa=N<Mb@Mb@Mb@ )IiX9v?|?5^{Gz>ҽףIAi A)3ABD6DQ5YB=!=)Q)>99~DY[CoٺA> Q 1f4٪ ˻}?Q 5%f4 \8 sIB9%?Q A%:Y%Q E%?y 0C) _;I M;i вf4Y=B=A=IEB*** querying acoustic contact ***zhhchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503217g FNOT Ignoring new targets: 136.89 m.ggIM ProNav: ac range: 136.893768 m, nav range: 134.355408 m, bearing: 318.698972 deg, approach rate: -0.484147 m/s, LOS rate: -0.057711 deg/s, cmd heading: 342.832384 deg, new cmd heading: 342.765861 deg. gM<ӺUHeadingCmd: 5.982393 target range: 136.893768 and range: 137.70 m.gUo@gQgQgQgYzfYrfYfYfaBdadadcc3?ɢaBLӽ E:߿I ɡiIMIߥ :? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755889>A L=I9 IQ N] >g`,z %*A@yNdK@ٱNH@NF>NzS!z[=zQ)~>|99~DYG\C <A >Q 1}f4٪}?Q 5f4|: IB9YQ E?yF0C)k~BBZIB\BBBBgDBBh;B(EB֍CB֍CBBBB4 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0076469 &<i0 >A ;O=I! IY Nm >`,$%*AhyruN@ٱrK@rArP?@j?`II?`kj?IruN@)r%;^;irC5T[B95Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261907BD6DI5Y=!E8=U)ٻQ)U>Q9Q9]DY]\C]Z:A}>Q 1f4٪B}?Q 5f4= IB9YfQ E?y0C):It:if4YBAg  FNOT Ignoring new targets: 136.89 m.gޅgޅE ProNav: ac range: 136.893768 m, nav range: 133.956421 m, bearing: 318.651262 deg, approach rate: -0.487485 m/s, LOS rate: -0.058518 deg/s, cmd heading: 342.722992 deg, new cmd heading: 342.670305 deg. gE0ֺMHeadingCmd: 5.980725 target range: 136.893768 and range: 137.70 m.gMb@gIgIgIgIzfQrfQfQfyBdydydycc6U?ɢ?bBʠ hݿI ɡiIA dO=I I! N5 >`,`=%*Ay6T@ٱ6dQ@6 C6%=6H?D?ȿο?/?N?=? e?I6T@)6S^;i6CB[B9BIDiDiF=IF=9EMb@Mb@Mb@ A)AIAiAAEV-?Zd;O/$E|>EjEIAiEAEAE-vA)AEABD]6D]LF5Ym >!mX=m?Q)u>q9q9uDYu\C}:A}>Q 1f4٪{}?Q 5f4? IB9?Q A:Y@پQ E?y0C):I:if4YEAgFNOT Ignoring new targets: 136.89 m.g g  ProNav: ac range: 136.893768 m, nav range: 133.779358 m, bearing: 318.628021 deg, approach rate: -0.492357 m/s, LOS rate: -0.064711 deg/s, cmd heading: 342.670317 deg, new cmd heading: 342.623774 deg. g캝HeadingCmd: 5.979913 target range: 136.893768 and range: 137.70 m.gr[@ggggzfrfffBdddcc\?ɢ%dbB%  !-ۿI) )ɡ)i)I-{~~B B IB \BB B B B Hh;B (E% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015795>AU &V= AIIN>`,G\%*A-[B9- IBD=6D=uD5YMT=!U)=UQ)U>Y9Y9]DY]Q]C]A]>aQ 1mf4٪e}?Q 5mf4eA eIB9qYqQ Eu?ye0C)e#;Ie;ie^f4Y}B}ӜA}JEgFNOT Ignoring new targets: 136.89 m.gg ProNav: ac range: 136.893768 m, nav range: 133.547638 m, bearing: 318.597511 deg, approach rate: -0.480836 m/s, LOS rate: -0.063421 deg/s, cmd heading: 342.623763 deg, new cmd heading: 342.562636 deg. g"躝HeadingCmd: 5.978846 target range: 136.893768 and range: 137.70 m.IgR@ggggzfrfffBdddccz@ɢbBCٽ 顅ۿI ɡiIhA} KY=D vD bD *D E Vz: E 96E (N4:E "E H;! E I;! *E 7;! E 7;! A yAI I N >`,vv%*A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519069y>h@ٱ>f@>E>vLX=>Hc?@?@lɿͿ?w@? Ӆ?\?I>h@)>^;i>CIG)5lAIIiuulAuA[B9CI-Mb@Mb@Mb@ )))I)i))-?(\µ rh-?--CI-Ai)-IA-tsA))-\ABDE6DEC5YU>!];=]Q)]>] H?9e H?9eDYe]Ceֽ;Ae>iԱQ 1f4٪m ~?Q 5f4mC m JB9?Q A:YоQ E?ym&1C)m>/A% Pa=9 Aq Iy I N >_$`,i%*AD}DjD,D E݉: E96Eg4:E !@!@!@!@ɰ$$yFm@ٱF k@FwEFL}`=FH`?`?`yɿ Ϳ ?s5 ?`dž?[?IFm@)F \^;iFCN5\B9RkI)T VABDZ6DZC5Yb3>!bb=b>9Q)b>d9d9fDYf]Cj:Aj>lQ 1rg4٪n~?Q 5rg4nE n)JB9pYrTоQ Er?ynT1C)n:In:inC g4Yz BzAzKEgFNOT Ignoring new targets: 136.89 m.vB߿>~BՍCBIB]BBBBfDB?h;B(Eg-#g-#= ProNav: ac range: 136.893768 m, nav range: 133.166885 m, bearing: 318.544059 deg, approach rate: -0.477910 m/s, LOS rate: -0.067379 deg/s, cmd heading: 342.504289 deg, new cmd heading: 342.455588 deg. g=EHeadingCmd: 5.976977 target range: 136.893768 and range: 137.70 m.gEfC@gAgAgagazfirfififiBdqdqdqcqcu` @-BDAT read: Rx Time:16:08:34.9888 -TRx dataTimestamp_ set to:1755878914.3707925checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024245ɢubBu y}׿Iy ɡiIwA] h= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278911A AI I IQ N] >C*`, %*A `\B9 IMb@Mb@Mb@ )Ii+?l񲿜 rhv>I;AiAAlsA)ABD6DB5Y=!;=Q)>K?9K?9DYI^CA>Q 1g4٪,~?Q 5g4 H JJB9?Q A:YžQ E?y1C):I:ig4YeAg FNOT Ignoring new targets: 136.89 m.g6g6% ProNav: ac range: 136.893768 m, nav range: 132.962204 m, bearing: 318.513115 deg, approach rate: -0.497178 m/s, LOS rate: -0.075279 deg/s, cmd heading: 342.455576 deg, new cmd heading: 342.393593 deg. g% -HeadingCmd: 5.975895 target range: 136.893768 and range: 137.70 m.g-:@g)g1g1g1zf1rf1f9f9bDZDD%D%iD%(D!E%: E%96E%c44:E!"E%_;!5E%`;!5*E%8;!5E%8;!=9Bdddcc @ɢ"cB OؿI IɡQiQI]2(A@p=DzDlD.DEl: E:6Eـ4:E!@!@!@!@AyAIIN?4`,Ҁ%*A A1A5<vB=>~B=֍CB=AIB=]BB= =B9B=gDB=h;B=(Eyy@ٱv@CCW^=H?@?-ɿ@ͿK"?׀@B?F?@_?Iy@)Z];iC\B9IBD6DLF5Yz=!= m;Q) > H?9 H?9DY^C;A>Q 1%g4٪D~?Q 5%g4$K zJB9IYMľQ Ee?y1C) BDAT read: Tx time:16:08:36.4019 $Ping request sent.A]99DY<_C1A>Q 1g4٪[~?Q 5g4N JB9?Q A:YþQ E?y(2C):IX ;iCg4YB_ALEg)-FNOT Ignoring new targets: 135.10 m.g5ծg5ծE ProNav: ac range: 135.104858 m, nav range: 132.489227 m, bearing: 318.463652 deg, approach rate: -0.495152 m/s, LOS rate: -0.076425 deg/s, cmd heading: 342.294602 deg, new cmd heading: 342.209172 deg. gE MHeadingCmd: 5.972677 target range: 135.104858 and range: 135.90 m.gM+ @gIgIgIgQzfQrfQfYfYBdYdYdacace?ɢ=cB=&ѽ 9=ؿIA AɡAiAIEU?A 0=vB ~B B IB ^BB =B B B >h;B (E Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006348AiIqIN?F`,AG%*Ay6r@ٱ6bo@6?6c=6H7??qȿ ױͿ@ ?H ? ? Ue?I6r@)6"^;i6CB]B9BIBDZ6DZf?5Ybe >!b%=f;Q)f>d9d9jDYz_Cz Az>|Q 1g4٪~|n~?Q 5g4~fP ~JB9 Y þQ E ?y~f2C)~h:I~:i~Sg4YBAVEUB*** querying acoustic contact ***zhQhQgYeFNOT Ignoring new targets: 135.10 m.gmggmgq ProNav: ac range: 135.104858 m, nav range: 132.261566 m, bearing: 318.428512 deg, approach rate: -0.470449 m/s, LOS rate: -0.072741 deg/s, cmd heading: 342.209170 deg, new cmd heading: 342.138768 deg. gHeadingCmd: 5.971448 target range: 135.104858 and range: 135.90 m.g@ggggzfrfffBdddccB?ɢucB}b׽ y}ֿIy yɡyiII}4?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261600>Ap=A I I N% >D zD jD 'D E l: E 96E '4:E "E ѧ;!% E ӧ;!% *E U<;!% E V<;!% q.L`,3%*Aye@ٱb@u<_Y=H?(?RVȿͿ +?`l?`2?Hj?Ie@)Cq^;i-Y]B9-IMb@Mb@Mb@ )Ii"~j?ʡE:vS?ԼI1AiAߒAXoA)AI)AABD6DY=!1=Ŷ;Q)>99DY_CzYA>Q 1g4٪ـ~?Q 5g4R JB9?Q A:YƾQ E?y2C)S;I1;icg4YB(Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510488gFNOT Ignoring new targets: 135.10 m.g%g% ProNav: ac range: 135.104858 m, nav range: 132.039627 m, bearing: 318.394585 deg, approach rate: -0.488586 m/s, LOS rate: -0.074813 deg/s, cmd heading: 342.138765 deg, new cmd heading: 342.070797 deg. g HeadingCmd: 5.970262 target range: 135.104858 and range: 135.90 m.g b @ggggzfrfffBddd!c!c%e?ɢMdBUg QUտIQ QɡYiYI]wA W^= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762317 A5 AI9 IQ N] >uS`,2M%*Ay6nT@ٱ6Q@696i==6H ??ǿ{*ο=?P\[? G?@q?I6nT@)6Pk^;i6C>]B9>AIBDJ6DJF5YN>!Rn=R#`CVȻA? Q 1g4٪ ~?Q 5g4 T JB9YZǾQ E?y 2C) :I :i pg4Y!%A!gIMFNOT Ignoring new targets: 135.10 m.gUgUe ProNav: ac range: 135.104858 m, nav range: 131.867569 m, bearing: 318.368408 deg, approach rate: -0.489532 m/s, LOS rate: -0.074576 deg/s, cmd heading: 342.070791 deg, new cmd heading: 342.018368 deg. ge{mHeadingCmd: 5.969347 target range: 135.104858 and range: 135.90 m.gm@gigqgqgqzfqrfqfyfyBdydydycc@ɢ,dB 页ӿI ɡiI>~BEՍCBEIBE^BBABABABEh;BE(EB B ՍCB B B B p4Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014338>AibAuhAZAugAA yAI I N > >Y`,f%*AyFQB@ٱF?@FR6F^=FH Z?5? $ǿXtο?Fwz??ݢ? x?IFQB@)F:^;iFCN]B9R\IPiPBDZ6DZLF5Yb=!bI=bcf H?9f H?9fDYf`CnAr>xQ 1g4٪z~?Q 5g4zV zKB9!Y%ȾQ E-?yz3C)z ;Iz;]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268755iz ~g4YuBuZAWEgFNOT Ignoring new targets: 135.10 m.gCgC5 ProNav: ac range: 135.104858 m, nav range: 131.673035 m, bearing: 318.338977 deg, approach rate: -0.424880 m/s, LOS rate: -0.064373 deg/s, cmd heading: 342.018362 deg, new cmd heading: 341.959415 deg. g=뺝=HeadingCmd: 5.968318 target range: 135.104858 and range: 135.90 m.g=u@gAgAgAgAzfArfAfIfIBdidqdqcqcu~@ɢ`dB۽ ԿI ɡiIAM Pڀ=Q A AI I N >%``,%*A^B9IMb@Mb@Mb@ )Ii'1Z?㥛 :v?IAiAApA)=Ai=BD6D@5Y>!9=Q)>K?9K?9DY`CA>Q 1 g4٪~?Q 5 g4X ,KB9O?Q A:YžQ E?y?3C) ;I;icg4YBɗA%XEgAMFNOT Ignoring new targets: 135.10 m.gM4ƺgM4ƺe ProNav: ac range: 135.104858 m, nav range: 131.460938 m, bearing: 318.306046 deg, approach rate: -0.557124 m/s, LOS rate: -0.086642 deg/s, cmd heading: 341.959404 deg, new cmd heading: 341.893435 deg. gemHeadingCmd: 5.967166 target range: 135.104858 and range: 135.90 m.gm@gigigigizfirfiffBdddcc@ɢEdBE| IM]ѿIIQ ɡiIK|A |=vBU ޿>~BQ BU  IBU ^BBQ BQ BQ BU h;BU (E BDAT read: Rx Time:16:08:38.9847  TRx dataTimestamp_ set to:1755878918.403122 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023790Ai I I N >ڦf`,G曁%*Ay6 @ٱ6Z @606&<6H@9??6ƿGϿ?gN?`?@G?@?I6 @)6 ^;i6CB^B9BIBDJ6DJI5YR=!RU=R1nT9T9VDYV7aCZ슼AZ>\Q 1bg4٪^~?Q 5bg4^Z ^CKB9`YbȾQ Eb?y^q3C)^:I^|:i^˚g4YpMAIeB*** querying acoustic contact ***zhahagFNOT Ignoring new targets: 135.10 m.gg ProNav: ac range: 135.104858 m, nav range: 131.275024 m, bearing: 318.277712 deg, approach rate: -0.461127 m/s, LOS rate: -0.070379 deg/s, cmd heading: 341.893424 deg, new cmd heading: 341.836675 deg. gHeadingCmd: 5.966176 target range: 135.104858 and range: 135.90 m.g@ggggzfrfffBdddc c  @ɢUdBU Y](ӿIY YɡYiYI]u>i9O0)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274362>A%2g=a Am yAIy I N >D uD ]D *D E v: E 96E (N4:E "E %;! E &;! *E  ;! E  ;! ,l`,ߤ%*A ==i9IG)I) EDAT read: 16:08:38.9846 LVL= 22592, 28369, 19794, 28259, AGC= 59, IDX= 418, 0.00,-0.846,-1.983, 0.295,-0.706, PHS=-0.039,-1.232, 0.956, RAW= 177.0, 3.4, CAL= 176.5, 1.0, ROT= 333.5, -1.0 MYgot valid direction response: 16:08:38.9846 LVL= 22592, 28369, 19794, 28259, AGC= 59, IDX= 418, 0.00,-0.846,-1.983, 0.295,-0.706, PHS=-0.039,-1.232, 0.956, RAW= 177.0, 3.4, CAL= 176.5, 1.0, ROT= 333.5, -1.0 UPDAT read: Bearing 141.4, -16.3 (Local) ]~Local bearing/azimuth received: Bearing 141.4, -16.3 (Local) eDAT read: Range 11 to 50 : 134.0 m (Round-trip 178.7 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.894798,-0.446130,0.017452]uFpublishing direction and range info9ņy/?,|dܿW7) ߑ?Ci@XnRMcn; w)-Ijt?iE@s='E@5<B@ 5iI~d?׊@?M??9~?"p j)5iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ilAy]޹@ٱ]O@]%*]<]H??uſ`]Ͽ?ݍ?=?K? '?I]޹@)]^;iYik^B9I==Mb@Mb@Mb@ )IiS㥛?(\µ?̼Ii;A&AmA)AI@A)BD6D=A5Y>!=# H?9 H?9DYaCA>!Q 1-g4٪%a~?Q 5-g4%^ %fKB9-?Q A-:Y- ־Q E5?y%3C)%:I%:i% g4Y=B=A9hh%*Ah7Ch7Ch=ܱ@hȬS]@l?My@hņy/?,|dܿW7) ߑ?hjh5iX@ #YUph4@hsTr ?|Ҵ俴Ld-?hhBhWF?hPVhBԙ*iS?2iPV:i1BiFC"iDZ@  addTargetRange:: Added new target pos. range: 134.000000 m, deltaT: 3.780376 s, deltaX: -1.899994 m, approachRate: -0.502594 m/s, rangeRepo size: 4 = Added new target pos. range: 133.215958 m, bearing: 318.457662 deg, lat: 36.779397 deg, lon: -121.859682 deg, deltaT: 3.780376 s, deltaX: -1.888901 m, approachRate: -0.499659 m/s, posRepo size: 4 g9EFNOT Ignoring new targets: 133.22 m.gEgAu ProNav: ac range: 133.215958 m, nav range: 131.274780 m, bearing: 318.315582 deg, approach rate: 0.000000 m/s, LOS rate: -0.070379 deg/s, cmd heading: 341.836679 deg, new cmd heading: 341.754971 deg. gy}HeadingCmd: 5.964749 target range: 133.215958 and range: 134.00 m.g:߾@ggggzfrfffBdddc`@c?ɢdB ѿI ɡ i I ?  BDAT read: Tx time:16:08:40.2018  $Ping request sent. A 8k=D%sD!D!D!E%so: E!6E!:E!!5@!5@!5@!5@AAvBۿ>~BBZ IBY_BB =BBfDBh;B(EAYIaIqN ?(u`,H؁%*AyF$ƹ@ٱFx@F (F?+i9i9mDYmaCuAu>yQ 1}g4٪}~?Q 5g4}?` }}KB9Y}׾Q E?y}3C)}:I}>:i}g4YAgFNOT Ignoring new targets: 133.22 m.g g  ProNav: ac range: 133.215958 m, nav range: 131.080994 m, bearing: 318.288759 deg, approach rate: -0.526780 m/s, LOS rate: -0.073022 deg/s, cmd heading: 341.754963 deg, new cmd heading: 341.701238 deg. gHeadingCmd: 5.963812 target range: 133.215958 and range: 134.00 m.g׾@ggggzfrff!f!Bd!d)d)c)c-@i?ɢu!eB} y}ҿIy yɡyiIK>ABa=AAIQIaNmx>iߵ=Iߵ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507460! 4{`,%*A8yV$@ٱVx@V/%V=VH`?C? Ŀqbп`?=??`?E?IV$@)Vؿ^;iVCf^B9fID}lD}dD}&DyE}V: E}96E}4:Ey"E}w;!E}w;!*E}~&;!E}&;!Mb@Mb@Mb@ )Ii"~j?ʡEI +S?-9IiA)=ABD6DV:5Y%W=!%?=%[;Q)%>)9)9-DY-NbC-qA5>9Q 1Eg4٪=~?Q 5Eg4=b =KB9ER?Q AE:YE ܾQ EE?y=,4C)=:I=&:i=g4YUBUuAUYEgy}FNOT Ignoring new targets: 133.22 m.gygy ProNav: ac range: 133.215958 m, nav range: 130.869888 m, bearing: 318.260344 deg, approach rate: -0.494372 m/s, LOS rate: -0.066651 deg/s, cmd heading: 341.701250 deg, new cmd heading: 341.644328 deg. g󺝅HeadingCmd: 5.962819 target range: 133.215958 and range: 134.00 m.giϾ@ggggzfrfffBdddcc@]?ɢPeB1: տI ɡiIA) AY Ia Iy N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007357Ղ`, %*A$i$Lyj@ٱj@j"j0=jHZ~?`rs?@Ŀп??a! ^= O;Q) >99DYbC5A>!Q 1-g4٪%?Q 5-g4%d %KB9)Y-sݾQ E-?y%\4C)%p:I%:i%kg4Y9=͕A9gaeFNOT Ignoring new targets: 133.22 m.gmgm} ProNav: ac range: 133.215958 m, nav range: 130.687424 m, bearing: 318.235948 deg, approach rate: -0.495396 m/s, LOS rate: -0.066327 deg/s, cmd heading: 341.644341 deg, new cmd heading: 341.595482 deg. g}򺝅HeadingCmd: 5.961966 target range: 133.215958 and range: 134.00 m.gmȾ@ggggzfrfffBdddccM?ɢzeB пI ɡiI~B)B- IB-_BB- =B)B)B-h;B-(E) %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259067>A`T=A I I ! N- >`,%%*Ay6@ٱ6@6w}6E<6H`|?? *Ŀpп` ???`&?@?I6@)6^;i6CB_B9B0 IBDJ6DJ[45YVd=!VQ=V;Q)V>X9X9ZDYZbCZͻA^>\Q 1bg4٪^?Q 5fg4^g ^KB9dYf޾Q Ef?y^4C)^K:I^:i^g4YjBjAnZEzB*** querying acoustic contact ***zhxhx|g FNOT Ignoring new targets: 133.22 m.g g % ProNav: ac range: 133.215958 m, nav range: 130.493317 m, bearing: 318.210149 deg, approach rate: -0.494335 m/s, LOS rate: -0.065800 deg/s, cmd heading: 341.595492 deg, new cmd heading: 341.543817 deg. g%𺝅-HeadingCmd: 5.961064 target range: 133.215958 and range: 134.00 m.g- @g)g)g)g)zf)rf1f1f1Bd9d9d9c9c=?ɢmeBm9 im?ҿIi qɡqiqIuAJM=bDZDD%oD%WD%*D!E%`: E%96E%(N4:E!"E%W;!-E%X;!5*E%Z:!5E%[:!5YA% AI1 IA NM >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762668ԁ y)`,?%*Ay6u@ٱ6 s@6E:6]7=6HZ}?U?`ÿп?R?s?`3??I6u@)6^;i4^9_B9bF IYuMb@Mb@Mb@ q)qIqiqqup= ף?EԸI +u?uƽqIu~AiuAuXAu+mA)qu ABD6D=5Y=!<=/;Q)>K?9K?9DY?cCkA>Q 1g4٪]'?Q 5g4i KB9?Q A:YQ E?y4C)e;ID;iIg4Y=AgFNOT Ignoring new targets: 133.22 m.g.g.  ProNav: ac range: 133.215958 m, nav range: 130.273239 m, bearing: 318.182690 deg, approach rate: -0.507787 m/s, LOS rate: -0.063464 deg/s, cmd heading: 341.543828 deg, new cmd heading: 341.488817 deg. g J躝HeadingCmd: 5.960104 target range: 133.215958 and range: 134.00 m.g,@ggggzfrfffBd!d!d!c!c%@bB@ɢUeBU Q]ӿIY YɡYiYI]҈ABJ=rA?jA?D- mD- cD- ,D) E- Y: E- L96E- g4:E) !5 @!5 @!5 @!5 @AA II IY Nm > A! A! vB- ؿ>~B) B- IB- %`BB- =B) B) B- h;B- (E`,uY%*AyNxi@ٱNf@N9N{ =NH}?G? dÿ@=п\?Zf|?@?`H??INxi@)N^;iNCrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266723v^_B9v] IBD~6D~?5Y =! T= Y;Q) >99DYcC}A>!Q 1-h4٪%6?Q 5-h4%l %KB9)Y-Q E-?y%4C)%:I%:i%h4Y5B=A=[EgaeFNOT Ignoring new targets: 133.22 m.gmgm} ProNav: ac range: 133.215958 m, nav range: 130.077637 m, bearing: 318.158323 deg, approach rate: -0.506974 m/s, LOS rate: -0.063251 deg/s, cmd heading: 341.488804 deg, new cmd heading: 341.439997 deg. g}纝HeadingCmd: 5.959252 target range: 133.215958 and range: 134.00 m.g2@ggggzfrfffBdddccCX@ɢ]fB]k aeտIa aɡaiaIeA \J=9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522752Ai I I N >Y ?`,%]s%*AyRa@ٱR^@RRlc=RH3?k?@U2ÿFп?,7u?౮?@ڡ?!==;Q)>99DYcC`A>Q 1h4٪G?Q 5h4n LB9?Q A:Y Q E ?y95C),:IA:ih4YsA1gAEFNOT Ignoring new targets: 133.22 m.gMgM] ProNav: ac range: 133.215958 m, nav range: 129.859177 m, bearing: 318.131835 deg, approach rate: -0.504079 m/s, LOS rate: -0.061223 deg/s, cmd heading: 341.440009 deg, new cmd heading: 341.386943 deg. g]ຝeHeadingCmd: 5.958326 target range: 133.215958 and range: 134.00 m.ge@gagagagazfarfififiBdqdqdqcqc}@*@ɢ7fB% !%ӿI! AɡIiIIMAe xH=A  BDAT read: Rx Time:16:08:42.7822  TRx dataTimestamp_ set to:1755878922.183978 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025371Թ I I N >T#`,g)%*Az_B9z IBD6D<5Y=!Y=Q)>99DY%2dC%A%>)Q 15h4٪-V?Q 55h4-p -LB91Y1Q E5?y-k5C)-~:I-;i- h4YE۔BEAEeEgimFNOT Ignoring new targets: 133.22 m.gugu ProNav: ac range: 133.215958 m, nav range: 129.669159 m, bearing: 318.108719 deg, approach rate: -0.505922 m/s, LOS rate: -0.061634 deg/s, cmd heading: 341.386952 deg, new cmd heading: 341.340654 deg. gẝHeadingCmd: 5.957518 target range: 133.215958 and range: 134.00 m.g@ggggzfrfffBdddcc L @ɢafB) )<ӿI ɡiI^AjI=bAiAZAjA A% yAI) IA NM > }M`,%*Aiy6Z@ٱ6FX@66=6H? ? |¿ ѿ`?(k?R???I6Z@)6^;i6CB_B9B IBDJ6DJ 85YRr=!RR=VXyV H?9V H?9VDYVdCZAZ>\Q 1bh4٪^f?Q 5bh4^]s ^+LB9`YbQ Ef?y^5C)^w;I^;i^,h4YhjAlUB*** querying acoustic contact ***zhhg)DAT read: 16:08:42.7822 LVL= 32752, 32753, 28946, 32755, AGC= 57, IDX= 408,-0.31, 0.832,-0.301, 1.946, 1.016, PHS=-0.082,-1.272, 0.886, RAW= 176.6, 5.1, CAL= 176.1, 3.7, ROT= 333.9, -3.7 Ygot valid direction response: 16:08:42.7822 LVL= 32752, 32753, 28946, 32755, AGC= 57, IDX= 408,-0.31, 0.832,-0.301, 1.946, 1.016, PHS=-0.082,-1.272, 0.886, RAW= 176.6, 5.1, CAL= 176.1, 3.7, ROT= 333.9, -3.7 PDAT read: Bearing 143.9, -17.5 (Local) ~Local bearing/azimuth received: Bearing 143.9, -17.5 (Local) FNOT Ignoring new targets: 133.22 m.gg ProNav: ac range: 133.215958 m, nav range: 129.472397 m, bearing: 318.084774 deg, approach rate: -0.459099 m/s, LOS rate: -0.055956 deg/s, cmd heading: 341.340644 deg, new cmd heading: 341.292680 deg. g̺5HeadingCmd: 5.956681 target range: 133.215958 and range: 134.00 m.g5!@g1g1g1g1zf1rf9f9f9Bd9dAdAcAcEz@UDAT read: Range 11 to 50 : 132.0 m (Round-trip 176.1 ms) speed 0.4 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.896156,-0.439022,0.064532]]Fpublishing direction and range info9aeTN? 4ezܿP0?eCaieeeqee9 e什)eТIeb?ieCE@eK=eD@e A=e%|@ e AiaaIej}?hV?8?eG|?e eZ;)e AiaaT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɢfBС׽ )-UֿI1 1ɡ9i9I=9  BDAT read: Tx time:16:08:44.0019  $Ping request sent. A QO=y A AI I N >`,HĂ%*Ay6:O@ٱ6L@6 6FE=6HD?`A?7¿`$ѿ? g?`"???I6:O@)6H^;i6CB`B9B I=Mb@Mb@Mb@ 9)9I9i99=MbX9?:v{Gz=?=Խ=ףI=9zAi=`A=A9)9=}ABDU6DUC5Ye&=!e*=e;Q)m>mK?9mK?9mDYudCu|BAu>yQ 1h4٪}x?Q 5h4}[v }BLB9?Q A:YYQ E?y}5C)}8:I},:i}=h4YٔB@AԱhh1%*Ah9Ch9ChQr@h*5Xf]@@>=L[V @hTN? 4ezܿP0?hZ;h AiYñ}W@yUS|6@h S?.h6応+?hhLBh@?h4fhB*i2i\:ii`C"i򻘱@ addTargetRange:: Added new target pos. range: 132.000000 m, deltaT: 3.781647 s, deltaX: -2.000000 m, approachRate: -0.528870 m/s, rangeRepo size: 4  Added new target pos. range: 131.226273 m, bearing: 317.716812 deg, lat: 36.779397 deg, lon: -121.859685 deg, deltaT: 3.781647 s, deltaX: -1.989685 m, approachRate: -0.526142 m/s, posRepo size: 4 gFNOT Ignoring new targets: 131.23 m.gg ProNav: ac range: 131.226273 m, nav range: 129.376648 m, bearing: 317.985506 deg, approach rate: 0.000000 m/s, LOS rate: -0.055956 deg/s, cmd heading: 341.292668 deg, new cmd heading: 341.242529 deg. gHeadingCmd: 5.955806 target range: 131.226273 and range: 132.00 m.g@g!g!g!g!zf!rf!f)f)Bd)d1d1c5`@c5@?ɢ]fBet aeֿIa aɡiI7ƄAdO=A- <A- <vB5 ٿ>~B5 ՍCB5 H IB5 `BB5 =B1 B1 B5 ph;B5 (EA I! 1 I9 NE >} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502641*`,ނ%*AyRoG@ٱRD@R R=RH`j??ɿ`5ѿ D?7a?*?p?@װ?IRoG@)R_;iRC^.`B9^ IBDf6Df:5Ynΐ=!nT=np9p9rDYr0eCv!Av>xQ 1zh4٪z?Q 5~h4zx zSLB9|Y~Q E~?yz6C)z8;IzU;izJh4Y  A g)5FNOT Ignoring new targets: 131.23 m.g=g=M ProNav: ac range: 131.226273 m, nav range: 129.184555 m, bearing: 317.963102 deg, approach rate: -0.505573 m/s, LOS rate: -0.059051 deg/s, cmd heading: 341.242535 deg, new cmd heading: 341.197661 deg. gM$غUHeadingCmd: 5.955023 target range: 131.226273 and range: 132.00 m.gU@gQgQgQgQzfQrfYfYfYBdadadacacmx?ɢfB 顕ؿI ɡiIwAQ rA] ?jA] ?i} ܿ SkA ^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011962ԁAyAIIN?D`,(*%*Ay6A@ٱ6V>@6X6–=6H(?@^?@]Cѿ`K?XF?ž?h?A?I6A@)6c_;i4j^`B9j InR=np>]Mb@Mb@Mb@ Y)YIYiYY]"~j?1Zd~jt]S?]"۽]I]"yAi]A]A]jA)Y]G}ABDu6Du75Y2=!=#;Q)> H?9 H?9DYeCA>Q 1h4٪?Q 5h4-| lLB9>?Q A:YQ E?yZ6C);I;i]h4YהBAfEgFNOT Ignoring new targets: 131.23 m.g}g} ProNav: ac range: 131.226273 m, nav range: 128.911697 m, bearing: 317.931701 deg, approach rate: -0.480676 m/s, LOS rate: -0.055435 deg/s, cmd heading: 341.197674 deg, new cmd heading: 341.134738 deg. gʺHeadingCmd: 5.953924 target range: 131.226273 and range: 132.00 m.g@ggggzf!rf!f)f)Bd)d)d1c1c5t?ɢ}6gB}˽ 顥 ۿI ɡiIB~B ԍCB z IB -aBB B B B Vh;B (Ei >A Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515099ԙAAIIN?`, %*AyF:@ٱFA8@FAF =FH? $?5?Rѿ8?rk)? Z? ?IF:@)F^;iFCR`B9R IBDX6DXYb=!b$=f'#fK?9fK?9fDYjfCjºAj>lQ 1rh4٪n.?Q 5rh4nZ nLB9pYv2Q Ev?yn6C)n>:In:inBoh4YzՔBz5AzgEgFNOT Ignoring new targets: 131.23 m.g%g%5 ProNav: ac range: 131.226273 m, nav range: 128.659042 m, bearing: 317.902563 deg, approach rate: -0.536278 m/s, LOS rate: -0.061968 deg/s, cmd heading: 341.134727 deg, new cmd heading: 341.076338 deg. g=⺝=HeadingCmd: 5.952905 target range: 131.226273 and range: 132.00 m.g=3~@gAgAgAgAzfArfAfIfIBdIdIdQcQcU?ɢ}lgB 顅ۿI ɡiIւA Q A I I! N- >{c`,Y<%*Ay69@ٱ6e6@66%(=6H@8?@%?Wѿt?Iwc?٤?=?>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018759I69@)6:^;i4F`B9F< IMb@Mb@Mb@ )Iix&1?!rh{Gz?lףIuAi~AЅAiA)zABD-6D-F55Y=e=!=7==H;Q)=>A9A9EDYE]fCM1AM>Q 1h4٪?Q 5h4X LB9?Q A:YaQ E?y6C)s:I{:iph4YÑAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 131.23 m.g {g {I- ProNav: ac range: 131.226273 m, nav range: 128.426392 m, bearing: 317.877177 deg, approach rate: -0.501966 m/s, LOS rate: -0.054871 deg/s, cmd heading: 341.076343 deg, new cmd heading: 341.025479 deg. gMȺUHeadingCmd: 5.952017 target range: 131.226273 and range: 132.00 m.gUv@gQgYgYgYzfYrfYfafaBdadadcc@ɢgB6| ۿI ɡiIgA% QO=bA! ZA! AQ IY Ii N} > :F`,CV%*AiDBlDB\DB+D@EBV: EB96EB [4:E@!J@!J@!J@!J@yR1@ٱR /@RuRj.=RH?`11?'eѿ J?~O?P? ?IR1@)R]];iRC^`B9^T IBDf6Df85Yn=ApApvBv˿>~BvӍCBv IBv~aBBtBtBveDBvh;Bv(E!Q=h;Q)> 9 9 DY fC A>Q 1h4٪|?Q 5%h4̈́ LB9!Y%Q E%?y 7C);I;ih4Y-ҔB-lA5hEgQ]FNOT Ignoring new targets: 131.23 m.g]{g]{m ProNav: ac range: 131.226273 m, nav range: 128.235794 m, bearing: 317.856379 deg, approach rate: -0.503491 m/s, LOS rate: -0.055024 deg/s, cmd heading: 341.025471 deg, new cmd heading: 340.983812 deg. gmfɺuHeadingCmd: 5.951290 target range: 131.226273 and range: 132.00 m.gup@gqgygygyzfyrfyffBdddcc@ɢgBo 顽ܿI ɡiI{AM;O= A I I N >iE >IE %=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7748989 p`,"o%*Ay2@ٱ/@6/=H? /?`dodѿd?\%? ӥ?`?I2@)-];iCaB9g IMb@Mb@Mb@ )IiNbX9?q= ףp{Gz?ItAi|}A/AjA)pyABD6DC5Y=!+=Z:Q)>!9!9%DY%gC%T9A->1Q 15h4٪59?Q 5=h45 5LB9=?Q A=:Y=IQ E=?y5M7C)5f:I5{:i58h4YIM.AIgquFNOT Ignoring new targets: 131.23 m.g}g} ProNav: ac range: 131.226273 m, nav range: 127.990852 m, bearing: 317.829219 deg, approach rate: -0.517693 m/s, LOS rate: -0.057514 deg/s, cmd heading: 340.983807 deg, new cmd heading: 340.929383 deg. gҺrD=jD=DrDfD)DEk: E96EFA4:E"E;!E;!*E-;!E-;!HeadingCmd: 5.950340 target range: 131.226273 and range: 132.00 m.g0i@ggggzfrfffBdddccz @ɢhB J߿I ɡiI,A QO=A I I N% >/X`,ZՉ%*A yV+@ٱV)@VV)=VH?7A?9@rѿ`?ik{¾? O?`?IV+@)V\^;iTf.aB9fz IBDv6Dv<5Y~u=!t={q;Q)? 9 9 DY RgCX$A?!Q 1-h4٪%?Q 5-h4%- %LB91Y5Q E5?y%{7C)%51;I%%);i%h4YEДBEAIgq}FNOT Ignoring new targets: 131.23 m.gg ProNav: ac range: 131.226273 m, nav range: 127.816620 m, bearing: 317.809909 deg, approach rate: -0.514012 m/s, LOS rate: -0.057045 deg/s, cmd heading: 340.929384 deg, new cmd heading: 340.890712 deg. gкHeadingCmd: 5.949666 target range: 131.226273 and range: 132.00 m.gc@ggggzfrfffBdddcc) @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278642ɢ0hB/ @<顝NI ɡiIx~BэCB IBaBB =BBdDBh;B(E>A&V=rA ?jA ?A  DAT read: 16:08:46.5795 LVL= 32752, 32753, 31666, 32755, AGC= 63, IDX= 413, 0.28,-0.965,-2.169, 0.118,-0.762, PHS=-0.101,-1.363, 0.836, RAW= 175.1, 6.6, CAL= 174.7, 6.1, ROT= 335.3, -6.1  Ygot valid direction response: 16:08:46.5795 LVL= 32752, 32753, 31666, 32755, AGC= 63, IDX= 413, 0.28,-0.965,-2.169, 0.118,-0.762, PHS=-0.101,-1.363, 0.836, RAW= 175.1, 6.6, CAL= 174.7, 6.1, ROT= 335.3, -6.1  PDAT read: Bearing 146.4, -17.1 (Local)  ~Local bearing/azimuth received: Bearing 146.4, -17.1 (Local) % DAT read: Range 11 to 50 : 130.1 m (Round-trip 173.5 ms) speed 0.4 m/s - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.903364,-0.415501,0.106264]5 Fpublishing direction and range info9 [?k ڿO4? C i { ? ν) vI V?i C@ = K$C@ ^ = PD@ ^ ڽi I .{ -?6K?FG? Jv? J ܾ) ^ ڽi u T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.A} yAI I N > `,%*Aɰ;y:"@ٱ:R @::0=:H@_? aW?R ѿ 6?Pr?c?F?I:"@):^;i:CrdaB9r IBDz6Dzz>5Y-x>!5G==1:Q)=>= H?9E H?9EDYEgCEV)AE>IQ 1Uh4٪M?Q 5Uh4M MLB9YZQ E?yM7C)M#9@hXi?;4ڶ.,#??hohpBh8X?hv&hB*i2i:iBi5B"iE|@5 addTargetRange:: Added new target pos. range: 130.100006 m, deltaT: 3.784331 s, deltaX: -1.899994 m, approachRate: -0.502069 m/s, rangeRepo size: 4 E Added new target pos. range: 129.330627 m, bearing: 318.677876 deg, lat: 36.779397 deg, lon: -121.859685 deg, deltaT: 3.784331 s, deltaX: -1.895645 m, approachRate: -0.500919 m/s, posRepo size: 4 gAMFNOT Ignoring new targets: 129.33 m.gMgI ProNav: ac range: 129.330627 m, nav range: 127.604355 m, bearing: 317.786429 deg, approach rate: 0.000000 m/s, LOS rate: -0.057045 deg/s, cmd heading: 340.890725 deg, new cmd heading: 340.842421 deg. gHeadingCmd: 5.948822 target range: 129.330627 and range: 130.10 m.g\@ggggzfrfffBdddc@3C`@cF?ɢeghBe am\Ii ɡiIU BDAT read: Tx time:16:08:47.8019 $Ping request sent.AM @W=bD ZD @AD D eD &D E  E 96E 4:E "E y;! E z;! *E "*;! E #*;! ԡ A AI I N >`,%*A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249654y:@ٱ:@:0󽹱::=:Hx?k?@ۿ@ѿ`?nH`?NL?C?I:@):A_;i:CRaB9R I%Mb@Mb@Mb@ !)!I!i!!%y&1?y&1Mb%`?%`%I%sAi%b|A%+A%iA)!%xABD=6D=@5YMG=!MH=M:Q)U>UK?9UK?9UDYUgC]9A]>aQ 1mh4٪e?Q 5mh4e eLB9m|?Q Am:YuQ Eu?ye7C)e:Ie:ieh4yYΔBAiE=B*** querying acoustic contact ***zh9h9gAMFNOT Ignoring new targets: 129.33 m.gMgMe ProNav: ac range: 129.330627 m, nav range: 127.394646 m, bearing: 317.762807 deg, approach rate: -0.509552 m/s, LOS rate: -0.057491 deg/s, cmd heading: 340.842422 deg, new cmd heading: 340.795101 deg. gemҺeHeadingCmd: 5.947997 target range: 129.330627 and range: 130.10 m.gmU@gigigigizfirfiffBdddcc}c?ɢhB I ɡiIC|A L= A I I) N= >`,Yi׃%*AD6kD6`D4D4E6mR: E696E4:E4!:@!:@!:@!:@AB<A@vBFʿ>~BFҍCBF IBF!bBBDBDBFeDBFh;BF(EBMӍCBMӍCBMCBIBM =BMQ6yY@ٱ@񽹱=H?`u|?@4 ѿP??m,?2??IY@)_;i]aB9e IBDm6Dm85Y} !G=;Q)>99DYJhCw A>Q 1h4٪!?Q 5h4N LB9YQ E?y"8C):I:ih4Y”BArEgFNOT Ignoring new targets: 129.33 m.g2g2 ProNav: ac range: 129.330627 m, nav range: 127.182976 m, bearing: 317.738983 deg, approach rate: -0.543599 m/s, LOS rate: -0.061285 deg/s, cmd heading: 340.795103 deg, new cmd heading: 340.747376 deg. gPຝHeadingCmd: 5.947164 target range: 129.330627 and range: 130.10 m.g*O@ggggzfrff f Bd d d cc?ɢ}hBO 顕0I ɡiI߼A= gW=bAM jAZAM iAԉAIIN>&`,%*AyB@ٱB@@B𽹱Bn=BH`p?!'=ͺ:Q)>99DYhC:A>Q 1h4٪Y4?Q 5h4y  MB9?Q A:YQ E?ye8C):I{:ih4YEBMYAMsEgFNOT Ignoring new targets: 129.33 m.gg ProNav: ac range: 129.330627 m, nav range: 126.932190 m, bearing: 317.709594 deg, approach rate: -0.483762 m/s, LOS rate: -0.056804 deg/s, cmd heading: 340.747373 deg, new cmd heading: 340.688478 deg. gϺHeadingCmd: 5.946136 target range: 129.330627 and range: 130.10 m.gF@gggg zf rf f1f1Bd1d1d1c9c=?ɢiB^ 顥I ɡiIxA JM=ԁA!I1DEfDETDADAEEI@: EE96EA:EA!U@!U@!U@!U@vB]Ϳ>~B]ӍCB]B IB]rbBB] =BYBYB]h;B](EIqN ?a,cB%*Ay6Y@ٱ6@68ケ6/\ =6H>?ʳ?oѿc?d<ս?΋?@U?I6Y@)6`;i4BaB9B IBDJ6DJ265YRs>=!R =Rx:Q)R>T9T9VDYViCZTAZ>\Q 1bh4٪^H?Q 5bh4^ʘ ^#MB9dYfyQ Ef?y^8C)^:I^:i^h4Yhj(Alg|FNOT Ignoring new targets: 129.33 m.gEgE ProNav: ac range: 129.330627 m, nav range: 126.670319 m, bearing: 317.678991 deg, approach rate: -0.542280 m/s, LOS rate: -0.063502 deg/s, cmd heading: 340.688470 deg, new cmd heading: 340.627138 deg. gn躝HeadingCmd: 5.945065 target range: 129.330627 and range: 130.10 m.g%=@g!g!g!g!zf!rf!f)f)Bd)d)d1cc@?ɢ?iB jI ɡiI!tA &V=Թ A I I1NU>6 a,Lm7%*A@DiFCDbzD`Db)D`Ebl: E`6EbFA4:E`"Ebѧ;!fEbҧ;!j*Eb:!jEb:!jIG)lAI)i]ſ]lA]Ay@ٱ@콹(=H }? s?Kƾ@)ѿ?xTr???I@)`;iC-bB9 Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265742Mb@Mb@Mb@ )IiK7A?|?5^Mb ?ҽIqAiyAhA)fvABD 6D 25Ya=! =W*;Q)>!9!9%DY%iC-dA->1Q 1=i4٪5^?Q 5=i45 5?MB9=?Q A=:Y=+Q E=?y58C)5:I5:i5G i4YMBMAMtEgquFNOT Ignoring new targets: 129.33 m.g}ʅg}ʅ ProNav: ac range: 129.330627 m, nav range: 126.378105 m, bearing: 317.644881 deg, approach rate: -0.499855 m/s, LOS rate: -0.058484 deg/s, cmd heading: 340.627135 deg, new cmd heading: 340.558756 deg. gֺHeadingCmd: 5.943871 target range: 129.330627 and range: 130.10 m.g24@ggggzfrfffBdddcc^@ɢiBlݽ I ɡiI10A Q= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517603A I I N >}a,kR%*A yRg@ٱR@R꽹R3=RHp}??`ѿ_?9` A?l2??IRg@)R(`;iP dbB9 9 IBD6D15Y-q&>!-v=-;Q)5?1919=DY=iC=5ʺA=?AQ 1Mi4٪Ek?Q 5Mi4E ENMB9IYMkQ EU?yE#9C)E:IE:iEi4YY]/AY}B*** querying acoustic contact ***zhyhygFNOT Ignoring new targets: 129.33 m.gg ProNav: ac range: 129.330627 m, nav range: 126.211983 m, bearing: 317.625455 deg, approach rate: -0.499483 m/s, LOS rate: -0.058484 deg/s, cmd heading: 340.558751 deg, new cmd heading: 340.519849 deg. gHeadingCmd: 5.943192 target range: 129.330627 and range: 130.10 m.g.@ggggzfrfffBdddccy@ɢiB+- I ɡiI1~BҍCBz IBbBBBBBkh;B(Eii9/) A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769886ԑ>A L= A I I! N- >a,l%*Ay>ڸ@ٱ>ؿ@>ʂ齹>=>Hw{??@@Xҿ?B` + ?`4??I>ڸ@)>`;i>CJ}bB9JI ILBDV6DV05Y5x=!5J==ߧ:Q)=>9999EDYE#jCE +AE>IQ 1Ui4٪MV{?Q 5Ui4M2 MbMB9YY]Q E]?yMY9C)M;IM;iM %i4YeBeAeuE}BDAT read: Rx Time:16:08:50.3769 }TRx dataTimestamp_ set to:1755878929.746862checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022813gFNOT Ignoring new targets: 129.33 m.gg ProNav: ac range: 129.330627 m, nav range: 126.009331 m, bearing: 317.601789 deg, approach rate: -0.495644 m/s, LOS rate: -0.057975 deg/s, cmd heading: 340.519846 deg, new cmd heading: 340.472438 deg. g3ԺHeadingCmd: 5.942365 target range: 129.330627 and range: 130.10 m.g'@g g g g zf rfffBdddcc4\ @ɢiB I ɡiIu AE Q= Aq I I N >!a,o%*Ay6VӸ@ٱ6п@6轹66=6Hy?@s?\_ҿİ?V>d? [g?`?I6VӸ@)6`;i6CBbB9BW IiF=IF=|Mb@Mb@Mb@ )Ii'1Z?~jtx?̽ĻIjpAiAgA)GuAia=BD6D75Y_=!C=Z:Q)>99DYyjC" A>Q 1i4٪?Q 5i4ڣ vMB9N?Q A:Y Q E?y9C)=;Ik4;i3i4YBčAg)-FNOT Ignoring new targets: 129.33 m.g=ωg=ωM ProNav: ac range: 129.330627 m, nav range: 125.798973 m, bearing: 317.576557 deg, approach rate: -0.501378 m/s, LOS rate: -0.060242 deg/s, cmd heading: 340.472445 deg, new cmd heading: 340.421894 deg. gUܺ]HeadingCmd: 5.941483 target range: 129.330627 and range: 130.10 m.g] @gagagagazfarfififiBdqdydycyc} @ɢ=jB= 9EIA AɡAiAIE5r~BB IBcBB =BBdDBg;B_(EDU xDU [DU (DQ EU ˀ: EU 96EU c44:EQ "EU ;EU ;*EU ;EU ;>Am JM=ԉ A yAI I N 0'a,\%*A.DAT read: 16:08:50.3769 LVL= 27056, 32753, 22130, 32755, AGC= 61, IDX= 418,-0.07,-0.567,-1.789, 0.506,-0.374, PHS=-0.092,-1.371, 0.836, RAW= 174.7, 6.6, CAL= 174.3, 6.1, ROT= 335.7, -6.1 yNT͸@RYgot valid direction response: 16:08:50.3769 LVL= 27056, 32753, 22130, 32755, AGC= 61, IDX= 418,-0.07,-0.567,-1.789, 0.506,-0.374, PHS=-0.092,-1.371, 0.836, RAW= 174.7, 6.6, CAL= 174.3, 6.1, ROT= 335.7, -6.1 VPDAT read: Bearing 145.7, -17.2 (Local) V~Local bearing/azimuth received: Bearing 145.7, -17.2 (Local) ZDAT read: Range 11 to 50 : 128.1 m (Round-trip 170.8 ms) speed 0.4 m/s ^R#Rx 1: Read range and direction messages.v^direction in FSK: [0.906243,-0.409184,0.106264]vFpublishing direction and range info9imԫL?ق0ڿO4?mCiimiimrVim= mj)m|IiimK$C@imB@im}@ iiiiImQX?lC+?r='_?m[t?m} m%پ)iiii T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ٱNʿ@N潹NG=NHx?@g?<*ҿ?h(i`ļ?Z??INT͸@)N8`;iNC-bB9-x IBD=6D=45YM>!MQ=U:Q)U>U H?9U H?Y9]DYejCeAe>iQ 1ui4٪m?Q 5ui4mU mMB9qYufQ E}?ym9C)m;Im;imeAi4YBQAhihm% %*AhmBhmBhm@hm \@*()y Jvn+@hmԫL?ق0ڿO4?hm%پhiim -hW@/԰TFĤ8@hmo? ?AeR٥2?hmhmABhmRl?hmv'1'hmhB*imWF?2imPV:imBimB"imz@ addTargetRange:: Added new target pos. range: 128.100006 m, deltaT: 4.029692 s, deltaX: -2.000000 m, approachRate: -0.496316 m/s, rangeRepo size: 4 % Added new target pos. range: 127.343979 m, bearing: 318.524687 deg, lat: 36.779401 deg, lon: -121.859682 deg, deltaT: 4.029692 s, deltaX: -1.986649 m, approachRate: -0.493003 m/s, posRepo size: 4 g!%FNOT Ignoring new targets: 127.34 m.g-g)e ProNav: ac range: 127.343979 m, nav range: 125.820847 m, bearing: 317.777098 deg, approach rate: 0.000000 m/s, LOS rate: -0.060242 deg/s, cmd heading: 340.421901 deg, new cmd heading: 340.374662 deg. gamHeadingCmd: 5.940659 target range: 127.343979 and range: 128.10 m.gm@gigigigizfqrfqfqfqBdydydyc}@3`@c} '?ɢJjBz I ɡiIP݃ BDAT read: Tx time:16:08:51.8019 $Ping request sent.AM QO= A AI I DU lDU VDU %DQ EU V: EU 96EU 4:EQ !] @!] @!] @!] @Nm >J-a,i%*AebB9m} IԡMb@Mb@Mb@ )Ii#~j?Zd;O~jt?jDIixAAfA)(tABD6D25Y<!==Q)>%K?9%K?9%DY%kC%A%>)Q 15i4٪-?Q 55i4- -MB9=?Q A=:Y=CQ EE?y-9C)-$;I-#;i-~Pi4YIM?AIgquFNOT Ignoring new targets: 127.34 m.g}喺g}喺 ProNav: ac range: 127.343979 m, nav range: 125.600670 m, bearing: 317.748917 deg, approach rate: -0.514450 m/s, LOS rate: -0.065962 deg/s, cmd heading: 340.374664 deg, new cmd heading: 340.318202 deg. go񺝅HeadingCmd: 5.939673 target range: 127.343979 and range: 128.10 m.g@ggggzfrfffBdddcc`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250928ɢxjB= I ɡiI"}A5 O= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503260) Ai I I N >/4a,Ԅ%*Ay6Ÿ@ٱ6t¿@6ct佹6=6H@w?? :ҿ`?qe?L7?F?I6Ÿ@)6|`;i6CrbB9r Iv4=v<)vA vABDz6Dz05YT=! _=  ?;Q) >99DYikCZ3A>Q 1%i4٪?Q 5-i4N MB9)Y-Q E-?y1:C):I:iL]i4Y5B5A=vEUB*** querying acoustic contact ***zhQhQgaeFNOT Ignoring new targets: 127.34 m.gm~gm~} ProNav: ac range: 127.343979 m, nav range: 125.413918 m, bearing: 317.725021 deg, approach rate: -0.509965 m/s, LOS rate: -0.065349 deg/s, cmd heading: 340.318192 deg, new cmd heading: 340.270329 deg. g}1ﺝHeadingCmd: 5.938838 target range: 127.343979 and range: 128.10 m.g @ggggzfrfffBdddcc9?ɢjB8 I ɡiI6~BэCB IBpcBB =BBBg;B>(EDnDWDDEO]: E96E:E"E4;!E5;!*EZ:!E[:!i90Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800>AQ=rA ?jA?qA yAI I! N- >ԙ T:a,%*Ay:k@ٱ:@:^F㽹:g=:Hdv?`?` Eҿ@?rY?8M??I:k@):Z`;i:CFcB9F IBDR6DR35YV+=!ZP=ZP:Q)Z>Z H?9^ H?9^DY^kCnBAn>pQ 1vi4٪raʀ?Q 5vi4rȭ rMB9tYvQ Ez?yrf:C)r>:Ir:ir%ki4Y|~A|g!%FNOT Ignoring new targets: 127.34 m.g-g-= ProNav: ac range: 127.343979 m, nav range: 125.211861 m, bearing: 317.699152 deg, approach rate: -0.510353 m/s, LOS rate: -0.065446 deg/s, cmd heading: 340.270326 deg, new cmd heading: 340.218503 deg. g=ﺝEHeadingCmd: 5.937933 target range: 127.343979 and range: 128.10 m.gE@gAgAgAgAzfIrfIfIfIBdQdQdQcQcUX%?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954ɢjB̲ @I ɡiIۅAM L= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259223A AI I N > 3Aa,!%*Ay6⻸@ٱ67@6$d⽹6FR=6Hu?#?۽Lҿ@ש?Et=?S??I6⻸@)6_;i4>cB9B IMMb@Mb@Mb@ I)IIIiIIMS㥛?MbQM?MMuIMSoAiMvAMAMeA)IMrABDm|6Dm.5Y<!==:Q)>K?9K?9DYlC݃A>Q 1i4٪Yۀ?Q 5i4y MB9?Q A:YQ E?y:C)K;I:K;i%zi4YBpAEg  FNOT Ignoring new targets: 127.34 m.gg- ProNav: ac range: 127.343979 m, nav range: 124.994080 m, bearing: 317.671723 deg, approach rate: -0.502314 m/s, LOS rate: -0.063374 deg/s, cmd heading: 340.218498 deg, new cmd heading: 340.163546 deg. g5纝=HeadingCmd: 5.936974 target range: 127.343979 and range: 128.10 m.g=@gAgAgAgAzfArfIfIfQBdQdYdYcYc]%?ɢ%kB%[ )-I) )ɡQiQIU1x~BύCB IBcBB =BBbDBg;B1(EB]ҍCB]ҍCBYB]Ȱ =B]Ȱ =B]Ȝ 6D hD YD *D E G: E *96E (N4:E "E ^;! E ^;!% *E :!% E :!% ) >A A yAI I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788Y Ha,!%*Aiy6@ٱ6 @6ό6F0=6H t? 1?YŽ Zҿǧ?t@y'?K? P?I6@)6@_;i6CB8cB9B IiF=IF=BDJ6DJF55YRQ=!RY=Vn:Q)V>V H?9V H?9ZDYZ[lCZAZ>dQ 1ji4٪f8ꀊ?Q 5ji4fֲ fMB9lYn,Q En?yf:C)f ;If ;ifLi4Ypr3Apg  FNOT Ignoring new targets: 127.34 m.gg% ProNav: ac range: 127.343979 m, nav range: 124.803101 m, bearing: 317.647671 deg, approach rate: -0.513219 m/s, LOS rate: -0.064735 deg/s, cmd heading: 340.163556 deg, new cmd heading: 340.115378 deg. g%캝-HeadingCmd: 5.936133 target range: 127.343979 and range: 128.10 m.g-@g)g1g1g1zf1rf1f9f9Bd9d9dAcAcEɅ@ɢ>kBם ]I ɡiIYAgW=bAiAZAgAԁ A AI I N >bD ZD BEJE-4RE˻0D5 wD5 X1Na,;%*ADaDaEe}: Ee96Ea:Ea!@!@!@!@,yzk@ٱz@z όz =zH s?@9?@cҿ ? u?`١??Izk@)zc^;izC]cB9  IMb@Mb@Mb@ )Ii~jt?MbXMb?ʽI=nAiuA)=rABD6D[45Yq=!:=?:Q)>K?9K?9DYlCޜA>Q 1i4٪d?Q 5i4 MB9?Q A:YUQ E?y;C)2;I;ii4YBAEg  FNOT Ignoring new targets: 127.34 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266951gg ProNav: ac range: 127.343979 m, nav range: 124.580879 m, bearing: 317.620691 deg, approach rate: -0.508810 m/s, LOS rate: -0.061884 deg/s, cmd heading: 340.115390 deg, new cmd heading: 340.061334 deg. g⺝HeadingCmd: 5.935190 target range: 127.343979 and range: 128.10 m.g@ggggzfrfffBdddcc@6@ԉɢ-xkB-[ )5I1 1ɡ1i1I5 A &V=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519248I I N% >iUa,ZU%*Ay6@ٱ6ީ@6ཹ6+=6H!r?A?˩@jҿa?t2v 0?@$??I6@)67];i4BcB9B IBDJ6DJ35YR=!R^=R):Q)R>T9T9VDYVlCVרAZ>XdQ 1fi4٪Z ?Q 5ji4Z ZMB9hYjQ Ej?yZ?;C)Z];IZ;iZki4YprAp~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 127.34 m.gg% ProNav: ac range: 127.343979 m, nav range: 124.393646 m, bearing: 317.597925 deg, approach rate: -0.505273 m/s, LOS rate: -0.061529 deg/s, cmd heading: 340.061322 deg, new cmd heading: 340.015722 deg. g%5ẝ-HeadingCmd: 5.934394 target range: 127.343979 and range: 128.10 m.g-@g)g)g)g)zf1rf1f1f1Bdddcc|@ɢ kB 2  .I  ɡiI<A9A9vBE>~BE΍CBE/ IBEcBBE =BABEaDBEg;BE%(EI]Ȕi]AgW=I I N >I xA[a,5o%*Ay6@ٱ6@6ཹ6- =6H+q? E?oҿ@?Ew ?@?`p?I6@)6l];i6CBcB9B IB0>BC=BDJ6DJV:5YRQ;!RJ=V_йQ)V>T9T9ZDYZRmC^aAn>tQ 1~i4٪v?Q 5~i4v v NB9|YQ E?yvw;C)vR;Iv[;ivDZi4YBAE!MBDAT read: Rx Time:16:08:54.3742 UTRx dataTimestamp_ set to:1755878933.779732]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025846gFNOT Ignoring new targets: 127.34 m.g߆g߆ ProNav: ac range: 127.343979 m, nav range: 124.184616 m, bearing: 317.572460 deg, approach rate: -0.483136 m/s, LOS rate: -0.058958 deg/s, cmd heading: 340.015723 deg, new cmd heading: 339.964707 deg. g׺ HeadingCmd: 5.933504 target range: 127.343979 and range: 128.10 m.g C߽@g g ggzfrf1f9f9BdQdYdYcYc]/ @ɢkB 額nI ɡiIRQi}9I-݈G)aIiADmDD'DEY: E6E'4:E!@!%@!%@!%@q) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275044>Aa ԡ I I N > )ba,%*Ay6@ٱ6䣿@6iό6"=6H` p?J?ӽuҿ?.x? !?@?I6@)6Wx];i6CBcB9B I!-@!- !-@!- !-@!- !-@!- BD=6D=25YU=!U@=U Q)]>a9a9eDYemCmiAm>qyQ 1i4٪u*?Q 5i4uV uNBQ =+:9Q A:YQ E?yu;C)u/;Iu>iui4Y'AgFNOT Ignoring new targets: 127.34 m.gg ProNav: ac range: 127.343979 m, nav range: 123.970093 m, bearing: 317.546272 deg, approach rate: -0.535151 m/s, LOS rate: -0.065442 deg/s, cmd heading: 339.964716 deg, new cmd heading: 339.912249 deg. gﺝHeadingCmd: 5.932588 target range: 127.343979 and range: 128.10 m.g׽@ggggzfrfffBdddc c  @ɢ5 lB5 9=hI9 9ɡ9i9IEۊ U/ݽ)U-IUzT?iU@C@U5=UB@U|=U`@ U|iQQIUGG?x>Hn? BM'?U!u?U Uھ)U|iQQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A55[=vBE>~BABE[ IBE;dBBE =BABABElg;BE(EIIN>DtDXD(DEs: E96Ec44:E"E;! E;! *E:! E:!   (DAT read: user:53>  BDAT read: Tx time:16:08:55.5519  $Ping request sent. 99DYmCMA>Q 1i4٪:?Q 5i4 ,NBQ = :9Q A:Y/Q E?y;C)D;IU?i'i4YBAhhY%*Ah~Bh~Bh@hw6.LL\@rZI-59-@h]o(~?][ڿmu"޽?hھh|i@q#V@|YTqB8@h!\^K?ES܋xx?hZhYBh=?h7o1hB*i2i7o1:ihBiB"i>@] addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 3.780591 s, deltaX: -2.100006 m, approachRate: -0.555470 m/s, rangeRepo size: 4 m Added new target pos. range: 125.247620 m, bearing: 317.970916 deg, lat: 36.779401 deg, lon: -121.859666 deg, deltaT: 3.780591 s, deltaX: -2.096359 m, approachRate: -0.554506 m/s, posRepo size: 4 giFNOT Ignoring new targets: 125.25 m.gg ProNav: ac range: 125.247620 m, nav range: 122.818054 m, bearing: 318.003066 deg, approach rate: 0.000000 m/s, LOS rate: -0.065442 deg/s, cmd heading: 339.912260 deg, new cmd heading: 339.857172 deg. gHeadingCmd: 5.931627 target range: 125.247620 and range: 126.00 m.gϽ@ggggzfrfffBdddc_@c a?ɢMDlBM' QU4IQ QɡQiQI]Am Jc=I I N >a D nD D ,D E O]: E 6E g4:E != @!= @!E @!E @na,Ӽ%*Ahihy /@ٱ @ ⽹ +%= Hm?X?PҿN?[,z?M?ց?+?I /@) _Y];i C!9!)i)!! !! !! !! Mb@Mb@Mb@ )IiHzG?)\(Mb= ?GIlAisAb|AEbA)oABD6D"15 Q) > 9 9 DYRnCOA>Q 1%i4٪K?Q 5%i4 =NBQ =%T:9%# ?Q A-:Y-Q E-?y"ABa=e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755329A yAI I N% >Ա eua,{օ%*Ay6ʝ@ٱ6@6佹6 '=6Hl? X?aRҿ B?0z^? A?'?I6ʝ@)6];i6CB dB9B= IBDJ6DJ55YR3=!RV H?9V H?9VDYVnCZ AZ>\Q 1ji4٪^aZ?Q 5ji4^R ^KNB9hYnQ En?y^T~B͍CB IBxdBB =BHDBBf;B'EɢlB ,#< I ɡiIAc= A I I N- >9 {a,%*AyZ@ٱZؙ@Z役Z(=ZHDk?Y?vງҿ?76{ ?^ߤ?`?IZ@)Zn];iZCvdB9zB IBD6D05Y <!C= %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259140Q)>!9!9-DY-nC-¹A->1Q 1=i4٪5k?Q 5=i456 5]NB9AYEQ EE?y5A AU AIa Iy N >ԑ a, %*Aɰ$&4=Q)>K?9K?9DYEoCXA>Q 1i4٪|?Q 5i44 oNB9 ?Q A:Y,Q E?y~BB IBdBB =BBB>f;Bl'EDlD]D%DEV: E96E 4:E"Ew;!Ew;!*E ;!E ;!ԙ >A] Xh= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016308A I I Ա N >a,%%*AyZ@ٱZ卿@Z轹Zi'=ZHf?`o?Ǿ@ҿ?x;?`:֤?`k?IZ@)ZOk];iZCbLdB9be IBDn{6Dn`.5Yv*=!vP=v Q)v>x9x9zDYzoC~]A~>|Q 1j4٪~?Q 5 j4~ ~NB9 Y hQ E ?y~=C)~Y;I~U;i~ j4YAgAEFNOT Ignoring new targets: 125.25 m.gM؋gM؋] ProNav: ac range: 125.247620 m, nav range: 121.739944 m, bearing: 317.882310 deg, approach rate: -0.555759 m/s, LOS rate: -0.061130 deg/s, cmd heading: 339.661373 deg, new cmd heading: 339.615243 deg. g]ߺeHeadingCmd: 5.927404 target range: 125.247620 and range: 126.00 m.geL@gagagagazfarfififiBdqdqdqcqc}@@ɢEmBe. 顥I ɡiI5A ԡ A9)A AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519670IQIaNu>a,C%*AyRU@ٱR@R꽹R"=RHe? #t?޾@ҿd?s0?v:?"?IRU@)Rv];iP^edB9^u I=Mb@Mb@Mb@ 9)9I9i99=/$?"~jMb=1?=S=I=hAi=xqA=Z|A=&aA)9=mABDU6DU35aYmJJ=!m'=ukºQ)u>q9q9uDYuoC}ѠA}>Q 1j4٪\?Q 5j4O NB9/ ?Q A:YQ E?yG=C):I:ij4YBvAEgFNOT Ignoring new targets: 125.25 m.gfgf ProNav: ac range: 125.247620 m, nav range: 121.481506 m, bearing: 317.853380 deg, approach rate: -0.527611 m/s, LOS rate: -0.059187 deg/s, cmd heading: 339.615256 deg, new cmd heading: 339.557273 deg. gغHeadingCmd: 5.926393 target range: 125.247620 and range: 126.00 m.g@ggggzfrfffBdddcc@ɢmBt /I ɡ i I ~B B IB dBB B B `DB e;B 'EB͍CB͍CBʓCBʹ =Bʹ =Bs5D- tD- \D- *D) E- s: E- 96E- (N4:E) "E- ;!5 E- ;!5 *E- _ ;!= E- ` ;!= >A ՚g==BDAT read: Rx Time:16:08:58.1215 =TRx dataTimestamp_ set to:1755878937.559277Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024608AII N?0a,e%*Aiy6/@ٱ6@6p뽹6#=6Hd? 2y?@)꾿xҿ-?Sg@]?1b??I6/@)6U];i6CBdB9B IiF=IF=HiHBDNm6DN'5YR=!V#=VQ)V>X9X9ZDYZ_pC^yA^>\Q 1bj4٪^q?Q 5fj4^ ^NB9dYfQ Ef?y^=C)^G:I^;i^^0j4YjBnAnEzB*** querying acoustic contact ***zhxhxgFNOT Ignoring new targets: 125.25 m.g g 1 ProNav: ac range: 125.247620 m, nav range: 121.216972 m, bearing: 317.823666 deg, approach rate: -0.527107 m/s, LOS rate: -0.059338 deg/s, cmd heading: 339.557281 deg, new cmd heading: 339.497722 deg. g0ٺHeadingCmd: 5.925353 target range: 125.247620 and range: 126.00 m.g~@ggggzfrfffBdddcc@e @ɢ]mBeh aeIa ɡiIR "o=)~@)) iIYi=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275253ԉi9 0 Թ BE-4JEc44RE '0D D ZD )D E : E a96E FA4:E ! @! @! @! @>A ;h=I I N >a,}%*AyFr@ٱFLj@F^F-z=FHc?}?`&&ҿx?rfe`Ԛ?wl??IFr@)Fv];iFCNdB9N IDAT read: 16:08:58.1215 LVL= 27184, 32753, 20754, 32755, AGC= 60, IDX= 411, 0.11,-1.828,-3.055,-0.770,-1.642, PHS=-0.084,-1.368, 0.827, RAW= 174.4, 6.6, CAL= 174.0, 6.1, ROT= 336.0, -6.1  Ygot valid direction response: 16:08:58.1215 LVL= 27184, 32753, 20754, 32755, AGC= 60, IDX= 411, 0.11,-1.828,-3.055,-0.770,-1.642, PHS=-0.084,-1.368, 0.827, RAW= 174.4, 6.6, CAL= 174.0, 6.1, ROT= 336.0, -6.1 PDAT read: Bearing 145.6, -16.9 (Local) ~Local bearing/azimuth received: Bearing 145.6, -16.9 (Local) %DAT read: Range 11 to 50 : 124.1 m (Round-trip 165.5 ms) speed 0.4 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.908373,-0.404434,0.106264]5Fpublishing direction and range info9ln6 '5d?;H+=ٿO4?n3Blin0jlnQln< n1)nInFS?inB@n=n \B@n^ =nf@ n^ ڽillIn ?[?Q'?ĕ+k?n s?n nJw־)n^ ڽillMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Ii~jt?Cl绿:v?;߽TIiAibpA`A)mABDf6D$5YN#=!$=Q)>99%DY%pC%/A%>)Q 15j4٪-ǁ?Q 55j4- -NB9=?Q A=:Y=0Q E=?y-=C)-:I-:i-Aj4YAEAAhlhn?%*AhnBhnBhn@̱@hnrS}\@gPFHE"+7*@hn6 '5d?;H+=ٿO4?hnJw־hn^ ڽinڙ\V@ʰGT98@hns?2~?hnҠhnʴBhn%W\?hnehnzB*in8X?2inv'1':inzBinB"in@5 addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 3.783833 s, deltaX: -1.900002 m, approachRate: -0.502137 m/s, rangeRepo size: 4 E Added new target pos. range: 123.357376 m, bearing: 318.345815 deg, lat: 36.779403 deg, lon: -121.859662 deg, deltaT: 3.783833 s, deltaX: -1.890244 m, approachRate: -0.499558 m/s, posRepo size: 4 igFNOT Ignoring new targets: 123.36 m.gg ProNav: ac range: 123.357376 m, nav range: 120.862122 m, bearing: 318.001563 deg, approach rate: 0.000000 m/s, LOS rate: -0.059338 deg/s, cmd heading: 339.497722 deg, new cmd heading: 339.435725 deg. gHeadingCmd: 5.924271 target range: 123.357376 and range: 124.10 m.g@ggggzfrfffBdd!d!c%`f_@c-Z?ɢnB* I ɡiI BDAT read: Tx time:16:08:59.3519 $Ping request sent.AU @p=vB >~B ̍CB IB CeBB =B B B d;B &E D D XD D E O: E 96E :E "E ;! E ;! *E :!% E :!% I1 IA NM >P?a,e%*AybH@ٱb@b򽹱b=bH `??``֨ҿ?RS???`?IbH@)b^;ibC~dB9~ IBD q6D )5Y=[=!=H==_˻Q)=>A9A9EDYEqCM)AM>qQ 1uj4٪uׁ?Q 5}j4u uNB9yY}FQ E}?yu>C)u:IuN:iu/Pj4YBAgFNOT Ignoring new targets: 123.36 m.gsgs ProNav: ac range: 123.357376 m, nav range: 120.650475 m, bearing: 317.978237 deg, approach rate: -0.540252 m/s, LOS rate: -0.059647 deg/s, cmd heading: 339.435731 deg, new cmd heading: 339.388997 deg. g RںHeadingCmd: 5.923455 target range: 123.357376 and range: 124.10 m.g@ggggzfrfffBd!d!d!c!c%`?ɢ@nBUA2 顝I ɡiIUAnp=! II Ia Nm > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502866ca,)%*A$8i:CIj5G)rjAIiEuEjAEAdB9 I)=A =AIEAA)ABDMt6DM'+5Y]!]:=eQ)e>a9a9mDYmqqCmAm>qQ 1}j4٪u聊?Q 5}j4u uNB9yYQ E?yuB>C)u:Iu:iuk_j4YADnDiD(DEO]: E96Ec44:E! @!@!@!@QgFNOT Ignoring new targets: 123.36 m.gA | u=I I N >oLa,҆%*A@yJ@ٱJ\@J;2JB"=JH]?o?Yr~ҿ`?`#R???IJ@)J-^;iJCVeB9V Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006925mMb@Mb@Mb@ i)iIiiiim#~j?y&1Qm?m`muImgAimKoAmC{Am^A)imQlABDd6D#5YZR>!X=t6Q)>99DYqC:A>Q 1j4٪?Q 5j4_ NB9?Q A:YQ E?yv>C);I>;ilj4YB AEgFNOT Ignoring new targets: 123.36 m.g g  ProNav: ac range: 123.357376 m, nav range: 120.229668 m, bearing: 317.931868 deg, approach rate: -0.628776 m/s, LOS rate: -0.069088 deg/s, cmd heading: 339.339316 deg, new cmd heading: 339.296074 deg. g  HeadingCmd: 5.921834 target range: 123.357376 and range: 124.10 m.g@ggggzfrfffBdd!d!c!c%`M?ɢUnBU F QUIQ YɡYiYI]2ܗ~BB) IBeBBBBBc;B*&EDoDSD'DE`: E96E'4:E"EU;!EW;!*E::!E;:!>AIAIQN]> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258860 za,%*Ay>x@ٱ>͎@>>=>H@0\?`*k?`۵sҿ@ ?+I ?4ȣ?`?I>x@)>^;i>CJeB9J IBDffh6Df$5Yr2<!rV=r˻Q)r>t9t9vDYv rCzL:Az>|Q 1j4٪~?Q 5j4~ ~OB9YQ E?y~>C)~):I~:i~zj4YA-B*** querying acoustic contact ***zh)h)g9=FNOT Ignoring new targets: 123.36 m.gEgE] ProNav: ac range: 123.357376 m, nav range: 120.031235 m, bearing: 317.910005 deg, approach rate: -0.519145 m/s, LOS rate: -0.057294 deg/s, cmd heading: 339.296067 deg, new cmd heading: 339.252268 deg. g]ѺeHeadingCmd: 5.921069 target range: 123.357376 and range: 124.10 m.gefy@gagagagazfarfififiBdqdqdqcqcu%?ɢnB!3 顥xI ɡiIA|=II)N=>DlD`DDEV: E96E:E! @! @! @! @a )   checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763089nqa, %*Ay>@ٱ>@>N>ϡ=>HdY?[s?kҿ`l?\? X8?̢?d?I>@)>^;i>CZ;eB9^ I\i\MMb@Mb@Mb@ I)IIIiIIM{Gz?I +M?M̽M9IMfAiM5nAMyAM\A)IMjABDer6De<*5Ym=!u@=Q)>99DYerCGA>Q 1j4٪?Q 5j4 OB9k?Q A:YQ E?y>C).:I:iWj4YBAEg9EFNOT Ignoring new targets: 123.36 m.gMgMe ProNav: ac range: 123.357376 m, nav range: 119.808479 m, bearing: 317.883163 deg, approach rate: -0.505613 m/s, LOS rate: -0.061039 deg/s, cmd heading: 339.252272 deg, new cmd heading: 339.198489 deg. gejߺuHeadingCmd: 5.920130 target range: 123.357376 and range: 124.10 m.guq@gqgqgqgqzfyrfyffBdddcc@ɢoBʂ' I ɡiI-A Pڀ=vBe >~Ba Be [ IBe eBBe =Ba Ba Be b;Be %Eԙ D mD aD (D E Y: E 96E c44:E "E !~;! E $~;! *E ;! E ;! A I I1 N= >a,,%*AyV@ٱV势@V5V=VHW?`zu?@rҿ??r_f?Ow?`? ?IV@)V^;iVCbeeB9b IBDjn6Djd(5Yr{=!rU=rQ)v>t9 9 DY rCǹA>Q 1%j4٪c&?Q 5%j48 *OB9!Y%Q E-?y?C):I:ijj4YQURAYԉgFNOT Ignoring new targets: 123.36 m.gg ProNav: ac range: 123.357376 m, nav range: 119.618599 m, bearing: 317.860220 deg, approach rate: -0.498208 m/s, LOS rate: -0.060294 deg/s, cmd heading: 339.198478 deg, new cmd heading: 339.152518 deg. gܺHeadingCmd: 5.919328 target range: 123.357376 and range: 124.10 m.g#k@ggggzf)rf)f)f)Bd1d1d1c1c5`Z@ɢMoBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267059h2 yI ɡ i I ZA=i} ?I} C= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519733A  I I1 N= > PExceeded connect timeout, disconnecting.a,s9%*Ay6B@ٱ6@6s6N=6H;S?}?eҿ ?i??`3??I6B@)6];i6CNeB9R% IBDVl6DVy'5Y e=! H=Q)>99DYsCFҺA%>!Q 1-j4٪%6?Q 5-j4% %;OB91Y51Q E5?y%M?C)%2:I%):i%j4Y=B=AEEgimFNOT Ignoring new targets: 123.36 m.gugu ProNav: ac range: 123.357376 m, nav range: 119.413773 m, bearing: 317.835456 deg, approach rate: -0.518667 m/s, LOS rate: -0.062816 deg/s, cmd heading: 339.152524 deg, new cmd heading: 339.102911 deg. g庝HeadingCmd: 5.918462 target range: 123.357376 and range: 124.10 m.g d@ggggzfrfffBdddcc@ɢoB8 I ɡiI>>DnD]D#DEO]: E96E3:E!@!@!@!@iP4!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771135>Axr=QA I I! N- >y ^a,nNS%*AɰyB@ٱB~@BsB/=BHBO?Ӊ?@o ҿ%? p?? L?`?IB@)B6c];iBCJeB9J, IMb@Mb@Mb@ )IiMb?!rh rh?lCIeAi[A)jABD5i6D5&5EBDAT read: Rx Time:16:09:01.9189 ETRx dataTimestamp_ set to:1755878941.342794Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023956YU<!UF=] Q)e>a9a9eDYeWsCmAm>qQ 1}j4٪uE?Q 5}j4u uOOB9}K?Q A}:Y}Q E?yu?C)uP;Iu;iuj4YAgFNOT Ignoring new targets: 123.36 m.g{g{ ProNav: ac range: 123.357376 m, nav range: 119.202911 m, bearing: 317.812754 deg, approach rate: -0.510387 m/s, LOS rate: -0.055046 deg/s, cmd heading: 339.102910 deg, new cmd heading: 339.057427 deg. gzɺHeadingCmd: 5.917668 target range: 123.357376 and range: 124.10 m.g]@ggggzfrfffBdddcc@ a @YɢoBz!. "I ɡiI<~BB IB-fBB =BBBLb;Bp%Ei94ԁDkDDDEmR: E6E:E"Eq;!Eq;!*E ;!E ;!Ա>A) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275770AY Ia Iy N > xa,x)m%*Ay63u@ٱ6r@6x 6H=6HoI?L? +`ҿ?u?F?\??I63u@)6,w];i6CBeB9B= IBDJq6DJ)5YR,=!RV=R/Q)V>T9T9VDYVsCZɁAZ>\Q 1bj4٪^T?Q 5bj4^7 ^bOB9`YbcQ Ef?y^?C)^;I^;i^Dj4YjwBjAjEvB*** querying acoustic contact ***zhthtgyFNOT Ignoring new targets: 123.36 m.g[zg[z ProNav: ac range: 123.357376 m, nav range: 119.008942 m, bearing: 317.791953 deg, approach rate: -0.509422 m/s, LOS rate: -0.054720 deg/s, cmd heading: 339.057421 deg, new cmd heading: 339.015750 deg. gIȺHeadingCmd: 5.916941 target range: 123.357376 and range: 124.10 m.gW@gggg zf rf f fBd9dAdIcqc} @ԹɢoB/=/ x$I ɡiIyA  (DAT read: user:55>  BDAT read: Tx time:16:09:03.1519  $Ping request sent. Ra,dX%*AyFh@ٱFf@F Fw=FHC??¿@ҿ@H?Sy??aO?j?IFh@)FRV];iFCbeB9bZ IMb@Mb@Mb@ )IiNbX9?v/99DYtCvQA>Q 1j4٪g?Q 5j4Q 9tI zOB9?Q A:Y3Q E?y?C)E;Ik;ij4Y'AhaheHv%*AheBheBhe)@heiNp[@</IdH @heR(MS&?/ڿ{S?hef߾heԇie!QU@Q6.LTi,5@he­?|#~ hlT?heahebBhe{mD?hetJheFB*ia2ia:iaieB"ie@y@} addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.781816 s, deltaX: -2.000000 m, approachRate: -0.528846 m/s, rangeRepo size: 4  Added new target pos. range: 121.367882 m, bearing: 317.204845 deg, lat: 36.779403 deg, lon: -121.859662 deg, deltaT: 3.781816 s, deltaX: -1.989494 m, approachRate: -0.526069 m/s, posRepo size: 4 gFNOT Ignoring new targets: 121.37 m.gg ProNav: ac range: 121.367882 m, nav range: 118.762276 m, bearing: 317.765308 deg, approach rate: 0.000000 m/s, LOS rate: -0.054720 deg/s, cmd heading: 339.015756 deg, new cmd heading: 338.962086 deg. gHeadingCmd: 5.916005 target range: 121.367882 and range: 122.10 m.gO@ggggzfrfffBdddc`f^@c@?ɢ-.pB-P. )-7%I) 1ɡ1i1I5hA 0ƀ=bA ZA jAD jD VD *D E N: E 96E (N4:E "E Sk;! E Uk;! *E :! E :! i A yAI I N >7a,3%*Aiy6\@ٱ6NZ@6r6=6H=? *?T¿ҿ?}?`h?@,? X?I6\@)6ۊ];i6CBfB9Bq IDiDBDN[6DN5YR =!VO=VQ)V>V H?9Z H?~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5027539=DY=StC=fAE>AQ 1Mj4٪Ev?Q 5Uj4ET EOB9QYUQ EU?yE0@C)Ea;IEn;iE#j4Y]uB]ӅAagFNOT Ignoring new targets: 121.37 m.g`g` ProNav: ac range: 121.367882 m, nav range: 118.550110 m, bearing: 317.742459 deg, approach rate: -0.540418 m/s, LOS rate: -0.058303 deg/s, cmd heading: 338.962098 deg, new cmd heading: 338.916320 deg. gfպHeadingCmd: 5.915205 target range: 121.367882 and range: 122.10 m.g]I@ggԱggzfrfffBdddcc ?ɢ\pBfF %I ɡiIߠAp= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754610A I I N% >1 a,Q%*Ay6P@ٱ6M@66_ =6H`8?@?`6¿ӿi??] ? ?K?I6P@)6a];i4^fB9^~ IBDjp6DjP)5bDlZDn?ABEm'4JEm#4REmS0DrmDrUDr&DpErY: ErP96Er4:Ep!z@!z@!z@!z@YH=! E=Q)>)9)9-DY-tC-xA->1Q 1=j4٪5?Q 5Ej45 5OB9AYEQ EE?y5f@C)5I;I5D;i5$j4YIMAQgqFNOT Ignoring new targets: 121.37 m.g kg5k- ProNav: ac range: 121.367882 m, nav range: 118.341980 m, bearing: 317.720135 deg, approach rate: -0.519567 m/s, LOS rate: -0.055827 deg/s, cmd heading: 338.916309 deg, new cmd heading: 338.871583 deg. gUV̺HeadingCmd: 5.914425 target range: 121.367882 and range: 122.10 m.gB@ggggzfrfffBdddccu?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006605ɢupBu-+ y}d(Iy yɡyiyI}A Pڀ=ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262244A I I N >sa,ه%*Ay6E@ٱ6dB@6f6K=6H2??¿-ӿ` ?+?`F?۠?`?I6E@)62];i4BKfB9B I=Mb@Mb@Mb@ 9)9I9i99=?V-Mb=f?==I=ScAi9=vA9)9=gABDUY6DU5Y] =!e;=e(Q)e>i9i9mDYmtCmSAu>qQ 1}j4٪ux?Q 5j4u* uOB9 ?Q A:YQ E?yu@C)uM:Iu:iuKj4YrB5AEgFNOT Ignoring new targets: 121.37 m.g|g|AA<vB>~BB IBfBB =BBB,a;B$Ea ProNav: ac range: 121.367882 m, nav range: 118.115265 m, bearing: 317.696209 deg, approach rate: -0.522674 m/s, LOS rate: -0.055265 deg/s, cmd heading: 338.871585 deg, new cmd heading: 338.823641 deg. gHʺHeadingCmd: 5.913588 target range: 121.367882 and range: 122.10 m.g<@ggggzfrfffBdddccU?DMqDM^DM(DIEM2h: EM;96EMc44:EI"EM;!]EM;!]*EM;!]EM;!]ɢpB{O= 顕=(I ɡiIŢA |=rA ?jA ? A AI I) N5 > 1a,"%*AyB<@ٱB9@B5B_=BH t.? D?w¿(ӿ?J?5v?A?@?IB<@)B];iBCNifB9N IR=R>BDVj6DV&5Yb=!bW=bG}Q)b>fK?9fK?9fDYfKuCf1Aj>hQ 1nk4٪jH?Q 5rk4j jOB9pYrYQ Er?yj@C)j:Ijg:ij k4YtvAx B*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 121.37 m.g%5|g%5|5 ProNav: ac range: 121.367882 m, nav range: 117.916801 m, bearing: 317.675297 deg, approach rate: -0.522274 m/s, LOS rate: -0.055124 deg/s, cmd heading: 338.823637 deg, new cmd heading: 338.781743 deg. g5ɺ=HeadingCmd: 5.912857 target range: 121.367882 and range: 122.10 m.g= 6@g9g9gAgAzfArfAfIfIBdIdIdQcQcU[?ɢ}pB}yO 顅 )I ɡiI A=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009A I1 IA NM >Vb,T %*Ay:Y7@ٱ:4@::wb=:H+??¿l2ӿ??I?`? ?I:Y7@):];i:CBfB9F I]Mb@Mb@Mb@ Y)YIYiYY]!rh?V-y&1]l?Y]`eI]=bAi]hA]yA]3UA)Y]ffABD[6D5YY=!>=QQ)>99DYuCaĺA>Q 1k4٪S?Q 5k4 OB9 ?Q A:Y,Q E?yAC)W;IYW;ik4YUpBUAUEg  FNOT Ignoring new targets: 121.37 m.gUngUn% ProNav: ac range: 121.367882 m, nav range: 117.688522 m, bearing: 317.651075 deg, approach rate: -0.489977 m/s, LOS rate: -0.052092 deg/s, cmd heading: 338.781754 deg, new cmd heading: 338.733215 deg. g%-HeadingCmd: 5.912010 target range: 121.367882 and range: 122.10 m.g-//@g)g1g1g1zf1rf1f9f9Bd9d9d9cAcE@@Qɢu6qBuI/ quy)Iy yɡyiyI}J֤~BB6IB?gBB =BBB`;B$E>AM |=D D VD %D E  E 96E 4:E "E w;! E w;! *E :! E :! Ա A I I N >= b,L&%*A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518520y:r0@ٱ:-@:n:=@:HS(?`(?ÿr>ӿ ?@X? ?/??I:r0@):ݦ^;i8JfB9J IBDRO6DR!5YZ3B=!Z[=ZoQ)Z>\9\9^DY^uCb\Ab>dQ 1jk4٪fł?Q 5jk4f fPB9hYjhQ Ej?yfDAC)f:If:if%k4Ypr`Apg  FNOT Ignoring new targets: 121.37 m.gg% ProNav: ac range: 121.367882 m, nav range: 117.493370 m, bearing: 317.630381 deg, approach rate: -0.576645 m/s, LOS rate: -0.061248 deg/s, cmd heading: 338.733205 deg, new cmd heading: 338.691749 deg. g%.ຝ-HeadingCmd: 5.911286 target range: 121.367882 and range: 122.10 m.g-B)@g)g)g)g1zf1rf1f1f9Bdddcc @ɢ5eqB5)QI QUC+IY YɡYiYI]AM0= Aa Ii Iy N >%b,@%*AD&qD&UD&*D$E&2h: E&P96E&(N4:E$!*@!*@!*@!*@yB(@ٱB%@BjB}!^J=boQ)b>`9d9fDYfAvCf8Af>ptQ 1k4٪vՂ?Q 5k4vp vPB9YQ E?yv|AC)vAe X=i % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274676A I I N >ĕb,[%*Ay6c!@ٱ6@6>6<6H ?M?Aÿ`Xӿ/?@o??`D?@G?I6c!@)6^;i6CB gB9BIX Mb@Mb@Mb@ ) I i   ?)\(y&1 f? G I &aAi  vA TA)  GeABD%V6D%Z5A1A1vB5>~B1B5tIB5gBB5 =B1B1B5`;B5Q$EY\=!/=51Q)>!9!9%DY-vC-JA->1Q 1=k4٪5肊?Q 5=k45  5:PB9=] ?Q AE:YEQ EE?y5AC)5Q;I5;i5+Dk4YIMAIgquFNOT Ignoring new targets: 121.37 m.g}Ĝg}Ĝ ProNav: ac range: 121.367882 m, nav range: 117.037407 m, bearing: 317.580963 deg, approach rate: -0.618296 m/s, LOS rate: -0.068528 deg/s, cmd heading: 338.646434 deg, new cmd heading: 338.592737 deg. gHeadingCmd: 5.909558 target range: 121.367882 and range: 122.10 m.g@ggggzfrfffBdddcc`L^ @DnDXD'DEO]: E96E'4:E"E3;!E4;!*E:!E:!ɢUqB]tB Y]g,Iy ɡiIPͧA 3|=9 I I N >hb,\Zu%*Ay6q@ٱ6@6{E6<6H`B?`.U? N_ÿw_ӿ ~??6? e.??I6q@)6^;i6CB'gB9B'IBDJ_6DJ~!5YR=!Rg=R9Q)R>T9T9VDYVvCVAZ>XQ 1^k4٪Z?Q 5bk4Z  ZQPB9`YbQ Eb?yZAC)Z:IZ;iZPk4YflBf`Ahh1h5h%*Ah5Bh5Bh5V@e(DAT read: user:56> eBDAT read: Tx time:16:09:06.9019 m$Ping request sent.mA {=rAjA? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252088I ԡ I N >#b,Q%*A-SgB95BI5=54=yMb@Mb@Mb@ )IiK7?&1y&1 ?нIieAxAQA)(dABDQ6D 5Y =!4=Q)>99DYEwCA%>!Q 1-k4٪%?Q 5-k4%9 %nPB95: ?Q A5:Y5zQ E5?y%+BC)%:I%:i%W`k4Y=`B=ڂA=E]B*** querying acoustic contact ***zhYhYgamFNOT Ignoring new targets: 119.28 m.gmgm} ProNav: ac range: 119.281761 m, nav range: 116.702522 m, bearing: 317.311535 deg, approach rate: -0.561904 m/s, LOS rate: -0.069287 deg/s, cmd heading: 338.540539 deg, new cmd heading: 338.481620 deg. g}HeadingCmd: 5.907619 target range: 119.281761 and range: 120.00 m.g6 @ggggzfrfffBdddccT?ɢ8rB*B Q.I ɡiIA0ƀ=DuDfD&DEv: E96E4:E"E$;!E%;!*E-;!E-;!I! I1 NE >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755055)b,%*Ay6@ٱ6@6L6V<6H )?@^?@ÿhӿ |??@4v?@q??I6@)63_;i4BzgB9BZIBDJY6DJ5YR=!Rf=RQ)V>T9T9VDYVwCZAZ>\Q 1k4٪^U?Q 5k4^ ^PB9YQ E?y^]BC)^8UA3=1IqIN>Y D iD XD #D E ,K: E 96E 3:E ! @! @! @! @p0b,lˆ%*Ay6~@ٱ6@6b6<6H? X?0ÿ`fӿ}? `?`?`k\??I6~@)6G_;i4>gB9BmIBDF:6DFx5YN=!RK=RQ)V>X9X9^DYbwCfy9Aj>hQ 1nk4٪j&?Q 5rk4ju jPB9pYrQ Er?yjBC)j;Ij;ij{k4YtvEAxgFNOT Ignoring new targets: 119.28 m.gg9m ProNav: ac range: 119.281761 m, nav range: 116.299843 m, bearing: 317.261839 deg, approach rate: -0.542240 m/s, LOS rate: -0.067175 deg/s, cmd heading: 338.435327 deg, new cmd heading: 338.382043 deg. gmHeadingCmd: 5.905881 target range: 119.281761 and range: 120.00 m.g@ggggzfrfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261754f)fIBdQdQdQcQcU`r?ɢrB: 顅0I ɡiIܫA p=I I N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511064Թ 6b,L܈%*AiyBN@ٱB@B BC~BpBrIBrzhBBpBpBpBr_;Br$EBBBB =B =Bc5EMb@Mb@Mb@ A)AIAiAAES㥛?J +!m>=mQ)m>i9q9uDYu6xCuAu>Q 1k4٪J7?Q 5k4G PB9;?Q A:YQ E?yBC);I};ik4Y[BȁAgFNOT Ignoring new targets: 119.28 m.gg ProNav: ac range: 119.281761 m, nav range: 116.082802 m, bearing: 317.234884 deg, approach rate: -0.507765 m/s, LOS rate: -0.063178 deg/s, cmd heading: 338.382051 deg, new cmd heading: 338.328042 deg. g>纝HeadingCmd: 5.904938 target range: 119.281761 and range: 120.00 m.gA@ggggԑzfrfffBdddcc S?DqD\D&DE2h: E96E4:E"E;!E;!*E_ ;!E` ;!ɢrBH /I ɡiIA- xr=I I N > =b,%*Ay6C@ٱ6@6h6=6H ?R?iĿfӿg}?7??,? ?I6C@)6_;i4BgB9BIBDJU6DJ5YRҐ=!RX=RYQ)V>T9T9VDYVxCZT9AZ>\Q 1k4٪^E?Q 5k4^ ^PB9YQ E?y^CC)^IA;= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271602I A yAI I) N= >Cb,%*A< hB9-IMb@Mb@Mb@ )IiQ?B`"۹ rh?νCI\Ai=bAsAOA)`ABDY6D5Y =! 5= Q) > H?9 H?9DYxCA>!Q 1-k4٪%W?Q 5-k4% %PB9-r ?Q A-:Y-2Q E-?y%@CC)% ;I%i ;i%ަk4Y=YB=1A=E]B*** querying acoustic contact ***zhYhYgamFNOT Ignoring new targets: 119.28 m.gm gm } ProNav: ac range: 119.281761 m, nav range: 115.655022 m, bearing: 317.181315 deg, approach rate: -0.538296 m/s, LOS rate: -0.067777 deg/s, cmd heading: 338.280200 deg, new cmd heading: 338.220691 deg. g}HeadingCmd: 5.903065 target range: 119.281761 and range: 120.00 m.g@ggggzfrfffBdddcc2@ɢE8sBEI_; AE1III iɡqiqIu4~BB6IBhBB =BBB\_;B#EDmD\DDEY: E96E:E"E"~;!E$~;!*E!E!>Ae 8=rAm ?jAm ?ԩ A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771118Jb,X*%*Ay6 @ٱ6- @6W 6' =6H@&?Ff?BĿzӿ +z?B??l? ?I6 @)6H_;i6C@B@hB9BIFN>F=BDN?6DN5YV=!Vd=VfQ)V>X9X9ZDYZ%yCZA^>9Q 1Ek4٪=f?Q 5Ek4=b  =QB9IYMQ EM?y=tCC)=:I=:i=k4YQUAQgFNOT Ignoring new targets: 119.28 m.gLgL ProNav: ac range: 119.281761 m, nav range: 115.458557 m, bearing: 317.156679 deg, approach rate: -0.519584 m/s, LOS rate: -0.065264 deg/s, cmd heading: 338.220695 deg, new cmd heading: 338.171340 deg. gHeadingCmd: 5.902204 target range: 119.281761 and range: 120.00 m.g޼@ggggzfrfffBdddcc@ɢhsBivL 顭v2I ɡiIAb$= A AI I N >bD ZD D hD YD $D E G: E *96E 4:E ! @! @! @! @Qb,3D%*Ay64 @ٱ6@6!66=6H?:l?[Ŀ \ӿ(y??`d? ?{?I64 @)6 ^;i6CBihB9BIBDJd6DJ#5YR=!RK=RQ)V>VK?9VK?9VDYVxyCZRAZ>\Q 1bk4٪^hv?Q 5bk4^# ^(QB9`YbQ Ef?y^CC)^ ;I^u ;i^{k4YjWBjAjElg!%FNOT Ignoring new targets: 119.28 m.g-|g-|= ProNav: ac range: 119.281761 m, nav range: 115.255653 m, bearing: 317.131193 deg, approach rate: -0.522804 m/s, LOS rate: -0.065782 deg/s, cmd heading: 338.171354 deg, new cmd heading: 338.120293 deg. g𺝅HeadingCmd: 5.901312 target range: 119.281761 and range: 120.00 m.g׼@ggggzf rf fAfABdIdydycc, @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277342ɢsB? S3I ɡiIAٰA% 8= DAT read: 16:09:09.4634 LVL= 26816, 32497, 19666, 29027, AGC= 60, IDX= 408, 0.10, 1.028,-0.161, 2.072, 1.139, PHS=-0.010,-1.256, 0.889, RAW= 174.6, 4.1, CAL= 174.0, 2.2, ROT= 336.0, -2.2  Ygot valid direction response: 16:09:09.4634 LVL= 26816, 32497, 19666, 29027, AGC= 60, IDX= 408, 0.10, 1.028,-0.161, 2.072, 1.139, PHS=-0.010,-1.256, 0.889, RAW= 174.6, 4.1, CAL= 174.0, 2.2, ROT= 336.0, -2.2  PDAT read: Bearing 142.2, -14.5 (Local)  ~Local bearing/azimuth received: Bearing 142.2, -14.5 (Local)  DAT read: Range 11 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.912872,-0.406437,0.038388] Fpublishing direction and range info9i m O?6?5!kڿ.?m Bi im hm ~m Lm cqm < m #)m ĠIm c?im C@m C=m \B@m nF=m f@ m nFii i Im 4ISu?8 ?h>?m =t?m  m Jw־)m nFii i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. AQ Ia Iq N} >=@Wb,i^%*AvB.>~B,B.uIB.FiBB,B,B,B.G_;B.#EyVW@ٱV@V"Vc=VH` ?x?@QzĿ{ӿ*w?{?-?@畠?`5?IVW@)V-_;iVC5whB95IԩDqDqDu&DqEq Eq6Eu4:Eq"Eu^;!}Eu^;!}*Eu:!}Eu:!Mb@Mb@Mb@ )IiˡE?~jt{Gz?ĽףI[Ai&aArAMA)3_ABD]6D 5Y<!)=Q)>9 9 DY yC A >Q 1k4٪̉?Q 5k4F& FQB9%< ?Q AE:YEnQ EE?yCC);I;i~k4YIMnAQhihmZ%*AhmBhmBhmd\@hmׇ~Z@G{]G@hmO?6?5!kڿ.?hmJw־hmnFimTU@#oրS{>B3@hmuQG?EʮH6ʕ?hmhmBhm#p ?hmn/4*hm˛B*ii2ii:imFBimB"im@- addTargetRange:: Added new target pos. range: 118.000000 m, deltaT: 3.779715 s, deltaX: -2.000000 m, approachRate: -0.529140 m/s, rangeRepo size: 4 } Added new target pos. range: 117.293602 m, bearing: 317.563470 deg, lat: 36.779401 deg, lon: -121.859666 deg, deltaT: 3.779715 s, deltaX: -1.988159 m, approachRate: -0.526008 m/s, posRepo size: 4 gyFNOT Ignoring new targets: 117.29 m.gg ProNav: ac range: 117.293602 m, nav range: 115.002922 m, bearing: 317.098344 deg, approach rate: 0.000000 m/s, LOS rate: -0.065782 deg/s, cmd heading: 338.120291 deg, new cmd heading: 338.053694 deg. gHeadingCmd: 5.900150 target range: 117.293602 and range: 118.00 m.gμ@ggggzfrfffBdddc]@cN?ɢ%sB%> !%5I! )ɡ)i)I-}ľi5U BDAT read: Tx time:16:09:10.7019 $Ping request sent.A bA ZA iA9 AE yAiM =IM =U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251592IY Iq N} >r^b,Az%*AyV@ٱV.@V$a#Vn =VH ?@l?sĿӿ"u?@z?@U??Q?IV@)Vi_;iVCbhB9bIdidBDjAp6Dj5Yv.>!vX=zVQ)z>z H?9z H?9zDYz&zC~ A~>Q 1 k4٪?Q 5 k4( ^QB9YQ E?y DC):I):ik4YUBA!gAMFNOT Ignoring new targets: 117.29 m.gMzgMz] ProNav: ac range: 117.293602 m, nav range: 114.808304 m, bearing: 317.073039 deg, approach rate: -0.555376 m/s, LOS rate: -0.072336 deg/s, cmd heading: 338.053683 deg, new cmd heading: 338.002986 deg. gebeHeadingCmd: 5.899265 target range: 117.293602 and range: 118.00 m.geƼ@gigigigizfirfifqfqBdqdqdycyc}`?ɢsB/^ 顭d4I ɡiI+Am=A- AIA IY a Nm >wdb,%*Ay>@ٱ>@>M$>:^=>H? I?Ŀ\ӿs? ?y?5?ࡑ?I>@)>x`;i>CFhB9F!I9EMb@Mb@Mb@ A)AIAiAAE!rh?~jtEl?E̽EIEZAiE`AAEhKA)AE=^ABD]W6D]5Ymz<!mB=uY+Q)u>uK?9uK?9uDY}{zC}gĺA}>Q 1k4٪T?Q 5k4+ xQB9 ?Q A:YQ E?yYDC):I:iIk4YAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 117.29 m.gfgf ProNav: ac range: 117.293602 m, nav range: 114.590210 m, bearing: 317.045590 deg, approach rate: -0.517910 m/s, LOS rate: -0.065307 deg/s, cmd heading: 338.002976 deg, new cmd heading: 337.947974 deg. g ﺝHeadingCmd: 5.898305 target range: 117.293602 and range: 118.00 m.g꾼@ggggzfrfffBdddccc?ɢ-3tB-H 15b7I1 1ɡ9i9I=AA% yAI) IA NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875 Hkb,:x%*Ayn@ٱn%@nU%nb=nH`?`?Hſ >ӿ@5r??7?k?`?In@)na;inC~hB9~GIBD A6D 5Y&>!O=%eQ)%>% H?9% H?9%DY%zC-|A->1Q 1=k4٪5⸃?Q 5=k45N. 5QB99YEQ EE?y5DC)5;I5;i5 k4YMSBM~AMEgquFNOT Ignoring new targets: 117.29 m.g}g} ProNav: ac range: 117.293602 m, nav range: 114.385864 m, bearing: 317.019851 deg, approach rate: -0.519923 m/s, LOS rate: -0.065606 deg/s, cmd heading: 337.947979 deg, new cmd heading: 337.896409 deg. g!ԑHeadingCmd: 5.897405 target range: 117.293602 and range: 118.00 m.g@ggggzfrfffBdddcc?ɢdtBN 6I ɡiIA =AE AII Dm qDm WDm %Di Em 2h: Em 96Em 4:Ei !u @!u @!u @!u @Iq N > )qb,[ȉ%*Ayr@ٱrq@r!A'r>M=rH?4?+ſ`[ӿPo?? `? Aˡ?@?Ir@)rFa;irCUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513368iB9YI5C>5^?MMb@Mb@Mb@ I)IIIiIIMJ +?J +I +M?MȽM9IMvXAiM^AMbpAM;IA)IMQ\AIi)iBD}26D} 5Yw=!(=/Q)>K?9K?9DY-{CMA>Q 1l4٪]̃?Q 5l41 QB9 ?Q A:YnQ E?yDC)IS;I R;i l4YGB}AEg  FNOT Ignoring new targets: 117.29 m.g♺g♺% ProNav: ac range: 117.293602 m, nav range: 114.130905 m, bearing: 316.986994 deg, approach rate: -0.520823 m/s, LOS rate: -0.067268 deg/s, cmd heading: 337.896398 deg, new cmd heading: 337.830539 deg. g%6-HeadingCmd: 5.896255 target range: 117.293602 and range: 118.00 m.g-@g)g)g)g)zf1rf1f1f9Bd9d9d9cc`|?ɢ tB J;7  8I  ɡ!iI=PmA A A p<vB! ~B! B% IB% jBB% =B! B! B% Z_;B% #Eԙ Ai Du hDu YDu &Dq Eu G: Eu *96Eu 4:Eq "Eu ^;! Eu ^;! *Eu :! Eu :! I I N >xb, %*Ay6?ٷ@ٱ6־@6(6 =6H ??Qſ4ӿ fk?M??@{?`"?I6?ٷ@)6D`;i6CBT9T9VDYVt{CZAZ>\Q 1bl4٪^Sڃ?Q 5bl4^4 ^QB9`Yb"Q Ef?y^EC)^:I^:i^Rl4YjDBU5}AQgFNOT Ignoring new targets: 117.29 m.gege ProNav: ac range: 117.293602 m, nav range: 113.947914 m, bearing: 316.963479 deg, approach rate: -0.497191 m/s, LOS rate: -0.063995 deg/s, cmd heading: 337.830527 deg, new cmd heading: 337.783421 deg. g<꺝HeadingCmd: 5.895433 target range: 117.293602 and range: 118.00 m.gc@ggggzfrfffBdddcc-`j@ɢtBX 顝.9I ɡiIAEm=IA IQ Ne > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266891ԡ ~b,A%*Ay6ѷ@ٱ64Ͼ@6h*6!=6H6?? azſӿ@Ki?@1?W'??c?I6ѷ@)6`;i4RoiB9RIBDZ?6DZ5Yz=!zF=z>Q)z>|99DY{C A>!Q 1-l4٪%ꃊ?Q 5-l4%6 %QB9)Y-]Q E-?y%:I%K:i%'l4Y9=f|A9gaeFNOT Ignoring new targets: 117.29 m.gmӡgmӡy} ProNav: ac range: 117.293602 m, nav range: 113.730392 m, bearing: 316.935530 deg, approach rate: -0.549505 m/s, LOS rate: -0.070740 deg/s, cmd heading: 337.783426 deg, new cmd heading: 337.727421 deg. g}vHeadingCmd: 5.894455 target range: 117.293602 and range: 118.00 m.ga@ggggzfrfffBdddcc@ɢtBU 8I ɡiI֖DrDWDDEk: E96E:E!@!@!@!@iQQQQQ@e=@aԩ%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522510>AQbAaZAejAI I! N5 > *b,%*Ay:ȷ@ٱ:ž@:+:]=:H? @? ſ`hӿ1f?|?@oH?@??I:ȷ@):i`;i:CFiB9FIHiHiJ=IHMb@Mb@Mb@ )Ii(\?MbXI +?ʽIi]AKoA)[ABD-C6D-5Y=a=!=F==="Q)E>A9A9EDYE|CM4AM>Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942Q 1el4٪U?Q 5el4U9 UQB9m$ ?Q Am:Ym~Q Em?yUuEC)U)f;IUe;iU16l4YuBBu{A}EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 117.29 m.gg ProNav: ac range: 117.293602 m, nav range: 113.517212 m, bearing: 316.908536 deg, approach rate: -0.516957 m/s, LOS rate: -0.065582 deg/s, cmd heading: 337.727419 deg, new cmd heading: 337.673330 deg. g 𺝅HeadingCmd: 5.893511 target range: 117.293602 and range: 118.00 m.g@ggggzfrfffBdddcQcUq@ɢ1uBPG 9I ɡiIW_A BDAT read: Rx Time:16:09:13.2609  TRx dataTimestamp_ set to:1755878952.682628 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023833I! I9 NE >Y b,ۉ2%*Ay6@ٱ6N@6G,6=6H? %?ſԿec?`M?n? ? 7?I6@)6$ `;i6CRiB9RIBDZG6DZs5Yb=!bR=bHQ)f>d9d9fDYfl|Cju2Aj>lQ 1rl4٪ns ?Q 5rl4nM< nRB9pYrQ Er?ynEC)n;In;inCl4YxzzAxgFNOT Ignoring new targets: 117.29 m.gg ProNav: ac range: 117.293602 m, nav range: 113.315323 m, bearing: 316.883000 deg, approach rate: -0.502157 m/s, LOS rate: -0.063628 deg/s, cmd heading: 337.673324 deg, new cmd heading: 337.622161 deg. g躝HeadingCmd: 5.892618 target range: 117.293602 and range: 118.00 m.gT@ggggzfrfffBdddcc# @ɢ^uBeU 9I ɡiIaAu=IIN>ԉbDZD@ABEuȀ'4JEu7&4REuȝ/D vD ^D )D E Vz: E ;96E FA4:E ! @! @! @! @ b,]oL%*A~DAT read: 16:09:13.2609 LVL= 26992, 32753, 21954, 32307, AGC= 58, IDX= 413, 0.45,-1.878,-3.080,-0.857,-1.822, PHS= 0.046,-1.213, 0.921, RAW= 174.1, 2.7, CAL= 173.3, 0.1, ROT= 336.7, -0.1 Ygot valid direction response: 16:09:13.2609 LVL= 26992, 32753, 21954, 32307, AGC= 58, IDX= 413, 0.45,-1.878,-3.080,-0.857,-1.822, PHS= 0.046,-1.213, 0.921, RAW= 174.1, 2.7, CAL= 173.3, 0.1, ROT= 336.7, -0.1 PDAT read: Bearing 140.2, -13.1 (Local) ~Local bearing/azimuth received: Bearing 140.2, -13.1 (Local) DAT read: Range 11 to 50 : 116.1 m (Round-trip 154.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.918445,-0.395545,0.001745]Fpublishing direction and range info9QUO c?*Pٿn p\?U3BQiUpiUUUU3~U: Uj<=)UCIUk?iUxB@UA=UA@U:U| @ UiQQIU8Y8?XO?m߳?Uq?U? U5о)Uye@ٱeo@e -e=iQQuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ԑeH@:? }?Ӳſ@Կ`?m?`?J?&?Ie@)e_;ieCiB9I=Mb@Mb@Mb@ 9)9I9i99=L7A`?J +~jt=+?=Ƚ=ļI=AVAi=\A=mA=EA)9=YABDuH6Du5YŒ=!=ȺQ)>99DY|CPA> Q 1l4٪ ?Q 5l4 ? 9RB9 ?Q A:YQ E?y EC) :I :i Vl4YE@BEVzAEEhQhUWL%*AhUBhUBhU6@hU} ؔZ@xpUF "?hUO c?*Pٿn p\?hU5оhUiUO'0U@٘ #S>_0@hU9?U;S9հ#k?hUhUBhU5?hUahU-B*iU%W\?2iUn/4*:iUoBiUB"iU,@Թ addTargetRange:: Added new target pos. range: 116.099998 m, deltaT: 3.781519 s, deltaX: -1.900002 m, approachRate: -0.502444 m/s, rangeRepo size: 4 % Added new target pos. range: 115.405327 m, bearing: 317.911908 deg, lat: 36.779409 deg, lon: -121.859663 deg, deltaT: 3.781519 s, deltaX: -1.888275 m, approachRate: -0.499343 m/s, posRepo size: 4 g)-FNOT Ignoring new targets: 115.41 m.g5g1e ProNav: ac range: 115.405327 m, nav range: 113.443497 m, bearing: 317.230092 deg, approach rate: 0.000000 m/s, LOS rate: -0.063628 deg/s, cmd heading: 337.622152 deg, new cmd heading: 337.553517 deg. gamHeadingCmd: 5.891420 target range: 115.405327 and range: 116.10 m.gm@gigigigizfirfqffBdddc`f]@cq?ɢuB|V0 x;I ɡiI~ }BDAT read: Tx time:16:09:14.5519 }$Ping request sent.}A m=rA ?jA ?I1 IA NM >b,Xh%*Aɰ;yFǯ@ٱF@Ft.F)!= :Q) ? 9 9 DY }CXA5?9Q 1El4٪=,?Q 5El4=B =MRB9AYEQ EM?y=FC)=`:I=:i=al4YQ]yAYgFNOT Ignoring new targets: 115.41 m.gg ProNav: ac range: 115.405327 m, nav range: 113.282005 m, bearing: 317.210204 deg, approach rate: -0.528034 m/s, LOS rate: -0.065121 deg/s, cmd heading: 337.553522 deg, new cmd heading: 337.513690 deg. gZchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251195HeadingCmd: 5.890725 target range: 115.405327 and range: 116.10 m.gҀ@ggggzfrfffBd d d c c@S?ɢuB!t [#= ;I! !ɡ!iIҺAe = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504705q A I I N >}b,'%*Ay6@ٱ6q@6&/6$J<6H`k?=?ſ`'Կ\?? ?1?ʄ?I6@)6d5_;i6CN3jB9RIBDZ*6DZ 5Yb=!bO=b Q)b>d9d9fDYfi}CfAj>hQ 1rl4٪j\;?Q 5rl4jD jfRB9pYr$Q Er?yjTFC)j;Ij;ijBz#yAxgFNOT Ignoring new targets: 115.41 m.g%<g%<5 ProNav: ac range: 115.405327 m, nav range: 113.079529 m, bearing: 317.185264 deg, approach rate: -0.528659 m/s, LOS rate: -0.065236 deg/s, cmd heading: 337.513689 deg, new cmd heading: 337.463718 deg. g55HeadingCmd: 5.889853 target range: 115.405327 and range: 116.10 m.g=y@g9g9g9g9zf9rfAfAfABdIdIdIcIcM@Hk?DoD]D$DE`: E96E4:E!@!@!@!@ɢEuBEKT IMAm=ԱA yAI I N > b,m%*A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007181y>q@ٱ>ǣ@>/>'5<>H@ ?p%? ſ-Կ`[???@M?y?I>q@)>(_;i>C^ZjB9bIMb@Mb@Mb@ )IiPn?&1Zd;O?нjITAiYAlADA)WAiBD/6Dh 5Ye=!;= Q)> H?9 H?9DY}CUA>Q 1l4٪ L?Q 5l4G RB9?Q A:YDQ E?yFC) ;Io:i|~l4Y xAvB%>~B%ˍCB%IB%8kBB% =B!B%_DB%i_;B%#EMB*** querying acoustic contact ***zhQhQgYeFNOT Ignoring new targets: 115.41 m.geׅgeׅԱ ProNav: ac range: 115.405327 m, nav range: 112.857239 m, bearing: 317.159233 deg, approach rate: -0.498642 m/s, LOS rate: -0.058507 deg/s, cmd heading: 337.463719 deg, new cmd heading: 337.411555 deg. g&ֺHeadingCmd: 5.888943 target range: 115.405327 and range: 116.10 m.g8r@ggggzfrff f Bd d d)c1c5 B?ɢ})vB}H <顅A bA hAZA fAI I N- >9 ׬b,<޵%*Aiy6@ٱ6Y@6(16]\<6H6?-?iƿi4Կ-Z?#p??a1??I6@)6 _;i4BjB9B6IBDJ76DJ5YR=!R^=V?Q)V>T9T9ZDYZ ~CZAZ>\Q 1bl4٪^Z?Q 5bl4^KJ ^RB9dYfjQ Ef?y^FC)^:I^:i^Zl4YjʾiomA5 =ԡ IqIN>aݴb,gԊ%*AyF@ٱFI@F2F)=FH?57?Zƿ>Կ~X?@oҚ?A?&?`A?IF@)F"_;iFCNjB9NTI%Mb@Mb@Mb@ !)!I!i!!%ˡE?v/V-%?%x%I!i%nXA1!%BA)!%VABDE46DE 5YM=!U$=U6uQ)U>Y9Y9]DY]n~C]eºAe>aQ 1ml4٪em?Q 5ul4eM eRB9u; ?Q Au:Yu Q Eu?yeGC)e;Ie:;ieʜl4YwAgFNOT Ignoring new targets: 115.41 m.gg󃺝 ProNav: ac range: 115.405327 m, nav range: 112.406006 m, bearing: 317.108534 deg, approach rate: -0.528471 m/s, LOS rate: -0.057679 deg/s, cmd heading: 337.367523 deg, new cmd heading: 337.309951 deg. gӺHeadingCmd: 5.887169 target range: 115.405327 and range: 116.10 m.gc@ggggIzfIrfIfQfQBdQdQdYcYc]`@ɢvB: =I ɡiID~BȍCBIBkBB =BB^DB_;B#E9-<ԉDtDWD#DEs: E96E3:E"E;!E;!*EX:!EY:!iԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268226>A) I I N >b,!%*Ay:W@ٱ:@::4:m=:HY?@z!V?=V=Q)Z>X9X9ZDYZ~C^ѺA^>`Q 1bl4٪bW~?Q 5fl4b Q bRB9dYf Q Ef?yb@GC)b;Ib/;ibl4Yn-BnuAnģEg|FNOT Ignoring new targets: 115.41 m.g:g : ProNav: ac range: 115.405327 m, nav range: 112.180008 m, bearing: 317.083889 deg, approach rate: -0.528979 m/s, LOS rate: -0.057802 deg/s, cmd heading: 337.309958 deg, new cmd heading: 337.260568 deg. gӺHeadingCmd: 5.886307 target range: 115.405327 and range: 116.10 m.g%\@g!g!g!g!zf!rf!f)f)Bd1d1d1c1c5@ɢevBeQ aeAi rAu ?jAu ?I I N >b,! %*APyr@ٱr@re5r =rH@V?B?ƿNԿU?@?@g?`1? ;{?Ir@)rc`;irCzkB9~I G> <)%A %A]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773437BD}56D}+5Yl=!;=i*Q)>Y9Y9eDYeCA>Q 1l4٪?Q 5 l4oT RB9Y Q E?yGC) I ɡiI~B B *IB lBB B B B a_;B #E>A Ď=I I N >b,$%*Ay6 @ٱ6_@666X =6H?vX?`ƿ@}cԿTR?O?D??ny?I6 @)6`;i6CBFkB9BI|D%D%[D%*D!E%: E%96E%(N4:E!"E%}99DYjC|A>Q 1l4٪Ǟ?Q 5l4@9)Q Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277166Q>A5x=IIN>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529380b,U>%*AQy}u@ٱ}lr@}3\8}ٟ=}H@7?x? ǿ~Կ@L???` ? ,w?I}u@)}`;iy{kB9Ii%=BD=6D5Y=!F=YQ)>99DYCA>Q 1l4٪?Q 5l4aZ "SB9Y`Q E?yGC);I:i@l4YqAg FNOT Ignoring new targets: 115.41 m.glgl% ProNav: ac range: 115.405327 m, nav range: 111.517975 m, bearing: 317.016676 deg, approach rate: -0.534589 m/s, LOS rate: -0.051747 deg/s, cmd heading: 337.168436 deg, new cmd heading: 337.125879 deg. g%h-HeadingCmd: 5.883956 target range: 115.405327 and range: 116.10 m.g-_I@g)g)g1g1zf1rf1f9f9Bd9d9d9cAcE @ɢ OwB CQ  B=I  ɡiI(A Ď=5 ^direction in FSK: [0.917060,-0.398749,0.000000]5 Fpublishing direction and range info9aevX?`ٿeBaiegea}eQec}e? e'=)eԘIeL7i?ieB@ae&A@ee@ eiaaIe ?!?IC(y?er?e%? ezѾ )eiaa T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.IA IQ N] >b,2qX%*Ay6b@ٱ6r_@6̆96/<6H ?"? ǿԿF?U?@l?_?@v?I6b@)6A`;i6CNkB9NIiZ=IZ=ԹMb@Mb@Mb@ )Iiw/?i|?5!E=u.Q)u>y9y9}DY} C}A>Q 1l4٪?Q 5l4] BSB9T ?Q A:YQ E?y'HC);IO;i.l4(DAT read: user:59> BDAT read: Tx time:16:09:18.6019 $Ping request sent.d(Ej?hhBhM?h0X3hB*i#p ?2i0X3:i˛BitB"i@} addTargetRange:: Added new target pos. range: 114.000000 m, deltaT: 4.032037 s, deltaX: -2.099998 m, approachRate: -0.520828 m/s, rangeRepo size: 4  Added new target pos. range: 113.311646 m, bearing: 317.076249 deg, lat: 36.779411 deg, lon: -121.859667 deg, deltaT: 4.032037 s, deltaX: -2.093681 m, approachRate: -0.519261 m/s, posRepo size: 4 gFNOT Ignoring new targets: 113.31 m.gg ProNav: ac range: 113.311646 m, nav range: 111.727531 m, bearing: 316.957638 deg, approach rate: 0.000000 m/s, LOS rate: -0.051747 deg/s, cmd heading: 337.125870 deg, new cmd heading: 337.079369 deg. gHeadingCmd: 5.883145 target range: 113.311646 and range: 114.00 m.gB@ggggzfrfDReached init depth of 58.926647 m.ffBdddc\@c-@?AMAAAMAAvBU>~BQBUoIBU}lBBQBQBQBU$_;BU#EBȍCBʍCBÔCB =Bþ =Bët6ɢwBH A &=I ɡiIv<I̾i-`yA tn=9 I I N >c0b,s%*Ay>P@ٱ>3N@>:><>HK??`,ǿԿ@?`?`6?;?t?I>P@)>:m`;i<JkB9J IBDR66DR5YZq=!Z[=^WQ)^>\9`9bDYb-CbzAb>dQ 1jl4٪f̄?Q 5jl4f;` f]SB9lYnQ En?yfXHC)f;If;ifl4Ypr pApg  FNOT Ignoring new targets: 113.31 m.g_g_% ProNav: ac range: 113.311646 m, nav range: 111.538345 m, bearing: 316.938550 deg, approach rate: -0.559588 m/s, LOS rate: -0.056553 deg/s, cmd heading: 337.079370 deg, new cmd heading: 337.041131 deg. g%κ-HeadingCmd: 5.882477 target range: 113.311646 and range: 114.00 m.g-A=@g)g)g)g)zf1rf1f9f9Bd9d9d9cAcE?ɢmwBm1q quAM֊=IaIyN>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825 BEqJEu24REup0D pD D (D E d: E 6E c44:E ! @! @! @! @9 b,)錋%*Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755772kB9IBD5*6D5 5Y<!1=Q)>99DY[CA>Q 1%m4٪1߄?Q 5%m4c SB9!Y!Q E-?yHC)>:IW:im4Y5B5oA5ǣEgY]FNOT Ignoring new targets: 113.31 m.gesges} ProNav: ac range: 113.311646 m, nav range: 111.287018 m, bearing: 316.913091 deg, approach rate: -0.525162 m/s, LOS rate: -0.053318 deg/s, cmd heading: 337.041121 deg, new cmd heading: 336.990089 deg. g}'ú}HeadingCmd: 5.881587 target range: 113.311646 and range: 114.00 m.g5@ggggzfrfffBdddcc@?ɢwBD ?I ɡiIBA vB >~B ɍCB IB lBB =B B B ^;B #EII IY Nm >ԙ =b,eæ%*Ay:"0@ٱ:x-@:G~=:2<:H`Ӧ?N?@xǿ`ԿG6??@A)15QABDM(6DM05Y]fF>!]_=]Q)e>a9a9eDYeCm5Am>qQ 1}m4٪u섊?Q 5}m4uf uSB9} ?Q A}:Y}Q E?yuHC)u ;Iuv;ium4YnAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 113.31 m.gfgf ProNav: ac range: 113.311646 m, nav range: 111.098663 m, bearing: 316.895494 deg, approach rate: -0.538343 m/s, LOS rate: -0.050382 deg/s, cmd heading: 336.990086 deg, new cmd heading: 336.954831 deg. giHeadingCmd: 5.880971 target range: 113.311646 and range: 114.00 m.gU0@gQgQgQgQzfYrfYfYf]DBBdadadacacmAm?qɢ0lB) 5I ٳɡiI Ƚ~Am=Q iQ I I G) I i% 1! % 'AI Nu > ܽ? A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510826 %b,E%*Ay6@ٱ6L@6>6_<6H ?%?ǿտ@B0?=? ??n?I6@)6b1`;i6CNslB9RiIBDZ"6DZm5Yz*,>!zQ=zTQ)~>|9|9~DYCA> Q 1m4٪ ?Q 5m4 i SB9Y8Q E?y IC) :I ;i ]m4Y%B%mA!gIMFNOT Ignoring new targets: 113.31 m.gUegUee ProNav: ac range: 113.311646 m, nav range: 110.887871 m, bearing: 316.875984 deg, approach rate: -0.539828 m/s, LOS rate: -0.050059 deg/s, cmd heading: 336.954842 deg, new cmd heading: 336.915749 deg. ge9mHeadingCmd: 5.880289 target range: 113.311646 and range: 114.00 m.gmT+@gigigigizfqrfqfqfqBdydydycycj?ɢl*; 顭=I *JJ8ɡiI$A[=IQIyN>1 `Ob,`wڋ%*A-lB9-IMb@Mb@Mb@ )IiV-?Cl绿Mb ?;߽IvLAiPAfdA;A)3OABD06D 5Y=!==Q)>99DYҀCA>Q 1m4٪Z ?Q 5m4l SB9Y?Q A:Y Q E?y@IC)& ;I;i|,m4YlAg)-FNOT Ignoring new targets: 113.31 m.g5猺=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968gE猺U ProNav: ac range: 113.311646 m, nav range: 110.652138 m, bearing: 316.849388 deg, approach rate: -0.544794 m/s, LOS rate: -0.061595 deg/s, cmd heading: 336.915746 deg, new cmd heading: 336.862442 deg. gUsẝ]HeadingCmd: 5.879359 target range: 113.311646 and range: 114.00 m.g]#@gYgYgYgYzfYrfafafe<BBdididicicm.@ɢ1lB; 顥.=I 9ɡiIy~BȍCBIBmBBBBB];B#E)1i5ԁDwDcD&DE}: EL96E4:E"Eh;!Ei;!*E";!E";!>A t0=Ա )  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267932A I I N >b,t%*A8y6@ٱ6A@6e@6Z<6HՒ?i?ѕǿRտ`$%?5??/?@=m?I6@)6_;i6CBlB9BIDiDiJ=IJ=BDN%6DN5YV >!V^=ZQ)Z>X9X9ZDY^C^C#A^>`Q 1fm4٪b)?Q 5fm4bo bTB9dYj Q Ej?ybtIC)bw;Ibr;ibY9m4YnBnkAnȣEgFNOT Ignoring new targets: 113.31 m.g 䊺g 䊺 ProNav: ac range: 113.311646 m, nav range: 110.451546 m, bearing: 316.827088 deg, approach rate: -0.545124 m/s, LOS rate: -0.060714 deg/s, cmd heading: 336.862444 deg, new cmd heading: 336.817761 deg. g9޺%HeadingCmd: 5.878579 target range: 113.311646 and range: 114.00 m.g%R@g!g!g!g!zf)rf)f)f1Bd1d1d1c1c=X@ɢaexF< ae)&>Ii m_9ɡiiiImѮA {= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708681 A]AIIN->c,#h%*Ayf@ٱf@f\AfwK?9K?9DY-CfA>Q 1m4٪0?Q 5m4`s 2TB9r ?Q A:YQ E?yIC) ;IX ;iKm4YܓBjAңEgFNOT Ignoring new targets: 113.31 m.gVgV ProNav: ac range: 113.311646 m, nav range: 110.176613 m, bearing: 316.794671 deg, approach rate: -0.518996 m/s, LOS rate: -0.061346 deg/s, cmd heading: 336.817774 deg, new cmd heading: 336.752779 deg. g ຝHeadingCmd: 5.877445 target range: 113.311646 and range: 114.00 m.g@ggggzfrfffcBBdd!d!c!c%Y @ɢ3lB,]< ^>I 7:ɡiIIe%=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023822i}9yy},3y@@vB>~BBcIB nBB =BBB\;B"Ei>A |=D oD _D 'D E `: E r96E '4:E "E U;! E V;! *E J;! E K;! ԙ A I! I9 NU > c,?.%*A^BDAT read: Rx Time:16:09:21.1552 bTRx dataTimestamp_ set to:1755878960.746832bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276023yZ@ٱZ@Zt3BZN!~U= Q)>9 9 DY TC ^wA >Q 1m4٪??Q 5m4v VTB9!Y%4Q E%?yIC):I:iHYm4Y)-iA)MB*** querying acoustic contact ***zhIhIgQ]FNOT Ignoring new targets: 113.31 m.g]DgeDm ProNav: ac range: 113.311646 m, nav range: 109.976601 m, bearing: 316.771146 deg, approach rate: -0.520360 m/s, LOS rate: -0.061315 deg/s, cmd heading: 336.752778 deg, new cmd heading: 336.705642 deg. qg}mຝ}HeadingCmd: 5.876622 target range: 113.311646 and range: 114.00 m.g}J @ggggzfrfffBdddccn @ɢ]4lB]>Ԫ< ]6eE>Ia ev!=:ɡaiaIe 7A |= Au yAIy I N >c,B H%*Aɰ4!eE=mm9Q)m>m H?9u H?9uDYu}C}qA}>Q 1m4٪O?Q 5m4y ~TB9YXQ E?y*JC)-J;IJK;igm4YhAgFNOT Ignoring new targets: 113.31 m.gg ProNav: ac range: 113.311646 m, nav range: 109.759575 m, bearing: 316.745586 deg, approach rate: -0.513636 m/s, LOS rate: -0.060613 deg/s, cmd heading: 336.705650 deg, new cmd heading: 336.654429 deg. gݺ%HeadingCmd: 5.875728 target range: 113.311646 and range: 114.00 m.g%@g)g)g)g)zf)rf1ffBdddcc@@ɢ5lBp< 顝>I :ɡiIA@5<`7@ 5iIW?4Ҿ?6%?op?KP ;)5iET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.)@)i 19U7Ƽi 9 0 @ @ @ @ Y  (DAT read: user:60>  BDAT read: Tx time:16:09:22.5519  $Ping request sent. ~B B IB nBB B B B n\;B s"EԑAAIIN?pc,IGi%*AD6yD6[D6(D4E6: E696E6c44:E4"E6;!>E6;!>*E6;!>E6;!>yFcض@ٱFս@F[@F+7K?9K?9DYCA>Q 1m4٪`d?Q 5m4| TB9% ?Q A%:Y%Q E%?yrJC)3;Ix;i{zm4Y5ړB=gA=ӣEhyh}P%*Ah}sBh}sBh}dɰ@h}o[FY@ጺEv&;?h}FFW$}t? |~ٿB7߁?h};h}5i})S@9{R\2@h}=4?h;gI! %ؽ:ɡ!i!I%; c,"%*Ay6L׶@ٱ6Խ@6 =6v<6H?L?7}ǿˠտ ?r?x?K?@ p?I6L׶@)61B_;i6C>mB9BLIBDJ6DJ54YN=!R]=R;Q)R>T9T9VDYVفCZAZ>XQ 1^m4٪Zr?Q 5bm4ZK ZTB9)Y)Q E-?yZJC)ZbsI ب:ɡiIhԏ &c,.Ŝ%*A i y>Ѷ@ٱ>NϽ@>O9>c=>Hs?|?ǿoտ G?6?2?p? ,u?I>Ѷ@)>h_;i>CJMnB9JIiN=IN=Mb@Mb@Mb@ )Ii/$?(\µ~jt1?DI HAivLA^A6A)JABD56D54YLp>!<=  H?9 H?9DYC5ĺA>Q 1m4٪?Q 5m4F TB9 ?Q A:Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010728Q E?yJC) ;ɡiI@~BaBeIBeoBBe =BaBaBe5\;BeV"EBBȍCB“CB =B =Bd4iiiim4qDsD`D)DEso: E96EFA4:E"Eޑ;!E;!*E;!E;!AIINf> )߉ ߉  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2590049 -c, %*Ay>xҶ@ٱ>Ͻ@>4>N =>Hi?@?`Kƿ~տo?t?@z?`b?{?I>xҶ@)>L_;i>C^vnB9^IBDj6Dj|4Yr=!rX=rVt9t9vDYv*Cv))9Az>xQ 1~m4٪z]?Q 5m4z݄ zUB9YQ E?yzKC)z;Iz;izm4Y דBdA-B*** querying acoustic contact ***zh)h)g9=FNOT Ignoring new targets: 111.23 m.gEꞺgEꞺU ProNav: ac range: 111.225044 m, nav range: 108.876656 m, bearing: 316.631949 deg, approach rate: -0.525527 m/s, LOS rate: -0.069467 deg/s, cmd heading: 336.479735 deg, new cmd heading: 336.428031 deg. gUC]HeadingCmd: 5.871777 target range: 111.225044 and range: 111.90 m.g]@gYgYgYgazfarfafafiBdididicicu`Sg?ɢA]Q|=q A ABE1JE5ɣ#4RE5ɓ/D tD aD D E s: E 96E :E ! @! @! @! @I I N >3c,}Ќ%*A &checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763096yF Ѷ@ٱF_ν@F50/F.s=FH)?V?ƿ`tտ???|?Q?IF Ѷ@)F+h_;iFC^nB9bIBDf6DfI5Yn=!rJ=r\vK?9vK?9vDYvSCv8Av>xQ 1~m4٪z3?Q 5~m4z z2UB9YQ E?yzJKC)z ;Iz;izm4Y  -dAg15FNOT Ignoring new targets: 111.23 m.g=Ag=AM ProNav: ac range: 111.225044 m, nav range: 108.667725 m, bearing: 316.604277 deg, approach rate: -0.518018 m/s, LOS rate: -0.068741 deg/s, cmd heading: 336.428044 deg, new cmd heading: 336.372593 deg. gMUHeadingCmd: 5.870809 target range: 111.225044 and range: 111.90 m.gUݻ@gQgQggzfrf f9f9BdIdIdqccP@qɢ >lB *= I?I N;ɡiI^{~Bu ǍCBu VIBu oBBu =Bq Bu ]DBu [;Bu *"E >A [=A1 IA IQ N] >:c,jm%*Aɰ ";D.qD.^D.&D,E.2h: E.;96E.4:E,"E.;!6E.;!6*E.;!6E.;!:HyR ϶@ٱR`̽@R(Rk=RH}?`ͯ?zTſտ@?|?m??t?IR ϶@)RZz_;iRCUnB9UIEMb@Mb@Mb@ A)AIAiAAEK7?sh|?y&1E ?EE`eIEhEAiEKAE]AA)AEGIABDe6De5Yu| >!u3=ud_y9y9}DY}C A>Q 1m4٪f?Q 5m4NJ TUB9g ?Q A:YYQ E?yKC):IA:im4YՓB$cAգEgFNOT Ignoring new targets: 111.23 m.g!g! ProNav: ac range: 111.225044 m, nav range: 108.428734 m, bearing: 316.571743 deg, approach rate: -0.522676 m/s, LOS rate: -0.071310 deg/s, cmd heading: 336.372583 deg, new cmd heading: 336.307370 deg. gHeadingCmd: 5.869671 target range: 111.225044 and range: 111.90 m.gXԻ@ggggzfrfffBBdddcc @ɢ-@lB-ȾO= )5u(?I1 5o;ɡ1i1I5pA{=!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518700A I I1 N= >Ac,4%*AyJɶ@ٱJƽ@J"Jg=JH?[?֎Ŀ &տ@?n)?T-?q? ?IJɶ@)J:_;iHVoB9V IBD^"6D^m5Yfn>!fk=f@A5b$=A ԁ I I N >*Gc,%*Ay>ƶ@ٱ>]ý@>T >=>H?5?ÿտR?А?;N?A?l?I>ƶ@)>N_;i>CbFoB9b&IaMb@Mb@Mb@ )Iish|?? ףp= I + ?Q9ICAi|IAXA5A) GABD*BDAT read: Rx Time:16:09:25.1025 TRx dataTimestamp_ set to:1755878964.526866checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0239246D 5Y=!:=99DY҂CŀA>Q 1m4٪Ӆ?Q 5m4H UB9 ?Q A:YQ E?yKC)r;I;i4m4Y ǓB $aA ߣEg)5FNOT Ignoring new targets: 111.23 m.g=g=M ProNav: ac range: 111.225044 m, nav range: 108.014870 m, bearing: 316.516716 deg, approach rate: -0.528925 m/s, LOS rate: -0.069048 deg/s, cmd heading: 336.257589 deg, new cmd heading: 336.197108 deg. gMMHeadingCmd: 5.867746 target range: 111.225044 and range: 111.90 m.gUĻ@gQgQgQgQzfQrfYfYf]BBdYdadacacewa @vBi>~BōCBIBoBB =BIDB\DB[;B!EɢElBm^= 页/@?I a;ɡiI ZA) u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274975 A] yAIa Iy N >TMc,-7%*A i y>1Ķ@ٱ>@>>=>H?E?¿տ??r?!?౤?I>1Ķ@)>`;i>CFfoB9J9IHiJABDR!6DR5YZd=!Z_=Z^ H?9^ H?9^DY^CbU Ab>dQ 1jm4٪fY⅊?Q 5jm4f fUB9hYjQ Ej?yf)LC)fh:If`:ifm4Ypr`ApB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 111.23 m.g g 5 ProNav: ac range: 111.225044 m, nav range: 107.821167 m, bearing: 316.491394 deg, approach rate: -0.527530 m/s, LOS rate: -0.069085 deg/s, cmd heading: 336.197101 deg, new cmd heading: 336.146367 deg. ԹgHeadingCmd: 5.866861 target range: 111.225044 and range: 111.90 m.gS@ggggzfrfffBdddcc @ɢEHlBEz= AEG?II Mh;ɡIiIIM4PAu =D rD WD (D E k: E 96E c44:E ! @! @! @! @9 A AI I N > BDAT read: Tx time:16:09:26.3019 $Ping request sent.-K?9UK?9]DY](Ce Am>Q 1m4٪W?Q 5m4r UB91Y5Q E=?yoLC)x~BBIBLpBB =BB[DB9[;B!Eԙ >A =D D ]D 'D E  E 96E '4:E "E ;! E ;! *E  ;! E  ;! A)I1IANU>e[c,po%*Ay6`@ٱ6@6o6OF=86H ??w%ֿ?H?J?@%? ?I6`@)6!`;i6CBoB9BfI=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991MMb@Mb@Mb@ I)IIIiIIMK7?zGếS㥛M ?M ׽M/ݼIM@AiM GAMTAI)IMQDABDe6De45Yu-D=!}A=}zy99DYRCA>Q 1n4٪?Q 5n4k UB9 ?Q A:Y Q E?yLC):I:if n4Yw_AgFNOT Ignoring new targets: 109.13 m.gbgb ProNav: ac range: 109.132050 m, nav range: 107.511871 m, bearing: 316.517700 deg, approach rate: -0.573721 m/s, LOS rate: -0.065737 deg/s, cmd heading: 336.073530 deg, new cmd heading: 336.024841 deg. g𺝅HeadingCmd: 5.864740 target range: 109.132050 and range: 109.80 m.g@ggggzfrfffBBdddcc)?ɢ-NlB5= 15W?I1 5;ɡ1i9I=ׇ:־iE"A rA ?jA ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755262 A yAI! I1 NE >Hbc,%*Ay:@ٱ:@: ケ:=:H??U>ֿ#?s?Ͻ?@u?M?I:@): _;i:C^oB9bIf4=f>lBDr$6DrX5Y- >!-P=5`= H?9= H?9=DYEyCEXAM>QQ 1n4٪U?Q 5n4Ue UUB9Y] Q E?yULC)U;IU;iU<n4YēBm^AEgFNOT Ignoring new targets: 109.13 m.ggDUxDU`DU)DQEUˀ: EU96EUFA4:EQ!e@!e@!e@!e@ ProNav: ac range: 109.132050 m, nav range: 107.299789 m, bearing: 316.493488 deg, approach rate: -0.521883 m/s, LOS rate: -0.059699 deg/s, cmd heading: 336.024844 deg, new cmd heading: 335.976323 deg. gںHeadingCmd: 5.863893 target range: 109.132050 and range: 109.80 m.g@ggggzfrfffBdddcc%O?ɢRlBu= f?I 7;ɡiI10> ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007901i9/9>Ab$=a A AI I N5 >i ?I \? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259216hshc,q%*AvBRe>~BPBRIBRpBBPBPBPBRZ;BR!Ey^_@ٱ^@^ཹ^L=^H?7?@l +Zֿ ?`b??@穣?@?I^_@)^t_;i^CjpB9jI9]Mb@Mb@Mb@ Y)YIYiYY]Q?y&1S㥛]?]`YI]>Ai]hEA]PAY)Y]BAqiua=BDu6Du 5Y|=!E=K?9K?9DYCmA>Q 1n4٪%?Q 5n4 UB9 ?Q A:Y4Q E?yMC):I:i%n4Y]AgY]FNOT Ignoring new targets: 109.13 m.ge›ge› ProNav: ac range: 109.132050 m, nav range: 107.078278 m, bearing: 316.469948 deg, approach rate: -0.529066 m/s, LOS rate: -0.056339 deg/s, cmd heading: 335.976322 deg, new cmd heading: 335.929145 deg. g6κHeadingCmd: 5.863070 target range: 109.132050 and range: 109.80 m.gD@ggggzfrfff~BBdddccm?ɢUlB5= n?I! % <ɡ!i!I%X&Aff= A I I N) nc,J%*AFpB9IBD-'6D-5Y=j>!=O=EQ)E>A9A9MDYM̃CMAM>QQ 1]n4٪U5?Q 5]n4U UUB9YYaQ Ee?yUOMC)Uu:IU;iUt3n4Ym“Bm\AiB*** querying acoustic contact ***zhhgԙFNOT Ignoring new targets: 109.13 m.gg ProNav: ac range: 109.132050 m, nav range: 106.866936 m, bearing: 316.447396 deg, approach rate: -0.558365 m/s, LOS rate: -0.059699 deg/s, cmd heading: 335.929139 deg, new cmd heading: 335.883947 deg. gںHeadingCmd: 5.862281 target range: 109.132050 and range: 109.80 m.gΗ@ggggzfrfffBdddccK?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763215ɢYlBȡ= F{?I  <ɡiIAb$=bAiAZA)i m Au checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015764A I ! I) N1 ̄uc,%׍%*AyF3{@ٱFx@FD;ĽF3!=FHL? Eo?wֿm?&i}?"??IF3{@)F^;iFCZWpB9^IhijAir=IpBDe 6De5Y(=! C==Q)>!9)9-DY5C]zAe>Q 1n4٪}F?Q 5n4 UB9YQ E?yMC):I:i&Cn4Y\AgFNOT Ignoring new targets: 109.13 m.gg- ProNav: ac range: 109.132050 m, nav range: 106.625893 m, bearing: 316.421970 deg, approach rate: -0.531961 m/s, LOS rate: -0.056240 deg/s, cmd heading: 335.883951 deg, new cmd heading: 335.832984 deg. gMͺUHeadingCmd: 5.861392 target range: 109.132050 and range: 109.80 m.gU@gQgQgYgYzfYrfYfYfaBdadadacacmA@ɢ]lB= ~?I ݜ$<ɡiIzy~BčCBIBpBBBBBZ;Bk!EBeōCBeōCBeƔCBe =Be =BeJ<6Q>A i=D= {D9 D= $D9 E= =: E9 6E= 4:E9 "E= ;!U E= ;!U *E= ;!U E= ;!U y A I! I9 NE >{c,%*Ay6p@ٱ6#n@6ᵽ6= =6H@??¸2ֿ@?ut? ?`}?I6p@)6F_;i6CjpB9jI5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518977eMb@Mb@Mb@ a)aIaiaaeuV?T㥛 ~jter?eeļIaieCAeKAa)ae@AIu@A)qBD}-6D}| 5YK=!N=99DYC\A>Q 1n4٪T?Q 5n4 UB9W ?Q A:YQ E?yMC)T;I;iOn4YB[AEgFNOT Ignoring new targets: 109.13 m.gTcgTc ProNav: ac range: 109.132050 m, nav range: 106.427742 m, bearing: 316.403989 deg, approach rate: -0.546520 m/s, LOS rate: -0.049687 deg/s, cmd heading: 335.832998 deg, new cmd heading: 335.796968 deg. gݵHeadingCmd: 5.860763 target range: 109.132050 and range: 109.80 m.g^@ggaggzfrfffBBdddcc@ɢ`lB%aV= !%-?I! -`1<ɡ)i)I-, A=AI IY Ii Nu > ȇc, %*Ayfb@ٱfW_@fY&f> =fH? =?@+ֿ@?ι}?@J?(?Ifb@)fGU`;ifCzpB9~IBD-(6D-05YE=!EP=MQ9a9mDYmGCuAu>yQ 1n4٪}c?Q 5n4}; }UB9YiQ E?y}MC)}X;I}f;i}]n4Y9[ABE-4JE-4RE0DpDD'DEd: E6E'4:E!@!@!@!@gIuFNOT Ignoring new targets: 109.13 m.gu}Ugu}U ProNav: ac range: 109.132050 m, nav range: 106.212692 m, bearing: 316.384606 deg, approach rate: -0.516657 m/s, LOS rate: -0.046662 deg/s, cmd heading: 335.796961 deg, new cmd heading: 335.758117 deg. gʪHeadingCmd: 5.860085 target range: 109.132050 and range: 109.80 m.gЅ@ggggzfrfffBdddcc@$ @ɢelBV = 顕ى?I ?<ɡiIAM [=A yAI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274875ްc,s$%*AvB6^>~B4B6DIB6qBB6 =B4B6ZDB6Y;B6!EyJT@ٱJQ@J J!=JH ?(? Dֿo?r H?9 H?9DYqCA>Q 1n4٪ls?Q 5n4 UB9 ?Q A:Y&Q E?y3NC)E:I:idln4YBZAEgFNOT Ignoring new targets: 109.13 m.g%fZg%fZ5 ProNav: ac range: 109.132050 m, nav range: 105.988983 m, bearing: 316.365686 deg, approach rate: -0.563237 m/s, LOS rate: -0.047735 deg/s, cmd heading: 335.758111 deg, new cmd heading: 335.720192 deg. g5=HeadingCmd: 5.859423 target range: 109.132050 and range: 109.80 m.g=d@g9g9g9g9zfArfAfAfEyBBdIdIdIcIcUe @ɢ}ilB}Q!= y顅?I M<ɡiI;Ijؾi]>@] A>]@ ] AiYYI],P?!Pa?:,?]c?] ]Z)] AiYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>AW^=ԩ i ~CA] AIi Iy N >I G) I i  Aێc,R>%*Ay6G@ٱ6nD@6p6!=6H`?@-? ;׿?n?@+?u?I6G@)65H`;i4<NqB9R7ITiVp=BDZ06DZ 5Yb=!b\=bՕfK?9fK?9fDYfCj&Aj>lQ 1rn4٪nk?Q 5rn4n nVB9pYrQ Ev?yngNC)n;In:in^yn4YzBzYAzEhh3%*AhBhBh5@h܆nVCX@'VB?pD+@h&MU?2w TֿOZ_|?hZh AiԙS@LQc^3@hsx,T? zJ%˫M?hwhBheC2?hO!hB*iM?2i:iiB"i@ addTargetRange:: Added new target pos. range: 107.699997 m, deltaT: 3.779842 s, deltaX: -2.100006 m, approachRate: -0.555580 m/s, rangeRepo size: 4  Added new target pos. range: 107.042358 m, bearing: 317.813976 deg, lat: 36.779414 deg, lon: -121.859667 deg, deltaT: 3.779842 s, deltaX: -2.089691 m, approachRate: -0.552851 m/s, posRepo size: 4 gFNOT Ignoring new targets: 107.04 m.gg ProNav: ac range: 107.042358 m, nav range: 105.867416 m, bearing: 316.389337 deg, approach rate: 0.000000 m/s, LOS rate: -0.047735 deg/s, cmd heading: 335.720190 deg, new cmd heading: 335.684388 deg. gHeadingCmd: 5.858798 target range: 107.042358 and range: 107.70 m.gF{@ggggzfrfffBdddcZ@c]?ɢmmlB(DAT read: user:62> BDAT read: Tx time:16:09:30.1019 $Ping request sent.A- Pڀ= u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251684A] yAIa Iq N >8ŕc,3X%*Ay68@ٱ66@6|6Q!=6H`? ?\y׿?Px ?`? ?I68@)6_;i4BqB9FDIpBDv+6Dv 5Y~J=!~G=~ H?9 H?9 DY CA%>9Q 1Mn4٪=?Q 5Un4= =VB9aYeQ Em?y=NC)=;I=~;i=n4YB-YAEB*** querying acoustic contact ***zhhg9EFNOT Ignoring new targets: 107.04 m.gCgC ProNav: ac range: 107.042358 m, nav range: 105.642952 m, bearing: 316.370717 deg, approach rate: -0.512949 m/s, LOS rate: -0.042640 deg/s, cmd heading: 335.684400 deg, new cmd heading: 335.647082 deg. g%HeadingCmd: 5.858147 target range: 107.042358 and range: 107.70 m.g%u@g!g!g!g)zf9rfAfAfABdAddcc?ɢrlBX= ?I n<ɡiI];I-پi-R=~BeÍCBeiIBeUqBBaBaBaBe8Y;Be E1>A =bA ZA jAi D uD WD +D E v: E 96E [4:E "E ";! E $;! *E W:! E X:!] A I I) N5 >_c,%s%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754769i,yB,@ٱB)@B>aBx_!=BH? ? 0ðw7׿?$=$?@"?E?IB,@)B]_;iBCJ=qB9J[IMb@Mb@Mb@ )Ii~jt?Pn:v?TI;AihEA)f>ABD56D55YEP=!E9=EzzI9I9MDYMCSA>Q 1n4٪硆?Q 5n4ȹ  VB9?Q A:Y[Q E?yNC){:I:in4Y)-XA)gquFNOT Ignoring new targets: 107.04 m.g}Jg}J ProNav: ac range: 107.042358 m, nav range: 105.401672 m, bearing: 316.351323 deg, approach rate: -0.548207 m/s, LOS rate: -0.044166 deg/s, cmd heading: 335.647080 deg, new cmd heading: 335.608203 deg. gHeadingCmd: 5.857468 target range: 107.042358 and range: 107.70 m.ԁgap@ggggzfrfffBBdddcc?ɢwlB =  ?I  <ɡiIP2;Iپi)i4Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006647>A \|= A- AIA IY Ne >Pc,荎%*AD&pD&^D&'D$E&d: E&;96E&'4:E$!*@!*@!*@!*@\yb$@ٱb"@bsEb}u$=bH@?,? q.H׿`?R`?)??Ib$@)bz_;i`jaqB9jqIIrAA)r@ABDv6Dv]5Y~+=!~N=~ًK?9K?9DYC &A >Q 1n4٪ï?Q 5n4׼  VB9YQ E%?yOC);I@;in4Y)-XA)gQUFNOT Ignoring new targets: 107.04 m.g]pFg]pFm ProNav: ac range: 107.042358 m, nav range: 105.202377 m, bearing: 316.335336 deg, approach rate: -0.539656 m/s, LOS rate: -0.043372 deg/s, cmd heading: 335.608202 deg, new cmd heading: 335.576168 deg. gmuHeadingCmd: 5.856909 target range: 107.042358 and range: 107.70 m.guk@gqgqgqgqzfyrfyfyfBdddcc&O?ɢ{lB= 页?I \ <ɡiIr;I@ھi"A=Pz=A I I N >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510716vBi ~Bi Bm IBm qBBi Bi Bi Bm UX;Bm T Elc,v%*AyJ@ٱJP@J)J@6%=JH^?X=?zAV׿ ?@c2?Р?`Q?IJ@)J\_;iJCVqB9VI5Mb@Mb@Mb@ 1)1I1i115'1Z?X9vy&1|5?55`I5:Ai15$BA5+9A)15=ABDM#6DM5Yer=!eF=ei9i9mDYm>CmAu>qQ 1n4٪u¾?Q 5n4u uVB9?Q A :Y eQ E ?yuKOC)u@AA rAM ?jAM >ԡ Aq Iy I N >c,&Ž%*Aɰ4T9T9VDYVfCZ`AZ>\Q 1bn4٪^̆?Q 5bn4^: ^VB9`YbQ Ef?y^OC)^;I^;i^1n4YhjVAhg|~FNOT Ignoring new targets: 107.04 m.giQgiQ ProNav: ac range: 107.042358 m, nav range: 104.784157 m, bearing: 316.300649 deg, approach rate: -0.552154 m/s, LOS rate: -0.045770 deg/s, cmd heading: 335.540365 deg, new cmd heading: 335.506640 deg. gHeadingCmd: 5.855696 target range: 107.042358 and range: 107.70 m.ga@ggg!gzf!rf)f)f)Bd)d1d1c1c5@8@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014796ɢmlBmȱ= iuG?Iq u`<ɡqiqIuѐ;I}ھiA(z= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267334AI IQ Ia Nm >ԩ Bc,;ێ%*Ayf @ٱ @Y鼹&=H@b?@e?@3y׿?5*?`դ?`?If @) >_;iC]qB9eIiԡBD-6D| 5Y;H=!9=n 9 9DYC%A->AQ 1Mn4٪EJ݆?Q 5Mn4E EVB9QYUQ EU?yEOC)E;IE;iEn4Y]B]\VAaB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 107.04 m.g =g = ProNav: ac range: 107.042358 m, nav range: 104.549706 m, bearing: 316.281272 deg, approach rate: -0.501284 m/s, LOS rate: -0.041523 deg/s, cmd heading: 335.506651 deg, new cmd heading: 335.467811 deg. g%%HeadingCmd: 5.855018 target range: 107.042358 and range: 107.70 m.g%N\@g!g)g)g)zf)rf)f1f1Bd1d1d9c9c= @ɢelBe= imA?Ii m<ɡqiqIu;Iu8۾i}Ǘ~BBIBqBBBBBW;B Ei!!)))>AM | u=DU tDU XDU 'DQ EU s: EU 96EU '4:EQ "EU ;!e EU ;!e *EU :!e EU :!m  A I I N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770685oȼc,%*Ay64@ٱ6@6:6f$=6H`?w?S׿ Z?UP~??`m?I64@)6_;i6C^qB9^IMb@Mb@Mb@ )Ii'1Z?q= ףpI +94I9Ai@A@A9A)G=ABD*6D 5Y=!N=99DYC"A>Q 1n4٪w놊?Q 5n4 VB9?Q A:YQ E?yOC);I;in4YUAg  FNOT Ignoring new targets: 107.04 m.gcgc% ProNav: ac range: 107.042358 m, nav range: 104.349106 m, bearing: 316.262801 deg, approach rate: -0.539144 m/s, LOS rate: -0.049738 deg/s, cmd heading: 335.467801 deg, new cmd heading: 335.430789 deg. g% -HeadingCmd: 5.854372 target range: 107.042358 and range: 107.70 m.g-W@g)g)g)g1zf1rf1f9f=BBd9d9dAcAcE@@ɢmlBm= qu?Iq u <ɡqiyI}e;I}z۾iejA%Pz=bA1ZA1aIy I N >y D] oD] \D] (DY E] `: E] 96E] c44:EY !e @!e @!e @!m @c,3%*Ay:@ٱ:1@:]:,%=:Hν?@?`=׿`}?B5`v+??Q?I:@):^;i:CB rB9BIlilBDv#6Dv5Yz=!~U=~99DYC @.A > Q 1n4٪ s?Q 5n4  VB9YQ E?y $PC) :I :i n4Y%B-6UA-EgIUFNOT Ignoring new targets: 107.04 m.gUYgUYm ProNav: ac range: 107.042358 m, nav range: 104.151077 m, bearing: 316.244612 deg, approach rate: -0.517695 m/s, LOS rate: -0.047642 deg/s, cmd heading: 335.430781 deg, new cmd heading: 335.394334 deg. gmamHeadingCmd: 5.853735 target range: 107.042358 and range: 107.70 m.guQ@gqgqgqgqzfqrfqfyfyBdydydccv @ɢlBr= 页?I ֨<ɡiIJ;I۾iA| u=ԙI I N > DAT read: 16:09:32.6472 LVL= 28464, 28017, 20578, 30451, AGC= 61, IDX= 418,-0.46, 1.202,-0.140, 2.118, 1.448, PHS=-0.144,-1.543, 0.626, RAW= 170.5, 11.1, CAL= 170.5, 12.9, ROT= 339.5, -12.9  Ygot valid direction response: 16:09:32.6472 LVL= 28464, 28017, 20578, 30451, AGC= 61, IDX= 418,-0.46, 1.202,-0.140, 2.118, 1.448, PHS=-0.144,-1.543, 0.626, RAW= 170.5, 11.1, CAL= 170.5, 12.9, ROT= 339.5, -12.9 vB ~B B IB qBB B B B W;B EBÍCBÍCBʓCB =B =B4 PDAT read: Bearing 152.8, -17.9 (Local)  ~Local bearing/azimuth received: Bearing 152.8, -17.9 (Local)  DAT read: Range 11 to 50 : 105.9 m (Round-trip 141.2 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.913032,-0.341369,0.223250] Fpublishing direction and range info9 |4!7?&C=տNu? B i 0o qm bP v = t) ſI A ?i Is>@ aF> Is>@ f> ќ@ fi I q< ?Ek9?:GO? [a? 5#G 0) fi % T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode. c,R)%*Ay@ٱ@#=H$?>?׿ ?!:` :?qr??I@)^;iC%rB9%IԱDpDZD&DEd: Ea96E4:E"Ev;!%Ex;!%*E;!-E;!-MMb@Mb@Mb@ I)IIIiIIM r?|?5^{GzM?MҽM#IIiM?AM>AMn99DYC˺A>Q 1n4٪ ?Q 5n4z  VB99?Q A:YBQ E?yfPC):I:in4YBTAEhh%%*AhBhBh7@h7[X@F Ak7@h|4!7?&C=տNu?h0hfiEѬR@ jQ*"L6@h`&?-1hvt?hPhBh:r埊?hhB*i2i:iBiB"i@u addTargetRange:: Added new target pos. range: 105.900002 m, deltaT: 3.779779 s, deltaX: -1.799995 m, approachRate: -0.476217 m/s, rangeRepo size: 4  Added new target pos. range: 105.252983 m, bearing: 317.302791 deg, lat: 36.779414 deg, lon: -121.859667 deg, deltaT: 3.779779 s, deltaX: -1.789375 m, approachRate: -0.473407 m/s, posRepo size: 4 gFNOT Ignoring new targets: 105.25 m.gg ProNav: ac range: 105.252983 m, nav range: 103.898308 m, bearing: 316.218026 deg, approach rate: 0.000000 m/s, LOS rate: -0.047642 deg/s, cmd heading: 335.394335 deg, new cmd heading: 335.346395 deg. gHeadingCmd: 5.852899 target range: 105.252983 and range: 105.90 m.gJ@ggggzfrfffBBdddcyZ@c o?ɢelBm= im?Ii m ?<ɡiiqIu+;IuNܾi}%  BDAT read: Tx time:16:09:33.8519  $Ping request sent. AY I I N >9 c,-C%*Ay6@ٱ6d@6U6%"=6H@??? ƴ׿ෳ?`3j?@C??I6@)6 ^;i6CBrB9BIBDJ"6DJm5Yr<!r=r?ɢlB > 顭5?I <ɡiI;Iܾi>mAuHu=IIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826i c,]%*A ɰ.4<,yR@ٱR@R;;R> =RH@ն??H׿?#`zg|??IR@)R^;iRC~rB9IBD%6D5Y%>!-7=u ]99DYcCA>Q 1o4٪,(?Q 5o4E UB9YQ E?yPC);I;io4YTAB*** querying acoustic contact ***zhhg)-FNOT Ignoring new targets: 105.25 m.g5/sg5/sE ProNav: ac range: 105.252983 m, nav range: 103.501556 m, bearing: 316.176392 deg, approach rate: -0.505495 m/s, LOS rate: -0.053153 deg/s, cmd heading: 335.312674 deg, new cmd heading: 335.262944 deg. gEºMHeadingCmd: 5.851442 target range: 105.252983 and range: 105.90 m.gM?@qgIgggzfrfffBdddcc`k?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755034AAvB~BBIB rBBBBBV;BpEɢlBJ[= ?I fE<ɡiI E:Ir ݾi'Hi/ԡD5 D5 YD1 D1 E5 ~: E5 *96E1 :E1 "E5 {;!= E5 |;!= *E5 :!E E5 :!E >A r=II IY Nm >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006799Rc,Cv%*Ay6?޵@ٱ6ۼ@6i5<6k=6H`??.Hy׿?!&̣?@?I6?޵@)6p^;i6CPjQrB9jI]Mb@Mb@Mb@ Y)YIYiYY]#~j? ףp= I +]?]Q]94IYiY]n!U=99DYCHA>Q 1o4٪D6?Q 5o4 UB9?Q A:Y Q E?yPC) :I:i$o4YBSAEgI}݈G)SkAIiʸSkAީAFNOT Ignoring new targets: 105.25 m.gڐgڐ ProNav: ac range: 105.252983 m, nav range: 103.309731 m, bearing: 316.153275 deg, approach rate: -0.524478 m/s, LOS rate: -0.063320 deg/s, cmd heading: 335.262950 deg, new cmd heading: 335.216632 deg. g纝 HeadingCmd: 5.850634 target range: 105.252983 and range: 105.90 m.g-e8@g)g1g1g1zf1rf1f9f=(BBd9d9d9cAcE?ɢlB> 页?I N<ɡiI58:I\wݾiI}=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259098>A% w=) D= wD= _D= 'D9 E= }: E= r96E= '4:E9 !M @!M @!M @!M @Au yAIy I N >c"c,2W%*Ay6ӵ@ٱ6gм@6k<6 =6H`v??O`G׿@?@zty@?!?I6ӵ@)6m^;i6CBMrB9BIBDJ!6DJ5YR%!RU=RlV H?9V H?9VDYVCVhAZ>X\Q 1bo4٪^D?Q 5bo4^ ^UB9dYff Q Ef?y^3QC)^:I^:i^]2o4YQUSAQgy}FNOT Ignoring new targets: 105.25 m.gygy ProNav: ac range: 105.252983 m, nav range: 103.110435 m, bearing: 316.129330 deg, approach rate: -0.502826 m/s, LOS rate: -0.060531 deg/s, cmd heading: 335.216641 deg, new cmd heading: 335.168658 deg. gݺHeadingCmd: 5.849797 target range: 105.252983 and range: 105.90 m.g1@ggggzfrfffBdddccU?ɢ=lB=> 9=ϲ?I9 E<ɡAiAIEa:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511156IݾiAr=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763349vBQ ~BQ BU IBU *rBBU =BQ BQ BU U;BU )Ei A AI I N >6Ic,}$%*A,i,yn@͵@ٱnʼ@nOA9A?A)K?9K?9DY܆C ԺA>Q 1o4٪PU?Q 5o4 UB9s?Q A:YQ E?ynQC)X ;I ;iAo4YB6SAEg FNOT Ignoring new targets: 105.25 m.gg ProNav: ac range: 105.252983 m, nav range: 102.885521 m, bearing: 316.103052 deg, approach rate: -0.532893 m/s, LOS rate: -0.062398 deg/s, cmd heading: 335.168666 deg, new cmd heading: 335.115994 deg. gc亝HeadingCmd: 5.848877 target range: 105.252983 and range: 105.90 m.g*@DoDaD*DE`: E96E(N4:E"ET;!EU;!*E;!E;!ggggzfrfff0BBdddcc;l@ɢMlBMR= IU?IQ U<ɡQiQIU! S:I]]޾i]l<AA Թ A I I N >K/c,ď%*Ay>õ@ٱ>@>s <>T=>H ?@?7?`ؿ?`!C@`ǣ?0?I>õ@)>^;i>CfxrB9fIIl)n@ABDr'6Dr5Yv =!vX=z3rx9|9~DY~Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004 JA >Q 1o4٪c?Q 5%o4 UB9!Y%cQ E%?yQC)'!;Ie";iNo4Y)-SA1gQ]FNOT Ignoring new targets: 105.25 m.g]g]m ProNav: ac range: 105.252983 m, nav range: 102.690651 m, bearing: 316.080327 deg, approach rate: -0.512960 m/s, LOS rate: -0.059934 deg/s, cmd heading: 335.115992 deg, new cmd heading: 335.070455 deg. gm^ۺuHeadingCmd: 5.848083 target range: 105.252983 and range: 105.90 m.gu~#@gqgygygyzfyrfyffBdddcc`PM@ԙɢlBx > p?I .<ɡiI:I޾iѝAw=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518834A! I) IA NM > Yc,ޏ%*AyFƽ@ٱF@FDQ9Y9eDYe,CuAu>AQ 1}o4٪Et?Q 5o4E EUB9YQ E?yEQC)EV~BBBBBBBU;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770965ɡi)I-,G9I5T?߾i5AE r=ԁ  BDAT read: Rx Time:16:09:36.3945  TRx dataTimestamp_ set to:1755878975.867709 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025210Aq Iy I N >yc,EI%*Aɰ;yj3@ٱj@jy8=jF#=jHb?-?`%?Uؿ?멿`c??Ij3@)jp^;ijCrrB9r1IMb@Mb@Mb@ )Iiv/?K{Gzx ?^#I:Ai?A+9A)99DYXC A> Q 1Mo4٪ƒ?Q 5Mo4  UB9Ut ?Q AU:YU Q EU?yRC)h ɸ?I ''=ɡiI$IN߾i=Aw=bAZAhAA5 yAIY ԑ D D XD (D E 7: E 96E c44:E ! @! @! @! @II N > d,%*AyJ@ٱJ@J)=J'=JH5? P9?@u?wؿ#?c`q6??IJ@)Jُ^;iJCVyrB9VIBD^'6D^5Yf!fW=jYXj H?9j H?9nDYn~CnܽAn>pQ 1zo4٪r?Q 5zo4r rUB9xYz Q Ez?yrIRC)r;Ir ;iryo4Y~BRAg!-FNOT Ignoring new targets: 105.25 m.g-g5= ProNav: ac range: 105.252983 m, nav range: 102.048225 m, bearing: 316.003349 deg, approach rate: -0.548666 m/s, LOS rate: -0.066871 deg/s, cmd heading: 334.965318 deg, new cmd heading: 334.916170 deg. g=EHeadingCmd: 5.845390 target range: 105.252983 and range: 105.90 m.gEo @gAgIgIgIzfIrfIfQfQBdQdQdYcYc]@ɢlB > 額س?I ia=ɡiI:I&iڟ>@V>ֽ@ ViIX&&?J[?"`?+^?Da )ViT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q>AHu=ԁA AI! I1 N= >vBa ~Ba Ba Ba Ba Ba Ba Be JU;Be E (DAT read: user:64>  BDAT read: Tx time:16:09:37.7019  $Ping request sent. eK?9eK?9mDYmCm Am>qQ 1}o4٪uw?Q 5}o4u uUB9?Q A:YQ E?yuRC)u ;Iu ;iuio4YrRAh)h-)%*Ah-TBh-TBh-<@h-+)ebW@kAŃ :@h-z Hp?9<տQfJ0?h-􊝳h-Vi-NVR@? QE5@h-rD ?d]9<,.?h-܈h-Bh-\(?h-Ah-~B*i-:r埊?2i-:i-Bi-IB"i-@ addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 3.780308 s, deltaX: -2.099998 m, approachRate: -0.555510 m/s, rangeRepo size: 4  Added new target pos. range: 103.165924 m, bearing: 317.341329 deg, lat: 36.779418 deg, lon: -121.859642 deg, deltaT: 3.780308 s, deltaX: -2.087059 m, approachRate: -0.552087 m/s, posRepo size: 4 gFNOT Ignoring new targets: 103.17 m.gg ProNav: ac range: 103.165924 m, nav range: 100.643387 m, bearing: 317.083135 deg, approach rate: 0.000000 m/s, LOS rate: -0.066871 deg/s, cmd heading: 334.916168 deg, new cmd heading: 334.859457 deg. g HeadingCmd: 5.844400 target range: 103.165924 and range: 103.80 m.g S@g g ggDpD\D)DEd: E96EFA4:E"Ew;!-Ex;!-*E_ ;!-E_ ;!-ԑzfrfffZBBdddc@3Y@c=?ɢ lB> S?I  =ɡiI2?Ii%AM ?:v=rAU ?jAU ?IIQIaNu?Jd,lM%*Ai xrB9 IBD%6D5Y-8m!-#=5Q)5>19195DY=܇C=A=>AQ 1Mo4٪Ef?Q 5Mo4E EUB9IYQQ EU?yERC)ET;IEr;iEo4Y]B]zRA]EgFNOT Ignoring new targets: 103.17 m.g@tg@tD rD ^D %D E k: E ;96E  4:E !@!@!@!@- ProNav: ac range: 103.165924 m, nav range: 100.380920 m, bearing: 317.055935 deg, approach rate: -0.513778 m/s, LOS rate: -0.053385 deg/s, cmd heading: 334.859450 deg, new cmd heading: 334.804906 deg. g-fú5HeadingCmd: 5.843448 target range: 103.165924 and range: 103.80 m.g5@g1g1g1g1zf1rf9f9f9Bd9dAdAcAcE vm?ɢulBu= qun?Iy }!-=ɡyiyI})>I<%irA= w= IQ Iy N >5ld,g%*AvBX>~BBIBrBB =BBBU;BEBQBQBQBU =BU =BUl#56checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853PrB9$IMb@Mb@Mb@ )IiuV?RQMbr?½I;Ai?AV8ACA)=ABD6D5Y<!4=Q)>99DY CA>Q 1o4٪Ƈ?Q 5o4P UB9 ?Q A:Y:Q E?ySC):I:io4YLRAB*** querying acoustic contact ***zhhg%FNOT Ignoring new targets: 103.17 m.g%g%5 ProNav: ac range: 103.165924 m, nav range: 100.139923 m, bearing: 317.029969 deg, approach rate: -0.548512 m/s, LOS rate: -0.059240 deg/s, cmd heading: 334.804917 deg, new cmd heading: 334.752861 deg. g=غ=HeadingCmd: 5.842540 target range: 103.165924 and range: 103.80 m.g=@gAgAgAgAzfArfAfafe`BBdqdqdycyc}@W?ɢ%lB%,> !M?II Ub`=ɡQiQIUeI]Fi]RAA \|=bA ZA gAII!N5>MC!d,L%*Ay62@ٱ6@6Ըr=6}v'=6H?#w?{?Lؿ@o?ிR@??I62@)6k^;i6C>rrB9BIBDJ46DJ 5YR*!RO=RH=Q)R>T9T9VDYV2CVrAZ>Q 1%o4٪և?Q 5%o4l nUB9)Y-Q E-?y>SC):I_:io4Y5B=RA=EgFNOT Ignoring new targets: 103.17 m.g7g7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511009 ProNav: ac range: 103.165924 m, nav range: 99.923233 m, bearing: 317.006893 deg, approach rate: -0.525155 m/s, LOS rate: -0.056047 deg/s, cmd heading: 334.752871 deg, new cmd heading: 334.706619 deg. g%ͺHeadingCmd: 5.841733 target range: 103.165924 and range: 103.80 m.gy@ggggzfrfffBdddcc`*R?ɢlB > ?I =ɡiIZͺI i^A}=I1IANM>M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729 (i'd,@%*Ay>@ٱ>G@>N=>%=>HO?@&??.^ؿ>?@q'?@?I>@)>^;i>CF}rB9F IBDN76DN5YV<!VJ=Z"X9X9^DY^[C^JA^>`Q 1fo4٪b凊?Q 5fo4bi b\UB9hYjRQ Ej?ybuSC)b:Ib:ibo4YprXRApg)-FNOT Ignoring new targets: 103.17 m.g5 g5 m ProNav: ac range: 103.165924 m, nav range: 99.715500 m, bearing: 316.984838 deg, approach rate: -0.530205 m/s, LOS rate: -0.056409 deg/s, cmd heading: 334.706617 deg, new cmd heading: 334.662416 deg. guwκHeadingCmd: 5.840961 target range: 103.165924 and range: 103.80 m.g'@ggggzfrfffBdddcYce@@ɢmBڈ> 顭ʮ?I q =ɡiII:ki~BQBUIBUrBBQBQBQBUT;BUEi߭?I߭?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016024iAAAE4A)I >Am w=Du rDu [Du $Dq Eu k: Eu 96Eu 4:Eq "Eu ;! Eu ;! *Eu ;! Eu ;! I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266770I-d, %*Ay6i@ٱ6@6_ʼn=6(!=6Hg?ۛ?R ?ajؿ@M?կX5`v-??I6i@)6z^;i6CBwrB9BI~=iIG)lAI Mb@Mb@Mb@ )IiˡE?|?5^I +?ҽ94IiOAA7AGA) ?Ai=dElAE}AIiIBDM-6DM| 5Y]V!]1=ei9i9mDYmCmAm>qQ 1}o4٪u?Q 5}o4u uDUB9 ?Q A:YrQ E?yuSC)u ;Iu~ ;iuo4YBeRAEgFNOT Ignoring new targets: 103.17 m.gogo ProNav: ac range: 103.165924 m, nav range: 99.470749 m, bearing: 316.961075 deg, approach rate: -0.536775 m/s, LOS rate: -0.052243 deg/s, cmd heading: 334.662412 deg, new cmd heading: 334.614771 deg. g8HeadingCmd: 5.840129 target range: 103.165924 and range: 103.80 m.gW@ggggzfrfaffBBdddcc`.@ɢemBen> ae?Ia m%=ɡiiiImIu4iubAU w=rA] ?jA] ?Dq Du qDu 'Dq Eq  Eu $ :6Eu '4:Eq !} @!} @!} @!} @A I I N >$4d,Ӑ%*AyrPp@ٱrm@rs=r!o=rH`t?@n?˫?,ؿ{?^-h??IrPp@)rk^;irCzgrB9zIBD/6Dh 5Y%![=89!9%DY%C%&׻A%>)Q 15o4٪-?Q 55o4- -/UB99Y=Q E=?y-SC)-;I-;i-o4YAERAAgiuFNOT Ignoring new targets: 103.17 m.guigui ProNav: ac range: 103.165924 m, nav range: 99.272362 m, bearing: 316.942038 deg, approach rate: -0.531163 m/s, LOS rate: -0.051072 deg/s, cmd heading: 334.614765 deg, new cmd heading: 334.576614 deg. gﺺHeadingCmd: 5.839464 target range: 103.165924 and range: 103.80 m.gܺ@ggggzfrfffBdddcc@ɢmB> ?I A)=ɡiII~/iAMw= vB V>~B B IB qBB B B B T;B Ee BDAT read: Rx Time:16:09:40.2419 e TRx dataTimestamp_ set to:1755878979.646751m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023862A I I N >:d,?r%*APyb e@ٱbdb@bKɟ=bM=bH@}n?@[?7?`9ؿcw?W ? ?Ib e@)bb^;i`jJrB9jIlilMb@Mb@Mb@ )Ii#~j?:vMb?ԽIj99DYۈCTA>Q 1o4٪?Q 5o4< UB9?Q A:YQ E?y!TC)~ ;I; ;io4YB SA EB*** querying acoustic contact ***zhhg  FNOT Ignoring new targets: 103.17 m.gN^gN^% ProNav: ac range: 103.165924 m, nav range: 99.050667 m, bearing: 316.921502 deg, approach rate: -0.523351 m/s, LOS rate: -0.048589 deg/s, cmd heading: 334.576625 deg, new cmd heading: 334.535460 deg. g%ر-HeadingCmd: 5.838745 target range: 103.165924 and range: 103.80 m.g-׺@g)g)g)g1zf1rf1f9f=rBBd9d9d9cAcEUN @ɢm mBm^_> quD?Iq uм-=ɡqiqI}tI}i}Aur=! A I I N >gAd,T%*A|MDAT read: 16:09:40.2419 LVL= 25632, 32673, 20098, 32755, AGC= 64, IDX= 412,-0.23,-2.493, 2.455,-1.574,-2.174, PHS=-0.217,-1.609, 0.556, RAW= 170.6, 13.3, CAL= 170.9, 16.1, ROT= 339.1, -16.1 UYgot valid direction response: 16:09:40.2419 LVL= 25632, 32673, 20098, 32755, AGC= 64, IDX= 412,-0.23,-2.493, 2.455,-1.574,-2.174, PHS=-0.217,-1.609, 0.556, RAW= 170.6, 13.3, CAL= 170.9, 16.1, ROT= 339.1, -16.1 ]PDAT read: Bearing 155.9, -23.5 (Local) ]~Local bearing/azimuth received: Bearing 155.9, -23.5 (Local) mDAT read: Range 11 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.^direction in FSK: [0.897564,-0.342746,0.277315]Fpublishing direction and range info9Eظ?<ҒՍտ/?Bi dN@ ?5^)ͿIV?i>@,m>>@ޏ>c@ ޏiI? D?y. o?3b?m ú)ޏiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y5V@ٱ57T@5X=5'=5H@g?@Q? ?ؿxq?@A̴?m?I5V@)5n^;i1]5rB9]III)IBDU;6DU5Ye|<!e2=m;Q)m>i9i9mDYm CuvAu>yQ 1p4٪}%?Q 5p4)} }TB9AYE2Q EE?y}_TC)}D BDAT read: Tx time:16:09:41.4519 $Ping request sent.A ur=bA jAZA jAԱ AyAI!IINu?tId,'%*Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250620vB~Y>~B|B~IB~qBB~ =B|B|B~T;B~EQyLK@ٱH@v=5=Hr`? ?]?@ؿl?㰿 T?\?ILK@)?V^;i,rB9IMb@Mb@Mb@ )IiRQ?q= ףp~jtx?ĻI;=Ai5AGA)BD=6D5Y !%=2;Q)> H?9 H?9DY Q 1p4٪ 7?Q 5p4   TB9?Q A:Y'Q E?y TC) :I ;i p4Y%B-{SA)gIUFNOT Ignoring new targets: 101.28 m.gUCFgUCFm ProNav: ac range: 101.276405 m, nav range: 98.554283 m, bearing: 316.879831 deg, approach rate: -0.566163 m/s, LOS rate: -0.043334 deg/s, cmd heading: 334.486494 deg, new cmd heading: 334.447405 deg. gmmHeadingCmd: 5.837208 target range: 101.276405 and range: 101.90 m.guiʺ@gqgqgqgqzfqrfqfyf}bBBdyddccx?ɢ6mB\ > 页?I 37=ɡiIA#1IWi A &lm= A I I N >dPd,A%*AyVA@ٱVQ?@V$=VZ=VHZ??w?lؿh?XD.} f? ?IVA@)Vx^;iVCbrB9bIf=f<)d fABDj86Dj5Yr!ru=vmBԈ > 顥?I :=ɡiI@9Ii׏A8k=bDZD@ADlDTD&DEV: E96E4:E! @! @! @! @A I I N- >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006741fVd,[%*AyFS;@ٱF8@F`=Fv=FHU?`-?`ޱ?@ؿe?+cЙ? N?IFS;@)FV^;iFCRrB9RITiVR=BDZL6DZ5Ybq5!bL=fd9d9fDYjCjAj>lQ 1Up4٪nQ?Q 5]p4n nTB9YY]Q E]?ynUC)n@;In@;in,p4YmwBmSAmEgFNOT Ignoring new targets: 101.28 m.gt,gt, ProNav: ac range: 101.276405 m, nav range: 98.175919 m, bearing: 316.851139 deg, approach rate: -0.496709 m/s, LOS rate: -0.037693 deg/s, cmd heading: 334.421197 deg, new cmd heading: 334.389914 deg. gHeadingCmd: 5.836205 target range: 101.276405 and range: 101.90 m.g1º@ggggzfrfffBdddcc@Bb?ɢHmB> ,?I >=ɡiIAIi/~BBIB}qBB =BBBeT;BcEi94qԙ D qD mD )D E 2h: E :6E FA4:E "E ;! E ;! *E @G;! E @G;! >A h=rA ?jA ?AMAIQIaNu>"]d,y%*A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5107130y>0@ٱ>\-@>t=>U=>HAO?@C??ؿ`?`g%{??I>0@)>$m^;i<JrB9JIMb@Mb@Mb@ )Ii}?5^I?p= ףy&1|M?`I >AiBA7ALA)GAABD:6Dx5Y{^;! =;Q)>K?9K?9DYC,1A>Q 1p4٪mc?Q 5p4 TB9 ?Q A :Y W'Q E ?yGUC) ;I ;i>p4YSA5B*** querying acoustic contact ***zh1h1gAEFNOT Ignoring new targets: 101.28 m.gM)g) ProNav: ac range: 101.276405 m, nav range: 97.910789 m, bearing: 316.835662 deg, approach rate: -0.534580 m/s, LOS rate: -0.031290 deg/s, cmd heading: 334.389915 deg, new cmd heading: 334.358878 deg. geHeadingCmd: 5.835663 target range: 101.276405 and range: 101.90 m.g@ggggzfrfffBBdddcc7?ԁɢTmBL= 額Е?I C=ɡiIЯHI!iA9 Ai Iq I N >Kdd,9(%*ADvD\D$DEVz: E96E4:E!&@!&@!&@!&@8yN%@ٱN'#@Nh=N9=NH`H?`W?@pT?@?ٿ\?D@O??IN%@)NC^;iLZqB9ZI\i\i^=I^=BDfK6DfJ5Yn;!nX=n* p9p9rDYrCrmXAv>tQ 1zp4٪vp?Q 5~p4v  vTB9|Y~'Q E~?yvzUC)v;Iv;ivKp4YvBSA Eg)5FNOT Ignoring new targets: 101.28 m.g5 g= E ProNav: ac range: 101.276405 m, nav range: 97.714874 m, bearing: 316.824328 deg, approach rate: -0.520039 m/s, LOS rate: -0.030146 deg/s, cmd heading: 334.358879 deg, new cmd heading: 334.336165 deg. gM\MHeadingCmd: 5.835267 target range: 101.276405 and range: 101.90 m.gU@gQgQgQgQzfQrfQfYfYBdYdYdacace࣬@ɢ]mB H > 顕-?I *G=ɡiIOIUiuA 0f=) A!I)I9NM>_kd,%*AqB9ID]qD]YD]&DYE]2h: E]*96E]4:EY"EY!eEY!e*E]:!mE]:!mMb@Mb@Mb@ )Ii#~j?T㥛 ~jtx?ĻI?AiCA6AKA)pAAI)BA BDE=6DE5YUC$!]=]Q)]>a9a9eDYeCeAm>iQ 1up4٪m@?Q 5}p4mf mbTB9} ?Q A}:Y},$Q E}?ymUC)m<:Im:im]p4Y TAgFNOT Ignoring new targets: 101.28 m.gZ!gZ! ProNav: ac range: 101.276405 m, nav range: 97.440109 m, bearing: 316.806115 deg, approach rate: -0.530521 m/s, LOS rate: -0.035266 deg/s, cmd heading: 334.336175 deg, new cmd heading: 334.299646 deg. gHeadingCmd: 5.834630 target range: 101.276405 and range: 101.90 m.gI@ggggzfrfffBBdddccg@ɢjmB= ?I  K=ɡiIjXUI%i-7A% Qf=bA% iAZA! AQ Ia Iy ԑ N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771112rd,#ˑ%*AyJw@ٱJ@J~=JVz=JH>?`Q{?6F?@"ٿ h9h9nDYn8CnAn>pQ 1vp4٪r?Q 5vp4ra! rKTB9tYz$Q Ez?yrUC)rM;Ir;ir jp4Y|~TA|g!%FNOT Ignoring new targets: 101.28 m.g-Fg-F= ProNav: ac range: 101.276405 m, nav range: 97.252579 m, bearing: 316.793860 deg, approach rate: -0.531707 m/s, LOS rate: -0.034812 deg/s, cmd heading: 334.299647 deg, new cmd heading: 334.275091 deg. g=~EHeadingCmd: 5.834201 target range: 101.276405 and range: 101.90 m.gEƱ@gAgAgAgAzfIrfIfIfBdddcc @iɢtmB> ?I ?vO=ɡ i I RZIHi%Ȫa=)Ʊ@)BE Ğ4JE 4RE ij0DqDu\DqDqEq Eu96Eq:Eq!@!@!@!@i90ԙUBDAT read: Rx Time:16:09:43.9893 ]TRx dataTimestamp_ set to:1755878983.426746]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023828>A h=I I N > ]xd,%*AyJ@ٱJ/@J7=J =JH:?@?_?)ٿbQ?᳿ `?7?IJ@)Ji9^;iJCZqB9ZI^G>^=)` bABDf>6DfO5Yn)<!nJ=r;Q)r>p9p9rDYraCvAv>xQ 1 p4٪z?Q 5p4z$ z0TB9Y%$Q E%?yz(VC)z;Iz;izDxp4YMtBMLTAUEvBY~BYB]DIB]qBB] =BYBYB]"T;B]BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278238gFNOT Ignoring new targets: 101.28 m.g g - ProNav: ac range: 101.276405 m, nav range: 97.037834 m, bearing: 316.779849 deg, approach rate: -0.460414 m/s, LOS rate: -0.030107 deg/s, cmd heading: 334.275086 deg, new cmd heading: 334.247001 deg. g-e\UHeadingCmd: 5.833711 target range: 101.276405 and range: 101.90 m.gU­@gQgQgQgYzfYrfYfYfYBdadadacacmsf @ɢmB@= ̊?I GS=ɡiI^I!iJdA% Ba= DAT read: 16:09:43.9893 LVL= 23488, 32753, 21586, 32755, AGC= 64, IDX= 417, 0.34, 1.217,-0.161, 2.113, 1.534, PHS=-0.214,-1.650, 0.535, RAW= 169.7, 13.7, CAL= 170.1, 16.7, ROT= 339.9, -16.7  Ygot valid direction response: 16:09:43.9893 LVL= 23488, 32753, 21586, 32755, AGC= 64, IDX= 417, 0.34, 1.217,-0.161, 2.113, 1.534, PHS=-0.214,-1.650, 0.535, RAW= 169.7, 13.7, CAL= 170.1, 16.7, ROT= 339.9, -16.7  PDAT read: Bearing 156.1, -24.2 (Local)  ~Local bearing/azimuth received: Bearing 156.1, -24.2 (Local)  DAT read: Range 11 to 50 : 99.9 m (Round-trip 133.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.I- ^G)A IY i ɮA ^direction in FSK: [0.899486,-0.329165,0.287361] Fpublishing direction and range info9i m ?Ā~ տgd?m Bi im [m m RTi i m "[)m 33ӿIm ?im =@m Gt>m >@m ;>m ֽ@ m ;ii i Im A?W E?S]a?m ^?m A`u m )m ;ii i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I I N >Y 6,d,%*Aym @ٱm@m=m &=mH m6?@Ɩ?@i ?d5ٿ@qM?lcm?`$?Im @)m5r^;imCqB9I)MMb@Mb@Mb@ I)IIIiIIMK7A?rh|MbP?M ?MM:IIiMGAM7AMOA)IMCAYi]p=BDe=6De5YV!%=0~;Q)>99DYCA>Q 1p4٪?Q 5p4( TB9?Q A:Ys%Q E?ykVC)m;I!;ip4Y  TA hh%*AhBhBhB@h.9 SV@+aW@HR*<@h?Ā~ տgd?hh;in= dzQ@JC)PgA(!u1@h.f.?$Ӛ{k?hhBh>F?hhțB*i>F?2i:iiB"iv@% addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.780224 s, deltaX: -2.000000 m, approachRate: -0.529069 m/s, rangeRepo size: 4 m Added new target pos. range: 99.289543 m, bearing: 316.422500 deg, lat: 36.779421 deg, lon: -121.859642 deg, deltaT: 3.780224 s, deltaX: -1.986862 m, approachRate: -0.525594 m/s, posRepo size: 4 gq}DNOT Ignoring new targets: 99.29 m.gg(DAT read: user:66> BDAT read: Tx time:16:09:45.2519 $Ping request sent.A Pa=rA ?jA ?Թ I I N >wsd,%*A.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248546y:@ٱ:@:oL=:6*=:H3??/n? ;ٿJ?,㴿68??I:@):H^;i8FqB9FIBDNC6DN5YV+!Vv=Za;Q)Z?X9X9^DY^C^ڽA^?`Q 1fp4٪bm?Q 5fp4b+ bSB9dYf%Q Ej?ybVC)b~:Ib;ib-p4YnsBn UAnE~B*** querying acoustic contact ***zh|h|g DNOT Ignoring new targets: 99.29 m.g + g +  ProNav: ac range: 99.289543 m, nav range: 96.831032 m, bearing: 316.874916 deg, approach rate: -0.556864 m/s, LOS rate: -0.035007 deg/s, cmd heading: 334.219188 deg, new cmd heading: 334.197898 deg. g%"%HeadingCmd: 5.832854 target range: 99.289543 and range: 99.90 m.g%@g)g)g)g)zf)rf)ffBdddcc?ɢmB.} > ف?I Y=ɡiIeI֑i x~BčCBIBpBB =BBBT;B<E>Au<|^=I ! I! N5 >d,44%*Ay6@ٱ6@6=6#.=6H`.???Fٿ`;G?@Cif??I6@)6\^;i6CDFlDF\DF'DDEFV: EF96EF'4:ED"EFw;!JEFw;!J*EF_ ;!NEF_ ;!NRqB9RITiTiV=IVa=-Mb@Mb@Mb@ )))I)i))-T㥛 ?Q~jtx?-?--;I-OAAi))-QA))-QDABDN6D5Yے!:=m|;Q)>99DYCMA>Q 1 p4٪ʈ?Q 5 p45/ SB9?Q A:Y$Q E?yVC)6;Io7;ip4Y=`B=TA9gDNOT Ignoring new targets: 99.29 m.gjgj ProNav: ac range: 99.289543 m, nav range: 96.603668 m, bearing: 316.860209 deg, approach rate: -0.503670 m/s, LOS rate: -0.032657 deg/s, cmd heading: 334.197905 deg, new cmd heading: 334.168421 deg. goHeadingCmd: 5.832339 target range: 99.289543 and range: 99.90 m.g@ggggzfrfffBBdddcc+?ɢEmBEZ=Y}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753746 顕x?I f]=ɡiIBngIPi AM (a=ԩ I I N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005281,d,N%*Ay6(@ٱ6@6+=6/=6H+??`? Mٿ`D?@ռ@+̥?d?I6(@)6^<^;i6C@BwqB9FIIH)J@ABDNJ6DN5Yn!n[=rӑ;Q)r>p9p9vDYvCvúAv>xQ 1~p4٪z׈?Q 5~p4z72 zSB9Y%Q E?yzWC)z^;IzY;izp4Y RB TA  Eg15DNOT Ignoring new targets: 99.29 m.g=g=M ProNav: ac range: 99.289543 m, nav range: 96.414673 m, bearing: 316.847998 deg, approach rate: -0.523247 m/s, LOS rate: -0.033874 deg/s, cmd heading: 334.168426 deg, new cmd heading: 334.143955 deg. gMwUHeadingCmd: 5.831912 target range: 99.289543 and range: 99.90 m.gU@gQgQgQgQzfYrfYfYfaBdadadacacm`?ɢmBR> 顝Rs?I m`=ɡiIiIJ iǏ0YbDZDDrD[D#DEk: E96E3:E!@!@!@!@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256658>Aa=I9IIN]> Pd,7h%*AyV@ٱV$@Vn=VM,=VH`'?P?Y~? XٿB?z x=Bn?@)?IV@)Vh^;piVCbqBvBEZ>~BABEIBEpBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510218BABABABET;BE:E9MrI}Mb@Mb@Mb@ y)yIyiyy}%C?1Zd~jtx?}Z?}"۽yI}BAi}HA}V8A}nRA)y}pEABDQ6D 5Y-(!%=S;Q)>99DY;CͺA>Q 1p4٪鈊?Q 5p4(6 SB9*?Q A:YQ E?yDWC)o:I:ip4Y UAgDNOT Ignoring new targets: 99.29 m.gDgD  ProNav: ac range: 99.289543 m, nav range: 96.157448 m, bearing: 316.826784 deg, approach rate: -0.519740 m/s, LOS rate: -0.042978 deg/s, cmd heading: 334.143946 deg, new cmd heading: 334.101405 deg. gOHeadingCmd: 5.831170 target range: 99.289543 and range: 99.90 m.g@g!g!g!g!zf!rf!f)f-ŀBBd)d1d1c1c5`Eq?ɢ]mBe= aej?Ia mBc=ɡiiiIm(iIuniu>Ae |^=i A yAI I N >֠d,I%*AyB@ٱB@B_=BY/=BH$??@ɶ?^ٿ@T@?4ٵ< 뺥? x?IB@)BK^;iBCNPqB9NgIRa>R>XBDVX6DVE5Yb]!bz=f;Q)f?f H?9f H?9fDYj[Cj9ϺAj?lQ 1rp4٪nU?Q 5rp4n8 nSB9pYvQ Ev?ynpWC)n2:In:inTp4YzQBzIUAz!EgDNOT Ignoring new targets: 99.29 m.g%Dg%D5 ProNav: ac range: 99.289543 m, nav range: 95.987190 m, bearing: 316.812737 deg, approach rate: -0.519982 m/s, LOS rate: -0.042978 deg/s, cmd heading: 334.101408 deg, new cmd heading: 334.073264 deg. g5N=HeadingCmd: 5.830678 target range: 99.289543 and range: 99.90 m.g=딺@g9g9gAgAzfArfAfIfIBdIdIdQcQcU,V@ɢ}mB> 顅c?I 09f=ɡiIkIiIe%=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013443 >Amc=D5 pD5 bD5 ,D1 E5 d: E5 96E5 g4:E1 !E @!E @!E @!E @A AI I N >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264711 d,獝%*Ay6.@ٱ6@6C=6o1=6Hm!? ?`4?Hgٿ =?%@?޿?I6.@)66^;i6CBAqB9B]IHiJa=BDNa6DNi"5YV!VK=Vn;Q)V>ZK?9ZK?9ZDYZCZպA^>`Q 1bp4٪b?Q 5fp4b; bSB9dYfQ Ef?ybWC)b:Ib:iblp4YhnUAlzB*** querying acoustic contact ***zhxhx|g DNOT Ignoring new targets: 99.29 m.g CgC% ProNav: ac range: 99.289543 m, nav range: 95.777588 m, bearing: 316.795463 deg, approach rate: -0.518402 m/s, LOS rate: -0.042815 deg/s, cmd heading: 334.073268 deg, new cmd heading: 334.038645 deg. g%-HeadingCmd: 5.830074 target range: 99.289543 and range: 99.90 m.g-@g)g)g)g)zf)rf1f1f1Bd1d9d9c9cE@2@ɢmmBm*= im\?Iq ui=ɡqiqIuVjI(ivE~BBIBupBBBBB$T;BDEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518696ԙ>A A I I N >D D ]D *D E  E 96E (N4:E "E w;!- E x;!- *E  ;!- E  ;!5 9&d,&%*Ay6@ٱ6L@6[=62=6H@? ?P?`mٿe;?`@%Y+3?`y?I6@)6B^;i6C>.qB9BQIMb@Mb@Mb@ )Ii%C?:v~jtx?ԽIBAiEJA&9ATA)FABDX6DE5YH/Թ!<= F;Q)>99DYCTA>Q 1p4٪?Q 5p4n? lSB9?Q A:YQ E?yWC)] ;I;ip4YPBUAg-DNOT Ignoring new targets: 99.29 m.g-Kg-K] ProNav: ac range: 99.289543 m, nav range: 95.552116 m, bearing: 316.776099 deg, approach rate: -0.517705 m/s, LOS rate: -0.044567 deg/s, cmd heading: 334.038652 deg, new cmd heading: 333.999833 deg. g]mHeadingCmd: 5.829397 target range: 99.289543 and range: 99.90 m.gmk@gigigqgqzfqrfqfyf}πBBdydydcc@ɢmBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768678-= 55U?I1 5Jl=ɡ1i1I5iI=Vi=gAJc= BDAT read: Rx Time:16:09:47.7867  TRx dataTimestamp_ set to:1755878987.207781 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0231119 A] yAIa Iq N > d,ђ%*AyB@@ٱBݻ@BQ=B96=BH v?@?@o?`wٿ]8?@@x ?`@?IB@@)B#^;i@NqB9NAIPiPBDT6DTY^!^\=b);Q)b>b H?9b H?9bDYf֋CfAf>hQ 1np4٪j!?Q 5np4j`B jUSB9lYrQ Er?yjXC)jY;Ijw;ijp4Ytv3VAtgDNOT Ignoring new targets: 99.29 m.gMgM- ProNav: ac range: 99.289543 m, nav range: 95.359489 m, bearing: 316.759568 deg, approach rate: -0.521237 m/s, LOS rate: -0.044822 deg/s, cmd heading: 333.999829 deg, new cmd heading: 333.966701 deg. g-5HeadingCmd: 5.828818 target range: 99.289543 and range: 99.90 m.g5@g1g1g1g1zf9rf9f9fABdAdAdAcAcMk @ɢumBu= quK?Iy }Fun=ɡyiyI}]iI̢i[AM|^=qA AI I N >ԡ /=d, %*AA A"<vB2\>~B0B2IB28pBB0B0B0B2=T;B2QEB%čCB%čCB!B% =B% =B%4iDAT read: 16:09:47.7867 LVL= 26848, 32753, 21362, 32755, AGC= 65, IDX= 422,-0.08, 0.711,-0.628, 1.615, 1.024, PHS=-0.211,-1.607, 0.548, RAW= 170.3, 13.3, CAL= 170.6, 16.2, ROT= 339.4, -16.2 Ygot valid direction response: 16:09:47.7867 LVL= 26848, 32753, 21362, 32755, AGC= 65, IDX= 422,-0.08, 0.711,-0.628, 1.615, 1.024, PHS=-0.211,-1.607, 0.548, RAW= 170.3, 13.3, CAL= 170.6, 16.2, ROT= 339.4, -16.2 PDAT read: Bearing 155.5, -25.5 (Local) ~Local bearing/azimuth received: Bearing 155.5, -25.5 (Local) DAT read: Range 11 to 50 : 97.9 m (Round-trip 130.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.898892,-0.337871,0.278991]Fpublishing direction and range info9Y]v77?HaHտ?]BYi]hY]rSY]A ]bX)]-ͿI]I ?i]:>@],m>]>@]Ð>]@ ]ÐiYYI]D?pLZ(?P ?]~`?] sn ]Z)]ÐiYYMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.qB96IeMb@Mb@Mb@ a)aIaiaae%C?Mb?ae̽eK?9K?9DYCDnD[D&DEO]: E96E4:E"E2;! E3;! *E;! E;! A>Q 1q4٪5?Q 5%q4F 2SB9%?Q A%:Y%Q E%?y`XC):I:i q4YUNBUrVAU"EhYh]r%*Ah]Bh]Bh]G@h]%U@Xp@2XXz%;@h]v77?HaHտ?h]Zh]Ði]V.Q@zԁPUZ$" .@h]c?l͢8ɳg?h]uh]pBh]ԟ?h]./h]B*i]:r埊?2i]:iYi],B"i]W@ addTargetRange:: Added new target pos. range: 97.900002 m, deltaT: 3.783965 s, deltaX: -2.000000 m, approachRate: -0.528546 m/s, rangeRepo size: 4 E Added new target pos. range: 97.302040 m, bearing: 315.628146 deg, lat: 36.779418 deg, lon: -121.859654 deg, deltaT: 3.783965 s, deltaX: -1.987503 m, approachRate: -0.525244 m/s, posRepo size: 4 gimDNOT Ignoring new targets: 97.30 m.gugq ProNav: ac range: 97.302040 m, nav range: 95.586540 m, bearing: 316.136303 deg, approach rate: 0.000000 m/s, LOS rate: -0.044822 deg/s, cmd heading: 333.966689 deg, new cmd heading: 333.913419 deg. gHeadingCmd: 5.827888 target range: 97.302040 and range: 97.90 m.g~@ggggzfrfffBBdddcyX@c?ɢ-mB-s= -5OB?I1 5Rr=ɡ1i1I5'cI=i=< BDAT read: Tx time:16:09:49.0519 $Ping request sent.AAbA]hAZA]hA!AyAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250166IIN ?\d,%*Ay:Bʹ@ٱ:ʻ@:=:I0=:H?I? ? ٿ;1?n`A6?#?I:Bʹ@):m;^;i8BpB9B"IBDJ>6DJO5YRB!VX=VR;Q)V>Z H?9Z H?9ZDYZ6CZȻAZ>\Q 1bq4٪^C?Q 5bq4^I ^SB9dYfQ Ef?y^XC)^;I^;i^q4YhjVAhgy}DNOT Ignoring new targets: 97.30 m.ԁgbgb ProNav: ac range: 97.302040 m, nav range: 95.393379 m, bearing: 316.117808 deg, approach rate: -0.516711 m/s, LOS rate: -0.049576 deg/s, cmd heading: 333.913414 deg, new cmd heading: 333.876348 deg. guHeadingCmd: 5.827241 target range: 97.302040 and range: 97.90 m.gx@ggggzfrfffBdddcc S0?ɢ=nB== _7?I ~mt=ɡ!i!I%QaI%qi-^A= Qf=9vBu^>~BqBuIBuoBBu =BqBu[DBu[T;BubEMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756053IIQNe ?΍d,u0%*Ay6ƴ@ٱ6CĻ@6=6\/=6H?`?)?uٿ@.?\ H%Х??I6ƴ@)6 ^;i6CBpB9BIFC=F4=)D FAUMb@Mb@Mb@ Q)QIQiQQUp= ף?Mb{Gz?U?UU#99DYoCA>Q 1q4٪.X?Q 5q47N RB9M?Q A:YQ E?yXC)] ;I;i-q4YMBVWA#EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 97.30 m.g|g| ProNav: ac range: 97.302040 m, nav range: 95.101295 m, bearing: 316.087624 deg, approach rate: -0.532432 m/s, LOS rate: -0.055190 deg/s, cmd heading: 333.876340 deg, new cmd heading: 333.815787 deg. gʺHeadingCmd: 5.826185 target range: 97.302040 and range: 97.90 m.gp@ggggzfrfff BBdd d c c ?ɢ=nB== 9=,?I9 Edw=ɡAiAIE M[IMiMtrAu|^=II Ia Nm >ԁ id,XJ%*AybCĴ@ٱb@b(~=bZ0=bH` ?@"?Y5?@ٿ-?[`%ߥ?ƺ?IbCĴ@)bS];i`rpB9rIBDC6D5YKq!R=%C:Q)%>!9)9-DY-C5ZA5>AQ 1Mq4٪E}f?Q 5Mq4E?Q ERB9IYMQ EM?yEYC)E:IE6:iE;;q4Y]AB]RWA],EqgDNOT Ignoring new targets: 97.30 m.gvgv ProNav: ac range: 97.302040 m, nav range: 94.899025 m, bearing: 316.066653 deg, approach rate: -0.517536 m/s, LOS rate: -0.053773 deg/s, cmd heading: 333.815797 deg, new cmd heading: 333.773764 deg. gĺHeadingCmd: 5.825451 target range: 97.302040 and range: 97.90 m.gj@ggggzfrfffBdddcc@?ɢnBPm= #?I oy=ɡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257851iIWI\i]A5 c=rA= ?jA= ?I I N >5d,d%*Ay6 Ĵ@ٱ6b@6[|=6%01=6Hv ?}#?/?tٿ`Z-?3ȶU[??I6 Ĵ@)6];i6CZpB9ZIBDbB6Db&5Yj!jI=nl Q)n>l9l9nDYnCrAr>tQ 1zq4٪vVu?Q 5~q4vdT vRB9|Y~Q E~?yvIYC)vM ;IvH!;iveIq4Y@BWA -Eg)-DNOT Ignoring new targets: 97.30 m.g5Twg5TwE ProNav: ac range: 97.302040 m, nav range: 94.689156 m, bearing: 316.044802 deg, approach rate: -0.518060 m/s, LOS rate: -0.054058 deg/s, cmd heading: 333.773777 deg, new cmd heading: 333.729979 deg. gEźMHeadingCmd: 5.824687 target range: 97.302040 and range: 97.90 m.gMc@gIgIgQgQzfQrfQfYfYBdYdYdacacey?qɢ,nBY= 顝?I /e{=ɡiILSINi AiIIN>Dm qDm ]Dm )Di Em 2h: Em 96Em FA4:Ei "Em ;!u Em ;!u *Em  ;!u Em  ;!}  )Q U AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013947d,ޮ~%*Ay6[Ŵ@ٱ6»@6=6c2=6H@ ?!? 2? ٿ-?2ݶkf? o?I6[Ŵ@)6:];i6C^|pB9^I`i`ib=Ib=MMb@Mb@Mb@ I)IIIiIIM?J +Mbp?Mf?MȽM;IMGAiMZNAM;=AMh[A)IMKABDe\6De 5Yu!u@=ud9Q)u>y9y9}DY}C}9A>Q 1q4٪?Q 5q4W RB9?Q A:Y Q E?yYC)& ;I ;i=Xq4YXAgDNOT Ignoring new targets: 97.30 m.grgr ProNav: ac range: 97.302040 m, nav range: 94.467064 m, bearing: 316.022312 deg, approach rate: -0.523150 m/s, LOS rate: -0.053100 deg/s, cmd heading: 333.729982 deg, new cmd heading: 333.684898 deg. g[ºHeadingCmd: 5.823900 target range: 97.302040 and range: 97.90 m.gd]@ggggzfrfffBBdddcc@ɢ;nB= _?I An}=ɡiINIh'i/Arg=IA IQ Ne >i d,n%*ArD=jD<DmD^D%DEY: E;96E 4:E!@!@!@!@yBý@ٱB@Bd2=B81=BH ?/??@ٿ*?Ѷ(R`D ?̺?IBý@)B\+];iBCN\pB9NIBDVd6DV#5Y^r!^X=b\WQ)b>`9`9bDYfCf2 Af>hQ 1nq4٪j𒉊?Q 5nq4jZ jRB9pYrHQ Er?yjYC)j/;Ij] ;ij~eq4Yv?BvXAv.EgDNOT Ignoring new targets: 97.30 m.grgr- ProNav: ac range: 97.302040 m, nav range: 94.268738 m, bearing: 316.002253 deg, approach rate: -0.523215 m/s, LOS rate: -0.053030 deg/s, cmd heading: 333.684903 deg, new cmd heading: 333.644701 deg. g-º5HeadingCmd: 5.823199 target range: 97.302040 and range: 97.90 m.g5W@g1g1g1g1zf9rf9fAfABdAdAdIcIcM@ɢuGnB= Q?I ~~=ɡiIII%Ri%lh=)%W@))Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518675i5ԁ>Ah=bA!ZA%jAIIԹN>vBu _>~Bq Bu JIBu oBBq Bq Bq Bu T;Bu E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771974 d,5F%*Ay6@ٱ6K@6=6z0=6H2?q9y9}DY}9CSA>Q 1q4٪?Q 5q4^ |RB9'?Q A:YQ E?yYC) :IA:ijtq4YXAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 97.30 m.gg ProNav: ac range: 97.302040 m, nav range: 94.048271 m, bearing: 315.978428 deg, approach rate: -0.515682 m/s, LOS rate: -0.055860 deg/s, cmd heading: 333.644714 deg, new cmd heading: 333.596951 deg. gu̺HeadingCmd: 5.822365 target range: 97.302040 and range: 97.90 m.gP@ggggzfrfffBBdddccb @ɢ-UnB-= 15$>I1Ա 5S=ɡiICIicSAmXh= A AI I N >9 Cd,E)̓%*AyF@ٱF@FD=F0=FHk?@??ٿ&?4:?R?IF@)F];iFCRpB9RIV>T)T VABDZb6DZ"5Yb!bU=fvQ)f>fK?9jK?9jDYj`CjlAAj>lQ 1rq4٪n?Q 5rq4n` ndRB9tYvQ Ev?yn"ZC)n:Inl:inʁq4Yz=BzYAxg%DNOT Ignoring new targets: 97.30 m.g%g%5 ProNav: ac range: 97.302040 m, nav range: 93.850586 m, bearing: 315.957003 deg, approach rate: -0.517357 m/s, LOS rate: -0.056188 deg/s, cmd heading: 333.596958 deg, new cmd heading: 333.554018 deg. g5ͺ=HeadingCmd: 5.821616 target range: 97.302040 and range: 97.90 m.g=J@g9g9gAgAzfArfAfIfIBdIdIdIcQcUY$ @}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273820ɢbnB6e= 顕>I =ɡiI=IRi+ڵAIa u DAT read: 16:09:51.5841 LVL= 27840, 32753, 22866, 32755, AGC= 65, IDX= 412,-0.16, 2.554, 1.210,-2.845, 2.894, PHS=-0.238,-1.640, 0.500, RAW= 169.9, 14.5, CAL= 170.3, 17.9, ROT= 339.7, -17.9 } Ygot valid direction response: 16:09:51.5841 LVL= 27840, 32753, 22866, 32755, AGC= 65, IDX= 412,-0.16, 2.554, 1.210,-2.845, 2.894, PHS=-0.238,-1.640, 0.500, RAW= 169.9, 14.5, CAL= 170.3, 17.9, ROT= 339.7, -17.9  PDAT read: Bearing 156.6, -25.1 (Local)  ~Local bearing/azimuth received: Bearing 156.6, -25.1 (Local)  DAT read: Range 11 to 50 : 96.0 m (Round-trip 128.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.892490,-0.330142,0.307357] Fpublishing direction and range info99 = PF?[* !տuY?= B9 i= l9 = RY9 9 = Fs)= ѿI= ?i= =@= >= :>@= >= j@ = i9 9 I= ZЉ\? flh?*r`?= 6^?= = g)= i9 9  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A I I N >d,%*A y: @ٱ:b@:=:+1=:HH?L?`ڷ?`%ٿ!$? зn??I: @):)\;i:CRoB9RIBD^d6D^#5Y=6}!EC=E˴Q)E>I9I9MDYMCUAU>Q 1q4٪3?Q 5q4Bd JRB9YQ E?y[ZC)I~BōCBIB:oBBBBBT;BE HeadingCmd: 5.820722 target range: 95.414162 and range: 96.00 m.gMZC@gIgIgQgQzfQrfQfYfYBdYdYdYceX@ce 2?iɢMrnBM?W= IMo>II U =ɡQiQIUP?5I]i] BDAT read: Tx time:16:09:52.7519 $Ping request sent.A% m=rA- ?jA- ?= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243516AU yAIa Iq N >D e,7%*A8oB9{IMb@Mb@Mb@ )IiPn?MbX~jtx??ʽ;I/IAi;=A\A)LABDZ6D15YM!@=Q)> H?9 H?9DYCA>Q 1q4٪Oω?Q 5q4g 0RB9?Q A:YQ E?yZC):Iw:iKq4YZAg DNOT Ignoring new targets: 95.41 m.gmgm% ProNav: ac range: 95.414162 m, nav range: 93.469727 m, bearing: 315.703760 deg, approach rate: -0.555803 m/s, LOS rate: -0.056140 deg/s, cmd heading: 333.502783 deg, new cmd heading: 333.459180 deg. g-{ͺ-HeadingCmd: 5.819961 target range: 95.414162 and range: 96.00 m.g-=@g1g1g1g1zf1rf1f9f=BBd9d9dAcAcE?ɢ nB = >I ^7=ɡiI,.I+iAXh= A- AI9 II NU >D5 rD5 ^D5 (D1 E5 k: E5 ;96E5 c44:E1 != @!= @!= @!= @0e,%*A|oB9NI i i =I =BD`6D!5YE9!ES=IQ)M>MK?9UK?9UDYUݍCQAU>YQ 1eq4٪]L݉?Q 5eq4]j ]RB9iYiQ Em?y]ZC)]:I]6:i]ڬq4YuIy (=ɡiI4%Iiη~BBIBnBB =BBBT;BEBBBB =B =B"5>AM fm= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002603Ա A yAI I NU >+[ e,J3%*Ay>=@ٱ>@>A=>{*=>H*?@}?]E? ڿ?*U7?1?I>=@)>\;i>CJxoB9JDI=Mb@Mb@Mb@ 9)9I9i99=#~j?|?5^Mb`=?=ҽ=I=\KAi9=h?A=^A)9=fNABDU=6DU5Ye~ !eH=mbQ)m>m H?9m H?9uDYuCu/ Au>yQ 1q4٪$쉊?Q 5q4m QB9u?Q A:Y.Q E?yZC)<:Is:i#q4Y\AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 95.41 m.gggg ProNav: ac range: 95.414162 m, nav range: 93.056442 m, bearing: 315.662919 deg, approach rate: -0.521707 m/s, LOS rate: -0.050496 deg/s, cmd heading: 333.418635 deg, new cmd heading: 333.377304 deg. gӸHeadingCmd: 5.818532 target range: 95.414162 and range: 96.00 m.gi1@ggggzfrfffBBdddcc"?ɢ-nB-= 15=]>I =ɡiIIin>Amur=bA}jAZAyA  I I! N5 >~Be,M%*AyB爴@ٱB>@Bd=B(=BH?@? ?@ڿ`1?@c?C?IB爴@)B7];iBCJNoB9N*IBDVX6DVE5YZOܽ!^V=^CQ)^>`9`9bDYb,CfAf>dQ 1jq4٪f?Q 5nq4fp fQB9lYnhQ En?yf2[C)f ;If ;ifrq4Yv/BvB\Av9Eg DNOT Ignoring new targets: 95.41 m.gI 4=ɡiIdI?iA-(a= BEŞ4JEţ#4REm0D pD [D D E d: E 96E :E !@!@!@!@AYIaIqNZ>1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755501Y le,g%*Ay6{@ٱ6~@6=6m&=6H@?&??`%ڿ? ŵ罿ԧ?@3?I6{@)6<];i6CzDoB9~$I %> >)  ABD%e6D%@$5Y=(!EB=EXQ)E>I9I9UDYUVC] A]>aQ 1uq4٪eQ ?Q 5}q4edt eQB9yY}Q E}?yek[C)eF;Ie?;ie=q4Yi\AgDNOT Ignoring new targets: 95.41 m.g&fg&f ProNav: ac range: 95.414162 m, nav range: 92.636353 m, bearing: 315.622428 deg, approach rate: -0.520962 m/s, LOS rate: -0.050303 deg/s, cmd heading: 333.338831 deg, new cmd heading: 333.296123 deg. gHeadingCmd: 5.817115 target range: 95.414162 and range: 96.00 m.g%@ggggzfrfffBdddcc@ɢnB=  >I q=ɡiI%! I% i%U~BBIBnBB =BBBT;BEiechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010004i>A \c=ԑD rD aD &D E k: E 96E 4:E "E ! E !% *E ;!% E ;!% I G)5 lAAA IQ Ia Nm >Iq i ܾ lA dAԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259592T e,Ic%*AyNx@ٱN*v@N=Nҹ#=NH ?@S?ƶ?&6ڿ`?eR?[?INx@)Np];iNCVoB9V I5Mb@Mb@Mb@ 1)1I1i115y&1?q= ףp{Gzt5`?55ףI5EJAi5QA11)15NABDMP6DM5Y]Ͻ!]H=e~Q)e>a9a9mDYmCmQ*Am>qQ 1}q4٪u?Q 5}q4uw uQB9?Q A:Y$Q E?yu[C)u;Iu;iukq4Y.B ]A:EgUDNOT Ignoring new targets: 95.41 m.g]Dg]Dm ProNav: ac range: 95.414162 m, nav range: 92.423599 m, bearing: 315.605058 deg, approach rate: -0.525918 m/s, LOS rate: -0.043036 deg/s, cmd heading: 333.296129 deg, new cmd heading: 333.261309 deg. gmuHeadingCmd: 5.816507 target range: 95.414162 and range: 96.00 m.ԑg @ggggzfrfffŀBBdddcc@@ɢnB= k<P=I =ɡi!I%0.I%li-MA Xh=A I I N >D) D- ZD- )D) 9 E)  E- a96E- FA4:E) != @!= @!E @!E @&e,?%*AyFSp@ٱFm@Fm=F`!=FH@s?B?? lFڿ@?@N] ? ?IFSp@)F^;iFC^nB9^IBDf\6Df 5Y~AԽ!~Q=>Q)>99 DY C -A >Q 1%q4٪%?Q 5%q4{ QB9)Y-%Q E-?y[C)B;IC;iq4Y15]A1gDNOT Ignoring new targets: 95.41 m.g9g9  ProNav: ac range: 95.414162 m, nav range: 92.218010 m, bearing: 315.588328 deg, approach rate: -0.497959 m/s, LOS rate: -0.040613 deg/s, cmd heading: 333.261322 deg, new cmd heading: 333.227787 deg. g]HeadingCmd: 5.815922 target range: 95.414162 and range: 96.00 m.g] @gYgYgYgazfarfafafiBdididicicu@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767692ɢ]nBe= ae~BƍCBIBFnBB =BHDB\DBT;BEi >A  BDAT read: Rx Time:16:09:55.2816  TRx dataTimestamp_ set to:1755878994.772434 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023971ԡ A AI I) N= >-e,%*Ay68f@ٱ6c@6=6Ę=6H^?? N?Yڿ` ?@ @?@?I68f@)6%X^;i6CBnB9BIDiDiDIF= Mb@Mb@Mb@ ) I i   S㥛?QMb` ?  I rLAi RA BA )  QPABD%W6D%5Y=z!4=6Q)>K?9K?9DYԎC2A>Q 1r4٪5?Q 5r4~ lQB9^?Q A:Y'Q E?y\C):I:ir4Y-B^A;EDuD^D?DEv: E;96E^4:E"E#;!E$;!*E;!E;!%B*** querying acoustic contact ***zh!h!gIUDNOT Ignoring new targets: 95.41 m.gU6gU6e ProNav: ac range: 95.414162 m, nav range: 91.980431 m, bearing: 315.570604 deg, approach rate: -0.534763 m/s, LOS rate: -0.039997 deg/s, cmd heading: 333.227799 deg, new cmd heading: 333.192261 deg. ԉgeHeadingCmd: 5.815302 target range: 95.414162 and range: 96.00 m.g@ggggzfrfff ڀBBd d d c c2 @ɢ]nB]F= Y]I =ɡiIպIpiA h=A  I I) N= >3e,|Д%*ARDAT read: 16:09:55.2816 LVL= 22496, 25265, 18162, 29411, AGC= 63, IDX= 418,-0.34,-0.916,-2.283,-0.018,-0.540, PHS=-0.274,-1.697, 0.478, RAW= 169.9, 15.4, CAL= 170.5, 19.3, ROT= 339.5, -19.3 VYgot valid direction response: 16:09:55.2816 LVL= 22496, 25265, 18162, 29411, AGC= 63, IDX= 418,-0.34,-0.916,-2.283,-0.018,-0.540, PHS=-0.274,-1.697, 0.478, RAW= 169.9, 15.4, CAL= 170.5, 19.3, ROT= 339.5, -19.3 ZPDAT read: Bearing 157.6, -24.5 (Local) Z~Local bearing/azimuth received: Bearing 157.6, -24.5 (Local) bDAT read: Range 11 to 50 : 94.1 m (Round-trip 125.5 ms) speed 0.4 m/s bR#Rx 1: Read range and direction messages.f^direction in FSK: [0.884032,-0.330526,0.330514]fFpublishing direction and range info98:II?OvW'տ 3%'?:3B8i:W:b:F:r:? :I):L7ٿI:j>i8:>:Is>@:iw>:ќ@ :iwi88I: э?[?JGvt?:H^?:Cԉ :0):iwi88rT****** received valid address query ******vR****** received valid ping request ******vQuerying Benthos address 50 with one ping in standard two-way mode.y/Z@ٱW@$=>=H???pڿ`?O[ 9?`?I/Z@)r^;i%nB9-IBD=S6D=5YM/!MQ=MZQ)U>Q9Q9UDYUC]:vA]>aQ 1er4٪eC?Q 5mr4e7 eSQB9iYmI(Q Em?yeJ\C)e;Ie;ier4Yy}^Ayh8h:Pє%*Ah:Bh:Bh:߯@h:O{T@DE >Vn>@h:II?OvW'տ 3%'?h:0h:iwi:HP@ L]*Pl#Y4@h:O24 ?lG?h:Rh:Bh:2y?h:!&h:B*i: ϟ?2i:#:i8i:ηB"i:)@ addTargetRange:: Added new target pos. range: 94.099998 m, deltaT: 3.782468 s, deltaX: -1.900002 m, approachRate: -0.502318 m/s, rangeRepo size: 4  Added new target pos. range: 93.528915 m, bearing: 314.901249 deg, lat: 36.779416 deg, lon: -121.859660 deg, deltaT: 3.782468 s, deltaX: -1.885246 m, approachRate: -0.498417 m/s, posRepo size: 4 gDNOT Ignoring new targets: 93.53 m.gg ProNav: ac range: 93.528915 m, nav range: 91.904152 m, bearing: 315.417617 deg, approach rate: 0.000000 m/s, LOS rate: -0.039997 deg/s, cmd heading: 333.192255 deg, new cmd heading: 333.161649 deg. gEHeadingCmd: 5.814768 target range: 93.528915 and range: 94.10 m.gE@gAgAgAgAzfIrfIfIfIBdQdQdQcU`fW@cU@/?ɢnB(o= 顭ܫI s=ɡiI@۾IjiU 5BDAT read: Tx time:16:09:56.5519 5$Ping request sent.5Ae Ba=vB ~B ǍCB VIB mBB =B B B U;B EAyAԱIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250706IN?;e,%*AyJD@ٱJYA@Jh=J =JH???@ڿ?@1??IJD@)J#_;iJCfnB9jIp=4<BD[6D5Y-#!5==!Q)E>M H?9U H?9UDY}3CwA>Q 1r4٪rW?Q 5r4  .QB9Y(Q E?y\C)y:I :i_$r4Y,B6_Ag9EDNOT Ignoring new targets: 93.53 m.gE1gE1u ProNav: ac range: 93.528915 m, nav range: 91.606956 m, bearing: 315.395564 deg, approach rate: -0.521353 m/s, LOS rate: -0.038812 deg/s, cmd heading: 333.161656 deg, new cmd heading: 333.117407 deg. gu}HeadingCmd: 5.813995 target range: 93.528915 and range: 94.10 m.g}@ @gygggzfrfffBdddcc` ?ɢ oB2 g= I -=ɡiI!0IM9iMAA5`=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.758699ԩAeAIqIN ?De,%*A FnB9 IMb@Mb@Mb@ )Iiw/?M¿~jth?nDInLAiRABAaA)PABDY6D5Y!=Q)>K?9K?9DYiCA>Q 1r4٪i?Q 5r4ȋ  QB9 ?Q A:Y2Q E?y\C);I;is6r4Y  G`Ag15DNOT Ignoring new targets: 93.53 m.g=g=AU ProNav: ac range: 93.528915 m, nav range: 91.327415 m, bearing: 315.381421 deg, approach rate: -0.549402 m/s, LOS rate: -0.027880 deg/s, cmd heading: 333.117396 deg, new cmd heading: 333.089025 deg. gUL]HeadingCmd: 5.813500 target range: 93.528915 and range: 94.10 m.g]2@gYgYgYgYzfarfffBBdddcc`-?ɢoB0mO= XI =ɡiIDesDaDe$DaEeso: Ea6Ee4:Ea!m@!m@!m@!m@I=zi=A -tY=i-q?I-`?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262185AIIN=?Me,6%*Ayn 1@ٱnd.@n=n&T =nH?`P?ڴ?zڿQ?ld;? (?In 1@)n_;inCz&nB9zuIi>I=}Mb@Mb@Mb@ y)yIyiyy}/$?QMbP?}1?}\}:I}NAi} TAy}`A)y}GQAI)AABDZ6D15Yq!=IݻQ)>99DYCA>Q 1r4٪;|?Q 5r4 PB9 ?Q A:YM1Q E?y(]C):I2:iHr4YB]`AFEgDNOT Ignoring new targets: 93.53 m.g g  ProNav: ac range: 93.528915 m, nav range: 91.040443 m, bearing: 315.365822 deg, approach rate: -0.544079 m/s, LOS rate: -0.029669 deg/s, cmd heading: 333.089037 deg, new cmd heading: 333.057739 deg. g1Y%HeadingCmd: 5.812954 target range: 93.528915 and range: 94.10 m.g%@g!g)g)g)zf)rf)f1f5BBd1d1d9c9c=`?ɢe4oBe@B= imIi mY.=ɡiiiIuz$DDvD]D,DEVz: E96Eg4:E"EE;!EG;!*E ;!E ;!I5(i5A- 5[=AY a Ii Iy N >aSe,}P%*AyB$@ٱBT"@B2'=BE2=BHi?@r.?`"?ڿ?px7,?@?IB$@)BE_;iBCN%nB9NtIBDVX6DVE5Y^!^]=bֻQ)b>`9d9fDYfŏCf<Af>hQ 1nr4٪jY?Q 5nr4j jPB9pYr1Q Er?yj\]C)j;Ij;ijUr4Ytvd`Atchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762711B*** querying acoustic contact ***zhhg!%DNOT Ignoring new targets: 93.53 m.g-g-= ProNav: ac range: 93.528915 m, nav range: 90.838692 m, bearing: 315.354975 deg, approach rate: -0.543069 m/s, LOS rate: -0.029260 deg/s, cmd heading: 333.057728 deg, new cmd heading: 333.035987 deg. g=2VEHeadingCmd: 5.812574 target range: 93.528915 and range: 94.10 m.gE@gAgAgAgIzfIrfIfIfQBdQdQdQcQc]7@ɢBoBp0= 額㎾I =ɡiI> IiA5lT=bA=iAZA=fAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014921A I I N > Ze,Xj%*Ay6!@ٱ6O@6 =6ċ=6H?@6?@f? ڿ#?ѳ@iv??I6!@)6_;i6CBmB9BUIBDJd6DJ#5YR!RL=RߠQ)R>T9T9VDYVCZZqAZ>XQ 1r4٪Z?Q 5r4Z ZPB9Y1Q E?yZ]C)ZdJ@gigigigizfqrfqfqfqBdydydycyc`}@ɢSoB!= 顭I .=ɡiI;AAAAvBw>~BǍCBIB\mBB =BB]DBSU;BEBƍCBƍCBB =B =B5I)il@)ԹiU9QQYY@a@ekAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267739>AXR=DtDcD&DEs: EL96E4:E"E;! E;! *E";! E";! I A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518612Q eae,f3%*AyB@ٱBi@B=B=BH?>?`?ڿ?Գ`Sޣ?`?IB@)B_;iBCJmB9JKIN{>N<Mb@Mb@Mb@ )Ii#~j?/$Q9Q9UDYUCUEA]>aQ 1er4٪ep?Q 5mr4e ePB9m+ ?Q Am:Ym/Q Em?ye]C)ea:Iev:ierr4YbaAgyDNOT Ignoring new targets: 93.53 m.g g  ProNav: ac range: 93.528915 m, nav range: 90.392693 m, bearing: 315.329809 deg, approach rate: -0.514245 m/s, LOS rate: -0.030382 deg/s, cmd heading: 333.012430 deg, new cmd heading: 332.985513 deg. gi^HeadingCmd: 5.811694 target range: 93.528915 and range: 94.10 m.ge@ggggzfrff f-BBd1d1d1c9c=s-@ɢfoBz= I r=ɡiI) IVgi6I%=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942i >AA rD 4=jD <BEEc44JEEKJ4REE2D oD YD $D E `: E *96E 4:E !% @!% @!% @!% @ԑ A I I N >ge,̳%*A mB9CIBD%_6D%~!5Y5!5?=5Q)5>9999=DY=DC=AE>AQ 1r4٪Ea?Q 5r4EZ EPB9YQ E?yE ^C)E&~BȍCBIB*mBB =BB^DBU;BE>AE`T=rAM?jAM ? e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274585Aq I I N >1 2me,Ԃ%*Ay>@ٱ>q@>T=>"=>H?@b? ?6ۿ`?@J@ ]'?@?I>@)>ha;i>CFmB9F5IQi]CDqD_D'DE2h: Er96E'4:E"E;!5E;!5*EJ;!=EK;!EIGMb@Mb@Mb@ ))IiI q= ףp?nMb?i-)-A ?V99DYuCCA>Q 1r4٪Ɗ?Q 5r4٣ zPB9?Q A:Y0Q E?yN^C)u;IC;iSr4YaAgDNOT Ignoring new targets: 93.53 m.gEygEyU ProNav: ac range: 93.528915 m, nav range: 89.896828 m, bearing: 315.300909 deg, approach rate: -0.566732 m/s, LOS rate: -0.032670 deg/s, cmd heading: 332.958417 deg, new cmd heading: 332.927565 deg. gU(o]HeadingCmd: 5.810682 target range: 93.528915 and range: 94.10 m.g]@gYgYgYgYzfyrfffЀBBdddcc@/@DAT read: 16:09:59.0789 LVL= 25744, 32753, 19906, 32755, AGC= 62, IDX= 406,-0.46, 1.132,-0.234, 2.003, 1.411, PHS=1.601, 0.547, RAW= 169.4, 12.9, CAL= 169.6, 15.5, ROT= 340.4, -15.5 !unknown deviceResponse_: 16:09:59.0789 LVL= 25744, 32753, 19906, 32755, AGC= 62, IDX= 406,-0.46, 1.132,-0.234, 2.003, 1.411, PHS=1.601, 0.547, RAW= 169.4, 12.9, CAL= 169.6, 15.5, ROT= 340.4, -15.5 PDAT read: Bearing 153.0, -23.4 (Local) ~Local bearing/azimuth received: Bearing 153.0, -23.4 (Local)  DAT read: Range 11 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s  X#Rx 1: Read range message, but no direction.93BT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢUoBU = I r}=ɡiIs99IiAq u (DAT read: user:70> } BDAT read: Tx time:16:10:00.3519 } $Ping request sent.} ue,ђؕ%*AyV7@ٱV@V=V=VH`?{?49?{1ۿ-? +vKxĝ?`?IV7@)V!d;iVC^mB9^!I`i`if=If=BDjf6Dj$5Yr!rK=r&Q)v>tx9x9zDYzC~؞A~>|Q 1r4٪~dՊ?Q 5 r4~ ~gPB9 Y 1Q E ?y~^C)~;I~;i~Mr4YBfbAHE5B*** querying acoustic contact ***zh1h1M addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.779973 s, deltaX: -2.000000 m, approachRate: -0.529104 m/s, rangeRepo size: 4 gIUDNOT Ignoring new targets: 93.53 m.gUgUe ProNav: ac range: 93.528915 m, nav range: 89.673523 m, bearing: 315.288269 deg, approach rate: -0.569350 m/s, LOS rate: -0.032308 deg/s, cmd heading: 332.927572 deg, new cmd heading: 332.902229 deg. gelmHeadingCmd: 5.810240 target range: 93.528915 and range: 92.10 m.gm|@gigqgqgqzfqrfqfyfyBdydydyc`fW@c`>?ɢoB< 页I RK|=ɡiI:I%iYA] L=]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109AyAIIN`>Aq Ay A} <vB} y>~By B} IB} lBB} =By B} ]DB} V;B} KE{e,=F%*Ay6@ٱ6@66=6=6H?t?L?7=ۿ`A? ߶yl? ?I6@)6wf;i4BvmB9BIBDJY6DJ5YVA̽!VO=V3ûQ)V>Z H?9Z H?9ZDYZŐCZA^>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026dQ 1jr4٪f㊊?Q 5jr4fT fTPB9hYnC1Q En?yf^C)fK:If:ifr4Ypr cApg  DNOT Ignoring new targets: 93.53 m.ggY ProNav: ac range: 93.528915 m, nav range: 89.452927 m, bearing: 315.275811 deg, approach rate: -0.558983 m/s, LOS rate: -0.031645 deg/s, cmd heading: 332.902218 deg, new cmd heading: 332.877241 deg. ggHeadingCmd: 5.809804 target range: 93.528915 and range: 92.10 m.g@ggggzfrfffBddd9c9c=`#?ɢUoB]5< Y]!Ia e%z=ɡaiaIeF:Im_imA bA jAZA hA A I) I9 NM >Ie, %*AyN@ٱN@Nv=N==NHs?@ߎ?`[3?eKۿ?`8@? ?IN@)NZ?g;iLVkmB9VI5Mb@Mb@Mb@ 1)1I1i115S㥛?ʡEa9a9mDYmCmCAm>qQ 1}r4٪u?Q 5}r4u uCPB9w ?Q A:Y)Q E?yu^C)u ;IuL ;iur4YB,cAIEgDNOT Ignoring new targets: 93.53 m.Թg8g8 ProNav: ac range: 93.528915 m, nav range: 89.226982 m, bearing: 315.258691 deg, approach rate: -0.531672 m/s, LOS rate: -0.040386 deg/s, cmd heading: 332.877247 deg, new cmd heading: 332.842921 deg. gғHeadingCmd: 5.809205 target range: 93.528915 and range: 92.10 m.g@ggggzfrfffʀBBdddcc*?ɢoBlG< 顽I okx=ɡiIq{:Ii>9AG=DDZD+DE Ea96E [4:E!@!@!@!@I I N >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258909e,%%*Ay>@ٱ>s@>;=>=>H??>T?Vۿ8?`TS ϡ??I>@)>+Ph;i>CJFmB9JIN=Ni>BDVR6DV5YZý!^W=^ԻQ)^>`9`9bDYbCfNAf>dQ 1nr4٪f\?Q 5rr4fO f4PB9pYv)Q Ev?yf._C)fy;If{;if9r4Y B `cA REgQ]DNOT Ignoring new targets: 93.53 m.g]4ge4 ProNav: ac range: 93.528915 m, nav range: 89.025032 m, bearing: 315.243397 deg, approach rate: -0.520427 m/s, LOS rate: -0.039504 deg/s, cmd heading: 332.842932 deg, new cmd heading: 332.812273 deg. gHeadingCmd: 5.808670 target range: 93.528915 and range: 92.10 m.g@ggggzfrff f Bd d d1cc= ?ɢoBT\< 額K"I Yv=ɡiIF:IiPAQ IY Ii N} >D uD ^D (D E v: E ;96E c44:E "E #;! E %;! *E ! E !  )e,1?%*Ay6@ٱ66@6Z=6f7=6H 2?ՙ? F9?` \ۿ ?!֡?l?I6@)6Hh;i6CBRmB9BIeMb@Mb@Mb@ a)aIaiaae?"~j~jt?ef?eSeD99DYAC &A>Q 1r4٪?Q 5r4 $PB9g ?Q A:Y'Q E?yi_C):I;iMr4Y2cAgDNOT Ignoring new targets: 93.53 m.gOgO ProNav: ac range: 93.528915 m, nav range: 88.795898 m, bearing: 315.224306 deg, approach rate: -0.541640 m/s, LOS rate: -0.045245 deg/s, cmd heading: 332.812278 deg, new cmd heading: 332.773998 deg. gHeadingCmd: 5.808002 target range: 93.528915 and range: 92.10 m.g'۹@g g g g zf rf ff€BBdddcc@.@ɢEoBMo< IM#II MvFt=ɡIiQIUK:]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762938IeI  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014929e,uY%*A y:@ٱ:ߺ@:떣=:=:Hd?Ι??@]ۿ S?bLm`@)?@?I:@):ei;i:Cb/mB9bIBDj[6Dj5Yr!rV=vfQ)v>t9t9zDYzgCz)ĸAz>|Q 1r4٪~?Q 5r4~F ~PB9 Y 'Q E ?y~_C)~S:I~:i~r4YBcASE5B*** querying acoustic contact ***zh1h1gAEDNOT Ignoring new targets: 93.53 m.gMKgMK] ProNav: ac range: 93.528915 m, nav range: 88.592659 m, bearing: 315.207291 deg, approach rate: -0.530222 m/s, LOS rate: -0.044491 deg/s, cmd heading: 332.774002 deg, new cmd heading: 332.739894 deg. g]آeHeadingCmd: 5.807407 target range: 93.528915 and range: 92.10 m.geGֹ@gagagagazfirfififiBdqdqdqcyc}"@ɢoB0< o<顭0I r=ɡiI/z:I6ifs~BI BM IBM lBBM =BI BI BM V;BM E;e,Os%*Ay6@ٱ6@6fO=6=6Hu?? ?@h[ۿ*?߰䳿l??I6@)6i;i6CBmB9BI@i@ID)F@Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519320dBDJc6DJU#5Yndm!nK=rQ)r>p9p9rDYvCv:Av>xQ 1~r4٪z+?Q 5~r4z z PB9Y 'Q E?yz_C)z;Iz;izr4Y  dA g15DNOT Ignoring new targets: 93.53 m.g=Mg=MM ProNav: ac range: 93.528915 m, nav range: 88.378822 m, bearing: 315.189267 deg, approach rate: -0.532252 m/s, LOS rate: -0.044971 deg/s, cmd heading: 332.739905 deg, new cmd heading: 332.703771 deg. gMUHeadingCmd: 5.806776 target range: 93.528915 and range: 92.10 m.gUѹ@gQgQgQgQzfrfffBdddccmq@ɢ pB' < 15Z;I1 =xo=ɡ9i9I=:IEiMODsD[D&DEso: E96E4:E"Eߑ;!E;!*E;!E;!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896A #e,+%*Ay6@ٱ6g@6=6=6H?p?ت?@V_ۿ?Oj?@6?I6@)6Wj;i4R mB9RI-Mb@Mb@Mb@ )))I)i))-L7A`?MbXMb?-+?-ʽ-Y9a9eDYeCeAe>iQ 1us4٪mO;?Q 5us4m3 mOB9} ?Q A}:Y}$!Q E}?ym`C)m ;Im ;imgs4Y B1dAgDNOT Ignoring new targets: 93.53 m.grgr ProNav: ac range: 93.528915 m, nav range: 88.156479 m, bearing: 315.167036 deg, approach rate: -0.529789 m/s, LOS rate: -0.053105 deg/s, cmd heading: 332.703760 deg, new cmd heading: 332.659185 deg. g`ºHeadingCmd: 5.805998 target range: 93.528915 and range: 92.10 m.gʹ@ggggzfrfffBBdddcck @ɢpB; 页9BI Vm=ɡiI`;IQi`qrD=jD4=DnDZDDEO]: Ea96E:E!@!@!@!@ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274878Me,%*AyZ@ٱZA@Ze=ZJ=ZHx?Α?@?H[ۿ?@bȲ`}?>?IZ@)Zj;iZCjlB9jIBDz\6Dz 5Y2!O=%Q)%>!9!9-DY-C-f:A->1Q 1=s4٪5I?Q 5=s45~ 5OB9AYE !Q EE?y5E`C)5 ;I5 ;i5Cs4YIMwdAIygDNOT Ignoring new targets: 93.53 m.gmgm  ProNav: ac range: 93.528915 m, nav range: 87.946327 m, bearing: 315.145867 deg, approach rate: -0.514300 m/s, LOS rate: -0.051930 deg/s, cmd heading: 332.659173 deg, new cmd heading: 332.616734 deg. g HeadingCmd: 5.805257 target range: 93.528915 and range: 92.10 m.gĹ@ggggzfrfffBd!d!d!c!c% @ɢ*pBo; KI xFj=ɡiI0;I%i%~B B oIB }lBB  =B B B gW;B EBȍCBȍCBBÿ =Bÿ =BR 5ԩDAT read: 16:10:02.8761 LVL= 26192, 29537, 21266, 32755, AGC= 65, IDX= 410,-0.02, 2.347, 0.948,-3.063, 2.668, PHS=-0.219,-1.675, 0.508, RAW= 169.1, 14.3, CAL= 169.5, 17.5, ROT= 340.5, -17.5 Ygot valid direction response: 16:10:02.8761 LVL= 26192, 29537, 21266, 32755, AGC= 65, IDX= 410,-0.02, 2.347, 0.948,-3.063, 2.668, PHS=-0.219,-1.675, 0.508, RAW= 169.1, 14.3, CAL= 169.5, 17.5, ROT= 340.5, -17.5 PDAT read: Bearing 154.7, -21.8 (Local) ~Local bearing/azimuth received: Bearing 154.7, -21.8 (Local) %DAT read: Range 11 to 50 : 90.0 m (Round-trip 120.1 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.899013,-0.318357,0.300706]5Fpublishing direction and range info9De?d_Կ->?BiPfasSA A`)ffֿIJ ?i<@r>TU=@a>+@ aiI,qFO?A {o?B}0?R[?3 @)aiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9< N>>iq y y } 0  D tD sD D E s: E Z:6E :E "E ;! E ;! *E ];! E ];! >A 4|E=1(DAT read: user:71> BDAT read: Tx time:16:10:04.1019 $Ping request sent.99DYCܹA>Q 1s4٪_?Q 5s4 OB9T ?Q A:Y"Q E?y`C) ;I~ ;i%s4Y BdATEhh_%*AhBhBhد@hNT@Hz<]=a:@hDe?d_Կ->?h@hai(N@{Y"N@4@h+A?L<>激+u1?hf=ɡAiAIEi*;IE~=iMAU&V=ԱAIIN?Z'e,6%*AA,A.p<vB2|>~B0B2VIB2TlBB0B0B0B2W;B2) Eyzݳ@ٱz_ں@z+=zc=zH??5?@ynۿz? +"?@??Izݳ@)z½i;izC lB9 IBDT6Dn5Y-ʽ!-=5"Q)5>1919=DY=QC=ͺA=>AQ 1Ms4٪Eis?Q 5Ms4E EOB9IYU%#Q EU?yE`C)E;IE;iE8s4Y] B]eA]UE}B*** querying acoustic contact ***zhyhygDNOT Ignoring new targets: 89.46 m.g^qg^q ProNav: ac range: 89.455978 m, nav range: 87.338669 m, bearing: 315.087253 deg, approach rate: -0.544649 m/s, LOS rate: -0.052755 deg/s, cmd heading: 332.556201 deg, new cmd heading: 332.500413 deg. gHeadingCmd: 5.803227 target range: 89.455978 and range: 90.00 m.g @ggggzfrfffBdddcc?ɢ\pB lI db=ɡiIP1=;Ii A gW== nManaging dock network, ignoring radio surface power offI I!N5>e,˜ %*Ay6ٳ@ٱ6ֺ@6z=6C=6H ?ౣ?h?uۿ -?@c\??I6ٳ@)6Ij;i6CPZlB9Z}I!@! !@! !@! !@! BD%Y6D%5Y5L=!5/==Q)=>A9A9EDYECEwmAE>IQ 1Us4٪M?Q 5Us4M MOBQ =]+:9YQ A]:Y]?#Q E]?yM$aC)M:IMe>iMEs4YeBeeAm^EgDNOT Ignoring new targets: 89.46 m.gpgp ProNav: ac range: 89.455978 m, nav range: 87.085716 m, bearing: 315.062746 deg, approach rate: -0.541541 m/s, LOS rate: -0.052618 deg/s, cmd heading: 332.500412 deg, new cmd heading: 332.451256 deg. gHeadingCmd: 5.802369 target range: 89.455978 and range: 90.00 m.g@ggggzfrfffBdddcc?ɢrpB wI z^=ɡiIZO;I-iIIߕ<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258868>A/Z=D} }D} bD} %Dy E} ݉: E} 96E} 4:Ey ! @! @! @! @I I N >) e,=&%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514157yNOֳ@ٱNӺ@N =NO=NHa?g?}T? |ۿ?[zޯ`99DYC̃!A->)Q 1Es4٪-i?Q 5Es4- -OBQ =E :9AQ AM~:YMW#Q EM?y-[aC)-g;I-,^?i-Ns4YBfA_EgDNOT Ignoring new targets: 89.46 m.g >fg >f= ProNav: ac range: 89.455978 m, nav range: 86.871086 m, bearing: 315.041893 deg, approach rate: -0.516666 m/s, LOS rate: -0.050324 deg/s, cmd heading: 332.451262 deg, new cmd heading: 332.409451 deg. g=1EHeadingCmd: 5.801640 target range: 89.455978 and range: 90.00 m.gE@gAgAgAgAzfIrfIfIfIBdQdQdqcqc} ?ɢpB0z I ![=ɡiIw`;I,i2~BB7IB!lBBBB^DB X;BI Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767091>AIQ Ia N >ԩ ~e,;@%*AD&yD&dD&+D$E&: E&96E& [4:E$"E&;!*E&;!**E$!.E$!.yFҳ@ٱF-к@Ft=Fky=FH??!?"ۿ ?⨮~'e??IFҳ@)Fm;iFCNdlB9R`Iy!! !! !! !! Mb@Mb@Mb@ )Ii/$?A`"1?ٽI9VAi[APAaA)XABD[6D5Y)!?=λQ)>99DYҒC‚A>Q 1s4٪ߢ?Q 5s4 OBQ =T:9 ?Q A:Yi$Q E?yaC) :Ie ;i]s4YafAg DNOT Ignoring new targets: 89.46 m.g sg s% ProNav: ac range: 89.455978 m, nav range: 86.644249 m, bearing: 315.020380 deg, approach rate: -0.560460 m/s, LOS rate: -0.053292 deg/s, cmd heading: 332.409461 deg, new cmd heading: 332.366323 deg. g%ú%HeadingCmd: 5.800887 target range: 89.455978 and range: 90.00 m.g-ݠ@g)g)g)g)zf)rf)f1f5BBd9d9d9c9c=@ɢmpBmdk imIi uW=ɡqiqIu2q;I}i}߬AMqZ=IIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271943 z0e,Y%*Ay>ͳ@ٱ>˺@>i=> r=>H? ?%?Mۿ?,@d??I>ͳ@)>~n;i>CFKlB9FPIBDNh6DN%5YVv!V\=ZQ)Z>X9X9^DY^C^ںA^>`Q 1fs4٪bm?Q 5fs4bH bOB9hYj$Q Ej?ybaC)b:IbK:ibjs4YnBnfAr`EgDNOT Ignoring new targets: 89.46 m.g qig qi ProNav: ac range: 89.455978 m, nav range: 86.445320 m, bearing: 315.001499 deg, approach rate: -0.536355 m/s, LOS rate: -0.051023 deg/s, cmd heading: 332.366321 deg, new cmd heading: 332.328473 deg. g%HeadingCmd: 5.800226 target range: 89.455978 and range: 90.00 m.g%t@g!g!g)g)zf)rf)f1f1Bd1d1d1c9c=3@ɢepBe| imIi mlT=ɡiiiIm*Ԁ;IupFiu <iu]=)t@)!!D]wD]fD]'DYE]}: E]96E]'4:EY!m@!m@!m@!m@i90@=@=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523028>Au \=1IYIiNu>vB >~B ɍCB IB kBB =B B B X;B N EY Ze,_s%*Ay6ɳ@ٱ6kƺ@6:}^=6'=6H??@?֗ۿV? '̫@y??I6ɳ@)6o;i6CRIlB9ROIV>V=)X ZABD^e6D^@$5Yf6!fH=fػQ)f>h9h9jDYj CnAn>pQ 1vs4٪rO?Q 5vs4r rwOB9tYv$Q Ev?yrbC)rG:Ir:irxs4Yx~fA|B*** querying acoustic contact ***zhhg!%DNOT Ignoring new targets: 89.46 m.g-^ig-^i= ProNav: ac range: 89.455978 m, nav range: 86.226830 m, bearing: 314.980741 deg, approach rate: -0.535499 m/s, LOS rate: -0.051006 deg/s, cmd heading: 332.328482 deg, new cmd heading: 332.286860 deg. g=EHeadingCmd: 5.799500 target range: 89.455978 and range: 90.00 m.gE@gAgAgAgIzfIrfIfIfQBdQdQdQcQc] c'@ɢpBv׼ 額I P=ɡiI,t;IiwIߝ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774421i]=)@)9iQQQU/0QiDsD_D+DEso: Er96E [4:E"Eߑ;!E;!*EJ;!EK;!>A(a=rA ?jA?IyIN~>ԉ] BDAT read: Rx Time:16:10:06.6235 ] TRx dataTimestamp_ set to:1755879006.115917e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028313Թ Ee,#%*Ay6@ٱ6T@69Q=6=6H? ?鞞?ۿ?1- 1??I6@)67q;i4^lB9^2I=Mb@Mb@Mb@ 9)9I9i99=v/?K7AMbp=x ?= =I9i999)99BDUt6DU'+5Yeܽ!e@=muQ)m>i9i9mDYmKCu_Au>yQ 1s4٪}΋?Q 5s4} }gOB9D ?Q A:Y.Q E?y}>bC)}:I}:i}s4Y15gA1gQ]DNOT Ignoring new targets: 89.46 m.g]'*ge'*ԉ ProNav: ac range: 89.455978 m, nav range: 85.994377 m, bearing: 314.964262 deg, approach rate: -0.523203 m/s, LOS rate: -0.037190 deg/s, cmd heading: 332.286873 deg, new cmd heading: 332.253827 deg. gHeadingCmd: 5.798923 target range: 89.455978 and range: 90.00 m.gǐ@ggggzfrfffBBdddcc @ɢ=pB=߼ AEhIA E:L=ɡiI^;I4i1A- mY=D D D )D E  E 6E FA4:E ! @! @! @! @I9 IQ N] >  DAT read: 16:10:06.6235 LVL= 28272, 32753, 22770, 32755, AGC= 64, IDX= 415, 0.05, 0.132,-1.289, 0.972, 0.399, PHS=-0.165,-1.643, 0.529, RAW= 168.2, 13.2, CAL= 168.6, 15.9, ROT= 341.4, -15.9  Ygot valid direction response: 16:10:06.6235 LVL= 28272, 32753, 22770, 32755, AGC= 64, IDX= 415, 0.05, 0.132,-1.289, 0.972, 0.399, PHS=-0.165,-1.643, 0.529, RAW= 168.2, 13.2, CAL= 168.6, 15.9, ROT= 341.4, -15.9  PDAT read: Bearing 152.4, -19.8 (Local)  ~Local bearing/azimuth received: Bearing 152.4, -19.8 (Local)  DAT read: Range 11 to 50 : 88.0 m (Round-trip 117.4 ms) speed 0.4 m/s 6e,_%*AR#Rx 1: Read range and direction messages."^direction in FSK: [0.911508,-0.306757,0.273959]&Fpublishing direction and range info9 <+?i kӿψ.? B i pn  X @ () MҿI l?i ;@ k> S<@ q> y@ qi I  ?q#;?ʗMR? 9|W? vl 6) qi 2T****** received valid address query ******2R****** received valid ping request ******2Querying Benthos address 50 with one ping in standard two-way mode.lB9'IBDl6Dy'5Y-.!-8=-Q)M>Q9Q9UDYUxC]A]>aQ 1es4٪eދ?Q 5ms4e eVOBi9YQ E?ye}bC)eu;IeW;iees4YBgAaEh h C%*Ah Bh Bh +@h gҊS@::ˣ7@h <+?i kӿψ.?h 6h qi sOllmN@u.M\ul2@h 1kC?uH>@?h oh ksBh 柊?h -Bh B*i 2i :i Bi B"i A@% addTargetRange:: Added new target pos. range: 88.000000 m, deltaT: 3.784210 s, deltaX: -2.000000 m, approachRate: -0.528512 m/s, rangeRepo size: 4 U Added new target pos. range: 87.469116 m, bearing: 315.434448 deg, lat: 36.779416 deg, lon: -121.859660 deg, deltaT: 3.784210 s, deltaX: -1.986862 m, approachRate: -0.525040 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 87.47 m.gega ProNav: ac range: 87.469116 m, nav range: 85.748398 m, bearing: 314.946727 deg, approach rate: 0.000000 m/s, LOS rate: -0.037190 deg/s, cmd heading: 332.253815 deg, new cmd heading: 332.220690 deg. gHeadingCmd: 5.798345 target range: 87.469116 and range: 88.00 m.g @ggggvB>~BBIBkBB =BBB X;BW EzfrfffBdddcV@co?ɢpB !EIA EAG=ɡAiIIMݹ;IMԡi90@!@%jA=(DAT read: user:72> =BDAT read: Tx time:16:10:07.9019 E$Ping request sent.EAe -tY= D tD ]D (D E s: E 96E c44:E "E ;! E ;! *E  ;! E  ;! IY Ii Nu >"e,—%*A=kB9=IAiAiE=IE=Mb@Mb@Mb@ )IiQ?Q?\Ii\ARA)YABD_6D~!5Y#!K=Q)> 9 9DYCA>!Q 15s4٪%틊?Q 55s4%| %IOB9= ?Q A=:YE#4Q EE?y%bC)%%c;I%K;i%js4YQU hAQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251770g9=DNOT Ignoring new targets: 87.47 m.gEwgEwU ProNav: ac range: 87.469116 m, nav range: 85.527740 m, bearing: 314.934479 deg, approach rate: -0.535983 m/s, LOS rate: -0.029827 deg/s, cmd heading: 332.220702 deg, new cmd heading: 332.196143 deg. gUYZ]HeadingCmd: 5.797916 target range: 87.469116 and range: 88.00 m.g]@gYgYgYgazfarfffBBdddcc(T?ɢUqBUl U+<]BIY ]KtC=ɡiI;I(ui?A |^=% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502836Ia Iq N >Ze,ܗ%*Ay:@ٱ:J@:.=:7=:H? _? ?ۿ6?m"Ҿ? @?I:@):)u;i:CBkB9BIBDN[6DN5YV!Vc=VLżQ)V>X9X9ZDYZÓC^A^>`Q 1fs4٪b?Q 5fs4b b?OB9dYf4Q Ef?ybbC)b):IbW:ibs4YhnhAlg|DNOT Ignoring new targets: 87.47 m.gJg J ProNav: ac range: 87.469116 m, nav range: 85.331291 m, bearing: 314.923880 deg, approach rate: -0.595294 m/s, LOS rate: -0.032193 deg/s, cmd heading: 332.196140 deg, new cmd heading: 332.174893 deg. gk%HeadingCmd: 5.797545 target range: 87.469116 and range: 88.00 m.g%~@g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5@?ɢqBk II *@=ɡiI6;IҥiABa=IYIiNu>A <A <vB >~B B IB kBB =B B B ;X;B f EBUɍCBUɍCBQBUɾ =BUɾ =BU5 e,`%*Ay6"@ٱ6z@6oR =6H=6H`?(?? ۿs?1L`rd? o?I6"@)6-w;i6C`fkB9fIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861BDl6DlYz!zE=~`Q)~>|99DYC=A> Q 1s4٪ W?Q 5s4  4OB9Y 5Q E?y #cC) #;I ;i Xs4Y%B%-hA%kEEB*** querying acoustic contact ***zhAhAgQUDNOT Ignoring new targets: 87.47 m.g]g]m ProNav: ac range: 87.469116 m, nav range: 85.103424 m, bearing: 314.911703 deg, approach rate: -0.549826 m/s, LOS rate: -0.029461 deg/s, cmd heading: 332.174885 deg, new cmd heading: 332.150466 deg. gmWuHeadingCmd: 5.797119 target range: 87.469116 and range: 88.00 m.gu@gqgqgqgqzfqrfyfyfyBdddcc@B?ɢ%qB: 页"I s;=ɡiI÷;IiAa5U=IINM>)ߙ ߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260054I f,;%*Ay6䖳@ٱ6<@6W=6N_=6H@m? ?@&?ۿ?`EqG?u?I6䖳@)6)x;i6CBkB9BIB=@Mb@Mb@Mb@ )Iiv/?QMbPx ?IOWAi TA`A)ZAYBD}Q6D} 5Y/!A=Q)>99DYC-A>Q 1s4٪?Q 5s4 )OB9?Q A:Y)5Q E?y_cC):I:iHs4Y-B-rhA)gqDNOT Ignoring new targets: 87.47 m.gg ProNav: ac range: 87.469116 m, nav range: 84.867233 m, bearing: 314.899033 deg, approach rate: -0.535126 m/s, LOS rate: -0.028785 deg/s, cmd heading: 332.150460 deg, new cmd heading: 332.125050 deg. gRHeadingCmd: 5.796676 target range: 87.469116 and range: 88.00 m.g^~@ggggzfrfffBBdddcc@?ɢ=qB: 顕\I 6=ɡiIt;IiA CT=vB>~BBIBkBB =BBBSX;Bs EIIN?C f,,1%*Ay6@ٱ6܋@6=6x=6H ?j?൭?ܿ ? ڠ -?`d?I6@)6 y;i6CBkB9BIBDJ[6DJ5YR$!R%=V(ͻQ)V>T9T9ZDYZICZ9A^>\Q 1bs4٪^(?Q 5fs4^z ^OB9dYfj5Q Ef?y^cC)^:I^):i^xs4YhnhAlg|DNOT Ignoring new targets: 87.47 m.gV gV Q ProNav: ac range: 87.469116 m, nav range: 84.595367 m, bearing: 314.884546 deg, approach rate: -0.569677 m/s, LOS rate: -0.030455 deg/s, cmd heading: 332.125052 deg, new cmd heading: 332.095984 deg. g^HeadingCmd: 5.796168 target range: 87.469116 and range: 88.00 m.g6z@ggggzfrfffBdddcc @ɢVqBi: 顭ϳI e0=ɡiI;IPZi A ^S= % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270558I I N >,f,K%*A]kB9]IԹMb@Mb@Mb@ )Iioʡ?a9a9eDYewCeAm>iQ 1us4٪m9?Q 5}s4m mOB9}?Q A}:Y}5Q E}?ymcC)m;Im;im|s4YBhAlEgDNOT Ignoring new targets: 87.47 m.gw gw  ProNav: ac range: 87.469116 m, nav range: 84.335426 m, bearing: 314.870720 deg, approach rate: -0.567260 m/s, LOS rate: -0.030264 deg/s, cmd heading: 332.095983 deg, new cmd heading: 332.068246 deg. g]HeadingCmd: 5.795684 target range: 87.469116 and range: 88.00 m.g?v@ggggzfrfffBBdddcc`RC@ɢmqBG` I +=ɡiI|;I%i%?A Q=I I! N= >cf,ag%*Ay^|@ٱ^y@^<^(C=^H?k5?@? y)ܿ׳?`5\vš?`?I^|@)^Az;i\nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770740nkB9nIpipBDz_6Dz~!5Y~ !M=zQ)> 9 9 DY CиA>Q 1s4٪G?Q 5%s4  OB9!Y% 6Q E%?y!dC):I6:is4)Y15hA1gY]DNOT Ignoring new targets: 87.47 m.ge6ge6u ProNav: ac range: 87.469116 m, nav range: 84.114319 m, bearing: 314.859217 deg, approach rate: -0.566588 m/s, LOS rate: -0.029553 deg/s, cmd heading: 332.068252 deg, new cmd heading: 332.045186 deg. guWX}HeadingCmd: 5.795282 target range: 87.469116 and range: 88.00 m.g}r@gygyggzfrfffBdddccb@ɢ=qB={ 9=IA E&=ɡAiAIeS;ImtimAaBDAT read: Rx Time:16:10:10.4208 TRx dataTimestamp_ set to:1755879009.894804checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023912IIN>Ա H f,0%*ADqDfD'DE2h: E96E'4:E"E;!EE;!E*E-;!ME-;!Uԙy`u@ٱr@k<2=H@m?@?Ccx? 6ܿ?QIBu??I`u@)|;ikB9I%Mb@Mb@Mb@ !)!I!i!!%(\?7A`¿Mbp?%?%%;I!i!%9VA%^A)!%ZABDUf6DU$5Ymn!m)=uBԻQ)u>q9q9}DY}ΔC}A}>Q 1t4٪X?Q 5t4e OB9 ?Q A:Y7:Q E?yedC):I:it4YB[iAmEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274741B*** querying acoustic contact ***zhhg  DNOT Ignoring new targets: 87.47 m.ggM ProNav: ac range: 87.469116 m, nav range: 83.849312 m, bearing: 314.848258 deg, approach rate: -0.506072 m/s, LOS rate: -0.020995 deg/s, cmd heading: 332.045193 deg, new cmd heading: 332.023204 deg. gM]HeadingCmd: 5.794898 target range: 87.469116 and range: 88.00 m.geo@gagagagazfirfifqfuzBBdqddcc u @ɢEqBMىY IM9ÿII Me> =ɡIiQIU̩;Iui}ϓi R;@ Gt> ;@ r> @ ri I X??]@1G? RLU? t ) ri % T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.>A L=AIiIyN>'f,C%*Ayr-m@ٱrj@rA9A9EDYECE`"AM>Q 1t4DnD\DDEO]: E96E:E!@!@!@!@٪f?Q 5t4c  NB9Yw:Q E?ydC)e-9~;G8@hز%?;K&*ӿHN-?h hri ,'KM@U)(M'(5@hy?k _mM?hAihYjBh*ۯ?h/ hOB*i*ۯ?2iG":iyBiB"i@ addTargetRange:: Added new target pos. range: 86.000000 m, deltaT: 3.779727 s, deltaX: -2.000000 m, approachRate: -0.529139 m/s, rangeRepo size: 4  Added new target pos. range: 85.482178 m, bearing: 315.133994 deg, lat: 36.779413 deg, lon: -121.859660 deg, deltaT: 3.779727 s, deltaX: -1.986938 m, approachRate: -0.525683 m/s, posRepo size: 4 gDNOT Ignoring new targets: 85.48 m.g g  ProNav: ac range: 85.482178 m, nav range: 83.337379 m, bearing: 314.669331 deg, approach rate: 0.000000 m/s, LOS rate: -0.020995 deg/s, cmd heading: 332.023200 deg, new cmd heading: 332.006284 deg. gMHeadingCmd: 5.794603 target range: 85.482178 and range: 86.00 m.gUcm@gQgQgQgYzfYrfaffBdddcU@c?ɢqBq 页dƿI =ɡiIAs;(DAT read: user:73> BDAT read: Tx time:16:10:11.7019 $Ping request sent.~BiBmIBmVkBBiBiBiBmX;Bm EA >A u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251264y A I I! N- >!%.f,T%*AkB9IU=Ua=)Q UA]R=iYBDeb6De"5Yu!u:=uQ)u>y9y9}DY}"CA>Q 1t4٪u?Q 5t4 NB9YQ E?ydC);IL;iq,t4YhiAnEgDNOT Ignoring new targets: 85.48 m.g{g{깝 ProNav: ac range: 85.482178 m, nav range: 83.102196 m, bearing: 314.659138 deg, approach rate: -0.589545 m/s, LOS rate: -0.025625 deg/s, cmd heading: 332.006288 deg, new cmd heading: 331.985843 deg. g;HeadingCmd: 5.794246 target range: 85.482178 and range: 86.00 m.gwj@ggggzfrfffBdddcc'?ɢEqBM IMȿII UR=ɡQiQIU;I]BVi]^]AAAu AI I N > 5f,՘%*Ay>n[@ٱ>X@>+;^<>En =>H@V?j?Isf`fܿ9?x-Nj,??I>n[@)>;i>CF}kB9FIMMb@Mb@Mb@ I)IIIiIIMˡE?7A`¿Mbp?M?IIIIiM^AMbXAM\A)IM [ABDeY6De5Ym !uK=u9Q)u>}K?9}K?9}DYKC"A>Q 1t4٪?Q 5t4i NB9 ?Q A:Y:Q E?yeC)i ;I ;i:t4YBiAwEgDNOT Ignoring new targets: 85.48 m.g ֹg ֹ ProNav: ac range: 85.482178 m, nav range: 82.880554 m, bearing: 314.649731 deg, approach rate: -0.549686 m/s, LOS rate: -0.023391 deg/s, cmd heading: 331.985853 deg, new cmd heading: 331.966990 deg. g:+HeadingCmd: 5.793917 target range: 85.482178 and range: 86.00 m.gg@ggggzf]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943rffqfuBBdydydycyc`6?ɢqBږ J̿I =ɡiI0A 1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006831AY Ia Iy N >Y 4;f,~%*Ay6Q@ٱ6O@6&<69~=6HV?y?@v`xܿy? z҄`?`?I6Q@)6;i4BukB9BIBDJV6DJZ5Y¢!Q= 0Q) > 9 9DYsC$FA>Q 1%t4٪?Q 5%t41 NB9)Y-0;Q E-?yKeC):Il:i/Ht4vB=>~B9B=IB=LkBB9B9B=_DB=X;B= EYB0iAxEgDNOT Ignoring new targets: 85.48 m.gȹgȹ5 ProNav: ac range: 85.482178 m, nav range: 82.665688 m, bearing: 314.640739 deg, approach rate: -0.523241 m/s, LOS rate: -0.021955 deg/s, cmd heading: 331.967001 deg, new cmd heading: 331.948970 deg. g5 =HeadingCmd: 5.793602 target range: 85.482178 and range: 86.00 m.g=1e@g9g9g9g9zfArfAfAfABdIdIdIcicu@f?ɢqBN пI  i =ɡiIAm4|E=ԉ D5 lD5 mD5 'D1 E5 V: E5 :6E5 '4:E1 "E5 w;!e E5 w;!e *E5 @G;!m E5 AG;!u I I! N] >[Bf,%*A0y:I@ٱ:DG@:po;:=:H ? ?ࡆܿ`?`_kz@?@y?I:I@):,;i:CB]kB9BIDiDiJ=IJ=vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.516273=Mb@Mb@Mb@ 9)9I9i99=Fx?HzGMbP?= ?== =:I=OWAi=\A=ZA9)9=ZAII)IBDUY6DU5Ye7Q!e6=mQ)m>i9i9mDYuCu Au>yQ 1t4٪}K?Q 5t4}| }NB9?Q A:YN4Q E?y}eC)}:I}:i}Wt4YiAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 85.48 m.g g 5 ProNav: ac range: 85.482178 m, nav range: 82.414513 m, bearing: 314.625447 deg, approach rate: -0.575161 m/s, LOS rate: -0.035124 deg/s, cmd heading: 331.948970 deg, new cmd heading: 331.918292 deg. g5=HeadingCmd: 5.793067 target range: 85.482178 and range: 86.00 m.g=`@g9gAgAgAzfArfAfIfMqBBdididqcqcu?ԉɢ rBH տI z=ɡiI Ae g@=I9 IQ N] >HHf,D"%*Ay67C@ٱ6@@6{@;6 =6H3?H?’ܿ?@Ruh@??I67C@)6ׄ;i4BikB9BIrDj=jDhDntDn]DlDlEns: En96El:El!r@!r@!r@!r@xBDmO6Dm!5Yf<!V=5Q)5>9999EDYEɕCEAE>QQ 1et4٪U?Q 5et4US UNB9Y4Q E?yUeC)UW~B9B=IB=VkBB= =B9B9B=1Y;B= EBʍCBʍCBBƼ =BƼ =B4iԩ >A5 &t@= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271117I I N >mNf,<%*AyZ6@ٱZ3@ZZZ=ZHu?`9?hܿ?# Qt? T*? ?IZ6@)Zy;iZCfgkB9fIBDnV6DnZ5Yv~!vX=z[Q)z>x9x9~DY~C~A~>Q 1 t4٪?Q 5 t4" NB9Y4Q E?yeC)u:IK:igrt4YdiAyEgAEDNOT Ignoring new targets: 85.48 m.gM"gM"] ProNav: ac range: 85.482178 m, nav range: 81.988777 m, bearing: 314.599770 deg, approach rate: -0.592545 m/s, LOS rate: -0.035588 deg/s, cmd heading: 331.890995 deg, new cmd heading: 331.866795 deg. geBeHeadingCmd: 5.792168 target range: 85.482178 and range: 86.00 m.geqY@gigigigizfirfifqfqBdqdqԹdqcyc8 @DmDoD+DEY: E:6E [4:E"E!~;!5E$~;!5*EN;!=EN;!Eɢ;rB% ڿI Z_<ɡiI=)5qY@)1i/ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524889>A K@=I) 9 IA NM >UUf,t`V%*Ay /@ٱ L-@ ~E >= H@W?`%?+ܿ`"?}`?&??I /@) Z9;i ]dkB9]Ie=e4<Mb@Mb@Mb@ )IiQ?L7A`?+IbXAi[A[A) [Ai]>I]4=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775144BDe[6De5Yu+!u4=}Q)}>y9y9DYCsA>Q 1t4٪̌?Q 5t4 ' 9 ?Q A:Y4Q E?y9fC) ;I;iDt4YBhAgDNOT Ignoring new targets: 85.48 m.gWgW ProNav: ac range: 85.482178 m, nav range: 81.739578 m, bearing: 314.584800 deg, approach rate: -0.548963 m/s, LOS rate: -0.033078 deg/s, cmd heading: 331.866789 deg, new cmd heading: 331.836757 deg. g%rHeadingCmd: 5.791644 target range: 85.482178 and range: 86.00 m.g&U@ggggzfrfffyBBdddcc e@ɢ-PrB-wĽ 15ݿI1 5<ɡ1i1I5Z=)E&U@)AiIBEƀ'4JEƅ04RE0DxDcDDEˀ: EL96E:E! @! @! @! @q>AI1 IA NU > BDAT read: Rx Time:16:10:14.2178  TRx dataTimestamp_ set to:1755879013.678770 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027930ԙ [f,;p%*AyJ*@ٱJ'@JGJK=JH ?`?@k@^ܿ*?ܚ?-(? >?IJ*@)J;vBp~BpBrIBr`kBBr =BpBpBrY;Br!EiJC}kkB9}IBDS6D5Y<!Y=Q)>99DYBCA>Q 1t4٪ڌ?Q 5t4* NB9Y"5Q E?ynfC) ;I ;ijt4YBgAgDNOT Ignoring new targets: 85.48 m.gg  ProNav: ac range: 85.482178 m, nav range: 81.533028 m, bearing: 314.572419 deg, approach rate: -0.548941 m/s, LOS rate: -0.032987 deg/s, cmd heading: 331.836763 deg, new cmd heading: 331.811939 deg. g {qHeadingCmd: 5.791211 target range: 85.482178 and range: 86.00 m.gQ@ggggzfrfff!Bd!d!d!c!c-Zh @ɢUerBU;ʽ Y]\߿IY ]t<ɡYiYI]%A;=II N>D- rD- ZD- 'D) E- k: E- a96E- '4:E) "E- ;!m E- ;!u *E- ;!} E- ;! /hbf,v%*A%DAT read: 16:10:14.2178 LVL= 23920, 29745, 18786, 32755, AGC= 62, IDX= 405, 0.26, 1.424, 0.003, 2.194, 1.627, PHS=-0.101,-1.580, 0.523, RAW= 166.8, 12.3, CAL= 167.0, 14.4, ROT= 343.0, -14.4 -Ygot valid direction response: 16:10:14.2178 LVL= 23920, 29745, 18786, 32755, AGC= 62, IDX= 405, 0.26, 1.424, 0.003, 2.194, 1.627, PHS=-0.101,-1.580, 0.523, RAW= 166.8, 12.3, CAL= 167.0, 14.4, ROT= 343.0, -14.4 =PDAT read: Bearing 149.6, -14.7 (Local) =~Local bearing/azimuth received: Bearing 149.6, -14.7 (Local) MDAT read: Range 11 to 50 : 83.8 m (Round-trip 111.8 ms) speed 0.4 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.926261,-0.283186,0.248690]]Fpublishing direction and range info9prZ+l?eҿl?rBpirp]r1trbIpr> rν)rq=ʿIrT?irAQ:@r[>rq:@r>r=@ rippIrh;'g?g= ?|]?rQ?rٟ\ r闾)rippuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.y1$@ٱ!@]*=H@l?`w?`Xܿʑ?5(? #? ?I1$@);iCuakB9uIuMb@Mb@Mb@ q)qIqiqquFx?X9vMbPu ?uuIu^XAiu]AuZAuZA)quZABDV6DZ5Y! =Q)> 9 9 DY wC 6źA>Q 1t4٪쌊?Q 5t4l/ NB9EU?Q AE:YE0Q EE?yfC)>;I%;ilt4YQUhAQhphr%*AhrBhrBhrlS@hruIS@^UŘ7c4@hrZ+l?eҿl?hr闾hrir3tL@ۼ"L ]5@hrh)? /忶Q 2?hrahrfBhr韊?hr-hr؟B*ip2ir-B:ir؟BirvB"ir:@ addTargetRange:: Added new target pos. range: 83.800003 m, deltaT: 3.788623 s, deltaX: -2.199997 m, approachRate: -0.580685 m/s, rangeRepo size: 4  Added new target pos. range: 83.295921 m, bearing: 315.710240 deg, lat: 36.779413 deg, lon: -121.859652 deg, deltaT: 3.788623 s, deltaX: -2.186256 m, approachRate: -0.577058 m/s, posRepo size: 4 gDNOT Ignoring new targets: 83.30 m.g=g9M ProNav: ac range: 83.295921 m, nav range: 80.732239 m, bearing: 314.911544 deg, approach rate: 0.000000 m/s, LOS rate: -0.032987 deg/s, cmd heading: 331.811929 deg, new cmd heading: 331.776861 deg. gIUHeadingCmd: 5.790598 target range: 83.295921 and range: 83.80 m.gUL@gQgQgYgYzfyrfyffsBBdddc@3T@cJ?ɢrB |I <ɡiIf[# BDAT read: Tx time:16:10:15.4519 $Ping request sent.A O==D nD eD D E O]: E 96E :E !% @!% @!% @!% @AyAԉIIN?!Ajf,%*Ay6b@ٱ6@66lj=6H@ΐ?@+? yܿ?@?``/?N?I6b@)6*;i6CBhkB9BI@i@Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249972BDRU6DR5YZ<!ZX=ZZQ)Z>^ H?9^ H?9^DY^C^JκAb>`Q 1ft4٪bS?Q 5jt4b2 bNB9hYj0Q Ej?ybfC)bw;Ib;ibut4YnBrgArE~B*** querying acoustic contact ***zh|h|g  DNOT Ignoring new targets: 83.30 m.g8g8% ProNav: ac range: 83.295921 m, nav range: 80.524429 m, bearing: 314.897208 deg, approach rate: -0.581676 m/s, LOS rate: -0.040231 deg/s, cmd heading: 331.776849 deg, new cmd heading: 331.748103 deg. g%A-HeadingCmd: 5.790097 target range: 83.295921 and range: 83.80 m.g-yH@g1g1g1g1zf1rf1f9f9Bd9d9dAcAcEW?ɢ rB ۨ I #<ɡiI'~BBIBjkBB =BBBZ;BR!Ei9@@@@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501947Y A AI I N >j"qf,ę%*A DuDuDu*DqEu: Eu*:6Eu(N4:Eq"EukB9-IMb@Mb@Mb@ )Ii rh?rh|C ?ItYAi\A\A^XA)iBD}d6D}#5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754632YP!#=Q)>K?9 K?9 DY ЖC )A >Q 1t4٪ ?Q 5t47 NB9%?Q A%:Y%0Q E%?y7gC)z ;I ;iMt4Y)-ohA1gQ]DNOT Ignoring new targets: 83.30 m.g]2g]2 ProNav: ac range: 83.295921 m, nav range: 80.241005 m, bearing: 314.877423 deg, approach rate: -0.555607 m/s, LOS rate: -0.038922 deg/s, cmd heading: 331.748107 deg, new cmd heading: 331.708397 deg. gwHeadingCmd: 5.789404 target range: 83.295921 and range: 83.80 m.gB@ggggzfrfffaBBdddcc ?ɢ5rB5$i 9=,I9 ],<ɡYiYIe_A,=)mB@)i)yԙiqqqqq A I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005862Iwf,Gޙ%*AyJ@ٱJ@J ۼJ*f=JH`?x?罤 Sܿ`D?`o`h`??`z?PIJ@)Jd;iJCV_kB9VI\i\BDb[6Db5Yj=!j=jKQ)j?l9l9nDYnCrAr?tQ 1zt4٪v?Q 5zt4v{: vNB9xYz0Q Ez?yvagC)v:Iv`:ivt4YBgAEg)-DNOT Ignoring new targets: 83.30 m.g- 2g5 2E ProNav: ac range: 83.295921 m, nav range: 80.074806 m, bearing: 314.865800 deg, approach rate: -0.555301 m/s, LOS rate: -0.038916 deg/s, cmd heading: 331.708410 deg, new cmd heading: 331.685116 deg. gEpMHeadingCmd: 5.788997 target range: 83.295921 and range: 83.80 m.gMw?@gIgIgIgIzfIrfQfQfQBdQdYdYcYc]^?ɢrBRG f=額 I ><ɡiI30=)w?@)iIQQUO0QbD@AZDDmjDm_Dm&DiEmN: Emr96Em4:Ei!u@!u@!u@!u@IINE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257907A <A <vB ~B B IB kBB B B B VZ;B t!E! t}f,@m%*Ay6@ٱ6@6`6|q=6H`?`T? @ܿs?*? ??I6@)6;;i6CB`kB9BIBDH6DHYRK:!RM=RQ)R>T9T9VDYVCV˺AZ>XQ 1^t4٪Z&?Q 5bt4Z2> ZNB9`Yb0Q Eb?yZgC)Zb;IZ^;iZt4YdfgAhgx~DNOT Ignoring new targets: 83.30 m.|g1g1 ProNav: ac range: 83.295921 m, nav range: 79.854218 m, bearing: 314.850399 deg, approach rate: -0.554971 m/s, LOS rate: -0.038853 deg/s, cmd heading: 331.685106 deg, new cmd heading: 331.654219 deg. g5HeadingCmd: 5.788458 target range: 83.295921 and range: 83.80 m.g ;@ggg!g!zf!rf!f!f)Bd)d)d)c)c5?ɢrBpc  I a<ɡiI~4=)  ;@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510030)iiiim?0iIqINa>D]rD]D])DYyE]k: E].:6E]FA4:EY"E];!E];!*E];!E];! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761951ԁ =\f,I%*Ay6@ٱ6 @6 6=6Hdž?6?:`ܿ੊?@ATA{???I6@)6;i4bckB9bIEMb@Mb@Mb@ A)AIAiAAE?Q~jthE ?EEDIEOWAiE]AE]AEbXA)AAYBDeW6De5Yu|<!u>=u Q)u>y9y9}DY}CCA>Q 1t4٪5?Q 5t49B OB9?Q A:Y/Q E?ygC)* ;I;it4YBgAEgDNOT Ignoring new targets: 83.30 m.gAgA ProNav: ac range: 83.295921 m, nav range: 79.612999 m, bearing: 314.832207 deg, approach rate: -0.559582 m/s, LOS rate: -0.042330 deg/s, cmd heading: 331.654206 deg, new cmd heading: 331.617712 deg. gHeadingCmd: 5.787821 target range: 83.295921 and range: 83.80 m.g5@ggggzfrffftBBdddcc jP@ɢ-rB-7Z )-I) 53<ɡiI8A l;=I I N- >De nDe ZDe 'Da Ee O]: Ee a96Ee '4:Ea !m @!m @!m @!m @ f,#,%*Ay6 @ٱ6"@6}61=6H@0? ?@;詿ܿ?`<]??n?I6 @)6(%;i4Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266022FjkB9FIIL)NAABDN`6DN!5YV<!VX=Z Q)Z>X9X9^DY^iC^A^>`Q 1ft4٪bC?Q 5ft4bE bOB9hYj0/Q Ej?ybhC)b:Ib:ibt4YlngAp~B*** querying acoustic contact ***zh|h|g DNOT Ignoring new targets: 83.30 m.g @Ag@A ProNav: ac range: 83.295921 m, nav range: 79.400833 m, bearing: 314.816228 deg, approach rate: -0.559311 m/s, LOS rate: -0.042239 deg/s, cmd heading: 331.617705 deg, new cmd heading: 331.585660 deg. gHeadingCmd: 5.787261 target range: 83.295921 and range: 83.80 m.g?1@ggggzfrfffBdԹddcc@ɢesBe imIi m1<ɡiiiImq<=)?1@)vBA~BABEIBEkBBE =BABABE~Z;BE!E9<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518578i/9 >A &t@=D5 rD1 D5 /D1 E5 k: E1 6E5 J4:E1 "E1 !e E1 !m I I *E5 ;! E5 ;! N >Hf,I%*A4)i)) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770366kB9IiMb@Mb@Mb@ )Ii rh?rh|~jtx ?ĻIi9VA)=ZABDW6D5Yf=!=Q) > 9 9 DY CA>Q 1%u4٪xW?Q 5%u4J OB9% ?Q A%:Y%0Q E-?y\hC):I:iu4Y5B5+gA5EgY]DNOT Ignoring new targets: 83.30 m.ge8ge8u ProNav: ac range: 83.295921 m, nav range: 79.100662 m, bearing: 314.794646 deg, approach rate: -0.560150 m/s, LOS rate: -0.040427 deg/s, cmd heading: 331.585658 deg, new cmd heading: 331.542331 deg. gu}HeadingCmd: 5.786505 target range: 83.295921 and range: 83.80 m.g} +@gygygygzfrfffrBBdԑddcc)@ɢ0sBrֽ I k<ɡiIIMcAA l;=Ia Iy N >6cf,.c%*Ay6E@ٱ6@6pi96D|=6H`}?`?c,ܿ'?@Ҋ`'+?`LI??I6E@)6Z;i6CBykB9BIBDJ^6DJ!5YRE!R~=RQ)R ?T9T9VDYVCZ:AZ ?XQ 1bu4٪Z;c?Q 5bu4ZM ZOB9`Yb0Q Eb?yZhC)Z;IZ;iZu4YhjjgAhgx|DNOT Ignoring new targets: 83.30 m.g7g 75 ProNav: ac range: 83.295921 m, nav range: 78.920433 m, bearing: 314.781734 deg, approach rate: -0.559798 m/s, LOS rate: -0.040197 deg/s, cmd heading: 331.542327 deg, new cmd heading: 331.516444 deg. g5 UHeadingCmd: 5.786054 target range: 83.295921 and range: 83.80 m.gUZ'@gQgQgQgQzfQrfYfafiBdididicqcuyH @ɢMEsBMި IMII UU<ɡQDQDU[DU)DQEQ EU96EUFA4:EQ!]@!]@!]@!e@iQIuhE~BBIBkBB =BBBZ;B!EBaBaBaBeǻ =Beǻ =Be4ԁ >A g@=rA ?jA  DAT read: 16:10:17.9651 LVL= 27952, 32753, 20850, 32755, AGC= 61, IDX= 409, 0.04, 2.962, 1.548,-2.558, 3.133, PHS=-0.069,-1.540, 0.548, RAW= 166.7, 11.4, CAL= 166.9, 13.1, ROT= 343.1, -13.1 m Ygot valid direction response: 16:10:17.9651 LVL= 27952, 32753, 20850, 32755, AGC= 61, IDX= 409, 0.04, 2.962, 1.548,-2.558, 3.133, PHS=-0.069,-1.540, 0.548, RAW= 166.7, 11.4, CAL= 166.9, 13.1, ROT= 343.1, -13.1 u PDAT read: Bearing 147.6, -12.7 (Local) u ~Local bearing/azimuth received: Bearing 147.6, -12.7 (Local)  DAT read: Range 11 to 50 : 81.7 m (Round-trip 109.0 ms) speed 0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.931914,-0.283137,0.226651] Fpublishing direction and range info9 wTO m:@  j> @  ji I ˳?:YO?u4YT? P? K )  ji  T****** received valid address query ****** R****** received valid ping request ******Ա  Querying Benthos address 50 with one ping in standard two-way mode.A I I N >Pf,r%*Ay6g@ٱ6@61H6Ŝ=6Hz? ^?(`ݿ[?Ї?kl?B?I6g@)6;i6CBkB9BIBDJ_6DJ~!5YR%<!R2=VQ)V>T9T9VDYZCu=>Au>yQ 1u4٪}t?Q 5u4}gR }OB9Y0Q E?y}hC)}l:I}:i}#u4YBgAEhYh]r}%*Ah]jBh]jBh]Z+@h]0IR@{D64g2@h]wTO }BDAT read: Tx time:16:10:19.2519 }$Ping request sent.A5 ==i -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898AeyAIqIN>9df,%*Ay6@ٱ69@6X6=6H jx?@}?v ݿ ?:ڄ???I6@)6W;i6CBkB9BIF=F<  Mb@Mb@Mb@ ) I i   Dl?q= ףp~jtx O ?  I i \A `A  TA)  ZABD-<6D-c5Y==!=%==2Q)=>E H?9 H?9DY!C%A>Q 1u4٪농?Q 5u4V $OB9Z?Q A:Y#-Q E?yiC),:IA:i4u4YfAg DNOT Ignoring new targets: 81.21 m.gTgT% ProNav: ac range: 81.208977 m, nav range: 78.540375 m, bearing: 315.097964 deg, approach rate: -0.591697 m/s, LOS rate: -0.046525 deg/s, cmd heading: 331.475583 deg, new cmd heading: 331.432594 deg. g-J-HeadingCmd: 5.784590 target range: 81.208977 and range: 81.70 m.g-]@g)g1g1g1zf1rf1f9f9Bd9d9dAcAcE?ɢmsBu8 qu{Iq u;<ɡqiyI}MAm*A=vB ~B B IB kBB =B B B Z;B !Eԉ A I I N >f,%*Ay6@ٱ6=@6ABg6J=6Ht? C?Pg ݿ?^Y???I6@)6 ;i6CBkB9BIBDJE6DJ5YR޸!RV=RQ)V>T9T9VDYVGCZٺAZ>\Q 1bu4٪^w?Q 5bu4^SZ ^,OB9`YbL-Q Ef?y^KiC)^;I^;i^Au4YjBjfAjEmB*** querying acoustic contact ***zhihiygDNOT Ignoring new targets: 81.21 m.gb=gb= ProNav: ac range: 81.208977 m, nav range: 78.335358 m, bearing: 315.081897 deg, approach rate: -0.526787 m/s, LOS rate: -0.041393 deg/s, cmd heading: 331.432607 deg, new cmd heading: 331.400388 deg. gHeadingCmd: 5.784028 target range: 81.208977 and range: 81.70 m.g@ggggzfrfffBdddccT?ɢ sB cI!i%C -N;ɡ1i9IEҋQ<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755516IIu)SkAIi.`Au SE=bA iAZA hAm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885 A AI I N >`kf,UҚ%*Ay6P@ٱ6@6ww6.=6H\q?`'? }>` ݿ?`|'?Ͳ? ?I6P@)6gP;i4VkB9VI5Mb@Mb@Mb@ 1)1I1i115 rh?K7A{Gz5 ?5 5#I1i15aA1)15=ZABDM56DM+5Y]<!]?=eQ)e>eK?9mK?9mDYmsCm̅Am>qQ 1}u4٪u?Q 5}u4uh^ u4OB9G?Q A:Y2Q E?yuiC)u:;Iu;iuPu4YfAgDNOT Ignoring new targets: 81.21 m.g9*g9* ProNav: ac range: 81.208977 m, nav range: 78.095215 m, bearing: 315.066885 deg, approach rate: -0.593350 m/s, LOS rate: -0.037205 deg/s, cmd heading: 331.400396 deg, new cmd heading: 331.370280 deg. g.HeadingCmd: 5.783503 target range: 81.208977 and range: 81.70 m.gt@ggggzfrfff{BBdddccE&?ɢsB 顥]I ;ɡiIzUA G=} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511016ԉIIN>f,%*AyF@ٱFH@F@Fq!=FH k??  3ݿ?q@d? ?@?IF@)F");iFCRkB9RITiTiV>IV=BD^D6D^5Ybc<!f-=vBj>~BhBjIBjkBBj =BhBhBjZ;Bj!EvQ)v>t9x9zDYzCzuAz>|Q 1u4٪~C?Q 5u4~bQ 9 tI ~>OB9 Y 3Q E ?y~iC)~;I~;i~6au4YmfAg9EDNOT Ignoring new targets: 81.21 m.gE gM U ProNav: ac range: 81.208977 m, nav range: 77.828606 m, bearing: 315.050223 deg, approach rate: -0.561085 m/s, LOS rate: -0.035185 deg/s, cmd heading: 331.370289 deg, new cmd heading: 331.336851 deg. g]Ȁ]HeadingCmd: 5.782919 target range: 81.208977 and range: 81.70 m.g] @gagagagazfarfafifiBdidqdqcqcu@)?ɢsBd 页I 0;ɡiI$YA<H=! I I D oD \D 'D E `: E 96E '4:E "E U;! E W;! *E _ ;! E ` ;! N >[f, %*A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936kB9IMb@Mb@Mb@ )IiMbX?K7:v ?I TIUAi\AaAQA)YABDE6D5Y<!.=Q)>99DYӘCA>Q 1u4٪ō?Q 5u4tg GOB9'?Q A:Y/8Q E?yjC):Io:iqu4YOfAg)5DNOT Ignoring new targets: 81.21 m.g5ug5uE ProNav: ac range: 81.208977 m, nav range: 77.568680 m, bearing: 315.037717 deg, approach rate: -0.557902 m/s, LOS rate: -0.026934 deg/s, cmd heading: 331.336848 deg, new cmd heading: 331.311751 deg. gE+EMHeadingCmd: 5.782481 target range: 81.208977 and range: 81.70 m.gM @gIgIgQgQzfQrfQfYf]aBBdYdYdYcace@И@iɢsBy 顝I PQ;ɡiI]A G=rA ?jA >Iq I N >$f,N(%*ADpD^D&DEd: E;96E4:E!@!@!@!@yJ@ٱJm@JвJ!=JHd?W?`ʵTݿ? H@Q?@+? C?IJ@)Ju;iJCVkB9VIBD^V6D^Z5Yf=!fW=fQ)j>h9h9jDYjCn9An>pQ 1vu4٪r;Ӎ?Q 5vu4r#k rPOB9tYvj8Q Ev?yrFjC)r`:Ir:ir~u4Y~B~fA~Eg!%DNOT Ignoring new targets: 81.21 m.g-Gg-G= ProNav: ac range: 81.208977 m, nav range: 77.356636 m, bearing: 315.027594 deg, approach rate: -0.557677 m/s, LOS rate: -0.026696 deg/s, cmd heading: 331.311740 deg, new cmd heading: 331.291439 deg. g=lCEHeadingCmd: 5.782126 target range: 81.208977 and range: 81.70 m.gE.@gAgAgAgAzfIrfIfIfIBdQdQdQcQcU`r@ɢtB% I R:ɡiI á`~BB0IBlBBBBBZ;B!Eԡ>A&t@=IYIqN}>i >I < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771164 f,'B%*Ay>8@ٱ>@>>"=>Ha?`?Wkݿ~?>O?"K? 1?@?I>8@)>;i>CFkB9FIJ4>J4<)L NABDR?6DR5YZL#=!ZL=Z Q)^> 9 9 DY"CA>Q 1%u4٪ፊ?Q 5%u4 o ZOB9!Y-|8Q E-?yjC):I:i*u4Y15eA1eB*** querying acoustic contact ***zhahagDNOT Ignoring new targets: 81.21 m.gg񹝅 ProNav: ac range: 81.208977 m, nav range: 77.127342 m, bearing: 315.016630 deg, approach rate: -0.551337 m/s, LOS rate: -0.026442 deg/s, cmd heading: 331.291441 deg, new cmd heading: 331.269447 deg. gAHeadingCmd: 5.781743 target range: 81.208977 and range: 81.70 m.g @ggggzfrfffBdddccJ @ɢE tBE@ IM7II MmɡQiQI )dA ) Iq I N >Q f, \%*Ay>U@ٱ>@>g>j"=>H`!^?'?("ݿ@}?*f?K? 9? 2?I>U@)>挕;i>CFkB9FIMb@Mb@Mb@ )IiZd;O?HzG:v~ ?= I1VAi[A(bAPA)BD-S6D-5YE@{<!EA=EQ)E>I9I9MDYMMCM`AU>QQ 1]u4٪UZ?Q 5eu4Us UfOB9e?Q Ae:Ye7Q Ee?yUjC)U:IU :iUu4YmBu{eAuEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274762g1=DNOT Ignoring new targets: 81.21 m.g=(g=(M ProNav: ac range: 81.208977 m, nav range: 76.898193 m, bearing: 315.005154 deg, approach rate: -0.535560 m/s, LOS rate: -0.026901 deg/s, cmd heading: 331.269448 deg, new cmd heading: 331.246428 deg. gmDuHeadingCmd: 5.781341 target range: 81.208977 and range: 81.70 m.gu@gqgqgygyzfyrfyffsBBdddcck @)ɢUAA bAM hAZAI ԁ  DAT read: 16:10:21.7622 LVL= 23072, 26161, 21298, 32083, AGC= 60, IDX= 411, 0.23,-2.354, 2.501,-1.613,-2.235, PHS=-0.017,-1.502, 0.578, RAW= 166.1, 10.2, CAL= 166.1, 11.3, ROT= 343.9, -11.3  Ygot valid direction response: 16:10:21.7622 LVL= 23072, 26161, 21298, 32083, AGC= 60, IDX= 411, 0.23,-2.354, 2.501,-1.613,-2.235, PHS=-0.017,-1.502, 0.578, RAW= 166.1, 10.2, CAL= 166.1, 11.3, ROT= 343.9, -11.3  PDAT read: Bearing 145.4, -9.9 (Local)  ~Local bearing/azimuth received: Bearing 145.4, -9.9 (Local)  DAT read: Range 11 to 50 : 79.5 m (Round-trip 106.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.942154,-0.271939,0.195946] Fpublishing direction and range info9q u 5l` &?ux_?u Bq iu Zu 1fu 2Su S}u < u C)u AIu ?iu 9@u K6>u 9@u I>u @ u Iiq q Iu ŭ?.d?h*?u N?u 5 u ޏ)u Iiq q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A] yAIa vB >~B B IIB @lBB B B B [;B !EI N >Nf,&u%*A4yb@ٱb(߹@bbT"=bHZ?@g?t$ݿn}?r?4M?5?r?Ib@)b-;ibCjkB9jIBD G6D s5Y1=!=M== Q)=>E H?9E H?9EDYEuCM}HAM>IQ 1Uu4٪M?Q 5}u4Mv MrOB9yY}7Q E}?yMjC)M;IMy;iMu4Y4eAhho%*Ah Bh Bh"u@hcLR@TeA}5Kj.@h5l` &?ux_?hޏhIiK ^K@1c;{JHS 5@hCG*?_a[rCs ?hShZBhi?hUh B*i柊?2id:i BiƘB"i)@= addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.778939 s, deltaX: -2.199997 m, approachRate: -0.582173 m/s, rangeRepo size: 4 M Added new target pos. range: 79.022476 m, bearing: 315.946031 deg, lat: 36.779419 deg, lon: -121.859642 deg, deltaT: 3.778939 s, deltaX: -2.186501 m, approachRate: -0.578602 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 79.02 m.gUgq ProNav: ac range: 79.022476 m, nav range: 76.387230 m, bearing: 315.413755 deg, approach rate: 0.000000 m/s, LOS rate: -0.026901 deg/s, cmd heading: 331.246416 deg, new cmd heading: 331.224972 deg. gHeadingCmd: 5.780966 target range: 79.022476 and range: 79.50 m.g@ggggzfrfffBdddcS@c͍?ɢVtB 5  I) 5ٗɡ1i1I5 k BDAT read: Tx time:16:10:23.0519 $Ping request sent.ADU mDU ZDU *DQ EU Y: EU a96EU (N4:EQ "EU "~;!e EU $~;!e *EU ;!e EU ;!m A1 Ia I N f,%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252268\y~߲@ٱ~ݹ@~=~!=~HW? ?@V`G%ݿ }? \z? "N?@(??I~߲@)~Sy;i|kB9Iii%=I%=Mb@Mb@Mb@ )IiFx?DlMb ?O IUAiNA)QXABDC6D5Y[=!@=Q)>99DYC"A>Q 1u4٪ ?Q 5u4{ ~OB9:?Q A:Y8Q E?y2kC):IV:ihu4YdAgDNOT Ignoring new targets: 79.02 m.gܹgܹ ProNav: ac range: 79.022476 m, nav range: 76.149826 m, bearing: 315.403597 deg, approach rate: -0.562044 m/s, LOS rate: -0.024122 deg/s, cmd heading: 331.224969 deg, new cmd heading: 331.204591 deg. g0HeadingCmd: 5.780611 target range: 79.022476 and range: 79.50 m.g@ggggzfrfffkBBdddcc?ɢeqtBe aeI  ѻɡiIh]nA zG=A D] qD] [D] 'DY E] 2h: E] 96E] '4:EY !e @!e @!e @!e @Aq Iy I N >=f,#-%*AyNܲ@ٱNٹ@N½N!=NHR? ?@6.(ݿ ,|?A?!K?("??INܲ@)N\;iNCVkB9ZIBDb26Db 5hYj9<!nV=n &Q)n>p9p9rDYrƙCrzAv>tQ 1~u4٪v9?Q 5~u4v~ vOB9|Y~8Q E?yvikC)v{;IvN:ivu4Y B dA EgDNOT Ignoring new targets: 79.02 m.g۹g۹ ProNav: ac range: 79.022476 m, nav range: 75.935204 m, bearing: 315.394431 deg, approach rate: -0.560616 m/s, LOS rate: -0.024011 deg/s, cmd heading: 331.204588 deg, new cmd heading: 331.186204 deg. g/HeadingCmd: 5.780290 target range: 79.022476 and range: 79.50 m.g"@ggggzfrfffBdddccG?ɢutBu3& qu Iq }YɡyiyI}߱q~BBiIBslBB =BBB4[;B!EBBBBBB4)>A%G=rA)jA-?AU AY Ia Iy N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006081f,xÛ%*AAy#ڲ@ٱ|׹@^ʽK!=H1O??` )ݿ{?-~?`QA?k"??I#ڲ@)L;iClB9&Ip=iBD76D5Y <!9= Q)>K?9K?9DYCY,A > Q 1u4٪ *?Q 5u4 % OB9Y8Q E?y kC) WA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511206 AiIqIN>Pf,/%*Aɰ;y6ֲ@ٱ6ӹ@6N\ѽ6$=6HK? ?滿H-ݿz?І? ?@d??I6ֲ@)6=;i6CB'lB9B:IF!>F>=Mb@Mb@Mb@ 9)9I9i99= rh?K7Mb= ?=I 9I=TAi=ZA=?cA=jLA)9=WABD36D? 5Ym=!)=Q)>9!9-DY-$C-fA->1Q 1=u4٪5T~BBIBlBBBBBd[;B!EԱ>A PH=I I! N- > mf,%*AIf݈G)rlAI|i%1-lA-AyE>ֲ@ٱEӹ@EؽE]'=EHxH?`A?@Lj+ݿ{?b?`?r̤??IE>ֲ@)E;iECUXlB9}XIBDA6D5Y`=!Q=Q)>99DYLCkA>Q 1u4٪)J?Q 5u4 OB9Y<8Q E?y'lC):I:iu4Y[cAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014277gaeDNOT Ignoring new targets: 79.02 m.gmgm㹝} ProNav: ac range: 79.022476 m, nav range: 75.195236 m, bearing: 315.361668 deg, approach rate: -0.548551 m/s, LOS rate: -0.024866 deg/s, cmd heading: 331.140220 deg, new cmd heading: 331.120466 deg. g}6HeadingCmd: 5.779142 target range: 79.022476 and range: 79.50 m.g@ggggzfrfffBdddcc`K@ɢ%tB%4% !%I! -_ɡ)i)I-zAG=bAZAgA1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268018I I N >Q #Xg,bj%*Ay:ֲ@ٱ:\ӹ@:y߽:2Y(=:HE??`(ݿ{{?gY? ??`f?I:ֲ@):Ս;i:CFklB9FdIMb@Mb@Mb@ )IiK7?=!=Q=EQ)E>A9A9EDYMsCM?AM>QQ 1]v4٪UW?Q 5]v4U UOB9]?Q Ae:Yen;Q Ee?yU_lC)U ;IU:iUPv4Yim cAigDNOT Ignoring new targets: 79.02 m.gg ProNav: ac range: 79.022476 m, nav range: 74.974869 m, bearing: 315.353758 deg, approach rate: -0.582778 m/s, LOS rate: -0.020978 deg/s, cmd heading: 331.120468 deg, new cmd heading: 331.104602 deg. gUHeadingCmd: 5.778865 target range: 79.022476 and range: 79.50 m.gUw@gQgQgQgQzfQrfYfYf]BBdYdadacace`r@ɢtB^6+  I 3M{ɡiI>}AiIIN>ԁ D tD _D &D E s: E r96E 4:E ! @! @! @! @ g,;0%*A0y:ղ@ٱ:hҹ@:潹:Bv(=:H2B? ?@d 'ݿ{??`ʼ?@? #?I:ղ@):h0;i:CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770135JlB9JuILiLBDR:6DRx5YZh=!ZT=^lQ)^>\9`9bDYbCb杹Ab>dQ 1jv4٪fe?Q 5jv4fn fOB9lYnz;Q En?yflC)fe:IfI;ifv4YrBribArEg  DNOT Ignoring new targets: 79.02 m.gtgt% ProNav: ac range: 79.022476 m, nav range: 74.756676 m, bearing: 315.345911 deg, approach rate: -0.564881 m/s, LOS rate: -0.020376 deg/s, cmd heading: 331.104594 deg, new cmd heading: 331.088853 deg. g%)-HeadingCmd: 5.778591 target range: 79.022476 and range: 79.50 m.g-7@g)g)g1g1zf1rf1f1f9Bd9d9dAcAcE@`@ɢuB!/ I 銼ɡiI'd~BQBUIBUlBBU =BQBQBU[;BU"Eԉi0Թ>A L==BDAT read: Rx Time:16:10:25.5593 =TRx dataTimestamp_ set to:1755879025.023025Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023420IIIYNm> gg,J%*AD6pD6^D6'D4E6d: E6;96E6'4:E4"E6x;!BE6y;!B*E6;!BE6;!B`y^yҲ@ٱ^Ϲ@^ z^%=^H`S>?x?^ `)ݿz?t?=??P?I^yҲ@)^;i^CrlB9rIBD]26D] 5Ym>=!m?=mQ)u>q99DYƚCX?A>Q 1v4٪t?Q 5v4 OB9Y;Q E?ylC);I;iv4YbAEB*** querying acoustic contact ***zhhg1EDNOT Ignoring new targets: 79.02 m.guzguzchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276293 ProNav: ac range: 79.022476 m, nav range: 74.512451 m, bearing: 315.337148 deg, approach rate: -0.514517 m/s, LOS rate: -0.018521 deg/s, cmd heading: 331.088857 deg, new cmd heading: 331.071275 deg. g HeadingCmd: 5.778284 target range: 79.022476 and range: 79.50 m.g@ggggzfrfffBdd!d!c!c% ] @ɢ8uB3 顝 I ?ɡiIA G=rA jA ?I I N >m DAT read: 16:10:25.5593 LVL= 24544, 32753, 22002, 32755, AGC= 60, IDX= 414,-0.35, 0.971,-0.414, 1.724, 1.059, PHS= 0.014,-1.427, 0.621, RAW= 166.8, 8.7, CAL= 166.5, 9.2, ROT= 343.5, -9.2 u Ygot valid direction response: 16:10:25.5593 LVL= 24544, 32753, 22002, 32755, AGC= 60, IDX= 414,-0.35, 0.971,-0.414, 1.724, 1.059, PHS= 0.014,-1.427, 0.621, RAW= 166.8, 8.7, CAL= 166.5, 9.2, ROT= 343.5, -9.2 } PDAT read: Bearing 143.3, -8.9 (Local)  ~Local bearing/azimuth received: Bearing 143.3, -8.9 (Local)  DAT read: Range 11 to 50 : 77.4 m (Round-trip 103.3 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.946486,-0.280362,0.159881] Fpublishing direction and range info9A E %&bI?'v7sѿČsv?E ̚BA iE _E E UE A E B`e<)E 𧶿IE ?iE AQ:@E |>E w9@E l$>E ؿ@ E l$iA A IE N?&^r ?O`ZWq?E P?E C' E r)E l$iA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.7g,4c%*A!yҲ@ٱ й@@󽹱$=H;? ?C=&ݿa{??h?Yw?g?IҲ@)Oy;iC lB9 IDusDu[Du%DqEuso: Eu96Eu 4:Eq!}@!}@!@!@Mb@Mb@Mb@ )Ii/$?㥛 ¿y&1 ?`eIRAitYA(bA&IA)UABD6DY V=!&=лQ)>99DYCj8A>I!Q 1Uv4٪%?Q 5Uv4% %PB9U?Q A]:Y]@ggggzfrfffBBdddcYS@c?ɢWuB&  I lɡiI@)(DAT read: user:77> BDAT read: Tx time:16:10:26.8019 $Ping request sent.A} \J=A I I N >< g,%*A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247460yJmղ@ٱJҹ@JEJ%,=JH :?`?@1<`Gݿ?}??`?Z?`z?IJmղ@)Jх;iJCRlB9RIV=V%=)X ZABD^.6D^ 5Yf%=!fl=jQ)j?h9h9jDYnCn{:An?pQ 1vv4٪rO?Q 5vv4r  rPB9tYzA L=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502509y IY Ii N} >d_&g,%*A0y>`ײ@ٱ>Թ@>ĵ>Ʈ+=>H69?`? &ݿ@~???I??I>`ײ@)>;i>CJlB9JIMb@Mb@Mb@ )IiHzG?p= ףA9I9MDYMFCM:AM>QQ 1]v4٪U?Q 5]v4U U'PB9e5?Q Ae:Ye]6Q Ee?yUmC)U ;IU ;iUIv4Yim"aAqgDNOT Ignoring new targets: 76.93 m.gg ProNav: ac range: 76.934547 m, nav range: 73.794228 m, bearing: 315.360098 deg, approach rate: -0.551666 m/s, LOS rate: -0.028639 deg/s, cmd heading: 331.041237 deg, new cmd heading: 331.017371 deg. gQHeadingCmd: 5.777343 target range: 76.934547 and range: 77.40 m.g߸@g1g1g1g1zf9rf9f9f=uBBdAdAdAcAcM`?ɢuBJ. 页G I YƼɡiIzA I I N% >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0034179,g,%*AvB6>~B4B6IB6mBB6 =B4B4B6[;B6"EyR۲@ٱRٹ@ReR*=RH8??ݿ?ug?|7? ?(? ?IR۲@)R;iRCZmB9ZI\Id)dBDf46Df 5Yn6>!rP=r޻Q)r>t9t9vDYvnCv:Av>xQ 1~v4٪zԮ?Q 5~v4z z=PB9Y>6Q E?yzmC)zQ;Iz+;izEWv4Y  C`Ag15DNOT Ignoring new targets: 76.93 m.g=g=M ProNav: ac range: 76.934547 m, nav range: 73.578003 m, bearing: 315.348762 deg, approach rate: -0.551731 m/s, LOS rate: -0.029011 deg/s, cmd heading: 331.017359 deg, new cmd heading: 330.994620 deg. gM_TUHeadingCmd: 5.776946 target range: 76.934547 and range: 77.40 m.gUܸ@gQgYgYgYzfYrfYfafaBdadadacicm`w?ɢuB516 15 I9 ==Լɡ9i9I=AlT=IaIqN}>A D- D- D- )D) E- : E- Ǚ:6E- FA4:E) "E- ;!= E- ;!= *E- ;!E E- ;!E 5r3g,?tΜ%*AiyFܲ@ٱF<ڹ@FF#,)=FH6?&?`_ ݿȁ?[?͍? ?F?IFܲ@)Frh;iFCr,mB9rI!BD5*6D5 5Ye=!mB=uͻQ)}>99DYCE9A>Q 1v4٪?Q 5v4˫ UPB9Y:6Q E?ymC);checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509722I;iCfv4Y_AEB*** querying acoustic contact ***zhhg15DNOT Ignoring new targets: 76.93 m.g=fg=fM ProNav: ac range: 76.934547 m, nav range: 73.341461 m, bearing: 315.336271 deg, approach rate: -0.504173 m/s, LOS rate: -0.026709 deg/s, cmd heading: 330.994628 deg, new cmd heading: 330.969566 deg. gMCuHeadingCmd: 5.776509 target range: 76.934547 and range: 77.40 m.gu)ٸ@ggggzfrfffBdddcc@ ?ɢ uB 6+  I >aɡiIw"A! I I N >9g,L%*Ay6@ٱ6r޹@6`6'$)=6HS6? *?`h}ݿ?@?`y?`??I6@)6{;i6CNcmB9RI%Mb@Mb@Mb@ !)!I!i!!%x&?p= ףI +%7 ?!%94I%PAi%GWA%aA%FA)!%TABD=>6D=O5YM >!ML=MhλQ)U>Q9Q9UDYUC];:A]>aQ 1mv4٪eˎ?Q 5mv4e ekPB9m8 ?Q Am:Ymz6Q Eu?ye5nC)e:IeZ:iesv4ԹDrDfD&DEk: E96E4:E!@!@!@!@Y^Ag9EDNOT Ignoring new targets: 76.93 m.gE gM } ProNav: ac range: 76.934547 m, nav range: 73.126228 m, bearing: 315.325001 deg, approach rate: -0.577273 m/s, LOS rate: -0.030316 deg/s, cmd heading: 330.969575 deg, new cmd heading: 330.946969 deg. g}]}HeadingCmd: 5.776114 target range: 76.934547 and range: 77.40 m.gո@ggggzfrfffBBdddcc@ɢuB8; I P`ɡ i I Ub~BiBmCIBmmBBiBiBiBmm[;Bm!EB)B)B)B-Ƽ =B-Ƽ =B-Ƭ4>A) I I N >A @g,(%*A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263517y:@ٱ:A@: :}(=:H5?Q? Ssܿ ?4?@1+? ߤ?@?I:@):x;i:CbumB9bIfR=if4=BDn%6Dn5Y~P8=!P= Q) >99DYC%:A%>)Q 1=v4٪-َ?Q 5=v4-? -PB99YE_6Q EE?y-lnC)-f;I-a;i-ہv4YUBUk^A]EgDNOT Ignoring new targets: 76.93 m.g g  ProNav: ac range: 76.934547 m, nav range: 72.909050 m, bearing: 315.313492 deg, approach rate: -0.566569 m/s, LOS rate: -0.030113 deg/s, cmd heading: 330.946981 deg, new cmd heading: 330.923894 deg. gq\HeadingCmd: 5.775712 target range: 76.934547 and range: 77.40 m.gҸ@ggggzfrfffBdddcc H@ԑɢuB(= iI rɡiIAM gW=a I I N >Fg,%*Aɰy:@ٱ:@: :s(=:H5?z?ܿ??@t?`)?`?I:@): u;i:CRmB9RIUMb@Mb@Mb@ Q)QIQiQQU(\?K7AMbU?U UIUOAiU1VAQUDA)QURABDi6DiY}\=!}B=Q)>99DYCݱ:A>Q 1v4٪莊?Q 5v4@ PB9?Q A:Y2Q E?ynC) ;I ;isv4Y]AgDNOT Ignoring new targets: 76.93 m.g*g* ProNav: ac range: 76.934547 m, nav range: 72.673050 m, bearing: 315.298268 deg, approach rate: -0.574341 m/s, LOS rate: -0.037172 deg/s, cmd heading: 330.923895 deg, new cmd heading: 330.893346 deg. gHeadingCmd: 5.775178 target range: 76.934547 and range: 77.40 m.gCθ@ggggzfrfffBBdddc c  @ɢ5vB5<8 9=@I9 =fUɡ9i9IE`ˋA|^=BEJE(4REǧ/DoDbD)DE`: E96EFA4:E!-@!-@!-@!-@Թ A% yAI) I9 NM >% BDAT read: Rx Time:16:10:29.3066 - TRx dataTimestamp_ set to:1755879028.802699- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020446vBY ~BY B] |IB] 2nBB] =BY BY B] Y[;B] !ELg,6%*A0yF@ٱF@FIFk(=FH`4? g?)¿ܿ`h?,??ؤ? /?IF@)Fe7r;iD^mB9b'IBDj-6Dj| 5Y~F=!Q=Q)>  H?9  H?9 DY ;C 39A >Q 1v4٪4?Q 5v4 PB9!Y%2Q E%?ynC)^;I{;i#v4Y)-]A-EgQUDNOT Ignoring new targets: 76.93 m.g](g](m ProNav: ac range: 76.934547 m, nav range: 72.451790 m, bearing: 315.283887 deg, approach rate: -0.565028 m/s, LOS rate: -0.036836 deg/s, cmd heading: 330.893350 deg, new cmd heading: 330.864501 deg. gmԆuHeadingCmd: 5.774675 target range: 76.934547 and range: 77.40 m.gu#ʸ@gqgqgygyzfyrfyffBdddcc @ɢ6vB*> 顽I 0 ɡiI>iU9QQQQԑiCI-G)IIaiufAechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271399>AqbAZAhAIQ Ia N} > D mD \D 'D E Y: E 96E '4:E "E !~;!m E $~;!m *E _ ;!m E ` ;!m Sg,AO%*AlrmB9rHIIv@A)v@ABDz)6Dz5YE=!MH=UQ)U>a9i9mDYueC}A>Q 1v4٪z?Q 5v4 PB9YQ E?yoC)3;IW;iv4Y\A5DAT read: 16:10:29.3066 LVL= 28544, 29585, 19666, 32435, AGC= 59, IDX= 417, 0.46,-1.698,-3.107,-0.940,-1.618, PHS= 0.022,-1.444, 0.634, RAW= 166.7, 8.6, CAL= 166.4, 9.0, ROT= 343.6, -9.0 =Ygot valid direction response: 16:10:29.3066 LVL= 28544, 29585, 19666, 32435, AGC= 59, IDX= 417, 0.46,-1.698,-3.107,-0.940,-1.618, PHS= 0.022,-1.444, 0.634, RAW= 166.7, 8.6, CAL= 166.4, 9.0, ROT= 343.6, -9.0 EPDAT read: Bearing 143.0, -7.6 (Local) M~Local bearing/azimuth received: Bearing 143.0, -7.6 (Local) }B*** querying acoustic contact ***zhyhygDAT read: Range 11 to 50 : 75.3 m (Round-trip 100.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.947503,-0.278865,0.156434]Fpublishing direction and range info9hx rQ? ѿp ?BiosL~DNOT Ignoring new targets: 76.93 m.gg ProNav: ac range: 76.934547 m, nav range: 72.215988 m, bearing: 315.268464 deg, approach rate: -0.499273 m/s, LOS rate: -0.032762 deg/s, cmd heading: 330.864499 deg, new cmd heading: 330.833553 deg. goHeadingCmd: 5.774135 target range: 76.934547 and range: 77.40 m.gŸ@; X9<)ԸIM"?i4:@`>9@| >@ | iI,/}?)C? 6?pqP? :)| iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.g)g)g1g1zfArfffBdddc@3R@c&m?ɢZvBZ- I ɡ i I N  BDAT read: Tx time:16:10:30.6519  $Ping request sent. A (a=I I N >,Zg,j%*Ay6@ٱ6@6F6z&=6H@0?@A?t¿ܿ\?R?8?ྠ?ץ?I6@)6?m;i6C>mB9BVIiDIF=XbD1ZD1D=|D=kD=)D9E= : E=:6E=FA4:E9!E@!E@!E@!E@eMb@Mb@Mb@ a)aIaiaaeDl?T㥛 {GzeO ?eeףIeMAieUAaeCA)aeQABD}*6D} 5YY=!>=Q)>99DYC9A>Q 1v4٪?Q 5v4 PB9 ?Q A:Yv2Q E?y[oC) ;I ;iyv4YBh\AEhhS%*AhBhBhE@h$MúQ@XQ4{j'@hhx rQ? ѿp ?h:h| i7I@%I884@h\l?D8%?h(Ih|MBh"?hoUhB*i0?2i-:iiB"i@  addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 3.781649 s, deltaX: -2.099998 m, approachRate: -0.555313 m/s, rangeRepo size: 4  Added new target pos. range: 74.847450 m, bearing: 315.610062 deg, lat: 36.779420 deg, lon: -121.859642 deg, deltaT: 3.781649 s, deltaX: -2.087097 m, approachRate: -0.551901 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 74.85 m.g%g!5 ProNav: ac range: 74.847450 m, nav range: 72.041916 m, bearing: 315.316265 deg, approach rate: 0.000000 m/s, LOS rate: -0.032762 deg/s, cmd heading: 330.833545 deg, new cmd heading: 330.809226 deg. g1=HeadingCmd: 5.773710 target range: 74.847450 and range: 75.30 m.g=<¸@g9g9gAgAzfArfAfIfMBBdIdIdQcQcU`?ɢ}svB\K 顅I ɡiI==Ac=IIN >9 % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501369qag,v%*Ayj@ٱjT@j6j"=jH,??B¿ ܿ@ȇ??#?kp?@ ?)?Ij@)jk;ijCrnB9v^IBD~&6D~D5Y s =! T= BQ) >99DYCA>!Q 1-v4٪%#?Q 5-v4% %PB91Y52Q E5?y%oC)%:I%:i%v4Y9=3\A9gaeDNOT Ignoring new targets: 74.85 m.gm*gm*} ProNav: ac range: 74.847450 m, nav range: 71.824509 m, bearing: 315.302016 deg, approach rate: -0.567917 m/s, LOS rate: -0.037335 deg/s, cmd heading: 330.809230 deg, new cmd heading: 330.780645 deg. g}HeadingCmd: 5.773211 target range: 74.847450 and range: 75.30 m.g&@ggggzfrfffBdddcc?ɢvBF I c"ɡiItAdh=rA ?jA ?II N] > =:gg,vP%*Ay:ڲ@ٱ:Vع@:_:=:H@%??`¿ ܿ? H?@ ?`C?!?I:ڲ@):i;i:CF9nB9FI Mb@Mb@Mb@ ) I i   sh|??K7A rh  ?   CI jLAi QA (bA AA)  zPABD%,6D% 5Y5>!5H==aRQ)=>99A9EDYEߜCEVAE>IQ 1Uv4٪Ma2?Q 5Uv4M M QB9U ?Q A]:Y]4Q E]?yMoC)M; ;IM;iMIv4YaeU[AagDNOT Ignoring new targets: 74.85 m.g|g|ԙ ProNav: ac range: 74.847450 m, nav range: 71.599770 m, bearing: 315.288784 deg, approach rate: -0.549463 m/s, LOS rate: -0.032454 deg/s, cmd heading: 330.780652 deg, new cmd heading: 330.754104 deg. gmHeadingCmd: 5.772748 target range: 74.847450 and range: 75.30 m.gZ@ggggzfrfffBBdddcc&?ɢvB(@ quPIq })ɡyiyI}MABa=II N >)߁ ߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256380 vB ~B B IB nBB =B B B [[;B !Endmg,+%*Ay6в@ٱ6Sι@6P6"=6H`o?C ?E¿` ݿ~?`?c? ?@S?I6в@)6i;i4BOnB9BIBC=B;)D DBDJ6DJJ4YRne=!RT=VlQ)V>T9T9ZDYZCZOAZ>\Q 1v4٪^??Q 5v4^1 ^#QB9!Y%>5Q E%?y^pC)^';I^;i^v4Y)-ZA)gQUDNOT Ignoring new targets: 74.85 m.g]g]m ProNav: ac range: 74.847450 m, nav range: 71.387939 m, bearing: 315.276456 deg, approach rate: -0.534059 m/s, LOS rate: -0.031173 deg/s, cmd heading: 330.754096 deg, new cmd heading: 330.729367 deg. gm3duHeadingCmd: 5.772316 target range: 74.847450 and range: 75.30 m.guѶ@gqgqgqgqzfyrfyfyfBdddcc ?ɢvB D 顽I A0ɡiIA^=II)QNU>Dm vDm VDm (Di Em Vz: Em 96Em c44:Ei "Em F;!} Em G;!} *Em :!} Em :!} y ILtg,ҝ%*AnB9%I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762618BDE*Y6DE 5Y >!/=Q)>99DY4CA>Q 1Uv4٪P?Q 5Uv4 ?QB9QYQQ EU?yFpC)nA Ba=bA ZA gA A AI I N% >Qvzg,%*Ay6@ٱ6w@6<6e =6H+?`5?ÿ/ݿs?ͼ? 4?x?l?I6@)64h;i6CVnB9ZID%pD%[D%'D!E%d: E%96E%'4:E!!-@!-@!-@!-@MMb@Mb@Mb@ I)IIIiIIMQ?X9v}K?9}K?9}DY}ZCA>Q 1w4٪]?Q 5w4! VQB9?Q A:Y2Q E?y{pC) ;Iu ;iw4YFYAgDNOT Ignoring new targets: 74.85 m.g 7g 7 ProNav: ac range: 74.847450 m, nav range: 70.922577 m, bearing: 315.247336 deg, approach rate: -0.589503 m/s, LOS rate: -0.040008 deg/s, cmd heading: 330.698662 deg, new cmd heading: 330.670929 deg. goHeadingCmd: 5.771297 target range: 74.847450 and range: 75.30 m.gv@ggggzfrfffBBdddcc`@ɢ wB'L 顭IԱ >ɡiIt~B1B5+IB5NoBB1B1B1B5@[;B5!E>AJc= A yAI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5166829 d^g,%*A~nB9~Iii =I =BD16DT 5Y%L=!%O=%Q)->- H?9- H?9-DY-C5A5>9Q 1Ew4٪={l?Q 5Ew4= =oQB9AYAQ EE?y=pC)=;I=:i=w4YQUXAQgq}DNOT Ignoring new targets: 74.85 m.g1g1 ProNav: ac range: 74.847450 m, nav range: 70.698822 m, bearing: 315.232102 deg, approach rate: -0.568859 m/s, LOS rate: -0.038850 deg/s, cmd heading: 330.670932 deg, new cmd heading: 330.640369 deg. g3HeadingCmd: 5.770763 target range: 74.847450 and range: 75.30 m.g@ggggzfrfffBdddcc @ɢ%wBK I ^EɡiIpAm&V=AAAIINb>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768714i ͉g,,%*A yF0@ٱF@FCFC]K?9]K?9]DY]C]2Ae>aQ 1mw4٪e={?Q 5mw4e eQB9u?Q Au:Yu7Q Eu?yepC)e;Ie;iew4YyKXAg)UDNOT Ignoring new targets: 74.85 m.g]g] ProNav: ac range: 74.847450 m, nav range: 70.466927 m, bearing: 315.219982 deg, approach rate: -0.542052 m/s, LOS rate: -0.028426 deg/s, cmd heading: 330.640360 deg, new cmd heading: 330.616038 deg. gPHeadingCmd: 5.770339 target range: 74.847450 and range: 75.30 m.g@BDAT read: Rx Time:16:10:33.1536 TRx dataTimestamp_ set to:1755879032.586859checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026754g gg!g!zf!rf!f)f-BBdIdIdQcQcU[ @iɢGwBcl> 顥I hGMɡiIA KY=rA ?jA ? e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272114vB) ~B) B- cIB- oBB- =B) B) B- [;B- !EBBBB˽ =B˽ =B˄4A I I N >g,s9%*Ay6@ٱ6x@6#6Q<6Hm? 1?@#ÿ_rݿ`^?@N?h?T??I6@)6h;i6CLRoB9RIBDX6DXYrN=!rQ=v(Q)v>t9t9vDYvҝCzAz>|Q 1w4٪~>?Q 5w4~ ~QB9 Y  8Q E ?y~(qC)~j:I~:i~+w4YWAg9=DNOT Ignoring new targets: 74.85 m.gE gE U ProNav: ac range: 74.847450 m, nav range: 70.246552 m, bearing: 315.208701 deg, approach rate: -0.591813 m/s, LOS rate: -0.030388 deg/s, cmd heading: 330.616044 deg, new cmd heading: 330.593413 deg. gUt^]HeadingCmd: 5.769944 target range: 74.847450 and range: 75.30 m.g]a@gYgYgYgazfarfafafaBdididicicu @ɢ`wBW 顥I ,SɡiIJAUQ=i=I DAT read: 16:10:33.1536 LVL= 26448, 31137, 24178, 32755, AGC= 59, IDX= 403, 0.31,-1.943, 2.938,-1.238,-1.929, PHS= 0.088,-1.371, 0.646, RAW= 165.6, 7.1, CAL= 165.0, 6.9, ROT= 345.0, -6.9 Ygot valid direction response: 16:10:33.1536 LVL= 26448, 31137, 24178, 32755, AGC= 59, IDX= 403, 0.31,-1.943, 2.938,-1.238,-1.929, PHS= 0.088,-1.371, 0.646, RAW= 165.6, 7.1, CAL= 165.0, 6.9, ROT= 345.0, -6.9 %PDAT read: Bearing 140.1, -5.6 (Local) %~Local bearing/azimuth received: Bearing 140.1, -5.6 (Local) -DAT read: Range 11 to 50 : 73.1 m (Round-trip 97.5 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.AYIaIqNZ>^direction in FSK: [0.958930,-0.256944,0.120137]Fpublishing direction and range info9y#?tuuqпrjƹI?3BiPgyr^ X9=)|IB`%?i8@=N8@Ϣ=2@ ϢiI#;=?_G?0඿?wK?Q^  )ϢiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.! DM vDM }DI DI EM Vz: EM k&:6EI :EI "EM F;!U EM G;!] *EM ;!] EM ;!] g,hYS%*Ay61@ٱ6@6 6<6H??`iSÿݿZ?@2? ?=? ?I61@)6 jh;i6CN8oB9NIR=R<)P RA|(DAT read: user:79> %BDAT read: Tx time:16:10:34.4019 %$Ping request sent.%99DYCA>1Q 1Ew4٪5b?Q 5mw45u 5QB9iYmV8Q Em?y5mqC)5;I5;i5T$eu!@!hy#?tuuqпrjƹI?h hϢixsr!tI@CA2H 3@hhk? 5Z=ն?h@hKBht:<\?h$hB*i"?2ioU:iiB"i5@m addTargetRange:: Added new target pos. range: 73.099998 m, deltaT: 3.779282 s, deltaX: -2.200005 m, approachRate: -0.582122 m/s, rangeRepo size: 4 } Added new target pos. range: 72.661201 m, bearing: 316.548058 deg, lat: 36.779421 deg, lon: -121.859637 deg, deltaT: 3.779282 s, deltaX: -2.186249 m, approachRate: -0.578483 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 72.66 m.gg ProNav: ac range: 72.661201 m, nav range: 69.822815 m, bearing: 315.497526 deg, approach rate: 0.000000 m/s, LOS rate: -0.030388 deg/s, cmd heading: 330.593423 deg, new cmd heading: 330.562806 deg. gHeadingCmd: 5.769409 target range: 72.661201 and range: 73.10 m.g@ggggzfrfffBdddc`fFR@c`?ɢ=wB=9 AEIA E[ɡAiAIM'AU JM=bA] iAZA] hABE-4JE8g,kp%*A-toB9-BIMb@Mb@Mb@ )IiK7?K7A{GzI ? #I=JAiNA]A!/=Q)> H?9 H?9DY-CA>Q 1w4٪4?Q 5w4x QB9 ?Q A :Y 6Q E ?yqC);Iv;iJw4Y0VA5B*** querying acoustic contact ***zh1h1g9EDNOT Ignoring new targets: 72.66 m.gM} gM} ] ProNav: ac range: 72.661201 m, nav range: 69.590469 m, bearing: 315.485623 deg, approach rate: -0.593133 m/s, LOS rate: -0.030488 deg/s, cmd heading: 330.562796 deg, new cmd heading: 330.538911 deg. g]._eHeadingCmd: 5.768992 target range: 72.661201 and range: 73.10 m.ge@gagagagazfirfififmBBdqdqdqcqcu0?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951ɢwBBP 页I 0bɡiIY9A} L= = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935A AI I N >xg,B^%*AyJv@ٱJs@Jt$J"EK?9MK?9MDYMTCMûAM>QQ 1]w4٪U?Q 5]w4U$ URB9aYe7Q Ee?yUqC)UI;IU:iU8Xw4YimUAmäEgDNOT Ignoring new targets: 72.66 m.gg ProNav: ac range: 72.661201 m, nav range: 69.378502 m, bearing: 315.475095 deg, approach rate: -0.557444 m/s, LOS rate: -0.027770 deg/s, cmd heading: 330.538918 deg, new cmd heading: 330.517799 deg. gJKHeadingCmd: 5.768624 target range: 72.661201 and range: 73.10 m.g@ggggzfrfffBdddcc!?ɢwB;-Q -I ͋hɡiINAAE yAA II Ia Nm >g,d<%*Ayji@ٱjxf@jT(j(!D=Q)> H?9 H?9DY}CA>Q 1w4٪ŏ?Q 5w4L $RB9g?Q A:Y/9Q E?yrC):I4:ifw4YuzBuTAṳEgDNOT Ignoring new targets: 72.66 m.g޹g޹ ProNav: ac range: 72.661201 m, nav range: 69.140060 m, bearing: 315.464470 deg, approach rate: -0.544210 m/s, LOS rate: -0.024335 deg/s, cmd heading: 330.517799 deg, new cmd heading: 330.496474 deg. g%2HeadingCmd: 5.768251 target range: 72.661201 and range: 73.10 m.g@ggggzfrfffBBd d dccE?ɢ]wB]D aezIa epɡaiaIe~B1 B5 IB5 upBB5 =B1 B1 B5 Z;B5 !E>Ae tE=rAa jAe >ԡ A AI I N >ˮg,c%*AoB9IBD-6D-54Y=>=!=Q=EQ)E>EK?9EK?9MDYMCMAM>QQ 1]w4٪Uӏ?Q 5]w4U, UARB9aYaQ Ee?yUUrC)U&;IUT;iUqtw4YimvTAmͤEygDNOT Ignoring new targets: 72.66 m.gUgU ProNav: ac range: 72.661201 m, nav range: 68.917801 m, bearing: 315.454499 deg, approach rate: -0.600567 m/s, LOS rate: -0.027029 deg/s, cmd heading: 330.496461 deg, new cmd heading: 330.476455 deg. gE}HeadingCmd: 5.767902 target range: 72.661201 and range: 73.10 m.g}@gygyggzfrfffBdddccP?ɢwBN 顥I ovɡiIbA 4|E=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014826A I I N% >g,מ%*AyB`@ٱ]@9,<H%??hĿ@/ݿJJ?? Cm?`j??IB`@),Ug;i C pB9 IMb@Mb@Mb@ )Ii rh?S㥛Mb ?$IiSKA[A8A)IABD 6D4Y /=!0="Q)>99DYԞCA>!Q 1-w4٪%<䏊?Q 5-w4% %cRB95?Q A5:Y59Q E5?y%rC)%s:I%:i%w4Y9=SAAgamDNOT Ignoring new targets: 72.66 m.gm޹gm޹} ProNav: ac range: 72.661201 m, nav range: 68.657974 m, bearing: 315.443248 deg, approach rate: -0.559866 m/s, LOS rate: -0.024334 deg/s, cmd heading: 330.476463 deg, new cmd heading: 330.453876 deg. g}"2HeadingCmd: 5.767508 target range: 72.661201 and range: 73.10 m.gm@ggggzfrfffBBdddcc@?@ɢxBK I %}ɡiIA E=Q A yAI I D vD ^D (D E Vz: E ;96E c44:E ! @! @! @! @N >ݻg,%*Ay^u]@ٱ^Z@^,.^:<^H ?? Ŀݿ@XI??@ª? ?` ?I^u]@)^Vg;i^Cr@pB9rIv=v=BDz 6Dz4Y>! s= qQ) ? H?9 H?9DYC4A?Q 1%w4٪?Q 5%w4 |RB9)Y-9Q E-?yrC):I:iqw4Y15RA=ΤEgYeDNOT Ignoring new targets: 72.66 m.geݹgeݹu ProNav: ac range: 72.661201 m, nav range: 68.469734 m, bearing: 315.435105 deg, approach rate: -0.559248 m/s, LOS rate: -0.024259 deg/s, cmd heading: 330.453868 deg, new cmd heading: 330.437537 deg. gu1}HeadingCmd: 5.767223 target range: 72.661201 and range: 73.10 m.g}@ggggzfrfffBdddcc9@1ɢE-xBE[ AEIA M߉ɡIiIIMg~BɍCB%IBpBB =BBBZ;B!E x>!>iiiim0ia>ASE=ԙi- >I) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772054A AI I N > g, %*AyVa\@ٱVY@V4 0VvK?9K?9DYCBA%>!Q 1-w4٪%f?Q 5-w4% %RB91Y59Q E5?y%sC)%::I%:i%w4Y9=nRAA]B*** querying acoustic contact ***zhYhYgimDNOT Ignoring new targets: 72.66 m.gmn޹gun޹ ProNav: ac range: 72.661201 m, nav range: 68.243324 m, bearing: 315.425283 deg, approach rate: -0.558499 m/s, LOS rate: -0.024308 deg/s, cmd heading: 330.437531 deg, new cmd heading: 330.417822 deg. g1HeadingCmd: 5.766879 target range: 72.661201 and range: 73.10 m.gF@ggggzfrfffBdddccD. @ɢJxB2O I 5քɡiIƟA&t@=A I I N- > g,e%%*AyJ~Z@ٱJW@JX1J}i9i9mDYmICmAu>yQ 1w4٪} ?Q 5w4} }RB9N?Q A:Y9Q E?y}=sC)}:I}:i}w4Y QAg1=DNOT Ignoring new targets: 72.66 m.g={׹gE{׹u ProNav: ac range: 72.661201 m, nav range: 68.012817 m, bearing: 315.415162 deg, approach rate: -0.534501 m/s, LOS rate: -0.023548 deg/s, cmd heading: 330.417832 deg, new cmd heading: 330.397522 deg. gub,uHeadingCmd: 5.766525 target range: 72.661201 and range: 73.10 m.g}_@gygygygyzfyrfyffBBdddcc α @ɢhxB[J 2I oɡiI{~BBcIBJqBB =BBBZ;B!EDAT read: 16:10:36.9008 LVL= 24352, 27121, 21218, 32755, AGC= 57, IDX= 407, 0.15,-0.546,-1.942, 0.155,-0.541, PHS= 0.098,-1.356, 0.652, RAW= 165.5, 6.8, CAL= 164.9, 6.5, ROT= 345.1, -6.5 >AG= Ygot valid direction response: 16:10:36.9008 LVL= 24352, 27121, 21218, 32755, AGC= 57, IDX= 407, 0.15,-0.546,-1.942, 0.155,-0.541, PHS= 0.098,-1.356, 0.652, RAW= 165.5, 6.8, CAL= 164.9, 6.5, ROT= 345.1, -6.5  PDAT read: Bearing 139.6, -4.5 (Local)  ~Local bearing/azimuth received: Bearing 139.6, -4.5 (Local) - DAT read: Range 11 to 50 : 71.1 m (Round-trip 94.8 ms) speed 0.4 m/s 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [0.960164,-0.255480,0.113203]A M Fpublishing direction and range info9I ?Yп5?3Bi _iR9 9=)hIy&?i8@=18@V=~@ ViIFF?ܯ|f?gQ??BK?! %)Viu T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.A yAI! I9 Ne >#%g,?%*A$i$y~PV@ٱ~S@~)3~/<~H`z??` ſ`ݿF?}?Y?௚?o~?I~PV@)~.f;i~C-pB9-I1i1BDA6DAY=!B=Q)> H?9 H?9DYsCwA>Q 1w4٪?Q 5 w4  RB9 Y 9Q E ?yysC)L;I-N;iܻw4Y!% QA-ϤEhhs7%*AhXBhXBhq@h \P@42h4 @hI ?Yп5?h%hViH@?yG BDAT read: Tx time:16:10:38.1519 $Ping request sent.Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254267 A AI I1 N >g,Lk\%*Ay~S@ٱ~CQ@~˟5~<~H? ?ſ`nݿ`E???f? {?I~S@)~f;i~C pB9$IMb@Mb@Mb@ )Ii(\?Pny&1?`IDAiHA5A)GABD6DT4Y=!6=Q)>K?9K?9DYC+A>Q 1w4٪+?Q 5w4| RB9 ?Q A:YU8Q E?ysC!):IA 4|E=D] wD] \D] &DY E] }: E] 96E] 4:EY !m @!m @!m @!m @ԩ A I I! N- >rg,v%*Ay6S@ٱ6P@6{76<6H??LſݿE?@`???y?I6S@)6Jf;i6 CBpB9B-IFa=iFp=BDJ6DJ4YR$=!R_=RQ)V>T9T9VDYVƟCZ:AZ>\rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917AAAA?AvB ~B ʍCB IB qBB  =B B B Z;B !EBBBBBBE5Q 1=w4٪^8?Q 5Ew4^ ^ SB9AYE[8Q EE?y^sC)^{Am<H=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008349A yAI I N > Eg,%*Aɰ4!ZJ=Z{Q)Z>Z H?9^ H?9^DY^C^Ab>`Q 1fw4٪bnG?Q 5fw4b b)SB9hYjk8Q Ej?yb*tC)b:Ib :ibpw4YlnNAp~B*** querying acoustic contact ***zh|h|g  DNOT Ignoring new targets: 70.67 m.ggDeqDeZDaDaEe2h: Eea96Ea:Ea"Ee;!mEe;!u*Ee;!uEe;!u ProNav: ac range: 70.672882 m, nav range: 66.975121 m, bearing: 315.536379 deg, approach rate: -0.594371 m/s, LOS rate: -0.028330 deg/s, cmd heading: 330.333602 deg, new cmd heading: 330.311729 deg. gbOHeadingCmd: 5.765027 target range: 70.672882 and range: 71.10 m.g{@ggggzfrfffBdddcc?ɢ-xB-lS )-I1 5nɡiiiI7WAG=bAZAI A AI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797y g,!?%*Ay6Q@ٱ6O@6;6o<6H@'??WYƿ@ݿE????@%?s?I6Q@)6f;i6CBXqB9BlIMb@Mb@Mb@ )IiK7?DlI + ?O 9IBAiFAXA14A)EABD6D4Y-=!-?=5Q)5>5K?95K?9=DY=C=A=>AQ 1Mw4٪EV?Q 5Mw4E@ EISB9UL?Q AU:YUs>Q EU?yEftC)E7 ;IE:iEWw4Y]uB]ENAYg!-DNOT Ignoring new targets: 70.67 m.g-g-= ProNav: ac range: 70.672882 m, nav range: 66.740189 m, bearing: 315.529905 deg, approach rate: -0.525697 m/s, LOS rate: -0.014538 deg/s, cmd heading: 330.311719 deg, new cmd heading: 330.298725 deg. g=ԹeHeadingCmd: 5.764800 target range: 70.672882 and range: 71.10 m.ge>y@gagigigizfirfifqfuˀBBdqdqdqcyc}@'?ɢxBL 顅I ɡiIiڣy@)rD5=jD54=BEJE34REI"0DErDEWDE)DAEEk: EE96EEFA4:EA!U@!]@!]@!]@iiiqu 0qIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765151vB~BBIB4rBBBBBZ;B!E =i ~Cԉ >A <H=I G)E lAIe Ai lA AA! I1 IQ Ne >[g,fLğ%*Ay>Q@ٱ>O@>Y<>k=>H??ƿ ݿE?#2?w?J?`7q?I>Q@)> f;i<FqB9JIIL)NAABDR6DR4YZC>!ZQ=Z>Q)^>\9\9^DY^BCb`7Ab>dQ 15x4٪f`c?Q 55x4f ffSB99Y=u>Q E=?yftC)fnAԹ A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274369I I! N5 >=.g,!ޟ%*ALXiXyR@ٱRP@s>=HS? 9 9DYpC9A>)Q 1=x4٪-;s?Q 5Ex4-" -SB9E?Q AE:YM;Q EU?y-tC)-;I-;i-x4YY]LAeڤEgDNOT Ignoring new targets: 70.67 m.g9͹g9͹ ProNav: ac range: 70.672882 m, nav range: 66.272255 m, bearing: 315.514008 deg, approach rate: -0.568376 m/s, LOS rate: -0.022428 deg/s, cmd heading: 330.286720 deg, new cmd heading: 330.266801 deg. g-$HeadingCmd: 5.764243 target range: 70.672882 and range: 71.10 m.gt@ggggzfrfffրBBdddcc }@ɢ/yBoPJ I ?ɡiIA BJ=rA ?jA ?1 DM rDM _DM %DI EM k: EM r96EM 4:EI !U @!U @!] @!] @A) I9 II NU >Yg,q%*Ay6ZV@ٱ6S@6! @6Wf=A><A><vBB>~BBɍCBB8IBBrBBB =B@B@BB[;BB!E)L LNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7751776H϶??`'ǿݿ]J?d"? n? Ժ?[k?I6ZV@)6.g;i6CVrB9ZIBDb6Dbr4Yj7>!j_=j/Q)n>l9l9nDYnCrJ:Ar>tQ 1vx4x٪v?Q 55x4v& vSB91Y5:Q E5?yvuC)v"AYy A I I N ><h,%*Ay6rV@ٱ6S@6}A6h=6Hv?`!?`lǿ`2ݿ@8K?? S?@V?Jh?I6rV@)6g;i6 CB(rB9BIFR=iF%=BDJ6DJ?4YR-=!RN=RQ)V>T9T9VDYVCZ7AZ>\Q 1bx4٪^?Q 5bx4^ * ^SB9`Yb:Q Eb?y^LuC)^;I^;i^@-x4Yhj KAhvB*** querying acoustic contact ***zhthtDqD^DDE2h: E;96E:E"E;!E;!*E;!E;!gDNOT Ignoring new targets: 70.67 m.g%عg%ع5 ProNav: ac range: 70.672882 m, nav range: 65.844711 m, bearing: 315.496848 deg, approach rate: -0.585682 m/s, LOS rate: -0.023666 deg/s, cmd heading: 330.250411 deg, new cmd heading: 330.232383 deg. g5?-=HeadingCmd: 5.763642 target range: 70.672882 and range: 71.10 m.g=o@g9g9g9g9zfArfAfAfABdIdIdIcIcM ۠ @ԙɢayB*U !%I! %Ƥɡ!i!I% AO=Aa Ii Iy N >  DAT read: 16:10:40.6479 LVL= 24304, 28081, 18050, 32755, AGC= 58, IDX= 409, 0.22, 0.161,-1.223, 0.882, 0.136, PHS= 0.127,-1.315, 0.702, RAW= 166.1, 5.5, CAL= 165.3, 4.6, ROT= 344.7, -4.6  Ygot valid direction response: 16:10:40.6479 LVL= 24304, 28081, 18050, 32755, AGC= 58, IDX= 409, 0.22, 0.161,-1.223, 0.882, 0.136, PHS= 0.127,-1.315, 0.702, RAW= 166.1, 5.5, CAL= 165.3, 4.6, ROT= 344.7, -4.6  PDAT read: Bearing 138.1, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 138.1, -3.9 (Local)  DAT read: Range 11 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.961450,-0.263023,0.080199] Fpublishing direction and range info9a e r3? m^пzꇴ?e Ba ie ^e me Fa e : e J >)e QIe F3?ie 9@e =e R8@e l=e M@ e lia a Ie '~?894ZR?x'¨T?e M?e ½ e ڸ)e lia a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.g h,+%*AɰyjT@ٱjR@jCjO=jHU??@ǿ@ݿ@J?\?^M?g?`e?IjT@)jg;ijCEZrB9E IMb@Mb@Mb@ )Ii/$?/${Gz&?1ףI>AiDAXA 0A) CABD6D4Y=!#=_Q)>99DYCڹA>Q 1x4٪?Q 5x4/ SB9.?Q A:Y 9Q E?yuC)]:I:i>x4DxD\DDEˀ: E96E:E!@!@!@!@YCJAۤEhh)%*AhňBhňBhk@h[HfpP@S1/'@hr3? m^пzꇴ?hڸhli_RG@N Grt 71@h|;?eLCT?hP8h>BhpC?hXqhB*ipC?2iXq:i^Bi]B"ik@ addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.783509 s, deltaX: -2.299995 m, approachRate: -0.607900 m/s, rangeRepo size: 4  Added new target pos. range: 68.386536 m, bearing: 315.875354 deg, lat: 36.779428 deg, lon: -121.859636 deg, deltaT: 3.783509 s, deltaX: -2.286346 m, approachRate: -0.604293 m/s, posRepo size: 4 gDNOT Ignoring new targets: 68.39 m.!gg ProNav: ac range: 68.386536 m, nav range: 66.183434 m, bearing: 315.875590 deg, approach rate: 0.000000 m/s, LOS rate: -0.023666 deg/s, cmd heading: 330.232379 deg, new cmd heading: 330.207576 deg. gHeadingCmd: 5.763209 target range: 68.386536 and range: 68.80 m.g6l@ggggzfrfffBBdd d c @33Q@c  g?vB>~BBIB(sBB =BBB[;B!E(DAT read: user:81> BDAT read: Tx time:16:10:41.9519 $Ping request sent.A bA ZA jAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251507ԱA%yAI1IAN]?[h,K%*AyF@V@ٱFS@FcEF=FH@?K?ǿwݿK?v?W? ? b?IF@V@)F`g;iF CNrB9R7IBDZ6DZ4Yb/>!G=aQ)>  H?9  H?9 DY C 9A>Q 1x4٪?Q 5x4C3 TB9!Y%9Q E%?yuC)3;Ir;i`Mx4Y-pB-HA5EgQ]DNOT Ignoring new targets: 68.39 m.g]BgeB㹝m ProNav: ac range: 68.386536 m, nav range: 65.945038 m, bearing: 315.865819 deg, approach rate: -0.603795 m/s, LOS rate: -0.024835 deg/s, cmd heading: 330.207572 deg, new cmd heading: 330.187960 deg. gm5uHeadingCmd: 5.762867 target range: 68.386536 and range: 68.80 m.guhi@gqgygygyzfyrfyffBdddccӹ?ɢyB[ 顽Q߿I NɡiI@yAO=A I I N > =h,_ye%*Ay: X@ٱ:dU@:jF:=:H??@sǿGݿL?@?f? ~?``?I: X@):_f;i:CFrB9FPI Mb@Mb@Mb@ ) I i   B`"?Mb ?  I +=Ai BA TA -A)  z@AI!)%@ABD-6D-4Y5=!=D==aQ)=>A9A9EDYECCM :AM>IQ 1Ux4٪MJ?Q 5]x4M<7 M8TB9]r?Q A]:Y]6Q E]?yMvC)M ;IM;iM[x4YimUHAmEgDNOT Ignoring new targets: 68.39 m.gg ProNav: ac range: 68.386536 m, nav range: 65.714798 m, bearing: 315.854354 deg, approach rate: -0.564273 m/s, LOS rate: -0.028196 deg/s, cmd heading: 330.187955 deg, new cmd heading: 330.164946 deg. ghNHeadingCmd: 5.762465 target range: 68.386536 and range: 68.80 m.gf@ggggzf]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758277rfffۀBBdddccW?ɢyBM ݿI ZnɡiIVA- `T=Q A @AA AAvB ~>~B ȍCB IB sBB =B B ^DB Z;B !E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010968Aq I I N >h,~V%*Aiy:kV@ٱ:S@:%H:=:Hc?`?@q,ȿݿPL?]?@/? ۅ?]?I:kV@):Ye;i:CFsB9F{IBDN6DNf4Yr2>!vP=vލQ)v>x9x9zDYzjCz Az>|Q 1x4٪~x̐?Q 5 x4~; ~\TB9 Y 6Q E ?y~GvC)~:I~:i~eix4YvBgGAg9EDNOT Ignoring new targets: 68.39 m.gEYgEYe ProNav: ac range: 68.386536 m, nav range: 65.492577 m, bearing: 315.843262 deg, approach rate: -0.564453 m/s, LOS rate: -0.028271 deg/s, cmd heading: 330.164951 deg, new cmd heading: 330.142691 deg. gmN}HeadingCmd: 5.762077 target range: 68.386536 and range: 68.80 m.g}b@gygggzfrfffBdddcc`I?ɢyBu V ؿI ɡiIA lT=rA ?jA ?DU vDU hDU 'DQ EU Vz: EU ]96EU '4:EQ "EU F;!] EU G;!] *EQ !e EU 5;!e A5 AIA IQ N] >&h,G%*Ay6zX@ٱ6U@6J6=6H;?`?\ȿ ݿ M?"? ;? ְ?`g[?8I6zX@)6Ie;i6CBDsB9BIBDN6DN)4YR#>!VN=VvQ)V>VK?9ZK?9ZD^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515105Y^Cb+%:Ab>dQ 1jx4٪fڐ?Q 5jx4f> fTB9hYn6Q En?yfvC)f;If';ifSwx4YprFArEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 68.39 m.gg ProNav: ac range: 68.386536 m, nav range: 65.267708 m, bearing: 315.831918 deg, approach rate: -0.536627 m/s, LOS rate: -0.027165 deg/s, cmd heading: 330.142685 deg, new cmd heading: 330.119919 deg. gFHeadingCmd: 5.761680 target range: 68.386536 and range: 68.80 m.g_@g)g)g)g1zf9rf9fifqBdyԩdydcc?ɢeyBegC imտIi mɡiiiImæA &V=) rDM =jDM <DU wDU _DU %DQ EU }: EU r96EU 4:EQ !] @!] @!] @!] @AI IN->U-h,H%*Ay^Y@ٱ^3W@^{K^D=^Hڨ?? ȿ/ݿ N?׮?F? ?Y?I^Y@)^Ce;i^ CisB9IvB]|>~BYB]+IB]0tBB] =BYBYB]Z;B]!EBɍCBɍCBB =B =BI5Mb@Mb@Mb@ )Ii/$?X9vy&1 ?`eI;Ai?AA;+A) ?Aa=ia=BD6DR4Y=!"=b8Q)>99DYơCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019066_9A>Q 1x4٪쐊?Q 5 x4C TB9 Z?Q A :Y  5Q E ?yvC) ;Im ;ix4YFA)gAEDNOT Ignoring new targets: 68.39 m.gMTgMT] ProNav: ac range: 68.386536 m, nav range: 64.989983 m, bearing: 315.816299 deg, approach rate: -0.574005 m/s, LOS rate: -0.032420 deg/s, cmd heading: 330.119927 deg, new cmd heading: 330.088555 deg. g]TmeHeadingCmd: 5.761132 target range: 68.386536 and range: 68.80 m.ge2[@gagggzfrfffBBdddccHr@ɢ% zB%%T )-ԿI) -4ɡ)i)I-AgW= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271979A yAI I1 N= >Ա 93h,Р%*AɰF4!Z=uqQ)>  H?9  H?9 DY C A>Q 1x4٪?Q 5%x48G TB9!Y%5Q E%?yvC);I;ix4Y-wB5DA5EgQ]DNOT Ignoring new targets: 68.39 m.ge2ge2u ProNav: ac range: 68.386536 m, nav range: 64.784325 m, bearing: 315.804687 deg, approach rate: -0.552566 m/s, LOS rate: -0.031298 deg/s, cmd heading: 330.088563 deg, new cmd heading: 330.065265 deg. gueHeadingCmd: 5.760725 target range: 68.386536 and range: 68.80 m.gW@ggggzfrfffBdd d c c m@D=vD=dD=#D9E=Vz: E=96E=3:E9"E9!ME9!M*E=~&;!ME=~&;!Mԑɢ&zBAmY= bA hAZA hAI I N% > 6(:h,%*Ai2>I2%=6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775214yf[@ٱfX@f7NfL=fH?`?Wȿ`4ݿO?z?{?? T?If[@)fa/d;id-sB9-IMb@Mb@Mb@ )Ii/$?v/ rhxCI9Ai>Aj*A)=ABD6D4Y=!==0:Q)>99DYCb:A>Q 1x4٪= ?Q 5x4?K TB9?Q A:Y2Q E?y:wC);Ia;i x4Y  CA g15DNOT Ignoring new targets: 68.39 m.g=I%g=I%M ProNav: ac range: 68.386536 m, nav range: 64.546654 m, bearing: 315.789141 deg, approach rate: -0.550291 m/s, LOS rate: -0.036127 deg/s, cmd heading: 330.065258 deg, new cmd heading: 330.034052 deg. gM;UHeadingCmd: 5.760181 target range: 68.386536 and range: 68.80 m.gUgS@gQgQgQgQzfYrfYfYf]BBdadadacaceW@ɢ5AzB5L 1=ɿI9 =mɡ9i9I=a ~BYB]IB]tBB] =B]IDBYB]Z;B]!EBDAT read: Rx Time:16:10:44.4451 TRx dataTimestamp_ set to:1755879043.930718%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028017>AI Q I G) I! iM SQ U AI1 II Ne >Ah,\u%*A$yJ5_@ٱJ\@J{OJY =JH@̥? ˲?`ɿݿ R?`3?`?H9?@R?IJ5_@)Jc;iJ CV#tB9V#II\)^AABDz6Dz 4Y{>!Y=WQ) > 9 9 DY Q 1%x4٪?Q 5%x4N UB9!Y%2Q E%?yowC);I:i3x4Y15/CA1gQ]DNOT Ignoring new targets: 68.39 m.gey'gey'u ProNav: ac range: 68.386536 m, nav range: 64.339508 m, bearing: 315.775413 deg, approach rate: -0.550578 m/s, LOS rate: -0.036605 deg/s, cmd heading: 330.034058 deg, new cmd heading: 330.006514 deg. guuHeadingCmd: 5.759700 target range: 68.386536 and range: 68.80 m.g}wO@gygygygyzfyrfffBdddcc @ɢXzBT ƿI ɡiI(ABa=DmmDmZDm&DiEmY: Ema96Em4:Ei"Em ~;!Em#~;!*Em;!Em;I!IN> M DAT read: 16:10:44.4451 LVL= 21296, 26417, 18162, 30755, AGC= 57, IDX= 412, 0.03,-1.355,-2.707,-0.627,-1.389, PHS= 0.136,-1.273, 0.719, RAW= 166.5, 4.8, CAL= 165.7, 3.6, ROT= 344.3, -3.6 U Ygot valid direction response: 16:10:44.4451 LVL= 21296, 26417, 18162, 30755, AGC= 57, IDX= 412, 0.03,-1.355,-2.707,-0.627,-1.389, PHS= 0.136,-1.273, 0.719, RAW= 166.5, 4.8, CAL= 165.7, 3.6, ROT= 344.3, -3.6 ] PDAT read: Bearing 137.4, -3.6 (Local) e ~Local bearing/azimuth received: Bearing 137.4, -3.6 (Local) m DAT read: Range 11 to 50 : 66.7 m (Round-trip 89.0 ms) speed 0.4 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.960792,-0.270066,0.062791]} Fpublishing direction and range info9! % mvϾ?\Hѿ֏ ?% fB! i% 0S% 1g% F% #x% 9 % C >)% I% b8?i% w9@% =% 9@% =% K@ % i! ! I% f?V%?lA?% rO?% ; % K)% i! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.{:Gh,zQ%*A$i$Pya@ٱ^@̲P =H(?)? )ɿ`ݿ yS? ]W?@6?W?zP?Ia@)!c;iCVtB9%CIBD6D4YM=!M =Q)>99DYpC:A>Q 1x4٪')?Q 5x4S KUB9Yt2Q E?ywC);IG;iUx4YqB1BAEhQhUP%*AhUBhUBhUjB@hU(fO@? 1ͦpȦ@hUmvϾ?\Hѿ֏ ?hUKhUiUOh\F@iN|F-J0@hU»$(? M BDAT read: Tx time:16:10:45.7019 $Ping request sent.AQ rA] ?jA] ?I I N >RMh,pD9%*A<vBB}>~B@BBIBBMuBBB =B@BB_DBBZ;BBy!EyV*b@ٱV_@V3~QV =VH@K??"ɿՁݿR?3??@[? O?IV*b@)V]b;iV CbtB9bjIEMb@Mb@Mb@ A)AIAiAAE/$?/$]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891AE̽EIE9AiE+=AEPAE(A)AE!}y=Q) ?99DYCj9A ?Q 1x4٪4?Q 5x4}V gUB9t?Q A:Y+Q E?ywC):I:ix4YrB:AAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 66.30 m.gFogFo ProNav: ac range: 66.297844 m, nav range: 63.893822 m, bearing: 315.754288 deg, approach rate: -0.578082 m/s, LOS rate: -0.052297 deg/s, cmd heading: 329.967204 deg, new cmd heading: 329.935333 deg. gkHeadingCmd: 5.758458 target range: 66.297844 and range: 66.70 m.gIE@ggggzfrfff1BBdddcc`.?ɢzBNZ MI Mg"ĽɡIiIIMA% Xh=I I N > Th, S%*Ay6b@ٱ6"`@6gR6 =6HE??*ɿ_ݿ R?Ӱ??2?`N?I6b@)6a;i6CBtB9BqIBDF6DF4YR<!RZ=RPQ)R>T9T9VDYVCZR9AZ>XQ 1bx4٪ZiB?Q 5bx4ZY ZUB9`Yb+Q Eb?yZxC)Z<;IZI;iZx4YdjAAhlgyDNOT Ignoring new targets: 66.30 m.gcgc ProNav: ac range: 66.297844 m, nav range: 63.688999 m, bearing: 315.735711 deg, approach rate: -0.546753 m/s, LOS rate: -0.049750 deg/s, cmd heading: 329.935320 deg, new cmd heading: 329.898046 deg. DrDDDEk: E|:6E:E"E;!E;!*E];!E];!gHeadingCmd: 5.757807 target range: 66.297844 and range: 66.70 m.g?@ggggzfrfffBdddcc?ɢzB2S I eƽɡiIAIqIN>a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790'Zh,:l%*Aɰ;;~tB9~I9Mb@Mb@Mb@ )Iish|??y&1y&1 ?``I5Ai:AOAV&A)9ABD6D4Y=!9=Q)>99DYCA>Q 1x4٪ R?Q 5x4] UB9 ?Q A:Y1Q E?yXxC)f:I ;i&x4YsB6@AEg!-DNOT Ignoring new targets: 66.30 m.g-d/g-d/= ProNav: ac range: 66.297844 m, nav range: 63.448280 m, bearing: 315.718826 deg, approach rate: -0.544442 m/s, LOS rate: -0.038335 deg/s, cmd heading: 329.898055 deg, new cmd heading: 329.864157 deg. g=PEHeadingCmd: 5.757215 target range: 66.297844 and range: 66.70 m.gE;@gAgIgIgIzfIrfIfQfU BBdQdYdYcYc]ಃ?ɢzBK 額8I ȽɡiIݏ~BB,IBuBB =BB^DB9Z;BR!E9&<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259490ԙiU9QQU4Q >Au m=bA} iAZAy AIIN>@bh,VՋ%*AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514713yb*_@ٱb\@bt_Ubp=bH@L?c?iOɿ@ݿO?%?z?V?J?Ib*_@)bD`;i`n&uB9nIBDE6DE4YM%>!U/=Us˻Q)U>Y9Y9]DY]C]wAe>aQ 1mx4٪eb?Q 5ux4e8b eUB9qYu2Q Eu?yexC)eu:Ie:iezx4Yy?AgDNOT Ignoring new targets: 66.30 m.g./g./ ProNav: ac range: 66.297844 m, nav range: 63.194302 m, bearing: 315.701018 deg, approach rate: -0.543909 m/s, LOS rate: -0.038289 deg/s, cmd heading: 329.864150 deg, new cmd heading: 329.828392 deg. g%HeadingCmd: 5.756591 target range: 66.297844 and range: 66.70 m.g5@ggggzfrfffBdddcc?ɢzB  D  6I  u˽ɡ i IZAԹA AI I N > hh,%*A^uB9I=Mb@Mb@Mb@ 9)9I9i99=K7?S㥻:v= ?=/ݽ=ԼI=`3Ai=E8A=xMA=$A)9=7ABDU6DUQ4Ye=!e;=eQ)e>mK?9mK?9mDYm=CuAu>yQ 1y4٪}q?Q 5y4}/f }UB9 ?Q A:Yj0Q E?y}xC)}{:I}w:i} y4YtB(>AEgDNOT Ignoring new targets: 66.30 m.g>g> ProNav: ac range: 66.297844 m, nav range: 62.958134 m, bearing: 315.682912 deg, approach rate: -0.541141 m/s, LOS rate: -0.041644 deg/s, cmd heading: 329.828387 deg, new cmd heading: 329.792038 deg. glHeadingCmd: 5.755957 target range: 66.297844 and range: 66.70 m.g0@ggggzfrfffBBdddccN@ɢ%zB%RG !%I! %4νɡ)i)I-~B- ƍCB- }IB- UvBB- =B) B- ]DB- Y;B- (!EE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849Q >Aq AIIN>$qh,ġ%*Aiy6W@ٱ6U@6@hV6`Q<6HT?M? Qɿ`RݿK? ?@?&?8I?I6W@)6FZ_;i6 CBuB9BIDiDHBDN6DN 4YV=!V==VQ)V>X9X9ZDYZiC^ A^>`Q 1fy4٪b1?Q 5fy4bj bVB9dYf0Q Ef?ybyC)b:Ib^;iby4YlnN=AlzB*** querying acoustic contact ***zh|h|gDNOT Ignoring new targets: 66.30 m.g i=g i= ProNav: ac range: 66.297844 m, nav range: 62.724102 m, bearing: 315.665058 deg, approach rate: -0.540654 m/s, LOS rate: -0.041399 deg/s, cmd heading: 329.792050 deg, new cmd heading: 329.756210 deg. gHeadingCmd: 5.755332 target range: 66.297844 and range: 66.70 m.g+@ggggzfrfffBdddcc@ɢE{BEtD !%mI) - нɡ)i)I-+%A h5n= I I N% >)߱ ߱  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771071Iwh,ޡ%*AyR/Q@ٱRN@R0VRU=RH??@aɿ ۗݿ`_I?±?>? S?.I?IR/Q@)R_;iR CfuB9f*IBDr6Dr4Yv >!zG=z^:Q)z>|9||9DYCA> Q 1y4٪ ?Q 5y4 m @VB9Y0Q E?y LyC) Q;I n;i ?)y4Y!%dӽɡAiII}A 0p=ԉ IA IQ Ne >bD ZD ?AD D _D )D E  E r96E FA4:E ! @! @! @! @t}h,rm%*Ay6K@ٱ6#I@6QV66d=6H ? ?`fnɿݿCG??,?~?H?I6K@)6^;i6 CBuB9BBIMb@Mb@Mb@ )Iin?T㥛 V-V?Ii5AKAA"A)5AR=ip=BD6D4Y-!=!-F=5 Q)5>19195DY5CvBEf>~BEōCBEIBEvBBE =BABE\DBEY;BE!EB ȍCB ǍCB CB =B =B W6ԙ_ȺA>Q 1y4٪5?Q 5y4r dVB9"?Q A:YS7Q E?yyC):I#:iQ8y4YoB;AEg!%DNOT Ignoring new targets: 66.30 m.g-E g-E ] ProNav: ac range: 66.297844 m, nav range: 62.257904 m, bearing: 315.635072 deg, approach rate: -0.563668 m/s, LOS rate: -0.030222 deg/s, cmd heading: 329.722082 deg, new cmd heading: 329.696016 deg. g]<]eHeadingCmd: 5.754281 target range: 66.297844 and range: 66.70 m.ge#@gagagagazfarfififmBBdi}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274920ddccA @ɢJ{B)I I ZսɡiIiA`k=bAZAjAIq I N >U DAT read: 16:10:48.1922 LVL= 23392, 26993, 18162, 32755, AGC= 56, IDX= 416,-0.00,-0.072,-1.366, 0.666,-0.104, PHS= 0.135,-1.216, 0.727, RAW= 167.3, 4.2, CAL= 166.4, 2.7, ROT= 343.6, -2.7 ] Ygot valid direction response: 16:10:48.1922 LVL= 23392, 26993, 18162, 32755, AGC= 56, IDX= 416,-0.00,-0.072,-1.366, 0.666,-0.104, PHS= 0.135,-1.216, 0.727, RAW= 167.3, 4.2, CAL= 166.4, 2.7, ROT= 343.6, -2.7 e PDAT read: Bearing 136.8, -3.9 (Local) e ~Local bearing/azimuth received: Bearing 136.8, -3.9 (Local) m DAT read: Range 11 to 50 : 64.7 m (Round-trip 86.3 ms) speed 0.5 m/s u R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.958249,-0.282028,0.047106]} Fpublishing direction and range info9! % ?N- ҿP7V?% fB! i% `[% qi! % % 8 % q= >)% 㥛I% :?i% ;:@% Q =% 9@% A=% @ % Ai! ! I% ?s?6Q?% KS?% gV % :)% Ai! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. y\h,J%*AɰyVG@ٱV:E@Vv*VVwW=VH`??hɿ`ݿhE?'? t?? I?IVG@)V^;iT0vB9fIBD6D4YEe>!EI=M9Q)M>I9I9MDYUCUAU>yQ 1y4٪}A?Q 5y4}u }VB9Yr7Q E?y}yC)}g:I}:i}Ey4Y:AhQhUy %*AhUBhUBhU̯@hU2jãN@VI"2 v;@hU?N- ҿP7V?hU:hUAiUQt[CF@{_Z!/F rT.@hUQ]??C/?hUy1hU 0BhU)?hUnhUlB*iQ2iQ:iUBiU&xB"iUF@- addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 3.779978 s, deltaX: -2.000000 m, approachRate: -0.529104 m/s, rangeRepo size: 4  Added new target pos. range: 64.307060 m, bearing: 314.767690 deg, lat: 36.779429 deg, lon: -121.859636 deg, deltaT: 3.779978 s, deltaX: -1.990784 m, approachRate: -0.526665 m/s, posRepo size: 4 gDNOT Ignoring new targets: 64.31 m.ggDuD\D!DEv: E96Ec3:E"E#;!E$;!*E_ ;!E_ ;! ProNav: ac range: 64.307060 m, nav range: 62.037243 m, bearing: 315.623296 deg, approach rate: 0.000000 m/s, LOS rate: -0.030222 deg/s, cmd heading: 329.696018 deg, new cmd heading: 329.671591 deg. gHeadingCmd: 5.753855 target range: 64.307060 and range: 64.70 m.g@ggggzfrfffBdd dc,P@c`E ?ɢ]d{B]G ae}Ia e׽ɡaiaIm BDAT read: Tx time:16:10:49.5018 $Ping request sent.Am hp=I I N >y h,W#,%*Archecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250733^vB9IMb@Mb@Mb@ )IiGz?99DYCA>Q 1y4٪,?Q 5y4-z VB9l?Q A:Yl>Q E?yzC):I :iTy4QYupBu :A}EgDNOT Ignoring new targets: 64.31 m.gIgI ProNav: ac range: 64.307060 m, nav range: 61.796795 m, bearing: 315.616453 deg, approach rate: -0.567251 m/s, LOS rate: -0.016205 deg/s, cmd heading: 329.671593 deg, new cmd heading: 329.657855 deg. gAHeadingCmd: 5.753615 target range: 64.307060 and range: 64.70 m.g@ggggzfrff f BBd d d1c1c5?ɢ|{B@G 顥ɣI PٽɡiIY~BMǍCBMIBMIwBBM =BIBM^DBMvY;BM Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505611ԱiC>A5 @p=IE ݈G) jAI I I i 1N > jA A mh,E%*AkvB9II-@A)-@ABD-6D-H4YEa =!ES=AQ)E>I9I9MDYM9CIAU>QQ 1]y4٪Uɑ?Q 5ey4U%~ UVB9aYaQ Ee?yU9zC)U;IUU;iU by4Yim9AqB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 64.31 m.gg ProNav: ac range: 64.307060 m, nav range: 61.573959 m, bearing: 315.610064 deg, approach rate: -0.608122 m/s, LOS rate: -0.017499 deg/s, cmd heading: 329.657851 deg, new cmd heading: 329.645027 deg. gHeadingCmd: 5.753391 target range: 64.307060 and range: 64.70 m.g@ggggzfrfffBdddcc?ɢ{BMԱ ꤿI A۽ɡiIhA`k=rA ?jA ? I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067639 h,g`%*A$i$yF2-@ٱF*@FygUFx!zN=~:Q)~>99 DY aCA>Q 1-y4٪Cؑ?Q 55y4F VB91Y5X?Q E5?ytzC)E;I-;ipy4YMqBMY8AMEg!-DNOT Ignoring new targets: 64.31 m.g-+~g5+~E ProNav: ac range: 64.307060 m, nav range: 61.343212 m, bearing: 315.604175 deg, approach rate: -0.542117 m/s, LOS rate: -0.013888 deg/s, cmd heading: 329.645037 deg, new cmd heading: 329.633215 deg. gEV˹MHeadingCmd: 5.753185 target range: 64.307060 and range: 64.70 m.gM@gIgIgIgIzfIrfQfQfQBdQdYdYcYc]`l?ɢ{BE ڛI ݽɡ i I _A np=D rD [D &D E k: E 96E 4:E ! @! @! @! @y A yAI I N >vB% b>~B% ōCB% dIB% wBB% =B! B% \DB% VY;B% E'=h,{%*Ay6-'@ٱ6$@6U6Ni<6H?V>?`^ȿ@ݿ0? ? q??L?I6-'@)6_;i6CBvB9BI Mb@Mb@Mb@ ) I i   ʡE?5 H?9= H?9=DY=Cechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912ۺA>Q 1y4٪f葊?Q 5y4 WB9c?Q A:Y%@Q E?yzC):IE:iy4Y7AygyDNOT Ignoring new targets: 64.31 m.gMwgMw ProNav: ac range: 64.307060 m, nav range: 61.081436 m, bearing: 315.598209 deg, approach rate: -0.590395 m/s, LOS rate: -0.013513 deg/s, cmd heading: 329.633208 deg, new cmd heading: 329.621224 deg. gŹHeadingCmd: 5.752975 target range: 64.307060 and range: 64.70 m.g`@ggggzfrfff BBdddcc@?ɢ{BLr? 'I ɡ)i)I-VAE Jc= A} AI I N >Rh,\T%*Ay6@ٱ6@6JU6Rf<6H ~?V?`uȿݿ*?h%? x? ? L?I6@)6_;i6 C>JwB9BIFp=iDBDJ6DJ4YRj@>!RM=VQ)V>VK?9VK?9VDYVCZ`TAZ>\Q 1by4٪^?Q 5by4^܊ ^=WB9`Yb@Q Ef?y^zC)^;I^;i^8y4YjrBjl6Ahg|DNOT Ignoring new targets: 64.31 m.gjgj ProNav: ac range: 64.307060 m, nav range: 60.865032 m, bearing: 315.593524 deg, approach rate: -0.590687 m/s, LOS rate: -0.012832 deg/s, cmd heading: 329.621214 deg, new cmd heading: 329.611811 deg. g໹HeadingCmd: 5.752811 target range: 64.307060 and range: 64.70 m.g@ggg!g!zf!rf!f)f)Bd)d)d1c1c5c@DMuDMdDM'DIEMv: EM96EM'4:EI"EM#;!UEM$;!U*EM}&;!]EM~&;!]ɢ}{B}sI I ɡiIA \c=bAhAZAfAI I) N5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266995 qph,%*Ay6@ٱ6K@6dT64s<6H 0~?V?ȿ^ݿ`X*?R?@c??M?I6@)6^;i6 CBwB9B6IB>B=]Mb@Mb@Mb@ Y)YIYiYY]|?5^?n{Gz]?]V]ףI];+Ai] 0A]CA]A)Y].ABDu6Du4Y>!>=:Q)>99DYCFA>Q 1y4٪S?Q 5y4L gWB9G?Q A:Y#=Q E?y/{C):IQ:i;y4Y5AgDNOT Ignoring new targets: 64.31 m.gg ProNav: ac range: 64.307060 m, nav range: 60.614746 m, bearing: 315.584952 deg, approach rate: -0.583302 m/s, LOS rate: -0.020062 deg/s, cmd heading: 329.611815 deg, new cmd heading: 329.594599 deg. gHeadingCmd: 5.752511 target range: 64.307060 and range: 64.70 m.g@ggggzfrfffBBd d d c c N@ɢ={B=> 9='IA EɡAiAIE(}~BÍCBIBQxBB =BB[DBX;B E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518777>AU|^=I II IY Nm >EXh,ɢ%*AyF@ٱF @F1PTF!nV=r^:Q)r>t9t9vDYvCzHAz>Q 1 y4٪I?Q 5 y4E WB9Y>=Q E?yh{C)1;I;iy4Y%oB%4A- EUB*** querying acoustic contact ***zhQhQgaeDNOT Ignoring new targets: 64.31 m.gmgm ProNav: ac range: 64.307060 m, nav range: 60.390686 m, bearing: 315.577304 deg, approach rate: -0.576059 m/s, LOS rate: -0.019735 deg/s, cmd heading: 329.594603 deg, new cmd heading: 329.579251 deg. gxHeadingCmd: 5.752243 target range: 64.307060 and range: 64.70 m.g`@ggggzf rf f f Bddd1c1c=@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770966ɢ |B>> I GkɡiI$AM Jc=ԩ I I N >M BDAT read: Rx Time:16:10:51.9893 M TRx dataTimestamp_ set to:1755879051.490743U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023892h,%*Ay6@ٱ6@6*T6<6Hz?U?ȿ޿h)??@T?׊?NM?I6@)6^;i6 C@BxB9BIBDJ6DJ4YRz@>!RN=V9Q)V>T9T9ZDYZ1CZ[AZ> Q 1y4٪ "?Q 5y4 v WB9YT=Q E?y {C) ;I ;i շy4Y!-k3A1gimDNOT Ignoring new targets: 64.31 m.gugu ProNav: ac range: 64.307060 m, nav range: 60.154331 m, bearing: 315.569251 deg, approach rate: -0.583768 m/s, LOS rate: -0.019968 deg/s, cmd heading: 329.579249 deg, new cmd heading: 329.563080 deg. g,HeadingCmd: 5.751961 target range: 64.307060 and range: 64.70 m.g@ggggzfrfffBdddcc,1 @ɢ"|BE> ヿI! %Oɡ)iQIU\AM 7`= I I9 Nm >D vD ]D 'D E Vz: E 96E '4:E ! @! @! @! @vB Y>~B B IB xBB B B B nX;B Y Eh,H%*Aiy6 @ٱ6 @6S6 =6H y?#R?@ɿ޿O)?8?PK?#Š?L?I6 @)6 _;i6CBBxB9BIl-DAT read: 16:10:51.9893 LVL= 24448, 32753, 18290, 32755, AGC= 57, IDX= 418,-0.12,-1.856, 3.126,-1.127,-1.910, PHS= 0.156,-1.202, 0.739, RAW= 167.0, 3.6, CAL= 166.0, 1.9, ROT= 344.0, -1.9 5Ygot valid direction response: 16:10:51.9893 LVL= 24448, 32753, 18290, 32755, AGC= 57, IDX= 418,-0.12,-1.856, 3.126,-1.127,-1.910, PHS= 0.156,-1.202, 0.739, RAW= 167.0, 3.6, CAL= 166.0, 1.9, ROT= 344.0, -1.9 =PDAT read: Bearing 136.1, -3.7 (Local) E~Local bearing/azimuth received: Bearing 136.1, -3.7 (Local) MDAT read: Range 11 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.5 m/s UR#Rx 1: Read range and direction messages.U^direction in FSK: [0.960733,-0.275486,0.033155]]Fpublishing direction and range info9,|S?)܏ѿB3?yBi_rG9 w>)#ۙI/=?iq:@=}l9@=7 @ iIv:?qZ?]?- o?R?* :)iuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.%Mb@Mb@Mb@ !)!I!i!!%S?K7y&1%?%I %`eI%j*Ai%-A%BA%A)!%G-ABD6D=4Y=!"=:Q)>99DYdC7A>Q 1y4٪3?Q 5y4 WB9a?Q A:YX>Q E?y{C):I:iFy4 YMpBUy2AQhh(%*AhxBhxBhׯ@hӠM@e1 m>s@h,|S?)܏ѿB3?h:hiKӍTE@C}lqE>X$b+@h6Si?1 ,A?h+h*Bh=,>?hHhB*ipC?2iq:iBi4pB"i @ addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.780071 s, deltaX: -2.299995 m, approachRate: -0.608453 m/s, rangeRepo size: 4  Added new target pos. range: 62.019634 m, bearing: 314.845170 deg, lat: 36.779428 deg, lon: -121.859639 deg, deltaT: 3.780071 s, deltaX: -2.287426 m, approachRate: -0.605128 m/s, posRepo size: 4 g DNOT Ignoring new targets: 62.02 m.gg ProNav: ac range: 62.019634 m, nav range: 60.051556 m, bearing: 315.355198 deg, approach rate: 0.000000 m/s, LOS rate: -0.019968 deg/s, cmd heading: 329.563075 deg, new cmd heading: 329.542476 deg. gHeadingCmd: 5.751601 target range: 62.019634 and range: 62.40 m.g @ggggzfrfff0BBdddc@33O@co?ɢe@|Be2 amIi m@ɡiiiIu8 BDAT read: Tx time:16:10:53.2534 $Ping request sent.ژh,y%*AyB@ٱB6@BwSBEJ=BHfw?jO?EɿH޿(?@?>?V?wL?IB@)B_;iB CjxB9jIBDr6Dr4YzQ>!z=~C:Q)~?|99DYC}A? Q 1y4٪ }>?Q 5y4  XB9Yr>Q E?y |C) w;I a;i y4Y!%q1A!1D=pD=_D=(D9E=d: E=r96E=c44:E9"E=v;!ME=x;!M*E=J;!ME=K;!UgiuDNOT Ignoring new targets: 62.02 m.gug} ProNav: ac range: 62.019634 m, nav range: 59.875641 m, bearing: 315.349260 deg, approach rate: -0.599020 m/s, LOS rate: -0.020281 deg/s, cmd heading: 329.542475 deg, new cmd heading: 329.530564 deg. gvHeadingCmd: 5.751393 target range: 62.019634 and range: 62.40 m.gj @ggggzfrfffBdddccC?ɢmP|Bm% G iurIq uRɡqiqIuԉԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502726h,C1%*Ay6@ٱ6P@6ڢS6)=6H`Su?Q?^ɿ ޿`'???D?s1?@K?I6@)6x&_;i6 CBxB9BI-Mb@Mb@Mb@ )))I)i))-m?rh|{Gz-?--ףI-V&Ai-,A-?A-KA))- +ABDE6DE24YU;=!UE=]8ϹQ)]>Y9Y9eDYeCe9Ae>iQ 1uy4٪mPM?Q 5uy4m m*XB9}?Q A}:Y}`8Q E}?ymV|C)m ;Im ;imy4Y#1AԙgDNOT Ignoring new targets: 62.02 m.g$g$ ProNav: ac range: 62.019634 m, nav range: 59.642021 m, bearing: 315.335985 deg, approach rate: -0.567592 m/s, LOS rate: -0.032379 deg/s, cmd heading: 329.530563 deg, new cmd heading: 329.503909 deg. gmHeadingCmd: 5.750928 target range: 62.019634 and range: 62.40 m.g@ggggzfrfffBBdddccz?ɢf|B: sI ɡiI]~BQBUkIBUxyBBQBQBQBUX;BU0 EB ÍCB čCB B =B =B ŎM6AIIN=P>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805 Lh,_%K%*Aɰ(*4!vQ=v,Q)v>x9x9zDYz֥Cz(A~>|Q 1y4٪~@[?Q 5 y4~ ~NXB9 Y q8Q E ?y~|C)~:I~:i~Ey4YqB/A E5B*** querying acoustic contact ***zh1h1gAEDNOT Ignoring new targets: 62.02 m.gMtgMt] ProNav: ac range: 62.019634 m, nav range: 59.422306 m, bearing: 315.323458 deg, approach rate: -0.563190 m/s, LOS rate: -0.032229 deg/s, cmd heading: 329.503898 deg, new cmd heading: 329.478752 deg. g]keHeadingCmd: 5.750489 target range: 62.019634 and range: 62.40 m.ge@gagagagazfirfififiBdqdqdqcqc} ^?ɢ||B5 顥^I #BɡiID]oD]nD]"DYE]`: E]:6E](3:EY"E]T;!eE]U;!m*E]J;!mE]J;!mI- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258723y #h,e%*Ay6@ٱ6Q@6S6=6H@)q?b?Uɿ :0޿j#?@ǰ?B?`-?K?I6@)66];i6 CNCyB9NJIBDV6DV4Yr{%>!rJ=rG:Q)r>t9t9vDYvCzz Az>|Q 1y4٪~i?Q 5y4~x ~sXB9Y8Q E?y~|C)~K:I~B:i~`y4Y.Ag9=DNOT Ignoring new targets: 62.02 m.gElgElU ProNav: ac range: 62.019634 m, nav range: 59.195175 m, bearing: 315.310601 deg, approach rate: -0.563187 m/s, LOS rate: -0.032003 deg/s, cmd heading: 329.478763 deg, new cmd heading: 329.452950 deg. gUFj]HeadingCmd: 5.750039 target range: 62.019634 and range: 62.40 m.g]Q@gYgYgYgYzfYrfafafaBdadidqcyc!?Qɢ]|Be.D/ 顕TI vɡiIA m_=rA jA ?BEJE24RE]%0Dm sDm [Dm 'Di Em so: Em 96Em '4:Ei !} @!} @!} @!} @AI AM AAvBQ ~BQ BU IBU zBBQ BQ BQ BU W;BU E I I N > h, ~%*AIJG)VlAzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763923I|iUUlA]Ay/@ٱ@0S=Hq?g?a?ɿ 4޿>"?#հ?2?sʢ?L?I/@)l];i CyB9tIMb@Mb@Mb@ )Iim?"~j rhSCI#Aij*AZ!0=ȑ:Q)>99DY.C9A>Q 1z4٪kz?Q 5z4 XB9v?Q A:Y~3Q E?y }C)8:I:iz4YsBy-A Eg!%DNOT Ignoring new targets: 62.02 m.g-Dg-D= ProNav: ac range: 62.019634 m, nav range: 58.935535 m, bearing: 315.290659 deg, approach rate: -0.557959 m/s, LOS rate: -0.043042 deg/s, cmd heading: 329.452945 deg, new cmd heading: 329.412887 deg. g=EHeadingCmd: 5.749340 target range: 62.019634 and range: 62.40 m.gE@gAgAgAgAzfArfIfIfM4BBdQdQdQcQc]@ɢ|BL_/ 顅II #ɡiI>i 9    iߥ`?Iߥ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018033>A5 ^=1 I I N >9 h,%*Ay6@ٱ6@6R6_|=6Hp? Yj? r9ɿ`6޿!? Ӱ?@C,?Ƣ?IM?I6@)6];i4ByB9BI@i@iF=IF=BDJ6DJ4YR >!Rt=V` :Q)V?T9T9ZDYZPCZ9 AZ?\Q 1bz4٪^?Q 5bz4^ ^XB9dYf3Q Ef?y^<}C)^l:I^:i^Pz4YjoBj,AjEg|~DNOT Ignoring new targets: 62.02 m.gFgF ProNav: ac range: 62.019634 m, nav range: 58.748508 m, bearing: 315.276217 deg, approach rate: -0.560286 m/s, LOS rate: -0.043403 deg/s, cmd heading: 329.412893 deg, new cmd heading: 329.383916 deg. gݞD%nD%]D%(D!E%O]: E%96E%c44:E!"E%2;!5E%3;!5*E% ;!5E% ;!5=HeadingCmd: 5.748834 target range: 62.019634 and range: 62.40 m.g=r@g9g9g9g9zfArfAfAfABdIdIdIcIcM y@ɢ|B3 RBI /ɡiIkAc=IYIqN}>q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518689 h,&%*A y:@ٱ:@@:ZR:=:H`m? |?ɿ%E޿?@? ?@5?wN?I:@):Y0];i: CByB9BIUMb@Mb@Mb@ Q)QIQiQQUDl?|?5^/$UO ?UҽUIU#AiU&'AU;AUA)QU&ABDm6Dm4Y}p>!==֘:Q)>99DY|CDA>Q 1z4٪?Q 5z4 XB9?Q A:Y|0Q E?yy}C)7 ;I:ie)z4YpB+AEgDNOT Ignoring new targets: 62.02 m.g%cg%c ProNav: ac range: 62.019634 m, nav range: 58.510029 m, bearing: 315.254863 deg, approach rate: -0.552184 m/s, LOS rate: -0.049647 deg/s, cmd heading: 329.383906 deg, new cmd heading: 329.341022 deg. gHeadingCmd: 5.748085 target range: 62.019634 and range: 62.40 m.gP@ggggzfrfffAbAZAjAI1 IA NM > h,@j̣%*Ay:@ٱ:P@:Q:_=:Hk?@?ȿ S޿?8?? ɡ?O?I:@):];i8F)zB9FIJR=iJ%=LBDR6DRo4YZ>!ZX=Z :Q)Z>\9\9^DY^Cb'Ab>dQ 1fz4٪f?Q 5jz4f f YB9hYj0Q Ej?yf}C)f:If:if6z4Ypr*Ap}B*** querying acoustic contact ***zhyhygDNOT Ignoring new targets: 62.02 m.g#Yg#Y ProNav: ac range: 62.019634 m, nav range: 58.301041 m, bearing: 315.236209 deg, approach rate: -0.529828 m/s, LOS rate: -0.047460 deg/s, cmd heading: 329.341012 deg, new cmd heading: 329.303572 deg. gHeadingCmd: 5.747432 target range: 62.019634 and range: 62.40 m.g@ggggzfrfffBdddccS& @]BDAT read: Rx Time:16:10:55.7381 ]TRx dataTimestamp_ set to:1755879055.270914echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024017ɢ|B=* 顭0I -Eɡ)i)I-!јA% |^=I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275921! D"h,fO%*A|y@ٱ\߸@BP3 =Hi? ?ȿ _޿$?@da?@_?`;? Q?I@) ];i C^zB9IBD6D̺4Y=!6=;Q)>99DYѦC%ӺA%>!Q 1=z4٪%賒?Q 5=z4%Ǿ %1YB9AYM0Q EM?y%}C)%x;I%;i%RFz4YurBu*A}Eg%DNOT Ignoring new targets: 62.02 m.g5`g=` ProNav: ac range: 62.019634 m, nav range: 58.052513 m, bearing: 315.214038 deg, approach rate: -0.548055 m/s, LOS rate: -0.049101 deg/s, cmd heading: 329.303583 deg, new cmd heading: 329.259051 deg. g)=HeadingCmd: 5.746655 target range: 62.019634 and range: 62.40 m.ge@gagagagazfarfafifiBdididqcqcu @DAT read: 16:10:55.7381 LVL= 22768, 30161, 19618, 32755, AGC= 55, IDX= 406,-0.14, 0.411,-0.914, 1.122, 0.340, PHS= 0.173,-1.209, 0.738, RAW= 166.4, 3.5, CAL= 165.3, 1.8, ROT= 344.7, -1.8 Ygot valid direction response: 16:10:55.7381 LVL= 22768, 30161, 19618, 32755, AGC= 55, IDX= 406,-0.14, 0.411,-0.914, 1.122, 0.340, PHS= 0.173,-1.209, 0.738, RAW= 166.4, 3.5, CAL= 165.3, 1.8, ROT= 344.7, -1.8 PDAT read: Bearing 136.0, -3.3 (Local) ~Local bearing/azimuth received: Bearing 136.0, -3.3 (Local) DAT read: Range 11 to 50 : 60.4 m (Round-trip 80.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.964081,-0.263743,0.031411]Fpublishing direction and range info9Y]r$j?>f)пIz?]qBYi]X]u]LY]7 ]&1>)]I]0I@UjA@UjADE wDE DE &DA EE }: EE *:6EE 4:EA !M @!U @!U @!U @y A A <vB ~B B IB A{BB B B B V;B gE>A <|^= (DAT read: user:85> % BDAT read: Tx time:16:10:57.0518 % $Ping request sent.- XZi,%*Ay:ݱ@ٱ:ڸ@:VP:5 =:H`g?j?`ȿ@g޿? |_??A?GR?I:ݱ@):_];i: CBzB9F$I Mb@Mb@Mb@ ) I i   HzG?A`"/$ = ? ٽ I i %A 6A A)  z$ABD%6D%4Y5L>!51==x9Q)=>9999=DY=CE›AE>IQ 1Uz4٪MĒ?Q 5Uz4M  MYYB9U ?Q A]:Y]x3Q E]?yM/~C)M:IM:iMwVz4Yae(Aahh.%*Ah pBh pBh@hLL@/a/cw3+?hr$j?>f)пIz?hڸhi朔ID@!bD{%*@h.F/?Tn,忬 I?h%h}&Bhew?hA@hUB*i2iA@:ilBihB"i)կ@ addTargetRange:: Added new target pos. range: 60.400002 m, deltaT: 3.780153 s, deltaX: -2.000000 m, approachRate: -0.529079 m/s, rangeRepo size: 4  Added new target pos. range: 60.032162 m, bearing: 315.251354 deg, lat: 36.779428 deg, lon: -121.859645 deg, deltaT: 3.780153 s, deltaX: -1.987473 m, approachRate: -0.525765 m/s, posRepo size: 4 gDNOT Ignoring new targets: 60.03 m.gg ProNav: ac range: 60.032162 m, nav range: 58.173138 m, bearing: 314.827153 deg, approach rate: 0.000000 m/s, LOS rate: -0.049101 deg/s, cmd heading: 329.259050 deg, new cmd heading: 329.213149 deg. g HeadingCmd: 5.745853 target range: 60.032162 and range: 60.40 m.g޷@ggggzf9rf9fAfEHBBdAdIdIcM@33N@cM?ɢ] }B]]$ aeIa e ɡaiaIm1Am Jc=D qD \D (D E 2h: E 96E c44:E "E ;! E ;! *E _ ;! E _ ;! a A yAI I N >i,!%*A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502091yjձ@ٱjbҸ@jqPjoN =jHJd??bȿ`v޿`?y?`? P ?R?Ijձ@)j];ijCrzB9r&IIzAA)zBABD~6D~4Y D<! B= L:Q) > H?9 H?9DY*C A>Q 1%z4٪Ғ?Q 5-z4 ~YB9)Y-3Q E-?yj~C);If;i3ez4Y5sB=(A9gYeDNOT Ignoring new targets: 60.03 m.gebgmbu ProNav: ac range: 60.032162 m, nav range: 57.944542 m, bearing: 314.807595 deg, approach rate: -0.577422 m/s, LOS rate: -0.049597 deg/s, cmd heading: 329.213151 deg, new cmd heading: 329.173881 deg. g}}HeadingCmd: 5.745168 target range: 60.032162 and range: 60.40 m.g}kط@ggggԉzfrfffBdddcci?ɢ3}B<+ 顥"I ɡiIA  A AI I N >i,:%*Ay6ɱ@ٱ6\Ƹ@6 O6r=6HC_?@A?^ȿ@<޿k?;?`?0?S?I6ɱ@)6^;i6 CD`DbiDb)D`E` Eb96EbFA4:E`!f@!f@!f@!f@j{B9jaIi5=I5=vBEY>~BABEIBE{BBABABABEU;BE EMb@Mb@Mb@ )Ii&1?&1:v?нԼIAi#A5A"A)="ABD6D4Y_]>!<=:Q) > K?9 K?9 DY VC]A>Q 1%z4٪⒊?Q 5%z4 YB9%a?Q A%:Y%/Q E-?y~C):Io:i\tz4Y15z'A1gY]DNOT Ignoring new targets: 60.03 m.geYgeYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005838u ProNav: ac range: 60.032162 m, nav range: 57.698868 m, bearing: 314.782792 deg, approach rate: -0.566303 m/s, LOS rate: -0.057417 deg/s, cmd heading: 329.173891 deg, new cmd heading: 329.124074 deg. g(ҺHeadingCmd: 5.744299 target range: 60.032162 and range: 60.40 m.gLѷ@ggggzfrfff2BBdddcc@E?ɢK}B! ;I v$ɡiIfA% ^=E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257208y AQ Ia Iq N} >i,gT%*Ay6A@ٱ6@6N6Z=6H@[?`?@rȿ`޿e???(?+U?I6A@)6$_;i4B;{B9FIBDN6DNF4YV$ >!V`=V:Q)V>X9X9ZDYZ{C^UA^>`Q 1bz4٪bw?Q 5fz4b bYB9dYfJ0Q Ef?yb~C)bh:Ib:ibz4YnuBn&AnEzB*** querying acoustic contact ***zhxhxgDNOT Ignoring new targets: 60.03 m.g g  ProNav: ac range: 60.032162 m, nav range: 57.492001 m, bearing: 314.761991 deg, approach rate: -0.566066 m/s, LOS rate: -0.057125 deg/s, cmd heading: 329.124085 deg, new cmd heading: 329.082333 deg. gѺ%HeadingCmd: 5.743570 target range: 60.032162 and range: 60.40 m.g%T˷@g!g!g!g!zf)rf)f)f1Bd1d1d1c9c=z?ɢ]}BN% I g)ɡ i)I5Y]=)=T˷@)9DpDXD+DEd: E96E [4:E"Ew;!Ex;!*E:!E:!i93a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509416ԁ>A u \=A1 I9 II N] >Ա i&i,Dn%*AyE&@ٱE@Es1NEp=EH`V?`?`aȿ޿ ??ங?@ŕ?V?IE&@)EU_;iA]n{B9]Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761295Mb@Mb@Mb@ )Iioʡ?"~j ?S̼I`Ai A2AA) ABD6D4Y=!5=S:Q)>99DYC%CWA%>)Q 15z4٪-t?Q 55z4- -YB95?Q A5:Y=5Q E=?y-C)-~ ;I-v:i-אz4YEqBE%AE"Egi}DNOT Ignoring new targets: 60.03 m.!gIgI ProNav: ac range: 60.032162 m, nav range: 57.242393 m, bearing: 314.742269 deg, approach rate: -0.555315 m/s, LOS rate: -0.044067 deg/s, cmd heading: 329.082339 deg, new cmd heading: 329.042724 deg. gKHeadingCmd: 5.742879 target range: 60.032162 and range: 60.40 m.gŷ@ggggzfrfffBBdddccW@ɢv}Bi AEIA E#ɡAiAIM8e>i0YDrD`D&DEk: E96E4:E!@!@!@!@vBX>~BB&IBI|BB =BBBU;BEBBÍCBƓCBB =Bm4)߁ ߁  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013914ԑ >A <|^=A yAI I) N5 >!i,a%*A8yF@ٱF@FrMFE=FH T?`o?Jȿ ޿`?`?Y??KW?IF@)F_;iF CN{B9NIRC>R>)T VABDZ6DZ4Yb=!be=be;Q)b>f H?9f H?9fDYfͧCj'Aj>lQ 1rz4٪n% ?Q 5rz4n@ nZB9pYr06Q Er?ynQC)nI;In ;inTz4Yx~<%A|g1=DNOT Ignoring new targets: 60.03 m.gEtFgEtF] ProNav: ac range: 60.032162 m, nav range: 57.044098 m, bearing: 314.726658 deg, approach rate: -0.549046 m/s, LOS rate: -0.043375 deg/s, cmd heading: 329.042724 deg, new cmd heading: 329.011393 deg. geÞmHeadingCmd: 5.742332 target range: 60.032162 and range: 60.40 m.gm/@gigqgqgqzfqrfyfyfyBdddccA@ɢM}BM# QUIQ UɡQiQIUʐAm mY=rAq jAu ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517665) AAIIN->j)i,,.%*Ay:̙@ٱ:&@:NL:=:H M?`R ?%ȿ޿?@5? ^??Y?I:̙@):gf`;i:CF{B9FIBDN6DNQ4YV=!Z%=Z;Q)Z>ZK?9^K?9^DY^C^A^>`Q 1fz4٪b?Q 5fz4b b0ZB9hYj6Q Ej?ybC)b ;Ib;ibz4YnsBn]$AlgDNOT Ignoring new targets: 60.03 m.g Fg F ProNav: ac range: 60.032162 m, nav range: 56.769794 m, bearing: 314.705481 deg, approach rate: -0.559545 m/s, LOS rate: -0.043406 deg/s, cmd heading: 329.011387 deg, new cmd heading: 328.968829 deg. g%HeadingCmd: 5.741589 target range: 60.032162 and range: 60.40 m.g%@g!g!)g)g)zf1rf1f1f1Bd9d9d9c9c=&@ɢm}Bm_3 imIq ujɡqiqIu5EI=4=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770660ԁ>AqZ=BE-4JEɨ,4RE/D= tD= hD= &D9 E= s: E= ]96E= 4:E9 !M @!M @!M @!M @vBa ~Ba Be xIBe |BBa Ba Ba Be HU;Be EԱ 9 i= ~CAI I ݈G) I iu q u sAIa I N >0i,¤%*ABDAT read: Rx Time:16:10:59.5337 TRx dataTimestamp_ set to:1755879059.050827checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022436)|B9ImMb@Mb@Mb@ i)iIiiiimn?q= ףp{GzmV?mmףImAimAm~.AmA)imAIy)}@ABD6D=4Y>!+=Q)>99DY/CA>Q 1z4٪/?Q 5z4 [ZB9p?Q A:Y?8Q E?yC):IZ:iOz4Y?#AgDNOT Ignoring new targets: 60.03 m.g/9g/9 ProNav: ac range: 60.032162 m, nav range: 56.502007 m, bearing: 314.686215 deg, approach rate: -0.559921 m/s, LOS rate: -0.040475 deg/s, cmd heading: 328.968821 deg, new cmd heading: 328.930106 deg. g& HeadingCmd: 5.740913 target range: 60.032162 and range: 60.40 m.g @g g g g zfrfff*BBdddccD# @Yɢe}Beg imоIi mCɡqiqIuÒJA ^S= DAT read: 16:10:59.5337 LVL= 22672, 26673, 17842, 32755, AGC= 55, IDX= 409, 0.29,-2.658, 2.257,-1.971,-2.747, PHS= 0.191,-1.234, 0.732, RAW= 165.4, 3.6, CAL= 164.4, 2.0, ROT= 345.6, -2.0 Ygot valid direction response: 16:10:59.5337 LVL= 22672, 26673, 17842, 32755, AGC= 55, IDX= 409, 0.29,-2.658, 2.257,-1.971,-2.747, PHS= 0.191,-1.234, 0.732, RAW= 165.4, 3.6, CAL= 164.4, 2.0, ROT= 345.6, -2.0 PDAT read: Bearing 135.5, -2.7 (Local) ~Local bearing/azimuth received: Bearing 135.5, -2.7 (Local) DAT read: Range 11 to 50 : 58.3 m (Round-trip 77.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.967993,-0.248538,0.034899]Fpublishing direction and range info9F?(ϿXޡ?3iBiX1hE C>)IZd;?i8@=7@5=@ 5iIE h?%dF?dXG'?NK? )5iT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.AIIN?$9i,GY%*Ay N@ٱ @ gJ = H G?G?? aǿ@߿M?@dz?&?7?[?I N@) V`;i  C%P|B9%*IBD56D54YE=!E=M^;Q)M>99DYeCA>Q 1z4٪]B?Q 5z4 ZB9Y8Q E?yC)P;I;iz4YuBj"A#Eh)h-y%*Ah-gBh-gBh-2@@h-! L@T,dk-@h-F?(ϿXޡ?h-h-5i-Ә3D@qCr)L)@h-0ˋO?ARD8`?h-eh-!Bh- ?h-Uh-:B*i- E?2i):i-Bi-`B"i-X@ addTargetRange:: Added new target pos. range: 58.299999 m, deltaT: 3.780133 s, deltaX: -2.100002 m, approachRate: -0.555537 m/s, rangeRepo size: 4  Added new target pos. range: 57.945190 m, bearing: 315.575782 deg, lat: 36.779429 deg, lon: -121.859645 deg, deltaT: 3.780133 s, deltaX: -2.086971 m, approachRate: -0.552089 m/s, posRepo size: 4 gDNOT Ignoring new targets: 57.95 m.gPowering the camera and arming the capture device at range: 58.30 m.ggg ProNav: ac range: 57.945190 m, nav range: 56.223057 m, bearing: 314.681579 deg, approach rate: 0.000000 m/s, LOS rate: -0.040475 deg/s, cmd heading: 328.930108 deg, new cmd heading: 328.886243 deg. g%HeadingCmd: 5.740148 target range: 57.945190 and range: 58.30 m.g%J@g!g!g)g)g)zf)rf)f1f1Bd1d1d1c=`f&M@c=`G8?Aɢ}BE  I 3ɡiIȋ eBDAT read: Tx time:16:11:00.8518 e$Ping request sent.mA mY=D= vD= [D= &D9 E= Vz: E= 96E= 4:E9 !M @!M @!M @!M @AY A] <vBe U>~Ba Be IBe =}BBa Ba Ba Be (U;Be E A yAI I) N= >~@i,Y%*Ay:@ٱ:u|@:I:j=:H@xC?@N?`dǿ1߿?@Fh?2?@?@\?I:@):B`;i: CF|B9FQIjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249805uMb@Mb@Mb@ q)qIqiqquX9v?rh|~jtu?uuļIuKAiuAu-Aul A)quABD6Dծ4Y>!8=ѻ:Q)> H?9 H?9DYC*A>Q 1z4٪.R?Q 5z4. ZB9'?Q A:Y:Q E?y4C):I:iz4YwB{!A$EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 57.95 m.gPowering the camera and arming the capture device at range: 58.30 m.gg1g1 ProNav: ac range: 57.945190 m, nav range: 55.971985 m, bearing: 314.665530 deg, approach rate: -0.604800 m/s, LOS rate: -0.038835 deg/s, cmd heading: 328.886231 deg, new cmd heading: 328.853988 deg. g$HeadingCmd: 5.739585 target range: 57.945190 and range: 58.30 m.g@gggggzf!rf!f!f%#BBd)d)d)c)c5 ?ɢ]}B]  aeIa e>ɡaiaIeA]XR=i߅=I߅%=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5035589 A I I N >_Fi,%*AyF@ٱF\@FHF> =FHjH?`B?|ǿ> ߿ ,?@-?V?Ҡ?^?IF@)F$y`;iFCR|B9ReIBDZ6DZ24Yb¬=!b[=bI;Q)f>d9d9fDYfCj;Aj>lQ 1rz4٪n_?Q 5rz4n nZB9pYrJ:Q Er?ynPC)na;InL;inz4Yxz AxgD%mD%_D%'D!E%Y: E%r96E%'4:E!"E%~;!5E%"~;!5*E%J;!5E%K;!5DNOT Ignoring new targets: 57.95 m.g9=Powering the camera and arming the capture device at range: 58.30 m.g9gEf/gEf/U ProNav: ac range: 57.945190 m, nav range: 55.754131 m, bearing: 314.651287 deg, approach rate: -0.584077 m/s, LOS rate: -0.038336 deg/s, cmd heading: 328.853992 deg, new cmd heading: 328.825394 deg. gUQ]HeadingCmd: 5.739086 target range: 57.945190 and range: 58.30 m.g]@gYgYgagagazfarfafifiBdididicqcu U?ɢ}B 顥I !ɡiIYLAԩ A AI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007949*Li,s5%*Aɰ;y:@ٱ:V@:!>=1;Q)>K?9K?9DYC\:A>Q 1z4٪n?Q 5z4` ZB9}?Q A:YAQ E?yoC)L ;I ;iz4YtBA-EgDNOT Ignoring new targets: 57.95 m.gPowering the camera and arming the capture device at range: 58.30 m.ggg  ProNav: ac range: 57.945190 m, nav range: 55.511932 m, bearing: 314.642487 deg, approach rate: -0.561498 m/s, LOS rate: -0.020490 deg/s, cmd heading: 328.825387 deg, new cmd heading: 328.807711 deg. g HeadingCmd: 5.738777 target range: 57.945190 and range: 58.30 m.g@gggggzfrff!f%,BBd!d!d!c)c-෨?ɢ~B wI ɡiIԇ~B=CB=IB=}BB= =B9B9B=T;B=EDesDe^De(DaEeso: Ee;96Eec44:Ea"Eeޑ;Eeߑ;*Ee;Ee;io2/) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258040>A -tY= A9 IA IY Ne >ޯSi,vO%*Ap;}B9IBD-6D-4Y=!>!=P=EQ)E>A9A9MDYM CMAM>QQ 1]{4٪UK|?Q 5]{4U[ U[B9aYaQ Ee?yUC)U;IU ;iU {4YmvBmAm.EgDNOT Ignoring new targets: 57.95 m.gPowering the camera and arming the capture device at range: 58.30 m.ggg ProNav: ac range: 57.945190 m, nav range: 55.291409 m, bearing: 314.634407 deg, approach rate: -0.561784 m/s, LOS rate: -0.020665 deg/s, cmd heading: 328.807711 deg, new cmd heading: 328.791487 deg. gFHeadingCmd: 5.738494 target range: 57.945190 and range: 58.30 m.g@gggggzfrfffBdddcc`C?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510064ɢ"~Be gI ɡiIUA lX= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761753a A] yAIa Iy N >Yi,rRi%*Ay6ۋ@ٱ65@6cC6=6HQ? 4?>cǿ߿{??R?!RU=VV H?9V H?9VDYZ0CZo:AZ>\Q 1b{4٪^?Q 5b{4^B ^7[B9`YfwAQ Ef?y^C)^;I^:i^{4YhjAhg|9}DNOT Ignoring new targets: 57.95 m.gy}Powering the camera and arming the capture device at range: 58.30 m.gygg ProNav: ac range: 57.945190 m, nav range: 55.075409 m, bearing: 314.626303 deg, approach rate: -0.561965 m/s, LOS rate: -0.021167 deg/s, cmd heading: 328.791482 deg, new cmd heading: 328.775211 deg. gHeadingCmd: 5.738210 target range: 57.945190 and range: 58.30 m.gj@gggggzfrfff Bd d d c cD@ɢ}5~B}" y顅>I IɡiIAKY=A- AAA- @AvB1 ~B1 B5 RIB5 1~BB1 B1 B1 B5 T;B5 EDm nDm _Dm (Di Em O]: Em r96Em c44:Ei "Em 2;!} Em 3;!} *Em J;!} Em K;!} A A I I N >`i,o-%*Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265772~}B9~IMb@Mb@Mb@ )Ii?~jt ?I7AiKA'A A)AԙBD6D4YN=!;=Q)>K?9K?9DY\CA>Q 1{4٪Ę?Q 5{4 \[B9x?Q A:Y=Q E?yƀC)]:I;iT'{4YxB"A/EB*** querying acoustic contact ***zhhg  DNOT Ignoring new targets: 57.95 m.g  Powering the camera and arming the capture device at range: 58.30 m.ggg ProNav: ac range: 57.945190 m, nav range: 54.831043 m, bearing: 314.613238 deg, approach rate: -0.557038 m/s, LOS rate: -0.029915 deg/s, cmd heading: 328.775199 deg, new cmd heading: 328.748952 deg. gZHeadingCmd: 5.737751 target range: 57.945190 and range: 58.30 m.g@gggggzfrfff:BBdddcc@ɢMJ~B 顕!I ɡiI_^=)@)i*0uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517731>A Ba=! A I I N% >fi,%*Ay6Ά@ٱ6)@642A60=6HR?@U=? #ǿ@9߿?}b??\#?ei?I6Ά@)6cb;i6 CB}B9B%IBDJ6DJ4YR)>!R]=V;Q)V>T9T9VDYVCZ]ںAZ>\Q 1b{4٪^?Q 5b{4^E ^z[B9`Yf=Q Ef?y^C)^;I^;i^A4{4Yhj'Ahg|DNOT Ignoring new targets: 57.95 m.gPowering the camera and arming the capture device at range: 58.30 m.gg g  ProNav: ac range: 57.945190 m, nav range: 54.624748 m, bearing: 314.602228 deg, approach rate: -0.557610 m/s, LOS rate: -0.029872 deg/s, cmd heading: 328.748944 deg, new cmd heading: 328.726841 deg. gZHeadingCmd: 5.737366 target range: 57.945190 and range: 58.30 m.g@gggggzfrfffBdddcc@D5uD5^D5$D1E5v: E5;96E54:E1!E@!E@!E@!E@ɢ\~BmK 顅I ɡiIzA|^=A I I) N] > BDAT read: Rx Time:16:11:03.3309  TRx dataTimestamp_ set to:1755879062.833780 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027587 xmi,F%*AyZ@ٱZ@Zn?Zq=ZH`T?@>?@ƿ@3߿?w???s:?k?IZ@)Zb;iZ C~~B9~EI}Mb@Mb@Mb@ y)yIyiyy}/$?T㥛 }&?}}̼I}Ai}A}$A}A)y}Aa=ip=BD6D4Yn=!;=Ѐ;Q)>99DYCA>Q 1{4٪a?Q 5{4 [B9?Q A:YXA] mY=rAm ?jAm ?! A I I N >ti,ӥ%*Aɰy6<@ٱ6@6=6-=6HV?=?Iƿ߿? @?2??n?I6<@)6Ec;i6CBT~B9BhIBDJ6DJ4YR>!RB=Vc;Q)V>nDAT read: 16:11:03.3309 LVL= 21664, 26529, 19170, 30755, AGC= 53, IDX= 412,-0.17, 0.615,-0.752, 1.302, 0.537, PHS= 0.180,-1.244, 0.721, RAW= 165.5, 4.0, CAL= 164.4, 2.5, ROT= 345.6, -2.5 rYgot valid direction response: 16:11:03.3309 LVL= 21664, 26529, 19170, 30755, AGC= 53, IDX= 412,-0.17, 0.615,-0.752, 1.302, 0.537, PHS= 0.180,-1.244, 0.721, RAW= 165.5, 4.0, CAL= 164.4, 2.5, ROT= 345.6, -2.5 vPDAT read: Bearing 135.6, -3.4 (Local) z~Local bearing/azimuth received: Bearing 135.6, -3.4 (Local) ~DAT read: Range 11 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.967661,-0.248453,0.043619] Fpublishing direction and range info9XZ?j$OϿGU?Z`BXiZTZgZJZ#xZ5 ZQ8>)Zd;IZu8?iZ8@Z5=XZ¸2=X Z¸2iXXIZ!d?ï?3ԝ?Z<K?Z) X)Z¸2iXX%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.1999=DY=۩C=͸A=>AQ 1M{4٪E%œ?Q 5U{4E.  E[B9QYUV mBDAT read: Tx time:16:11:04.6018 m$Ping request sent.mA Ba=) AE yAIQ Ia Nm >bzi,6%*Ay67@ٱ6@6;<6=6H X? >?ƿ߿I?`B׭?e?c?p?I67@)6c;i6CB~B9BIBDJ6DJo4YR*>!RI=R;Q)V>V H?9V H?9VDYVCZzͶAZ>\Q 1b{4٪^.ӓ?Q 5b{4^% ^[B9`YbSC)^l:I^B:i^z`{4Y5|B5A50Egq}DNOT Ignoring new targets: 55.86 m.gy}Powering the camera and arming the capture device at range: 56.20 m.ggA gA  ProNav: ac range: 55.857628 m, nav range: 54.311897 m, bearing: 315.001666 deg, approach rate: -0.588046 m/s, LOS rate: -0.030874 deg/s, cmd heading: 328.667446 deg, new cmd heading: 328.643887 deg. gbHeadingCmd: 5.735918 target range: 55.857628 and range: 56.20 m.g@gggggzfrfff Bdqdqdycc`j/?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253253ɢ~B 顕I ,ɡiIyA= ^=y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507698Ai Iq I N >7i,%*Ay6ņ@ٱ6 @6:6=6H [?>?? xƿ߿1? ?*5?e?r?I6ņ@)6[c;i6CB~B9@%Mb@Mb@Mb@ !)!I!i!!%/$?rh|~jt% ?%%DI%Ai!%#A%A)!%(AIE@A)EAABDM6DM'4Y!/=S;Q)>!9!9%DY%1C%n9A->)Q 15{4٪-?㓊?Q 55{4- -\B9=?Q A=:Y=^=Q E=?y-_C)- ;I-m ;i-p{4YEzBMAM:EeB*** querying acoustic contact ***zhahagyDNOT Ignoring new targets: 55.86 m.gPowering the camera and arming the capture device at range: 56.20 m.ggg ProNav: ac range: 55.857628 m, nav range: 54.054005 m, bearing: 314.989180 deg, approach rate: -0.572811 m/s, LOS rate: -0.027866 deg/s, cmd heading: 328.643896 deg, new cmd heading: 328.618804 deg. gKHeadingCmd: 5.735480 target range: 55.857628 and range: 56.20 m.g@gggggzfrfff4BBdddcc?ɢ~B  μI GɡiI)wA c=bA ZA hAa D uD cD +D E v: E L96E [4:E ! @! @! @! @A AI! I1 N= >Gi,v$%*Ay6@ٱ6z@6"86U=6H]?J=?@Mƿ߿??`_?c{? Du?I6@)6dc;i6CB~B9BIBDJ6DJ4YR;_>!RS=R;Q)V>VK?9VK?9VDYVXC^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006890Z9Ab>dQ 1j{4٪f?Q 5j{4f f$\B9hYnP=Q En?yf{C)f;If;ifR~{4Yr|BrGApQgDNOT Ignoring new targets: 55.86 m.gPowering the camera and arming the capture device at range: 56.20 m.ggg칝 ProNav: ac range: 55.857628 m, nav range: 53.838745 m, bearing: 314.978615 deg, approach rate: -0.523644 m/s, LOS rate: -0.025804 deg/s, cmd heading: 328.618815 deg, new cmd heading: 328.597600 deg. g<HeadingCmd: 5.735110 target range: 55.857628 and range: 56.20 m.g@ggg g g zfrfffBdddcc%e?ɢ~B&/ (=I ɡiItIu<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262384>A0f= I I N >Qێi,DP>%*AvBJJ>~BJCBJ3IBJBBJ =BHBJZDBJ,T;BJ1Ey^5@ٱ^@^Ȁ7^V=^H(d?j,?y0ƿ`q߿0?`[? ?`͢? 3w?I^5@)^2c;i^Cr'B9rIDrDaD%DEk: E96E 4:E"E;!E;!*E;!E;!ԹUMb@Mb@Mb@ Q)QIQiQQUFx?q= ףp{GzU ?UUףIUAiUAUl!AUA)QUABDm6Dm4Y}s >!}0=L;Q)>99DYC;A>Q 1{4٪?Q 5{4 G\B9?Q A:Y:9Q E?yC);I:is{4YHAg1=DNOT Ignoring new targets: 55.86 m.g9=Powering the camera and arming the capture device at range: 56.20 m.g9gEb-gEb- ProNav: ac range: 55.857628 m, nav range: 53.583782 m, bearing: 314.961629 deg, approach rate: -0.566155 m/s, LOS rate: -0.037896 deg/s, cmd heading: 328.597587 deg, new cmd heading: 328.563455 deg. gchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975HeadingCmd: 5.734514 target range: 55.857628 and range: 56.20 m.g$@gggggzfrfff 2BBdddcc3_?ɢe~Be 顭p=I ^ɡiIzpA h=A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823M PExceeded connect timeout, disconnecting.I I N >i,Y%*Ayj@ٱj狸@j.4j_=jHf?@7?ſ߿?@f?@*h?*?@m|?Ij@)jcg;ijCrSB9rIxiza=BD~6D~d4Ys=! Y=  99DYCdaA>Q 1%{4٪ ?Q 5-{4 b\B9)Y-P9Q E-?yC):I;i{4Y1=A9gYeDNOT Ignoring new targets: 55.86 m.gaePowering the camera and arming the capture device at range: 56.20 m.mlFinal approach. Armed for intercept at range: 56.20 m.m\Transitioning guidance mode to: FINAL_APPROACHgm@qguX/guX/ ProNav: ac range: 55.857628 m, nav range: 53.375214 m, bearing: 314.947688 deg, approach rate: -0.571128 m/s, LOS rate: -0.038325 deg/s, cmd heading: 328.563463 deg, new cmd heading: 328.535472 deg. gGHeadingCmd: 5.734025 target range: 55.857628 and range: 56.20 m.g#}@gg:g33?gzfrfffBdddcc@ɢM~BM; IM=IQ UHɡQiQIUumAe.o=rAm ?jAm ?IIN> ;i,Ls%*Aɰ,.p;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269560}B9IBD6Dծ4YM=!M8=]Q)e>i9q9}DY}۪CA>Q 1{4٪?Q 5{4" \B9YQ E?yցC):I;ip{4Y~BA;EgDNOT Ignoring new targets: 55.86 m.ggg ProNav: ac range: 55.857628 m, nav range: 53.125439 m, bearing: 314.930848 deg, approach rate: -0.516044 m/s, LOS rate: -0.034956 deg/s, cmd heading: 328.535460 deg, new cmd heading: 328.501621 deg. gHeadingCmd: 5.733435 target range: 55.857628 and range: 56.20 m.gLx@gggg!zf!rf!f!f)Bd1d1d1c1c=l@ɢe~Be> aeH>Ii mgɡiiiImj~BCB~IB BB =BJDBBT;BEi/DD`D(DE E96Ec44:E"E;!E;!*E;!E;!1U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723>A |^=I I N >Y x#i,)%*AyVr@ٱV͂@VP61V=VHf?nE?9zſJ,߿@V?@/*? ??&?IVr@)Vi;iVCbB9bKIEMb@Mb@Mb@ A)AIAiAAEʡE?zGế/$E?E ׽EIE AiEAEAECA)AEzABD]6D][4Ym>>!mY=m;Q)u>q9q9uDYuC}DA}>Q 1{4٪0+?Q 5{4& \B95?Q A:Y3Q E?yC):I:iG{4YA1=B*** querying acoustic contact ***zh9h9gIMDNOT Ignoring new targets: 55.86 m.gIgUwgUwm ProNav: ac range: 55.857628 m, nav range: 52.917980 m, bearing: 314.911822 deg, approach rate: -0.588476 m/s, LOS rate: -0.054181 deg/s, cmd heading: 328.501609 deg, new cmd heading: 328.463408 deg. gmPƺmHeadingCmd: 5.732768 target range: 55.857628 and range: 56.20 m.gur@ggggzfrfffXBBdddcc@ɢB S 顕>>I ɡiI<gI߭%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771156MnManaging dock network, ignoring radio surface power offa9+<ԑi 0 / D xD ^D 'D E ˀ: E ;96E '4:E ! @! @! @! @Թ ] BDAT read: Rx Time:16:11:07.0781 e TRx dataTimestamp_ set to:1755879066.610710e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023833>A Jc=bA ZA jAI I N>s-i, %*AyV@ٱV`|@V/V+=VHd?P?SſC9߿@?qΪ??`??IV@)V g;iV Ch5B95cII9)9BDE6DE4Ym=!u1=uI;Q)u>y9y9}DY}0C}޺A}>Q 1{4٪I) -ɡ1i1I5wcA <|^=I I N >vB) ~B) B- IB- IBB) B) B) B- S;B- EY D= uD= _D= (D9 E= v: E= r96E= c44:E9 "E= ";!E E= #;!E *E= J;!M E= J;!M i,CuĦ%*Aiy> |@ٱ>{y@>Sh.>=>Hd?V? 1ſ @߿?fh??@ɢ?`ރ?I> |@)>f;i>C^B9bI9DAT read: 16:11:07.0781 LVL= 25328, 25777, 18162, 32755, AGC= 54, IDX= 415,-0.42, 0.927,-0.439, 1.621, 0.878, PHS= 0.151,-1.272, 0.699, RAW= 165.6, 4.8, CAL= 164.7, 3.8, ROT= 345.3, -3.8 Ygot valid direction response: 16:11:07.0781 LVL= 25328, 25777, 18162, 32755, AGC= 54, IDX= 415,-0.42, 0.927,-0.439, 1.621, 0.878, PHS= 0.151,-1.272, 0.699, RAW= 165.6, 4.8, CAL= 164.7, 3.8, ROT= 345.3, -3.8 PDAT read: Bearing 137.3, -4.5 (Local) ~Local bearing/azimuth received: Bearing 137.3, -4.5 (Local) DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.965141,-0.253200,0.066274]Fpublishing direction and range info9Y]&o?XVn4п{S?]XBYi]b]d]F]]6 ]>)]ТI]2?i]8@]=]7@]ԇ=]@ ]ԇiYYI]ixL?d?m4?]K?]L ]J\)]ԇiYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Ii rh?Cl绿 rhC ?;߽CIO Ai|AA\A)ABDu6Du 4Y]>!-=5;Q)>99DY`CAA>Q 1M{4٪M?Q 5U{4/ \B9U?Q AU:YUd7Q EU?y5C);Ia:iv{4YY]EAaihYh]LǦ%*Ah]VBh]VBh]@h]MB8I@Ɵ-+#t @h]&o?XVn4п{S?h]J\h]ԇi]^E܌B@ #L?yB2zPr'@h]U`0?UQkg]?h]h]fBh]}^t?h]Ukh]B*i]}^t?2i]Uk:iYi]pQB"i]@M addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.779939 s, deltaX: -2.200001 m, approachRate: -0.582020 m/s, rangeRepo size: 4 ] Added new target pos. range: 53.669437 m, bearing: 315.118569 deg, lat: 36.779435 deg, lon: -121.859643 deg, deltaT: 3.779939 s, deltaX: -2.188190 m, approachRate: -0.578896 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 53.67 m.ggg ProNav: ac range: 53.669437 m, nav range: 52.359703 m, bearing: 315.118756 deg, approach rate: 0.000000 m/s, LOS rate: -0.054042 deg/s, cmd heading: 328.415385 deg, new cmd heading: 328.359532 deg. gHeadingCmd: 5.730955 target range: 53.669437 and range: 54.00 m.gc@ggggzf!rf!f!f%PBBd)d)d)c-K@c5;4?ɢ0Bp߽ 顝0>I 5ɡiI0=_  BDAT read: Tx time:16:11:08.4018  $Ping request sent. Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813AAUyAIYIiN}?Li,2%*Ay6@ٱ6}@6,6`=6H kh?UN?`Hſ;߿m?Ȧ?`?1??I6@)6AV H?9V H?9VDYZCZf:AZ>\Q 1b{4٪^a^?Q 5b{4^P4 ^]B9dYfB7Q Ef?y^WC)^:I^:i^{4YjBj[AjFEg|~DNOT Ignoring new targets: 53.67 m.g|ghGghG ProNav: ac range: 53.669437 m, nav range: 52.088139 m, bearing: 315.098572 deg, approach rate: -0.583354 m/s, LOS rate: -0.043583 deg/s, cmd heading: 328.359541 deg, new cmd heading: 328.318963 deg. gHeadingCmd: 5.730247 target range: 53.669437 and range: 54.00 m.g/^@ggg!g!zf!rf!f)f)Bd)d)dcc?ɢCBFֽ />I ɡiI c[Au Jc= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754758A I I N >|i,a7%*AyR@ٱRc@R +R6=RH 1l?@H? Ŀ8߿?@l ?G?@U??IR@)Ro"c;iRCZQB9ZId]Mb@Mb@Mb@ Y)YIYiYY]q= ףp?zGế rh] ?] ׽YI] Ai] A]^AY)Y] ABD}6D}4Y=!)=w;Q)>99DYīCW:A>Q 1{4٪o?Q 5{48 +]B9'?Q A:Y<5Q E?yzC)OF;I6;i{4YAgDNOT Ignoring new targets: 53.67 m.ggJgJ ProNav: ac range: 53.669437 m, nav range: 51.821537 m, bearing: 315.076206 deg, approach rate: -0.525401 m/s, LOS rate: -0.044305 deg/s, cmd heading: 328.318970 deg, new cmd heading: 328.274007 deg. g*HeadingCmd: 5.729462 target range: 53.669437 and range: 54.00 m.gW@ggg!g!zf!rf!f)f-[BBd)d)d)c1c5-?ɢXBӽ 顥>I ɡiI3WA Qf=Q AE AIY Iq N > i,.!%*Ay6뎱@ٱ6F@63)6#=6H`t?`#1? Ŀ&߿`?4ͧ? ?@l??I6뎱@)6Wb;i6CDBDBlDB$D@EB0; EB:6EB4:E@!J@!J@!J@!J@JfB9JINC=N=BDV6DVZ4Y^=!^[=b;Q)b>bK?9bK?9bDYbCf^;Af>hQ 1n|4٪j|?Q 5n|49jb< jE]B9AYE4Q EE?yjC)j0oIa myɡiiiImS8>) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260443i-/))-/)iԑ>A}i=AE yAIi Iy N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832 Bi,u;%*Ay^@ٱ^Z@^ '^ :'=^H{? E?"Ŀh߿ h?긦?O? ?@q?I^@)^a;i^CjB9j IeMb@Mb@Mb@ a)aIaiaaeˡE?bX9ȶ{Gze?eEe#IenAieO AeAet@)ae AIAA)ԙBD6D14Yw=!;=*;Q)> H?!i!vBMB>~BIBM_IBMÀBBM =BIBIBMS;BMEIG)lA9 H?9DIAYC8;A%>i-㿹-lA-AQQ 1]|4٪U?Q 5]|4U@ Ui]B9] ?Q A]:Y]o.Q E]?yUC)U<:IUf:iU|4Yim,AirDjDBEc44JEI RɡiIOA] q= IY Ii Nu > ;i,cU%*A-B9-,I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015193BDI6DIY]>!]N=eQ)e>a9a9eDYm=CmAm>yQ 1|4٪}ș?Q 5|4}C }]B9YQ E?y}͂C)}:I}:i}%|4YBkAHEgDNOT Ignoring new targets: 53.67 m.gg(g( ProNav: ac range: 53.669437 m, nav range: 51.174255 m, bearing: 315.007287 deg, approach rate: -0.543547 m/s, LOS rate: -0.063453 deg/s, cmd heading: 328.178678 deg, new cmd heading: 328.135563 deg. g@躝HeadingCmd: 5.727046 target range: 53.669437 and range: 54.00 m.gC@ggggzfrfffBdddccV@ɢB%Y !%>I! %*.ɡ!i)I-LAw=)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266828I I N >Q `i,0o%*Ay>@ٱ>@>rp#>B*=>H?@w?TĿ޿`-?`rB?W??@ؐ?I>@)>a;i>CFB9FDIHiHBDR6DR4YZ=!ZW=Z\9\9^DY^cCb;Ab>`Q 1f|4٪b?Q 5j|4bG b]B9hYj-Q Ej?ybC)bS:Ib:ib(3|4YlrApg DNOT Ignoring new targets: 53.67 m.g g *g*% ProNav: ac range: 53.669437 m, nav range: 50.972469 m, bearing: 314.983090 deg, approach rate: -0.530737 m/s, LOS rate: -0.063894 deg/s, cmd heading: 328.135566 deg, new cmd heading: 328.086980 deg. g%麝-HeadingCmd: 5.726198 target range: 53.669437 and range: 54.00 m.g-=@g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=J`@ɢmBmPù im4>Ii uɡqiqIucIA(z=IIN>vBA>~BBIBBB =BBYDBiS;BEԉbD ZD D |D eD D E : E 96E :E "E ;! E ;! *E !*;! E !*;! Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725Hi,┉%*AyZ@ٱZ@Zp!ZK)=ZH?? Ŀ@޿ ?Τ??? u?IZ@)Za;iZCjB9j[IMb@Mb@Mb@ )IiuV?ʡEI +r?94IAi AxA^@) Aia=BD6Dծ4Ym=!7=);Q)>99DY C !;A >Q 1|4٪?Q 5|4J ]B9% ?Q A%:Y%'Q E%?yC);I:iB|4Y-B-HA)gy}DNOT Ignoring new targets: 53.67 m.gg|g|ԑ ProNav: ac range: 53.669437 m, nav range: 50.736115 m, bearing: 314.948008 deg, approach rate: -0.523208 m/s, LOS rate: -0.078023 deg/s, cmd heading: 328.086989 deg, new cmd heading: 328.016497 deg. gHeadingCmd: 5.724968 target range: 53.669437 and range: 54.00 m.g2@ggggzfrfffhBBdddcc @ɢB 顥>I ɡi I REA W^=I I N >ri,mo%*AD$D&`D&'D$E$ E&96E&'4:E$!*@!*@!*@!*@,yZ±@ٱZY@Z08Z.=ZHo?V?`jÿ޿???L?Ε?IZ±@)Z?b;iZCfـB9f{IBDn6DnE4Yv >!v]=z;Q)z>x9x9~DY~C~O;A~>Q 1 |4٪;Ĕ?Q 5 |4N ]B9Y?'Q E?yC):I:iO|4Y{ A!=B*** querying acoustic contact ***zh9h9gAMDNOT Ignoring new targets: 53.67 m.gIgUgUe ProNav: ac range: 53.669437 m, nav range: 50.540466 m, bearing: 314.918332 deg, approach rate: -0.536721 m/s, LOS rate: -0.081724 deg/s, cmd heading: 328.016502 deg, new cmd heading: 327.956921 deg. gemHeadingCmd: 5.723928 target range: 53.669437 and range: 54.00 m.gmk*@gigigigizfirfqfqfqBdqdydycyc}` @ɢBY 顭>I ɡiI$BA5[=IIN>  DAT read: 16:11:10.8753 LVL= 25424, 26865, 18690, 31123, AGC= 54, IDX= 419,-0.16, 1.147,-0.195, 1.901, 1.132, PHS= 0.117,-1.282, 0.725, RAW= 167.2, 5.0, CAL= 166.4, 3.9, ROT= 343.6, -3.9  Ygot valid direction response: 16:11:10.8753 LVL= 25424, 26865, 18690, 31123, AGC= 54, IDX= 419,-0.16, 1.147,-0.195, 1.901, 1.132, PHS= 0.117,-1.282, 0.725, RAW= 167.2, 5.0, CAL= 166.4, 3.9, ROT= 343.6, -3.9  PDAT read: Bearing 138.5, -7.2 (Local)  ~Local bearing/azimuth received: Bearing 138.5, -7.2 (Local)  DAT read: Range 11 to 50 : 52.0 m (Round-trip 69.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.957093,-0.281687,0.068015] Fpublishing direction and range info9a e e?zz*ҿ,::si?e PBa ie Pce he Ie ya e =)e Ie 9?ie :@e ¸=e 9@e 'g=e @ e 'gia a Ie o=4?=@b?-SA?pi,a%*AL_R?IG :)'ginT****** received valid address query ******nR****** received valid ping request ******rQuerying Benthos address 50 with one ping in standard two-way mode.ye̱@ٱe1ʸ@e vB?>~BCBIB.BB =BBB-S;BEeZ0=eHq?\?ÿ@0޿?Ϣ? Ώ?Qǥ?`D?Ie̱@)eTb;ieCB9I0>DMDM^DM#DIEM~: EM;96EM3:EI"EMz;!UEM{;!]*EM;!]EM;!]Mb@Mb@Mb@ )IiS㥛?~jt9999=DYECE;AE>IQ 1U|4٪MP֔?Q 5U|4MeR M]B9U?Q AU:Y]&Q E]?yMAC)M:IM;iMa|4YB( AREhhv6%*AhNBhNBhG]@h3VH@n-T  @he?zz*ҿ,::si?h:h'gicE+A@^5B\4D$@h?sA"濻R*?hh BhF0h?hF)]hB*i2i:i:BiIB"iFܯ@ addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 3.779928 s, deltaX: -2.000000 m, approachRate: -0.529111 m/s, rangeRepo size: 4 E Added new target pos. range: 51.681091 m, bearing: 313.988673 deg, lat: 36.779435 deg, lon: -121.859643 deg, deltaT: 3.779928 s, deltaX: -1.988346 m, approachRate: -0.526028 m/s, posRepo size: 4 gAMDNOT Ignoring new targets: 51.68 m.gIgMgI} ProNav: ac range: 51.681091 m, nav range: 50.273018 m, bearing: 314.876903 deg, approach rate: 0.000000 m/s, LOS rate: -0.081724 deg/s, cmd heading: 327.956915 deg, new cmd heading: 327.870532 deg. gyHeadingCmd: 5.722420 target range: 51.681091 and range: 52.00 m.g@ggggzfrfffGB(DAT read: user:89> BDAT read: Tx time:16:11:12.2518 $Ping request sent.I ɡiIU=A z=I u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251339AAI!I1NE?i,_ݧ%*Ayb@ٱb)@bb3=bH?`?Wÿ`޿? '?`?L5?K?Ib@)bud;ibCvB9vIBD6DE4Yl>!%K=%Q/15K?9=K?9=DY=CE;AE>QQ 1e|4٪U䔊?Q 5e|4UU U^B9iYm&Q Em?yU\C)U\b;IUg;iUo|4Yq}Y AygDNOT Ignoring new targets: 51.68 m.ggƺgƺ ProNav: ac range: 51.681091 m, nav range: 50.063015 m, bearing: 314.843316 deg, approach rate: -0.541402 m/s, LOS rate: -0.086951 deg/s, cmd heading: 327.870527 deg, new cmd heading: 327.803072 deg. g!HeadingCmd: 5.721243 target range: 51.681091 and range: 52.00 m.gl@ggggzfrfffBdddccZ?ɢB餽 ?I ɡi I5l:Ap,=A yAԹ I I N >%i,c%%*Ay>@ٱ>@>P>(7=>Hস?`#?`.$ÿ@Ƒ޿~?@?ָ? ?̟?I>@)>+d;i>CJB9JIBDR6DRˣ4YZ!ZR=Z;Q)Z>^ H?9^ H?9^DY^7Cb;Ab>dQ 1j|4٪f4?Q 5j|4fX f%^B9hYj%Q En?yfvC)fh:If:if}|4YrBr ArSEg)-DNOT Ignoring new targets: 51.68 m.g1g5ºg5ºEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755112U ProNav: ac range: 51.681091 m, nav range: 49.861996 m, bearing: 314.810486 deg, approach rate: -0.518983 m/s, LOS rate: -0.085102 deg/s, cmd heading: 327.803072 deg, new cmd heading: 327.737147 deg. gU]HeadingCmd: 5.720092 target range: 51.681091 and range: 52.00 m.g] @gYgYgYgazfarfafafiBdididicicu@:?ԡɢBuh y顅?I ]ɡiI7>~BB!IB`BB =BBB!S;BEi00@=@=D{DdD(DE=: E96Ec44:E"E;!E;!*E}&;!E}&;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875>A ~4=A I I N > j,%*AyB@ٱB@BdB!9=BH`k?i?¿}޿ ?@#?_k??b?IB@)B}?e;i@N B9NIPiP%Mb@Mb@Mb@ !)!I!i!!%?ˡE rh%?%什%CI%Ai%A%5A!)!%3ABD=6D=n4YM6+>!MA=M;Q)U>Q9Q9UDYUbC]x;A]>aQ 1m|4٪e`?Q 5m|4er\ e;^B9m?Q Am:Yu)Q Eu?yeC)e8:Ie:ie|4Y}B}i AygDNOT Ignoring new targets: 51.68 m.ggקgק] ProNav: ac range: 51.681091 m, nav range: 49.650143 m, bearing: 314.779808 deg, approach rate: -0.504514 m/s, LOS rate: -0.073369 deg/s, cmd heading: 327.737147 deg, new cmd heading: 327.675529 deg. g]FeHeadingCmd: 5.719017 target range: 51.681091 and range: 52.00 m.ge0@gagagagazfarfififmmBBdidqdccPM?ɢ B  15?I1 =&ɡ9i9I=35>ies?IeA@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262160Ai25qD uD D &D E v: E 6E 4:E ! @! @! @! @>A =I I ԙ N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5149298 j,M*%*Ay: @ٱ:@:U:7=:H*?Y?u¿wm޿ #?`?$? ??I: @):#f;i:C^(B9^IBDj6Dj4Yr=!rQ=r;Q)r>t9t9vDYvCvt`;Az>xQ 1|4٪zt ?Q 5|4z_ zO^B9Y )Q E ?yzC)z!;Iz";iz|4Y, AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 51.68 m.gghgh ProNav: ac range: 51.681091 m, nav range: 49.454880 m, bearing: 314.750988 deg, approach rate: -0.470255 m/s, LOS rate: -0.069682 deg/s, cmd heading: 327.675539 deg, new cmd heading: 327.617671 deg. gU ]HeadingCmd: 5.718007 target range: 51.681091 and range: 52.00 m.g]@gYgYgYgYzfarfafafaBdididicicm?qɢBZ 顕~?I 1ɡiI&80AM 2=I I) NU >vB ~B B YIB BB B B B S;B EBʿCBCBʓCB =B =Bʼ5 j,D%*AD&rD&_D$D$E&k: E&r96E$:E$"E&;!.E&;!.*E&J;!.E&J;!.yf@ٱfk @ff$2=fH%?T?@E¿@f޿ $?@X-?@?h ??If@)ff;id~JB9~IMb@Mb@Mb@ )Ii"~j?(\µ:vS?ԼIAiAA@)ABD6Dˣ4Y>!>=(;Q)>99DYC_:A>Q 1|4٪I?Q 5|4>c b^B9H?Q A:Y)Q E?yǃC)o:I:i|4YB- ATEgDNOT Ignoring new targets: 51.68 m.gg  g   ProNav: ac range: 51.681091 m, nav range: 49.233490 m, bearing: 314.718015 deg, approach rate: -0.546511 m/s, LOS rate: -0.081761 deg/s, cmd heading: 327.617673 deg, new cmd heading: 327.551431 deg. gHeadingCmd: 5.716851 target range: 51.681091 and range: 52.00 m.gq@ggggzfrfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.024667 ffOBBdddcc%`A@ɢB<М ?I $ɡiI,A =I I N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274929nJj,`^%*A$y^O@ٱ^@^_a ^'=^H` ?R?S`޿`r&?@&? ~?@7ʤ?@R?I^O@)^f;i^CjQB9jIn4>n=BDr6Dr4Yzz =!zW=~;Q)~>|99DYڭCq:A> Q 1|4٪ l)?Q 5|4 of r^B9Yu)Q E?y C) A=IQIiNu> uj,sx%*Ay:@ٱ:U@:@ : =:H?sS?vs^޿&?^?@)?@??I:@):|f;i8BgB9F)ILBDN6DN14YVT=!VO=Z;Q)Z>X9X9^DY^C^X:A^>`Q 1f|4٪b7?Q 5f|4bi b^B9hYjd)Q Ej?ybC)b:Ib:ib|4YnBnU ArUEgDNOT Ignoring new targets: 51.68 m.g g g 𺺝 ProNav: ac range: 51.681091 m, nav range: 48.834072 m, bearing: 314.657454 deg, approach rate: -0.534024 m/s, LOS rate: -0.081716 deg/s, cmd heading: 327.492053 deg, new cmd heading: 327.429796 deg. g%%HeadingCmd: 5.714728 target range: 51.681091 and range: 52.00 m.g% ߶@g)g)g)g)zf)rf)f1f1Bd1d1d9c9c=9@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.781127ɢB# !%G%?I) U;ɡYiYI]A&~BqBuIBuBBu =BqBqBuR;BuE)IiBJAi//BEŀ'4JE$4RE./DeuDaDe)DaEev: Ea6EeFA4:Ea"Ee";!uEe#;!u*Ee;!}Ee;!} BDAT read: Rx Time:16:11:14.7227 % TRx dataTimestamp_ set to:1755879074.180431- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034096>A `=! Ii Iy N >[$j,kH%*Ay:@ٱ:@::=:H=?`U?@,*@V_޿`&?~A??`k?@f?I:@):f;i:Cb|B9bDI|MMb@Mb@Mb@ I)IIIiIIM%C?B`"۹S㥛MZ?MνM/ݼIMAiMAMO AM@)IMABDe6De4Yu =!u?=u;Q)u>y9y9}DY}-Cd9A>Q 1|4٪E?Q 5|4m ^B9?Q A:Y0Q E?yC)&;I"&;i|4YAgDNOT Ignoring new targets: 51.68 m.ggg ProNav: ac range: 51.681091 m, nav range: 48.609673 m, bearing: 314.630617 deg, approach rate: -0.522729 m/s, LOS rate: -0.062803 deg/s, cmd heading: 327.429789 deg, new cmd heading: 327.375868 deg. g庝HeadingCmd: 5.713787 target range: 51.681091 and range: 52.00 m.gW׶@ggggzfrfffYBBdddcc` @ɢ-$B5w 页,?I 8ɡiIu<#checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288145Q>A&=D tD cD &D E s: E L96E 4:E ! @! @! @! @ԑ A AI I N >*j,l#%*A.DAT read: 16:11:14.7227 LVL= 22256, 25681, 17442, 32755, AGC= 55, IDX= 408,-0.20,-3.002, 1.946,-2.202,-2.948, PHS= 0.048,-1.344, 0.702, RAW= 168.2, 6.6, CAL= 167.7, 6.2, ROT= 342.3, -6.2 yN0@VYgot valid direction response: 16:11:14.7227 LVL= 22256, 25681, 17442, 32755, AGC= 55, IDX= 408,-0.20,-3.002, 1.946,-2.202,-2.948, PHS= 0.048,-1.344, 0.702, RAW= 168.2, 6.6, CAL= 167.7, 6.2, ROT= 342.3, -6.2 VPDAT read: Bearing 141.5, -9.6 (Local) Z~Local bearing/azimuth received: Bearing 141.5, -9.6 (Local) ^DAT read: Range 11 to 50 : 50.0 m (Round-trip 66.7 ms) speed 0.4 m/s bR#Rx 1: Read range and direction messages.f^direction in FSK: [0.947089,-0.302255,0.107999]fFpublishing direction and range info9imDN?יk%XӿNiإ?mHBiimVmQdm"Dmm7 mD=)m1ImF3?im;@m=mR;@mk=m'-@ mkݽiiiٱN@NZN9=NH? c?2k޿@^#??I?ʦ?%?IN0@)NMf;iNCvB9vNIxixi~=Im1 ,?R˨?=?mmW?m m:+)mkݽI~=iiiT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.BD6D14Y-%=!-O=5;Q)5>5K?95K?9=DY=UC=A=>AQ 1M|4٪E9S?Q 5M|4Eq E^B9QYU0Q EU?yE2C)ES:IEK:iE|4YYeBeAe_Ehihm櫨%*AhmFBhmFBhm+ۮ@hm5G@vKmJ .w@hmDN?יk%XӿNiإ?hm:+hmkݽim4{@@ʮ8;Aϵ %@hm/xWS?+u$BTm6v?hm hmwBhmы9?hm0hmHB*ii2ii:iiimAB"im@ addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 3.792006 s, deltaX: -2.000000 m, approachRate: -0.527425 m/s, rangeRepo size: 4  Added new target pos. range: 49.693466 m, bearing: 313.078699 deg, lat: 36.779435 deg, lon: -121.859643 deg, deltaT: 3.792006 s, deltaX: -1.987625 m, approachRate: -0.524162 m/s, posRepo size: 4 gDNOT Ignoring new targets: 49.69 m.ggg ProNav: ac range: 49.693466 m, nav range: 48.402740 m, bearing: 314.605832 deg, approach rate: 0.000000 m/s, LOS rate: -0.062803 deg/s, cmd heading: 327.375857 deg, new cmd heading: 327.325710 deg. g%HeadingCmd: 5.712911 target range: 49.693466 and range: 50.00 m.g%+ж@g!g!g!g)zf)rf)fQfQBdQdQdQc]I@c]?ɢ-BV +?I CɡiI BDAT read: Tx time:16:11:16.0018 $Ping request sent.A =vB >>~B B IB ՁBB B B B R;B SE A yAI! I1 NE >hd1j,Ũ%*ADxDeD'DEˀ: E96E'4:E"E;!&E;!&*E!*;!&E!*;!&B9cI]Mb@Mb@Mb@ Y)YIYiYY]?~jtI +]f?]Ľ]9I]t@i]A]& A]f@)Y]=ABD}6D}24Y"=!6=Q)> H?9 H?9DYCA>Q 1|4٪b?Q 5|4t ^B9?Q A:Y-Q E?yQC)Q;I(O;i0|4YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2513545B*** querying acoustic contact ***zh1h1gIMDNOT Ignoring new targets: 49.69 m.gIgUgUe ProNav: ac range: 49.693466 m, nav range: 48.165176 m, bearing: 314.573836 deg, approach rate: -0.522201 m/s, LOS rate: -0.070679 deg/s, cmd heading: 327.325696 deg, new cmd heading: 327.261389 deg. geYmHeadingCmd: 5.711789 target range: 49.693466 and range: 50.00 m.gmƶ@gigigigizfqrfqfqfuDBBdydydycycU?ɢM4BMЌ QU0?IQ UɡQiQIUA] &=i߽ %=I߽ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503575Q A AI I N >7j,%*A B9 eIBD6D4Y-S<!-Z=)Q)->5K?95K?95DY5C1A=>9Q 1E|4٪=o?Q 5M|4=?x =^B9IYIQ EM?y=jC)=s;I=;i=6|4YQUAYԡgDNOT Ignoring new targets: 49.69 m.ggâgâ ProNav: ac range: 49.693466 m, nav range: 47.968082 m, bearing: 314.547048 deg, approach rate: -0.521342 m/s, LOS rate: -0.071149 deg/s, cmd heading: 327.261383 deg, new cmd heading: 327.207588 deg. g5HeadingCmd: 5.710850 target range: 49.693466 and range: 50.00 m.gH@gggg!zf!rf!f!f)Bd)d)d)c)c5 ø?ɢ]:Bm) im.?Iq uɠɡqiqIu \0@@jAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754790>A=AM yAIY Ii Nu >) =j,y%*Ay>@ٱ>@>p7> =>H??-޿_?D? ?.?@R?I>@)>[Bg;i<FB9FI)H JAIL)LBDR6DRx4YZ>!ZT=ZV^ H?9^ H?9^DYbήCblAb>dQ 1j}4٪fb}?Q 5j}4f{ f^B9hYjV.Q Ej?yfC)f:If:if }4YrBrAr`Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006741gDNOT Ignoring new targets: 49.69 m.ggܪg%ܪ- ProNav: ac range: 49.693466 m, nav range: 47.763428 m, bearing: 314.519361 deg, approach rate: -0.549724 m/s, LOS rate: -0.074689 deg/s, cmd heading: 327.207589 deg, new cmd heading: 327.151978 deg. g55HeadingCmd: 5.709879 target range: 49.693466 and range: 50.00 m.g5U@g9g9g9g9zf9rf9fAfABdQdQdacacm8a?ɢAB, 顭~:?I sɡiIM~BBIBBBBBB R;B#Ei. o0 AbDZDDwD]DDE}: E96E:E"Eg;!Eh;!*E ;!E ;!qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262191>Am =bAm iAZAi A ԙ I I N >Dj,U%*Ay6@ٱ6V@6E6s{=6H?@?Cr޿3?? 4? ?e?I6@)6g;i6CBÁB9BIMb@Mb@Mb@ )Ii'1Z?Cl绿19195DY5C=ꏺA=>AQ 1M}4٪EW?Q 5M}4Ei E^B9M?Q AU:YU6Q EU?yEC)E :IE:iEb}4YAg)-DNOT Ignoring new targets: 49.69 m.g)g5cg5cE ProNav: ac range: 49.693466 m, nav range: 47.545509 m, bearing: 314.497612 deg, approach rate: -0.496123 m/s, LOS rate: -0.049742 deg/s, cmd heading: 327.151991 deg, new cmd heading: 327.108294 deg. gMMHeadingCmd: 5.709117 target range: 49.693466 and range: 50.00 m.gM@gQgQԁgQgzfrff!f%NBBd!d!d!c)c-?ɢ}IB}* y}*=?Iy 3ɡiI/A .= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762591A AI I N > %Kj,Y0.%*Ay6@ٱ6E@6؇6r=6H`9?.?d ޿ ?=? ?`?4?I6@)6`h;i6CBށB9BIBDJ6DJˣ4YRb>!RT=R ;Q)R>VK?9VK?9VDYV CV[+AZ>XQ 1^}4٪Z.?Q 5b}4Z݂ Z^B9`Yb6Q Eb?yZC)Z;IZ;iZ&}4YfBfAhg1]DNOT Ignoring new targets: 49.69 m.gYgewgewu ProNav: ac range: 49.693466 m, nav range: 47.345074 m, bearing: 314.477485 deg, approach rate: -0.537370 m/s, LOS rate: -0.054189 deg/s, cmd heading: 327.108305 deg, new cmd heading: 327.067881 deg. guXƺHeadingCmd: 5.708411 target range: 49.693466 and range: 50.00 m.gN@ggggzfrfffBdddcc`}@ɢOB> g  @>i8?I<%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914>A9 vB ~B B  IB BB B B B Q;B EAe yAI I N >D wD aD 'D E }: E 96E '4:E "E ! E ! *E ;! E ;! Qj, H%*AB9I)i)i-=I-= Mb@Mb@Mb@ ) I i   K7?Cl绿Mb  ?  I @i \A XA A@)   @BD96D9YM \=!M2=MQ)M>U H?9U H?9UDYUMC]A]>aQ 1e}4٪eV?Q 5m}4e  e _B9m ?Q Am:Ym3Q Em?yeۄC)e:Ie:}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825ie6}4YAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 49.69 m.ggg ProNav: ac range: 49.693466 m, nav range: 47.095207 m, bearing: 314.449100 deg, approach rate: -0.550199 m/s, LOS rate: -0.062836 deg/s, cmd heading: 327.067870 deg, new cmd heading: 327.010798 deg. g庝HeadingCmd: 5.707415 target range: 49.693466 and range: 50.00 m.g%@ggggzfrfffABQBddidqcqcu`k@ɢWB6Z} I?I vɡiIBV A =ԩ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519025A AI I N >$Xj,a%*Ay6@ٱ6@6Jケ6»=6H?@?y@޿ ??׽?`??I6@)6i;i6C@BB9BIBDN6DN4YV >!Vi=V%ZK?9ZK?9ZDYZqCZ.&A^>\Q 1b}4٪^?Q 5f}4^c ^_B9dYf3Q Ef?y^C)^:I^6:i^'C}4YjBjAnaEg|DNOT Ignoring new targets: 49.69 m.ggg  ProNav: ac range: 49.693466 m, nav range: 46.904015 m, bearing: 314.427370 deg, approach rate: -0.551353 m/s, LOS rate: -0.062919 deg/s, cmd heading: 327.010797 deg, new cmd heading: 326.967161 deg. gL溝%HeadingCmd: 5.706654 target range: 49.693466 and range: 50.00 m.g%蜶@g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5@ɢ]B:K S?I QɡiI\ Ap=I I N > ;?^j,{%*Ay6 @ٱ6g@6뽹66=6H?T?J޿`a? ?`?@V?@?I6 @)6i;i6CBB9B IBDJ6DJ4zBDAT read: Rx Time:16:11:18.4701 ~TRx dataTimestamp_ set to:1755879077.964400checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026449 Y=!D=;Q)>!9!9-DY-C-PA5>9Q 1M}4٪=zÕ?Q 5M}4=L =-_B9IYU3Q EU?y=C)=E;I=1;i=Q}4Yae-AigDNOT Ignoring new targets: 49.69 m.ggLgL ProNav: ac range: 49.693466 m, nav range: 46.674953 m, bearing: 314.401335 deg, approach rate: -0.533126 m/s, LOS rate: -0.060892 deg/s, cmd heading: 326.967166 deg, new cmd heading: 326.914841 deg. g޺HeadingCmd: 5.705740 target range: 49.693466 and range: 50.00 m.gm@ggggzfrfffBdddcc@ @vBi~BiBm: IBmEBBm =BiBiBmQ;BmEB)B-ÿCB)B)B- =B-|4)ɢMeBM $k IM0Y?IQ UɡQiQIU<A ʞ=ԁ I I N >4*ej,%*AQym"@ٱm}@m罹m)=Mb@Mb@Mb@ )Ii?1Zd99DYɯC;A>Q 1}4٪ҕ?Q 5}4b C_B9. ?Q A:Y4Q E?y/C):IA:ia}4YBAkEgDNOT Ignoring new targets: 49.69 m.ggg ProNav: ac range: 49.693466 m, nav range: 46.436409 m, bearing: 314.374634 deg, approach rate: -0.542134 m/s, LOS rate: -0.060994 deg/s, cmd heading: 326.914847 deg, new cmd heading: 326.861171 deg. g@ߺHeadingCmd: 5.704803 target range: 49.693466 and range: 50.00 m.g@ggggzfrff f tBBd d dcc@ɢ=kB=IB AE`?IA EMɡAiIIMj*?t T?' $?X?nsɽ jF)iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԩIIN>D vD bD (D E Vz: E 96E c44:E !- @!- @!- @!- @  (DAT read: user:91>  BDAT read: Tx time:16:11:19.7518  $Ping request sent. 99DYCA=>9Q 1E}4٪=(ߕ?Q 5M}4= =T_B9IYM4Q EM?y=HC)=B:I=:i=n}4YQ}AyԹh!h%革%*Ah%>Bh%>Bh%ܮ@h%OߵF@,P%y@h%̸ 'e?`HӿU]k?h%jFh%i%]@@"A̱G%!@h%K84=?濨y5r?h% h%=Bh%pl?h%Fh%iB*i%pl?2i%F)]:i%Bi%:B"i% @  addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 3.781393 s, deltaX: -2.000000 m, approachRate: -0.528906 m/s, rangeRepo size: 4 = Added new target pos. range: 47.705936 m, bearing: 313.090057 deg, lat: 36.779433 deg, lon: -121.859652 deg, deltaT: 3.781393 s, deltaX: -1.987530 m, approachRate: -0.525608 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 47.71 m.g9gEgA ProNav: ac range: 47.705936 m, nav range: 46.632298 m, bearing: 313.432547 deg, approach rate: 0.000000 m/s, LOS rate: -0.060994 deg/s, cmd heading: 326.861162 deg, new cmd heading: 326.815351 deg. gHeadingCmd: 5.704004 target range: 47.705936 and range: 48.00 m.g3@ggggzfrfffBdddcH@c"?ɢUqBUV= QUi?IQ ]ɡYiYI]-<;Ie@Eie=ie=)e3@)ii%0!!%/!IINA>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510619i9I݈G)jAIvBm >>~Bi Bm l IBm nBBm =Bi Bi Bm zQ;Bm Ei  jA A h? \AA BEaJEe99DYC A>Q 1}4٪핊?Q 5}4 g_BQ =+:9Q A:Y4Q E?yeC);I>iz}4YA=B*** querying acoustic contact ***zh9h9gIMDNOT Ignoring new targets: 47.71 m.gI]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119g(g( ProNav: ac range: 47.705936 m, nav range: 46.408775 m, bearing: 313.403044 deg, approach rate: -0.541039 m/s, LOS rate: -0.071758 deg/s, cmd heading: 326.815345 deg, new cmd heading: 326.756053 deg. gSHeadingCmd: 5.702969 target range: 47.705936 and range: 48.00 m.g~@ggggzfrfffBdddc c ?ɢ}xB}D y}jf?Iy wHɡiIw;I i;<=i=)~@)iAAAE0AQIINE>i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756007ԙ Ccxj,E.%*Aiy>@ٱ> @>Tܽ>_<>H_?@ ?Qλ޿ ?? Ր?Y]??I>@)>1i;i>CJhB9Je ILiLBDR6DR4YZ 7>!ZY=^;Q)^>`9`9bDYb?Cb-Af>dQ 1j}4٪fP?Q 5j}4f fx_BQ =n :9lQ An:Yn4Q En?yf~C)fX ;IfK?if}4YrBv%AvlEg DNOT Ignoring new targets: 47.71 m.ggg- ProNav: ac range: 47.705936 m, nav range: 46.211094 m, bearing: 313.376767 deg, approach rate: -0.543532 m/s, LOS rate: -0.072558 deg/s, cmd heading: 326.756059 deg, new cmd heading: 326.703280 deg. g-5HeadingCmd: 5.702048 target range: 47.705936 and range: 48.00 m.g5-w@g1g1g1g1zf1rf1f9f9BdAdAdAcAcEZ?ɢm~Bu4 us*ut?Iq uC޽ɡyiyI};Iji W=iG=)-w@) ]>>DqDtD$DE2h: Ev:6E4:E!@!@!@!@i.o0IIN=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070289i ~j, %*A0fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259360yvK@ٱv@vALٽv'v9999=DY=jCE36AE>IQ 1U}4٪M?Q 5U}4M M_BQ =U99QQ AUR:YU4Q E]?yMC)M;IM?iMW}4YaeAagDNOT Ignoring new targets: 47.71 m.gg@g@ ProNav: ac range: 47.705936 m, nav range: 45.988132 m, bearing: 313.346934 deg, approach rate: -0.530776 m/s, LOS rate: -0.071363 deg/s, cmd heading: 326.703275 deg, new cmd heading: 326.643321 deg. gHeadingCmd: 5.701002 target range: 47.705936 and range: 48.00 m.gn@ggggzfrfffBdddcc?ɢ B(/ [u?I KݽɡiI;I% i%y=i%&=)%n@))AA<vB=>~BB IBBBBBB\Q;BEyie/aae0aDvDbD%DEVz: E96E 4:E"ED;!EF;!*E5;!E6;!ԙuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510957>A A yAI I N >6uj,T%*Ay6Y@ٱ6@67Vս64<6H? ? 亿@޿`k?do?p? ?? ?I6Y@)6h;i6CP^B9^ I!=!= !E!E !E!E !E!E EMb@Mb@Mb@ A)AIAiAAEZd;?sh|?{GzE>EE#IE@iE1@EAE@)AE@BD]6D]E4Ym >!mG=m@;Q)m>u H?9u H?9uDYuCuWA}>Q 1}4٪ ?Q 5}4  _BQ =T:9~>Q A:Y,Q E?yC):Iq:i}4YBAmEgDNOT Ignoring new targets: 47.71 m.gg\ƺg\ƺ ProNav: ac range: 47.705936 m, nav range: 45.787319 m, bearing: 313.311464 deg, approach rate: -0.488768 m/s, LOS rate: -0.086710 deg/s, cmd heading: 326.643333 deg, new cmd heading: 326.572083 deg. gHeadingCmd: 5.699758 target range: 47.705936 and range: 48.00 m.gkd@ggggzfrfffBBdddccLF?ɢUBUVX% Y] ?IY ]~۽ɡYiaIe ;I|[iw=i =)kd@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764995iAAAE0ADzDDDEl: E6E:E!@!@!@! @>A 6=a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932A AI I N- >Xj,0%*Aɰ;y6@ٱ6F@6VK?9VK?9VDYVCZ8AZ>\Q 1b}4٪^V"?Q 5b}4^ ^_B9`Yb,Q Ef?y^ͅC)^ ;I^ ;i^}4YhjoAhg|~DNOT Ignoring new targets: 47.71 m.g|gȺgȺ ProNav: ac range: 47.705936 m, nav range: 45.602333 m, bearing: 313.278520 deg, approach rate: -0.489084 m/s, LOS rate: -0.087455 deg/s, cmd heading: 326.572081 deg, new cmd heading: 326.505925 deg. g YHeadingCmd: 5.698604 target range: 47.705936 and range: 48.00 m.gZ@ggggzfrfffBdddcc@ɢ%B-\ )-?Ii uWٽɡqiqIu;I!i@=iܓ=)Z@)ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2672419;Թ)vB~BB IBĂBBBBBSQ;BEiM 0Q Q ] 0Y @} >@} = D sD cD )D E so: E L96E FA4:E "E ݑ;! E ޑ;! *E ";! E ";! >A d=bA ZA iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519001AyAII)N5?vj,VR%*Ay6Z@ٱ6ݸ@6ͽ6 <6H ??e@޿d?\y??@Ҝ? \?I6Z@)6Nh;i6CBB9@ Mb@Mb@Mb@ ) I i   V-? rh~jt > C DI @i @ A @)   @BD%6D%ˣ4Y5ͺ!5==NC;Q)=>= H?9= H?9=DY=C9A>Q 1}4٪S5?Q 5}4 _B9c>Q A:Yy$Q E?yC)Z:I:i}4YBAnEB*** querying acoustic contact ***zhhg)-DNOT Ignoring new targets: 47.71 m.g)g50g50e ProNav: ac range: 47.705936 m, nav range: 45.325127 m, bearing: 313.217293 deg, approach rate: -0.486247 m/s, LOS rate: -0.108055 deg/s, cmd heading: 326.505937 deg, new cmd heading: 326.382735 deg. geEmHeadingCmd: 5.696454 target range: 47.705936 and range: 48.00 m.gmYI@gigigigqzfqrfqfqf}wBBdddcc`R@ɢ B %2 }?I ׽ɡiI;I]4i]=i] c=)]YI@)a)mjA mjA19$i >I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771206i0Y>A- *=ԑ D wD gD 'D E }: E &96E '4:E ! @! @! @! @A} AI I N >ɚj,>m%*AyB@ٱB7޸@BʽB\޿`b?>!^M=^ ;Q)^>bK?9bK?9bDYbCb)9Ab>dQ 1j}4٪f(B?Q 5n}4f f_B9lYnu$Q En?yf C)fU;If;if }4Yprg@tg BDAT read: Rx Time:16:11:22.2174 TRx dataTimestamp_ set to:1755879081.742903%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024201)-DNOT Ignoring new targets: 47.71 m.g)g5Tg5TE ProNav: ac range: 47.705936 m, nav range: 45.137825 m, bearing: 313.175474 deg, approach rate: -0.495876 m/s, LOS rate: -0.111176 deg/s, cmd heading: 326.382748 deg, new cmd heading: 326.298762 deg. gEvKMHeadingCmd: 5.694988 target range: 47.705936 and range: 48.00 m.gMW=@gIgIgIgIzfQrfQfQfQBdYdYdYcYc]E @ɢBLU 額?I ֽɡiI;IiA =i=)W=@)) iIAi/0qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274971ԩ vB ~B B !IB BB B B B B >AU õ=A I I D |D nD (D E : E :6E c44:E "E ;! E ;! *E J;! E J;! N >rj,%*A i uƂB9u Ii}=I}=Mb@Mb@Mb@ )IiMb?L7A`尿y&1?+`eIf@i@AA@)p@ i p=BD6D4Y%+=!%"=%Q)%>1999EDYELCUA]>aQ 1m}4٪eS?Q 5m}4e e_B9m?Q Am:Ym"Q Em?ye*C)es:Ie:ie}4DAT read: 16:11:22.2174 LVL= 23712, 26929, 17490, 31795, AGC= 56, IDX= 418, 0.18, 2.554, 1.178,-2.930, 2.592, PHS= 0.064,-1.369, 0.717, RAW= 167.8, 6.4, CAL= 167.2, 5.9, ROT= 342.8, -5.9 Ygot valid direction response: 16:11:22.2174 LVL= 23712, 26929, 17490, 31795, AGC= 56, IDX= 418, 0.18, 2.554, 1.178,-2.930, 2.592, PHS= 0.064,-1.369, 0.717, RAW= 167.8, 6.4, CAL= 167.2, 5.9, ROT= 342.8, -5.9 PDAT read: Bearing 140.7, -11.2 (Local) ~Local bearing/azimuth received: Bearing 140.7, -11.2 (Local) DAT read: Range 11 to 50 : 46.1 m (Round-trip 61.5 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.950218,-0.294142,0.102793]Fpublishing direction and range info9y}_桋/h?Bc8ҿzBP?}f8Byi}\}1i}RD}3|y }o=)}d;I}P7?i}5o;@}=}:@}B=}t@ }BҽiyyI}paZ? T?iէW?}֦U?}g }j)}Bҽiyy5T****** received valid address query ******Y5B5 @=xEuR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.hyh}@%*Ah}E7Bh}E7Bh} @h}wg)E@4b$*/c@h}_桋/h?Bc8ҿzBP?h}jh}Bҽi}GZ>@aX@_vd6G2!@h})y?)]-N?h}h}jAh}#ʁ?h}{h}B*iy2iy:i}Bi}3B"i}@ addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 3.778700 s, deltaX: -1.900002 m, approachRate: -0.502819 m/s, rangeRepo size: 4  Added new target pos. range: 45.817482 m, bearing: 313.410245 deg, lat: 36.779433 deg, lon: -121.859652 deg, deltaT: 3.778700 s, deltaX: -1.888454 m, approachRate: -0.499763 m/s, posRepo size: 4 g DNOT Ignoring new targets: 45.82 m.gQgUgQe ProNav: ac range: 45.817482 m, nav range: 44.884422 m, bearing: 313.116253 deg, approach rate: 0.000000 m/s, LOS rate: -0.111176 deg/s, cmd heading: 326.298764 deg, new cmd heading: 326.176921 deg. gaHeadingCmd: 5.692861 target range: 45.817482 and range: 46.10 m.g+@ggggzfrfffBBdddc G@c?ɢB- ?I i{ӽɡiI.;Ii>=iXʻ=)+@)AiYaae/ai 5 (DAT read: user:92> 5 BDAT read: Tx time:16:11:23.5518 = $Ping request sent.= A =rA ?jA ?ԙ A I I N >qj,%*Ay6[@ٱ6߸@6k½6 <6H@?*?@@޿?CJ?A:?)1? ?I6[@)6~h;i6CBւB9B IBD^6D^4Yf=!fG=fS99DYvC%e9A%>!Q 1-}4٪%a?Q 55}4%ٵ %_B91Y5"Q E5?y%EC)%';I%U;i%T}4YAE@AD]wD]cD]&DYE]}: E]L96E]4:EY!e@!e@!e@!e@gyDNOT Ignoring new targets: 45.82 m.ggg ProNav: ac range: 45.817482 m, nav range: 44.678707 m, bearing: 313.067610 deg, approach rate: -0.543145 m/s, LOS rate: -0.129022 deg/s, cmd heading: 326.176913 deg, new cmd heading: 326.079180 deg. glHeadingCmd: 5.691155 target range: 45.817482 and range: 46.10 m.g@ggggzfrfffBdddcc@n?ɢB`ڢ ?I ҽɡiI;IEi\=iľ=)@)i03 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251045>A˺=AA I I N5 >q iߵ =Iߵ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503093Tj,Vc%*AyVݱ@ٱV۸@VêVCt9t9vDYvCzfAz>xQ 1}4٪zeo?Q 5}4z z_B9Y"Q E?yz_C)z;Iz;iz0}4Y@g1vBA~BABE4!IBEBBABABABEDQ;BEEBBBBBB4eDNOT Ignoring new targets: 45.82 m.gage gm  ProNav: ac range: 45.817482 m, nav range: 44.481506 m, bearing: 313.020682 deg, approach rate: -0.501258 m/s, LOS rate: -0.119816 deg/s, cmd heading: 326.079187 deg, new cmd heading: 325.984913 deg. gF[HeadingCmd: 5.689510 target range: 45.817482 and range: 46.10 m.gw@ggggzfrff f Bd d d ccN?YɢmBu y顅?I PнɡiI!;Ii=i=)w@)DqDudDu)DqEq Eu96EuFA4:Eq"Eug;!Euh;!*Eu}&;!Eu}&;!ԁi/1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876ԩ>A := A I! I1 N= >tj,8۪%*AɰrB9v !I)| ~AMb@Mb@Mb@ )Ii}?5^I?Q뱿 rhM?\CI9@i@?@@)@I)BABD6D4Y=!;=Q)>99DY˱CA>Q 1}~4٪~~?Q 5}~4 `B9}?Q A}:Y}e$Q E}?y{C)mA ) M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259817A yAI I N >j,x%*AyRױ@ٱRIո@RR.!r H?9r H?9rDYrCr&Av>tQ 1z~4٪v3?Q 5z~4vz v `B9|Y~$Q E~?yvC)v;Iv;iv=~4Y @ g)5DNOT Ignoring new targets: 45.82 m.g1g5 g5  ProNav: ac range: 45.817482 m, nav range: 44.075920 m, bearing: 312.926103 deg, approach rate: -0.527860 m/s, LOS rate: -0.123973 deg/s, cmd heading: 325.881931 deg, new cmd heading: 325.794859 deg. gbHeadingCmd: 5.686193 target range: 45.817482 and range: 46.10 m.gK@ggggzfrffQfYBdYdYdYcYce@?ɢB0 ގ?I x̽ɡiI1;I|i=i=)K@)Qi03checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510900IEG)eSkAyIiuSkA)AAYA]<vBe<>~BaBeZ!IBe/BBaBaBaBe=Q;BeE>A C=Ա BE-!4JE-ʣ#4RE-+/D tD hD (D E s: E ]96E c44:E "E ;! E ;! *E 5;! E 5;! A} AI I N >j,S%*A@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839= B9=.!IMb@Mb@Mb@ )Ii)\(?/$y&1G?`eI"@i|@@@)G@BD 6D 4Y'=!8=Q)>%K?9%K?9%DY%C%A->)Q 15~4٪-7?Q 5=~4-3 -`B9=?Q A=:Y=+Q E=?y-C)-?;I-;i- ~4YEBE$@MyEgiuDNOT Ignoring new targets: 45.82 m.gqgu/g}/溝 ProNav: ac range: 45.817482 m, nav range: 43.850933 m, bearing: 312.881565 deg, approach rate: -0.505691 m/s, LOS rate: -0.100621 deg/s, cmd heading: 325.794860 deg, new cmd heading: 325.705325 deg. g%8HeadingCmd: 5.684630 target range: 45.817482 and range: 46.10 m.g~@ggggzfrfffBBdddcc@ݎ@ɢǀBg  ?I ʽɡiI[;I:i'=ik=)~@)ԩim/iim/i>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015498 A I I N% >6j,ʍ(%*A,i,yJı@ٱJ\@JY`Jh9h9jDYjBCnܻlAr>pQ 1v~4٪rj?Q 5v~4r= r!`B9xYzy,Q Ez?yrȆC)rK:Ird:irr-~4DeDaDe&DaEeҝ: Ea6Ee4:Ea!m@!m@!m@!m@Y@gDNOT Ignoring new targets: 45.82 m.ggպgպ ProNav: ac range: 45.817482 m, nav range: 43.667717 m, bearing: 312.845564 deg, approach rate: -0.473413 m/s, LOS rate: -0.093412 deg/s, cmd heading: 325.705330 deg, new cmd heading: 325.633027 deg. g* HeadingCmd: 5.683369 target range: 45.817482 and range: 46.10 m.g (޵@g g g gzfrfffBdddc!c%@ɢM̀BM{ IU?IQ ]ȽɡYiYI]F;Ieie=ie=)e(޵@)i)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266843i/@%jA@%jAIy>AmO=A ԡ I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518792wj,jB%*AyJĻ@ٱJ @J›J_!IBD^6D^4Yf/ !fJ=f׶;Q)f>h9h9jDYjkCn#An>pQ 1v~4٪r?Q 5v~4r r*`B9tYv,Q Ev?yrC)r:Ir:ir;~4YzB~~@vB:>~BBy!IBHBBBBBEQ;BEzEg9EDNOT Ignoring new targets: 45.82 m.gAgEgM񺝅U ProNav: ac range: 45.817482 m, nav range: 43.463577 m, bearing: 312.805366 deg, approach rate: -0.533838 m/s, LOS rate: -0.105614 deg/s, cmd heading: 325.633039 deg, new cmd heading: 325.552266 deg. ygHAHeadingCmd: 5.681959 target range: 45.817482 and range: 46.10 m.gҵ@ggggzfrfff Bd d dc!c-@rDu=jDqDuDiDDEv: E96E:Eԩ"E";!E#;!*E8;!E8;!ɢӀBkμ 3?I xƽɡiIin;I%i%iI=i%n=)%ҵ@))i) A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771093>A /= A I I JI N >"j,$]%*AyF@ٱF@FKFG?5? =߿?Nj?` ?g??IF@)Flar;iDN1B9N]!I %Mb@Mb@Mb@ !)!I!i!!%/$?#~j{Gz%1?%㥽%ףI%@i%O@%@%n@)!%@BD}6D}4Y=!4=;Q)>99DYCA>BDAT read: Rx Time:16:11:26.0149 TRx dataTimestamp_ set to:1755879085.522886checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024038Q 1~4٪DĖ?Q 5~4 2`B9 ?Q A:YW)Q E?yC);Ia;inK~4Y@B*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 45.82 m.ggg  ProNav: ac range: 45.817482 m, nav range: 43.222126 m, bearing: 312.752983 deg, approach rate: -0.531625 m/s, LOS rate: -0.115981 deg/s, cmd heading: 325.552279 deg, new cmd heading: 325.446927 deg. gBTHeadingCmd: 5.680120 target range: 45.817482 and range: 46.10 m.gõ@gg!g!g!zf!rf!f)f-BBd)d)d1c1c5X @ɢ]؀B]p1 aeN?Ia mĽɡiiiImn;Iuxbiuj=iu=)uõ@)yi/9DvD]DDEVz: E96E:E!@!@!@!@i>A!m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275889AU yAIY Ii N} >ԑ Hj,Zw%*Aɰ`b4 H?9 H?9DYIJC%'!A%>!Q 15~4٪%JӖ?Q 55~4%> %9`B91Y5)Q E=?y%C)%);I%F;i%Z~4YMȒBU@UEgDNOT Ignoring new targets: 45.82 m.ggg ProNav: ac range: 45.817482 m, nav range: 42.999016 m, bearing: 312.704367 deg, approach rate: -0.526363 m/s, LOS rate: -0.115290 deg/s, cmd heading: 325.446930 deg, new cmd heading: 325.349194 deg. gRHeadingCmd: 5.678415 target range: 45.817482 and range: 46.10 m.g@ggggzfrfffBdddcc @ɢMހBMz IU?IQ U½ɡQiQIUP%;I]=i]=i]ڿ=)]@)aԡDAT read: 16:11:26.0149 LVL= 23536, 30273, 19314, 31443, AGC= 54, IDX= 408, 0.17,-1.032,-2.394,-0.244,-0.962, PHS= 0.032,-1.388, 0.674, RAW= 167.7, 7.5, CAL= 167.3, 7.5, ROT= 342.7, -7.5 Ygot valid direction response: 16:11:26.0149 LVL= 23536, 30273, 19314, 31443, AGC= 54, IDX= 408, 0.17,-1.032,-2.394,-0.244,-0.962, PHS= 0.032,-1.388, 0.674, RAW= 167.7, 7.5, CAL= 167.3, 7.5, ROT= 342.7, -7.5 PDAT read: Bearing 142.0, -12.6 (Local) %~Local bearing/azimuth received: Bearing 142.0, -12.6 (Local) -DAT read: Range 11 to 50 : 44.1 m (Round-trip 58.9 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.E^direction in FSK: [0.946593,-0.294831,0.130526]EFpublishing direction and range info9{|J? ҿ /?f0Bi[AvrKz6 o=)ID,?iR;@ >;:@ >Yf@  iIt X?; x?.?,U?R ) imT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.i0/A9A=AAvBI~BIBM!IBM\BBM =BIBIBMAQ;BME>A =bA ZA hAD rD `D "D E k: E 96E (3:E "E ;! E ;! *E ;! E ;! A I I N >#-j,I%*A(DAT read: user:93> BDAT read: Tx time:16:11:27.3018 $Ping request sent.99DYC} A>!Q 1-~4٪%$ᖊ?Q 5-~4% %@`B9-?Q A5:Y5O1Q E5?y%:C)%A =a A AD qD D 'D E 2h: E 6E '4:E ! @! @! @! @I I N >j,%*Ay6@ٱ6p@6ZY6<6H?a?`+챿j߿??@??v?I6@)6B{;i6CBFB9Bw!IBDF6DF4YNn=!RS=R;Q)R>VK?9VK?9VDYVCV)AZ>XQ 1^~4٪ZJ?Q 5b~4Z> ZG`B9`Yb1Q Eb?yZTC)Z:IZ:iZu~4Ydf@hgx~DNOT Ignoring new targets: 43.83 m.g|g~<g<  ProNav: ac range: 43.829559 m, nav range: 42.631065 m, bearing: 312.574908 deg, approach rate: -0.574198 m/s, LOS rate: -0.104141 deg/s, cmd heading: 325.250576 deg, new cmd heading: 325.177633 deg. g>HeadingCmd: 5.675420 target range: 43.829559 and range: 44.10 m.g @ggggzfrf!f!f!Bd!d)d)c)c-@?qɢB@ ?I VɡiI{;Ii=iW=)  @) )i mAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503376i30ԙ>AҞ=A yA% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755432I1 IA NM > vB ;>~B B !IB qBB =B B B 4Q;B Ej, ƫ%*Ay6@ٱ6ߑ@6R6><6H?Nq?AK@z߿@?@? '?C??I6@)6^};i6CNPB9R!IiV=IV=Va=iVa=BDZ6DZ4Y%<1=!%C=%;Q)%>- H?9- H?9-DY-=C-p#A5>1Q 1=~4٪5?Q 5E~45 5N`B9AYE1Q EE?y5qC)5;I5;i52~4YM˒BU@UEgDNOT Ignoring new targets: 43.83 m.gg Ժg ԺM ProNav: ac range: 43.829559 m, nav range: 42.410717 m, bearing: 312.535042 deg, approach rate: -0.511967 m/s, LOS rate: -0.093106 deg/s, cmd heading: 325.177629 deg, new cmd heading: 325.097485 deg. gMd*DDD*DE: E6E(N4:E"E;!E;!*E;!%E!%MHeadingCmd: 5.674022 target range: 43.829559 and range: 44.10 m.gm@gigigqgqzfqrfqfyfyBdydydycc@r?ɢB B?I ɡiI.o;I$i=i=)@) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007075i01>A =Y A9 II IY Ne >.j,+%*Ay6 @ٱ6i@6pw6[<6H ?`D? ߿??`{??`e?I6 @)6(;i6CBaB9B!Ijchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259018Mb@Mb@Mb@ )Ii)\(?|?5^{GzG?ҽ#I@i@@@)p@BD-6D-n4Y==!=H==m;Q)=>A9A9EDYEfCMOsAM>QQ 1]~4٪U ?Q 5]~4U UU`B9]?Q A]:Ye7Q Ee?yUC)U:IU:iU~4Y@%B*** querying acoustic contact ***zh!!h!g15DNOT Ignoring new targets: 43.83 m.g9g=ݭg=ݭM ProNav: ac range: 43.829559 m, nav range: 42.200905 m, bearing: 312.503347 deg, approach rate: -0.500622 m/s, LOS rate: -0.076002 deg/s, cmd heading: 325.097497 deg, new cmd heading: 325.033792 deg. gM UHeadingCmd: 5.672910 target range: 43.829559 and range: 44.10 m.gUz@gQgYgYgYzfYrfYffBBdddcc ?ɢBZ ?I gͺɡiIoc;I% ;i%4=i%*c=)%z@))i/ 2QDtDD'DEs: E6E'4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511612ԉ>AK=A AI I) N5 >ԩ j,-y%*AyF~@ٱF |@FkFGfK?9fK?9fDYjCjAAn>tQ 1~~4٪v?Q 5~4v v\`B9Y8Q E ?yvC)v\;Iv;iv~4YΒBG@EgaeDNOT Ignoring new targets: 43.83 m.gigugu ProNav: ac range: 43.829559 m, nav range: 42.001968 m, bearing: 312.473314 deg, approach rate: -0.530456 m/s, LOS rate: -0.080460 deg/s, cmd heading: 325.033785 deg, new cmd heading: 324.973436 deg. g@HeadingCmd: 5.671856 target range: 43.829559 and range: 44.10 m.g@ggggzfrfffBdddcc?ɢuBԑ o 顝0?I ۸ɡiIcX;IikZ=i)@) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763572im0iiu4qAE<AE<vBM<>~BIBM!IBMBBIBIBIBM5Q;BIBBBBBB\4>A:_=bDZD?AD xD D )D E ˀ: E 6E FA4:E "E ;!= E ;!= *E !E E !M Q A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957k,T%*Ay:xo@ٱ:l@:o`:<:H?A?@7`A߿?}?\ ??@?I:xo@):p;i:CBrB9B!I)D DeMb@Mb@Mb@ a)aIaiaae)\(?J +~jtaeȽeDIe@ie@ef@a)ae@Iq)u@ABD}6D}4Yj$=!>=z;Q)>99DYCύA>Q 1~4٪$?Q 5~4 b`B9?Q A:Y6Q E?yC)o:I:i ~4Y@gDNOT Ignoring new targets: 43.83 m.ggºgº ProNav: ac range: 43.829559 m, nav range: 41.783581 m, bearing: 312.437656 deg, approach rate: -0.518889 m/s, LOS rate: -0.085167 deg/s, cmd heading: 324.973434 deg, new cmd heading: 324.901745 deg. g HeadingCmd: 5.670605 target range: 43.829559 and range: 44.10 m.g u@g g g g zf rfffBBdddcc@ɢMBM@ZV IM?II U;ڶɡQiI10N;I iC=i}=)u@)Qi/4ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933>Az=ԩ A I I N >D uD D *D E v: E 6E (N4:E ! @! @! @! @ k,#0.%*Ay6c@ٱ6`@6U6aM<6H?`x9x9~DY~C~xA~>Q 1 ~4٪k1?Q 5 ~4F f`B9Yb6Q E?yۇC)4:Io:is~4YђB@!gAMDNOT Ignoring new targets: 43.83 m.gIgM{gM{e ProNav: ac range: 43.829559 m, nav range: 41.587463 m, bearing: 312.405712 deg, approach rate: -0.511472 m/s, LOS rate: -0.083703 deg/s, cmd heading: 324.901744 deg, new cmd heading: 324.837554 deg. ge/mHeadingCmd: 5.669485 target range: 43.829559 and range: 44.10 m.gmll@gigigigizfirfifqfqBdqdydycyc} @ɢBҹ 顭p?I 봽ɡiIC;Ixiҥ=i>!=)ll@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519351i50115/1Ա>A:_=! i% tCI G) lAI A i >I R= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185 i eĿ lA AI! I1 N= >vBA ~BA BE !IBE BBA BA BA BE 'Q;BE Ek, H%*Ay6X@ٱ6rU@6/J6̕<6HI?}?߿?*8v?ZC?,??I6X@)6ˁ;i4NB9R!IBDV6DV4Y^ =!bM=b;Q)b>d9d9fDYfCf*fAf>hlQ 1r~4٪js>?Q 5r~4j jk`B9pYr6Q Ev?yjC)j);Ij*;ijZ~4YxzB@xg%DNOT Ignoring new targets: 43.83 m.g!g-g- ProNav: ac range: 43.829559 m, nav range: 41.384239 m, bearing: 312.372688 deg, approach rate: -0.509943 m/s, LOS rate: -0.083273 deg/s, cmd heading: 324.837568 deg, new cmd heading: 324.771195 deg. g fEHeadingCmd: 5.668327 target range: 43.829559 and range: 44.10 m.gMb@gIgIgqgqzfyrffBEU€'4JEU(4REU_0DD^D(DE E;96Ec44:E"E";! E#;! *E;!E;!f!BdIdqdycc @ ɢE B0 顭ڠ?I }fɡiI9;I]gil=i%=)%b@)A}BDAT read: Rx Time:16:11:29.7624 }TRx dataTimestamp_ set to:1755879089.304813checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026232iR49i >A <= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274897A I! I9 NE >k,/c%*Ai$y:6L@ٱ:I@:*>:<:HN??Z߿}?Bp?`0֧?Ֆ??I:6L@):i-;i:CBB9F!IiJ=IJp=Mb@Mb@Mb@ )IiK7A?~jty&1| ?Ľ`I@i@9@n@)@!i%R=BD-6D-4Y==!=5==;Q)=>A99DY6CJA>Q 1=~4٪ N?Q 5e~4 r`B9\?Q A:Y5Q E?yC)k4:@6&>!@ 6&iI ?)z?UmV?{Q?N ;)6&iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. >A d= A yAI I N >I k,36%*AyBA@ٱB ?@B{3BԺT??IBA@)BR;iBCNB9N!IBDV6DVd4Y^ <!^9=b;Q)b>b H?9b H?9fDYfbCfmFAf>hQ 1n~4٪j[?Q 5n~4j jw`B9pYrA6Q Er?yj0C)jp:Ij:ij~4YvْBv@vEhh"s%*Ah)(Bh)(Bh@hH̥C@dZ'Nl-@h+;:X??6S<&ҿo?h;h6&iV9\< <@Lw7>CF @h{W?$Ұbh"?hhQAh˖?hVXh#B*i#ʁ?2i:ii`$B"i@=(DAT read: user:94> =BDAT read: Tx time:16:11:31.1018 E$Ping request sent.EA%z=ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251149AQ Ia Iq N} >Ա o&k,i%*AB9 !IMb@Mb@Mb@ )IiT㥛 ?MbX 9 9 DY CA>Q 1%~4٪ej?Q 5%~4 |`B9%?Q A%:Y%8Q E-?yMC)/:I,:i~4Y15@1gY]DNOT Ignoring new targets: 42.04 m.gYgegeu ProNav: ac range: 42.040897 m, nav range: 40.867405 m, bearing: 312.517881 deg, approach rate: -0.519924 m/s, LOS rate: -0.080298 deg/s, cmd heading: 324.628509 deg, new cmd heading: 324.558434 deg. gu}HeadingCmd: 5.664613 target range: 42.040897 and range: 42.30 m.g}D@gygygygzfrfffBBdddcԑc@U?ɢ=BEp AE۠?IA E׫ɡAiAIMLi;IZicO=i=)D@) {>>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904i@=@=DU tDU aDU $DQ EU s: EU 96EU 4:EQ !e @!e @!e @!e @>A :_=bA jAZA jA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754842A A I! I9 NE >T,k,t%*AyR,@ٱR(*@RRQvK?9zK?9zDYzCzAz>|Q 14٪~Ev?Q 54~ ~`B9 Y 8Q E ?y~eC)~T&;I~P';i~4YܒB @gAEDNOT Ignoring new targets: 42.04 m.gAgMgM] ProNav: ac range: 42.040897 m, nav range: 40.680798 m, bearing: 312.489594 deg, approach rate: -0.510025 m/s, LOS rate: -0.077666 deg/s, cmd heading: 324.558432 deg, new cmd heading: 324.501599 deg. g]#eHeadingCmd: 5.663621 target range: 42.040897 and range: 42.30 m.gec<@gagagagazfarfififiBdqdqdqcqc}J?ɢBGP< 顥?I ɡiI ;Iip=i=)c<@) iE0AAE0A)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006739>AvBi~BiBm"IBmBBiBiBiBmQ;BmEY Aq I I N >ju3k,ά%*ArDjD4=D"rD"\D"(D E"k: E"96E"c44:E "E";!6E";!:*E"^ ;!>E"_ ;!BHy%#@ٱ%!@%O%<%H? ? $ "?f(W?춘?Z?I%#@)%ۑ;i%C=B9=!IMb@Mb@Mb@ )Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258866iV-?MbX~jtx|>ĻI@i)@BD6D&4YgC<!-=;Q)>99DYC4A>Q 14٪兗?Q 54B `B9>?Q A:Y9Q E?yC):I:i4ԡY@g  DNOT Ignoring new targets: 42.04 m.g ghghE ProNav: ac range: 42.040897 m, nav range: 40.434498 m, bearing: 312.452975 deg, approach rate: -0.498007 m/s, LOS rate: -0.074492 deg/s, cmd heading: 324.501604 deg, new cmd heading: 324.427922 deg. gESMHeadingCmd: 5.662335 target range: 42.040897 and range: 42.30 m.gM1@gIgIgQgQzfQrfQfYf]BBdYdYdcc?ɢ$B1 ?I `ɡiI~>;I]i]=ie=)e1@)a)ii /@%iA@%hA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510768>A5 V1=) A I I N >{L:k,32%*AB9"IBD%6D%4Y5t=!5Q=5Q)=>9999=DY= CEAE>IQ 1U4٪M瑗?Q 5U4M M`B9QYQQ EU?yMC)M;IM;iM#4YeߒBeM@eE}B*** querying acoustic contact ***zhyhygDNOT Ignoring new targets: 42.04 m.ggg ProNav: ac range: 42.040897 m, nav range: 40.245270 m, bearing: 312.424535 deg, approach rate: -0.516744 m/s, LOS rate: -0.078029 deg/s, cmd heading: 324.427920 deg, new cmd heading: 324.370773 deg. gHeadingCmd: 5.661338 target range: 42.040897 and range: 42.30 m.g)@ggggzfrfffBdddcc?DzD}D'DEl: Ek&:6E'4:E!@!@!@!@ɢ)Bl<  ?ԩI  sɡiI:Ic1i=i=))@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763519i//>A7= A I I) N= >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146549 /Ak,<%*Aiy6 @ٱ6e @66W<6HR?_5?9`?@Qt@y? kg?@?I6 @)6I;i6CBǃB9B"IDiF4=BDJ6DJZ4YR^=!VT=VXT9X9ZDYZ3CZAZ>vB`~B`Bb"IBbǃBBb =B`BbZDBbP;BbqElQ 1r4٪nX?Q 5v4n  n`B9tYv@:Q Ev?ynC)n:In:in14Yxz@|gyDNOT Ignoring new targets: 42.04 m.ggbgb ProNav: ac range: 42.040897 m, nav range: 40.048599 m, bearing: 312.395508 deg, approach rate: -0.490388 m/s, LOS rate: -0.072733 deg/s, cmd heading: 324.370765 deg, new cmd heading: 324.312426 deg. gHeadingCmd: 5.660320 target range: 42.040897 and range: 42.30 m.gW!@ggggzfrfffBdddcc@ɢ=.B=pC.< AE}?IA EUɡAiAIE:IM tiMn=iM!,=)UW!@)ai 0DyD_DDE: Er96E:E"E;!5E;!=*EJ;!MEJ;!M9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266780>A=i A I I! N9 cGk,%*Ay:@ٱ:5@:V漹:$<:H-?`}??ఔCƎ?@Ax֜?A?s?I:@):&;i:CB΃B9B"IMb@Mb@Mb@ )IiZd;?RQy&1|>½`Ii@@@)G@BD-6D-Ɍ4Y=<!=@==;Q)=>A9A9EDYE^CMXRAM>QQ 1U4٪U߫?Q 5]4U  U`B9]?Q A]:Y]8Q E]?yU҈C)U:IU,:iUG@4Yim@ig DNOT Ignoring new targets: 42.04 m.gggU ProNav: ac range: 42.040897 m, nav range: 39.836075 m, bearing: 312.361948 deg, approach rate: -0.499941 m/s, LOS rate: -0.079369 deg/s, cmd heading: 324.312436 deg, new cmd heading: 324.244956 deg. gUA]HeadingCmd: 5.659142 target range: 42.040897 and range: 42.30 m.g}@gygggzfrfffɁBBdddcc`*@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518792ɢ3B#< ?I  ɡiI /:I Mil =ihn=)@)ii<0@=@=ԁDDcD&DE: EL96E4:E!@!@!@!@>A :_=bA hAZA hAԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771584AA IQ Ia Nm >Mk,`8%*Ay6@ٱ6@6[Ҽ6[<6H s?H? f L@S?w~J? h??I6@)6ށ;i6CPRރB9R2"IBDZ6DZn4Yb=!bS=f;Q)f>d9d9fDYfCjSAj>lQ 1r4٪n??Q 5r4n( n`B9pYr9Q Ev?ynC)nf;In:inM4YzBzC@zEg%DNOT Ignoring new targets: 42.04 m.g!g%g%5 ProNav: ac range: 42.040897 m, nav range: 39.641403 m, bearing: 312.331242 deg, approach rate: -0.526002 m/s, LOS rate: -0.083374 deg/s, cmd heading: 324.244953 deg, new cmd heading: 324.183240 deg. g5=HeadingCmd: 5.658065 target range: 42.040897 and range: 42.30 m.g=@gAgAgAgAzfArfAfIfIBdIdQdQcc @ɢm8Bm< 顕?I ɡiI:I i)9 =iB=)@)iM0IIM4IBDAT read: Rx Time:16:11:33.5598  TRx dataTimestamp_ set to:1755879093.082734 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023853vB~BB""IBуBBBBB|P;BPEBBBBBBƚ4>A! A yAI D uD aD 'D E v: E 96E '4:E "E ";!M E #;!M *E ;!U E ;!] Iq N >oTk,ȘR%*Ayn|@ٱn@nn;) A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274858Mb@Mb@Mb@ )IiMb?bX9ȶ~jtx?EĻI@i@@@)@I)BD6D4Y!;=;Q)> H?9 H?9DYCs^A>Q 14٪Ɨ?Q 54  `B9 ?Q A:Y95Q E?yC)8:I:i ]4YB"@EgDNOT Ignoring new targets: 42.04 m.gg˺g˺  ProNav: ac range: 42.040897 m, nav range: 39.416122 m, bearing: 312.290400 deg, approach rate: -0.488552 m/s, LOS rate: -0.089077 deg/s, cmd heading: 324.183236 deg, new cmd heading: 324.101085 deg. g #HeadingCmd: 5.656631 target range: 42.040897 and range: 42.30 m.g@ggggzfrfffׁBBd!d!d!c!cE @ɢ=B%< 顕q?I ɡiI:Ie ib =iN=)@))i)115O01i5 DAT read: 16:11:33.5598 LVL= 27888, 28657, 20978, 31187, AGC= 55, IDX= 420, 0.18,-2.749, 2.110,-2.008,-2.647, PHS=-0.000,-1.482, 0.594, RAW= 166.1, 9.6, CAL= 166.0, 10.5, ROT= 344.0, -10.5 = Ygot valid direction response: 16:11:33.5598 LVL= 27888, 28657, 20978, 31187, AGC= 55, IDX= 420, 0.18,-2.749, 2.110,-2.008,-2.647, PHS=-0.000,-1.482, 0.594, RAW= 166.1, 9.6, CAL= 166.0, 10.5, ROT= 344.0, -10.5 E PDAT read: Bearing 143.7, -14.2 (Local) E ~Local bearing/azimuth received: Bearing 143.7, -14.2 (Local) U DAT read: Range 11 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.4 m/s U R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.945165,-0.271022,0.182236]] Fpublishing direction and range info9  n+>?d4XlXѿm~S? !B i l o Q y 7  ) -I b?i 9@ +> }l9@ f;> 7 @  f;i  I HZ?սo?de? N? +  :) f;i  } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.y >A] =A I ԩ I N >J[k,\o%*AD*xD*eD(D(E*ˀ: E*96E(:E(!2@!2@!2@!2@yVٰ@ٱVַ@VV)19195DY5ܵC=>A=>AQ 1m4٪E՗?Q 5m4E E`B9iYm5Q Em?yE%C)E;IEO;iEl4Y}B}@}Ehhe%*Ah Bh Bh@hDfiB@%FcD@hn+>?d4XlXѿm~S?h:hf;icit:@hz<,l@hAPY? !HQ0b ?hhKAh]?hEhB*iB?2iVX:iBiB"igw@ addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 3.778798 s, deltaX: -1.899998 m, approachRate: -0.502805 m/s, rangeRepo size: 4  Added new target pos. range: 40.152607 m, bearing: 312.865263 deg, lat: 36.779436 deg, lon: -121.859652 deg, deltaT: 3.778798 s, deltaX: -1.888290 m, approachRate: -0.499707 m/s, posRepo size: 4 gDNOT Ignoring new targets: 40.15 m.gg%g!5 ProNav: ac range: 40.152607 m, nav range: 39.199947 m, bearing: 312.380922 deg, approach rate: 0.000000 m/s, LOS rate: -0.089077 deg/s, cmd heading: 324.101082 deg, new cmd heading: 324.026494 deg. g1=HeadingCmd: 5.655329 target range: 40.152607 and range: 40.40 m.g=u@g9g9g9gazfarfafifiBdididicu@33D@cu` ?ɢCBj< j?I MɡiIݪ:I, iÊ =i=)u@)(DAT read: user:95>  BDAT read: Tx time:16:11:34.8518  $Ping request sent. AK=rA?jA?I) )M kAIa q i 1 kA A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250801A I I! N5 >vBU =>~BQ BU 5"IBU BBU =BQ BQ BU KP;BU 8Ea)bk, %*A0y:̰@ٱ:uɷ@:Θ:p <:H`q? n?@ qr?`X@??^?I:̰@):O;i:C`9b8"IBDn6Dnx4YvPT!zK=z{;Q)z>99DYC~~A>Q 14٪㗊?Q 54 `B9Y,6Q E?yAC)P;I;iz4Y@!]B*** querying acoustic contact ***zhYhYgimDNOT Ignoring new targets: 40.15 m.giguMӺgMӺ ProNav: ac range: 40.152607 m, nav range: 38.981796 m, bearing: 312.342423 deg, approach rate: -0.520487 m/s, LOS rate: -0.092367 deg/s, cmd heading: 324.026496 deg, new cmd heading: 323.949069 deg. g  )=HeadingCmd: 5.653978 target range: 40.152607 and range: 40.40 m.gEc@gABEJEã#4RE5/DqD`D%ԱDE2h: E96E 4:E"E;!E;!*E;!E;!gIg g zfrffifiBdqdydcc ?ɢIB< 顭?I ɡiI:I!i =i]=)c@)! %A%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503127))i0 1 >A 2=1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803AMAIQIaNu>=bik,[%*Ay6D°@ٱ6@6q6<6H l? v?v zm?Z牿?e?I6D°@)6;i6C^݃B9b0"I`i`if=If=mMb@Mb@Mb@ i)iIiiiimX9v?kty&1|m>m m`Iiim@m@m@)im@yi}a=BD6D4Yݼ!%=;Q)>K?9K?9DY6C(A>Q 14٪?Q 54 `B9?Q A:YY6Q E?y_C){:I:i&4YB+@EgDNOT Ignoring new targets: 40.15 m.ggкgк ProNav: ac range: 40.152607 m, nav range: 38.748978 m, bearing: 312.301093 deg, approach rate: -0.509200 m/s, LOS rate: -0.090936 deg/s, cmd heading: 323.949069 deg, new cmd heading: 323.865913 deg. gl&HeadingCmd: 5.652526 target range: 40.152607 and range: 40.40 m.g@ggggzfrfffÁBBdddcc`d?ɢMB*< Σ?I aɡiI:Ir!i% =i-=)-@))DmtDmfDm*DiEms: Em96Em(N4:Ei!@!@!@!@i4@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007016IIa Iy N >q Epk,#%*A%B9%>"IBD56D54YEe=!EP=MQ)M>I9Q9UDYU^CUAU>YQ 1e4٪]?Q 5e4]" Y9iYiQ Em?y]xC)]:I]:i]4Yquv@ygDNOT Ignoring new targets: 40.15 m.ggWκgWκ ProNav: ac range: 40.152607 m, nav range: 38.552563 m, bearing: 312.265835 deg, approach rate: -0.499935 m/s, LOS rate: -0.090199 deg/s, cmd heading: 323.865905 deg, new cmd heading: 323.795030 deg. g%HeadingCmd: 5.651289 target range: 40.152607 and range: 40.40 m.g]״@ggggzfrfffBdddcc`C?Qiu>Iq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259366ɢRB< ?I ɡiI@$:I!i. =vB>>~BBA"IBBB =BBBP;BEi=) ]״@)i. 4bAiAZAjAԁIINa>rDqjDu<D}wD}ZD}%DyE}}: E}a96E} 4:Ey"E}g;!E}h;!*E};!E};!- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511349 ovk,"ڭ%*AyV4@ٱV@V4GVRĻIn@i@@)Q@BD6D4Y0=!A=}'99DYCA>Q 14٪N ?Q 54% `B9?Q A:Y6Q E?yC) ;I ;i4Y  @ g)=DNOT Ignoring new targets: 40.15 m.g9g=ͺgEͺM ProNav: ac range: 40.152607 m, nav range: 38.340076 m, bearing: 312.228000 deg, approach rate: -0.502595 m/s, LOS rate: -0.089988 deg/s, cmd heading: 323.795035 deg, new cmd heading: 323.718945 deg. gU$]HeadingCmd: 5.649961 target range: 40.152607 and range: 40.40 m.g]|̴@gYgYgYgYzfYrfafafeBBdadidicicm ?Աɢ5WB5< 9=?I9 =]ɡ9i9I=qd:IE"iE) =iMD:=)M|̴@)Ii/IIN<>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768198 D qD `D &D E 2h: E 96E 4:E ! @! @! @! @9 |k,%*AɰyBP@ٱB@BB99DYC%O{A%>)Q 1-4٪-~?Q 554-) -`B91Y5K7Q E5?y-C)-:I-+;i-4YEBE@AgamDNOT Ignoring new targets: 40.15 m.giguͺguͺ ProNav: ac range: 40.152607 m, nav range: 38.149727 m, bearing: 312.194169 deg, approach rate: -0.502993 m/s, LOS rate: -0.089844 deg/s, cmd heading: 323.718947 deg, new cmd heading: 323.650947 deg. gl$HeadingCmd: 5.648775 target range: 40.152607 and range: 40.40 m.g´@ggggzfrfffBdddcc@ W@ɢ\B< ?I 9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270841A<A<vB=>~BBN"IBBBBBBO;BEi k,%*A0y:@ٱ:d@:A:y]<:H`%Q?? 58B"P? j(~?J?v?I:@):;i8bB9fZ"IBD 6D 4Y'<!5J=5};Q)5>bDAZDE@AD]uD]sD]'DYE]v: E]Z:6E]'4:EY"E]";!E]#;!*E]];!E]];!99DYٶCA>Q 14٪4&?Q 54, `B9Y7Q E ?yȉC)S;Ic;i4Y)-5@qEB*** querying acoustic contact ***zhAhAgquDNOT Ignoring new targets: 40.15 m.gyg}׸g}׸ԉ ProNav: ac range: 40.152607 m, nav range: 37.935135 m, bearing: 312.156316 deg, approach rate: -0.455485 m/s, LOS rate: -0.080800 deg/s, cmd heading: 323.650945 deg, new cmd heading: 323.574811 deg. gHeadingCmd: 5.647446 target range: 40.152607 and range: 40.40 m.g෴@ggggzfrfffBdddcc,@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522955ɢ5aB5(n< 9=n?I9 =Fɡ9i9I= 3:Ieҿ"imw =im=)m෴@)iyyi/Թ5PExceeded connect timeout, disconnecting. >A =rA ?jA ?Ii Iy N >i߽ >I߽ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775134k,\(%*Ay>W|@ٱ>y@>>M<>H I?`?@۶RH?SuTu?@鼗??I>W|@)>*~;i>C^B9^l"I`EMb@Mb@Mb@ A)AIAiAAEZd;?sh|?MbpE>EEIAiE@AE@)AE@BD]6D]E4Ymˊ=!mE=m׷;Q)u>q9q9uDYuC{A>Q 14٪G3?Q 54\0 `B9@?Q A:Y6Q E?yC)7;I;i4Y B @ Eg15DNOT Ignoring new targets: 40.15 m.g1g=g=M ProNav: ac range: 40.152607 m, nav range: 37.731228 m, bearing: 312.118810 deg, approach rate: -0.562622 m/s, LOS rate: -0.104046 deg/s, cmd heading: 323.574802 deg, new cmd heading: 323.499385 deg. gMj>UHeadingCmd: 5.646130 target range: 40.152607 and range: 40.40 m.gU@gQgQgQgYzfYrfYfYfeBBdadadacacm @ɢfB/= 顝?I ؊ɡiI%:I#i =i=)@)DUDUtDQDQEU: EUv:6EQ:EQ!]@!]@!]@!]@iaaae/aBDAT read: Rx Time:16:11:37.3073 %TRx dataTimestamp_ set to:1755879096.866693%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027889)>A+W=A A% yAI9 II Ne >6k,siB%*AyZe@ٱZb@ZZ LZpz H?9z H?9zDYz*C~A~>Q 1 4٪@??Q 5 43Q 9 tI `B9 Y 7Q E?yC):IE:i4Y!%@!gAMDNOT Ignoring new targets: 40.15 m.gIgMкgUкe ProNav: ac range: 40.152607 m, nav range: 37.543999 m, bearing: 312.084818 deg, approach rate: -0.500432 m/s, LOS rate: -0.091308 deg/s, cmd heading: 323.499397 deg, new cmd heading: 323.431074 deg. ge'mHeadingCmd: 5.644937 target range: 40.152607 and range: 40.40 m.gmS@gigigigizfirfqfqfqBdqdydycyc}y @ɢjB4< 顭b?I ԈɡiI(:I>~BBT"IBBB =BBBO;BEi111501Q>ArDU%=jDU<DerDe^De%DaEek: Ee;96Ee 4:Eaq"Ee;!}Ee;!*Ee;!Ee;!Am AI I N >U DAT read: 16:11:37.3073 LVL= 23872, 28113, 21890, 32755, AGC= 54, IDX= 410, 0.40,-1.364,-2.795,-0.641,-1.237, PHS=-0.024,-1.513, 0.552, RAW= 165.7, 10.7, CAL= 165.7, 12.0, ROT= 344.3, -12.0 ] Ygot valid direction response: 16:11:37.3073 LVL= 23872, 28113, 21890, 32755, AGC= 54, IDX= 410, 0.40,-1.364,-2.795,-0.641,-1.237, PHS=-0.024,-1.513, 0.552, RAW= 165.7, 10.7, CAL= 165.7, 12.0, ROT= 344.3, -12.0 m PDAT read: Bearing 144.5, -14.9 (Local) m ~Local bearing/azimuth received: Bearing 144.5, -14.9 (Local) u DAT read: Range 11 to 50 : 38.4 m (Round-trip 51.3 ms) speed 0.4 m/s } R#Rx 1: Read range and direction messages. ^direction in FSK: [0.941655,-0.264687,0.207912] Fpublishing direction and range info9) - "?c{qпhٜ?- B) i- @]- m- U- - 6 - ļ)- I- O ?i- 9@- t;?>- 9@- PwV>- K@ - PwVi) ) I- 93?2ÉD[? ?- L?- j> - K)- PwVi) )  T****** received valid address query ****** R****** received valid ping request ******ԡ  Querying Benthos address 50 with one ping in standard two-way mode.k,M\%*Ay5Z@ٱ5X@5]:5<5H 8??@y`5?ѕ WX??I5Z@)5R[|;i5Cm B9mg"IqnManaging dock network, ignoring radio surface power offMb@Mb@Mb@ )IiZd;O?MbMbpj>I@i@@@)BD6DO4Y!.=G;Q)>K?9K?9DYYC-;5A->1Q 1M4٪5N?Q 5M457 5`B9U|?Q AU:YU=Q EU?y5C)5u;I5";i54YY]7@ahQhUW%*AhUBhUBhU0l@hU?>8A@꒙'4${f@hU"?c{qпhٜ?hUKhUPwViUuV*9@;hlš@hUO ?NL0Ny?hU?hUVAhU!薠?hUKhUPB*iU˖?2iUK:iQiUB"iUk@ addTargetRange:: Added new target pos. range: 38.400002 m, deltaT: 3.784004 s, deltaX: -2.000000 m, approachRate: -0.528541 m/s, rangeRepo size: 4  Added new target pos. range: 38.165054 m, bearing: 312.302485 deg, lat: 36.779437 deg, lon: -121.859652 deg, deltaT: 3.784004 s, deltaX: -1.987553 m, approachRate: -0.525251 m/s, posRepo size: 4 gDNOT Ignoring new targets: 38.17 m.gg%g)5 ProNav: ac range: 38.165054 m, nav range: 37.392365 m, bearing: 312.301131 deg, approach rate: 0.000000 m/s, LOS rate: -0.091308 deg/s, cmd heading: 323.431068 deg, new cmd heading: 323.342313 deg. g9=HeadingCmd: 5.643388 target range: 38.165054 and range: 38.40 m.g=@gAgAgAgIzfIrfIfIfUBBdQdQdQcU@33C@c]k?ԡɢqBz< M?I ?"ɡiI9I#i =i_=)@)!(DAT read: user:96> BDAT read: Tx time:16:11:38.6518 $Ping request sent.A $ӿ=bA ZA A) I1 II U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254900Ne >^ok,Yx%*AyF6K@ٱFH@FbZ;Fn1919=DY=CEIAE>QQ 1e4٪UY?Q 5m4U<; U`B9iYug>Q Eu?yU1C)U;IUn;iU4Y}B@G Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLGEntering USBL mode with 120.000000 count pings at 38.400002 m (mode 2.000000 count ).G1HgDNOT Ignoring new targets: 38.17 m.ggg ProNav: ac range: 38.165054 m, nav range: 37.204109 m, bearing: 312.275336 deg, approach rate: -0.498374 m/s, LOS rate: -0.068634 deg/s, cmd heading: 323.342303 deg, new cmd heading: 323.290451 deg. g7-HeadingCmd: 5.642483 target range: 38.165054 and range: 38.40 m.g-8@g)g)g1g1zf1rf1f1f9Bd9ddcc@a4?ɢ uB p<  ̤?I  rɡiI9I$io =iH=)8@)!i.0!vB~BBZ"IBBB =BBBO;BEBIBIiߥ=Iߥ4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507116BIBM =BM =BMO 5>A Q AE yAIQ Iq N >Lk,1%*ADvD[D(DEVz: E96Ec44:E"EE;!&EF;!&*E;!*E;!*Ay ;@ٱi8@顬;<HB'?@3?T}e#%? -!6uA??I ;@){;iCB9d"I<R=) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759009]Mb@Mb@Mb@ Y)YIYiYY]x&1?EԸy&1|]?]ƽ]`I]@i]@]n@]@)YYIi)iBDu6Du4Y_!*=Q;Q)>  H?9  H?9 DY CA>Q 14٪i?Q 5%4? }`B9%?Q A%:YM#?Q EM?yQC)`;I=;i 4Yae@iji^@1HqHB*** querying acoustic contact ***zhhxgEDNOT Ignoring new targets: 38.17 m.gAgeqgequ ProNav: ac range: 38.165054 m, nav range: 36.951607 m, bearing: 312.241452 deg, approach rate: -0.499695 m/s, LOS rate: -0.067512 deg/s, cmd heading: 323.290448 deg, new cmd heading: 323.222218 deg. gu}HeadingCmd: 5.641292 target range: 38.165054 and range: 38.40 m.g}w@ggggzfrfffBBdddccྀ?ɢ{BP< ?I ɡ i I V9IS$i{5 =iZ=)w@)ԑi// checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010681 >A5 A=rA= ?jA= ? AiIqIN>3k,򔰮%*Ay6*@ٱ6;(@6;6<6H@?`??v@V?`I`z~ϖ??I6*@)6?vz;i4BB9Bq"IBDJ6DJ4YR Y=!RU=R;Q)V>T9T9VDYVַCZ?AZ>\Q 1b4٪^.u?Q 5b4^&C ^x`B9`Yb?Q Ef?y^jC)^:I^:i^s 4Yj+Bj@jEritqHvHvD~uD~VD~)D|E~v: E~96E~FA4:E|!@!@!@!@gDNOT Ignoring new targets: 38.17 m.ggОgО ProNav: ac range: 38.165054 m, nav range: 36.763149 m, bearing: 312.216445 deg, approach rate: -0.520510 m/s, LOS rate: -0.069422 deg/s, cmd heading: 323.222228 deg, new cmd heading: 323.171958 deg. gHeadingCmd: 5.640415 target range: 38.165054 and range: 38.40 m.gG~@ggggzfrfffBdddcc`7?ɢuBuK= qu?Iy }Z?ɡyiyI}19I$iU =ԉiȴ=)G~@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263448iaaae^0a@m=@m%=Ա1i=~C>A}=1 Ia )} SkAI i SkA AA AI I) N= >vBq ~Bu CBu `"IBu BBu =Bq Bq Bu O;Bu E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514891) xk,^ʮ%*A B9j"IBD-6D-4Y=)ڼ!=B==Q)=>EK?9EK?9EDYECEAM>IQ 1U4٪M?Q 5]4M G Mr`B9YYYQ E]?yMC)M';IMw;iM4Yae@iziHCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLG Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLgDNOT Ignoring new targets: 38.17 m.gg楺g楺 ProNav: ac range: 38.165054 m, nav range: 36.546703 m, bearing: 312.187405 deg, approach rate: -0.537337 m/s, LOS rate: -0.072520 deg/s, cmd heading: 323.171958 deg, new cmd heading: 323.113534 deg. gHeadingCmd: 5.639395 target range: 38.165054 and range: 38.40 m.gu@ggggzfrfffBdddcc?ɢB:j< ?I ={ɡiIQ;9Im$i.w =i bξ=) u@) i04BEJE7&4REí<0DrD]D#DEk: E96E3:E"E;!-E;!5*E ;!5E ;!5Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769277>A:=i A yAI I N- >k,3%*A y> @ٱ>9 @>5<><>H@ ? ?e' l ?@z3?@j?I> @)>w;i>CFB9Jq"IHiHiN=IN=Mb@Mb@Mb@ )Ii`"?&1MbP>нIi@@)-a=i)BD56D5E4YE<!EJ=EM H?9M H?9MDYM*CU+AU>QQ 1e4٪U?Q 5e4UJ Uo`B9e@>Q Ae:Ye\EQ Em?yUC)U#:IU:iU4Yqu@qgDNOT Ignoring new targets: 38.17 m.ggcgc ProNav: ac range: 38.165054 m, nav range: 36.346870 m, bearing: 312.167361 deg, approach rate: -0.493856 m/s, LOS rate: -0.049808 deg/s, cmd heading: 323.113546 deg, new cmd heading: 323.073237 deg. gOHeadingCmd: 5.638692 target range: 38.165054 and range: 38.40 m.g*p@ggggzfrfffBBdddcc t @]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018679ɢB< 顭?I }vɡiIc9I$ix =ijf=)*p@)qim/iiiiԙDoD`D'DE`: E96E'4:E!-@!-@!-@!-@>A =  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271420I I N >˾k,$%*Ay6@ٱ6!@6ޯR<6#<6H?$?iU" #? U@A?5?I6@)64v;i6CBB9Bl"IBDJ6DJ4LYV!VU=V;Q)V>X9X9ZDYZPCZA^>`Q 1b4٪b,?Q 5f4b3N bk`B9dYfEQ Ef?ybC)b6:IbN:ib"4Yj0Bn)@nEgDNOT Ignoring new targets: 38.17 m.gg _g _ ProNav: ac range: 38.165054 m, nav range: 36.157021 m, bearing: 312.148670 deg, approach rate: -0.493597 m/s, LOS rate: -0.048850 deg/s, cmd heading: 323.073248 deg, new cmd heading: 323.035670 deg. g̲%HeadingCmd: 5.638036 target range: 38.165054 and range: 38.40 m.g%j@g!g!g!g)zf)rf)f)f)Bd1d1d1c1c=@ɢeBeG= ae"?Ii msɡiiiIm8Iu(%iu =iu==)uj@)i 1@@AAvB ?>~B B Z"IB BB B B B O;B Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522798>A2=I I N >! D5 sD5 lD5 &D1 E5 so: E5 :6E5 4:E1 "E5 ݑ;!= E5 ߑ;!= *E5 C;!= E5 C;!E *k,%*Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775981xy@ٱj@m</<H?4?8,?Y3x?@K??I@)dt;iCB9m"IMb@Mb@Mb@ )Ii+?|?5^~jtxv>ҽĻIn@i @A@ @)@BD6Dˣ4Y5h;!53=5n;Q)=>9999=DY=~CE6AE>IQ 14٪M?Q 54MoR Md`B9?Q A:YEQ E?yMՊC)MA Ii y I N >k,.1%*Ay6ԯ@ٱ6Ѷ@6<6<6H?eF?#^?@tDs?@~`M;??I6ԯ@)6w[s;i4BB9@B>Bp=)D FAIH)JAABDJ6DJd4YRK !Vh=V0;Q)V>T9X9ZDYZCZAZ>\Q 1b4٪^岘?Q 5b4^U ^^`B9dYf0FQ Ef?y^C)^:I^:i^04Yj8Bj@jEDpDrcDr'DpEp ErL96Er'4:Ep!v@!z@!z@!z@gDNOT Ignoring new targets: 38.17 m.ggwgw- ProNav: ac range: 38.165054 m, nav range: 35.748070 m, bearing: 312.107717 deg, approach rate: -0.547154 m/s, LOS rate: -0.054175 deg/s, cmd heading: 322.988663 deg, new cmd heading: 322.953303 deg. g-Jƺ5HeadingCmd: 5.636599 target range: 38.165054 and range: 38.40 m.g5_@g1g9Yg9gzfrfffBdddcc @ɢB?= 15?I9 =njɡ9i9I=xöIE%iE =iE@.=)E_@)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279524iiiim/qԉԱ>A(׵=I I! N5 > vB >>~B CB T"IB BB =B B B %P;B &E DAT read: 16:11:41.1048 LVL= 26224, 32753, 24354, 32755, AGC= 55, IDX= 417,-0.33, 0.544,-0.918, 1.274, 0.703, PHS=-0.056,-1.576, 0.527, RAW= 165.6, 11.7, CAL= 165.8, 13.5, ROT= 344.2, -13.5  Ygot valid direction response: 16:11:41.1048 LVL= 26224, 32753, 24354, 32755, AGC= 55, IDX= 417,-0.33, 0.544,-0.918, 1.274, 0.703, PHS=-0.056,-1.576, 0.527, RAW= 165.6, 11.7, CAL= 165.8, 13.5, ROT= 344.2, -13.5  PDAT read: Bearing 145.2, -15.6 (Local)  ~Local bearing/azimuth received: Bearing 145.2, -15.6 (Local)  DAT read: Range 11 to 50 : 36.6 m (Round-trip 48.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.935632,-0.264757,0.233445] Fpublishing direction and range info9 ̅;? yfп%E? fB i pf  "_ 7 B`e) ^ɿI y?i 8@ Q> L39@ :Fq> <@ :Fqi I @l?H `?-5 ? _K? Q 0) :Fqi  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode.)k,K%*Ayz¯@ٱz@zXِ=mp;Q)u>q9q9uDYu̸CA>Q 14٪?Q 54Y V`B9YFQ E?yC):I:iM84ԹY@hhI%*AhBhBh]έ@h'\emA@B# @h̅;? yfп%E?h0h:Fqi, ^k7@?wC:*8@h:?A߈翦YM?hhZAhu?hہshjB*i2iVX:iBi@B"iBF@ addTargetRange:: Added new target pos. range: 36.599998 m, deltaT: 3.783980 s, deltaX: -1.800003 m, approachRate: -0.475690 m/s, rangeRepo size: 4  Added new target pos. range: 36.376045 m, bearing: 311.198640 deg, lat: 36.779437 deg, lon: -121.859652 deg, deltaT: 3.783980 s, deltaX: -1.789009 m, approachRate: -0.472785 m/s, posRepo size: 4 gDNOT Ignoring new targets: 36.38 m.gg-gI] ProNav: ac range: 36.376045 m, nav range: 35.562599 m, bearing: 312.037183 deg, approach rate: 0.000000 m/s, LOS rate: -0.054175 deg/s, cmd heading: 322.953310 deg, new cmd heading: 322.903485 deg. gYeHeadingCmd: 5.635729 target range: 36.376045 and range: 36.60 m.geW@gagigigizfirfifqfqBdqdqdyc}LB@c} ?DqD`D%DE2h: E96E 4:E"E;!E;!*E;!E;!ɢB-&< )-4?I) -5fɡ1i1I5^I5%i=" =i==)=W@)9i/@=@=(DAT read: user:97>  BDAT read: Tx time:16:11:42.4518 $Ping request sent.AE =I I N >9 k,|e%*Ay64@ٱ6@6<6{<6H? c?t?"a?`wԓ??I64@)6p;i4BB9Bo"I-Mb@Mb@Mb@ )))I)i))- +?->-̽-I-@i-@)-@))-@BDE6DEn4YU<!UL=];Q)]>Y9Y9eDYeCeAe>iQ 1u4٪m˘?Q 5u4mb] mR`B9u >Q A}:Y}aGQ E}?ym!C)m;Im;imA =AmAIqIN>k,%*A,y:O@ٱ:@:9<:R<:Hf?@wp?x?mx?@m AH?w?I:O@): K?9 K?9 DY $CrA>Q 14٪٘?Q 5%4a L`B9!Y%GQ E%?y>C):I:idG4Y5=B5@5EgY]DNOT Ignoring new targets: 36.38 m.gYgeQgeQu ProNav: ac range: 36.376045 m, nav range: 35.138336 m, bearing: 311.997504 deg, approach rate: -0.491397 m/s, LOS rate: -0.045840 deg/s, cmd heading: 322.866430 deg, new cmd heading: 322.823651 deg. guȧ}HeadingCmd: 5.634336 target range: 36.376045 and range: 36.60 m.g}zL@gygygygyzfrfffBdddcc`?ɢB&< v?I ^ɡiIy I&i_` =iwI=)zL@)vBq~BqBqBqBqBqBqBuCP;Bu4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750308ԁ9ԱiM.IIIIbDZD?ADpDcD%DEd: EL96E 4:E"Ev;!Ew;!*E";!E";!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004415>Au x= A yAI I N >k,76%*AyF@ٱFm@F!!%I%@i%@%X@% @)!%@BD=6D=O4YM'=!U+=U9;Q)U>] H?9] H?9]DY]RC]AA]>aQ 1m4٪e瘊?Q 5m4ee eE`B9u?Q Au:YuFQ Eu?ye]C)eP;Ie;ieO4Yy}@B*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 36.38 m.ggulgul ProNav: ac range: 36.376045 m, nav range: 34.902790 m, bearing: 311.973572 deg, approach rate: -0.505263 m/s, LOS rate: -0.051682 deg/s, cmd heading: 322.823646 deg, new cmd heading: 322.775459 deg. g*IUHeadingCmd: 5.633494 target range: 36.376045 and range: 36.60 m.gUE@gQgQgQgYzfYrfYfYfe BBdadadacc`)?ɢBc< ?I EYɡiIEMI%R&i  =i =) E@) ) iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253341yiE/AIM4I@Q@QԡDE oDE _DA DA EE `: EE r96EA :EA !U @!U @!U @!U @ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505628>Am "=AAIIN>,k,q%*AyF@ٱFM@FɿbK?9bK?9fDYfCfAf>hQ 1n4٪j?Q 5n4j_j j>`B9lYrFQ Er?yj{C)ju:Ij):ijW4YvABv|@vEgDNOT Ignoring new targets: 36.38 m.ggkgk- ProNav: ac range: 36.376045 m, nav range: 34.665298 m, bearing: 311.949551 deg, approach rate: -0.506347 m/s, LOS rate: -0.051565 deg/s, cmd heading: 322.775452 deg, new cmd heading: 322.727081 deg. g-5HeadingCmd: 5.632650 target range: 36.376045 and range: 36.60 m.g5>@g1g9g9g9zf9rf9fAfABdAdAdAcIcMP?ɢuBuZ< y}ߖ?Iy }FTɡyiyIIr&i =i~v=)>@)Aie0aam/ivBI~BIBMN"IBMBBIBIBIBM[P;BMAEB B B B B B ď4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757918q>A/=ԙ D pD ^D 'D E d: E ;96E '4:E "E ! E ! *E ;! E ;! A I I N% >+Ek,Lگ%*A)4 6ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013449Ly+|@ٱy@a<4<H+? A?AЀ??ӡ虚/??I+|@)l;iCB9o"I >e>) Mb@Mb@Mb@ )Ii ףp= ?MbXMbp?Q>ʽ;I@i@+@"@)@BD6DZ4Y<!,=;Q)>99DYCA> Q 14٪ '?Q 54 n 9`B9r>Q A:YJHQ E?y C) :I o:i `4Y!%@!gIMDNOT Ignoring new targets: 36.38 m.gIgU:UgU:Ue ProNav: ac range: 36.376045 m, nav range: 34.429955 m, bearing: 311.927499 deg, approach rate: -0.493989 m/s, LOS rate: -0.046605 deg/s, cmd heading: 322.727094 deg, new cmd heading: 322.682687 deg. gemHeadingCmd: 5.631876 target range: 36.376045 and range: 36.60 m.gmS8@gigigqgqzfqrfqfqf}BBdydydycyc@3@ԡɢB)< 顽H?I "]PɡiITI?&ib =iQ=)S8@)i-/))-/1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261234>AE  = Aq I I N >lk,a%*ADJwDJbDJ*DHEJ}: EJ96EJ(N4:EH!^@!^@!^@!b@pyVo@ٱl@<&<H߶?3?-?F@P?=`=?r?IVo@)0bk;iCB9e"IBD6D4Y 3! [= wo;Q)>99DYٹC@A>!Q 1-4٪%0?Q 5-4%.r %4`B9)Y5HQ E5?y%C)%;I%;i%f4Y=EB=@=EgaeDNOT Ignoring new targets: 36.38 m.gagmQgmQ} ProNav: ac range: 36.376045 m, nav range: 34.245285 m, bearing: 311.910469 deg, approach rate: -0.494233 m/s, LOS rate: -0.045822 deg/s, cmd heading: 322.682698 deg, new cmd heading: 322.648455 deg. g}HeadingCmd: 5.631278 target range: 36.376045 and range: 36.60 m.gn3@ggggzfrfffBdddcc @ɢBf = :?I dLɡiIId&i =iͩ=)n3@)DDAT read: Rx Time:16:11:44.6274 TRx dataTimestamp_ set to:1755879103.928703PDAT read: Bearing 145.8, -15.9 (Local) ~Local bearing/azimuth received: Bearing 145.8, -15.9 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 DAT read: 16:11:44.6274 LVL= 28240, 25489, 20402, 32755, AGC= 56, IDX= 168,-0.42, 1.730, 0.283, 2.434, 1.902, PHS=-0.070,-1.574, 0.489, RAW= 165.2, 12.5, CAL= 165.5, 14.5, ROT= 344.5, -14.5 Ygot valid direction response: 16:11:44.6274 LVL= 28240, 25489, 20402, 32755, AGC= 56, IDX= 168,-0.42, 1.730, 0.283, 2.434, 1.902, PHS=-0.070,-1.574, 0.489, RAW= 165.2, 12.5, CAL= 165.5, 14.5, ROT= 344.5, -14.5 R#Rx 1: Read range and direction messages.^direction in FSK: [0.932936,-0.258726,0.250380]Fpublishing direction and range info9`?U("п=9?3 BiPncO8 )\)xɿI5^>i8@f_>8@>g@ iIK`'?[uQ*?oM.?I?^ j)i}checking for new query: numPingsReceived=1, elapsed TxPingTime=2.546140i@=@=ING1)=lAIIi}Cƿ}lA;A>A \=AA AE <vBU =>a ~BQ BU G"IBU BBQ BQ BQ BU WP;BU >EE checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768994A5 yAI9 II N] >@Wl,.%*A15 B95k"IBDm6Dm4Y}l<!}S=Q)> H?9 H?9DYCA>Q 14٪?Q 54u 0`B9YQ E?yɋC)G:I:iXm4YJB@Ehho%*AhY BhY Bhk@h1;"@@gjD!W^=)-@%DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 )IԉDAT read: 16:11:45.1271 LVL= 27792, 32753, 20018, 32755, AGC= 56, IDX= 501,-0.02, 0.824,-0.630, 1.529, 0.988, PHS=-0.062,-1.573, 0.497, RAW= 165.1, 12.2, CAL= 165.4, 14.2, ROT= 344.6, -14.2 Ygot valid direction response: 16:11:45.1271 LVL= 27792, 32753, 20018, 32755, AGC= 56, IDX= 501,-0.02, 0.824,-0.630, 1.529, 0.988, PHS=-0.062,-1.573, 0.497, RAW= 165.1, 12.2, CAL= 165.4, 14.2, ROT= 344.6, -14.2 R#Rx 2: Read range and direction messages.^direction in FSK: [0.934638,-0.257442,0.245307]Fpublishing direction and range info90??-4yп/;f? Bil2N })XɿIv>i!k8@^ Z>8@}>v@ }iIL0#??)?ы"?'I?Z )}ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.091453i0Թ >A .= Echecking for new query: numPingsReceived=2, elapsed TxPingTime=3.273051A9IAIQNe? l,NG.%*AyFW@ٱFT@F Y9Y9]DY]1Ce"Ae>iQ 1u4٪m)?Q 5u4mwz m%`B9}?Q A}:Y}HQ E}?ymC)m\(;Im';im v4Y@ԩhh%*AhBhBh@hyg?@僚!br @h0??-4yп/;f?hh}iz~Gq5@r븓G9;¥@hW) u?%8翬|"N?h=hۮAh[?hdhB*iu?2id:iPBi{B"iԭ@ addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.508069 s, deltaX: -0.399998 m, approachRate: -0.787290 m/s, rangeRepo size: 4  Added new target pos. range: 34.189404 m, bearing: 310.846969 deg, lat: 36.779434 deg, lon: -121.859654 deg, deltaT: 0.508069 s, deltaX: -0.397549 m, approachRate: -0.782470 m/s, posRepo size: 4 gDNOT Ignoring new targets: 34.19 m.ggg ProNav: ac range: 34.189404 m, nav range: 33.620754 m, bearing: 311.243795 deg, approach rate: 0.000000 m/s, LOS rate: -0.045822 deg/s, cmd heading: 322.609888 deg, new cmd heading: 322.566873 deg. gHeadingCmd: 5.629854 target range: 34.189404 and range: 34.40 m.g'@ggggzfrff!f-*BBd1d9dacm@33A@cu@?DvD`D'DEVz: E96E'4:E!@!@!@!@ɢ]B]< ae?Ia e?CɡaiaIegIm@'im4+ =iuB=)u'@)qi5/9999DDAT read: Rx Time:16:11:45.6268 TRx dataTimestamp_ set to:1755879104.936714PDAT read: Bearing 145.7, -15.9 (Local) ~Local bearing/azimuth received: Bearing 145.7, -15.9 (Local) DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 DAT read: 16:11:45.6268 LVL= 30048, 32145, 20210, 32755, AGC= 56, IDX= 498, 0.37, 0.832,-0.632, 1.532, 1.001, PHS=-0.067,-1.588, 0.487, RAW= 164.9, 12.5, CAL= 165.3, 14.5, ROT= 344.7, -14.5 Ygot valid direction response: 16:11:45.6268 LVL= 30048, 32145, 20210, 32755, AGC= 56, IDX= 498, 0.37, 0.832,-0.632, 1.532, 1.001, PHS=-0.067,-1.588, 0.487, RAW= 164.9, 12.5, CAL= 165.3, 14.5, ROT= 344.7, -14.5 eR#Rx 3: Read range and direction messages.^direction in FSK: [0.933834,-0.255468,0.250380]Fpublishing direction and range info9b?'!~Yп=9?Bi`u}N L7)C˿IX>i18@f_>R8@>M@ iIn ]?,2?8:f$ɺ?H?'_ ڸ)ichecking for new query: numPingsReceived=3, elapsed TxPingTime=3.565385 >Am 벫=1 A AI I N >5l,FBI%*AvB*<>~B(B*A"IB*BB(B(B(B*LP;B*8EyJM@ٱJ K@JD'vK?9zK?9zDYz[C~@A~> Q 14٪ R6?Q 54 ]~ `B9YHQ E?y C) ;I @;i 6}4Y-OB-O@1Uchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.773954h)h-;%*Ah-Bh-Bh-P@h-Gv?@^Xz6!d$0 @h-b?'!~Yп=9?h-ڸh-i-ϳ䔇5@]$8z}@h-wr?^~|m^~?h- h-A = DAT read: 16:11:46.1268 LVL= 27728, 29073, 20978, 32755, AGC= 56, IDX= 498,-0.11,-0.149,-1.583, 0.553, 0.028, PHS=-0.075,-1.567, 0.481, RAW= 165.2, 12.6, CAL= 165.6, 14.7, ROT= 344.4, -14.7  Ygot valid direction response: 16:11:46.1268 LVL= 27728, 29073, 20978, 32755, AGC= 56, IDX= 498,-0.11,-0.149,-1.583, 0.553, 0.028, PHS=-0.075,-1.567, 0.481, RAW= 165.2, 12.6, CAL= 165.6, 14.7, ROT= 344.4, -14.7  R#Rx 4: Read range and direction messages. ^direction in FSK: [0.931636,-0.260118,0.253758]- Fpublishing direction and range info9! % 8{q?_ĥпN=?! ! i% Pl% q% Q! ! % )% uȿI% E>i% 8@% z0a>% 8@% G\>% hY@ % G\i! ! I I% vA8?̈ES*?F\./?% J?% ina % *g)% G\i! ! u checking for new query: numPingsReceived=4, elapsed TxPingTime=4.106008I I N- >Tl,b%*A~B9~a"IMb@Mb@Mb@ )Iirh|?RQ~jth?>½D;I@in@1"@)BDE6DE4YM!u6=uQ)u>y9y9}DY}C}A>Q 14٪C?Q 54 `B9G?Q A:YGQ E?y"C);I-;i4Y@hihmi\%*AhihihmZt@hm̛c?@/*!uhu!@hm8{q?_ĥпN=?hm*ghmG\im9a5@XM 8)Zst@hm3bN?IBb翂?hmhmAhmM?hmilhmB*im[?2imil:imBimB"im@ addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.507199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 33.692444 m, bearing: 310.569073 deg, lat: 36.779431 deg, lon: -121.859654 deg, deltaT: 0.507199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 33.69 m.ggg ProNav: ac range: 33.692444 m, nav range: 32.985897 m, bearing: 310.787851 deg, approach rate: 0.000000 m/s, LOS rate: -0.045822 deg/s, cmd heading: 322.527051 deg, new cmd heading: 322.486748 deg. gHeadingCmd: 5.628456 target range: 33.692444 and range: 33.90 m.gO@ggggzfrfffBBdddcc?ɢeɁBmchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.277329ʁ< 額?I ]!<ɡiI I`'if =i==)O@)ai=.99=/9ԙDE pDE aDE )DA EE d: EE 96EE FA4:EA !m @!m @!m @!m @>Ae =Թ % DDAT read: Rx Time:16:11:46.6265 % TRx dataTimestamp_ set to:1755879105.9433055 PDAT read: Bearing 145.1, -16.0 (Local) 5 ~Local bearing/azimuth received: Bearing 145.1, -16.0 (Local) E DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 e DAT read: 16:11:46.6265 LVL= 27632, 31217, 21330, 32755, AGC= 55, IDX= 495, 0.23, 0.795,-0.657, 1.489, 0.954, PHS=-0.057,-1.566, 0.492, RAW= 164.9, 12.2, CAL= 165.2, 14.1, ROT= 344.8, -14.1 m Ygot valid direction response: 16:11:46.6265 LVL= 27632, 31217, 21330, 32755, AGC= 55, IDX= 495, 0.23, 0.795,-0.657, 1.489, 0.954, PHS=-0.057,-1.566, 0.492, RAW= 164.9, 12.2, CAL= 165.2, 14.1, ROT= 344.8, -14.1 u R#Rx 5: Read range and direction messages.} ^direction in FSK: [0.935942,-0.254290,0.243615]} Fpublishing direction and range info9! % =?b~IFп .?% B! i% k% y% RS! % 7 % xi)% rȿI% m>i% 18@% ^ Z>% 8@% d{>% @ % d{i! ! I% $? ?l?% 1H?% \vZ % ԇI I N >l,}%*A)d{i.checking for new query: numPingsReceived=5, elapsed TxPingTime=4.560823y^<@ٱ^8:@^=^<^H?0?`&?`?߽? ?I^<@)^*e;i^CfB9fZ"IBD]6D]14Ymq!S=;Q)>99DYCЩA>Q 14٪O?Q 541 `B9YGQ E?y;C);I~;i4Y@)hh_|%*Ah-Bh-Bh%@hT)?@› t7/8 @h=?b~IFп .?hԇhd{i팱N5@5I ä8ryn}@h)Cz? qg翆:2l?h&huAhGS?h~BB;"IBBB =BBYDBAP;B1Echecking for new query: numPingsReceived=5, elapsed TxPingTime=4.782070ԁ>A d=Iy I N >Ա D oD `D %D E `: E 96E 4:E "E T;! E U;! *E ;! E ;! %l,oe%*AyJ2@ٱJ/@J==Jh9h9jDYj׺Cj4`An>pQ 1r4٪rZ?Q 5v4r r `B9tYvGQ Ev?yrSC)r:Ir6:irs4YzSB~@~¥EB*** querying acoustic contact ***zhhgYeDNOT Ignoring new targets: 33.29 m.gageƩgmƩ5 ProNav: ac range: 33.294891 m, nav range: 32.537796 m, bearing: 310.602962 deg, approach rate: -0.516789 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.450526 deg, new cmd heading: 322.397575 deg. g]mHeadingCmd: 5.626899 target range: 33.294891 and range: 33.50 m.)߁ ߁ԙDDAT read: Rx Time:16:11:47.1265 TRx dataTimestamp_ set to:1755879106.455778PDAT read: Bearing 145.8, -16.3 (Local) ~Local bearing/azimuth received: Bearing 145.8, -16.3 (Local) gu@g1g1g9g9zfArfIfyfyBdDAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 ddccQ?ɢ=сB=J< 9=?I9 E4ɡAiAIEiMDAT read: 16:11:47.1265 LVL= 24304, 31905, 22434, 32755, AGC= 54, IDX= 511,-0.25,-0.170,-1.589, 0.525, 0.009, PHS=-0.077,-1.554, 0.472, RAW= 165.2, 12.7, CAL= 165.5, 14.9, ROT= 344.5, -14.9 UYgot valid direction response: 16:11:47.1265 LVL= 24304, 31905, 22434, 32755, AGC= 54, IDX= 511,-0.25,-0.170,-1.589, 0.525, 0.009, PHS=-0.077,-1.554, 0.472, RAW= 165.2, 12.7, CAL= 165.5, 14.9, ROT= 344.5, -14.9 UR#Rx 6: Read range and direction messages.]^direction in FSK: [0.931229,-0.258253,0.257133]]Fpublishing direction and range info9;ü?sm7пFht?i^|WIZ(i =i =)@))6 -)yƿI>i8@b>8@%>g@ %iI^b?9$?+0?I?acc j)%ichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.117970i0!!%0!@-=@-=5 checking for new query: numPingsReceived=6, elapsed TxPingTime=5.285940>AE h=I I N > +l,JB%*Ay6%@ٱ62#@6& =6\<6HÌ??PY??me|ḙ??I6%@)6bc;i6CVB9Z\"I]Mb@Mb@Mb@ Y)YIYiYY]Zd;?|?5^Mbp]>]ҽ]IYi] @DsDaD)DEso: E96EFA4:E!@!@!@!@]@]f@)Y]@BD6D4YG=!.=:Q)>99DYCXA>Q 14٪h?Q 54 _B90?Q A:YKQ E?yqC):I:i4Y)@hhw+%*AhhhgY@h=ZD?@Df2! $N!@h;ü?sm7пFht?hjh%iƾ9p 5@G7t84vA@h:?Ja.[q?hhcAhV?hN*hB*i2i:ii3B"i(u@M addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.512473 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 33.294640 m, bearing: 310.380591 deg, lat: 36.779430 deg, lon: -121.859654 deg, deltaT: 0.512473 s, deltaX: -0.000252 m, approachRate: -0.000491 m/s, posRepo size: 4 gYeDNOT Ignoring new targets: 33.29 m.gagegau ProNav: ac range: 33.294640 m, nav range: 32.299919 m, bearing: 310.574710 deg, approach rate: 0.000000 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.397578 deg, new cmd heading: 322.328231 deg. gy}HeadingCmd: 5.625689 target range: 33.294640 and range: 33.50 m.g}@ggggzfrfff4BBdddcc ђ?ɢuՁB}M= y}ڊ?Iy VK1ɡiIIQ(i =i=)@)DDAT read: Rx Time:16:11:47.6262 TRx dataTimestamp_ set to:1755879106.952287PDAT read: Bearing 145.0, -16.0 (Local) ~Local bearing/azimuth received: Bearing 145.0, -16.0 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 DAT read: 16:11:47.6262 LVL= 30160, 32753, 24946, 32755, AGC= 54, IDX= 508, 0.07, 0.805,-0.642, 1.495, 0.964, PHS=-0.057,-1.561, 0.487, RAW= 164.9, 12.3, CAL= 165.1, 14.2, ROT= 344.9, -14.2 !EYgot valid direction response: 16:11:47.6262 LVL= 30160, 32753, 24946, 32755, AGC= 54, IDX= 508, 0.07, 0.805,-0.642, 1.495, 0.964, PHS=-0.057,-1.561, 0.487, RAW= 164.9, 12.3, CAL= 165.1, 14.2, ROT= 344.9, -14.2 ER#Rx 7: Read range and direction messages.U^direction in FSK: [0.935973,-0.252545,0.245307]UFpublishing direction and range info9y}?C )п/;f?Biui*0ra xi)ǿIX>i18@[>!k8@}>@ }iIVnH*?m ?=8?kH?$m[ Z)}i checking for new query: numPingsReceived=7, elapsed TxPingTime=5.586895I >A T=bA ZA IA IY Ne >n2l,!˰%*AyR@ٱRT@R =R ~BlBn("IBnփBBn =BlBnZDBn3P;Bn,Eiz%=IzR=~checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792386B9N"I i i=I=BD6D4Y-i!-h=-:Q)5>19195DY5*C]tAe>aQ 1m4٪es?Q 5m4e e_B9qYuKQ Eu?yeC)e:Ie#@ݐ qkT @hy}?C )п/;f?hZh}i$4@8ybaS8?$ @hn_3l?A4翶yc?hhyAhYW?hDSh{B*i2iDS:ii=B"i.@M addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.496509 s, deltaX: -0.500000 m, approachRate: -1.007031 m/s, rangeRepo size: 4  Added new target pos. range: 32.797886 m, bearing: 310.714555 deg, lat: 36.779430 deg, lon: -121.859653 deg, deltaT: 0.496509 s, deltaX: -0.496754 m, approachRate: -1.000493 m/s, posRepo size: 4 gDNOT Ignoring new targets: 32.80 m.ggg ProNav: ac range: 32.797886 m, nav range: 32.059647 m, bearing: 310.644823 deg, approach rate: 0.000000 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.328238 deg, new cmd heading: 322.273083 deg. gHeadingCmd: 5.624726 target range: 32.797886 and range: 33.00 m.g@ggggzfrfffBd ddc@@c ܝ?IɢeفBe#p = ae?Ii .ɡiI7_yIĐ(i =i) =)@)i/5DvD_D(DEVz: Er96Ec44:E"EE;!EF;!*EJ;!EJ;!yDDAT read: Rx Time:16:11:48.1261  TRx dataTimestamp_ set to:1755879107.464751= PDAT read: Bearing 145.7, -16.1 (Local) E ~Local bearing/azimuth received: Bearing 145.7, -16.1 (Local) ԩ >A &= DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 Ia I N > DAT read: 16:11:48.1261 LVL= 29904, 30657, 25570, 32755, AGC= 56, IDX= 507,-0.48,-0.057,-1.507, 0.637, 0.120, PHS=-0.075,-1.582, 0.474, RAW= 164.9, 12.8, CAL= 165.3, 14.9, ROT= 344.7, -14.9  Ygot valid direction response: 16:11:48.1261 LVL= 29904, 30657, 25570, 32755, AGC= 56, IDX= 507,-0.48,-0.057,-1.507, 0.637, 0.120, PHS=-0.075,-1.582, 0.474, RAW= 164.9, 12.8, CAL= 165.3, 14.9, ROT= 344.7, -14.9  R#Rx 8: Read range and direction messages. ^direction in FSK: [0.932125,-0.255001,0.257133] Fpublishing direction and range info9L? NmQпFht?Bitwc8 )~ʿI!>id>R8@%>M@ %iI6)?jw ?WP?H?ajd ڸ)%i% checking for new query: numPingsReceived=8, elapsed TxPingTime=6.125153$8l,"%*Ay6[@ٱ6 @60=6<6H ?Y?`T?~?@}?Z?I6[@)6sa;i6C@FB9FP"IMb@Mb@Mb@ )Iix&1?Mb`?̽Ii@|@)@BDe6Den4Y;!4=e:Q)>99DYXCNA>Q 14٪L?Q 54ҕ _B9 ?Q A:Y JQ E?yC)W;I ;i4YZ@hh{ݰ%*AhBhBhD`@hlz>@V 8Z @hL? NmQпFht?hڸh%iX4@=K8,^w@h*A?4FDc]xE?hYhAhr&]Q?hgh2B*i2iil:i2BiA"im@ԩ addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.512464 s, deltaX: -0.099998 m, approachRate: -0.195133 m/s, rangeRepo size: 4  Added new target pos. range: 32.698502 m, bearing: 310.428609 deg, lat: 36.779430 deg, lon: -121.859654 deg, deltaT: 0.512464 s, deltaX: -0.099384 m, approachRate: -0.193934 m/s, posRepo size: 4 gDNOT Ignoring new targets: 32.70 m.ggg ProNav: ac range: 32.698502 m, nav range: 31.889145 m, bearing: 310.521425 deg, approach rate: 0.000000 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.273078 deg, new cmd heading: 322.206905 deg. gchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.297324-HeadingCmd: 5.623571 target range: 32.698502 and range: 32.90 m.g-L@g)g)gAgIzfIrfIfIfU/BBdQdQdQcU@3s@@c] LQ?ɢ݁B< 顭T?I \D*ɡiIh(Iy(i< =iˤ=)L@)i05DsDaD'DEso: E96E'4:E!@!@!@!@ >Ae x,= DDAT read: Rx Time:16:11:48.6258  TRx dataTimestamp_ set to:1755879107.964551 PDAT read: Bearing 145.4, -16.2 (Local)  ~Local bearing/azimuth received: Bearing 145.4, -16.2 (Local)  DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4  DAT read: 16:11:48.6258 LVL= 26352, 27425, 21346, 32755, AGC= 56, IDX= 504,-0.07,-0.772,-2.233,-0.073,-0.599, PHS=-0.071,-1.589, 0.482, RAW= 164.9, 12.6, CAL= 165.3, 14.7, ROT= 344.7, -14.7 % Ygot valid direction response: 16:11:48.6258 LVL= 26352, 27425, 21346, 32755, AGC= 56, IDX= 504,-0.07,-0.772,-2.233,-0.073,-0.599, PHS=-0.071,-1.589, 0.482, RAW= 164.9, 12.6, CAL= 165.3, 14.7, ROT= 344.7, -14.7 % R#Rx 9: Read range and direction messages.- ^direction in FSK: [0.932985,-0.255236,0.253758]- Fpublishing direction and range info9 ^?'mUпN=? B i f !k bS sh) Zd˿I >i z0a> G\> G\i I r?Kؼ?$? RH? a ) G\i M checking for new query: numPingsReceived=9, elapsed TxPingTime=6.566951A I I N >z.?l,%*ALy-@ٱ-@-ʵ=-L<-Hx??`CL? r@v?P@U ?`L?I-@)-`;i-C B9 H"IBD6Dߢ4Y-!-L=5Ч:Q)5>1919=DY=C=A=>AQ 1m4٪E?Q 5m4E E_B9qYutJQ Eu?yEC)E6;IE;iE4Y}B}@yhh4%*AhBhBhU@hyaU( >@p aW @h^?'mUпN=?hhG\i,s]4@`C27}T@hjF=?#:H/`?hȿhAhA?h09hB*i2iDS:iBiA"iw@m addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.499800 s, deltaX: -0.500000 m, approachRate: -1.000400 m/s, rangeRepo size: 4 } Added new target pos. range: 32.201561 m, bearing: 310.350471 deg, lat: 36.779430 deg, lon: -121.859653 deg, deltaT: 0.499800 s, deltaX: -0.496941 m, approachRate: -0.994279 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 32.20 m.gyԡgg ProNav: ac range: 32.201561 m, nav range: 31.623095 m, bearing: 310.588247 deg, approach rate: 0.000000 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.206907 deg, new cmd heading: 322.147571 deg. gHeadingCmd: 5.622536 target range: 32.201561 and range: 32.40 m.g@ggggzfrfffBdddc@33@@cw?ɢeBeX< ae?Ii m&ɡiiiIm 4IuV )iu=iu=)u@)yA=<A=4=i4vBQ~BQBU"IBŨBBQBQBUYDBUP;BUEBBBBBB 5checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802135 >A= ۤ=rAU ?jAU ?DY D] eD] $DY EY  E] 96E] 4:EY "E] ݑ;!m E] ޑ;!m *E] !*;!m E] !*;!u A yA) I! IA NU >|Fl,o%*AyzL@ٱz@z`1=z!H<=DDAT read: Rx Time:16:11:49.1257 ETRx dataTimestamp_ set to:1755879108.472090}PDAT read: Bearing 145.0, -15.9 (Local) ~Local bearing/azimuth received: Bearing 145.0, -15.9 (Local) zH`no?T?'?n? +Z #l?`b?IzL@)zT`;ix]B9]A"I}DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4 ==) %DAT read: 16:11:49.1257 LVL= 26592, 29537, 25202, 32755, AGC= 56, IDX= 503, 0.24, 2.075, 0.604, 2.762, 2.237, PHS=-0.060,-1.588, 0.481, RAW= 164.6, 12.5, CAL= 164.9, 14.5, ROT= 345.1, -14.5 -Ygot valid direction response: 16:11:49.1257 LVL= 26592, 29537, 25202, 32755, AGC= 56, IDX= 503, 0.24, 2.075, 0.604, 2.762, 2.237, PHS=-0.060,-1.588, 0.481, RAW= 164.6, 12.5, CAL= 164.9, 14.5, ROT= 345.1, -14.5 -T#Rx 10: Read range and direction messages.5^direction in FSK: [0.935595,-0.248942,0.250380]5Fpublishing direction and range info9AE}gd?Kp&XϿ=9?E3BAiEgEasErbAA Eu)EC˿IEE>iE'7@Ef_>E18@E>E~@ EiAAIEq&>?%}v?Jvì?EGG?EԳ_ E%)EiAAchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.142682MMb@Mb@Mb@ I)IIIiIIMV-?A`"MbpM|>MٽMIM"@iM"@M@I)IMf@BD6D4Y!=75:Q)> H?9 H?9DYCxA>Q 14٪?Q 54 _B9?Q A:YNQ E?yC);Iq;iݸ4Y%B%x@-ͥEhAhE6%*AhEhBhEhBhE@hE ;>>@Fݪ_7P @hE}gd?Kp&XϿ=9?hE%hEiEq4@G(j7|E@hE^ia?a翼F$?hE{hEAhEW?hEmxhEnB*iEV?2iA:iEBiEA"iE{@ addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.507539 s, deltaX: -0.100002 m, approachRate: -0.197034 m/s, rangeRepo size: 4  Added new target pos. range: 32.102108 m, bearing: 310.650566 deg, lat: 36.779430 deg, lon: -121.859653 deg, deltaT: 0.507539 s, deltaX: -0.099453 m, approachRate: -0.195951 m/s, posRepo size: 4 gDNOT Ignoring new targets: 32.10 m.ggg% ProNav: ac range: 32.102108 m, nav range: 31.382332 m, bearing: 310.616019 deg, approach rate: 0.000000 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.147566 deg, new cmd heading: 322.069826 deg. g!-HeadingCmd: 5.621179 target range: 32.102108 and range: 32.30 m.g-@g)g)1g)gqzfyrfyfyf}8BBdddc`f&@@c`G?ɢBn< +?I %{"ɡ!iIIM,8IU;y)iU2=iU0=)U@)Qchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.305372i/m1Y ԉ >A O=Du pDu \Du (Dq Eu d: Eu 96Eu c44:Eq ! @! @! @! @I I)N5>/Nl,E;%*A@yJ@ٱJ@@J=J@{x9x9zDYzڻCz^A~>Q 14٪?Q 5 4S _B9 Y NQ E ?yC)):I:iS4YF@MDDAT read: Rx Time:16:11:49.6255 MTRx dataTimestamp_ set to:1755879108.971543UPDAT read: Bearing 145.2, -16.2 (Local) ]~Local bearing/azimuth received: Bearing 145.2, -16.2 (Local) mDAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 DAT read: 16:11:49.6255 LVL= 23808, 28113, 20258, 32755, AGC= 55, IDX= 501,-0.26,-1.101,-2.538,-0.410,-0.928, PHS=-0.071,-1.565, 0.474, RAW= 164.9, 12.7, CAL= 165.3, 14.8, ROT= 344.7, -14.8 Ygot valid direction response: 16:11:49.6255 LVL= 23808, 28113, 20258, 32755, AGC= 55, IDX= 501,-0.26,-1.101,-2.538,-0.410,-0.928, PHS=-0.071,-1.565, 0.474, RAW= 164.9, 12.7, CAL= 165.3, 14.8, ROT= 344.7, -14.8 T#Rx 11: Read range and direction messages.^direction in FSK: [0.932557,-0.255119,0.255446]Fpublishing direction and range info9IM^?cSпl39Y?MBIiM]MmM"OIM7 Msh)MQȿIM!>iM18@Mb>MR8@M A>MM@ M AiIIIMxࠥ?R%Hj? c?M,H?MQb Mڸ)M AiIIchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.577041hIhM->%*AhMnAhMnAhM-;@hM1=@PA: w? @hM^?cSпl39Y?hMڸhM AiMHך4@`7Ae@hMג78(?2翭D1?hMܽhMDAhMM6@?hM$#hMB*iMr&]Q?2iI:iMBiM:A"iMl@E addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.499453 s, deltaX: -0.299999 m, approachRate: -0.600656 m/s, rangeRepo size: 4 u Added new target pos. range: 31.803947 m, bearing: 310.169200 deg, lat: 36.779430 deg, lon: -121.859653 deg, deltaT: 0.499453 s, deltaX: -0.298161 m, approachRate: -0.596974 m/s, posRepo size: 4 gq}DNOT Ignoring new targets: 31.80 m.gygygy ProNav: ac range: 31.803947 m, nav range: 31.153788 m, bearing: 310.510687 deg, approach rate: 0.000000 m/s, LOS rate: -0.074214 deg/s, cmd heading: 322.069839 deg, new cmd heading: 322.012632 deg. gHeadingCmd: 5.620181 target range: 31.803947 and range: 32.00 m.gس@ggggzfrfffBdddc@@c '?9iAIGԩ)Ii O  zAɢB{= %z?I yɡiICi8I)iO=it=)س@)iV4vBu<>~BqBu "IBuBBqBqBuZDBuO;BuEchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.809410 >A =I I N >y`Ul,XV%*A$y:ܮ@ٱ:ٵ@:`m=:v<:H`(c?`e??a?ࡌʘ?@8?I:ܮ@):S_;i8B܃B9B/"IBDJ6DJ4YR'+BEE'4JEE'4REE/DZvDZZDZ'DXEZVz: EZa96EZ'4:EX"EZE;!bEZF;!b*EZ;!bEZ;!f!fE=jsӹQ)j>h9h9nDYnCnc2An>pQ 1m4٪rm?Q 5u4rd r_B9yY}DOQ E}?yrC)riX8@Vh>8@ԇ>@ ԇiI._u ?DP2z?"'?/H?xg ԇ)ԇi%checking for new query: numPingsReceived=12, elapsed TxPingTime=8.139585iaaae5a u checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313862>A =bA ZA I I N >[l,;p%*Ay6uЮ@ٱ6͵@6H=6<6HO\? ^"?@W?  Z?ݗlΘ?0?I6uЮ@)6+_;i6Cj݃B9j1"Illilir=Ir=Mb@Mb@Mb@ )Ii`"?|?5^>ҽIi9@@@)@a=i%=BD6D4Y;!+=1>9Q)>99DY4C ~LA >Q 14٪?Q 54ڪ _B9[>Q A:Y%OQ E%?y4C):I:i΀4Y)-@)h h p^%*Ah Ah Ah 0@h  n=@1.1 @h , ?46m1п;f$?h ԇh ԇi |6&3@`ג7-|@h |eo?36D3J7j?h h ɞAh J?h ch B*i J?2i $#:i Bi A"i 3M@ addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.504083 s, deltaX: -0.200001 m, approachRate: -0.396762 m/s, rangeRepo size: 4 DDaD*DE: E96E(N4:E!@!@!@!@ ] Added new target pos. range: 31.605276 m, bearing: 310.096345 deg, lat: 36.779429 deg, lon: -121.859653 deg, deltaT: 0.504083 s, deltaX: -0.198671 m, approachRate: -0.394124 m/s, posRepo size: 4 gaDNOT Ignoring new targets: 31.61 m.ggg ProNav: ac range: 31.605276 m, nav range: 30.690372 m, bearing: 310.295257 deg, approach rate: 0.000000 m/s, LOS rate: -0.051433 deg/s, cmd heading: 321.969571 deg, new cmd heading: 321.923243 deg. gHeadingCmd: 5.618620 target range: 31.605276 and range: 31.80 m.g˳@ggggzf rf ff?BBdddcE?@cM@?ɢBBK< 顕u?I ]ɡiI 9IE *iEI=iEk=)E˳@)IDDAT read: Rx Time:16:11:50.6251 TRx dataTimestamp_ set to:1755879109.980239PDAT read: Bearing 144.7, -16.0 (Local) ~Local bearing/azimuth received: Bearing 144.7, -16.0 (Local) DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 9UDAT read: 16:11:50.6251 LVL= 26448, 30193, 21842, 32755, AGC= 54, IDX= 497, 0.37, 0.836,-0.616, 1.521, 0.998, PHS=-0.060,-1.569, 0.479, RAW= 164.7, 12.5, CAL= 165.0, 14.5, ROT= 345.0, -14.5 eYgot valid direction response: 16:11:50.6251 LVL= 26448, 30193, 21842, 32755, AGC= 54, IDX= 497, 0.37, 0.836,-0.616, 1.521, 0.998, PHS=-0.060,-1.569, 0.479, RAW= 164.7, 12.5, CAL= 165.0, 14.5, ROT= 345.0, -14.5 eT#Rx 13: Read range and direction messages.m^direction in FSK: [0.935159,-0.250575,0.250380]i5uFpublishing direction and range info9zI?k п=9?3AiPguRU6 u)ȿI}?>i7@f_>N8@>2@ iIA'4?.?.F٢?ؿG?^  )iuchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.617064a >A P=I I N >bl,NJ%*AAA@Aty%Tɮ@ٱ%Ƶ@%Q=%T<%H1X?P(?? @V?6¢ ;??I%Tɮ@)%f_;i!=уB9=""IBDM6DM4Y]!]b=eOj:Q)e>a9i9mDYmXCmAm>qQ 1}4٪u[̙?Q 5}4uD u_B9YOQ E?yuKC)u;Iu{;iu;Հ4Yq@hh<~%*AhAhAh0G@h:&/=@"2GϼERA@hzI?k п=9?h hi59a\~3@I7<5/@h(<7?pKOwb?hMhAh$I?hhB*i$I?2i:iBi A"iH@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504613 s, deltaX: -0.400000 m, approachRate: -0.792686 m/s, rangeRepo size: 4 i=I=checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817621 Added new target pos. range: 31.207726 m, bearing: 310.253195 deg, lat: 36.779429 deg, lon: -121.859653 deg, deltaT: 0.504613 s, deltaX: -0.397551 m, approachRate: -0.787833 m/s, posRepo size: 4 gDNOT Ignoring new targets: 31.21 m.gg g  ProNav: ac range: 31.207726 m, nav range: 30.506308 m, bearing: 310.264637 deg, approach rate: 0.000000 m/s, LOS rate: -0.051433 deg/s, cmd heading: 321.923235 deg, new cmd heading: 321.886546 deg. g%HeadingCmd: 5.617980 target range: 31.207726 and range: 31.40 m.g%~Ƴ@g!g!g!g!zf)rf)f)f)Bd1d1d1c5`ff?@c5`?ɢeBe@= aeZn?Ii mɡiiiIm9IuJ*iuM=iu!=)u~Ƴ@)yi0/DsD]D'DEso: E96E'4:EA>A lŠ= DDAT read: Rx Time:16:11:51.1251  TRx dataTimestamp_ set to:1755879110.487242 PDAT read: Bearing 161.7, -20.9 (Local)  ~Local bearing/azimuth received: Bearing 161.7, -20.9 (Local) % DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 q I I1 N > DAT read: 16:11:51.1251 LVL= 26736, 29009, 21586, 32755, AGC= 56, IDX= 513,-0.17,-0.108,-1.231, 0.777, 0.448, PHS=-0.454,-1.635, 0.285, RAW= 172.4, 20.8, CAL= 173.1, 29.6, ROT= 336.9, -29.6  Ygot valid direction response: 16:11:51.1251 LVL= 26736, 29009, 21586, 32755, AGC= 56, IDX= 513,-0.17,-0.108,-1.231, 0.777, 0.448, PHS=-0.454,-1.635, 0.285, RAW= 172.4, 20.8, CAL= 173.1, 29.6, ROT= 336.9, -29.6  T#Rx 14: Read range and direction messages. ^direction in FSK: [0.799780,-0.341135,0.493942] Fpublishing direction and range info9 A̗?x)տci? i ph Qq RT hl,v%*A8 r)GѿI>i@@޹>ZA@ A?)@  AiI+hc&UԽUD;IU@iQU@U@)QU@BD6D4Y>!7=9Q)>99DYC0A>Q 14٪ ٙ?Q 54 _B9>Q A:YPQ E?ygC):I:i݀4YēBV@إEhh.%*Ahhh@hU 8@FJ%w3a.@hA̗?x)տci?hzlξh Ai/ax-@ѕ 7Uq,@hh7?%%q*?hdhkAh?.Ȳ?hh@B*i2i:iiWA"i D@ addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.507003 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 31.207726 m, bearing: 302.034295 deg, lat: 36.779429 deg, lon: -121.859653 deg, deltaT: 0.507003 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 31.21 m.ggg ProNav: ac range: 31.207726 m, nav range: 30.292723 m, bearing: 310.231197 deg, approach rate: 0.000000 m/s, LOS rate: -0.051433 deg/s, cmd heading: 321.886544 deg, new cmd heading: 321.838796 deg. gHeadingCmd: 5.617146 target range: 31.207726 and range: 31.40 m.g@gggg!zf!rf!fIfM!BBdIdQdQcQcUl?ԉɢBhٽ< j?I mɡiIJC>9I*i=i_=)@) checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321192i/ԹD vD dD )D E Vz: E 96E FA4:E >A `=  DDAT read: Rx Time:16:11:51.6248  TRx dataTimestamp_ set to:1755879110.987589 PDAT read: Bearing 144.5, -16.0 (Local)  ~Local bearing/azimuth received: Bearing 144.5, -16.0 (Local)  DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4  DAT read: 16:11:51.6248 LVL= 27024, 27377, 23218, 32755, AGC= 56, IDX= 510, 0.11, 0.575,-0.898, 1.262, 0.736, PHS=-0.059,-1.589, 0.482, RAW= 164.6, 12.5, CAL= 164.9, 14.5, ROT= 345.1, -14.5  Ygot valid direction response: 16:11:51.6248 LVL= 27024, 27377, 23218, 32755, AGC= 56, IDX= 510, 0.11, 0.575,-0.898, 1.262, 0.736, PHS=-0.059,-1.589, 0.482, RAW= 164.6, 12.5, CAL= 164.9, 14.5, ROT= 345.1, -14.5  T#Rx 15: Read range and direction messages. ^direction in FSK: [0.935595,-0.248942,0.250380] Fpublishing direction and range info9 }gd?Kp&XϿ=9? 3A i i j Z q) Zd˿I >i '7@ f_> 18@ > ~@ i I `-@?j?$R:ְ? 6G? J_A5 AI9 II N] >pl,t%*A %)iVchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.614864ɰTV;Xy-[@ٱ-@-M=-<-HL?8??0*K? ֢ ??I-[@)-P^;i-C]уB9]!"I)a eAI)@ABD6D4Y)0<!K= Q)>K?9K?9DYCGIA>Q 14٪䙊?Q 54S _B9 Y  QQ E ?yC)3%@cug?ɢB'< _j?I ]ɡiIZ9I*i=i=)@)i@@@@vB?>~BCB!IBBB =BBBO;BEchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.825426A A yAI I N >@vl,9ڱ%*ADNqDNZDN(DLEN2h: ENa96ENc44:EL"EN;!VEN;!V*EL!VEL!Vyb@ٱbޤ@b=b6 H?9  H?9 DY ԼC |A >Q 1%4٪?Q 5%4 _B9!Y%yQQ E-?yC)),;I,;i4Y15@1MB*** querying acoustic contact ***zhQhQgYeDNOT Ignoring new targets: 30.71 m.gage&qgm&q} ProNav: ac range: 30.710787 m, nav range: 29.878145 m, bearing: 310.132121 deg, approach rate: -0.527053 m/s, LOS rate: -0.052707 deg/s, cmd heading: 321.797205 deg, new cmd heading: 321.759498 deg. g}HeadingCmd: 5.615763 target range: 30.710787 and range: 30.90 m.gT@ggggzfrfffBdddccM?ɢEBE{N= AE~d?IA M ɡIiIIM"i9IU6*iU#=iU=)UT@)YDDAT read: Rx Time:16:11:52.1247 TRx dataTimestamp_ set to:1755879111.493579PDAT read: Bearing 145.1, -16.1 (Local) ~Local bearing/azimuth received: Bearing 145.1, -16.1 (Local) DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4 uDAT read: 16:11:52.1247 LVL= 27808, 28113, 24178, 32755, AGC= 56, IDX= 509,-0.47,-0.973,-2.426,-0.288,-0.794, PHS=-0.077,-1.588, 0.462, RAW= 164.7, 13.0, CAL= 165.1, 15.2, ROT= 344.9, -15.2 i/Ygot valid direction response: 16:11:52.1247 LVL= 27808, 28113, 24178, 32755, AGC= 56, IDX= 509,-0.47,-0.973,-2.426,-0.288,-0.794, PHS=-0.077,-1.588, 0.462, RAW= 164.7, 13.0, CAL= 165.1, 15.2, ROT= 344.9, -15.2 Q-T#Rx 16: Read range and direction messages.^direction in FSK: [0.931697,-0.251391,0.262189]Fpublishing direction and range info9VB-v?uп;f$?fAilmr^ -)C˿ID>i7@Vh>!k8@ԇ>@ ԇiIoUP*?Q]RS?3Y7S?ĭG?h Z)ԇichecking for new query: numPingsReceived=16, elapsed TxPingTime=10.185073IIN^>q- checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329220ԡ ;n|l,>#%*Ay욮@ٱI@ow=2<H=?hN?a?`F 5ҽ;IO@iO@@@)G@BD6D<4Y y9! := 4Q)>99DYC1eA>!Q 1-4٪%+?Q 5-4%& %_B9->Q A-:Y-PQ E5?y%C)% ;I%? ;i%a4Y=ʓB=bA=٥Ehh̖߱%*AhAhAh @hrP<@,0;{T @hVB-v?uп;f$?hZhԇip53@S,6;!c?*$@h?^翭K_?hghAhG?h=%hPB*iG?2ic:iPBiFA"i@DM{DMkDM*DIEM=: EM:6EM(N4:EI!U@!U@!U@!]@u addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.505990 s, deltaX: -0.100000 m, approachRate: -0.197633 m/s, rangeRepo size: 4  Added new target pos. range: 30.611628 m, bearing: 309.824049 deg, lat: 36.779429 deg, lon: -121.859655 deg, deltaT: 0.505990 s, deltaX: -0.099159 m, approachRate: -0.195971 m/s, posRepo size: 4 gDNOT Ignoring new targets: 30.61 m.ggg ProNav: ac range: 30.611628 m, nav range: 29.784555 m, bearing: 309.929423 deg, approach rate: 0.000000 m/s, LOS rate: -0.052707 deg/s, cmd heading: 321.759502 deg, new cmd heading: 321.710353 deg. gHeadingCmd: 5.614905 target range: 30.611628 and range: 30.80 m.gM@ggggzfrfff9BBdddc%>@c%1?ɢmBm4< qu]?Iq ug ɡqiqIu 9ԡIk+i =iD=)M@)DDAT read: Rx Time:16:11:52.6244 TRx dataTimestamp_ set to:1755879111.996107PDAT read: Bearing 145.3, -16.1 (Local) ~Local bearing/azimuth received: Bearing 145.3, -16.1 (Local) DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 DAT read: 16:11:52.6244 LVL= 29488, 30289, 24194, 32755, AGC= 56, IDX= 506,-0.08,-2.225, 2.609,-1.541,-2.040, PHS=-0.083,-1.589, 0.455, RAW= 164.7, 13.2, CAL= 165.1, 15.5, ROT= 344.9, -15.5 Ygot valid direction response: 16:11:52.6244 LVL= 29488, 30289, 24194, 32755, AGC= 56, IDX= 506,-0.08,-2.225, 2.609,-1.541,-2.040, PHS=-0.083,-1.589, 0.455, RAW= 164.7, 13.2, CAL= 165.1, 15.5, ROT= 344.9, -15.5 T#Rx 17: Read range and direction messages.^direction in FSK: [0.930359,-0.251030,0.267238]Fpublishing direction and range info9(.?2п֚n?fAi0sQv^ )Zd˿I>iik>c> ciIO\$?4L?f8?G?k )cichecking for new query: numPingsReceived=17, elapsed TxPingTime=10.617095I1IANU> A9 A9 vB ~B B !IB BB =B B B O;B ESl, %*Ay6g@ٱ6Ē@6F=6<6H:?@S? ?"K8?0`-Q? ?I6g@)60^;i4NB9N"IPiPBDZ6DZ4rchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.833089Y<!%[=%o=:Q)%>)9)9-DY-%C-A->1Q 1]4٪5?Q 5e45 5_B9aYeQQ Ee?y5͍C)5f:I5:i54YimEAqhh8%*AhAhAh@h v<@<=MBx @h(.?2п֚n?hhciFN2@B~$6β~E@h{?rXh?hYh"Ahb]4?hhdB*i~)WF?2i:iiA"i/@ addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.502528 s, deltaX: -0.500000 m, approachRate: -0.994969 m/s, rangeRepo size: 4 - Added new target pos. range: 30.114656 m, bearing: 309.776382 deg, lat: 36.779429 deg, lon: -121.859653 deg, deltaT: 0.502528 s, deltaX: -0.496971 m, approachRate: -0.988942 m/s, posRepo size: 4 g)5DNOT Ignoring new targets: 30.11 m.g1g1g1e ProNav: ac range: 30.114656 m, nav range: 29.473019 m, bearing: 310.089609 deg, approach rate: 0.000000 m/s, LOS rate: -0.052707 deg/s, cmd heading: 321.710352 deg, new cmd heading: 321.666279 deg. gamHeadingCmd: 5.614136 target range: 30.114656 and range: 30.30 m.gm@gigqgqgqzfqrfqfyfyBdydydycL>@c\?ɢBN< ]?I lɡiI 9I%F+i%#=i%=)%@))D]pD]`D]'DYE]d: E]96E]'4:EY"E]v;!mE]w;!m*E];!uE];!uiIYIiNuz>1)ߙ ߝADDAT read: Rx Time:16:11:53.1243 TRx dataTimestamp_ set to:1755879112.501111PDAT read: Bearing 144.6, -16.2 (Local) ~Local bearing/azimuth received: Bearing 144.6, -16.2 (Local) DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 DAT read: 16:11:53.1243 LVL= 29744, 27633, 22514, 32755, AGC= 56, IDX= 505, 0.24, 0.458,-1.025, 1.154, 0.633, PHS=-0.073,-1.613, 0.476, RAW= 164.7, 12.8, CAL= 165.1, 15.0, ROT= 344.9, -15.0 U Ygot valid direction response: 16:11:53.1243 LVL= 29744, 27633, 22514, 32755, AGC= 56, IDX= 505, 0.24, 0.458,-1.025, 1.154, 0.633, PHS=-0.073,-1.613, 0.476, RAW= 164.7, 12.8, CAL= 165.1, 15.0, ROT= 344.9, -15.0 ] T#Rx 18: Read range and direction messages. ^direction in FSK: [0.932575,-0.251628,0.258819] Fpublishing direction and range info9V?AпV!}?Ai0tkW )vοIF>id> >  iIwZ.?CC?];v?4G?5e ) i checking for new query: numPingsReceived=18, elapsed TxPingTime=11.166327Y }l,'%*Ay6@ٱ6n@6k=6#<6H`N6?`Y?@ ?Q4?@%CY ]??@?I6@)6];i6CNǃB9N"I1=Mb@Mb@Mb@ 9)9I9i99=V-?A`"~jth?=|>=ٽ=D;I="@i=@=@=@)9=@BDU6DU4YeͶ<!e8=eT9Q)e>i9i9mDYmQCsA>Q 14٪8?Q 54+ _B9?Q A:YQQ E?yC):I:i4YГBMAڥEhh4 %*AhAhAhy@h#X;@ޝ5`@hV?AпV!}?hh iM^$2@16GP!@h? @)迀ОX?h=h͕Ahs'>?h]ihؐB*is'>?2i]i:ii]A"i}@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.505004 s, deltaX: -0.099998 m, approachRate: -0.198015 m/s, rangeRepo size: 4  Added new target pos. range: 30.015268 m, bearing: 309.730649 deg, lat: 36.779428 deg, lon: -121.859655 deg, deltaT: 0.505004 s, deltaX: -0.099388 m, approachRate: -0.196807 m/s, posRepo size: 4 gDNOT Ignoring new targets: 30.02 m.gggchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.337336  ProNav: ac range: 30.015268 m, nav range: 29.295610 m, bearing: 309.730756 deg, approach rate: 0.000000 m/s, LOS rate: -0.052707 deg/s, cmd heading: 321.666284 deg, new cmd heading: 321.624474 deg. g HeadingCmd: 5.613406 target range: 30.015268 and range: 30.20 m.g@ggggzfrff!f%VBBd!d!dIcM@33>@cMk?ɢ BN< 顝^?I ɡiIJֱ9Iv+i(<=i@m=)@)aiAAIM0QԑD- vD- cD) D) E- Vz: E- L96E) :E) !5 @!5 @!5 @!5 @>Aa rAm ?jAm ?I I N > DDAT read: Rx Time:16:11:53.6241  TRx dataTimestamp_ set to:1755879113.003373 PDAT read: Bearing 145.0, -16.1 (Local) Թ  ~Local bearing/azimuth received: Bearing 145.0, -16.1 (Local)  DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4  DAT read: 16:11:53.6241 LVL= 28448, 29105, 23074, 32755, AGC= 55, IDX= 503,-0.26,-2.765, 2.073,-2.083,-2.579, PHS=-0.084,-1.587, 0.452, RAW= 164.7, 13.2, CAL= 165.1, 15.6, ROT= 344.9, -15.6  Ygot valid direction response: 16:11:53.6241 LVL= 28448, 29105, 23074, 32755, AGC= 55, IDX= 503,-0.26,-2.765, 2.073,-2.083,-2.579, PHS=-0.084,-1.587, 0.452, RAW= 164.7, 13.2, CAL= 165.1, 15.6, ROT= 344.9, -15.6  T#Rx 19: Read range and direction messages. ^direction in FSK: [0.929907,-0.250908,0.268920] Fpublishing direction and range info9 bs? п]^|5? 3A i o q "Z 7 1) "˿I l>i k> 'g> 'gi I P2%?Ef?7uT? G? l ) 'gi % checking for new query: numPingsReceived=19, elapsed TxPingTime=11.605589dl,A%*AnB9n"IBDv6Dv14Y!W=Q)>99DYwCA>Q 14٪[?Q 54 {_B9Y Q E ?yC)6:Ip:iv4ԑYAhhC7@%*AhAhAh3@hsAW;@A8mƒP@hbs? п]^|5?hh'giM2}2@ ]0W{A6 $@h>Dr?**?h hAh5?hgFhCB*i2igF:iCBiA"iL@e addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.502262 s, deltaX: -0.300001 m, approachRate: -0.597300 m/s, rangeRepo size: 4  Added new target pos. range: 29.717104 m, bearing: 309.721739 deg, lat: 36.779428 deg, lon: -121.859654 deg, deltaT: 0.502262 s, deltaX: -0.298164 m, approachRate: -0.593643 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.72 m.ggg ProNav: ac range: 29.717104 m, nav range: 29.000328 m, bearing: 309.876280 deg, approach rate: 0.000000 m/s, LOS rate: -0.052707 deg/s, cmd heading: 321.624483 deg, new cmd heading: 321.582279 deg. gHeadingCmd: 5.612669 target range: 29.717104 and range: 29.90 m.g@ggggzfrfffBdd dc`f=@c?ɢ BT< 页U?I ɡiI89vBe=>~BeCBe!IBeBBe =BaBaBeO;BeEI+iV=i麞=)@)iI4= checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842308i199=09>A] =I I N > D5 xD5 aD5 )D1 E5 ˀ: E5 96E5 FA4:E1 "E5 ;!E E5 ;!E *E5 ;!E E5 ;!M ǎl,M[%*Ay6E@ٱ6@6&=6&<6H`0?@b?a?Y#.?@妥`:?@?I6E@)6];i4RB9R "IV=V=)T VABDZ6DZd4Yb<!bZ=fs:Q)f>d9h9jDYjCj fAj>|Q 14٪~;*?Q 54~ ~t_B9 Y RQ E ?y~C)~:I~6:i~ 4YA5B*** querying acoustic contact ***zhIhIgDNOT Ignoring new targets: 29.72 m.ggg򇺝 ProNav: ac range: 29.717104 m, nav range: 28.811291 m, bearing: 309.855937 deg, approach rate: -0.548618 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.582272 deg, new cmd heading: 321.541319 deg. gٺHeadingCmd: 5.611955 target range: 29.717104 and range: 29.90 m.g"@ggggzfrfffBddd!c!c%Y?eDDAT read: Rx Time:16:11:54.1240 eTRx dataTimestamp_ set to:1755879113.507446mPDAT read: Bearing 144.5, -16.2 (Local) u~Local bearing/azimuth received: Bearing 144.5, -16.2 (Local) DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 DAT read: 16:11:54.1240 LVL= 27968, 28785, 23250, 32755, AGC= 55, IDX= 502, 0.08,-0.612,-2.070, 0.079,-0.433, PHS=-0.077,-1.593, 0.468, RAW= 164.8, 12.9, CAL= 165.2, 15.1, ROT= 344.8, -15.1 Ygot valid direction response: 16:11:54.1240 LVL= 27968, 28785, 23250, 32755, AGC= 55, IDX= 502, 0.08,-0.612,-2.070, 0.079,-0.433, PHS=-0.077,-1.593, 0.468, RAW= 164.8, 12.9, CAL= 165.2, 15.1, ROT= 344.8, -15.1 T#Rx 20: Read range and direction messages.^direction in FSK: [0.931697,-0.253137,0.260505]Fpublishing direction and range info9aeK9v?.{c3пQfJ0?eAaie@meqpeZaa e-)em˿Ie>ieX8@ef>e8@eV>e@ eViaaIex"?;$?x7?eH?e?g eԇ)eViaaɢUBUZ= Q]V?IY esɡauchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.128812iiI i9I+imn=imL=)u"@)y)a!i1I  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345351>A% L=y Ai I I N >lkl,4Ix%*Ayrw@ٱrpt@r=rsA`;Iif@)=@BD6D4Y.!(=9Q)>99DYνCZHA>Q 1 4٪n8?Q 5 4 m_B9 ~?Q A :Y .MQ E ?y:C)m ;I;ic4YܓBNAEh)h-y`%*Ah-%Ah-%Ah-Ԭ@h--+W;@6t)@h-K9v?.{c3пQfJ0?h-ԇh-Vi-eQ۾M2@>ӕ >6Գu@h-V]?&Rx?h-h-mAh-B>?h-f$h-B*i)2i-]i:i)i-_A"i-@ addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.504073 s, deltaX: -0.199999 m, approachRate: -0.396766 m/s, rangeRepo size: 4  Added new target pos. range: 29.518156 m, bearing: 309.451706 deg, lat: 36.779428 deg, lon: -121.859655 deg, deltaT: 0.504073 s, deltaX: -0.198948 m, approachRate: -0.394681 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.52 m.gggAM ProNav: ac range: 29.518156 m, nav range: 28.671862 m, bearing: 309.650272 deg, approach rate: 0.000000 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.541318 deg, new cmd heading: 321.482773 deg. gQUHeadingCmd: 5.610933 target range: 29.518156 and range: 29.70 m.gUÌ@gYgYgYgYzfYrfff=BBdddc@3=@c? DDAT read: Rx Time:16:11:54.6238  TRx dataTimestamp_ set to:1755879114.011334PDAT read: Bearing 144.7, -16.3 (Local) ~Local bearing/azimuth received: Bearing 144.7, -16.3 (Local) -DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4 MDAT read: 16:11:54.6238 LVL= 29168, 27297, 21330, 32755, AGC= 54, IDX= 500,-0.47,-2.849, 1.979,-2.155,-2.659, PHS=-0.088,-1.600, 0.461, RAW= 164.9, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 UYgot valid direction response: 16:11:54.6238 LVL= 29168, 27297, 21330, 32755, AGC= 54, IDX= 500,-0.47,-2.849, 1.979,-2.155,-2.659, PHS=-0.088,-1.600, 0.461, RAW= 164.9, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 ]T#Rx 21: Read range and direction messages.e^direction in FSK: [0.929477,-0.254276,0.267238]eFpublishing direction and range info9  tbF? Fп֚n? 3A i q j RS  6 X9) ̿I 1>i 18@ k> R8@ c> M@ ci  I d???=? ̠H?ɢBا< 4l ڸ) ci  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617059 页O?I l<ɡiIzE9I,i=i^=)Ì@)QIG)Ii-xAi0I1@jA@jAԁA A AAvB% <>~B! B% !IB% BB! B! B! B% O;B% EBBBBB =Bɍ95>A ȝ=bA ZA hA checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849372 A AI I1 N >%l,%*AIy} u@ٱ}ir@}2=}<}H'?m?@#D?kes%?Z 'Q1? '?I} u@)}R,^;iyB9"IBD6DE4Y<!:=I:Q)>K?9K?9DYCA>Q 14٪YE?Q 54G f_B9Y?MQ E?yWC)҉;I!;i4Y   ABE-4JEc44RET/DrDcD&DEk: EL96E4:E"E;!E;!*E";!E";!hh%*AhAhAh¬@h(;@?EZ@i2<@htbF? Fп֚n?hڸhciY& 2@sj6_E@hx<~? :}?h3hYAhS5?hϗhېB*iS5?2i:iېBiA"i.֬@u addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503888 s, deltaX: -0.300001 m, approachRate: -0.595373 m/s, rangeRepo size: 4  Added new target pos. range: 29.219948 m, bearing: 309.325306 deg, lat: 36.779427 deg, lon: -121.859655 deg, deltaT: 0.503888 s, deltaX: -0.298208 m, approachRate: -0.591815 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.22 m.ggg ProNav: ac range: 29.219948 m, nav range: 28.389284 m, bearing: 309.462815 deg, approach rate: 0.000000 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.482770 deg, new cmd heading: 321.427782 deg. gHeadingCmd: 5.609973 target range: 29.219948 and range: 29.40 m.g愳@ggggzfrfffBdddc`ff=@c`$_?ɢeBm< imP?Ii m^ɡqqiqIv":IW,iA=iZ[=)愳@)DDAT read: Rx Time:16:11:55.1237 TRx dataTimestamp_ set to:1755879114.516287PDAT read: Bearing 144.5, -16.2 (Local) ~Local bearing/azimuth received: Bearing 144.5, -16.2 (Local)  DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 MDAT read: 16:11:55.1237 LVL= 28656, 29841, 22114, 32755, AGC= 55, IDX= 499,-0.06,-1.365,-2.808,-0.677,-1.177, PHS=-0.087,-1.587, 0.456, RAW= 164.8, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 UYgot valid direction response: 16:11:55.1237 LVL= 28656, 29841, 22114, 32755, AGC= 55, IDX= 499,-0.06,-1.365,-2.808,-0.677,-1.177, PHS=-0.087,-1.587, 0.456, RAW= 164.8, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 UT#Rx 22: Read range and direction messages.]^direction in FSK: [0.929477,-0.254276,0.267238]eFpublishing direction and range info9tbF? Fп֚n?fAiotbV7 -)"˿Ix>iX8@ iI)0??~?}ZF?0wH?tMl )i}checking for new query: numPingsReceived=22, elapsed TxPingTime=13.122806i.5ԩ>AU `= A I I N >cUl,L%*AyFn@ٱFl@F=F½:IO@i@"@(@)(@BD6Dn4Y%B!&=-m9Q)>99DY%,C%F˺A%>)Q 154٪-T?Q 554- -\_B9=?Q A=:Y=MQ E=?y-wC)-;aI-M;i-&4Y}B}Ahh %*AhAhAh@hT;@K؏t_t? @htbF? Fп֚n?hhiXz1@W7Z5X[)@hO >ٽ?!#迴o)8?hhAh)=?hRhB*i)=?2iϗ:iؐBiDA"iҬ@DvDhD'DEVz: E]96E'4:E!@!@!@!@ addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504953 s, deltaX: -0.100000 m, approachRate: -0.198039 m/s, rangeRepo size: 4  Added new target pos. range: 29.120560 m, bearing: 309.279390 deg, lat: 36.779428 deg, lon: -121.859656 deg, deltaT: 0.504953 s, deltaX: -0.099388 m, approachRate: -0.196826 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.12 m.ggg ProNav: ac range: 29.120560 m, nav range: 28.283432 m, bearing: 309.433756 deg, approach rate: 0.000000 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.427773 deg, new cmd heading: 321.370473 deg. gHeadingCmd: 5.608973 target range: 29.120560 and range: 29.30 m.g|@ggggzfrff!f%UBBd!d!d!c-L=@c-sb?ɢB< 顝H?I J!ɡiIw:I.,i=iˢ=)|@)ԉ}DDAT read: Rx Time:16:11:55.6234 TRx dataTimestamp_ set to:1755879115.020499PDAT read: Bearing 143.9, -16.1 (Local) ~Local bearing/azimuth received: Bearing 143.9, -16.1 (Local) DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 DAT read: 16:11:55.6234 LVL= 28432, 31585, 23522, 32755, AGC= 55, IDX= 496, 0.26,-1.574,-3.026,-0.887,-1.398, PHS=-0.074,-1.583, 0.467, RAW= 164.7, 12.9, CAL= 165.1, 15.0, ROT= 344.9, -15.0 Ygot valid direction response: 16:11:55.6234 LVL= 28432, 31585, 23522, 32755, AGC= 55, IDX= 496, 0.26,-1.574,-3.026,-0.887,-1.398, PHS=-0.074,-1.583, 0.467, RAW= 164.7, 12.9, CAL= 165.1, 15.0, ROT= 344.9, -15.0 T#Rx 23: Read range and direction messages.^direction in FSK: [0.932575,-0.251628,0.258819]Fpublishing direction and range info9y}V?AпV!}?}fAyi}o}a{}[yy }P)}ʿI}>i}7@}f>}!k8@} >}@ } iyyI}p'?'A?:"?}xG?}}+f }Z)} iyychecking for new query: numPingsReceived=23, elapsed TxPingTime=13.623831i / P0 Թ >A- L=rA5 ?jA5 ?vB 8>~B B !IB BB B B YDB O;B EI!I1NE>˴l,ϲ%*Ay6i@ٱ6g@6=69<6H "!?@Zw?;? n ?`?`?I6i@)6&];i6CBB9B!IBDJ6DJߢ4YRF!RQ=V8Q)V>T9T9VDYVTCnchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.857265-ҺA5>9Q 1=4٪=_?Q 5E4= =T_B9AYEMQ EE?y=C)=:I=6:i=-4YQUAQhhO%*AhAhAhӬ@hi慱:@jN ^@hV?AпV!}?hZh iu<+x1@P~5W@hpc? 迬L?hh Ah98?hDh B*i98?2i:iBiLA"i@ addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504212 s, deltaX: -0.500000 m, approachRate: -0.991646 m/s, rangeRepo size: 4 U Added new target pos. range: 28.623384 m, bearing: 309.445523 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.504212 s, deltaX: -0.497175 m, approachRate: -0.986044 m/s, posRepo size: 4 gQ]DNOT Ignoring new targets: 28.62 m.gYgYgY ProNav: ac range: 28.623384 m, nav range: 28.037407 m, bearing: 309.294543 deg, approach rate: 0.000000 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.370482 deg, new cmd heading: 321.320737 deg. gHeadingCmd: 5.608105 target range: 28.623384 and range: 28.80 m.gu@ggggzfrfffBdddc<@c*?ɢBI$< .F?I CɡiIm!:I,i =i =) u@)DsD`D&DEso: E96E4:E"Eݑ;!Eޑ;!*E;!E;!i0I)߉ ߍADDAT read: Rx Time:16:11:56.1233 TRx dataTimestamp_ set to:1755879115.523516PDAT read: Bearing 144.7, -16.2 (Local) ~Local bearing/azimuth received: Bearing 144.7, -16.2 (Local) DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 DAT read: 16:11:56.1233 LVL= 27632, 28049, 23890, 32755, AGC= 55, IDX= 511,-0.23, 2.865, 1.423,-2.729, 3.063, PHS=-0.096,-1.595, 0.447, RAW= 164.9, 13.5, CAL= 165.3, 15.9, ROT= 344.7, -15.9 Ygot valid direction response: 16:11:56.1233 LVL= 27632, 28049, 23890, 32755, AGC= 55, IDX= 511,-0.23, 2.865, 1.423,-2.729, 3.063, PHS=-0.096,-1.595, 0.447, RAW= 164.9, 13.5, CAL= 165.3, 15.9, ROT= 344.7, -15.9 T#Rx 24: Read range and direction messages.^direction in FSK: [0.927655,-0.253778,0.273959]Fpublishing direction and range info9X?CJ4=пψ.?AikmR] Ľ)(̿I/>i18@:Fq>R8@q>M@ qiI+, ?T)4?e?^H?fIq ڸ)qi checking for new query: numPingsReceived=24, elapsed TxPingTime=14.125318>A ȝ=q Iq I N >zl,b%*Ay6#c@ٱ6`@6\=6<6HV? |?+? s@?5@X ☛?@?I6#c@)6];i6C^B9^!I-only read 2 of 4 data items for bottom velocity. Device response is::BS, -93, +496, +E, -93, +496, +3,A !@! !@! !@! !@! BD6D4Y=! (=9Q)>99DYC5պA>!Q 1-4٪%m?Q 5-4%j %J_BQ =5+:91Q A5:Y5MQ E5?y%C)%t;I%>i%y44Y9=~AAhhI%*Ah1Achecking for new query: numPingsReceived=24, elapsed TxPingTime=14.361419h1Ah@h|i:u:@J{R/A@hX?CJ4=пψ.?hڸhqiO1@7\5P`@hh?+`!LT?hhHAh3?h[)hB*i2i:iicA"il@  addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503017 s, deltaX: -0.099998 m, approachRate: -0.198797 m/s, rangeRepo size: 4 U Added new target pos. range: 28.523998 m, bearing: 309.188453 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.503017 s, deltaX: -0.099386 m, approachRate: -0.197580 m/s, posRepo size: 4 gYDNOT Ignoring new targets: 28.52 m.ggg ProNav: ac range: 28.523998 m, nav range: 27.798578 m, bearing: 309.254675 deg, approach rate: 0.000000 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.320731 deg, new cmd heading: 321.267849 deg. IgHeadingCmd: 5.607182 target range: 28.523998 and range: 28.70 m.gn@ggggzfrfffBdddc@3<@c?ɢM"BM!j< QUOH?IQ Uo޼ɡQiyI}"q1:I}-i=iD=)n@)i.~0iDyDbD$DE: E96E4:E!@!@!@!@e DDAT read: Rx Time:16:11:56.6230 m TRx dataTimestamp_ set to:1755879116.027225u PDAT read: Bearing 143.6, -16.2 (Local) u ~Local bearing/azimuth received: Bearing 143.6, -16.2 (Local)  DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 ԙ  DAT read: 16:11:56.6230 LVL= 28208, 27329, 21474, 32755, AGC= 55, IDX= 508, 0.08,-2.931, 1.886,-2.239,-2.754, PHS=-0.076,-1.598, 0.471, RAW= 164.8, 12.9, CAL= 165.1, 15.1, ROT= 344.9, -15.1  Ygot valid direction response: 16:11:56.6230 LVL= 28208, 27329, 21474, 32755, AGC= 55, IDX= 508, 0.08,-2.931, 1.886,-2.239,-2.754, PHS=-0.076,-1.598, 0.471, RAW= 164.8, 12.9, CAL= 165.1, 15.1, ROT= 344.9, -15.1  T#Rx 25: Read range and direction messages. ^direction in FSK: [0.932137,-0.251510,0.260505] Fpublishing direction and range info9i m e3?ؽпQfJ0?m Ai im 0nm jm Si i m 㥛)m D̿Im &>im X8@m f>m !k8@m V>m @ m Vii i Im &$?ө?˃?m H?m f m Z)m Vii i  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.636558>A} L=I I) N= >~Tl,!%*AyVZ@ٱVX@V=Vl^99DYC,A>Q 14٪y?Q 5 4+ A_BQ =  :9 Q A :Y !NQ E?yɎC)%;I7_?i84YBAEhh%*Ah7Ah7Ah Ŭ@h, :@D%D2Zg4@he3?ؽпQfJ0?hZhVi?;jyW1@i'5Vi@ha?HO`'迨e?h=hAhv.?h,hݏB*iS5?2i[):iiA"iG@  addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503709 s, deltaX: -0.500000 m, approachRate: -0.992637 m/s, rangeRepo size: 4 % Added new target pos. range: 28.027065 m, bearing: 309.342974 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.503709 s, deltaX: -0.496933 m, approachRate: -0.986548 m/s, posRepo size: 4 g!-DNOT Ignoring new targets: 28.03 m.g)g1g1m ProNav: ac range: 28.027065 m, nav range: 27.570543 m, bearing: 309.197712 deg, approach rate: 0.000000 m/s, LOS rate: -0.059426 deg/s, cmd heading: 321.267838 deg, new cmd heading: 321.220390 deg. giuHeadingCmd: 5.606353 target range: 28.027065 and range: 28.20 m.gu?g@gqgqgqgqzfyrfyfyAA<vB5>~BCB!IBBB =BBBP;BEfBdddc@33<@cx?ɢ%B< A?I ڼɡiIC8:IED-iE=iE=)E?g@)AԹchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.865679i/4>A =bA ZA iAIY Iq N} >D D `D )D E : E 96E FA4:E "E 0 l9l9rDYrԾCrAr>tQ 1z4٪vw?Q 5z4v v9_BQ =z99xQ A~_:Y~ANQ E~?yvC)vD;Iv?ivj<4Y*A%B*** querying acoustic contact ***zh!h!g)5DNOT Ignoring new targets: 28.03 m.g1g52ҺMDDAT read: Rx Time:16:11:57.1230 MTRx dataTimestamp_ set to:1755879116.531443UPDAT read: Bearing 144.1, -16.3 (Local) ]~Local bearing/azimuth received: Bearing 144.1, -16.3 (Local) mDAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 DAT read: 16:11:57.1230 LVL= 29920, 28097, 22674, 32755, AGC= 55, IDX= 508,-0.47,-2.906, 1.928,-2.213,-2.713, PHS=-0.092,-1.598, 0.455, RAW= 164.9, 13.3, CAL= 165.3, 15.7, ROT= 344.7, -15.7 Ygot valid direction response: 16:11:57.1230 LVL= 29920, 28097, 22674, 32755, AGC= 55, IDX= 508,-0.47,-2.906, 1.928,-2.213,-2.713, PHS=-0.092,-1.598, 0.455, RAW= 164.9, 13.3, CAL= 165.3, 15.7, ROT= 344.7, -15.7 T#Rx 26: Read range and direction messages.^direction in FSK: [0.928571,-0.254028,0.270600]Fpublishing direction and range info9IM۶?"BпRlyQ?IIiMtMmMXII Mj)IIM>iM18@M,m>MR8@MK>MM@ MKiIIIMu ?+?X'U?MLH?Mfng2Һ ProNav: ac range: 28.027065 m, nav range: 27.383535 m, bearing: 309.165957 deg, approach rate: -0.537444 m/s, LOS rate: -0.091883 deg/s, cmd heading: 321.220382 deg, new cmd heading: 321.156439 deg. g((HeadingCmd: 5.605237 target range: 28.027065 and range: 28.20 m.g^@ggggzf Mڸ)MKiIIchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.136945rfffBdddccz?ɢ'B< 顽=?I 2ռɡiI A:I-i-0=i5=)=^@)A!i=09AE4AQchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.369434>A} =I I N% >y Nl,79%*AyRgQ@ٱRN@R=R99DYCEA>Q 14٪r?Q 54 1_BQ =T:9?Q A:YMQ E?yC):I7:iD4YBAEhqhu*"%*Ahu6Ahu6Ahu@hu$P`:@_tHzz]pV@hu۶?"BпRlyQ?huڸhuKiu-mtj41@2TR .5s2N@hukG ͤ?cO/JK4&.?huthuAhuA;?huIhuaB*iu98?2iq:iuaBiuqA"iu󷬬@E addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504218 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Q] Added new target pos. range: 28.026821 m, bearing: 309.084722 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.504218 s, deltaX: -0.000244 m, approachRate: -0.000484 m/s, posRepo size: 4 gYeDNOT Ignoring new targets: 28.03 m.gagegau ProNav: ac range: 28.026821 m, nav range: 27.180395 m, bearing: 309.172798 deg, approach rate: 0.000000 m/s, LOS rate: -0.091883 deg/s, cmd heading: 321.156451 deg, new cmd heading: 321.075816 deg. gy}HeadingCmd: 5.603830 target range: 28.026821 and range: 28.20 m.g}R@ggggzfrfffbBBdddcc|?ɢ=*B= < 9E7?IA E@мɡAiAIE?L:Im7-imH=imM=)uR@)q]DDAT read: Rx Time:16:11:57.6227 eTRx dataTimestamp_ set to:1755879117.036777uPDAT read: Bearing 144.5, -16.4 (Local) u~Local bearing/azimuth received: Bearing 144.5, -16.4 (Local) DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 DAT read: 16:11:57.6227 LVL= 30768, 30241, 23122, 32755, AGC= 54, IDX= 505,-0.06, 1.838, 0.386, 2.538, 2.046, PHS=-0.106,-1.615, 0.448, RAW= 165.0, 13.7, CAL= 165.5, 16.2, ROT= 344.5, -16.2 Ygot valid direction response: 16:11:57.6227 LVL= 30768, 30241, 23122, 32755, AGC= 54, IDX= 505,-0.06, 1.838, 0.386, 2.538, 2.046, PHS=-0.106,-1.615, 0.448, RAW= 165.0, 13.7, CAL= 165.5, 16.2, ROT= 344.5, -16.2 T#Rx 27: Read range and direction messages.^direction in FSK: [0.925368,-0.256628,0.278991]Fpublishing direction and range info9Y]}d?Xɕlп?]fAi./Yi]0x]!v]RZY]6 ]ٽ)]RοI]B`>i]N8@]Gt>]8@]Ð>]g@ ]ÐiYYI]@,??D?]9I?]ut ]j)]ÐiYY]checking for new query: numPingsReceived=27, elapsed TxPingTime=15.655503ԉԱ>A vB 8>~B CB !IB {BB B B B P;B EI I N >  checking for new query: numPingsReceived=27, elapsed TxPingTime=15.873290l,~S%*APiPyWJ@ٱG@k=$<H??@v?`5 ?R-%`o?7?IWJ@)`5];iB9!Iii=I=BD6D4YR_<!G={Q)>99DY *C i A >Q 14٪?Q 54 *_B9Y%MQ E%?yC)>:I:i5K4Y-B-A-EhhZB%*Ah Ah Ah{@h?H@9@\"9]@h}d?Xɕlп?hjhÐi1V0@}"ɳ4rZ>#@hr~?UӔ8 ^(F?hMhAhI$(?hhB*i3?2i:iirA"i@ addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.505334 s, deltaX: -0.400002 m, approachRate: -0.791559 m/s, rangeRepo size: 4 Ա Added new target pos. range: 27.629421 m, bearing: 308.830123 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.505334 s, deltaX: -0.397400 m, approachRate: -0.786410 m/s, posRepo size: 4 gDNOT Ignoring new targets: 27.63 m.ggg ProNav: ac range: 27.629421 m, nav range: 26.931049 m, bearing: 309.055742 deg, approach rate: 0.000000 m/s, LOS rate: -0.091883 deg/s, cmd heading: 321.075827 deg, new cmd heading: 320.999878 deg. gHeadingCmd: 5.602505 target range: 27.629421 and range: 27.80 m.gG@ggggzfrfffBdddc;@cÀ?ɢ.B< !%|7?I! -˼ɡ)i)I-;)Z:I5A.i5@e=i5=)5G@)9DmuDmbDm&DiEmv: Em96Em4:Ei"Em";!uEm#;!}*Em5;!}Em6;!}i//]DDAT read: Rx Time:16:11:58.1226 eTRx dataTimestamp_ set to:1755879117.539373mPDAT read: Bearing 143.6, -16.2 (Local) m~Local bearing/azimuth received: Bearing 143.6, -16.2 (Local) }DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 DAT read: 16:11:58.1226 LVL= 32112, 32225, 24306, 32755, AGC= 55, IDX= 504, 0.27,-1.417,-2.872,-0.725,-1.228, PHS=-0.086,-1.599, 0.460, RAW= 164.8, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 Ygot valid direction response: 16:11:58.1226 LVL= 32112, 32225, 24306, 32755, AGC= 55, IDX= 504, 0.27,-1.417,-2.872,-0.725,-1.228, PHS=-0.086,-1.599, 0.460, RAW= 164.8, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 T#Rx 28: Read range and direction messages.^direction in FSK: [0.929477,-0.254276,0.267238]Fpublishing direction and range info9Y]tbF? Fп֚n?]AYi]p}]}]^Y]7 ] )]̿I]>i]X8@]k>]R8@]c>]M@ ]ciYYI]XR? ?~U6?]MLH?]dk ]ڸ)]ciYYchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.149019 >A5 =1 Aq Iy I N >l,ρm%*AyV?F@ٱVC@V=Viף;I@i@O@AA)\@BD6D4YJ!E=9Q)>99DYTC%A%>)Q 154٪-?Q 554- -#_B95r>Q A5:Y5OQ E=?y-2C)-:I-:i-xR4YAEAAchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.380035hIhMb%*AhMqAhMqAhMI@hMa 9@|%[bStR@hMtbF? Fп֚n?hMڸhMciMP>,0@)84@hMw[?ܯo:,cm?hM)hMAhM.T3?hM*hMB*iM.T3?2iM*:iIiMA"iML@} addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.502596 s, deltaX: -0.199999 m, approachRate: -0.397932 m/s, rangeRepo size: 4  Added new target pos. range: 27.430649 m, bearing: 309.008925 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.502596 s, deltaX: -0.198772 m, approachRate: -0.395491 m/s, posRepo size: 4 gDNOT Ignoring new targets: 27.43 m.ggg ProNav: ac range: 27.430649 m, nav range: 26.729860 m, bearing: 309.009022 deg, approach rate: 0.000000 m/s, LOS rate: -0.091883 deg/s, cmd heading: 320.999876 deg, new cmd heading: 320.913114 deg. gHeadingCmd: 5.600990 target range: 27.430649 and range: 27.60 m.gP;@ggggzfrff9f=qBBdAdAdIcM;@cM?ɢ2B< %1?I! %QƼɡ!i!I%Bgl:I-Y.i- =i-=)UP;@)QD=wD=aD9D9E=}: E=96E9:E9!M@!M@!M@!M@i0/! % DDAT read: Rx Time:16:11:58.6224 - TRx dataTimestamp_ set to:1755879118.0433655 PDAT read: Bearing 143.8, -16.3 (Local) 5 ~Local bearing/azimuth received: Bearing 143.8, -16.3 (Local) E DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 m DAT read: 16:11:58.6224 LVL= 27008, 32305, 22402, 32755, AGC= 54, IDX= 502,-0.20, 2.053, 0.600, 2.747, 2.251, PHS=-0.096,-1.606, 0.453, RAW= 164.9, 13.5, CAL= 165.4, 15.9, ROT= 344.6, -15.9 u Ygot valid direction response: 16:11:58.6224 LVL= 27008, 32305, 22402, 32755, AGC= 54, IDX= 502,-0.20, 2.053, 0.600, 2.747, 2.251, PHS=-0.096,-1.606, 0.453, RAW= 164.9, 13.5, CAL= 165.4, 15.9, ROT= 344.6, -15.9 u T#Rx 29: Read range and direction messages.} ^direction in FSK: [0.927210,-0.255396,0.273959] Fpublishing direction and range info9) - |G2?'iXпψ.?- fA) i- i- 1~- W) - 6 - Ľ)- hͿI- >i- 18@- :Fq>- 8@- q>- v@ - qi) ) I- }p( ?7?ms?- H?- Wp - )- qi) )  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.645136>A ˡ=Q AII)N5>l,N%*Ay~;@ٱ~$9@~=A A vB:>~BB!IBqBB =BBBO;BE~R<~H@??*??{Q?`N?I~;@)~"];i~C5B95!IABDM6DM4YUL<!]9=]Q)]>Y9a9eDYeCe=Am>iQ 1u4٪m?Q 5u4m m_B9yY}PQ E}?ymNC)m`:Im:im/Z4YBAEhqhu~Ƃ%*AhuAhuAhu|@hu1d\(9@@hu|G2?'iXпψ.?huhuqiu0@Yw-4K$@hu ?C?;J'A?hu|hugAhuԯ(?huhu+B*iuv.?2iu:iu+BiuA"iut@ addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503992 s, deltaX: -0.300001 m, approachRate: -0.595250 m/s, rangeRepo size: 4  Added new target pos. range: 27.132643 m, bearing: 308.832762 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 0.503992 s, deltaX: -0.298006 m, approachRate: -0.591291 m/s, posRepo size: 4 gDNOT Ignoring new targets: 27.13 m.ggg ProNav: ac range: 27.132643 m, nav range: 26.476240 m, bearing: 308.891205 deg, approach rate: 0.000000 m/s, LOS rate: -0.091883 deg/s, cmd heading: 320.913105 deg, new cmd heading: 320.842735 deg. g HeadingCmd: 5.599762 target range: 27.132643 and range: 27.30 m.g @1@g g g g zf rfffBdddcL;@c%1?ɢM4BM< IMP2?II Ua¼ɡQiQIU@s:I].i=i[=) @1@)1DDAT read: Rx Time:16:11:59.1223 TRx dataTimestamp_ set to:1755879118.298683PDAT read: Bearing 143.3, -16.1 (Local) ~Local bearing/azimuth received: Bearing 143.3, -16.1 (Local) checking for new query: numPingsReceived=29, elapsed TxPingTime=16.893728yi//ԙDaDebDe%DaEa Ee96Ee 4:Ea"Eeg;!uEeh;!u*Ea!uEa!}>A= A I I! N- >] DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 } DAT read: 16:11:59.1223 LVL= 29872, 29937, 23746, 32755, AGC= 55, IDX= 501, 0.14,-1.779, 3.044,-1.090,-1.593, PHS=-0.085,-1.602, 0.458, RAW= 164.7, 13.2, CAL= 165.2, 15.5, ROT= 344.8, -15.5  Ygot valid direction response: 16:11:59.1223 LVL= 29872, 29937, 23746, 32755, AGC= 55, IDX= 501, 0.14,-1.779, 3.044,-1.090,-1.593, PHS=-0.085,-1.602, 0.458, RAW= 164.7, 13.2, CAL= 165.2, 15.5, ROT= 344.8, -15.5  T#Rx 30: Read range and direction messages. ^direction in FSK: [0.929919,-0.252654,0.267238] Fpublishing direction and range info9I M S,^?[Py+п֚n?M AI iM tM tM \I M 7 M {)M VͿIM ~>iM 7@M k>M 8@M c>M @ M ciI I IM eO:l!??*2G?M G?M #Ql M ԇ)M ciI I  checking for new query: numPingsReceived=30, elapsed TxPingTime=17.145267l,%*Aɰdf4<Թy5@ٱ3@=F<H??a? ?m`!B[?V?I5@)A];iCmB9m!I)q uAeMb@Mb@Mb@ a)aIaiaaeGz?B`"۹Mbp?ep>eνe;Ie@ie@e"@a)ae@BD}6D}4Yt!!=MQ)>99DYCA>Q 14٪Ě?Q 54 _B9U?Q A:Y~RQ E?yoC); ;I;ic4YAhh|%*AhDAhDAh@hOd#9@cQV@hS,^?[Py+п֚n?hԇhcifA =A II!9i=tCDAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 DAT read: 16:11:59.6221 LVL= 29232, 27009, 21410, 32755, AGC= 55, IDX= 499,-0.37, 1.725, 0.263, 2.428, 1.932, PHS=-0.105,-1.624, 0.452, RAW= 165.0, 13.6, CAL= 165.5, 16.1, ROT= 344.5, -16.1 Ygot valid direction response: 16:11:59.6221 LVL= 29232, 27009, 21410, 32755, AGC= 55, IDX= 499,-0.37, 1.725, 0.263, 2.428, 1.932, PHS=-0.105,-1.624, 0.452, RAW= 165.0, 13.6, CAL= 165.5, 16.1, ROT= 344.5, -16.1 T#Rx 31: Read range and direction messages.^direction in FSK: [0.925836,-0.256757,0.277315]Fpublishing direction and range info9quN,r?l nп/?u3Aqiu0ruiuSqq u= ׽)u;ϿIul>iuN8@us>u8@uޏ>ug@ uޏiqqIu/?bl~?(.-?u(I?u´s uj)uޏiqqchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.650738N> l,gij%*AI)I,iJHJAy+@ٱm(@=<H?'?`n?@?`9`rW̚?G?I+@)}0];i{B9!IBD6DE4Y- !-F=5Q)5>1999=DY]߿C]JAe>aQ 1m4٪eК?Q 5m4e e _B9qYuRQ Eu?yeC)e:Ie:ieTj4YB/AEhh Aó%*AhAhAh[@hж8@3,u}@hN,r?l nп/?hjhޏitQj60@P|N4o:'%@hGCb(h?c7NSE?hshAhF"'?h hB*iԯ(?2i:iBiA"iwg@m addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504922 s, deltaX: -0.300001 m, approachRate: -0.594153 m/s, rangeRepo size: 4  Added new target pos. range: 26.735094 m, bearing: 308.605774 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 0.504922 s, deltaX: -0.298162 m, approachRate: -0.590512 m/s, posRepo size: 4 gDNOT Ignoring new targets: 26.74 m.ggg ProNav: ac range: 26.735094 m, nav range: 25.969875 m, bearing: 308.688453 deg, approach rate: 0.000000 m/s, LOS rate: -0.091883 deg/s, cmd heading: 320.749508 deg, new cmd heading: 320.669379 deg. g HeadingCmd: 5.596736 target range: 26.735094 and range: 26.90 m.g w@g g ggzfrfffBdd!d!c%`f:@c%r?vBu;>~BqBu!IBubBBqBqBqBuO;BuEB9B9B9B9B= =B=H5ɢA BEm!4JEmY"4REmp/D qD rD 'D E 2h: E ?:6E '4:E "E ;! E ;! *E rY;! E sY;! ԑ A9 IA IQ N] >l,n%*AyF%@ٱF%#@FM=FA9A9EDYECE+ҺAM>DAT read: 16:12:00.1219 LVL= 27792, 28449, 20658, 32755, AGC= 55, IDX= 497, 0.01, 2.977, 1.524,-2.611,-3.110, PHS=-0.094,-1.603, 0.455, RAW= 164.9, 13.4, CAL= 165.4, 15.8, ROT= 344.6, -15.8 Ygot valid direction response: 16:12:00.1219 LVL= 27792, 28449, 20658, 32755, AGC= 55, IDX= 497, 0.01, 2.977, 1.524,-2.611,-3.110, PHS=-0.094,-1.603, 0.455, RAW= 164.9, 13.4, CAL= 165.4, 15.8, ROT= 344.6, -15.8 Z#Rx 33: Read direction message, but no range.^direction in FSK: [0.927670,-0.255523,0.272280]9qu.x?{Zп ^ m?qiulu!ouPqq u)u/ͿIu>iu18@u|o>u8@u0>uv@ u0iqIu w6 ?ϝ$?<.ޟ?u1H?u*o u)u0checking for new query: numPingsReceived=33, elapsed TxPingTime=18.150742IQ 14٪Mpܚ?Q 54M M_B9YRQ E?yMC)M3A T= AA IQ Ia Nu >ul,H%*AD>xD>nD>&D<E>ˀ: E>:6E>4:E]Ƚ]:I]@i](@]O@Y)Y]G@ԉBD6D4Y޼!1=8Q)>99 DY 7C oA >Q 14٪隊?Q 54Z  ^B9%?Q A%:Y%QQ E%?yC);I?;iy4YIMAIB*** querying acoustic contact ***zhh addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.502999 s, deltaX: -0.500000 m, approachRate: -0.994038 m/s, rangeRepo size: 4 gDNOT Ignoring new targets: 26.44 m.ggӺgӺ ProNav: ac range: 26.437019 m, nav range: 25.533461 m, bearing: 308.616002 deg, approach rate: -0.533203 m/s, LOS rate: -0.092602 deg/s, cmd heading: 320.593152 deg, new cmd heading: 320.511886 deg. gy)HeadingCmd: 5.593987 target range: 26.437019 and range: 26.10 m.g@ggg g zf rf fflBBdddc:@c:W?DAT read: 16:12:00.6216 LVL= 30192, 29585, 21778, 32755, AGC= 56, IDX= 510, 0.40, 2.304, 0.820, 3.007, 2.503, PHS=-0.097,-1.638, 0.460, RAW= 164.8, 13.5, CAL= 165.3, 15.9, ROT= 344.7, -15.9 Ygot valid direction response: 16:12:00.6216 LVL= 30192, 29585, 21778, 32755, AGC= 56, IDX= 510, 0.40, 2.304, 0.820, 3.007, 2.503, PHS=-0.097,-1.638, 0.460, RAW= 164.8, 13.5, CAL= 165.3, 15.9, ROT= 344.7, -15.9 Z#Rx 35: Read direction message, but no range.^direction in FSK: [0.927655,-0.253778,0.273959]9aeX?CJ4=пψ.?aieueseUae8 eƽ)eѿIe>ieX8@e:Fq>eR8@eq>eM@ eqiaIeNP9?hէh?g_e?ejbH?ep eڸ)eqchecking for new query: numPingsReceived=35, elapsed TxPingTime=18.654709ɢBB7m< _?I +ɡiIlZ:IBo0ii=i=)@)i0/AE<AE<vBM<>~BIBM!IBMRBBIBIBIBMO;BME>A rA ?jA ?5 DDAT read: Rx Time:16:12:01.1216 E TRx dataTimestamp_ set to:1755879120.315247e PDAT read: Bearing 143.4, -16.4 (Local) m ~Local bearing/azimuth received: Bearing 143.4, -16.4 (Local)  DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 I I9 Nm >jm,̵%*ADAT read: 16:12:01.1216 LVL= 26896, 29057, 22354, 32755, AGC= 55, IDX= 510,-0.13, 2.552, 1.103,-3.033, 2.758, PHS=-0.103,-1.609, 0.449, RAW= 165.0, 13.6, CAL= 165.5, 16.1, ROT= 344.5, -16.1 Ygot valid direction response: 16:12:01.1216 LVL= 26896, 29057, 22354, 32755, AGC= 55, IDX= 510,-0.13, 2.552, 1.103,-3.033, 2.758, PHS=-0.103,-1.609, 0.449, RAW= 165.0, 13.6, CAL= 165.5, 16.1, ROT= 344.5, -16.1 T#Rx 36: Read range and direction messages.^direction in FSK: [0.925836,-0.256757,0.277315]JFpublishing direction and range info9QUN,r?l nп/?QQiUiUqURWQU7 Uҽ)UͿIUT>iUN8@Us>U8@Uޏ>Ug@ UޏiQQIU :k?`*2?>=!?U#I?Uh(s Uj)UޏiQQ checking for new query: numPingsReceived=36, elapsed TxPingTime=18.975479y@ٱR@=\<H ? ?=Џ?:@?@5lq T?L?I@)O1];iC%nB9%!IIBD]6D]'4Y5!>=n8Q)>99DYcC@A>Q 14٪??Q 54y ^B9YRQ E?yݏC)z$A ܪ= I I N > m,1%*Ai%=I4=5DDAT read: Rx Time:16:12:01.6213 =TRx dataTimestamp_ set to:1755879120.819872]PDAT read: Bearing 142.5, -16.2 (Local) e~Local bearing/azimuth received: Bearing 142.5, -16.2 (Local) `B9!I}DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 DAT read: 16:12:01.6213 LVL= 30384, 28289, 22546, 32755, AGC= 54, IDX= 507, 0.17, 3.075, 1.604,-2.509,-3.018, PHS=-0.088,-1.616, 0.465, RAW= 164.9, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 ]Ygot valid direction response: 16:12:01.6213 LVL= 30384, 28289, 22546, 32755, AGC= 54, IDX= 507, 0.17, 3.075, 1.604,-2.509,-3.018, PHS=-0.088,-1.616, 0.465, RAW= 164.9, 13.2, CAL= 165.3, 15.5, ROT= 344.7, -15.5 ]T#Rx 37: Read range and direction messages.m^direction in FSK: [0.929477,-0.254276,0.267238]uFpublishing direction and range info915tbF? Fп֚n?5A1i5v5n5X156 5X9)5οI5{>i518@5k>5R8@5c>5M@ 5ci11I5S(~?gF?xP,=?5sH?5k 5ڸ)5ci11 checking for new query: numPingsReceived=37, elapsed TxPingTime=19.499399Mb@Mb@Mb@ )IiZd;?1Zd>"۽I@i@)I)BD6D4)Y `f!5!=5Q)5>9999=DY=CEAE>AQ 1u4٪E?Q 5u4E E^B9ue?Q Au:Yu VQ E}?yEC)ES;IE:iE㉁4YuADDZD)DEO: Ea96EFA4:E!@!@!@!@h1h5x4%*Ah5WAh5WAh5Uf@h5( 7@@<Ѽ-FM@h5tbF? Fп֚n?h5ڸh5ci5ݯT/@Pm3@h5kȂ|?W:VO?h5mh5xAh5c4#?h5tPh5ߎB*i58 '?2i1:i5Bi5)A"i5\T@- addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504625 s, deltaX: -0.400000 m, approachRate: -0.792667 m/s, rangeRepo size: 4 = Added new target pos. range: 25.542559 m, bearing: 308.680530 deg, lat: 36.779425 deg, lon: -121.859656 deg, deltaT: 0.504625 s, deltaX: -0.397549 m, approachRate: -0.787810 m/s, posRepo size: 4 gAeDNOT Ignoring new targets: 25.54 m.gagigi} ProNav: ac range: 25.542559 m, nav range: 25.020153 m, bearing: 308.554839 deg, approach rate: 0.000000 m/s, LOS rate: -0.092602 deg/s, cmd heading: 320.427752 deg, new cmd heading: 320.336808 deg. gyHeadingCmd: 5.590932 target range: 25.542559 and range: 25.70 m.g@ggggzfrfff[BBdddc@39@c@s?ɢ IB Qc<   ?I *ɡiI:I71iY=i_=)%@)AYchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.653372i0/ԉ >A `==I I! N- > <m,M%*Aɰ;vB*;>~B(B*s!IB*CBB(B(B(B*O;B*EyF@ٱFQ@FP[=FqgimR8@mGt>i//mL39@mÐ>m<@ mÐiiiImfOɛ? A.;?lI@?mjJ?m:Vt m0)mÐiiichecking for new query: numPingsReceived=38, elapsed TxPingTime=19.993011D vD aD (D E Vz: E 96E c44:E "E E;!E F;!*E !E !%>A] H=bA] jAZA] jAI I N > checking for new query: numPingsReceived=38, elapsed TxPingTime=20.157221 ]m,EFg%*Ay>@ٱ>Y@>=><>H`??@Ï?L?2&Wh>?u?I>@)>0];i<^VB9j!IBDv6Dv4Y A!G=Q)%>!9!9%DY%C--A->1Q 154٪5?Q 5=45 5^B99Y=VQ E=?y5,C)1I5;i54YMBMAMEhhȱT%*Ahhh @h7@g(ڶEI'@hR`?8^bп?h0hÐi.@a`wǍ3l37Y9@hK#?O运J#Y?hnhotAh` ?hhsB*ic4#?2i:iBiA"iB@M addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503479 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.542490 m, bearing: 308.000063 deg, lat: 36.779425 deg, lon: -121.859656 deg, deltaT: 0.503479 s, deltaX: -0.000069 m, approachRate: -0.000136 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.54 m.ggg ProNav: ac range: 25.542490 m, nav range: 24.640118 m, bearing: 308.433252 deg, approach rate: 0.000000 m/s, LOS rate: -0.074562 deg/s, cmd heading: 320.296476 deg, new cmd heading: 320.227691 deg. gHeadingCmd: 5.589027 target range: 25.542490 and range: 25.70 m.gPٲ@ggggzfrfffBd d d c c@?ɢ]MB]B_< Y]?Ia eɡaiaIe`A:IV1i=iR=)Pٲ@))i))119DDAT read: Rx Time:16:12:02.6210 TRx dataTimestamp_ set to:1755879121.827944PDAT read: Bearing 142.9, -16.4 (Local) ~Local bearing/azimuth received: Bearing 142.9, -16.4 (Local) DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 Z#Rx 39: Read range message, but no direction.9A%checking for new query: numPingsReceived=39, elapsed TxPingTime=20.432846Y>A ܪ=I! I9 NE >DU tDU dDU &DQ EU s: EU 96EU 4:EQ !] @!] @!] @!] @y D m,%*AyBl@ٱB@B=B/I9Q9UDYUCU:AU>YQ 1e4٪]%?Q 5e4]  ]^B9my?Q Am:YmyXQ Em?y]GC)]:I]M:i]C4YquADAT read: 16:12:02.6210 LVL= 29872, 26865, 20770, 32755, AGC= 56, IDX= 504,-0.03, 1.560, 0.091, 2.265, 1.767, PHS=-0.106,-1.631, 0.454, RAW= 165.0, 13.6, CAL= 165.5, 16.1, ROT= 344.5, -16.1 Ygot valid direction response: 16:12:02.6210 LVL= 29872, 26865, 20770, 32755, AGC= 56, IDX= 504,-0.03, 1.560, 0.091, 2.265, 1.767, PHS=-0.106,-1.631, 0.454, RAW= 165.0, 13.6, CAL= 165.5, 16.1, ROT= 344.5, -16.1 Z#Rx 40: Read direction message, but no range.^direction in FSK: [0.925836,-0.256757,0.277315]9N,r?l nп/?ith8 ٽ)пIr>iN8@s>8@ޏ>g@ ޏiISnX?E?:!bi0??h yh$B*i` ?2iO:isBiA"i9@ addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504593 s, deltaX: -0.500000 m, approachRate: -0.990898 m/s, rangeRepo size: 4  Added new target pos. range: 25.045555 m, bearing: 308.238590 deg, lat: 36.779425 deg, lon: -121.859655 deg, deltaT: 0.504593 s, deltaX: -0.496935 m, approachRate: -0.984823 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.05 m.gggU ProNav: ac range: 25.045555 m, nav range: 24.384995 m, bearing: 308.363570 deg, approach rate: 0.000000 m/s, LOS rate: -0.074562 deg/s, cmd heading: 320.227682 deg, new cmd heading: 320.168376 deg. gQ]HeadingCmd: 5.587992 target range: 25.045555 and range: 25.20 m.g]в@gYgYgYgYzfYrfYfafeVBBdadidicm@339@c@2?ɢPB`< F?I zɡiID:I+1i =i >.=) в@)ԁio0AeAAAavBm=>~BiBm`!IBm4BBiBiBmZDBmO;BmEԱ DDAT read: Rx Time:16:12:03.1209  TRx dataTimestamp_ set to:1755879122.331283 PDAT read: Bearing 142.3, -16.2 (Local)  ~Local bearing/azimuth received: Bearing 142.3, -16.2 (Local)  DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 >A- = Z#Rx 41: Read range message, but no direction.9  A  checking for new query: numPingsReceived=41, elapsed TxPingTime=20.967318 Aq I I N >&m,O%*AiyF[@ٱF@F=F5$t9t9zDYz0Cz\Az>|Q 14٪~0?Q 54~$ ~^B9 Y XQ E ?y~bC)~):I~:i~D4YBLAE5B*** querying acoustic contact ***zh1h1M addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503339 s, deltaX: -0.100000 m, approachRate: -0.198674 m/s, rangeRepo size: 4 gIMDNOT Ignoring new targets: 25.05 m.gIg#g# ProNav: ac range: 25.045555 m, nav range: 24.174982 m, bearing: 308.336532 deg, approach rate: -0.576066 m/s, LOS rate: -0.074811 deg/s, cmd heading: 320.168369 deg, new cmd heading: 320.113822 deg. gHeadingCmd: 5.587040 target range: 25.045555 and range: 25.10 m.gɲ@ggggzfrfffBdDqDbD'DE2h: E96E'4:E"E;!E;!*E5;!E6;!ddc9@c?P?ɢRB_< >I ɡiI:I 62i =iȚ=)ɲ@)ii4DAT read: 16:12:03.1209 LVL= 32752, 28705, 22002, 32755, AGC= 54, IDX= 503, 0.24,-1.793, 3.016,-1.092,-1.598, PHS=-0.093,-1.624, 0.461, RAW= 164.9, 13.4, CAL= 165.3, 15.7, ROT= 344.7, -15.7 Ygot valid direction response: 16:12:03.1209 LVL= 32752, 28705, 22002, 32755, AGC= 54, IDX= 503, 0.24,-1.793, 3.016,-1.092,-1.598, PHS=-0.093,-1.624, 0.461, RAW= 164.9, 13.4, CAL= 165.3, 15.7, ROT= 344.7, -15.7 Z#Rx 42: Read direction message, but no range.^direction in FSK: [0.928571,-0.254028,0.270600]9۶?"BпRlyQ?i!pU6 v);ϿI1>i18@|o>R8@K>M@ KiIM? UJ]??qH?Zn ڸ)Kchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.176704ԙ>A=rA?jA?A I I N% > ڻ,m,h%*A"DDAT read: Rx Time:16:12:03.6208 *TRx dataTimestamp_ set to:1755879122.843468BPDAT read: Bearing 142.6, -16.3 (Local) B~Local bearing/azimuth received: Bearing 142.6, -16.3 (Local) JDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 5DAT read: 16:12:03.6208 LVL= 25840, 28481, 22434, 32755, AGC= 54, IDX= 501,-0.35, 1.286,-0.154, 1.983, 1.493, PHS=-0.105,-1.602, 0.446, RAW= 165.1, 13.7, CAL= 165.5, 16.2, ROT= 344.5, -16.2 EYgot valid direction response: 16:12:03.6208 LVL= 25840, 28481, 22434, 32755, AGC= 54, IDX= 501,-0.35, 1.286,-0.154, 1.983, 1.493, PHS=-0.105,-1.602, 0.446, RAW= 165.1, 13.7, CAL= 165.5, 16.2, ROT= 344.5, -16.2 MT#Rx 43: Read range and direction messages.^direction in FSK: [0.925368,-0.256628,0.278991]Fpublishing direction and range info9$&}d?Xɕlп?&3A$i&d&Ao&W$$ &= ׽)&VͿI&Z>i&!k8@&Gt>&8@&Ð>&g@ &Ði$$I&S`xT?h?VP 5?&]I?&s &j)&Ði$$checking for new query: numPingsReceived=43, elapsed TxPingTime=21.516411}BB9}q!IDuD^DDEv: E;96E:E!@!@!@!@Mb@Mb@Mb@ )Ii}?5^I?Zd;Mb`M?I@i?@@A)3@I ) BD6Dd4YEO!E =EQ)E>I9I9MDYMkCMAU>YQ 1]4٪]PA?Q 5e4]* ]^B9e?Q Ae:Ye]Q Ee?y]C)]:I]s:i]c4YiuAh$h&a%*Ah&Ah&Ah&@h&霪R6@{֎Pg>B @h&}d?Xɕlп?h$h&Ði&`(m-@<]I2-%@h&Y=5?6N0pO8(j?h&2h&mAh&%?h&h&B*i$2i$:i&$Bi&A"i&_1@ addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.512185 s, deltaX: -0.200001 m, approachRate: -0.390485 m/s, rangeRepo size: 4 M Added new target pos. range: 24.747515 m, bearing: 308.166641 deg, lat: 36.779425 deg, lon: -121.859655 deg, deltaT: 1.015524 s, deltaX: -0.298040 m, approachRate: -0.293484 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 24.75 m.gQg]gYm ProNav: ac range: 24.747515 m, nav range: 23.872278 m, bearing: 308.310113 deg, approach rate: 0.000000 m/s, LOS rate: -0.074811 deg/s, cmd heading: 320.113809 deg, new cmd heading: 320.024780 deg. gi)ߡ ߥAchecking for new query: numPingsReceived=43, elapsed TxPingTime=21.672113HeadingCmd: 5.585486 target range: 24.747515 and range: 24.90 m.gM@ggggzfrfff[BBdddc`f8@c?ɢ5UB5ز< =#;<=v>I9 =ɡ9i9IE:IEm2im==im"?=)mM@)i! i 0 vB :>~B B M!IB %BB =B B YDB O;B EQ >A-ܪ=mDDAT read: Rx Time:16:12:04.1206 uTRx dataTimestamp_ set to:1755879123.339528ԁPDAT read: Bearing 142.5, -16.2 (Local) ~Local bearing/azimuth received: Bearing 142.5, -16.2 (Local) AyAIIN?5m,wش%*Aɰ$&p;NDAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 %DAT read: 16:12:04.1206 LVL= 26432, 27489, 20770, 32755, AGC= 54, IDX= 499,-0.05, 1.400,-0.058, 2.097, 1.607, PHS=-0.105,-1.619, 0.447, RAW= 164.9, 13.7, CAL= 165.4, 16.2, ROT= 344.6, -16.2 -Ygot valid direction response: 16:12:04.1206 LVL= 26432, 27489, 20770, 32755, AGC= 54, IDX= 499,-0.05, 1.400,-0.058, 2.097, 1.607, PHS=-0.105,-1.619, 0.447, RAW= 164.9, 13.7, CAL= 165.4, 16.2, ROT= 344.6, -16.2 -T#Rx 44: Read range and direction messages.5^direction in FSK: [0.925815,-0.255012,0.278991]yEӭ@ٱEEѴ@EO=E_Pi18@8@v@ iI양?qG?CbN?H?t Ա)ichecking for new query: numPingsReceived=44, elapsed TxPingTime=22.040985>B9l!IBD%6D%ߢ4YU!]?=]AQ)]>] H?9e H?9eDYeCeȻAe>iQ 14٪myM?Q 5 4mq/ m^B9Y3^Q E?ymC)m3I ȒɡiI:I"2i =i@=)ֲ@) checking for new query: numPingsReceived=44, elapsed TxPingTime=22.173990i/>A p=9 A I9 Ii N >dDAT read: 16:12:04.6203 LVL= 31216, 27697, 21362, 32755, AGC= 55, IDX= 496, 0.21, 1.546, 0.060, 2.250, 1.749, PHS=-0.101,-1.644, 0.457, RAW= 164.9, 13.6, CAL= 165.3, 16.0, ROT= 344.7, -16.0 BYgot valid direction response: 16:12:04.6203 LVL= 31216, 27697, 21362, 32755, AGC= 55, IDX= 496, 0.21, 1.546, 0.060, 2.250, 1.749, PHS=-0.101,-1.644, 0.457, RAW= 164.9, 13.6, CAL= 165.3, 16.0, ROT= 344.7, -16.0 FT#Rx 45: Read range and direction messages.Z^direction in FSK: [0.927192,-0.253651,0.275637]ZFpublishing direction and range info9T:͎?#da;п ?Aiy1lrS7 ν)nҿI>is>R8@5>M@ 5iIC ?RO?R3?>iH?$r ڸd)5ichecking for new query: numPingsReceived=45, elapsed TxPingTime=22.482431yyɭ@ٱƴ@Z=<H@??`&K?@?ub`,??Iyɭ@)IT];i:B9h!IMb@Mb@Mb@ )Ii"~j?`"Mbp?S?;I(@i@nA)@C=i4=BD6D<4YJ!=ƩQ)>99DYCHA>Q 14DyD_D#DE: Er96E3:E!@!@!@!@٪\?Q 545 ^B9?Q A:Y]Q E?yɐC);Id;i4Y(B%mA%Ehhj%*AhiAhiAh@hoR&L6@T0q+'g>zN@hT:͎?#da;п ?hڸh5i٘F,@s^c2"1@hDB6?ƨv进[ ?hh gAhw?hhB*i` ?2i:iiA"i@ addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503698 s, deltaX: -0.400000 m, approachRate: -0.794126 m/s, rangeRepo size: 4  Added new target pos. range: 24.051691 m, bearing: 308.143631 deg, lat: 36.779425 deg, lon: -121.859657 deg, deltaT: 0.503698 s, deltaX: -0.397549 m, approachRate: -0.789260 m/s, posRepo size: 4 gDNOT Ignoring new targets: 24.05 m.ggg  ProNav: ac range: 24.051691 m, nav range: 23.464760 m, bearing: 308.087490 deg, approach rate: 0.000000 m/s, LOS rate: -0.074811 deg/s, cmd heading: 319.958572 deg, new cmd heading: 319.881969 deg. gHeadingCmd: 5.582994 target range: 24.051691 and range: 24.20 m.g%⧲@g!g!g!g!zf!rfIfIfMsBBdIdQdQcU@338@cU?ING)I!i5q1=xAɢmZBm< im>Ii u\ɡqiqIu;I}?3i}0=i}=)}⧲@) x>checking for new query: numPingsReceived=45, elapsed TxPingTime=22.677376i -   / Q vB- 6>~B- CB- ;!IB- BB- =B) B) B- O;B- EBBBBB =BV5>A= =y Ai}DDAT read: Rx Time:16:12:05.1203 }TRx dataTimestamp_ set to:1755879124.343260DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 Z#Rx 46: Read range message, but no direction.9yyychecking for new query: numPingsReceived=46, elapsed TxPingTime=22.932995IIN?^Em,I%*Alilxy@ٱ_@S=<H`?h?@Ŏ? -?`O@8}ؘ??I@)S6];iC9BD-6D-4=Q)E>a9a9eDYeCmtwAm>qQ 1}4٪u$i?Q 5}4u9 u^B9yY}^Q E?yuC)u!;Iu;iuƁ4Y addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.500034 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 g%DNOT Ignoring new targets: 24.05 m.g!g%lg%l5 ProNav: ac range: 24.051691 m, nav range: 23.235540 m, bearing: 308.065656 deg, approach rate: -0.536489 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.881965 deg, new cmd heading: 319.837867 deg. g5伺]HeadingCmd: 5.582224 target range: 24.051691 and range: 24.20 m.g]@gagagagazfarfafifiBdididqcqcu?ɢ\BV< >I ɡiI;I4r3inK=i=)@)BE%Ā'4JE%!4RE%#0DwD[D$DE}: E96E4:E"E!E!*E;!E;!Imchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.1812029}vтi /! ! - /) ԙ >AE=%DDAT read: Rx Time:16:12:05.6200 %TRx dataTimestamp_ set to:1755879124.8476515PDAT read: Bearing 142.3, -16.4 (Local) 5~Local bearing/azimuth received: Bearing 142.3, -16.4 (Local) EDAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 16:12:05.6200 LVL= 31616, 30625, 24338, 32755, AGC= 53, IDX= 509,-0.07, 0.064,-1.380, 0.767, 0.278, PHS=-0.111,-1.613, 0.445, RAW= 165.2, 13.8, CAL= 165.6, 16.4, ROT= 344.4, -16.4 Ygot valid direction response: 16:12:05.6200 LVL= 31616, 30625, 24338, 32755, AGC= 53, IDX= 509,-0.07, 0.064,-1.380, 0.767, 0.278, PHS=-0.111,-1.613, 0.445, RAW= 165.2, 13.8, CAL= 165.6, 16.4, ROT= 344.4, -16.4 T#Rx 47: Read range and direction messages.AAIIN?Mm,4:%*A:^direction in FSK: [0.923975,-0.257979,0.282341]:Fpublishing direction and range info94?̸пIx?Ai{w_5 S)vοI >i8@Ϣv>8@C>hY@ CiI^>x?eY?7c|?kI?@v *g)Ciy6@ٱ6@6=6^,<6H ?`X ? W??L)㮢??I6@)6 +];i6CR3B9R_!ITiTiV=jchecking for new query: numPingsReceived=47, elapsed TxPingTime=23.520496IV=Mb@Mb@Mb@ )Ii"~j?`"MbP?:I@iV@A)(@BD-6D-4Y=d!=<= @Q)=>EK?9EK?9eDYe/CmԺAm>qQ 1}4٪uy?Q 5}4u{? u^B9}?Q A}:Y}E^Q E?yu C)uU:Iu:iu`Ё4Y.BAEhh?6%*AhoAhoAh٫@h2.=5@"aN(@h4?̸пIx?h*ghCić+@lhj2B49G@D rD ^D &D E k: E ;96E 4:E !@!@!@!@!hR 1?P_?hh_Ah}?ht !hB*iw?2i:iBi`A"i@ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504391 s, deltaX: -0.500000 m, approachRate: -0.991294 m/s, rangeRepo size: 4  Added new target pos. range: 23.554441 m, bearing: 307.695758 deg, lat: 36.779424 deg, lon: -121.859657 deg, deltaT: 1.004425 s, deltaX: -0.497250 m, approachRate: -0.495059 m/s, posRepo size: 4 gDNOT Ignoring new targets: 23.55 m.ggg ProNav: ac range: 23.554441 m, nav range: 22.921919 m, bearing: 307.969745 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.837869 deg, new cmd heading: 319.779581 deg. gHeadingCmd: 5.581207 target range: 23.554441 and range: 23.70 m.g?@ggggzfrff!f%\BBd!d!d!c-@37@c- ?ɢu_Bu; 顝R>I O/ɡiIx;Iٴ3i0s=i*=)?@)checking for new query: numPingsReceived=47, elapsed TxPingTime=23.685247Q9X~B! B% .!IB% BB% =B! B! B% O;B% EiQ Q Y ] 4Y ԩ  DDAT read: Rx Time:16:12:06.1199  TRx dataTimestamp_ set to:1755879125.357748 PDAT read: Bearing 141.7, -16.4 (Local)  ~Local bearing/azimuth received: Bearing 141.7, -16.4 (Local)  DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 >A5=DAT read: 16:12:06.1199 LVL= 28128, 27105, 20338, 32755, AGC= 54, IDX= 508, 0.20, 2.061, 0.595, 2.772, 2.266, PHS=-0.103,-1.626, 0.462, RAW= 165.2, 13.5, CAL= 165.6, 15.9, ROT= 344.4, -15.9 Ygot valid direction response: 16:12:06.1199 LVL= 28128, 27105, 20338, 32755, AGC= 54, IDX= 508, 0.20, 2.061, 0.595, 2.772, 2.266, PHS=-0.103,-1.626, 0.462, RAW= 165.2, 13.5, CAL= 165.6, 15.9, ROT= 344.4, -15.9 %T#Rx 48: Read range and direction messages.-^direction in FSK: [0.926313,-0.258631,0.273959]-Fpublishing direction and range info9 Ę[?= jпψ.? ̼A i m i rO 6 ҽ) пI D>i :Fq> q> qi I C?Cd?O? I? _p ) qi uchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.999435AIINWm,]%*Aɰp<Du}DubDu)DqEu݉: Eu96EuFA4:Eq"Eu5;!Eu6;!*Eu5;!Eu6;!1B9]!IBD6D4 Y-̻!5=5Q)5>9999=DY=gC=AE>AQ 1m4٪E؈?Q 5m4ELE E^B9qYqQ Eu?yE1C)E`;IE:iEف4Yy}AhQhUXV%*AhUAhUAhUګ@hU ̘ 5@T|[Cj@hUĘ[?= jпψ.?hQhUqiU{*+@P-J 2Ê@hUXXb?>&?hUZhU)_AhUU. ?hUThU'B*iUU. ?2iUt !:iUBiUMA"iU@- addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.510097 s, deltaX: -0.100000 m, approachRate: -0.196042 m/s, rangeRepo size: 4 = Added new target pos. range: 23.455069 m, bearing: 307.703021 deg, lat: 36.779425 deg, lon: -121.859657 deg, deltaT: 0.510097 s, deltaX: -0.099373 m, approachRate: -0.194812 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 23.46 m.gAgIgI] ProNav: ac range: 23.455069 m, nav range: 22.662870 m, bearing: 307.983818 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.779594 deg, new cmd heading: 319.722971 deg. gY]HeadingCmd: 5.580218 target range: 23.455069 and range: 23.60 m.g&@ggggzfrfffBdddc7@cIy efɡiIf%;I3i=iӨ=)&@)) iIii  ! % 0! ԑ  DDAT read: Rx Time:16:12:06.6197  TRx dataTimestamp_ set to:1755879125.856058 PDAT read: Bearing 142.1, -16.5 (Local)  ~Local bearing/azimuth received: Bearing 142.1, -16.5 (Local) % DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 e DAT read: 16:12:06.6197 LVL= 31568, 30305, 21362, 32755, AGC= 55, IDX= 506,-0.36,-0.929,-2.360,-0.223,-0.712, PHS=-0.115,-1.603, 0.445, RAW= 165.3, 13.8, CAL= 165.8, 16.4, ROT= 344.2, -16.4 u Ygot valid direction response: 16:12:06.6197 LVL= 31568, 30305, 21362, 32755, AGC= 55, IDX= 506,-0.36,-0.929,-2.360,-0.223,-0.712, PHS=-0.115,-1.603, 0.445, RAW= 165.3, 13.8, CAL= 165.8, 16.4, ROT= 344.2, -16.4 } T#Rx 49: Read range and direction messages. ^direction in FSK: [0.923069,-0.261202,0.282341] Fpublishing direction and range info9  w"jȉ?`>.пIx? fA i P{ av rS  7  ) /ͿI >i R8@ Ϣv> L39@ C> <@  Ci  I =)?_?im}? J? v  0) Ci  % checking for new query: numPingsReceived=49, elapsed TxPingTime=24.479103Թ>A?=DvDcD&DEVz: EL96E4:E!@!@!@!@AyAII N?>`m,.%*Ay6@ٱ6@6=6n<6H W?1?@Ћ?@ ?9=@FAș? 1?I6@)6];i4B%B9BN!IF%=Fu H?9} H?9}DY}C}JA}>)߉ ߉checking for new query: numPingsReceived=49, elapsed TxPingTime=24.693611Q 14٪ę?Q 54SK w^B9z ?Q A:YYQ E?yXC)m};I|;i4Y4BtAhqhuv%*AhuAAhuAAhu@huRV+`5@0/1l{5'@huw"jȉ?`>.пIx?hu0huCiuYR?+@kj1I_Ox@humM?g>2 ?huhuYAhu`?huF$!huaB*iuw?2iq:iuBiuA"iu@= addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.498310 s, deltaX: -0.300001 m, approachRate: -0.602037 m/s, rangeRepo size: 4 M Added new target pos. range: 23.156910 m, bearing: 307.335453 deg, lat: 36.779424 deg, lon: -121.859657 deg, deltaT: 0.498310 s, deltaX: -0.298159 m, approachRate: -0.598340 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 23.16 m.gQgYgY ProNav: ac range: 23.156910 m, nav range: 22.338909 m, bearing: 307.874465 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.722958 deg, new cmd heading: 319.664509 deg. gHeadingCmd: 5.579198 target range: 23.156910 and range: 23.30 m.gˈ@ggggzfrfff]BBd!d!d!c%L7@c%Y?ɢdBw; 顥w>I ɡiI~l;I{84iB=i;=)ˈ@)iu.qqu0qvB<>~BCB(!IBBB =BBBO;BE1U DDAT read: Rx Time:16:12:07.1196 e TRx dataTimestamp_ set to:1755879126.360943} PDAT read: Bearing 141.7, -16.3 (Local) } ~Local bearing/azimuth received: Bearing 141.7, -16.3 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 >A .=Y U DAT read: 16:12:07.1196 LVL= 28432, 29857, 21234, 32755, AGC= 55, IDX= 505,-0.04, 0.686,-0.759, 1.392, 0.898, PHS=-0.110,-1.611, 0.450, RAW= 165.2, 13.7, CAL= 165.7, 16.2, ROT= 344.3, -16.2 e Ygot valid direction response: 16:12:07.1196 LVL= 28432, 29857, 21234, 32755, AGC= 55, IDX= 505,-0.04, 0.686,-0.759, 1.392, 0.898, PHS=-0.110,-1.611, 0.450, RAW= 165.2, 13.7, CAL= 165.7, 16.2, ROT= 344.3, -16.2 e T#Rx 50: Read range and direction messages.m ^direction in FSK: [0.924467,-0.259856,0.278991]m Fpublishing direction and range info9Q U kf;?rZzп?U ̸AQ iU oU tU RQ Q U G)U ?5οIU ff>iU 8@U Gt>U 9@U Ð>U K@ U ÐiQ Q IU rNX?^ ?vF?U J?U gt U K)U ÐiQ Q  checking for new query: numPingsReceived=50, elapsed TxPingTime=24.995060A AI I N >Ufm,L%*A y6@ٱ6攴@6*=6 <6H?@ ?ʠ? LX? u@f䡿|?@h?I6@)6$];i6C\9\BDj6Dj4Y! R= Q) >K?9K?9DYCU%A>!Q 1%4٪%\?Q 5-4%vO %p^B9)Y-(ZQ E-?y%sC)%g:I%:i%4Y1]vAYhh%*AhAhAhE@h_k95@̌ϣ@hkf;?rZzп?hKhÐiΏw+@>ύ1W@h(?굓迺)t?hh~XAh?hpM!h)B*i?2iT:iaBiA"i*@bDZDDrDaD$DEk: E96E4:E"E;!E;!*E;!E;!E addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504885 s, deltaX: -0.199999 m, approachRate: -0.396128 m/s, rangeRepo size: 4 } Added new target pos. range: 22.958422 m, bearing: 307.379193 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.504885 s, deltaX: -0.198488 m, approachRate: -0.393136 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 22.96 m.gygg ProNav: ac range: 22.958422 m, nav range: 22.245781 m, bearing: 307.462385 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.664519 deg, new cmd heading: 319.622904 deg. gHeadingCmd: 5.578472 target range: 22.958422 and range: 23.10 m.g؂@ggggzfrfffBdddc7@c?ɢ=eB=$3< 9=>I9 E.}ɡAiAIE`$;IMh4iiu=iu=)u؂@)qchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.197947i/5ԙ>AT=bAZA A yAI! II Nu >m DDAT read: Rx Time:16:12:07.6193 u TRx dataTimestamp_ set to:1755879126.864934 PDAT read: Bearing 141.2, -16.1 (Local)  ~Local bearing/azimuth received: Bearing 141.2, -16.1 (Local)  DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4  DAT read: 16:12:07.6193 LVL= 29728, 29025, 21826, 32755, AGC= 55, IDX= 502, 0.28, 0.939,-0.544, 1.652, 1.144, PHS=-0.102,-1.643, 0.464, RAW= 165.1, 13.5, CAL= 165.5, 15.9, ROT= 344.5, -15.9  Ygot valid direction response: 16:12:07.6193 LVL= 29728, 29025, 21826, 32755, AGC= 55, IDX= 502, 0.28, 0.939,-0.544, 1.652, 1.144, PHS=-0.102,-1.643, 0.464, RAW= 165.1, 13.5, CAL= 165.5, 15.9, ROT= 344.5, -15.9  T#Rx 51: Read range and direction messages.  ^direction in FSK: [0.926763,-0.257014,0.273959] Fpublishing direction and range info9q u 먎: ?'irпψ.?u Aq mm,%*Ai taqBU `н)MҿIh>i!k8@:Fq>8@q>g@ qiI?G. ?7??I?p j)qizchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.503649iy@ٱV@y =@=<H%? (?@}? !Ǟ?@㹤`>"??I@)];iC }B9}D!IiD-uD)D-&D)E-v: E)6E-4:E)!5@!5@!5@!5@%Mb@Mb@Mb@ !)!I!i!!%?Q!%%I%?@i!%@!)!%@BDE6DE 4Ycϼ! =Q)> H?9 H?9DYCA>Q 14٪?Q 54U c^B9 ?Q A:Y]Q E?yC)H:Is:i4YBB% A%E9hh[%*Ah|Ah|Ah˿@hO4@!a1G@h먎: ?'irпψ.?hjhqiť*@Ǿ:d1WDYA@h(h?F"%?h!hUAhnJ?hM3hB*i2i:i)BitA"i/@ addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503991 s, deltaX: -0.400000 m, approachRate: -0.793664 m/s, rangeRepo size: 4  Added new target pos. range: 22.560873 m, bearing: 307.515735 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.503991 s, deltaX: -0.397549 m, approachRate: -0.788801 m/s, posRepo size: 4 gDNOT Ignoring new targets: 22.56 m.gchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.701405gg% ProNav: ac range: 22.560873 m, nav range: 21.931929 m, bearing: 307.420559 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.622910 deg, new cmd heading: 319.563630 deg. g!-HeadingCmd: 5.577437 target range: 22.560873 and range: 22.70 m.g-^z@g)g)gIgQzfQrfQfQf]oBBdYdYdYc]@36@ce ?ɢgB2; 页(>I E}vɡiI,;I4i=i =)^z@)i i . 0 vB =>~B B !IB BB =B B ZDB O;B Eԡ >A ܪ=DDAT read: Rx Time:16:12:08.1192 TRx dataTimestamp_ set to:1755879127.368939PDAT read: Bearing 141.1, -16.3 (Local) ~Local bearing/azimuth received: Bearing 141.1, -16.3 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 5DAT read: 16:12:08.1192 LVL= 27552, 26929, 18706, 32755, AGC= 54, IDX= 501,-0.20,-0.968,-2.403,-0.261,-0.762, PHS=-0.104,-1.596, 0.457, RAW= 165.3, 13.5, CAL= 165.8, 15.9, ROT= 344.2, -15.9 UYgot valid direction response: 16:12:08.1192 LVL= 27552, 26929, 18706, 32755, AGC= 54, IDX= 501,-0.20,-0.968,-2.403,-0.261,-0.762, PHS=-0.104,-1.596, 0.457, RAW= 165.3, 13.5, CAL= 165.8, 15.9, ROT= 344.2, -15.9 eT#Rx 52: Read range and direction messages.m^direction in FSK: [0.925405,-0.261863,0.273959]uFpublishing direction and range info9x̕?:C]пψ.?Aik1iI6 Խ)I̿I>iR8@L39@<@ iI/#m?ǝ!?Gc3?MJ?Wp 0)ichecking for new query: numPingsReceived=52, elapsed TxPingTime=25.983641A]AIaIqN ?vm,V۵%*A8yf܄@ٱf:@f =fK?9K?9DY+C3A>Q 14٪L›?Q 54Z [^B9Y ]Q E ?yC)f]@hx̕?:C]пψ.?h0hi)U@*@laP1D OQ_#@hr-?!Vi ??hhRAh_p?h7z!hB*i2iF$!:i'BiA"iL@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504005 s, deltaX: -0.200001 m, approachRate: -0.396823 m/s, rangeRepo size: 4  Added new target pos. range: 22.362204 m, bearing: 307.164465 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.504005 s, deltaX: -0.198669 m, approachRate: -0.394181 m/s, posRepo size: 4 gDNOT Ignoring new targets: 22.36 m.gggD tD ^D 'D E s: E ;96E '4:E "E ;!E ;!*E ;!E ;!M ProNav: ac range: 22.362204 m, nav range: 21.753616 m, bearing: 307.316427 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.563624 deg, new cmd heading: 319.522003 deg. gIUHeadingCmd: 5.576711 target range: 22.362204 and range: 22.50 m.gUkt@gQgYgYgYzfYrfYffBdddc6@c`9B?ԡɢiB< V>I  qɡiIoX2;Iz4i=ix=)kt@) i-0checking for new query: numPingsReceived=52, elapsed TxPingTime=26.207113PExceeded connect timeout, disconnecting. >A] &=A yAI I N >P|m,ibN8@bk>b8@b'g>bg@ b'gi``IbR ?fw[v ?v->$Q?b H?9 H?9DY\CA>Q 14٪Л?Q 5 46_ S^B9 ?Q A :Y WQ E ?yؑC):I:i4YuHB} A}Eh`hb8%*AhbAhbAhb@hbSCcb4@7!BT~@hbސhC? ڿv%yп]^|5?hbjhb'gibTυ)@'q.~ 0Mx@hb2??~ $/?hb؇hbTOAhbi?hbhbRB*ib`?2i`:ibBibA"ibz@ addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503694 s, deltaX: -0.400000 m, approachRate: -0.794132 m/s, rangeRepo size: 4 5 Added new target pos. range: 21.964655 m, bearing: 307.347539 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.503694 s, deltaX: -0.397549 m, approachRate: -0.789266 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 21.96 m.g9gAgADuDbD&DEv: E96E4:E!@!@!@!@ ProNav: ac range: 21.964655 m, nav range: 21.467268 m, bearing: 307.170812 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.522014 deg, new cmd heading: 319.470078 deg. gHeadingCmd: 5.575805 target range: 21.964655 and range: 22.10 m.gl@ggggzfrfffwBBdddc6@c?ɢ5jB=; 9=p>I9 =5Slɡ9iAIE9;Ie5im>=imo=)ml@)i }a>}>ԩi0/!@-=@-=echecking for new query: numPingsReceived=53, elapsed TxPingTime=26.709373 >AE O=vBm ?>~Bm CBm !IBm BBi Bi Bi Bm O;Bm E AqIIN>E,m,d%*AeDDAT read: Rx Time:16:12:09.1189 mTRx dataTimestamp_ set to:1755879128.384364PDAT read: Bearing 141.4, -16.0 (Local) ~Local bearing/azimuth received: Bearing 141.4, -16.0 (Local) DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 ԩDAT read: 16:12:09.1189 LVL= 29104, 28241, 22322, 32755, AGC= 54, IDX= 498,-0.43,-0.940,-2.378,-0.238,-0.724, PHS=-0.114,-1.609, 0.442, RAW= 165.2, 13.9, CAL= 165.7, 16.5, ROT= 344.3, -16.5 Ygot valid direction response: 16:12:09.1189 LVL= 29104, 28241, 22322, 32755, AGC= 54, IDX= 498,-0.43,-0.940,-2.378,-0.238,-0.724, PHS=-0.114,-1.609, 0.442, RAW= 165.2, 13.9, CAL= 165.7, 16.5, ROT= 344.3, -16.5 T#Rx 54: Read range and direction messages.^direction in FSK: [0.923048,-0.259457,0.284015]Fpublishing direction and range info9aeo?TпHN-?aaieqeQne2Wae6 ex)eͿIeM>ie8@eUlx>e9@er>eK@ eriaaIeHJ/?0h F? ? k?eI?ew eK)eriaa]checking for new query: numPingsReceived=54, elapsed TxPingTime=27.002855eB9e9!Im=m4<BD}6D}4Y!'=Q)>99DYCA>Q 1%4٪ߛ?Q 5%41d K^B9)Y)Q E-?yC)d*I afɡiIh@;IN5i b=i*=)f@ ) checking for new query: numPingsReceived=54, elapsed TxPingTime=27.213705nManaging dock network, ignoring radio surface power offi / 1 >A Т=qA5AIIIaDDAT read: Rx Time:16:12:09.6186 TRx dataTimestamp_ set to:1755879128.880990PDAT read: Bearing 141.3, -15.8 (Local) ~Local bearing/azimuth received: Bearing 141.3, -15.8 (Local) DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 DAT read: 16:12:09.6186 LVL= 30576, 27217, 21234, 32755, AGC= 54, IDX= 495,-0.04,-1.770, 3.043,-1.065,-1.554, PHS=-0.115,-1.642, 0.445, RAW= 165.0, 13.9, CAL= 165.5, 16.5, ROT= 344.5, -16.5 Ygot valid direction response: 16:12:09.6186 LVL= 30576, 27217, 21234, 32755, AGC= 54, IDX= 495,-0.04,-1.770, 3.043,-1.065,-1.554, PHS=-0.115,-1.642, 0.445, RAW= 165.0, 13.9, CAL= 165.5, 16.5, ROT= 344.5, -16.5 T#Rx 55: Read range and direction messages.^direction in FSK: [0.923948,-0.256234,0.284015]Fpublishing direction and range info9T?,R!fпHN-?̬AipwQjR )-ҿI >iN8@8@g@ iIi:?;?HJ|od?*I?lx j)ichecking for new query: numPingsReceived=55, elapsed TxPingTime=27.485176N?m,9%*A8y6G_@ٱ6\@6i<6?<6H ?L? :? G?@О 잿JO?$?I6G_@)6F];i6CBB9B5!IUMb@Mb@Mb@ Q)QIQiQQUV-?MbXy&1|?U>UʽU`;IUV@iUAU(@Q)QUABD6D4YI!=iQ)>K?9K?9DYC ?A > Q 14٪ .?Q 54 }i E^B9?Q A:YNXQ EE?y C) B;I ;i |4YIM AIhh$b8%*AhAhAhV@hgO3@a XL>c@hT?,R!fпHN-?hjhiA-!)@ȏ0k6|y@ԡh O&uB?Pn oCJ?hthIAhD?hXh͍B*ii?2iM3:ii A"i*@ addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.496626 s, deltaX: -0.500000 m, approachRate: -1.006794 m/s, rangeRepo size: 4 - Added new target pos. range: 21.467791 m, bearing: 307.197812 deg, lat: 36.779423 deg, lon: -121.859659 deg, deltaT: 0.496626 s, deltaX: -0.496939 m, approachRate: -1.000630 m/s, posRepo size: 4 g)-DNOT Ignoring new targets: 21.47 m.g)g1g1i~CI ͈G)!- ProNav: ac range: 21.467791 m, nav range: 20.879730 m, bearing: 307.154653 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.421228 deg, new cmd heading: 319.365176 deg. I9D]sD]eD](DYE]so: E]96E]c44:EY!e@!e@!e@!e@g)i}y}n}AHeadingCmd: 5.573974 target range: 21.467791 and range: 21.60 m.g]@ggggzfrfffBBdddc5@c`_?ɢEnBEI; AMz>II m3aɡiiiIm G;Iu5iu+=iuݢ=)}]@)y))  checking for new query: numPingsReceived=55, elapsed TxPingTime=27.717541iE/AIII@Q@UkA vB ~B B !IB BB =B B B O;B EBBBB =BB5>A |=) A!I)IIN]>m,ϿW%*A6DDAT read: Rx Time:16:12:10.1185 :TRx dataTimestamp_ set to:1755879129.384792>PDAT read: Bearing 140.6, -15.5 (Local) B~Local bearing/azimuth received: Bearing 140.6, -15.5 (Local) JDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 ZDAT read: 16:12:10.1185 LVL= 28096, 28257, 21810, 32755, AGC= 53, IDX= 510, 0.29, 1.266,-0.210, 1.964, 1.467, PHS=-0.100,-1.632, 0.453, RAW= 164.8, 13.6, CAL= 165.3, 16.1, ROT= 344.7, -16.1 ^Ygot valid direction response: 16:12:10.1185 LVL= 28096, 28257, 21810, 32755, AGC= 53, IDX= 510, 0.29, 1.266,-0.210, 1.964, 1.467, PHS=-0.100,-1.632, 0.453, RAW= 164.8, 13.6, CAL= 165.3, 16.1, ROT= 344.7, -16.1 ^T#Rx 56: Read range and direction messages.b^direction in FSK: [0.926727,-0.253524,0.277315]fFpublishing direction and range info946nuƲ?NQ9п/?6A4i6m6an62U465 6̽)6`пI6>i6X8@6s>6R8@6ޏ>6M@ 6ޏi44I6\i?X?,XR?6OH?6r 6ڸ)6ޏi44checking for new query: numPingsReceived=56, elapsed TxPingTime=27.990686mB9m!IqiqBD}6D}4Y58!5'==Q)=>99A9eDYeCeAm>iQ 1u4٪m?Q 5u4mHn m@^B9yYyQ E}?ym:C)m:Im:im4YMB| AEh4h6oX%*Ah6Ah6Ah6@h6>(1~3@܃l2ch@h6nuƲ?NQ9п/?h6ڸh6ޏi6u-)@v0 @h6g 8nIY ]@;]ɡYiYI]OL;Ie5ie=im=)mV@)iBEĞ4JEģ#4REd/D]|D]ZD]&DYE] : E]a96E]4:EY"E];!}E];!}*E];!}E];!}i-checking for new query: numPingsReceived=56, elapsed TxPingTime=28.221489I>A ͢=bA ZA q Ai I I N>m,'lu%*A<@i@y%T@ٱ%^Q@%k<%,c<%H?`CU?zi?`KP}?6M`u `?x?I%T@)%|];i%CEB9E#!IDDAT read: Rx Time:16:12:10.6183 TRx dataTimestamp_ set to:1755879129.891976PDAT read: Bearing 141.2, -15.7 (Local) ~Local bearing/azimuth received: Bearing 141.2, -15.7 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 DAT read: 16:12:10.6183 LVL= 27472, 26705, 20386, 32755, AGC= 53, IDX= 508,-0.20,-1.661,-3.125,-0.956,-1.440, PHS=-0.119,-1.640, 0.440, RAW= 165.1, 14.1, CAL= 165.6, 16.7, ROT= 344.4, -16.7 -Ygot valid direction response: 16:12:10.6183 LVL= 27472, 26705, 20386, 32755, AGC= 53, IDX= 508,-0.20,-1.661,-3.125,-0.956,-1.440, PHS=-0.119,-1.640, 0.440, RAW= 165.1, 14.1, CAL= 165.6, 16.7, ROT= 344.4, -16.7 5T#Rx 57: Read range and direction messages.=^direction in FSK: [0.922539,-0.257578,0.287361]=Fpublishing direction and range info9G1o?S&|пgd?AiPkQhO F)ѿIG>i!k8@d{>8@;>hY@ ;iIe?NNdZ?+R?iHI?z *g);iUchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.529827ԡMb@Mb@Mb@ )IiMb?+η{Gzt??vף;IAAiXA?@A)GAI1)1BDE6DE4YK<!=hQ)>99DY)C0A>Q 1 4٪ ?Q 5 4fs :^B9?Q A:YTQ E?y\C):I:i'4Y=WB= A=Ehh#y%*AhAhAh v@h}ф*p3@΀:|8@hG1o?S&|пgd?h*gh;i*Fą(@a̅qE0̩w}@hJL<?ǁO,K3Q?h+h.DAh?hf1`hB*i2i:iBiA"iy@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.507184 s, deltaX: -0.299999 m, approachRate: -0.591500 m/s, rangeRepo size: 4  Added new target pos. range: 21.070280 m, bearing: 306.999965 deg, lat: 36.779423 deg, lon: -121.859659 deg, deltaT: 0.507184 s, deltaX: -0.298164 m, approachRate: -0.587882 m/s, posRepo size: 4 gDNOT Ignoring new targets: 21.07 m.ggg5 ProNav: ac range: 21.070280 m, nav range: 20.379169 m, bearing: 307.025307 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.315551 deg, new cmd heading: 319.262470 deg. g1=HeadingCmd: 5.572181 target range: 21.070280 and range: 21.20 m.g=OO@g9gAgAgAzfArfAfIfIBdIdIdIcu@335@c} w?ɢrB'; Q>I zXɡiIA =A @AA ?AvB ;>~B CB !IB BB =B B YDB O;B E) AyAI1IYN??m,%*AyVE@ٱV}B@V iu18@uGt>u8@u>uv@ uiqqIu⾔?g8?~t^f?uH?uu u)uiqqchecking for new query: numPingsReceived=58, elapsed TxPingTime=28.992786Y,!D=ύQ)> H?9 H?9DYSCA> Q 1 4٪ ?Q 54 }w 6^B9Y]UQ E?y wC) :I y:i #/4Y\B% A%Ehqhu= %*AhuAhuAhu@hu 8$*P3@cJeGxn@hu?j?}Oпrwkq?huhuiuj"0 `(@< 0HX@hu[Ʈ?=ԡ3V`?huhuCAhuί?huJ~humB*iuܔ?2iuf1`:iqiuA"iu˃@m addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.499335 s, deltaX: -0.200001 m, approachRate: -0.400534 m/s, rangeRepo size: 4 } Added new target pos. range: 20.871313 m, bearing: 307.091204 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.499335 s, deltaX: -0.198967 m, approachRate: -0.398464 m/s, posRepo size: 4 gDNOT Ignoring new targets: 20.87 m.ggg ProNav: ac range: 20.871313 m, nav range: 20.204664 m, bearing: 307.096098 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.262467 deg, new cmd heading: 319.221255 deg. gHeadingCmd: 5.571462 target range: 20.871313 and range: 21.00 m.gkI@ggggzfrfffBdddc5@cU$?ɢtBi; 顥>I MTɡiI@X;I36i=iE =)kI@)i)DmqDmaDm(DiEm2h: Em96Emc44:Ei"Em;!}Em;!}*Em;!}Em;!})  % checking for new query: numPingsReceived=58, elapsed TxPingTime=29.229544Q >A &=A AI I N% >kӫm,陱%*A0y%:@ٱ%8@%<%ju<%Hp?h?\z?d 7n?`VR`6@)?$?I%:@)%];i%CEB9E!IUK?9K?9DDDAT read: Rx Time:16:12:11.6180 TRx dataTimestamp_ set to:1755879130.895430PDAT read: Bearing 141.0, -15.6 (Local) ~Local bearing/azimuth received: Bearing 141.0, -15.6 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 DAT read: 16:12:11.6180 LVL= 32704, 27809, 21234, 32755, AGC= 53, IDX= 505,-0.41,-1.667,-3.137,-0.961,-1.445, PHS=-0.119,-1.646, 0.440, RAW= 165.0, 14.1, CAL= 165.6, 16.7, ROT= 344.4, -16.7 Ygot valid direction response: 16:12:11.6180 LVL= 32704, 27809, 21234, 32755, AGC= 53, IDX= 505,-0.41,-1.667,-3.137,-0.961,-1.445, PHS=-0.119,-1.646, 0.440, RAW= 165.0, 14.1, CAL= 165.6, 16.7, ROT= 344.4, -16.7 T#Rx 59: Read range and direction messages.^direction in FSK: [0.922539,-0.257578,0.287361]Fpublishing direction and range info9G1o?S&|пgd?AilR F)!ҿIG>iN8@d{>8@;>hY@ ;iIi?xE2??I? R{ *gYC?"A>Q 14٪%?Q 54| .^B9?Q A:YX);ichecking for new query: numPingsReceived=59, elapsed TxPingTime=29.512932Q Eu?yC)AhQw?hVhB*i?2iX:iBi,A"ie@- addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504119 s, deltaX: -0.299999 m, approachRate: -0.595096 m/s, rangeRepo size: 4 ] Added new target pos. range: 20.573153 m, bearing: 306.817490 deg, lat: 36.779423 deg, lon: -121.859659 deg, deltaT: 0.504119 s, deltaX: -0.298161 m, approachRate: -0.591449 m/s, posRepo size: 4 gaeDNOT Ignoring new targets: 20.57 m.gagigi ProNav: ac range: 20.573153 m, nav range: 19.896822 m, bearing: 306.885954 deg, approach rate: 0.000000 m/s, LOS rate: -0.051606 deg/s, cmd heading: 319.221267 deg, new cmd heading: 319.164113 deg. gHeadingCmd: 5.570465 target range: 20.573153 and range: 20.70 m.g?A@ggggzfrfԱffBBdddc@34@c ?ɢEvBE"g; AE>IA MPɡiiiImv?^;Iut6iu=iuV=)u?A@)yi /   4 D rD \D &D E k: E 96E 4:E ! @! @! @! @ ] checking for new query: numPingsReceived=59, elapsed TxPingTime=29.733305 >A% ͢=vB9>~BB IBBB =BBBP;B EA]yAIaIqN?Wm,*6Ҷ%*ATɰy};y9@ٱ7@u<w<H2p?i?Y:y?e@m?9#Ι@l?A?I9@)&];iCEB9E!IBD6D4Y<!+=nQ)> H?9 H?9DYC匹A>Q 14٪2?Q 54g (^B9YXQ E?yC);I|;i@4YbB AEB*** querying acoustic contact ***zhhg!-DNOT Ignoring new targets: 20.57 m.g)g-g-E ProNav: ac range: 20.573153 m, nav range: 19.661987 m, bearing: 306.830590 deg, approach rate: -0.571046 m/s, LOS rate: -0.136235 deg/s, cmd heading: 319.164112 deg, new cmd heading: 319.052063 deg. gESyEHeadingCmd: 5.568509 target range: 20.573153 and range: 20.70 m.gE:1@gIgIgIgIzfIrfIfQfQDDAT read: Rx Time:16:12:12.1178 TRx dataTimestamp_ set to:1755879131.399405PDAT read: Bearing 141.2, -15.7 (Local) ~Local bearing/azimuth received: Bearing 141.2, -15.7 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 DAT read: 16:12:12.1178 LVL= 28352, 31121, 20898, 32755, AGC= 54, IDX= 503,-0.04,-1.530,-2.987,-0.821,-1.302, PHS=-0.126,-1.640, 0.437, RAW= 165.2, 14.2, CAL= 165.7, 16.9, ROT= 344.3, -16.9 Ygot valid direction response: 16:12:12.1178 LVL= 28352, 31121, 20898, 32755, AGC= 54, IDX= 503,-0.04,-1.530,-2.987,-0.821,-1.302, PHS=-0.126,-1.640, 0.437, RAW= 165.2, 14.2, CAL= 165.7, 16.9, ROT= 344.3, -16.9 T#Rx 60: Read range and direction messages.^direction in FSK: [0.921117,-0.258914,0.290702]Fpublishing direction and range info9ey?" пTcݚ?3AinyQ6 %)ѿIw>i8@}>9@>K@ iIb?H"?CW?I?P} K)ichecking for new query: numPingsReceived=60, elapsed TxPingTime=30.001469BdQdQdQcU`ff4@c]ꫛ?ɢxBj; Fs>I vLɡiI"c;I6i=i*=):1@)im0iimr4iD} nD} `D} %Dy E} O]: E} 96E} 4:Ey "E} 1;! E} 2;! *E} ;! E} ;! ) >A - checking for new query: numPingsReceived=60, elapsed TxPingTime=30.237301A AI I N >ʺm,@%*Ay64@ٱ61@86l<6s<6H3m?`m?Ou?@ij?U٠@̘u?@r?I64@)6 ];i6CRB9R!IBDZ6DZ4Yb!bb=f1Q)f>fK?9fK?9fDYfCjAj>lQ 1r4٪n<=?Q 5r4n n#^B9pYrXQ Ev?ynϒC)n%:In>:inHF4Yx~ A|h!h%ڏٶ%*Ah%2Ah%2Ah%xF@h%ɧ`2@p7`]8h@h%ey?" пTcݚ?h%Kh%i%D]'@S$c/U%E@h%.fp?~1X返(҅?h%{h%:Ah%?h%!h%B*i%?2i%f1`:i%Bi%A"i%^^@E addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503975 s, deltaX: -0.300001 m, approachRate: -0.595270 m/s, rangeRepo size: 4 U Added new target pos. range: 20.274879 m, bearing: 306.667186 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.503975 s, deltaX: -0.298273 m, approachRate: -0.591841 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 20.27 m.gYgegau ProNav: ac range: 20.274879 m, nav range: 19.488728 m, bearing: 306.834326 deg, approach rate: 0.000000 m/s, LOS rate: -0.136235 deg/s, cmd heading: 319.052070 deg, new cmd heading: 318.953967 deg. gq}HeadingCmd: 5.566797 target range: 20.274879 and range: 20.40 m.g}3#@gygygygyzfrfffBdddcc#?ɢzB; 顽a>I oJɡiIbf;I?e7i-2=i-O=)-3#@)1ԩi/DDAT read: Rx Time:16:12:12.6175 TRx dataTimestamp_ set to:1755879131.903487 PDAT read: Bearing 140.4, -15.5 (Local) ~Local bearing/azimuth received: Bearing 140.4, -15.5 (Local) %DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 EDAT read: 16:12:12.6175 LVL= 26784, 25409, 19282, 32755, AGC= 53, IDX= 500, 0.26,-1.304,-2.779,-0.594,-1.092, PHS=-0.110,-1.641, 0.455, RAW= 165.1, 13.7, CAL= 165.6, 16.3, ROT= 344.4, -16.3 MYgot valid direction response: 16:12:12.6175 LVL= 26784, 25409, 19282, 32755, AGC= 53, IDX= 500, 0.26,-1.304,-2.779,-0.594,-1.092, PHS=-0.110,-1.641, 0.455, RAW= 165.1, 13.7, CAL= 165.6, 16.3, ROT= 344.4, -16.3 UT#Rx 61: Read range and direction messages.]^direction in FSK: [0.924449,-0.258111,0.280667]]Fpublishing direction and range info9:6e ?8пrwkq?AihAcRK5 G)J ҿI>i!k8@Gt>8@>hY@ iI\ ?[]?ٶU?I?xu *g)i}checking for new query: numPingsReceived=61, elapsed TxPingTime=30.505356>A%= A] yAIa Iq N} >D xD aD 'D E ˀ: E 96E '4:E ! @! @! @! @Om,%*AyF0@ٱF.@Ff H?9 H?9DYC\A>Q 14٪I?Q 54 ^B9?Q A:YYQ E?yC)>I 1GɡiIl;I<7iU=iz/=)@)i / 9 DDAT read: Rx Time:16:12:13.1175  TRx dataTimestamp_ set to:1755879132.407611% PDAT read: Bearing 141.1, -15.6 (Local) - ~Local bearing/azimuth received: Bearing 141.1, -15.6 (Local) = DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 ] DAT read: 16:12:13.1175 LVL= 32752, 28561, 23138, 32755, AGC= 53, IDX= 500,-0.28,-1.819, 3.008,-1.107,-1.588, PHS=-0.129,-1.642, 0.437, RAW= 165.3, 14.2, CAL= 165.8, 17.0, ROT= 344.2, -17.0 e Ygot valid direction response: 16:12:13.1175 LVL= 32752, 28561, 23138, 32755, AGC= 53, IDX= 500,-0.28,-1.819, 3.008,-1.107,-1.588, PHS=-0.129,-1.642, 0.437, RAW= 165.3, 14.2, CAL= 165.8, 17.0, ROT= 344.2, -17.0 m T#Rx 62: Read range and direction messages.u ^direction in FSK: [0.920174,-0.260383,0.292372]u Fpublishing direction and range info9  1r?谓п兗7?  i  o bZ   ) -ҿI w>i R8@ }> L39@ > <@  闾i  I >p#?$*1 ?9o? ?J? ~  0) 闾i   checking for new query: numPingsReceived=62, elapsed TxPingTime=31.013462a >A= ܪ=Ai Iy ԑ I N >}m,#%*Aiy6/@ٱ6-@6c#<69<6H`j?Bq?tY?mf?Ö $??I6/@)6];i6CBB9B!IBDJ6DJo4YRL<!RH=V!Q)V>T9X9ZDYZ-CZ塹AZ>\Q 1b4٪^U?Q 5b4^ ^^B9hYjYQ En?y^C)^0p;I^ q;i^U4YrhBr Ar EhhL%*Ahhh)@h3\}aJ2@M$ ?@h1r?谓п兗7?h0h闾iD1&@XFo.d{@hI>aV?+= S?hvhE6AhH#w?h] +#hnB*iH#w?2iJ~:inBiqA"iCM@5 addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504124 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 19.877281 m, bearing: 306.464963 deg, lat: 36.779423 deg, lon: -121.859659 deg, deltaT: 0.504124 s, deltaX: -0.000053 m, approachRate: -0.000106 m/s, posRepo size: 4 gAMDNOT Ignoring new targets: 19.88 m.gIgIgI] ProNav: ac range: 19.877281 m, nav range: 19.055336 m, bearing: 306.714706 deg, approach rate: 0.000000 m/s, LOS rate: -0.136235 deg/s, cmd heading: 318.827193 deg, new cmd heading: 318.723248 deg. gYbDZDDrDiD$DEk: E96E4:E"E;!E;!*E8;!E8;!HeadingCmd: 5.562770 target range: 19.877281 and range: 20.00 m.g6@ggggzfrfffBdddcc%>?ɢe~Be,; ae Q>Ii m+DɡiiiImop;Iu!m8iuyo=iu^˫=)u6@)y%checking for new query: numPingsReceived=62, elapsed TxPingTime=31.245373!iU/QQU/YI>Ae =y A AI I  DDAT read: Rx Time:16:12:13.6172  TRx dataTimestamp_ set to:1755879132.911335 PDAT read: Bearing 141.0, -15.4 (Local)  ~Local bearing/azimuth received: Bearing 141.0, -15.4 (Local)  DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4  DAT read: 16:12:13.6172 LVL= 32752, 30065, 23522, 32755, AGC= 52, IDX= 497, 0.02,-1.845, 2.976,-1.136,-1.617, PHS=-0.126,-1.645, 0.437, RAW= 165.1, 14.2, CAL= 165.7, 16.9, ROT= 344.3, -16.9 % Ygot valid direction response: 16:12:13.6172 LVL= 32752, 30065, 23522, 32755, AGC= 52, IDX= 497, 0.02,-1.845, 2.976,-1.136,-1.617, PHS=-0.126,-1.645, 0.437, RAW= 165.1, 14.2, CAL= 165.7, 16.9, ROT= 344.3, -16.9 % T#Rx 63: Read range and direction messages.- ^direction in FSK: [0.921117,-0.258914,0.290702]- Fpublishing direction and range info9 ey?" пTcݚ? A i qu [ 4 %) \ҿI i !k8@ 9@ > K@ i I J?o?bw:a`? I? } K) i M checking for new query: numPingsReceived=63, elapsed TxPingTime=31.512831N] >4m,K=%*A0yE(@ٱED&@Evr-K?9mK?9mDYm^CuݺAu>yQ 14٪}c?Q 54}Œ }^B9?Q A:YZQ E?ԉy}(C)};I};i}]4YqBN A)EhhPS:%*Ah Ah Ah-@h{1@,!qF@hey?" пTcݚ?hKhi;1| W<&@ .Y"w@h|`y[?.迆 WjQ?hoph1Ah&s ?he#h#B*i?2iV:ii;A"i <@m addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503724 s, deltaX: -0.500000 m, approachRate: -0.992607 m/s, rangeRepo size: 4 } Added new target pos. range: 19.380348 m, bearing: 306.495982 deg, lat: 36.779423 deg, lon: -121.859659 deg, deltaT: 0.503724 s, deltaX: -0.496933 m, approachRate: -0.986518 m/s, posRepo size: 4 gDNOT Ignoring new targets: 19.38 m.ggg ProNav: ac range: 19.380348 m, nav range: 18.778879 m, bearing: 306.594302 deg, approach rate: 0.000000 m/s, LOS rate: -0.136235 deg/s, cmd heading: 318.723237 deg, new cmd heading: 318.586102 deg. gHeadingCmd: 5.560377 target range: 19.380348 and range: 19.50 m.g@DwD_D)DE}: Er96EFA4:E!@!@!@!@ggggzfrfffBBdddc3@cٲ?ɢeBei: aenO>Ia m`TAɡiiiImLu;Iu 9iuē=iuo=)u@)yMchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.750723Թi/!vB =>~B B IB ΂BB B B B 4P;B /E >Ae ʞ= A I I N >_Em,jMZ%*ADDAT read: Rx Time:16:12:14.1171 TRx dataTimestamp_ set to:1755879133.415325PDAT read: Bearing 152.6, -17.9 (Local) ~Local bearing/azimuth received: Bearing 152.6, -17.9 (Local) "DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 6DAT read: 16:12:14.1171 LVL= 27088, 26865, 22002, 32755, AGC= 52, IDX= 512, 0.30, 0.776,-0.587, 1.646, 1.289, PHS=-0.411,-1.830, 0.313, RAW= 169.4, 19.8, CAL= 170.3, 27.6, ROT= 339.7, -27.6 :Ygot valid direction response: 16:12:14.1171 LVL= 27088, 26865, 22002, 32755, AGC= 52, IDX= 512, 0.30, 0.776,-0.587, 1.646, 1.289, PHS=-0.411,-1.830, 0.313, RAW= 169.4, 19.8, CAL= 170.3, 27.6, ROT= 339.7, -27.6 :T#Rx 64: Read range and direction messages.>^direction in FSK: [0.831161,-0.307456,0.463296]>Fpublishing direction and range info99ޘ?/KZӿp?3AiihU nҾ)q=IA>i8=@;>:>@Ϣ>j@ ϢiI??Rp?\?b  g)Ϣinchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.024826M؂B9M IU=U=)Y Y]4=i]R=iBDe6De<4YD!6=Q)>9!9%DY%C-A->1Q 1=4٪5Ip?Q 5=45W 5 ^B99Y9Q E=?y5EC)5%:I5>:i5ee4YwB A*EhhZ%*Ah?Ah?AhJ@hĄn0@W]6!@h9ޘ?/KZӿp?h ghϢiLJ]:"@-԰q @h%A?||mm?Rz?hlhAha]p?hghB*i2i':iiPA"i7@ addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503990 s, deltaX: -0.100000 m, approachRate: -0.198417 m/s, rangeRepo size: 4 m Added new target pos. range: 19.281134 m, bearing: 301.707116 deg, lat: 36.779423 deg, lon: -121.859659 deg, deltaT: 0.503990 s, deltaX: -0.099215 m, approachRate: -0.196858 m/s, posRepo size: 4 gimDNOT Ignoring new targets: 19.28 m.gigqgq ProNav: ac range: 19.281134 m, nav range: 18.539108 m, bearing: 306.563597 deg, approach rate: 0.000000 m/s, LOS rate: -0.136235 deg/s, cmd heading: 318.586114 deg, new cmd heading: 318.464492 deg. gHeadingCmd: 5.558254 target range: 19.281134 and range: 19.40 m.g7ݱ@ggggzfrfffBdddc`ff3@c?ɢ-B-P& 15b,>I1 5>ɡ1i1IUafz;I]9i]=ied8=)e7ݱ@)aimiAԑDerDeaDe'DaEek: Ee96Ee'4:Ea"Ea!uEa!}*Ee;!}Ee;!}i0checking for new query: numPingsReceived=64, elapsed TxPingTime=32.253510>A 4= A yAI9 Ii N >5m,gw%*AɰtvAy@ٱ7@ۓ<b<HZ?@ͅ?2qf@`V?@3{?@x?I@)7^;iCDDAT read: Rx Time:16:12:14.6169 TRx dataTimestamp_ set to:1755879133.919374PDAT read: Bearing 140.9, -15.3 (Local) ~Local bearing/azimuth received: Bearing 140.9, -15.3 (Local) DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4 DAT read: 16:12:14.6169 LVL= 29920, 28593, 21490, 32755, AGC= 53, IDX= 510,-0.24, 2.914, 1.460,-2.659,-3.137, PHS=-0.131,-1.641, 0.433, RAW= 165.2, 14.3, CAL= 165.8, 17.1, ROT= 344.2, -17.1 Ygot valid direction response: 16:12:14.6169 LVL= 29920, 28593, 21490, 32755, AGC= 53, IDX= 510,-0.24, 2.914, 1.460,-2.659,-3.137, PHS=-0.131,-1.641, 0.433, RAW= 165.2, 14.3, CAL= 165.8, 17.1, ROT= 344.2, -17.1 T#Rx 65: Read range and direction messages.^direction in FSK: [0.919681,-0.260243,0.294040]Fpublishing direction and range info93hn?&ԧп?̘AitoS5 $)J ҿI->i8@r>L39@Θ><@ ΘiIYE6? B?R,?)J?e 0ւB9 I)Θi=checking for new query: numPingsReceived=65, elapsed TxPingTime=32.524864Mb@Mb@Mb@ )Ii'1Z?zGếMbP?? ׽:IAi=AA)ABD6D=4Y{!6=ڻQ)> H?9 H?9DYC0A>Q 14٪}?Q 54 ^B9?Q A:Y[Q E?ycC)I +<ɡiIڟ;I8&:i~=iE\=)˱@) ԑDtD`DDEs: E96E:E!@!@!@!@i/] checking for new query: numPingsReceived=65, elapsed TxPingTime=32.758121 Ay A} AAvB A>~B CB IB ɂBB =B B ZDB "P;B (EBABABABE =BABE_5>A ٦= AEAIYIqN?m,%*A͂B9 IBD%6D%4Y5 !53=5Q)=>=K?9=K?9=DY=CEAE>IQ 1U4٪M-?Q 5U4M M^B9QYQQ EU?yMC)M8;IM;iM%u4YaeQ Aaiu=Iu4=}DDAT read: Rx Time:16:12:15.1168 TRx dataTimestamp_ set to:1755879134.423626PDAT read: Bearing 139.7, -15.1 (Local) ԑ~Local bearing/azimuth received: Bearing 139.7, -15.1 (Local) DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 DAT read: 16:12:15.1168 LVL= 27456, 26337, 24242, 32755, AGC= 52, IDX= 509, 0.03,-0.363,-1.812, 0.338,-0.156, PHS=-0.106,-1.612, 0.450, RAW= 165.1, 13.6, CAL= 165.6, 16.2, ROT= 344.4, -16.2 Ygot valid direction response: 16:12:15.1168 LVL= 27456, 26337, 24242, 32755, AGC= 52, IDX= 509, 0.03,-0.363,-1.812, 0.338,-0.156, PHS=-0.106,-1.612, 0.450, RAW= 165.1, 13.6, CAL= 165.6, 16.2, ROT= 344.4, -16.2 T#Rx 66: Read range and direction messages.^direction in FSK: [0.924919,-0.258242,0.278991]Fpublishing direction and range info98?| п?3Ai@kf^4 ٽ)VοIff>i!k8@s>8@Ð>hY@ ÐiIFv ?fŒ?bQ-?_I?us *g)Ðichecking for new query: numPingsReceived=66, elapsed TxPingTime=33.026085hh%*AhFAhFAh'@hR_1@ԹI9 2::ɡiIj;IE:i=i5=)@)iqqqqqBE5ǀ'4JE5(4RE5}0DoDfDDE`: E96E:E"ET;!EU;!*E-;!E-;!- checking for new query: numPingsReceived=66, elapsed TxPingTime=33.261536>A G= A yAI! II Nu >vm,E%*Ady@ٱD@P<U<H?N?`?ɕk r@J?>@$i?C?I@)C];iCeԂB9m Iyiyi=I=-Mb@Mb@Mb@ )))I)i))-+?Cl绿~jth?-v>-;߽-D;I-jAi-A)- A))-AI=@A)9BDE6DE4eDDAT read: Rx Time:16:12:15.6166 eTRx dataTimestamp_ set to:1755879134.927348mPDAT read: Bearing 139.8, -15.0 (Local) u~Local bearing/azimuth received: Bearing 139.8, -15.0 (Local) DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 DAT read: 16:12:15.6166 LVL= 28864, 26097, 21298, 32755, AGC= 52, IDX= 506, 0.39,-1.680,-3.141,-0.980,-1.469, PHS=-0.109,-1.627, 0.445, RAW= 165.0, 13.8, CAL= 165.5, 16.4, ROT= 344.5, -16.4 Ygot valid direction response: 16:12:15.6166 LVL= 28864, 26097, 21298, 32755, AGC= 52, IDX= 506, 0.39,-1.680,-3.141,-0.980,-1.469, PHS=-0.109,-1.627, 0.445, RAW= 165.0, 13.8, CAL= 165.5, 16.4, ROT= 344.5, -16.4 T#Rx 67: Read range and direction messages.^direction in FSK: [0.924424,-0.256366,0.282341]Fpublishing direction and range info9ae0?+KhпIx?e̔Aaiepeee2Saa ed;߽)eAпIe >ieN8@eϢv>e8@eC>eg@ eCiaaIeu|?F??6DS?eIH?ev ej)eCiaaMchecking for new query: numPingsReceived=67, elapsed TxPingTime=33.543430YU}<!M =U1Q)U>U H?9] H?9]DY]C]!A]>aQ 1m4٪e ?Q 54eH e]B9B?Q A:Y_Q E?yeC)e(I 7ɡiI};!I=W;iE$=iEK=)Eꤱ@)Ai4D sD _D %D E so: E r96E 4:E ! @! @! @! @I  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.765697>A l=bA ZA hAy vB=C>~B9B= IB=BB= =B9B9B=P;B=!EAIIqIN?$m,jշ%*Alpipy=@ٱ=e@=Ao<=8<=HG?K?Kd`iD?`䦛 獿e??I=@)=];i=CUĂB9] IBDm6Dm4Y}h!}3=}"*Q)>99DYHCd_A>Q 14٪ͤ?Q 54 ]B9Y?`Q E?yC):I-:i4Y A%B*** querying acoustic contact ***zh!h!gaeDNOT Ignoring new targets: 18.49 m.gagg ProNav: ac range: 18.486240 m, nav range: 17.555588 m, bearing: 306.100387 deg, approach rate: -0.510170 m/s, LOS rate: -0.107984 deg/s, cmd heading: 318.070708 deg, new cmd heading: 317.979291 deg. gEHeadingCmd: 5.549786 target range: 18.486240 and range: 18.60 m.gؗ@ggggzfrfffDDAT read: Rx Time:16:12:16.1165 TRx dataTimestamp_ set to:1755879135.431419PDAT read: Bearing 140.0, -15.3 (Local) ~Local bearing/azimuth received: Bearing 140.0, -15.3 (Local) DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 =DAT read: 16:12:16.1165 LVL= 28400, 27521, 20850, 32755, AGC= 52, IDX= 505,-0.18, 3.033, 1.599,-2.546,-3.029, PHS=-0.120,-1.610, 0.438, RAW= 165.3, 14.0, CAL= 165.8, 16.7, ROT= 344.2, -16.7 EYgot valid direction response: 16:12:16.1165 LVL= 28400, 27521, 20850, 32755, AGC= 52, IDX= 505,-0.18, 3.033, 1.599,-2.546,-3.029, PHS=-0.120,-1.610, 0.438, RAW= 165.3, 14.0, CAL= 165.8, 16.7, ROT= 344.2, -16.7 MT#Rx 68: Read range and direction messages.U^direction in FSK: [0.921634,-0.260796,0.287361]UFpublishing direction and range info9dJd~?$'пgd?AinkrQ ){οIA>iR8@5z>L39@;><@ ;iI1p?A'?o1C?NJ?y 0);i}checking for new query: numPingsReceived=68, elapsed TxPingTime=34.035480Bdddc2@c T?ɢB@YF 8=I 6ɡiAIEm;IM;iME=iM`=)Mؗ@)Qi031rD! jD% 4=D- uD- qD- (D) E- v: E- $ :6E- c44:E) "E- ";!= E- $;!= *E- U;!= E- U;!= >A= *=a  checking for new query: numPingsReceived=68, elapsed TxPingTime=34.270157A AI I N >kum,%*AyB@ٱBb@B0^^K?9^K?9bDYbpCbAb>dhQ 1n4٪f?Q 5n4f f]B9lYn`Q Er?yfړC)f2;If3;if錂4Ytv Athh^۷%*AhAhAh@h00@3>U. x"@hdJd~?$'пgd?h0h;i$@e. ,Rk?k@hM@? v*Y =?h8eh&AhO?h+w'hB*i?2io:iBiqA"iz@} addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504071 s, deltaX: -0.100000 m, approachRate: -0.198386 m/s, rangeRepo size: 4  Added new target pos. range: 18.386971 m, bearing: 305.996345 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.504071 s, deltaX: -0.099270 m, approachRate: -0.196936 m/s, posRepo size: 4 gDNOT Ignoring new targets: 18.39 m.gg%g) ProNav: ac range: 18.386971 m, nav range: 17.430489 m, bearing: 306.345508 deg, approach rate: 0.000000 m/s, LOS rate: -0.107984 deg/s, cmd heading: 317.979293 deg, new cmd heading: 317.894028 deg. gHeadingCmd: 5.548297 target range: 18.386971 and range: 18.50 m.g@ggggzfrf ffBdAdIdQcYc6?DDAT read: Rx Time:16:12:16.6162 TRx dataTimestamp_ set to:1755879135.937728PDAT read: Bearing 139.4, -15.0 (Local) ~Local bearing/azimuth received: Bearing 139.4, -15.0 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 DAT read: 16:12:16.6162 LVL= 28384, 27825, 20642, 32755, AGC= 52, IDX= 502, 0.13,-3.100, 1.712,-2.396,-2.889, PHS=-0.110,-1.637, 0.449, RAW= 165.0, 13.8, CAL= 165.5, 16.4, ROT= 344.5, -16.4 Ygot valid direction response: 16:12:16.6162 LVL= 28384, 27825, 20642, 32755, AGC= 52, IDX= 502, 0.13,-3.100, 1.712,-2.396,-2.889, PHS=-0.110,-1.637, 0.449, RAW= 165.0, 13.8, CAL= 165.5, 16.4, ROT= 344.5, -16.4 T#Rx 69: Read range and direction messages. ^direction in FSK: [0.924424,-0.256366,0.282341] Fpublishing direction and range info90?+KhпIx?ɢ%B%RS !%|=I! -4ɡ)i)I-;AinlP G)7ѿIT>iN8@Ϣv>8@C>g@ CiIT'덐?d?'FHՀ?I?ev j)CiMchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.543121IU!A ] checking for new query: numPingsReceived=69, elapsed TxPingTime=34.774616ԉ AAIYIiNu>kmn,(`%*AyF٬@ٱFֳ@FKQ9Q9]DY]C]h)A]>aQ 1m4٪eU?Q 5m4eܳ e]B9u?Q Au:Yu]`Q Eu?yeC)e{:Ie :ie4Y}B}<A}5Ehh%*AhAhAhS@h[ht0@LvX/apR4@h0?+KhпIx?hjhCi+b$@ E+P@hwiA:?1m迶?h^h#Ah(?h!hDB*iޜ?2iK :i{BiA"iu @A<A<vBD>~BCB IBBBBBBO;ABE addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.506309 s, deltaX: -0.500000 m, approachRate: -0.987539 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.890026 m, bearing: 306.218567 deg, lat: 36.779424 deg, lon: -121.859659 deg, deltaT: 0.506309 s, deltaX: -0.496944 m, approachRate: -0.981504 m/s, posRepo size: 4 gYmDNOT Ignoring new targets: 17.89 m.gigg ProNav: ac range: 17.890026 m, nav range: 17.217150 m, bearing: 306.268446 deg, approach rate: 0.000000 m/s, LOS rate: -0.107984 deg/s, cmd heading: 317.894025 deg, new cmd heading: 317.785708 deg. gHeadingCmd: 5.546407 target range: 17.890026 and range: 18.00 m.g*|@ggggzf!rf!f)f-}BBdQdYdYc]2@ce ?ɢBҀN =I p2ɡiIHU;Ii}>8@>hY@ iI4Oh?ޯ?`Y?t0I?^}is4@ @ jA *g)iEchecking for new query: numPingsReceived=70, elapsed TxPingTime=35.048939ԙ>A- ?= bD ZD @AD wD [D (D E }: E 96E c44:E "E g;! E h;! *E ;! E ;! AY Ia Iq N >/ n,*%*Ay6Ϭ@ٱ6̳@6sg:<6;<6H0??p غ.?@`L@f? ?I6Ϭ@)6];i6CRB9R IZchecking for new query: numPingsReceived=70, elapsed TxPingTime=35.277267BD 6D F4Y!;=%1Q)%>!9)9-DY-CM4AU>QQ 1]4٪Uɜ?Q 5]4U U]B9aYe`Q Ee?yUC)U:IU:iU=4iYqAhh %*Ahhhm@h |0@ ճiK^@hnz}? 솴wпTcݚ?h*ghiCc=$@ 'U+k g@hݹ?h_E?h^h!Ah7u?h\&hB*i(?2i!:ii(A"i@= addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501782 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 17.890064 m, bearing: 306.037416 deg, lat: 36.779424 deg, lon: -121.859660 deg, deltaT: 0.501782 s, deltaX: 0.000038 m, approachRate: 0.000076 m/s, posRepo size: 4 giuDNOT Ignoring new targets: 17.89 m.gqgqgq ProNav: ac range: 17.890064 m, nav range: 17.019758 m, bearing: 306.171565 deg, approach rate: 0.000000 m/s, LOS rate: -0.107984 deg/s, cmd heading: 317.785698 deg, new cmd heading: 317.692716 deg. gHeadingCmd: 5.544784 target range: 17.890064 and range: 18.00 m.gn@ggggzfrfffBdddAcAcEYh?ɢB $ X=I 1ɡ iI;ԡIU=iZ=i=)n@)i111=49mDDAT read: Rx Time:16:12:17.6159 uTRx dataTimestamp_ set to:1755879136.943460}PDAT read: Bearing 139.2, -14.9 (Local) }~Local bearing/azimuth received: Bearing 139.2, -14.9 (Local) DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 DAT read: 16:12:17.6159 LVL= 28640, 26353, 22114, 32755, AGC= 52, IDX= 499,-0.04, 2.091, 0.635, 2.796, 2.309, PHS=-0.116,-1.629, 0.443, RAW= 165.1, 13.9, CAL= 165.6, 16.6, ROT= 344.4, -16.6 Ygot valid direction response: 16:12:17.6159 LVL= 28640, 26353, 22114, 32755, AGC= 52, IDX= 499,-0.04, 2.091, 0.635, 2.796, 2.309, PHS=-0.116,-1.629, 0.443, RAW= 165.1, 13.9, CAL= 165.6, 16.6, ROT= 344.4, -16.6 T#Rx 71: Read range and direction messages.^direction in FSK: [0.923020,-0.257712,0.285688]Fpublishing direction and range info9imWhb?\Z~пWԷH?m̌AiimomfmbVii mh)mпIm>im!k8@mUlx>imV>i mViiiImo^w??]#?&A?mI?mOx i)mViiie checking for new query: numPingsReceived=71, elapsed TxPingTime=35.560966 >A- õ=Aa Ii Iy N ?n,G%*ALDDeD'DE E96E'4:E!%@!%@!%@!-@uB9u Ichecking for new query: numPingsReceived=71, elapsed TxPingTime=35.782021Mb@Mb@Mb@ )IiE?v/Mbp?xIjAijAA)IAA)AABD6D4YU!$=Q)>99DYCA>Q 14٪ל?Q 54 ]B9 ?Q A:Y`Q E?y:C):I:iू4YBA6Ehihma<%*AhmAhmAhm7@hm6_w\%0@8zX@hmWhb?\Z~пWԷH?hihmVimXm#@uTZ=+=iz=)`@)vB~BCB IBBBBBBO;B Ei}0y0 M DDAT read: Rx Time:16:12:18.1158 M TRx dataTimestamp_ set to:1755879137.447224U PDAT read: Bearing 138.8, -14.7 (Local) U ~Local bearing/azimuth received: Bearing 138.8, -14.7 (Local) m DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.4  DAT read: 16:12:18.1158 LVL= 31280, 28913, 20722, 32755, AGC= 51, IDX= 498, 0.30,-1.346,-2.811,-0.648,-1.137, PHS=-0.107,-1.628, 0.446, RAW= 164.9, 13.8, CAL= 165.4, 16.3, ROT= 344.6, -16.3  Ygot valid direction response: 16:12:18.1158 LVL= 31280, 28913, 20722, 32755, AGC= 51, IDX= 498, 0.30,-1.346,-2.811,-0.648,-1.137, PHS=-0.107,-1.628, 0.446, RAW= 164.9, 13.8, CAL= 165.4, 16.3, ROT= 344.6, -16.3  T#Rx 72: Read range and direction messages. ^direction in FSK: [0.925344,-0.254882,0.280667] Fpublishing direction and range info9I M ?j?}Oпrwkq?M 3AI iM 0zM pM PI M 3 M "۽)M NbпIM Z>iM 18@M Ϣv>M 8@M >M v@ M iI I IM }F2?-GC?'Xu9u?M H?M v M )M iI I  checking for new query: numPingsReceived=72, elapsed TxPingTime=36.049126>A l=I A yAI I N >n,0Fd%*AyF=@ٱF@F'% H?9% H?9%DY%)C-A->QQ 1]4٪U㜊?Q 5]4UK U]B9YY]yaQ Ee?yUVC)Ug:IU1:iU4YimAihhQ\%*AhYAhYAh$@hj$0@6IBj@h?j?}Oпrwkq?hhi#@sf&*v@hP&%?a迃Z?hWhAhd(?hY$hB*iO?2iY$:iDBi=A"iY@% addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503764 s, deltaX: -0.200001 m, approachRate: -0.397013 m/s, rangeRepo size: 4 U Added new target pos. range: 17.293718 m, bearing: 306.049422 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.503764 s, deltaX: -0.198790 m, approachRate: -0.394609 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 17.29 m.gQgYgY ProNav: ac range: 17.293718 m, nav range: 16.654800 m, bearing: 305.994894 deg, approach rate: 0.000000 m/s, LOS rate: -0.107984 deg/s, cmd heading: 317.589453 deg, new cmd heading: 317.499259 deg. DsD\D(DEso: E96Ec44:E"Eޑ;!Eߑ;!*E^ ;!E_ ;!ԉgHeadingCmd: 5.541408 target range: 17.293718 and range: 17.40 m.g6S@ggggzfrfffBdddc`ff1@c`?ɢ9=ʻ AE=I p.ɡiI;I(=i=i=)6S@)jAjAchecking for new query: numPingsReceived=72, elapsed TxPingTime=36.286594iE/AAE/A@I@M=Թ>Ae 2=bAa ZAe jAA A DDAT read: Rx Time:16:12:18.6156  TRx dataTimestamp_ set to:1755879137.955755 PDAT read: Bearing 139.2, -14.6 (Local)  5 ~Local bearing/azimuth received: Bearing 139.2, -14.6 (Local) E DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 m DAT read: 16:12:18.6156 LVL= 28272, 26977, 21106, 32755, AGC= 52, IDX= 496,-0.20, 1.960, 0.500, 2.659, 2.181, PHS=-0.119,-1.636, 0.434, RAW= 164.9, 14.1, CAL= 165.5, 16.8, ROT= 344.5, -16.8 Ii I N >[n,~%*A2Ygot valid direction response: 16:12:18.6156 LVL= 28272, 26977, 21106, 32755, AGC= 52, IDX= 496,-0.20, 1.960, 0.500, 2.659, 2.181, PHS=-0.119,-1.636, 0.434, RAW= 164.9, 14.1, CAL= 165.5, 16.8, ROT= 344.5, -16.8 2T#Rx 73: Read range and direction messages.6^direction in FSK: [0.922502,-0.255833,0.289032]6Fpublishing direction and range info9ÉF#? _п\.?̈AipnairR4 F)shѿI?5>id{>8@Q >g@ Q iIa0c?f?eh;?lH?d| j)Q iVchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.586559yrS@ٱr@r,ԱK?9K?9DYWCc;A>Q 14٪O?Q 542 ]B9?Q A:YdQ E?yuC)<;In;;i4YB'Ahh+}%*AhAhAhҪ@hx[[/@K`^dk+$&@hÉF#? _п\.?hjhQ iqwA##@?z*~9 @h \ ?O迀d?hShAhg?h m#hB*i,?2iW$:i+BiA"i@  addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.508531 s, deltaX: -0.299999 m, approachRate: -0.589933 m/s, rangeRepo size: 4  Added new target pos. range: 16.995552 m, bearing: 305.856916 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.508531 s, deltaX: -0.298166 m, approachRate: -0.586329 m/s, posRepo size: 4 gDNOT Ignoring new targets: 17.00 m.g!gAgAU ProNav: ac range: 16.995552 m, nav range: 16.388134 m, bearing: 305.955746 deg, approach rate: 0.000000 m/s, LOS rate: -0.107984 deg/s, cmd heading: 317.499267 deg, new cmd heading: 317.400420 deg. gQ]HeadingCmd: 5.539682 target range: 16.995552 and range: 17.10 m.g]E@gYgYgagazfarfffBBdddc1@c ?ɢ%B%ZsĻ !%=I! --ɡ)i)I-T;I55V>i5=i5m*=)5E@)9DemDe^DaDaEeY: Ee;96Ea:Ea!u@!u@!u@!u@checking for new query: numPingsReceived=73, elapsed TxPingTime=36.789436i A A vB E>~B CB IB BB =B B B P;B $E>A% l=9 Ai Iq I N >X{&n,/%*AvDDAT read: Rx Time:16:12:19.1154 zTRx dataTimestamp_ set to:1755879138.455176~PDAT read: Bearing 138.5, -14.5 (Local) ~~Local bearing/azimuth received: Bearing 138.5, -14.5 (Local)  DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 5DAT read: 16:12:19.1154 LVL= 28912, 27985, 21890, 32755, AGC= 52, IDX= 510, 0.12,-2.490, 2.324,-1.790,-2.281, PHS=-0.107,-1.633, 0.447, RAW= 164.9, 13.8, CAL= 165.4, 16.3, ROT= 344.6, -16.3 =Ygot valid direction response: 16:12:19.1154 LVL= 28912, 27985, 21890, 32755, AGC= 52, IDX= 510, 0.12,-2.490, 2.324,-1.790,-2.281, PHS=-0.107,-1.633, 0.447, RAW= 164.9, 13.8, CAL= 165.4, 16.3, ROT= 344.6, -16.3 =T#Rx 74: Read range and direction messages.E^direction in FSK: [0.925344,-0.254882,0.280667]EFpublishing direction and range info9xz?j?}Oпrwkq?zfAxizpzQmzUxx z"۽)z%ѿIz/>ixzϢv>z8@z>zv@ zixxIz`?Ly?&v?zH?z v z)zixxechecking for new query: numPingsReceived=74, elapsed TxPingTime=37.056297mB9m IuR=iua=ԹBD}6D}4Yٻ!3=Q)>99DYCA>Q 14٪s?Q 54 ]B9YQ E?yC):Iy:i¼4Y4Ahxhz!%*AhzAhzAhzO@hzC.@m;=L@hz?j?}Oпrwkq?hzhzizf"@ *@hzi+M?/:R?]!?hzVPhz.AhzGo?hzcc"hzB*ix2ix:izBizEA"izڪ@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.499421 s, deltaX: -0.300001 m, approachRate: -0.600698 m/s, rangeRepo size: 4  Added new target pos. range: 16.697422 m, bearing: 305.966668 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.499421 s, deltaX: -0.298130 m, approachRate: -0.596951 m/s, posRepo size: 4 gDNOT Ignoring new targets: 16.70 m.ggg ProNav: ac range: 16.697422 m, nav range: 16.158745 m, bearing: 305.914664 deg, approach rate: 0.000000 m/s, LOS rate: -0.107984 deg/s, cmd heading: 317.400421 deg, new cmd heading: 317.303837 deg. gHeadingCmd: 5.537997 target range: 16.697422 and range: 16.80 m.gE7@ggggzf rf f f1Bd1d1d1c=0@c=牻?ɢBuŻ 顅8=I ,ɡiI;I>i8=if=)E7@)iaaae/iD-qD-_D-#D)E-2h: E-r96E-3:E)"E-;!=E-;!=*E-J;!=E-K;!=checking for new query: numPingsReceived=74, elapsed TxPingTime=37.293404>AM =I Ay I I N >,n,4%*AyV@ٱV@V+S;VeRt9x9zDYzCzAz>|Q 14٪~S?Q 54~ ~]B9YeQ E?y~C)~i8@d{>9@>K@ iIQ^?)!D?p=)??I?7| K)ichecking for new query: numPingsReceived=75, elapsed TxPingTime=37.579784ɢλ 顥x|=I +ɡiI_V;I?iY=i5=)-@) mi>m>=ioCi./I݈G)IAiu-quyA?AD sD \D 'D E so: E 96E '4:E ! @! @! @! @- checking for new query: numPingsReceived=75, elapsed TxPingTime=37.797333>A5 2=I Au yAI vB @>~B CB IB BB =B B B AP;B 8EBCBCBB =B =BA 5YIaN>4n,Ը%*AyU@ٱU@U#;UZмE H?9E H?9MDYMCMQAM>QQ 1]4٪U?Q 5]4Uv U]B9e?Q Ae:YezeQ Ee?yUΔC)U:IUX:iU@̂4YmBmAm@EhhM%*Ah1Ah1Ah󈖪@htp,5.@{m@hey?" пTcݚ?hKhi΁9B"@ (^)+)U@hfz?ZŽ鿆)]x?hBMhAhvI?h &hًB*iGo?2i:iBizA"iª@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.509625 s, deltaX: -0.299999 m, approachRate: -0.588667 m/s, rangeRepo size: 4  Added new target pos. range: 16.399073 m, bearing: 305.436671 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.509625 s, deltaX: -0.298349 m, approachRate: -0.585429 m/s, posRepo size: 4 gDNOT Ignoring new targets: 16.40 m.ggg ProNav: ac range: 16.399073 m, nav range: 15.676300 m, bearing: 305.745039 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 317.237043 deg, new cmd heading: 317.148744 deg. gHeadingCmd: 5.535290 target range: 16.399073 and range: 16.50 m.g!@ggggzfrfffBddd c 0@c `r?ɢB׻ q=I  +ɡiIɕ;Iv?i}=i`=)!@5DDAT read: Rx Time:16:12:20.1151 =TRx dataTimestamp_ set to:1755879139.463446EPDAT read: Bearing 139.0, -14.5 (Local) M~Local bearing/azimuth received: Bearing 139.0, -14.5 (Local) ]DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 DAT read: 16:12:20.1151 LVL= 30320, 27601, 20978, 32755, AGC= 52, IDX= 507,-0.03, 2.041, 0.565, 2.749, 2.269, PHS=-0.125,-1.659, 0.436, RAW= 165.0, 14.2, CAL= 165.6, 17.0, ROT= 344.4, -17.0 Ygot valid direction response: 16:12:20.1151 LVL= 30320, 27601, 20978, 32755, AGC= 52, IDX= 507,-0.03, 2.041, 0.565, 2.749, 2.269, PHS=-0.125,-1.659, 0.436, RAW= 165.0, 14.2, CAL= 165.6, 17.0, ROT= 344.4, -17.0 T#Rx 76: Read range and direction messages.)^direction in FSK: [0.921077,-0.257169,0.292372]Fpublishing direction and range info99=44COvy?ݛvuп兗7?=3A9i=pv=k=Q99 =)=ZԿI=d;>i=N8@=}>=8@=>=hY@ =闾i99I=n%2'??58z?=I?=mp~ =*g)=闾i99checking for new query: numPingsReceived=76, elapsed TxPingTime=38.107601iE/AAAA) >Ae õ=BEJEY"4REɟ/D pD cD &D E d: E L96E 4:E "E v;! E x;! *E ";! E ";!  checking for new query: numPingsReceived=76, elapsed TxPingTime=38.302750Y A I I N >/X;n,%*AB9 IBDU6DUF4Y{!O=Q)>99DYCA>Q 14٪? ?Q 5 4 ]B9YQ E?yC);I;iPӂ4Y9E4AIhhݸ%*AheAheAhu@hсm.@.aiT@h44COvy?ݛvuп兗7?h*gh闾iȹ."@]Cu)@U@h.'?woy$Xv?hKhtAhR?h(h̋B*i2iY$:iًBiwA"iе@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.498645 s, deltaX: -0.100000 m, approachRate: -0.200544 m/s, rangeRepo size: 4  Added new target pos. range: 16.299685 m, bearing: 305.534050 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.498645 s, deltaX: -0.099388 m, approachRate: -0.199316 m/s, posRepo size: 4 gDNOT Ignoring new targets: 16.30 m.g g g = ProNav: ac range: 16.299685 m, nav range: 15.480972 m, bearing: 305.655437 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 317.148742 deg, new cmd heading: 317.068319 deg. g9EHeadingCmd: 5.533886 target range: 16.299685 and range: 16.40 m.gE@gAgIgIgIzfIrfIfQfQBdQdQdQc}`ff0@c}I?ɢ.   =I  d*ɡ i I p;Iu?iuf=iu R=)}@)yDDAT read: Rx Time:16:12:20.6148  TRx dataTimestamp_ set to:1755879139.972445-PDAT read: Bearing 138.3, -14.5 (Local) 5~Local bearing/azimuth received: Bearing 138.3, -14.5 (Local) iU0QQYYDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 }DAT read: 16:12:20.6148 LVL= 26032, 26417, 21154, 32755, AGC= 51, IDX= 504, 0.27, 2.247, 0.777, 2.950, 2.461, PHS=-0.112,-1.639, 0.444, RAW= 164.9, 13.9, CAL= 165.5, 16.5, ROT= 344.5, -16.5 Ygot valid direction response: 16:12:20.6148 LVL= 26032, 26417, 21154, 32755, AGC= 51, IDX= 504, 0.27, 2.247, 0.777, 2.950, 2.461, PHS=-0.112,-1.639, 0.444, RAW= 164.9, 13.9, CAL= 165.5, 16.5, ROT= 344.5, -16.5 T#Rx 77: Read range and direction messages.^direction in FSK: [0.923948,-0.256234,0.284015]Fpublishing direction and range info9T?,R!fпHN-?f~Aie1gR3 B`)ѿIS>i18@Ulx>8@r>g@ r iI[?ˍ?S(-aG?fH?aOx j)rie checking for new query: numPingsReceived=77, elapsed TxPingTime=38.637589>A G=I D oD ^D 'D E `: E ;96E '4:E !% @!- @!- @!- @A AI IN%>(Cn,? %*A.checking for new query: numPingsReceived=77, elapsed TxPingTime=38.805290yF|~@ٱF{@FȆ;FxeK?9eK?9eDYe5CeAm>qQ 1}4٪u,?Q 5}4u u]B9}?Q A}:Y}faQ E}?yuC)u:Iu:iu$ۂ4YAAAvB?>~BBBB =BBBP;B]EhYh]<%*Ah]|Ah]|Ah]͠@h].G3-@<;\25%N@h]T?,R!fпHN-?h]jh]ri]Q!@Ymݽ(uU@h]yv?i Wd5Im?h]Eh]: Ah]p?h]8 $h]TB*i]g?2i]8 $:i]̋Bi]\sA"i]@ԁ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.508999 s, deltaX: -0.500000 m, approachRate: -0.982320 m/s, rangeRepo size: 4  Added new target pos. range: 15.802689 m, bearing: 305.508500 deg, lat: 36.779424 deg, lon: -121.859661 deg, deltaT: 0.508999 s, deltaX: -0.496996 m, approachRate: -0.976418 m/s, posRepo size: 4 gDNOT Ignoring new targets: 15.80 m.ggg ProNav: ac range: 15.802689 m, nav range: 15.210094 m, bearing: 305.577492 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 317.068310 deg, new cmd heading: 316.982258 deg. gHeadingCmd: 5.532384 target range: 15.802689 and range: 15.90 m.gJ @g!g!g!g!zf!rf!f)f-BBd)d)d)c5/@c5?ɢBiR8@>O9@#>.@ #iI)?3#U ?$˝?.wJ?⫀ j)#ichecking for new query: numPingsReceived=78, elapsed TxPingTime=39.074928 >A =bA ZA A I I DMrDMDM+DIEMk: EM.:6EM [4:EI"EM;!UEM;!U*EM;!]EM;!]N=>IWJn,_+%*Ai=B9E IMa=iMp=BDU6DU4echecking for new query: numPingsReceived=78, elapsed TxPingTime=39.309376Ym!u-=uQ)u>y9y9}DY}fC}A>Q 14٪Q:?Q 54 ]B9YQ E?y'C)N:I;ik4YB^AAEhAhE7%*AhAhAhE,e@hEٺf-@&@ITw2@hE@*b?Sw|п+0?hEjhE#iEN g!@j(#Ϧ+@hE=yꭞ?=L@Лe?hE'FhE8 AhEΎ?hEv)hEB*iEΎ?2iE &:iEBiEpA"iE@ addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.499710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.802689 m, bearing: 305.091432 deg, lat: 36.779424 deg, lon: -121.859662 deg, deltaT: 0.499710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 15.80 m.gg g  ProNav: ac range: 15.802689 m, nav range: 15.055901 m, bearing: 305.305217 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 316.982249 deg, new cmd heading: 316.913481 deg. g%HeadingCmd: 5.531184 target range: 15.802689 and range: 15.90 m.g%u@g!g!g!g!zf)rf)f)f)Bd1d1d1c9c=?ɢE =I ^)ɡiI;I-+@iE=iM#=)u@)i1 M DDAT read: Rx Time:16:12:21.6145 U TRx dataTimestamp_ set to:1755879140.982326 PDAT read: Bearing 138.7, -14.4 (Local)  ~Local bearing/azimuth received: Bearing 138.7, -14.4 (Local)  DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 >A% /[= DAT read: 16:12:21.6145 LVL= 32752, 30449, 23154, 32755, AGC= 53, IDX= 501, 0.04, 1.874, 0.375, 2.589, 2.102, PHS=-0.126,-1.682, 0.443, RAW= 165.0, 14.2, CAL= 165.6, 16.9, ROT= 344.4, -16.9  Ygot valid direction response: 16:12:21.6145 LVL= 32752, 30449, 23154, 32755, AGC= 53, IDX= 501, 0.04, 1.874, 0.375, 2.589, 2.102, PHS=-0.126,-1.682, 0.443, RAW= 165.0, 14.2, CAL= 165.6, 16.9, ROT= 344.4, -16.9  T#Rx 79: Read range and direction messages. ^direction in FSK: [0.921567,-0.257306,0.290702] Fpublishing direction and range info9I M nz}? 솴wпTcݚ?M xAI iI M vM rZI M 5 M %)M K׿IM >iM N8@M }>M 8@M >M hY@ M iI I IM {*?h?m,? m?M I?M ~ M *g)M iI I  checking for new query: numPingsReceived=79, elapsed TxPingTime=39.626225Q Aq I I N >]bQn,OE%*Ayeh@ٱef@e:eة99DYC A>Q 14٪H?Q 54e ]B9?Q A:YgQ E?yJC)(%*Ah={vAh={vAh=v@h=fd,@ Z@h=nz}? 솴wпTcݚ?h=*gh=i=' !@lk$(]m@h=w?Ǻ''?h='Ah=TAh=?h=&h=WB*i=?2i=&:i9i=klA"i=v@ addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.510171 s, deltaX: -0.400000 m, approachRate: -0.784050 m/s, rangeRepo size: 4 vB>>~BB IBBBBBBP;BqEE Added new target pos. range: 15.405137 m, bearing: 305.214594 deg, lat: 36.779424 deg, lon: -121.859662 deg, deltaT: 0.510171 s, deltaX: -0.397552 m, approachRate: -0.779252 m/s, posRepo size: 4 gqDNOT Ignoring new targets: 15.41 m.ggg ProNav: ac range: 15.405137 m, nav range: 14.776135 m, bearing: 305.214649 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 316.913483 deg, new cmd heading: 316.818204 deg. gHeadingCmd: 5.529521 target range: 15.405137 and range: 15.50 m.g@g)g1g1g1zf9rf9fAfEBBdAdadicm/@cm͒?ɢB\3 顽pi 8@ L39@ > <@ 闾i I ;?Lm+?nqs? )I? 5~ 0) 闾i U checking for new query: numPingsReceived=80, elapsed TxPingTime=40.081070q >A=ԙAIIN?aYn,gdi%*AyBsd@ٱBa@B?ci:B|9|9~DY~C(A> Q 1 4٪ ~T?DwDaD%DE}: E96E 4:E"Eg;!-Eh;!-*E;!-E;!-Q 5-4  ]B99Y=gQ E=?y hC) ;I Y;i 4YEBEeAEBEhihm ^%*AhmLsAhmLsAhmR@hm{j +@qjl*S@hm1r?谓п兗7?hm0hm闾imdfbC @F'Q@hmNv?|$鿇W9?hm&?hmAhmN?hmX(hmOB*ii2imX(:imWBim{iA"im^@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.497230 s, deltaX: -0.200000 m, approachRate: -0.402228 m/s, rangeRepo size: 4  Added new target pos. range: 15.206298 m, bearing: 304.957446 deg, lat: 36.779424 deg, lon: -121.859663 deg, deltaT: 0.497230 s, deltaX: -0.198839 m, approachRate: -0.399894 m/s, posRepo size: 4 gDNOT Ignoring new targets: 15.21 m.ggg ProNav: ac range: 15.206298 m, nav range: 14.592664 m, bearing: 305.046173 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 316.818215 deg, new cmd heading: 316.743609 deg. gHeadingCmd: 5.528219 target range: 15.206298 and range: 15.30 m.g+@ggggzfrfffBdddc.@cA t=1A= yAm DDAT read: Rx Time:16:12:22.6142 } TRx dataTimestamp_ set to:1755879141.988555 PDAT read: Bearing 139.1, -14.6 (Local)  ~Local bearing/azimuth received: Bearing 139.1, -14.6 (Local) I  DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 Y I N > DAT read: 16:12:22.6142 LVL= 32752, 29777, 20914, 32755, AGC= 52, IDX= 498,-0.23, 0.151,-1.312, 0.874, 0.397, PHS=-0.144,-1.663, 0.433, RAW= 165.5, 14.5, CAL= 166.1, 17.4, ROT= 343.9, -17.4 `n,Y0%*A"Ygot valid direction response: 16:12:22.6142 LVL= 32752, 29777, 20914, 32755, AGC= 52, IDX= 498,-0.23, 0.151,-1.312, 0.874, 0.397, PHS=-0.144,-1.663, 0.433, RAW= 165.5, 14.5, CAL= 166.1, 17.4, ROT= 343.9, -17.4 "T#Rx 81: Read range and direction messages.&^direction in FSK: [0.916814,-0.264625,0.299041]&Fpublishing direction and range info9V?m%п-{#?pAiQtQ4 t)/ԿI->i8@>9@|>@ |iI>? ;?f ?K?Ɓ ޏ)|irchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.665657y-]@ٱ-L[@-,b8-<-H?t?@-?E{?  H?9% H?9%DY%C%bܺA%>)Q 154٪-a?Q 5=4-; )9=W?Q A=:Y=~BCBBBBBYDBP;B~Eԙ>A= ˺=Թ ] DDAT read: Rx Time:16:12:23.1140 ] TRx dataTimestamp_ set to:1755879142.487251m PDAT read: Bearing 138.5, -14.5 (Local) m ~Local bearing/azimuth received: Bearing 138.5, -14.5 (Local) } DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4  DAT read: 16:12:23.1140 LVL= 27888, 28241, 20978, 32755, AGC= 51, IDX= 496, 0.02, 1.682, 0.215, 2.400, 1.913, PHS=-0.130,-1.653, 0.442, RAW= 165.3, 14.2, CAL= 165.9, 16.9, ROT= 344.1, -16.9  Ygot valid direction response: 16:12:23.1140 LVL= 27888, 28241, 20978, 32755, AGC= 51, IDX= 496, 0.02, 1.682, 0.215, 2.400, 1.913, PHS=-0.130,-1.653, 0.442, RAW= 165.3, 14.2, CAL= 165.9, 16.9, ROT= 344.1, -16.9  T#Rx 82: Read range and direction messages. ^direction in FSK: [0.920207,-0.262128,0.290702] Fpublishing direction and range info9Y ] aVr? AпTcݚ?] 3kAY i] l] Qn] QY ] 3 ] )] ӿI] M>i] R8@] }>] O9@] >] .@ ] iY Y I] #j? uL?N^?] .wJ?] O} ] j)] iY A AI INe>gn@,c%*Ay=checking for new query: numPingsReceived=82, elapsed TxPingTime=41.148586yxU@ٱR@K6<H[?4? ?`w@F?@~P?@?IxU@)k^;iCB9 IBD6DF4Y=bo<!=8=EQ)E>EK?9EK?9EDYE#CM~AM>QQ 1]4٪Um?Q 5]4U U]B9YYefQ Ee?yUC)U$:IU:iU4YimAihyh}/%*Ah}iAh}iAh}8@h}`*@Aژ @h}aVr? AпTcݚ?h}jh}i}C:@='9^M@h}pْJ?!581!#>?h}8h}@h}?h}&h}B*i}N?2iy:i}SBi}XaA"i}F@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.498696 s, deltaX: -0.300000 m, approachRate: -0.601569 m/s, rangeRepo size: 4  Added new target pos. range: 14.609859 m, bearing: 304.781819 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.498696 s, deltaX: -0.298275 m, approachRate: -0.598110 m/s, posRepo size: 4 g -DNOT Ignoring new targets: 14.61 m.g1g1g1E ProNav: ac range: 14.609859 m, nav range: 14.084032 m, bearing: 304.873425 deg, approach rate: 0.000000 m/s, LOS rate: -0.088728 deg/s, cmd heading: 316.655821 deg, new cmd heading: 316.580166 deg. gAMHeadingCmd: 5.525366 target range: 14.609859 and range: 14.70 m.gmϰ@gigigqgqzfqrfqfqfyBdydydyc`ff-@c ?ԩɢ @A = A I I N- >nn,=%*Ay6kJ@ٱ6G@6u:˺6'<6Hg?`!?@4@Y#?־NgY? 'Ֆ? ?I6kJ@)6;^;i6CBB9B I@i@iF=IF=BDR6DR4Yb3!bf=f'Q)f>d9d9fDYjGCjoxAj>llQ 1v4٪nxw?Q 5v4n n]B9tYvfQ Ev?ynC)n:In6:inP 4YzB~A~LEMB*** querying acoustic contact ***zhIhI%DDAT read: Rx Time:16:12:23.6137 -TRx dataTimestamp_ set to:1755879142.995353MPDAT read: Bearing 138.5, -14.5 (Local) U~Local bearing/azimuth received: Bearing 138.5, -14.5 (Local) DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 gDNOT Ignoring new targets: 14.61 m.gg5Lg5LE ProNav: ac range: 14.609859 m, nav range: 13.897755 m, bearing: 304.826973 deg, approach rate: -0.464604 m/s, LOS rate: -0.117411 deg/s, cmd heading: 316.580170 deg, new cmd heading: 316.486021 deg. gEVMHeadingCmd: 5.523723 target range: 14.609859 and range: 14.70 m.gMW°@eDAT read: 16:12:23.6137 LVL= 29424, 26737, 20722, 32755, AGC= 51, IDX= 509, 0.32, 0.627,-0.843, 1.347, 0.863, PHS=-0.134,-1.661, 0.440, RAW= 165.3, 14.3, CAL= 165.9, 17.1, ROT= 344.1, -17.1 gIgggYgot valid direction response: 16:12:23.6137 LVL= 29424, 26737, 20722, 32755, AGC= 51, IDX= 509, 0.32, 0.627,-0.843, 1.347, 0.863, PHS=-0.134,-1.661, 0.440, RAW= 165.3, 14.3, CAL= 165.9, 17.1, ROT= 344.1, -17.1 T#Rx 83: Read range and direction messages.^direction in FSK: [0.919226,-0.261848,0.294040]Fpublishing direction and range info9!%Kj?>Fп?%dA!i%r%qh%P!! %L7 )%ԿI%G>i!%r>!%Θ>!zfrfffBdddc,@c Wή?  %Θi!!I% [|?c! ?5~?%`J?%b !)%Θi!!checking for new query: numPingsReceived=83, elapsed TxPingTime=41.646263ɢae 顭AE  =q vB ~B B B B =B B B P;B {EAq I I N >Cun,#ֹ%*A`yAE@ٱB@\<H$?%?eZ'? \b?4? ?IAE@)8^;iCMB9M IUMb@Mb@Mb@ Q)QIQiQQU?|?5^Mb`?Uf?UҽU;IQiQUAU9A)QUAmC=im4=BDm6Dm4Y}~L=!,=KQ)>99DYxCA>Q 14٪:?Q 54 9?Q A:Y`Q E?yޕC):I:i4YrAhhݳ%*AhecAhecAhu)@hEb *@nKė #jI@hKj?>Fп?hhΘi6s@ V$_&VKb}@h[-qA l?5o/鿲nnא?h2h@hE?hIE<'hB*iE?2iIE<':iOBiYA"iv)@] addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.508102 s, deltaX: -0.400000 m, approachRate: -0.787243 m/s, rangeRepo size: 4 m Added new target pos. range: 14.212306 m, bearing: 304.673776 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.508102 s, deltaX: -0.397553 m, approachRate: -0.782428 m/s, posRepo size: 4 giDNOT Ignoring new targets: 14.21 m.ggg ProNav: ac range: 14.212306 m, nav range: 13.601162 m, bearing: 304.673825 deg, approach rate: 0.000000 m/s, LOS rate: -0.117411 deg/s, cmd heading: 316.486022 deg, new cmd heading: 316.383884 deg. gHeadingCmd: 5.521941 target range: 14.212306 and range: 14.30 m.g@ggggzfrfffBBdddcc`8?ɢUBU$Hܻ QUhL=IQ ]&ɡYiYI];IeBie=ie;=)e@)aDDAT read: Rx Time:16:12:24.1137 TRx dataTimestamp_ set to:1755879143.499121PDAT read: Bearing 138.9, -14.5 (Local) ~Local bearing/azimuth received: Bearing 138.9, -14.5 (Local) DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 DAT read: 16:12:24.1137 LVL= 30368, 26849, 20802, 32755, AGC= 51, IDX= 509,-0.26, 0.542,-0.927, 1.268, 0.793, PHS=-0.149,-1.675, 0.431, RAW= 165.5, 14.6, CAL= 166.1, 17.6, ROT= 343.9, -17.6 %Ygot valid direction response: 16:12:24.1137 LVL= 30368, 26849, 20802, 32755, AGC= 51, IDX= 509,-0.26, 0.542,-0.927, 1.268, 0.793, PHS=-0.149,-1.675, 0.431, RAW= 165.5, 14.6, CAL= 166.1, 17.6, ROT= 343.9, -17.6 %T#Rx 84: Read range and direction messages.-^direction in FSK: [0.915806,-0.264334,0.302370]5Fpublishing direction and range info9GN?Y;п-JZ?ivhBQ u)ffֿI>i8@w>9@nF>@ nFiIMws ?<@?vaX/?LK?悾 ޏ)nFiMchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.104687i0@ @ 1I D D `D )D E  E 96E FA4:E "E ";! E #;! *E ;! E ;! >A% ۽=rA- ?jA- ?m checking for new query: numPingsReceived=84, elapsed TxPingTime=42.338223A= yAԁ I I N ><|n,HS%*AymA@ٱmc>@m4m H?9 H?9DYCڜA>Q 1%4٪?Q 5-4 ]B9)Y-&`Q E-?yC)@iM8@M}>M}l9@M>M7 @ M闾iIIIM=-?cz?>a?MJ?M} M:)M闾iII checking for new query: numPingsReceived=85, elapsed TxPingTime=42.709885>A= }=D= sD9 D= &D9 E= so: E9 6E= 4:E9 !M @!M @!M @!M @I Ai Iy I N >Ãn,%*A) "checking for new query: numPingsReceived=85, elapsed TxPingTime=42.841557y^S8@ٱ^5@^e`^썪<^H?/?+_1? l?PQ?@-?I^S8@)^-l^;i\d9d~=~=) vB)~B)B- IB-BB)B)B)B-P;B-pEBCBCBB =B =B5Mb@Mb@Mb@ )IiMb?|?5^Mb`??IAiAA)AII)M@ABDM6DM=4Y}V:!=磺Q)>99DYCA>Q 14٪?Q 54]  ]B9?Q A:YaQ E?yC);IX;i#4YAh9h=Jy%*Ah=YAh=YAh=@h=R)@_&p i@h=֩ j?_п兗7?h=:h=闾i= >@y%xgߕ@h=fY?,|_i8@d{>Q > Q iIjB?# ?\C"?+K?-{ )Q ichecking for new query: numPingsReceived=86, elapsed TxPingTime=43.115177i/`4Y >Am =bD ZD AABE!4JE$4RE?0DrDbD#DEk: E96E3:E"E;!-E;!-*E5;!-E6;!5ԁAAIIN>U'n,!.%*Ay:<)@ٱ:&@::6<:Hg?;;?̑ =?2s?@&?`?I:<)@):^;i:CFB9F IBDN6DNF4YV> =!Va=ZwQ)Z>ZK?9^K?9^DY^C^A^>`Q 1f4٪b?Q 5f4b- `9dnchecking for new query: numPingsReceived=86, elapsed TxPingTime=43.345322YjbQ En?yb7C)bNi;Ib|j;ib)4YvBvAthh %*AhVAhVAh@hb (@KR w.$@hr?3@:Lп\.?hhQ iK1@M5%``9@hr>pO?$[pJ鿂uh?h)hA@hU?h,&haB*i2i&:iBiMA"i@ addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.501064 s, deltaX: -0.200000 m, approachRate: -0.399150 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.417205 m, bearing: 304.389759 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.501064 s, deltaX: -0.198773 m, approachRate: -0.396703 m/s, posRepo size: 4 gYmDNOT Ignoring new targets: 13.42 m.gigqgq ProNav: ac range: 13.417205 m, nav range: 12.868367 m, bearing: 304.369912 deg, approach rate: 0.000000 m/s, LOS rate: -0.117411 deg/s, cmd heading: 316.156698 deg, new cmd heading: 316.065245 deg. gHeadingCmd: 5.516379 target range: 13.417205 and range: 13.50 m.g.@ggggzfrfffBdddc+@c`?ɢQU/ QUP4=IQ ]$ɡYiYI]9;IhMDiv?=i=).@)i/@=@DDAT read: Rx Time:16:12:25.6130 TRx dataTimestamp_ set to:1755879145.015141PDAT read: Bearing 138.6, -14.8 (Local) ~Local bearing/azimuth received: Bearing 138.6, -14.8 (Local)  DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 A  DAT read: 16:12:25.6130 LVL= 29744, 27041, 22082, 32755, AGC= 50, IDX= 503,-0.28,-0.726,-2.167, 0.004,-0.472, PHS=-0.152,-1.650, 0.432, RAW= 165.8, 14.6, CAL= 166.4, 17.6, ROT= 343.6, -17.6 e Ygot valid direction response: 16:12:25.6130 LVL= 29744, 27041, 22082, 32755, AGC= 50, IDX= 503,-0.28,-0.726,-2.167, 0.004,-0.472, PHS=-0.152,-1.650, 0.432, RAW= 165.8, 14.6, CAL= 166.4, 17.6, ROT= 343.6, -17.6 m T#Rx 87: Read range and direction messages.u ^direction in FSK: [0.914409,-0.269125,0.302370]} Fpublishing direction and range info9xB?n X9ѿ-JZ?3SAi0tiBV2 )33ӿI/>iL39@w>9@nF>@ nFi>A C=bA ZA I,y?YĶ91?$ ?$L?m :)nFi% checking for new query: numPingsReceived=87, elapsed TxPingTime=43.682037i I I N >>n,gI%*Ay5!@ٱ5x@5۲5δ<5H 9 9 DY /C%A>Q 1%4٪?Q 5%4h ]B9E?Q AE:YEAaQ EM?yXC);I;ii24YU͔BU(AUWEchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.849335hh@%*AhQAhQAh:@hP '@^ > @hxB?n X9ѿ-JZ?h:hnFiP@gw$6p@h5Lq?Rc-S<6I?h&hG@h?h)~%hB*iT?2i,&:iBiIA"i@U addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.506674 s, deltaX: -0.300000 m, approachRate: -0.592097 m/s, rangeRepo size: 4  Added new target pos. range: 13.119044 m, bearing: 303.902825 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.506674 s, deltaX: -0.298161 m, approachRate: -0.588466 m/s, posRepo size: 4 vBe;>~BaBe IBeBBaBaBaBeP;Be[EgDNOT Ignoring new targets: 13.12 m.ggg- ProNav: ac range: 13.119044 m, nav range: 12.596537 m, bearing: 304.305134 deg, approach rate: 0.000000 m/s, LOS rate: -0.117411 deg/s, cmd heading: 316.065255 deg, new cmd heading: 315.955054 deg. g)UHeadingCmd: 5.514456 target range: 13.119044 and range: 13.20 m.gUlv@gYgYgYgYzfYrfYfafeBBdadadicm`ff*@cmm?ɢ `*=I F9$ɡiI&z;IuDii=iCk=)lv@)i% 0! ! % 4! I E DDAT read: Rx Time:16:12:26.1129 E TRx dataTimestamp_ set to:1755879145.515444M PDAT read: Bearing 138.0, -14.6 (Local) U ~Local bearing/azimuth received: Bearing 138.0, -14.6 (Local) e DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4  DAT read: 16:12:26.1129 LVL= 28112, 28577, 21842, 32755, AGC= 50, IDX= 502, 0.01, 1.627, 0.169, 2.358, 1.870, PHS=-0.141,-1.656, 0.445, RAW= 165.7, 14.3, CAL= 166.2, 17.1, ROT= 343.8, -17.1  Ygot valid direction response: 16:12:26.1129 LVL= 28112, 28577, 21842, 32755, AGC= 50, IDX= 502, 0.01, 1.627, 0.169, 2.358, 1.870, PHS=-0.141,-1.656, 0.445, RAW= 165.7, 14.3, CAL= 166.2, 17.1, ROT= 343.8, -17.1  T#Rx 88: Read range and direction messages. ^direction in FSK: [0.917842,-0.266658,0.294040] Fpublishing direction and range info9A E ^?#Fѿ?E QAA iE mE oE RUA A E Nb)E ӿIE >iE 9@E r>E 9@E Θ>E @ E ΘiA A IE =?r/?/WI/?E L?E ; E Ð)E ΘiA A  checking for new query: numPingsReceived=88, elapsed TxPingTime=44.121975i >A- =IIN%>~Ιn,!i%*Ay6&@ٱ6@669*<6H`?E?S@#GC?+@x?$??I6&@)6O];i6C<@9@DiDBDN6DN4VQ)V>X9X9ZDYZZC^A^>\Q 1b4٪^Vĝ?Q 5f4^ ^]B9dYfiaQ Ef?y^tC)^:I^:i^94Yhllhh `%*AhPPAhPPAhө@hgWf'@? !%`@h^?#Fѿ?hÐhΘiM֝@~$SK@h5?F#?&dWn0?h$h @hF?h (hLB*i2i:iBi FA"iz@% addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.500303 s, deltaX: -0.099999 m, approachRate: -0.199878 m/s, rangeRepo size: 4 = Added new target pos. range: 13.019671 m, bearing: 304.069574 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.500303 s, deltaX: -0.099373 m, approachRate: -0.198625 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 13.02 m.g9gAgAU ProNav: ac range: 13.019671 m, nav range: 12.378097 m, bearing: 304.212309 deg, approach rate: 0.000000 m/s, LOS rate: -0.117411 deg/s, cmd heading: 315.955043 deg, new cmd heading: 315.861358 deg. gQ]HeadingCmd: 5.512821 target range: 13.019671 and range: 13.10 m.g]i@gYgYgYgYzfarfafafaBdididicm@33*@c@=?D5sD5ZD5%D1E5so: E5a96E5 4:E1"E5ݑ;!EE5ߑ;!E*E5;!EE5;!Eɢqu. y})=Iy }#ɡyiyI}8;I6Ei =iN=)i@) e>>ԩ) Achecking for new query: numPingsReceived=88, elapsed TxPingTime=44.354523iM/IQU/Q>A+W=IIN >  DDAT read: Rx Time:16:12:26.6126  TRx dataTimestamp_ set to:1755879146.021040 PDAT read: Bearing 137.8, -14.6 (Local)  ~Local bearing/azimuth received: Bearing 137.8, -14.6 (Local) ضn,%*ABDAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 leDAT read: 16:12:26.6126 LVL= 28144, 26513, 20594, 32755, AGC= 50, IDX= 499, 0.33, 0.981,-0.476, 1.713, 1.222, PHS=-0.139,-1.653, 0.447, RAW= 165.7, 14.2, CAL= 166.2, 17.0, ROT= 343.8, -17.0 mYgot valid direction response: 16:12:26.6126 LVL= 28144, 26513, 20594, 32755, AGC= 50, IDX= 499, 0.33, 0.981,-0.476, 1.713, 1.222, PHS=-0.139,-1.653, 0.447, RAW= 165.7, 14.2, CAL= 166.2, 17.0, ROT= 343.8, -17.0 T#Rx 89: Read range and direction messages.^direction in FSK: [0.918333,-0.266801,0.292372]Fpublishing direction and range info9b?ZhDѿ兗7?IAimgrP V)ӿI/>i}>> 闾iInwOr?@0&2?bdDo?!L?`~ )闾iuchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.713249yB@ٱ @/ϻ&δ<H`?`EN?XQPո?y?.?`?IB@)];iCB9 Mb@Mb@Mb@ )IiK7A?B`"۹Mbp? ?;IAiA AA)ABD6DYl:!< PQ) > 9 9 DYC-A>DEtDE`DE&DAEEs: EE96EE4:EA!M@!M@!M@!M@yQ 14٪}ӝ?Q 54} }]B9?Q A:YXbQ E?y}C)}:I}:i}C4YӔBOAXEhhX%*Ah]HAh]HAh{ȩ@hC@'@?熺 @pvrTJ @hb?ZhDѿ兗7?hh闾i@+G#6F @hInu?c|e_&j%?hhG@h&F?hz=#hB*iU?2iJ%:iaBi;AA"i֩@E addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.505596 s, deltaX: -0.500000 m, approachRate: -0.988932 m/s, rangeRepo size: 4 u Added new target pos. range: 12.522738 m, bearing: 303.995517 deg, lat: 36.779423 deg, lon: -121.859661 deg, deltaT: 0.505596 s, deltaX: -0.496934 m, approachRate: -0.982868 m/s, posRepo size: 4 gq}DNOT Ignoring new targets: 12.52 m.gygygy ProNav: ac range: 12.522738 m, nav range: 12.076942 m, bearing: 304.096938 deg, approach rate: 0.000000 m/s, LOS rate: -0.117411 deg/s, cmd heading: 315.861361 deg, new cmd heading: 315.727112 deg. gHeadingCmd: 5.510478 target range: 12.522738 and range: 12.60 m.gU@ggggzfrfffBBdddc@33)@cE?checking for new query: numPingsReceived=89, elapsed TxPingTime=44.8573191ɢB 页X)=I -"ɡiI뾡;I5/Ei='=iEiE=AqAqvB~BB IBBB =BBBRP;B=E)% U@)) Y i 5 @ @ ԁ DDAT read: Rx Time:16:12:27.1125 TRx dataTimestamp_ set to:1755879146.523227PDAT read: Bearing 138.2, -14.8 (Local) ~Local bearing/azimuth received: Bearing 138.2, -14.8 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 DAT read: 16:12:27.1125 LVL= 29280, 28945, 21362, 32755, AGC= 50, IDX= 498,-0.18,-1.242,-2.680,-0.507,-0.985, PHS=-0.154,-1.650, 0.435, RAW= 165.9, 14.6, CAL= 166.5, 17.6, ROT= 343.5, -17.6 Ygot valid direction response: 16:12:27.1125 LVL= 29280, 28945, 21362, 32755, AGC= 50, IDX= 498,-0.18,-1.242,-2.680,-0.507,-0.985, PHS=-0.154,-1.650, 0.435, RAW= 165.9, 14.6, CAL= 166.5, 17.6, ROT= 343.5, -17.6 T#Rx 90: Read range and direction messages.^direction in FSK: [0.913938,-0.270721,0.302370]Fpublishing direction and range info9$o>?"?}Sѿ-JZ?HAi`rqrS -)33ӿIR>iO9@w>w9@nF>ؿ@ nFiI7#Z?j=?Dh\v? M?:  r)nFi checking for new query: numPingsReceived=90, elapsed TxPingTime=45.126289>A=rA?jA?IIN?ᘨn,(%*Ay6F@ٱ6@6Yڻx6A<6H?`1Y? 钿@[@? Pg}R{? q??I6F@)6ס];i6CEB9E IBD}6D}4Y=G7!=@=EWQ)E>a9i9mDYmCm Am>qQ 1}4٪uVߝ?Q 5}4u'# u]B9YbQ E?yuC)uz;Iu;iuJ4YcAhIhM|%*AhMFAhMFAhM@hM$Y&@@# >Y8 @hM$o>?"?}Sѿ-JZ?hM rhMnFiM)-5@܏Ml#Y:@hMV?jg鿱i_?hMhM@hM?hMWy&hM,B*iM&F?2iM,&:iMLBiMG=A"iM@- addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502187 s, deltaX: -0.100000 m, approachRate: -0.199130 m/s, rangeRepo size: 4 5 Added new target pos. range: 12.423376 m, bearing: 303.600069 deg, lat: 36.779422 deg, lon: -121.859662 deg, deltaT: 0.502187 s, deltaX: -0.099361 m, approachRate: -0.197857 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 12.42 m.g9gagau ProNav: ac range: 12.423376 m, nav range: 11.829876 m, bearing: 303.675446 deg, approach rate: 0.000000 m/s, LOS rate: -0.117411 deg/s, cmd heading: 315.727106 deg, new cmd heading: 315.629770 deg. gyHeadingCmd: 5.508779 target range: 12.423376 and range: 12.50 m.gG@ggggzfrfffBdddc)@c?ɢ!%d !-=I) -c"ɡ)i)I-ԡ;I5?Fi5=i59=)5G@)aDwD[D'DE}: E96E'4:E"Eg;!Eh;! *E;! E;! iQQQU3Qchecking for new query: numPingsReceived=90, elapsed TxPingTime=45.362671Q>Au 7=y I I N >n,%ͽ%*Ay6@ٱ6I@6绹68<6H@`?a?n c ?I5|?@??I6@)6 m];i6CRB9R IRpd9d9fDYfCjAj>lQ 1r4٪n蝊?Q 5r4n& n]B9pYr"cQ Ev?yn̖C)n;In;inP4YxzqAxYDDAT read: Rx Time:16:12:27.6123 TRx dataTimestamp_ set to:1755879147.0317985PDAT read: Bearing 137.4, -14.8 (Local) =~Local bearing/azimuth received: Bearing 137.4, -14.8 (Local) mB*** querying acoustic contact ***zhiDAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 hig9MDNOT Ignoring new targets: 12.42 m.gg}sg}sDAT read: 16:12:27.6123 LVL= 30640, 30865, 22466, 32755, AGC= 50, IDX= 495, 0.10,-0.274,-1.727, 0.468,-0.032, PHS=-0.141,-1.650, 0.456, RAW= 166.0, 14.1, CAL= 166.5, 16.9, ROT= 343.5, -16.9 Ygot valid direction response: 16:12:27.6123 LVL= 30640, 30865, 22466, 32755, AGC= 50, IDX= 495, 0.10,-0.274,-1.727, 0.468,-0.032, PHS=-0.141,-1.650, 0.456, RAW= 166.0, 14.1, CAL= 166.5, 16.9, ROT= 343.5, -16.9 T#Rx 91: Read range and direction messages.^direction in FSK: [0.917412,-0.271750,0.290702]Fpublishing direction and range info ProNav: ac range: 12.423376 m, nav range: 11.649694 m, bearing: 303.590284 deg, approach rate: -0.443529 m/s, LOS rate: -0.212875 deg/s, cmd heading: 315.629762 deg, new cmd heading: 315.456804 deg. g»HeadingCmd: 5.505760 target range: 12.423376 and range: 12.50 m.g//@gg!g!g!zf!rf!9  uo[?gShYdѿTcݚ? 3CA i w x W   Nb) I x>i }l9@ d{>  >  i  I sm?J*O?2F*+? \M? { ) i  ԉffBdddc`ff(@c y?checking for new query: numPingsReceived=91, elapsed TxPingTime=45.700039ɢ=B=< 9=X=I9 E "ɡaiaIe:;ImYGim%=imH=)m//@)q)yi/ԱDvDaDDEVz: E96E:E!@!@!@!@ checking for new query: numPingsReceived=91, elapsed TxPingTime=45.867207 >AE V1=vB% <>~B! B! B! B! B! B! B% P;B% EAi Iy I N >SEn,8Mں%*A8zB9z IMb@Mb@Mb@ )Ii{Gz?Cl绿~jth??;߽D;IAiA"A)zABD6D4Y^=!+=Q)>99DYCA>Q 14٪,?Q 54, ]B9?Q A:YFfQ E?yC) ;I ;iDY4YؔB1AYEhhº%*AhBAhBAh򫇩@hN3?g?&@:J9\ ҭ2 @huo[?gShYdѿTcݚ?hhiJ֮@#=jU#~QCG @hMGv?3H0%S?hh@h2;?h=M*hĉB*i2iWy&:i,Bi6A"iEx@E addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.508571 s, deltaX: -0.300000 m, approachRate: -0.589889 m/s, rangeRepo size: 4 U Added new target pos. range: 12.125237 m, bearing: 303.542214 deg, lat: 36.779422 deg, lon: -121.859662 deg, deltaT: 0.508571 s, deltaX: -0.298139 m, approachRate: -0.586228 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 12.13 m.gYgegau ProNav: ac range: 12.125237 m, nav range: 11.413255 m, bearing: 303.434516 deg, approach rate: 0.000000 m/s, LOS rate: -0.212875 deg/s, cmd heading: 315.456795 deg, new cmd heading: 315.281209 deg. gq}HeadingCmd: 5.502695 target range: 12.125237 and range: 12.20 m.g}@gygygygyzfyrfffBBdddccM?ɢR 顽f=I h`!ɡiIʡ;I6Gi(=i=)@)DDAT read: Rx Time:16:12:28.1123 TRx dataTimestamp_ set to:1755879147.532125PDAT read: Bearing 138.1, -14.9 (Local) ~Local bearing/azimuth received: Bearing 138.1, -14.9 (Local) DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 %DAT read: 16:12:28.1123 LVL= 27072, 26385, 19954, 32755, AGC= 49, IDX= 511,-0.41,-1.052,-2.481,-0.313,-0.788, PHS=-0.162,-1.648, 0.431, RAW= 166.1, 14.7, CAL= 166.7, 17.8, ROT= 343.3, -17.8 5Ygot valid direction response: 16:12:28.1123 LVL= 27072, 26385, 19954, 32755, AGC= 49, IDX= 511,-0.41,-1.052,-2.481,-0.313,-0.788, PHS=-0.162,-1.648, 0.431, RAW= 166.1, 14.7, CAL= 166.7, 17.8, ROT= 343.3, -17.8 5T#Rx 92: Read range and direction messages.=^direction in FSK: [0.911971,-0.273605,0.305695]=Fpublishing direction and range info9׀.?:zunѿќ?iigM1 T%)ҿI>i9@G\>4:@>!@ iIҀv x?"1J?4D?-M? ;)i]checking for new query: numPingsReceived=92, elapsed TxPingTime=46.139801Yi/@=@=ԉ>A:_=bAiAZAD D cD )D E  E L96E FA4:E "E E;! E F;! *E ";! E ";! Թ A yAI I N >u DDAT read: Rx Time:16:12:28.6120  TRx dataTimestamp_ set to:1755879147.786714 checking for new query: numPingsReceived=92, elapsed TxPingTime=46.3759198on,c'%*Aԑy@ٱe@ #<H?$q?@¾@!sX?@J!?@0??I@)|];iCB9 IBD6D4Y{!F=Q)> H?9 H?9DY;CwA%>!Q 1-4٪%?Q 554%0 %]B91Y5fQ E5?y%C)%;I%;i%}`4Y=BEAEbEhhV%*AhhhS@hȅ2&@9I >f}, @h׀.?:zunѿќ?h;hi_΢A@l7Q#oI @h8?Y}$S 4?hh @h?h~ .hB*iF?2i (:iBi4A"iG@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.500327 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 12.125237 m, bearing: 303.174388 deg, lat: 36.779423 deg, lon: -121.859662 deg, deltaT: 0.500327 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g!-DNOT Ignoring new targets: 12.13 m.g)g)g1= ProNav: ac range: 12.125237 m, nav range: 11.295117 m, bearing: 303.574451 deg, approach rate: 0.000000 m/s, LOS rate: -0.212875 deg/s, cmd heading: 315.281204 deg, new cmd heading: 315.105250 deg. g9eHeadingCmd: 5.499624 target range: 12.125237 and range: 12.20 m.gm@gigigigizfirfifqfqBdqdqdycyc}^?ɢB x/=I  ɡiIL;IsHiR=i-=)@)i.PDAT read: Bearing 138.2, -14.6 (Local) ~Local bearing/azimuth received: Bearing 138.2, -14.6 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 DAT read: 16:12:28.6120 LVL= 32752, 31073, 23426, 32755, AGC= 50, IDX= 508,-0.01,-1.913, 2.902,-1.170,-1.645, PHS=-0.166,-1.692, 0.431, RAW= 165.8, 14.9, CAL= 166.5, 18.0, ROT= 343.5, -18.0 Ygot valid direction response: 16:12:28.6120 LVL= 32752, 31073, 23426, 32755, AGC= 50, IDX= 508,-0.01,-1.913, 2.902,-1.170,-1.645, PHS=-0.166,-1.692, 0.431, RAW= 165.8, 14.9, CAL= 166.5, 18.0, ROT= 343.5, -18.0 T#Rx 93: Read range and direction messages.%^direction in FSK: [0.911892,-0.270115,0.309017]UFpublishing direction and range info9+7.?\QQIѿ;[@?3;Aiay[2 ))uؿIiL39@%>w9@|٠>ؿ@ |٠iI媲?\Q -?vZlt?`L?)"  r)|٠ie checking for new query: numPingsReceived=93, elapsed TxPingTime=46.708466>A $= A I I N >Rn,| %*Aiy:ث@ٱ:ղ@:]o:F_<:H@? y? {`1{ ?@̀?J??I:ث@):6];i:CDBpDB_DB(D@EBd: EBr96EBc44:E@!J@!J@!J@!J@RB9R IMb@Mb@Mb@ )Ii'1Z?zGế~jth?? ׽IAi AA)A=DDAT read: Rx Time:16:12:29.1119 ETRx dataTimestamp_ set to:1755879148.291029]PDAT read: Bearing 137.9, -14.6 (Local) e~Local bearing/azimuth received: Bearing 137.9, -14.6 (Local) }checking for new query: numPingsReceived=93, elapsed TxPingTime=46.884586BD6D4Y!?=HQ)>!9)95DY5fCU >A]>AyA}<vB?>~BCB IBBBBBZDBO;BEQ 14٪1?Q 54x5 ]B9?Q A:YeQ E?y'C):I<:ih4Y!-A)hhR%*Ah :Ah :Ahrb@h"2*5%@TJR 9 @h+7.?\QQIѿ;[@?h rh|٠i3C@βz"Z# @h,?f)mӛIv?hh@hZR ?hR(hB*iZR ?2iR(:iBi0A"isb@ addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504185 s, deltaX: -0.500000 m, approachRate: -0.991699 m/s, rangeRepo size: 4  Added new target pos. range: 11.628395 m, bearing: 303.281870 deg, lat: 36.779423 deg, lon: -121.859663 deg, deltaT: 0.504185 s, deltaX: -0.496842 m, approachRate: -0.985437 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.63 m.ggg!- ProNav: ac range: 11.628395 m, nav range: 11.053123 m, bearing: 303.281909 deg, approach rate: 0.000000 m/s, LOS rate: -0.212875 deg/s, cmd heading: 315.105259 deg, new cmd heading: 314.903566 deg. g)5HeadingCmd: 5.496104 target range: 11.628395 and range: 11.70 m.g5@g1g1g1g1zf9rf9f9fBBdddc`ff'@cش?ɢB&w =I > ɡyiyI}@;I(~Ii=iC=)@)iAi/Q DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4  DAT read: 16:12:29.1119 LVL= 32752, 28769, 21682, 32755, AGC= 50, IDX= 507, 0.35, 0.273,-1.204, 1.020, 0.539, PHS=-0.165,-1.699, 0.437, RAW= 165.9, 14.8, CAL= 166.5, 17.9, ROT= 343.5, -17.9  Ygot valid direction response: 16:12:29.1119 LVL= 32752, 28769, 21682, 32755, AGC= 50, IDX= 507, 0.35, 0.273,-1.204, 1.020, 0.539, PHS=-0.165,-1.699, 0.437, RAW= 165.9, 14.8, CAL= 166.5, 17.9, ROT= 343.5, -17.9  T#Rx 94: Read range and direction messages. ^direction in FSK: [0.912407,-0.270268,0.307357] Fpublishing direction and range info9 I%q2?B(nLѿuY? 9A i ap T () xٿI w>i O9@ A> > i I #3V?3?$]? 'L? va ) i - checking for new query: numPingsReceived=94, elapsed TxPingTime=47.137424ԡ >A D%=AMAIQIaNu>n,:,%*A(y:wΫ@ٱ:˲@: p :b<:H t??@*?@m?@K??I:wΫ@):];i:CVB9V IBDz6Dz<4Y=!F= BQ) >K?9K?9DYC IA>Q 1%4٪?Q 5%49 ]B9)Y-fQ E-?y@C)K:I:i5o4Y5B5A=cEhh"p"%*Ahv8Ahv8AhW@hj %@r&G|eW[Y @hI%q2?B(nLѿuY?hhDurDqDu$DqEuk: Eq6Eu4:Eq"Eu;!Eu;!*EuJ;!EuJ;!i5@(bY">Y @h"W?Uςvg%*?hh%@h?h.*hЉB*i2;?2i=M*:iBi/A"i\]@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.501784 s, deltaX: -0.099999 m, approachRate: -0.199288 m/s, rangeRepo size: 4  Added new target pos. range: 11.529008 m, bearing: 303.206070 deg, lat: 36.779423 deg, lon: -121.859663 deg, deltaT: 0.501784 s, deltaX: -0.099387 m, approachRate: -0.198068 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.53 m.ggg ProNav: ac range: 11.529008 m, nav range: 10.944138 m, bearing: 303.246297 deg, approach rate: 0.000000 m/s, LOS rate: -0.212875 deg/s, cmd heading: 314.903577 deg, new cmd heading: 314.744731 deg. gHeadingCmd: 5.493332 target range: 11.529008 and range: 11.60 m.g`ɯ@ggggzfrfffBdddc@33'@c?ɢ)-74̻ )50?=I1 5ɡ1i1I5qi;I=3Ji=Т=i=/=)=`ɯ@)A-DDAT read: Rx Time:16:12:29.6117 5TRx dataTimestamp_ set to:1755879148.794961MPDAT read: Bearing 139.3, -14.6 (Local) ]~Local bearing/azimuth received: Bearing 139.3, -14.6 (Local) mchecking for new query: numPingsReceived=94, elapsed TxPingTime=47.388554ԉi0/Ա>A S-=rA! jA% ?  DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4  DAT read: 16:12:29.6117 LVL= 32224, 29073, 21618, 32755, AGC= 50, IDX= 505,-0.12, 2.936, 1.463,-2.598,-3.044, PHS=-0.201,-1.732, 0.401, RAW= 165.9, 15.9, CAL= 166.7, 19.4, ROT= 343.3, -19.4  Ygot valid direction response: 16:12:29.6117 LVL= 32224, 29073, 21618, 32755, AGC= 50, IDX= 505,-0.12, 2.936, 1.463,-2.598,-3.044, PHS=-0.201,-1.732, 0.401, RAW= 165.9, 15.9, CAL= 166.7, 19.4, ROT= 343.3, -19.4  T#Rx 95: Read range and direction messages.- ^direction in FSK: [0.903440,-0.271045,0.332161]E Fpublishing direction and range info9 T}C?SXѿ` B? 4A i } q rT M) -ݿI O>i G=i A I% ՈG q>) I I 4:@ -\> !@ -\i I ;}tl?."?} )d? \M? ٍ ;) -\i 5 checking for new query: numPingsReceived=95, elapsed TxPingTime=47.710018iM -I M AIi N} >Kn,yH%*AyUٴ@ٱU8@U$HU^;iUCB9 I-only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 !@! !@! !@! !@! BD6D4ԹY<!$=%Q)>99DYCͻA>Q 14٪4&?Q 54> ]BQ =+:9Q A:YfQ E ?ybC)7:I?iAv4YADeyDe\De,DaEe: Ee96Eeg4:Ea!m@!m@!m@!m@hhB%*Ah3Ah3Ah^@h`\J$@<:?Zoc @hT}C?SXѿ` B?h;h-\imx@.H`C!㏗ @h5"S?[鿽ap3g?hbh\@hPO ?h u(h7B*i2i:ii*A"iK@ addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504357 s, deltaX: -0.300000 m, approachRate: -0.594817 m/s, rangeRepo size: 4  Added new target pos. range: 11.230844 m, bearing: 302.777756 deg, lat: 36.779423 deg, lon: -121.859663 deg, deltaT: 0.504357 s, deltaX: -0.298164 m, approachRate: -0.591177 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.23 m.ggg  ProNav: ac range: 11.230844 m, nav range: 10.685375 m, bearing: 303.122660 deg, approach rate: 0.000000 m/s, LOS rate: -0.212875 deg/s, cmd heading: 314.744734 deg, new cmd heading: 314.527531 deg. g 5HeadingCmd: 5.489541 target range: 11.230844 and range: 11.30 m.g5R@g1g1g9g9zf9rf9fAfABdAdAdAcM&@cMn?DDAT read: Rx Time:16:12:30.1116 %TRx dataTimestamp_ set to:1755879149.299378=PDAT read: Bearing 137.3, -14.7 (Local) E~Local bearing/azimuth received: Bearing 137.3, -14.7 (Local) eDAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 Z#Rx 96: Read range message, but no direction.91Achecking for new query: numPingsReceived=96, elapsed TxPingTime=47.918068vBI~BIBM IBMBBM =BIBIBMP;BMEBBBBBB.5ɢBp׻ 顥0X=I zɡiI;IB,Ki+=iA=)R@) i>>i=/99=/A A >Ae := DAT read: 16:12:30.1116 LVL= 32432, 28961, 21586, 32755, AGC= 50, IDX= 504, 0.20,-0.286,-1.760, 0.470,-0.022, PHS=-0.162,-1.693, 0.448, RAW= 166.1, 14.6, CAL= 166.6, 17.6, ROT= 343.4, -17.6  Ygot valid direction response: 16:12:30.1116 LVL= 32432, 28961, 21586, 32755, AGC= 50, IDX= 504, 0.20,-0.286,-1.760, 0.470,-0.022, PHS=-0.162,-1.693, 0.448, RAW= 166.1, 14.6, CAL= 166.6, 17.6, ROT= 343.4, -17.6  Z#Rx 97: Read direction message, but no range. ^direction in FSK: [0.913464,-0.272315,0.302370]9 o!;?b/`mѿ-JZ? i ~ !q RT T%) 9ؿI B`>i 9@ w> :@ nF> nʿ@ nFi I /,}?ΙTK?r1b ? cM? j V) nF checking for new query: numPingsReceived=97, elapsed TxPingTime=48.147850AqIyIN>Qn,g%*AyF@ٱFࡲ@F^F 9 9 DY CZA->1Q 1=4٪51?Q 5=45C 5]BQ =E :9AQ AE:YEVgQ EE?y5~C)5:I5l?i5 {4YMBu-AudEhh)S%*Ah0Ah0Ah>!@hڐ'$@8Ĺ4( @ho!;?b/`mѿ-JZ?hVhnFi#R@g-!OWk @hK4?#|aL*|?h= h:@h ?hƛ+hdB*i ?2i.*:ii'A"i.@ addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.256927 s, deltaX: -0.200000 m, approachRate: -0.778430 m/s, rangeRepo size: 4 - Added new target pos. range: 11.032071 m, bearing: 302.825830 deg, lat: 36.779423 deg, lon: -121.859664 deg, deltaT: 0.256927 s, deltaX: -0.198772 m, approachRate: -0.773653 m/s, posRepo size: 4 g15DNOT Ignoring new targets: 11.03 m.g1g9g9E ProNav: ac range: 11.032071 m, nav range: 10.478420 m, bearing: 302.919821 deg, approach rate: 0.000000 m/s, LOS rate: -0.212875 deg/s, cmd heading: 314.527534 deg, new cmd heading: 314.348526 deg. gImHeadingCmd: 5.486417 target range: 11.032071 and range: 11.10 m.gu@gqgqgqgqzfqrfqfyfyBdydydc@33&@c,?ɢBb Az=a A yAI I1 N= >M5n,߀%*AyB@ٱB珲@Bp$Bēb H?9b H?9bDYbCfAf>hQ 1j4٪jUi%9@%ܸ>%m:@%6>%@ %6i!I%=w>c?^vA?R?%*'N?%d % )%6uchecking for new query: numPingsReceived=99, elapsed TxPingTime=48.647514} addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504730 s, deltaX: -0.300000 m, approachRate: -0.594378 m/s, rangeRepo size: 4 gyDNOT Ignoring new targets: 11.03 m.ggygy ProNav: ac range: 11.032071 m, nav range: 10.275931 m, bearing: 302.817497 deg, approach rate: -0.541151 m/s, LOS rate: -0.278848 deg/s, cmd heading: 314.348528 deg, new cmd heading: 314.139849 deg. g)HeadingCmd: 5.482775 target range: 11.032071 and range: 10.80 m.gr@ggggzfrfffBdddc%@cU H?ɢB С~B B B B B B B O;B E>A% A!=bA) ZA- hA \#Rx 100: Read range message, but no direction.9  (A m checking for new query: numPingsReceived=100, elapsed TxPingTime=48.940823 AU AIa Iq N} >sn,%*AUB9U Iq!! !! !! !! Mb@Mb@Mb@ )Ii?v/?xI"AiAA)ABD6Dz4Y[<!5= Q) > K?9K?9DYCCA>Q 1%4٪ H?Q 5%4L ]BQ =%T:9-H?Q A-:Y-`mQ E-?yC);I;i4Y15"A9hh*擻%*Ah&Ah&Ah@@h)6U"@Oq}4; @hW ?RcѿˬQi?h h6iUj0/@, aU0 @hf,B=?#M?hahx@h+Q?h2'hfB*iZR ?2i u(:iЉBiQA"i@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.506815 s, deltaX: -0.300000 m, approachRate: -0.591932 m/s, rangeRepo size: 4  Added new target pos. range: 10.435760 m, bearing: 302.427218 deg, lat: 36.779423 deg, lon: -121.859663 deg, deltaT: 1.011545 s, deltaX: -0.596312 m, approachRate: -0.589506 m/s, posRepo size: 4 gDNOT Ignoring new targets: 10.44 m.ggg ProNav: ac range: 10.435760 m, nav range: 9.957474 m, bearing: 302.697369 deg, approach rate: 0.000000 m/s, LOS rate: -0.278848 deg/s, cmd heading: 314.139852 deg, new cmd heading: 313.886042 deg. gHeadingCmd: 5.478345 target range: 10.435760 and range: 10.50 m.gN@ggggzfrffAfEBBdIdIdIcM%@cU`('?ɢBW} 顝i9@>4:@#>!@ #iIct/?S?UA ew=D- rD- aD- )D) E- k: E- 96E- FA4:E) "E- ;!E E- ;!E *E- ;!E E- ;!M  DDAT read: Rx Time:16:12:31.6109  TRx dataTimestamp_ set to:1755879150.812030 PDAT read: Bearing 136.5, -14.8 (Local) % ~Local bearing/azimuth received: Bearing 136.5, -14.8 (Local) AI Iy I N >n,d%*ABDAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 rDAT read: 16:12:31.6109 LVL= 32144, 30369, 20818, 32755, AGC= 49, IDX= 497, 0.43,-2.545, 2.259,-1.779,-2.281, PHS=-0.162,-1.699, 0.457, RAW= 166.2, 14.5, CAL= 166.8, 17.5, ROT= 343.2, -17.5 vYgot valid direction response: 16:12:31.6109 LVL= 32144, 30369, 20818, 32755, AGC= 49, IDX= 497, 0.43,-2.545, 2.259,-1.779,-2.281, PHS=-0.162,-1.699, 0.457, RAW= 166.2, 14.5, CAL= 166.8, 17.5, ROT= 343.2, -17.5 zV#Rx 102: Read range and direction messages.]^direction in FSK: [0.913012,-0.275654,0.300706]]Fpublishing direction and range info9 d7?fm Rѿ->?!Ai}vRQ T%)xٿIi9@>AQ:@a>֭@ aiI+Q!$s?<+G;[?`?_N?n[qy t@ٱ r@ L_5 < HhU?`?̓@QU?v ˫?@97?W?I t@) 8];i CB9 Ii4=i%=BD6D4Y L<! D= J )aichecking for new query: numPingsReceived=102, elapsed TxPingTime=49.493015MSQ)U>Q9Q9UDYUnC]X A]>aQ 1m4٪eR?Q 54e-Q e]B9YOnQ E?yeҗC)e!;Ie;ie4YBAnEhhM%*Ah Ah Ahxި@hm.{T"@P"۶x%@h d7?fm Rѿ->?hJ hai "zu@y % <@h I N?􇏰Dwm?h(h@h?h%hЈB*iPO ?2i:ifBihA"iWި@M addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.501107 s, deltaX: -0.400000 m, approachRate: -0.798232 m/s, rangeRepo size: 4 ] Added new target pos. range: 10.038207 m, bearing: 302.358819 deg, lat: 36.779422 deg, lon: -121.859663 deg, deltaT: 0.501107 s, deltaX: -0.397552 m, approachRate: -0.793348 m/s, posRepo size: 4 gYeDNOT Ignoring new targets: 10.04 m.gagg ProNav: ac range: 10.038207 m, nav range: 9.713128 m, bearing: 302.357918 deg, approach rate: 0.000000 m/s, LOS rate: -0.278848 deg/s, cmd heading: 313.886042 deg, new cmd heading: 313.642172 deg. gHeadingCmd: 5.474089 target range: 10.038207 and range: 10.10 m.g+@ggggzfrfffBdddc@33$@cfi?ɢBE AEA5 Z= Au yAIy I N >n,rл%*ADpD`D(DEd: E96Ec44:E!"@!"@!"@!"@yB8d@ٱBa@B AB H?9 H?9DYC4A>ԹQ 14٪_?Q 54V ]B9?Q A:YnQ E?yC)P:Is:i4YAE addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503508 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gAMDNOT Ignoring new targets: 10.04 m.gIgMgM} ProNav: ac range: 10.038207 m, nav range: 9.456168 m, bearing: 302.243436 deg, approach rate: -0.533579 m/s, LOS rate: -0.244182 deg/s, cmd heading: 313.642177 deg, new cmd heading: 313.406993 deg. g}p߻HeadingCmd: 5.469984 target range: 10.038207 and range: 10.10 m.g @ggggzfrfffBBdddcc?ɢB^ @i} w9@} >} ͋;@} ?} @ } iy I} Nan?Utk?@}j3?} RO?} <þ } )}  checking for new query: numPingsReceived=104, elapsed TxPingTime=50.1587799 >A rA ?jA ?A AI I N>n,%*A(y6S@ٱ6P@67L6<6H?? ?kl@?'s dž?Qu?@,?I6S@)6[^;i6CBB9B IBDJ6DJ4YR)!Ru=VQ)V?VK?9VK?9VDYVC^ǻA^?\Q 1b4٪^h?Q 5f4^_Z ^]B9dYfGoQ Ef?y^ C)^:I^:i^]4YhnAlg|DNOT Ignoring new targets: 10.04 m.ggg  ProNav: ac range: 10.038207 m, nav range: 9.279302 m, bearing: 302.163176 deg, approach rate: -0.551799 m/s, LOS rate: -0.255172 deg/s, cmd heading: 313.407000 deg, new cmd heading: 313.243422 deg. g%黝%HeadingCmd: 5.467129 target range: 10.038207 and range: 10.10 m.g%@g)g)g)g)zf)rf)DsDYD&DEso: E*96E4:E"Eݑ;!Eߑ;!*E:!E:!ffBdddcc MG?UDDAT read: Rx Time:16:12:32.6106 eTRx dataTimestamp_ set to:1755879151.820030ԉPDAT read: Bearing 136.6, -14.8 (Local) ~Local bearing/azimuth received: Bearing 136.6, -14.8 (Local) ɢB qi]9@]w>]m:@]2+>]@ ]2+iYYI] ʒ]?3`g?Fd(/?]%O?]傾 ] )]2+iYYUchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.471432i/0 >A = checking for new query: numPingsReceived=105, elapsed TxPingTime=50.654926A  I II Nu >@Vo,> %*Ay%C@ٱ% A@%V%ɐ<%HG5??@g`6?s bҊ?|??I%C@)%^;i%C=B9E IM9999=DY=CEAE>IQ 1U4٪Mu?Q 5U4M_ M]B9U?Q AU:Y]oQ E]?yM*C)M ;IM~ ;iM4YeBeAahYh]_{%*Ah]Ah]Ah]@h]qd!@yQ_#74@h]-*+?krdѿz0Gu?h] h]2+i]Tt0(@e *@h]ʋp?"x鿉z?h]dh]G@h]7Kb ?h]ud*h]B*iY2iY:i]dBi]UA"i]z@ addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504492 s, deltaX: -0.500000 m, approachRate: -0.991096 m/s, rangeRepo size: 4 Թ Added new target pos. range: 9.541267 m, bearing: 301.885194 deg, lat: 36.779422 deg, lon: -121.859663 deg, deltaT: 1.008000 s, deltaX: -0.496940 m, approachRate: -0.492996 m/s, posRepo size: 4 gBNOT Ignoring new targets: 9.54 m.g6Short final. Range: 9.60 m.VTransitioning guidance mode to: SHORT_FINALg@@gg ProNav: ac range: 9.541267 m, nav range: 9.020813 m, bearing: 302.044135 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 313.243431 deg, new cmd heading: 312.989953 deg. g|HeadingCmd: 5.462705 target range: 9.541267 and range: 9.60 m.g{ή@ggggzfrfffBBdddc@33#@c`?ɢ-B5 D}oD}jD}'DyE}`: E}96E}'4:Ey!@!@!@!@ 顽g~BBBBBBBMP;B>Ei.0eDAT read: 16:12:33.1106 LVL= 28256, 32289, 19746, 32755, AGC= 48, IDX= 510,-0.42, 2.906, 1.454,-2.596,-3.092, PHS=-0.183,-1.691, 0.452, RAW= 166.8, 14.8, CAL= 167.4, 17.9, ROT= 342.6, -17.9 mYgot valid direction response: 16:12:33.1106 LVL= 28256, 32289, 19746, 32755, AGC= 48, IDX= 510,-0.42, 2.906, 1.454,-2.596,-3.092, PHS=-0.183,-1.691, 0.452, RAW= 166.8, 14.8, CAL= 167.4, 17.9, ROT= 342.6, -17.9 mV#Rx 106: Read range and direction messages.u^direction in FSK: [0.908050,-0.284566,0.307357]uFpublishing direction and range info9AE=aNM?WXR6ҿuY?AAiE`nE!~E"MAA EZd;)ErؿIEl>iEAQ:@E A>E:@E>E X@ EiAAIEY?1?;?VNQ?ElP?Eb E|)EiAAchecking for new query: numPingsReceived=106, elapsed TxPingTime=50.964939 >AA 9  checking for new query: numPingsReceived=106, elapsed TxPingTime=51.158772Aq Iy I N >~$ o,X&%*AzB9z IBD6D4YUn;!UD=]Q)]>Y9Y9]DYeCeAe>iQ 14٪m?Q 54md m]B9YQ E?ymFC)m\;Im;imE4YAh)h-%*Ah)h)h-sR@h-KnS!@B:ju@h-=aNM?WXR6ҿuY?h-|h-i-Z@x@=DDAT read: Rx Time:16:12:33.6103 TRx dataTimestamp_ set to:1755879152.828944%PDAT read: Bearing 136.9, -15.0 (Local) -~Local bearing/azimuth received: Bearing 136.9, -15.0 (Local) EDAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 uDAT read: 16:12:33.6103 LVL= 29216, 28449, 20018, 32755, AGC= 48, IDX= 507,-0.10, 1.945, 0.475, 2.728, 2.242, PHS=-0.195,-1.722, 0.442, RAW= 166.6, 15.1, CAL= 167.3, 18.5, ROT= 342.7, -18.5 }Ygot valid direction response: 16:12:33.6103 LVL= 29216, 28449, 20018, 32755, AGC= 48, IDX= 507,-0.10, 1.945, 0.475, 2.728, 2.242, PHS=-0.195,-1.722, 0.442, RAW= 166.6, 15.1, CAL= 167.3, 18.5, ROT= 342.7, -18.5 }V#Rx 107: Read range and direction messages.^direction in FSK: [0.905422,-0.282007,0.317305]Fpublishing direction and range info9z8y?8?h ҿHs%N?3Ai r!o2N G)jܿIM>i:@V>;:@MQ>Yf@ MQiIZ4?GTJu?%̞?fP?T_ )MQichecking for new query: numPingsReceived=107, elapsed TxPingTime=51.435493)>A s=bA ZA jAQ A yAI I! N- >3yo,YA%*Ay6@ٱ6y@6k6v<6H;?@?- O?g@u?@m??I6@)6^;i4BB9B IBDJ6DJ4YNk$!RH=R{NQ)R>V H?9V H?9VDYVFCVAAZ>XQ 1^4٪Z_?Q 5b4Zi Z]B9`Yb qQ Eb?yZbC)Z1:IZ:iZj4YdfAhhYh]k 5%*Ah]LAh]LAh]9@h]cNю @!MG_P5@h]z8y?8?h ҿHs%N?h]h]MQi]Z @Ҧٓ f@h]lZ?cM߉ۖ?h]h]V@h]!?h]+h]B*i]+Q?2iY:i]Bi] A"i]v^@Uchecking for new query: numPingsReceived=107, elapsed TxPingTime=51.661129Y addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503271 s, deltaX: -0.400001 m, approachRate: -0.794802 m/s, rangeRepo size: 4  Added new target pos. range: 9.143734 m, bearing: 301.206209 deg, lat: 36.779422 deg, lon: -121.859663 deg, deltaT: 1.008914 s, deltaX: -0.397533 m, approachRate: -0.394021 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.14 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 8.587178 m, bearing: 301.835251 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 312.768186 deg, new cmd heading: 312.562756 deg. g|HeadingCmd: 5.455249 target range: 9.541267 and range: 9.20 m.gg@ggggzfrfffBddd!c%`ff"@c%d?ɢB"  @I աɡiI%ظ;IUSi]{=iM=)g@) ]>>ԁi]0YY]0YDqD`D)DE2h: E9Ա6EFA4:E!@!@!@!@)  A5 DDAT read: Rx Time:16:12:34.1102 >AE =] TRx dataTimestamp_ set to:1755879153.332994u PDAT read: Bearing 136.1, -14.9 (Local) } ~Local bearing/azimuth received: Bearing 136.1, -14.9 (Local)  DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 vB ~B B IB BB B B B P;B WE DAT read: 16:12:34.1102 LVL= 29888, 29009, 19698, 32755, AGC= 48, IDX= 506, 0.14,-1.714, 3.080,-0.929,-1.429, PHS=-0.183,-1.729, 0.456, RAW= 166.5, 14.8, CAL= 167.1, 18.0, ROT= 342.9, -18.0  Ygot valid direction response: 16:12:34.1102 LVL= 29888, 29009, 19698, 32755, AGC= 48, IDX= 506, 0.14,-1.714, 3.080,-0.929,-1.429, PHS=-0.183,-1.729, 0.456, RAW= 166.5, 14.8, CAL= 167.1, 18.0, ROT= 342.9, -18.0  V#Rx 108: Read range and direction messages. ^direction in FSK: [0.909013,-0.279649,0.309017] Fpublishing direction and range info99 = 6Ң?mZnѿ;[@?= A9 i= t= Qq= L9 9 = Zd;)= OݿI= x>i= w9@= A>= :@= |٠>= @ = |٠i9 9 I= 4/I?SC7r?P:^?= O?= yj = Θ)= |٠i9 9  checking for new query: numPingsReceived=108, elapsed TxPingTime=51.978947AU AIY Ii Nu >o,[%*Ay6@ٱ6f@6v6n|<6H` ??{1 ?[Վ???I6@)6^;i4RB9R ITiT-vonly read 0 of 1 data item for BIT error. Device response is::TS,00022719595302,35.0, 0.0,1492.0, 0 !v@!v !v@!v !v@!z !z@!z BD~6D~4Y-0=!-B=-ѺQ)->5K?95K?95DY5qC] ٻA]>aQ 1m4٪ej?Q 5m4em e^BQ =u+:9qQ Au:YuqQ Eu?yeC)e;Ie>ien4YBAoEԹhqhuOU%*AhuAhuAhuB@huܰC @D7BN@hu6Ң?mZnѿ;[@?huΘhu|٠iuͫ@c yeo@hu`}?E{e_?huhu׌@hu6M ?huf,hu]B*iu6M ?2iu+:iuBiu2A"iu T@- addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504050 s, deltaX: -0.200000 m, approachRate: -0.396786 m/s, rangeRepo size: 4 e Added new target pos. range: 8.944960 m, bearing: 301.268093 deg, lat: 36.779422 deg, lon: -121.859664 deg, deltaT: 1.512964 s, deltaX: -0.596308 m, approachRate: -0.394132 m/s, posRepo size: 4 gigzIgnoring new targets. Set target to previous: 8.94 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 8.364108 m, bearing: 301.727416 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 312.562762 deg, new cmd heading: 312.344988 deg. g|HeadingCmd: 5.451448 target range: 9.541267 and range: 9.00 m.gDr@ggggzfrfffBdddc"@c@f?ɢuBu!# q}@A =rD =jD <D D ]D &D E  E 96E 4:E "E ;! E ;! *E  ;! E  ;! ԉ A I = DDAT read: Rx Time:16:12:34.6099 = TRx dataTimestamp_ set to:1755879153.834179M PDAT read: Bearing 136.0, -14.9 (Local) M ~Local bearing/azimuth received: Bearing 136.0, -14.9 (Local) ] DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 } DAT read: 16:12:34.6099 LVL= 32752, 30705, 21698, 32755, AGC= 49, IDX= 503, 0.45,-3.037, 1.750,-2.246,-2.747, PHS=-0.188,-1.741, 0.457, RAW= 166.6, 14.9, CAL= 167.2, 18.1, ROT= 342.8, -18.1  Ygot valid direction response: 16:12:34.6099 LVL= 32752, 30705, 21698, 32755, AGC= 49, IDX= 503, 0.45,-3.037, 1.750,-2.246,-2.747, PHS=-0.188,-1.741, 0.457, RAW= 166.6, 14.9, CAL= 167.2, 18.1, ROT= 342.8, -18.1  V#Rx 109: Read range and direction messages. ^direction in FSK: [0.908007,-0.281075,0.310676] Fpublishing direction and range info99 = uy d?H#ѿ\?= A9 i= = w= T9 = 1 = @)= ޿I= >i= :@= %>= :@= ?>= t@ = ?i9 9 I= r!9A?xno,v%*Ay-@ٱ-@@-g-\an<-H@?`+?@䕿@,?A ?ʍ?` ?I-@)-[^^;i)EB9E IBDU6DU4Y !@=ٺQ)>99DYC׻A>Q 14٪?Q 5%4r ^BQ =% :9!Q A%:Y%rQ E%?yC)le@huy d?H#ѿ\?hjh?iwO@S#_E@hFA I=rA jA ?i A I D5 vD5 gD1 D1 E5 Vz: E5 &96E1 :E1 !e @!e @!e @!m @I N >.$o,b%*AlDDAT read: Rx Time:16:12:35.1098 TRx dataTimestamp_ set to:1755879154.335645 PDAT read: Bearing 136.5, -15.3 (Local) ~Local bearing/azimuth received: Bearing 136.5, -15.3 (Local) %DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 EDAT read: 16:12:35.1098 LVL= 32752, 29937, 22754, 32755, AGC= 49, IDX= 502,-0.15, 1.773, 0.285, 2.576, 2.086, PHS=-0.211,-1.756, 0.446, RAW= 166.9, 15.4, CAL= 167.6, 18.8, ROT= 342.4, -18.8 MYgot valid direction response: 16:12:35.1098 LVL= 32752, 29937, 22754, 32755, AGC= 49, IDX= 502,-0.15, 1.773, 0.285, 2.576, 2.086, PHS=-0.211,-1.756, 0.446, RAW= 166.9, 15.4, CAL= 167.6, 18.8, ROT= 342.4, -18.8 UV#Rx 110: Read range and direction messages.]^direction in FSK: [0.902337,-0.286238,0.322266]]Fpublishing direction and range info9h?#ǹQҿɜL?fAitX bX)IZ>im:@>6;@>t;@ iI+?$FI?\?Q?vBB>~BB IBBB =BBBP;B`EBeCBeCBaBe =Be =Be4!< jF)ichecking for new query: numPingsReceived=110, elapsed TxPingTime=52.946091yUj@ٱUɴ@Up&Uo:A9A9EDYECM?AM>QQ 1}4٪U)?Q 5}4Uy U^BQ =T:94?Q A:YtQ E?yU˜C)U;IU^;iUHȃ4YBqAhh5{%*AhAhAh@hs"@ہG\A'@hh?#ǹQҿɜL?hjFhiA@Pũ/d'aQ@hyg?Ȧ} ܙm(b?hxh}@hd?hC+hA =ԁ BEM!4JEM΀'4REMβ/DxDhD)DEˀ:AII E]96EFA4:E"E;!E;!*E 5;!E 5;!IN=?f,o,f%*A) ADDAT read: Rx Time:16:12:35.6095 TRx dataTimestamp_ set to:1755879154.839610PDAT read: Bearing 135.9, -15.3 (Local) ~Local bearing/azimuth received: Bearing 135.9, -15.3 (Local) &DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 6DAT read: 16:12:35.6095 LVL= 32752, 30401, 21490, 32755, AGC= 48, IDX= 499, 0.12, 2.097, 0.607, 2.903, 2.402, PHS=-0.203,-1.750, 0.458, RAW= 166.9, 15.1, CAL= 167.6, 18.4, ROT= 342.4, -18.4 :Ygot valid direction response: 16:12:35.6095 LVL= 32752, 30401, 21490, 32755, AGC= 48, IDX= 499, 0.12, 2.097, 0.607, 2.903, 2.402, PHS=-0.203,-1.750, 0.458, RAW= 166.9, 15.1, CAL= 167.6, 18.4, ROT= 342.4, -18.4 <>V#Rx 111: Read range and direction messages.B^direction in FSK: [0.904460,-0.286911,0.315649]FFpublishing direction and range info90ΦU?3\ҿ \ 3?AivS0 ;O)I~>iV>l> liI*?: ?V8?yQ? )liRchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.441730yMc@ٱM›@M򐼹M(899DYCܻA>Q 14٪廞?Q 54Q~ ^B9YtQ E?yC) :I:iGЃ4Y!m%Aiԩhh,%*Aho@ho@hV@hNA@nkS@T@h0ΦU?3\ҿ \ 3?hhlii!@^ ~j@h# P?m&꿊H ?hh q@hF?h8)hB*i ?2i+:iA =I I! ) N5 >h4o,Ѽ%*ADftDfcDf&DdEfs: EfL96Ef4:Ed!z@!z@!z@!z@UDDAT read: Rx Time:16:12:36.1094 UTRx dataTimestamp_ set to:1755879155.343247ePDAT read: Bearing 135.5, -15.7 (Local) e~Local bearing/azimuth received: Bearing 135.5, -15.7 (Local) uDAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 DAT read: 16:12:36.1094 LVL= 32752, 30113, 22258, 32755, AGC= 49, IDX= 498, 0.45, 2.868, 1.393,-2.591,-3.105, PHS=-0.209,-1.741, 0.470, RAW= 167.4, 14.9, CAL= 168.0, 18.3, ROT= 342.0, -18.3 Ygot valid direction response: 16:12:36.1094 LVL= 32752, 30113, 22258, 32755, AGC= 49, IDX= 498, 0.45, 2.868, 1.393,-2.591,-3.105, PHS=-0.209,-1.741, 0.470, RAW= 167.4, 14.9, CAL= 168.0, 18.3, ROT= 342.0, -18.3 V#Rx 112: Read range and direction messages.vBF>~BCBBB =BBBP;BfE^direction in FSK: [0.902957,-0.293389,0.313992]Fpublishing direction and range info9QUNL!?ҿv9s?U@QiQUuUVQU1 UV)U޿IUף>iU:@U%>Uf;@UƇ>UC@ UƇiQQIU>{8I?ˆGh?/~?US?U=v Uz٠)UƇiQQB9 I!Echecking for new query: numPingsReceived=112, elapsed TxPingTime=53.993500Mb@Mb@Mb@ )IiV-?i|?5tI9I9MDYM9CMAM>qQ 1}4٪uPȞ?Q 54u u^B9 ?Q A:YwQ E?yuC)u:Iu':iu8ك4YqAhQhUռ%*AhU@hU@hU&b@hUM;@?2qK8y@hUNL!?ҿv9s?hUz٠hUƇiUIk1] @u;xA@hU'?EH?hUhUUh@hU9?hUZ+hUB*iUd?2iUZ+:iU BiUB@"iU@= addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503637 s, deltaX: -0.200000 m, approachRate: -0.397111 m/s, rangeRepo size: 4 Qm Added new target pos. range: 7.752386 m, bearing: 299.698817 deg, lat: 36.779421 deg, lon: -121.859664 deg, deltaT: 3.523217 s, deltaX: -1.788882 m, approachRate: -0.507741 m/s, posRepo size: 4 gqgquzIgnoring new targets. Set target to previous: 7.75 m. 9.54 m.gygy ProNav: ac range: 9.541267 m, nav range: 7.338984 m, bearing: 301.241665 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 311.600060 deg, new cmd heading: 311.341210 deg. g|HeadingCmd: 5.433929 target range: 9.541267 and range: 7.80 m.g@ggggzfrfffBdddc@33@c ?ɢUBU) QULIQ ]lɡYiYI]FZ;IehYie=ie=)e@)iY Y Y e /a @m =@m >ԁ  checking for new query: numPingsReceived=112, elapsed TxPingTime=54.181877ԩ >A =bA ZA IYIN?5;o,%*AD:D:]D:(D8E:O: E:96E:c44:E8"E:;!RE:;!V*E: ;!ZE: ;!^DDAT read: Rx Time:16:12:36.6092 TRx dataTimestamp_ set to:1755879155.847436 PDAT read: Bearing 135.9, -16.1 (Local)  ~Local bearing/azimuth received: Bearing 135.9, -16.1 (Local) DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 EDAT read: 16:12:36.6092 LVL= 32752, 30113, 20466, 32755, AGC= 49, IDX= 496,-0.16, 0.761,-0.694, 1.602, 1.095, PHS=-0.233,-1.744, 0.463, RAW= 168.0, 15.3, CAL= 168.6, 18.9, ROT= 341.4, -18.9 EYgot valid direction response: 16:12:36.6092 LVL= 32752, 30113, 20466, 32755, AGC= 49, IDX= 496,-0.16, 0.761,-0.694, 1.602, 1.095, PHS=-0.233,-1.744, 0.463, RAW= 168.0, 15.3, CAL= 168.6, 18.9, ROT= 341.4, -18.9 MV#Rx 113: Read range and direction messages.U^direction in FSK: [0.896670,-0.301763,0.323917]UFpublishing direction and range info9kػ?!RPӿ?@iO n)d;߿IV>if;@ܸ>S<@[>y@ [䨾iIA%l?( jLM?)i0?NV?sሾ 6)[䨾iuchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.449425IMB9M IQiQi]=IYBDe6Dez4Y=?=!=*=9Q)=>99DYkCA>Q 14٪Ԟ?Q 54I %^B9YQ E?y"C);I;i4YB@AzEhhd<%*Ah@h@hk @h\Ԫb@n~P@hkػ?!RPӿ?h6h[䨾iIfL @ a@h'yL?uZ{UnN?hOhfZ@h?h}D*hB*i9?2i}D*:iBi@"igY@u addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504189 s, deltaX: -0.300000 m, approachRate: -0.595015 m/s, rangeRepo size: 4  Added new target pos. range: 7.454217 m, bearing: 299.085220 deg, lat: 36.779421 deg, lon: -121.859663 deg, deltaT: 4.027406 s, deltaX: -2.087050 m, approachRate: -0.518212 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 7.45 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 7.092823 m, bearing: 301.126485 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 311.341223 deg, new cmd heading: 311.091357 deg. g|HeadingCmd: 5.429568 target range: 9.541267 and range: 7.50 m.g@ggggzfrfffBdddc@c% T?ɢmBm֞ im;Iiq u+ɡyiyI>;IZi=iAY=)@)i / checking for new query: numPingsReceived=113, elapsed TxPingTime=54.685261ԩ >AU w== I I! NU >ZCo,%*AyrU@ٱrZS@rwr9Y99MDYMC}A}>Q 14٪ޞ?Q 54 *^B9, ?Q A:Y`wQ E?y>C):Is:i4DoDYD'DE`: E*96E'4:E!@!@!@!@YgADDAT read: Rx Time:16:12:37.1091  TRx dataTimestamp_ set to:1755879156.351340PDAT read: Bearing 134.7, -15.7 (Local) ~Local bearing/azimuth received: Bearing 134.7, -15.7 (Local) %DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 MDAT read: 16:12:37.1091 LVL= 32752, 29025, 20866, 32755, AGC= 49, IDX= 511, 0.11,-2.202, 2.602,-1.367,-1.892, PHS=-0.207,-1.744, 0.482, RAW= 167.6, 14.7, CAL= 168.2, 18.0, ROT= 341.8, -18.0 UYgot valid direction response: 16:12:37.1091 LVL= 32752, 29025, 20866, 32755, AGC= 49, IDX= 511, 0.11,-2.202, 2.602,-1.367,-1.892, PHS=-0.207,-1.744, 0.482, RAW= 167.6, 14.7, CAL= 168.2, 18.0, ROT= 341.8, -18.0 UV#Rx 114: Read range and direction messages.A]<AYvBa~BaBe IBeBBe =BaBe[DBeP;Be^E}^direction in FSK: [0.903477,-0.297048,0.309017]Fpublishing direction and range info95H?'ӿ;[@?@iaqQ S)I>i6;@G\>;@|٠>@ |٠iILQș}?*L?I"I?ݨT?򻃾  )|٠ichecking for new query: numPingsReceived=114, elapsed TxPingTime=54.957039hh[|%*AhZ@hZ@h#@hUh@)2pZz:..@h5H?'ӿ;[@?h h|٠ib @ vV9F@hFa_?P{xOռ?hhX@h9 ?hE.hrB*i2iZ+:iBi@"i2@ addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503904 s, deltaX: -0.100000 m, approachRate: -0.198450 m/s, rangeRepo size: 4 % Added new target pos. range: 7.354839 m, bearing: 299.020304 deg, lat: 36.779421 deg, lon: -121.859664 deg, deltaT: 4.531310 s, deltaX: -2.186429 m, approachRate: -0.482516 m/s, posRepo size: 4 g)g)-zIgnoring new targets. Set target to previous: 7.35 m. 9.54 m.gQgQe ProNav: ac range: 9.541267 m, nav range: 6.874290 m, bearing: 301.014823 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 311.091348 deg, new cmd heading: 310.876635 deg. gam|HeadingCmd: 5.425821 target range: 9.541267 and range: 7.40 m.gmS@gigigigzfrfff͂BBdddc@c@Ū?ɢ Bw" 顭I ɡiI (;I:|[i;=i=)S@)iYaaaa  checking for new query: numPingsReceived=114, elapsed TxPingTime=55.189438) >A m=I I N >Io,e)%*AUB9U IBDe6Deo4Yu=!uU=}Q)}>y9y9}DYCA>Q 14٪螊?Q 54I /^B9YQ E?yWC);I;i4Y&BAAEhhhhhhUh@)2pZz:..@h5H?'ӿ;[@?hhib @ vV9F@hFa_?P{xOռ?hIhh[Tv?hވR2hB*i2i:iBi[@"i@gygyzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 6.677780 m, bearing: 300.908161 deg, approach rate: -0.566433 m/s, LOS rate: -0.316497 deg/s, cmd heading: 310.876634 deg, new cmd heading: 310.657032 deg. g|HeadingCmd: 5.421988 target range: 9.541267 and range: 7.40 m.g퀭@ggggzfrfffBdddcc'?ɢ=B= 9E>ie0iiu`0yqDyDcD$DE: EL96E4:E"E;!E;!*E";!E";!eDDAT read: Rx Time:16:12:37.6089 mTRx dataTimestamp_ set to:1755879156.856189}PDAT read: Bearing 133.9, -15.9 (Local) }~Local bearing/azimuth received: Bearing 133.9, -15.9 (Local) >ADAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 DAT read: 16:12:37.6089 LVL= 29552, 26561, 17170, 32563, AGC= 47, IDX= 508, 0.49,-3.101, 1.718,-2.260,-2.802, PHS=-0.197,-1.719, 0.498, RAW= 167.8, 14.3, CAL= 168.3, 17.4, ROT= 341.7, -17.4 Ygot valid direction response: 16:12:37.6089 LVL= 29552, 26561, 17170, 32563, AGC= 47, IDX= 508, 0.49,-3.101, 1.718,-2.260,-2.802, PHS=-0.197,-1.719, 0.498, RAW= 167.8, 14.3, CAL= 168.3, 17.4, ROT= 341.7, -17.4 V#Rx 115: Read range and direction messages.^direction in FSK: [0.905980,-0.299624,0.299041]Fpublishing direction and range info9aeAQ,? -ӿ-{#?e3@aiepsegeCe3e/ e^I)e1ܿIe>ie5o;@er>e/;@e|>e_׾@ e|iaaIe ?f?kP?e0U?e e)e|iaa%checking for new query: numPingsReceived=115, elapsed TxPingTime=55.467445I1IINUu>ԡ Po,-C%*Aɰp;y6m'@ٱ6$@6|)6<6Hv?v??>mx?`?d?`U??I6m'@)6<^;i4fB9f I)h jABDr6Dr4YvW!zT=zIQ)z>x9|9~DY~C~JqA>Q 1 4٪?Q 5 4ז 4^B9YxQ E?yrC)>:I:i4Y,BA!hh6%*Ah@h@hǦ@h9ģ@t.qtJ@hAQ,? -ӿ-{#?hh|iφPZ @ *MB̯@h_3mg?$꿎Z81?hhBM@hZl>?ht1h'B*i9 ?2iE.:iBi@"iЦ@m addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504849 s, deltaX: -0.300000 m, approachRate: -0.594237 m/s, rangeRepo size: 4 } Added new target pos. range: 7.056670 m, bearing: 298.617205 deg, lat: 36.779421 deg, lon: -121.859665 deg, deltaT: 5.036159 s, deltaX: -2.484598 m, approachRate: -0.493352 m/s, posRepo size: 4 gygzIgnoring new targets. Set target to previous: 7.06 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 6.468428 m, bearing: 300.797970 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 310.657030 deg, new cmd heading: 310.469727 deg. g黝|HeadingCmd: 5.418719 target range: 9.541267 and range: 7.10 m.g%f@ggggzfrfffBdddc`ff@checking for new query: numPingsReceived=115, elapsed TxPingTime=55.693340c?ɢB~^ A#=DqD_D)DE2h: Er96EFA4:E!@!@!@!@ I I) N5 >u DDAT read: Rx Time:16:12:38.1088 } TRx dataTimestamp_ set to:1755879157.359391 PDAT read: Bearing 135.2, -16.1 (Local)  ~Local bearing/azimuth received: Bearing 135.2, -16.1 (Local)  DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 vB G>~B B IB ĂBB B B B P;B aE DAT read: 16:12:38.1088 LVL= 32752, 29329, 18994, 32755, AGC= 48, IDX= 508,-0.04, 2.692, 1.235,-2.743, 3.030, PHS=-0.235,-1.750, 0.467, RAW= 168.1, 15.3, CAL= 168.7, 18.9, ROT= 341.3, -18.9  Ygot valid direction response: 16:12:38.1088 LVL= 32752, 29329, 18994, 32755, AGC= 48, IDX= 508,-0.04, 2.692, 1.235,-2.743, 3.030, PHS=-0.235,-1.750, 0.467, RAW= 168.1, 15.3, CAL= 168.7, 18.9, ROT= 341.3, -18.9  V#Rx 116: Read range and direction messages. ^direction in FSK: [0.896142,-0.303327,0.323917] Fpublishing direction and range info9y } k1?^iӿ?} @y i} } r} 2J} } 0 } ףp)} I} >i} ;@} ܸ>} p<@} [>} -@ } [䨾iy y I} =@F?6r? )?} V?} } )} [䨾iy y  checking for new query: numPingsReceived=116, elapsed TxPingTime=55.9651919 Vo,o ]%*Ay6w@ٱ6 @6U6;6Hf?7?h??@_•? V{??I6w@)6V_;i4P9PMb@Mb@Mb@ )Iiy&1?Zd;`?Ii A)pABD6D4Y!==VXQ)>1919=DY= C=w׻A=>AQ 1M4٪E$?Q 5M4E  E9^B9M?Q AU:YuzQ Eu?yEC)E;IE;iE4Yy}AyhhCW%*Ahs@hs@hu@h=&@J4:%*j@hk1?^iӿ?hh[䨾iDa@@Ht)NM@h0>NI?}V(,ۣ?hhB@h?h1h`B*i?2it1:irBi @"iy{@  addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503202 s, deltaX: -0.200000 m, approachRate: -0.397454 m/s, rangeRepo size: 4 = Added new target pos. range: 6.857905 m, bearing: 298.044991 deg, lat: 36.779421 deg, lon: -121.859666 deg, deltaT: 5.539361 s, deltaX: -2.683362 m, approachRate: -0.484417 m/s, posRepo size: 4 g9g9EzIgnoring new targets. Set target to previous: 6.86 m. 9.54 m.gAgI} ProNav: ac range: 9.541267 m, nav range: 6.230790 m, bearing: 300.682380 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 310.469718 deg, new cmd heading: 310.236268 deg. gy}|HeadingCmd: 5.414644 target range: 9.541267 and range: 6.90 m.gD@ggggzfrfffǂBBdddc@c?ɢB6" I %ɡ)i)I-;I5X^i5ؔ=i5Uh=)5D@)1checking for new query: numPingsReceived=116, elapsed TxPingTime=56.197384i%/!!!!Ai >AE =De vDe ZDa Da Ee Vz: Ee a96Ea :Ea "Ee E;! Ee F;! *Ee ;! Ee ;!  DDAT read: Rx Time:16:12:38.6085  TRx dataTimestamp_ set to:1755879157.863286 PDAT read: Bearing 135.0, -15.4 (Local)  ~Local bearing/azimuth received: Bearing 135.0, -15.4 (Local)  DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 Ա  DAT read: 16:12:38.6085 LVL= 32752, 26769, 20674, 32755, AGC= 48, IDX= 505, 0.36, 2.829, 1.345,-2.632,-3.128, PHS=-0.225,-1.765, 0.452, RAW= 167.3, 15.4, CAL= 168.0, 19.0, ROT= 342.0, -19.0 A I I1 N= >]o,\x%*AYgot valid direction response: 16:12:38.6085 LVL= 32752, 26769, 20674, 32755, AGC= 48, IDX= 505, 0.36, 2.829, 1.345,-2.632,-3.128, PHS=-0.225,-1.765, 0.452, RAW= 167.3, 15.4, CAL= 168.0, 19.0, ROT= 342.0, -19.0 V#Rx 117: Read range and direction messages.^direction in FSK: [0.899242,-0.292181,0.325568]Fpublishing direction and range info9BZ?\ ҿ`FI?@ihP fff)Il>i;:@>f;@ɩ>C@ ɩiIsf?Gh?I ?*}S?O z٠)ɩi.checking for new query: numPingsReceived=117, elapsed TxPingTime=56.485264y@ٱݰ@붼;H_F? ?xH?B?ܖ?`v?`?I@)^;iCB9 IBD6D4Y\/<!%8=%$Q)%>I9I9MDYM9CMWAU>QQ 1]4٪U?Q 5]4U( U>^B9aYet|Q E?yUC)U;IU;iU64YAԡhh@w%*Ah@h@h&@h7J<@+P]{3م@hBZ?\ ҿ`FI?hz٠hɩi=ء[E@rlVDDi_@h2q?I el꿝 ?hh8@h#yb?hx-h'B*i2i:i`Bi@"in^@E addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503895 s, deltaX: -0.400000 m, approachRate: -0.793816 m/s, rangeRepo size: 4 U Added new target pos. range: 6.460345 m, bearing: 298.432866 deg, lat: 36.779421 deg, lon: -121.859666 deg, deltaT: 6.043256 s, deltaX: -3.080922 m, approachRate: -0.509812 m/s, posRepo size: 4 gQgQ]zIgnoring new targets. Set target to previous: 6.46 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 5.997803 m, bearing: 300.572941 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 310.236263 deg, new cmd heading: 310.013454 deg. g|HeadingCmd: 5.410756 target range: 9.541267 and range: 6.50 m.g$@ggggzfrfffBddd c @c  ?ɢUBU>V! y}@Iy }ɡyiyI0;IW_i=i_:=)$@)checking for new query: numPingsReceived=117, elapsed TxPingTime=56.701462i    5  >A bA ZA 1 A% yAIY D qD [D D E 2h: E 96E :E ! @! @! @! @I N >"eo,L%*AizDDAT read: Rx Time:16:12:39.1085 zTRx dataTimestamp_ set to:1755879158.367260~PDAT read: Bearing 136.6, -15.5 (Local) ~Local bearing/azimuth received: Bearing 136.6, -15.5 (Local) A A AAvB~BB IBɂBBBBBP;BfE5DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 ]DAT read: 16:12:39.1085 LVL= 32752, 26961, 20386, 32755, AGC= 48, IDX= 505,-0.10, 1.747, 0.284, 2.573, 2.113, PHS=-0.263,-1.784, 0.416, RAW= 167.6, 16.5, CAL= 168.3, 20.7, ROT= 341.7, -20.7 eYgot valid direction response: 16:12:39.1085 LVL= 32752, 26961, 20386, 32755, AGC= 48, IDX= 505,-0.10, 1.747, 0.284, 2.573, 2.113, PHS=-0.263,-1.784, 0.416, RAW= 167.6, 16.5, CAL= 168.3, 20.7, ROT= 341.7, -20.7 eV#Rx 118: Read range and direction messages.m^direction in FSK: [0.888134,-0.293722,0.353475]mFpublishing direction and range info9xzv1k?ϵWҿiU?xxixzQizOxx z𧆾)zZIz>iz6;@zr>z/;@z>z_׾@ zԹixxIz ~?J@Σ?i8t#?zhT?z z)zixx checking for new query: numPingsReceived=118, elapsed TxPingTime=56.989872 B9 IMb@Mb@Mb@ )IiNbX9?X9vMb`??;Ii"A)GABD6DP4Y!=Q)> H?9 H?9%DY%lC%A%>)Q 1u4٪-?Q 5u4-) -E^B9uZ ?Q A}:Y}I}Q E}?y-љC)-&?2iz1:ixizվ@"izi@U addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 6.460354 m, bearing: 298.106793 deg, lat: 36.779421 deg, lon: -121.859667 deg, deltaT: 6.547230 s, deltaX: -3.080913 m, approachRate: -0.470567 m/s, posRepo size: 4 gagazIgnoring new targets. Set target to previous: 6.46 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 5.725048 m, bearing: 300.442369 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 310.013462 deg, new cmd heading: 309.751943 deg. g|HeadingCmd: 5.406191 target range: 9.541267 and range: 6.50 m.g@ggggzfrfffBBdddcc?ɢ%B-8 )-߼I) -Kɡ)i1I5;I5`i= =i=AE=)=@)9i1iߙIߝ<checking for new query: numPingsReceived=118, elapsed TxPingTime=57.206455) >A =m PExceeded connect timeout, disconnecting.I!YIQD-rD-`D-'D)E-k: E-96E-'4:E)"E-;!=E-;!=*E-;!=E-;!=NE?lo,ɒ%*A DDAT read: Rx Time:16:12:39.6083 TRx dataTimestamp_ set to:1755879158.871355PDAT read: Bearing 135.6, -14.5 (Local) ~Local bearing/azimuth received: Bearing 135.6, -14.5 (Local) -DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 UDAT read: 16:12:39.6083 LVL= 32752, 30193, 21250, 32755, AGC= 48, IDX= 502, 0.23, 2.696, 1.173,-2.794, 3.033, PHS=-0.235,-1.815, 0.412, RAW= 166.4, 16.3, CAL= 167.2, 20.1, ROT= 342.8, -20.1 ]Ygot valid direction response: 16:12:39.6083 LVL= 32752, 30193, 21250, 32755, AGC= 48, IDX= 502, 0.23, 2.696, 1.173,-2.794, 3.033, PHS=-0.235,-1.815, 0.412, RAW= 166.4, 16.3, CAL= 167.2, 20.1, ROT= 342.8, -20.1 ]V#Rx 119: Read range and direction messages.e^direction in FSK: [0.897096,-0.277698,0.343660]eFpublishing direction and range info9  ߁\?iѿ"?? f@ i  u S   ףp) QI >i 9@ > :@ > t@ i  I W1.?@.??AxJ? SO? d j) y3@ٱ@üS;H"??C`%%?@C?a?@c`v?@?I3@)`;iCB9 I9i  checking for new query: numPingsReceived=119, elapsed TxPingTime=57.512890BD6D4YEC`<!E-=EaMQ)E>I9I9MDYMCMYAU>yQ 14٪}b ?Q 54}Ҭ }K^B9Y~Q E?y}C)}:I}:i}w4YAh h Hķ%*Ah 0@h 0@h @h X.@$3.a @h ߁\?iѿ"??h jh i }``*@mx)@h 0d?|CC]fA?h h S1@h ݂ ?h z1h *B*i 2i t1:i *Bi b@"i O@ addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504095 s, deltaX: -0.300000 m, approachRate: -0.595126 m/s, rangeRepo size: 4  Added new target pos. range: 6.162184 m, bearing: 298.856896 deg, lat: 36.779421 deg, lon: -121.859666 deg, deltaT: 7.051325 s, deltaX: -3.379084 m, approachRate: -0.479213 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.16 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 5.468855 m, bearing: 300.324741 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 309.751948 deg, new cmd heading: 309.505423 deg. g|HeadingCmd: 5.401889 target range: 9.541267 and range: 6.20 m.gFܬ@ggggzfrff)f)Bd)d)d1c5@c5]?iɢB6 顥 ȼI }ɡiI_;IaiG=i0=)Fܬ@)U=iUtCiZ0ING)IiU Q]mAԡchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.710583>A = I IN>to,!;Խ%*A(D&tD&^D&&D$E&s: E&;96E&4:E$!F@!F@!F@!F@y-Ԗ@ٱ-3@-Vȼ-);-HB?@(?< (?Y?`; ?@x?h?I-Ԗ@)-"`;i-CEB9E IDDAT read: Rx Time:16:12:40.1083 TRx dataTimestamp_ set to:1755879159.375324PDAT read: Bearing 137.3, -13.9 (Local) ~Local bearing/azimuth received: Bearing 137.3, -13.9 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 DAT read: 16:12:40.1083 LVL= 32752, 31985, 20690, 32755, AGC= 48, IDX= 502,-0.25, 1.642, 0.110, 2.416, 2.004, PHS=-0.260,-1.850, 0.368, RAW= 165.9, 17.3, CAL= 166.9, 22.1, ROT= 343.1, -22.1 %Ygot valid direction response: 16:12:40.1083 LVL= 32752, 31985, 20690, 32755, AGC= 48, IDX= 502,-0.25, 1.642, 0.110, 2.416, 2.004, PHS=-0.260,-1.850, 0.368, RAW= 165.9, 17.3, CAL= 166.9, 22.1, ROT= 343.1, -22.1 %V#Rx 120: Read range and direction messages.-^direction in FSK: [0.886515,-0.269344,0.376224]-Fpublishing direction and range info9@U^?sR<ѿ*?i|P )Ij>iO9@#>m:@|>@ |žiI_??e?P?DM?Od  )|žiMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.vBmH>~BiBiBiBiBiBiBmP;BmEBCBCBB =B =B4Mb@Mb@Mb@ )Ii!rh?x&Mb`l?7 IAiA9A A)AI)AABD6D4Y<!1=yQ)>99DYCIA> Q 14٪ z,?Q 54 ߲ P^B9U ?Q AU:YUQ E]?y C) &c:Z7@hyʌs?:$NcM[?hihU/@hU?h^b5hB*iS?2i1:i`Bir@"iS@U addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503969 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 6.162194 m, bearing: 298.960333 deg, lat: 36.779422 deg, lon: -121.859667 deg, deltaT: 7.555294 s, deltaX: -3.379074 m, approachRate: -0.447246 m/s, posRepo size: 4 gagaezIgnoring new targets. Set target to previous: 6.16 m. 9.54 m.gig ProNav: ac range: 9.541267 m, nav range: 5.197788 m, bearing: 300.240065 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 309.505432 deg, new cmd heading: 309.250166 deg. g|HeadingCmd: 5.397434 target range: 9.541267 and range: 6.20 m.gǷ@ggggzfrfffBBdddcc\?ɢMBU0 Y]`IY ]ɡYiYI]U;Iebiφ=i}=)Ƿ@)iAjAԱi0!!%0!} AE ɯ=rAQ jAU ?I I N >E{o,4H%*A y:@ٱ:~@:=μ:;:H?@8?A7q?N?@3ޙ?ۿz?6?I:@): ta;i:CBB9B IFX9X9ZDYZC^ A^ ?`Q 1b4٪b4?Q 5f4b bT^B9dYf Q Ef?yb+C)b:Iby:ib$4YnABnsAlzB*** querying acoustic contact ***zhxhxgg zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gZg%Z}nManaging dock network, ignoring radio surface power off ProNav: ac range: 9.541267 m, nav range: 5.025950 m, bearing: 300.186966 deg, approach rate: -0.598550 m/s, LOS rate: -0.191280 deg/s, cmd heading: 309.250175 deg, new cmd heading: 309.140346 deg. g%]|HeadingCmd: 5.395517 target range: 9.541267 and range: 6.20 m.g]@gagiggzfrfBE€'4JE*4RE–/DuD[D'DEv: E96E'4:E"E#;!E$;!*E;!E;!f f Bd d d cc@\?Aɢ]Be: 顅pI ɡiI ;I:>ciL=i=)@)UDDAT read: Rx Time:16:12:40.6080 UTRx dataTimestamp_ set to:1755879159.880265ePDAT read: Bearing 136.9, -12.5 (Local) m~Local bearing/azimuth received: Bearing 136.9, -12.5 (Local) DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.4 DAT read: 16:12:40.6080 LVL= 32752, 32753, 23538, 32755, AGC= 48, IDX= 499, 0.09, 2.550, 0.965,-3.016, 2.884, PHS=-0.232,-1.874, 0.339, RAW= 164.4, 17.4, CAL= 165.4, 22.1, ROT= 344.6, -22.1 i=/AAE5AYgot valid direction response: 16:12:40.6080 LVL= 32752, 32753, 23538, 32755, AGC= 48, IDX= 499, 0.09, 2.550, 0.965,-3.016, 2.884, PHS=-0.232,-1.874, 0.339, RAW= 164.4, 17.4, CAL= 165.4, 22.1, ROT= 344.6, -22.1 R#Rx 1: Read range and direction messages.^direction in FSK: [0.893262,-0.246045,0.376224]Fpublishing direction and range info9QUKA?"Fh~Ͽ*?Uf@QiQUU[QQ Uhm)U;IUh>iU7@U|>U8@QUv@ QiQQIUf RI?f[?[i+?UTF?Ub U)QiQQM2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.q>Ae =ԡ I I N >i =I = &׼6W;6H@?`J?e\@I ?? ?}??I6wg@)62b;i6C<VB9Z IBD 6D 4Ym=!m?=uQ)u>99DYCiA>Q 14٪>?Q 54 Y^B9YnQ E?yIC);I;i:,4Y1AhhCV%*AhI@hI@h@h[=@5pM5bh @hKA?"Fh~Ͽ*?hhir1@^a^@hl`ecs?5#:fP-=i=)@)mDDAT read: Rx Time:16:12:41.1079 uTRx dataTimestamp_ set to:1755879160.384863PDAT read: Bearing 136.3, -11.9 (Local) ~Local bearing/azimuth received: Bearing 136.3, -11.9 (Local) DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4 DAT read: 16:12:41.1079 LVL= 29488, 26961, 18258, 30595, AGC= 45, IDX= 498,-0.46, 1.735, 0.173, 2.413, 2.046, PHS=-0.209,-1.827, 0.324, RAW= 163.8, 17.3, CAL= 164.8, 21.8, ROT= 345.2, -21.8 Ygot valid direction response: 16:12:41.1079 LVL= 29488, 26961, 18258, 30595, AGC= 45, IDX= 498,-0.46, 1.735, 0.173, 2.413, 2.046, PHS=-0.209,-1.827, 0.324, RAW= 163.8, 17.3, CAL= 164.8, 21.8, ROT= 345.2, -21.8 R#Rx 1: Read range and direction messages.^direction in FSK: [0.897682,-0.237178,0.371368]Fpublishing direction and range info9im*6=Ϲ?3[ο% ~}?A<A<vB~BB IB΂BBBBB(Q;BEm3@iim0smQimRGmwm- mV)m#ImT>imc6@m#>mX8@m>m@ m¾iiiImn)?!?t_\?mC?m:Ԛ m A)m¾iii2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.i%0!!-2)A >AU =I I N >o,$%*Ay6M@ٱ6K@6ݼ6;6H@?@\?" ;\@'?s̋?@t?~??I6M@)6b;i6CBB9B I`=Mb@Mb@Mb@ 9)9I9i99=NbX9?Mb=?==I=9Ai="A="A=A)9=GAUR=iUa=BDU6DU4Yeɻ!eB=mQ)m>i9q9uDYuBCu Au>yQ 14٪}xH?Q 54} }^^B9 ?Q A:Y܁Q E?y}eC)}:I};i}y34Y<Ahh%*Ah@h@hק@h<:E@'t* +@h*6=Ϲ?3[ο% ~}?h Ah¾i-;j@`G#HU@hF-?$V 2?h hK&@h m#?h04hB*iU?2iP2:ii@"i @ addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.504598 s, deltaX: -0.100000 m, approachRate: -0.198177 m/s, rangeRepo size: 4  Added new target pos. range: 5.565847 m, bearing: 300.521351 deg, lat: 36.779423 deg, lon: -121.859667 deg, deltaT: 8.564833 s, deltaX: -3.975420 m, approachRate: -0.464156 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 5.57 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 4.566808 m, bearing: 300.030800 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 308.908966 deg, new cmd heading: 308.705509 deg. g|HeadingCmd: 5.387928 target range: 9.541267 and range: 5.60 m.gi@ggggzf!rf!f!f%ɂB5AbAjAZAI) I9 N] > DDAT read: Rx Time:16:12:41.6076  TRx dataTimestamp_ set to:1755879160.887264 PDAT read: Bearing 136.5, -10.7 (Local)  ~Local bearing/azimuth received: Bearing 136.5, -10.7 (Local)  DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 - DAT read: 16:12:41.6076 LVL= 26320, 26609, 16946, 27475, AGC= 44, IDX= 495,-0.05, 0.230,-1.348, 0.856, 0.524, PHS=-0.192,-1.827, 0.287, RAW= 162.5, 17.7, CAL= 163.7, 22.3, ROT= 346.3, -22.3 5 Ygot valid direction response: 16:12:41.6076 LVL= 26320, 26609, 16946, 27475, AGC= 44, IDX= 495,-0.05, 0.230,-1.348, 0.856, 0.524, PHS=-0.192,-1.827, 0.287, RAW= 162.5, 17.7, CAL= 163.7, 22.3, ROT= 346.3, -22.3 5 R#Rx 1: Read range and direction messages.9 E ^direction in FSK: [0.898887,-0.219125,0.379456]E Fpublishing direction and range info9 G7 ?eJ ̿NkI? 3@ i f g 2B Sk , D) I >i 5@ 2+> 6@ SF> i@ SFǾi I V9&|?R?r? =?  Tt) SFǾi e 2Acoustic response timeoute Querying Benthos address 50 with 120 pings in terminal homing one-way mode.o,=%*AyV.@ٱV+@V?弹V0;VH?`xs?TޘWr`2? *?@?cy??IV.@)Vb;iVC`9b IdidBDj6Dj4YEX;!Q= Q) > 9 9DYiCA>9Q 1E4٪=Q?Q 5E4= =d^B9IYMYQ EM?y=C)=:I=:i=_:4YUGBUbAEh!h%8%*Ah%4@h%4@h%Y@h% k9@xXOX?h%G7 ?eJ ̿NkI?h%Tth%SFǾi%b%Y@*XV,X@h%_Rq?}E迒] I?h%T}h%@h%~C?h%S-h%цB*i%c=?2i%UJ2:i%*Bi%j@"i%J@% addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.502401 s, deltaX: -0.500000 m, approachRate: -0.995221 m/s, rangeRepo size: 4 u Added new target pos. range: 5.068897 m, bearing: 301.428857 deg, lat: 36.779424 deg, lon: -121.859667 deg, deltaT: 9.067234 s, deltaX: -4.472371 m, approachRate: -0.493245 m/s, posRepo size: 4 gqgq}zIgnoring new targets. Set target to previous: 5.07 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 4.354775 m, bearing: 299.951852 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 308.705508 deg, new cmd heading: 308.495793 deg. g|HeadingCmd: 5.384267 target range: 9.541267 and range: 5.10 m.gK@ggggzfrfffBdddc`ff@c"M?ɢ=‚B=/ 9=oI9 EɡAiAIE҆;IMfiMJ=imR*=)mK@)qIi / EAM =ԩ De wDe `De #Da Ee }: Ee 96Ee 3:Ea !m @!m @!m @!m @A} AI I N >%o,.W%*Ay:@ٱ:c @:0켹:;:H ??!`?`?X?frw?q?I:@):6b;i:CVDDAT read: Rx Time:16:12:42.1076 VTRx dataTimestamp_ set to:1755879161.391124ZPDAT read: Bearing 136.5, -8.6 (Local) ^~Local bearing/azimuth received: Bearing 136.5, -8.6 (Local) fDAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 vDAT read: 16:12:42.1076 LVL= 24624, 23921, 18914, 28723, AGC= 44, IDX= 510, 0.26, 3.090, 1.463,-2.659,-2.935, PHS=-0.156,-1.841, 0.231, RAW= 160.1, 18.1, CAL= 161.5, 22.7, ROT= 348.5, -22.7 zYgot valid direction response: 16:12:42.1076 LVL= 24624, 23921, 18914, 28723, AGC= 44, IDX= 510, 0.26, 3.090, 1.463,-2.659,-2.935, PHS=-0.156,-1.841, 0.231, RAW= 160.1, 18.1, CAL= 161.5, 22.7, ROT= 348.5, -22.7 zR#Rx 1: Read range and direction messages.vBG>~BB IBӂBBBBBxQ;BE^direction in FSK: [0.904018,-0.183925,0.385906]Fpublishing direction and range info9TV?/Ѷ?cj׊ǿJ?TTiV0`Vq]VIV3pT Vw)VIVDl>iV[2@V?>Ve4@Vb>V@ VbʾiTTIVKB?䫘?27?Vg=3?V$顾 VM)VbʾiTT52Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.MBy9U IMb@Mb@Mb@ )Ii r?Pny&1|??`;I"AiAA)ABD6DYZ!'=Q)>K?9K?9DYChA>Q 14٪!]?Q 54 n^B9?Q A:YQ E?yC):I%;iB4YAhThV-Y%*AhThThVx@hVWT@K#Y6#+?L?hV?/Ѷ?cj׊ǿJ?hVMhVbʾiVN^@Qזq@hVKwH?-]XyJ?hVvhV"@hV޲3?hVq1hVB*iV~C?2iT:iVBiVȐ@"iV@Ա addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 5.068889 m, bearing: 303.433437 deg, lat: 36.779424 deg, lon: -121.859667 deg, deltaT: 9.571094 s, deltaX: -4.472378 m, approachRate: -0.467280 m/s, posRepo size: 4 gg zIgnoring new targets. Set target to previous: 5.07 m. 9.54 m.g g  ProNav: ac range: 9.541267 m, nav range: 4.095746 m, bearing: 299.878574 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 308.495794 deg, new cmd heading: 308.244947 deg. gE|HeadingCmd: 5.379889 target range: 9.541267 and range: 5.10 m.gE (@gAgAgIgIzfIrfIfIfUBBdQdQdQcQc] ?ɢÂB39 PμI ɡiIH;I%n>gi%9=i%;=)% (@)!iU=IU<UADDAT read: Rx Time:16:12:42.6074 TRx dataTimestamp_ set to:1755879161.896322-PDAT read: Bearing 136.8, -6.8 (Local) -~Local bearing/azimuth received: Bearing 136.8, -6.8 (Local) eDAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 YDAT read: 16:12:42.6074 LVL= 22816, 23281, 20658, 30275, AGC= 44, IDX= 508,-0.26, 0.754,-0.911, 1.208, 0.984, PHS=-0.129,-1.850, 0.179, RAW= 158.1, 18.6, CAL= 159.7, 23.3, ROT= 350.3, -23.3 Ygot valid direction response: 16:12:42.6074 LVL= 22816, 23281, 20658, 30275, AGC= 44, IDX= 508,-0.26, 0.754,-0.911, 1.208, 0.984, PHS=-0.129,-1.850, 0.179, RAW= 158.1, 18.6, CAL= 159.7, 23.3, ROT= 350.3, -23.3 R#Rx 1: Read range and direction messages.^direction in FSK: [0.905316,-0.154749,0.395545]Fpublishing direction and range info9wX?$bÿEFTP?@i YZPCv )IK7>ir0@6>b2@5>@ 5оiI }?ß?Rfb?7*? 4\-)5оi2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.A5yAI9IIN]?1Ӟo,0.~%*AyzѨ@ٱzKϯ@z/zP;zH8?`>?`Qә@rƋ?:ƒ?@?gt?`?IzѨ@)z`;izCB9  II)BABD6D4YP!=(bQ)> H?9 H?9DYCaA>)Q 154٪ti?Q 554 {^B91Y5Q E=?yƚC);I;iaL4YERBEAeEh9h=W]y%*Ah=@h=@h=?@h=@,F@98ןk$M1?h=wX?$bÿEFTP?h=4\-h=5оi=ժ7@MżUe ~@h=sڿ?Ǎ$a ?h=*ch=@h=c9?h=wk/h=B*i= m#?2i=q1:i=Bi=g@"i=Z@ addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505198 s, deltaX: -0.300000 m, approachRate: -0.593826 m/s, rangeRepo size: 4 E Added new target pos. range: 4.770720 m, bearing: 304.829416 deg, lat: 36.779425 deg, lon: -121.859666 deg, deltaT: 10.076292 s, deltaX: -4.770548 m, approachRate: -0.473443 m/s, posRepo size: 4 gAgAMzIgnoring new targets. Set target to previous: 4.77 m. 9.54 m.gIgI] ProNav: ac range: 9.541267 m, nav range: 3.809182 m, bearing: 299.818098 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 308.244935 deg, new cmd heading: 307.967077 deg. g|HeadingCmd: 5.375040 target range: 9.541267 and range: 4.80 m.gS@ggggzfrfffBdddc@33@c Dk?ɢ5ĂB5:< 15 I1 sɡiIɁ;I;|hi7=i=)S@)]A =Dy D} ^D} %Dy Ey  E} ;96E} 4:Ey ! @! @! @! @  DDAT read: Rx Time:16:12:43.1073  TRx dataTimestamp_ set to:1755879162.399523 PDAT read: Bearing 136.3, -4.4 (Local) % ~Local bearing/azimuth received: Bearing 136.3, -4.4 (Local) 5 DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 AA AE @AvBM D>~BM CBM IBM ؂BBM =BI BM ZDBM Q;BM EIi Iy  DAT read: 16:12:43.1073 LVL= 21280, 24865, 21842, 30627, AGC= 44, IDX= 507, 0.06, 2.971, 1.243,-2.954,-3.126, PHS=-0.084,-1.869, 0.128, RAW= 155.6, 18.8, CAL= 157.1, 23.3, ROT= 352.9, -23.3  Ygot valid direction response: 16:12:43.1073 LVL= 21280, 24865, 21842, 30627, AGC= 44, IDX= 507, 0.06, 2.971, 1.243,-2.954,-3.126, PHS=-0.084,-1.869, 0.128, RAW= 155.6, 18.8, CAL= 157.1, 23.3, ROT= 352.9, -23.3  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.911404,-0.113521,0.395545] Fpublishing direction and range info9  l38*?qEFTP? f@ i S !a RU w  1) d;I o>i -@ > ~{/@  @  i  I Ih?D\tTr?!0?N >`so,^%*A?L )iF2Acoustic response timeoutFQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.1B9 I!m@!m !m@!m !m@!m !m@!m BD}6D}24Y7=!-= Q) > 99DYCA>Q 1%4٪t?Q 5E4 ^BQ =M+:9IQ AM:YIQ EM?yC)y;I>iIS4YUXBUA]Ehhɑ%*Ah{@h{@hj@hm@>ܕ:&࿶t4g8?hl38*?qEFTP?hhiO X@󆝙D 7a^x?hSȌ?3dbxf?h Wh$@hkM?hXG0hB*i޲3?2iXG0:iцBi@"i<̩@- addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503201 s, deltaX: -0.100000 m, approachRate: -0.198729 m/s, rangeRepo size: 4 5 Added new target pos. range: 4.671296 m, bearing: 307.464145 deg, lat: 36.779427 deg, lon: -121.859666 deg, deltaT: 10.579493 s, deltaX: -4.869971 m, approachRate: -0.460322 m/s, posRepo size: 4 g9g9aezIgnoring new targets. Set target to previous: 4.67 m. 9.54 m.gigiu ProNav: ac range: 9.541267 m, nav range: 3.550914 m, bearing: 299.755229 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 307.967083 deg, new cmd heading: 307.720727 deg. gy|HeadingCmd: 5.370740 target range: 9.541267 and range: 4.70 m.gݫ@ggggzfrfffBdddc@c)?ɢ=łB= * AE#IA EMɡAiAIM;m~;IMiiMl =iU}>)Uݫ@)Q)Y YiaIaAɯ=DAT read: 16:12:43.6071 LVL= 21200, 25905, 20978, 29923, AGC= 44, IDX= 504, 0.50, 2.337, 0.546, 2.607, 2.490, PHS=-0.051,-1.899, 0.073, RAW= 153.2, 19.1, CAL= 154.8, 23.7, ROT= 355.2, -23.7 UYgot valid direction response: 16:12:43.6071 LVL= 21200, 25905, 20978, 29923, AGC= 44, IDX= 504, 0.50, 2.337, 0.546, 2.607, 2.490, PHS=-0.051,-1.899, 0.073, RAW= 153.2, 19.1, CAL= 154.8, 23.7, ROT= 355.2, -23.7 UR#Rx 1: Read range and direction messages.^direction in FSK: [0.912451,-0.076621,0.401948]Fpublishing direction and range info9ʳm2?@Di2t*?̌@iR1eQt `P)oI=iD +@㭪>,@>a@ ӾiIT^J??|?^k? )Ӿi2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.IIN?(o,%*A y:@ٱ:@:>A: k;:H`a?i?`髛 f??@g?jx??I:@):`;i8jÂB9n IlilBDv6Dv=4Y|4<! =7hQ)%>!9!9%DY%4C-XA->QQ 1]4٪U?Q 5]4U U^BQ =] :9aQ Ae:YeZQ Ee?yU C)U':IU|?iUX4YimAih9h=^ع%*Ah=@h=@h=ˬ@h=C7@ Nqտ?h=ʳm2?@Di2t*?h=h=Ӿi=[^@mfPU'?h=lS?-TQfGK?h=0Ch=E @h=-R?h=.h=B*i=c9?2i=wk/:i=Bi=ss@"i=@ addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504308 s, deltaX: -0.300000 m, approachRate: -0.594874 m/s, rangeRepo size: 4  Added new target pos. range: 4.373128 m, bearing: 309.389801 deg, lat: 36.779427 deg, lon: -121.859666 deg, deltaT: 11.083801 s, deltaX: -5.168139 m, approachRate: -0.466279 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 4.37 m. 9.54 m.gg ProNav: ac range: 9.541267 m, nav range: 3.287344 m, bearing: 299.710907 deg, approach rate: 0.000000 m/s, LOS rate: -0.255172 deg/s, cmd heading: 307.720731 deg, new cmd heading: 307.472280 deg. g|HeadingCmd: 5.366404 target range: 9.541267 and range: 4.40 m.g@ggggzfrfffBdddc@caM?AɢUƂB]% Y]ŻIY ]ɡaiaIْx;I5jiL =iuY=)@)i]=I]=eA =D} D} bD} 'Dy E} ~: E} 96E} '4:Ey ! @! @! @! @I I N >ӵo,zpؾ%*Ay6#@ٱ6@6u6)R;6H`N?@? )S???&x?Y?I6#@)6`;i4<FłB9F IBDN6DN4YV;!VR=VֺQ)Z>X9X9ZDYZ[CfDDAT read: Rx Time:16:12:44.1071 fTRx dataTimestamp_ set to:1755879163.407245jPDAT read: Bearing 138.6, -1.5 (Local) j~Local bearing/azimuth received: Bearing 138.6, -1.5 (Local) vBrA>~BpBr IBrBBpBpBpBrQ;BrE%DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 5DAT read: 16:12:44.1071 LVL= 25584, 28561, 23666, 32755, AGC= 45, IDX= 504,-0.02, 2.234, 0.26.1 =unknown deviceResponse_: 16:12:44.1071 LVL= 25584, 28561, 23666, 32755, AGC= 45, IDX= 504,-0.02, 2.234, 0.26.1 =X#Rx 1: Read range message, but no direction.9dddE2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^PA>Q 14٪?Q 54 ^BQ =99Q AT:YąQ E?y%C):I3?i\4YAUB*** querying acoustic contact ***zhQhQm addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503414 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gigizIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g,g, ProNav: ac range: 9.541267 m, nav range: 3.068918 m, bearing: 299.681615 deg, approach rate: -0.520885 m/s, LOS rate: -0.074826 deg/s, cmd heading: 307.472276 deg, new cmd heading: 307.409522 deg. g|HeadingCmd: 5.365308 target range: 9.541267 and range: 4.40 m.g@ggggzfrfffBdddccB?ɢmǂB)$ 顕I ɡiI8s;IjiP~ =iH=)@)ԩiaaae1auA =I I N- >) o,O%*Ayjh@ٱj-f@jI ji;jH`99DYCA%>!Q 1-4٪%?Q 5-4% %^BQ =5991Q A5,:Y5*Q E5?y%@C)%; ;I%?i%_4YE]BEAEEgagimzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.guTyguTy ProNav: ac range: 9.541267 m, nav range: 2.863076 m, bearing: 299.662689 deg, approach rate: -0.552943 m/s, LOS rate: -0.054495 deg/s, cmd heading: 307.409521 deg, new cmd heading: 307.368947 deg. gvǺ|HeadingCmd: 5.364600 target range: 9.541267 and range: 4.40 m.gΪ@ggggzfrfffBdddccӞ?D=tD=dD=%D9E=s: E=96E= 4:E9"E=;!EE=;!M*E=}&;!ME=~&;!Mɢy 顅@;I ɡiIrn;Ig(ki =i^=)Ϊ@) R>>(DAT read: user:98> DAT read: 120  BDAT read: Tx time:16:12:45.1016 $Ping request sent.A=IU G)m kAI I I i - kA AN >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247488=o,,) %*Ay> O@ٱ>L@>Z >;>H *?`H?ߜ!.?p?t?fLy??I> O@)>a;i>CJςB9J IN`9`9bDYbCfAf>hQ 1j4٪j^?Q 5n4jL j^BQ =n99lQ An :YnQ Er?yjZC)j ;Ij @ij$b4YtvoAtYggzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gݿgݿ ProNav: ac range: 9.541267 m, nav range: 2.655064 m, bearing: 299.654687 deg, approach rate: -0.505500 m/s, LOS rate: -0.020968 deg/s, cmd heading: 307.368949 deg, new cmd heading: 307.351693 deg. g}|HeadingCmd: 5.364299 target range: 9.541267 and range: 4.40 m.gV@ggggzfrfffBdddcc?ɢȂBoV  `q~BCB !IBBB =BBBR;BEBCBCBB =B =B5Ա>A +=IqIN> o,%%*Ay69@ٱ6/7@6l 6;6H`?? e@?̔??@}t{??I69@)6Ab;i6CBтB9B IBD6Dd4Y"<!<=Q)>99DYCĻA>ԹQ 14٪򣟊?Q 54 ^BQ =o99Q A9Y憿Q E?yxC):In'@iId4YiBAEggzIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g 39g 39 ProNav: ac range: 9.541267 m, nav range: 2.425035 m, bearing: 299.658423 deg, approach rate: -0.553186 m/s, LOS rate: 0.009835 deg/s, cmd heading: 307.351682 deg, new cmd heading: 307.359862 deg. g9%|HeadingCmd: 5.364441 target range: 9.541267 and range: 4.40 m.g%@g!g!g)g)zf)rf)f)f1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750662Bd1dAdAcAcE+?ɢquī quA5#=BEǞ4JE 4RE8/DerDe^De&DaEek: Ee;96Ee4:Ea"Ee;!}Ee;!}*Ee;!}Ee;! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002700Aa Ii Iy N >9 =o,?%*AyRG@ٱR@R^GRu;RH`?@1?`@/Z ?@?`ȡ?-{??IRG@)RR$c;iRC^B9^ IBDf6Df4Yn=!nW=rQ)r>p9p9rDYrCv!Av>xQ 1~4٪zB?Q 5~4z( z^BQ =B99Q A9YTQ E?yzC)z:Iz?@ize4Y  (Ag1g9=zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gE :gE :U ProNav: ac range: 9.541267 m, nav range: 2.224235 m, bearing: 299.679719 deg, approach rate: -0.529409 m/s, LOS rate: 0.061217 deg/s, cmd heading: 307.359851 deg, new cmd heading: 307.406290 deg. gU:]|HeadingCmd: 5.365252 target range: 9.541267 and range: 4.40 m.g]%@gYgYgYgYzfarfafafaBdididicicuH6?ɢs 顝]=I .ɡiI]3^;Iji4!=i=)%@)) ie0aim/i@u=@u=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254789I>AMI=qA} AI I NU >D] uD] \D] 'DY E] v: E] 96E] '4:EY !e @!e @!e @!e @ԙ o,Y%*Ay6@ٱ6@65U6;6H@?E?S؝wC`??? |??I6@)6Bd;i4vBB<>~B@BB!IBBBBB =B@BBYDBBR;BBERchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506630V݂B9V IXiXiZ=IX!! !! !! !! Mb@Mb@Mb@ )Ii#~j?ʡEMb`??;IiA"AA)QABD6D4Yt!<=8Q)>K?9K?9DY*CSA>Q 14٪C?Q 54j ^BQ =T:92 ?Q A:YuQ E?yC);Ih;ibm4YoBAE%B*** querying acoustic contact ***zh!h!g)g15zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g=g=M ProNav: ac range: 9.541267 m, nav range: 1.991845 m, bearing: 299.559623 deg, approach rate: -0.534892 m/s, LOS rate: -0.308678 deg/s, cmd heading: 307.406297 deg, new cmd heading: 307.138082 deg. gM: U|HeadingCmd: 5.360571 target range: 9.541267 and range: 4.40 m.gỦ@gQgQgQgYzfYrfYfYfe΂BBdadadacacm@/@qɢɂBBH @%=I ɡiI%W;I%s0li-g!=i-=)-̉@)Ii/ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759675>A- w=I) I9 NE > nKo,Gs%*AyJ@ٱJW@JJy;JH?hX?U`@V`~?`??m}?`?IJ@)J !d;iHRB9V IBD^6D^4Yf =!f]=f#Q)f>h9h9jDYjOCnAn>pQ 1v4٪r?Q 5v4r r^B9tYvㄿQ Ev?yrțC)r:IrW:irs4Yx~VA|g!g!%zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.g-g-= ProNav: ac range: 9.541267 m, nav range: 1.793671 m, bearing: 299.453935 deg, approach rate: -0.536362 m/s, LOS rate: -0.317650 deg/s, cmd heading: 307.138089 deg, new cmd heading: 306.903360 deg. gEUE|HeadingCmd: 5.356474 target range: 9.541267 and range: 4.40 m.gEA=) Iq I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2629122o,i%*Ay:m̧@ٱ:ɮ@: :(;:H?i? -@g?֠?@2?2`}??I:m̧@):c;i:CBB9B!IBDJ6DJ'4YRw<!RM=V<Q)V>T9T9ZDYZxCZAZ>\Q 1b4٪^ǟ?Q 5b4^ ^^B9dYfIQ Ef?y^C)^;I^4:i^z4Yhj4Ahg|g|zIgnoring new targets. Set target to previous: 9.54 m. 9.54 m.gj»gj» ProNav: ac range: 9.541267 m, nav range: 1.580022 m, bearing: 299.334468 deg, approach rate: -0.535525 m/s, LOS rate: -0.339943 deg/s, cmd heading: 306.903349 deg, new cmd heading: 306.632109 deg. g|HeadingCmd: 5.351740 target range: 9.541267 and range: 4.40 m.gtA@g!g!g!g!zf!rf!f)f)Bd)d)d)c1c5z@ɢʂB r=I ɡiIK;I5sni2!=iC=)tA@)iAjAQi0@iA@DMqDMaDM&DIEM2h: EM96EM4:EI!m@!m@!m@!m@ԁDDAT read: Rx Time:16:12:47.2346 TRx dataTimestamp_ set to:1755879166.434158PDAT read: Bearing 229.8, -20.7 (Local) ~Local bearing/azimuth received: Bearing 229.8, -20.7 (Local) -DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 =X#Rx 1: Read range message, but no direction.99@Uchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.532818vB~BB(!IBBB =BBBQ;B E>A=II N >ԩ h]o,sG%*Ay6۴@ٱ6:@6N_6Z ;6H`? y?&D w?Օ?J?|}??I6۴@)6-c;i6C<NB9R !IRR>R%=)VA VAEMb@Mb@Mb@ A)AIAiAAE"~j?y&1ES?E`EIEAiEAEAEA)AEzAIY)]@ABDe6De4Ym<!u>=uQ)u>y9y9}DY}C}$ۻA>Q 14٪|џ?Q 54  ^B9k?Q A:YQ E?yC);I* ;iW4YtB;AE addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 3.026913 s, deltaX: -1.500000 m, approachRate: -0.495554 m/s, rangeRepo size: 4 ggBIntercept lockout. Range: 2.90 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUTg@gggggzfrfffBBdddc@33@c?uDAT read: 16:12:47.2346 LVL= 15808, 10145, 23074, 23715, AGC= 46, IDX= 501,-0.13,-3.088,-1.847,-2.204,-1.157, PHS=-1.828,-0.645,-1.091, RAW= 291.9, 50.6, CAL= 294.3, 55.0, ROT= 215.7, -55.0 Ygot valid direction response: 16:12:47.2346 LVL= 15808, 10145, 23074, 23715, AGC= 46, IDX= 501,-0.13,-3.088,-1.847,-2.204,-1.157, PHS=-1.828,-0.645,-1.091, RAW= 291.9, 50.6, CAL= 294.3, 55.0, ROT= 215.7, -55.0 X#Rx 2: Read direction message, but no range.`direction in FSK: [-0.465792,-0.334705,0.819152]9QU}BݿЪI|kտU~6?QiU=U'U"ZU\U. U)U%IU㥋iU@U=b?U=^@U u?Upp@ U uiQIU;rnWZ@-ض?_I5Ӻ?Uw@@Ub UE/!)U uchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.784083ɢ H=I ɡiI&D;I2snik!=ik=))Աi40bD1ZD5?AD=uD=[D=%D9E=v: E=96E= 4:E9"E=";!ME=#;!M*E=;!ME=;!M>A=IQ Ia Nu > DDAT read: Rx Time:16:12:47.7344  TRx dataTimestamp_ set to:1755879166.942838 DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3  X#Rx 3: Read range message, but no direction.9  f&@ % checking for new query: numPingsReceived=3, elapsed TxPingTime=3.029883) Eo,!%*Ay6Ġ@ٱ6#@66;6H۪?@d?༜9? ?V?`P??I6Ġ@)6b;i6CBB9B!IBDJ6DJ[4Yf{=!fU=fzQ)f>h9h9jDYjCnһAn>pQ 1v4٪rڟ?Q 5v4ro r^B9tYvNQ Ev?yrC)rK:Ir:ir4Yx~A|h9h=uW%*Ah=a%@h=a%@h=:@h=X4BDgF@h=}BݿЪI|kտU~6?h=E/!h= ui=V8:wjM? X@h=/uZؐGB?8Y?h=ǯ>h=h=9doZ?h=ygh=B*i92i9:i9i=b?"i=MQ@M addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.508680 s, deltaX: -0.300000 m, approachRate: -0.589762 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.584068 m, bearing: 167.225362 deg, lat: 36.779427 deg, lon: -121.859666 deg, deltaT: 15.122808 s, deltaX: -6.957199 m, approachRate: -0.460047 m/s, posRepo size: 4 gYgagagagagagazfarfififiBdidqdqcu@cu>?ɢ]˂Bup q}=Iy }6ɡyiyI} >;I7sni"=i=)))i-011541mchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.279365Y>A5U=IIN>ԁ DM tDM ]DM &DI EM s: EM 96EM 4:EI !U @!U @!U @!U @so, ۿ%*AvB;>~BB4!IBBBBBBQ;BEnDDAT read: Rx Time:16:12:48.2343 rTRx dataTimestamp_ set to:1755879167.450769PDAT read: Bearing 239.7, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 239.7, -3.9 (Local) EDAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.2 QDAT read: 16:12:48.2343 LVL= 22112, 16321, 32754, 32755, AGC= 48, IDX= 497, 0.08,-1.528,-0.243,-1.299, 0.177, PHS=-1.604,-0.375,-1.520, RAW= 326.5, 46.1, CAL= 326.2, 50.5, ROT= 183.8, -50.5 Ygot valid direction response: 16:12:48.2343 LVL= 22112, 16321, 32754, 32755, AGC= 48, IDX= 497, 0.08,-1.528,-0.243,-1.299, 0.177, PHS=-1.604,-0.375,-1.520, RAW= 326.5, 46.1, CAL= 326.2, 50.5, ROT= 183.8, -50.5 R#Rx 4: Read range and direction messages.`direction in FSK: [-0.634680,-0.042155,0.771625]Fpublishing direction and range info9lnv>KO俈ufp&?n@lin`Vn?nnn0 nOͿ)nIn\¿inZ@nM?n8/@nܢa?n|NM@ nܢaillInηL ӿ?nx+nPN n9D)nܢay]Z@ٱ]@]ڹ],o<]HȞ?@V?`w`S?A?@:V? ?u?I]Z@)]b;illchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.594175i]C B9  !IԁMb@Mb@Mb@ )Ii}?5^I?V-M?I Ai A"A)ABD 6D  4Y=>g!==E 7Q)E>A9A9MDYMCMYnAM>QQ 1}4٪U柊?Q 5}4U U^B9?Q A:YQ E?yU?C)U;IU;iU4YBAEhlhnfܿ%*Ahn@hn@hn@hnqD5P8lR| ڽ6br?hnv>KO俈ufp&?hn9Dhnܢainǂqvd \?EAJ?hngV@޿'??hn?hnhn3ㄟ?hnlvhnB*il2in.:inBin%?"in3@E addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.507931 s, deltaX: -0.200000 m, approachRate: -0.393754 m/s, rangeRepo size: 4 M Added new target pos. range: 2.385293 m, bearing: 136.734702 deg, lat: 36.779427 deg, lon: -121.859665 deg, deltaT: 0.507931 s, deltaX: -0.198775 m, approachRate: -0.391343 m/s, posRepo size: 4 gQgqgqgqgqgqgqzfyrfyfyf}ւBBdddc@33@c@8?ɢ̂BǗ ,=I 2NɡiIK5;I4sni AX"=i =) ) >ԩiiIm%=uchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.783584i/0@=@= >A s= DMwDM^DM'DIEM}: EM;96EM'4:EI"EMg;!UEMh;!]*EM;!]EM;!]AIIN>Co,%*Ayrd@ٱra@r-r|I9I9UDYU(CU(pAU>YQ 1e4٪]퟊?Q 5e4]^ ]^B9iYmjQ Em?y]XC)]y:I]:i] 4YquZAyB*** querying acoustic contact ***zhh addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.500227 s, deltaX: 0.300000 m, approachRate: 0.599728 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@ctx?ɢ͂B7X =I rɡiIa/;I9sni\}"=i=))i1Aqchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.287073>AM=A I I) N= >ԙ p,h%*A]B9e(!IBD6D4Y=!A=Q)>9 9 DYSCA%>yDrD]D(DEk: E96Ec44:E!@!@!@!@AYA]p<vBu<>~BqBuG!IBu BBu =BqBqBuQ;BuEQ 14٪N?5DDAT read: Rx Time:16:12:49.2343 ETRx dataTimestamp_ set to:1755879168.459915MPDAT read: Bearing 229.5, 27.5 (Local) M~Local bearing/azimuth received: Bearing 229.5, 27.5 (Local) ]DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 16:12:49.2343 LVL= 15856, 23953, 22354, 32755, AGC= 46, IDX= 496, 0.14, 1.548, 1.834, 0.641, 2.506, PHS=-0.857,-0.628,-1.910, RAW= 20.4, 45.4, CAL= 18.9, 50.3, ROT= 131.1, -50.3 Q 54! _B9YQ E?yxC)?=@9i===]=RW9=. =Zd[)= I=zi=K>=bJ?h9h=?o%*Ah9h9h=?h=͇95^?(,]?h=ڿfx?>?h=p@h=`i=e??_^r?9%}?h=f3?()A]? m=?h=?h==h=?h=)6Mh=B*i=?2i=yg=[>=`?=p@ =`i99I=FZ&`&(>L}F?=n޿= J =p@)=`i995checking for new query: numPingsReceived=6, elapsed TxPingTime=4.575349:i=Bi=W|?"i=+?U addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.508919 s, deltaX: -0.300000 m, approachRate: -0.589485 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 2.385299 m, bearing: 85.504004 deg, lat: 36.779421 deg, lon: -121.859648 deg, deltaT: 1.009146 s, deltaX: 0.000006 m, approachRate: 0.000006 m/s, posRepo size: 4 gggggggzfrfffBdddc@33@cc??ɢ}΂B<- =I tɡiI%;I%6sni%"=i%{m=)!)1)Yi0@jA@ checking for new query: numPingsReceived=6, elapsed TxPingTime=4.790598 >A C=!AAIQIaNu? p,4%*AyF㒦@ٱFC@Fr!F`FH?`O>?[`7~?`b?`t>?@ݬ@?IF㒦@)F:ud;iFCN B9R-!I%Mb@Mb@Mb@ !)!I!i!!%V-?X9vy&1|?%|>%%`;I%"Ai%A!%SA)!%AI1)5BABD=6D=<4YM<!M(=UQ)U>Q9Q9]DY]C]YA]>aQ 1m4٪e?Q 5m4eC$ e_B9uV?Q Au:YuQ Eu?yeC)e* ;Ie;ie4Yy}AygggggggzfrfffBBdddccp!?D}D}[D}*DyE}: E}96E}(N4:Ey"E}R A=A A- yAI9 IQ N] > checking for new query: numPingsReceived=7, elapsed TxPingTime=5.294527%p,N%*Ay:@ٱ:@::D@:Hr? N?2[ s??!?@'?I:@):]d;i:CF B9F+!I)JA JABDP6DPYV'!VV=Z;Q)Z>Z H?9^ H?9^DY^C^>Ab>`Q 1f4٪b?Q 5f4b( b_B9hYj>Q Ej?ybC)bl:Ib :ib4Yy}Ay addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.499656 s, deltaX: 0.200000 m, approachRate: 0.400275 m/s, rangeRepo size: 4 gTStarting intercept timer at range: 2.60 m.ggggg!g!zf!rf)f1fQBdQdYdYc]@c] 7?ɢтBdպ $=I LɡiIRY;I8snie"=i=))YiUQY]5Y>AM(S=DtDaD(DEs: E96Ec44:E!@!@!@!@vBE;>~BABEM!IBE%BBE =BABABEgQ;BEEB%ƿCB%ƿCB!B% =B% =B%E4y-DDAT read: Rx Time:16:12:50.2341 -TRx dataTimestamp_ set to:1755879169.463933=DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 EX#Rx 8: Read range message, but no direction.9)-f@)Mchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.551882AIIN>ԩ Ыp,Oh%*Ay6O@ٱ6@6S6ݻ6H? ?:`5`?:ɠ? hɢ? ){L?I6O@)6>e;i6C@rB9r8!IeMb@Mb@Mb@ a)aIaiaaeK7A`?ktƿ{Gzt?e>e 0eף;IaieAeAeA)aaBD}6D}4Y]@=!==:Q)>99DYCA>Q 14٪ ?Q 54). #_B9>Q A:Y Q E?yȜC):I;i.4YA addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504362 s, deltaX: -0.500000 m, approachRate: -0.991351 m/s, rangeRepo size: 4 gRStopped intercept timer at range: 2.10 m.ggggggzfrfffBBdddc @c :?ɢ5҂B57A9 9=>I9 =ɡ9i9I=;IE5sniE"=iMT=)I)I}checking for new query: numPingsReceived=8, elapsed TxPingTime=5.798622jAԩi4BE!4JEǣ#4RE/DsD]D%DEso: E96E 4:E"Eݑ;!Eߑ;!*E ;!E ;!>A ٦= 5 DDAT read: Rx Time:16:12:50.7342 5 TRx dataTimestamp_ set to:1755879169.967316= PDAT read: Bearing 219.1, 34.9 (Local) = ~Local bearing/azimuth received: Bearing 219.1, 34.9 (Local) M DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 16:12:50.7342 LVL= 29936, 16017, 21714, 31731, AGC= 44, IDX= 513,-0.49, 1.187, 1.074,-0.169, 2.007, PHS=-0.718,-0.888,-2.220, RAW= 35.9, 43.5, CAL= 33.9, 48.8, ROT= 116.1, -48.8 % Ygot valid direction response: 16:12:50.7342 LVL= 29936, 16017, 21714, 31731, AGC= 44, IDX= 513,-0.49, 1.187, 1.074,-0.169, 2.007, PHS=-0.718,-0.888,-2.220, RAW= 35.9, 43.5, CAL= 33.9, 48.8, ROT= 116.1, -48.8 % R#Rx 9: Read range and direction messages.- ^direction in FSK: [-0.289783,0.591521,0.752415]- Fpublishing direction and range info91 5 j΋ҿ!?ԏs?5 3@1 i5 t5 >5 T5 {5 , 5 7)5 ScI5 {i5 g ?5 \B?5 ww?5 ^ Z?5 X@ 5 ^ Zi1 1 I5  ;^/?F7翜?5 zϻ5 nB 5 X@)5 ^ Zi1 1 m checking for new query: numPingsReceived=9, elapsed TxPingTime=6.092084A} AI I N >; p,i%*AiyJk@ٱJh@JJ갸JHE?a?` ? k?r>?A 6?IJk@)Jd;iJClvB9v?!IzC=iz%=BD]6D]o4Ym<!mL=uQ)u>uK?9uK?9DYCA>Q 14٪?Q 543 ,_B9YQ E?yC) :Ip:i<4YBAEhahe}%*AheL@heL@heG?heIuق2IY ]>ɡYiYIe6;Ie2snim-#=im@=)i) i   .0checking for new query: numPingsReceived=9, elapsed TxPingTime=6.303429>Aȝ=AA-yAI9IINU>i D {D bD &D E =: E 96E 4:E ! @! @!% @!% @:&p,T%*AAyAyvB ~B B"`!IB"4BB B B B"Q;B"ErDDAT read: Rx Time:16:12:51.2341 rTRx dataTimestamp_ set to:1755879170.471340vPDAT read: Bearing 222.9, 38.3 (Local) z~Local bearing/azimuth received: Bearing 222.9, 38.3 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 %DAT read: 16:12:51.2341 LVL= 18512, 17777, 15250, 26787, AGC= 43, IDX= 512,-0.37,-0.139,-0.269,-1.707, 0.564, PHS=-0.600,-0.788,-2.315, RAW= 35.7, 38.8, CAL= 33.5, 44.6, ROT= 116.5, -44.6 -Ygot valid direction response: 16:12:51.2341 LVL= 18512, 17777, 15250, 26787, AGC= 43, IDX= 512,-0.37,-0.139,-0.269,-1.707, 0.564, PHS=-0.600,-0.788,-2.315, RAW= 35.7, 38.8, CAL= 33.5, 44.6, ROT= 116.5, -44.6 -T#Rx 10: Read range and direction messages.=^direction in FSK: [-0.317704,0.637217,0.702153]=Fpublishing direction and range info9pr`DUԿ-1d?Ў x?rf@pirPHrqEr;rhr+ r)r^IIr(irW?r-\-?r?rSFG?r!@ rSFGippIr{$D? 7/迋  ?r?rK- r!@)rSFGQippchecking for new query: numPingsReceived=10, elapsed TxPingTime=6.578122 B9 @!IԁMb@Mb@Mb@ )IiMbX9?#~jĿMb?>%M H?9U H?9UDYU4CUAU>yQ 14٪}?Q 54}S9 }9_B9>Q A:YQ E?y}C)}e:I}U:i}DŽ4YAhphro*%*Ahr@hr@hrʕ?hr8忽}G?1r?hr`DUԿ-1d?Ў x?hr!@hrSFGir%?}yMD?sX_?hrC'?xJdV?˅?hr$?hr?hrAK?hrhrB*ip2ip:irBir?"irv?E addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504024 s, deltaX: -0.200000 m, approachRate: -0.396807 m/s, rangeRepo size: 4 u Added new target pos. range: 2.087129 m, bearing: 67.050083 deg, lat: 36.779421 deg, lon: -121.859648 deg, deltaT: 0.504024 s, deltaX: -0.198773 m, approachRate: -0.394371 m/s, posRepo size: 4 g}}RStopped intercept timer at range: 2.10 m.gygygygygygzfrfffBBdddc@cY?ɢՂB  >I  ɡiI:I 7sniU#=iUAM 8=DtDpDDEs: E :6E:E"E;!E;!*E+R;!E+R;!A}%AIIN?.p,#%*Aɰ:4<:;NDDAT read: Rx Time:16:12:51.7341 NTRx dataTimestamp_ set to:1755879170.974921RDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 VZ#Rx 11: Read range message, but no direction.9LLLZchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.061979ԉy%T@ٱ%FR@%W*%^;%HA?`ld?`rZ_l?L?6R?gb??I%T@)%ZCe;i%CB95!IBD6DF4Y#(!==$Q)>D?9D?9DY^C#=A>!Q 1-4٪%?Q 5-4%_> %E_B91Y5Q E5?y%C)%:I%:i%!τ4Y9==A9}B*** querying acoustic contact ***zhyhy addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503581 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gggggggzfrfffBdddcc?ɢeׂBe0l mmh=Ii m ɡiiiIm:Iu4sniu8#=iuL=))iUQQQYMchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.310482>A [= A I I N >5p,%*A!bDAZDE@ADmDmDm'DiEm: Em,:6Em'4:Ei!@!@!@!@vB9>~BBm!IB>BBBBBP;BEy @ٱ` @ h2{<H:??C? ߖ?`3K?iw?@C?I @)>d;iC9DDAT read: Rx Time:16:12:52.2341 TRx dataTimestamp_ set to:1755879171.479380PDAT read: Bearing 219.4, 22.7 (Local) ~Local bearing/azimuth received: Bearing 219.4, 22.7 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 %DAT read: 16:12:52.2341 LVL= 21664, 15713, 17090, 25267, AGC= 42, IDX= 511,-0.11, 0.202, 0.363,-0.552, 1.459, PHS=-1.155,-1.051,-2.055, RAW= 24.6, 57.6, CAL= 23.5, 61.2, ROT= 126.5, -61.2 -Ygot valid direction response: 16:12:52.2341 LVL= 21664, 15713, 17090, 25267, AGC= 42, IDX= 511,-0.11, 0.202, 0.363,-0.552, 1.459, PHS=-1.155,-1.051,-2.055, RAW= 24.6, 57.6, CAL= 23.5, 61.2, ROT= 126.5, -61.2 -T#Rx 12: Read range and direction messages.5^direction in FSK: [-0.286558,0.387261,0.876307]5Fpublishing direction and range info9VҿM?C ?iTa=Bb*  ד)+Ii>?~>ܸ?FM @ ܸiIoש>.P?"տت FM @)ܸiuchecking for new query: numPingsReceived=12, elapsed TxPingTime=7.582134IMb@Mb@Mb@ )Iiy&1?X9v~jth?`e>D;I AijAAA)AI)@ABD6D<4kQ)>99DYCX-=A>Q 14٪ %?Q 54@ L_B9 g>Q A j;Y {Q E ?y+C)L:I:iH؄4Yhh)%*Ahhhӄ?hH |#7FsG?kC?hVҿM?C ?hFM @hܸi31 ?a?Ce?Mh+F0?h&hB*i+F0?2i :ii?"iI? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504459 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.087123 m, bearing: 82.594927 deg, lat: 36.779426 deg, lon: -121.859651 deg, deltaT: 1.008040 s, deltaX: -0.000005 m, approachRate: -0.000005 m/s, posRepo size: 4 gggggggzfrfffBBdddcc?ɢ]قBe ae=Ia e<7 ɡaiiImPx:Im9sniui#=qiu"=)y))im i i m /i >AE t= checking for new query: numPingsReceived=12, elapsed TxPingTime=7.815620ԩ Au yAI I N >7AO=A %AI I N >ԩ Cp,\ %*A i y>;@ٱ>@>^%>=>H,S??4\? s?`?̡?V?I>;@)>c;i>CZB9Z2!IBDb6Db4Yjg!jN=n;Q)n>checking for new query: numPingsReceived=13, elapsed TxPingTime=8.318660MD?9UD?9UDYUCUe=AU>YQ 1e4٪]v,?Q 5e4](D ]S_B9iYmoQ Em?y]>C)]:I]:i]4YuBu4Ayԙ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503429 s, deltaX: 0.200000 m, approachRate: 0.397276 m/s, rangeRepo size: 4 gggggggzfrfffBdddc`ff@c@)?ɢ ܂B hg =I %=ɡ!i!I- :I-3sni5ѽ#=i5 >)9)99}2;D=D=D=(D9E=: E=V:6E=c44:E9AA<vB:>~BBf!IB9BBBBBP;BgE!@!@!@! @!iEI0@@DDAT read: Rx Time:16:12:53.2341 TRx dataTimestamp_ set to:1755879172.488203PDAT read: Bearing 219.1, 28.2 (Local) ~Local bearing/azimuth received: Bearing 219.1, 28.2 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:12:53.2341 LVL= 22864, 13105, 18786, 26531, AGC= 42, IDX= 511, 0.09, 2.660, 2.607, 1.697,-2.511, PHS=-1.009,-1.119,-2.118, RAW= 35.2, 54.8, CAL= 33.6, 58.8, ROT= 116.4, -58.8  Ygot valid direction response: 16:12:53.2341 LVL= 22864, 13105, 18786, 26531, AGC= 42, IDX= 511, 0.09, 2.660, 2.607, 1.697,-2.511, PHS=-1.009,-1.119,-2.118, RAW= 35.2, 54.8, CAL= 33.6, 58.8, ROT= 116.4, -58.8  T#Rx 14: Read range and direction messages.- ^direction in FSK: [-0.230333,0.464003,0.855364]5 Fpublishing direction and range info9fL{Ϳ/9? $_?f@iPY13bIg &)d;IPinF?Gt?Q ?G\?"@>Am = G\iIr ?x|\E2&x'?=t "@)G\i checking for new query: numPingsReceived=14, elapsed TxPingTime=8.602985A A yAI I N >=Ip,&%*AB95!IMb@Mb@Mb@ )Ii{Gz?Zd;Mbp?ף=y;IAi"A"A)ABD6D4Y#<!,= Q) >  H?9 H?9DYC5A5>9Q 1=4٪=,?Q 5E4=`E =V_B9E2=Q AE%*Ahhh/?h}rX޿!e?Юd?hfL{Ϳ/9? $_?h"@hG\i]X?"vVjv?OhB?hP*hB*iB?2i:iBi'?"i?checking for new query: numPingsReceived=14, elapsed TxPingTime=8.8226625 addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.505394 s, deltaX: -0.200000 m, approachRate: -0.395731 m/s, rangeRepo size: 4 = Added new target pos. range: 2.087126 m, bearing: 75.731491 deg, lat: 36.779428 deg, lon: -121.859654 deg, deltaT: 1.008823 s, deltaX: 0.000002 m, approachRate: 0.000002 m/s, posRepo size: 4 gAgAgAgAgAgagizfirfififuBBdqdqdqcu@c}?ɢނB L=I qɡiI :I-8sni-$=i5>)1)9I9]zi0qDE DE nDA DA EE : EE :6EA :EA "EE AM = DAT read: 16:12:53.7342 LVL= 26736, 14481, 20850, 30563, AGC= 43, IDX= 512, 0.19, 2.808, 2.575, 1.663,-2.792, PHS=-0.581,-0.871,-1.872, RAW= 42.3, 45.1, CAL= 40.2, 50.4, ROT= 109.8, -50.4  Ygot valid direction response: 16:12:53.7342 LVL= 26736, 14481, 20850, 30563, AGC= 43, IDX= 512, 0.19, 2.808, 2.575, 1.663,-2.792, PHS=-0.581,-0.871,-1.872, RAW= 42.3, 45.1, CAL= 40.2, 50.4, ROT= 109.8, -50.4  T#Rx 15: Read range and direction messages. ^direction in FSK: [-0.215920,0.599740,0.770513] Fpublishing direction and range info9 JvA˿1?d/c ? 3@ i ph 8 rQ cw + j) ^I i TQp,E%*AyZNx@ٱZu@Z #ZO99DY.C=A>Q 14٪z-?Q 54F X_B9YQ E?yIC):I:i4YgAhh)v?%*AhL@hL@h̙?h߿\O7d?eY.?hJvA˿1?d/c ?hK?hz0aiGMC?To?_uC?hb45Q?t|?YV;?h,?h ?h)Y?h"hB*iE?2i":iBi?"ie? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503384 s, deltaX: 0.200000 m, approachRate: 0.397311 m/s, rangeRepo size: 4  Added new target pos. range: 2.285899 m, bearing: 68.843182 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.503384 s, deltaX: 0.198774 m, approachRate: 0.394875 m/s, posRepo size: 4 ggggg g g zf rfffBddAdcM`ff@cM ?ɢBX@ 8=I yNɡiI)ލ:I5sniN$=i!>))) iIchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.326841qi ! ! % 0!  >A5 >bD ZD vB= ;>~B9 B= Z!IB= /BB9 B9 B9 B= P;B= TED uD gD D E v: E &96E :E "E ";E #;*E h1;E i1;} DDAT read: Rx Time:16:12:54.2341  TRx dataTimestamp_ set to:1755879173.495923 PDAT read: Bearing 222.8, 26.5 (Local)  ~Local bearing/azimuth received: Bearing 222.8, 26.5 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:12:54.2341 LVL= 28288, 14913, 21970, 31987, AGC= 43, IDX= 511, 0.34, 2.793, 2.814, 1.872,-2.345, PHS=-1.043,-1.079,-2.110, RAW= 31.7, 55.0, CAL= 30.3, 58.8, ROT= 119.7, -58.8  Ygot valid direction response: 16:12:54.2341 LVL= 28288, 14913, 21970, 31987, AGC= 43, IDX= 511, 0.34, 2.793, 2.814, 1.872,-2.345, PHS=-1.043,-1.079,-2.110, RAW= 31.7, 55.0, CAL= 30.3, 58.8, ROT= 119.7, -58.8  T#Rx 16: Read range and direction messages. ^direction in FSK: [-0.256661,0.449975,0.855364] Fpublishing direction and range info9y } i!mпD_b? $_?} f@y i} n} A:} U} |y } )} I} = i}  ?} u?} a?} G\?} ȴ@ } G\iy y I} >|w??U^⿙Ӻ2?} ABſ} uA %AI I! N- >PWp,2a%*Aɰ;4< ȴ@)G\iyn@ٱn@n/neD?9D?9DY\Cn=A>Q 14٪-?Q 54G T_B9-=Q A-;Y-ԿQ E-?yPC)u'hm:?hc+hB*iB?2i&:iBi?"i? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504336 s, deltaX: -0.200000 m, approachRate: -0.396561 m/s, rangeRepo size: 4  Added new target pos. range: 2.087132 m, bearing: 81.480138 deg, lat: 36.779428 deg, lon: -121.859662 deg, deltaT: 0.504336 s, deltaX: -0.198768 m, approachRate: -0.394118 m/s, posRepo size: 4 gggggggzfrfAfAfEBBdAdIdIcM@cM?ɢB$9 顥=I ɡiI"t:I2sni$=i:>))i519=59i=I<checking for new query: numPingsReceived=16, elapsed TxPingTime=9.831735! >A] ~>i A I D% }D% eD! D! E% ݉: E% 96E! :E! "E% 5;E% 7;*E% !*;E% !*;Iq N >^p,^}%*AyVS@ٱV@V̈4Vt9t9vDYvCvZ=Av>xQ 1~4٪z,?Q 54zH zQ_B9YѿQ E?yzUC)z>:Iz:izo4Y  A%DDAT read: Rx Time:16:12:54.7342 %TRx dataTimestamp_ set to:1755879173.999369-PDAT read: Bearing 227.9, 36.2 (Local) 5~Local bearing/azimuth received: Bearing 227.9, 36.2 (Local) EDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 eDAT read: 16:12:54.7342 LVL= 22656, 16929, 23442, 32755, AGC= 44, IDX= 512, 0.50, 2.951, 2.836, 1.975,-2.710, PHS=-0.520,-0.692,-1.642, RAW= 38.2, 44.0, CAL= 36.1, 49.3, ROT= 113.9, -49.3 mYgot valid direction response: 16:12:54.7342 LVL= 22656, 16929, 23442, 32755, AGC= 44, IDX= 512, 0.50, 2.951, 2.836, 1.975,-2.710, PHS=-0.520,-0.692,-1.642, RAW= 38.2, 44.0, CAL= 36.1, 49.3, ROT= 113.9, -49.3 mT#Rx 17: Read range and direction messages.u^direction in FSK: [-0.264192,0.596184,0.758134]uFpublishing direction and range info9!%}Myп!?;B?%3@!i%X%!B%[%%, %)%&1I%-ҿi%*?% D?%K!?%FF\?%~t? %FF\i!!I%Xmj:?}5?%ȶ%`D %~t?)%FF\i!!checking for new query: numPingsReceived=17, elapsed TxPingTime=10.098186h!h%%*Ah%L@h%L@h%?h%LS㿪'?w?h%}Myп!?;B?h%~t?h%FF\i%0['P7?;}?m\t?h%&?6l??h%?h%ѵ>h%]@J?h%^"h%mB*i!2i!:i!i%?"i%? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503446 s, deltaX: 0.200000 m, approachRate: 0.397262 m/s, rangeRepo size: 4 ) Added new target pos. range: 2.285906 m, bearing: 76.401424 deg, lat: 36.779428 deg, lon: -121.859662 deg, deltaT: 0.503446 s, deltaX: 0.198774 m, approachRate: 0.394828 m/s, posRepo size: 4 gggggggzfrfffBdddc`ff@c@'?ɢB V=I %gɡ!i!I%IS:Im7snim %=imFO>)i)qIUG)mkAIikA܊Ai4Y>Ay>IIN>ԉchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.334681Ա ep,Uh%*Ay6rѬ@ٱ6γ@6{26^c<6Hb,?S?u4?`rU?@S?d?@k?I6rѬ@)6nd;i6C^B9^"!I)` bABDj6Dj4Y-+<!5F==:Q)E>Q9Q9]DY]Cm-=Am>Q 14٪,?Q 546J N_B9Y˿Q E?y[C)~BBBB =BBZDBgP;BHEBBBBB =B4DUxDUbDU*DQEUˀ: EU96EU(N4:EQ"EU;EU;*EU5;EU6;ԡB*** querying acoustic contact ***zhhMDDAT read: Rx Time:16:12:55.2340 UTRx dataTimestamp_ set to:1755879174.506301]PDAT read: Bearing 230.2, 36.1 (Local) ]~Local bearing/azimuth received: Bearing 230.2, 36.1 (Local) mDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 16:12:55.2340 LVL= 23408, 15601, 21682, 32755, AGC= 44, IDX= 512,-0.33, 0.390, 0.209,-1.000, 1.230, PHS=-0.738,-0.976,-2.274, RAW= 38.3, 44.6, CAL= 36.2, 49.8, ROT= 113.8, -49.8 Ygot valid direction response: 16:12:55.2340 LVL= 23408, 15601, 21682, 32755, AGC= 44, IDX= 512,-0.33, 0.390, 0.209,-1.000, 1.230, PHS=-0.738,-0.976,-2.274, RAW= 38.3, 44.6, CAL= 36.2, 49.8, ROT= 113.8, -49.8 T#Rx 18: Read range and direction messages.^direction in FSK: [-0.260471,0.590568,0.763796]Fpublishing direction and range info9IM ~8dп0\\?1UVq?M@IiMp[M<MTII M<)M#yIM7iMD +?MSFG?M?!?M/^?MM;? M/^iIgggggggzfrfffBdddc@c|]?IIM qA?礨`\s?MMG MM;?)M/^iII-checking for new query: numPingsReceived=18, elapsed TxPingTime=10.618806ɢuBu}v quxX=Iq }ɡyiyI},:I4sni %=iym>))ԹiQQY]4Y>A5|5> I I! N- > checking for new query: numPingsReceived=18, elapsed TxPingTime=10.838601kp,sL%*A(i(\yvM@ٱvZK@vz'v99DYC=A>Q 14٪,?Q 54@J 9Kl;Q Ab>Y̿Q E?y\C)';I';i4YWAhyh}h}O)q)qi/BE=-4JE=(4RE=n/DyDdD%DE: E96E 4:E"E;E;*E}&;E~&;=DDAT read: Rx Time:16:12:55.7340 ETRx dataTimestamp_ set to:1755879175.007330MPDAT read: Bearing 227.2, 36.6 (Local) M~Local bearing/azimuth received: Bearing 227.2, 36.6 (Local) ]DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 16:12:55.7340 LVL= 25136, 15729, 22850, 28451, AGC= 42, IDX= 512,-0.20, 0.677, 0.294,-0.775, 1.544, PHS=-0.765,-1.205,-2.363, RAW= 45.5, 47.0, CAL= 43.2, 52.0, ROT= 106.8, -52.0 Ygot valid direction response: 16:12:55.7340 LVL= 25136, 15729, 22850, 28451, AGC= 42, IDX= 512,-0.20, 0.677, 0.294,-0.775, 1.544, PHS=-0.765,-1.205,-2.363, RAW= 45.5, 47.0, CAL= 43.2, 52.0, ROT= 106.8, -52.0 T#Rx 19: Read range and direction messages.^direction in FSK: [-0.177946,0.589385,0.788011]Fpublishing direction and range info99=v ƿ=e=?&+Ob7?99i=0b=q==BY=#o=* = C)=q=I=d;i=KK?=~Q?=A?=Vh?=? =Vhi99I=8ξF?) 忚 Z"e?==*Q =?)=Vhi99checking for new query: numPingsReceived=19, elapsed TxPingTime=11.109256>Ap:>II Ia Nm >A rp,$%*AyJϯ@ٱJ6Ͷ@JJ499DYC (=A >YQ 1m4٪,?Q 5u4IJ 9qYuƿQ Eu?y)Whu6C?hu!;+hu B*iu6C?2iq:iumBiu?"iu? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.501029 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.987752 m, bearing: 77.285367 deg, lat: 36.779428 deg, lon: -121.859663 deg, deltaT: 0.501029 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggzfrfffBdddcc?ɢ%B% )-pA@>I)I9NE0>ԹD{DmD(DE=: E:6Ec44:E!@!@!@!@vB% <>~B! B% M!IB% %BB! B! B! B% ]P;B% CEM DDAT read: Rx Time:16:12:56.2340 U TRx dataTimestamp_ set to:1755879175.511381] PDAT read: Bearing 233.4, 28.5 (Local) ] ~Local bearing/azimuth received: Bearing 233.4, 28.5 (Local) m DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 16:12:56.2340 LVL= 24288, 15345, 23378, 28099, AGC= 42, IDX= 511,-0.09, 1.038, 1.015, 0.063, 2.129, PHS=-0.990,-1.069,-2.110, RAW= 33.7, 53.7, CAL= 32.1, 57.8, ROT= 117.9, -57.8  Ygot valid direction response: 16:12:56.2340 LVL= 24288, 15345, 23378, 28099, AGC= 42, IDX= 511,-0.09, 1.038, 1.015, 0.063, 2.129, PHS=-0.990,-1.069,-2.110, RAW= 33.7, 53.7, CAL= 32.1, 57.8, ROT= 117.9, -57.8  T#Rx 20: Read range and direction messages. ^direction in FSK: [-0.249349,0.470938,0.846193] Fpublishing direction and range info9I M I8Ͽz#?U?I I iM ^M ;M R[M mI M p})M ԈIM = iM ?M o?M l?M ^ ?M @ M ^ iI I IM H'?ϕ dP?M M o M @)M ^ iI I  checking for new query: numPingsReceived=20, elapsed TxPingTime=11.610104y xp,~%*Ay6B@ٱ6=@@66D.<6H?`?` ɰ?W?$?w"??I6B@)65d;i6CNB9N!IPiPiV=IVp=Mb@Mb@Mb@ )IiS㥫i|?5?~jtx?/]q=;IjAiASA)\ABD6Do4Y=!<!E7=Et;Q)E>I9I9MDYM%CM@=AM>QqQ 1}4٪u,?Q 5}4u]I uP_B9C=Q A%Ao>I9IINUu>ԩD wD gD )D E }: E &96E FA4:E "E g;! E h;! *E h1;! E i1;! ~p,s%*Aɰ;y6g@ٱ6lj@6 6-\U<6H@J?? |ݿO?@q?a?d?`?I6g@)6 ue;i6CRB9R!IBDZ6DZ4Yvzμ!vc=v^;Q)v>x9x9zDYzHCz=A~> DDAT read: Rx Time:16:12:56.7341  TRx dataTimestamp_ set to:1755879176.015376PDAT read: Bearing 236.2, 38.4 (Local) ~Local bearing/azimuth received: Bearing 236.2, 38.4 (Local) -DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 MDAT read: 16:12:56.7341 LVL= 22224, 15441, 24354, 32755, AGC= 44, IDX= 512, 0.03, 1.903, 1.601, 0.564, 2.592, PHS=-0.587,-0.946,-2.072, RAW= 43.4, 43.5, CAL= 41.1, 49.0, ROT= 108.9, -49.0 UYgot valid direction response: 16:12:56.7341 LVL= 22224, 15441, 24354, 32755, AGC= 44, IDX= 512, 0.03, 1.903, 1.601, 0.564, 2.592, PHS=-0.587,-0.946,-2.072, RAW= 43.4, 43.5, CAL= 41.1, 49.0, ROT= 108.9, -49.0 UT#Rx 21: Read range and direction messages.e^direction in FSK: [-0.212509,0.620688,0.754710]eFpublishing direction and range info9  =~3˿y?&? f@ i V Q< "_  , E) -rI i A?  \B? 7? !Z? H? !Zi  I u{q?ԑ=^_dl ? " vB H?) !Zi  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.122311Q 14٪r+?Q 54H R_B9Y)?Q E?ydC)u:I:i-&4YAh h %*Ah @h @h ?h  LbܿCu5?7jQ3?h =~3˿y?&?h H?h !Zi nj?_Z(?c7?h W8 ,?2Uh?a)?h  ?h <>h Ux8?h G$h B*i 2i (:i  Bi n?"i ?M addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503995 s, deltaX: 0.100000 m, approachRate: 0.198414 m/s, rangeRepo size: 4  Added new target pos. range: 2.087138 m, bearing: 83.516029 deg, lat: 36.779428 deg, lon: -121.859663 deg, deltaT: 0.503995 s, deltaX: 0.099387 m, approachRate: 0.197199 m/s, posRepo size: 4 gggggggzfrfԱffBdddc@c8?ɢEBEMһ AEA=1>IINb>checking for new query: numPingsReceived=21, elapsed TxPingTime=12.350978 9 p,O%*Ay6ݾ@ٱ6=@6U 6<6HG?Y?@ wۿr?}x?މ? ?@?I6ݾ@)6%e;i6ߑCrB9r!II)AABDM6DM4Y<!==B8Q)>99=DYEsCDyDyD}&DyEy Ey6E}4:Ey!@!@!@!@M)=A>vB~BBA!IBBBBBYDBP;BTEQ 1=4٪*?Q 5E4G T_B9IYu?Q Eu?yiC)A 6>ԑ I IN>p,26%*Ay:v@ٱ:@: :Qg<:H`^\?V?(Zٿa?H? ??B?I:v@):oe;i:CBB9B!!I)D FAMMb@Mb@Mb@ I)IIIiIIMA`"x&?~jth?MYM7=MD;IMfAiM|AMAMfA)IIBDe6Deծ4Yu<!u5=u&gQ)}>y9y9}DY}CѼ=A>Q 14٪)?Q 54FQ 9tI U_B9=Q AA} ;>1 Iy I N > p,P%*A.checking for new query: numPingsReceived=23, elapsed TxPingTime=13.3594678i8ybn@ٱbDl@bb.v?)?B?Ibn@)b:ze;ibCn B9n-!IBDv6Dvo4Y~[A=!~K=Q)>9 9 DY C =A >Q 14٪(?Q 54E V_B9Y%k?Q E%?yrC)u:I;i1<4Y)-SA)h1h5A%*Ah5@h5@h5?h56:¿Xb%s?+r$~?h5S|U?A )V?h5?h5di5j ն?>م?gVs?h5 2?1_v_?±4Y?h5?h5>h5^j>?ԡh5#%h5YB*i12i1:i5WBi5)?"i5#>? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.500792 s, deltaX: 0.100000 m, approachRate: 0.199684 m/s, rangeRepo size: 4 - Added new target pos. range: 2.087137 m, bearing: 78.169705 deg, lat: 36.779427 deg, lon: -121.859664 deg, deltaT: 0.500792 s, deltaX: 0.099387 m, approachRate: 0.198460 m/s, posRepo size: 4 g)g)g)g)g)g)g1zf1rf1f1f9Bd9d9dAcE@cEi?ɢBs} 页X=I iɡiI|I7snii))i}y?0vB=>~BBBBBBZDBP;BXEDyD^D$DE: E;96E4:E"E;E;*E;E;-DDAT read: Rx Time:16:12:58.2340 5TRx dataTimestamp_ set to:1755879177.531991]PDAT read: Bearing 236.6, 34.2 (Local) m~Local bearing/azimuth received: Bearing 236.6, 34.2 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 16:12:58.2340 LVL= 23984, 10865, 24722, 28243, AGC= 43, IDX= 511, 0.34,-2.797, 3.054, 2.309,-1.912, PHS=-0.783,-1.272,-2.106, RAW= 51.5, 51.8, CAL= 49.0, 56.1, ROT= 101.0, -56.1 Ygot valid direction response: 16:12:58.2340 LVL= 23984, 10865, 24722, 28243, AGC= 43, IDX= 511, 0.34,-2.797, 3.054, 2.309,-1.912, PHS=-0.783,-1.272,-2.106, RAW= 51.5, 51.8, CAL= 49.0, 56.1, ROT= 101.0, -56.1 T#Rx 24: Read range and direction messages.^direction in FSK: [-0.106423,0.547498,0.830012]Fpublishing direction and range info9)-g.g>( ?Tu?-@)i-]-q*-`-Sn) -rH)-ТI-i-f?-qg?-!Z?->z?-ܢ? ->zi))I- " T?'nnן#?-8+-wVg>AU 6> -ܢ?)->zi))e checking for new query: numPingsReceived=24, elapsed TxPingTime=13.655479I I N > )p,j%*Ay6@ٱ6@6h6% =6HAf?;?!+ӿ`nh??`???I6@)6Ee;i6CRB9R!IUMb@Mb@Mb@ Q)QIQiQQUˡE:v?~jtx?U'U=U;IUAiUAUAQ)QUAmR=ima=BDm6Dmծ4Y}}!}C=T:Q)>99DYC=A>Q 14٪(?Q 54D Z_B9F=Q A;Y/?Q E?yxC)<:I:i~C4YAhqhu$ b%*Ahun?hun?huv?hu Eg˿Ci?}e?hug.g>( ?Tu?huܢ?hu>ziuf ;?>h?v?huWPm?YN?d)?hu3?huy=hur-?huy(hu[B*iur-?2iuy(:iuYBiul?"iuu? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507607 s, deltaX: -0.100000 m, approachRate: -0.197003 m/s, rangeRepo size: 4  Added new target pos. range: 1.987753 m, bearing: 86.694591 deg, lat: 36.779426 deg, lon: -121.859663 deg, deltaT: 0.507607 s, deltaX: -0.099384 m, approachRate: -0.195790 m/s, posRepo size: 4 gggggggzfrff!f%߂BBd!d!d!c-@c-@(?ɢUB]û Y]`A1II N >I D sD _D (D E so: E r96E c44:E ! @! @! @! @- DDAT read: Rx Time:16:12:58.7341 - TRx dataTimestamp_ set to:1755879178.0312285 PDAT read: Bearing 241.2, 43.8 (Local) = ~Local bearing/azimuth received: Bearing 241.2, 43.8 (Local) M DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 m DAT read: 16:12:58.7341 LVL= 21744, 10625, 24818, 25363, AGC= 42, IDX= 512, 0.48,-2.477,-3.038, 2.474,-1.981, PHS=-0.393,-1.012,-1.872, RAW= 54.6, 42.0, CAL= 51.4, 47.5, ROT= 98.6, -47.5 u Ygot valid direction response: 16:12:58.7341 LVL= 21744, 10625, 24818, 25363, AGC= 42, IDX= 512, 0.48,-2.477,-3.038, 2.474,-1.981, PHS=-0.393,-1.012,-1.872, RAW= 54.6, 42.0, CAL= 51.4, 47.5, ROT= 98.6, -47.5 u T#Rx 25: Read range and direction messages.} ^direction in FSK: [-0.101025,0.667994,0.737277] Fpublishing direction and range info9) - cAܹm=75`?*Ɨ?- f@) i- T- )- `- c- * - L7ɾ)- 7I- i- s?- f;?- Le?- g;T?- FF? - g;Ti) ) I- k?,r忆F{j?- F - ; - FF?)- g;Ti) )  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.129918xp,v%*A yŋ@ٱ%@| I=Hz??n3 п?@ӣ.?8?o?Iŋ@)ie;iߑC B9+!I9i9BDM6DM4Y}h=!}K=}(4;Q)>99DYC=A>Q 14٪>(?Q 54C ^_B9Y?Q E?y}C) ;I;iJ4Y`AhYh]%*Ah]@h]@h]X?h]6ʿ{N?ݨ?h]cAܹm=75`?*Ɨ?h]FF?h]g;Ti]DnHe?3'}]p?\s| ?h]8Tk?Н?w,~?h]?h].=h] /?h]J h];B*i] /?2i]#%:iYi]_?"i]?u addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.499237 s, deltaX: 0.100000 m, approachRate: 0.200305 m/s, rangeRepo size: 4  Added new target pos. range: 2.087140 m, bearing: 86.097688 deg, lat: 36.779426 deg, lon: -121.859661 deg, deltaT: 0.499237 s, deltaX: 0.099388 m, approachRate: 0.199079 m/s, posRepo size: 4 gggggggzfrfffBdddc@cMh?ɢ=B= AEh<=IA EwɡIqiqIu<1dI}9snii))iAAAE5A@MJ>@MV>i߅4=I߅a=checking for new query: numPingsReceived=25, elapsed TxPingTime=14.368450ԙ>Ai I I N] >-:p,3P%*AvB~BBG!IB BB =BBYDBP;BVEPyVh@ٱV@V/V_=VH5?-?0 a˿d1?@Ǩ@ʂ???IVh@)Vѥe;iTDbuDb[Db'D`Ebv: Eb96Eb'4:E`"Eb";!vEb#;!z*Eb;!~Eb;! B9!IDDAT read: Rx Time:16:12:59.2340 TRx dataTimestamp_ set to:1755879178.538629%DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 =Z#Rx 26: Read range message, but no direction.9@Mchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.632329Mb@Mb@Mb@ )IiV-㥛 ?y&1?h>`e99DYIC=A>Q 14٪&?Q 54rA h_B9&>Q A;Y?Q E?yC)/:I:i^S4YAB*** querying acoustic contact ***zhh addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507401 s, deltaX: -0.100000 m, approachRate: -0.197083 m/s, rangeRepo size: 4 gggggggzfrffAfEBBdAdAdIcM@cM 請?ɢBtǻ A Y A-AI1IANU>{cp,Y%*A B9-!IBD%6D%4Y5;v=!5d=5Q)=>=K?9=K?9=DY=nCEAE>IQ 14٪Mu%?Q 54M? Mo_B9YQ E?yMC)MF-A;>bAhAZAԁI I N > checking for new query: numPingsReceived=27, elapsed TxPingTime=15.386760Ա 8Fp,:%*Ay:am@ٱ:j@:𼹱:^=:H@[?H?ࢿ ¿?a?hի?Y?I:am@):`#f;i8FB9F'!IHJ4=BDR6DR4YVӼ!ZT=Z;Q)Z>\9\9^DY^CbG>Ab>`Q 1f4٪b#?Q 5j4bf> bw_B9hYj1?Q Ej?ybC)b:Ib:ibc`4Ylr~Ap addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.513527 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gggggggzfrf!f!f!Bd!d)d)c)c-6?ɢUBUZ' Y] =IY ]ɡaiaIe5Ie8sniiii)i)iiAԙi199=/AvB1~B1B1B1B5 =B1B5ZDB5iP;B5IEBBBB =B =B(4D tD cD D E s: E L96E :E "E ;!=E ;!=*E ";!ME ";!MDDAT read: Rx Time:16:13:00.2340 TRx dataTimestamp_ set to:1755879179.559444PDAT read: Bearing 236.9, 39.7 (Local) ~Local bearing/azimuth received: Bearing 236.9, 39.7 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 MDAT read: 16:13:00.2340 LVL= 21040, 9889, 24866, 25971, AGC= 40, IDX= 511,-0.10, 2.268, 1.341, 0.875, 2.906, PHS=-0.536,-1.519,-2.075, RAW= 69.1, 47.2, CAL= 65.5, 52.8, ROT= 84.5, -52.8 uYgot valid direction response: 16:13:00.2340 LVL= 21040, 9889, 24866, 25971, AGC= 40, IDX= 511,-0.10, 2.268, 1.341, 0.875, 2.906, PHS=-0.536,-1.519,-2.075, RAW= 69.1, 47.2, CAL= 65.5, 52.8, ROT= 84.5, -52.8 }T#Rx 28: Read range and direction messages.\direction in FSK: [0.057948,0.601816,0.796530]Fpublishing direction and range info9,e?6B?^H,}?i0R&"ase( L7 )n¿Ii^?BR?T?k?ZƼ? kiIOA?f?zf/P܀?kcS ZƼ?)ki>A6>checking for new query: numPingsReceived=28, elapsed TxPingTime=15.684045I I N > _sp,%*A,i,yZH@ٱZF@Z-[켹ZT=ZHG?н?ʡ8 ?Y?֘?`?IZH@)Ze;iZCn B9n0!IMb@Mb@Mb@ )IiZd;OPn?y&1|?j<>`;IiAfA)checking for new query: numPingsReceived=28, elapsed TxPingTime=15.890669(AC=i=BD6D[4Y =!9=:Q)>99DYCw=A>Q 14٪"?Q 54< }_B9m >Q A;YA?Q E?yC)i ;I:ih4Y @A hh%*Ahn?hn?h?h@|?#?6U?h,e?6B?^H,}?hZƼ?hkiLl?ɓ?VU?h`ޔ?b!A?8}q?h\?hfK>hl3?h1 hXB*i2i:iiFj?"in?U addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507288 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 1.987751 m, bearing: 79.732884 deg, lat: 36.779426 deg, lon: -121.859661 deg, deltaT: 1.528216 s, deltaX: -0.099389 m, approachRate: -0.065036 m/s, posRepo size: 4 gagigigigigigizfqrfqfqfuBBdydydycyc}l?ɢBg 页B=I bɡiIjI5snii))i/BEuǞ4JEu{4REua0DqDdD#DE2h: E96E3:E!@!@!@!@>AA I m DDAT read: Rx Time:16:13:00.7341 u TRx dataTimestamp_ set to:1755879180.059299} PDAT read: Bearing 305.9, 38.9 (Local) } ~Local bearing/azimuth received: Bearing 305.9, 38.9 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:13:00.7341 LVL= 21440, 9361, 24658, 25427, AGC= 41, IDX= 512,-0.01, 3.051,-2.516, 1.524,-2.854, PHS=-0.276, 0.383,-1.949, RAW= 14.1, 17.4, CAL= 13.4, 21.2, ROT= 136.6, -21.2  Ygot valid direction response: 16:13:00.7341 LVL= 21440, 9361, 24658, 25427, AGC= 41, IDX= 512,-0.01, 3.051,-2.516, 1.524,-2.854, PHS=-0.276, 0.383,-1.949, RAW= 14.1, 17.4, CAL= 13.4, 21.2, ROT= 136.6, -21.2  T#Rx 29: Read range and direction messages. ^direction in FSK: [-0.677403,0.640588,0.361625] Fpublishing direction and range info9q u XrpHb?t>i$?u f@q iu Su $u R`u Scu ) u O)u >Iu xiu d{>u |>u |o>u q>u k@ u qiq q Iu fmпOp_!?u u 3 u k@)u qiq q  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.158112I I N% >Xp,s %*A~B9~@!IBD6DF4Ym=!mR=mQ)m>q9q9uDYuC}A}>Q 14٪!?Q 54}; _B9YQ E?yC)>:I:in4YAhh%*Ah@h@h@hzC .Vd?LPk&?hXrpHb?t>i$?hk@hqiXla!EN? ?hSrUK-U?`Pl?hr?hh:S?h4 -hB*i2iJ :iXBi?"iF?E addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.499855 s, deltaX: 0.100000 m, approachRate: 0.200058 m/s, rangeRepo size: 4 u Added new target pos. range: 2.087139 m, bearing: 131.171333 deg, lat: 36.779426 deg, lon: -121.859659 deg, deltaT: 0.499855 s, deltaX: 0.099387 m, approachRate: 0.198832 m/s, posRepo size: 4 gqgygygygygygyzfyrfyffBdddc@c`o?ɢBx- Q @=I VɡiI(I2snii))checking for new query: numPingsReceived=29, elapsed TxPingTime=16.395256i/yԩ >A @>rA @?jA C?A) A- <vB5 :>~B1 B5 T!IB5 *BB5 =B1 B5 YDB5 ?P;B5 2EIy I N >D tD _D %D E s: E r96E 4:E "E !- E !- *E J;!5 E J;!5 Kp,3#%*A"DDAT read: Rx Time:16:13:01.2340 *TRx dataTimestamp_ set to:1755879180.5675686PDAT read: Bearing 242.7, 38.6 (Local) :~Local bearing/azimuth received: Bearing 242.7, 38.6 (Local) PZDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 MDAT read: 16:13:01.2340 LVL= 22816, 8881, 26226, 25875, AGC= 41, IDX= 511, 0.09,-2.546, 2.907, 2.391,-1.843, PHS=-0.601,-1.488,-2.093, RAW= 66.2, 48.7, CAL= 62.8, 53.9, ROT= 87.2, -53.9 uYgot valid direction response: 16:13:01.2340 LVL= 22816, 8881, 26226, 25875, AGC= 41, IDX= 511, 0.09,-2.546, 2.907, 2.391,-1.843, PHS=-0.601,-1.488,-2.093, RAW= 66.2, 48.7, CAL= 62.8, 53.9, ROT= 87.2, -53.9 uT#Rx 30: Read range and direction messages.}\direction in FSK: [0.028782,0.588493,0.807990]Fpublishing direction and range info9$&Gy?^=?p ?&@$i& Y&"&rf&e$ &#)&vI&i&h?&Y?&K?&p?&? &pi$$I&ʸ|? gɢ?&Ap&$Y &?)&pi$$ checking for new query: numPingsReceived=30, elapsed TxPingTime=16.706663y@ٱS@R=Hy??J@쳿 R? Ȟ?6K??I@)ge;iߑCB9Mb@Mb@Mb@ )Ii{Gz?A`"?{Gzt?#<=ף;I=Ai9A9AjA)ABD6D4Y5e!E%=M Q)M>I9I9UDYUCex=Ae>iQ 1u4٪mm"?Q 5}4m: m_B9}J=Q A};Ya?Q E?ymC)mhU!>checking for new query: numPingsReceived=30, elapsed TxPingTime=16.899040i^0@Y>@]> >A 6>I IQ Ii Nu >?p,0?%*Ay60@ٱ6v-@6?e6c[=6H ?eB?@H@?rs p ?@e?}?I60@)6pie;i4>B9BE!IID)F@ADNoDNdDN$DLEN`: EN96EN4:EL!R@!R@!R@!R@BDV6DV4Y^;<!^z=bDQ)b ?`9`9bDYb>Cfq=Af ?hQ 1n4٪j"?Q 5n4j89 j_B9lYrԵ?Q Er?yjC)j:Ij:ijP}4YtvAt B*** querying acoustic contact ***zh h gggggggzfrfffBdddcc?ɢd L=I ɡiIɥWI4sniDDAT read: Rx Time:16:13:01.7341 TRx dataTimestamp_ set to:1755879181.066911DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 %Z#Rx 31: Read range message, but no direction.9f@-checking for new query: numPingsReceived=31, elapsed TxPingTime=17.153927i))))1i/1>AE;>Y  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.402927A I I N >"p,Y%*A y @ٱm@Ɋ~q=H"?n?`pzH㣿&? >,?'??I @)8e;iܑC#B9K!IBD6Dd4YN<!:=O:Q)>99DYjC:=A>Q 14٪]#?Q 548 _B9Yg?Q E?yC)u:I:i4Y  A = addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.499343 s, deltaX: 0.100000 m, approachRate: 0.200263 m/s, rangeRepo size: 4 g9g9g9g9gAgAgAzfArfAfIfIBdIdIdQcU@cU N?vB;>~BB`!IB4BB =BBBP;BEɢB@ =I nɡiI*#qI9snii))qDrD\D(DEk: E96Ec44:E"E;!E;!*E^ ;!E_ ;!iyy/MDDAT read: Rx Time:16:13:02.2340 ]TRx dataTimestamp_ set to:1755879181.576100PDAT read: Bearing 246.7, 38.6 (Local) ~Local bearing/azimuth received: Bearing 246.7, 38.6 (Local) %DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 mDAT read: 16:13:02.2340 LVL= 22208, 8625, 25042, 23603, AGC= 42, IDX= 511, 0.38,-2.914, 2.591, 2.050,-2.183, PHS=-0.629,-1.464,-2.094, RAW= 64.6, 49.3, CAL= 61.2, 54.3, ROT= 88.8, -54.3 uYgot valid direction response: 16:13:02.2340 LVL= 22208, 8625, 25042, 23603, AGC= 42, IDX= 511, 0.38,-2.914, 2.591, 2.050,-2.183, PHS=-0.629,-1.464,-2.094, RAW= 64.6, 49.3, CAL= 61.2, 54.3, ROT= 88.8, -54.3 uT#Rx 32: Read range and direction messages.ԙ\direction in FSK: [0.012221,0.583413,0.812084]Fpublishing direction and range info9QU`3?nn5R?\?U@QiUVU!UaU3\U* U%!)UZdIUiUZQ?UFF\?Uܸ?U_r?Ua? U_riQQIUɓ>?%eY+ C?UqwUQ\ Ua?)U_riQQchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.710903>A 6>bA iAZA A= yAII Ia Nu >Jp,qs%*ABchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.906446yFYs@ٱFp@F꼹F|=FH??@ᓿ?V鰿NA? ?v?IFYs@)Fe;iFݑCPRB9VE!I-Mb@Mb@Mb@ )))I)i))-~jt?)\(?y&1|?-<-G=-`;I)i-A-A-A))-zABDE6DE4YUܼ!UT=Um;Q)U>] H?9] H?9]DY]CeiQ 1u4٪m4$?Q 5u4m6 m_B9u=Q Au;Yu_?Q E}?ymC)m] ;Im;im4YAhhd%*Ahhh~?hdKߘ?s? ??h`3?nn5R?\?ha?h_ri8msB ?˯?hPWjA]aʏ?#zA,?h`?hhh#?h:Jh~B*i},*?2i:iidv?"i'? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.509189 s, deltaX: -0.100000 m, approachRate: -0.196391 m/s, rangeRepo size: 4  Added new target pos. range: 1.987743 m, bearing: 90.193712 deg, lat: 36.779426 deg, lon: -121.859658 deg, deltaT: 1.008532 s, deltaX: 0.000002 m, approachRate: 0.000002 m/s, posRepo size: 4 gggggggzfrfIfYfeBBdddc@cz?ɢB6 `=I 3ɡ!i!IEHIm6sniiii)i)i)yDDZDDE Ea96E:E!@!@!@!@i/@@)1 1EDDAT read: Rx Time:16:13:02.7341 ETRx dataTimestamp_ set to:1755879182.075759UPDAT read: Bearing 259.3, 46.8 (Local) U~Local bearing/azimuth received: Bearing 259.3, 46.8 (Local) eDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 16:13:02.7341 LVL= 22096, 8641, 25490, 23763, AGC= 42, IDX= 513,-0.39, 2.142, 1.447, 0.419, 2.645, PHS=-0.400,-1.153,-2.269, RAW= 53.6, 39.7, CAL= 50.3, 45.4, ROT= 99.7, -45.4 Ygot valid direction response: 16:13:02.7341 LVL= 22096, 8641, 25490, 23763, AGC= 42, IDX= 513,-0.39, 2.142, 1.447, 0.419, 2.645, PHS=-0.400,-1.153,-2.269, RAW= 53.6, 39.7, CAL= 50.3, 45.4, ROT= 99.7, -45.4 T#Rx 33: Read range and direction messages.^direction in FSK: [-0.118305,0.692115,0.712026]Fpublishing direction and range info9AEy0yAIrH%?E;~?Ef@AiEPVE!EcE\A E̾)EIEL7iE|o?Ea1?E`?EbJ?E`? EbJiAAIE`Ҋ?G*LCxn?EUEvK1 E`?)EbJiAAchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.174833Q >A ;>A I I N >p, %*A,yf@ٱfn@fܼf=fH`?)I?.jf ?`}? ?*?If@)fd;ifCz%B9~N!I R=i R=BD6Dy4Y5+ =!=@==N;Q)E>A9I9MDYMCM =AU>QQ 1]4٪U%?Q 5]4U5 U_B9aYez?Q Ee?yUÝC)U:IU:iU34YiuAqhh<ل%*Ah@h@h?hUϿAy?Рe7?hy0yAIrH%?E;~?h`?hbJiWB%hKҿWS?-wI?h^Ճztwo?..I9;?h?hXh ?hr?hNB*i#?2i:J:iil?"i? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.499659 s, deltaX: 0.100000 m, approachRate: 0.200136 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=33, elapsed TxPingTime=18.410679 Added new target pos. range: 2.087130 m, bearing: 102.103225 deg, lat: 36.779425 deg, lon: -121.859657 deg, deltaT: 0.499659 s, deltaX: 0.099387 m, approachRate: 0.198910 m/s, posRepo size: 4 gggggggzfrfffBd d d c @c ?ԁɢB 顝=I X#ɡiIՏI3snii))i] aae0aԩvB:>~BBf!IB9BBBBBO;BErD jD D sD bD $D E so: E 96E 4:E "E ݑ;! E ߑ;! *E 5;! E 6;! >A 6>  DDAT read: Rx Time:16:13:03.2340  TRx dataTimestamp_ set to:1755879182.583287 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  Z#Rx 34: Read range message, but no direction.9  @ A AI I N >ºp,Ψ%*A"checking for new query: numPingsReceived=34, elapsed TxPingTime=18.684887`yj~_@ٱj!IMb@Mb@Mb@ )IiZd;O?(\µ?y&1|?j<=Id@iAA|A)ABD 6D 4YGe!==Cu;Q)%>%K?9%K?9%DY%C-<A->1Q 1=4٪5%?Q 5=454 5_B9==Q A=Am;>rAD! D% ]D% 'D! E!  E% 96E% '4:E! !- @!- @!- @!- @ip,d%*Ay6@ٱ6dz<6Ƽ6$=6H?,aǩ@I??V:ؘ?=??I6@)6e;i6ޑC> B9BH!IBDF6DF4YN33=!Rf=R5;Q)R>V H?9V H?9VDYV CV<AV>XQ 154EDDAT read: Rx Time:16:13:03.7341 MTRx dataTimestamp_ set to:1755879183.083395UPDAT read: Bearing 260.2, 44.7 (Local) U~Local bearing/azimuth received: Bearing 260.2, 44.7 (Local) eDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 16:13:03.7341 LVL= 20064, 9537, 26610, 23907, AGC= 42, IDX= 512,-0.10, 0.371,-0.198,-1.081, 0.918, PHS=-0.445,-1.071,-2.043, RAW= 52.9, 42.1, CAL= 49.7, 47.5, ROT= 100.3, -47.5 Ygot valid direction response: 16:13:03.7341 LVL= 20064, 9537, 26610, 23907, AGC= 42, IDX= 512,-0.10, 0.371,-0.198,-1.081, 0.918, PHS=-0.445,-1.071,-2.043, RAW= 52.9, 42.1, CAL= 49.7, 47.5, ROT= 100.3, -47.5 T#Rx 35: Read range and direction messages.^direction in FSK: [-0.120797,0.664703,0.737277]Fpublishing direction and range info9IMHeS쾿re?E?*Ɨ?Mf@IiM`NMA%MgMc]I M )MIMiM\l?M@ma>q checking for new query: numPingsReceived=35, elapsed TxPingTime=19.421974>A ԩ A AI I N5 >p,c%*Ayb@ٱbb|K?9K?9DY5C =9A >Q 14٪>'?Q 543 _B9Yf?Q E?yНC):I:i)4Y!-A)EB*** querying acoustic contact ***zhAhAgQgQgQgQgYgYgYzfYrfYfafaBdadadacacm`?ԉɢB $ 顝{=I dɡiI.vB~BBBBBBBO;BEI2snii))DDbD&DE E96E4:E"E!%E!-*E!5E!=iaaams4i)߉ ߉DDAT read: Rx Time:16:13:04.2340 TRx dataTimestamp_ set to:1755879183.596945PDAT read: Bearing 255.0, 37.0 (Local) ~Local bearing/azimuth received: Bearing 255.0, 37.0 (Local) MDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 16:13:04.2340 LVL= 20976, 10433, 25698, 25587, AGC= 42, IDX= 511, 0.00, 1.032, 0.494,-0.184, 1.866, PHS=-0.731,-1.326,-2.093, RAW= 55.8, 51.1, CAL= 53.1, 55.6, ROT= 96.9, -55.6 Ygot valid direction response: 16:13:04.2340 LVL= 20976, 10433, 25698, 25587, AGC= 42, IDX= 511, 0.00, 1.032, 0.494,-0.184, 1.866, PHS=-0.731,-1.326,-2.093, RAW= 55.8, 51.1, CAL= 53.1, 55.6, ROT= 96.9, -55.6 T#Rx 36: Read range and direction messages.^direction in FSK: [-0.067873,0.560875,0.825113]Fpublishing direction and range info9ۋ2n&`J?~g]Tg?@iQ(bdc ";)^IiQy?&Qd?@m?Ulx?z? UlxiId?aKS⿒R/ ?|[Hsd z?)Ulxi%checking for new query: numPingsReceived=36, elapsed TxPingTime=19.728552>A9 1 A I I N >5 checking for new query: numPingsReceived=36, elapsed TxPingTime=19.926783p, %*Ay6u@ٱ6E<68ɼ6ff=6H?pS 2?`)?@"`n&??`p?I6u@)6d;i4BB9B>!IMb@Mb@Mb@ )Ii/$?X9v?Mb`?,=<;IAi)QABD%6D% 4Y5!5H=5||Q)5>9999=DY=_CEAE>IQ 1M4٪M(?Q 5U4M2 M_B9UU=Q AU~AE 6>bAI ZAI ԡ A yAI I N >{q,%*AyBJ@ٱB;BHҼB6z=BH`?J@f͙ 5|?p?X\H? 7???IBJ@)B]d;i@JB9J?!IBDR6DRy4YZ:!ZJ=^Y3Q)^>^ H?9b H?9bDYbCbBPAb>dQ 1j4٪f*?Q 5j4fW2 f_B9hYn($?Q EM?yf՝C)fSA;>IDtD`D(DEs: E96Ec44:E"E;!E;!*E;!E;!A AI I N > DDAT read: Rx Time:16:13:05.2340  TRx dataTimestamp_ set to:1755879184.611658 PDAT read: Bearing 257.0, 35.4 (Local)  ~Local bearing/azimuth received: Bearing 257.0, 35.4 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ԑ 8 q,*%*A:DAT read: 16:13:05.2340 LVL= 23248, 13665, 25810, 27795, AGC= 42, IDX= 511, 0.25, 1.797, 1.371, 0.644, 2.695, PHS=-0.797,-1.279,-2.095, RAW= 51.6, 52.4, CAL= 49.2, 56.6, ROT= 100.8, -56.6 yF1%@ٱF;FOټFv=FH?oMb?,?@GĮ8?@?@V?IF1%@)F(uc;iD>Ygot valid direction response: 16:13:05.2340 LVL= 23248, 13665, 25810, 27795, AGC= 42, IDX= 511, 0.25, 1.797, 1.371, 0.644, 2.695, PHS=-0.797,-1.279,-2.095, RAW= 51.6, 52.4, CAL= 49.2, 56.6, ROT= 100.8, -56.6 T#Rx 38: Read range and direction messages.%^direction in FSK: [-0.103150,0.540730,0.834848]%Fpublishing direction and range info9ƣh?~M?&j?@iZa5dl 1L)FI{if? j?[?'|?z0? '|iUB9U}K?9}K?9}DY}C[A>Q 14٪,?Q 54P2 _B9|]=Q Auʿ2?* &?hƣh?~M?&j?hz0?h'|il0пU%X ?\p?hII~Q?%E?hy?hh0?h(^hB*i2i:ii?"i?u addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.516455 s, deltaX: -0.100000 m, approachRate: -0.193628 m/s, rangeRepo size: 4 ԁ Added new target pos. range: 1.987740 m, bearing: 104.575825 deg, lat: 36.779423 deg, lon: -121.859653 deg, deltaT: 0.516455 s, deltaX: -0.099391 m, approachRate: -0.192448 m/s, posRepo size: 4 gggggggzfrfffBBdddchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.942673c@c?ɢ%B-ъ )-6=I) -(ɡ1i1I5ɺI59sniYiY)Y)ai3ԱBE%!4JE!RE%0D sD aD $D E so: E 96E 4:E ! @! @! @! @>A 6>rA jA >?  DDAT read: Rx Time:16:13:05.7341  TRx dataTimestamp_ set to:1755879185.112600 PDAT read: Bearing 282.5, 41.9 (Local)  ~Local bearing/azimuth received: Bearing 282.5, 41.9 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:13:05.7341 LVL= 20816, 12273, 25586, 26339, AGC= 42, IDX= 512, 0.44, 1.289, 1.321,-0.261, 1.901, PHS=-0.510,-0.535,-2.206, RAW= 30.7, 34.3, CAL= 28.5, 40.5, ROT= 121.5, -40.5  Ygot valid direction response: 16:13:05.7341 LVL= 20816, 12273, 25586, 26339, AGC= 42, IDX= 512, 0.44, 1.289, 1.321,-0.261, 1.901, PHS=-0.510,-0.535,-2.206, RAW= 30.7, 34.3, CAL= 28.5, 40.5, ROT= 121.5, -40.5  T#Rx 39: Read range and direction messages. ^direction in FSK: [-0.397311,0.648353,0.649448] Fpublishing direction and range info9 cmٿ.N?AG? f@ i PQ / c f \) I / i >+ ? @? > 4? @ 4i I 3?fü&m;Pp ? wjǿ X @) 4i checking for new query: numPingsReceived=39, elapsed TxPingTime=21.212410AIIQIaNu>k/q,^*I%*AHy5o@ٱ5@5Aܼ5u=5H?@g?@r@9?_??J?I5o@)56b;i5ݑCB9'!IiBD6D4Y%!E>=M`6Q)M>Q9Q9]DY]CzA>Q 14٪.?Q 54K2 _B9Y ?hcmٿ.N?AG?h@h4iNDk,s_??h)Lilڿ,s?zģ?h?h\h埊?h h؅B*iƎG ?2i:ii ?"is? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.500942 s, deltaX: 0.100000 m, approachRate: 0.199624 m/s, rangeRepo size: 4  Added new target pos. range: 2.087126 m, bearing: 124.088219 deg, lat: 36.779423 deg, lon: -121.859653 deg, deltaT: 0.500942 s, deltaX: 0.099387 m, approachRate: 0.198400 m/s, posRepo size: 4 gggggggzfrfffBdddc@c 9?ɢMBUoλ qu@~B B T!IB *BB B B B O;B E>AU ;> DU rDU mDU 'DQ EU k: EU :6EU '4:EQ "EU ;!-EU ;!5*EU ?G;DDAT read: Rx Time:16:13:06.2340 TRx dataTimestamp_ set to:1755879185.618742PDAT read: Bearing 245.8, 39.2 (Local) ~Local bearing/azimuth received: Bearing 245.8, 39.2 (Local) AI %DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 !=EU @G;!=IN?lq,L6j%*A2DAT read: 16:13:06.2340 LVL= 20272, 12097, 26418, 24819, AGC= 42, IDX= 512,-0.36,-2.023,-2.938, 2.854,-1.324, PHS=-0.597,-1.568,-2.150, RAW= 68.3, 48.3, CAL= 64.8, 53.7, ROT= 85.2, -53.7 6Ygot valid direction response: 16:13:06.2340 LVL= 20272, 12097, 26418, 24819, AGC= 42, IDX= 512,-0.36,-2.023,-2.938, 2.854,-1.324, PHS=-0.597,-1.568,-2.150, RAW= 68.3, 48.3, CAL= 64.8, 53.7, ROT= 85.2, -53.7 jT#Rx 40: Read range and direction messages.n\direction in FSK: [0.049538,0.589937,0.805928]nFpublishing direction and range info9IM# ]? Jb?*?M@IiM0OMA/M2gM`I M)M9ȿIM iMk?)MuW?MÐ?Mo?MV? MoiIIIMoW>W? `kS࿺:?MPgMW MV?)MoiIIEchecking for new query: numPingsReceived=40, elapsed TxPingTime=21.784105y@ٱ!@R]׼U{=H?{? d@,g?`H?`b??I@)b;i B9.!IMb@Mb@Mb@ )IiQ?Mb\=I=AibAA)(AI@A)BD6DQ4Yo<!=:Q)>99=DY= CE+AE>IQ 1U4٪M0?Q 5U4M2 I9U=YQ AuA 6>bA jAZA D pD ]D %D E d: E 96E 4:E ! @! @! @! @  DDAT read: Rx Time:16:13:06.7341  TRx dataTimestamp_ set to:1755879186.119261PDAT read: Bearing 240.5, 37.7 (Local) ~Local bearing/azimuth received: Bearing 240.5, 37.7 (Local) -DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 MDAT read: 16:13:06.7341 LVL= 22000, 10417, 25634, 27827, AGC= 42, IDX= 513,-0.23,-0.738,-1.768,-2.082,-0.045, PHS=-0.590,-1.678,-2.081, RAW= 74.9, 49.0, CAL= 71.6, 54.7, ROT= 78.4, -54.7 UYgot valid direction response: 16:13:06.7341 LVL= 22000, 10417, 25634, 27827, AGC= 42, IDX= 513,-0.23,-0.738,-1.768,-2.082,-0.045, PHS=-0.590,-1.678,-2.081, RAW= 74.9, 49.0, CAL= 71.6, 54.7, ROT= 78.4, -54.7 UT#Rx 41: Read range and direction messages.]\direction in FSK: [0.116194,0.566055,0.816138]eFpublishing direction and range info9  꾽?j?Õ? f@ i U ( "d l  = ) ֿI /i T? !Z? ? ft? %? fti  I "V?ǺeݿU/(?  I [ %?) fti  checking for new query: numPingsReceived=41, elapsed TxPingTime=22.221668AIIN>1"q,j3%*Ay@ٱg@ռVmx=H O??@Y;?KծK?@?&?I@)b;iC B9 (!IBDA6D4Y"!7=9Q)>99%DY%MC--kA->1Q 1e4٪5f1?Q 5e452 19iYmQ Em?y5C)5 ;I5;i5؅4YAhh%*Ah@h@h?ho ?G`D ?\$ A?h꾽?j?Õ?h%?hfti6~&?lE*?/p?h~OY?'vs?PEA?hW?h3Y>hFC?h~hB*i2i:ii?"i?= addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.500519 s, deltaX: 0.100000 m, approachRate: 0.199792 m/s, rangeRepo size: 4 M Added new target pos. range: 2.087126 m, bearing: 78.817654 deg, lat: 36.779424 deg, lon: -121.859655 deg, deltaT: 0.500519 s, deltaX: 0.099387 m, approachRate: 0.198568 m/s, posRepo size: 4 gQgQgQgQgQggzfrfffBdddc@c?ɢ 5?)һ 15;I1 =#ɡ9i9I=EIE8sniAiA)A)Aqchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.454552i%!!!)ԡA9 A9 vBA ~BA BE A!IBE BBA BA BA BE O;BE E>AY AY Ii Iy D xD dD 'D E ˀ: E 96E '4:E "E ;! E ;! *E }&;! E ~&;! N >W)q,ͥ%*AyFsN@ٱFK@F׼FDn=FH ??iT.~ ?|y?r˭? F?IFsN@)Fb;iFޑCRB9R!IV=V4<) %DDAT read: Rx Time:16:13:07.2341 5TRx dataTimestamp_ set to:1755879186.628415UPDAT read: Bearing 244.7, 39.7 (Local) ]~Local bearing/azimuth received: Bearing 244.7, 39.7 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ԑBD6D4YU!]==eQ)m>99DYzCA> DAT read: 16:13:07.2341 LVL= 20704, 12961, 28210, 25203, AGC= 42, IDX= 512,-0.13,-1.008,-1.962,-2.469,-0.322, PHS=-0.584,-1.595,-2.192, RAW= 68.4, 47.7, CAL= 64.9, 53.1, ROT= 85.1, -53.1 Ygot valid direction response: 16:13:07.2341 LVL= 20704, 12961, 28210, 25203, AGC= 42, IDX= 512,-0.13,-1.008,-1.962,-2.469,-0.322, PHS=-0.584,-1.595,-2.192, RAW= 68.4, 47.7, CAL= 64.9, 53.1, ROT= 85.1, -53.1 T#Rx 42: Read range and direction messages.\direction in FSK: [0.051286,0.598226,0.799685]Fpublishing direction and range info9)-|1+B?Q$?;?))i-P-2-2n-sb!Q 1-4٪%2?Q 5-4%2 !91Y5cQ E5?y%C)%:I%h:i%X4Y9=AA) -)-(̿I-I i-Θ?-+ U?-?-@m?-? -@mi))I-?2ӎJ@&tǧ?-GNf-4T -?)-@mi))checking for new query: numPingsReceived=42, elapsed TxPingTime=22.791973h)h-7%*Ah)h)h-/?h-^yb$f?lF%?#c?h-|1+B?Q$?;?h-?h-@mi-H?=(\?T ;?h-Q¥?ƒ?(!u?h-?h-=h-,:?h-\h-yB*i-"p5?2i):i-yBi-$?"i-7A AI IN=>;0q,%*Ay:t@ٱ:@:\rܼ:Zc=:H ?@T?`񀝿?p櫿q?`e?l?I:t@):b;i:ۑCBB9B!ID vD bD %D E Vz: E 96E  4:E !@!@!@!@%Mb@Mb@Mb@ !)!I!i!!%{Gz?kt%#<% 0!I!i%A%A!)!!=a=i=a=BDE6DE4YUIļ!U==UQ)U>Y9Y9]DY]C]CAe>aQ 1m4٪e2?Q 5u4ea3 e_B9u4=Q AuA ;>rA :?jA A yAI! I1 NE >W7q,Kr%*Ay6@ٱ6@6弹6\=6H?|?u+ G ?ת? u??I6@)6.b;i6ّC>B9B!IBDJ6DJ=4YR<!RF=RA'Q)R>V H?9V H?9VDYVCvB\~B\B^;!IB^BB^ =B\B\B^O;B^EfAj>hQ 1n4٪jF3?Q 5n4j3 j_B9pYrQ Er?yjC)j:Ij:ij4Ytv)Axhihm|&%*AhihihmR:?hm7`D?}? wda?hm֤:k?j[2"? Ԅt?hm+?hmCwkimຘ?$?/?hmT{?*.Ɇ)?"[ Mύ?hmG?hmŤ>hmHdN?hmdihmlB*im,:?2ii:imlBim ?"im@?ggggggAgAzfIrfIfIfIBdQdQdQcQc]<-?ɢ ܼI tɡiID)D-D-$D)E) E-*:6E-4:E)"E-E;!5E-F;!5*E-b;!=E-b;!=IE7sniAiA)A)IuDDAT read: Rx Time:16:13:08.2340 TRx dataTimestamp_ set to:1755879187.637096PDAT read: Bearing 252.7, 36.3 (Local) ~Local bearing/azimuth received: Bearing 252.7, 36.3 (Local) i  O4 }DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 16:13:08.2340 LVL= 20816, 12977, 28354, 24931, AGC= 42, IDX= 511, 0.08, 0.122,-0.383,-1.082, 0.972, PHS=-0.748,-1.310,-2.097, RAW= 54.5, 51.4, CAL= 51.8, 55.8, ROT= 98.2, -55.8 =Ygot valid direction response: 16:13:08.2340 LVL= 20816, 12977, 28354, 24931, AGC= 42, IDX= 511, 0.08, 0.122,-0.383,-1.082, 0.972, PHS=-0.748,-1.310,-2.097, RAW= 54.5, 51.4, CAL= 51.8, 55.8, ROT= 98.2, -55.8 =T#Rx 44: Read range and direction messages.E^direction in FSK: [-0.080169,0.556337,0.827081]EFpublishing direction and range info9quô?!Cqw?u@qiuPQu2unucaq u|?)uIu?5iu"s?uLe?uqg?uQy?ua? uQyiqqIum?:nO-ǔ%?uOTuƍe ua?)uQyiqqchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.788221 >A] 6>A AI I N > checking for new query: numPingsReceived=44, elapsed TxPingTime=23.966534c=q,/%*A y [4@ٱ 1@ 7 U= H`? ?Kkdڭ ?ũН?@?e?I [4@) gb;i ۑC%B9%!I)i)Mb@Mb@Mb@ )IiS㥛?Mb~jth/<DIAiKAAfA)ABD6Dծ4Y˖!7=:*Q)>K?9K?9DYC &ȼA > Q 14٪ %4?Q 54 4 _B9d=Q A>A ;>A yAI I N% >{Dq,Z-%*Aɰ8y:@ٱ:@::N=:H`?@?;|"??֩??I:@):fb;i:ܑCFB9F !IINAA)NAABDN6DN4YVAi!Za=ZdQ)Z>^ H?9^ H?9^DY^ C^¼A^>`Q 1f4٪b4?Q 5f4b=5 b_B9hYjQ Ej?ybC)b:Ib ;ib4Yln_Al  addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.497715 s, deltaX: 0.100000 m, approachRate: 0.200918 m/s, rangeRepo size: 4 gggggggzfrfffBdd!d!c%@c%`?ɢQUe& QU'IQ ]:RɡYiYI];Ie9sniaia)a)ichecking for new query: numPingsReceived=45, elapsed TxPingTime=24.471340i /ԩAA4=vB~BB4!IBBBBBBP;BE>AAbAMiAZAMhADE vDE ^DE )DA EE Vz: EE ;96EE FA4:EA "EA !M EA !M *EE ;!U EE ;!U Au AI I N > e DDAT read: Rx Time:16:13:09.2340 m TRx dataTimestamp_ set to:1755879188.640041u PDAT read: Bearing 251.2, 36.3 (Local) u ~Local bearing/azimuth received: Bearing 251.2, 36.3 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 16:13:09.2340 LVL= 20128, 12769, 27522, 24995, AGC= 42, IDX= 511, 0.34, 0.405,-0.119,-0.807, 1.249, PHS=-0.742,-1.323,-2.100, RAW= 55.2, 51.3, CAL= 52.5, 55.7, ROT= 97.5, -55.7  Ygot valid direction response: 16:13:09.2340 LVL= 20128, 12769, 27522, 24995, AGC= 42, IDX= 511, 0.34, 0.405,-0.119,-0.807, 1.249, PHS=-0.742,-1.323,-2.100, RAW= 55.2, 51.3, CAL= 52.5, 55.7, ROT= 97.5, -55.7  T#Rx 46: Read range and direction messages. ^direction in FSK: [-0.073555,0.558705,0.826098] Fpublishing direction and range info9a e Ƹ~ԲJF?RYeo?e @a ie Ne 1e ke aa e =)e XIe ffie Ϣv?e 5e?e j?e x?e -? e xia a Ie o /#?TÃGn?e ̮e *e e -?)e xia a  checking for new query: numPingsReceived=46, elapsed TxPingTime=24.768513Jq, -%*Ady ׺@ٱ 7@ _ )K= H?@L?K桿v ?`19?zt? ?I ׺@) 5K?95K?95DY5RC5PA=>Q 14٪4?Q 546 _B9q=Q A`EDt!? ?h?HV'᯿y}9f?lG4?h ?hxhu;?*?hhPB*i2i~:ii?"i? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505230 s, deltaX: -0.100000 m, approachRate: -0.197929 m/s, rangeRepo size: 4  Added new target pos. range: 1.987735 m, bearing: 96.790869 deg, lat: 36.779427 deg, lon: -121.859655 deg, deltaT: 1.002945 s, deltaX: 0.000001 m, approachRate: 0.000001 m/s, posRepo size: 4 gggggggzfrff!f%ЂBBd!d!d!c-@c-.?ɢh@ 顝)I  ɡiI*I6snii))checking for new query: numPingsReceived=46, elapsed TxPingTime=24.974646)im qqqyQ >A DM oDM dDM 'DI EM `: EM 96EM '4:EI !] @!] @!] @!] @ i I G)) I9 u DDAT read: Rx Time:16:13:09.7341 } TRx dataTimestamp_ set to:1755879189.144352 PDAT read: Bearing 230.3, 37.0 (Local)  ~Local bearing/azimuth received: Bearing 230.3, 37.0 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:13:09.7341 LVL= 21728, 10113, 26258, 25971, AGC= 42, IDX= 513,-0.46,-0.870,-2.202,-2.327,-0.245, PHS=-0.523,-1.912,-2.126, RAW= 82.9, 46.9, CAL= 80.8, 53.4, ROT= 69.2, -53.4 i /VA%Ygot valid direction response: 16:13:09.7341 LVL= 21728, 10113, 26258, 25971, AGC= 42, IDX= 513,-0.46,-0.870,-2.202,-2.327,-0.245, PHS=-0.523,-1.912,-2.126, RAW= 82.9, 46.9, CAL= 80.8, 53.4, ROT= 69.2, -53.4 %T#Rx 47: Read range and direction messages.-\direction in FSK: [0.211724,0.557366,0.802817]5Fpublishing direction and range info9q u N??@۾F?u f@A=yAIIIaNu>Rq,]K%*AiT'fse T)jIbiL3?Q?J?n?#? niIg6#p?YAWڿWmed`?;%Q #?)ni^checking for new query: numPingsReceived=47, elapsed TxPingTime=25.284832y}S{@ٱ}x@}}R=}H@?@7??@Z` u?p쨿c?V? ?I}S{@)}}sb;i}ڑCB9!I<R=) ABDM6DMF4ԙYª<!3=Q)> H?9 H?9DYC*A>Q 14٪4?Q 546 _B9YҿQ E?yC):I:i_ 4Y)5:A1hh=I%*Ah@h@h1?hG?Eל?֚{*?hN??@۾F?h#?hni%H%?E5?,J\?htV?F-?:ָ?h9?h/>hC2\?h3RhrB*i2i0j:ii!?"i:L?= addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504311 s, deltaX: 0.100000 m, approachRate: 0.198290 m/s, rangeRepo size: 4 m Added new target pos. range: 2.087121 m, bearing: 65.648835 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.504311 s, deltaX: 0.099387 m, approachRate: 0.197074 m/s, posRepo size: 4 gigigqgqgqgqgqzfqrfqfyfyBdydydc@c?ɢ  I ɡiIYI3snii))!checking for new query: numPingsReceived=47, elapsed TxPingTime=25.478823ivB ~B B B B B B B O;B EBIBIBIBM =BM =BM_4>A 6> A AI I N >3Yq,f%*AbDZDD"wD"^D"*D E"}: E";96E"(N4:E "E"g;!&E"h;!&*E !&E !*yF^@ٱF|[@FpwF3S=FHK?`%? W`?[稿#?1i??IF^@)FIb;iFۑCNB9R !IVC=iVp=BDZ6DZ4Yb!b`=bҺQ)f>fK?9fK?9fDYfCjW Aj>lQ 1r4٪n[4?Q 5r4n@7 n_B9pYrqӿQ Er?ynC)n:In:in4Yx~gA5B*** querying acoustic contact ***zh1h1g9g9g9gAgAgAgAzfArfAfIfIBdI]DDAT read: Rx Time:16:13:10.2340 ]TRx dataTimestamp_ set to:1755879189.646959eDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 mZ#Rx 48: Read range message, but no direction.9Y]@Ychecking for new query: numPingsReceived=48, elapsed TxPingTime=25.735971ddc%@Qc]`ۚ?ɢB& 顕,I #ɡiI9I8snii))iYYYYYԁԡ% checking for new query: numPingsReceived=48, elapsed TxPingTime=25.985176M PExceeded connect timeout, disconnecting.>A ;> A I I N5 >!`q,\%*Ay65@ٱ63@6˖ 6J=6H?i?f~ ۶ y?R?S?F?I65@)6P]b;i6בCVB9Z!I5Mb@Mb@Mb@ 1)1I1i115Mb55L5I5SAi5A5A5A)15QABDM6DM4Y]n=!]A=eQ)e>a9a9mDYmCmj?Am>qQ 1}4٪u3?Q 5}4u7 u_B9W=Q A|Au@> A I I N >i- =I- <E DDAT read: Rx Time:16:13:11.2341 M TRx dataTimestamp_ set to:1755879190.407489e PDAT read: Bearing 274.5, 43.4 (Local) m ~Local bearing/azimuth received: Bearing 274.5, 43.4 (Local) Qfq,%*Achecking for new query: numPingsReceived=49, elapsed TxPingTime=26.503950y}n @ٱ}@}`}:@=}H(?̷? ,!`B;x?6z?@J?`?I}n @)}ob;i}ݑCB9!IiBD6D4Y!3=2Q)>99DYCBA>Q 14٪2?Q 54^8 _B9YQ E?yC);I:i#4Y:Ahh]É%*AhL@hL@h?h]ٿ,l=?D:'?h'Cƿ\\0Q5?wI?hNY?hYPiըԿǩX?aOX{?hS;¿:?2 ?h?hh*h?hjhcB*iu;?*?2i:icBi?"i-?IU addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.505590 s, deltaX: 0.300000 m, approachRate: 0.593366 m/s, rangeRepo size: 4 e Added new target pos. range: 2.285894 m, bearing: 102.466902 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 1.008197 s, deltaX: 0.198773 m, approachRate: 0.197157 m/s, posRepo size: 4 AiAivBq~BqBqBqBqBqBqBuO;BuEgaggggggzfrfffBdddc`ff@c M?ɢ, I /ɡiI,$I2snii))iEAAE0ADEDE^DADAEEҝ: EE;96EA:EA"EE;!MEE;!M*EA!UEA!UyeDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 16:13:11.2341 LVL= 21328, 10017, 26098, 24771, AGC= 42, IDX= 512,-0.06,-2.218,-2.297, 2.758,-1.752, PHS=-0.364,-0.501,-1.818, RAW= 34.9, 34.3, CAL= 32.5, 40.6, ROT= 117.5, -40.6 Ygot valid direction response: 16:13:11.2341 LVL= 21328, 10017, 26098, 24771, AGC= 42, IDX= 512,-0.06,-2.218,-2.297, 2.758,-1.752, PHS=-0.364,-0.501,-1.818, RAW= 34.9, 34.3, CAL= 32.5, 40.6, ROT= 117.5, -40.6 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.350593,0.673482,0.650774]Fpublishing direction and range info9QUA6#pֿ!K)?)\$?Uf@QiUPSU!'UeU`Q U5^)UAIU9iUI?U@?U6?U g5?U?@ U g5iQQIUY; ?lj۷V6/_h?U UA U?@)U g5iQQchecking for new query: numPingsReceived=50, elapsed TxPingTime=26.755541>A5 6> Aq I I N >$zlq,2U%*Ay9y9DY"CVQA>Q 14٪F2?Q 548 _B97=Q AAu;>DU xDQ DQ DQ EU ˀ: EQ 6EQ :EQ !] @!] @!] @!] @  DAT read: 16:13:11.7341 LVL= 19504, 10625, 25906, 24259, AGC= 42, IDX= 512, 0.05,-0.712,-1.758,-2.149,-0.168, PHS=-0.441,-1.545,-2.025, RAW= 72.8, 45.2, CAL= 69.0, 51.3, ROT= 81.0, -51.3  Ygot valid direction response: 16:13:11.7341 LVL= 19504, 10625, 25906, 24259, AGC= 42, IDX= 512, 0.05,-0.712,-1.758,-2.149,-0.168, PHS=-0.441,-1.545,-2.025, RAW= 72.8, 45.2, CAL= 69.0, 51.3, ROT= 81.0, -51.3  Z#Rx 52: Read direction message, but no range. \direction in FSK: [0.097810,0.617545,0.780430]9a e AO ?&w? 2I?a ie 0Le )e 2ee ^a e )e ſIe ie ?e I?e %?e 5e?e ? e 5eA I I N >ia Ie _?">I࿐o?e Re J e ?)e 5e5 checking for new query: numPingsReceived=52, elapsed TxPingTime=27.268810/bsq, 1%*Apy-_Ѿ@ٱ-@--;:=-H?@? 7 ?`:7? NA??I-_Ѿ@)-a;i)EB9E!IBDU6DU4Ye =!eK=ePQ)e>i9i9mDYmKCu_Au>yQ 14٪}1?Q 54}+9 }_B9YQ E?y}C)}`:I}:i}N04YAhh?%*Ahhh.?h^#D!?-|K?k&?hAO ?&w? 2I?h?h5eiQ[?H>,?kr?hP}0?J?j?h?h*>hG?hKh]B*iu;?*?2iK:i]Bi?"ir? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.256089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.087120 m, bearing: 77.520951 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 0.256089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ggggQgQgQgQzfQrfYfYfYBdYdadacace?ɢ jI +ɡiIE/I4snii)) imiim<2iDDAT read: Rx Time:16:13:12.2340 TRx dataTimestamp_ set to:1755879191.414101PDAT read: Bearing 247.6, 37.2 (Local)  ~Local bearing/azimuth received: Bearing 247.6, 37.2 (Local) -DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 eZ#Rx 53: Read range message, but no direction.9@checking for new query: numPingsReceived=53, elapsed TxPingTime=27.5170929>A6>vBq ~Bq Bu ;!IBu BBq Bq Bq Bu O;Bu Ea A I I N >D] rD] ]D] +DY E] k: E] 96E] [4:EY "E] ;!m E] ;!m *E]  ;!m E]  ;!m yq,M%*Ay:׾@ٱ:@:E:U==:H }?"R?$`ƹ@? UX?h?\?I:׾@):a;i:ّCfB9f!Ij=j;BDn6Dn 4Yv!vP=z^Q)z>x9|9~D9EDAT read: 16:13:12.2340 LVL= 22256, 9873, 25906, 24739, AGC= 42, IDX= 511, 0.15,-0.436,-1.057,-1.699, 0.358, PHS=-0.692,-1.369,-2.101, RAW= 58.7, 50.3, CAL= 55.7, 55.0, ROT= 94.3, -55.0 MYgot valid direction response: 16:13:12.2340 LVL= 22256, 9873, 25906, 24739, AGC= 42, IDX= 511, 0.15,-0.436,-1.057,-1.699, 0.358, PHS=-0.692,-1.369,-2.101, RAW= 58.7, 50.3, CAL= 55.7, 55.0, ROT= 94.3, -55.0 MZ#Rx 54: Read direction message, but no range.U^direction in FSK: [-0.043006,0.571962,0.819152]9rh M?U~6?iV&` &1)d;Ivi#?`?x? u??  uiIun?mF R)\D?숿|` ?) uuchecking for new query: numPingsReceived=54, elapsed TxPingTime=27.760452Y}sC}:A}>Q 14٪0?Q 549 _B9YQ E?yC)bs?h?h)hg\-?hlvhPB*ig\-?2i:ii?"in?- addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503963 s, deltaX: -0.100000 m, approachRate: -0.198427 m/s, rangeRepo size: 4 = Added new target pos. range: 1.987734 m, bearing: 92.209955 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 0.503963 s, deltaX: -0.099386 m, approachRate: -0.197209 m/s, posRepo size: 4 g9g9g9g9g9g9gAzfArfAiffBdddc@c?ɢB I %ɡ!i!I%K6I-9sni)i))1)1i0ԑDDAT read: Rx Time:16:13:12.7341 TRx dataTimestamp_ set to:1755879191.915032DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 55: Read range message, but no direction.9f@checking for new query: numPingsReceived=55, elapsed TxPingTime=28.003231 >A A I I) NE >xq,"%*Ay6@ٱ6,@66\r==6H`O?a?˥`ָ ?? ?`9999EDYECE <AM>IQ 1U4٪M0?Q 5U4M9 M_B9]k4YaeAiDsDD&DEso: E6E4:E! @!@!@!@B*** querying acoustic contact ***zhhM addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.500931 s, deltaX: 0.100000 m, approachRate: 0.199628 m/s, rangeRepo size: 4 gIgQgQgQgQgQgQzfQrfYfyf}ӂBBdddc@cW?ɢ  I GɡiIArA9  @ q,%*A>checking for new query: numPingsReceived=56, elapsed TxPingTime=28.545336yv"@ٱv@vvp:=vH``?r?`䥿@Vrd?Xaܣ?G?[?Iv"@)vL5a;itB9!IBD6D4YeP!eI=eyQ)m>m H?9m H?9mDYmCu&\<Au>Q 14٪80?Q 54: _B9YQ E?yC):I:i0F4YAAA<vB!~B!B%A!IB%BB!B!B!B%O;B%Ee addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507764 s, deltaX: -0.100000 m, approachRate: -0.196942 m/s, rangeRepo size: 4 gagagagagagigizfirfififBdddc@c?ɢB  DI  zXɡ iICI53sni1i1)1)9IiD4D5rD5`D5%D1E5k: E596E5 4:E1"E1!EE1!E*E5;!ME5;!M]DAT read: 16:13:13.2340 LVL= 21552, 8465, 25250, 23395, AGC= 42, IDX= 511, 0.43,-0.053,-0.797,-1.359, 0.696, PHS=-0.647,-1.448,-2.099, RAW= 63.4, 49.7, CAL= 60.0, 54.6, ROT= 90.0, -54.6 eYgot valid direction response: 16:13:13.2340 LVL= 21552, 8465, 25250, 23395, AGC= 42, IDX= 511, 0.43,-0.053,-0.797,-1.359, 0.696, PHS=-0.647,-1.448,-2.099, RAW= 63.4, 49.7, CAL= 60.0, 54.6, ROT= 90.0, -54.6 mZ#Rx 57: Read direction message, but no range.u^direction in FSK: [-0.000000,0.579281,0.815128]99=so<0[zXx?6?9i=0T=!=b=c[9 =ˡ%)=XI=Vi=?=^?= ?=s?=? =si9I=="Kj?[pP@KBf7c?=|=i] =?)=schecking for new query: numPingsReceived=57, elapsed TxPingTime=28.763702ԁ>Aԡ A AI! I9 NE >Eq,m7%*AB9!Iii5=I5=yDDAT read: Rx Time:16:13:13.7341 TRx dataTimestamp_ set to:1755879192.922974DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 58: Read range message, but no direction.9f@checking for new query: numPingsReceived=58, elapsed TxPingTime=29.010014Mb@Mb@Mb@ )Ii{GzMb?Mb`#<Id@iAA)ABD6D4Y%<!%?=%Q)%>-K?9-K?9-DY-C-A5>1Q 1=4٪5/?Q 5=459 5_B9=nA ;> A I I N > q, R%*Aɰ4d9d9fDYfCj <Aj>lQ 1r4٪n/?Q 5r4n9 n_B9pYr@Q Er?yn C)n:In:in-T4YxzAxggggggg!zf!rf!f!f)Bd)d)d)1c)c5Q?ɢeBe|b ae׻Ia mɡiiiImOIu5sniqiq)q)yi   /  DDAT read: Rx Time:16:13:14.2340  TRx dataTimestamp_ set to:1755879193.426987DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 59: Read range message, but no direction.9  @ %checking for new query: numPingsReceived=59, elapsed TxPingTime=29.514017Y>A)bA1ZA5jAvBq~BqBuG!IBu BBqBqBqBuO;BqԑA9 II IY Ne >D zD dD )D E l: E 96E FA4:E "E Χ;! E ϧ;! *E }&;! E }&;! Թ  checking for new query: numPingsReceived=59, elapsed TxPingTime=29.762627|q,l%*AyZң@ٱZ2@Z&+ZVK=ZH B?@(?4lz?`է"ģ?@Wc??IZң@)Z8a;iZڑCԙB9 !IBD6D<4Y5<!1=I :Q)>99DYJC.<A>Q 14٪N/?Q 54q9 9Y@Q E?y C)b;I<;i@\4YA addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504013 s, deltaX: -0.100000 m, approachRate: -0.198407 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@c?ɢ-B5Vi 15;I1 5l_ɡ1i9I=WI=2sniAiA)A)Ai/DDAT read: Rx Time:16:13:14.7341 TRx dataTimestamp_ set to:1755879193.930816%DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -Z#Rx 60: Read range message, but no direction.9f@5checking for new query: numPingsReceived=60, elapsed TxPingTime=30.017872 >AI I N > #q,%*Ay6ſ@ٱ6~@6J6TH=6H?[??c@?`ӕ? W? ?I6ſ@)6?a;i4BB9B*!IV99-DY-tC5<A5>9Q 1E4٪=.?Q 5E4=59 =_B9EA} 6>ԁ  DAT read: 16:13:15.2340 LVL= 21712, 8913, 25314, 23523, AGC= 42, IDX= 511,-0.02,-2.330,-3.055, 2.650,-1.592, PHS=-0.636,-1.418,-2.085, RAW= 62.6, 49.3, CAL= 59.3, 54.3, ROT= 90.7, -54.3  Ygot valid direction response: 16:13:15.2340 LVL= 21712, 8913, 25314, 23523, AGC= 42, IDX= 511,-0.02,-2.330,-3.055, 2.650,-1.592, PHS=-0.636,-1.418,-2.085, RAW= 62.6, 49.3, CAL= 59.3, 54.3, ROT= 90.7, -54.3  T#Rx 61: Read range and direction messages. ^direction in FSK: [-0.007129,0.583498,0.812084] Fpublishing direction and range info9Q U EmJ^3}8VF?\?U @Q iU TU "U bU [Q U ")U IU piU ً?U FF\?U ;z?U _r?U 0? U _riQ Q IU Uy?)/ 2DZG?U $.U \ U 0?)U _riQ Q  checking for new query: numPingsReceived=61, elapsed TxPingTime=30.601065I I) N= >*q,y@%*AvB~BBM!IB%BBBBBO;BEBBBBBBF4yZ3@ٱZ@Z ZC=ZHK?? 2#`O? @? fi?]?IZ3@)Z a;iZۑCf B9f,!IYiYBD]6D]<4iY;!M=.Q)>99DYCO<A>Q 14٪q.?Q 548 _B9Y@Q E?y C);Iq;i_j4Y\Ahhm%*Ahn?hn?hQ?hv'X?4{>e?hEmJ^3}8VF?\?h0?h_riYQ|.|bY?lzi?hȿ>`l8Iu??h͊?h:h~-?h]2zh^B*i~-?2i:ii?"i? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.508358 s, deltaX: -0.100000 m, approachRate: -0.196712 m/s, rangeRepo size: 4  Added new target pos. range: 1.987737 m, bearing: 90.368000 deg, lat: 36.779426 deg, lon: -121.859657 deg, deltaT: 1.516200 s, deltaX: -0.099381 m, approachRate: -0.065546 m/s, posRepo size: 4 gggggggzfrfffBdddc@c?ɢB˦ AEA @>rA jA ;?Ia Iq N > u DDAT read: Rx Time:16:13:15.7341  TRx dataTimestamp_ set to:1755879194.943429 PDAT read: Bearing 253.9, 44.2 (Local)  ~Local bearing/azimuth received: Bearing 253.9, 44.2 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Mq,YP%*AZ#Rx 62: Read range message, but no direction.9f@checking for new query: numPingsReceived=62, elapsed TxPingTime=31.0463129B9 !IeMb@Mb@Mb@ a)aIaiaaeMbp??e;e<eIeSAieAeKAa)aezABD}6D}ծ4Y,!5=Q)>99DYCA>Q 14٪.?Q 548 9gAM 6>I I N >Թ q,_%%*Ay6r[@ٱ6X@6!6N=6H`?~`?zsg@??թ?:?I6r[@)6#a;i6ؑCP9TTiTBD^6D^4fk)Q)f?h9h9jDYjCjR=Aj?lQ 1r4٪n.?Q 5v4n{8 n_B9tYv!?Q Ev?ynC)n`:In:inMx4Yxx|g1g9gAgAgIgIgIzfQrfYfifiBdqdydcc`?ԡDDAT read: Rx Time:16:13:16.2340 TRx dataTimestamp_ set to:1755879195.447211PDAT read: Bearing 246.5, 38.0 (Local) ~Local bearing/azimuth received: Bearing 246.5, 38.0 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ]DAT read: 16:13:16.2340 LVL= 21488, 8945, 24882, 23507, AGC= 42, IDX= 511, 0.18,-0.779,-1.551,-2.090,-0.035, PHS=-0.641,-1.470,-2.099, RAW= 64.5, 49.6, CAL= 61.2, 54.6, ROT= 88.8, -54.6 eYgot valid direction response: 16:13:16.2340 LVL= 21488, 8945, 24882, 23507, AGC= 42, IDX= 511, 0.18,-0.779,-1.551,-2.090,-0.035, PHS=-0.641,-1.470,-2.099, RAW= 64.5, 49.6, CAL= 61.2, 54.6, ROT= 88.8, -54.6 eT#Rx 64: Read range and direction messages.ɢ}B}/ʻ 顅eA ;>I I - checking for new query: numPingsReceived=64, elapsed TxPingTime=31.778641Nm >! q,%*AyM@ٱM@MNMka=MH`?@ڥ?p!-?3"ߣ??x?IM@)Ma;iMّCeB9e#!IMb@Mb@Mb@ )IiMb?l?<=IAiKAAA)AI)@ABD6D4Y;!<~:Q)>99%DY%C%<A%>)Q 154٪-+/?Q 554- 8 -_B9= =Q A=I&?~4?h0j?U׵?{]m?hׇ?h;h묷/?hp#h_B*i묷/?2ip#:i^Biׇ?"iG? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503782 s, deltaX: -0.100000 m, approachRate: -0.198498 m/s, rangeRepo size: 4  Added new target pos. range: 1.987738 m, bearing: 89.649732 deg, lat: 36.779426 deg, lon: -121.859657 deg, deltaT: 1.008037 s, deltaX: 0.000001 m, approachRate: 0.000001 m/s, posRepo size: 4 g!g!g!g!gIgIgIzfIrfQfQfUBBdQdYdYc]@c]`w?ɢBQ ?"?$+3?t;??ۄ? t;?iI1kR?7鿉R$?)ƬI" ۄ?)t;?ichecking for new query: numPingsReceived=65, elapsed TxPingTime=32.061287I>Aa I I N >q D rD ]D (D E k: E 96E c44:E !- @!- @!- @!- @טq, %*AyJ@ٱJ6@JJn=JHm?ԛ?@ŢE??ɭ??IJ@)Jy2a;iHrchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.282696rB9v&!IBD}6D}4Y'$<!R=mr:Q)>99DYCC.<A>Q 14٪y/?Q 547 _B9Y[?Q E?yC)c;IOe;i4YAhh%*Ah@h@h?h_}Ca ?Bs?h -7Ͽ팮?U+?hۄ?ht;?i|Vz?4!-T?h:_w!4пaY?;`?h?hFQhN?h̀hB*i~-?2i:ii?"iai?} addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.505219 s, deltaX: 0.100000 m, approachRate: 0.197934 m/s, rangeRepo size: 4  Added new target pos. range: 2.087125 m, bearing: 111.018512 deg, lat: 36.779426 deg, lon: -121.859657 deg, deltaT: 0.505219 s, deltaX: 0.099387 m, approachRate: 0.196720 m/s, posRepo size: 4 gggg g g gzfrfffBdd!dIcM@cM ?ɢB` 顝`Ae 6>ipSq!RcY v)I i? ?a?MQ%?ȴ@ MQ%iI-kɤ?ͻPϕf?¿~ ȴ@)MQ%i checking for new query: numPingsReceived=66, elapsed TxPingTime=32.614655A <A vB ~B B B B B B B O;B EA I I N >q,%%*AyV!"@ٱV@VqV$r=VHi?㦛?~`h ?2ĭ?`tU??IV!"@)V*a;iVבCrB9r!Itv;BD6D4Y%ȼ!%J=-IIQ)->)9)9-DYUlCUݓ<AU>YQ 1e4٪]/?Q 5e4]H7 ]_B9iYmM?Q Em?y]C)]S:I]:i]4YAhyh}UP%*Ah}n?h}n?h} @h}]?+DY?pI#?h}\xRٿKV2?؛B?h}ȴ@h}MQ%i}}{-E?[yI?h}7$ٿaKg?^ ?h}-?h}Kh}Wݬ쟊?h}3Ph}}B*iy2i}:iyi}?"i}d? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505598 s, deltaX: -0.100000 m, approachRate: -0.197785 m/s, rangeRepo size: 4 )DU{DUfDU'DQEU=: EU96EU'4:EQ"EU;!eEU;!e*EU-;!eEU-;!e Added new target pos. range: 1.987737 m, bearing: 120.921411 deg, lat: 36.779426 deg, lon: -121.859657 deg, deltaT: 0.505598 s, deltaX: -0.099387 m, approachRate: -0.196573 m/s, posRepo size: 4 gggggggzfrfffBdddc@c`?ɢBU  AA yAI I N > DDAT read: Rx Time:16:13:17.7341 % TRx dataTimestamp_ set to:1755879196.954878- DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 - Z#Rx 67: Read range message, but no direction.9! % f@! 5 checking for new query: numPingsReceived=67, elapsed TxPingTime=33.041904Ա )q,N?%*Ay%S@ٱ%P@%+%r=%H@?v?k ֗?Yڭ@٣? L?x?I%S@)%]a;i%ّC99= !IMb@Mb@Mb@ )Ii:v?~jt?~jth?T<=D;Id@i5A)R=ip=BD6Dˣ4Y-j:!-;=-l4Q)->5 H?95 H?9eDYeCe*b<Ae>iQ 1u4٪mI0?Q 5}4m6 m_B9}$=Q A}AA AI I N > 'q,,Y%*Ayfq@ٱfXo@f f&p=fH,?}?ݍ@ ??`S??Ifq@)fa;if֑CrB9r!IBDz6Dz4Y_z!^=TQ) > K?9 K?9 DY C'<A>Q 1%4٪0?Q 5%4~6 _B9!Y%œ?Q E-?yC)G:I:i4Y15A1gYgYgYgYgYgYgYzfarfafafaBdididicicmx`?ɢBu( 顝A)DuwDqDu)DqEu}: Eq6EuFA4:Eq"Eug;!Euh;!*Eu}&;!Eu~&;!A Aa Ii Iy  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.794640N >n@q,$cs%*Ay5@ٱ5@5'"5ҧp=5H?,?`嵤{@? C? ? u?I5@)5a;i1EB9M"!IQiQMb@Mb@Mb@ )Ii~jt?I +?<9<ISAibAKAfA)ABD6D4Y<!<=_Q)>99DYC<A> Q 14٪ h1?Q 54 ?6 _B9!A9 ԡ Au yAD vD D (D E Vz: E 0:6E c44:E ! @! @! @! @I I N >i#q,)%*A*checking for new query: numPingsReceived=69, elapsed TxPingTime=34.299934ɰ,,@EB9E!!IIQ)QBD]6D](4Yeeܻ!mU=mQ)m>u H?9u H?9uDYuCuA}>yQ 14٪}2?Q 54}6 y9YQ E?y}C)}:I}:i}[4YA addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gggggggzfrfffBdddccQ?ɢ B 登  x=I  >ɡiII9snii))!ԩi />A;>DDAT read: Rx Time:16:13:19.2340 TRx dataTimestamp_ set to:1755879198.467861PDAT read: Bearing 251.8, 38.3 (Local) ~Local bearing/azimuth received: Bearing 251.8, 38.3 (Local) %DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 EDAT read: 16:13:19.2340 LVL= 20192, 9585, 26978, 23283, AGC= 42, IDX= 511, 0.04,-2.832, 2.787, 2.169,-2.064, PHS=-0.666,-1.387,-2.094, RAW= 60.4, 49.8, CAL= 57.2, 54.6, ROT= 92.8, -54.6 MYgot valid direction response: 16:13:19.2340 LVL= 20192, 9585, 26978, 23283, AGC= 42, IDX= 511, 0.04,-2.832, 2.787, 2.169,-2.064, PHS=-0.666,-1.387,-2.094, RAW= 60.4, 49.8, CAL= 57.2, 54.6, ROT= 92.8, -54.6 UT#Rx 70: Read range and direction messages.]^direction in FSK: [-0.028298,0.578590,0.815128]]Fpublishing direction and range info9spS΃?6?@iNq%biZ ~*)7IiV?/^?r?s?4Q? siI*L?!|(yu?bAuhAZAqQ^ 4Q?)sichecking for new query: numPingsReceived=70, elapsed TxPingTime=34.571171 A I A A vB ~B B B B B B B O;B EI N >Mq,%*Ay6L@ٱ6@6%69s=6H`?|?@G b?e0c?I\??I6L@)6`;i6בCNB9R$!IBDZ6DZ4YfJ<!fU=fQ)j>h9h9jDYj6CnpQ 1v4٪r2?Q 5v4r5 r_B9xYzY?Q Ez?yrC)r.:Ipir4Y|Ah1h5o%*Ah1h1h5?h565̬f?b_ ?h5spS΃?6?h54Q?h5si5BuD}S51?4u?h5M΁%0?GV?h5Ɇ?h5h5(?h5Kh5`B*i5(?2i5K:i1i5?"i5? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503132 s, deltaX: -0.100000 m, approachRate: -0.198755 m/s, rangeRepo size: 4  Added new target pos. range: 1.987737 m, bearing: 96.208601 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 2.009833 s, deltaX: -0.000000 m, approachRate: -0.000000 m/s, posRepo size: 4 ggggggDEpDE]DE%DAEEd: EE96EE 4:EA"EEv;!MEEw;!M*EE ;!UEE ;!UgzfQrfYfYfYBdYdadace@ceg$?ɢBw !=I zɡ!i!I%']checking for new query: numPingsReceived=70, elapsed TxPingTime=34.803677I6snii))i!!!!)9>AI i  DDAT read: Rx Time:16:13:19.7341  TRx dataTimestamp_ set to:1755879198.971965 PDAT read: Bearing 306.6, 38.1 (Local) % ~Local bearing/azimuth received: Bearing 306.6, 38.1 (Local) 5 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ] DAT read: 16:13:19.7341 LVL= 20208, 10417, 26866, 24275, AGC= 42, IDX= 512, 0.14,-2.606,-1.938, 2.132,-2.075, PHS=-0.429, 0.182,-2.120, RAW= 15.1, 22.1, CAL= 14.1, 26.5, ROT= 135.9, -26.5 A I I N >5q,?%*AYgot valid direction response: 16:13:19.7341 LVL= 20208, 10417, 26866, 24275, AGC= 42, IDX= 512, 0.14,-2.606,-1.938, 2.132,-2.075, PHS=-0.429, 0.182,-2.120, RAW= 15.1, 22.1, CAL= 14.1, 26.5, ROT= 135.9, -26.5 T#Rx 71: Read range and direction messages."^direction in FSK: [-0.642676,0.622796,0.446198]"Fpublishing direction and range info9AE"͐ o?H?Ef@AiENE(EhE^A E۾)E5^:>IEiEV>E|>Ed{>Eh>E@@ EhiAAIEoq% ndοX?́dP?ES9Enž E@@)EhiAAy@ٱ[@̀'w=H?B.l?@@:x?2ͮ@?b?4?I@){`;i֑C9EB9M!IM=M4<)Q Q]checking for new query: numPingsReceived=71, elapsed TxPingTime=35.141964uMb@Mb@Mb@ q)qIqiqquy&1? rh?u`e99DYfC ;A >1Q 1=4٪583?Q 5=455 5_B9=hA 6> DDAT read: Rx Time:16:13:20.2340 TRx dataTimestamp_ set to:1755879199.475224%PDAT read: Bearing 250.5, 38.7 (Local) %~Local bearing/azimuth received: Bearing 250.5, 38.7 (Local) 5DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ]DAT read: 16:13:20.2340 LVL= 21104, 9137, 25506, 23635, AGC= 42, IDX= 511, 0.28,-2.443, 3.099, 2.534,-1.698, PHS=-0.642,-1.441,-2.095, RAW= 63.3, 49.5, CAL= 59.9, 54.5, ROT= 90.1, -54.5 eYgot valid direction response: 16:13:20.2340 LVL= 21104, 9137, 25506, 23635, AGC= 42, IDX= 511, 0.28,-2.443, 3.099, 2.534,-1.698, PHS=-0.642,-1.441,-2.095, RAW= 63.3, 49.5, CAL= 59.9, 54.5, ROT= 90.1, -54.5 eT#Rx 72: Read range and direction messages.m^direction in FSK: [-0.001013,0.580702,0.814116]mFpublishing direction and range info9}ٚP6)Č?; ?@ipR#cS\ Z$)rI{ii? +]?aх?"s? I? "siIPC[? r\7*W?fY}TI]  I?)"sichecking for new query: numPingsReceived=72, elapsed TxPingTime=35.573757AAIIN?q,%*A,i,yj4@ٱj@jz)j|=jH`?y<56Bbp?}c.??i?Ij4@)j`;ihvB ~B B B B B B B O;B EBBBBBB̢4QB9!Iia=BD6Dծ4Yg!'=˂Q)>K?9K?9%DY%C%;A%>IQ 1U4٪M3?Q 5U4M`5 M_B9YY]ra?Q E]?yM!C)M:IMy:iM4YaAhhj%*Ahn?hn?hU~?hʵMQȀ`zw?*aV?h}ٚP6)Č?; ?h I?h"si 4Ʊ0w??h_"⡿!?myM?h?h0hL-?hhYB*i2i:iiV?"i@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503259 s, deltaX: -0.100000 m, approachRate: -0.198705 m/s, rangeRepo size: 4 E Added new target pos. range: 1.987735 m, bearing: 93.774159 deg, lat: 36.779422 deg, lon: -121.859654 deg, deltaT: 0.503259 s, deltaX: -0.099388 m, approachRate: -0.197490 m/s, posRepo size: 4 gAgAgIgIgIgIgIzfIrfIfQfQBdQdQdYc]@c]7?ɢB╟ A9 Am yAI I N >q,c%*ANDDAT read: Rx Time:16:13:20.7341 RTRx dataTimestamp_ set to:1755879199.979319VPDAT read: Bearing 246.6, 44.1 (Local) V~Local bearing/azimuth received: Bearing 246.6, 44.1 (Local) bDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 vDAT read: 16:13:20.7341 LVL= 21024, 10321, 27842, 25331, AGC= 41, IDX= 512, 0.44,-2.309, 2.952, 2.418,-1.821, PHS=-0.386,-1.466,-2.089, RAW= 68.8, 43.0, CAL= 64.9, 49.1, ROT= 85.1, -49.1 xzYgot valid direction response: 16:13:20.7341 LVL= 21024, 10321, 27842, 25331, AGC= 41, IDX= 512, 0.44,-2.309, 2.952, 2.418,-1.821, PHS=-0.386,-1.466,-2.089, RAW= 68.8, 43.0, CAL= 64.9, 49.1, ROT= 85.1, -49.1 ~T#Rx 73: Read range and direction messages.\direction in FSK: [0.055926,0.652348,0.755853]Fpublishing direction and range info9PRMPT??MA/?Rf@PiR RRQ(RlRbR) Rˡž)R㥻IR-iR`?R7 @?R?Ra[?R? Ra[iPPIRIzOQ?c4:|o?RdRF@ R?)Ra[iPPchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.079586yE.@ٱE`;Epy-E=EH ? y l? Z?I@? H?9 H?9DYC?<A>Q 1 4٪3?Q 5 4&5 _B9A Ա AAI I1NM?tr,s%*AZDDAT read: Rx Time:16:13:21.2340 ^TRx dataTimestamp_ set to:1755879200.483266bPDAT read: Bearing 237.2, 41.5 (Local) b~Local bearing/azimuth received: Bearing 237.2, 41.5 (Local) jDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ~DAT read: 16:13:21.2340 LVL= 21696, 8609, 25522, 23267, AGC= 42, IDX= 512,-0.35, 0.775,-0.589,-0.846, 1.271, PHS=-0.394,-1.814,-2.161, RAW= 79.3, 43.6, CAL= 76.4, 50.4, ROT= 73.6, -50.4 Ygot valid direction response: 16:13:21.2340 LVL= 21696, 8609, 25522, 23267, AGC= 42, IDX= 512,-0.35, 0.775,-0.589,-0.846, 1.271, PHS=-0.394,-1.814,-2.161, RAW= 79.3, 43.6, CAL= 76.4, 50.4, ROT= 73.6, -50.4 T#Rx 74: Read range and direction messages. \direction in FSK: [0.179971,0.611490,0.770513] Fpublishing direction and range info9\^Y+K ?MR?d/c ?^@\i^T^!^c^Z^* ^^ɾ)^'1I^M i^m(?^B?^㭪?^z0a?^l? ^z0ai\\I^loM?g#4޿g=?^<5^1B ^l?)^z0ai\\-checking for new query: numPingsReceived=74, elapsed TxPingTime=36.581944ԁEB9E!IIiIBDU6DU4Y!0=Q)>K?9K?9DYCA>Q 1 4٪4?Q 5 44 _B9 Y Q E ?y#C):I:i҆4YA9A9vBA~BABEG!IBE BBABABABEO;BEE].AYh\h^%*Ah^n?h^n?h^?h^qd"?"r?V?h^Y+K ?MR?d/c ?h^l?h^z0ai^6GG? [?z?h^&d?)Y? >?h^?h^:>h^sL?h^ώh^2B*i^L-?2i^ώ:i\i^>?"i^(O? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503947 s, deltaX: -0.100000 m, approachRate: -0.198433 m/s, rangeRepo size: 4  Added new target pos. range: 1.987736 m, bearing: 75.654953 deg, lat: 36.779426 deg, lon: -121.859655 deg, deltaT: 0.503947 s, deltaX: -0.099386 m, approachRate: -0.197216 m/s, posRepo size: 4 gggg!g!g!g!zf!rf!f)f)Bd)d)d)c5@cU<+?ɢ}B} 顅@Ai A yAI I N >Ҕ r,8%*AԙyU3@ٱU;U3Ue}=UH`?{{4p?@"? ȯ`??z?IU3@)UU`;iUבCmB9m!IDDAT read: Rx Time:16:13:21.7341 TRx dataTimestamp_ set to:1755879200.987332PDAT read: Bearing 262.1, 46.0 (Local)  ~Local bearing/azimuth received: Bearing 262.1, 46.0 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 =DAT read: 16:13:21.7341 LVL= 21744, 8785, 25666, 23235, AGC= 42, IDX= 513,-0.22, 2.045, 1.460, 0.554, 2.522, PHS=-0.374,-1.016,-2.011, RAW= 52.9, 40.1, CAL= 49.6, 45.7, ROT= 100.4, -45.7 EYgot valid direction response: 16:13:21.7341 LVL= 21744, 8785, 25666, 23235, AGC= 42, IDX= 513,-0.22, 2.045, 1.460, 0.554, 2.522, PHS=-0.374,-1.016,-2.011, RAW= 52.9, 40.1, CAL= 49.6, 45.7, ROT= 100.4, -45.7 MT#Rx 75: Read range and direction messages.U^direction in FSK: [-0.126077,0.686941,0.715693]UFpublishing direction and range info91M#Nhl?'tr?f@iTQ"BdZ |)J I9i\l?$+3?k]?0L?K? 0LiIQ?~bnM*?D啿3 K?)0Lichecking for new query: numPingsReceived=75, elapsed TxPingTime=37.090652}Mb@Mb@Mb@ y)yIyiyy}Mb`Mb?}}<}Iyiyy}SA)y}AI)AABD6DY-<!-=5K/Q)5>5 H?95 H?9=DY=*C=:Ae>aQ 1m4٪e3?Q 5m4e4 a9uA IAAIIN >r,X%*Ay61@ٱ6z;656r{=6H?zp8o?f?)?h?{?I61@)6`;i6֑CB9!IBD%6D%y4Y=G;!=a==HQ)=>EK?9EK?9EDYEPCMDAM>QQ 1]4٪U3?Q 5]4U4 Q9YY]C?Q E]?yQ)U>:IU:iU4YamAiB*** querying acoustic contact ***zhhgggggggzfrfffBdddcc?ɢBQ P>=I ޻ɡiIXCI4snii))aMDDAT read: Rx Time:16:13:22.2341 UTRx dataTimestamp_ set to:1755879201.491532]DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 eZ#Rx 76: Read range message, but no direction.9QQQechecking for new query: numPingsReceived=76, elapsed TxPingTime=37.578583iiiiqqԙvB~BBBBBBBO;BE>ArA>?jAI?A I I N >) A checking for new query: numPingsReceived=76, elapsed TxPingTime=37.826733D tD D %D E s: E 6E 4:E "E ;! E ;! *E h1;! E i1;!% r,Hr%*Ay6^-@ٱ6W;666{=6H@? xMj?`~?Sqݦ?.V?s?I6^-@)6`;i4@9@F=F=BDJ6DJ4b2Q)f>d9d9fDYfwCjaAj>lQ 1z4٪n3?Q 5=4n4 l99YE2?Q EE?yn%C)nKA ;>a AI Ia Iy N >0#r,>̎%*ADuDbD)DEv: E96EFA4:E!@!@!"@!"@>checking for new query: numPingsReceived=77, elapsed TxPingTime=38.330620yNP,@ٱNN;N6N&S}=NH?0x@o fi?9?@1ڦ? '?`0?INP,@)N `;iLVB9V!IMb@Mb@Mb@ )Ii{Gz#IibAA)AC=ip=BD6D4YEC;!<h8Q)>99DYCVA>Q 14٪e3?Q 544 9#A 6>Ay Ay vB :>~B B B B =B B B O;B ԑ A) I1 II NU >f)r,Z%*AB9!IBD%6D%4Y5|!5V==Q)=>99A9EDYECEAE>IQ 1u4٪M3?Q 5u4M4 I9yYyQ E}?yM&C)M;IMd;iM4YAhahe%*Ahen?hen?he+\?heD"9?wՀ?Ɓ?heő?:ݵ?΄yA ;>bA iAZA hAE DDAT read: Rx Time:16:13:23.7341 E TRx dataTimestamp_ set to:1755879203.003486U DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ] Z#Rx 79: Read range message, but no direction.9A E f@A e checking for new query: numPingsReceived=79, elapsed TxPingTime=39.091736A I I N% >0r,k%*AyJ1@ٱJ`t;J4J=JH?Jz _g`an? m?t??0? ?IJ1@)J`;iHfB9f!IhihMb@Mb@Mb@ )Ii{Gz~jtxMbPĻI=AiA)ABD6D4Y{!A=ͪ:Q)>99DYC(:A>Q 14٪2?Q 544 _B9?A6>) A yAI I N >6r,K%*Ayf&@ٱf";f5S4f=fH ?ubh:d?r?@@?5??If&@)f1`;idrB9r!IIz@A)z@ABD~6D~4Y S<! X= (G9Q) > H?9 H?9DY CYA>!Q 1-4٪%g2?Q 5-4%4 !9)Y-y&Q E-?y%'C)%:I%:i%4Y9= A9UB*** querying acoustic contact ***zhYhYgagagagagagigizfirfififqBdqDDAT read: Rx Time:16:13:24.2340 TRx dataTimestamp_ set to:1755879203.507304 PDAT read: Bearing 249.7, 39.0 (Local)  ~Local bearing/azimuth received: Bearing 249.7, 39.0 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 EDAT read: 16:13:24.2340 LVL= 22128, 8785, 26306, 23763, AGC= 42, IDX= 511, 0.36, 2.924, 2.123, 1.595,-2.642, PHS=-0.616,-1.474,-2.090, RAW= 65.4, 49.0, CAL= 62.0, 54.1, ROT= 88.0, -54.1 MYgot valid direction response: 16:13:24.2340 LVL= 22128, 8785, 26306, 23763, AGC= 42, IDX= 511, 0.36, 2.924, 2.123, 1.595,-2.642, PHS=-0.616,-1.474,-2.090, RAW= 65.4, 49.0, CAL= 62.0, 54.1, ROT= 88.0, -54.1 MT#Rx 80: Read range and direction messages.U\direction in FSK: [0.020464,0.586015,0.810042]UFpublishing direction and range info9fn?V?)m&l?@ipVQ"f\ -)Ii?!Z?c?q? ? qiI<'N?OI+/+?s,[  ?)qiuchecking for new query: numPingsReceived=80, elapsed TxPingTime=39.605999dqdyc}@c}8?ɢނBE> \=I ׻ɡiIȻI5snii))IvB1~B1B5A!IB5BB1B1B1B5O;B5Eic1ybDZDD sD aD $D E so: E 96E 4:E "E ݑ;! E ߑ;! *E ;! E ;! >A  checking for new query: numPingsReceived=80, elapsed TxPingTime=39.842770Ա A= AIA IQ Ne >^uK?9uK?9}DY}NC}NA}>Q 14٪2?Q 544 _B9Y&Q E?y(C);I`;i 4YcAh)h-w%*Ah)h)h-?h-V<Ӥ?85?]A ;>rA! jA% C?D qD dD 'D E 2h: E 96E '4:E ! @! @! @! @Ai Iq I  checking for new query: numPingsReceived=81, elapsed TxPingTime=40.346687N >* Dr,g%*A4yV<@ٱV@V1VE~=VHA?Q?vZ>? L`=?ѻ??IV<@)V)h^;iV֑CbB9b!IEMb@Mb@Mb@ A)AIAiAAEMb~jtEEDEIEAiAAEfA)AEQABD]6D]4YY<!F=J:Q)>99DYvCA>Q 14٪~1?Q 544 _B9ף@5R>DDAT read: Rx Time:16:13:25.2340 TRx dataTimestamp_ set to:1755879204.514800DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 82: Read range message, but no direction.9@checking for new query: numPingsReceived=82, elapsed TxPingTime=40.601784>A6>vB 9>~B B B B B B B O;B EByByByB} =B} =B}4A yAI I N >1(Jr,*%*Ay6@ٱ6{@6LS06Yy=6HX?(U?`+p?@$$`? 3?@,?I6@)6c^;i4RB9R!IBDZ6DZ4lYrQ!r[=vh:Q)v>v H?9v H?9vDYzCzGͻAz>|Q 14٪~0?Q 5 4~5 |9 Y  Q E?y~*C)~M;I~^V;i~4Y)-A) addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503643 s, deltaX: -0.100000 m, approachRate: -0.198553 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@c@?D wD aD D E }: E 96E :E "E g;!5E h;!5*E !=E !=ɢۂBњ AQa A AI I N > DDAT read: Rx Time:16:13:25.7342  TRx dataTimestamp_ set to:1755879205.022858 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 83: Read range message, but no direction.9  3@  checking for new query: numPingsReceived=83, elapsed TxPingTime=41.109901Qr,wD%*AyR@ٱR @R.Ru=RH@_?khp?{z@L?zե?@? ?IR@)R];iRՑCZB9^!I9mMb@Mb@Mb@ i)iIiiiim~jtZd;OmDmjiImSAimAimA)imzABD6D4YsG<!@= r:Q)>K?9K?9DYCɻA>Q 14٪0?Q 54]5 _B9AbAZAA% yAIQ Iy N > ;:Wr,nP^%*Ay:@ٱ:B@:J-:t{p=:HH?@{?@GႿ?{׭??`?I:@):^;i:֑CFB9F!IBDN6DNo4YV>!VZ=V%:Q)Z>Z H?9Z H?9ZDYZC^A^>`Q 1f4٪b,0?Q 5f4b5 b_B9dYfQ Ef?yb,C)b:Ib6:ib(4YlnAlzB*** querying acoustic contact ***zhxhxggg g g g g zf rf ffBdddcc'?ɢEقBM6D IMm>DDAT read: Rx Time:16:13:26.2341 TRx dataTimestamp_ set to:1755879205.526800DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 84: Read range message, but no direction.9f@checking for new query: numPingsReceived=84, elapsed TxPingTime=41.613842i @@vB}8>~ByB};!IB}BB} =ByByB}O;B}E>ADuD]D'DEv: E96E'4:E"E";!%E#;!%*E ;!-E ;!-qAM AU checking for new query: numPingsReceived=84, elapsed TxPingTime=41.863091Ia Iq N} >9 f]r, 6x%*AyrC@ٱr@rJ+rl=rHQ??@?U@g?g? +?IrC@)r];ipUB9] !IBD6D4Y@<!7=:Q) >K?9K?9DYCA>Q 14٪/?Q 545 _B9YQ E?y.C)#;I@;i:14YB?AE5 addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503942 s, deltaX: -0.200000 m, approachRate: -0.396871 m/s, rangeRepo size: 4 g1g1g1g1g1g1g1zf9rf9f9f9BdAdAdAcE@cMY?ɢqubI{ qu$=Iy }6IһɡyiyI}yI3snii))DDAT read: Rx Time:16:13:26.7341 TRx dataTimestamp_ set to:1755879206.033540PDAT read: Bearing 258.8, 45.1 (Local) ~Local bearing/azimuth received: Bearing 258.8, 45.1 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 16:13:26.7341 LVL= 21952, 8865, 25282, 23539, AGC= 42, IDX= 512, 0.06, 1.660, 0.956, 0.050, 2.185, PHS=-0.422,-1.184,-2.179, RAW= 55.6, 41.3, CAL= 52.2, 46.8, ROT= 97.8, -46.8 Ygot valid direction response: 16:13:26.7341 LVL= 21952, 8865, 25282, 23539, AGC= 42, IDX= 512, 0.06, 1.660, 0.956, 0.050, 2.185, PHS=-0.422,-1.184,-2.179, RAW= 55.6, 41.3, CAL= 52.2, 46.8, ROT= 97.8, -46.8 T#Rx 85: Read range and direction messages.%^direction in FSK: [-0.092904,0.678214,0.728969]%Fpublishing direction and range info9)2ȷ}v?S?iU"b[ bؾ)PIt iUlx?8?Z;i?Q?|? QiI)?G䬧6?ҏK8 |?9)QiMchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.134926ii>A D- yD- aD- (D) E- : E- 96E- c44:E) != @!= @!= @!= @ԙ A yAI I) N= >Adr,ۑ%*Achecking for new query: numPingsReceived=85, elapsed TxPingTime=42.366653y>q@ٱ>Ѳ@>&+>}l=>H`R?H?@= ?L8c?䄭?6?I>q@)>];i>ԑCFB9J !IMb@Mb@Mb@ )Ii~jtxV-ĻId@ibAKAfA)BD-6D-4Yey<!N=<8Q)> H?9 H?9DYACaA>Q 14٪~/?Q 54'6 _B9?^{}\ +?)*richecking for new query: numPingsReceived=86, elapsed TxPingTime=42.648766A A AAvB ~B B 4!IB BB B B B O;B E>A rA jA 77kr, %*AD.sD.eD.%D,E.so: E.96E. 4:E,"E.ݑ;!6E.ߑ;!6*E.!*;!6E.!*;!6ybϺ@ٱb/@bB+bl=bH _?@?P兿@ ? \`f?Z? )?IbϺ@)bV];i`nB9n!IBDv6Dv[4QY]!]9=]~Q)]>eK?9eK?9eDYenCe:Am>qQ 1}4٪uB/?Q 5}4u|6 q9yY}DQ E}?yu1C)uM;Iu';iu\?4YgAchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.870640hqhuQ%*Ahun?hun?hu7?hu|ڟ?av?z?hu[*p?E۷?΄y@Y>ԩ>AiE 4=IA M DDAT read: Rx Time:16:13:27.7341 U TRx dataTimestamp_ set to:1755879207.039593] PDAT read: Bearing 305.8, 40.1 (Local) ] ~Local bearing/azimuth received: Bearing 305.8, 40.1 (Local) m DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:13:27.7341 LVL= 21472, 8689, 25202, 23731, AGC= 42, IDX= 512, 0.30, 1.821, 2.358, 0.239, 2.283, PHS=-0.360, 0.120,-2.087, RAW= 18.1, 22.3, CAL= 16.7, 26.6, ROT= 133.3, -26.6  Ygot valid direction response: 16:13:27.7341 LVL= 21472, 8689, 25202, 23731, AGC= 42, IDX= 512, 0.30, 1.821, 2.358, 0.239, 2.283, PHS=-0.360, 0.120,-2.087, RAW= 18.1, 22.3, CAL= 16.7, 26.6, ROT= 133.3, -26.6  T#Rx 87: Read range and direction messages. ^direction in FSK: [-0.613227,0.650741,0.447759] Fpublishing direction and range info9I M IR3㿩r?\=?M f@I iM SM !M rbM \I M Q)M =IM hiM ?>M SF>M ;>M ,>M @ M ,iI I IM 3`ٕ~ȿ1̔R 9=?M gM tƾ M @)M ,iI I  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.138710 A I! I1 N= >+rr,=%*AyZW@ٱZ@Z',ZWk=ZH_?@~?åK@?|9`?h?@:?IZW@)Z1];iXzB9!IԹ!@! !@! !@! !%@!% -R=i)BD]6D]F4YzG=!8=3Q)>99DYC!;A>Q 14٪/?Q 546 _BQ =+:9Q AiE4YAhh%*Ah@h@hx@haz%3?Sa?hIR3㿩r?\=?h@h,i6Sv} ?&JȚ?hS)? *S?hS?hzh?hV=h݄B*i2iDutDu`Du&DqEus: Eu96Eu4:Eq!}@!@!@!@:iiX?"ih? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503347 s, deltaX: 0.100000 m, approachRate: 0.198670 m/s, rangeRepo size: 4  Added new target pos. range: 2.087118 m, bearing: 134.855149 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 0.503347 s, deltaX: 0.099386 m, approachRate: 0.197451 m/s, posRepo size: 4 gggggggzfrfffBdddc @c `\q?ɢQUA2 QU`=IQ ]zλɡYiYI] Ie2sniai))checking for new query: numPingsReceived=87, elapsed TxPingTime=43.376652i!!!>Aa A e DDAT read: Rx Time:16:13:28.2340 e TRx dataTimestamp_ set to:1755879207.543256m PDAT read: Bearing 250.6, 38.8 (Local) u ~Local bearing/azimuth received: Bearing 250.6, 38.8 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 16:13:28.2340 LVL= 21552, 8737, 25746, 23635, AGC= 42, IDX= 511, 0.50, 1.202, 0.441,-0.120, 1.928, PHS=-0.625,-1.443,-2.093, RAW= 63.8, 49.1, CAL= 60.4, 54.1, ROT= 89.6, -54.1  Ygot valid direction response: 16:13:28.2340 LVL= 21552, 8737, 25746, 23635, AGC= 42, IDX= 511, 0.50, 1.202, 0.441,-0.120, 1.928, PHS=-0.625,-1.443,-2.093, RAW= 63.8, 49.1, CAL= 60.4, 54.1, ROT= 89.6, -54.1  T#Rx 88: Read range and direction messages.A I I N >҈xr,%*A\direction in FSK: [0.004094,0.586358,0.810042]Fpublishing direction and range info9 I*zp?r?)m&l? @ i 0T !" d S\ ) 9I i Ӈ? a[? V? q? +? qi I qK?WW>i7s0? G1{ g[ +?) qi ~checking for new query: numPingsReceived=88, elapsed TxPingTime=43.675388vB9>~BB;!IBBBBBBO;BEԉy@ٱs@ו2ac=H?q? 6y{@L?mJ`P?@j??I@)Qy];i5B95!IBDE6DE4Y ;! ;= "lQ) >99DYC;A>Q 1E4٪.?Q 5M4(7 _BQ =M :9IQ AM'??{*?h I*zp?r?)m&l?h +?h qi QMKKp]91?-'?h 3f˞'iM?0\?h ?h kh )?h h KB*i )?2i :i i ,?"i "w? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503663 s, deltaX: -0.100000 m, approachRate: -0.198545 m/s, rangeRepo size: 4 % Added new target pos. range: 1.987735 m, bearing: 93.062473 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 0.503663 s, deltaX: -0.099383 m, approachRate: -0.197321 m/s, posRepo size: 4 g)g)g)g1g1g1g1zfyrfyffBdddc@cX6?Թɢ9=j% E~Ef=IA EZ̻ɡAiAIEBIM7sniIiQ)Q)qDDyD+DE E:6E [4:E"E;! E;!*Er;!Er;!i 5checking for new query: numPingsReceived=88, elapsed TxPingTime=43.878780>A  bA ZA jAI I N >!r,q%*AH~B9~!I=DDAT read: Rx Time:16:13:28.7341 ETRx dataTimestamp_ set to:1755879208.047354MPDAT read: Bearing 234.5, 42.4 (Local) M~Local bearing/azimuth received: Bearing 234.5, 42.4 (Local) ]DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 16:13:28.7341 LVL= 21808, 8785, 25298, 23219, AGC= 42, IDX= 513,-0.33,-0.238,-1.546,-1.708, 0.107, PHS=-0.243,-1.608,-1.859, RAW= 81.7, 41.0, CAL= 79.0, 48.3, ROT= 71.0, -48.3 Ygot valid direction response: 16:13:28.7341 LVL= 21808, 8785, 25298, 23219, AGC= 42, IDX= 513,-0.33,-0.238,-1.546,-1.708, 0.107, PHS=-0.243,-1.608,-1.859, RAW= 81.7, 41.0, CAL= 79.0, 48.3, ROT= 71.0, -48.3 T#Rx 89: Read range and direction messages.\direction in FSK: [0.216578,0.628988,0.746638]Fpublishing direction and range info99=UҸ?!ָ ?Equ?=f@9i=0U=Q"=b=Z9 =x)=ͿI=i=?=07?=|?=uW?=? =uWi99I=Yxp?̭mݿu?=V+=i7 =?)=uWi995checking for new query: numPingsReceived=89, elapsed TxPingTime=44.162189!-!5 !5!5 !5!5 !5!5 5Mb@Mb@Mb@ 1)1I1i115{Gzt?99DYCA>Q 14٪.?Q 54`7 _BQ =T:9 h=aO?h=p0?h=GB*i92i=p0?:i9i=?"i=xR? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504098 s, deltaX: 0.100000 m, approachRate: 0.198374 m/s, rangeRepo size: 4  Added new target pos. range: 2.087121 m, bearing: 72.341938 deg, lat: 36.779426 deg, lon: -121.859655 deg, deltaT: 0.504098 s, deltaX: 0.099387 m, approachRate: 0.197157 m/s, posRepo size: 4 gg!g!g!g!g!g!zf)rf)f1f5BBdYdYdace@ceN[?ɢ ւB ,ĺ 1=Е=I9 =ʻɡ9iAIEIM4sniIiq)q)yiADyDfD&DE: E96E4:E!@!@!@!@iIIIM/I@Q@Qchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.383717 >Aq Q IiIyN>^r,%*Aɰy6C@ٱ6@6";6c=6H a?Zd tr`]?l@{?e? ?I6C@)6];i6ӑCRB9R!IIX)XBD^6D^4Yf+6!fS=fQ)j>h9h9jDYnCn<An>pQ 1v4٪r)/?Q 5v4r7 p9tYvQ Ev?yr6C)r;Ir;irY4Y|~A|B*** querying acoustic contact ***zhhg!g!g!g)g)g)g)zf)rf)f1f1Bd1d1d9c9c=@o?ɢim@:J im`=Iq uɻɡqiqIu/I}9sniyiy)y)DDAT read: Rx Time:16:13:29.2341 %TRx dataTimestamp_ set to:1755879208.5521445PDAT read: Bearing 292.2, 44.4 (Local) 5~Local bearing/azimuth received: Bearing 292.2, 44.4 (Local) MDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 }DAT read: 16:13:29.2341 LVL= 22224, 8673, 25906, 24099, AGC= 42, IDX= 512,-0.19,-0.981,-0.897,-2.601,-0.539, PHS=-0.340,-0.313,-2.106, RAW= 29.2, 28.7, CAL= 27.0, 33.9, ROT= 123.0, -33.9 Ygot valid direction response: 16:13:29.2341 LVL= 22224, 8673, 25906, 24099, AGC= 42, IDX= 512,-0.19,-0.981,-0.897,-2.601,-0.539, PHS=-0.340,-0.313,-2.106, RAW= 29.2, 28.7, CAL= 27.0, 33.9, ROT= 123.0, -33.9 T#Rx 90: Read range and direction messages.^direction in FSK: [-0.452057,0.696107,0.557745]Fpublishing direction and range info9!i0%'(ՀܿF?uPO ?!!i%V%!%2e%#^! %{)%AI%i%w?%;?%:F>%ww?%od @ %wwi!!I%O kw ?%gʿ%b[ %od @)%wwi!!echecking for new query: numPingsReceived=90, elapsed TxPingTime=44.677280vB~BBA!IBBB =BBBO;BE>A ;>IqIN}>ADrD\D'DEk: E96E'4:E"E;!E;!*E^ ;!E_ ;! checking for new query: numPingsReceived=90, elapsed TxPingTime=44.886597q 4r,%8%*Ay69@ٱ6d;6A6@d=6H?`j~s??@ ?@ٌ? $?I69@)6];i4rB9r!IBD6D4Y{<!F=GQ)>99DYHC% @<A%>)Q 1-4٪-V/?Q 554-7 )91Y5pQ E5?y-7C)-\:I-;i-`4YAEAAYhYh]TV#%*AhYhYh] @h]$%1>? ?h]'(ՀܿF?uPO ?h]od @h]wwi]Pfv=0??#)?h]2C0U޿\a+?Y\?h]?h]h]ilڟ?h]Woh]aB*iY2iY:iYi]f?"i]? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 2.087125 m, bearing: 126.121484 deg, lat: 36.779426 deg, lon: -121.859655 deg, deltaT: 0.504790 s, deltaX: 0.000003 m, approachRate: 0.000006 m/s, posRepo size: 4 g)g)g1g1g1g1g1zf1rf1f9f9Bd9d9dAcAcEC?ɢ`jǺ 顕h=I ƻɡiI_I6snii))-DDAT read: Rx Time:16:13:29.7342 5TRx dataTimestamp_ set to:1755879209.055049=DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 =Z#Rx 91: Read range message, but no direction.9)-3@)Echecking for new query: numPingsReceived=91, elapsed TxPingTime=45.142101ԁidCIG))IAi}릿y}ۙA9`Իie a a e /a @i @m N>D uD _D (D E v: E r96E c44:E ! @! @! @! @  checking for new query: numPingsReceived=91, elapsed TxPingTime=45.390549>A6>rAA?jAA?I!I)N5>ەr,hX%*AyVsk@ٱV199DYC1<A>Q 1 4٪J/?Q 5 47 9  ;Q A>YQ E?y):I:iyj4Y%A!U addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.502905 s, deltaX: 0.200000 m, approachRate: 0.397690 m/s, rangeRepo size: 4 gQgQgQgQgQgYgYzfrfffBBdddc`ff@c`?ɢ<| qud=Iy };)ĻɡyiyI}4_I3snii))eDDAT read: Rx Time:16:13:30.2341 mTRx dataTimestamp_ set to:1755879209.560396}PDAT read: Bearing 283.1, 48.1 (Local) }~Local bearing/azimuth received: Bearing 283.1, 48.1 (Local) 9DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 16:13:30.2341 LVL= 22736, 8673, 26178, 23187, AGC= 42, IDX= 512, 0.01,-0.058,-0.303,-1.763, 0.296, PHS=-0.252,-0.555,-2.104, RAW= 38.8, 30.9, CAL= 36.0, 36.8, ROT= 114.0, -36.8 Ygot valid direction response: 16:13:30.2341 LVL= 22736, 8673, 26178, 23187, AGC= 42, IDX= 512, 0.01,-0.058,-0.303,-1.763, 0.296, PHS=-0.252,-0.555,-2.104, RAW= 38.8, 30.9, CAL= 36.0, 36.8, ROT= 114.0, -36.8 T#Rx 92: Read range and direction messages.%^direction in FSK: [-0.325687,0.731504,0.599024]%Fpublishing direction and range info9ae Կ|h?]3+?ef@aieXIaeBfeZa e%)e{Ieie-\-?e ?e| ?el$?e? el$iaaIeָ?tB$RP/m?eve e?)el$iavB:>~BBG!IB BBBBBO;BEBqBqBqBu =Bu =Buŏ4achecking for new query: numPingsReceived=92, elapsed TxPingTime=45.694763iAIIM/Iԁ >Am ;>bD ?AZD ?AD xD \D D E ˀ: E 96E :E "E ;! E ;! *E ! E ! I I N >r,Hr%*A0y:@ٱ:<:hI:m=:H?nf៨ ?|?s?%05?@?K?I:@):];i:ՑCbchecking for new query: numPingsReceived=92, elapsed TxPingTime=45.894428B9!!IBD-6D-4Y}<!}g=}* Q)>99DYC<A>Q 14٪B/?Q 547 _B9YkQ E?y)';I3;ip4YAhhc%*AhhhD@h?}.`)9m?ᶞ?h Կ|h?]3+?h?hl$ixsΪ<?3pQ?hڽ3׿8  ?5?h?hVEhM?hhB*iM?2iV=:iBi7?"is@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.505347 s, deltaX: -0.200000 m, approachRate: -0.395768 m/s, rangeRepo size: 4  Added new target pos. range: 2.087125 m, bearing: 118.194463 deg, lat: 36.779419 deg, lon: -121.859654 deg, deltaT: 1.008252 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g g g g g g g zfrfffBdddc%@c%?ɢׂBD'9 顭=I @»ɡiII8snii))) iIԙi0}DDAT read: Rx Time:16:13:30.7341 }TRx dataTimestamp_ set to:1755879210.062824DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 93: Read range message, but no direction.9yyychecking for new query: numPingsReceived=93, elapsed TxPingTime=46.151100 >AY  AIIN>b"r,.W%*ABE--4JE-,4RE-/DyDaDDE: E96E:E!@!@!@!@~B9|]checking for new query: numPingsReceived=93, elapsed TxPingTime=46.398678qMb@Mb@Mb@ )Ii~jth?:v?~jth?D;<D;IAiAKA)zABD6D4Y!&=Q)>99DYCA>Q 14٪[/?Q 54w7 _B9A bA ZA hA A I I N >rr,%*A9y(@ٱ# =RQv=H?@u]??̱@|2?Ȯ?n?I(@)R];iґCB92!IiBD6D̺4Y}=!:=mQ)>9!9%DY%C%K=A%>)D}sD}eD}'DyE}so: E}96E}'4:Ey"E}ݑ;!E}ߑ;!*E}!*;!E}!*;!Q 14٪-m/?Q 54-+7 -_B9Y?Q E?y-:C)-?|.0?h?hӼhx?-?hMhgB*i)?2ip0?:iGBi?"i?)ߩ ߩchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.902981 addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504373 s, deltaX: -0.100000 m, approachRate: -0.198266 m/s, rangeRepo size: 4  Added new target pos. range: 1.987739 m, bearing: 91.382651 deg, lat: 36.779426 deg, lon: -121.859655 deg, deltaT: 1.006801 s, deltaX: -0.099386 m, approachRate: -0.098715 m/s, posRepo size: 4 gggggggzfrf f f Bd ddc@c?ɢYeT:a a顥=I  SɡiI I2snii))iE IIM0Qԑ >A 6>e DDAT read: Rx Time:16:13:31.7341 m TRx dataTimestamp_ set to:1755879211.070964u DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 u Z#Rx 95: Read range message, but no direction.9a e f@a } checking for new query: numPingsReceived=95, elapsed TxPingTime=47.157997A- yAI9 II NU >tr,L%*Ay6m@ٱ6-=6CS6 F{=6H?BoG? (?<`? Y??I6m@)6s];i4BB9B%!IHMb@Mb@Mb@ )Ii rh?ˡE?C<'=IibAAA)(ABD6D4Y;!==TQ)>  H?9  H?9 DY /CE<A>!Q 1-4٪%/?Q 554%6 %_B9=5=Q A=A= ;>Am AIq I N >^r, %*Ay6@ٱ6N=6?S6 =6H`?o ˩?@?@b r?` ? ?I6@)6];i4B B9B/!IFC=iF4=BDJ6DJծ4YRT'=!R]=TVùQ)V>ZK?9ZK?9ZDYZUC^س<A^>vDDAT read: Rx Time:16:13:32.2340 zTRx dataTimestamp_ set to:1755879211.578862~PDAT read: Bearing 287.0, 47.2 (Local) ~~Local bearing/azimuth received: Bearing 287.0, 47.2 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5DAT read: 16:13:32.2340 LVL= 23024, 8785, 26658, 23971, AGC= 42, IDX= 512,-0.39,-1.992,-2.145, 2.836,-1.641, PHS=-0.249,-0.459,-1.850, RAW= 36.9, 31.0, CAL= 34.3, 36.8, ROT= 115.7, -36.8 =Ygot valid direction response: 16:13:32.2340 LVL= 23024, 8785, 26658, 23971, AGC= 42, IDX= 512,-0.39,-1.992,-2.145, 2.836,-1.641, PHS=-0.249,-0.459,-1.850, RAW= 36.9, 31.0, CAL= 34.3, 36.8, ROT= 115.7, -36.8 =T#Rx 96: Read range and direction messages.AQ 1M4٪Eu0?Q 5U4ED6 E_B9QYU?Q EU?yE?C)Ey:IE:iEM4Y]B]xAe^direction in FSK: [-0.347244,0.721521,0.599024]mFpublishing direction and range info9xzp@9ֿ(Lf?]3+?z@xizYzQ"z"hz]x z~)z Iziz$?zc ?z@?zl$?z<@ zl$ixxIz Ti}?f@<,`^w?zƓz^ z<@)zl$ixxvB9>~BB`!IB4BBBBBO;BEeEchecking for new query: numPingsReceived=96, elapsed TxPingTime=47.717831hxhz %*AhxhxhzF@hz9ؑ_|u?NQJ ?hzp@9ֿ(Lf?]3+?hz<@hzl$izcTT꿏`?h>?hzN|'~ڿ]2??hz?hzRhzf럊?hzl{hzB*izM?2izl{:izBiz;?"iz~@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507898 s, deltaX: -0.100000 m, approachRate: -0.196890 m/s, rangeRepo size: 4  Added new target pos. range: 1.987738 m, bearing: 122.000219 deg, lat: 36.779419 deg, lon: -121.859654 deg, deltaT: 1.011665 s, deltaX: -0.000001 m, approachRate: -0.000001 m/s, posRepo size: 4 gggggggzfrfffBdddc@c '?ɢimT: 顕=I ɡiII4snii))hAi0@@Y>DMuDM_DM(DIEMv: EMr96EMc44:EI"EM";!]EM#;!e*EMJ;!eEMJ;!echecking for new query: numPingsReceived=96, elapsed TxPingTime=47.9107069 >A AA a Iy I N > r,b1%*Ay})@ٱ}=}ieP}=}H?ೂ vϫ?@?S ?ΰ??I})@)}];i}БC B9+!I<Mb@Mb@Mb@ )Ii/$??<L=I=Ai5AA)BD56D54YEC!E!=UDDAT read: Rx Time:16:13:32.7341 ]TRx dataTimestamp_ set to:1755879212.079344ePDAT read: Bearing 235.1, 40.5 (Local) e~Local bearing/azimuth received: Bearing 235.1, 40.5 (Local) uDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ԩDAT read: 16:13:32.7341 LVL= 23200, 8609, 26482, 23875, AGC= 42, IDX= 513,-0.22,-1.510,-2.971,-3.014,-1.093, PHS=-0.315,-1.833,-1.965, RAW= 85.9, 42.5, CAL= 83.9, 49.5, ROT= 66.1, -49.5 Ygot valid direction response: 16:13:32.7341 LVL= 23200, 8609, 26482, 23875, AGC= 42, IDX= 513,-0.22,-1.510,-2.971,-3.014,-1.093, PHS=-0.315,-1.833,-1.965, RAW= 85.9, 42.5, CAL= 83.9, 49.5, ROT= 66.1, -49.5 T#Rx 97: Read range and direction messages.\direction in FSK: [0.263118,0.593760,0.760406]Fpublishing direction and range info9Y]/? s?y;>U?]f@Yi]Z]!]rg]C]Y ]G)]I]i]?]N=?]5o?] +]?]7? ] +]iYYI]¸9X?55+j{ڿ"T4?] |]= ]7? d:Q)e>a9i9mDYmCm<Am>qQ 1}4٪u<1?Q 5}4u5 u_B9!^=Q AtU?h]7?h] +]i]LQ?Wbö? ?h]QR?գ \?@?h]}?h]$>h]4R?h];} h]jB*iY2iY:iYi]?"i]@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.500482 s, deltaX: 0.100000 m, approachRate: 0.199807 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.087124 m, bearing: 71.464722 deg, lat: 36.779419 deg, lon: -121.859654 deg, deltaT: 0.500482 s, deltaX: 0.099387 m, approachRate: 0.198582 m/s, posRepo size: 4 gYgYgYgagagagazfarfififmBBdqddc@c O˻?ɢقBM9 顝h=I 7ɡiI]I9snii))i-))-01DsDcD'DEso: EL96E'4:E!@!@!@!@  checking for new query: numPingsReceived=97, elapsed TxPingTime=48.4147261 >AU 6>AIIN>nr,*%*Ay6+_@ٱ6,=6lL6=6H?1[?t?Kފ?)?X?I6+_@)6;];i6ґCBB9B$!IHBDJ6DJd4YRIͼ!V>=Vd;Q)V>T9X9ZDYZCZ <A^>\Q 1b4٪^1?Q 5b4^5 ^_B9dYf?Q Ef?y^FC)^:I^:i^e4YhjAlg|g|gggggzfrff f Bd d dccSU?ɢڂBkI: 顥=I =ɡiI̎I6snii))DDAT read: Rx Time:16:13:33.2341 TRx dataTimestamp_ set to:1755879212.584129 PDAT read: Bearing 283.4, 48.0 (Local) ~Local bearing/azimuth received: Bearing 283.4, 48.0 (Local) -DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 MDAT read: 16:13:33.2341 LVL= 23344, 8689, 26994, 23651, AGC= 42, IDX= 512,-0.12,-2.323,-2.601, 2.362,-1.965, PHS=-0.256,-0.591,-2.000, RAW= 40.4, 32.1, CAL= 37.7, 38.4, ROT= 112.3, -38.4 UYgot valid direction response: 16:13:33.2341 LVL= 23344, 8689, 26994, 23651, AGC= 42, IDX= 512,-0.12,-2.323,-2.601, 2.362,-1.965, PHS=-0.256,-0.591,-2.000, RAW= 40.4, 32.1, CAL= 37.7, 38.4, ROT= 112.3, -38.4 ]T#Rx 98: Read range and direction messages.e^direction in FSK: [-0.297377,0.725081,0.621148]ie iim4i}Fpublishing direction and range info9C6:ӿO$3?-fq?i0[!ric\ o)KIiJ4?l?q(?+?p? +iI ?*ule?aı p?)+ichecking for new query: numPingsReceived=98, elapsed TxPingTime=48.690475A<AvB:>~BBf!IB9BB =BBBP;B E>A)AY Di Dm ]Dm &Di Ei  Em 96Em 4:Ei "Em ݑ;!u Em ߑ;!u *Em  ;!} Em  ;!} I I N >  checking for new query: numPingsReceived=98, elapsed TxPingTime=48.918526r,8%*AyN@ٱNޞ=N8FN#=NH?pг?`%?`i )Ҩ?@{? 8?IN@)N];iLr B9r.!II-AA))BDE6DE4Y}G=!>=V;Q)>!9!9-DY-CUOM<AU>YQ 1e4٪]t2?Q 5e4]i4 ]_B9aYeg?Q Ee?y]IC)]\:I]:i]\4YyAh1h5_b%%*Ah1h1h5V@h5ʭfXz㿵4<:6??h5C6:ӿO$3?-fq?h5p?h5+i5 8vvA?6nS?h5W-efؿ,dZ?>?h5?h5Kh5'g?h5pFh5ƅB*i5'g?2i1:i5ƅBi5B?"i5@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.087126 m, bearing: 120.265521 deg, lat: 36.779419 deg, lon: -121.859654 deg, deltaT: 0.504785 s, deltaX: 0.000001 m, approachRate: 0.000002 m/s, posRepo size: 4 gagagagagagqgqzfqrfqfyfyBdyddcc?)ɢMۂBM9: Q]t=Iy ɡiII3snii)) ]>> DDAT read: Rx Time:16:13:33.7342  TRx dataTimestamp_ set to:1755879213.087535PDAT read: Bearing 239.5, 40.5 (Local) ~Local bearing/azimuth received: Bearing 239.5, 40.5 (Local) -DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 MDAT read: 16:13:33.7342 LVL= 23200, 8497, 25874, 23219, AGC= 42, IDX= 513,-0.02,-0.545,-1.828,-1.961,-0.085, PHS=-0.358,-1.698,-1.920, RAW= 82.5, 43.8, CAL= 80.1, 50.8, ROT= 69.9, -50.8 ]Ygot valid direction response: 16:13:33.7342 LVL= 23200, 8497, 25874, 23219, AGC= 42, IDX= 513,-0.02,-0.545,-1.828,-1.961,-0.085, PHS=-0.358,-1.698,-1.920, RAW= 82.5, 43.8, CAL= 80.1, 50.8, ROT= 69.9, -50.8 eT#Rx 99: Read range and direction messages.m\direction in FSK: [0.217203,0.593535,0.774944]mFpublishing direction and range info9  0ۄN?NyI=?;dUaX? 3@ i Z 1! e Z  K) XٿI i N? EC? ? b? y(? bi  I :tL?A bA hAZA jADy D} ^Dy Dy Ey  E} ;96Ey :Ey ! @! @! @! @ checking for new query: numPingsReceived=99, elapsed TxPingTime=49.422565Թ A yAI I N>d_r,ΈV%*Ay6\@ٱ6@x=6%@6!=6H?~ &??J??[?I6\@)6];i6БCBB9B)!I Mb@Mb@Mb@ ) I i   ~jth? ףp= ?~jth? D; Q8= D;I d@i  A  =A)  ABD%6D%E4Y5!54=5Y;Q)5>= H?9= H?9=DY= CO<A> Q 14٪ k2?Q 54 3 _B9#9=Q AhuGAL?huohuˆB*iux?-?2iq:iugBiu ?"iuv? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503406 s, deltaX: 0.200000 m, approachRate: 0.397294 m/s, rangeRepo size: 4 } Added new target pos. range: 2.285899 m, bearing: 76.326487 deg, lat: 36.779426 deg, lon: -121.859654 deg, deltaT: 0.503406 s, deltaX: 0.198774 m, approachRate: 0.394858 m/s, posRepo size: 4 gygygygygggzfrfffBBdddc`ff@cc?ɢ܂B9 顽=I ܖɡiI3I8snii))i0UDDAT read: Rx Time:16:13:34.2341 UTRx dataTimestamp_ set to:1755879213.591473]DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 e\#Rx 100: Read range message, but no direction.9QUf@Qmchecking for new query: numPingsReceived=100, elapsed TxPingTime=49.678501vB!~B!B!B!B% =B!B!B%]P;B%AE >Ai A Ii Iy N >r,p%*Ay6@ٱ6=6!;6=6H`?~7? o?@&b?`ɱ??I6@)6];i6ΑCRB9R!IBDZ6DZ4Yb !bN=bY;Q)b>d9d9fDYf5Cf<Aj>lQ 1n4٪nb2?Q 5r4nq3 n_B9pYr+?Q Er?ynMC)n:In:in4YtzAx B*** querying acoustic contact ***zh h % addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503938 s, deltaX: -0.200000 m, approachRate: -0.396874 m/s, rangeRepo size: 4 g!g!g)g)g)g)g)zf)rf)D=rD=dD=)D9E=k: E=96E=FA4:E9"E=;!EE=;!M*E=}&;!ME=~&;!MfQfQBdQdQdYc]@c]@?ɢ݂B8 額̊=I f-ɡiI I5snii)))q q}checking for new query: numPingsReceived=100, elapsed TxPingTime=49.927719i-))-/)>Am;>I Iq I N >% DDAT read: Rx Time:16:13:34.7341 - TRx dataTimestamp_ set to:1755879214.0949675 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 5 \#Rx 101: Read range message, but no direction.9! ! ! = checking for new query: numPingsReceived=101, elapsed TxPingTime=50.182003I G) I i   Ar,'%*AyZ@ٱZ=Z9f4Z=ZH ?@D2E??@O沿`銦??`?IZ@)Z];iZБCjB9j"!IMb@Mb@Mb@ )Ii/$L7A`?y&1|?+=`;IiAA)AiBD6Dծ4Yq;!8=r;Q)> 9 9 DY aC @;A>Q 14٪{1?Q 5%43 _B9%"=Q A%A rA =?jA 0?I) I9 NE >\9\9^DY^Cb8Ab>dQ 1j4٪f0?Q 5j4f2 f_B9hYjj@Q Ej?yfQC)f9:Ift:ir%=Ir%=vDDAT read: Rx Time:16:13:35.2340 zTRx dataTimestamp_ set to:1755879214.599644~PDAT read: Bearing 254.6, 39.5 (Local) ~~Local bearing/azimuth received: Bearing 254.6, 39.5 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 -DAT read: 16:13:35.2340 LVL= 22416, 8801, 26322, 23587, AGC= 42, IDX= 511, 0.33,-0.627,-1.434,-1.961, 0.086, PHS=-0.611,-1.475,-2.091, RAW= 65.6, 48.9, CAL= 62.1, 54.0, ROT= 87.9, -54.0 5Ygot valid direction response: 16:13:35.2340 LVL= 22416, 8801, 26322, 23587, AGC= 42, IDX= 511, 0.33,-0.627,-1.434,-1.961, 0.086, PHS=-0.611,-1.475,-2.091, RAW= 65.6, 48.9, CAL= 62.1, 54.0, ROT= 87.9, -54.0 =V#Rx 102: Read range and direction messages.E\direction in FSK: [0.021539,0.587390,0.809017]EFpublishing direction and range info9tvy9??ޣw?v@tivWva"vfv#\t vj)v̼IvivC?v|Z?v?v:Fq?v^? v:FqittIvk˖p?kg?vdsvZ v^?)v:Fqittechecking for new query: numPingsReceived=102, elapsed TxPingTime=50.698654ifÇ4YimAihthv`%*Ahvn?hvn?AA@AvB~BB`!IB4BBBBB_P;BBEBiBiBiBm =Bm =Bm4hv?hv8?9A7i?hd6ٺ?hvy9??ޣw?hv^?hv:FqivH-U|Ѿ݅ ?1?hv(5X s?o&?hvȅ?hvhvؚ&?hv_+OhvcB*ivؚ&?2it:ivcBivr?"iv?e addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504677 s, deltaX: -0.100000 m, approachRate: -0.198146 m/s, rangeRepo size: 4 u Added new target pos. range: 1.987743 m, bearing: 96.570562 deg, lat: 36.779425 deg, lon: -121.859654 deg, deltaT: 1.512109 s, deltaX: -0.298157 m, approachRate: -0.197179 m/s, posRepo size: 4 gggggggzfrfffBdddc@c?ɢ߂B( $=I %=ɡ!i!I%1P%I-7sni)i))))qԱieaae/aD]qD]dD]*DYE]2h: E]96E](N4:EY"E];!mE];!m*EY!mEY!mchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.934753>Am 6>I I N% >ar,P%*Ay:@ٱ:=:*:q=:H`O?̶Nw?P?dIJKQ?@u? ?I:@):^;i8FB9F#!IBDN6DNo4YV4!VK=V8 ;Q)Z>X9X9ZDYZC^iA^>`Q 1f4٪b/?Q 5f4bz2 b_B9dYfZ@Q Ef?ybSC)b:Ib:ibʇ4YnBnAlrEgg g g g g g zf rf ffBdddcch??ɢEBM\ IM=II MrɡIiQIU6'IU4sniYiY)Y)Yi /! DDAT read: Rx Time:16:13:35.7341 TRx dataTimestamp_ set to:1755879215.106754DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 %\#Rx 103: Read range message, but no direction.9f@-checking for new query: numPingsReceived=103, elapsed TxPingTime=51.1943329>A;>II N>BEɀ'4JE99DYCcA>Q 1 4٪/?Q 5 4k2 _B9;Q A>YK@Q E?yTC);I;i7Ӈ4YAM addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.507110 s, deltaX: 0.100000 m, approachRate: 0.197196 m/s, rangeRepo size: 4 gQgQgQgQgQgQgQzfQrfYfYf]BBdYdadace@ce v?ɢB 顕/=I \ɡiI)I9snii))iAii    / @@DDAT read: Rx Time:16:13:36.2340 TRx dataTimestamp_ set to:1755879215.607235 PDAT read: Bearing 252.2, 43.4 (Local) ~Local bearing/azimuth received: Bearing 252.2, 43.4 (Local) %DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 EDAT read: 16:13:36.2340 LVL= 21360, 8817, 25762, 23155, AGC= 42, IDX= 512,-0.29, 2.412, 1.360, 0.792, 2.973, PHS=-0.459,-1.568,-2.226, RAW= 68.4, 44.2, CAL= 64.6, 50.1, ROT= 85.4, -50.1 MYgot valid direction response: 16:13:36.2340 LVL= 21360, 8817, 25762, 23155, AGC= 42, IDX= 512,-0.29, 2.412, 1.360, 0.792, 2.973, PHS=-0.459,-1.568,-2.226, RAW= 68.4, 44.2, CAL= 64.6, 50.1, ROT= 85.4, -50.1 MV#Rx 104: Read range and direction messages.U\direction in FSK: [0.051444,0.639383,0.767165]UFpublishing direction and range info9V?WUUu?ԟ?@ipSq"dsZ  )9ȿIviΘ?|E?ZQ?T_?ɾ? T_iIdDd~?7uP\ %N?ĠfPqE ɾ?)T_ichecking for new query: numPingsReceived=104, elapsed TxPingTime=51.708435ԑvB9>~BBT!IB*BBBBB@P;B2E>A 6>Թ A9 IA IQ N] >wr,)%*Ay6@ٱ6=6*$6=6HS?ҵ}'?? qI?{?9?I6@)6_;i6БCNB9R!IPiPiV=IV=BDZ6DZ'4Yb=!bv=f>:Q)f?d9d9fDYjCjƻAj?lQ 1r4٪n/?Q 5r4na2 n_B9pYv#@Q Ev?yl)n:In:inه4YxzAxD!D%^D%'D!E! E%;96E%'4:E!"E%v;!5E%w;!5*E%;!5E%;!5h1h5%*Ah1h1h5Q?h5x-?=sU?/F f?h5V?WUUu?ԟ?h5ɾ?h5T_i5((i>Y?<-?h5%{WXb?@D?h5ؔ?h5Eqh5-*?h5;h56B*i5-*?2i5;:i1i5?"i5P?e addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.500481 s, deltaX: -0.100000 m, approachRate: -0.199808 m/s, rangeRepo size: 4 m Added new target pos. range: 1.987738 m, bearing: 92.899869 deg, lat: 36.779426 deg, lon: -121.859654 deg, deltaT: 1.007591 s, deltaX: -0.000005 m, approachRate: -0.000005 m/s, posRepo size: 4 gqgqgqgqgqgqԙgqzfrfffBdd!d!c%@c%B?]checking for new query: numPingsReceived=104, elapsed TxPingTime=51.942623ɢBɡ 顝R=I i ɡiI+I6snii))i%!)501>AU;> DDAT read: Rx Time:16:13:36.7342  TRx dataTimestamp_ set to:1755879216.111292 PDAT read: Bearing 243.4, 41.4 (Local) % ~Local bearing/azimuth received: Bearing 243.4, 41.4 (Local) 5 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 U DAT read: 16:13:36.7342 LVL= 21536, 8865, 25362, 23315, AGC= 42, IDX= 513,-0.15,-2.676, 2.357, 2.082,-2.166, PHS=-0.408,-1.715,-2.079, RAW= 78.1, 44.3, CAL= 74.9, 50.9, ROT= 75.1, -50.9 ] Ygot valid direction response: 16:13:36.7342 LVL= 21536, 8865, 25362, 23315, AGC= 42, IDX= 513,-0.15,-2.676, 2.357, 2.082,-2.166, PHS=-0.408,-1.715,-2.079, RAW= 78.1, 44.3, CAL= 74.9, 50.9, ROT= 75.1, -50.9 ] V#Rx 105: Read range and direction messages. \direction in FSK: [0.162167,0.609470,0.776046] Fpublishing direction and range info9  t ?g|'=ǀ?! ps, %*Ay*@ٱ=W"=H` ?:ld`?@?I?xI?@?I*@)[_;iёC)9-!I=Mb@Mb@Mb@ 9)9I9i99={Gzt?Mb=ף;==I=d@i999)9=QABDu6Duˣ4Yr!1=:Q)>K?9K?9DY.CsA>Q 14٪/?Q 542 _B9R?>,[ ?h=e!'?t̅w?t'6-G?h=?h=F>D-tD-eD)D)E-s: E-96E):E)!5@!5@!5@!5@h=N=@?h=h=B*i92i=o:i9i= ?"i=?] addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504057 s, deltaX: 0.300000 m, approachRate: 0.595171 m/s, rangeRepo size: 4  Added new target pos. range: 2.285899 m, bearing: 81.471973 deg, lat: 36.779426 deg, lon: -121.859653 deg, deltaT: 0.504057 s, deltaX: 0.298161 m, approachRate: 0.591522 m/s, posRepo size: 4 gggggggzfrfffBdddc`ff@c !?!echecking for new query: numPingsReceived=105, elapsed TxPingTime=52.446655ɢBj 顕`C=I ɡiI.I3snii))iUQQU/Y@a@e]>Iy >A 6> DDAT read: Rx Time:16:13:37.2341 % TRx dataTimestamp_ set to:1755879216.6158165 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 5 \#Rx 106: Read range message, but no direction.9! % f@! = checking for new query: numPingsReceived=106, elapsed TxPingTime=52.703773A A <vB :>~B B G!IB BB =B B B P;B EA I I N>q$ s,D*%*Ay@ٱC=S =H?~*Gg߳?`e?`̱/ ?@??I@)w_;iϑCB9!IBD6D4Y.ɼ!3=:Q)>99DY]CǻA>Q 14٪.0?Q 542 9YQ E?yVC);I;i4Y BAE-B*** querying acoustic contact ***zh)h)E addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504524 s, deltaX: -0.200000 m, approachRate: -0.396413 m/s, rangeRepo size: 4 gIgIgIgIgIgIgIzfQrfQfQfQBdYdYdYc]@ce@)?ɢBo4 額8 =I 池ɡiI/I8snii))9i0DvD_D&DEVz: Er96E4:E"EE;!EF;!*EJ;! EJ;! )) )-checking for new query: numPingsReceived=106, elapsed TxPingTime=52.950928a>Aԑ A I I N > s,6D%*ADDDAT read: Rx Time:16:13:37.7341 TRx dataTimestamp_ set to:1755879217.123410 PDAT read: Bearing 258.7, 44.0 (Local) ~Local bearing/azimuth received: Bearing 258.7, 44.0 (Local) -DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 16:13:37.7341 LVL= 20192, 10449, 27810, 24483, AGC= 42, IDX= 512, 0.06,-2.184,-3.017, 2.476,-1.591, PHS=-0.491,-1.381,-2.260, RAW= 60.2, 43.6, CAL= 56.6, 49.1, ROT= 93.4, -49.1 Ygot valid direction response: 16:13:37.7341 LVL= 20192, 10449, 27810, 24483, AGC= 42, IDX= 512, 0.06,-2.184,-3.017, 2.476,-1.591, PHS=-0.491,-1.381,-2.260, RAW= 60.2, 43.6, CAL= 56.6, 49.1, ROT= 93.4, -49.1  V#Rx 107: Read range and direction messages.yt@ٱ=jԆ=H? 6Q ?@?򈱿?:԰? ?It@)_;iёCԱ^direction in FSK: [-0.038830,0.653588,0.755853]Fpublishing direction and range info9R᣿;fZ!2?MA/?iN(l_B9 !I<p= Zd)İIףi|?B?'|?a[?Y? a[iI|nM?{ؗU\?B Y?)a[i)Q UAchecking for new query: numPingsReceived=107, elapsed TxPingTime=53.301849uMb@Mb@Mb@ q)qIqiqqu~jtxX9vuĻuqIqiqqufA)quzABD6D4Y%!%=-9Q)->)9)9-DY-C5YŻA5>9Q 1E4٪=0?Q 5E4=33 =_B9EU=Q AMAaAyAIIN ?us,g%*AiIDDAT read: Rx Time:16:13:38.2340 TRx dataTimestamp_ set to:1755879217.623599PDAT read: Bearing 256.0, 39.0 (Local) ~Local bearing/azimuth received: Bearing 256.0, 39.0 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2DAT read: 16:13:38.2340 LVL= 20848, 10497, 27794, 25539, AGC= 41, IDX= 511, 0.15,-2.041,-2.753, 2.940,-1.301, PHS=-0.638,-1.407,-2.086, RAW= 62.1, 49.3, CAL= 58.8, 54.2, ROT= 91.2, -54.2 6Ygot valid direction response: 16:13:38.2340 LVL= 20848, 10497, 27794, 25539, AGC= 41, IDX= 511, 0.15,-2.041,-2.753, 2.940,-1.301, PHS=-0.638,-1.407,-2.086, RAW= 62.1, 49.3, CAL= 58.8, 54.2, ROT= 91.2, -54.2 vB><>~B<B>A!IB>BB> =B<B<B>O;B>EFV#Rx 108: Read range and direction messages.J^direction in FSK: [-0.012250,0.584829,0.811064]JFpublishing direction and range info9]?΄y H?9 H?9DYCA>Q 14٪/?Q 543 _B9YQ E?yZC);I;iG4Y B A Ehh g%*Ahn?hn?h}?hZ?eR[S?2P?h]?΄yAQ ) A AI I N >p s,C<%*Ay6Y7@ٱ67=6'o26qZ=6H?`5@jc}??L?/D??I6Y7@)6^;i6ΑCBB9B#!IID)DBDz6Dz 4YF^=!d=eTQ)> K?9K?9DYC%A->9Q 1]4٪=/?Q 5e4=3 =_B9YؿQ E?y=[C)=A 9 A! I1 IA N >K's,_%*AyF@@ٱF@e=F;F%R=FHp?ٱ d??5vx?@?`Z?IF@@)F<^;iFґCRB9R4!ITiT%Mb@Mb@Mb@ !)!I!i!!%{GztQ롿%ף%\!I%=Ai%A%A%A)!%ABDE6DE4YMJj=!M4=U٥Q)U>Y9Y9]DY]Cec;Ae>iQ 1u4٪m/?Q 5u4mG4 m_B9 =Q A @V>DDAT read: Rx Time:16:13:39.2340 TRx dataTimestamp_ set to:1755879218.632779PDAT read: Bearing 251.1, 36.5 (Local) ~Local bearing/azimuth received: Bearing 251.1, 36.5 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 AAAAvB;>~BB;!IBBBBBBO;BE5DAT read: 16:13:39.2340 LVL= 20448, 10161, 26866, 25635, AGC= 41, IDX= 511, 0.37,-1.196,-2.048,-2.491,-0.432, PHS=-0.662,-1.571,-2.103, RAW= 68.6, 50.5, CAL= 65.3, 55.7, ROT= 84.7, -55.7 MYgot valid direction response: 16:13:39.2340 LVL= 20448, 10161, 26866, 25635, AGC= 41, IDX= 511, 0.37,-1.196,-2.048,-2.491,-0.432, PHS=-0.662,-1.571,-2.103, RAW= 68.6, 50.5, CAL= 65.3, 55.7, ROT= 84.7, -55.7 UV#Rx 110: Read range and direction messages.]\direction in FSK: [0.052053,0.561117,0.826098]Fpublishing direction and range info9#At?,?RYeo?@iO'h#d x))ɿIi@?ܢa??x?8? xiIG%R_?Fd ߿$Fj?Jea 8?)xi checking for new query: numPingsReceived=110, elapsed TxPingTime=54.759052)>AA yAI I N >rD =jD 4=D! D% aD% *D! E!  E% 96E% (N4:E! "E% ";!5 E% #;!5 *E% ;!5 E% ;!5 Y ] checking for new query: numPingsReceived=110, elapsed TxPingTime=54.966442y-s,%*Ay~K@ٱ~)=~i>~w*=~H`m?<IB??榿yЧ?G?@ ?I~K@)~^;i~ΑC B9 *!IBDE6DEy4YUZ!UI=])ٺQ)]>] H?9] H?9]DYe;CeuZ;Ae>iQ 14٪m/?Q 54m4 m_B9YҿQ E?ym_C)m;Im6;im4YgAhhs%*Ahn?hn?h?hso|?˓?\%zE?h#At?,?RYeo?h8?hxio;u?dfl ?haf f?5?h˅?h|Ch+?h)hiB*i+?2i:iVBiL?"i?)= addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.501110 s, deltaX: -0.100000 m, approachRate: -0.199557 m/s, rangeRepo size: 4 U Added new target pos. range: 1.987747 m, bearing: 92.614242 deg, lat: 36.779426 deg, lon: -121.859653 deg, deltaT: 0.501110 s, deltaX: -0.099388 m, approachRate: -0.198335 m/s, posRepo size: 4 gQgQgQgQgQgYgYgYgYzfYrfYfafaBdadadicm@cm?ɢB`G 顝g=I ժɡiI֗;I9snii))i]-aae4aYiDDAT read: Rx Time:16:13:39.7341 Iiԉ)SkAIi տ SkA jA- TRx dataTimestamp_ set to:1755879219.173171>A;> DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  \#Rx 111: Read range message, but no direction.9f@ checking for new query: numPingsReceived=111, elapsed TxPingTime=55.284595IY Ii Nu >Ա [4s,=H%*A|9|Mb@Mb@Mb@ )Ii~jtx?Zd;O~jt;jDIAi5AA)ABD6D4Y,!E=Q)>99DYeCA>Q 14٪/?DD^D%DE: E;96E 4:E!@!@!@!@Q 544 _B9 Am6>II IY Nm > DDAT read: Rx Time:16:13:40.2340  TRx dataTimestamp_ set to:1755879219.638760 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  \#Rx 112: Read range message, but no direction.9  @ vB 9>~B B A!IB BB B B B O;B BBBBBB4 checking for new query: numPingsReceived=112, elapsed TxPingTime=55.730583 :s,/%*Ay~O@ٱ~R=~ؒO~-(<=~H u?y`i3??C@?-{?@?I~O@)~/];i~̑CEB9E$!IM99DYC:A>Q 14٪$0?Q 545 _B9Y0Q E?ybC);Ij;i4YBAE addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.465589 s, deltaX: -0.100000 m, approachRate: -0.214782 m/s, rangeRepo size: 4 gggggggggzfrfffBdddc@c?ɢ5B5rܺ 15P,=I1 =?,ɡ9i9I=Q@IE3sniAiA)A)I q??i%?!!%/)DuD`D)DEv: E96EFA4:E"E!E!*E;!E;!) %checking for new query: numPingsReceived=112, elapsed TxPingTime=55.974789!>A @>IqIN>A xnAs,%*A$ymcS@DDAT read: Rx Time:16:13:40.7342 TRx dataTimestamp_ set to:1755879220.146269DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 113: Read range message, but no direction.93@checking for new query: numPingsReceived=113, elapsed TxPingTime=56.239468ٱm:=m#Umx)<=mH@?ᨿ1??XS g?@z?H?ImcS@)m];im͑C5B95%!IiMMb@Mb@Mb@ I)IIIiIIMy&1|y&1M`M`eMIMSAiMAIMSA)IMAI]AA)YBDe6De4Yu؍;!u$=}2Q)}>y9y9}DY}Ch:A>Q 14٪/?Q 54P5 _B99A 6>I I N% >9Gs,%*Ay6|c@ٱ6@@=6?aZ6~9=6H?@'}?`? H?Z%??I6|c@)6^;i6ϑCBB9B$!IHBDN6DN4YRɻ!V=V-Q)V?X9X9ZDYZC^;A^?\Q 1b4٪^/?Q 5f4^k5 \9dYfQ Ef?y\)^::I^7:i^g+4YhnAlg|ggggggggzf rf f f Bdddcc ?ɢEBE3 AE!=IA MɡIiIIUܲEIU5sniYiY)Y)YiO/iyIyDDAT read: Rx Time:16:13:41.2341 TRx dataTimestamp_ set to:1755879220.647048DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 \#Rx 114: Read range message, but no direction.9f@checking for new query: numPingsReceived=114, elapsed TxPingTime=56.734097AA<vB;>~BBG!IB BB =BBBO;BE>A;>I1IANMt> D uD bD &D E v: E 96E 4:E "E ! E ! *E 5;! E 6;! Ms,]9%*ADDAT read: Rx Time:16:13:41.7341 "TRx dataTimestamp_ set to:1755879220.910014&DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 *\#Rx 115: Read range message, but no direction.9.checking for new query: numPingsReceived=115, elapsed TxPingTime=56.997684xyE+i@ٱE=E.`E;=EH ?O`H1?`?}n I?j?%?IE+i@)E^;iE͑CB9'!IBD6D4Y R<!;=TQ)>99DYC:A>Q 14٪/?Q 545 9YQ E?ydC);I;i 34YzAU addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.763745 s, deltaX: -0.200000 m, approachRate: -0.261868 m/s, rangeRepo size: 4 gQgQgQgYgYgYgYgYgYzfYrfafafaBdadidicm@cuf?ɢp<ۺ 3=I *ÔɡiIHIe2snii))!iP/!PExceeded connect timeout, disconnecting.Qchecking for new query: numPingsReceived=115, elapsed TxPingTime=57.236603>Ae 6>ԁ A AI I N >۩Ts,eS%*Ai=B9=2!IaDvDD%DEVz: E,:6E 4:E!@!@!@!@Mb@Mb@Mb@ )IiK?9K?9DY1CA>!Q 1-4٪%.?Q 5-4%5 %_B9-}A! I i ? uW? ? "s? ww? "si I ;?Dؿa? [ 3WvBU :>~BQ BU M!IBU %BBU =BQ BQ BU O;BU Eq ww?) "si  checking for new query: numPingsReceived=116, elapsed TxPingTime=57.770535A I I N >[s,p%*AH5B954!IBDA6DAYU;!U>=QQ)U>Y9Y9]DY]\CYAe>aQ 14٪eF.?Q 54e5 a9YQ E?yefC)ehU(E?hU^hUoB*iQ2iU%:iQiU ?"iUO? addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.743933 s, deltaX: -0.100000 m, approachRate: -0.134421 m/s, rangeRepo size: 4  Added new target pos. range: 1.987740 m, bearing: 75.069277 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 3.021168 s, deltaX: -0.000007 m, approachRate: -0.000002 m/s, posRepo size: 4 gggggggggzfrff!f!Bd!d!d)c-@c-?ɢQU Y]y=IY ]uɡYiYIeNIe4sniiii)i)iDMsDMoDM&DIEMso: EM:6EM4:EI"EMݑ;!]EMߑ;!e*EMN;!eEMN;!eig0DDAT read: Rx Time:16:13:42.7342 TRx dataTimestamp_ set to:1755879221.911454DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 117: Read range message, but no direction.93@checking for new query: numPingsReceived=117, elapsed TxPingTime=57.998665>AA yAI I  N% >] nManaging dock network, ignoring radio surface power offM checking for new query: numPingsReceived=117, elapsed TxPingTime=58.245125~bs,w%*A|yu@ٱuL=u!kuV:=uH ? j s ܳ? %?[v`?@6?@?Iu@)uE_;iuˑCB9!I) A=Mb@Mb@Mb@ 9)9I9i99=Mb?Mbp?MbP=<=;=I=SAi999)9=ABDQ6DQYe!e:=m0ǻQ)m>m H?9m H?9uDYuCu(/<Au>yQ 14٪}.?Q 54}5 }_B9tAq A AI I N >hs,3%*Aɰy:H@ٱ:@s=:Gj:E@=:H?@H`p@??E-P?@b??I:H@):^_;i:̑CBB9B!IBDJ6DJ4Ynj;!ni=r9Q)r>rK?9rK?9rDYvCvQ;Av>xQ 1~4٪z.?Q 5~4z5 x9|Y ?Q E?yx)z;Iz{;izO4Y  A = addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.500765 s, deltaX: -0.300000 m, approachRate: -0.599083 m/s, rangeRepo size: 4 g=ETStarting intercept timer at range: 2.00 m.gAgAgAgAgAgAgAzfIrfIfIfIBdQdQdQcU@cU0?YɢY 額~BBBB =BBBP;BEԉ>A];>ԱIQ Ia Du pDu _Du &Dq Eu d: Eu r96Eu 4:Eq "Eu v;!} Eu w;!} *Eu J;! Eu J;! N >)ߡ ߡ  DDAT read: Rx Time:16:13:43.7341  TRx dataTimestamp_ set to:1755879222.915003 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  \#Rx 119: Read range message, but no direction.9  f@  checking for new query: numPingsReceived=119, elapsed TxPingTime=59.002357 ns, %*AB9(!IBD-6D-[4Y=<!=D=EQ)E>A9A9EDYMCMAM>QQ 14٪U/?Q 54U5 Q9YQ E?yQ)U>AI I N >9 us,%*ADuD`D(DEv: E96Ec44:E!@!@!@!@eDDAT read: Rx Time:16:13:44.2340 eTRx dataTimestamp_ set to:1755879223.418771mDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 u\#Rx 120: Read range message, but no direction.9ae@a}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.B9!Ii>I=]Mb@Mb@Mb@ Y)YIYiYY]MbP?Mb?Mb`?]:]<];IYi]KAY]=A)Y](ABD6DP4Y@!)=Q)>99DYCA>Q 14٪/?Q 54n5 _B9~By B} T!IB} *BB} =By B} ZDB} P;B} Ei q   4 @- V>@- R>ԙ >A-6>rA5??jA5??IIN>I}s,%%*Ay:@ٱ:=:zj:@QF=:H?Yܶ $? ?9V?A??I:@):eb;i:ϑCBB9B!IJ4=iJR=BDN6DN'4YV;K=!VU=V9Q)V>X9X9ZDYZ/C^<A^>\DjqDj\DhDhEj2h: Ej96Eh:Eh"Ej;!nEj;!n*Ej^ ;!rEj_ ;!rQ 1r4٪^/?Q 5r4^Z5 ^_B9tYv??Q Ev?y\)^8;I^;i^f4YxzA|g!g!g!g!g!g!g!g)zf)rf)f1f9BdAdIdQcYcZ?%DDAT read: Rx Time:16:13:44.7342 5TRx dataTimestamp_ set to:1755879223.927343]PDAT read: Bearing 245.4, 36.5 (Local) e~Local bearing/azimuth received: Bearing 245.4, 36.5 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 YDAT read: 16:13:44.7342 LVL= 17856, 10625, 18450, 21299, AGC= 45, IDX= 2,-0.06,-1.785,-2.889,-3.123,-1.097, PHS=-0.585,-1.747,-2.070, RAW= 78.1, 49.0, CAL= 75.3, 54.9, ROT= 74.7, -54.9 Ygot valid direction response: 16:13:44.7342 LVL= 17856, 10625, 18450, 21299, AGC= 45, IDX= 2,-0.06,-1.785,-2.889,-3.123,-1.097, PHS=-0.585,-1.747,-2.070, RAW= 78.1, 49.0, CAL= 75.3, 54.9, ROT= 74.7, -54.9 R#Rx 1: Read range and direction messages.\direction in FSK: [0.151728,0.554626,0.818150]ɢt1 顝pA Iq I N >s, %*A\B9#!I!U@!U !U@!U !U@!U !U@!U BD]6D]4Ymӝ<!m@=mQ)u>q9q9uDYuZC}A}>Q 14٪/?Q 54C5 _BQ =+:9Q A=YQ E?yiC):I5>il4YAhqhuY%*AhuL@huL@hu׺?hux 2?HlOI?ovzk?huow9k?~?[H.?hu?huKuiu?hu?hu$>huH:?hu"jhuB*iu']E/?2iq:iuiBiu?"iuI? addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.508572 s, deltaX: 0.300000 m, approachRate: 0.589887 m/s, rangeRepo size: 4  Added new target pos. range: 2.285914 m, bearing: 83.634766 deg, lat: 36.779426 deg, lon: -121.859656 deg, deltaT: 2.273396 s, deltaX: 0.298174 m, approachRate: 0.131158 m/s, posRepo size: 4 ggggggggzfrfffBdddc`ff@c?ɢ!% )-=I) 46ɡiI`I2snii))DxDD&DEˀ: E6E4:E!-@!-@!-@!-@) i1I1UDDAT read: Rx Time:16:13:45.2341 eTRx dataTimestamp_ set to:1755879224.432427PDAT read: Bearing 243.7, 36.2 (Local) ~Local bearing/azimuth received: Bearing 243.7, 36.2 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ]X#Rx 1: Read range message, but no direction.9Y]f@Ye2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9im i i m 3i a  DAT read: 16:13:45.2341 LVL= 24160, 10369, 25410, 27123, AGC= 42, IDX= 497, 0.04,-1.352,-2.525,-2.703,-0.670, PHS=-0.580,-1.811,-2.077, RAW= 80.4, 48.8, CAL= 78.0, 54.9, ROT= 72.0, -54.9 A A <vB% =>~B! B% M!IB% %BB! B! B! B% P;B% EBBBBBB̼4 Ygot valid direction response: 16:13:45.2341 LVL= 24160, 10369, 25410, 27123, AGC= 42, IDX= 497, 0.04,-1.352,-2.525,-2.703,-0.670, PHS=-0.580,-1.811,-2.077, RAW= 80.4, 48.8, CAL= 78.0, 54.9, ROT= 72.0, -54.9 ԙ  X#Rx 1: Read direction message, but no range. \direction in FSK: [0.177686,0.546862,0.818150]9 icHm?Ws?[H.? i `^ ( Bc i * z) I i ? ^ Z? @? |٠? i I Q7??qw4ڿ_? S0 Z |٠?)  A)IIN>Es,F/%*AzB9z!I~<~BD 6D ծ4Y=!=,=9Q)=>A9A9EDYECAAM>IQ 14٪M/?Q 54M*5 M_BQ = :9Q A=YQ E?yI)M OR?h-icHm?Ws?[H.?h-|٠?h)i-HC?}e:?%rqw?h-Ɨ?W[AA?&MG?h-Ӊ?h-4>h-=?h-xh-B*i-H:?2i-x:i-oBi-ފ?"i-X? addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.505084 s, deltaX: -0.200000 m, approachRate: -0.395974 m/s, rangeRepo size: 4  Added new target pos. range: 2.087142 m, bearing: 80.679368 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.505084 s, deltaX: -0.198772 m, approachRate: -0.393542 m/s, posRepo size: 4 ggggggggzfrfffBd d d c @c?ɢ=B=M 9=AE ;>Au yAI I ԙ N >_)s,I%*Aɰ4<;y6@ٱ6=6q6 H=6H?F3?$?[Ы@5? ?@?I6@)6N_;i6̑CRB9R!IIn@A)lBDr6Dr4Y@<!M=%Q)->- H?95 H?95DY5CMQ 1M4٪/?Q 5U4y5 _BQ =99Q AT=Y0?Q E?yjC)9AE 6> Ay I I N >{s,c%*AB9(!I!! !! !! !! Mb@Mb@Mb@ )Ii~jth?Mbp?D;;IAi5AAA)ABD6D 4Y=!9=Q)>99DYCA>Q 1 4٪/?Q 5 4 5 _BQ =T:9ף;Q A$>Y.?Q E?y);I;i|4YwA!=B*** querying acoustic contact ***zh9h9U addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503374 s, deltaX: -0.100000 m, approachRate: -0.198659 m/s, rangeRepo size: 4 gQgQgQgYgYgYgYgYzfYrfYfafeBBdadidicm@cm0?ԁɢؘ 顥 *=I ɡiI\jI9snii))>~B5CB1B1B1B1B1B5P;B5EiMIIM0IԱ>A};>rAjA;?D qD _D 'D E 2h: E r96E '4:E "E ;! E ;! *E J;! E J;! A AI I) N5 >)ߩ ߩ  DDAT read: Rx Time:16:13:46.7341  TRx dataTimestamp_ set to:1755879225.939093 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  X#Rx 1: Read range message, but no direction.9  f@  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode. s,J}%*AyF@ٱ=K=H ?QZ7Q?@W? ?e??IF@)_;i͑C]B9]!IaiaBDm6Dm4Ys!?=Q)>K?9K?9DY C}{<A>Q 14٪/?Q 545 _B9Y ?Q E ?y) :IZ:iJ4Y15A1 addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504178 s, deltaX: 0.100000 m, approachRate: 0.198342 m/s, rangeRepo size: 4 ggggggggzfrfffBdddc@c:?ɢUBUO3L Y]A 6>y A5 yAIY Iq N} >Ms,%*ADvD^D&D EVz: E;96E4:E !@!@!@!@yb`d@ٱb@y=bmbr^M=bH?Hvju? ?ݬ*?@? _?Ib`d@)b^_;ibˑCx9xU*DAT read: user:100> U H?9 H?9DY6CJ<A>Q 14٪/?Q 544 _B9XQ E?ykC);I;i4YAgYgYgYgYgagagagazfarfafifmBBdididqcqcuV?ɢ^"B P  BDAT read: Tx time:16:13:47.7514  $Ping request sent. A I I N > )9)9-DY-YC-D;A5?1Q 1=4٪5/?Q 5E454 5_B9AYE4>Q EE?y1)5o;I5;i54YIMAQgqgqgygygygygygyzfyrfffBdddcc@7?ɢBI. 顽A;>bAZAfA I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5021819 0%s,31%*Au݂B9u IBD6D4Y(!?=Q)>9 9 DY C%A%>9Q 14٪=\0?Q 54=4 =_B9YQ E?y=lC)=Tɡ!i!I%nowI-5sni)i))1)1 =?=?i/@hA@DE|DEaDADAEE : EE96EA:EA!M@!M@!M@!M@I)q q}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754115>A! a I I N >Ms,%*A y:{@ٱ:@=:鉽:Q=:H ?@9FS , ?? \ͭ9???I:{@):[_;i:ˑC^B9b!IEMb@Mb@Mb@ A)AIAiAAE~jth?Mbp?ED;E;EIAiAEAEA)AEAIAA)@ABD6DE4Y-=!-F=5ǻQ)5>9999EDYECM<AM>qQ 1}4٪us0?Q 5}4u4 q9ף;Q A$>Y?Q E?yq)u+;Iu:iu۠4Y3AB*** querying acoustic contact ***zhhchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006028vB~BBBBBBB P;BEggggggggzf!rf!f!f%ՂBBd)d)d)cIcUYu?iɢB~] 顝GAe 6> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257873I -& VHardware Fault in component: DockingStepperI N- >j5s, %*Ay:#@ٱ:*=:bՌ:eU=:H?7`F꯿`b?@?U| ?`??I:#@):Lza;i:̑CFނB9F IPBDR6DR4YZ!Zf=ZQ)Z>\9\9^DY^Cb;Ab>dQ 1j4٪f0?Q 5j4f4 d9hYjo?Q En?yfmC)f3:If :if4YprApg g g g g g g gzfrfffBdddc!c%@ɢMBM0ֻ IUIQ UӊɡQiQIU8}I]7sniYiY)a)a m:Uninitialize Docking Stepper. mPowering downmm uu>ArA:?jA,?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511964I!I1NER> ! D] oD] `D] )DY E] `: E] 96E] FA4:EY !e @!m @!m @!m @js,!%*AyF@ٱF%=FɍF/W=FHy? ?`]?@ʺ?HҪ??IF@)F+d;iFˑCjB9j!Iin=In=t-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761950mMb@Mb@Mb@ i)iIiiiim{Gzt?Mb?mף;m<iImAimAii)imABD6D4YF=!<=QQ)>99DYCd[;A>Q 14٪0?Q 544 9@8>>A%;>AIIN>vB<>~BCBM!IB%BB =BBBP;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013901i s,14%*Ay6@ٱ6@=66V=6H?@'F`U?y?@@3?˪??I6@)6e;i4RB9R!ITiVp=BDZ6DZ4Yb!bZ=fQ)f>d9d9fDYf"CjAj>lQ 154٪n0?Q 554n4 n_B99Y=?Q E=?yl)nOAԹAmAIyIN> i I NG) lAI i 7 lA _B DDAT read: Rx Time:16:13:49.8831  TRx dataTimestamp_ set to:1755879229.214864 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  X#Rx 1: Read range message, but no direction.9  f?  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.521178!rs,sN%*AyE@ٱE=EÐEY=EH4?;b@ ?? 6 ?@?`?IE@)E.d;iAB9!IMb@Mb@Mb@ )IiMbpK?9K?9DYUCc:A>Q 14٪0?Q 544 9]!AqbA}gAZA}hAA I I N >A ϛs,/Mh%*Ayfp@ٱf@=ff+Z=fH?[ԁ[? y?Z9? H?`?Ifp@)fۂc;idB9!I%G>%p<BD]6D]<4Yu#!v=޺Q)?99DYwC1;A?Q 14٪q0?Q 54}4 9Y@Q E?yoC);I;iÈ4YAg1g1vB}>>~B}CB}T!IB}*BByByByB}A-6>qD1 D5 _D5 %D1 E1  E5 r96E5 4:E1 "E5 ;!= E5 ;!= *E5 J;!E E5 J;!E m checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273810Ai Iy I N >ԙ s,'%*Ay:[@ٱ:8=:lo:]=:Hڳ?+@c?!?I??*?I:[@):`ub;i:ǑCbB9b!IIt)tBDz6Dzˣ4Y#<!R='Q)> 9 9 DY Cn9;A>Q 1u4٪G0?Q 5u4g4 9qY}@Q E}?y)PAIIN> BEˀ'4JE7&4RE/D= qD= ^D= $D9 E= 2h: E= ;96E= 4:E9 !M @!M @!M @!M @s,%*Ay6@ٱ6B=636^g^=6H?D羿 6{ ??)ݯyB?`N??I6@)6a;i6ˑCjB9j$!I%checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777944eMb@Mb@Mb@ a)aIaiaaeMb rh?eeC<aIe=AieAaed@)ae(ABD}6D}4Yd<!B=9Q)>99DYC;A>Q 14٪/?Q 5494 9A5;>rAEB?jAEI?AAvB?>~BBBB =BBBYP;BBEDDAT read: Rx Time:16:13:51.3829 TRx dataTimestamp_ set to:1755879230.727807DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 X#Rx 4: Read range message, but no direction.9?checking for new query: numPingsReceived=4, elapsed TxPingTime=4.034477) I9 II NU >Q s,%*Ay6@ٱ6=6o6^=6H?W_@w ?Q?`쯿 )?ǫ?A?I6@)6a;i6ɑC^B9^!IBDf6Df4Yn!nV=n:Q)r>p9p9rDYrCv:Av>xQ 1~4٪z/?Q 5~4z4 x9|Y~g@Q E~?yzqC)z;Iz;izy؈4Y  A = addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.505028 s, deltaX: -0.200000 m, approachRate: -0.396018 m/s, rangeRepo size: 4 g9g9g9gAgAgAgAgAzfArfAfIfIBdIdIdQcU?cU(%?ɢQ]@F Y]=IY ].儻ɡYiYIeI2snii))@R>@R>DuDbD&DEv: E96E4:E"E";! E$;!*E5;!E6;!)-checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281822i>A6>I9IINUu>ԉ i1 I5 4== DDAT read: Rx Time:16:13:51.8831 E TRx dataTimestamp_ set to:1755879231.243107M DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 M X#Rx 5: Read range message, but no direction.տs,Թ%*A9quf?qchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.553521I9I9UDYU CU:AU>YQ 1e4٪]2/?Q 5e4]3 Y9aYmu@Q Em?y]rCԉ)]u:I]dA I I N > gs,%*A\yj@ٱj=jk$jKb=jHi?`SV ׯDV?۵?Y$?c4??Ij@)jD`;ijȑCrB9v!ImMb@Mb@Mb@ i)iIiiiimy&1|y&1?m`m`e<iIiimbAii)imQABD6D4Y!^=;Q)>99DYECm:A>Q 14٪.?Q 543 _B99?vB>>~BBBBBBBP;BYEɢDDAT read: Rx Time:16:13:52.3830 TRx dataTimestamp_ set to:1755879231.746927DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  X#Rx 6: Read range message, but no direction.9? checking for new query: numPingsReceived=6, elapsed TxPingTime=5.053244-j_ )-`AbAhAZAII)N5>D vD aD 'D E Vz: E 96E '4:E "E E;! E F;! *E ;! E ;!% A  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.303746t,l|%*Ay@ٱK=st|a=H$?@rD?G?? ?\?I@)_`;iƑCB9!I<BD6DY%!F=;Q)>99DYoCJ.A>Q 14٪.?Q 543 9Y @Q E?ytC):I:i;4Y A %B*** querying acoustic contact ***zh!h!= addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503820 s, deltaX: -0.100000 m, approachRate: -0.198483 m/s, rangeRepo size: 4 g9g9gAgAgAgAgAgAzfArfIfIfIBdQdQdQcU@33?cU .?ɢMBUj( Q]A;>A! I) IA NM >ԙ D tD `D D E s: E 96E :E !% @!% @!- @!- @/t,0L%*Ay6+@ٱ6,=6h튽6 !`=6H?پ#B??@Fݯ`DZ???I6+@)6&_;i6ɑCBB9B!IMb@Mb@Mb@ )IiMbMbp?MbP?;:IiAbA=A)zAI)AABD%6D%4Y-s<!5V=5 ;Q)5>9999=DY=CEԂAE>IQ 1U4٪M.?Q 5U4M3 I9UZh=8ڏE?h=h=ՅB*i==?2i=):i9i=҂?"i=Y?m addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504369 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.689597 m, bearing: 71.981474 deg, lat: 36.779428 deg, lon: -121.859656 deg, deltaT: 7.818869 s, deltaX: -0.397545 m, approachRate: -0.050844 m/s, posRepo size: 4 ggggggggzfrfffBBd1d9d9c9cE``?ɢ 页A6>A<A<vB~BBBBBBBP;BjE5 DDAT read: Rx Time:16:13:53.3829 5 TRx dataTimestamp_ set to:1755879232.758768= DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 E X#Rx 8: Read range message, but no direction.91 5 ?1 M checking for new query: numPingsReceived=8, elapsed TxPingTime=6.065048Aa Iy I N > % t,%7%*Ay:1@ٱ:=:_:^=:H`? +n@ծ{?@ع?@(? i??I:1@):_;i8RB9R!IBDX6DXYbK!bQ=f:Q)f>d9d9fDYjCj-Aj>lQ 1r4٪n-?Q 5r4n3 l9pYvA@Q Ev?ynuC)n:In:in4Yxz Ax% addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507472 s, deltaX: -0.200000 m, approachRate: -0.394111 m/s, rangeRepo size: 4 g!g!g!g)g)g)g)g)zf)rf)f1f1Bd1d1d9c=?c=O?ɢimC imA;>rAE?jAAIIN>ԑԹ E DDAT read: Rx Time:16:13:53.8830 E TRx dataTimestamp_ set to:1755879233.263241U PDAT read: Bearing 241.3, 35.9 (Local) U ~Local bearing/azimuth received: Bearing 241.3, 35.9 (Local) t,CQ%*A"DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 yJɺ@ٱJ=DAT read: 16:13:53.8830 LVL= 23888, 12241, 25586, 27075, AGC= 41, IDX= 502,-0.50,-0.425,-1.757,-1.783, 0.230, PHS=-0.553,-1.942,-2.058, RAW= 86.0, 48.0, CAL= 84.3, 54.2, ROT= 65.7, -54.2  Ygot valid direction response: 16:13:53.8830 LVL= 23888, 12241, 25586, 27075, AGC= 41, IDX= 502,-0.50,-0.425,-1.757,-1.783, 0.230, PHS=-0.553,-1.942,-2.058, RAW= 86.0, 48.0, CAL= 84.3, 54.2, ROT= 65.7, -54.2 R#Rx 9: Read range and direction messages.\direction in FSK: [0.240718,0.533132,0.811064]Fpublishing direction and range info9quM ?[dk?΄ya9a9eDYeCe:Ae>Q 14٪,?Q 543 9Y@@Q E?yvC):I:iR4YAhqhuP%*Ahqhqhu$i?huo?>.r,?k& ?huM ?[dk?΄yhu;??huXOhu܅B*iu;??2iu^:iqiuu?"iuX?U addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504473 s, deltaX: 0.200000 m, approachRate: 0.396453 m/s, rangeRepo size: 4  Added new target pos. range: 1.689596 m, bearing: 75.832175 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 1.011945 s, deltaX: -0.000002 m, approachRate: -0.000002 m/s, posRepo size: 4 ggggggggzfrfffBdddc@33?c?ɢ)- g )- =I) 53ɡ1i1I5I=8sni9i9)9)a@q@u]>DzD_D'DEl: Er96E'4:E!@!@!@!@)ߙ ߙchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.818329 >A 6>A I  I1 NE >2t,j%*AyJӭ@ٱJ=J0JY=JH@ݺ?g譿?^?h??@6?IJӭ@)Je`;iHRB9R!I-Mb@Mb@Mb@ )))I)i))-{Gzt~jth--ף-DI)i-bA-A-SA)))EC=iEp=BDM6DM4YU0!]p=]U;Q)]?a9a9eDYeCmAm?iQ 1u4٪m,?Q 5}4m3 m_B9};Q A} >Y}Q E}?ymwC)m#:Im,:im$ 4Y AggggggggzfrfffBBdddcc ?ɢF ADsD^D(DEso: E;96Ec44:E"Eݑ;! Eߑ;! *E! E! A I I1 N= >  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.321978!t,%*A`yu@ٱu=uSu9'V=uH` ?ؚb???37g? ??Iu@)ut`;iuǑCB9!IBD6D4Y !F=R;Q)>99DY;C7A>Q 14٪,?Q 543 _B9Y\Q E?y)I;IU;iZ4YAhAhEq%*AhEӾ?hEӾ?hE?hE*?q?AaU~q?hEc ?egrLB?6?hE@?hEsiEEԬM?jvutX?L^?hEFy?>_sT?T?hEB?hEm>hEܦ9?hEhE}B*iE=?2iEXO:iE܅BiEb?"iE,?E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504138 s, deltaX: -0.200000 m, approachRate: -0.396717 m/s, rangeRepo size: 4  Added new target pos. range: 1.490819 m, bearing: 78.787974 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504138 s, deltaX: -0.198776 m, approachRate: -0.394290 m/s, posRepo size: 4 gI=͈G)aIgggi FAggggzfrfffBdddc?c`j?ɢae49 im?%:Fq?%A܍? %:Fqi!!I% 1M9? 'ֿCX?%%U %A܍?)%:Fqi!!checking for new query: numPingsReceived=11, elapsed TxPingTime=7.589730>Au;>bAjAZAjAA A I I N >D uD D D E v: E 6E :E !% @!% @!% @!% @:'t,R%*Ay6@ٱ6M=66R=6H \?zlo?/?m@?2? ?I6@)6`;i6ȑC^B9^ !Ib99DYeCHA>Q 14٪,?Q 543 _B9h]p B?h]N~vh]υB*i];??2i]:i]ՅBi]Ud?"i]Q?e addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504033 s, deltaX: 0.200000 m, approachRate: 0.396800 m/s, rangeRepo size: 4  Added new target pos. range: 1.689595 m, bearing: 72.883905 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504033 s, deltaX: 0.198776 m, approachRate: 0.394371 m/s, posRepo size: 4 g)g)g)g)g)g)g)g)zf1rf1f1f5тBBd9d9d9c=@33?c=E?IɢIA 顭[A i1 1  checking for new query: numPingsReceived=12, elapsed TxPingTime=8.096117ԡ A I! I1 N= >0Y-t,%*AyFy@ٱF=F-F\lN=FH?FD?? K??_?IFy@)F&`;iD^B9^!IId)f@ABDj6Dj4Y%<!%W=%N:Q)%>)9)9-DY-C-AU>YQ 1]4٪],?Q 5e4] 4 ]_B9aYeӿQ Ee?y]yC)]h:I]:i]+4ԑYAhyh}%*Ahyhyh}JJ?h}e? mx?{$?h}j ?S q?Õ?h}ϸ?h}fti} =?,W? ?h}vɖ?s{?ߛK?h}^?h}>h}>8?h}(h}ӅB*iy2i}(:i}ӅBi}e?"i}ͩ?% addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 1.689594 m, bearing: 80.702087 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503889 s, deltaX: -0.000001 m, approachRate: -0.000002 m/s, posRepo size: 4 gqgygygygygygygyzfrfffBdddcc@?DsD]D&DEso: E96E4:E"E!E!*E ;!E ;!ɢ15'_) 9=@A6>A I I N% > ] DDAT read: Rx Time:16:13:55.8831 ] TRx dataTimestamp_ set to:1755879235.279258e PDAT read: Bearing 242.9, 36.0 (Local) m ~Local bearing/azimuth received: Bearing 242.9, 36.0 (Local) } DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 16:13:55.8831 LVL= 23440, 11217, 25842, 26963, AGC= 42, IDX= 502, 0.03, 0.760,-0.498,-0.604, 1.426, PHS=-0.564,-1.878,-2.073, RAW= 83.2, 48.3, CAL= 81.2, 54.5, ROT= 68.8, -54.5  Ygot valid direction response: 16:13:55.8831 LVL= 23440, 11217, 25842, 26963, AGC= 42, IDX= 502, 0.03, 0.760,-0.498,-0.604, 1.426, PHS=-0.564,-1.878,-2.073, RAW= 83.2, 48.3, CAL= 81.2, 54.5, ROT= 68.8, -54.5  T#Rx 13: Read range and direction messages. \direction in FSK: [0.209996,0.541403,0.814116] Fpublishing direction and range info9Y ] ķ)?N ,S?; ?] f?Y i] [] +Y ] SiY ] Nb)] NbI] i] ޹?] uW?] g?] "s?] `? ] "siY Y I]  1 ?~iٿF\W?] Y$] W ] `?)] "siY Y  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.597027~4t,%*A]B9e!IyBD6D4Y;! +=Q)>)9195DY=CEAm>iQ 1u4٪m,?Q 5u4mN4 m_B9yYyQ E}?ymzC)m:ImW:im'4YAhh]%*Ah?h?hǯ?hz# ?,r?/M?hķ)?N ,S?; ?h`?h"si ?Z&e?K~b?hwN? LEn?B?h-k?h@<>hAA) rA= 9:t,j%*A~B9~!IivB?>~BBA!IBBBBBBP;B`EMb@Mb@Mb@ )IiMbp~jtļISAiAASA)ABD6D 4Y!\=Q)>99DYCA>Q 1 4٪,?Q 5 44 9 Q>A9DxDaD&DEˀ: E96E4:E"E;!E;!*E;!E;!M checking for new query: numPingsReceived=14, elapsed TxPingTime=9.337901Aa Ii Iy N >q ZAt,2%*AyJM@ٱJ=Jl9l9nDYnCrYnAr>tQ 1v4٪v,?Q 5z4v4 v_B9|Y~пQ E~?yv|C)v2I;IvL;iv_44YKAhhV(%*AhD?hD?hծ?hU)|?Hy;?)U*?h ? $M?; ?h@?hiS"$w?y?_?h4s6Z?cZs?;?h`^?h8>hY;?hEh̅B*iY;?2iN~v:iυBig?"iV? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504454 s, deltaX: -0.100000 m, approachRate: -0.198234 m/s, rangeRepo size: 4  Added new target pos. range: 1.689599 m, bearing: 78.259914 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504454 s, deltaX: -0.099383 m, approachRate: -0.197011 m/s, posRepo size: 4 ggggggggzfrf)ffiBdqdqdqc}@33?c}@d?ɢ ۵Z  ;I  zɡiIbI3snii))!YDDAT read: Rx Time:16:13:56.8830 TRx dataTimestamp_ set to:1755879236.287229PDAT read: Bearing 242.3, 36.0 (Local) ~Local bearing/azimuth received: Bearing 242.3, 36.0 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:13:56.8830 LVL= 23584, 11121, 25794, 27059, AGC= 42, IDX= 501, 0.27,-0.071,-1.346,-1.436, 0.588, PHS=-0.557,-1.889,-2.068, RAW= 83.8, 48.1, CAL= 81.8, 54.4, ROT= 68.2, -54.4 Ygot valid direction response: 16:13:56.8830 LVL= 23584, 11121, 25794, 27059, AGC= 42, IDX= 501, 0.27,-0.071,-1.346,-1.436, 0.588, PHS=-0.557,-1.889,-2.068, RAW= 83.8, 48.1, CAL= 81.8, 54.4, ROT= 68.2, -54.4 T#Rx 15: Read range and direction messages.\direction in FSK: [0.216182,0.540493,0.813101]Fpublishing direction and range info9׫?DTǷK?ć%?i \q+di )IZi6?V?3?s?:\? siIKvp9?(Z<ٿ?_@?S!W :\?)sichecking for new query: numPingsReceived=15, elapsed TxPingTime=9.605350>AYԑA I I N >D uD YD +D E v: E *9Ա 6E [4:E ! @! @! @! @Gt,9^ %*Achecking for new query: numPingsReceived=15, elapsed TxPingTime=9.841672 B9 !IԙMb@Mb@Mb@ )Ii~jth?I +D;9IAiKAA)(ABD56D5ծ4Y=L =!=)=EQ)E>A9I9MDYM8CMAU>QQ 1]4٪U,?Q 5]4U 5 Q9eh(~BBBBBBBP;BbEDDAT read: Rx Time:16:13:57.3829 TRx dataTimestamp_ set to:1755879236.791290PDAT read: Bearing 238.7, 35.5 (Local) ~Local bearing/azimuth received: Bearing 238.7, 35.5 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 M DAT read: 16:13:57.3829 LVL= 21296, 12385, 22898, 24147, AGC= 41, IDX= 500, 0.45,-1.798, 3.069, 3.104,-1.154, PHS=-0.542,-2.015,-2.068, RAW= 88.2, 47.5, CAL= 86.8, 53.6, ROT= 63.2, -53.6 ] Ygot valid direction response: 16:13:57.3829 LVL= 21296, 12385, 22898, 24147, AGC= 41, IDX= 500, 0.45,-1.798, 3.069, 3.104,-1.154, PHS=-0.542,-2.015,-2.068, RAW= 88.2, 47.5, CAL= 86.8, 53.6, ROT= 63.2, -53.6 ] T#Rx 16: Read range and direction messages.e \direction in FSK: [0.267559,0.529677,0.804894]e Fpublishing direction and range info9gV߰??y??i0Sa0rYS^)  )Iij ?g;T??|o?0? |oiIV-e?q:Wֿ`jh? T 0?)|oi checking for new query: numPingsReceived=16, elapsed TxPingTime=10.120268>A bA ZA hA A1 IA IQ N] >Mt,J:%*AyFJ@ٱF=FgFcD=FH?@~%@??@rګ???IFJ@)Fj];iFȑC\9^!Ib%=b<BDj6Dj4Yr!rz=roQ)r?t9t9vDYvZCvAz?|Q 1~4٪~ -?Q 54~:5 ~_B9YsQ E?y~C)~):I~y:i~B4Y   Ahh2%*AhӾ?hӾ?h?hQV?`D?3?hgV߰??y?h0?h|oiʒ?hsK?PW)?hrb)?tOK?\d ?h[B?hw>h^A?hqB!hyB*i2iE:iig?"itS?] addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504061 s, deltaX: -0.200000 m, approachRate: -0.396777 m/s, rangeRepo size: 4 u Added new target pos. range: 1.490830 m, bearing: 72.369857 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504061 s, deltaX: -0.198769 m, approachRate: -0.394335 m/s, posRepo size: 4 gqgqgqgqgqgqgqgyzfyrfyfyfBdddc?c?ɢB º顽@A1AaIqIN>A  DDAT read: Rx Time:16:13:57.8830  TRx dataTimestamp_ set to:1755879237.295311 PDAT read: Bearing 238.3, 35.3 (Local)  ~Local bearing/azimuth received: Bearing 238.3, 35.3 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:13:57.8830 LVL= 21440, 12337, 22898, 24451, AGC= 41, IDX= 502,-0.33,-1.858, 2.999, 3.055,-1.213, PHS=-0.543,-2.027,-2.059, RAW= 88.9, 47.5, CAL= 87.6, 53.6, ROT= 62.4, -53.6  Ygot valid direction response: 16:13:57.8830 LVL= 21440, 12337, 22898, 24451, AGC= 41, IDX= 502,-0.33,-1.858, 2.999, 3.055,-1.213, PHS=-0.543,-2.027,-2.059, RAW= 88.9, 47.5, CAL= 87.6, 53.6, ROT= 62.4, -53.6  T#Rx 17: Read range and direction messages. \direction in FSK: [0.274929,0.525890,0.804894] Fpublishing direction and range info9 =;n?G0?y? ? i S 10 _  ) ^I i ? E? 'g? i I |O ?GSQOֿ2? 9 .T 'g?) i 5 checking for new query: numPingsReceived=17, elapsed TxPingTime=10.613303nTt,T%*A y:O@ٱ:@J=::=C=:H`?çJѯι?(?@ ?? W??I:O@):GN];i:ǑCBB9B !IIH)HBDN6DN4YV!VN=VYQ)V>X9X9ZDYZC^k:A^>Q 1 4٪7-?Q 5 4u5 9Y_Q E?yC):Il:iI4Y=A!hh`R%*AhE?hE?hv ?h2䷺?kn?Xdu_?h=;n?G0?y?h'g?hi0?.?@b? `?ht?tk5?Rp?h[?hp>h'E?hhɅB*i(AM ;>rAU =?jAU B? Ay I I N >FZt,m%*AyBf[@ٱB:=B!BKC=BH? +??ѫ@G|?`O?`?IBf[@)BMd];i@JB9N!IP%Mb@Mb@Mb@ !)!I!i!!%Q%%u!I%Ai%A%x A!)!%AvBA~BABEG!IBE BBE =BABABEP;BEjEBDU6DUP4Ye~<!m?=m Q)m>q9q9uDYuCu[;A}>yQ 14٪}E-?Q 54}5 y9uAU6>DDcDDE EL96E:E"E;!E;!*E";!E";!A I I N >M checking for new query: numPingsReceived=18, elapsed TxPingTime=11.357017Y at,ʇ%*AyJn@ٱJ=J5͍J?(E=JH X?` `DMź??`V5?{??IJn@)J1_];iJÑCnB9r!IxixBD6D 4AY};!}I=OQ)>99DYC;A>Q 14٪T-?Q 545 _B9Y1Q E?y);Ic;iX4YAhh(s%*AhӾ?hӾ?h?h ?hKhDB?h#K!h{B*i^A?2i:iɅBiof?"i{֦? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504044 s, deltaX: -0.200000 m, approachRate: -0.396791 m/s, rangeRepo size: 4  Added new target pos. range: 1.490832 m, bearing: 71.199195 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504044 s, deltaX: -0.198775 m, approachRate: -0.394360 m/s, posRepo size: 4 ggggggggzfrfffBdddc?c?ɢ]B] Y]?UX`S  ?)nichecking for new query: numPingsReceived=19, elapsed TxPingTime=11.621475ԡ9Ǽ@V>@Y> bD} @AZDy D wD gD 'D E }: E &96E '4:E ! @! @! @! @>A ;>U DDAT read: Rx Time:16:13:59.3830 e TRx dataTimestamp_ set to:1755879238.558994 PDAT read: Bearing 237.5, 35.3 (Local)  ~Local bearing/azimuth received: Bearing 237.5, 35.3 (Local)  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.870496 AIIN>cit,Ra%*Ay=$@ٱ=@j===OF==H?uSmhn?? x ܱ? ?t?I=$@)=];i=ȑCeB9e!I Mb@Mb@Mb@ )Ii~jth?~jth?D;D;I=AiASA)A4=iR=BD6Do4YXa<!=ꑺQ)>99DY C˟;A>Q 14٪r-?Q 545 _B9;Q AA>Y5e?Q E?yC);I;i`a4YAhh#i%*Ah?h?h,u?h3>,d?w?L?h0S?;8?@۾F?h ?hnij?d[5?K[u 1?hvZ?߉*?|w ?h^g?h>hDG?hxhB*iDB?2i:ii4g?"i.k?= addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503937 s, deltaX: 0.300000 m, approachRate: 0.595312 m/s, rangeRepo size: 4 M Added new target pos. range: 1.788999 m, bearing: 70.929354 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503937 s, deltaX: 0.298166 m, approachRate: 0.591674 m/s, posRepo size: 4 gIgIgQgQgQgQgQgQzfQrfQfYf]BBdYdadace?ce ?ɢ 顕=I )rɡiII9snii))vBB>~BBBBBBBP;B`E9+1DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:13:59.3830 LVL= 21552, 12465, 22818, 24371, AGC= 40, IDX= 501, 0.03,-1.897, 2.905, 3.003,-1.266, PHS=-0.529,-2.068,-2.058, RAW= 90.3, 47.0, CAL= 89.1, 53.2, ROT= 60.9, -53.2 Ygot valid direction response: 16:13:59.3830 LVL= 21552, 12465, 22818, 24371, AGC= 40, IDX= 501, 0.03,-1.897, 2.905, 3.003,-1.266, PHS=-0.529,-2.068,-2.058, RAW= 90.3, 47.0, CAL= 89.1, 53.2, ROT= 60.9, -53.2 T#Rx 20: Read range and direction messages.%\direction in FSK: [0.291326,0.523410,0.800731]%Fpublishing direction and range info9q9?Dƿ?@p??i0T0"Y3_ l)ZIFin?~Q?" ?,m?J ? ,miI0{?=ܚտh?jR J ?),miEchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.123234a>A] 6>A yAԑ I I N >D tD aD &D E s: E 96E 4:E "E ! E ! *E ;! E ;! Ept,l!%*AfB9j!IBDr6Dr4Yz^;!~n=Q) ? H?9% H?9%DY-0C5eDDAT read: Rx Time:16:13:59.8831 mTRx dataTimestamp_ set to:1755879239.062988PDAT read: Bearing 241.0, 35.9 (Local) ~Local bearing/azimuth received: Bearing 241.0, 35.9 (Local) checking for new query: numPingsReceived=20, elapsed TxPingTime=12.373590A>Q 14٪-?Q 545 9YQ E ?yy)h*rG?h'n4hӅB*i'E?2i'n4:iirf?"iօ?AiAIG)Ii A addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503625 s, deltaX: -0.100000 m, approachRate: -0.198560 m/s, rangeRepo size: 4 U Added new target pos. range: 1.689611 m, bearing: 70.458079 deg, lat: 36.779429 deg, lon: -121.859659 deg, deltaT: 0.503625 s, deltaX: -0.099388 m, approachRate: -0.197344 m/s, posRepo size: 4 gQgYgYgYgYԱgYggzfrfffBdddc@33?c ?ɢY] Yeh=Ia e*oɡaiaIeIm6sniiii)i)q)y yiyIyDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 % DAT read: 16:13:59.8831 LVL= 24224, 11329, 25490, 26899, AGC= 42, IDX= 502, 0.13,-0.574,-1.922,-1.940, 0.069, PHS=-0.540,-1.946,-2.053, RAW= 86.4, 47.7, CAL= 84.7, 53.9, ROT= 65.3, -53.9 - Ygot valid direction response: 16:13:59.8831 LVL= 24224, 11329, 25490, 26899, AGC= 42, IDX= 502, 0.13,-0.574,-1.922,-1.940, 0.069, PHS=-0.540,-1.946,-2.053, RAW= 86.4, 47.7, CAL= 84.7, 53.9, ROT= 65.3, -53.9 - T#Rx 21: Read range and direction messages.5 \direction in FSK: [0.246206,0.535290,0.807990]5 Fpublishing direction and range info9ADrDD'DEk: E6E'4:E!@!@!@!@!)ߩ ߭ADDAT read: Rx Time:16:14:00.3830 TRx dataTimestamp_ set to:1755879239.566023DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 22: Read range message, but no direction.9?checking for new query: numPingsReceived=22, elapsed TxPingTime=12.872201AAIIN? xt,`%*AyF@ٱF=FF:J=FH5? #W8??S3`?`4??IF@)Fs];iFőCbB9b!IfK?9EK?9EDYEnCM8<AM>QQ 1]4٪Ut-?Q 5]4U5 U_B9]JEhE[??hE4hEمB*iA2iE:iEӅBiE$g?"iE? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.759106 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 1.689611 m, bearing: 75.842380 deg, lat: 36.779429 deg, lon: -121.859658 deg, deltaT: 0.759106 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g!g)g)g)g)g)g)g)zf)rf1f1f5BBd1d9d9c9c=]?ɢimҊ im&=Iq u|mɡqiqIu"I}3snyii))vB~BBM!IB%BBBBBP;BdEBBBB =BBŘ4Uchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.117949ԩ>A A yAI I1 N= >~t,%*Ay6@ٱ6=6$Ɏ6̢M=6H@?D$*7? и?`m qձ? ? ?I6@)65];i4@9@BDJ6DJ4R:Q)V?V H?9V H?9VDYVCZA;>A- AI1 IA NU >m checking for new query: numPingsReceived=23, elapsed TxPingTime=13.6217909 hՅt,w%*Ayn@ٱn>nenxVR=nH?`t dD ?@?sUr?`58?.?In@)n];inÑC%B9-!IBD6D4YU2<!UuK?9}K?9}DYC<A>Q 14٪Y-?Q 54E5 _B9Y`?Q E?yC)`:I:i4YA= addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.500946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 g9g9g9g9g9g9gAgAzfArfAfIfIBdIdIdQcQcU?ɢy}ԯ 顅H=I ehɡiIpI5snii))@R>@V>BEÀ'4JE-4REÁ/DlDcD&DEV: EL96E4:E!%@!%@!%@!%@ADDAT read: Rx Time:16:14:01.3829 TRx dataTimestamp_ set to:1755879240.571152DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 Z#Rx 24: Read range message, but no direction.9?checking for new query: numPingsReceived=24, elapsed TxPingTime=13.877615>AiqA yAI I N >ԙ vB C>~B B T!IB *BB B B B P;B E t,H2%*A i rB9r!Iiv=Iv=%checking for new query: numPingsReceived=24, elapsed TxPingTime=14.125906}Mb@Mb@Mb@ y)yIyiyy}{Gzt?{Gz?}ף;}ף<}Iyi}bAyy)y}QABD6DZ4Y!V=Q)> H?9 H?9DYCA>Q 14٪l-?Q 545 _B9ADDAT read: Rx Time:16:14:01.8830 TRx dataTimestamp_ set to:1755879241.078234 PDAT read: Bearing 238.6, 35.1 (Local)  ~Local bearing/azimuth received: Bearing 238.6, 35.1 (Local) = DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 U Z#Rx 25: Read range message, but no direction.9?m checking for new query: numPingsReceived=25, elapsed TxPingTime=14.396404ԁ A AI I) N= >t,E+L%*AyWM@ٱ[>fȓU=H`˦?H@f?ǩ?箿?s?`?IWM@)J/^;iőC5B95!IBDE6DE4YU;!UO=];Q)]>]K?9]K?9]DY] Ced<Ae>iQ 1u4٪m-?Q 5u4m4 i9qYu?Q E}?ymC)m;Im;im4YA  addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.507082 s, deltaX: 0.200000 m, approachRate: 0.394414 m/s, rangeRepo size: 4 g1g1g1g1g1g1g9g9zf9rf9f9fABdAdAdAcE@33?cM?ɢܹ p1=I  dɡiI۷I7sni i ) ) iMDAT read: 16:14:01.8830 LVL= 21488, 12513, 23282, 23795, AGC= 40, IDX= 502,-0.22, 3.114, 1.635, 1.741,-2.530, PHS=-0.537,-2.073,-2.057, RAW= 90.5, 47.2, CAL= 89.4, 53.3, ROT= 60.6, -53.3 UYgot valid direction response: 16:14:01.8830 LVL= 21488, 12513, 23282, 23795, AGC= 40, IDX= 502,-0.22, 3.114, 1.635, 1.741,-2.530, PHS=-0.537,-2.073,-2.057, RAW= 90.5, 47.2, CAL= 89.4, 53.3, ROT= 60.6, -53.3 UZ#Rx 26: Read direction message, but no range.]\direction in FSK: [0.293376,0.520659,0.801776]9)-|^?|=?_ԉa%?)i-S-0-Z-\-( -x )-I-i--?-BR?-?-%n?-a? -%ni)I-M?`CLfտNz?-I-R -a?)-%nuchecking for new query: numPingsReceived=26, elapsed TxPingTime=14.639286ԑ>A6>AE yAIY Ii N} > D- sD- _D- 'D) E- so: E- r96E- '4:E) !5 @!5 @!5 @!5 @ DDAT read: Rx Time:16:14:02.3830  TRx dataTimestamp_ set to:1755879241.578813 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 27: Read range message, but no direction.9   checking for new query: numPingsReceived=27, elapsed TxPingTime=14.885135 t,e%*Ady 4e@ٱ  W > 䄽 X= HE? 5%4?;??F`??V?I 4e@)  ^;i ǑCUB9U$!IMb@Mb@Mb@ )IiMbp?Zd;O?;j<Ii=A)zABD6D4Y<!6=2;Q)> H?9 H?9DY:CW;A>Q 14٪-?Q 544 _B9>ڌS?1S0?hJ;\?D!R,?h7) ?hZ?hF>hF?hhޅB*iF?2i4:iمBia?"iP?= addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.500579 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 1.689615 m, bearing: 71.149047 deg, lat: 36.779429 deg, lon: -121.859658 deg, deltaT: 2.012790 s, deltaX: 0.000004 m, approachRate: 0.000002 m/s, posRepo size: 4 gIgIgIgQgQgQgQgQzfQrfQfYf]BBdYdYdacace` ?ɢ=9 顕Y=I  aɡiI!I4snii))@kA@kAvB~BBZ!IB/BBBBBP;BE!]checking for new query: numPingsReceived=27, elapsed TxPingTime=15.137342>A;>rAjA:?A) I1 A IY Nu >9t,%*Aɰ"; yJv@ٱJ >J~J>Z=JH ?@e y?@?M?G??IJv@)JK^;iHVB9V'!IBD^6D^4Yf<!fp=fka;Q)f?h9h9jDYj\Cj;An?DrqDr\Dr#DpEr2h: Er96Er3:Ep"Er;!zEr;!z*Er^ ;!zEr_ ;!z9yQ 14٪}-?Q 54}\4 y9Y?Q E?y}C)}u:I}:i}4Y|AB*** querying acoustic contact ***zhDDAT read: Rx Time:16:14:02.8831 TRx dataTimestamp_ set to:1755879242.086861PDAT read: Bearing 244.3, 36.3 (Local) ~Local bearing/azimuth received: Bearing 244.3, 36.3 (Local) 5DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 hZ#Rx 28: Read range message, but no direction.9f?checking for new query: numPingsReceived=28, elapsed TxPingTime=15.417704 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.508048 s, deltaX: 0.100000 m, approachRate: 0.196832 m/s, rangeRepo size: 4 ggggggggzfrfffBd)d)d)c-?c5?iɢBX89 AEl=IA M]ɡIiIIM$IU9sniYiY)Y)ԑ>A 6>m DAT read: 16:14:02.8831 LVL= 24048, 11361, 25666, 27123, AGC= 42, IDX= 502,-0.01,-2.178, 2.838, 2.745,-1.526, PHS=-0.550,-1.874,-2.056, RAW= 83.6, 48.0, CAL= 81.6, 54.3, ROT= 68.4, -54.3 u Ygot valid direction response: 16:14:02.8831 LVL= 24048, 11361, 25666, 27123, AGC= 42, IDX= 502,-0.01,-2.178, 2.838, 2.745,-1.526, PHS=-0.550,-1.874,-2.056, RAW= 83.6, 48.0, CAL= 81.6, 54.3, ROT= 68.4, -54.3 u Z#Rx 29: Read direction message, but no range.} \direction in FSK: [0.214816,0.542563,0.812084]9I M c@?Oڬ\?\?I iM ]M a,M BdM iM * M )M ;IM iM ú?M PwV?M K?M _r?M Θ? M _riI IM rag:?4rf\ٿ/zv?M p"M V M Θ?)M _r checking for new query: numPingsReceived=29, elapsed TxPingTime=15.647923 A AI I N >V!t,F%*AyUs@ٱU?>UEU[=UH?¿ K???O?$?ԡIUs@)UF ^;iUđCB9"!IBDa6DaY!-=:Q)>K?9K?9DYC i;A>Q 14٪-?Q 544 _B9Y;?Q E?yC):I:i4Y  A)hh!%*Ah?h?hɲ?hޖ!#{?,eM?d>?hc@?Oڬ\?\?hΘ?h_ri:?26ʉ?-pa?hRP?ς?tʍA?hNl?h&>hN;?h0h B*i2i:iޅBi_b?"i$?ggggggggzfrfffBdddcc` ?DsDdD(DEso: E96Ec44:E!@!@!@!@ɢmBmS8 imD=Ii m>[ɡqiqIu)Iu6sniyiy)y)yDDAT read: Rx Time:16:14:03.3830 TRx dataTimestamp_ set to:1755879242.591965PDAT read: Bearing 244.1, 36.3 (Local)  ~Local bearing/azimuth received: Bearing 244.1, 36.3 (Local) mDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:14:03.3830 LVL= 24000, 11201, 25970, 26867, AGC= 42, IDX= 501, 0.10,-2.470, 2.532, 2.445,-1.819, PHS=-0.549,-1.888,-2.064, RAW= 83.9, 48.0, CAL= 81.9, 54.2, ROT= 68.1, -54.2 Ygot valid direction response: 16:14:03.3830 LVL= 24000, 11201, 25970, 26867, AGC= 42, IDX= 501, 0.10,-2.470, 2.532, 2.445,-1.819, PHS=-0.549,-1.888,-2.064, RAW= 83.9, 48.0, CAL= 81.9, 54.2, ROT= 68.1, -54.2 T#Rx 30: Read range and direction messages.%\direction in FSK: [0.218182,0.542745,0.811064]%Fpublishing direction and range info9c?>+*^?΄yA- ;> Aa Ii vB ~B B B B B B B P;B EI N >Ot,%*Al9l~checking for new query: numPingsReceived=30, elapsed TxPingTime=16.142008mMb@Mb@Mb@ i)iIiiiim~jth?{Gz?Mb`?mD;m#<m;IiimKAimA)imQABD6D4Q)>99DYCA>Q 14٪-?Q 543 _B9*.+*^?΄yhJ;?h9hB*i[??2i:ii[?"i?o? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505104 s, deltaX: -0.100000 m, approachRate: -0.197979 m/s, rangeRepo size: 4 % Added new target pos. range: 1.689616 m, bearing: 79.642327 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 1.013152 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g!g)g)gggg g zf rf ffBBdddc@33?c8?ɢae8 im>=Ii mXɡiiiImIu3sniqiy)y)y@V>@N>DD_D'DE Er96E'4:E"Eޑ;! Eߑ;! *EJ;! EK;!>AIDDAT read: Rx Time:16:14:03.8831 TRx dataTimestamp_ set to:1755879243.095583 PDAT read: Bearing 240.6, 35.6 (Local)  ~Local bearing/azimuth received: Bearing 240.6, 35.6 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Ay I I N > DAT read: 16:14:03.8831 LVL= 21232, 12177, 22994, 24467, AGC= 40, IDX= 502, 0.21,-1.134,-2.559,-2.520,-0.490, PHS=-0.542,-2.024,-2.075, RAW= 88.3, 47.4, CAL= 86.9, 53.6, ROT= 63.1, -53.6  Ygot valid direction response: 16:14:03.8831 LVL= 21232, 12177, 22994, 24467, AGC= 40, IDX= 502, 0.21,-1.134,-2.559,-2.520,-0.490, PHS=-0.542,-2.024,-2.075, RAW= 88.3, 47.4, CAL= 86.9, 53.6, ROT= 63.1, -53.6  T#Rx 31: Read range and direction messages. \direction in FSK: [0.268483,0.529210,0.804894] Fpublishing direction and range info9.?>H?y?y f?iR/Y_(  )7IiC?S?"?|o?}? |oiI[am?v+;lֿI%\? S }?)|oi checking for new query: numPingsReceived=31, elapsed TxPingTime=16.4964288t,%*Aiy6l@ٱ6 >6"|6QF[=6H֟?$Q¿Bc? ?@ъ?X?`?I6l@)6K^;i4JB9J$!IiN=IN=RC=iR%=BDV6DV4Y=s;!=A9A9EDYMCM;AM>qQ 1}4٪u-?Q 5}4u3 u_B9yYH?y?h}?h|oi1s_k?Ch @?'>?h/Yb?68Y?BE'?hj?h;>h6C?hh B*i2i9:iBi8e?"iAީ?% addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503618 s, deltaX: 0.100000 m, approachRate: 0.198563 m/s, rangeRepo size: 4 Iu Added new target pos. range: 1.789005 m, bearing: 73.996195 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503618 s, deltaX: 0.099389 m, approachRate: 0.197350 m/s, posRepo size: 4 gqgqgygygygygygyzfyrfffBdddc?c@r?ɢBP@N9 J=I cVɡi!I%PIM8sniIiI)I)I checking for new query: numPingsReceived=31, elapsed TxPingTime=16.646282y>Am6>ԩA} yAI I N >rD <jD <D tD D D E s: E 6E :E ! @! @! @! @  DDAT read: Rx Time:16:14:04.3830  TRx dataTimestamp_ set to:1755879243.601742= PDAT read: Bearing 244.8, 36.3 (Local) = ~Local bearing/azimuth received: Bearing 244.8, 36.3 (Local) \t, E%*A6DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 =DAT read: 16:14:04.3830 LVL= 23792, 10913, 25874, 27235, AGC= 42, IDX= 501, 0.35,-2.187, 2.831, 2.729,-1.531, PHS=-0.554,-1.877,-2.068, RAW= 83.3, 48.1, CAL= 81.3, 54.3, ROT= 68.7, -54.3 EYgot valid direction response: 16:14:04.3830 LVL= 23792, 10913, 25874, 27235, AGC= 42, IDX= 501, 0.35,-2.187, 2.831, 2.729,-1.531, PHS=-0.554,-1.877,-2.068, RAW= 83.3, 48.1, CAL= 81.3, 54.3, ROT= 68.7, -54.3 MT#Rx 32: Read range and direction messages.M\direction in FSK: [0.211972,0.543680,0.812084]UFpublishing direction and range info9)-e7!?ծke?\?-?)i-\-*-ey@ٱ`>{mTZ=HZ?`E¿BL ?j? :fv? :?@?I@)V_^;iőCB9#!I-cj-* - )-AI-Zi-?-V?->?-_r?-.z? -_ri))I-&0P&?e(ٿ:*?-X#-V -.z?)-_ri)) checking for new query: numPingsReceived=32, elapsed TxPingTime=16.983297ԱMb@Mb@Mb@ )Iim H?9u H?9uDYuCuAAu>yQ 14٪}-?Q 54}3 y9t?h-_?h-K>h-;:?h-Ah-B*i-N;?2i-A:i-Bi-~c?"i-⇱? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506159 s, deltaX: -0.100000 m, approachRate: -0.197566 m/s, rangeRepo size: 4  Added new target pos. range: 1.689616 m, bearing: 80.277106 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.506159 s, deltaX: -0.099389 m, approachRate: -0.196359 m/s, posRepo size: 4 ggggggggzfvB-A>~B)B-T!IB-*BB)B)B)B-P;B-Erf!fAfEBBdIdIdIcM@33?cU`A 9 AU AIa Iq N} >Yt,>x%*Ay6>@ٱ6`>6z6Y=6H?@ '¿ 2@ͻ?ࠡ?2;O??0?I6>@)6/^;i6ÑC@9B"!IDNnDN^DN&DLENO]: EN;96EN4:EL"EN2;!VEN3;!V*EN;!VEN;!VBDJ6DJ4Y{!c=T:Q)>K?9K?9DY-C A>uDDAT read: Rx Time:16:14:04.8830 TRx dataTimestamp_ set to:1755879244.103467PDAT read: Bearing 241.2, 35.5 (Local) ~Local bearing/azimuth received: Bearing 241.2, 35.5 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Q 14٪-?Q 543 _B9YM?Q E?yC):I:iٿ4Y!-A)B*** querying acoustic contact ***zhDAT read: 16:14:04.8830 LVL= 21152, 12113, 23154, 24435, AGC= 41, IDX= 502,-0.43, 2.162, 0.764, 0.785, 2.817, PHS=-0.553,-2.008,-2.076, RAW= 87.7, 47.7, CAL= 86.2, 53.9, ROT= 63.8, -53.9 Ygot valid direction response: 16:14:04.8830 LVL= 21152, 12113, 23154, 24435, AGC= 41, IDX= 502,-0.43, 2.162, 0.764, 0.785, 2.817, PHS=-0.553,-2.008,-2.076, RAW= 87.7, 47.7, CAL= 86.2, 53.9, ROT= 63.8, -53.9 T#Rx 33: Read range and direction messages.hggggggggzfrfffBd\direction in FSK: [0.260134,0.528661,0.807990]Fpublishing direction and range info9y}oib?082?p ?yyi}R}Q/}rZ}s_}) }h )}I}/i}v?}+ U?}?}p?}Ӈ? }piyyI}QxFD3?)bֿwUvj?}()}+CU }Ӈ?)}piydIyI)Ii r  ~Adqcqcuܷ?checking for new query: numPingsReceived=33, elapsed TxPingTime=17.471495ɢ߫ x2=I PɡiIļIm2sniiiq)q)q@jA@jAA  checking for new query: numPingsReceived=33, elapsed TxPingTime=17.653900>AI rAU ??jAU A?ԉ AyIIN>%t,a %*AXyf@ٱf` >f*czfW=fH? ¿7?@Ѣ?@hG??Z?If@)fE];ifőCp9pr=rR=)t vADmDaDDEY: E96E:E! @! @!@!@DDAT read: Rx Time:16:14:05.3829 TRx dataTimestamp_ set to:1755879244.607101PDAT read: Bearing 244.0, 36.0 (Local) ~Local bearing/azimuth received: Bearing 244.0, 36.0 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 EDAT read: 16:14:05.3829 LVL= 23536, 12081, 25538, 27635, AGC= 41, IDX= 501,-0.25, 1.112,-0.174,-0.253, 1.778, PHS=-0.564,-1.907,-2.075, RAW= 84.2, 48.3, CAL= 82.3, 54.5, ROT= 67.7, -54.5 UYgot valid direction response: 16:14:05.3829 LVL= 23536, 12081, 25538, 27635, AGC= 41, IDX= 501,-0.25, 1.112,-0.174,-0.253, 1.778, PHS=-0.564,-1.907,-2.075, RAW= 84.2, 48.3, CAL= 82.3, 54.5, ROT= 67.7, -54.5 ]T#Rx 34: Read range and direction messages.e\direction in FSK: [0.220351,0.537272,0.814116]mFpublishing direction and range info9?y4?,GKU1?; ??i[1/ck Nb)Ii?uW?'ܷ?"s?E>? "siIr|F?iؿ;s?f =W E>?)"sichecking for new query: numPingsReceived=34, elapsed TxPingTime=17.934326Mb@Mb@Mb@ )Ii~jt?~jth?~jthD<D;DId@ibA)(AI1)5AABD96D9J8Q)>99DYhC ˺A>Q 14٪.?Q 543 _B9PQ E?yC);I;izɉ4Yhh&%*AhӾ?hӾ?h?hlt>@?Z裡?DYk?h?y4?,GKU1?; ?hE>?h"siD'!?Fo?Y?h N?Agc?"$M?hzC?h>h È:?hhB*iJ;?2i:iia?"i? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 1.005359 s, deltaX: -0.200000 m, approachRate: -0.198934 m/s, rangeRepo size: 4  Added new target pos. range: 1.490830 m, bearing: 79.076767 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 1.005359 s, deltaX: -0.198785 m, approachRate: -0.197726 m/s, posRepo size: 4 ggggggggzf!rf!f!f%BBd)d)d)c-?c5+׻?ɢBWڹ -=I FNɡiIpżI7snii))AU<AU<vB]B>~BYBYBYB] =BYBYB]P;B]EBBBBB =B84! m checking for new query: numPingsReceived=34, elapsed TxPingTime=18.157972>A% ;>AQ Q Ia Iq N} >t,N(=%*AyB\u@ٱB \ >Bj{B_U=BH@ۣ?9)su?? n?1?`p?IB\u@)BY];iBÑCNB9N!IBDV6DV4Y!<xoQ)?!9!9%DY%C%ျA-?1Q 154٪5p.?Q 5=453 199Y=!>Q E=?y1)5:I5:i5;ω4YAEAIgigqgqgqgqgqgqgqzfqrfyfyfyBdyddccv?ɢG 页=I VLɡiI"ǼI4snii))A DsDdD)DEso: E96EFA4:E"Eݑ;!=Eߑ;!M*E}&;!UE~&;!]DDAT read: Rx Time:16:14:05.8831 TRx dataTimestamp_ set to:1755879245.110861PDAT read: Bearing 244.0, 36.0 (Local) ~Local bearing/azimuth received: Bearing 244.0, 36.0 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 MDAT read: 16:14:05.8831 LVL= 23744, 12177, 25794, 27203, AGC= 41, IDX= 502,-0.13, 2.492, 1.208, 1.128,-3.128, PHS=-0.560,-1.902,-2.071, RAW= 84.1, 48.2, CAL= 82.2, 54.4, ROT= 67.8, -54.4 Ygot valid direction response: 16:14:05.8831 LVL= 23744, 12177, 25794, 27203, AGC= 41, IDX= 502,-0.13, 2.492, 1.208, 1.128,-3.128, PHS=-0.560,-1.902,-2.071, RAW= 84.1, 48.2, CAL= 82.2, 54.4, ROT= 67.8, -54.4 T#Rx 35: Read range and direction messages.\direction in FSK: [0.219950,0.538971,0.813101] Fpublishing direction and range info9tfP'?p???ć%?f?i\/dCj )\)tIDi?\W??s?ww? siILXk(K?>ؿ\e?7 HDW ww?)s1>AU@>ichecking for new query: numPingsReceived=35, elapsed TxPingTime=18.477808AAIIIYNe>Y tt,V%*A y:*n@ٱ:u >:ٖ~:T=:Hx?!ܫ@\X?`?ؠͯ? ł?+?I:*n@):>];i:‘CEchecking for new query: numPingsReceived=35, elapsed TxPingTime=18.701797]B9]!IBDm6Dmծ4Y!<=ںQ)>99DYC%A%>)Q 1-4٪-.?Q 554-3 -_B91Y5>Q E=?y-C)-;I-;i-։4YAEAAhhYG%*Ah?h?hذ?hβ.?KM?/F?htfP'?p???ć%?hww?hsi#J?w~o?|Hc?h4e53?=t?$ +C?h}k?hZ4>h\=?hQhB*i2i:iiB`?"i?ͳ? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503760 s, deltaX: 0.300000 m, approachRate: 0.595522 m/s, rangeRepo size: 4  Added new target pos. range: 1.788997 m, bearing: 79.161024 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503760 s, deltaX: 0.298167 m, approachRate: 0.591883 m/s, posRepo size: 4 ggggggggzfrfffBdddc?c~?ɢeBef ae@V>BE!4JEŞ4RE '0D{DbD$DE=: E96E4:E!U@!U@!U@!]@ԡ>A6>bAiAZADDAT read: Rx Time:16:14:06.3830 TRx dataTimestamp_ set to:1755879245.651411 PDAT read: Bearing 240.3, 35.3 (Local)  ~Local bearing/azimuth received: Bearing 240.3, 35.3 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ] DAT read: 16:14:06.3830 LVL= 21456, 12161, 22866, 24435, AGC= 41, IDX= 501,-0.02, 1.464, 0.035, 0.083, 2.117, PHS=-0.551,-2.037,-2.079, RAW= 88.6, 47.6, CAL= 87.2, 53.7, ROT= 62.8, -53.7  Ygot valid direction response: 16:14:06.3830 LVL= 21456, 12161, 22866, 24435, AGC= 41, IDX= 501,-0.02, 1.464, 0.035, 0.083, 2.117, PHS=-0.551,-2.037,-2.079, RAW= 88.6, 47.6, CAL= 87.2, 53.7, ROT= 62.8, -53.7  T#Rx 36: Read range and direction messages.  \direction in FSK: [0.270608,0.526546,0.805928] Fpublishing direction and range info9-vZQ?pw?*??iS/RYs_ V )5^IVi.?ȭT??o?K? oiI ,m?s%زzֿ2Z? 8 T K?)oi checking for new query: numPingsReceived=36, elapsed TxPingTime=18.988464AE yAII Ia Nm >͟t,jp%*Aiy6Kg@ٱ6 >66>$T=6H ?Z=];i4LvBp~BpBpBpBr =BpBpBrP;BrEB9%!Ii]Mb@Mb@Mb@ Y)YIYiYY]Mbp]]]I]SAi]AYY)Y]zABD6D4Y"=!3=ĺQ)> H?9 H?9DYCA>Q 14٪.?Q 543 9;Q AL>Yf@Q E?y) ;I ;iމ4YAh)h-i%*Ah-E?h-E?h-+E?h-$C?+x?\?h--vZQ?pw?*?h-K?h-oi-E0F?~]?99@?h-clrC?~~KfJ?Ъ b?h-2\?h-0>h-b #D?h-h-B*i-\=?2i):i)i-a?"i-?Uchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.206043] addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.540550 s, deltaX: -0.100000 m, approachRate: -0.184997 m/s, rangeRepo size: 4 m Added new target pos. range: 1.689614 m, bearing: 73.531163 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.540550 s, deltaX: -0.099383 m, approachRate: -0.183856 m/s, posRepo size: 4 gigigigigigqgqgqzfqrfqfyf}BBdydydyc@33?c ~?ɢ  ` 88=I HɡiIHʼI6snii))AD% tD% _D% &D! E% s: E% r96E% 4:E! "E% ;!] E% ;!] *E% J;!e E% K;!m >Au ;>)  DDAT read: Rx Time:16:14:06.8831  TRx dataTimestamp_ set to:1755879246.155274 PDAT read: Bearing 240.6, 35.6 (Local)  ~Local bearing/azimuth received: Bearing 240.6, 35.6 (Local) - DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 AQ Ia Iy  DAT read: 16:14:06.8831 LVL= 21600, 12225, 23154, 24275, AGC= 41, IDX= 502, 0.08,-2.811, 2.057, 2.087,-2.167, PHS=-0.542,-2.014,-2.073, RAW= 88.1, 47.4, CAL= 86.6, 53.6, ROT= 63.4, -53.6  Ygot valid direction response: 16:14:06.8831 LVL= 21600, 12225, 23154, 24275, AGC= 41, IDX= 502, 0.08,-2.811, 2.057, 2.087,-2.167, PHS=-0.542,-2.014,-2.073, RAW= 88.1, 47.4, CAL= 86.6, 53.6, ROT= 63.4, -53.6  T#Rx 37: Read range and direction messages. \direction in FSK: [0.265709,0.530608,0.804894] Fpublishing direction and range info9  ϰ _?g?y? f? i `T / rZ ^  ) `I N >Mt,T%*ADi:?S?\w?|o?? |oiI!T\?'ֿ@t2ϒ?T ?)|oiMchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.530861yb@ٱ` >ꁽTT=H[?Ë*?`?@x:? j?~?Ib@)`^;iőCUB9U!IBDe6Deߢ4Y!R=0ɺQ)>99DY CA>Q 14٪.?Q 543 _B9Yo@Q E?y)6;I:i4YAhh%*Ah?h?hå?h$tç1l?A3U`?6lز ?hϰ _?g?y?h?h|oi:H?KR?Z.;?hS=?D#d?`;?hj?hĄ>hnD?hlhB*i2i:iib?"iۮ?ԩ addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503863 s, deltaX: 0.100000 m, approachRate: 0.198466 m/s, rangeRepo size: 4  Added new target pos. range: 1.789003 m, bearing: 74.199673 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503863 s, deltaX: 0.099389 m, approachRate: 0.197254 m/s, posRepo size: 4 ggggggggzfrfffBdddc?c`{?ɢBDY 額=I 4FɡiIpr̼I3snii))checking for new query: numPingsReceived=37, elapsed TxPingTime=19.709997>A6>) A AIQ D qD YD 'D E 2h: E *96E '4:E ! @! @! @! @I N= >t,A%*A y&^@ٱ`u >U=H?Um??`⮿n???I&^@)^;iÑCB9*!I5DDAT read: Rx Time:16:14:07.3830 5TRx dataTimestamp_ set to:1755879246.659351=PDAT read: Bearing 241.7, 35.8 (Local) E~Local bearing/azimuth received: Bearing 241.7, 35.8 (Local) UDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 uDAT read: 16:14:07.3830 LVL= 23856, 12321, 25634, 26995, AGC= 40, IDX= 501, 0.19, 2.446, 1.081, 1.071, 3.094, PHS=-0.546,-1.968,-2.067, RAW= 86.7, 47.7, CAL= 85.0, 53.9, ROT= 65.0, -53.9 }Ygot valid direction response: 16:14:07.3830 LVL= 23856, 12321, 25634, 26995, AGC= 40, IDX= 501, 0.19, 2.446, 1.081, 1.071, 3.094, PHS=-0.546,-1.968,-2.067, RAW= 86.7, 47.7, CAL= 85.0, 53.9, ROT= 65.0, -53.9 }T#Rx 38: Read range and direction messages.\direction in FSK: [0.249005,0.533993,0.807990]Fpublishing direction and range info915lf?^!x?p ?5?1i50]5!05"d5si5( 5 )5mI5Ii5?5+ U?5N?5p?56? 5pi11I5C?y ׿e?55U 56?)5pi11checking for new query: numPingsReceived=38, elapsed TxPingTime=19.981382Mb@Mb@Mb@ )IiMb`MbpId@iKA)9ABD6D4Yd=!#=ҺQ)>K?9K?9DY=C!A>Q 14٪.?Q 543 9;Q A7>YQ E?yC);IS;iO4YjAh1h52%*AAMAAAMAAvBUC>~BQBQBQBQBQBQBUQ;BUEh5E?h5E?h5?h5ױ~B?߽+??h5lf?^!x?p ?h56?h5pi5x$?[R ??h5v[O?#ɴeh? E+?h5]?h5y\>h5 @?h5h5B*i5 @?2i5:i5Bi5d?"i5? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504077 s, deltaX: -0.100000 m, approachRate: -0.198382 m/s, rangeRepo size: 4  Added new target pos. range: 1.689614 m, bearing: 76.043388 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504077 s, deltaX: -0.099389 m, approachRate: -0.197170 m/s, posRepo size: 4 ggggggggzf!rf!fAfMBBdIdIdIcM@33?cUu?aɢz8 顝xL=I ΘCɡiIμI8snii))@@kA checking for new query: numPingsReceived=38, elapsed TxPingTime=20.213898ԑ >A AYIDDrD%DE E?:6E 4:E"E;!E;!*ErY;!EsY;!I N?t,g%*AɰdfIy]V@ٱ]@>]̥]`V=]HI? {kQ=X??@?@? ?I]V@)];-_;i]CmB9m'!Iqu<BD6Dˣ4Y9!V=Q)>99DYcCA>Q 14٪y.?Q 543 9YQ E?y):I :i4Y|AB*** querying acoustic contact ***zhhDDAT read: Rx Time:16:14:07.8831 TRx dataTimestamp_ set to:1755879247.164290 PDAT read: Bearing 239.3, 35.5 (Local)  ~Local bearing/azimuth received: Bearing 239.3, 35.5 (Local) %DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 UDAT read: 16:14:07.8831 LVL= 21488, 12593, 22930, 24211, AGC= 41, IDX= 502, 0.33,-2.483, 2.337, 2.411,-1.847, PHS=-0.534,-2.054,-2.069, RAW= 89.5, 47.1, CAL= 88.2, 53.3, ROT= 61.8, -53.3 gqgqgqgqgqgqgygyzfyYgot valid direction response: 16:14:07.8831 LVL= 21488, 12593, 22930, 24211, AGC= 41, IDX= 502, 0.33,-2.483, 2.337, 2.411,-1.847, PHS=-0.534,-2.054,-2.069, RAW= 89.5, 47.1, CAL= 88.2, 53.3, ROT= 61.8, -53.3 T#Rx 39: Read range and direction messages.\direction in FSK: [0.282408,0.526689,0.801776]Fpublishing direction and range info9C?4 '?_ԉa%?f?iS11Y^) 9)tIji?qR?j ?%n?? %niIӘP?MXֿ+yu?7Rrfyff!Bd!d!d!c%?c-? ?)%niEchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.509678ɢ9 顽X8=I UAɡiI:<мI5snii))yԡ>A checking for new query: numPingsReceived=39, elapsed TxPingTime=20.718504A- yAI9 II NU > t,\%*Ay^M@ٱ^i>^>^V=^H ?@,J@Ѩ`J??@*`İ?Ȫ?@*?I^M@)^n_;i\B9 !IBDM6DMf4Y}!M=Q)> H?rD%=jDR=D=sD=^D=&D9E=so: E=;96E=4:E9!e@!e@!e@!e@9 H?9DYC"A>Q 14٪l.?Q 543 9YQ E?y)>:I6:i4YAh9h=%*Ah=?h=?h=􈺡?h=S{*?A8*&?7?h=C?4 '?_ԉa%?h=?h=%ni="?j'~.?']/?h=<|N?\O?cH ?h=pi?h=)>h=ҰF?h=FVh=B*i=b #D?2i=FV:i=Bi=r?"i=Cϥ?M addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504939 s, deltaX: 0.100000 m, approachRate: 0.198044 m/s, rangeRepo size: 4  Added new target pos. range: 1.789003 m, bearing: 72.393502 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 0.504939 s, deltaX: 0.099389 m, approachRate: 0.196835 m/s, posRepo size: 4 ggggggggzfrfffBddd c cb?ɢB<{ 額PA ;>vB ~B B Z!IB /BB B B B P;B E9 Ae AIi Iy N >t,%*A2checking for new query: numPingsReceived=40, elapsed TxPingTime=21.221739y:C@ٱ:`,>:J:W=:H`?# ?? ?@Ϫ?@?I:C@):RQ_;i:‘CFB9F !IeMb@Mb@Mb@ a)aIaiaaeMb`?MbP?e;e:aIaiaaeSA)aeABD}6D}̺4Y?<!I=UQ)>K?9K?9DYCUA>Q 14٪z.?Q 543 9;Q A>Y?Q E?y):I~ ;i 4YA addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502603 s, deltaX: -0.100000 m, approachRate: -0.198964 m/s, rangeRepo size: 4 ggggggggzfrfffBBdddc @33?c ?ɢ 顽 =I B>ɡiIwӼI7snii))@V>@J>D-vD-[D-%D)E-Vz: E-96E- 4:E)"E-E;!5E-F;!=*E-;!=E-;!=A>A56>bA=jAZA=jA%DDAT read: Rx Time:16:14:08.8830 %TRx dataTimestamp_ set to:1755879248.1715535DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 =Z#Rx 41: Read range message, but no direction.9!!!Echecking for new query: numPingsReceived=41, elapsed TxPingTime=21.479090yAm yAIq I N >ԙ u,%*Ay6[>@ٱ6|>6Zs6X=6H?`?a?QDB?@ ??I6[>@)6GV_;i6CL9R!!IPiPiV=IVa=BDZ6DZ4YbT;!bX=fpZQ)f>f H?9f H?9jDYjCjBAj>lQ 1r4٪n.?Q 5r4n3 l9tYvS?Q Ev?yl)n{:InZ:in 4YxzAx addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ggggggggzfrfffBdddcc?ɢH  =I A~<ɡiI*ռI4snii)) quchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.725965>A};>bDE?AZDADmsDm^DiDiEmso: Em;96Ei:Ei!@!@!@!@A A IA I N >- DDAT read: Rx Time:16:14:09.3829 - TRx dataTimestamp_ set to:1755879248.6752325 PDAT read: Bearing 238.4, 35.2 (Local) = ~Local bearing/azimuth received: Bearing 238.4, 35.2 (Local) M DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 m DAT read: 16:14:09.3829 LVL= 21728, 12593, 23138, 24131, AGC= 40, IDX= 501,-0.15,-0.198,-1.666,-1.570, 0.448, PHS=-0.544,-2.069,-2.062, RAW= 90.2, 47.4, CAL= 89.0, 53.5, ROT= 61.0, -53.5 u Ygot valid direction response: 16:14:09.3829 LVL= 21728, 12593, 23138, 24131, AGC= 40, IDX= 501,-0.15,-0.198,-1.666,-1.570, 0.448, PHS=-0.544,-2.069,-2.062, RAW= 90.2, 47.4, CAL= 89.0, 53.5, ROT= 61.0, -53.5 u T#Rx 42: Read range and direction messages.} \direction in FSK: [0.288376,0.520244,0.803857] Fpublishing direction and range info9) - A,t?b)90֥? 2?- ?) i- T) - bZ- C^- ( - C )- jI- i- 6W6OY=6H@#?p='`j??n?? ?{?I6s2@)6)_;i6ÑC~B9"!IMb@Mb@Mb@ )Iiy&1|?~jth`;DIibAd@)ABD6Dn4Y-H{;!-6=-Q)->UK?9UK?9UDYUC]QA]>aQ 1m4٪e.?Q 5m4e3 a9m;Q Am=Ym,AA<vB~BBBBBBBP;B~EQ E?yeC)ehh]hD?h]h]B*iY2i]:i]Bi]g?"i]3դ? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503679 s, deltaX: -0.200000 m, approachRate: -0.397078 m/s, rangeRepo size: 4  Added new target pos. range: 1.490839 m, bearing: 71.382154 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 1.510942 s, deltaX: -0.298164 m, approachRate: -0.197337 m/s, posRepo size: 4 ggggggggzfrfff BBd d d c?c`?ɢY]P4 Ye(=Ia eq7:ɡaiI@׼I9snii))9checking for new query: numPingsReceived=42, elapsed TxPingTime=22.230057>A6>i A I! DU uDU ]DU 'DQ EU v: EU 96EU '4:EQ "EU ";!} EU $;! *EU  ;! EU  ;! & dClearing failed state for component DockingStepper1 I N >ԑ 9u,H%*AyrV%@ٱr`[>rчrX=rH`٫?FJ+7? ?@*?;?`?IrV%@)r_;irC~B9~$!IBD 6D 4%=i%_CDDAT read: Rx Time:16:14:09.8831 TRx dataTimestamp_ set to:1755879249.179773PDAT read: Bearing 241.2, 35.8 (Local) ~Local bearing/azimuth received: Bearing 241.2, 35.8 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:14:09.8831 LVL= 24048, 12401, 25714, 27123, AGC= 41, IDX= 502,-0.04, 1.162,-0.191,-0.204, 1.817, PHS=-0.552,-1.963,-2.065, RAW= 86.5, 47.9, CAL= 84.9, 54.1, ROT= 65.1, -54.1 Ygot valid direction response: 16:14:09.8831 LVL= 24048, 12401, 25714, 27123, AGC= 41, IDX= 502,-0.04, 1.162,-0.191,-0.204, 1.817, PHS=-0.552,-1.963,-2.065, RAW= 86.5, 47.9, CAL= 84.9, 54.1, ROT= 65.1, -54.1  T#Rx 43: Read range and direction messages.\direction in FSK: [0.246884,0.531866,0.810042]Fpublishing direction and range info9-O ?^ ?)m&l?f?i]q0rdi) O )CI(i,>?V??q?Oo? qiIX˷?]9rZ׿o/kd?y}U Oo?)qi=checking for new query: numPingsReceived=43, elapsed TxPingTime=22.502991Iy)IiAAYn<!>= 49Q)>)A9I9MDYM6CMFlAM>QQ 1]4٪U/?Q 5]4U3 Q9aYeQ Ee?yQ)UF-h6JB?h~hB*ihD?2i~:iBiq?"i4Ӧ? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504541 s, deltaX: 0.300000 m, approachRate: 0.594600 m/s, rangeRepo size: 4 - Added new target pos. range: 1.789007 m, bearing: 75.942645 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 0.504541 s, deltaX: 0.298168 m, approachRate: 0.590968 m/s, posRepo size: 4 g)g)g)g1g1g1g1g1zf1rf1fYfYBdYdadace?ce0?ɢ`e X"=I 7ɡiIw?ټI6snii)) 4Initializing EZServoServo.QM checking for new query: numPingsReceived=43, elapsed TxPingTime=22.733873ԁ 8Initializing DockingStepper.@ @ jAԩ D)D-fD-$D)E) E-96E-4:E)!]@!e@!e@!e@>AqrA@?jA=?ADDAT read: Rx Time:16:14:10.3829 TRx dataTimestamp_ set to:1755879249.683734 PDAT read: Bearing 241.1, 36.0 (Local) ~Local bearing/azimuth received: Bearing 241.1, 36.0 (Local) %DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 EDAT read: 16:14:10.3829 LVL= 23984, 12369, 25746, 26867, AGC= 40, IDX= 501, 0.06, 1.600, 0.238, 0.221, 2.248, PHS=-0.546,-1.965,-2.071, RAW= 86.4, 47.7, CAL= 84.8, 53.9, ROT= 65.2, -53.9 MYgot valid direction response: 16:14:10.3829 LVL= 23984, 12369, 25746, 26867, AGC= 40, IDX= 501, 0.06, 1.600, 0.238, 0.221, 2.248, PHS=-0.546,-1.965,-2.071, RAW= 86.4, 47.7, CAL= 84.8, 53.9, ROT= 65.2, -53.9 MT#Rx 44: Read range and direction messages.U\direction in FSK: [0.247140,0.534859,0.807990]]Fpublishing direction and range info9v&E?Q?p ??i]Q0dh(  )IDi?+ U?q?p?? piIcd.?9׿hNp?RIqIN?Qu,l%*AU ?)pichecking for new query: numPingsReceived=44, elapsed TxPingTime=23.009884q-B9-!I5=5=)9 =A!@! !@! !@! !@! BD 6D <4Y! =%Q)%>vB1~B1B1B1B1B1B1B5P;B5EBBBBBB-L4a9a9mDYmqCmAm>qQ 1}4٪us/?Q 5}4u3 u_BQ =}+:9yQ A}=YQ E?yuC)u;Iu?iu!4YAhhLk%*AhӾ?hӾ?hbة?h`Uɩ?CM5?9!E?hv&E?Q?p ?h?hpiK?tQ> i?'yD?hIVL?Z!_??0?hHC?h_B>h/7r??hOShB*i6JB?2i:iBinf?"i1?] addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503961 s, deltaX: -0.300000 m, approachRate: -0.595284 m/s, rangeRepo size: 4  Added new target pos. range: 1.490838 m, bearing: 76.026685 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503961 s, deltaX: -0.298169 m, approachRate: -0.591650 m/s, posRepo size: 4 ggggggggzfrfffԙBdddc?c[[?ɢ B  AY A I D wD ]D (D E }: E 96E c44:E "E g;! E h;! *E ! E !% I N >1!u,%*AyV@ٱV@L=V߄VAV=VH F?`翿`Υ?ִ?@ͥ?ê?@?IV@)V`;iV‘CbB9b!IBDj6DjP4Yr"!rk=v1;Q)%?)9)9-DY-C5A5?9IQ 1U4٪=/?Q 5U4=3 9Q =] :9YQ A]=Y]ؐQ E]?y9)=#;I=n?i=%4YimAqB*** querying acoustic contact ***zhhggggggggzfrfffBdddccV?DDAT read: Rx Time:16:14:10.8830 TRx dataTimestamp_ set to:1755879250.188219 PDAT read: Bearing 239.3, 35.7 (Local) ~Local bearing/azimuth received: Bearing 239.3, 35.7 (Local) -DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 UDAT read: 16:14:10.8830 LVL= 21488, 12257, 22834, 24803, AGC= 40, IDX= 502, 0.17, 2.898, 1.463, 1.505,-2.743, PHS=-0.540,-2.032,-2.079, RAW= 88.5, 47.3, CAL= 87.0, 53.5, ROT= 63.0, -53.5 ]Ygot valid direction response: 16:14:10.8830 LVL= 21488, 12257, 22834, 24803, AGC= 40, IDX= 502, 0.17, 2.898, 1.463, 1.505,-2.743, PHS=-0.540,-2.032,-2.079, RAW= 88.5, 47.3, CAL= 87.0, 53.5, ROT= 63.0, -53.5 ]T#Rx 45: Read range and direction messages.ɢy\direction in FSK: [0.270044,0.529991,0.803857]Fpublishing direction and range info939fH?i? 2??iS/2Y` q= )J IVi?VS? \?Q o?L? Q oiI'|?mC ֿ'Fކ?O sS L?)Q oichecking for new query: numPingsReceived=45, elapsed TxPingTime=23.528200dֺ !%rAԩ checking for new query: numPingsReceived=45, elapsed TxPingTime=23.741926A yAI I N > (u,%*AyF@ٱFB=Fb-FN U=FH޴?E򒭿`e?? ]?Ē?`?IF@)FI`;iFCNB9N!IBDV6DV4YrJ!vL=~ ]:Q)> H?9 H?9%DY%C=ȻAE>aԹQ 14٪e/?Q 5 4BE4JE#4RE0D=D=D=.D9E=: E=:6E=ـ4:E9!@!@!@!@e3 aQ =99Q Ag=YQ E?ya)e:=Ie?ieR)4YKAh9h= %*Ah=E?h=E?h=0?h=-3?&'1ɧ?HÌ:?h=39fH?i? 2?h=L?h=Q oi=;hj?=;ݎ??h="_T?tElO?3g,њ?h=v\?h=K>h=.F?h=h=DžB*i=hD?2i=:i=DžBi=d?"i=,U? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504485 s, deltaX: 0.200000 m, approachRate: 0.396444 m/s, rangeRepo size: 4  Added new target pos. range: 1.689617 m, bearing: 72.941937 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504485 s, deltaX: 0.198779 m, approachRate: 0.394023 m/s, posRepo size: 4 gg g g g g g g zfrfffBdddc@33?c5?ɢ7AG 額I xd5ɡiI޼I5snii))DDAT read: Rx Time:16:14:11.3829 TRx dataTimestamp_ set to:1755879250.691405%PDAT read: Bearing 243.2, 36.2 (Local) %~Local bearing/azimuth received: Bearing 243.2, 36.2 (Local) =DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 mDAT read: 16:14:11.3829 LVL= 23968, 11233, 25682, 27043, AGC= 42, IDX= 501, 0.30, 1.908, 0.640, 0.538, 2.569, PHS=-0.559,-1.884,-2.075, RAW= 83.4, 48.2, CAL= 81.3, 54.4, ROT= 68.7, -54.4 }Ygot valid direction response: 16:14:11.3829 LVL= 23968, 11233, 25682, 27043, AGC= 42, IDX= 501, 0.30, 1.908, 0.640, 0.538, 2.569, PHS=-0.559,-1.884,-2.075, RAW= 83.4, 48.2, CAL= 81.3, 54.4, ROT= 68.7, -54.4 }T#Rx 46: Read range and direction messages.\direction in FSK: [0.211457,0.542359,0.813101]Fpublishing direction and range info95",?ziv[?ć%??i]+Rdi* )&IiAQ?\W?>?s?.z? siI*CUl ?hGzٿ MU?#0W .z?)sichecking for new query: numPingsReceived=46, elapsed TxPingTime=24.015627@y@}Y>AA@AvBD>~BBBBBBBQ;BEA >A bA iAZA  checking for new query: numPingsReceived=46, elapsed TxPingTime=24.245886A-AI1IANU>./u,`%*A B9!Ii!! !! !! !! Mb@Mb@Mb@ )IiMb?Mb<I=AiKAA)BD6D4YI=!=ID=uD=bD=&D9E=v: E=96E=4:E9"E=";!E=$;!*E=5;!E=6;!Q)>K?9K?9DYCA>Q 14٪_0?Q 543 Q =T:9[o`?l%?k8QS?hEw?^r]v?bo`D?hEWD?hE>hE yA A yAI I N >t6u,%*A^checking for new query: numPingsReceived=47, elapsed TxPingTime=24.749929B9!IBD%6D%4Y5|o!5]=1Q)=>= H?9= H?9=DY=CAAE?IQ 1U4٪M0?Q 5U4M4 I9YYYQ E]?yMC)M";IM#;iM84Yae9Aahh:%*AhE?hE?h?hNs?s ?,?h?O6?\?hQ ?h_riA]i?K?!@ ?hD|.?Ka?$A?hh]?h@>haچ@?h_hԅB*iaچ@?2i_:iDžBib?"i? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504898 s, deltaX: 0.200000 m, approachRate: 0.396120 m/s, rangeRepo size: 4  Added new target pos. range: 1.689621 m, bearing: 77.718111 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504898 s, deltaX: 0.198779 m, approachRate: 0.393701 m/s, posRepo size: 4 ggggggggzfrfffBdddc@33?ce?ɢ غ   \A ;>uDDAT read: Rx Time:16:14:12.3829 }TRx dataTimestamp_ set to:1755879251.699906PDAT read: Bearing 245.5, 36.4 (Local) ~Local bearing/azimuth received: Bearing 245.5, 36.4 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:12.3829 LVL= 23360, 11121, 25906, 27267, AGC= 42, IDX= 502,-0.29,-0.584,-1.743,-1.926, 0.094, PHS=-0.576,-1.793,-2.064, RAW= 80.1, 48.8, CAL= 77.7, 54.9, ROT= 72.3, -54.9 Ygot valid direction response: 16:14:12.3829 LVL= 23360, 11121, 25906, 27267, AGC= 42, IDX= 502,-0.29,-0.584,-1.743,-1.926, 0.094, PHS=-0.576,-1.793,-2.064, RAW= 80.1, 48.8, CAL= 77.7, 54.9, ROT= 72.3, -54.9 T#Rx 48: Read range and direction messages.\direction in FSK: [0.174821,0.547785,0.818150]Fpublishing direction and range info9quh`?" u?[H.?u?qiu@[uq+u2euju* ut)uIuiu?u^ Z?u^?uKu?u? uKuiqqIu" 50?s XFۿ9?u2u+Y u?)uKuiqqchecking for new query: numPingsReceived=48, elapsed TxPingTime=25.0205549 AE AII Ia Nm >vB E>~B CB T!IB *BB B B [DB Q;B EUK?9K?9DYBCA>Q 14٪0?Q 54S4 _B9ADm sDm [Dm &Di Em so: Em 96Em 4:Ei "Em ޑ;!u Em ߑ;!u *Em ;!} Em ;!} ԩ I I N > DDAT read: Rx Time:16:14:12.8829  TRx dataTimestamp_ set to:1755879252.203293 PDAT read: Bearing 245.3, 36.4 (Local)  ~Local bearing/azimuth received: Bearing 245.3, 36.4 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:14:12.8829 LVL= 23488, 10865, 25794, 26931, AGC= 42, IDX= 502,-0.18,-0.466,-1.628,-1.810, 0.212, PHS=-0.577,-1.796,-2.066, RAW= 80.2, 48.8, CAL= 77.7, 54.9, ROT= 72.3, -54.9  Ygot valid direction response: 16:14:12.8829 LVL= 23488, 10865, 25794, 26931, AGC= 42, IDX= 502,-0.18,-0.466,-1.628,-1.810, 0.212, PHS=-0.577,-1.796,-2.066, RAW= 80.2, 48.8, CAL= 77.7, 54.9, ROT= 72.3, -54.9  T#Rx 49: Read range and direction messages. \direction in FSK: [0.174821,0.547785,0.818150] Fpublishing direction and range info9 h`?" u?[H.? i [ q* d 3i F) TI X9i $+? i I  9/1?BڿԌ? 1 Z ) i  PExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=49, elapsed TxPingTime=25.522108Cu,%*A@yJ‡@ٱJQ=J~J5J=JHt?[⬿Ď?@?/կ?7?0?IJ‡@)J a;iJ‘Cy9<<BD6D 4;Q)>99DYlC߼A>1Q 1=4٪51?Q 5E454 19AYEЦQ EE?y5C)5:I5B:i5G4YIIQhh %*Ahhh}?h$B&+?"?  ?hh`?" u?[H.?hhiOBn?XTx?Dyj[?hғ?v Cӊ?W8O?hKE?hp=hte9?hTB htB*i yA 6> bD @AZD ?AI I9 Ne >D} oD} nD} (Dy E} `: E} :6E} c44:Ey ! @! @! @! @Iu,(%*AyZ\q@ٱZ@=Z^}Ze8G=ZH@?xh嬿`ݺ?^?!?@Jب??`IZ\q@)Z=`;iZCjB9j!IMb@Mb@Mb@ )Ii~jth?Zd;OMb`jIiAKAA)QABD6D4Y:;!<:Q)>99DYC(ܻA>Q 14٪61?Q 544 _B9 E??6?))i-p\-/-c-j-) -&)-shI-i-q?-@X?-?-s?-? -si))I-.? ]IٿHS?-#-Z/X -?)-si))checking for new query: numPingsReceived=50, elapsed TxPingTime=26.033606h)h-F-%*Ah)h)h-خ?h-d6A?|?D4q?h-+L,?> E??6?h-?h-si-lZ,S?9bu)v?o/R?h-fjQ D? hh?!e:B?h-C?h-">h->?h-v h-uB*i)2i-[ :i-uBi-K?"i-y?u addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.490846 m, bearing: 78.265447 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.504108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ggggggggzfrfffۂBBdddcc^-?ɢBI3 @I KL3ɡiIdI6snii))A<AvBF>~BBBB =BBBQ;BE>A Iq I N > checking for new query: numPingsReceived=50, elapsed TxPingTime=26.261986I +Pu,DiB%*Ayv_@ٱv@'=vR5~vyA9A9EDYECE3AM>aQ 14٪eh1?Q 54e5 e_B9Y%Q E?yeC)e@R> >A I9 IQ N] >Vu,2V\%*Ay6O@ٱ6G=69~6H9C=6H@f?@Uй?`? x ?@X??I6O@)6 ^;i6C>B9B!I@i@iF=IF=Nchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.765932BDJ6DJ4Ybм!b[=b8Q)b>d9d9fDYfCfAj>lQ 1n4٪n1?Q 5r4n85 n_B9pYreQ Er?ynC)n:In:in[4YtzAxԑhyh}M%*Ah}E?h}E?h}ѱ?h}M?qi?W꓊C ?h}^t4O{?nqh?6?h}y(?hyi}} ?qW?X?v?h}rI?ۚo?^u3":?h}_?h}($>h}K??h}g@h}ɅB*i}>?2iy:iyi}Q?"i}ڱ? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504820 s, deltaX: 0.200000 m, approachRate: 0.396181 m/s, rangeRepo size: 4  Added new target pos. range: 1.689627 m, bearing: 79.596494 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.504820 s, deltaX: 0.198781 m, approachRate: 0.393766 m/s, posRepo size: 4 gggggggzfrfff!Bd!d!d!c%@33?c-t??ɢՎ1 顕9I 2ɡiIAI8snii))imqqu/yDrDcDDEk: EL96E:E!E@!E@!E@!E@uDDAT read: Rx Time:16:14:14.3829 uTRx dataTimestamp_ set to:1755879253.719337PDAT read: Bearing 238.8, 35.4 (Local) ~Local bearing/azimuth received: Bearing 238.8, 35.4 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:14.3829 LVL= 21136, 12241, 23266, 24051, AGC= 40, IDX= 501, 0.15, 0.374,-1.034,-1.016, 1.027, PHS=-0.551,-2.016,-2.086, RAW= 87.7, 47.6, CAL= 86.2, 53.8, ROT= 63.8, -53.8 Ygot valid direction response: 16:14:14.3829 LVL= 21136, 12241, 23266, 24051, AGC= 40, IDX= 501, 0.15, 0.374,-1.034,-1.016, 1.027, PHS=-0.551,-2.016,-2.086, RAW= 87.7, 47.6, CAL= 86.2, 53.8, ROT= 63.8, -53.8 T#Rx 52: Read range and direction messages.\direction in FSK: [0.260756,0.529926,0.806960]Fpublishing direction and range info9qu m9?+1'?f1n?u?qiuRu/uZu]u( uV )u%Iuiuv?uȭT?u?uvap?uӇ? uvapiqqIu.:?)[׿}"p'?uauIT uӇ?)uvapiqq checking for new query: numPingsReceived=52, elapsed TxPingTime=27.043123>A ;>I I N > vB ~B B M!IB %BB =B B B 0Q;B E\u, v%*Ay6S@ٱ6E=66:@=6H?J I?E? -"c?? ?I6S@)6*~`;i4BB9B !IMb@Mb@Mb@ )IiMbpZd;OMb`I=Ai)ABD)6D)Y=e<!=C=E7gQ)E>A9A9EDYECM:AM>QQ 14٪U1?Q 54Uy5 U_B9hLE?hx!htB*i2iTB :iiDR?"i_?= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507116 s, deltaX: -0.200000 m, approachRate: -0.394387 m/s, rangeRepo size: 4 M Added new target pos. range: 1.490848 m, bearing: 72.846138 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.507116 s, deltaX: -0.198779 m, approachRate: -0.391980 m/s, posRepo size: 4 gIgIgIgIgIgQgQzfYrfYfYf]ՂBBdadadace?ce0?ɢB 顕lADDdD*DE: E96E(N4:E"E';!E(;!*E}&;!E~&;!I I! N5 >IE G)] SkAIy i b SkA Am DDAT read: Rx Time:16:14:14.8830 m TRx dataTimestamp_ set to:1755879254.219292u PDAT read: Bearing 239.0, 35.5 (Local) } ~Local bearing/azimuth received: Bearing 239.0, 35.5 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ԡ  DAT read: 16:14:14.8830 LVL= 21104, 12081, 23250, 24435, AGC= 41, IDX= 502, 0.30, 1.835, 0.428, 0.441, 2.484, PHS=-0.548,-2.011,-2.087, RAW= 87.5, 47.5, CAL= 85.9, 53.7, ROT= 64.1, -53.7  Ygot valid direction response: 16:14:14.8830 LVL= 21104, 12081, 23250, 24435, AGC= 41, IDX= 502, 0.30, 1.835, 0.428, 0.441, 2.484, PHS=-0.548,-2.011,-2.087, RAW= 87.5, 47.5, CAL= 85.9, 53.7, ROT= 64.1, -53.7  T#Rx 53: Read range and direction messages. \direction in FSK: [0.258592,0.532550,0.805928] Fpublishing direction and range info9i m ~}6nj?Xs ?*?m ?i im pRm 1/m Zm s_m ) m I )m 9Im him z?m g;T?m ?m o?m f3? m oii i Im =r۪6?-7׿lǜ?m qBm vT m f3?)m oii i  checking for new query: numPingsReceived=53, elapsed TxPingTime=27.538696Ccu,%*AynKp@ٱnt=n)n'gB=nH?ड़}u%Ժ?`?r?;>?`?InKp@)nze`;inC B9 !IBD!6D!Y-N!5K=5Q)5>999DY7C3 <A>Q 14٪x1?Q 545 _B9YпQ E?yC):I:ij4Y~Ahh%*AhE?hE?hf?h#l?dAݮ@?G4?h~}6nj?Xs ?*?hf3?hoi;Ô?,?'mk?h|R?C2g?6uD ?h]?yh8>hr;G?hhƅB*iK??2i:iiU?"iz? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.499955 s, deltaX: 0.200000 m, approachRate: 0.400036 m/s, rangeRepo size: 4 } Added new target pos. range: 1.689627 m, bearing: 73.396926 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.499955 s, deltaX: 0.198780 m, approachRate: 0.397595 m/s, posRepo size: 4 gggggggzfrfffBdddc@33?ce?ɢB @A D pD D 'D E d: E :6E '4:E ! @! @! @! @ AU yAI I Nu >ju,6%*ADDAT read: Rx Time:16:14:15.3829 TRx dataTimestamp_ set to:1755879254.723417 PDAT read: Bearing 242.5, 36.0 (Local) ~Local bearing/azimuth received: Bearing 242.5, 36.0 (Local) %DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 EDAT read: 16:14:15.3829 LVL= 23760, 10801, 25650, 26963, AGC= 42, IDX= 501, 0.49, 0.107,-1.157,-1.260, 0.768, PHS=-0.559,-1.880,-2.073, RAW= 83.3, 48.2, CAL= 81.3, 54.4, ROT= 68.7, -54.4 MYgot valid direction response: 16:14:15.3829 LVL= 23760, 10801, 25650, 26963, AGC= 42, IDX= 501, 0.49, 0.107,-1.157,-1.260, 0.768, PHS=-0.559,-1.880,-2.073, RAW= 83.3, 48.2, CAL= 81.3, 54.4, ROT= 68.7, -54.4 MT#Rx 54: Read range and direction messages.U\direction in FSK: [0.211457,0.542359,0.813101]]Fpublishing direction and range info95",?ziv[?ć%??i\1*2dSi* )ףIi?\W?>?s?.z? siI {2?7sٿQ?$DW .z?yЀ@ٱ@= @=)sichecking for new query: numPingsReceived=54, elapsed TxPingTime=28.045462ԱH? !W?O?Fo@z5?8?~?IЀ@)k_;iCB9 !I<;) AvB)~B)B-G!IB- BB- =B)B)B-WQ;B-EBCBCBBBBĄ4MMb@Mb@Mb@ I)IIIiIIMMbPMbMb`MMIIMAiIIM=A)IIBD6Df4Ye<!e =e+Q)e>m H?9m H?9mDYmqCmk;Au>Q 14٪1?Q 545 _B9Xhz>?h'8!hvB*i2iv :ivBivS?"ie?= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504125 s, deltaX: -0.200000 m, approachRate: -0.396727 m/s, rangeRepo size: 4 M Added new target pos. range: 1.490849 m, bearing: 78.721192 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.504125 s, deltaX: -0.198778 m, approachRate: -0.394303 m/s, posRepo size: 4 gIgIgIgIgIggzfrfffԂBBdddc?c ?ɢ5B5oٺ 9=AM 6>D qD ZD (D E 2h: E a96E c44:E "E ;! E ;! *E ;! E ;! aAIIN?|(su,?%*ARDDAT read: Rx Time:16:14:15.8829 RTRx dataTimestamp_ set to:1755879255.227483ZPDAT read: Bearing 239.1, 35.2 (Local) ^~Local bearing/azimuth received: Bearing 239.1, 35.2 (Local) fDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 vDAT read: 16:14:15.8829 LVL= 21136, 12097, 23154, 24307, AGC= 41, IDX= 502,-0.30,-1.820, 3.077, 3.097,-1.166, PHS=-0.552,-1.995,-2.064, RAW= 87.7, 47.8, CAL= 86.2, 53.9, ROT= 63.8, -53.9 zYgot valid direction response: 16:14:15.8829 LVL= 21136, 12097, 23154, 24307, AGC= 41, IDX= 502,-0.30,-1.820, 3.077, 3.097,-1.166, PHS=-0.552,-1.995,-2.064, RAW= 87.7, 47.8, CAL= 86.2, 53.9, ROT= 63.8, -53.9 zT#Rx 55: Read range and direction messages.~\direction in FSK: [0.260134,0.528661,0.807990]Fpublishing direction and range info9PRoib?082?p ?PPiRRRA/RrZR^R) RO )R)\IRiRv?RU?R?Rp?RӇ? RpiPPIRK+?Ŵ}ֿ?RcR}U RӇ?)RpiPPchecking for new query: numPingsReceived=55, elapsed TxPingTime=28.546364y-@ٱ-=-Y-H[<=-H?\/T?`8?QH? }?@?I-@)-7"^;i-C=B9E!IBDm6Dm4Y}<!}B=;3Q)>99DYC{<A>Q 14٪1?Q 54$6Q 9tI _B9YxQ E?yC)w:IM:i{4Y)-:A)hPhR%*AhPhPhRE?hR= ?V8?AUF?hRoib?082?p ?hRӇ?hRpiR*+?,X3_?/?hRu6LT?X?LAp?hRB?hRf>hRljD?hRz"hRyB*iRljD?2iRx!:iRyBiRJQ?"iR:Z? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504066 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 1.490849 m, bearing: 73.532165 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.504066 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g)g)g)g)g)g)g1zf1rf1f1f9Bd9d9dYcace t^?ɢB9 9页x=I X.ɡiIѬI4snii))i0)Mchecking for new query: numPingsReceived=55, elapsed TxPingTime=28.781885>A a A) BEM̀'4JEM*4REM@o/DU rDU cDU &DQ EU k: EU L96EU 4:EQ ! @! @! @! @I I N >,zu,%*A?c? 9?I@)]];iCB9 !IDDAT read: Rx Time:16:14:16.3828 TRx dataTimestamp_ set to:1755879255.731374 PDAT read: Bearing 244.9, 36.5 (Local)  ~Local bearing/azimuth received: Bearing 244.9, 36.5 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 =DAT read: 16:14:16.3828 LVL= 23840, 11057, 26162, 27379, AGC= 42, IDX= 501,-0.17,-2.824, 2.280, 2.107,-2.163, PHS=-0.559,-1.796,-2.058, RAW= 80.6, 48.4, CAL= 78.2, 54.5, ROT= 71.8, -54.5 EYgot valid direction response: 16:14:16.3828 LVL= 23840, 11057, 26162, 27379, AGC= 42, IDX= 501,-0.17,-2.824, 2.280, 2.107,-2.163, PHS=-0.559,-1.796,-2.058, RAW= 80.6, 48.4, CAL= 78.2, 54.5, ROT= 71.8, -54.5 MT#Rx 56: Read range and direction messages.u\direction in FSK: [0.181374,0.551652,0.814116]uFpublishing direction and range info97A7?1@!?; ?3?i ]1+2fj* )TIFi?@X?R?"s?g? "siI<}7l?u7E ڿs:-"?i0X g?)"sichecking for new query: numPingsReceived=56, elapsed TxPingTime=29.053623=Mb@Mb@Mb@ 9)9I9i99=~jt99DYCM;A>aQ 1m4٪e1?Q 5m4eH6 e_B9uu~BBBBBBBnQ;BEhh%*Ah?h?hP?h]kh3&??0??h7A7?1@!?; ?hg?h"si~L¢?l=g?J?h_y??("?h9;?h=h 09?h #hLB*i2i'8!:ivBiQ?"ig? addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503891 s, deltaX: -0.100000 m, approachRate: -0.198456 m/s, rangeRepo size: 4  Added new target pos. range: 1.391460 m, bearing: 82.503917 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.503891 s, deltaX: -0.099389 m, approachRate: -0.197243 m/s, posRepo size: 4 gggggggzfrfffBBdddc`ff?c ?ɢ=B=ځ[ AEA ;>9 DqDgD%DE2h: E&96E 4:E"E!E!*Eh1;!Ei1;!AI)IANU?1u, %*A|y(@ٱ@k=k;=H@?U')?N?@>N?6_?@?I(@)];iCB9 !Ii%=I%=BD-6D-4Y=s=!=G==!Q)E>A9A9EDYECMT;<AM>QQ 1]4٪U0?Q 5]4Ud6 Q9YY]DQ E]?yQ)U;IU;iU닊4YimgAiB*** querying acoustic contact ***zhhgggggggzfrfffBdddccڏ?DDAT read: Rx Time:16:14:16.8830 TRx dataTimestamp_ set to:1755879256.235274 PDAT read: Bearing 238.3, 35.1 (Local)  ~Local bearing/azimuth received: Bearing 238.3, 35.1 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 EDAT read: 16:14:16.8830 LVL= 21536, 12641, 22994, 24883, AGC= 41, IDX= 502,-0.06,-1.475,-2.914,-2.850,-0.831, PHS=-0.543,-2.038,-2.063, RAW= 89.2, 47.4, CAL= 87.9, 53.6, ROT= 62.1, -53.6 MYgot valid direction response: 16:14:16.8830 LVL= 21536, 12641, 22994, 24883, AGC= 41, IDX= 502,-0.06,-1.475,-2.914,-2.850,-0.831, PHS=-0.543,-2.038,-2.063, RAW= 89.2, 47.4, CAL= 87.9, 53.6, ROT= 62.1, -53.6 MT#Rx 57: Read range and direction messages.U\direction in FSK: [0.277678,0.524443,0.804894]UFpublishing direction and range info9h6{?[)=?y??i Ta1Y3a)   )nI1iSF?S?^?|o?? |oiI~>?-ֿE ? S ?)|oiuchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.553223ɢB5 A6> checking for new query: numPingsReceived=57, elapsed TxPingTime=29.789879ԁ A AI I N >Ĉu,$%*AyMN@QٱM=MMB=MH ?`"`qy?`j? [?@2?`?IMN@)Mo];iMC}B9 !IBD6D4Yr;!B=\Q)>K?9K?9DY"C5n<A>Q 14٪T0?Q 546 _B9YQ E?yC)S:I:iH4Y^AbD1ZD5@ADnD]D&DEO]: E96E4:E!@!@!@!@h)h-%*Ah-E?h-E?h-?h-ܪ?p-X[?s?h-h6{?[)=?y?h-?h-|oi-,l,?<CK?#z+?h-[?4+ O?= ?h-r\?h->h-{G?h-MEh-ʅB*i)2i):i-yBi-S?"i-u?ԁ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503900 s, deltaX: 0.300000 m, approachRate: 0.595356 m/s, rangeRepo size: 4  Added new target pos. range: 1.689630 m, bearing: 72.305343 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.503900 s, deltaX: 0.298170 m, approachRate: 0.591725 m/s, posRepo size: 4 gggggggzfrfffBdddc@33?c? DDAT read: Rx Time:16:14:17.3829  TRx dataTimestamp_ set to:1755879256.739354PDAT read: Bearing 242.6, 36.1 (Local) ~Local bearing/azimuth received: Bearing 242.6, 36.1 (Local) -DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 MDAT read: 16:14:17.3829 LVL= 24144, 11201, 25538, 27379, AGC= 39, IDX= 501, 0.04,-1.098,-2.379,-2.460,-0.447, PHS=-0.549,-1.887,-2.057, RAW= 84.1, 48.0, CAL= 82.1, 54.2, ROT= 67.9, -54.2 UYgot valid direction response: 16:14:17.3829 LVL= 24144, 11201, 25538, 27379, AGC= 39, IDX= 501, 0.04,-1.098,-2.379,-2.460,-0.447, PHS=-0.549,-1.887,-2.057, RAW= 84.1, 48.0, CAL= 82.1, 54.2, ROT= 67.9, -54.2 UT#Rx 58: Read range and direction messages.]\direction in FSK: [0.220075,0.541980,0.811064]eFpublishing direction and range info9  NNl+?$W?΄y~BBBBBBBQ;BE9 C iU Y Y ] 0Y  checking for new query: numPingsReceived=58, elapsed TxPingTime=30.293854>A9rAE>?jAEF?1AmyAIyIDqD`D*DE2h: E96E(N4:E"E!E!*E;!E;!N?v\u,KI%*Aɰ;yF.)@ٱF`>FځFC=FH ? `@G?۰?N@8? /T? D?IF.)@)F@];iFCVB9V!IMb@Mb@Mb@ )Ii{GzMbPMbP#Ii5AbAA)I)@ABD6DF4Y%G=!- =5m:Q)5>5 H?95 H?95DY5^C=;A=>AQ 1M4٪E/?Q 5M4E6 E_B9Mx%h$?2iz":iiK?"im?E addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 1.007700 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 1.490850 m, bearing: 78.979979 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 0.504080 s, deltaX: -0.198780 m, approachRate: -0.394343 m/s, posRepo size: 4 gYgYgYgYgYgYgYzfYrfaffBBdddcc`#?ɢނBxFX: (`=I Ys%ɡiII 8sni i ) )98iuqqu0y! e checking for new query: numPingsReceived=59, elapsed TxPingTime=30.798195>A ;>Y A AI I9 Nu >u,D1f%*Ayl@ٱ B >hjD=H)?ǷQ?@?*?_?UK?9UK?9UDYUC]<A]>aQ 1m4٪e/?Q 5m4e6 e_B9iYm=:Q Em?ya)eN:Ie:ie⤊4Yy}AygggggggzfrfffBdddcDpDbD(DEd: E96Ec44:E!@!@!@!@c@?ɢ݂B%9 !%*=I! %X#ɡ)i)I-AI55sni9iA)A)Q)q qiIDDAT read: Rx Time:16:14:18.3829 TRx dataTimestamp_ set to:1755879257.747297PDAT read: Bearing 242.0, 36.0 (Local) ~Local bearing/azimuth received: Bearing 242.0, 36.0 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:18.3829 LVL= 24160, 11121, 25746, 27107, AGC= 40, IDX= 501, 0.29,-0.734,-2.059,-2.102,-0.088, PHS=-0.544,-1.925,-2.057, RAW= 85.5, 47.8, CAL= 83.7, 54.0, ROT= 66.3, -54.0 Ygot valid direction response: 16:14:18.3829 LVL= 24160, 11121, 25746, 27107, AGC= 40, IDX= 501, 0.29,-0.734,-2.059,-2.102,-0.088, PHS=-0.544,-1.925,-2.057, RAW= 85.5, 47.8, CAL= 83.7, 54.0, ROT= 66.3, -54.0 T#Rx 60: Read range and direction messages.\direction in FSK: [0.236259,0.538213,0.809017]Fpublishing direction and range info9Pj=?)f 9?ޣw??i`^q+di( C )ffIiC?U??:Fq?? :FqiI.?$1g]ؿw)j?J9'U ?):Fqichecking for new query: numPingsReceived=60, elapsed TxPingTime=31.065582)vBmG>~BiBiBiBm =BiBiBmQ;BmEi0Yԉ M checking for new query: numPingsReceived=60, elapsed TxPingTime=31.302158>AY AԱIIN>Fu,Y%*Ayjz@ٱj>j髁jtG=jH@?tK¿T??`\=2?`y?`?Ijz@)je`;ijCzB9~!IMb@Mb@Mb@ )Ii~jty&1|?D`;I=AiKAd@)ABD6D4Y<!#=Q)>99DYC:<A>Q 14٪.?Q 546 9cC?x"?77?hEt冼?Dx?9??hEF?hE*>hELA 6>ԡ  checking for new query: numPingsReceived=61, elapsed TxPingTime=31.805817A! I) I9 NM >u, 9%*AiyZ'@ٱZu>Z􀽹Z4I=ZH@$?¿`<U?̝?y@?`(?@?IZ'@)Zc;iZCfB9f!IBD6D4YM!MB=]X:Q)e>q9q9}DY}C<A>Q 14٪.?Q 54p6 9Y0@Q E?yC);I;i'4YԑAB*** querying acoustic contact ***zhhm addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504492 s, deltaX: 0.200000 m, approachRate: 0.396438 m/s, rangeRepo size: 4 gigigigigqgqgqzfqrfqfyfyBdydydyc@33?c`n?DaDecDe*DaEa EeL96Ee(N4:Ea!m@!m@!m@!u@ɢۂB=,: AE:=II MlɡQiqI}1jI7snԹii))=DDAT read: Rx Time:16:14:19.3829 ETRx dataTimestamp_ set to:1755879258.756264UPDAT read: Bearing 239.1, 35.2 (Local) ]~Local bearing/azimuth received: Bearing 239.1, 35.2 (Local) mDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:19.3829 LVL= 21408, 12657, 23074, 23939, AGC= 40, IDX= 502,-0.31,-3.129, 1.699, 1.784,-2.487, PHS=-0.541,-2.052,-2.057, RAW= 89.9, 47.4, CAL= 88.6, 53.5, ROT= 61.4, -53.5 Ygot valid direction response: 16:14:19.3829 LVL= 21408, 12657, 23074, 23939, AGC= 40, IDX= 502,-0.31,-3.129, 1.699, 1.784,-2.487, PHS=-0.541,-2.052,-2.057, RAW= 89.9, 47.4, CAL= 88.6, 53.5, ROT= 61.4, -53.5 T#Rx 62: Read range and direction messages.\direction in FSK: [0.284737,0.522244,0.803857]Fpublishing direction and range info9AER 9?!ƚ9? 2?E?AiESEq1E"ZE]A E~ )ESIAiE?ES?E.?EQ o?E>+? EQ oiAAIEb"?Nտp@?EEAS E>+?)EQ oiAA checking for new query: numPingsReceived=62, elapsed TxPingTime=32.085644i%))-/)A @AA AAvB F>~B B B B B B B Q;B >AM ;>A}yAIIN>H>u,[%*Achecking for new query: numPingsReceived=62, elapsed TxPingTime=32.309898HUB9U!IMb@Mb@Mb@ )Ii{Gzt?{Gz?Mb`?ף;ף<;ISAiA)QABDU6DU4Ymz*=!m=uQ)u>} H?9} H?9}DY}CA>Q 1 4٪.?Q 5 4%6 _B9+?h%Q oi%=?8(Z?S$)m&?h%{s?y,U?$c0?h%B?h%t>h%B?h%=d!"h%B*i!2i!:i%Bi%wG?"i%\ͬ?m addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504475 s, deltaX: -0.200000 m, approachRate: -0.396452 m/s, rangeRepo size: 4 } Added new target pos. range: 1.490848 m, bearing: 72.551064 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 1.008967 s, deltaX: -0.000001 m, approachRate: -0.000001 m/s, posRepo size: 4 gyggggggzfrfffBBdddc?c!?ɢڂBN; ,=I ɡiI*I4snii))D%tD%YD!D!E%s: E%*96E!:E!]=i]dC"E%;!E%;!IG*E%:!E%:!)IZAiMIM Bi/-?ADDAT read: Rx Time:16:14:19.8829 TRx dataTimestamp_ set to:1755879259.259428PDAT read: Bearing 240.1, 35.4 (Local)  ~Local bearing/azimuth received: Bearing 240.1, 35.4 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 =DAT read: 16:14:19.8829 LVL= 21568, 12593, 23522, 24435, AGC= 40, IDX= 502,-0.18,-2.938, 1.919, 1.975,-2.296, PHS=-0.540,-2.023,-2.056, RAW= 88.9, 47.4, CAL= 87.5, 53.6, ROT= 62.5, -53.6 MYgot valid direction response: 16:14:19.8829 LVL= 21568, 12593, 23522, 24435, AGC= 40, IDX= 502,-0.18,-2.938, 1.919, 1.975,-2.296, PHS=-0.540,-2.023,-2.056, RAW= 88.9, 47.4, CAL= 87.5, 53.6, ROT= 62.5, -53.6 MT#Rx 63: Read range and direction messages.U\direction in FSK: [0.274010,0.526369,0.804894]UFpublishing direction and range info9{b?E>?y?i@T11[s_ q= )xIi?z?|o?X? |oiI4?[ֿʂz?w ~S X?)|oiuchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.578388! >A 6>A I I! N- >Au,%*A yJt @ٱJ >JozJhuP=JH@?@(,Ŀ?? ? ?L?IJt @)JTA_;iH191BDE6DE4YU͜:!Ua=](:Q)]>Y9Y9]DY]ACeP<Ae>iQ 14٪m.?Q 54m5 m_B9Y?Q E?ymC)m;ImC;imĊ4YAhIhMx%*AhIhIhM?hMd$?,P?Sa@3?hM{b?E>?y?hMX?hM|oiMuwo?~N{?Ƙ*/?hMVZg?ӳ#k??hMC?hM{[>hM>@?hM!hMB*iM>@?2iM=d!":iMBiMH?"iMD?U addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.490848 m, bearing: 74.348593 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 0.503164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gagagagagagagauchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.814030zfrfffBdddcc a?ɢ>; =I  ɡ i I YI9snii))A ??ieaaaa@uiA@qqDUpDUnDU%DQEUd: EU:6EU 4:EQ!]@!]@!]@!]@>A = DDAT read: Rx Time:16:14:20.3829 E TRx dataTimestamp_ set to:1755879259.766173M PDAT read: Bearing 240.1, 35.5 (Local) M ~Local bearing/azimuth received: Bearing 240.1, 35.5 (Local) ] DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 } DAT read: 16:14:20.3829 LVL= 21216, 12353, 23346, 24499, AGC= 40, IDX= 501,-0.06, 3.088, 1.644, 1.706,-2.557, PHS=-0.536,-2.037,-2.064, RAW= 89.1, 47.3, CAL= 87.8, 53.4, ROT= 62.2, -53.4  Ygot valid direction response: 16:14:20.3829 LVL= 21216, 12353, 23346, 24499, AGC= 40, IDX= 501,-0.06, 3.088, 1.644, 1.706,-2.557, PHS=-0.536,-2.037,-2.064, RAW= 89.1, 47.3, CAL= 87.8, 53.4, ROT= 62.2, -53.4  T#Rx 64: Read range and direction messages. \direction in FSK: [0.278071,0.527409,0.802817] Fpublishing direction and range info99 = 0?}/4?@۾F?9 9 i= R= A0= 2[= _9 = L7 )= 5^I= i= " ?= VS?= %?= n?= ? = ni9 9 I= cW?g&Kֿ?= P = }.S = ?)= ni9 9  checking for new query: numPingsReceived=64, elapsed TxPingTime=33.121387AM AIQ Ii Nu >7̼u,q%*AvB"G>~B B"M!IB"%BB B B B"Q;B"EB B B B B =B 4,yn2@ٱn` $>n}nQ=nH /?EĿw`?@H?+` ?`,?@&?In2@)nJ^;inCvB9z$!I~=~=)| |Mb@Mb@Mb@ )Ii:v?~jt?Mb`T<<IiKAA)zABD56D54YE±<!E:=EmQ)E>MK?9mK?9mDYmnCu6<Au>yQ 1}4٪}.?Q 54}5 y92hU 6A?hUq!hUB*iQ2iQ:iQiU}E?"iUe? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.506745 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.490849 m, bearing: 74.264088 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 0.506745 s, deltaX: 0.000001 m, approachRate: 0.000002 m/s, posRepo size: 4 gggggggzfrfffBBdddcc @#?ɢuقBuN; qu8=Iq }ɡyiyI}I6snii))mchecking for new query: numPingsReceived=64, elapsed TxPingTime=33.318707i=9999Թ DM vDM ^DM 'DI EM Vz: EM ;96EM '4:EI "EM E;!] EM F;!] *EM ;!e EM ;!e >A} ;>Iq I N >yu,)%*A:DDAT read: Rx Time:16:14:20.8830 >TRx dataTimestamp_ set to:1755879260.267324BPDAT read: Bearing 239.9, 35.4 (Local) B~Local bearing/azimuth received: Bearing 239.9, 35.4 (Local) JDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ^DAT read: 16:14:20.8830 LVL= 21216, 12465, 23026, 24003, AGC= 40, IDX= 502, 0.04,-1.081,-2.548,-2.468,-0.442, PHS=-0.537,-2.060,-2.069, RAW= 89.7, 47.2, CAL= 88.4, 53.4, ROT= 61.6, -53.4 bYgot valid direction response: 16:14:20.8830 LVL= 21216, 12465, 23026, 24003, AGC= 40, IDX= 502, 0.04,-1.081,-2.548,-2.468,-0.442, PHS=-0.537,-2.060,-2.069, RAW= 89.7, 47.2, CAL= 88.4, 53.4, ROT= 61.6, -53.4 bT#Rx 65: Read range and direction messages.f\direction in FSK: [0.283579,0.524468,0.802817]fFpublishing direction and range info98:#4fo(&?EIq?@۾F?:?8i8:0:Y:]8 :x ): I:ji:Hd?:BR?:|?8:? 8i88I:h?Oc"տ|z?:X:iR :?)8i88vchecking for new query: numPingsReceived=65, elapsed TxPingTime=33.585819xy~R@ٱ~(>~ L~S=~HE? yIſ`zC??G7?a?0?I~R@)~;^;i~CB9)!IR=i%=BD%6D%<4Y5-<!5W== :Q)=>9999EDYECE7)<AE>IQ 1U4٪M@/?Q 5U4Me5 I9YY]?Q E]?yMC)MS:IM:iM>ӊ4YaeqAah8h:%*Ah:E?h:E?h:{Τ?h:sH?hOe[?Z3P?h:#4fo(&?EIq?@۾F?h:?h8i:ੰG*?7?(?h:sBW #?go?"|N; ?h:,^?h:V>h:D?h:h:B*i: 6A?2i:!:i:Bi:F?"i:X? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.501151 s, deltaX: 0.200000 m, approachRate: 0.399081 m/s, rangeRepo size: 4  Added new target pos. range: 1.689629 m, bearing: 73.771253 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 0.501151 s, deltaX: 0.198780 m, approachRate: 0.396647 m/s, posRepo size: 4 gggg!g!g!g!zf!rf!f)f)Bd)d)dqcu@33?cuܷ?ɢऀ; =I " ɡiI{I-3sni)i1)1)1i%!!!!I%checking for new query: numPingsReceived=65, elapsed TxPingTime=33.821972q >Ae 6>BE!4JERE60D rD [D %D E k: E 96E 4:E ! @! @! @! @IQ Ia Nu >u,GX,%*Ay@ٱ->^8Z=)Y ]AmDDAT read: Rx Time:16:14:21.3829 mTRx dataTimestamp_ set to:1755879260.771525uPDAT read: Bearing 243.7, 36.2 (Local) }~Local bearing/azimuth received: Bearing 243.7, 36.2 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:21.3829 LVL= 23760, 12337, 25682, 27347, AGC= 40, IDX= 501, 0.15,-2.078, 2.880, 2.836,-1.432, PHS=-0.544,-1.926,-2.059, RAW= 85.5, 47.8, CAL= 83.7, 54.0, ROT= 66.3, -54.0 Ygot valid direction response: 16:14:21.3829 LVL= 23760, 12337, 25682, 27347, AGC= 40, IDX= 501, 0.15,-2.078, 2.880, 2.836,-1.432, PHS=-0.544,-1.926,-2.059, RAW= 85.5, 47.8, CAL= 83.7, 54.0, ROT= 66.3, -54.0 T#Rx 66: Read range and direction messages.\direction in FSK: [0.236259,0.538213,0.809017]Fpublishing direction and range info9imPj=?)f 9?ޣw?m?iim\m10mRdmji mC )m+ImimC?mU?m?m:Fq?m? m:FqiiiImMd?Fcؿ7?mZmxU m?)m:Fqiiichecking for new query: numPingsReceived=66, elapsed TxPingTime=34.089596Hz?>ſ~?jz?#+ ?6?O?I@)@^;iB9$!Ii==I==QeMb@Mb@Mb@ a)aIaiaae~jtx??~jth?e;e<eD;Ie=AiebAaa)aaBD6D4A<AvBF>~BBT!IB*BB =BBBQ;BEYL! = I#Q)>99DYC=<A>!Q 14٪%R/?Q 54%5 %_B9 hm7;?hm hmB*ii2imq!:imBimF?"im{}?M addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504201 s, deltaX: -0.200000 m, approachRate: -0.396667 m/s, rangeRepo size: 4 U Added new target pos. range: 1.490849 m, bearing: 79.363227 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 0.504201 s, deltaX: -0.198780 m, approachRate: -0.394247 m/s, posRepo size: 4 gYgYgYgYgYgYԁgYzfrfffBdddc?c}?ɢ!%]K; !%=I! % ɡ)i)I-FI58sni1i1)1)1)i    / @ @ ?>Ա  checking for new query: numPingsReceived=66, elapsed TxPingTime=34.326069 >A9 bA= hAZA= hAI I N >-u,#I%*Aiy:y@ٱ:1>:R6:\=:H Bu?|ƿ:m ?@t?@Y`?.??I:y@):)^;i:CB B9B,!IBDR6DR4Y^=!^=bJ9Q)b?`9d9fDYfCjMM<Aj?lQ 1r4٪n[/?Q 5v4n4 n_B9tYvD?Q Ez?D=tD=cD9D9E=s: E=L96E9:E9"E=;!ME=;!M*E=";!UE=";!UynC)nBA;>IA IY Ne > checking for new query: numPingsReceived=67, elapsed TxPingTime=34.829865 Xu,c%*AyU@ٱU.5>U;U:_=UH`8p?Iƿ`C|?@4o?@S?ի??IU@)U&R^;iQԩB96!IBD6D4Y=!-=hQ)>99DYCr;A>Q 14٪h/?Q 544 _B9Y?Q E?yC):I:i4YAhAhEQ%*AhEE?hEE?hE8/?hE7/?4]#?Sh?hE=સ?^Bk+?ޣw?hE8?hAiEzp?"?uջ?hE;k?&?#6?hE_?hE(>hEqTL=?hEhEB*iE>@?2iE :iEBiEG?"iEL?M addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504456 s, deltaX: 0.200000 m, approachRate: 0.396467 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.689629 m, bearing: 79.311886 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.504456 s, deltaX: 0.198780 m, approachRate: 0.394048 m/s, posRepo size: 4 gYgYgagagagagazfarfififiBdidqdqcu@33?cu?ɢ; 顥=I ɡiIZ?I2snii))DEzDE\DADAEEl: EE96EA:EA!U@!U@!U@!U@i%)))1=DDAT read: Rx Time:16:14:22.3829 ETRx dataTimestamp_ set to:1755879261.783958ePDAT read: Bearing 246.3, 36.7 (Local) u~Local bearing/azimuth received: Bearing 246.3, 36.7 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:22.3829 LVL= 23904, 11073, 25874, 27123, AGC= 42, IDX= 501, 0.47,-2.469, 2.563, 2.448,-1.816, PHS=-0.551,-1.860,-2.064, RAW= 82.9, 48.1, CAL= 80.8, 54.3, ROT= 69.2, -54.3 Ygot valid direction response: 16:14:22.3829 LVL= 23904, 11073, 25874, 27123, AGC= 42, IDX= 501, 0.47,-2.469, 2.563, 2.448,-1.816, PHS=-0.551,-1.860,-2.064, RAW= 82.9, 48.1, CAL= 80.8, 54.3, ROT= 69.2, -54.3 T#Rx 68: Read range and direction messages.\direction in FSK: [0.207220,0.545509,0.812084]Fpublishing direction and range info99=e Y+?+9t?\?=?9i=`]=A+=e9=* =V )={I9i=L3?=V?=J?=_r?=#? =_ri99I=mS ?<ٿ)?=%=V =#?)=_ri99checking for new query: numPingsReceived=68, elapsed TxPingTime=35.110359>A Ii Iy N >vB ~B B Z!IB /BB =B B B B ) ~u,|%*AyZ@ٱZP7>ZZL_=ZH@Tm?)0ǿ th?@l? Ԛ[???IZ@)ZN^;iZCrB9r4!I)vA vAmMb@Mb@Mb@ i)iIiiiimMb?Q?Mb`?m99DYBC];A>Q 14٪/?Q 5404 _B9 =Q AA 6>rA ;?jA 2? DAT read: 16:14:22.8830 LVL= 21232, 12577, 23090, 24259, AGC= 40, IDX= 503,-0.32,-2.494, 2.367, 2.415,-1.846, PHS=-0.546,-2.025,-2.066, RAW= 88.6, 47.5, CAL= 87.3, 53.7, ROT= 62.7, -53.7  Ygot valid direction response: 16:14:22.8830 LVL= 21232, 12577, 23090, 24259, AGC= 40, IDX= 503,-0.32,-2.494, 2.367, 2.415,-1.846, PHS=-0.546,-2.025,-2.066, RAW= 88.6, 47.5, CAL= 87.3, 53.7, ROT= 62.7, -53.7  T#Rx 69: Read range and direction messages. \direction in FSK: [0.271527,0.526073,0.805928] Fpublishing direction and range info91 5 `?KVT?*?5 ?1 i5 R5 !15 2Z5 ^5 ( 5 )5 I5 X9i5 .?5 g;T?5 ?5 o?5 ? 5 oi1 1 I5 Nr?,1zֿ.?5  5 =nT 5 ?)5 oi1 1  checking for new query: numPingsReceived=69, elapsed TxPingTime=35.632717Iy I Թ N >u,t%*Aɰ4JʀJb=JHj?aǿ @?mi?!԰?MK?C?IJ)@)JP^;iJCbB9f7!IBDn6Dny4YvU<!vN=vlQ)v>x9x9zDYzkC~t;A~>|Q 1E4٪~0?Q 5M4~3 ~_B9IYM ?Q EM?y~C)~D$hNcB?hhB*i2i:iBiS?"iт? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.499439 s, deltaX: 0.200000 m, approachRate: 0.400449 m/s, rangeRepo size: 4  Added new target pos. range: 1.689629 m, bearing: 75.886751 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.499439 s, deltaX: 0.198780 m, approachRate: 0.398006 m/s, posRepo size: 4 gggggggzfrfffBdddc@33?c@?ɢY] ; ae=Ia e|E޺ɡaiaIe*Im4sniiii)q)qchecking for new query: numPingsReceived=69, elapsed TxPingTime=35.838081i-))5 01I>A ;>q D nD XD D E O]: E 96E :E ! @! @! @! @I I N= >u,%*ABDDAT read: Rx Time:16:14:23.3829 JTRx dataTimestamp_ set to:1755879262.791256RPDAT read: Bearing 242.0, 35.8 (Local) R~Local bearing/azimuth received: Bearing 242.0, 35.8 (Local) ZDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 lrDAT read: 16:14:23.3829 LVL= 21632, 11969, 23410, 24195, AGC= 41, IDX= 502,-0.19, 2.741, 1.317, 1.361,-2.894, PHS=-0.546,-2.027,-2.073, RAW= 88.5, 47.5, CAL= 87.1, 53.7, ROT= 62.9, -53.7 vYgot valid direction response: 16:14:23.3829 LVL= 21632, 11969, 23410, 24195, AGC= 41, IDX= 502,-0.19, 2.741, 1.317, 1.361,-2.894, PHS=-0.546,-2.027,-2.073, RAW= 88.5, 47.5, CAL= 87.1, 53.7, ROT= 62.9, -53.7 vT#Rx 70: Read range and direction messages.z\direction in FSK: [0.269689,0.527018,0.805928]zFpublishing direction and range info9DFȓB?ςPT?*?F?DiFTF.Fr[F^F) D)F^IFiF?DFQ?DF? DiDDIFLl?8ֿ>߹?F FlIT F?)DiDDchecking for new query: numPingsReceived=70, elapsed TxPingTime=36.112160yZ@ٱ[:> e=Hh?@aǿ?`f?@5?Ύ??IZ@)#Y^;iC=B9=?!IAAvBI>~BBf!IB9BB =BBBQ;BEMb@Mb@Mb@ )Iiy&1?S㥛?Mb`?`e</<Id@iAA)(ABDU6DUF4Yem<!e=mjQ)m>i9q9uDYuCu;;Au>yQ 14٪}o0?Q 54}u3 }_B9l-$?zm9?hFȓB?ςPT?*?hF?hDiFTw-?F[b}q? կC?hFI6f?%Ae?L/?hFC?hF?>hFC9@?hFS^hFB*iD2iFS^:iFBiFiG?"iF.ѯ? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507859 s, deltaX: -0.200000 m, approachRate: -0.393810 m/s, rangeRepo size: 4  Added new target pos. range: 1.490853 m, bearing: 76.217312 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.507859 s, deltaX: -0.198775 m, approachRate: -0.391399 m/s, posRepo size: 4 gggggggzfrfffBBdddc?c?ɢ5; 9==I9 =κɡ9i9I=a4 IE9sniAiI)I)I1checking for new query: numPingsReceived=70, elapsed TxPingTime=36.342113] 5 bTimed out moving from: 7327 to: 14700 response: 1= - = Hardware Fault@a @e ]>a D qD bD D E 2h: E 96E :E "E ;! E ;! *E 5;!% E 6;!% >A 6>ԑ bA ZA gAI-&%VHardware Fault in component: DockingStepperI!N-> u,N%*Ay6]@ٱ6@|7>676Bb=6H@l?8ǿ_Ȫu? ak?+Ұ!3?E??I6]@)6Da;i6CzB9z4!IBD6D4Y]F!]`=]8Q)]>a9a9eDYeCe%Am>iQ 1u4٪m0?Q 5}4m.3 m_B9yY}h?Q E}?ymC)m:Im:im4YXADDAT read: Rx Time:16:14:23.8830 TRx dataTimestamp_ set to:1755879263.291394PDAT read: Bearing 242.0, 35.8 (Local) ~Local bearing/azimuth received: Bearing 242.0, 35.8 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:14:23.8830 LVL= 21136, 12001, 23778, 24243, AGC= 40, IDX= 502,-0.08, 2.893, 1.469, 1.512,-2.740, PHS=-0.548,-2.029,-2.075, RAW= 88.5, 47.6, CAL= 87.1, 53.7, ROT= 62.9, -53.7  Ygot valid direction response: 16:14:23.8830 LVL= 21136, 12001, 23778, 24243, AGC= 40, IDX= 502,-0.08, 2.893, 1.469, 1.512,-2.740, PHS=-0.548,-2.029,-2.075, RAW= 88.5, 47.6, CAL= 87.1, 53.7, ROT= 62.9, -53.7 T#Rx 71: Read range and direction messages.\direction in FSK: [0.269689,0.527018,0.805928]Fpublishing direction and range info9ȓB?ςPT?*??iR.\^( I )#IiȭT? iI׻ؘi?]*RֿCj惜?sT )i=checking for new query: numPingsReceived=71, elapsed TxPingTime=36.614841ԉhh3%*AhE?hE?h?hxʠ)?8~?[S?hȓB?ςPT?*?hhi]bG{?-[?H)n?h!c&D?p)f?`4 -?h]?h[>hwB?hhhB*iC9@?2i:iBiX?"i? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.500138 s, deltaX: 0.200000 m, approachRate: 0.399890 m/s, rangeRepo size: 4  Added new target pos. range: 1.689634 m, bearing: 76.073036 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.500138 s, deltaX: 0.198780 m, approachRate: 0.397451 m/s, posRepo size: 4 g g g ggggzfrfffBdddc%@33?ceխ?ɢ1; 页4=I IGúɡiI I6snii)) :Uninitialize Docking Stepper. Powering down Ա>A!IIN>E checking for new query: numPingsReceived=71, elapsed TxPingTime=36.845829 u,,%*AvB9v8!IBD~6D~4YEX<!ML=MQ)M>I9Q9UDYUCUAU>YQ 1e4٪]0?Q 5e4]2 ]_B9iYiQ Em?y]C)]`:I]y:i]4Yqu:AqB*** querying acoustic contact ***zhhgggggggzfrfffBdddcc ?DpD\DDEd: E96E:E!@!@!@!@ɢڂB|; =I ! ɡiI I3sni i ) ) )߱ ߱DDAT read: Rx Time:16:14:24.3829 TRx dataTimestamp_ set to:1755879263.800964 PDAT read: Bearing 246.5, 36.7 (Local) ~Local bearing/azimuth received: Bearing 246.5, 36.7 (Local) =DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 >A};>DAT read: 16:14:24.3829 LVL= 23408, 11057, 26082, 27747, AGC= 42, IDX= 501, 0.02, 2.550, 1.301, 1.183,-3.073, PHS=-0.558,-1.865,-2.072, RAW= 82.8, 48.2, CAL= 80.7, 54.4, ROT= 69.3, -54.4 Ygot valid direction response: 16:14:24.3829 LVL= 23408, 11057, 26082, 27747, AGC= 42, IDX= 501, 0.02, 2.550, 1.301, 1.183,-3.073, PHS=-0.558,-1.865,-2.072, RAW= 82.8, 48.2, CAL= 80.7, 54.4, ROT= 69.3, -54.4 T#Rx 72: Read range and direction messages.\direction in FSK: [0.205766,0.544543,0.813101]Fpublishing direction and range info9Ki6V?M_l?ć%??vBG>~BBm!IB>BB =BBBQ;B EIINn>ip[1+ecl* )RIi?\W?I?s?Tњ? siIS|O?{1Gmٿ\R0?pg&GW Tњ?)simchecking for new query: numPingsReceived=72, elapsed TxPingTime=37.187664I u checking for new query: numPingsReceived=72, elapsed TxPingTime=37.351845v,S%*AHy@ٱ3>3d=H`)r?ƿ@ @G? p?ݰ(@?s? ?I@) d;iC B9H!IuMb@Mb@Mb@ q)qIqiqquS㥛?{Gz?u/9 9 DY C A >Q 1%4٪1?Q 5%42 _B9% =Q A%87?8jЎ\?h0 x?5!?P?hkE?h9=hh9?hVKhB*i2iVK:iBi(J?"i~K? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.509570 s, deltaX: -0.200000 m, approachRate: -0.392488 m/s, rangeRepo size: 4  Added new target pos. range: 1.490852 m, bearing: 83.096485 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.509570 s, deltaX: -0.198782 m, approachRate: -0.390097 m/s, posRepo size: 4 gggggggzfrfIm݈G)lAIADsDaD*DEso: E96E(N4:E"Eޑ;!Eߑ;!*E;!E;!ff%BBdddc?c`H?i= =lA=KBɢaeo; im >Ii \ɡiIH I8snii))@@IDDAT read: Rx Time:16:14:24.8830 TRx dataTimestamp_ set to:1755879264.299312PDAT read: Bearing 244.5, 36.4 (Local) ~Local bearing/azimuth received: Bearing 244.5, 36.4 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:14:24.8830 LVL= 23728, 12401, 26002, 27283, AGC= 41, IDX= 502, 0.13,-2.302, 2.662, 2.609,-1.647, PHS=-0.553,-1.929,-2.071, RAW= 85.1, 47.9, CAL= 83.3, 54.2, ROT= 66.7, -54.2 Ygot valid direction response: 16:14:24.8830 LVL= 23728, 12401, 26002, 27283, AGC= 41, IDX= 502, 0.13,-2.302, 2.662, 2.609,-1.647, PHS=-0.553,-1.929,-2.071, RAW= 85.1, 47.9, CAL= 83.3, 54.2, ROT= 66.7, -54.2 T#Rx 73: Read range and direction messages.\direction in FSK: [0.231377,0.537252,0.811064]Fpublishing direction and range info9Ɲ?oe+1?΄yA rA C?jA I?A! I) IA NM >v,%*A(y6@ٱ61>6B6d=6Hu?mƿ@+?Xt?mްSO? 쀬??I6@)6c;i6CBB9BC!IDFp;BDN6DN̺4YV(μ!Vz=VB:Q)V?X9X9ZDYZ>C^A^?`Q 1b4٪b2?Q 5f4b^2 b_B9dYfO?Q Ef?ybC)b7:IbC:ib]4YlnAlhh'%*AhE?hE?h[Ҳ?h5̷4?=[ ?:Bc'?hƝ?oe+1?΄yhkHd??hۂhB*i2i:iBi0S?"i3?% addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.498348 s, deltaX: 0.200000 m, approachRate: 0.401326 m/s, rangeRepo size: 4  Added new target pos. range: 1.689632 m, bearing: 80.044757 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.498348 s, deltaX: 0.198780 m, approachRate: 0.398878 m/s, posRepo size: 4 gggggggzfrfffBdddc@33?c ?ɢ5ۂB=dZ< 9=L>I9 =/gɡ9i9IE IE5sniIii)i)qDDAT read: Rx Time:16:14:25.3829 -TRx dataTimestamp_ set to:1755879264.556734EPDAT read: Bearing 241.8, 36.0 (Local) M~Local bearing/azimuth received: Bearing 241.8, 36.0 (Local) ]checking for new query: numPingsReceived=73, elapsed TxPingTime=37.866856ԉԱ>A DpD[D$DEd: E96E4:E!@!@!@!@A9 Ia I N >  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:14:25.3829 LVL= 21216, 12081, 23202, 24211, AGC= 40, IDX= 501, 0.24,-2.669, 2.190, 2.222,-2.022, PHS=-0.545,-2.027,-2.083, RAW= 88.1, 47.5, CAL= 86.7, 53.6, ROT= 63.3, -53.6  Ygot valid direction response: 16:14:25.3829 LVL= 21216, 12081, 23202, 24211, AGC= 40, IDX= 501, 0.24,-2.669, 2.190, 2.222,-2.022, PHS=-0.545,-2.027,-2.083, RAW= 88.1, 47.5, CAL= 86.7, 53.6, ROT= 63.3, -53.6  T#Rx 74: Read range and direction messages. \direction in FSK: [0.266634,0.530143,0.804894] Fpublishing direction and range info9 ?f8u?y? ? i R 1/ Z ^ (  ) ^I Oi :? g;T? ? |o? i? |oi I }LT6b?G3ֿ*ܒ? B ?T i?) |oi  checking for new query: numPingsReceived=74, elapsed TxPingTime=38.147923J v,!6%*AvB6H>~B4B4B4B4B4B4B6Q;B6EB)B)B)B- =B- =B-,5\yj{z@ٱj->jwMj}d=jH@{?`ſ:z?y?԰F???Ij{z@)j5`c;ijCB9A!IMb@Mb@Mb@ )IiMbp?I +?~jth?;94<D;IiKAA=A)ABD6DQ4Yͱ!+=99Q)>99DYoCGA>!Q 1-4٪%2?Q 5-4%:2 %_B9-EhrB?hhB*i2i:iBi7H?"io? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504231 s, deltaX: -0.200000 m, approachRate: -0.396644 m/s, rangeRepo size: 4  Added new target pos. range: 1.490855 m, bearing: 75.930117 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504231 s, deltaX: -0.198777 m, approachRate: -0.394218 m/s, posRepo size: 4 gggggggzf!rf!f!fMBBdIdIdIcU?cU`?ɢg; 顥H=I p݌ɡi!I% I-2sni)i))))1%DDAT read: Rx Time:16:14:25.8830 -TRx dataTimestamp_ set to:1755879265.058716MPDAT read: Bearing 241.9, 36.0 (Local) U~Local bearing/azimuth received: Bearing 241.9, 36.0 (Local) echecking for new query: numPingsReceived=74, elapsed TxPingTime=38.369156!>Am 6>I D vD ZD *D E Vz: E a96E (N4:E "E E;! E F;! *E ;! E ;! A I I N >v,@P%*AyJU@ٱJm(>JҁJd=JH`4?@X_ſ@D@?@?⽰ 7?U??IJU@)Jcpb;iJCVB9V2!IZC=iZa=BD^6D^z4Yf#!ft=j(7:Q)j?h9h9jDYjCnv]An?pQ 1v4٪r2?Q 5v4r!2 r_B9tYvA?Q Ez?yp)r:Ir:ir*4Y|~dA|g!g)g)g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=@?mDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:14:25.8830 LVL= 20944, 12193, 23106, 24387, AGC= 40, IDX= 502, 0.40,-2.121, 2.754, 2.778,-1.467, PHS=-0.552,-2.016,-2.082, RAW= 87.8, 47.6, CAL= 86.3, 53.8, ROT= 63.7, -53.8 Ygot valid direction response: 16:14:25.8830 LVL= 20944, 12193, 23106, 24387, AGC= 40, IDX= 502, 0.40,-2.121, 2.754, 2.778,-1.467, PHS=-0.552,-2.016,-2.082, RAW= 87.8, 47.6, CAL= 86.3, 53.8, ROT= 63.7, -53.8 T#Rx 75: Read range and direction messages.\direction in FSK: [0.261680,0.529470,0.806960]Fpublishing direction and range info9Y]S^?8 k?f1n?]?Yi]Q]/]BZ]C_Y ]O )]%I]}?i]%?]ȭT?]?]vap?]N? ]vapiYYI]*;=?#B?ֿj|?]]mT ]N?)]vapiYYchecking for new query: numPingsReceived=75, elapsed TxPingTime=38.626335ɢ%܂B%; !-|=I) -ɡ)i)I-IU7sniQiQ)Y)YI>AbAZAjAqAI- DDAT read: Rx Time:16:14:26.3829 5 TRx dataTimestamp_ set to:1755879265.562065M PDAT read: Bearing 247.0, 36.8 (Local) U ~Local bearing/azimuth received: Bearing 247.0, 36.8 (Local) e checking for new query: numPingsReceived=75, elapsed TxPingTime=38.871731I N >ԡ G(v,[j%*Ay6q-@ٱ6^#>6}6b=6H ?vĿM ZK?@ ?@!?(C?5?I6q-@)6Sa;i6CL9R1!IPiPiV=IVp=BDZ6DZ 4Y !G=[:Q)> 9 9 DY C EA>Q 14٪2?Q 5%42 _B9!Y%?Q E%?yC);I7;i14Y)5hA1hhS%*AhE?hE?hh?h 7L?J6?y?hS^?8 k?f1n?hN?hvapiΞ?@m(?߃?h@P?Q"4Z?!̻1?h ]?h4_>hiE?h&LhB*irB?2ih:iBiW?"i?y addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502531 s, deltaX: 0.200000 m, approachRate: 0.397985 m/s, rangeRepo size: 4  Added new target pos. range: 1.689636 m, bearing: 75.831442 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 0.502531 s, deltaX: 0.198781 m, approachRate: 0.395559 m/s, posRepo size: 4 gBE%'4JE%$4RE%0DtDdD&DEs: E96E4:E!@!@!@!@ggggggzfrfffBdddc@33?c?ɢ݂B&; =I 9uɡiI`I4snii) ) ԩDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 UDAT read: 16:14:26.3829 LVL= 23568, 10833, 25714, 27379, AGC= 42, IDX= 502,-0.38, 1.696, 0.494, 0.338, 2.371, PHS=-0.572,-1.831,-2.077, RAW= 81.3, 48.6, CAL= 79.0, 54.7, ROT= 71.0, -54.7 Ygot valid direction response: 16:14:26.3829 LVL= 23568, 10833, 25714, 27379, AGC= 42, IDX= 502,-0.38, 1.696, 0.494, 0.338, 2.371, PHS=-0.572,-1.831,-2.077, RAW= 81.3, 48.6, CAL= 79.0, 54.7, ROT= 71.0, -54.7 T#Rx 76: Read range and direction messages.\direction in FSK: [0.188132,0.546375,0.816138]Fpublishing direction and range info9qu~dܵ?\^{?Õ?u?qiu\uQ*urduju* un)u5^Iuiu>?u%Y?u|?uft?u? uftiqqIu't?R( ڿ?F;?u_2-uX u?)uftiqq=checking for new query: numPingsReceived=76, elapsed TxPingTime=39.172295>AE;>vBuJ>~BqBqBqBqBqBqBuQ;BuEAiIyIN> = DDAT read: Rx Time:16:14:26.8830 M TRx dataTimestamp_ set to:1755879266.066720}!v,J%*A"PDAT read: Bearing 244.0, 36.2 (Local) *~Local bearing/azimuth received: Bearing 244.0, 36.2 (Local) nDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 zZ#Rx 77: Read range message, but no direction.9im?i5checking for new query: numPingsReceived=77, elapsed TxPingTime=39.445637y9@ٱ>kp;b=H͎?@JĿP ?? m[ ?`z5?m?I9@)a;iC B90!IMb@Mb@Mb@ )IiMb?MbP?MbP<:Id@iAAM@)ABD-6D-y4Y=%!= =E~*:Q)E>a9a9eDYmCm'Am>qQ 1}4٪u3?Q 5}4u1 q9}<DvD\D'DEVz: E96E'4:E"E!E!*E^ ;!E_ ;!Q A=Y>Q E?yuC)uv?A 6>rA) jA- B?Y I9 II NU >9'v,u%*Ay6P@ٱ6:>6=6~_=6H@ĕ?\ÿ ?l?`/`?@?@?I6P@)6`;i6CBB9B7!IBDJ6DJ4YR!=!R=RK9Q)R ?T9T9VDYVCVAZ?\Q 1b4٪^H3?Q 5b4^1 \9`YbĎ>Q Eb?y\)^:I^f:i^4@4YhjCAhvB*** querying acoustic contact ***zhthtg|g|g|g|g|ggzfrfff Bd d d cch?1DDAT read: Rx Time:16:14:27.3830 TRx dataTimestamp_ set to:1755879266.571092PDAT read: Bearing 247.7, 36.9 (Local) -~Local bearing/azimuth received: Bearing 247.7, 36.9 (Local) uDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 Z#Rx 79: Read range message, but no direction.9ɢ߂Bm< =%checking for new query: numPingsReceived=79, elapsed TxPingTime=39.913166I) -bLɡ)i)I-dI56sni1i1)9)9YDtDbD*DEs: E96E(N4:E!@!@!@!@>Aiԑ)߉ ߉ I! II N > DAT read: 16:14:27.3830 LVL= 23536, 10801, 25922, 27507, AGC= 42, IDX= 502,-0.12, 1.205, 0.061,-0.142, 1.891, PHS=-0.584,-1.785,-2.077, RAW= 79.4, 48.9, CAL= 76.8, 54.9, ROT= 73.2, -54.9  Ygot valid direction response: 16:14:27.3830 LVL= 23536, 10801, 25922, 27507, AGC= 42, IDX= 502,-0.12, 1.205, 0.061,-0.142, 1.891, PHS=-0.584,-1.785,-2.077, RAW= 79.4, 48.9, CAL= 76.8, 54.9, ROT= 73.2, -54.9  Z#Rx 80: Read direction message, but no range.Ա  \direction in FSK: [0.166195,0.550464,0.818150]9 V$E?f?[H.? i [ 1* Be sk * ) zI i a? |Z? ? Ku? Ƈ? Kui I _|-~BY BY BY B] =BY BY B] Q;B] EO-v,7%*A5 B950!I===<ԙMb@Mb@Mb@ )IiMb? rhMbpCIAiAd@)ABD6Df4YƼ!8=Q)>99DYQ 1 4٪3?Q 5 4#2 _B9 \A% ;>I I N > s4v,} %*A.DAT read: 16:14:27.8830 LVL= 23856, 10577, 25666, 27043, AGC= 42, IDX= 502,-0.02, 2.052, 0.878, 0.699, 2.733, PHS=-0.579,-1.810,-2.078, RAW= 80.4, 48.8, CAL= 77.9, 54.8, ROT= 72.1, -54.8 2Ygot valid direction response: 16:14:27.8830 LVL= 23856, 10577, 25666, 27043, AGC= 42, IDX= 502,-0.02, 2.052, 0.878, 0.699, 2.733, PHS=-0.579,-1.810,-2.078, RAW= 80.4, 48.8, CAL= 77.9, 54.8, ROT= 72.1, -54.8 6Z#Rx 82: Read direction message, but no range.:\direction in FSK: [0.177170,0.548530,0.817145]95M?IV?" &?i0]Q)Bdi X9)Ii?^ Z??Gt?? GtiIt >?ґڿ ?G(1rY ?)GtFchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.635159ybl@ٱbL >bm{bX=bH?@m uS?@U?p? ? ?Ibl@)b `;ibCnB9n#!Iv4=iv4=BDz6Dz4Y]!Z=M;Q)> 9 9 DY bC  A>Q 14٪4?Q 5%4J2 _B9!Y%yQ E%?yC):I:iN4Y)-A1hQhU%*AhQhQhUf?hU)2(?Vx?K?hU5M?IV?" &?hU?hUGtiU*[?+GM?.?hUu"Z? }?k# V?hU_?hU=hU;?hURhUB*iU;?2iQ:iUBiUa?"iUi?} addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.689648 m, bearing: 83.884056 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 0.506835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ggg)g1g1g1g1zf1rf1f9f9Bd9d9dAcAcE ?ɢB; 页=I )ɡiI/>I8snii))>A1>bAjAZAIIDDAT read: Rx Time:16:14:28.3829 %TRx dataTimestamp_ set to:1755879267.5799085PDAT read: Bearing 245.5, 36.5 (Local) 5~Local bearing/azimuth received: Bearing 245.5, 36.5 (Local) =DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 EZ#Rx 83: Read range message, but no direction.9?IUchecking for new query: numPingsReceived=83, elapsed TxPingTime=40.889694N>q l:v,g%*Ay69@ٱ6>6y6:T=6H? @su +?¬?ak5?j??I69@)6_;i6CFB9F!IBDN6DNF4YVՂ!VP=V:Q)Z>X9X9ZDYZC^jA^>`Q 1f4٪b[4?Q 5f4bs2 b_B9dYft{Q Ef?ybC)b:Ib:ibaU4Yln)Alm addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501981 s, deltaX: -0.200000 m, approachRate: -0.398422 m/s, rangeRepo size: 4 gigigigigigigigqzfqrfqfqfBdddc?czi?QɢB; 顝=I !ɡiII5snii))DAT read: 16:14:28.3829 LVL= 23760, 10993, 25778, 27235, AGC= 42, IDX=, 0.319, 2.356, PHS=-0.579,-1.831,-2.082, RAW= 81.0, 48.7, CAL= 78.7, 54.8, ROT= 71.3, -54.8 unknown deviceResponse_: 16:14:28.3829 LVL= 23760, 10993, 25778, 27235, AGC= 42, IDX=, 0.319, 2.356, PHS=-0.579,-1.831,-2.082, RAW= 81.0, 48.7, CAL= 78.7, 54.8, ROT= 71.3, -54.8 checking for new query: numPingsReceived=83, elapsed TxPingTime=41.148479vB~BCB`!IB4BB =BBBQ;BEԁ>A6>IyIN~>ԩ- DDAT read: Rx Time:16:14:28.8830 5 TRx dataTimestamp_ set to:1755879268.083492] PDAT read: Bearing 245.3, 36.6 (Local) e ~Local bearing/azimuth received: Bearing 245.3, 36.6 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 84: Read range message, but no direction.9) - ?)  checking for new query: numPingsReceived=84, elapsed TxPingTime=41.406914 Av,%*Ay5@ٱ5@=5,x5"P=5Hò?E! u??`̲? ?@Y?I5@)5_;i19iuMb@Mb@Mb@ q)qIqiqqu~jthL7A`堿MbpuDu+qIqiquAuA)quABD6DQ4>`:Q)>99DYC_A>ԱQ 14٪i4?Q 542 _B9=Q AA1 Aa Ii Iy N >9 Hv,!%*Ay6@ٱ6@_=6nv6.M=6H@ڸ? j O?`?#ۮ?(?@?I6@)6_;i4BB9B !IIFAA)F@ABDJ6DJF4Y !<J:Q)>DDAT read: Rx Time:16:14:29.3829 TRx dataTimestamp_ set to:1755879268.588263PDAT read: Bearing 244.8, 36.5 (Local) ~Local bearing/azimuth received: Bearing 244.8, 36.5 (Local) MDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ]Z#Rx 86: Read range message, but no direction.9?checking for new query: numPingsReceived=86, elapsed TxPingTime=41.91031699DYCvA>Q 14٪s4?Q 5433 _B9YcĿQ E?yC)6;I;id4YeAhh%%*AhԾ?hԾ?h?hc\?&Z)?CϷ}?h%J?T.?" &?h?hib?uU?TEX?h.lc?Վ?=zEHK?heE?h=h[U=?h"hyB*i2i:iii?"i(? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504771 s, deltaX: -0.200000 m, approachRate: -0.396219 m/s, rangeRepo size: 4  Added new target pos. range: 1.490869 m, bearing: 82.215194 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 1.510336 s, deltaX: -0.198780 m, approachRate: -0.131613 m/s, posRepo size: 4 ggggggggzfrfffBdddc?cjf?ɢBh): 額ArAA?jA0?Ա  DAT read: 16:14:29.3829 LVL= 23776, 10657, 25794, 27091, AGC= 42, IDX= 501, 0.33, 1.930, 0.739, 0.569, 2.606, PHS=-0.575,-1.822,-2.082, RAW= 80.7, 48.6, CAL= 78.4, 54.7, ROT= 71.6, -54.7  Ygot valid direction response: 16:14:29.3829 LVL= 23776, 10657, 25794, 27091, AGC= 42, IDX= 501, 0.33, 1.930, 0.739, 0.569, 2.606, PHS=-0.575,-1.822,-2.082, RAW= 80.7, 48.6, CAL= 78.4, 54.7, ROT= 71.6, -54.7  Z#Rx 87: Read direction message, but no range.e \direction in FSK: [0.182400,0.548315,0.816138]9y } aQ}X?a̋?Õ?y i} \} )} d} iy y )} L7I} }?i} I?y y } ft?A <A <vB J>~B CB T!IB *BB =B B B Q;B Ey } ftiy I} p}_?̣uڿQzy?} /} 8Y y )} fte checking for new query: numPingsReceived=87, elapsed TxPingTime=42.202164A I I N >/Nv,(;%*A@nB9n !IMb@Mb@Mb@ )Ii99DY CA>Q 14٪ 4?Q 543 _B9;=Q AA};>Ygot valid direction response: 16:14:29.8830 LVL= 23744, 10705, 25698, 27363, AGC= 42, IDX= 503,-0.46, 1.826, 0.670, 0.475, 2.508, PHS=-0.580,-1.793,-2.077, RAW= 79.7, 48.8, CAL= 77.2, 54.8, ROT= 72.8, -54.8 T#Rx 88: Read range and direction messages.\direction in FSK: [0.170456,0.550653,0.817145]Fpublishing direction and range info9+}?{(?" &??i\)bdj z)Ii/ ?^ Z?iw?Gt?? GtiIj0?OX,Aۿ(0&?#4Z ?)Gtichecking for new query: numPingsReceived=88, elapsed TxPingTime=42.464363=i_CIEG)YIqiP_AIIN>D qD D &D E 2h: E 6E 4:E "E ;! E ;! *E J;! E K;!  Uv,O\U%*Achecking for new query: numPingsReceived=88, elapsed TxPingTime=42.641884y> {@ٱ>#=>7;t>%A=>H@?+绿 @*?@?@Sł?`N.?H?I> {@)>2_;i<NB9R!IR=R=)VA TlBDZ6DZQ4YvXD!vX=z :Q)z>x9x9zDY~/C~A~>Q 1 4٪3?Q 5 44 _B9 YQ E?yƞC)h:I:iq4Yy}Ayh!h%CE%*Ah%F?h%F?h%3?h%#n? P?HJ?h%+}?{(?" &?h%?h!i%91?BШ.? 3?h%?r,B?I?c#A6>9DDAT read: Rx Time:16:14:30.3829 TRx dataTimestamp_ set to:1755879269.5965895PDAT read: Bearing 245.0, 36.5 (Local) 5~Local bearing/azimuth received: Bearing 245.0, 36.5 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:30.3829 LVL= 23760, 10737, 26098, 27171, AGC= 42, IDX= 502,-0.28, 0.034,-1.114,-1.309, 0.716, PHS=-0.580,-1.785,-2.069, RAW= 79.6, 48.9, CAL= 77.1, 54.9, ROT= 72.9, -54.9 Ygot valid direction response: 16:14:30.3829 LVL= 23760, 10737, 26098, 27171, AGC= 42, IDX= 502,-0.28, 0.034,-1.114,-1.309, 0.716, PHS=-0.580,-1.785,-2.069, RAW= 79.6, 48.9, CAL= 77.1, 54.9, ROT= 72.9, -54.9 T#Rx 89: Read range and direction messages.\direction in FSK: [0.169075,0.549586,0.818150]Fpublishing direction and range info9  & c=?X5?[H.? ? i \ ) e #j  ) zI ji ӱ? |Z? 9>? Ku? 4ܢ? Kui  I Z/' ?}BۿQ? F4 TZ 4ܢ?) Kui  checking for new query: numPingsReceived=89, elapsed TxPingTime=42.929222I a Ii Nu >uB[v,9o%*AD2vD2^D0D0E2Vz: E2;96E0:E0!:@!:@!:@!:@yRR@ٱR=R tRNY<=RH6?@󣺿`A??`ڎ?`L~??IRR@)R= _;iPnB9n!IvR=ivp=BDz6Dz4Y `<!%G=%kQ)%>)9)9-DY-YC-nCA5>91Q 1]4٪5-3?Q 5]454 5_B9aYe"Q Ee?y5ȞC)5&;I5B:i5x4YimAqh9h=.f%*Ah=Ծ?h=Ծ?h=)?h=t!?f7.8?R'\?h=& c=?X5?[H.?h=4ܢ?h=Kui=]]i0? Y?9M?h=MH?7A7?jőAbAZAiAIyIԑN~>  DDAT read: Rx Time:16:14:30.8830  TRx dataTimestamp_ set to:1755879270.099817= PDAT read: Bearing 239.5, 35.4 (Local) E ~Local bearing/azimuth received: Bearing 239.5, 35.4 (Local) e DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:14:30.8830 LVL= 21168, 12161, 22946, 24499, AGC= 41, IDX= 503,-0.15, 1.375, 0.024, 0.004, 2.041, PHS=-0.564,-1.973,-2.081, RAW= 86.3, 48.1, CAL= 84.7, 54.2, ROT= 65.3, -54.2  Ygot valid direction response: 16:14:30.8830 LVL= 21168, 12161, 22946, 24499, AGC= 41, IDX= 503,-0.15, 1.375, 0.024, 0.004, 2.041, PHS=-0.564,-1.973,-2.081, RAW= 86.3, 48.1, CAL= 84.7, 54.2, ROT= 65.3, -54.2  T#Rx 90: Read range and direction messages. \direction in FSK: [0.244435,0.531439,0.811064] Fpublishing direction and range info9 :%jI?h/0 ?΄y99DYCtA>Q 14٪1?Q 5435 _B9`=Q AMhEQF?hE/xhEB*iE8AM;>IIN> Vhv,%*Aym@ٱme=msm2=mH?渿@]% g8?Z?zm?I??Im@DDAT read: Rx Time:16:14:31.3830 TRx dataTimestamp_ set to:1755879270.603677PDAT read: Bearing 238.9, 35.3 (Local) ~Local bearing/azimuth received: Bearing 238.9, 35.3 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ]DAT read: 16:14:31.3830 LVL= 21024, 11985, 22962, 24787, AGC= 41, IDX= 502,-0.04, 0.338,-1.028,-1.033, 1.000, PHS=-0.560,-1.983,-2.077, RAW= 86.8, 48.0, CAL= 85.2, 54.1, ROT= 64.8, -54.1 eYgot valid direction response: 16:14:31.3830 LVL= 21024, 11985, 22962, 24787, AGC= 41, IDX= 502,-0.04, 0.338,-1.028,-1.033, 1.000, PHS=-0.560,-1.983,-2.077, RAW= 86.8, 48.0, CAL= 85.2, 54.1, ROT= 64.8, -54.1 eT#Rx 91: Read range and direction messages.\direction in FSK: [0.249665,0.530566,0.810042]Fpublishing direction and range info98%?d?)m&l?i R.Y` )\)Ii?PwV?V?q?Ð? qiIE ?=cbq׿OlV?'4UV Ð?)qiUchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.958359)m^;imC߂B9 Iii=I=BD6D4Y;!5=:Q)>99DYCLĻA> Q 14٪ 0?Q 54 5 _B9YSQ E?y ОC) K:I :i 4YAhh%*Ahhh?hqҵ?گ?z?h8%?d?)m&l?hÐ?hqikn?RI)?ʩh?h 8s?jId]?A?h9]?hv>h*jF?h#h*i[U=?2i":iib?"i&i? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 9E Added new target pos. range: 1.689643 m, bearing: 73.451745 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gAgIgIgIgIgIgIgIzfIrfQfQfQBdQdydycyc@[?ɢB I *-ɡiII8snii))D}wD}iD}%DyE}}: E}96E} 4:Ey!@!@!@!@ie checking for new query: numPingsReceived=91, elapsed TxPingTime=44.156185vB I>>A ~B B 4!IB BB =B B B R;B EIa Iq N} >ԑ }nv,uǼ%*AނB9  IMb@Mb@Mb@ )IiV-I +Mb`94IiKAAd@)AI)BD6D4Y!x=Q)?99DYCA?Q 14٪0?Q 54D6 _B9X=Q A{A}6>IINk>BE!4JEɀ'4REɃ/D tD gD (D E s: E &96E c44:E "E ;! E ;! *E i1;! E i1;! ] checking for new query: numPingsReceived=92, elapsed TxPingTime=44.657814kuv,U%*Ay6@ٱ6=6!:w6|,=6H?` -l?T? IWv?Y??I6@)6\h^;i6CV߂B9V IBD~6D~4Y <! U= Q)>99DYCBA>!Q 1%4٪%N/?Q 5-4%6 %_B9)Y-Q E-?y%ԞC)%;I%;i%'4Y=B=A=Ehh%*Ahhh'?hHH`]?)$?8?h"3?F?G?*?hN?hoiVz?ltk??hJI/?&{To?n?h&^?h0>hF?hHhB*i*jF?2i#:ii-p?"i? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504475 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.689640 m, bearing: 72.136969 deg, lat: 36.779429 deg, lon: -121.859659 deg, deltaT: 0.504475 s, deltaX: -0.000003 m, approachRate: -0.000005 m/s, posRepo size: 4 ggggggggzfrfffBdddcc:W?ɢBA ̼I F^%ɡiI[I2snii))>ADDAT read: Rx Time:16:14:32.3829 TRx dataTimestamp_ set to:1755879271.609824PDAT read: Bearing 241.3, 35.9 (Local) ~Local bearing/azimuth received: Bearing 241.3, 35.9 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:14:32.3829 LVL= 23792, 11137, 25826, 27619, AGC= 42, IDX= 501, 0.17, 0.867,-0.408,-0.503, 1.524, PHS=-0.555,-1.887,-2.071, RAW= 83.6, 48.1, CAL= 81.6, 54.3, ROT= 68.4, -54.3 Ygot valid direction response: 16:14:32.3829 LVL= 23792, 11137, 25826, 27619, AGC= 42, IDX= 501, 0.17, 0.867,-0.408,-0.503, 1.524, PHS=-0.555,-1.887,-2.071, RAW= 83.6, 48.1, CAL= 81.6, 54.3, ROT= 68.4, -54.3 T#Rx 93: Read range and direction messages.%\direction in FSK: [0.214816,0.542563,0.812084]-Fpublishing direction and range info9c@?Oڬ\?\??i\+dk* {)7IDiú?V?K?_r?Θ? _riI.+_v6?=]ٿ}q?Α"BV Θ?)_riEchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.929062AyII N- >}{v,|%*AD&vD&\D&&D$E&Vz: E&96E&4:E$!*@!*@!*@!*@0yB@ٱBJ=Bi[yB%*=BH`?I@ <l?`?`N &?9?@?IB@)B`~^;iBC^ۂB9b Ib%=b=)d fABDj6Dj4YrY!rN=rpQ)v>t9t9vDYv&Czc:Az>|Q 14٪~|.?Q 54~87 ~_B9YQ E ?y~מC)~8;I~g:i~4YAhh[%*AhԾ?hԾ?h?hd;$?/b? _?hc@?Oڬ\?\?hΘ?h_riZ%?Q?$V*?hU?1?Z ?hF?h/1>hl3=?h47"haB*i2iH:iBi:n?"i]?e addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501672 s, deltaX: -0.200000 m, approachRate: -0.398667 m/s, rangeRepo size: 4 u Added new target pos. range: 1.490859 m, bearing: 77.448435 deg, lat: 36.779429 deg, lon: -121.859659 deg, deltaT: 0.501672 s, deltaX: -0.198781 m, approachRate: -0.396237 m/s, posRepo size: 4 gqgqgqgqgqgqggzfrfffBdddc?c E_?ɢUBubD 顕0 I ,ɡiII7snii))checking for new query: numPingsReceived=93, elapsed TxPingTime=45.162083ԑvB}J>~ByB}(!IB}BByByByB}R;B}&E>AAyAIINe >  DDAT read: Rx Time:16:14:32.8830  TRx dataTimestamp_ set to:1755879272.111291 PDAT read: Bearing 237.9, 35.3 (Local)  ~Local bearing/azimuth received: Bearing 237.9, 35.3 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:14:32.8830 LVL= 21552, 12465, 23298, 24099, AGC= 40, IDX= 502, 0.31, 1.522, 0.113, 0.140, 2.166, PHS=-0.542,-2.009,-2.070, RAW= 88.0, 47.5, CAL= 86.5, 53.7, ROT= 63.5, -53.7  Ygot valid direction response: 16:14:32.8830 LVL= 21552, 12465, 23298, 24099, AGC= 40, IDX= 502, 0.31, 1.522, 0.113, 0.140, 2.166, PHS=-0.542,-2.009,-2.070, RAW= 88.0, 47.5, CAL= 86.5, 53.7, ROT= 63.5, -53.7  T#Rx 94: Read range and direction messages.% \direction in FSK: [0.264155,0.529813,0.805928]% Fpublishing direction and range info9 i??N:?*? ? i 0T 0 [ #^ ( ) uI zi ? g;T? ,>? o? A܍? oi I A lV?eڑֿhG?  T A܍?) oi E checking for new query: numPingsReceived=94, elapsed TxPingTime=45.429417xv,1^ %*A`y)@ٱ= |j&=H@9?@`T{??°[?Ƥ??I)@)pA^;iC܂B9 IDUrDU[DU*DQEUk: EU96EU(N4:EQ"EU;!eEU;!e*EU;!eEU;!e-Mb@Mb@Mb@ )))I)i))-{GzU H?9U H?9UDYUZC]Q;A]>aQ 14٪e8.?Q 54e7 e_B9=Q AhNuE?h= hB*i2i:iis?"i ?M addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.501467 s, deltaX: 0.200000 m, approachRate: 0.398830 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.689643 m, bearing: 72.212583 deg, lat: 36.779429 deg, lon: -121.859659 deg, deltaT: 0.501467 s, deltaX: 0.198784 m, approachRate: 0.396406 m/s, posRepo size: 4 gYgygygggggzfrfff̂BBdddc@33?c?ɢB[;  I   6ɡ i I I4snii)%checking for new query: numPingsReceived=94, elapsed TxPingTime=45.665920)YA >A ;>A AI I N5 >v,&%*ANDDAT read: Rx Time:16:14:33.3829 RTRx dataTimestamp_ set to:1755879272.615321VPDAT read: Bearing 245.7, 36.7 (Local) V~Local bearing/azimuth received: Bearing 245.7, 36.7 (Local) ^DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 nDAT read: 16:14:33.3829 LVL= 26688, 11329, 28642, 29859, AGC= 42, IDX= 502,-0.49,-0.983,-2.100,-2.317,-0.317, PHS=-0.564,-1.738,-2.044, RAW= 78.7, 48.6, CAL= 76.0, 54.6, ROT= 74.0, -54.6 rYgot valid direction response: 16:14:33.3829 LVL= 26688, 11329, 28642, 29859, AGC= 42, IDX= 502,-0.49,-0.983,-2.100,-2.317,-0.317, PHS=-0.564,-1.738,-2.044, RAW= 78.7, 48.6, CAL= 76.0, 54.6, ROT= 74.0, -54.6 vT#Rx 95: Read range and direction messages.z\direction in FSK: [0.159672,0.556841,0.815128]zFpublishing direction and range info9LNp?grͣ?6?N?LiN@hNA,NoNtN* NNb)Nv޿INiNFѯ?N%Y?Nɩ?Ns?NMQ? NsiLLIN/=?|.2:ۿ?NE8N>HY NMQ?)NsiLL5checking for new query: numPingsReceived=95, elapsed TxPingTime=45.937408yUS1@ٱU=U?U%=UH?Qi٭?h?`K?Τ?D?IUS1@)U#^;iUCmB9m IBD}6D}4Y$=!n=#Q)?K?9K?9DY}C#<A?Q 14٪ .?Q 54 8 _B9YݿQ E?y۞C)a;I;i4YAhLhNka'%*AhNԾ?hNԾ?hNA?hNC]x?yxKQƐ?q?hNp?grͣ?6?hNMQ?hNsiN/?GWJY?vK)?hN 駧k?*m?,F ?hNJ?hN{=hNc5?hN'5#hNhB*iNNuE?2iN= :iNBiNl?"iND?  addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504030 s, deltaX: -0.200000 m, approachRate: -0.396802 m/s, rangeRepo size: 4  Added new target pos. range: 1.490862 m, bearing: 84.036469 deg, lat: 36.779429 deg, lon: -121.859659 deg, deltaT: 0.504030 s, deltaX: -0.198782 m, approachRate: -0.394384 m/s, posRepo size: 4 gggagagagagagazfirfififiBdqdqdqcu?cuC?ɢ  I  :ɡ i I ԟI9snii)9)9D}sD}^D}+DyE}so: E};96E} [4:Ey!@!@!@!@ԉ>A%6>]checking for new query: numPingsReceived=95, elapsed TxPingTime=46.172733Ai Ai vB H>~B B B B B Թ B B R;B 'EA I I N >39v, ?%*Ay6Y@ٱ6=669'=6H?Һ @m"?? 0?ۤ??I6Y@)68^;i6CLRB9R!ITiT-Mb@Mb@Mb@ )))I)i))-{Gzy&1Mb`)-`e-I-Ai-KA-x A-A))-ABDE6DE4YU5W<!UO=UܺQ)U>99DYC=@<AE>YQ 14٪]-?Q 54]68 ]_B9ɡiI!yI6snii))DqDD'DE2h: E6E'4:E"E;!E;!*E;!E;!>A 1>! AA II e checking for new query: numPingsReceived=96, elapsed TxPingTime=46.673920Ii Nu >c!v,|Y%*Aiy6@ٱ6@=66*)=6HK?`U@8??@<?^?y,? 7?I6@)6v7^;i6CjB9j!IIp)pBDv6Dv 4Y~L<|!P=Q)>9 9 DY C <A >Q 14٪~-?Q 54Z8 _B9!Y%Q E%?yݞC);II;i㸋4Y)-PA)hhG%*AhE?hE?hǠ?hEغ?VZȆo?w?h=;n?G0?y?h'g?h|oi4 ^(?VQc۾?tҊ{v?hʓa?S4k? Ȍ?h]?h>hMEGE?h)!hÅB*iMEGE?2i)!:iimi?"iǠ?} addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504102 s, deltaX: 0.200000 m, approachRate: 0.396745 m/s, rangeRepo size: 4  Added new target pos. range: 1.689636 m, bearing: 71.969213 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.504102 s, deltaX: 0.198774 m, approachRate: 0.394313 m/s, posRepo size: 4 ggggggggzfrfffBdddcc#?ɢQ I L@ɡiII3snii)))>A=;>rAU@?jAUC?DDAT read: Rx Time:16:14:34.3829 TRx dataTimestamp_ set to:1755879273.624263PDAT read: Bearing 243.2, 36.2 (Local) ~Local bearing/azimuth received: Bearing 243.2, 36.2 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:34.3829 LVL= 23984, 11249, 25586, 27315, AGC= 42, IDX= 502,-0.16,-1.262,-2.498,-2.610,-0.614, PHS=-0.547,-1.840,-2.040, RAW= 82.9, 48.1, CAL= 80.8, 54.4, ROT= 69.2, -54.4 Ygot valid direction response: 16:14:34.3829 LVL= 23984, 11249, 25586, 27315, AGC= 42, IDX= 502,-0.16,-1.262,-2.498,-2.610,-0.614, PHS=-0.547,-1.840,-2.040, RAW= 82.9, 48.1, CAL= 80.8, 54.4, ROT= 69.2, -54.4 %T#Rx 97: Read range and direction messages.%\direction in FSK: [0.206716,0.544183,0.813101]-Fpublishing direction and range info9b?u?Uzi?ć%??i]+cjY* 1 )I\iL3?V?J?s?#? siI/R- ?U6tٿ?%MV #?)sichecking for new query: numPingsReceived=97, elapsed TxPingTime=46.948761AI IQ Ia Nu >ԁ D D D &D E  E 6E 4:E ! @! @! @! @Jv,as%*A~B9~!IBD 6D 4Y=!%H=%Q)%>!9)9-DY-C-A->1Q 1=4٪56-?Q 5=458 5_B9AYAQ EE?y5ޞC)5Q;I5^;i54YIMAIYhhg%*AhԾ?hԾ?h?h0G?[(?7;e?hb?u?Uzi?ć%?h#?hsiO{?,Z? g<0?hNxk˸?NLr ?r6?hG?h>h'a9?h_e#hB*il3=?2i47":iBiX?"iug? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504840 s, deltaX: -0.200000 m, approachRate: -0.396165 m/s, rangeRepo size: 4  Added new target pos. range: 1.490855 m, bearing: 79.519115 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 0.504840 s, deltaX: -0.198781 m, approachRate: -0.393750 m/s, posRepo size: 4 g%checking for new query: numPingsReceived=97, elapsed TxPingTime=47.178036g!g!g!g!g!g!g)zf)rf)f)f)Bd1d1d1c=?c=@l>?ɢae[%: am ~BQBU.!IBU BBQBQBQBU%R;BU*Eԉ>AyԹA yAI9 IQ N] > DDAT read: Rx Time:16:14:34.8831  TRx dataTimestamp_ set to:1755879274.127277 PDAT read: Bearing 237.4, 35.0 (Local)  ~Local bearing/azimuth received: Bearing 237.4, 35.0 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 16:14:34.8831 LVL= 21552, 12657, 22562, 24547, AGC= 40, IDX= 503,-0.05, 0.047,-1.438,-1.325, 0.683, PHS=-0.534,-2.076,-2.052, RAW= 90.8, 47.1, CAL= 89.6, 53.3, ROT= 60.4, -53.3  Ygot valid direction response: 16:14:34.8831 LVL= 21552, 12657, 22562, 24547, AGC= 40, IDX= 503,-0.05, 0.047,-1.438,-1.325, 0.683, PHS=-0.534,-2.076,-2.052, RAW= 90.8, 47.1, CAL= 89.6, 53.3, ROT= 60.4, -53.3 % T#Rx 98: Read range and direction messages.- \direction in FSK: [0.295192,0.519632,0.801776]- Fpublishing direction and range info9 (m?p3vnӠ?_ԉa%? f? i 0T q1 "X _ ( 9) /I Si b? qR? +? %n? V? %ni I ۚ4%1?AտaUs? V ]R V?) %ni m checking for new query: numPingsReceived=98, elapsed TxPingTime=47.449783 I G)! I9 3v,Dk%*Ai&(*CAy@ٱ=;3=H?l'@J๋?@?Yc? e? ?I@)^;iC5B95!!IU H?9 H?9DY'Cp=A>Q 14٪_-?Q 54L8 _B9hfH?hM hB*iMEGE?2i)!:iBii?"i? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503014 s, deltaX: 0.300000 m, approachRate: 0.596405 m/s, rangeRepo size: 4  Added new target pos. range: 1.789023 m, bearing: 70.631536 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.503014 s, deltaX: 0.298168 m, approachRate: 0.592763 m/s, posRepo size: 4 ggggggggzfrfffBBd-checking for new query: numPingsReceived=98, elapsed TxPingTime=47.682388dd1c5?c5`{-?ɢB: =I m`3ɡiI.!I5snii))9 S,A  DDAT read: Rx Time:16:14:35.3830  TRx dataTimestamp_ set to:1755879274.630879 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  Z#Rx 99: Read range message, but no direction.9  ?  checking for new query: numPingsReceived=99, elapsed TxPingTime=47.937225>A @>qA=AIIIYNe ?ev,ͯ%*Aɰy:M@ٱ:m>:􅽹:ׅ:=:H?@?=@?Ԭ?` ?A?@?I:M@):^;i:CBB9B(!IJ4=iJ=BDN6DN4YV<!V9=VQ)V>ZK?9ZK?9ZDYZTC^М<A^>`Q 1f4٪b-?Q 5f4b8 `9dYfr?Q Ef?ybC)b:Ib;ib4Ћ4YlnsAl1D]sD]hD]&DYE]so: E]]96E]4:EY!e@!e@!e@!e@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503602 s, deltaX: -0.100000 m, approachRate: -0.198569 m/s, rangeRepo size: 4 ggggggggzfrfffBdddc@33?c0)?ɢ; 1=I s)ɡiI "I%2sni!i))I)I9-XR%checking for new query: numPingsReceived=99, elapsed TxPingTime=48.185860YA)A)vBMF>~BIBMA!IBMBBM =BIBIBIBM)EBBBB =B =B(4>A ;>ԉAE yAIi I N >Ա  DDAT read: Rx Time:16:14:35.8830  TRx dataTimestamp_ set to:1755879275.134843 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  \#Rx 100: Read range message, but no direction.9   checking for new query: numPingsReceived=100, elapsed TxPingTime=48.441891&Hv,%*Ay:@ٱ:>:︆:eA=:H?8h¿୿@??`@ ԰??+?I:@):^;i:CJB9N%!Iԙ]Mb@Mb@Mb@ Y)YIYiYY] rh?/$?~jth?]C<],=]D;I]Ai]AY]d@)YYBD6D 4YD!/=QQ)> H?9 H?9DYC<A>Q 14٪-?Q 547 _B99=Q AA QDDAT read: Rx Time:16:14:36.3829 TRx dataTimestamp_ set to:1755879275.641529-PDAT read: Bearing 242.1, 36.1 (Local) -~Local bearing/azimuth received: Bearing 242.1, 36.1 (Local) =DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ]DAT read: 16:14:36.3829 LVL= 23936, 11361, 25938, 27059, AGC= 40, IDX= 501, 0.29,-0.452,-1.824,-1.824, 0.184, PHS=-0.534,-1.963,-2.052, RAW= 87.0, 47.5, CAL= 85.4, 53.7, ROT= 64.6, -53.7 AyIIN?v,r%*AYgot valid direction response: 16:14:36.3829 LVL= 23936, 11361, 25938, 27059, AGC= 40, IDX= 501, 0.29,-0.452,-1.824,-1.824, 0.184, PHS=-0.534,-1.963,-2.052, RAW= 87.0, 47.5, CAL= 85.4, 53.7, ROT= 64.6, -53.7 V#Rx 101: Read range and direction messages.\direction in FSK: [0.253935,0.534786,0.805928]Fpublishing direction and range info93y@?ťs]?*??i]a,Rei )CIi \?g;T?ɾ?o?ZQ?y*@ٱ#>`P=H`?ĿY)??@?{`]ϰ? ??I*@)b^;iC oiIA?$?.RQ׿f9y?kOT ZQ?)oichecking for new query: numPingsReceived=101, elapsed TxPingTime=49.051205B99!Ii=IBD6D4Y Qu=! = a 9Q) >99DYC =A>Q 14٪].?Q 546 _B9Y?Q E?yC)kh^2=?hދ"hB*i^2=?2iދ":iBiJ?"ie?D%|D%hD%%D!E% : E%]96E% 4:E!!-@!-@!-@!-@M addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.506686 s, deltaX: -0.200000 m, approachRate: -0.394722 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.490848 m, bearing: 77.169018 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 1.514252 s, deltaX: -0.298175 m, approachRate: -0.196913 m/s, posRepo size: 4 gagagagagigigigizfirfifqfqBdqdqdqc?cȑ?ɢ%B%_; !%=I! - ɡ)i)I-xT$I54sni1iQ)Q)Y)a aiaIachecking for new query: numPingsReceived=101, elapsed TxPingTime=49.194027vBI>~BBT!IB*BBBBB[R;BDE!Q >AA yDDAT read: Rx Time:16:14:36.8830 TRx dataTimestamp_ set to:1755879276.143962DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 102: Read range message, but no direction.9?checking for new query: numPingsReceived=102, elapsed TxPingTime=49.451195AUAIaIyNv,? %*Ay]o@ٱ] +>]]WY=]H{?ſ HO? }? 0ΰ? ??I]o@)]ă^;i]CB9>!I ]Mb@Mb@Mb@ Y)YIYiYY]Zd;O?Q?~jtx?]j<]u=];I]SAi]KA]AY)Y]ABDu6Du4Y}&<!%=E7Q)>K?9K?9DYC<A>Q 14٪.?Q 54&6 _B9+=Q AMA6>A I I) N5 >ԑ v,P$%*AyJخ@ٱJ3>J'JWb=JH#q?ƿKG?p?Jٰർ?=??IJخ@)J^;iJCV$B9VL!IBD^6D^4Yf=!fl=fS:Q)f?h9h9jDYj Cj<An?pQ 1v4٪r4/?Q 5v4r5 r_B9tYv?Q Ev?yrC)r:Ir:irE4Yx~A|g!g!g!g!g!g!g!g!zf)rf)f)f)Bd1d1d1c1c=`N?ɢeBe; ae<=Ia m~عɡiiiIm+&Iu6sniqiq)q)y%DDAT read: Rx Time:16:14:37.3829 %TRx dataTimestamp_ set to:1755879276.6478305DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 =\#Rx 103: Read range message, but no direction.9!%?!Echecking for new query: numPingsReceived=103, elapsed TxPingTime=49.955532qԡ>A;>bAiAZAgADxD\D(DEˀ: E96Ec44:E!@!@!@!@AyAII!N=> checking for new query: numPingsReceived=103, elapsed TxPingTime=50.201897A A <vB H>~B B m!IB >BB =B B B QR;B @E ov,>%*Ayz@ٱz`r:>z봄z(j=zHg? ǿNA ?@e? a?`D1?t?Iz@)z^;izC (B9 Q!I) Mb@Mb@Mb@ )Ii/$?Dl?{Gzt?,=O=ף;I=AiA)ABD6Dz4YV<!<=:Q)> H?9 H?9DY8C}<A>Q 14٪>0?Q 544 _B9=Q A#A! A I I N >D D cD 'D E  E L96E '4:E "E ;! E ;! *E ! E ! v,)X%*A)< <Bchecking for new query: numPingsReceived=104, elapsed TxPingTime=50.706024yF@ٱF?>FRQFp=FH``?;ȿ@?]?б@Ig??@?IF@)FH^;iFCR&B9RP!IBDZ6DZ 4Yb彻!f[=f:Q)f>h9h9jDYj^CjZ<Aj>lQ 1r4٪n1?Q 5v4n3 n_B9tYv?Q Ev?ynC)n:In:inc4YxzA|B*** querying acoustic contact ***zhh- addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503020 s, deltaX: 0.200000 m, approachRate: 0.397599 m/s, rangeRepo size: 4 g)g)g)g)g)g1g1g1zf1rf1f9f9Bd9d9dAcE@33?cEq?ɢmBmu; qu=Iq u{ɡyiyI}u (I}8snii)))>AYAAIIN>5DDAT read: Rx Time:16:14:38.3830 =TRx dataTimestamp_ set to:1755879277.654863EDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 M\#Rx 105: Read range message, but no direction.9999Mchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.961189ԁ v,r%*A0y6n,@ٱ6`>C>6F6Hu=6HF[?@~ȿ`s5?%W?`H' F?꤮?@?I6n,@)6d^;i6CDbmDbYDb&D`EbY: Eb*96Eb4:E`!f@!f@!f@!j@%,B9=V!IBDQ6DQY[<!==6:Q)>K?9K?9DYC <A>Q 14٪2?Q 54!3 _B9Y?Q E?yC):IK:i4YyAm addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504013 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gigigigigqgqggzfrfffBdddccN?ɢ=B=Z; 9==I9 E|'ɡAiAIE^)IM5snchecking for new query: numPingsReceived=105, elapsed TxPingTime=51.209904ԙiIi))vB5I>~B1B5y!IB5HBB1B1B1B56R;B53E@}jA@}jA>A M DDAT read: Rx Time:16:14:38.8830 U TRx dataTimestamp_ set to:1755879278.159900e PDAT read: Bearing 245.2, 36.4 (Local) e ~Local bearing/azimuth received: Bearing 245.2, 36.4 (Local) } DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:14:38.8830 LVL= 24240, 12017, 25874, 27235, AGC= 40, IDX= 502, 0.02,-0.850,-2.179,-2.218,-0.187, PHS=-0.561,-1.947,-2.074, RAW= 85.6, 48.1, CAL= 83.9, 54.3, ROT= 66.1, -54.3  Ygot valid direction response: 16:14:38.8830 LVL= 24240, 12017, 25874, 27235, AGC= 40, IDX= 502, 0.02,-0.850,-2.179,-2.218,-0.187, PHS=-0.561,-1.947,-2.074, RAW= 85.6, 48.1, CAL= 83.9, 54.3, ROT= 66.1, -54.3  V#Rx 106: Read range and direction messages. \direction in FSK: [0.236417,0.533505,0.812084] Fpublishing direction and range info9Q U .nDB?lYx?\?Q Q iU ^U .U eU cjQ U )U L7IU jiU t;?U V?U 5o?U _r?U 7? U _riQ Q IU 7?瞥?U{ؿ>9#?U mU V U 7?)U _riQ Q  checking for new query: numPingsReceived=106, elapsed TxPingTime=51.484222I I N5 >nv,m%*A\yJ7@ٱJ D>J"J\x=JHlY?|ȿ@a?`T?@M!?`??IJ7@)J̛^;iJCj-B9jX!Ililin=In=Mb@Mb@Mb@ )Ii ףp= ?X9v?Mb`?Q8=}=;IAix A=A)ABD6D4Y;!8=:Q)> 9 9 DY ChH;A>Q 1%4٪T3?Q 5%4P2 _B9%=Q A%-?h}.nDB?lYx?\?h}7?h}_ri}nR?d։?+$*%?h}K4cT?CcL?^^.e?h}N\?DvDbD%DEVz: E96E 4:E"EE;!EF;!*E5;!E6;!h}>h}1ֿ??h}­h}B*i}1ֿ??2i})!:i}ÅBi}~'?"i}? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505037 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 1.689641 m, bearing: 80.282000 deg, lat: 36.779428 deg, lon: -121.859660 deg, deltaT: 2.518371 s, deltaX: 0.198793 m, approachRate: 0.078937 m/s, posRepo size: 4 gQgQgQgQgQgQgQgQzfYrfYfYf](BBdaddccW?ɢBkM; l=I nɡiI(*I2snii))checking for new query: numPingsReceived=106, elapsed TxPingTime=51.714077>AA I I N% >"v,N%*AyV8@ٱV@D>V~V{=VHY?ȿ/e?@T?Hw կ?`a??IV8@)V^;iVC^'B9^P!IBDj6Dj 4Y ! m=;Q)?9!9%DY%C%O9A%?)Q 154٪-?4?Q 554-1 -_B99Y=?Q E=?y-C)-;I-;i-4YAEAAgigigigigigqgqgqzfqrfqfyfyBdydydcc67?ɢB; 页=I VɡiI*I7snii))DDAT read: Rx Time:16:14:39.3829 TRx dataTimestamp_ set to:1755879278.663609 PDAT read: Bearing 247.5, 36.7 (Local)  ~Local bearing/azimuth received: Bearing 247.5, 36.7 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 MDAT read: 16:14:39.3829 LVL= 23984, 10593, 25970, 26899, AGC= 42, IDX= 501, 0.12,-1.212,-2.461,-2.577,-0.542, PHS=-0.568,-1.874,-2.079, RAW= 82.8, 48.4, CAL= 80.7, 54.6, ROT= 69.3, -54.6 UYgot valid direction response: 16:14:39.3829 LVL= 23984, 10593, 25970, 26899, AGC= 42, IDX= 501, 0.12,-1.212,-2.461,-2.577,-0.542, PHS=-0.568,-1.874,-2.079, RAW= 82.8, 48.4, CAL= 80.7, 54.6, ROT= 69.3, -54.6 ]V#Rx 107: Read range and direction messages.e\direction in FSK: [0.204761,0.541885,0.815128]eFpublishing direction and range info9Xi5?wRyW?6??i]a)rei* sh);IVi?@X?I?s?Tњ? siI ?:ٿL?#&@5X Tњ?)sichecking for new query: numPingsReceived=107, elapsed TxPingTime=52.000439A>A56>IINa>DrDD)DEk: E6EFA4:E!@!@!@!@i checking for new query: numPingsReceived=107, elapsed TxPingTime=52.217831A! A% @AvB) ~B) B- !IB- RBB) B) B) B- "R;B- )Eԙ < v,*%*Ay*@ٱ C>y|=H\?ȿw90?@V?@s 8? ?2?I*@)^;iC-%B9-N!Iy]Mb@Mb@Mb@ Y)YIYiYY]Zd;O? ףp= ?]j<=]Q8=]IYiY]A]A)YYBDu6Du4Y.!)=$#;Q)>99DY CdA>Q 14٪5?Q 541 _B9ʃ=Q ANIF;C?Z?" &??)1IIi Aiq(d3i X9)Ii0?%Y?aF?Gt? Ԝ? GtiI}F(?QٮڿذFa?q)~CY  Ԝ?)Gtichecking for new query: numPingsReceived=108, elapsed TxPingTime=52.529396D nD `D (D E O]: E 96E c44:E "E 2;! E 3;! *E ;! E ;! >A ;>I I N > 0v,%*A2checking for new query: numPingsReceived=108, elapsed TxPingTime=52.721714y:@ٱ:?>:?v:m|=:Hb?AȿU?`[?`c`bѮ???I:@):^;i8^B9^D!I`b<)d fAdifa=BDj6Dj4YE;!Ex=E,;Q)M?I9I9MDYM-CUvAU?YQ 1e4٪]6?Q 5e4]0 ]_B9iYmv?Q Em?y]C)]1:I]_:i]!4YquAyhIhM.%*AhMF?hMF?hM?hM%b?e?S?D?hMF;C?Z?" &?hM Ԝ?hMGtiM!ྒ?JR?:?hM1Y|D/?>-OJ?$5P5?hM2\?hM=hMf=?hMhMB*iMf=?2iM:iMBiM??"iM? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504676 s, deltaX: 0.200000 m, approachRate: 0.396294 m/s, rangeRepo size: 4  Added new target pos. range: 1.689640 m, bearing: 84.404468 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504676 s, deltaX: 0.198781 m, approachRate: 0.393879 m/s, posRepo size: 4 ggggggggzfrfffBdddc@33?c O?ɢ%B%); !-<=I) -68ɡ)i)I-%,I59sni1i9)9)9 >AAIINc>DDAT read: Rx Time:16:14:40.3829 %TRx dataTimestamp_ set to:1755879279.671248-PDAT read: Bearing 249.7, 36.9 (Local) -~Local bearing/azimuth received: Bearing 249.7, 36.9 (Local) 1EDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 }DAT read: 16:14:40.3829 LVL= 24016, 10321, 26178, 26739, AGC= 42, IDX= 501, 0.40,-1.615,-2.762,-2.962,-0.920, PHS=-0.593,-1.797,-2.086, RAW= 79.5, 49.1, CAL= 76.9, 55.1, ROT= 73.1, -55.1 Ygot valid direction response: 16:14:40.3829 LVL= 24016, 10321, 26178, 26739, AGC= 42, IDX= 501, 0.40,-1.615,-2.762,-2.962,-0.920, PHS=-0.593,-1.797,-2.086, RAW= 79.5, 49.1, CAL= 76.9, 55.1, ROT= 73.1, -55.1 V#Rx 109: Read range and direction messages.\direction in FSK: [0.166324,0.547437,0.820152]Fpublishing direction and range info9XJ?6pjv?8%>??i]Q(Bfsh )IiΚ?a[?˫?m0v?N? m0viIGgU?:ۿ/k.?15wP[ N?)m0vi checking for new query: numPingsReceived=109, elapsed TxPingTime=53.003979Y [v,%*ADRoDRDR%DPER`: ER:6ER 4:EP!V@!Z@!Z@!Z@~B9~?!IBD6DY=!=K=EQ)E>A9A9MDYMVCMAM>QQ 1]4٪U7?Q 5]4U0 U_B9aYaQ Ee?yU C)UL;IUz;iU(4YimAihIhM%*AhMԾ?hMԾ?hMu?hMhW?%Oq?]JN?hMXJ?6pjv?8%>?hMN?hMm0viM۔!?o`A?,Έ?hMbQ?fmHE?H ?hMB?hM<hM@k:?hMThMB*iM^2=?2iMT:iMBiMB?"iM(? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502963 s, deltaX: -0.200000 m, approachRate: -0.397644 m/s, rangeRepo size: 4  Added new target pos. range: 1.490859 m, bearing: 87.703485 deg, lat: 36.779428 deg, lon: -121.859657 deg, deltaT: 0.502963 s, deltaX: -0.198781 m, approachRate: -0.395220 m/s, posRepo size: 4 ggggggggzfrfffBdddc?cб?ɢB>y; V=I J9ɡiIv-I%6sni!i)))))1uchecking for new query: numPingsReceived=109, elapsed TxPingTime=53.226086vB~BBBBBBB-R;B.EBBBBBBU5q>A6>IaIN>ԑ- DDAT read: Rx Time:16:14:40.8830 5 TRx dataTimestamp_ set to:1755879280.176217E PDAT read: Bearing 252.2, 37.4 (Local) E ~Local bearing/azimuth received: Bearing 252.2, 37.4 (Local) ] DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:14:40.8830 LVL= 24048, 10289, 25730, 26867, AGC= 42, IDX= 503,-0.37,-2.369, 2.874, 2.584,-1.662, PHS=-0.605,-1.702,-2.081, RAW= 75.7, 49.4, CAL= 72.6, 55.2, ROT= 77.4, -55.2  Ygot valid direction response: 16:14:40.8830 LVL= 24048, 10289, 25730, 26867, AGC= 42, IDX= 503,-0.37,-2.369, 2.874, 2.584,-1.662, PHS=-0.605,-1.702,-2.081, RAW= 75.7, 49.4, CAL= 72.6, 55.2, ROT= 77.4, -55.2  V#Rx 110: Read range and direction messages. \direction in FSK: [0.124497,0.556969,0.821149] Fpublishing direction and range info91 5 E~} ߿??[F?5 ?1 i5 ]5 1(5 d5 h1 Թ 5 H)5 #ٿI5 /i5 ?5 \?5 0?5 Ϣv?5 ? 5 Ϣvi1 1 I5 8?fo4ݿ'O?5 zE5 B\ 5 ?)5 Ϣvi1 1  checking for new query: numPingsReceived=110, elapsed TxPingTime=53.501656Bw, %*A5B95B!Iԑ=Mb@Mb@Mb@ 9)9I9i99=y&1?y&1?=`e<=`e<9I=d@i=bA=A=SA)9=QABDU6DU4Ye?3<!e,=aQ)m>99DYCA>Q 14٪o8?Q 54/ _B91A rA >?jA :?A yAI! I1 N= >*b w,h['%*Ay6i@ٱ6*>6i6ˆt=6H?@ſȬ@e;? {?{!5?w??I6i@)6Ĉ^;i6CBB9B4!IDiDBDN6DN4YRz!R=V%Aa  checking for new query: numPingsReceived=111, elapsed TxPingTime=54.233864A vB J>~B B y!IB HBB B B B $R;B *EI I N% >Hw,0A%*Ay@ٱ(!>f'n=H@?@pĿ??@ ?`?@?I@){^;i%B9-*!IEMb@Mb@Mb@ A)AIAiAAEMb`I +Mb`EE9EIAiEAEAA)AEzABD]6D]4iYu!u%=u:Q)}>y9y9}DY}CҝA>Q 14٪8?Q 54/ _B9A ;> BEmc44JEm*4REmϚ/D tD ZD D E s: E a96E :E "E ;! E ;! *E ;! E ;! A AI I N >ow,PZ%*A6checking for new query: numPingsReceived=112, elapsed TxPingTime=54.737995yF@ٱF(>F'KbFg=FH`?`3ÿ ?u? XE?@FԬ?|?IF@)Fݨ^;iFCPnB9n!IBDv6Dv4Y~`!~~==;Q) ?K?9 K?9 DY C gA  ?Q 14٪8?Q 54$0 _B9!Y%Q E%?yC);I;iE4Y-B-A-EhAhEK%*AhE?hE?hEZ?hEem\?NsH_??hE4:kҷ??ֳO?hE?hE0wiEQW?=jcA?XRE?hEp?r aZ?m5|?hE j?hEm=hEJ=?hEp{hEB*iA2iE:iEBiE$X?"iE?} addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504465 s, deltaX: 0.300000 m, approachRate: 0.594689 m/s, rangeRepo size: 4  Added new target pos. range: 1.789034 m, bearing: 86.365677 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.504465 s, deltaX: 0.298172 m, approachRate: 0.591066 m/s, posRepo size: 4 ggggggggzfrfffBdddc?c?ɢBM I ]"o9ɡYiYI]0Ie2sniaia)a)i@y@}R>>A6>bAZAhA%DDAT read: Rx Time:16:14:42.3830 -TRx dataTimestamp_ set to:1755879281.6879085PDAT read: Bearing 248.3, 36.7 (Local) =~Local bearing/azimuth received: Bearing 248.3, 36.7 (Local) UDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 uDAT read: 16:14:42.3830 LVL= 23936, 11105, 25634, 26835, AGC= 41, IDX= 502,-0.00,-2.418, 2.760, 2.525,-1.710, PHS=-0.606,-1.769,-2.092, RAW= 78.1, 49.4, CAL= 75.3, 55.3, ROT= 74.7, -55.3 }Ygot valid direction response: 16:14:42.3830 LVL= 23936, 11105, 25634, 26835, AGC= 41, IDX= 502,-0.00,-2.418, 2.760, 2.525,-1.710, PHS=-0.606,-1.769,-2.092, RAW= 78.1, 49.4, CAL= 75.3, 55.3, ROT= 74.7, -55.3 V#Rx 113: Read range and direction messages.\direction in FSK: [0.150218,0.549103,0.822144]Fpublishing direction and range info9!%1GT:?E( @?ֳO?%?!i%]%a+%"d%h! !)%nI%Ti%!z?!%8?!%? !i!!I%%*? EWۿvO! Jw,t%*Ay6h@ٱ6 >6_6P&`=6H ڨ? 姿`A??@*??@?I6h@)6r^;i4DPDR^DR%DPEP ER;96ER 4:EP!V@!V@!V@!Z@ZB9Z!I^<^=BDf6Dfo4YnW!nM=nͽ:Q)n>p9p9rDYrDvAv>tQ 1z4٪v8?Q 5~4v_09 v_B9Y_¿Q E?yvC)v]?p?u9?hU1GT:?E( @?ֳO?hU?hQiU??FEA?ī:1?hU{XC?t&g?-pFs?hU]?hU_o=hUr=?hUhU߅B*iQ2iU:iU߅BiU]?"iUC ? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503948 s, deltaX: -0.100000 m, approachRate: -0.198433 m/s, rangeRepo size: 4  Added new target pos. range: 1.689644 m, bearing: 86.140383 deg, lat: 36.779427 deg, lon: -121.859656 deg, deltaT: 0.503948 s, deltaX: -0.099391 m, approachRate: -0.197224 m/s, posRepo size: 4 ggggggggzfrfffBdddc@33?c ?ɢ-B- 15I1 5)J\9ɡ1i1I5L1I=7sni9iA)A)A)q q}checking for new query: numPingsReceived=113, elapsed TxPingTime=55.242378vBK>~BBf!IB9BBBBB R;B)Ei>A];>ԑA I I N > - DDAT read: Rx Time:16:14:42.8830 5 TRx dataTimestamp_ set to:1755879282.191874= PDAT read: Bearing 248.4, 36.8 (Local) E ~Local bearing/azimuth received: Bearing 248.4, 36.8 (Local) M DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 U "DAT read: 16:12 ] @unknown deviceResponse_: 16:12 ] \#Rx 114: Read range message, but no direction.91 1 1 e checking for new query: numPingsReceived=114, elapsed TxPingTime=55.502090W#w,%*AԙB9!IBD6D̺4Y!7=Q)%>!9!9%DY%'D-A->1Q 1]4٪58?Q 5]450 5_B9YYYQ E]?y5C)5q;I5:i5S4YimAi addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503966 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ggggggggzfrfffBdddcc`?ɢ]Be2 ae0Ia eA9ɡaiiIm2Iu4sniqiq)q)qDvDmD'DEVz: E:6E'4:E"EE;!EF;!*E?G;!E@G;!checking for new query: numPingsReceived=114, elapsed TxPingTime=55.745888>A6>A yAI9 I N >! ծ)w,%*Ay6j@ٱ6;=6D]6 P=6HV? a@d*?C?﬿λ? ?l?I6j@)6^;i6C>B9B!IBDF6DFQ4YN!Re=R:Q)R>V H?9V H?9VDYV8DVXAV>XQ 1^4٪Z8?Q 5b4Z0 Z_B9`YbYſQ Eb?yZC)Z>:IZ:iZZ4YdfAhvB*** querying acoustic contact ***zhthtg|g|g|g|g|g|g|gzfrfffBd d d c c`3?ɢ=B=b 9E\IA E[9ɡAiAIE2IM9sniIiI)I)Q@a@aDDAT read: Rx Time:16:14:43.3829 TRx dataTimestamp_ set to:1755879282.695740PDAT read: Bearing 247.4, 36.7 (Local) ~Local bearing/azimuth received: Bearing 247.4, 36.7 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 )=DAT read: 16:14:43.3829 LVL= 23664, 10609, 25186, 27187, AGC= 42, IDX= 501, 0.22,-2.555, 2.643, 2.389,-1.849, PHS=-0.604,-1.746,-2.089, RAW= 77.3, 49.4, CAL= 74.4, 55.2, ROT= 75.6, -55.2 EYgot valid direction response: 16:14:43.3829 LVL= 23664, 10609, 25186, 27187, AGC= 42, IDX= 501, 0.22,-2.555, 2.643, 2.389,-1.849, PHS=-0.604,-1.746,-2.089, RAW= 77.3, 49.4, CAL= 74.4, 55.2, ROT= 75.6, -55.2 EV#Rx 115: Read range and direction messages.m\direction in FSK: [0.141931,0.552784,0.821149]mFpublishing direction and range info9M0*?Ig?[F??ip\q)bb3j* )|߿I-i?6?Ϣv?[? ϢviI<Հ?XLIܿH?J>M\ [?)Ϣvichecking for new query: numPingsReceived=115, elapsed TxPingTime=56.020550a>A;>rAA?jAC?DyDcD%DE: EL96E 4:E!@!@!@!@A AII)N5>ԉ checking for new query: numPingsReceived=115, elapsed TxPingTime=56.249832vB G>~B B M!IB %BB =B B B R;B !EԹ 0w,}%*AyVM@ٱ=6._ZzF=H5?o5@??z@>?bè?=?IVM@)eq^;iCEB9E IAiAԉ! @!  ! @!  ! @!  !@! BD6D[4Y- !-(=-Q)->5K?95K?95DY5QD5 A=>9Q 1E4٪=8?Q 5M4=1 =_BQ =M+:9IQ AMi=`4YQ]AYh h %*Ah Ծ?h Ծ?h _?h p?`/_?&`?h M0*?Ig?[F?h [?h Ϣvi j%A?bnH?'e[?h hQ#C?͞?f9XSO?h :F?h „=h k>?h h nB*i J=?2i :i i se?"i ?E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503866 s, deltaX: -0.200000 m, approachRate: -0.396931 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.490854 m, bearing: 85.214609 deg, lat: 36.779428 deg, lon: -121.859656 deg, deltaT: 1.007832 s, deltaX: -0.198790 m, approachRate: -0.197245 m/s, posRepo size: 4 ggggggggzfrfffBddDDAT read: Rx Time:16:14:43.8830 TRx dataTimestamp_ set to:1755879283.199714PDAT read: Bearing 246.5, 36.6 (Local) ~Local bearing/azimuth received: Bearing 246.5, 36.6 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 -DAT read: 16:14:43.8830 LVL= 23984, 9873, 25362, 27283, AGC= 42, IDX= 502, 0.38,-1.894,-2.983, 3.050,-1.193, PHS=-0.599,-1.745,-2.084, RAW= 77.4, 49.3, CAL= 74.6, 55.1, ROT= 75.4, -55.1 5Ygot valid direction response: 16:14:43.8830 LVL= 23984, 9873, 25362, 27283, AGC= 42, IDX= 502, 0.38,-1.894,-2.983, 3.050,-1.193, PHS=-0.599,-1.745,-2.084, RAW= 77.4, 49.3, CAL= 74.6, 55.1, ROT= 75.4, -55.1 =V#Rx 116: Read range and direction messages.E\direction in FSK: [0.144220,0.553671,0.820152]EFpublishing direction and range info9u?ګ?8%>??i]&cj X))\߿IB`i?FF\?r?m0v?q? m0viIan7?%Ʀ Aܿ󉽉@?dcYc]{,?@>B'\ q?)m0vichecking for new query: numPingsReceived=116, elapsed TxPingTime=56.522346ɢB-ˌ 顭I 8ɡiI3ԱI6snii))D D `D (D E O: E 96E c44:E "E ;! E ;! *E ;! E ;! >A= 6> PExceeded connect timeout, disconnecting. Ai Iq I )ߑ ߑ  checking for new query: numPingsReceived=116, elapsed TxPingTime=56.754200N >7w,t%*Ay6T@ٱ6@6=6Qc6\e==6H?@??!yf?.?@?I6T@)6d^;i6CBB9B IBDJ6DJz4YR;!Rq=RCQ)V?T9T9VDYZbDZAZ?\Q 1b4٪^8?Q 5b4^O1 ^_BQ =b :9`Q Ab?hq?hm0vi?Ö6?ANx?hBd)%E?;wAuDDAT read: Rx Time:16:14:44.3829 uTRx dataTimestamp_ set to:1755879283.703618}PDAT read: Bearing 246.3, 36.6 (Local) ~Local bearing/azimuth received: Bearing 246.3, 36.6 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:14:44.3829 LVL= 23904, 10593, 25906, 27283, AGC= 42, IDX= 502,-0.39, 2.035, 0.957, 0.695, 2.733, PHS=-0.596,-1.731,-2.082, RAW= 76.9, 49.2, CAL= 74.0, 55.0, ROT= 76.0, -55.0 Ygot valid direction response: 16:14:44.3829 LVL= 23904, 10593, 25906, 27283, AGC= 42, IDX= 502,-0.39, 2.035, 0.957, 0.695, 2.733, PHS=-0.596,-1.731,-2.082, RAW= 76.9, 49.2, CAL= 74.0, 55.0, ROT= 76.0, -55.0 MV#Rx 117: Read range and direction messages.U\direction in FSK: [0.138761,0.556539,0.819152]UFpublishing direction and range info9quy$?wg*?U~6?u?qiu`]ua)u2eqq uu)uhݿIu}?iu˫?u[?uMQ?u u?uɩ? u uiqqIuvG?}ܿT9?uc@u[ uɩ?)u uiqquchecking for new query: numPingsReceived=117, elapsed TxPingTime=57.039539ԹAIIN > %=w,$%*AD:~D8D:&D8E:: E86E:4:E8!>@!>@!B@!B@yF@ٱF=FtgFZ5=FH ?Z䳴?]? `?V??IF@)F}G^;iDnB9n IBDv6Dv4Y~<!~F=8 Q)>9 9 DY wD ~A >Q 14٪8?Q 541 _BQ =%99!Q A%?2i:iid?"iĿ?} addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503904 s, deltaX: -0.200000 m, approachRate: -0.396901 m/s, rangeRepo size: 4  Added new target pos. range: 1.490854 m, bearing: 84.720511 deg, lat: 36.779428 deg, lon: -121.859656 deg, deltaT: 0.503904 s, deltaX: -0.198781 m, approachRate: -0.394481 m/s, posRepo size: 4 ggggggggzfrfffBdddc?c ?ɢ Bܢ hI  ɡiIc4I8snii))@q@uY>checking for new query: numPingsReceived=117, elapsed TxPingTime=57.258003vBE>~BCB4!IBBB =BBZDBQ;BE )>AA I &% dClearing failed state for component DockingStepper1- I) N= >I I} ݈G DDAT read: Rx Time:16:14:44.8830  TRx dataTimestamp_ set to:1755879284.207245 PDAT read: Bearing 245.4, 36.6 (Local)  ~Local bearing/azimuth received: Bearing 245.4, 36.6 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:14:44.8830 LVL= 24208, 10401, 25938, 27123, AGC= 42, IDX= 503,-0.22, 2.661, 1.575, 1.324,-2.933, PHS=-0.587,-1.730,-2.071, RAW= 77.3, 49.1, CAL= 74.5, 54.9, ROT= 75.5, -54.9  Ygot valid direction response: 16:14:44.8830 LVL= 24208, 10401, 25938, 27123, AGC= 42, IDX= 503,-0.22, 2.661, 1.575, 1.324,-2.933, PHS=-0.587,-1.730,-2.071, RAW= 77.3, 49.1, CAL= 74.5, 54.9, ROT= 75.5, -54.9  V#Rx 118: Read range and direction messages. \direction in FSK: [0.143970,0.556690,0.818150] Fpublishing direction and range info9 aIym?K)ug?[H.? ? i ^ ( Re i E) pݿI Di ? a[? Bo? Ku? +? Kui I +Z8o?QUnܿQ"&+? > &[ +?) Kui  checking for new query: numPingsReceived=118, elapsed TxPingTime=57.525085) I1 ie ؍a e AUDw,%*A yVd@ٱV=VkV-=VH?)ͫs?@?Oy?@??IVd@)Vq^;iVC=݂B9= IEQ9Q9]DY]D]̑A]>aQ 1m4qD}zD}dD})DyE}l: E}96E}FA4:Ey"E}Χ;!E}Ч;!*E}}&;!E}~&;!٪e7?Q 54e2 e_BQ =T:9=Q AA!IIN ?nLw,"4%*AyV-@ٱV݆=V%qV0%=VH?@pĬ Ѱ?P?ݕ 7?w? ?IV-@)V N^;iVCjقB9j IBDr6Drp4Yz{_!~,=~IQ)~>99DYDDhA>Q 1=4٪46?Q 5=43 _B99Y=Q EE?y"C);IO;iHy4YIM AIhahe-%*AheӾ?heӾ?heK?he2MT?I>kh?`}?he& ?x?" &?heޤ?heGtie8?l?8$3?heeI?Ы?'!7?heH?he=he"??heA-he`B*ieͼ??2ie:ienBieZb?"iet? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503969 s, deltaX: -0.200000 m, approachRate: -0.396850 m/s, rangeRepo size: 4  Added new target pos. range: 1.490841 m, bearing: 81.723234 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.503969 s, deltaX: -0.198779 m, approachRate: -0.394427 m/s, posRepo size: 4 ggggggggzfrfffBdddc?c@?ɢwֻ ýI XZɡiIP6I2snii))DwDcDDE}: EL96E:E!%@!%@!%@!%@ԉAe<Ae<vBmD>~BiBm(!IBmBBiBiBiBmQ;BmEchecking for new query: numPingsReceived=119, elapsed TxPingTime=58.265919B)B)B)B)B)B-^5Թ>AIIN > = DDAT read: Rx Time:16:14:45.8830 E TRx dataTimestamp_ set to:1755879285.215327M PDAT read: Bearing 237.3, 35.3 (Local) M ~Local bearing/azimuth received: Bearing 237.3, 35.3 (Local) _RSw,M%*ABDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:14:45.8830 LVL= 21168, 12353, 22994, 24243, AGC= 40, IDX= 503, 0.01,-2.495, 2.425, 2.416,-1.844, PHS=-0.549,-1.970,-2.068, RAW= 86.7, 47.8, CAL= 85.1, 54.0, ROT= 64.9, -54.0 Ygot valid direction response: 16:14:45.8830 LVL= 21168, 12353, 22994, 24243, AGC= 40, IDX= 503, 0.01,-2.495, 2.425, 2.416,-1.844, PHS=-0.549,-1.970,-2.068, RAW= 86.7, 47.8, CAL= 85.1, 54.0, ROT= 64.9, -54.0 V#Rx 120: Read range and direction messages.\direction in FSK: [0.249338,0.532280,0.809017]Fpublishing direction and range info9qu%P?K]o?ޣw?u?qiuRuA0uYu^u( uD )u(IuZiu?uU?u?u:Fq?u? u:FqiqqIur{Q?:eN׿]zt?uugU u?)u:FqiqqyM@ٱil=aF=H`o? 4z??99DYDaA>Q 14٪a3?Q 5-44 _B9-{=Q A-;Y-uQ E-?y)C)S;I;i4Y1==A9hqhuM%*AhuE?huE?hu?huY?gNx??hu%P?K]o?ޣw?hu?hu:Fqiu*;{(?%A?(bM?hu|h~?.c?Kz%?hu]?huC>hu7JK?hu!huB*iu"??2iu1:iuBiul?"iu$y?D)D-nD-'D)E) E-:6E-'4:E)"E-g;!=E-h;!=*E-J;!=E-J;!=e addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504113 s, deltaX: 0.200000 m, approachRate: 0.396737 m/s, rangeRepo size: 4 u Added new target pos. range: 1.689617 m, bearing: 71.848059 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504113 s, deltaX: 0.198776 m, approachRate: 0.394309 m/s, posRepo size: 4 gqgqgqgqgqgqgygyzfyrfyffĂBBdddc@33?c`?ɢ B> x޽I =ݪɡ9i9IEK7IE7sniIiI)I)IAI rAa jAe >?I I N= >h|Yw,yg%*AibƂB9b IBDj6Djz4Y-!-=-Q)5?19195DY5D=A=?AQ 1M4٪E1?Q 5M4E5 E_B9IYIQ EM?yE-C)E:IE:iE{4YY]AYuB*** querying acoustic contact ***zhqhqggggggggzfrfffBdddcc@)Z?ɢ*C I ϹɡiI=7I4snii))DDAT read: Rx Time:16:14:46.3829 TRx dataTimestamp_ set to:1755879285.720190PDAT read: Bearing 236.2, 35.3 (Local) ~Local bearing/azimuth received: Bearing 236.2, 35.3 (Local) 5DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 Q]DAT read: 16:14:46.3829 LVL= 21376, 12257, 22898, 24115, AGC= 41, IDX= 502, 0.12,-2.766, 2.104, 2.130,-2.130, PHS=-0.534,-2.004,-2.067, RAW= 87.9, 47.3, CAL= 86.4, 53.5, ROT= 63.6, -53.5 eYgot valid direction response: 16:14:46.3829 LVL= 21376, 12257, 22898, 24115, AGC= 41, IDX= 502, 0.12,-2.766, 2.104, 2.130,-2.130, PHS=-0.534,-2.004,-2.067, RAW= 87.9, 47.3, CAL= 86.4, 53.5, ROT= 63.6, -53.5 mR#Rx 1: Read range and direction messages.u\direction in FSK: [0.264479,0.532790,0.803857]uFpublishing direction and range info9:?v ? 2??iS/rY3^) 9)AIIi^?VS??Q o?q? Q oiI`)yVc?C?x ׿D+7?V9TS q?)Q oi2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.yD5D5]D5&D1E5: E596E54:E1!E@!E@!E@!E@>A Iq I N >ԩ vBm E>~Bi Bm "!IBm BBm =Bi Bi Bm Q;Bm E 99DYD ;A>QQ 14٪U.?Q 54U6 U_B9ԱYeQ E?yU3C)U2}h5E?h5 e"h5JB*i12i5!:i5nBi5s?"i5? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504863 s, deltaX: -0.200000 m, approachRate: -0.396147 m/s, rangeRepo size: 4  Added new target pos. range: 1.490841 m, bearing: 70.706482 deg, lat: 36.779428 deg, lon: -121.859658 deg, deltaT: 0.504863 s, deltaX: -0.198776 m, approachRate: -0.393723 m/s, posRepo size: 4 ggggggggzf rf ffBdddc?cE?DDAT read: Rx Time:16:14:46.8830  TRx dataTimestamp_ set to:1755879286.223406PDAT read: Bearing 238.2, 35.6 (Local) ~Local bearing/azimuth received: Bearing 238.2, 35.6 (Local) -DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 MDAT read: 16:14:46.8830 LVL= 23920, 12513, 25522, 27059, AGC= 41, IDX= 503, 0.25,-2.083, 2.875, 2.839,-1.444, PHS=-0.537,-1.919,-2.045, RAW= 85.7, 47.7, CAL= 83.9, 53.9, ROT= 66.1, -53.9 UYgot valid direction response: 16:14:46.8830 LVL= 23920, 12513, 25522, 27059, AGC= 41, IDX= 503, 0.25,-2.083, 2.875, 2.839,-1.444, PHS=-0.537,-1.919,-2.045, RAW= 85.7, 47.7, CAL= 83.9, 53.9, ROT= 66.1, -53.9 ]R#Rx 1: Read range and direction messages.]\direction in FSK: [0.238708,0.538675,0.807990]eFpublishing direction and range info9  /?A ;>BEʀ'4JEʀ'4RE/DE tDE `DE (DA EE s: EE 96EE c44:EA "EE ;!U EE ;!U *EE ;!] EE ;!] I I N >fw,}%*ApւB9 IeY9Y9]DY]D]Ae>aQ 1m4٪eR.?Q 5m4e!7 e_B9uHq=Q Aua?G?h=/?h=>D?h= h=B*i=>D?2i=A-:i=Bi=vr?"i=q? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503216 s, deltaX: 0.200000 m, approachRate: 0.397444 m/s, rangeRepo size: 4  Added new target pos. range: 1.689620 m, bearing: 73.479954 deg, lat: 36.779428 deg, lon: -121.859659 deg, deltaT: 0.503216 s, deltaX: 0.198779 m, approachRate: 0.395017 m/s, posRepo size: 4 ggggggggzfrfff̂BBdddc@33?c{e?ɢ6 ԽI UcɡQiYI][9I6snii))9 DDAT read: Rx Time:16:14:47.3829  TRx dataTimestamp_ set to:1755879286.727435% PDAT read: Bearing 235.3, 35.2 (Local) - ~Local bearing/azimuth received: Bearing 235.3, 35.2 (Local) = DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 m DAT read: 16:14:47.3829 LVL= 21328, 11297, 22770, 24051, AGC= 41, IDX= 502, 0.43,-3.047, 1.782, 1.854,-2.424, PHS=-0.521,-2.032,-2.050, RAW= 89.4, 47.0, CAL= 88.1, 53.2, ROT= 61.9, -53.2 u Ygot valid direction response: 16:14:47.3829 LVL= 21328, 11297, 22770, 24051, AGC= 41, IDX= 502, 0.43,-3.047, 1.782, 1.854,-2.424, PHS=-0.521,-2.032,-2.050, RAW= 89.4, 47.0, CAL= 88.1, 53.2, ROT= 61.9, -53.2 u R#Rx 1: Read range and direction messages.} \direction in FSK: [0.282147,0.528415,0.800731] Fpublishing direction and range info9  )?} j(?@p? ? i PS>A  !, X ]  B`) J I 33i ? ~Q? :? ,m? 3I?  ,mi  I i?w8:ֿآb?  Q  3I?) ,mi   2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.a I I N > lw,]%*Ay6@ٱ6=6k6cy=6H?`lCٯ?`?d( ?@C??I6@)6^;i4\9^ I)` `BDj6Dj249Y]j!][=eUQ)e>a9a9eDYeDm"<Am>qQ 14٪u-?Q 54u7 u_B9YQ E?yu9C)uq;Iu;iuŜ4YAhIhML%*ADsD\D'DEso: E96E'4:E!@! @! @! @hMӾ?hMӾ?hM{q?hMUص?qyH5?{?hM)?} j(?@p?hM3I?hM,miM!W\?ht?~/{?hM?tg?L ?hMC?hM*>hM,EF?hMx#hMTB*iME?2iM :iM`BiMp?"iM?5 addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504029 s, deltaX: -0.200000 m, approachRate: -0.396803 m/s, rangeRepo size: 4 e Added new target pos. range: 1.490841 m, bearing: 69.132407 deg, lat: 36.779429 deg, lon: -121.859659 deg, deltaT: 0.504029 s, deltaX: -0.198779 m, approachRate: -0.394380 m/s, posRepo size: 4 gagagagagagagigizfirfifqfBdddc?c z?ɢ ֽI Cu2ɡiI^:I3snii)) vB~BCB(!IBBBBBBQ;BEmA=6>ԙII Iq N > % DDAT read: Rx Time:16:14:47.8829 % TRx dataTimestamp_ set to:1755879287.2312395 PDAT read: Bearing 235.6, 35.0 (Local) 5 ~Local bearing/azimuth received: Bearing 235.6, 35.0 (Local) E DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 sw,4%*ADAT read: 16:14:47.8829 LVL= 21440, 11489, 22514, 23699, AGC= 41, IDX= 503,-0.34, 1.309,-0.146,-0.062, 1.938, PHS=-0.527,-2.039,-2.044, RAW= 89.8, 47.1, CAL= 88.6, 53.3, ROT= 61.4, -53.3 Ygot valid direction response: 16:14:47.8829 LVL= 21440, 11489, 22514, 23699, AGC= 41, IDX= 503,-0.34, 1.309,-0.146,-0.062, 1.938, PHS=-0.527,-2.039,-2.044, RAW= 89.8, 47.1, CAL= 88.6, 53.3, ROT= 61.4, -53.3 R#Rx 1: Read range and direction messages.~\direction in FSK: [0.286078,0.524705,0.801776]~Fpublishing direction and range info9QU3_O?|ֵa?_ԉa%?QQiUSU,UWU\Q Uy)U~IUiUy?UqR?U.?U%n?U>+? U%niQQIUZd>?Y տkYT q?UUrsR U>+?)U%niQQ2Acoustic response timeoutԙQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.y @ٱd==H!?e'@|?@?Yr?@Z?x?I @)^;iCMՂB9M IMb@Mb@Mb@ )IiMb`? rhMbp;CISAiAd@)(ABD6D4Yؑ!(= XQ)>99DY(D<A>Q 14٪-?Q 547 _B9+?hU%niUHIR:?8 9;a?l@x?hU>t?Z?@n4?hU C?hU֑>hU?E?hUv#hQ*iU?E?2iU e":iUTBiUu]?"iU"? addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503804 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DuDaDDEv: E96E:E"E";!E$;!*E;!E;!%E Added new target pos. range: 1.490842 m, bearing: 69.501732 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.503804 s, deltaX: 0.000001 m, approachRate: 0.000003 m/s, posRepo size: 4 gIgIgIgIgIgIgIgQzfQrfQfQf]BBdYdYdYcYc`h?ɢ  f L۽I NɡiI;I=8sniAiA)A)A@9@9}A% ;>1 rAM >?jAM 7?I I N >_yw,{%*AyZ@ٱZ=Z,Z =ZH{?=5d??tG?`K??IZ@)Z^;iZCfB9f IBDl6DlYv=!v=z=HQ)z?x9x9zDYz8D~=A~?Q 1 4٪-?Q 5 48 _B9 Y Q E?y)G:I:i4YA=B*** querying acoustic contact ***zh9h9gAgAgIgIgIgIgIgIzfIrfIfQfQBdQdQdYcYc] ?ɢ$ 額lI ZYɡiI;I5snii))DDAT read: Rx Time:16:14:48.3828 TRx dataTimestamp_ set to:1755879287.735317PDAT read: Bearing 235.9, 34.9 (Local) ~Local bearing/azimuth received: Bearing 235.9, 34.9 (Local) DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 %DAT read: 16:14:48.3828 LVL= 21456, 11457, 22386, 24051, AGC= 40, IDX= 502,-0.20, 0.269,-1.194,-1.094, 0.899, PHS=-0.528,-2.048,-2.037, RAW= 90.4, 47.1, CAL= 89.2, 53.3, ROT= 60.8, -53.3 -Ygot valid direction response: 16:14:48.3828 LVL= 21456, 11457, 22386, 24051, AGC= 40, IDX= 502,-0.20, 0.269,-1.194,-1.094, 0.899, PHS=-0.528,-2.048,-2.037, RAW= 90.4, 47.1, CAL= 89.2, 53.3, ROT= 60.8, -53.3 -R#Rx 1: Read range and direction messages.5\direction in FSK: [0.291557,0.521680,0.801776]5Fpublishing direction and range info9z'ߨ?a?_ԉa%?3?iS,rW]( +)oI5^i?SF?ԇ? iIL?0տhr?Zn1R ԇ?)i2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.)>A6>IAIQNeU>DtDfD%DEs: E96E 4:E!%@!%@!%@!%@QvB D>~B B 4!IB BB B B B Q;B E 1919=DY=PDMAU>iQ 14٪m.?Q 54m:8 m_B9YQ E?ymh ;D?h [%h =B*i E?2i x#:i i SU?"i |w? addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504078 s, deltaX: -0.100000 m, approachRate: -0.198382 m/s, rangeRepo size: 4  Added new target pos. range: 1.391453 m, bearing: 69.388507 deg, lat: 36.779429 deg, lon: -121.859660 deg, deltaT: 0.504078 s, deltaX: -0.099389 m, approachRate: -0.197171 m/s, posRepo size: 4 gDocking sequence complete at range 1.40 m. Lat: 36.779429 Lon: -121.859660 Reached intercept timeout.BZTransitioning guidance mode to: UNINITIALIZEDg 1C zf rf ffBdddc`ff?c@ё?ɢAE, MMII M#7lɡIiMIIiU)U e&Changing to mode: 1ԁDDAT read: Rx Time:16:14:48.8830 TRx dataTimestamp_ set to:1755879288.240827PDAT read: Bearing 235.7, 34.9 (Local) ~Local bearing/azimuth received: Bearing 235.7, 34.9 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 MDAT read: 16:14:48.8830 LVL= 21600, 12273, 22706, 23731, AGC= 39, IDX= 503,-0.09, 1.663, 0.160, 0.293, 2.285, PHS=-0.520,-2.080,-2.036, RAW= 91.4, 46.8, CAL= 90.3, 53.0, ROT= 59.7, -53.0 UYgot valid direction response: 16:14:48.8830 LVL= 21600, 12273, 22706, 23731, AGC= 39, IDX= 503,-0.09, 1.663, 0.160, 0.293, 2.285, PHS=-0.520,-2.080,-2.036, RAW= 91.4, 46.8, CAL= 90.3, 53.0, ROT= 59.7, -53.0 ]R#Rx 1: Read range and direction messages.e\direction in FSK: [0.303632,0.519604,0.798636]mFpublishing direction and range info9O4n?ܚj?|>l??i`T/X\' )IMi0?Q?n?hl?^? hliI<;?U.Կ5eU?ef *Q ^?)hli2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԩi0D! D% cD% 'D! E!  E% L96E% '4:E! "E% ;!- E% ;!5 *E% ";!5 E% ";!5 >A ;>I1 II NU >^w,%*A?b?@?IJ@)JB_;iJC B9 !IԩMb@Mb@Mb@ )IiMbP?:v?MbP?:<:IiKAbA=A)QABD6DF4YC=!@= ;Q)>99DYeD[f=A>Q 14٪ .?Q 547 _B9Nl?h%^?h%hli%=*?q?EŞD?h%R?\ /Z?h?h%]?h%>h%qI?h%4;!h%DžB*i%?E?2i!:i!i%S?"i%E?-BDocked. Homing sequence complete.1C-qC-zf1rf1f1f5BBd9d9d9c=@33?cE G?ɢim imPGIi u=uɡqiqIqiy)yi0>AbAZArAjADDAT read: Rx Time:16:14:49.3829 TRx dataTimestamp_ set to:1755879288.742864DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9?  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.A I I N >1 w,)8%*Ay6 @ٱ6=66Q/=6H? 7"?`w?@?ҥ?M?I6 @)6a;i6CBB9B6!IBDJ6DJ̺4YNp:>!Rt=Rc;Q)R?V9V9VDYTV1=AZ?XQ 1^4٪Z-?Q 5b4Z7 Z_B9`Yb?Q Eb?yZ>C)Z;IZ;iZ44YdfAhDruDrZDr"DpErv: Era96Er(3:Ep!v@!v@!z@!z@gqCzfrfffCompleted 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?c?zZN<ZN<Z+$?Z۾?ɢ LAf>IIN*>Ay} =iy I ^G) SkAI iE E SkAE A *DAT read: user:102>  FDAT read: Command 'sbl' not found  dunknown deviceResponse_: Command 'sbl' not found  "DAT read: Error  @unknown deviceResponse_: Error  *DAT read: user:103>  BDAT read: Tx time:16:14:50.4012  $Ping request sent.% 6O61E=6H?E¿CK?`?1@?` ?S?I6y@)6¢a;i6C~B9~B!IqMb@Mb@Mb@ )Ii)9)95DY15<A5>9Q 1E4٪=/?Q 5E4=6 =_B9E=Q AM4A >J>I I N > Fw,cl%*Ay6@ٱ6s>6z68V=6H ?ĿJY@?? #B???I6@)6^`;i6CZ"B9ZJ!IBDf6Df4Yj!=!ny=n n:Q)n?p9p9rDYpv+9=Av?tQ 1z4٪v/?Q 5~4v@6 v_B9|Y~?Q E~?yvFC)v;Iv;ivsΌ4Y A Bi%?F%F%%B*** querying acoustic contact ***zh)h-Bd)d1d1c1c5?zZQZQZQZU̵?Ia aɡaiiIiii)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5007059?i    / >A<>II!N5->DxDbD'DEˀ: E96E'4:E! @! @! @! @vBC>~BB`!IB4BBBBBQ;BEB}CB}CByB} =B} =B}f4) u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752664Y w,I%*Ay6u@ٱ6i,>63t6f=6H`{?ſg?Sz? ???I6u@)6W_;i6C^ B9^/!IBDf6Df4Y ҽ! G=.;Q)>)9)95DY1==A=>AQ 1M4٪E0?Q 5M4E5 E_B9IYM?Q EU?yEJC)E:IE:iEՌ4Y]B]tA]E1Fu uAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalFuBdydydccx?zZZZZ?I9 AɡIiIIQia)19%uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004866iY>A}`=IIN^>ԁ D wD ^D (D E }: E ;96E c44:E "E g;! E h;! *E ;! E ;! w,L%*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256753 i 0yB(@ٱB8>BO\B^s=BHj?gǿƪ@? Fg?䱿 h?9W??IB(@)B7_;iBCN$B9NL!IMb@Mb@Mb@ )Ii:v?/$? 9 9 DY K<A>Q 1%4٪0?Q 5%44 _B9% =Q A-@]>>A- q<I9 II N > ѭw,E%*Ay:@ٱ: ?>:|:Dy=:H?a? Fȿ)/?@[?`<?`u? @?I:@):_^;i:CF2B9F^!IBDN6DN4YV=!Vc=Z;Q)Z>X9X9ZDYX^<A^>DbpDb\Db$D`Ebd: Eb96Eb4:E`!j@!j@!j@!j@hlQ 1r4٪nd0?Q 5v4n3 n_B9tYv?Q Ev?ynRC)n`:In:in4YxzBA|Bdddcc1@zZ9Z9Z9Z=,?II IɡIiIIQiQ)Q)e eiaIavB]B>~BYB]s!IB]CBB] =BYBYB]Q;B]E)1 5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760960i3>A}9IIN>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012758w,[%*Ay6Z@ٱ6` I>6w6Ȅ=6H S?hɿ~˧?zK?G?`H? ?I6Z@)6Q^;i4b5B9bb!IMMb@Mb@Mb@ I)IIIiIIMMbp?ˡE?Mb`?M;M=M;IIiIII)IIBDe6De4YuV<!u>=uH;Q)}>y9y9}DYy<A>Q 14٪/?Q 542 _B9/=Q A!qԩ w,%*Aɰ46eq6U\=6HL?ʿ`{ئ3? 1C?@_U@q.?@? l?I6@)6T^;i6CB8B9Bf!IBDJ6DJ4YRB<!RX=R|;Q)V>T9T9VDYTZZ<AZ>\Q 1b4٪^/?Q 5b4^ 2 ^_B9`YbB?Q Ef?y^ZC)^Q;I^+;i^4YhjAhvB*** querying acoustic contact ***zhthtBdxdxdxc|c]`@yDDAT read: Rx Time:16:14:52.5329 TRx dataTimestamp_ set to:1755879291.766944DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9f?checking for new query: numPingsReceived=1, elapsed TxPingTime=2.520097zZqZqZqZuB?I ɡiIi)1 ]x?]?iIIN >ԡDsD\D&DEso: E96E4:E!@!@!@!@vBUE>~BQBU!IBURBBQBQBQBU~Q;BUE] checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769662 w,%*Ay6ѩ@ٱ6R>6\k6=6HE?vʿॿ@"?+;??y@q?`̰??I6ѩ@)6^;i6CN:B9Rh!IBDZ6DZ4Yb <!bH=bg;Q)b>d9d9fDYdjn9<Aj>hQ 1r4٪j/?Q 5r4j+1 j_B9pYr?Q Er?yj_C)j@;Ij<;ij4YtzAxBd ddc?c?zZ1Z1Z1Z5?IA AɡIiIIIiI)Qi0I!IANm=DDAT read: Rx Time:16:14:53.0329 TRx dataTimestamp_ set to:1755879292.270878DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 2: Read range message, but no direction.9checking for new query: numPingsReceived=2, elapsed TxPingTime=3.0240201D mD bD D E Y: E 96E :E "E ~;! E !~;! *E 5;! E 6;! Y 6w,d!%*A&checking for new query: numPingsReceived=2, elapsed TxPingTime=3.281025yZD@ٱZ S>ZbZ߈=ZH8E?`ʿ99DY:A>Q 14٪-?Q 540 _B9j=Q AEiDDAT read: Rx Time:16:14:53.5328 TRx dataTimestamp_ set to:1755879292.782868DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  X#Rx 3: Read range message, but no direction.9?checking for new query: numPingsReceived=3, elapsed TxPingTime=3.535989ԉԹ w,)>;%*Ay6*@ٱ6S>6bsZ6=6H)G?`ޗʿ> v)?`9?ڳK?`h? \?I6*@)6 _;i6CB5B9Bb!IiF=IF=IH)HDRrDRcDR)DPERk: ERL96ERFA4:EP!V@!V@!Z@!Z@BDN6DNd4YbG;!b\=b;Q)f>d9d9fDYdjۺAj>lQ 1r4٪n,?Q 5r4n/ n_B9pYr}@Q Er?ynfC)n;In;in4YzBzAzE Done Waiting.C 8Uninitialize Wait Component.CBdddc@33?c@?q3fnAggregate::initialize lineCaptureHoming:MicromodemComms3 g~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn3zZZZZ}@I ɡiIiAA<vBF>~BCB!IBMBB =BB[DBQ;BE))!ԑechecking for new query: numPingsReceived=3, elapsed TxPingTime=3.785815i0II DDAT read: Rx Time:16:14:54.0329  TRx dataTimestamp_ set to:1755879293.286740 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  X#Rx 4: Read range message, but no direction.9  f?  checking for new query: numPingsReceived=4, elapsed TxPingTime=4.039874 N= >K}w,:W%*Ay6R@ٱ6M>6ZR6=6HpP?ɿ@¢s?B? ơ]H?8W?[?I6R@)6ka;i6CB$B9BM!I=Mb@Mb@Mb@ 9)9I9i99=L7A`堿i9i9mDYiu!8Au>qQ 1}4٪u#+?Q 54u/ q93H=Q A1checking for new query: numPingsReceived=4, elapsed TxPingTime=4.289588Yԉ w,p%*Ay6W@ٱ6`H>6ԣI6=6HsY?Iɿ顿 ?{K?m`1? J?X?I6W@)6i`;i6CB0B9B[!IBDJ6DJ\4Yf u=!fV=f%;Q)f>h9h9jDYhjvXAn>rDDAT read: Rx Time:16:14:54.5328 vTRx dataTimestamp_ set to:1755879293.790860zDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 zX#Rx 5: Read range message, but no direction.9pr?p~checking for new query: numPingsReceived=5, elapsed TxPingTime=4.543994Q 1 4٪)?Q 54T/ _B9Y~ @Q E?ykC):I:i4Y!%A!=BCompleted lineCaptureHoming:Lap:BP^Aggregate::uninitialize lineCaptureHoming:Lap:B1QB*** querying acoustic contact ***zhhzZ1Z1Z1Z5`~ @IEp: IɡIiIIIiIq)yi-))))I9IIN]>ԡDtDbD&DEs: E96E4:E!@!@!@!@vB~BBBBBBBQ;BEchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.793147 @w, %*Aɰ"4< yF@ٱF ?>Fv?@FÈ=FH6h?j%ȿ@I2@}? ^Z?i? O?`?IF@)F_;iFCj%B9nM!IIG5=)kAIIikAB1) ABD6D4YM9!M'=M;Q)M>Q9Q9UDYQ]A]>Q 14٪?(?Q 54. _B9Y@Q E?ynC)N:I[:i4YADDAT read: Rx Time:16:14:55.0329 TRx dataTimestamp_ set to:1755879294.294947DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 6: Read range message, but no direction.9f?checking for new query: numPingsReceived=6, elapsed TxPingTime=5.048373j1QqQzZQZQZQZU@I ɡiIi)iAimiiu3qIIN]>DuDdD'DEv: E96E'4:E"E";! E$;! *E}&;! E~&; !  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.296700w,t%*Ay:@ٱ:@6>: 9:~=:H v?`5ƿ̠S?`h? N2?6??I:@):)O_;i8F!B9FI!I-only read 3 of 4 data items for beam range. Device response is::RA, 0.81, 85.58, 84.56, 80.49 !@! !@! !@! !@! BD6D4Y}o!}n=;Q)?99DY?޼A?Q 14٪#'?Q 54. Q =+:9Q A[i"4Y;A(Mode 0.000000 count qQQ ZAggregate::initialize lineCaptureHoming:Lap:EI ɡiIi)Qi/IIN >yDDAT read: Rx Time:16:14:55.5328 TRx dataTimestamp_ set to:1755879294.798801 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 X#Rx 7: Read range message, but no direction.9?checking for new query: numPingsReceived=7, elapsed TxPingTime=5.552105ԩ D xD eD &D E ˀ: E 96E 4:E ! @! @! @! @w,/R%*Ay6X@ٱ6`(>6}36<}=6H ~B`Bbm!IBb>BBb =B`B`BbQ;BbEBCBCBBBB'5%%B9%N!IBDE6DE4Yq<!G=o;Q)>99DY1A>Q 1%4٪%?Q 5%4\. Q =- :9)Q A-2 DDAT read: Rx Time:16:14:56.0329  TRx dataTimestamp_ set to:1755879295.302809 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  X#Rx 8: Read range message, but no direction.9  f? % checking for new query: numPingsReceived=8, elapsed TxPingTime=6.055968) .w,3%*Aiy:@ٱ:C>:.:^~=:Hr? ÿ@.`wp??[?ѥ?6??I:@):8^;i:C^#B9^K!Iib=Ib=|!! !! !! !! Mb@Mb@Mb@ )Ii㥛 lMbpIAiAASA)BD6D4YQ!J=B;Q)>99DYA>Q 14٪#?Q 54. _BQ =T:9ϧ=Q A!=ETgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shmchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.305492]w, %*Ay6z@ٱ6 >6C+)63r=6H?f I?@? z`#?R?@?I6z@)6C^;i4fDDAT read: Rx Time:16:14:56.5328 fTRx dataTimestamp_ set to:1755879295.807264jPDAT read: Bearing 240.6, 36.1 (Local) n~Local bearing/azimuth received: Bearing 240.6, 36.1 (Local) vDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:14:56.5328 LVL= 24096, 11473, 25586, 26851, AGC= 40, IDX= 501, 0.09,-1.725,-3.071,-3.089,-1.090, PHS=-0.533,-1.936,-2.043, RAW= 86.4, 47.6, CAL= 84.7, 53.8, ROT= 65.3, -53.8 Ygot valid direction response: 16:14:56.5328 LVL= 24096, 11473, 25586, 26851, AGC= 40, IDX= 501, 0.09,-1.725,-3.071,-3.089,-1.090, PHS=-0.533,-1.936,-2.043, RAW= 86.4, 47.6, CAL= 84.7, 53.8, ROT= 65.3, -53.8 R#Rx 9: Read range and direction messages.%\direction in FSK: [0.246795,0.536570,0.806960]%Fpublishing direction and range info9dfp?sG +?f1n?f?dif ^f,fcfhf( fr)fIfif?fȭT?f8?fvap?f? fvapiddIfr|?x׿g%?fuNf.oT f?)fvapiddMchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.573967B9@!IBD6DYu!u1=};;Q)}>99DYA>Q 14٪ ?Q 54o/ _B9YT"Q E?y|C) ;Ip;i64YQ]uAYBCompleted lineCaptureHoming:Lap:EQ ^Aggregate::uninitialize lineCaptureHoming:Lap:EQdAggregate::initialize lineCaptureHoming:Lap:Docked1Rhdhf7%*Ahdhdhf 3?hf|0X?ذ9?(j?hfp?sG +?f1n?hf?hfvapif'ɢZ?n㍲?O?hf&ciP?9aBd?+?hf]?hfw>hf7B5?hf/hfB*id2id:idif!?"if7L?DzDD%DEl: E6E 4:E!@!@!@!@zZZZZo@I ɡiIii)yvB~BB`!IB4BBBBBQ;BE}checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809075=m T/mnt/mmc/started/2025-08-22UTC161456_sh q q 9i} y y } 0 I I N >4x,r %*A@DDAT read: Rx Time:16:14:57.0329 TRx dataTimestamp_ set to:1755879296.311305%PDAT read: Bearing 236.7, 35.3 (Local) -~Local bearing/azimuth received: Bearing 236.7, 35.3 (Local) =DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ]DAT read: 16:14:57.0329 LVL= 21824, 12273, 23394, 24931, AGC= 40, IDX= 502, 0.21,-0.308,-1.780,-1.689, 0.320, PHS=-0.526,-2.054,-2.052, RAW= 90.1, 47.0, CAL= 88.8, 53.2, ROT= 61.2, -53.2 eYgot valid direction response: 16:14:57.0329 LVL= 21824, 12273, 23394, 24931, AGC= 40, IDX= 502, 0.21,-0.308,-1.780,-1.689, 0.320, PHS=-0.526,-2.054,-2.052, RAW= 90.1, 47.0, CAL= 88.8, 53.2, ROT= 61.2, -53.2 eT#Rx 10: Read range and direction messages.u\direction in FSK: [0.288582,0.524928,0.800731]uFpublishing direction and range info9x?`6?@p?f?i@U/b[ca )tISi I?~Q?a?,m?ܸ? ,miI|Y?m{ݬտ:g?<R ܸ?),michecking for new query: numPingsReceived=10, elapsed TxPingTime=7.076909ԩy-@ٱ-=-g(-l=-H?q 4 0??쯿s ?\?@l?I-@)-^;i-C=B9=5!I<4<-Mb@Mb@Mb@ )))I)i))-333333L7A`尿~jtx--+-ĻI)i-KA)-fA))-QABD6D4Y^!=9Q)>99DY׼A>Q 14٪?Q 54t0 _B9=Q A?hL\?7t -?Oi[?hg?h*>hiN%;?h즪hB*i;D?2i4;!:iDžBii x,Jz'%*Aɰ;` B9/!IBD6DQ4Y#!=Q)3?99DYA3?9Q 1E4٪=?Q 5M4=0 =_B9IYIQ EM?y=C)=3:I=:i=D4YQKA"kU^@qSUSUzZZZZI ɡiIi ) 9DDAT read: Rx Time:16:14:57.5328 -TRx dataTimestamp_ set to:1755879296.8171355PDAT read: Bearing 238.1, 35.7 (Local) 5~Local bearing/azimuth received: Bearing 238.1, 35.7 (Local) EDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 mDAT read: 16:14:57.5328 LVL= 23840, 12465, 26514, 27635, AGC= 41, IDX= 501, 0.36,-1.326,-2.693,-2.687,-0.690, PHS=-0.534,-1.959,-2.041, RAW= 87.2, 47.5, CAL= 85.6, 53.7, ROT= 64.4, -53.7 uYgot valid direction response: 16:14:57.5328 LVL= 23840, 12465, 26514, 27635, AGC= 41, IDX= 501, 0.36,-1.326,-2.693,-2.687,-0.690, PHS=-0.534,-1.959,-2.041, RAW= 87.2, 47.5, CAL= 85.6, 53.7, ROT= 64.4, -53.7 uT#Rx 11: Read range and direction messages.\direction in FSK: [0.255800,0.533897,0.805928]Fpublishing direction and range info9!%u_??*?%?!i% ]%0%g%k%) %9)%I%i%?%g;T?%t;?%o?%ޏ? %oi!!I%s^q+?7u֓)e׿o?%n%jUT %ޏ?)%oi!!!=checking for new query: numPingsReceived=11, elapsed TxPingTime=7.591435i/IIN>Q D wD `D )D E }: E 96E FA4:E ! @! @! @! @A A <vB ~B B M!IB %BB B B B Q;B EHx,n0A%*A1}checking for new query: numPingsReceived=11, elapsed TxPingTime=7.816735} B9-!IBD6D4Y`!N=Q)>99DY A>Q 14٪[?Q 541 _B9!Y!Q E%?yC):I@:izK4YIUYAQ*kSSInitialize.dInitializing internal variables to default values.kQhaheK4%*AheE?heE?he=?he3P?VL? ?heu_??*?heޏ?heoie殗B?0p?ъ?hehee1?heNheB*ieiN%;?2ieN:ieBier?"ieTƒ?zZZZZII IɡQiQIQiQ)Ye=eJ>%z9aiII!NUS>ԙ5 DDAT read: Rx Time:16:14:58.0329 5 TRx dataTimestamp_ set to:1755879297.319348= PDAT read: Bearing 237.2, 35.4 (Local) E ~Local bearing/azimuth received: Bearing 237.2, 35.4 (Local) U DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 u DAT read: 16:14:58.0329 LVL= 21792, 12561, 22706, 23955, AGC= 41, IDX= 503,-0.42,-2.138, 2.786, 2.794,-1.497, PHS=-0.540,-1.955,-2.037, RAW= 87.2, 47.7, CAL= 85.7, 53.9, ROT= 64.3, -53.9 } Ygot valid direction response: 16:14:58.0329 LVL= 21792, 12561, 22706, 23955, AGC= 41, IDX= 503,-0.42,-2.138, 2.786, 2.794,-1.497, PHS=-0.540,-1.955,-2.037, RAW= 87.2, 47.7, CAL= 85.7, 53.9, ROT= 64.3, -53.9 } T#Rx 12: Read range and direction messages. \direction in FSK: [0.255510,0.530911,0.807990] Fpublishing direction and range info91 5 '?HZ?ܰ9?p ?5 f?1 i5 U5 15 X5 ]1 5 q= )5 q=I5 5^i1 5 + U?5 t?5 p?5 ȥ? 5 pi1 1 I5 >E?gS׿[ ?5 t5 %U 5 ȥ?)5 pi1 1 m checking for new query: numPingsReceived=12, elapsed TxPingTime=8.109229Թ ox,~Z%*Ay6P@ٱ6@=6#6kH=6HF?R#RzԴ??@q`>t? ??I6P@)6=^;i6C^B9^#!I`i`MMb@Mb@Mb@ I)IIIiIIMDl~jt99DY޽A>ԙQ 14٪V?Q 542 _B9=Q Ahmuެ3?hmJhmB*im7B5?2imJ:imBimWx?"imƚ?zZ=Z=Z(j~@ZՁ@Iٺ9)1>#)U U# ɡiˠI,i)! 29checking for new query: numPingsReceived=12, elapsed TxPingTime=8.320751iIINC> E DDAT read: Rx Time:16:14:58.5328 E TRx dataTimestamp_ set to:1755879297.823253U PDAT read: Bearing 241.6, 36.3 (Local) U ~Local bearing/azimuth received: Bearing 241.6, 36.3 (Local) jx,^t%*A"DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 0i0RDAT read: 16:14:58.5328 LVL= 23536, 10945, 25586, 26963, AGC= 40, IDX= 502,-0.24, 2.474, 1.316, 1.151, 3.132, PHS=-0.557,-1.771,-2.025, RAW= 80.7, 48.5, CAL= 78.3, 54.7, ROT= 71.7, -54.7 VYgot valid direction response: 16:14:58.5328 LVL= 23536, 10945, 25586, 26963, AGC= 40, IDX= 502,-0.24, 2.474, 1.316, 1.151, 3.132, PHS=-0.557,-1.771,-2.025, RAW= 80.7, 48.5, CAL= 78.3, 54.7, ROT= 71.7, -54.7 VT#Rx 13: Read range and direction messages.Z\direction in FSK: [0.181443,0.548633,0.816138]^Fpublishing direction and range info9qu{Vά9?uBf?Õ?u?qiu[u*ucuSiu( u)u!IuiuI?u8X?u?uft?u-? uftiqqIu4b?)_ڿL?uک/urX u-?)uftiqqjchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.602640yn G@ٱn@)=n(#n;=nH? %Ţ?`? [`@s?@\??In G@)nN_;inCvB9v!!IBD6D̺4Y%!-@=-7Q)->1919]DYY]DAe>aQ 1m4٪e ?Q 5m4eu3 e_B9qYu?Q Eu?yeC)e ;Ie;ieY4YAkkk"lhqhu-t%*AhuE?huE?huح?hu?hŻ?DG?hu{Vά9?uBf?Õ?hu-?huftiu[AD?}(? lI?hujX_?pѡ?t5ט?hu`?hu"B>hu{X&?hu`\hu݅B*iuuެ3?2iq:iqiu?"iuT?zZZZZ!p@I)>(#)G7  ɡiIi)D{DeD#DE=: E96E3:E!@!@!@!@!vBH>~BBA!IBBBBBBQ;BE] bTimed out moving from: 7407 to: 14700 response: 1- Hardware FaultI-&VHardware Fault in component: DockingStepperIN%o>checking for new query: numPingsReceived=13, elapsed TxPingTime=8.824875XRequesting device enable set for address 50.Qԁ #x,*Ǝ%*Ayx@ٱ_=UR#X/)=H@?`ͬ4?@ ?9 h? ??Ix@)tc;iCEB9IBD6D4YtY!Q=S9Q)>99DYA>QQ 14٪?Q 54P4DDAT read: Rx Time:16:14:59.0330 %TRx dataTimestamp_ set to:1755879298.3321725PDAT read: Bearing 240.6, 36.0 (Local) =~Local bearing/azimuth received: Bearing 240.6, 36.0 (Local) MDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 mDAT read: 16:14:59.0330 LVL= 23392, 10769, 25154, 26611, AGC= 41, IDX= 503,-0.11,-2.414, 2.703, 2.547,-1.757, PHS=-0.555,-1.778,-2.023, RAW= 81.1, 48.5, CAL= 78.7, 54.7, ROT= 71.3, -54.7 uYgot valid direction response: 16:14:59.0330 LVL= 23392, 10769, 25154, 26611, AGC= 41, IDX= 503,-0.11,-2.414, 2.703, 2.547,-1.757, PHS=-0.555,-1.778,-2.023, RAW= 81.1, 48.5, CAL= 78.7, 54.7, ROT= 71.3, -54.7 uT#Rx 14: Read range and direction messages.}\direction in FSK: [0.185269,0.547353,0.816138]Fpublishing direction and range info9\ ?B?Õ?@i`[*Bbg) {)Ixi-?Fѯ?&I? iI:e|?/VCڿ2uF?.>X &I?)ichecking for new query: numPingsReceived=14, elapsed TxPingTime=9.102128XRequesting device enable set for address 50. _B9Y$Q E?yC)b.=IO-=i`4YAk)k)k1"l1hhNB%*Ahp?hp?hD?hڧaݑ?g}h?1?h\ ?B?Õ?h&I?hi0xHh?X?0?hBۀ?٨?K?h}?hB{>h5(?hh\B*ie1?2i:iBii?"iF>?zZAZAZAZE@IQy)>UR#  ɡiIֹi) :Uninitialize Docking Stepper. Powering down IINF>DzDdD'DEl: E96E'4:E"Eϧ;!EЧ;!*E}&;!E~&;!ԡ)ߙ ߝ A checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329034 XRequesting device enable set for address 50. @)x,%%*Ay6]@ٱ6q@=6&d"6=6H?`zϨT?G?ͮ@(K?@? x?I6]@)6+a;i6C^ B9^.!Ib99DYA>Q 14٪P?Q 545 _B9=Q A&d"  ɡiId.i) DDAT read: Rx Time:16:14:59.5329  TRx dataTimestamp_ set to:1755879298.831258PDAT read: Bearing 238.5, 35.6 (Local) ~Local bearing/azimuth received: Bearing 238.5, 35.6 (Local) -DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 MDAT read: 16:14:59.5329 LVL= 23088, 10577, 24370, 26803, AGC= 42, IDX= 502,-0.00,-2.756, 2.299, 2.192,-2.106, PHS=-0.548,-1.833,-2.029, RAW= 83.0, 48.2, CAL= 80.9, 54.5, ROT= 69.1, -54.5 UYgot valid direction response: 16:14:59.5329 LVL= 23088, 10577, 24370, 26803, AGC= 42, IDX= 502,-0.00,-2.756, 2.299, 2.192,-2.106, PHS=-0.548,-1.833,-2.029, RAW= 83.0, 48.2, CAL= 80.9, 54.5, ROT= 69.1, -54.5 UT#Rx 15: Read range and direction messages.]\direction in FSK: [0.207159,0.542495,0.814116]]Fpublishing direction and range info9  *.?;,O"\?; ? f? i 0Z Q) 2_ h * I ) I #i }l? \W? {? "s? ^? "si  I ?S=ٿL<)D? N% lW ^?) "si  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.5991349" bD ZD D ~D gD )D E : E &96E FA4:E ! @! @! @! @vB G>~B B 4!IB BB B B B Q;B EI I) 9 NM >0x,!Z%*AyZfR@ٱZ=Z "Z=ZH Y?`@9a??@\^@??1?IZfR@)Zqb;iZCfB9f)!IBDn6Dn(4Yv!vV=z b9Q)z>x9|9~DY|~,A~>Q 1 4٪?Q 5 45 _B9YQ E?yC):I:i!n4YqA!mchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.832553kkk"lhAhEU3%*AhE?hE?hE)?hEɴ ?^i?Wt M?hE*.?;,O"\?; ?hE^?hE"siEʞ?b~(?*kGPX?hEn?љ?&z?hEm?hE>hEz'?hE5uhE B*iE5(?2iEN:iAiEc?"iE?zZ Z Z Z i@I)>= " 9 AɡAiAIE%iI)I95&t1i9ING)!IIYi忹A@IIaN>- DDAT read: Rx Time:16:15:00.0329 5 TRx dataTimestamp_ set to:1755879299.337327= PDAT read: Bearing 233.4, 34.6 (Local) = ~Local bearing/azimuth received: Bearing 233.4, 34.6 (Local) M DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 q u DAT read: 16:15:00.0329 LVL= 21280, 10737, 22066, 23731, AGC= 41, IDX= 502, 0.10,-1.862, 3.002, 3.060,-1.229, PHS=-0.531,-2.007,-2.038, RAW= 89.0, 47.3, CAL= 87.6, 53.5, ROT= 62.4, -53.5 } Ygot valid direction response: 16:15:00.0329 LVL= 21280, 10737, 22066, 23731, AGC= 41, IDX= 502, 0.10,-1.862, 3.002, 3.060,-1.229, PHS=-0.531,-2.007,-2.038, RAW= 89.0, 47.3, CAL= 87.6, 53.5, ROT= 62.4, -53.5  T#Rx 16: Read range and direction messages. \direction in FSK: [0.275579,0.527134,0.803857] Fpublishing direction and range info91 5 9? &FH? 2?1 1 i5 S5 )5 2V5 \5 ) 5 )5 rI5 ni5 ?5 VS?5 E?5 Q o?5 'g? 5 Q oi1 1 I5 }gd?cLQ]ֿތ{?5  5 epS 5 'g?)5 Q oi1 1  checking for new query: numPingsReceived=16, elapsed TxPingTime=10.1028666x,%*A0y:s2@ٱ:=:i!:1=:H@?E`? i?@oТ+?T??I:s2@):La;i:CBB9B#!IMb@Mb@Mb@ )IiL7A`堿v/{Gzt+xiףIAi5AA)ABD6D4Y2!>=9Q)>D}DmD'DE݉: E:6E'4:E"E6;!E7;!*E?G;!E@G;!99DYA>Q 1-4٪?Q 5-46 _B9]F=Q A]H#ce?huL*@%?,Zn5?|?huh?hub>huU>1?huhuB*iq2iu`\:iqiu?"iu+?ԉzZF=ZF=Z@Z4@Iii)u >ui! q qɡqiqIuKiy)ichecking for new query: numPingsReceived=16, elapsed TxPingTime=10.340823ia=I=Թ9 ܪ&2@5 =*@5 = @% F<I1 IA NU >e DDAT read: Rx Time:16:15:00.5328 e TRx dataTimestamp_ set to:1755879299.843183m PDAT read: Bearing 235.2, 35.0 (Local) u ~Local bearing/azimuth received: Bearing 235.2, 35.0 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:00.5328 LVL= 23408, 10769, 24466, 26451, AGC= 41, IDX= 501, 0.22,-2.898, 2.048, 2.035,-2.262, PHS=-0.533,-1.928,-2.030, RAW= 86.5, 47.6, CAL= 84.9, 53.8, ROT= 65.1, -53.8  Ygot valid direction response: 16:15:00.5328 LVL= 23408, 10769, 24466, 26451, AGC= 41, IDX= 501, 0.22,-2.898, 2.048, 2.035,-2.262, PHS=-0.533,-1.928,-2.030, RAW= 86.5, 47.6, CAL= 84.9, 53.8, ROT= 65.1, -53.8  T#Rx 17: Read range and direction messages. \direction in FSK: [0.248666,0.535705,0.806960] Fpublishing direction and range info9a e %pJ?(/$?f1n?e ?a ie p[e *e _e Sga e r)e Ie ie ,>?e ȭT?e ?e vap?e Oo? e vapia a Ie Ҥv {?QgN׿p?e e /T e Oo?)e vapia a  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.608349&=x,)%*Aybk"@ٱb=b% bY=bH:?@Uf`?,?qg?`ơ??Ibk"@)b!`;ibC~ B9~/!IiBD%6D%4Y55=!=;==8:Q)=>A9A9EDYAMAM>Q 14٪y?Q 5487 _B9YQ E?yC):I:i}4YAIkkk"lhh%*AhE?hE?h?h۷B?"?Xǿ?h%pJ?(/$?f1n?hOo?hvapiӠJ??,?hm9:*?t?k廒?hn^?hb>h*?h] hޅB*i2i5u:iBir?"i?zZ1Z1Z1Z5#@I)>%  ɡiIUovB~BB;!IBBBBBBQ;B EBBBB =B =Bl4ia)i)q qiuIuD}sD}^D}(DyE}so: E};96E}c44:Ey"E}ޑ;E}ߑ;*E};E};y) A%checking for new query: numPingsReceived=17, elapsed TxPingTime=10.845096ԡ @ <I I NE >*Cx,D%*Ay6-@ٱ6 =66T =6H@?@Y6? ?(A`??@&?I6-@)6_;i6CLV B9Z1!IBDn6Dn4Yv;!ve=v ;Q)z>x9x9zDYx~$y;A~>Q 1 4٪ ?Q 5 47 _B9 Y Q E?yC):I:i4Y!%A)kYkaka"lqDDAT read: Rx Time:16:15:01.0329 TRx dataTimestamp_ set to:1755879300.351295PDAT read: Bearing 233.6, 34.6 (Local) ~Local bearing/azimuth received: Bearing 233.6, 34.6 (Local) zZqZqZqZuh.@I)C>DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0   ɡiIAÆi)DAT read: 16:15:01.0329 LVL= 21344, 10737, 22210, 23507, AGC= 41, IDX= 502, 0.38,-2.220, 2.660, 2.706,-1.587, PHS=-0.530,-1.991,-2.034, RAW= 88.5, 47.4, CAL= 87.1, 53.5, ROT= 62.9, -53.5 Ygot valid direction response: 16:15:01.0329 LVL= 21344, 10737, 22210, 23507, AGC= 41, IDX= 502, 0.38,-2.220, 2.660, 2.706,-1.587, PHS=-0.530,-1.991,-2.034, RAW= 88.5, 47.4, CAL= 87.1, 53.5, ROT= 62.9, -53.5 T#Rx 18: Read range and direction messages.5\direction in FSK: [0.270968,0.529519,0.803857]EFpublishing direction and range info9lVW?? 2?f?i`S)V[ )I-i?S?Q?Q o?? Q oiI)Ò~?Ҝֿv2?nx ՚S ?)Q oichecking for new query: numPingsReceived=18, elapsed TxPingTime=11.159489@ <II N*>DqDfD&DE2h: E96E4:E"E;E;*E-;E-;) M checking for new query: numPingsReceived=18, elapsed TxPingTime=11.348677(Jx,*%*ArB9r?!IMb@Mb@Mb@ )Ii rh~jtMb`CļI9AiA1AOA)\ABD6D4YD=!.=Q)>99DYA>Q 1 4٪ ?Q 5 4 8 _B9 }hwSc.?ha hB*i*?2i:i Bii?"i??)zZU}<ZU}<ZU0@ZUd<@IYa)e'>a  ɡiIl i)"@jA@lA@U<IDDAT read: Rx Time:16:15:01.5328 TRx dataTimestamp_ set to:1755879300.851401PDAT read: Bearing 239.2, 35.5 (Local) ~Local bearing/azimuth received: Bearing 239.2, 35.5 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:01.5328 LVL= 23744, 10673, 24946, 26995, AGC= 41, IDX= 502,-0.41, 1.676, 0.478, 0.343, 2.331, PHS=-0.553,-1.808,-2.032, RAW= 81.9, 48.4, CAL= 79.7, 54.6, ROT= 70.3, -54.6 Ygot valid direction response: 16:15:01.5328 LVL= 23744, 10673, 24946, 26995, AGC= 41, IDX= 502,-0.41, 1.676, 0.478, 0.343, 2.331, PHS=-0.553,-1.808,-2.032, RAW= 81.9, 48.4, CAL= 79.7, 54.6, ROT= 70.3, -54.6 T#Rx 19: Read range and direction messages.\direction in FSK: [0.195273,0.545376,0.815128]Fpublishing direction and range info9>c&?~s?6??i\)rasi h )lIJ ic?@X?/ ?s?= ? siI1Ij?ض;9ڿiOB? !*X = ?)siUchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.622424N]U>Qԉ A A <vB H>~B B B B B B B R;B ED= {D= dD= *D9 E= =: E= 96E= (N4:E9 "E= ;E= ;*E= }&;E= ~&;kQx,vD%*Ay6:|@ٱ64=66>=6H?<2¡?? ?> ?@??I6:|@)64^;i6CB B9BH!IB=B=)D FABDJ6DJ̺4YfN)=!ft=f;Q)j?h9h9jDYhchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.852730Ynb<A]?aQ 1m4٪ez ?Q 5m4eE8 e_B9qYu Q Eu?yeC)e$:Ie:ieޑ4Y{Akkk"lhh[}6%*AhE?hE?h)?hdd>?O|? UI ?h>c&?~s?6?h= ?hsiF&?|K? ?hZ4e*?%k?;H4?h[b?hu>h@L ?hv%!hB*i2ia :iBi}?"iJ?zZ!Z!Z!Z%R@I11)5Q>5 9 9ɡ9i9I=MɤiA)A@=<I)IQNe=ԉԹDDAT read: Rx Time:16:15:02.0329 TRx dataTimestamp_ set to:1755879301.359709 PDAT read: Bearing 238.2, 35.1 (Local)  ~Local bearing/azimuth received: Bearing 238.2, 35.1 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 } DAT read: 16:15:02.0329 LVL= 21216, 10737, 22434, 24403, AGC= 41, IDX= 503,-0.24, 2.244, 0.990, 0.903, 2.901, PHS=-0.556,-1.866,-2.042, RAW= 83.8, 48.3, CAL= 81.8, 54.5, ROT= 68.2, -54.5  Ygot valid direction response: 16:15:02.0329 LVL= 21216, 10737, 22434, 24403, AGC= 41, IDX= 503,-0.24, 2.244, 0.990, 0.903, 2.901, PHS=-0.556,-1.866,-2.042, RAW= 83.8, 48.3, CAL= 81.8, 54.5, ROT= 68.2, -54.5  T#Rx 20: Read range and direction messages. \direction in FSK: [0.215654,0.539174,0.814116] Fpublishing direction and range info9w]?|@?; ?f?iR)WS_ V)I!i6?uW?3?"s?:\? "siI,?(ٿ+B?! W :\?)"si checking for new query: numPingsReceived=20, elapsed TxPingTime=12.145338 w!I}Mb@Mb@Mb@ y)yIyiyy}Mb?Mbp?}<};}I}OAԹBE-4JE-4RE 0DrD\D)DEk: E96EFA4:E"E;E;*E^ ;E_ ;i}1Ayy)y}ABD6DH4Y-!-6=U;Q)U>Q9Q9]DYY]ƅ<A]>aQ 1m4٪e ?Q 54e78 e_B9Q E?yeC)e""h W"%?h ΁h B*i 2i :i i {?"i ?zZ]<Z]<Z]z>Z]ޗ>I)>-  ɡiI03i) checking for new query: numPingsReceived=20, elapsed TxPingTime=12.356785@T<IIN!>9  DDAT read: Rx Time:16:15:02.5329  TRx dataTimestamp_ set to:1755879301.859283 PDAT read: Bearing 242.7, 36.0 (Local)  ~Local bearing/azimuth received: Bearing 242.7, 36.0 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 16:15:02.5329 LVL= 23472, 10993, 25298, 27539, AGC= 42, IDX= 502,-0.14, 1.910, 0.799, 0.582, 2.585, PHS=-0.573,-1.741,-2.047, RAW= 78.7, 48.9, CAL= 76.0, 54.8, ROT= 74.0, -54.8  Ygot valid direction response: 16:15:02.5329 LVL= 23472, 10993, 25298, 27539, AGC= 42, IDX= 502,-0.14, 1.910, 0.799, 0.582, 2.585, PHS=-0.573,-1.741,-2.047, RAW= 78.7, 48.9, CAL= 76.0, 54.8, ROT= 74.0, -54.8  T#Rx 21: Read range and direction messages. \direction in FSK: [0.158886,0.554102,0.817145] Fpublishing direction and range info9 bV?)&4?" &? i [ * b k * !) ޿I i Fѯ? |Z? ɩ? Gt? MQ? Gti I {syӝ? x{ۿ=Y? l8 EZ MQ?) Gti = checking for new query: numPingsReceived=21, elapsed TxPingTime=12.624634d]x,,x%*Ay6@ٱ6v=64 6n=6Hl?n9@̮? ?£e??`?I6@)68^;i6CvB9zG!IBD=6D=4Y =!T=CP;Q)>99DY<A5>9Q 1E4٪= ?Q 5E4=*8 99AYMJ>Q EM?y=C)=:I=t:i=x4YquAqkkk"lhh~v%*Ahhh?hRʞ,1?^rC?Jc?hbV?)&4?" &?hMQ?hGtix(Ó?ZKa?Bn?hB \=?y?aa ?hs?h4>hs?hu1h"B*i W"%?2i:iBi5u?"i ,?zZZZZJ>IYY)]g>e4 a aɡqiqIu,CĺvBG>~BBA!IBBBBBBCR;B8Ei)DpDZD$DEd: Ea96E4:E"Ev;Ex;*E;E;2@=*@=A@<II NK>checking for new query: numPingsReceived=21, elapsed TxPingTime=12.860719iԙ ;Ldx,%*Ay:S@ٱ:K=::qB=:HC?@TFĞ ? ?`ɤ*Ҡ?`Z?@?I:S@):`4^;i8F(B9FR!IHiHiN=ILBDP6DPYZ*9=!Z[=ZF;Q)^>\9\9bDY`b~<Ab>dQ 1j4٪f?Q 5j4f8 d9hYn>Q En?yfC)f&;If?;if4Ypr;Atk)k)k)"l)zZIZIZIZM]>IYa)e>>e a aɡiiiIuF.Ϻi)DDAT read: Rx Time:16:15:03.0329 @<TRx dataTimestamp_ set to:1755879302.368330PDAT read: Bearing 241.0, 35.3 (Local) ~Local bearing/azimuth received: Bearing 241.0, 35.3 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:03.0329 LVL= 21040, 11137, 22514, 24371, AGC= 41, IDX= 502,-0.04, 2.054, 0.853, 0.712, 2.730, PHS=-0.574,-1.832,-2.062, RAW= 81.7, 48.7, CAL= 79.5, 54.9, ROT= 70.5, -54.9 Ygot valid direction response: 16:15:03.0329 LVL= 21040, 11137, 22514, 24371, AGC= 41, IDX= 502,-0.04, 2.054, 0.853, 0.712, 2.730, PHS=-0.574,-1.832,-2.062, RAW= 81.7, 48.7, CAL= 79.5, 54.9, ROT= 70.5, -54.9 T#Rx 22: Read range and direction messages.\direction in FSK: [0.191941,0.542024,0.818150]Fpublishing direction and range info9q?O=BX?[H.?i0R+W3_) )~Ii?Y?Κ?Ku?? KuiI-t?y&ڿ6$ ?<*YIIIYNe> ?)Kuiuchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.1769259DjDhD'DEN: E]96E'4:E"EPk;ESk;*E 5;E 5;i - checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364678vjx,*%*AiPyb@ٱb=b| b&=bH u?Y>??@? Tפ? ?Ib@)b_2^;i` *B9U!IMb@Mb@Mb@ )IiZd;O? rh?Mb?j<C =99DY<A>Q 14٪?Q 547 _B9L+=Q Ahzg!?hn 5h1B*izg!?2i΁:iBio?"i?zZEL+=ZEL+=ZEy?ZE?IQQ)]?]|  Y YDDAT read: Rx Time:16:15:03.5328 TRx dataTimestamp_ set to:1755879302.868507PDAT read: Bearing 244.3, 36.0 (Local) ~Local bearing/azimuth received: Bearing 244.3, 36.0 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:03.5328 LVL= 23456, 10193, 25554, 28131, AGC= 42, IDX= 501, 0.06, 2.442, 1.333, 1.105, 3.132, PHS=-0.588,-1.754,-2.071, RAW= 78.3, 49.1, CAL= 75.6, 55.0, ROT= 74.4, -55.0 ɡYiIli)"@kA@kA-Ygot valid direction response: 16:15:03.5328 LVL= 23456, 10193, 25554, 28131, AGC= 42, IDX= 501, 0.06, 2.442, 1.333, 1.105, 3.132, PHS=-0.588,-1.754,-2.071, RAW= 78.3, 49.1, CAL= 75.6, 55.0, ROT= 74.4, -55.0 5T#Rx 23: Read range and direction messages.]\direction in FSK: [0.154246,0.552447,0.819152]]Fpublishing direction and range info9U??U~6??i['cm* +)IDi?a[?[? u?6?  uiIL?GY;ۿe-?\:;F[ 6?) uichecking for new query: numPingsReceived=23, elapsed TxPingTime=13.652325@<I!I9NEs>) A A @AvB H>~B B M!IB %BB =B B B BR;B D oD _D &D E `: E r96E 4:E "E T;E U;*E J;E K;^qx,<%*Ay:@ٱ:=:k:y0=:HU?8cB?`?@Yq@4???I:@):^;i:CR/B9RZ!Irchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.868515BDZ6DZ4Yz<!zm=~1;|Q)?99DY 6 =A ?Q 14٪j?Q 54[7 _B9Y?Q E%?yC);I;i4Y)-A)kIkIkI"lIhh%*AhE?hE?hM?h?ODݰ?WLF#%?hU??U~6?h6?h uiN;ċ[-?=Lbu??hD~U?»?b]?hc?hj >h[5?h)h B*i@L ?2i:ii!k?"i@?zZZZZ?I)1>k  ɡiIi)@f<IIN=1YDDAT read: Rx Time:16:15:04.0329 TRx dataTimestamp_ set to:1755879303.375889PDAT read: Bearing 246.6, 36.3 (Local) ~Local bearing/azimuth received: Bearing 246.6, 36.3 (Local) - DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 m DAT read: 16:15:04.0329 LVL= 23536, 10097, 25138, 27603, AGC= 41, IDX= 502, 0.14,-2.667, 2.563, 2.291,-1.966, PHS=-0.599,-1.709,-2.070, RAW= 76.4, 49.4, CAL= 73.4, 55.1, ROT= 76.6, -55.1 u Ygot valid direction response: 16:15:04.0329 LVL= 23536, 10097, 25138, 27603, AGC= 41, IDX= 502, 0.14,-2.667, 2.563, 2.291,-1.966, PHS=-0.599,-1.709,-2.070, RAW= 76.4, 49.4, CAL= 73.4, 55.1, ROT= 76.6, -55.1 u T#Rx 24: Read range and direction messages.} \direction in FSK: [0.132594,0.556570,0.820152]} Fpublishing direction and range info9?=Ak?8%>?f?i[q'2bk) X)ڿIzi㭪?\?(?m0v?D ? m0viI(g*?r;@ ܿI?'Bu\ D ?)m0vi checking for new query: numPingsReceived=24, elapsed TxPingTime=14.154100ԁ Ĉwx,ԙ%*AyZ+n@ٱZ=ZtZy8=ZH??G" 'ęͺ?|?Q͞??@?IZ+n@)Z,^;iZCz8B9zf!I<<)  D%wD%aD%'D!E%}: E%96E%'4:E!"E%g;E%i;*E%;E%;YMb@Mb@Mb@ )IiL7A`?y&1?99DY<A>Q 14٪b?Q 546 _B9c=Q AJ?hD ?hm0vi2$/_?Yi1?57F?hj]Ƕ?"Yv?u|"?hq?h*=h+S@?h'hAB*is?2in 5:i"Bivg?"id?zZc=Zc=Z?Za|?I)>t  ɡiI9i!)!checking for new query: numPingsReceived=24, elapsed TxPingTime=14.372721@m|<IqԉIN>Թ  DDAT read: Rx Time:16:15:04.5328  TRx dataTimestamp_ set to:1755879303.875233 PDAT read: Bearing 248.1, 36.4 (Local)  ~Local bearing/azimuth received: Bearing 248.1, 36.4 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:04.5328 LVL= 23024, 10049, 24898, 27859, AGC= 42, IDX= 501, 0.27, 2.488, 1.459, 1.163,-3.084, PHS=-0.610,-1.695,-2.081, RAW= 75.4, 49.6, CAL= 72.3, 55.2, ROT= 77.7, -55.2  Ygot valid direction response: 16:15:04.5328 LVL= 23024, 10049, 24898, 27859, AGC= 42, IDX= 501, 0.27, 2.488, 1.459, 1.163,-3.084, PHS=-0.610,-1.695,-2.081, RAW= 75.4, 49.6, CAL= 72.3, 55.2, ROT= 77.7, -55.2  T#Rx 25: Read range and direction messages.޲}x,t%*Aɰy6@ٱ6 =6Z򼹱6.F@=6H?⽿v`]? ?@j??@?g?I6@)6 ^;i4B\direction in FSK: [0.121579,0.557613,0.821149]BFpublishing direction and range info9*5??[F??iYA'Bal* ()ؿI/iq?k]??Ϣv?^? ϢviIGn?㻄+ݿ[S\?%G~] ^?)Ϣvi%4B9%`!I]checking for new query: numPingsReceived=25, elapsed TxPingTime=14.691923BD56D54Ym~!mQ=u:Q)u>qԹ9q9DY<A>Q 1 4٪F?Q 5 46 _B9 Y ד?Q E?yC)`:I:iÍ4YAkykyky"lyhh%*AhE?hE?h2Q?hP8aZK? k1&?K &2?h*5??[F?h^?hϢvi7%?r?k;#1?hc/n?T޸.?;pj00?hc?h(y=h(g?hhB*i[5?2iu1:iic`?"i?zZZZZFד?D5oD5^D5&D1E5`: E5;96E54:E1!=@!=@!=@!=@vBA~BABET!IBE*BBE =BABABE$R;BE*EIa)m>mZ i iɡiiiImiq)q2@=*@=@)w<IIN>>checking for new query: numPingsReceived=25, elapsed TxPingTime=14.877195I hG)u ;mAI i 6 ;mA @9 x,O%*Ay6 @ٱ6>6g 6HOH=6H@?4 7 ?@6?± ???I6 @)6,^;i6CB9B9Bf!IBDJ6DJ4Yf"<!fU=f_:Q)j>h9h9jDYhn<An>pQ 1v4٪r?Q 5v4r|5 r_B9tYv?Q Ez?yrŸC)rN:Ir:ir ʍ4Y|~A|kkk"lzZZZZ?IIDDAT read: Rx Time:16:15:05.0329 TRx dataTimestamp_ set to:1755879304.385003PDAT read: Bearing 250.3, 36.7 (Local) ~Local bearing/azimuth received: Bearing 250.3, 36.7 (Local)  vDAT read: Range 11 t 1.8 m (trip time 1.2 ms) speed 0.0 )ޭ>g ! !unknown deviceResponse_: Range 11 t 1.8 m (trip time 1.2 ms) speed 0.0 ɡ)i I i )mDAT read: 16:15:05.0329 LVL= 23216, 9425, 25010, 28355, AGC= 42, IDX= 502, 0.44, 3.068, 2.097, 1.757,-2.491, PHS=-0.622,-1.650,-2.079, RAW= 73.3, 49.9, CAL= 70.0, 55.4, ROT= 80.0, -55.4 uYgot valid direction response: 16:15:05.0329 LVL= 23216, 9425, 25010, 28355, AGC= 42, IDX= 502, 0.44, 3.068, 2.097, 1.757,-2.491, PHS=-0.622,-1.650,-2.079, RAW= 73.3, 49.9, CAL= 70.0, 55.4, ROT= 80.0, -55.4 uZ#Rx 26: Read direction message, but no range.}\direction in FSK: [0.098605,0.559217,0.823136]9xk0.>?&z?!"W?iZ$an d;)33ӿIVi?^?a?w?¸? wiI]Q?)ݿDw?/lP^ ¸?)w@9r<II9INU2>mchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.229169D=qD=aD=.D9E=2h: E=96E=ـ4:E9"E=;!ME=;!M*E9!ME9!Uq)) - A5 checking for new query: numPingsReceived=26, elapsed TxPingTime=15.385513ԙ iɊx,2>-%*Ayu3]@ٱuW >u뼹u6O=uH? QG6`?`s?@ p?@G?@#?Iu3]@)u^;iuC?B9n!Iii=I-Mb@Mb@Mb@ )))I)i))-~jt?Q?{Gzt?-D=-u=-ף;I-Ai-A-A-A))-ABDE6DEf4YU<!U3=U4:Q)]>Y9Y9]DYYeڗ<Ae>iiQ 1u4٪m?Q 5}4m4 m_B9}=Q A},  ɡiIi)@}1m<IIN>DDAT read: Rx Time:16:15:05.5328 TRx dataTimestamp_ set to:1755879304.887302PDAT read: Bearing 252.0, 36.8 (Local) ~Local bearing/azimuth received: Bearing 252.0, 36.8 (Local) ԙDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:05.5328 LVL= 23408, 9537, 25298, 27923, AGC= 42, IDX= 502,-0.34, 0.618,-0.308,-0.681, 1.354, PHS=-0.634,-1.618,-2.079, RAW= 71.8, 50.2, CAL= 68.4, 55.5, ROT= 81.6, -55.5 Ygot valid direction response: 16:15:05.5328 LVL= 23408, 9537, 25298, 27923, AGC= 42, IDX= 502,-0.34, 0.618,-0.308,-0.681, 1.354, PHS=-0.634,-1.618,-2.079, RAW= 71.8, 50.2, CAL= 68.4, 55.5, ROT= 81.6, -55.5 T#Rx 27: Read range and direction messages.\direction in FSK: [0.082742,0.560330,0.824126]Fpublishing direction and range info9|f.?zO79?s=_?ip[A%bm M")ϿIig?K`?Θ?w?K? wiI5 HW?t޿7i?XW` K?)wichecking for new query: numPingsReceived=27, elapsed TxPingTime=15.652927vB! ~B! B% Z!IB% /BB% =B! B! B% R;B% EBBbD9 ZD= ?ADE uDE ]DE %DA EE v: EE 96EE 4:EA "EE ";EE $;*EE  ;EE  ;BBBB4 6x, G%*Ay:@ٱ:>:[뼹:|T=:H`? :¿?@]?@>[vj?ʼn?@?I:@):y];i8RFB9Rw!IBDd6Ddrchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.888770Y=!Y=8Q)>99DY<A>Q 14٪?Q 54 4 _B9Y˄?Q E?yʟC)>;I@;i؍4YquwAykkk"lhh8%*Ahhh?h?hK?W}yG?h|f.?zO79?s=_?hK?hwiw +d??h6T^le?T?h`?hӼh?hh)B*i+S@?2i:i)BiBP?"i?zZ!Z!Z!Z%˄?I11)5>5[ 9 9ɡ9i9I=ia)a@=Ig<IIIYNmV>DDAT read: Rx Time:16:15:06.0330 TRx dataTimestamp_ set to:1755879305.395569PDAT read: Bearing 252.9, 36.9 (Local) 9  ~Local bearing/azimuth received: Bearing 252.9, 36.9 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 % DAT read: 16:15:06.0330 LVL= 23856, 9425, 24738, 28099, AGC= 42, IDX= 503,-0.20, 1.979, 1.066, 0.682, 2.719, PHS=-0.638,-1.608,-2.081, RAW= 71.3, 50.2, CAL= 67.9, 55.5, ROT= 82.1, -55.5  Ygot valid direction response: 16:15:06.0330 LVL= 23856, 9425, 24738, 28099, AGC= 42, IDX= 503,-0.20, 1.979, 1.066, 0.682, 2.719, PHS=-0.638,-1.608,-2.081, RAW= 71.3, 50.2, CAL= 67.9, 55.5, ROT= 82.1, -55.5  T#Rx 28: Read range and direction messages. \direction in FSK: [0.077849,0.561031,0.824126] Fpublishing direction and range info9<+?EY?s=_?@i0]$`m S#)ͿI/i&I??i? iI{_?r޿i%?YYW` i?)iM checking for new query: numPingsReceived=28, elapsed TxPingTime=16.229712Y ޗx,a%*AyB@ٱBC>Br켹BX=BHh?ÿ5?@?^O???IB@)B];i@Z19195DY1=k<A=>AQ 1M4٪EP?Q 5M4EE3 E_B9U=Q AU"h d?h$hB*i(g?2i':iiDP?"i?zZ=Z=Zya?Z?I)ܧ>r  ɡiIi)q@"c<Ichecking for new query: numPingsReceived=28, elapsed TxPingTime=16.392843IN>ԑԱ  DDAT read: Rx Time:16:15:06.5328  TRx dataTimestamp_ set to:1755879305.895238 PDAT read: Bearing 251.0, 36.7 (Local)  ~Local bearing/azimuth received: Bearing 251.0, 36.7 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:06.5328 LVL= 23344, 10689, 25058, 27539, AGC= 43, IDX= 502,-0.08, 1.039, 0.038,-0.281, 1.769, PHS=-0.629,-1.686,-2.094, RAW= 74.3, 50.0, CAL= 71.1, 55.5, ROT= 78.9, -55.5  Ygot valid direction response: 16:15:06.5328 LVL= 23344, 10689, 25058, 27539, AGC= 43, IDX= 502,-0.08, 1.039, 0.038,-0.281, 1.769, PHS=-0.629,-1.686,-2.094, RAW= 74.3, 50.0, CAL= 71.1, 55.5, ROT= 78.9, -55.5  T#Rx 29: Read range and direction messages. \direction in FSK: [0.109046,0.555810,0.824126] Fpublishing direction and range info9 6i?ց2?s=_? ? i 0[ ) a k + %!) ׿I i ? f_? ֞? C? i I 93?um@pݿHEU? K X@_ C?) i  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.660097x,z%*APyZ@ٱZ@b>ZR'Z^=ZH;?ÿv?ʒ? Ý?u? ?IZ@)Z];iZCFB9v!Ip<;) BD6D4Y}?=!}I=AQ)>99]DYY]X:<Ae>aQ 14٪e?Q 54ev2 e_B9Y>?Q E?yeӟC)eL&~BB`!IB4BBBBBQ;BEDuD^D'DEv: E;96E'4:E"E#;!E!%*E;!%E;!%kYkaka"lahhKy%*AhE?hE?h?hii?t2s= ?z0G?h6i?ց2?s=_?hC?hiW?95?л#?hI2;v? ? c?h_?h<h٦?hazh*B*i2i:i*BiQ?"i;?zZiZiZiZm>?I)>R'  ɡiI!>"i) checking for new query: numPingsReceived=29, elapsed TxPingTime=16.897589@%\<I1IANMt>I x,$%*Ay6@ٱ6P >6*򼹱6Onc=6H`G?I"Ŀ K???`0l@"D?f? ?I6@)6 ];i4RBB9Rr!IBDZ6DZ4Yv!vd=v5Q)v>x9x9zDYxzVA<A~ ?Q 14٪?Q 5 41 _B9 Y ?Q E ?y֟C):I:ij4YAk9kAkA"lAzZYZYZYZ]?Iiq)u>u* q qɡqiyI}p&iy)DDAT read: Rx Time:16:15:07.0328 TRx dataTimestamp_ set to:1755879306.404345PDAT read: Bearing 251.8, 37.0 (Local) ~Local bearing/azimuth received: Bearing 251.8, 37.0 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 @}QY<IIIiNu>}DAT read: 16:15:07.0328 LVL= 23920, 9457, 25202, 27411, AGC= 42, IDX= 502, 0.02, 2.022, 1.038, 0.702, 2.749, PHS=-0.625,-1.666,-2.091, RAW= 73.6, 49.8, CAL= 70.3, 55.4, ROT= 79.7, -55.4 Ygot valid direction response: 16:15:07.0328 LVL= 23920, 9457, 25202, 27411, AGC= 42, IDX= 502, 0.02, 2.022, 1.038, 0.702, 2.749, PHS=-0.625,-1.666,-2.091, RAW= 73.6, 49.8, CAL= 70.3, 55.4, ROT= 79.7, -55.4 T#Rx 30: Read range and direction messages.\direction in FSK: [0.101532,0.558693,0.823136]Fpublishing direction and range info9rA?4\Y?!"W?ip]$rbk*  )}?տIil?/^?= ?w?/ ? wiIdF߉x?+ݿ!Cv?'O^ / ?)wi%checking for new query: numPingsReceived=30, elapsed TxPingTime=17.235552BEƀ'4JE*4REA0D%nD!D%(D!E%O]: E!6E%c44:E!!-@!-@!-@!-@q checking for new query: numPingsReceived=30, elapsed TxPingTime=17.400606ԡ wx,%*AqCB95Mb@Mb@Mb@ 1)1I1i115&1??MbP?5P=5L=5:I5Ai5KA5A1)11BDM6DM4Y];;!]5=]Q)]>a9a9eDYamAm>qQ 1}4٪u?Q 5}4u/1 u_B9}H=Q A}9y y ɡiI&-i)ԙ@BS<IIN!>eDDAT read: Rx Time:16:15:07.5327 eTRx dataTimestamp_ set to:1755879306.903250uPDAT read: Bearing 248.4, 36.6 (Local) u~Local bearing/azimuth received: Bearing 248.4, 36.6 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:15:07.5327 LVL= 24048, 10913, 25570, 27971, AGC= 43, IDX= 501, 0.12, 1.703, 0.589, 0.352, 2.410, PHS=-0.605,-1.776,-2.102, RAW= 78.0, 49.3, CAL= 75.3, 55.2, ROT= 74.7, -55.2 Ygot valid direction response: 16:15:07.5327 LVL= 24048, 10913, 25570, 27971, AGC= 43, IDX= 501, 0.12, 1.703, 0.589, 0.352, 2.410, PHS=-0.605,-1.776,-2.102, RAW= 78.0, 49.3, CAL= 75.3, 55.2, ROT= 74.7, -55.2 T#Rx 31: Read range and direction messages.\direction in FSK: [0.150596,0.550486,0.821149]Fpublishing direction and range info9ae3~F?.=Ȕ?[F?e?aie]e*eceCme+ eH)eSIe+ie@?eFF\?e8?eϢv?e? eϢviaaIe. ?Pۿ&B?en;eT@\ e?)eϢviaachecking for new query: numPingsReceived=31, elapsed TxPingTime=17.668152A A AAvB ~B B f!IB 9BB B B B Q;B ED% uD! D% 'D! E% v: E! 6E% '4:E! "E% ";!- E! !5 *E! !5 E! !5 x,M%*Ay:7@ٱ:$>:"#:=p=:H?@Ŀ6Д@ty?@%? 1? ?$?I:7@):];i:CREB9Ru!ITiTBDZ6DZ4bchecking for new query: numPingsReceived=31, elapsed TxPingTime=17.904898Yj <!jh=jQ)j>l9l9nDYprHA<Ar>tQ 1z4٪v?Q 5z4v0 v_B9xY~o?Q E~?yvޟC)vD";IvP#;iv|4Y  A k9kAkA"lAhhι%*AhԾ?hԾ?he?hI;?C?]8^`?h3~F?.=Ȕ?[F?h?hϢviJ^h?jb?\eUl?h`w&?Exy?\lZnf?h}D?hD=hC!?hvh҅B*i٦?2i:iiQN?"i?zZZZZo?I)B>"#  ɡiI43i)"@@@N<I!IN >9DDAT read: Rx Time:16:15:08.0328 TRx dataTimestamp_ set to:1755879307.411130PDAT read: Bearing 249.5, 37.1 (Local) ~Local bearing/azimuth received: Bearing 249.5, 37.1 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:08.0328 LVL= 23840, 10097, 26098, 27427, AGC= 42, IDX= 502, 0.23, 3.034, 1.959, 1.690,-2.547, PHS=-0.600,-1.732,-2.090, RAW= 76.7, 49.3, CAL= 73.8, 55.0, ROT= 76.2, -55.0  Ygot valid direction response: 16:15:08.0328 LVL= 23840, 10097, 26098, 27427, AGC= 42, IDX= 502, 0.23, 3.034, 1.959, 1.690,-2.547, PHS=-0.600,-1.732,-2.090, RAW= 76.7, 49.3, CAL= 73.8, 55.0, ROT= 76.2, -55.0 % T#Rx 32: Read range and direction messages.- \direction in FSK: [0.136817,0.557020,0.819152]- Fpublishing direction and range info9:?+0?U~6??i ]q'e#k* )-ݿIiuY?ޤ? u?;?  uiIlf?^&ܿd=?}A( \ ;?) uim checking for new query: numPingsReceived=32, elapsed TxPingTime=18.221083a %x,)%*Aiy66@ٱ6 $>6%K6{]u=6H͒?@ϪĿ@nŔw?? ^@-?b??I66@)6 ];i6C>AB9Bp!IDrtDrcDr)DpErs: ErL96ErFA4:Ep!v@!v@!v@!v@]Mb@Mb@Mb@ Y)YIYiYY]X9v?{Gz?Mbp?]<]#=];IYi]A]A]A)YYBDu6DuQ4Y!>=Q)>99DY2.A>Q 14٪?Q 54%0 _B9O=Q A%K  ɡiIH>:i)) checking for new query: numPingsReceived=32, elapsed TxPingTime=18.409821@!I<II N>aԉ DDAT read: Rx Time:16:15:08.5327  TRx dataTimestamp_ set to:1755879307.911276 PDAT read: Bearing 248.9, 37.1 (Local)  ~Local bearing/azimuth received: Bearing 248.9, 37.1 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:15:08.5327 LVL= 24288, 10033, 25906, 27347, AGC= 42, IDX= 501, 0.40, 1.352, 0.255, 0.004, 2.051, PHS=-0.597,-1.751,-2.092, RAW= 77.4, 49.2, CAL= 74.6, 55.0, ROT= 75.4, -55.0  Ygot valid direction response: 16:15:08.5327 LVL= 24288, 10033, 25906, 27347, AGC= 42, IDX= 501, 0.40, 1.352, 0.255, 0.004, 2.051, PHS=-0.597,-1.751,-2.092, RAW= 77.4, 49.2, CAL= 74.6, 55.0, ROT= 75.4, -55.0  T#Rx 33: Read range and direction messages.  \direction in FSK: [0.144581,0.555055,0.819152] Fpublishing direction and range info9 D?,d?U~6? ? i ^ 1' 2e j ) I Ti ? [? r? q? i I pD?42]PܿgW5? 3> k[ q?) i  checking for new query: numPingsReceived=33, elapsed TxPingTime=18.676800Ox,%*AyVY/@ٱV#>VVw=VH`? ɎĿ Z? ?`~??`N?IVY/@)VM];iVC]BB9]q!IBDm6Dm4ԱYs;!:=]9Q)>99DY]A>Q 14٪?Q 54/ _B9Y ?Q E?yC):I:i 4Y B 5AMEvBq~BqBum!IBu>BBqBqBqBuQ;Bu Ekkk"lhhYR%*AhԾ?hԾ?h?h=?z?T-?hD?,d?U~6?hq?hivK,  ɡiIAi)@AC<IINB>checking for new query: numPingsReceived=33, elapsed TxPingTime=18.913429 1 6x,H%*Ay6u@ٱ6@_ >6F6{=6H ?C)Ŀ!? ? .@?Ig?`?I6u@)6=*^;i6CBFB9Bv!IFF  ɡiIqFi)EDDAT read: Rx Time:16:15:09.0328 ETRx dataTimestamp_ set to:1755879308.415256]PDAT read: Bearing 249.7, 37.3 (Local) e~Local bearing/azimuth received: Bearing 249.7, 37.3 (Local) @I?<DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 IINU>}DAT read: 16:15:09.0328 LVL= 24336, 9873, 25890, 27187, AGC= 42, IDX= 503,-0.37, 0.597,-0.458,-0.741, 1.298, PHS=-0.598,-1.710,-2.082, RAW= 76.1, 49.3, CAL= 73.0, 55.0, ROT= 77.0, -55.0 Ygot valid direction response: 16:15:09.0328 LVL= 24336, 9873, 25890, 27187, AGC= 42, IDX= 503,-0.37, 0.597,-0.458,-0.741, 1.298, PHS=-0.598,-1.710,-2.082, RAW= 76.1, 49.3, CAL= 73.0, 55.0, ROT= 77.0, -55.0 T#Rx 34: Read range and direction messages.\direction in FSK: [0.129027,0.558876,0.819152]Fpublishing direction and range info9AE?RўVO?U~6?E?AiE_E&E"eE3jA E)EHڿIE}?iEP?EFF\?Ee?AE? AiAAIEat!?'ܿ=?EQRDE \ E?)AiAAchecking for new query: numPingsReceived=34, elapsed TxPingTime=19.2781589DrD[D&DEk: E96E4:E! @! @! @! @i  checking for new query: numPingsReceived=34, elapsed TxPingTime=19.416729fx,/%*Aɰ88U;B9Ui!IMb@Mb@Mb@ )Ii~jtx?99DYeAe>iQ 1u4٪mo?Q 5u4m/ m_B9}K  ɡiIMi) a@ 9<II)N=>EDDAT read: Rx Time:16:15:09.5327 MTRx dataTimestamp_ set to:1755879308.919664UPDAT read: Bearing 250.0, 37.4 (Local) U~Local bearing/azimuth received: Bearing 250.0, 37.4 (Local) eDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:15:09.5327 LVL= 24016, 9905, 25634, 27795, AGC= 42, IDX= 502,-0.23,-0.465,-1.497,-1.796, 0.239, PHS=-0.602,-1.691,-2.079, RAW= 75.3, 49.4, CAL= 72.2, 55.1, ROT= 77.8, -55.1 Ygot valid direction response: 16:15:09.5327 LVL= 24016, 9905, 25634, 27795, AGC= 42, IDX= 502,-0.23,-0.465,-1.497,-1.796, 0.239, PHS=-0.602,-1.691,-2.079, RAW= 75.3, 49.4, CAL= 72.2, 55.1, ROT= 77.8, -55.1 T#Rx 35: Read range and direction messages.\direction in FSK: [0.120909,0.559224,0.820152]Fpublishing direction and range info9IMZQ.?vķ*?8%>?M?IiM]M&M"dMlI M)MrؿIMViM8?M\?MK?Mm0v?Mέ? Mm0viIIIM6?g+nAMݿ"I?MlGM\ Mέ?)Mm0viIIchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.684622ԑAe <Ae <vBi ~Bi Bi Bi Bi Bi Bi Bm Q;Bm EԹ bD ZD D oD aD )D E `: E 96E FA4:E "E T;! E U;! *E ;! E ;! Hx,I%*Ay:@ٱ: >:򼹱:y=:H ^?r¿@씿 ? ? 񈰿@R?-2?@.?I:@):i^;i:C)P PVchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.921461X^CB9^s!IBDj6Dj\4Yj=!R=@:Q)>i9I݈G)IimFᄍim@9q9uDYq}q׼A}>Q 14٪?Q 54. _B9Y?Q E?yC) ;IH!;iC 4Y*Ak9k9k9"l9hh:%*AhԾ?hԾ?h?h@ڧ?%i׭?H?hZQ.?vķ*?8%>?hέ?hm0viɅբ??+?5j?h"H??Q[c?h1E?h=h?<5!?h)hЅB*i2i):i҅Bi]E?"iY?zZZZZR?I)~>  ɡiITi)@3<IIN J>}DDAT read: Rx Time:16:15:10.0329 TRx dataTimestamp_ set to:1755879309.428140PDAT read: Bearing 250.0, 37.3 (Local) ~Local bearing/azimuth received: Bearing 250.0, 37.3 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 1 u DAT read: 16:15:10.0329 LVL= 24208, 9713, 25522, 27635, AGC= 42, IDX= 503,-0.12, 0.808,-0.208,-0.521, 1.519, PHS=-0.610,-1.682,-2.084, RAW= 74.7, 49.5, CAL= 71.5, 55.2, ROT= 78.5, -55.2  Ygot valid direction response: 16:15:10.0329 LVL= 24208, 9713, 25522, 27635, AGC= 42, IDX= 503,-0.12, 0.808,-0.208,-0.521, 1.519, PHS=-0.610,-1.682,-2.084, RAW= 74.7, 49.5, CAL= 71.5, 55.2, ROT= 78.5, -55.2  T#Rx 36: Read range and direction messages.% \direction in FSK: [0.113782,0.559256,0.821149]% Fpublishing direction and range info9 H ?焲}m?[F?f?i^%ck ()K׿IB`i? +]??Ϣv?^? ϢviIZ7?^@ݿŰX?aJRS] ^?)Ϣvi checking for new query: numPingsReceived=36, elapsed TxPingTime=20.280466sx,sc%*Ay6v@ٱ6s >6l6e5u=6H?@}~??@0 ҝ?`? ?I6v@)6i^;i6CN>B9Nl!IiR=IR=DbsD`Db'D`Ebso: E`6Eb'4:E`!f@!f@!f@!f@|Mb@Mb@Mb@ )IiMbp~jthDI=AiAAA)AI@A)BD6D=4Y%ȼ!%A=-ؙ:Q)->)9)95DY1U7AU>YQ 1e4٪]q?Q 5e4]. Y9mף;Q Am$>YmQ Em?yY)]u:I]&:i]&4YUAkkk"lhhf[%*Ah?h?h~?h]-S4?ZY#?1p??h H ?焲}m?[F?h^?hϢvi r@Z}{@checking for new query: numPingsReceived=36, elapsed TxPingTime=20.425444I)> l  ɡ i I  =Zi))@ .<IIIN?>Qԁ e DDAT read: Rx Time:16:15:10.5328 m TRx dataTimestamp_ set to:1755879309.927251u PDAT read: Bearing 249.5, 37.2 (Local) u ~Local bearing/azimuth received: Bearing 249.5, 37.2 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:10.5328 LVL= 24192, 9569, 25538, 27379, AGC= 42, IDX= 502,-0.01, 0.477,-0.535,-0.851, 1.194, PHS=-0.615,-1.684,-2.089, RAW= 74.6, 49.6, CAL= 71.3, 55.2, ROT= 78.7, -55.2  Ygot valid direction response: 16:15:10.5328 LVL= 24192, 9569, 25538, 27379, AGC= 42, IDX= 502,-0.01, 0.477,-0.535,-0.851, 1.194, PHS=-0.615,-1.684,-2.089, RAW= 74.6, 49.6, CAL= 71.3, 55.2, ROT= 78.7, -55.2  T#Rx 37: Read range and direction messages. \direction in FSK: [0.111829,0.559650,0.821149] Fpublishing direction and range info9i m  +G֠?xZA?[F?m ?i im ^m a%m cm ji m p)m P׿Im -im r?m k]?m &I?i m Fѯ? i ii i Im |?,q(ݿs3a?m Jm ] m Fѯ?)i ii i  checking for new query: numPingsReceived=37, elapsed TxPingTime=20.692074 x,K}%*A,i,yJ)@ٱJ >J꼹Jao=JH`ʹ?΁d P?@?`99DY,üA>Q 1=4٪S?Q 5=4. 99Y=Q E=?y)&  )ɡ)i)I-`i1)1ԉ@%)<I1IANU1>checking for new query: numPingsReceived=37, elapsed TxPingTime=20.929127Թ x,&%*Ay6@ٱ6=63㼹6۠i=6H? @F$?6?~e? .-?@?I6@)6|^;i4R2B9V^!IBDZ6DZF4Yv;!v[=v;Q)v>x9x9zDYxz#׼A~>Q 1 4٪6?Q 5 4. 9 Y RQ E ?y)@:I:i44YAk9k9k9"l9zZYZYZYZ]y@Iii)mb>m3 i qɡqiqIu(eiy)yԹ@u}%<DDAT read: Rx Time:16:15:11.0328 TRx dataTimestamp_ set to:1755879310.443977PDAT read: Bearing 249.0, 37.1 (Local) ~Local bearing/azimuth received: Bearing 249.0, 37.1 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 I!IqN>uDAT read: 16:15:11.0328 LVL= 24048, 9777, 25490, 27043, AGC= 42, IDX= 502, 0.10, 1.406, 0.396, 0.076, 2.128, PHS=-0.621,-1.687,-2.097, RAW= 74.4, 49.7, CAL= 71.2, 55.3, ROT= 78.8, -55.3 Ygot valid direction response: 16:15:11.0328 LVL= 24048, 9777, 25490, 27043, AGC= 42, IDX= 502, 0.10, 1.406, 0.396, 0.076, 2.128, PHS=-0.621,-1.687,-2.097, RAW= 74.4, 49.7, CAL= 71.2, 55.3, ROT= 78.8, -55.3 T#Rx 38: Read range and direction messages.\direction in FSK: [0.110574,0.558438,0.822144]Fpublishing direction and range info9^9N?Yzxø?ֳO?i]1&ci )׿I?5i6?^??0w?x ? 0wiIBš?8UvݿSi?K*^ x ?)0wichecking for new query: numPingsReceived=38, elapsed TxPingTime=21.274925DvD_D$DEVz: Er96E4:E!@!@!@!@- checking for new query: numPingsReceived=38, elapsed TxPingTime=21.444670A :x,%*A|9|<p;)  A%Mb@Mb@Mb@ !)!I!i!!%y&1Mb`%`e%̼%I%Ai%KA%A%fA)!%ABD=6D=4MQ)U>Q9Q9]DYY]A]>aQ 1m4٪e?Q 5m4e:/ e_B9mL  ɡiI,li)@/<II!N5->ADDAT read: Rx Time:16:15:11.5327 TRx dataTimestamp_ set to:1755879310.947295PDAT read: Bearing 248.3, 36.8 (Local) ~Local bearing/azimuth received: Bearing 248.3, 36.8 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:15:11.5327 LVL= 23680, 9569, 25586, 27635, AGC= 42, IDX= 501, 0.23, 0.415,-0.588,-0.910, 1.144, PHS=-0.627,-1.687,-2.098, RAW= 74.3, 49.9, CAL= 71.1, 55.4, ROT= 78.9, -55.4 Ygot valid direction response: 16:15:11.5327 LVL= 23680, 9569, 25586, 27635, AGC= 42, IDX= 501, 0.23, 0.415,-0.588,-0.910, 1.144, PHS=-0.627,-1.687,-2.098, RAW= 74.3, 49.9, CAL= 71.1, 55.4, ROT= 78.9, -55.4 T#Rx 39: Read range and direction messages. \direction in FSK: [0.109322,0.557221,0.823136] Fpublishing direction and range info9DŽ?#?!"W??i\a%ck  )IEi?^?֞?w?C? wiIF? B>ݿW1S!x?;Lk^ C?)wichecking for new query: numPingsReceived=39, elapsed TxPingTime=21.736437qvB ~B B `!IB 4BB =B B B Q;B ED pD iD (D E d: E 96E c44:E "E v;! E x;! *E 8;! E 8;! ԙ x,m%*AyV2(@ٱVm=VnϼV*^=VHY?2 l꡸?@?`߬ ??T?IV2(@)Vr^;iTf0B9f[!I~checking for new query: numPingsReceived=39, elapsed TxPingTime=21.950798BD6D 4YUؚ!]y9y9DYjA>Q 14٪n?Q 54}/ _B9YQ E?yC)x;yI nϼ  ɡiIqi)@<IIN )>ԙDDAT read: Rx Time:16:15:12.0328 TRx dataTimestamp_ set to:1755879311.455225PDAT read: Bearing 248.5, 36.9 (Local) ~Local bearing/azimuth received: Bearing 248.5, 36.9 (Local) 5 DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:12.0328 LVL= 24176, 9249, 25266, 27747, AGC= 42, IDX= 502, 0.38, 1.024, 0.059,-0.294, 1.758, PHS=-0.632,-1.654,-2.097, RAW= 72.9, 50.0, CAL= 69.5, 55.5, ROT= 80.5, -55.5  Ygot valid direction response: 16:15:12.0328 LVL= 24176, 9249, 25266, 27747, AGC= 42, IDX= 502, 0.38, 1.024, 0.059,-0.294, 1.758, PHS=-0.632,-1.654,-2.097, RAW= 72.9, 50.0, CAL= 69.5, 55.5, ROT= 80.5, -55.5  T#Rx 40: Read range and direction messages.% \direction in FSK: [0.093484,0.558638,0.824126]% Fpublishing direction and range info9?Rx]?s=_??ip^!$bcl !)FӿI?5i4ܢ?f_?C?w?ֳ? wiIrt?!(,޿?X?¦RL_ ֳ?)wie checking for new query: numPingsReceived=40, elapsed TxPingTime=22.292574 x,%*ABE-!4JE-Y"4RE-7/DRvDRvDR%DPERVz: ER:6ER 4:EP!Z@!Z@!Z@!Z@|9~\!IMb@Mb@Mb@ )Iiy&1 ףp= Mb``Q8ISAiAA)BDU6DU[4Yeځ:!e:=mQ)m>i9i9mDYA>Q 14٪?Q 540 _B9>Y=Q AzY=Z>Y=Z;@Z@I)>  ɡiIyvi)DDAT read: Rx Time:16:15:12.5327 TRx dataTimestamp_ set to:1755879311.705944%checking for new query: numPingsReceived=40, elapsed TxPingTime=22.458630@<IINB>I  PDAT read: Bearing 249.0, 36.9 (Local)  ~Local bearing/azimuth received: Bearing 249.0, 36.9 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:15:12.5327 LVL= 23536, 9201, 24978, 27891, AGC= 42, IDX= 502,-0.38,-1.369,-2.270,-2.665,-0.625, PHS=-0.642,-1.600,-2.084, RAW= 70.8, 50.3, CAL= 67.4, 55.6, ROT= 82.6, -55.6  Ygot valid direction response: 16:15:12.5327 LVL= 23536, 9201, 24978, 27891, AGC= 42, IDX= 502,-0.38,-1.369,-2.270,-2.665,-0.625, PHS=-0.642,-1.600,-2.084, RAW= 70.8, 50.3, CAL= 67.4, 55.6, ROT= 82.6, -55.6  T#Rx 41: Read range and direction messages. \direction in FSK: [0.072765,0.560262,0.825113] Fpublishing direction and range info9 #K𾠲?)T?~g]Tg? ? i [ # a l Z$) ̿I B`i 2+? `? ? Ulx? ? Ulxi I v?-޿_bkF? \ ` ?) Ulxi  checking for new query: numPingsReceived=41, elapsed TxPingTime=22.718180Ox,%*A,yeac@ٱe9=ejesM=eHv?`&DzaՁ?`?`e`,?@??Ieac@)e^;iau(B9uQ!Ii}=IyBD6D4Y={(!=M=E;Q)E>A9A9MDYIMyAM>qQ 1}4٪u?Q 5}4u0 u_B9YQ E?yuC)u:Iu:iuQ4vB~BBZ!IB/BB =BBBQ;BEYjAkk!k!"lYԉDqD^D(DE2h: E;96Ec44:E"E;!E;!*E;!E;!hh %*AhԾ?hԾ?h*+?h曮i}Ż?[ˀ? I?h#K𾠲?)T?~g]Tg?h?hUlxi]|!|0?NQ2?h9\?hX9?&5&?_GPGP?hF?h<hO?h hB*i2i6:iBiVe?"i{?zZ1Z1Z1Z5M@IAa)e]>ej a iɡiiiIm;{ii)q@}d<IIN>>DDAT read: Rx Time:16:15:13.0328 TRx dataTimestamp_ set to:1755879312.2101955PDAT read: Bearing 247.1, 36.5 (Local) =~Local bearing/azimuth received: Bearing 247.1, 36.5 (Local) Mchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.966623 y,o%*Ay6@ٱ6v=6V6R[C=6H@V?K݉Ϯ?@Z?}k?g??I6@)6^;i6C>.B9BY!IBDH6DH Y=!_=;Q)>!9!9%DY!%A%>)Q 154٪-?Q 554-0 -_B99Y=KQ E=?y-C)-w;I-@;i-hW4YAE:AIkakiki"lizZZZZ@I)>V  ɡiIX[i)mDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:13.0328 LVL= 23616, 10065, 24514, 25427, AGC= 43, IDX= 503,-0.22,-0.670,-1.608,-1.972, 0.073, PHS=-0.640,-1.636,-2.089, RAW= 72.2, 50.3, CAL= 68.9, 55.6, ROT= 81.1, -55.6 Ygot valid direction response: 16:15:13.0328 LVL= 23616, 10065, 24514, 25427, AGC= 43, IDX= 503,-0.22,-0.670,-1.608,-1.972, 0.073, PHS=-0.640,-1.636,-2.089, RAW= 72.2, 50.3, CAL= 68.9, 55.6, ROT= 81.1, -55.6 T#Rx 42: Read range and direction messages.\direction in FSK: [0.087406,0.558165,0.825113]uFpublishing direction and range info9Y]:?A`?SY|?~g]Tg?]?Yi]@\]Q']_]Sc]+ ] #)]shѿI]-@my <I)i]K?Y]?Y]-? YiYYIyN>I];ֱ?N7zQ޿R?]3U]#{` ]-?)YiYYchecking for new query: numPingsReceived=42, elapsed TxPingTime=23.295876DxDcDDEˀ: EL96E:E!@!@!@!@Q% DDAT read: Rx Time:16:15:13.5328 5 TRx dataTimestamp_ set to:1755879312.714215E PDAT read: Bearing 246.7, 36.4 (Local) U ~Local bearing/azimuth received: Bearing 246.7, 36.4 (Local) u checking for new query: numPingsReceived=42, elapsed TxPingTime=23.470926ԉ B y,Q2%*A3B9_!IQMb@Mb@Mb@ )Iiy&1i|?5~jthqDIAiA|A)(ABD6D4Y<!>=Q)>99DYA>Q 14٪?Q 541 _B9=Q AJy  ɡiIi)@m<IqIN>ԁuDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:13.5328 LVL= 23952, 10513, 24562, 25299, AGC= 43, IDX= 502,-0.11,-1.682,-2.606,-2.983,-0.939, PHS=-0.641,-1.622,-2.088, RAW= 71.6, 50.3, CAL= 68.3, 55.6, ROT= 81.7, -55.6 Ygot valid direction response: 16:15:13.5328 LVL= 23952, 10513, 24562, 25299, AGC= 43, IDX= 502,-0.11,-1.682,-2.606,-2.983,-0.939, PHS=-0.641,-1.622,-2.088, RAW= 71.6, 50.3, CAL= 68.3, 55.6, ROT= 81.7, -55.6 T#Rx 43: Read range and direction messages.\direction in FSK: [0.081557,0.559049,0.825113]Fpublishing direction and range info9ae=tW?R?~g]Tg?aaie]e)e_eba e$)eϿIeˡie?aek?ae? aiaaIeA-?}SG޿?ej3Xe` e?)aiaachecking for new query: numPingsReceived=43, elapsed TxPingTime=23.725676ԱA<AvBF>~BBM!IB%BBBBBQ;BED zD gD D E l: E &96E :E "E ϧ;! E Ч;! *E h1;! E i1;! y,'L%*AnDDAT read: Rx Time:16:15:14.0329 vTRx dataTimestamp_ set to:1755879313.218498PDAT read: Bearing 247.0, 36.3 (Local)  ~Local bearing/azimuth received: Bearing 247.0, 36.3 (Local) -DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 Z#Rx 44: Read range message, but no direction.9prf?pchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.991510Թy F@ٱ=n|y-=H?=Ő[8?@?@m?? T?I F@)3^;i51B95]!I=p<=4<)9 =AAiE4=BDM6DMp4Y}ػ!}3=}K;Q)}>99DY{KA>Q 14٪?Q 54_2 _B9YQ E?yC)W:I:if4YAkkk"lhphrM%*Ahr?hr?hrj?hr < ?p?\H?hr=tW?R?~g]Tg?hr?hpir`eT?eO?P?hrNaا? 2O?,8).?hrp?hr=hr ?hrhr;B*ip2ip:ipirwi?"irq?zZZZZӉ@I)W?n  ɡiI}i!)!@5n;IAIQNew>DAT read: 16:15:14.0329 LVL= 23104, 9009, 24850, 23763, AGC= 42, IDX= 503,-0.00, 0.364,-0.526,-0.936, 1.118, PHS=-0.653,-1.599,-2.099, RAW= 70.1, 50.4, CAL= 66.8, 55.6, ROT= 83.2, -55.6 Ygot valid direction response: 16:15:14.0329 LVL= 23104, 9009, 24850, 23763, AGC= 42, IDX= 503,-0.00, 0.364,-0.526,-0.936, 1.118, PHS=-0.653,-1.599,-2.099, RAW= 70.1, 50.4, CAL= 66.8, 55.6, ROT= 83.2, -55.6 Z#Rx 45: Read direction message, but no range.\direction in FSK: [0.066894,0.560993,0.825113]9y}%t?"?~g]Tg?yi}@Z}1#}a}\}* }+')}̿I}Vi}ۚ?}z0a?};?y}޹? yiyI}D?x}2߿TsO?}^}^@a }޹?)y% checking for new query: numPingsReceived=45, elapsed TxPingTime=24.2382799 Oy,e%*Aɰy6@ٱ6<66 $=6H ?(`a??֤ߐ? }?`@?I6@)6v^;i4DBvDBaDB&D@EBVz: EB96EB4:E@!J@!J@!J@!J@R+B9RU!I}Mb@Mb@Mb@ y)yIyiyy}X9vMbP}̼}}}Iyi}Ay}A)y}ABD6D4Y3 !n=;Q)?99DYuݼA?Q 14٪q?Q 542 _B9=Q AF- ) )ɡ)i)I5Ii1)9@-X;IaIDDAT read: Rx Time:16:15:14.5328 TRx dataTimestamp_ set to:1755879313.722237 PDAT read: Bearing 245.8, 36.2 (Local) ~Local bearing/azimuth received: Bearing 245.8, 36.2 (Local) =DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 MZ#Rx 46: Read range message, but no direction.9?echecking for new query: numPingsReceived=46, elapsed TxPingTime=24.487190AN8>i DAT read: 16:15:14.5328 LVL= 23264, 9169, 24562, 24051, AGC= 42, IDX= 502, 0.10, 0.004,-0.908,-1.303, 0.757, PHS=-0.651,-1.620,-2.104, RAW= 70.9, 50.4, CAL= 67.6, 55.6, ROT= 82.4, -55.6  Ygot valid direction response: 16:15:14.5328 LVL= 23264, 9169, 24562, 24051, AGC= 42, IDX= 502, 0.10, 0.004,-0.908,-1.303, 0.757, PHS=-0.651,-1.620,-2.104, RAW= 70.9, 50.4, CAL= 67.6, 55.6, ROT= 82.4, -55.6  Z#Rx 47: Read direction message, but no range. \direction in FSK: [0.074720,0.560004,0.825113]9y } ?Wx ?6?~g]Tg?y i} Z} #} _} ]y } &)} )\ϿI} i} bd?y } ?y } X? y iy I} a"ټ?w"޿ zRM?! =y,p%*Ayb@ٱb99DY תA >TX[a X?)checking for new query: numPingsReceived=47, elapsed TxPingTime=24.784584iQ 1u4٪m?Q 5}4m3 m_B9yY}~Q E}?ymC)m-:Im:ims4YAkkk"lhh"9n%*AhE?hE?h?hDž+y(?_CG?e`N?h?Wx ?6?~g]Tg?hX?hiGr.+?0ҿ?>?h\e>?Лa?bn?hd?h^=h?h|hB*i?2i:iiu?"iQ?zZAZAZAZEO0@vBQ~BQBUG!IBU BBU =BQBQBUQ;BUEIy)>v  ɡiIZi)DDhD(DE E]96Ec44:E"EE;!EF;!*E 5;!E 5;!@;IIN=DDAT read: Rx Time:16:15:15.0328 TRx dataTimestamp_ set to:1755879314.227151PDAT read: Bearing 245.3, 36.0 (Local) %~Local bearing/azimuth received: Bearing 245.3, 36.0 (Local) MDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ]Z#Rx 48: Read range message, but no direction.9checking for new query: numPingsReceived=48, elapsed TxPingTime=24.995375I%G)IIqi$w@! .!&y,%*Ay:@ٱ:&d<:[\:I=:H v?ك?@?.?ޢ??I:@):l^;i:C@^1B9b\!Iif=Ifp=IfAA)dBDj6Djp4YrZ!rL=v;Q)v>t9t9vDYtz恼Az>|Q 14٪~?Q 54~74 ~_B9YPQ E ?y~C)~:I~:i~z4Y#Ak1k1k1"l1zZQZQZQZU@Iaa)m>m[\ i iɡiiiIm򧈻iq)qDAT read: 16:15:15.0328 LVL= 23504, 9281, 24482, 24099, AGC= 42, IDX= 502, 0.22, 0.189,-0.722,-1.119, 0.943, PHS=-0.652,-1.620,-2.106, RAW= 70.8, 50.4, CAL= 67.5, 55.7, ROT= 82.5, -55.7 Ygot valid direction response: 16:15:15.0328 LVL= 23504, 9281, 24482, 24099, AGC= 42, IDX= 502, 0.22, 0.189,-0.722,-1.119, 0.943, PHS=-0.652,-1.620,-2.106, RAW= 70.8, 50.4, CAL= 67.5, 55.7, ROT= 82.5, -55.7 Z#Rx 49: Read direction message, but no range.\direction in FSK: [0.073555,0.558705,0.826098]99=D Բ?D?RYeo?9@A;II)N5=i=[=A$=_=#^9 =y&)9I=i=2+?9=˖?=x?=N? =xi9I= Ʊ?D޿s?=[=W a =N?)=xԱPExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=49, elapsed TxPingTime=25.280674DuDeD$DEv: E96E4:E!@!@!@!@ % DDAT read: Rx Time:16:15:15.5327 - TRx dataTimestamp_ set to:1755879314.733698} PDAT read: Bearing 245.2, 36.0 (Local)  ~Local bearing/azimuth received: Bearing 245.2, 36.0 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 E DAT read: 16:15:15.5327 LVL= 23360, 9201, 24466, 22899, AGC= 42, IDX= 501, 0.37,-0.794,-1.695,-2.100,-0.038, PHS=-0.654,-1.612,-2.106, RAW= 70.4, 50.4, CAL= 67.1, 55.7, ROT= 82.9, -55.7 M Ygot valid direction response: 16:15:15.5327 LVL= 23360, 9201, 24466, 22899, AGC= 42, IDX= 501, 0.37,-0.794,-1.695,-2.100,-0.038, PHS=-0.654,-1.612,-2.106, RAW= 70.4, 50.4, CAL= 67.1, 55.7, ROT= 82.9, -55.7 U T#Rx 50: Read range and direction messages.] \direction in FSK: [0.069653,0.559205,0.826098] Fpublishing direction and range info9! % sP{Ա?ҟ?RYeo?% ?! i% @[% #% _% sY! % l')% VοI! i% nF?! % ?! % L3? ! i! ! I% }Ew?? ߿؜&?% \`]% 1a % L3?)! i! !  checking for new query: numPingsReceived=50, elapsed TxPingTime=25.547209K,y,͒%*Aiy6[@ٱ6<6 F6v=6H@?@<;^?@?@`È?@B?`L?I6[@)66m^;i6CN3B9N_!IlMb@Mb@Mb@ )Iiy&1)\(MbP`eGaISAiAA|A)ABD6D(4Y01<!:=N;Q)>99DY8A > Q 154٪ ^?Q 5=4 4 _B9=h=Q A=i;i E4YqAkkk"lhQhU%*AhUԾ?hUԾ?hU?hU&>W?9?2?hUsP{Ա?ҟ?RYeo?hUL3?hUxiU"Bݴ?K?=[j.?hUD?{y?p=?hU\J?hU=hUXt<?hUs hUB*iU?2iU|:iUBiUr?"iU|G?zZUh=ZUh=ZUҎ@ZU#@IYa)e>e F a aɡaiiIms$i) @;IIN >Uchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.7300031AQAU@AvB]E>~BYB]A!IB]BBYBYBYB]Q;B]EBBBB =B =BΣ4D sD dD %D E so: E 96E 4:E "E ޑ;! E ߑ;! *E }&;! E ~&;! a 73y,s%*A)P PbDDAT read: Rx Time:16:15:16.0328 fTRx dataTimestamp_ set to:1755879315.235709rPDAT read: Bearing 246.9, 36.1 (Local) z~Local bearing/azimuth received: Bearing 246.9, 36.1 (Local) 9]DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 mZ#Rx 51: Read range message, but no direction.9`b?`checking for new query: numPingsReceived=51, elapsed TxPingTime=26.016502yM>@ٱH;܅, =Hm?Yw`.u?6?`I`?DB??IM>@)ς^;iC9BD6D4L};Q)>99DYA> Q 1 4٪ ?Q 5 4 o5 _B9Y@Q E?y  C) t =I g:i U4YkYkak"lzZZZZ@I)>܅,  ɡiILi)!a@3;I I!N-->ԉ}DAT read: 16:15:16.0328 LVL= 23200, 9089, 24658, 22867, AGC= 42, IDX= 503,-0.41,-1.654,-2.471,-2.935,-0.890, PHS=-0.661,-1.536,-2.089, RAW= 67.4, 50.6, CAL= 64.1, 55.6, ROT= 85.9, -55.6 Ygot valid direction response: 16:15:16.0328 LVL= 23200, 9089, 24658, 22867, AGC= 42, IDX= 503,-0.41,-1.654,-2.471,-2.935,-0.890, PHS=-0.661,-1.536,-2.089, RAW= 67.4, 50.6, CAL= 64.1, 55.6, ROT= 85.9, -55.6 Z#Rx 52: Read direction message, but no range.\direction in FSK: [0.040394,0.563521,0.825113]9IM_z?]?~g]Tg?IiMZM#MR`MSYI ML7))MĿIM-iM?M=b?Mf3?MUlx?M? MUlxiIIM .?I!.&S?I?MjMa M?)MUlxchecking for new query: numPingsReceived=52, elapsed TxPingTime=26.253996 nManaging dock network, ignoring radio surface power off +_9y,N%*AD2D2eD2$D0E2O: E296E24:E0!6@!6@!6@!6@yB+@ٱBPK;B Bq=BH?@k ;ii?@?q Qr?`Nm? s?IB+@)By^;iBCL9N`!I)P RA%Mb@Mb@Mb@ !)!I!i!!%Q9Y9]DYY]A]>aQ 1m4٪e?Q 5m4e5 e_B9m"(=Q Au   ɡiI'i)QDDAT read: Rx Time:16:15:16.5327 TRx dataTimestamp_ set to:1755879315.738955PDAT read: Bearing 247.8, 36.2 (Local) ~Local bearing/azimuth received: Bearing 247.8, 36.2 (Local) MDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ]Z#Rx 53: Read range message, but no direction.9?checking for new query: numPingsReceived=53, elapsed TxPingTime=26.512640@e;IiIN9>!  DAT read: 16:15:16.5327 LVL= 22448, 9073, 24722, 23283, AGC= 42, IDX= 502,-0.23, 2.957, 2.176, 1.681,-2.556, PHS=-0.668,-1.506,-2.090, RAW= 65.9, 50.6, CAL= 62.6, 55.6, ROT= 87.4, -55.6  Ygot valid direction response: 16:15:16.5327 LVL= 22448, 9073, 24722, 23283, AGC= 42, IDX= 502,-0.23, 2.957, 2.176, 1.681,-2.556, PHS=-0.668,-1.506,-2.090, RAW= 65.9, 50.6, CAL= 62.6, 55.6, ROT= 87.4, -55.6  Z#Rx 54: Read direction message, but no range. \direction in FSK: [0.025629,0.564385,0.825113]9Y ] R`>?Yir?~g]Tg?Y i] W] q#] `] ZY ] +)] I] i] 8?Y ] ً?Y ] @? Y iY I] UYa9Y9mDYiuAu>yQ 14٪}7?Q 54}g6 }_B9YQ E?y}C)}[?Yir?~g]Tg?h@?hUlxi?w`?j?h9?cܦ4?~,?h4M?h<hE?hQ!hB*i2iDAT read: 16:15:17.0329 LVL= 22736, 9201, 24690, 23411, AGC= 42, IDX= 503,-0.12,-2.056,-2.813, 2.964,-1.275, PHS=-0.679,-1.493,-2.088, RAW= 65.1, 50.9, CAL= 61.9, 55.7, ROT= 88.1, -55.7 Ygot valid direction response: 16:15:17.0329 LVL= 22736, 9201, 24690, 23411, AGC= 42, IDX= 503,-0.12,-2.056,-2.813, 2.964,-1.275, PHS=-0.679,-1.493,-2.088, RAW= 65.1, 50.9, CAL= 61.9, 55.7, ROT= 88.1, -55.7 T#Rx 55: Read range and direction messages.%\direction in FSK: [0.018684,0.563216,0.826098]%Fpublishing direction and range info9:ii?"i[?zZiZiZi93Z!?r?RYeo?f?iX#r`s[ -)IˡiOo?clc?3I?x?:? xiImԹ oFy,%*Ay62@ٱ6(;6a6<6H`?`Ap wp?`&?" (w?? ?I62@)6ϐ^;i6CNEB9Nu!IBDV6DV=4YnR=!n=rNa  ɡiIa捻i)@;IIIiN:>ԹBEƀ'4JEREƳ0DtD[D&DEs: E96E4:E!@!@!@!@ DDAT read: Rx Time:16:15:17.5328  TRx dataTimestamp_ set to:1755879316.747689 PDAT read: Bearing 250.6, 35.9 (Local) % ~Local bearing/azimuth received: Bearing 250.6, 35.9 (Local) U DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:17.5328 LVL= 20560, 10289, 26546, 25891, AGC= 40, IDX= 502,-0.02,-2.429,-3.113, 2.611,-1.632, PHS=-0.695,-1.437,-2.085, RAW= 62.2, 51.1, CAL= 59.0, 55.8, ROT= 91.0, -55.8  Ygot valid direction response: 16:15:17.5328 LVL= 20560, 10289, 26546, 25891, AGC= 40, IDX= 502,-0.02,-2.429,-3.113, 2.611,-1.632, PHS=-0.695,-1.437,-2.085, RAW= 62.2, 51.1, CAL= 59.0, 55.8, ROT= 91.0, -55.8  T#Rx 56: Read range and direction messages. ^direction in FSK: [-0.009810,0.561998,0.827081] Fpublishing direction and range info9 Ӕ?!Cqw? ? i PP 1( g #e ( 1) ﷿I pi ? &Qd? ΃? Qy? K? Qyi I )yt? -H? $d K?) Qyi  checking for new query: numPingsReceived=56, elapsed TxPingTime=27.557240 љLy,4%*Ay6N@ٱ6`;6x6^P<6H?@6~,m@ ~?@ ?`o??`5?I6N@)6^;i6C~CB9~s!IMb@Mb@Mb@ )Ii~jth?~jtD;DIAiAAA)QABD6D4Y!9=;Q)> 9 9 DY  ];A>Q 1%4٪$?Q 5%46 9%Jx  ɡiIbKi)@;IIN>5checking for new query: numPingsReceived=56, elapsed TxPingTime=27.745628AA4=vBC>~BCBBB =BBBQ;BEI D vD ^D (D E Vz: E ;96E c44:E "E E;! E F;! *E ;! E ;! "Sy,N%*A RDDAT read: Rx Time:16:15:18.0329 VTRx dataTimestamp_ set to:1755879317.251571fPDAT read: Bearing 250.0, 35.7 (Local) n~Local bearing/azimuth received: Bearing 250.0, 35.7 (Local) ~DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:18.0329 LVL= 20208, 10081, 26194, 25651, AGC= 41, IDX= 503, 0.09,-0.407,-1.127,-1.664, 0.400, PHS=-0.706,-1.483,-2.108, RAW= 63.6, 51.3, CAL= 60.3, 56.0, ROT= 89.7, -56.0 %Ygot valid direction response: 16:15:18.0329 LVL= 20208, 10081, 26194, 25651, AGC= 41, IDX= 503, 0.09,-0.407,-1.127,-1.664, 0.400, PHS=-0.706,-1.483,-2.108, RAW= 63.6, 51.3, CAL= 60.3, 56.0, ROT= 89.7, -56.0 %T#Rx 57: Read range and direction messages.5\direction in FSK: [0.002928,0.559185,0.829038]5Fpublishing direction and range info9PRb0Gg?Wċm?Fy?Rf?PiRNRa'RRfR3dR) Rj4)RҽIRyiRq?R5e?R$?R5z?RHd? R5ziPPIR9ʏ ?0z?RM|R(Ee RHd?)R5ziPPaiamchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.023355y@ٱs<9<H?`j G?n??@_`S#@a?&?I@)$^;iCKB9|!IBD6Df4Y2 =!<=99DY<A>Q 1-4٪B?Q 5-46 _B91Y5CQ E5?yC):I:i14Y9=RA9Akkk"lhPhRP%*AhR?hR?hR ?hRˁ}tu?@Jr?(S?hRb0Gg?Wċm?Fy?hRHd?hR5ziR2.承7wc?vė5?hRN |>?R?hRSt?hR4OhR1?hR)hRQB*iR[?2iP:iRBiRi?"iR?zZ!Z!Z!Z%?@I11)5>59)55 9 9ɡ9i=IFi)q5checking for new query: numPingsReceived=57, elapsed TxPingTime=28.249662@;IIN>ԡ ЬYy,h%*AD"rD"dD D E"k: E"96E :E !*@!*@!*@!*@<-IB9-z!IMb@Mb@Mb@ )IiMbp?y&1?MbP?;`e<:I|Ai)zABD6D4Yo!\=Q)> 99DY%A->AQ 1]4٪E`?Q 5e4E6 E_B9 oz? I? >ziI?]'J ^n_?kkk"lhhp%*AhE?hE?hʱ?hPݎZZp'?T"fzi9fX1q?bdN?hƑyChcP.? K?hf?hrh?h*h&B*i1?2i:i&Bi h?"i ?U~ce  I?)>zichecking for new query: numPingsReceived=58, elapsed TxPingTime=28.564713zZo<Zo<Zp?ZƧ?I)>)x4  ɡi[I.Bi) @e y;I I N >E checking for new query: numPingsReceived=58, elapsed TxPingTime=28.752686&`y,/i%*Al=VB9=!I)A ABDM6DM4Y]Z=!eU=aQ)e>q9q9}DYA>vBD>~BBG!IB BBBBBQ;BEQ 14٪?Q 546 _B9YQ E?y):I:i4YAkkk"lzZZZZI)6>)3  ɡiI,?i)D]vD]^D]+DYE]Vz: E];96E] [4:EY"EY!mEY!m*EY!uEY!u DDAT read: Rx Time:16:15:19.0328 TRx dataTimestamp_ set to:1755879318.2598891@=;IIIYNmx>uPDAT read: Bearing 252.5, 35.3 (Local) u~Local bearing/azimuth received: Bearing 252.5, 35.3 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:19.0328 LVL= 20320, 9553, 25122, 25843, AGC= 41, IDX= 502, 0.37,-1.369,-2.011,-2.594,-0.535, PHS=-0.732,-1.431,-2.103, RAW= 60.7, 51.8, CAL= 57.6, 56.3, ROT= 92.4, -56.3 Ygot valid direction response: 16:15:19.0328 LVL= 20320, 9553, 25122, 25843, AGC= 41, IDX= 502, 0.37,-1.369,-2.011,-2.594,-0.535, PHS=-0.732,-1.431,-2.103, RAW= 60.7, 51.8, CAL= 57.6, 56.3, ROT= 92.4, -56.3 T#Rx 59: Read range and direction messages.^direction in FSK: [-0.023234,0.554358,0.831954]Fpublishing direction and range info9OGʗdrL?0=^?i`OQ%"bd) Zd;)+Ii蚇?qg??{?pl? {iIU.?O _$?dg pl?){ichecking for new query: numPingsReceived=59, elapsed TxPingTime=29.044535i Bfy,AD%*Aɰy6{)@ٱ6 =6;6=6H+?uZ`rv? o? ? AE@orA[?`?I6{)@)6^;i6CP9R!IBDZ6DZ=49Ye!mJ=uW+99DY=A>Q 14٪?Q 546 9Y?Q E?yC)f;IBh;i4YAkkk"lhh%*Achecking for new query: numPingsReceived=59, elapsed TxPingTime=29.256861hhh&?h-E9 ?x\}?hOGʗdrL?0=^?hpl?h{i;82Wlw?C?hp,S N?<-?hc?hhDVI?hh4B*i?2i:i4BiUe?"i?zZ)Z)Z)Z-?I99)E>E;)E A AɡAiEiIE̍iI)I)@=;IIDetDe_De$DaEes: Eer96Ee4:Ea!m@!m@!m@!u@IqNZ>Q DDAT read: Rx Time:16:15:19.5327  TRx dataTimestamp_ set to:1755879318.761382 PDAT read: Bearing 253.5, 35.3 (Local)  ~Local bearing/azimuth received: Bearing 253.5, 35.3 (Local)  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:15:19.5327 LVL= 19856, 10225, 25074, 24627, AGC= 42, IDX= 502,-0.39, 1.916, 1.294, 0.696, 2.753, PHS=-0.735,-1.414,-2.101, RAW= 59.8, 51.8, CAL= 56.8, 56.3, ROT= 93.2, -56.3  Ygot valid direction response: 16:15:19.5327 LVL= 19856, 10225, 25074, 24627, AGC= 42, IDX= 502,-0.39, 1.916, 1.294, 0.696, 2.753, PHS=-0.735,-1.414,-2.101, RAW= 59.8, 51.8, CAL= 56.8, 56.3, ROT= 93.2, -56.3  T#Rx 60: Read range and direction messages. ^direction in FSK: [-0.030972,0.553979,0.831954] Fpublishing direction and range info9 `",AF2?0=^? ? i M ' a 3` * (<) I vi 0? }? 5? i I gʯ˭?<ߥ' -῞ќ{$? ^y bg 5?) i = checking for new query: numPingsReceived=60, elapsed TxPingTime=29.526342y ly,"%*Ay6l@ٱ6-=6.;6=6H? 6?̡?q?`vez`>??I6l@)6ֹ^;i6C^OB9j!IMb@Mb@Mb@ )Ii:v? rh?T<C =ISAi5AAA)ABD6D̺4Yw!B=;Q)>99DYڠ<A>Q 14٪?Q 54#6 _B9 =Q A .;)ͳ  ɡiǼIii) checking for new query: numPingsReceived=60, elapsed TxPingTime=29.760687ԁ@҅;I&dClearing failed state for component DockingStepper1IN%o>AAAAvBC>~BBM!IB%BBBBBQ;BEԩDm uDm ^Di Di Em v: Em ;96Ei :Ei "Em ";!} Em $;!} *Ei !} Ei ! y iy I NG)A 7sy, %*A2DDAT read: Rx Time:16:15:20.0328 6TRx dataTimestamp_ set to:1755879319.263380:PDAT read: Bearing 254.7, 35.2 (Local) :~Local bearing/azimuth received: Bearing 254.7, 35.2 (Local) FDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 VDAT read: 16:15:20.0328 LVL= 20464, 10673, 25458, 24819, AGC= 42, IDX= 503,-0.23, 2.529, 1.937, 1.325,-2.910, PHS=-0.743,-1.391,-2.093, RAW= 58.7, 52.0, CAL= 55.8, 56.4, ROT= 94.2, -56.4 ZYgot valid direction response: 16:15:20.0328 LVL= 20464, 10673, 25458, 24819, AGC= 42, IDX= 503,-0.23, 2.529, 1.937, 1.325,-2.910, PHS=-0.743,-1.391,-2.093, RAW= 58.7, 52.0, CAL= 55.8, 56.4, ROT= 94.2, -56.4 ^T#Rx 61: Read range and direction messages.b^direction in FSK: [-0.040529,0.551905,0.832921]bFpublishing direction and range info902kcC:5?-sJ?2?0i2O2)2rc2`0 2?5>)2J I2i2#?2Vh?2Qy?2d{?2q? 2d{i00I2F!2?"F-MῈk3?2.2$h 2q?)2d{i00checking for new query: numPingsReceived=61, elapsed TxPingTime=30.060308IAi@u?uAԩM]B9M!IIiIiU=IU=BD]6D]4Ym u=!u4=uQ)u>q9y9}DYy}A}>Q 14٪y?Q 545 9YQ E?yC)W:I:iЎ4YAkkk"lh0h28%*Ah2E?h2E?h2?h2JՇͳ?R=F\?h2kcC:5?-sJ?h2q?h2d{i2K1(A?Ӗ?h2aFzOGfc?tp8?h2b?h2Žh2U?h2}h2=B*i2DVI?2i0:i24Bi2\?"i2?zZZZZIaa)e>a)m\ i iɡiim4ImBiq)q 4Initializing EZServoServo. 8Initializing DockingStepper.checking for new query: numPingsReceived=61, elapsed TxPingTime=30.264652 @ /;I9 Ia N >1 yy,(%*AD|D_D&DE : Er96E4:E!@!@!@!@$i$%cB9%!IEMb@Mb@Mb@ A)AIAiAAE~jtx?S㥫?Mb`?E;E/]=E;IEAiAEfAEA)AEABDe6De4}DDAT read: Rx Time:16:15:20.5328 }TRx dataTimestamp_ set to:1755879319.767280PDAT read: Bearing 255.3, 35.1 (Local) ~Local bearing/azimuth received: Bearing 255.3, 35.1 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:20.5328 LVL= 21872, 10801, 26098, 25235, AGC= 42, IDX= 502,-0.11, 1.475, 0.891, 0.274, 2.330, PHS=-0.753,-1.394,-2.100, RAW= 58.4, 52.2, CAL= 55.6, 56.6, ROT= 94.4, -56.6 Ygot valid direction response: 16:15:20.5328 LVL= 21872, 10801, 26098, 25235, AGC= 42, IDX= 502,-0.11, 1.475, 0.891, 0.274, 2.330, PHS=-0.753,-1.394,-2.100, RAW= 58.4, 52.2, CAL= 55.6, 56.6, ROT= 94.4, -56.6 T#Rx 62: Read range and direction messages.^direction in FSK: [-0.042232,0.548858,0.834848]Fpublishing direction and range info9y}A{g??&j?yyi}pU}1*}e}by }@)}nI}ffi}w?}Z;i?}Ulx?}'|?}B? }'|iyyI}/M?xXE~3D?}B}mh }B?)}'|iyychecking for new query: numPingsReceived=62, elapsed TxPingTime=30.531984Y/<!B=Q)>99DYA> Q 14٪ ?Q 54 !5 _B9^=Q At?h} h}EB*i}1_?2iy:iyi}1W?"i}?zZ^=Z^=Z?Z:?IQQ)U >Q)U: Q YɡYi]ċI]i)Ai @ Vw;I I N >% checking for new query: numPingsReceived=62, elapsed TxPingTime=30.768650Ry,%*A bB9!IvBEB>~BABEZ!IBE/BBABABABEQ;BEEBCBCBB =B =B4BD-6D-4Ym0!m=qQ)u ?q9q9}DYyyA} ?Q 14٪?Q 544 _B9YQ E?yC)":I\:iݎ4YAkkk"lzZZZZI)ٕ>);  ɡqiupIu)iy)yD=pD=bD=(D9E=d: E=96E=c44:E9"E=v;!ME=w;!U*E=5;!UE=6;!UqDDAT read: Rx Time:16:15:21.0329 TRx dataTimestamp_ set to:1755879320.271773PDAT read: Bearing 256.0, 35.1 (Local) ~Local bearing/azimuth received: Bearing 256.0, 35.1 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:21.0329 LVL= 23232, 10705, 25634, 27555, AGC= 42, IDX= 503,-0.00,-2.751, 2.961, 2.335,-1.890, PHS=-0.759,-1.387,-2.103, RAW= 57.9, 52.2, CAL= 55.0, 56.6, ROT= 95.0, -56.6 Ygot valid direction response: 16:15:21.0329 LVL= 23232, 10705, 25634, 27555, AGC= 42, IDX= 503,-0.00,-2.751, 2.961, 2.335,-1.890, PHS=-0.759,-1.387,-2.103, RAW= 57.9, 52.2, CAL= 55.0, 56.6, ROT= 95.0, -56.6 T#Rx 63: Read range and direction messages.^direction in FSK: [-0.047978,0.548386,0.834848]Fpublishing direction and range info9&y@-`?&j?f?iZ)"dk MB)7IiY?@op;IAIQN{> u?g;? iIjӗO?&Vo~I?Hi g;?)ichecking for new query: numPingsReceived=63, elapsed TxPingTime=31.064116A y,l%*AyV^m@ٱV=VI9I9MDYIU =AU>YQ 1e4٪]?Q 5e4]4 ]_B9aYe$?Q Em?y] C)]:I]:i]4YquAqkkk"lhhd%*Ah?h?he?h, md?L/?h&y@-`?&j?hg;?hiwo`?x? {?hqEZnk??S6^?hk?hhA ?hheB*iU?2i}:i=BiS?"il?checking for new query: numPingsReceived=63, elapsed TxPingTime=31.272799zZZZZ$?I)X><)E< n: ɡiܻI*ji)Q@À;IIN-O>D=vD=mD='D9E=Vz: E=:6E='4:E9!M@!M@!M@!M@q DDAT read: Rx Time:16:15:21.5328  TRx dataTimestamp_ set to:1755879320.775303 PDAT read: Bearing 256.5, 34.9 (Local)  ~Local bearing/azimuth received: Bearing 256.5, 34.9 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:21.5328 LVL= 22176, 10801, 25234, 27539, AGC= 42, IDX= 502, 0.10,-3.138, 2.578, 1.946,-2.263, PHS=-0.773,-1.397,-2.118, RAW= 57.6, 52.4, CAL= 54.8, 56.8, ROT= 95.2, -56.8  Ygot valid direction response: 16:15:21.5328 LVL= 22176, 10801, 25234, 27539, AGC= 42, IDX= 502, 0.10,-3.138, 2.578, 1.946,-2.263, PHS=-0.773,-1.397,-2.118, RAW= 57.6, 52.4, CAL= 54.8, 56.8, ROT= 95.2, -56.8  T#Rx 64: Read range and direction messages. ^direction in FSK: [-0.049627,0.545310,0.836764] Fpublishing direction and range info9 h[?F-s?M? ? i V 1* b k TE) вI Pi ?  j? Gt? }? ȭ? }i I {@?%IHZ)i]? ,^ Nj ȭ?) }i  checking for new query: numPingsReceived=64, elapsed TxPingTime=31.556368ԙ b6y,j7%*Aɰ4<y6K@ٱ6=6t<6=6H@k?`GJ? x?@;?`ˢk.??I6K@)6H^;i6CN_B9R!IyMb@Mb@Mb@ )IiI +?V-?MbP?94<m=:IiAA)BD6Dz4Y,=!B=κ;Q)>99DY{<A>Q 14٪?Q 54u3 _B9q=Q A`?2i :iEBiR?"i}R?zZ]q=Z]q=Z]-?Z]'*?Iii)m>mt<)m< i qɡqiu6;Iukiy)yԡchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.776800@;IINg>A9A=<vBED>~BABE`!IBE4BBE =BABABEnQ;BEEDU uDU _DU #DQ EU v: EU r96EU 3:EQ "EU ";!e EU $;!m *EU J;!m EU J;!m  y,CQ%*A) &DDAT read: Rx Time:16:15:22.0329 *TRx dataTimestamp_ set to:1755879321.279609.PDAT read: Bearing 257.1, 34.8 (Local) .~Local bearing/azimuth received: Bearing 257.1, 34.8 (Local) 6DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ZDAT read: 16:15:22.0329 LVL= 23792, 11025, 24306, 29107, AGC= 42, IDX= 503, 0.23,-1.792,-2.338,-2.978,-0.905, PHS=-0.785,-1.388,-2.117, RAW= 56.9, 52.7, CAL= 54.2, 57.0, ROT= 95.8, -57.0 yz@ٱzŶ=zԾQ99DY<A>Q 14٪7?Q 542 _B9YM?Q E?y'C)~:I$Ծ<)=  ɡiǁchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.2806931a BEJEREuf0D] sD] cD] 'DY E] so: E] L96E] '4:EY !m @!m @!m @!m @Uy,KVk%*Ayf@ٱfI=f99DY\;A>iAAchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.556290Q 14٪{?Q 54 2 _B9f=Q Ak}< y ɡiԡ /y,/%*AiyJ+@ٱJ=J.}~BrCBrf!IBr9BBr =BpBr[DBrUQ;BrE|Q 14٪~?Q 54~1 |9Y &?Q E ?y~,C)~:I~W:i~4Yk1k1k1"l1zZZZZ&?I)b>.}< ! !ɡ!i!I%~i)))ԑ9 踻DwD_D(DE}: Er96Ec44:E"Eg;!-Ei;!5*E!5EK;!5@;IINB>eDDAT read: Rx Time:16:15:23.0328 mTRx dataTimestamp_ set to:1755879322.287282uPDAT read: Bearing 260.0, 33.7 (Local) u~Local bearing/azimuth received: Bearing 260.0, 33.7 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:23.0328 LVL= 26352, 12081, 24818, 32755, AGC= 42, IDX= 503,-0.38, 1.350, 0.934, 0.232, 2.283, PHS=-0.830,-1.304,-2.095, RAW= 51.7, 53.5, CAL= 49.4, 57.6, ROT= 100.6, -57.6 Ygot valid direction response: 16:15:23.0328 LVL= 26352, 12081, 24818, 32755, AGC= 42, IDX= 503,-0.38, 1.350, 0.934, 0.232, 2.283, PHS=-0.830,-1.304,-2.095, RAW= 51.7, 53.5, CAL= 49.4, 57.6, ROT= 100.6, -57.6 T#Rx 67: Read range and direction messages.^direction in FSK: [-0.098566,0.526683,0.844328]Fpublishing direction and range info9imƅ0;}?0?iiimfm1/m`mi mzT)my馿Im{imqf?mQ o?m\?m?m? miiiIm}>?jήu,y?mnmn m?)miiichecking for new query: numPingsReceived=67, elapsed TxPingTime=33.052132 Zy,w؞%*AyV@ٱV=VL=V=VH?Ķ@)? ? ?7H@y?`[?IV@)V ^;iTbeB9b!IBDj6Dj4Yrf<!rt9t9vDYtzYAz>|Q 14٪~?Q 54~1 ~_B9Y ?Q E ?y~/C)~S:I~:i~4YAk1k1k1"l1hhb%*Ahhh?hu).Qſ&I z?Ju&Z?hƅ0;}?0?h?hi8 `ȿ!NT?g?htl\gs*?\euK?hR?hGhL{v?hthRB*i(_! ?2i:iRBiSQ?"iz?zZqZqZqZuz?I)/>L=  ɡiI:9xi)checking for new query: numPingsReceived=67, elapsed TxPingTime=33.2897729rg:D5vD5bD5%D1E5Vz: E596E5 4:E1!e@!e@!e@!e@q@]ͯ;IIN>u DDAT read: Rx Time:16:15:23.5327 u TRx dataTimestamp_ set to:1755879322.791258 PDAT read: Bearing 259.6, 33.2 (Local)  ~Local bearing/azimuth received: Bearing 259.6, 33.2 (Local) ԁ  DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 16:15:23.5327 LVL= 27824, 11505, 21730, 32755, AGC= 42, IDX= 502,-0.22,-0.484,-0.901,-1.592, 0.458, PHS=-0.840,-1.314,-2.094, RAW= 52.0, 53.9, CAL= 49.6, 57.9, ROT= 100.4, -57.9  Ygot valid direction response: 16:15:23.5327 LVL= 27824, 11505, 21730, 32755, AGC= 42, IDX= 502,-0.22,-0.484,-0.901,-1.592, 0.458, PHS=-0.840,-1.314,-2.094, RAW= 52.0, 53.9, CAL= 49.6, 57.9, ROT= 100.4, -57.9  T#Rx 68: Read range and direction messages. ^direction in FSK: [-0.095928,0.522668,0.847122] Fpublishing direction and range info9q u dBUH?J9g?u ?q iu lu ,u Tq q u = W)u '1Iu iu Vh?u p?u k]?u Y?u K? u Yiq q Iu .k@?d븕 2?u u p u K?)u Yiq q  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.556789qy,%%*A0yJ@ٱJ=J=J.g=JH?`8 k?H? ?*-ɡ?`?IJ@)Ju^;iJCrcB9r!ImMb@Mb@Mb@ i)iIiiiimMbp?Zd;O?m;mj<=iImAimAimKA)imABD6D4Y*!@=;Q)>99DYA>Q 14٪?Q 540 _B9 ==Q Am= i iɡiITJpi)!)) )i)I)ԉchecking for new query: numPingsReceived=68, elapsed TxPingTime=33.792736ԹA@AAAAvBE>~BBBB =BBBoy,9%*ADDAT read: Rx Time:16:15:24.0329 TRx dataTimestamp_ set to:1755879323.295945PDAT read: Bearing 259.2, 32.8 (Local) ~Local bearing/azimuth received: Bearing 259.2, 32.8 (Local) &DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 6DAT read: 16:15:24.0329 LVL= 28368, 12577, 21170, 32755, AGC= 43, IDX= 503,-0.09, 0.753, 0.334,-0.361, 1.715, PHS=-0.860,-1.336,-2.120, RAW= 52.0, 54.2, CAL= 49.7, 58.2, ROT= 100.3, -58.2 :Ygot valid direction response: 16:15:24.0329 LVL= 28368, 12577, 21170, 32755, AGC= 43, IDX= 503,-0.09, 0.753, 0.334,-0.361, 1.715, PHS=-0.860,-1.336,-2.120, RAW= 52.0, 54.2, CAL= 49.7, 58.2, ROT= 100.3, -58.2 >T#Rx 69: Read range and direction messages.B^direction in FSK: [-0.094221,0.518464,0.849893]BFpublishing direction and range info9 -81A?q-R2?f?in!1R+ (\) Ii*r?^?"?? "iXI\l?Yq_R*5?r ?)"ibchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.065506y ֺ@ٱ = f= = H?紿Ԥ?8?0?7` ٠??I ֺ@) ^;i C%jB9%!IBD6D4Y =!E=;Q)>)9)9-DY15 A5>9Q 1E4٪=?Q 5E4=0 99AYEn?Q EM?y=4C)=;I=;i=4YquWAqkkk"lhh%*Ah?h?hܒ?hRtſi"f?'ٵXS?h -81A?q-R2?h?h"i4-8Cǿ/D#?fNL?hv;|-a?d<&?hg]?h:h?hPhB*i?2it:iRBiM?"i)?zZQZQZQZUn?I)>f=  ɡiIHgi)i]aae4a@5;IAIQN]U> checking for new query: numPingsReceived=69, elapsed TxPingTime=34.2966239 y,u%*AD2yD2_D0D0E2: E2r96E0:E0!R@!R@!R@!V@5sB95!IMb@Mb@Mb@ )Iiy&1|?~jt?`;<IAiAA)BD6D4Y=!;=Q)>99DYA>Q 14٪?Q 5 4/ _B9 p῜?5A5aWt 55?kkk"l)5#i11checking for new query: numPingsReceived=70, elapsed TxPingTime=34.568352h1h5)%*Ah5E?h5E?h5?h5ȿzӱi?8ht?h5+?g9?=,W?h55?h5#i5 ɿ6[&m?HS?h5e$@fZ?%?h5lK?h5NAh58?h5eYh5gB*i5?2i1:i1i5K?"i5?zZ<Z<Z?Z9`?I)>  ɡ i I z^i ) ]>]>i4q@ [;I1IINU>ԙ  checking for new query: numPingsReceived=70, elapsed TxPingTime=34.800682_}y,?%*Ay6ne@ٱ6=65=6Y<6H_?5D? ?0?4 `[??I6ne@)6_;i6CvBD~BDBDBDBDBDBFZDBF Q;BFERvB9R!IBDZ6DZ4Y <! o= }5=  ɡ!i!I%6EWi)))DpDbDDEd: E96E:E"Ev;!]Ex;!]*E5;!eE6;!mi4!IG)kA@%a;I1IANU1>IaikAA)A AMDDAT read: Rx Time:16:15:25.0329 MTRx dataTimestamp_ set to:1755879324.303509]PDAT read: Bearing 259.2, 31.8 (Local) ]~Local bearing/azimuth received: Bearing 259.2, 31.8 (Local) mDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:25.0329 LVL= 24720, 13169, 17970, 32755, AGC= 43, IDX= 503, 0.16, 1.694, 1.316, 0.571, 2.717, PHS=-0.920,-1.356,-2.190, RAW= 49.7, 54.7, CAL= 47.6, 58.7, ROT= 102.4, -58.7 Ygot valid direction response: 16:15:25.0329 LVL= 24720, 13169, 17970, 32755, AGC= 43, IDX= 503, 0.16, 1.694, 1.316, 0.571, 2.717, PHS=-0.920,-1.356,-2.190, RAW= 49.7, 54.7, CAL= 47.6, 58.7, ROT= 102.4, -58.7 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.111559,0.507400,0.854459]Fpublishing direction and range info9IMp=5#5Ξh9h9jDYhj~An>)Q 154٪-v?Q 554-v/ )99Y=@?Q E=?y-7C)-;I-;i-0+4YAEkAIkikiki"lihyh}l%*Ah}?h}?h}?h}(ڋɿ= ?!Ku?h}p=5#5ΞhA=  ɡiIyMi) i!4@);IIN>)DqD]D%DE2h: E96E 4:E!M@!M@!U@!U@QU DDAT read: Rx Time:16:15:25.5328 ] TRx dataTimestamp_ set to:1755879324.807219e PDAT read: Bearing 259.0, 31.1 (Local) e ~Local bearing/azimuth received: Bearing 259.0, 31.1 (Local) u DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:25.5328 LVL= 23920, 13297, 18082, 32755, AGC= 43, IDX= 502, 0.31, 0.624, 0.273,-0.487, 1.671, PHS=-0.946,-1.353,-2.202, RAW= 48.5, 55.1, CAL= 46.5, 59.1, ROT= 103.5, -59.1  Ygot valid direction response: 16:15:25.5328 LVL= 23920, 13297, 18082, 32755, AGC= 43, IDX= 502, 0.31, 0.624, 0.273,-0.487, 1.671, PHS=-0.946,-1.353,-2.202, RAW= 48.5, 55.1, CAL= 46.5, 59.1, ROT= 103.5, -59.1  T#Rx 72: Read range and direction messages. ^direction in FSK: [-0.119884,0.499352,0.858065] Fpublishing direction and range info9Q U -r鴰OzGb?QŽDu?U ?Q iU p]U 3U FQ Q U -r)U /IU iU 8X?U m0v?U O?U ?U 8? U iQ Q IU h@?Ou[T ??U ԲU 5v U 8?)U iQ Q  checking for new query: numPingsReceived=72, elapsed TxPingTime=35.572067y Ry,9%*Ay6@ٱ6m=6{N=6Q<6H? r<_? ?+?(֩`e??I6@)6t^;i6C>wB9B!IuMb@Mb@Mb@ q)qIqiqqu{Gzt?~jtMb`uף;uDuIuAiuAuAuGA)qqBD6Df4Y!8=;Q)> 9 9DY1=AE>IQQ 1u4٪M?Q 5u4M/ M_B9}W{N= h$< ɡiI?Ai))checking for new query: numPingsReceived=72, elapsed TxPingTime=35.810066ie?aaex2aԁ@U;AyAyvBF>~BB`!IB4BBBB[DB Q;BEBMCBMCBIBM =BM =BM=4IINc>ԩD% uD% `D% &D! E% v: E% 96E% 4:E! "E% ";!U E% $;!] *E% ;!e E% ;!e e DDAT read: Rx Time:16:15:26.0328 e TRx dataTimestamp_ set to:1755879325.311269m PDAT read: Bearing 258.5, 30.3 (Local) u ~Local bearing/azimuth received: Bearing 258.5, 30.3 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:26.0328 LVL= 23392, 13441, 18226, 32755, AGC= 43, IDX= 503,-0.50,-1.423,-1.741,-2.481,-0.377, PHS=-0.944,-1.319,-2.148, RAW= 47.7, 55.6, CAL= 45.7, 59.6, ROT= 104.3, -59.6  Ygot valid direction response: 16:15:26.0328 LVL= 23392, 13441, 18226, 32755, AGC= 43, IDX= 503,-0.50,-1.423,-1.741,-2.481,-0.377, PHS=-0.944,-1.319,-2.148, RAW= 47.7, 55.6, CAL= 45.7, 59.6, ROT= 104.3, -59.6  T#Rx 73: Read range and direction messages. ^direction in FSK: [-0.124990,0.490355,0.862514] Fpublishing direction and range info9a e WU^a?F99DYA>!Q 1%4٪%?Q 5-4%/ %_B9IYMdQ EM?y!)%\;I%;i%7:4YY]AYkkk"lhhS%*Ahhh8?h(4(˿?/n6?6Q?hWU^a?F?;?hdL?hT/hn ?hоhlB*i2i:ilBi.U?"iMY= I QɡQiQIU5iY)YiP0!A@;IIN%M>checking for new query: numPingsReceived=73, elapsed TxPingTime=36.312668iD xD aD )D E ˀ: E 96E FA4:E ! @! @! @! @ 6y,o%*Aɰ;y=B>@ٱ===d==#8<=H ?h@Ȭ?Ⳣ?/?@6т`"$??I=B>@)=zv^;i=CUzB9U!IMb@Mb@Mb@ )Ii~jth?Q롿MbPD;\IAiA9A^A)zABD56D5z4}DDAT read: Rx Time:16:15:26.5327 }TRx dataTimestamp_ set to:1755879325.815328PDAT read: Bearing 257.8, 30.1 (Local) ~Local bearing/azimuth received: Bearing 257.8, 30.1 (Local) DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ԩDAT read: 16:15:26.5327 LVL= 22512, 13329, 17666, 32355, AGC= 43, IDX= 502,-0.32,-2.497,-2.811, 2.728,-1.452, PHS=-0.943,-1.314,-2.147, RAW= 47.5, 55.6, CAL= 45.5, 59.5, ROT= 104.5, -59.5 Ygot valid direction response: 16:15:26.5327 LVL= 22512, 13329, 17666, 32355, AGC= 43, IDX= 502,-0.32,-2.497,-2.811, 2.728,-1.452, PHS=-0.943,-1.314,-2.147, RAW= 47.5, 55.6, CAL= 45.5, 59.5, ROT= 104.5, -59.5 T#Rx 74: Read range and direction messages.^direction in FSK: [-0.127077,0.491372,0.861629]Fpublishing direction and range info9y}X7D&r?%!Fw?}?yi}W}4}E}c~y }shq)}'1I}sh i}g;T?y}KK?}?}t? }섿iyY<!:=;Q)>99DYּA>yI}.#e ? )رBalc?}}7x }t?)}섿iyychecking for new query: numPingsReceived=74, elapsed TxPingTime=36.584938Q 14٪?Q 54 0 9%=Q A%Z*?|{O?h}6?h}h} ?h} \h}B*i}۬ ?2i}о:i}jBi}GU?"i}?zZ5=Z5=Z5Z@Z57@IAA)Eb>Md= I IɡIiIIMU(iQ)QiY0@]<IINj> % checking for new query: numPingsReceived=74, elapsed TxPingTime=36.816669vB G>~B B Z!IB /BB =B B B Q;B 1 8y,tш%*Ay6@ٱ6<6q=61;6HS? A?"?@w?BuT.`{?@?I6@)6]^;i6CBvB9B!IBDJ6DJ4Yj!ju=n:@I)>q=  ɡiI i ) DDAT read: Rx Time:16:15:27.0328 TRx dataTimestamp_ set to:1755879326.319252PDAT read: Bearing 257.8, 29.0 (Local) ~Local bearing/azimuth received: Bearing 257.8, 29.0 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:27.0328 LVL= 24560, 15073, 20066, 32755, AGC= 43, IDX= 503,-0.19,-1.245,-1.506,-2.256,-0.173, PHS=-0.970,-1.288,-2.128, RAW= 45.4, 56.3, CAL= 43.6, 60.2, ROT= 106.4, -60.2 Ygot valid direction response: 16:15:27.0328 LVL= 24560, 15073, 20066, 32755, AGC= 43, IDX= 503,-0.19,-1.245,-1.506,-2.256,-0.173, PHS=-0.970,-1.288,-2.128, RAW= 45.4, 56.3, CAL= 43.6, 60.2, ROT= 106.4, -60.2 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.140316,0.476754,0.867765]Fpublishing direction and range info9BE?#?$??i_:bN Qx)/ݤI'1ibJ?{?B?|?,? |iI#4H?|#ZL"?P{ ,?)|ichecking for new query: numPingsReceived=75, elapsed TxPingTime=37.08421399"jAiAq i a / @ :<I I N >FDy,K%*A y6i@ٱ6}<6E}y=6R;6H?`:1?@?@?1i *np??I6i@)6(`^;i6CRzB9R!IiV=IV=rchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.320507BDZ6DZ4Yz!<!zH=~;Q)~>99DY 0A >Q 14٪=?Q 540 9YgQ E%?y>C);I;iN4Y)-A)kIkIkI"lIhhn%*AhE?hE?hX?h Xο5?H'@u?hBE?#?$?h,?h|iXelĿ,?/?hwH#-}2?w%B" ?hL?he#hS ?hhpB*in ?2i:ilBi[?"iPy?zZZZZ@I99)=>=E}y= 9 9ɡAiAIEiA)I9-;ii60BEĞ4JE24REg/DiDm]Dm$DiEi Em96Em4:Ei!@!@!@!@@_ <I1ԡINa>DDAT read: Rx Time:16:15:27.5328 TRx dataTimestamp_ set to:1755879326.823302PDAT read: Bearing 256.9, 29.0 (Local) ~Local bearing/azimuth received: Bearing 256.9, 29.0 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:27.5328 LVL= 22624, 14481, 18354, 32755, AGC= 43, IDX= 502,-0.07,-2.367,-2.640, 2.879,-1.292, PHS=-0.973,-1.303,-2.156, RAW= 45.7, 56.0, CAL= 43.8, 59.9, ROT= 106.2, -59.9 Ygot valid direction response: 16:15:27.5328 LVL= 22624, 14481, 18354, 32755, AGC= 43, IDX= 502,-0.07,-2.367,-2.640, 2.879,-1.292, PHS=-0.973,-1.303,-2.156, RAW= 45.7, 56.0, CAL= 43.8, 59.9, ROT= 106.2, -59.9 T#Rx 76: Read range and direction messages.^direction in FSK: [-0.139917,0.481598,0.865151]Fpublishing direction and range info9U*"l~?D R?i`X8G y)ȦI i0L?5z?EC?aх?@? aхiIѷ3Z?(;$J?`)z @?)aхi checking for new query: numPingsReceived=76, elapsed TxPingTime=37.588696 oy,%*A8i8LB9!I5Mb@Mb@Mb@ 1)1I1i115~jtMbP?55D5:I1i5A5d@5A)11BDE6DEz4YU<!]6=]Q)]>a9a9eDYaeAe>iQ 1u4٪mE?Q 5}4m_1 i9}D=Q A}  ɡiINi ) ia=I=checking for new query: numPingsReceived=76, elapsed TxPingTime=37.830402AAAAvB~BBM!IB%BBBBB Q;BE9h%<DqD`D&DE2h: E96E4:E"E;!E;!*E;!E;!iM Q Q ] 0Y 2@u =*@u >) @e X<Ii I N > DDAT read: Rx Time:16:15:28.0329  TRx dataTimestamp_ set to:1755879327.331259 PDAT read: Bearing 256.9, 28.4 (Local)  ~Local bearing/azimuth received: Bearing 256.9, 28.4 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 16:15:28.0329 LVL= 19184, 12993, 17170, 28547, AGC= 42, IDX= 503, 0.03,-0.409,-0.651,-1.437, 0.696, PHS=-1.003,-1.302,-2.177, RAW= 44.2, 56.3, CAL= 42.4, 60.2, ROT= 107.6, -60.2  Ygot valid direction response: 16:15:28.0329 LVL= 19184, 12993, 17170, 28547, AGC= 42, IDX= 503, 0.03,-0.409,-0.651,-1.437, 0.696, PHS=-1.003,-1.302,-2.177, RAW= 44.2, 56.3, CAL= 42.4, 60.2, ROT= 107.6, -60.2  T#Rx 77: Read range and direction messages. ^direction in FSK: [-0.150270,0.473711,0.867765] Fpublishing direction and range info9 *@ <ÿG^GQ?$? f? i J 2 C o * Nb) 𧦿I S i |E? {? q=? |? va? |i I Af?m6b? _ ˏ{ va?) |i = checking for new query: numPingsReceived=77, elapsed TxPingTime=38.096199!Vy,a%*Ay6~ @ٱ6@6I4=6_ɺ6Hi?L?ð?`O? X?vð Y`h?I6~ @)6@r^;i4B|B9B!IBDJ6DJp4YRP!Rk=RY=I4= 9 AɡAiIIMiq)q) iI)checking for new query: numPingsReceived=77, elapsed TxPingTime=38.332764Qi  @ j<I I N- >ԉ D sD ^D (D E so: E ;96E c44:E ! @! @! @! @ y,Z%*A~}B9~!I=%=)  A9-Eonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.52, 79.47, 86.60 !E@!E !E@!E !E@!E !E@!E BDM6DMH4Y]E;!]==eQ)e>a9i9mDYimAm>qQ 14٪uE?Q 54u[2 qQ =+:9Q A_iub4Y  A kIkIkI"lIeDDAT read: Rx Time:16:15:28.5328 eTRx dataTimestamp_ set to:1755879327.835363mPDAT read: Bearing 256.6, 27.9 (Local) u~Local bearing/azimuth received: Bearing 256.6, 27.9 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:28.5328 LVL= 20064, 13249, 16930, 30963, AGC= 42, IDX= 502, 0.14,-1.487,-1.713,-2.508,-0.369, PHS=-1.016,-1.298,-2.182, RAW= 43.4, 56.5, CAL= 41.7, 60.4, ROT= 108.3, -60.4 Ygot valid direction response: 16:15:28.5328 LVL= 20064, 13249, 16930, 30963, AGC= 42, IDX= 502, 0.14,-1.487,-1.713,-2.508,-0.369, PHS=-1.016,-1.298,-2.182, RAW= 43.4, 56.5, CAL= 41.7, 60.4, ROT= 108.3, -60.4 T#Rx 78: Read range and direction messages.^direction in FSK: [-0.155094,0.468961,0.869495]Fpublishing direction and range info9aeÿ=Lt?~P?e?aie`Ne3e"Bexa eJ )e$Ie ieA?eq|?eAQ:?eV?e? eViaaIeC"_4d?2ΐ`J?e^eD| e?)eViaachecking for new query: numPingsReceived=78, elapsed TxPingTime=38.600754hahev%*AheE?heE?he-3?he3uп~8[?zɋ?heÿ=Lt?~P?he?heViet=]ſ)l-n?A9?heZpŔ?U ?hewK?he(hef ?heshesB*ia2ie/:iesBie[?"ie?I11)=@>9 9 9ɡ9i9I=ϺiA)Aii!!%0!@r<I IN%o>ԑ checking for new query: numPingsReceived=78, elapsed TxPingTime=38.836601 vB} H>~By By By By By By B} )9)95DY1= A=>QQ 1m4٪U@?Q 5u4U2 U_BQ = :9Q A5=  ɡiIGi)i]aae 0auDDAT read: Rx Time:16:15:29.0329 uTRx dataTimestamp_ set to:1755879328.340391PDAT read: Bearing 256.1, 28.2 (Local) ~Local bearing/azimuth received: Bearing 256.1, 28.2 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:29.0329 LVL= 22560, 14833, 19794, 32355, AGC= 43, IDX= 503, 0.27,-0.145,-0.377,-1.185, 0.964, PHS=-1.006,-1.295,-2.192, RAW= 43.5, 56.0, CAL= 41.8, 60.0, ROT= 108.2, -60.0 Ygot valid direction response: 16:15:29.0329 LVL= 22560, 14833, 19794, 32355, AGC= 43, IDX= 503, 0.27,-0.145,-0.377,-1.185, 0.964, PHS=-1.006,-1.295,-2.192, RAW= 43.5, 56.0, CAL= 41.8, 60.0, ROT= 108.2, -60.0 T#Rx 79: Read range and direction messages. ^direction in FSK: [-0.156167,0.474986,0.866025] Fpublishing direction and range info9qu`Kÿߞr+f?B*z?uf?qiu Xu9uRMuc~@v <IINd>u+ uĀ)u¥IuI iu \B?u5z?u:?u ?u? u iqqIuI?63ew?uߪu>z u?)u iqqchecking for new query: numPingsReceived=79, elapsed TxPingTime=39.142124 z,i5$%*Ay6o@ٱ6m@6=66H`?ē?A?L6?Rz?a8P?I6o@)6ȹ_;i6CBB9B!Ibchecking for new query: numPingsReceived=79, elapsed TxPingTime=39.340485BDJ6DJ4YjQ=!jM=n0;Q)n>p9p9rDYprgAv>tQ 1z4٪v9?Q 5z4vZ3 tQ =~99|Q A~=  ɡiIi!)!i0@ $<)IqDqD`D(DE2h: E96Ec44:E!@!@!@!@INZ>I}DDAT read: Rx Time:16:15:29.5328 }TRx dataTimestamp_ set to:1755879328.843289PDAT read: Bearing 255.9, 27.4 (Local) ~Local bearing/azimuth received: Bearing 255.9, 27.4 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:29.5328 LVL= 20368, 12945, 17634, 32611, AGC= 42, IDX= 502, 0.45,-1.932,-2.139,-2.931,-0.811, PHS=-1.019,-1.283,-2.164, RAW= 42.7, 56.7, CAL= 41.1, 60.6, ROT= 108.9, -60.6 Ygot valid direction response: 16:15:29.5328 LVL= 20368, 12945, 17634, 32611, AGC= 42, IDX= 502, 0.45,-1.932,-2.139,-2.931,-0.811, PHS=-1.019,-1.283,-2.164, RAW= 42.7, 56.7, CAL= 41.1, 60.6, ROT= 108.9, -60.6 T#Rx 80: Read range and direction messages.^direction in FSK: [-0.159012,0.464437,0.871214]Fpublishing direction and range info9y}  ZĿ'.VU??}?yi}O}2}D}c}* }n)}X9I}~ i}>?}V}?}7?}a?}H? }aiyyI}h^?u 'Ў]]?}}1} }H?)}aiyychecking for new query: numPingsReceived=80, elapsed TxPingTime=39.608143ԁ z,>%*AyBN@ٱBK@BȚ=Bc#BHe?@?@U}?6kc?|?`Boi S?IBN@)B_;iBCL9LPiP!%!% !%!% !%!% !%!% %Mb@Mb@Mb@ !)!I!i!!%Mbpkt%% 0%I%Ai%fA%/@% A)!%ABD=6D=f4YMK!MC=M ;Q)M>Q9Q9UDYY]A]>aQ 1m4٪e ?Q 5m4e3 aQ =mT:9m0=Q AmȚ=  ɡiImi)checking for new query: numPingsReceived=80, elapsed TxPingTime=39.845333ieaae0a@E$*<IQIaNu6>yAqAu<vBG>~BBG!IB BBBBBQ;BEiDtDhD&DEs: E]96E4:E"E;!E;!*E 5;!E 5;!ING)Ii- $) - ZA DDAT read: Rx Time:16:15:30.0328  TRx dataTimestamp_ set to:1755879329.347169 PDAT read: Bearing 255.3, 27.3 (Local)  ~Local bearing/azimuth received: Bearing 255.3, 27.3 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:30.0328 LVL= 23264, 14833, 19602, 32755, AGC= 43, IDX= 503,-0.35, 3.128, 2.915, 2.149,-2.055, PHS=-0.998,-1.268,-2.124, RAW= 43.3, 56.8, CAL= 41.6, 60.7, ROT= 108.4, -60.7  Ygot valid direction response: 16:15:30.0328 LVL= 23264, 14833, 19602, 32755, AGC= 43, IDX= 503,-0.35, 3.128, 2.915, 2.149,-2.055, PHS=-0.998,-1.268,-2.124, RAW= 43.3, 56.8, CAL= 41.6, 60.7, ROT= 108.4, -60.7  T#Rx 81: Read range and direction messages.  ^direction in FSK: [-0.154473,0.464363,0.872069] Fpublishing direction and range info9 X8ÿy ?? i Z 9 L  + |) MI i \wA? }? 9? 蚇? *? 蚇i I Jx?5iW}? g }} *?) 蚇i  checking for new query: numPingsReceived=81, elapsed TxPingTime=40.112549z,W%*Ay:S;@ٱ:8@:̋=:G5B:H? ?`p?Sњ?@J? 5 ?I:S;@):l^;i:CNB9R!IBDZ6DZp4Y!E=e;Q)>99DYzA>Q 14٪?Q 54K4 _B9Y'ؿQ E?yOC) ;I;iy4YhAkkk"lԹhh8V%*Ahhh?h+_DпswOx?03\?hX8ÿy ??h*?h蚇i8Zva/k?? ww?hֳ!)?~?hDN?hh8 ?hh}B*i ?2iy:i}Bi^?"i(M?zZqZqZqZu@I)+>̋=  ɡiI3*i)iEAAE 0A ]Overload Errorq] ]Hardware Faulta] checking for new query: numPingsReceived=81, elapsed TxPingTime=40.348675 @ y,<I -& LHardware Fault in component: MassServoI N5 >D sD [D )D E so: E 96E FA4:E ! @! @! @! @9 bz,q%*AyVw<@ٱV9@V"S=VƕHVHD? 4ϙ?@8?~`?@?@% q?IVw<@)V@^;iVCnB9n!I}Mb@Mb@Mb@ y)yIyiyy}V-}}yI}Ai}Ay} A)y}ABD6D=4YO<!I=2 ;Q)>99DY9A>Q 14٪?Q 544 9`|?RKM;|ױ?=$= S}zZ<Z<Z˖@Za@I)))-> ) )ɡ)i)I56[ڹi1)9 =?)=ai99Mchecking for new query: numPingsReceived=82, elapsed TxPingTime=40.636818i0 0Uninitialize Mass Servo. Powering down"@@2@*@I I)NM1>1a  checking for new query: numPingsReceived=82, elapsed TxPingTime=40.852715vB ~B B M!IB %BB B B B Q;B EBBBB =B =Bu4"z,%*A yv4@ٱv\2@v(=vy\vH@6?`?`Е?_}?T??`z u?Iv4@)vi^;ivCB9!I<=BD%6D%4DYD]\D]&DYEY E]96E]4:EY"E]ޑ;!eE]ߑ;!m*E]^ ;!mE]_ ;!mYm=!u>=u1S;Q)u>y9y9}DYy}n A>Q 14٪?Q 544 9Yd̿Q E?yRC);I;i-4YAkkk"lhqhuv%*AhuԾ?huԾ?hu{?huDοyE.??huܱ[%Ŀ?Ka??hu?huaiuѽ?*څ?ZC?hu]IW1>?GЏ?hu6?huhuQ?huw&"hu/B*iuU ?2iu :iqiuL[?"iu-?izZZZZ@I)> 21< ɡiI$i)UDDAT read: Rx Time:16:15:31.0329 UTRx dataTimestamp_ set to:1755879330.356068ePDAT read: Bearing 255.6, 26.7 (Local) e~Local bearing/azimuth received: Bearing 255.6, 26.7 (Local) uDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:31.0329 LVL= 20800, 13633, 18210, 29171, AGC= 42, IDX= 503,-0.08,-2.762,-2.946, 2.557,-1.643, PHS=-1.017,-1.257,-2.127, RAW= 41.9, 57.0, CAL= 40.3, 60.9, ROT= 109.7, -60.9 Ygot valid direction response: 16:15:31.0329 LVL= 20800, 13633, 18210, 29171, AGC= 42, IDX= 503,-0.08,-2.762,-2.946, 2.557,-1.643, PHS=-1.017,-1.257,-2.127, RAW= 41.9, 57.0, CAL= 40.3, 60.9, ROT= 109.7, -60.9 T#Rx 83: Read range and direction messages.^direction in FSK: [-0.163941,0.457870,0.873772]Fpublishing direction and range info9QUjDZ`Ŀ+5M?rW3?Uf?QiU@QUA5U"GUqU* U-)U`堿IU iU6;?U~?U4?UJ ?Ux? UJ iQQIUy?~yCfԙ (z,%*Ay62J@ٱ6G@6=66\6H??Z?<@? ͵?ͳ%?I62J@)6I^;i4Rchecking for new query: numPingsReceived=83, elapsed TxPingTime=41.356602TVB9V!IBD`6D`Y;!d= `Y;Q) > 9 9 DYK;A>Q 1%4٪?Q 5%445 9)Y-̿Q E-?ySC):I:io4Y15A9kYkYkY"lYhhɖ%*Ah?h?h,?hhUҿ$vd6?q4Ԏ?hjDZ`Ŀ+5M?rW3?hx?hJ i0zmÿcQp?{<?h~$82?.Y;[?hX?hhhC ?hhB*i2i:iBi[?"i)?zZZZZ% @I!!)%> ! !ɡ)i)I-ǀ8i))1i19AEO0A 4Initializing EZServoServo.D}~D}_D}'DyE}: E}r96E}'4:Ey!@!@!@!@ .Initializing MassServo.I!&=ZClearing failed state for component MassServoq=I9NE>]DDAT read: Rx Time:16:15:31.5328 ]TRx dataTimestamp_ set to:1755879330.859292ePDAT read: Bearing 256.0, 26.8 (Local) m~Local bearing/azimuth received: Bearing 256.0, 26.8 (Local) }DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:31.5328 LVL= 23856, 15281, 20130, 32755, AGC= 43, IDX= 502, 0.02,-3.052, 3.056, 2.250,-1.922, PHS=-1.028,-1.260,-2.155, RAW= 41.3, 56.7, CAL= 39.7, 60.7, ROT= 110.3, -60.7 Ygot valid direction response: 16:15:31.5328 LVL= 23856, 15281, 20130, 32755, AGC= 43, IDX= 502, 0.02,-3.052, 3.056, 2.250,-1.922, PHS=-1.028,-1.260,-2.155, RAW= 41.3, 56.7, CAL= 39.7, 60.7, ROT= 110.3, -60.7 T#Rx 84: Read range and direction messages.^direction in FSK: [-0.169784,0.458986,0.872069]Fpublishing direction and range info9Y]ՊFN}ſf`??]?Yi]0]];]N]]+ ])]GI] i]8?]V}?]a1?]蚇?]i? ]蚇iYYI]/A`?@a8F';?]]u} ]i?)]蚇iYYchecking for new query: numPingsReceived=84, elapsed TxPingTime=41.624184! /z,hZ%*Ay6q^@ٱ6[@66=6@m6H?U?4?n ^?@ ?!J?I6q^@)6k^;i6C^B9^!I|Mb@Mb@Mb@ )Ii~jtxy&1MbPĻ`eIAi)ABD6Dp4Y)<!==rB;Q)>99DY\;A>Q 14٪?Q 54\5 9z  ɡi I "9i )checking for new query: numPingsReceived=84, elapsed TxPingTime=41.861187)i/0IIN!>A@AA@AvB~BBT!IB*BBBBBQ;BEYDuyDucDu&DqEu: EuL96Eu4:Eq"Eu;!Eu;!*Eu";!Eu";!ԁ e DDAT read: Rx Time:16:15:32.0329 m TRx dataTimestamp_ set to:1755879331.363277u PDAT read: Bearing 256.3, 26.4 (Local) u ~Local bearing/azimuth received: Bearing 256.3, 26.4 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 16:15:32.0329 LVL= 23792, 15217, 19922, 32755, AGC= 43, IDX= 503, 0.13,-1.758,-1.921,-2.728,-0.617, PHS=-1.039,-1.259,-2.155, RAW= 40.8, 57.0, CAL= 39.2, 60.9, ROT= 110.8, -60.9  Ygot valid direction response: 16:15:32.0329 LVL= 23792, 15217, 19922, 32755, AGC= 43, IDX= 503, 0.13,-1.758,-1.921,-2.728,-0.617, PHS=-1.039,-1.259,-2.155, RAW= 40.8, 57.0, CAL= 39.2, 60.9, ROT= 110.8, -60.9  T#Rx 85: Read range and direction messages. ^direction in FSK: [-0.172701,0.454639,0.873772] Fpublishing direction and range info9i m qƿD\(?rW3?m f?i im \m q;m Mi i m )m &Ii im K6?m ~?m %/?m J ?m ? m J ii i Im o?,2$t?m m ~ m ?)m J ii i  checking for new query: numPingsReceived=85, elapsed TxPingTime=42.132549S6z,34%*Ay:n@ٱ:l@:%Y=:e:H S?+?x?h`?oT?@e J? ?I:n@):J^;i:CVB9V!IXiXiZ=IXBDn6Dn4Yv!v[=zD7;Q)z>x9|9DYz;A%>!Q 1-4٪%]?Q 5-4%5 !91Y5Q E5?y%UC)% :I%:ai%4YAk k k"lQhh?%*Ah?h?h  ɡiI @:i))1ԁchecking for new query: numPingsReceived=85, elapsed TxPingTime=42.3675049U<Աi0I I N5 > BE%!4JE%7&4RE%?/D qD dD D E 2h: E 96E :E ! @! @! @! @ ?99DYA>Q 14٪=?Q 545 _B9;Q AF>Y%Q E?y)~ ;I ;i4YAkkk"lhh%*AhE?hE?h ?hd9qRӿBGG?qڪ?h2aƿ?/ ?hJ?hi}ſ<$?o] ?hsy.2䀂?Ϭ ^&?h!I?hs,hl ?h hB*i䁢 ?2iO :iBiQ?"i#?zZ ;Z ;Z n@Z wl@I)?  ɡiI)s:i))iA jA checking for new query: numPingsReceived=86, elapsed TxPingTime=42.868675vB ~B B Z!IB /BB =B B B Q;B 9 D-Cz,k%*Ayn@ٱn@n٧=n.䑼nH`??,? ™?'?2 , 5?In@|)nJ^;inCD D rD $D E : E ?:6E 4:E "E ';!E (;!*E rY;!E sY;!%B9%!IBD56D54YEX!EQ=Mʷ;Q)M>I9I9UDYQUz<AU>YQ 1e4٪]#?Q 5e4]5 ]_B9iYm@%Q Em?yY)]D;I]?;i]|4YquAqkkk"lzZZZZ4l@I)]>  ɡiI6:i)) iIDDAT read: Rx Time:16:15:33.0329 TRx dataTimestamp_ set to:1755879332.371224 PDAT read: Bearing 257.0, 26.2 (Local)  ~Local bearing/azimuth received: Bearing 257.0, 26.2 (Local) =DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ]DAT read: 16:15:33.0329 LVL= 23664, 16081, 19874, 32755, AGC= 43, IDX= 503, 0.44,-2.098,-2.249,-3.053,-0.953, PHS=-1.042,-1.250,-2.143, RAW= 40.3, 57.1, CAL= 38.7, 61.0, ROT= 111.3, -61.0 eYgot valid direction response: 16:15:33.0329 LVL= 23664, 16081, 19874, 32755, AGC= 43, IDX= 503, 0.44,-2.098,-2.249,-3.053,-0.953, PHS=-1.042,-1.250,-2.143, RAW= 40.3, 57.1, CAL= 38.7, 61.0, ROT= 111.3, -61.0 mT#Rx 87: Read range and direction messages.m^direction in FSK: [-0.176108,0.451693,0.874620]mFpublishing direction and range info9ܘ>dƿ[}9?&?f?ip\>M B`)I& i4? ?,?{F?? {FiIE?Fݩ?.D ?){Fichecking for new query: numPingsReceived=87, elapsed TxPingTime=43.1845449] =bTimed out moving from: 7631 to: 14700 response: 1=- =Hardware FaultII-&]VHardware Fault in component: DockingStepperIaNm>i  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.372658Iz,)%*AyF@ٱF@FϪ=F:FHD?&}z? [?`4#?A?S P@N?IF@)Fj_;iDnB9n!I)rA rABDz6Dzf4Y<!Q=q;Q)> 9 9 DY  8<A>Q 14٪?Q 5%45 9!Y%$Q E%?y);I];iV4Y)5A1kQkQkQ"lQYhAhE"%*AhE?hE?hE?hEGޱ)Կ_ϭ?M  ?hEܘ>dƿ[}9?&?hE?hE{FiEAƿQaH?kT\$?hE+sb߫&?h?hE V?hEv6hEuE ?hEhEB*iE"< ?2iE:iEBiE0Z?"iE ?zZZZZN9m@I)@>  YɡYiaIe]:i) :Uninitialize Docking Stepper. Powering down IIDMvDM^DM%DIEMVz: EM;96EM 4:EI!m@!u@!u@!u@ԉN!>%DDAT read: Rx Time:16:15:33.5328 %TRx dataTimestamp_ set to:1755879332.8752995PDAT read: Bearing 257.0, 25.7 (Local) 5~Local bearing/azimuth received: Bearing 257.0, 25.7 (Local) EDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 eDAT read: 16:15:33.5328 LVL= 23712, 15825, 19986, 32371, AGC= 43, IDX= 503,-0.33, 1.797, 1.649, 0.878, 2.936, PHS=-1.036,-1.242,-2.102, RAW= 40.5, 57.7, CAL= 39.0, 61.5, ROT= 111.0, -61.5 mYgot valid direction response: 16:15:33.5328 LVL= 23712, 15825, 19986, 32371, AGC= 43, IDX= 503,-0.33, 1.797, 1.649, 0.878, 2.936, PHS=-1.036,-1.242,-2.102, RAW= 40.5, 57.7, CAL= 39.0, 61.5, ROT= 111.0, -61.5 uT#Rx 88: Read range and direction messages.}^direction in FSK: [-0.170998,0.445466,0.878817]}Fpublishing direction and range info9!%XFſ)?E?%?!i%\%=%N%s~! %)%I%+i%4?%.?%@.?%od?%? %odi!!I%V(m?cH9سVE ?%r% %?)%odi!!checking for new query: numPingsReceived=88, elapsed TxPingTime=43.640182Ա ²Pz,B%*Aɰ;y6@@ٱ6@6C=6xϋ6H`T?HV?õ?%g?:?`i,?I6@@)6E`;i6CvB9v!ImMb@Mb@Mb@ i)iIiiiimMb`?~jt?~jthm;mD<mDImAiim7@m A)imABD6D=4YH<!A=`;Q)>99DYFD<A>Q 14Թ٪?Q 54n5 _B9JM 9 AɡAiAIE]:iI)I}checking for new query: numPingsReceived=88, elapsed TxPingTime=43.876656AQAU<vBY~BYB]`!IB]4BB] =BYBYB]Q;B] EI)IQN;>bD1ZD1D=tD=dD=(D9E=s: E=96E=c44:E9"E=;!ME=;!M*E=}&;!ME=~&;!M)) ) 5 DDAT read: Rx Time:16:15:34.0328 = TRx dataTimestamp_ set to:1755879333.380017E PDAT read: Bearing 257.7, 25.7 (Local) E ~Local bearing/azimuth received: Bearing 257.7, 25.7 (Local) U DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 } DAT read: 16:15:34.0328 LVL= 21440, 14433, 18498, 28083, AGC= 42, IDX= 503,-0.21, 2.015, 1.876, 1.099,-3.128, PHS=-1.038,-1.233,-2.100, RAW= 39.9, 57.7, CAL= 38.4, 61.4, ROT= 111.6, -61.4  Ygot valid direction response: 16:15:34.0328 LVL= 21440, 14433, 18498, 28083, AGC= 42, IDX= 503,-0.21, 2.015, 1.876, 1.099,-3.128, PHS=-1.038,-1.233,-2.100, RAW= 39.9, 57.7, CAL= 38.4, 61.4, ROT= 111.6, -61.4  T#Rx 89: Read range and direction messages. ^direction in FSK: [-0.176218,0.445076,0.877983] Fpublishing direction and range info91 5 FQƿm|!|?E+o?1 1 i5 S5 a85 BH5 m5 * 5 /݄)5 ҝI5 ffi5 aF2?1 5 +?5 >+?5 Q? 5 >+i1 1 I5 X${?=_]?5 ಿ5 ŀ 5 Q?)5 >+i1 1  checking for new query: numPingsReceived=89, elapsed TxPingTime=44.1550459 Vz,\%*AyR@ٱR"9RaJ=RRH@Z?N@Z@? =-$?@?`ot?@µ` +?IR@)Rb;iRCZB9Z!IBDb6Db4Yj8<!jW=nh8Q)~>|99DYm;A> Q 14٪ &?Q 54 O5Q 9tI _B9yY}ƶ?Q E}?y WC) dh+ieF;}ſDBc?.`?he> J@o?XX1:?heF?he/heFQ ?heC heB*iel ?2ie :ieBieK?"ie0?zZAZAZAZErƶ?Iyy)}> y yɡyiIpj:i)I9IyN=Achecking for new query: numPingsReceived=89, elapsed TxPingTime=44.380722qD] {D] fD] #DY E] =: E] 96E] 3:EY ! @! @! @! @ԙ ]z,nv%*Ay62@ٱ6؀;6qs=6J6H y99DY;A>Q 14٪%?Q 545 9uchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.884674vBU F>~BQ BU Z!IBU /BBQ BQ BQ BU Q;BU E I% ͈G)E ;mAcz,*%*AiI,y:Y@ٱ:<:6=:ʃ:H ?u`͵?@ā??;? ׵i?I:Y@):a;i8iRW鿹R;mAR6=  ɡiIHq";i)II!N5=DDAT read: Rx Time:16:15:35.0329 TRx dataTimestamp_ set to:1755879334.387287PDAT read: Bearing 258.8, 26.1 (Local) ~Local bearing/azimuth received: Bearing 258.8, 26.1 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 5DAT read: 16:15:35.0329 LVL= 24080, 15937, 20082, 32707, AGC= 43, IDX= 503, 0.01, 3.103, 2.968, 2.158,-2.032, PHS=-1.046,-1.238,-2.136, RAW= 39., CAL= 38.0, 61.0, ROT= 112.0, -61.0 =!unknown deviceResponse_: 16:15:35.0329 LVL= 24080, 15937, 20082, 32707, AGC= 43, IDX= 503, 0.01, 3.103, 2.968, 2.158,-2.032, PHS=-1.046,-1.238,-2.136, RAW= 39., CAL= 38.0, 61.0, ROT= 112.0, -61.0 =Z#Rx 91: Read range message, but no direction.9f?Echecking for new query: numPingsReceived=91, elapsed TxPingTime=45.147758A  checking for new query: numPingsReceived=91, elapsed TxPingTime=45.388638jz,GZ%*Ay6|@ٱ6f<6*%=6{6HA?`Lmε?@???ݵD`?I6|@)6_;i6C<bB9b!IBDj6Dj 4Yr*4!rP=vy9Q)v>t9t9zDYxz!^<Az>|Q 1 4٪~"?Q 54~4 |9!Y%?Q E-?y~YC)~;I~1;i~Տ4YIUAQkkk"lzZ!Z!Z!Z%?IQY)]>]*%= Y YɡYiYIe6;ia)iԩD%uD%`D%(D!E%v: E%96E%c44:E!!5@!5@!5@!5@IQIiN>DDAT read: Rx Time:16:15:35.5328 TRx dataTimestamp_ set to:1755879334.891298PDAT read: Bearing 259.6, 26.1 (Local) ~Local bearing/azimuth received: Bearing 259.6, 26.1 (Local) %DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 EDAT read: 16:15:35.5328 LVL= 23536, 16017, 19874, 32755, AGC= 43, IDX= 502, 0.12, 2.827, 2.705, 1.874,-2.290, PHS=-1.064,-1.243,-2.164, RAW= 38.7, 57.1, CAL= 37.2, 61.0, ROT= 112.8, -61.0 eYgot valid direction response: 16:15:35.5328 LVL= 23536, 16017, 19874, 32755, AGC= 43, IDX= 502, 0.12, 2.827, 2.705, 1.874,-2.290, PHS=-1.064,-1.243,-2.164, RAW= 38.7, 57.1, CAL= 37.2, 61.0, ROT= 112.8, -61.0 mT#Rx 92: Read range and direction messages.}^direction in FSK: [-0.187871,0.446928,0.874620]}Fpublishing direction and range info9q* ȿ>}@?x?&??i[>M '1)I~ i,? ?6&?{F?d? {FiI9?pO-e>?( d?){Fichecking for new query: numPingsReceived=92, elapsed TxPingTime=45.660892 qz,5%*Ay6@ٱ6:<6m=6P9p6Hz?,ϔҵ?@t? o?a?浿ꍿ`?I6@)6(j_;i6CBB9B!I)FA FAl=Mb@Mb@Mb@ 9)9I9i99=Mb`?~jt?=;=<9I=5Ai=A= @= A)9=ABDU6DU4Ye6;!eB=mڬ9Q)m>i9i9uDYqu&D<Au>yQ 14٪}1?Q 54}4 }_B9PԿ!*?+“?h5q* ȿ>}@?x?&?h5d?h5{Fi5VPʿP?V_I7?h5D%f G?_VY 0?h5E?h5Rh5U?h5K h5B*i5y ?2i5 :i5Bi5lH?"i5?zZ<Z<Z??ZH?I) > m=  ɡ i I B#G;i)]checking for new query: numPingsReceived=92, elapsed TxPingTime=45.892776AAAAI!I9NU=vB-H>~B)B)B)B)B)B)B-Q;B-EBBBBBB°4D%D%dD!D!E%: E%96E!:E!"E%\;!-E%^;!-*E%}&;!5AE%~&;!U DDAT read: Rx Time:16:15:36.0329  TRx dataTimestamp_ set to:1755879335.395401 PDAT read: Bearing 260.3, 26.0 (Local) % ~Local bearing/azimuth received: Bearing 260.3, 26.0 (Local) 5 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 U DAT read: 16:15:36.0329 LVL= 21312, 14609, 17714, 28611, AGC= 42, IDX= 503, 0.25,-2.080,-2.193,-3.029,-0.908, PHS=-1.071,-1.240,-2.165, RAW= 38.3, 57.2, CAL= 36.8, 61.0, ROT= 113.2, -61.0 ] Ygot valid direction response: 16:15:36.0329 LVL= 21312, 14609, 17714, 28611, AGC= 42, IDX= 503, 0.25,-2.080,-2.193,-3.029,-0.908, PHS=-1.071,-1.240,-2.165, RAW= 38.3, 57.2, CAL= 36.8, 61.0, ROT= 113.2, -61.0 ] T#Rx 93: Read range and direction messages.a m ^direction in FSK: [-0.190987,0.445606,0.874620]m Fpublishing direction and range info9  mFArȿ ]ǘ?&? f? i @S 9 2E o *  ) RI \ i D +? r? l$?  '?  i  I Hly?fR](ῑ{?    '?) i   checking for new query: numPingsReceived=93, elapsed TxPingTime=46.160831,wz,%*Ay6@ٱ6s<6@=6YSc6H?Ù Hɵ?v??@:M?;ᵿO@=?I6@)6^;i4NB9N!IBDV6DV49Y}!}I=}B^Q)}>99DYE<A>Q 14٪>?Q 54k4 9Y?Q E?y[C)};I;i4YAk k k "l hAhE@N%*AhE?hE?hE?hEտ 3?y ?hEmFArȿ ]ǘ?&?hE'?hAiEYoͿݩu( ?$Ӕ};?hEq Aߛ)?,@=5?hEIP?hEhhE?hE"hEdžB*iA2iA:iAiEF?"iE>?zZZZZ?I)>@=  ɡiIxZ;i)II)N5 >aechecking for new query: numPingsReceived=93, elapsed TxPingTime=46.396675ԙD- tD) D- #D) E- s: E) 6E- 3:E) !5 @!5 @!5 @!5 @ Y}z,v%*Ay:@ٱ:<: w=:hyV:H?TD??@??$ȵ ?I:@):5^;i8bDDAT read: Rx Time:16:15:36.5328 bTRx dataTimestamp_ set to:1755879335.899247fPDAT read: Bearing 260.4, 26.1 (Local) j~Local bearing/azimuth received: Bearing 260.4, 26.1 (Local) rDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:36.5328 LVL= 24048, 15905, 19826, 32755, AGC= 43, IDX= 502, 0.44, 2.518, 2.396, 1.574,-2.598, PHS=-1.065,-1.244,-2.155, RAW= 38.8, 57.3, CAL= 37.3, 61.1, ROT= 112.7, -61.1  Ygot valid direction response: 16:15:36.5328 LVL= 24048, 15905, 19826, 32755, AGC= 43, IDX= 502, 0.44, 2.518, 2.396, 1.574,-2.598, PHS=-1.065,-1.244,-2.155, RAW= 38.8, 57.3, CAL= 37.3, 61.1, ROT= 112.7, -61.1  T#Rx 94: Read range and direction messages.^direction in FSK: [-0.186502,0.445846,0.875465]Fpublishing direction and range info9`b1-Hǿ{?/ ?b?`ib]b!>brMbb+ bQ)bd;Ib ib-\-?bj?br&?b?b3? bi``IbO *?Z> vv8?bbb b3?)bi``=checking for new query: numPingsReceived=94, elapsed TxPingTime=46.664474=B9=!IԑMb@Mb@Mb@ )Ii~jt?<IAi|A7@)BDE6DE4Y<!-=TQ)>99DY<A>Q 14٪7?Q 544 9 w=  ɡiIo;i!)!IAIQNeV>mchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.900654vB I>~B B B B B B B Q;B  Q)f?h9h9jDYhn\a<An?DruDrgDr)DpErv: Er&96ErFA4:Ep"Er";!zEr$;!z*Erh1;!zEri1;!z|Q 14٪~1?Q 5 4~3 |9 Y c?Q E ?y~]C)~:I~:i~4YAk1kk"lzZZZZLc?I  ) j> 6׭=  ɡiIS};i1)9I!I1NE=DDAT read: Rx Time:16:15:37.0329 TRx dataTimestamp_ set to:1755879336.403234PDAT read: Bearing 260.1, 26.0 (Local) ~Local bearing/azimuth received: Bearing 260.1, 26.0 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:37.0329 LVL= 23648, 16081, 19746, 32675, AGC= 43, IDX= 504,-0.35, 1.844, 1.708, 0.933, 2.983, PHS=-1.037,-1.230,-2.094, RAW= 39.9, 57.7, CAL= 38.4, 61.5, ROT= 111.6, -61.5 %Ygot valid direction response: 16:15:37.0329 LVL= 23648, 16081, 19746, 32675, AGC= 43, IDX= 504,-0.35, 1.844, 1.708, 0.933, 2.983, PHS=-1.037,-1.230,-2.094, RAW= 39.9, 57.7, CAL= 38.4, 61.5, ROT= 111.6, -61.5 %T#Rx 95: Read range and direction messages.-^direction in FSK: [-0.175654,0.443651,0.878817]5Fpublishing direction and range info9p.{ƿ,d?E?f?i`\>"M j)pIiaF2?.?+?od?Q? odiI{)t?d}L8 ?7〿 Q?)odiMchecking for new query: numPingsReceived=95, elapsed TxPingTime=47.168140)Q checking for new query: numPingsReceived=95, elapsed TxPingTime=47.404659ԉ gz,+%*Ay6>@ٱ68=6=6FC6HJ? aI`y?״???CiR`3?I6>@)62^;i6CrB9r!IBD6Dg4Y }!8=Q]#eQ)]>Y9a9eDYae <Ae>iQ 14٪m(?Q 54m3 i9Y?Q E?ym_C)mT;Im;im4YAkkk"lh h %*Ah ?h ?h '?h 6&Կw*f?,ې'?h p.{ƿ,d?E?h Q?h odi ʿ様$?ɉmV?h Í.Y?4sXS?h !N?h Wh b?h 0uh ͆B*i r?2i :i Bi G?"i ?zZ!Z!Z!Z%?I11)=>== 9 9ɡ9i9IEv;iA)ABEÞ4JET4REW0DzDbD'DEl: E96E'4:E! @! @! @! @IIN>ԉDDAT read: Rx Time:16:15:37.5328 TRx dataTimestamp_ set to:1755879336.909649PDAT read: Bearing 260.4, 26.0 (Local) ~Local bearing/azimuth received: Bearing 260.4, 26.0 (Local) -DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:37.5328 LVL= 23728, 16161, 19618, 31283, AGC= 43, IDX= 503,-0.22, 0.709, 0.575,-0.203, 1.853, PHS=-1.042,-1.232,-2.099, RAW= 39.7, 57.7, CAL= 38.2, 61.5, ROT= 111.8, -61.5 %Ygot valid direction response: 16:15:37.5328 LVL= 23728, 16161, 19618, 31283, AGC= 43, IDX= 503,-0.22, 0.709, 0.575,-0.203, 1.853, PHS=-1.042,-1.232,-2.099, RAW= 39.7, 57.7, CAL= 38.2, 61.5, ROT= 111.8, -61.5 -T#Rx 96: Read range and direction messages.}^direction in FSK: [-0.177201,0.443035,0.878817]}Fpublishing direction and range info9>Y ƿ"Z?E??i\!?L3z B`)-IVia1?*?ԩ|? iI2Ĺ ?9@/D?` |?)ichecking for new query: numPingsReceived=96, elapsed TxPingTime=47.717842 Nz,|E%*Ay6DZ@ٱ6#=6+=676H@i?Hh? h??Ѝ?ཊ ܆n?I6DZ@)64A^;i6CBB9B!IMb@Mb@Mb@ )IiMbP?/$?:<IAiA/@ A)QABDu6Du(4Y!S=-%Q)>99DY<A>Q 14٪*?Q 54m3 9:Y ƿ"Z?E?h-|?h)i-SY /ʿ&3S>?ϲ?h--^W ?V?h-A?h-|Qh-N?h-̀h-B*i)2i-̀:i)i-EI?"i-=?zZ:<Z:<Z?Z -+= ) )ɡ)i)I-;=checking for new query: numPingsReceived=96, elapsed TxPingTime=47.908760iA)AAA<IIvB~BBBBBBBQ;BENE>D~D[D(DE: E96Ec44:E"EX;! EY;! *E;! E;!)  DDAT read: Rx Time:16:15:38.0329  TRx dataTimestamp_ set to:1755879337.411283 PDAT read: Bearing 260.7, 26.1 (Local)  ~Local bearing/azimuth received: Bearing 260.7, 26.1 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 5 DAT read: 16:15:38.0329 LVL= 23472, 16241, 19666, 32755, AGC= 43, IDX= 503,-0.11, 0.782, 0.646,-0.138, 1.925, PHS=-1.041,-1.234,-2.107, RAW= 39.8, 57.6, CAL= 38.3, 61.4, ROT= 111.7, -61.4 = Ygot valid direction response: 16:15:38.0329 LVL= 23472, 16241, 19666, 32755, AGC= 43, IDX= 503,-0.11, 0.782, 0.646,-0.138, 1.925, PHS=-1.041,-1.234,-2.107, RAW= 39.8, 57.6, CAL= 38.3, 61.4, ROT= 111.7, -61.4 E T#Rx 97: Read range and direction messages.M ^direction in FSK: [-0.176995,0.444768,0.877983]M Fpublishing direction and range info9 Pçƿ`w?E+o? f? i [ q? L  }?) I i 1? ? D +? >+? J? >+i I FP!P?aƩ࿊t? 5 ݤ J?) >+i u checking for new query: numPingsReceived=97, elapsed TxPingTime=48.177830lyz,yY_%*A0y:n@ٱ:".=:w=:[/:H`?7iM??@?`L0?@p ׅ?I:n@):^;i:CNB9R!I)T TVR=iV4=BDZ6DZ 4Yv5<!vU=vQ)v>x9x9zDYx~C;A>!Q 1-4٪%*?Q 5-4%63 !9)Y-?Q E-?y%aC)%:I%:i%4YY]tAYkkk"lh!h%vRZ%*Ah%?h%?h%?h%W=lCԿ{DDhv?k!?h%Pçƿ`w?E+o?h%J?h%>+i%eW ̿ySξm?S"|ҢT?h%_.Y~?Ϧc%TQ?h%M?h%U`h%?h%h%цB*i%b?2i%":i%džBi%K?"i%d?zZ9Z9Z9Z=k?III)M/>Mw= I IɡQiqIu{;iq)yIyԉIN=Mchecking for new query: numPingsReceived=97, elapsed TxPingTime=48.412601 D D rD D E  E ?:6E :E ! @! @! @! @Fz,ay%*Aɰ,,JDDAT read: Rx Time:16:15:38.5328 NTRx dataTimestamp_ set to:1755879337.915318RPDAT read: Bearing 261.4, 26.1 (Local) R~Local bearing/azimuth received: Bearing 261.4, 26.1 (Local) ZDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 `rDAT read: 16:15:38.5328 LVL= 23632, 16369, 19586, 30771, AGC= 43, IDX= 502,-0.01, 0.387, 0.264,-0.541, 1.546, PHS=-1.057,-1.237,-2.131, RAW= 39.0, 57.5, CAL= 37.5, 61.3, ROT= 112.5, -61.3 y @ٱ 7= E= * H '?`ii=?@:?@?]??b RC`?I @) .^;i C-Ygot valid direction response: 16:15:38.5328 LVL= 23632, 16369, 19586, 30771, AGC= 43, IDX= 502,-0.01, 0.387, 0.264,-0.541, 1.546, PHS=-1.057,-1.237,-2.131, RAW= 39.0, 57.5, CAL= 37.5, 61.3, ROT= 112.5, -61.3 -T#Rx 98: Read range and direction messages.=^direction in FSK: [-0.183774,0.443669,0.877146]eB9e!IEFpublishing direction and range info9HJ\fpǿ[e?&կ͔?J?HiJP\J?JLJ3xH JK)JVIJNbiJ@.?Jt?J6'?J ?JS? J iHHIJ<?yGi?JJz JS?)J iHH=checking for new query: numPingsReceived=98, elapsed TxPingTime=48.719070uMb@Mb@Mb@ q)qIqiqquI +?~jt?u9499DY;A>Q 14٪?Q 542 _B9 ٳ!Echecking for new query: numPingsReceived=98, elapsed TxPingTime=48.917416vB9 ~B9 B9 B9 B9 B9 B9 B= Q;B= EQ z, %*Ay6@ٱ69?=6K=6 P)6Hw? U@==?ϧ?N? ? c?I6@)6 ^;i6CNB9R!IDbDbeDb)D`Eb: Eb96EbFA4:E`"Eb;!jEb;!j*Eb!*;!jEb"*;!jBDZ6DZ4Yv<!v=v148Q)z?x9x9zDYx~;A~?Q 1 4٪?Q 5 42 9 Y #?Q E ?ycC):I:i4YIA9kAkAkA"lAzZaZaZaZeQ#?Iiq)u%>uK= q qɡyiyI}.;iy)IaIN=DDAT read: Rx Time:16:15:39.0329 TRx dataTimestamp_ set to:1755879338.419178PDAT read: Bearing 262.0, 26.0 (Local) ~Local bearing/azimuth received: Bearing 262.0, 26.0 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:39.0329 LVL= 23728, 16577, 19826, 30691, AGC= 43, IDX= 503, 0.10, 2.394, 2.289, 1.466,-2.714, PHS=-1.073,-1.235,-2.147, RAW= 38.0, 57.5, CAL= 36.6, 61.3, ROT= 113.4, -61.3 -Ygot valid direction response: 16:15:39.0329 LVL= 23728, 16577, 19826, 30691, AGC= 43, IDX= 503, 0.10, 2.394, 2.289, 1.466,-2.714, PHS=-1.073,-1.235,-2.147, RAW= 38.0, 57.5, CAL= 36.6, 61.3, ROT= 113.4, -61.3 -T#Rx 99: Read range and direction messages.=^direction in FSK: [-0.190720,0.440727,0.877146]=Fpublishing direction and range info9(gf0iȿh<4?&կ͔?f?i\@rMw X){Ish i)?Ƈ#?V? iIo5Nܝ4?N} V?)iichecking for new query: numPingsReceived=99, elapsed TxPingTime=49.196228ԑ e checking for new query: numPingsReceived=99, elapsed TxPingTime=49.420658z,%*Aԙy%@ٱUC=99DY%K;A%>)Q 154٪-9?Q 554-2 -_B91Y=C?Q E=?y-dC)-K:I-:i-4YAEpAAkakaka"lahhӚ%*Ah?h?h?h Fտz,.;?5k?h(gf0iȿh<4?&կ͔?hV?hiϿr d?B!GX?hN' Z/(b?&b#V?h K?h}h~[?h۔h҆B*iP?2i0u:i͆BiKL?"iT"?zZZZZC?I)>ԹDDAT read: Rx Time:16:15:39.5328 TRx dataTimestamp_ set to:1755879338.930189PDAT read: Bearing 262.7, 25.2 (Local) ~Local bearing/azimuth received: Bearing 262.7, 25.2 (Local) 5DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 mDAT read: 16:15:39.5328 LVL= 21328, 15153, 17602, 27043, AGC= 42, IDX= 502, 0.22, 1.361, 1.293, 0.471, 2.565, PHS=-1.102,-1.227,-2.138, RAW= 36.3, 58.2, CAL= 34.9, 61.8, ROT= 115.1, -61.8 uYgot valid direction response: 16:15:39.5328 LVL= 21328, 15153, 17602, 27043, AGC= 42, IDX= 502, 0.22, 1.361, 1.293, 0.471, 2.565, PHS=-1.102,-1.227,-2.138, RAW= 36.3, 58.2, CAL= 34.9, 61.8, ROT= 115.1, -61.8 }V#Rx 100: Read range and direction messages.^direction in FSK: [-0.200456,0.427927,0.881303]Fpublishing direction and range info9 ɿPi(c?V3??iPS1;Di* V)VIi0"?"?I??d@ iI0%ӭ?(GB࿷HS1?⺿ d@)ichecking for new query: numPingsReceived=100, elapsed TxPingTime=49.706394 z,Y%*Aiy6@ٱ6C=6ӫ=6C&6H?ਿ M?@\[?`?B? t`1@?I6@)69];i6CbB9b!IUMb@Mb@Mb@ Q)QIQiQQUy&1|? rh?U`;UC<QIUAiQU@U- A)QUABDm6Dm4Y}<!}U=:Q)>99DYK>9A>Q 14٪l?Q 54f2 9ӫ=  ɡiI;!i)AIIIYNeV>DtDdD'DEs: E96E'4:E"E;!E;!*E}&;!E~&;!Q DDAT read: Rx Time:16:15:40.0329  TRx dataTimestamp_ set to:1755879339.429139 PDAT read: Bearing 262.5, 26.2 (Local)  ~Local bearing/azimuth received: Bearing 262.5, 26.2 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 M DAT read: 16:15:40.0329 LVL= 23904, 17089, 19442, 29907, AGC= 43, IDX= 503, 0.36, 2.691, 2.593, 1.754,-2.414, PHS=-1.076,-1.231,-2.159, RAW= 37.6, 57.3, CAL= 36.1, 61.1, ROT= 113.9, -61.1 ] Ygot valid direction response: 16:15:40.0329 LVL= 23904, 17089, 19442, 29907, AGC= 43, IDX= 503, 0.36, 2.691, 2.593, 1.754,-2.414, PHS=-1.076,-1.231,-2.159, RAW= 37.6, 57.3, CAL= 36.1, 61.1, ROT= 113.9, -61.1 ] V#Rx 101: Read range and direction messages. ^direction in FSK: [-0.195798,0.441843,0.875465] Fpublishing direction and range info9 -=ɿkWM'G?/ ? f? i `] B K t + ^) hI - i '? j? K!? ? ~t? i I ptpO?ɐ$Q/?   ~t?) i E checking for new query: numPingsReceived=101, elapsed TxPingTime=50.224522y Ƿz,%*AnB9n!IBDv6Dv4Y%2!%P=-Q)->)9)95DY15A5>YQ 1e4٪]?Q 5e4]82 Y9iYiQ Em?y]fC)] :I]9:i]*4YqurAkkk"lhhw%*Ah?h?h9 ?hLQ$kֿ^ÅK?@sKG?h-=ɿkWM'G?/ ?h~t?hilΕrBnпp?kO?hT{5I^¿6)_٧p?K?hK?hrhqJ?ht=OhцB*i~?2i:iцBiZN?"iN?QzZQZQZQZQI)ӣ>  ɡiID;i)IIN=-checking for new query: numPingsReceived=101, elapsed TxPingTime=50.428741ԁԩD D [D %D E a: E 96E 4:E ! @! @! @! @ z,%*ANDDAT read: Rx Time:16:15:40.5328 RTRx dataTimestamp_ set to:1755879339.934630ZPDAT read: Bearing 261.7, 25.5 (Local) Z~Local bearing/azimuth received: Bearing 261.7, 25.5 (Local) fDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 5DAT read: 16:15:40.5328 LVL= 23776, 17313, 19298, 29891, AGC= 43, IDX= 503,-0.42,-0.461,-0.564,-1.339, 0.702, PHS=-1.061,-1.221,-2.085, RAW= 38.4, 58.3, CAL= 36.9, 62.0, ROT= 113.1, -62.0 =Ygot valid direction response: 16:15:40.5328 LVL= 23776, 17313, 19298, 29891, AGC= 43, IDX= 503,-0.42,-0.461,-0.564,-1.339, 0.702, PHS=-1.061,-1.221,-2.085, RAW= 38.4, 58.3, CAL= 36.9, 62.0, ROT= 113.1, -62.0 =V#Rx 102: Read range and direction messages.E^direction in FSK: [-0.184191,0.431830,0.882948]EFpublishing direction and range info9LN*SǿD? :BA?N?LiN\NCNbKNtyR@ٱ@=L N·)NIINpiN+?NS>?N$?Nc?N? NciLLINտSO?Ƥ\9w8?N$hN6 N?)NciLLchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.730103}8=),H? [~y?@? ?e?`t C?IR@)];iCB9!I%<%;)! !ԩMb@Mb@Mb@ )Ii~jtx?:v?;T<I1Ai@)ABD6D̺4YE!E!=E:Q)E>I9I9MDYIMQAU>QQ 14٪U?Q 54U 2 U_B9j5checking for new query: numPingsReceived=102, elapsed TxPingTime=50.933189vB ~BBBBBBBQ;BEBBBBBB՗41 ^z,V%*Aɰy69@ٱ6?=6̮=6?.6H9?o ë?I?@4?`t? ҵ?I69@)6^;i6CDRyDRcDR&DPER: ERL96ER4:EP"ER;!ZER;!Z*ER";!ZER";!Z^B9^!IBDf6Df4Y%<!-=-';Q)-?)9195DY15^A5?YQ 1e4٪]?Q 5e4]1 Y9iYm?Q Em?y]hC)]:I]d:i]84Yqu}Aykkk"lzZZZZ?I!!)->-̮= -< )ɡ)i)I-h;i1)9I1IINe=DDAT read: Rx Time:16:15:41.0329 TRx dataTimestamp_ set to:1755879340.436567PDAT read: Bearing 261.9, 25.6 (Local) ~Local bearing/azimuth received: Bearing 261.9, 25.6 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 16:15:41.0329 LVL= 23696, 17185, 19394, 30355, AGC= 43, IDX= 504,-0.28, 0.776, 0.680,-0.108, 1.942, PHS=-1.064,-1.217,-2.095, RAW= 37.9, 58.1, CAL= 36.5, 61.8, ROT= 113.5, -61.8 Ygot valid direction response: 16:15:41.0329 LVL= 23696, 17185, 19394, 30355, AGC= 43, IDX= 504,-0.28, 0.776, 0.680,-0.108, 1.942, PHS=-1.064,-1.217,-2.095, RAW= 37.9, 58.1, CAL= 36.5, 61.8, ROT= 113.5, -61.8 V#Rx 103: Read range and direction messages.^direction in FSK: [-0.188429,0.433357,0.881303]Fpublishing direction and range info9CsTrȿ$ ?V3?f?i\!CKv '1)ƛI{iV)?ˁ?e#??? iItF?pu})?g8 ?)i=checking for new query: numPingsReceived=103, elapsed TxPingTime=51.2389039i E checking for new query: numPingsReceived=103, elapsed TxPingTime=51.436626z,a.%*AB9!IBD6D4YY;!<=Q)> 9 9 DY  A >Q 14٪/?Q 541 9!Y!Q E%?y):I;i%@4Y)-pA)kIkIkQ"lQhh%*Ah?h?h ?hJ"տ,?؁`:?hCsTrȿ$ ?V3?h?hiο'OR7a?{Kv?h m0Y}?(Xv?hH?hth ?hhq:hֆB*i2i۔:iцBiEN?"i?zZZZZI)>  ɡiIB;i)QDxDdD%DEˀ: E96E 4:E!@!@!@!@IAIQN]>DDAT read: Rx Time:16:15:41.5328 TRx dataTimestamp_ set to:1755879340.944984PDAT read: Bearing 261.9, 25.4 (Local) ~Local bearing/azimuth received: Bearing 261.9, 25.4 (Local) !EDAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 mDAT read: 16:15:41.5328 LVL= 23888, 17393, 19250, 29891, AGC= 43, IDX= 503,-0.15,-0.331,-0.416,-1.212, 0.843, PHS=-1.072,-1.214,-2.098, RAW= 37.3, 58.2, CAL= 35.9, 61.8, ROT= 114.1, -61.8 uYgot valid direction response: 16:15:41.5328 LVL= 23888, 17393, 19250, 29891, AGC= 43, IDX= 503,-0.15,-0.331,-0.416,-1.212, 0.843, PHS=-1.072,-1.214,-2.098, RAW= 37.3, 58.2, CAL= 35.9, 61.8, ROT= 114.1, -61.8 }V#Rx 104: Read range and direction messages.^direction in FSK: [-0.192957,0.431360,0.881303]Fpublishing direction and range info9Fl?ϲȿxh?V3??iP]C2Kt L7)ZdIEir&?"?g ?? iI>@?q࿖.?g聿 ?)ichecking for new query: numPingsReceived=104, elapsed TxPingTime=51.756462I +z, H%*Ay6?p@ٱ6.=6ݵ=6G6HH?g99DYw-A>Q 14٪p?Q 541 _B9#0?Q E?yiC)FL;I}K;iG4checking for new query: numPingsReceived=104, elapsed TxPingTime=51.941490Y  AAaAe<vBy~ByByByByByByB}Q;B} Ekkk "l hhz<%*AhF?hF?h8?h2ɡԿ(IR?r@J?hFl?ϲȿxh?V3?h?hi.q̿v'ǝ? ?h( [K?,bw?h0?I)e>ݵ=  ɡiI;i)IINF>DuDD(DEv: E6Ec44:E"E#;!E$;!*E}&;!E~&;!ԑ DDAT read: Rx Time:16:15:42.0328  TRx dataTimestamp_ set to:1755879341.444466 PDAT read: Bearing 262.1, 25.2 (Local)  ~Local bearing/azimuth received: Bearing 262.1, 25.2 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:42.0328 LVL= 24016, 17521, 19282, 29891, AGC= 43, IDX= 503,-0.06,-0.285,-0.351,-1.153, 0.898, PHS=-1.081,-1.205,-2.095, RAW= 36.4, 58.2, CAL= 35.0, 61.9, ROT= 115.0, -61.9 % Ygot valid direction response: 16:15:42.0328 LVL= 24016, 17521, 19282, 29891, AGC= 43, IDX= 503,-0.06,-0.285,-0.351,-1.153, 0.898, PHS=-1.081,-1.205,-2.095, RAW= 36.4, 58.2, CAL= 35.0, 61.9, ROT= 115.0, -61.9 % V#Rx 105: Read range and direction messages.- ^direction in FSK: [-0.199058,0.426882,0.882127]- Fpublishing direction and range info9 #|~zɿieR?81-b:? i ] qD RK 5^) q=I {i "? a? 3I? t@ 3Ii I Qk0?TbK7? ! ( t@) 3Ii  checking for new query: numPingsReceived=105, elapsed TxPingTime=52.224586 z,a%*Ay:V@ٱ:?"=:$=:aX:H? 㤿`?'1?`w?`:?P<ox?I:V@):(_;i8fB9f!IBDn6Dn4Yg!U=;Q) > 9 9 DY A>Q 1%4٪?Q 5%41 9!Y%|/?Q E-?y)u:I:iM4Y15@A1kQkQkQ"lQhh"r\%*AhhhJ?h)vտj?L)?h#|~zɿieR?81-b:?ht@h3IiVgͿa p?;U?hi/Fg(*?u5Ё?h;?h>kh 4T?h0 ehB*i 4T?2i:iԙiIE?"i?zZZZZg|/?I)>$=  ɡi I ^;i ) checking for new query: numPingsReceived=105, elapsed TxPingTime=52.4446879(<IIN>BEUɀ'4JEU7&4REUɧ/D {D iD 'D E =: E 96E '4:E ! @! @! @! @ ^Cz,{%*AFDDAT read: Rx Time:16:15:42.5327 NTRx dataTimestamp_ set to:1755879341.952794fPDAT read: Bearing 263.7, 23.6 (Local) j~Local bearing/azimuth received: Bearing 263.7, 23.6 (Local) zDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 uDAT read: 16:15:42.5327 LVL= 20400, 16593, 20978, 26035, AGC= 42, IDX= 502, 0.03,-0.060,-0.036,-0.871, 1.190, PHS=-1.149,-1.181,-2.105, RAW= 31.7, 59.0, CAL= 30.4, 62.5, ROT= 119.6, -62.5 }Ygot valid direction response: 16:15:42.5327 LVL= 20400, 16593, 20978, 26035, AGC= 42, IDX= 502, 0.03,-0.060,-0.036,-0.871, 1.190, PHS=-1.149,-1.181,-2.105, RAW= 31.7, 59.0, CAL= 30.4, 62.5, ROT= 119.6, -62.5 V#Rx 106: Read range and direction messages.^direction in FSK: [-0.228077,0.401488,0.887011]Fpublishing direction and range info9HJ6/>1Ϳ?=Ndb?J?HiJOJ@JQJeJ* Jo)J+IJRiJ ?J΃?J?JX?J0@ JXiHHIJvʗ ? ~99DYA>Q 14٪?Q 541 _B9>;Q A>YBQ E%?yjC)X;I:iW4Y)-A)kikiki"lihHhJ|%*AhJԾ?hJԾ?hJ?hJ_Pgտj'?J'(?hJ6/>1Ϳ?=Ndb?hJ0@hJXiJ>οH|?{o?hJlVyxĿ<#?³?hJ?hJ(thJd?hJJ!hJOB*iH2iJ0 e:iJBiJXE?"iJ?zZ>;Z>;Z˖@ZQ@I!)%{?%= ! )ɡ)iIIUE]z,%*AD|D\D&D E : E96E4:E "E;!E;!*E^ ;!E_ ;!yF@ٱF!=Fj=FHHsFH`?A=[`?p?u?[?``D`t?IF@)F_;iDX9XBDb6Dbf4] j=  ɡiI?E+o? ? i Y G J o + Nb) PI X i C? ^ ? K ? >+? ;z@ >+i  I y*"?滠ῶ+? ¿ 4 ;z@) >+i  checking for new query: numPingsReceived=107, elapsed TxPingTime=53.215557qIINe>ԙ DDAT read: Rx Time:16:15:43.5327  TRx dataTimestamp_ set to:1755879342.705968 PDAT read: Bearing 264.0, 23.7 (Local)  ~Local bearing/azimuth received: Bearing 264.0, 23.7 (Local)  checking for new query: numPingsReceived=107, elapsed TxPingTime=53.462349 z,~W%*AzB9z!IBD6D=4Ye=!<%Q)%>!9!9%DY!-AM>QQ 1]4٪U?Q 5]4U1 U_B9YYaQ Ee?yQ)U:IU:iU2c4YiKAkkk"lh9h=Yߜ%*Ah=F?h=F?h=m?h=|tؿ\?eO?h=?E+o?h=;z@h=>+i=yi$ѿۥO{)?jB̗ ?h=rJĿX[j?{Gvw?h=K9?h=#h=(?h=h=B*i=d?2i9:i9i=F?"i=P?zZIZIZIZIIYY)]>Y Y YɡYiaIe4 <ԡD-vD-bD-'D)E-Vz: E-96E-'4:E)!5@!5@!5@!5@i9)9IIIYNm>MDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:15:43.5327 LVL= 22416, 19441, 20738, 27571, AGC= 43, IDX= 502, 0.25, 0.081, 0.136,-0.742, 1.348, PHS=-1.166,-1.168,-2.135, RAW= 30.1, 58.5, CAL= 28.9, 62.0, ROT= 121.1, -62.0 Ygot valid direction response: 16:15:43.5327 LVL= 22416, 19441, 20738, 27571, AGC= 43, IDX= 502, 0.25, 0.081, 0.136,-0.742, 1.348, PHS=-1.166,-1.168,-2.135, RAW= 30.1, 58.5, CAL= 28.9, 62.0, ROT= 121.1, -62.0 V#Rx 108: Read range and direction messages.E^direction in FSK: [-0.242498,0.401993,0.882948]MFpublishing direction and range info9) ϿXA? :BA??iWKQk }?)Iףi|??^ ?c?E@ ciI !I*N?oꅷ΢NI?9ȿ[ E@)cichecking for new query: numPingsReceived=108, elapsed TxPingTime=53.764179) Whz,%*AyF@ٱF799DYEAE>IQ 1U4٪M?Q 5U4M2 M_B9Uփ] DAT read: 16:15:44.0328 LVL= 22832, 19649, 17954, 25651, AGC= 43, IDX= 503, 0.43, 1.317, 1.390, 0.485, 2.593, PHS=-1.174,-1.158,-2.152, RAW= 29.2, 58.1, CAL= 27.9, 61.6, ROT= 122.1, -61.6 e Ygot valid direction response: 16:15:44.0328 LVL= 22832, 19649, 17954, 25651, AGC= 43, IDX= 503, 0.43, 1.317, 1.390, 0.485, 2.593, PHS=-1.174,-1.158,-2.152, RAW= 29.2, 58.1, CAL= 27.9, 61.6, ROT= 122.1, -61.6 e \#Rx 110: Read direction message, but no range.i u ^direction in FSK: [-0.252746,0.402912,0.879649]9) - ˑ,пϩN?"&?) i- 0Y- L- "F- 3d) - E)- X9I- ^ i- w?- ˁ?- Q>- ?- c@ - i) I- o)Jf~X!K^࿙E, ,?- Qʿ- )ց - c@)-  checking for new query: numPingsReceived=110, elapsed TxPingTime=54.220211z,R%*A y>2@ٱ><>:=>nE>H?k?`l?@?[? ú9M`?I>2@)>/%_;i<\9`if=If=BDj6Dj4Yr:!r=v6m:= i iɡiiiIuuV?u>uN?u @ uNiqIu%=b߿F?uϿu2 u @)uNchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.766029B9!I Mb@Mb@Mb@ ) I i   {GztS㥛  /ݼ I Ai fA  A)  pABD%6D%f4Y5=!56==;Q)=>99A9EDYAEEAE>IQ 1U4٪MD?Q 5U4M|2 I9]5v= 9 9ɡ9i9I=΢QDDAT read: Rx Time:16:15:45.0328 TRx dataTimestamp_ set to:1755879344.220887PDAT read: Bearing 263.7, 21.6 (Local) ~Local bearing/azimuth received: Bearing 263.7, 21.6 (Local) vB)~B)IGB-M!IB-%B) B)B)B)IA i- ) - @B-Q;B-E] DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 y  DAT read: 16:15:45.0328 LVL= 20912, 20097, 19682, 28643, AGC= 43, IDX= 504,-0.22,-0.722,-0.601,-1.441, 0.578, PHS=-1.198,-1.134,-2.063, RAW= 26.5, 60.0, CAL= 25.4, 63.3, ROT= 124.6, -63.3  Ygot valid direction response: 16:15:45.0328 LVL= 20912, 20097, 19682, 28643, AGC= 43, IDX= 504,-0.22,-0.722,-0.601,-1.441, 0.578, PHS=-1.198,-1.134,-2.063, RAW= 26.5, 60.0, CAL= 25.4, 63.3, ROT= 124.6, -63.3  V#Rx 113: Read range and direction messages. ^direction in FSK: [-0.255143,0.369851,0.893371] Fpublishing direction and range info9.CTп[???iQNLo+ X)&I1ih> ?>i?- @ iiIs +9'Q;߿GXzX?п - @)ii checking for new query: numPingsReceived=113, elapsed TxPingTime=55.067009{,C%*Ay6R@ٱ6Z<6 =6N޵6H?`:?#??`?Gగ?I6R@)6>1_;i4DBuDB^D@D@EBv: EB;96E@:E@"EB#;!JEB$;!J*EB;!JEB;!JnB9n!IvC=iva=BDv6Dv(4Y=9!E\=EI9I9MDYIYU]A}>Q 14٪?Q 542 _B9Y߿Q E?yoC)= = = = AɡAiAIE Ա DDAT read: Rx Time:16:15:45.5328  TRx dataTimestamp_ set to:1755879344.722733 PDAT read: Bearing 264.0, 21.2 (Local)  ~Local bearing/azimuth received: Bearing 264.0, 21.2 (Local)  % DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 = \#Rx 114: Read range message, but no direction.9  U checking for new query: numPingsReceived=114, elapsed TxPingTime=55.490154 {,1%*Ay~(@ٱ~2;~=~ü~H` ?:Q9Y9]DYY]NAe>aQ 1m4٪e?Q 5m4e 3 a9qYu߿Q Eu?yepC)e2:Ie:ie4Yy}8Akkk"lzZZZZ$@I)>=  ɡiIGZ% aх? > 0?  @ 0i I &*+ತe߿oN3ȭ? Կ Ņ  @) 0-checking for new query: numPingsReceived=115, elapsed TxPingTime=55.7578621Y {,xaK%*Aɰ$&p;yRB@ٱR@R7=RϼRH +?Sս?@?\i?e?}ս E?IRB@)RW[_;iRCzB9~!IDDAT read: Rx Time:16:15:46.0328 TRx dataTimestamp_ set to:1755879345.227260vB~BBG!IB BBBBB4R;B2EBBBBBBw54IuPDAT read: Bearing 264.9, 21.6 (Local) }~Local bearing/azimuth received: Bearing 264.9, 21.6 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:46.0328 LVL= 21408, 20193, 19218, 26163, AGC= 42, IDX= 503, 0.00,-1.114,-0.928,-1.855, 0.231, PHS=-1.242,-1.114,-2.130, RAW= 23.3, 58.9, CAL= 22.3, 62.3, ROT= 127.7, -62.3 Ygot valid direction response: 16:15:46.0328 LVL= 21408, 20193, 19218, 26163, AGC= 42, IDX= 503, 0.00,-1.114,-0.928,-1.855, 0.231, PHS=-1.242,-1.114,-2.130, RAW= 23.3, 58.9, CAL= 22.3, 62.3, ROT= 127.7, -62.3 V#Rx 116: Read range and direction messages.^direction in FSK: [-0.284264,0.367794,0.885394]Fpublishing direction and range info9_1ҿ&?w%U?iSNK3f* )IQi5>x?SF>-?l@ -iI-|4Flp࿡e/Ec?E׿*| l@)-iUchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.069633mMb@Mb@Mb@ i)iIiiiim:vL7A`堿{Gzt?mTm+mף;ImAimAm@mZA)iiBD6D\4YV]<! =;Q)>99DYc A>Q 14٪k?Q 54|3 _B9=Q Aԉ checking for new query: numPingsReceived=116, elapsed TxPingTime=56.224731Թ l{,:;e%*Ay6A@ٱ6@6=6ؼ6H`?Ac?1?0sv%?n?@{-ꚿ`H?I6A@)6_;i6CBB9B!IBDJ6DJ4Yz <!z=~'5}= y ɡiI#1) D yD D D E : E 6E :E ! @! @! @! @+ {,*%*A6DAT read: 16:15:46.5327 LVL= 22176, 21537, 19666, 28003, AGC= 44, IDX= 502, 0.09,-1.590,-1.373,-2.362,-0.216, PHS=-1.272,-1.111,-2.190, RAW= 22.1, 58.1, CAL= 21.0, 61.6, ROT= 129.0, -61.6 fYgot valid direction response: 16:15:46.5327 LVL= 22176, 21537, 19666, 28003, AGC= 44, IDX= 502, 0.09,-1.590,-1.373,-2.362,-0.216, PHS=-1.272,-1.111,-2.190, RAW= 22.1, 58.1, CAL= 21.0, 61.6, ROT= 129.0, -61.6 j\#Rx 118: Read direction message, but no range. ^direction in FSK: [-0.299320,0.369629,0.879649]9QUo(ӿP?"&?QiUVU!TULUcmU, UТ)U?5IU( iU|>Uˁ?Uf>U?U)@ UiQIU 3N WC'?U*ڿUc U)@)Uchecking for new query: numPingsReceived=118, elapsed TxPingTime=56.799030y=@ٱ=@==={=H ?@ju?@j?ҁ ??z]@z?I=@)=L_;i9MB9u!Iqiqi}=I}=I}Mb@Mb@Mb@ y)yIyiyy}~jty&1~jth?}D}`}D;Iyi}|A}@}pA)y}AiR=BD6Dp4Yn!=;Q)>99DYǻA>Q 1=4٪?Q 5E44 _B9E~?޹>蚇?ZQ@ 蚇iIlI\dmK=Q ?-ۿ~ ZQ@)蚇i checking for new query: numPingsReceived=119, elapsed TxPingTime=57.048874ԡ D D iD %D E  E 96E 4:E "E ;! E ;! *E 8;! E 8;! 9 =I1IINU>&{,0)%*Aiy6@ٱ6@6Q>606H@ھ?A~?;? H?i? 蝿@Ի?I6@)60G_;i6C>B9B"IBDJ6DJ4YR&<!Rw=V=Q> 9 9ɡ9i9I=N7@V}?0>V?$@ Vi@ KQ6I I N >I<8b-S ._쾊,?ۿh} $@)Vi T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1 -{,%*Ay:̪@ٱ:,@:>:=:H?`@?`6v? ?@P?k;?I:̪@):@_;i8zB9~ "IBD 6D f4YeR=!e?=m;Q)m>i9i9mDYquxAu>Q 14٪?Q 544 _B9Y]Q E?yyC)%?h9F8 $ɿX>?J#._?h~?h앾hI,?h$hfB*i!I?2i:iiGA?"i?zZQZQZQZUn@Iaa)e>e> i ɡiI2GivB ~B B B B B B B AR;B 8E% DDAT read: Rx Time:16:15:48.0328 - TRx dataTimestamp_ set to:1755879347.255492E PDAT read: Bearing 265.1, 22.1 (Local) E ~Local bearing/azimuth received: Bearing 265.1, 22.1 (Local) U DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 3{,I%*A"DAT read: 16:15:48.0328 LVL= 20784, 20065, 18370, 26867, AGC= 43, IDX= 504,-0.40,-2.293,-2.083,-3.062,-0.947, PHS=-1.244,-1.090,-2.159, RAW= 22.4, 57.8, CAL= 21.3, 61.4, ROT= 128.7, -61.4 &Ygot valid direction response: 16:15:48.0328 LVL= 20784, 20065, 18370, 26867, AGC= 43, IDX= 504,-0.40,-2.293,-2.083,-3.062,-0.947, PHS=-1.244,-1.090,-2.159, RAW= 22.4, 57.8, CAL= 21.3, 61.4, ROT= 128.7, -61.4 *R#Rx 1: Read range and direction messages..^direction in FSK: [-0.299299,0.373586,0.877983].Fpublishing direction and range info9Y]D''ӿ?E+o?]?Yi]0Q]aN]G]hY ]d;)]I]- i]+>]^ ?]V>]>+?]`@ ]>+iYYI]0/WO4]H?] +ڿ] ]`@)]>+iYY52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.y-!@ٱ-@- >-%-H2? ?9?\?˞?/M@?I-!@)-K9_;i-Ce΃B9e"Im=m=)i iԩMb@Mb@Mb@ )IiMbp rhMbP?C:IAiA@A)I)BD6D4Y}u=!}"=B99DYg8A>Q 14٪?Q 544 _B9M+i]* ҿ`?5|?=؊?h].?h]h]{?h]"h]׆B*i]I,?2i]":i]Bi]=?"i]?zZeM<ZeM<Zef@Zej@Iqq)u?u > uu@= qɡyiyIɉP j(:{,%*Aɰ499DYA>Q 14٪?Q 545 _B9YQ E?y{C)$Y?ú>od?4@ odikykyky"lyIFdjiHKxo,?ڿh 4@)odi2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.hh%*AhԾ?hԾ?hN?hdܿM {?!X"?h8[zBӿ/W?E?h4@hodi3VпϭQ?zr?hPinƿb?Y_?h?hhjmW?hX]%h{B*i2i$:i{Bi0?"i=@zZqZqZqZqI)>  ɡiI$W9DUDUtDQDQEU~: EUv:6EQ:EQ!]@!]@!]@!]@ 6|6H?m{??o@?'?@“g%?I6/@)69%_;i6CzՃB9z&"I9Mb@Mb@Mb@ )Ii/${GztMbp?ף;IbAi@A)BD6D4Y7=!k=U. >  ɡiIV\DDAT read: Rx Time:16:15:49.0328 TRx dataTimestamp_ set to:1755879348.251598vBH>~BBM!IB%BBBBB6R;B2EPDAT read: Bearing 267.0, 21.9 (Local) ~Local bearing/azimuth received: Bearing 267.0, 21.9 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:49.0328 LVL= 21744, 19697, 18242, 23891, AGC= 42, IDX= 503,-0.09, 2.204, 2.481, 1.458,-2.725, PHS=-1.252,-1.032,-2.144, RAW= 19.2, 56.9, CAL= 18.2, 60.6, ROT= 131.8, -60.6 Ygot valid direction response: 16:15:49.0328 LVL= 21744, 19697, 18242, 23891, AGC= 42, IDX= 503,-0.09, 2.204, 2.481, 1.458,-2.725, PHS=-1.252,-1.032,-2.144, RAW= 19.2, 56.9, CAL= 18.2, 60.6, ROT= 131.8, -60.6 %R#Rx 1: Read range and direction messages.-^direction in FSK: [-0.327203,0.365957,0.871214]-Fpublishing direction and range info9أB%Կfbk???iTLBGS]* A)IL7 i>M;~?>a?8@ aiId'j<)s?M~ 8@)aiE2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.ԑ D} tD} _D} &Dy E} s: E} r96E} 4:Ey "E} ;! E} ;! *E} J;! E} K;! :G{,"R%*Ay6@ٱ6@6mW>6Z66H n?q?`? *@?f"?o`e?I6@)6e _;i6CBԃB9B%"IiF=IF=F%=iF%=b99DY;A>Q 14٪H?Q 54'5 _B9Y:Q E?y}C);IW;ibǐ4Y AkAkAkA"lAhh.%*AhF?hF?h?n@hӔA῾d?0{9t?hأB%Կfbk??h8@hain տ!6j?Ep:?hfɿEdY?VS?hT+?hجh9X?h4Ҍ#hۆB*i{?2i4Ҍ#:iBi9?"i?zZZZZ9W@I)~>mW>  ɡiI1LdC^ )tI( ia>d{?r>C?@ CiI~<3NC ?sB| @)Ci 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.N > -fM{,338%*Aiy6Z@ٱ6@6>66HҪ?T?h?Ox?l?e¿İ ?I6Z@)6@/_;i6C݃B90"IBDM6DM4Y}Q;=!}I=I99DY;A >D}DdD%DE݉: E96E 4:E!@!@!@!@ Q 1%4٪ ?Q 5%4 45 _B9)Y-N:Q E-?y ~C) z;I z;i ΐ4Y15 A9kYkYkY"lYhh#f0%*AhԾ?hԾ?hC@hA^\u>"@?Kh?hU+տII>  ɡiIHkI9 i9  DDAT read: Rx Time:16:15:50.0328  TRx dataTimestamp_ set to:1755879349.259312 PDAT read: Bearing 269.9, 21.7 (Local)  ~Local bearing/azimuth received: Bearing 269.9, 21.7 (Local) A <A <vB I>~B B Z!IB /BB B B B R;B E DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 16:15:50.0328 LVL= 22560, 20177, 17394, 22259, AGC= 42, IDX= 503, 0.13, 2.964,-2.936, 2.210,-1.903, PHS=-1.315,-0.988,-2.214, RAW= 15.1, 55.4, CAL= 14.0, 59.2, ROT= 136.0, -59.2  Ygot valid direction response: 16:15:50.0328 LVL= 22560, 20177, 17394, 22259, AGC= 42, IDX= 503, 0.13, 2.964,-2.936, 2.210,-1.903, PHS=-1.315,-0.988,-2.214, RAW= 15.1, 55.4, CAL= 14.0, 59.2, ROT= 136.0, -59.2  R#Rx 1: Read range and direction messages. E ^direction in FSK: [-0.368333,0.355695,0.858960]E Fpublishing direction and range info9 ƀÍÒ׿zCo? KS|? ? i X N C V Q{LT{IG,R%*A)<)|I- iV>Ihw?5z> A?@ AiIy¿[ OuI[?(g!w @) Aiz2Acoustic response timeoutzQuerying Benthos address 50 with one ping in standard two-way mode.i@@B99"I}Mb@Mb@Mb@ y)yIyiyy}I +?MbP}}94<}I}KAi}Ay}A)y}pABD6D4Y;<!,=Q)>99DYA->1Q 1E4٪5?Q 5}455 5_B94tvZ{,?k%*AMB9U5"Iim;) ABD6DH4Y9!m=Q)?99DY MDDAT read: Rx Time:16:15:50.5327 MTRx dataTimestamp_ set to:1755879349.760452]PDAT read: Bearing 271.4, 21.5 (Local) ]~Local bearing/azimuth received: Bearing 271.4, 21.5 (Local) mDAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 16:15:50.5327 LVL= 22336, 20113, 16834, 23027, AGC= 42, IDX= 502, 0.28, 1.830, 2.271, 1.080,-3.001, PHS=-1.350,-0.967,-2.247, RAW= 13.0, 54.8, CAL= 11.9, 58.6, ROT= 138.1, -58.6 Ygot valid direction response: 16:15:50.5327 LVL= 22336, 20113, 16834, 23027, AGC= 42, IDX= 502, 0.28, 1.830, 2.271, 1.080,-3.001, PHS=-1.350,-0.967,-2.247, RAW= 13.0, 54.8, CAL= 11.9, 58.6, ROT= 138.1, -58.6 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.387794,0.347947,0.853551]Fpublishing direction and range info9IMؿID?qеIP?M?IiM@WMNMAMYI M̬)MPwIMiMVh>MGt?MȭT>M?MZB@ M邿iIIIMϷ!ſӄD<&?MMAt MZB@)M邿iII2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.QQAU?YQ 1e4٪]?Q 5e4]4 ]_B9aYaQ Em?y]C)]:I]:i]uݐ4Y Akkk"lhIhM?p%*AhMԾ?hMԾ?hM53 @hMOPF*⿭u߄?oA\?hMؿID?qеIP?hMZB@hM邿iMYJ}ؿ ?3g2?hM Jпq (?.o?hM?hMƾhMQl?hM(&hMB*iM9X?2iMX]%:iMBiM-?"iM@zZqZqZqZqI)>  ɡiI-?|ԩ  6_6H0?B C?RNu?? Ά?ÿ頿 ǚ?I6=@)6 _;i6C@BB9BB"IMb@Mb@Mb@ )Ii99DY<A>Q 14٪?Q 544 _B9i5}> 9 9ɡ9i9I=mMDDAT read: Rx Time:16:15:51.0328 UTRx dataTimestamp_ set to:1755879350.263360]PDAT read: Bearing 272.2, 21.0 (Local) ]~Local bearing/azimuth received: Bearing 272.2, 21.0 (Local) vBi~BiBm`!IBm4BBm =BiBiBmQ;Bm EB1B1B1B1B1B54DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 16:15:51.0328 LVL= 22480, 20001, 16274, 23011, AGC= 42, IDX= 503, 0.47, 2.346, 2.817, 1.635,-2.480, PHS=-1.355,-0.941,-2.212, RAW= 11.4, 54.8, CAL= 10.3, 58.6, ROT= 139.7, -58.6 Ygot valid direction response: 16:15:51.0328 LVL= 22480, 20001, 16274, 23011, AGC= 42, IDX= 503, 0.47, 2.346, 2.817, 1.635,-2.480, PHS=-1.355,-0.941,-2.212, RAW= 11.4, 54.8, CAL= 10.3, 58.6, ROT= 139.7, -58.6 R#Rx 1: Read range and direction messages.m^direction in FSK: [-0.397358,0.336984,0.853551]mFpublishing direction and range info9QUwTNnٿm$?qеIP?U?QiUWU!NU?UYQ Up)U`pIUh iU%K>QUX8>QU @ QiQQIU2ǿ5vc)?UU[u U @)QiQQ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. D yD eD %D E : E 96E 4:E "E ;! E ;! *E !*;! E "*;! ˈg{,%*Ay6z^@ٱ6<6( >6E<6Hේ? S`?@Â??ġ?ĿѠ`?I6z^@)6B@_;i6CBB9BN"In99DY+<A>Q 1%4٪?Q 5%44 _B9)Y-w?Q E-?yC):I:iL4Y15 A9kQkYkY"lYhhڐ%*AhF?hF?h: @h |ti_8?2:?hwTNnٿm$?qеIP?h @hi]sO؎ܿj?%(?hԪ{пX]l@7?Ar?h?hvh3x?hF!`$hB*iQl?2iF!`$:iۆBi:?"i @zZ1Z1Z1Z5w?IAI)M>M( > M΁e= IɡIiIIU}Ulx?} >} A?}\@ } AiyyI}{DʿoRt*_qg?}\}mx }\@)} Aiyy2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.a m{,u%*Ayט@ٱ\<'>ȾH`?sP2?ё??T?Ŀ ?Iט@)A_;i-B9-C"I)i)9DEDEDE,DAEE: EEP:6EEg4:EA!U@!U@!U@!U@BDU6DU4Ye2!mD=mdi9q9uDYqu4<A}>Q 14٪Y?Q 54;4 _B9Y?Q E?yC):I6:i4YF Akkk"lhh:\%*AhԾ?hԾ?hMi@hTխ;?K}?h(ٿCJ ? KS|?h\@h Ai={ٿK]?7TG?hK|ѿ Ē?ʕ ?h?h˾h??h'hB*i??2i%:iBi-?"i @zZqZqZqZu?I) >'>  ɡiI aԑ vBe H>~Ba Be f!IBe 9BBe =Ba Ba Be R;Be E DDAT read: Rx Time:16:15:52.0329  TRx dataTimestamp_ set to:1755879351.279223 PDAT read: Bearing 274.2, 18.7 (Local)  ~Local bearing/azimuth received: Bearing 274.2, 18.7 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 16:15:52.0329 LVL= 24128, 20113, 16210, 26483, AGC= 41, IDX= 505,-0.18, 1.457, 2.002, 0.903, 2.911, PHS=-1.351,-0.864,-2.052, RAW= 5.9, 55.6, CAL= 4.8, 59.1, ROT= 145.2, -59.1  Ygot valid direction response: 16:15:52.0329 LVL= 24128, 20113, 16210, 26483, AGC= 41, IDX= 505,-0.18, 1.457, 2.002, 0.903, 2.911, PHS=-1.351,-0.864,-2.052, RAW= 5.9, 55.6, CAL= 4.8, 59.1, ROT= 145.2, -59.1  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.421694,0.293085,0.858065] Fpublishing direction and range info9 ŬڿW2(`?QŽDu? f? i @^ N R? sg ) ) /]I Si B= = ? 0"@ i I 4C[Ϳ;0;࿊4]d? s dBx 0"@) i t{,O%*AiF2Acoustic response timeoutJQuerying Benthos address 50 with one ping in standard two-way mode.B9Y"IԙMb@Mb@Mb@ )IiMb?V-?~jth<<IAifAd@QA)fABD6D4Y=!4=Q)> 9 9DY5A=>AQ 1u4٪E?Q 5}4E3 E_B9}Cҿc  ɡiI@ENNH?ۜ@ӛ?`?`?@v? $ſkA?IN@)NC_;iNCfB9f]"IBDn6Dn4YvZ<!vr=vGe.>  ɡiI3 BDAT read: Tx time:16:15:52.9510 $Ping request sent.IM checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250395ԁ {,%*Ay^@ٱ^]<^2>^E^H`?8 ?Z?`N?p?#ƿ@7 p?I^@)^O_;i^CfB9fX"Ij%=ja=Mb@Mb@Mb@ )IiZd;O?Q?~jtxj<<ĻIiAz@A)AIAA)BABD6Df4Yۣ!==;Q)>99DY`;A>Q 14٪?Q 54H3 _B9=Q A2>  )ɡ)i)I-W~BBBBBBB R;BE@u;I)I9NM1>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502588ԩDe |De iDe 'Da Ee : Ee 96Ee '4:Ea "Ee ;!m Ee ;!u *Ee 8;!u Ee 8;!u և{,~ %*Aɰ,.;yJ@ٱJJJHB}?`mܟm?bʙ??@i? )ƿ@O{?IJ@)JI+_;iJCZB9Z@"IBDb6Db4Yjн!j[=n p9p9rDYprG;Ar>tQ 1z4٪v2?Q 5z4v2 v_B9|checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754585Y~ y?Q E ?yvC)vf;Ivg;iv| 4YZ Ak1k1k1"l1zZQZQZQZU{ y?Iaa)e >e~S5> i iɡiiiIm丛checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006533 9 {,":%*Ay^@ٱ^<^d8>^^H@x?B???}?ƿ տ`w?I^@)^[^;i\fB9fZ"IBDn6Dn4Yv_=!vI=z;Q)z>x9x9~DY|~9A~>Q 1 4٪?Q 5 42 _B9Y[y?Q E?yC):I:i4D%vD%fD%!D!E%Vz: E%96E%c3:E!!-@!-@!-@!-@Y15 A9kQkQkY"lYzZqZqZqZu[y?I)F>d8> = ɡiI~B B B B B B B Q;B E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510488{,T%*A(y><@ٱ><>D+;>>>Hu?#%?˘?.?_?Dǿ ps?I><@)>y2_;i>CrB9rQ"ItitmMb@Mb@Mb@ i)iIiiiim~jt?{Gz?Mbpm99DY/A>Q 14٪?Q 54o2 _B9YD+;>  ɡ!i!I%ϟD%xD%cD%&D!E%ˀ: E%L96E%4:E!"E%;!5E%;!5*E%";!5E%";!5ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762427Թ ;{,5|n%*Ai@y6@ٱ6Z<6=>6,Z6Hcq?@۠T}?@^#?p?ʴ?@kǿAPo?I6@)60_;i6CTVB9Vf"IBD^6D^4Yf=!fX=j[;Q)j>l9l9nDYlnɍAr>pQ 1v4٪r?Q 5v4r;2 r_B9xYz\?Q Ez?yrC)r:Irc=>  ɡiIQpQ9Q9UDYQ]A]>YQ 1e4٪]?Q 5e4]:2 ]_B9mϬ  ɡiI~BB`!IB4BBBBBQ;BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518401I9-<|^="@EjA@EjA@ ;I I) N5 >DE |DE dDE %DA EE : EE 96EE 4:EA "EE ;!U EE ;!U *EE }&;!U EE ~&;!U y ${,'%*Ay:@ٱ:z<:)B>:9:Hj?)% ?G]??q?6ȿ`x`g?I:@):m_;i:CFB9FV"IJ>J4=BDN6DNp4Y^0{!^h=^b`9`9bDY`fAf>hQ 1j4٪jt?Q 5n4j92)p rAvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804 j_B9tYveM)B> I IɡQiQIU i9q9uDYquAu>yQ 14٪}.?Q 54}82 }_B9YQ E?y}C)}:I}:i}*84Y% AԹkkk"lzZZZZI)>  ɡiIl~B B T!IB *BB B B B Q;B EBiBiBiBiBiBml24I N >9  DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s  *DAT read: user:105>  BDAT read: Tx time:16:15:56.4510  $Ping request sent. ::Hf?@:`ȝ??!?@@?ȿJca?I:W@):^a_;i:C-B9-Q"IMb@Mb@Mb@ )Ii{Gz?{Gzt#<ףIi|A7A)(ABD6D4Ymd<!m,=m;Q)m>q9q9uDYq}@A}>Q 14٪?Q 54H2 9-7F>  ɡiIUy `{,%*Ay60@ٱ6Xp;6G>66H5d?F҅?xm?@k?[΢?ȿ@j _?I60@)6I_;i6CBB9B="I@i@BDJ6DJ̺4Yvv˽!v=v;Q)v ?x9x9zDYxzvA~ ?Q 14٪?Q 5 4S2 _B9 Y Q E ?yC)`:I:iF4Yk Ak9k9k9"l9zZYZYZYZ]]&@Iii)m>mG> i qɡqiqIuHeeH*b?2xf?4~T?{?2ɿ Fv \?Ie@)eQ_;ieC}B97"IMb@Mb@Mb@ )Ii{Gzt/$Mb`?ף;I AiAA)\ABD6D 4Y-!-7=5@;Q)5>1919=DY9=f5A=>AQ 1M4٪E?Q 5M4E2 E_B9UMUI> UkU= QɡQiQIU|w~BIBMM!IBM%BBM =BIBIBMR;BME@e;IqIN>! D% wD% cD% %D! E% }: E% L96E% 4:E! "E% g;!5 E% i;!5 *E% ";!5 E% ";!5 Br{,+m#%*Ay:k@ٱ:@:jJ>:S:H`? P`S?@tyg? ?+ɿ@颿R[?I:k@):0_;i:CBB9B5"IBDJ6DJ4Y!R=:Q)>99DYVA>Q 14٪?Q 542 _B9Y*Q E?yC);I?;iT4Y   A kikiki"lizZZZZH@I)>jJ>  ɡiIyԩ {,J=%*Ay:@ٱ:@:[J>::HE_?k?5:? ?}?1ɿ@TY?I:@@):":_;i8FB9FI"IJ)>J>BEaJEe4REeDN0DrzDriDr'DpErl: Er96Er'4:Ep!z@!z@!z@!z@BD6D4Y-2=!-T=5+;Q)5>1919=DY?A>Q 14٪`?Q 543 _B9YQ E?yC)y;I;i~[4Y! Akakaka"lazZZZZ@I)8>[J>  ɡiI AA AA vBI ~BI BM G!IBM BBI BI BI BM R;BM (E{,%W%*Aɰy6@ٱ6@6'%K>6m!6Hd^?.~?G?v??:ɿ@ǣY?I6@)6_;i6CBB9BL"I|Mb@Mb@Mb@ )Ii~jtMbp?D̼;I AifA?@A)(ABD6D=4Y4<!>=":Q)>99DY  %A >Q 14٪?Q 54F3 _B9%'%K>  ɡiI#@} <I I N >ˮ{,Kq%*Ay6'w@ٱ6t@6J>6^$6H3^?:?[F?"? H?3ɿ-&Y?I6'w@)6^;i4BB9BN"IBDJ6DJ4YR <!Rc=RQ)R>T9T9VDYTV)AZ>XQ 1j4٪Z?Q 5n4Z3 Z_B9lYnQ En?yZC)Z;IZ|;iZ!i4Ytv AtYhDone checking for power/comms, continuing with slideDSlide state transition from 1 to 2kkkBlk̒8zZZZZ@ɢBJ> %%I%̒8 %ɡ%i!I!i)))9-{= 5&Changing to mode: 4ԉid4@ <IINF>DvDfD%DEVz: E96E 4:E! @! @! @! @Ա !{,$%*Aymm@ٱm{j@mI>mx.mH 9`?`@?~?qE`G?`gǣ?qɿ`aZ?Imm@)mĕa;imCB9U"IiԱ Mb@Mb@Mb@ ) I i   A9A9EDYAE/AM>QQ 1]4٪UN?Q 5]4U3 U_B9]h @6D D gD (D E : E &96E c44:E "E ;! E ;! *E i1;! E i1;! 1 {,ж%*Ai@y>h@ٱ>:f@>H>>=>Hzb?`? ?v̔?q?`Sȿ>[?I>h@)>a;i>CJB9J]"IBDR6DR4YZW=!Zh=ZQ)^>\9d9fDYdjAj>lQ 1r4٪n ?Q 5r4n3 n_B9pYrQ Ev?ynC)n ;In ;inSw4Yxz AxkkklkzZ9Z9Z9Z=@ɢIMH> QUqDAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s *DAT read: user:106> BDAT read: Tx time:16:15:59.9510 $Ping request sent.60D6H?e??f?@T9?3n?ȿ#]?I6P^@)6sNa;i6CBB9BY"IDbxDbeDb)D`Ebˀ: Eb96EbFA4:E`!f@!f@!f@!f@BDJ6DJf4Y=S!=B==Q)E>A9A9EDYAMHAM>QQ 1]4٪U?Q 5]4U%4 U_B9YY]LQ Ee?yUC)U;IU;iU~4Yim AikkklkzZZZZ|@ɢNF> ZAZHf?‹??y??`yȿ _?IZgY@)Z|`;iZC5B955"Im=m<)i mAMb@Mb@Mb@ )Iiy&1 rhMbP?`eC:It AiA7@dA)(ABD6D4Y k!==Q)>99DY% A%>!Q 1-4٪%<?Q 554%U4 %_B95 顝x#I 6ɡiIi) 9?Bɹ)DwDfD'DE}: E96E'4:E"Eg;!Ei;!*E-;!E-;!i} 02@=*@ >A@]!<IiIyNZ>i f{,/N%*Aɰ4< y: `@ٱ:k]@:IC>:::H 1i??@c?啿 %? y!?@4KȿӦb?I: `@):!_;i8FB9FM"IBDN6DN(4YV"=!Vd=VNQ)Z>X9X9ZDYX P;A >Q 14٪?Q 54~4 _B9!Y%Q E%?yC)@;I<;i4Y)- A)kIkIkIlQkQzZiZiZiZm@ɢyIC> 顅I 76ɡiIi)) iIqԙDxD`D%DEˀ: E96E 4:E!@!@!@!@i/@'<IIN> D|,5 %*ALye@ٱ"c@B>x 8Hk?̉?(4?3 ^??ȿ5e?Ie@)_;iCB9Mb@Mb@Mb@ )Ii~jth~jtMb`?DD;I AifAM@A)BD=6D=4Ye!m%=mv?Q)m>q9q9uDYqu:A}>yvBJ>~BBM!IB%BBBBBKR;B>EBIBIBIBM =BM =BMÑ4Q 1E4٪}?Q 5E4}4 }_B9EJM "I vj6ɡiIi)i0@,<IIN>D D bD &D E : E 96E 4:E "E ;! E ;! *E 5;! E 6;!   |,r%%*Ay6t@ٱ6&r@6/@>6<96Hvm?? ?\g?Z?ǿʦf?I6t@)6 9_;i6CBB9BY"I@i@BDJ6DJ4YR&=!R=V}\Q)V?T9T9VDYTZ_;AZ?) \Q 1%4٪^?Q 5%4^4 ^_B9!Y%Q E%?y\)^:e Qԁ (9|,?%*Aiy6x@ٱ6 v@6>>6=6H q?(??䒿 ??ǿFi?I6x@)6<_;i6CB B9Bk"IBDJ6DJ4DR~DRcDR%DPER: ERL96ER 4:EP!Z@!Z@!Z@!Z@Y^t=!I=YQ)>99DY:A>Q 14٪?Q 544 _B9YQ E?yC) :Ip:i4Y? AkkklkzZZZZ @ɢ>>  P;=I  mX8ɡ i I i)ԉi/ Overload Errorq Hardware Faulta ԹA <A <vB I>~B B T!IB *BB B B B NR;B ?E@ 1<I -& LHardware Fault in component: MassServoI N% > i >I %|,Y%*AyF6@ٱF@F1=>F.=FHus? ?@•?`*I??؃ǿ`<k?IF6@)Fv_;iDRB9RU"IԩMb@Mb@Mb@ )Ii{Gzt?Mb`~jthף;DI AiAV@;A)ABD6D4Y!7=XQ)>99DY Ӧ;A >Q 14٪?Q 544 _B9;Q A>YQ E%?y) :Iw:ix4Y)- A)kIkIkIlQkQzZm;Zm;Zm@Zm@ɢy}1=> 顅 ) 1 K|,s%*Ay:@ٱ:@::>:6:H@ew?r?AE?s ??"9ǿm p?I:@):;_;i8 B9i"II@A)@ABD6D4Y=!M=Q)>99DY"<A>1BDAT read: Rx Time:16:16:02.3578 TRx dataTimestamp_ set to:1755879361.888230Q 14٪?Q 544 _B9YQ E?yC): ae%=Ia e8ɡaiiIiii)qiEAAE0AIQaIiN}7>BEMƀ'4JEMƨ,4REMƩ]0DuDcD,DEv: EL96Eg4:E!@!@!@!@ԉ)) ) Թ 7#|,~%*Aɰ;;yE@ٱE@Eb7>E*0EH@j|? P?`t? dp`?@O9?`ƿE@Cu?IE@)E_;iAuB9uZ"IԉMb@Mb@Mb@ )Ii~jth?19195DY15+<A5>9Q 1E4٪=?Q 5M4=4 =_B9MK~BiBmZ!IBm/BBiBiBiBmR;Bm[EkkklkzZK<ZK<Z?Zb?ɢb7>  %BDAT read: Tx time:16:16:03.4510 %$Ping request sent.- :])|,F%*Ay6@ٱ6W@6r5>6 =26Hh?BU?`?-z?`xv?ƿ쥿x?I6@)6$c;i6CBB9BU"IBDJ6DJz4Yfʸ!f{=f#ѻQ)f ?h9h9jDYhn瀺An ?Q 14٪?Q 544 _B9YL?Q E?yC) ;I ;iR4Y Akkklkhh|%*Ah?h?h]O"@h6E':[X? Rn?hnɔsZ0Ҙn[/?\?h^/@h_ri%:ЌE翎P ?X%0?h)ᖑؿ? E?h?h,:hܟ?h\'hQB*i3x?2i(&:iBi=?"i@zZZZZ^L?ɢBr5> i=IR=I oF0|,k'%*Ay6z@ٱ6@6-3>6R06H@Â?~VK?x?? lHƿ`l{?I6z@)6r'a;i4DBxDBeDB%D@EBˀ: EB96EB 4:E@!F@!F@!J@!J@NB9NY"IPiPBDV6DVQ4Y^<!bK=b4Q)b>`9d9fDYdf_;Af>hQ 1-4٪j?Q 5-4j4 j_B91Y5?Q E5?yh)jG rԁvBi ~Bi Bm `!IBm 4BBi Bi Bi Bm R;Bm fEԱ *o6|,%*Ai@y>@ٱ> @>߹/>>b->H`? $l`?[n?zi?ſk@d?I>@)>'`;i>C^B9bF"ImMb@Mb@Mb@ i)iIiiiim~jt?~jt?~jtxm= Q)>99DY ;A>Q 14٪?Q 54p4 _B9 pI 98ɡiIi)ԩD|DcD*DE : EL96E(N4:E"E;!E;!*E";!E";!U9)Y ]Ai 4IY I N > =<|,%*Ay6 @ٱ69@6"->6k+6H@/?`\x? @Q?T?ſ@ ?I6 @)6_;i6CBB9BO"IBDJ6DJ 4YN=!R[=R޻Q)R>T9T9VDYTV3;AV>XQ 1-4٪ZL?Q 554ZA4 Z_B91Y5P?Q E5?yZC)Z3 页XI ,8ɡiIi))i0IIN">DwD`D%DE}: E96E 4:E!@!@!@!@Qԁ C|,%*AYI^G) lAI!ilABy*/@ٱxe;U*>-$H ?˄(? Il? #?`?1ſ?L e?I*/@)_;iCB9X"IvB~BBf!IB9BBBBBR;BdEuMb@Mb@Mb@ q)qIqiqquy&1?I +?{Gztu`e99DY[<A>Q 14٪?Q 543 _B9 !- 4D D qD 'D E : E $ :6E '4:E "E ;! E ;! *E U;! E U;! I|,2(%*Ay6.@ٱ6Hb;6#O(>6"6H`?R ?`ek?[?7?Ŀ_@D?I6.@)6b;i6CRB9R?"IBDZ6DZ\4Y!= ˻Q)  ? 9 9DYU A ?Q 1%4٪.?Q 5%43 _B9)Y-H?Q E-?yC):I:i`4Y15a A1kQkQkQlYkYzZqZqZqZuqH?ɢ#O(> 顕pI .8ɡiIi)+9iIIN&>1Y P|,hB%*Ay6wP@ٱ6;6&>66H\?[@? ~???ۨĿ Ύ?I6wP@)6`;i6CDF{DFeDDDDEF=: EF96ED:ED!J@!J@!J@!J@JB9J@"IBDR6DR4YZ;!ZP=^pQ)^>`9`9bDY`b+<Af>dQ 1j4٪f?Q 5j4f3 f_B9lYn?Q E]?yfC)f  I 8ɡiIi)9ر9i00iIiIyNZ>ԑA <A <vB5 G>~B1 B1 B1 B5 =B1 B1 B5 xR;B5 REBBBB =B =BȄ4Թ E BDAT read: Rx Time:16:16:05.8577 E TRx dataTimestamp_ set to:1755879365.438780V|,E\%*Ay6k@ٱ6,1<6#>6X6H`? RQ? ݅?`|?K?$bĿ?I6k@)61 `;i6CBB9BG"IMb@Mb@Mb@ )Ii~jt?~jt?MbpD<<It Aiz@hA)BD-6D-4Y\<!;=̣Q)>99DYj;A>Q 14٪?Q 54G3 _B9><Zm><Zm ?Zm˒?ԑɢ#> 顥`I |8ɡiIi)hAiiADwDdDDE}: E96E:E"Eg;!Eh;!*E}&;!E~&;!9 ?@ie1aaaaIqIN:>Թ  \|,#-v%*Ay6>l@ٱ63<6 >66Hɚ?`~?`*? ?`Y?Ŀ<ؕ?I6>l@)6_;i4BB9BM"IBDJ6DJ4YR<!R]=VQ)V>T9T9VDYTZ9AZ>\Q 1b4٪^V?Q 5f4^ 3 ^_B9dYj?Q Ej?y^C)^;I^;i^Y4Y A kAkAkAlAkAzZyZyZyZ}蹒?ɢB > &I ^]8ɡiIi!)!iI%=DAT read: 16:16:05.8577 LVL= 20672, 21025, 15522, 24435, AGC= 42, IDX= 439,-0.29, 0.510, 1.093,-0.024, 1.981, PHS=-1.369,-0.843,-2.049, RAW= 4.2, 55.2, CAL= 3.1, 58.8, ROT= 146.9, -58.8 %Ygot valid direction response: 16:16:05.8577 LVL= 20672, 21025, 15522, 24435, AGC= 42, IDX= 439,-0.29, 0.510, 1.093,-0.024, 1.981, PHS=-1.369,-0.843,-2.049, RAW= 4.2, 55.2, CAL= 3.1, 58.8, ROT= 146.9, -58.8 -PDAT read: Bearing 274.3, 18.0 (Local) 5~Local bearing/azimuth received: Bearing 274.3, 18.0 (Local) =DAT read: Range 11 to 50 : 1.8 m (Round-trip 2.5 ms) speed 0.0 m/s E*DAT read: user:108> EBDAT read: Tx time:16:16:06.9510 M$Ping request sent.M dc|,y%*A)y=9j@ٱ=|/<=n>=UJ=H`?%u?P??3@?`ÿ/?I=9j@)=_;i9B9@"IBD6D=4Y!>!7= Q) >99%DY!5A5>AQ 1M4٪E?Q 5U4E2 E_B9QYU?Q EU?yEC)Ea;IE+;iEH4YY]Z Aakkklkh!h%M|%*Ah%?h%?h%@h%!.U2?Cij{?h%5ۿ(B? $_?h%$@h%G\i%MȰ^I0?u ?h% @Sӿ54?z?h%?h%J h%kI;?h%)$h%#B*i%kI;?2i%$:i%#Bi%@?"i%@vB~BBBBBBBKR;B<EzZYZYZYZ]?ɢimn> quIq u"7ɡqiqIqiy)y)9Q] bTimed out moving from: 8001 to: 10500 response: 1- Hardware FaultI-&VHardware Fault in component: DockingStepper! IM&VHardware Fault in component: DockingStepperIN >D yD dD 'D E : E 96E '4:E "E ;! E ;! *E ! E ! y i|,۩%*Ay6hT@ٱ6<6>66H@r?@٪ n?I?0?Z٢?)ÿ$@?I6hT@)6/c;i6C^ɃB9^"I)` `MMb@Mb@Mb@ I)IIIaiIIM~jt?Q?~jtxM99DYٻA>Q 1%4٪X?Q 5%42 _B9%N PŽI {TɡiIi)%9 -:Uninitialize Docking Stepper. -Powering down-- 55ԁ]FScheduling is paused for 1 commands&BCritical error at 20250822T161606NVStop Mission called by CBIT::checkCriticalsII)I)N=.>Ա 7p|,%*Aɰ4<BEqJEu*4REu/D6xD6_D6*D4E6ˀ: E6r96E6(N4:E4!:@!:@!:@!:@yVO@ٱVL;V>VVH-?7@s?M~?r?gv?@Qÿw?IVO@)VPa;iVCvB9v4"IBD~6D~4Ye=!eM=ee^Q)m>i9i9mDYiuPAu>yQ 14٪}?Q 54}t2 }_B9Yn3?Q E?y}C)}K:I}:i} 4Y AkkkԹlkzZZZZn3?'8MissionManager is completed.'PUninitializing Mission lineCaptureHoming 3RAggregate::uninitialize lineCaptureHoming3bAggregate::uninitialize lineCaptureHoming:Scienceq17|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent11. \vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq.\NUninitialize AltitudeEnvelopeComponent.. ]Uninitialize..]NUninitialize OffshoreEnvelopeComponent.q3frAggregate::uninitialize lineCaptureHoming:MicromodemComms3 gAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn3EHUninitializing TrackAcousticContact.qPZAggregate::uninitialize lineCaptureHoming:LapQhAggregate::uninitialize lineCaptureHoming:Lap:DockedSX !S%!S-!S)aR#aR#aR#aR}#By#}Bu#Bq#Bm#Bi#Be#Ba#B]#BB<-<-<}5   9I Sɡ i I i ) i #?I c?U 9I9IIIINU> x|,%*AM܃B9M/"I$mPowering downbDmZDmrDujDu%Mb@Mb@Mb@ !)!I!i!!%MbP{Gzt?%%ף;%I%^Ai!!%QA)!%fA1i5%=BD96D9YMl!M#=UQ)U>Q9Q9UDYY]A]>aQ 1m4٪e?Q 5m4ec2 a9m;Q Au!>Yu?Q Eu?ya)e:Ie :ie4Yy} Ay='BStarted mission DefaultWithUndockK )NAggregate::initialize DefaultWithUndock)4Initialize Wait Component.)ԙ }/~|,%*Ay6 @ٱ60 @6>66H?hr R]?`[J ??@p_ÿп?I6 @)66Qa;i6C@B߃B9B2"IiF=IF=BDJ6DJ4YRs<!Vk=VB9Q)V?X9X9ZDYXZEüAZ?\Q 1b4٪^?Q 5f4^W2 \9dYf?Q Ef?y^C)^:I^:i^4Yhj AlIx xɡxixIxi|)|IIIN=ԩ)ߑ ߕA |,^h%*A!.@!2@!2@!6@!6@!6@!6@!:@A:A:A>A>\i\ly~g@ٱ~@~>~~H?T2R?Mt? ?$Pÿ ơ7?I~g@)~\`;i~C B9 ;"IMb@Mb@Mb@ )Iiy&1|{Gz~jth?`#D;IAiAA)=ABD6D=4Y<!9=zQ)>99DY6AM>QQ 1]4٪U?Q 5]4Uv2 U_B9]M1Y  BDAT read: Rx Time:16:16:09.3577  TRx dataTimestamp_ set to:1755879368.714691A|,/6/%*Ay:P@ٱ:@:>::H`?-o?Q? `??pJÿ@ M?I:P@):*`;i:CrB9r6"IIx)zAABDz6Dzf4Y%ޜ!%U=-Q)->)9195DY151A5>9YQ 1e4٪]c?Q 5e4]2 ]_B9iYm Q Em?y]C)]6:I]:i];)4Yqu AI ɡiIi)iII I N*>i!>IC=ԑ b)|,I%*Ay6@ٱ6O@6>6C 6H@?@?X??-s?4Lÿ\J@?I6@)6_;i6CNكB9R,"IR>R<)T TBDZ6DZ4Yb+!bQ=f9Q)f>d9d9fDYhj9Aj>lQ 1r4٪n-?Q 5r4n2 n_B9pYv< Q Ev?ynC)n;InW:in/4Yxz AxI ɡiIi)ԙIIIN=iI5G)];mAIqi>;mAA5 DAT read: 16:16:09.3577 LVL= 23696, 20561, 18498, 22211, AGC= 42, IDX= 439,-0.35,-0.450,-0.007,-1.025, 0.951, PHS=-1.298,-0.912,-2.020, RAW= 9.9, 56.9, CAL= 8.9, 60.5, ROT= 141.1, -60.5 = Ygot valid direction response: 16:16:09.3577 LVL= 23696, 20561, 18498, 22211, AGC= 42, IDX= 439,-0.35,-0.450,-0.007,-1.025, 0.951, PHS=-1.298,-0.912,-2.020, RAW= 9.9, 56.9, CAL= 8.9, 60.5, ROT= 141.1, -60.5 M PDAT read: Bearing 270.7, 19.0 (Local) M ~Local bearing/azimuth received: Bearing 270.7, 19.0 (Local) U DAT read: Range 11 to 50 : 1.8 m (Round-trip 2.5 ms) speed 0.0 m/s ] *DAT read: user:109> ] BDAT read: Tx time:16:16:10.4510 e $Ping request sent.e M;~? > (? 7@ (i I )>ǿǿ66H ?؉?`+j? wZ ?:?Xÿ@j?I6}@)6_;i6C~ԃB9~%"IMb@Mb@Mb@ )Ii~jt{Gz{Gzt?ףף;IbAiA@?A)ABD6D4Y=9!=(==O:Q)=>A9A9EDYAMAM>qQ 1}4٪ul?Q 5}4u2 u_B9}!)a aIy }|,*|%*Ay:\@ٱ:Z@:>::H?<?@Z?@u?? Qoÿ퀢@?I:\@):Z_;i8F̓B9F"ILiLBDR6DRo4YV +!Z=Z);Q)Z ?X9\9^DY\bNAf ?dQ 1j4٪f?Q 5n4f3 f_B9lYnQ En?yfC)f;If;if>4Ypv>AtI| |ɡ|i|Ii)I!I1I9QNe=ԁԩ Fo|,l˖%*Ayo9@ٱ6@>?Ha?DE?Z? rϚ?? "ÿ`i?Io9@)/4_;i%σB9-"I)i)i5=I5a=Mb@Mb@Mb@ )Ii/$:v{Gzt?ԼIAifA@A)ABD6D4Y;!8=:Q)>99DYA>Q 14٪*?Q 54]3 _B9k =Q AiS?I:@) 돫|,~%*AibŃB9b"IBDj6DjF4YvM!v\=vQ)v>x9x9zDYxzA~>Q 14٪?Q 5 43 _B9 Y Q E ?yC):I:iQL4YAI) )ɡ)i)I)i1)1IAIQIQNe=9i |w|,X%*A$y>@ٱ>@>7>>Ƶ >H |?@?d?`<7?`?}ÿ`ף?I>@)>_;i>CFЃB9F "IIL)N@ABDR6DR4YZU=!ZN=Z;Q)^>\9`9bDY`bAb>dQ 1j4٪f?Q 5j4f3 f_B9lYnQ En?yfC)f:If;ifCS4Ypr+ApIx |ɡ|i|I|i) iAi jA)ߑ ߑy%B9IIIqIyN> |,3%*Ay6@ٱ66@6 >6#6H`?s'?`$?:?\?Pÿ`7 ?I6@)6O_;i4>܃B9B0"IB>B=)D FAPMMb@Mb@Mb@ I)IIIiIIM rh{Gzt?MCM̼IIIiM|AM@MA)IMfABDe6Dez4Yuo=!u?=uE;Q)u>y9y9}DYyl˻A>Q 14٪:?Q 54%4 _B9! ˾|,0%*Aɰ46%6H?@?@?ie?? Ŀp|ؓ?I6@)6_;i6CBރB9B2"IBDJ6DJ4YR(<!RX=Vh ;Q)V>T9T9ZDYXZ?AZ>\Q 1b4٪^?Q 5b4^b4 ^_B9dYf] Q Ef?y^C)^1:I^:i^Wa4Yhj AhIt tɡtitIxix)xi>IC=IIIN=)QBDAT read: Rx Time:16:16:12.8577 TRx dataTimestamp_ set to:1755879372.254728ԁ |,%*AyMz@ٱM@M8}">MB&MH#?R?d?_@? ީ?9Ŀ@k?IMz@)M_;iMCYeB9e4"IMb@Mb@Mb@ )Ii~jtļIbAiSA?A)A!i%4=BD-6D-34Y=;!=3=E;Q)E>A9A9EDYAMHAM>QQ 1]4٪U?Q 5]4U4 Q9]39ԁIIIN%>Ա ) M DAT read: 16:16:12.8577 LVL= 24528, 21585, 17682, 25299, AGC= 42, IDX= 439,-0.45,-0.770,-0.275,-1.396, 0.686, PHS=-1.354,-0.916,-2.126, RAW= 9.1, 55.7, CAL= 8.0, 59.3, ROT= 142.0, -59.3 }|,&1%*AFYgot valid direction response: 16:16:12.8577 LVL= 24528, 21585, 17682, 25299, AGC= 42, IDX= 439,-0.45,-0.770,-0.275,-1.396, 0.686, PHS=-1.354,-0.916,-2.126, RAW= 9.1, 55.7, CAL= 8.0, 59.3, ROT= 142.0, -59.3 JPDAT read: Bearing 270.3, 19.5 (Local) J~Local bearing/azimuth received: Bearing 270.3, 19.5 (Local) bDAT read: Range 11 to 50 : 1.8 m (Round-trip 2.5 ms) speed 0.0 m/s f*DAT read: user:110> fBDAT read: Tx time:16:16:13.9510 f$Ping request sent.jv&vH ?C?`?Y ?S?gjĿZi?Ivk@)vw`;ivC~:publishing transmit ping timeYd~Fpublishing direction and range info9s~ٿPx?r?i_QTEb O)~jIbi">x?5>;z?@ ;ziIhmɿUC3m?x @);zi:publishing transmit ping timeYdFpublishing direction and range info99!!i!BD56D54YEf;!E\=MD;Q)M>I9I9MDYIUٺAU>s~ٿPx?r?i )Ii iIhmɿUC3m? )iqQ 1}4٪u?Q 5}4u4 u_B9Y6ͿQ E?yuC)u;Iu;iuo4Y AI ɡiIi)Թu9IaIqIqN}=I |,K%*Aiy6@ٱ6@6w%>6 '6H@?V5??X4?[ǡ?Ŀ@Lҍ?I6@)6ca;i6CBB9B<"IBDJ6DJ4Yf<!fR=f};Q)f>h9h9jDYhn:An>pQ 1v4٪r?Q 5v4r'5 p9tYvͿQ Ev?yrC)r:Ir:irv4Yx~v AyI ɡiIi)u09IYIiIqNyAiԙ |,{e%*Ay6@ٱ6 @6u(>6*)6H`?`?* ?Z`x??`hĿ`ڤ@?I6@)6b;i4BЃB9B "I Mb@Mb@Mb@ ) I i   Q:v~jth? u T D;I t Ai OA d@ hA)  fAI!)%AABD%6D%(4Y5ӽ!5D==;Q)=>99A9EDYAEQ;AE>IQ 1U4٪M?Q 5U4MI5 M_B9Utԡ |,V%*Ay>@ٱ>>@>*>>'>H ?b6? e? kZ 6??@>ſ?I>@)>*c;i<FփB9F("IJR=Jt>BDR6DR4YZ<!ZS=ZM;Q)Z>\9\9bDY`b;Ab>dQ 1j4٪f?Q 5j4fj5 f_B9lYn)Q En?yf C)f~C;If6D;if4Ytv AxI ɡiIi ) UT9IIIN=)ߑ ߑI݈G)SkAIi  SkA A) |,lC%*A ɰ-;-;y @ٱ" @X->P#H@=?ř?@? ? ?@Gſ-@?I @)Ѝc;iCB97"IMb@Mb@Mb@ )IiMbp~jthMbP?D:IiAA) ABD56D54YEF=!E'=M;Q)M>I9Q9UDYQU;AU>YaQ 1m4٪]v?Q 5m4]s5 ]_B9m;Q Am!>Yue Q Eu?yY)]c2;I]1;i]94Yy} AyI ɡiIi)b9IIIN?>ԑԹ +|, %*Ay6R'@ٱ6$@6(p0>6 6H@_?@Xy?k?@ ?`h?ſУw?I6R'@)6 ~c;i6CBB9BO"IFR=iFp=BDJ6DJf4PYV*=!V=V6V6HG?_?@e?_ژ@?u?Lƿ\|?I6H@)6Ġc;i6CBB9BR"I@i@BDJ6DJ4YRhR<!RJ=V?;Q)V>T9T9VDYTZ$<AZ>\Q 1b4٪^:?Q 5b4^5 ^_B9`YfQ Ef?y\)^:I^:i^ԙ4Yhj AhIp tɡtitItit)x|1IQIiIiNu=!ay =|,%*Aiy>l@ٱ>Kj@><_6>>w>H|?@??`]?d? ƿ+좿x?I>l@)>c;i>CJB9JW"IMb@Mb@Mb@ )Ii{GztMb?ף<Ix Ail@A)BD56D54YE<!EA=MA;Q)M>I9I9UDYQU+<AU>YaQ 1m4٪e?Q 5m4ej5 a9m6S6Hx? c??S?@V?@hǿzt?I6ԑ@)6c;i4D9FX"IIL)LBDR6DR 4YZ:!ZT=Z\9\9^DY\f:?<Af>hQ 1j4٪j?Q 5n4jU5 j_B9lYE @Q EE?yjĠC)js BDAT read: Tx time:16:16:17.4510 $Ping request sent.?U~6?qqiuUuQuCu3\u+ u)u$FIuL7iu5?U~6?qqiqqqqq q)qIqiqqqqq qiqqIu p8nӿt$voN?qq q)qiqqԑ CU},%*AIyU@ٱU@ULj<>U, UH u?r?w?V@? ?oǿ@ѡ~p?IU@)U4.d;iUCm B9mg"Iu>u==Mb@Mb@Mb@ 9)9I9i99=~jt?{Gz?Mbp=<=ף<=I9i9=V@9)9=ABDU6DU4YeL=!e%=m;Q)m>i9i9uDYqu)<Au>yiԡ y },T4%*Aɰy6@ٱ6@6?>6T 6Hgp?BA0?`d?Ԃzl?Ƞ?ǿ@k?I6@)6c;i6CBB9B>"IBDJ6DJ4Y K!z=t$ 9 a},40N%*Ay6@ٱ6@6 AC>66Hk?"q`.A?)`@? ?VBȿ(g?I6@)6Zc;i6CBB9Bq"IFC=iFR=BDJ6DJ4YRT>!RR=R T9T9VDYTZ|><AZ>\Q 1b4٪^?Q 5b4^4 ^_B9`YbV?Q Eb?y^ȠC)^;I^;i^4Yhj AhIp pɡpipItit)xzZ?z`?9IIIN%=Ai },bh%*A y:S$@ٱ:;:F>:g:Hf??@na?? ?`ȿwb?I:S$@):d;i:CB B9Bi"IDiDiJ=IJ=Mb@Mb@Mb@ )Ii~jth?S㥛?MbP?D;/<:IAi|A7@A)3ABD-6D-4Y=0!=A==;Q)=>A9A9EDYAM $<AM>IQ 1]4٪M?Q 5]4Mg4 M_B9]ԙ s },\%*Aiy>KB@ٱ>@;>+.J>> >H`?@?qw? ?@S?@ɿZ+]?I>KB@)>d;i<JB9Jz"IPBDZ6DZ 4Yb=!bS=bCd9d9fDYdfh<Aj>hQ 1n4٪j?Q 5r4j 4 h9pYr»?Q Er?yjˠC)j;Ij;ijK˒4Ytz AxI ɡiI i ) u9IYIiIqN}=! &},f%*AyU_@ٱUU,UH Z??@??@D?fɿoW?IU_@)U{d;iUC!B9"II)@ABD6Do4Y=!%6=-)9195DY15 <A=>9Q 1E4٪=?Q 5E4=3 99IYM.?Q EM?y=̠C)=:I=>:i=(Ӓ4Y AI ɡiIi)ihAH9)IIIN!>Qԁ )a a ,},,%*Ay6'u@ٱ6XE<6Q>6kݼ6HtT?`Q?@'?@?c ?ʿ @R?I6'u@)6\d;i6CB*B9B"IB,>B=)D FAMb@Mb@Mb@ )Ii rh?C =It AiA7A)AYBD6D4Y?=!S=199DY];A>Q 14٪?Q 54v3 9C =Q AԉԱ 3},w%*Aɰ46)Rм6HM?+l???`?{ʿQy$L?I6ʈ@)6nc;i6CB2B9B"IBDJ6DJz4YR=!R[=V$T9T9VDYTZ;AZ>\didQ 1j4٪^?Q 5r4^!3 ^_B9Y?Q E ?y^РCI-G)^[i %=I 4=9 (9},R%*Ay>@ٱ><>Y>>+ ü>HF?`45?tk??ś?ʿ חE?I>@)>7c;i>CF/B9F"IMb@Mb@Mb@ )Ii{Gz?y&1?{Gztף<`<ףIiAA)(ABD-6D-p4Y=tY!=A=E`A9A9MDYIMA;AM>QQ 1]4٪U?Q 5]4U2 U_B9ek=Q Ae5DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s 5*DAT read: user:112> =BDAT read: Tx time:16:16:20.9510 =$Ping request sent.=19195DY1=A=>AQ 1E4٪E;?Q 5M4E2 E_B9IYIQ EM?yEӠC)E.:IE:iE4YQ] AYIi iɡiiiIqiq)yU9y@U?9IaIqIqN}=ԡ)1 5A F},%*A i yV@ٱVlnVAѮVH8?`+???@?D ̿@Q@%7?IV@)VaEd;iVCzB9~q"IBD56D5[4Ye,!!eF=99 DY1=*AE>YQ 14٪]?Q 54]12 ]_B9Y?Q E?y]ՠC)];I]T;i]4Y AI ɡiI i )E(9"@MjA@MjA@=<:IIIYIYNm5>! M},6%*Ay>t@ٱ>D<>g>>>H`/?@7}??&?3?ޣ̿@蔿.?I>t@)>(nd;i>CJ1B9J"IMb@Mb@Mb@ )Ii~jt?/$?Mbp<<IAiAM@dA)ABD-6D-4Y=>!=M=EDA9A9MDYIM+AM>QQ 1]4٪Uo?Q 5]4U1 U_B9eL66H`G'?!\`2?`?`?@ޖ? 4:ͿH@%?I6Y@)6c;i6CPR(B9R"I)T VABDZ6DZ4Y~;!~N=B99 DY  /A >Q 14٪?Q 541 _B9Y%b?Q E%?yؠC);I;i4Y)-i A)IA AɡAiAIAiI)I9@:IIIN>! J(Z},gj%*Aɰ;y627@ٱ6ܒ;6_p>6b塼6H ??`q?@&?+N?@QͿ`?I627@)6c;i6CBBB9B"I|Mb@Mb@Mb@ )Ii~jtx?~jtx?;;It AiA@zA)ABDu6Du(4Y=!B=@99DY$A>Q 14٪7?Q 541 _B9 )Qԁ a},w%*Ay: @ٱ:@: v>:,:H ?@ mw?;)Qp?%?vxο ?I: @):d;i:CFAB9F"IBDN6DN4YVՖ!VY=VZX9X9ZDYXZrA^>`Q 1f4٪bf?Q 5f4b1 `9dYfM?Q Ef?yb٠C)b:Ib:ib4Yhn AlIt tɡtitIxix)xS?\?Y59 Overload Errorq Hardware Faulta ԉ@:I)II-&MLHardware Fault in component: MassServoIIN]T>Ա @:g},P%*AyJ+@ٱJ@Jui{>JˡJH ?%c?`?@|x?@k? Ͽ@ɝ ?IJ+@)JHc;iHVFB9V"IXiXib=Ib=BDt6DtY<!C=-I99A9EDYAUnAU>iQ 14٪m?Q 54m1 m_B9YK?Q E?yi)m;Im;imH4ԹYQ]z AaI ɡiIi) 9 0Uninitialize Mass Servo. Powering down"@@2@*@I)I9I9NM>% BDAT read: Rx Time:16:16:23.3579 - TRx dataTimestamp_ set to:1755879382.838720I idm},+%*Ai~JB9~"IMb@Mb@Mb@ )Iiy&1|Mbp?`;I- AiAE A)f ABD6Dz4Y<!A=Q)>99DYA>Q 14٪?Q 541 _B966H`?@a? ]3?i长@d9d9fDYdj"Aj>lQ 1r4٪n?Q 5r4n1 n_B9pYrQ Ev?ynڠC)nQ;In;in'4Yxz] AxI ɡiIi)iAijADAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s *DAT read: user:113> BDAT read: Tx time:16:16:24.4510 $Ping request sent. gvz}, %*Ay68@ٱ6@62<>66H@? (?@l?ܝ?8?wпi P?I68@)6t+b;i6CBQB9B"IF=F=)D FA Mb@Mb@Mb@ ) I i   ~jtZd;Oy&1|? D j `;I  Ai  @ \!A)  = ABD%6D%̺4Y5=!5C==5A9A9EDYAEAE>IQ 1U4٪MN?Q 5U4M1 M_B9BЌBH ?@??L?`Vu?[?`Ӻп@?IB@)BBb;i@N@B9N"IBDV6DV=4Y^!bR=b:3d9d9fDYdfἼAf>hQ 1n4٪j?Q 5n4j22 j_B9pYrQ Er?yjܠC)j;Ij;ij.54Ytv AxI ɡiIi ) =69IIIYIaNm=QI)SkAIZAiE2ƿESkAE1Aԑԩ Y},%*Ay66@ٱ6@6>6wü6H?`2?C ?U ?߆?пM?I66@)6xb;i4`n?B9r"Itiv%=BDz6Dz(4Yͻ!F= 'a9a9mDYiA>Q 14٪?Q 54s2 _B9 YQ E=?yޠC); )  A},s9%*A AB9 "IiMb@Mb@Mb@ )Iiy&1?~jt`e<I- Ai@"A) ABD6Df4Y#<!==Q)>99DYA>Q 14٪?Q 542 _B9%=Q A61aǼ6H?cH?l{?`q@W?T|?clѿ``??I6H@)6 c;i6CNLB9R"IBDZ6DZ4Yb'g=!b^=b@d9d9fDYdf3Aj>hQ 1n4٪jU?Q 5r4j>3 j_B9pYrݤQ Er?yjC)j;Ij;ij]J4YtzJ AxI ɡiI i )w9IIIN=i} >I} 4=Y Ě},)m%*Ay>E˿@ٱ>@>q>>ʼ>H }? y?`?*?t?ѿH` ?I>E˿@)>b;i>CJOB9J"IMb@Mb@Mb@ )IiMbp?+Mb`?;;I AiA@$A) ABD-6D-Q4Y=|<!=C=E;Q)E>A9A9MDYIM厼AM>QQ 1]4٪Uf?Q 5]4U3 U_B9e =Q AeI9I9MDYIMAU>QQ 1m4٪Uw?Q 5}4U4 U_B9YQ E?yUC)Ub;IU;iUX4Y3 AI ɡiIi)q9I1IAIINU>ԡ) BDAT read: Rx Time:16:16:26.8579 TRx dataTimestamp_ set to:1755879386.370952 ֧},ߠ%*Aɰy6qj@ٱ6g@6xא>6ϼ6H K?i??b ?a?[ѿط?I6qj@)6b;i6CBTB9B"IBDJ6DJ4YR<!RU=V=T9T9VDYXZAZ>\Q 1b4٪^?Q 5b4^}4 \9`YfdĿQ Ef?y^C)^;I^:i^z_4Yhj AhI ɡiIi)9IaIIN=) 5 DAT read: 16:16:26.8579 LVL= 28736, 26097, 22450, 27187, AGC= 46, IDX= 442, 0.12,-1.763,-0.040,-1.715,-0.470, PHS=-1.192, 0.474,-1.289, RAW= 332.8, 22.5, CAL= 332.5, 27.2, ROT= 177.5, -27.2 = Ygot valid direction response: 16:16:26.8579 LVL= 28736, 26097, 22450, 27187, AGC= 46, IDX= 442, 0.12,-1.763,-0.040,-1.715,-0.470, PHS=-1.192, 0.474,-1.289, RAW= 332.8, 22.5, CAL= 332.5, 27.2, ROT= 177.5, -27.2 M PDAT read: Bearing 307.6, 15.5 (Local) U ~Local bearing/azimuth received: Bearing 307.6, 15.5 (Local) ] DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s e *DAT read: user:114> m BDAT read: Tx time:16:16:27.9510 m $Ping request sent.m I i ޹@ > @ > DF@  i  I F#I迡:%% s? k$ Ⱦ  DF@) i   :publishing transmit ping timeYi  Fpublishing direction and range info9  *oKݣ?RA?  i      ) I i      i  I F#I迡:%% s?   ) i  },%*AQy1@ٱ;/@h0>ռH?@D??@?.G? ҿ8਱?I1@)lb;iCUB9"IMb@Mb@Mb@ )Ii~jtx?L7A`堿;+I- AiGA@)BD 6D z4Y;! =%Г;Q)%>!9)9-DY)-AA->1ie=Ieԩ },B%*A<~&B9~"IBD56D5=4YE^!E=EQ)M6?I9I9MDYIUAU6?YQ 1e4٪]?Q 5e4]75 Y9aYaQ Ee?y]C)]\:I]:i]m4Yiux AqI ɡiIi)-ر9ԱII)I)N5 > },q%*AiyBX)@ٱB&@Bdƒ>BؼBH`5?@V?@Q+?@M?E?ҿX?IBX)@)B3eb;iBCJWB9J"IlEMb@Mb@Mb@ A)AIAiAAE/$?I +{GztE!mH=mU7;Q)m>q9q9uDYq}`&A}>Q 14٪M?Q 54y5 _B9~ ) 1a },L%*AUB9"I%4=%<)) )I-AA)-BABD56D5 49YM] !ML=MQ)M>Q9Q9UDYQUA]>aQ 1e4٪e?Q 5m4e5 e_B9iYiQ Em?yeC)e:Ie:ie|4Yqu AyI ɡiIi) 9II I N >iԙ $},("%*AyF/@ٱF-@F4w>FмFH?@5?`>? @e?a2-ҿ?IF/@)Fja;iFCNbB9R"IBDn6Dnz4Yv=!zP=z1a;Q)z>|9|9DY~:A>Q 14ԙ٪r?Q 545 _B9YatQ E?yC)  N},<%*Aɰy6 C@ٱ6m@@6[ԓ>6Kp6H࣎?? G?`@?W`9ҿA-?I6 C@)6kha;i4B_B9B"I-Mb@Mb@Mb@ )))I)i))-{Gzt?~jtx-ף;-Ļ-I)i-GA)-X'A))-Q ABDE6DE34YU\!UD=U:Q)U>Y9Y9]DYYez;Ae>iQ 1u4٪m?Q 5u4m 6 m_B9u;Q Au=YuzQ E?yi)mQQ iQ I G) lAI Ai ÿ lA Ay 6},"U%*AyR}@ٱRz@R>R`RH?`?Z? ij?a Oҿ+?IR}@)Ra;iRC^]B9^"Iib=Ib=difR=BDf6Df4Yr5!rR=r;k;Q)r>t9t9vDYtvj<Az>xQ 1~4٪z?Q 54z6 x9YOyQ E?yzC)z;IzI;iz4Y   AI! !ɡ)i)I)i))1=d?=/?599Y@\'8II1I1N==ԁԱ 7`},o%*AyJ@ٱJ@JwД>J-JH??b?೰ ?6YJWҿƦ?IJ@)Ja;iJCVcB9V"I]Mb@Mb@Mb@ Y)YIYiYY]~jt?I +?Mbp]D<]94<]I]C Ai]AYY)Y] ABDu6Du4Y<!@=:Q)>99DYb)<A>Q 14٪! ?Q 545 _B9RBDAT read: Rx Time:16:16:30.3579 TRx dataTimestamp_ set to:1755879389.902714 9 H},-%*AiyNſ@ٱNV@N+>NNH`?9?@l?ڙ?F9bҿ@`3?INſ@)N<a;iNC^pB9^"IBDf6Df4Yn=!nV=r:Q)r>p9p9vDYtv ><Av>xQ 1~4٪z| ?Q 5~4z5 z_B9YW>?Q E?yzC)z:IzQ;iz$4Y  ( A I !ɡ!i!I!i)))l92@%!>*@%=@A0:IAIqIyN=9%DAT read: 16:16:30.3579 LVL= 28976, 21537, 19490, 25267, AGC= 45, IDX= 442, 0.01,-2.841,-1.282,-2.785,-1.622, PHS=-1.117, 0.385,-1.207, RAW= 332.9, 23.9, CAL= 332.5, 28.8, ROT= 177.5, -28.8 -Ygot valid direction response: 16:16:30.3579 LVL= 28976, 21537, 19490, 25267, AGC= 45, IDX= 442, 0.01,-2.841,-1.282,-2.785,-1.622, PHS=-1.117, 0.385,-1.207, RAW= 332.9, 23.9, CAL= 332.5, 28.8, ROT= 177.5, -28.8 5PDAT read: Bearing 306.0, 15.8 (Local) 5~Local bearing/azimuth received: Bearing 306.0, 15.8 (Local) EDAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s E*DAT read: user:115> MBDAT read: Tx time:16:16:31.4510 M$Ping request sent.UI~i+@>? iIZXΒHQ#߿7W?pT$PUվ )i}:publishing transmit ping timeYI}Fpublishing direction and range info98M{? = ?i )Ii iIZXΒHQ#߿7W? )iq ,u},dy%*A yNJ@ٱN@N>NKNH? ?y?u?d`/?Alҿaѣ?INJ@)N a;iNC|9|) I ) @ABD 6D 4Y!%F=%E:Q)%>!9)9-DY)-ZC<A->QQ 1]4٪U ?Q 5]4U5 U_B9aYe??Q Ee?yUC)U:IU:iUn4Yim+ AiI ɡiIi)z9q@΃:IIIN >ԑ ޜ},VJ%*AyJ!@ٱJ@J*>JꋼJH $?DZ?t?n?t.Nxҿ 6?IJ!@P)J`;iJCnLB9n"IMb@Mb@Mb@ )Ii/$?<I- Ai@'A)BD6D4Y*!A=:Q)>99DY2<A>Q 14٪ ?Q 545 _B9! },C:%*Aɰ$&4B[xBH?*?k?`o'? :Xҿ@?IB;@)BS`;iBCNnB9N"IBDV6DV=4Y^7>!^[=b:Q)b>`9`9fDYdfS<Af>hQ 1n4٪j ?Q 5n4jX5 h9pYrD?Q Er?yjC)j:Ijl:ijF4Ytv9 AtxI ɡi I i )-9"@5jA@5iA@:II)I)N5=!Iy *},%*Ay6^@ٱ6[@6kY>6`6H@:?@4?? \?[`Tҿ኿?I6^@)6`;i6CBeB9B"IDiD=Mb@Mb@Mb@ 9)9I9i99=Mbp?==<9I=1 Ai=bA=@=&A)9=Q ABDUY6DU̺4Ym*!m@=m:Q)m>q9q9uDYq}$<A}>Q 14٪ ?Q 545 _B9gԁԱ ˖~, %*Ay:z@ٱ: x@:Xr>:x{_:H *?ct??b`?@IOҿ &?I:z@):`;i8BtB9F"IBDN6DN4YV=!VW=Vb:Q)V>X9X9ZDYX^<A^>`Q 1f4٪b ?Q 5f4b4 `9dYf?Q Ef?ybC)b2:Ib>:ibS“4Yhn AlIt xɡxixIxi|)yԹ9@mc;IyIIN=Q ~,$$%*Aiy6[@ٱ6@6O>65yc6H??0??04?`1ҿ |7?I6[@)6 `;i6CBnB9B"IBDH6DHYR!RK=R*Q)R>T9T9VDYTZ;AZ>XQ 1b4٪Z ?Q 5b4Z4 X9`Yb?Q Eb?yZC)Zw;IZ;iZ]ɓ4Ydj8 AhIp pɡpipItit)t5ۺ92@M=*@M>@(;IiIIN=Aiԙ ~,G>%*Ay>@ٱ>@>r>>n@e>HK? 7?7?K :?JK?@'ҿn@?I>@)>r`;i>CFqB9F"IJ!>J=Mb@Mb@Mb@ )IiMbpI +?9<I AiA\'A)( ABD)6D)Y=]i<!EA=EmQ)E>I9I9MDYIMV;AM>QQ 1]4٪U ?Q 5e4UM4 U_B9e-ԡ ~,pX%*Ay6@ٱ6@6a>6S)Z6H`?@MƤ?v?Mƥ@?.{@?qҿ?I6@)6|`;i6CBrB9B"IBDJ6DJ4Yj;!jQ=n Q)n>l9p9rDYpr4;Ar>tQ 1z4٪vz ?Q 5z4v4 t9xY~?Q E~?yvC)v;Iv;ivד4Y AI ɡiIi!)!BDAT read: Rx Time:16:16:33.8578 TRx dataTimestamp_ set to:1755879393.439328u9@MR;IYIqIqN}=) ~,Gr%*Aɰ0 wB9"IMb@Mb@Mb@ )IiMb`Q?u<I Ai^A'A) ABD6D 4YF<!<=Q)>99DYA>Q 14٪n ?Q 543 9wDAT read: 16:16:33.8578 LVL= 29808, 23665, 19762, 23859, AGC= 46, IDX= 442,-0.04, 1.765,-2.988, 1.826, 2.974, PHS=-1.107, 0.367,-1.192, RAW= 332.8, 24.2, CAL= 332.4, 29.1, ROT= 177.6, -29.1 Ygot valid direction response: 16:16:33.8578 LVL= 29808, 23665, 19762, 23859, AGC= 46, IDX= 442,-0.04, 1.765,-2.988, 1.826, 2.974, PHS=-1.107, 0.367,-1.192, RAW= 332.8, 24.2, CAL= 332.4, 29.1, ROT= 177.6, -29.1  PDAT read: Bearing 307.6, 16.0 (Local)  ~Local bearing/azimuth received: Bearing 307.6, 16.0 (Local) DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s *DAT read: user:116> %BDAT read: Tx time:16:16:34.9500 %$Ping request sent.%Iui޹@@>@"?aF@ "iIH '|DW߿+B?r$tؾ aF@)"iM:publishing transmit ping timeY!MFpublishing direction and range info9Ͱͩ(廢?v ?i )Ii iIH '|DW߿+B? )iԹ -"~,$%*Ay:@ٱ:@:pg>:t+>:Hs?)?7N?)西~?S`Jҿ`tdž?I:@):0`;i:CNnB9R"IPiPiV=ITlBDZ6DZH4YvE!vY=zbٻQ)z>x9x9~DY|~G$A~>Q 1 4٪c ?Q 5 43 9Y?Q E?yC):IS:i4Y9 A!I) 1ɡ1i1I1i9)9.9@i{;I1IIIIIM%G)ekAIN=iʿkAA 1a )~,%*Ay:@ٱ:@:oq>:~8:H??0? EX9X9ZDYX^A^>`Q 1f4٪bX ?Q 5f4b3 b_B9dYf?Q Ej?ybC)b:Ib:ib4Yln@ AlIt xɡxixIxix)|9O9@=;IiIIN>iԑ !9/~,ٿ%*Aiy6@ٱ6@6'd>6>6Hת?z=? ?`?|qY ҿ`܆?I6@)6`;i6CBdB9B"I5Mb@Mb@Mb@ 1)1I1i115Mbp~jtx?55;1I5 Ai5t A5@1)11BDM6DM4Y]%!]?=eQ)e>a9a9mDYim{OAm>qQ 1}4٪u8 ?Q 5}4u3 q9K;Q A=Y@Q E?yq)u? ;IuT ;iu$4Y AԙI ɡiIi)o92@=*@=@U;II I N > 6~,Ĵ%*Ay6h@ٱ6Ȃ@6&>6N6Hï??? -ѧ ?hAPѿd`?I6h@)6`;i6CBhB9B"I)D DBDJ6DJ4YR<!RW=VлQ)V>T9T9VDYTZAZ>\Q 1b4٪^ ?Q 5b4^v3 \9`Yf@Q Ef?y\)^;I^/;i^4Yhjf AhIp tɡtitItit)x~jAi|u]9@M*;IYIqIqN}=!Qy )K<~,%%*Ay6,t@ٱ6q@6 Ϗ>63\6H?@?? nި`T?*QCѿ r@D?I6,t@)6ay`;i6C^tB9b"IEMb@Mb@Mb@ A)AIAiAAE~jth?~jth?Mb`ED;ED;EIAiE^AE@EA&A)AE ABD6D\4Y\=!9=»Q)>99DY_A>Q 14٪2 ?Q 54n3 _B9;Q A/>Y[?Q E?yC)<:I:i4Y AI  ɡiIi)Q-}9@ ;II)I)N= >ԁԩ ] BDAT read: Rx Time:16:16:36.8090 e TRx dataTimestamp_ set to:1755879396.210657Z;C~,* %*Aɰ<>;yZ\@ٱZBZ@ZEi>Z[hZH?W?`)?=I2?K@ѿu틿 [?IZ\@)Zق`;iXfiB9f"IBDl6DlYvi!vX=zeQ)z>x9x9zDYx~#A~>Q 1 4٪F ?Q 5 4g3 _B9 Y Z?Q E?y);Io;i 4Y] AI) )ɡ1i1I1i1)9%9"@)@)ԡ@;I I!I!N-=) D]I~,F'%*Ay6gG@ٱ6D@6!>6%|o6H1?@?Wk??.D@eeѿ Ό`?I6gG@)6`;i6CBlB9B"IiF=IF=F4=iF%=BDJ6DJ 4Yvd<!vK=v Q)v>x9x9zDYx~ջA~>Q 1 4٪\ ?Q 5 4_3 _B9 Y jY?Q E ?y)S:I:i4YF AI) )ɡ)i)I1i1)9Ea?E:?9DAT read: 16:16:36.8090 LVL= 29168, 22993, 21234, 26435, AGC= 45, IDX= 471,-0.04, 1.913,-2.675, 2.082,-3.075, PHS=-1.193, 0.444,-1.170, RAW= 329.3, 22.6, CAL= 329.0, 27.5, ROT= 181.0, -27.5 ԱYgot valid direction response: 16:16:36.8090 LVL= 29168, 22993, 21234, 26435, AGC= 45, IDX= 471,-0.04, 1.913,-2.675, 2.082,-3.075, PHS=-1.193, 0.444,-1.170, RAW= 329.3, 22.6, CAL= 329.0, 27.5, ROT= 181.0, -27.5 DAT read: OK :unknown deviceResponse_: OK *DAT read: user:117> @c;I)}BDAT read: Tx time:16:16:37.9000 I$Ping request sent.`direction in FSK: [-0.886876,-0.015480,0.461749]:publishing transmit ping timeY9!%;Ia쿈C8J?!i%q%Y%R%Cg%- %9)%S>I%•i%r@%>%@% >%-J@ % i!I%}X~ܿƋv?%U(%noʾ %G)% U:publishing transmit ping timeY9!%;Ia쿈C8J?!i!!!!! !)!I!i!!!!! !i!I%}X~ܿƋv?!! !)! ) PEP~,"A%*Ay6.@ٱ6+@6!U>6z6H`? -?k:? ?IC3ѿ 1@?I6.@)6z`;i4RhB9R"Il-Mb@Mb@Mb@ )))I)i))-I +?~jth?Mbp-94<)-I)i)-@-+%A))- ABDE6DE4YUޠ!UD=]Q)]>Y9Y9eDYaeAe>iQ 1u4٪m ?Q 5u4mX3 m_B9}EQ E}?ymC)m;Imv;imk4Yg AI ɡiIi)9 4Initializing EZServoServo. 8Initializing DockingStepper.@;IIN> 1a oV~,Z%*Aiy6>@ٱ6@6׉>6c6H?? ?Ȯ`.?0ѿ@S'`?I6>@)6ǩ`;i6CBT9T9VDYTZQAZ>\Q 1b4٪^!?Q 5b4^R3 ^_B9`Yfr>Q Ef?y\)^/;I^;i^4Yhj Ah9Ii qɡqiqIqi)92@=*@@M;IIN=iԑi= >I= :? D\~,t%*ASB9"I%=%t>)) )ԙMb@Mb@Mb@ )Iiy&1|?Mbp`;IiA@"A) ABD6DF4Y=!7=Q)>99DYA> Q 14٪ 9!?Q 54 T3 _B9 c~,]%*Ay6ڿ@ٱ6@6>6B6H?@H??@??k0Gп[?I6ڿ@)6C`;i6C^=B9^"IBDf6DfH4Yn!n^=nQ)n>p9p9rDYpvAv>tQ 1~4٪vf!?Q 5~4vU3 v_B9|Y~nQ E~?yvC)v;Iv;ivV,4Y  A  ,Initialize. ,dInitializing internal variables to default values.,RDetaching from dock at depth 66.119957 m.*NNNٺ9 N%+%4Failed to read sound speedI-ٺ9 1 1ɡ1i1I1i9)99I"@@hA@ ;I I N >q i~,%*Aɰ4BBH3?`d?z?5籿@?x]W qп ?IB(@)B`;i@J`9`9bDY`bAb>dQ 1j4٪f!?Q 5j4fV3 f_B9lYn笽Q En?yd)f~:Ifo;ifM34Ypr At,zlEngaging thruster for 10.0 seconds (max) to disengage."Nz*NxNxN| N|I   ɡ i I i)SQ@=;IIN- >ԁԩ 'p~,4i%*Ay:m@ٱ:ͥ@:+>:!:H`?@??J? )??iBп鏿 .?I:m@):Cg`;i:C9ii%=I%=Mb@Mb@Mb@ )Ii99DYA>Q 14٪!?Q 54^3 _B96d}6Ht9x9zDYxzgAz>|Q 14٪~ "?Q 54~e3 ~_B9 Y  Q E ?y~C)~:I~2:i~A4Y A"N!*N!N!N! N!I1 1 1ɡiIi)2@*@>@8<IIN=9 DAT read: OK  :unknown deviceResponse_: OK  *DAT read: user:118>  BDAT read: Tx time:16:16:40.8500  $Ping request sent. 99%DY!-A->1Q 1=4٪5!?Q 5=453 5_B9=J Vσ~,%*Ay6fR@ٱ6O@6|>6J6H@S?)?T? )Os?v UGϿf@?I6fR@)6`;i6CBB9B"IF>F<)D FABDJ6DJQ4pYz% !zY=~)Q)~>99DY ۟A >Q 1%4٪!?Q 5%43 _B9)Y- Q E-?yC)/;I0;iO4Y15 A1"NA*NANANA NAIQ Q QɡQiYIYiY)a@m <IIN= 1a ~,)%*Ay62@ٱ6{/@6y>66H?@?`? M?)Swο`ŏ ?I62@)6W`;i4B&B9B"IBDJ6DJ=4YR,=!RO=VQ)V>T9T9VDYTZ{$AZ>\Q 1b4٪^i!?Q 5b4^3 ^_B9`Yf=Q Ef?y^C)^/;I^;i^V4Yhju Ah"Nl*NpNpNp NpIx x xɡxixIx9i|)y"@jA@jA@U<IaIqN=qԑ ~,SC%*Aɰ;B9y"IԙMb@Mb@Mb@ )IiMbpQuI Ai5A@I A) ABD6D4Y]~!7=Q)>99DYA>Q 14٪7!?Q 543 9Y~ ~,~]%*Ay>j@ٱ>@>p>>˷>H`[? x?@z?@·`{?xͿ`"`?I>j@)>`;i>~C^B9^v"I`i`if=If=BDj6Dj4Yr>!r\=rQ)v>t9t9vDYtz{Az>-"jFailed to parse device response: |Q 1 4٪~ !?Q 54~4 ~_B9YSQ E?y~C)~l;I~K:i~d4Y% A!N)*N)N)N) N)IA A IɡIiIIIiI)Qi0@Qԩ 5~,@hw%*Ay6b@ٱ6@6l>6:6H?(,?)R?-?KQͿ%?I6b@)6}#`;i6}Cb+B9b"IuMb@Mb@Mb@ q)qIqiqquMb`?{GzMbPu;uףuIu AiuAquA)quG ABD6D4Ya=!?= Q)>99DYsA>Q 14٪ !?Q 54;4 _B9ܤI  BDAT read: Rx Time:16:16:42.7091  TRx dataTimestamp_ set to:1755879402.258664~,D%*Ai yV@ٱV@Vݔi>VD;VH@(? ?A?`Ӹ?s̿`|?+?IV@)V=`;iVCfB9f"IBDr6Dr4Yzvp!zV=~yQ)>99 DY  _ػA >Q 1%4٪ !?Q 5%4o4 _B9)Y- ˿Q E-?yC);I;is4Y9= AANI*NININQ NQI  ɡiIi)v?i?iԙ9hAgAA<A%=!! !! !!!! !! !! vB I>~B B M!IB %BB  =B B !%!% B B;B E nFailure count cleared after critical for DockingStepperi4@u Z)<I I N > G~,%*Ay:Ծ@ٱ:#@:BMg>:AYa=:H ?@Y??@: |? ˳`̿mp? #?PI:Ծ@)::|`;i:}CVB9V|"IZG>Z)\ ^ABDr6Drz4Yz0!zK=z Q)~>|9|9DYaA> Q 14٪ !?Q 54 4 _B9Y̿Q E?y C) ;I ;i  z4Y1= A9,ElEngaging thruster for 10.0 seconds (max) to disengage."NA*NININI NIIY Y YɡYiYIaia)mSQDAT read: OK :unknown deviceResponse_: OK i4@,<IYIN=>! /~,%*Ay6-ھ@ٱ6@6|1e>6Z=6H B ?V?@? ? ~`i̿ B9Bi"I|5Mb@Mb@Mb@ 1)1I1i115{Gzt?V-Mb?5ף;55a9a9mDYim:Am>qQ 1}4٪u!?Q 5}4u4 u_B9Qԁ Y~,|%*Aɰp;y6޾@ٱ61@6c>6>6HH? B?5?I6޾@)6܋`;i6}CBB9Br"IBDJ6DJ 4vBVJ>~BTBVA!IBVBBV =BTBTBVjB;BVjEY^V=!bU=bsQ)b>d9d9fDYdf:Af>hQ 1n4٪j6!?Q 5n4jG5 j_B9pYr2Q Er?yj C)j;Ij;ij4Ytv Ax"N|*N|N|N| N|I   ɡiIi)YiAiu9i    @3 ԉ@7<II N*>Ա 7~,ǽ%*Ay^?@ٱ^@^ 5b>^ >^H@?4?@?kt?`Ŀ` ̿ ? 9?I^?@)^7#`;i^~CfB9f_"IhihUMb@Mb@Mb@ Q)QIQiQQUMbp?99DYz;A>Q 14٪M!?Q 545 _B9 =Q A <I I N >A m~,d%*AI6^G)@ILif俹dfAy @ٱ @ B`> v> H@???}?`ZUÿ`˿`[??I @) %`;i %B9%`"IBD56D5 4YE,;!EU=EdQ)M>I9I9MDYIU˕;AU>YQ 1e4٪]a!?Q 5e4]6 ]_B9aYeQ Em?y]C)]:I]:i]u4Yqu Aq"Ny*NyNN NI  ɡiIi)imiim?0i@"A<IIN>AA@AAAAvBI>~BB.!IB BB =BBB^B;BdEiԹ ~,f,%*Aiy6@ٱ6^@6g_>6=6HP?H?[?i ?˿N?S?I6@)6_;i6}CNB9RP"IBDV6DV4Yfي!jR=ĵQ)j>h9l9nDYln-;Ar>pQ 1v4٪rw!?Q 5v4r~6 r_B9xYz;Q Ez?yrC)r\:Ir:irA4Yy} Ay"N*NNN NI  ɡiIi))i)15501@ 1F<IyIN&>) |~,=F%*Ay60 @ٱ6@6CF]>6O=6H@?ν?? ?a`q˿`aO? ?I60 @)6`;i4BB9BT"IF%=F< Mb@Mb@Mb@ ) I i   :vQ rh? T u C9999=DY9E<:AE>IQ 1U4٪M!?Q 5U4M6 M_B9Ui%=I%=yԩ ~,`%*AvB&J>~B$B&!IB&BB$B$B$B&D;B&qEB B B B B B T 5@%B9%V"IBD56D54Ye <!eG=mQ)m>i9q9uDYquAu>yQ 14٪} ?Q 54}6 }_B9YQ E?y}C)}:I}W:i}4Y A"N*NNN NI  ɡiIi)iqqqu0qԩ@MP<I)I9NM1> O~,+z%*AɰDF;`yf? @ٱf @fX>fx =fHS%?`@ֽ?N?@w? _`ʿ%4??If? @)f_;idnB9nE"IMb@Mb@Mb@ )IiV-y&1Zd;O?`ej99DY9A>Q 14٪?Q 546 _B9"=Q AI ~,>ϓ%*A~B9~A"IiBD6D4Y%!%V=%Q)%>)9)9-DY)5A5>19Q 1E4٪5?Q 5E45"7 5_B9IYIQ EM?y5C)5>+;I5:,;i54YQUT AQ"N*NNN NI  ɡiIi)ih32@=*@@m%[AE<AE<vBMI>~BIBIBIBIBIBIBMG;BMEԑ ~,%*Ay:G@ٱ: E@:oR>:p>:H`5?a?@DK?׵ ?5¿ʿ`g?+?I:G@):O_;i:{CFB9F9"IBDL6DLYV!VR=V7Q)Z>X9X9ZDYX^˜<A^>`Q 1f4٪b*?Q 5f4bI7 b_B9dYf'Q Ej?ybC)b:Iby:ibw4Yln Al"Np*NpNtNt NtIx | |ɡ|i|I|i)ԙi3@u_<bA}jAZA}hAI I!N- > ~,%*Aiy6zw@ٱ6t@6N>6%>6H@?`J??fύ?¿ɿY?@.?I6zw@)66_;i6}Cb߃B9f2"IMMb@Mb@Mb@ I)IIIiIIMQ:vMb?MuMTM99DY ]<A>Q 14٪?Q 54q7 _B9->iMIIM5I@%e<)I9IQN]v>Qy vBA ~BA BE !IBE BBA BA BA BE QJ;BE OEw~,a%*Ay6@ٱ6T@6(I>6ݶ=6H`J?㧹?@`?`M?rrɿ`qǾ?4%?I6@)6_;i6{C@9B3"IF=F=BDJ6DJ4YR:!VY=V?Q)V>X9X9ZDYXZB<AZ>\Q 1b4٪^G?Q 5b4^7 ^_B9dYfQ Ef?y^C)^:I^:i^Δ4Yhj Al"Np*NpNpNp NpIx x xɡ|i|I|) i9)AYi4@dj<ԁIIN=>Ա !~,F%*Ay @ٱ @ |}D> ph= HS?$?j?2z@]? I+iȿ 9? .?I @) _;i }C%؃B9%*"IMb@Mb@Mb@ )Ii/$~jt?Mb?D<I9AiQA@A) ABD6D4Y!6=E5Q)>99DY;A > Q 14٪ ?Q 54 r7 _B9  *DAT read: user:119>  BDAT read: Tx time:16:16:49.3509  $Ping request sent. B4$>BH\???Oz? ǿ? !.?IBؿ@)B|_;i@σB9 "IBDe6De4Y'!L=)Q)>99DYF%<A>Q 1%4٪?Q 5%4T7 _B9!Y%#@Q E%?yC):Id:iyݔ4Y15,AQ"NY*NYNaNa NaIi q ɡiIi))iIIIM1I@%\u<IIN=>AA@AvBH>~BBBBBBBL;BE9=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250977i 1 ,I.%*A y:@ٱ:v@:Q;>:c >:He?c??Lx@?¿ Rǿ`e%?+?I:@):r_;i:{CnʃB9n"IpipBDz6Dz4Y!Z=EQ)> 9 9 DY  1<A>Q 14٪?Q 5%497 _B9!Y%e$@Q E%?yC);I;i4Y)5WA1"N9*N9N9N9 N9II I QɡQiQIQiY)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503168im32@=*@i@z<IaIqN}>ԡ )A A M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755221,H%*Ay68@ٱ6@66>6.>6H[n?`??@L?=ƍ?@ÿbƿ 8*?`)?I68@)6 c_;i6|CPRԃB9V%"IMb@Mb@Mb@ )IiI +~jtx?:v?94;T99DY<A>Q 14٪?Q 54&7 _B9==Q A@Q E?yC)j:I:i4Y   A"N*NNN NI) ) )ɡ1i1I1i9)9io0i_C@! vB ~B B "!IB BB =B B B pN;B VEC,b%*Aiy6 5@ٱ6j2@61V1>6>6Hw?@wT? ?`щ?|aĿ`sƿN?@*?I6 5@)6_;i6~CBɃB9B"IBDJ6DJ24YRi!Ra=RnQ)R>VK?9VK?9VDYVxDZ)<AZ>XQ 1b4٪Z?Q 5b4Z7 Z_B9dYf?@Q Ef?yZ!C)Z%;IZ%;iZ4Yhj^Ah"Np*NpNpNp NpIx x xɡxixI||i)iAfA=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265613i1@"<)AwAIINE>Yi>I?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515221ԁ p,|%*AyMW@ٱMU@M);+>M%>MH? ??E|??NĿ Mſ?b2?IMW@Y)M}_;iMzCeЃB9e "Im=m>)q uA%Mb@Mb@Mb@ !)!I!i!!%DlQ?y&1?%O%u<%`eUMR?9UMR?9]DY]D]<A]>aQ 1m4٪eV?Q 5m4e6 e`B9um=Q Au8  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018933U%,`%*Ay6*|@ٱ6y@6g$>6>6H@?Gq?`O?@h? gÿ`vĿ//?`vB?I6*|@)6\_;i6}CbɃB9b"IBDj6Djo4Yr#(!vd=vØQ)v>vU?9zU?9zDYzDzK<Az>Q 1 4٪a?Q 5 46 `B9 Y 9@Q E ?y(C):I:i$4YcA"N!*N!N!N) N)I1 9 9ɡ9i9I9iA)AԹiM0@b<A<A<vBI>~BB(!IBBB =BBB}O;BEBIBIBIBIBIBMU4A AI!I9NEQ>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271070I +,;%*Aɰ4<46>6H?ٰ?@fY?9fY?9fDYfDfA;Af>hQ 154٪j2?Q 554j6Q 9=tI j`B99Y=9@Q E=?yj+C)jY]qM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774982ԙ g2,D%*AyJ@ٱJa@J>J=JH?@\?@?ȥ;?4~W¿?@i?IJ@)JP_;iJ{CZȃB9Z"I\i\!@! Mb@Mb@Mb@ )Ii333333y&1?Mb`?`<;I@iQAA)BD6D4Yš!;=hQ)>z\?9z\?9DYD<A>Q 14٪?Q 5486 $`B9=Q A%@Iߥ%=BDAT read: Rx Time:16:16:51.7583 TRx dataTimestamp_ set to:1755879411.342942checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028266AAIINb>vB ~B B 4!IB BB =B B B P;B ,E 8,a3%*Ay6@ٱ62@6>6+=6H>?@k?@'H?w@?}e ¿ P?p?I6@)6_;i6xCBÃB9B"IBDJ6DJ4YRe!R\=VQ)V>V_?9V_?9VDYZDZK<AZ>\Q 1b4٪^F ?Q 5b4^5 ^*`B9dYf/@Q Ef?y^4C)^r;I^_:i^;4YhjdAhrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279106"Nt*NtNtNx NxI|  ɡiIi ) i 0Թ@m <AAIINA>DAT read: 16:16:51.7583 LVL= 17200, 12529, 23714, 29315, AGC= 46, IDX= 407, 0.42,-0.692,-0.469,-1.780, 0.368, PHS=-0.959,-0.792,-2.192, RAW= 23.7, 46.5, CAL= 22.3, 51.3, ROT= 127.7, -51.3 Ygot valid direction response: 16:16:51.7583 LVL= 17200, 12529, 23714, 29315, AGC= 46, IDX= 407, 0.42,-0.692,-0.469,-1.780, 0.368, PHS=-0.959,-0.792,-2.192, RAW= 23.7, 46.5, CAL= 22.3, 51.3, ROT= 127.7, -51.3 PDAT read: Bearing 270.3, 39.4 (Local) ~Local bearing/azimuth received: Bearing 270.3, 39.4 (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: [-0.382353,0.494707,0.780430]Fpublishing direction and range info9Swxؿ0F? 2I?@i0C0\r. u)JII i>O?SF>5e?l@ 5eiIk)A%t3?B׿[O l@)5ei 9 >,f%*A`i`y}i@ٱ}@}e >}rU>}HF?ӫ??!֡?@?8?r?I}i@)}`;iy˃B9"I!=!= =Mb@Mb@Mb@ 9)9I9i99=`" rh?Mb`?==C =9I=E@i=A=@=A)9=ABDU6DU4Ye=!e1=eS^Q)e>mCc?9mCc?9mDYmDuv;Au>yQ 14٪}?Q 54}w5 }4`B9>Q A;YE5@Q E?y};C)}:I}:i}L4YA"N*NNN NJM֟?RM`LL#%*AM@ M@"M'@:Mj\]Z)*?iB?*MSwxؿ0F? 2I?Ml@M5eBMdN]㿤{p ?߉I,@2MDW#пGa#?&2?Lu?LLO7՟?LY8LBI  ɡiIi)) ) i/@<9AIIN>a E,%*A0y:V@ٱ:@::>:N >:H@?k?)?~?3¿Pj?^p?I:V@):$_;i8rŃB9r"Iv=v;)t tBD~6D~4Y P! f= OQ) >99DYD;A>!Q 1%4٪%(?Q 5-4%5 %<`B9)Y-}5@Q E-?y%AC)%`:I%:i%#4Y1=TA9"NA*NANANA NIIQ Q YɡYiYIYia)ai0ԑ@-a<vB-G>~B)B-A!IB-BB- =B)B)B-P;B-gEA}rAIIԹNc> K,1%*Ay6x%@ٱ6"@6=6M>6H`??@+?h@?@eÿ౞@?`ek?I6x%@)6mL_;i6zCBɃB9B"IBDJ6DJ̺4YRۙ<!RQ=RɥQ)R>Vf?9Vf?9VDYV+DZ<AZ>X`Q 1b4٪ZC?Q 5f4Z4 ZE`B9dYf5@Q Ef?yZGC)Z ;;IZ;;iZU*4Yhj6Al"Nr,rThruster off.*NpNpNp NtIx | |ɡ|i|I|i)i@<rA^?jAw?IINK>!I TR,9`K%*AyJE@ٱJC@J!=J >JHi9i9mDYmCDu<Au>Q 14٪&?Q 54M4 N`B9Z,>Q A;Y:@Q E ?yPC):I:i24YFA*NNN! N!I) 1 1ɡ1i1I1i9)9IMiAi0I@<bAZArAjAqA5I9IQN]>ԡ vB% F>~B! B% M!IB% %BB% =B! B! B% P;B% E6X,X:e%*AyJh@ٱJ9f@J=J|#>JH ?ܢ?i:?`L?@gĿi=?@l?IJh@)J: _;iJ{CVB9V "ITiTiZ=IZ=^C=i^4=BDn6Dn 4Yv !vR=zQ)z>z9~9~DY| (4<A >Q 14٪?Q 543 U`B9!Y%:@Q E%?yXC);If;i84Y)-}A)*N1N9N9 N9II I IɡIiIIIiQ)Qԁi 0@<II N>ԡ _,)%*Ay@ٱ@'=?>H&??nҷ? ?¿@:U??I@)b_;iyCB9"IUMb@Mb@Mb@ Q)QIQiQQUB`"ɿMb?:vUNU=UTIU@iUQAU@UA)QUABDi6DiY}.!}3=}~Q)}>99DYM<A>Q 1 4٪?Q 5 4~3 Z`B9 Q>Q A ;Y =@Q E ?yeC)i ;I ;i@4YBAE*N!N!N! N)I1 1 9ɡ9i9I9i9)Ai/"@%@%2@%*@%!IIN>I G) ;mAI i% ̿% ;mA% AQ iߵ =Iߵ 4=.e,|%*Ay6b@ٱ6@6ö=6=6H@?^?a? 퇿 ?tжS?ʳ?I6b@)6 _;i6wCNB9R!IBDV6DVF4Y^ru!bl=b6Q)b?`9d9fDYdf<Af?hQ 1n4٪jj蟊?Q 5n4j/3 j]`B9pYr=@Q Er?yjmC)j;Ij;ijF4YtvAt*NxN|N| N|I   ɡ i I i) %>%>1iuqy} 0yIIN=vBG>~BBZ!IB/BB =BBB*Q;BEaԑԹ 8l,C˲%*Ay>@ٱ>z@>߳=>*=>H@y?q?ď?@F ? &`д`0P?s?I>@)>c`;i>yCFB9F!IJ=J<)L NAIL)LBDR6DR4YZ"!ZK=^Q)^>\9\9bDY`b3;Ab>dQ 1j4٪f៊?Q 5j4f2 f_`B9hYn>@Q En?yfxC)fK:If;ifM4YprAp*NtNxNx NxI  ɡiIi ) ԑi0IIN=)) - A s,%*Ay6@ٱ6R@6=6M=6H@'??@~h?v0}!?`)tز?`?I6@)6`;i6zCNB9N!IMMb@Mb@Mb@ I)IIIiIIM̿kt?I +MffM 0=M9IM@iM- AM@M A)IMABDe6De̺4Yu!u>=}Q)}>y99DY;A>Q 14٪jٟ?Q 54K2 ^`B9k>Q Af;Y%<@Q E?yC) ;I ;i,U4YA*NNN NI  ɡiIi)i511501IAIQNe=A vB J>~B B s!IB CBB =B B B AQ;B EBBBBBB85_.y,,%*Aɰ; y:@ٱ:]@:6=:$q=:H?@҂? ?`(pj? Rv8?`?I:@):A`;i8^B9^!IBDf6Df=4Yr !rT=vͼQ)v>t9t9zDYxzf&<Az>|Q 14٪~ҟ?Q 54~1 ~]`B9 Y I<@Q E ?y~C)~:I~:i~[4Y@A*NNN NI  ɡiIi))iMQQU/QIaiIyN=ԙiߕ=Iߕ< =,F]%*APy] @ٱ]:]W=]$M>]H?ns?@5ժ? \?ܿ?/謹@z? ?I] @)][_;i]yC9!i!i%=I%=Mb@Mb@Mb@ )IitVο rh?:vrC<ԼI@i^A@A)\ABD6DF4Yp:!/=ҶQ)>99DY-<A>Q 14٪ȟ?Q 541 X`B9t>Q A^;YC@Q E?yC) ;I" ;id4YBAE*N N N  N I  ɡiIi)iaiim0iIINB>! Y@,X8%*A|B9!IBD6D 4YEB!Mf=MQ)M>I9Q9UDYQUAU>YQ 1e4٪]?Q 5e4]g1 ]T`B9iYiQ Em?y]C)]:I]:i]>j4YquVAy*NNN NI  ɡiIi)iIIQU0QIaIN=)vBmM>~BmCBm!IBmMBBm =BiBiBmSQ;BmEYԁ ij,84%*Aiy6Yx@ٱ6K<6=6u>6HQ?C~ߠ? t? ?aÿ il?` ?I6Yx@)6^;i6xCBB9B!IBDJ6DJ4YR/=!RV=RbQ)R>T9T9VDYTVk<AZ>XQ 14٪Z?Q 54Z:1 ZM`B9YHD@Q E?yZC)ZSFH ?_s@̗? _?Ȱ?ԟ?`?IF}@)FY^;iFyCNB9R!IR99DY&<A>Q 14٪?Q 541 A`B9g>Q Aj;Y E@Q E ?yC):IZ:ix4YkA*NN!N! N!I) 1 1ɡ1i1I1i9)9iIIN >vBm O>~Bi Bm !IBm WBBm =Bi Bm \DBm dQ;Bm EA |,g%*Ay6|@ٱ6<60<6[=6H ?@ T?~?@?`Bƽ??I6|@)6^;i6wCBB9B!IBDJ6DJ(4YR8!Ra=RQ)R>T9T9VDYTZz;AZ>XQ 1b4٪Z?Q 5b4Z0 Z5`B9`YbvE@Q Eb?yZ̡C)Z@;IZ;iZ 4Yj~BjZAjE*NlNlNl NlIt t xɡxixIxix)iIIN=Aqԙ of,%*Aɰ;yzY@ٱz޳q99uDYq};A}>Q 14٪?Q 540 %`B9YE@Q E?y١C)$;I%;i$4YtA*NNN N+B*** querying acoustic contact ***LLI  ɡ iIi) %>%>)  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iIIN}8>ԙ *DAT read: user:120>  BDAT read: Tx time:16:16:59.4009  $Ping request sent. 9999=DY9EY;AE>AQ 1M4٪E?Q 5U4E0 E`B9w>Q A\;YoE@Q E?yEC)E~BB!IBgBB =BB[DBQ;BEiIIN'>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819) ,[%*Ay:@ٱ:G<:#,:=:H? ǐ ]?`?@,-@/%? ?`?I:@):$2_;i:vCBrB9B!IBDN6DN4YZŽ!Zd=ZQ)Z>\9\9^DY\bI3<Ab>dQ 1f4٪f?Q 5j4f0 f`B9hYjE@Q Ej?yfC)f:If :ifC4Ypr`Ap*NtNtNt NtI| | ɡiIi ) i}4=I}=}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503355i0IIN=Iԁԩ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755508t,76%*Ai@y>%@ٱ> =>󼹱>@>>H?`@ߙg4? ?J{?*?`?I>%@)>^;i>wCJB9J!IMb@Mb@Mb@ )Iiy&1̿~jtx?/$`e;,I@iGA9AOA)ABD56D54YE=!EA=EüQ)M>I9I9MDYIU{9<AU>YQ 1e4٪]?Q 5e4]0 ]_B9eti>Q Aeh;YeG@Q Em?y]C)]:I]{:i]4YuyBuAuE*NyNyN NI  ɡiIi))IiII݈G)kAIi2JkA`:Ai5115/1IAIQNe=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006826vB J>~B CB !IB {BB =B B B Q;B E! ʹ,E%*Ay6RL@ٱ6=6!6 >6H@?4@6S? ? }"???I6RL@)6^;i6zCB}B9B!I@B<)D FAIH)HBDJ6DJ4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258718|Y}W#!}G=ZQ)>99DY:<A>Q 14٪N?Q 54v0 _B9Y!H@Q E?yC)8;I;i֢4YA*NNN NI  ɡiIi)imiiqqIIN=!9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891a d,9%*AyFq@ٱF/=FFF>FH?-`x \??`= ¿YӨ??Ѧ?IFq@)F ^;iFvCNB9R!IBDj6Dj 4YD=!S=Q)>!9!9-DY)5><ԁA>Q 1 4٪{?Q 5 4p0 _B9AYEhH@Q EM?yC)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863,%*Aɰ$$yB$@ٱB@=B?jB>BH?kީ2?@V? C?`_??IB$@)Bb_;iBwCJB9J!IMb@Mb@Mb@ )IiQ˿{Gzt?kt(\ף; 0I@i AAE@)ABD56D54YEpn=!EE=EQ)M>I9I9MDYIU'<AU>YQ 1e4٪]t?Q 5e4]o0 ]_B9e`>Q Aer;YeH@Q Em?y]C)];I];i]క4Yqu,Aq*NyNyԹN NI   ɡiIi)9EiAEjAvB~BB!IBBB =BBBQ;BEBeCBeCBaBe =Be =BeÑ5i/IIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884A ,@6%*Ay:@ٱ:6O=:+:=:H?;`թ?? _`?9??I:@):8_;i:vC^B9b!I`i`if=If=BDj6Dj4Yr~!rR=v4Q)v>t9t9vDYtz<Az>|Q 14٪~m?Q 54~q0 ~_B9 Y HQ E ?y~)C)~:I~N:i~4YsBaA*NN!N! N!I) 1 1ɡ1i1I1i9)91]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519006iIIN=aԑ BDAT read: Rx Time:16:17:01.8089  TRx dataTimestamp_ set to:1755879421.183827% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773336 =,x|P%*Ay6R@ٱ6k\=6I6=6H`? _; v?@? '#NӲ???I6R@)6x`;i4BB9B!I5Mb@Mb@Mb@ 1)1I1i115̿:v?{Gz5ff5<5#I1i5t A5A5@)15(ABDM6DM'4Y]*<!]C=]7Q)e>a9a9eDYam;Am>qQ 1}4٪ue?Q 5}4u>0 u_B9}k>Q A}f;Y}C@Q E?yu5C)ue;Iu;iu4YSA*NNN NI  ɡiIi)ԑiUQQQQIaIqN=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022870vB L>~B CB !IB BB =B B B Q;B E ,Xj%*A8i8nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276818y\@ٱpj=~X=H`? °?1?t?G5Ŵ?` ??I\@)k`;iwCB9!IBD6D4Y*;!?= Q)>99DY%,<A%>!Q 1-4٪%]?Q 554% 0 %n_B91Y5D@Q E5?y%AC)%;I%+;i%wƕ4YAELAA*NININI NIIY Y aɡaiaIaia)i u>u>i0I)IANe>iu=Iu%=DAT read: 16:17:01.8089 LVL= 25248, 19617, 30290, 32755, AGC= 46, IDX= 453,-0.02,-2.443, 1.676,-2.989,-2.730, PHS= 0.388,-1.833,-0.303, RAW= 132.3, 17.4, CAL= 130.9, 18.5, ROT= 19.1, -18.5 Ygot valid direction response: 16:17:01.8089 LVL= 25248, 19617, 30290, 32755, AGC= 46, IDX= 453,-0.02,-2.443, 1.676,-2.989,-2.730, PHS= 0.388,-1.833,-0.303, RAW= 132.3, 17.4, CAL= 130.9, 18.5, ROT= 19.1, -18.5 PDAT read: Bearing 181.7, 24.1 (Local) ~Local bearing/azimuth received: Bearing 181.7, 24.1 (Local) DAT read: Range 11 to 50 : 2.9 m (Round-trip 3.9 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.896117,0.310308,0.317305]Fpublishing direction and range info9quh? ?Hs%N?u9@qiubuLuRvuq u>)uIu"iu@u|>uy7@uMQ>u㭪> uMQiqqIuDi?e?KC;+?u[>u۽ u㭪>)uMQiqqI ,Y5%*Ay6@ٱ60z=6+6=6H?ꣴ!??`蝶?@C&?@z?I6@)6_;i6uCnB9n!Ir=r4<)t tBD6D24Y-O<!5Z=EyQ)E>Q9Q9eDYamT%<Au>!Q 1e4٪%-V?Q 5e4%/ %W_B9iY}7D@Q E?y%LC)% G:M}8@?]$r?*Mh? ?Hs%N?M㭪>MMQBMtp<@Le?P?2M8{J? V? tl?Lp?L@LJ$?L`%LBI  ɡiIi )i/IINB>yԩ *,%*Ay:+@ٱ:F=:Aý:>:HF?簳x D? e?&^??[?I:+@@):=_;i:yCFB9J!IMb@Mb@Mb@ )IiA`"˿S㥛?~jtY/<IM@iAA@)ABD-6D-ߢ4Y=I!=!=I=ElQ)E>A9A9EDYIM7<AM>QQ 1]4٪UO?Q 5]4U/ UB_B9]F^>Q Aet;YeC@Q Ee?yUVC)U;IU;iUԕ4YmaBmiAi*NqNqNy NyI  ɡiIi)iMQQU0QA]<A]<vBeJ>~BeCBe"IBeƒBBe =BaBaBeQ;BeEԩIIN> U,p%*Aɰ4<y6R@ٱ6=6Uн6>6H?@mDJO?@?U??֍?I6R@)6R^;i6uCbB9f!I|BDj6Dj4Y ü! M=DQ)>99DYD<A>!Q 1-4٪%H?Q 5-4%/ %+_B91Y5C@Q E5?y%aC)%:I%W:i%ە4Y9=A9*NANINI NIIQ Y YɡYiYIYia)a)qiI!I9NE=)Yԁ <,%*Ay6v@ٱ6@=6J۽6R3>6H>?@Ή`j?n?D@d?@??I6v@)6^;i6rCBB9B!IDiDiF=IF==Mb@Mb@Mb@ 9)9I9i99=$C˿y&1?q9q9}DYy},<A}>Q 14٪#A?Q 54S/ _B9_>Q As;YC@Q E?ylC)<:I:iV4Y@A*NNN NI  ɡiIi)iuqqqqIIN=ԉԱvBU G>~BQ BU ("IBU փBBU =BQ BQ BU Q;BU E f,%*Ay6&@ٱ6j=6役6=6H2?p ܹ@??@ $??`?I6&@)6^;i6uCNB9R!IBDZ6DZ4Yb<!bV=bVQ)b>d9d9fDYdj)0<Aj>hQ 1r4٪jb:?Q 5r4j+/ j^B9pYrCD@Q Er?yjwC)j;Ij;ij4YxzAx*N|N|N| N|I   ɡiIi)!Թi0IIN=I N,F{&*A i y>@ٱ>J=>V>=>H?D%޴?ɥ? @BŽ???I>@)>^;i>tCFB9F!IBDR6DRծ4YV!VL=Z0Q)Z>X9\9^DY\^<Ab>`Q 1n4٪bH3?Q 5r4b/ b^B9tYvD@Q Ez?ybC)bQ;Ib׾;ib4Y|~yA*N N N  N I  !ɡ!i!I!i!))5jA1!iII)NU=AIeG)};mAIi7;mA*Aqԙ x,V&*Ay6u@ٱ6=66=6H`#? ?Ǩ?P?Z?`?I6u@)6g^;i6sCbB9b!If=fp<)d fAMMb@Mb@Mb@ I)IIIiIIM> ףp=ʿkt?=}Q)}>y99DYz;A>Q 14٪+?Q 54. ^B9Y>Q Ay;Y?@Q E?yC) ;I ;i4Y[B AE*NNN NI  ɡiIi)qAAvBE>~BCBA"IBBB =BBBR;BEi0IIN=ԡ ,19&*Ay6@ٱ6@=6>'6Lz=6Hh? {?@j?&;J?@?`F?I6@)66^;i6uCNB9R!IBDZ6DZ4YbI;!bV=bV Q)b>d9d9fDYdj<Aj>hQ 1r4٪jl%?Q 5r4jd. j^B9pYr @@Q Er?yjC)j!;Ij>;ij04Yxz Ax*NyNyNy NyI  ɡiIi)iMQQU0QIaIyN=) b,S&*Aɰ;y:B @ٱ:=::=:H@?E,`}?ڙ?`_@W&??@?I:B @):}^;i:rCBB9B!I Mb@Mb@Mb@ ) I i   5^I ˿&1?X9v X P= I  @i GA A @)  f@BD%6D%Z4Y5]-!5C=5Q)=>9999=DY9E<AE>IQ 1U4٪M?Q 5U4M. M^B9U`>Q AUr;Y>@Q E?yMC)M5>1i0IIN>YvBD>~BBZ"IBBB =BBB$R;B%EBCBCBB =B =B5ԉ ״,l&*A0y>(@ٱ>=>Κ>S>>H?@>Q t? R? ~@g?滿?@|?I>(@)>^;i>uCJB9J!IHiHiN=IN=BDR6DRߢ4YZ;!ZS=^ Q)^>`9`9bDY`b"<Ab>dQ 1j4٪f?Q 5j4f- f^B9lYn>@Q En?yfC)fe ;If ;ifI 4Ypv At*NxNxNx NxI  ɡ i I i )i/0IIN =ԉԹ !,†&*Ay6FH@ٱ6r=66K>6H?@ik? A? 6(¿ E? s?Zv?I6FH@)6^;i6xCBB9B!IBDJ6DJ4dYj<!nH=njQ)n>p9p9rDYpv(<Av>tQ 1z4٪v?Q 5~4vK- vx^B9|Y~>@Q E~?yvC)v;Iv;ivk4YVB  A E*NNN NIA A IɡIiIIIiI)QiIAIN=A ',=&*Aiy6e@ٱ6=6v6>6HY?7R?L?) ¿@?`G? w?I6e@)60^;i6tC^B9b!I)uMb@Mb@Mb@ q)qIqiqquK7ɿkt?MbuIu 0=uIu@iu^Au^Au@)qu@BD6D4Y<!>=պQ)>99DY<A>Q 14٪?Q 54, b^B9Q>Q A;Yk@@Q E?yâC) ;I2 ;i4Yk A*NNN NI  ɡiIi))A<A<vB~BBf"IB BB =BBZDB`R;BBEi0IIN>Iqԡ -,y&*Ay6=~@ٱ6@=66b=6Hz?H*Q`??J=??8}?I6=~@)6O^;i6rCNB9R!IRpd9d9jDYhj<Aj>lQ 1r4٪n?Q 5r4n, nN^B9tYv@@Q Ev?yn̢C)n :In-:in!4Yxz Ax*NNN NI  ɡiIi)!ԙio0II N= _4,~R&*Ay>@ٱ>G=>>=>H?&??Yj?A$?஄?I>@)>L^;i>uCJB9J!IMb@Mb@Mb@ )IiGzǿkt?L7A`堿p=+I@iGAA^@)@BD-6D-d4Y=!EC=E%:Q)E>I9I9MDYIM;AM>QQ 1]4٪U?Q 5e4Uq, U8^B9egE>Q Ae;Ye?@Q Ee?yU֢C)UC ;IUX ;iU(4Yim Aq*NyNyNy NyI  ɡiIi)iUQQUR0QIaIqN=)QvB C>~B B m"IB BB =B B B DR;B 4Ey f;,j1&*Aɰ4999=DY9=;AE>AQ 1M4٪E?Q 5M4E+, E"^B9QYU@@Q EU?yEC)E :IEp:iE/4Yae Aa*NiNiNi NiIy  ɡiIi)Աi~0I!I9NE=iߩI߭= 1 A, &*Ay6,@ٱ6,=6-6=6H]?f@q??X+X9X9ZDYXZ;A^>`Q 1b4٪b?Q 5f4b+ b^B9dYf>@@Q Ef?ybC)b:IbB:ib64YjPBn AnE*NpNpNp Np+vB*** querying acoustic contact ***LtLtIx | |ɡ|i|I|i)iy1II)NU= T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9i  *DAT read: user:121>  BDAT read: Tx time:16:17:09.5009  $Ping request sent. ~BBf"IB BB =BBBQ;BEBD6D4Y<!,=7;Q)>99DYa;A>Q 14٪"螊?Q 54+ ]B9L>Q A;YCA@Q E?yC)s:I:i>4Y   A*NNN NI) ) )ɡ)i1I1i1)9ԉi 0IIN&>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990 3?N,v;&*Aiy6O@ٱ6t=66z`=6Hq?`3 }U@K?v?8@?r??I6O@)6^;i4NB9R!IBDV6DV4`Ybڽ!ft=f;Q)f?d9h9jDYhjg<Aj?lQ 1r4٪n➊?Q 5r4ni+ n]B9tYvjA@Q Ev?ynC)ny:InB:inD4Yxz(Ax*NyNN NI  ɡiIi) ,>>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503608i111511IAIQNe=- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754951A i I5 G)M kAIY 0U,zU&*Ai""kA"V@yF#@ٱF=FAF>FH@?`!n1&?p?¿ -? 0?́?IF#@)F^;iFrCRB9R!IVR=Vp>)T T =Mb@Mb@Mb@ 9)9I9i99=B`"ɿQ?Zd;O=N=\==jI9i=A9=@)9=@BD6Dߢ4YJ$=!9=r;Q)>99DYn;A> Q 14٪ !۞?Q 54 A+ ]B9?S>Q A;YD@Q E?y  C) <;I ;i L4Y!% A!*N)N)N) N1I9 A AɡAiAIAiI)Ii1IIN >1iu>Iu/@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007216avBA>~BB`"IBBB =BBBQ;BEԉ +Q[,wo&*Ay:o@ٱ:=:p񽹱:uH>:H ?$n?@Ep?@ 9?o?c?I:o@):^;i:tCFB9F!IBDN6DN4YVe9!Va=VFX9X9ZDYX^?;A^>`Q 1f4٪b՞?Q 5f4b#+ b]B9dYfE@Q Ej?ybC)b :Ib:ibR4Ylrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259119n#At*NxNxNx NxI  ɡ i I i)yi5IIN=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946 9b,R&*Aɰy6z!@ٱ6>6 齹6=6Hg?@U¸?s?;@"?ھ??I6z!@)6^;i6rCFB9F!IBDn6Dnծ4Yvp=!zF=z"99DY );A >Q 1%4٪͞?Q 5-4+ ]B9)Y-9E@Q E-?yC)a;I l;iZ4Y=JBE AA*NININQ NQIa i iɡiiiIiiq)y)i1999AIqI checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765257N- >1y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0150561ch,-&*Ay6J.@ٱ6y>6Mό6=6Ht?`෿ NJ?$x? 4??O?I6J.@)6{ _;i6qCNB9R!IPiPiV=IV=eMb@Mb@Mb@ a)aIaiaae$C˿:v?~jteZe<eIe@ieAeGAa)aaBD}6D}'4Y H!@=C99DY!p;A>Q 14٪Zƞ?Q 54* ]B9\>Q Av;YH@Q E?y(C);I ;ia4Y A*NNN NI  ɡiIi ) QAYA]<vBeE>~BeCBeT"IBeBBe =BaBe[DBeQ;BeEB%CB%CB!B% =B% =B%:5i5IIN>ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266936ԩ :n,&*Ay66@ٱ6r>6ؽ6K=6H`2?ݶj?>z?(`??r?I66@)6^;i6rCNB9R!IBDZ6DZ4Yb=!bX=b:d9d9fDYdj&;Aj>hQ 1r4٪j?Q 5r4j* j]B9pYrH@Q Er?yj2C)j];IjH;ijh4Yxz Ax*N|N|N| N|I   ɡiIi)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519536i}yy}4yIIN=Ա  BDAT read: Rx Time:16:17:11.9114  TRx dataTimestamp_ set to:1755879431.284094% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7734409 uu,:&*Aiy>@@ٱ>@>>Ͻ>--=>H? ¿ @?@Mw?@4V׹?@n? ?I>@@)>_;i>sC^B9^!IMb@Mb@Mb@ )Ii$C˿/$?I +<9Ii1AA @)(@BD6DZ4YZؼ!9=\+99DYe?;Ae>iQ 1u4٪m?Q 5}4m + m]B9}S\>Q A}v;Y}GQ E}?ym?C)m;ImS;im p4Y A*NNN NI  ɡiIi)i-))-5)I9IQN]>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0229509vB]F>~BYB]G"IB]BB] =BYBYB]rQ;B]Ei A{,&*A$)d fArchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278236yT@ٱD>ܺ>H@̕?`J¿?@k?\@IS?b̿?@7?IT@)h^;irC B9 !I>=) ABD%6D%4Y-<!5F=59999=DY9=";AE>AQ 1M4٪Es?Q 5M4E+ Ep]B9QYUGQ EU?yEJC)E;IE;iEw4Yae Aa*NiNiNi NiIy y ɡiIi)qiMIIM5IIYIiN}>ԙDAT read: 16:17:11.9114 LVL= 18448, 26577, 19602, 30275, AGC= 46, IDX= 445,-0.22,-1.628,-2.970,-0.913,-1.414, PHS=-0.112,-1.512, 0.456, RAW= 166.3, 13.2, CAL= 166.7, 15.7, ROT= 343.3, -15.7 Ygot valid direction response: 16:17:11.9114 LVL= 18448, 26577, 19602, 30275, AGC= 46, IDX= 445,-0.22,-1.628,-2.970,-0.913,-1.414, PHS=-0.112,-1.512, 0.456, RAW= 166.3, 13.2, CAL= 166.7, 15.7, ROT= 343.3, -15.7 PDAT read: Bearing 185.8, -8.5 (Local) ~Local bearing/azimuth received: Bearing 185.8, -8.5 (Local) DAT read: Range 11 to 50 : 4.7 m (Round-trip 6.3 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.922088,-0.276640,0.270600]Fpublishing direction and range info9qu ?5xѿRlyQ?uf@qiuHuguLuCvq uB`)u7Iux>iuF9@uk>u4:@uK>u!@ uKiqqIuzԆ?Atb?b,vS?uN?u:l u;)uKiqq 񈂀,ܡ &*ALB9%!IBDM6DMy4Yu<!uW=}Q)}>y9y9DYA>Q 14٪?Q 54!+ a]B9YQ E?yTC)#;IQ;i}4YDBp AE*NNN NJMQ?RM) BLLp&*AMf@ M{@"Mc@:M2U@򠎦-bY?*M ?5xѿRlyQ?M;MKBMxk{@gɱ Y5>?2MiY0?:ǿЖJ?Le`Lۋ@L?LC$0BLBI  ɡiIi)iuyy4II N5 >! i} =I} <>,Xu$&*Ay>\@ٱ>J >>A'>>>H x?@!Z¿@gI ?=i?@?Z%? ?I>\@)>5 _;i>oC^B9b!I mMb@Mb@Mb@ i)iIiiiim|?5^ɿy&1?:vmMm`e<mTIiimGAmAi)im@BD6D4Y-=!I=^R99DY ;A>Q 14٪Ϣ?Q 54@+ U]B9N>Q A;YuEQ E?y^C) ;I& ;iɄ4Y) A*NNN NI  ɡiIi)A9A9vBEC>~BABE5"IBEBBABABABEPQ;BEE >>)iiiim4iIyIN>Qԁ wێ,P>&*AyFva@ٱF@ >F[FK>FHi?@_S¿@@B ?&k?9`?@?O?IFva@)F^;iFpCNB9N!IiR=IR=V%=iV4=BDZ6DZy4Yf!jX=E>cI9I9MDYIM:AU>aQQ 14٪U0?Q 54U^+ UJ]B9YiEQ E?yUhC)U:IU:iU4Y6 A*NNN NI  ɡiIi)imqqu3qIIN=ԁԱ) ĕ,1X&*Ay:h@ٱ:` >:K:=:H@?UP¿ ƅ0=N99DY:A>Q 14٪?Q 54+ A]B9_>Q As;YCԱQ E?ytC)3;I2;i撖4Y A*NNN NIy  ɡiIi)iEAIM4IIYIiNu> vB9~B=CB=("IB=փBB= =B9B9B=Q;B=Eԑ ^훀,r&*Aiy6i@ٱ6 >66aH=6H? ;:¿@@C?@ks?@3@;ܱ?m?c?I6i@)6Z_;i6pCBB9B!IBDJ6DJ4Y^J)=!bY=j\nl9l9%DY!%9A%>)Q 154٪-?Q 554-+ -9]B91Y=CQ E=?y-C)-;I-;i-4YE?BE AEE*NINQNQ NQIa a aɡaiaIaii)i)yi/IIN%=AiU%=IU=qԙ G֢,:&*AyBXk@ٱB >BB2=BHã?*¿DH L?t?Ŀq?.Ž?b?IBXk@)B_;i@\9`)d fAId)dBDj6Dj4re_t9t9vDYtvg:Az>xQ 14٪zJ?Q 54z+ z2]B9YCQ E?yzC)z;Iz:iz4Y *NNN NI) ) )ɡ1i1I1i1)yiUQYYYIIN>I);mAIiMaM;mAMm Aԙ h,0&*AyRo@ٱR >R5YR=RH?l¿@;9_?`p?#Vp#?@[?ŷ?IRo@)R^;iRrC^B9^!I=Mb@Mb@Mb@ 9)9I9i99=&1ʿ~jt?Mb`=P=D<=I=@i=1A=A=z@)9=@BDU6DU4Ye<!ei9i9uDYqu:Au>yQ 14٪}?Q 54}#, }-]B9DQ>Q A;Y&DQ E?y}C)}:I}:i}4Ye A*NNN NI  ɡiIi)AAvB%D>~B!B%""IB%уBB!B!B!B% Q;B%EiQQQQQIaIN=)߹ ߽A) (*,&*AyJq@ٱJ` >J~!CJUW=JH@? 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N!I1 1 9ɡ9i9I9iA)AIIi0IIN%=)Yԉ d,ds&*A@yJs@ٱJ ! >J,JcR>JH@1?@-r?m?@[? ??IJs@)J&^;iJrCVB9V "IiZ=IZ=eMb@Mb@Mb@ a)aIaiaae"~ʿ:v?~jth?eSeT<eD;Ie@ieAeOAed@)aau4=iu=BD}6D}y4YnC=!@=Q99DYM;:A>Q 14٪q?Q 54y, ']B9hT>Q A;Y+DQ E?yC)X:Ii ;i14Y A*NNN NI  ɡiIi)imqqu/qIIN=ԩvB]C>~BYBYBYB] =BYB]ZDB]Q;B]EBBCBB =B =Bw@5 ;,rN&*AyNq@ٱN >NN=NH(?`t@k?@p?@?@ߢ?@~?@(?INq@)N^;iNpCVǃB9V"IBDb6Dbˣ4Yj'=!jW=jel9ll9rDYpr Ar>tQ 1z4٪vbj?Q 5z4v, v&]B9|Y~0DQ E~?yvC)v;Iv;iv׼4Y9B A E*NNN NI! ! !ɡ!i!I)i))1iIIN= 1a (À,%? &*A(i(yF r@ٱF >FұF=FH?u@~7 n? }t?65? ľ? }?IF r@)F?^;iFrCR̃B9R"IBDZ6DZ'4Yb<!bK=bSd9d9fDYdjf9Aj>lQ 1r4٪n]c?Q 5r4n, n%]B9pYpQ Er?ynC)nK:In6:inÖ4Ytzg Ax*N|N|N| N|I   ɡiIi) %e>%>9iIIN=aԉԹ VRɀ,'&*Ay6p@ٱ6` >6wټ6=6H ?@ѮPf?`w?"Ͼ.?@)? ?I6p@)66^;i6nC^ՃB9^'"I)` bA=Mb@Mb@Mb@ 9)9I9i99=|?5^ʿZd;O?{Gz?=R=j<=#i9q9uDYquA}>yQ 14٪}[?Q 54}, }(]B9T>Q A;YGQ E?ԑy}ʣC)}J;I}!I;i}N˖4Y A*NNN NI  ɡiIi)AAAAvB~BB("IBփBB =BBB Q;BEiEIIM0IIYIiNu=Թ 4Ѐ,@&*Ay6n@ٱ6 >6EA6(=6H:?gpta? y? ?@}?h?I6n@)6^;i6pCBڃB9B,"IBDJ6DJ<4YV<!VX=V^X9X9ZDYXZA^>`Q 1f4٪bTU?Q 5f4b, b+]B9dYf GQ Ef?ybԣC)b:Ib[:ibі4Yhn Al*NpNpNp NpIx x |ɡ|i|I|iY)ai=I<iI!I1NE=!Qy _ր,Z&*Aɰp;y6n@ٱ6@q >6`I6?=6H ? 3_?@x?`ξ`(?ҁ?@w?I6n@)6^;i6mCBB9B6"IMb@Mb@Mb@ )Iix&1ȿMb?I +?A=941919=DY9=0-AE>AQ 1M4٪EN?Q 5U4E, E0]B9UD>Q AU;YUG@Q EU?yEߣC)Ef:IEo:iEGٖ4Y3B A*NNN NI  ɡiIi!)!)1Qi/IIN>ԁvBD>~BBBB =BB[DBQ;BEԩ ܀,Ft&*AyBp@ٱB` >B KBÄ=BH`A?zx@r?`Yh?u?_`? "ILiLiR=IR=BDV6DV24Y^=!^R=b7`9`9fDYdft,:Af>hQ 1n4٪j?H?Q 5n4j, j5]B9pYrG@Q Er?yjC)j;Ij;ij4YtvT At*NxN|N| N|I   ɡ i I i)i0IIN=) p〉,&o&*Ay:go@ٱ:` >:6:=:H?dk7?`e?@1t?lږ??@{?I:go@):^;i:oCBB9BH"IBDJ6DJ<4Yn=!nH=n,p9p9rDYpvaAv>xQ 1~4٪zA?Q 5~4z, z;]B9|YG@Q E?yzC)z;Iz;iz44Y   A *NNN N+B*** querying acoustic contact ***LLI) ) )ɡ)i1I1i1)9i0II N==QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yԩ % *DAT read: user:122> - BDAT read: Tx time:16:17:19.6008 - $Ping request sent.- 6,6=6H ?@oP [?`vb?t?%bp?ƿ??I6n@)6m^;i6nC@NB9NX"IA<AvBE>~BCB5"IBBBBBB"Q;BEMb@Mb@Mb@ )IiKǿ~jt?I +?^:=I @i1A/@@)@BD6D4Y g=! 8= z19195DY1=tqA=>AQ 1M4٪E:?Q 5M4E, EB]B9M>>Q AM;YM,E@Q EM?yEC)E;IE;iE4Yqu Ay*NNN NI  ɡiIi)ԩiMIIU0QIaIqN}>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251015 ,'&*Ay:o@ٱ: >:~:.=:H?@Gǐ?@h?v?2?@a?6?I:o@):\^;i:mC^B9b="Ib%=b%=)d dId)f@ABDj6Djn4lYv!v_=v5(x9x9zDYx~9A~>Q 1 4٪5?Q 5 4, G]B9 Y+E@Q E?yC):I-:i^4Y[ A*N!N)N) N)I1 9 9ɡ9i9I9iA)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503590i.0IIN= 1i )ߑ ߕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757750I ) kAI iM O M kAU UAy - ?5 A,&*Ay6sp@ٱ6 >6xBc;6=6Hɳ? < @?i?]y?uc@Khlg˾? w?I6sp@)6o^;i4BB9Bb"I-Vonly read 0 of 1 data item for BIT error. Device response is::TS,00022720043925,35.0, +10.4, 91.6, 0 !V@!V !V@!V !V@!V !V@!V 9BDZ6DZ4Ye|>!eC=ei9i9mDYim9Au>qQ 1}4٪uz.?Q 54un, uN]BQ =+:9Q Af;Y(E@Q E?yuC)u:Iu|>iuK4Y-B> AE*NNN NI  ɡiIi)imiim/0qIIN=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006959vB~BB;"IBBBBBB%Q;BEԱ ,&*Aɰ;&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960y>Gr@ٱ>` >>TK;>L=>Hj?8`w?$q?={?ս^iz@ W??I>Gr@)>^;i>qC^B9bT"IBDf6Df4Ynrd!nS=r0;Q)r>p9t9vDYtv:Av>xQ 1~4٪zo(?Q 5~4zQ, zU]BQ = :9Q A:;Y)E@Q E?yzC)z;IzN?iz4Y   A*NNN NI) ) )ɡ1i1I1i1ԙ) ]>>iiiquO0qIINi.?I>?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511189 ,&*Ay6q@ٱ6 >6<6\=6HF?g+ ?Po?@{?`y@*`X??I6q@)6^;i6lCBB9BW"I@i@iF=IF=BDJ6DJߢ4YRC<!RN=VF;Q)V>T9T9VDYXZ AZ>\Q 1b4٪^;"?Q 5b4^2, ^\]BQ =b99dQ Af;Yf'E@Q Ef?y^"C)^v:I^O?i^m4Yhj Al*NpNpNp NpIx x xɡ|i|I|i|)i2IIN=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764438!I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971q ,!)&*Ay:pt@ٱ:> >:>I<: =:H?.)8?uy?y? ~3 Rо??I:pt@):^;i:kCb B9bj"IA9A=@AvBA~BABABABABABABE.Q;BEEB CB CB B =B =B 4!m!m !m!m !u!u !u!u uMb@Mb@Mb@ q)qIqiqqu rȿS㥫?y&1?uCu/]=u`e99DY>:A>Q 14٪ ?Q 54+ f]BQ =T:9K>Q A;Y@@Q E?y-C)`;Iu;i 4Y A*NNN NI  ɡiIQi)i-))-|0)I9IIN]>ԁ)Y ]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267232ԩ c,vC&*Aiy6t@ٱ6O >65xp<6=6HX? C?@k{?x? `]a?@U?I6t@)62^;i6lCB B9Bh"IBDJ6DJE4YR!R[=V;Q)V>T9T9VDYTZ69AZ> Q 14٪ ?Q 54 + o]B9Y@@Q E?y 7C) ];I j;i 4Y!- A)*N1N1N1 N1IA A AɡIiIIIiI)Q)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519027ԩi5IIN= m BDAT read: Rx Time:16:17:22.0140 u TRx dataTimestamp_ set to:1755879441.362695u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7720371 :,^L]&*Ay6t@ٱ6 G >6<6 =6H? ?;z?v? hܾ+2?`?I6t@)6ސ^;i6kCRB9R["IR8>R<)T T%Mb@Mb@Mb@ !)!I!i!!%Sſ ףp= ?{Gzt?%/%Q8=%ף;I!i%A%@%A)!%f@BD6D14Y99DYїA>Q 14٪\?Q 54l+ u]B9#5>Q A;YA@Q E?y@C):I:i>4Y'B= AE*NNN NI  ɡiIi!)!i5IIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0229819vB=G>~B9B9B9B9B9B9B=2Q;B=Ei &,$&w&*A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278311Dybt@ٱ< ><3=H`?@D ?`x?@rw???Ibt@)^;i B9g"IBD-6D-4Y=<=!=B=E%;Q)E>A9A9EDYAMXƸAM>QQ 1]4٪U/?Q 5]4U3+ U{]B9YY]A@Q Ee?yUJC)UN:IUN:iU 4YimAi*NqNqNy NyI  ɡiIi)ԱiMIIM5IIYIiN}>%DAT read: 16:17:22.0140 LVL= 19552, 27345, 25490, 32755, AGC= 49, IDX= 457,-0.09,-2.161, 2.774,-1.480,-1.895, PHS=-0.164,-1.569, 0.371, RAW= 165.5, 15.5, CAL= 166.2, 18.9, ROT= 343.8, -18.9 -Ygot valid direction response: 16:17:22.0140 LVL= 19552, 27345, 25490, 32755, AGC= 49, IDX= 457,-0.09,-2.161, 2.774,-1.480,-1.895, PHS=-0.164,-1.569, 0.371, RAW= 165.5, 15.5, CAL= 166.2, 18.9, ROT= 343.8, -18.9 5PDAT read: Bearing 190.1, -13.8 (Local) 5~Local bearing/azimuth received: Bearing 190.1, -13.8 (Local) =DAT read: Range 11 to 50 : 6.7 m (Round-trip 9.0 ms) speed -0.2 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.908520,-0.263950,0.323917]MFpublishing direction and range info9/h?Eп?f@i`Ljc1 ')ȿI>i8@c>9@[>@ [䨾iIK%b?n:?g j~?9K? Ð)[䨾i $,&*Aɰy6,u@ٱ6V >6<6yJ=6H? ?{?`x?`WS?`?I6,u@)6}^;i6mCL9PlBDV6DVd4%;Q)%>!9!9-DY)-s9A->1Q 1=4٪5?Q 5=45+ 5]B9AYEA@Q EE?y5RC)5;I5;i5&4YIII*NQNYNY NYJM%8?RM%iuIL!L%·&*AM%f@ M%@"M%?@:M%+Y@D]KY8\@*M%/h?Eп?M%ÐM%[䨾BM%_@1G(2 ^t?2M% `L?5Bƿ]nSIU?L%!L%@L%P?L%RϥIL%BI  ɡiIi)i511541IAIYNm=9a 7*,8ܪ&*Ay6bv@ٱ6| >6'e<6=6H/?k =*?}?z?Wڽ9̕=?@T?I6bv@)6k^;i6kCNB9R["IPiPAr<Ar<vBt~BtBv5"IBvBBv =BtBtBv;Q;BvEԉMb@Mb@Mb@ )IiRQȿ{Gz?~jtx?B#=;I@i@)BD6DP4Yeͼ!<y2;Q)>99DY<9A>Q 14٪?Q 54* ]B9F>Q A;YD@Q E?y]C)j:I:ii.4Y? A*NNN NI  ɡiIi)!i4IIN=ԡ #1,&*Ay6q@ٱ6@ >6Y<6=6H? @c?Lm?@4|? @r??I6q@)6oi^;i6mCBB9BY"IBDN6DN24YRG!V^=VA:Q)V>X9X9ZDYXZ{ѺA^>\Q 1b4٪^?Q 5b4^* ^]B9dYfD@Q Ef?y^fC)^:I^:i^44YhnH Al*NpNpNp NpIx x xɡ|i|I|i|)i0IIN=)Թ I7,&*AiB9d"IMb@Mb@Mb@ )Iix&1ȿMb?Mb`A=I@i@9A)@BD6D'4Y =!:=Q)>99DYA>Q 14٪?Q 54* ]B9MD>Q A;YG@Q E?yqC)H:I:i<4Yu!BuAuE*NyNN NIԑ  ɡiIi)imiim4iIyIN>vBC>~BCB("IBփBB =BBZDBEQ;BE t=,jm&*Ay>l@ٱ>1 >>{I<>=>HU?ӣ?UW?%|?aԽH??I>l@)>(^;i>lCrB9rW"Iv=v4=BDz6DzF4YG[!W=  ;Q) > 9 9DYA>Q 1%4٪蝊?Q 5%4* ]B9)Y-G@Q E-?yzC)l:I:i*C4Y15% A1*NANANA NAIQ Q QɡQiQIQiY)ai/I!I9NE=I v\D,J&*Ay6ni@ٱ6@ >6ǝ<6=6Hೲ? ? M?z?`Q63``??I6ni@)6$^;i4FB9FS"IBDN6DNP4YVg!VP=VZQ)V>X9X9ZDYX^/TA^>`Q 1f4٪bG❊?Q 5f4b* b]B9dYfG@Q Ef?ybC)b9:Ib:ibJ4YlnC Al*NpNpNp NpIx x |ɡ|i|I|i)IG);mAI iEE;mAM@iIIN=Iyԡ i =I =6J,W$,&*Aɰp;y60h@ٱ6 >6k<6=6H ? ? H?y?cm??I60h@)6];i6jCA@A@vBD~BDBF"IBF̃BBDBDBDBFJQ;BFEPVB9VM"I-Mb@Mb@Mb@ )))I)i))-A`"˿~jt?MbP?-Y-<-:I)i-GA-@-\@))-@BDM6DM4YUj!]@=]Q)]>a9a9eDYaeyAm>iQ 1u4٪mڝ?Q 54m* m]B9zZ>Q Ax;YGQ E?ymC)m>! mQ,E&*Ay:d@ٱ:`K >:P<:(=:H`N?@j? :?@z?(@I??I:d@):];i:lCFB9FC"IHiHiJ=IJ=LiN<BDR6DR4YZ/!ZV=Z:Q)Z>\9\9bDY`bŋAb>dQ 1j4٪fӝ?Q 5j4f* f]B9lYnGQ En?yfC)ff;If;if)X4Ypr At*NxNxNx Nx|I  ɡ i I i)iIIN=)Q)i m Aԉ W,_&*Ay6=a@ٱ6 >6ղ<6y=6H`? +l?,?{?@a?Z@4g? *?I6=a@)6N];i6mC>B9BI"IYMb@Mb@Mb@ )Ii|?5^ɿy&1?MbpM`e<I@i1AA)@BD6DP4Y<!7=3Q)>99DYnA > Q 154٪ 3̝?Q 554 * ]B9=]N>Q A=;Y=EQ E=?y C) ;I ;i _4YEBER AI*NqNqNq NqI  ɡiIi)IԉiII N*>vBB>~BB"IBǃBBBBBaQ;BEBECBABABE =BE =BEʜ5Ա ,],y&*Aiy:X@ٱ:@>:<:X9X9ZDYXZl@A^>`Q 1f4٪bƝ?Q 5f4b* b]B9dYfEQ Ef?ybC)bK:Ib:ibAf4Yhnx Al*NpNpNp NpIx x xɡ|i|I|i)Թi0IIN=i=I<ԑ d,2&*Ay:P@ٱ:@>:<:{=:H? Cgá?`b??@ҽ ”? A?I:P@):%];i:lCFB9FG"IHJ<)H JABDR6DRn4YZQ<!ZJ=Z$VQ)Z>\9\9^DY\bAb>dQ 1j4٪f6?Q 5j4f + d9hYj$EQ Ej?yfC)f:IdifUm4Yprb Ap*NtNtNt NtI| | ɡiIi ) i/IIN=IiԹ 0j,fk&*AvB?>~BB"IBƒBB =BBBhQ;BEyBJ@ٱB >B͏99DY$޺A>Q 14٪?Q 54;+ 9hU>Q A~;Yԡ q,F&*AɰyFTC@ٱF>Fe6d9d9fDYhjC"Aj>lQ 1r4٪n?Q 5r4nb+ n]B9pYvKDQ Ev?ynΤC)n :In:in}{4YxzV Ax*N|NN NI   ɡiIi) -i>-%>i0IIN=) w,$)&*AyJr=@ٱJ^>J>_a9a9eDYam޺Am>qQ 1}4٪uᩝ?Q 5}4u+ u]B9}BM>Q A};YDQ E?yu٤C)u ;Iu7 ;iu傗4YB AE*NNN NI  ɡiIi)1qiIIN>vB%>>~B!B!B!B% =B!B!B%bQ;B%Eԑ ~,&*Ay:M9@ٱ: >:8<:=:H? A ?`?g~?: ?@??I:M9@):=3];i:kCPVB9VT"IBDb6Db4YjK=!jT=jɻQ)j>l9l9nDYlr׫Ar>tQ 1v4٪v`?Q 5z4v+ v]B9xYzDQ Ez?yvC)v6:IvB:iv4YA*N N N  N I  !ɡ!i!I!i!))i0IIN=! ,{&*Aiy62@ٱ6>6v<6=6H`?0:+?tt?^?)6%?[?I62@)6$];i6iCBB9BY"IBDJ6DJy4YR<!RM=RĻQ)V>T9T9VDYTZrAZ>\Q 1b4٪^?Q 5b4^+ ^]B9`YbDQ Ef?y^C)^f;I^;i^4YhjAh*NYNYNY NY+eB*** querying acoustic contact ***LaLaIi q qɡqiqIqiy)y)i/0I!I1NE=)Q UAUT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.Iqԡ  *DAT read: user:123>  BDAT read: Tx time:16:17:29.7008  $Ping request sent. fH;f\=fHȼ?` *? +X? ?¾Iy`|7??Ifi+@)fO];id~B9R"I%=p=)  AyMb@Mb@Mb@ )IiB`"ɿMb?y&1|N<`IiA@E@)@I)AABD6Dˣ4Yݼ!7=ǻQ)>99DY A>Q 1 4٪ ?Q 54+ ]B9O>Q A;Y(FQ E?yC),;I),;if4Y!%A!*N)N1N1 N1IA A AɡAiAIIiI)Ii 0IIN>ԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250877 l ,ǛH&*Ay6t#@ٱ6>6.a;6w=6H? @# ?`8?? ㈾ %l?@?I6t#@)67];i4^B9^9"IBDf6DfE4Ynٽ!r]=rjQ)r>t9t9vDYtz+A~>Q 1 4٪?Q 5 4, ]B9Y7FQ E?yC)E5;IA;i➗4Y%B%_ A%E*N1N1N1 N9II I IɡQiQIQiY)Yi߽p=I߽G>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503834i 1IIN=!i!IG)kAIirkALA)m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936y 7,Sxb&*AɰHJ;yfb@ٱf|>fs9f=fH ?  ? $? ?Ղ`<@?ž??Ifb@)f+];ifgCnB9n]"IeMb@Mb@Mb@ a)aIaiaaeB`"ɿI +?!@=wQ)>99DYA>Q 14٪p?Q 54, ]B9FP>Q A;Y3HQ E?yC)7 ;I ;iN4YtA*NNN NI  ɡiIi)Ii0II)N5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006887yvB~BCB("IBփBB =BBBQ;BEԩ W^,D|&*A) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261296 B9 X"IiBD%6D%Z4Y-潼!5Q=5Q)5>1999=DY9EAE>AQ 1M4٪E?Q 5U4E, E]B9QYQQ EU?yEC)E:IE:iE&4YYeAa*NiNiNi NiIy y ɡiIi)Աi511551IAIQNe=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515047 9 _F,&*Ay6@ٱ6E=6Ȼ6=6HK?ǿ? nӿ?n?y?? ?I6@)6a3];i6iCNB9R["IBDZ6DZy4Yb.l<!bR=bQ)b>d9d9fDYdjAj>hQ 1r4٪j z?Q 5r4j, j]B9pYrRHQ Er?yj"C)j;Ij;ij4YxzAx*NNN NI  ɡiIi)iUQQQQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768039IqIN=Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018865A <A <vB ?>~B B 5"IB BB B B B P;B EBBBBB =B4p,&*Ai yV @ٱV=VV=VH`?ߵ+w??ூ?mp?^?`?IV @)VO];iTb B9bl"IuMb@Mb@Mb@ q)qIqiqquɿ?I +uLu<u94Iu@iu1Au@q)qqBD6D4Yay=!==Q)>99DY4κA>Q 14٪r?Q 54, ]B9N>Q A;YH@Q E?y-C);I;i4YA*NNN NI  ɡiIi) l> >ii5IIN>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270963ԙ AX,&*AyF@ٱF=FSSUFA=FHl?mb?g??`ޞ9?s?`??IF@)FA];iDPVB9Z_"I^8>^=BDf6Dfy4YrZ!vW=vQ)z>x9x9zDY|~E&A> Q 14٪ 7l?Q 54 , ]B9YH@Q E?y 7C) B2;I q+;i 0—4Y- B-:A-E*N9N9NA NAIQ Q YɡYiaIaia)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522946i4I!I1NE=)i i u BDAT read: Rx Time:16:17:32.1165 u TRx dataTimestamp_ set to:1755879451.462995} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776279! 셸,&*Axy@ٱT="I{\=H?@}uUz5??z?`IV?`D?I@)8];igCB9v"IMb@Mb@Mb@ )IiK7ɿL7A`?~jtI+=DIi@@)@BD6DE4Y=!==9Q)>99DYJA>Q 14٪d?Q 54+ ]B9L>Q A;YE@Q E?yBC)/:I;iɗ4YA*NNN NI  ɡiIi)!i4IIN>!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026961vBe=>~BeCBeN"IBeBBe =BaBaBeP;BeEQy Ȭ,&*Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278956ɰp;yf!@ٱf@=fWfR=fH?@lNt??fyQt???If!@)fiM];ifiC B9 s"IYBD6D4Y+!5F==Q)=>9999=DYAEhٺAE>IQ 1U4٪M]?Q 54M+ M{]B9YE@Q E?yMMC)M "Աi=I<-DAT read: 16:17:32.1165 LVL= 21488, 25953, 20978, 30611, AGC= 51, IDX= 450,-0.20,-1.637, 3.131,-1.099,-1.601, PHS= 0.066,-1.506, 0.458, RAW= 160.9, 10.9, CAL= 161.0, 12.1, ROT= 349.0, -12.1 5Ygot valid direction response: 16:17:32.1165 LVL= 21488, 25953, 20978, 30611, AGC= 51, IDX= 450,-0.20,-1.637, 3.131,-1.099,-1.601, PHS= 0.066,-1.506, 0.458, RAW= 160.9, 10.9, CAL= 161.0, 12.1, ROT= 349.0, -12.1 5PDAT read: Bearing 181.6, -8.2 (Local) =~Local bearing/azimuth received: Bearing 181.6, -8.2 (Local) EDAT read: Range 11 to 50 : 8.6 m (Round-trip 11.5 ms) speed -0.2 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.959819,-0.186570,0.209619]UFpublishing direction and range info9^Gpն?Ɣǿ9h? AiSaeQw3 +=)I~>i3@B>3@@X>@ @XiIU?$OV?WsV=?6?C D)@Xi Ł,^h&*Ay:@ٱ:@K=:v:<=:H@?V` Ӿ?`Z?UT::?-Ҿ?@?I:@):B];i8^B9^}"I`i`if=If=BDj6Dj:4YrL.=!r_=vJ'Q)v>t9t9vDYtzcAz>|Q 14٪~W?Q 54~+ ~v]B9YE@Q E ?y~VC)~:I~B:i~Uח4YyA,ZDetected possible detachment. Starting timer.*NN!N! 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[?? t?u?`?I:@):7t];i:hC\9\BDf6Dfԗ4YnE:!nU=r'Q)r>p9p9vDYtv)Av>xQ 1~4٪z)?Q 5~4z}* z=]B9YHC@Q E?yzC)z;Iz;iz4Y  )A *NNN NI) ) )ɡ)i)I)i1)1yiߙIߝ=i0IIN%=ԡ ",N&*Alilym@ٱm@=mKmj~=mH? ~{\D#? -?t 0z??@?Im@)mx];iiB9|"I5Mb@Mb@Mb@ 1)1I1i115V-ǿa9a9mDYimXAm>qQ 1}4٪u!?Q 5}4uI* u0]B9kD>Q A;YLC@Q E?yuC)u^;Iu;iu4Y A*NNN NI  ɡiIi)iEAAE/AIQIiNu>vB:>~BB"IB(BB =BBYDByP;BMEBmĿCBmĿCBiBm =Bm =Bm4Iԙ )Q Q ,1&*Ay6@ٱ6 =6V6X=6H`E?UD?@Պ?ڪ?`1? ?I6@)6];i6eCJ#B9J"IN)9195DY15#A5>9Q 1E4٪=?Q 5E4=* =%]B9IYM? Ӥ?L?_]?¾? 5?I:i@):|p];i:fC^B9bs"IBDj6Dj4YrG!rO=r(˻Q)r>t9t9vDYtv;Az>xQ 14٪z?Q 54z) z]B9Y'C@Q E?yzC)z ;Iz ;iz4YWA*NNN NI) ) 1ɡ1i1I1i1)iuqqu>0qyIIN=ԡ A A AAvB ~B B "IB 2BB =B B B XP;B <Ei I <9\ ,3&*Aɰy6 @ٱ6=6yj6:e=6H?@Y?@Y?2 K? 1??I6 @)6*];i4BB9B"ILMb@Mb@Mb@ )Ii:vʿ+?/$T=It@iA @)\@BD-6D-4Y=D7=!=E==Q)=>A9A9EDYAE!!AM>IQ 1U4٪Mu?Q 5]4M) M]B9]Y>Q A]y;Y]C@Q E]?yMƥC)M ;IMr;iM.%4YeBmAmE*NqNqNq NqI  ɡiIi)io0IIN>! 9C,-M&*Ay:@ٱ:A=:r:c=:H`?ٽ` `,??/Q U??ɴ?I:@):C];i:gCFB9Ft"IiJ=IJ=N%=iN%=BDR6DR4YV#7!ZS=ZQ)Z>\9\9^DY\bAb>dQ 1f4٪f?Q 5j4f) f]B9hYjC@Q Ej?yfХC)fl:If:if+4Ypr"Ap*NtNtNt Nt|I  ɡiIi ) i5IIN=)Q)) ) ԁ p,|g&*AYy@ٱ=zi>=H??@g?.[z>?%?ij?I@)];ihCB9n"I=Mb@Mb@Mb@ 9)9I9i99=Gzǿ?~jt=p==<=ļI=@i=A=E@=@)9= @BD6D4Yᚼ!"=gQ)>99DYѺA>Q 14٪?Q 54u) \B9@>Q A;YyF@Q E?yܥC):I:i44vBI~BIBM"IBM7BBIBIBIBM9P;BM-EԁYIA*NNN NI  ɡiIi)i0IINc>ԩ T ,c&*Aiy6 @ٱ6@c=6k6p=6H? y꨿x??R ? ?@U?I6 @)6^;i6dCBB9Bt"IBDJ6DJE4YR><!R=RQ)R?T9T9VDYTVjAZ?XQ 1b4٪Z ?Q 5b4Ze) Z\B9`YbgF@Q Eb?yZC)Z;IZ ;iZ:4Ydj$Ah*NlNlNl NlIt t xɡxixIxix)|Թi4IIN=iߑIߑI ~&,>&*Ay6#@ٱ6)=616_"=6H ?@?<@i;i?3?@^c? ? D?I6#@)6e^;i6fCBB9B"I)D FABDH6DHYRkV=!RJ=R[Q)V>T9T9VDYTZ0AZ>\Q 1b4٪^?Q 5b4^O) ^\B9`YbVF@Q Ef?y^C)^;I^L;i^A4YhjAh*NlNlNp Np+rB*** querying acoustic contact ***LpLpIx x xɡxixIxi|)iuqy}4yIIN=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IqvBM 9>~BI BM "IBM  BDAT read: Tx time:16:17:39.8008  $Ping request sent. 99DYP.A>Q 14٪휊?Q 54O) \B9H>Q A;YI@Q E?yC):If:iH4YBAE*NNN NI  ɡiIi)qimiiu4qIIN=ԙ) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251237 3,Q&*Aɰ4<y6Tv@ٱ6=6:6D=6H? ݼU??@)4]?ľ?)?I6Tv@)6];i6dCBB9BP"IBDJ6DJ4YR!RZ=VCQ)V>T9T9ZDYXZRAZ>\Q 1b4٪^眊?Q 5b4^O) ^\B9dYfH@Q Ef?y^C)^Q;I^|:i^3O4YhjAh*NpNpNp NpIt x xɡxixIxi|)|echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503136i/IIN=Yi]ZCIՈG)kAIZAi`kA@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548849 a 9,6&*Ay@o@ٱ1=F$G7=HY? (ʺ?Ð?e3@w?@¾??I@o@)o];ieCEB9Ez"IiM=IM=Mb@Mb@Mb@ )Ii|?5^ʿZd;O?I +Rj<9I^@iAE@@)f@BD]6D]4Ym >!m$=u7jQ)u>q9q9}DYy}=A}>Q 14٪ޜ?Q 54A) \B9rU>Q A~;YG@Q E?yC) ;I ;iW4YA*NNN NI  ɡiIi)vB8>~BBBB =BBB5P;B*EfA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007069iMIQU4QIaIqN}8>Aq  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259020@,* &*A 9 9 DY  xA>Q 14٪UҜ?Q 5%4.) \B9!Y%G@Q E%?y!C);Ij;id4Y)-A1*N9N9N9 N9II I IɡIiQIQiQ)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101iI)I9NE= 9vB ~B B "IB ABB B B B &P;B #EBBBBBBɻ4q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015068 L,a6 &*Ay6p`@ٱ6}=6ڇ6^=6H`p?>T??`Y $??`R?I6p`@)6^;i6eC^B9b"I)` bAI}Mb@Mb@Mb@ y)yIyiyy}B`"ɿ~jt?/$}N}<}I}t@i}A}/@}@)yyBD6D14Ys;!@=(ĹQ)>99DY A>Q 14٪˜?Q 54,) \B9P>Q A;YH@Q E?y,C)Q:I:il4YBnA*NNN NI  ɡiIi) > >iIIN=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266895ԑ kS,O>P &*Ay6U@ٱ6=6Q6aq=6H?F軿@4? d? {S_? ? ?I6U@)6F];i6cC<9@BDJ6DJ4YZ:!Z[=^9Q)^>\9`9bDY`bfAb>dQ 1j4٪fĜ?Q 5j4f)) f|\B9hYnH@Q En?yf6C)f{;If;ifr4YprlAp*NtNxNx NxI  ɡiIi ) Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519923ԙiIIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771000 8 Z,j &*Aɰ;y J@ٱ @ = ㆽ m= H?! $??iG_ٰ?@??I J@) ];i dC]B9e"IBD6DYm!!:==8?:Q)E>I9q9uDYq} ?A}>yQ 14٪}?Q 54}&) }m\B9YH@Q E?y}BC)}>:I}:i}z4Y~A*NNN NI  ɡiIi)vB7>~BBBB =BBBP;BEUBDAT read: Rx Time:16:17:42.2191 ]TRx dataTimestamp_ set to:1755879461.799577echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025187iIIN">!Qy  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274964`, &*AyF@@ٱF=FF+=FH`0?`:ڪ"Z?^?8쳰?`+??IF@@)FB];iFgCf"B9f"Iyiyi=IQMb@Mb@Mb@ )Ii:vʿ99DY<A>Q 14٪?Q 54') a\B9V>Q A};YHQ E?yMC) ;I;iށ4YUA *NNN NI) 1 1ɡ1i1I1i9)A)QiII N*>ԁDAT read: 16:17:42.2191 LVL= 22512, 28385, 20914, 32755, AGC= 51, IDX= 445,-0.24,-1.085,-2.707,-0.689,-1.219, PHS= 0.236,-1.443, 0.486, RAW= 156.9, 8.0, CAL= 156.4, 8.3, ROT= 353.6, -8.3 Ygot valid direction response: 16:17:42.2191 LVL= 22512, 28385, 20914, 32755, AGC= 51, IDX= 445,-0.24,-1.085,-2.707,-0.689,-1.219, PHS= 0.236,-1.443, 0.486, RAW= 156.9, 8.0, CAL= 156.4, 8.3, ROT= 353.6, -8.3 PDAT read: Bearing 175.0, -1.3 (Local) ~Local bearing/azimuth received: Bearing 175.0, -1.3 (Local) DAT read: Range 11 to 50 : 10.5 m (Round-trip 14.1 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.983359,-0.110301,0.144356]Fpublishing direction and range info9Y]?Pw??<'ЌCz?](AYi]W]n]Q]Y ]q>)]9I]>i]LB/@]5>]R.@]V>]|@ ]ViYYI]d?`?,@?@Ӿ?.?I67@)6];i6dCBB9B}"IBDJ6DJ:4Yf!fs=f;Q)f?h9h9jDYhjTAn?pQ 1v4٪rů?Q 5v4r() rW\B9tYvHQ Ev?yrVC)r:Ir:irÇ4YzB~]A~E*NNN NJM(*?RM11LLS &*AM(A M&A"M@:M&$@JԇѨx@?*M?Pw??<'ЌCz?MiMVBMQ$$@~B B "IB FBB =B B B O;B E9 Hm,ö &*Aiy:1@ٱ:=:ߐ:Y=:H?`@6`ݸ?W? *GO?@׾??I:1@):^;i:bCB B9B"I Mb@Mb@Mb@ ) I i   nʿ:v?Q V T< uI @i A /@ @)  @BD%6D%Z4Y-I<!5D=5;Q)5>9999=DY9EAE>AQ 1M4٪Ep?Q 5U4E8) EK\B9UV>Q AU|;YUYGQ E]?yEaC)E ;IE ;iE4Yae:Aa*NiNiNi NiIy  ɡiIi) i0IIN>1a -t,؃ &*A y>(@ٱ>=>1L> =>H`?`f"?9?(?c޾? ?I>(@)>ۣ^;i>cC^$B9b"I)d fAIf@A)f@ABDj6Dj4Yr <!rP=v8;Q)v>t9t9vDYtz+Az>|Q 14٪~?Q 54~F) ~A\B9Y jGQ E ?y~lC)~:I~:i~4YA*N!N!N) N)I1 9 9ɡ9i9I9iA)AQUjAi0IIN%=iԙ)  Wz,}^ &*AyFN @ٱFt=Fv{F/=PFH`T?`4@_)IY? ?+`=q?`?b?IFN @)F_;iFbCe%B9e"IBD6DE4YD;!==k4;Q)>99DY A >!Q 1E4٪%ș?Q 5M4%U) %5\B9YzGQ E?y%wC)%ױ~B9B9B9B9B9B9B=O;B=Ei/0IIN&>! ?,: &*Aɰ4<;y6E@ٱ6@=6(v6=6H?`¹ ? ?c+^?@?@?I6E@)6tg`;i6dCB-B9B"I| Mb@Mb@Mb@ ) I i   S˿Mb?Mb /] < I ^@i |A  @)  p@BD6Dߢ4Y =!N=_;Q)>99DYCMA>Q 14٪’?Q 54p) *\B9]>Q At;YEQ E?yC);I;iq4YA*NNN NI  ɡiIi)iUQQUW2YIqIN=)QI}G);mAIAiN;mAmAԁ 8i, &*Ay6 @ٱ6@N=6o6!=6H?Vc֧?@?`'`P?`??I6 @)6˙a;i6bCN*B9R"IBDZ6DZO4Ybs!bY=b_;Q)b>d9d9fDYdf`Aj>hQ 1n4٪j?Q 5r4j) j\B9pYrFQ Er?yjC)j8;IjU;ij 4YvBvAzE*N|N|N| N|I   ɡiIi) %Y>%!>Yi4II1NE=ԉԹvBY ~BY B] "IB] KBB] =BY BY B] O;B] E ,8 &*Ay:@ٱ:=:$h: =:H`?|츿@-N??n@?l? ?I:@): =!=C==5;Q)=>A9A9EDYAE{AM>IQ 1U4٪Mڅ?Q 5]4M) M\B9]2>Q A];Y]GQ E]?yMC)M ;IM ;iM^4YamtAi*NqNqNq NyI  ɡiIi)Թi-))-41IAIQNe= I {,:R &*Aiy6R@ٱ6=6a6g=6H? \~ TO?@#?` `/?o?{?I6R@)6d;i6bCN7B9R"IBDV6DV4YzB<!zO=z7;Q)~>99 DY   vA >Q 14٪?Q 54) \B9!Y%GQ E%?yC)j;I;iJ4Y)-MA)*N1N1N9 N9IA I IɡIiIIIiQ)Qib4IIN=Aqԙ :,nl &*Ay:@ٱ:@=:eY:1=:H@? @dw? П?`#7?u??I:@):f;i:aCR:B9R"IVd9h9jDYhjQAj>lQ 1z4٪n[z?Q 5~4n) n[B9YGQ E ?ynC)nS;In;in;4Y6A*NNN NyI  ɡiIvB~BBBBBBBO;BEBBBB =BB4i ))i=I=i4IIN%>ԡ , &*Ay:@ٱ:@Ա=:oQ:B%=:Hx? +?@?+??P?I:@):h;i8FIB9F"IMb@Mb@Mb@ )IiNbX9ȿy&1?I +E`e<94I@ifA@@)@BD-6D-4Y==!=C=E,;Q)E>A9A9EDYAMOAM>QQ 1]4٪Us?Q 5]4U) U[B9]xF>Q Ae;YeHQ Ee?yUC)U;IU;iUǘ4YimAi*NqNqNy NyI  ɡiIi)i5115/1IAIQNe=) ݷ,__ &*Aɰ;p;y:@ٱ:'=:[H: =:HA?]8a@j׵?@ա????I:@):Mk;i:dCBBB9B"IBDJ6DJn4YRg!RT=V@;Q)V>T9T9ZDYXZE^AZ>Q 14٪m?Q 54) [B9YHQ E%?yC)X;I;ivΘ4Y-۔B-A-E*N1N1N1 N9IA I IɡIiIIIiQ)Qi/IIN=)YvB~BCB"IBPBBBBBO;BEԉ mᭂ,&8 &*A0y:@ٱ:V=:?:=:H ?ζYI~?͢? ??`?I:@):mm;i:`C^NB9b"I`i`if=Id}Mb@Mb@Mb@ y)yIyiyy}x&1ȿ~jt?~jtx}A}D<}ĻI}G@i}Ay}7@)y}@BD6D<4YZ=!;=;Q)>99DY`NA>Q 14٪Tf?Q 54) [B9B>Q A;YGQ E?yŦC)H:IQ:i՘4YiA*NNN NI  ɡiIi)  ԉiIIN=Թ Qɴ,Y &*Ay6@ٱ6=666}=6H ?gq(? ? ֦??1?I6@)6Yo;i6aCL9R"IBDZ6DZ4`Yb;!bZ=f;Q)f>d9d9jDYhjgAj>pQ 1v4٪rV`?Q 5v4r) r[B9xYz HQ Ez?yrϦC)rB:Ir:ir|ܘ4Y|eA*N N N  N I  ɡ!i!I!i!))iIIN=I h󺂉,W &*Aiy>@ٱ>@'=>;->>=>H?浿[V?A?ؿ!? ?&?I>@)>íp;i>bCJMB9J"IBDR6DR4YZ` !ZL=^w;Q)b>d9h9jDYlrAr>tQ 1z4٪vY?Q 5z4v) v[B9xYz&HQ E~?yvئC)v:Iv;iv4YsA*N N N NI! ! )ɡ)i)I)i9)IvB~BCB"IB[BBBBBO;BEi!!IIIYNe=Iqԡ E,m &*Ay6Z@ٱ6w=6#6=6H@r?G~nm@>e?`r?ÿ@a??@ ?I6Z@)6r;i6aCb`B9b"If%=f<)d d]Mb@Mb@Mb@ Y)YIYiYY]Gzǿ99DYGA>Q 14٪&S?Q 54) [B9X>>Q A;YG@Q E?yC)n ;I;i4YA*NNN NI   ɡ iIi) -x>->iIIN>ԡ dȂ,! &*Ay6?@ٱ6=6}6*=6H?3?@?K!???I6?@)6dt;i6bCBgB9B"IBDJ6DJ4YR?=!R[=VY;Q)V>T9T9VDYTZYAZ>\Q 1b4٪^XM?Q 5b4^) ^[B9`YfG@Q Ef?y^C)^r;I^ ;i^4YjՔBjsAh*NlNpNp Np+rB*** querying acoustic contact ***LpLpIx x xɡxixI|iy)y]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.i0I!I1NE=9AyAyvB~BB"IB`BBBBBO;BEi =I %= *DAT read: user:125>  BDAT read: Tx time:16:17:49.8508  $Ping request sent. Q9Q9UDYQ:A>Q 14٪F?Q 54) [B9l5>Q A;YD@Q E?yC):I:iE4YvA*NNN NI   ɡiIi)9iIIN>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250600iԉԹ ZՂ,ZU &*Ay>{@ٱ>?=>;U>=>H? `؆ y??橠??O?DiHI>{@)>m:w;i>_Cfchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503633I~݈GeB9"I)kAI)iM=iU UkA]@IM=e4=iep=BDm6Dm4Y}|λ!}G=;Q)>99DYK,A>Q 14٪@?Q 54h) [B9YC@Q E?yC);I;i*4YA*NNN NI  ɡiIi))Yԑi0IIN >)q q}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754877 5Aۂ,4o &*Ay6:|@ٱ6o=6b6@=6H?QG? ?-,˞??๿?I6:|@)6w;i6`CRgB9R"IBDZ6DZn4Yz$<!zS=~;Q)~>|99DY uA>)Q 154٪-;?Q 554-B) -[B91Y=C@Q E=?y-C)-Y;I-;i-4YAEqAA*NQNQNQ NQIa a aɡaiaIiii)ivB=9>~B9B="IB=jBB= =B9B9B=oO;B=Ei!%0)Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006747IN>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258488)₉, &*Ai@ y:v@ٱ:=:}⼹:ʅ=:H ?>ӳ@ǒ ??@:[??'?I:v@):x;i8VwB9V"IMb@Mb@Mb@ )IiEȿ{Gz?F#=I1@i@7@)@BD6Dދ4Y ̐=! :=5;Q)>99DYѺA>!Q 1-4٪%3?Q 5-4%( %[B9-J>Q A5;Y5@@Q E5?y%C)% ;I%& ;i%4Y9=A9*NININI NIIY Y YɡYiYIaia)aqi0IIN >ԙi?I~?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887 S肉,_ &*Ay66o@ٱ6.=6μ6ָ=6H ? 7@g ߲? -?ٙ? ??I66o@)6Hy;i6]CBzB9B"I)D DBDJ6DJO4PYVx<!Vd=V;Q)V>X9X9ZDYXZ"A^>`Q 1f4٪b-?Q 5f4b( `9dYf@@Q Ef?ybC)b:Ibg:ib4YjϔBnAnE*NpNpNp NpIx x |ɡ|i|I|i)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763163i5IIN=vB:>~BB"IBoBBBBZDBZO;BEBBBBBBՈ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017036) },ȼ &*Ay6-d@ٱ6@l=6/6L=6H]? {9I@#?d?`l`a??B?I6-d@)6F y;i6`CbB9b"I|MMb@Mb@Mb@ I)IIIiIIMZd;Oǿl?{GztMj=};Q)}>y9y9}DY:MA>Q 14٪7'?Q 54v( [B9A@>Q A;Y@@Q E?y&C)? ;IT ;id4YrA*NNN NI  ɡiIi)iuqqqqIIN=))A AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906Yԁ ue,@ &*Aɰ;;y6)Z@ٱ6@=6j6=6H? Lʇ {8?`?Sm???I6)Z@)6„x;i4Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518821V|B9V"IBD^6D^ԗ4YfN˼!jU=j;Q)j>l9l9nDYlr/QAr>pQ 1v4٪r4!?Q 5z4r8( r[B9xYz@@Q Ez?yr/C)r<:Ir:ir#4YYA*NNN NI  ɡiIi)i4IIN=ԉԱUBDAT read: Rx Time:16:17:52.2716 ]TRx dataTimestamp_ set to:1755879471.626680]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771682 ,} &*Ay6TP@ٱ6v=6Y6=6H@? Y7t9t9vDYtzAAz>|Q 14٪~?Q 54~' ~[B9Y@@Q E ?y~9C)~;I~o:i~.*4YrA*NNN! N!I) 1 1ɡ1i1I1i9)9 Mp>M>vB~BB"IBtBBBBBPO;BEi3I9Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025227N>!Q} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276890ԩ |,~n &*Ay YG@ٱ @7= ,C Ś= H{? [~ ?L?47h???I YG@) ?Xu;i %B9%"IMb@Mb@Mb@ )IiK7ɿ+?{GztI=IifAd@z@)(@BD6Dދ4Y<!<=;Q)>99DY$A>Q 14٪?Q 54' [B9M>Q A;Y@@Q E?yDC) ;IC ;i14YdA*N N N  N I  !ɡ!i!I!i!))Qi3IIN>qDAT read: 16:17:52.2716 LVL= 20816, 28401, 20930, 29651, AGC= 52, IDX= 455, 0.06,-0.693,-2.419,-0.432,-0.901, PHS= 0.311,-1.473, 0.426, RAW= 153.1, 8.0, CAL= 152.6, 8.5, ROT= 357.4, -8.5 Ygot valid direction response: 16:17:52.2716 LVL= 20816, 28401, 20930, 29651, AGC= 52, IDX= 455, 0.06,-0.693,-2.419,-0.432,-0.901, PHS= 0.311,-1.473, 0.426, RAW= 153.1, 8.0, CAL= 152.6, 8.5, ROT= 357.4, -8.5 PDAT read: Bearing 172.5, -0.5 (Local) ~Local bearing/azimuth received: Bearing 172.5, -0.5 (Local) DAT read: Range 11 to 50 : 12.4 m (Round-trip 16.6 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.987998,-0.044865,0.147809] Fpublishing direction and range info9"q?mZ%)k?fFAiPQnQs4 d;>)DI>i+@t*@>@ iI` R? LFM??e6?x? 9)iԡ ,"5$ &*Ai@y6>@ٱ6=6Ud6=6H P?ܭFv_??0-? z??I6>@)6;Us;i6`CRB9R"IBDZ6DZ4YbZ;!b^=bض;Q)b>d9d9fDYdf7Aj>hQ 1n4٪jX ?Q 5r4jj' j[B9pYr@@Q Er?yjMC)j; ;Ij ;ij984YvɔBz*AzE,~Detached at range: 12.40 m. 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[Ȭv?_z?-?@[?@H? ?I6l@)6oa;i4BB9B#I@i@iF=IF>BDJ6DJ4YR!R\=VA:Q)V>T9T9ZDYXZ?yAZ>`\Q 1f4٪^ɛ?Q 5f4^& ^[B9hYjGQ Ej?y^C)^B:I^:i^~4YnBnApNt*NtNtNt NtI| | |ɡ|iIi) iR./IIN%=vB~BBBBBBB}O;BEI E'P,@ &*Ay6+@ٱ6o=66J=6H?`ҭw??`_? `#xU??`?I6+@)6`;i6\C^B9^##ImMb@Mb@Mb@ i)iIiiiimK7ɿ~jtx?y&1|mIm;m`IiimOAimM@)im@BD6DYh =!7=]:Q)>99DYA> Q 14٪ ?›?Q 54 & [B9I>Q A;YGQ E?y C) G ;I ~ ;i 4Y!%A)N1*N1N1N1 N1IA A AɡAiAIIiI)Qi1/IIN >A) qԙ OV,yZ &*Ai@yB@ٱB4i=BBu=BH? nx? w"?Q?aP? ??IB@)B`;i@NB9LBDV6DV4Y^h!^a=^F:Q)b>`9`9bDY`f(Af>hQ 1n4٪j6?Q 5n4j& j[B9lYrGQ Er?yjɧC)j;Ij;ij팙4YtvAtNx*NxNxNx N|I) 1 1ɡ1i1I9i9)Ayio3/IIN=ԡ z\,Tt &*Ay6@ٱ6c=6F6l=6Hh??:j>w? &_?A?@@Q?? ?I6@)6[ _;i4vBP~BPBR"IBRtBBR =BPBPBRO;BRE%B9!-<-<)) )BD=6D=4YMH;!MA=Mf8Q)M>Q9Q9UDYQUgA]>aQ 1e4٪e3?Q 5m4e ' e[B9iYmGQ Em?yeӧC)e:Ie:ieN4Yq}AyN*NNN NI  ɡiIi)iAhAiU5YYe/aIIN- >1i ac,/ &*Ay6r@ٱ6\=6ꍺ6=6H?WyHFv??`+?᾿@Q?{? ?I6r@)6^;i6]CNB9R0#IuMb@Mb@Mb@ q)qIqiqquK7ɿy&1?~jtxqu`e<uĻIqiuAu7@u7@)qqBD6Dԗ4Y,D=!E=aٸQ)>99DYkA>Q 14٪L?Q 54& [B9TJ>Q A;YG@Q E?yާC) ;I:i4YBXAEN*NNN NI  ɡiIi)1i18/IIN>aԉԹ ;i,n &*Aɰy6@ٱ6X=66=6H`?.Lt???`㾿 QW? ? ?I6@)65^;i6\CBB9B6#IBDJ6DJd4YRC<!R[=RzQ)R>T9T9ZDYXb<Af>lQ 1r4٪n?Q 5v4n& n[B9tYvG@Q Ev?ynC)nW:In:in&4Y|~-A|N*NNN N+ B*** querying acoustic contact ***L L I  ɡiIi!)!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑi90IIN=ԹvB:>~BBBB =BBZDB}O;BE *DAT read: user:126>  BDAT read: Tx time:16:17:59.9508  $Ping request sent. Z??@?I6U@)6 _;i4BB9B#I@i@]Mb@Mb@Mb@ Y)YIYiYY]RQȿ{Gz?y&1|]B]ף<]`IYi]\@]@] @)Y]@BDm6DmO4Y!==ŹQ)>99DY6wA>Q 14٪$?Q 54& [B9C>Q A;YeE@Q E?yC):I:i4YA,4Docking module at standby.*NNN NI  ɡiIi) ??i90IIN=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246699I  =i dCI} G) lAI ZAi lA 4A v,L &*A06checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502291y>ӣ@ٱ>H=>: >e\=>H'?`@"'o???`cQa??`?I>ӣ@)>a;i>^CZB9Z #IBDb6Db4YjB!jV=nQ)n>l9p9rDYprAr>tQ 1z4٪v?Q 5z4v& v[B9xY~@E@Q E~?yvC)v;Iv/;ivH4YLA=, 8Undocking sequence complete.1*JCompleted DefaultWithUndock:LeaveDock1 *fAggregate::uninitialize DefaultWithUndock:LeaveDock+HUninitializing TrackAcousticContact.q,lAggregate::initialize DefaultWithUndock:SurfaceDefault -@Initialize GoToSurfaceComponent. -No depth rate setting specified. Using default value of nan m/s. -%~No pitch setting specified. Using default value of nan degrees. -%No speed setting specified. Using default value of 1.000000 m/s. -%No surface timeout specified. Using default value of 1000.000000 seconds. -%No altitude timeout specified. Using default value of 600.000000 seconds.--nReceived pitch timeout configuration 60.000000 seconds.I5p: ɡiIi)iQQQU~0QIaIqN}=ԉԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754055 |, &*AiyRx@ٱR~<=RlRJ=RHC?P@[? ? ? p??R?IRx@)RP`;iR]CZB9Z#I\BDf6Df&4YnI=!nJ=n鏻Q)r>p9p9rDYpvAv>xQ 1~4٪z?Q 5~4z& z[B9|Y~E@Q E~?yzC)z;Iz;iz[4Y  A NzN?NrN ?NļjNNI%+:- ?)-ļ -  -B 5ɡ5i1I5޺)=SAMM MMIaIyNH=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008115A % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257954,Ow&*AyJ@ٱJ7=JnJ=JH ?@H5??T?` u? ~?@?IJ@)J_;iJ[CT9TZ>Z#?=Mb@Mb@Mb@ 9)9I9i99=> ףp=ʿQ)e>i9i9mDYiuq5Au>New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators).Q 14٪)?Q 54z& [B9S>Q A;YE@Q E?yC)q ;I ;i¾4YBAENzNNrNNjNNI  ɡQ7iId)IQIiN=IPowering upchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510051qԡ ډ,zR)&*AyFw@ٱF2=FFh=FH ?+GjBU?ѻ? 7x?w??IFw@)F_;iDRB9R:#IBDZ6DZ4Yz/>!zR=~Q)~>99DYLA> Q 14٪ q?Q 54 _& [B9YE@Q E?y C) ;I ;i ř4Y!-@)N1zN1N1rN1N1jN1N1IAA IMB IɡMiIIM )QIiyINP=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761968ԡ!=@!=@!=@!=@!E@!E@!E@!E@AEAEAEAE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014295 6Ð,2C&*Aɰ,.499DYAA>Q 14٪?Q 54E& [B9O>Q A;YKF@Q E?y&C);I;i͙4Y@N zN N rN NjNNI! !%B )ɡ-7i)I-H)1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2660499"5;1I1 IQ Y Nm >b,]&*A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517946B95#Iii%=I%=-C=i-a=BD-6D-4Y]k!eQ=eQ)e>i9i9mDYimAm>yQ 1}4٪}ix?Q 54}.& }[B9YQ E?y}0C)}:I}d:i}ә4YANzNNrNNjNNI1 imB qɡu^8iqIu7 )y9e_Y@) BDAT read: Rx Time:16:18:02.3742 TRx dataTimestamp_ set to:1755879481.715454checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771833IaԉIN>Ա (,v&*Ay6`@ٱ65'=66w=6H? P1tq?Ѽ?jL??`?I6`@)6_;i6[CRB9RF#IBDZ6DZ4Yb=!fU=fӻQ)f>d9h9jDYhjRAj>lQ 1r4٪nq?Q 5v4n& n{[B9tYv1F@Q Ev?yn:C)n:In:inڙ4Yxz/@|NzNNrNNjNN I ]?B ɡH8iI% ()!9ԅ#ԑ@<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028544IIN >Թ% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278004! o,̐&*A`i`ÄB9K#I5Mb@Mb@Mb@ 1)1I1i115 rȿ~jt?Mb5C5D<5I1i5\@15@)15@BDI6DIY] x<!]3=eQ)e>a9a9eDYamA>Q 14٪Oj?Q 54& s[B9D>Q A;Y G@Q E?yEC):I:i4YB@ENzNNrNNjNNI   ÄB ɡ8iIH))jA kA9u^ӽDAT read: 16:18:02.3742 LVL= 21120, 32753, 21858, 32755, AGC= 53, IDX= 449, 0.21,-1.679, 2.844,-1.538,-1.961, PHS= 0.385,-1.432, 0.379, RAW= 149.9, 7.4, CAL= 149.3, 7.9, ROT= 0.7, -7.9 Ygot valid direction response: 16:18:02.3742 LVL= 21120, 32753, 21858, 32755, AGC= 53, IDX= 449, 0.21,-1.679, 2.844,-1.538,-1.961, PHS= 0.385,-1.432, 0.379, RAW= 149.9, 7.4, CAL= 149.3, 7.9, ROT= 0.7, -7.9 PDAT read: Bearing 169.3, 2.2 (Local) ~Local bearing/azimuth received: Bearing 169.3, 2.2 (Local) DAT read: Range 11 to 50 : 14.4 m (Round-trip 19.2 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.990436,0.012101,0.137445]Fpublishing direction and range info9y}|Hॱ?}pȈ?yjȗ?}ffAyi}R}}bU}}5 }>)}KI}J >i}p'@} A>} &@}0 >}+H< }0 iyyI}:?ৱ?Ļǁ?}N?}ɒ }+H<)}0 iyy"@jA@kA@<IIN>A (,&*Ay6}V@ٱ6"=6)B6=6H?pդ| X>?`?@>%]?K ??I6}V@)6a;i4NB9RB#IR=R<)T VABDZ6DZ4Yv1!vf=vQ)v>x9x9zDYx~jA~>Q 1 4٪d?Q 5 4% m[B9 Y F@Q E ?yNC):I:i4Y@N!zN!N!rN!N)jN)N)I11 9=B 9ɡ=8iAIEO`)I9U@-}99DY5A5>9Q 1E4٪=^]?Q 5E4=% =c[B9EL>Q AE;YEH@Q EM?y=YC)=:I=Q:i=4YQU@QNYzNYNYrNaNajNaNaIiq quĄB qɡ}8iyI})ԩ9] l @5 <bA=jAZA=kAIIN> B:,P&*Aɰ;lB9C#IBD-6D-4Y=+!=T=AQ)E>A9A9EDYIIAM>QQ 1]4٪UW?Q 5]4U% U[[B9YYaQ Ee?yUbC)U;IU;iU4Yim@iNqzNqNqrNqNyjNyNyI 額B ɡ 8iI0))i=I >9@?< II)N5 >1a Zd,+&*Ay6<@ٱ6,=6)6ڡ=6H?H0⣢??!?`??I6<@)6jb;i6YCBB9BA#IDiDBDJ6DJ4YR%!RT=Vf4Q)V>T9T9ZDYXZfAZ>\Q 1b4٪^P?Q 5b4^% ^R[B9dYfRH@Q Ef?y^lC)^N:I^[:i^4Yhj@hNlzNpNprNpNpjNpNpItx zzB |ɡ~99i|I}VŚ)iU=IU%=i9=h@<IyIԑN> eLă,d&*AyF8@ٱF0=F̄FC=FH?@<0[ nd? ?<c?D??IF8@)F,qb;iF\C^B9bG#IUMb@Mb@Mb@ Q)QIQiQQUMbXɿ{Gzt?99DY쐺A>Q 14٪gI?Q 54% H[B9K>Q A;Y IQ E?ywC);I;i{4YBf@NzNNrNNjNNI B ɡd9iIE) 9MImNG)IAixA@<IIN^> Xvʃ,+&*AiyB@7@ٱBb=BBX=BH? qJ?b?`溿A?~ź?` ?IB@7@)Ba;iBXCJȄB9JQ#IBDR6DR4YZ*+=!Z\=^[k:Q)^>\9`9bDY`b Ab>dQ 1j4٪f3C?Q 5j4f% fA[B9lYnHQ En?yfC)f;If7;if 4Ypr@tNtzNxNxrNxNxjNxNxI  ȄB ɡ '9i I k))߹ ߹!]9)a eiAQ9 T7Ա @ Ƅ<I I N >-҃,#I&*AhB9@#I<4<Mb@Mb@Mb@ )IiZd;Oǿ~jt?y&1j<D<`eI@i)p@I@A)BD6Dߢ4Y _!&=Q)>99DYA>Q 14٪;?Q 54% 9[B9\=>Q A;YF@Q E?yC) ;IC ;i4Y@NzNNrNNjNN I B ɡ :9i!I%ȼ))-9)5 5i5I51@<II!N5>Y i I <S؃,9b&*Ay64&@ٱ6 =6L2u6l=6Hq?=ˡ @,:??崿?"Ǵ?` ?I64&@)6d`;i6YC^ȄB9bQ#IBDj6Dj4Yr.=!r[=r;Q)r>t9t9vDYtvͶAz>xQ 14٪z5?Q 54z% z3[B9YF@Q E?yzC)z;Iz;iz4Y @NzNNrNNjNN!I)) 15ȄB 1ɡ5*J9i1I5ּy)jAiiA9@mԩ ރ,|&*Aɰy6("@ٱ6=6T9T9VDYTZ0AZ>\Q 1b4٪^/?Q 5b4^% ^,[B9`YbF@Q Eb?y^C)^:I^g:i^ "4YjBj@jENlzNlNlrNlNpjNpNpItt xzDŽB xɡzQ9i|I~)9@|<rA]?jA0?IIN>)Q e僉,&*Ay:"@ٱ:"=:&I`:] =:H?@>`ԅ@? o? `?۶??I:"@):_;i:[Cb˄B9bU#IdidMMb@Mb@Mb@ I)IIIiIIMHzGQ?MbM= Mu<MIM1@iM@M@M@)IMz@BDe6Deˣ4Yu<!u>=u+ ;Q)u>y9y9}DYy19A>Q 14٪*?Q 54% %[B9 >Q A;YtC@Q E?yC) ;Iz ;i)4YO@NzNNrNNjNNI *'˄B ɡiIB")199@iw<II!N- >aԉԹ 냉,|}&*Ay:o%@ٱ:y =:;H:5=:H?F@1B@.?[?`?`.ܸ?`?I:o%@):xc_;i:WCBՄB9Fb#IBDN6DN4YV+W=!VX=V{;Q)V>X9X9ZDYX^b:A^> Q 14٪ J&?Q 54 j% [B9YlC@Q E?y C) 2;I >;i V04Y)-@)N1zN1N1rN1N1jN1N9IAI IMՄB IɡIiIIUc)Q5ۺ9ԑ@zr<AEAIIIYNm5> w򃉊,X&*Ai~ڄB9~g#IMb@Mb@Mb@ )IibX9ȶ~jt?I +E<94I@i@)@BD6D&4Y<!:=Q)>U?9U?9DY[DA>Q 14٪ #?Q 549% [B9=Q AI ,4&*Ay:4@ٱ:=:l:i=:H?Fmq"?@? 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N= Q) >)9EYA>9Q 1ED4٪=d?Q 5MD4=5` =&J@9IYIQ EM?y=A)=:I=:i=D4YQyU BzNNNNI  ɡiIi)IQIaN=ԡ ,B&*Ay:?ٱ:|?:ϨL:y<>:Ha$ѿ:A?`?oѿd)]?``?@e? k?I:?):H_;i8Nl>9RŧD)T VAV=iTBDZ&6DZ5:Yf;!fN=fZ^Q)f>h)h9jEYhn;An>Q 1 D4٪?Q 5 D4c  H@9 Y IQ E ?y A)N:I:iD4Y= B9zNANANINIIQ Q yɡyiyIyiy)II1N=a}>}>ԉie =Ie =Թ ,&*Aɰ;y6p?ٱ6f?6zw6gG>6H oѿ&?%?.zѿG?`-?? `?I6p?)65_;i6CB>9BzDBDJ`k6DJxZ:YΉ<!G=nB=Q)> ) 9 EY 6<A>Q 1%E4٪ ?Q 5%E4g F@9!Y%Q E%?y;A);I;i E4Y15B1zN9N9N9N9II I IɡIiIIIiQ)QIqINP=ԑ 0,&*Ay6N?ٱ6MD?6Y6B8>6HFѿ`H6@q?`ʹ?=ѿ %?@ ??@C{?I6N?)6j_;i4R >9RD]{Gzy&1?Mb?]ף9]`]C)9EY <A>Q 1E4٪Y?Q 5E4h -G@9G(>Q A;Y2Q E?yđA):I:iE4YBzNNNNI  ɡiIi)IIN=) I  Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 160gy 1 3[ ,3&*A=2got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 160gy 1 3.000000=6PScheduling command #1 of 3 with id=160gy=:Scheduled #5 (#1 of 3 with id='160gy'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool", ASAP8yR2?ٱR'?R?^R,+>RHQѿ`Sk?W?@'fѿ@?J? `?`?IR2?)R@_;iRCZA>9ZD\i\ib=Ib=BDf{6DfS\:Yn=!nV=rJ9Q)r>p)p9vEYtvAv>xQ 1~E4٪z򚌊?Q 5~E4zj zH@9YQ E?yzAA)z;Iz;iz)E4Y  B zNNNNI! ! )ɡ)i)I)i))1IIINs=iyiyԙ B,ͬM&*Aiy>T?ٱ>w?>B7>>>Huѿ`Eg@*[? ?ѿj@?}??I>T?)>@_;i>CJO>9JdDPBDVd`6DV5Y:YZ =!^M=^Q)^>`)`9bEY`f;Af>dQ 1jE4٪fa?Q 5nE4fUk fH@9lYnQ En?yfŒA)fj;Ifw;if7E4YpvBtzNxNxNxNxI  ɡiIi ) I!I9NE(=i==I=9bDBDjp6Dj;`:Yrpͽ!rH=r=Q)r>t)t9vEYtv<Az>x|Q 1E4٪z?Q 5E4zl zI@9 Y Q E ?yzLA)z},;IzF-;iz%FE4YBzNN!N!N!I) ) 1ɡ1i1I1i9)9IQIaNu?=12SBD MTMSN=20250822T162936Qԁ T ,b&*Ay63?ٱ6w?65Z=6'=6HLiҿ@`??Sѿ?`sS`? ?I63?)6}_;i4N>9RD)T TBDZ{ 6DZ:YbN!bL=b>Q)f>d)d9fEYdj<<Aj>lQ 1rE4٪n"?Q 5rE4nm nJ@9pYrQ Er?ynϓA)nQ;In+;in!TE4YxzBxYzN|NNNI  ɡiIi)IINv=ԑ}>}>Ա &,%?&*Aɰ49N%D-E?|?5^?Clѿ->9-=Y-ߏi))-Mb?T㥛 ?~jt?->->->I-jBi-ߛB-B-B))-zBBDEw76DEq:YUc<!UA=Թs)9EYA>Q 1E4٪"?Q 5E47k 1S@9>Q A;Y @Q E?y͔A):I:imcE4YPBBmEzNNNNI  ɡiIi)!I9IINU=9 ,,7&*Ay>?ٱ>+?> =>i >>H`pҿtV?@?TѿZ?/+?%?I>?)>k_;i>CF>9FDBDR6DRP:YV!VV=Z!Q)Z>X)\9^EY\^Ab>dQ 1jE4٪f_?Q 5jE4fi f}Z@9hYjs @Q Ej?yfA)f-:If[:ifLpE4YprBpzNtNtNtNtI| | |ɡ|iIi) I!I1NE&=Aqԙ Ɛ3,sμ&*Ay6?ٱ6?636>6Hҿa ?@?ѿP?qf?eG?`?I6?)623_;i6Cb{.>9bDdidif=If=BDn6DnNK:Yv,J=!vG=vﹽQ)v>x)x9zEYxz:A~>Q 1E4٪9?Q 5 E4f b@9 Y  @Q E ?yzA):I:i~E4YBzN!N!N!N!I1 1 1ɡ1i1I9i9)AIYIiNuB=qԡyiy 09,&*Aiy6E/?ٱ6$?6~6I >6Hӿ#`-3?o?`Bӿ??:?`?I6E/?)6_;i6CN>9RDBDZ}Y6DZjX:Yvʒ!vJ=v5Q)v>x)x9zEYxz=A~>QQ 1]E4٪Uz?Q 5]E4Uhd Uzk@9aYe @Q Ee?yUVA)UP ;IU ;iU)E4YimBizNyNyNyNyI  ɡiIi)IINn=) i I G) I i  AQ @,_&*Ay6O?ٱ6D?66=6H2տ=ӻ?1?տ@XU?p?V ??I6O?)62_;i6C^3=9^DBDf|6Dfs\:Ynu!nK=n(=Q)n>p)p9rEYpvsx=Av>tQ 1~E4٪v@u?Q 5~E4vJb vos@9|Y~h@Q E~?yv+A)vY;Iv;ivٚE4Y B zNNNNI! ! !ɡ!i!I!i)))IIIN=1Yԁ F,…&*A0y>$?ٱ>?>h<>}=>Hҕտ@`3? ?QտI8?ь@V\??I>$?)>w_;i>CF=9JD)L NA\(\ϿV-x&ѿz9hY7iq= ףp&1?tVοP>rI BiBB)BBD-6D-FM:YE)=!MD=MF=Q)M>Q)Q9UEYQU@<AU>YQ 1eE4٪]o?Q 5mE4]^d ]m@9m>Q Am;YmQ Em?y]A)]:I]8:i]rE4YuQB}B}lEzNNNNI  ɡiIi)IINs=ԑ}>}>Թ @L,a6&*Aɰ;y6?ٱ6j?6<6>6HPտ`?`+?Կ0?SG?,?I6?)6?_;i6C\t>9,DBD-)6D-`p:Y]=!]I=e^Q)e>a)i9mEYim`5Am>qQ 1E4٪uh?Q 5E4uef uh@9Y Q E?yuA)u;IuT;iuE4YBzNNNNI  ɡiIi)I IN=A ) oS,`>P&*An^/>9nDBDvE6DvO:Y}bC=!}H=}Q)>)9EYA>Q 1E4٪Sb?Q 5E4lh Ic@9YQ E?yšA)8;I3;iE4YBzNNNNI  ɡiIi)I I9NE=Iqԡ Z,j&*Ay6"k?ٱ6`?6S?6*>6H39տK?&?mտ*|?*?ej?+?I6"k?)6\ _;i6CB{.>9BDiF=IF=ID)FAABDJ6DJ?:YrX!rU=rQ)r>t)t9vEYtzEAz>xQ 1E4٪z2\?Q 5%E4z:j z(^@9!Y%Q E%?yzA)z;Iz.;izXE4Y)5B1yzNNNNI  ɡiIi!)!IAIqN}=ԡyiy c`,A&*Aiy> ?ٱ>?>ڣ>h>>Hyտ` ?`; ?ֿ@<@u? ~:?`?I> ?)>V,_;i>C~,>9~fDBDI6DV:Y-.!-F=-"Q)->1)195EY1=C<A=>aQ 1mE4٪e}U?Q 5uE4e l e{X@9qYuQ Eu?yejA)e):IeW:ieE4YBzNNNNI1 9 AɡAiIIIi)IIQN]>1Y g,ϝ&*Ay6?ٱ6S?6Oƽ62>6H yտ|? >?`Bֿ؟`?@?]?I6?)6-_;i6CNt>9R,DI +?333333X9v?9<9Y>iGz333333?p=IBiB3B)GBBD6D1J:1YU!U9=]Q)]>Y)Y9eEYaeڤ:Ae>iQ 1E4٪m]?Q 5E4mr mX@9?Q A:YZQ E?ymA)m9aԉԹ Em,覆&*Ay6?ٱ6?6Ǘ6=?>6H"ӿ? S?lԿt?@Y?`7[?I6?)6M_;i4B>9BDB=B<)D FABDJO<6DJU:Yr!re=rK=Q)r>t)t9vEYtzTAz>xQ 1E4٪zc?Q 5%E4zAx zY@9!Y%Q E%?yzYA)z;Iz;izE4Y)11zNNNNI  ɡiIi)!IYIiԑN=Թ}>}> -t,3ѽ&*Aɰ y>Z^?ٱ>S?>;>ED=>>HYҿ z0??ҿѤ?w?`?@l?I>Z^?)>(_;i>CN=9RtDBDZ06DZ::Y~!H=Տ=Q)> ) 9 EY  AA>Q 1=F4٪_j?Q 5EF4~ Z@9AYEQ EE?y]A);I6;i F4YIMBQzNyNyNyNyI  ɡiIi)IIN=i=4=I=4=I Wz,`&*Ay:.?ٱ:E$?:$: +>:H\Gҿ v6 ?k?5ҿ ^?VD?2G??I:.?):z]_;i:Cb=9bDBDjR6DjM:Yv!vL=v=Q)v>x)x9zEYxzlA~>!Q 1%F4٪%p?Q 5-F4%ф %T\@9)Y-dQ E-?y%]A)%|:I%:i%F4Y5SB]B]vEzNaNaNaNaIq q qɡqiqIi)IIN=Iyԡ s?,;&*Ay6L?ٱ6XB?6c$<6G>6Hw<Կ ?@ X?ӿP? v㝿?{?I6L?)6l_;i6C<RO >9VۨD\i\if=IdBDj6DjP@:Yy=!===Q)%>))19mEYi=A>)Q 15F4٪-x?Q 5=F4- -_@99Y=Q E=?y-A))I-:i-*F4YAEBIzNNNNI  ɡiIԩi)!IIN#>yiy &i,8&*Aiy6IG?ٱ69=YĠiףp= ?Zd;?q= ףp?>۹>k>I]BiXBgBB)BBD-0s6D-z :Y=Ӽ!=T=E=Q)E>A)A9MEYIU=AU>QQ 1eF4٪U8k?Q 5eF4U/ UDd@9e?Q Ae:Ye#@Q Ee?yU:A)U":IUj:iU6F4YuUBuBuuEzNNNNI  ɡ i I i)I)IN= 1a 6,8&*Ay:?ٱ:h ?: @=:e=:HnֿĤ?`b?@տ`ɪ? ?`?I:?):\_;i:CF >9FDBDN6DN.,:YVD=!VT=V\Q)Z>X)X9ZEYX^<A^>`Q 1fF4٪b[?Q 5fF4b0 b j@9dYf%@Q Ej?ybA)b:Ib:ib DF4YlnBlzNpNpNtNtIx x xɡ|i|I|i)II)N5!=9I}·G)Ii?Ai =I =iԑ {,\R&*A~%>9~D4=4=)  ABDN6D/W:Y%t=!%C=%Q)->)))9-EY)5A5>9Q 1EF4٪=J?Q 5EF4= =Wp@9AYAQ EM?y=ܫA)=:I=|:i=RF4YUVBUBQzNYNYNYNYIi i iɡiiiIqiq)yIԙIN`=Received command: sched asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 160gy 2 3=got command schedule asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 160gy 2 3.000000=PScheduling command #2 of 3 with id=160gy=Scheduled #6 (#2 of 3 with id='160gy'): "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m", ASAP}>}> D,l&*Aɰy6?ٱ6~?67.6=6H@>9ؿ@ lM??@)`ؿ^`Mť?` ?A?I6?)6_;i6CB+>9BODBDJ6DJKk:YR<!RS=VVMQ)V>T)T9VEYXZ=AZ>\Q 1bF4٪^';?Q 5bF4^< ^Zw@9dYf(@Q Ef?y^A)^ ;I^:i^@`F4YhjBhzNlNpNpNpIt t xɡxixIxix)YIqIN)q uA!Qy ,&*AyV?ٱV:?V;,󻹱V=VHؿIOڼ? :?`9ؿ? ue~? ~?p?IV?)VA_;iVCz=>9~DBD-{6D-y:Y=! 7==Q)5>9)A9EEQYIW<A>Q 1F4٪(?Q 5F4| @9Y'@Q E?yA)-:I|:ipF4YWBBtEzNNNNI  ɡ i I i )IIIYN=ԁԩ 2SBD MTMSN=20250822T162945 =,\&*A~ E>9UDi =I =1Zd?X9vοy&1?"=9sY`+IgBi?BB B)QBBDSA6D08:Y<!N=Q)>)9EYA>Q 1UF4٪|&?Q 5UF4 e~@9Uf>Q A]*;Y]Q E]?yA);I ;i}F4YaeBazNiNiNiNqIy y ɡiIi)IԱIN=yi}AA 9 ᭯,8&*Aiy62?ٱ6?6:6KY7>6H@Ճֿ@ z P?`V?`&ֿ .?C?}?I62?)6F_;i6CBLZ>9B:EBDJt6DJ>:Yn`=!nX=rЭp)t9vEYtv*̽Av>xQ 1F4٪z$?Q 5 F4z z}@9YQ E%?yzoA)z;Iz;izފF4Y9EBAzNINININIIQ Y YɡYiYIYia)aIyINV=9i )ߙ ߙ Aɴ,Ծ&*A y:ԫ?ٱ:>?:`\;:(>:Hz=׿kS??7ֿ@?k@??I:ԫ?):57_;i:CF:>9FDBDNq6DN[:YVE!VN=V=;Q)V>X)X9ZEYXZ_<A^>`Q 1bF4٪b!?Q 5fF4b b|@9dYfQ Ef?ybkA)b:IbF:ibF4YhnBlzNpNpNpNpIx x xɡxixIxiy)yIIN=iԙ P󺯉,&*Ay6SU?ٱ6J?6~<6>6H`ֿ@? ?`Lֿ\?@ޏ?ݸ?I6SU?)6Z_;i6CB'->9BD)D DJ%=iHBDJA9 6DJ:PYV!VJ=V)X)X9ZEYX^ӼA^>`Q 1fF4٪b?Q 5fF4b3 b{@9dYjQ Ej?ybkA)b:Ib3:ibF4YlnBlzNpNpNtNtIx x xɡ|i|I|i)II)N5!=}>}>i %=I R=1 ,Y&*Aɰ``|yW?ٱ?6<=H@ >׿@4`u?@|?4ֿ@?@a斿 -?@?IW?)Z`_;iC>9D rhտ#~j?{Gz9=Y#iQ뱿~jt?~jtx\=ĻI Bi=BBMB)̑BBD[6DH:YZ!,= j)9EY/<A>Q 1F4٪n?Q 5F4t {@9=Q A;Y Q E?y߳A):I:iF4Y B zNNNNI ! !ɡ!i!I!i)))IAIYNe=Iy xȯ,ߤ!&*Ar,>9vfDBDz(6DzR:Y-"=!-k=-Q)-?1)19=EY9MAU>aiQ 1mF4٪m?Q 5uF4mb m{@9qYqQ Eu?ym5A)m0;Im;imF4YBzNNNNI  ɡiIi)IINy=ԉԱ)q uA /ί,;&*A~->9~|Dii =I =BDz6D;\:YmN ;!mF=iQ)u>q)q9uEYqyA}>Q 1F4٪R?Q 5F4t  |@9YQ E?yA):I:iF4YzNNNNI Թ ɡiIi)IIN=yi}@A9 կ,hU&*Aiy6?ٱ6_?6Av6i=6Hؿs7`|G?`h?A!ٿ@ȵ?0L??I6?)6<_;i4Bh=9BDBDJ&6DJO:YR!RW=VQ)V>T)T9ZEYXZj=AZ>\Q 1bF4٪^Z?Q 5bF4^x ^|@9dYfPQ Ef?y^A)^S:I^:i^]F4YhjBhzNlNpNpNpIt t xɡxixIxi )I9IIN]3=9i=I:H׿<z?w? ؿ? N?? J?I:?):?K_;i:CN>9NDBDV6DV;h:Y <!%C=%=Q)%>)))9-EY)- A->1Q 1]F4٪5%?Q 5]F45 5*|@9aYe Q Ee?y5ZA)5;I5;i5F4YimBizNNNNI  ɡiIi)IqIN=ԡg=iCI-6G)AIYiA i.⯉,$&&*Ay|?ٱr?@(K:>H#wٿ?@[? k'ٿ?? 4?w?I|?)!j_;i>9D) AZd;?X9vjtĿy=9}Y iMb+η?L7A`?v=+>IiB#BwB)LBBDUӆ 6DU:Y]<!e+=e{=Q)e>i)i9mEYimf=Au>qQ 1}F4٪uw?Q 5F4uy u2@9b>Q A;YٺQ E?yuA)u;Iuy;iuF4YBzNNNNI  ɡiIi)IIN'>u>u>! S诉,ꢿ&*Aɰ0n >9rMDBDz 6DzdB:Y :! {= Q)  ?)9EYA ?aQ 1eG4٪e?Q 5mG4e eu@9iYiQ Em?yeѵA)e:Ie:iej G4YuZBuB}EzNNNNI  ɡiIi)II N=ԉԹ =~,ɼ&*Ay6r?ٱ6?6/'׼6B5>6H'ڿʯ )?1?@ڿǨ?@??@6}?I6r?)6[<_;i4R>9VPD\BDfQo6Dfz=:YvB!vL=v#Q)v>x)x9zEYxzB<A~>!Q 1-G4٪%?Q 5-G4% %@9)Y-Q E5?y%A)%:I%:i%EG4YY]BYzNaNaNaNiIq q !ɡ)i)I)i))1IIIyN=A e,fֿ&*AyR?ٱRh?RR;#=RHؿK?@z?ؿ#?`.?@9??IR?)R^>_;iRCb>9bDif=If=Ih)hBDjE6Djn:Y! H= FQ) >)9EYօA>9Q 1EG4٪=?Q 5EG4=ݑ =@9IYMݿQ EM?y=\A)=:I=:i=&G4YQUByzNNNNI  ɡiIi)IIN=Iyiyqԡ ,&*AiyJ:?ٱJC0?JJt9=JH ؿ`m2?h?`D2ٿ)@G?`?@2?IJ:?)J%_;iJC~>9~DBD  6D :Y= !=G=EQ)E>A)I9MEYIMC<AM>yQQ 1G4٪U3?Q 5G4U U@9YԿQ E?yUA)U;IUj;iU4G4YzNNNNI  ɡiIi)I) IIN=ԡ {,rk &*Ay5x?ٱm?Q=HaؿZ#?b?jOٿƱ?`̾??I5x?);_;iC]">9]DeCl?y&1x&1?e;>9e`YeA>iaaeuVͿX9v?y&1?erhe<e`)9EY_;A>Q 1EG4٪?Q 5EG4 @9MYl>Q AMe;YMQ EM?yA)K;I;iDG4YQU BYzNaNaNaNI  ɡiIi)II N>)Q T,6$&*AyJs?ٱJ݇?J݃}Jž=JHؿ@h??ؿ` ?(? @??IJs?)J_(_;iJC^5>9^HD)` `f=if4=BDj26DjS:Yrd=!rv=r/&>Q)v?t)t9vEYtzq6Az?Q 1%G4٪j?Q 5%G4 G@9!Y%Q E%?y+A):I :iPG4Y15B1zNYNYNYNYIi i iɡiiiIqiq)I)1IYNm=a}>}>ԉԹ 5,*>&*Aɰ((yF|?ٱFSr?F?1=FK=FH ؿ@@<ڶ??Ǣ׿@b(?8&|?(?IF|?)Ffx_;iFCjx>9jFDBDr^6Dryv:Yz!zH=~>Q)~>|)|9~EY|cӺA> Q 15G4٪ m?Q 55G4  Ϙ@91Y5GQ E=?y A) ;I ;i ^G4YAEBAzNiNiNiNiIy y yɡyiyIi)IIIN]=ԁԱ)1 1 ,mX&*Ay:?ٱ:?:F{=:=:Hؿ`f z?s?2ؿ濹?t Z@?ź?I:?):zz_;i:C^>9^DBDf0 6Dfp:Y~!~J= 8=Q)>)9EY  <A >Q 1G4٪?Q 5G4F f@9Y%ԥQ E%?yA):I:ilG4Y)-B1zN9N9N9N9IA I IɡIiIIIiQ)QIqINR=9 ,?q&*A y:o?ٱ:?:f =:]>:H޷ٿ?IH?AٿF?k3??I:o?):U_;i:C^>9^ѺDb8Not Powering down - fast GPSbbb b)b)fIfifffff f)fIfijjij=Ij=Il)n@ABDr6Dr%:Yzޞ<!zL=zQ)z>)9EY=A>Q 1G4٪?Q 5G4 @9YcQ E?ygA);I#;i{G4YBzNNNNI  ɡiIi)I IN%=iyi}AAԙ  Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 160gy 3 3[",9&*AiyBB?ٱBVh@Bp BS >BH@ۿ`Ϳ?`?ڿk? Ca?i?`ѳ?IBB?)BS_;iBC=Vgot command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 160gy 3 3.000000=ZPScheduling command #3 of 3 with id=160gy=^Scheduled #7 (#3 of 3 with id='160gy'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP\jN$>9jD]EпHzG?v/]9]= >Y]xiYY]Fx?%C?nڿ]K>]Z>]־I]Bi]B]3B]gB)Y]LBBD}u6D}eD:Y<!A=oQ)>)9EY\=A>Q 1G4٪m?Q 5G4q %@97?Q A:YE@Q E?yƻA)h;I ;iщG4YBzNNNNI  ɡiIi)IIN==xgot command load ./Missions/Engineering/lineCaptureHoming.tl'%Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl '-TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl 'TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tlW(,}&*Ay:B7?ٱ:V@: :]V=:H;ڿ~Gտ??@ڿ?4?`Nr? ?I:B7?):)_;i:CN1 >9NDBDV6DV.-:Y!S='ýQ)>9)99=EYAE%QAE>IQ 1eG4٪Mj?Q 5eG4M M@9aYeB@Q Ee?yMA)M:IM:iMG4Ym[BuBqIp: ɡiIi)IIN~=I fG) I1 /,f&*Ai646Q Az>9zD~%=~=)A ABD P56D q:Y%л!%I=%Q)->)))9-EY)5A>Q 1G4٪?Q 5G4 @9YQ E?yA)W:IN:iG4YBI ɡiIi)I I9NE=u>u>6,:&*Aɰ49^DBDf6Df/I:Y<!L= WQ) > ) 9EY&C=A5>9Q 1EG4٪=8勊?Q 5EG4= =5@9IYM%@@Q EM?y=A)=g:I=:i=G4Yu\BuBu|EI ɡiIi)IIaIN=i}4=Iy,<,&*Ay:?ٱ:Al@:A:Ⱥ=:H`ܿ>-?@8z?)ݿ@D?? ?I:?):$ _;i:CNt>9N,DBDVik6DVyZ:Yvx<!vL=v=Q)v>x)x9zEYx~2=A>!Q 1-G4٪%֋?Q 5-G4% %@9)Y-?C@Q E-?y%JA)%N:I%:i%G4Y1]BYIi iɡiiiIiiq)IIN= nManaging dock network, ignoring radio surface power offfC, &*AnB=9nWDir=Ir="~j?MbZd;O?Sc>9Y~j>iPnп!rh?$C?lg>Z>IBi֙BB)BBD6DL:Y ! 9= Q) >)195EY1=A=>AQ 1]G4٪Eԋ?Q 5]G4Es E@9]>Q A];Y]^ݿQ E]?yE~A)E;IE:iEG4YimBiIy yɡyiyIi)I9IN=yi}@A5>I,&&*Aiy:;?ٱ:@:2d;:[(>:H,ۿx=?@?ڿP?‘l? ?I:;?):?_;i:CF_>9FvDBDN6DNC:Y~e=!~]=k>Q)>) 9 EY  쟽A >Q 1=G4٪ҋ?Q 5=G4u @9AYEQ EE?ylA);Id;iG4YIMBII ɡiIi)I!I9NE=&P,@&*Ay:V?ٱ:?:_:6d&>:H+ڿ ?2?Gٿڔ?E??V?I:V?):d_;i8N>9RDBDVW6DV9X:Yf82<!fN=f0Q)f>h)h9jEYhjJ1An>Q 1%G4٪Ћ?Q 5%G4ʦ @9!Y%"Q E%?yuA):I:iG4Y15B1IA AɡAiAIAiI)IIINl=ePV,{Z&*Ay6?ٱ6@66! >6HYۿߕ??!dۿC?@]?`? ?I6?)6@_;i6CN$>9ND)VA VATiV<BDZ V6DZ::YAλ! F= ]Q) >)9EYK=A>9Q 1EG4٪=s΋?Q 5EG4=M =@9IYM;Q EM?y=A)=:I=:i=KG4YQUB}{EI ɡiIi)IIN =}>}>8z\,Ut&*Aɰ;y64?ٱ6@6d6i=6Hݿ %?@TC?޿ͳ|? ??@?I64?)6GR_;i4N>9RDBDZ6DZ@:Y/<!K=MJQ)> ) 9 EY <=A>Q 1}H4٪̋?Q 5H4ʭ @9YۿQ E?yA)ebc,4&*Ay:?ٱ:3D@:s:=:H@O߿l? ? 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W?I6M?)6E_;i6CN">9RlDPiPiV>IV>BDZ6DZN:Yrr$!rf=r%;Q)v>t)t9vEYtzAz>|Q 1}H4٪~?Q 5H4~ ~3@9Ys߿Q E?y~A)~:I~t:i~ yH4YBI ɡiIi)IIaIqN=yi}AA얰, ]&*Aiy6xP?ٱ6"@6J6b9 >6H1߿W@Z??`2߿>?[H?V?`9?I6xP?)6<_;i6C^x>9^FDBDf6Dfx)x9zEYxzӟ<A~>Q 1%H4٪?Q 5-H4 @9)Y-ۿQ E-?yA)1:I_:iXH4Y1BIA AɡAiAIAiI)IMŃ:IaIqNi%=I%<,v&*Ay:?ٱ:| @:/&:%/=:H߿ ǯ`?? ߿׵?d?`?o?I:?):_;i:C^>9^DBDf6Dfm:Y׊! H= =Q) >)9EYF =A>!Q 1%H4٪%󦋊?Q 5-H4%b %@9)Y-FտQ E-?y%A)%l:I%:i%wH4Y1}BI ɡiIi)}:IIN=3,j&*An=9nD)t vAx?e;OοK7K7>9tYI iMb? +?/$?=ȶ>>IBiBBB)BBD|6DC3:Y-^\!-,=Q)>)9EYA>Q 1MH4٪?Q 5MH4 +@9U#>Q AU:YU93Q EU?y1A)˶}>}>n(,&*Aɰ4<;y6?ٱ6x@6Il<6;6Hkwu3u?k>?)픿ଔy? !?I6?)6Ud`;i6C]P=9]dDBDmB6Dmb:Y"?!b==Q)?)9EY5=A?Q 1]H4٪~?Q 5]H4 @9YY]/3Q Ee?y3A)6g,|&*Ay6V?ٱ6@6c;6>6HϰG?`\M?`Q?blc??I6V?)6_;i6C=9CDBD-$6D-L:iIY<!/=Q)>)9EY<A>Q 1H4٪?Q 5H4I @9Y?3Q E?ybA)1:I:iH4YaB$BEI ɡiIi)с:II NK>fY,(&*Ay6*1?ٱ6J@6>;6_&R>6H??@.x? Ng?T?I6*1?)6_;i4n*>9r8DitIv=BDz6DzB:Y-q>!-{=-ߺQ)- ?1)195EY15{6=A= ?Q 1UH4٪{?Q 5]H4% @9YY]3Q E]?y-A)]i@A,&*Aiy^(?ٱ^ @^T?<^MWS>^H`l~jM`Ot???`s`9?`4P?I^(?)^_;i^Cn#>9nDBDv-6Dv^S:Yu{!}5=}L-=Q)}>)9EYn =A>Q 1H4٪q?Q 5H42 @9YI4Q E?y.A):I:iH4YBI! !ɡ!i!I!i)m:II!N5->İ,o &*Ay:?ٱ:m@: ;:+C>:H)u??`@W?ݰaAT?j?I:?):_;i:Cn>9nDK׿/$?J +ɿ^9,=YHi~jtʡE?~jt?Ľ=)9EYA>Q 1H4٪,p?Q 5H4 +@91>Q A;YCQ E?yA)bʰ,)-&*Ay6?ٱ6=@6Q6Ҷ>6H @? ??` ?\?ϙ?I6?)6i_;i6CbE,>9bD)d fABDj6Djm]:Y=!d=?Q)>)9EY]A?Q 1}H4٪n?Q 5}H4) }@9yY}8Q E?yA)g:Ig:iH4Y BEI ɡiIi)~:II1N=/>>>I6G)kAIi #_ kA MAѰ,G&*Aɰ;p;y><?ٱ>@>Bû>r=>H@n0@3S? ?kg`,`o? v?F?I><?)>S_;i>CJ!>9JDBD$6DXR:Y!X=Q)>y)y9}EYy-<A>Q 1I4٪wm?Q 5I4 @9Y5Q E5?yA)Z) ' nTethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into: 3 180 3 1 5 4 1.5 1.5 60 2 2 5 1 120 40 5 NaN 10 NaN 4 205 2 20 0.05 NaN NaN NaN 60 -1 1 1 0 0 0 No longer in Terminal. Resuming normal ranging with pings. 5 Entering USBL mode with pings at (mode ). 5 Resuming normal ranging with pings (mode ). 5 Entering Midcourse tracking update period sec at (mode ). 5 0 Entering Terminal tracking update period sec at (mode ). Restarting DHCP... ! /mnt/mmc/LRAUV/Tools/dhcp.sh Restarting logs restart logs Timed out trying to reach the target depth. Stopping mission at current depth of stop 1 -99 Mode 0 Waiting on dock for Retrying incomplete docking attempt 1 Breaking off. Range: . Driving to post-undock waypoint , No post-undock waypoint, drifting for minutes 0 0 0 װ,H`&*Ay6?ٱ65 @6jc6B{J=6H}̕ b??৽S@i?B?b?I6?)6f_;i6Cc>9DBD>6DZU:O'nDefineArg lineCaptureHoming.MissionTimeout = 3.000000 h"OY!;=3=Q)%>!)!9%EY!-=A->'tDefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min1Q 1I4٪5k?Q 5I45E 5@9YQ E?y5A)50'xDefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 minOV@'zDefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min]OY'elDefineArg lineCaptureHoming.TransponderCode = 50 countmOi'uDefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 sO'DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 sO'UDefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 mine Pa'mDefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 countuP'tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 count *P' vDefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count :P'fDefineArg lineCaptureHoming.RangeUSBL = 40.000000 m JP' DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count  ZP ' fDefineArg lineCaptureHoming.DockingAltitude = nan m % jP! ' DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min zP ' lDefineArg lineCaptureHoming.AltitudeDepthLimit = nan m P ' hDefineArg lineCaptureHoming.MinAltitude = 4.000000 m P i@' fDefineArg lineCaptureHoming.MaxDepth = 205.000000 m! P ' jDefineArg lineCaptureHoming.MinOffshore = 2.000000 km%  P ' DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min) M PI 'U xDefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s- ] P ' ZDefineArg lineCaptureHoming.Lat1 = nan arcdeg1 P ' ZDefineArg lineCaptureHoming.Lon1 = nan arcdegް,˾z&*Ay6o?ٱ692 @6D26[=6HZ M?`g?@?KT?P[? ?I6o?)6\_;i6CNB=9NWDiR=IR=BDZ6DZKQ:Y;!^=4=Q)> ) 9 EY  ;A>5 ePY']bDefineArg lineCaptureHoming.CaptureRadius = nan m9 u QuQ 1I4٪j?Q 5I4 L@9YQ E?yA)=:IF:iQ#I4Y!BI ɡiIi)'rDefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool= %"Q!'-pDefineArg lineCaptureHoming.MidcourseDepth = 50.000000 mA :Q'rDefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/sE -z:IAJQN@'pDefineArg lineCaptureHoming.TrackingPeriod = 60.000000 sI RQ'jDefineOutput lineCaptureHoming.Mode = -1.000000 countIN=M bQ 'pDefineOutput lineCaptureHoming.NumPings = 1.000000 countQ rQ?'DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 countU Q'~DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 boolY Q'tDefineOutput lineCaptureHoming.EndDockingSequence = 0 bool] Q'tDefineOutput lineCaptureHoming.LastDockSuccessful = 0 boola Q'-DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 countie Q'MrDefineOutput lineCaptureHoming.RepeatArg = 1.000000 count'jInserting Stack from file: Missions/Insert/Science.tl '^TethyslAPI: loading: Missions/Insert/Science.tl 'E vTethyslAPI: mission file loaded: Missions/Insert/Science.tl䰉,і&*Aiy6?ٱ6T @6ף6h:=6H@fK`~!??W@*?8?`U? ?I6?)6%_;i6C>>9BD%Fx?y&1 rh?%Ƌ>9%`eY%C =i!!%rh|?}?5^I?Q?%=%Mb>%\>I%3Bi% B%#B%ȊB)!%̑BBD6DD:Y@u;!1=jQ)>)9EY[A>Q 1I4٪b?Q 5I4 @9y>Q A:YGH@Q E?yRA)e:I:ix3I4Y!% B)I9 9ɡ9i9I9iA)Amx:IyIN>?밉,s&*Ay6?ٱ6 @646a>6HqBz?@6?Ӫ`/? S? ?:?I6?)6P._;i6CN >9N6DBDVV6DV::Y=!=!=g=E~Q)E>A)A9MEYIM<AM>QQ 1I4٪U\?Q 5I4U U@9YHQ E?yUA)Ux'񰉊,'O&*Ay:D?ٱ: @:o:>:HCY`2?@7?6% ˵?`mwV?@?ʢ?I:D?):1_;i:CN=9RDR=R=)T VABDZ6DZ@,:YRh!N==Q)> ) 9 EY  ?=A>Q 1]I4٪4V?Q 5]I4 @9aYeE@Q Ee?y~A)#>$,['&*Aɰ;y6?ٱ66H``r`?ˊ?z?0i??I6?)6_;i6CR=9R)DBDZ6DZ[2:Yz|<!~K=~$>Q)~>)9EY ZIA > Q 1I4٪ N?Q 5I4 = @9Y@@Q E?y 2A) x6H@ڏ ءG??`E t?@>0?Գ?I6̑?)6p_;i6CB->9BخDBDJ6DJp3:Yr'=!rL=rL^:Q)r>t)t9vEYtzFAz>xQ 1I4٪znG?Q 5I4z z@9Y@@Q E ?yzA)z:Iz_:iziI4YBI) )ɡ)i)I)i1)1us:IIN='7, &*Ay67?ٱ6 @6=6=6HԴ[@?x?xS?@抾?u?I67?)6q_;i6C%=9%-Di-=I-=%Onӿ?kt޿%9%L>Y% i!!%I +?~jt?Onӿ%94>%D<%I%Bi%B%B%B)!%QBBD6DG:Y]:!0=:ҼQ)>)9EY0<A>Q 1I4٪BB?Q 5I4 ~@9N>Q A;Y@Q E?yA):I:i/zI4Y1=$B9II IɡiiiIiiq)qi},r:IIN>ga ,/&*Aiy6#?ٱ6 @6מ<6>6H@G7.??@@8?{x??I6#?)6W_;i6CN=>9RsDBDZ.6DZ}S:Yf=!fq=f0VQ)j?h)h9jEYh~JFA~?Q 1 I4٪j>?Q 5 I4 A@9 Y}@Q E?yA):I:iI4YBI ɡiIi)I!IYNe=PI,I&*Ay6?ٱ6l@6q6×=6HV??@3????I6?)6_4_;i6CN88>9RDBDV}6DV%3:Yfq=!fJ=fQ)f>h)h9jEYhnƼAn>Q 1 I4٪9?Q 5 I4  @9 Y @Q E ?yA)B:I-:i*I4Y=B9II IɡIiQIQiQ)I i=I<IYNm=us,2rc&*Ay6h?ٱ6ia @66=6H@cE?@s? u?@`l??I6h?)6xX_;i6CbM?>9bAD)d fAf=ifp=BDj6DjQ:Y]<!]A=eQ)e>a)i9mEYim=Am>qQ 1I4٪u4?Q 5I4uy uȨ@9Y@Q E?yuVA)u;Iu:iu͢I4YBI ɡiIi)IIN=>?,H}&*Aɰp;y:?ٱ:Z @:mֽ:bV=:HQ{?3?`ī?@ߴ? ?I:?):GU_;i:C)@ BAHiNC^ >9bDI~·G)9IQi}ׇmzABD[6DX:Y!B=Q)>)9EY =A>Q 1%I4٪/?Q 5%I4 @9!Y-@Q E-?y A):I :iI4Y5`B5BQIa aɡaiiIiii)qIIN%=P%,'&*Ay6u?ٱ6pN @6ż6>=6H cP???@4?`6?,?@Q?I6u?)6R(_;i6CNS>9RD9BY+?ii|?5⿖Cl?e;O?>t>IBiBBˊB)pBBDX6Du:Yz!J=K>Q)>)9EYA>!Q 1-I4٪%0?Q 5-I4% %z@9-=?Q A-:Y-ÿQ E5?y%FA)%;I%;i%ѿI4Y]aB]BYIi iɡiiiIi)iIyIN=t+,&*Ay:mX?ٱ: @:P=:".$>:HK@?st?`?`Sh?`r?I:mX?):_;i8N>9RjDPiPiV=IVp=IT)TBDZ^ 6DZ:Yv!v\=vQ)v>x)x9zEYxzfA~>Q 1I4٪0?Q 5 I4~ X@9 Y ǿQ E ?y7A):I:iI4Y9II IɡIiIIIiQ)QIqIN`=nManaging dock network, ignoring radio surface power offiS2,/&*Aiy6F?ٱ6G @6{)<6v3>6H _]?`? L Ͼ?@壟bT?@i~?I6F?)6_;i6CnO >9nۨDBDz.6DzlS:Y%+<!-F=-GQ)->))195EY15UA5>9Q 1EI4٪=1?Q 5EI4= =@9IYMtȿQ EM?y=gA)=y:I=:i= I4YQUByI ɡiIi)IIN= '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 = , , , , , ,A&*Ay>?ٱ>h @>>WY>>H``,M@?@޾?˶? ?`?`?I>?)>P0_;i>CNM?>9RAD)T VAV%=iVR=BDZy6DZ>:!=V9'EDefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg!MVIYU=!]G=]ȽQ)]>a)a9eEYae"<Am>i'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s!V'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan mQ 1I4٪m 2?Q 5I4mq m@9Y ƿQ E?ymA)mh+>!W'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m!W'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC!W'5DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg!=W9'EDefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg!u Xq'}DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml!X'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m!*X'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC!:X'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdegi I 4=!-JX1'=DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg!EZXA'MDefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml"UjXQ']DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m"ezXa'mDefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC "uXy'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg " X ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg"- X) '5 DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml"= X9 'E DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m"M XI 'U DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC"] XY ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg!" X ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg%" X ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml)"  Y ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m-" Y ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC1" *Y ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg5" :Y ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg9" JY ' tDefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l=" ZY ' xDefineOutput lineCaptureHoming:Science.PatchChlDepth = nan mA"% jY! '- DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdegE"5 zY ' DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdegI" Y ' ~DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan mM" Y ' tDefineOutput lineCaptureHoming:Science.PatchSalt = nan psuQ" Y ' zDefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan mU" Y ' DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdegiE,mo&*Aɰ4<49RDY"=Y9'EDefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg]"MYI'UDefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan me(\?|?5^ɿNbX9?ez>9eMYe>iaaeQ뱿x&1?|?5^ѿe\eA>eҍIe]BieBeZBeB)aeBa"Y'rDefineOutput lineCaptureHoming:Science.PatchOil = nan psue"YBD96DT:YU!A=>'xDefineOutput lineCaptureHoming:Science.PatchOilDepth = nan mi"% Z!'-DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdegQ)5>9)99=EY9=;A=>AQ 1MJ4٪E,?Q 5MJ4Ee E@m"9d>Q A;YQ E?yEA)ER3Construct PeakDetectHorizontal. ?8Construct PeakDetectVsDepth. A] 8Construct PeakDetectVsDepth.B >Construct PeakDetectHorizontal. D 8Construct PeakDetectVsDepth.K,L2&*Ay6?ٱ6{@6fE=6M=6H *o? ?L8?@5b??I6?)6^_;i6CN!>9NDBDVT6DV?: FM8Construct PeakDetectVsDepth.Y]%J<!]T=esB>Q)e>a)a9eEYamAm>qQ 1J4٪ur(?Q 5J4u4 u@9Y Q E?yu[A)uFfConstruct PeakDetectHorizontal.IIN> I8Construct PeakDetectVsDepth. K8Construct EdgeDetectVsDepth.)y }AMe8Construct PeakDetectVsDepth.O} 8Construct EdgeDetectVsDepth. R 8Construct PeakDetectVsDepth.R,_$L&*Ay6?ٱ6@68X<6w=6H+? ?@\ڱ?)`I&?@0?I6?)6 l_;i4NQ>9REPiPiV=IV=BDZ6DZ O:Yb=!bT=f>Q)f>d)d9jEYhj9Aj> TM8Construct EdgeDetectVsDepth.!Q 1mJ4٪%#?Q 5mJ4% %@9qYuqQ Eu?y%A)%t:I%:i%!J4YBI ɡiIi)IIaN}=V8Construct PeakDetectVsDepth.X8Construct EdgeDetectVsDepth.iZ,Construct ValueDetect.'~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl ' rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 'UTethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 'E TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 Y,uf&*Aiy6G?ٱ6Y@66l=6H9`x??`9D?८?@V^?@|?I6G?)6@G_;i6C^G^>9^EBDjt6DjG:!."U\U@Y}<!}?=Q)>)9EYe<A>Q 1J4٪?Q 5J4 5@9YQ E?yA)W:I:i!0J4YBI ɡiIi)'DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m!."\' DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 mI!."\i@'DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m!."\' DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 mI1N==\E6Construct AltitudeEnvelope. ]0Construct DepthEnvelope.]6Construct OffshoreEnvelope..iIR='nInserting Stack from file: Missions/Insert/NeedComms.tl 'bTethyslAPI: loading: Missions/Insert/NeedComms.tl 'zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl:_,m&*Ay:Ϛ?ٱ:H@:O^k:}>:H@db*?O?o!?g?`4?`?I:Ϛ?):_;i8^w2>9^yDBDf6Df\1:Y ! R==Q)>)9EYeҼA%>!Q 1-J4٪%=?Q 5-J4% %@91Y5Q E5?y%A)%:I%#6H ǯ@t@?? >? ~?EӬ?T?5?I6hq?)6L_;i4'FzInserting Stack from file: Missions/Insert/MicromodemComms.tl 'FnTethyslAPI: loading: Missions/Insert/MicromodemComms.tl 'JTethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tlb .>9bD)d fAuVͿ:v?kt?rh9T=Y =iClǿkt?Qٿd; =\ϾI=BiBBB)(BBD6D J: '5 TethyslAPI: Missions/Insert/MicromodemComms.tl translated into: 10 5 a3"_'DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 mina3"_r@'DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 minY%!%=-< ;Q)->)))9-EY)5bA5>9Q 1J4٪=x?Q 5J4= =r@9>Q A:YQ E?y=A)=#>)1IIIY 'm~TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tlN>Ml,&*Aɰ;y6UD?ٱ6@66oC`>6Hka@ER?_?{`pd?ѱ?@?(?I6UD?)63_;i4N>9NDBDVg6DV C:YnǾ!n=rNQ)r(?p)t9vEYtvSAv(?xQ 1=J4٪z?Q 5=J4ze z)@99YEQ EE?yzA)z#:H/@F?@>T?*}@??`=?@c?I:??):_;i:CN >9RDBDVm6DVH=:YFP<!H=ٽQ)> ) 9 EY  A>Q 1]J4٪?Q 5]J4} @9aYeQ Ee?yA)$9RDiV=ITIV@A)V@ABDZ6DZ/:Y!J=H/Q)> ) 9 EY  T=A>Q 1]J4٪?Q 5eJ4V ~@9aYe>Q Ee?yJA)z#Q)>)9EY<A>Q 1J4٪?Q 5J4f  @9Y̿Q E?yA)Y#_p,&*Ay:҈?ٱ:@:@:<:H`oC~?F?û@.w?v‚?'?@?I:҈?):s_;i:CNK=9NqD=K7?sh|?ſV-?=>9=)Y=|>i99=I +ƿ~jt?bX9?=94=>=E6>I=ȊBi=ߛB=lB=]B)9=BBDUY6DU[M:Ye2=!m%=m=Q)m>q)q9uEYqu빼Au>yQ 1J4٪} ?Q 5J4}j  }Ϗ@9>Q A;YQ E?y}LA)}e:I}:i}MJ4Y`B#BEI! !ɡ!i!I!i)))IiINA> ' BTethyslAPI: Missions/Insert/LineCapture.tl translated into: 30 0.0 1 0.01 0.001 2 8 1 NaN NaN NaN 0.0 0 NaN -1 0 1 2 3 1 5 0 0 Timed out while trying to detach from dock at current depth of . Transitioning to midcourse guidance. Navigating to dock waypoint ( , ) Transitioning to terminal guidance at range Terminating homing sequence: timed out while navigating to the dock waypoint. Executing search pattern. Timed out while executing search pattern around dock waypoint. Homing sequence timed out prior to docking. Terminal guidance. Transitioning to midcourse guidance. Received last range of ago. Docked. Homing sequence complete. 3 GuidanceMode 4" _ ' DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg4" _ ' DefineArg lineCaptureHoming:LineCapture.DockLon = -122.859630 arcdeg4" _ ' DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min4" ` ' DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m4"% *`! '- DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/sz,4&*Ay6?ٱ6l@6;6L=6H O \? \\?@,4.?u.>?`?I6?)6_;i6CB>9BDBJ4Y15B1'DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m4"r`'DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 minI ɡiIi)4"`'DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a4" ` Ia'DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min4"`'DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 mIN=4"`'DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m4"U`Q']DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool4#e`a'DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m4# ` 'DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg4 #a@'%DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m4 #5a5 @'5zDefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m4#E"aE?'DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m4#2a'~DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m4#Bae'eDefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min4#uRau'}DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m4!#ba'DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a4%#ra'DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min>>4)#a'jDefineArg lineCaptureHoming:LineCapture.Range = nan m4-#a'DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count41#a'DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count45#a' DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count49#UaQ']DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count4=#eaa'DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count4A#a?'DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count4E# a ?' DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m4I#% a! 'm DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count'U ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 'U rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl ' TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl,RN&*Aɰy6#?ٱ6G@65 <6W>6H@߿@uy? ?y߿?F ?@?I6#?)6Wj_;i4N>9NDBDZC6DZ7F:Y~_=!~G=C;Q)>)9 EY  iA >Q 1]J4٪?Q 5]J4 @9YYe{Q Ee?y$A)$NH ߿ c??a޿`Q?@FI?@/?IN?)Nz_;iNC^&H>9^$DBDf6Dfi:}-Construct.Y]R=!eD=ei)i9mEYimAm> ~Construct Wait.qQ 1J4٪u?Q 5J4u u˗@9YQ E?yu,A)u*$:H ހ7N?X?j߿q?hb??I:r?):o_;i:Cr4!>9r?Dtitiv=Iva=IzAA)x $Construct Execute.BDz6DzwQ:Yef!eJ=mG=Q)m>i)q9uEYqu_=Au>yQ 1J4٪}x?Q 5J4} }@9YDQ E?y}&A)}:I}:i}UJ4$Construct Execute.Construct.YB Construct.I 1ɡ1i9I9i9)AI)UConstruct.IN> u$Construct Execute.'xInserting Stack from file: Missions/Insert/SetNavAcoustic.tl 'lTethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl 'TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tli,gG&*Aiy6 ?ٱ6@6X=647>6H,v߿m?G?_޿t?簿?k?I6 ?)6S`;i6CN>9NDuV-ڿMb333333ӿuhѾ 'TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into: Reseting nav to dock location at range 9uYuiqquy&1?Pn?|?5^ʿu`euRIuͅBiuBu˒Bu˒B)qu“BBD 6DR:aR}#j' DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdegYO!?=+Q!)!9%EY!-[A->aR#]jY'eDefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.859630 arcdegaR#mji'DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 maR#j'DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min1Q 1J4٪5N?Q 5J45B 5@90>Q A ;Y(Q E?y5$A)5eConstruct.edInitializing internal variables to default values. Construct. dInitializing internal variables to default values. Construct.Construct. 5&Construct Waypoint.&Construct Buoyancy. Construct.e Construct.X  Construct. Construct Wait.w鬱, (&*Ay6;?ٱ6Sv@6X6G}=6H`ʼݿ$k? T?XݿƢ????I6;?)6'_;i6CNS>9NDBDV6DVn:Yn!ra=reQ)r>p)t9vEYtv5Av>xQ 1=J4٪z犊?Q 5=J4z[ zߖ@9AYE-Q EE?yzA)zL$= 0 count and Sensor:DataOverHttps.connectionStatus == true ) Universal:platform_communications } # Add LineCapture directives. insert Insert/LineCapture.tl assign in sequence LineCapture:MaxDepth = MaxDepth assign in sequence LineCapture:MinOffshore = MinOffshore assign in sequence LineCapture:MinAltitude = MinAltitude assign in sequence LineCapture:DockingAltitude = DockingAltitude assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit # Add track acoustic contact directive. assign in sequence NumPings = NumberOfPings behavior Estimation:TrackAcousticContact id="TrackAC" { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumPings set updatePeriodSetting = TrackingPeriod set numFixesLowPassSetting = LowPassFilterWinSize set lowPassOverlapSetting = LowPassFilterWinOverlap set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed } # Add USBL mode directives. aggregate UpdateNumPings_NotTerminal { run while ( not ( LineCapture:GuidanceMode == LineCapture:Terminal ) and not ( NumPings == NumberOfPings ) ) syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count + "pings." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPings_Terminal { run while ( LineCapture:GuidanceMode == LineCapture:Terminal ) aggregate UpdateNumPingsUSBL { run when ( not ( NumPings == NumPingsUSBL ) and ( ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout and not ( Dock:LineCapture.guidanceMode == 5 count ) ) ) syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumPingsUSBL assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPingsATR { run when ( not ( NumPings == NumberOfPings ) and ( ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } } aggregate UpdatePingUpdateRate_Midcourse { run when ( not ( TrackingPeriod == TrackingUpdatePeriodMidcourse ) and ( ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdatePingUpdateRate_Terminal { run when ( not ( TrackingPeriod == TrackingUpdatePeriodTerminal ) and ( ( LineCapture:Range <= LineCapture:TerminalRange ) and not ( Dock:LineCapture.guidanceMode == 5 count ) and not ( LineCapture:GuidanceMode == 0 count ) ) # don't enter fast ping mode during rollout or on dock ) syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate restartDHCP { run when ( called ) syslog info "Restarting DHCP..." behavior Guidance:Execute { run in sequence set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh" } } # Start mission sequence. call id="StartingMission" priorityHere=false refId="NeedComms" syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate InitialDive { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = MidcourseDepth set depthRate = ApproachDepthRate } } # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the # required repetition count (which has just been decremented by the lap attempt). # But that repeat check is evaluated at the beginning of the aggregate, not the end. # In order to be able to retry an incomplete docking attempt on the last lap # we need to make it back up to the top of the Lap aggregate somehow. # Solve this by quietly setting the repeat count to one more than actually desired. # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra # lap, but starting the Lap aggregate will allow us to check the repeat on each run. aggregate RepeatHack { run in sequence break if ( not RetryIncompleteDock ) assign in sequence RepeatArg = Repeat + 1 count } aggregate Lap { run in sequence repeat=RepeatArg break if ( ( StayOnDock and LastDockSuccessful ) or ( RetryIncompleteDock # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count and ( DockSuccessfulCount == Repeat ) ) ) assign in sequence Mode = -99 count # Execute the LineCapture sequence. call priorityHere=false refId="LineCapture" assign in sequence Mode = LineCapture:GuidanceMode syslog info "Mode" + Mode~count call priorityHere=false refId="restartDHCP" aggregate Docked { run in sequence break if ( Mode < 0 count ) syslog info "Waiting on dock for " + WaitOnDockTimeout~minute # Add SetNav directives. insert Insert/SetNavAcoustic.tl assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked assign in sequence EndDockingSequence = StayOnDock behavior Dock:Docked id="Docked" { run in sequence timeout duration=WaitOnDockTimeout set slideSinkTime = SlideSinkDuration set slideCloseTime = SlideCloseDuration set slideRetries = SlideRetries set slideAllowed = TrySlide outputArg LastDockSuccessful = dockSuccessful } # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock aggregate setCompletion { run in sequence break if ( not RetryIncompleteDock ) assign in sequence EndDockingSequence = ( LastDockSuccessful and StayOnDock ) assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful aggregate setRetry { run in sequence break if ( LastDockSuccessful ) syslog important "Retrying incomplete docking attempt" # This lap failed and doesn't "count", so repeat one additional time assign in sequence RepeatArg = RepeatArg + 1 count } } aggregate Detach { run in sequence break if ( EndDockingSequence ) syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "." behavior Dock:Undock id="Undock" { run in sequence } call priorityHere=false refId="restartDHCP" } aggregate Wpt1 { run in sequence break if ( isNaN ( Lat1 ) or isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree behavior Guidance:Pitch { run in parallel set depth = MidcourseDepth } behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Waypoint { run in sequence set latitude = Lat1 set longitude = Lon1 set captureRadius = CaptureRadius } } aggregate Drift { """ Drift before next docking attempt """ run in sequence break if ( not isNaN ( Lat1 ) and not isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "No post-undock waypoint, drifting for " + Dock:LineCapture.rolloutTimeout~minute + " minutes" behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault set elevatorAngle = 0 degree } behavior Guidance:Point { run in parallel set rudderAngle = 0 degree } behavior Guidance:SetSpeed { run in parallel set speed = 0 meter_per_second } behavior Guidance:Wait { run in sequence set duration = Dock:LineCapture.rolloutTimeout } } } } } =-Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHomingϳ,&*Ay6H?ٱ6*@62a6=6H޿wT? ? ߿ d? ٲ?E?I6H?)6R_;i6C^">9^D`b)d fABDj6DjB:YvJ=!vJ=v6Q)v>x)x9zEYxzL7=A~>yQ 1J4٪}ފ?Q 5J4} }c@9Y 0Q E?y}A)}:I}(:i}J4Y) BzNNNNIu+: q yɡyiyIyi)IIN=>>,&*Aɰ;y6?ٱ6r@6.26!=6H ??>um?`? ?I6?)6_;i4~ >9~DBD \6D Q:YEL]!ED=MI)Q9UEYQUL=AU>YQ 1eK4٪]F֊?Q 5mK4] ]@9iYm.Q Em?y]A)]|:I]:i]K4YqBzNNNNI  ɡiIi)I9IIN5= i I G) I i  I A= v%?= A,N&*Ai"=I"%=y:M?ٱ:!@:\*:p=:H.߿`4??D߿ J??h?I:M?):_;i:CNl>9RŧDBDV)6DVQ:Yrr!rQ=r=Q)r>t)t9vEYtzWAz>xQ 1K4٪zOΊ?Q 5K4z zq@9Y-Q E?yzA)z =IzBJ DZ,&*Ay:?ٱ:@:.7:+=:H@tHݿ`cWd:?@j?@jݿ@.f`?ڰ??I:?):h_;i8N|>9R`DiV=IV=:v?>IBiB\BljB)(BBD v66D bT:Y}<!}3=}Q)>)9EY얽A>Q 1K4٪Ȋ?Q 5K4" @9>Q A:YQ E?yA):I:i!K4Y B zNNNNI! ! !ɡ!i!I!i)IIYNe>i4ͱ,d7&*Ain>9rDBDzHg6Dz<:Y Qn<! e= Q) >)9EYA>AQ 1EK4٪EŊ?Q 5MK4E% EL@9IYIQ EM?yEA)E:IE:iE-K4YQ]ByzNNNNI  ɡiIi)I1IINUS>Ա,lCQ&*Ay6r]?ٱ6o)@6ӓ60;>6HXܿ}?@?`ܿ*?Wv?C5?b?I6r]?)6OE_;i6CN,)>9R DBDV\6DV!3:Yfg%=!fN=fQ)f>h)h9jEYhnAn>IQ 1UK4٪M?Q 5UK4M )Q 9UtI M@9yY}kQ E}?yMA)MS;IM;iM6H`/ݿN?@a?oݿ?⽲?f? i?I6e?)66_;i6CN=9RDR=R=)T VATiV<BDZ6DZH:Y6ɽ!>=a&Q)>)9EY<A>Q 1K4٪g?Q 5K4{, ʡ@9YbQ E?yA);I:iJK4YBzNNNNI! ! !ɡ)i)I)i))1r:IIN=>>z/᱉,&*Aɰ"4<"4;?ٱ>~@>>zK>>H7ݿ @?=J?&ݿW ??n? к?I>;?)>^_;i<N=9RnDBDV|Y6DV::Yr0!vW=v=Q)v>t)x9zEYxzx<Az>Q 1%K4٪?Q 5%K4/ 0@9)Y-Q E-?yB):I:iXK4Yam.BqzNNNNI  ɡiIi!)iMq:IYIqN}>) T[籉,@۞&*Ay6?ٱ6@@6da:6=6H vcۿ@^??0ۿY?@+_ ?~?I6?)6:_;i6CN->9NخDQ?:vʿe;O޿\=9TYiCl?v/?/$?;=xi=&1>I]BiBՌB)BBD|6D ?:Y=!:=-=Q)>)9EYɽA>Q 1 K4٪·?Q 5 K4. @95]Y>Q A5z;Y5u@Q E5?y5B);IJ;iCgK4Y9EBAzNINININII  ɡ iIi)Vs:II)N5 >,O&*Ay6C?ٱ6^9?6r 6 >6H@ٿC?@C? 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Yڐ?b??I6W?)6\`;i4N>9RD!E!E !E!E !E!E !M!M M~jt?RQ?J +MD=9M=YMȽiIIMJ +?Q)Y9]EYY]fA]>aQ 1mN4٪ey?Q 5mN4e` e-@Q =T:9}$>Q A;Y@Q E?ye#B)e6Hy3`??=Az??JI?I6Y?)6$_;i6CN->9R|DiV=IVp=BDZ6DZb@:Y]'=!eV=e uQ)e>a)i9mEYim<Am>qQ 1N4٪utw?Q 5N4u%_ uƒ@9Y@Q E?yuMB)u9~D i =BD (6D y)y9}EYyA>Q 1N4٪u?Q 5N4^  @9YQ E?y~B)#X,a&*Ay6-?ٱ6$#?6b}6W<6HI@?Q?􇨿 @aO?2??I6-?)65_;i6CNJ >9RDBDZJR6DZW:YxZ!e= ) 9 EY hA>Q 1=N4٪t?Q 5EN4] @9AYE?Q EE?yB):I:i}MN4YIUBQzNNNNI  ɡiIi)I IN=i]=I]<?^,i{&*Ay69?ٱ6./?6Lƅ<6Yz0<6HN; !? l?0b?`n?n?I69?)6L`;i6C>u>9BD)@ BABDF6DFM:YU!UE=U=Q)>)9EY=A>Q 1N4٪s?Q 5N4 \ @9Y?Q E?yB)u'%>P(e,ˡ&*Aɰ;y6?ٱ6+y?6<6@=6H@ΰ(`^)?`?M?T??I6?)6`;i6C^S>9^DB`"ѿPnؿ +οَ9ľYvi(\µMb?L7A`>+I)BiBB6B)ǐBI)AABDE6DEE:YH<!=r  ) 9 EY 7;A>Q 1eN4٪\n?Q 5eN4Y] @9emO>Q Ae;YeQ Em?y"B)]%}Qk,x&*Ay:IQ?ٱ:F?:b:x=:H֬Ͽ?6?`(r x~@?@d??I:IQ?):~_;i:CN >9RDBDZdI6DZV:Yf$<!f=fQ)f(?h)h9jEYhnbAn(?Q 1 N4٪?k?Q 5 N4] @9 Y r#Q E ?yOB):I:iwN4Y=B9zNANANANAIQ Q QɡQiQIyiy)IINt=k9r,PT&*Ay6{ղ?ٱ6?6zQּ6#vR>6H5覿`IN>??)אgɚ?)? P?I6{ղ?)6_;i6CB>9BDiF=IF=BDJR' 6DJ}:Y<!G= @Q) > ) 9 EY A>Q 1%N4٪'f?Q 5%N4^ @9!Y-|&Q E-?yB)I:iN4Y15B1zNYNYNYNaIi i iɡiiqIqiq)IIN=icx,/&*Aiy6*?ٱ6?6MV6>6Hz@ J?@?I@j?@A? ?I6*?)6_;i6CN*>9R"DV%=iV%=BDZH*6DZ5:YfV=!fN=jsQ)j>h)h9jEYlnϓAn>pQ 1vN4٪r`?Q 5vN4r_ rI@9xYzP)Q Ez?yrB)rd:Ir[:irۓN4Y%B!zN)N)N)N)I1  ɡiIi)II)N==mReceived command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 24 h;run"~, &*Ay6o?ٱ6?6O|681O>6HҐ@xV??֧ N@2~?`?I?I6o?)6հ_;i6CB+D>9B>DBDJ6DJyD:YrK=!rI=vWQ)v>t)t9vEYxz"9Az>|Q 1N4٪~[?Q 5N4~` ~߆@9 Y )Q E ?y~'B)~ :I~p:i~N4YBzN9N9NANAII I QɡQiQIQiQ)I IANM=)ߑ ߕAu,&*Ay:?ٱ:?:舽:=:H : +???ꭿ9`?@Y? 5?I:?):W_;i:CR0%>9R%D)T T/$S㥛"~?,9$Y>i/$޿{Gz?&#>IFBiBBB)fBBD66DrT:Y!<=GQ)>)9EY=A>Q 1N4٪Q]?Q 5N4*f @9>Q A:Y½Q E?yB)㞋,0&*Aɰ49BDID)DBDJ6DJF:iI4=Y%!%V=%o)))9-EY)5DA5>9Q 1eN4٪=+^?Q 5eN4=j =C@9aYeQ Ee?y=B)=:I=1:i=N4YquBqzNNNNI  ɡiIi)IIN =,J&*Ay6?ٱ6?6ዽ6yY=6Hn???h ? 0x? ?m?I6?)6i_;i4B >9B}DBDJ06DJS:Yrܠ<!rN=v9Q)v>t)t9vEYxzýAz>iQ 1uN4٪mf^?Q 5uN4m'p m@9qYuFǿQ Eu?ymB)m;Im;imN4YBEzNNNNI  ɡiIi)II1N===M ngot command set lineCaptureHoming.MissionTimeout 3 hourOI =M zgot command set lineCaptureHoming.WaitOnDockTimeout 15 minuteROU @=U fgot command set lineCaptureHoming.StayOnDock 1 boolbOU =] bgot command set lineCaptureHoming.TrySlide 1 boolrO] Y = got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 24 h;run"= Scheduled #8: "load Engineering/OnDock.tl;set OnDock.DockedTime 24 h;run", AFTER MISSIONy,zd&*Ay6 ?ٱ6?6ad6#=6H`[?@=? ?)?=?@'?q?I6 ?)6~D_;i6CN}=9N@DPiPiV=ITBDZ6DZN:Y!G=%!)!9%EY)-HA->1Q 1=N4٪5^?Q 5=N45)u 5@99YE,ȿQ EE?y5EB)5H:I5:i5N4YY]BazNiNiNiNiI  ɡiIi)IIN=nManaging dock network, ignoring radio surface power offi۞,*R~&*Aiy:h?ٱ:%^?::G >:H@Ģ?? ?DР?A#?`?|?I:h?):i3_;i:CNK=9RqDV=iV=BDZ`6DZGY:Yf!fP=f:=Q)j>h)h9jEYh g=i CIa)yIii AnA>Q 1N4٪^?Q 5N4zz @9YǿQ E?yB) :I:iN4Y15B1zN9N9NANAII I QɡQiIi)IIN =i! 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P= =HQ) >)9EYM=A>YQ 1eT4٪]~?Q 5mT4] ] y@9iYm@Q Em?y]@B)]:I]B:i]T4YqBzNNNNI  ɡiIi)IINM=>>2F,>@&*Aɰy6?ٱ6?6Zҽ6RE>6H '`}???N,U`$M?X?F>?I6?)6;_;i4=88>9=D`"~jtȿS㥛?W9DY$>i-+ηd;O5vIBiBBBB)BBDu_*6Du5:Y]V5=!]=eQ)e>a)a9mEYimB=Am>qQ 1T4٪uU?Q 5T4up  ub@9rZ?Q Ax:YQ E?yuAAB)u%i߱Iߵ<e,L,3&*Ay6G?ٱ6?6j 6<>6H@PL@9?`?jdT{_? >'?+?I6G?)6U_;i6CNYN>9RDV=iV%=BDZ#y6DZ\:Yr=!r=rQ)r.?t)t9vEYtzAz.?xQ 1%T4٪z+?Q 5%T4z  zW@9!Y%ʿQ E%?yzAB)z;Iz:izYT4Y15B1zNNNNI   ɡ i IiQ)YIiIN=ES,>L&*Ay:õ?ٱ:/?:׽:}!>:H@~?@?3̷Y??m?I:õ?):$_;i:CN2>9RDPiPiV=IV=BDZz26DZ_q:Yϊ!H==Q)> ) 9 EY A>Q 1]T4٪w?Q 5eT4 F@9aYeQQ Ee?yBB):I:iT4YmLBmBuEzNNNNI  ɡiIi)IIN%=!i%@A\>Y,;f&*Aiy6d?ٱ6Y?6e6v>6H#/x??Z`i?N?F?I6d?)65_;i6C~2>9~DBD | 6D -:YEE ;!EF=M!3>Q)M>I)Q9UEYQUAU>YQ 1eT4٪]?Q 5eT4]n ]6@9iYmQ Em?y]CB)]:I]p:i] T4YuMBuBzNNNNI  ɡiIi)IIN =Z&`,ܠ&*Ay6ղ?ٱ6 ?6<6>6H覿 C??@?? !`?!?I6ղ?)6L_;i4N2>9RDIVAA)V@ABDZ{.6DZwS:Yr!rQ=rt>Q)r>t)t9vEYtz<Az>xQ 1=T4٪zΑ?Q 5ET4z zj(@9AYEQ EE?yzDB)z#6H ??<=o?\g?"?I6L,?)6_;i6C>@>9BD@B=)D FA #~j?(\?Q ?9 z>Y i   Gz?{GzQ? p=> ף h?I Bi B B zB)  ܓBBDE86DET:YM =!UD=U)9EYz=A>Q 1T4٪?Q 5T4N }@@9n?Q Ac:Ye?Q E?y2EB)>zl,V&*Aɰ;;yBN?ٱB D?Bz?? >_?;צ??IBN?)B_;iBCN'>9RiDBDZ 6DZh:Y{!O=Q)> ) 9 EY  =A>Q 1]T4٪f?Q 5]T4 V@9aYe{?Q Ee?yEB)]#9RDTiV4=BDZ]6DZw;:Y!A=Q)>)9EY}=A>Q 1T4٪?Q 5T4 n@9Yه?Q E?yFB)e#y,$ &*Ay6?ٱ6L?6,m<6l=6H@`)t?८?Ed? A(?)?I6?)6e_;i6CN >9RDPiPiV=IV=BDZg6DZ<:i]=IYY}#!}L=}6ŻQ)>)9EYq?=A>Q 1U4٪?Q 5U4V @9Y?Q E?ymFB)#t)t9vEYtzAz>xQ 1=U4٪z?Q 5EU4z9 z@9AYEr?Q EE?yzFB)zL#6H` ;O`_k? ?cc@N?`b?ŕ?I6?)6@G_;i6C~ >9~D:v??/$ѿT<9JIBi BBB)GBI ) AABDUN6DU{0:Ye=!e4=eQ)m>i)i9mEYi&NA>Q 1U4٪]?Q 5U4 }@9>Q AC;Y )@Q E?y6GB):Ij:iL#U4YBzNNNNI  ɡiIi)II!NU=Ȍ,R5&*Ay6?ٱ6?6Ӕ6PO>6H@b@?d?¿N?־?@B?I6?)6 _;i6CB>9BD)D FABDJL6DJz9:Y~!b= Q)>!)!9%EY!-zA->)Q 15U4٪-{?Q 5]U4- -@9YY]1)@Q E]?y-GB)-;I-;i-/U4YamBizNqNqNqNqI  ɡiIi)IIN=>>i߁ I߅ %=,yO&*AyB^Y?ٱBN?BleB~`>BH\c{?}?۾ >@0??.?IB^Y?)B_;iBCN=>9RsDBDZ7^6DZ;:Y0!L=(=Q)> ) 9 EY  ?A>Q 1U4٪ޖ?Q 5U4 @9Y)@Q E?yGB) 6H @eM`9NDRC=iPBDVH6DV_Q:Y~2:!~J=Rj=Q)>) 9 EY   =A >Q 1EU4٪{?Q 5EU4 @9IYM2)@Q EM?y)9EY=A>Q 1%U4٪Y?Q 5-U4 .@9)Y- +@Q E-?yHB):I:iZU4Y5JB= B]֥EzNaNaNaNaIi q qɡqiqIqi)II N5=iAA즶, &*Aiy6>?ٱ6?6q-;6!8=6Hzƿu]?-}?޲ƿ@J~? ~ ?@~?I6>?)6_;i6CNB=9RWDy&1{GzĿQο`9#YuiԼISBi$BɗBB)BBDU;6D7:Y:;!<==#=Q)>)9EY /<A > Q 15U4٪ ?Q 5=U4  @9=!>Q A=;Y=DQ E=?y HB) ;I ;i CiU4YAM BIzNNNNI  ɡiIi ) IAIqN}=iYI]4=,&*Ay6ƕ?ٱ62?6Na6A@ =6Hfÿ`p/?E?&~ÿJ@???I6ƕ?)6*_;i6CN>9RPDBDVz6DV@:Yf[<!f`=fQ)f>h)h9jEYhn2An>Q 1U4٪?Q 5 U4 @9 Y FQ E ?yIB):I:i+vU4YBzNNNNI  ɡiIi)I!IYNe== nManaging dock network, ignoring radio surface power off,e&*Ay6u?ٱ6?6^}6ag=6HUÿ`?)?`8Ŀ@ܮ?޳??I6u?)6_;i6C>A>9BD)D DBDJ;6DJU:Yr<!rI=rƽQ)r>t)t9vEYtv;Az>xQ 1%U4٪zaz?Q 5%U4z  z@9!Y-FQ E-?yzQIB)z;Iz:iz?U4Y15B1zN9N9NANAII I IɡQiQIQiQ)I9IQN=) >>b(,̚&*Aɰy>?ٱ>k?>_H> >>H`{ſ3??~?rƿ49?l?̩?I>?)>m_;i<NS>9RDBDZ6DZe?:Y%!%F=%7=Q)%>)))9-EY)-D(=A5>1Q 1eU4٪5t?Q 5mU45$ 5v@9iYm|EQ Em?y5IB)56;I5;i5U4YqBzNNNNI  ɡiIi)IIN= g=i 3CI- G)9 D,Z~&*Ay6?ٱ6G?6rB6j:>6HeԿf3d?? }@`Jg?@(?ls?I6?)6 _;i6CI|>9Di%)-A5%=i5R=BD=Ι6D=]B:Y%f=!-;=5A)A9MEYq}ԽA}>Q 15U4٪n?Q 5=U4) @9AYEVHQ Em?yIB)Ϝ:Ƕ,R&*Ay68?ٱ6(.?6\_6+5>6H`& M,??;\?@4? gs?I68?)6$_;i6CN,>9RfDiV=IV=L7A`:v?rh|?+9)9EYhA>!Q 1-U4٪%lm?Q 5-U4% %^@9- >Q A-:Y-ԿQ E-?y%JB)%:I%;i%U4Y]JB]B]ߥEzNaNaNaNaI  ɡiIi)IIN==zgot command set lineCaptureHoming.CorrectForSoundSpeed 1 bool Q=got command run=%Running !!i@A1a \dͶ,+8&*AiyB?ٱB?B*Bz=BHA@q?/?V.¿J7V?e??IB?)B#_;iBCJ>9JPDBDR6DRlk:YZĽ!Z`=^H==Q)^>\)`9bEY`b=Ab>dQ 1jU4٪fl?Q 5jU4fJ fS@9lYnοQ En?yfBKB)fM;If;ifU4YprBtv )vRAggregate::uninitialize DefaultWithUndockqv,vpAggregate::uninitialize DefaultWithUndock:SurfaceDefaultz -zDUninitialize GoToSurfaceComponent.z-zAggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckInqz0z8Uninitialize Wait Component.='zBStarted mission lineCaptureHomingKxz 3zNAggregate::initialize lineCaptureHoming~3~^Aggregate::initialize lineCaptureHoming:Science1~q~~~1~q~~q~8~zAggregate::initialize lineCaptureHoming:Science:PeakDetectChlq:zAggregate::initialize lineCaptureHoming:Science:EdgeDetectChl =Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport=Initialize.1  > zAggregate::initialize lineCaptureHoming:Science:PeakDetectNO3q 1  @ zAggregate::initialize lineCaptureHoming:Science:PeakDetectOilq 1!  B Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReportq!BInitialize.! C|Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM!" 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Mm?I6,?)6@_;i6C~&>9~RDBD =6D 7U:YV=!J=%=Q)%>!))9-EY)-Q<A->1Q 1EV4٪5v?Q 5EV45& 5@9IYML?Q EM?y5OB)5)K;I5K;i5kfV4YQUBY/m_mbAggregate::initialize lineCaptureHoming:NeedCommsq0m`m@Initialize GoToSurfaceComponent.`uHReceived depth rate setting nan m/s.`uRReceived pitch setting 19.999999 degrees.`}HReceived speed setting 1.000000 m/s.`}jReceived surface timeout setting 1000.000000 seconds.`}No altitude timeout specified. 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Yw,&*Ay:Ų?ٱ:/?:':^=:H6? ?@dٕ ġ?p??I:Ų?):w_;i:ՑCF[>9F\D NParsing RMC sentence: $GPRMC,163238.00,A,3646.72367,N,12151.57703,W,0.428,236.94,220825,,,D*7F PYR&*AyR?R"RhSZcB@xzw^ZhGPS fix at 20250822T163238: (36.778728, -121.859617) Rwa>)RU@Zl)p9rEYprAr>tQ 1z;4٪v?Q 5z;4v"Q 9ztI v|9|Y eQ E?yv)v9;Iv@:;iv>g;4Y MB B E12-_)"_)*_)2_)_-JCompleted lineCaptureHoming:NeedComms/-_-fAggregate::uninitialize lineCaptureHoming:NeedCommsq05`5DUninitialize GoToSurfaceComponent.zZIZIZIZMC˰@IY Y YɡYiaIaia)iIIN`=vBt>~B CBBBBB!DB<B E)DDDDE: EAr:6E%6:E"E'9BԴDBDz 6Dz:Y5L!5D==%=Q)E>A)A9EEYAM#<AM>YaQ 1m;4٪e?Q 5m;4eh eo>9qYucoQ Eu?yev=)e:Iep:ieu;4Yy}BVCompleted lineCaptureHoming:StartingMissionqMrAggregate::uninitialize lineCaptureHoming:StartingMissionMzZZZZ3@Ip: ɡiIi )I)IyN=ԉ=>9i\CIU?G)ԹIi AD D D D E : E :6E 26:E ! @! @! @! @ l,H&*Aɰy6?ٱ6?6ը;6m=6H#?>? yᲿ&^?uI?@?I6?)6w_;i4R2>9RDˡE&1ʿL7A`堿什9PY+i~jtп!rh?rh|l=IBi\BBBB)BBD%6D%&:YU=!U;=UV=Q)]>Y)Y9]EYYeEq=Ae>iQ 1;4٪m8?Q 5;4m} me=9ʝ>Q A,;YQ E?ym>>)m1Zu>ZuK@ZuCm@I ɡiIi)IIN>AA@AvBv>~BBCB<B= =BBB<BE9 L,g,&*AD&D&D&D$E&2: E&P:6E&&6:E$"E& *9^dD)#I$i #"i9I=R= ")E$IE'iE&E)IiIBDU~6DUG:YE =!EI=EU'Q)E>I)I9MEYIMe<AU>qQ 1};4٪u?Q 5;4uW ur=9Y|Q E?yui>)u:Iu:iu^;4YB