*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/Control" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Estimation" *n code=0012 name="Config/Simulator" *n code=0013 name="Config/secure" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Servo" *n code=0016 name="Config/Derivation" *n code=0017 name="Config/workSite" *n code=0018 name="Config/Dock" *n code=0019 name="Config/vehicle" *n code=001A name="Config/Science" *n code=001B name="Config/Sample" *n code=001C name="Config/logger" *n code=001D name="Config/BIT" *n code=001E name="Config/Navigation" *n code=001F name="Config/Battery" *n code=0020 name="DepthRateCalculator" *n code=0021 name="PitchRateCalculator" *n code=0022 name="SpeedCalculator" *n code=0023 name="YawRateCalculator" *n code=0024 name="ElevatorOffsetCalculator" *n code=0025 name="VerticalControl" *n code=0026 name="HorizontalControl" *n code=0027 name="SpeedControl" *n code=0028 name="LoopControl" *n code=0029 name="DeadReckonUsingMultipleVelocitySources" *n code=002A name="NavChart" *n code=002B name="UniversalFixResidualReporter" *n code=002C name="AHRS_M2" *n code=002D name="BackseatComponent" *n code=002E name="BackseatComponent ThreadHandler" *n code=002F name="LcmUniversalReporter" *n code=0030 name="BPC1" *n code=0031 name="DAT" *n code=0032 name="DAT ThreadHandler" *n code=0033 name="DataOverHttps" *n code=0034 name="DataOverHttps ThreadHandler" *n code=0035 name="Depth_Keller" *n code=0036 name="NAL9602" *n code=0037 name="Onboard" *n code=0038 name="Onboard ThreadHandler" *n code=0039 name="Power24vConverter" *n code=003A name="Radio_Surface" *n code=003B name="Radio_Surface ThreadHandler" *n code=003C name="RDI_Pathfinder" *n code=003D name="Sonardyne_Nano" *n code=003E name="BuoyancyServo" *n code=003F name="ElevatorServo" *n code=0040 name="DockingStepper" *n code=0041 name="MassServo" *n code=0042 name="RudderServo" *n code=0043 name="ThrusterHE" *n code=0044 name="CTD_Seabird" *n code=0045 name="CTD_Seabird ThreadHandler" *n code=0046 name="ESPComponent" *n code=0047 name="PAR_Licor" *n code=0048 name="WetLabsBB2FL" *n code=0049 name="WetLabsBB2FL ThreadHandler" *n code=004A name="SBIT" *n code=004B name="IBIT" *n code=004C name="CBIT" *n code=004D name="GFScanner" *n code=004E name="MissionManager" *n code=004F name="Reporter" *n code=0050 name="NavChartDb" *n code=0051 name="NavChartDb ThreadHandler" *n code=0052 name="DefaultWithUndock" *n code=0053 name="DefaultWithUndock:A.Wait" *n code=0054 name="DefaultWithUndock:LeaveDock" *n code=0055 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0057 name="DefaultWithUndock:LeaveDock:A." *n code=0058 name="DefaultWithUndock:LeaveDock:B.Undock" *n code=0059 name="DefaultWithUndock:SurfaceDefault" *n code=005A name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005B name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0064 name="DefaultWithUndock:D" *n code=0065 name="DefaultWithUndock:E.Execute" *n code=0066 name="lineCaptureHoming" *n code=0067 name="lineCaptureHoming:Science" *n code=0068 name="lineCaptureHoming:Science:A" *n code=0069 name="lineCaptureHoming:Science:B" *n code=006A name="lineCaptureHoming:Science:C" *n code=006B name="lineCaptureHoming:Science:D" *n code=006C name="lineCaptureHoming:Science:E" *n code=006D name="lineCaptureHoming:Science:F" *n code=006E name="lineCaptureHoming:Science:Read_Oil" *n code=006F name="lineCaptureHoming:Science:OceanCurrent" *n code=0070 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0071 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0072 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0073 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0074 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=0075 name="lineCaptureHoming:Science:EdgeDetectChl" *n code=0076 name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=0077 name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0078 name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=0079 name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=007A name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=007B name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=007C name="lineCaptureHoming:Science:PeakDetectNO3" *n code=007D name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=007E name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=007F name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0080 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0081 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0082 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0083 name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=0084 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=0085 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0086 name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=0087 name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=0088 name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0089 name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=008A name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=008B name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=008C name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=008D name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=008E name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=008F name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0090 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0091 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0092 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0093 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0094 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0095 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0096 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=0097 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0098 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0099 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=009A name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=009B name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=009C name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=009D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=009E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=009F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00A0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00A1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00A4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00A5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00A6 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=00A7 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00A8 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00A9 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00AA name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00AB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00AC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00AD name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00AE name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00AF name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00B0 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00B1 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00B2 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00B3 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00B4 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00B5 name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00B6 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00B7 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00B8 name="lineCaptureHoming:StandardEnvelopes" *n code=00B9 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00BA name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00BB name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00BC name="lineCaptureHoming:C" *n code=00BD name="lineCaptureHoming:D" *n code=00BE name="lineCaptureHoming:E" *n code=00BF name="lineCaptureHoming:NeedComms" *n code=00C0 name="lineCaptureHoming:NeedComms:A" *n code=00C1 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00C2 name="lineCaptureHoming:NeedComms:C" *n code=00C3 name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00C4 name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00C5 name="lineCaptureHoming:NeedComms:D" *n code=00C6 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00C7 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00C8 name="lineCaptureHoming:NeedComms:E" *n code=00C9 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00CA name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00CB name="lineCaptureHoming:G" *n code=00CC name="lineCaptureHoming:H" *n code=00CD name="lineCaptureHoming:MicromodemComms" *n code=00CE name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00CF name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00D0 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00D1 name="lineCaptureHoming:J" *n code=00D2 name="lineCaptureHoming:LineCapture" *n code=00D3 name="lineCaptureHoming:LineCapture:A" *n code=00D4 name="lineCaptureHoming:LineCapture:B" *n code=00D5 name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00D6 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00D7 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00D8 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00D9 name="lineCaptureHoming:LineCapture:D" *n code=00DA name="lineCaptureHoming:LineCapture:E" *n code=00DB name="lineCaptureHoming:LineCapture:F" *n code=00DC name="lineCaptureHoming:LineCapture:G" *n code=00DD name="lineCaptureHoming:LineCapture:H" *n code=00DE name="lineCaptureHoming:LineCapture:HoldMass" *n code=00DF name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00E0 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00E1 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00E2 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00E3 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00E4 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00E5 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00E6 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00E7 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00E8 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00E9 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00EA name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00EB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00EC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=010E name="lineCaptureHoming:LineCapture:L.Wait" *n code=010F name="lineCaptureHoming:LineCapture:M" *n code=0110 name="lineCaptureHoming:L" *n code=0111 name="lineCaptureHoming:M" *n code=0112 name="lineCaptureHoming:N" *n code=0113 name="lineCaptureHoming:O" *n code=0114 name="lineCaptureHoming:P" *n code=0115 name="lineCaptureHoming:Q" *n code=0116 name="lineCaptureHoming:U" *n code=0117 name="lineCaptureHoming:TrackAC." *n code=0118 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0119 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=011A name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=011B name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=011C name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=011D name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=011E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=011F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0120 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0121 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0122 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=0123 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=0124 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=0125 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=0126 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0128 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0129 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=012A name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=012B name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=012C name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=012D name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=012E name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=012F name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0130 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0131 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0132 name="lineCaptureHoming:restartDHCP" *n code=0133 name="lineCaptureHoming:restartDHCP:A" *n code=0134 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=0135 name="lineCaptureHoming:StartingMission" *n code=0136 name="lineCaptureHoming:Z" *n code=0137 name="lineCaptureHoming:BA.Execute" *n code=0138 name="lineCaptureHoming:InitialDive" *n code=0139 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=013A name="lineCaptureHoming:InitialDive:B.Mass" *n code=013B name="lineCaptureHoming:InitialDive:C.Pitch" *n code=013C name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=013D name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=013E name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=013F name="lineCaptureHoming:RepeatHack" *n code=0140 name="lineCaptureHoming:RepeatHack:A" *n code=0141 name="lineCaptureHoming:Lap" *n code=0142 name="lineCaptureHoming:Lap:A" *n code=0143 name="lineCaptureHoming:Lap:B" *n code=0144 name="lineCaptureHoming:Lap:C" *n code=0145 name="lineCaptureHoming:Lap:D" *n code=0146 name="lineCaptureHoming:Lap:E" *n code=0147 name="lineCaptureHoming:Lap:Docked" *n code=0148 name="lineCaptureHoming:Lap:Docked:A" *n code=0149 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=014A name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=014B name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=014C name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=014D name="lineCaptureHoming:Lap:Docked:C" *n code=014E name="lineCaptureHoming:Lap:Docked:D" *n code=014F name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0150 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0151 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0152 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=0153 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=0154 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=0155 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=0156 name="lineCaptureHoming:Lap:Docked:Detach" *n code=0157 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=0158 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0159 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=015A name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=015B name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=015C name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=015D name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=015E name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=015F name="lineCaptureHoming:Lap:Docked:Drift" *n code=0160 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0161 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=0162 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=0163 name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=0164 name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=0165 name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=0166 name="keepstation" *n code=0167 name="keepstation:NeedComms" *n code=0168 name="keepstation:NeedComms:A" *n code=0169 name="keepstation:NeedComms:B.GoToSurface" *n code=016A name="keepstation:NeedComms:C" *n code=016B name="keepstation:NeedComms:C:A_Timeout" *n code=016C name="keepstation:NeedComms:C:A_Timeout:A" *n code=016D name="keepstation:NeedComms:D" *n code=016E name="keepstation:NeedComms:D:A_Timeout" *n code=016F name="keepstation:NeedComms:D:A_Timeout:A" *n code=0170 name="keepstation:NeedComms:E" *n code=0171 name="keepstation:NeedComms:E:A_Timeout" *n code=0172 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0173 name="keepstation:B" *n code=0174 name="keepstation:StandardEnvelopes" *n code=0175 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0176 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=0177 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=0178 name="keepstation:D" *n code=0179 name="keepstation:E" *n code=017A name="keepstation:BackseatDriver" *n code=017B name="keepstation:BackseatDriver:A.BackseatDriver" *n code=017C name="keepstation:PowerOnly" *n code=017D name="keepstation:PowerOnly:A" *n code=017E name="keepstation:PowerOnly:B" *n code=017F name="keepstation:PowerOnly:C" *n code=0180 name="keepstation:PowerOnly:D" *n code=0181 name="keepstation:PowerOnly:E.Wait" *n code=0182 name="keepstation:H.Pitch" *n code=0183 name="keepstation:SurfaceComms" *n code=0184 name="keepstation:SurfaceComms:A" *n code=0185 name="keepstation:SurfaceComms:B" *n code=0186 name="keepstation:SurfaceComms:HandleNan" *n code=0187 name="keepstation:SurfaceComms:HandleNan:SetOnStation" *n code=0188 name="keepstation:SurfaceComms:HandleNan:SetOnStation:A" *n code=0189 name="keepstation:SurfaceComms:HandleNan:SetLat" *n code=018A name="keepstation:SurfaceComms:HandleNan:SetLat:A" *n code=018B name="keepstation:SurfaceComms:HandleNan:SetLon" *n code=018C name="keepstation:SurfaceComms:HandleNan:SetLon:A" *n code=018D name="keepstation:SurfaceComms:setTransit" *n code=018E name="keepstation:SurfaceComms:setTransit:A" *n code=018F name="keepstation:SurfaceComms:setStation" *n code=0190 name="keepstation:SurfaceComms:setStation:A" *n code=0191 name="keepstation:SurfaceComms:setSink" *n code=0192 name="keepstation:SurfaceComms:setSink:A" *n code=0193 name="keepstation:StartingMission" *n code=0194 name="keepstation:DiveCmd" *n code=0195 name="keepstation:DiveCmd:SurfaceSink" *n code=0196 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=0197 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=0198 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=0199 name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=019A name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=019B name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=019C name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=019D name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=019E name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=019F name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=01A0 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=01A1 name="keepstation:DiveCmd:TransitToStation" *n code=01A2 name="keepstation:DiveCmd:TransitToStation:dive" *n code=01A3 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=01A4 name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=01A5 name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=01A6 name="keepstation:DiveCmd:StationKeep" *n code=01A7 name="keepstation:DiveCmd:StationKeep:A" *n code=01A8 name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=01A9 name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=01AA name="keepstation:TransitToStation" *n code=01AB name="keepstation:TransitToStation:Dive" *n code=01AC name="keepstation:TransitToStation:Dive:A" *n code=01AD name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=01AE name="keepstation:TransitToStation:C" *n code=01AF name="keepstation:TransitToStation:D" *n code=01B0 name="keepstation:OnStation" *n code=01B1 name="keepstation:KeepStation" *n code=01B2 name="keepstation:KeepStation:Dive" *n code=01B3 name="keepstation:KeepStation:Dive:A" *n code=01B4 name="keepstation:KeepStation:B.Wait" *n code=01B5 name="OnDock" *n code=01B6 name="OnDock:StandardEnvelopes" *n code=01B7 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=01B8 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=01B9 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=01BA name="OnDock:B" *n code=01BB name="OnDock:C" *n code=01BC name="OnDock:D" *n code=01BD name="OnDock:E" *n code=01BE name="OnDock:BackseatDriver" *n code=01BF name="OnDock:BackseatDriver:A.BackseatDriver" *n code=01C0 name="OnDock:PowerOnly" *n code=01C1 name="OnDock:PowerOnly:A" *n code=01C2 name="OnDock:PowerOnly:B" *n code=01C3 name="OnDock:PowerOnly:C" *n code=01C4 name="OnDock:PowerOnly:D" *n code=01C5 name="OnDock:PowerOnly:E.Wait" *n code=01C6 name="OnDock:dataRead" *n code=01C7 name="OnDock:dataRead:A" *n code=01C8 name="OnDock:dataRead:B.Wait" *n code=01C9 name="OnDock:science" *n code=01CA name="OnDock:science:Science" *n code=01CB name="OnDock:science:Science:A" *n code=01CC name="OnDock:science:Science:B" *n code=01CD name="OnDock:science:Science:C" *n code=01CE name="OnDock:science:Science:D" *n code=01CF name="OnDock:science:Science:E" *n code=01D0 name="OnDock:science:Science:F" *n code=01D1 name="OnDock:science:Science:Read_Oil" *n code=01D2 name="OnDock:science:Science:OceanCurrent" *n code=01D3 name="OnDock:science:Science:OceanCurrent:A." *n code=01D4 name="OnDock:science:Science:PeakDetectChl" *n code=01D5 name="OnDock:science:Science:PeakDetectChl:A" *n code=01D6 name="OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=01D7 name="OnDock:science:Science:PeakDetectChl:C" *n code=01D8 name="OnDock:science:Science:EdgeDetectChl" *n code=01D9 name="OnDock:science:Science:EdgeDetectChl:A" *n code=01DA name="OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=01DB name="OnDock:science:Science:EdgeDetectChl:C" *n code=01DC name="OnDock:science:Science:EdgeDetectChl:D" *n code=01DD name="OnDock:science:Science:HighestChlPeakReport" *n code=01DE name="OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=01DF name="OnDock:science:Science:PeakDetectNO3" *n code=01E0 name="OnDock:science:Science:PeakDetectNO3:A" *n code=01E1 name="OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=01E2 name="OnDock:science:Science:PeakDetectNO3:C" *n code=01E3 name="OnDock:science:Science:PeakDetectOil" *n code=01E4 name="OnDock:science:Science:PeakDetectOil:A" *n code=01E5 name="OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=01E6 name="OnDock:science:Science:PeakDetectOil:C" *n code=01E7 name="OnDock:science:Science:HighestOilPeakReport" *n code=01E8 name="OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=01E9 name="OnDock:science:Science:PeakDetectFDOM" *n code=01EA name="OnDock:science:Science:PeakDetectFDOM:A" *n code=01EB name="OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=01EC name="OnDock:science:Science:PeakDetectFDOM:C" *n code=01ED name="OnDock:science:Science:PeakDetectSalinity" *n code=01EE name="OnDock:science:Science:PeakDetectSalinity:A" *n code=01EF name="OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=01F0 name="OnDock:science:Science:PeakDetectSalinity:C" *n code=01F1 name="OnDock:science:Science:HighestSaltPeakReport" *n code=01F2 name="OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=01F3 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI" *n code=01F4 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=01F5 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=01F6 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=01F7 name="OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI" 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name="OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=0205 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms" *n code=0206 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A" *n code=0207 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=0208 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:C" *n code=0209 name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms" *n code=020A name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=020B name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=020C name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=020D name="OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=020E name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates" *n code=020F name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0210 name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0211 name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0212 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0213 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0214 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0215 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0216 name="OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=0217 name="OnDock:science:Science:ChlThreshTrigger" *n code=0218 name="OnDock:science:Science:ChlThreshTrigger:A.ValueDetect" *n code=0219 name="OnDock:science:Science:ChlThreshTrigger:B" *n code=021A name="OnDock:science:Science:ChlThreshTrigger:C" *n code=021B name="OnDock:J." *n code=021C name="OnDock:K" *n code=021D name="OnDock:L.Execute" *n code=021E name="OnDock:PeriodicCheck" *n code=021F name="OnDock:PeriodicCheck:CheckIP" *n code=0220 name="OnDock:PeriodicCheck:CheckIP:A.Execute" *n code=0221 name="OnDock:PeriodicCheck:CheckIP:B.Wait" *n code=0222 name="OnDock:N.Docked" *n code=0223 name="OnDock:Detach" *n code=0224 name="OnDock:Detach:A" *n code=0225 name="OnDock:Detach:B.Undock" *n code=0226 name="sample_on_dock" *n code=0227 name="sample_on_dock:A.AbortSample" *n code=0228 name="sample_on_dock:StandardEnvelopes" *n code=0229 name="sample_on_dock:StandardEnvelopes:A.AltitudeEnvelope" *n code=022A name="sample_on_dock:StandardEnvelopes:B.DepthEnvelope" *n code=022B name="sample_on_dock:StandardEnvelopes:C.OffshoreEnvelope" *n code=022C name="sample_on_dock:C" *n code=022D name="sample_on_dock:D" *n code=022E name="sample_on_dock:E" *n code=022F name="sample_on_dock:F" *n code=0230 name="sample_on_dock:BackseatDriver" *n code=0231 name="sample_on_dock:BackseatDriver:A.BackseatDriver" *n code=0232 name="sample_on_dock:PowerOnly" *n code=0233 name="sample_on_dock:PowerOnly:A" *n code=0234 name="sample_on_dock:PowerOnly:B" *n code=0235 name="sample_on_dock:PowerOnly:C" *n code=0236 name="sample_on_dock:PowerOnly:D" *n code=0237 name="sample_on_dock:PowerOnly:E.Wait" *n code=0238 name="sample_on_dock:dataRead" *n code=0239 name="sample_on_dock:dataRead:A" *n code=023A name="sample_on_dock:dataRead:B.Wait" *n code=023B name="sample_on_dock:SampleESP" *n code=023C name="sample_on_dock:SampleESP:sample" *n code=023D name="sample_on_dock:SampleESP:sample:A" *n code=023E name="sample_on_dock:SampleESP:sample:B.ESPCartridgeSelect" *n code=023F name="sample_on_dock:SampleESP:sample:TriggerESP" *n code=0240 name="sample_on_dock:SampleESP:sample:D" *n code=0241 name="sample_on_dock:SampleESP:sample:WaitForESP" *n code=0242 name="sample_on_dock:Science" *n code=0243 name="sample_on_dock:Science:A" *n code=0244 name="sample_on_dock:Science:B" *n code=0245 name="sample_on_dock:Science:C" *n code=0246 name="sample_on_dock:Science:D" *n 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*a code=12E7 owner=029F element=032F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=12E8 owner=029F element=00C3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=12E9 owner=029F element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=12EA owner=029F element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=12EB owner=029F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12EC owner=029F element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12ED owner=029F element=07EB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=12EE owner=029F element=07EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=12EF owner=029F element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=12F0 owner=029F element=0755 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=12F1 owner=029F element=06DB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=12F2 owner=029F element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=12F3 owner=029F element=0521 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=12F4 owner=029F element=0514 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=12F5 owner=029F element=0520 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=12F6 owner=029F element=0512 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=12F7 owner=029F element=051C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=12F8 owner=0247 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12F9 owner=0245 element=0773 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=12FA owner=0245 element=0776 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=12FB owner=0244 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FC owner=0244 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FD owner=0239 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FE owner=029C element=09A5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=12FF owner=023F element=0788 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1300 owner=0241 element=078A universal=3FFF unitName="count" type=0D size=0004 fl=04 I:i汃5YBA9EDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`$@zZZZZ   %?IP9 ɡ\'7iIIiiu=)!)!-i---Qi)))-/)nManaging dock network, ignoring radio surface power offԁDDzD3DEC: E :6E4:E!@!@!@!@>AU2=IYIiNu>ԩ >`,G3Ay6ǯ@ٱ6ö@67|6=6H?m?@s B?1?<[??I6ǯ@)6];i4L9R$IVh9h9j{FYhj;An>|Q 15٪~?Q 5 5~x ~9 Y =Q E @y~7E)~:I~:i~5YA-DNOT Ignoring new targets: 79.29 m.g)g)g)g)g)zfqrfqfqfqdydycyc} %@ԱzZZZZ=-7| 15 ?I59 1ɡ5,7i1I1I=i9i==)A)Ai))111@U=@U=AaAe@AvBi~BiBiBiBiBiBiBmx;BmOE >A- =I1 II NU >BEM4JEM4REM,1D D sD 1D E : E Z:6E -4:E "E ;! E ;! *E #];! E $];! % >i! A ,BG3Ay:ί@ٱ: ˶@:أ:U=:H?`?a<?@u?M? f?I:ί@):=#^;i8IfGbB9n$I)pI|i%.!%FAmMb@Mb@Mb@ i)iIiiiimX9v?-?Mb?m}>m5^>m@=Im@im@m@m@)im\@BD6D 3Yr!/=x;Q)>99{FY):A>Q 15٪.?Q 55.x z9m>Q A;Y>Q E@y7E):I:i5Y -A)DNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc l&@zZEm>ZEm>ZE?8?ZE>Uأ QU(?I]09 Yɡ]17iYIYI ii=))i99999Ya >Ae K=Iq I N >7r,H3A yJد@ٱJ3ն@JZQJt=JH ~?@* ?#`4`?_@?@9J?`?IJد@)JSo^;iJCfB9f$Iij=Ij=BD6DY =!j=|;Q)>DDqD*DE: E$ :6E(N4:E!@!@!@!@99{FYY;A>Q 15٪?Q 55w [9Y>Q E@y7E):I2:iQ5YřBA:EeDNOT Ignoring new targets: 79.29 m.gagagagagazfarfafifididcc$'@zZZZZj>ZQ ?Ic9 ɡo67i I Iii@=))iiԙ>AII N > ,,H3ALvB~BBBBBBB{;BOEBBBBBBO,4yE9@ٱEx@EHEϒ=EH`? k?;)G+@5?@FИIJ?[@??IE9@)E'^;iECrD=jD4=DD~D-DEs: E(:6Et4:E"E;!E;!*E;!E;!B9$IMb@Mb@Mb@ )IiL7A`?-?kt?+> 0=I@i@@@)Q@I)@ABD#6DӀ3Y%R!%=->;Q)->19195{FY156;A5>9Q 1E5٪=aDZ?Q 5E5=w =,9MY>Q AM;YM =Q EM@y=7E)=6;I=%;i=ڹ5YquAyDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc-N(@zZ5Y>Z5Y>Z5g 0?Z5T =EH amQ?Im9 iɡm5<7iiIiIuiqiu=)q)yi ! ! % O5! @) @) 9 I )  >AE=IQIaNm>O,JH3Ay6g@ٱ6@6Ǒ6=6HT? F?@8`&?c, 5?F??I6g@)6S^;i6Cilnds@)p pIpppipIptI)i-A -P)))1 5A5Ga5F19=AI=Y)=ձFi9)AIAE7A AAMAIiƉƉB9$I BD 6D J2Y-<!-=57;Q)5?9999={FY9 ;A?Q 15٪Xб?Q 55v 9Y=Q E@y7E):I :i?5Y̙BADNOT Ignoring new targets: 79.29 m.gggggzfrfffdYdYcyc`(@zZZZZ=Ǒ ?I9 ɡ@7iIIii =))1D}D}oD}.DyE}: E}:6E}ـ4:Ey!@!@!@!@%I9ai 9 W5 ԑ >A M=I I N >x,gH3Ay6@ٱ6@6V6=6H??" 7? ؛@?P?_?I6@)6X^;i6Cx5B9=$I)i mABD}*6D}3Y!>=y;Q)>99{FY;A> Q 1M5٪ ܱ?Q 5U5 Iv 9YY]%=Q Ee@y 7E) YA (S=I I N > [ ,}H3Ay6r@ٱ6@6_360=6H`?`h? ?cG?@V??I6r@)6Q8^;i6C~B9~$IYMb@Mb@Mb@ )Ii rh?Q?Mb?l>(\>@=I@i@@@)@BD%6D%N3Y-c<!5A=U;Q)U>Y9Y9]{FYYe(;Ae>aQ 1m5٪e,籊?Q 55eu e9Z>Q A&;Y+=>Q E@ye7E)e;Ie;ie5YADNOT Ignoring new targets: 79.29 m.ggg g g zfrfffBddcc*@zZ]Z>Z]Z>Z]??Z]z+=>_3 顕?I~9 ɡrJ7iIIii8|=))ԉiE9AAE/AԱ>Am O=Iq I N >D- D- kD- 4D) E- 1: E- :6E- 4:E) !5 @!5 @!5 @!5 @ 6&,.YH3Ay67@ٱ6v@6VŁ6=6H ?? ?Ğ5? N?/?I67@)6^;i6CL9PBDZ6DZ4d3v;Q)v>t9t9z{FYxz:Az>Q 1%5٪q?Q 5%5 u 9)Y-Q=>Q E-@y7E):I:i5Y5әB5A5;EDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc[+@ԹzZZZZJQ=>%VŁ !!I%]9 )ɡ-O7i)I)I5iQiUX=)Q)Yi/>AVo=9IQIyN>vB ~B B B B =B B B t;B OEY ,,73H3Aɰ4<DrDrtDr9DpEr: Erv:6Er4:Ep"Er;!vEr;!z*Er`;!zEr`;!z~B9~$Ii=I=Mb@Mb@Mb@ )IiZd;?)\(?/$?y>Ga>,=I@i@@)@BD6D:3Y-L !-<-Q)->1Q9Q9U{FYQ]A]>aQ 1m5٪ee?Q 5m5e}t e9m>Q Am ;Ym->Q Em@ye 7E)em;Ied;ie|ƒ5Y2ADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddccA,@zZU>ZU>ZU;?ZU*->i 額•?I9 ɡ T7iIIii 4=))iE9AAE/Aiԉ>Am 6[=I I N >Թ 3,eH3AyFf@ٱF@FimF|=FH ??Զ z??Q??IFf@)F];iDZB9^$IBDf&6Dfދ3Y<!_=Tq 9 9 {FY  ;A>QQ 1]5٪UW?Q 5]5Us Uu9aYeI.>Q Ee@yU"7E)U:IU:iUă5Yim&AiDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`l,@zZ)Z)Z)Z-jI.>]im Y]%?I]9 aɡeX7iaIaԉI ii=))iDDwD=DE: E:6E|4:E!@!@!@!@i9/>AIIN> 9,yH3Ay6N@ٱ6@6-b6=6H@ ?@?%7`0? 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I1 NE >DM ~DM pDM 6DI EM : EM  :6EM c4:EI !U @!U @!U @!] @F,ܟI3A@nB9n$IvpI9I9U{FYQQAU>yQ 15٪}7'?Q 55}Wr }9YQ E@y}(7E)}:I}S:i}jɃ5YADNOT Ignoring new targets: 79.29 m.gggggzfrff f d d c ck/@zZIZIZIZI 顅|?I/9 ɡf7iIIii)))ԩiM9IIM0I>Auew=IIN- > vBE 5>~BA BE $IBE BBA BA BA BE e;BE OE*L,z6I3AlrB9r$IBEEe4JEE24REE?1DD4D0DE: E ;6E4:E"EA;!EC;!*EfY>\=I@i-@@@)BD6DP)3Ye!0=Q)>!9!9%{FY!!A%>IQ 1U5٪M3?Q 5U5Mq M9]>Q A]";Y]>Q E]@yM*7E)M:IM,:iMq˃5YeBeAm=EDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc+0@zZ>Z> Z75?Z*>1 9=3?I=9 9ɡ=k7i9I9IEiaii)i)ii@01>A! I1 II N] >a S,;VPI3Aɰ;y:'6@ٱ:f2@:ؼ8:=:H?C? @$?}ä?h?`?I:'6@):a^;i:CNB9R$IiV=IV=BDZ#6DZӀ3Yrz<!rv=rQ E@y~,7E)~:I~:i~̃5YA}DNOT Ignoring new targets: 79.29 m.gygygygygyzfrfffddcc0@zZZZZ>ؼ8 ?IC9 ɡp7iII5iAiE=)A)DD~D1DEҝ: E(:6E-4:E!%@!%@!%@!%@iiAAAEw4Aԑ>Ai Iq I N > ?Z,]1jI3Ay6a<@ٱ68@6}/6)=6H`!?M?K!?P?`[??I6a<@)6G_;i6CN߅B9R$IBDZ6DZ:3Yf7 !fL=f{;Q)j>h9h9j{FYhnz:A> Q 15٪ HG?Q 55 p 9Y>Q E@y .7E) ;I ;i ΃5YAE AAԙDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc 0@AA<zZZZZj>vB~BB$IBBB =BBBBOEBBBBñ =BBq45}/ 9E%?Ie9 iɡmt7iiIiIuiqiu=)q)yi9!%s4!@-A@-ADDrDDEU: E?:6E:E"E;!-E;!-*EY;!-EY;!->A w=I I N% > \`, I3Ay6ZA@ٱ6=@6&6=6H@S$?R?b t`#?ͥ ܤ?3M??I6ZA@)6i_;i4NB9R$IMb@Mb@Mb@ )IiL7A`?zG?:v?+> W>99{FY:A>!Q 1-5٪%S?Q 5-5%jp %9-:>Q A5;Y5=Q EU@y%17E)%-;I%;i%Ѓ5Y]B]A]>EDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc \Z1@zZ:>Z:>Z,?Z=M& IU?IU9 QɡUMy7iQIQI]iYi]=)Y)ai9  4 !I>A- Z=I9 II NU >D- D- vD- 2D) E- 7: E- :6E- 4:E) !5 @!5 @!5 @!5 @y H!g,I3Aiy6=J@ٱ6|F@6<6ʿ=6H )? ?@='?\@P?@O?s?I6=J@)65h9h9j{FYhnD;An>Q 15٪]?Q 5 5 p 9 Y =Q E @y37E):Iy:i,҃5Y=3 A9DNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc O1@zZZZZT= <  ގ?I 9 Qɡ}7iYIYI] iaie=)a)ai/ԁ>A:=I)IQN>vB 3>~B B $IB BB B B B `;B OE lKm,·I3ADrDrDr5DpErU: ErC:6Er4:Ep"Ep!vEp!z*Er?;!zEr@;!z~߅B9~$IMb@Mb@Mb@ )Ii~jt?|?5^??>R>1919={FY9=A=>AQ 1M5٪Ej?Q 5M5Eo E9M>Q AM;YQQ EU@yE57E)E-;IEl,;iEԃ5Y}B}A4EԱDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddccs*2@zZE>ZE>ZEC,?ZAq qǔ?I}9 yɡ}$7iyIyIiif=)) ;>>iE9AAAA >Am =Iq I N >9 3t,ßI3Ay6LX@ٱ6T@66=6H1??@-?7jԡ?cW?`?I6LX@)64,d;i4NB9N$IBDV6DVF3Yv;!v_=v4x9x9z{FYxz";A~>Q 1%5٪+t?Q 5-5Ao |9)Y-8=Q E-@y77E):I`:iՃ5Y5ƙBU+A]5EDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc 2@zZ Z Z Z 8=] ae!?Ie9 aɡeH7iaIaImiii=))DDD1DE: E0:6E-4:E!@!@!@!@i-9))))@5@5@5@59IIN>i ^z,I3Aɰy:]@ٱ:Z@:o:<=:H`\5?3?N/?`&-͠?`[? ?I:]@):Ne;i8NB9N$IiR=IRa=BDV6DV\3Yn<! 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EWo;!  ~D,QJ3Ay6a@ٱ6]@6S6=6H 7??ܰ@`21?`7?`e\?@?I6a@)6%e;i6CBB9B$IPEMb@Mb@Mb@ A)AIAiAAE +?K7?S㥛?Ev>EI>E/q9q9u{FYq}:A}>Q 15٪?Q 55kn S9>Q A);Y>Q E@y;7E):I:iMك5YADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc@ W3@zZ>Z>ZWn/?Z> S ?I9 ɡˇ7iIIii%k=)!)!))i9II1N= >D D nD -D E : E :6E t4:E ! @! @! @! @) wo,/J3Ay6sf@ٱ6b@6.>켹6Z=6H:?? r 2?IN?md? ?I6sf@)6e;i6C|}B9}$IBD&6Dދ3Y ;!8=;Q)>99{FY:A>Q 15٪?Q 55m <9Y>Q E@y=7E)y;I;iDۃ5YΙBQA6E%DNOT Ignoring new targets: 79.29 m.g)g)g)g)g)zf)rf1f1f1d1d9c9c=`3@zZYZYZYZ]>m.> qu2?Iu9 qɡu;7iqIqI}iyim=)))i II)N5.>YvB ~B B $IB BB B B B Z;B OEԉ z,_ 9J3Aiy6Zf@ٱ6b@6i8޼6m'=6H`;??`h2?ĸ-ƛ?[^?`?I6Zf@)6e;i6C<<>Լi@@i@@)@ @ID D)FAFjDDHHiJļIHHIN̏CiL LL)LP PRPPTTIT)TiT)TIVAZ94X XXDbD`Db6D`Eba: E`6Ebc4:E`"Ebd;!fEbe;!j*EbJ;!jEbJ;!jnB9l)p rAYmMb@Mb@Mb@ i)iIiiiim/$?(\?{Gz?m1>mG>mף9999={FY9=AAE>AQ 1M5٪E+?Q 5M5Em E,9u->Q Au ;Yu=Q Eu@yE?7E)E;IE;iE܃5YyOADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc}/4@zZ=->Z=->Z='!?Z==ui8޼ qu3?Iuj9 qɡ}7iyIyI}iiA=))ԉiE9AAE/AԱ>Ae as=I I N > 瀔,RJ3Ay:f@ٱ:Tb@:?м:=:H-;? ?@c@n1?`.?W??I:f@):ODe;i:C߅B9$I)i-BD56D52YEGμ!EX=E;Q)E>I9I9M{FYIM߸AU>QQ 1e5٪Ur?Q 5e5Urm U9aYeP=Q Ee@yUA7E)UG ;IU:iUރ5YquvAqDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc׋4@ԹzZZZZTP=e?м ae?Ie9 iɡmĎ7iiIiIii.=))DDtD0DEO: Ev:6E4:E!@!@!@!@i-9))-0)>A=IIN>9 ,lJ3Aynf@ٱnb@nļn*=nH;?t?Ǯ ;z1?U ]?`_?#?Inf@)n9d;ilB9$IBD6D4d3A<AY%;!%==vBq~BqBu$IBuBBu =BqBqBu^;BuOES;Q)>99{FY=8A>Q 15٪?Q 55&m  9Y-=Q E@yD7E)\:Iu:i5Y֙BADNOT Ignoring new targets: 79.29 m.gggggzfrfffddQcQc]@ 5@zZZZZ-=AMļ IM^?IM~9 QɡUS7iQIQI] iYi]V=)Y)a4>iImG)IBEe-4JEee4REeӣ0DDnD4DE E:6E4:E"E;!E;!*E!E!i/@%A@%Ai= 9E Aq>A s=I I N > ;,EJ3Ay6ze@ٱ6a@66N=6HO;??@@F`90?h窿^?c?@T?I6ze@)6bc;i6CNB9R$IiV=IV=-Mb@Mb@Mb@ )))I)i))-HzG?|?5^?I +?-=>-M>-9Q99{FY@A>Q 15٪_?Q 55l 9>Q A;Yd=Q E@yF7E):I:i-5YADNOT Ignoring new targets: 79.29 m.ggg!g!g!zf!rf!f)f-Bd)d)c)c5^5@zZU>ZU>ZU#?ZUTd=e aě?Ie9 iɡmI7iiIiIuiqiu=)q)yԙi9X2>Al=II1N=>D D sD 3D E : E Z:6E 4:E ! @! @! @! @ ,uJ3A9$II-AA)-@ABD5"6D5Jz3YEʌ!MK=MQ)M>Q9Q9U{FYQUA]>aQ 1e5٪eI̲?Q 5m5el e9iYiQ Em@yeH7E)e:Ie`:ie5Yy}AyDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc|5@zZqZqZqZq 額?I9 ɡ7iIIii1=)) p>>i-9))-S5)!>AMr=vBu5>~BqBqBqBqBqBqBqBqByByByB}Ȱ =B}ȱ =B} 5IIN>Q 8,rPJ3Ay6Xb@ٱ6^@6㝪6=6H9??@t@-.? {`WS?`l?@?I6Xb@)6`;i4DRDRDR2DPER: ERR:6ER4:EP"ER;!ZER;!Z*ER;!ZER;!ZnB9n$IMb@Mb@Mb@ )IiK7?B`"?~jt?>N>99{FYmA>Q 15٪ز?Q 55Cl 9>Q A;Y=Q E@yJ7E) ;IC ;i5YޙBA7E-DNOT Ignoring new targets: 79.29 m.g)g)g1g1i==I==g1zfArfAfAfEBdIdIcIcM.6@zZ>Z>Zs$?Zt=㝪 =?Ib9 ɡ7iII Qi iU^=)Q)YiP5@ @ @@yIIN>ԩ δ,*J3Ay6m^@ٱ6Z@66=6H7?`/?<`u+?``#Ô?$o??I6m^@)6_;i6C@BB9F$I)H JABDN6DNF3YVE<!V_=V:Q)Z>X9X9Z{FYX^AA^>`Q 1f5٪bhⲊ?Q 5f5bk b9dYf=Q Ef@ybL7E)bG:Ib`:ibP5YlnAlDNOT Ignoring new targets: 79.29 m.ggg g g zf rf ffddcc6@zZZZZ=  ?I 9 ɡ ۙ7i I I5i9i==)9)9ԩDDqD@DE: E$ :6E4:E!@!@!@!@i9/IIN >9 {, J3AyF]@ٱFZ@FCӡFΛ=FH7??[`p+?Ϋ :? t??IF]@)F*^;iD)P RA^B9^$Ijp9 9 {FY  *A>Q 1-5٪?Q 5-5k 9)Y5m=Q E5@yN7E)'!;I;i"5YAEAAAA@AvB4>~BB$IBBBBBBd;BOEUDNOT Ignoring new targets: 79.29 m.gQgQgQgqgqzfqrfqfyfydydycyc[6@zZZZZm=Cӡ ?I9 ɡ7iIIii)) ))i9IIANm5>bDZD@ADDsD-DE: EZ:6Et4:E"E;!E;!*E#];!E$];!Qԁ ,K3Ay6\@ٱ6!Y@6眼6=6HU7??`ì@*?` ?@q??I6\@)6!^;i4BB9B$I5Mb@Mb@Mb@ 1)1I1i115E?$C?I +?5>5Z>59i9i9m{FYimAu>qQ 1}5٪u?Q 55u6k u9>Q A;Y=Q E@yuP7E)ui ;Iu:iu5YBA8EDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`7@zZ>Z>ZD.?Z4=眼 ̌?I9 ɡ I7i I Iii=R=))i/IIN>ԉԱD D ~D 0D E : E (:6E 4:E ! @! @! @! @ $ ,!K3Aɰ4<;y6K]@ٱ6Y@6~6Û=6H 7??k@@*?`/?r?@?I6K]@)6];i6CRB9R$IBDZ!6DZr3Yb?=!bU=f:Q)f>d9h9j{FYhj9Aj>lQ 1r5٪n?Q 5r5nj n9tYv=Q Ev@ynR7E)n:Int:in5YxzMA|%DNOT Ignoring new targets: 79.29 m.g!g!g!g!g!zf)rf)f)f)d1d1c1c5=7@zZZZԹZ4=~ ?IK9 ɡ7iIIiiGt=))i9>AuM=IvB~BB$IBBBBBBe;BIN>9 @5,;K3Ay:5[@ٱ:tW@::垛=rD@jDB%=DDDF{DDDDED EF5":6ED:ED"EF;!JEF ;!J*EFBz;!JEFCz;!N:Hz6??G@N)?@(Dq?,n??I:5[@):(];i:CVB9Z$I5Mb@Mb@Mb@ 1)1I1i115E?Q?Mb?15(\>5i9i9m{FYiu|Au>yQ 15٪}?Q 55}Oj }9>Q A;Y>Q E@y}U7E)}:I}:i}z5YBA9EDNOT Ignoring new targets: 79.29 m.gggggzfrfff̃Bddcc/8@zZu>Zu>Zup/?Zu> 顥=?I9 ɡ̢7iII ii{=))im9iiiiAq>Aa=IIN>ԙ A,isUK3Ay6\@ٱ6Y@66ԙ=6H Z7?p9p9r{FYpr:Av>tQ 1z5٪vy?Q 5z5vi vt9|Y~>Q E~@yvW7E)v;Iv;iv*5Y A 5DNOT Ignoring new targets: 79.29 m.g1g1g1g1g1zf9rf9f9fAdAdAcAcE 8@zZaZaZaZe>} y}ʊ?I}9 ɡ7iIIiie=))yi59115/1DDD.DE: E:6Eـ4:E!@!@!@!@ԡ>AM=IIN> H,SoK3AyVp\@ٱVX@V3ĞVh[=VH 7? j?Ѭ9`*? ͫ5ؓ?e?@?IVp\@)V\;iVCjB9j$IBDv#6DvӀ3YǬ!G= Q) >99{FYvA>!Q 1-5٪%'?Q 5-5%fi %d9)Y->Q E-@y%Y7E)%:I%B:i%5A9A=<vBA~BABE$IBEBBE =BABABEh;BEOEYADNOT Ignoring new targets: 79.29 m.ggggg!zf!rf!f!f)d)d)c)c-9@zZIZIZIZM>e3Ğ ae?Ie9 aɡm%7iiIiIuiqiuE=)q)yi 9/@=A@=ADDDDE: E0:6E:E"EU;!EV;!*Eމ;!Eމ;!iQIU<>AUl9=IaIqN>) .,&K3Ay>\@ٱ>Y@>}>$=>H #7??T27+?聫Eϔ?^??I>\@)>݌\;i>CB9$I=Mb@Mb@Mb@ 9)9I9i99=Pn?x&1?=A`>=t99{FY 8A>Q 15٪4?Q 55h P9>Q A;Y>Q E@y\7E)?;I;i5YBA:EDNOT Ignoring new targets: 79.29 m.gg g g g zf rfffԃBddcc`:y9@zZ=>Z=>Z=w-4?Z=>M} QU=?IU{9 QɡU~7iQIQI]iYi]Ka=)a)a u0>u>iԙD D xD /D E 1: E :6E J4:E ! @! @! @! @ >A Ii I N >8[, K3ALi`bSs@)` `I`ddif`eIddIhih jYh)hh lllllrAIr 0)pip)pIrAvYt ttttitxx~B9~$IBD 6D  83Y=!={==Q)E ?A9A9E{FYAMAM ?QQ 1]5٪U=?Q 5]5UXh UC9YYYQ E]@yU]7E)U ;IU{;iU5YimAiDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc>9@zZZZZ ?I9 ɡm7iIIiiQ=))i0vBU5>~BQBU$IBUBBU =BQBQBUm;BUOE>AM=IIN>A Iu G) I i A,K3Aɰ;BEu4JEqREu1D2D2}D22D0E2%: E2k&:6E24:E0"E2;!:E2;!>*E2ŀ;!>E2ŀ;!>yFb@ٱF_@FF=FH@ :??ꭿ/?`٢?(V? ?IFb@)F\;iFCuB9u$I!@! !@! !@! !@! BD6DP)3Yƻ!>=1Q) > 9 9 {FY ?:A>!Q 1-5٪%I?Q 5-5%g %2Q =-+:9)Q A-:Y5>Q E5@y%`7E)%P;I%>i% 5Y9= A9eDNOT Ignoring new targets: 79.29 m.gigigigigizfirfiffddcc`>:@% !%\?I-9 )ɡ-7i)IIIUiQiUB=)Q)YIi0@ @ @ @ ԁIIN>ԡ j,RK3AyJ*e@ٱJia@J$J7=JH;? &?@[s0?×?`N?t?IJ*e@)J\;iJCB9%$II-@A)-@ABD56D5\3yYk;=!S=:Q)>99{FY>:A>Q 15٪T?Q 55Gg "Q = :9Q A:Y>Q E@yb7E)X:IQ?i%5YB ADNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`M:@$ %?I%09 !ɡ%ʯ7i!I!I-i)i-=)))1)9D}D}D}.DyE}: E}3:6E}ـ4:Ey!@!@!@!@i91IIN >ԩ ,K3AyJf@ٱJb@J]JǼJ=JH`;?_?? 1?:?:?n?IJf@)J\;iHAjAAAjAAvBn7>~BnCBn$IBnBBn =BlBlBnk;BnOEBBBB =BBO5|9|BD 6D :Q)>!9!9%{FY!%:A->)Q 155٪-_?Q 5=5-f -Q ==999Q A=:Y=S>Q E=@y-d7E)-:I-?i-5YAII}DNOT Ignoring new targets: 79.29 m.gygygygygyzfyrfyffddcc ;@U]JǼ QQIU99 Yɡ]7iYIYIeiaie+d=)a)i%9!!-]5)IINE0>bDiZDm?AD}D}tD}1DyE}C: E}v:6E}-4:Ey"E}2;!E}3;!*E}`;!E}`;!)Q 6},p L3AiyB%k@ٱBdg@B`ѼBC=BH=??K4?2#?1B??IB%k@)B\;iBCJB9N$I!u!u !u!u !u!} !}!} }Mb@Mb@Mb@ y)yIyiyy}Pn?X9v?}t99{FY:A>Q 15٪l?Q 55f Q =T:9Ƴ>Q A;YD>Q E@yf7E)n:I:i51Y) ADNOT Ignoring new targets: 79.29 m.gggggzfrfff˃Bd)d1c1c5v;@zZmƳ>ZmƳ>Zm>?ZmJD>}`Ѽ 顅?I9 ɡN7iII ii]=))iaaaev3aiIyIN;>ԉD D lD D E ; E :6E :E ! @! @! @! @Թ l,'L$L3Ay6ch@ٱ6d@6i޼6WL=6HX9X9Z{FYXZpA^>Q 15٪v?Q 5 5\e 9 Y ND>Q E @yh7E)>:I:i5YBk A;EDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc;@zZ Z Z Z zND>i޼ !%?I%9 !ɡ%c7i!I!I-i)i-=)1)1AAԑi=4vB8>~BBBB =BBBr;BOE>A=II1N=> y,&>L3ArD"=jD"<D&D&zD&-D$E&s: E& :6E&t4:E$"E&;!*E&;!**E&v;!.E&v;!.yFl@ٱFBh@F)O뼹F=FH`=?W? Lc 5?Gh?`X?/?IFl@)F6];iFC^B9b$IMb@Mb@Mb@ )Ii rh?uV?~jtx?C>rh>;I@iC@@)BD6DP)3YQ`!9=&bQ)>99{FY :A>Q 15٪?Q 55d 9j>Q A;Y0>Q E@yk7E)L ;I;is5Y A=DNOT Ignoring new targets: 79.29 m.g9g9g9g9g9zfArfAfAfEȃBdIdIcIcM@><@zZmj>Zmj>Zm 2?Zm0>)O 顅?I9 ɡ7iIIii =))iIIIM/I>Am3=IyIN>I ,V XL3Aɰ9BD- 6D-k3Y=\!=T==Q)=>A9A9E{FYAEAM>IQ 1U5٪M?Q 5]5MGd M9YYYQ E]@yMm7E)M ;IM;iM 5Yae AiDNOT Ignoring new targets: 79.29 m.gg!g)g)g)zf)rf)f1f1d1d9c9c= <@zZYZYZYZYi iuZ?Iu$9 qɡuӺ7iqIqI}iyi}d=)y)DUDUDU/DQEU1: EU:6EUJ4:EQ!e@!e@!e@!m@iiԑ>A s=II1N=> ,qL3Ay:i@ٱ: f@::L0=:H;?@:?W4@h`5?@T`?^? 4?AB<AB<vBD~BDBDBDBF =BDBDBFk;BFOE)P PTI:i@):s];i:C^B9^$IBDj6Dj 83Yrb!rP=rQ)r>t9t9v{FYtv]4Az>xQ 15٪z?Q 55zc z9Y>Q E@yzo7E)z;Iz;iz5Y B A 顅?I9 ɡ7iIIiis=)) N> >i/@A@AbDYZDYDeDe|De2DaEeҝ: EeP$:6Ee4:Ea"Ee;!uEe;!u*Ee};!uEe};!u>AQIaIqN}{>! M",0L3Ayjii@ٱje@jԓ j=jH@$;?@?̏@ F6?@(ܧ@q? 7[??Ijii@)jq];ih~B9 $IMb@Mb@Mb@ )IiMb?5^I ?I +?>X>9499{FYA>Q 15٪Y?Q 559c 9>Q A!;Y:>Q E@yq7E) ;I~ ;i5Y ADNOT Ignoring new targets: 79.29 m.gggggzfrff!f%ƒBd!d!c)c-5s=@zZM>ZM>ZM2?ZM:>ԓ ?I_9 ɡB7iIIii)))iQ>AIIN>Du Du wDu 0Dq Eu : Eu :6Eu 4:Eq !} @!} @!} @!} @ԁ t(,qL3Aiy6i@ٱ6e@6K6=6H@:??7? ]@b?Z?A?I6i@)6ޕ];i4BB9B$IDiDBDJ6DJ\3YV!V^=VQ)V>X9X9Z{FYX^ê8A^>`Q 1f5٪bc?Q 5f5bb b9dYfd>Q Ef@ybs7E)b:Ib :ibW5YnBn_!An=EDNOT Ignoring new targets: 79.29 m.gggg g zf rf f fddcc=@YzZZZZd>K  ?I 9 ɡ _7i I I5i1i==)9)9iԉvB~BB$IBBB =BBBu;BOEԱ>AII1N=> /,oL3ADD|D2DEa: EP$:6E4:E"Ed;!Ee;!*E!E};!yFe@ٱFb@F$8F=FHT8?ྪ?b@5?@?ɦ e?U??IFe@)F܏];iFCRB9R$I-Mb@Mb@Mb@ )))I)i))-L7A`?|?5^?{Gz?-+>-R>-#Y9Y9]{FYYe Ae>iQ 1u5٪mD?Q 5u5m[b m9u>ԹQ Au;Yu=Q E@ymv7E)m3@zZ>Z>Z)?Zu=$8 ?I 9 ɡ7iIIii|=) ) )i9)>AIIN>A 6,JL3Ay6/b@ٱ6n^@6a#6s=6H5??ϲ`u4?2j? )O?!?I6/b@)6ʃ];i6CVB9V$IBD^6D^f?3Yfy;!fS=fQ)f>h9h9j{FYhn蘺An>pQ 1v5٪r dz?Q 5v5ra r9tYv=Q Ez@yrx7E)rA:IrZ:ir5Y|~!A|%DNOT Ignoring new targets: 79.29 m.g!g)g)g)g)zf)rf)f1f1d1d1c1c=>@zZYZYZYZ]t=ma# im?Iu9 qɡu7iqIqI} iyi}_I=)y)yD5D5sD5,D1E51: E5Z:6E5g4:E1!E@!E@!E@!E@iE9AIM0Iԡ>AIIN> 1<,%L3AA@AA?AvB~BBBB =BBB;BOEyJb@ٱJ^@J{9+J=JH`5?v?> @5?7e?@V?j?IJb@)J];iJCVB9V$IBD^,6D^3Yf!fJ=jQ)j>h9h9n{FYlE9AM>IQ 1U5٪Mҳ?Q 5U5Ma M9YY]*=Q E]@yMz7E)M;IM;iM 5Ye!Be!Am>EDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc@ ?@zZZZZ*={9+ ̊?I9 ɡ7iIIii=))!i%CIGi)0Ii AbDAZDE@ABEŃ4JEJ4RE"0DmDmmDm*DiEms: Em:6Em(N4:Ei"Em;!Em;!*EmMG;!EmMG;!>A5M=IAIQNe>) SC, M3A =߅B9=$IMb@Mb@Mb@ )Ii(\?B`"?N>t9 9 {FY  A >Q 15٪޳?Q 559a u9%>Q A%;Y%=Q E%@y|7E):I:i 5Y)5 "A1]DNOT Ignoring new targets: 79.29 m.gYgYgYgYgYzfarfafafeBdidicicuz?@zZ>Z>Z߻&?Z= 顥?IY9 ɡW7iIIii)))i)))))@1@1Y>AMp{=IYIiNu>D] D] oD] 1DY E] U: E] :6E] -4:EY !m @!m @!m @!m @ԁ CI,s&M3A0y>^@ٱ>FZ@>>;>=>H1? ? 0 4?ʤa? f? ?I>^@)>];i>CJB9J$IBDR,6DR3YZЁ=!Zb=^/Q)^>\9`9b{FY`bɺAb>dQ 1j5٪f賊?Q 5j5f`Q 9jtI fg9lYns=Q En@yf~7E)fS;If;if,5Ypv!AtDNOT Ignoring new targets: 79.29 m.gggggzfrfffd!d!c!c%B?@zZAZAZAZEts=]>; Y]ٔ?I]9 Yɡe7iaIaIeiiimk=)i)ii9{2ԑvB!~B!B%$IB%BB!B!B!B%;B%OEBŇCBŇCBBŰ =BŰ =Bť4)ߙ ߝA>AU=IaIqN{> Dm Dm xDm .Di Em : Em :6Em ـ4:Ei "Em U;!u Em V;!u *Em Wo;!} Em Wo;!} @P,AM3AHUB9Q)Y YMb@Mb@Mb@ )IiE?Q?~jth?>(\>D;Ii-@@)3@BD%6D% 83Y59;!52=5Q)5>9999={FY9=AE>AQ 1M5٪E?Q 5U5Ea` EX9U>Q AU;YUK>Q EU@yE7E)E ;IE:iE,5Y]*Be!AaDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc0&@@zZ>Z>Zp/?ZJK> ̌?IV9 ɡ7iIIiiS=))i0>AM=IIN> deV,ZM3Ay6X@ٱ6T@6˴I6*=6H-?ٯ?zᴿ@2?3?`Z??I6X@)6*];i6CBB9B$IJ4X9X9Z{FYXZA^>|Q 1%5٪?Q 5%5_ L9!Y%>Q E-@y7E):Ig:i5Y15!A1]DNOT Ignoring new targets: 79.29 m.gYgYgagagazfarfafifididicicu T@@zZZZZ>˴I 顥[?I9 ɡ 7iIIiiT=))DDD2DEҝ: EVL:6E4:E! @! @!@!@im9iqu?5q@}=@}=)Q>Al9=IIN>ԁ A A vB 7>~B B B B B B B ;B OE~\,tM3Ay:ZX@ٱ:T@:Q:*=:H'-?@=? E 2?j?) ? Z??I:ZX@):Ŵ];i:CFB9F$IBDR6DRJ2YV7!VJ=ZQ)Z>X9X9^{FY\^Ab>`Q 1f5٪b ?Q 5f5b_ b?9hYj>Q Ej@yb7E)b:Ib:ib{5YlnE"Ap DNOT Ignoring new targets: 79.29 m.g g g g g zfrfffdYdycyc}@@zZZZZ >Q  ?IL9 ɡ<7iIIiiq=))i94ԉDDsD.DEs: EZ:6Eـ4:E"E;!EE;!M*E#];!UE$];!U>AuM=IINԹ jwc,M3Ay6W@ٱ6S@6W66=6H0,?? " 3? Т@q?0[?&?I6W@)6];i6C^B9^$Iib=Ibp=MMb@Mb@Mb@ I)IIIiIIMMb?E?y&1?M>MF>M`eԹ99{FYLA>Q 15٪?Q 55&_ ,9 >Q A %;Y  =Q E @y7E):Ik:ik5Y2BW"A?EEDNOT Ignoring new targets: 79.29 m.gAgAgAgAgAzfArfIfIfMBdQdQcQcU@@zZu>Zu>Zu&?Zu =W 額3?IJ9 ɡ7iIIiigL=))iM9IIMF4I>Ame=IyIN>D D xD /D E Ʊ: E :6E J4:E ! @! @! @! @9 pi,dM3AB9$II))-AABD5"6D5Jz3YE1<!EM=EQ)E>I9I9M{FYIMAU>QQ 1e5٪U"!?Q 5m5U^ U9qYqQ Eu@yU7E)U8;IU;iU5YE"AeDNOT Ignoring new targets: 79.29 m.gagagagagazfarfififididqcqc}`@@@zZZZZ ?I9 ɡ7iII ii))i90@@AvB6>~BCB$IBBB =BBB;BOEq>AIIN>ԡ rD jD <D= D= uD= .D9 E= : E= :6E= ـ47p,GM3A:Ea"Eeh;!Eei;!*Eekd;!Eeld;!"yrR@ٱrO@rdrA=rHz(? o? pOw`1?衿r?pU??IrR@)r];irCqB9$I}Mb@Mb@Mb@ y)yIyiyy}p= ף?&1?Mb?}>}P>}99{FYA>Q 1M5٪g.?Q 5M5c^ 9Ug>Q A] ;Y]=Q E]@y7E)ΤZg>ZgP*?Z=d 3?I 9 ɡ7iIIiiB=))i9F5>A I I N > Sv,M3Ay6S@ٱ6CO@6j6=6H(??@>`$2?@@M?@V??I6S@)6$];i4<<>̼i@@i@@)@ @ID D)FADDDHHiJ̼IHHILiL LL)LP PRףPPPTIVu)TiT)TIVAZ`eX XX^B9^$I)` bABDj6Dj03YrZ=!r=rAQ)r?t9t9v{FYtv8Az?xQ 1}5٪z6?Q 5}5z^ z9Y=Q E@yz7E)zAiIyIN>1 A A @AvB ~B B $IB BB =B B B B J|,@M3Ay:O@ٱ:K@:8q:1 =:H%?? )y`0?{"?S? `?I:O@):];i:C~B9~$I p)9)9-{FY)-A5>1Q 1=5٪5HB?Q 5E55] 59AYE=Q EE@y57E)5;I5W:i5^5YIMM"AQDNOT Ignoring new targets: 79.29 m.gggggzfrf f f d dccōA@zZ1Z1Z1Z5=M8q IMy?IM9 IɡM7iIIQIUiYi][=)Y)Y)i 9   / @=@=DDyDDE: E:6E:E"Ew;!EEx;!E*Er;!MEr;!Ua>AMD=IYIiN}>ԁ gŃ,1N3A0y>6N@ٱ>uJ@>vv>*К=>HJ$? /?@<@P@0?+ʮ?XL??I>6N@)>];i>CB9$IMb@Mb@Mb@ )Ii\(\?Cl?{Gz?z>O>ף999={FYAETȹAE>IQ 1U5٪MM?Q 5U5M5] M9]9>Q A]&;Y] >Q E]@yM7E)M ;IM] ;iMI5Yae6"AaDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddccA@zZ9>Z9>Z!1?Z >vv ?I9 ɡB7iIIiic=))ԑim9iiiiԹ>Ae=IIN>DDxD0DE: E:6E4:E!@!@!@!@ԡ i %=I %=,i)N3Ay6O@ٱ6@K@6W{6Ӛ=6H4$? ?~ Tl1?@[@e?kL? :?I6O@)61^;i6CvB9v$Ii~=I~=BD 6D 4d3YM*$=!US=UHQ)]>a9a9e{FYam9Am>yQ 15٪W?Q 55\ 9Y) >Q E@y7E)n;Io;i5YDB?"AAEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddccA@zZ Z Z Z ) >%W{ !%?I%>: !ɡ-7i)I)I-i1i5=))i/ԩvBU5>~BQBU$IBUBBQBQBQBU;BUOEI-G)IIai> &A>AIIN> rD jD 4=BEJ4JEމ4REA/D D |D D E ҝ: E P$:6E :E "E ;Yې,CN3A!EE;!*EE};!&EE};!&yfmO@ٱfK@f:}fƚ=fH:$?@L?Q @1?@^94?J??IfmO@)f];ifCrB9r$IMb@Mb@Mb@ )IiRQ?5^I ?~jt?>X>=Q)>99{FY8A>!Q 1-5٪%kc?Q 555%G\ %95>Q A5 ;Y5 >Q E5@y%7E)%/;I%;i%!5Y9=/"AAmDNOT Ignoring new targets: 79.29 m.gigigigigizfqrfqfqfuBdydycyc}@*B@zZ>Z>Z30?Z >:} 页3?I 9 ɡ7iIIii=))1 %9i / @ @ Q ԁ>A$=IIN>P,bN3ADDrD1DEs: E?:6E-4:E!@!@!@!@yzJ@ٱzG@z zɚ=zH)!?^?@|N/?ד:5?J?9?IzJ@)zc];izC B9 $IBD6DF3Y-׼!-2=5=ZQ)5>19195{FY9=A=>AQ 1M5٪Eo?Q 5M5E[ E9IYUD >Q EU@yE7E)E;IE#;iE#5YY]`"AYDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`eB@zZZZZjD > ?I9 ɡ^7iIIiiơ=))iYaae/a>Ae=IAA<vB~BB$IBBB =BBB;BOEBmȆCBmȆCBiBiBiBmȰ5IN> 4s,|N3A~B9~$IBD 6D J2Y0!%L=%Q)%>)9)9-{FY)-A5>1Q 1=5٪5z?Q 5E55F[ 5v9AYAQ EE@y57E)5;I5;i5%5YMMBM"AQ}DNOT Ignoring new targets: 79.29 m.gygygygygyzfrfffddccјB@zZZZZ ?I: ɡ7iII ii=))YDeDepDe0DaEeҝ: Ee :6Ee4:Ea"Ea!Ea!*Ee8R;!Ee9R;!i/i߁I߅R=y>AIIN>ԩ [,yN3A@yRB@ٱR?@R37Rf=RH?ֺ?@y`+? d?RG??IRB@)R\;iRC^B9^$I}Mb@Mb@Mb@ y)yIyiyy}Zd;?v/?I +?}~>}xi>}999{FY@A>Q 15٪?Q 55Z ^99>Q A;Y>>Q E@y7E):I:ie'5Y-"ADNOT Ignoring new targets: 79.29 m.gggggzf rf f f BddccB@zZ=9>Z=9>Z={=?Z=>>M37 IM3?IM9 QɡU7iQIQI]iYi]=)Y)aԩi     DEDADE:DAEEC: EA6EE(4:EA!M@!M@!M@!M@>A5=I9IQN]> 剫,eN3AyZ'?@ٱZf;@ZhZȜ=ZH@i??L5 >*?*?D??IZ'?@)Z\;iZCfB9f$IhBDr6Dr 83Yv!zV=zǺQ)z>|9|9~{FY|A>Q 1 5٪'?Q 55Y H9Y=>Q E@y7E);I;i)5YWB%"A%BEMDNOT Ignoring new targets: 79.29 m.gIgIgIgIgIzfQrfQfQfYdYdYcYc]B@zZyZyZyZ}=>5h 15ё?I5s: 9ɡ=E7i9I9IEiAiEH=)A)IvBQ~BQBU%IBU)BBU =BQBQBU;BUOE) i90 )>A-^1=IAIQN]>D] D] tD] uDY E] U: E] v:6E] 5:EY "E] ;! E] ;! *E] `;! E] `;! a n,1N3Ayj;@ٱj7@j}jd=jHJ?~?BQ` (?V;?q=?^?Ij;@)j}\;ijC9 B9$IUMb@Mb@Mb@ Q)QIQiQQUMbX?uV?Urh>Ut99{FYhA>Q 15٪_?Q 55XY .9;>Q A;Y>Q E@y7E):I:i1+5Y15_"A1]DNOT Ignoring new targets: 79.29 m.gagagagagaizfirfifqfuȃBdqdqcqc}9@C@zZ;>Z;>Z2?Z>} 顭?I9 ɡ7iIIiiC=))ii9/ԑ>A Z=I I N >D D gD 3D E C: E &96E 4:E ! @! @! @! @,N3Ay6A9@ٱ65@6k6K=6H`?O?g@'?Yʰ?.:?@,?I6A9@)6ł\;i6Ci<>3s@)< 99{FY&XA>Q 15٪?Q 55X 9Y>Q E@y7E)j;I;i,5Ye"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc jC@zZ)Z)Z)Z->k 顅y?I: ɡ7iIIii=))iM9IIM1IԉAAvB~BB %IB.BBBBB;BOE>AqIyIN> Ѿ,'N3Ay69@ٱ6 6@66l=6H??ay '?@םܰ?`)>??I69@)6d\;i6C= B99BDM%6DM03Y]a9a9m{FYimz39Am>qQ 1}5٪u ?Q 5}5udX u9Y>Q E@yu7E)u;Iu;iuo.5Y`B"ACEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddccC@zZZZZ> N?I : ɡ %7i I IiiW=))DDmD2DEs: E:6E4:E"E;!=E;!=*EMG;!EEMG;!MiO51>AUw=IaIqN}>Y , O3Ay:X6@ٱ:2@::S=:H ??`΅4&?|F?W3?`?I:X6@):u\;i:C)P PB9$I)! !Mb@Mb@Mb@ )IiMb?Gz?/$?>p>99 {FY  iA >Q 15٪#?Q 55W 9%?>Q A%;Y%,>>Q E%@y7E)b:Iw:iJ05Y)-l"A)1]DNOT Ignoring new targets: 79.29 m.gYgagagagazfarfafifmƃBdidicicufC@zZ?>Z?>Z>?Z,>> 顥3?IF: ɡ7iIIii$=))im9iim:5iaDDD,DE: E*5:6Eg4:E! @! @! @!@>AUZ=IaIyNԉԹ ,j1O3Ay:4@ٱ:0@:>:2@=:H ?@?L &q%?`?`s8??I:4@):(Q\;i:CFB9J$ILiLBDR)6DR3YZ!Zb=ZVQ)^>\9\9b{FY`b Ab>dQ 1j5٪fm˴?Q 5j5fW f9hYj>>Q En@yf7E)f:If:if15Ypr"Ap DNOT Ignoring new targets: 79.29 m.g ggggzfrfffdd!c!c%D@zZAZAZAZE>>U> Q]^?I]%: Yɡ]7iYIaIeiaim?=)i)ivB6>~BCB%IB3BBBBB;BOEԑi9/>AV=I!IN>rD %=jD R=D- D- yD- ?D) E- : E- :6E- ^4:E) "E- glg>`99{FYA>Q 15٪״?Q 55iV 9>Q A;Y3>Q E@y7E) ;I ;i35YiB"ADEDNOT Ignoring new targets: 79.29 m.g g g g g zf rfffBddcc`9D@zZ=>Z=>Z=3;?Z=ʷ3>U;O QU•?IUt: QɡU.7iQIYI] iYie<6=)a)aiF3ePExceeded connect timeout, disconnecting.>AIIN>A D D nD 3D E ~: E :6E 4:E !% @!% @!% @!% @,eO3Aɰ4!V]=VaQ)V>X9X9Z{FYXZ#A^>`Q 1f5٪bᴊ?Q 5f5bU b9dYf3>Q Ef@yb7E)b:Ib:ibe55Yhn"AlDNOT Ignoring new targets: 79.29 m.ggggg zf rf f fddcchD@zZ1Z1Z1Z5J3>=] 5?I$: ɡ|7iIIiiS=))Qiiiim/iyAA<vB8>~BB%IB8BB =BBB;BOE>Au=IyIN>ԩ ) i I= G)Q Ii i m rA,&pO3Ay677@ٱ6v3@6%6N[=6H`?@? Zx;&?Hɝ@Dܰ?A9A9E{FYAM:AM>QQ 1U5٪Uj?Q 5]5U2U U9YY]4>Q E]@yU7E)U;IU#;iU=75Yim"AiDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`D@zZZZZJ4>% ?I: ɡ8iIIii=))bDZDBEmם4JEm4REm.3DDqD2DEa: E$ :6E4:E"Ed;!Ee;!*EU;!EU;!iu9yy>Au =IIN>! ] nManaging dock network, ignoring radio surface power off,oO3Ay6J9@ٱ65@6䅽6V+=6H?w?VW@v'?`?:6?@Y?I6J9@)6\;i6CFB9F$ItMb@Mb@Mb@ )IiZd;?%C?Zd;O?~>Zd>jI9I9M{FYIU":AU>YQ 1e5٪]?Q 5e5]T ]u9e>Q Ae;Ym1>Q Em@y]7E)] ;I]C ;i]95YusBu #AuEEDNOT Ignoring new targets: 79.29 m.gggggzf!rf)f)f-ŃBd1d1c1c59D@zZ>Z>Zw:?Z1>䅽 3?I: ɡ$8iIIiiM=))!DDxD/DEC: E:6EJ4:E!@!@!@!@i%9!!))ԑԱ >A w=I I N >~1,}$O3AiB9$IBD-6D-f?3Y=A!EK=EQ)E>I9I9M{FYIMAM>QQ 1]5٪U?Q 5]5US U^9aYaQ Ee@yU7E)UY;IU;iU:5Yim#AivB9>~BB%IB=BBBBB;BOEBECԙBECBABABABE|5DNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc&E@zZqZqZqZq 額?I: ɡH8iIIii9=))i)))-/)>AUZ=IaIqN>DDrDDE: E?:6E:E"E;!E;! *EY;! EY;! ! ,2O3Ay6:@ٱ66@6q6$=6H3??@'?S r?3??I6:@)6];i6CNB9R$IUMb@Mb@Mb@ Q)QIQiQQUv?ʡE??Ux>Uo>U99{FY9A>Q 15٪?Q 55;S E92>Q A;YW>Q E@y7E)7 ;I ;i<5Y"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc %;E@zZ2>Z2>Z{;D?ZjW>%q !% ?I-~: )ɡ-u8i)I)I5i1i51=)1)9i/!>AV=IIN>Qy D D zD 8D E C: E  :6E F4:E ! @! @! @! @C,O3Ay6>@ٱ6A:@6偽6l6=6H`Z?@v?@귿-J)?$ 9? :8?\?I6>@)6:];i6CBB9B$IBDH6DHYRe!RY=R;Q)V>T9T9V{FYTZH:AZ>\Q 1b5٪^;?Q 5b5^R ^/9`YbbW>Q Eb@y^7E)^;I^;i^6>5Yj|Bj'#Ah~DNOT Ignoring new targets: 79.29 m.g|g|gggzfrff f d d c cBkE@zZ1Z1Z1Z5bW>偽 ?I: ɡ8iIIii]H=))Yi9/ԁAyA}AAvB~BBBB =BBB;BOE>At=II1N=>ԩ y+,VP3Aɰ y>>@ٱ> ;@>>5֙=>H6?`y?i)?'o?,??I>>@)>ǒ];i>CJB9J$IBDR6DRF3YZ!ZI=Z%;Q)Z>\9\9^{FY\bJv9Ab>dQ 1f5٪fb$?Q 5j5fQ f9hYj^W>Q Ej@yf7E)f:If2:if?5YprG#Ap DNOT Ignoring new targets: 79.29 m.g g g ggzfrfffddc!c%@AE@zZAZAZAZEj^W>U QU?IU: Yɡ]8iYIYIeiaiezY=)a)iDD~D/DEs: E(:6EJ4:E"E;!E;!*E;!E;!i90iI<>A5~E=IAIQN]> 9 U,:P3Ay:#B@ٱ:b>@:.z:=:H|?)?m@F *?(S?`T4??I:#B@):l^;i:CFB9F$IEMb@Mb@Mb@ A)AIAiAAE?v/?/$?E>Exi>Eq9q9u{FYq}kz:A}>Q 15٪@0?Q 55Q 9>Q A;Y;>Q E@y7E)4:I:iA5YB#AFEDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddccE@zZ>Z>ZI=?Zʵ;> .z  ?Ij: ɡ 8iII ii=))!iO0DDqD0DE: E$ :6E4:E!@!@!@!@9>AI9IQNai  ,l4P3A y6C@ٱ6?@6/v6)=6H ?`p?0L`)+?@'} A?7? ?I6C@)6 _^;i6CbB9b$IBDj!6Djr3Yr9!rT=r=;Q)r>t9t9v{FYtv9Az>xQ 1~5٪z:?Q 55z~P z9Y;>Q E@yz7E)z;Iz;izC5Y #AvBa~BaBe%IBe8BBe =BaBeDBe;BeOEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc@ F@zZ)Z)Z)Z-;>]/v Ye}?Ie: aɡeD 8iaIaImiiimZ=)i)yԡ}79DD|D1DE1: EP$:6E-4:E"E;!E;! *E};! E};! i 9   / >AQ IY Iq N} >,PP3A-B9-$I)1 5AMb@Mb@Mb@ )IiʡE?> ףp=?~jt?o>Q>9999={FY9EAE>IQ 1U5٪MbG?Q 5U5MO M9U>Q AU*;YU '>Q E]@yM7E)M2:IM.:iME5YeYBeP"Ae=EDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddԡccEF@zZ>Z>Z,8?Z '> Q?I: ɡ 8iIIii))-39i9/D D {D 5D E U: E 5":6E 4:E ! @! @! @! @1 >A I I N >>v,]kP3AyJC@ٱJ@@JbkJXݙ=JH? ?`~*?T x?.?X?IJC@)J)j_;iHVB9V$IZ4h9l9n{FYln8An>pQ 1v5٪rQ?Q 5v5r[O r9xYz&>Q Ez@yr7E)r;Ir;irQG5Y~bB~"A~>E-DNOT Ignoring new targets: 79.29 m.g)g)g)g)g)zf)rf1f1f1d1d9c9c=@vF@zZYZYZYZ]&>mbk qu ?IuH: qɡu 8iqIqI}iyi))AiAaԉA<A<vB~BB%IB3BB =BBDB;BOE9ie9aae/a@i@m=>A ^1=I I N > HT!,>P3Ay62C@ٱ6q?@6Af6=6H ??W``)?kЬ? +?@?I62C@)6_;i4^ B9^$IBDf6DfF3Yn!nK=DrDrDpDpEr: Er.:6Ep:Ep"Er;!zEr;!z*Er ;!zEr ;!z~N;Q)~>99{FY}IA > Q 15٪ [?Q 55 N 9Y&>Q E@y 7E) {;I ;i I5Y!-"A)UDNOT Ignoring new targets: 79.29 m.gQgQgQgQgQzfYrfYfYfadadacaceF@zZZZZ&>Af 顥?I: ɡ 8iIIiif2=))9i-9))-4)>AIIYIiN}>) ) ',XqP3Ay6#D@ٱ6b@@6]`6=6H#!??@$@2)?Ρ?E'??I6#D@)6ۑ`;i6CBB9F$IiJ=IHEMb@Mb@Mb@ A)AIAiAAEV-?> ףp=?{Gz?E|>AE#q9q9u{FYy}Ǐ9A}>Q 15٪f?Q 55XN 9m>Q A%;Y >Q E@y7E):I:iJ5Y"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc`F@zZm>Zm>ZW1?Z >]` ?I: ɡ-8iII%i!i%o=)!))99DDpD0DEC: E :6E4:E! @! @! @! @i9P5@@@@YIAIQNe>ԉ vB ~B B B B B B B ;B OE-,JP3A0y:nB@ٱ:>@:Z:=:H ?%?p(?*U?'?`R?I:nB@):a;i:CbB9f$IIveG)II1)5AAiMIMABDU!6DUr3Y@!F=&X;Q)>99{FY%A>Q 15٪q?Q 55M 9Yq >Q E@y7E);I ;iL5YlB"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffd!d!c!c%G@zZAZAZAZEjq >]Z Y]d?IY Yɡed8iaIaIeiiim=)i)iԉi!!!%@5!I9IINU2>ԹrD=jD<BEƻ4JEe4RE40D}DoD/DE݉: E:6EJ4:E"EP;!ER;!*EN;!EN;! 4,)%P3Ay:AC@ٱ:?@:}T:=:H!?$?@d `S(?V ?@2??I:AC@):a;i:C\bB9b$IMMb@Mb@Mb@ I)IIIiIIM~jt?K7?I +?M>MI>M94y9y9{FY]9A>Q 15٪e|?Q 55M |9>Q A#;Y#=Q E@y7E) ;I;iuN5Y"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc`OGG@zZ>Z>Zw&?Z#=}T 顥?I:: ɡ8iIIiiA=))9i4 IIANU1>D D jD 2D E O: E 96E 4:E ! @! @! @! @I ~:,fP3Ay6)A@ٱ6h=@6>N6֙=6H/!??&?`ũ?0??I6)A@)6b;i6CBB9B$I)D FABDN6DNP)3YRH<!RX=Vσ;Q)V>T9X9Z{FYX,A> Q 1%5٪ ?Q 5%5 AM l9)Y-d=Q E-@y 7E) ;I ?;i (P5Y9="AADNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc zG@zZZZZd=>N  ?I: ɡ8iII i i o=)) %9Ai9/IIN>vBA~BABE %IBE.BBE =BABABE;BEOEBBBBBů =B5iԙ A,UQ3Ay6?@ٱ6;@6n$H6 =6H ??@o^%?z`?8??I6?@)6k~b;i4bD\ZD^AADb}D`Db4D`Eb݉: E`6Eb4:E`"E`!jE`!j*Eba<;!jEbb<;!jnB9n$Itivp;BDz6DzN3Yn<!E={k;Q)> 9 9 {FY VA>ԁQ 15٪鑵?Q 55L \9Y=Q E@y7E)i 9   _0 )>A%~E=I1IANU?ZJI,&Q3AyB<@ٱB9@BV^BBB=BH ??`wo#?᣿@uI?>??IB<@)Bb;i@NB9N$IDnDnwDn0DlEna: En:6En4:El!r@!r@!r@!r@]Mb@Mb@Mb@ Y)YIYiYY]Mb?NbX9?y&1?]>]E>]`e99{FY' Ae>iQ 1u5٪mJ?Q 5u5mL mF9uD>Q A}';Y}=Q E}@ym7E)mM:Im:imNT5Y"ADNOT Ignoring new targets: 79.29 m.gggi%=I%4=gg)zf)rf)f1f5Bd1d1c9c=G@zZD>ZD>Z '?Z4=V^B 页?I: ɡ8iIIiiS=))1vBU6>~BUCBQBQBU =BQBQBU;BUOEaE9iU 9Q Q ] 0Y ԑ >A}Z=IIN>aQ,OEQ3Ay>8@ٱ>,5@><>v>=>H`F??*@ ?= ᑧ? =??I>8@)>b;i>CDDyD3DE: E:6E4:E"EU;!EV;!*Er;!Er;!Y B9$Ii>I=Mb@Mb@Mb@ )IiNbX9? r?C>t99{FY$IA>Q 15٪G?Q 55!L 09>Q A$;Y=Q E@y7E):I:iV5YB"A@E DNOT Ignoring new targets: 79.29 m.g g g g g zfrfffăBddcc@T>H@ԁzZ=>Z=>Z=w!?Z==<  ?I: ɡ8iIIii"=))ԩ % e9i / >Az=II!N=?GZ,*iQ3ADiDyr/@ٱrS+@r1rc=rH??Y@w?᤿u3?9?#?Ir/@)r*b;irCDzDzmDz4DxEzs: Ez:6Ez4:Ex!~@!~@!~@!~@   i  i -A)Լ I )AԼ!%Ai%I!!I%ُCi%OuA ))))) -A-5F115AI5)9i9)9I9=T9 AAM(B9M%IBD]6D]J2Ym=!m@=u;Q)u>q9y9}{FYy}8A}>Q 15٪ͻ?Q 55K !9Y+=Q E@y7E)];I;iX5Y"AEDNOT Ignoring new targets: 79.29 m.gAgAgIgIgIzfQrfQfQfQdYdYcYc]wH@zZZZZT+=1 !-ݘ?I-(: )ɡ-48i1I1I=i9i=?=)A)Ii 0!AA4=vB5>~BB%IB3BB =BBB—;BOEI>AE \=II Ia Nm >q `,%ɃQ3Ay65(@ٱ6t$@6 -6)+=6H ??\ ~?@L+?Va9a9e{FYam: Am>qQ 1}5٪uƵ?Q 5}5uK u9yYM=Q E@yu7E)u^;Iu{;iuZ5Yn"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc 'H@zZZZZM= - h?Ia: ɡa8iII i i =) )QDDkD0DE E:6E4:E"E;!E;!*E@;!E@;!i91ԉ>ASk=II1N=>ԩ g,Q3Ay:z!@ٱ:@:s(:,=:HU?@I? d`?q ?`M>C99{FYA>Q 15٪ѵ?Q 55=K 9D>Q A$;Y9=Q E@y7E)[;I;iV\5Y B "A AE=DNOT Ignoring new targets: 79.29 m.g9g9g9g9g9zf9rfAfAfEȃBdAdIcIcM@H@zZmD>ZmD>Zm\,?Zm9=}s( 顅?I: ɡ8iIIiiB=))i-9))-4)@5A@5ADDjD1DE: E96E-4:E!@!@!@!@ >A- L=IA IQ Nu >9 f;m,Q3Aɰ;vBR4>~BPBR%IBR=BBR =BPBPBRǗ;BROEAB9!%IBD6D2YEː=!ET=MQ)M>I9Q9U{FYQUAU>YQ 1e5٪]9ܵ?Q 5e5]J ]9iYiQ Em@y]7E)]\:I]:i]^5YquF"AyDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc>I@zZZZZ ]?I: ɡ8iIIuiqiups=)y)y)q qi    @5 9>A5I=I9IQNu>q D D tD -D E : E v:6E t4:E "E ;! E ;! *E `;! E `;! a&t,gQ3A,yR@ٱR@Rve RQ=RH@ ? ?뺲 ?@W_ ?A?}?IR@)RZWa;iRCr;B9r%IuMb@Mb@Mb@ q)qIqiqquMb?5^I ?Q?u>uX>uu99|FYuA>Q 15٪絊?Q 55fJ 9>Q A!;Y >Q E@y7E);IQ;i_5Yu"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffՃBddc c qDI@zZ->Z->Z-2?Z- >=ve 9=?IE: AɡE8iAIAIM iiF=))iԑi?5Ա>A L=I I! N- > Nz,O;Q3AD.D.D.0D,E.: E.;J:6E.4:E,!2@!2@!2@!6@y>x@ٱ> @>>wI=>H ?@?ώ  ? #? @??I>x@)>`;i>CJEB9J'%IBDR/6DR3YZ=^=!ZZ=\^;Q)b>`9`9b|FY`fgAf>hQ 1n5٪j?Q 5n5jI j9lYn >Q Er@yj7E)j ;Ij{;ijya5YvBvs"AvBEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`wI@zZqZqZqZuJ > 页2?I: ɡU8iIIiiq=))i3AAvB~BB/%IBLBB =BBB;BOEaiaIG)I1ie脿aeA>A=IIN>A 15,R3Aiy6@ٱ6@6k6<=6H??h?4NL?D6??I6@)6_;i6C^LB9b.%IBDj6DjP)3Yr+<!rH=r#:Q)r>t9t9v|FYtvAz>xQ 1~5٪z?Q 55zI z9Y>Q E@yz7E)z;Iz;izBc5Y A"AEDNOT Ignoring new targets: 79.29 m.gAgAgAgAgAzfArfIfIfIdIdQcQcU@ȨI@zZZZZ>]k Y]?I]: aɡe8iaIabDZD@AIuiig=))BE4JE4RES}0D1D5uD5-D1E1 E5:6E5t4:E1"E5;!EE5;!E*E5kd;!EE5ld;!EIi/q>AA!=IIN>ԡ ^,R3Ay:@ٱ:(@:N::=:H@? "?uH?W`? B5?B?I:@):s_;i:CyUZB9U@%IMb@Mb@Mb@ )IiL7A`?"~j?I +?+>Sc>9499|FY!%A%>)Q 155٪-x ?Q 555-H -9=>Q A=;Y=>Q E=@y-7E)- ;I- ;i-Ve5YAE!AAuDNOT Ignoring new targets: 79.29 m.gqgqgqgqgqzfqrfyfyf}Bdydcc`I@zZ>Z>ZK2?Z>N 顽 ?Il: ɡ8iIIii=))ԩi/D=D=tD9D9E=s: E=v:6E9:E9!M@!M@!M@!M@>AM Vo=IQ Ii Nu > j,8R3AvB$~B$B&B%IB&\BB$B$B$B&;B&OEB CB CB B B =B %5yJ9@ٱJx@J$J=JH??@7!?`k/Ϣ?`6?Z?IJ9@)J^;iJCiPR"s@)P PIPTTiTITTIXiZA ZZF)XX ^A^E\\\bAIbν)`i`)`IbAbνd ddfAdiddh~dB9~L%Ii)  A i <BD6D2Y%d=!%p=-:Q)-?)9)9-|FY)5A5?9Q 1E5٪=;?Q 5E5=H =9AYE>Q EM@y=7E)=:I=:i=f5YUBU!AQ%DNOT Ignoring new targets: 79.29 m.g!g!g!g!g!zf!rf!f)f)d)d)c1c5J@zZZZZ*>$ 顥y?I: ɡ 8iIIii=))iiiiii 1>A:=IrDjDDD|D1DEҝ: EP$:6E-4:E"E;! E;! *E};! E};! I N% >a 5u,RR3AɰTTyvh@ٱv@vv0=vH??`$8#`?Ҕ?`5>?i?Ivh@)v:^;ivC\B9B%I)UMb@Mb@Mb@ Q)QIQiQQU/$??~jt?U1>Uff>UD99|FYA>Q 15٪5!?Q 55G 9|>Q A;Y >Q E@y7E)b:IV:ih5Y"ADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddccJJ@zZ |>Z |>Z 3?Z * > ?I=: ɡ%;"8i!I!I-i)i-e=)))1Y9ԉi .5 Ա D D vD /D E ~: E :6E J4:E ! @! @! @! @>A 6[=I I N >0g,oR3Ayf%@ٱfd@f1fd=fH??`+%`a? @t?%J?_?If%@)f׸];ifC|}dB9}M%IBD 6Dk3Y=!?=:Q)>99|FY)A>Q 15٪-?Q 55sG }9YV >Q E@y7E);I;ij5Y!ADNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc1 顽?Ic: ɡ#8iIIii=))9)A<A<vB~BB[%IBpBBBBB;BOEiAAAE/AY>Ae S-=Iq I N >ԁ kR,+R3AyR@ٱR@RHRI=RH? ?8-(@t? h?DK?c?IR@)RL;];iRC^pB9b[%IBDd6DdYrz=!rV=r9Q)r>t9t9v|FYtvהAz>D=D=|D9D9E=: E=P$:6E9:E9"E=;!EE=;!M*E9!ME9!MQQ 15٪)9?Q 55F m9Y >Q E@y7E):I:igl5YB!ACEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc`J@zZZZZJ >%H !%?I%: !ɡ-$8i)I)I5i1i5VW=)1)9=Ai=A199ԁi/@=@=ԩ>AII N > x,YR3Ai~jB9~S%IMb@Mb@Mb@ )IiX9v?`"?Q?}>w>u99|FYA>Q 15٪D?Q 551F [9>Q A;YR>Q E@y7E)b:I=:i5n5Y!A%DNOT Ignoring new targets: 79.29 m.g)g)g)g)g)zf)rf)f1f5Bd1d9c9c= J@zZ]>Z]>Z]kE?Z]ZR>i im?Iu: yɡ} &8iyII ii.w=))t9DUDUkDU0DQEU: EU:6EU4:EQ!e@!e@!e@!e@i!!!!!iAIA>AM =IY Ii N} >vB 5>~B B g%IB zBB B B B ;B OE9 ,bR3Ay:@ٱ:@::?=:H5?u? @*?]O?'@??I:@):\;i8FuB9Ja%IBDR6DRf?3YZMu=!Z^=Z6:Q)^>\9\9^|FY`b;Ab>dQ 1j5٪fXO?Q 5j5fE fK9hYjdR>Q En@yf7E)f:If:ifo5Ypr!Ap DNOT Ignoring new targets: 79.29 m.g ggggzfrfffdd!c!c%K@zZAZAZAZEZdR>U QU?I]: Yɡ]A'8iYIYIeiaie=)i)ii    / AD}D}uD}2DyE}C: E}:6E}4:Ey"E}2;!E}3;!*E}kd;!E}ld;!>AO=IIN>qԡ ,=R3Ay6L@ٱ6@6{6.=6Hz?@?K+2? Y?=??I6L@)6\;i4BsB9B^%I)D DEMb@Mb@Mb@ A)AIAiAAEq= ףp?rh|?y&1?Ek>E{>E`eq9q9u|FYq}ƹA}>Q 15٪[?Q 55D 99>Q A;Y>Q E@y7E)o:I:iq5YB"ADEDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc\OK@zZ>Z>ZQ?Z>{ ?I: ɡ(8iII%i!i%@=)!))qԡ9iqqq}/yDm Dm wDm /Di Em : Em :6Em J4:Ei !u @!u @!u @!u @ >A =I I N >,:R3Aɰy:@ٱ:@:B:=:H??  -@{?Ng?7?@?I:@):c\;i8bqB9b\%IBDn6DnJ2Yr~!rJ=vQ)v>x9x9z|FYx~A~>|Q 15٪~f?Q 5 5~C ~)9 Y >Q E @y~7E)~;I~;i~ss5Y"AEDNOT Ignoring new targets: 79.29 m.gAgAgAgAgAzfIrfIfQfQdQdQcQc]@.K@zZyZyZyZ} >B 額a?I: ɡ)8iIIiiA=))iAAvB~BBn%IBBB =BBB;BOEԑ9i/>A L=I I N > , S3Ay6@ٱ6@6j26ڙ=6H ?@?`I .?X}`D?|3?`?I6@)6z\;i6CBhB9BQ%IBDJ!6DJr3DRDRoDR1DPER: ER:6ER-4:EP"ER;!ZER;!Z*ERN;!ZERN;!^Yb1!bM=bQ)f>d9d9f|FYdjùAj>lQ 1r5٪np?Q 5r5nB n9pYr>Q Ev@yn7E)n;In;in/u5YzBz"AzEEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddccK@zZ Z Z Z >j2 +?I: !ɡ%*8i!I!I-i)i-=)))) =-:i) >A I I N >Y ,P%S3Ay6i@ٱ6@66=6H?[?@5/@?@_ ?`4?g?I6i@)6S\;i6CBiB9BR%I Mb@Mb@Mb@ ) I i   q= ףp?Zd;?{Gz?  y> #I9Q9]|FYYe%Ae>qQ 15٪u}|?Q 55uA u9>Q A ;Y }>Q E @yu7E)ub;Iub;iu w5Y9E"AADNOT Ignoring new targets: 79.29 m.gggggzfrfffBddccUK@zZ>Z>ZP?Z}>)U QU(?IU: QɡU>,8iQIYI]iYie=)a)aiiiDDvD.DE: E:6Eـ4:E!@!@!@!@YZ:)iA A A M /I ԁ vB ~B B t%IB BB =B B B ;B OEIm BG) I i eG KAԹ >Ai Iy I N >e,]BS3Ai@y6@ٱ6!@6Xv6=6HI?@?J30 ?7G@?`?6?`H?I6@)6T\;i6CB_B9BF%IBDj'6Dj3Yre;!r<=v[Q)v>t9x9z|FYxzkAz>|Q 15٪~6?Q 55~@ ~9 Y  }>Q E @y~7E)~a:I~;i~x5Y"A5B*** querying acoustic contact ***zh1h1EDNOT Ignoring new targets: 79.29 m.gAgAgAgAgAzfIrfIfQfQdQdQcQc] t#L@zZyZyZyZ}z }>Xv 額?I/: ɡr-8iIIii&=))Ii<1qBEJ4JEމ4RE/D}D}tDyDyE}C: E}v:6Ey:Ey"E}2;!E}3;!*E}`;!E}`;!2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.>A%(S=I1IQNu>ԡ ,\S3Ay6@ٱ6@66ؙ=6H??@ms3?O?2??I6@)6\;i6CN\B9RB%IUMb@Mb@Mb@ Q)QIQiQQUtV?uV?{Gzt?Ur>Urh>Uף;IU@iU@Ub@U5@)QU @BDm6Dm:3Y},Z!}B=Q)>99|FYĠA>Q 15٪?Q 55I@ 9 >Q A!;YnH>Q E@y8E) ;I] ;iz5YǚB]#AFEDNOT Ignoring new targets: 79.29 m.gggggzfrfffBddcc[YL@zZ  >Z  >Z C?Z  nH> !%p?I%.: !ɡ%.8i!I!I-i)i-=)1)1Ա*DAT read: user:913> BDAT read: Tx time:23:48:32.2196 $Ping request sent.AY Ii Iy N >+,avS3Ay6F@ٱ6޶@6=60=6H:??0-7@?Iʥ`yƣ?6??I6F@)64\;i4BWB9B=%IBDJ6DJ!3YR!RU=VQ)V>X9X9Z|FYXZAZ>\Q 1b5٪^񝶊?Q 5b5^? ^9dYfG>Q Ef@y^8E)^; ;I^z ;i^o|5Yhj#AlDNOT Ignoring new targets: 79.29 m.gggggzf rf f f ddccgL@zZ1Z1Z1Z5JG>M= IMU?IM: IɡM/8iQIQIU iYi]=)Y)Y9?'?A <A vB~BBg%IBzBB =BBB;BOEBBBBB =B0u4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502349 M:i909 D D yD 5D E s: E :6E 4:E "E ;! E ;! *E r;! E r;! >A $=I I! N5 >,S3AɰyJBޯ@ٱJڶ@J_#Jՙ=JH?@?3W:?.fj?/2?@g?IJBޯ@)J#];iHt9v<%IBD 6D 2%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753830Y-@!-C=-wDQ)->19195|FY15A=>AQ 1E5٪E=?Q 5M5E> E9IYMG>Q EM@yE8E)E:IE:iEB~5YQ]#AYDNOT Ignoring new targets: 79.29 m.gggggzfrfffddccL@zZZZZG>_# G?IL: ɡ-18iIIUiYi]u=)Y)Ya}:ԁiO0checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006169ԩ >A9 IQ Ii N >x,SS3A( [B9 A%IMb@Mb@Mb@ )IiX9v?-?Mbp?s>5^>;I@i@@)@BD6D1Y<!?=Q)>99|FYA>Q 15٪?Q 55V> 9>Q A$;YX.>Q E@y8E):IM:i"5YҚB#AD D {D 1D E  E 5":6E -4:E !@!@!@!@DNOT Ignoring new targets: 79.29 m.gggggzfrfffփBddcc L@zZe>Ze>ZeCA=?ZejX.>ԁ 顝G?I%: ɡ28iIIii=)) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922ԩvB6>~BBa%IBuBBBBB;BOEz: 0> >i 9 0  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509685 >Ay I I N >1,bS3A5QB954%IBDU6DU{U3YmA!u;=qQ)u>y9y9|FYA>Q 15٪`?Q 55= 9YQ E@y 8E)q:Iu:i5Y $A=DNOT Ignoring new targets: 79.29 m.g9g9g9g9g9zf9rfAfAfIdYdacicuL1M@ԁzZZZZ 顭?I: ɡ38iIIii))DDD/DEU: ET:6EJ4:E"E;!E;!*EϨ;!EϨ;!9iߵN?Iߵ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761992i?5>A I I N% > ,S3Ai~VB9~;%I%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013905Mb@Mb@Mb@ )IiS㥛??MbP?$>L>:IiK@@)p@BD6D 83Y<!F=Q)>99|FYA>Q 15٪˶?Q 55j= 9è>Q A!;Y=Q E@y 8E):I:iك5Y#ADNOT Ignoring new targets: 79.29 m.ggggg!zf!rf!f!f-ǃBd)d)c)c-`cM@zZè>Zè>Z7&?Z= ף?I": ɡ "58i I Iii)):i93DDvD0DE: E:6E4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269275I >A I I N >,S3AA A vB$~B$B&[%IB&pBB& =B$B$B&;B&OE0yF ¯@ٱF`@FA8F,=FH? 1?Q`?:⣿?`9? ?IF ¯@)Fe];iFCVUB9V9%IBD^6D^P)3Yf!f\=feQ)f>h9h9j|FYhj An>pQ 1r5٪rն?Q 5v5r(= r9tYv{=Q Ev@yr8E)r:Ir:irz5YzݚBz?$A~GEDNOT Ignoring new targets: 79.29 m.gggggzfrfffddcc_M@zZZZZ{=UA8 q額?I: ɡc68iIIiiuf=))i :)5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518075ie9aae/a@i@iԡ>A I I N >D D D D E U: E *5:6E :E "E ! E ;! *E ;! E ;!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769742,mT3Ay:׺@ٱ:@:0&>:2=:H ? 7? e`V?§?Y\9\9b|FY`b)Ab>dQ 1j5٪f ᶊ?Q 5j5f< f9hYj̡=Q En@yf8E)fP:If;if;5Ypr8$Ap5DNOT Ignoring new targets: 79.29 m.g1g1g1g1g1zf1rf9f9f9dAdAcAcE@JM@zZiZiZiZm̡=0&> 顝?It: ɡ78iII=iAiE=)I)y=BDAT read: Rx Time:23:48:34.7566 ETRx dataTimestamp_ set to:1758412112.556406Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023042:im 9i q u P5q ) D D yD -D E : E :6E t4:E ! @! @! @! @Y >A /=I I N> ,1T3AɰHHij=Ij<nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274127yr@ٱr@@r6Jr=rH`h?ME?`e ??X?q5??Ir@)rn_;irCTB99%IMb@Mb@Mb@ )Iix&?Fx?~jtx?7>K>;Ii@x@)BD6DF3YJ!%=̻Q)>A9I9M|FYIMAM>QQ 1]5٪U\ﶊ?Q 5]5U< U9e>Q Ae;iYm,=Q Em@yU8E)U|O;IUN;iUw5Yq}C$AyDNOT Ignoring new targets: 79.29 m.gggggzfrfffŃBddccy N@zZ5>Z5>Z5[#?Z5,=M6J IMף?IM_: IɡM98iQIQIUiYi](=)Y)vB~BBBBBBBn;BOEԙ:DAT read: 23:48:34.7566 LVL= 28272, 18833, 18802, 25747, AGC= 67, IDX= 189,-0.38, 1.769,-2.182, 3.070,-3.050, PHS=-1.362, 0.913,-0.207, RAW= 299.5, 6.7, CAL= 297.1, 5.6, ROT= 212.9, -5.6 Ygot valid direction response: 23:48:34.7566 LVL= 28272, 18833, 18802, 25747, AGC= 67, IDX= 189,-0.38, 1.769,-2.182, 3.070,-3.050, PHS=-1.362, 0.913,-0.207, RAW= 299.5, 6.7, CAL= 297.1, 5.6, ROT= 212.9, -5.6 PDAT read: Bearing 303.9, -34.7 (Local) ~Local bearing/azimuth received: Bearing 303.9, -34.7 (Local)  DAT read: Range 11 to 50 : 99.6 m (Round-trip 132.9 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.835613,-0.540582,0.097583] Fpublishing direction and range info9~W5k urLA_1?3BipnIrIdC V)^i?ISiE@|=@+=m@ +ȽiIU￈&?U?T~H@ O$)+Ƚii 9 3 >Ae o=Iy I N >t,NT3Ay6N@ٱ6@6iR6.=6H?K?pt@l? *>?h4??I6N@)6~`;i6CBZB9B@%IBDJ6DJP)3DVDTDV5DTEV: ET6EV4:ET"EV;!ZEV;!^*EVr;!^EVr;!^Yb<!bF=b؋Q)f>d9d9f|FYdj[/Aj>lQ 1n5٪np?Q 5r5nc< nu9pYrr~=Q Er@yn8E)n;In;in35YzBzi$AzHEhqhuCT3AhuBhuBhu&I@ԙ vuJ-T_۲3JEnb#@uu~W5k urLA_1?huO$hu+ȽvuE*AX"c?vu&<}6¬ W?huhuhuBH?huE@huB*iu ?2iut{B:iqiuB"iu6I@ addTargetRange:: Added new target pos. range: 99.599998 m, deltaT: 60.256370 s, deltaX: 20.099998 m, approachRate: 0.333575 m/s, rangeRepo size: 4  Added new target pos. range: 99.331642 m, bearing: 180.080614 deg, lat: 36.779167 deg, lon: -121.859674 deg, deltaT: 60.256370 s, deltaX: 20.046097 m, approachRate: 0.332680 m/s, posRepo size: 4 DNOT Ignoring new targets: 99.33 m.gggggzfrfffd d c `fX@c @?zZIZIZIZMr~=iR 顅U?I: ɡp:8iII iin=))iqyy/@@>A=II1N]T>)I I ! ,'1hT3AyfQ@ٱf@ftYfwҙ=fH`?XR?ֵs?@bO+?.? e?IfQ@)fsa;ifCvNB9v2%I}Mb@Mb@Mb@ y)yIyiyy}E?|?5^?{Gzt?}>}R>}ף;Iyi}@}@y)y}@BD.6DP3Y Z!>=Q)>99|FYI'A>Q 15٪q?Q 55< f9>Q A;Y`=Q E@y8E):I:i5 YIU$AQDNOT Ignoring new targets: 99.33 m.gggggzfrfffɃBddcc@?zZ>Z>Z*?Zt`=%tY AMG?IM1: IɡM;8iIIIIUiQiUO=)Q)YDDD1DEg: E*:6E-4:E!@!@!@!@i9/9q i C>A5 =vBU 5>~BQ BU a%IBU uBBQ BQ BQ BU p;BU OEI I I [G) ZAN >I i= ۱E ZAE A :? >Aԑ y ,T3Ai@y6L@ٱ6@6a6=6Hb?W? K0z?gΠ@6?[3?`q?I6L@)6Xb;i6CvWB9v=%IBD~6D~F3Y J8=! U= rQ)>99|FY% 'A%>)Q 155٪-.?Q 555-; -X91Y5=Q E=@y-8E)- ;I-. ;i-Î5YEBE$AEIEmDNOT Ignoring new targets: 99.33 m.gigqgqgqgqzfqrfqfyfddcc@U?zZZZZ=a 顽}?I|: ɡ<8iIIiiI=))qi=99999ԡBEe4JEe>4REe&0DDxD2DEƱ: E:6E4:E"EF;!EG;!*EWo;!EWo;!>AU˺=IaIqN{> C&,T3Aye@ٱ@ϫi=H?\? z`?)Ak1?@5??Ie@)b;iCE_B9EF%IMb@Mb@Mb@ )IiK7A?> ףp=?I +? >Q>9499|FY A >Q 15٪?Q 55f; F97>Q A";YS=Q E%@y8E)';I;i5Y)-$A)UDNOT Ignoring new targets: 99.33 m.gYgYgYgYgYzfYrfYfafeBdadacicmH?zZ7>Z7>Z-?ZS=ϫi 顥?I: ɡY>8iIIMiIiM]c=)Q)Qi9/@@>A=II N >! D D D 1D E %: E *:6E -4:E ! @! @! @! @|,,IJT3A y6@ٱ6D~@6 q6s=6H`9?V`?2?~c`?0?`?I6@)6>dc;i4^eB9bM%IBDj)6Dj3Yr<!r_=rQ)r>t9t9v|FYtvAz>xQ 1~5٪z&?Q 55z; z69YG=Q E@yz8E)z;Iz+;izC5Y  i$A=DNOT Ignoring new targets: 99.33 m.g9g9g9g9gAzfArfAfAfAdIdIcIcM@$?zZqZqZqZuG=] q Y]e?I]: aɡe?8iaIaImiiimAP=)i)iuiu}}vB4>~BBn%IBBB =BBB;BOEBBBBBB^4qiiiim/iԙ)9 9>AG=IIN> 3,T3ArDN=jDNR=DPDR{DR2DPEP ER5":6ER4:EP"ER;!ZER;!Z*ERBz;!ZERCz;!^\kB9T%IBD-6D-F3YE[<!ED=EQ)E>I9I9M|FYIMAU>QQ 1]5٪UB2?Q 5e5U: U%9aYaQ Ee@yU 8E)U;IU;iU5YmBm$AqDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc @zZZZZa aeǫ?Ie+: aɡe A8iiIiImiqi=))iIQQU/Q>A=IIN>! 9,3oT3Ay:z@ٱ:w@::ԙ=:H?d?᷿ ?0`?U,?@?I:z@):d;i:C|qB9\%IDD~D0DE: E(:6E4:E!@!@!@!@)MMb@Mb@Mb@ I)IIIiIIM"~j?$C?{Gz?MSc>MZ>Mף9999=|FY9ECAE>AQ 1M5٪E[A?QQ 5U5E9 E9]ڝ>Q A],;Y]=>Q E]@yE#8E)E;;IE:;iE5Yaeb$AiDNOT Ignoring new targets: 99.33 m.gggggzfrfff̓Bddcc`@zZڝ>Zڝ>Z#C?Z => ?Iu: ɡB8iIIii=))vB5>~BB%IBBB =BBB;BOEi / @ @ =ԉ >A G=Ա I I N >A,,U3Ay6y@ٱ64v@6⃽6[=6Hw?Q Em@y=$8E)=;I=y:i=5Yqu$AyDNOT Ignoring new targets: 99.33 m.gggggzfrf f f d dcc" @zZ1Z1Z1Z5J6=>e⃽ im,?Im{: iɡmC8iiIiIuiqiuն=)y)i1115/1bD9ZD9DEDE}DE2DAEE: EEk&:6EE4:EA"EE` A} =I I N >G,4 U3A y:x@ٱ:u@:D:=:H?`Dd?@ " ? @;?Q.?@?I:x@): e;i:CB9p%IMb@Mb@Mb@ )Ii}?5^I?!rh?/$?Mb>lg>99 |FY  0A >Q 15٪R?Q 558 9%2>Q A%';Y%J^>Q E%@y&8E):Ib:i5Y-B-9$A-JE]DNOT Ignoring new targets: 99.33 m.gYgYgYgagazfarfafafm݃BdidicicmQ. @zZ2>Z2>ZK?ZJJ^>D 顭?I : ɡE8iII ii|=))qiM9QQU/0YԙD]D]vD]0DYE]Ʊ: E]:6E]4:EY!m@!m@!m@!m@>AqIyIN> M,(:U3Ay>Vx@ٱ>t@>Z>VΙ=>H?`c? l? g?)??I>Vx@)>f;i>CPrB9rz%IBDz6Dz3Yd9=!\= 霻Q) > 9 9|FYA>vB!~B!B%%IB%BB!B!B!B%;B%OE9Q 1E5٪=\?Q 5E5=8 =9IYMu^>Q EM@y=(8E)=`:I=W:i=V5YQU#AQDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc /@zZZZZu^>Z ?IX: ɡjF8iIIii銶=))i93@@A>A箵=IIN>! De De yDe 1Da Ee : Ee :6Ee -4:Ea "Ee w;!u Ee x;!u *Ee r;!u Ee r;!u zT,SU3Ay6y@ٱ6Pu@66=6H|?5b?ȯi? ܱ? +??I6y@)6`f;i6C^~B9bl%IBDj6Dj3Y%Sf!%I=%Q)%>)9)9-|FY)-Pd9A5>1Q 1=5٪5f?Q 5E55Z7 59AYE^>Q EE@y5*8E)5];I5z;i55YIMQ$AQ}DNOT Ignoring new targets: 99.33 m.gygygygygyzfrfffddcc4@zZZZZ ^> /?I: ɡG8iIIiid=))1=:Yi0ԁ >A õ=I I N- >qZ,mU3Ay6X{@ٱ6w@6J6=6H?^_?Ϲ@Y@8?@<` M?3/?@?I6X{@)6kf;i6CyDDD0DE: E,:6E4:E!-@!-@!-@!-@B9t%IMb@Mb@Mb@ )IiGz?X9v?y&1?p>s>`e99|FY:A>Q 15٪%t?Q 55t6 9e>Q A;YKZ>Q E@y-8E)X ;I ;i95YBw$AKEDNOT Ignoring new targets: 99.33 m.gggggzfrfffуBddcc%(@zZEe>ZEe>ZEJ?ZEZKZ>UJ QU̬?IU: Yɡ]?I8iYIYIeiaie;=)aԡ)AA4=vB!~B!B%%IB%BB!B!B!B%;B%OE:ia a a e /a  1>A =IIN>c,ڌU3Ay6~@ٱ6z@6M╽60=6H?[?o+?cp?`=4?@?I6~@)6)ff;i6Ci<>s@)< 99|FY{:A>Q 15٪?Q 555 9YZ>Q E@y/8E);I:i 5Yg$ADNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc@zZZZZZ>5M╽ 15L?I5: 1ɡ=J8i9I9I=iAiE=)AԁDDuD;DEg: E:6E4:E"E;!E;!*Ekd;!Eld;!)i0@@=Ա>A II Iq N >) 7i,aU3A}B9|%IMb@Mb@Mb@ )IiT㥛 ?V-?:v?>m>T1999=|FY9=A=>AQ 1M5٪Ew?Q 5M5E5 Ev9U>Q AU;YU)>Q EU@yE18E)E ;IEa;iE墄5YY]A$AaDNOT Ignoring new targets: 99.33 m.gggggzfrfff݃Bddcc@Ä@zZ>Z>ZK}>?Z)> ?I: ɡL8iIIiiط=))ԡiV5DDyD/DE: E:6EJ4:E!@!@!@!@i߭%=I߭4=>At=IIN> IM G)] AIq i b A "AvB ~B B %IB BB =B B B ;B OEp,uU3Ay:~@ٱ:z@:Ɯ:r=:H.? 5Z?@`غ`?@9N?? ?I:~@):a]e;i:Cl~B9{%IBD6D\3YE[!M[=MQ)M>I9Q9U|FYQUAU>YQ 1e5٪]?Q 5e5]4 ]c9iYm)>Q Em@y]38E)]q:I]:i]5YuBu$A}LEDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc@zZZZZj)>Ɯ h?I: ɡSM8iIIuiqiy)y)yi 51>AUG=IqIN>rD=jD<BEU-4JEUȯ4REU0DD~D1DE%: E(:6E-4:E"E;!E;!*E;!E;!a Fv,PU3A B9 u%Ii<BD%6D%f?3Y-ܼ!5L=5Q)5>19999E|FYAEAE>IQ 1U5٪MQ?Q 5U5M3 MN9YYYQ Ee@yM58E)Mi;IMs;iMH5Y$A%DNOT Ignoring new targets: 99.33 m.g)g)g1g1g9zf9rfAfIfQddcc@zZZZZ ?I: ɡN8iIIii))) ii9:5@@ԑ>A q$=I I N > D D D /D E ҝ: E 6E J4:E ! @! @! @! @o|,_)U3Ay>}@ٱ>y@>A>F=>H۪?Y?ǀ`2?fdb?`?@ ?I>}@)>c;i>CJB9J{%I%Mb@Mb@Mb@ !)!I!i!!%Zd;O?e;O?:v?%~j>%t>!I%@i%@%Z@!)!%(@BD56D5 3YM^<!MI=MQ)M>Q9Q9U|FYQU&A]>aQ 1m5٪e>?Q 5m5e3 e:9m>Q Am ;Ymj>Q Em@ye78E)e;Ieu:ie5ԹY$AEDNOT Ignoring new targets: 99.33 m.gAgAgAgAgAzfIrfIfIfMBdQdQcqcuYW@zZ>Z>ZN?Zj>A ?I: ɡP8iII ii=))!i!!!AIAIvBY~BYB]%IB]ƆBB] =BYBYB];B]OEBBBBBB84i91>A} =I I N >9 W,KV3Aɰp;yB2@ٱBr|@BץB?=BH?V?ǻ`~`?ђ0?y?:?IB2@)B*2c;iBCNwB9Nc%IBDV#6DVӀ3Y^̽!^T=bTVQ)b>`9`9b|FY`f`_:Af>hQ 1n5٪j?Q 5n5j]2 j&9lYrxk>Q Er@yj98E)j;Ij;ij5Yv)Bv%AvMEDNOT Ignoring new targets: 99.33 m.gggggzfrff!f!d!d!c)c-@zZIZIZIZMjxk>eץ ae ?Ie: aɡmEQ8iiIiImiqiuG7=)q)qbDZD?ADDwD0DEC: E:6E4:E"E2;!E3;!*Ek;!Ek;!i1115/1A>AqIIN> х,'V3A5}B95k%IMb@Mb@Mb@ )IiZd;?v/?Q?y>xi>u99|FYA>Q 15٪·?Q 551 9 '>Q A ;Y N2>Q E @y<8E)z ;I ;i5Y`%ADNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc,@zZ='>Z='>Z='c@?Z=:N2>i im?Iu;: qɡuR8iqIqI}iyi%=))iE9IIQQ@Y@]=DDzD/DE7: E :6EJ4:E!@!@!@!@A >A =I I N >vBU 4>~BQ BQ BQ BU =BQ BQ BU ~;BU OEi,AV3Ay6[}@ٱ6y@6K,6<=6H ? W?QQ{`j?47`)_?@? ?I6[}@)6c5a;i6CFxB9Fe%IBDN06DN3YVN!Va=V:Q)V>X9X9Z|FYX^zA^>`Q 1f5٪b̷?Q 5f5b&1 b9dYf>2>Q Ej@yb>8E)bA:Ib:ibC5Yn4Bn%AlDNOT Ignoring new targets: 99.33 m.gg g g g zf rf ffddcc\ @zZZZZ >2>K, ?I: ɡT8iIIii[v=))) AYi9/y>AG=IIN>DDqDDEy: E$ :6E:E"EX9X9Z|FYXZ~A^>`Q 1f5٪b׷?Q 5f5b0 b9dYf1>Q Ef@yb@8E)b:Ib:ib5Yj?Bn%AlDNOT Ignoring new targets: 99.33 m.ggggg zf rf f fddcc@ @zZYZYZYZ]J1>m im?Iu: qɡu|U8iqIqIi i ϐ=))IԱi)))))>AU =IIN> D D yD 0D E U: E :6E 4:E ! @! @! @! @C,ruV3Al=B9=t%IMb@Mb@Mb@ )IiS㥛?q= ףp?~jt?$>k>)9)9-|FY)-A->1Q 1=5٪5䷊?Q 5E55/ 59Eò>Q AE;YE>Q EE@y5B8E)5;I5:i55YMBUl$AUDE}DNOT Ignoring new targets: 99.33 m.gygygggzfrfffƒBddcc@!@zZò>Zò>ZWo8?Z*> ?I: ɡV8iIIiiӳ=))A<A< vB~BBBBBBBi;BOEi9/@A@9>A=IINa !,NV3A~B9~o%IBD 6D \3Y!%\=!Q)%>!9)9-|FY))A->19Q 1E5٪5f﷊?Q 5E55}/ 59AYIQ EM@y5D8E)52;I5J4;i55YQU$AQ}DNOT Ignoring new targets: 99.33 m.gggggzfrfffddccu"@zZZZZ ?I: ɡIX8iIIii))D}D}zD}6DyE}: E} :6E}c4:Ey"E};!E};!*E}v;!E}v;!q:ԑi59115/1 >A =I I N >, V3Ay6o@ٱ6l@6 6=6H?`?L ?b?F ?`\?I6o@)6^;i6CB{B9Bh%I)EMb@Mb@Mb@ A)AIAiAAE?Zd;O?S㥛?E>E~j>E/q9q9}|FYy}O+A}>Q 15٪D?Q 55. 9!>Q A;Y&>Q E@yG8E);I;i~5YB%AEEDNOT Ignoring new targets: 99.33 m.gggggzfrfffddccP#@zZ!>Z!>Z=?Z&> ?I: ɡY8iIIi!i%+=)!)ii/D%D%D!D!E%: E%E7:6E!:E!!5@!5@!5@!5@ԉ>A] =Ii vB ~B B B B B B B a;B OEI N >Ա ,V3Ay6Xn@ٱ6j@6nV6v=6H/?a?`܉? ö? ? ?I6Xn@)6}s^;i6CB}B9Bk%IID)FAABDJ6DJ:3YRV)<!RY=V Q)V>T9T9V|FYTZAZ>\Q 1b5٪^?Q 5b5^W. ^~9`Yf&>Q Ef@y^I8E)^;I^;i^#5Yhj%Ah=DNOT Ignoring new targets: 99.33 m.g9g9g9gAgAzfArfAfAfIdIdIcIcM@U$@ԙzZZZZZ&>nV !%?I%: !ɡ-[8i)I)I] iYi]=)Y)aIi0@@=D5D5D50D1E5C: E5~:6E54:E1"E52;!EE53;!E*E55;!EE55;!MY>A- l=I9 II Ne >i) I- T9T9V|FYXZ AZ>\Q 1b5٪^?Q 5b5^- ^c9`Yf&>Q Ef@y^K8E)^;I^:i^緄5Yj)Bj*%AjFE~DNOT Ignoring new targets: 99.33 m.gggggzfrff f d d cc&$@zZQZQZQZU&>YMW y}X?I: ɡx\8iIIi i5q=)9)Aԉ:ԩiU 9Q Q U /Y DE DE ~DE +DA EE s: EE (:6EE [4:EA !U @!U @!U @!U @ >AU =IY Iq N} >ν,V3Ay6i@ٱ6;f@6ø6ޟ=6H?d?@Rý?Ȋy?f??I6i@)6 {];i6CBB9Bw%IlirCI=G)UZAIiԉiZAAMb@Mb@Mb@ )A A ?AvB~BB%IBˆBBBBBh;BOEIiE??Zd;O?>ff>j99|FYtA>Q 15٪U?Q 550- B9>Q A;Y->Q E@yN8E){:I:i5Y%ADNOT Ignoring new targets: 99.33 m.gggggzfrf!f!f%ԃBd)d)c)c-`%@zZM>ZM>ZM*5?ZMz->eø ae̬?Iec: aɡe]8iiIiImiqiu=)q)qԹ%+:i 9  BE̻4JEO4REb0DM DM uDM 0DI EM : EM :6EM 4:EI "EM A #=I I!N->g,W3Ay:g@ٱ:c@:t:z=:H?`Jf?Hӽ@?}7t&???I:g@): ,];i:CBB9F%IBDN6DN 3YR==!VL=V[Q)V>X9X9Z|FYX^e4A^>\Q 1b5٪^*?Q 5f5^, ^(9dYf>Q Ef@y^P8E)^;I^+;i^ݻ5Ytm$AiDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc &@zZ)Z)Z)Z->Et ae-?Ie_: aɡed_8iaIiImiqiu)=)q)qA}PExceeded connect timeout, disconnecting.i111501@=A@=Aq>A ?=ԙ I I N >,[1W3Ay:$g@ٱ:dc@:ع@:j=:H.?f?ܽ'? 2? ~?@j?I:$g@):G\;i:CH9J%IEMb@Mb@Mb@ A)AIAiAAEMb?S?V-?E>E/]>Eq9q9u|FYqx'A>Q 15٪6?Q 55D,  9">Q A;Y=Q E @yR8E):I :i˽5Y5BDDxD/DE%: E:6EJ4:E!%@!-@!-@!-@)%A)UDNOT Ignoring new targets: 99.33 m.gQgQgYgYgYzfYrfYfafe܃BdadacacmZ'@zZ">Z">Z3k3?ZT=ع 顝̬?I: ɡ`8iIIiim=))ԩ:i I %=iAAAE/0AvBQ~BQBU%IBUцBBQBQBQBUm;BUOEBBBBƱ =BƱ =B 4>A I I) N5 > !,r5KW3Ay:j@ٱ:f@:y:ꎙ=:HC?c?Խ >?\ '?$??I:j@):\;i:CFB9Ju%IIL)N@ABDR6DR 3YjAO!nU=lr9Q)r>t9t9v|FYtv:Az>xQ 1~5٪z'A?Q 55z+ z9Y}=Q E@yzT8E)z;Iz;izj5Y  y%A=DNOT Ignoring new targets: 99.33 m.g9g9g9g9g9zfArfAfAfAdIdIcIcMP(@zZiZiZiZm4}=y 顅O?I" : ɡb8iIIii=))u:iW5rD%=jD%%=D-D-tD-2D)E-: E-v:6E-4:E)"E-U;!=E-V;!=*E-`;!=E-`;!=A>A=IIN>a  nManaging dock network, ignoring radio surface power offU,!eW3A9 B9 %IMb@Mb@Mb@ )Ii$C?x&1?ˡE?Z>A`>'=I5@i@)@BD6D{U3Yw=!-=Q)>99|FYA>Q 15٪L?Q 55+ 9ѝ>Q A,;Ymc>Q E@yV8E):I:iw5Y$A 5DNOT Ignoring new targets: 99.33 m.g1g1g1g1g1zf1rf9f9f=݃Bd9dAcAcE`A)@zZeѝ>Zeѝ>ZeL?Zemc>q y}?I}: yɡ}c8iyIyIii׳=))YԉT:D5D5D5,D1E5: E50:6E5g4:E1!=@!=@!=@!=@i / @ =@ =Թ A1 A5 <vB9 ~B9 B= %IB= ֆBB9 B9 B9 B= t;B= OE>A `{=I I N >,fW3Ay6r@ٱ6 o@6'6J{=6H`?]?/?y̋@-ݶ?4?@\?I6r@)6?h\;i6CBB9B%IBDJ6DJ2YRW=!RT=R@;Q)V>T9T9Z|FYXZ&';AZ>\Q 1b5٪^$V?Q 5b5^e* ^9`Yf9d>Q Ef@y^X8E)^Q;I^;i^&Ä5Yj@Bj %AjGE}DNOT Ignoring new targets: 99.33 m.gygygyggzfrfffddcc`*@zZ!Z!Z!Z%9d>e' im?Im: iɡmd8iqIqI}ii=))AiAIi1 9 9 = /9 y D D D 3D E %: E 6E 4:E "E ;! E ;! *E މ;! E މ;! iߍ =Iߍ <ԩ >A ˳=I) I9 NM >)7,CW3AyBu@ٱBq@BB=BHG?k[?`ayڃ?3`??@?IBu@)Bf\;i@jB9j%Inp|9|9~|FYL:A> Q 15٪ a?Q 55 ) 9Yxd>Q E@y Z8E) I :i ń5Y!%$A!MDNOT Ignoring new targets: 99.33 m.gQgQgQgQgQzfQrfQfYfYdYdYcace@c*@zZZZZxd> 顝+?IH : ɡef8iII ii9=))ԁ:i!))5P51Ա>Al=IIN>D D wD 5D E : E :6E 4:E ! @! @! @! @ |Z,*W3Ay6y@ٱ6v@6O6'=6H@ ?`dX?K@?|? ?P?I6y@)6-\;i4BB9B%IeMb@Mb@Mb@ a)aIaiaaeq= ףp?!rh?y&1?ek>elg>e`99|FYX:A>Q 15٪l?Q 55( n9>Q A$;YL>Q E@y\8E)U:IH:iƄ5Y$ADNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc+@zZ>Z>ZF?ZZL>-O 15?I5 : 1ɡ5g8i9I9I=iAiE=)A)AvBY~BYB]%IB]BBYBYBYB]s;BY!}:i0@@I >A5 õ=IA IQ Ne >I,W3Ay6}@ٱ6z@616=6H@ߦ?U? }`?`>??@ ?I6}@)6\;i4BB9F%IBDN6DN 83YRX!VY=V3;Q)V>X9X9Z|FYX^):A^>`Q 1b5٪bu?Q 5f5bL( bU9dYfM>Q Ef@yb^8E)b;Ib;ibȄ5YnLBnp%AnHEDNOT Ignoring new targets: 99.33 m.ggggg zf rf fIfididqcqcu<,@zZZZZM>1 ?I : ɡ+i8iIIiiʷ=))DuDupDu.DqEu: Eu :6Euـ4:Eq"Eu;!Eu;!*Eu8R;!Eu9R;!AMl:yi90ԡ >A =I I N >l,W3A@~B9~%IMb@Mb@Mb@ )IiʡE?%C??o>Zd>99|FYA>Q 1 5٪?Q 5 5' 99>Q A#;Y =>Q E@ya8E)=N;IM;iʄ5Y!-`%A)mDNOT Ignoring new targets: 99.33 m.gigigigigqzfqrfyfyfӃBddccui-@zZ>Z>ZB?ZZ => 3?I# : ɡj8iIIii@=))Աie9aae4aDDvD3DE: E:6E4:E!@!@!@!@AI AM AAvBQ ~BQ BU %IBU BBU =BQ BQ BU z;BU OE>A 2=I I N > _T,X3AyZ焯@ٱZ'@Z[Z=ZHث?P?x`?@ĵ? W?`\?IZ焯@)Z8];iXpvB9v%IBD6D!3Y-d=!5V=5;Q)5>9999=|FY9E{;AE>IQ 1U5٪M?Q 5U5M' M!9QYU=>Q EU@yMb8E)M ;IMS;iM.̄5Yae$AaDNOT Ignoring new targets: 99.33 m.gggggzfrfffddccA).@zZZZZZ=>U[ QU?I] : Yɡ]l8iYIYIeiaie O=)a)imu: i/9DDyD1DE: E:6E-4:E"E;!E;!*Er;!Er;!>A =I I) N5 >a ~~,nX3Ay6@ٱ6@66™=6H ?@M?8nu?_x?g"?`#?I6@)6v];i6CBB9B%IBDJ6DJP)3Y X! M=>;Q)>99|FY:A->AIQ 1M5٪M[?Q 5U5Mh& M9QYU=>Q EU@yMe8E)MB:IMj;iM̈́5YeXBe%AeIEDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc`.@zZZZZ=> ݳ?I : ɡtm8iIIii=))iq) A=:ԑi4 D D qD 2D E : E $ :6E 4:E ! @! @! @! @>A `=I I N% > ,I9X3Ay6@ٱ6@6ǩ6=6H`? M?1u?@2?@?@?I6@)6];i6CBB9B%IԙMb@Mb@Mb@IG )I)iIzG?}?5^I?Mb? W>Mb>=Iip@@i`A@)=@499A9E|FYAE!i9AE>IQ 1U5٪M?Q 5U5M% M9]>Q A]-;Y]q>Q E]@yMg8E)M;IM;iMτ5Yae%AivB~BB%IBBBBBBv;BOE}DNOT Ignoring new targets: 99.33 m.gygygygygyzfrfffBddcc&/@zZ>Z>ZO?Zq>ǩ ?I: ɡn8iIIiin=))M:i O5 ! >A =II)N5>Ł,WX3Ay6>@ٱ6~@BE4JE4RE0D>D>pD>4D<E>: E> :6E>4:E<"E>;!FE>;!F*E>8R;!FE>9R;!FH6\6ؙ=6HX?,O?@v?@b`?%?@O?I6>@)6];i6CVB9V%IBD\6D\Yf<!fC=j:Q)j>h9h9j|FYln㿹An>pQ 1v5٪r`?Q 5v5r$ r9xYzvq>Q Ez@yri8E)rY;Ir;irф5Y|~k%A|DNOT Ignoring new targets: 99.33 m.gggggzfrfffddccc[0@zZZZZ vq>-\ )->?I- : 1ɡ5_p8i1I1I=i9i===)9)A: J>  >ai/ԉ>AIINM >Թ ,rpX3AyB@ٱB:@BaB=BH ?`Q?@ỿyT?Ѵ? ??IB@)Bu/^;iBCLRB9R%I)T VA=Mb@Mb@Mb@ 9)9I9i99=i|?5?Cl?:v?=q>=;_>=i9i9u|FYq+A>Q 15٪涸?Q 557$ 9>Q A$;Y#->Q E @yk8E):I:iӄ5YdB%AJE=DNOT Ignoring new targets: 99.33 m.g9gAgAgAgAzfArfAfIfMBdIdIcQcU0@zZ}>Z}>Z}>?Z}#->a 額3?I : ɡq8iII ii:=))DDvD6DE E:6Ec4:E!@!@!@!@:i!!!%/!vB~BBBBBBBi;BOEBBBBư =BB|4>A =I I) N5 >! ",X3Ay:@ٱ:@:1:I=:H ?@LR?`y? <V? ? ?I:@):9^;i:C|9I)AABD6D\3YH~!6= ;Q)>99|FYZA>Q 15٪D¸?Q 55# 9Y,>Q E@ym8E):IW:i~Մ5Y%ADNOT Ignoring new targets: 99.33 m.g!g!g!g!g!zf!rf!f)f)d)d1c1c5361@zZQZQZQZUj,>e1 ae$?Im :) iɡ-Gs8i)I)I5i1i9)9)9DDD9DEU: E6E4:E"E;!E;!*Eh;!Eh;!Ye&:)ii 4 @ @ =ԁ >A-t=I9IQN}>),vƩX3Ay@ٱ8@߿=H@?R?xy?ؓR?#?@&?I@)^;iСХAХ,iССiѡѭ$A)ѭ ѩIѩ ұ)ҵAѵ#ѱѱұҽ AiҽIҹҹIӹiӹ ӹ) AI)i)IT B9%I)uMb@Mb@Mb@ q)qIqiqquMb?"~j?Zd;O?u>uSc>uj99|FY8A>Q 15٪ϸ?Q 55# z9>Q A;YQ >Q E@yp8E)sQ;I#=;iׄ5Yae%AiDNOT Ignoring new targets: 99.33 m.gggggzfrfffӃBddcc@1@zZ5>Z5>Z5#6?Z5 Q >M IMz?IM: QɡUt8iQIQI]iYi]O=)Y)aQD5D5rD55D1E5y: E5?:6E54:E1!=@!=@!=@!=@ԁi ~4 vB ~B B B B B B B d;B OEԱ >A+=IIN%?F2, X3Ay6w@ٱ6@6͠6ϙ=6Hۯ?hS?JFz?4dr?,&??I6w@)6^;i6CB9%Ii=I=BD$6D3Y-$=!-=-(:Q)5>19195|FY1=7A=>AQ 1M5٪E ޸?Q 5M5Ej" E[9IYM# >Q EM@yEr8E)E:IE:iEل5Y]pB]&AYDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc42@zZZZZz# >}͠ 顅"?Ib : ɡv8iIIii1=))iM9IIM4IDmDm}Dm2DiEm: Emk&:6Em4:Ei"EmU;!}EmV;!}*Emŀ;!}Emŀ;!}9 >Au =I I N >i8,=IX3AirYCrIA)p pIp t)vXAtttvCvIt@ixIxxIzCizMA z`~F)|~&C |||CI)i) I A  yF B95%IBDM6DMP)3Yu,!uX=}Q)}>y9y9|FYA>Q 15٪踊?Q 55! D9YQ E@yt8E)rA] =Ii Iy N >>, X3A@AyAyvB~BB%IBBB =BBBh;BOEB9%ImMb@Mb@Mb@ i)iIiiiimGz?1Zd?X9v?mp>m"[>m99|FYA>Q 15٪8?Q 55l! )9>Q A&;Y?%>Q E@yv8E);Iy;iF݄5Y|BP&AKEDNOT Ignoring new targets: 99.33 m.gggggzfrfffBddccN2@zZ%>Z%>Z%=?Z%?%>1 1=3?I= : 9ɡ=Dy8i9I9IEiAiA)A)Iԩi9/>A =I I N > zE,Y3Ay6|@ٱ6_x@6:=6ߙ=6H? X\?uϺ @?牕 ΂?@)?!?I6|@)6z^;i6Cp~B9~%IDEDEyDE3DAEEҝ: EE:6EE4:EA"EE;!MEE;!M*EEr;!UEEr;!UBD 6D !3Ym,!u_=L;Q)>99|FYIA>Q 15٪?Q 55  9Y#>Q E@yx8E)~:I:iބ5Ys&ADNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc ]3@zZZZZZ#>:= ?I : ɡz8iIIii=))i54=I54= i9>AI I! N- >i K,0Y3AyBy@ٱBu@B)B2 =BH`Ъ?^?'@l@?ޕb`? .?g?IBy@)BK0^;iBCNB9R%I9Mb@Mb@Mb@ )IiT㥛 ?}?5^I?y&1?>Mb>`99|FYjGA>Q 15٪?Q 55q  95>Q A;Y>Q E@yz8E);I:i5Y&ADNOT Ignoring new targets: 99.33 m.gggg g zf rf ffӃBddcc@3@zZ=5>Z=5>Z=N8?Z=*>M) IMµ?IM@ : QɡU|8iQIQI]iYie=)a)amimiiDUDUxDUADQEUs: EU:6EUA4:EQ!]@!]@!]@!e@iiiiiiqvB}5>~ByB}%IB}BByByByB}n;B}OEԑ>A =IIN> R,dJY3Ay6u@ٱ6q@6b 6=6H?[b?@I`W? T9T9V|FYTZAZ>\Q 1b5٪^K?Q 5b5^ ^9`Ybk>Q Eb@y^|8E)^;I^;i^J5YjBj&AjLE~DNOT Ignoring new targets: 99.33 m.g|g|gggzfrff f d d c c ?$4@zZQԡZQZQZUk>b ?I : ɡ}8iII iiߵ=))i/D]D]mD]2DYE],: E]:6E]4:EY"E]AIIN> X,mdY3AyRp@ٱRl@R;Rʙ=RH d?f?@3`?,"?`&??IRp@)R];iRCjB9j%IBDv 6Dvk3Y ! 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B! B! B! B! B! B% q;B% OE,Z3AyB{d@ٱB`@B`BO=BH@?` q?@n t?Q?,?`D?IB{d@)BOi\;iBCJB9N%IEMb@Mb@Mb@ A)AIAiAAEL7A`?q= ףp?I +?E+>Ek>E9!9!9%|FY!-&!:A->)1Q 1=5٪-?Q 5=5- -9E>Q AE;YE >Q EE@y-8E)-0;I-/;i-5YMBM'AUOE}DNOT Ignoring new targets: 99.33 m.gygygygygyzfrfffBddcc9@zZ>Z>Zcx7?Z >` µ?Ix : ɡZ8iIIiid=))ii9 @A@Aaԑ>A=II N >Թ x¦,ZZ3ADDzD-DE: E :6Et4:E"E;!E;!*Ev;!Ev;!yffb@ٱf^@fPfS=fH ?`r?ʷ?@ %?@$? ?Iffb@)f'k\;ifCnB9r%IBDz6Dz03Y!^=Q)> 9 9 |FY  5A>Q 15٪?Q 5%5e {9!Y% >Q E%@y8E)o;I{;id5Y)-/(A1]DNOT Ignoring new targets: 99.33 m.gYgYgYgYgYzfarfafafadidicicmm9@zZZZZJ >P 顥6?I : ɡ8iIIii=))i=%=I9ԑim9qqu/q>A*=IIN> ,C:Z3Aiy:b@ٱ:_@:9:4=:H ?!r?@b ?@>?%??I:b@):\;i:CFB9F%IEMb@Mb@Mb@ A)AIAiAAE?!rh?V-?Eff>Elg>Eq9q9}|FYy}L8A}>Q 15٪?Q 55 `9>Q A%;YaS>Q E@y8E):I:i85Y(ADNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc9@zZ>Z>Z+I?ZaS> 9 ?I : ɡ8iIIi!i%@=)!)!D=D=vD=6D9E=: E=:6E=c4:E9!M@!M@!M@!U@IG)Ii169Ai90vB3>~BBBBBBB{;BOE>Am=IyIN>I ճ,Z3Ay:b@ٱ:^@:L:\=:H.?q?@ 9?|d?`*?e?I:b@):-\;i:CFB9F%IBDN6DN{U3YZZ:!ZW=^̺Q)^>\9`9b|FY`bH=Ab>dQ 1j5٪f`?Q 5j5f  fH9lYnrS>Q En@yf8E)fL ;If ;if5YrƛBr(AvPEDNOT Ignoring new targets: 99.33 m.gggggzfrfffd!d!c!c%`z::@zZZZZ rS>L ?I : ɡn8iIIiiM4=) ) Qi90@p=@=BE-4JE4REŧ0DE{DADE2DAEE=: EA6EE4:EA"EE ;!UEE ;!U*EEh;!UEEh;!]y>Au=IIN>ԩ ,Z3Ay6a@ٱ6]@66oʙ=6H>?r?Mۺ:`ַ?lq?Q&?` ?I6a@)6\;i6C@^B9^%IIb@A)b@ABDf6Df\3Yn/$=!nG=rƺQ)r>p9p9v|FYtvAv>xQ 1~5٪z?Q 5~5zY z-9YfS>Q E@yz8E)z;Iz;iz5Y  J(A =DNOT Ignoring new targets: 99.33 m.g9g9g9g9g9zf9rfAfAfAdAdIcIcM<:@zZiZiZiZmfS>} 顅0?Ij : ɡ 8iII iid=))i90>Am=IyIN>DM }DM gDM 1DI EM ݉: EM &96EM -4:EI !] @!] @!] @!] @ A A @AvB ~B B B B =B B B ~;B OEBBBBBBw4,6[3Aɰpy%a@ٱ%;^@%ٳ%ϙ=%H 7?q?@G?Ĕ~?`&?`?I%a@)%z ];i%CMB9M%IMb@Mb@Mb@ )Iiy&1?"~j?:v?`e>Sc>19195|FY1=9A=>AQ 1M5٪En̹?Q 5M5E E9M>Q AM';YML>Q EM@yE8E)Ef:IE:iE5YY](AYDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc ;@zZ>Z>ZG?ZzL>ٳ \?I : ɡۊ8iIIiiJ=)) 9:iI I I M /I @Q @Q a D] D] jD] 2DY E] ~: E] 96E] 4:EY "E] ;!m E] ;!m *E] a<;!m E] b<;!m >Au =Iy I ԑ N >ֶ,[ [3AyB`@ٱB\@B80Bљ=BH!? r? V!`sԷ?Y@?&?=?IB`@)B ];iBCNB9R%IBDZ6DZ!3Y^u;!bL=bQ)b>`9h9j|FYhj4˹An>lQ 1r5٪nֹ?Q 5v5n n 9tYvL>Q Ev@yn8E)nL;In;in_5YzқB~(A~QE%DNOT Ignoring new targets: 99.33 m.g!g!g!g!gzfrfffddcc<;@zZZZZL>80 ?I : aɡ8iIIiiɱ=))iiiqu 0qI)y yԁ >A I I N- >,1 :[3A0B9%Ii%=I%=Mb@Mb@Mb@ )IitV?Cl?y&1?r>;_>`Q9Q9U|FYQ]A]>aQ 1m5٪e⹊?Q 5m5e^ e 9m~>Q Am$;Ym%>Q Em@ye8E)e2:Ie:ieW5Yy}(AyDNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc@;@zZ~>Z~>Z`>?Z%> 3?I : ɡK8iIIiiӱ=))ԉ :vBA~BABE%IBEBBABABABE;BEOEi}0>Ai I I N > ,6S[3Ay6G`@ٱ6\@6 6=6H`$? r?`p@O?֚T9T9Z|FYXZAZ>`\Q 15٪^빊?Q 55^ ^ 9!Y%%>Q E%@y^8E)^;I^;i^5Y)- )A)]DNOT Ignoring new targets: 99.33 m.gYgYgYgYgYzfarfafafadadicicm@%L<@zZZZZ%>  顥n?ID : ɡ8iIIiiB=))rD=jD<DDwDDEC: E:6E:E"E2;!E3;!*Ek;!Ek;!:)iqqy}0yI >AY Ii Iy N >,Tm[3Ay6\@ٱ6"Y@6R6=6H`?`ft?V@`?@ ?)? ?I6\@)6];i6CBB9B%IBDJ6DJN3YRѻ!RJ=V]2Q)V>T9X9Z|FYX^SA^>dQ 1j5٪f?Q 5j5fZ f 9lYn%>Q Er@yf8E)f^R;IfkS;if5YvߛBvz)AzREYDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc`ѷ<@zZZZZڣ%>}R 顅?I : ɡ8iIIii=)))ԉԱDDsD2DEU: EZ:6E4:E! @! @! @! @=:A) A- 4=vB9 ~B9 B= %IB= BB= =B9 B9 B= ;B= OEi 9 / >A=IIN>,}[3Ay6\@ٱ6Y@6Sۥ6Zٙ=6H>?t?@Xӻ} Ӷ?z?`k&?`?I6\@)6];i6CBB9B%I Mb@Mb@Mb@ ) I i   ʡE?S?:v? o> /]> 9999E|FYAEAM>IQ 1U5٪M?Q 5U5M M 9]>Q A]&;Y]'>Q E]@yM8E)M:IM,:iM 5Y)A-DNOT Ignoring new targets: 99.33 m.g1g1g1g1g1zf1rf1f9f=΃Bd9adacacm]8=@zZ>Z>Z>?Z'>Sۥ)  µ?I : ɡ{8iII i i =) ) ԉi90bDyZD}?ADDrD/DED: E?:6EJ4:E"E1A =I I N > 4,[3Ay>O^@ٱ>Z@> >=>H ?r?컿 `ַ? ۴? ?`?I>O^@)>^;i>CJB9J%IBDR 6DR:2YZM%!ZT=^TúQ)^>\9`9b|FY`b9Ab>dQ 1j5٪f ?Q 5j5f( ft 9hYn'>Q En@yf8E)f":Ifj;if 5Ypr)Ap DNOT Ignoring new targets: 99.33 m.gggggzfrfffdd!c!c%=@zZAZAZAZE'>U  Q]C?I]: Yɡ]&8iaIaIeiiimb=)i)iU:i94>AI)IIN>) D D nD 2D E : E :6E 4:E ! @! @! @! @b,r[3Ay:^@ٱ:.[@:u:g=:H஘?@q?W Kk???h?I:^@):O^;i8FB9F%IvBm5>~BiBiBiBm =BiBiBmu;BmOEMb@Mb@Mb@ )Ii%C?5^I ?L7A`?Zd>X>+=IS@ib@@)=@BD6D4d3YZ<!;=NкQ)>99|FYZ49A>Q 15٪?Q 5 5 V 9 >Q A+;Y4>Q E@y8E)N;Ie`;iu 5Y%B-*A)DNOT Ignoring new targets: 99.33 m.gggggzfrfffBddccG >@QzZ]>Z]>Z]CA?Z]4>u 顕?I : ɡ8iII ii~=))ԁ:ii i i m 0i ԩ >A =I I N >,J[3Ay6\@ٱ60Y@6e63=6H ?*s?@n@`?@%@jF? ??I6\@)6g^;i6CBB9B%IBDN"6DNJz3YR!VE=VQ)V>X9X9Z|FYXZA^>\Q 1b5٪^ #?Q 5f5^ ^: 9dYf4>Q Ef@y^8E)^;I^;i^@5Yhn"*AlDzDzsDz3DxEz: EzZ:6Ez4:Ex"Ez;!~Ez;!~*Ez#];!Ez$];!%DNOT Ignoring new targets: 99.33 m.g!g!g!g!g!zf)rf)f)f)d1d1c1c5o>@zZQZQZQZU4>e $?I9 : ɡ8iIIiiQ=))Ai] :i=999=E09ԡ >Ae =I I N >by,Ã[3Ay6=]@ٱ6}Y@6gn6=6H?;r?H}@#?@H?@4??I6=]@)6^;i6CBB9F%IMb@Mb@Mb@ )Ii~jt?x&1??>A`>99|FY8A>Q 15٪/?Q 55~  9!>Q A;Y=Q E@y8E)o:I:i;5Y*ADNOT Ignoring new targets: 99.33 m.gggggzf i rf f)f1dAdQciIueGc}I>@)IiS XAD]D]qD]7DYE]1: E]$ :6E]Ժ4:EY!e@!e@!e@!e@zZ!>Z!>Zk3?Z=gn ?I : ɡ\8iIIii%=))!AAAAvBI~BIBIBIBIBIBIBMi;BMOEUf :Qi / y >A ٦=IIYNm>l,\3A y:\@ٱ:Y@:p:p=:H`ߕ?r?'A?`Dǵ??@T?I:\@):p^;i:CuB9u%IBD6D2Y! =GQ)>99|FYZ¸A>Q 15٪=?Q 55  9Y=Q E@y8E):IS:iu5Y̛B7)AJEDNOT Ignoring new targets: 99.33 m.gggggzf rf f fddcc ue?@zZ9Z9Z9Z==Mp IMz?IMF : QɡU8iQIQI]iYi] =)Y)aqBEם4JEY4REA0DUDUoDU8DQEUs: EU:6EUF4:EQ"EU;!mEU;!u*EUN;!uEUN;!ui9P5 ԙ>A) I1 II NU > @ ,[0\3ALyn]@ٱnY@nwcny=nH@?p?꼿 ?9 u?`1%??In]@)n2^;inCi-fC-EA)) )I) -̏C)11111ȕs@iȑIșșIɝCiə əș)ɡɡ ʡɡɡɡʭCʩIʩ)ʩiʩ)˱I˱ʵʱ -B9-%IMb@Mb@Mb@ )IitV?y&1?Q?r>`e>\=IK@iZ@p@5@)@BD6D!3Y;!=^Q)>99|FY,9A> Q 15٪ nL?Q 55 '  9>Q A!;Y4>Q E@y 8E) u ;I e ;i 5Y!%+)A!MDNOT Ignoring new targets: 99.33 m.gIgQD]D]rD]>DYE]: E]?:6E]4:EY!e@!e@!m@!m@gQgigizfirfifqfu߃Bdydycyc}?@zZ>Z>ZCA?Z4>wc 页?I : ɡ8iIIiig;=)))IvBA ~BA BA BA BE =BA BA BE g;BE OEBBBBȱ =Bȱ =B{4i 9 / ! I >A=I1IANU>!|,ܝN\3Aɰ$&4?IF[@)F^;iFCxzAzԼi||i|~/A)~̼ |I )A̼  i #I  IiKuA ) AI!)!i!)!I% A!! ))uB9u%IBD6DF3Y<!=oQ)?99|FY|A?Q 15٪0T?Q 55  9Y4>Q E@y8E);I;i5YٛB|)AKE)DNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc@ @@zZZZZ4>- )-?I5: 1ɡ58i1I1I=i9i=\=)9)Ai=999=P59aDmDmsDm=DiEm: EmZ:6Em|4:Ei"Em;!}Em ;!}*Em#];!}Em$];!}ԁ>A] ٦=Ii I N >Ա u,dh\3Ay6S[@ٱ6W@6|6=6H?@Cq?``ʸ?z϶??z?I6S[@)6Y._;i4]B9]%Iie=Ie=iimBDu6Du:3Y<!L=B&Q)>99|FY48A>Q 15٪^?Q 55   9Y4>Q E@y8E):I:i5YR)ADNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc@$Q@@zZ Z Z Z 4>%| !%?I%': !ɡ%98i!I)I-i)i5=)1)1ԑi/>A=I I)NU>D D uD 3D E : E :6E 4:E ! @! @! @! @! 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E?I6?e@)6 _;i6CbB9b%IBDj6DjF3Yr!re=vQ)v>t9t9z|FYxz3:Az>|Q 15٪~)?Q 55~8  ~ 9 Y \d>Q E @y~8E)~h:I~:i~"%5Yu*AEDNOT Ignoring new targets: 99.33 m.gAgAgAgAgAzfArfAfIfIdIdQcQcUA@zZqZqZqZu\d>ҟĽ 額?IE: ɡ8iIIii޲=))bDZD@AD%D!D%/D!E%~: E!6E%J4:E!"E%;!=E%;!=*E%8R;!=E%9R;!EQԁ :iiqqu/q@y@y@y@yԹ I) I9 NE >$M, 7]3Aiy6d@ٱ6 a@6ƽ6=6Hޒ? [e?@5t?@f̸?@Y? ?I6d@)6 _;i4BB9B%IBDJ#6DJӀ3YR<!RO=V(Q)V>X9X9Z|FYXZaA^>\Q 1b5٪^س?Q 5b5^w ^ 9dYfd>Q Ef@y^8E)^;I^;i^&5YjBj*AnMEDNOT Ignoring new targets: 99.33 m.g!gAgIgIgQzfQrfYffddcIU=G)iIc@A@iafAzZZZZjd> ƽ  ?I  : ɡ 8i IIi9i=h=)9)9D=D=D=.D9E=: E=3:6E=ـ4:E9!E@!E@!E@!E@vB~BB&IBBB =BBBi;BOE] :A i I I N% >`T, P]3AyBe@ٱB9b@B4ȽB=BH?`c?@c?-?U??IBe@)BS^;i@NB9N%I!@! !@! !@! !@! BD%"6D%Jz3Y-<!5C=5 Q)5>1999=|FY9=9AE>AQ 1M5٪E5?Q 5M5E E Q =U+:9QQ AU:YUd>Q EU@yE8E)EZ:IE>iEV(5YYe*AaDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc` B@M4Ƚ IM?IM: IɡM]8iIIQIUiYi]=)Y)YQi    _0 I!I1NE>ԁrDU=jDU=BEǃ4JE4REǴ1D]D]DYDYE]: E]*:6EY:EY"E]ڽ;!mE]۽;!m*E]h;!mE]i;!m .Z,մj]3Ay6g@ٱ6 d@6R\ʽ6;=6HS?a?*? A???I6g@)6^;i6C@nB9n%IBDv6Dvk2Y~ü!M=HQ)>9 9 |FY  :A >Q 15٪ɺ?Q 55 ^ Q =% :9!Q A%:Y%3e>Q E%@y8E)" ;IQ?iz)5Y)-*A1]DNOT Ignoring new targets: 99.33 m.gYgYgYgYgYzfarfafafadidicicmSB@R\ʽ 顝?I,: ɡ8iII ii,M=))iIQQUW5QIaIqN}=ԩ Da De wDa Da Ea  Ee :6Ea :Ea !m @!m @!m @!m @a,]3Aɰ*;*4<A@A@vBD~BDBDBDBDBDBDBFv;BFOEBQBQBQBU =BU =BU4y^j@ٱ^f@^1˽^T=^H@t?@M_?5p?1+ n? ??I^j@)^L^;i\lEB9E%I!! !! !! !! Mb@Mb@Mb@ )IiK7?e;O? rh?I>t>C =Ij@i@@5@)(@BD6D:3Y=!;=_ϺQ)>99|FY U:A > Q 15٪ ֺ?Q 55 S ; Q =T:9>Q A;Y%>Q E%@y 8E) ;I N;i b+5Y- B-*A-NEUDNOT Ignoring new targets: 99.33 m.gQgYgYgYgYzfYrfYfafe BdadacicmB@zZ >Z >Z 7?Z *>=1˽ 9=?I= : AɡE8iAIAIMii=)) i!!!%1!9>Ae =Iq I N >ԡ "@g,/i]3A~B9~%IBD 6D 2Y Ƽ!Z=%Q)%>!9!9-|FY)-A->1Q 1=5٪5%⺊?Q 5=55 5 99YAQ EE@y58E)5;I5Y;i5-5YIM+AIuDNOT Ignoring new targets: 99.33 m.ԁgqggggzfrfffddcc B@DDyD5DE: E:6E4:E"EA;!-EC;!-*Er;!5Er;!mzZZZZ %̧?I% : )ɡ-c8i)IIIUiQiUvԳ=)Y)Yi)I-R=ԡi9O5>A=I I N% > +jm,C]3Ay>gp@ٱ>l@>ν>=>H@?Y?-@:?w}Oѹ? ?@V?I>gp@)>>^;i<RB9R%IBDZ6DZP)3Yb8!bP=f$~Q)f>d9d9j|FYhj:Aj>lQ 1r5٪n?Q 5r5nR n 9tYv>Q Ev@yn8E)n:In:in.5Yxz+AxDNOT Ignoring new targets: 99.33 m.g!g!g!g!g!zf!rf!f)f)d)d)c1c5@B@zZqZqZqZu>ν 額?IL: ɡ8iIIii;%=))iai 9   3 ԁDYD]{D]<DYEY E]5":6E] 4:EY!e@!e@!e@!e@vB~BBBBBBBq;BOE>AD=IIN>ԩ Qt,]3Aiy6s@ٱ6p@6qϽ6+V=6H ?`V?`@`@?d|? ??I6s@)6];i4BB9B%IEMb@Mb@Mb@ A)AIAiAAEq= ףp? rh? ףp= ?Ek>El>EQ8=IAiE@E@A)AABD]$6D]3Ym-=!m@=mQ)m>q9q9u|FYqu:A}>Q 15٪?Q 55  9{>Q A!;YtZ>Q E@y8E):IZ:i05YB+AOEDNOT Ignoring new targets: 99.33 m.gggggzfrfffBddccP$C@zZ{>Z{>ZI?ZtZ> qϽ ?I : ɡ8iIIii% µ=)!)!ԱiM9IIM/I@UR=@U=>Al=IIIaN}> DM DM pDM ADI EM : EM  :6EM A4:EI "EM ;!U EM ;!U *EM 8R;!] EM 9R;!] 9 F|z,]3Ay6v@ٱ6*s@6"ѽ6O=6HY?`S? }?4F{?` ??I6v@)6^];i4BB9B%I)D FABDJ 6DJ:2YR?!VW=VĺQ)V>X9X9Z|FYXZ:A^>\Q 1b5٪^?Q 5f5^ ^ 9dYfZ>Q Ef@y^8E)^:I^:i^A25Yhj+AleDNOT Ignoring new targets: 99.33 m.gagagagigizfirfififqdqdqcqc_VC@zZZZZZ>M"ѽ IM?IU : qɡ}V8iyIyIiia=))iM9IIM/I9>Au(׵=IIN% >q rc,^3AAAvB~BB%IBBBBBBw;BOE D*D*rD*5D(E*~: E*?:6E*4:E("E*;E*;*E*Y;E*Y;yR {@ٱRMw@RѽR*=RHa?@8P?(y@y? za,?#?J?IR {@)Ry];iP^B9^%IUMb@Mb@Mb@ Q)QIQiQQU(\?V-?Q?U>Um>U\=IU@iU@U@Q)QUz@BD"6DJz3Y'6!7=$@Q)>99|FY:A > Q 15٪ ?Q 55 P  97>Q A;Y'>Q E@y 8E) ;I ;i 445Y!-L,A)UDNOT Ignoring new targets: 99.33 m.gQgQgYgYgYzfYrfYfafeBdadacacmC@zZ7>Z7>Z8?Z'>ѽ 顝?I : ɡ8iIIii8=))qiiiim/iԙ>Aõ=IIN> ,>^3Aɰy:@ٱ:}@:Oҽ:=:H ɞ?aJ?@2s?z,>???I:@):];i:CFB9F%IPBDR6DRf?3YZ &=!Zb=ZgEQ)^>\9\9^|FY`bn;Ab>dQ 1j5٪f,?Q 5j5f fu 9hYj>Q En@yf8E)f:If:if55Yr(Brz,Ap DNOT Ignoring new targets: 99.33 m.g ggggzfrfff!d!d!c!c% |C@zZAZAZAZEj>]Oҽ Y]?I]: aɡe8iaIaImiiim楸=)i)iDDoD1DE: E:6E-4:E"EA;EC;*EN;EN;i9@A@A>A =I!I1NEs>) ) E,9^3Ay6Ņ@ٱ6@6ӽ6/=6H ˠ?@F?=`Upu?QzT??`?I6Ņ@)6Q];i6CBB9B}%IiF=IF=BDJ6DJ!3Yr!rG=r*[Q)r>t9t9v|FYtz:Az>|xQ 1 5٪z%?Q 5 5zM zS 9 Y >Q E @yz8E)z?;Iz"A;iz75Y,AMDNOT Ignoring new targets: 99.33 m.gIgIgIgIgIzfIrfIfQfQdQdQcYc]C@zZyZyZyZ}>ӽ 页=?I: ɡN8iII iixa=))iu9yy/1DDnD3DE1: E:6E4:E!@!@!@!@vB!~B!B%%IB%BB!B!B!B!B!Y>A0=IIN>ԁ ,bfS^3Ay6p@ٱ6@67Cӽ6C8=6H?`C?`<9m}?3y k\?k??I6p@)6];i6CBB9B%I5Mb@Mb@Mb@ 1)1I1i115e;O?y&1?+?5t>5`e>5=I5j@i115@)15@BDI6DIYYe=!mB=mߖQ)m>i9q9u|FYquk:Au>yQ 15٪}"1?Q 55} }1 9>Q A ;Y8>Q E@y}8E)}o:I}:i}k95Y5B-APEDNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc&D@zZ>Z>Zg@?Z*8> 7Cӽ  =?I M: ɡ8iIIiiS=))!ԉu :ԹDDmDDE: E:6E:E"Eڽ;!E۽;!*EMG;!EMG;!i9@=@= >A t=I I N >.,yn^3A i yb@ٱbˊ@b_ӽbl8=bH`r?r??= h@C?(z_?i??Ib@)b#\;ibCrB9v{%IxBD 6D 3Y%!%B=-Q)->19195|FY1=z:A=>AQ 1U5٪EXQ E]@yE8E)E;IE$;iED;5YaeX-AaDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc\D@zZZZZ9>_ӽ 1?I4: ɡ8iIIii&*=))-~ :iiIGi9/)Iie im9Aԑ D D nD :D E : E :6E (4:E ! @! @! @! @vBY ~BY B] %IB] BBY BY BY B] l;B] OE>AM =IQ Ii Nu >#&,q^3Ay:@ٱ:[@:l%ӽ: =:H?;?e93e?azX?5??I:@):?\;i:CFB9F|%I)H JA-^only read 0 of 1 data item for BIT error. Device response is::TS,00032803370003,35.0 0.0,1496.8, 0 !^@!^ !^@!^ !b@!b !b@!b BDf I6Dff2YmK;!mD=m\9Q)u>q9q9u|FYq}m:A}>Q 15٪]G?Q 55d  Q =+:9Q A;Y:>Q E@y8E) ;I>i<5YS-ADNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc@D@l%ӽ  [?I k: ɡ X8i I Iii=))ym :ԩi9/  >A I I N >)L,`͢^3Ay^r@ٱ^@^ҽ^=^H@p?'8? 6a ?zQ?@^?@ս?I^r@)^q\;i\v{B9vh%IBE=4JE=R4RE={1D~D~kD~9D|E~: E~:6E~4:E|"E~;! E~ ;!*E~@;!E~@;!BD6D2Y-!-O=-9Q)5>99|FY:A>Q 15٪*R?Q 55  Q = :9Q A:Y:>Q E@Աy8E);I#T?i=5YCBB.AQE%DNOT Ignoring new targets: 99.33 m.g!g!g!g)g)zf)rf)fQfQdQdQcQc]D@ҽ 顥D?I: ɡ8iIIii=))AiA :iyyyyy@A@A >A=  =II IY Nm >9 w,ګ^3Ay6@ٱ6@6ҽ6ט=6H?`l6? 2_.?zK???I6@)6my\;i4BB9Bx%IBDH6DHYR9=!RS=Rz9Q)V>T9T9V|FYTZA:AZ>\Q 1b5٪^\?Q 5b5^3 ^ Q =b99dQ Af:Yf:>Q Ef@y^8E)^a:I^?i^>5Yhn-Al%DNOT Ignoring new targets: 99.33 m.g!g!g)g)g)zf)rf)f1f1d1d9c9c=D@eҽ am?ImR: qɡ}8iyIyI%i)iUDQ=)Q)a] :D D D 3D E : E 6E 4:E !@!@!@!@vB~BB%IBۆBB =BBBj;BOEBBBBBBZ4i999=0AQi>A :=I I N >ԑ [,_y^3Ay:@ٱ:X@:q9ҽ: =:H`ծ?1?,j[?"|`_;?`c?@"?I:@):3Z\;i:CJB9Jw%IiN=IN=!%!% !%!% !%!% !-!- -Mb@Mb@Mb@ )))I)i))-ʡE?$C?ˡE?-o>-Z>-'=I-@i-@-@-S@))-@BDE6DE 3YM焻!U@=U:Q)U>Q9Y9]|FYYem:Ae>aQ 1m5٪eg?Q 5u5e e Q =uT:9u]>Q Au&;Yuc,>Q Eu@ye8E)e ;Ie;ie@5Y-AiߙIߝ<DNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc ,E@zZ]>Z]>Z? =?Zb,>qq9ҽ 顅?I$: ɡK8iIIii}=))ԡf :)DDD0DE: E6E4:E"E!-E!-*E!-E@;!5i9/PExceeded connect timeout, disconnecting. >A I I N >,-^3AyF꣯@ٱF*@FmѽFK=FH?@-?'W{?i}*? $ ? G?IF꣯@)Fg\;iFCRoB9RZ%IBDZ6DZ{U3Yb!bG=f$:Q)f>d9d9j|FYhjk:Aj>lQ 1r5٪nq?Q 5r5n nh 9tYv,>Q Ev@yn8E)n';InU;inkB5YzPBz/AzREDNOT Ignoring new targets: 99.33 m.g!g!g!g!g!zf!rf)f)f)d)d1c1c5``E@zZQZQZQZU,>emѽ im?Im9 iɡmiiIqIuiqi}Bp=)y)yi9%2I>A}=IIQԁN>Du Du lDu 2Dq Eu : Eu :6Eu 4:Eq ! @! @! @! @vB1 ~B1 B5 %IB5 цBB5 =B1 B1 B5 g;B5 OEԩ λ,2w _3Aiy6@ٱ6Ȣ@6s9ѽ6@=6H 5?+?#oU ?~?6?`e?I6@)6N\;i6CBqB9F]%IEMb@Mb@Mb@ A)AIAiAAE?Q?+?E>E(\>E=IE@iE@E@E@)AE@BD]6D]:3Ym'<!mB=uA:Q)u>q9q9}|FYy}:F:A}>Q 15٪|?Q 55 E 9>Q A;Y>Q E@y8E)M:I:iCD5Y.ADNOT Ignoring new targets: 99.33 m.gggggzfrfffBddcc E@zZ>Z>ZS5?Z:>s9ѽ G?I19 ɡߦ4iII% i!i%M=)!)!ԑim9iimT5i>A5$ӿ=I9IQN]> ,rR%_3AD&D&qD&3D$E&a: E&$ :6E&4:E$"E&d;!*E&e;!**E&U;!.E&U;!.yF@ٱFФ@F8нF=FH`?&*?+ S?HU ??୾?IF@)F}r\;iFCRpB9R[%IBDZ6DZN3Yb!bV=fc:Q)f>d9d9j|FYhj*:Aj>lQ 1r5٪n$?Q 5v5n n& 9tYv>Q Ev@yn8E)n:In:inE5Yx~.A|DNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc` E@nManaging dock network, ignoring radio surface power offzZZZZJ>-8н 15?IU9 QɡUC%5iYIYI]iaie1K=)a)ai999=1A@I@II i- =I) >Aa Iq I N >,A-?_3Ay6c@ٱ6@6߂Ͻ6S=6H@?`J'? `P?j.? ?'?I6c@)6]\;i6CFkB9FT%IBDN6DNf?3YV!VL=Z:Q)Z>`9d9f|FYhn+:Ar>pQ 1v5٪r ?Q 5v5r r 9xYz>Q Ez@yr8E)r:Ir:irG5Y^B/ASEEDNOT Ignoring new targets: 99.33 m.gAgAgIgIgIzfQrfffd!d!c)c]rF@DUDU|DU1DQEUҝ: EUP$:6EU-4:EQ!e@!e@!e@!e@azZZZZ*>߂Ͻ 顥?I9 ɡz5iIIiiB=))vB ~B B %IB ˆBB  =B B B ;B OEiaaae15ay>A I I ԩ N >,xY_3Aɰ;y:خ@ٱ:@:ν:e=@:H ?`%? O?`̹??@p?I:خ@):tV\;i:CUyB9Ue%IMb@Mb@Mb@ )Iii|?5?Q?Mb?q>@=Ii@@)BD6D02Yh=!*=H:Q)> 9 9 |FY $:A>Q 1%5٪U?Q 5%5 9%7>Q A%$;Y%.>Q E%@y8E):I:iI5Y15+/A1]DNOT Ignoring new targets: 99.33 m.gYgYgagagazfarfafifmBԩdidcc:F@zZ-7>Z-7>Z-&=?Z- .>Eν AEG?IE9 ɡ5iIIiiύ=))DeDeDe2DaEeC: Ee|;:6Ee4:Ea"Ee2;!uEe3;!u*Ee;!uEe;!uiyyy@5)ߑ ߑ >A (=I I N > ",r_3Ay6ȱ@ٱ6@6ͽ6^=6Hu?`)#?翿`LI?O`j? n?Կ?I6ȱ@)6|\;i6Ci<>GA)@ @I@ @)@@DDDFCs@iDIDHIHiH HH)HL LLl    I )i)IA7 rF %tB9-`%Ii5=I5p=1i1BDE6DE 83YMg˼!Uk=Ub:Q)U?Q9Y9]|FYYe߆:Ae?aQ 1m5٪eU?Q 5u5e{ e9qYu.>Q Eu@ye8E)e:Ieu:ieNK5YyN/ADNOT Ignoring new targets: 99.33 m.gggggzfrfffddccaeF@zZZZZ:.>ͽ ,?I9 ɡ5iIIii)=)) i/ A>A C=IIANm>Du Du ~Du 8Dq Eu Ʊ: Eu (:6Eu F4:Eq !} @!} @!} @!} @A <A <vB ~B B %IB ƆBB B B B ;B OEa ,_3A9EjB9ES%IMb@Mb@Mb@ )Ii rh?-?:v?l>5^>T=I@i@5@)p@BD6Df?3YqC!@=Q)>99|FYA> Q 15٪ -?Q 55  9q>Q A%;YT?>Q E@y 8E)  ;I i ;i *M5Y%lB%0A)UDNOT Ignoring new targets: 99.33 m.gQgQgQgQgYzfYrfYfYfeڃBdadacace`֛F@zZq>Zq>ZA?ZZT?> ף?IE9 ɡ#5iII%i!i-_=))))ii/i%=I4=ԙ>A I I N > 4,,_3AbDZDDDsD4DEy: EZ:6E4:E"Ea9a9m|FYim :Am>qԙQ 15٪u?Q 55uC up9Y?>Q E@yu9E)u ̽ 顥I?I9 ɡ6iIIii=))iiiiii>AIIN>! IU ՈG)i I i 6z oA8,\v_3AyFA@ٱF@Fz˽F(=FHh?`s?@$G?-@W???IFA@)DiFCADMDMmDM2DIEM: EM:6EM4:EI!m@!m@!u@!u@vB~BB%IBBBBBB~;BOEdB9L%IiMb@Mb@Mb@ )Ii5^I ?%C?Q?X>Zd>u=Ii@j@)@BD6D3Y\!=b:Q)>99|FY{`:A>Q 15٪7ɻ?Q 556 :9(>Q A);Y~>Q E@y9E):Ib:i9Q5Y>0ADNOT Ignoring new targets: 99.33 m.ggggg zf rf f f BddccG@zZ5(>Z5(>Z5s#P?Z5 ~>Mz˽ IM?IM9 IɡU&6iQIQIUiYi]=)Y)aԉ :) iq q u } \1y @ @ >Ap=IIN ?&,X_3Ay6@ٱ6@6aʽ6=6H(?? C?b%8?&!?!?I6@)6Ǎ\;i6C<>A>iBmF@i@BA)B @I@ D)FAF,DDHJAiJ,IJFLINCiNA NL)LP PRPPTTIT)TiT)ZCIXXX XXbiB9bS%IBDj6Dj 83Yr<!rN=r:Q)r>t)9t9m|FYiu:Au>qQ 1}5٪uAӻ?Q 55uj u9Y>Q E@yu9E)uG:Iu`:rD=jD<BE=4JE=ם4RE=NU0DDrD0DE: E?:6E4:E"E;!E;!*EY;!EY;!iuS5YyB0ATEDNOT Ignoring new targets: 99.33 m.gggg!g!zf!rf!fYfYdYdYcaceJG@zZZZZ:>aʽ ?I9 ɡ;6iII ii{=))  :Yiqyy}2yԁ>A =I I N >Ա D,_3Ay6a¯@ٱ6@6ɽ6A=6H? ?Os ?@\? @ ?,&??I6a¯@)6\;i6CuB9a%IBD-6D- 3Y= Z=!=E=E;:Q)E>A9A9E|FYIMS:AM>QԙQ 15٪Uܻ?Q 55U U9Y>Q E@yU9E)UVɽ 页?I9 ɡ+P6iIIiiI=))iDDwD5DEC: E:6E4:E!@!@!@!@A!A%AAvB)~B)B)B)B- =B)B)B-;B-OEBBBBı =Bı =Bċ4 :i 2 @ @ =9 >A =I I N >X\,ŭ`3ALmzB9mg%IMb@Mb@Mb@ )Ii?%C?J +?>H=I@i@@@)@BD  6D f2Ym<!)=%Q)%>!9)9-|FY)-A->1Q 1=5٪5껊?Q 5=55 59EY>Q AE;YE%>Q EE@y5 9E)5QZY>Zv:?Z*%> 页?IN9 ɡye6iIIiivj=))yDUDUuDU2DQEUs: EU:6EU4:EQ"EU;!eEU;!e*EUkd;!eEUld;!e)ߍA ߉&: i @0 A >A} =IIN> ,Mg9`3AyNί@ٱNʶ@N5ŽN=NH? ?  X6h?ۆ@?? ?INί@)N*\;iLjqB9j]%IBDr6Drk2Yz!z9=~/s;Q)~>|9|9|FY_;A> Q 15٪ ?Q 55 ] 9Y&>Q E@y  9E) 2:I :i X5Y%B%0A%UEUDNOT Ignoring new targets: 99.33 m.gQgQgQgQgQzfQrfQfYfYdYdYcace G@zZZZZ&>5Ž 顥q?I9 ɡx6iIIii28=)):D5D1D1D1vBi~BiBm%IBmBBm =BiBiBmy;BmOEE5ҝ: E16E1:E1iZ2"E5;E5;*E1E1!Q >AM 2=IQ Ii Nu >,S`3Ay>{ү@ٱ>ζ@>/jĽ> `=>H.? ? 뾿p3;?\`???I>{ү@)>\;i>C^oB9bY%IMMb@Mb@Mb@ I)IIIiIIMQ? rh?J +?Mu>Ml>IIM@iIIM@)IMQ@BDe6De03YuX!}@=}:Q)}>y99|FY]:A>Q 15٪k?Q 55 n9b>Q A;YO>Q E@y 9E):I:iZ5Y0ADNOT Ignoring new targets: 99.33 m.gggggzfrfff Bddcc['H@ zZb>Zb>Z+D?Z*O>%/jĽ !%Q?I9 ɡK6iIIii=))?;1E:ai1@@AD D pD 1D E : E  :6E -4:E "E w;E x;*E 8R;E 9R;ԉ >A ==I I N > 4,n`3Ay^ ٯ@ٱ^Kն@^!'ý^=^H@? ? !Ͼ2. ?2q[? 5??I^ ٯ@)^I\;i\rvB9vb%IBD|6D|Y=!D=:Q)>!9)9-|FY)-:A5>9Q 1E5٪= ?Q 5M5= =H9IYMO>Q EM@y=9E)=;I=H!;i=}\5YQ]0AYDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc\H@ԡzZZZZO>!'ý ?Ia9 ɡ76iII]iYi]"=)a)a%l:i9P51 D] D] vDY DY E] %: E] :6EY :EY !u @!} @!} @vB ~B B B B =B B B x;B OE! @>A II IY Nu >",.;`3Aɰ4<p6j=6Hz??h(?ۉ,?(?`Q?I6O@)6e\;i6CBhB9FR%Il)~A |eMb@Mb@Mb@ a)aIaiaaee;O? rh?~jt?et>aeD=Ie@iae-@e@)ae@BD}6D}2Yh!3=:Q)>99|FY:A>Q 15٪?Q 55 Q 9tI 9>Q A;YR>Q E@y9E)u:I:iy^5YBe1AVEDNOT Ignoring new targets: 99.33 m.gggggzfrfff BddccH@zZ>Z>ZwD?ZR>-> )- ?I-K9 1ɡ5S6i1I1I=i9i==)9)A ^:1im9iimq4ia >AU =Ia Iq N} >d(,t9t9v|FYt;A>Q 1%5٪G#?Q 5-5p 9)Y-9S>Q E-@DDrD2DEy: E?:6E4:E"E濽 {?I9 ɡ86iIIii=) ) iA-:iiR5@=@=ԙ iߑ Iߕ %=>A D%=I I N >/20,|`3AyN@ٱN@N/꽽N[=NH E?z?J? ?V ?`1?@?IN@)N0G];iNC\flB9jV%IBDM6DMP)3Y]<!]8=eP;Q)e>a9a9e|FYam ;Am>qQ 1}5٪u/?Q 5}5u u9yYT>Q E@yu9E)u:Iu:iub5YF1ADNOT Ignoring new targets: 99.33 m.gggggzfrfffddcctI@zZZZZ*T>/꽽 ?I9 ɡɭ6iII  i i iv=))vB=5>~B9B9B9B9B9B9B=;B=OEDDuD8DEƱ: E:6EF4:E"EF;EG;*Ekd;Eld;+: iAAAE@5A9 >Am L=Iq I N >{6,0`3A$i$yB@ٱB@B/껽BU9=BHJ?`?O`M ? t?`-?k?IB@)B];i@NaB9NH%Ih-Mb@Mb@Mb@ )))I)i))-K7A?v/?Zd;O?- >-xi>-j<=I-@i)-C@-@))-@BDE6DE2Y]F[!]G=]~;Q)]>a9a9e|FYae0:Am>qQ 1}5٪ul:?Q 5}5u u9}V>Q A};Y}->Q E}@yu9E)uT:Iu:iuc5YB2AWEDNOT Ignoring new targets: 99.33 m.gggggzfrfffBddccE@58I@zZV>ZV>Z#D;?Z->/껽 顝3?I9 ɡi6iIIii=)):i111=/9DDyDWDEs: E:6E~D5:E"E;E;*Er;Er;)>A] +=Ii Iy N >Y <,`3Ay6*@ٱ6j@66ܙ=6H\??ͽt?`s+? "?]?I6*@)6];i6CB`B9BG%IBDJ-6DJ3YRx`!RX=RB;Q)R>T9T9V|FYTV;AZ>XQ 1b5٪ZD?Q 5b5Z Z9`Ybz.>Q Eb@yZ9E)Zu ;IZ ;iZe5Ydj2Ah9DNOT Ignoring new targets: 99.33 m.gggggzfrfffddcchI@zZZZZz.> ?IK9 ɡ_6iIIii=))<4<9i9qI)IiA:ԑi@A@vB 6>~B B %IB BB =B B B ;B OED] D] D] DY E] U: E] *:6E] 6:EY "E] ;E] ;*E] h;E] i; >A S-=I I! N- >$C, a3AyF@ٱF@Fz FI=FH? _? 8?3Aܶ?{&? :?IF@)Fi9^;iFCb\B9bC%ImMb@Mb@Mb@ i)iIiiiiԙmX9v?v/? ףp= ?ms>imQ8=Iiim@ii)iiBD!6Dr3Yz!7=1;Q)>99|FYn;A> Q 15٪ P?Q 55  j9P>Q A;YTQ>Q E@y 9E) ] ;I L ;i g5Y%B%2A!UDNOT Ignoring new targets: 99.33 m.gQgQgQgQgQzfYrfYfYf]BdadacaceI@zZP>ZP>ZC?ZTQ>z 顝3?I9 ɡ6iIIii=))5c:i}=I}<i9 BE}H4JE}̕5RE}i4D= D= D= qD9 E= : E= R:6E= 5:E9 !E @!E @!E @!E @>AM 2=IY Ii Nu >BJ,`+a3Ay6 @ٱ6@6}6W=6H@?E?E{@?jE?*??I6 @)6^;i4@9DBDN6DN 83YVc!VM=VS;Q)Z>x99|FYp;A>!Q 1-5٪%[?Q 5-5% %G9)Y-R>Q E-@y%9E)% :I%;i%Oi5YY]2AYDNOT Ignoring new targets: 99.33 m.gggggzfrfffddcc I@zZZZZ R>=} 9=%?IE89 AɡE6iAIAIuiqiuZ=)y)y! 9Qi9y >A :=I I) N5 >Q, Fa3Ay6@ٱ6 @6lű6C%=H6H?@ ? @?呿`1?r-?@ ?I6@)6 _;i6CR[B9VA%IBD^6D^2Ync»!n:=vE;Q)v>x9x9z|FYx~:A~>|Q 15٪~g?Q 5 5~F ~#9 Y R>Q E @y~!9E)~;I~/;i~.k5YBU1ANEeDNOT Ignoring new targets: 99.33 m.gagigigqgqzfyrfyvB~BB%IBBBBBB;bDZD?AD D yD 6D E : E :6E c4:E "E ;!uE ;!}*E r;!E r;!BOEBiBiBiBiBiBm_4ff ddcIcMJ@zZZZZR>lű ϒ?I<9 ɡ6iIIi i s=) )Yaia w9! i "5 @ =@ I >Aa5=IIN > Y,Hfa3Ay6]@ٱ6@6㮽6~=6H?@?@\@ ?璿`յ?.9??I6]@)6_;i6CB\B9BC%I Mb@Mb@Mb@ ) I i   V-?)\(?~jt? |> Ga> D=I @i @ -@ @)  BD-6D-03Y=n;!E"=U6;Q)]>ԡ99|FY:A>Q 15٪/u?Q 55 9 >Q A;Y%->Q E@y$9E)A;I;ixm5Y B 1A OE5DNOT Ignoring new targets: 99.33 m.DADEDE3DAEA EEA:6EE4:EA!M@!M@!M@!U@UResuming propulsion at range: 99.60 m and bearing: 181.594112 deg. Not drifting fast enough.gUJ@gU<gQgQgYg]L?zfYrfYfafadadacicmNJ@zZ >Z >Z G:?ZJ%->= 顥3?I9 ɡ6iI/I&iiK=)<)Aԑ39i95 >A A!=I I! N= ><~`,wa3Ay^'"@ٱ^g@^D^=^H? ?E ?V ?@;?` ?I^'"@)^a;i^CjXB9 =%IBD6DY-!-==-;Q)->19195|FY1=>;A=>AQ 1M5٪E@?Q 5M5E E9IYM->Q EU@yE&9E)E;IE;iEEo5YY]1AYDNOT Ignoring new targets: 99.33 m.gggggzfrfffq8pAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy8 qɢ^BzH q<Ž2I9  ɡiIzA=II N >ԙ 3f,֛a3AyJ#&@ٱJc"@JJ|]=JH)??V@\"?@ݥ?`6?U/]>UQ8=IU@iU@U@U@)QU@BDm%6Dm03yYui<<!}F=;Q)>99|FYC:A>Q 15٪-?Q 55Z 9 >Q A!;Y,>Q E@y(9E)G;I%;iq5Y1ADNOT Ignoring new targets: 99.33 m.gggggzfrfffBBdddcc`=J@zZ >Z >Z;:?Z,>ɢ-_B-, )- I1 5Sɡ1i1IǜIBii"v))p<%=9ԩiaaae/a@i@i>A=&=IIIaNmW>D}D}sD}0DyE}: E}Z:6E}4:Ey"E};!E};!*E}#];!E}$];! l,Kɵa3AyB+@ٱB'@B 8B(m=BH ??? $?V!?9?m?IB+@)B-b;iBCNRB9R7%IBDV6DV!3Yb&!bV=b;Q)b>d9d9f|FYdf:Aj>lQ 1n5٪nB?Q 5r5n n9pYrW->Q Er@yn*9E)nS:In:inr5YvBz{2AzPE}DNOT Ignoring new targets: 99.33 m.gygygygygyzfyrfffBdddcc J@zZ!Z!Z!Z%:W->ɢ5`B5~ 9=PӼI9 =1ɡ9i9I=JIETؽiAiE5 )I)IE99 ")ivB ~B B %IB BB B B B ;B OEbD ZD @AD D uD 2D E : E :6E 4:E "E #;E $;*E kd;E ld;Y >Am T=Iy I N >s,6a3Aɰ";"4< QB9 5%IMb@Mb@Mb@ )IiMb?Q?Zd;O?>(\>j<=IiC@@)@BD 6D:2Y!6=Q)>99}FYA>Q 15٪?Q 55E j9 Ǭ>Q A ;Y >Q E @y,9E); ;I ;it5Y2A=DNOT Ignoring new targets: 99.33 m.g9gAgAgAgAzfArfIfIfMBBdIdQdQcQcU|"K@zZuǬ>ZuǬ>Zu_2?Zu>ɢaB 額I ‚ɡiIҝIlii))}99=O=i9/>A=IINd>Ai 1y,a3Ay>]7@ٱ>3@>]<>=>H?F?@)M U)?@xQ?>?!?I>]7@)>ŏe;i<JWB9J<%IBDR6DR!3YZb=!Za=^E\9\9b}FY`b;Ab>dQ 1j5٪fy?Q 5j5f fL9lYn>Q En@yf.9E)f~ ;If2;ifKv5YprU2AtDDvD6DE7: E:6Ec4:E! @! @! @!@-DNOT Ignoring new targets: 99.33 m.g)g1g1g1g1zf1rf1f9f9Bd9dAdAcAcExQK@zZaZaZaZeZ>ɢq}ɺ y}Iy ɡiIBIP"Riick]))iQ!998Ri%9!!%/!ԁ>A+,=I IN-N>ԩ ,b3Ay6H>@ٱ6:@6k.6ޚ=6H??ȹx,?@ᚿa?XJ??I6H>@)6f;i6CbMB9b0%IBDh6DhYr=!rG=v;Q)v>t9t9z}FYxz;Az>|Q 15٪~?Q 55~T ~*9 Y ,>Q E @y~09E)~:I~:i~x5YB3AEDNOT Ignoring new targets: 99.33 m.gAgAgAgAgAzfIrfIfIfIBdQdQdQcQcU`uK@zZqZqZqZuJ,>ɢbBTu? 額%I zɡiIIIii ))Ա9AQAQvBY~BYB]%IB]BBYBYBYB];B]OE9D%D!D%1D!E%%: E!6E%-4:E!"E%;!UE%;!]*E%h;!eE%h;!ei)Y ]A>A IYIiN~> 9 Q,Ӥb3Aiy6"C@ٱ6b?@6捽6鯚=6H[?ܷ?`'6&-?@8?kE?@ ?I6"C@)6g;i6CD9DMb@Mb@Mb@ )IiX9v?"~? ףp= ?s>S>Q8=Ii@@)@BD-!6D-r3=;Q)=>A9A9E}FYAM:AM>QQ 1U5٪U\?Q 5]5U U 9]">Q A]&;Y]Z#>Q Ee@yU29E)UP;IU ;iUy5YqqDNOT Ignoring new targets: 99.33 m.gggggzfrfffBBdddccK@zZ">Z">ZA7?Z*Z#>ɢ cB ~<> )-+I1 5ɡ1i1I5}6I=Si9i9)9)AM9ADDoD/DE: E:6EJ4:E!-@!-@!-@!-@97ƽy i 9 / @ A@ >A TIa Iq N >:,|7b3A yFH@ٱF+E@FfFķ=FH ?@W? /?>ǝ ?KG? ?IFH@)Fei;iFCRQB9R5%IBDZ6DZf?3Yb <!bd9d9f}FYhj:Aj>lQ 1r5٪n^˼?Q 5r5nJ n9tYv#>Q Ev@yn49E)n;In:in{5Yxz2Ax%DNOT Ignoring new targets: 99.33 m.g!g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5NK@zZQZQZQZU#>ɢamw; im@Ii m45ɡqiqIu%IuLiyiy)y)<4<,9) iIqIG)Ii Aԙi/>ASsI1 IA vBQ ~BQ BU t%IBU BBQ BQ BQ BU ;BU OENm > D- D- sD) D) E- : E- Z:6E) :E) "E- ڽ;!= E- ۽;!= *E- #];!= E- $];!= ?&,bgQb3AL~LB9~/%IMb@Mb@Mb@ )IiZd;?Cl?/$?~>;_>,=I@iZ@-@5@)z@BD6DF3YP!<=Q)>99}FYA>Q 15٪׼?Q 55 9ͪ>Q A;Y@'>Q E@y79E):II:i~}5YB3AQEB*** querying acoustic contact ***zhhDNOT Ignoring new targets: 99.33 m.gggg g zf rf ff.BBdddcc #L@zZ=ͪ>Z=ͪ>Z=8?Z=z@'>ɢMdBM>X QUAe KI I N >! 8M,L5kb3Aɰp;y6Z@ٱ6BV@60Wt6=6H*? `? o 6?3砿C?`P? ?I6Z@)6j;i6CFWB9F<%IBDL6DLYZMi=!Z\=Z$\9\9^}FY\b;Ab>dQ 1j5٪f(Ἂ?Q 5j5f* f9hYjO(>Q Ej@yf99E)f:If:if5BEme4JEm4REm?z0DtDvwDv1DtEt Ev:6Ev-4:Et!~@!~@!~@!~@Y:3A 5DNOT Ignoring new targets: 99.33 m.g1g1g1g1g1zf1rf9ffBdddcc VL@zZ Z Z Z O(>ɢIM_ QuҼIq }nuɡyiyI}hI?=ii)))Q UA]*DAT read: user:914> eBDAT read: Tx time:23:49:32.4695 e$Ping request sent.eA$ӿIIIYNmV>Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250718,5,b3Ay:V]@ٱ:Y@:.Ff:]=:H-??UvI7?@޷@Ĭ? ;???I:V]@):1k;i:CJUB9J:%IBDR6DR!3YZs!ZJ=Z> \9\9^}FY\b:Ab>dQ 1j5٪f켊?Q 5j5f f9hYj>(>Q En@yf;9E)f:If:ifစ5YprJ3ApDNOT Ignoring new targets: 99.33 m.gggggzfrfff!Bd!d!d!c!c-AL@zZIZIZIZM>(>Yɢ]eBea aeIa eTɡaiiImIma==iqiq)q)q\9AA<vB~BCBn%IBBB =BBB;BOEBBBB° =B° =Bn4DDlD2DE: E:6E4:E"E;!5E;!=*EC;!EEC;!Mi]9aa}/ԉ>AIIN%M>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502160Ա N_,b3Ay6Yf@ٱ6b@6pT6M+=6H54?;?@Z,@;?@`?ڲ?@?I6Yf@)6\.k;i6Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754251SB97%I}Mb@Mb@Mb@ y)yIyiyy}S㥛?$C?l?}$>}Z>}=Iyi}@y}b@)y}p@BD6D3Y!#=99}FY ;A>Q 15٪ ?Q 55  n9>Q A;Yh>Q E@y=9E)x;Irx;i5Y͜B3AREDNOT Ignoring new targets: 99.33 m.gggggzfrfffDBBdddcc L@zZ>Z>Z#.?Zh>ɢ x I +ɡiI(IAU KHSrA] 4=jA] 4U,Vb3AiyFt@ٱF8q@FϦ@F=FH=??]g|C? 쟿??m?IFt@)Fj;iFCiLL)L PIP P)RXAPPTV CV3s@iTITTIXiX XX)X^3C \\\\``I`)`i`)dIfAf什d ddnPB9n4%IBDv6Dv\3Y~i!~O=Hb0?9b0?9}FYũE s;A >Q 15٪ ?Q 55 U9!Y%>Q E%@y?9E)k:I:iʄ5Y)-3A)DNOT Ignoring new targets: 99.33 m.gggggzfrfffBdddcc ZL@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258108ɢM 顕%I WɡiIxsIii))i}9>4>A]CqvB~BCBg%IBzBB =BBB;BAM~AIQIiNuy>DDmD2DE: E:6E4:E"E;!E;!*EMG;!EMG;!A = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512794q,|b3Ay6@ٱ6|@6w*-6Z=6H`E? ?`*S@J?痿`? 6??I6@)6ˎj;i6CYB9>%IMb@Mb@Mb@ )IiQ?S?+?u>/]>=I5@ip@@x@)BD6D2Y=!<=33?93?9}FYȩE^T;A> Q 1 5٪ ?Q 55  :9>Q A#;Y_;>Q E@y B9E) i ;I 7 ;i 5Y%ۜB%4A%SEMDNOT Ignoring new targets: 99.33 m.gIgIgIgIgQzfQrfQfYf]JBBdYdYdacaceH1M@ɢ  XQ QUIQ ]ɡYiYI]/Iaiaia)a)aiE9AAE2Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762243>A=#yAmӳAIIN>ԡ D D {D CD E I: E 5":6E 5:E ! @! @! @! @Ļ,\b3Ay:B@ٱ:@:y:<87=@:HL?\?1Q`Q?=m?@??I:B@):i;i:Cvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015016~ZB9~@%IBD 6D N3Y{;!P=P*7?9*7?9}FYʩE3o;A>Q 15٪?Q 55Q #9Y=>Q E@yD9E):I:ig5Y4ADNOT Ignoring new targets: 99.33 m.gggggzfrfffBdd d c c `cM@ɢ9= =Dz=I9 EؼɡAiAIE7IIiIiI)I)Q ]J>]>Աi9/>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266227I I N > ,; c3AvB ~B"CB"a%IB"uBB" =B B B"z;B"OEyF@ٱF@FFUh7=FH`+T?`%?@5(]`W?֕??o?IF@)Fg;iFCR[B9RA%IBDZ6DZ!3Ybc;!bY=fuJd9d9j}FYj̩Ej;Aj>lpQ 1v5٪r$?Q 5v5r r 9tYz >>Q Ez@yrF9E)r:IrK:ir 5Y|~4A|%DNOT Ignoring new targets: 99.33 m.g!g)g)g)g)zf)rf)f1f1Bd1d9d9c9c=`M@rD=jD<DDD0DEs: Ee:6E4:E"E;!E;!*E^;!E^;!ɢH޺ I ĹɡiI&I1i9iA)A)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518415i9/1>A a II Ia Nm > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7701984,^%c3Ay6@ٱ6ޠ@6Sf漹6MS=6HJ[??ɓ Z?/A˜?d??I6@)6g;i6CfeB9fM%I9]Mb@Mb@Mb@ Y)YIYiYY]HzG?y&1?Q?]=>]`e>]99}FYΩE[;A>Q 15٪1?Q 55' 9F>Q A;Y>Q E@yH9E)X ;I7 ;i5YB&4ATE DNOT Ignoring new targets: 99.33 m.g ggggzfrfffKBBdddccqM@ɢ¥ 9I ĹɡiI^XIi!i!)!)!-i-MMqDDsD2DE: EZ:6E4:E!@!@!@!@i!!)))) BDAT read: Rx Time:23:49:35.0328 TRx dataTimestamp_ set to:1758412172.808519 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023543ԑ>A E2I I N > \,>c3Ay6@ٱ6B@6uü6rJu=6Hd?v?kE@~_?n?a??I6@)6Th;i6CBkB9FT%IiR=IR=BDb6Db4d3YU<!UQ=]B2a9i9m}FYuѩEuG;Au>9Q 1E5٪==?Q 5E5= =9AYEV>Q EE@y=J9E)=:I=:i=ō5YQU3A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274315DNOT Ignoring new targets: 99.33 m.gggg!g!zf!rf!f!f)Bd)d)dicqcuN@ɢdB~9 HA(IIIYNm?r,>>_c3AQ-cB9-K%IMb@Mb@Mb@ )Iiv/?"~j?Zd;O?x>Sc>j99}FYԩEA> Q 15٪ P?Q 55 S 9f>Q A;Y\:=Q E@y N9E) s:I ,:i =5Y%B%4A!h1h5 Tc3Ah5(Bh5(Bh5L@ v5V$5XBgdP]8 @u5Gaq4 Iz?h5.k#h5v5Ƣ]Y}ͥv5E![N(K1h5h5h5m+?h5 th5:B*i5n?2i1:i5Bi5YB"i5?K@u addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 60.253380 s, deltaX: 19.800003 m, approachRate: 0.328612 m/s, rangeRepo size: 4  Added new target pos. range: 119.078407 m, bearing: 182.644152 deg, lat: 36.779160 deg, lon: -121.859674 deg, deltaT: 60.253380 s, deltaX: 19.746765 m, approachRate: 0.327729 m/s, posRepo size: 4 FNOT Ignoring new targets: 119.08 m.Completed rollout at range: 119.40 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCEg?gJ@ggggzfrfffTBBdddc]@c\?ɢOݹ zI 'yɡyiyI}fI"Rii)J@)DDyDDE%: E:6E:E!@!@!@!@ԩ9 i 9 0 i!>A-IU G)iIisǢAI1eU?ekYAIupJIN ?[,qrc3AyN@ٱN@NBNb=NH?L?ڥlW{?`C/oT?>??IN@)N0dg;iNCTVAV̼iXXiXZA)ZԼ XI\ \)^$A^h\\`bAib@I``IfCifA fEd)dh jAjOhhllIl)lil)lIppp ttzhB9zQ%IBD 6D {U3Y<!3=9!9%}FY%שE%w<A->)Q 155٪-_?Q 555- -99Y=&U=Q E=@y-Q9E)-C:I-~:ai-;5Y4AqKAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalK-Entering Terminal tracking update period 2.000000 s sec at 119.400002 m (mode 1.000000 count ).K-K-gYgYgYgYgazfarfafafaBdididicicm?ɢcBoZ9 @A #AA%AIIN%>&,#0c3AyF@ٱF@FFP=FH ?:?I֠@Cԇ?\???IF@)F~yg;iD)9))1 5AMb@Mb@Mb@ )Iirh|?x&1?/$?>A`>D?9D?9}FYکE%;A>9Q 15٪r?Q 55 9>Q A:Y%;Q E@yT9E)AI I N > D, ٻc3Aɰ;y6/@ٱ6o@6 6P=6H?%%?_k ,@?`9\4s?O?W?I6/@)6bg;i4=dB9=L%IBDM6DM\3Y]!]U=e\a9a9m}FYmܩEm <Am>qQ 1}5٪ub?Q 5}5u  u9Y;Q E@yuW9E)u;IuU;iu05Y5Ai1LqLgggggzfrfffBdddcc@X?ɢ%x !-;I) -⳹ɡ)i1I5ꢽIE󤁾iAiE`< )A)IԹi    4 iM=IM4=U*DAT read: user:915> ]BDAT read: Tx time:23:49:37.7194 ]$Ping request sent.]AXI!I1N=r>vB7>~BBU%IBkBB =BBB;BOEBBBBBB5 D D ~D 4D E : E (:6E 4:E "E U;! E V;! *E ;! E ;!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253016A 1,c3Ayj>@ٱ:@ƺ ]=H`? ? e"0 ?z`UX? ??Ij>@)+qg;iCnB9%Y%IMb@Mb@Mb@ )Ii> ףp=?q= ףp?{Gz?>k>#99}FYߩE$<A> Q 15٪ 2?Q 55  9>Q A:Y;Q E@y Z9E) b:I :i  5Y%B%95A%VEi9qL==rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalqK=EAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalgQgQgQgQgQzfQrfYfYf]nBBdYdadacace@@ɢaB+#: 顕A=Ի[IINB>1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502711Y _W,c3AD&D&D&/D$E&: E&5:6E&J4:E$!.@!.@!.@!.@@y a@ٱ  ^@ : p= H5?w?xt߿࠱?%lpZ r??I a@) qg;i C%PB9%4%Ii-=I-=1i1BD= 6D=2YM !MV=MXQ9Q9U}FYUE]9<A]>aQ 1m5٪eF?Q 5m5e. e9iYmJQ Eu@ye]9E)e::Ie:ie5Yy},6AygggggzfrfffBdddcc@ɢ`B* 埽I t۴ɡiIy颽IF׾iiu<;)q)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754682ԩi/>ALIyIN> m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006617>,j d3Aiy6 @ٱ6K@6b;6qz=6H %??@߿@?b r`V?@?I6 @)6;Bg;i6CBoB9BZ%IBDJ6DJ 83YR!>!VU=V;Q)V>X9X9Z}FYZEZi=<A^>lQ 1%5٪᯽?Q 5%58 z9!Y%Q E%@y`9E):Iy:in5Y1545A1gQgYgYgYgYzfYrfafafaBdadidicicmO @AAvB8>~BBN%IBfBB =BBBy;BOEɢ_Bgv: 顽0AMHCII N5->checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2611139a i,,I#d3Ay6@ٱ66@6ˉ;6Ly=6H ?X?f`}`߿?(}n$?`?I6@)6g;i6CBhB9BR%I Mb@Mb@Mb@ ) I i   ?y&1?Mb? f> `e> 99}FYE5<A>Q 15٪?Q 55 r9?Q A:YVQ E@yc9E);I;iM5Y$B5AWEgggggzfrfffmBBdd!d!c!c%v @ɢU^BU): QUp)a)ii9ԁ>A"I IN%,>DmDm~Dm/DiEm: Em(:6EmJ4:Ei!}@!}@!}@!}@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762620 k,"=d3Ay6_ױ@ٱ6Ӹ@6!<6iq=6H??%z߿`V?nЬ@(=\(?@`?I6_ױ@)6g;i4NuB9Ra%IPiP)T VAIT)VBABDZ!6DZr3Yv[=!vY=v;Q)v>x9x9z}FYzEz[<A~>Q 15٪ѽ?Q 5 5 l9 Y BAQ E @yg9E)::I:i5Y3B5AXE]B*** querying acoustic contact ***zhYhYԹgggggzfrf f fBddd!c!c-@ @ɢ]B@; 顝==I WɡiI΢I-iiPf>))5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0146579?)vB~BCBH%IBaBB =BBB;BOEi94bD ZD @AD D rD +D E a: E ?:6E [4:E "E d;! E e;! *E Y;! E Y;! >A A)9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268993A yAIA Ia N >̮,Wd3Aɰj4??I@) h;iC5zB95g%IԱMb@Mb@Mb@ )Iiv?)\(?~jtx?>Ga>;Ix@ip@@Z@)@BD6DF3Y <!4= ;Q)> H?9 H?9}FYET7<A>!Q 1-5٪%L潊?Q 555%@ %f95?Q A5:Y5נQ E5@y%j9E)%;I%;i%5Y9E5AAgagigigigizfirfifqfuBBdqdqdycyc}@s@ɢ\B>w; 顭p=I bɡiI&I\ZDii >))9qi]9YY]/Y>A5m Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518707 IIIYNm>9 D= D= tD= /D9 E= : E= v:6E= J4:E9 !E @!M @!M @!U @,qd3AyR+@ٱR?(@RV {p9p9r}FYrErIl<Av>tQ 1z5٪v?Q 5~5v vb9|Y~$Q E~@yvn9E)v;Iv ;iv5Y BB #6A g1g1g1g1g1zf1rf9f9f9BdAdAdAcAcEw@ɢu[Bu; qu܋=Iy }y.ɡyiyI}0IWii))Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771229A9}2i9>A?BɺyI  BDAT read: Rx Time:23:49:40.2859  TRx dataTimestamp_ set to:1758412178.100291 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023726I N >Ա û",wd3Ay6T@ٱ6P@6|U<61f=6H`2?>?%(0;޿$? :oJ'??I6T@)6h;i4BB9Bo%IBDf6Df3ApAr4<vBv9>~BtBvB%IBv\BBtBtBtBv;BvOEY><!H=<;Q)> 9 9 }FY E G<A>Q 15٪?Q 5%5 ^9!Y%Q E%@yq9E);II;iO5Y)56A1gQgQgYgYgYzfYrfYfafaBdadadicicm@ɢYBA] [R;rAe >jAe >I I N > (,3Rd3Ay6Ex@ٱ6t@6͟<6^=6H`\C? a?oT~`ݿ@5?+xͫ?1?I6Ex@)6g;i4B{B9Bi%IjDAT read: 23:49:40.2859 LVL= 32752, 23121, 27378, 32755, AGC= 65, IDX= 459, 0.50, 0.064, 2.352, 1.326, 1.411, PHS=-1.245, 0.985,-0.129, RAW= 300.0, 4.1, CAL= 297.7, 0.1, ROT= 212.3, -0.1 nYgot valid direction response: 23:49:40.2859 LVL= 32752, 23121, 27378, 32755, AGC= 65, IDX= 459, 0.50, 0.064, 2.352, 1.326, 1.411, PHS=-1.245, 0.985,-0.129, RAW= 300.0, 4.1, CAL= 297.7, 0.1, ROT= 212.3, -0.1 rPDAT read: Bearing 316.0, -31.2 (Local) r~Local bearing/azimuth received: Bearing 316.0, -31.2 (Local) zDAT read: Range 11 to 50 : 121.8 m (Round-trip 162.4 ms) speed -0.5 m/s zR#Rx 1: Read range and direction messages.~`direction in FSK: [-0.845261,-0.534351,0.001745]~Fpublishing direction and range info9PR/_ KhΈn p\?RBPiRRQZRjRRA R)\)R(|?IRiR6@RC=R^D@R:R1$m@ RiPPIR;M)@?] T/?R_I@R R$)RiPPT****** received valid address query ******R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Iiy&1?1Zd?MbP`?"[>IiZ@C@) @BD6Df?3Y!&=`;Q)>99}FYE<A>Q 15٪ ?Q 55 90?Q A:YɽQ E@yu9E)V;IV;it5YQB6AYEhPhRwd3AhRBhRBhRM@ vRgBYgn?-:PQ/E #?uR/_ KhΈn p\?hR$hRvR_G^dB"+fvRdTj|>.qqhRhR>hR#YA?hRhRB*iRBH?2iP:iPiR+B"iRJ@ addTargetRange:: Added new target pos. range: 121.800003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 g)g-e Added new target pos. range: 121.472534 m, bearing: 184.310915 deg, lat: 36.779156 deg, lon: -121.859674 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 gimFNOT Ignoring new targets: 121.47 m.guguD D D ,D E s: E  H:6E g4:E !@!@!@!@E  ProNav pure pursuit: ac range: 121.472534 m, nav range: 121.084984 m, bearing: 181.650827 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 181.594112 deg, new cmd heading: 181.650827 deg. MHeadingCmd: 3.170405 target range: 121.472534 and range: 121.80 m.gMJ@gIgIgIgIzfQrfQfQfUBBdydydyc@3s^@c`?ɢWBą; =I ƷɡiIpIaii)J@))i iu*DAT read: user:916> }BDAT read: Tx time:23:49:41.5194 }$Ping request sent.}A <I I N >a /,uVd3AI>G)TIdiۯAym@ٱm@mѽ<A?Q 15٪.0?Q 555 9Y{Q E@yx9E);I;i5Y`B7AZEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 121.47 m.g"#g"# ProNav pure pursuit: ac range: 121.472534 m, nav range: 121.275024 m, bearing: 181.639701 deg, approach rate: 0.610000 m/s, LOS rate: -0.035656 deg/s, cmd heading: 181.650821 deg, new cmd heading: 181.639701 deg. HeadingCmd: 3.170211 target range: 121.472534 and range: 121.80 m.gJ@ggggzf!rf!f!f)Bd)d)d)c)c54F?ɢ]VB]z; ae=Ia e7ɡaiaIe^ImEiiii)uJ@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251538i9?0>AS,=II)N5.>IvB8>~BBBB =BBB;BOEDDwDDE: E:6E:E"EIip@x@p@)\@I)AABD6D 83Y!D=;Q)>99}FYE%&<A%>!Q 15٪%XD?Q 55% %`9?Q A:YѽQ E@y%|9E)%:I%:i%é5Y7AgFNOT Ignoring new targets: 121.47 m.ggԡ ProNav pure pursuit: ac range: 121.472534 m, nav range: 121.513519 m, bearing: 181.624922 deg, approach rate: 0.550812 m/s, LOS rate: -0.034065 deg/s, cmd heading: 181.639701 deg, new cmd heading: 181.624922 deg. HeadingCmd: 3.169953 target range: 121.472534 and range: 121.80 m.gJ@gggg zf rf f fzBBdddcc ?ɢTBf <; H2=I Xn8ɡiI1I&4ii)J@)i/checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755273>AD%=IIN-> BE4JEm4RE˝0D D vD -D E : E :6E t4:E !% @!% @!% @!% @#"<,d3Ay6wֲ@ٱ6ҹ@6<6[kF=6Hm?a?f?Sݿ@b?@6ϜlȨ?&?I6wֲ@)6vg;i6CB}B9Bk%IBDJ6DJ2YR8=!Re=Vk;Q)V>T9X9Z}FYZEZ"%<AZ>\Q 1b5٪^U?Q 5b5^b ^b9dYfɽQ Ef@y^9E)^%:I^:i^Q5YjoBj7Aj[ElgFNOT Ignoring new targets: 121.47 m.g  $g  $ ProNav pure pursuit: ac range: 121.472534 m, nav range: 121.717445 m, bearing: 181.612687 deg, approach rate: 0.598594 m/s, LOS rate: -0.035853 deg/s, cmd heading: 181.624921 deg, new cmd heading: 181.612687 deg. HeadingCmd: 3.169739 target range: 121.472534 and range: 121.80 m.gJ@ggggzfrfffBdddcc@_?ɢSB%n; !%=I! %Nb8ɡ!i!I-I-Wi1i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007341)5J@)QiP5 >A >AIINl>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259165a C, e3AA@AB@AvBF9>~BDBDBDBF =BDBDBF};BFOEBMCBMCBIBIBIBM 5fB9fu%IBDn 6Dn2Yvi=!vF=vQ)v>x9x9z}FYzEzA~>9iQ 1u5٪m7j?Q 5}5m md9yYyQ E}@ym9E)m;Im;im.5YP7AgFNOT Ignoring new targets: 121.47 m.g_g_ ProNav pure pursuit: ac range: 121.472534 m, nav range: 121.961502 m, bearing: 181.598098 deg, approach rate: 0.572922 m/s, LOS rate: -0.034178 deg/s, cmd heading: 181.612681 deg, new cmd heading: 181.598098 deg. HeadingCmd: 3.169485 target range: 121.472534 and range: 121.80 m.gJ@ggggzfrfffBdddccƃ?ɢ QB; =I dfI9ɡiII%oi!i!)%J@)!rDjD<DDrD0DEa: E?:6E4:E"Ed;!Ee;!*EY;!EY;!i5y>A%;>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513168AAIINj>ԑ '4I,k&e3Ay6@ٱ6]@6 =6''=6H`|?`6'?8?@ݿ u?{@ E?^?I6@)6g;i6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763094VB9V{%I5Mb@Mb@Mb@ 1)1I1i115M?:v?~jt5n?5T>5DI5@i111)15@BDM6DM 3Y]L<!]C=evleK?9eK?9e}FYeEmm%<Am>qԩQ 15٪u~?Q 55u um9?Q A:YQ E@yu9E)uGA (q>rA%?jA% ?AI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015584IaIqN> P,o@e3A(i(yJ9@ٱJz@J{=J̽ =JHH{?M'?Y ?ݿ5w?'~`V.ࢳ?@Y?IJ9@)Jg;iHVB9V%IBD^!6D^r3Yfݤ<!fT=j h9h9n}FYnEn 8An>pQ 1v5٪rv?Q 5v5r rx9xYzQ Ez@yr9E)r\:Ir:ir5Y~B~7Ag!-FNOT Ignoring new targets: 121.47 m.g-Lg-L= ProNav pure pursuit: ac range: 121.472534 m, nav range: 122.437279 m, bearing: 181.564373 deg, approach rate: 0.634469 m/s, LOS rate: -0.044791 deg/s, cmd heading: 181.580811 deg, new cmd heading: 181.564373 deg. EHeadingCmd: 3.168896 target range: 121.472534 and range: 121.80 m.gE2J@gAgAgIgIzfIrfIfIfQBdQdQdYcYc]9@ɢMB !<   >I  59ɡ1i1I5I=3ÿi9i9)=2J@)Ai߭W?I߭<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267999i9/>A(>!vB:>~BBBBBBDB;BOEAIINi>ID D yD -D E ҝ: E :6E t4:E "E ;! E ;! *E r;! E r;! ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519230q KV,weZe3AyU@ٱU@U]&=UjI@i-@@)@BD 6D :3Y1=!7=%;Q)%>!9!9%}FY-E-`A->9IQ 1]5٪=\?Q 5e5= =9m$?Q Am:Ym Q Em@y=9E)=;I=;i=5Yy7AMB*** querying acoustic contact ***zhIhIgY]FNOT Ignoring new targets: 121.47 m.gDjgDj ProNav pure pursuit: ac range: 121.472534 m, nav range: 122.719566 m, bearing: 181.539902 deg, approach rate: 0.592023 m/s, LOS rate: -0.051203 deg/s, cmd heading: 181.564378 deg, new cmd heading: 181.539902 deg. HeadingCmd: 3.168469 target range: 121.472534 and range: 121.80 m.g2J@ggggzfrfffBBdddcc w@ɢKBA(< =>IA E} :ɡAiAIEcYIMϿiIiI)M2J@)Qyi%4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772485ԡ>A 3> D D }D 3D E : E k&:6E 4:E !% @!% @!% @!% @Aq Iy I N >\,te3Ay6β@ٱ6˹@62=6J<6Hf? n?0?]ݿ"i?@@]??I6β@)6f;i4BB9B%IBDJ 6DJ2YRZ!R`=VT9X9Z}FYZEZd#AZ>\Q 1b5٪^?Q 5b5^ ^9dYf#Q Ef@y^9E)^;I^Q;i^05YjBj<8An]Eg|FNOT Ignoring new targets: 121.47 m.gg ProNav pure pursuit: ac range: 121.472534 m, nav range: 122.948067 m, bearing: 181.519760 deg, approach rate: 0.680711 m/s, LOS rate: -0.059892 deg/s, cmd heading: 181.539898 deg, new cmd heading: 181.519760 deg. HeadingCmd: 3.168118 target range: 121.472534 and range: 121.80 m.gpJ@ggg!g!zf!rf!f)f)Bd)d)d1c1c5 @BDAT read: Rx Time:23:49:44.0889 TRx dataTimestamp_ set to:1758412181.884287checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024327ɢIB@< Z>I %:ɡiI*I%ٿi9i9)=pJ@)Aii9/ԑ>A;>Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275791AI IY Ii Nu > A) A- <vB1 ~B1 B1 B1 B1 B1 B1 B5 ;B5 OEwc,e3Aɰ;y6@ٱ6١@6>=6<6H'R?@H??6ݿ X?w^@Χ ?`?I6@)6_f;i4FB9F%IBDN6DN3YV0ʼ!VK=V7;Q)V>X9X9Z}FYZ E^#MA^>`Q 1f5٪bӾ?Q 5f5b b9dYf7)Q Ef@yb9E)bh:Ib:ib5YnBn8A=^EgFNOT Ignoring new targets: 121.47 m.gvgv ProNav pure pursuit: ac range: 121.472534 m, nav range: 123.200607 m, bearing: 181.496957 deg, approach rate: 0.598321 m/s, LOS rate: -0.053914 deg/s, cmd heading: 181.519763 deg, new cmd heading: 181.496957 deg. HeadingCmd: 3.167720 target range: 121.472534 and range: 121.80 m.gJ@ggggzfrfffBdddcc] @rD%=jD%=DDnD/DE: E:6EJ4:E"E;!E;!%*EJ;!-EJ;!5ɢGB{$< D>I aH:ɡiI㠽Iii)J@)DAT read: 23:49:44.0889 LVL= 32752, 24353, 29106, 32755, AGC= 69, IDX= 458,-0.35,-2.496,-0.348,-1.306,-1.263, PHS=-1.131, 0.960,-0.087, RAW= 300.1, 2.9, CAL= 298.0, -1.2, ROT= 212.0, 1.2 MYgot valid direction response: 23:49:44.0889 LVL= 32752, 24353, 29106, 32755, AGC= 69, IDX= 458,-0.35,-2.496,-0.348,-1.306,-1.263, PHS=-1.131, 0.960,-0.087, RAW= 300.1, 2.9, CAL= 298.0, -1.2, ROT= 212.0, 1.2 PDAT read: Bearing 320.3, -29.3 (Local) ~Local bearing/azimuth received: Bearing 320.3, -29.3 (Local) DAT read: Range 11 to 50 : 124.0 m (Round-trip 165.4 ms) speed -0.8 m/s i199=/9uR#Rx 1: Read range and direction messages.}bdirection in FSK: [-0.847862,-0.529803,-0.020942]}Fpublishing direction and range info9|!y1%_2qBi!_qE Đ)u?I-i@4QO=Bo@hl@ AY rAe >jAe >Y  *DAT read: user:917>  BDAT read: Tx time:23:49:45.3694  $Ping request sent. bj,ގe3Ay~x@ٱ~t@~^J=~.;~H?`I@i@b@@)Q@BD6D3Y:=!%=;Q)>99}FY EM5A>Q 1%5٪?Q 5%5\ 9-%?Q A-:Y5:Q E5@y9E)IA EDp:ɡAiAIEIMwiIiI)MKJ@)Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250587i   [1 >A5 B>9 A I I N >bq,6e3A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501661h5B95%Ii==I==AiE4<BDE6DE2Y] 5!]>=]Q)e>a9a9e}FYeEmAm>qQ 1}5٪u?Q 5}5u u9yYyQ E@yu9E)u:Iu:iu5YB:AhEgFNOT Ignoring new targets: 123.67 m.g?g? ProNav: ac range: 123.666809 m, nav range: 123.847130 m, bearing: 182.324304 deg, approach rate: 0.676280 m/s, LOS rate: -0.070924 deg/s, cmd heading: 181.442322 deg, new cmd heading: 181.385970 deg. gHeadingCmd: 3.165782 target range: 123.666809 and range: 124.00 m.g.J@ggggzfrfffBdddcc?ɢBBi@< R>I (:ɡiIF_I%Ri!i!)-.J@))vB9>~BBBBBBDB;BOEi9/bDZDAADDsDDE: EZ:6E:E"E!E!*E#];!E$];!)>A3>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753649A I I) N] >a x,e3A i y>t @ٱ>@>ca=>58>H???@޿?(-ʯ??I>t @)>`f;i>CnB9n%I9uMb@Mb@Mb@ q)qIqiqquMbX9?K7? rhu!?uI>uC IuC@iu@qu@)qu=@BD6DF3Y=!G=a99}FYE&A>Q 15٪?Q 55 9)?Q A:YkJQ E@y9E)P;IP;iƻ5YB:AiEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 123.67 m.gg  ProNav: ac range: 123.666809 m, nav range: 124.110237 m, bearing: 182.294808 deg, approach rate: 0.639835 m/s, LOS rate: -0.071578 deg/s, cmd heading: 181.385973 deg, new cmd heading: 181.327106 deg. gHeadingCmd: 3.164755 target range: 123.666809 and range: 124.00 m.gYJ@ggggzfrfffۄBBdddcc`ά?ɢ=?B=R^< 9==>I9 ElZ:ɡAiAIEIMiIiI)mYJ@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007015iԑ9DDqDDE: E$ :6E:E! @! @! @! @im 9i i m 65i E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257560>A B>bA AZA }A d>i C)IeG)AIiAuAAIIN?̀,Yf3A1y]@ٱ]3@]z=]5]H;? T?-? y߿8?] K f@?I]@)]f;i]C checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509536YB9%IBD6D2Y%?!%=%)9)9-}FY-E5aA5>9Q 1E5٪=y=?Q 5E5=d =49AYEXQ EM@y=9E)=s:I={:i=5YUBU;AUjEAAAAvB:>~BB<%IBWBBBBDB;BOEg!%FNOT Ignoring new targets: 123.67 m.g-g-= ProNav: ac range: 123.666809 m, nav range: 124.516769 m, bearing: 182.246697 deg, approach rate: 0.617694 m/s, LOS rate: -0.072862 deg/s, cmd heading: 181.327111 deg, new cmd heading: 181.231204 deg. g=XEHeadingCmd: 3.163081 target range: 123.666809 and range: 124.00 m.gEoJ@gAgAgIgIzfIrfIfIfQBdQdQdYcYc]?ɢ;BTE,< 額D'>I L:ɡiIIS ii)oJ@)ԉDmDmzDiDiEm: Em :6Ei:Ei"EmU;!}EmV;!}*Emv;!}Emv;!} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762963 9 ) i!!!%/!>AMׄ>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0155359AyIIN,?T,,.f3Aɰ4<yb^@ٱbZZ@b+8=b?bH?e??@߿z?@2  r?Ib^@)bf;ibCitvEA)t tIt |)||||s@iI  I i ) !!!))I)))i))1I5A=7 9 99MB9U%I}Mb@Mb@Mb@ y)yIyiyy}K7?Zd;O?L7A`堿})?}j<>}+Iyiyy}-@)y}@BD6D2Y}_=! =U;Q)>99}FYEO?A>Q 15٪^?Q 55  b9X0?Q A:Y!Q E@y9E)$5;I4;i'5YB;AkEgFNOT Ignoring new targets: 123.67 m.g Ӻg Ӻ ProNav: ac range: 123.666809 m, nav range: 124.906586 m, bearing: 182.193447 deg, approach rate: 0.679988 m/s, LOS rate: -0.092599 deg/s, cmd heading: 181.231201 deg, new cmd heading: 181.125033 deg. gw)%HeadingCmd: 3.161228 target range: 123.666809 and range: 124.00 m.BEـ4JEJ4RE0D)D-xD)D)E) E-:6E):E)!=@!=@!=@!=@g%QJ@g9gAgAgAzfArfAfIfMBBdIdIdQcQcU`@ɢ-7B=Y< AEP>IA EjG:ɡAiAIM% IMbiQiQ)UQJ@)Q)y yiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265747! i I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517630>A܄>ԁvB9>~BBBBBBDB;BOEBQBQBQBQBQBUϞ4A5yAIIN ?6,ΩQf3Ay:iݰ@ٱ:ٷ@:v=:O :HHi?`W`?ڰ?`Z}?@= @kRcn?I:iݰ@):@{f;i:CB9%IBD%6D%3Ym <!u!=uc} H?9} H?9}}FY}EA>Q 15٪z?Q 55q 9Y'Q E@y9E)H;I;i_Å5Y#B IQ U:ɡQiYI]I]6iaia)eb6J@)ai9   =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771469>A)aA] AIa I N >q  BDAT read: Rx Time:23:49:47.9420  TRx dataTimestamp_ set to:1758412185.664913 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023374],wkf3Ay6⛰@ٱ6#@6ҙ=696HE?@??\?v5 +`?I6⛰@)6Ff;i6C5B95%IMb@Mb@Mb@ )IiK7A`?&1?Q롿+?P>\Ip@i@@)@BD6D 83Y_!B=% K?9 K?9 }FY  EA>!Q 1-5٪%򒿊?YQ 555%W %93?Q A:Y~Q E@y%9E)%>I ;ɡDDrD0DEƱ: E?:6E4:E!@!@!@!@iI%O I-/!i)i))- J@)1ԁi/=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273651Թ>A AQ Ia Iq N} >o١,f3Aiy6S@ٱ6O@6aڠ=6_`6HP?`?S?`) 7?c?I6S@)6'f;i6CBB9B%IBDJ6DJ2YR<!RM=V T9X9Z}FYZ"EZﵼAZ>\Q 1b5٪^T?Q 5b5^- ^9dYfQ Ef@y^9E)^w;I^;i^ƅ5Yhj|I1 =X;ɡ9i9I=ԾI~&ii)+ J@)AAvB:>~BB5%IBRBB =BBB;BOEԹi591111DDwD-DEC: E:6Et4:E"E2;!E3;!*Ek;!Ek;!)  >AY e DAT read: 23:49:47.9420 LVL= 32752, 24753, 28706, 32755, AGC= 66, IDX= 458, 0.12,-0.748, 1.363, 0.397, 0.453, PHS=-1.099, 0.955,-0.100, RAW= 300.9, 2.8, CAL= 298.8, -1.2, ROT= 211.2, 1.2 bA AZA A Ygot valid direction response: 23:49:47.9420 LVL= 32752, 24753, 28706, 32755, AGC= 66, IDX= 458, 0.12,-0.748, 1.363, 0.397, 0.453, PHS=-1.099, 0.955,-0.100, RAW= 300.9, 2.8, CAL= 298.8, -1.2, ROT= 211.2, 1.2  PDAT read: Bearing 317.6, -26.6 (Local)  ~Local bearing/azimuth received: Bearing 317.6, -26.6 (Local)  DAT read: Range 11 to 50 : 126.3 m (Round-trip 168.5 ms) speed -0.6 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.855177,-0.517913,-0.020942] Fpublishing direction and range info9! % S]];׏_2q% B! i! % `% "p! % B % )% zt?I% ̽i% @% +H=% @! % k@ ! i! !  I% L_u))VŲ?% H% vF % 6&)! i! ! A I I! N- >5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.,c|f3A]B9]%IiiiMb@Mb@Mb@ )IiV-?x&1?{Gzh1?A`>#I@i@@)z@BD6D!3Y!*=Q) > 9)95}FY5&E5A5>9Q 1E5٪=ſ?Q 5E5=k =9EV:?Q AM:YM|Q EM@y=9E)=;I=;i=Ʌ5YuBBu=A}mEhahef3AheBheBheYzH@ veZ9u\$OP y!tueS]];׏_2qhe6&haveLnq_c;7]?ژ-@ve!%,K|V?%I?he?heheKO^?he}h;heB*ia2ia:ieBie BDAT read: Tx time:23:49:49.4194 $Ping request sent.I) - ;ɡ)i)I-[II5,i1i1)5I@)9i/]PExceeded connect timeout, disconnecting.QD D pD 1D E a: E  :6E -4:E ! @! @! @! @y >A ׄ>E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251072A I I N >I֮,*;f3Ayf¯@xٱf־@f=f1fH?`H??D`T?h`۵6ӓ?If¯@)f% f;ifC)9)BD=6D= 83MQ9Q9]}FY](E]:A]>aQ 1m5٪eܿ?Q 5m5eY e19qYuQ Eu@ye9E)e;Ie];ieʅ5Y}RB}=A}nEgFNOT Ignoring new targets: 125.96 m.gFgF溝 ProNav: ac range: 125.960449 m, nav range: 126.385818 m, bearing: 181.989986 deg, approach rate: 0.719029 m/s, LOS rate: -0.100661 deg/s, cmd heading: 180.786447 deg, new cmd heading: 180.711542 deg. g88HeadingCmd: 3.154011 target range: 125.960449 and range: 126.30 m.gSI@ggggzfrfffBdddcc@A?ɢ'B b< \s v>I  3+;ɡiIt霽Iq~1ii)SI@)!i/@,>@)>!=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502819I>AvBm9>~BiBm/%IBmLBBm =BiBiBm;BmOEA I! I1 NE >y D D yD /D E %: E :6E J4:E "E ;! E ;! *E r;! E r;! ,f3Aɰ2;24t9t9z}FYz*EzüAz>|Q 15٪~g?Q 55~Y ~[9 Y NQ E @y~9E)~:I~6:i~w̅5YbB>AoEg9EFNOT Ignoring new targets: 125.96 m.gEgEY] ProNav: ac range: 125.960449 m, nav range: 126.653435 m, bearing: 181.951373 deg, approach rate: 0.686120 m/s, LOS rate: -0.098786 deg/s, cmd heading: 180.711547 deg, new cmd heading: 180.634486 deg. g]4eHeadingCmd: 3.152667 target range: 125.960449 and range: 126.30 m.geJI@gagagigizfirfifqfqBdqdqdycyc} ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762839ɢ%$B%< !%PQ>I) -6;ɡ)i)I-nI56i1i9)=JI@)9i/ԑ>AI checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015983Ay I I N >  nManaging dock network, ignoring radio surface power off,f3Ay6:&@ٱ6{"@6=6ϼ6Hgs?`b?1? Sј?@ߙ?I6:&@)6e;i4BB9B%IEMb@Mb@Mb@ A)AIAiAAEi|?5??ktE1?Eff>E 0IE@iE-@AE@)AEf@BD]6D]2Ym=!mB=mq9q9u}FYu-E}A}>Q 15٪ ?Q 55 9;?Q A:YyQ E@y9E);Iu:iN΅5Y$>AԹB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 125.96 m.gg⺝ ProNav: ac range: 125.960449 m, nav range: 126.942627 m, bearing: 181.909512 deg, approach rate: 0.685803 m/s, LOS rate: -0.099045 deg/s, cmd heading: 180.634489 deg, new cmd heading: 180.550957 deg. gC5HeadingCmd: 3.151209 target range: 125.960449 and range: 126.30 m.ggI@ggggzfrfffBBdddcc@{?ɢ- B-Pf< 15y>I1 5C;ɡ9i9I=I=_A-܄>Aa Ii Iy N >9 l, g3A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518866yRڮ@ٱRֵ@R99}FY0ELA>Q 15٪&?Q 55 9Y5Q E@y9E);I ;iIЅ5Y%qB%>A%pEgIMFNOT Ignoring new targets: 125.96 m.gU gU 麝e ProNav: ac range: 125.960449 m, nav range: 127.253777 m, bearing: 181.863265 deg, approach rate: 0.687072 m/s, LOS rate: -0.101873 deg/s, cmd heading: 180.550955 deg, new cmd heading: 180.458686 deg. gep:mHeadingCmd: 3.149598 target range: 125.960449 and range: 126.30 m.gmI@gigigigqzfqrfqfqfqBdydydycyc?ɢB< 額Hm>I R;ɡiIf[I`Bii)I@)arDm=jDm=DuDuxDu+DqEu: Eu:6Eu [4:Eq"Eu;!}Eu;!}*EuWo;!EuWo;!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770698ԙ9ii q q u /y @ @ AԹ >Aׄ>bAAZAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.022753AIIIaN}?S,Ug0g3A$i$LIMAM\iIIiQUA)U QIQ Y)]A]j5LI5-@i15@5A)15@BDU6DUf?3Y]2=!]=eQ)e>a9i9m}FYm4EmAu>qQ 1}5٪uG?Q 55u  u9??Q A:YĉQ E@yu9E)u:IuE:iu҅5YB?AgFNOT Ignoring new targets: 125.96 m.gjgjDeDeyDe2Da} ProNav: ac range: 125.960449 m, nav range: 127.644958 m, bearing: 181.808649 deg, approach rate: 0.704790 m/s, LOS rate: -0.098099 deg/s, cmd heading: 180.458693 deg, new cmd heading: 180.349797 deg. Ees: Ee:6Ee4:Ea!@!@!@!@g}3HeadingCmd: 3.147698 target range: 125.960449 and range: 126.30 m.gsI@ggggzfrfffHBBdddccf@ɢ B^<  >I Ae;ɡiIɣIE=GiAiA)EsI@)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.275002!IG)ZAIiۮZAA9ri    35! ! I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526670>AE<->vBA~BABE%IBE8BBE =BABABE;BEOEqAIIN ?,ρSg3AyF @ٱFL@F=F'FH?|?@(? ?T❿ &ФE?IF @)Fb;iFC-B95%IBDE 6DEk3YUG!U=].Y9Y9]}FY]7EehAe>iQ 1u5٪mOf?Q 5u5m  mO9qY}ǘQ E}@ym9E)m:Im:imԅ5YB?AqEgFNOT Ignoring new targets: 125.96 m.gg ProNav: ac range: 125.960449 m, nav range: 128.003525 m, bearing: 181.753689 deg, approach rate: 0.697863 m/s, LOS rate: -0.106667 deg/s, cmd heading: 180.349793 deg, new cmd heading: 180.240181 deg. g6CHeadingCmd: 3.145785 target range: 125.960449 and range: 126.30 m.gTI@ggggzfrfffBdddcc@bDZDDDtD,DEҝ: Ev:6Eg4:E"E;!E;!*E`;!E`;!ɢBtx< >I ]v;ɡiIC홽I)H@ii)TI@)a)i iiiIichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778729i1A U BDAT read: Rx Time:23:49:51.9959 U TRx dataTimestamp_ set to:1758412189.708053] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035651i >A A1IAIQN]?U,sg3Ay:@ٱ:╴@:=:>4:H?@%qI%Z@i%Z@%x@%A)!%=@BD=6D=3YU<!U=U;Q)U>Y9Y9]}FY]:E]͙Ae>aQ 1u5٪e2?Q 5u5e e9uA?Q Au:YuQ Eu@ye9E)e ;Ie]:ieLׅ5Y˞BAA{EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 125.96 m.gg ProNav: ac range: 125.960449 m, nav range: 128.378128 m, bearing: 181.694708 deg, approach rate: 0.698212 m/s, LOS rate: -0.109613 deg/s, cmd heading: 180.240182 deg, new cmd heading: 180.122564 deg. gHHeadingCmd: 3.143732 target range: 125.960449 and range: 126.30 m.g2I@ggggzfrfffWBBdddcac` @ɢBN&< 页>I Ʉ;ɡiI>%I!'H@ii)2I@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283446iyyyP5ԑ >A E2>A M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537360Ia I N > ],Wg3AvBr7>~BrCBr %IBr.BBpBpBpBr;BrOEBBBB =BBc4yeC@ٱe^?@ec=eAeH@N? r8?@-? DAT??IeC@)elc;ieCB9w%IBD6D 83Yױ!F=;Q)>99}FY=EѼA> Q 15٪ ?Q 55 r 9YoQ E@y 9E) :I W:i م5Y%۞B%BA-|EgIUFNOT Ignoring new targets: 125.96 m.gUgUm ProNav: ac range: 125.960449 m, nav range: 128.665863 m, bearing: 181.648117 deg, approach rate: 0.697612 m/s, LOS rate: -0.112706 deg/s, cmd heading: 180.122566 deg, new cmd heading: 180.029593 deg. gmCNuHeadingCmd: 3.142109 target range: 125.960449 and range: 126.30 m.guQI@gqgqgqgqzfqrfyfyfyBdyddcc|)@ɢ B<< 页z>I ;ɡiIIdIii)QI@)!rDYjD]4=DaDenDe0DaEa Ee:6Ee4:Ea"Ee;!uEe;!u*EeJ;!uEeJ;!uiyyy}4yIMDAT read: 23:49:51.9959 LVL= 25648, 17937, 20866, 26579, AGC= 64, IDX= 466, 0.16, 2.256,-2.029,-2.813,-2.869, PHS=-1.057, 0.885, 0.012, RAW= 296.7, 1.9, CAL= 295.0, -2.5, ROT= 215.0, 2.5 ]Ygot valid direction response: 23:49:51.9959 LVL= 25648, 17937, 20866, 26579, AGC= 64, IDX= 466, 0.16, 2.256,-2.029,-2.813,-2.869, PHS=-1.057, 0.885, 0.012, RAW= 296.7, 1.9, CAL= 295.0, -2.5, ROT= 215.0, 2.5 mPDAT read: Bearing 315.2, -28.2 (Local) u~Local bearing/azimuth received: Bearing 315.2, -28.2 (Local) DAT read: Range 11 to 50 : 129.3 m (Round-trip 172.4 ms) speed -0.6 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.818372,-0.573030,-0.043619]Fpublishing direction and range info9W0꿻 DV⿥GULCi0dFQg@ K)\b?IDA <->Aa Iq I N >,@g3AyV@ٱV@V=VoRVH@?y?@Y?5V?]`?IV@)Vsc;iVCbB9b~%IuMb@Mb@Mb@ q)qIqiqqun?Q?p= ףu6?uu>uIu@iu-@u@u?A)qu@BD6D3Y;<!L=;Q)>99}FY?EYݼA>Q 15٪#?Q 55  9@?Q A:YAQ E@y9E):I:iڅ5YBBA}Ehhfg3AhChChRF@ vmaZo_)yRZVuuW0꿻 DV⿥GUhp!h¸2=v#( ``į#@2Y9,$@v $~￿Et?*?uP?h@hdhr?hLBwhGB*iMkT?2i:i;BiC*DAT read: user:919> BDAT read: Tx time:23:49:53.4194 $Ping request sent.I9A =o;ɡaiaIeF藽ImH@iqiq)uH@)y ,> >i94qD5D5tD5/D1E5: E5v:6E5J4:E1!=@!=@!E@!E@ԡ >A )  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256002A I I N >,g3Ay6@ٱ6:@6=6n^6H@?i?0?@/ G!?`0@<^`*?I6@)6c;i4@BB9Fu%I)H HBDN6DN!3YVO!V\=VX9X9Z}FYZBE^A^>!Q 1%5٪%?Q 5-5% %_9)Y-ްQ E-@y%9E)%W:I%p:i%܅5Y1=.CA9gFNOT Ignoring new targets: 128.95 m.gn gn  ProNav: ac range: 128.951477 m, nav range: 129.065964 m, bearing: 181.557612 deg, approach rate: 0.692277 m/s, LOS rate: -0.120153 deg/s, cmd heading: 179.937618 deg, new cmd heading: 179.846372 deg. g[HeadingCmd: 3.138911 target range: 128.951477 and range: 129.30 m.gH@ggggzfrfffBdddcc?ɢB9< 顅t>I *՘;ɡiIOIH@ii)H@)Աi9/5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503556vB8>~BB$IBBBBBBɗ;BPE>A4(> bDA ZDA DU DU yDU 1DQ EU C: EU :6EU -4:EQ "EU 2;!] EU 3;!e *EU r;!e EU r;!e A I I NE >B,rg3AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756026yR-@ٱRP)@R=RE\RH? ?4d?`? @ Q`u?IR-@)Rc;iRCjwB9jc%IpBD 6D2Y%H!%C=%;Q)%>1919=}FY=DEEAAE>QQ 1e5٪U\?Q 5m5UI U9qYuQ Eu@yU:E)Uiz;IU{;iURޅ5Y}B}#DA~EgFNOT Ignoring new targets: 128.95 m.g$ g$  ProNav: ac range: 128.951477 m, nav range: 129.345978 m, bearing: 181.507420 deg, approach rate: 0.685014 m/s, LOS rate: -0.122522 deg/s, cmd heading: 179.846367 deg, new cmd heading: 179.746200 deg. g:`HeadingCmd: 3.137163 target range: 128.951477 and range: 129.30 m.gGH@ggggzfrfffBdQdQdYcYc]?ɢB%RŬ< QU,r>IY eH;ɡaiaImIGH@ii)GH@)QiAAAAA9i5?I53@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007023a >A <->A I I N >U,g3AD:D:vD:-D8E:: E::6E:t4:E8!>@!>@!>@!>@yB&ʫ@ٱBgƲ@B H>BSBH@Z?`W?~?^໥?` {@ ?IB&ʫ@)BP d;i@NlB9NV%IT-Mb@Mb@Mb@ )))I)i))--?`"?Q뱿-?5?-w>-\I-Ai)-@-VA))-@BD= 6D=2YM8F!U?=U(Q9Y9]}FY]GE]A]>aQ 1m5٪e?Q 5u5e5 e9ua@?Q Au:YuQ Eu@ye:E)e:Ie,:ie-5Y}wB}XPAE=B*** querying acoustic contact ***zh9h9gamFNOT Ignoring new targets: 128.95 m.gmgu ProNav: ac range: 128.951477 m, nav range: 129.633636 m, bearing: 181.454942 deg, approach rate: 0.642762 m/s, LOS rate: -0.117000 deg/s, cmd heading: 179.746195 deg, new cmd heading: 179.641472 deg. gVHeadingCmd: 3.135335 target range: 128.951477 and range: 129.30 m.gUH@ggggzfrfffbBBdddccH(? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260474ɢBw< :f>I ݥ;ɡiI3ڕIUH@ii)UH@)9 X) 1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510722i !1 vB 9>~B CB $IB BB B B B —;B OEY >A4(>rD=jD<DDmD1DE1: E:6E-4:E"E;!E;!*EMG;!EMG;!ԑAI INM?,31h3Aɰ4<yFCh@ٱFd@F>FJEFH@i?@?@|?@ϥf?*jq z@?IFCh@)Fc;iFCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763236999i=Ia=iBD6D{U3YA:! =>;Q)>99}FYKE VAM>QQ 1U5٪U ?Q 5]5Um" UW9YY]Q E]@yU :E)U:IU:iU5qYBPAgq}FNOT Ignoring new targets: 128.95 m.ggu ProNav: ac range: 128.951477 m, nav range: 130.035324 m, bearing: 181.379723 deg, approach rate: 0.668872 m/s, LOS rate: -0.124864 deg/s, cmd heading: 179.641475 deg, new cmd heading: 179.491502 deg. gudHeadingCmd: 3.132718 target range: 128.951477 and range: 129.30 m.gr~H@ggggzfrfffBdddc!c%@0@ɢmBmX,< imt>Iq uG;ɡqiI ԑIr~H@ii)r~H@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147979 Niq q q u /q  D D vD -D E : E :6E t4:E ! @! @! @! @9>AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268265AIIN?q,Ah3A8y>y@ٱ>@>b >>];>HP? E??8>7?`Ȭ>@2Ѭ?I>y@)>ac;i>CJbB9JI%IMb@Mb@Mb@ )Ii|?5^?ʡE? rh2?o>CIAiZ@@(A)@BD5 6D52YEm!E=7799}FYOEw5A>Q 15٪>?Q 55& 9=?Q A:YоQ E@y:E):I:iI5YBQAEgFNOT Ignoring new targets: 128.95 m.gg- ProNav: ac range: 128.951477 m, nav range: 130.409775 m, bearing: 181.303872 deg, approach rate: 0.688293 m/s, LOS rate: -0.139025 deg/s, cmd heading: 179.491497 deg, new cmd heading: 179.340231 deg. g5n~5HeadingCmd: 3.130078 target range: 128.951477 and range: 129.30 m.g51SH@g9g9g9g9zf9rf9fAfEBBdAdIdIcIcM`(@ɢuB}B< y}h>Iy };ɡyiI]˓I1SH@ii)1SH@)) iIԙi5p>I54=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519035vBy~ByB}$IB}BB} =ByByB};B}OEiAAAAA DU DU pDU 0DQ EU : EU  :6EU 4:EQ "EU ;!e EU ;!e *EU 8R;!e EU 9R;!e >A M7>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771769AyIIN>,H`h3Ay6t%@ٱ6!@6 >6"E6HT9T9V}FYVQEZAZ>\Q 1b5٪^sW?Q 5b5^** ^ 9`Yb׾Q Eb@y^:E)^:I^|:i^85YjBj SAjEgy}FNOT Ignoring new targets: 128.95 m.gYgYԱ ProNav: ac range: 128.951477 m, nav range: 130.697739 m, bearing: 181.243768 deg, approach rate: 0.626967 m/s, LOS rate: -0.130573 deg/s, cmd heading: 179.340236 deg, new cmd heading: 179.220293 deg. gnHeadingCmd: 3.127984 target range: 128.951477 and range: 129.30 m.g0H@gggg zfrf!fifqBdyddcc @ɢB< (P>I ,Y;ɡiII%0H@i!i))-0H@))YYi9BDAT read: Rx Time:23:49:55.9997 TRx dataTimestamp_ set to:1758412193.737623 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025643 >A E2>1 D D sD D E 7: E Z:6E :E !- @!- @!- @!- @A yAI I N= >#a,O|h3Aiy6б@ٱ6@6#>6`N6H`?`?@x?~G?` ¿``?I6б@)6Rc;i6CBLB9F.%I)P P)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2828324>iCIG)5AIAiu/uAuAMb@Mb@Mb@ )IiX9v?v?Q뱿3?x>\Ii@)@I)@ABD%&6D%ދ3Y}~!}=}6;Q)> H?9 H?9}FYUE>ۼA>Q 15٪t?Q 55O. m 9??Q A:YپQ E@y:E):I:i5YĠBSAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 128.95 m.gZgZ ProNav: ac range: 128.951477 m, nav range: 131.042221 m, bearing: 181.171583 deg, approach rate: 0.666608 m/s, LOS rate: -0.139319 deg/s, cmd heading: 179.220298 deg, new cmd heading: 179.076307 deg. g~%HeadingCmd: 3.125471 target range: 128.951477 and range: 129.30 m.g%H@g!g!g!g!zf!rf)f)f-BBd1d1d1c1c5 @QɢeBm< imP>Ii u;ɡqiqIuܑI}H@iyiy)}H@)yi9y- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528857A) A- 4=vB9 ~B9 B= $IB= ͅBB9 B9 B9 B= ;B= OE>A 4(>Թ A AI I N > %,h3Ah9B9%IBD%6D%P)3rD1jD5=D=D=rD=2D9E=ҝ: E=?:6E=4:E9"E=;!EE=;!M*E=Y;!ME=Y;!MYŽ!_=Q)>K?9K?9}FYWEA>Q 15٪'?Q 5511  9YQ E@y":E);I;i 5YBUAEg FNOT Ignoring new targets: 128.95 m.g g ProNav: ac range: 128.951477 m, nav range: 131.281921 m, bearing: 181.121606 deg, approach rate: 0.663262 m/s, LOS rate: -0.138037 deg/s, cmd heading: 179.076304 deg, new cmd heading: 178.976532 deg. g%|%HeadingCmd: 3.123730 target range: 128.951477 and range: 129.30 m.g%0G@g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=@ɢ߅B7՛< 顅&4>I 6;ɡiI"I0G@ii)0G@) DAT read: 23:49:55.9997 LVL= 24816, 16545, 21634, 26547, AGC= 64, IDX= 456,-0.17,-0.489, 1.425, 0.847, 0.668, PHS=-1.055, 0.803, 0.136, RAW= 290.8, 1.4, CAL= 289.4, -3.4, ROT= 220.6, 3.4 Ygot valid direction response: 23:49:55.9997 LVL= 24816, 16545, 21634, 26547, AGC= 64, IDX= 456,-0.17,-0.489, 1.425, 0.847, 0.668, PHS=-1.055, 0.803, 0.136, RAW= 290.8, 1.4, CAL= 289.4, -3.4, ROT= 220.6, 3.4 -PDAT read: Bearing 310.3, -31.8 (Local) -~Local bearing/azimuth received: Bearing 310.3, -31.8 (Local) 5DAT read: Range 11 to 50 : 132.0 m (Round-trip 176.1 ms) speed -1.0 m/s =R#Rx 1: Read range and direction messages.Ebdirection in FSK: [-0.757935,-0.649629,-0.059306]EFpublishing direction and range infoi%9IIM/I9A3WaDCg]Ci`@Tg = )hM?IC >ii@+<@siv@ s=iI*z?'?P>@h μ )s=iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1>AmM7>Y A I I N > *DAT read: user:920>  BDAT read: Tx time:23:49:57.4194  $Ping request sent. hI?Ai@ A)@BD6Df?3Y,!E=Q) > 9 9 }FYZEA>Q 1%5٪1?Q 5%54  9%(@?Q A-:Y-Q E-@y':E)/:I:i5Y5B5VA5Ehh=|h3AhChChE@ vX@`JaU6o귾:uA3WaDCg]hhs=v&(a`~b@P<_/%@v1`B t?9?h{@hhP|?hՊhWB*iKO^?2i}h;:iBiqC"iG@= addTargetRange:: Added new target pos. range: 132.000000 m, deltaT: 4.032552 s, deltaX: 2.699997 m, approachRate: 0.669550 m/s, rangeRepo size: 4 m Added new target pos. range: 131.644669 m, bearing: 177.181392 deg, lat: 36.779158 deg, lon: -121.859632 deg, deltaT: 4.032552 s, deltaX: 2.693192 m, approachRate: 0.667863 m/s, posRepo size: 4 gquFNOT Ignoring new targets: 131.64 m.gugy ProNav: ac range: 131.644669 m, nav range: 131.443420 m, bearing: 178.618991 deg, approach rate: 0.000000 m/s, LOS rate: -0.138037 deg/s, cmd heading: 178.976528 deg, new cmd heading: 178.854480 deg. gHeadingCmd: 3.121599 target range: 131.644669 and range: 132.00 m.gIG@ggggzfrfff~BBdddc`@c@2?BEû4JEÃ4RE/DMDM|DM.DIEMg: EMP$:6EMـ4:EI!]@!]@!]@!]@aɢۅB4< 顭>I e;ɡiI/IIG@ii)IG@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249651ԑ9 mY R> >i / @ >@ >Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501361>A<->vB~BBm$IBBBBBB;BOEBQBQBQBUϰ =BUϱ =BU4AyAIIN%?E5,Vh3Ay:٧@ٱ:Vծ@::>:]:HS? ,?`b?U 3?@~`ÿ`f ?I:٧@):'c;i:CF B9F$IiJ=IJ=Np^ H?9^ H?9^}FY^]EbAb>dQ 1j5٪f?Q 5j5f@9 fc 9hYj>Q En@yf-:E)f;If:if35YrBrNXArEg  FNOT Ignoring new targets: 131.64 m.gt,gt,% ProNav: ac range: 131.644669 m, nav range: 131.778778 m, bearing: 178.544854 deg, approach rate: 0.683752 m/s, LOS rate: -0.150771 deg/s, cmd heading: 178.854473 deg, new cmd heading: 178.706577 deg. g%-HeadingCmd: 3.119018 target range: 131.644669 and range: 132.00 m.g-G@g)g)g)g1zf1rf1f1f1Bd9d9d9c9cE88?ɢ օB X<  4=I  ;ɡiIIG@ii)G@)bDZDDDyD1DE: E:6E-4:E"E;!E;!*Er;!Er;!!9%.i/checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753423I>Ax>ԁ A I I N >7;, h3A8Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006279yU^@ٱUZ@U>U;=dUH 9?b}?? l Ш?s᳿ÿ+Ǐ?IU^@)UJb;iUCuB9u$I-Mb@Mb@Mb@ )))I)i))-(\?Q?333333-z4?-u>-I)i-@-@- A))-@BDE"6DEJz3YM=!U4=U;Q)]>Y9Y9]}FY]`EeAe>iQ 1u5٪m[?Q 5u5mj= m 9u??Q A}:Y}Q E}@ym2:E)m ;Im ;im05Y*BdXAEgFNOT Ignoring new targets: 131.64 m.g"$g"$ ProNav: ac range: 131.644669 m, nav range: 132.070801 m, bearing: 178.479387 deg, approach rate: 0.641504 m/s, LOS rate: -0.143498 deg/s, cmd heading: 178.706572 deg, new cmd heading: 178.575927 deg. gOHeadingCmd: 3.116738 target range: 131.644669 and range: 132.00 m.gxG@ggggzfrfffBBdddcc`6e?ɢ ҅B< d>I Bj;ɡiIgIxG@i!i!)%xG@)!ԉDD{D/DE%: E5":6EJ4:E!@!@!@!@Թ9u)=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257819i) ) ) - /) @1 @5 A 9 >AQ AAIIN?,C,2i3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509469y>@ٱ><߭@>b">>~Lc>H?@??n`#N?;Ŀm ?I>@)>b;i>CF B9J$IBDR6DR 3YVM!Z2=pAAvB8>~BBH$IBBB =BBB;BOE5²;Q)5>=K?9=K?9=}FY=cE=A=>AQ 1M5٪E?Q 5U5EA E 9QYUoQ EU@yE8:E)E;IE;iEE5YYeXAaB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 131.64 m.g|&g|& ProNav: ac range: 131.644669 m, nav range: 132.373886 m, bearing: 178.409304 deg, approach rate: 0.630914 m/s, LOS rate: -0.145554 deg/s, cmd heading: 178.575924 deg, new cmd heading: 178.436079 deg. g0HeadingCmd: 3.114297 target range: 131.644669 and range: 132.00 m.gPG@g g g g zfrfffBdddcc4?ɢͅB9m< _页=I p;ɡiI猽IPG@ii)PG@)) iIDeDeyDe)DaEe: Ee:6EeFA4:Ea"EeU;!uEeV;!u*Ea!uEa!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762539iAAIM5IA >Ai i AIIN>HK,?U/i3AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014210yZDe@ٱZa@ZI$>ZhdZH|?!?@? @?嵿~Ŀ + ?IZDe@)Zb;iZCn B9r$I)t vAԙMb@Mb@Mb@ )Ii|?5^?\(\?㥛 2?z>IAi@@A)AI)BD6DF3Y,! = ?;Q) >99}FYfE(A>!Q 1%5٪%Š?Q 5-5%F % 9->?Q A-:Y-Q E-@y%>:E)%;I%; ;i%5Y=>B=YA9gaeFNOT Ignoring new targets: 131.64 m.gm)gm)} ProNav: ac range: 131.644669 m, nav range: 132.701752 m, bearing: 178.332829 deg, approach rate: 0.636970 m/s, LOS rate: -0.148207 deg/s, cmd heading: 178.436083 deg, new cmd heading: 178.283512 deg. g}HeadingCmd: 3.111634 target range: 131.644669 and range: 132.00 m.g%G@ggggzfrfffȅBBdddcc@ɢɅB+=q< >I ;ɡiImI%G@ii)%G@)i/DDxD.DE: E:6Eـ4:E!@!@!@!@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266085>Ams>A I I N > 0/R,g)Ii3Ay6@ٱ6@60'>6Ao6HV?Bn??VÕ? ZĿ ~@D?I6@)6b;i4BB9B$IBDJ6DJf?3YRv!Vd=Vg;Q)V>T9X9Z}FYZhEZ,AZ>\Q 1b5٪^MŠ?Q 5f5^>J ^ 9dYf Q Ef@y^B:E)^:I^:i^5YjQBjZAnEgy}FNOT Ignoring new targets: 131.64 m.g$g$ ProNav: ac range: 131.644669 m, nav range: 132.926147 m, bearing: 178.278835 deg, approach rate: 0.599910 m/s, LOS rate: -0.144107 deg/s, cmd heading: 178.283510 deg, new cmd heading: 178.175704 deg. g݃HeadingCmd: 3.109753 target range: 131.644669 and range: 132.00 m.g0G@ggggzfrfffBdddccU@ɢƅBbu<  =I l;ɡiIʊI0G@ii)0G@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517723i9/@>@>vBy~ByB}"$IB}rBByByByB};B}OE!>Ax>rA>jA>QDDoD,DE: E:6Eg4:E"E!E!*EN;!EN;!I I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769399ԁ ZX,9 ci3Ay:l@ٱ:.i@:dC)>:3m:H@9???`V6? ſ :˂?I:l@):X/c;i:CQuB9u$IBD6DYC2!+=;Q)>9 9}FYkEA>Q 15٪F5Š?Q 55@O 9 91Y= Q E=@yH:E))dI<BDAT read: Rx Time:23:50:00.0032 TRx dataTimestamp_ set to:1758412197.770197checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025037i9ԩ>A= n> D D rD .D E : E ?:6E ـ4:E ! @! @! @! @IA IY Nm >#_,-i3Aihh)h hIl l)lllpprs@ipIppItit tt)tx xxxx||checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273380I|)?Fi ) I A  kF B9i%=I%p=ԙMb@Mb@Mb@ )IiʡE?/$?Q뱿/?1>\I(Aip@A)Ai4<BD6D!3Y!I=Q)>99}FYnEA>Q 15٪HŠ?Q 55R  94=?Q A:YQ E@yL:E) ;I ;i5YB\A Eg)5FNOT Ignoring new targets: 131.64 m.g5 +g= +E ProNav: ac range: 131.644669 m, nav range: 133.477386 m, bearing: 178.146913 deg, approach rate: 0.657480 m/s, LOS rate: -0.149537 deg/s, cmd heading: 178.020384 deg, new cmd heading: 177.912425 deg. gMՈMHeadingCmd: 3.105158 target range: 131.644669 and range: 132.00 m.gMF@gQgQggzfrfffBBdddcc @ɢmBm*< qu=Iq u2Z;ɡqiqI}tI}F@ii)F@)9[1DAT read: 23:50:00.0032 LVL= 27360, 19617, 20242, 28659, AGC= 61, IDX= 459, 0.41,-2.828,-1.001,-1.143,-1.680, PHS=-1.046, 0.724, 0.493, RAW= 276.9, -2.1, CAL= 275.8, -7.6, ROT= 234.2, 7.6  Ygot valid direction response: 23:50:00.0032 LVL= 27360, 19617, 20242, 28659, AGC= 61, IDX= 459, 0.41,-2.828,-1.001,-1.143,-1.680, PHS=-1.046, 0.724, 0.493, RAW= 276.9, -2.1, CAL= 275.8, -7.6, ROT= 234.2, 7.6  PDAT read: Bearing 310.2, -43.1 (Local)  ~Local bearing/azimuth received: Bearing 310.2, -43.1 (Local) - DAT read: Range 11 to 50 : 134.7 m (Round-trip 179.6 ms) speed -0.6 m/s 5 R#Rx 1: Read range and direction messages.= bdirection in FSK: [-0.579819,-0.803939,-0.132256]E Fpublishing direction and range info9F̐⿀o޹) CvBU 9>~BQ BU $IBU YBBU =BQ BQ BU z;BU OEijii q q u P5q LOo= Tㅿ)X9?Ij>io@Q ( @M͂@ >iIаi}M? lɏ@/@=  )>i T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! >A x>rD <jD <D D {D ,D E : E 5":6E g4:E "E w;! E x;! *E Bz;! E Cz;! II!QNE>f,zVi3A *DAT read: user:921>  BDAT read: Tx time:23:50:01.2194 $Ping request sent.Y9Y9]}FY]qEYAe>aQ 1m5٪edŠ?Q 5m5eW e 9qYqQ Eu@yeR:E)eQ;Ie;ie:5Y}B}]AEhh^gi3AhVChVCh7L@ vsySMZ^v^U1uF̐⿀o޹) h h>vK'K`~e|lc?va<(l8><$Ry?hh*hz':?hhB*i2i:iiC"iF@- addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.779976 s, deltaX: 2.699997 m, approachRate: 0.714289 m/s, rangeRepo size: 4 = Added new target pos. range: 134.337006 m, bearing: 182.825297 deg, lat: 36.779158 deg, lon: -121.859632 deg, deltaT: 3.779976 s, deltaX: 2.692337 m, approachRate: 0.712263 m/s, posRepo size: 4 gAEFNOT Ignoring new targets: 134.34 m.gMgI} ProNav: ac range: 134.337006 m, nav range: 133.804581 m, bearing: 178.072727 deg, approach rate: 0.000000 m/s, LOS rate: -0.149537 deg/s, cmd heading: 177.912426 deg, new cmd heading: 177.753446 deg. gyHeadingCmd: 3.102383 target range: 134.337006 and range: 134.70 m.gqF@ggggzfrfffBdddc`f`@cy=?IɢB¡N< =I ;ɡiIw0I5qF@i1i1)=qF@)9q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2509729E ;ԡ i 0 DDrD/DE: E?:6EJ4:E!@!@!@!@IňG)A>A!I5AAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502849im@uAuAIIN%?~p,]i3Aiy6y@ٱ6u@6/>6aew6H -?@\?T??`G̺$ſJs@x?I6y@)60Ja;i6Clz܅B9z$IMb@Mb@Mb@ )Iim?E? rh.?>CIV AiZ@A)(ABD 6Df2YYB!=E99}FYuEA>Q 15٪/Š?Q 55,] ^ 9;?Q A:YQ E@yX:E):I4:i5Y B ^A E-B*** querying acoustic contact ***zh)h)g1=FNOT Ignoring new targets: 134.34 m.g=Y7g=Y7U ProNav: ac range: 134.337006 m, nav range: 134.134293 m, bearing: 177.986758 deg, approach rate: 0.616298 m/s, LOS rate: -0.160297 deg/s, cmd heading: 177.753447 deg, new cmd heading: 177.581933 deg. gU]HeadingCmd: 3.099389 target range: 134.337006 and range: 134.70 m.g]e\F@gYgYgYgYzfYrfYfafeBBdadidicicm@у?ɢBC< 顝=I ;ɡiIIIe\F@ii)e\F@)) iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549229vB}8>~ByB}#IB}?BB} =ByByB}f;B}OEi/Y >A D D tD -D E C: E v:6E t4:E "E 2;!- E 3;!- *E `;!5 E `;!= Ia Iy N >6w,>i3AXy^@ٱ^8@^1>^^^H@o?m-? ? L?@^`ƿ5lu?I^@)^`a;i^CjDžB9j$IBDv6Dv1Y~н!~Q=~O{;Q)~>99}FYwE_A >Q 15٪nŠ?Q 55Ba  9YQ E@y\:E)W:IN:iS5Y%ˡB-`A-EgFNOT Ignoring new targets: 134.34 m.g1g1 ProNav: ac range: 134.337006 m, nav range: 134.368073 m, bearing: 177.924003 deg, approach rate: 0.580554 m/s, LOS rate: -0.155571 deg/s, cmd heading: 177.581927 deg, new cmd heading: 177.456635 deg. g[checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006408HeadingCmd: 3.097203 target range: 134.337006 and range: 134.70 m.g8F@ggggzfrfff Bd d dcc`J?ɢ}B}^A$< 顅P&=I Q6;ɡiIфI8F@ii)8F@))i!!-3)A>A s> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259541Y AQ IY Ii N} >uZ}, i3Ay6&@ٱ6h}@62>6{6HUa? t??I!?@2[ 8ƿ 㮿rt?I6&@)6a;i6CZB9Z$I9=Mb@Mb@Mb@ 9)9I9i99= rh?9v? rh=C+?=>9I= Ai=@=@=QA)9==ABDU 6DU2Ye!mD=m0;Q)m>i9q9u}FYuzEuAu>yQ 15٪}JŠ?Q 55}je }9;?Q A:Y{Q E@y}a:E)}:I}:i}%5YR`AgFNOT Ignoring new targets: 134.34 m.g2g2 ProNav: ac range: 134.337006 m, nav range: 134.621246 m, bearing: 177.860589 deg, approach rate: 0.625374 m/s, LOS rate: -0.156347 deg/s, cmd heading: 177.456634 deg, new cmd heading: 177.330044 deg. gHeadingCmd: 3.094993 target range: 134.337006 and range: 134.70 m.g^F@ggggzfrfff"BBdddcc?BEـ4JE|4REEC0DmDm{Dm/DiEmҝ: Em5":6EmJ4:Ei!@!@!@!@ɢB(<  =I ;ɡiI쳃I ^F@i!i!)%^F@)1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510385i;5ԑ>A }> I I N% >dB,nj3A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762334y>@ٱ>^@>#3>>֠>H? I??O`-?@鼿vVƿ@@cr?I>@)>76b;i>CJŅB9J$IiN=ILvBT~BTBV#IBV&BBTBTBTBVm;BVOEBiBiBiBm =BiBm(4BDf6Df 83Yn<!=T=]Q;Q)]>a9a9e}FYe|EeAm>iQ 1u5ԙ٪m3Š?Q 55mi mW9YmQ E@ymf:E)m;Im@;im5YߡB`AEgFNOT Ignoring new targets: 134.34 m.g-g-- ProNav: ac range: 134.337006 m, nav range: 134.863266 m, bearing: 177.798084 deg, approach rate: 0.589716 m/s, LOS rate: -0.152029 deg/s, cmd heading: 177.330043 deg, new cmd heading: 177.205258 deg. g-5HeadingCmd: 3.092815 target range: 134.337006 and range: 134.70 m.g=E@g9g9g9g9zf9rf9fAfABdAdAdIcIcM@ɢB-< @=I aT;ɡiI棂IE@ii)E@)!i!!)-4)DDrDDE: E?:6E:E"E;!E;!*EY;!EY;!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014131>A I I ! N- >Zo,v+j3AyE@ٱEP@E04>E EH ?o??@?@ik rƿ|K+p?IE@)Er"b;iECeB9et$IMb@Mb@Mb@ )IiL7A`?S?V-+'?>hI$Ai@@) ABDE6DE!3Y]!e4=e;Q)e>i9q9u}FYuE}vA}>Q 15٪Š?Q 55m 99?Q A:YQQ E@yj:E)@x;I^;i5YBaAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266070gFNOT Ignoring new targets: 134.34 m.gq%gq% ProNav: ac range: 134.337006 m, nav range: 135.125824 m, bearing: 177.731820 deg, approach rate: 0.574217 m/s, LOS rate: -0.144640 deg/s, cmd heading: 177.205256 deg, new cmd heading: 177.072984 deg. gZHeadingCmd: 3.090507 target range: 134.337006 and range: 134.70 m.gE@ggggzfrfff/BBdddcc4X@ɢBZ < 顕`A s> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518295IA IQ N] >q bT,Ej3Ay6@ٱ6"@62!5>6ℽ6H %?;?`\?@ ?}ƿ W@5o?I6@)6;b;i6CBB9B^$IBDJ6DJ3YnBŽ!rg=r":Q)r>t9t9v}FYvEv0Av>xQ 1M5٪zŠ?Q 5U5zxq z9QYU.Q EU@yzn:E)zGA x>I I) N5 >*,Kaj3Ay6@ٱ6A@6'5>6ĉ6H`s?`by?%?JD?8w@ƿ@.m?I6@)6b;i4BB9BY$I)D DBDN6DNF3YV!V@=V:Q)V>X9X9Z}FYZE^A^>`Q 1b5٪b\Š?Q 5f5bu bV9dYf&Q Ef@ybs:E)b:Iby:ib9 5nBDAT read: Rx Time:23:50:03.8062 rTRx dataTimestamp_ set to:1758412201.548361rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023417Y1BdAEgFNOT Ignoring new targets: 134.34 m.g +g + ProNav: ac range: 134.337006 m, nav range: 135.583618 m, bearing: 177.610757 deg, approach rate: 0.561441 m/s, LOS rate: -0.150245 deg/s, cmd heading: 176.964888 deg, new cmd heading: 176.831265 deg. g%{%HeadingCmd: 3.086288 target range: 134.337006 and range: 134.70 m.g%E@g)g)g)gIzfIrfQfQfQBdQdYdYcYc] @ɢB q.;  2I  8v;ɡiIT~IE@ii)E@)9eǼi9/)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274174>AY I I N >Q ,H{j3Ay6 @ٱ6( @6j6>6 j6H`??`?3 Ŷ?cƿ@B@k?I6 @)6*a;i4BB9BA$IMb@Mb@Mb@ )Ii~jt?333333?Q뱿$?>\IAiA@ A)ABD6Df?3Yಽ!8=Ru:Q)>99}FYEe A> Q 15٪ C Ê?DDtD.DEC: Ev:6Eـ4:E!@!@!@!%@Q 55 z 9%6?Q A%:Y%'Q E-@y x:E) ;I ς;i + 51Y1=4eA9gaeFNOT Ignoring new targets: 134.34 m.gm>gm>} ProNav: ac range: 134.337006 m, nav range: 135.838867 m, bearing: 177.540846 deg, approach rate: 0.609300 m/s, LOS rate: -0.166569 deg/s, cmd heading: 176.831262 deg, new cmd heading: 176.691703 deg. g}kHeadingCmd: 3.083852 target range: 134.337006 and range: 134.70 m.g]E@ggggzfrfff9BBdddcc @ɢB; 顕`7I F;ɡiI|I]E@ii)]E@eDAT read: 23:50:03.8062 LVL= 28320, 24625, 22370, 29363, AGC= 65, IDX= 459, 0.01,-0.576, 1.151, 1.449, 0.655, PHS=-1.129, 0.541, 0.750, RAW= 264.2, -1.8, CAL= 261.9, -6.9, ROT= 248.1, 6.9 )qYgot valid direction response: 23:50:03.8062 LVL= 28320, 24625, 22370, 29363, AGC= 65, IDX= 459, 0.01,-0.576, 1.151, 1.449, 0.655, PHS=-1.129, 0.541, 0.750, RAW= 264.2, -1.8, CAL= 261.9, -6.9, ROT= 248.1, 6.9 PDAT read: Bearing 307.0, -55.8 (Local) ~Local bearing/azimuth received: Bearing 307.0, -55.8 (Local) -DAT read: Range 11 to 50 : 137.0 m (Round-trip 182.7 ms) speed -0.6 m/s -R#Rx 1: Read range and direction messages.5bdirection in FSK: [-0.370286,-0.921116,-0.120137]=Fpublishing direction and range info9IJ׿ gyrjƹI Cina1`bWrA )~ ?I@?i@E@Ϣ@ Ϣ=iIRY lSJ?n !@z= )Ϣ=iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԉ9*ie 9a a m 2i @u >@u > *DAT read: user:922>  BDAT read: Tx time:23:50:05.0209  $Ping request sent. ArA>jA>AyAII N?+`,j3AD,D,D.)D,E, E,6E.FA4:E,"E.2;!6E.3;!6*E.`;!6E.`;!:yFw@ٱF@F6>FPFH?(?@a?@`?ƿ`@j?IFw@)Fa;iFCR|B9R/$IBDZ+6DZE3Yb4c!f=f:Q)f>f H?9j H?9j}FYjEjdgAj>lQ 1r5٪n;#Ê?Q 5r5n0 n9tYv%Q Ev@yn~:E)n:In:ins5YzEBzJfAx|hahebj3AheCheChezO@ ve=KI ͌v_G;j0ueIJ׿ gyrjƹIheheϢ=vea`awN)@S0{?vesK(?heONhehe7]?heYheB*ia2ia:iaie!C"ieC8F@ addTargetRange:: Added new target pos. range: 137.000000 m, deltaT: 3.780929 s, deltaX: 2.300003 m, approachRate: 0.608317 m/s, rangeRepo size: 4  Added new target pos. range: 136.630234 m, bearing: 185.415627 deg, lat: 36.779158 deg, lon: -121.859632 deg, deltaT: 3.780929 s, deltaX: 2.293228 m, approachRate: 0.606525 m/s, posRepo size: 4 gFNOT Ignoring new targets: 136.63 m.g%g!5 ProNav: ac range: 136.630234 m, nav range: 136.132431 m, bearing: 177.455564 deg, approach rate: 0.000000 m/s, LOS rate: -0.166569 deg/s, cmd heading: 176.691707 deg, new cmd heading: 176.510769 deg. =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251025gQ]HeadingCmd: 3.080694 target range: 136.630234 and range: 137.00 m.g]*E@gYgYgYgYzfarfafafaBdadidicm a@cmN?ɢBR; 顽xI ;ɡiIxI*E@ii)*E@)) iI)Yi199=O09 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502813ԁ >A Ա AmAIyIN>,j3ADNDNrDN2DLEN: EN?:6EN4:EL!R@!R@!R@!R@yV@ٱV@V6>VʊVHM?e??-1?hƿ @wk?IV@)Va;iVC)) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755082 NB9 #IMb@Mb@Mb@ )Ii?~jt?Q뱿 ?>IAiA@A) ABD6D2Y! =XQ)>K?9K?9}FYEټA>Q 15٪D=Ê?Q 55P 92?Q A:YI%Q E@y:E) ;I ;i5YYBWhAEgFNOT Ignoring new targets: 136.63 m.gU=gU= ProNav: ac range: 136.630234 m, nav range: 136.451599 m, bearing: 177.363684 deg, approach rate: 0.576344 m/s, LOS rate: -0.165526 deg/s, cmd heading: 176.510776 deg, new cmd heading: 176.327445 deg. gwHeadingCmd: 3.077494 target range: 136.630234 and range: 137.00 m.gD@ggggzfrfff?BBdddcc\7?ɢUBQU quIy }?;ɡyiyI}y|uID@ii)D@)i90ԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812vB ~B B Z#IB τBB =B B B P;B >A s> A I IN%>L,Qjj3A\yZ\"@ٱZ@Z=6>ZZHC?`!??`[dR?ƿ`B`cl?IZ\"@)ZGaa;iZClr Artippitv A)vq tIt |)~A~+Ai mI  ICiA )! %A%!)15pqAI1)1i1)9I=(A99 AAUEB9]#IBDu6DuP)3Y[9!Q=Q)>99}FYEA>Q 15٪NÊ?Q 55 9Y,)Q E@y:E):II;i5YhADDxD0DEC: E:6E4:E"E!%E!%*EWo;!%EWo;!%5B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 136.63 m.gE@3gE@3u ProNav: ac range: 136.630234 m, nav range: 136.665741 m, bearing: 177.300311 deg, approach rate: 0.530372 m/s, LOS rate: -0.156713 deg/s, cmd heading: 176.327440 deg, new cmd heading: 176.200891 deg. g}f}HeadingCmd: 3.075286 target range: 136.630234 and range: 137.00 m.g{D@ggggzfrfffBdddcc k?ɢBV 6a'I %;ɡ)i)I-*sI-{D@i1i1)5{D@)1)A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259715i91@ @ >AE x>bAY ZA] Ai Iy I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510762,,o/j3Aiy:@ٱ:֢@:35>::Hog?`}?? + Vo?@@fƿj~n?I:@):wa;i:C9M6B9M#I)Q QMb@Mb@Mb@ )Iirh|?x&1?㥛 ?A>I~Ai?AC@zA) AI)BD6DN2Y!C=ںQ)> 9 9 }FY E  A >Q 15٪(aÊ?Q 5%5 :9%H0?Q A%:Y%!'Q E%@y:E)8:I :i5Y-mB5iA5EgY]FNOT Ignoring new targets: 136.63 m.ge8ge8u ProNav: ac range: 136.630234 m, nav range: 136.892502 m, bearing: 177.234603 deg, approach rate: 0.558561 m/s, LOS rate: -0.161585 deg/s, cmd heading: 176.200890 deg, new cmd heading: 176.069692 deg. guۓ}HeadingCmd: 3.072996 target range: 136.630234 and range: 137.00 m.g}D@gygygygyzfrfffPBBdddcc`?ɢUBuʻ y}\@Iy ;ɡiIXpID@ii)D@)iD5D5zD5)D1E5: E5 :6E5FA4YiY:E1!}@!@!@!@iIG+3)ZAIAi%ڡ%ZA%ӤAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762949ԙ>A }> Ia Iq N} >,xbk3Ay:-@ٱ:"*@:(35>:7ۇ:HU?B?]?@@?K.ƿ`Wn?I:-@): a;i:CU$B9U#IBDe!6Der3qY}!}P=}SQ)}>99}FYEA>Q 15٪CrÊ?Q 55( 9Y*Q E@y:E) :I|:i95YB>lAEg15FNOT Ignoring new targets: 136.63 m.g= 1g= 1AMAAAMAAvBQ~BQBU(#IBUBBQBQBQBUD;BUOEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014930} ProNav: ac range: 136.630234 m, nav range: 137.103058 m, bearing: 177.171880 deg, approach rate: 0.520371 m/s, LOS rate: -0.154776 deg/s, cmd heading: 176.069696 deg, new cmd heading: 175.944442 deg. g}HeadingCmd: 3.070810 target range: 136.630234 and range: 137.00 m.g&D@ggggzfrfffBdddcc ,@ɢB aI R];ɡiILnI&D@ii)&D@)iaaae4aԙDDD.DE: EE7:6Eـ4:E"EgAx>I I N% >)  A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267112 F,=))k3Ay6ಜ@ٱ6"@64>66H±? 7? ?sh?-9zƿUm?I6ಜ@)6Wa;i4BB9F#IBDJ6DJk2YR2!VY=VܖQ)V>T9X9Z}FYZEZ#AZ>\Q 1b5٪^tÊ?Q 5f5^E ^9dYf.Q Ef@y^:E)^:I^:i^5YhjlAlgYeFNOT Ignoring new targets: 136.63 m.ge>:ge>:u ProNav: ac range: 136.630234 m, nav range: 137.302750 m, bearing: 177.110678 deg, approach rate: 0.532060 m/s, LOS rate: -0.162828 deg/s, cmd heading: 175.944444 deg, new cmd heading: 175.822219 deg. guHeadingCmd: 3.068677 target range: 136.630234 and range: 137.00 m.g3eD@ggggzfrfffBdddcc]6@ɢeBe' i顕nI ;ɡiISkI-3eD@iIiI)M3eD@)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.51896519mǼqqi    0 BEiJEmv4REm{0D% D% rD% *D! E% : E% ?:6E% (N4:E! !5 @!5 @!5 @!5 @Y = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770727>Ams>ԉIIN>,jHk3Aɰ;y66@ٱ62@6M4>66H ?h??l+?`V dƿ`dj`dn?I66@)6`a;i6CBB9B#IiJ=IJ=Mb@Mb@Mb@ )Ii/$?x&1?l?IQAiA@A) A%A9A9E}FYEEMAM>QQ 1]5٪U%Ê?Q 5]5U U@9]0?Q A]:Y]K3Q Ee@yU:E)UQ:IU:iU5YBmAEg)5FNOT Ignoring new targets: 136.63 m.g5V;g=V;m ProNav: ac range: 136.630234 m, nav range: 137.570938 m, bearing: 177.025824 deg, approach rate: 0.518652 m/s, LOS rate: -0.163781 deg/s, cmd heading: 175.822224 deg, new cmd heading: 175.652846 deg. gmޕuHeadingCmd: 3.065721 target range: 136.630234 and range: 137.00 m.gu4D@gqgqgqgqzfqrfyfyf}UBBdyddcc@d_ @ɢB{# nI $;ɡiIohI4D@ii)4D@)9 cvB~BB"IB~BB =BBBM;BOEBBBBBŝBDAT read: Rx Time:23:50:07.6107 TRx dataTimestamp_ set to:1758412205.328977checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025049B4im9iim1i9 >A x>Iy D D yD .D E C: E :6E ـ4:E "E 2;! E 3;! *E r;! E r;! I N >J*,O?bk3Ay:ݼ@ٱ:@:t3>:}J:H? ?U?`Xm?W!Vƿ`h`@o?I:ݼ@):=a;i:CFB9F}#IBDR6DRf?3YVo!ZU=ZQ)Z>\9\9^}FY^E=,A=>AQ 1M5٪EÊ?Q 5M5E E9QYU7Q EU@yE:E)E:IE:iE5echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274949YimnAiB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 136.63 m.gJgJ ProNav: ac range: 136.630234 m, nav range: 137.779617 m, bearing: 176.958033 deg, approach rate: 0.545812 m/s, LOS rate: -0.177040 deg/s, cmd heading: 175.652849 deg, new cmd heading: 175.517474 deg. gHeadingCmd: 3.063358 target range: 136.630234 and range: 137.00 m.gD@ggggzfrfffBdddccS @ɢBb ,I ;ɡiIxfI D@i i ) D@)) iIQԉi=9AAM'3I% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528912Ա >Ay A I I N >,Ak3Ay6>@ٱ6:@6.2>6a6H ??`z?@1 ?:ƿy`p?I6>@)6.a;i6CB؄B9Be#IDnDnrDn0DlEn: En?:6En4:El!r@!r@!r@!r@%Mb@Mb@Mb@ !)!I!i!!%S?~jt?333333%/?%>%I%MAi%A%@% A)!%ABD6Dk2Yp!'=ZQ)>99}FYEpA>Q 15٪PÊ?Q 55 9q0?Q A:Y>Q E@y:E)" ;I ;i5YӢBoAEg!%FNOT Ignoring new targets: 136.63 m.)g5Hg5HE ProNav: ac range: 136.630234 m, nav range: 138.020004 m, bearing: 176.875511 deg, approach rate: 0.510407 m/s, LOS rate: -0.174912 deg/s, cmd heading: 175.517475 deg, new cmd heading: 175.352719 deg. gE MHeadingCmd: 3.060482 target range: 136.630234 and range: 137.00 m.gMC@gIgIgIgIzfQrfQfQfUNBBdYdYdYcYc] @ɢB 顕gI ;ɡiIQcIC@ii)C@)%DAT read: 23:50:07.6106 LVL= 32448, 24721, 22002, 29299, AGC= 65, IDX= 457,-0.13,-1.547, 0.009, 0.637,-0.250, PHS=-1.195, 0.304, 0.843, RAW= 255.2, 0.5, CAL= 251.2, -2.3, ROT= 258.8, 2.3 5Ygot valid direction response: 23:50:07.6106 LVL= 32448, 24721, 22002, 29299, AGC= 65, IDX= 457,-0.13,-1.547, 0.009, 0.637,-0.250, PHS=-1.195, 0.304, 0.843, RAW= 255.2, 0.5, CAL= 251.2, -2.3, ROT= 258.8, 2.3 =PDAT read: Bearing 296.9, -67.6 (Local) E~Local bearing/azimuth received: Bearing 296.9, -67.6 (Local) UDAT read: Range 11 to 50 : 139.2 m (Round-trip 185.6 ms) speed -0.1 m/s ]R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.194078,-0.980165,-0.040132]Fpublishing direction and range info9N=(5ȿDy]ᅡ.='3 Ci~`Usr )㥛>IW?iӇ@5<K@l$@ l$=iI{"? 7F?' @ ?)l$=iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iaaaer4a@i@iY>AEs>ԉA9 A= <vBE 7>~BE CBE "IBE PBBA BA BA BE S;BE OEAu yAI I  *DAT read: user:923>  BDAT read: Tx time:23:50:09.0193  $Ping request sent. Ա I, k3AyJš@ٱJH@J=1>JRJH`%??r?n#?` jƿvjq?IJš@)J|`;iJCVB9VI#IBD^6D^\3YfD!f\=f 6Q)j>j H?9j H?9j}FYjEn;(An>pQ 1v5٪r?Ê?Q 5v5r r@9tYvyBQ Ez@yr:E)r:Ir:ir5Y|~pA|h)h-rkk3Ah- Ch- Ch-$R@ v- ZL:&,<ajHu-N=(5ȿDy]ᅡ.='h-?h-l$=v-ba3q.J5nKD @v-Ǐ↑dXWAÿܒ~.?h-Qh-h-g"?h-;h-B*i-r?2i-:i-Bi- C"i-J@M addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 4.031820 s, deltaX: 2.199997 m, approachRate: 0.545659 m/s, rangeRepo size: 4 e Added new target pos. range: 138.823471 m, bearing: 188.838071 deg, lat: 36.779160 deg, lon: -121.859757 deg, deltaT: 4.031820 s, deltaX: 2.193237 m, approachRate: 0.543982 m/s, posRepo size: 4 gimFNOT Ignoring new targets: 138.82 m.g}gy ProNav: ac range: 138.823471 m, nav range: 137.799576 m, bearing: 181.426344 deg, approach rate: 0.000000 m/s, LOS rate: -0.174912 deg/s, cmd heading: 175.352717 deg, new cmd heading: 175.221735 deg. gHeadingCmd: 3.058196 target range: 138.823471 and range: 139.20 m.g}C@ggggzfrfffBdddc`ffa@c z?ԑɢBOR 顭ɾI Gv;ɡiIO`I}C@ii)}C@)DDtD.DE: Ev:6Eـ4:E"E;!E;!*E`;!E`;!i/Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250639>Ax>A I Ia N > %,,k3AyjC@ٱja?@j-Y0>j֜jH:?@) ?U? 1,?2¿@KſI"u?IjC@)j`;ijCvB9v.#IiU%=IU4=]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503128Mb@Mb@Mb@ )IiZd;?n?L7A`尿?>+IdAiAI"A)ABD 6D2Yǽ!<=DQ)>99}FYEA>Q 15٪Ê?Q 55 9+?Q A:YHQ E@y:E)T;ID;ik!5YB2sAEgFNOT Ignoring new targets: 138.82 m.gQg Q ProNav: ac range: 138.823471 m, nav range: 137.993561 m, bearing: 181.342391 deg, approach rate: 0.424133 m/s, LOS rate: -0.183299 deg/s, cmd heading: 175.221741 deg, new cmd heading: 175.054071 deg. gHeadingCmd: 3.055270 target range: 138.823471 and range: 139.20 m.gC@g!g!g!g!zf!rfIfQfUEBBdQdQdYcYc] D?ɢBͩƼ 顭ݾI $;ɡiI^IC@ii)C@)i/DDD/DE: E6EJ4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756068I >A A AI I N > ,+k3Ay6@ٱ6߼@6w.>66H@G?L?Rɼ?`.? [ ¿ſ@x?I6@)66a;i6CBB9F#IBDJ6DJ3YR!V]=VRQ)V>VK?9ZK?9Z}FYZEZ0AZ>\Q 1b5٪^ Ê?Q 5f5^5 ^9dYf-LQ Ef@y^:E)^:I^):i^#5YhjsAlg|FNOT Ignoring new targets: 138.82 m.gqg q ProNav: ac range: 138.823471 m, nav range: 138.156189 m, bearing: 181.270008 deg, approach rate: 0.475830 m/s, LOS rate: -0.211534 deg/s, cmd heading: 175.054074 deg, new cmd heading: 174.909479 deg. gHeadingCmd: 3.052746 target range: 138.823471 and range: 139.20 m.g2`C@ggggzfrfffBdddcc ?ɢ-B-& -v=s-{I) 59;ɡ1iI[I2`C@ii)2`C@))QvB6>~BB"IB#BBBBBB;B}OEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006877i9/@@=y>AiԱ D D pD -D E ҝ: E  :6E t4:E "E ;! E ;!% *E 8R;!% E 9R;!% A I I N >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2587954,(k3A@yN'>@ٱNi:@N,>N}NHS?v??@|/@1?`r8¿ %}ſ@Y@<|?IN'>@)Na;iNCZB9Z #Iib=Ib=bpp9p9r}FYrEvAv>xQ 1~5٪zeÊ?Q 5~5zG z&9|YEPQ E@yz:E)z;Iz@;iz$5Y &B tA E-B*** querying acoustic contact ***zh)h)g1=FNOT Ignoring new targets: 138.82 m.gEbgEbM ProNav: ac range: 138.823471 m, nav range: 138.334290 m, bearing: 181.188481 deg, approach rate: 0.433326 m/s, LOS rate: -0.198104 deg/s, cmd heading: 174.909479 deg, new cmd heading: 174.746634 deg. gUFUHeadingCmd: 3.049904 target range: 138.823471 and range: 139.20 m.gU1C@gYgYgYgYzfYrfafafaBdadidicicm ?ɢB* 顝I ʇ;ɡiI=YI1C@ii)1C@)iU9QQU/Qԩ>A9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511747A I I N > ,.ul3Ay:縘@ٱ:)@:m/+>:7F:HY?ਜ?@U?VO5?43¿rLſ u}?I:縘@):Aa;i8FB9F"IDbDblDb.D`Eb: Eb:6Ebـ4:E`!j@!j@!j@!j@l5Mb@Mb@Mb@ 1)1I1i115-?Q? rh55?5(>5CI5 Ai5A5A5A)15ABDM$6DM3Y]B!]B=ejQ)e>a9a9m}FYmEmnAm>qQ 1}5٪uj Ċ?Q 5}5u uw9H1?Q A:YAI A @AA vB ~B B T"IB BB B B B I;B OEi  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015921Ay I I N >E,Pl3Ay60@ٱ6Z,@6X)>6慽6H@V? 5? ?|C1?@%¿sſG@~?I60@)6`;i6CRqB9V"IBDn6Dn!3Y~[!Q= Q) > 99}FYE-A%>)AQ 1E5٪-+Ċ?Q 5E5- -9IYUWQ EU@y-:E)-F;I-B;i-c(5Ym:BmHvAu§EgFNOT Ignoring new targets: 138.82 m.gigi ProNav: ac range: 138.823471 m, nav range: 138.691681 m, bearing: 181.019281 deg, approach rate: 0.424240 m/s, LOS rate: -0.203761 deg/s, cmd heading: 174.573365 deg, new cmd heading: 174.408674 deg. gsHeadingCmd: 3.044006 target range: 138.823471 and range: 139.20 m.gB@ggggzfrfffBdddcc`?@ɢB˟ 顝 I 1W;ɡiIXSIB@ii)B@)DDxD/DE: E:6EJ4:E"EU;!EV;!*EWo;!EWo;!ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2668159Aԙi9@@A >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518929 AIIQIaNu? ,:l3AyBR(@ٱB$@B.&&>B'BH@??y̺?Jv?`1 ¿`yĿ?IBR(@)B1`;i@^dB9b"I)h jAԩMb@Mb@Mb@ )IiS?/$?Mb?>IAi? A(A"A)AI)AABD6D 83YI=!=HQ)>99}FYE%tA%>)Q 155٪-~+Ċ?Q 555- -(9=.?Q A=:Y=K]Q E=@y-:E)-s:I-f:i-*5YAEvAIgFNOT Ignoring new targets: 138.82 m.gBpgBp ProNav: ac range: 138.823471 m, nav range: 138.916443 m, bearing: 180.906763 deg, approach rate: 0.420268 m/s, LOS rate: -0.210049 deg/s, cmd heading: 174.408676 deg, new cmd heading: 174.184006 deg. g4HeadingCmd: 3.040084 target range: 138.823471 and range: 139.20 m.gB@ggggzfrfff;BBdIa)IDDsDDE EZ:6E:E!@!@!@!@icAddcc @ɢMBM9 IMRII U,;ɡQiQIU9PI}B@iyiy)}B@)9Urchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771803i9>A 9 vB ~B B ""IB уBB B B B ^;B OEA9 II IY Nm >q,RVl3ABDAT read: Rx Time:23:50:11.6117 TRx dataTimestamp_ set to:1758412209.360328checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024000yB@ٱB螝@B1$>BڹBH?? <? Ⱥ?@ w?oĿ@ V`?IB@)B`;i@NWB9N"IBDV%6DV03Y^!^O=bQ)b>`9`9f}FYfEf(Af>Q 15٪>:Ċ?Q 55 v9YaQ E@y:E) :I|:i,5YxB yA̧EgFNOT Ignoring new targets: 138.82 m.gogoM ProNav: ac range: 138.823471 m, nav range: 139.088272 m, bearing: 180.818195 deg, approach rate: 0.406724 m/s, LOS rate: -0.209384 deg/s, cmd heading: 174.184003 deg, new cmd heading: 174.007087 deg. gUeHeadingCmd: 3.036997 target range: 138.823471 and range: 139.20 m.g'^B@ggggzfrfffBdddcc @ɢ]BzT 7I l ;9ɡiYI]̏MIe'^B@iaia)e'^B@)i)q qiqIqbDZDDDvD.DE: E:6Eـ4:E"E;!E;!*Eh;!Eh;!ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274816i 9 C5 ԡ >A rAE>jAE>DAT read: 23:50:11.6117 LVL= 23456, 19649, 16082, 23827, AGC= 64, IDX= 452, 0.13, 2.216,-2.745,-1.870,-2.756, PHS=-1.210, 0.056, 0.842, RAW= 247.7, 3.5, CAL= 244.6, 3.2, ROT= 265.4, -3.2 ]Ygot valid direction response: 23:50:11.6117 LVL= 23456, 19649, 16082, 23827, AGC= 64, IDX= 452, 0.13, 2.216,-2.745,-1.870,-2.756, PHS=-1.210, 0.056, 0.842, RAW= 247.7, 3.5, CAL= 244.6, 3.2, ROT= 265.4, -3.2 ePDAT read: Bearing 275.4, -76.0 (Local) e~Local bearing/azimuth received: Bearing 275.4, -76.0 (Local) uDAT read: Range 11 to 50 : 141.1 m (Round-trip 188.2 ms) speed -0.4 m/s }R#Rx 1: Read range and direction messages.`direction in FSK: [-0.080074,-0.995225,0.055822]Fpublishing direction and range info9&VG$TIiᢔ? Ci[L>]@ Hᚿ)B`e=IPW?iW@5z=D@d=2:@ diIզY5m(mH? 7?ƺ?R?1Ŀ ~?Im @)m`;imCFB9"IBE)JE-#4RE-L/DDrD,DE E?:6Eg4:E!@!@!@!@Mb@Mb@Mb@ )Ii@5^I ?1Zd?&1b?">PIiA5$A)ABD%6D%!3Y5L!5<=6Q)=>Y9a9e}FYeEeAe>iQ 1u5٪mPĊ?Q 5u5m m9}k$?Q A:Yr_Q E@ym:E)m;Im;im{/5YB7zAͧEhh1}wl3Ah Ch Ch_Q@ v[&xa"s-!k@u&VG$TIiᢔ?hVӿhdv!h?aWri33y3@v})`b*)w_~:?hh hB斊?h]hB*iP|?2iY:ii C"ikjM@e addTargetRange:: Added new target pos. range: 141.100006 m, deltaT: 3.782333 s, deltaX: 1.900009 m, approachRate: 0.502338 m/s, rangeRepo size: 4 u Added new target pos. range: 140.717880 m, bearing: 187.922646 deg, lat: 36.779161 deg, lon: -121.859845 deg, deltaT: 3.782333 s, deltaX: 1.894409 m, approachRate: 0.500857 m/s, posRepo size: 4 gFNOT Ignoring new targets: 140.72 m.gg ProNav: ac range: 140.717880 m, nav range: 139.551651 m, bearing: 183.897693 deg, approach rate: 0.000000 m/s, LOS rate: -0.209384 deg/s, cmd heading: 174.007088 deg, new cmd heading: 173.722571 deg. g*DAT read: user:924> BDAT read: Tx time:23:50:12.8193 $Ping request sent.AM }>q vB ~B CB !IB BB =B B B u;B OEB]̆CB]̆CBYBYBYB]b4m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250710A]yAIiIyN>I,&,2l3Ay6?@ٱ6@6 >6|16H`?VQ??@8 ?@`ÿh,?I6?@)6_;i6CB-B9B"IBDN6DN\3YR!Vc=VQ)V>Z H?9Z H?9Z}FYZE^97A^>dQ 1]5٪fr\Ċ?Q 5]5fb f9aYecQ Em@yf:E)f^Aԙ A AI! I1 NM >ud,,@l3AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755703y?@ٱ@>^ٛH ?h?`G?`80?@ÿW;?I?@)w_;iC=B9Ey"IԁMb@Mb@Mb@ )Ii/$?x&1?&1 ?A>IAi AVAd#A)ABD6D1Y%C!-=-Q)->-K?95K?95}FY5E5nA5>9Q 1E5٪=nĊ?Q 5M5=< =x9M!?Q AM:YM`Q EM@y=:E)=<:I=:i=u35YQ]{AYgFNOT Ignoring new targets: 140.72 m.gvgv ProNav: ac range: 140.717880 m, nav range: 139.878571 m, bearing: 183.710771 deg, approach rate: 0.381816 m/s, LOS rate: -0.215548 deg/s, cmd heading: 173.573617 deg, new cmd heading: 173.349186 deg. g<ŻHeadingCmd: 3.025514 target range: 140.717880 and range: 141.10 m.gA@ggggzfrfff(BBdddcc `?ɢ~Bf71 2I 79ɡiIuCIA@ii)A@))D}D}nD}+DyE}: E}:6E} [4:Ey!@!@!@!@i0Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006646 >A x>bA AZA A!I)I9NM>(G4,kl3AyZ@ٱZ@Z'>ZZH???@[`y?ÿ@òA?IZ@)Z^_;iZCidd)d dId d)hhhhlnr@ilIllIlirKA pp)pp ptttttIt)vдFix)xIzAzҽzdF ||B9e"IBD6D2Y%!%s=-ZQ)-?)9195}FY5ªE5뾽A=?9Q 1E5٪=_yĊ?Q 5E5= =9IYMhQ EM@y=:E)=K:I=:i=45YUB]|A]ΧEgyFNOT Ignoring new targets: 140.72 m.gmgm ProNav: ac range: 140.717880 m, nav range: 139.994736 m, bearing: 183.640806 deg, approach rate: 0.345241 m/s, LOS rate: -0.207761 deg/s, cmd heading: 173.349190 deg, new cmd heading: 173.209377 deg. gHeadingCmd: 3.023074 target range: 140.717880 and range: 141.10 m.g zA@ggggzfrfffBdddcc@?ɢe :I 䒳ɡvB~BB!IBBBBBBv;BOEiI kAI zA@ii) zA@)i>I%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260024i5>As>bDZD@ADDpD.DEa: E :6Eـ4:E"Ed;!Ee;!*E8R;!E9R;!A A9 II IY Nm > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510779l:,l3A yJ0@ٱJr@J0>JUJH ??o? n@A?zA¿r?IJ0@)JQ_;iJCA9ABDU6DU!3YL!E=Q)>99}FYŪEA>Q 15٪IĊ?Q 55 9YlQ E@y:E)n:I.:i65Y|Ag FNOT Ignoring new targets: 140.72 m.gmlgml5 ProNav: ac range: 140.717880 m, nav range: 140.134949 m, bearing: 183.553858 deg, approach rate: 0.333662 m/s, LOS rate: -0.206700 deg/s, cmd heading: 173.209376 deg, new cmd heading: 173.035656 deg. g5$EHeadingCmd: 3.020042 target range: 140.717880 and range: 141.10 m.gE^HA@gAgAgAgAzfIrfIfQfQBdYdYdacace@M?ɢ}B5X'N 15:I1 5}ɡ1i9I=ɥ>I=^HA@iAiA)E^HA@)Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765080ԡ95#2i0 D D D ,D E : E 6E g4:E ! @! @! @! @>A x>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014725AAIIIYNm?B,N m3Ay6B"@ٱ6@6>6w6H`A??ɀ?~@'?@Q@Wq¿i?I6B"@)6=_;i6CXUB9U\"Ii]=I]=Mb@Mb@Mb@ )Ii?/$?Zd;Of?>jq9q9u}FYuȪE}A}>yQ 15٪},Ċ?Q 55} }=9?Q A:YnQ E@y}:E)}] ;I}; ;i}95YߣB~AاEgFNOT Ignoring new targets: 140.72 m.gigi ProNav: ac range: 140.717880 m, nav range: 140.307602 m, bearing: 183.445555 deg, approach rate: 0.326409 m/s, LOS rate: -0.204501 deg/s, cmd heading: 173.035657 deg, new cmd heading: 172.819318 deg. g!HeadingCmd: 3.016266 target range: 140.717880 and range: 141.10 m.g A@ggggzfrfff>BBdddcc_X@ɢ)-hA )-=I) 58ɡ1i1I5_;I= A@i9i9)= A@)9vB~BB!IBBBBBBr;BOEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2667839M9i/9 D D nD 0D E : E :6E 4:E "E A;! E C;! *E J;! E J;! >A i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518711AyAIIN >cJ,Փ+m3Aɰ4<y:@ٱ:A@:yz>:E:H`p?;??@5?s0 ¿@@h?I:@):]Z_;i:CFB9F="IBDN6DN4d3YV!V;=ZEQ)Z>^ H?9^ H?9^}FY^˪E^~A^>`Q 1f5٪bĊ?Q 5j5b b|9hYjrQ Ej@yb:E)b;Ib+;ib:5YlrAp~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 140.72 m.gigi% ProNav: ac range: 140.717880 m, nav range: 140.445709 m, bearing: 183.356387 deg, approach rate: 0.316507 m/s, LOS rate: -0.204150 deg/s, cmd heading: 172.819318 deg, new cmd heading: 172.641157 deg. g%κ-HeadingCmd: 3.013157 target range: 140.717880 and range: 141.10 m.g-@@g)g)g1g1zf1rf1f1f9Bd9d9d9c9cE`@ԉɢ|B^ )-JI1 50!ɡ1i1I=r8IE@@iAii)m@@)q)y yiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775984i/ D D oD .D E ҝ: E :6E ـ4:E ! @! @! @! @>A }>BDAT read: Rx Time:23:50:15.4137  TRx dataTimestamp_ set to:1758412213.140195 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0237869IIQN]>PR,gIm3A5؃B9=+"IMb@Mb@Mb@ )Ii'1Z?~jt? ףp= ?>Q8IGAiA%A)ABD6D 83YJg!=Q)>99}FYΪEA> Q 15٪ Ċ?Q 55 a 9?Q A:YEpQ E@y :E)  ;I z ;i 8=5Y%B%jA%٧EgIUFNOT Ignoring new targets: 140.72 m.gUbgUbe ProNav: ac range: 140.717880 m, nav range: 140.607178 m, bearing: 183.254696 deg, approach rate: 0.315413 m/s, LOS rate: -0.198414 deg/s, cmd heading: 172.641159 deg, new cmd heading: 172.438012 deg. gemHeadingCmd: 3.009611 target range: 140.717880 and range: 141.10 m.gux@@gqgqgqgqzfqrfyfyf}0BBdyddcc@h @ɢ^` 页QI CVɡiI&B5Ix@@ii)x@@) > iaiim0ivB!~B!B%!IB%gBB% =B!B!B%z;B%OE9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274707>Ax>a Ia Iq N >*yX,"cm3A y:+@ٱ:m@: >:7:H }?@?B?¥`I?@.%tñ?I:+@):z*_;i:CFɃB9F"I)H JAbDLZDLDRDRuDR,DPERs: ER:6ERg4:EP"ER;!ZER;!Z*ERkd;!ZERld;!^BD^6D^3Yf!f_=jlQ)j>h9h9j}FYjЪE]A]>aQ 1m5٪eAĊ?Q 5m5e0 e9iYm6xQ Em@ye:E)e:IeI:ie>5YAg FNOT Ignoring new targets: 140.72 m.g%`g%`] ProNav: ac range: 140.717880 m, nav range: 140.722198 m, bearing: 183.177423 deg, approach rate: 0.291933 m/s, LOS rate: -0.195964 deg/s, cmd heading: 172.438016 deg, new cmd heading: 172.283597 deg. g]Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529430HeadingCmd: 3.006916 target range: 140.717880 and range: 141.10 m.gPq@@gggg!zf)rfAqfyfBdddccx@ɢIUWw QUYIQ UɡQiQI]w^2IPq@@ii)Pq@@)i/ԩ >A Iq I N > DAT read: 23:50:15.4137 LVL= 26416, 26161, 17058, 28915, AGC= 64, IDX= 457, 0.39,-2.272,-1.136,-0.010,-0.999, PHS=-1.171,-0.092, 0.945, RAW= 240.7, 3.5, CAL= 238.2, 4.1, ROT= 271.8, -4.1  Ygot valid direction response: 23:50:15.4137 LVL= 26416, 26161, 17058, 28915, AGC= 64, IDX= 457, 0.39,-2.272,-1.136,-0.010,-0.999, PHS=-1.171,-0.092, 0.945, RAW= 240.7, 3.5, CAL= 238.2, 4.1, ROT= 271.8, -4.1  PDAT read: Bearing 265.9, -83.6 (Local)  ~Local bearing/azimuth received: Bearing 265.9, -83.6 (Local)  DAT read: Range 11 to 50 : 142.7 m (Round-trip 190.3 ms) speed -0.6 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.031330,-0.996949,0.071497] Fpublishing direction and range info9y } ӆ ?£ M?} Cy i} 0g} 1f} B} py } T㕿)} jI} q?i} n@y } 6 @} C=} @͗@ } Ciy y I} 0IgMDZy?lZ Z?} Q@} z } k ſ)} Ciy y = T****** received valid address query ******E R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.^,c}m3AiLyvA-@ٱv)@v| >v>wvH`祥?`?? `.?@ `c" "`͡?IvA-@)vD_;ivC%B9%"Id>iېCI%ՈG)=AIQiAdAEMb@Mb@Mb@ A)AIAiAAEX9v?On?I +E>E>E94IE AiE AE AA)AE\ABD} 6D}k3Y!%=⦻Q)>99}FYԪEA>DDvD.DE1: E:6Eـ4:E!-@!-@!-@!-@Q 155٪Ċ?Q 5=5  :9=?Q A=:Y=!{Q E=@y:E) BBdyddc`fa@ct?*DAT read: user:925> BDAT read: Tx time:23:50:16.8693 $Ping request sent.A A A <vB! ~B! B% !IB% MBB! B! B! B% ~;B% OEIY Iq N} > e,ēm3Ay6ұ@ٱ6@6>6t6Hd?@?U??O`, A?I6ұ@)6 _;i4ZB9Z!IBDb6Db!3hYnz!n=nQ)r ?p9p9r}FYr֪Ev@Av ?iz=Iz=~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251086QQ 1]5٪UĊ?Q 5]5UB Uf9YY]Q E]@yU:E)U:IU|:iUnB5Ym2Bm4AmEgFNOT Ignoring new targets: 142.31 m.gxgxu ProNav: ac range: 142.313629 m, nav range: 141.066910 m, bearing: 185.274556 deg, approach rate: 0.280114 m/s, LOS rate: -0.217555 deg/s, cmd heading: 172.087545 deg, new cmd heading: 171.952088 deg. guǻHeadingCmd: 3.001130 target range: 142.313629 and range: 142.70 m.g@@ggggzfrfffBdddcc?ɢIM M!DDxD2DEC: E:6E4:E"E2;!E4;!*EWo;!EWo;!)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506338>A9 I I N >Y k,\m3AyB9@ٱB"6@B>B}yBH W??? ޒ? Dm?IB9@)B^;iBCNB9N!IiR=IR=BDV6DV2Y^sŽ!^M=bQ)b>`9`9f}FYfتEfJAf>hQ 1n5٪jUĊ?Q 5n5j# j9pYrtQ Er@yj:E)j;IjQ;ijD5YtvAt B*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 142.31 m.g% rg% r5 ProNav: ac range: 142.313629 m, nav range: 141.165665 m, bearing: 185.195239 deg, approach rate: 0.263646 m/s, LOS rate: -0.211603 deg/s, cmd heading: 171.952089 deg, new cmd heading: 171.793567 deg. g59=HeadingCmd: 2.998363 target range: 142.313629 and range: 142.70 m.g=0?@gAgAgAgAzfArfAfIfIBdIdIdIcQcUQ?ɢy- 顅uI [ȻɡiI*I0?@ii)0?@)iQYYeg3a-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757582iԙ>AMs>IIN>rD =jD =BE1JE544RE5I"0D D tD .D E : E v:6E ـ4:E ! @! @! @! @  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006822r,8m3Aɰ";";B9!IԙMb@Mb@Mb@ )IibX9?A`"?Zd;OE>>j99}FY۪EA>Q 15٪Ċ?Q 55 9 w?Q A :Y ~Q E @y:E)':I:i F5YAg9EFNOT Ignoring new targets: 142.31 m.gE6cgM6c] ProNav: ac range: 142.313629 m, nav range: 141.279816 m, bearing: 185.107375 deg, approach rate: 0.258281 m/s, LOS rate: -0.198644 deg/s, cmd heading: 171.793574 deg, new cmd heading: 171.617987 deg. g]ŵeHeadingCmd: 2.995299 target range: 142.313629 and range: 142.70 m.ge?@gagagagazfarfififmBBdidqdqcqc}v?ɢ5 顥-yI BBɡiIA'I?@ii)?@)i)))-31vB~BBZ!IB/BBBBBv;BOEBmŇCBmŇCBiBmů =Bmů =BmLt4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872>Aux>A AI I N > Nx,m3AD2D2xD2=D0E2: E2:6E2|4:E0"E2;!:E2;!:*E0!:E0!>yF J@ٱFLF@FI=FcFH`mq?櫓?P~CtPq?IF J@)F_;iFCRzB9R!IBDZ 6DZ2Ybs!b_=bvQ)b>fK?9fK?9f}FYfݪEjAj>hQ 1r5٪jjĊ?Q 5r5j j9pYrLQ Er@yj;E)j ;IjY;ijG5YxzނAxgFNOT Ignoring new targets: 142.31 m.g\g\ ProNav: ac range: 142.313629 m, nav range: 141.369263 m, bearing: 185.033531 deg, approach rate: 0.234114 m/s, LOS rate: -0.193153 deg/s, cmd heading: 171.617983 deg, new cmd heading: 171.470389 deg. gHeadingCmd: 2.992723 target range: 142.313629 and range: 142.70 m.gň?@ggggzfrfffBdddcc ?ɢY]ﰡ Y]IY eɡaiaIeW%Imň?@iiii)mň?@)i}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510904!9eAi111521@9@=AYi5 @?I5 ?M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766269ԉ >A= s>AmyAIqIN>܀,on3AyB̎@ٱBȕ@B=B\RBH l? d?OCžr?IB̎@)Br_;i@RxB9R!I)T VAbD1ZD1D=D=wD=-D9E=s: E=:6E=t4:E9!E@!E@!E@!E@mMb@Mb@Mb@ i)iIiiiimQ?$C?~jtm>m>mDIm"Aim AmO Am%A)imABD6D 83Y!"=Q)> H?9 H?9}FYEgA>Q 15٪gĊ?Q 55q% D9?Q A:ȲQ E@y;E):I:iI5YFB7AEgFNOT Ignoring new targets: 142.31 m.gcgc ProNav: ac range: 142.313629 m, nav range: 141.490036 m, bearing: 184.931296 deg, approach rate: 0.235417 m/s, LOS rate: -0.199111 deg/s, cmd heading: 171.470383 deg, new cmd heading: 171.266088 deg. g2HeadingCmd: 2.989157 target range: 142.313629 and range: 142.70 m.gZN?@ggggzfrfff+BBdddcc @AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015633ɢ}B"+ 顽2I bɡ!i!I% "I%ZN?@i)i))-ZN?@))9Au x> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267878I I N >4,9n3Aiy:P@ٱ:L@:Y=:fߕ:H}§q?J?@$`uw澿#RA?I:P@):UN_;i:CR_B9V!IBDb6DbF3Yj!nQ=nлQ)n>p9p9r}FYrErvAr>tQ 1U5٪vsŊ?Q 5U5vf* vv9YY]džQ E]@yv ;E)vh A9 I 9 IQ Nu >,w:n3AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786231yS@ٱO@w=FHj?? o<'@f?IS@)TN_;iCPB9!IMb@Mb@Mb@ )Iikt?5^I ?/$ >>,I!AiA A1$A)ABD 6Dk3YZo!"==1Q)>99}FYE{A>Q 15٪TŊ?Q 550 9?Q A:Y8Q E@y ;E)4;I(4;iM5YpBAEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 142.31 m.gmlgml- ProNav: ac range: 142.313629 m, nav range: 141.689392 m, bearing: 184.749833 deg, approach rate: 0.220499 m/s, LOS rate: -0.206699 deg/s, cmd heading: 171.106771 deg, new cmd heading: 170.903428 deg. g-$5HeadingCmd: 2.982827 target range: 142.313629 and range: 142.70 m.g5>@g1g9g9g9zf9rf9fAfEBBdAdAdAcIcM`U@ɢ~Bg I M.ɡiIHuI%>@i!i))->@)) ];>]>DDsD2DEC: EZ:6E4:E!@!@!@!@i    05 @@=BDAT read: Rx Time:23:50:19.4656 ETRx dataTimestamp_ set to:1758412217.184178Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0358711 >AM n>I I N >wΔ,(Tn3AyBՌ@ٱBѓ@B5=BBH\@?}߮?࿫P@v O ?IBՌ@)B<5_;iBCvB~BB!IBBB =BBB\;BOE>B9m!Ii=I=BD6DJ2Yͭ!I=Q)>99}FYEA>Q 15٪Ŋ?Q 555 9 Y;Q E@y;E) x;Iiz;iO5Y5B5A=Ei߽=I߽<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288622gAmFNOT Ignoring new targets: 142.31 m.guLWguLW ProNav: ac range: 142.313629 m, nav range: 141.774429 m, bearing: 184.666934 deg, approach rate: 0.193200 m/s, LOS rate: -0.188228 deg/s, cmd heading: 170.903422 deg, new cmd heading: 170.737725 deg. g=HeadingCmd: 2.979935 target range: 142.313629 and range: 142.70 m.gC>@ggggzfrfffBdddcc@x @ɢB2 !I S?ɡiIIC>@ii)C>@)!iO5D D vD -D E : E :6E t4:E "E w;! E x;! *E h;! E h;! A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541640>A x>I I N >i9i9u}FYuEu+A}>yQ 15٪}Ŋ?Q 55}: } 9YFQ E@y};E)}:I}d:i}/Q5Y/AgFNOT Ignoring new targets: 142.31 m.gg ProNav: ac range: 142.313629 m, nav range: 141.850189 m, bearing: 184.589957 deg, approach rate: 0.221549 m/s, LOS rate: -0.224988 deg/s, cmd heading: 170.737722 deg, new cmd heading: 170.583851 deg. gͻHeadingCmd: 2.977250 target range: 142.313629 and range: 142.70 m.gC>@ggggzfrfffBdddcc*?@ɢ!%LϽ !%I! -%SKɡ)i)I- kI5C>@i1i1)5C>@)9ԩi/PExceeded connect timeout, disconnecting.eDAT read: 23:50:19.4656 LVL= 27632, 24849, 17170, 28243, AGC= 64, IDX= 444, 0.06, 3.068,-2.179,-0.918,-2.021, PHS=-1.092,-0.113, 1.058, RAW= 237.0, 1.6, CAL= 234.0, 2.2, ROT= 276.0, -2.2 >AYgot valid direction response: 23:50:19.4656 LVL= 27632, 24849, 17170, 28243, AGC= 64, IDX= 444, 0.06, 3.068,-2.179,-0.918,-2.021, PHS=-1.092,-0.113, 1.058, RAW= 237.0, 1.6, CAL= 234.0, 2.2, ROT= 276.0, -2.2 PDAT read: Bearing 327.6, -87.7 (Local) ~Local bearing/azimuth received: Bearing 327.6, -87.7 (Local) DAT read: Range 11 to 50 : 144.0 m (Round-trip 192.1 ms) speed -0.8 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.104451,-0.993789,0.038388]Fpublishing direction and range info9)->R? @K.?-C)i-k-a-C-Sn) -Ƌ)-lI-l?i-]@-<-@-nF=-%@I1IANM> -nFi))I-d]ݿnx#}?gl?-@-L -g)-nFi))uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. D] D] xD] .DY E] : E] :6E] ـ4:EY !m @!m @!m @!m @y/,*n3Ay6Ћ@ٱ66͒@6{=6 6H` ? ѫ?@RL *qFx7`?I6Ћ@)6A_;i4|1B9]!I*DAT read: user:926> BDAT read: Tx time:23:50:20.9193 $Ping request sent.z>Q8I5$AihAA%A)ABD6D2Yp!A=Q)>99}FYE A >Q 15٪'Ŋ?Q 55C@ <9?Q A:Y%Q E%@y;E)e ;IE:iS5Y)-MA)hahe1A|n3AheCheChevH@ ve *.@20Ҟaze+ @ue>R? @K.?heghenFvea(_?q=+@ve5<;x ?hd7H?he?heheD?hep he@B*ia2ia:ie@Bie C"ieN@} addTargetRange:: Added new target pos. range: 144.000000 m, deltaT: 4.043570 s, deltaX: 1.300003 m, approachRate: 0.321499 m/s, rangeRepo size: 4  Added new target pos. range: 143.609711 m, bearing: 179.464696 deg, lat: 36.779164 deg, lon: -121.859907 deg, deltaT: 4.043570 s, deltaX: 1.296082 m, approachRate: 0.320529 m/s, posRepo size: 4 gFNOT Ignoring new targets: 143.61 m.gg ProNav: ac range: 143.609711 m, nav range: 141.928986 m, bearing: 184.502976 deg, approach rate: 0.000000 m/s, LOS rate: -0.224988 deg/s, cmd heading: 170.583852 deg, new cmd heading: 170.392086 deg. gHeadingCmd: 2.973903 target range: 143.609711 and range: 144.00 m.gmT>@ggggzfrfffBBdddcb@c?ɢB ÓI \ɡiIImT>@ii)mT>@))i9@@vB~BB IB؂BB =BBBM;BOEQ= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251954>A bA AZA ԁ AQ Ia Iq N >o,bn3Ay>J@ٱ>>G@>#=>lb>H@??]ׁ`Yr@?I>J@)>!_;i<)5B95:!IBDE6DE!3YU!UR=]Q)]>Y9Y9]}FY]Ee{,Ae>iQ 1u5٪m.Ŋ?Q 5u5mYE mi9qY}+Q E}@ym;E)m:Im:imT5YAgFNOT Ignoring new targets: 143.61 m.gkogko ProNav: ac range: 143.609711 m, nav range: 141.998489 m, bearing: 184.422470 deg, approach rate: 0.180798 m/s, LOS rate: -0.209317 deg/s, cmd heading: 170.392087 deg, new cmd heading: 170.231153 deg. gDDvD/DEҝ: E:6EJ4:E"E;!E;!*E!E!mHeadingCmd: 2.971094 target range: 143.609711 and range: 144.00 m.gmh&>@gigigigizfqrfqfqfqBdydydycyc} )?ɢB$Nѽ I kɡiIIh&>@ii)h&>@)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503449qi9ԁ>A nManaging dock network, ignoring radio surface power offԱ A AI I1 NE >i >I ;?5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758677,(n3Ay}@ٱ}8@}=}㉽}H Ŀ܏?V?t`Iÿ/̺ Er$?I}@)}E_;i}CԑB9!IIEG)]AImAAiAAMb@Mb@Mb@ )Ii+?5^I ?>tId#Ai9A%A)fABD-6D-3Y=!=0==RQ)=>EK?9EK?9E}FYEEE~AM>QQ 1]5٪Uy7Ŋ?Q 5]5UK U9]?Q A]:Y]Q Ee@yU;E)UP:IU:iUV5YmBm|AmEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 143.61 m.g_g_ ProNav: ac range: 143.609711 m, nav range: 142.084976 m, bearing: 184.331310 deg, approach rate: 0.185828 m/s, LOS rate: -0.195749 deg/s, cmd heading: 170.231154 deg, new cmd heading: 170.048946 deg. gHeadingCmd: 2.967914 target range: 143.609711 and range: 144.00 m.gN=@ggggzfrfffBBdddcc6?ɢB̽ *I }ɡiI:I N=@i i )N=@)D D sD .D E C: E Z:6E ـ4:E !%@!%@!%@!%@Ii}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007042i>A s>ԙ A1 I9 II Nm >Q,D0n3AvB65>~B4B6 IB6BB4B4B4B6P;B6OEyFbA@ٱF=@F\=FʎFH!ƿ `z?`?)bt>ſ``@?IFbA@)F^;iFCRB9V!IZpAQrA]>jA]>Թu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510846A I I N > ,3n3AyFb@ٱF@FrH=F"FH ȿb??L MFǿ ι:ᶿ?IFb@)F^;iFCRB9R!IBDZ6DZJ2Yz?!zI=~mQ)~>|9|9}FYE A> Q 15٪ DŊ?Q 55 JT 9YQ E@y %;E) <;I ;i Y5Y%äB%$A%EgIMFNOT Ignoring new targets: 143.61 m.gUbgUbe ProNav: ac range: 143.609711 m, nav range: 142.213257 m, bearing: 184.186270 deg, approach rate: 0.171557 m/s, LOS rate: -0.198061 deg/s, cmd heading: 169.920230 deg, new cmd heading: 169.759009 deg. geAx>) A I I N >BE4JEʪ4REi`1D5 D5 tD5 .D1 E5 : E5 v:6E5 ـ4:E1 !E @!E @!E @!E @Q 7,, o3Aɰp;yVF;@ٱV7@V*=VdVHU ʿ`I?l?@5Jɿ`;aW`?IVF;@)V^;iTfB9f!I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014874]Mb@Mb@Mb@ Y)YIYiYY]"~j?7A`?Q롿]S>]>]\I]1$Ai]dA]dA]%A)Y] ABDu6Du!3Y4!A=Q)>99}FYE A>Q 15٪vKŊ?Q 55Y 9?Q A:YPQ E@y);E):I:i[5Y+AgFNOT Ignoring new targets: 143.61 m.gyfgyfu ProNav: ac range: 143.609711 m, nav range: 142.280701 m, bearing: 184.101030 deg, approach rate: 0.159503 m/s, LOS rate: -0.201494 deg/s, cmd heading: 169.759011 deg, new cmd heading: 169.588612 deg. gu`}HeadingCmd: 2.959880 target range: 143.609711 and range: 144.00 m.g}n=@gygggzfrfffBBdddcc[{@ɢBӽ CI kɡiI*)IMn=@iIiQ)Un=@)Qi0YAyAyvB~BB IBBBBBBL;BOEBABABABABABEư4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267201>A% s>ԉ Au yAI I N >,3$o3A0yBZ@ٱB@B֢=B20BHD̿`-?? \J˿q@&.@s@C?IBZ@)B޻^;iBCbB9b!IIj@A)hBDj6DjP)3Yr!vU=vYQ)v>v H?9z H?9z}FYzEz)Az>|Q 1 5٪~QŊ?Q 5 5~^ ~,9 Y cQ E @y~,;E)~;I~M;i~{]5YפBAEgAEFNOT Ignoring new targets: 143.61 m.gMyggMyg] ProNav: ac range: 143.609711 m, nav range: 142.339020 m, bearing: 184.023420 deg, approach rate: 0.152133 m/s, LOS rate: -0.202372 deg/s, cmd heading: 169.588611 deg, new cmd heading: 169.433456 deg. g].eHeadingCmd: 2.957172 target range: 143.609711 and range: 144.00 m.geMB=@gagagagazfirfififiBdqdqdqcqc}k@ɢB 顭I xɡiI$TIMB=@ii)MB=@)DDD-DE: E6Et4:E"Ew;!Ex;!*E`;!E`;!iQQQU(1QԑUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518968Թ>A5x>bA9ZA9Ae AIq I N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772817,x>o3A\yb9@ٱ5@W=EBH`Ϳ ?V?lWAͿ7Xo@?Ib9@) ^;iCB9!I=Mb@Mb@Mb@ 9)9I9i99=y&1?5^I ?Mb=`>=>=I=%Ai= A=A=`#A)9=ABDU6DU2YeN!e4=eһQ)m>K?9K?9}FYER A>Q 15٪XŊ?Q 55d W9 ?Q A:Y XQ E@y0;E)& A A A I I) N= >,Xo3AvB"4>~B B" IB"BB" =B B B"J;B"OEyF[@ٱF@FyI=FqFHϿ@?? .CϿ?<|h?IF[@)F ^;iFCt9z!IBD%96D%03YMg;!U`=Ut Q)U>Y9a9e}FYeEmF7Au>yQ 15٪}]Ŋ?Q 55}yi }w9YhQ E@y}3;E)}sU;I}\b;i}a5YAgFNOT Ignoring new targets: 143.61 m.gkgk ProNav: ac range: 143.609711 m, nav range: 142.456894 m, bearing: 183.854410 deg, approach rate: 0.139205 m/s, LOS rate: -0.206008 deg/s, cmd heading: 169.242266 deg, new cmd heading: 169.095578 deg. gHeadingCmd: 2.951275 target range: 143.609711 and range: 144.00 m.g<@ggggzf!rf!f!f!BDAT read: Rx Time:23:50:23.5169 TRx dataTimestamp_ set to:1758412221.468432checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276120Bdddccg> @ɢuBu y}Iy } ɡyiyI\I<@ii)<@)aiK1ԉD D rD 2D E ҝ: E ?:6E 4:E "E ;!E ;!*E Y;!E Y;!%>A }> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527339 AU yAIy I N > ,wro3Ay67@ٱ64@6=66H(п$?j?@ʚп߲퐲?I67@)6$^;i4B݂B9B IJ4Z H?9Z H?9Z}FY^E^#A^>`Q 1f5٪bKcŊ?Q 5f5bn b9hYjpQ Ej@yb6;E)b;Ib;ibb5YlnAlgFNOT Ignoring new targets: 143.61 m.g iqg iq ProNav: ac range: 143.609711 m, nav range: 142.508209 m, bearing: 183.773875 deg, approach rate: 0.134530 m/s, LOS rate: -0.211057 deg/s, cmd heading: 169.095581 deg, new cmd heading: 168.934570 deg. g %HeadingCmd: 2.948464 target range: 143.609711 and range: 144.00 m.g%<@g!g)g)g)zf)rf)f1f1Bd1d1d9c9c=@iɢB%w )-I) -ɡ)i)I-UI5<@i1i1)=<@)9)Ii5DAT read: 23:50:23.5169 LVL= 21840, 17905, 14994, 23539, AGC= 61, IDX= 442,-0.41,-0.813,-0.164, 1.592, 0.244, PHS=-0.955,-0.363, 1.303, RAW= 224.6, 0.1, CAL= 222.1, 0.2, ROT= 287.9, -0.2 Ygot valid direction response: 23:50:23.5169 LVL= 21840, 17905, 14994, 23539, AGC= 61, IDX= 442,-0.41,-0.813,-0.164, 1.592, 0.244, PHS=-0.955,-0.363, 1.303, RAW= 224.6, 0.1, CAL= 222.1, 0.2, ROT= 287.9, -0.2 PDAT read: Bearing 46.5, -76.2 (Local) ~Local bearing/azimuth received: Bearing 46.5, -76.2 (Local) DAT read: Range 11 to 50 : 145.1 m (Round-trip 193.5 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.=^direction in FSK: [0.307355,-0.951589,0.003491]EFpublishing direction and range info9=hP?T9jsQC1ml?CiPUE:[= zt)#۹IȦ?ipz@:x@d;/ˠ@ diIEr-.пмS?{rle?"?c+ )diT****** received valid address query ******R****** received valid ping request ******!>AEs>rAE>jAE>uQuerying Benthos address 50 with one ping in standard two-way mode.Aq Iy I N >D D tD /D E a: E v:6E J4:E ! @! @! @! @I d,:o3ArՂB9r I*DAT read: user:927>  BDAT read: Tx time:23:50:24.9693  $Ping request sent. O>C It'AiAA1$A)(ABD 6Dk3Y!.=Q)>99}FYEA>Q 1 5٪piŊ?Q 5 5t 9?Q A:YנQ E@y:;E)6;I ;id5YBA%EhhK~o3AhChChV3L@ vIV~BB IBBB =BBBP;BOEԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250939>A x>A I I N >,3o3A˂B9 IBD-6D-f?3Y=1i!=e=AQ)E?A9A9E}FYM EIAM?QQ 1]5٪UmŊ?Q 5]5Ux U9YYaQ Ee@yU=;E)U;IU3;iU_f5YimڈAigFNOT Ignoring new targets: 144.71 m.DDD0DEs: E*:6E4:E"E;!E;!*Eh;!Ei;!g__g__ ProNav: ac range: 144.706390 m, nav range: 142.609192 m, bearing: 183.614757 deg, approach rate: 0.124424 m/s, LOS rate: -0.195288 deg/s, cmd heading: 168.731996 deg, new cmd heading: 168.597546 deg. gHeadingCmd: 2.942582 target range: 144.706390 and range: 145.10 m.gES<@ggggzfrfffBdddcc ?ɢB`; w<հI ˼ɡiII%ES<@i!i))-ES<@))i/checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5029419>Ai AE AIY Iq N} > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754811S,\o3AyÅ@ٱ@]=Hӿe?? ^`Lgӿ`ﵿ@Ȱs?IÅ@)˹^;iCB9 IEMb@Mb@Mb@ A)AIAiAAEn?x&?Q롿EV>E7>E\IE)AiEdAE|AE`#A)AEABD]6D]P)3Ym!m8=u喼Q)u>uK?9uK?9u}FYu E}ѽA}>Q 15٪rŊ?Q 55=~ 9q>Q A:Y ;Q E @y@;E)A Iy I N >vB ~B B IB BB B B B I;B OE*,o3ALy%UE@ٱ%A@%\=%.%H Կ??j?S8_Կ [`vX ?I%UE@)%F^;i%C=B9= IBDU6DU02Y]_!e]=eQ)e>i9i9m}FYmEm*Au>qQ 1}5٪uvŊ?Q 55u u$9Y2Q E@yuC;E)u:Iu:iui5YuAgFNOT Ignoring new targets: 144.71 m.g=ag=a ProNav: ac range: 144.706390 m, nav range: 142.687836 m, bearing: 183.461569 deg, approach rate: 0.097213 m/s, LOS rate: -0.196918 deg/s, cmd heading: 168.430785 deg, new cmd heading: 168.291262 deg. g0HeadingCmd: 2.937237 target range: 144.706390 and range: 145.10 m.g;@ggggzfrfffBddiuu?IuB@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259217dycyc}0?ɢBZ mI aC߼ɡiIHI;@ii);@)i9DDlD/DEa: E:6EJ4:E"Ed;!Ee;!*EC;!EC;!>A! % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510823I I I N- >P,7o3Aiy6Ȅ@ٱ6ċ@6ڼv=66Hտ?-x?[Rտz^Ү l ?I6Ȅ@)6#_;i6CFB9F IBDN6DNk1YVQ!VW=V߻Q)V>X9X9Z}FYZE^e$A^>`Q 1f5٪b3zŊ?Q 5f5bc bB9dYf$Q Ef@ybF;E)b:Ib:ibk5YlnAl9gFNOT Ignoring new targets: 144.71 m.gOgO ProNav: ac range: 144.706390 m, nav range: 142.720718 m, bearing: 183.389752 deg, approach rate: 0.083098 m/s, LOS rate: -0.181446 deg/s, cmd heading: 168.291258 deg, new cmd heading: 168.147658 deg. gHeadingCmd: 2.934730 target range: 144.706390 and range: 145.10 m.g;@ggggzfrfffBdddcc@H]?ɢB gI ,ɡiII;@ii);@) ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762877iC9EiMbUAUAi ?5 @ @ = D D sD -D E : E Z:6E t4:E ! @! @! @! @] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018753>A I1IANU>77,p3Ay::K@ٱ:}G@:l=:u|:Hֿ@?? P EAֿ/糿 D@?I::K@):_;i:CMB9M IUt>Up;-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 103.65, 91.90, 93.6-32768,-32768,-32768, !@! !@! !@! !@! BD6D!3Y==!= -Q)5>19195}FY5E=:A=>AQ 1M5٪E0Ŋ?Q 5M5E( EmQ =M+:9IQ AU:YUQ EU@yEJ;E)E;IE ?iEm5YY]zAYgFNOT Ignoring new targets: 144.71 m.gS_gS_ ProNav: ac range: 144.706390 m, nav range: 142.764832 m, bearing: 183.285240 deg, approach rate: 0.082436 m/s, LOS rate: -0.195246 deg/s, cmd heading: 168.147660 deg, new cmd heading: 167.938700 deg. gAAAAvB~BB IBBBBBBD;BOEHeadingCmd: 2.931083 target range: 144.706390 and range: 145.10 m.gޖ;@ggggzfrfffBdddccv@ɢBW 鷿I ɡiIpۼIޖ;@ii)ޖ;@)9<1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267933iiiiut4qa >A }>D D xD +D E 1: E :6E [4:E "E ;! E ;! *E Wo;! E Wo;! I I) N5 >FR ,J+p3A,y6σ@ٱ6(̊@6S#d=6?@6H5g׿?̦?$'׿@t@Q?I6σ@)6+_;i6Ci@BCA)@ @I@ FُC)F~XADDDHJr@iHIHxIxizOA ||)|| ||I)i) I ԂA .   =B9= IBDM6DMP)3Y}b!}b=RȻQ)?99}FYE2A?Q 15٪#Ŋ?Q 55v Q = :9Q A:YQ E@yM;E)<;Ig?in5Y@BAA Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519315giuFNOT Ignoring new targets: 144.71 m.g}Pg}P ProNav: ac range: 144.706390 m, nav range: 142.790497 m, bearing: 183.218877 deg, approach rate: 0.070364 m/s, LOS rate: -0.181907 deg/s, cmd heading: 167.938697 deg, new cmd heading: 167.805997 deg. gt HeadingCmd: 2.928767 target range: 144.706390 and range: 145.10 m.g p;@g g g g zfrfffBdddcc@Up@ԁɢBuD 顕,I ɡiID&׼Ip;@ii)p;@)) iIԱi! ! ! % 5!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771560 >AE s>I I N >',yHp3Aɰ;y6Q@ٱ6M@6FrY=6i6HQؿ B?@Bf?ؿ@Qw +3?I6Q@)6_;i6C%B9% IBEJ4JE4RE 0D=D=|D=/D9E=s: E=P$:6E=J4:E9!E@!E@!M@!M@!! !! !! !! Mb@Mb@Mb@ )IiNbX9?V-?L7A`堿>|>+Ix'AiA"A!A)ABD6D 83Y}Q<!-=Q)>99 }FY E iA>Q 15٪LŊ?Q 55 Q =%T:9%<>Q A%:Y%bQ E%@yP;E):I~:ip5Y154A1IUB*** querying acoustic contact ***zhQhQgaeFNOT Ignoring new targets: 144.71 m.gmdUgmdU} ProNav: ac range: 144.706390 m, nav range: 142.816330 m, bearing: 183.134160 deg, approach rate: 0.056899 m/s, LOS rate: -0.186561 deg/s, cmd heading: 167.806000 deg, new cmd heading: 167.636597 deg. g}HeadingCmd: 2.925811 target range: 144.706390 and range: 145.10 m.g{@;@gggg!zf!rf)f)f-BBd)d1d1c1c5 @ɢ}Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022968] 顥 I gɡiIZѼI{@;@ii){@;@))iYYY]/Y@a@aԉvB=4>~B9B= IB=}BB= =B9B9B9B9BBBBBBQ5ԡ>A }>E BDAT read: Rx Time:23:50:27.5678 M TRx dataTimestamp_ set to:1758412225.501391U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277435 A I I N >*,@bp3Ayr҂@ٱrΉ@rvHN=rӔrH@<ٿ@h^?? \ؿ`%DƩ@: ?Ir҂@)rL^;irCB9 IiBD 6Dk3Yi(!M=߻Q)>99}FYE2A>Q 15٪Ŋ?Q 55 9YiQ E @yS;E):I:iSr5YVAg9=FNOT Ignoring new targets: 144.71 m.gEOgEOU ProNav: ac range: 144.706390 m, nav range: 142.835739 m, bearing: 183.061847 deg, approach rate: 0.048753 m/s, LOS rate: -0.181617 deg/s, cmd heading: 167.636598 deg, new cmd heading: 167.491990 deg. gU0]HeadingCmd: 2.923287 target range: 144.706390 and range: 145.10 m.g]!;@gYgagagazfarfafifiBdididicqcu" @ɢB 顥I HɡiIXͼI!;@Աii)!;@)i)))5/1DeDepDe-DaEe: Ee :6Eet4:Ea"Ee;!mEe;!u*Ee8R;!uEe9R;!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527447>Aux> A yAI I N >9 T,m|p3Ay:Q@ٱ:M@:!C=:e:Hs)ڿ *?a?*bٿ@`!w@Kc`u?I:Q@):^;i:CFB9J IBDR6DRP)3YZн!Z`=ZQ)Z>^ H?9^ H?9^}FY^Eb0Ab>dQ 1j5٪fƉŊ?Q 5j5f f9hYjrQ Ej@yfV;E)f:If-:ifs5YprApg  FNOT Ignoring new targets: 144.71 m.gOgO% ProNav: ac range: 144.706390 m, nav range: 142.851059 m, bearing: 182.995643 deg, approach rate: 0.041984 m/s, LOS rate: -0.181412 deg/s, cmd heading: 167.491989 deg, new cmd heading: 167.359596 deg. g%-HeadingCmd: 2.920976 target range: 144.706390 and range: 145.10 m.g-E:@g)g)g)g1zf1rf1f1f9BdIdIdIcIcUu@ɢ}B} 顅I x ɡiI8jȼIE:@ii)E:@)5DAT read: 23:50:27.5678 LVL= 21232, 20385, 17906, 19907, AGC= 63, IDX= 435,-0.15,-0.743,-0.470, 1.636, 0.124, PHS=-0.765,-0.549, 1.468, RAW= 215.0, -1.5, CAL= 213.7, -3.1, ROT= 296.3, 3.1 EYgot valid direction response: 23:50:27.5678 LVL= 21232, 20385, 17906, 19907, AGC= 63, IDX= 435,-0.15,-0.743,-0.470, 1.636, 0.124, PHS=-0.765,-0.549, 1.468, RAW= 215.0, -1.5, CAL= 213.7, -3.1, ROT= 296.3, 3.1 MPDAT read: Bearing 37.5, -65.8 (Local) U~Local bearing/azimuth received: Bearing 37.5, -65.8 (Local) eDAT read: Range 11 to 50 : 145.8 m (Round-trip 194.4 ms) speed 0.0 m/s mR#Rx 1: Read range and direction messages.}`direction in FSK: [0.442423,-0.895175,-0.054079]}Fpublishing direction and range info92ͧP?)Eʾ7CiROEM?  C)D Im?iE(p@Pwּn@k]2|@ k]=iIXdJpF?hby٨ L? < N)k]=i%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.iU9YY]/a9D]D]vD]2DYE]: E]:6E]4:EY!m@!m@!m@!u@>Ai  *DAT read: user:928>  BDAT read: Tx time:23:50:28.9693  $Ping request sent. N>%, p3A9 IMb@Mb@Mb@ )IA A <vB~BCBs IBsBB =BBBO;BOEi\(\??X9v>>It'AiAA!A)ABD]6D]\3Y}0u;!0=Q)>99}FY!EA>Q 15٪όŊ?Q 55H 9>Q A:YfQ E@yY;E) ;I:iu5YAh!h%9p3Ah%gCh%gCh%hK@ v%/DP@3/E`O su%2ͧP?)Eʾ7h%Nh%k]=v%8oۇ)b+rLeUhWv%@KrǢlјt,h%h%Lh%ܸ?h%Y2h%~B*i%D?2i%Y2:i!i%CC"i%mK@ addTargetRange:: Added new target pos. range: 145.800003 m, deltaT: 4.030174 s, deltaX: 0.699997 m, approachRate: 0.173689 m/s, rangeRepo size: 4 - Added new target pos. range: 145.404037 m, bearing: 182.102191 deg, lat: 36.779151 deg, lon: -121.859885 deg, deltaT: 4.030174 s, deltaX: 0.697647 m, approachRate: 0.173106 m/s, posRepo size: 4 g)5FNOT Ignoring new targets: 145.40 m.g5g1E ProNav: ac range: 145.404037 m, nav range: 144.264282 m, bearing: 182.118721 deg, approach rate: 0.000000 m/s, LOS rate: -0.181412 deg/s, cmd heading: 167.359592 deg, new cmd heading: 167.188746 deg. gAMHeadingCmd: 2.917994 target range: 145.404037 and range: 145.80 m.gMj:@gQgQgQgQzfQrfQfYf]BBdYdYdace9b@ce?ɢmBmۭ iu¿Iq u7ɡqiqIu6¼I}j:@iyiy)}j:@)i4=I= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251219i9/@@ >A Dm Dm uDm 3Di Em : Em :6Em 4:Ei "Em A;!} Em C;!} *Em kd;!} Em ld;! >A n> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503563A I I N% >+,p3A$y^L@ٱ^AI@^U,=^F^Hܿl?-?@ۿ` a?I^L@)^Z^;i^CjB9j Iin=In=BDv 6Dvf2Y~y!~V=~yQ)~>99}FY$E ӫA >Q 15٪ԎŊ?Q 55 9YQ E%@y\;E)];I;iw5Y)-A)gQUFNOT Ignoring new targets: 145.40 m.g]Hg]Hm ProNav: ac range: 145.404037 m, nav range: 144.282257 m, bearing: 182.053132 deg, approach rate: 0.048105 m/s, LOS rate: -0.175511 deg/s, cmd heading: 167.188742 deg, new cmd heading: 167.057579 deg. gmuHeadingCmd: 2.915705 target range: 145.404037 and range: 145.80 m.gu:@gqgqgqgyzfyrfyffBdddcc@|D?ɢBw  顽 ɿI eɡiI,I:@ii):@)i999=/9qԩMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755459>A}x>A A I) II NU >2,P5p3ArD2=jD2<D6D6mD4D4E61: E6:6E4:E4!:@!:@!:@!:@yJɀ@ٱJŇ@J _=JFJHܿ@? ?$ܿC< ꣿ[?IJɀ@)J%}^;iJCVB9V I\Mb@Mb@Mb@ )IiI +?rh|?L7A`堿9>{>+IE(Ai A"A)BD 6D:2Y=!@=Q)>K?9K?9}FY'EA>Q 15٪Ŋ?Q 55Q 59>Q A:YpQ E@y^;E)] ;I; ;iwy5YTB/A EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 145.40 m.g0@g0@- ProNav: ac range: 145.404037 m, nav range: 144.300751 m, bearing: 181.981684 deg, approach rate: 0.043497 m/s, LOS rate: -0.168024 deg/s, cmd heading: 167.057575 deg, new cmd heading: 166.914698 deg. g-5HeadingCmd: 2.913211 target range: 145.404037 and range: 145.80 m.g5 r:@g1g1g9g9zf9rf9fAfEՅBBdAdAdAcIcM ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006744ɢB ǿI ɡiII% r:@i!i!)% r:@))i9vBE3>~BABEf IBEiBBABABABE[;BEOE>A I u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259357A9 II IY Nm ><8,p3Aɰ46=JjJH UݿD?肨?I+ݿ@ð`E ?IJVH@)Jw^;iHVB9Z IBDb6Db3YfV8!jZ=j Q)j>h9l9n}FYn)En,Ar>pQ 1v5٪rŊ?Q 5z5r| rM9xYzQ Ez@yra;E)r|:Ir_:ir{5YBAEg)5FNOT Ignoring new targets: 145.40 m.g5@g5@E ProNav: ac range: 145.404037 m, nav range: 144.314697 m, bearing: 181.918576 deg, approach rate: 0.037222 m/s, LOS rate: -0.168409 deg/s, cmd heading: 166.914701 deg, new cmd heading: 166.788499 deg. gMMHeadingCmd: 2.911008 target range: 145.404037 and range: 145.80 m.gMM:@gQgQgQgQzfQrfQfYfYBdYdadacace?ɢB7 顕ʿI >g"ɡiITIM:@ii)M:@)i5911509@9@9DuDuqDu1DqEu: Eu$ :6Eu-4:Eq"EuU;!EuV;!*EuU;!EuU;!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511171>AQbAYZAYyA I I N >ԡ l?,p3Ay6Ä@ٱ6@6W=6'H6H޿q?`C?@ `1޿! 2`vb ?I6Ä@)6^;i4J}B9J IBDP6DPYZ0!ZL=^Q)^>\9\9b}FYb+Eb1'Ab>dQ 1j5٪fŊ?Q 5j5f fg9lYnQ En@yfd;E)f;If/;if|5YprApg FNOT Ignoring new targets: 145.40 m.gXAgXA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762906y ProNav: ac range: 145.404037 m, nav range: 144.327011 m, bearing: 181.850970 deg, approach rate: 0.030791 m/s, LOS rate: -0.169034 deg/s, cmd heading: 166.788493 deg, new cmd heading: 166.653292 deg. gHeadingCmd: 2.908649 target range: 145.404037 and range: 145.80 m.gM':@ggggzfrfffBdddcc@tS@ɢ-B- )5˿I1 ]m'ɡYiaIeEGI=M':@iAiI)MM':@)!ԩi90DDtD,DE: Ev:6Eg4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014748>A A I! I1 NM >1E,q3Ayf}~@ٱf:@f! k> I )Ai A bA  A)  ABD%6D% 83Y5z!55== ٻQ)=>A9A9E}FYE.EEAM>IQ 1U5٪MRŊ?Q 5]5MC M9]>Q A]:Y]ǿQ E]@yMg;E)MX ;IM& ;iM~5YimAigFNOT Ignoring new targets: 145.40 m.gJgJ ProNav: ac range: 145.404037 m, nav range: 144.323746 m, bearing: 181.770800 deg, approach rate: -0.007212 m/s, LOS rate: -0.177059 deg/s, cmd heading: 166.653296 deg, new cmd heading: 166.492953 deg. gHeadingCmd: 2.905850 target range: 145.404037 and range: 145.80 m.gs9@ggggzfrfffمBBdddcc` @ɢB" ̿I (-ɡiI`6I s9@i i ) s9@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267011i09D D wD -D E s: E :6E t4:E "E ;! E ;! *E k;! E k;! >A }>i A I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519019I N >L, `2q3Aiy6|}@ٱ6@6<6E6H@|Cc?E?`,-.^?I6|}@)6^;i4ByB9Bz IBDJ6DJ2YZ@!Zi=ZQ)^>\9\9b}FYb1Eb^6Ab>dQ 1j5٪fQŊ?Q 5j5fb f9hYnɿQ En@yfi;E)fS:If;if]5YprApgFNOT Ignoring new targets: 145.40 m.gAgA ProNav: ac range: 145.404037 m, nav range: 144.318924 m, bearing: 181.708598 deg, approach rate: -0.013134 m/s, LOS rate: -0.169442 deg/s, cmd heading: 166.492951 deg, new cmd heading: 166.368543 deg. g HeadingCmd: 2.903679 target range: 145.404037 and range: 145.80 m.g9@ggggzfrfffBdddcc@ɢMBMQn# QUiοQIQ  2ɡiIYI9@ii)9@))1iO5@>@>ԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771252IՈG)Ii]ꞿYeAx>rA>jA>A I I N% > R,q;Lq3AD6D6rD61D4E6: E6?:6E6-4:E4!:@!:@!:@!:@]rB9]r Ie>e;Mb@Mb@Mb@ )IiX9v?"~j?Mb>Sc>It'Ai A)pABD6D!3Y ! 6=Q)>y9y9}FY3EA>Q 15٪Ŋ?Q 55f 9E>Q A:YſQ E@ym;E):IZ:ib5Y2ABDAT read: Rx Time:23:50:31.5682 TRx dataTimestamp_ set to:1758412229.280285checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023902B*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 145.40 m.gI@gI@  ProNav: ac range: 145.404037 m, nav range: 144.318436 m, bearing: 181.632859 deg, approach rate: -0.001084 m/s, LOS rate: -0.168110 deg/s, cmd heading: 166.368546 deg, new cmd heading: 166.217068 deg. gԙHeadingCmd: 2.901035 target range: 145.404037 and range: 145.80 m.g9@ggggzfrff!f%BBd!d!d)c)c-S @ɢUB]P Y]пIY ]k8ɡaiaIedI9@ii)9@)i-9))5051vB 2>~B B S IB YBB B B B V;B OE>A }> im %=Im <u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275885AY Ii Iy N >9 Y,fq3Ay6cy{@ٱ6@6s<6}6H?>?`: @bʲ)?I6cy{@)6Ķ^;i6CByB9Bz IBDJ6DJ02YZH=!Zc=^Q)^>`9`9b}FYb6EbAb?dQ 1j5٪fŊ?Q 5j5f( f9lYnɿQ En@yfo;E)f;IfT;if僆5YpvAtg FNOT Ignoring new targets: 145.40 m.g=g=- ProNav: ac range: 145.404037 m, nav range: 144.313660 m, bearing: 181.576182 deg, approach rate: -0.013971 m/s, LOS rate: -0.165801 deg/s, cmd heading: 166.217066 deg, new cmd heading: 166.103708 deg. g-5HeadingCmd: 2.899057 target range: 145.404037 and range: 145.80 m.g5%9@g1g1g1g1zf1rf9f9f9BdAdAdAcAcE T @ɢBq2* ϿI +-=ɡiI;I%9@ii ) %9@) DDvD0DE: E:6E4:E"E+Ax>i AA II IY Nm >>_,q3Aɰ y:Rnz@ٱ:l3@:><:d':HS`Y?`é? <|I#`?I:Rnz@):1^;i8FqB9Fp IBDN6DN!3Yn!nH=MDAT read: 23:50:31.5682 LVL= 24960, 25841, 18418, 25587, AGC= 61, IDX= 440,-0.20, 2.534, 2.556,-1.603,-2.977, PHS=-0.669,-0.705, 1.331, RAW= 209.1, 0.4, CAL= 208.4, -1.4, ROT= 301.6, 1.4 UYgot valid direction response: 23:50:31.5682 LVL= 24960, 25841, 18418, 25587, AGC= 61, IDX= 440,-0.20, 2.534, 2.556,-1.603,-2.977, PHS=-0.669,-0.705, 1.331, RAW= 209.1, 0.4, CAL= 208.4, -1.4, ROT= 301.6, 1.4 ]PDAT read: Bearing 35.6, -59.4 (Local) e~Local bearing/azimuth received: Bearing 35.6, -59.4 (Local) mDAT read: Range 11 to 50 : 146.1 m (Round-trip 194.8 ms) speed 0.0 m/s uR#Rx 1: Read range and direction messages.}`direction in FSK: [0.523830,-0.851473,-0.024432]}Fpublishing direction and range info9S*L6?o0C?{JCiadGc= C+)z4I5^?i$i@;h@+ȼq@ +99}FY8EA>Q 15٪YŊ?Q 55 9Y˿Q E@yr;E)B:I:i˅5Y7AhhDq3AhChCh6G@ vS@9eɄ_rVz uS*L6?o0C?{Jhwh+<v2bN5Y@W @vp}i?= f%?h@hhЍ?h'K`hsB*i_啊?2i3.:iABiC"iJ@- addTargetRange:: Added new target pos. range: 146.100006 m, deltaT: 4.031914 s, deltaX: 0.300003 m, approachRate: 0.074407 m/s, rangeRepo size: 4 E Added new target pos. range: 145.702774 m, bearing: 178.345801 deg, lat: 36.779145 deg, lon: -121.859884 deg, deltaT: 4.031914 s, deltaX: 0.298737 m, approachRate: 0.074093 m/s, posRepo size: 4 gAEFNOT Ignoring new targets: 145.70 m.gMgI] ProNav: ac range: 145.702774 m, nav range: 144.908081 m, bearing: 181.443406 deg, approach rate: 0.000000 m/s, LOS rate: -0.165801 deg/s, cmd heading: 166.103712 deg, new cmd heading: 165.958103 deg. gYeHeadingCmd: 2.896515 target range: 145.702774 and range: 146.10 m.ge`9@gagagagizfirfififqBdddc@3Cb@cq?yɢB PҿI #Cɡ iI❖Ie`9@iiii)m`9@)iBE 4JE r4RE u0DD{D.ԙDE1: E5":6Eـ4:E!@!@!@!@i 5@!@!*DAT read: user:929> BDAT read: Tx time:23:50:32.9693 $Ping request sent.A bA AZA vB ~B B B B B B B W;B OEB̆CB̆CBB̮ =B̮ =BI4 A I! IN> g,q3Aynx@ٱ3@9E<HWd"?IE(Ai3AvA)BD6D03Yq!=;7Q)>99}FYQ 15٪Ŋ?Q 55D 9 >Q A;Y ϿQ E@yu;E) ;I ;i5YBA  Eg)5FNOT Ignoring new targets: 145.70 m.g5:g5:M ProNav: ac range: 145.702774 m, nav range: 144.893509 m, bearing: 181.362577 deg, approach rate: -0.029330 m/s, LOS rate: -0.162707 deg/s, cmd heading: 165.958106 deg, new cmd heading: 165.796432 deg. gM┻UHeadingCmd: 2.893694 target range: 145.702774 and range: 146.10 m.gUG29@gQgQgQgQzfQrfYfYf]BBdadadacacm1?ɢB$ 顝ӿI IɡiIIG29@ii)G29@)i111541aDDrD-DEC: E?:6Et4:E"E2;!E4;!*EY;!EY;!y>Aq  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826ԡ I I N- >+m,>q3A YB9 S IBD-6D-f?3Y}ٽ!}d=Q)>99}FY>EA>Q 15٪Ŋ?Q 55% 9YQ E@yw;E);&AI1 IA NM >D D qD 0D E : E $ :6E 4:E ! @! @! @! @ t, q3Aiy6gw@ٱ6@6{<66Hr v?`3? @`eR`@?I6gw@)6p^;i4ZmB9Zl Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006845uMb@Mb@Mb@ q)qIqiqqud;O?? rhu>uL>uC Iut'AiuAuAu A)quABD6DJ2Y)=!H=UQ)>99~FYAE"A>Q 15٪VŊ?Q 55i $9t>Q A;Y8ؿQ E@yz;E) ;I ;iS5YAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 145.70 m.gO8gO8 ProNav: ac range: 145.702774 m, nav range: 144.860306 m, bearing: 181.240378 deg, approach rate: -0.057664 m/s, LOS rate: -0.161135 deg/s, cmd heading: 165.679926 deg, new cmd heading: 165.552009 deg. grHeadingCmd: 2.889428 target range: 145.702774 and range: 146.10 m.gb8@ggggzfrfffɅBBdddcc3?ɢB) ԿI jTɡi!I%:hI%b8@i)i))-b8@)1i9/@>@ >vB1>~BBZ IB^BB =BBBO;BOEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259099>AI1 IA I NU >5>z,Uq3Ay6^v@ٱ6K+@6K;6Q6HS:{?̋? @,4Fz 3Q?I6^v@)6h^;i6CDDuD-DE: E:6Et4:E"E= 99~FYCE A>Q 15٪2Ŋ?Q 55W <9YKڿQ E@y};E)/;I ;i^5YBAEg) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511154FNOT Ignoring new targets: 145.70 m.g4g4 ProNav: ac range: 145.702774 m, nav range: 144.830994 m, bearing: 181.166496 deg, approach rate: -0.062754 m/s, LOS rate: -0.158205 deg/s, cmd heading: 165.552010 deg, new cmd heading: 165.404216 deg. gĐHeadingCmd: 2.886848 target range: 145.702774 and range: 146.10 m.g8@ggggzfrfffBdddcc׼?ɢÅB`{! uԿI -[ɡiII8@ii)8@)yi]9YYaaԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762928>A IA IQ Ne >,,r3Ay6Lu@ٱ6@6e;86닽6HO3?t|?&Azি`ly?I6Lu@)6^;i6CPRAR}iPPiTVA)VP TIT X)ZAZ+XX\^Ai^\I\\I\ibA b`)`` bAfdddfxqAIh)hih)hIhhh ll tB9 t IBD%6D%3Y5m<!5y=5Q)5?9999=~FY=FE= PAE?Q 15٪Ŋ?Q 5 5 L9YwܿQ E@y;E)3A A @AA @AvB ~B B f IB iBB B B B B OEI I N >O,r3Aɰ4<;y6YMt@ٱ6"@6ܓ:6א6H! @d?@׫? m{R?I6YMt@)6^;i6C=~B9= IMb@Mb@Mb@ )Ii"~j?(\?~jtS>G>ļIE(AiA)ABD6D 3Y ?=!@=Q)>99~FYHEA>Q 1 5٪Ŋ?Q 5 5 ]9 ҿ>Q A  ;Y ڿQ E@y;E){:I:i5Y%^A!]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266761gFNOT Ignoring new targets: 145.70 m.g>g> ProNav: ac range: 145.702774 m, nav range: 144.784271 m, bearing: 181.052624 deg, approach rate: -0.064345 m/s, LOS rate: -0.166141 deg/s, cmd heading: 165.300618 deg, new cmd heading: 165.176435 deg. g%HeadingCmd: 2.882873 target range: 145.702774 and range: 146.10 m.g%8@g!g!g)g)zf)rf)f9f=˅BBd9d9d9cAcE3f@ ɢDžB2 0ҿI 35eɡiItI%8@i!i!)%8@))i/1DDrD0DE: E?:6E4:E"E;!E;!*EY;!EY;!>A }>bA AZA A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520236a A I! I1 N= >]o,Y8r3AyDr@ٱL@MmwHJ9??@rKr`m? ʲ?IDr@)^;iCQ{B9} IBD6DF3Y s! I=?Q)>99~FYKEA>!Q 1-5٪%Ŋ?Q 5-5% %l91Y5=޿Q E5@y%;E)%#;I%;i%o5Y9=jA9gimFNOT Ignoring new targets: 145.70 m.guq.guq. ProNav: ac range: 145.702774 m, nav range: 144.756714 m, bearing: 180.993778 deg, approach rate: -0.071407 m/s, LOS rate: -0.152508 deg/s, cmd heading: 165.176432 deg, new cmd heading: 165.058719 deg. gHeadingCmd: 2.880818 target range: 145.702774 and range: 146.10 m.gS_8@ggggzfrfffBdddccq@ɢȅB5 `ӿI 1jɡiIqlIS_8@ii)S_8@)ie9aae/aԑ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887ԩ>As>D D tD ,D E : E v:6E g4:E ! @! @! @! @ A yAI I N >R,TRr3A)t tvBDAT read: Rx Time:23:50:35.5683 zTRx dataTimestamp_ set to:1758412233.313470zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025087}B9 IԹ=Mb@Mb@Mb@ 9)9I9i99=?Gz?Mb=f>=p=>=I=)Ai= A=A=vA)9=ABDU6DU!3Ye<!eE=mQ)m>m H?9m H?9m~FYmMEuAu>yQ 15٪}Ŋ?Q 55} }9+>Q A ;YiQ E@y};E)}:I}:i}?5YBA(EB*** querying acoustic contact ***zhhgY]FNOT Ignoring new targets: 145.70 m.gege ProNav: ac range: 145.702774 m, nav range: 144.723801 m, bearing: 180.934090 deg, approach rate: -0.076023 m/s, LOS rate: -0.137900 deg/s, cmd heading: 165.058720 deg, new cmd heading: 164.939316 deg. g_|HeadingCmd: 2.878734 target range: 145.702774 and range: 146.10 m.g.=8@ggggzfrff)f-ԅBBd)d1d1c1c5 @ɢʅBC1* vB~BBs IBsBBBBBW;BOE顥^ӿI1 53spɡ1i1I5bI=.=8@i9i9)=.=8@)iU9QY]/Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2747459 >A} x>Iy I N >,nr3A$i$D2D2zD20D0E2C: E2 :6E24:E0"E22;!>E24;!>*E2v;!>E2v;!>hyr7Rp@ٱrJ~@rCrA7rHT? ?p@te(?" )?Ir7Rp@)rzD^;irC B9  IBD%6D%03Y=<!=H=EP+Q)M>Y9Y9e~FYePEuA}>Q 15٪Ŋ?Q 55 9YLQ E@y;E);I%  BDAT read: Tx time:23:50:36.7692  $Ping request sent. AQ rAQ jAU >a K? AI) I9 N] >,1r3A!D]D]tD],DYE]ҝ: E]v:6E]g4:EY!e@!e@!e@!e@y}So@ٱ}NL}@}!}kE}H D`6>?T&?`O<郤,"?ߤ?I}So@)}%^;i}CB9 IIMb@Mb@Mb@ )IiCl?kt?V-;> 0>I)AiAA)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.227979BD6D2Y$;!= eQ)>99~FYSEA> Q 15٪ Ŋ?Q 55  9>Q A;YQ E@y ;E) #:I :i y5YAEAAhhFtr3AhChCh E@ vj9W@ͣ=q\'Ձ@u&ncc?E迨P!Κ?hu0ahPwּv+5b Q!@ Z~(@v:w2 z{??hrAhhUŕ?h l hqB*iUŕ?2i'K`:iiC"i|F@ addTargetRange:: Added new target pos. range: 146.199997 m, deltaT: 3.781377 s, deltaX: 0.099991 m, approachRate: 0.026443 m/s, rangeRepo size: 4  Added new target pos. range: 145.801926 m, bearing: 176.461656 deg, lat: 36.779142 deg, lon: -121.859796 deg, deltaT: 3.781377 s, deltaX: 0.099152 m, approachRate: 0.026221 m/s, posRepo size: 4 g FNOT Ignoring new targets: 145.80 m.g g 5 ProNav: ac range: 145.801926 m, nav range: 145.108917 m, bearing: 177.695150 deg, approach rate: 0.000000 m/s, LOS rate: -0.132338 deg/s, cmd heading: 164.820101 deg, new cmd heading: 164.683066 deg. g1}HeadingCmd: 2.874262 target range: 145.801926 and range: 146.20 m.g}7@gygyggzfrfffBBdddYcYc]J?qɢ5υB5L# 9=wҿI9 =}ɡ9i9IEW\NIE7@iAiI)M7@vBQ~BQBU IBU}BBQBQBQBUM;BUOE)i% 9! ! - /) ԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.479757 >A IYIiN}>rɩ, r3A {B9 | IBD6D 3Y-u`!-f=5Q)5>1919=~FY=VE=A=>AQ 1M5٪EJ}Ŋ?Q 5M5E E9QYQQ EU@yE;E)E ;IE;iE5YY]AYgFNOT Ignoring new targets: 145.80 m.gFgF  ProNav: ac range: 145.801926 m, nav range: 145.082397 m, bearing: 177.647228 deg, approach rate: -0.077044 m/s, LOS rate: -0.139248 deg/s, cmd heading: 164.683060 deg, new cmd heading: 164.587197 deg. g ~HeadingCmd: 2.872588 target range: 145.801926 and range: 146.20 m.g}7@ggggzfrfffBd!d!d!c)c-?ɢUЅBUL ]=]GտIY ]䀽ɡYiYI]#GIe}7@iaii)m}7@)iԉDMDMmDIDIEM: EM:6EI:EI"EMAs>IQIiNu> ,r3Aɰ;yBLm@ٱBhE{@BťfBjBH # U?ޭ?૝@zԌ? ]?IBLm@)Bb^;iBC^B9b IBDf6Df2YrX=!rP=ro1Q)r>t9t9v~FYvXEzdAz>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983910|Q 1 5٪~yŊ?Q 5 5~u ~9YQ E@y~;E)~h;I~=:i~5YB%ٍA!gAMFNOT Ignoring new targets: 145.80 m.gMw gUw e ProNav: ac range: 145.801926 m, nav range: 145.048477 m, bearing: 177.593936 deg, approach rate: -0.089275 m/s, LOS rate: -0.140292 deg/s, cmd heading: 164.587191 deg, new cmd heading: 164.480583 deg. ge_mHeadingCmd: 2.870728 target range: 145.801926 and range: 146.20 m.gm7@gigigigizfirfqfqfqBdqdydycyc}@e?ɢхB: 顭ӿI DuɡiIn>I7@ii)7@)i@@BEt4JEA{4REŰ/DeDevDe-DaEes: Ee:6Eet4:Ea!u@!u@!u@!u@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235961>A- x>I I I N >vBA ~BA BE IBE BBA BA BA BE <;BE xOEBBҶ,ܞr3AB1B5 =B5 =B54y:Ol@ٱ: Hz@:J:+:H`W-? ZB?@u@``i*I?K?I:Ol@):!^;i:CFB9J I}Mb@Mb@Mb@ y)yIyiyy}㥛 ?w/?Mb}>}&>}I}&Ai}A}A}A)y}ABD6D02Yϔ!?=‹Q)>99~FY[EA>Q 15٪fvŊ?Q 55  9>Q A;YQ E@y;E):I/:i5YAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 145.80 m.gGgG ProNav: ac range: 145.801926 m, nav range: 145.012009 m, bearing: 177.539296 deg, approach rate: -0.085334 m/s, LOS rate: -0.127886 deg/s, cmd heading: 164.480586 deg, new cmd heading: 164.371279 deg. g jHeadingCmd: 2.868820 target range: 145.801926 and range: 146.20 m.g%7@g!g!g!g!zf!rf!f)f-BBd)d)d1c1c5yɡiIp5I7@ii)7@)Qi>I?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489148i/0y>ADu Du mDu +Dq Eu ҝ: Eu :6Eu [4:Eq Թ "Eu ;! Eu ;! *Eq ! Eq ! AY Ia Iq N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739949,dyr3A@yRFk@ٱRI?y@R-PRURH X`b?=?nR~@)?F?IRFk@)RE^;iRCbB9b IBDj"6DjJz3Y~<!V= MQ)>!9!9%~FY%]E- +A->9Q 1M5٪=sŊ?Q 5M5=J =9QY]Q E]@y=;E)=d;I=8;i=I5YquۍAqgFNOT Ignoring new targets: 145.80 m.gOgO ProNav: ac range: 145.801926 m, nav range: 144.977066 m, bearing: 177.489977 deg, approach rate: -0.088128 m/s, LOS rate: -0.124416 deg/s, cmd heading: 164.371275 deg, new cmd heading: 164.272614 deg. gcHeadingCmd: 2.867098 target range: 145.801926 and range: 146.20 m.g~7@gqgqgqgqzfyrfyfyfyBdddcc@ɢՅB^: ԿI 04ɡiI,I~7@ii)~7@) ԩ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9920389R5A1 9 rA9 jA= >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245097AAIIN?,Rs3Aiy>gIj@ٱ>Ax@>>㎽>Hn?@&:?3Kڣ@?@ױ?I>gIj@)>E^;i>CX^B9^ IMb@Mb@Mb@ )IiS?t>IiA3A)BD6D2Ygκ!= %Q) >K?9K?9~FYaEA>Q 1%5٪mŊ?Q 5%5  9-g>Q A-;Y-Q E-@y;E);I;i5Y=B=A9gaeFNOT Ignoring new targets: 145.80 m.AAAAvB0>~BB IBBB =BBB-;BhOEgg ProNav: ac range: 145.801926 m, nav range: 144.914413 m, bearing: 177.422820 deg, approach rate: -0.117475 m/s, LOS rate: -0.125976 deg/s, cmd heading: 164.272620 deg, new cmd heading: 164.138248 deg. gfHeadingCmd: 2.864753 target range: 145.801926 and range: 146.20 m.gX7@ggggzfrff f BBd d dcc/@ɢ]ׅB]- 顅ԿI bьɡiIC"IX7@ii)X7@)9Nw =i1115/9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4963679 >AY D= D= sD9 D9 E= 1: E= Z:6E9 :E9 "E= ;!M E= ;!U *E= $];!U E= $];!U Ii Iy N >j,ޮ1s3Ay6Ki@ٱ6kDw@6_6ْ6H??$`x؂`K? &V.?I6Ki@)6G^;i6CBB9B IBDJ6DJ02YR<!R_=VQ)V>T9T9Z~FYZcEZ,A^>\Q 1b5٪^hŊ?Q 5b5^ ^ 9dYfQ Ef@y^;E)^:I^:i^A5hYlnyAlgFNOT Ignoring new targets: 145.80 m.g  g   ProNav: ac range: 145.801926 m, nav range: 144.870316 m, bearing: 177.377600 deg, approach rate: -0.120059 m/s, LOS rate: -0.123150 deg/s, cmd heading: 164.138243 deg, new cmd heading: 164.047776 deg. g`aHeadingCmd: 2.863174 target range: 145.801926 and range: 146.20 m.g=>7@ggggzfrfffBdddcc'@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747862ɢ%؅B%B !%ӿI) mfUɡiiiImIu=>7@iqiq)}=>7@)y 9]=1i!))-/) BDAT read: Rx Time:23:50:39.3680  TRx dataTimestamp_ set to:1758412237.092228 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000848Y >AQ ԙ IaIN>,?Ps3ADDtD.DE: Ev:6Eـ4:E!@!@!@!@yBSh@ٱBLv@B By(BHS9? ? L`#@?!?`?IBSh@)Bg^;i@NB9N I%Mb@Mb@Mb@ !)!I!i!!%"~?Pn?l%>%>%I!i%9A%vA%A)!%(ABD=6D=03YE =!E=EhQ)E>I9I9M~FYMfEUAU>YQ 1e5٪]bŊ?Q 5e5] ] 9m$>Q Am&;YmQ Em@y];E)];I];i]5YuBuAu1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.251896gFNOT Ignoring new targets: 145.80 m.gg ProNav: ac range: 145.801926 m, nav range: 144.802765 m, bearing: 177.315814 deg, approach rate: -0.125111 m/s, LOS rate: -0.114489 deg/s, cmd heading: 164.047770 deg, new cmd heading: 163.924139 deg. gQHeadingCmd: 2.861016 target range: 145.801926 and range: 146.20 m.g7@ggggzfrfffBBdddccP @ɢMڅBU / QUѿIQ ]ْɡYiYI]Ie7@iaia)e7@)i)q qiqIq vB/>~BB IBBBBBB;BXOEEAA9i9E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505964a >A s>I) I9 NE > ,Els3AɰIDUDUrDU,DQEUC: EU?:6EUg4:EQ"EU2;!mEU4;!m*EUY;!mEUY;!m}B9} IBD 6Df2Y!*=Q)>99~FYjEA>Q 15٪ ]Ŋ?Q 55= 39YQ E@y;E) ;I ;i5YAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 145.80 m.gg ProNav: ac range: 145.801926 m, nav range: 144.742737 m, bearing: 177.260734 deg, approach rate: -0.125659 m/s, LOS rate: -0.115348 deg/s, cmd heading: 163.924144 deg, new cmd heading: 163.813939 deg. gSHeadingCmd: 2.859092 target range: 145.801926 and range: 146.20 m.g_6@ggggzf!rf!f!f!Bd)d)d)c)c-B@ɢ]ۅB]/8 aeӿIa eɡaiaIenIm_6@iiii)u_6@)qyDAT read: 23:50:39.3680 LVL= 29040, 31601, 21618, 27715, AGC= 63, IDX= 438, 0.11, 2.816, 2.122,-1.734,-2.983, PHS=-0.382,-1.133, 1.205, RAW= 191.7, 3.0, CAL= 191.8, 0.3, ROT= 318.2, -0.3 Ygot valid direction response: 23:50:39.3680 LVL= 29040, 31601, 21618, 27715, AGC= 63, IDX= 438, 0.11, 2.816, 2.122,-1.734,-2.983, PHS=-0.382,-1.133, 1.205, RAW= 191.7, 3.0, CAL= 191.8, 0.3, ROT= 318.2, -0.3 PDAT read: Bearing 24.4, -40.5 (Local) ~Local bearing/azimuth received: Bearing 24.4, -40.5 (Local) DAT read: Range 11 to 50 : 146.0 m (Round-trip 194.7 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.745466,-0.666523,0.005236] Fpublishing direction and range info9y?%GE(TsNru?Cipqq{rTCl? þ)%Iq=?i!V@PwV=>V@;g@ iIyd?X~1U?[??X :)i=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.i9!ԡ>A5 n>I I N > M *DAT read: user:931> U BDAT read: Tx time:23:50:40.7692 U $Ping request sent.U a9a9e~FYelEeAe>iQ 1u5٪mcXŊ?Q 55m mA9YQ E@ym;E)md;Im;imJ5YAhhB\vs3AhChCh/D@ v"[@%CX|Te?uy?%GE(TsNru?h:hv/~Gb%m#@S'%@v+;Yb?*C?h4Ahh?h8hxB*iܸ?2i:iiC"iE@e addTargetRange:: Added new target pos. range: 146.000000 m, deltaT: 4.032551 s, deltaX: -0.199997 m, approachRate: -0.049596 m/s, rangeRepo size: 4  Added new target pos. range: 145.602448 m, bearing: 176.094944 deg, lat: 36.779140 deg, lon: -121.859796 deg, deltaT: 4.032551 s, deltaX: -0.199478 m, approachRate: -0.049467 m/s, posRepo size: 4 gFNOT Ignoring new targets: 145.60 m.gg ProNav: ac range: 145.602448 m, nav range: 144.845901 m, bearing: 177.222702 deg, approach rate: 0.000000 m/s, LOS rate: -0.115348 deg/s, cmd heading: 163.813932 deg, new cmd heading: 163.726420 deg. gHeadingCmd: 2.857565 target range: 145.602448 and range: 146.00 m.gY6@g!g!g!g)zfQrfYfifBdddc@b@c  q?bDQZDU?ADmDmqDm/DiEm: Em$ :6EmJ4:Ei!@!@!@!@ɢ ܅B l;  vӿI  ɡiIUIY6@ii)Y6@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252287i A <A vB .>~B B IB BB B B B ;B NOE! >A x>Ia Iq N >`,Ts3Ay6]id@ٱ6ar@666H֋@&? ? >-@"1?@h`5?I6]id@)6^;i6CB9 IԉMb@Mb@Mb@ )Ii333333?T㥛 ?+>>Ii)BD6DN2Y7!I=HջQ)>99~FYnE+A>Q 15٪RŊ?Q 55 Q9ʧ>Q A!;YQ E@y;E)Q:If:i 5Y;A g)5FNOT Ignoring new targets: 145.60 m.g5g5M ProNav: ac range: 145.602448 m, nav range: 144.784485 m, bearing: 177.177016 deg, approach rate: -0.159181 m/s, LOS rate: -0.118461 deg/s, cmd heading: 163.726424 deg, new cmd heading: 163.635013 deg. gMXUHeadingCmd: 2.855970 target range: 145.602448 and range: 146.00 m.gU56@gQgQgQgQzfQrfYfYf]BBdYdadacace?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503081ɢ ݅B HR տI )UɡiII56@iAiA)E56@)AԹi0DDoD.DEs: E:6Eـ4:E"E;!E;!*EN;!EN;!>A rA% >jA% >E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755458A Iy I N ><,s3AiyFec@ٱFs^q@FW FFHl`/??r@?@?IFec@)F…^;iFC=B9= IBDM6DM03Y]<!]S=eXQ)e>a9a9e~FYeqEm'Am>qQ 1}5٪u+MŊ?Q 5}5u u`9yYQ E@yu;E)u;Iu;iu5YB֍A0EgFNOT Ignoring new targets: 145.60 m.g:g: ProNav: ac range: 145.602448 m, nav range: 144.723724 m, bearing: 177.133365 deg, approach rate: -0.157199 m/s, LOS rate: -0.112982 deg/s, cmd heading: 163.635008 deg, new cmd heading: 163.547669 deg. gNHeadingCmd: 2.854445 target range: 145.602448 and range: 146.00 m.g;6@ggggzfrfffBdddcc@?ɢޅB%E !%ԿI! %]ɡ)i)I-f)ڻIG)ZAIiʰZA AIe;6@iiii)m;6@)iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008273ii>A) D- D- vD- -D) E- ҝ: E- :6E- t4:E) !E @!E @!E @!E @ԙ II IY Nm >j,s3A)t tzchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259158%B9- IamMb@Mb@Mb@ i)iIiiiim@5^I ?Zd;? rhmb>m=mC Im%AiimAmA)im3ABD6D:Y >!7=Q)>99~FYtEA>Q 15٪2GŊ?Q 55! n9F>Q A+;Y6Q E@y;E);I ;i5YAgimFNOT Ignoring new targets: 145.60 m.gugu ProNav: ac range: 145.602448 m, nav range: 144.658905 m, bearing: 177.085397 deg, approach rate: -0.139984 m/s, LOS rate: -0.103638 deg/s, cmd heading: 163.547664 deg, new cmd heading: 163.451685 deg. g=HeadingCmd: 2.852770 target range: 145.602448 and range: 146.00 m.gɓ6@ggggzfrfffBBdddcc?vB/>~BB IBBBBBB ;BGOEɢ-߅B- zB 顕տI ɡiI,ȻIɓ6@ii)ɓ6@)ԉiaaim,0ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510976Թ>A I I! N- > I(,!s3AyJzZa@ٱJSo@J!JJH@m? >?g p1?`jJ?IJzZa@)J`^;iJCZB9^ IIAA)BD-6D-:3YE=!Ee=EUgQ)M>I9I9U~FYUvEUA]>aQ 1m5٪e$BŊ?Q 5m5e3$Q 9mtI ez9iYuE Q Eu@ye;E)e:Iej:ieA5Yy}AygFNOT Ignoring new targets: 145.60 m.ggDDsD)DE: EZ:6EFA4:E"E;!E;!*E$];!E$];! ProNav: ac range: 145.602448 m, nav range: 144.603729 m, bearing: 177.047484 deg, approach rate: -0.160803 m/s, LOS rate: -0.110535 deg/s, cmd heading: 163.451686 deg, new cmd heading: 163.375831 deg. gJJHeadingCmd: 2.851446 target range: 145.602448 and range: 146.00 m.g~6@ggggzfrfffBdddcc%?ɢ)-Q )-FѿI) 5vYɡ1i1I5I=~6@i9i9)=~6@)Ai9 5%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765055>AbAZAAIqIN>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018998},rt3A%B9% IBD5 6D52YE+!EJ=EQ)M>I9I9M~FYMyEUAU>YQ 1e5٪]y<Ŋ?Q 5e5]& ]9aYaQ Em@y];E)]`:I]:i]5YquAqB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 145.60 m.gg񺝅 ProNav: ac range: 145.602448 m, nav range: 144.541946 m, bearing: 177.004929 deg, approach rate: -0.153310 m/s, LOS rate: -0.105642 deg/s, cmd heading: 163.375830 deg, new cmd heading: 163.290684 deg. gVAHeadingCmd: 2.849960 target range: 145.602448 and range: 146.00 m.ge6@ggggzfrfffBdddcc@@ɢBNI  _ӿI  U ɡ i I %/Ie6@ii)e6@)Qi]9aam4iBEmـ4JEm4REmۋ0DDvD2DEC: E:6E4:E!@!@!@!@yMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.272738>A s>Iy I N >ԩ vB 0>~B B IB BB =B B B ;B EOEBBBBɮ =Bɮ =Bɏ4>:,8"t3A@yBY_@ٱBQm@Bp5BBHi| ?? H(n@I崦?n ?IBY_@)B^;i@^B9b IMMb@Mb@Mb@ I)IIIiIIMV-?i|?5?MbMh>M=MIM%AiIMzAM"A)IIBDe'6De3Yuu=!uG=u$DQ)}>y9y9}~FY{EPA>Q 15٪I6Ŋ?Q 55) 9O>Q A+;Y1 Q E@y;E);I ;iϳ5YAgFNOT Ignoring new targets: 145.60 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523072gg뺝 ProNav: ac range: 145.602448 m, nav range: 144.474060 m, bearing: 176.962664 deg, approach rate: -0.165522 m/s, LOS rate: -0.103099 deg/s, cmd heading: 163.290685 deg, new cmd heading: 163.206115 deg. g<HeadingCmd: 2.848484 target range: 145.602448 and range: 146.00 m.gM6@ggggzfrfffBBdddccG@ԩɢB&JA bпI ɡiIZIM6@ii)M6@)ie9aae4aDDwD1DE: E:6E-4:E"EU;!EV;!*Ek;!Ek;!>A x>I I  N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776529d,]T9T9Z~FYZ~EZe0AZ>\Q 1b5٪^v0Ŋ?Q 5b5^, ^9dYf@ Q Ef@y^;E)^:I^:i^u5YhhhlgFNOT Ignoring new targets: 145.60 m.g %g %麝 ProNav: ac range: 145.602448 m, nav range: 144.410019 m, bearing: 176.924133 deg, approach rate: -0.169314 m/s, LOS rate: -0.101915 deg/s, cmd heading: 163.206113 deg, new cmd heading: 163.129017 deg. g:%HeadingCmd: 2.847138 target range: 145.602448 and range: 146.00 m.g%76@g!g!g)g)zf)rf)f)f1Bd1d1d1c1c=` @ɢ~T |пI bɡiIcxI76@ii)76@)i9/@@>BDAT read: Rx Time:23:50:43.3674 TRx dataTimestamp_ set to:1758412241.128215checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0280209>ArA>jA>AA Ii ԉ I N >D D uD .D E Ʊ: E :6E ـ4:E ! @! @!% @!% @ZL,8Vt3A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279855B9 IYMb@Mb@Mb@ )Ii&1?|?5^?Mb>=I5$AiAKAA)fABD6DN3Y<!<Q)>!9!9%~FY%E-A->1Q 15٪5<)Ŋ?Q 555. 59>Q A/;YQ E@y5;E)5ה~BB IBBB =BBB;BCOEԉi    Թiߵ%=IߵR=DAT read: 23:50:43.3674 LVL= 31152, 32609, 21602, 29539, AGC= 65, IDX= 432,-0.28,-1.204,-2.036, 0.338,-0.835, PHS=-0.268,-1.157, 1.129, RAW= 187.3, 3.0, CAL= 187.4, 0.1, ROT= 322.6, -0.1 Ygot valid direction response: 23:50:43.3674 LVL= 31152, 32609, 21602, 29539, AGC= 65, IDX= 432,-0.28,-1.204,-2.036, 0.338,-0.835, PHS=-0.268,-1.157, 1.129, RAW= 187.3, 3.0, CAL= 187.4, 0.1, ROT= 322.6, -0.1  PDAT read: Bearing 16.2, -34.6 (Local)  ~Local bearing/azimuth received: Bearing 16.2, -34.6 (Local)  DAT read: Range 11 to 50 : 145.5 m (Round-trip 194.1 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.794413,-0.607375,0.001745]% Fpublishing direction and range info9֟k?ِo㿉n p\?CiyabTcsA L7)I?iS7Q@SQ@:,@ iIz?Yܴk{?2Ϊ?_?fV ')i= T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.>AI A I I N >x,pt3AyI\@ٱAj@nU]H`p?6?@׮߿`J@Ȫ?nH ?II\@) X^;iC5B95 IBDe6De 3Yu{8=!uU=}d\Q)}>y9y9~FYEA>DDD6DEs: EV:6Ec4:E"E;!E;!*E;!E;!ԱQ 15٪"Ŋ?Q 5511 9Y(Q E@y;E)# BDAT read: Tx time:23:50:44.5692 %$Ping request sent.%A9 A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250445Au yAIy I N >+",st3AyR@[@ٱRO9i@R3C`RߓRHp?#?@p޿ 袿?pi?IR@[@)RzE^;iP^B9^ IId)dBDj 6Dj2Yr<!rP=r)ܻQ)r>v H?9v H?9v~FYvEv'Az>|Q 15٪~-Ŋ?Q 55~3 ~9Y2Q E@y~;E)~4:I~:i~Ӻ5YA5B*** querying acoustic contact ***zh1h1g9EFNOT Ignoring new targets: 145.10 m.gEgE캝] ProNav: ac range: 145.104370 m, nav range: 144.373352 m, bearing: 175.669884 deg, approach rate: -0.199672 m/s, LOS rate: -0.103425 deg/s, cmd heading: 162.966387 deg, new cmd heading: 162.891461 deg. g]G=eHeadingCmd: 2.842992 target range: 145.104370 and range: 145.50 m.ge5@gagagagazfarfafifiBdqdqdqcyc}ύ?ɢ#V 顭˿I `ɡiIe5I5@ii)5@)i9@@DDwD-DE: E:6Et4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502981>AbAAZAA!vBm 4>~Bi Bm IBm ΂BBi Bi Bi Bm ;Bm SOEI I N >Q (,Nt3Ay62Z@ٱ6*h@6lik6j=6Hr??ص?OݿG죿i?'@?I62Z@)66Y^;i6CBB9B I5Mb@Mb@Mb@ 1)1I1i115Q?Mb?Q5\>5=5I51$Ai5dA5GA5|A)15ABDM6DMN2Y]w<!eC=eԻQ)e>a9i9m~FYmEm}!Am>qQ 1}5٪uŊ?Q 55u5 u9>Q A2;YQ E@yu;E)u ;Iu:iu5YAgFNOT Ignoring new targets: 145.10 m.gκgκ ProNav: ac range: 145.104370 m, nav range: 144.293961 m, bearing: 175.632069 deg, approach rate: -0.189461 m/s, LOS rate: -0.090293 deg/s, cmd heading: 162.891460 deg, new cmd heading: 162.815788 deg. g?%HeadingCmd: 2.841671 target range: 145.104370 and range: 145.50 m.g5@ggggzfrfffBBdddcc`?ɢ!%I !%ʿI) -ɡ)i)I- 1I=5@i9i9)=5@)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.768478i9aD}D}tD}.DyE}: E}v:6E}ـ4:Ey"E};!E};!*E}`;!E}`;!>As>ԑI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010729N >Թ .,)t3Ay:?ܿ@-/#? ?I:\9\9^~FY^EbV)Ab>dQ 1j5٪f%Ŋ?Q 5j5f7 f9hYjQ Ej@yf;E)f:If;ifS5YrBrBAr8EgFNOT Ignoring new targets: 145.10 m.gD̺gD̺- ProNav: ac range: 145.104370 m, nav range: 144.220184 m, bearing: 175.597974 deg, approach rate: -0.193117 m/s, LOS rate: -0.089293 deg/s, cmd heading: 162.815782 deg, new cmd heading: 162.747557 deg. g-j#5HeadingCmd: 2.840481 target range: 145.104370 and range: 145.50 m.g5p5@g1g1g1g1zf9rf9f9fABdAdAdAcAcM` ?ɢquP y}C˿Iy }ɡyiyI}Ip5@ii)p5@)ԑi1115/1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261308>AUx>IIN>D D oD *D E ҝ: E :6E (N4:E ! @! @! @! @1 r5,t3Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513467yj!X@ٱjpf@jf~jjH࿴m? X? /ܿ@C`-ϯ?j?Ij!X@)jM^;ihvĂB9v IMb@Mb@Mb@ )IiV-? rh?X9vh>C=I%AiAA)iBD6D2Yn=!8="Q)>99~FYEyA>Q 1 5٪Ŋ?Q 5 5: 9[>Q A4;YQ E@y;E);I;iD5YA!gAMFNOT Ignoring new targets: 145.10 m.gU.gU.e ProNav: ac range: 145.104370 m, nav range: 144.125427 m, bearing: 175.562428 deg, approach rate: -0.213315 m/s, LOS rate: -0.080074 deg/s, cmd heading: 162.747562 deg, new cmd heading: 162.676423 deg. gemHeadingCmd: 2.839239 target range: 145.104370 and range: 145.50 m.gm5@gigqgqgqzfqrfqfyf}BBdydydycc 3?ɢG 页ǿI OkɡiII5@ii)5@)vB5>~BB!IBBBBBBB)Ii0@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768782>A A Ii Iy N >;,/t3Aiy:W@ٱ:Ue@:$M:9:H??^ۿW㢿ಆ? ^?I:W@):0^;i:CZԂB9Z IBDb 6Db2Yj=!j^=nػQ)n>l9p9r~FYrEr(4Ar>tQ 1z5٪vrĊ?Q 5z5v; v9|Y~Q E~@yv;E)v;Iv;iv5YnjA g)5FNOT Ignoring new targets: 145.10 m.g5Ig5IDEDEpDE.DAEE1: EE :6EEـ4:EA"EE;!MEE;!U*EE8R;!UEE9R;!Ue ProNav: ac range: 145.104370 m, nav range: 144.045883 m, bearing: 175.533480 deg, approach rate: -0.216438 m/s, LOS rate: -0.078810 deg/s, cmd heading: 162.676419 deg, new cmd heading: 162.618491 deg. ge:mHeadingCmd: 2.838228 target range: 145.104370 and range: 145.50 m.gm5@gigqgqgqzfqrfqfyfyBdyddccV@ɢ̚P 页ÿI \ɡiIBSI5@ii)5@)i199=09Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018396y>Ai֐CIAIYI]ՈG)uAIiA AN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269352B,, u3Ay65V@ٱ6 d@696B6H"@?\?!ڿ0u#?A?I65V@)6%E^;i6C@FB9F IBDN6DN2YVo=!VM=VŻQ)Z>X9X9Z~FYZE^$A^>`Q 1f5٪bĊ?Q 5f5b= b9dYjQ Ej@yb;E)b:Ib9:ibÆ5YlUAQmB*** querying acoustic contact ***zhqhqgyFNOT Ignoring new targets: 145.10 m.gg ProNav: ac range: 145.104370 m, nav range: 143.958450 m, bearing: 175.502620 deg, approach rate: -0.211055 m/s, LOS rate: -0.074538 deg/s, cmd heading: 162.618485 deg, new cmd heading: 162.556727 deg. giHeadingCmd: 2.837150 target range: 145.104370 and range: 145.50 m.gޓ5@ggggzfrfffBdddcc X@ɢJ I DɡiIʺIޓ5@ii)ޓ5@)iqqqu02qԱbDQZDU@ADuDuqDu-DqEua: Eu$ :6Eut4:Eq!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521350>A}>IYIiN}>A A vB 3>~B B "!IB BB =B B B ;B XOE oH,\%u3AyRhU@ٱRc@R΍RRH&V`?`?`;-ٿd@B @7?@o` ?IRhU@)R\^;iPl^ڂB9r IMb@Mb@Mb@ )IiHzG?A`"?X9v=>Y=I"AiAvA A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773402)AI)@ABD6D!3YMü!-=Q)>99~FYE A>Q 15٪yĊ?Q 55? 9č>Q A?;YU#Q E@y;E)5;I:iņ5YBaA7EgFNOT Ignoring new targets: 145.10 m.g%g%5 ProNav: ac range: 145.104370 m, nav range: 143.856293 m, bearing: 175.470510 deg, approach rate: -0.223852 m/s, LOS rate: -0.070410 deg/s, cmd heading: 162.556726 deg, new cmd heading: 162.492461 deg. g5=HeadingCmd: 2.836028 target range: 145.104370 and range: 145.50 m.g=}5@g9g9g9g9zf9rfAfAfEBBdAdIdIcIcUr@ɢy}2G y}I |ýɡiII}5@ii)}5@) iAIIM0I9D]D]xD],DYE]C: E]:6E]g4:EY"E]2;!mE]4;!m*E]Wo;!mE]Wo;!m>Am x>bAm AZAm A BDAT read: Rx Time:23:50:47.1666  TRx dataTimestamp_ set to:1758412244.913328 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027516a A] AIa Iy N >2O,l?u3Aɰy^T@ٱ^a@^鑽^^H? ? o;ؿ Nz`-9?@O?I^T@)^~f^;i^CrB9r!IBDz6Dz 83Y=!k= zQ) ? K?9 K?9~FYE;A?Q 1%5٪Ċ?Q 5%5A 9)Y-`$Q E-@y;E):I[:i1dž5Y150A19gaeFNOT Ignoring new targets: 145.10 m.gmPgmP} ProNav: ac range: 145.104370 m, nav range: 143.779724 m, bearing: 175.447200 deg, approach rate: -0.220029 m/s, LOS rate: -0.067018 deg/s, cmd heading: 162.492454 deg, new cmd heading: 162.445810 deg. g}MHeadingCmd: 2.835214 target range: 145.104370 and range: 145.50 m.g&t5@ggggzfrfffBdddcc`I @ɢmBmQ im¾Ii mYŽɡqiqI}S>9I&t5@ii)&t5@)i)))-@5)iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277755ԙ>ABE JE m4RE ʖ0D D qD /D E : E $ :6E J4:E ! @! @! @! @A I I) N] >H V,aQYu3A)T TEDAT read: 23:50:47.1666 LVL= 31184, 32753, 23618, 32755, AGC= 64, IDX= 439,-0.14,-1.467,-2.644,-0.451,-1.363, PHS=-0.002,-1.236, 0.868, RAW= 174.3, 4.1, CAL= 173.7, 2.2, ROT= 336.3, -2.2 MYgot valid direction response: 23:50:47.1666 LVL= 31184, 32753, 23618, 32755, AGC= 64, IDX= 439,-0.14,-1.467,-2.644,-0.451,-1.363, PHS=-0.002,-1.236, 0.868, RAW= 174.3, 4.1, CAL= 173.7, 2.2, ROT= 336.3, -2.2 ԑUPDAT read: Bearing 11.1, -19.7 (Local) ~Local bearing/azimuth received: Bearing 11.1, -19.7 (Local) DAT read: Range 11 to 50 : 144.9 m (Round-trip 193.2 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.914988,-0.401652,0.038388]Fpublishing direction and range info9XZG?XM1ٿ.?ZCXiZyZZB\ZZ@ Zo)Z?5IZ?5^?iZB@ZC=ZWB@ZnF=ZJӻ@ ZnFiXXIZ#M:?rPX?B|=?Z˘r?Z, Z Ӿ)ZnFiXXuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.vB4>~BBA!IBBB =BBB3;BpOEByByByB}° =B}° =B}5-B9- !IMb@Mb@Mb@ )IiMb?I +?V->94=IiAGA9A)AiBD 6Df2Y<!=Q)>99 ~FY E A >Q 15٪Ċ?Q 5=5B 9Eх>Q AEK;YE%Q EE@y;E);I;iɆ5YIMAIhXhZZu3AhZChZChZ`G@ vZc'_`@0KMXdn0@uZG?XM1ٿ.?hZ ӾhZnFvZ)ڗa2%l @r=3@vZ@YδӺ3??50 ?hZW@hZ.hZ?hZՋKhZiB*iZ?2iX:iZqBiZC"iZZC@ addTargetRange:: Added new target pos. range: 144.899994 m, deltaT: 3.785234 s, deltaX: -0.600006 m, approachRate: -0.158512 m/s, rangeRepo size: 4  Added new target pos. range: 144.506714 m, bearing: 178.651953 deg, lat: 36.779141 deg, lon: -121.859763 deg, deltaT: 3.785234 s, deltaX: -0.597656 m, approachRate: -0.157891 m/s, posRepo size: 4 gFNOT Ignoring new targets: 144.51 m.g=g9M ProNav: ac range: 144.506714 m, nav range: 143.640228 m, bearing: 175.413600 deg, approach rate: 0.000000 m/s, LOS rate: -0.067018 deg/s, cmd heading: 162.445804 deg, new cmd heading: 162.372071 deg. gIUHeadingCmd: 2.833927 target range: 144.506714 and range: 144.90 m.gU_5@gQgqgqgyzfyrfyfyfBBdddcb@cY?ɢ> ռI ȽɡiIT:I_5@ii ) _5@) ]*DAT read: user:933> eBDAT read: Tx time:23:50:48.3692 m$Ping request sent.mAI rAU >jAU >D D rD .D E  E ?:6E ـ4:E "E U;! E V;! *E Y;! E Y;! IA}yAIIN?],$zu3A.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248803y>2 R@ٱ>`@>C> >H`?D>?ehֿ`=1?`ﱿ?I>2 R@)>}^;i>CB9!IBD 6D2Y=!8=8 Q)> H?9 H?9~FYEA>Q 15٪%Ċ?Q 55oD 9 Y 'Q E @y;E)@;I;ixˆ5Y׋Ag9=FNOT Ignoring new targets: 144.51 m.gMŋgMŋ] ProNav: ac range: 144.506714 m, nav range: 143.544525 m, bearing: 175.387471 deg, approach rate: -0.223641 m/s, LOS rate: -0.061099 deg/s, cmd heading: 162.372065 deg, new cmd heading: 162.319773 deg. g]ߺeHeadingCmd: 2.833014 target range: 144.506714 and range: 144.90 m.geP5@gagagigizfirfifqfqBdqdqdqcyc}T?ɢBfL 顭︿I `˽ɡiI:IP5@ii)P5@)i!!!%0!i I C=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501183)>Am s>Y A AI I N >Wd,u3Ay>P@ٱ>d^@>ɝ>A>H@\?a?_տB#Gͣ5?q@?I>P@)>^;i>C\^A^+i\\i`bA)b `I` d)fAf`eddhjAijIhhIhinA nlDrDrtDr,DpErC: Erv:6Erg4:Ep!v@!v@!z@!z@)xx zA|||  tqAI)i)!I))1 11UB9]%!Ii=Ia=BD6DF3AY=!M=颻Q)>K?9K?9~FYE-A>!Q 1%5٪%KĊ?Q 5-5%E % 9)Y-(Q E5@y%;E)%;I%R;i%?͆5YUߥBUlAU6Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753091B*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 144.51 m.gg ProNav: ac range: 144.506714 m, nav range: 143.455780 m, bearing: 175.364081 deg, approach rate: -0.213798 m/s, LOS rate: -0.056386 deg/s, cmd heading: 162.319773 deg, new cmd heading: 162.272963 deg. gbκHeadingCmd: 2.832197 target range: 144.506714 and range: 144.90 m.gB5@ggggzfrff f Bd d dccl?ɢ]߅B]I ae㶿Ia eGͽɡiIl:IB5@ii)B5@)avB}3>~ByB}`!IB}4BB} =ByByB}I;B}OEi 0 ԉ>A x>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005777Թ A yAI) I9 NM >Gj,u3Ay6O@ٱ6]@6à66H8 $?`?4rԿ#L3?pA?I6O@)6^;i6C-B95'!I-Mb@Mb@Mb@ )))I)i))- r?:v?Q롿->-<-\I- Ai-A-vA-dA))-AIA)EAABDE6DE:3YU6;!UR=]wQ)]>] H?9e H?9e~FYeEe$Am>iQ 1u5٪mĊ?Q 5u5mF m 9}v>Q A}K;Y}`.Q E}@ym;E)m7 ;Im ;imΆ5YgAԡgFNOT Ignoring new targets: 144.51 m.gggg ProNav: ac range: 144.506714 m, nav range: 143.369003 m, bearing: 175.345230 deg, approach rate: -0.232878 m/s, LOS rate: -0.050621 deg/s, cmd heading: 162.272959 deg, new cmd heading: 162.235234 deg. gHHeadingCmd: 2.831539 target range: 144.506714 and range: 144.90 m.g75@ggggzfYrfYfafeBBdadadacicm?ɢP dI ?ϽɡiI޴;I75@ii)75@)DDrD/DE: E?:6EJ4:E"Ew;! Ex;! *E! E!i9P5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257059 >A s>bA AZA AA% A) I1 IA NU >.q,u3A B9-!IBD6D!3Y?<!W=Q)>K?9K?9~FYEA>Q 15٪ Ċ?Q 55G  9YQ E@y;E)7;IP;iІ5YRAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509085g  FNOT Ignoring new targets: 144.51 m.gbgb% ProNav: ac range: 144.506714 m, nav range: 143.281998 m, bearing: 175.326302 deg, approach rate: -0.227857 m/s, LOS rate: -0.049600 deg/s, cmd heading: 162.235229 deg, new cmd heading: 162.197351 deg. g%-HeadingCmd: 2.830878 target range: 144.506714 and range: 144.90 m.g--5@g)g)g)g1zf1rf1f1f1Bd9d9d9c9cE`a]?ɢmޅBmzS iu㴿Iq u,ѽɡqiqIum;I}-5@iyiy)}-5@)ԁi=999=/9ԩD%D%vD%.D!E%: E%:6E%ـ4:E!!=@!E@!E@!E@>Ax> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760920 A I I N- >vBq ~Bq Bu !IBu MBBq Bq Bq Bu ];Bu OEw,9u3AyJYM@ٱJ[@JbԧJJH߄a-?@G? ҿ5??IJYM@)Jn^;iJCV!B9VI!I)X X`- only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V ! @!  ! @!  ! @!  ! @!  BD6D0Y%=!%T=-|Q)->)9)95~FY5E5A5>9Q 1E5٪=5Ċ?Q 5E5=H = Q =M+:9IQ AM$;YMo0Q EM@y=;E)=:I=>i=ц5YQUAYgyFNOT Ignoring new targets: 144.51 m.gIWgIW ProNav: ac range: 144.506714 m, nav range: 143.192307 m, bearing: 175.308233 deg, approach rate: -0.233422 m/s, LOS rate: -0.047054 deg/s, cmd heading: 162.197349 deg, new cmd heading: 162.161189 deg. g:HeadingCmd: 2.830247 target range: 144.506714 and range: 144.90 m.g"5@ggggzfrfffBdddcc gA@ɢ]݅Be L aeIa e#ԽɡaiaIm34;Im"5@iqi)"5@)i)))-/) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013435>AMn>D- D- D- 0D) E- : E- *5:6E- 4:E) "E- gp~,#u3A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264864y:L@ٱ:0Z@:E:m:H@ X6?M?`ѿ̼ _)?K#M?I:L@):>^;i:CF&B9JO!INp\9\9^~FYbEbb$Ab>dQ 1j5٪f;Ċ?Q 5j5fI f Q =n :9lQ An;Ynp1Q En@yf;E)f ;If=G?ifӆ5Yr̥BrApg FNOT Ignoring new targets: 144.51 m.gOgO- ProNav: ac range: 144.506714 m, nav range: 143.100952 m, bearing: 175.290518 deg, approach rate: -0.234145 m/s, LOS rate: -0.045434 deg/s, cmd heading: 162.161190 deg, new cmd heading: 162.125737 deg. g-L5HeadingCmd: 2.829628 target range: 144.506714 and range: 144.90 m.g55@g1g9g9g9zf9rf9fAfABdAdAdAcIcM`Nb@ɢu܅Bu|O y}Iy }8ֽɡyiyI'L;I5@ii)5@)i9Aq>Ax>rA>jA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517388A] yAIa Iq N >ԙ ,v3Ay6AK@ٱ6Y@6;𫽹6o6H`@x/? h?։п@V`w?,@g?I6AK@)6/b^;i6CR)B9RS!IDvDvuDv.DtEvC: Ev:6Evـ4:Et!@!@!@!@yBDZ6DZ 3YA?<!8=/Q) > H?9 H?9%~FY%E5A=>QQ 15٪UĊ?Q 55UJ U" Q =99Q A:Y2Q E@yU;E)U 5@ggggzfrfff!Bd!d!d!cIcMe@ɢۅBtB 顝I XٽɡiI 5@ii)> 5@)vB-4>~B)B-!IB-bBB- =B)B)B-f;B-OEi}9yy}/>A - BDAT read: Rx Time:23:50:50.9656 5 TRx dataTimestamp_ set to:1758412248.6931375 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022940A AI I N >^,Z0v3Ay !J@ٱ X@ -Y  H`@yZ? si? Ͽ`p iĵ?@Vαk?I !J@) &M^;i CEAB9Mp!IiU=IU=!! !! !! !! Mb@Mb@Mb@ )IitV?y&1|?lr>`;IGAi~ AAA)ABD6Df?3Y=!>= 3Q) > K?9 K?9~FYEA>Q 1%5٪Ċ?Q 5-5K ) Q =-T:9-u>Q A-];Y-$8Q E-@y;E)2;I-;iՆ5Y9=-A9gaeFNOT Ignoring new targets: 144.51 m.gmq%gmq%} ProNav: ac range: 144.506714 m, nav range: 142.899017 m, bearing: 175.256851 deg, approach rate: -0.249280 m/s, LOS rate: -0.036160 deg/s, cmd heading: 162.085935 deg, new cmd heading: 162.058365 deg. g}ZHeadingCmd: 2.828452 target range: 144.506714 and range: 144.90 m.g\5@ggggzfrfffBBdddcc a @ɢڅBPK ZI {۽ɡiI];I\5@ii)\5@)D D yD D E : E :6E :E "E ;!E ;!*E r;!E r;!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273084i9/qMPExceeded connect timeout, disconnecting.I )9 Iq i ,A>A! ԡ AQ IY Ii N >W,Jv3Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5270099y-xI@ٱ-W@-,-C-Hc T?g?Ϳ @? ?I-xI@)-9B^;i-C9B9f!II!)%@ABD-6D-2Y=!=C=E0Q)E>A9A9E~FYMEMAM>QQ 1]5٪U|Ċ?Q 5]5UAL U0 9aYe.9Q Ee@yU;E)UW:IU:iU׆5Ym7BmAqgFNOT Ignoring new targets: 144.51 m.gg ProNav: ac range: 144.506714 m, nav range: 142.804031 m, bearing: 175.243758 deg, approach rate: -0.226555 m/s, LOS rate: -0.031249 deg/s, cmd heading: 162.058368 deg, new cmd heading: 162.032166 deg. gdHeadingCmd: 2.827995 target range: 144.506714 and range: 144.90 m.g4@ggggzfrfffBdddcc@@ɢمB"M  I :ݽɡiI:;IM4@iIiI)M4@)Qai9    DDD-DE: EVL:6Et4:E!%@!%@!%@!%@ԑDAT read: 23:50:50.9656 LVL= 28352, 32689, 23762, 32755, AGC= 65, IDX= 429,-0.24, 1.465, 0.139, 2.108, 1.438, PHS= 0.129,-1.254, 0.625, RAW= 164.8, 6.0, CAL= 164.1, 5.4, ROT= 345.9, -5.4 Ygot valid direction response: 23:50:50.9656 LVL= 28352, 32689, 23762, 32755, AGC= 65, IDX= 429,-0.24, 1.465, 0.139, 2.108, 1.438, PHS= 0.129,-1.254, 0.625, RAW= 164.8, 6.0, CAL= 164.1, 5.4, ROT= 345.9, -5.4 PDAT read: Bearing 6.3, -9.5 (Local) ~Local bearing/azimuth received: Bearing 6.3, -9.5 (Local) DAT read: Range 11 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.965568,-0.242534,0.094108]Fpublishing direction and range info9K?+)I ?iX8@Pw=-M7@=/@ iIS?o5Wh?*:?=G?~ս t{)iT****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.vB- 6>~B) B- !IB- {BB) B) B) B- a;B- OE>AY bAe AZAe A A I I N >,ocev3AyF H@ٱFV@F4FrFH( 6?z? ʿ=کQ??o۱ ?IF H@)Fj^;iFCbJB9b{!I1Mb@Mb@Mb@ )Ii r?L7A`堿>+I Ai A~ A)GABD-6D-:3Y=5=!=E==< Q)E>A9A9E~FYEEm%Am>qQ 15٪uĊ?Q 55uL u5 9>Q AL;Y BDAT read: Tx time:23:50:52.3692 $Ping request sent.A D D tD 2D E 1: E v:6E 4:E "E ;! E ;! *E `;! E `;! )9 = AE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251139A yAI I N >_-,mv3ARB9!I)  BD6D 3%nManaging dock network, ignoring radio surface power offY-2=!-Y=5Q)5>5 H?95 H?9=~FY=E=AE>IQ 1M5٪MĊ?Q 5U5MYM M9 9QYQQ EU@yM;E)M:IM:iM>ۆ5YCAgFNOT Ignoring new targets: 143.71 m.gg ProNav: ac range: 143.709518 m, nav range: 142.481064 m, bearing: 175.216194 deg, approach rate: -0.245680 m/s, LOS rate: -0.029207 deg/s, cmd heading: 162.005284 deg, new cmd heading: 161.983317 deg. gUHeadingCmd: 2.827142 target range: 143.709518 and range: 144.10 m.g4@ggggzf!rf!f!f!Bd)d)d)c)c5h?ɢ]օB]4O ae蠿Ia ejɡaiaIe;Im4@iiii)u4@)qi9/echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502795>AQA AI I N >A bD ZD AA',v3ABEyJE}[4RE}a0DDxD1DEҝ: E:6E-4:E!&@!&@!&@!&@y̨F@ٱRT@% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757160H`Z?¹?sƿ mK?b'?ĮF@)^;iCQ}LB9}}!IMMb@Mb@Mb@ I)IIIiIIMp= ף?MbpMMtIMAiIIM A)IMQAYi]4<vBu5>~BqBu!IBuBBqBqBqBu\;BuOEB1B1B1B1B1B5|4BDe 6De2Y!+=TQ)>K?9K?9~FYE㉽A>Q 15٪)xĊ?Q 55M ? 9g>Q AJ;Y ?Q E@y;E):I/A s>rA >jA > A I I N->),4۶v3Apyr'E@ٱrS@rnrҘrH@yp?n? Ŀ@X`'?=u?Ir'E@)rYW^;irCD D rD 0D E U: E ?:6E 4:E "E ;!E ;!*E Y;!E Y;!aB9!I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258952BD5 6D5:2YE =!E4=EGQ)M>I9I9M~FYMEUAU>YQ 1e5٪]Au x> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511847A I I N >7,6v3Ay6YD@ٱ6ߐR@6a6P6H?`?R¿`@P@$?@2?I6YD@)6:5^;i6Ci<<)< A A Ai Iq I N >遺,Mv3Ay6bC@ٱ6wQ@6c6Ώ6H vѿ?@|?ɱ L`@`d?Ɀ@?I6bC@)6C^;i6Cnchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014798pzB9z!IEMb@Mb@Mb@ A)AIAiAAEMb?y&1:vE>E`EԼIEAiEjAEAE A)AE AIe@A)aBDm6Dm 3Y=!/=O Q)>99~FY«EA>Q 1 5٪~\Ċ?Q 5 5N 9>Q AQ;Y,HQ E@y;E)U:I:i5YCA!gAMFNOT Ignoring new targets: 143.71 m.gMR7gUR7] ProNav: ac range: 143.709518 m, nav range: 142.034912 m, bearing: 175.181473 deg, approach rate: -0.252606 m/s, LOS rate: -0.010017 deg/s, cmd heading: 161.923445 deg, new cmd heading: 161.913833 deg. gemHeadingCmd: 2.825929 target range: 143.709518 and range: 144.10 m.gm4@gigigqgqzfqrfqfqf}zBBdydydyccL@ɢυBC 页I ɡiIJ;I4@ii)4@)i}9yyyy@@DDoDDE: E:6E:E"E;!E;!*EN;!EN;!)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266766>A n>bA ZA Y A) I1 IA NU >h,w3Ay6MrB@ٱ6jP@6\6P6H`2`@??6;Ŧ@?V{?I6MrB@)6$^;i6CnB9n!IBDv6DvY~z=!h=2Q)>)19195~FY5īE= <A=>AQ 1M5٪EUĊ?Q 5M5EN A9IYUH@Q EU@yE;E)E;IED;iEg5YY]AYgFNOT Ignoring new targets: 143.71 m.gg ProNav: ac range: 143.709518 m, nav range: 141.947342 m, bearing: 175.178586 deg, approach rate: -0.253100 m/s, LOS rate: -0.008348 deg/s, cmd heading: 161.913828 deg, new cmd heading: 161.908051 deg. gttHeadingCmd: 2.825829 target range: 143.709518 and range: 144.10 m.g`4@ggggzfrfffBdddcc@ɢ΅BM ېI ɡiI;I`4@ii)`4@)i0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519019aԉ>Ax>D D sD .D E s: E Z:6E ـ4:E ! @! @! @!% @A I I N% >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773132֒,w3AvB<~B<B>"IB>ǃBB<B<B<B>p;B>OEynJfA@ٱn^O@n_nXnHr@$o??``@sM?@g?InJfA@)nA^;inCB9!I)! %AԑMb@Mb@Mb@ )IiE?+Q>IbAi; A; A)=ABD 6D2Yҕ=!;=6@Q)> 9 9 ~FY ǫEQA>Q 1%5٪`KĊ?Q 5%5sN K 9%>Q A%F;Y%E@Q E%@y;E)]:I ;iI5Y5B5A53EUB*** querying acoustic contact ***zhQhQgYeFNOT Ignoring new targets: 143.71 m.geMcgeMc} ProNav: ac range: 143.709518 m, nav range: 141.831970 m, bearing: 175.177246 deg, approach rate: -0.267132 m/s, LOS rate: -0.003105 deg/s, cmd heading: 161.908050 deg, new cmd heading: 161.905368 deg. g}׵}HeadingCmd: 2.825782 target range: 143.709518 and range: 144.10 m.g4@ggggzfrfff|BBdddcc @ɢ̅BHVB AI $ɡiIK;I4@ii)4@)i    D0 BDAT read: Rx Time:23:50:54.9643 TRx dataTimestamp_ set to:1758412252.724120checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023783>A!  AU yAIa Iy N >D D oD 1D E ҝ: E :6E -4:E "E ;!% E ;!% *E !% E !% V,΋9w3Ay6(U@@ٱ6MN@61½6b6Hݿ@*??9ٴ L\5E H?9E H?9E~FYEɫEM4AM>QQ 1]5٪UBĊ?Q 5]5UBN Q9YYerD@Q Ee@yU;E)U;IU@;iU5YimDAigFNOT Ignoring new targets: 143.71 m.gg ProNav: ac range: 143.709518 m, nav range: 141.731033 m, bearing: 175.176754 deg, approach rate: -0.267920 m/s, LOS rate: -0.001309 deg/s, cmd heading: 161.905372 deg, new cmd heading: 161.904386 deg. gSHeadingCmd: 2.825765 target range: 143.709518 and range: 144.10 m.gT4@ggggzfrfffBdddcc @ɢʅB$E I  0ɡiI?;I T4@i i ) T4@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274694i    Q5!>A1rAE>jAE>Y5 DAT read: 23:50:54.9643 LVL= 25712, 32753, 23602, 32755, AGC= 68, IDX= 432,-0.03,-0.169,-1.660, 0.213,-0.297, PHS= 0.230,-1.318, 0.465, RAW= 157.0, 7.5, CAL= 156.5, 7.7, ROT= 353.5, -7.7 = Ygot valid direction response: 23:50:54.9643 LVL= 25712, 32753, 23602, 32755, AGC= 68, IDX= 432,-0.03,-0.169,-1.660, 0.213,-0.297, PHS= 0.230,-1.318, 0.465, RAW= 157.0, 7.5, CAL= 156.5, 7.7, ROT= 353.5, -7.7 E PDAT read: Bearing 359.9, -1.6 (Local) M ~Local bearing/azimuth received: Bearing 359.9, -1.6 (Local) U DAT read: Range 11 to 50 : 143.2 m (Round-trip 191.0 ms) speed 0.0 m/s ] R#Rx 1: Read range and direction messages.] ^direction in FSK: [0.984613,-0.112183,0.133986]e Fpublishing direction and range info9 ?^'L`u&? 3C i pd  2\ D k>) 9I {>i ^/@ > .@ > n@ i I xY?ܽ\?? >+%? # V) i } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.A AI I N >y ,/iSw3Ay:uJ?@ٱ:BM@:bĽ:m:H??࠵l Ԅ!?b?I:uJ?@):-^;i:CZB9Z!IBDz6DzF3Y`!%L=%+DQ)%>-K?9-K?9-~FY-̫E-l&A5>1Q 1m5٪59Ċ?Q 5m55N 5L 9qYhC@Q E@y5;E)5[ BDAT read: Tx time:23:50:56.1692 $Ping request sent.~BB;"IBBBBBBy;BOEԩ>AA Au yAIy I N >A,mw3ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.242828yQ9=@ٱ1K@NɽϓH @(̚?`枹?֝?_@Z?IQ9=@)^;i-B9-"Ii==I9Mb@Mb@Mb@ )Ii?Mb~jť>ļIAibAjA)pABD-6D-k2Y==!=6=E⚻Q)E>E H?9E H?9E~FYMϫEMAM>QQ 1]5٪U_/Ċ?Q 5]5UXM UI 9e>Q Ae;;Ye><@Q Ee@yU;E)U:IUs:iU5iYuBuAu2EgFNOT Ignoring new targets: 142.81 m.g+9g+9 ProNav: ac range: 142.812042 m, nav range: 140.467300 m, bearing: 177.749752 deg, approach rate: -0.307150 m/s, LOS rate: 0.020345 deg/s, cmd heading: 161.903228 deg, new cmd heading: 161.919886 deg. g:HeadingCmd: 2.826035 target range: 142.812042 and range: 143.20 m.g4@ggggzfrfffBBdddcc@ߖ?ɢŅBdC 8I /ɡ i I sA i I ) AI i t A AAQ IY Ii N} > V,ßw3AyV6<@ٱV.J@V&˽VVH`{ ???aԑ@4@8)Z?yB?IV6<@)V)^;iVCbB9b "IIjAA)jAABDj6DjJ2Yrғ<!rd=v?Q)v>t9x9z~FYzѫEz4Az>|Q 15٪~'Ċ?Q 55~L ~F 9 Y :;@Q E @y~;E)~:I~:i~85YAg9EFNOT Ignoring new targets: 142.81 m.gE9gE9U ProNav: ac range: 142.812042 m, nav range: 140.367218 m, bearing: 177.757053 deg, approach rate: -0.279407 m/s, LOS rate: 0.020396 deg/s, cmd heading: 161.919893 deg, new cmd heading: 161.934505 deg. gUN:eHeadingCmd: 2.826290 target range: 142.812042 and range: 143.20 m.ge4@gagagagazfarfififiBdidqdqcqcu@ ?ɢÅBvF 顥怿I  KɡiIAqbAAZADDwD*DE1: E:6E(N4:E!@!@!@!@1 A AI I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000774AE <AA vBY ~BY B] f"IB] B, w3ABIBIBIBM;BMOEyf`1;@ٱf)I@flͽf 9fH wo?YX?`NK@?If`1;@)fx^;ifCrʃB9r"IMb@Mb@Mb@ )IiV-?ʡEV-h>IAiAAA)(ABD6DY4=!:=JQ)>K?9K?9~FYԫEA>Q 15٪mĊ?Q 55K C 9c>Q A3;Y7@Q E@y;E)j:I:i$5YA B*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 142.81 m.g%59g%595 ProNav: ac range: 142.812042 m, nav range: 140.240448 m, bearing: 177.769146 deg, approach rate: -0.287526 m/s, LOS rate: 0.027453 deg/s, cmd heading: 161.934510 deg, new cmd heading: 161.958718 deg. g5H:=HeadingCmd: 2.826713 target range: 142.812042 and range: 143.20 m.g=4@g9g9g9gAzfArfAfAfMhBBdIdIdIcQcU`?ɢ}B}> 顅{I ɡiIc A-}>ԩ Ay I I N >D} D} rD} ,Dy E} ҝ: E} ?:6E} g4:Ey "E} ;! E} ;! *E} Y;! E} Y;! %E,fڻw3Ay6':@ٱ6{ H@6 Ͻ6p6H @?@Sč?z*?@ 4?I6':@)6Y^;i6C@F܃B9F0"I)H HBDN6DNJ2YVV=!V^=V Q)Z>X9X9Z~FYZ֫E^C4A^>`Q 1f5٪bĊ?Q 5f5bK bA 9dYf6@Q Ej@yb;E)b:Ib:ib5Yl3AgaeFNOT Ignoring new targets: 142.81 m.gmv:gmv: ProNav: ac range: 142.812042 m, nav range: 140.134888 m, bearing: 177.779964 deg, approach rate: -0.278032 m/s, LOS rate: 0.028515 deg/s, cmd heading: 161.958716 deg, new cmd heading: 161.980368 deg. gP:HeadingCmd: 2.827091 target range: 142.812042 and range: 143.20 m.g4@ggggzfrfffBddchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502190dcc@I?ɢ%B%? )-pI) -ɡ)i)I-SA5s>} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755273 Aa Ii Iy N >,,w3Apyr9@ٱrG@rнrC(rHA| 5j? П?X`/?J@?Ir9@)r(^^;irCB9="I%A9A9E~FYE٫EM-!AM>QQ 1]5٪U Ċ?Q 5]5UJ U? 9YYe5@Q Ee@yU;E)U;IU;iU5Ym֦BmAm1EgFNOT Ignoring new targets: 142.81 m.g:g: ProNav: ac range: 142.812042 m, nav range: 140.014359 m, bearing: 177.793206 deg, approach rate: -0.293928 m/s, LOS rate: 0.032321 deg/s, cmd heading: 161.980368 deg, new cmd heading: 162.006875 deg. gl:HeadingCmd: 2.827553 target range: 142.812042 and range: 143.20 m.g4@ggggzfrfffBdddcc [@ɢB\U> XjI lɡiIS~BB"IB(BBBBB;BOEBiBiBiBmů =Bmů =Bmͯ41>ArAjA>i A I) I9 NE >3W,w3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258595yZ8@ٱZ F@Z)ҽZZHP?@?qÊ8?<;?IZ8@)ZA^;iZCB9L"I9Mb@Mb@Mb@ )Ii> ףp=?MbQ>IzAiAAA)ABD$6D3Ya=!A=MQ)>99~FY۫E A>Q 15٪Ê?Q 55H < 9j>Q A0;YY1@Q E@y;E). ;I ;ir5YAg)5FNOT Ignoring new targets: 142.81 m.g5D8:g5D8:E ProNav: ac range: 142.812042 m, nav range: 139.893570 m, bearing: 177.810262 deg, approach rate: -0.284968 m/s, LOS rate: 0.040275 deg/s, cmd heading: 162.006869 deg, new cmd heading: 162.041011 deg. gMj:MHeadingCmd: 2.828149 target range: 142.812042 and range: 143.20 m.gMe5@gIgQggzfrfff}BBdddcc@|@ɢB+9 顝bI ɡiI1VAE x> IY Iq N} >R, x3Ay6 7@ٱ6oE@6ӽ6P6H`ﱿ 1??@h?N@s?I6 7@)6 k^;i4BB9BZ"IF0>FiF=IF=BDN6DN:2YR}=!V\=VQ)V>T9X9Z~FYZޫEZ1A^>\Q 1b5٪^Ê?Q 5f5^G ^: 9dYfQ0@Q Ef@y^;E)^|:I^:i^5Yln]AlqgFNOT Ignoring new targets: 142.81 m.g8:g8: ProNav: ac range: 142.812042 m, nav range: 139.788513 m, bearing: 177.825906 deg, approach rate: -0.271207 m/s, LOS rate: 0.040414 deg/s, cmd heading: 162.041006 deg, new cmd heading: 162.072317 deg. g:HeadingCmd: 2.828696 target range: 142.812042 and range: 143.20 m.gY 5@ggggzfrfffBdddcc`y@ɢEBEM= AM[I ɡiI3VA}>I  BDAT read: Rx Time:23:50:58.7628  TRx dataTimestamp_ set to:1758412256.507358 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020213 IA Nm >vB 5>~B B "IB FBB =B B DB ;B OE|,#x3Ay6@ٱ[C@ٳԽnH >G?,?@@"f@@?C?I6@)O^;iC- B9-j"IMb@Mb@Mb@ )IiDPn?~jt>̽ļIdAilA)AI@A)@ABD#6DӀ3Yb=!8=bQ)>9I9M~FYMEUAU>YQ 1e5٪]9Ê?Q 5e5]MF ]6 9e4>Q Ae?;Ye ,@Q Ee@y];E)];I]`;i]5YæB݊AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 142.81 m.g7V:g7V: ProNav: ac range: 142.812042 m, nav range: 139.672592 m, bearing: 177.846876 deg, approach rate: -0.258609 m/s, LOS rate: 0.046821 deg/s, cmd heading: 162.072316 deg, new cmd heading: 162.114290 deg. g_:HeadingCmd: 2.829428 target range: 142.812042 and range: 143.20 m.gZ5@gg!g!g!zf!rfAfIfMBBdIdIdQcQcU` @ɢB6 !%TI! %ɡ!i)I-y!)5Z5@)1%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266774i5999=/9)>A x>bA ZA I I N% >D= D= yD= /D9 E= s: E= :6E= J4:E9 "E= ;!M E= ;!M *E9 !M E9 !M Q ,kb=x3Ayv*4@ٱvB@vսvf/vHH,и?$E? Y@r?‰@?Iv*4@)v7^;ivC5B9=|"IBDu 6Du2DAT read: 23:50:58.7628 LVL= 26944, 28577, 28066, 32755, AGC= 68, IDX= 433,-0.23, 2.819, 1.130, 2.984, 2.535, PHS= 0.386,-1.360, 0.405, RAW= 150.5, 6.5, CAL= 149.9, 6.9, ROT= 0.1, -6.9 %Ygot valid direction response: 23:50:58.7628 LVL= 26944, 28577, 28066, 32755, AGC= 68, IDX= 433,-0.23, 2.819, 1.130, 2.984, 2.535, PHS= 0.386,-1.360, 0.405, RAW= 150.5, 6.5, CAL= 149.9, 6.9, ROT= 0.1, -6.9 -PDAT read: Bearing 351.0, 5.4 (Local) -~Local bearing/azimuth received: Bearing 351.0, 5.4 (Local) 1Y==!=H==ʯQ)=>A9A9E~FYEEM$AM>uDAT read: Range 11 to 50 : 142.1 m (Round-trip 189.5 ms) speed 0.1 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.992756,0.001733,0.120137]Fpublishing direction and range info9_ߧ?3&kc\?rjƹI?CQQ 15٪UÊ?Q 55UD U2 9Y+@Q E@yU;E)UY,=IU:iU5YAi@iom ˡ>){I)\>i0(@V=p'@Ϣ=: ϢiI)!5@)i/ԑ5 *DAT read: user:936> = BDAT read: Tx time:23:51:00.0192 = $Ping request sent.= A }>Ii I N >,qWx3Ay6K3@ٱ6A@6ֽ636H/@YZM?d? @ി-˺?>鱿@Ҿ?I6K3@)6C^;i4BB9By"IDiDBDJ6DJ2YvO!vZ=vUQ)z>x9x9z~FYzE~g4A~>Q 1 5٪1Ê?Q 5 5C . 9 Y)@Q E@y;E):I:in5YAgAEFNOT Ignoring new targets: 141.72 m.gM:gM:] ProNav: ac range: 141.715424 m, nav range: 138.946945 m, bearing: 177.876230 deg, approach rate: -0.309549 m/s, LOS rate: 0.061471 deg/s, cmd heading: 162.157761 deg, new cmd heading: 162.194499 deg. g]:eHeadingCmd: 2.830828 target range: 141.715424 and range: 142.10 m.geI,5@gigigigizfirfifqfqBdqdqdycyc}LL?ɢB9D 顭3KI ɡiI(M)<DDvD0DE1: E:6E4:E!@!@!@!@II,5@i=ijo>)I,5@)QiYYYe?0a)a a}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256059>AvB8>~BCB"IBeBBBBB};BOEԁIIN%M>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503563g,%н%I%Ai%A%dA%?A)!%G A=p99~FYE,A>Q 15٪$Ê?Q 55+B + 91>Q A9;Y)@Q E@y;E);I;iM5Y 5A9ԱgFNOT Ignoring new targets: 141.72 m.gc:g c: ProNav: ac range: 141.715424 m, nav range: 138.837463 m, bearing: 177.898821 deg, approach rate: -0.241153 m/s, LOS rate: 0.049800 deg/s, cmd heading: 162.194494 deg, new cmd heading: 162.239712 deg. gG:%HeadingCmd: 2.831617 target range: 141.715424 and range: 142.10 m.g%795@g!g!g!g)zf)rf)f1f5aBBd1d1d9c9c=?ɢB94 UFI [ɡiI۝-)795@)DDxDDE: E:6E:E"EU;!EV;!*EWo;!EWo;!i0]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754752 >A C}>rA >jA >A5 yA9 IA IQ Ne >+",x3AyB1@ٱB`?@B׽BBH }Pÿ@l?dP?`v`ݵs?t?IB1@)BU^;iBCN9B9N"IBDV6DV4d3Y^e >!^S=b*ĹQ)b>b H?9b H?9b~FYfEf0Af>hQ 1n5٪jNÊ?Q 5n5j@ j) 9pYr'@Q Er@yj;E)j :IjF:ij5YvBvۉAz0EgFNOT Ignoring new targets: 141.72 m.g:g:5 ProNav: ac range: 141.715424 m, nav range: 138.742584 m, bearing: 177.919227 deg, approach rate: -0.271403 m/s, LOS rate: 0.058409 deg/s, cmd heading: 162.239710 deg, new cmd heading: 162.280548 deg. g5:=HeadingCmd: 2.832330 target range: 141.715424 and range: 142.10 m.g=D5@g9g9g9g9zf9rfAfAfABdAdIdIcIcM`hn?ɢ}B}&9 y}7Iy 9ɡiI0)D5@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007517iAAAEP5A>A7x>)AMAIQIaNuW>DDrD/DE: E?:6EJ4:E!@!@!@!@Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258762vB ~B B "IB ~BB B B B ;B OE(,ex3AU=B9U"I]=]7?Mb@Mb@Mb@ )IiHzG?)\(V-=>GIAilAMA) ABD6DJ2Y~<!8=Q)> K?9 K?9~FYEA>Q 1%5٪Ê?Q 5%5? & 9%>Q A-5;Y-&@Q E-@y;E) ;Iq ;i5Y15̉A9B*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 141.72 m.g:g : ProNav: ac range: 141.715424 m, nav range: 138.628189 m, bearing: 177.945037 deg, approach rate: -0.247803 m/s, LOS rate: 0.055957 deg/s, cmd heading: 162.280555 deg, new cmd heading: 162.332218 deg. g:HeadingCmd: 2.833232 target range: 141.715424 and range: 142.10 m.g%S5@g!g!g!gAzfArfIfIfMkBBdQdQdQcQcU?aɢB 0 顅#4I ɡiI"5)S5@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511312iQQQUP0Qԑ >A b>bA ZA D D vD .D E : E :6E ـ4:E "E ! E ! *E h;! E h;! A I I N > 30,ox3A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762793y>/@ٱ>8=@>׽> i>H@S _ǿ@V?-e?b@?p }?I>/@)>^;i<JHB9J"IIP)PBDR6DR03YZr=!ZT=^99Q)^>\9`9b~FYbEbcAb>dQ 1j5٪fԺÊ?Q 5j5fm= f# 9lYn$@Q En@yf;E)f:If:if5YprAtg=FNOT Ignoring new targets: 141.72 m.IG)AIiE@EAEAgM:gM:] ProNav: ac range: 141.715424 m, nav range: 138.530777 m, bearing: 177.968776 deg, approach rate: -0.263299 m/s, LOS rate: 0.064210 deg/s, cmd heading: 162.332218 deg, new cmd heading: 162.379729 deg. g]:HeadingCmd: 2.834061 target range: 141.715424 and range: 142.10 m.gAa5@ggggzfrfffBdddcc`@ɢ B52 ,I wɡiI8)%Aa5@))i9]5>AZ>1AIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016312N%>Y U6,x3A y:.@ٱ:3<@:?׽:~:Hp:vsɿ?@z?I? s& ?I:.@): '^;i8rDn=jDn<DrDrsDr-DpErs: ErZ:6Ert4:Ep!v@!v@!z@!z@z[B9z"IBD 6D F3Y<=!E=Q)>!9!9%~FY%E%$A->)Q 155٪-MÊ?Q 555-; - 99Y=#@Q E=@y-)Dp5@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269206ԙvB~BB#IBBB =BBB;BOEiU9QY]3YԹ>AM UmV>rAM >jAM > % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518667Ay I I N ><,mx3Aɰ4<y>-@ٱ>f;@>ؽ> >H| f˿@?p?20@ 0 ?ط@?I>-@)>$^;i>CZeB9Z"I`Mb@Mb@Mb@ )IiK7?i|?5S㥛I>/ݼI~AiA AA) ABD6D\3YH4=!==bQ)>99~FYE1A> Q 15٪ nÊ?Q 55 9  9^>Q A1;Yc!@Q E@y )25@)DD~D/DE: E(:6EJ4:E"E;!E;!*E;!E;!ir3@=@=>AeM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774709AyAIIN>A gC,sGy3Ay:.,@ٱ::@:7ٽ:|O:HUͿö? /e?k@ǵ??I:.,@):].^;i:CBDAT read: Rx Time:23:51:02.6115 TRx dataTimestamp_ set to:1758412260.284230checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023795%B9%"I5;i1BD=6D=2YE=!M6=MQ)> H?9 H?9~FYE[ A>Q 15٪Ê?Q 557  9 Yd @Q E@y)5@)i9.5bDZD?ABEJ4JE[4REƝ/DDvD,DE: E:6Eg4:E!@!@!@!@>Au^,>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278535A AvB ~B B ;#IB BB B B B ;B OEBɇCBɇCBBɰ =Bɱ =B5I I NM >ԩ $I,$(y3Ay6E+@ٱ6˸9@6Qٽ6[/w6H@@ Ͽ٬?`67?oL*?|@?I6E+@)6 ^;i6C  I dAi A  A A)   ABD-6D-J2Y==!=]==1Q)=>EK?9EK?9E~FYEEEg+AM>IQ 1]5٪MÊ?Q 5]5M5 M 9]4>Q A](;Y]@Q E]@yM)5@)ԩUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.540071i-9)1539D% D% nD% -D! E% s: E% :6E% t4:E! "E% ;!5 E% ;!5 *E% J;!5 E% J;!5 >A h*>bA ZA A % DAT read: 23:51:02.6115 LVL= 30816, 32753, 32754, 32755, AGC= 67, IDX= 435, 0.01, 0.766,-0.993, 0.604, 0.383, PHS= 0.485,-1.331, 0.177, RAW= 140.9, 8.0, CAL= 140.5, 8.8, ROT= 9.5, -8.8 - Ygot valid direction response: 23:51:02.6115 LVL= 30816, 32753, 32754, 32755, AGC= 67, IDX= 435, 0.01, 0.766,-0.993, 0.604, 0.383, PHS= 0.485,-1.331, 0.177, RAW= 140.9, 8.0, CAL= 140.5, 8.8, ROT= 9.5, -8.8 5 PDAT read: Bearing 345.0, 14.7 (Local) 5 ~Local bearing/azimuth received: Bearing 345.0, 14.7 (Local) = DAT read: Range 11 to 50 : 141.0 m (Round-trip 188.1 ms) speed 0.2 m/s E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.974675,0.163105,0.152986]M Fpublishing direction and range info9 .0?'?8C ? C i `x   C Q>) 5^I }?5>i c@ 5> @ nF> )> nFi I ~q?c@?:)? &>  )>) nFi e T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.Ay I I N >="Q,YDy3ADdidy*@ٱr8@N#ڽ>tH}pпw??L87?V ?I*@)^;iCB9#IBD-6D-k1Y==!=*==عQ)=>A9A9E~FYEEMAM>IQ 1}5٪MqÊ?Q 5}5MX3 M 9yY}@Q E}@yM hnFvQ`)$@%DHA@v!)? \uv?h$Ahhі?h/C$hB*iT˒?2i:i.BiC"iTF@U addTargetRange:: Added new target pos. range: 141.000000 m, deltaT: 4.042416 s, deltaX: -1.100006 m, approachRate: -0.272116 m/s, rangeRepo size: 4 e Added new target pos. range: 140.619278 m, bearing: 175.671136 deg, lat: 36.779164 deg, lon: -121.859835 deg, deltaT: 4.042416 s, deltaX: -1.096146 m, approachRate: -0.271161 m/s, posRepo size: 4 giFNOT Ignoring new targets: 140.62 m.gg ProNav: ac range: 140.619278 m, nav range: 136.730148 m, bearing: 178.102754 deg, approach rate: 0.000000 m/s, LOS rate: 0.073536 deg/s, cmd heading: 162.609319 deg, new cmd heading: 162.680975 deg. gHeadingCmd: 2.839319 target range: 140.619278 and range: 141.00 m.gf5@ggggzfrfffBdddca@cK?ɢMBM% IMII UɡQiQIU4I  BDAT read: Tx time:23:51:03.9692  $Ping request sent.A;> I I) N5 >D D xD D E : E :6E w@6:E ! @! @! @! @b@W,A >Ա I I N >9^,{y3Ay6:)@ٱ6y37@6۽6}Xg6HೕXѿY?D?`بpLo??I6:)@)6/^;i6CJB9J0#ID~D~uD~,D|E~s: E~:6E~g4:E|"E|! E|! *E~kd;! E~ld;! =Mb@Mb@Mb@ 9)9I9i99=HzG?x&/$==>=7 =I=7Ai=$A=A=@)9=G ABD6D!3Y<!0=nQ)>99~FYEgмA>Q 15٪~Ê?Q 55/  9>Q A/;Y@Q E@y A !>I I N% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006710Me,{y3A ɰ;p;y=3(@ٱ=6@=ݽ=ޛ\=H{@eҿ +?@^1??`f/?I=3(@)=W^;i=CUB9UI#IBDe6De3YuM=!uM=}Q)}>y9y9~FYEA>Q 15٪FwÊ?Q 55, 9Y@Q E@y~BB#IBBB =BBB;BOEԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586209 a5<-A) i 9 P5 @ =@ =>A Z=I I N% >Ik,aUy3APy5H'@ٱ55@5,ཹ5E5Hxc`5ӿ`[?`?`_|~@w?c`|?I5H'@)5AK^;i5CMՄB9Ma#IMb@Mb@Mb@ )Ii(\?ttI AiAA@)ABD 6D:2Y=!B=-Q)> 9 9 ~FY E 5A>Q 1%5٪nÊ?Q 5%5s* 9%>Q A%#;Y%2@Q E%@yAE (=I I N >/r,(y3Ay6P'@ٱ6-I5@6⽹6+6H L-ӿ@??0X? iVʲ1?@xU@?I6P'@)6Tx^;i4|}B9}y#IBD6DF3Y=!O=jQ)>99~FY EDA>Q 15٪AgÊ?Q 55( 9Y@Q E@yAe =ԁ I I N >\x,Iy3AivB ~B"CB"#IB"!BB" =B B B";B"OEyFo&@ٱF4@F&佹FfFH8`&)Կ W?@.?XH#u?l I?IFo&@)F8g^;iFCfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268296jB9n#IBDr6Dr02Y~=!~W=~S4Q)~>99~FY E֠A > Q 1%5٪ _Ê?Q 5-5 % 91Y=,@Q E=@y 5>ԁi9@@A>A٦=Աuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519014IIN > [~,Uy3Ay6l&@ٱ6e4@6Ĺ潹66H@P'ԿM?`e.?H`]Ǽ? ?I6l&@)6YK^;i6CDrDrwDr*DpEr: Er:6Er(N4:Ep"Er;!zEr;!z*Erk;!zErk;!zԹB9#IiېCI)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771171iڟAMb@Mb@Mb@ )Ii-?jtĿ~jt5> Ih AiAMAh@)ABD6D2Y=!=Q)>99~FYEIA>Q 15٪&UÊ?Q 55k" 9>Q A;Y,@Q E@yA] ,Š= BDAT read: Rx Time:23:51:06.5601  TRx dataTimestamp_ set to:1758412264.331282 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027847I I N >,ez3Ay63&@ٱ64@6)齹6#&6H``cԿ``4?}?\84v ?`x@?I63&@)6AZ^;i6Ci<<)@ @I@ @)@@DDDFr@iDIDDIHiH J`H)HL L\L||I)i)I ҂A 94 UF  B9#IBDE6DE{U3YUD=!}r=}zQ)}?99~FYExA?Q 15٪0NÊ?Q 55-  9Y@Q E@y~BB#IBIBBBBB;BOEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274675i/>A]| u=IIAN>A D,u3z3A!MDAT read: 23:51:06.5601 LVL= 29344, 32753, 30434, 32755, AGC= 66, IDX= 421,-0.12,-2.677, 1.718,-3.078, 3.101, PHS= 0.607,-1.338, 0.060, RAW= 134.2, 7.8, CAL= 134.1, 8.9, ROT= 15.9, -8.9 }Ygot valid direction response: 23:51:06.5601 LVL= 29344, 32753, 30434, 32755, AGC= 66, IDX= 421,-0.12,-2.677, 1.718,-3.078, 3.101, PHS= 0.607,-1.338, 0.060, RAW= 134.2, 7.8, CAL= 134.1, 8.9, ROT= 15.9, -8.9 PDAT read: Bearing 339.6, 21.6 (Local) ~Local bearing/azimuth received: Bearing 339.6, 21.6 (Local) DAT read: Range 11 to 50 : 140.1 m (Round-trip 186.8 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.950162,0.270661,0.154710]Fpublishing direction and range info9prFGRùg?K?R?j?r CpirrprvprB rZd?)rCIru=ir @r'g >r@r>rq> rippIrbez?%2?)ŷ\Q?r_}>r rq>)ripp%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.'B9#I) AAMb@Mb@Mb@ )IiK7A`?sh|?ſ{Gz>)ףI Ai@$@)A I9I9U~FYUEUAU>yQ 15٪}iBÊ?Q 55}t }9=>Q A;Yc@Q E@y}hrvrB `D@w`A@vr|j2ȌO?J ?hr|@hr(hrfĖ?hrnhr;B*ir?2irn:irBirC"irF@E addTargetRange:: Added new target pos. range: 140.100006 m, deltaT: 3.781151 s, deltaX: -0.899994 m, approachRate: -0.238021 m/s, rangeRepo size: 4 u Added new target pos. range: 139.721588 m, bearing: 177.808797 deg, lat: 36.779164 deg, lon: -121.859818 deg, deltaT: 3.781151 s, deltaX: -0.897690 m, approachRate: -0.237412 m/s, posRepo size: 4 gy}FNOT Ignoring new targets: 139.72 m.gg ProNav: ac range: 139.721588 m, nav range: 135.831085 m, bearing: 177.818034 deg, approach rate: 0.000000 m/s, LOS rate: 0.099767 deg/s, cmd heading: 163.273992 deg, new cmd heading: 163.382119 deg. gHeadingCmd: 2.851556 target range: 139.721588 and range: 140.10 m.g6@ggggzfrfffdBBdddc@3a@co?qɢ}xB}` 顅z#I g7ɡiI1^ BDAT read: Tx time:23:51:07.7692 $Ping request sent.AM Ba=bAQ ZAU AI I N >,mPz3Ay6%@ٱ63@6+𽹱6~C6HFտO? U?A$_r?@K>?I6%@)6T^;i6C>B9#IBD%6D%03YM>!M~=U~/Q)U ?Q9Y9]~FY]E](A] ?aQ 1m5٪ep;Ê?Q 5m5e9 e9qYu@Q Eu@yeAuQ=IING>QrD)jD)BEt4JEu5RE%<5D1D5vD5+D1E1 E5:6E5 [4:E1!E@!E@!E@!E@vBa ~Ba Be "$IBe rBBa Ba Ba Be ;Be OEB%ɆCB%ɆCB!B%ɱ =B!B%ɀ4ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501324,)?jz3A4yz%@ٱz3@zXz;zH@d_տ?Q? ΂?D?Iz%@)z-^;izC8B9#I=Mb@Mb@Mb@ 9)9I9i99=kt?bX9ƿ{Gz= >=E69I=Ai=@=7A=@)9=ABDU6DUk2YeѼ!e:= Q) >99~FYEsA>IQ 1U5٪M 1Ê?Q 5]5M M9]>Q A];Y]@Q Ee@yM"A mF=rA jA > 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005964AII!N->,z3A$i$]NB9]#I]<];BDm6Dm\3Y}p=!}<=}Q)>99~FYEA>Q 15٪'Ê?Q 55 9YQ E@y$:Id:i!5YBh{A"EgFNOT Ignoring new targets: 139.72 m.g;g; ProNav: ac range: 139.721588 m, nav range: 135.504684 m, bearing: 177.952844 deg, approach rate: -0.282082 m/s, LOS rate: 0.117979 deg/s, cmd heading: 163.558032 deg, new cmd heading: 163.651961 deg. gW;HeadingCmd: 2.856266 target range: 139.721588 and range: 140.10 m.g6@ggggzfrfffBddd c cJ?ɢ=rB= 9=I9 EsɡAiAIEAaA·3=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259935A yAII!N5p>abDq ZDu @AD} D} pD} 1Dy E} C: E}  :6E} -4:Ey ! @! @! @! @ԑ  ,z3AyV%@ٱV*3@VVrVH`sNտ@΂??( ?ݡ?IV%@)V>O^;iVC~]B9~ $IvBE7>~BABET$IBEBBABABABE;BEOEBD 6D2Y==!H=[_Q)> H?9 H?9~FY E.A>Q 15٪Ê?Q 55 9Y@Q E@) %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509802y'A "=bA ZA A I I N >N,3z3Ay6P%@ٱ6֩3@6ex68ּ6H`2տ ]??.z C?@Ѻ?I6P%@)6i^;i6CBqB9B!$I=Mb@Mb@Mb@ 9)9I9i99=i|?5?^I +ǿS㥛=>=X9=/ݼI=$Ai=~@=~ A=@)9=ABDU6DU 83Ye=!eB=mQ)m>iD}D}sD}.DyE}a: E}Z:6E}ـ4:Ey"Ey!Ey!*E}#];!E}$];!9i9~FY"E\M;A>Q 15٪5Ê?Q 55  9>Q A;Y@Q E@y)A]=IQIaN}>aԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265875z,z3Ay6%@ٱ6F3@6[66H տ`h? ?4q;`E? 3 .?I6%@)66M^;i6Cb{B9f.$IdidBDn6Dn03YvM=!vS=vtQ)v>x9x9z~FYz%Ez ;A~>Q 1 5٪ Ê?Q 5 5  9 Y @Q E@y,~BB$IBÅBB =BBB;BOE>Al=IYIi}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517600N> w,Vz3AyFm%@ٱF3@F:FMFHԿ6?@)?::?ob?IFm%@)F:^;iFCRB9RC$I-Mb@Mb@Mb@ )))I)i))-x?GzǿL7A`堿-K>-p=-+I-VAi)- A-p@))-ABDE6DE1YU=!UC=UQ)U>Y9Y9]~FY]'Ee;Ae>iQ 1u5٪mÊ?Q 5u5ms my9u>Q Au;YuQ@Q E}@ym.AArAE>jAE>IIN>,{3Ay6q&@ٱ63@66 6a6Hg.Կ@߾?p?`O@ ˮ ? -C?I6q&@)6KG^;i4BB9BT$IBDJ6DJk2YRj=!R1=RߘQ)R>T9T9V~FYV*EZ{;AZ>X\Q 1b5٪^Š?Q 5b5^ ^q9dYfp@Q Ef@y^1A vB) ~B) B- $IB- Bi I I B) B) B) B- ̗;B- PEN >u DAT read: 23:51:10.3587 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.20,-0.269,-2.122,-0.696,-0.743, PHS= 0.576,-1.334, 0.003, RAW= 133.0, 8.9, CAL= 132.9, 10.1, ROT= 17.1, -10.1 } Ygot valid direction response: 23:51:10.3587 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.20,-0.269,-2.122,-0.696,-0.743, PHS= 0.576,-1.334, 0.003, RAW= 133.0, 8.9, CAL= 132.9, 10.1, ROT= 17.1, -10.1  PDAT read: Bearing 340.1, 23.9 (Local)  ~Local bearing/azimuth received: Bearing 340.1, 23.9 (Local)  DAT read: Range 11 to 50 : 139.0 m (Round-trip 185.4 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.940981,0.289484,0.175367] Fpublishing direction and range info9! % Ld?c`?:ujr?% C! i% ! % ! % D % t?)% I% D;i% @% >% bs@% J4>% Θ> % J4i! ! I% M6 ?F]s?$&?% |hh>%  % Θ>)% J4i! ! M T****** received valid address query ******M R****** received valid ping request ******,2){3ABQuerying Benthos address 50 with one ping in standard two-way mode.Ay~,&&@ٱ~4@~( ~~H ԿF?sa?F APW?Im?I~,&&@)~*^;i|B9q$I=iMb@Mb@Mb@ )IiʡE?ClǿQ>d;I?Aih@Q AZ@)(AIAA)AABD6D3YU$=!U=U_Q)U>a9i9m~FYm.Emq;Au>Q 15٪Š?Q 55 e9>Q A;Y@Q E%@y5 BDAT read: Tx time:23:51:11.5692 $Ping request sent.h]J4v]o}}ԋ`6J'@wD@v]ZVɥW?Ұ?h]8 @h]^h]wX?h]^=h]B*i]fĖ?2iY:i]Bi].C"i]G@ addTargetRange:: Added new target pos. range: 139.000000 m, deltaT: 3.780301 s, deltaX: -1.100006 m, approachRate: -0.290984 m/s, rangeRepo size: 4 E Added new target pos. range: 138.625122 m, bearing: 179.072035 deg, lat: 36.779169 deg, lon: -121.859818 deg, deltaT: 3.780301 s, deltaX: -1.096466 m, approachRate: -0.290047 m/s, posRepo size: 4 gAMFNOT Ignoring new targets: 138.63 m.gMgI ProNav: ac range: 138.625122 m, nav range: 134.182144 m, bearing: 178.259349 deg, approach rate: 0.000000 m/s, LOS rate: 0.126501 deg/s, cmd heading: 164.146330 deg, new cmd heading: 164.298398 deg. gHeadingCmd: 2.867548 target range: 138.625122 and range: 139.00 m.g7@ggggzfrfԑffQBBdddc`a@cN?ɢ cB5 15\>I1 5Xɡ1i9I=H`A=bAZAAAEAQIqIN-?,T{3A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502805]…B9]$IBDm6DmP)3Yn=!=Q)>K?9K?9~FY1EA>Q 15٪Š?Q 55 Z9YQ E@y8IY e'ɡaiaIe<_A =IIN=>,u{3A yZ&@ٱZ}4@ZZJcZH`QԿl??uWV ?!?IZ&@)Z^;iZCfƅB9f$I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006867eMb@Mb@Mb@ a)aIaiaaetV?ʡEƿ rhe>e-2eC IeAie@e Ae@)ae@BD6D3Y\<!=C Q) > 9 9~FY5E[B<A>Q 1%5٪Š?Q 5%5 Q9%l>Q A-;Y-@Q E-@y<I LɡiI]A= =D)D-uD-0D)E) E-:6E-4:E)"E-U;!5E-V;!=*E-kd;!=E-ld;!=ԑI1IINUu> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258766 Ȇ,ʎ{3Ay6&@ٱ64@6&6TXN6H>n,Կ?@?@]4`7 ??I6&@)6^;i6CBօB9B$IBDJ6DJN2PYV=!Vd=VFQ)V>X9X9Z~FYZ7EZ;A^>|Q 15٪~OŠ?Q 5 5~8 ~J9 Y @Q E @y~>Ia eɡaiaImk\ArA>jA>II N >BEA{4JE4RE./D5 D5 D5 -D1 E5 C: E5 0:6E5 t4:E1 !E @!E @!E @!E @! A <A <vB 5>~B B %IB 8BB B B B ;B OEBBBBʰ =Bʰ =Bʛ4E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766808U,v{3Ay6&@ٱ6O4@6*6A6HTԿw?@?a`g$?y`?I6&@)6^;i6CBB9B$IBDJ 6DJf2YRF=!RJ=V+Q)V>T9T9Z~FYZ9EZk;AZ>|Q 1 5٪Š?Q 5 5L C9 Y (@Q E @y@II MDɡqiyI}oZA- =I I N >ԁ D= D= vD9 D9 E= : E= :6E9 :E9 "E9 !M E9 !M *E= h;!M E= h;!M ;,{3AiyV&@ٱV 4@V?`V3VH Կm??d`YM,IIM@iM@M(AM@)IM=@Ia)eBABDm6Dmf?3Y}GU=!}==ٺQ)>99~FYQ 15٪|Š?Q 55D :9%>Q A;Y@Q E@yCI1 =Zɡ9i9I=XAU 3=I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522817 v,xb{3Ay6&@ٱ64@6 6 (6H @2ӿ: ? b?j:sQ?|R?I6&@)6L^;i6C^B9^$Ib>bt9t9v~FYv?Ez;Az>|Q 15٪~ Š?Q 55~ ~39Y@Q E @y~FI9 EnɡAiAIEPV~BiBm<%IBmWBBm =BiBiBm;BmOEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7748099uˈ<)yi%/!1A >A l= BDAT read: Rx Time:23:51:14.1572  TRx dataTimestamp_ set to:1758412271.892222 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027840iA!I)I9NM?3i,q{3Aɰ4< B9 $IMb@Mb@Mb@ )IiCl?/$ƿld>&1I@i@Ax@)\@BD6D2Yl=!=Q)>99~FYBEA>Q 15٪ܟŠ?Q 55 )9">Q A;Y@Q E@yII9 =Kɡ9i9I=iiTA = A I! I1 NE >DG,#|3Ay64'@ٱ6Q-5@666H`%ӿR?r\?`t)8 t?}ɩ?I64'@)6-^;i6C,B9%Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532607BDm6Dm{U3Y c=!G=paQ)E>I9Q9U~FYUEE]d<A]>Q 15٪FŠ?Q 55 "9Y@Q E@yLI! %'ɡ)i)I-QE &X@E Q >E > E Q iA A IE W?c-y ?"@1?E zt>E  E >)E Q iA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I >A #=qA II!N-?b^ ,8|3AyFN'@ٱF_G5@FF`^*DAT read: user:940> bBDAT read: Tx time:23:51:15.5708 b$Ping request sent.b#I;@i@AC@)z@I)AABD6D2Y=!={Q)>99~FYHE>;A>Q 1 5٪Š?Q 5 5 9 >Q A;Y@Q E@yOhQ v! }`{S&?蠘oAC@v!*h'q?ouXY?h?hh?hbwhEB*iі?2i:i;BiC"iG@ addTargetRange:: Added new target pos. range: 137.800003 m, deltaT: 4.035983 s, deltaX: -1.199997 m, approachRate: -0.297325 m/s, rangeRepo size: 4  Added new target pos. range: 137.427856 m, bearing: 179.168908 deg, lat: 36.779170 deg, lon: -121.859818 deg, deltaT: 4.035983 s, deltaX: -1.197266 m, approachRate: -0.296648 m/s, posRepo size: 4 gFNOT Ignoring new targets: 137.43 m.g%gAU ProNav: ac range: 137.427856 m, nav range: 132.830566 m, bearing: 178.731123 deg, approach rate: 0.000000 m/s, LOS rate: 0.114091 deg/s, cmd heading: 165.125724 deg, new cmd heading: 165.252095 deg. gQ]HeadingCmd: 2.884193 target range: 137.427856 and range: 137.80 m.g]8@gYgYgYgYzfarfafafe BBdididicm9a@cm@ ?ɢLB7Ͻ >I 8\ɡiI(NA o= A yAI I N >i,9S|3Aynhs'@ٱnk5@nPYn%g nH].hӿ]g?@ ?}S=?z=@?Inhs'@)n:^;inC NB9 1%IBD56D502YE=!EZ=MCQ)M>M H?9U H?9U~FYUJEU2;AU>YQ 1e5٪]E~Š?Q 5e5]6 ]9Y@Q E@y]RAE = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755449A AI I Ա N >,Cm|3A[B9A%IBD6D:Y=5p=!E<=MQ)U>eK?9eK?9m~FYmME}A}>ԙQ 1-5٪sŠ?Q 555#  99Y9Q EE@yTA 0B=bA ZA  I cG) AII i Q A A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258807A II!N5>",CȊ|3Ay:'@ٱ:p5@:::H;ӿ@FR??`+`?`v)@?I:'@):)];i:CFtB9F`%IMb@Mb@Mb@ )Iid;O?ˡEĿMb>'I@iC@VA@)@BDu6Du:2Yy=!9=":Q)>99~FYPEZ;<A>Q 15٪hŠ?Q 55# 9>Q A;Y@Q E@yWA =ԙ A1 I9 II N] >bD) ZD- AAD5 D5 }D5 -D1 E5 : E5 k&:6E5 t4:E1 !E @!E @!E @!E @W(,뎤|3AyV'@ٱV5@VV VH>-ӿ Z?@?@ ?nJ`?IV'@)V];iVCAr<Ar<vBr1>~BpBr%IBrцBBr =BpBpBr;BrOEychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762735B9%IBD"6DJz3Y% >!%3=%bQ)->19195~FY5SE=H;A=>AQ 1E5٪Ex]Š?Q 5M5E E9IYM@Q EM@yEZA}=rA>jA>DMDMxDM+DIEMҝ: EM:6EM [4:EI"EM;!]EM;!]*EMWo;!]EMWo;!]AyIIN ?1,er|3Ay6}'@ٱ65@66_6H@4ҿ@}d??@`j`?@Qv?I6}'@)6;];i6C<>A>Di<@i@B A)B @I@ D)DFDDHJAiJC IJҰFHILiNA NL)LP RARtPPTVpqAIT)TiT)TITXX X\\bB9f%Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833-Mb@Mb@Mb@ )))I)i))-gfffff?+ÿMb-3>-)I-@i--@-A-@))-@BDE6DEJ2YU^=!U=Us:Q)U>Y9Y9]~FY]VEe:Ae>aQ 15٪ePŠ?Q 55e e9>Q A ;Y@Q E@ye]A =A) I1 II NU >7q8,h|3Ay:d'@ٱ:5@:Ze::H Cҿ@+h??|?`{@?I:d'@):=w^;i:CBE=t4JE=cw4RE=).0DZDZpDZ*DXEZ1: EZ :6EZ(N4:EX!b@!b@!b@!b@mB9m%IBD} 6D}f2vB~BB &IBBBBBB;BOEBYBYBYB] =B] =B]4Y=!D=:Q)>99~FYYE:A>Q 15٪FŠ?Q 55 9Y @Q E@y`?Iq u ɡqiqIu+:A += IIN>}@, }3AD}D}wDyDyE}ҝ: E}:6Ey:Ey"Ey!Ey!*E}k;!E}k;!ԉφB9%I-Mb@Mb@Mb@ )))I)i))-~jt?{GzĿ rh->-#-C I-@i-@-A-@))-@Ep99~FY\EA>Q 15٪8Š?Q 555 9>Q A:Y@Q E@yc =)]9@)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276117ԡi99AE?5A>A  Iq I N >E DAT read: 23:51:18.1571 LVL= 29008, 32753, 32754, 32755, AGC= 66, IDX= 423,-0.08, 0.050,-1.823,-0.345,-0.454, PHS= 0.607,-1.324, 0.066, RAW= 134.2, 7.6, CAL= 134.2, 8.7, ROT= 15.8, -8.7 M Ygot valid direction response: 23:51:18.1571 LVL= 29008, 32753, 32754, 32755, AGC= 66, IDX= 423,-0.08, 0.050,-1.823,-0.345,-0.454, PHS= 0.607,-1.324, 0.066, RAW= 134.2, 7.6, CAL= 134.2, 8.7, ROT= 15.8, -8.7 U PDAT read: Bearing 339.5, 23.6 (Local) U ~Local bearing/azimuth received: Bearing 339.5, 23.6 (Local) ] DAT read: Range 11 to 50 : 136.7 m (Round-trip 182.3 ms) speed 0.3 m/s e R#Rx 1: Read range and direction messages.m \direction in FSK: [0.951147,0.269147,0.151261]F,}3AFpublishing direction and range info9)-o?ص9?ni\?-C)i-Pq)-)) -Zd?)-xI-+=i- @->- @-|>-0> -|i))I-'s?E0!n7?i?-~>-Y -0>)-|i))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɰz4!%T=%r;Q)->)9)9-~FY-_E5ֻ;A>Q 15٪-Š?Q 55j 9Y@Q E@yfh-|v-mչV`Rd{5?-"[C@v- scC0,?h,?h-i?h-h-P'?h-]+h-aB*i-?2i-]+:i-EBi-C"i-n\H@ addTargetRange:: Added new target pos. range: 136.699997 m, deltaT: 3.778581 s, deltaX: -1.100006 m, approachRate: -0.291116 m/s, rangeRepo size: 4  Added new target pos. range: 136.330780 m, bearing: 179.371919 deg, lat: 36.779178 deg, lon: -121.859824 deg, deltaT: 3.778581 s, deltaX: -1.097076 m, approachRate: -0.290341 m/s, posRepo size: 4 gFNOT Ignoring new targets: 136.33 m.g%g!U ProNav: ac range: 136.330780 m, nav range: 130.850998 m, bearing: 179.372548 deg, approach rate: 0.000000 m/s, LOS rate: 0.113466 deg/s, cmd heading: 165.947820 deg, new cmd heading: 166.043753 deg. gY]HeadingCmd: 2.898010 target range: 136.330780 and range: 136.70 m.g]y9@gagagagazfaDqDuuDu.DqEq Eu:6Euـ4:Eq!}@!}@!}@!}@rfffBdddc`fa@cL?ɢ5B _?I  ɡ i I K0 mBDAT read: Tx time:23:51:19.3707 m$Ping request sent.mA G=I Ia I N] > L,6}3Ay G1(@ٱ )6@  KԻ H/N@\ҿ@ ? o?N@'?Dz?I G1(@) a;i C%B9% &IMb@Mb@Mb@ )IiZd;O?(\ſX9vj>.I-@i@@K@) @BD56D502Y=q=!EG=M:;Q)M>I9Q9U~FYUaEUlI;AU>YQ 1e5٪]#Š?Q 5e5] ]9m'>Q Am;Ymy@Q Em@y]hAU V =I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501664ԉ _S,O}3Ay>N(@ٱ>ZG6@>\>ۻ>HSxҿ?T?@M@d ?68{ Y?I>N(@)>ra;i<^ B9b3&IId)dBDj6DjJ2Yr6>!re=rW;Q)v>t9t9v~FYvcEz;Az>|Q 15٪~Š?Q 55~ ~9Y@Q E @y~kAC =I I! N5 >D D uD D E  E :6E :E ! @! @! @! @vB! ~B! B% z&IB% ZBB! B! B! B% j;B% OE |Y,&i}3Aiy6~p(@ٱ6i6@616;̻6HY@qҿ`?5?`_`I?@Cy?I6~p(@)6a;i6CB/B9BF&IBDJ6DJk1YnՒ=!rJ=rT;Q)r>t9t9v~FYvfEv¦;Av>xQ 1~5٪ziŠ?Q 55z8 z9Y@Q E@yzmA =IYIiNu>i>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257935) `,}3Ay:(@ٱ:z6@::eJ:H@_`Pҿ ??= y?`/w`8?I:(@):jb;i:CF:B9FT&I)H JADEDADADAEEC: EA6EA:EA"EE2;!UEE3;!U*EEkd;!UEEld;!UeMb@Mb@Mb@ a)aIaiaaeZd;?sh|?ſ:ve>e)eԼIe@ieZ@eh@e@)aez@BD} 6D}2Y X=!@=U2;Q)>99~FYiEY;A>Q 15٪FŠ?Q 55= 9u>Q A;Y@Q E@ypA!h,i}3Ay6(@ٱ6 6@6 6Zq6H df6ҿ@? ?3 R`?s?I6(@)6Hb;i6CBRB9Fq&I^l9l9r~FYrlErAa;Ar>tQ 1z5٪ve?Q 5z5v v9|Y~@Q E~@yvs1 Dn,ػ}3Aɰ;6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265628y>(@ٱ>u6@> >L>Hh R ҿw?.?`ǥ`pq?q?I>(@)>طc;i<^rB9b&IMMb@Mb@Mb@ I)IIIiIIMK7A?SſV-M >M/MIM@iM@M@M@)IMG@BDe 6Def2Ym>!uB=u:Q)u>q99~FYnEcC;A>Q 1 5٪?Q 5 5 9f>Q A:Y@Q E@yv*u, Q}3Ay><(@ٱ>6@>>p>Hytoѿ@6?@ܳ?! `e ?FFq?I><(@)>ue;i>CJB9N&INx>Na=BDV6DV2Y^l=!^B=^;Q)^>`9`9b~FYbqEf2<Af>h1Q 1=5٪j?Q 5E5j j9AYE@Q EE@yjy~BQBU&IBUćBBQBQBQBU@;BUmOEԑIIN> BDAT read: Rx Time:23:51:21.9554  TRx dataTimestamp_ set to:1758412279.704240 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022774 "{,}3AyBx")@ٱB7@BeBCABH{@ѿ??S@ ?Zaq`?IBx")@)Bgf;i@VB9Z&IIh)hBDz6Dz{U3Y v=! E=њ;Q)>!9!9%~FY-tE-;A5>ԹQ 15٪@?Q 5%5 9)Y-@Q E5@y|ɡiIq <Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273796IMgW:@iU=iU=)UgW:@)ai/D D vD D E a: E :6E :E "E d;! E e;! *E h;! E h;! >A W=9 } PExceeded connect timeout, disconnecting.I I N >݂,S ~3AEDAT read: 23:51:21.9554 LVL= 23248, 29617, 24050, 32755, AGC= 67, IDX= 422, 0.39, 2.410, 0.550, 2.043, 1.913, PHS= 0.598,-1.319, 0.085, RAW= 135.0, 7.4, CAL= 135.0, 8.5, ROT= 15.0, -8.5 MYgot valid direction response: 23:51:21.9554 LVL= 23248, 29617, 24050, 32755, AGC= 67, IDX= 422, 0.39, 2.410, 0.550, 2.043, 1.913, PHS= 0.598,-1.319, 0.085, RAW= 135.0, 7.4, CAL= 135.0, 8.5, ROT= 15.0, -8.5 UPDAT read: Bearing 340.0, 22.3 (Local) 1i1U~Local bearing/azimuth received: Bearing 340.0, 22.3 (Local) DAT read: Range 11 to 50 : 135.4 m (Round-trip 180.6 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.955316,0.255976,0.147809]Fpublishing direction and range info9TV?^a?%)k?ym@)@VfCTiVZVsV]TVC V?)VԨIV{=iV@V A>V@V>V > ViTTIV8V2ٱm~97@mPmZmH9 4ѿz?u?ɣ`R~?` k?Im@)@)mf;iiEB V >)ViTTUT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.9E&I9Mb@Mb@Mb@ )IiT㥛 ?^I +ǿS㥛>X9/ݼIp@i@@@)f@BD] 6D]2Ymɤ=!m=m;Q)u>q9q9u~FYuwE_;A>Q 15٪F?Q 55 t9>Q A:Y@Q E@yeHA@"3@uV?^a?%)k?hV >hVvVQLA`eA`5?wT&B@vV=u\c2 ?}4?hV?hVhV:?hVu~hVIB*iT2iT:iTiVC"iV H@ addTargetRange:: Added new target pos. range: 135.399994 m, deltaT: 3.781651 s, deltaX: -1.300003 m, approachRate: -0.343766 m/s, rangeRepo size: 4  Added new target pos. range: 135.034470 m, bearing: 179.473517 deg, lat: 36.779178 deg, lon: -121.859824 deg, deltaT: 3.781651 s, deltaX: -1.296310 m, approachRate: -0.342790 m/s, posRepo size: 4 gFNOT Ignoring new targets: 135.03 m.gg ProNav: ac range: 135.034470 m, nav range: 129.648605 m, bearing: 179.825830 deg, approach rate: 0.000000 m/s, LOS rate: 0.110340 deg/s, cmd heading: 166.821510 deg, new cmd heading: 166.933422 deg. gHeadingCmd: 2.913538 target range: 135.034470 and range: 135.40 m.ggw:@ggggzfrff!f%/BBd!d!d!c-`@c-B?ɢB 顝?I aɡiIFbU*DAT read: user:942> ]BDAT read: Tx time:23:51:23.2191 e$Ping request sent.e~Ba Be <'IBe BBe =Ba Ba Be .;Be YOEBBBBͰ =BͰ =B;4>A #=I IN >,z)~3Ay6;[)@ٱ6S7@66!6H i !ѿ`?X^?`l碿)?`d`f?I6;[)@)6g;i6C\R͇B9^'IBDf6DfY@>!=A=I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501731I N >9 ǐ,EC~3AvχB9v 'IuMb@Mb@Mb@ q)qIqiqquS㥛? ףp= ǿS㥛u$>uQ8qIu-@iux@up@uj@)qu=@p99~FY|EA>Q 15٪?Q 55 d9>Q A:Yx@Q E@yAU =ԡ A I I N >,q ]~3A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005509y:S)@ٱ:ז7@:j:K4:H`tFѿP?`!?```?@^f?I:S)@):#h;i:CFB9J 'IJR=JJ>iN=ILBDR6DRN2YZ|=!Z[=^`)9195~FY5~E5,<A5>AQ 1E5٪E?Q 5M5E E[9IYM@Q EM@yE~BMCBMt'IBM%BBIBIBIBM,;BMWOE>Au =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257699Am yAIy I N > ,t w~3Ay)@ٱ 7@d󽹱`7Hѿ?`z?@ґ FZ?f/?I)@) _h;iCB9A'ImMb@Mb@Mb@ i)iIiiiim rh?GzǿX9vmC>mp=mIm@imb@m@i)imQ@BD6D:3Y=!/=;Q)> H?9 H?9~FYE;A>Q 15٪:?Q 55 T9>Q A:Y@Q E@yAl=AAII N?j,~3AH-B9-X'II9)=@ABD=6D=3YM΋=!U=UQ)U>]K?9]K?9]~FY]E]A]>aQ 1m5٪e?Q 5u5e eK9qYqQ Eu@ye~BB'IBSBBB;DBB%;BMOE>A=m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266320! A I! I1 NU >,殴~3AyB*@ٱB 8@By>齹BO݇BH п ʻ??`U@?@|p ?IB*@)B2g;iBCN)B9Ny'IBDV6DV02Y^z >!bT=b>S`9d9f~FYfEf}.<Af>hQ 1n5٪j?Q 5r5j› jE9pYr,@Q Er@yjA= Nw =)y y } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769848A yAI I N >m:,~3AyJ:*@ٱJW38@Jn/佹J'JHJп ?K?`Av?Zv`?IJ:*@)Jsg;iJC^7B9b'IMb@Mb@Mb@ )IiGz?+ǿV-p>v>I@i5@@@)@BD6Dk1YWe=!%=;Q)> H?9 H?9~FYEݞ;A > Q 15٪ w?Q 55 + >9>Q A:Yl@Q E@y ~B B 'IB vBB B B B ;B COErD =jD <D D D +D E s: E *:6E [4:E "E ;E ;*E h;E i;Ա >A} 2= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274046AAII N%?`M,p~3Aɰ((yR*@ٱRw8@R ׽R!RHM`Npп(?`Q?- ?@vr?IR*@)RJh;iRC^CB9^'Iif=Idf;if;BDj6DjYr)E=!r%=v8KvK?9vK?9v~FYvEz= <Az>|Q 15٪~j?Q 55~ ~89Y @Q E @y~i IeG)yIi@AQ DU DU uDU .DQ EU 1: EU :6EU ـ4:EQ !] @!] @!] @!] @>A -=ԁ A I! I1 m DAT read: 23:51:25.8023 LVL= 23616, 32753, 27170, 32755, AGC= 66, IDX= 422,-0.20,-0.503,-2.360,-0.863,-0.962, PHS= 0.561,-1.353, 0.055, RAW= 135.2, 8.6, CAL= 135.0, 9.7, ROT= 15.0, -9.7 u Ygot valid direction response: 23:51:25.8023 LVL= 23616, 32753, 27170, 32755, AGC= 66, IDX= 422,-0.20,-0.503,-2.360,-0.863,-0.962, PHS= 0.561,-1.353, 0.055, RAW= 135.2, 8.6, CAL= 135.0, 9.7, ROT= 15.0, -9.7 } PDAT read: Bearing 342.0, 20.8 (Local) } ~Local bearing/azimuth received: Bearing 342.0, 20.8 (Local)  DAT read: Range 11 to 50 : 134.3 m (Round-trip 179.1 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.952116,0.255119,0.168489] Fpublishing direction and range info99 = [w?kS?RV?= LC9 i= @\= = "j9 = B = ?)= /I= Ga=i= @= `>9 = -\->9 = -\-i9 9 I= F = i& 9 )= -\-i9 9  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.N >1, 3Ayo*@ٱ8@-&ѽH#@Pпk? 2?> (%?`xt@7?Io*@)&?h;iCYB9'I =Mb@Mb@Mb@ 9)9I9i99=rh|?bX9ƿy&1=>=E6=`I=K@i=@=p@9)9=@BD 6D:2%*DAT read: user:943> -BDAT read: Tx time:23:51:27.1691 -$Ping request sent.-I9I9M~FYMEUI;AU>1Q 15٪YX?Q 55 19T>Q A;Y@Q E@y~B CB (IB BB B :DB B ;B 8OED D tD -D E : E v:6E t4:E "E ;! E ;! *E `;! E `;! ɢ B r   ?I Xxӽɡ i I (Ė;I a;@i 5=i =) a;@) % V>% >i 9 / ԑ) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252334>AA=A)IQIyN,?kG,;3A@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503386UoB9U'I)Y ]AMb@Mb@Mb@ )IiV-?MbX9ĿMb>!I@i@@@)@I)BD6D3YТ=!=Q) > 9 9 ~FYEA>Q 1%5٪CK?Q 5%5s .9%+>Q A%;Y-@Q E-@yA 3=A I I) N5 >n,W3A(y:+@ٱ:8@:V:غ:H)Ͽ0?$?|3D`·?Z`?I:+@):'i;i:CNvB9N'IBDV6DV2Y^'=!^d=^`9`9b~FYbEf<Af>hQ 1n5٪jA?Q 5n5j# j-9lYr*@Q Er@yjI%= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007353i    O0ԩ>A%=vBu1>~BqBu#(IBuBBu =BqBqBu;Bu*OEB-ȅCB)B)B-ȱ =B-ȱ =B-4rD%=jDR=DDtD,DE: Ev:6Eg4:E"EU;!EV;!*E!E! AQ Ia Iq N} > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259664,]q3A`yZ+@ٱZN9@ZIZ˾ZHϿ@1*??@{ ]?@7?IZ+@)Z^i;iZCvB9z'IBD 6D2YeX=!eA=ei9i9m~FYmEui;Au>yQ 15٪}/6?Q 55}i },9YE@Q E@y}A "=rA >jA >A I I N >BEet4JEet4REeS/D D D /D E s: E 6E J4:E ! @! @! @! @9,53Aɰy:7+@ٱ:d09@::9:HjϿU?-N?@l8 m? ,???I:7+@):0j;i:CNB9N'I9Mb@Mb@Mb@ )Iix&1?S㥛ĿS㥛>$/ݼI@ij@@@)(@BD6DY=!F= 99~FYE‡;A>Q 15٪*?Q 55 *9>Q A;Yz@Q E@yA- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014947Ii Iy N > Z,3Ay6n^+@ٱ6V9@66T@6H`#Ͽ@k?@?@ A ?G@?I6n^+@)6i;i6CbB9b(IBDj6Dj0Yr[=!rX=rt9t9v~FYvEzI;Az>|Q 15٪~Q ?Q 55~< ~(9Y@Q E @y~~B!B%C(IB%͈BB% =B%;DB!B%;B%OEbDZDDD}D.DE: Ek&:6Eـ4:E"E;!E;!*Eŀ;!Eŀ;!iQQQ]4Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267679>A =IIN>! ,&3Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519070y҆+@ٱV9@JdI )H`/ο??sG?`e;?I҆+@)8i;iC5B95"(I Mb@Mb@Mb@ ) I i   Zd;?l¿S㥛 ۹>  I @i  b@ @)  @BD%6D%02Y5p=!56==;Q)=>9999E~FYEEE+;AE>IQ 1U5٪MO?Q 5U5M M'9]/>Q A];Y] @Q E]@yMA !=bA AZA AI I! N- >q H,3Ay6+@ٱ6f9@6t6 OH6H_`ο@Q?ࣅ? l?`dhX?I6+@)6fi;i6CZB9^0(I`i`BDf6Df3YnJ=!nd=rqx9|9~~FYE;A> Q 15٪  ?Q 55 N} 9Y @Q E@y AU#=IIN>vB~BB\(IBBB =BBB;B OEԩrDjD4=DDtD,DE: Ev:6Eg4:E"E!E!*E`;!E`;!)ߡ ߥ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275991 #,-3Ayj$+@ٱj9@jj>jH`Vο@??@;?`6@?@g?Ij$+@)j"i;ijCˆB96(IBD% 6D%2Y5<!5C==;Q)=>9999E~FYEEEy;AE>IQ 1U5٪Mm?Q 5U5Mz I9YY]!@Q E]@yM= ?I CɡiI:I&q<@i!}=i'(=)&q<@)i9 DAT read: 23:51:29.7506 LVL= 29136, 32753, 32178, 32755, AGC= 67, IDX= 421,-0.10,-2.729, 1.671,-3.050, 3.088, PHS= 0.568,-1.373, 0.102, RAW= 136.7, 8.1, CAL= 136.5, 9.1, ROT= 13.5, -9.1 Ygot valid direction response: 23:51:29.7506 LVL= 29136, 32753, 32178, 32755, AGC= 67, IDX= 421,-0.10,-2.729, 1.671,-3.050, 3.088, PHS= 0.568,-1.373, 0.102, RAW= 136.7, 8.1, CAL= 136.5, 9.1, ROT= 13.5, -9.1 PDAT read: Bearing 342.2, 17.8 (Local) %~Local bearing/azimuth received: Bearing 342.2, 17.8 (Local) -DAT read: Range 11 to 50 : 133.0 m (Round-trip 177.4 ms) speed 0.3 m/s 5R#Rx 1: Read range and direction messages.=\direction in FSK: [0.960131,0.230507,0.158158]=Fpublishing direction and range info95je?&cB?@\~>?Ciq}C sh?)wI`=i@>x@">:Fq> "iI9K /X?I47?6映?I> :Fq>)"iUT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.>Ae $=D D D .D E : E 6E ـ4:E ! @! @! @! @A yAI I N > , 3Ay+@ٱ9@wKH aοN??EN璿?r`?I+@)h;iCmՈB9mM(I]*DAT read: user:944> eBDAT read: Tx time:23:51:30.9691 e$Ping request sent.eԼIi@@j@) @BD6D1Y>=!'=m;Q)> H?9 H?9~FYEx;A> Q 15٪ ;?Q 55 w &9>Q A:Y""@Q E@y @4(9?v4@u55je?&cB?@\~>?h5:Fq>h5"v5d (`8YϿ==@v5X.OWJ^2hB=?h5~h5Ah5Ce?h5Q?~h5gB*i5:?2i5]+:i5IBi5B"i5I@5 addTargetRange:: Added new target pos. range: 133.000000 m, deltaT: 3.780937 s, deltaX: -1.300003 m, approachRate: -0.343831 m/s, rangeRepo size: 4 e Added new target pos. range: 132.641769 m, bearing: 180.110329 deg, lat: 36.779175 deg, lon: -121.859824 deg, deltaT: 3.780937 s, deltaX: -1.295624 m, approachRate: -0.342673 m/s, posRepo size: 4 gamFNOT Ignoring new targets: 132.64 m.gmgi} ProNav: ac range: 132.641769 m, nav range: 127.505310 m, bearing: 180.752153 deg, approach rate: 0.000000 m/s, LOS rate: 0.102961 deg/s, cmd heading: 168.702039 deg, new cmd heading: 168.806214 deg. gyHeadingCmd: 2.946224 target range: 132.641769 and range: 133.00 m.g<@ggggzfrfffBBdddc`@c`Z)?ɢ%B%< )-B?I) -Iɡ)i)I-|ç:I5<@i5P=i5'=9)=<@)Yi9$5@@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875>A )=rA >jA >ԙ A A AAvB1>~BBu(IBBB =BBB;BAMAIQIaNu>2 ,~*3AD.D.rD.3D,E.: E.?:6E.4:E,"E.;!6E.;!6*E.Y;!6E.Y;!6yv+@ٱv9@vv9vHA 1Ϳ??@3?@Wy?Iv+@)v7h;itوB9 Q(IBD6D:Y- <!-V=-;Q)->=K?9=K?9=~FY=E=4p;AE>AQQ 1M5٪E ?Q 5U5EKu A9YY]9"@Q E]@yEA$= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7565479 Ia Iy N >,D3AIVňG)bAIli~~ADAy%,@ٱ%y:@%%%%`I%j@i%@%@!)!%@BD= 6D=2YMְ=!M"=M;Q)U>Q9Q9U~FYUE]HQ;A]>aQ 1m5٪e?Q 5m5e+r e'9mr>Q Am:Yu#@Q Eu@yeA #'= I I N >f, _3AhjAjC illilnA)n`e lIl p)r ArpptvAivTIxxIxi~A ~C |)|| ~A~\tqAI)i ) I    MB9M}(IBD] 6D]2uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259009Y*=!s=Q)?99~FYEA?Q 1-5٪?Q 5-5p 91Y1Q E5@yA C"=bA AZA I I) N5 > O,x3Ay60T,@ٱ6L:@6q6`6H(IͿ`?j6?&`m:`2?@nl ?I60T,@)6yh;i6C=B9=(IBDM6DMY]8k=!]U=e2aa9a9e~FYmEm<Am>qQ 1}5٪u(?Q 5}5um u)9Y $@Q E@yu?Iߥ>?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767223>A=II)N5> DU DU vDU .DQ EU : EU :6EU ـ4:EQ !] @!] @!] @!] @E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015539Q r$,㨒3AyRm,@ٱRtf:@R)_gREIRH`? FͿ?q?)]@?o@?IRm,@)Rh;iP}B9}(IMb@Mb@Mb@ )IiJ +? rhZd;O>C jIK@i@@S@)@BD6DP)3Y-=!->=-!;Q)->19195~FY5E=o;A=>AQ 1M5٪Ed?Q 5M5E5k A9M>Q AU:YU %@Q EU@yE:g>: ProNav: ac range: 132.641769 m, nav range: 126.790543 m, bearing: 180.971077 deg, approach rate: -0.347668 m/s, LOS rate: 0.102833 deg/s, cmd heading: 169.155905 deg, new cmd heading: 169.244563 deg. g2<;HeadingCmd: 2.953875 target range: 132.641769 and range: 133.00 m.gI =@ggggzfrfffBBdddcc@ ɢeBe`= am@Ii mFɡiiiIm TIuI =@iu=i}C'=)}I =@)yi!!!!!9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266846>AE )=a I I N >A] <A] <vBe 2>~Ba Be (IBe (BBa Ba Ba Be ;Be OEB%ˆCB!B!B!B!B%ˬ 4՚*,z3ADDrD,DEC: E?:6Eg4:E"E2;!E3;!*EY;!EY;! yF,@ٱFj~:@F`F^FH ̿`? ?@K,q@?19195~FY5E=J;A=>AQ 1M5٪Ee?Q 5U5E i A9QYU$%@Q EU@yEA- '=I I N= > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773538;1,*Xƀ3Ay6,@ٱ6::@6lX6Y6Hn$ ̿`D? ?`8/F⎿`?+k?I6,@)6hi;i6CB6B9B(IF=F=\MMb@Mb@Mb@ I)IIIiIIM r?(\¿{GzM>MzMףIM@iIMK@Mj@)IM@BDe6De03YuJI=!uF=u;Q)u>y9y9}~FYEy;A>Q 15٪?Q 55f 9s>Q A;Ye#@Q E@y8,Mf3Ay6,@ٱ6i:@6P6kT6H 'D̿F ?}?1f?j`V?I6,@)6Ei;i6CBCB9B(IBDf 6Df:2YnX=!n/=n;Q)r>p9p9r~FYrEv6;Av>xQ 1~5٪z0?Q 55zc x9Yz#@Q E@yz%DAT read: 23:51:33.5488 LVL= 29168, 32753, 29666, 32755, AGC= 67, IDX= 418,-0.08,-1.927, 2.514,-2.217,-2.368, PHS= 0.543,-1.356, 0.108, RAW= 137.3, 8.2, CAL= 137.1, 9.2, ROT= 12.9, -9.2 uYgot valid direction response: 23:51:33.5488 LVL= 29168, 32753, 29666, 32755, AGC= 67, IDX= 418,-0.08,-1.927, 2.514,-2.217,-2.368, PHS= 0.543,-1.356, 0.108, RAW= 137.3, 8.2, CAL= 137.1, 9.2, ROT= 12.9, -9.2 uPDAT read: Bearing 343.2, 15.6 (Local) }~Local bearing/azimuth received: Bearing 343.2, 15.6 (Local) DAT read: Range 11 to 50 : 131.6 m (Round-trip 175.5 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.962222,0.220378,0.159881]Fpublishing direction and range info9 ?10[5?Čsv?Ciqs   ?)hI/=i]@C>f$@l$>f> l$iIצ9? H x?S?<>o f>)l$iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!Q S?,.3A}XB9(IBD6DP)3Y=*DAT read: user:945> 9]BDAT read: Tx time:23:51:34.7691 e$Ping request sent.e99~FYEA>Q 1 5٪?Q 555` 91Y1Q E5@yhl$vC `B'ؿ~v׈J;@vL￑UXhB-1?hǾh`h@?hZAkhB*iЖ?2iu~:iBiYB"icI@ addTargetRange:: Added new target pos. range: 131.600006 m, deltaT: 3.780824 s, deltaX: -1.399994 m, approachRate: -0.370288 m/s, rangeRepo size: 4  Added new target pos. range: 131.246216 m, bearing: 180.174069 deg, lat: 36.779170 deg, lon: -121.859815 deg, deltaT: 3.780824 s, deltaX: -1.395554 m, approachRate: -0.369114 m/s, posRepo size: 4 gFNOT Ignoring new targets: 131.25 m.g-g)= ProNav: ac range: 131.246216 m, nav range: 126.675613 m, bearing: 180.785199 deg, approach rate: 0.000000 m/s, LOS rate: 0.105485 deg/s, cmd heading: 169.506594 deg, new cmd heading: 169.609187 deg. g9EHeadingCmd: 2.960239 target range: 131.246216 and range: 131.60 m.gEt=@gAgagagazfrfffBdddc@3s`@c@D?ɢB%~}= !% @I! -חɡ)i)I-OI5t=@i5}=i5S=)5t=@)9aDDxD+DEC: E:6E [4:E!@!@!@!@ԙ9M y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239511i / bA ZA AԹ A I I N >\ZF,r3Aiy6',@ٱ6:@6Od>6I6H9.7̿@?(?^6@l@Xʧ?cs`?I6',@)6HNj;i6CFfB9F)IMMb@Mb@Mb@ I)IIIiIIMx?OnÿMbMK>MMIIiMS@IM&@)IM@BDe 6Def2Yu=!uE=}?y99~FYĬEf;A>Q 15٪x?Q 55^ (9>Q A;Y!@Q E@y~BB(IB`BB =BBB;BOE)bD! ZD% AAD5 D5 sD5 .D1 E5 a: E5 Z:6E5 ـ4:E1 "E5 d;!E E5 e;!E *E5 #];!M E5 $];!M A I I N >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743193L,l43AZB9(IBD-6D-k2Y=q!EO=EQ)E>A9I9M~FYMƬEMAM>QQ 1]5٪Um?Q 5]5Uj\ Q9aYaQ Ee@yU;HeadingCmd: 2.963050 target range: 131.246216 and range: 131.60 m.g=@ggggzfrfffBdddcc@B8?1ɢ5B5tڣ= 15 @I9 =ꐽɡ9i9I=IIE=@iEZ=iEO==)E=@)Ii0aie>Ie#@}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998081Ա>A K'=A9 IA IY Ne > D= D= |D= 0D9 E= ҝ: E= P$:6E= 4:E9 !M @!M @!M @!M @gS, IN3Ay6-@ٱ6;@6'6<6H@I5_˿ ? V?`;@7?":s ?I6-@)6o;i4B|B9B)ImMb@Mb@Mb@ i)iIiiiimbX9?'1ZĿI +mE>m"m94Im@im=@m@i)imf@BD6D:Y{>!B=W99~FYɬE8;A>Q 15٪b?Q 55Y &9 >Q A;Y& @Q E@yA =m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499769A I! I1 9 NE >`Y,g3Ay6)-@ٱ6";@66)6H8˿_v?\?N>势z? t ?I6)-@)6Bp;i4BB9B3)IiF=IF=BDJ6DJ 3YR=!R`=V/X9X9Z~FYZˬEZ;A^>\Q 1b5٪^0Y?Q 5b5^W ^%9dYf@ @Q Ef@y^Al"=y A I I N >pi`,=3A4echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007019d>i֐CIGyD-@ٱJ=;@)AmIH< t˿נ?i?!9!9%~FY%ϬE-S;A->1Q 1=5٪5K?Q 5=55wT 5$Q ==+:9AQ AE:YE[ @Q EE@y5A] C"= A I I N >Fg,񄞁3Ay6O^-@ٱ6V;@6MI6p6H`K@`A˿?8?C@ĭqh?.u?I6O^-@)6>s;i6CBB9BS)IBDJ6DJkYRM=!Rs=R@ggg!g!zf!rf!f)f)Bd)ddcc@ɢB{= (7@I  iɡiII>@i1=is"=)>@)ԉi>I< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511299i+5ԱvB1>~BB=)IBBB =BBB;B%OE>ADDrD+DE: E?:6E [4:E"E;!E;!*EY;!EY;!A1 I9 IQ N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763244 im,A3Ay6Wv-@ٱ6n;@6Y6766H@C%˿l"?j ?`F k?lDuc?I6Wv-@)6v;i6CBB9F_)I)H JAIH)HBDN6DN02YVJ8=!VK=Z;Q)Z>X9X9Z~FYZӬE^nn;A^>`Q 1f5٪b7?Q 5f5bO `Q =f99hQ Aj:Yj @Q Ej@yb@ggggzfrfffBdddcc @ɢ%B%c= )-}@I) -zɡ)i)I-@iU> =i]w,"=)]t >@)Yi/5=BDAT read: Rx Time:23:51:37.3470 TRx dataTimestamp_ set to:1758412295.107153checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044881ԁ>Aԡ A I I D D sD 0D E U: E Z:6E 4:E ! @! @! @! @N >St,S%ҁ3AyVi-@ٱV;@V$A׼V(VH@F@ʿ`.2?? AI`nY?Au@?IVi-@)Vd:z;iVCbB9bh)I!M!M !U!U !U!U !U!U UMb@Mb@Mb@ Q)QIQiQQUK7?w/Ŀ rhUI>U&UCIU@iQU@U@)QU̼@BDm6DmJ2}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267235ԁY=!==;Q)>99FY֬EUg;A>Q 15٪*?Q 554M &Q =T:9>Q A:Y"@Q E@y@g g g g zf rf ff"BBdddcc%-i @ɢ= @I .rɡiIZI-<>@i-=i5%!=)5<>@)1 =0>=>ԡi4>A) U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523639 A I I N >|z,3AvB0>~BB\)IBBB =BBB;BOEB1B1B1B1B1B5)w4yJ-@ٱJ;@J=JrJHI`aʿ@mj?8?K #?mr`?IJ-@)Jc};iHVƉB9Vv)IBD^6D^ 3Yfi=!fX=f;Q)f>h9h9jFYj٬Ej _;An>pQ 1v5٪r?Q 5v5rJ r(9xYz"@Q Ez@yr@ggggzfrfffBdd d c c5|@ɢB[= 顝@I :iɡiIȻI{U>@i-=i/ =){U>@)DAT read: 23:51:37.3470 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.27,-0.542,-2.421,-0.814,-0.962, PHS= 0.521,-1.414, 0.104, RAW= 138.2, 9.0, CAL= 137.8, 9.9, ROT= 12.2, -9.9 Ygot valid direction response: 23:51:37.3470 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.27,-0.542,-2.421,-0.814,-0.962, PHS= 0.521,-1.414, 0.104, RAW= 138.2, 9.0, CAL= 137.8, 9.9, ROT= 12.2, -9.9 PDAT read: Bearing 344.9, 13.2 (Local) ~Local bearing/azimuth received: Bearing 344.9, 13.2 (Local) DAT read: Range 11 to 50 : 130.3 m (Round-trip 173.8 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.962862,0.208178,0.171929]Fpublishing direction and range info9?瓥?!?LCiD B`?)I=i^@| >@;0>^ Z> ;0iIL_HUD?Wx?R ?m>L ^ Z>);0iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.19Ui 9 @0 Y U *DAT read: user:946> e BDAT read: Tx time:23:51:38.7691 m $Ping request sent.m A =ԉAI IN%? M, 3Ay>R-@ٱ>;@>͍>N>H>O]ʿ@w?hZ?APE|?* q?I>R-@)>;i>CJ͉B9J~)IiN=IN=BEaJEe~4REeDN0DnDntDn/DlEn: Env:6EnJ4:El!v@!v@!v@!v@ԑMb@Mb@Mb@ )IiV-?x&1ȿMbp>AIi@&@)z@Y9Y9eFYeܬE0;A>Q 15٪+?Q 55F '9>Q A;Y<@Q E@yh;0vY_|D8;Nd8@v<4n e`{4?hahFh| ?hj^hB*iCe?2iQ?~:igBi9B"iV J@= addTargetRange:: Added new target pos. range: 130.300003 m, deltaT: 4.034960 s, deltaX: -1.300003 m, approachRate: -0.322185 m/s, rangeRepo size: 4 m Added new target pos. range: 129.949524 m, bearing: 180.395889 deg, lat: 36.779159 deg, lon: -121.859808 deg, deltaT: 4.034960 s, deltaX: -1.296692 m, approachRate: -0.321364 m/s, posRepo size: 4 gquFNOT Ignoring new targets: 129.95 m.g}gy ProNav: ac range: 129.949524 m, nav range: 126.612579 m, bearing: 180.952882 deg, approach rate: 0.000000 m/s, LOS rate: 0.105476 deg/s, cmd heading: 170.395775 deg, new cmd heading: 170.514942 deg. gHeadingCmd: 2.976047 target range: 129.949524 and range: 130.30 m.gw>@ggggzfrfff.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246733BdddcI`@c 5B?ɢ5B5K= 9=@I9 ]­^ɡYiaIeػIew>@im=im,"=)mw>@)i)uA uAԹ9e *iM9IQU/0Q >Au ȿ=} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499205A yAI I N >B,+3A,yBL-@ٱB;@B `BWZBHR@ʿ@?2?S,x?@@k/?IBL-@)Bi;iBCNB9Rc)IAZ@AAXvB\~B\B^u)IB^ƉBB^ =B\B\B^;B^OEBDZ6DZ!3Y~Qֽ!~F=+ H?9 H?9 FY ߬E ;A >Q 15٪?Q 55$D &9!Y%\@Q E%@y@gygygygyzfyrfffBdddcc`;_?ɢ=B=R= AEN@IADYD]yD].DYEY E]:6E]ـ4:EY"E];!mE];!m*E]r;!uE]r;!u VɡiII>@im=i"=)>@)) i I ԙ)9 9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750809)Թi    /  >A- "= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005957 AAII N>T,{J3Ay6<.@ٱ6<@6&6C6HYV#ɿ@ ??Vbt„? {h?I6<.@)6Fυ;i6CBىB9B)I!MMb@Mb@Mb@ I)IIIiIIMʡE?bX9ƿMbPM->ME6MIIiM@Mj@I)IM@BDe 6De2Yu>!u!=u;Q)}>}K?9}K?9}FY}EGk;A>Q 15٪?Q 55@ %9!>Q A;Y@Q E@y@ggggzfrfff!BBdddc c rW?ɢ15l= 9=@I9 =+Lɡ9iAIE_IE>@iMC=iMt!=)M>@)IDDpD1DE E :6E-4:E!@!@!@!@QiYYY]w0Y@eA@eAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254614y>AqA ԩ I I N >m,+Ld3Aiy6/.@ٱ6\(<@6,O໹6 N6HY ɿx?(?Y Br |?Wi?I6/.@)6-܆;i6CVB9V)IBD^ 6D^2Yf=!fW=j h9h9nFYnEn;Ar>pQ 1v5٪rC?Q 5v5rn> r$9xYz@Q Ez@yr@gYgYgYgYzfYrfafafaBdadidicicmBo?ԙɢ> 顥@I *EɡiI.fI>@i"=iJ#=)>@)iU9QQUO5QvB1>~BB)IBՉBBBBDB;BOEDDsD/DEU: EZ:6EJ4:E"E;!E;!*E#];!E$];!>A5C"=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759066A I I N > Ԟ,4~3Ay6T.@ٱ6L<@6k6b6H][ɿGg?@9[?]\p{m?h]l?I6T.@)6N&;i6CBB9B)IBDJ$6DJ3YR҄<!RM=V#T9T9VFYVEZ;AZ>\Q 1b5٪^忊?Q 5b5^; ^#9dYf @Q Ef@y^@g!g)g)g)zf)rf)f1f1Bd1d1d9c9c=g@ɢeBea:> im@Ii mT=ɡiiiIuTI}z>@i}=i}['%=)}z>@)yAAi4%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013113!>A"=QAa Iy I N D D xD 1D E s: E :6E -4:E ! @! @! @! @q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262489,3Ay6~q.@ٱ6j<@6p􎹹61^L6H `!ɿ6!?`|i1?@Ëi?I6~q.@)6҉;i6CNB9N)IUMb@Mb@Mb@ Q)QIQiQQUx?oʡſ{GzUK>U-U#IQiQUS@Q)QU@m499FYEL;A>Q 15٪kڿ?Q 5529 (9>Q A;Y. @Q E@y 9= @IA E)4ɡAiAIEjIM?@iM)ܔ=iM %=)M?@Q)Yi 9   4 @=@=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514584>A $=rA>jA>ԩA A vB 2>~B B )IB ډBB =B B B ;B OEAa Ii Iy N > l,;᱂3ADNDN{DN.DLEN: EN5":6ENـ4:EL"EN;!VEN;!V*ENBz;!VENCz;!V]B9])IBDm6Dm2Y}m<!}J=Q)>99FYEA>Q 15٪Ͽ?Q 556 +9YQ E@y !@I j+ɡiII4?@i=i=)4?@)i9.3>A$= I ) I i5 %>I1 = BDAT read: Rx Time:23:51:41.3454 = TRx dataTimestamp_ set to:1758412299.114289E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021811im .q u VAI I A N >,tẑ3Ayf".@ٱf<@fy7;f7fHe`ȿn| U?`e[?{@8]?If".@)fi;ifCrB9r)IuMb@Mb@Mb@ q)qIqiqquZd;?w/Ŀu&utIuS@iqqq)qu@BD 6D2Y#!C=B99FYE<A>Q 15٪ÿ?Q 55!4 09w>Q A;YA"@Q E@y Q @I c?"ɡiIIe5?@i=in&=)e5?@)5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271925i9  5  >A% =A Ia I N >S,O3A*DAT read: 23:51:41.3454 LVL= 32048, 32753, 32754, 32755, AGC= 69, IDX= 431,-0.01,-1.232,-3.115,-1.483,-1.596, PHS= 0.466,-1.474, 0.069, RAW= 138.8, 10.6, CAL= 138.3, 11.6, ROT= 11.7, -11.6 .Ygot valid direction response: 23:51:41.3454 LVL= 32048, 32753, 32754, 32755, AGC= 69, IDX= 431,-0.01,-1.232,-3.115,-1.483,-1.596, PHS= 0.466,-1.474, 0.069, RAW= 138.8, 10.6, CAL= 138.3, 11.6, ROT= 11.7, -11.6 BPDAT read: Bearing 347.5, 10.7 (Local) B~Local bearing/azimuth received: Bearing 347.5, 10.7 (Local) JDAT read: Range 11 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.1 m/s JR#Rx 1: Read range and direction messages.N\direction in FSK: [0.959222,0.198645,0.201078]RFpublishing direction and range info9;?-w6m?o?Ci0}E >)IO=i @q=>{@4QO>Q> 4QOiI.YS?UN?gR*e?I>R= Q>)4QOi^T****** received valid address query ******^R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.y.@ٱ\<@S$<{Hgsȿ?`?@Ch>? c!/X@?I.@) ^;iCB9)II)AABD6D3Ye߼!?=r;Q)>99FYE];A> Q 155٪ ?Q 555 1 699Y=Y"@Q E=@y h4QOv y_.崗8@vHmhq]q/w?h඿hh&?hWvB4>~BBBB =BBB;BOEhB*i@?2iZAk:iBiB"iN-J@ addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.779246 s, deltaX: -1.300003 m, approachRate: -0.343985 m/s, rangeRepo size: 4  Added new target pos. range: 128.653503 m, bearing: 180.648253 deg, lat: 36.779155 deg, lon: -121.859800 deg, deltaT: 3.779246 s, deltaX: -1.296021 m, approachRate: -0.342931 m/s, posRepo size: 4 gFNOT Ignoring new targets: 128.65 m.gg ProNav: ac range: 128.653503 m, nav range: 125.987396 m, bearing: 180.998240 deg, approach rate: 0.000000 m/s, LOS rate: 0.104743 deg/s, cmd heading: 171.178816 deg, new cmd heading: 171.270197 deg. gHeadingCmd: 2.989229 target range: 128.653503 and range: 129.00 m.gO?@gIgIgIgIzfQrfQfYfYBdYdYdace `@c&k?ɢY]b= 顅@I ӶɡiIE$IO?@ii=ia$=)O?@)DDD*DEC: E*:6E(N4:E"E2;!E3;!*Eh;!Ei;!i5919=859@A@A) *DAT read: user:947> BDAT read: Tx time:23:51:42.5691 $Ping request sent.A] ܪ&=I I N >9 ;,+3AyFo.@ٱF<@FXx9x9zFYzEzy;A~>Q 1 5٪D?Q 5 5G/ ;9 Y r"@Q E @y=E)y:I:i5YB.AE5B*** querying acoustic contact ***zh1h1gAMFNOT Ignoring new targets: 128.65 m.gM ;gM ;] ProNav: ac range: 128.653503 m, nav range: 125.865021 m, bearing: 181.038087 deg, approach rate: -0.372528 m/s, LOS rate: 0.121418 deg/s, cmd heading: 171.270204 deg, new cmd heading: 171.349976 deg. ge5^;eHeadingCmd: 2.990621 target range: 128.653503 and range: 129.00 m.geWf?@gigigigizfirfifqfqBdqdydycyc}?ɢb0> 顭n @I ɡiI*IWf?@iQ=iC$=)Wf?@)5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248855iQYYe/a9>A$=II1NU>DyD}oD},DyEy E}:6E}g4:Ey!@!@!@!@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500590De,13A y:C.@ٱ:<@:<:]:H`ka"ȿ@Yܐ"?ma? @KQ ?I:C.@):M>;i8^܉B9b)IuMb@Mb@Mb@ q)qIqiqquZd;?Sÿ:vquuTIu=@iu@u@q)qu@BD 6D2YC!?=;Q)>99FYEh;A>Q 15٪"?Q 55, C9#>Q A;YH$@Q E@y=E)O;I;iҵ5Y.AgFNOT Ignoring new targets: 128.65 m.g:g:  ProNav: ac range: 128.653503 m, nav range: 125.722801 m, bearing: 181.081756 deg, approach rate: -0.333629 m/s, LOS rate: 0.102558 deg/s, cmd heading: 171.349980 deg, new cmd heading: 171.437417 deg. g ;;HeadingCmd: 2.992147 target range: 128.653503 and range: 129.00 m.gX?@ggggzfrff!f%BBd!d!d)c)c-?ɢ]B]U > Y]@IY e5 ɡaiaIe!1ImX?@im-=imo$=)mX?@)qii9  Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752736ԙAAAAvB~BB)IBЉBBBBB;B"OEBBBBȰ =BȰ =B"4>AI I I N >D] D] wD] .DY E] : E] :6E] ـ4:EY "E] ;!m E] ;!m *E] k;!m E] k;!m N,43Ah9h9jFYjEj;An>pQ 1v5٪rG?Q 5v5r* rK9tYva$@Q Ev@yr=E)r:IrF:ir|5Yx~.A|g!%FNOT Ignoring new targets: 128.65 m.g-v:g-v:= ProNav: ac range: 128.653503 m, nav range: 125.595627 m, bearing: 181.120778 deg, approach rate: -0.333688 m/s, LOS rate: 0.102492 deg/s, cmd heading: 171.437420 deg, new cmd heading: 171.515543 deg. g=;;EHeadingCmd: 2.993511 target range: 128.653503 and range: 129.00 m.gE?@gAgAgAgIzfIrfIfIfIBdQdQdQcQc]T?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004808ɢ2> @I ^ɡ i I t7I?@i- =i=3$=)=?@)9ԩi9/@=@p=>AC"=IIN>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256609 ,%N3Ay: '/@ٱ:=@:*<:ng:H o@ǿ :@?q`l?1L?I: '/@):Ж;i8V҉B9V)Iib=I`pMb@Mb@Mb@ )Ii +?Q{Gztȶ>\ףIS@i&@)@BD6DY0y!:=f99FYEm;A>Q 15٪=?Q 55H( Q9Z>Q A  ;Y 0%@Q E @y=E):I/:ih5BE4JE”4REŸ0DUDUtDU1DQEUƱ: EUv:6EU-4:EQ!e@!e@!e@!e@YB.AEgFNOT Ignoring new targets: 128.65 m.gQ:gQ:5 ProNav: ac range: 128.653503 m, nav range: 125.454552 m, bearing: 181.163006 deg, approach rate: -0.303887 m/s, LOS rate: 0.091063 deg/s, cmd heading: 171.515544 deg, new cmd heading: 171.600093 deg. g5&;UHeadingCmd: 2.994987 target range: 128.653503 and range: 129.00 m.gUܭ?@gQgQgYgYzfYrfYfYfeBBdadadacacma?ɢ> 顽@I xɡiI >Iܭ?@ i =i)ܭ?@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509940i/1>A $=i I I N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760628),h3Ay:q@/@ٱ:8=@:l<::H @q@Qǿ ?`Dt@ p?l֛R?I:q@/@):0;i8 ۉB9 )IBD6DN2Y-:=!-W=-P19195FY5E9=;AE>AQ 1M5٪E?Q 5U5E>& EW9QYUI%@Q EU@yE =E)E:IE:iE5Yaei.AagFNOT Ignoring new targets: 128.65 m.go:go: ProNav: ac range: 128.653503 m, nav range: 125.332405 m, bearing: 181.199541 deg, approach rate: -0.342272 m/s, LOS rate: 0.102479 deg/s, cmd heading: 171.600088 deg, new cmd heading: 171.673231 deg. g;;HeadingCmd: 2.996263 target range: 128.653503 and range: 129.00 m.g?@ggggzfrfffBdddcc @ɢB2#> @I ɡiI DI?@iȓ=i%=)?@) A AvBy~ByB}u)IB}ƉBB} =ByByB};B}#OEi9/yDDqD*DE: E$ :6E(N4:E"EU;!EV;!*EU;!EU;!ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014107>AI I N > n,V3Ay>FU/@ٱ>M=@><>_s>HZr iaǿ_?,v1s? _`N&?I>FU/@)>wr;i>CJىB9N)IBDV 6DVk3YZ!^R=^y`9`9bFYbEfU;Af>dQ 1j5٪f*u?Q 5n5f,$ f]9lYn]%@Q En@yf =E)f* ;If ;ifż5Ytvu.AtB*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 128.65 m.g_:g_:- ProNav: ac range: 128.653503 m, nav range: 125.207809 m, bearing: 181.236798 deg, approach rate: -0.320382 m/s, LOS rate: 0.095896 deg/s, cmd heading: 171.673226 deg, new cmd heading: 171.747813 deg. g-/;5HeadingCmd: 2.997565 target range: 128.653503 and range: 129.00 m.g5?@g1g9g9g9zf9rf9fAfABdAdAdIcIcMb@ɢquݖ> y}@Iy ӼɡiI[JI?@i=i<%=)?@)ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265484i5999=709>A#'=IIN>DDD.DEҝ: E?:6Eـ4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516698! 0, ]3Aiy:g/@ٱ:m`=@:Q =:%:H@#s=ǿi=3:? w`0w?z@A 9?I:g/@):,^;i:CFԉB9J)IMb@Mb@Mb@ )Iirh|?X9vMbp>Ii@)@BD5 6D5f2YE!EB=EI9I9MFYMEM0;AU>QQ 15٪U)i?Q 55U" Ud9Y>Q A ;Y(@Q E@yU=E)UW !%@I! %cMɡ!i!I-NPIM?@iU==iUPQ$=)U?@)Qi90!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768621YAA<vB2>~BBb)IBBB =BBB;B8OE>AM $=I Ia N >D D sD -D E : E Z:6E t4:E "E ;! E ;! *E #];! E $];! ԁ p,83Ay:t/@ٱ:m=@:ъ=:Tٹ:H>sO$ǿ` ?@y2Dz?-P %;`+?I:t/@):_;i:C)Y YeBDAT read: Rx Time:23:51:45.1437 mTRx dataTimestamp_ set to:1758412302.892513mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021993QuщB9u)IBD6D2YG]!6=99FYE:A>Q 1U5٪f\?Q 5U5 l9QY](@Q E]@y=E)L.AagFNOT Ignoring new targets: 128.65 m.g:g: ProNav: ac range: 128.653503 m, nav range: 124.917610 m, bearing: 181.314805 deg, approach rate: -0.334531 m/s, LOS rate: 0.090076 deg/s, cmd heading: 171.823476 deg, new cmd heading: 171.904001 deg. g$;HeadingCmd: 3.000291 target range: 128.653503 and range: 129.00 m.g@@ggggzfIrfIfIfIBdQdQdQcQcU @ɢB> K@I B஼ɡiIiVI@@iZ=i$!=)@@) ae >ԉi9/ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272689>Ae $= I Ia N} >,zЃ3Ayn/@ٱnD=@n'*=n ʺnHsƿ`0?@z@Sx?QC UY@?In/@)n;ilxzAziz_Fxi|~A)~+ |I| |)~A/]AiI İF I i ׃A /]F)C AQ8FI)FiDUDUrDU,DQEU: EU?:6EUg4:EQ!]@!]@!]@!]@ӉB9)I}Mb@Mb@Mb@ԁ y)yIyiyy}NbX9?i|?5y&1|}>}}`I}=@iyy}@)y}@i4<BD6D 83Y;!E= 9!9%FY% E5`3;A=>iQ 15٪mIO?Q 55m mw9>Q A;Y{*@Q E@ym=E)m?Fa5d?EBAiEAAAA E33>)Em绿IEt=iEǖ@EB>Ef$@EȭT>Ef> EȭTiAAIE+?FPZd?]?E>ExA Ef>)EȭTiAA=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.hAhE8eك3AhEBhEBhEK@ vE֒Gwd^@eP-;@|8H:@uE7?!:>?Fa5d?hEf>hEȭTvEЪ|d_TR*5@vExv9ᅲ FB?hE0hE#hE?hElhE)B*iE&?2iA:iEBiE#B"iEJ@ addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 3.781315 s, deltaX: -1.199997 m, approachRate: -0.317349 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 127.456703 m, bearing: 182.467985 deg, lat: 36.779152 deg, lon: -121.859800 deg, deltaT: 3.781315 s, deltaX: -1.196800 m, approachRate: -0.316504 m/s, posRepo size: 4 gFNOT Ignoring new targets: 127.46 m.ggm ProNav: ac range: 127.456703 m, nav range: 125.068649 m, bearing: 181.350134 deg, approach rate: 0.000000 m/s, LOS rate: 0.090076 deg/s, cmd heading: 171.904004 deg, new cmd heading: 171.990049 deg. giuHeadingCmd: 3.001793 target range: 127.456703 and range: 127.80 m.g}_@@gygyggzfrfffBBdddc@3_@c?ɢ-B-b > )5\@I1 5"Yɡ1i1I5q\I=_@@i=r1=i=} =)=_@@)Ai9/@=@= *DAT read: user:948>  BDAT read: Tx time:23:51:46.3191  $Ping request sent. A% =vBa~BaBeO)IBeBBaBaBaBe(;BePOE9AUyAIaIN?,J3Aɰ8:4 H?9 H?9FY Eu;A>Q 15٪{A?Q 55 9Y*@Q E@y=E)7;I=:iwć5Y-AgFNOT Ignoring new targets: 127.46 m.g:g: ProNav: ac range: 127.456703 m, nav range: 124.906883 m, bearing: 181.390567 deg, approach rate: -0.410232 m/s, LOS rate: 0.102668 deg/s, cmd heading: 171.990051 deg, new cmd heading: 172.071020 deg. g;;ԹHeadingCmd: 3.003206 target range: 127.456703 and range: 127.80 m.g4@@ggggzfrfffBdddcc_?ɢ%B%,e"> !%@I! -Xҋɡ)i)I- bI54@@i5=i5$=)]4@@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252019i90>A C"= i ېCI% ՈG)= AIM AAi A AI) IA NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502733#, 3Ay/@ٱ=@0U=4Hu }ƿ ax? m~?` \?I/@)͢;iB9^)IQMb@Mb@Mb@ )Ii ףp= ?"~jMbp?Q>S;Ij@i&@@)@D-D-wD-*D)E-Ʊ: E-:6E-(N4:E)!5@!=@!=@!=@BDE6DE0YUc !U'=U5;Q)U>Y9Y9]FY]E]*;Ae>iQ 1m5٪m3?Q 5u5mO m9u>Q Au ;Yu*@Q Eu@ym=E)m:Im/:imƇ5Yy.AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 127.46 m.gŽ:gŽ: ProNav: ac range: 127.456703 m, nav range: 124.745384 m, bearing: 181.431124 deg, approach rate: -0.329900 m/s, LOS rate: 0.082954 deg/s, cmd heading: 172.071016 deg, new cmd heading: 172.152235 deg. g;HeadingCmd: 3.004623 target range: 127.456703 and range: 127.80 m.gK@@ggggzfrfffBBdddcc?ɢ B> %@I 4sɡiIpgIK@@i"=iX#=)K@@))y%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755704iU9QYYYԡ >A} $= Iq I N > g ,7p'3Ay6/@ٱ6P=@6)c=6'6H`uSƿ@k@L?@i`?`u ]RT?I6/@)6 ;i6CZ̉B9Z})IIb@A)`BDb6Db02Yj>!nw=n{0 顥(@I ۩XɡiIQlIq[@@iϒ=i$=)q[@@)ii)))-1)@1@5AAiAm@AvBu1>~BqBuC)IBuBBu =BqBuDBu@;BuhOEԙDDD0DE: E,:6E4:E"E;! E;! *E:;! E;;! >A-$=bA1ZA5AIIN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258759 J,9A3Ay6"/@ٱ6=@6p=6̕6HvIƿ(@?` t9t9vFYvEvL;Av>xQ 1~5٪z?Q 55z z9Y*@Q E@yz=E)z;Iz;izɇ5Y -Ag9=FNOT Ignoring new targets: 127.46 m.gE:gE:U ProNav: ac range: 127.456703 m, nav range: 124.502640 m, bearing: 181.491997 deg, approach rate: -0.330435 m/s, LOS rate: 0.082893 deg/s, cmd heading: 172.207114 deg, new cmd heading: 172.274109 deg. gU;]HeadingCmd: 3.006750 target range: 127.456703 and range: 127.80 m.g]n@@gYgYgYgYzfarfafafaBdididicicm?ɢBb"> 顥@I 68ɡiIqIn@@i讒=i:&=)n@@)iU9QQUP5QiM@?IMc?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511170 >A=]&=IIN%>D D xD +D E U: E :6E [4:E !- @!- @!- @!- @)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762811:u,#[3Ay>~0@ٱ>>@>e~=>1 :>H` wſF??˯xA?0?I>~0@)>5;i<JډB9N)I%Mb@Mb@Mb@ !)!I!i!!%?`"%%tQ9Q9UFYUE]V;A]>aQ 1m5٪e?Q 5m5e e9m>Q Am;Yu *@Q Eu@ye!=E)e:Ie:ieˇ5Y-Ag!%FNOT Ignoring new targets: 127.46 m.g-:g-:] ProNav: ac range: 127.456703 m, nav range: 124.359032 m, bearing: 181.529071 deg, approach rate: -0.331003 m/s, LOS rate: 0.085551 deg/s, cmd heading: 172.274105 deg, new cmd heading: 172.348339 deg. g];eHeadingCmd: 3.008046 target range: 127.456703 and range: 127.80 m.geӃ@@gagagagazfirfififmBBdqddcc@s@ɢEBE> AE@IA M8ɡIIiIIBwIӃ@@i=i&=)Ӄ@@)ie9aae2ay]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014841vBu />~Bq Bu 6)IBu BBq Bq Bq Bu H;Bu pOEBQBQBQBUɱ =BUɱ =BUɈ3>A ԩ I I1 Nm >D D D /D E : E C:6E J4:E "E ;!- E ;!- *E ?;!- E @;!5 1,t3Ay6U&0@ٱ6>@6K=6*:6H:w@?ſ`z@ʺ?v%2?@bư(S?@c?I6U&0@)6;i6C@^ىB9^)If;if;BDj6Dj2Yr!rQ=rt9t9vFYvEzi;Az>|Q 15٪~6?Q 55~ ~9Y!*@Q E @y~$=E)~z;I~:i~W͇5YlB,AEgFNOT Ignoring new targets: 127.46 m.g:g: ProNav: ac range: 127.456703 m, nav range: 124.224876 m, bearing: 181.563686 deg, approach rate: -0.343749 m/s, LOS rate: 0.088790 deg/s, cmd heading: 172.348335 deg, new cmd heading: 172.417639 deg. g~";HeadingCmd: 3.009255 target range: 127.456703 and range: 127.80 m.g@@ggggzfrfffBdd d c c @ɢ}B}.> y}M@Iy $ɡiIj|I@@ij=iT&=)@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902)ԱiM9IIM!5I@U=@Up=>Am%=IIN> m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518807I#,nݎ3Apy H0@ٱ@>@:=͓:Hx@цſ7kw?Pԉ?`nR??I H0@){h;i։B9)I)>C==Mb@Mb@Mb@ 9)9I9i99= r?/$Mbp?=>=1=;I=@i99=@)9==@BD6DYDU!0=.;Q)>99FYE ;A>BEUA{4JEUـ4REU0DD{D5DEU: E5":6E4:E!@!@!@!@Q 15٪>?Q 55 9>Q A;Y(@Q E@y'=E)*:I:icχ5Y@BN+A E%B*** querying acoustic contact ***zh!h!g15FNOT Ignoring new targets: 127.46 m.g=:g=:M ProNav: ac range: 127.456703 m, nav range: 124.061714 m, bearing: 181.608025 deg, approach rate: -0.359487 m/s, LOS rate: 0.097818 deg/s, cmd heading: 172.417634 deg, new cmd heading: 172.506429 deg. gM3;UHeadingCmd: 3.010805 target range: 127.456703 and range: 127.80 m.gU@@gQgQgYgYzfYrfYfafeBBdididicicm@M@ɢB0 !> 顝@I ZɡiI΀I@@iG=i;'=)@@)i]9YY] 5Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770885)>A} K'=a A I I N >),/3A~܉B9~)IBD 6D f?3%BDAT read: Rx Time:23:51:48.8919 -TRx dataTimestamp_ set to:1758412306.672276-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023880Y5& =!5g=5Q)=>9A9A9EFYEEMAM>IQ 1U5٪M?Q 55M  M9 Y Q E @yM)=E)MA 顥O@I H;OɡiIhI @@i)=iA"=) @@)A<A<vB.>~BCB*)IBBB =BBBK;Bi111=/9iDDzD-DE%: E :6Et4:E"E;!E;!*Ev;!Ev;!ԩ>AM&=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275357Ae AIi Iy N > 0,=„3Ay6+0@ٱ6>@6=6< l96H@| Ŀ?ے?ݲm-? ?I6+0@)6;i6C@9B)IBDJ6DJ3YjW!jQ=j`]nK?9nK?9rFYr Erbf<Ar>tQ 1z5٪v㾊?Q 5z5v  v9xY~)@Q E~@yv,=E)v;Iv;iv҇5Y*Ag)5FNOT Ignoring new targets: 127.46 m.g5n:g5n:E ProNav: ac range: 127.456703 m, nav range: 123.803383 m, bearing: 181.678049 deg, approach rate: -0.369718 m/s, LOS rate: 0.099856 deg/s, cmd heading: 172.572912 deg, new cmd heading: 172.646619 deg. gE6;MHeadingCmd: 3.013252 target range: 127.456703 and range: 127.80 m.gM@@gIgQgQgQzfQrfQfYfYBdYdYdacace` @ɢB5> 顕 @Iԙ ɡiIꅼI@@i =iJc3=)@@)i!%/!@A@EA]DAT read: 23:51:48.8919 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 428, 0.23, 1.639,-0.291, 1.308, 1.256, PHS= 0.485,-1.502, 0.008, RAW= 136.7, 11.2, CAL= 136.2, 12.3, ROT= 13.8, -12.3 mYgot valid direction response: 23:51:48.8919 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 428, 0.23, 1.639,-0.291, 1.308, 1.256, PHS= 0.485,-1.502, 0.008, RAW= 136.7, 11.2, CAL= 136.2, 12.3, ROT= 13.8, -12.3 mPDAT read: Bearing 350.5, 9.3 (Local) u~Local bearing/azimuth received: Bearing 350.5, 9.3 (Local) }DAT read: Range 11 to 50 : 126.5 m (Round-trip 168.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.948842,0.233058,0.213030]Fpublishing direction and range info9152 \?+?AzUmD?5B1i11115C 5Q>)5AI5o5 #@5[>5Ϣv> 5[i11I5?@?gy ?(j?5'L>5ZH 5Ϣv>)5[i11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A l"=DDwD1DEU: E:6E-4:E!@! @! @! @I) I9 NM >! )  *DAT read: user:949>  BDAT read: Tx time:23:51:50.1191  $Ping request sent. @U?=U`9UH*xĿ`15h??vx3?`E?IU%0@)UZ;iUCuB9u)Iqiq)y y5Mb@Mb@Mb@ 1)1I1i115Zd;?S㥛{Gz?5>5$5#a9i9mFYm#Emb;Am>qQ 1}5٪uվ?Q 55u  u9y>Q A;Y&)@Q E@yu.=E)u:Iuz:iuԇ5Yz*AhaheC˄3AheQBheQBheM@ vev]@ mf=@*:@ue2 \?+?AzUmD?heϢv>he[ve,"_I̻4#ڞ³1@ve )}|N?heheheN;ו?he%t:heIB*ie| ?2ia:ieBieB"ie}J@ addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 3.779166 s, deltaX: -1.300003 m, approachRate: -0.343992 m/s, rangeRepo size: 4  Added new target pos. range: 126.158775 m, bearing: 184.409188 deg, lat: 36.779149 deg, lon: -121.859800 deg, deltaT: 3.779166 s, deltaX: -1.297928 m, approachRate: -0.343443 m/s, posRepo size: 4 gFNOT Ignoring new targets: 126.16 m.gg  ProNav: ac range: 126.158775 m, nav range: 123.950211 m, bearing: 181.715777 deg, approach rate: 0.000000 m/s, LOS rate: 0.099856 deg/s, cmd heading: 172.646623 deg, new cmd heading: 172.738231 deg. g HeadingCmd: 3.014851 target range: 126.158775 and range: 126.50 m.gQ@@ggggzfrff!f%9BBd!d!d!c-_@c-?ɢ]B]<$> Y]@Ia edSs:ɡaiaIe~ImQ@@i =i z5=) Q@@)ԡiEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251021ԩ>A% ·3=vBM 3>~BM CBM )IBM ~BBI BI BM DBM (;BM QOE rD =jD <D D D .D E : E ;J:6E ـ4:E "E = <,3AyF1@ٱF*>@F=FjFH Ŀbd?@? c=9-?IF1@)FD;iFCnωB9n)IBDv6Dvk2Y~ֽ!~f=~;Q)~>99FY&E <A >Q 15٪m˾?Q 55 9YX)@Q E%@y1=E)[:I:i*և5Y-"B-*A-EgQUFNOT Ignoring new targets: 126.16 m.g];:g];:m ProNav: ac range: 126.158775 m, nav range: 123.828857 m, bearing: 181.748344 deg, approach rate: -0.345365 m/s, LOS rate: 0.092774 deg/s, cmd heading: 172.738230 deg, new cmd heading: 172.803427 deg. gm);uHeadingCmd: 3.015989 target range: 126.158775 and range: 126.50 m.guA@gqgqgygyzfyrfyffBdddcc ?ɢB=> 顽@I *;ɡiIꊼIA@iՑ=il7<=)A@) )checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503462i/>A;6=IIN >! } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757931C,3Ay=1@ٱv6?@zǤ=lHqÿZ?`=`?@?VPB@?I=1@);iCuB9u)IDD{DDEغ: E5":6E:E!@!@!@!@IeMb@Mb@Mb@ a)aIaiaaeK?333333ÿI +?e^>ee9499FY)E6;A>Q 15٪?Q 55E 9>Q A;Y-&@Q E@y4=E);I;iL؇5Y*AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 126.16 m.g:g:  ProNav: ac range: 126.158775 m, nav range: 123.667969 m, bearing: 181.796722 deg, approach rate: -0.329464 m/s, LOS rate: 0.099195 deg/s, cmd heading: 172.803431 deg, new cmd heading: 172.900312 deg. g 5;HeadingCmd: 3.017680 target range: 126.158775 and range: 126.50 m.g!A@ggggzfrfffPBBdd!d!c!c% 5Q?ɢUBU)#> QU@IQ ] ;ɡYiYI]xIe!A@ie=iesB=)e!A@)ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007268i/@=@=yԩ >A ==rA >jA >Ii Iy N >{I,!)3Ay6w1@ٱ6p?@6ڨ=6Vy6H @p*ÿ`ᴿM?णdW?3@O +?I6w1@)6R;i4<@>AVyiVݯFXiXZA)Z XIX \)^t@\\``bAibtI``IdifA fjd)dh jAj`弉hhhlIl)lillrȉB9vx)IBD~6D~Y ! = ;Q)  ?99FY+Ev3<A ?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785)Q 155٪-n?Q 555- -99Y=g&@Q E=@y-6=E)-;I-;i-ه5YAE*AIgiuFNOT Ignoring new targets: 126.16 m.gu:gu: ProNav: ac range: 126.158775 m, nav range: 123.561264 m, bearing: 181.828647 deg, approach rate: -0.331489 m/s, LOS rate: 0.099266 deg/s, cmd heading: 172.900310 deg, new cmd heading: 172.964217 deg. g5;HeadingCmd: 3.018795 target range: 126.158775 and range: 126.50 m.g3A@ggggzfrfffBdddcc@t?ɢB8F> @I q;ɡiIҏI3A@i=irJ=)3A@)AAiqqy}0yԱvB 4>~B B )IB yBB  =B B B ;B BOEDDD8DEy: E3:6EF4:E"EAUB=IIN>) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876 VP,/C3Ay61@ٱ6 ?@6T=656H@`a¿cϴ?Vu?õ`NPU?I61@)6 >;i6Cp~͉B9~~)IBD 6D 1Y7<!A=I)A;Q)>IA9 9 FiꖿAAY-Ee;A%>!Q 1-5٪%?Q 555%< %91Y5&@Q E5@y%9=E)%;I%v;i%ۇ5Y=BE/*AEEgamFNOT Ignoring new targets: 126.16 m.gm:gu: ProNav: ac range: 126.158775 m, nav range: 123.416931 m, bearing: 181.871638 deg, approach rate: -0.331017 m/s, LOS rate: 0.098711 deg/s, cmd heading: 172.964213 deg, new cmd heading: 173.050295 deg. g4;HeadingCmd: 3.020298 target range: 126.158775 and range: 126.50 m.gLA@ggggzfrfffBdddcc$o?ɢB.>  @I  <ɡiIV?I%LA@i%=i%PO=)%LA@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762871)IY]Ai/9DDD-DE E,:6Et4:E!@!@!@!@>A \J=a I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014646W,b]3AyJ1@ٱJ?@J=u=J\JH@ь 5H¿T4 8? `?Og|K ?IJ1@)Jf-;iJC9EʉB9E{)IMb@Mb@Mb@ )IitV?MbX9ĿQ?>!uA9A9EFYE0EM<AM>QQ 1]5٪U?Q 5]5U U9eL>Q Ae ;Ye$@Q Ee@yU;=E)U:IU:iUg݇5YimF*AigFNOT Ignoring new targets: 126.16 m.g:g: ProNav: ac range: 126.158775 m, nav range: 123.287506 m, bearing: 181.912900 deg, approach rate: -0.315750 m/s, LOS rate: 0.100771 deg/s, cmd heading: 173.050301 deg, new cmd heading: 173.132912 deg. gk8;HeadingCmd: 3.021739 target range: 126.158775 and range: 126.50 m.g.dA@ggggzfrfffEBBdddcc@ɢB=4> o@I d-<ɡiIߡI .dA@iax=i^V=).dA@)qi0@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266683ԑ>AdO=bAAZAAvB 9>~B B )IB jBB B B B B EOE A I I N% >D D D .D E I: E E7:6E ـ4:E "E T9X9ZFYZ2EZm<AZ>\Q 1b5٪^J?Q 5f5^ ^9dYf$@Q Ef@y^==E)^1:I^k:i^އ5Yhj*Alg|FNOT Ignoring new targets: 126.16 m.g:g : ProNav: ac range: 126.158775 m, nav range: 123.176239 m, bearing: 181.948230 deg, approach rate: -0.316243 m/s, LOS rate: 0.100504 deg/s, cmd heading: 173.132919 deg, new cmd heading: 173.203642 deg. g7;%HeadingCmd: 3.022974 target range: 126.158775 and range: 126.50 m.g%gxA@g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5 @ԙɢB,RA> .@I I<ɡiI"薼IgxA@ig=iT\=)gxA@)1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917i1>AmY=M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770655Aa Ii Iy N >! d,[&3AyMS2@ٱMYL@@M=MNMH ǐ x`_@e?R H? - `"?IMS2@)Mi;iMCB9c)IBD6D2Y-Vi!54==;Q)=>A9A9EFYE5EM;AM>Q 15٪?Q 55 9Y%@Q E@DDD-DE: E3:6Et4:E!@!@!@!@y@=E){;I#;i5YBl*AEgFNOT Ignoring new targets: 126.16 m.g:g:  ProNav: ac range: 126.158775 m, nav range: 123.028534 m, bearing: 181.994915 deg, approach rate: -0.314934 m/s, LOS rate: 0.099661 deg/s, cmd heading: 173.203639 deg, new cmd heading: 173.297122 deg. g d6;HeadingCmd: 3.024605 target range: 126.158775 and range: 126.50 m.g"A@ggggzfrff!f!Bd)d1d1c9cE[ @ɢuBu)> qun@Iy }m<ɡyiyI}z/I"A@iT=ib=)"A@)i!!!%0)BDAT read: Rx Time:23:51:52.6902 TRx dataTimestamp_ set to:1758412310.453426checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025340I>Ae |^=q A I I N >=j,^3Ay>ɍ2@ٱ>L@@>=>EP>H`@`?9ڣ?( ڶp?I>ɍ2@)><;i>CRB9Ra)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2748005Mb@Mb@Mb@ 1)1I1i115m?+ÿQ?5>51I5@i115j@)15@Mpi9i9mFYm8Emb<Au>qQ 15٪u|?Q 55u u9%>Q A ;Y%@Q E@yuB=E)u :Iu3:iu5Yz*AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 126.16 m.g:g:YA}<A}< ProNav: ac range: 126.158775 m, nav range: 122.915169 m, bearing: 182.030875 deg, approach rate: -0.311866 m/s, LOS rate: 0.099018 deg/s, cmd heading: 173.297117 deg, new cmd heading: 173.369104 deg. g65;HeadingCmd: 3.025862 target range: 126.158775 and range: 126.50 m.gA@ggggzfrfff:BBd!d!d)c)c-@ @vBU:>~BQBU(IBUVBBU =BQBQBU#;BUQOEBqBqBqBuò =Buò =Bu4ɢB6> 顥@I p<ɡiI.pIA@ivE=iEi=)A@)iaaae[2i@u=@u=ԑDDD,DEy: E0:6Eg4:E"E<@M>c> MiIN1l?$!?O?>9 c>)Mi T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.>A c=rA >jA > A9 IY Ii Nu >5q,Ņ3AyF2@ٱF3@@Ff=FKI(FHg}`w? L35?t $ ?IF2@)FT;iFCbB9bL)If>f;BDn6Dn:3Ye!eH=m;Q)m>i9i9uFYu:Eum<Au>Q 15٪q?Q 55  9YL%@Q E@yE=E)p:It:i`5Y+Ahh43AhBhBhQ@ vj z]@UrY@@umC8@u ɕ7?}] ?i?hc>hMv\faϾ^d`05*@v$m%Qr_C4x?hhhfT?hUhqB*i?2il:i)BiDB"iL@e addTargetRange:: Added new target pos. range: 125.199997 m, deltaT: 3.780336 s, deltaX: -1.300003 m, approachRate: -0.343886 m/s, rangeRepo size: 4 ԑ Added new target pos. range: 124.864929 m, bearing: 187.846946 deg, lat: 36.779147 deg, lon: -121.859828 deg, deltaT: 3.780336 s, deltaX: -1.293846 m, approachRate: -0.342257 m/s, posRepo size: 4 gFNOT Ignoring new targets: 124.86 m.gg ProNav: ac range: 124.864929 m, nav range: 123.134430 m, bearing: 183.213909 deg, approach rate: 0.000000 m/s, LOS rate: 0.099018 deg/s, cmd heading: 173.369107 deg, new cmd heading: 173.453968 deg. gHeadingCmd: 3.027343 target range: 124.864929 and range: 125.20 m.gA@ggggzfrfffBdddcL_@c`X7?ɢB65>i%=I<*DAT read: user:950> BDAT read: Tx time:23:51:53.9190 $Ping request sent.A% h= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251751 A] yAIa Iy N >ww,Q߅3Ay6 3@ٱ6JA@6=66H Η `? Ut=?/lP`@?I6 3@)6;i6CBB9B9)I Mb@Mb@Mb@ ) I i   sh|??(\¿Q? > z I i S@ @ @)  @BD%6D%N3Y5u!5J=5:;Q)=>= H?9= H?9=FY==EE<AE>Q 15٪f?Q 55 9>Q A;Y&@Q E@yG=E)*:I:i25YB +AEgIMFNOT Ignoring new targets: 124.86 m.gUf:gUf:e ProNav: ac range: 124.864929 m, nav range: 123.009605 m, bearing: 183.253168 deg, approach rate: -0.306016 m/s, LOS rate: 0.096344 deg/s, cmd heading: 173.453965 deg, new cmd heading: 173.532563 deg. geQ0;mHeadingCmd: 3.028715 target range: 124.864929 and range: 125.20 m.gmvA@gigqgqgqzfqrfqfyf}.BBdydydcc #?ɢ B<> 页<@I B<ɡiIIvA@i-=iLy=)vA@)iqyy} 4ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502367>A@p=! vB ;>~B CB (IB D D D 1D E : E =:6E -4:E "E ` 3@ٱZD7A@Z=ZήۺZHəUCs@&?@m?@R[?IZ>3@)ZR3;iZCfB9f#)IInAA)nBABDr6DrkYz!zP=z;Q)z>|9|9~FY~?E<A> Q 15٪ \?Q 55  9Y&@Q E@y I=E) -:I g:i 5Y!%+A!gIMFNOT Ignoring new targets: 124.86 m.gU<:gU<:e ProNav: ac range: 124.864929 m, nav range: 122.896385 m, bearing: 183.288612 deg, approach rate: -0.307236 m/s, LOS rate: 0.096272 deg/s, cmd heading: 173.532567 deg, new cmd heading: 173.603522 deg. ge00;mHeadingCmd: 3.029953 target range: 124.864929 and range: 125.20 m.gmA@gigigigizfqrfqfqfqBdydydycyc`[x?ɢ B&<> 顭@I n<ɡiI=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754423IEA@iE %=iMVk=)MA@)Iԑi 9   / @@Թ>A5w= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006455 A I I N >] nManaging dock network, ignoring radio surface power off|,3A\yml3@ٱmHeA@m=m:mH,@빿n?`u?`P>g ?Iml3@)mQ;imCB9)Ii) ABD6D:2YEr|!M6=DUDUDU/DQEU: EUc:6EUJ4:EQ!]@!]@!]@!]@es;Q)e>a99FYBE;A>Q 15٪P?Q 55l !9Y '@Q E@yL=E)? ;IK ;i5Y+Ag%FNOT Ignoring new targets: 124.86 m.g%:g-:5 ProNav: ac range: 124.864929 m, nav range: 122.756355 m, bearing: 183.332292 deg, approach rate: -0.300951 m/s, LOS rate: 0.093983 deg/s, cmd heading: 173.603519 deg, new cmd heading: 173.690978 deg. g=+;=HeadingCmd: 3.031479 target range: 124.864929 and range: 125.20 m.g=B@gAgAgAgAzfArfIfIfIBdIdQdQcQcU -?ɢ}Bg+> 顅 @I V<ɡiIR£IB@i=i܇=)B@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258633iE9IIM/I >A] ~=9 A AI I N >,,3Ay6m3@ٱ6A@6R{=6Z6H ۽)n Ƚ? }? 9@=.k?I6m3@)6[;i6CBpB9B )INchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510458]Mb@Mb@Mb@ Y)YIYiYY]sh|??M¿y&1?Y]n]`eUK?9UK?9UFYUEEUW;A]>YvB~BCB(IBBB =BBBd;BOEQ 15٪]rF?Q 55] ])98>Q A;Y'@Q E@y]N=E)]U  @I ;<ɡiII hB@i =i ==) hB@)9DeDeDe-DaEe: Ee|;:6Eet4:Ea"EeA W^=ԑ AA IQ Ia Nm >5,F3Ay63@ٱ6T9T9VFYVGEZy;AZ>\Q 1b5٪^=?Q 5b5^ ^09`Yb'@Q Ef@y^P=E)^:I^:i^5Yhjq*Ahg|~FNOT Ignoring new targets: 124.86 m.g:g: ProNav: ac range: 124.864929 m, nav range: 122.532372 m, bearing: 183.401124 deg, approach rate: -0.315786 m/s, LOS rate: 0.096994 deg/s, cmd heading: 173.763182 deg, new cmd heading: 173.828759 deg. g1;HeadingCmd: 3.033884 target range: 124.864929 and range: 125.20 m.g)+B@ggg!g!zf!rf!f)f)Bd)d)d)qcc`@ɢBy  @I <ɡiIפI )+B@i-P=i-]=)5)+B@)1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328i@=@=ԡ>AIDuDuDu,DqEuI: Eua9:6Eug4:Eq!@!@!@!@A I I N% >)1 1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266632̗,|`3A~WB9~(Ix>=i =I =Mb@Mb@Mb@ )IiGz?X9vt99FYJEA>Q 15٪1?Q 55 <9»>Q A;Y+@Q E@yS=E)g5;I4;i5Y +AgFNOT Ignoring new targets: 124.86 m.g:g: ProNav: ac range: 124.864929 m, nav range: 122.393433 m, bearing: 183.438386 deg, approach rate: -0.316824 m/s, LOS rate: 0.085065 deg/s, cmd heading: 173.828765 deg, new cmd heading: 173.903374 deg. g;HeadingCmd: 3.035187 target range: 124.864929 and range: 125.20 m.g@B@ggggzfrfff3BBdddcc1@ɢuBu'-> y} @Iy }WC<ɡyiyI}I@B@i'=i6=)@B@) iaaae/achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5185401vB1~B1B5u(IB5BB1B1B1B5;B5OE>A _=rD] %=jD] <Da De De +Da Ea  Ee ,:6Ee [4:Ea "Ee ?,zz3Ay6G3@ٱ6A@6==6/X6He Y>^F?r t?`@>}?I6G3@)6~;i6CRUB9R(IBDX6DXYn<!nY=nKp9p9rFYrLEv !<Av>xQ 1~5٪z&?Q 5~5zn zG9|Y+@Q E@yzU=E)z;Izr;iz5Y B *A Eg15FNOT Ignoring new targets: 124.86 m.g=J:g=J:M ProNav: ac range: 124.864929 m, nav range: 122.273994 m, bearing: 183.470221 deg, approach rate: -0.318325 m/s, LOS rate: 0.084930 deg/s, cmd heading: 173.903378 deg, new cmd heading: 173.967111 deg. gMn;UHeadingCmd: 3.036299 target range: 124.864929 and range: 125.20 m.gURB@gQgQgQgYzfrfffBdddcc@ɢBe@>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770653 @I ڑ<ɡ!i!I%e^I%RB@i-=i-·=)-RB@))9i/a4>iIG)IiE IMiA>AS=ԑ BDAT read: Rx Time:23:51:56.4886  TRx dataTimestamp_ set to:1758412314.237022 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028296I I) NE >Թ b,||3Ayf4@ٱfB@f=ffHs`H;>ɻ?ofo?+€?If4@)f|;ifCDB9%(IBDY6DYY,!?=;Q)>99FYOE^;A>ԉDDD.DEy: E=:6Eـ4:E!@!@!@!@Q 15٪?Q 55 S9Y+@Q E@yX=E)  @I =ɡiIIgB@iT=iE=)gB@) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275571Թi/>A =I 1 II Nu > ,3A=DAT read: 23:51:56.4886 LVL= 30064, 32753, 27970, 32755, AGC= 72, IDX= 427,-0.16, 2.878, 0.973, 2.436, 2.439, PHS= 0.541,-1.421,-0.047, RAW= 133.0, 10.7, CAL= 132.7, 11.8, ROT= 17.3, -11.8 mYgot valid direction response: 23:51:56.4886 LVL= 30064, 32753, 27970, 32755, AGC= 72, IDX= 427,-0.16, 2.878, 0.973, 2.436, 2.439, PHS= 0.541,-1.421,-0.047, RAW= 133.0, 10.7, CAL= 132.7, 11.8, ROT= 17.3, -11.8 uPDAT read: Bearing 352.5, 10.6 (Local) u~Local bearing/azimuth received: Bearing 352.5, 10.6 (Local) DAT read: Range 11 to 50 : 124.1 m (Round-trip 165.5 ms) speed 0.3 m/s vB~BCBO(IB׈BBBBB;BOER#Rx 1: Read range and direction messages.yy-4@ٱ%B@ƺ=PH`L``_Om? ~q?𧼿C?Iy-4@)Ljz;iC\direction in FSK: [0.934584,0.291091,0.204496]Fpublishing direction and range info9$?ξS:?rG,?3BipuBmH ~ ?)T㵿I@i@t;?>2:@BR>#> BRiIV|?zVD) Y?W ?\h>7> #>)BRiT****** received valid address query ******R****** received valid ping request ****** 6B9 (Ii) A%Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )IiʡE?)\(Q?->Gu99FYRE%w<;A%>!Q 1-5٪% ?Q 555% %_95>Q A5;YU.@Q E]@y%Z=E)%J;I%o;i%5YBB+Ahh)3AhBhBh@U@ v)\@]B@C^O9@u$?ξS:?rG,?h#>hBRv\=^){CQ7V'@v~Fᅵ%ȿucz?hhh|~;?hKh B*i2i%t::iIBizB"iN@  addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 3.780579 s, deltaX: -1.099998 m, approachRate: -0.290960 m/s, rangeRepo size: 4 ] Added new target pos. range: 123.767822 m, bearing: 190.911411 deg, lat: 36.779147 deg, lon: -121.859867 deg, deltaT: 3.780579 s, deltaX: -1.097107 m, approachRate: -0.290195 m/s, posRepo size: 4 gYeFNOT Ignoring new targets: 123.77 m.gegabDqZDu@AD}DyD},DyE}: Ey6E}g4:Ey"E}= AE@IA E =ɡAiIIMŮIm}B@iu=iu8=)u}B@)q*DAT read: user:951> BDAT read: Tx time:23:51:57.7190 $Ping request sent.AE ff=i I I N >C,Ɇ3AyZC4@ٱZ9 ;HeadingCmd: 3.039874 target range: 123.767822 and range: 124.10 m.gMB@ggggzfrffIfIBdQdQdQcQcU@6?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247429ɢUBUH> Y]@Ia W#=ɡiIkwIMB@it=i=)MB@))i]9YY]/YD%D%D%-D!E%: E%*5:6E%t4:E!!M@!M@!M@!M@! >Ay I I N% >} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497859h,E3Ay>]4@ٱ>VB@>x=>y>H@ @&w]?f8c?{^` ?I>]4@)>qu;i>CJB9J(IMb@Mb@Mb@ )Iix?A`"Q?K>ٽIi@j@5@)@54Q9Q9UFYUVEUՃ;AU>aQ 1m5٪e?Q 5m5e eq9mP>Q Am;Ym/@Q Em@ye_=E)e:Ie:ie5Yy}#,AygFNOT Ignoring new targets: 123.77 m.gx:gx: ProNav: ac range: 123.767822 m, nav range: 122.000671 m, bearing: 185.208017 deg, approach rate: -0.330333 m/s, LOS rate: 0.081512 deg/s, cmd heading: 174.171969 deg, new cmd heading: 174.236982 deg. g,;HeadingCmd: 3.041009 target range: 123.767822 and range: 124.10 m.gB@ggggzfrfffBBdddcc@9?ɢ!B 7> 顅0?I ,j=ɡiI;IB@i=i{=)B@)Qi-9))-01checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750796yvB=<>~B9B=#(IB=BB9B9B9B=՗;B= PEBƇCBƇCBBƳ =BƳ =BE=4>ArA>jA>I I N >ԩ D% D% D% .D! E% I: E% *:6E% ـ4:E! "E% X9X9ZFYZYE^;A^>`Q 1f5٪b콊?Q 5f5b b{9dYf0@Q Ej@yba=E)b:Ib:ib5YnBn+AnEgFNOT Ignoring new targets: 123.77 m.g .:g .: ProNav: ac range: 123.767822 m, nav range: 121.873955 m, bearing: 185.239207 deg, approach rate: -0.330315 m/s, LOS rate: 0.081386 deg/s, cmd heading: 174.236978 deg, new cmd heading: 174.299422 deg. g;%HeadingCmd: 3.042099 target range: 123.767822 and range: 124.10 m.g%B@g!g!g)g)zf)rf)f)f1Bd1d1d1c1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002215cM`'?ɢ"B7> Un?IQ ]y=ɡYiYI]IeB@ie=iel=)eB@)iԩiiiimz2i>Ai=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254315I I9 NE > {,3Apym4@ٱm=B@m>=m:0mHœ@`U`̹?InuT? 5텿I?Im4@)mzq;imCB9(IBEeA{4JEe4REe]%0D-D-D-1D)E-7: E-E7:6E--4:E)!=@!=@!=@!=@Mb@Mb@Mb@ )Ii(\?zGế?> ׽1919=FY=\E=s;A=>AQ 1M5٪Ev߽?Q 5M5E E9U>Q AU;YUx/@Q EU@yEd=E)Ez ;IE ;iE5YY]<,Aag FNOT Ignoring new targets: 123.77 m.g:g:% ProNav: ac range: 123.767822 m, nav range: 121.721184 m, bearing: 185.277692 deg, approach rate: -0.306582 m/s, LOS rate: 0.077329 deg/s, cmd heading: 174.299420 deg, new cmd heading: 174.376486 deg. g% ;Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506063eHeadingCmd: 3.043444 target range: 123.767822 and range: 124.10 m.guB@gygygygyzfyrfyff&BBdddcc?ɢ%BH@$> N額?I e&=ɡiIIB@i=iD=)B@)Ai999=/09aԁ >A] m= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759058A AAA @AvB ~B B (IB BB =B :DB B ;B PEIQ Ii Nu >6,933Ay64@ٱ6#B@6M[=6z76H8@ I`h? 8eJ?ņ?I64@)6~o;i4bB9b~(IId)fAABDj6DjN2Yr^q!r_=v ;Q)v>t9t9zFYz^Ezڇ;Az>|Q 15٪~Pս?Q 55~g ~9 Y /@Q E @y~f=E)~:I~k:i~H5Y,Ag9EFNOT Ignoring new targets: 123.77 m.gEN:gEN:] ProNav: ac range: 123.767822 m, nav range: 121.605942 m, bearing: 185.306688 deg, approach rate: -0.325103 m/s, LOS rate: 0.081878 deg/s, cmd heading: 174.376492 deg, new cmd heading: 174.434540 deg. g];eHeadingCmd: 3.044457 target range: 123.767822 and range: 124.10 m.gebB@gagagagazfarfafifiBdqdqdqcqcu5@ɢ&B%IE> 顥?I +=ɡiIIbB@i=iN=)bB@)iYYY] 5YaDD~D/DEƱ: E(:6EJ4:E"EE;!%EG;!%*E;!%E;!-=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009894ԙ>A)bA5AZA1IIN>Թ ,}M3Ay6e4@ٱ6B@66L=67>6H츿3?(6?``̯P?I6e4@)6m;i6CBB9By(IPBDV6DV:2YjÞ!nL=r j;Q)r>t9t9vFYzaE~D;A~> Q 15٪ ʽ?Q 5%5  9!Y-/@Q E-@y h=E) ;I ^q;i  5Y=B=A,AEE}B*** querying acoustic contact ***zhyhyi0?IC=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270210gFNOT Ignoring new targets: 123.77 m.g,:g,:- ProNav: ac range: 123.767822 m, nav range: 121.478638 m, bearing: 185.338699 deg, approach rate: -0.295525 m/s, LOS rate: 0.074389 deg/s, cmd heading: 174.434535 deg, new cmd heading: 174.498624 deg. g-#;]HeadingCmd: 3.045576 target range: 123.767822 and range: 124.10 m.g]B@gYgYgYgazfarfafafaBdididicc g@ɢ(B.> J?I }2=ɡiIi I B@i 7=i)=)B@)i05D5D5D5-D1E5,: E5=:6E5t4:E1!]@!]@!]@!e@>AII N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521923! $E,f3Ay6S4@ٱ6B@6H=6F6Hћ`]{@?T`?I6S4@)6zl;i6CBB9Bn(I|Mb@Mb@Mb@ )IiX9v?Cl绿{Gz?>;߽ףA9A9EFYEdEMf;AM>QQ 1]5٪U?Q 5]5U^Q 9]tI U9e>>Q Ae ;Ye0@Q Ee@yUk=E)UF;IU5;iU5Yim,AigFNOT Ignoring new targets: 123.77 m.g1:g1:- ProNav: ac range: 123.767822 m, nav range: 121.336823 m, bearing: 185.373222 deg, approach rate: -0.366239 m/s, LOS rate: 0.089259 deg/s, cmd heading: 174.498629 deg, new cmd heading: 174.567755 deg. g-Z#;UHeadingCmd: 3.046782 target range: 123.767822 and range: 124.10 m.gUzB@gQgQgQgQzfYrfYfYf]-BBdadadacace @ɢ)B5> ?I \8=ɡiI@zIzB@i=i=)zB@))checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775096vBM8>~BMCBM'IBM{BBM =BM;DBIBM;BM-PEQ9m u?>u>i    0 rD= =jD9 DE DE DE .DA EE غ: EE .:6EE ـ4:EA "EE A-=IIN>X,Y3Ay>4@ٱ>2B@>3=>G=>H@Z`YԿ?L4@)>ֻk;i>CJB9N_(IRp`9`9bFYbgEf:Af>hQ 1~5٪j?Q 5~5j j9|Y~0@Q E~@yjn=E)jy;Ij;ij5Y sB z,A Eg15FNOT Ignoring new targets: 123.77 m.g=:g=:M ProNav: ac range: 123.767822 m, nav range: 121.177399 m, bearing: 185.412073 deg, approach rate: -0.340547 m/s, LOS rate: 0.083100 deg/s, cmd heading: 174.567751 deg, new cmd heading: 174.645555 deg. gM;UHeadingCmd: 3.048140 target range: 123.767822 and range: 124.10 m.gUC@gQgQgQgYzfYrfYfYfaBdadadacacm@ - @ɢ*B͆.> 顝1?I w?=ɡiISӺIC@iߐ=i;_=)C@))9iIIQU"5QYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278037>A@=ԉI I N% >D D D 4D E : E *5:6E 4:E ! @! @!% @!% @Ա ,w3AɰDDchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532142y4@ٱ#B@X>33H `#@? K?FR?` `3?I4@)rk;iC ؈B9 P(IԑMb@Mb@Mb@ )Iix?v/I +?K>x999FYjE:A>Q 1%5٪?Q 555 9=>Q A= ;Y=>/@Q E=@yp=E)x;I;i5YIM,AIgquFNOT Ignoring new targets: 123.77 m.g}:g}: ProNav: ac range: 123.767822 m, nav range: 121.020279 m, bearing: 185.452513 deg, approach rate: -0.329184 m/s, LOS rate: 0.084837 deg/s, cmd heading: 174.645560 deg, new cmd heading: 174.726545 deg. gB;HeadingCmd: 3.049553 target range: 123.767822 and range: 124.10 m.g+C@ggggzfrfff4BBdddcc@ɢ,B*> ?I ~BB'IBbBBBBB;B+PE % DAT read: 23:52:00.2869 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 425,-0.12,-0.429,-2.241,-0.881,-0.867, PHS= 0.540,-1.329,-0.059, RAW= 131.7, 10.3, CAL= 131.5, 11.5, ROT= 18.5, -11.5 - Ygot valid direction response: 23:52:00.2869 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 425,-0.12,-0.429,-2.241,-0.881,-0.867, PHS= 0.540,-1.329,-0.059, RAW= 131.7, 10.3, CAL= 131.5, 11.5, ROT= 18.5, -11.5 5 PDAT read: Bearing 353.0, 10.9 (Local) 5 ~Local bearing/azimuth received: Bearing 353.0, 10.9 (Local) = DAT read: Range 11 to 50 : 122.7 m (Round-trip 163.7 ms) speed 0.3 m/s E R#Rx 1: Read range and direction messages.iI I I M 0I @ @  \direction in FSK: [0.929286,0.310935,0.199368] Fpublishing direction and range info9[??^~Z?i?fBiF q= ?)Iqi=@X8> @M>MQ> MiI*???IQ>7 MQ>)Mi T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.1 >A m=D D D .D E I: E 3:6E ـ4:E "E  "BDAT read: Tx time:23:52:01.7190 "$Ping request sent."J>JHH^3| ΍?@|6?Wkಐƻ?IJ&%5@)Jj;iJCVψB9VF(IBD^6D^F3Yf!f2=jk;Q)j>h9h9jFYnlEn;An>pQ 1v5٪r\?Q 5v5r r9xYzn/@Q Ez@yrs=E)rn;Ir;ir5Y|~-A|h h 3Ah Bh Bh W@ v E{m\@^NC@ii>e8@u [??^~Z?i?h MQ>h Mv =x ]Aj;e TV"@v GL>̿0bG.?h Uh h FSp?h !h &B*i 2i U:i qBi \B"i ƩR@ addTargetRange:: Added new target pos. range: 122.699997 m, deltaT: 4.038786 s, deltaX: -1.400002 m, approachRate: -0.346639 m/s, rangeRepo size: 4  Added new target pos. range: 122.370659 m, bearing: 192.983868 deg, lat: 36.779147 deg, lon: -121.859941 deg, deltaT: 4.038786 s, deltaX: -1.397163 m, approachRate: -0.345936 m/s, posRepo size: 4 gFNOT Ignoring new targets: 122.37 m.g-g)= ProNav: ac range: 122.370659 m, nav range: 121.680626 m, bearing: 188.595477 deg, approach rate: 0.000000 m/s, LOS rate: 0.084837 deg/s, cmd heading: 174.726539 deg, new cmd heading: 174.807720 deg. g9EHeadingCmd: 3.050970 target range: 122.370659 and range: 122.70 m.igECC@gigqgqgyzfrfI)I ff)i5t1=ABd9d9dace̬^@ce?ɢ-Blv%> 页w?I wN=ɡiI8ICC@iِ=iy=)CC@)iqqy}o0yԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250892>A =A I I N5 >Fw,ۇ3ADzDzDz-DxEz: EzC:6Ezt4:Ex!@!%@!%@!%@y5$A5@ٱ59C@5<>5I5H )趿I`5? C=@@M?I5$A5@)5j;i5CMB9M((IMb@Mb@Mb@ )Iii|?5?y&1Q?>`Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502702Q9i9mFYmpEme;Au>qQ 1}5٪u?Q 55u* u9Q>Q A;Y^/@Q E@yuv=E)u* ;Iu\ ;iu 5YdBk-AEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 122.37 m.g :g : ProNav: ac range: 122.370659 m, nav range: 121.528847 m, bearing: 188.639508 deg, approach rate: -0.324545 m/s, LOS rate: 0.094268 deg/s, cmd heading: 174.807723 deg, new cmd heading: 174.895895 deg. g,;%HeadingCmd: 3.052509 target range: 122.370659 and range: 122.70 m.g%P\C@gAgAgAgAzfIrfIfIfM7BBdQdQdQcQcU\E?ɢ/B.> ?I eT=ɡiIaIP\C@iא=ia=)P\C@)i9`0) >A tn= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755481vBU <>~BU CBU 'IBU CBBQ BU :DBQ BU ;BU 7PEQ AI IQ Ia Nu >0,aR3Aiy6M\5@ٱ6TC@66>6t T6H3`tu@?zS yF?I6M\5@)6i;i6CBB9F(I)H HBDN6DNk2YV8!Va=VG;Q)Z>X9X9ZFY^rE^K;A^>`Q 1f5٪b|?Q 5f5b b9dYfz/@Q Ej@ybx=E)b ?I XZ=ɡiIInC@i֐=i^k=)nC@) DDD.DE: E*5:6Eـ4:E"E= AIrAQjAU>aA} yAI I N >ԙ ,"3AiR>IR%=Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259089~B9~(IBD 6D N2Y!%D=%Q)%>% H?9- H?9-FY-tE-A->1Q 1=5٪5p?Q 5E55H 59AYAQ EE@y5{=E)5;I5;i5t 5YIMj.AQgq FNOT Ignoring new targets: 122.37 m.gn:gn:% ProNav: ac range: 122.370659 m, nav range: 121.289230 m, bearing: 188.709020 deg, approach rate: -0.323928 m/s, LOS rate: 0.094172 deg/s, cmd heading: 174.959503 deg, new cmd heading: 175.035066 deg. g%X,;-HeadingCmd: 3.054938 target range: 122.370659 and range: 122.70 m.g-C@g)g1g1g1zf1rf1f9f9Bd9d9dAcAcE@ ?ɢm1Bu.>q y}}?Iy }_=ɡyiyIIC@iԐ=i Nj=)C@)i  4ԩDD~D1DEI: E(:6E-4:E!%@!%@!%@!-@>AĎ=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514016A AI I N > = ,*3Ay65@ٱ6C@6>6Y6H2 ?\@?I65@)6#h;i4BB9B(I=Mb@Mb@Mb@ 9)9I9i99= rh?"~j?=>=S=K?9K?9FYwE;A>Q 15٪*e?Q 55 9>Q A;Y;/@Q E@y}=E)Rl;Ii;iI5Y)B,AEg9EFNOT Ignoring new targets: 122.37 m.gE:gM: ProNav: ac range: 122.370659 m, nav range: 121.162758 m, bearing: 188.746157 deg, approach rate: -0.295305 m/s, LOS rate: 0.086803 deg/s, cmd heading: 175.035072 deg, new cmd heading: 175.109424 deg. g;HeadingCmd: 3.056236 target range: 122.370659 and range: 122.70 m.g_C@gg!g!g!zf!rf!f)fMABBdQdQdQcQcU @ɢ2BX%-> 顥c?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762873vB=>~BBt'IB%BBBBB;B=PEByB}ÆCByByByB}5  f=ɡ i I I_C@iҐ=iю=)_C@)i9@5DD}D/DE: Ek&:6EJ4:E"EAE m= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018627Y Au yAI I N >I,gE3Aɰ4<y65@ٱ6qC@6/ >6oZ6H@@b`-?^@ ߵ?I65@)6f;i6CBB9B'IBDN6DN3YR!VS=VQ7;Q)V>Z H?9Z H?9ZFYZyE^kn;A^>`Q 1b5٪bZ?Q 5f5bX b9dYfQ/@Q Ef@yb=E)b-:Ibg:ib5Yln,AlgFNOT Ignoring new targets: 122.37 m.g :g : ProNav: ac range: 122.370659 m, nav range: 121.047096 m, bearing: 188.780097 deg, approach rate: -0.309173 m/s, LOS rate: 0.090812 deg/s, cmd heading: 175.109426 deg, new cmd heading: 175.177371 deg. g1&;%HeadingCmd: 3.057422 target range: 122.370659 and range: 122.70 m.g%ͬC@g!g!g!g!zf)rf)f)fBdddcc@}@ɢ3B%L8> !%?I! %k=ɡIiIIM ¼IUͬC@iUѐ=iQ)UͬC@)Yi%9!)-/)}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266842>Ae7=bAmAZAmAA A AI I N >BEM4JEMJ4REM/0D D D D E : E ?:6E :E ! @! @! @! @Ar,i;_3A0ye)5@ٱeC@ei >eX?eH @ N0P?:ѳ̵?Ie)5@)eOf;ieCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518876]}B9]'IԁMb@Mb@Mb@ )IiʡE?MbX/$?->ʽ-K?9-K?9-FY-}E-B$;A->1Q 1=5٪5K?Q 5=55 59E>Q AE;YE1@Q EE@y5=E)5 ;I5 ;i585YMBQUEmB*** querying acoustic contact ***zhihigyFNOT Ignoring new targets: 122.37 m.g:g: ProNav: ac range: 122.370659 m, nav range: 120.884384 m, bearing: 188.823650 deg, approach rate: -0.314503 m/s, LOS rate: 0.084295 deg/s, cmd heading: 175.177372 deg, new cmd heading: 175.264594 deg. gD;HeadingCmd: 3.058944 target range: 122.370659 and range: 122.70 m.gC@ggggzfrfff?BBdddcc{@ɢ5B9&> ?I q=ɡiIüIC@i4А=i#X=)C@)yԹi94iߍ >Iߍ R= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772427vB <>~B B H'IB BB =B B B B >A5 x= Aa Iq I N > :,ګ{3AyB5@ٱBLC@B@ >Bj^/BHٴ@NH?R @?:` ?IB5@)BLe;iBCHNAN#iLLiLNA)R PIP P)R9t@PTTTVAiV+ITTIXiZA Z̼X)X\ ^A^L^F\``I`)`i``joB9j'IBDr 6Drf2Yz&!zp=zb;Q)~?|9|9~FYE 8Z;A ?Q 15٪!B?Q 55w 9!Y% 2@Q E%@y=E):IF:i5Y)-b-A)rD5%=jD1D=D=D=.D9E=I: E=.:6E=ـ4:E9"E= im0?Ii m`;v=ɡqiqIuļIu;C@i}/ϐ=i}G=)};C@)yԩBDAT read: Rx Time:23:52:04.2850 TRx dataTimestamp_ set to:1758412322.053156checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025180iAAAE/A>A I I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274769) %,p3Aiy:(5@ٱ:C@: >:!:H ƙj`W๵?%S?K@@z?I:(5@):sd;i8%`B9-'IBD56D5F3Ye!mD=m:Q)m>i9q9uFYuEuC;Au>yQ 15٪}@6?Q 55} }9Y2@Q E@y}=E)}:I}:i}5Y-AgFNOT Ignoring new targets: 122.37 m.g:g: ProNav: ac range: 122.370659 m, nav range: 120.645645 m, bearing: 188.887542 deg, approach rate: -0.319815 m/s, LOS rate: 0.085665 deg/s, cmd heading: 175.322254 deg, new cmd heading: 175.392505 deg. g;HeadingCmd: 3.061177 target range: 122.370659 and range: 122.70 m.gRC@ggggzfrfffBdddcc @ɢ%7B%.> !%?I) -"{=ɡ)i)I-żI5RC@i5ΐ=i5R=)=RC@)9i@@@ @ DmDmDm,DiEmy: Em;J:6Emg4:Ei!@!@!@!@IDAT read: 23:52:04.2850 LVL= 31728, 32657, 30034, 32755, AGC= 72, IDX= 422, 0.17,-1.763, 2.578,-2.285,-2.194, PHS= 0.533,-1.466,-0.136, RAW= 130.8, 12.1, CAL= 130.3, 13.3, ROT= 19.7, -13.3 Ygot valid direction response: 23:52:04.2850 LVL= 31728, 32657, 30034, 32755, AGC= 72, IDX= 422, 0.17,-1.763, 2.578,-2.285,-2.194, PHS= 0.533,-1.466,-0.136, RAW= 130.8, 12.1, CAL= 130.3, 13.3, ROT= 19.7, -13.3 PDAT read: Bearing 355.5, 11.3 (Local) ~Local bearing/azimuth received: Bearing 355.5, 11.3 (Local)  DAT read: Range 11 to 50 : 121.4 m (Round-trip 161.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.rAjA>\direction in FSK: [0.916219,0.328054,0.230050]Fpublishing direction and range info9AQ?|)?gz}"Er?Bi{RuH r?)㥻IC i@@X>@,m>x > ,miI Tͻ?(x?=ɓ'?*A>PX x >),mimT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.Iq I N >ԑ jM+,g3A(yR5@ٱRC@RG >RSRH֙]cz?`|Bb?9[ ?IR5@)R1d;iRC5RB95'IvB;>~BB'IBއBB =BBB ;B?PE*DAT read: user:953> BDAT read: Tx time:23:52:05.5190 $Ping request sent.}}/99FYE;A>Q 15٪)?Q 55`  9E>Q AE;YE.@Q EE@y=E)(h,mvz0r]yv>Z j(@vX9 O4пޅ[sй?h=hhzIі?hұhB*i|~;?2iK:i BiB"iV@e addTargetRange:: Added new target pos. range: 121.400002 m, deltaT: 3.779944 s, deltaX: -1.299995 m, approachRate: -0.343919 m/s, rangeRepo size: 4 u Added new target pos. range: 121.074493 m, bearing: 194.743356 deg, lat: 36.779154 deg, lon: -121.860005 deg, deltaT: 3.779944 s, deltaX: -1.296165 m, approachRate: -0.342906 m/s, posRepo size: 4 gFNOT Ignoring new targets: 121.07 m.gg ProNav: ac range: 121.074493 m, nav range: 120.766800 m, bearing: 191.673516 deg, approach rate: 0.000000 m/s, LOS rate: 0.085665 deg/s, cmd heading: 175.392510 deg, new cmd heading: 175.476711 deg. gHeadingCmd: 3.062646 target range: 121.074493 and range: 121.40 m.gfD@ggggzfrfff9BBdddcY^@c(?ɢ]9B]v)#> Y]Z?IY eD=ɡaiaIe;ƼImfD@im̐=imݝ=)mfD@)qԱbDIZDIDUDUDU1DQEU: EUC:6EU-4:EQ"EU  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250826 `/2,0*Ɉ3Ay66@ٱ6C@687 >6 6H@љ K "@?@a?x?I66@)6~c;i6CN=B9R'I\BDZ6DZ:3Y~y!m=y-;Q)? 9 9 FY E );A ?Q 15٪e ?Q 5%5  9!Y%.@Q E%@y=E);I;i5Y)5.A1gQ]FNOT Ignoring new targets: 121.07 m.ge:ge:u ProNav: ac range: 121.074493 m, nav range: 120.667648 m, bearing: 191.706724 deg, approach rate: -0.327042 m/s, LOS rate: 0.109622 deg/s, cmd heading: 175.476712 deg, new cmd heading: 175.543182 deg. guH;}HeadingCmd: 3.063807 target range: 121.074493 and range: 121.40 m.g}hD@gygygygyzfyrfffBdddcc`i?ɢ@> 顽?I ‚=ɡiIyǼIhD@i+ː=i Z=)hD@)iu9qqu/qIQIaNm>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502778iD D D /D E I: E ?:6E J4:E ! @! @! @! @ Ii8,G3Aɰ;p<6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889y>Y6@ٱ>D@>y >>>H\@Ō۾? IS? VF ?I>Y6@)>oCc;i>C^$B9^t'IEMb@Mb@Mb@ A)AIAiAAEx?A`"/$?EK>EٽEq9q9FYEoI;A>!Q 1-5٪%i?Q 5-5% % 9-v>Q A- ;Y-1@Q E5@y%=E)%;I%u ;i%5Y9=E/A9gaeFNOT Ignoring new targets: 121.07 m.gm:gm:} ProNav: ac range: 121.074493 m, nav range: 120.528755 m, bearing: 191.749042 deg, approach rate: -0.313869 m/s, LOS rate: 0.095741 deg/s, cmd heading: 175.543184 deg, new cmd heading: 175.627919 deg. g}7/;HeadingCmd: 3.065285 target range: 121.074493 and range: 121.40 m.g-D@ggggzfrfff4BBdddccJ?ɢ:B,%> v?I g=ɡiI}2ȼI-D@iɐ=i =)-D@)Aiiiim/ibAuAZAuAI I!N=/>vB:>~BCB&IBBBBBB;BGPEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0067951Y _>,e3Ay:,6@ٱ:$D@: >:RA:Hu`>)`x?CT ڱ?I:,6@):*c;i:C^B9be'IId)fAABDh6DhYr~!rV=r:Q)v>t9t9vFYvEzuC;Az>|Q 15٪~?Q 55~I ~ 9Y1@Q E @y~=E)~;I~Q:i~5YB6/AED%D%D%,D!E%غ: E%a9:6E%g4:E!"E% 9?I  =ɡiImȼIsAD@iKȐ=iۍ=)sAD@)Yi0)߱ ߱checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263979iIG)-AIAiuQuAuAԁ>A=I)IAN]>ԩe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514751 {E,3Ay6;6@ٱ6c4D@6) >6ES6H`P* 9? ܃c `?I6;6@)6Fc;i4BB9B^'IBDJ6DJk2YR4Լ!RL=V:Q)V>T9T9VFYVEZi;AZ>\Q 1b5٪^?Q 5b5^ ^+ 9`Yf1@Q Ef@y^=E)^9:I^:i^C5Yhj`/Ahg|FNOT Ignoring new targets: 121.07 m.g:g: ProNav: ac range: 121.074493 m, nav range: 120.289337 m, bearing: 191.821982 deg, approach rate: -0.317620 m/s, LOS rate: 0.096870 deg/s, cmd heading: 175.697204 deg, new cmd heading: 175.773940 deg. gH1;HeadingCmd: 3.067834 target range: 121.074493 and range: 121.40 m.gdWD@g!g!g!g!zf!rf!f)f)Bd)d)d)c1c5@z?ɢ] ae?Ia eى=ɡaiiImɼImdWD@iuƐ=iu%-=)udWD@)ԙi9=0D5D5D5-D1E5Ʊ: E5,:6E5t4:E1!]@!]@!]@!e@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767228>Au#=Iq I N > K,03A$i&@yFNY6@ٱFQD@F>F][FHS y@IJ?%i~o'ܯ?IFNY6@)Fq c;iFCf B9fR'IA]@AA]AAvBe>>~BeCBe&IBeBBe =BaBaBe;BeWPEuMb@Mb@Mb@ q)qIqiqquʡE?Mb?u>uu99FYE;A>Q 15٪?Q 55 5 9>Q A;YF3@Q E@y=E):I:i+ 5Y/Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018895gFNOT Ignoring new targets: 121.07 m.g Y:g Y: ProNav: ac range: 121.074493 m, nav range: 120.156738 m, bearing: 191.860474 deg, approach rate: -0.302866 m/s, LOS rate: 0.088016 deg/s, cmd heading: 175.773935 deg, new cmd heading: 175.851004 deg. g!;%HeadingCmd: 3.069179 target range: 121.074493 and range: 121.40 m.g%nmD@g!g!g)g)zf)rf)ffGBBdddccU_@ɢ=B #> )-?I) 5z=ɡ1i1I5\ʼI=nmD@i=Đ=i=!=)=nmD@)Ai0DDD/DE: EC:6EJ4:E"E Ap,=rA>jA>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270876I I N >xR,ٴJ3Ay>n6@ٱ>ngD@>q6>>U>H &`a@n?0g@ ]T?I>n6@)>%,b;i<JB9J:'IR4`9`9bFYbEbf;Af>dQ 1j5٪f漊?Q 5n5f\ f= 9lYn[3@Q En@yf=E)f3;If;if!5YvBv/AvEg FNOT Ignoring new targets: 121.07 m.g:g:- ProNav: ac range: 121.074493 m, nav range: 120.042999 m, bearing: 191.893476 deg, approach rate: -0.305296 m/s, LOS rate: 0.088667 deg/s, cmd heading: 175.851007 deg, new cmd heading: 175.917073 deg. g-E";5HeadingCmd: 3.070332 target range: 121.074493 and range: 121.40 m.g5RD@g1g1g1g9zf9rfAfIfIBdQdQdYcYce@@ɢ>B-> ?I {=ɡiI˼IURD@iUÐ=i],R=)]RD@)YQi]2@A@A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522881y>A x=IqIN>ԡ D= D= D= .D9 E= : E= E7:6E= ـ4:E9 !M @!M @!M @!M @ͻX,d3A), .A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775154VCRVHq`ر@¿?i0f?IVׂ6@)VҶa;iTbB9b/'IMMb@Mb@Mb@ I)IIIiIIMQ?~jt?Mµ>MĽIIMp@iMx@M@MZ@)IM@BD6D03Y(!9=:Q)>99FYE4;A>Q 15٪5ټ?Q 55 H 9>Q A;Y3@Q E@y=E)" ;I ;i#5Y#0Ag!-FNOT Ignoring new targets: 121.07 m.g5:g5:E ProNav: ac range: 121.074493 m, nav range: 119.904190 m, bearing: 191.933450 deg, approach rate: -0.314942 m/s, LOS rate: 0.090802 deg/s, cmd heading: 175.917068 deg, new cmd heading: 175.997109 deg. gE-&;MHeadingCmd: 3.071729 target range: 121.074493 and range: 121.40 m.gM5D@gIgIgIgIzfQrfQfQfUCBBdYdYdYcYc]V@ɢ?B$> 顕W?I ڐ=ɡiI˼I5D@i7=i=)5D@)ԡie9iimQ5ivBUA>~BQBU&IBUnBBU =BQBQBU';BUdPEBBLJCBBBB~N5%BDAT read: Rx Time:23:52:08.0834 -TRx dataTimestamp_ set to:1758412325.839025-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030683>A=I I! N- > 1^,h~3Aɰ4<46FL6H`ݓc ¿Pٱ?` N/eP=\)?I66@)6`;i6C^هB9^'Iib>Ib=BDj6Djk2DrDrDr2DpErغ: Era9:6Er4:Ep"Er 9 9 FY E<;A>Q 1%5٪-μ?Q 5%5Ľ Q 9!Y%3@Q E-@y=E):I:i`%5Y5B5O0A5EB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 121.07 m.g:g: ProNav: ac range: 121.074493 m, nav range: 119.785515 m, bearing: 191.967630 deg, approach rate: -0.298800 m/s, LOS rate: 0.086141 deg/s, cmd heading: 175.997104 deg, new cmd heading: 176.065530 deg. g5;=HeadingCmd: 3.072923 target range: 121.074493 and range: 121.40 m.g=ƪD@g9g9g9g9zfArfAfAfABdIdIdIcIcMA @ɢ@B&> 顥;?I =ɡiI%5̼IƪD@i=iȍ=)ƪD@)}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279454i9@59>A7=bAZAAI9 IQ N] >i  DAT read: 23:52:08.0834 LVL= 28976, 31505, 26194, 32755, AGC= 70, IDX= 422,-0.07,-0.240,-2.183,-0.733,-0.696, PHS= 0.558,-1.442,-0.081, RAW= 131.8, 10.9, CAL= 131.4, 12.1, ROT= 18.6, -12.1  Ygot valid direction response: 23:52:08.0834 LVL= 28976, 31505, 26194, 32755, AGC= 70, IDX= 422,-0.07,-0.240,-2.183,-0.733,-0.696, PHS= 0.558,-1.442,-0.081, RAW= 131.8, 10.9, CAL= 131.4, 12.1, ROT= 18.6, -12.1  PDAT read: Bearing 354.9, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 354.9, 10.1 (Local)  DAT read: Range 11 to 50 : 120.2 m (Round-trip 160.3 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.926712,0.311873,0.209619] Fpublishing direction and range info9) -  ?WGu?9h?- fB) i- 0q- {- Rf) - F - ?)- uI- T㥽i- 8@- B>- t@- @X>- 6> - @Xi) ) I- RbD?b?-<#- C - 6>)- @Xi) )  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. e,.ʘ3Ay6B6@ٱ6ħD@6>6N6H5>(¿`o?g@¿ǭ?I6B6@)6 `;i6C=чB9='IBDM6DM1Yr !?=D:Q)>99FYEx;A>Q 15٪a?Q 55c \ 9Y3@Q E@y=E)|:I:iH'5Y0Ahhd˕3AhBhBh/Y@ vaf;[@x_}B@92 9@u ?WGu?9h?h6>h@Xv:?-b\7c=!@vy fKϿߺ?hshhk?hKah\B*iFSp?2i!:iBiB"iZ_X@ addTargetRange:: Added new target pos. range: 120.199997 m, deltaT: 3.784925 s, deltaX: -1.200005 m, approachRate: -0.317048 m/s, rangeRepo size: 4  Added new target pos. range: 119.879021 m, bearing: 194.436323 deg, lat: 36.779160 deg, lon: -121.860044 deg, deltaT: 3.784925 s, deltaX: -1.195473 m, approachRate: -0.315851 m/s, posRepo size: 4 gFNOT Ignoring new targets: 119.88 m.gg5 ProNav: ac range: 119.879021 m, nav range: 119.815315 m, bearing: 193.706708 deg, approach rate: 0.000000 m/s, LOS rate: 0.086141 deg/s, cmd heading: 176.065529 deg, new cmd heading: 176.140844 deg. g1=HeadingCmd: 3.074238 target range: 119.879021 and range: 120.20 m.g=OD@g9g9g9g9zfArfAfAfABdIBEQJEUö4REU 0DDD0DEy: E.:6E4:E!@!@!@!@dIdc ^@c`2?1ɢAB> ?I ޸=ɡ i I ̼IOD@i =ial=)OD@)U*DAT read: user:954> UBDAT read: Tx time:23:52:09.2690 ]$Ping request sent.]A] =A <A <vB D>~B CB h&IB JBB =B B DB ;B SPEA I I ԩ N >ml,3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249003yJ6@ٱJ$D@J^h>JOSJH`g`¿?`l6?IJ6@)J,._;iJCVB9V&I5Mb@Mb@Mb@ 1)1I1i115/$?EԸS㥛?5&>5ƽ5/a9a9eFYeEe6;Am>qQ 1}5٪u贼?Q 5}5u ue 9}>Q A};Y}_3@Q E}@yu=E)u:Iu:iu0)5YW1Ag)5FNOT Ignoring new targets: 119.88 m.g5:g=:m ProNav: ac range: 119.879021 m, nav range: 119.683899 m, bearing: 193.747769 deg, approach rate: -0.304644 m/s, LOS rate: 0.095289 deg/s, cmd heading: 176.140839 deg, new cmd heading: 176.223050 deg. gmc.;uHeadingCmd: 3.075672 target range: 119.879021 and range: 120.20 m.guD@gqgqgqgqzfqrfyfyf}3BBdyddcc@?ɢBB+)> ?I l=ɡiI#ͼID@i J=i =) D@) )i}9yy}+5D]D]D]/DYE]I: E]?:6E]J4:EY"E]A x=ԁ AM yAIi I N >@s,Nω3Ai@0y:6@ٱ:,D@:B>:CqX:HvE ( ¿/?I^p`VɊ"?I:6@):^;i8^B9b&IBDd6DdYn!rS=rI¹Q)r>v H?9v H?9vFYvEvx;Av>xQ 1~5٪zک?Q 55zι zm 9Yw3@Q E@yz=E)z;IzH;iz*5Y ՝B 1AEg1=FNOT Ignoring new targets: 119.88 m.gE:gE:U ProNav: ac range: 119.879021 m, nav range: 119.567429 m, bearing: 193.784133 deg, approach rate: -0.314522 m/s, LOS rate: 0.098295 deg/s, cmd heading: 176.223047 deg, new cmd heading: 176.295846 deg. gU3;UHeadingCmd: 3.076943 target range: 119.879021 and range: 120.20 m.g]D@gYgYgYgYzfYrfafafaBdadidicicm@{ 顝?I A=ɡiIͼID@i=iJk=)D@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753166iYYY]/Yԉ>AĎ=rA>jADuDuDu-DqEu: EuA:6Eut4:Eq!@!@!@!@A A I I! NM >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007687ey,)3Ay67@ٱ6D@6k<>6b6H`zc ¿? t N@?I67@)6K^;i4BB9B&I\Mb@Mb@Mb@ )Iiv?J +?Ը>ȽK?9K?9FYEg;A>Q 15٪ܜ?Q 55m x 9%>Q A% ;Y%4@Q E-@y=E) ?I 4=ɡiIͼIEE@iM;=iM<=)ME@)IvB~BB<&IB'BBBBB;BAPEie?IeX?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258003i45@@AI >A ~4=D D D ,D E : E =:6E g4:E "E ` ,{3A(y:7@ٱ:5E@:J{>:k:H`3`_4x?`,RwfO.߮?I:7@):];i8FB9F&IBDN6DN1YV1!VG=VfQ)V>X9X9ZFYZE^t;A^>`Q 1f5٪b-?Q 5f5b2 b 9dYf04@Q Ef@yb=E)bd:~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509086Ib[:ib}.5YQ]]2AYB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 119.88 m.g:g: ProNav: ac range: 119.879021 m, nav range: 119.306824 m, bearing: 193.863951 deg, approach rate: -0.350239 m/s, LOS rate: 0.107343 deg/s, cmd heading: 176.380005 deg, new cmd heading: 176.455653 deg. grD;HeadingCmd: 3.079732 target range: 119.879021 and range: 120.20 m.gUE@ggggzfrfffBdddcc?ɢ%DB%'> !%l?I! -EJ=ɡ)i)I-iμI5UE@i5=i5K=)5UE@)9ԉi/Ա>A{=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761261 A= yAIA IQ Ne >@,h3Aɰ;p;y6f27@ٱ6*E@6z>6Bj6H@@ Ԯ? w`Qm ?I6f27@)6^;i6CBB9B&IiF=IF=BDJ 6DJ2YR=!VK=V ضQ)V>Z H?9Z H?9ZFYZEZM;AZ>``Q 1f5٪b!?Q 5f5b b 9hYjE4@Q Ej@yb=E)b-:Ib$:ib?05YnǝBn-2Apg FNOT Ignoring new targets: 119.88 m.g k:g k:% ProNav: ac range: 119.879021 m, nav range: 119.179596 m, bearing: 193.902892 deg, approach rate: -0.335862 m/s, LOS rate: 0.102909 deg/s, cmd heading: 176.455656 deg, new cmd heading: 176.533622 deg. g%U<;-HeadingCmd: 3.081093 target range: 119.879021 and range: 120.20 m.g-0E@g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=@.f@ɢimh!> imS?Ii uZ=ɡqiqIuμDDD/DEy: E,:6EJ4:E!@!@!@!@IM0E@i]ȼ=ie=)e0E@)q-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0166291i999=/9Y>A}=bAZAԁ A A ?AvB ~B B &IB BB B B B ;B ,PEA AI I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269035"j,C83Ay6mA7@ٱ69E@6"&>67i6H`_#^?o@Tx݌`C?I6mA7@)6 ^;i6CB|B9B&IYUMb@Mb@Mb@ Q)QIQiQQUX9v?K?U>U^QIU@iU@U@U@)QU@BDu6DuF3YԼ!==CQ)>K?9K?9FYE ;A>Q 15٪x?Q 55  9>Q A;Y5@Q E@y=E):IH:i"25Y[2AgFNOT Ignoring new targets: 119.88 m.g:g: ProNav: ac range: 119.879021 m, nav range: 119.046593 m, bearing: 193.942600 deg, approach rate: -0.308127 m/s, LOS rate: 0.092093 deg/s, cmd heading: 176.533616 deg, new cmd heading: 176.613120 deg. g(;HeadingCmd: 3.082480 target range: 119.879021 and range: 120.20 m.g\GE@ggggzfrff f Bd d dcc\@ɢAE,> AEʍ?IA E=ɡIiIIMK>ϼIU\GE@iU =iUG=)U\GE@)Yi    / @=@=ԉDDD-DE: E H:6Et4:E"E= A{=A I I) NE > Q,R3A~fB9~&IBD  6D 2Y !Q=%Q)%>!9!9-FY-E-A->1Q 1=5٪56m?Q 5E55 5 9AYAQ EE@y5=E)5 ;I5G;i535YMBM2AUEgq}FNOT Ignoring new targets: 119.88 m.g}0:g0: ProNav: ac range: 119.879021 m, nav range: 118.926216 m, bearing: 193.978630 deg, approach rate: -0.308121 m/s, LOS rate: 0.092317 deg/s, cmd heading: 176.613119 deg, new cmd heading: 176.685252 deg. g(;HeadingCmd: 3.083739 target range: 119.879021 and range: 120.20 m.g[E@ggggzfrfffBdddcc@ԹɢEBz> ??I 0=ɡiIϼI[E@iU=iO=)[E@)iߝ>Iߝ4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773946iqqqu/q>ADDD,DE: E.:6Eg4:E!@!@!@!@!Ii I N >e BDAT read: Rx Time:23:52:11.8317 m TRx dataTimestamp_ set to:1758412329.623606} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031195A -|,@k3AyBGm7@ٱBeE@Bn>BBH,\`? \?IBGm7@)Be];iBCnTB9ns&Itit)x x Mb@Mb@Mb@ ) I i   -?Zd;O? ?> ̽ ja9a9eFYeEm?;Am>yQ 15٪}'`?Q 55} } 9>Q A;Y3@Q E@y}=E)}U;I}U;i}55Y*3AgFNOT Ignoring new targets: 119.88 m.g:g: ProNav: ac range: 119.879021 m, nav range: 118.788757 m, bearing: 194.021659 deg, approach rate: -0.306587 m/s, LOS rate: 0.096083 deg/s, cmd heading: 176.685246 deg, new cmd heading: 176.771404 deg. g/;HeadingCmd: 3.085243 target range: 119.879021 and range: 120.20 m.gtE@ggggzfrfff5BBdddcc @ɢ*> Ń?I! %=ɡ!i!I%aϼI-tE@i-m=i-䈏=)5tE@)1vBi~BiBm%IBmBBiBiBiBm;Bm>PEAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277220i/i>A @=rD =jD %=D D D -D E g: E =:6E t4:E "E ;!- E ;!5 *E ʔ;!= E ʔ;!M ԡ I I N >,zp3Ay6Ӈ7@ٱ6UE@6e,>6Y6HGC@J1??@+*@q ?I6Ӈ7@)6$P];i6CBJB9Bg&IJprDAT read: 23:52:11.8317 LVL= 30480, 32753, 25474, 32755, AGC= 68, IDX= 420, 0.11, 2.123, 0.255, 1.705, 1.691, PHS= 0.534,-1.391,-0.029, RAW= 133.5, 10.4, CAL= 133.1, 11.5, ROT= 16.9, -11.5 vYgot valid direction response: 23:52:11.8317 LVL= 30480, 32753, 25474, 32755, AGC= 68, IDX= 420, 0.11, 2.123, 0.255, 1.705, 1.691, PHS= 0.534,-1.391,-0.029, RAW= 133.5, 10.4, CAL= 133.1, 11.5, ROT= 16.9, -11.5 zPDAT read: Bearing 353.7, 8.5 (Local) ~~Local bearing/azimuth received: Bearing 353.7, 8.5 (Local) DAT read: Range 11 to 50 : 118.8 m (Round-trip 158.5 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.\direction in FSK: [0.937605,0.284866,0.199368]Fpublishing direction and range info9XZ??dl?;?i?ZBXiZwZZcXZD Z9?)ZJ IZhiZ@Z9>Z@ZM>Z> ZMiXXIZo%?G W?)#g?Zp>Z 9 Z>)ZMiXX-T****** received valid address query ******-R****** received valid ping request ******T9I9MFYMEU;AU>YQ 15٪]U?Q 55] ] 9Y3@Q E@y]=E)]E:I]8:i]o75Y!%y3A!)MQuerying Benthos address 50 with one ping in standard two-way mode.hXhZ\臊3AhZBhZBhZ>X@ vZJ[@`I=@@bN2+7@uZ??dl?;?i?hZ>hZMvZ'-X\Y#;@Af@vZce+8 k+ο¯?hZUhZhZ?hZhZB*iZ?2iX:iZ&BiZB"iZX@ addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 3.783018 s, deltaX: -1.399994 m, approachRate: -0.370073 m/s, rangeRepo size: 4  Added new target pos. range: 118.483215 m, bearing: 193.592560 deg, lat: 36.779162 deg, lon: -121.860044 deg, deltaT: 3.783018 s, deltaX: -1.395805 m, approachRate: -0.368966 m/s, posRepo size: 4 g%FNOT Ignoring new targets: 118.48 m.g%g!5 ProNav: ac range: 118.483215 m, nav range: 118.502304 m, bearing: 194.078621 deg, approach rate: 0.000000 m/s, LOS rate: 0.096083 deg/s, cmd heading: 176.771402 deg, new cmd heading: 176.851657 deg. g1]HeadingCmd: 3.086644 target range: 118.483215 and range: 118.80 m.g]E@gagagagazfarfafifiBdididicu@3]@cu P?ɢ> !%B?I! %=ɡ!i!I%мI-E@i-ɸ=i-C=)5E@Q)1i/m*DAT read: user:955> uBDAT read: Tx time:23:52:13.0690 u$Ping request sent.uA Ď=Iy I N >Ա Ƭ,03AyBv7@ٱBE@BB>BB?BH(``!?@$`?IBv7@)Bc];iBCJ=B9NX&IBDV6DV 3YZcy!^J=^"GQ)^>`9`9bFYbEfV;Af>hQ 1j5٪jI?Q 5n5j j 9lYn4@Q En@yj=E)jH;Ij;ij95YvBv 2AvEB*** querying acoustic contact ***zh h gFNOT Ignoring new targets: 118.48 m.gm:gm:- ProNav: ac range: 118.483215 m, nav range: 118.383583 m, bearing: 194.115812 deg, approach rate: -0.347710 m/s, LOS rate: 0.109032 deg/s, cmd heading: 176.851657 deg, new cmd heading: 176.926112 deg. g-G;5HeadingCmd: 3.087943 target range: 118.483215 and range: 118.80 m.g5ܠE@g1g9g9g9zf9rf9fAfABdAdAdIcIcM?DmDmDm*DiEm: Ema9:6Em(N4:Ei!u@!u@!u@!u@ɢ&> 顝3|?I l=ɡiIuмIܠE@iY=if=)ܠE@)Aԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.255290i0!>Amx=IIN>A <A vB ~B B %IB BB =B B DB +;B mPEBɈCBɈCBBɱ =Bɱ =B4 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506604 ׭,3AB9,&I%%=%=Mb@Mb@Mb@ )Iioʡ?&1y&1?>н`99FYEA>Q 15٪l=?Q 55V  9T>Q A;Y2@Q E @y=E):I:i ;5Y&3Ag9=FNOT Ignoring new targets: 118.48 m.gE$:gE$:U ProNav: ac range: 118.483215 m, nav range: 118.253754 m, bearing: 194.158107 deg, approach rate: -0.293728 m/s, LOS rate: 0.095794 deg/s, cmd heading: 176.926106 deg, new cmd heading: 177.010789 deg. gUP/;]HeadingCmd: 3.089421 target range: 118.483215 and range: 118.80 m.g]E@gYgYgagazfarfafifmBBdididicqcu@>?ɢp> 顥j?I Z=ɡiIмIE@iS=i=)E@)AiIIIM 0IDyD}D},DyEy E}*:6E}g4:Ey"E} A=I I1 I NU >M,Wӊ3Ay:7@ٱ:mE@:C>:;|:H ᩿? `Ώ`?I:7@):.];i:CFB9F'&IIH)HBDN6DN3YV'¼!V`=Z9Q)Z>X9X9ZFY^E^6;A^>`Q 1f5٪b23?Q 5f5b2 b 9hYj 3@Q Ej@yb=E)b:Ibg:ib<5YlnI3ApgFNOT Ignoring new targets: 118.48 m.g:g: ProNav: ac range: 118.483215 m, nav range: 118.146744 m, bearing: 194.192941 deg, approach rate: -0.281323 m/s, LOS rate: 0.091660 deg/s, cmd heading: 177.010786 deg, new cmd heading: 177.080517 deg. g';HeadingCmd: 3.090638 target range: 118.483215 and range: 118.80 m.gE@ggggzfrfffBdddcc ?ɢ!%z> !-h?I) -l̪=ɡ)i)I-мI5E@i5۴=i=V=)=E@)9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.012880Qif1yBE^n4JEk4RE\00D}D}}D}(DyE}Ʊ: E}k&:6E}c44:Ey!@!@!@!@>AMp,=IIN>Ա % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265214/, 3ANGNH wi`.E?D;@JB@?IN7@)N];iNCn B9n&IMb@Mb@Mb@ )Ii?:vMb?f>Խ=I@ip@@~@)@BD6Dk1Y sX! 6=lQ)>99FYE;A>!Q 1-5٪% '?Q 555%ū % 95z>Q A5;Y52@Q E5@y%=E)% ;I%q ;i%>5Y=qB==3AEEgamFNOT Ignoring new targets: 118.48 m.gu:gu: ProNav: ac range: 118.483215 m, nav range: 118.020218 m, bearing: 194.235562 deg, approach rate: -0.291704 m/s, LOS rate: 0.098369 deg/s, cmd heading: 177.080523 deg, new cmd heading: 177.165857 deg. g4;HeadingCmd: 3.092128 target range: 118.483215 and range: 118.80 m.gkE@ggggzfrfff3BBdddcc@K?ɢiuM> qub?Iq u'\=ɡqiyI}мI}kE@i=i=)kE@)ԱvBC>~BB%IBBB =BBBF;BPEi0mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515689>A% Ď= rDy jD} <D D yD .D E : E :6E ـ4:E "E .q,3Aiy67@ٱ6|E@68^>68t6H@Y 訿sƩ?`OF̏׮?I67@)6DŽ];i6CBB9B &IBDN6DN3YRN!Rc=V9Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766719Q)^>^ H?9^ H?9^FY^Ebw1;Ab>ddQ 1n5٪fH?Q 5n5f f 9lYn)2@Q En@yf=E)f9:If:if.@5Ypv3AtgFNOT Ignoring new targets: 118.48 m.g:g:- ProNav: ac range: 118.483215 m, nav range: 117.918617 m, bearing: 194.269798 deg, approach rate: -0.280865 m/s, LOS rate: 0.094722 deg/s, cmd heading: 177.165859 deg, new cmd heading: 177.234389 deg. g-Z-;5HeadingCmd: 3.093324 target range: 118.483215 and range: 118.80 m.g5E@g1g1g1g1zf9rf9f9f9BdAdAdAcAcEO@ɢuDBuv> q}^?Iy }=ɡyiyI}.ѼIE@iư=iZ=)E@) i.51>A@=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018672A AI I N >Q ,J{!3Ay6O7@ٱ6E@6>6}6HV~`e?@P b?I6O7@)6Ӱ];i6CBB9B%IBDJ 6DJ2YR1\!RK=VA5:Q)V>VK?9ZK?9ZFYZ­EZt:AZ>`Q 1f5٪bq?Q 5f5b_ b 9dYf52@Q Ej@yb=E)b{:Ib/:ibA5Yln3Al~B*** querying acoustic contact ***zh|h|g FNOT Ignoring new targets: 118.48 m.g v:g v:% ProNav: ac range: 118.483215 m, nav range: 117.805801 m, bearing: 194.307840 deg, approach rate: -0.281634 m/s, LOS rate: 0.095060 deg/s, cmd heading: 177.234393 deg, new cmd heading: 177.310551 deg. g%-;-HeadingCmd: 3.094653 target range: 118.483215 and range: 118.80 m.g-F@g)g)g)g)zf)rf1f1f1Bd1DEDEDE-DAEE: EE=:6EEt4:EA!M@!M@!M@!M@Qd9dQcYc]f@ɢ!%> )-X?I) -{=ɡ)i)I-CѼIUF@i]=i]~Z=)]F@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.273256i 4 @)@-Ayԙ>Aup,=A A @AvB D>~B B a%IB uBB =B B B `;B PEA I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522620%,V;3ArB9v%ImMb@Mb@Mb@ i)iIiiiimV-?S㥛?m>m̽m/99FYŭEA>Q 15٪1?Q 55   9}>Q A;Y3@Q E@y=E)|;I;iC5YdB3AEgFNOT Ignoring new targets: 118.48 m.g:g:  ProNav: ac range: 118.483215 m, nav range: 117.677513 m, bearing: 194.349221 deg, approach rate: -0.295273 m/s, LOS rate: 0.095347 deg/s, cmd heading: 177.310550 deg, new cmd heading: 177.393402 deg. g .;HeadingCmd: 3.096099 target range: 118.483215 and range: 118.80 m.g|&F@ggggzfrff!f%0BBd!d)d)c)c-`@ɢ]CB]P8> Y]R?IY e{=ɡaiaIe.UѼIm|&F@i=i|=)|&F@)DUDU}DU.DQEU7: EUk&:6EUـ4:EQ"EU;!eEU;!m*EUŀ;!mEUŀ;!mi92) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774904>A = AY Ia Iq N >| ,D1U3Ay6+8@ٱ6E@6V?>6|6H{z ¿@X?l ƁN?I6+8@)6f];i6CBцB9B%IF=Fp;iF=IF=BDN6DNP)3YV!V[=VA:Q)V>X9X9ZFYZǭEZ;A^>Q 1%5٪\?Q 5%5ަ  9!Y%3@Q E-@y=E)(:I:iE5Y154A1gY]FNOT Ignoring new targets: 118.48 m.ge:ge:u ProNav: ac range: 118.483215 m, nav range: 117.564018 m, bearing: 194.385756 deg, approach rate: -0.295258 m/s, LOS rate: 0.095138 deg/s, cmd heading: 177.393400 deg, new cmd heading: 177.466541 deg. gu.;}HeadingCmd: 3.097375 target range: 118.483215 and range: 118.80 m.g}f;F@gygggzfrfffBdddcc`\ @ɢ> F?I Z=ɡiI]ѼIf;F@i⦐=i=)f;F@)=BDAT read: Rx Time:23:52:15.6299 ETRx dataTimestamp_ set to:1758412333.404257Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027744iu9qqu/q!DeDeDaDaEeI: Ee3:6Ea:Ea!u@!u@!u@!u@>A*=QA  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280985I I9 N >y 7,k o3AyN8@ٱNp F@N~>Nid|NH¿?` ¿;@?IN8@)N];iNCbɆB9b%IMb@Mb@Mb@ )Ii rh?EԸy&1?>ƽ`99FYʭE;A>Q 15٪Oﻊ?Q 55  9>Q A;Y94@Q E@y=E)':I:icG5YVBd4AEg!%FNOT Ignoring new targets: 118.48 m.g-:g-:am ProNav: ac range: 118.483215 m, nav range: 117.437508 m, bearing: 194.425910 deg, approach rate: -0.294520 m/s, LOS rate: 0.093581 deg/s, cmd heading: 177.466538 deg, new cmd heading: 177.546933 deg. gmC+;mHeadingCmd: 3.098778 target range: 118.483215 and range: 118.80 m.gucRF@gqgqgqgqzfyrfyfyfyBdddcc @ɢBBp> 顽C?I n=ɡiILѼIcRF@i=ik=)cRF@)vBi~BiBm/%IBmLBBm =BiBiBmv;BmPEuDAT read: 23:52:15.6299 LVL= 28192, 32753, 27250, 32755, AGC= 71, IDX= 419,-0.28,-0.097,-1.982,-0.572,-0.546, PHS= 0.551,-1.391,-0.070, RAW= 131.8, 10.6, CAL= 131.4, 11.8, ROT= 18.6, -11.8 }Ygot valid direction response: 23:52:15.6299 LVL= 28192, 32753, 27250, 32755, AGC= 71, IDX= 419,-0.28,-0.097,-1.982,-0.572,-0.546, PHS= 0.551,-1.391,-0.070, RAW= 131.8, 10.6, CAL= 131.4, 11.8, ROT= 18.6, -11.8 ԁi9@=@=PDAT read: Bearing 353.4, 10.2 (Local) ~Local bearing/azimuth received: Bearing 353.4, 10.2 (Local) DAT read: Range 11 to 50 : 117.6 m (Round-trip 156.8 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.927740,0.312219,0.204496]Fpublishing direction and range info9AE  ?[jd?rG,?E3BAiE nAErjAEG EV ?)AIE)\iE8@Eq=>Et@EBR>E6> EBRiAAIE ck?BGs#?A8",?E|R>E.= E6>)EBRiAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ>A m=Du Du Du ,Dq Eu : Eu |;:6Eu g4:Eq "Eu ` i ֐C I G) A) Iy I I N >!\,剋3A*DAT read: user:956> BDAT read: Tx time:23:52:16.8690 $Ping request sent.mmHb`9¿@*M?`%@V ¿>'J?Im%8@)m5r];imCB9%IBD- 6D-f29Y)!7=]:Q)>99FYͭE)*;A>Q 15٪⻊?Q 55H  9YM4@Q E@y=E):I:iVI5Y5Ahhjz3AhBhBhZ@ vr^3[@[{;OB@d7@u  ?[jd?rG,?h6>hBRv_&\ )?VY@v-=aѿ06eu?hh6h(kі?h!haB*ik?2iKa:i\BiyB"i Z@ addTargetRange:: Added new target pos. range: 117.599998 m, deltaT: 3.784061 s, deltaX: -1.200005 m, approachRate: -0.317121 m/s, rangeRepo size: 4  Added new target pos. range: 117.286362 m, bearing: 195.795151 deg, lat: 36.779166 deg, lon: -121.860060 deg, deltaT: 3.784061 s, deltaX: -1.196854 m, approachRate: -0.316288 m/s, posRepo size: 4 gFNOT Ignoring new targets: 117.29 m.gg ProNav: ac range: 117.286362 m, nav range: 117.238213 m, bearing: 195.192168 deg, approach rate: 0.000000 m/s, LOS rate: 0.093581 deg/s, cmd heading: 177.546929 deg, new cmd heading: 177.633583 deg. gHeadingCmd: 3.100291 target range: 117.286362 and range: 117.60 m.g*kF@ggggzfrfffBdddc`ff]@c ;?ɢAB > 页}9?I ~=ɡiIѼI*kF@i-=i0=)*kF@i)i!))521checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251343ԑ>AE z= D D D 1D E [: E ?:6E -4:E ! @! @! @! @Aq Iy I N >),l3AyzP8@ٱzvIF@z#6>z.zH%{*¿U? rw`5¿X ?IzP8@)za];izCY) checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506152ԁ}B9}%Ii) A Mb@Mb@Mb@ ) I i   q= ףp?&1Mb? > н =I @i @ @ A)  @BD% 6D%2Y=n?!===r^:Q)=>A9A9EFYEЭEE;AM>IQ 1]5٪Mӻ?Q 5]5M M!9] >Q A];Y]3@Q E]@yM=E)M:IM<:iMK5Yimy5AiB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 117.29 m.g6:g6: ProNav: ac range: 117.286362 m, nav range: 117.074997 m, bearing: 195.246995 deg, approach rate: -0.297862 m/s, LOS rate: 0.100196 deg/s, cmd heading: 177.633577 deg, new cmd heading: 177.743383 deg. g^7;HeadingCmd: 3.102207 target range: 117.286362 and range: 117.60 m.gF@ggggzfrfff,BBdddccwG?ɢu@Bu6> }[}P3?Iy } =ɡyiyI}_мIF@i=vBF>~BB$IB$BBBBDB|;BPEԩi3=)F@)ia a a e P5a  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997 >A 8=bDZD?ADDD0DE: E|;:6E4:E"E6J6H[;_&/¿`h?OU#` ¿x`b?I6c8@)6̖];i6CPRAROiPPiPVA)Vt TIT T)Vs@TXXhjAijqIllIlinA njl)pp rAr`弉pptvlyAIt)titt=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006820UB9]x%IBDm6Dm:3Y}'!}\=}I9Q)}> H?9 H?9FYӭEB;A>Q 15٪bȻ?Q 55h  !9YU3@Q EU@y=E)  3$?I   =ɡiIAzмIğF@i=ip=)ğF@A)iQ5ii/?I_?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120ԡ >A =A AI I! N5 >,~3Ay6q8@ٱ6iF@6U>6Մ6Hh >¿?R%,¿}o?I6q8@)6\];i6C`DnDnDn1DlEnغ: En*:6En-4:El!v@!v@!v@!v@zwB9zd%IBD 6Df2Y!C=:Q)>K?9%K?9%FY%խE%;;A%>)Q 155٪-߼?Q 5=5-) -!99Y=3@Q E=@y-=E)-4:I-:i-BO5YAE6AIgquFNOT Ignoring new targets: 117.29 m.g}o:g}o: ProNav: ac range: 117.286362 m, nav range: 116.845551 m, bearing: 195.324137 deg, approach rate: -0.312153 m/s, LOS rate: 0.105102 deg/s, cmd heading: 177.817527 deg, new cmd heading: 177.897813 deg. gY@;HeadingCmd: 3.104903 target range: 117.286362 and range: 117.60 m.gF@ggggzfrfffBdddccM?ɢ>B > y?I  =ɡiIJмIF@i=i=)F@)i]9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512995/ >Aff=vBE>~BB$IBBB =BBDB;BPEBBBBȰ =BȰ =BȏN5A I I N >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762786E,3AyJ18@ٱJ}F@J>JQ|JH@o Q¿ Z?$ ȃ@A¿F7I?IJ18@)J];iH!%nB9%Y%Ii-=I-=Mb@Mb@Mb@ )Iish|??Zd;OS㥛?>j/A9A9EFYEحEE6;AM>IQ 1]5٪M?Q 5]5M M!9]>Q A];Y]L5@Q E]@yM=E)M ;IM ;iM.Q5Yim6AigFNOT Ignoring new targets: 117.29 m.g:g: ProNav: ac range: 117.286362 m, nav range: 116.718369 m, bearing: 195.364717 deg, approach rate: -0.289463 m/s, LOS rate: 0.092459 deg/s, cmd heading: 177.897809 deg, new cmd heading: 177.979057 deg. g5);HeadingCmd: 3.106321 target range: 117.286362 and range: 117.60 m.gF@ggggzfrfffBBdddcc`)+@ɢ=BK> ?I \=ɡiIϼIF@i=i{=)F@) rD%=jD4=DDD0DE: E|;:6E4:E"E` A i= Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270561AAIIIaNm?%,3Ay648@ٱ6F@6>6pq6Hsۢ Fb¿`M? BS¿0ލ?I648@)6:-^;i6CBUB9B9%IBDJ6DJ2YRI!R4=V:Q)V>T9T9ZFYZۭEw,;A > Q 15٪ ԣ?Q 55  "!9Y_5@Q E@y =E)  ;I :i 5S5Y-;B-27A)gQUFNOT Ignoring new targets: 117.29 m.g]O:g]O:m ProNav: ac range: 117.286362 m, nav range: 116.584068 m, bearing: 195.407577 deg, approach rate: -0.289104 m/s, LOS rate: 0.092370 deg/s, cmd heading: 177.979061 deg, new cmd heading: 178.064880 deg. gm );uHeadingCmd: 3.107818 target range: 117.286362 and range: 117.60 m.guF@gqgqgqgyzfyrfyfyfyBdddcc`@ɢ 顽 ?I '=ɡiIDfϼIF@i=i=)F@)9BEmـ4JEm[4REmÓ/DD}D.DE: Ek&:6Eـ4:E! @! @! @! @i4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520925)>A8=A I I N- >Q A A AAvB ~B B $IB ҅BB B B B ;B PEJ ,73AyNr8@ٱNF@Nv>NEiNH@Nyvl¿`JR?@?@^¿`4یa?INr8@)N\^;iNCZHB9Z)%I=Mb@Mb@Mb@ 9)9I9i99= +?kt~jt?=ȶ>= =i9i9mFYmޭEuu:Au>yQ 15٪}s?Q 55} }/!9C>Q A;Y7@Q E@y}=E)}:I}:i}U5Y7AB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 117.29 m.gJ:gJ:i>I4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771274 ProNav: ac range: 117.286362 m, nav range: 116.453468 m, bearing: 195.446384 deg, approach rate: -0.313423 m/s, LOS rate: 0.093237 deg/s, cmd heading: 178.064876 deg, new cmd heading: 178.142577 deg. g*;HeadingCmd: 3.109174 target range: 117.286362 and range: 117.60 m.gF@ggg1gzfqrfqfyf}BBdydydcc\@ɢ:B> ?I =ɡiIhμIF@i=i=)F@))1 1i1I1aD D |D /D E Ʊ: E P$:6E J4:E "E E;!E G;!*E };!E };!i0ԩ BDAT read: Rx Time:23:52:19.4284  TRx dataTimestamp_ set to:1758412337.185073 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025828Թ >A AII!N->,WW3Ay6Z8@ٱ6۶F@6?>6j6HVOpw¿`锢?Di¿L ?I6Z8@)6æ^;i4B9B9B%I)D FAHiJ<BDN6DN:3YVr!V,=V@:Q)Z>X9X9ZFY^E^I;A^>`Q 1f5٪b]?Q 5f5bZ b>!9dYj7@Q Ej@yb=E)b;Ib;ibW5Yn.Bn7AnEg  FNOT Ignoring new targets: 117.29 m.gW:gW: ProNav: ac range: 117.286362 m, nav range: 116.304817 m, bearing: 195.490534 deg, approach rate: -0.313602 m/s, LOS rate: 0.093259 deg/s, cmd heading: 178.142576 deg, new cmd heading: 178.230988 deg. g*;HeadingCmd: 3.110718 target range: 117.286362 and range: 117.60 m.gG@ggggzfrfffBdddcc+ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274922ɢ59B5= 9=S?I9 ==ɡ9i9I=AμIEG@iE}=iM=)eG@)i9V5D5D5yD5*D1E5s: E5:6E5(N4:E1!=@!=@!=@!=@A >Ae b$=) m DAT read: 23:52:19.4284 LVL= 26832, 27953, 24274, 32755, AGC= 71, IDX= 418,-0.09,-0.047,-1.966,-0.491,-0.449, PHS= 0.503,-1.473,-0.086, RAW= 133.1, 12.0, CAL= 132.5, 13.1, ROT= 17.5, -13.1  Ygot valid direction response: 23:52:19.4284 LVL= 26832, 27953, 24274, 32755, AGC= 71, IDX= 418,-0.09,-0.047,-1.966,-0.491,-0.449, PHS= 0.503,-1.473,-0.086, RAW= 133.1, 12.0, CAL= 132.5, 13.1, ROT= 17.5, -13.1  PDAT read: Bearing 354.1, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 354.1, 8.8 (Local) m DAT read: Range 11 to 50 : 116.4 m (Round-trip 155.2 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages.% \direction in FSK: [0.928897,0.292880,0.226651]% Fpublishing direction and range infoq AQ I I N >_,Qr3Ay6}8@ٱ6F@9aeK?Ї?+#?eBaiehe1me^aa e?)eDIe ie@ePwV>e@e j>ea> e jiaaIe;{?R?)n?NAGR?eڐj>ebV ea>)e jiaaT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.6$+>6Lr6H@^`z¿ա?`@߃`t¿K`?I6}8@)6+^;i6Cu%B9u$IvBD>~BBg$IBBB =BBB;BPEԡMb@Mb@Mb@ )Ii/$?~jt:v?&>99FYEXA;A> Q 15٪ z?Q 55 3 J!9ܵ>Q A;Y 9@Q E@y =E) ':I :i GY5YAEG8AAhahe-l3Ahe-Bhe-Bhe Z@ vehe jveq4[:z>y#@ve^+POпZF?hehe$he'?heջheB*ie'?2ia:iaieB"ievZ@u addTargetRange:: Added new target pos. range: 116.400002 m, deltaT: 3.782677 s, deltaX: -1.199997 m, approachRate: -0.317235 m/s, rangeRepo size: 4 *DAT read: user:957> BDAT read: Tx time:23:52:20.7190 $Ping request sent.Ii m=ɡiiIlͼI2G@iw=iQz=)2G@)iM9IIMm0ID D {D .D E : E 5":6E ـ4:E "E A5 8=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251126A Ae yAIi Iy N >T#, 3Ay:_9@ٱ:F@:>:ȁ:H8֞@A¿ j?F d݆r¿@ v?I:_9@):g];i:CFB9F$IBDN6DNF3YVz!V[=VLQ)Z>z H?9z H?9zFYzE~;A~>Q 1 5٪p?Q 5 5W S!9 Y <9@Q E @y=E);I;iZ5Y9=8A9gFNOT Ignoring new targets: 116.09 m.g:g: ProNav: ac range: 116.089127 m, nav range: 115.710205 m, bearing: 195.611477 deg, approach rate: -0.332880 m/s, LOS rate: 0.094303 deg/s, cmd heading: 178.330816 deg, new cmd heading: 178.396478 deg. g,;HeadingCmd: 3.113606 target range: 116.089127 and range: 116.40 m.gREG@ggggzfrfffBdddcct?ɢ55B5T> 9=>I9 =T=ɡ9i9I=jͼIEREG@iEs=iMx=)UREG@)Yi=9AAE%5A@M=@M=iU%=IU<]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502995)>A-_=A AI I N >Q D D xD -D E : E :6E t4:E ! @! @! @! @),稌3Ay6W9@ٱ6G@6m>66HoU v¿cj?`ZHh¿@Yé?I6W9@)6_];i6CBB9B$IiF=IDBDJ 6DJ2Y!E=GQ) > K?9 K?9 FY Epb;A>Q 1%5٪?d?Q 5%5l \!9!Y-T9@Q E-@y=E) V;I;i\5YU B]9A]Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757940g FNOT Ignoring new targets: 116.09 m.g%4:g%4:yE ProNav: ac range: 116.089127 m, nav range: 115.585312 m, bearing: 195.646793 deg, approach rate: -0.298349 m/s, LOS rate: 0.084456 deg/s, cmd heading: 178.396481 deg, new cmd heading: 178.467190 deg. gM;HeadingCmd: 3.114840 target range: 116.089127 and range: 116.40 m.gYG@ggggzfrfffBdddccI s=ɡiIj3̼IYG@io=i=)YG@)ԡi945vB~BB5$IBBB =BBB;BPEu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006714>A i= A I I N > 1,_Č3Ay619@ٱ6L*G@6(D>626Hާ@@e¿ ?@ֈJX¿ W?I619@)6F\];i4ZB9Z$I=Mb@Mb@Mb@ 9)9I9i99=-?333333/$?=?>==i9i9mFbDqZDu@ADDIGD3D)ZAE: E*5:6E4:EI))"EU;!EV;!*E;!E;!ibZAKAYEm:;A>Q 15٪U?Q 55W j!9>Q A;Y9@Q E@y=E):I:i^5Ys9A-B*** querying acoustic contact ***zh)h)g1=FNOT Ignoring new targets: 116.09 m.g=':gE':} ProNav: ac range: 116.089127 m, nav range: 115.433464 m, bearing: 195.689039 deg, approach rate: -0.323480 m/s, LOS rate: 0.090116 deg/s, cmd heading: 178.467188 deg, new cmd heading: 178.551792 deg. g$;HeadingCmd: 3.116317 target range: 116.089127 and range: 116.40 m.gqG@ggggzfrfffBBdddcc?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259342ɢ1BR= 顥W>I =ɡiI7z˼IqG@ik=iN7=)qG@)YiQQQUO5Qԁ>Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511686 A yAI I N >t7,Bߌ3Ay6:9@ٱ663G@6>6D6H uQ¿!{? UE¿`?I6:9@)6z];i4B߅B9B$IBDJ6DJF3YR!RO=RQ)R>V H?9V H?9VFYVEZ:AZ>\Q 1b5٪^yK?Q 5b5^ ^u!9`Yb9@Q Ef@y^=E)^d:I^:i^Z`5YjBj9AjEg|~FNOT Ignoring new targets: 116.09 m.g:g: ProNav: ac range: 116.089127 m, nav range: 115.321480 m, bearing: 195.720242 deg, approach rate: -0.322883 m/s, LOS rate: 0.090055 deg/s, cmd heading: 178.551786 deg, new cmd heading: 178.614253 deg. g$;HeadingCmd: 3.117407 target range: 116.089127 and range: 116.40 m.gG@ggg!g!zf!rf!f!f)Bd)d)d)cc?ɢ0BQ= J>I '=ɡiIlʼ I-G@i-Uh=i-0=)-G@)1 =C>9i/@@AD D zD -D E g: E  :6E t4:E !@!@!@!@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764106>AԁA AI! I1 NE >ԑ vB ~B B $IB YBB B B B ;B PE =,3Ay6A9@ٱ6 :G@6>6=oe6HkPq>¿E?`LQ3¿c?I6A9@)6];i6CbڅB9b$IdidMMb@Mb@Mb@ I)IIIiIIM(\?Dly&1?M>MOM`=}MQ)}>}K?9}K?9FYE:A>Q 15٪8??Q 55 }!94>Q A;Y:@Q E@y=E);I̖;i;b5Y9AgFNOT Ignoring new targets: 116.09 m.g(:g(:im?IW?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015152  ProNav: ac range: 116.089127 m, nav range: 115.190636 m, bearing: 195.755951 deg, approach rate: -0.302645 m/s, LOS rate: 0.082688 deg/s, cmd heading: 178.614255 deg, new cmd heading: 178.685753 deg. g S;HeadingCmd: 3.118655 target range: 116.089127 and range: 116.40 m.qg G@ggggzfrfffBBdddcc"T@ɢU.BU ;= QU>IQ ]2=ɡYiYI]2ʼIe G@ieb=ieAφ=)e G@)ii%9!!!)ԡDDD/DE: E*5:6EJ4:E"Eh;!-Ei;!-*E!-E!->A z= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267260I) I9 NM > ՀD,T3AyB!P9@ٱBHG@BW>Bz`BHt1¿)?#@&¿ ʋs?IB!P9@)B=];i@N…B9N$IBDZ6DZf?3Y^!bV=bQ)b>d9d9fFYfEfo;Aj>hQ 1n5٪j[4?Q 5r5j j!9pYr:@Q Er@yj=E)j;Ij ;ijc5Ytz:AxgFNOT Ignoring new targets: 116.09 m.g%:g%:5 ProNav: ac range: 116.089127 m, nav range: 115.074654 m, bearing: 195.787618 deg, approach rate: -0.306976 m/s, LOS rate: 0.083899 deg/s, cmd heading: 178.685754 deg, new cmd heading: 178.749151 deg. g5;=HeadingCmd: 3.119761 target range: 116.089127 and range: 116.40 m.g=+G@g9g9g9g9zfArfAfAfABdIdIdIcIcM@b-@ɢ}-B}\= y}ߕ>I =ɡiI̖ɼI+G@i^=i]=)+G@)iU9QQU/Q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518712>Ab$=) Iq I N >D- D- D- .D) E- : E- 3:6E- ـ4:E) !5 @!5 @!5 @!5 @Y J,,3A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771984yUj9@ٱUbG@U">U*kUH @¿`?@+¿ +?IUj9@)UA];iUCB9r$IBD96D9Y!-=Q)>99FYE[;A>Q 1 5٪&?Q 5 5 !9 Y :@Q E@y=E):I:ie5YB:A~E!gFNOT Ignoring new targets: 116.09 m.g:g: ProNav: ac range: 116.089127 m, nav range: 114.930603 m, bearing: 195.826897 deg, approach rate: -0.297123 m/s, LOS rate: 0.081120 deg/s, cmd heading: 178.749151 deg, new cmd heading: 178.827809 deg. gu;HeadingCmd: 3.121134 target range: 116.089127 and range: 116.40 m.gG@ggggzfrfffBdddcc  @ɢ+BC[= 額>I  )=ɡiIԖȼIG@iX=i=)G@))vBEE>~BABE#IBE5BBE =BABABE;BEPEBBBBBB]P5i11111@==@=p=Y checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022786y >Au =bA} AZA} AI I N >ҒQ,F3A0y:K9@ٱ:xG@:>:jp:H˫@Qt¿@K/?߆n¿@X@l?I:K9@):%u];i:CFB9FR$IF!>DDrDrDr/DpErغ: Er*5:6ErJ4:Ep"ErIi@)3@BD6D 83YX !]=dQ)>99FYETq;A>Q 15٪?Q 55 !98>Q A;YW:@Q E@y=E):Is:ig5Yi;Ag!%FNOT Ignoring new targets: 116.09 m.g-:g-:= ProNav: ac range: 116.089127 m, nav range: 114.813904 m, bearing: 195.859191 deg, approach rate: -0.326546 m/s, LOS rate: 0.090456 deg/s, cmd heading: 178.827808 deg, new cmd heading: 178.892461 deg. gE%;MHeadingCmd: 3.122262 target range: 116.089127 and range: 116.40 m.g&G@ggggzfrfffBBdddcc @uBDAT read: Rx Time:23:52:23.2765 }TRx dataTimestamp_ set to:1758412341.216276}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275881ԉɢ)BE= 顽_>I =ɡiIǼI&G@i=T=i]=)&G@)i/Թ>A {= I) I9 NM >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526767IW,`3ATy-9@ٱ-G@-K>-j-Hc떿`¿b?S7?I-9@)-&h];i-CA9ES$IBD]%6D]03YeW;!mN=m͐Q)m>99FYE:A>Q 15٪?Q 55> !9Y^:@Q E@y=E);I;iWi5YB:AB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 116.09 m.g?:g?:% ProNav: ac range: 116.089127 m, nav range: 114.685951 m, bearing: 195.894652 deg, approach rate: -0.315499 m/s, LOS rate: 0.087535 deg/s, cmd heading: 178.892463 deg, new cmd heading: 178.963463 deg. g%2 ;-HeadingCmd: 3.123502 target range: 116.089127 and range: 116.40 m.g-tG@g)g)g)g)zf1rf1f1f1Bd9d9d9c9c=`v(@ɢm(Bm<= imc>Iq uE=ɡqiqIuVǼI}tG@i}cO=i}$=)}tG@)BEM4JEMm4REMT0DDD0DE: E,:6E4:E!@!@!@!@i/DAT read: 23:52:23.2765 LVL= 30496, 31217, 25842, 32755, AGC= 70, IDX= 416, 0.29,-1.358, 3.093,-1.736,-1.748, PHS= 0.492,-1.397,-0.031, RAW= 134.4, 11.1, CAL= 134.0, 12.2, ROT= 16.0, -12.2 Ygot valid direction response: 23:52:23.2765 LVL= 30496, 31217, 25842, 32755, AGC= 70, IDX= 416, 0.29,-1.358, 3.093,-1.736,-1.748, PHS= 0.492,-1.397,-0.031, RAW= 134.4, 11.1, CAL= 134.0, 12.2, ROT= 16.0, -12.2 PDAT read: Bearing 352.6, 7.6 (Local) ~Local bearing/azimuth received: Bearing 352.6, 7.6 (Local) DAT read: Range 11 to 50 : 115.1 m (Round-trip 153.5 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.939552,0.269412,0.211325]Fpublishing direction and range info9Y] R?_7 >?\ ?]3BYi] w]y]dY]F ]m>)]вI]i]Q @]aF>]@]^ Z>]5> ]^ ZiYYI]0ZFYh?`AEDW?RL0?]4>])F ]5>)]^ ZiYYT****** received valid address query ******R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.>A1IIN >! vB! ~B! B% #IB% BB! B! B! B! B% PE{],Qz3AvB9vD$IuMb@Mb@Mb@ q)qIqiqqugfffff?V-V-?u3>uhu99FYEA>Q 15٪;?Q 55j !9s>Q A;Y:@Q E@y=E)]y;I/x;ik5*DAT read: user:958> BDAT read: Tx time:23:52:24.6689 $Ping request sent.@-B8@u R?_7 >?\ ?h5>h^ Zv-[ze%< ϓ @vxאMϿT?N̲?hhh[?h(hiB*ik?2iջ:iiBinB"i#wZ@E addTargetRange:: Added new target pos. range: 115.099998 m, deltaT: 4.029239 s, deltaX: -1.300003 m, approachRate: -0.322642 m/s, rangeRepo size: 4 ] Added new target pos. range: 114.792534 m, bearing: 194.453800 deg, lat: 36.779166 deg, lon: -121.860053 deg, deltaT: 4.029239 s, deltaX: -1.296593 m, approachRate: -0.321796 m/s, posRepo size: 4 gY]FNOT Ignoring new targets: 114.79 m.gega ProNav: ac range: 114.792534 m, nav range: 114.715393 m, bearing: 195.580372 deg, approach rate: 0.000000 m/s, LOS rate: 0.087535 deg/s, cmd heading: 178.963469 deg, new cmd heading: 179.034602 deg. gHeadingCmd: 3.124743 target range: 114.792534 and range: 115.10 m.gG@ggggzfrfffBBd d d c-`f\@c5@?ɢ}&B}x= y顅O>I d2=ɡiIs'ƼIG@iH=ir=)G@)IiAAAAA@I@IDDD3DEI: Ek:6E4:E"EA [=rA >jA >ԡ A I I N >d,*3AzB9,$I!i!BD-6D-03YEdĽ!EP=AQ)E>I9I9MFYMEIAU>QQ 1]5٪U?Q 5e5U U!9aYaQ Ee@yU=E)U;IUH;iUl5Yim;AqygFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 114.591995 m, bearing: 195.613676 deg, approach rate: -0.322078 m/s, LOS rate: 0.087018 deg/s, cmd heading: 179.034599 deg, new cmd heading: 179.101277 deg. g@;HeadingCmd: 3.125907 target range: 114.792534 and range: 115.10 m.gH@ggggzfrf5PExceeded connect timeout, disconnecting.fQfQBdQdQdQcYc]K?ɢ$B9N= 顭,>I |z=ɡiI;żIH@i@=i=)H@)ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503645i/>AM W^=D D D 1D E : E H:6E -4:E ! @! @! @! @ A yAI I N >j,B3A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754776y:t9@ٱ:G@:>:u:H ak^X?ڰ@=d?I:t9@):];i:CN[B9$IBD6DP)3YP !%==-[Q)5> H?9 H?9FYE;A>Q 15٪V뺊?Q 55 !9Y;@Q E@y=E);IA;in5Y-B-;A-sEgFNOT Ignoring new targets: 114.79 m.g+:g+: ProNav: ac range: 114.792534 m, nav range: 114.448746 m, bearing: 195.652123 deg, approach rate: -0.306091 m/s, LOS rate: 0.082256 deg/s, cmd heading: 179.101275 deg, new cmd heading: 179.178266 deg. g;HeadingCmd: 3.127251 target range: 114.792534 and range: 115.10 m.g$H@ggggzfrfffBdddcc?ɢ"B= H=I =ɡiAA<vB~BB#IBBB =BBB;BPEI(ļI-$H@i-:=i-=)-$H@))i9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068221>A =a D D D 0D E : E 0:6E 4:E "E = br,ʍ3Ay69@ٱ6PG@6>6n6H(b`/u? E/w@?I69@)6L];i41UaB9] $IMb@Mb@Mb@ )Iioʡ?~jt rh?>C =Iih@ A)@BD56D5:3Y=><!E9=E_5Q)E>EK?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589699UK?9UFY]E];A]>aQ 1m5٪eUߺ?Q 5m5eŽ e!9u:>Q Au;Yu9@Q Eu@ye=E)e ;Ie2 ;iep5Yy}:AygFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 114.320961 m, bearing: 195.688131 deg, approach rate: -0.313910 m/s, LOS rate: 0.088554 deg/s, cmd heading: 179.178265 deg, new cmd heading: 179.250361 deg. g";HeadingCmd: 3.128509 target range: 114.792534 and range: 115.10 m.g~9H@ggggzfrfffBBdddcc{?ɢ  B `=  v>I B=ɡiI:KüI~9H@i*5=iIs=)~9H@)! -a>)ai90@@=ԉ5nManaging dock network, ignoring radio surface power off>A_=% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514535Թ A I I N >ƈx,3Ay69@ٱ6{G@64>6op6HБ @?.Í B?I69@)6R4];i6CBVB9B$IF=F>iF=IF=BDJ6DJf?3YVw!Vi=VSQ)V>X9X9ZFYZEZs ;A^>dQ 1j5٪fUպ?Q 5j5f f!9lYn9@Q En@yf>E)f;If;if&r5YprH;AtB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 114.79 m.g:g:- ProNav: ac range: 114.792534 m, nav range: 114.214546 m, bearing: 195.718136 deg, approach rate: -0.302925 m/s, LOS rate: 0.085493 deg/s, cmd heading: 179.250364 deg, new cmd heading: 179.310430 deg. g-v;5HeadingCmd: 3.129557 target range: 114.792534 and range: 115.10 m.g5JH@g1g1g1g1ԙzfrfffBdddcc@l?ɢ B0 = 15(=I1 = =ɡ9i9I=0l¼IEJH@iEX/=iE}=)EJH@)IDDD-DE: EV:6Et4:E!@!@!@!@i1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762802>A5S=vB ~B B Z#IB τBB B B B ;B PEAy I I N > Z~,r3Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014816KB9#IMb@Mb@Mb@ )Ii\(\?ˡES㥛?>什/ 9 9 FY  EA>Q 1%5٪Ǻ?Q 5%5 !9% >Q A- ;Y-9@Q E-@y>E):I:it5Y5B58;A9gYeFNOT Ignoring new targets: 114.79 m.ge:ge:u ProNav: ac range: 114.792534 m, nav range: 114.068924 m, bearing: 195.759392 deg, approach rate: -0.326262 m/s, LOS rate: 0.092551 deg/s, cmd heading: 179.310429 deg, new cmd heading: 179.393047 deg. g}`);}HeadingCmd: 3.130999 target range: 114.792534 and range: 115.10 m.gKbH@ggggzfrfffBBdddcc V@ɢB= =I 2=ɡiI_IMKbH@iU'=iUR=)UKbH@)QiCi1!IUՈG)mAIi A9ArD4=jDR=DDD0DE E,:6E4:E"E AM {=Ay ԁ I I N >%,=3Ay6> :@ٱ6H@6 >66H ° 䌿? ⌿ °?I6> :@)6 ];i6CB>B9B#IBDJ6DJ03YRl!Rd=VQ)V>T9T9VFYV EZ <AZ>\Q 1j5٪^?Q 5j5^" ^!9hYj9@Q Ej@y^>E)^A5t0=rA5>jA5>ԱDDD*DE7: E0:6E(N4:E! @! @! @! @A% yAI9 II N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771543 Nj,h13Ay:@ٱ@H@ >Ht@<)vF?3nm@@Q?I:@)];i.B9#IiԩMb@Mb@Mb@ )IiI +?kty&1?9> `5 H?95 H?9=FY=E=-:A=>AQ 1M5٪E1?Q 5M5E E!9U>Q AU;YU8@Q EU@yE>E)Ey;IE*:iEw5Y]B];AerEAAvBG>~BB5#IBBB =BBB;BPEgFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 113.798912 m, bearing: 195.837418 deg, approach rate: -0.306332 m/s, LOS rate: 0.090291 deg/s, cmd heading: 179.459163 deg, new cmd heading: 179.549285 deg. g>%; HeadingCmd: 3.133726 target range: 114.792534 and range: 115.10 m.g H@g g g g zfrfffBBdddccE @ɢB {= A[顕0!=I `=ɡiI''IH@iH=iؘ=)H@)i93DAT read: 23:52:27.2248 LVL= 29072, 28657, 24242, 32755, AGC= 69, IDX= 430, 0.25, 0.612,-1.324, 0.242, 0.194, PHS= 0.520,-1.474, 0.004, RAW= 135.6, 10.6, CAL= 135.1, 11.7, ROT= 14.9, -11.7 Ygot valid direction response: 23:52:27.2248 LVL= 29072, 28657, 24242, 32755, AGC= 69, IDX= 430, 0.25, 0.612,-1.324, 0.242, 0.194, PHS= 0.520,-1.474, 0.004, RAW= 135.6, 10.6, CAL= 135.1, 11.7, ROT= 14.9, -11.7 %BDAT read: Rx Time:23:52:27.2248 -TRx dataTimestamp_ set to:1758412345.0057655@DAT read: $Low SNR acquisition 52Received low SNR in chirpX#Rx 1: Read direction message, but no range.\direction in FSK: [0.946298,0.251790,0.202787]9!%S=H?ɵU? ?!i%q%o%^!%E %?)%I%o;i%ww@%q=>%}@%Q>%%> %Qi!I%Gi'L?̊?Ee?%i>%= %%>)%QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse >A _=bD ZD ?AD D D D E غ: E c:6E :E "E E,M3AyVv5:@ٱV-H@V}r >V胃VHL@{ X?i@;H?IVv5:@)VA];iVC^B9b#IBDj6Djf?3Yr !r^=rͺQ)v>t9t9vFYvEz_;Az>| T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseQ 1 5٪~N?Q 5 5~ ~!9Y8@Q E@y~ >E)~a;I~c;i~gy5YAM S=a Ay I I N >yb,\g3ADDD,DEm: E=:6Eg4:E!@!@!@!@%B9%#IQBDM6DM03Y|I!3=Q)>99FYEA>Q 15٪?Q 55 !9YQ E@y >E)-:IR:ig{5Y~B}CB}#IB}BByByByB};B}PEBABABABABABEF5Ա>A \A= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse A AI I N >|,3AmB9u#Iu=up= Mb@Mb@Mb@ )IibX9?ˡE:v?E>什EK?9EK?9MFYMEIAM>QQ 1]5٪Ud?Q 5]5U U!9e>Q Ae;Ye9@Q Ee@yU>E)U:IU:iU5}5YmBmA p=MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseAI!I1NE>3?,3AyB:l:@ٱBdH@B- >B?|BH@\Z1?VX8=|?IB:l:@)B];iBCB9#IBD%6D%F3Y]!]-=eC,Q)e>a9a9mFYmEm;Am>qQ 1}5٪uE{?Q 5}5u u"9Y9@Q E@yu>E)u:Iut:iuD5Y?=AgFNOT Ignoring new targets: 114.79 m.gO:gO: ProNav: ac range: 114.792534 m, nav range: 113.259079 m, bearing: 195.994087 deg, approach rate: -0.318404 m/s, LOS rate: 0.091059 deg/s, cmd heading: 179.777177 deg, new cmd heading: 179.862987 deg. g&;HeadingCmd: 3.139201 target range: 114.792534 and range: 115.10 m.gH@ggggzfrfffBdddc)c-@@ɢUB]= Y]IY ]%=ɡYiaIeLIeH@ik=i2=)H@)ԩ9_BEJ4JERE0DDD.DEg: E*:6Eـ4:E!@!@!@!@iO5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse >AE |=A A <vB ~B B "IB jBB B B B ;B PEA I I N >9 gd,]3Ay6{:@ٱ62tH@6 >6~p6H`;w~`W`(G? ?|`S׍`?I6{:@)6^;i4B܄B9Bj#I Mb@Mb@Mb@ ) I i   /$?ʡE:v? &>  I Ai A $@  A)  ABD%6D%:3Y5̽!5N==GQ)=>99A9EFYEEE|;AE>IQ 1U5٪Mo?Q 5U5M+ M "9>Q A;Y:@Q E@yM>E)Mg >DDDDEƱ: E.:6E:E"EF;!%EG;!%*E ;!-E ;!-iX0ԉ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse>A =Թ IIN>,iێ3Aiy>:@ٱ>sH@> >>{]>Ha-v8}?#@86 n۴?I>:@)>E_;i<JʄB9JT#ILiL)P RAR4`9`9fFYf!Ef+;Af>hQ 1n5٪ja?Q 5n5j1 j"9pYr:@Q Er@yj>E)j:Ij:ij5Ytv >At1gFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 112.989838 m, bearing: 196.069614 deg, approach rate: -0.308008 m/s, LOS rate: 0.086429 deg/s, cmd heading: 179.932359 deg, new cmd heading: 180.014230 deg. g,;HeadingCmd: 3.141841 target range: 114.792534 and range: 115.10 m.gI@ggggzfrfffBdddcc]@ɢUBUv= Y]( IY ] =ɡYiYI]$~Ie Iie=ie=)uI@)yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiAAAE=5AqԑDMDM~DM/DIEM%: EM(:6EMJ4:EI!]@!]@!]@!]@>AW^=e T****** received valid address query ******e R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseI I N >Թ ,B?3Ayf:@ٱf%H@fvq >f+XYfH ,xgq`$#tx?7 C슿?If:@)fm_;ifCԙvBmJ>~BiBm"IBmFBBiBiBmDBm;BmPEB98#IMb@Mb@Mb@ )Ii#~j?+Q?>99FY$E";A>Q 15٪fS?Q 55 "9Q>Q A;Y9@Q E@y>E):I':ib5Y>AB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 114.79 m.g:g:- ProNav: ac range: 114.792534 m, nav range: 112.835175 m, bearing: 196.114663 deg, approach rate: -0.300991 m/s, LOS rate: 0.087789 deg/s, cmd heading: 180.014225 deg, new cmd heading: 180.104446 deg. g- ;5HeadingCmd: 3.143416 target range: 114.792534 and range: 115.10 m.g5-I@g1g1g1g1zf1rf1T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseffBBdddcc@28@ɢMBUR= Y]x5IY ]P=ɡYiYI]IeHie=ie=)e-I@)i)yio0@@=rD <jD < DU DU DU .DQ EU : EU .:6EU ـ4:EQ "EU gA5 ƒ=I I N >,#3Ay6:@ٱ6dH@6>6Y6H2@Ci`s?`@ቿ?I6:@)6rD_;i4<>A>\i@@i@BA)B\ @ID D)Fs@DDDHJAiJNT****** received valid address query ******NR****** received valid ping request ******Nreceived new query, but waiting for acoustic response period to elapseIHPIPiP RļT)TT VAVTXXXIX)\i\\bB9b'#IBDj6Dj2Yr:!r=vGEQ)v?t9t9vFYv&Ez;Az?|Q 15٪~OK?Q 55~v ~"9Y 9@Q E @y~>E)~:I~-:i~5Y~B>AoEqgFNOT Ignoring new targets: 114.79 m.gh:gh: ProNav: ac range: 114.792534 m, nav range: 112.749458 m, bearing: 196.139625 deg, approach rate: -0.275097 m/s, LOS rate: 0.080173 deg/s, cmd heading: 180.104452 deg, new cmd heading: 180.154414 deg. g;HeadingCmd: 3.144288 target range: 114.792534 and range: 115.10 m.gAPڀ=IIN > *,)3Aɰ4<;yje:@ٱjH@j>jYjHE y4\t:l?FHY?Ije:@)j:_;ijCDDuD1DEU: E:6E-4:E!@!@!@!@B9#IBD6D3YG!==4Q)>99FY)EEI;AE>IQ 1U5٪M??Q 5U5M M""9YY]9@Q E]@yM>E)Mw;IM;iM5Yae??AagFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 112.620018 m, bearing: 196.177279 deg, approach rate: -0.301126 m/s, LOS rate: 0.087698 deg/s, cmd heading: 180.154408 deg, new cmd heading: 180.229803 deg. g ;HeadingCmd: 3.145603 target range: 114.792534 and range: 115.10 m.gQI@ggggzfrfffBdddcca@ɢ5 B5.ڡ= 1=2iI9 =e=ɡ9i9IE1IM$HiMuُ=iUh=)UQI@)QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiE9IIM4QAAvB~BB"IB#BB =BBB;BQE1>A {=I I N >ie %=Ie 4=m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseq N,*C3AyV:@ٱV!H@V%>VAdVH@Q͚&< 8`?@8 @TD?IV:@)V^_;iVCbB9b #IMMb@Mb@Mb@ I)IIIiIIM(\?333333:v?M>MM99FY+E z;A>Q 15٪3?Q 55Ł )"9²>Q A;Y!;@Q E@y>E);I;iQ5Y{?A9ImG)IiׁAgFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 112.501450 m, bearing: 196.210278 deg, approach rate: -0.289508 m/s, LOS rate: 0.080658 deg/s, cmd heading: 180.229800 deg, new cmd heading: 180.295867 deg. g;HeadingCmd: 3.146756 target range: 114.792534 and range: 115.10 m.gudI@ggigqgqzfqrfyffBdddcc@bD)ZD)D5D5tD53D1E5: E5v:6E54:E1"E5#;!=E5$;!E*E5`;!EE5`;!EɢU B]p= Y]:uIY ]E>=ɡYiaIe駱IAHiҏ=i6=)udI@)ai%9!!%/!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉ>AA Aq Iy I N ><,Z^3Ae{B9e"IBDu+6DuE3Yoý!F=Q)>99FY.EA>Q 15٪'(?Q 55T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 1"9YQ E@y">E)n;IAp;i5YrB?AgFNOT Ignoring new targets: 114.79 m.g :g : ProNav: ac range: 114.792534 m, nav range: 112.375420 m, bearing: 196.245440 deg, approach rate: -0.322051 m/s, LOS rate: 0.089951 deg/s, cmd heading: 180.295861 deg, new cmd heading: 180.366264 deg. g$;%HeadingCmd: 3.147985 target range: 114.792534 and range: 115.10 m.g%xI@g!g!g!g!zf)rf)f)f)Bd1d1d1c1c5`N@AɢmBm= quIq u=ɡqiqIuQI}Hi}̏=iN=)xI@)i9ԡDDyD-DEs: E:6Et4:E!@!@!@!@>A_= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAm yAIq I N > ^,4x3AlilvBUI>~BQBUZ"IBUBBU =BQBUDBU;BUQEoB9"IUMb@Mb@Mb@ Q)QIQiQQUi|?5?333333/$?U>QU H?9 H?9FY1EA>Q 15٪l?Q 55 <"9>Q A;Y\;@Q E@y$>E):I:i+5Y@AB*** querying acoustic contact ***zhhg FNOT Ignoring new targets: 114.79 m.g:g:- ProNav: ac range: 114.792534 m, nav range: 112.228889 m, bearing: 196.286084 deg, approach rate: -0.312468 m/s, LOS rate: 0.086785 deg/s, cmd heading: 180.366267 deg, new cmd heading: 180.447662 deg. g-;-HeadingCmd: 3.149406 target range: 114.792534 and range: 115.10 m.g5ݏI@g1g1g1g1zf1rf1f9f=BBd9dAdAcAcE@ @ɢuBu= qu)Iq }DF=ɡyiyI}I׏HiÏ=i~=)ݏI@)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei!A >A =rD =jD p=D D D ,D E g: E 6E g4:E "E ;! E ;!% *E r;!% E r;!% A AI I) N= >9,p3A.T****** received valid address query ******.R****** received valid ping request ******.received new query, but waiting for acoustic response period to elapsey>0;@ٱ> )I@>}0>> s>H`ڼS'l?^Y XKڎ Z u3?I>0;@)>G_;i>CjVB9j"IBDr&6Drދ3Yz!z=zc/Q)~?~K?9~K?9~FY~3E7:<A? Q 15٪ U?Q 55 j C"9Y;@Q E@y &>E) ;I ;i 5Y!%@A!gFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 112.131844 m, bearing: 196.312838 deg, approach rate: -0.294031 m/s, LOS rate: 0.081130 deg/s, cmd heading: 180.447656 deg, new cmd heading: 180.501210 deg. gy;-HeadingCmd: 3.150340 target range: 114.792534 and range: 115.10 m.g--I@g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=B!@ɢBVV= 顭}I ̿=ɡiIeAe|= A yAI I N >_,03ALDnDntDn/DlEn: Env:6EnJ4:El!v@!v@!v@!v@5MB9="IBDE#6DEӀ3Y}4!B=Q)> H?9 H?9FY5EA>Q 15٪?Q 55~ M"9YQ E@y)>E):IF:i^5YeB@AnEgamFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 112.000282 m, bearing: 196.349192 deg, approach rate: -0.314040 m/s, LOS rate: 0.086879 deg/s, cmd heading: 180.501204 deg, new cmd heading: 180.573997 deg. g;HeadingCmd: 3.151611 target range: 114.792534 and range: 115.10 m.gI@ggggzfrff f Bd d dcc"@ɢ]B]j= aeIamT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse %*=ɡ!i!I%yI-kHi-ѵ=i-=)-I@)1i9  /AYA]4<vB}H>~ByB}."IB}܃BByByByB}Ϙ;B}QEBljCBljCBBǯ =Bǯ =Bm;5! >A [=% T****** received valid address query ******% R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseI I N >0,,Ə3Ay6O;@ٱ6kHI@6]>6E{6H` v?n|l @, 6@¾?I6O;@)6 `;i6CB7B9B"IFCI AiVAAdA)zABD-/6D-3Y=~ν!=C=="׻Q)E>A9A9EFYE8EMp;AM>QQ 1]5٪UU?Q 5]5U} UW"9]>Q Ae;YeS=@Q Ee@yU+>E)U:IU:iU35YiqAAgyFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 111.863815 m, bearing: 196.384591 deg, approach rate: -0.316008 m/s, LOS rate: 0.082072 deg/s, cmd heading: 180.574000 deg, new cmd heading: 180.644885 deg. g3;HeadingCmd: 3.152848 target range: 114.792534 and range: 115.10 m.gCI@ggggzfrfffBBdddcc@w"@D-D-~D-0D)E-: E-(:6E-4:E)"E-#;!=E-%;!=*E-;!=E-;!=aɢB= ˾I t=ɡiIO⩼I rWHi ߮=i =) CI@)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei9/ԑ >AU p=I1 IA NU >,23Ay6M`;@ٱ6XI@6=6f6Hgzz?Ur<@=鋐?I6M`;@)6`;i6CPZ-B9Z"IBDb6Db4d3YjnP!jQ=nJtQ)n>l9l9rFYr:Er';Ar>tQ 1z5٪v칊?Q 5z5v.} v`"9|Y~d=@Q E~@yv->E)v;Iv;iv蔈5YYB^AAmET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseg9EFNOT Ignoring new targets: 114.79 m.gE:gE:] ProNav: ac range: 114.792534 m, nav range: 111.736931 m, bearing: 196.417505 deg, approach rate: -0.349556 m/s, LOS rate: 0.090779 deg/s, cmd heading: 180.644884 deg, new cmd heading: 180.710787 deg. g]"&;]HeadingCmd: 3.153998 target range: 114.792534 and range: 115.10 m.geI@gagagagazfarfafifiBdidqdqcqcu@#@ɢBqz= 顥ԾI ~=ɡiI}IDHim=iz=)I@)iM9IIM#0I@Q@QBEJE94REA0D=D=D=2D9E=U: E=*5:6E=4:E9!M@!M@!M@!M@>A-[=IIN>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ,@3AvB,~B,B."IB.BB. =B,B,B.;B.;QE|y l;@ٱdI@=5H}}?> u E 吿?I l;@)j@a;iCB9w"I}Mb@Mb@Mb@ y)yIyiyy}gfffff?Q뱿I +?}3>}\}999FY=E:A>Q 15٪޹?Q 55[| i"9>Q A;Y<@Q E@y0>E) ;IP ;i5YBAuB*** querying acoustic contact ***zhqhqgyFNOT Ignoring new targets: 114.79 m.g;:g;: ProNav: ac range: 114.792534 m, nav range: 111.589966 m, bearing: 196.456569 deg, approach rate: -0.307515 m/s, LOS rate: 0.081846 deg/s, cmd heading: 180.710782 deg, new cmd heading: 180.789012 deg. g;HeadingCmd: 3.155364 target range: 114.792534 and range: 115.10 m.gzI@ggggzf rf f f ބBBdddcc $@i!I%=-A Pڀ=IY Ii N} > DAT read:  2Acoustic response timeout,m3Ay^};@ٱ^ vI@^=^ߍ^H@ ?᾿B\y`@龿 ?I^};@)^la;i^Cj B9jj"Ilil)p rABDv%6Dv03Y~n!~k=~(Q)?99FY?E H;A ?Q 15٪Թ?Q 55{ p"9Y<@Q E%@y2>E);I";it5Y)-dBA)gQUFNOT Ignoring new targets: 114.79 m.Yge:ge:u ProNav: ac range: 114.792534 m, nav range: 111.479538 m, bearing: 196.485918 deg, approach rate: -0.332934 m/s, LOS rate: 0.088573 deg/s, cmd heading: 180.789015 deg, new cmd heading: 180.847771 deg. gu";}HeadingCmd: 3.156389 target range: 114.792534 and range: 115.10 m.g}GJ@gygygygyzfrfffBdddccL%@ɢ=B=eE_= =:t=I9 =^Y=ɡAiAIE6IMmHiM=iM=)MGJ@)Ii-9))-0)ԉ=2Acoustic response timeoutԹ>AyII N > D] D] zD] -DY E] : E]  :6E] t4:EY !e @!m @!m @!m @9 ,s.3Ay>;@ٱ>rI@>A=>0}>H`[F?={ o}JpgC`7?I>;@)>a;i>CRB9RT"IBDb6DbF3YUv!UC=]pQ)]>a9a9mFYmBEmS;Au>yQ 15٪}#ȹ?Q 55}z }x"9Y<@Q E@y}4>E)};I};i}J5YLBBAlEԡgFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 111.346130 m, bearing: 196.521365 deg, approach rate: -0.316384 m/s, LOS rate: 0.084166 deg/s, cmd heading: 180.847768 deg, new cmd heading: 180.918748 deg. g;HeadingCmd: 3.157628 target range: 114.792534 and range: 115.10 m.gJ@ggggzfrfffBdddccL$&@ɢ-B-i= )-4I) 5z=ɡ1i1I5}I=" Hi==i==)=J@)A2Acoustic response timeouti9Z5A9A9vB]I>~BYB]!IB]BB] =BYBYB];B]EQE>AbAAZAAIAIQN]>5 2Acoustic response timeout) ,l#H3Ay6#;@ٱ6I@6^=66Hb_?k@Zʔ)m?I6#;@)6a;i6C^B9^?"IMb@Mb@Mb@ )Ii-?DlOt)9195FY5EE5EY;A=>9Q 1E5٪=h?Q 5M5=Bz ="9M>Q AM;YMZ=@Q EM@y=7>E)=:I=:i='5YY]CAYgFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 111.209290 m, bearing: 196.557302 deg, approach rate: -0.321911 m/s, LOS rate: 0.084643 deg/s, cmd heading: 180.918747 deg, new cmd heading: 180.990709 deg. g;HeadingCmd: 3.158884 target range: 114.792534 and range: 115.10 m.g'+J@ggggzfrfffńBBdddcc !&@ɢB`= fI =ɡiIIGi`=i1n=)'+J@)DUDU|DU,DQEUU: EUP$:6EUg4:EQ"EU;!eEU;!e*EU};!eEU};!eim9iimP5iA2Acoustic response timeoutq>AI I N >ԙ ,a3Ay6;@ٱ6gI@6H=66H?:?e@O s•ҷ` ~?I6;@)6J`b;i4FB9F5"IJC=J=iJ=IJ=BDR(6DR:3YZ<!Zf=Z٠Q)Z>\9\9^FY^GEb;Ab>dQ 1j5٪fŰ?Q 5j5fy f"9hYji=@Q Ej@yf9>E)f:Ifp:if5YprYCApi=I=2Acoustic response timeoutgFNOT Ignoring new targets: 114.79 m.gq:gq: ProNav: ac range: 114.792534 m, nav range: 111.094940 m, bearing: 196.587339 deg, approach rate: -0.319924 m/s, LOS rate: 0.084122 deg/s, cmd heading: 180.990710 deg, new cmd heading: 181.050846 deg. g;HeadingCmd: 3.159933 target range: 114.792534 and range: 115.10 m.gYA rA >jA >I I!!N5>Yp ,8ׁ3Ay6;@ٱ6MI@6=66Hp?`= QɅ@Q N씿m?I6;@)6 b;i6CB̃B9B"I52Acoustic response timeoutMMb@Mb@Mb@ I)IIIiIIMgfffff?333333I +?M3>MM9y9y9FYJER;A>Q 15٪M?Q 55x "9>Q A;YU<@Q E@y<>E):Is:i5Y@BCAkEB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 114.79 m.gE:gE: ProNav: ac range: 114.792534 m, nav range: 110.929611 m, bearing: 196.632720 deg, approach rate: -0.316873 m/s, LOS rate: 0.087109 deg/s, cmd heading: 181.050843 deg, new cmd heading: 181.141741 deg. g k;HeadingCmd: 3.161520 target range: 114.792534 and range: 115.10 m.gWVJ@ggggzfrfff„BBdd!d!c!c%(@ɢB_= I u=ɡiI2 I]Gi;z=iېC!iJ=)eWVJ@I~G)Ii#]aA)}_?}XAQDDxD-DEU: E:6Et4:E"E!E!*EWo;!EWo;!9d) ABDAT read: Response Not Received *response not receivedTDAT read: user:960>Tx time:23:52:37.1189 A}0ƀ=IIN>',J3Ay6x;@ٱ6I@6R3=6&6HE缌?Ƽ[%ּ@|?I6x;@)6(b;i6CZB9Z"IBDb'6Db3lYnn!r.=rA~Q)r>p9t9vFYvMEv/;Av>xQ 1~5٪zS?Q 55zw z"9Yg<@Q E@yz?>E)zN:Iz:iz5Y  8DAg9=FNOT Ignoring new targets: 114.79 m.gE::gE::U ProNav: ac range: 114.792534 m, nav range: 110.780197 m, bearing: 196.673752 deg, approach rate: -0.316694 m/s, LOS rate: 0.087088 deg/s, cmd heading: 181.141739 deg, new cmd heading: 181.223915 deg. gUa;]HeadingCmd: 3.162954 target range: 114.792534 and range: 115.10 m.g]mJ@gYgagagazfarfafifiBdididqcqcu)@DAT read: 2Acoustic response timeoutɢBH= 页FI R=ɡiI;*IޱGi[q=i=)mJ@)) iIi9/D D sD .D E %: E Z:6E ـ4:E !@!@!@!@1E 2Acoustic response timeouta >A5 X=I I N ><.,3AiA4A6p<vBBG>~B@BB!IBBRBBB =B@B@BB;BB@QEAy;@ٱI@=H`J?Sn`֒@c8`M?I;@)_6b;iCmB9m!I) %Mb@Mb@Mb@ !)!I!i!!%V-?%t%q9y9}FY}PE}C5;A}>Q 15٪[?Q 55v "9ݱ>Q A;Y<@Q E@yA>E)i ;I ;i.5Y3B EAgFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 110.630806 m, bearing: 196.714570 deg, approach rate: -0.306960 m/s, LOS rate: 0.083984 deg/s, cmd heading: 181.223920 deg, new cmd heading: 181.305667 deg. g;HeadingCmd: 3.164381 target range: 114.792534 and range: 115.10 m.g7J@ggggzfrfffBBdddcc *@i2Acoustic response timeoutɢB~ ;= 0I =ɡiIIGiVg=ie=)7J@)i}9yy}0ԙD% D% uD% 2D! E% U: E% :6E% 4:E! "E% ;!- E! !5 *E% kd;!5 E% ld;!5 >A |=bA AZA A I! I1 NE >] 2Acoustic response timeout5,}Ր3Ay><@ٱ>$I@>=>>H`+`;s?`M仿 (+"x?I><@)>Aa;i<NB9N!IBDV 6DVk3Y^8=!^=^ Q)b ?`9`9bFYbREfxK;Af ?hQ 1n5٪jC|?Q 5n5jcv j"9lYn<@Q Er@yjC>E)jp:Ij:ij5YtvDAtgFNOT Ignoring new targets: 114.79 m.g%:g%:- ProNav: ac range: 114.792534 m, nav range: 110.533562 m, bearing: 196.741148 deg, approach rate: -0.307057 m/s, LOS rate: 0.083994 deg/s, cmd heading: 181.305664 deg, new cmd heading: 181.358865 deg. g-;5HeadingCmd: 3.165309 target range: 114.792534 and range: 115.10 m.g5nJ@g1g1g9g9zf9rf9f9fABdAdAdAcAcM M+@ɢuBu = y} ,Iy }i=ɡyiyI}=IHGi}a=i=)nJ@)ԑiE9IIM5IԹ>APڀ=2Acoustic response timeoutIIN> (;,%3ADhDjxDj0DhEh Ej:6Ej4:Eh!r@!r@!r@!r@yV<@ٱVJ@VD=VVHm ֑?-z ď`E @X`8`@?IV<@)V#Eb;iVCB9!I)! !52Acoustic response timeoutBD=6D={U3YM5!M(=MVQ)U>Q9Q9UFYUUE]/;A]>aQ 1m5٪eIn?Q 5m5eu e"9iYm<@Q Eu@yeF>E)e ;Iei ;ie5Y}'B}DA}jEgFNOT Ignoring new targets: 114.79 m.g3:g3: ProNav: ac range: 114.792534 m, nav range: 110.384033 m, bearing: 196.781983 deg, approach rate: -0.307236 m/s, LOS rate: 0.084018 deg/s, cmd heading: 181.358871 deg, new cmd heading: 181.440652 deg. g;HeadingCmd: 3.166737 target range: 114.792534 and range: 115.10 m.gѫJ@ggggzfrfffBdddcc@[F,@gJTimed out from 2025-09-20T23:42:35.4Z3gfCompleted lineCaptureHoming:MicromodemComms:CheckIn3 gAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInfVCompleted lineCaptureHoming:MicromodemCommsɢ B4= 0I V=ɡiIIsGi%W=i%_=)%ѫJ@))!i9_5vBi~BiBm`!IBm4BBiBiBiBm;BmDQEB)B)B)B-Ʈ =B-Ʈ =B-4Y>A X= 2Acoustic response timeouty A AI I N >B,ߦ3AyZ9<@ٱZF2J@Z!+=ZQZH&?@b ܔ`@֒?IZ9<@)Z:1c;iZCr|B9r!Iiz=Iz=Mb@Mb@Mb@ )IiI +?Dl rh?9>OCMK?9MK?9MFYMXEM;AU>QYQ 1e5٪]Ac?Q 5e5]t ]"9mܷ>Q Am;Ym=@Q Em@y]H>E)]@:I]3:i]O5Yy}\EAyB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 114.79 m.g:g: ProNav: ac range: 114.792534 m, nav range: 110.265381 m, bearing: 196.813139 deg, approach rate: -0.319217 m/s, LOS rate: 0.083913 deg/s, cmd heading: 181.440656 deg, new cmd heading: 181.503036 deg. g;HeadingCmd: 3.167826 target range: 114.792534 and range: 115.10 m.gJ@ggggzfrfffBBdddcc -@q3fnAggregate::initialize lineCaptureHoming:MicromodemComms3  g~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn3ɢ5B== 9=6I9 =r=ɡ9iAIEgÔIEbGiMQ=iMh=)MJ@)IDDD+DEg: E.:6E [4:E"E;!E;!*E ;!E ;!i94@@@@ԁ%2Acoustic response timeoutԱA I I  2Acoustic response timeoutNe?sJ, -3AyBNo<@ٱBgJ@Bn=B< BH`hs{?B@b_展'" Dg?IBNo<@)B9Fd;iBCNxB9N!IBDV6DV4d3Y^^9!^=bzQ)b>`9`9bFYf[Edf;Aj>lQ 1r5٪nS?Q 5r5nt n"9pYr>@Q Ev@ynK>E)n :In:in5YxzuEAxg)5FNOT Ignoring new targets: 114.79 m.g=[:g=[:U ProNav: ac range: 114.792534 m, nav range: 110.098564 m, bearing: 196.856711 deg, approach rate: -0.319771 m/s, LOS rate: 0.083648 deg/s, cmd heading: 181.503043 deg, new cmd heading: 181.590317 deg. gU;eHeadingCmd: 3.169349 target range: 114.792534 and range: 115.10 m.geJ@gagagagazfirfqfqfqBdydydcc`.@BEaJEe4REe0DDzD2DE%: E :6E4:E!@!@!@!@ɢB`/= 6I p=ɡiIIIGiFI=i=)J@)%2Acoustic response timeouti999=09AIINa>1AIAIvBUK>~BQBU;!IBUBBU =BQBQBU;BQY  2Acoustic response timeoutQ,{F3Ay6<@ٱ6J@6}3=6a6H@8?}<ӗ${`t@ ?I6<@)6rd;i6CNcB9R!I-Mb@Mb@Mb@ )))I)i)y)-X9v?L7A`尿 rh?->-+)I-dAi)-A-A))- ABD"6DJz3Y5½!9=Q)> 9 9 FY ^E;A>!Q 155٪%F?Q 555%ks %"9=>Q A=;Y=>@Q E=@y%M>E)%7%;I%;i%5YEBEEAEiEgimFNOT Ignoring new targets: 114.79 m.guW:guW: ProNav: ac range: 114.792534 m, nav range: 109.956024 m, bearing: 196.893127 deg, approach rate: -0.321838 m/s, LOS rate: 0.082330 deg/s, cmd heading: 181.590319 deg, new cmd heading: 181.663245 deg. g;HeadingCmd: 3.170622 target range: 114.792534 and range: 115.10 m.gxJ@ggggzfrfffBBdddccy.@ɢBM= QU@IQ U=ɡQiQIUDI]<4Gi]1D=ieD=)exJ@)aԩDDD/DEy: E*5:6EJ4:E"E W,5`3A%TB9%!I)i)BD56D53YE!EV=MQ)M>I9I9MFYM`EUAU>YQ 1e5٪]P;?Q 5e5]r ]"9iYiQ Em@y]P>E)]:I]:i]-5Yqu4FAqgFNOT Ignoring new targets: 114.79 m.gY:gY: ProNav: ac range: 114.792534 m, nav range: 109.834778 m, bearing: 196.924188 deg, approach rate: -0.321036 m/s, LOS rate: 0.082334 deg/s, cmd heading: 181.663252 deg, new cmd heading: 181.725442 deg. g;HeadingCmd: 3.171707 target range: 114.792534 and range: 115.10 m.gAJ@ggggzfrfffBdddcc /@BDAT read: Rx Time:23:52:39.6691 TRx dataTimestamp_ set to:1758412357.5964282Acoustic response timeoutɢ}B}j= y顅EI c=ɡiIIu"Gii>=i=)AJ@) ]>> iaaae2aAIIN>DDzD,DEC: E :6Eg4:E! @! @! @!@1M 2Acoustic response timeouta '],ܟz3Ayv<@ٱvJ@vV=vݘ;vH ?`Y 댿@!Wv?vBM>~BB!IBBBBBB;B=QEIv<@)v*c;it%KB9%}!IBD5#6D5Ӏ3YE;!EJ=MKQ)M>I9I9UFYUcEU-3<AU>YQ 1e5٪]G/?Q 5e5]@r ]"9iYm>@Q Em@y]R>E)]:I]:i]5YuB}FA}hEgFNOT Ignoring new targets: 114.79 m.g׺:g׺: ProNav: ac range: 114.792534 m, nav range: 109.704750 m, bearing: 196.957235 deg, approach rate: -0.320980 m/s, LOS rate: 0.081675 deg/s, cmd heading: 181.725447 deg, new cmd heading: 181.791620 deg. gy;HeadingCmd: 3.172862 target range: 114.792534 and range: 115.10 m.g-K@ggggzfrfffBdddccA0@ɢ%ބB%;< )-WII)1 59=ɡ1i1I5WI=Gi=;=i=_=)=-K@)AiIQQ] 5YYiߝ%=Iߝ4=DAT read: 23:52:39.6691 LVL= 23056, 30449, 21890, 31923, AGC= 68, IDX= 389,-0.41,-2.422, 2.048,-2.619,-2.736, PHS= 0.416,-1.455, 0.072, RAW= 140.1, 11.2, CAL= 139.5, 12.2, ROT= 10.5, -12.2 Ygot valid direction response: 23:52:39.6691 LVL= 23056, 30449, 21890, 31923, AGC= 68, IDX= 389,-0.41,-2.422, 2.048,-2.619,-2.736, PHS= 0.416,-1.455, 0.072, RAW= 140.1, 11.2, CAL= 139.5, 12.2, ROT= 10.5, -12.2 PDAT read: Bearing 350.2, 4.6 (Local) ~Local bearing/azimuth received: Bearing 350.2, 4.6 (Local) DAT read: Range 11 to 50 : 109.5 m (Round-trip 146.0 ms) speed 0.0 m/s TDAT read: user:961>Tx time:23:52:40.7689 R#Rx 1: Read range and direction messages.\direction in FSK: [0.961049,0.178120,0.211325] Fpublishing direction and range info9ۤ? ! ?\ ?BiZvU|D >)q=It=iC~@+H>@^ Z>f;> ^ ZiIά%fs|?^R&?n6?~5>/]H f;>)^ Zi%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.>Amp=ԑA yAI I N >rD jD <D D yD -D E : E :6E t4:E "E ;! E ;! *E r;! E r;! Ա d,l3Ay6=@ٱ69J@6<=6ŭ6H` ?@V/`= ?I6=@)6&c;i6Cn;B9ni!IDAT read: 2Acoustic response timeoutuMb@Mb@Mb@ q)qIqiqqu/$?L7A`尿Mb?u&>qu H?9 H?9FYeEv;A>Q 15٪$#?Q 55q "9>Q A;Y>@Q E@yT>E);I ;i5YFAhhe3AhjBhjBhԧV@ vOy̩=Z@)s3@H 7@uۤ? ! ?\ ?hf;>hv)W)|Zecve6b)@v9Ytʿx6?hhh>?hbhB*i[?2i:iiB"iZ@ԑ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 16.380439 s, deltaX: -5.599998 m, approachRate: -0.341871 m/s, rangeRepo size: 4  Added new target pos. range: 109.207901 m, bearing: 192.169673 deg, lat: 36.779162 deg, lon: -121.860033 deg, deltaT: 16.380439 s, deltaX: -5.584633 m, approachRate: -0.340933 m/s, posRepo size: 4 gFNOT Ignoring new targets: 109.21 m.gg ProNav: ac range: 109.207901 m, nav range: 109.400520 m, bearing: 196.023594 deg, approach rate: 0.000000 m/s, LOS rate: 0.081675 deg/s, cmd heading: 181.791618 deg, new cmd heading: 181.862671 deg. gHeadingCmd: 3.174102 target range: 109.207901 and range: 109.50 m.g~$K@ggggzfrfffBBdddc `[@c  ^?ɢuڄBu< y}OIy }2«=ɡyiyI}zwI7Fi9=i=)~$K@)i52Acoustic response timeout>A =I I N > k,bH3Aɰ;4l9l9nFYrhEr;Av>xQ 15٪z?Q 55zq z"9Y ?@Q E @yzV>E)zO;Iz0Q;izi5YGA!MB*** querying acoustic contact ***zhIhIgamFNOT Ignoring new targets: 109.21 m.gu޹:gu޹:DDD.DE: E*5:6Eـ4:E!@!@!@!@ ProNav: ac range: 109.207901 m, nav range: 109.279411 m, bearing: 196.053167 deg, approach rate: -0.332366 m/s, LOS rate: 0.081249 deg/s, cmd heading: 181.862666 deg, new cmd heading: 181.921878 deg. g; HeadingCmd: 3.175136 target range: 109.207901 and range: 109.50 m.g m5K@g g g g zfrff9f9Bd9d9d9cAcE@OJ?ɢׄBb< 顭]I Sg=ɡiIIHFih8=i=)m5K@)2Acoustic response timeouti/AAvBN>~BB IB݂BBBBDBؘ;B/QE>Am=rA>jA>Y I I N > 2Acoustic response timeoutq,#ȑ3AIf+G)rAI iM@MAMܦAy:=@ٱ2K@=SƻH@y`\?@:i#`sK@x`?I:=@)d;iB9@!IMb@Mb@Mb@ )Iii|?5?v/Q?>xiu99FYkE;;A>Q 15٪g ?Q 55p "95>Q A;Y@@Q E@yY>E)P ;I. ;io5YBIGAgEgFNOT Ignoring new targets: 109.21 m.g :g : ProNav: ac range: 109.207901 m, nav range: 109.129974 m, bearing: 196.087214 deg, approach rate: -0.326800 m/s, LOS rate: 0.074558 deg/s, cmd heading: 181.921884 deg, new cmd heading: 181.990071 deg. gs;%HeadingCmd: 3.176326 target range: 109.207901 and range: 109.50 m.g%HK@g!g!g)g)zf)rf)f1f5BBd1d1d9c9c=?QɢmԄB< K]I =ɡiIɇIFi%7=i)HK@)bDZD@ADDvD/DE: E:6EJ4:E"E!E!*Eh;!Eh;!i/@a=@=y2Acoustic response timeoutԩ >A W=Ii I N >x,*3Ay6W=@ٱ6OK@6=666H=M? ȶ꡿ԍ۶)|?I6W=@)6ːd;i6C@FB9F'!IBDN6DN!3YV!Vq=ZQ)Z?X9X9ZFY^mE^;A^?`Q 1f5٪bq?Q 5f5b'p b"9hYj@@Q Ej@yb[>E)b:Ib:ib귈5YlnGApg FNOT Ignoring new targets: 109.21 m.g :g :% ProNav: ac range: 109.207901 m, nav range: 109.020584 m, bearing: 196.112078 deg, approach rate: -0.322823 m/s, LOS rate: 0.073450 deg/s, cmd heading: 181.990076 deg, new cmd heading: 182.039854 deg. g%l;-HeadingCmd: 3.177195 target range: 109.207901 and range: 109.50 m.g-)WK@g)g)g)g)zf)rf1f1f1Bd1d9d9c9c=?ɢфBu< eI 0=ɡiIIFi6=iC=))WK@)!i}?I}?}2Acoustic response timeouti/Ա>A=DDuD,DE: E:6Eg4:E!@!@!@!@IYIiNu> - 2Acoustic response timeoutD~,^3Aiy6g=@ٱ6`K@6Nq=6O6H>Т?IRnD`T܄fভ|_?I6g=@)6 d;i4BB9B*!I)D FAHiJ<vBVM>~BTBV IBVBBV =BTBTBV;BV8QEBDN%6DN03YfP<!fH=f叻Q)f>h9h9jFYjoEj!;An>lpQ 1v5٪rq?Q 5v5ro r"9xYz@@Q Ez@yr]>E)r:Ir[:ir5Y=֛B=lFAE^EgFNOT Ignoring new targets: 109.21 m.g,:g,: ProNav: ac range: 109.207901 m, nav range: 108.888817 m, bearing: 196.142017 deg, approach rate: -0.313552 m/s, LOS rate: 0.071328 deg/s, cmd heading: 182.039855 deg, new cmd heading: 182.099805 deg. g;HeadingCmd: 3.178241 target range: 109.207901 and range: 109.50 m.gNhK@ggggzfrfffBdddcce?ɢe΄Bex< ambIi m=ɡiiiIm76IgFi_6=i`a=)NhK@)2Acoustic response timeout9_9im9qqu/qa D D zD D E  E  :6E :E "E w;! E x;! *E v;! E v;! >AU Ď=bAY ZA] AI I N >u,3A*2Acoustic response timeouty: ~=@ٱ:vK@:ү=:@:HO?ݵ2"i`5~ ?I: ~=@):e;i:CFB9J!ITMb@Mb@Mb@ )IiGz?v/Q?>I~Aih A; A7A) ABD5.6D5P3YE&!E:=M Q)M>I9Q9UFYUrEUUM;AU>YQ 15٪]縊?Q 55]+o ]"93>Q A;YA@Q E@y]`>E)]:ge>:u ProNav: ac range: 109.207901 m, nav range: 108.748283 m, bearing: 196.173992 deg, approach rate: -0.315143 m/s, LOS rate: 0.071796 deg/s, cmd heading: 182.099810 deg, new cmd heading: 182.163843 deg. gue;HeadingCmd: 3.179359 target range: 109.207901 and range: 109.50 m.gzK@ggggzfrffftBBdddcc>@ɢeʄBe< aewhIa mRe=ɡiiiImpIIuFiu"6=iudߎ=)uzK@) 92Acoustic response timeouti= 9A A E 3A 1 Dm Dm yDm 2Di Em C: Em :6Em 4:Ei !} @!} @!} @!} @ԁ >A 2Acoustic response timeoutAIIN?3o, Y83Aɰ;y6>=@ٱ6K@6=H66H`@U?@7^㣿:`4xAЁ`?I6>=@)6 e;i6CbB9b!IBDj16Dj[3Yr !r =vpQ)v>t9t9zFYzuEz=;A~>|Q 15٪~ظ?Q 55~n ~"9 Y A@Q E @y~b>E)~l:I~:i~׽5YFA5B*** querying acoustic contact ***zh1h1gAEFNOT Ignoring new targets: 109.21 m.gM:gM:] ProNav: ac range: 109.207901 m, nav range: 108.584290 m, bearing: 196.211260 deg, approach rate: -0.334143 m/s, LOS rate: 0.076049 deg/s, cmd heading: 182.163836 deg, new cmd heading: 182.238484 deg. g]- ;eHeadingCmd: 3.180662 target range: 109.207901 and range: 109.50 m.geK@gagagagazfirfifqfqBdqdqdqcyc}@e@ɢƄB$< 顭gI ģ=ɡiIVIFi6=iH=)K@)) iIAAAAvBL>~BB IBBB =BBDB;B=QEB1B1B1B5¯ =B5¯ =B54i 94uBDAT read: Rx Time:23:52:43.3175 uTRx dataTimestamp_ set to:1758412361.124255}2Acoustic response timeout >A5 =D D tD ,D E 7: E v:6E g4:E "E ;! E ;! *E `;! E `;! I Aa Ii I N >,DU3Ay6߫=@ٱ6_K@6#=6.(6H@? Ѵ@ҋ`T?I6߫=@)65d;i6C}2Acoustic response timeouteB9e!IԩUMb@Mb@Mb@ Q)QIQiQQUI +?v/Q?U9>QQIUAiU AQUdA)QUABD"6DJz3Y^!=zQ)>99FYyE ;A>Q 15٪ȸ?Q 55m #9>Q A;YeA@Q E@yf>E)` ;I? ;i45YBFA\EgFNOT Ignoring new targets: 109.21 m.g]:g]:  ProNav: ac range: 109.207901 m, nav range: 108.406960 m, bearing: 196.251188 deg, approach rate: -0.328269 m/s, LOS rate: 0.074036 deg/s, cmd heading: 182.238490 deg, new cmd heading: 182.318478 deg. g ~;HeadingCmd: 3.182058 target range: 109.207901 and range: 109.50 m.gզK@ggggzfrff!f-BBd)d)d)c)c5 @ɢ]„B](< aelIa e;=ɡaiaIej{|ImxFim5=imQ=)uզK@)qi9%5! e DAT read: 23:52:43.3175 LVL= 30928, 32209, 27426, 32755, AGC= 68, IDX= 420, 0.00,-0.808,-2.563,-0.988,-1.138, PHS= 0.432,-1.380, 0.107, RAW= 140.3, 10.1, CAL= 139.8, 11.0, ROT= 10.2, -11.0 } Ygot valid direction response: 23:52:43.3175 LVL= 30928, 32209, 27426, 32755, AGC= 68, IDX= 420, 0.00,-0.808,-2.563,-0.988,-1.138, PHS= 0.432,-1.380, 0.107, RAW= 140.3, 10.1, CAL= 139.8, 11.0, ROT= 10.2, -11.0  PDAT read: Bearing 349.4, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 349.4, 5.3 (Local)  DAT read: Range 11 to 50 : 108.3 m (Round-trip 144.5 ms) speed 0.5 m/s  TDAT read: user:962>Tx time:23:52:44.4189  R#Rx 1: Read range and direction messages. \direction in FSK: [0.966113,0.173831,0.190809] Fpublishing direction and range info9! % wQ'f?_@?P@ml?% B! i% x% }% "k% ! % />)% ףI% "=i% t@% J4>% y(@% D>% K6> % Di! ! I% M%ߋ?I1g?1 6d?% X>% 4 % K6>)% Di! ! % 2Acoustic response timeout- Querying Benthos address 50 with one ping in standard two-way mode.>A [ޏ=rA >jA >9 AE AIY Ii N >8,q3AyF=@ٱFK@Fw=F,=FH`?K7@lp`&N?IF=@)FCe;iFCLLPiR֯FPBEUA{4JEU4REU0DfDdDf/DdEfg: Ed6EfJ4:Ed!n@!n@!n@!n@i!!)! !I! ))-s@)))15Ai5yI5F1I1i=ԃA =xi9)99 =ۃAemaaaaIi)iiiiuނB9u IBD 6Dk3YT!U=rQ)>K?9K?9FY{ES;A> Q 15٪ 伸?Q 55 m  #9Y{A@Q E@y h>E) d;I ;i 5YAEFAAh h hh3Ah Bh Bh iW@ v uZ@k!2@}X4@u wQ'f?_@?P@ml?h K6>h Dv U0Zj5c7/Iy'@v k 9˿?0n?h h h آ@?h h ۚB*i 2i (:i Bi SB"i [@ addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 3.531411 s, deltaX: -1.199997 m, approachRate: -0.339807 m/s, rangeRepo size: 4  Added new target pos. range: 108.011047 m, bearing: 192.584362 deg, lat: 36.779162 deg, lon: -121.860028 deg, deltaT: 3.531411 s, deltaX: -1.196854 m, approachRate: -0.338917 m/s, posRepo size: 4 g  FNOT Ignoring new targets: 108.01 m.g g=DAT read: E2Acoustic response timeoutM ProNav: ac range: 108.011047 m, nav range: 108.162704 m, bearing: 196.068992 deg, approach rate: 0.000000 m/s, LOS rate: 0.074036 deg/s, cmd heading: 182.318472 deg, new cmd heading: 182.378882 deg. gIuHeadingCmd: 3.183112 target range: 108.011047 and range: 108.30 m.g}K@gygygygyzfyrfyffBdddc@3[@c$?ɢB~h< 'pI ]=ɡiIxIgFi 5=i yd=) K@) vBK>~BB IBBB =BBB;BLQEi\2>A- ؎= 2Acoustic response timeoutI A} yAI I N > ,R3Ay6p=@ٱ6K@6=6AQ6H@8?ij$Pr@{?I6p=@)6f;i6C5ÂB95 I9i9)9 =AMb@Mb@Mb@ )Iid;O?Zd;Mb?>yu H?9u H?9uFYu~Eu;A}>yQ 15٪} ?Q 55}m }#9>Q A;Y@@Q E@y}j>E)}6-;I},;i}È5YGAgFNOT Ignoring new targets: 108.01 m.g:g: ProNav: ac range: 108.011047 m, nav range: 108.021614 m, bearing: 196.101385 deg, approach rate: -0.341438 m/s, LOS rate: 0.078492 deg/s, cmd heading: 182.378878 deg, new cmd heading: 182.443748 deg. g;HeadingCmd: 3.184244 target range: 108.011047 and range: 108.30 m.gK@ggggzfrfffWBBdddcc?ɢ%B-; )-|I) -\=ɡ1i1I5(uI5UFi=5=i==)=K@)9DDpD1DE%: E :6E-4:E"E;!E;!*E8R;!E9R;!i/2Acoustic response timeout!>Ax=A1 I9 II Q N] >,3Ay6=@ٱ6K@699FYE, ;A>Q 15٪?Q 55l #9Y@@Q E@yl>E);Ia;iqň5YB0GA9gAEFNOT Ignoring new targets: 108.01 m.gM:gM:] ProNav: ac range: 108.011047 m, nav range: 107.897072 m, bearing: 196.129985 deg, approach rate: -0.322567 m/s, LOS rate: 0.074162 deg/s, cmd heading: 182.443751 deg, new cmd heading: 182.501019 deg. g];eHeadingCmd: 3.185244 target range: 108.011047 and range: 108.30 m.geK@gagagigizfirfififqBdqdqdycyc}N?ɢB4< uI =ɡiIqIDFia5=i}=)K@)ai/DDuD/DE: E:6EJ4:E!@!@!@!@ԉ- 2Acoustic response timeout>A bA AZA AA A <vB J>~B B IB BB B B B ;B fQEԹ A AI I N >>,3Ay6I=@ٱ6K@6=6셼6H`*2?󜲿@ @Ѳʱ?I6I=@)61g;i4BB9B IBDJ6DJF3YR!R[=VŻQ)V>VK?9VK?9VFYVEZ;AZ>\Q 1b5٪^?Q 5b5^$l ^#9`Yf@@Q Ef@y^o>E)^j;I^:i^Lj5YhjGAhzB*** querying acoustic contact ***zhxhxg|FNOT Ignoring new targets: 108.01 m.g:g : ProNav: ac range: 108.011047 m, nav range: 107.775284 m, bearing: 196.157946 deg, approach rate: -0.335800 m/s, LOS rate: 0.077182 deg/s, cmd heading: 182.501015 deg, new cmd heading: 182.557000 deg. g@ ;%HeadingCmd: 3.186221 target range: 108.011047 and range: 108.30 m.g% K@g!g!g)g)zf1rfAfQfYBdddcc?ԙɢB; |I !=ɡiInI4Fi4=ia=) K@)u2Acoustic response timeoutiaaaaa>A =D D qD .D E : E $ :6E ـ4:E "E ;! E ;! *E U;! E U;! A} yAI I N >)   2Acoustic response timeout! &,Sْ3A=B9= IE=Ei>iE=IE=Mb@Mb@Mb@ )Iii|?5?T㥛 t  H?9 H?9FYEA>Q 1%5٪X?Q 5-5k #9-ʹ>Q A-;Y-u@@Q E-@yq>E)L:I:iɈ5Y=B=jGA=[EgaeFNOT Ignoring new targets: 108.01 m.gmX:gmX:} ProNav: ac range: 108.011047 m, nav range: 107.630074 m, bearing: 196.192139 deg, approach rate: -0.323225 m/s, LOS rate: 0.076213 deg/s, cmd heading: 182.556996 deg, new cmd heading: 182.625473 deg. g}z ;HeadingCmd: 3.187416 target range: 108.011047 and range: 108.30 m.gK@ggggzfrfffgBBdddcc?ɢB; {I ,=ɡiI;jI!Fi3=i=)K@)iiiiiq2Acoustic response timeout>A{=I A I I! N5 >P,;3AD2D2tD2,D0E2s: E2v:6E2g4:E0!:@!:@!:@!:@yF>@ٱFv L@Fns=FcFHt?^k%@.RԪ`Q`?IF>@)Fpi;iFCRB9R IBDZ-6DZ3Yb!ba=bKQ)f>d9d9fFYfEj};Aj>lQ 1r5٪n?Q 5r5n#k n#9pYv@@Q Ev@yns>E)ndE;InY;inʈ5YGAgFNOT Ignoring new targets: 108.01 m.gC:gC: ProNav: ac range: 108.011047 m, nav range: 107.513000 m, bearing: 196.219592 deg, approach rate: -0.302154 m/s, LOS rate: 0.070931 deg/s, cmd heading: 182.625475 deg, new cmd heading: 182.680441 deg. g;HeadingCmd: 3.188375 target range: 108.011047 and range: 108.30 m.gWL@ggggzfrf f f Bd ddcct@ɢEBEo; AE1|II M =ɡIiIIM~B)B-y IB-xBB)B)B)B-!;B-wQEy>A=rAjA>ԩ A ) i1  2Acoustic response timeoutI1 IM G)e AIy I i 뤿 A \AN >F8,A 3A@y-j&>@ٱ-L@-|=-c-H ?eiWL@67?I-j&>@)-`j;i-CeB9e IeMb@Mb@Mb@ a)aIaiaaeʡE?Q뱿y&1?DuDuvDu+DqEu: Eu:6Eu [4:Eq"Euw;!Eux;!*Euh;!Euh;!ԩe->e\e`e99FYEO ;A>Q 15٪q?Q 55dj #9>Q A;Yx?@Q E@yv>E));I%);ï5YGAg!FNOT Ignoring new targets: 108.01 m.g!:g!: ProNav: ac range: 108.011047 m, nav range: 107.340454 m, bearing: 196.262171 deg, approach rate: -0.338029 m/s, LOS rate: 0.083549 deg/s, cmd heading: 182.680444 deg, new cmd heading: 182.765739 deg. g;HeadingCmd: 3.189864 target range: 108.011047 and range: 108.30 m.g&L@ggggzfrfffxBBdddcc@'@ɢB(KD< ~I ޔ=ɡiIcI Ei 2=i `=) &L@)%2Acoustic response timeouti/ >A x=9  2Acoustic response timeoutAmAIqIN>, ,3AyF.>@ٱF 'L@F]y=F~lFHJh)?]^ @@4ő`&`?IF.>@)Fk;iFCjB9j Ilil)l nABDv6Dv\3Y~.p!~g=XQ)>K?9K?9 FY E :A >Q 15٪Yg?Q 55i !#9!Y%~?@Q E%@yx>E):I:i}Έ5Y-B-GA5ZEgY]FNOT Ignoring new targets: 108.01 m.ge:ge:u ProNav: ac range: 108.011047 m, nav range: 107.226448 m, bearing: 196.290357 deg, approach rate: -0.322624 m/s, LOS rate: 0.079849 deg/s, cmd heading: 182.765740 deg, new cmd heading: 182.822172 deg. gu!;}HeadingCmd: 3.190849 target range: 108.011047 and range: 108.30 m.g}6L@gygygygyzfyrfffBdddcc@ɢBm 顥&I Z=ɡiI`IEi2=i|=)6L@)DMDIDM0DIEMC: EI6EM4:EI!U@!]@!]@!]@iaaae/aBDAT read: Rx Time:23:52:46.9658 TRx dataTimestamp_ set to:1758412364.9161972Acoustic response timeout)>AĎ=A@AA@AvB F>~B B f IB iBB B B B 1;B QEA yAI I) N= >Q f,E3Ay@>@ٱ`9L@p=5wH@缩?-Y>@Lg ؎?I@>@)j;iCB9 I1U2Acoustic response timeoutMb@Mb@Mb@ )IiʡE?333333~jt?Du H?9u H?9}FY}E$ ;A>Q 15٪W?Q 55i %#9^>Q A;Y>@Q E@y{>E)G ;I ;iЈ5YGAB*** querying acoustic contact ***zhhg%FNOT Ignoring new targets: 108.01 m.g%e:g-e:5 ProNav: ac range: 108.011047 m, nav range: 107.057304 m, bearing: 196.333709 deg, approach rate: -0.320811 m/s, LOS rate: 0.082354 deg/s, cmd heading: 182.822171 deg, new cmd heading: 182.909012 deg. g=;EHeadingCmd: 3.192364 target range: 108.011047 and range: 108.30 m.gEOL@gAgAgAgAzfArfIfIfM]BBdIdQdQcQcU @YɢB}< 額\I M=ɡiIV]IEi0=i$܌=)OL@)i/@A@AD]D]rD]/DYE]: E]?:6E]J4:EY"E];!eE];!e*E]Y;!mE]Y;!mԉ5 DAT read: 23:52:46.9658 LVL= 26768, 31425, 29154, 32755, AGC= 66, IDX= 418, 0.40, 2.129, 0.368, 2.011, 1.787, PHS= 0.444,-1.374, 0.180, RAW= 142.3, 8.9, CAL= 141.8, 9.7, ROT= 8.2, -9.7 = Ygot valid direction response: 23:52:46.9658 LVL= 26768, 31425, 29154, 32755, AGC= 66, IDX= 418, 0.40, 2.129, 0.368, 2.011, 1.787, PHS= 0.444,-1.374, 0.180, RAW= 142.3, 8.9, CAL= 141.8, 9.7, ROT= 8.2, -9.7 E PDAT read: Bearing 348.3, 4.4 (Local) E ~Local bearing/azimuth received: Bearing 348.3, 4.4 (Local) U DAT read: Range 11 to 50 : 107.0 m (Round-trip 142.7 ms) speed 0.2 m/s ] TDAT read: user:963>Tx time:23:52:48.0689 e R#Rx 1: Read range and direction messages.m \direction in FSK: [0.975626,0.140590,0.168489]m Fpublishing direction and range info9  S8??RV? B i h z q  B  S>) ;߯I Q8>i \@ > bd@ -\-> C>  -\-i  I }5B?;?kW? > P  C>) -\-i   2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Ա >A p,=bA ZA AAII!N->h|,c3AyF"N>@ٱFFL@Fg=FUFH &?=}@L@3 I ?IF"N>@)FCk;\iFCbB9f IBD~6D~N3Y x! e= _ѻQ) >9Q9UFYUE]=;A]>aQ 1m5٪e]M?Q 5m5eh e(#9iYm>@Q Em@ye}>E)e;?;Ie@;ieR҈5YBGAYEhYh]Z3Ah]mBh]mBh]U@ v]g-Z@|/m.@-1@u]S8??RV?h]C>h]-\-v]1td!Z>+J4U'@v]QRjx3̠ȿTҩ\a?h]Bh]h]Wa ?h]h]DB*i]آ@?2i]:i]DBi]/B"i]|gW@% addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 3.787992 s, deltaX: -1.300003 m, approachRate: -0.343191 m/s, rangeRepo size: 4 ] Added new target pos. range: 106.713203 m, bearing: 191.162980 deg, lat: 36.779155 deg, lon: -121.859955 deg, deltaT: 3.787992 s, deltaX: -1.297844 m, approachRate: -0.342621 m/s, posRepo size: 4 gaFNOT Ignoring new targets: 106.71 m.gg ProNav: ac range: 106.713203 m, nav range: 106.093513 m, bearing: 192.839901 deg, approach rate: 0.000000 m/s, LOS rate: 0.082354 deg/s, cmd heading: 182.909010 deg, new cmd heading: 182.969205 deg. g HeadingCmd: 3.193415 target range: 106.713203 and range: 107.00 m.g `L@g gggzfrff!f!Bd!dIdIcMZ@cM H?DAT read: 2Acoustic response timeoutɢB ڀI $=ɡiIYZIʾEiV/=i3=)`L@)i9/DDtDDEs: Ev:6E:E!@!@!@!@>A tn=A E 2Acoustic response timeoutA AI I) N5 >,z5}3AyFDY>@ٱFQL@F^~^=FFHR~?6VaK̫⌐`?IFDY>@)Fej;iFCRzB9R{ IV=V;iTIV=BD^6D^3Yb>(!fQ=fQ)f>fK?vBnG>~BlBnZ IBn^BBlBlBlBn,;BnQEBBBB =B =BB49jK?9~FY~E~*:A~>Q 1 5٪A?Q 5 5g *#9Y>@Q E@y>E)j;I;iԈ5Y%HA!1gIUFNOT Ignoring new targets: 106.71 m.gU':gU':e ProNav: ac range: 106.713203 m, nav range: 105.965240 m, bearing: 192.867992 deg, approach rate: -0.343226 m/s, LOS rate: 0.075254 deg/s, cmd heading: 182.969211 deg, new cmd heading: 183.025460 deg. ge ;mHeadingCmd: 3.194397 target range: 106.713203 and range: 107.00 m.gmqL@gqgqgqgqzfqrfqfyfyBdydydcc?ɢB8D 页iI ,=ɡiIenWIEi.=i=)qL@)i%9!!%0!a2Acoustic response timeoutԑ>AMm=Ia Iq N} >Թ rD jD D D {D 1D E : E 5":6E -4:E "E w;! E x;! *E Bz;! E Cz;! z,/3Ay6l>@ٱ6xeL@6)MV=6t6H` ?D @=ܱ@ƪ`瑿`?I6l>@)6 j;i6CBB9B I Mb@Mb@Mb@ ) I i   Zd;?x&~jtx? ۹> 7 ;I Ai  A A A)  A}ԙ99FYE9;A>Q 15٪4?Q 55ug /#9>Q A;Y@@Q E@y>E) ;Iq ;iՈ5Y}HAgFNOT Ignoring new targets: 106.71 m.g:g:  ProNav: ac range: 106.713203 m, nav range: 105.818558 m, bearing: 192.897415 deg, approach rate: -0.346052 m/s, LOS rate: 0.069513 deg/s, cmd heading: 183.025465 deg, new cmd heading: 183.084394 deg. g n:HeadingCmd: 3.195426 target range: 106.713203 and range: 107.00 m.2Acoustic response timeoutgځL@gg!g!g!zf!rf!f)f-QBBd)d)d)c1c5-?ɢ]Be* ae#Ia e6Y=ɡaiiIme^TImڝEiuw,=iu`=)uځL@)qi 9   C0 ԉ>A 2Acoustic response timeoutI I N >ԙ ,۰3AyF>@ٱF~L@FrsN=F쓼FHq?0Bi|h:@˩`Mw@C?IF>@)FvVi;iDRlB9Rk IBDZ6DZ!3Ybɽ!bX=f饻Q)f>d9d9jFYjEj ;Aj>lQ 1r5٪n )?Q 5r5nf n3#9tYv@@Q Ev@yn>E)n:In:in׈5YzBzHAzXEg%FNOT Ignoring new targets: 106.71 m.g%:g%:5 ProNav: ac range: 106.713203 m, nav range: 105.687752 m, bearing: 192.923602 deg, approach rate: -0.346673 m/s, LOS rate: 0.069488 deg/s, cmd heading: 183.084395 deg, new cmd heading: 183.136833 deg. g=W:=HeadingCmd: 3.196341 target range: 106.713203 and range: 107.00 m.gEِL@gAgAgAgAzfArfAfIfIBdIdIdQcQcU +1?ɢB@v' I b=ɡiIybQI ێEi +=i 7=)ِL@)9qBEJ4JEm4RE®10DD}D,DE: Ek&:6Eg4:E!@!@!@!@i1%2Acoustic response timeoutԡA<A<vBD>~BCBG IBOBB =BBB!;BuQE>A=p,=IIN> (,ʓ3Ai>r?I>?B2Acoustic response timeoutyfZ>@ٱfُL@fF=fEfHip?@yH FZרⒿ ?IfZ>@)fg;ifCrsB9rs IpipmMb@Mb@Mb@ i)iIiiiimK?x&~jtx?m^>iiImMAiimAm|A)im=ABD6D 83Y<!>=獻Q)>99FYE3 ;A>Q 15٪?Q 55uf 8#9>Q A;Y@@Q E@y>E)e ;Ie ;igو5YHAgFNOT Ignoring new targets: 106.71 m.gƗ:gƗ: ProNav: ac range: 106.713203 m, nav range: 105.538231 m, bearing: 192.953476 deg, approach rate: -0.331593 m/s, LOS rate: 0.066346 deg/s, cmd heading: 183.136838 deg, new cmd heading: 183.196671 deg. g:HeadingCmd: 3.197385 target range: 106.713203 and range: 107.00 m.gL@ggggzfrfffTBBdddccI?ɢB  額jI F=ɡiIONI}Ei*=i^=)L@)DD{D+DEs: E5":6E [4:E"E;!E;!*E!E!i_052Acoustic response timeout! >A =Ia Iq N >y,H3Ay:z>@ٱ:L@: @=:3:H0?k `5`' ``?I:z>@):f;i:CFqB9Fp IIJ@A)J@ABDN6DNf?3YVP!V[=ZQ)Z>X9X9ZFYZE^1;A^>`Q 1f5٪b>?Q 5f5bf b<#9hYjA@Q Ej@yb>E)b:Ib:ib ۈ5YlnHAp~B*** querying acoustic contact ***zh|h|g  FNOT Ignoring new targets: 106.71 m.g:g:% ProNav: ac range: 106.713203 m, nav range: 105.408409 m, bearing: 192.979369 deg, approach rate: -0.366816 m/s, LOS rate: 0.073252 deg/s, cmd heading: 183.196670 deg, new cmd heading: 183.248520 deg. g%;-HeadingCmd: 3.198290 target range: 106.713203 and range: 107.00 m.g-ɰL@g)g)g)g)zf1rf1f1f1Bd9d9d9c9cEq@ɢB%P0F !%KI) -$ =ɡ)i)I-uKI=nEiE*=iEm=)EɰL@)IY2Acoustic response timeouti)))-?5)y>AU=DDDDEƱ: E*5:6E:E!@!@!@!@IIN>ԩ E 2Acoustic response timeout ,h3AvBFE>~BDBF: IBFEBBF =BDBDBF;BFnQELyR?>@ٱRL@R;=RERH G`n?yڦ@]O@v`Ga`O?IR?>@)Rf;iP^eB9^b IBDf.6DfP3Ynd!nG=rCQ)r>p9p9rFYvEvu:Av>xQ 1~5٪z?Q 5~5ze z@#9YA@Q E@yz>E)z;Iz<;iz܈5Y xB HA g15FNOT Ignoring new targets: 106.71 m.g=:g=:M ProNav: ac range: 106.713203 m, nav range: 105.265953 m, bearing: 193.007811 deg, approach rate: -0.347789 m/s, LOS rate: 0.069530 deg/s, cmd heading: 183.248525 deg, new cmd heading: 183.305485 deg. gM:UHeadingCmd: 3.199284 target range: 106.713203 and range: 107.00 m.gUL@gQgQgQgYzfYrfYfafaBdadadacicm@ɢB0 顝rI f=ɡiIHI^EiW)=i/=)L@)i1115/1Ա2Acoustic response timeout>AMx=IIN> D D tD .D E 1: E v:6E ـ4:E "E ;! E ;! *E `;! E `;! ,C3Ay6>@ٱ6JL@66=6V r6H7ܭ?9_ )̼E٦@9 ?I6>@)6e;i6CB`B9B\ IF=Fp;lMb@Mb@Mb@ )Ii ףp= ?Q뱿Mb?Q>\99FYE;A>Q 15٪k?Q 55d C#9ѻ>Q A;Y|@@Q E@y>E)v:IH:iވ5YHABDAT read: Rx Time:23:52:50.6141 TRx dataTimestamp_ set to:1758412368.4443122Acoustic response timeoutg  FNOT Ignoring new targets: 106.71 m.gŠ:gŠ:% ProNav: ac range: 106.713203 m, nav range: 105.118790 m, bearing: 193.038099 deg, approach rate: -0.340991 m/s, LOS rate: 0.070278 deg/s, cmd heading: 183.305489 deg, new cmd heading: 183.366149 deg. g%;-HeadingCmd: 3.200343 target range: 106.713203 and range: 107.00 m.g-lL@g)g)g)g1zf1rf1f9f=LBBd9d9d9cAcE5D@ɢmBu! quȉIq }Z=ɡyiyI}bEIIMEie(=ik=)lL@) i1>AU= 2Acoustic response timeoutAe yAa Iq I N >{ ,d 23Ay6>@ٱ6VL@6Г/=6bj6H@y??xs譿` $5N?I6>@)6Ae;i6CBVB9BP IJ4V H?9Z H?9ZFYZEZ/ ;AZ>!AQ 1M5٪%귊?Q 5M5%ud %E#9YY]@@Q Ee@y%>E)%<) 㥻I E6>i  @ ¸2> @ B> = Bi  I ua?уL?pP? > _p3 =) Bi  :publishing transmit ping timeYiFpublishing direction and range info9  Io3?{pD/ý?oG4?  i      ) I i      i  I ua?уL?pP?   ) i  iAyA}AAvBH>~BCB! IB1BB =BBB;BUQEԑ>A rA >jA > I BG) I A IA Ia i ɢ .AN >,M3Ayf>@ٱfL@f)=fKtfH @a?`$fP@0 ?If>@)f99FYE ;A>Q 15٪ ݷ?Q 55c H#Q =+:9Q A:Y@@Q E@y>E)f;I>i5Y IA hhh<3AhBhBh&T@ vi9s͕Y@liP(@c3@uIo3?{pD/ý?oG4?h=hBv?2ib:iۚBiB"iawW@ addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.528830 s, deltaX: -1.199997 m, approachRate: -0.340055 m/s, rangeRepo size: 4  Added new target pos. range: 105.516663 m, bearing: 190.320842 deg, lat: 36.779155 deg, lon: -121.859950 deg, deltaT: 3.528830 s, deltaX: -1.196541 m, approachRate: -0.339076 m/s, posRepo size: 4 gFNOT Ignoring new targets: 105.52 m.gg  ProNav: ac range: 105.516663 m, nav range: 104.780342 m, bearing: 192.895487 deg, approach rate: 0.000000 m/s, LOS rate: 0.067405 deg/s, cmd heading: 183.420673 deg, new cmd heading: 183.479772 deg. g HeadingCmd: 3.202326 target range: 105.516663 and range: 105.80 m.gL@ggggzfrfffBd!d!d!c-@3sZ@c-` ?ɢBV 顝KI ?=ɡiI'?I,Ei(&=iN=)L@)AD-D-sD-.D)E-: E-Z:6E-ـ4:E)"E-U;!=E-V;!=*E-$];!EE-$];!EiM9IIIIԁ)ߑ ߑ>Ae tn=ԡ IY Iq N} >C,f3AyN(>@ٱNL@N*"=N|r~NH @V1?У [ۮySU Ǐ?IN(>@)N/d;iLf3B9j$ Ihih)p rABDz)6Dz3Y !T=HQ)>!9!9%FY%E-V;A->9Q 1M5٪=Dѷ?Q 5U5=hc =J#Q =U :9QQ A]:Y]@@Q E]@y=>E)=[;I=T?i=5YquIAqyB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 105.52 m.g:g: ProNav: ac range: 105.516663 m, nav range: 104.648361 m, bearing: 192.922390 deg, approach rate: -0.354720 m/s, LOS rate: 0.072396 deg/s, cmd heading: 183.479768 deg, new cmd heading: 183.533641 deg. g~;HeadingCmd: 3.203266 target range: 105.516663 and range: 105.80 m.gQM@ggggzfrfffBddQdQcYc]`a?ɢ~Bd 顭I {=ɡiIӟAII IY Nm > *DAT read: user:964>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995631 vB E>~B B  IB !BB =B B B ;B ;QE: ,3Ay6Q>@ٱ6L@6_R=6m䃼6H@?,`iՒ@Ly`?I6Q>@)61d;i6CR=B9R1 IIVAA)TBDZ06DZ3Yb=L=!bM=fрQ)f>d9d9fFYjEj:Aj>lQ 1r5٪n'ŷ?Q 5r5nb nL#Q =v99tQ Av:Yv@@Q Ev@yn>E)nW;In?in5YzaBz!IAzVEg%FNOT Ignoring new targets: 105.52 m.g%z:g%z:5 ProNav: ac range: 105.516663 m, nav range: 104.512497 m, bearing: 192.950106 deg, approach rate: -0.347712 m/s, LOS rate: 0.071025 deg/s, cmd heading: 183.533644 deg, new cmd heading: 183.589149 deg. g5;EHeadingCmd: 3.204235 target range: 105.516663 and range: 105.80 m.gE0M@gAgAgAgAzfArfAfIfIBdIdIdQcQcU`?Թɢ{B uI -[x=ɡiI  9I  Ei #=ieM=)0M@)1)Ai9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249789>A50=bA1ZA5AIIN>D- D- qD- -D) E- : E- $ :6E- t4:E) "E- ;!5 E- ;!5 *E- U;!5 E- U;!= A U&,G3Ay6O>@ٱ6L@6`N=6݀6Hr8t?z% zUˆ ?I6O>@)6d;i6CB*B9B I!5!5 !5!5 !5!= !=!= =Mb@Mb@Mb@ 9)9I9i99=Q?~jth?=µ>=L=D;I9i9=A=A)9=fABDU6DUF3echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499181YmZ!mB=u Q)u>q9y9}FY}E}<A>Q 15٪r?Q 55b P#Q =T:9>Q A;YD@Q E@y>E)2:I;i5YIAgFNOT Ignoring new targets: 105.52 m.gf:gf: ProNav: ac range: 105.516663 m, nav range: 104.368217 m, bearing: 192.975037 deg, approach rate: -0.342044 m/s, LOS rate: 0.059187 deg/s, cmd heading: 183.589146 deg, new cmd heading: 183.639079 deg. g:HeadingCmd: 3.205106 target range: 105.516663 and range: 105.80 m.gw M@ggggzfrfffBBdddcc?ɢ-xB-䪙 15\I19 =@_t=ɡ9i9I=6IE>DiE!=iE}=)Mw M@)Iia>Aۋ=IYIiNu>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751018Թ ,,l3A~0B9~ I=>i =I =BD6D03Y%<!%O=%Q)%>)9)9-FY-E5A5>9Q 1E5٪=?Q 5E5=Nb =S#9AYAQ EE@y=>E)=;I=:i=5YUVBU3IAUUEgy}FNOT Ignoring new targets: 105.52 m.gć:gć: ProNav: ac range: 105.516663 m, nav range: 104.233536 m, bearing: 192.998376 deg, approach rate: -0.342047 m/s, LOS rate: 0.059348 deg/s, cmd heading: 183.639075 deg, new cmd heading: 183.685812 deg. g::HeadingCmd: 3.205922 target range: 105.516663 and range: 105.80 m.g-M@ggggzfrfffBdddccT?ɢuBˮ EI ζp=ɡiIQ3IDi=i2N=)-M@DDxD1DEU: E:6E-4:E! @! @! @! @)ԑi/uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003564vBC>~BCBIBBBBBB̘;BQEBmňCBmňCBiBmŭ =BiBm5>A}=II N>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256988i3,/PΔ3Ay~?@ٱ~M@~ъ=~Z~HB?fY `葿B?I~?@)~Je;i~C-B9 IMb@Mb@Mb@ )IiQ?MbMbP?@:I|AiA|A)Aip<BD!6Dr3Y*V!>=bQ)>99FYE);A>Q 1 5٪?Q 5 5b X#9 X>Q A;YD@Q E@y>E)` ;I ;ik5YJIAgAMFNOT Ignoring new targets: 105.52 m.gM̓:gM̓:] ProNav: ac range: 105.516663 m, nav range: 104.086159 m, bearing: 193.023157 deg, approach rate: -0.342159 m/s, LOS rate: 0.057616 deg/s, cmd heading: 183.685807 deg, new cmd heading: 183.735441 deg. ge:eHeadingCmd: 3.206788 target range: 105.516663 and range: 105.80 m.geAmi=rA>jA>II N >ԡ 9,$3ADybU?@ٱbM@bc=b4bH`\.?֞59 \ߔ 㒿?IbU?@)bf;ibC$B9 IBD&6Dދ3Y%q6!%X=-9Q)->)9)95FY5E5:A5>9Q 1E5٪=>?Q 5E5=a =[#9IYMD@Q EM@y=>E)=d:I=:i=5YQUIAQuB*** querying acoustic contact ***zhqhqgFNOT Ignoring new targets: 105.52 m.gЃ:gЃ: ProNav: ac range: 105.516663 m, nav range: 103.956642 m, bearing: 193.044944 deg, approach rate: -0.342117 m/s, LOS rate: 0.057620 deg/s, cmd heading: 183.735435 deg, new cmd heading: 183.779063 deg. g:HeadingCmd: 3.207550 target range: 105.516663 and range: 105.80 m.gHM@ggggzfrfffBdddcc@ɢnBjм I g)i=ɡiIs.I5DiE=i`=)HM@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759459ԩi@0>A=BEA{4JE}4RE(90D-D-qD-/D)E-: E-$ :6E-J4:E)!E@!E@!E@!E@ AA II IY Nm > BDAT read: Rx Time:23:52:54.2155  TRx dataTimestamp_ set to:1758412371.972312 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012218vB A>~B B IB BB =B B DB ͘;B y@,*3Ay6&?@ٱ6vM@6<6Q6H@`?`bٜ9 0 ?I6&?@)6h;i6Clr%B9r Itit)t tBDz6Dzf?3Yy;! L= eQ) >99FYE:A>Q 1%5٪4?Q 5-5a _#9)Y-D@Q E-@y>E)l:I:i5Y5KB5-IA=TEgaeFNOT Ignoring new targets: 105.52 m.gm:gm:} ProNav: ac range: 105.516663 m, nav range: 103.819656 m, bearing: 193.067985 deg, approach rate: -0.342751 m/s, LOS rate: 0.057727 deg/s, cmd heading: 183.779067 deg, new cmd heading: 183.825210 deg. g}K:HeadingCmd: 3.208355 target range: 105.516663 and range: 105.80 m.gUM@ggggzfrfffBdddccP @ɢkB gI jqe=ɡiIs:+IDi=iܧ=)UM@)iU9QQ]b1Y@m@m@m@m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2650679A AI I N >a rD jD 4=D% D% pD% .D! E% a: E%  :6E% ـ4:E! "E% d;!5 E% e;!5 *E% 8R;!5 E% 9R;!= vF,#3AuDAT read: 23:52:54.2155 LVL= 24944, 26481, 25138, 29523, AGC= 70, IDX= 175, 0.12,-2.197, 2.325,-2.229,-2.497, PHS= 0.402,-1.417, 0.224, RAW= 144.9, 9.1, CAL= 144.5, 10.0, ROT= 5.5, -10.0 }Ygot valid direction response: 23:52:54.2155 LVL= 24944, 26481, 25138, 29523, AGC= 70, IDX= 175, 0.12,-2.197, 2.325,-2.229,-2.497, PHS= 0.402,-1.417, 0.224, RAW= 144.9, 9.1, CAL= 144.5, 10.0, ROT= 5.5, -10.0 PDAT read: Bearing 349.2, 3.5 (Local) ~Local bearing/azimuth received: Bearing 349.2, 3.5 (Local) DAT read: Range 11 to 50 : 104.4 m (Round-trip 139.3 ms) speed 0.3 m/s TDAT read: user:965>Tx time:23:52:55.3189 R#Rx 1: Read range and direction messages.\direction in FSK: [0.980274,0.094390,0.173648]Fpublishing direction and range info9)-˽[g^?kzb)?ٖNs:?-B)i-pa-qg-2b-Ss-F ->)-B`I-B`e>i-!@-">-vh!@-¸2>- = -¸2i))I-3?k?lqSY?->-z# - =)-¸2i))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y *?@ٱ"M@<=ŨH]k?gF@cԖA4?I *?@)~i;iC"B9 IMb@Mb@Mb@ )Ii-?/$Mb`??>,;IAiAdA)3AI!)!BD-(6D-:3Y=\!===Q)E>EK?9EK?9MFYMEM69AM>QQ 1]5٪Ux?Q 5]5UBa Ub#9]>Q Ae;YE@Q E@yU>E)U;IU;iU5YIIAh)h-ҋ3Ah-=Bh-=Bh-{S@ v-0Y@53ӧ#@|p#2@u-˽[g^?kzb)?ٖNs:?h- =h-¸2v-OY6jYCĿ Z?h-h-Qh-P)?h-Drh-JB*i-86?2i-:i-Bi-5B"i-hV@= addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.529078 s, deltaX: -1.400002 m, approachRate: -0.396705 m/s, rangeRepo size: 4  Added new target pos. range: 104.119301 m, bearing: 189.327392 deg, lat: 36.779150 deg, lon: -121.859920 deg, deltaT: 3.529078 s, deltaX: -1.397362 m, approachRate: -0.395957 m/s, posRepo size: 4 gFNOT Ignoring new targets: 104.12 m.gg ProNav: ac range: 104.119301 m, nav range: 103.604439 m, bearing: 191.587675 deg, approach rate: 0.000000 m/s, LOS rate: 0.057727 deg/s, cmd heading: 183.825211 deg, new cmd heading: 183.886440 deg. gEHeadingCmd: 3.209424 target range: 104.119301 and range: 104.40 m.gE3gM@gAgIgIgIzfIrfyfyfBdddcZ@c?ɢfB;  I (`=ɡiItN(IDii=i  =) 3gM@) DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767603i9/bAZAAA yAI) 9 IA NM >;L,53Ay6,?@ٱ60%M@68<6uL6Ht?`q@*Q-]d晿U畿 ?I6,?@)6Gj;i6CnB9n IBDz$6Dz3Y%'>!%=%߻Q)%?- H?9- H?9-FY-E- :A5?1Q 1]5٪5o?Q 5e55a 5d#9aYeE@Q Ee@y5>E)5F:I5:i5\5Ym@Bu)IAqDDyD2DE: E:6E4:E!@!@!@!@gFNOT Ignoring new targets: 104.12 m.1gof:g=of:M ProNav: ac range: 104.119301 m, nav range: 103.501816 m, bearing: 191.602569 deg, approach rate: -0.346685 m/s, LOS rate: 0.050365 deg/s, cmd heading: 183.886437 deg, new cmd heading: 183.916255 deg. gMX:UHeadingCmd: 3.209944 target range: 104.119301 and range: 104.40 m.gUoM@gQgQgQgQzfYrfYfYfYBdadadacace*?ɢdB95 AI ]=ɡiI%IDi=iu=)oM@)Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019853i9*5avBUB>~BQBUIBUBBQBQBQBQBQAQIYIqN|>ԑ i =I =% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274725S,O3Ay-U-?@ٱ-%M@-vj<-|-H@&t?S$`}ƌ ?I-U-?@)-j;i-CEB9EIMR=M<Mb@Mb@Mb@ )IibX9?MbE>@IiA)ABD6D{U3Y㧽!%;=%Q)%>)9)9-FY-îE58A5>9Q 1E5٪=b?Q 5E5=` =g#9Eڷ>Q AE;YED@Q EE@y=>E)=:I=':i=F5YQUIAQgy}FNOT Ignoring new targets: 104.12 m.g{:g{:ԉ ProNav: ac range: 104.119301 m, nav range: 103.350426 m, bearing: 191.625791 deg, approach rate: -0.358317 m/s, LOS rate: 0.055045 deg/s, cmd heading: 183.916258 deg, new cmd heading: 183.962771 deg. gy:HeadingCmd: 3.210756 target range: 104.119301 and range: 104.40 m.g}M@ggggzfrfffBBdddcc]?ɢ`B7 I zY=ɡiI)#IDiY =iV =)}M@)DDD.DEҝ: E*:6Eـ4:E"E;!E;!*Eh;!Ei;!i9I5ԹII Nm>]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523067% PExceeded connect timeout, disconnecting. *Y,ki3Ay6a0?@ٱ6(M@6.<66H d7?`M`X`| 1?I6a0?@)6:wj;i6CBB9BIHiJBDN&6DNދ3YVi=!Vf=V1Q)V>X9X9ZFYZƮE^F :A^>`Q 1f5٪bW?Q 5f5b` bj#9dYfD@Q Ef@yb>E)by:Ib:ib5YlnYIAlzB*** querying acoustic contact ***zh|h|g FNOT Ignoring new targets: 104.12 m.g `s:g `s:} ProNav: ac range: 104.119301 m, nav range: 103.227478 m, bearing: 191.644688 deg, approach rate: -0.345683 m/s, LOS rate: 0.053194 deg/s, cmd heading: 183.962771 deg, new cmd heading: 184.000610 deg. g}:HeadingCmd: 3.211416 target range: 104.119301 and range: 104.40 m.gهM@ggggzfrfffBdddcc`L?ɢ%]B%X )-I) -&V=ɡ)i)I-Ģ I5ܗDi==i=qf=)=هM@)9)Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.775261i9/)>A=DDpDDE1: E :6E:E! @! @! @! @rA >jA >I I I N >m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027022vBA ~BA BE IBE BBA BA BA BE ;BE QE`,5F3A y6;?@ٱ6r4M@6E0<6I6H@3? }@ jb +?I6;?@)6 j;i4FB9FIBDN6DN3YVS!VJ=V/Q)V>X9X9ZFYZȮE^:A^>Q 1 5٪K?Q 5 5X` l#9 Y D@Q E @y>E):I:i5Y5BIA=SEgFNOT Ignoring new targets: 104.12 m.g(o:g(o: ProNav: ac range: 104.119301 m, nav range: 103.084892 m, bearing: 191.666602 deg, approach rate: -0.339648 m/s, LOS rate: 0.052272 deg/s, cmd heading: 184.000611 deg, new cmd heading: 184.044499 deg. gS:HeadingCmd: 3.212183 target range: 104.119301 and range: 104.40 m.gfM@ggggzfrfffBdddcc:?iCIUGq)uAIiȠAVAɢ YB c޼ A [=D D qD ,D E ҝ: E $ :6E g4:E "E ! E ! *E U;! E U;! II IY Nm >f, 3AP%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531017B9IinManaging dock network, ignoring radio surface power off=Mb@Mb@Mb@ 9)9I9i99=rh|?S㥫Mb`?=>=/]=;I=Ai9=9A= A)9= ABDU&6DUދ3Ye:!e&=mQ)m>i9i9uFYuˮEuAu>yQ 15٪}bQ A;YC@Q E@y}>E)}C ;I}7 ;i}5YIAgFNOT Ignoring new targets: 104.12 m.g;:g;: ProNav: ac range: 104.119301 m, nav range: 102.912155 m, bearing: 191.694760 deg, approach rate: -0.362025 m/s, LOS rate: 0.059115 deg/s, cmd heading: 184.044502 deg, new cmd heading: 184.100914 deg. g_:HeadingCmd: 3.213167 target range: 104.119301 and range: 104.40 m.gM@ggggzfrfff BBdddcc @ɢ-UB-n )-됿I1 5 N=ɡ1i1I5wI=,{Di=*=i=R=)=M@)Ai}9yy1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783463! >A ff=I I N >m,3Ay:X?@ٱ:QM@:f<:ă:H ? t u @O?I:X?@):eh;i:CDFAFiDDiFsCD)Jt HIH H)Js@HLLLNAiRIPPIPiRA RļP)TT V߃AV/]TTXZhyAIX)XiXXbB9bIIh)hBDj*6Dj3Yr>;!r~=vQ)v ?t9x9zFYzͮEz;Az ?|Q 1 5٪R2?Q 5 5_ o#9 Y C@Q E@y>E):I:i(5YIAgAEFNOT Ignoring new targets: 104.12 m.gM:gM:] ProNav: ac range: 104.119301 m, nav range: 102.797142 m, bearing: 191.713442 deg, approach rate: -0.356215 m/s, LOS rate: 0.057925 deg/s, cmd heading: 184.100919 deg, new cmd heading: 184.138324 deg. g]:eHeadingCmd: 3.213820 target range: 104.119301 and range: 104.40 m.ge:M@gagagigizfirfifqfqBdqdqdqcyc}xp@ɢRBu 顭I K=ɡiI&DDuD0DE: E:6E4:E!@!@!@!@I{pDiJ=i=):M@)i9/=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036055A>AmW^=bAmAZAmAIA<A<vB~BBBB =BBB;BQEIN )>Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289621t,Е3AQyml?@ٱm0eM@m> ?Iml?@)mg;ii)9-IMb@Mb@Mb@ )IiQ?&1~jtx?µ>P;Ii A)3ABD"6DJz3Y!.=jQ)>99FYЮE++;A>Q 15٪2$?Q 55b_ 9>Q A;YJD@Q E@y>E):I:i45Y *B HA REg1=FNOT Ignoring new targets: 104.12 m.g=|:g=|:M ProNav: ac range: 104.119301 m, nav range: 102.635590 m, bearing: 191.739277 deg, approach rate: -0.344738 m/s, LOS rate: 0.055217 deg/s, cmd heading: 184.138321 deg, new cmd heading: 184.190073 deg. gU:UHeadingCmd: 3.214723 target range: 104.119301 and range: 104.40 m.gUM@gYgYgYgYzfYrfYfafeBBdadidicicm[0@ɢNBw¼ 顝I GF=ɡiI%I-aDi-=i-["=)-M@)1ԁDD|D+DE: EP$:6E [4:E"E;!E;!*E};!E};!i95checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539102ԩ>A xr= AU AIY Iq N} >Ez,3Ay6?@ٱ6;M@6;<66H, ܱ?`Bű@@K| 4?I6?@)60f;i6C  B9 I>i=Ip=BD%6D%F3Y5.!5g=5ӺQ)5>=K?9=K?9=FY=ҮE=;AE>AQ 1U5٪E?Q 5U5E$_ En#9QYUgD@Q EU@yE>E)E7;IEt:iE5YYeHAaԉ=B*** querying acoustic contact ***zh9h9gQUFNOT Ignoring new targets: 104.12 m.g]lj:uBDAT read: Rx Time:23:52:57.8606 uTRx dataTimestamp_ set to:1758412375.753305}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793547gelj: ProNav: ac range: 104.119301 m, nav range: 102.513412 m, bearing: 191.758741 deg, approach rate: -0.321248 m/s, LOS rate: 0.051237 deg/s, cmd heading: 184.190067 deg, new cmd heading: 184.229040 deg. g:HeadingCmd: 3.215403 target range: 104.119301 and range: 104.40 m.g+M@ggggzfrfffBdddcc L @ɢJB "I B=ɡiI}"IVDi&=ir+=)+M@)ԹiDD~DDEs: E(:6E:E!@!@!@!@>A] _= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043383vB E>~B B B B =B B DB ;B PEByByByB}ʬ =B}ʭ =B} /5 AI Ii Iy N >[),33Ay?@ٱM@<Ht?Ao^K-@4?I?@)e;iC B9Ip!9!9%FY%ծE%};A->yQ 15٪}* ?Q 55}^ y9YD@Q E@y}>E)};I};i}5YBHAQEgFNOT Ignoring new targets: 104.12 m.g:g: ProNav: ac range: 104.119301 m, nav range: 102.360542 m, bearing: 191.782946 deg, approach rate: -0.366788 m/s, LOS rate: 0.058163 deg/s, cmd heading: 184.229040 deg, new cmd heading: 184.277522 deg. g:HeadingCmd: 3.216249 target range: 104.119301 and range: 104.40 m.gM@ggggzfrfffBdddcc| @ɢ%GB%) !-ݎI) -zv?=ɡ)i)I-ҰI5HDi5=i5=)5M@)9iDAT read: 23:52:57.8606 LVL= 29328, 32321, 31138, 32755, AGC= 68, IDX= 430, 0.39,-0.612,-2.341,-0.646,-0.921, PHS= 0.411,-1.374, 0.231, RAW= 144.7, 8.7, CAL= 144.3, 9.4, ROT= 5.7, -9.4 Ygot valid direction response: 23:52:57.8606 LVL= 29328, 32321, 31138, 32755, AGC= 68, IDX= 430, 0.39,-0.612,-2.341,-0.646,-0.921, PHS= 0.411,-1.374, 0.231, RAW= 144.7, 8.7, CAL= 144.3, 9.4, ROT= 5.7, -9.4 PDAT read: Bearing 349.2, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 349.2, 4.5 (Local) -DAT read: Range 11 to 50 : 103.2 m (Round-trip 137.6 ms) speed 0.3 m/s MBDAT read: Tx time:23:52:58.9250 U$Ping request sent.]);߯IDl>i!@|>E/!@'>%= 'iIB@?87|?$Ȍ=? >Q %=)'i:publishing transmit ping timeYQFpublishing direction and range info9 j?n?$vz?i )Ii iIB@?87|?$Ȍ=? )iI>AE ff=rAM >jAM >D D yD -D E  E :6E t4:E "E ;! E ;! *E r;! E r;! q Au yAI I N >JP,3Ay6?@ٱ6M@6s<6汼6H?`adL@`;*?I6?@)6d;i6CB B9@Mb@Mb@Mb@ )Ii-?)\(Mbp??>Ga;IAiAA)ABD6D\3YL!O=Q)> H?9 H?9FYخE!;A> Q 155٪ {?Q 555 ^ 9=o>Q A=;Y=C@Q E=@y >E) W;I 5;i a5YAEHAIQhhb3AhBhBh_bT@ vΑg}BY@ (+$@\0@u j?n?$vz?h%=h'vEU^8Y15P,.@v8)ᅮ5Hƿ)?hWhqh?h5h8B*iWa ?2iO:i8BiB"iU@ addTargetRange:: Added new target pos. range: 103.199997 m, deltaT: 3.778734 s, deltaX: -1.200005 m, approachRate: -0.317568 m/s, rangeRepo size: 4  Added new target pos. range: 102.922997 m, bearing: 190.136284 deg, lat: 36.779149 deg, lon: -121.859898 deg, deltaT: 3.778734 s, deltaX: -1.196304 m, approachRate: -0.316589 m/s, posRepo size: 4 g FNOT Ignoring new targets: 102.92 m.g-g1= ProNav: ac range: 102.922997 m, nav range: 101.867668 m, bearing: 190.693638 deg, approach rate: 0.000000 m/s, LOS rate: 0.058163 deg/s, cmd heading: 184.277520 deg, new cmd heading: 184.324586 deg. gAEHeadingCmd: 3.217071 target range: 102.922997 and range: 103.20 m.gM}M@gIgIgIgzfrfff BBdddcY@c ?ɢDB #I ;=ɡiI)7I7;Di=i=)}M@))ԁi9Ա>A% m= AU AIY Iq N} >,,83Ay6?@ٱ6nM@6Cg<6946HB螳? p팳@^ !茿?I6?@)6ed;i6CBB9BIDiD)D FABDN6DNF3YRV!V]=VmQ)V>VK?9ZK?9ZFYZڮEZ;A^>\Q 1b5٪^r?Q 5f5^I^ \9dYfD@Q Ef@y^>E)^:I^:i^5YhnIAlg|FNOT Ignoring new targets: 102.92 m.g|:g |:BEJEA{4REC0D]D]D],DYE]g: E]a9:6E]g4:EY!e@!e@!m@!m@ ProNav: ac range: 102.922997 m, nav range: 101.740883 m, bearing: 190.712943 deg, approach rate: -0.362048 m/s, LOS rate: 0.055196 deg/s, cmd heading: 184.324580 deg, new cmd heading: 184.363238 deg. g:HeadingCmd: 3.217746 target range: 102.922997 and range: 103.20 m.gM@ggggzfrfffBdddccxD?ɢ=ABE23 AE6IA ED8=ɡAiIIMd Im*0Dim=iu ݏ=)uM@)qԑvBMF>~BMCBMIBMBBIBIBIBM;BMPEie9aae0aԱ>ATZ=A I I N > r,R3AyM%@@ٱM<N@MXyIAi A)3AI))-AABD-#6D-Ӏ3YEʼ!E3=EQ)E>I9I9MFYMݮEM;AU>YQ 1e5٪]7綊?Q 5e5]] ]o#9e{>Q Ae;YeC@Q Ee@y]>E)]E:I]:i]5YuBuHAuPEgFNOT Ignoring new targets: 102.92 m.gq:gq: ProNav: ac range: 102.922997 m, nav range: 101.577682 m, bearing: 190.738686 deg, approach rate: -0.358142 m/s, LOS rate: 0.056584 deg/s, cmd heading: 184.363239 deg, new cmd heading: 184.414808 deg. g:HeadingCmd: 3.218646 target range: 102.922997 and range: 103.20 m.gJM@ggggzfrfffBBdddcc ?ɢ>Bj ͑I E4=ɡ iI! Ik!Di=iz=)JM@)DuDuDu+DqEu%: Eu*5:6Eu [4:Eq"Eu;!Eu;!*Eu;!Eu;!i @=@=>AE Ď=I bAU AZAQ IA IQ Ne >v,x}l3AB9IBD-6D-03Y=H=!=]=EQ)E>A9A9MFYM߮EMAU>aQ 1m5٪e۶?Q 5u5e] eq#9qYqQ Eu@ye>E)eAv=ԩ i "?I ? T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.vBM K>~BI BI BI BM =BI BI BM ;BM PEI I N >A,CX3A@yfQu@@ٱfmN@fkHiI=BD-!6D-r3Y= <!EJ=E9Q)E>I9I9MFYMEMD<AU>QQ 1]5٪U϶?Q 5e5UG] Ur#9aYeC@Q Ee@yU>E)U;IU;iU[5Ym Bu0HAqgFNOT Ignoring new targets: 102.92 m.g:g: ProNav: ac range: 102.922997 m, nav range: 101.300056 m, bearing: 190.782249 deg, approach rate: -0.385788 m/s, LOS rate: 0.060158 deg/s, cmd heading: 184.457031 deg, new cmd heading: 184.502059 deg. g1:HeadingCmd: 3.220168 target range: 102.922997 and range: 103.20 m.g=N@ggggzfrfffBdddccEm?ɢ8B` I ?-=ɡiI ,I yDi =i 윘=) =N@)iqqq}?5yԩM*DAT read: user:966> Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.989167>ABN=I9IINU> D D D 1D E : E E7:6E -4:E "E #;! E $;! *E T;! E T;! ,43Ay6}@@ٱ6N@6<<6e6H ~? {) @@@?I6}@@)6c;i4Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.240438VB9VIlMb@Mb@Mb@ )IiCl?A`"~jtxd>YĻIi)i4<BD'6D3Y!C=Q)>99FYE;A>Q 15٪?Q 55 ] v#9_>Q A;Y[E@Q E@y>E)7;I7;i0 5Y4HAgFNOT Ignoring new targets: 102.92 m.gTi:gTi:- ProNav: ac range: 102.922997 m, nav range: 101.149696 m, bearing: 190.803640 deg, approach rate: -0.357941 m/s, LOS rate: 0.050998 deg/s, cmd heading: 184.502056 deg, new cmd heading: 184.544901 deg. g-:5HeadingCmd: 3.220916 target range: 102.922997 and range: 103.20 m.g5}#N@g9g9g9g9zf9rf9fAfEBBdAdAdIcIcM@ɢu4B}c y}EIy }y)=ɡiItI8Ci=i=)}#N@) i9@51]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493009>AԘ=IQ Ia Nm >a t׭,R3Ay6@@ٱ6N@6-<6 \6H㍶?3`ń@f @^@E ?I6@@)6c;i4BB9BIBDJ.6DJP3YRta!R^=VQ)V>T9T9VFYVEZ/;AZ>\Q 1b5٪^?Q 5b5^\ ^z#9dYf{E@Q Ef@y^>E)^;I^:i^ 5YjBj3HAhDEDEDE/DAEEy: EE.:6EEJ4:EA!M@!M@!M@!M@QgFNOT Ignoring new targets: 102.92 m.g ]:g ]: ProNav: ac range: 102.922997 m, nav range: 101.017418 m, bearing: 190.822360 deg, approach rate: -0.340941 m/s, LOS rate: 0.048314 deg/s, cmd heading: 184.544895 deg, new cmd heading: 184.582384 deg. gְ:UHeadingCmd: 3.221570 target range: 102.922997 and range: 103.20 m.g]5.N@gYgYgYgYzfYrfYfafaBdadadicicm@ɢ1B?  I ]%=ɡiI+I Ci =i ==) 5.N@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745327vBM>~BBIBBB =BBB;BPEii9y4ԡIG)AIi55A=A>A D=Iq I N > } BDAT read: Rx Time:23:53:01.4651 } TRx dataTimestamp_ set to:1758412379.282849 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000240[ô,YӖ3AԑB9Ii)A A5Mb@Mb@Mb@ 1)1I1i115Zd;O?kt~jtx5j>5 01I5MAi115A)11BDM6DMF3Y]Ԁ<!]%=eQ)e>i9i9mFYmEmAm>qQ 1}5٪u?Q 5}5u\ u~#9>Q A;Y=G@Q E@yu>E)uSA X= Ai Iy I N >y,J3AyJ@@ٱJKN@Jx Tx time:23:53:02.5688 ER#Rx 1: Read range and direction messages.M\direction in FSK: [0.986855,0.056902,0.151261]MFpublishing direction and range info9ln[G{P?n7"?ni\?nBlinfnfn[nunF n'1>)nIn>inO$@n5>n#@n|>nk= n|illIn=D3??^?n'i>n nk=)n|illT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.nQ)>99FYE;A>Q 15٪՚?Q 55\ #9YgG@Q E@y>E)r%I-Ci-\ =i5鵞=)5EN@)1DD{D.DE: E5":6Eـ4:E! @! @! @! @iyyy}4y@=@>DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757046vB~BBIBBBBBB;BPE) >A D=A yAI I N >, 3Ay:*@@ٱ:N@:{;:U:H 4?px.ߋm}B ?I:*@@):b;i:CFB9FIBDN#6DNӀ3YVj!VA=VNQ)V>Z H?9Z H?9ZFYZE^m8A^>`Q 1f5٪b~?Q 5f5b\ b#9dYfhG@Q Ef@yb>E)bl:Ib/;ibf5YnBnGAnNE~B*** querying acoustic contact ***zh|h|g FNOT Ignoring new targets: 101.63 m.g oX:g oX: ProNav: ac range: 101.627563 m, nav range: 100.493958 m, bearing: 190.315880 deg, approach rate: -0.397274 m/s, LOS rate: 0.047306 deg/s, cmd heading: 184.665052 deg, new cmd heading: 184.699196 deg. g&:HeadingCmd: 3.223609 target range: 101.627563 and range: 101.90 m.gON@ggggzfrfffBdddcc@\?ɢU(BUd/ Q])IY ]v=ɡYiYI]{IeCie=ie=)eON@))1 5A=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010090iiM9IQU/QԑDMDIDIDIEM: EI6EI:EI"EMh;!]EMi;!]*EMBz;!]EMCz;!]>A= A  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.261017I I N >j,b%3APyJY@@ٱJN@J ;J]JH@f`nx?:tks@Œ,AyX?IJY@@)JF#b;iHfB9fIrR=r4`IAi9A)ABD6DF3YD=!6=!Q)>!9!9%FY%E-;A->1Q 1=5٪5S?Q 5=55x\ 5#9=o>Q A= ;YEH@Q EE@y5>E)5" ;I5Q:i5]5YIMGAIgquFNOT Ignoring new targets: 101.63 m.g}6:g}6: ProNav: ac range: 101.627563 m, nav range: 100.328796 m, bearing: 190.333796 deg, approach rate: -0.367513 m/s, LOS rate: 0.039931 deg/s, cmd heading: 184.699202 deg, new cmd heading: 184.735093 deg. g(:HeadingCmd: 3.224236 target range: 101.627563 and range: 101.90 m.gYN@ggggzfrfffBBdddccs}?ɢ%BU` I =ɡiIICi=i=)YN@)ii 9  /Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.512580>Am ܝ=) De De ~De 1Da Ee : Ee (:6Ee -4:Ea !m @!m @!m @!m @A I I N >a/,ٰ?3Ay6V A@ٱ6O@6 ;6Xd6HT÷?wo`O}au@?I6V A@)6b;i6C@9BIJ4X9X9ZFYZEZU;AZ>\Q 1b5٪^u?Q 5f5^r\ ^#9dYfH@Q Ef@y^>E)^:I^:i^5YhjGAl|g FNOT Ignoring new targets: 101.63 m.g 5:g 5: ProNav: ac range: 101.627563 m, nav range: 100.197777 m, bearing: 190.347962 deg, approach rate: -0.366735 m/s, LOS rate: 0.039702 deg/s, cmd heading: 184.735088 deg, new cmd heading: 184.763456 deg. g%Q:%HeadingCmd: 3.224731 target range: 101.627563 and range: 101.90 m.g%aN@g)g)g)g)zf)rf)f1f1Bd1d1d1c9c=?AyAyvB~BBBB =BBB;BQEBMCBMCBIBM =BM =BMN5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.765510ɢ"Ba- !%I! %1F=ɡ!i!I%I-Ci-#=i-R=)5aN@)1i1115/9Q>AMȝ=rAU>jAQU checking for new query: numPingsReceived=0, elapsed TxPingTime=5.016568ԉ A AI Ia N >',Y3Ay6h A@ٱ6O@6m;6h%l6H/ʷ?=b^Ƿ`8qm`]`?I6h A@)6{a;i6CBB9BI Mb@Mb@Mb@ ) I i   X9v?L7A`堿 > + I |Ai A  A 9A)  fAYBD6D{U3Y<!<=pQ)>K?9K?9FYE9A>Q 15٪1h?Q 55r\ #9>Q A;YI@Q E@y>E);I;i5YBGAMEDDyD.DE: E:6Eـ4:E"E#;!-E$;!-*Er;!-Er;!-g5FNOT Ignoring new targets: 101.63 m.g=%:g=%:M ProNav: ac range: 101.627563 m, nav range: 100.047249 m, bearing: 190.363766 deg, approach rate: -0.343219 m/s, LOS rate: 0.036090 deg/s, cmd heading: 184.763461 deg, new cmd heading: 184.795117 deg. gM:UHeadingCmd: 3.225283 target range: 101.627563 and range: 101.90 m.gU kN@gQgQgQgQzfYrfYfYf]BBdadadacacm ?ɢBt 顝I =ɡiI\ICi,=irZ=) kN@)ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.268819i/Ա>A ܝ= AE yAIQ Ii N >)Y ] Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=5.520716H,As3Ay6A@ٱ6TO@6eg0;6`bu6Heַ? UշzD f ?I6A@)6!8a;i6CbB9bIdid)jA jABDn6Dn!3Yv.ݼ!vU=zQ)z>z H?9z H?9~FY~E~:A~>Q 1 5٪\?Q 5 5q\ 9YI@Q E@y>E)j;I;i5YHGAgAMFNOT Ignoring new targets: 101.63 m.gMI):gUI):] ProNav: ac range: 101.627563 m, nav range: 99.913979 m, bearing: 190.377782 deg, approach rate: -0.351335 m/s, LOS rate: 0.037000 deg/s, cmd heading: 184.795112 deg, new cmd heading: 184.823182 deg. gem:eHeadingCmd: 3.225773 target range: 101.627563 and range: 101.90 m.gesN@gigigigizfirfqfqfqBdqdydycyc}L@ԱɢB. bI 34 =ɡiI޻ICiP3=i_=)sN@)i9/BEـ4JE4REć 0D5D5tD51D1E5s: E5v:6E5-4:E1!E@!E@!E@!E@vBuL>~BqBqBqBu =BqBqBu˘;Bu$QE>A =checking for new query: numPingsReceived=0, elapsed TxPingTime=5.774722 A AI I N >1 ),A3Ay6LA@ٱ6 O@6ɐ:66H)?8>귿@ɐX@d ?I6LA@)6p+a;i6CBB9BIIH)HBDJ6DJ\3YRh8=!VP=VDQ)V>VK?9ZK?9ZFYZEZa^:AZ>\Q 1b5٪^Q?Q 5f5^q\ \9dYf I@Q Ef@y^>E)^-:I^$:i^75YhjFAlzB*** querying acoustic contact ***zhxhxgFNOT Ignoring new targets: 101.63 m.g ':g ': ProNav: ac range: 101.627563 m, nav range: 99.777550 m, bearing: 190.392143 deg, approach rate: -0.346460 m/s, LOS rate: 0.036519 deg/s, cmd heading: 184.823184 deg, new cmd heading: 184.851945 deg. g:HeadingCmd: 3.226275 target range: 101.627563 and range: 101.90 m.gJ{N@ggggzfrfffBdddcc@ɢuBu  y}XIy };=ɡyiyI}pڻIkCi/;=i,=)J{N@)checking for new query: numPingsReceived=0, elapsed TxPingTime=6.024663i9/ID5D5~D5,D1E5g: E5(:6E5g4:E1"E5;!EE5;!E*E5;!EE5;!Mq>Aȝ=bAAZA checking for new query: numPingsReceived=0, elapsed TxPingTime=6.276809I I N >ԙ \V,)3AyRIA@ٱRO@R7 :R37RH`=? R?@q>$AF?IRIA@)RXa;iRCrB9rIMb@Mb@Mb@ )IibX9?~jtE>IiA)ABD6DY=!:=Q)>99FYE:A>Q 15٪C?Q 55d\ 9N>Q A;YGH@Q E@y>E) ;I. ;i#5Y՚BkFAg FNOT Ignoring new targets: 101.63 m.g5:g5:- ProNav: ac range: 101.627563 m, nav range: 99.623215 m, bearing: 190.409544 deg, approach rate: -0.351607 m/s, LOS rate: 0.039705 deg/s, cmd heading: 184.851939 deg, new cmd heading: 184.886796 deg. g-T:5HeadingCmd: 3.226883 target range: 101.627563 and range: 101.90 m.g5BN@g1g1g1g1zf1rf9f9f=BBd9dAdAcAcE/@iɢ-B5}H 15I1 5=ɡ9i9I=8ֻI=tCiEC=iE=)EBN@)i!!%/!ԡBDAT read: Rx Time:23:53:05.1070 %TRx dataTimestamp_ set to:1758412382.812275%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.529664>A =I I N >D= D= D= /D9 E= غ: E= *5:6E= J4:E9 !M @!M @!M @!M @ &;,3AyN5&A@ٱNO@N=7NNHS:0?d?#2^ג`F?s?IN5&A@)Na;iNCZB9ZI^R>^i^=I^a=BD`6D`Yj!jZ=nUQ)n>p9p9rFYrErs:Ar>tQ 1z5٪v8?Q 5z5vZ\ v#9|Y~PH@Q E~@yv>E)v;Iv;iv5YrFA vB%J>~B!B%IB%BB!B!B!B%;B%CQEgqchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.780653FNOT Ignoring new targets: 101.63 m.gC1:gC1: ProNav: ac range: 101.627563 m, nav range: 99.491547 m, bearing: 190.424391 deg, approach rate: -0.343150 m/s, LOS rate: 0.038744 deg/s, cmd heading: 184.886800 deg, new cmd heading: 184.916533 deg. gύ:HeadingCmd: 3.227402 target range: 101.627563 and range: 101.90 m.gÍN@ggggzfrfffBdddccD @ɢBe1 I =ɡiI;$һICiI=ipȝ=)ÍN@)i90>A=I! M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.034664Q Iy N >Zh,"ڗ3A y6s1A@ٱ6)O@6غ66H`[?l?^D@[?@$@m?I6s1A@)6_a;i6CN B9NIuMb@Mb@Mb@ q)qIqiqquK7A`?I +{Gzt?u>u94uף;IuAiqqq)qu3AiBD&6Dދ3Y<!>=XQ)>99FYE :A>Q 15٪Q,?Q 557\ #9>Q A;YF@Q E@y>E):If:i5Y˚BEALEDDD-DEO: E=:6Et4:E"E )X9I>i%@'g >m%@Q >= Q iIz{?_R?_bʸ =)Q i=:publishing transmit ping timeY)EFpublishing direction and range info9bSש?nG_ˠ?/8ٲ?iq )Ii iIz{?_R?_bA ȝ=rA >jA >Ii Iy N >ԡ ,3Ay6:A@ٱ63O@646}6HT` ~?@Ls? @ef?N`Q)v>x9x9zFYzEz3:A~>Q 15٪!?Q 5 5\ #9Y%F@Q E%@y>E)+;I ;iP 5YAEFAAhha3AhvBhvBh2Q@ v86~X@}L @.H-@ubSש?nG_ˠ?/8ٲ?h=hQ v?PȐX*sTX-@vs_}i?hPhhw/ɕ?hDhB*iP)?2iDr:iiB"iZT@  addTargetRange:: Added new target pos. range: 100.500000 m, deltaT: 3.780883 s, deltaX: -1.400002 m, approachRate: -0.370284 m/s, rangeRepo size: 4 % Added new target pos. range: 100.231216 m, bearing: 187.568824 deg, lat: 36.779148 deg, lon: -121.859874 deg, deltaT: 3.780883 s, deltaX: -1.396347 m, approachRate: -0.369318 m/s, posRepo size: 4 g!%FNOT Ignoring new targets: 100.23 m.g-g)= ProNav: ac range: 100.231216 m, nav range: 99.037567 m, bearing: 189.821478 deg, approach rate: 0.000000 m/s, LOS rate: 0.042436 deg/s, cmd heading: 184.952643 deg, new cmd heading: 184.986694 deg. g9EHeadingCmd: 3.228627 target range: 100.231216 and range: 100.50 m.gEӡN@gAgAgAgAzfIrfIfIfIBdQdQdQcU Y@c]3?ɢB) 額ÀI 4<ɡiI2ʻI}Ci@Y=iܝ=)ӡN@)Աi-9))-^2)D D D D E I: E 6E :E !@!@!@!@vBL>~BBIBBB =BBB;B`QEiߝ=Iߝ=>A IIN>  i I} G) AI AAi b A AYw,Ή3Ay6@A@ٱ6P9O@6}66HF?$0x? EV@o?Kҕ?I6@A@)6Ua;i6C^B9^I`i`)d fABDj)6Dj3!YMͽ!MD=U0Q)U>Q9Q9]FY] E]q:A]>aQ 1m5٪e?Q 5m5e[ e#9qYuF@Q Eu@ye>E)e:Ie:ie""5Yy}FAB*** querying acoustic contact ***zhhgFNOT Ignoring new targets: 100.23 m.g7B:g7B: ProNav: ac range: 100.231216 m, nav range: 98.900116 m, bearing: 189.838101 deg, approach rate: -0.350512 m/s, LOS rate: 0.042449 deg/s, cmd heading: 184.986699 deg, new cmd heading: 185.019991 deg. g_:HeadingCmd: 3.229208 target range: 100.231216 and range: 100.50 m.gXN@ggggzfrfffBdddcc ?ɢ  B >7 I  <ɡiIƻI\tCiP`=i%y=)%XN@)!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i925Qy>AII DDD)DE7: E6EFA4:E"E;!%E;!%*E!-E!-N5> *DAT read: user:968>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987269Ա z ,d(3Ay:YJA@ٱ:BO@:Ρ:O~:H @K?.|?69t?<ϖ?I:YJA@):)la;i:CFB9FI=Mb@Mb@Mb@ 9)9I9i99=ʡE?J +=->=H=I=Ai= A= A=dA)9=fAII)M@ABDU6DUN3Ye=!eI=m+Q)m>i9i9mFYm Eu:Au>yQ 15٪ ?Q 55[ #9>Q A;YOF@Q E@y>E):I:i#5YBEAKEgFNOT Ignoring new targets: 100.23 m.g'G:g'G:] ProNav: ac range: 100.231216 m, nav range: 98.760185 m, bearing: 189.855803 deg, approach rate: -0.343587 m/s, LOS rate: 0.043528 deg/s, cmd heading: 185.019989 deg, new cmd heading: 185.055444 deg. g]R:eHeadingCmd: 3.229827 target range: 100.231216 and range: 100.50 m.ge{N@gagagagazfirfififmBBdqddccZ?ɢ B iI Ny<ɡiIV%»I9jCi1h=i){N@)ԡi15checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238746>AbAZA~A D% D% D% .D! E% g: E% .:6E% ـ4:E! !- @!5 @!5 @!5 @A9 IA IY Ne >Ԉ,=B3AvBvM>~BtBvIBv BBtBtBtBv;BvlQE=B9=IBDM6DM!3echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490763Ym<=!mJ=mQ)m>q9q9uFYuE}A>)Q 1=5٪-?Q 5=5-[ -#99Y9Q EE@y->E)-:G;I-5L;i-%5YQ]EAYgFNOT Ignoring new targets: 100.23 m.gD:gD: ProNav: ac range: 100.231216 m, nav range: 98.614159 m, bearing: 189.874333 deg, approach rate: -0.337297 m/s, LOS rate: 0.042864 deg/s, cmd heading: 185.055438 deg, new cmd heading: 185.092552 deg. g:HeadingCmd: 3.230474 target range: 100.231216 and range: 100.50 m.gN@ggggzfrfffBdddcc %?ɢuB}f$ y}zIy }f<ɡyiyI[I_Ci2o=iY=)N@)  i051 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742556>A a A9 IY I N >,|\3AyNgA@ٱNZ`O@N'I㻹N{NH+??Z7Hߕi|?`ޮ?INgA@)N~`;iLVB9Z I^>^>=Mb@Mb@Mb@ 9)9I9i99=m?:v=>=T9I9i9=A9)9=ABDU%6DU03Ye=!eD=eLQ)e>i9i9mFYmEDDD-DE: E=:6Et4:E"EQ 15٪?Q 5%5q[ #9%>Q A%;Y%E@Q E%@y>E)<:I:i'5Y15LEA1gy}FNOT Ignoring new targets: 100.23 m.gN:gN: ProNav: ac range: 100.231216 m, nav range: 98.474625 m, bearing: 189.892912 deg, approach rate: -0.339096 m/s, LOS rate: 0.045216 deg/s, cmd heading: 185.092553 deg, new cmd heading: 185.129764 deg. g:HeadingCmd: 3.231124 target range: 100.231216 and range: 100.50 m.gN@ggggzfrfffBBdddcc`'?ɢ=BE AE3vIa e:<ɡiiiImպIuTCiu"w=iuq=)uN@)qi>I< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995067iAAAEG4A)>Ae X=Q Ia I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246677` ,v3AyJ?yA@ٱJqO@Jz Jo9JH` @Do?ɐ? |@E{ ? u?IJ?yA@)J{~`;iJCVB9VI^p)9)9-FY-E-9;A->1Q 1=5٪5+浊?Q 5E55D[ 5~#9AYEE@Q EE@y5>E)5Q;I5;i58)5YMBMEAUJEgq}FNOT Ignoring new targets: 100.23 m.g}O:gO: ProNav: ac range: 100.231216 m, nav range: 98.348885 m, bearing: 189.909619 deg, approach rate: -0.340098 m/s, LOS rate: 0.045247 deg/s, cmd heading: 185.129764 deg, new cmd heading: 185.163221 deg. g:HeadingCmd: 3.231708 target range: 100.231216 and range: 100.50 m.gMN@ggggzfrfffBdddcc@ɢB: jwI ޓ<ɡiIjMIhKCi>~=i[=)MN@)1i/DDD.DE EA:6Eـ4:E!@!@!@!@avBa~BaBeIBeBBaBaBaBe;BetQEB!B!B!B%ư =B!B%~5-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499805>Aܝ=rAjA>ԉI I N >Թ 7#,3AyJbA@ٱJO@J5 JNWJH1`?8D? i ?` @q?IJbA@)J@_;iJCVB9VIBD^6D^!3Yf3!fP=jQ)j>h9h9jFYjEn$;An>pQ 1v5٪rڵ?Q 5v5r[ r}#9xYzE@Q Ez@yr>E)r:Ir:ir*5Y|~1EA|B*** querying acoustic contact ***zhhg)-FNOT Ignoring new targets: 100.23 m.g-!L:g5!L: ProNav: ac range: 100.231216 m, nav range: 98.216522 m, bearing: 189.927174 deg, approach rate: -0.335953 m/s, LOS rate: 0.044616 deg/s, cmd heading: 185.163218 deg, new cmd heading: 185.198375 deg. gN:HeadingCmd: 3.232322 target range: 100.231216 and range: 100.50 m.g[N@ggggzfrfffBdddcc @ɢeBm6& imcwIi m9<ɡiiiIu}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750756ԙIYACi@=i]=)[N@)i)))))DDD,DE,: E|;:6Eg4:E"EAiIIN>= BDAT read: Rx Time:23:53:08.7069 U TRx dataTimestamp_ set to:1758412386.594347] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008990 #*,n3Ay6A@ٱ6$O@6 6˷6H@ù? ?@ѹX땿??I6A@)6w_;i6CFB9FIHiHEMb@Mb@Mb@ A)AIAiAAES?Zd;{GztE>EyEףIE|AiAAEA)AEABD] 6D]k3Ymǻ!m@=uQ)u>q9q9}FY}E}E:A}>Q 15٪Oε?Q 55Z 9>Q A;Y6D@Q E@y>E)7 ;I ;i,5YBDAIEgFNOT Ignoring new targets: 100.23 m.gPe:gPe: ProNav: ac range: 100.231216 m, nav range: 98.073120 m, bearing: 189.948478 deg, approach rate: -0.336881 m/s, LOS rate: 0.050121 deg/s, cmd heading: 185.198380 deg, new cmd heading: 185.241050 deg. gs:HeadingCmd: 3.233066 target range: 100.231216 and range: 100.50 m.gN@ggggzfrfffBBdddcc@I @ɢ-B-21 )5wI1 5<ɡ1i1I50I=&5Ci==i=5=)EN@)AiYaaaa}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254700>A=IA a Iq N >BE%t4JE%ʆs4RE%/D D D .D E [: E ,:6E ـ4:E ! @! @! @! @1,IĘ3AAA<vB~BB IBBBBBB!;BzQE =DAT read: 23:53:08.7069 LVL= 19536, 23649, 20978, 22131, AGC= 68, IDX= 168,-0.05,-0.890,-2.531,-0.770,-1.157, PHS= 0.369,-1.329, 0.343, RAW= 149.2, 7.4, CAL= 148.7, 7.9, ROT= 1.3, -7.9 MYgot valid direction response: 23:53:08.7069 LVL= 19536, 23649, 20978, 22131, AGC= 68, IDX= 168,-0.05,-0.890,-2.531,-0.770,-1.157, PHS= 0.369,-1.329, 0.343, RAW= 149.2, 7.4, CAL= 148.7, 7.9, ROT= 1.3, -7.9 yeA@ٱe#O@e{eeH?e.?)! EaC܃?`Fa~?IeA@)e._;ieC]PDAT read: Bearing 348.5, 1.8 (Local) ~Local bearing/azimuth received: Bearing 348.5, 1.8 (Local) DAT read: Range 11 to 50 : 99.3 m (Round-trip 132.4 ms) speed 0.1 m/s B9II)AABD,6D3Y܇;!D=BDAT read: Tx time:23:53:09.7704 $Ping request sent.99FYEq>;A> Q 15va\vQvsVvD v>)vIv>ivr&@v A>vx&@v0 >v޹< v0 ittIv\1l?udw?In?vݞ?v v޹<)v0 itt:publishing transmit ping timeYFpublishing direction and range info9tv<*?@?yjȗ?ttittttt t٪  µ?Q 55 Z 9YJD@Q E@y >E)  =I  =i .5Y!%DA!)tItittttt tittIv\1l?udw?In?tt t)titththv-Ƙ3AhvBhvBqhvACQ@ vv0rX@@D#Zo99+@uv<*?@?yjȗ?hv޹<hv0 vv1JX: )$Fp,@vvQ>8ceK?.a-ʺ?hvNHhvThvn.ƕ?hv&ˣhv B*iv ݕ?2ivә:ivBiv"B"ivR@ addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: 3.528088 s, deltaX: -1.199997 m, approachRate: -0.340127 m/s, rangeRepo size: 4  Added new target pos. range: 99.034607 m, bearing: 187.341716 deg, lat: 36.779144 deg, lon: -121.859854 deg, deltaT: 3.528088 s, deltaX: -1.196609 m, approachRate: -0.339167 m/s, posRepo size: 4 gDNOT Ignoring new targets: 99.03 m.g-g)= ProNav: ac range: 99.034607 m, nav range: 98.067490 m, bearing: 188.878172 deg, approach rate: 0.000000 m/s, LOS rate: 0.050121 deg/s, cmd heading: 185.241055 deg, new cmd heading: 185.288361 deg. g9EHeadingCmd: 3.233892 target range: 99.034607 and range: 99.30 m.gEN@gAgAgAgazfirfififqBdqdqdqcu@3X@c}ӽ?ɢBi cuI <ɡiII'CiS=i=)N@)ԙi/@@@@ bAi ZAm AI I N= >37,5ޘ3ALyRA@ٱR'O@R&R>+RH@K?ߴ?@\@a 2 ل? $`L?IRA@)R^;iRCDDD/DEغ: E|;:6EJ4:E"EUPUTIQiUO AU AUA)QUpABDm6Dmf?3Y}!}2=»Q)>99FYE;A>Q 15٪䳵?Q 55XZ #9̻>Q A;YF@Q E@y>E);I;i05YDAgIUDNOT Ignoring new targets: 99.03 m.g]M:g]M:  ProNav: ac range: 99.034607 m, nav range: 97.902481 m, bearing: 188.896957 deg, approach rate: -0.394634 m/s, LOS rate: 0.045002 deg/s, cmd heading: 185.288361 deg, new cmd heading: 185.325995 deg. g :HeadingCmd: 3.234549 target range: 99.034607 and range: 99.30 m.gO@ggggzfrff9f=փBBdAdAdAcAcM@L?ɢBI+ U)uIQ ],<ɡYiYI]IeCie=iel=)eO@)ii     IIN> )ߙ ߝ AZ=,?3Ay>tA@ٱ>O@> />Ƽ>H) ??@qW?ޘ?I>tA@)> x^;i>CHJAJ\iHHiNCNA)N LIL P)Rts@PPPTVAiVuITTITiVۃA ZX)XX ZAZX\\^dyAI\)`i``fB9fIj%=j4E) * ;I  ;i 25Y%B-DA)gIUDNOT Ignoring new targets: 99.03 m.gUB:gUB:m ProNav: ac range: 99.034607 m, nav range: 97.788414 m, bearing: 188.909915 deg, approach rate: -0.373859 m/s, LOS rate: 0.042520 deg/s, cmd heading: 185.325995 deg, new cmd heading: 185.351941 deg. gm:mHeadingCmd: 3.235002 target range: 99.034607 and range: 99.30 m.guD O@gqgqgqgqzfqrfqfyfyBdyddcc`}?ɢBju 页MyI Ƶ<ɡiIÃIqCi=i?Z=)D O@)i/)DDD.DE EE7:6Eـ4:E!@!@!@!@AyAvB-L>~B)B-IB-BB)B)B)B-(;B-QEIAIYNmV>Yԁ fBD,v3AYeB9eIm;iiBDu6Du3YH!A=Q)> H?9 H?9FY"EA>Q 15٪?Q 55Z #9YQ E@y?E)|:I:i35YEAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 99.03 m.g;:g;: ProNav: ac range: 99.034607 m, nav range: 97.636314 m, bearing: 188.927242 deg, approach rate: -0.359654 m/s, LOS rate: 0.041035 deg/s, cmd heading: 185.351936 deg, new cmd heading: 185.386644 deg. g2:HeadingCmd: 3.235607 target range: 99.034607 and range: 99.30 m.g1O@ggggzf rf f f Bdddcc?ɢEBE+8 IMwyII M<ɡIiIIMIU CiU=i]=)]1O@)YT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i0ԑA=AIaINj>ԱrD=jD%=DDD/DE: EVL:6EJ4:E"E= = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486088 mJ,+3Ay6A@ٱ6wO@6@6Q!Ǽ6H@c?q?`51?`㘿`?I6A@)6k];i6C B9IMb@Mb@Mb@ )IiʡE?Zd;O{Gz->j<#IMAi~ A9AA)BD]+6D]E3YmU;=!u<=uQ)}>}K?9K?9FY%E8o:A>Q 15٪&?Q 55Y #9̳>Q A;YMG@Q E@y?E)1h;Ij;i55YDAgDNOT Ignoring new targets: 99.03 m.gg+:gg+: ProNav: ac range: 99.034607 m, nav range: 97.485641 m, bearing: 188.943660 deg, approach rate: -0.343274 m/s, LOS rate: 0.037464 deg/s, cmd heading: 185.386647 deg, new cmd heading: 185.419535 deg. g :HeadingCmd: 3.236181 target range: 99.034607 and range: 99.30 m.gO@ggggzfrfffԃBBdd!d!c!c%@t?ɢ B>* sI ^<ɡiIICi%G=i%2=)%O@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735649)i59115/9)D D D .D E : E E7:6E ـ4:E ! @! @! @! @>A] =a A9 A= @AvBM M>~BI BI BI BI BI BI BM 3;BM QEE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989036A yAI I N >(R, I3AHInG)zAI-A5 B95Ii}@}A}Ai) ABD6D4d3YM!==Q)> H?9 H?9FY(EA>Q 15٪r?Q 55Y #9YQ E@y?E);I;i75YBoDAHEgDNOT Ignoring new targets: 99.03 m.g#.:g#.: ProNav: ac range: 99.034607 m, nav range: 97.337349 m, bearing: 188.959871 deg, approach rate: -0.347650 m/s, LOS rate: 0.038061 deg/s, cmd heading: 185.419542 deg, new cmd heading: 185.452012 deg. gO:HeadingCmd: 3.236748 target range: 99.034607 and range: 99.30 m.g&O@gggg!zf!rf!f)f)Bd)d)d)c1c5`^@ɢ]B]< aerIa e<ɡaiiIm\wImBiu1Ï=iu=)u&O@)qԹi9/0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239688>A== A AI I NE >D- D- D- +D) E- : E- A:6E- [4:E) "E- eK?9eK?9eFYe*EiAm>qQ 1}5٪uv?Q 5}5uY u#Q =}+:9yQ A:YQ E@yu?E)u:Iu>iu(95YDAgDNOT Ignoring new targets: 99.03 m.gn-:gn-: ProNav: ac range: 99.034607 m, nav range: 97.190369 m, bearing: 188.975986 deg, approach rate: -0.345199 m/s, LOS rate: 0.037907 deg/s, cmd heading: 185.452012 deg, new cmd heading: 185.484292 deg. g:HeadingCmd: 3.237312 target range: 99.034607 and range: 99.30 m.g0O@ggggzfrfffBdddcc`U@ɢB9 rI ,<ɡ!i!I%鴖I%Bi-ˏ=i-=)50O@)9)i9O0Q>A =bA ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743790ԁ AY Ia Iq N >s^,||3Ay6~B9B9B9B9B9B9B=1;B=QEԉie?>Ie4=mBDAT read: Rx Time:23:53:12.3052 mTRx dataTimestamp_ set to:1758412390.124518uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.997111Ա>A=Aa Ii Iy N > [e,_y3Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248004  B9 I>i=Ia=BD% 6D%k3YeJ<!e?=mQ)m>i9i9uFYu/EuAu>yQ 15٪}_?Q 55}Y }#Q =99Q A:YQ E@y} ?E)}Q:I}?i}&;5YDAB*** querying acoustic contact ***zhԹhgDNOT Ignoring new targets: 99.03 m.g/:g/: ProNav: ac range: 99.034607 m, nav range: 96.922386 m, bearing: 189.005421 deg, approach rate: -0.347320 m/s, LOS rate: 0.038255 deg/s, cmd heading: 185.510615 deg, new cmd heading: 185.543248 deg. g:HeadingCmd: 3.238341 target range: 99.034607 and range: 99.30 m.g@O@ggggzfrfffBdddccR @ɢ-B-b; )-nI) 5<ɡ1i1I5[I=Bi=؏=i=c.=)=@O@)Ai925D-D-D-,D)E-: E-*5:6E-g4:E)"E-` A ܝ= :publishing transmit ping timeY% Fpublishing direction and range info9r?@?L`u&?BiNXQX ˡ>)B`I>i6'@>&@ >+<  iI '?cqA?c*9??J +<) iU :publishing transmit ping timeY] Fpublishing direction and range info9r?@?L`u&?i )Ii iI '?cqA?c*9? )iA= yAII IY Y Nm >LJk,\3A=B9=I1!E!E !E!M !M!M !M!M MMb@Mb@Mb@ I)IIIiIIMZd;?Zd;OQM>MjMuIM7AiM AMAMA)IMAyi}BD$6D3YV=!7=Q)> H?9 H?9FY2EA>Q 15٪Q?Q 55Y #Q =T:9~>Q A ;YWFQ E@y?E)Y;I;i=5YCAhhJ3AhyBhyBh|P@ vU|6X@j:?St0*@ur?@?L`u&?h+<h vS8TCX5&"!_,@v=nᅬv@?h7hhL?h^hB*iw/ɕ?2iD:i BicB"iCQ@ addTargetRange:: Added new target pos. range: 98.000000 m, deltaT: 3.533022 s, deltaX: -1.300003 m, approachRate: -0.367958 m/s, rangeRepo size: 4 E Added new target pos. range: 97.737930 m, bearing: 186.796986 deg, lat: 36.779142 deg, lon: -121.859831 deg, deltaT: 3.533022 s, deltaX: -1.296677 m, approachRate: -0.367016 m/s, posRepo size: 4 gAMDNOT Ignoring new targets: 97.74 m.gMgI] ProNav: ac range: 97.737930 m, nav range: 96.693451 m, bearing: 187.813854 deg, approach rate: 0.000000 m/s, LOS rate: 0.038255 deg/s, cmd heading: 185.543250 deg, new cmd heading: 185.579872 deg. gYHeadingCmd: 3.238980 target range: 97.737930 and range: 98.00 m.grKO@ggggzfrfffBBdddcX@c?ɢB  '  iI  .<ɡ i IںIBBi=i,=)rKO@)ai1ԉD D D 0D E : E F:6E 4:E ! @! @! @! @A5 <A1 vBM M>~BI BI BI BM =BI BI BM ;;BM QEBBBBBʰ =B4>A rA >jA >Թ A- AI1 II NU >yr,O̙3Ay6CA@ٱ6O@6c6٦6H`Lغ? ?+&ԕp?s?I6CA@)6];i6CBB9BIBDJ6DJ{U3YRN½!R^=R.Q)R>VK?9VK?9VFYV5EZo:AZ>\Q 1b5٪^2F?Q 5b5^Y ^#9`YbPFQ Ef@y^?E)^:I^:i^>5YjBUDAUFEgy}DNOT Ignoring new targets: 97.74 m.gK9gK9ԑ ProNav: ac range: 97.737930 m, nav range: 96.557617 m, bearing: 187.821407 deg, approach rate: -0.385237 m/s, LOS rate: 0.021452 deg/s, cmd heading: 185.579873 deg, new cmd heading: 185.595001 deg. g:HeadingCmd: 3.239244 target range: 97.737930 and range: 98.00 m.gOO@ggggzfrfffBdddcc@#?ɢB0e qI [<ɡiI$IBiA=i=)OO@)i9g1@=@=Թ>A=A I I! NM > D% D% D% /D! E% I: E% 3:6E% J4:E! "E% I=#@EB9EIIiIMb@Mb@Mb@ )Iix&1?{GzMb>ףIAi A9A)ABD6D2Yż<!6=Q)>99FY7E%A%>)Q 155٪-7?Q 5E5-#Z -#9E>Q AE ;YEEQ EE@y-?E)-"{;I-y;i-@5YIUCAQgy}DNOT Ignoring new targets: 97.74 m.g9g9 ProNav: ac range: 97.737930 m, nav range: 96.387856 m, bearing: 187.829947 deg, approach rate: -0.389530 m/s, LOS rate: 0.019630 deg/s, cmd heading: 185.594995 deg, new cmd heading: 185.612105 deg. g:HeadingCmd: 3.239542 target range: 97.737930 and range: 98.00 m.gTO@ggggzfrfffBBdddcc`\?ɢBA (nI pw<ɡiI].Im Bim=im=)uTO@)qi9   E4 @@@@)QA I I N >y >,3Ay6A@ٱ6O@6^6k6H``? &P?  q`{ދ?P ?I6A@)6@];i6CBB9BIIH)J@ABDJ6DJ 3YRvw=!Ve=VK:Q)V>X9X9ZFYZ:EZU:AZ>`Q 1b5٪bx,?Q 5f5bSZ b#9dYfEQ Ef@yb?E)bd:Ib:ib=B5Yj|BnICAnEEgyDNOT Ignoring new targets: 97.74 m.gA9gA9 ProNav: ac range: 97.737930 m, nav range: 96.252983 m, bearing: 187.836730 deg, approach rate: -0.362953 m/s, LOS rate: 0.018278 deg/s, cmd heading: 185.612112 deg, new cmd heading: 185.625696 deg. g:HeadingCmd: 3.239779 target range: 97.737930 and range: 98.00 m.gXO@ggggzfrfffBddBEm4JEm~4REmַ/DDD.DE: E|;:6Eـ4:E!@!@!@!@ԉvB~BBBBBBB,;BQEd1c9c=`}?ɢBJ@ 页gI &j<ɡiIrI)Bi=iF=)XO@))i/bAZAAԩAIIN> &, 3Ay:A@ٱ:TO@:%/c:b:H@ֺ?؎?v캿`e?6`?I:A@):a];i:CFB9J IBDR6DRP)3YV<!ZJ=Z&Q)Z>\9\9^FY^dQ 1f5٪f?Q 5j5fZ f#9hYjEQ Ej@yf?E)f:IfN:ifD5YprCAp~B*** querying acoustic contact ***zh|h|g  DNOT Ignoring new targets: 97.74 m.g 9g 9% ProNav: ac range: 97.737930 m, nav range: 96.100189 m, bearing: 187.844466 deg, approach rate: -0.392483 m/s, LOS rate: 0.019903 deg/s, cmd heading: 185.625690 deg, new cmd heading: 185.641187 deg. g%:-HeadingCmd: 3.240050 target range: 97.737930 and range: 98.00 m.g-\O@g)g1g1g1zf1rf1f9f9Bd9d9dAcAcE@?ɢmBm^ qucIq ua<ɡqiqI}}yI}Bi=iT$=)\O@)i5999E/ADDD2DE: E,:6E4:E"E6]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.) P,*33Ay6A@ٱ6O@6Kd626H`0?@H?Ӻ f@?A@"?I6A@)6!\;i6C@BB9B IF=F> Mb@Mb@Mb@ ) I i   rh|?~jt~jth >  DI i  A  A 7A)  ABDu#6DuӀ3Y<!>=-%Q)>99FY?EjgA>Q 15٪=?Q 55Z #9)>Q A;YEQ E@y?E):I:iE5YCAgDNOT Ignoring new targets: 97.74 m.g9g9 ProNav: ac range: 97.737930 m, nav range: 95.942360 m, bearing: 187.852384 deg, approach rate: -0.366424 m/s, LOS rate: 0.018414 deg/s, cmd heading: 185.641181 deg, new cmd heading: 185.657044 deg. g:HeadingCmd: 3.240327 target range: 97.737930 and range: 98.00 m.gaO@ggggzfrff f ԃBBd d dcc@*DAT read: user:970> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252027ɢ=ރB=@5 9=aI9 ErS<ɡAiAIEhrIM3BiM=i-=)aO@)Աi!!)))I!I1N=r>DDDDE: E6E:E!%@!%@!%@!%@AAAAvBK>~BB IBBB =BBB!;ByQE m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5034359,M3Ay6 A@ٱ6O@6wf6ݓ6H`p?Ð?@kպΌ?@`Q?I6 A@)6$\;i6CbB9b If4x9x9zFYzAE~8A~>Q 1 5٪X?Q 5 5Z #9 Y Q E@y?E):I :iG5YsBBAgAEDNOT Ignoring new targets: 97.74 m.gM9gM9] ProNav: ac range: 97.737930 m, nav range: 95.801537 m, bearing: 187.859469 deg, approach rate: -0.366309 m/s, LOS rate: 0.018457 deg/s, cmd heading: 185.657041 deg, new cmd heading: 185.671232 deg. g]:eHeadingCmd: 3.240574 target range: 97.737930 and range: 98.00 m.geeO@gagagigizfirfififqBdqdqdqcyc}p @ɢ݃BoX 顭_I I<ɡiIr?kI$Bi)=i=ؙ=)eO@)i11111 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7559559>AmÜ=rA}>jA}>I) IQ Nu >i D D D -D E [: E 6E t4:E "E `I AiA A)ABD)6D3Y%b=!%8=-璹Q)->)9)9-FY5DE5A5>9Q 1E5٪=?Q 5E5=[ =#9M۷>Q AM;YMVGQ EM@y=?E)=:I=:i=I5YQ]fBAYgDNOT Ignoring new targets: 97.74 m.g!9g!9u ProNav: ac range: 97.737930 m, nav range: 95.642998 m, bearing: 187.869983 deg, approach rate: -0.347326 m/s, LOS rate: 0.023073 deg/s, cmd heading: 185.671234 deg, new cmd heading: 185.692297 deg. gu(:}HeadingCmd: 3.240942 target range: 97.737930 and range: 98.00 m.g}kO@gygyggzfrfffBBdddcc@iɢڃBj+  %ZI  ͢;<ɡ i IcIBi6 =i!=)kO@)iԙ) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259709 >A =IA IQ Ne >J,K93Ay6A@ٱ68O@6dl6ż6H`@׺?J?ﺿ`pM?Z?I6A@)6\;i6CB,B9B IDiD)D FABDJ'6DJ3YR=!Rf=V?/Q)V>T9X9ZFYZGEZw:AZ>\Q 1b5٪^-?Q 5b5^([ ^#9dYfOGQ Ef@y^"?E)^:I^:i^K5YjiBjAAjDEgyDNOT Ignoring new targets: 97.74 m.g59g59 ProNav: ac range: 97.737930 m, nav range: 95.516350 m, bearing: 187.878372 deg, approach rate: -0.352975 m/s, LOS rate: 0.023409 deg/s, cmd heading: 185.692298 deg, new cmd heading: 185.709097 deg. g]+:ԙHeadingCmd: 3.241235 target range: 97.737930 and range: 98.00 m.gfpO@ggggzfrfffBdddcc@~ @vB~BB IB'BBBBB;BsQED1D5D5.D1E1 E53:6E5ـ4:E1"E1E1*E5;E5;yiېCIm+G)Ii@Aɢ ؃B I  .VI  '1<ɡiI ]DAT read: 23:53:15.9035 LVL= 24512, 26017, 22338, 28659, AGC= 69, IDX= 165,-0.08, 1.222,-0.454, 1.339, 0.951, PHS= 0.373,-1.360, 0.344, RAW= 149.2, 7.5, CAL= 148.6, 8.1, ROT= 1.4, -8.1 Ygot valid direction response: 23:53:15.9035 LVL= 24512, 26017, 22338, 28659, AGC= 69, IDX= 165,-0.08, 1.222,-0.454, 1.339, 0.951, PHS= 0.373,-1.360, 0.344, RAW= 149.2, 7.5, CAL= 148.6, 8.1, ROT= 1.4, -8.1 PDAT read: Bearing 347.8, 2.1 (Local) INBi=iJ=)fpO@)5~Local bearing/azimuth received: Bearing 347.8, 2.1 (Local) EDAT read: Range 11 to 50 : 96.7 m (Round-trip 129.0 ms) speed 0.3 m/s MBDAT read: Tx time:23:53:16.9704 U$Ping request sent.U)5{I5 >i5r&@5 >5%@5>5+< 5i11I5Oeγ?Co?+S?5L?5[ 5+<)5i11:publishing transmit ping timeYQFpublishing direction and range info915kPګ?%rVĘ?:N ?11i11111 1)1I1i11111 1i11I5Oeγ?Co?+S?11 1)1i11! >A =I I N >զ,G3AyfA@ٱfO@f2of.SǼfHw?}?C`;`2` ?阿?IfA@)fV\;ifC?B9%3 II)))1BD=*6D=3YM8=!M6=MǹQ)M>Q9q9uFYuIE}'9A}>Q 15٪rഊ?Q 55G[ #9YKGQ E@y$?E);IT;i M5YQAAhh3AhBhBh~Q@ v4=W@ >~@Y&g-+@ukPګ?%rVĘ?:N ?h+<hvDRӘWVPa)|-@vDDU￈1l&T`?h Khܼh2ʕ?hhB*i2i:iiB"i Q@ addTargetRange:: Added new target pos. range: 96.699997 m, deltaT: 3.527176 s, deltaX: -1.300003 m, approachRate: -0.368568 m/s, rangeRepo size: 4 i Added new target pos. range: 96.441147 m, bearing: 187.653799 deg, lat: 36.779142 deg, lon: -121.859827 deg, deltaT: 3.527176 s, deltaX: -1.296783 m, approachRate: -0.367655 m/s, posRepo size: 4 gDNOT Ignoring new targets: 96.44 m.ggDDD-DE7: E=:6Et4:E"E;E;*Eʔ;Eʔ; ProNav: ac range: 96.441147 m, nav range: 95.300537 m, bearing: 187.652230 deg, approach rate: 0.000000 m/s, LOS rate: 0.023409 deg/s, cmd heading: 185.709101 deg, new cmd heading: 185.732399 deg. gHeadingCmd: 3.241642 target range: 96.441147 and range: 96.70 m.gwO@ggggzfrfffBddd!c%,X@c%|?i}%=I}%=ɢփB NKI A#<ɡiIrVIBi=i/=)wO@)ԑi/Թ >A ~=bA AZA I1 IA NU >},3Ay6A@ٱ6O@6&t6*ͼ6H a z?ߑ? 2@ @㗿?٣?I6A@)6 \;i6CB&B9B ILMb@Mb@Mb@ )IiK7A?ly&1| >`I7Ai)QABD6DP)3Yٽ!2=,Q)>99 FY LE  9A>Q 15٪Ѵ?Q 5%5P[ 9%>Q A% ;Y%HQ E%@y'?E):I:i O5YIUBAQB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 96.44 m.gn:gn: ProNav: ac range: 96.441147 m, nav range: 95.128525 m, bearing: 187.665311 deg, approach rate: -0.425835 m/s, LOS rate: 0.032442 deg/s, cmd heading: 185.732405 deg, new cmd heading: 185.758615 deg. g}m:HeadingCmd: 3.242100 target range: 96.441147 and range: 96.70 m.g~O@ggggzfrfffʃBBdddcc J?ɢmԃBu#eW quVIq u<ɡqiqI}VOI&Bi=iy=)~O@)i!!)))vB~BB( IB6BBBBBBDMDMDM/DIEM,: EM,:6EMJ4:EI"EM<EM<*EM:;EM;;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.! >AA A I I N >I,9Ӛ3Aɰy6A@ٱ6JO@6x6E̼6H\? %?`З?9?I6A@)6\;i6CB@B9B4 IiF=IF=BD56D52YE>!EP=E=5Q)M>I9I9MFYMOEU 5AU>YQ 1e5٪]?Ŵ?Q 5e5]X[ Y9aYiQ Em@y])?E)]:I]:i]P5Yu`Bu@AuCEgDNOT Ignoring new targets: 96.44 m.g :g : ProNav: ac range: 96.441147 m, nav range: 94.980354 m, bearing: 187.676618 deg, approach rate: -0.386183 m/s, LOS rate: 0.029517 deg/s, cmd heading: 185.758619 deg, new cmd heading: 185.781270 deg. gX:HeadingCmd: 3.242495 target range: 96.441147 and range: 96.70 m.g O@ggggzfrfffBdddcc`??ɢ҃BWO $II <ɡiI HI Bi=i>Η=) O@)*DAT read: user:971> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.158134i909>A =D D D -D E g: E E7:6E t4:E "E ;E ;*E T;E T;AY a Ii Iy N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.409361,G3AyJ1A@ٱJO@JBြJuɼJH `)ߺ?`e?@Z?0?IJ1A@)J\;iJC?B92 I9Mb@Mb@Mb@ )IiV-?~jty&1|>DIi A7A)=pY9Y9]FY]REekAe>iQ 1m5٪m?Q 5u5m=[Q 9utI i9u>Q Au;Y}G@Q E}@ym,?E)m;Imt;imR5Y AAgDNOT Ignoring new targets: 96.44 m.g<":g<": ProNav: ac range: 96.441147 m, nav range: 94.819687 m, bearing: 187.692103 deg, approach rate: -0.367303 m/s, LOS rate: 0.035460 deg/s, cmd heading: 185.781268 deg, new cmd heading: 185.812290 deg. gʁ:HeadingCmd: 3.243036 target range: 96.441147 and range: 96.70 m.gO@ggggzfrfffBBdddcc`??ɢ уBt5 HI {<ɡiIhBȊBi%=i%=)%O@)!)1ii90checking for new query: numPingsReceived=0, elapsed TxPingTime=1.661258ԑ>A=rAjA> AY Iy I N >vBa ~Ba Be : IBe EBBe =Ba Ba Ba Ba B)B)B)B)B)B- 4/,-3AD(D*D*/D(E( E**:6E*J4:E("E(E(*E*h;E*i;yfA@ٱftO@f_fǼfH` ?7ؒ?z`K??IfA@)f\;ifCrLB9rC IBD~6D~\3Y=!_= ,Q) > 99FYTE::A>Q 1%5٪ ?Q 5-5([ 9)Y-G@Q E-@y.?E):I:iCT5qYWBR@ABEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.913378gDNOT Ignoring new targets: 96.44 m.g7:g7: ProNav: ac range: 96.441147 m, nav range: 94.684837 m, bearing: 187.705095 deg, approach rate: -0.351610 m/s, LOS rate: 0.033925 deg/s, cmd heading: 185.812291 deg, new cmd heading: 185.838313 deg. gXx: HeadingCmd: 3.243490 target range: 96.441147 and range: 96.70 m.g YO@g gIgIgIzfIrfQfQfQBdYdYdYcYc] B@ɢσB2: QAI ;ɡiI!AAE d= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.166249 AQ IY Ii N} >,n 3AyVA@ٱVOO@VzŃV>мVHW'?[$?C Vx?S`L?IVA@)V\;iTbKB9bA I)d dBDj#6DjӀ3Yr!rM=vQ)v>t9t9vFYvVEz:Az> Q 1-5٪ x?Q 5-5 [ 9)Y-G@Q E-@y 0?E) o;I S;i V5Y9=^@A9gaeDNOT Ignoring new targets: 96.44 m.gm*(:gm*(: ProNav: ac range: 96.441147 m, nav range: 94.537514 m, bearing: 187.719279 deg, approach rate: -0.381169 m/s, LOS rate: 0.036755 deg/s, cmd heading: 185.838314 deg, new cmd heading: 185.866726 deg. g:HeadingCmd: 3.243986 target range: 96.441147 and range: 96.70 m.gyO@gYgYgagazfirfffDDD.DE: E.:6Eـ4:E"Eg<Eh<*E ;E ;BdAdIdqcyc} @ɢ̓B1 >AI ';ɡiI"5IA ~=Y A yAI I N >D,:3A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.669364y>A@ٱ>\O@>܆>eݼ>H@o d? $?`ogې?[`?I>A@)>x\;i>CVSB9VK IMb@Mb@Mb@ )Iii|?5?:v{Gzt>TףIAi AAA)AI)AABD(6D:3Y=!>=heQ)> H?9 H?9FYYE;A>Q 15٪Β?Q 55Z #9>Q A;YiF@Q E@y3?E)" ;I ;iW5Y@AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 96.44 m.g+:g+:- ProNav: ac range: 96.441147 m, nav range: 94.389420 m, bearing: 187.735275 deg, approach rate: -0.347098 m/s, LOS rate: 0.037550 deg/s, cmd heading: 185.866728 deg, new cmd heading: 185.898770 deg. g-p:9=HeadingCmd: 3.244546 target range: 96.441147 and range: 96.70 m.g=O@g9g9gAgAzfArfAfIfMBBdIdIdIcQcU ɳ@ɢ}̃B}1D 顅~~BBG IBOBB =BBB;BiQEBE9JE=J4RE=T0DDD1DEg: E*:6E-4:E"E;E;*Eh;Ei;BDAT read: Rx Time:23:53:19.5016 TRx dataTimestamp_ set to:1758412397.180255checking for new query: numPingsReceived=0, elapsed TxPingTime=2.922409Թ>A- =bA5 AZA5 AI! I9 NE > G,`T3Ay6B@ٱ6DP@6c6a@6H@e?&`? ' 9`Dl?@F?I6B@)6];i4RQB9RH IBDZ.6DZP3YzlM!zX=~6Q)~>|9|9FY\E/;A> Q 15٪ ?Q 55 Z #9YvF@Q E@y 5?E) D;I ;i Y5Y%MB%?A%AEgIUDNOT Ignoring new targets: 96.44 m.gU*:gU*:e ProNav: ac range: 96.441147 m, nav range: 94.258453 m, bearing: 187.749401 deg, approach rate: -0.345991 m/s, LOS rate: 0.037369 deg/s, cmd heading: 185.898775 deg, new cmd heading: 185.927065 deg. geLj:mHeadingCmd: 3.245039 target range: 96.441147 and range: 96.70 m.gmO@gqgqgqgqzfqrfqfyfyBdydydcc@ @ɢ˃B&B 页=I y;ɡiIV)IpBi-=i=)O@)ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.173450iiqqu/q@}=@}=>A=DD~D0DE: E(:6E4:E"E<E<*E;E;1 I I N >i I a= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.425577,n3AyB@ٱ2P@޼H D`? ? 2λ@븙 ? ~՛ ?IB@)s1];iVB9O I=p;]Mb@Mb@Mb@ Y)YIYiYY]Q?A`"I +]µ>]Y]94I]Ai] A]A] A)Y]ABDu6Du\3Y<!3=Q)>99FY^E P:A>Q 15٪y?Q 55Z #9ܷ>Q A;YF@Q E@y8?E)6;I6;i[5Y?AgDNOT Ignoring new targets: 96.44 m.g.:g.: ProNav: ac range: 96.441147 m, nav range: 94.097206 m, bearing: 187.766794 deg, approach rate: -0.353366 m/s, LOS rate: 0.038183 deg/s, cmd heading: 185.927066 deg, new cmd heading: 185.961913 deg. g:HeadingCmd: 3.245648 target range: 96.441147 and range: 96.70 m.gO@ggggIzf rfffBBdddcc. @ɢɃB( !%9I! -`;ɡ)i)I-$I5gBi52=i5:=)5O@)9i'5yDAT read: 23:53:19.5016 LVL= 23168, 30625, 24626, 32563, AGC= 69, IDX= 418, 0.02,-2.653, 1.879,-2.544,-2.966, PHS= 0.414,-1.394, 0.378, RAW= 149.0, 6.8, CAL= 148.4, 7.2, ROT= 1.6, -7.2 Ygot valid direction response: 23:53:19.5016 LVL= 23168, 30625, 24626, 32563, AGC= 69, IDX= 418, 0.02,-2.653, 1.879,-2.544,-2.966, PHS= 0.414,-1.394, 0.378, RAW= 149.0, 6.8, CAL= 148.4, 7.2, ROT= 1.6, -7.2 PDAT read: Bearing 346.4, 2.6 (Local) ~Local bearing/azimuth received: Bearing 346.4, 2.6 (Local) DAT read: Range 11 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.3 m/s TDAT read: user:972>Tx time:23:53:20.5688 R#Rx 1: Read range and direction messages.\direction in FSK: [0.991728,0.027701,0.125333]Fpublishing direction and range info9ae! ]?cK ?eBaieZewe2`e3a e>)enIe7>ieBo&@e=e%@e>e< eiaaIe ¡?-#?8?e:?eW e<)eiaaUT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ԡ >A Iq I N >D D D -D E Ʊ: E 3:6E t4:E ! @! @! @! @vB K>~B B S IB YBB B B B ;B fQE,b3Ay>@B@Hٱ> P@> >>H@?S?>ܻ@^䙿`c?"`?I>@B@)>$];i>CVYB9VS I^4 ]?cK ?h<hvk֟IWfZY*8 +@vY\M.]}Y7_u7?hRhLhoŕ?hh!hgB*in.ƕ?2i:iiB"iQ@U addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.779540 s, deltaX: -1.399994 m, approachRate: -0.370414 m/s, rangeRepo size: 4 DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.929779 Added new target pos. range: 95.045052 m, bearing: 188.050847 deg, lat: 36.779142 deg, lon: -121.859827 deg, deltaT: 3.779540 s, deltaX: -1.396095 m, approachRate: -0.369382 m/s, posRepo size: 4 gDNOT Ignoring new targets: 95.05 m.gg ProNav: ac range: 95.045052 m, nav range: 94.010429 m, bearing: 187.777067 deg, approach rate: 0.000000 m/s, LOS rate: 0.038183 deg/s, cmd heading: 185.961913 deg, new cmd heading: 185.988724 deg. g%HeadingCmd: 3.246116 target range: 95.045052 and range: 95.30 m.g%\O@g!g!g!g)zf)rf)f)f1Bd1dQdQc]@3W@c] ]?ɢȃB F 顭k7I Ɩ;ɡiIJIX_Bi96=i =)\O@)ԱiIIQ]/Y>A4=rAjA>II N >u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.181440 b*,?3Ay6RB@ٱ6P@6U66Hc?X?`<@`{?@w?I6RB@)622];i6CJEB9N: IBDV#6DVӀ3YZȽ!^L=^Q)^>`9`9bFYbcEf:Af>hQ 1j5٪j1c?Q 5n5jOZl j#9pYrF@Q Er@yjAE ~=a I I N >!U,q3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=4.685326 i"@y>$B@ٱ>0P@>5>>H?O?% ?$m?I>$B@)>];i<jUB9jN Ilil9eMb@Mb@Mb@ a)aIaiaaeX9v?Mbe>eLeIe7Aie AeAe A)ae3ABD}6D}3Yđ=!>=GQ)>99FYfE:A>Q 15٪QV?Q 55.Z 9>Q A;YG@Q E@y>?E):I:i`5Y|?AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 95.05 m.g1:g1: ProNav: ac range: 95.045052 m, nav range: 93.717949 m, bearing: 187.807975 deg, approach rate: -0.374257 m/s, LOS rate: 0.038836 deg/s, cmd heading: 186.019369 deg, new cmd heading: 186.050648 deg. g%: HeadingCmd: 3.247196 target range: 95.045052 and range: 95.30 m.g O@g g g g zf rfffՃBBdddcch?ɢƃBN 8I ^;ɡiIIMBi*>=iг=)O@)qiDmDmDiDiEm%: Em3:6Ei:Ei!}@!}@vBJ>~BB` IBdBBBBB;BpQE!@!@IeG)}AԑIi٠AgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.937391>A A= AIA IQ Ne >s<,@՛3Ay6G+B@ٱ6#P@696\+6H@?!?`? (Úϒ?, T?I6G+B@)6\;i4JVB9JO IIP)RBABDP6DPYZ;!ZY=^Q)^>bK?9bK?9bFYbhEb̋:Ab>dQ 1j5٪fK?Q 5j5fZ d9lYn G@Q En@yf@?E)f;IfH;ifTb5Yr;Bv*?Av@EgDNOT Ignoring new targets: 95.05 m.g:g:ԙ ProNav: ac range: 95.045052 m, nav range: 93.586258 m, bearing: 187.821627 deg, approach rate: -0.335839 m/s, LOS rate: 0.034864 deg/s, cmd heading: 186.050651 deg, new cmd heading: 186.077993 deg. g8:HeadingCmd: 3.247674 target range: 95.045052 and range: 95.30 m.gO@ggggzfrfffBddd c c ג?ɢŃB:}B a7I ^9;ɡiI IEBiB=i n=) O@=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.189467) i/DDD+DEƱ: E,:6E [4:E"EF;!EG;!*E:;!E;;!>AP=bAZAA checking for new query: numPingsReceived=0, elapsed TxPingTime=5.441730I I ! N- >f, 3Ay.B@ٱ&P@j 0#I AiQ A)ABD36D3Y-<,<!-5=51Q)5>9999=FY=kE==9AE>AQ 1M5٪E=?Q 5M5EZ E#9U>Q AU;YU+H@Q EU@yEC?E)E. ;IE. ;iENd5YYe?AagDNOT Ignoring new targets: 95.05 m.g:g: ProNav: ac range: 95.045052 m, nav range: 93.430779 m, bearing: 187.836082 deg, approach rate: -0.356437 m/s, LOS rate: 0.033195 deg/s, cmd heading: 186.077999 deg, new cmd heading: 186.106959 deg. gs:HeadingCmd: 3.248179 target range: 95.045052 and range: 95.30 m.g+O@ggggzfrfff΃BBdddcc]h?ɢăB> 5I ;ɡiIǚI=BiE=i=)+O@)iiqqu/q@}=@}=!)A AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.693534>A5~=YI9 IQ Nm >vB ~B B f IB iBB B B B $;B zQED D D 4D E : E *:6E 4:E "E h;E i;*E h;E i;Ա qN,~ 3Ay6,B@ٱ6$P@66dd6H ??B I`홿o? n*?I6,B@)6\;i6C^\B9bW Ib!>b;if=Ifa=BDj.6DjP3Yr<!rb=ru9Q)v>t9t9vFYvmEzݪAz>|Q 1]5٪~93?Q 5]5~Y |9YY])H@Q Ee@y~E?E)~n;I~;i~e5Yim>AigDNOT Ignoring new targets: 95.05 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.945455g:g: ProNav: ac range: 95.045052 m, nav range: 93.306511 m, bearing: 187.847679 deg, approach rate: -0.333610 m/s, LOS rate: 0.031174 deg/s, cmd heading: 186.106959 deg, new cmd heading: 186.130184 deg. g5d:HeadingCmd: 3.248585 target range: 95.045052 and range: 95.30 m.gO@ggggzfrfffBdddcc2@ɢÃBݮH V3I x:ɡ i I O,I6BidH=iQ=)O@)qi/ԡ>AI9IINU>U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.197248 Qy,Ɗ#3AybK*B@ٱb"P@bŏbݼbH ?Ҿ?`;`~Ac ђ?t@?IbK*B@)b\;ibCrD==jD=4=DUDUDU/DQEUI: EUA:6EUJ4:EQ!}@!}@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.449295dB9` I]Mb@Mb@Mb@ Y)YIYiYY]bX9? ףp= {Gz]E>]Q8YI]Ai]; AYY)Y]AiiiBDu"6DuJz3Yu<!= Q)>99FYqE\MA>Q 15٪V"?Q 55Y #9˷>Q A;Y H@Q E@yH?E)Y;In;iSh5Y2Bs>A?EgDNOT Ignoring new targets: 95.05 m.g:g: ProNav: ac range: 95.045052 m, nav range: 93.108421 m, bearing: 187.866457 deg, approach rate: -0.345368 m/s, LOS rate: 0.032809 deg/s, cmd heading: 186.130182 deg, new cmd heading: 186.167818 deg. g-p:HeadingCmd: 3.249241 target range: 95.045052 and range: 95.30 m.gO@ggggzfrff f ՃBBd d d cc`D@ɢ]ƒB]1 ae/Ia eg;r:ɡaiaIeIm$,BimK=iu=)O@)) i) 1 1 5 /1 ] BDAT read: Rx Time:23:53:23.0984 e TRx dataTimestamp_ set to:1758412400.960185e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.702323i >A =rA >jA >II!NE>dX,rA3Ay6*B@ٱ6b#P@6N6!'μ6H)?i?(>`#?Ù ?I6*B@)6\;i6C<>A>Q8i<@i@FA)Ft DID D)FSs@DHHHJAiJIHLILiNA NC L)LP R݃ARTPPTVlyAIT)TiTT^fB9^c IBDf6Df 83Yn-a<!n=nn9Q)r?p9p9rFYrsEvo8Av?xQ 1~5٪z?Q 5~5zY z#9|Y H@Q E@yzJ?E)z;Iz;izi5Y  a>A -B*** querying acoustic contact ***zh)h)AgQeDNOT Ignoring new targets: 95.05 m.ge[&:gm[&:- ProNav: ac range: 95.045052 m, nav range: 92.997650 m, bearing: 187.876988 deg, approach rate: -0.382026 m/s, LOS rate: 0.036360 deg/s, cmd heading: 186.167816 deg, new cmd heading: 186.188902 deg. g-:=HeadingCmd: 3.249609 target range: 95.045052 and range: 95.30 m.gEO@gAgAgAgAzfArfAfIfIBdIdIdQcQcU`K @ɢW[ 顥-I P:ɡiIOI&BiM=i_=)O@)vBA~BADeDeDaDaEe: Ee,:6Ea:EaBEl IBEnBBE =BABABE(;BE~QEBBBBBBu4iIIQU/Qqchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.953306ԙ>AI) Iy N > t,[3Ay:.B@ٱ:&P@:k:Cͼ:Hq`#,?ed?J@4o3??I:.B@)::\;i89!i!)! %ABD56D5N3)9 9uDAT read: 23:53:23.0984 LVL= 17648, 30129, 19682, 27443, AGC= 66, IDX= 417, 0.30,-1.128,-2.812,-0.970,-1.372, PHS= 0.346,-1.395, 0.357, RAW= 150.3, 8.0, CAL= 149.8, 8.6, ROT= 0.2, -8.6 }Ygot valid direction response: 23:53:23.0984 LVL= 17648, 30129, 19682, 27443, AGC= 66, IDX= 417, 0.30,-1.128,-2.812,-0.970,-1.372, PHS= 0.346,-1.395, 0.357, RAW= 150.3, 8.0, CAL= 149.8, 8.6, ROT= 0.2, -8.6 PDAT read: Bearing 347.3, 1.3 (Local) ~Local bearing/azimuth received: Bearing 347.3, 1.3 (Local) DAT read: Range 11 to 50 : 94.0 m (Round-trip 125.4 ms) speed 0.3 m/s TDAT read: user:973>Tx time:23:53:24.1688 j7Q)>R#Rx 1: Read range and direction messages.\direction in FSK: [0.988750,0.003451,0.149535]Fpublishing direction and range info9AEi[ף?QaRFl?S&r#?EBAiEDEuELE3kEB E&>)E\IEȶ>iE'@E5>ET'@E`>Ed; E`iAAIE~V[?9rO? >M?Ep?99FYvEh9A>Q 1 5٪ ?Q 5 5Y #9 E Ed;)E`iAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y H@Q E5@yM?E)l;I>;ik5Y=*B=>A=>EhAhE]3AhEBhEBhE5P@ vEVe,W@ C? ,@uEi[ף?QaRFl?S&r#?hEd;hE`vE5w1 Vi%Fc/@vEqE*T_UX&m?hE0.hEhE$yԕ?hExJxhEʡB*iA2iE&ˣ:iAiEB"iEӽQ@ addTargetRange:: Added new target pos. range: 94.000000 m, deltaT: 3.527526 s, deltaX: -1.300003 m, approachRate: -0.368531 m/s, rangeRepo size: 4  Added new target pos. range: 93.748329 m, bearing: 186.764545 deg, lat: 36.779142 deg, lon: -121.859824 deg, deltaT: 3.527526 s, deltaX: -1.296722 m, approachRate: -0.367601 m/s, posRepo size: 4 gDNOT Ignoring new targets: 93.75 m.g-g)m ProNav: ac range: 93.748329 m, nav range: 92.804382 m, bearing: 187.770359 deg, approach rate: 0.000000 m/s, LOS rate: 0.036360 deg/s, cmd heading: 186.188908 deg, new cmd heading: 186.223823 deg. gq}HeadingCmd: 3.250219 target range: 93.748329 and range: 94.00 m.g}P@gygggzfrfffBddd)c-W@c5 ?ɢ}Bՠ. 页h-I >1ɡiIQںI BiO=i=)P@)DDDDE7: E*5:6E:E"E;!E;!*E;!E;!i9/DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=7.457894I >A ̓=I1IANU>',y3A y>2B@ٱ>g+P@>i>ȼ>H@)??`Sv?^~ߖ`̒?W(?I>2B@)>\;i<EdB9E` IMb@Mb@Mb@ )Iix?{Gz#tIAiMA A) AI)AABD6D 3Y!<Q)>99FYyEd/:A> Q 15٪ t?Q 55 Y 9~>Q A;YI@Q E@y O?E) :I :i m5Y!%.>A!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.709365gYeDNOT Ignoring new targets: 93.75 m.ge{:ge{:u ProNav: ac range: 93.748329 m, nav range: 92.648178 m, bearing: 187.783615 deg, approach rate: -0.368906 m/s, LOS rate: 0.031360 deg/s, cmd heading: 186.223824 deg, new cmd heading: 186.250381 deg. g}e:}HeadingCmd: 3.250682 target range: 93.748329 and range: 94.00 m.g}. P@ggggzfrfffBBdddcc@!f?ɢ=B= OG AES.IAI efl9ɡaiaImͺImBiuoQ=iu|=)u. P@)qi%9!!-/)qvBQ~BQBQBQBQBQBQBU%;BU{QEBE5J4JE1RE5Dzd0DDD-DE E6Et4:E"EE*EE>Ay ԩ i I = checking for new query: numPingsReceived=0, elapsed TxPingTime=7.962465I I N >Ȁ$,㒜3Ay6g4B@ٱ6,P@6 6ļ6H @F?@g?c` z] [? M?I6g4B@)6\;i6C@FjB9Fh IBDj%6Dj03YrC=!r^=vwM:Q)v>t9t9vFYv{Ez9Az>|Q 15٪~G?Q 55~Y ~#9Y I@Q E @y~Q?E)~:I~ :i~@o5Y=Ag9=DNOT Ignoring new targets: 93.75 m.gE :gE :U ProNav: ac range: 93.748329 m, nav range: 92.516792 m, bearing: 187.794793 deg, approach rate: -0.359093 m/s, LOS rate: 0.030593 deg/s, cmd heading: 186.250379 deg, new cmd heading: 186.272766 deg. gU_:]HeadingCmd: 3.251073 target range: 93.748329 and range: 94.00 m.g]P@gYgagagazfarfafifiBdididicqcuC?ɢvTQ 顥*I љɡiII BiR=i=)P@)iQQQU?0Qԩmchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.213315>AuF=IIN> D D D D E : E ,:6E :E ! @! @! @! @Z*,̬3AɰV4%%I%~Ai%A%7A%h A)!%p ABDE6DE 3Y]B!]4=]9Q)]>a9a9eFYe~Em9Am>qQ 1}5٪u䳊?Q 5}5uY q9>Q A;YHQ E@yuT?E)u:Iu7:iu;q5Y!B=Ag1=DNOT Ignoring new targets: 93.75 m.g=:g=:m ProNav: ac range: 93.748329 m, nav range: 92.356270 m, bearing: 187.808285 deg, approach rate: -0.341884 m/s, LOS rate: 0.028785 deg/s, cmd heading: 186.272769 deg, new cmd heading: 186.299800 deg. gmR:uHeadingCmd: 3.251545 target range: 93.748329 and range: 94.00 m.guPP@gqgygygyzfyrfyffBBdddcc:?ɢB1i7 t,I ɡiIUIeBiT=in=)PP@)iQYY]/Y1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.717272Y >A 㲒=rA >jA >I) II N] >1,Ɯ3Ay>8B@ٱ>1P@> >Su>H`X?@?`t`f֙? ͗s?I>8B@)>];i>CJrB9Jr IBDR)6DR3YZԍ=!Zj=^ݧQ)^>`9`9bFYbEb;9Af>dQ 1j5٪fڳ?Q 5n5fY d9lYnHQ En@yfV?E)f;Ife;ifr5Ypvs=AtAA4=vB I>~B B y IB xBB  =B B B ;B oQE%B*** querying acoustic contact ***zh!h!g15DNOT Ignoring new targets: 93.75 m.9gEK :gEK :U ProNav: ac range: 93.748329 m, nav range: 92.232719 m, bearing: 187.818691 deg, approach rate: -0.366174 m/s, LOS rate: 0.030882 deg/s, cmd heading: 186.299803 deg, new cmd heading: 186.320643 deg. gUb:DeDe~De1DaEey: Ee(:6Ee-4:Ea"EeAM=IIN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.2242657,it3Ay>->B@ٱ>6P@>X7>Xt>H@n??@ي kڕ f? j?I>->B@)>\;i<JmB9Jk IBDR+6DRE3YZ7ۼ!ZJ=^9Q)^>\9`9bFYbEb\:Ab>dQ 1j5٪fͳ?Q 5j5fY f#9lYnHQ En@yfX?E)f;If;ift5YrBrZ=Av=Eg DNOT Ignoring new targets: 93.75 m.g: :g: :- ProNav: ac range: 93.748329 m, nav range: 92.089806 m, bearing: 187.830733 deg, approach rate: -0.357997 m/s, LOS rate: 0.030212 deg/s, cmd heading: 186.320648 deg, new cmd heading: 186.344770 deg. g-+]:-HeadingCmd: 3.252330 target range: 93.748329 and range: 94.00 m.g5,&P@g1g1g1g1zf1rf1f9fABdAdAdAcIcM@ɢuBu Hԡ :(I 5ɡiI%I-Ai5U=i]v=)],&P@)ai9P5!DuDu|Du.DqEu: EuP$:6Euـ4:Eq!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.473304>A5p=IIN>! {=,Q3Ai@yBNBB@ٱB:P@B"ВB& żBH^@~??ClY?柘P?IBNBB@)B+\;i@^{B9^| I`i`MMb@Mb@Mb@ I)IIIiIIM^I +?{Gz~jtxMX>M#MĻIMAiM AMAI)IIBDe.6DeP3Ym/=!u?=u8Q)u>y9y9}FY}EJ:A>Q 15٪?Q 55Y #9>Q A;YHQ E@y[?E) ;I ;idv5Y~BCB IB}BB =BBB+;B~QED}D}D}-DyE}Ʊ: E}=:6E}t4:Ey"E}E;!E}G;!*E}ʔ;!E}ʔ;!iI];G)uAI>A v=i A MA checking for new query: numPingsReceived=0, elapsed TxPingTime=9.977958A I I N > D,+3A~}B9~ IBD(6D:3Y=<!=N=EQ)E>A9A9MFYMEMAM>QQ 1]5٪U?Q 5]5UY Q9aYaQ Ee@yU]?E)Uj;IU;iU x5YimAuH=1 A I I N >D D |D 1D E : E P$:6E -4:E ! @! @! @! @ PExceeded connect timeout, disconnecting.Y K,2.3AN2Acoustic response timeouty=]YB@ٱ=QP@= =˼=H`ؼ?C6?F:s?`4z@"?I=]YB@)=|\;i9eB9e I5Mb@Mb@Mb@ 1)1I1i115Q?+Mbp5µ>55I1i5; A57A5 A)15G ABDM%6DM03Y]R<!e8=ewkQ)e>a9i9mFYmEmO;Am>qQ 1}5٪uH?Q 55uY u#9ݶ>Q A;YHQ E@yu`?E)uK ;Iu: ;iuz5YBi BDAT read: Tx time:23:53:27.7687 $Ping request sent.)=!I=|>i=g'@= >=m7'@=5>=; =5i99I=濛j?{a?7iʪ?= ?= =;)=5i99:publishing transmit ping timeYFpublishing direction and range info99=1*? uF A =A yAI I N >Q,XG3Aɰ;4<,APAR@AvBVE>~BTBV IBVBBV =BTBVDBV3;BVQEDEDE~DE,DAEE: EE(:6EEg4:EA"EE- H?9- H?9-FY-EUAU>YQ 1e5٪]L?Q 5e5]Y ]#9aYiQ Em@y]b?E)]:I]:i]{5YIAE ̓=Aq I I N >J1X,\b3A8y6ZcB@ٱ6[P@6a 6Jż6Ha?l?3|`?`f`J?I6ZcB@)6\;i4VxB9Vy IBDj6Dj 3Yv!z[=~5J9Q)~>99FYE:A>Q 155٪?Q 555Y #91Y5HQ E5@yd?E)z;Iw;in}5YA} ~4= A I I N >T^,.|3Ay6AtB@ٱ6lP@66Iyɼ6H@D?? a N閿`UU?@z-5?I6AtB@)6k\;i6CBB9B IpMb@Mb@Mb@ )Ii-? ףp= {Gzt?>Q8ףIAiAQ A) ABDm6DmF3Y}=!}B=}C8Q)>99FYE!;A>Q 15٪?Q 55Y #9>Q A;YPH@Q E@yf?E)7 ;I ;iA5YB;A;Egchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996751DNOT Ignoring new targets: 92.45 m.gw:gw: ProNav: ac range: 92.450829 m, nav range: 91.066124 m, bearing: 187.217583 deg, approach rate: -0.374775 m/s, LOS rate: 0.032668 deg/s, cmd heading: 186.467047 deg, new cmd heading: 186.492773 deg. g%o:HeadingCmd: 3.254913 target range: 92.450829 and range: 92.70 m.g~PP@ggggzfrf f f BBd ddcc A?ɢEBESE AE@IA MɡIiIIM&!IU7AiUZ=iUN=)U~PP@)Y i!vBa~BaBe IBeBBe =BaBaBe6;BeQEB%ƈCB%ƈCB!B%Ʊ =B%Ʊ =B%6-5DDD/DE: E*5:6EJ4:E"E#;!-E$;!-*E;!-E;!-9>Amv= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252283a A AI I N >Ae, 3Aiy6B@ٱ6}xP@6K96qƼ6H >s?`?g1@نF?̘J?I6B@)6O\;i6CBB9B IDiDBDN 6DNf2YV((!VX=V{9Q)V>ZK?9ZK?9ZFYZE^:A^>`Q 1f5٪b%x?Q 5f5bY b#9dYf\H@Q Ef@ybi?E)b;Ibj;ib耉5Yln;AlgDNOT Ignoring new targets: 92.45 m.g  :g  : ProNav: ac range: 92.450829 m, nav range: 90.932198 m, bearing: 187.229213 deg, approach rate: -0.353595 m/s, LOS rate: 0.030749 deg/s, cmd heading: 186.492769 deg, new cmd heading: 186.516062 deg. ga:%HeadingCmd: 3.255319 target range: 92.450829 and range: 92.70 m.g%'WP@g!g!g!g)zf)rf)1f1f1Bd9d9d9c9c=`K?ɢimH iuIq u \̻ɡqiqIu I}Ai}\=i}nǓ=)}'WP@)) i9/achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501521>Am̓=ԑA I I N >D% D% D% 2D! E% : E% ,:6E% 4:E! !- @!- @!- @!- @Ա jk, 㯝3Ai&^?I&u?2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756447y]B@ٱ] P@]/R]AƼ]H7 ĥ??R½r`k@ ʑ?ܘ Y?I]B@)]\;iYuB9u IԑMb@Mb@Mb@ )IiK?/$,tIMAi A A)( ABDU!6DUr3Ye,=!e1=e:Q)m>i9i9uFYuEu#:Au>yQ 15٪}i?Q 55}Y }#9>Q A;YHQ E@y}k?E)} ;I} ;i}낉5YB];A:EgDNOT Ignoring new targets: 92.45 m.g=:g=: ProNav: ac range: 92.450829 m, nav range: 90.764816 m, bearing: 187.242495 deg, approach rate: -0.363555 m/s, LOS rate: 0.028904 deg/s, cmd heading: 186.516060 deg, new cmd heading: 186.542675 deg. gS:HeadingCmd: 3.255784 target range: 92.450829 and range: 92.70 m.g^P@ggggzfrfffBBdddcc?ɢ%m5 !%I! -Хݻɡ)i)I-{޹I5Ai5^=i5C=)5^P@)9i9/@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004634A I I N > Mr,ɝ3AA<A<vBG>~BB IBBBBBDB);B|QEyFB@ٱF5P@FWwFyȼFH { &ڽ?!^?ۖ? 9V?IFB@)Fe#];iFCRB9R IBDZ*6DZ3Yb!bj=f):Q)f>d9h9jFYjEj;Aj>BEm4JEm4REmI"0DrDr{Dr.DpErU: Er5":6Erـ4:Ep"Er;!zEr;!~*ErBz;!~ErCz;!~YQ 1e5٪]^?Q 5e5]Y ]#9aYeHQ Em@y]m?E)]:I]1:i]5Y}Bu;AgDNOT Ignoring new targets: 92.45 m.g:g: ProNav: ac range: 92.450829 m, nav range: 90.631783 m, bearing: 187.253019 deg, approach rate: -0.358333 m/s, LOS rate: 0.028388 deg/s, cmd heading: 186.542671 deg, new cmd heading: 186.563749 deg. gO: HeadingCmd: 3.256152 target range: 92.450829 and range: 92.70 m.g dP@g g ggzfrff9f9Bd9d9d9cAcE@ɢB F 顕(I 5ɡiI嫹IAi a=i=)dP@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258079iiiim0i!AIINf>Q)   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508843y j{x,3AyfèB@ٱfAP@f fƼfHv?1?p2c? ؘ@h?IfèB@)f];ifCrB9r Iv>vBD~ 6D~k3Y t=! F= 9Q) >99FYE;A>!Q 1%5٪%[R?Q 5-5%Y %#9)Y-HQ E-@y%p?E)%:I%p:i%A5Y9=@;A9gaeDNOT Ignoring new targets: 92.45 m.gm(:gm(:} ProNav: ac range: 92.450829 m, nav range: 90.487221 m, bearing: 187.264405 deg, approach rate: -0.368939 m/s, LOS rate: 0.029104 deg/s, cmd heading: 186.563748 deg, new cmd heading: 186.586556 deg. g} U:HeadingCmd: 3.256550 target range: 92.450829 and range: 92.70 m.gPkP@ggggzfrfffBdddccR@ɢE I D=ɡiI~dtIeAic=i=)PkP@)AIiM9IIU#0QDDvD0DEƱ: E:6E4:E!@!@!@!@ԁAIIN%M>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763819ԩ ~,b3AyJB@ٱJP@JbJBJH@.?@9?Izs??IJB@)J`];iJCVB9V I5Mb@Mb@Mb@ 1)1I1i115`"? rh~jth5η>5C5DI5Ai5A5A5Q A)15\ AIiIBDU6DU03Yeq<!eE=eùQ)e>i9i9mFYmEmca:Au>qQ 1}5٪uE?Q 55u Z u#9>Q A;YDQ E@yur?E)u.:Iu:iu5YB:AB*** querying acoustic contact ***zhhBDAT read: Rx Time:23:53:30.2949 TRx dataTimestamp_ set to:1758412408.016310checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013807gDNOT Ignoring new targets: 92.45 m.gf9gf9 ProNav: ac range: 92.450829 m, nav range: 90.338577 m, bearing: 187.269660 deg, approach rate: -0.356007 m/s, LOS rate: 0.012606 deg/s, cmd heading: 186.586561 deg, new cmd heading: 186.597088 deg. g9HeadingCmd: 3.256734 target range: 92.450829 and range: 92.70 m.gSnP@ggggzfrfffBBdddcc E@ԹɢBs: lI ɡiI" IbAif=i=)%SnP@))i9  0 vB-H>~B)B- IB-BB)B)B)B-;B-mQEDDxD3DE: E:6E4:E"E im >Im <u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2649189 ,>>3Ay:B@ٱ:rP@::౼:Hq!?W>?; f?:?I:B@):^];i:C^B9^ IBDf.6DfP3Ynd!rS=r?Q)r>p9t9vFYvEvzAv>xQ 1~5٪z#:?Q 55zOZ z#9YDQ E@yzt?E)z;Iz;iz5Y  ;Ag1=DNOT Ignoring new targets: 92.45 m.g=$l9gE$l9M ProNav: ac range: 92.450829 m, nav range: 90.199524 m, bearing: 187.274610 deg, approach rate: -0.361896 m/s, LOS rate: 0.012903 deg/s, cmd heading: 186.597093 deg, new cmd heading: 186.607009 deg. gU9UHeadingCmd: 3.256907 target range: 92.450829 and range: 92.70 m.g])qP@gYgYgYgYzfYrfafafaBdadidicicm%X @ɢBLK 顝,I $ ɡiIB%IAi-i=iwT=))qP@)i!%`5!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518661A>AQIQ Ia i N >rD jD <D D {D /D E : E 5":6E J4:E ! @! @! @! @1,'13A0YiYuDAT read: 23:53:30.2949 LVL= 20176, 24881, 23986, 30707, AGC= 67, IDX= 430,-0.13,-0.381,-2.074,-0.224,-0.655, PHS= 0.376,-1.374, 0.387, RAW= 150.3, 7.0, CAL= 149.7, 7.5, ROT= 0.3, -7.5 }Ygot valid direction response: 23:53:30.2949 LVL= 20176, 24881, 23986, 30707, AGC= 67, IDX= 430,-0.13,-0.381,-2.074,-0.224,-0.655, PHS= 0.376,-1.374, 0.387, RAW= 150.3, 7.0, CAL= 149.7, 7.5, ROT= 0.3, -7.5 PDAT read: Bearing 345.8, 1.2 (Local) ~Local bearing/azimuth received: Bearing 345.8, 1.2 (Local) DAT read: Range 11 to 50 : 91.5 m (Round-trip 122.0 ms) speed 0.3 m/s *DAT read: user:975> BDAT read: Tx time:23:53:31.3687 $Ping request sent.);߯I$>i'@5= >  iIZ4k?I|?"C?3n? ) i:publishing transmit ping timeYFpublishing direction and range info9vKUι?1 VCu? /?i B9 I )Ii iIZ4k?I|?"C? )iԉMMb@Mb@Mb@ I)IIIiIIM/$?Q롿~jtxM&>M\MĻIIiMAM AM; A)IM ABDe"6DeJz3Ymļ!u=uy9y9}FY}E29A>Q 15٪*?Q 55eZ #9>Q A;YGQ E@yw?E):I3:i5YB:A9Ehhy13AhBhBh0(Q@ v|aBV@ phQ?e?'@uvKUι?1 VCu? /?hh v=57bVl&*@v(זeᅯ)-Fcs?h+6hhѱ?hiSޅh~B*i2iiSޅ:iiB"i-Q@u addTargetRange:: Added new target pos. range: 91.500000 m, deltaT: 3.781705 s, deltaX: -1.199997 m, approachRate: -0.317316 m/s, rangeRepo size: 4  Added new target pos. range: 91.254723 m, bearing: 187.247067 deg, lat: 36.779142 deg, lon: -121.859812 deg, deltaT: 3.781705 s, deltaX: -1.196106 m, approachRate: -0.316287 m/s, posRepo size: 4 gDNOT Ignoring new targets: 91.25 m.gg ProNav: ac range: 91.254723 m, nav range: 90.013496 m, bearing: 187.266747 deg, approach rate: 0.000000 m/s, LOS rate: 0.012903 deg/s, cmd heading: 186.607011 deg, new cmd heading: 186.621009 deg. gHeadingCmd: 3.257151 target range: 91.254723 and range: 91.50 m.g*uP@gg g g zf rf ffBBd1d1d9c=V@c=`\q?ɢB/ 額I BuɡiI8ԱIAil=ij,=)*uP@)iiiim/i A A AAvB% I>~B% CB% IB% BB% =B! B! B% ;B% `QE>A =bA ZA I SG D D xD D E غ: E :6E :E "E Ay I I N >AD,f3Ay>̼B@ٱ>JP@>>ӭ>H= h?1?ҁ 'VL?@$?I>̼B@)>+G];i>CJB9J IBDR6DR:3YZ<!ZQ=^Q)^>\9`9bFYbEbOu:Ab>dQ 1j5٪f?Q 5j5fZ f#9lYnGQ En@yf{?E)f;If;if+5Ypr:Atg DNOT Ignoring new targets: 91.25 m.g9g9% ProNav: ac range: 91.254723 m, nav range: 89.767044 m, bearing: 187.283908 deg, approach rate: -0.353667 m/s, LOS rate: 0.024657 deg/s, cmd heading: 186.636709 deg, new cmd heading: 186.655379 deg. g-4:-HeadingCmd: 3.257751 target range: 91.254723 and range: 91.50 m.g-~P@g1g1g1g1zf1rf1f9f9Bd9dAdAcAcE u?ɢmBuXT qu Iq }3"ɡyiyI}f9IAiIq=iޕ=)~P@)bDZDDD{D.DE: E5":6Eـ4:E!@!@!@!@i\4Iԁ>A=IyIN~>ԡ +,ö3Aɰ4<y6 B@ٱ6P@66j6H@MM`IM7AiM$AII)IM ABD6Df?3Y%/k!%5=-Q)->)9195FY5EU9AU>YQ 1e5٪]l?Q 5e5]Z Y9m>Q Am;YmLGQ Em@y]~?E)]:I]]:i](5YB:A8EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 91.25 m.g9g9 ProNav: ac range: 91.254723 m, nav range: 89.608696 m, bearing: 187.294026 deg, approach rate: -0.341405 m/s, LOS rate: 0.021854 deg/s, cmd heading: 186.655382 deg, new cmd heading: 186.675654 deg. g:%HeadingCmd: 3.258105 target range: 91.254723 and range: 91.50 m.g%ʄP@g!g!g!g!zf)rf)fIfUBBdQdQdQcYc]@?ԩɢB-^< )-I) -+ɡ1i1I5ɴ9I=Ai=|t=i=|=)=ʄP@)9)IvBK>~BB IBBB =BBB;BHQEiP5@=@=DDwD,DE: E:6Eg4:E"E;!E;!*Ek;!Ek;!]T****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.>A ~=rA jA > A yAI I N >*V,ٓ3AyBB@ٱB{P@B BOIBHrH?૶?fL?zC?IBB@)B];iBCNB9N IBDV6DV 83Y^=!bd=bQ)b>b H?9f H?9fFYfEf̺Af>hlQ 1r5٪j?Q 5r5jZ h9pYvVGQ Ev@yj?E)j*;Ij,;ij5Yxz:AxgDNOT Ignoring new targets: 91.25 m.g%A9g%A95 ProNav: ac range: 91.254723 m, nav range: 89.485672 m, bearing: 187.301958 deg, approach rate: -0.355878 m/s, LOS rate: 0.022978 deg/s, cmd heading: 186.675654 deg, new cmd heading: 186.691541 deg. g54(:=HeadingCmd: 3.258382 target range: 91.254723 and range: 91.50 m.g=UP@g9g9gAgAzfArfAfAfIBdIdIdIcIcU?ɢ}B}C|R 顅I 91ɡiI9I`Aiu=i*=)UP@))ߩ ߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.711489!9}qiQ59rD%=jD4=DD{D2DEC: E5":6E4:E!@!@!@!@q >A% = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970371I I N >,3A%%tI%Ai%A% A!)!!BD=6D=3YM1.<!M7=UκQ)U>Q9Y9]FY]E]A]>aQ 1m5٪e5?Q 5m5eZ e#9u>Q Au;YuFQ Eu@ye?E)e\ ;Ie ;ie5Yy9AgDNOT Ignoring new targets: 91.25 m.g-?9g-?9= ProNav: ac range: 91.254723 m, nav range: 89.322479 m, bearing: 187.311527 deg, approach rate: -0.365103 m/s, LOS rate: 0.021446 deg/s, cmd heading: 186.691541 deg, new cmd heading: 186.710713 deg. g=:EHeadingCmd: 3.258717 target range: 91.254723 and range: 91.50 m.gEЎP@gAgAgIgIzfirfifqfuBBdqdqdycyc}6@ɢB&47 I !:9ɡiI :IAiw=i2=)ЎP@)ԡ9%H~B B IB BB =B B B ;B =QEBɉCBɉCBBɰ =Bɰ =B25>A% =) D= D= zD= .D9 E= غ: E=  :6E= ـ4:E9 "E= ³,Ϟ3Aiy6]B@ٱ6ۨP@62x6=ܼ6H@*?I?PJӘ@.?`I?I6]B@)6#];i6CBB9B IBDJ/6DJ3YR9<!RW=VQ)V>T9T9ZFYZEZʹAZ>\Q 1b5٪^v䲊?Q 5b5^[ \9dYfFQ Ef@y^?E)^r;I^;i^R5YjޙBj9Aj7Eg|DNOT Ignoring new targets: 91.25 m.g 49g 49 ProNav: ac range: 91.254723 m, nav range: 89.183578 m, bearing: 187.319716 deg, approach rate: -0.364988 m/s, LOS rate: 0.021551 deg/s, cmd heading: 186.710707 deg, new cmd heading: 186.727110 deg. g:%HeadingCmd: 3.259003 target range: 91.254723 and range: 91.50 m.g%P@g!g!g)g)zf)rf)f1f1Bd1d1d1c1c=`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470995ɢB#G I [?ɡiIt#:I4Aix=i|=)P@))! !i!I!)iyyy} 5yԁ@A@AE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724783ԡ >A =bA ZA AI I N% >߹,k3AyB˳B@ٱBIP@BBBHE4?:?]r@}I@? ?IB˳B@)B];iBCRB9R IBDZ76DZp3Yb] <!bJ=bOQ)f>d9d9fFYfEj:Aj>lQ 1r5٪nײ?Q 5r5n%[ l9pYrFQ Ev@yn?E)n;In;in5Yxz9AxgDNOT Ignoring new targets: 91.25 m.g%g9g%g95 ProNav: ac range: 91.254723 m, nav range: 89.036087 m, bearing: 187.328423 deg, approach rate: -0.364830 m/s, LOS rate: 0.021573 deg/s, cmd heading: 186.727113 deg, new cmd heading: 186.744556 deg. g5:=HeadingCmd: 3.259307 target range: 91.254723 and range: 91.50 m.g=~P@g9g9g9g9zfArfAfAfABdIdIdIcIcM@U@ɢ}B}NB y顅mI EɡiI8:I7Aiy=i]m=)~P@)ԙbDZD?AD%D%D%+D!E%: E%3:6E% [4:E!!5@!5@!5@!=@i=999=/9BDAT read: Rx Time:23:53:33.8931 TRx dataTimestamp_ set to:1758412411.806477checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985164>A =IIN> )a e Am checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2283064,Ҋ3AynB@ٱnP@nn]nH>?`?hT2 !?`z?InB@)n\;inCzB9~ IMb@Mb@Mb@ )Ii/$?~jty&1|&>ļ`IiAA)3 ABD!6Dr3Y/=!%(=-ԺQ)5>99A9EFYEE*9A>Q 15٪qɲ?Q 55_[ #9>Q A;YEQ E@vBK>~BB IBBBBBB;BLQEy?E);Iy;iC5Y֙B8A6E B*** querying acoustic contact ***zhhg%DNOT Ignoring new targets: 91.25 m.g%<9gE<9U ProNav: ac range: 91.254723 m, nav range: 88.863785 m, bearing: 187.337172 deg, approach rate: -0.339881 m/s, LOS rate: 0.017292 deg/s, cmd heading: 186.744557 deg, new cmd heading: 186.762090 deg. gU-9]HeadingCmd: 3.259613 target range: 91.254723 and range: 91.50 m.g]P@gYgYgagazfarfffBBdddcc t @ɢB+BEJ4JE4RE?z0D D D 1D E Ʊ: E *:6E -4:E "E F;!%E G;!%*E h;!%E i;!% AE+IA ENɡAiIIMN:IM4AiUz=iU8=)UP@)Qi9DAT read: 23:53:33.8931 LVL= 25632, 32737, 26162, 32755, AGC= 68, IDX= 428, 0.15, 1.485,-0.240, 1.636, 1.191, PHS= 0.396,-1.387, 0.401, RAW= 150.1, 6.7, CAL= 149.5, 7.1, ROT= 0.5, -7.1 Ygot valid direction response: 23:53:33.8931 LVL= 25632, 32737, 26162, 32755, AGC= 68, IDX= 428, 0.15, 1.485,-0.240, 1.636, 1.191, PHS= 0.396,-1.387, 0.401, RAW= 150.1, 6.7, CAL= 149.5, 7.1, ROT= 0.5, -7.1 PDAT read: Bearing 345.1, 1.6 (Local) ~Local bearing/azimuth received: Bearing 345.1, 1.6 (Local) DAT read: Range 11 to 50 : 90.2 m (Round-trip 120.3 ms) speed 0.3 m/s *DAT read: user:976> BDAT read: Tx time:23:53:34.9687 $Ping request sent.)7IO>iϩ'@|=<&@=5< iIO(1|???'(,??. 5<)iM:publishing transmit ping timeYmFpublishing direction and range info9۪?e6"?A7X?i )Ii iIO(1|???'(,? )i>A ~4=Y I I N >q,S#3Ay6ͺB@ٱ6KP@6F66H `2N?? *y`@cܙ`;h?2؜?I6ͺB@)6*];i6CBB9B IiF=IDJA ̓=Ii Iy N > ,)73AyRB@ٱRnP@ROƼRҺܼRH Ej?y?`@m`Cɘ?m?IRB@)RBP];iRCrB9r ImMb@Mb@Mb@ i)iIiiiim +?+{Gztmȶ>mmףImAiim Ai)im ABD6DP)3Y!@=OQ)>99FYE:A>Q 15٪Z?Q 55[ #9>Q A;YaHQ E@y?E)e ;Iu ;i5Y9AgDNOT Ignoring new targets: 89.96 m.g:g: ProNav: ac range: 89.959000 m, nav range: 88.610741 m, bearing: 187.353612 deg, approach rate: -0.370586 m/s, LOS rate: 0.028336 deg/s, cmd heading: 186.773381 deg, new cmd heading: 186.796392 deg. gnO: HeadingCmd: 3.260212 target range: 89.959000 and range: 90.20 m.g QP@ggggzfrfffBBddd!c!c%?ԩɢB"O wI >YɡiI u:IdxAi|=i)QP@)i/>AmH= A AAA vB ~B B IB ĂBB B B B ;B `QEA AI I N >D= D= {D= 1D9 E= : E= 5":6E= -4:E9 "E= h;!M E= i;!M *E= Bz;!M E= Cz;!U 1 ,Q3Ay6B@ٱ6.P@6PMԼ6˼6H nF?^?`1p@ &`爚?y`?I6B@)67];i6CjB9j IBDv'6Dv3Yz=!zS=~tQ)~>K?9K?9FYEA > Q 15٪ ?Q 55 [ #9YjHQ E@y ?E) <;I ;i 15Y%ΙB-8A)gIUDNOT Ignoring new targets: 89.96 m.ge9ge9u ProNav: ac range: 89.959000 m, nav range: 88.472534 m, bearing: 187.364246 deg, approach rate: -0.356678 m/s, LOS rate: 0.027486 deg/s, cmd heading: 186.796398 deg, new cmd heading: 186.817699 deg. gu4I:HeadingCmd: 3.260584 target range: 89.959000 and range: 90.20 m.ghP@ggggzfrf!f!f!Bd!d)d)c)c-`>?ɢ15 < 9=I9 = `ɡ9i9I=Ӥ:IEMrAiE|=iM=)MhP@)I)Yi/@@>A bA! ZA% ~AI I) I9 NE >=,j3A!9% I)i)BD56D53YEL!EE=MQ)M>I9I9UFYUïEUAU>YQ 1e5٪]?Q 5e5][ ]#9iYiQ Em@y]?E)]:I]:i]5Yqu8AqgDNOT Ignoring new targets: 89.96 m.ge9ge9 ProNav: ac range: 89.959000 m, nav range: 88.324883 m, bearing: 187.375643 deg, approach rate: -0.356724 m/s, LOS rate: 0.027583 deg/s, cmd heading: 186.817695 deg, new cmd heading: 186.840528 deg. gI:HeadingCmd: 3.260983 target range: 89.959000 and range: 90.20 m.gP@ggggzfrfffBdddcDDzD+DE E :6E [4:E!@!@!@!@cF?ɢB^> I \fɡiI:IkAi|=i=)P@)Yi0y>A[ޏ=Ա Ii Iy N >%,Oτ3Ay:B@ٱ:uP@:޼:ȼ:H+q?:?`@d@Q՛?1?I:B@@): ];i:CEB9E IMb@Mb@Mb@ )IitV?~jt~jtx>ĻI7AilA) ABD6D\3Y<!2=f5Q)>99FYƯE~:A> Q 15٪ ?Q 55 [ #9ų>Q A;YZHQ E@y ?E) e ;I  ;i 5Y%ƙB%=8A%5E9i=CԩvBJ>~BB IB΂BB =BBB';B|QEI=G)UAIiitAA?ADDxD0DEg: E:6E4:E"E;!E;! *EWo;! EWo;! B*** querying acoustic contact ***zhhgIMDNOT Ignoring new targets: 89.96 m.gU9gU9 ProNav: ac range: 89.959000 m, nav range: 88.164894 m, bearing: 187.387933 deg, approach rate: -0.305271 m/s, LOS rate: 0.023492 deg/s, cmd heading: 186.840535 deg, new cmd heading: 186.865159 deg. g+:HeadingCmd: 3.261412 target range: 89.959000 and range: 90.20 m.gP@ggggzfrfffBBdddccX?ɢ  i0  I  ;nɡiIp:IdAi=|=i=ʳ=)=P@)AIMAi}>I}R=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i/ >A {=Iy I N > s,>3Ay6FB@ٱ6P@6漹6Ӽ6H@@? ?џ?@`ʖ`ܜ?n?I6FB@)6o];i6CPTVAZuiXXiX^A)^T \I\ \)\\```bAib+I`dIdid fjfF)dh jAj`弉jFhllIl)lillvтB9v IBD~!6D~r3Y =! i= ;Q) >99FYȯE:A>!Q 1-5٪%'?Q 5-5%[ %#9)Y-THQ E-@y%?E)%;I%;i%5Y9=7A9gaeDNOT Ignoring new targets: 89.96 m.gm:gm: ProNav: ac range: 89.959000 m, nav range: 88.042702 m, bearing: 187.397320 deg, approach rate: -0.428225 m/s, LOS rate: 0.032944 deg/s, cmd heading: 186.865165 deg, new cmd heading: 186.883965 deg. g)q:HeadingCmd: 3.261740 target range: 89.959000 and range: 90.20 m.g[P@ggggzfrfffBdddcc@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255213ɢܝG ؾI MrɡiIx:IZ_Ai|=i)[P@)i0DD{DDE%: E5":6E:E!@!@!@!@>AII IY Nm >! E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507026,3Aɰ.;.;yJB@ٱJP@JJ ׼JH@ @Ծ?l?``%@ Н?@?IJB@)J@];iJCxUЂB9QMb@Mb@Mb@ )IiZd;? ףp= :v۹>Q8TI AiA$A)f ABD6D03Y!;= Q)> 9 9 FY ˯E:;A>Q 15٪u?Q 5%5[ 9%e>Q A%;Y%H@Q E%@y?E)E:IZ:iq5Y157A1gY]DNOT Ignoring new targets: 89.96 m.ge:ge: ProNav: ac range: 89.959000 m, nav range: 87.884590 m, bearing: 187.410978 deg, approach rate: -0.362666 m/s, LOS rate: 0.031384 deg/s, cmd heading: 186.883961 deg, new cmd heading: 186.911327 deg. ge:HeadingCmd: 3.262218 target range: 89.959000 and range: 90.20 m.g.P@ggggzfrf!fAfEBBdIdIdIcIcM@@ɢB@e1 ؾ!I! -nyxɡ)i)I-j7:I5WAi5}=i5)=)5.P@)9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759876i}0IA A vB I>~B B IB ݂BB =B B B .;B QE>A p=y I I N >D D D ,D E U: E .:6E g4:E "E ;! E ;! *E ;! E ;! ,&ӟ3AyBB@ٱBP@B6B μBH??8@a`长 ? iٙ?IBB@)B^;iBCrBDAT read: Rx Time:23:53:37.4914 vTRx dataTimestamp_ set to:1758412415.328237vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0121499EՂB9E IBDU!6DUr3Yeq<!eS=e3Q)m>i9i9mFYmͯEu7u:Au>Q 15٪+i?Q 5%5[ 9!Y%H@Q E%@y?E):I1:i75Y-B-D7A54Egq}DNOT Ignoring new targets: 89.96 m.g}a:ga: ProNav: ac range: 89.959000 m, nav range: 87.737038 m, bearing: 187.423730 deg, approach rate: -0.359479 m/s, LOS rate: 0.031120 deg/s, cmd heading: 186.911323 deg, new cmd heading: 186.936870 deg. gc:HeadingCmd: 3.262664 target range: 89.959000 and range: 90.20 m.g|P@ggggzfrfffBdddccǰ@ɢ1=y8 9=ӾI9 =}ɡ9iAIE 2:IE8PAiMl~=iMё=)M|P@) ii2@@Aԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263037>A v=bA AZA A A yAI I N >3, 3ADuDu{Du2DqEu: Eu5":ԙ6Eu4:Eq!@!@!@!@yB@ٱnP@CͼH۾?Nm?r6` @ ?o?IB@)(?^;i ݂B9] IBDm6Dmf?3Y}=!}9=TQ)> H?9 H?9FYЯEh:A>Q 15٪0\?Q 55[ #9YH@Q E@y?E)K:I:i5Y7AgDNOT Ignoring new targets: 89.96 m.g.:g.: ProNav: ac range: 89.959000 m, nav range: 87.584312 m, bearing: 187.436934 deg, approach rate: -0.366386 m/s, LOS rate: 0.031732 deg/s, cmd heading: 186.936868 deg, new cmd heading: 186.963322 deg. gIh:HeadingCmd: 3.263126 target range: 89.959000 and range: 90.20 m.g P@ggggzfrfffBdd d c c< @ɢ9=x2 9=˾I9 EIwɡAiAIEe:IMHAiM=iM=)M P@)QDAT read: 23:53:37.4914 LVL= 22096, 26049, 21842, 32115, AGC= 66, IDX= 426, 0.40, 1.760, 0.034, 1.920, 1.483, PHS= 0.379,-1.404, 0.393, RAW= 150.4, 7.1, CAL= 149.8, 7.6, ROT= 0.2, -7.6 Ygot valid direction response: 23:53:37.4914 LVL= 22096, 26049, 21842, 32115, AGC= 66, IDX= 426, 0.40, 1.760, 0.034, 1.920, 1.483, PHS= 0.379,-1.404, 0.393, RAW= 150.4, 7.1, CAL= 149.8, 7.6, ROT= 0.2, -7.6 PDAT read: Bearing 345.4, 1.9 (Local) ~Local bearing/azimuth received: Bearing 345.4, 1.9 (Local) i=9AAM/5IDAT read: Range 11 to 50 : 88.8 m (Round-trip 118.5 ms) speed 0.3 m/s *DAT read: user:977> %BDAT read: Tx time:23:53:38.5687 %$Ping request sent.-)FIL7>i'@=T'@>d; iI*'d?.^ ?OpV?w?T d;)i:publishing transmit ping timeY!Fpublishing direction and range info9H?; Xl?) ?i )Ii iI*'d?.^ ?OpV? )i>AE = Aq I I N >,3AnB9n I)p pMb@Mb@Mb@ )Ii ףp= ? ףp= :vQ>IilAA) ABD-6D-P)3Y=<!=O=EQ)E>A9A9MFYMӯEMAM>QQ 1]5٪UP?Q 5]5U[ Q9e߹>Q Ae;YeH@Q Ee@yU?E)U':IUE:iUȫ5Yim6AivBG>~BCB !IBBBBBB3;BQEBBBBBB15h!h%G3Ah%Bh%Bh%SQ@ v%!$*U@Hv?344m'@u%H?; Xl?) ?h%d;h%v%ΒUkl&w6,@v%hOhC.#Ҝ?h%4h%Lh%MIʕ?h%2bh%ŸB*i%mdƕ?2i%2b:i%Bi%خB"i%RQ@ addTargetRange:: Added new target pos. range: 88.800003 m, deltaT: 3.528473 s, deltaX: -1.399994 m, approachRate: -0.396770 m/s, rangeRepo size: 4  Added new target pos. range: 88.562355 m, bearing: 187.399919 deg, lat: 36.779142 deg, lon: -121.859811 deg, deltaT: 3.528473 s, deltaX: -1.396645 m, approachRate: -0.395821 m/s, posRepo size: 4 gDNOT Ignoring new targets: 88.56 m.gg ProNav: ac range: 88.562355 m, nav range: 87.423561 m, bearing: 187.396094 deg, approach rate: 0.000000 m/s, LOS rate: 0.031732 deg/s, cmd heading: 186.963328 deg, new cmd heading: 186.988967 deg. gHeadingCmd: 3.263573 target range: 88.562355 and range: 88.80 m.gbP@ggggzf!rf!f!f%BBd)d)d)c-@33V@c5 >?ɢY]00 Y]bƾIa e ɡaiaIel:ImRAAimS=im=)ubP@)qD}D}xD},DyE}y: E}:6E}g4:Ey"E}A- ":=A] AIa Iq y N >,F 3AzӂB9z IBD%6D%J2Yu!uX=Q)>K?9K?9FYկEA>Q 15٪pD?Q 55[ 9YQ E@y?E)1:IV:ir5YB7A3EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 88.56 m.g:g: ProNav: ac range: 88.562355 m, nav range: 87.286385 m, bearing: 187.408044 deg, approach rate: -0.367984 m/s, LOS rate: 0.032107 deg/s, cmd heading: 186.988969 deg, new cmd heading: 187.012906 deg. g k: HeadingCmd: 3.263991 target range: 88.562355 and range: 88.80 m.g :P@g g g g zfrfffBdddcc%@|?ɢIM? IMվIQ]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.i 𓆼ɡiIw:I{:Ai:=i6=):P@)i9/@@=DDD2DE: E*:6E4:E!@!@!@!@>A H=rA >jA > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.936287A yA) IQ Iy N > ,FB;3AyBzC@ٱBP@Bm BмBH`Il?`3$?Ң fnլ?`p z?IBzC@)B=^;iBCNقB9N I]Mb@Mb@Mb@ Y)YIYiYY]I +?I +y&1]9>]94]`eIYi]A]~ AY)Y] ABDu6Du{U3Y<!D=Q)> H?9 H?9FYدE;A>Q 15٪8?Q 55[ #9ĵ>Q A;YH@Q E@y?E) ;I ;iA5Y6AgDNOT Ignoring new targets: 88.56 m.gb :gb : ProNav: ac range: 88.562355 m, nav range: 87.140823 m, bearing: 187.420611 deg, approach rate: -0.352280 m/s, LOS rate: 0.030465 deg/s, cmd heading: 187.012902 deg, new cmd heading: 187.038077 deg. g_:HeadingCmd: 3.264430 target range: 88.562355 and range: 88.80 m.gmP@ggggzfrff f BBd d dcc3?ɢAE@7 AEϾIA ESɡIiIIM9:IMH3AiU=iUg=)UmP@)Qԙi9/5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190398>A؎=vBME>~BIBM!IBMBBIBIBIBM,;BM}QEBEJE4RE0D5 D5 ~D5 .D1 E5 U: E5 (:6E5 ـ4:E1 "E5 ;!E E5 ;!E *E5 ;!M E5 ;!M Am AIq I N >! ,9T3Ay:S C@ٱ:Q@::ּFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.438976:H?=?@&8?༚@?I:S C@):^;i:CL9LR=Rl>iR=IRp=BDZ 6DZ2Ybc:!bY=bO9Q)b>fK?9fK?9fFYfگEfx:Aj>hQ 1n5٪j,?Q 5r5j[ h9pYrI@Q Er@yj?E)j;IjT;ij尉5YvBz6AxgDNOT Ignoring new targets: 88.56 m.g%Z :g%Z :5 ProNav: ac range: 88.562355 m, nav range: 87.008423 m, bearing: 187.432048 deg, approach rate: -0.352049 m/s, LOS rate: 0.030458 deg/s, cmd heading: 187.038078 deg, new cmd heading: 187.060987 deg. g5^:=HeadingCmd: 3.264830 target range: 88.562355 and range: 88.80 m.g=P@g9g9g9g9zfArfAfAfABdIdIdIcIcM`?ɢy}*= y顅ϾI yӋɡiI":I,Ai=iF=)P@)i591111A>Av==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690953i A I I N >(, n3A D D vD 0D E  E :6E 4:E !@!@!@!@uB9u!IBD6D2Yn=!;=Q)>99FYݯEA>Q 15٪?Q 55[ 9YQ E@y?E):I:iϲ5YA6Ag%DNOT Ignoring new targets: 88.56 m.g% :g% :5 ProNav: ac range: 88.562355 m, nav range: 86.854431 m, bearing: 187.445395 deg, approach rate: -0.352025 m/s, LOS rate: 0.030566 deg/s, cmd heading: 187.060986 deg, new cmd heading: 187.087729 deg. g5_:=HeadingCmd: 3.265297 target range: 88.562355 and range: 88.80 m.g=P@g9gAgAgAzfArfAfIfIBdIdIdIcQcU-?ɢy}e/ 顅k¾I ɡiIr:I%Ai=i0j=)P@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.945926i9AAAI@a@eAԙ>AQbAUAZAUA A I I N >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194835Z",C3Ay:C@ٱ:% Q@:$&:Hڼ:H?`ͤ?JʿH`C? YCK?I:C@):C_;i:CFB9F!ILMb@Mb@Mb@ )Iii|?5?~jty&1>I AiVA AlA)zABD5&6D5ދ3YE;!ES=EQ)E>I9I9MFYM߯EU2:AU>YQ 1e5٪]P?Q 5e5][ Y9e޲>Q Ae;Ye!HQ Em@y]?E)]v:I]:i]5Yqu:6AvB~BB"!IBBB =BBB-;BqgQ]DNOT Ignoring new targets: 88.56 m.g]79ge79 ProNav: ac range: 88.562355 m, nav range: 86.719902 m, bearing: 187.455697 deg, approach rate: -0.326635 m/s, LOS rate: 0.025050 deg/s, cmd heading: 187.087733 deg, new cmd heading: 187.108367 deg. g_7:HeadingCmd: 3.265657 target range: 88.562355 and range: 88.80 m.gQ@ggggzfrfffBBdddcc@ɢ1=31 9=BI9 =1ɡAiAIE:IE-Ai=iLZ=)Q@)DDD,DE: E,:6Eg4:E"E;!%E;!-*E:;!-E;;!-i9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446967>A =! I I N% >=(,덢3AyZ=C@ٱZQ@ZZ"ZH`?s?翿` `Z3ܣ?`?IZ=C@)Zf_;iZCfB9f!Ihih)l nAIl)n@ABDp6Dp|YzMi=!~O=~$AQ)>99FYE k:A >Q 15٪?Q 55[ 9YHQ E%@y?E);I;i:5Y-B-5A-2EMB*** querying acoustic contact ***zhIhIgQ]DNOT Ignoring new targets: 88.56 m.g]f:g]f:m ProNav: ac range: 88.562355 m, nav range: 86.582787 m, bearing: 187.466189 deg, approach rate: -0.369013 m/s, LOS rate: 0.028283 deg/s, cmd heading: 187.108374 deg, new cmd heading: 187.129392 deg. gm O:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698895HeadingCmd: 3.266024 target range: 88.562355 and range: 88.80 m.gQ@ggggzfrfff!Bd!d!d!c!c-8@ɢB2 2 顽oI {eɡiI:I*Ai=i =)Q@))iaaae/arD=jD=D5D5}D5*D1E57: E5k&:6E5(N4:E1!=@!=@!=@!=@Q>A-H= BDAT read: Rx Time:23:53:41.0897  TRx dataTimestamp_ set to:1758412418.857127 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953221I I y N >g.,C I AiA AVA)ABD6D\3YM!>=Q)>99FYEA>Q 15٪?Q 55[ 9>Q A;YHGQ E@y?E):I:i5Y5AgDNOT Ignoring new targets: 88.56 m.g 9g 95 ProNav: ac range: 88.562355 m, nav range: 86.431190 m, bearing: 187.476528 deg, approach rate: -0.353591 m/s, LOS rate: 0.024157 deg/s, cmd heading: 187.129397 deg, new cmd heading: 187.150111 deg. g50:=HeadingCmd: 3.266386 target range: 88.562355 and range: 88.80 m.g=v Q@g9g9g9g9zf9rfAfAfEBBdAdIdIcIcMW~ @ɢy}5 y}Iy ╼ɡiI:I ?Ai =i =)v Q@)ԁi0checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203088ԱIG)A<A<vB~BB.!IB BBBBB#;BtQEI1i]/ae|A>ArA>jA>I I N- >D% D! D% .D! E% %: E! 6E% ـ4:E! "E% ;!5 E% ;!5 *E% ŀ;!5 E% ŀ;!5 OO5,ZE֠3AFDAT read: 23:53:41.0897 LVL= 21328, 31089, 22706, 32755, AGC= 67, IDX= 425,-0.02, 1.646,-0.021, 1.835, 1.374, PHS= 0.374,-1.350, 0.417, RAW= 151.2, 6.5, CAL= 150.5, 6.8, ROT= 359.5, -6.8 NYgot valid direction response: 23:53:41.0897 LVL= 21328, 31089, 22706, 32755, AGC= 67, IDX= 425,-0.02, 1.646,-0.021, 1.835, 1.374, PHS= 0.374,-1.350, 0.417, RAW= 151.2, 6.5, CAL= 150.5, 6.8, ROT= 359.5, -6.8 RPDAT read: Bearing 344.3, 1.7 (Local) R~Local bearing/azimuth received: Bearing 344.3, 1.7 (Local) VDAT read: Range 11 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.3 m/s Z*DAT read: user:978> ^BDAT read: Tx time:23:53:42.1687 ^$Ping request sent.^).̬I.>i.[(@.V=.0(@.=.^@ .i,,I.w@ 1?+p{?Huު˼?. ?. .D).i,,:publishing transmit ping timeY\Fpublishing direction and range info9,.1u0P?d꾁EO?,,i,,,,, ,),I,i,,,,, ,i,,I.w@ 1?+p{?Huު˼?,, ,),i,,ԱyMC@ٱMI Q@MXe'M߼MH ?j|?ɿ"@-?2?IMC@)M_;iMCB9!IBD+6DE3Y%+2=!%D=-)Q)->Q9Q9UFYUEUGAU>YQ 1e5٪]>ﱊ?Q 5e5][ Y9iYMGQ E@y]?E)]% ЯU@G,n9X4xO$@u.1u0P?d꾁EO?h.Dh.v.IiU7}u1$VQ+@v. h^@Cw?\?h.#h.Hh.g?h.ċih.B*i.g?2i,:i.Bi.B"i.bjQ@m addTargetRange:: Added new target pos. range: 87.599998 m, deltaT: 3.527099 s, deltaX: -1.200005 m, approachRate: -0.340224 m/s, rangeRepo size: 4 } Added new target pos. range: 87.364944 m, bearing: 186.823933 deg, lat: 36.779141 deg, lon: -121.859811 deg, deltaT: 3.527099 s, deltaX: -1.197411 m, approachRate: -0.339489 m/s, posRepo size: 4 gyDNOT Ignoring new targets: 87.36 m.gg ProNav: ac range: 87.364944 m, nav range: 86.376350 m, bearing: 187.478552 deg, approach rate: 0.000000 m/s, LOS rate: 0.024157 deg/s, cmd heading: 187.150107 deg, new cmd heading: 187.171444 deg. gHeadingCmd: 3.266758 target range: 87.364944 and range: 87.60 m.gQ@ggggzfrff f Bd d dc`fU@c`?ɢ]B* -I ɡiI2:I$ Ai =ik=)Q@)i/)  A>A {=I! I1 9 NE > w;,3AyVC@ٱV_Q@V+VVH E?? ݿ`@@Ay?I?IVC@)V.`;iVCDpDr{Dr-DpEp Er5":6Ert4:Ep!v@!v@!v@!v@zB9z!I~=~=i~=I~=BD 06D 3Y##=!^=@Q)>!9!9%FY%E-!_:A->)Q 155٪-W䱊?Q 5=5-\ )99Y=HGQ E=@y-?E)-;I-;i-5YIM85AIgquDNOT Ignoring new targets: 87.36 m.g}9g}9 ProNav: ac range: 87.364944 m, nav range: 86.247581 m, bearing: 187.487373 deg, approach rate: -0.373935 m/s, LOS rate: 0.025653 deg/s, cmd heading: 187.171444 deg, new cmd heading: 187.189112 deg. g;:HeadingCmd: 3.267066 target range: 87.364944 and range: 87.60 m.gQ@ggggzfrfffBdddcc?ɢq<: 1I bɡiI`:IAi=iD=)Q@)iQYY]\2YQ>A5x=IIN>qԙ ]B, 3Ay:C@ٱ:Q@:0::Hg??`  B?`6?I:C@):e]`;i:CFB9F!IMb@Mb@Mb@ )Ii ףp= ?QQQ>uI AiVAh AA)zABD56D5{U3YEn!EH=EL%Q)E>I9I9MFYMEMM%:AU>QQ 1]5٪Uױ?Q 5e5U<\ Q9e>Q Ae;YepFQ Ee@yU?E)U2 ;IU:iUR5YquT5AqvBF>~BB;!IBBBBBB;BgQEgDNOT Ignoring new targets: 87.36 m.g9g9 ProNav: ac range: 87.364944 m, nav range: 86.100403 m, bearing: 187.496184 deg, approach rate: -0.360027 m/s, LOS rate: 0.021589 deg/s, cmd heading: 187.189107 deg, new cmd heading: 187.206758 deg. g :UHeadingCmd: 3.267374 target range: 87.364944 and range: 87.60 m.g]Q@gYgYgYgYzfYrfYfafeBBdadadicicm 3?qɢB- I v֜ɡiI:I Ai=il}=)Q@)))9DDD1DE: E,:6E-4:E"E;! E;!*E:;!E;;!i1ԡ>A {=bA AZA A9 IQ Ii N > lH,!#3AB9!!IBD-6D- 3Y=N[=!=K=EQ)E>A9A9EFYEEMAM>QQ 1]5٪U˱?Q 5]5Ue\ U#9YYYQ Ee@yU?E)U;IU;iU5YmBm4Am0EB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 87.36 m.g#9g#9 ProNav: ac range: 87.364944 m, nav range: 85.955101 m, bearing: 187.504912 deg, approach rate: -0.359869 m/s, LOS rate: 0.021653 deg/s, cmd heading: 187.206756 deg, new cmd heading: 187.224242 deg. g:T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.UHeadingCmd: 3.267679 target range: 87.364944 and range: 87.60 m.gU!Q@gQgQgYgYzfYrfYfYfaBdadadacacms?ɢB+ ,I ɡiI:I @iT=i=) !Q@) i9P5DD{D.DEg: E5":6Eـ4:E! @! @! @! @>A1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504220A I I N >Y #N,=3ATiTyza!C@ٱzQ@z"7zrzHMC?`=?Ԗ@?Ŝ`?Iza!C@)z `;izC5B95!I9i9)9 =AMb@Mb@Mb@ )IiQ?+I +µ>94I Ai$A AVA)\ABD 6D f?3Y%¼!%;=%ވQ)->1919=FY=EE:AE>QQ 1]5٪Ud?Q 5e5Uu\ U#9m>Q Am;YmHQ Eu@yU?E)U;IU;iU5Y4AgQ]DNOT Ignoring new targets: 87.36 m.g]9ge9m ProNav: ac range: 87.364944 m, nav range: 85.799232 m, bearing: 187.516997 deg, approach rate: -0.338738 m/s, LOS rate: 0.026311 deg/s, cmd heading: 187.224241 deg, new cmd heading: 187.248455 deg. gu@:HeadingCmd: 3.268102 target range: 87.364944 and range: 87.60 m.g(Q@ggggzfrfffBBdddcc@ ?ɢ%B%Q* )-I) -mɡ)i)I-:IU@iU{=i]s=)](Q@)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757587i 9   S5 IA@AA@AvB~BBG!IB BB =BBB;BYQEBmLjCBmLjCBiBmDZ =BmDZ =BmO4y D D }D -D E : E k&:6E t4:E "E w;! E x;! *E ŀ;! E ŀ;! >Ae Ď= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008206A ԩ I I N >U,X3Ay6-$C@ٱ6Q@6~];6W6HǶ`ſ?s ?`v Ti? ?I6-$C@)6C`;i6CB B9b-!IBDj6Dj4d3YrƠ=!rW=v!Q)v>t9t9zFYzEz9Az>|Q 1%5٪~ ?Q 5%5~\ ~#9)Y-HQ E-@y~?E)~!;I~;i~‰5Y15q4A1gyDNOT Ignoring new targets: 87.36 m.g:g: ProNav: ac range: 87.364944 m, nav range: 85.665459 m, bearing: 187.527390 deg, approach rate: -0.367601 m/s, LOS rate: 0.028603 deg/s, cmd heading: 187.248461 deg, new cmd heading: 187.269279 deg. gbQ:HeadingCmd: 3.268466 target range: 87.364944 and range: 87.60 m.g.Q@ggggzfrfffBdddcc`@ɢY]M, aerIa e0ɡaiaIm:Im+@im~=iu4=)u.Q@)qi4!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260263>Ax=rA>jA>Q A I I N >\,`r3AD&D&D&0D$E&: E&0:6E&4:E$!*@!*@!*@!*@,yB$C@ٱB Q@Bm?BLIBH`j Ŀ?@? Nu???IB$C@)B `;iBCNB9R7!IBDV-6DV3Y^)=!bN=bNQ)b>d9d9fFYfEfz8Af>hQ 1n5٪j"?Q 5r5j\ j#9pYpQ Er@yj?E)jj;Ij;ijaĉ5YvBv3Az/EgDNOT Ignoring new targets: 87.36 m.gx9gx9 ProNav: ac range: 87.364944 m, nav range: 85.525017 m, bearing: 187.538334 deg, approach rate: -0.347871 m/s, LOS rate: 0.027154 deg/s, cmd heading: 187.269280 deg, new cmd heading: 187.291204 deg. gF:HeadingCmd: 3.268848 target range: 87.364944 and range: 87.60 m.g4Q@ggggzfrff!f!Bd!d!d!c)c-@ɢBni" ͺ顽I  ɡiIY:I@ih}=i}=)4Q@) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514284yiu9qy}/yԙ>AĎ=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768265A I I N >b,;3Ay6-C@ٱ6B&Q@6T%C686H@u$?E?@'Mb?}?I6-C@)6D`;i6CBB9BA!IF?>F;iF=IF=vB`~B`BbZ!IBb/BBb =B`B`Bb;BbJQElMb@Mb@Mb@ )IiZd;?~jt{Gz۹>#I AiA AA) ABD#6DӀ3Y=!<=Q)>99FYEt:A>Q 15٪Ù?Q 55\ ~#9>Q A;YGQ E@y?E):I7 ;iGƉ5Y3Ag DNOT Ignoring new targets: 87.36 m.g =:g =:% ProNav: ac range: 87.364944 m, nav range: 85.367310 m, bearing: 187.550048 deg, approach rate: -0.376657 m/s, LOS rate: 0.028029 deg/s, cmd heading: 187.291205 deg, new cmd heading: 187.314676 deg. g%/M:-HeadingCmd: 3.269258 target range: 87.364944 and range: 87.60 m.g-;Q@g)g)g)g)zf)rf1ffBBdddccp]@ɢBS) I - ়ɡ1i1I5:BEA{4JEy4RE҄0DmDmDm)DiEm: Em.:6EmFA4:Ei"Em#;!}Em$;!}*Em ;!}Em ;!}IM/@iD|=id=);Q@)i9%BDAT read: Rx Time:23:53:44.6880 -TRx dataTimestamp_ set to:1758412422.3921795checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021719>A =Q A1 II IY Ne >i,83A &B9O!IBD%6D%F3Y5k=!5Q=5Q)=>9999=FY=EEAE>IQ 1U5٪M?Q 5U5M\ Mz#9YYYQ E]@yM?E)M:IM:iMlj5YeBe3Aachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280312B*** querying acoustic contact ***zhhg)5DNOT Ignoring new targets: 87.36 m.g59g59e ProNav: ac range: 87.364944 m, nav range: 85.225594 m, bearing: 187.560612 deg, approach rate: -0.344830 m/s, LOS rate: 0.025747 deg/s, cmd heading: 187.314673 deg, new cmd heading: 187.335836 deg. gmz<:mHeadingCmd: 3.269627 target range: 87.364944 and range: 87.60 m.gmAQ@gqgqgqgqzfqrfqfyfyBdydydccP @ɢeBe4 aesIa mzɡiiiIm :Iu$@iuz=iuI=)uAQ@)y9i/DUDU|DU1DQEU: EUP$:6EU-4:EQ!]@!]@!]@!]@a>A K=bA- AZA) } checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535434ԙ AQ Iy I N >p,K3Ay0C@ٱf)Q@KݸѼHq@?`?""<dp?`.3?I0C@)f_;iM,B9MV!Iq-Mb@Mb@Mb@ )))I)i))-Q?Zd;OI +-µ>-j<-94I-h Ai-$A-~ A)))-3ABDE.6DEP3YU<!U:=]Q)]>Y9a9eFYeEeQ9Ae>iQ 1u5٪my?Q 5}5m\ mw#9}]>Q A};Y}H@Q E}@ym?E)m<:Im:imɉ5Y2AgDNOT Ignoring new targets: 87.36 m.g:g: ProNav: ac range: 87.364944 m, nav range: 85.069466 m, bearing: 187.574893 deg, approach rate: -0.372004 m/s, LOS rate: 0.034089 deg/s, cmd heading: 187.335833 deg, new cmd heading: 187.364447 deg. gy:HeadingCmd: 3.270127 target range: 87.364944 and range: 87.60 m.gIQ@ggggzfrfffBBdddcc`V @ɢB0 *fI  ɡiI:I@iy=i(=)IQ@)ԡDAT read: 23:53:44.6880 LVL= 26000, 32753, 25778, 32755, AGC= 66, IDX= 424, 0.10,-0.800,-2.418,-0.613,-1.056, PHS= 0.358,-1.317, 0.399, RAW= 151.2, 6.7, CAL= 150.5, 7.0, ROT= 359.5, -7.0 Ygot valid direction response: 23:53:44.6880 LVL= 26000, 32753, 25778, 32755, AGC= 66, IDX= 424, 0.10,-0.800,-2.418,-0.613,-1.056, PHS= 0.358,-1.317, 0.399, RAW= 151.2, 6.7, CAL= 150.5, 7.0, ROT= 359.5, -7.0 PDAT read: Bearing 344.6, 2.1 (Local) ~Local bearing/azimuth received: Bearing 344.6, 2.1 (Local) DAT read: Range 11 to 50 : 86.4 m (Round-trip 115.2 ms) speed 0.4 m/s *DAT read: user:979> %BDAT read: Tx time:23:53:45.7687 %$Ping request sent.%)uII>i|=5= 5iI(/?4fw?%7?f ? )5iM:publishing transmit ping timeY!MFpublishing direction and range info9 ?\iUM7P2?i )Ii iI(/?4fw?%7? )iAA<vBG>~BBs!IBCBBBBBBIQE9z;Dm Di Dm ,Di Em I: Ei 6Em g4:Ei "Em A =1AIIN%?x,3AyfLC@ٱf=EQ@fTf׼fHQ1?`}?YS`㖪??IfLC@)f_;ifCr'B9vQ!Itit)x xBD~6D~!3Y g! (= 0Q)>99FYEcd;A>a!Q 15٪%q?Q 55%\ %r#9YH@Q E@y%?E)%:I%:i% ̉5Y3Ahhɡ3AhVBhVBhP@ vdmwaU@7Œ٠թ%@u ?\iUM7P2?hh5vʼno[U.C $ʚ-@v6+G￑\ݾwц3?h9&hrh6]?hmh B*i6]?2i:iiB"iQ@ addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 3.796051 s, deltaX: -1.199997 m, approachRate: -0.316117 m/s, rangeRepo size: 4  Added new target pos. range: 86.168480 m, bearing: 187.031811 deg, lat: 36.779140 deg, lon: -121.859811 deg, deltaT: 3.796051 s, deltaX: -1.196465 m, approachRate: -0.315187 m/s, posRepo size: 4 g  DNOT Ignoring new targets: 86.17 m.gg% ProNav: ac range: 86.168480 m, nav range: 84.967613 m, bearing: 187.584186 deg, approach rate: 0.000000 m/s, LOS rate: 0.034089 deg/s, cmd heading: 187.364452 deg, new cmd heading: 187.398871 deg. g!-HeadingCmd: 3.270727 target range: 86.168480 and range: 86.40 m.g-SQ@g)g1g1g1zf1rf1f9f9Bd9d9dAcEU@cEd?ɢmBu qu mIq u䫼ɡqiqI}:I5@i5+x=i=D=)=SQ@)9ԑ9]ԹbDZD@ADDD-DE: E0:6Et4:E!@!@!@!@i1 >A @=AuyAIIN?Ȁ,,G3Ay6RC@ٱ6JQ@65Y6ּ6H@ P uI i A h A $A)  ABD%6D%3Y5=!5==Q)=>= H?9E H?9EFYEEE.:AE>IQ 1U5٪M\a?Q 5U5YM\ Mo#9][>Q Ae;Ye_H@Q Ee@yM?E)M(4;IM3;iMVΉ5YmBm2Am.Eg5DNOT Ignoring new targets: 86.17 m.g=#:g=#:M ProNav: ac range: 86.168480 m, nav range: 84.774834 m, bearing: 187.602965 deg, approach rate: -0.366644 m/s, LOS rate: 0.035797 deg/s, cmd heading: 187.398876 deg, new cmd heading: 187.436520 deg. gM:uHeadingCmd: 3.271384 target range: 86.168480 and range: 86.40 m.gu]^Q@gqgqgqgqzfyrfyfyf}BBdddccMK?ɢUBUR QUXVIQ ]ɡYiYI]:IeY@iev=iew=)e]^Q@)i)y yiyIy9iAԉIUG)AI i=/=A=AvBMF>~BIBM!IBMRBBM =BIBIBM;BMSQEԹDD~D,DEy: E(:6Eg4:E"EAu x= AAIIN>N,"3AyBZC@ٱBRQ@BV]BӼBH`J?E?ks@"`?nO?IBZC@)B_;iBCNCB9Ns!IBDV6DV2Y^j=!^+=^g Q)^>bK?9bK?9bFYbEf{:Af>dQ 1n5٪f}R?Q 5n5f\ fl#9lYngH@Q Er@yf?E)fm ;If4:iflЉ5Ytv1AtgDNOT Ignoring new targets: 86.17 m.gp):gp):- ProNav: ac range: 86.168480 m, nav range: 84.600182 m, bearing: 187.619996 deg, approach rate: -0.379005 m/s, LOS rate: 0.037034 deg/s, cmd heading: 187.436524 deg, new cmd heading: 187.470656 deg. g-:5HeadingCmd: 3.271980 target range: 86.168480 and range: 86.40 m.g5 hQ@g1g1g9g9zf9rf9fAfABdAdAdAcIcM?ɢBw 1I ɡiI:I@iu=iB=) hQ@))iYYYe1aYDuDuzDu+DqEu: Eu :6Eu [4:Eq!}@!}@!}@!}@>AԡA I I N >iu ?Iu <Ա s,<3AyFcC@ٱFw\Q@F`FѼFH]^?.?  "? )?IFcC@)FV_;iFCbKB9b}!If=f>BDj6DjN3Yr=!rH=vmQ)v>t9x9zFYz Ez:Az>|Q 15٪~E?Q 5 5~\ ~j#9 Y qH@Q E @y~?E)~;I~O+;i~5҉5Y5|B51A=-EB*** querying acoustic contact ***zhhgaԙDNOT Ignoring new targets: 86.17 m.g:g:- ProNav: ac range: 86.168480 m, nav range: 84.450562 m, bearing: 187.634578 deg, approach rate: -0.335658 m/s, LOS rate: 0.032772 deg/s, cmd heading: 187.470661 deg, new cmd heading: 187.499878 deg. g-o:UHeadingCmd: 3.272490 target range: 86.168480 and range: 86.40 m.gU{pQ@gQgQgQgYzfYrfYfYfYBdadadacacm@q?ɢBJ2  I 8ɡiIM:I;@iot=iO~=){pQ@)Ai1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.AAvBG>~BB!IBgBB =BBBB>A D D wD .D E U: E :6E ـ4:E "E ;! E ;! *E k;! E k;!  A1 IA IQ N] >`,V3Ay6#pC@ٱ6hQ@6Tac6!JѼ6Hu?@ۭ?J`nh?8 ?I6#pC@)6;_;i6CBXB9F!I Mb@Mb@Mb@ ) I i   bX9?Zd;OQ E> j< I  Ai A  A A)  pABD-(6D-:3Yk=!?=κQ)>99FY Eh:A>Q 15٪8?Q 55\ g#9>Q A;YHQ E@y?E)s:I:iԉ5Y 1A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256058g9=DNOT Ignoring new targets: 86.17 m.gEQ:gEQ:u ProNav: ac range: 86.168480 m, nav range: 84.296852 m, bearing: 187.648479 deg, approach rate: -0.384339 m/s, LOS rate: 0.034821 deg/s, cmd heading: 187.499881 deg, new cmd heading: 187.527733 deg. gu~:}HeadingCmd: 3.272976 target range: 86.168480 and range: 86.40 m.g}rxQ@gygygygyzfrfffBBdddccH@ɢB I JɡiI.:ID@is=i=)rxQ@)i]5I )  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508218>A =AQ q Iq I N >z,[q3AyBzC@ٱBbsQ@BԭeBfϼBH6?#?@ @@౬? ~?IBzC@)B^;iBCNQB9N!IBDZ6DZ2Y^ !bT=bQ)b>d9d9fFYfEf:Aj>hQ 1n5٪j-?Q 5r5j\ je#9pYrHQ Ev@yj?E)j ;IjG;ijՉ5YzuBz1Az,EgDNOT Ignoring new targets: 86.17 m.g%w:g%w:5 ProNav: ac range: 86.168480 m, nav range: 84.160759 m, bearing: 187.660767 deg, approach rate: -0.361238 m/s, LOS rate: 0.032668 deg/s, cmd heading: 187.527734 deg, new cmd heading: 187.552349 deg. g5$o:=HeadingCmd: 3.273406 target range: 86.168480 and range: 86.40 m.g=|Q@g9g9g9g9zfrfffBdddccYZ@DDD/DE: E,:6EJ4:E!@!@!@!@ɢ) aeIa eɡaiaIeA=Q A I I N >,3Ai 6BDAT read: Rx Time:23:53:48.2863 6TRx dataTimestamp_ set to:1758412426.180262:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013110yF#C@ٱFyQ@FfFsüFHuF? &?X@rmͬ?+k?IF#C@)F_;iD=]B9=!IMb@Mb@Mb@ )Ii +?ˡE rhvBF>~BB!IB{BBBBB;BOQEBBBBBBZ4ȶ>'CIAiA; AA)AI!)!BD- 6D-k3Y=}T=!=6=ETQ)E>A9A9EFYEEM&^:AM>Q 15٪:?Q 55\ c#90>Q A;YHQ E@y?E):Ij:i׉5Y0Ag!%DNOT Ignoring new targets: 86.17 m.g-B:g-B:] ProNav: ac range: 86.168480 m, nav range: 83.997063 m, bearing: 187.673956 deg, approach rate: -0.349962 m/s, LOS rate: 0.028252 deg/s, cmd heading: 187.552350 deg, new cmd heading: 187.578780 deg. geN:eHeadingCmd: 3.273867 target range: 86.168480 and range: 86.40 m.ge Q@gigigigiizfrfffBBdddcc\ @ɢB٢ 4I ҲɡiIv[:I-@i5Er=i=N=)= Q@)ADDzD-DEU: E :6Et4:E"E!-E!-*Ev;!-Ev;!5i4ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264081 >A Ď=A1 IA IQ N] >㻨,3Ay6C@ٱ6zQ@6nh6޹6H9?M? ֎ ?1?I6C@)6 _;i6CF`B9F!IHBD^6D^J2YfG<!fd=j Q)z>x9x9~FY~E~8A~>Q 1 5٪?Q 5 5\ a#9 Y5HQ E5@y?E);I2;iOى5Y9=0A9gDNOT Ignoring new targets: 86.17 m.g:g: ProNav: ac range: 86.168480 m, nav range: 83.870674 m, bearing: 187.684168 deg, approach rate: -0.358781 m/s, LOS rate: 0.029033 deg/s, cmd heading: 187.578783 deg, new cmd heading: 187.599238 deg. gT:HeadingCmd: 3.274224 target range: 86.168480 and range: 86.40 m.gQ@ggggzfrfffBdddcc @ɢ @I wɡiIlG:Iђ@i`q=iv=)Q@)DAT read: 23:53:48.2863 LVL= 19728, 27089, 21618, 30147, AGC= 66, IDX= 422, 0.15,-0.835,-2.489,-0.632,-1.102, PHS= 0.368,-1.342, 0.425, RAW= 151.6, 6.4, CAL= 150.9, 6.6, ROT= 359.1, -6.6 Ygot valid direction response: 23:53:48.2863 LVL= 19728, 27089, 21618, 30147, AGC= 66, IDX= 422, 0.15,-0.835,-2.489,-0.632,-1.102, PHS= 0.368,-1.342, 0.425, RAW= 151.6, 6.4, CAL= 150.9, 6.6, ROT= 359.1, -6.6 PDAT read: Bearing 344.2, 2.1 (Local) ~Local bearing/azimuth received: Bearing 344.2, 2.1 (Local)  DAT read: Range 11 to 50 : 85.0 m (Round-trip 113.4 ms) speed 0.3 m/s *DAT read: user:980> EBDAT read: Tx time:23:53:49.3687 M$Ping request sent.M)mƫIm>imV)@m=m(@m=m-@ miiiIm (S?5]4?g6~d?mN ?m9 m)miii:publishing transmit ping timeYIFpublishing direction and range info9im?rr~NZl?iiiiiiii i)iIiiiiiii iiiiIm (S?5]4?g6~d?ii i)iiiirDjD<D)D-xD-+D)E) E-:6E- [4:E)!5@!5@!5@!5@>A{=! A I I N >&,h3Ay6C@ٱ6vQ@6j6b6H??`~  DN?nhm?I6C@)62^;i6CBaB9B!IBDJ6DJF3YR;!RN=Z櫺Q)Z>`9d9fFYjEj>;Aj>lQ 1r5٪nr?Q 5r5n\ n_#9tYvGQ Ev@yn?E)n:Ing:in ۉ5YznBzf0A~+EAhhD3AhBhBhʯP@ vi; U@F)v|#@u?rr~NZl?hhv,ITO#tϘ4&-@v%L>Lj3ӱ?hh֥hp?h"EahB*ip?2im:iŸBi!B"i Q@u addTargetRange:: Added new target pos. range: 85.000000 m, deltaT: 3.527904 s, deltaX: -1.400002 m, approachRate: -0.396837 m/s, rangeRepo size: 4  Added new target pos. range: 84.772285 m, bearing: 186.826027 deg, lat: 36.779141 deg, lon: -121.859802 deg, deltaT: 3.527904 s, deltaX: -1.396194 m, approachRate: -0.395757 m/s, posRepo size: 4 gDNOT Ignoring new targets: 84.77 m.gg ProNav: ac range: 84.772285 m, nav range: 83.566071 m, bearing: 187.140060 deg, approach rate: 0.000000 m/s, LOS rate: 0.029033 deg/s, cmd heading: 187.599232 deg, new cmd heading: 187.625993 deg. gHeadingCmd: 3.274691 target range: 84.772285 and range: 85.00 m.gQ@ggggzfrfff Bd d dc@U@c@/?)ɢB E $ڽI LɡiIBP+:I*@i p=i ==) Q@) i/YA<AvBG>~BB!IBBB =BBB;BTQE>A =ԉ BEt4JERE(0D% D% D% 0D! E% : E% 3:6E% 4:E! "E% = +,T٢3Aɰ4퐿2]?(嘿@?I6mC@)6i^;i6CH]tB9e!IMb@Mb@Mb@ )Ii+?Q롿v>\̼IAi$A@)(ABD5)6D53YU=!U=]gQ)e>i9i9uFYuE}:A>Q 15٪%?Q 55\ a#9>Q A ;YFQ E@y?E)dh;It;iN݉5Y/AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 84.77 m.g9g9 ProNav: ac range: 84.772285 m, nav range: 83.373238 m, bearing: 187.151587 deg, approach rate: -0.423373 m/s, LOS rate: 0.025367 deg/s, cmd heading: 187.625993 deg, new cmd heading: 187.649101 deg. g9:HeadingCmd: 3.275095 target range: 84.772285 and range: 85.00 m.g'Q@ggggzfrfffBBdddcc:?ɢ]B]ټ aeIa e+̴ɡaiaIeZ:Im@im-p=imŏ=)u'Q@)q)i))15/1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. >AU {=bAY ZAY I Dm Dm vDm 4Di Em : Em :6Em 4:Ei !} @!} @!} @!} @A yAI I N >,3Ay6(C@ٱ6Q@62Wk6aʼ6H'?Ю?Y`n<f?@`?I6(C@)6;^;i6C<>A>j H?9 H?9FYE :A>Q 15٪밊?Q 55] b#9YFQ E@y?E);I;i߉5YgB/AgAmDNOT Ignoring new targets: 84.77 m.gu9gu9 ProNav: ac range: 84.772285 m, nav range: 83.226204 m, bearing: 187.160354 deg, approach rate: -0.374599 m/s, LOS rate: 0.022375 deg/s, cmd heading: 187.649107 deg, new cmd heading: 187.666672 deg. g#:i߭>I߭C=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231581ԹHeadingCmd: 3.275401 target range: 84.772285 and range: 85.00 m.g-Q@ggggzfrfffBdddcc@jL?ɢ]Be; a顥I SɡiIZ9I@i p=i,B=)-Q@)ie9iiu/q >A =m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483983vB ~B B !IB BB B B B ;B SQE1 Am AIq I N >,j23Ay6­C@ٱ6?Q@6 l6ȼ6H @{?@?R`z`@??I6­C@)6J^;i6CzB9z!IMb@Mb@Mb@ )IiQ?:vԼtIAi@@)3ABD 6Dk3YU=!B=Q)>K?9 K?9 FY  E :A>Q 15٪߰?Q 55R] a#9%>Q A% ;Y%EQ E%@y?E):I;i5Y)5@/A1gQ]DNOT Ignoring new targets: 84.77 m.g]9ge9DuDuDu0DqEu%: Eu*:6Eu4:Eq"Eu;!}Eu;!}*Euh;!}Eui;! ProNav: ac range: 84.772285 m, nav range: 83.086502 m, bearing: 187.167168 deg, approach rate: -0.337055 m/s, LOS rate: 0.016467 deg/s, cmd heading: 187.666674 deg, new cmd heading: 187.680324 deg. g9HeadingCmd: 3.275640 target range: 84.772285 and range: 85.00 m.gQ@ggggzfrfffBBdddcc _?ɢBaμ 0Ia ezɡaiaIet9Im{@im)p=iu=)uQ@)qi=99999}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735286 >AY A I I N ><, *3Aiy:֫C@ٱ:SQ@:{Jm:rļ:Hߨ??r௵[@?@u`?I:֫C@):^;i:C)p rAvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.988154x9!I!i!BD56D5!3YE^;!EX=EDQ)E>I9I9MFYM"EUAU>YQ 1e5٪]dհ?Q 5e5]] Y9aYeEQ Ee@y]?E)];I]:i]5Yqu=/AqgDNOT Ignoring new targets: 84.77 m.g9g9 ProNav: ac range: 84.772285 m, nav range: 82.961533 m, bearing: 187.173291 deg, approach rate: -0.330760 m/s, LOS rate: 0.016230 deg/s, cmd heading: 187.680321 deg, new cmd heading: 187.692585 deg. g9HeadingCmd: 3.275854 target range: 84.772285 and range: 85.00 m.gQ@ggggzfrfffBdddcc^@ɢBͼ `%I ٵɡiI/9I x@i p=il=)Q@)))QiDD}D-DE: Ek&:6Et4:E!@!@!@!@y>AU~4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240471Ii Iy N >ԩ (,vD3A@B9!I]Mb@Mb@Mb@ Y)YIYiYY]d;O?~jtI +]>]]9I]Ai]@]A]@)Y]ABDy6DyY=!7=Q)>99FY%EA>Q 15٪Ȱ?Q 55] 9Y>Q A;YDQ E@y?E)` ;I2 ;iz5Y`B.A*EgDNOT Ignoring new targets: 84.77 m.gO9gO9 ProNav: ac range: 84.772285 m, nav range: 82.803413 m, bearing: 187.178357 deg, approach rate: -0.353724 m/s, LOS rate: 0.011356 deg/s, cmd heading: 187.692588 deg, new cmd heading: 187.702740 deg. gD9HeadingCmd: 3.276031 target range: 84.772285 and range: 85.00 m.g}Q@ggggzf rf f f BBdddcc@[@ɢEBEp IMֻII M嵼ɡIiIIM 9IU7u@iUo=iUYǏ=)]}Q@)Yԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491238IG)AI1i]QeAeAA!A!vB1~B1B5!IB5BB1B1B1B5;B5XQEi9DD~D.DEI: E(:6Eـ4:E"EA= =iߝ >Iߝ 4= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744168I9 II NU >S,^3Al%B9-!IBDM6DM\3Ym=!m^=qQ)}>99FY'EA>Q 15٪ ?Q 55^ 9YQ E@y?E)r;Is;i5Y-AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 84.77 m.gN9gN9 ProNav: ac range: 84.772285 m, nav range: 82.671989 m, bearing: 187.182583 deg, approach rate: -0.350350 m/s, LOS rate: 0.011283 deg/s, cmd heading: 187.702737 deg, new cmd heading: 187.711203 deg. g39%HeadingCmd: 3.276179 target range: 84.772285 and range: 85.00 m.g%Q@g!g!g!g!zf)rf)f)f1Bd1d1d1c1c=@@ɢeBe% e e0A {=Ii Iy N >Y D D }D D E : E k&:6E :E ! @! @! @! @y,bx3AyNC@ٱN-Q@NmNENHI?`0?DD ??INC@)N 9];iNCjB9n!Ipir;BDv6Dv 3Y~ۻ!~S=Q)>99FY*E A >Q 15٪?Q 55a^ b#9!Y% DQ E%@y?E);I7;i5Y)-.A)9gQ]DNOT Ignoring new targets: 84.77 m.geT9geT9u ProNav: ac range: 84.772285 m, nav range: 82.535805 m, bearing: 187.187013 deg, approach rate: -0.356712 m/s, LOS rate: 0.011623 deg/s, cmd heading: 187.711207 deg, new cmd heading: 187.720081 deg. gu+9}HeadingCmd: 3.276334 target range: 84.772285 and range: 85.00 m.g}sQ@ggggzfrfffBdddcc@S @ɢBhN `AĎ=bAAZAIAIQNe>= DAT read: 23:53:51.8844 LVL= 24016, 32753, 21570, 32755, AGC= 66, IDX= 421,-0.30,-1.619, 3.056,-1.403,-1.839, PHS= 0.322,-1.344, 0.392, RAW= 152.0, 7.5, CAL= 151.5, 7.9, ROT= 358.5, -7.9 E Ygot valid direction response: 23:53:51.8844 LVL= 24016, 32753, 21570, 32755, AGC= 66, IDX= 421,-0.30,-1.619, 3.056,-1.403,-1.839, PHS= 0.322,-1.344, 0.392, RAW= 152.0, 7.5, CAL= 151.5, 7.9, ROT= 358.5, -7.9 M PDAT read: Bearing 345.3, 1.7 (Local) M ~Local bearing/azimuth received: Bearing 345.3, 1.7 (Local) ] DAT read: Range 11 to 50 : 83.7 m (Round-trip 111.7 ms) speed 0.3 m/s ] *DAT read: user:981> e BDAT read: Tx time:23:53:52.9686 e $Ping request sent.e ) 1I 9>i )@ > %:)@ 0 > c9@ 0 i I T%}c?deV?=ڛ? 6)? ? wּ) 0 i  :publishing transmit ping timeYa  Fpublishing direction and range info9 |y?Df yjȗ? i ) I i i vB) ~B) B- "IB- BB- =B) B) B- ;B- dQE I T%}c?deV?=ڛ? ) i Kb,=c3Ay6C@ٱ6Q@69m6uFʼ6HĨ@k?b ?x ?@L=?I6C@)6#];i6CNB9^!IԙMb@Mb@Mb@ )Ii^I +?̼tIlAi@@)ABD6D\3Y-=!-8=D]D]~D]3DYE]7: E](:6E]4:EY"E];!eE];!m*EY!mEY!m59Q)m>99FY-E:A>Q 15٪n?Q 55^ `#9 >Q A ;YDQ E@y?E);Iu;i5YZB\-A)Eh1h53Ah5Bh5Bh5-P@ v5 T@XPɫV&@u5|y?Df yjȗ?h5wּh50 v5!hWT?kz+"0mI0@v5/50,Bwܻ?h5[h5h5Eڕ?h5تMh5BB*i5g?2i5ċi:i5Bi5B"i5,P@ addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.527881 s, deltaX: -1.300003 m, approachRate: -0.368494 m/s, rangeRepo size: 4  Added new target pos. range: 83.475937 m, bearing: 186.370993 deg, lat: 36.779141 deg, lon: -121.859800 deg, deltaT: 3.527881 s, deltaX: -1.296349 m, approachRate: -0.367458 m/s, posRepo size: 4 gDNOT Ignoring new targets: 83.48 m.gg ProNav: ac range: 83.475937 m, nav range: 82.331635 m, bearing: 187.079158 deg, approach rate: 0.000000 m/s, LOS rate: 0.011623 deg/s, cmd heading: 187.720086 deg, new cmd heading: 187.731219 deg. gHeadingCmd: 3.276528 target range: 83.475937 and range: 83.70 m.gQ@gg!g!g!zf!rf!fIfMBBdadidicmT@cmW;?ɢB{! 顝Pv=I  ɡiIKIm@im=i?=)Q@)i]9YY]0a>A tn=I I  N% > ,<3AyNC@ٱNqQ@N'mNȼNHѨ?5?@@ڐ@?7?INC@)N\;iNCZB9Z!IBDf6Dff?3YnJD<!nc=rP8Q)r>p9p9rFYv/EvڸAv?xQ 1~5٪z?Q 5~5z^ z_#9YDQ E@yz?E)z#;IzQ;izK5Y  K-A g15DNOT Ignoring new targets: 83.48 m.g=Ր9g=Ր9M ProNav: ac range: 83.475937 m, nav range: 82.208115 m, bearing: 187.084285 deg, approach rate: -0.380740 m/s, LOS rate: 0.015828 deg/s, cmd heading: 187.731219 deg, new cmd heading: 187.741489 deg. gM9UHeadingCmd: 3.276707 target range: 83.475937 and range: 83.70 m.gUQ@gQgQggzfrfffBdddcc ?ɢBq 顭=I FɡiIĹI#j@il=i]=)Q@)!DmDmwDm1DiEm: Em:6Em-4:Ei!u@!u@!u@!u@959Qi9/y >A =ԱAaIiIyN?,ḳ3AB9 "Ii) AA<AvB~BB("IBփBB =BBB;BkQEBaBaBaBe =Be =Be4Mb@Mb@Mb@ )Iid;O?V-I +>94IAi@Ah@)GAI)AABD#6DӀ3IY}v9=!}=Q)>99FY2EA>Q 15٪??Q 55$_ Y#9n>Q A;YEQ E@y?E):I]A =rA >jA >ԙAIIN ?o,zp3AyC@ٱvQ@ikZ-ǼH J? hԮ?  I`ɐo?ژ`?IC@)\;iC˃B9"IBD  6D 2Y\=!=%1?:Q)%>)9)9-FY-6E59A5>9Q 1E5٪=x?Q 5E5=c_ =T#9AYEEQ EM@y=?E)=;I=;i=5YQU=,AQmB*** querying acoustic contact ***zhqhqgyDNOT Ignoring new targets: 83.48 m.gإ9gإ9 ProNav: ac range: 83.475937 m, nav range: 81.827934 m, bearing: 187.103510 deg, approach rate: -0.357410 m/s, LOS rate: 0.018124 deg/s, cmd heading: 187.761641 deg, new cmd heading: 187.780031 deg. g:HeadingCmd: 3.277380 target range: 83.475937 and range: 83.70 m.gQ@ggggzfrfffBdddcc`E?ɢBe n>I ̲ɡiIN?I_@ii=i=)Q@)) iIDD|DDE EP$:6E:E!@!@!@!@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9%/!! I >A AIIN>P, 3A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0045438y>6C@ٱ>Q@>Fk>cü>HN@?t? -۴!V(\?h@0?I>6C@)>\;i>CJӃB9J$"IMb@Mb@Mb@ )IiX9v? ףp= y&1>Q8`evB1~B1B5G"IB5BB1B1B1B5";B5qQEIAi;@A)ABDU+6DUE3Yea=!e/=e!9Q)>99FY9Eo:A>Q 15٪j?Q 55k_ P#9%S>Q A%;Y%HQ E-@y?E);I;i5Y5MB5+A1gy}DNOT Ignoring new targets: 83.48 m.go:go: ProNav: ac range: 83.475937 m, nav range: 81.657951 m, bearing: 187.117591 deg, approach rate: -0.346063 m/s, LOS rate: 0.028727 deg/s, cmd heading: 187.780028 deg, new cmd heading: 187.808248 deg. gKR:HeadingCmd: 3.277872 target range: 83.475937 and range: 83.70 m.gQ@ggggzfrfffBBdddccg@ɢmBmsgQ im>Ii uޚɡqiqIu nI} W@ԙiJh=i=)Q@)BE}Ļ4JE}`4RE}ĭ<0DDwDDE: E:6E:E"E;!%E;!%*Ek;!-Ek;!-i/ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256447>A ;ʏ= A I I! N- >r ,Q'3Aɰ4<;y6gC@ٱ6Q@6j6pļ6H`ħ ?B?I=LiY?%.?I6gC@)6\;i6C^B9^4"IBDf6Df2Yn6=!nU=pr}8Q)r>t9t9vFYv;Ev:Az>xQ 1~5٪z_?Q 55zq_ zM#9YHQ E@yz?E)z;Iz<;iz5Y a+Ag1=DNOT Ignoring new targets: 83.48 m.gEl:gEl:U ProNav: ac range: 83.475937 m, nav range: 81.528252 m, bearing: 187.128329 deg, approach rate: -0.359580 m/s, LOS rate: 0.029818 deg/s, cmd heading: 187.808250 deg, new cmd heading: 187.829760 deg. gUGZ:]HeadingCmd: 3.278248 target range: 83.475937 and range: 83.70 m.g]Q@gYgYgYgYzfarfafafaBdididicicm`@ɢB+ 顝>/>I  ɡiIA}tn=DDxD,DE E:6Eg4:E!%@!%@!%@!%@A I I N >a % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760443+Z,1zA3AyV7C@ٱVQ@VhVȼVH a1?}?@XH(?? `T?IV7C@)V\;iTbB9bJ"IBDn6Dn4d3Yv=!vI=v/:Q)v>x9x9zFYz>Ezk;A~>Q 1 5٪mS?Q 5 5x_ K#9 Y HQ E @y@E):IF:i}5Y*A9gAMDNOT Ignoring new targets: 83.48 m.gM:gU:e ProNav: ac range: 83.475937 m, nav range: 81.385727 m, bearing: 187.140084 deg, approach rate: -0.351090 m/s, LOS rate: 0.029008 deg/s, cmd heading: 187.829765 deg, new cmd heading: 187.853317 deg. geYT:mHeadingCmd: 3.278659 target range: 83.475937 and range: 83.70 m.gmQ@gigigigizfirfqfqfqBdqddc c`@ɢB%( )页S>I j*ɡiI-~qIE*J@i}gf=i} =)}Q@)i}9yy)߉ ߉BDAT read: Rx Time:23:53:55.4828 TRx dataTimestamp_ set to:1758412433.237690checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015031A9A9vBI~BIBMf"IBM BBIBIBIBM&;BMvQEԑ >A Ď=D) D- vD- +D) E)  E- :6E- [4:E) "E) != E) != *E- h;!E E- h;!E A1 I9 IQ N] >,k}]3AHnchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264465 B9M"ImMb@Mb@Mb@ i)iIiiiimS?I +~jtm>m94mDIm?AimQ@mVAmQ@)imABD6DJ2Y,<!&=Q)>99FYAEA>Q 15٪E?Q 55_ F#9>Q A;YHQ E@y@E)L:I:i5YFB*A'EgDNOT Ignoring new targets: 83.48 m.g:g: ProNav: ac range: 83.475937 m, nav range: 81.216866 m, bearing: 187.154110 deg, approach rate: -0.342945 m/s, LOS rate: 0.028544 deg/s, cmd heading: 187.853316 deg, new cmd heading: 187.881425 deg. gP:HeadingCmd: 3.279150 target range: 83.475937 and range: 83.70 m.gQ@ggggzfrfffBBdddccq @ɢUBU QUh[>IQ ] nɡiIyIB@ie=i =)Q@)i9/ DAT read: 23:53:55.4828 LVL= 25888, 32753, 23474, 32755, AGC= 66, IDX= 419,-0.00, 0.702,-0.941, 0.915, 0.460, PHS= 0.344,-1.356, 0.411, RAW= 151.9, 7.0, CAL= 151.3, 7.3, ROT= 358.7, -7.3 % Ygot valid direction response: 23:53:55.4828 LVL= 25888, 32753, 23474, 32755, AGC= 66, IDX= 419,-0.00, 0.702,-0.941, 0.915, 0.460, PHS= 0.344,-1.356, 0.411, RAW= 151.9, 7.0, CAL= 151.3, 7.3, ROT= 358.7, -7.3 - PDAT read: Bearing 344.6, 1.6 (Local) 5 ~Local bearing/azimuth received: Bearing 344.6, 1.6 (Local) E DAT read: Range 11 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.3 m/s M *DAT read: user:982> U BDAT read: Tx time:23:53:56.5686 e $Ping request sent.e  )hIn>i)@5=)@w>U@ wiIJ6?G=?l$!?_? ޹)wi :publishing transmit ping timeYY  Fpublishing direction and range info9u|?> A  )iA yAI I N >\,Ԝx3AbDZD?ADDuD.DEU: E:6Eـ4:E!&@!&@!&@!&@(yVC@ٱV!Q@VdV3̼VH1W?@?j t?{?IVC@)V\;iTB9Z"I)! %AI!)%@ABD-6D-4d3Y]pX=!]U=e;Q)e>e H?9e H?9mFYmCE H;A>Q 15٪9?Q 55_ C#9YHQ E@y@E)l:I:iU5Y;*Ah)h-|o3Ah-Bh-Bh-P@ v-eT@(~#jc$@u-u|?> aB* d?h-h-h->ȕ?h-[Yh-B*i)2i-"Ea:i- Bi-B"i- P@] addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.530567 s, deltaX: -1.199997 m, approachRate: -0.339888 m/s, rangeRepo size: 4  Added new target pos. range: 82.279388 m, bearing: 186.742809 deg, lat: 36.779141 deg, lon: -121.859796 deg, deltaT: 3.530567 s, deltaX: -1.196548 m, approachRate: -0.338911 m/s, posRepo size: 4 gDNOT Ignoring new targets: 82.28 m.gg ProNav: ac range: 82.279388 m, nav range: 81.048065 m, bearing: 186.959806 deg, approach rate: 0.000000 m/s, LOS rate: 0.028544 deg/s, cmd heading: 187.881429 deg, new cmd heading: 187.904467 deg. gHeadingCmd: 3.279552 target range: 82.279388 and range: 82.50 m.g-Q@ggggzfrfffBdddc%T@c% ga?ɢmBu quq>Iq }櫼ԉɡyiIHKκI;@id=i(=)-Q@)i/ 4>i >A x=rA >jA > I G)- ZAIQ i 먿 ZA AvB H>~B B "IB BB B B B ;B qQEA AI I N >ld$,+l3A`yMC@ٱM,Q@M8@_MېʼMHťw?\?ܰc}?@GU?IMC@)MUb];iIe B9ef"IMb@Mb@Mb@ )IibX9?y&1 rhE>`eCIAiA$@)\@BD6D2Y<-=!2=]B;Q)>%K?9%K?9%FY%FE%;A->1Q 155٪5+?Q 5=55t_ 5A#9=>Q A=;Y=G@Q E=@y5 @E)5:I5:i5S5DUDUDQDQEU%: EU,:6EQ:EQ"EU;!]EU;!]*EU:;!eEU;;!eYe@Bm)Am&EB*** querying acoustic contact ***zhhg DNOT Ignoring new targets: 82.28 m.g&":g&":M ProNav: ac range: 82.279388 m, nav range: 80.885284 m, bearing: 186.976079 deg, approach rate: -0.353797 m/s, LOS rate: 0.035441 deg/s, cmd heading: 187.904474 deg, new cmd heading: 187.937086 deg. gM:UHeadingCmd: 3.280121 target range: 82.279388 and range: 82.50 m.gUQ@gQgQgQgQzfQrfYfYf]BBdYddcc2?ɢBX$v >I +ɡiI)I52@iSd=i=)Q@)eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.i91i >A Ď=A- yAI1 IA N] >+,v3Ay>(D@ٱ>Q@>e\>`̼>H٤ఙ??8@K?`?I>(D@)>L];i>CNB9Rl"I)X ZA^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982286BDj!6Djr3Yv<!v_=zg:Q)z>~ H?9~ H?9~FY~HE=;A>Q 15٪ ?Q 55d_ @#9!Y-G@Q E-@y @E)Q;IS;i5Y9=)A9gy}DNOT Ignoring new targets: 82.28 m.g ):g ): ProNav: ac range: 82.279388 m, nav range: 80.753563 m, bearing: 186.989195 deg, approach rate: -0.372514 m/s, LOS rate: 0.037152 deg/s, cmd heading: 187.937081 deg, new cmd heading: 187.963355 deg. g:%HeadingCmd: 3.280579 target range: 82.279388 and range: 82.50 m.g%Q@g!g!g!g)zf)rf)f)f)Bd1d1d1c1c=?ɢBr[ 顭S>I ]kɡiIQI*@id=i=)Q@Y)Yi9/DUDUDU2DQEU: EU0:6EU4:EQ!]@!e@!e@!e@ԁmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.234743>AU =Ա A AI I N >1,"Ȥ3ATym'D@ٱmQ@msZmiżmH?@ʬ?`;@r`ӐXY??Im'D@)m];imCB9p"Ii=I=iBD 6D {U3Y=^<!=8=Ev:Q)E>EK?9EK?9MFYMKEMW:AM>QQ 1]5٪UQ?Q 5]5UQ_ U>#9aYeG@Q Ee@yU@E)U:IU:iU5Yimw)AigDNOT Ignoring new targets: 82.28 m.gO%:gO%: ProNav: ac range: 82.279388 m, nav range: 80.595428 m, bearing: 187.004965 deg, approach rate: -0.361589 m/s, LOS rate: 0.036131 deg/s, cmd heading: 187.963350 deg, new cmd heading: 187.994953 deg. g?:5HeadingCmd: 3.281131 target range: 82.279388 and range: 82.50 m.g5 Q@g1g1g9g9zf9rf9f9fABdAdAdAcAcM $?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485224ɢ15 15>I1 =nɡ9i9I= IE!@iEd=iE(b=)E Q@vBQ~BQBU"IBU7BBQBQBQBU';BUwQE)ie9aae/aDuDuDu-DqEu: Eu.:6Eut4:Eq"Eu#;!Eu$;!*Eu ;!Eu ;!! >A p=bA ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738081A I I N >~8,3Ay6D@ٱ6~R@6NdW6ü6H@e?W?@ߟ\?AW[?I6D@)6];i4B#B9F"IMMb@Mb@Mb@ I)IIIiIIMV-?J +{GzM|>MHMףIM$AiM@MAM@)IM@BDe6Def?3Yuߵ=!uJ=} ;Q)}>y9y9FYNE:A>Q 15٪y?Q 55Z_ 9e>Q A ;YHQ E@y@E):I:i5Y:B(A%EgDNOT Ignoring new targets: 82.28 m.g :g : ProNav: ac range: 82.279388 m, nav range: 80.443985 m, bearing: 187.017264 deg, approach rate: -0.374978 m/s, LOS rate: 0.030510 deg/s, cmd heading: 187.994946 deg, new cmd heading: 188.019590 deg. gX_:HeadingCmd: 3.281561 target range: 82.279388 and range: 82.50 m.gR@ggggzfrfffBBdddcc ?ɢ5B5; 15՟>I1 =}ɡ9i9I=IE@iEd=iE=)ER@)Iii30%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989890ԑMPExceeded connect timeout, disconnecting.>AE= Au yAI I N >D D |D 1D E : E P$:6E -4:E ! @! @! @! @>,cb3Ay:D@ٱ:hR@:T:1ļ:H`'_?`?``@2ِ`?/}?I:D@):>^;i:CD9DPBDN#6DNӀ3YZS:!ZX=Z, ;Q)Z>^ H?9^ H?9^FY^PEb:Ab>dQ 1j5٪fs?Q 5j5fc_ d9hYjvHQ Ej@yf@E)fy:If:ifH5Ypr(Apg  DNOT Ignoring new targets: 82.28 m.g :g% :U ProNav: ac range: 82.279388 m, nav range: 80.302185 m, bearing: 187.028755 deg, approach rate: -0.375625 m/s, LOS rate: 0.030493 deg/s, cmd heading: 188.019590 deg, new cmd heading: 188.042612 deg. gU8_:eHeadingCmd: 3.281963 target range: 82.279388 and range: 82.50 m.ge R@gagagagizfirfqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.242179ffBdddcc*@ɢaep: ams>Ii mcɡiiiIm~I@id=i =) R@)iM9IIM0I>AUv=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493054vB ~B B "IB FBB B B B );B yQEBQBQBQBQBQBUɅr4) A AI I N >E,=3Aiy6!D@ٱ6R@62_Q6Pż6Hۣ? ?` ``(??I6!D@)6>T^;i6CB.B9B"I|Mb@Mb@Mb@ )Iirh|?{Gz~jt>#IAi@A@)3@BD-6D-03DDD+DE%: E*:6E [4:E"E;!E;!*Eh;!Ei;!Yq<=!9=:Q)>K?9K?9FYSEo:A>Q 15٪쯊?Q 55_ =#9D>Q A;Y GQ E@y@E)F;I;i65Y%3B-,(A-$EeB*** querying acoustic contact ***zhahagDNOT Ignoring new targets: 82.28 m.g:9g:9 ProNav: ac range: 82.279388 m, nav range: 80.139664 m, bearing: 187.039368 deg, approach rate: -0.357783 m/s, LOS rate: 0.023412 deg/s, cmd heading: 188.042607 deg, new cmd heading: 188.063877 deg. gb+:HeadingCmd: 3.282334 target range: 82.279388 and range: 82.50 m.gR@ggggzfrfff{BBdddcc @1ɢuBuP4; y}b>Iy }ɡyiyI}+checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746260I @i we=i f7=) R@) Ai90@=@=Qԁ >A =rA >jA >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997871A I I) N= >:'L,n23AnManaging dock network, ignoring radio surface power off8y>V(D@ٱ> R@>8N>9ż>H੣`?>? ¿@W/`Sĩ?`ƬV(D@)>^;i>CJ0B9N"IBDV$6DV3Yzb<!zJ=~]:Q)~>|9|9~FY~VE:A> Q 15٪ ொ?Q 55 _ 9YGQ E@y @E) Q;I ;i 5Y!%(A!gIDNOT Ignoring new targets: 82.28 m.g^9g^9 ProNav: ac range: 82.279388 m, nav range: 79.990891 m, bearing: 187.049074 deg, approach rate: -0.380143 m/s, LOS rate: 0.024848 deg/s, cmd heading: 188.063877 deg, new cmd heading: 188.083326 deg. g5:HeadingCmd: 3.282673 target range: 82.279388 and range: 82.50 m.gRR@g g g g zfrfffBdddcc@ɢW; 顕>I .ɡiIg7Ic@ie=iQ]=)RR@)rDjD<DD}D1DE Ek&:6E-4:E!@!@!@!@i92BDAT read: Rx Time:23:53:59.0810 TRx dataTimestamp_ set to:1758412437.017587checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251891>A% ~4= Aa I I N > S,L3A|y-(D@ٱ-X!R@-K5J-ż-H?? ¿@OD?`?I-(D@)-a^;i-CE7B9M"IMb@Mb@Mb@ )Ii-? ףp= /$?>Q8IAi@)@BD6DF3Y9<!;=;Q)>99FYXEv8A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501262 Q 1%5٪ ү?Q 5%5 _ >#9%>Q A%;Y-)HQ E-@y @E) :I :vBUG>~BQBU"IBUUBBU =BQBQBU*;BQi 5Y'A )gamDNOT Ignoring new targets: 82.28 m.g}H9g}H9  ProNav: ac range: 82.279388 m, nav range: 79.835762 m, bearing: 187.061252 deg, approach rate: -0.310224 m/s, LOS rate: 0.024401 deg/s, cmd heading: 188.083329 deg, new cmd heading: 188.107732 deg. g 2:HeadingCmd: 3.283099 target range: 82.279388 and range: 82.50 m.gLR@ggggzfrff9f=yBBdAdAdAcAcMJ @ɢB`tO; 顕>I XКɡiIK\EIh@if=iџ=)LR@)BE=ـ4JE=#4RE=S}0DDD/DE E,:6EJ4:E"E!E!*E:;!E;;!QiQYY]0Y DAT read: 23:53:59.0810 LVL= 22096, 26289, 22866, 32755, AGC= 66, IDX= 417, 0.44, 1.091,-0.572, 1.323, 0.847, PHS= 0.346,-1.375, 0.431, RAW= 152.4, 6.8, CAL= 151.8, 7.1, ROT= 358.2, -7.1  Ygot valid direction response: 23:53:59.0810 LVL= 22096, 26289, 22866, 32755, AGC= 66, IDX= 417, 0.44, 1.091,-0.572, 1.323, 0.847, PHS= 0.346,-1.375, 0.431, RAW= 152.4, 6.8, CAL= 151.8, 7.1, ROT= 358.2, -7.1  PDAT read: Bearing 344.3, 0.7 (Local)  ~Local bearing/azimuth received: Bearing 344.3, 0.7 (Local) - DAT read: Range 11 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.3 m/s - *DAT read: user:983> 5 BDAT read: Tx time:23:54:00.1686 5 $Ping request sent.5 ) I >i ;*@ = )@ = @ i I K|a?J.=+?۔r? ? ( ѭ) i e :publishing transmit ping timeY1 e Fpublishing direction and range info9 2 ,?LUꟿA7X? i ) I i i I K|a?J.=+?۔r? ) i y >AY A yAI ԩ I N >Y,7i3Az@B9z"I~>~<BD6D{U3Yi+=!8=Q)> H?9 H?9FY[EA>Q 1 5٪ů?Q 5 5_ ?#9YQ E@y@E):I:i 5Y-Bi'AhhnPa3AhBhBhLP@ vv2T@bW'J1TJ$@u2 ,?LUꟿA7X?hѭhvSP!dָ ,@vr9.PP'su&z(?hhhg[I?h|LhJB*ip?2i[Y:iiNB"iTP@) 5 addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.778537 s, deltaX: -1.300003 m, approachRate: -0.344049 m/s, rangeRepo size: 4 M Added new target pos. range: 80.982971 m, bearing: 186.478804 deg, lat: 36.779141 deg, lon: -121.859793 deg, deltaT: 3.778537 s, deltaX: -1.296417 m, approachRate: -0.343100 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 80.98 m.gUgQ ProNav: ac range: 80.982971 m, nav range: 79.654091 m, bearing: 186.841900 deg, approach rate: 0.000000 m/s, LOS rate: 0.024401 deg/s, cmd heading: 188.107726 deg, new cmd heading: 188.127569 deg. gHeadingCmd: 3.283446 target range: 80.982971 and range: 81.20 m.g#R@ggggzfrfffBdddcLT@crm?ɢMBM ; IM>Iq uɡqiqIuAu H=A A AI I N >¡a,4؆3Ay6,D@ٱ6$R@6B6֬ļ6H {V? ҩ?r¿@`t@{U?㍘`b?I6,D@)6_;i4BVK?9VK?9ZFYZ^EZ :AZ>\Q 1b5٪^?Q 5b5^_ ^A#9dYf%HQ Ef@y^@E)^D;I^;i^ 5Yhj'Ahg|DNOT Ignoring new targets: 80.98 m.g:g : ProNav: ac range: 80.982971 m, nav range: 79.504875 m, bearing: 186.853244 deg, approach rate: -0.378598 m/s, LOS rate: 0.028838 deg/s, cmd heading: 188.127575 deg, new cmd heading: 188.150307 deg. gS:%HeadingCmd: 3.283842 target range: 80.982971 and range: 81.20 m.g%y*R@g!g!g!g!zf!rf)f)f)Bd)d1d1c9cE@?yɢ"< u>I  UfɡQiQI]H\I~BIBM"IBM`BBM =BIBIBM-;BM|QEԡ>A =D D D ,D E 7: E *:6E g4:E "E ;! E ;! *E h;! E i;! A yA I I! N5 >g,C3AiJ?IJ@yRQ)D@ٱR!R@RG=RRH6?N?l¿ݬ`Lɦ? 1 ?IRQ)D@)Rk_;iP^NB9b"IMb@Mb@Mb@ )Ii\(\?tI@i@A)@BD6D2YL=!;=rH;Q)> H?9 H?9FYaEA>Q 15٪v?Q 55` B#9>Q A;Y[FQ E@y!@E) ;I ;i 5Y'B&A#EB*** querying acoustic contact ***zhhg%DNOT Ignoring new targets: 80.98 m.g%9g-95 ProNav: ac range: 80.982971 m, nav range: 79.345100 m, bearing: 186.862190 deg, approach rate: -0.364348 m/s, LOS rate: 0.020440 deg/s, cmd heading: 188.150306 deg, new cmd heading: 188.168232 deg. g=:=HeadingCmd: 3.284155 target range: 80.982971 and range: 81.20 m.g=/R@gAgAgAgAzfArfIfIfMwBBdIdQdQcQcU5?ɢ}B&*< 顅^>I 7ɡiIhI?ie=iU=)/R@)i=9AAE@5AMT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.>Ax=A A AI I N >m,P3Ay:%D@ٱ:R@:=8::H ??O¿@(g?@`z?I:%D@):_;i8FWB9F"IIL)NAArDPjDR=DVDVwDV.DTEVƱ: EV:6EVـ4:ET!Z@!Z@!Z@!Z@BD^6D^03Yf==!f[=fH;Q)f>jK?9jK?9jFYjcEjAn>YQ 1e5٪]o?Q 5m5])` ]D#9iYm_FQ Em@y]$@E)] :I]:i]C5Yqu&AygDNOT Ignoring new targets: 80.98 m.gw9gw9 ProNav: ac range: 80.982971 m, nav range: 79.202682 m, bearing: 186.870215 deg, approach rate: -0.368711 m/s, LOS rate: 0.020815 deg/s, cmd heading: 188.168228 deg, new cmd heading: 188.184308 deg. g_:HeadingCmd: 3.284436 target range: 80.982971 and range: 81.20 m.g24R@ggggzfrfffBdddcc-sb?ɢ]~BeBG< am4>Ii utɡiItI?ic=i =)24R@)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498569i95y>AW=I G ) AI iU U AU Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749686Am <Am <vBu G>~Bq Bu "IBu jBBu =Bq Bq Bu *;Bu yQEA I I N >t,)ԥ3APyZ`'D@ٱZR@Zk4ZZH@??  ¿`",?@?IZ`'D@)Zk_;iZC_B9"I-Monly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 79.98, 79.98, 75.22 !M@!M !M@!U !U@!U !U@!U BD]6D]F3Ymk=!m@=mK;Q)m>q9q9uFYufE}9A}>Q 15٪͒?Q 55S` E#Q =+:9Q A:Y]FQ E@y&@E) :I>i5YA&AgDNOT Ignoring new targets: 80.98 m.g9g9 ProNav: ac range: 80.982971 m, nav range: 79.053093 m, bearing: 186.878664 deg, approach rate: -0.366171 m/s, LOS rate: 0.020720 deg/s, cmd heading: 188.184307 deg, new cmd heading: 188.201236 deg. g:HeadingCmd: 3.284731 target range: 80.982971 and range: 81.20 m.g 9R@ggggzfrfffBdddcc`)?ɢ5|B=̪P< 9=>I9 =YɡAiAIEʀIE?iMb=iMMҍ=)M 9R@)qDDD-DE: EE7:6Et4:E"Eh;!Ei;!*ET;!ET;!i  _4 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001751>AK=! A I I N% >{,&3Ay6(D@ٱ64!R@616Ϩ6H VN?@Ɣ? ¿`!X@R ?Η@!?I6(D@)6n_;i6CFdB9J"IBDV6DV2Yb<!bT=f;Q)j>h9l9nFYnhEr|^9Ar>xxQ 15٪z̆?Q 55z|` zG#Q =  :9 Q A :Y \FQ E@yz(@E)zU;IzL?iz5Y!B%%A%"EgaeDNOT Ignoring new targets: 80.98 m.gm9gu9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253771E ProNav: ac range: 80.982971 m, nav range: 78.910912 m, bearing: 186.886715 deg, approach rate: -0.361565 m/s, LOS rate: 0.020513 deg/s, cmd heading: 188.201232 deg, new cmd heading: 188.217365 deg. ge):mHeadingCmd: 3.285013 target range: 80.982971 and range: 81.20 m.gm=R@gigigqgqzfqrfqfqfyBdydydycycA@ɢ{B\uu< >I  cɡiIcކI?ia=i {=) =R@) !i9/DDD1DE: E*5:6E-4:E!@!@!@!@A>A= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506221q I I N >.,73Ay6V/D@ٱ6'R@6,6(Q6H=@? A? )¿@W@ϑz?$q?I6V/D@)6_;i6CBlB9F"IBDN6DN3YV=!VM=V/;Q)Z>X9X9ZFYZkE^Q:A^>`Q 1f5٪bz?Q 5f5b` bI#Q =f99dQ Af:YfUFQ Ej@yb+@E)b:Ibј?ib5Yln%AlgDNOT Ignoring new targets: 80.98 m.g `9g `9 ProNav: ac range: 80.982971 m, nav range: 78.766121 m, bearing: 186.894905 deg, approach rate: -0.371027 m/s, LOS rate: 0.021023 deg/s, cmd heading: 188.217365 deg, new cmd heading: 188.233773 deg. g:%HeadingCmd: 3.285299 target range: 80.982971 and range: 81.20 m.g%WBR@g!g!g)g)zf)rf)f)f1Bd1d1d1c1c=#@Yɢim+< im>Ii uɡqiqIu(I]?i%_=i%5=)-WBR@)Yim9iiii@q@qԙ5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758596vB~BB"IByBB =BBB ;BoQEԱ>A=D D {D /D E U: E 5":6E J4:E "E ;! E ;! *E Bz;! E Cz;! Ii Iy N > $ ,!3Ay:O7D@ٱ:/R@:O0(:ż:H@ `?@?$,¿@y?d?FBDAT read: Rx Time:23:54:02.6793 FTRx dataTimestamp_ set to:1758412440.544305Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010868I:O7D@):_;i:CԹvB9"I!}!} !}!} !}! !! Mb@Mb@Mb@ )IitV?Mby&1>`eI@i@@@)\@BD6DJ2Y]=! =i ;Q)>99FYnECz:A>Q 15٪k?Q 55` H#Q =T:9>Q A ;Y EQ E @y-@E);I;i5YB0%A!E5B*** querying acoustic contact ***zh1h1gAEDNOT Ignoring new targets: 80.98 m.gM9gM9] ProNav: ac range: 80.982971 m, nav range: 78.587868 m, bearing: 186.904025 deg, approach rate: -0.349495 m/s, LOS rate: 0.017923 deg/s, cmd heading: 188.233771 deg, new cmd heading: 188.252053 deg. g]3:eHeadingCmd: 3.285618 target range: 80.982971 and range: 81.20 m.geGR@gagagagazfirfififmBBdqdqdqcqcuE8 @ɢzB4l< 顭>I $ɡiI(I$?iQ^=in=)GR@)i!))-/))1 1=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262071>AE ժ=I I N >A :9,i;3ArD><jD>R=DBDBzDB.D@EBg: EB :6EBـ4:E@!J@!J@!J@!J@y {6D@ٱ .R@ Z-# AǼ H ??`*¿ gܒId?☿ ?I {6D@) Y`;i CAti%ϯF!i!%A)% !I) ))))))15Ai5GaI5F1I9i=كA =9)9A E߃AE94AAIMhyAII)IiIIUyB9]"IBDm6Dm!3Y}<!}{=}v;Q)} ?99FYpE"A ?Q 15٪a?Q 55a 9YEQ E@y/@E)Y;ICd;ic5Y%AgDNOT Ignoring new targets: 80.98 m.g9g9 ProNav: ac range: 80.982971 m, nav range: 78.473854 m, bearing: 186.909885 deg, approach rate: -0.318719 m/s, LOS rate: 0.016406 deg/s, cmd heading: 188.252048 deg, new cmd heading: 188.263786 deg. g 29HeadingCmd: 3.285823 target range: 80.982971 and range: 81.20 m.gJR@ggggzfrfffBddd!c!c% @DAT read: 23:54:02.6793 LVL= 17648, 28145, 19842, 28483, AGC= 64, IDX= 433,-0.30, 1.648, 0.000, 1.871, 1.428, PHS= 0.322,-1.383, 0.399, RAW= 152.2, 7.6, CAL= 151.6, 8.1, ROT= 358.4, -8.1 Ygot valid direction response: 23:54:02.6793 LVL= 17648, 28145, 19842, 28483, AGC= 64, IDX= 433,-0.30, 1.648, 0.000, 1.871, 1.428, PHS= 0.322,-1.383, 0.399, RAW= 152.2, 7.6, CAL= 151.6, 8.1, ROT= 358.4, -8.1 PDAT read: Bearing 345.1, 0.3 (Local) ~Local bearing/azimuth received: Bearing 345.1, 0.3 (Local) DAT read: Range 11 to 50 : 79.9 m (Round-trip 106.6 ms) speed 0.3 m/s *DAT read: user:984> BDAT read: Tx time:23:54:03.7686 $Ping request sent.)%II>iP*@ }ܣ< !%?I! %k_ɡ!i)I-HI-?i5\=i5M=)5JR@)1>V)@>+@ iI4?h?rP?? )im:publishing transmit ping timeYmFpublishing direction and range info9 ?{N:N ?i )Ii iI4?h?rP? )i9ԁ9ri) ) 1 5 059 A A vB ~B B #IB BB B B B %;B sQEBBBBBB3ԑ >A=rA>jA>IIN>y,,)[3Aiy6UUDIU@iUp@U@U@)QU@BD6Df?3Y=!=;Q)>99FYsE%2:A=>IQ 1U5٪MQ?Q 5U5MXa MG#9U>Q AU;YU2EQ E]@yM2@E)M;IM+;iM5Y$Ah h C3Ah _Bh _Bh P@ v 'kbS@gM/zt&@u  ?{N:N ?h h v +,v3Ay6BD@ٱ6E;R@66Nͼ6H F &?~?`rC¿-W?o?I6BD@)6`;i4 B9 #IBD 6D2Y-'=!5d=5!3;Q)5>9999=FY=vE=Պ:A=>AQ 1M5٪EF?Q 5U5Ea EF#9QYU,EQ EU@yE4@E)En;IEz;iEU5Y]B]V$AagDNOT Ignoring new targets: 79.69 m.g:9g:9M ProNav: ac range: 79.686478 m, nav range: 78.132530 m, bearing: 186.796840 deg, approach rate: -0.355582 m/s, LOS rate: 0.015106 deg/s, cmd heading: 188.281268 deg, new cmd heading: 188.291959 deg. gM*9]HeadingCmd: 3.286315 target range: 79.686478 and range: 79.90 m.g]RR@gYgYgagazfarfafifiBdididqcqcu ?ɢwB< 顥 ?I qɡiITXI?iZ=i=)RR@)) iIbDYZD]@ADaDaDe.DaEa Ea6Eeـ4:Ea!u@!u@!u@!u@i93! A1 I9 II N] >ǣ,bڏ3Ay]\MD@ٱ]ER@]D]Sͼ]H٥\I@iZ@~@@)BD6DN3Y,!5=;Q)>99FYyE:A>Q 15٪{9?Q 55a E#9M>Q A;YFQ E@y7@E):I:iO5Yi$Ag DNOT Ignoring new targets: 79.69 m.gl9gl9% ProNav: ac range: 79.686478 m, nav range: 77.973610 m, bearing: 186.806295 deg, approach rate: -0.363699 m/s, LOS rate: 0.021684 deg/s, cmd heading: 188.291964 deg, new cmd heading: 188.310914 deg. g-:5HeadingCmd: 3.286645 target range: 79.686478 and range: 79.90 m.g5fXR@g1g1g1g1zf1rf9f9f=tBBd9dAdAcAcE?Iɢ5vB5w< 15H ?I9 =Biɡ9i9I='6IP?iY=ie=)fXR@))i9/qBEJEـ4RE/DD}D0DEy: Ek&:6E4:E"Eԡ |,&3Ay6TD@ٱ6LR@66VѼ6H`I?@t?e¿AcV1? )?I6TD@)6`;i4@FB9F#IiJ=IJ=BDN6DNP)3YV=!Vs=V _;Q)Z?X9X9ZFYZ{E^:A^?`Q 1f5٪b/?Q 5f5ba `9dYfFQ Ej@yb9@E)bK:Ib:ib5YnB=#A= EuB*** querying acoustic contact ***zhqhqgDNOT Ignoring new targets: 79.69 m.g9g9 ProNav: ac range: 79.686478 m, nav range: 77.855461 m, bearing: 186.813316 deg, approach rate: -0.328914 m/s, LOS rate: 0.019573 deg/s, cmd heading: 188.310911 deg, new cmd heading: 188.324973 deg. gH:HeadingCmd: 3.286891 target range: 79.686478 and range: 79.90 m.gk\R@ggggzfrfffBdddccb?ɢEuBM>< IM?II MbcɡIiQIU{I]I?i]QX=i]N͎=)]k\R@)YԱi9/5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.AI!I1NEQ>rD =jD 4=D D zD (D E U: E  :6E c44:E ! @! @! @! @ װ,æ3Ay:YD@ٱ:QR@:.U :rӼ:HT?@?5p¿ͨĉ?i w?Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012080I:YD@):4Xa;i8^B9^%#IBDj6Dj:3lYrV=!rG=vK;Q)v>t9t9zFYz}EzNF:Az>|Q 15٪~K#?Q 55~a ~D#9 Y FQ E @y~;@E)~):I~:i~5Y`#Ag9EDNOT Ignoring new targets: 79.69 m.gE`9gE`9U ProNav: ac range: 79.686478 m, nav range: 77.710983 m, bearing: 186.821897 deg, approach rate: -0.371642 m/s, LOS rate: 0.022116 deg/s, cmd heading: 188.324967 deg, new cmd heading: 188.342163 deg. gU!:]HeadingCmd: 3.287191 target range: 79.686478 and range: 79.90 m.geVaR@gagagagazfarfafifiBdididqcqcu@p@ɢi< 顥?I H[ɡiIWI^?iW=iÎ=)VaR@)iQQQU/Q 9A<A<>Atn=rA>jA>vB~BB(#IBBB =BBB;BgQE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264896AA II IY a Nm >,bݦ3AD&D&vD&.D$E&%: E&:6E&ـ4:E$"E&;!*E&;!**E&h;!.E&h;!.yFaD@ٱF8ZR@FAFJмFHg?@h?¿3픿崠? ?IFaD@)Fa;iFCRB9R/#IA5Mb@Mb@Mb@ 1)1I1i115-? rh:v5?>5C 5TI5h@i15;@5@)15@BDM6DMF3Y} =!}3=i;Q)>99FYEC:A>Q 15٪?Q 55-b E#94>Q A;YEQ E@y>@E):I:i!5Y #Ag9=DNOT Ignoring new targets: 79.69 m.g=Ц9gEЦ9u ProNav: ac range: 79.686478 m, nav range: 77.547554 m, bearing: 186.830423 deg, approach rate: -0.348715 m/s, LOS rate: 0.018230 deg/s, cmd heading: 188.342166 deg, new cmd heading: 188.359253 deg. gus:}HeadingCmd: 3.287489 target range: 79.686478 and range: 79.90 m.g}9fR@gygygygyzfyrfffBddchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516277idicicm`s@ɢtB0< ?I QɡiI1»I{?iV=iY2=)9fR@)iYYYe/a@mA@mAԑ>A Ď= E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768136A yAI I N >Ho,dY3Ay6cpD@ٱ6hR@66Ǽ6H@??¿C ?]@?I6cpD@)6;_b;i6CBB9B,#IDiDBDJ6DJ 3YRX!Rb=V;Q)V>V H?9V H?9ZFYZEZ;";AZ>\Q 1b5٪^ ?Q 5b5^Xb \9dYfEQ Ef@y^@@E)^):I^:i^Yj Bj#AnEg|DNOT Ignoring new targets: 79.69 m.g9g9 ProNav: ac range: 79.686478 m, nav range: 77.420959 m, bearing: 186.836965 deg, approach rate: -0.363387 m/s, LOS rate: 0.018808 deg/s, cmd heading: 188.359255 deg, new cmd heading: 188.372359 deg. g :MHeadingCmd: 3.287718 target range: 79.686478 and range: 79.90 m.gMiR@ggggzfrfffBdddcc &@ɢIMT = IU?IQ Uk+KɡQiQIUǻI]?i]V=i]i=)]iR@)aDD|D1DE: EP$:6E-4:E!@!@!@!@i 0 ABDAT read: Rx Time:23:54:06.2777 TRx dataTimestamp_ set to:1758412444.080260%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021280q>AEx= d>i ېCII )a A ԙ I I I i Q AN >r,3AvB@~B@BB;#IBBBBB =B@B@BB;BBlQEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272246AycuD@ٱmR@wἹl佼HW ? U?¿`8_ .? ?IcuD@)b;iCB9;#IUMb@Mb@Mb@ Q)QIQiQQU ףp= ? rhQUQ>QUuIU~@iUC@UQ@Q)QU3@BDm6Dm 83Y}#R=!-=;Q)>99FYE):A>Q 15٪u?Q 55b G#9L>Q A;YEQ E@yC@E)f:I:i5%5Y"AgDNOT Ignoring new targets: 79.69 m.g,9g,9u ProNav: ac range: 79.686478 m, nav range: 77.250648 m, bearing: 186.845567 deg, approach rate: -0.360907 m/s, LOS rate: 0.018269 deg/s, cmd heading: 188.372355 deg, new cmd heading: 188.389598 deg. gu:}HeadingCmd: 3.288019 target range: 79.686478 and range: 79.90 m.g}nR@gygygygyzfyrfffBBdddcc @ɢsBn< l!?I sAɡiIIλI-ϰ?i-V=i5<=)5nR@)1iDDzD.DEy: E :6Eـ4:E"E M BDAT read: Tx time:23:54:07.3686 M $Ping request sent.M p??Ux#UM7P2?3BiOqSA !>)XI`>iUs)@|=(@5=r@ 5iI(?NC˥?>=q? ?y F)5iu :publishing transmit ping timeYI u Fpublishing direction and range info9O>p??Ux#UM7P2?i )Ii iI(?NC˥?>=q? )i>A ~4=bA AZA A A AI I N >,-3AxyE){D@ٱEsR@E.ӼEEHG1??@¿ |?X@+?IE){D@)Eb;iECB9D#IBD$6D3Y=!G=σ;Q)>K?9K?9FYE%`:A%>)Q 1U5٪-ﮊ?Q 5U5-b -I#9YY]EQ E]@y-E@E)-:I-1:i-'5YeBe="AeEhyh}W%3Ah}ǜBh}ǜBh}eQ@ v}i݂rS@p[!P#@u}O>p??Ux#UM7P2?h}Fh}5v}7S#$/'@v}KaߜpWDK?h}!h}h}(?h}:kh}B*i}J?2iy:iyi}vB"i}6P@U addTargetRange:: Added new target pos. range: 78.599998 m, deltaT: 3.535916 s, deltaX: -1.300003 m, approachRate: -0.367657 m/s, rangeRepo size: 4 e Added new target pos. range: 78.390060 m, bearing: 187.462033 deg, lat: 36.779140 deg, lon: -121.859791 deg, deltaT: 3.535916 s, deltaX: -1.296417 m, approachRate: -0.366643 m/s, posRepo size: 4 gDNOT Ignoring new targets: 78.39 m.gg ProNav: ac range: 78.390060 m, nav range: 77.231964 m, bearing: 186.841492 deg, approach rate: 0.000000 m/s, LOS rate: 0.018269 deg/s, cmd heading: 188.389595 deg, new cmd heading: 188.405635 deg. gHeadingCmd: 3.288299 target range: 78.390060 and range: 78.60 m.g|sR@ggggzfrfffBdddc`fS@c B?!ɢ)5= 15>%?I1 5R8ɡ1i9I=AջI]8?ieV=ie_=)e|sR@)ai90@a=@=QDM DM |DM -DI EM : EM P$:6EM t4:EI !U @!U @!U @!U @>A [ޏ=y A yAI I) N5 >,rG3AyVoD@ٱVzR@VȼV@VH@t?Z7?M¿  Y@?Em?IVoD@)V c;iVCbB9b)#IBDj6Dj2Yrd!rb=ry;Q)v>v H?9v H?9vFYvEz:Az>|Q 15٪~䮊?Q 55~b ~K#9YEQ E @y~G@E)~B:I~:i~(5Y"A5B*** querying acoustic contact ***zh1h1g9EDNOT Ignoring new targets: 78.39 m.gE9gE9] ProNav: ac range: 78.390060 m, nav range: 77.101463 m, bearing: 186.848025 deg, approach rate: -0.391480 m/s, LOS rate: 0.019630 deg/s, cmd heading: 188.405632 deg, new cmd heading: 188.418719 deg. g]:eHeadingCmd: 3.288527 target range: 78.390060 and range: 78.60 m.ge:wR@gagagagazfarfififiqBdqdqdycyc}஗?ɢ^l= 顭-?I 2ɡiI>SڻI{?iV=i=):wR@)iV5ԩvB~BBN#IBńBB =BBB;BiQE) T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A{=A I! I9 NU > DU DU {DU /DQ d,aa3AEeg: Ee5":6EeJ4:Ea"Ee;!Ee;!"*EeBz;!"EeCz;!"yBKD@ٱB|R@BBBHF`B? ?5¿ L㒿`D?`?IBKD@)BKc;iBCN„B9NJ#IMb@Mb@Mb@ )IiGz?t#Ii-@@p@)@BD6D\3Y=!<=Ա<;Q)>99FYE 9A>Q 15٪Cخ?Q 55 c L#9>Q A;YSFQ E@yI@E) ;Im ;iz*5Y"Ag checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996090DNOT Ignoring new targets: 78.39 m.g9g%95 ProNav: ac range: 78.390060 m, nav range: 76.951286 m, bearing: 186.856628 deg, approach rate: -0.346276 m/s, LOS rate: 0.019876 deg/s, cmd heading: 188.418719 deg, new cmd heading: 188.435959 deg. g5:=HeadingCmd: 3.288828 target range: 78.390060 and range: 78.60 m.g=(|R@g9g9g9g9zf9rfAfAfEuBBdAdIdIcIcUA?ɢ}rB} = y顅'?I 8(ɡiII ?i V=i m[=) (|R@)iO5 >A~4=rA>jA> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247945A AI! I1 9 NE >,N){3AyF}D@ٱF1vR@Fk4FvhFH ?T6?[¿T)F?re?IF}D@)Ffc;iFCjȄB9jQ#IBDr6Drf?3Yz<!zY=~ ;Q)~>~K?9~K?9~FY~E*A> Q 15٪ Hͮ?Q 55 Ec M#9YYFQ E@y L@E)  ;I T ;i ,5Y%B%!A%EgIUDNOT Ignoring new targets: 78.39 m.gU99gU99e ProNav: ac range: 78.390060 m, nav range: 76.821243 m, bearing: 186.864142 deg, approach rate: -0.345936 m/s, LOS rate: 0.020023 deg/s, cmd heading: 188.435958 deg, new cmd heading: 188.451012 deg. ge:mHeadingCmd: 3.289091 target range: 78.390060 and range: 78.60 m.gmvR@gqgqgqgqzfqrfqfyfyBdydydccZ=?ɢ =) 顕*?I g ɡiIڙI??iRV=iC"=)vR@)DD|DDE: EP$:6E:E!@!@!@!@iy5@@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500664Yԉ>A{=A I I N% >Թ vB ~B B Z#IB τBB =B B B ;B gQEBB^,@3AB齝Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753843BBBU4yuсD@ٱuMzR@uH uXuHE?R?¿0 ,v??IuсD@)u0c;iqτB9Z#I=Mb@Mb@Mb@ 9)9I9i99=Zd;? rh:v=۹>=C =TI9i9=@=Z@)99BDU6DUP)3Ye =!e6=eWX;Q)e>i9i9mFYmEu :Au>yQ 15٪}v?Q 55}c }O#9ɺ>Q A;YEQ E@y}N@E)}s:I}/:i}.5ԉY!AgDNOT Ignoring new targets: 78.39 m.g9g9 ProNav: ac range: 78.390060 m, nav range: 76.657356 m, bearing: 186.872331 deg, approach rate: -0.363499 m/s, LOS rate: 0.018202 deg/s, cmd heading: 188.451012 deg, new cmd heading: 188.467425 deg. g?:HeadingCmd: 3.289377 target range: 78.390060 and range: 78.60 m.g(R@ggggzfrfffBBdddcc`Ot?ɢ!%D= !%.?I! yɡiI I?iU=i==)(R@)iAAAM4IԹDD}D+DE: Ek&:6E [4:E"E#;!E$;!*Eŀ;!Eŀ;!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003876>A =A I I N > (,ˮ3AyJKD@ٱJǃR@J)JeQ9Q9]FY]Ee:Ae>iQ 1m5٪m&?Q 5u5mc mQ#9qYuEQ Eu@ymP@E)m:Im];im/5Y5!AgDNOT Ignoring new targets: 78.39 m.gM9gM9 ProNav: ac range: 78.390060 m, nav range: 76.523247 m, bearing: 186.879004 deg, approach rate: -0.364619 m/s, LOS rate: 0.018174 deg/s, cmd heading: 188.467432 deg, new cmd heading: 188.480801 deg. g :HeadingCmd: 3.289611 target range: 78.390060 and range: 78.60 m.gR@ggggzfrfffBdddcc^@ɢ  -=  )3?I  ɡiII?izU=i=)%R@)!i/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258347>Ax=bAZAAD}D}|D}/DyE}Ʊ: E}P$:6E}J4:Ey!@!@!@!@q A I I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512111}!,ȧ3A y:D@ٱ:bR@:Z:~:H ?u?¿@֓_?|~?I:D@):c;i:C^B9^o#IBDf-6Df3Yn=!nO=n;Q)r>p9p9rFYrEv9Av>xQ 1~5٪z?Q 5~5zc zT#9|Y~EQ E@yzS@E)z;Iz;izj15Y B  A -B*** querying acoustic contact ***zh)h)g1=DNOT Ignoring new targets: 78.39 m.g=9g=9M ProNav: ac range: 78.390060 m, nav range: 76.380104 m, bearing: 186.886135 deg, approach rate: -0.363619 m/s, LOS rate: 0.018149 deg/s, cmd heading: 188.480805 deg, new cmd heading: 188.495094 deg. gM:UHeadingCmd: 3.289860 target range: 78.390060 and range: 78.60 m.g]R@gYgYgYgYzfYrfYfafaBdadadicicm @ɢ15)= 9=6?I9 =-vɡ9i9I=IE?iEU=iMФ=)MR@)IQi!!)))@5=@5=vBy~ByB}a#IB}ԄBByByByB};B}dQEԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766118>A~4=ԡ A IY Iq N >BE4JE}4REˆ0De De Da Da Ee : Ee ,:6Ea :Ea "Ee ;!u Ee ;!u *Ee :;!u Ee ;;!u I,3Ay:D@ٱ:R@:l:6:Hk~??A¿ ?%@:?I:D@):pd;i:C@FB9Jx#IeMb@Mb@Mb@ a)aIaiaaeoʡ?:v{Gzte>eԼeףIe;@iae@a)aeQ@BDu6Du3Y=!@=jl;Q)>99FYEs1:A>Q 15٪򛮊?Q 55)d 9>Q A;YDQ E@yU@E):I:iF35Y AgDNOT Ignoring new targets: 78.39 m.gwe9gwe9 ProNav: ac range: 78.390060 m, nav range: 76.235924 m, bearing: 186.891460 deg, approach rate: -0.338850 m/s, LOS rate: 0.012538 deg/s, cmd heading: 188.495094 deg, new cmd heading: 188.505764 deg. g9HeadingCmd: 3.290046 target range: 78.390060 and range: 78.60 m.gR@gggg zf rf f fBBdil>IR=%BDAT read: Rx Time:23:54:09.8759 %TRx dataTimestamp_ set to:1758412447.612597-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017366d)d)c)c5@n?@ɢ]sB].= aey:?Ia e6ɡaiaIe\-Im?imT=iu"ڏ=)uR@)qԱi-9))))>AM= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268438 A I I N >s,3Ay>nD@ٱ>R@> W>1 >HͥS?&? ¿`Q ? r?I>nD@)>d;i>CbB9bq#IpBD 6Dk3Y!!R=%3_;Q)%>)9)95FY5E=A=>AQ 1U5٪E?Q 5]5Ehd A9aYeDQ Ee@yEW@E)E׆;IE";iE45Yq} AygDNOT Ignoring new targets: 78.39 m.gOb9gOb9 ProNav: ac range: 78.390060 m, nav range: 76.102974 m, bearing: 186.896408 deg, approach rate: -0.331733 m/s, LOS rate: 0.012366 deg/s, cmd heading: 188.505763 deg, new cmd heading: 188.515674 deg. g 9HeadingCmd: 3.290219 target range: 78.390060 and range: 78.60 m.gR@ggggzfrfbDZDDD|D+DE: EP$:6E [4:E!-@!-@!-@!-@ffBdddcc @ɢ+= m7?I ;jɡ)i1I53I5?i=@T=i=!=)=R@)9DAT read: 23:54:09.8759 LVL= 26096, 32753, 26722, 32755, AGC= 66, IDX= 429, 0.15,-1.305,-2.968,-1.110,-1.547, PHS= 0.344,-1.376, 0.394, RAW= 151.4, 7.4, CAL= 150.8, 7.8, ROT= 359.2, -7.8 Ygot valid direction response: 23:54:09.8759 LVL= 26096, 32753, 26722, 32755, AGC= 66, IDX= 429, 0.15,-1.305,-2.968,-1.110,-1.547, PHS= 0.344,-1.376, 0.394, RAW= 151.4, 7.4, CAL= 150.8, 7.8, ROT= 359.2, -7.8 PDAT read: Bearing 344.8, -0.5 (Local) ~Local bearing/azimuth received: Bearing 344.8, -0.5 (Local) DAT read: Range 11 to 50 : 77.4 m (Round-trip 103.2 ms) speed 0.2 m/s *DAT read: user:986>  BDAT read: Tx time:23:54:10.9686  $Ping request sent. )5 I5^>i5)@5 A>5q(@5'g >5y@ 5'g i11I5@S8 ?3wQ?o·g?5zd ?5ݘ 5Dd)5'g i11m:publishing transmit ping timeY mFpublishing direction and range info915 ?Ij?cnqT M _?11i11111 1)1I1i11111 1i11I5@S8 ?3wQ?o·g?11 1)1i119a >A =rA >jA >vB ~B B s#IB BB =B B B ;B `QEA5 yAI9 IQ N] >,<3A B9t#IMb@Mb@Mb@ )Ii +?L7A`堿{Gzȶ>+#I$@i@@) @BD6D 83Y <!2=Q)> H?9 H?9FYEA>Q 15٪?Q 55d V#9>Q A;YEQ E@yZ@E);IO;i65YB AEhYh]{3Ah]bBh]bBh]Q@ v]i#/S@տ&Ȭ$@u] ?Ij?cnqT M _?h]Ddh]'g v]*R$&@v]"1X￞6%|EWj?h]&h]<h]m7Ӟ?h]`vh]B*i]g[I?2i][Y:i]JBi]B"i]P@= addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.533498 s, deltaX: -1.199997 m, approachRate: -0.339606 m/s, rangeRepo size: 4 U Added new target pos. range: 77.193283 m, bearing: 187.842799 deg, lat: 36.779139 deg, lon: -121.859793 deg, deltaT: 3.533498 s, deltaX: -1.196777 m, approachRate: -0.338695 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 77.19 m.g]gY ProNav: ac range: 77.193283 m, nav range: 75.994263 m, bearing: 187.032155 deg, approach rate: 0.000000 m/s, LOS rate: 0.012366 deg/s, cmd heading: 188.515680 deg, new cmd heading: 188.526859 deg. gHeadingCmd: 3.290414 target range: 77.193283 and range: 77.40 m.g&R@g!g!g!g!zf)rf)f1f5nBBd9d9id9cmYS@cmQ?ɢp%= H8?I ^c˻ɡiIGI?ijS=iێ=)&R@)D5D1D1D1E5; E16E1:E1"E5AA =A AI I! N= >s ,fN23ATB9 w#I)A ABD6Dk2Y-p<!-V=)Q)5>5K?95K?95FY5E9A=>AQ 1M5٪Eww?Q 5M5Ed EX#9IYIQ EU@yE\@E)E ;IE:iE85YY]n AYgDNOT Ignoring new targets: 77.19 m.gP9gP9 ProNav: ac range: 77.193283 m, nav range: 75.857582 m, bearing: 187.039134 deg, approach rate: -0.361709 m/s, LOS rate: 0.018503 deg/s, cmd heading: 188.526854 deg, new cmd heading: 188.540838 deg. gs:HeadingCmd: 3.290658 target range: 77.193283 and range: 77.40 m.g&R@ggggzf!rf!f!f!Bd)d)d)c)c-_?ɢ]tB]ܸE= Ye9?Ia eɡaiaIetIm?imR=imm=)m&R@)qi/DEDEyDADAEEU: EE:6EA:EA!U@!U@!U@!U@>AĎ=1 Am yAI I N >,K3Ay:vD@ٱ:R@::9O:H`?? ¿@2@{jA?; ?I:vD@): ~d;i8FB9F#IBDV6DV02I ՈGY%:?=!%M=)-AIA=#e H?iuuAu*A9e H?9}FY}E}E:A}>Q 15٪k?Q 55e Z#9Y~EQ E@y^@E)v:IX:iq:5YBAEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 77.19 m.g9g9 ProNav: ac range: 77.193283 m, nav range: 75.710915 m, bearing: 187.046592 deg, approach rate: -0.357305 m/s, LOS rate: 0.018202 deg/s, cmd heading: 188.540842 deg, new cmd heading: 188.555786 deg. g?:HeadingCmd: 3.290919 target range: 77.193283 and range: 77.40 m.glR@ggggzfrffqfqBdydydycyc}@l?ɢ{;= ]>?I "ɡiIs II?iQ=i =)lR@)!A1A5AAivBA~BABABABE =BABABE ;BEXQEi/T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ>A=bAZAADu Du }Du -Dq Eu غ: Eu k&:6Eu t4:Eq "Eu  ,e3Ay6D@ٱ6R@66㭼6Hإ@??_¿`v`R+?⻕?I6D@)6&d;i4RB9R#I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482981=Mb@Mb@Mb@ 9)9I9i99=oʡ?&1=>=P=I=@i=-@=@=p@)9=@BDU6DUF3YeSo!eE=ekW;Q)e>i9i9mFYmEmAu>qQ 15٪u_?Q 55ue uY#9>Q A;YH@Q E@yu`@E)uU:Iuj:iu3<5Y AԙgDNOT Ignoring new targets: 77.19 m.gA:gA: ProNav: ac range: 77.193283 m, nav range: 75.574501 m, bearing: 187.059526 deg, approach rate: -0.338823 m/s, LOS rate: 0.032185 deg/s, cmd heading: 188.555787 deg, new cmd heading: 188.581703 deg. gk:HeadingCmd: 3.291372 target range: 77.193283 and range: 77.40 m.gեR@ggggzfrfffcBBdddcc@?ɢyA= A{=I I N > 1,3AyJZD@ٱJ֔R@JϻJJH`b??m?¿ y?8?IJZD@)Jd;iHVB9V#IBD^6D^:3Yfs=!fT=f^p;Q)f>h9h9jFYjEn :An>pQ 1v5٪rgT?Q 5v5r e rW#9tYvH@Q Ez@yrc@E)r:IrB:ir=5Y|~A|DDD/DEƱ: E6EJ4:E!-@!-@!-@!-@g9=DNOT Ignoring new targets: 77.19 m.gE:gE:U ProNav: ac range: 77.193283 m, nav range: 75.443703 m, bearing: 187.071928 deg, approach rate: -0.337313 m/s, LOS rate: 0.032038 deg/s, cmd heading: 188.581701 deg, new cmd heading: 188.606547 deg. gUj:]HeadingCmd: 3.291805 target range: 77.193283 and range: 77.40 m.g]R@gYgYgYgazfarfafafiBdididicicu?ɢxiS= 顥B?I eɡiIpIr?iO=i=)R@)1iP0-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987124>A=IIQIiNu>vBA ~BA BE #IBE BBA BA BA BE ;BE ^QEy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241076&,ܝ3A5B9=#IMb@Mb@Mb@ )Ii +?L7A`堿y&1|ȶ>+`I@i@Z@)f@BD%6D03Yf =!9=Q)>99FYEA>Q 15٪G?Q 5 5Ie Y#9>Q A;YwEQ E@ye@E);I;i?5Y5B=KA=EQgDNOT Ignoring new targets: 77.19 m.g_9g_9 ProNav: ac range: 77.193283 m, nav range: 75.286018 m, bearing: 187.080012 deg, approach rate: -0.351778 m/s, LOS rate: 0.018072 deg/s, cmd heading: 188.606549 deg, new cmd heading: 188.622751 deg. gL:MHeadingCmd: 3.292088 target range: 77.193283 and range: 77.40 m.gMR@gIgIgIgIzfIrfQfQfUBBdQdYdYcYc]%%@ɢ?= F?I 9#QɡiII"n?iM=io^=)R@)D5D5yD5-D1E5: E5:6E5t4:E1"E5h;!EE5i;!E*E5r;!EE5r;!Myi905checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490947Թ>A K=rA >jA >I I N > A,,h3Ay6D@ٱ6R@6 e66HH?$|? " ÿ@âM=l? t?I6D@)6c;i4NB9R#IBDV16DV[3Yf(=!f_=f;Q)j>h9h9jFYjEnl:An>pQ 1v5٪r A=I1IINU>I M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994877*3,Gͨ3Ay69D@ٱ6R@6i56)6H ? av? {ÿ` &b?T?I69D@)6bAc;i6C@9F#IIH)HBDN6DN2YVp!VL=VR;Q)Z>X9X9ZFYZE^9A^>`Q 1f5٪b/?Q 5f5be b]#9dYflEQ Ej@ybi@E)bW:Ib9:ib)C5YnBnAlgDNOT Ignoring new targets: 77.19 m.g 9g 9 ProNav: ac range: 77.193283 m, nav range: 75.011665 m, bearing: 187.094020 deg, approach rate: -0.373302 m/s, LOS rate: 0.019115 deg/s, cmd heading: 188.636151 deg, new cmd heading: 188.650813 deg. g :%HeadingCmd: 3.292578 target range: 77.193283 and range: 77.40 m.g%R@g!g)g)g)zf)rf)f1f1Bd1d1d9c9c= # @ɢae^= imrI?Ii m{ɡiiiIm8NIuf?i}K=i}jÍ=)}R@)yi))1541YvBF>~BB#IBBBBBB;B_QEBBBBBBÁM4BDAT read: Rx Time:23:54:13.4742 TRx dataTimestamp_ set to:1758412451.395778checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253456ԁ>AK=IyIN~>ԡ DM DM DM .DI EM 7: EM 3:6EM ـ4:EI "EM ;!U EM ;!U *EM ;!] EM ;!] IS9,3Ay6D@ٱ6R@66u6HU@? ;r?`ÿEᖿ Q?@1N?I6D@)6b;i6C@r B9r#Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.499193}Mb@Mb@Mb@ y)yIyiyy}-? rhMb}?>}C }I}$@i}@}@}p@)yyBD6D:3Y<!<=,;Q)>99FYE^ :A>Q 15٪"?Q 55e `#9 >Q A;YEQ E@yl@E):I:iE5YAB*** querying acoustic contact ***zhhg DNOT Ignoring new targets: 77.19 m.g&9g&9M ProNav: ac range: 77.193283 m, nav range: 74.857231 m, bearing: 187.102345 deg, approach rate: -0.354343 m/s, LOS rate: 0.019141 deg/s, cmd heading: 188.650808 deg, new cmd heading: 188.667493 deg. g :%HeadingCmd: 3.292869 target range: 77.193283 and range: 77.40 m.g-]R@gQgQgQgQzfYrfaffBBddԱdcc @ɢyF= 顕K?I MɡiIsIYa?iI=i)]R@)i}9yy}2y@=@=DAT read: 23:54:13.4742 LVL= 21376, 30193, 18898, 32755, AGC= 65, IDX= 428,-0.31,-3.080, 1.576,-2.880, 2.980, PHS= 0.326,-1.359, 0.379, RAW= 151.6, 7.7, CAL= 151.0, 8.2, ROT= 359.0, -8.2 e Ygot valid direction response: 23:54:13.4742 LVL= 21376, 30193, 18898, 32755, AGC= 65, IDX= 428,-0.31,-3.080, 1.576,-2.880, 2.980, PHS= 0.326,-1.359, 0.379, RAW= 151.6, 7.7, CAL= 151.0, 8.2, ROT= 359.0, -8.2 m PDAT read: Bearing 345.3, -1.3 (Local) u ~Local bearing/azimuth received: Bearing 345.3, -1.3 (Local) } DAT read: Range 11 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.3 m/s  *DAT read: user:987>  BDAT read: Tx time:23:54:14.5686  $Ping request sent. )IJ >iV)@ >+(@C>@ CiIFN?:,?^!? ?v )Ci :publishing transmit ping timeY   Fpublishing direction and range info9>A 7=bA AZA A^U ?xRx0A?i )Ii iIFN?:,?^!? )iI I N >m@,3Ay6LD@ٱ6ȪR@66v6H@!"?@l?`j#ÿС >P`?I6LD@)6b;i6C<DNDNDN/DLENg: EN0:6ENJ4:EL!V@!V@!V@!V@nB9n#IBDv6Dv 3Y<!L=+;Q)%>!9!9%FY%E-d:A->1Q 1=5٪5?Q 5=55f 5c#99YEEQ EE@y5n@E)5:I5:i5F5YMBMAIhyh}bN3Ah}Bh}Bh}Q@ v}R@^'%@u}^U ?xRx0A?h}h}Cv}KߔR2;>T$7ȭ%@v}!)a■MfA*N?h}"h}h}۬?h}ҳxqh}B*i}(?2i}:k:i}Bi}B"i}@Q@= addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.778470 s, deltaX: -1.400002 m, approachRate: -0.370521 m/s, rangeRepo size: 4 M Added new target pos. range: 75.797028 m, bearing: 187.787227 deg, lat: 36.779138 deg, lon: -121.859801 deg, deltaT: 3.778470 s, deltaX: -1.396255 m, approachRate: -0.369529 m/s, posRepo size: 4 giuDNOT Ignoring new targets: 75.80 m.gugq ProNav: ac range: 75.797028 m, nav range: 74.958878 m, bearing: 187.621475 deg, approach rate: 0.000000 m/s, LOS rate: 0.019141 deg/s, cmd heading: 188.667488 deg, new cmd heading: 188.683694 deg. gHeadingCmd: 3.293152 target range: 75.797028 and range: 76.00 m.gR@ggggzfrfffBdddcS@c#?ɢ)-u>l= 15M?I1 5q'ɡ1i1I=b I=\?i=H=iEߍ=)ER@)aԩi94>A- 5=vBu G>~Bq Bu #IBu BBq Bq Bq Bu ;Bu bQE I I N >F,73AyFbD@ٱF޳R@F1-:FFH :4??;b?a5ÿ@{LS|`?IFbD@)F 5a;iFCVB9V#IiZ=IXhMb@Mb@Mb@ )IiʡE?Mb~jtx>ĻI@i@@)@BD 6D2Y!<=9;Q)>99FYE%:A%>!Q 155٪%^ ?Q 555%Wf %f#95g>Q A5;Y5fEQ E=@y%q@E)%: ;I% ;i%H5YEޘBEUAEEgDNOT Ignoring new targets: 75.80 m.g9g9  ProNav: ac range: 75.797028 m, nav range: 74.809349 m, bearing: 187.630171 deg, approach rate: -0.350016 m/s, LOS rate: 0.020395 deg/s, cmd heading: 188.683689 deg, new cmd heading: 188.701115 deg. g M:HeadingCmd: 3.293456 target range: 75.797028 and range: 76.00 m.gR@ggggzfrfff%nBBd!d!d!c)c-z?ɢUuBUءR= Y]@??IY ] ɡYiYI]q#IeW?imG=imR=)mR@)iBE=t4JE=t4RE=ò/DDD,DE: E.:6Eg4:E"Eh;!Ei;!*E ;!E ;! i/@ @ @ @ 1II IY Nm >Y 9L,r53Ay6D@ٱ6aR@6/ ;6tԻ6H >?5U?J>ÿ`%ra z?I6D@)6 `;i6CBB9B#IBDJ6DJ2YR(>!Re=VH(;Q)V>T9T9ZFYZEZJ:AZ>\Q 1b5٪^?Q 5b5^f ^h#9dYfaEQ Ef@y^s@E)^B:I^|:i^DJ5YhjeAhg DNOT Ignoring new targets: 75.80 m.g E9g E9 ProNav: ac range: 75.797028 m, nav range: 74.686844 m, bearing: 187.637295 deg, approach rate: -0.358849 m/s, LOS rate: 0.020903 deg/s, cmd heading: 188.701120 deg, new cmd heading: 188.715391 deg. g%:%HeadingCmd: 3.293705 target range: 75.797028 and range: 76.00 m.g%R@g)g)g)g)zf)rf)f1f1Bd1d19d9cAcE _?ɢv= 5N?I :ɡiI%I=S?i=F=i9)=R@)Ai/rA>jA>iIIN>DD~D/DE7: E(:6EJ4:E!@!@!@!@ԑ S,NO3AnB9r#IBDv6Dv:2Y%Q;!-B=-Q)->19195FY5E5A5>9Q 1E5٪=?Q 5M5=f =k#9IYIQ EM@y=u@E)=:I= :i=L5YQUaAYgyDNOT Ignoring new targets: 75.80 m.g49g49ԙ ProNav: ac range: 75.797028 m, nav range: 74.542343 m, bearing: 187.645729 deg, approach rate: -0.344238 m/s, LOS rate: 0.020131 deg/s, cmd heading: 188.715395 deg, new cmd heading: 188.732295 deg. g]:HeadingCmd: 3.294000 target range: 75.797028 and range: 76.00 m.gR@ggggzfrfffBdddcc@f?ɢk= `N?I ȝ:ɡiIA(IN?iE=i{=)R@)vB%F>~B!B%#IB%BB!B!B!B%;B%aQEi9/I1IANM>D D D 0D E : E a9:6E 4:E "E eteIe$@iaeC@ep@)ae@BD}"6D}Jz3YE;!D=;Q)>99FYE':A>Q 15٪!譊?Q 55f 9>Q A;YHFQ E@yw@E):I:iM5Y٘B-AEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 75.80 m.g9g9 ProNav: ac range: 75.797028 m, nav range: 74.403793 m, bearing: 187.655363 deg, approach rate: -0.332128 m/s, LOS rate: 0.023137 deg/s, cmd heading: 188.732293 deg, new cmd heading: 188.751596 deg. g_): HeadingCmd: 3.294337 target range: 75.797028 and range: 76.00 m.g jR@g g ggzfrfffBBddd!c!c%?ɢIUXj= QU O?IQ UA:ɡYiYI]C+IeJI?ieTD=ie =)ejR@)ai 9IIN>!UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.iy y`,3Ay6D@ٱ6R@6h;6Pɿ6H } b?)Y;`ÿ@: %F1u` ?I6D@)6Ja;i6CDBDBDB/D@EBg: EBF:6EBJ4:E@!J@!J@!J@!J@RB9R#IBDZ6DZ 3Yv=!vU=vO;Q)v>x9x9zFYz°Ez:A~>Q 1 5٪Yݭ?Q 5 5 g 9 Y ?FQ E @yy@E)d:I:iO5YAgAEDNOT Ignoring new targets: 75.80 m.gM9gM9 ProNav: ac range: 75.797028 m, nav range: 74.276260 m, bearing: 187.664204 deg, approach rate: -0.333061 m/s, LOS rate: 0.023129 deg/s, cmd heading: 188.751595 deg, new cmd heading: 188.769308 deg. gQ):HeadingCmd: 3.294646 target range: 75.797028 and range: 76.00 m.g{R@ggggzfrfffBdddccl@Qɢy}s= 顅WR?I L';ɡiI.I;D?idC=i5=)5{R@)9AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.244315i9)i)ԉI%G)ZAIi%ZA%AԱvB G>~B B B B B B B ;B iQE>A tn=bA AZA A)ߑ ߑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505238 Ae AI I N- >Mg,3AyVD@ٱV6R@VS;V1VHPf? fpcÿ`L/z_yŖ?IVD@)V`;iTbB9b#IMMb@Mb@Mb@ I)IIIiIIMʡE? rhMbpM>MC MIM@iIMZ@MZ@)IM@BDe!6Der3Yu!u6=};Q)}>K?9K?9FYŰEb9A>Q 15٪ϭ?Q 55Fg n#9}>Q A%;Y%EQ E%@y|@E);I;iQ5Y-ԘB-A-EgqDNOT Ignoring new targets: 75.80 m.gq9gq9 ProNav: ac range: 75.797028 m, nav range: 74.117569 m, bearing: 187.674131 deg, approach rate: -0.337210 m/s, LOS rate: 0.021140 deg/s, cmd heading: 188.769312 deg, new cmd heading: 188.789209 deg. g:HeadingCmd: 3.294993 target range: 75.797028 and range: 76.00 m.g,R@gggDDD2DE: E0:6E4:E"E#;!E$;!*Eމ;!Eމ;!gzfrfff}BBdddcck@ɢvBP/i= $P?I GW;ɡiI1I>?i B=iV=),R@) ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7494951>A x=a A I I N- >3jm,D3Ay6D@ٱ6R@6=p;6س6H o?@ojÿ`XY`}}z ?I6D@)6a;i6CZB9Z#Ii^=I^=b4p9p9rFYrȰEv'&:Av>xQ 1z5٪zHŭ?Q 5~5zsg zp#9|Y~EQ E~@yz~@E)z;Iz7;iz9S5Y  A g15DNOT Ignoring new targets: 75.80 m.g=9g=9M ProNav: ac range: 75.797028 m, nav range: 73.991203 m, bearing: 187.682044 deg, approach rate: -0.351780 m/s, LOS rate: 0.022065 deg/s, cmd heading: 188.789215 deg, new cmd heading: 188.805068 deg. gM!:UHeadingCmd: 3.295270 target range: 75.797028 and range: 76.00 m.gUR@gQgQgQgQeBDAT read: Rx Time:23:54:17.0725 eTRx dataTimestamp_ set to:1758412454.924296mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.001322zfirfifqfqBdqdydycyc}A@ɢY= 顭R?I B};ɡiIk@4I:?iA=i=)R@)Qi119=/9ԁrD=jD<DDvD.DE: E:6Eـ4:E!@!@!@!@>Aԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252134A- yAI9 II NU > Ut,'.ҩ3AyMD@ٱMoR@MC% H?9% H?9-FY-˰E-:A->1Q 1=5٪5T?Q 5=55g 5s#9AYEEQ EE@y5@E)5:I5:i5-U5YIUAQgq}DNOT Ignoring new targets: 75.80 m.g} 9g 9 ProNav: ac range: 75.797028 m, nav range: 73.837746 m, bearing: 187.691593 deg, approach rate: -0.343570 m/s, LOS rate: 0.021424 deg/s, cmd heading: 188.805061 deg, new cmd heading: 188.824200 deg. g:HeadingCmd: 3.295604 target range: 75.797028 and range: 76.00 m.g-R@ggggzfrfffBdԩddcc` @ɢwBs= S?I _̖;ɡiI:7I4?iB@=iE=)-R@)DAT read: 23:54:17.0725 LVL= 20592, 26593, 22514, 31667, AGC= 65, IDX= 426, 0.21,-0.865,-2.543,-0.630,-1.092, PHS= 0.328,-1.407, 0.417, RAW= 152.5, 7.5, CAL= 151.9, 7.9, ROT= 358.1, -7.9 i9Ygot valid direction response: 23:54:17.0725 LVL= 20592, 26593, 22514, 31667, AGC= 65, IDX= 426, 0.21,-0.865,-2.543,-0.630,-1.092, PHS= 0.328,-1.407, 0.417, RAW= 152.5, 7.5, CAL= 151.9, 7.9, ROT= 358.1, -7.9 PDAT read: Bearing 345.2, -2.7 (Local) ~Local bearing/azimuth received: Bearing 345.2, -2.7 (Local) DAT read: Range 11 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.3 m/s *DAT read: user:988> BDAT read: Tx time:23:54:18.1686 $Ping request sent.)mIm>imX*@m >m)@m0 >m3@ m0 iiiIm/?p ?$?mc?m} m)m0 iiiE:publishing transmit ping timeYEFpublishing direction and range info9imʭ?^ pРyjȗ?iiiiiiii i)iIiiiiiii iiiiIm/?p ?$?ii i)iiiiDDDDE: E.:6E:E "EAe tn=rAm >jAi A I I N >1 |z,3Ay6D@ٱ6R@6<6Ƽ6HND?Dpv 4ÿ@i<ۘ:?I6D@)6Kx`;i4BB9B#IMb@Mb@Mb@ )IiQ?ˡEMbµ>'Iip@p@)p@BD%6D%!3Y]N!]G=eL#;Q)e>a9i9mFYmͰE>;A>Q 15٪˫?Q 55g w#9>Q A;YFQ E@y@E)cQ;IAQ;iV5YϘBAEhhd۩3Ah3Bh3BhQ@ v'LvR@Q>L`.$@uʭ?^ pРyjȗ?hh0 v48YR)a"#:=#@v\y|)*Y# ?hhΒh/?h.YhXB*i۬?2i:iBipB"iQ@M addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.532603 s, deltaX: -1.199997 m, approachRate: -0.339692 m/s, rangeRepo size: 4  Added new target pos. range: 74.600266 m, bearing: 187.137003 deg, lat: 36.779138 deg, lon: -121.859801 deg, deltaT: 3.532603 s, deltaX: -1.196762 m, approachRate: -0.338776 m/s, posRepo size: 4 gDNOT Ignoring new targets: 74.60 m.gg ProNav: ac range: 74.600266 m, nav range: 73.718773 m, bearing: 187.699553 deg, approach rate: 0.000000 m/s, LOS rate: 0.021424 deg/s, cmd heading: 188.824200 deg, new cmd heading: 188.842587 deg. gHeadingCmd: 3.295925 target range: 74.600266 and range: 74.80 m.goR@ggggzfrfffBBdddc@3R@c?ɢ5xB5s= 15gQ?I1 =?;ɡ9i9I=*:IEE/?iE=@=iEp=)EoR@)ii99)߉ ߉q >AE Ď=D D vD /D E U: E :6E J4:E ! @! @! @! @Aq Iy I ԙ N >r,lv3Ay6D@ٱ6 R@65$<6cż6H@-?@Uy ÿ`뙿𒄿 @7?I6D@)66`;i6CrB9r#Itit)x zABD~6D~J2Y ! \=:Q)>99FYϰE&9A>!Q 1-5٪%Ѡ?Q 5-5%g %{#9)Y5FQ E5@y%@E)%;I%H;i%X5Y9=~A9]B*** querying acoustic contact ***zhYhYgamDNOT Ignoring new targets: 74.60 m.gm9gu9} ProNav: ac range: 74.600266 m, nav range: 73.588974 m, bearing: 187.709237 deg, approach rate: -0.367865 m/s, LOS rate: 0.027492 deg/s, cmd heading: 188.842586 deg, new cmd heading: 188.861987 deg. g@I:HeadingCmd: 3.296263 target range: 74.600266 and range: 74.80 m.gR@ggggzfrfffBdddcc5?ɢݸ= C?I |;ɡiIA=vB~BBBBBBB;BkQEBiBiBiBiBiBmǺ4y A I I N >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.935295w,%< 3A,y:VE@ٱ:R@:L9<:ż:HP?{~Oÿ@ @9:@) =?I:VE@):`;i:C^B9^#IEMb@Mb@Mb@ A)AIAiAAEi|?5?ˡE~jthE>AEDIE@iE@AA)AEz@BD]6D]f?3Ym=!mE=uoG;Q)u>y9y9}FY}ҰE}:A>Q 15٪?Q 55h }#9>Q A;YFQ E@y@E): E}*5:6E}g4:Ey"E}A% x=bA- AZA- A AU AIa Iq N >d׍,:3Ay6> E@ٱ6S@6!K<6¼6H g?lÿ _@YrO?I6> E@)6R_;i6CZB9Z#I`BDb6Dbk2Yj}O=!jU=nq>;Q)n>rK?9rK?9rFYr԰Er:Ar>tQ 1z5٪vK?Q 5z5v;h v#9|checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437336Y~FQ E @yv@E)vk;Ivl;iv\5YʘBAg9=DNOT Ignoring new targets: 74.60 m.gE 9gE 9U ProNav: ac range: 74.600266 m, nav range: 73.310997 m, bearing: 187.730417 deg, approach rate: -0.365250 m/s, LOS rate: 0.027872 deg/s, cmd heading: 188.884059 deg, new cmd heading: 188.904430 deg. gU L:]HeadingCmd: 3.297004 target range: 74.600266 and range: 74.80 m.g]S@gYgagagazfarfafifiBdididqcqc}l?ɢ)P= O?I \;ɡiIAI?i?=i8=) S@) i)))-E5)DD{D0DE: E5":6E4:E!@!@!@!@>Am{=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689722A A I I N >sǔ, T3Aɰ;y6` E@ٱ6S@6[<66H|8?`+Ã`ÿtٿ@?I6` E@)6_;i6CBB9B#IiJ=IJ=BDN#6DNӀ3YV;!VL=V ;Q)Z>X9X9ZFYZװE^59A^>`Q 1f5٪b}?Q 5f5b^h b#9dYfFQ Ej@yb@E)b;Ib;ib]5YlnAlgDNOT Ignoring new targets: 74.60 m. g9g9% ProNav: ac range: 74.600266 m, nav range: 73.171791 m, bearing: 187.741051 deg, approach rate: -0.349239 m/s, LOS rate: 0.026731 deg/s, cmd heading: 188.904427 deg, new cmd heading: 188.925737 deg. g%C:-HeadingCmd: 3.297376 target range: 74.600266 and range: 74.80 m.g-6S@g)g)g)g)zf1rf1f1f1Bd9d9d9c9c=v?vBQ~BQBU#IBUBBQBQBQBU;BUhQEɢzB=  O?I  ;ɡ i I DI?i?=im=)6S@)i9G4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9412579i>A=BEJ4JEJ4REȃ/DDD/DE: E=:6EJ4:E"E ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193195 ,m3Ay6E@ٱ6S@6$h<6Db6H ?ā GÿlD`$*K ?I6E@)6E6`;i4bB9b#IyMb@Mb@Mb@ )Ii^I +? rh{GzX>C #I@i@-@@)@BD6D!3Y%|;!%5=%V:Q)->- H?9- H?9-FY-ڰE5:A5>9Q 1E5٪=o?Q 5E5=h =#9E:>Q AM;YM"EQ EM@y=@E)=Q:I=:i=_5YUƘBUVAUEgDNOT Ignoring new targets: 74.60 m.g9g9= ProNav: ac range: 74.600266 m, nav range: 73.008492 m, bearing: 187.750516 deg, approach rate: -0.349961 m/s, LOS rate: 0.020328 deg/s, cmd heading: 188.925737 deg, new cmd heading: 188.944708 deg. g=:EHeadingCmd: 3.297707 target range: 74.600266 and range: 74.80 m.gE S@gAgAgAgAzfArfIfIfMBBdQdQdQcQcU+@ɢy= 顥9P?I  <ɡiI|GI?i9?=i=) S@)ԡi9!%E5!@-=@-=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445174>AE x=rAM >jAM > D D D -D E : E |;:6E t4:E ! @! @! @! @A} AI I N >,I3Ay6E@ٱ6Y S@6_+w<6-r6H @?Xÿ@x, 县  ?I6E@)6/`;i6CBB9B#IBDJ#6DJӀ3YRh<!R`=R=;Q)V>VK?9VK?9VFYZܰEZq~:AZ>\Q 1b5٪^d?Q 5b5^h ^#9`YbEQ Ef@y^@E)^;I^;i^da5YhjAAhzB*** querying acoustic contact ***zhxhxg|DNOT Ignoring new targets: 74.60 m.g9g9 ProNav: ac range: 74.600266 m, nav range: 72.876213 m, bearing: 187.758176 deg, approach rate: -0.378753 m/s, LOS rate: 0.021973 deg/s, cmd heading: 188.944711 deg, new cmd heading: 188.960060 deg. g :%HeadingCmd: 3.297975 target range: 74.600266 and range: 74.80 m.g%S@g!g!g!g!zf!rf)f)f)Bd1d1d1c1c5@ԁɢ{B"= GQ?I <ɡiI JI ?i>=i'=)S@)-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697380i/ԱvB H>~B B B B B B B ;B dQE>A{= BDAT read: Rx Time:23:54:20.6708  TRx dataTimestamp_ set to:1758412458.454976 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954030A1 Ia I  N= >e,3AyJPE@ٱJS@J0e}̼}DI}@i}@}Z@y)y}p@I)@ABD6D:3YT!<= ";Q)>99FY߰E:A>Q 15٪W?Q 550i #9>Q A;YCQ E@y@E):I]:iKc5YAgDNOT Ignoring new targets: 74.60 m.g ~9g ~9DDD0DEI: ER:6E4:E"E=i>=)S@)iIIIM/I!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.201364Q>AiA I I N- >ԁ H,軪3A~DAT read: 23:54:20.6708 LVL= 20320, 25745, 22258, 30851, AGC= 66, IDX= 425, 0.39, 2.719, 1.079, 2.949, 2.496, PHS= 0.325,-1.372, 0.409, RAW= 152.4, 7.4, CAL= 151.8, 7.8, ROT= 358.2, -7.8  Ygot valid direction response: 23:54:20.6708 LVL= 20320, 25745, 22258, 30851, AGC= 66, IDX= 425, 0.39, 2.719, 1.079, 2.949, 2.496, PHS= 0.325,-1.372, 0.409, RAW= 152.4, 7.4, CAL= 151.8, 7.8, ROT= 358.2, -7.8 y]$E@ٱS@X<cH`-?5@Ŀ`/`j`d ?I]$E@)@~`;iCB9#IPDAT read: Bearing 345.3, -3.0 (Local) ~Local bearing/azimuth received: Bearing 345.3, -3.0 (Local) DAT read: Range 11 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.3 m/s *DAT read: user:989> BDAT read: Tx time:23:54:21.7686 $Ping request sent.BD-6D-J2Y='!=A=E;Q)E>A9A9EFYMEI)RIRsh>iR;*@R A>R)@R'g >R@ R'g iPPIRjQ 15٪J?Q 55i #9YCQ E@y@E):Ig:i3e5Y B lA E P)PIPiPPPPP PiPPIRj!@vREj؁(.,HTpKB?hRhRYhR爕?hR/_hRB*iRm7Ӟ?2iP:iRBiR)B"iR}Q@ addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.528574 s, deltaX: -1.300003 m, approachRate: -0.368422 m/s, rangeRepo size: 4 = Added new target pos. range: 73.303810 m, bearing: 187.382537 deg, lat: 36.779138 deg, lon: -121.859801 deg, deltaT: 3.528574 s, deltaX: -1.296455 m, approachRate: -0.367416 m/s, posRepo size: 4 gDNOT Ignoring new targets: 73.30 m.gg ProNav: ac range: 73.303810 m, nav range: 72.581024 m, bearing: 187.769183 deg, approach rate: 0.000000 m/s, LOS rate: 0.013929 deg/s, cmd heading: 188.972196 deg, new cmd heading: 188.985219 deg. gHeadingCmd: 3.298414 target range: 73.303810 and range: 73.50 m.g8S@ggggzfrfffBdddc`R@cd?D%D%D%-D!E%O: E%|;:6E%t4:E!!-@!-@!-@!5@yɢ}Bw= nK?I D-<ɡiIOI}?i*?=ie=)8S@)iqqqu3q@}A@}AԩỈG) I) i] Y ] |A>A bA ZA A vB ~B B #IB BB B B B ;B RQEA yAI I N >+,Eت3AyFx.E@ٱF&S@FfS  H?9  H?9 FY E :A>1QQ 1]5٪U>?Q 5]5Ui U#9aYeCQ Ee@yU@E)U :IUF:iUf5YimAgDNOT Ignoring new targets: 73.30 m.g9g9- ProNav: ac range: 73.303810 m, nav range: 72.438232 m, bearing: 187.774772 deg, approach rate: -0.372380 m/s, LOS rate: 0.014604 deg/s, cmd heading: 188.985214 deg, new cmd heading: 188.996414 deg. gU9eHeadingCmd: 3.298610 target range: 73.303810 and range: 73.50 m.gelS@gagagagazfarfiffBdddccq?aɢ~BL= !%I?I) 5YM8<ɡ1iyI}RI}J?i?=ii=)lS@)DDD0DE: EF:6E4:E"E A ~4=I I! N5 >j,{3AXB9#Ii=I=Mb@Mb@Mb@ )Ii +?I +Mb`ȶ>9I@iC@@)@BD 6D:2Y8!1=Q)>99FYEA>Q 15٪P1?Q 55Dj #9 ">Q A ;Y BQ E @y@E) ;I ;ih5YAgAMDNOT Ignoring new targets: 73.30 m.gMQ9gUQ9] ProNav: ac range: 73.303810 m, nav range: 72.276016 m, bearing: 187.779881 deg, approach rate: -0.363177 m/s, LOS rate: 0.011464 deg/s, cmd heading: 188.996416 deg, new cmd heading: 189.006657 deg. geا9mHeadingCmd: 3.298789 target range: 73.303810 and range: 73.50 m.gmZS@gigigigizfirfqfqfqBdqdydycyc}=?ɢ= 顭H?I *B<ɡiITI[?i@=i=)ZS@)i%9!)-/) >AH=bDZDAADDD*DE: ErN:6E(N4:E!@!@!@!@I I N% >9 Ah,J3Ay:0E@ٱ:^)S@:_ޡ<::H *?_M`Ŀ`[Cu;^@D?I:0E@):Wa;i8FB9F#IBDR6DR!3YVV!Za=Z];Q)Z>\9\9^FY^Eb9Ab>dQ 1f5٪fm&?Q 5j5fj f#9hYjBQ Ej@yf@E)f:If:ifj5YrBrwArE~B*** querying acoustic contact ***zh|h|g  DNOT Ignoring new targets: 73.30 m.gN9gN9- ProNav: ac range: 73.303810 m, nav range: 72.146324 m, bearing: 187.783967 deg, approach rate: -0.357678 m/s, LOS rate: 0.011289 deg/s, cmd heading: 189.006661 deg, new cmd heading: 189.014848 deg. g-H95HeadingCmd: 3.298931 target range: 73.303810 and range: 73.50 m.g5!S@g1g1g1g1zf9rf9f9fABdAdAdAcAcM?ɢuBuk= y}G?Iy }LkK<ɡyiyI}!VI>is@=iC=)!S@)i9/IvBq~BqBu#IBuBBqBqBqBu;Bu>QE>A5_ =rAAjAE>}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑIIN>ԡ D D D /D E : E P:6E J4:E "E 6EףAIE@iE@E-@E@)AEz@yBD6D2Y<!:=>G;Q)>99FYES:A>Q 15٪+?Q 55k #9>Q A;YBQ E@y@E):If:ixl5YQAg!%DNOT Ignoring new targets: 73.30 m.g-/9g-/9= ProNav: ac range: 73.303810 m, nav range: 71.988258 m, bearing: 187.788180 deg, approach rate: -0.359444 m/s, LOS rate: 0.009601 deg/s, cmd heading: 189.014844 deg, new cmd heading: 189.023288 deg. g=9EHeadingCmd: 3.299079 target range: 73.303810 and range: 73.50 m.gE$S@gAgAgIgIzfIrfIfQfUsBBdQdQdYcYc] ?ɢB,= 額H?I _V<ɡiIЍYI>iA=ih=)$S@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721426i 9   ԩ>A-H=IIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974463 y,~A3Ay6d9d9fFYfEjf:Aj>lQ 155٪n?Q 5=5n`k n#99Y=}BQ E=@yn@E)nWiA=i=) &S@)DDD*DEy: EVL:6E(N4:E!@!@!@!@i/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225182ԁ>AI9IIN]>ԩAa Aa vBi ~Bi Bm #IBm BBm =Bi Bi Bm ;Bm 9QEB1B1B1B5ʱ =B5ʱ =B5 5 ,)[3AyJEE@ٱJ>S@J99FYE%ݷ:A%>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.478308QQ 1]5٪U]?Q 5]5Uk U#9YY]sBQ Ee@yU@E)U:IU:iUo5YimAig1EDNOT Ignoring new targets: 73.30 m.g}^(9g}^(9 ProNav: ac range: 73.303810 m, nav range: 71.704430 m, bearing: 187.795648 deg, approach rate: -0.351172 m/s, LOS rate: 0.009200 deg/s, cmd heading: 189.030348 deg, new cmd heading: 189.038257 deg. g9HeadingCmd: 3.299340 target range: 73.303810 and range: 73.50 m.gc(S@ggggԱzfrfffBdddcc@ @DDD-DE: E*5:6Et4:E"Ei EC=i =) c(S@) i9/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729236 >A v=bA AZA 1 AAIQIaNm>,)z3A|5B95#I5BDAT read: Rx Time:23:54:24.2691 5TRx dataTimestamp_ set to:1758412461.980311=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982430uMb@Mb@Mb@ q)qIqiqquQ?{GzMb`uµ>qqIu@iqu@u@)qu@BD6DN3Yػ!=Q)>99FYEA>Q 15٪?Q 55Hl #9 >Q A;Y}BQ E@y@E):I:i/r5Y!AgDNOT Ignoring new targets: 73.30 m.gc-9gc-9 ProNav: ac range: 73.303810 m, nav range: 71.520515 m, bearing: 187.800571 deg, approach rate: -0.353008 m/s, LOS rate: 0.009474 deg/s, cmd heading: 189.038258 deg, new cmd heading: 189.048130 deg. g9HeadingCmd: 3.299512 target range: 73.303810 and range: 73.50 m.g6+S@ggggzfrfff%BBd!d!d!c!c-G@ɢuBul= quXH?I Vy<ɡiI8*aI>iOD=iO=)6+S@)i9/DDD0DE E;J:6E4:E!@!@!@!@I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233284q >A =A AI I N >d,E3AyN[E@ٱN|SS@NrK?9rK?9rFYrEvi;Av>xQ 1~5٪z笊?Q 5~5zl z#9|YhBQ E@yz@E)z):Iz:izs5Y B A E-B*** querying acoustic contact ***zh)h)g1=DNOT Ignoring new targets: 73.30 m.g=39gE39vB~BBBBBBB;B+QE ProNav: ac range: 73.303810 m, nav range: 71.390221 m, bearing: 187.803938 deg, approach rate: -0.379721 m/s, LOS rate: 0.009830 deg/s, cmd heading: 189.048134 deg, new cmd heading: 189.054880 deg. g9HeadingCmd: 3.299630 target range: 73.303810 and range: 73.50 m.g$-S@ggggzfrfffBdd d)c)c- @ɢ}B}V= y}KI?Iy J<ɡiIgcI>iF=i5p=)$-S@)iqqy}/checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487514>Av=BEA{4JEȋ|4REL0D- D- D- .D) E- : E- A:6E- ـ4:E) "E-  DAT read: 23:54:24.2691 LVL= 28592, 32753, 25442, 32755, AGC= 67, IDX= 424,-0.14, 2.107, 0.504, 2.324, 1.934, PHS= 0.275,-1.385, 0.345, RAW= 152.1, 9.1, CAL= 151.7, 9.8, ROT= 358.3, -9.8  Ygot valid direction response: 23:54:24.2691 LVL= 28592, 32753, 25442, 32755, AGC= 67, IDX= 424,-0.14, 2.107, 0.504, 2.324, 1.934, PHS= 0.275,-1.385, 0.345, RAW= 152.1, 9.1, CAL= 151.7, 9.8, ROT= 358.3, -9.8  PDAT read: Bearing 347.6, -3.4 (Local)  ~Local bearing/azimuth received: Bearing 347.6, -3.4 (Local)  DAT read: Range 11 to 50 : 72.3 m (Round-trip 96.4 ms) speed 0.3 m/s ,[3A*DAT read: user:990> "BDAT read: Tx time:23:54:25.3685 &$Ping request sent.&)GIף>i)@">Us)@%/>@ %/iI20?H?Gbj2(?x1?! )%/i:publishing transmit ping timeY$Fpublishing direction and range info9D?!/trl?i )Ii iI20?H?Gbj2(? )iyUaE@ٱUYS@U̼DI$@i)p@BDM6DM3Y]!]=e:Q)e>99FYE?:A>Q 15٪:֬?Q 55 m #9ۼ>Q A;Y CQ E@y@E);I;i(v5YAhhk3Ah6Bh6BhQ@ vv~Q@.V(@uD?!/trl?hh%/v&X,Q :#{k$@v8\2`Gɩܧ'k?hhih?hqihԙB*i?2iqi:iԙBiB"iQ@ addTargetRange:: Added new target pos. range: 72.300003 m, deltaT: 3.778791 s, deltaX: -1.199997 m, approachRate: -0.317561 m/s, rangeRepo size: 4  Added new target pos. range: 72.106812 m, bearing: 187.742608 deg, lat: 36.779136 deg, lon: -121.859800 deg, deltaT: 3.778791 s, deltaX: -1.196999 m, approachRate: -0.316768 m/s, posRepo size: 4 gDNOT Ignoring new targets: 72.11 m.gg  ProNav: ac range: 72.106812 m, nav range: 71.356407 m, bearing: 187.742672 deg, approach rate: 0.000000 m/s, LOS rate: 0.009830 deg/s, cmd heading: 189.054882 deg, new cmd heading: 189.065872 deg. g =HeadingCmd: 3.299822 target range: 72.106812 and range: 72.30 m.g=H0S@g9gYgYgYzfarfafifmBBdqdqdyc}@3R@c}`?ɢ~+= G?I <ɡiIfI n>i I=i W=) H0S@)i/@=@ D D D 0D E : E F:6E 4:E ! @! @! @! @>A =rA >jA >1 A!I)I9NM?x,whЫ3Ay6fE@ٱ6<_S@6g,<686H@?屘ĿBWĜ H@?I6fE@)6_;i6CBB9B#IBDf 6Dfk3YnYν!nT=ne ;Q)r>p9p9rFYrEv2\:Av>xQ 1~5٪zrʬ?Q 5~5zxm z#9|Y~CQ E@yz@E)z :Iz:izw5Y B xA Eg1=DNOT Ignoring new targets: 72.11 m.g=n9gEn9U ProNav: ac range: 72.106812 m, nav range: 71.216125 m, bearing: 187.747423 deg, approach rate: -0.384309 m/s, LOS rate: 0.013042 deg/s, cmd heading: 189.065865 deg, new cmd heading: 189.075387 deg. gU9]HeadingCmd: 3.299988 target range: 72.106812 and range: 72.30 m.g]3S@gYgYgYgYzfYrfafafaBdadidicicm a&?ɢB|Q= 顝=?I <ɡiI]hI>iJ=i=)3S@)iIIIM/IvBG>~BB#IBBBBBBИ;BQEA)1 1>Ami=qA yAI I N5 >ԙ D D D /D E : E T:6E J4:E "E ` Ii@C@@) @BD 6D:2Yp=!<=Q)> H?9 H?9FYEA>Q 15٪Q?Q 55m #9r>Q A;YDQ E@y@E):I& ;iy5YAg)-DNOT Ignoring new targets: 72.11 m.g59g59E ProNav: ac range: 72.106812 m, nav range: 71.060097 m, bearing: 187.754665 deg, approach rate: -0.359720 m/s, LOS rate: 0.016733 deg/s, cmd heading: 189.075387 deg, new cmd heading: 189.089903 deg. gE9MHeadingCmd: 3.300241 target range: 72.106812 and range: 72.30 m.gM(7S@gIgIgIgIzfQrfQfYf]BBdYdYdYcace\?ɢF= C?I <ɡiIq_jIm>iu,M=iu?=)u(7S@)yԩi!!!-/)>A = A AI I N >0, 3Ay6w}E@ٱ6uS@6<66H ?}Ŀ@=`U2j?I6w}E@)6T_;i6CBB9B#IHiJBDJ6DJF3YR<!V_=Vy;Q)V>VK?9ZK?9ZFYZEZw;AZ>\Q 1b5٪^9?Q 5f5^n ^#9dYfCQ Ef@y^@E)^y:I^:i^Q{5YhjAlgyDNOT Ignoring new targets: 72.11 m.g9g9 ProNav: ac range: 72.106812 m, nav range: 70.928276 m, bearing: 187.760661 deg, approach rate: -0.345099 m/s, LOS rate: 0.015726 deg/s, cmd heading: 189.089908 deg, new cmd heading: 189.101921 deg. g<9HeadingCmd: 3.300451 target range: 72.106812 and range: 72.30 m.g:S@ggggzfrfffBdddcc 1?ɢ%B%:k= !%E?I! -<ɡ)i)I-lbDqZDu@AD}D}D}+DyE}: E}VL:6E} [4:Ey!@!@!@!@I5>iP=iq=):S@)i)))-/)iIMsG)aIyibcA>A5̓=9bA9ZA9vB ~B B B B B B B Ә;B QEAA II IY Nm > #,E3Ay>ЄE@ٱ>L}S@><>>HǏ?P`Ŀ@U@q :?I>ЄE@)>C_;i>CJB9b#IBDj6Dj:3Yr;!rF=r ;Q)r>t9t9vFYvEz:Az>Q 1 5٪?Q 5 5_n #9 YCQ E@y@E):I:i}5YBAE=B*** querying acoustic contact ***zh9h9gAMDNOT Ignoring new targets: 72.11 m.gM,9gU,9e ProNav: ac range: 72.106812 m, nav range: 70.779686 m, bearing: 187.767392 deg, approach rate: -0.373565 m/s, LOS rate: 0.016958 deg/s, cmd heading: 189.101915 deg, new cmd heading: 189.115405 deg. geF9mHeadingCmd: 3.300687 target range: 72.106812 and range: 72.30 m.gms>S@gigigigizfirfqfqfqBdydydycyc}~?ɢ b= 顭F?I כ<ɡiInIB>i8S=iɨ=)s>S@)ԙiQQQ]>0YDDDDE,: EA:6E:E"EA~=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 > K ,73Ay:E@ٱ::S@:h&<::H?kZĿ`Mß l?I:E@):_;i:CfB9f#IMb@Mb@Mb@ )IibX9?S㥛E>/ݼI@i@@)@BD6D03Yex!e4=m4:Q)>99FYE:A>Q 15٪ח?Q 55n #9˶>Q A;YqCQ E@y@E)'iaW=i9=) BS@))  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239472i/DDD/DE: E H:6EJ4:E!@!@!@!@Q >A i= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491239A1 IA IQ Ne >8,Q3Ay6+E@ٱ6S@6:=6/06H ?S Ŀ`<`|cu6b?I6+E@)6^;i6CB B9F#IIh)jAABDn6Dnf?3Y}!a=%z:Q)%>!9!9%FY% E-s:A->1Q 1=5٪5N?Q 5=55 o 5#9AYEiCQ EE@y5@E)5:I5 :i55YMBMAMEgq}DNOT Ignoring new targets: 72.11 m.g}9g}9 ProNav: ac range: 72.106812 m, nav range: 70.489120 m, bearing: 187.778638 deg, approach rate: -0.367115 m/s, LOS rate: 0.014180 deg/s, cmd heading: 189.128266 deg, new cmd heading: 189.137951 deg. g9HeadingCmd: 3.301080 target range: 72.106812 and range: 72.30 m.gDS@ggggzfrfffBdddcc@ɢm= A?I <ɡiI8sI>iZ=i3ӗ=)DS@)Ai934AA@AvB~BBz#IBBBBBBØ;B QEi-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746644>A=ԡ A IA Ii N >D D D .D E >: E V:6E ـ4:E "E I@i@-@@)f@BD-6D-{U3Y=?<!=I==:Q)E>A9A9EFYE EMI:AM>QQ 1]5٪UU?Q 55UZo U#9г>Q A;YCQ E@yU@E)U= B?I <ɡiIuI9>i7_=i&=)}HS@)i90>A ~= - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247247A I I N] >=J!,i3A|yyE@ٱS@4=-HJ `?wſ`X_`^ޠ@"v?IyE@)N^;iCB9#IBD"6DJz3Y<!>=:Q)>9 9 FY E:A>Q 1%5٪t?Q 5%5o #9!Y%CQ E-@y@E)<;I;iW5Y15A1DDDDE,: E=:6E:E!@!@!@!@gDNOT Ignoring new targets: 72.11 m.g9g9 ProNav: ac range: 72.106812 m, nav range: 70.195610 m, bearing: 187.791518 deg, approach rate: -0.373142 m/s, LOS rate: 0.016349 deg/s, cmd heading: 189.150519 deg, new cmd heading: 189.163768 deg. g^9HeadingCmd: 3.301531 target range: 72.106812 and range: 72.30 m.gGLS@ggggzfrf!f!f)Bd)d)d)c)c5`( @ɢ}B}3= y}WD?I Ȱ<ɡiI+wIn>irc=iMؘ=)GLS@))DAT read: 23:54:27.8673 LVL= 20976, 30257, 21602, 32099, AGC= 65, IDX= 423,-0.33, 1.312,-0.326, 1.558, 1.121, PHS= 0.293,-1.402, 0.393, RAW= 152.8, 8.2, CAL= 152.4, 8.8, ROT= 357.6, -8.8 Ygot valid direction response: 23:54:27.8673 LVL= 20976, 30257, 21602, 32099, AGC= 65, IDX= 423,-0.33, 1.312,-0.326, 1.558, 1.121, PHS= 0.293,-1.402, 0.393, RAW= 152.8, 8.2, CAL= 152.4, 8.8, ROT= 357.6, -8.8 PDAT read: Bearing 346.9, -4.5 (Local) ~Local bearing/azimuth received: Bearing 346.9, -4.5 (Local) DAT read: Range 11 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.3 m/s *DAT read: user:991> BDAT read: Tx time:23:54:28.9685 $Ping request sent.08C ?}Byi}Q}1v}bT}c}}A }>)}tI}L7>i94i}*@}C>};*@}nF>}@ }nFiyyI}? -,?KZ?}c?}W }Q+)}nFiyy%:publishing transmit ping timeY-Fpublishing direction and range info9y}5?w?6>08C ?yyiyyyyy y)yIyiyyyyy yiyyI}? -,?KZ?yy y)yiyyIvB F>~B B B B B B B ;B QEBaBaBaBeɲ =Beɲ =Be3>A y A yAI I) N5 >d',3Ay6uE@ٱ6S@6r =6:6Hc 0?@]ſ ˌ`6`-kc??I6uE@)6a)^;i6CB B9B#IHiJp;BDN6DNF3YV!Ve=V(:Q)V>Z H?9Z H?9ZFYZE^:A^>`Q 1f5٪b!j?Q 5f5bo b#9dYfCQ Ef@yb@E)b3;Ib;ib兊5YnBllhhݐ3AhBhBh7Q@q vGnzQ@Tcq"=qRw%@u5?w?6>08C ?hQ+hnFv_D@nQiX!$.!@v+Y?1e%*Z?hhrhJv?hhaZh$B*i爕?2i/_:iXBi3B"ifQ@ addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.528153 s, deltaX: -1.300003 m, approachRate: -0.368466 m/s, rangeRepo size: 4  Added new target pos. range: 70.810120 m, bearing: 187.301203 deg, lat: 36.779135 deg, lon: -121.859795 deg, deltaT: 3.528153 s, deltaX: -1.296692 m, approachRate: -0.367527 m/s, posRepo size: 4 gDNOT Ignoring new targets: 70.81 m.g g  ProNav: ac range: 70.810120 m, nav range: 70.101357 m, bearing: 187.464966 deg, approach rate: 0.000000 m/s, LOS rate: 0.016349 deg/s, cmd heading: 189.163769 deg, new cmd heading: 189.175696 deg. g%HeadingCmd: 3.301739 target range: 70.810120 and range: 71.00 m.g%OS@g!g!g!g)zfIrfIfIfQBdQdQdQc]Q@c]?ԡɢ=B= A?I <ɡiI>yI>ih=icq=)OS@DDDDE: E H:6E:E"E6A Ԙ=] PExceeded connect timeout, disconnecting.)A]AIqIN>F.,ɽ3Ay>~E@ٱ>S@> =>μ>H`ъ@=?@ 8"ſ`=@}Q ݕ`#?I>~E@)>f^;i>CbB9b#IMMb@Mb@Mb@ I)IIIiIIM rh?y&1~jtx?M>M`M;IM;@iM@MC@M@)IM@BDe6De2YuQ!u!=u/:Q)u>}K?9}K?9}FY}E>:A>Q 15٪[?Q 55Tp #9*>Q A;YCQ E@y@E):IE:i5YʘBNAEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 70.81 m.gBw9gBw9 ProNav: ac range: 70.810120 m, nav range: 69.930252 m, bearing: 187.471530 deg, approach rate: -0.351364 m/s, LOS rate: 0.013511 deg/s, cmd heading: 189.175695 deg, new cmd heading: 189.188853 deg. g9HeadingCmd: 3.301968 target range: 70.810120 and range: 71.00 m.gsSS@ggggzfrfffBBdd d c c @;?ԡɢBOw= :?I 4<ɡiI%|IB>iYm=i֘=)sSS@)i9O5DuDuDu,DqEu: Eu?:6Eug4:Eq!}@!}@!}@!}@>A=] T****** received valid address query ******] R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.A I I) N5 >) Q5,׬3Aɰ "y>/E@ٱ>S@> =>d >H)`J?@ޚW/ſੋ@?I>/E@)>W];i>CJB9J#IiN=IN=BDV6DV 3YZs!ZX=^~:Q)^>`9`9bFYbEb:Af>dQ 1j5٪fQ?Q 5j5fp f#9lYnCQ En@yf@E)f;If;if‰5YpvqAtg DNOT Ignoring new targets: 70.81 m.glm9glm9vB!~B!B%m#IB%߄BB!B!B!B%;B%QEE ProNav: ac range: 70.810120 m, nav range: 69.802635 m, bearing: 187.476403 deg, approach rate: -0.339084 m/s, LOS rate: 0.012973 deg/s, cmd heading: 189.188850 deg, new cmd heading: 189.198615 deg. gM9MHeadingCmd: 3.302139 target range: 70.810120 and range: 71.00 m.gU>VS@gQgQgQgQzfQrfQfYfYBdYdadacace b?ɢ>= 顕8?I }<ɡiI<%~Iw>iq=i =)>VS@)i931checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2485929>AԘ=BEـ4JEـ4REȃA0D D D 2D E : E =:6E 4:E "E ;,\3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500776yBYE@ٱBպS@Bk =BBBH`DT?5`o9ſiYdEĖ ?IBYE@)B];iBCPNB9R#I-Mb@Mb@Mb@ )))I)i))-Zd;O?:v~jth-j>-Լ-DI)i))-@))-\@BDE6DE2YUq!UA=U:Q)U>99FYE;:A>Q 15٪\C?Q 55q #9>Q A;YBQ E@y@E):I:i5Y ŘB ~A Eg1=DNOT Ignoring new targets: 70.81 m.g=/@9g=/@9M ProNav: ac range: 70.810120 m, nav range: 69.639893 m, bearing: 187.481032 deg, approach rate: -0.368339 m/s, LOS rate: 0.010501 deg/s, cmd heading: 189.198617 deg, new cmd heading: 189.207896 deg. gM9]HeadingCmd: 3.302301 target range: 70.810120 and range: 71.00 m.g]XS@gYgYgYgYzfYrfYfafeBBdadidicicm`b?ɢBBؑ= 顝4?I i<ɡiII>i:w=iRK=)XS@)iIIIM/I@U=@U=nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756088>Am=rAqjAu>! A yAI I N >=B,5 3AD&D&D&/D$E&: E&a9:6E&J4:E$!*@!*@!*@!*@yZE@ٱZ>S@ZU=ZlװZHz`T?`d .:ſ 顿 ?IZE@)Zy];iZCfB9f#IBDn6Dnf?3|YK<! O= F\:Q) >  H?9 H?9FYEr8A>Q 1%5٪7?Q 5-5^q #9)Y-BQ E-@y@E) :I:iU5Y15MA9gaeDNOT Ignoring new targets: 70.81 m.gm@9gm@9} ProNav: ac range: 70.810120 m, nav range: 69.501175 m, bearing: 187.484992 deg, approach rate: -0.368465 m/s, LOS rate: 0.010538 deg/s, cmd heading: 189.207892 deg, new cmd heading: 189.215827 deg. g}J9HeadingCmd: 3.302439 target range: 70.810120 and range: 71.00 m.g*[S@ggggzfrfffBdddcch?ɢBJ= g7?I <ɡiI#I>i{=im=)*[S@)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005686i)vB9~B9B=g#IB=ڄBB9B9B9B=;B9q>AA AI I N- >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256438H,%3Ay6PE@ٱ6̶S@6jK?9jK?9jFYjEn3An>pQ 1v5٪rw+?Q 5v5rq r#9tYvBQ Ev@yr@E)rl:Ir:ir5Y~B~'AԡgAMDNOT Ignoring new targets: 70.81 m.g}29g}29 ProNav: ac range: 70.810120 m, nav range: 69.355232 m, bearing: 187.489207 deg, approach rate: -0.337379 m/s, LOS rate: 0.009765 deg/s, cmd heading: 189.215829 deg, new cmd heading: 189.224277 deg. g9-HeadingCmd: 3.302587 target range: 70.810120 and range: 71.00 m.g-]S@g1g1g1g1zf1rf1f9f9Bd9d9d9cAcEB`@DUDUDU0DQEU: EU3:6EU4:EQ"EU i1=iR=)]S@)iIIIQQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508560>Ai ! Iq I N >O,p>3Ay6lE@ٱ6S@6x=6 6H@Y? H`E?ſ`_rkV?I6lE@)6];i6CBB9B#I Mb@Mb@Mb@ ) I i   ʡE? > ̼ I i @  @)  !i%4<BD-#6D-Ӏ3Y5 \!5D==P:Q)=>A9A9EFYE!EE:AM>IQ 1U5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760422٪Mj?Q 55Mr M$9>Q A;Y CQ E@yM@E)McA%B*** querying acoustic contact ***zh!h!g1UDNOT Ignoring new targets: 70.81 m.g]F9g]F9m ProNav: ac range: 70.810120 m, nav range: 69.211685 m, bearing: 187.493561 deg, approach rate: -0.356985 m/s, LOS rate: 0.010850 deg/s, cmd heading: 189.224271 deg, new cmd heading: 189.232997 deg. gmڞ9HeadingCmd: 3.302739 target range: 70.810120 and range: 71.00 m.g`S@ggggzfrfffBBdddccr@ɢs= 5?I <ɡiIBI%>i%΅=i%}=)%`S@))i/@@!DeDeDe/DaEe: Eea9:6EeJ4:Ea!m@!m@!m@!m@IG)IiE@AEEAQ>AbAZA] BDAT read: Rx Time:23:54:31.4658 e TRx dataTimestamp_ set to:1758412469.289729e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015056ԁ I I N > U,X3Ay6E@ٱ6S@6@=66Hh Re?@jiIſɊ6%`; ?I6E@)6];i6CVB9V#IvB`~B`BbZ#IBbτBBb =B`B`Bb;BbPEBDn6DnF3Yv\!vO=z:Q)z>x9x9~FY~#E=O:A=>AQ 1M5٪E?Q 5M5Eor E$9IYUCQ EU@yE@E)Eb:IEq ;iE5YlAgDNOT Ignoring new targets: 70.81 m.g%.A9g%.A9Ye ProNav: ac range: 70.810120 m, nav range: 69.073433 m, bearing: 187.497734 deg, approach rate: -0.348955 m/s, LOS rate: 0.010556 deg/s, cmd heading: 189.233000 deg, new cmd heading: 189.241364 deg. gm9mHeadingCmd: 3.302885 target range: 70.810120 and range: 71.00 m.guwbS@gqgggzfrfffBdddcc@ @ɢBO= d2?I x<ɡiIFI%>>i%͊=i%S@=)%wbS@))checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264584iԁԱ>A1 D D D *D E  E A:6E (N4:E IQ "E `  DAT read: 23:54:31.4658 LVL= 20112, 27505, 20114, 32755, AGC= 65, IDX= 422, 0.05,-0.837,-2.446,-0.580,-0.998, PHS= 0.263,-1.403, 0.373, RAW= 153.2, 8.9, CAL= 152.8, 9.6, ROT= 357.2, -9.6  Ygot valid direction response: 23:54:31.4658 LVL= 20112, 27505, 20114, 32755, AGC= 65, IDX= 422, 0.05,-0.837,-2.446,-0.580,-0.998, PHS= 0.263,-1.403, 0.373, RAW= 153.2, 8.9, CAL= 152.8, 9.6, ROT= 357.2, -9.6  PDAT read: Bearing 347.8, -5.3 (Local)  ~Local bearing/azimuth received: Bearing 347.8, -5.3 (Local)  DAT read: Range 11 to 50 : 69.8 m (Round-trip 93.1 ms) speed 0.2 m/s  *DAT read: user:992>  BDAT read: Tx time:23:54:32.5685  $Ping request sent. ) I >i D +@ > *@ +> @ +i I 9o@u?aaK?x}? 2? 3 *H) +i 6:publishing transmit ping timeYi:Fpublishing direction and range info9 1c?c#8_X? i ) I i i I 9o@u?aaK?x}? ) i yFTE@ٱFS@F_F=FFH y? z\ſĉǢwf?IFTE@)F`];iDZB9Z#Ii}=I}=1Mb@Mb@Mb@ )IiK7A`?~jty&1|?>ļ`;Iip@)@BD6D\3Y!)=:Q)>9i9mFYm&Eul:Au>yQ 15٪}?Q 55}r }$9|>Q A;YBQ E@y}@E)} ;I};i}͔5YBwAEh h Tr3Ah 9Bh 9Bh P@ v ͚֒#Q@#Wn 7'@u 1c?c#8_X?h *Hh +v $I[%Q ۵dQ"@v %n{+g?" `?h uh h z?h HQh @B*i /?2i haZ:i @Bi B"i EQ@ addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.528177 s, deltaX: -1.199997 m, approachRate: -0.340118 m/s, rangeRepo size: 4 M Added new target pos. range: 69.613174 m, bearing: 187.046970 deg, lat: 36.779135 deg, lon: -121.859793 deg, deltaT: 3.528177 s, deltaX: -1.196945 m, approachRate: -0.339253 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 69.61 m.gUgQa ProNav: ac range: 69.613174 m, nav range: 68.964996 m, bearing: 187.350207 deg, approach rate: 0.000000 m/s, LOS rate: 0.010556 deg/s, cmd heading: 189.241360 deg, new cmd heading: 189.252380 deg. gHeadingCmd: 3.303077 target range: 69.613174 and range: 69.80 m.geS@ggggzfrfffBBdddc@3sQ@c@?ɢ= ^/?I G<ɡiI`I>i=i=)eS@)9i/ԑԹ >A =bD ZD D D D 2D E y: E |;:6E 4:E ! @! @! @! @I! I1 N= >+.c,V3AyRvE@ٱRS@R<=Rx]RH4~?`@`ſd`p旿?IRvE@)Rv];iPbB9b#IId)dBDj 6Djk3Yr#)<!rt=r:Q)v?t9t9vFYv)Ez9Az ?|Q 15٪~?Q 55~ s ~ $9Y BQ E @y~@E)~:I~g:i~25YiAg9EDNOT Ignoring new targets: 69.61 m.gE:9gE:9U ProNav: ac range: 69.613174 m, nav range: 68.858093 m, bearing: 187.353018 deg, approach rate: -0.387518 m/s, LOS rate: 0.010204 deg/s, cmd heading: 189.252384 deg, new cmd heading: 189.258014 deg. g]e9]HeadingCmd: 3.303175 target range: 69.613174 and range: 69.80 m.ge:gS@gagagagazfarfafifiBdidqdqcqcu ?ɢB9= *顥%0?I 18<ɡiI;I|>i =i):gS@)Թi)))-0)vBq~BqBuT#IBuʄBBu =BqBqBu;BuPE>A=IyIN> ) Ti,! 3Ay6E@ٱ6 S@6,=6n6H}? 4٠`jſ ,[$@ ?I6E@)6];i6CRքB9Rc#IBDZ!6DZr3Yb!bM=f:Q)f>d9d9fFYj+EjO:Aj>lQ 1r5٪n?Q 5r5nws n $9tYvBQ Ez@yn@E)n];In;in5Y6A!gDDDDEg: Ea9:6E:E"E;!E;!*E&;!E&;! DNOT Ignoring new targets: 69.61 m.g5 9g5 9E ProNav: ac range: 69.613174 m, nav range: 68.724586 m, bearing: 187.356505 deg, approach rate: -0.295575 m/s, LOS rate: 0.007735 deg/s, cmd heading: 189.258012 deg, new cmd heading: 189.265000 deg. gE}b9MHeadingCmd: 3.303298 target range: 69.613174 and range: 69.80 m.gM:iS@gigigigizfqrfqfqfqBdydydycyc}?ɢk= 页+#?I <ɡiI/5I{>iy=iZ=):iS@)i/Ai >A X=A1 I9 IQ N] >?p, 3Ai@yJpE@ٱJS@J=JJH? dˠ@|bſE^ ?IJpE@)JiR];iHVB9Vq#I)X ZA=Mb@Mb@Mb@ 9)9I9i99= +?S㥛=ȶ>=/ݼ=I=Q@i=-@9=;@)9=@BDU 6DU2YeT=!e@=eВQ)m>i9i9uFYu.EuAu>yQ 15٪}嫊?Q 55}s }$9N>Q A;Y$CQ E@y}@E)}:I}:i}̙5YBAEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 69.61 m.g`9g`9 ProNav: ac range: 69.613174 m, nav range: 68.572472 m, bearing: 187.361074 deg, approach rate: -0.407745 m/s, LOS rate: 0.012275 deg/s, cmd heading: 189.265006 deg, new cmd heading: 189.274165 deg. g9HeadingCmd: 3.303457 target range: 69.613174 and range: 69.80 m.gkS@ggggzfrffifmBBdidqdqcqcu@?ɢh؛= (?I +<ɡiIa)Iܳ>iT=iW=)kS@)ai90@@@@DDD-DEغ: E3:6Et4:E!@!@!@!@ԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Au yAI I N >dv,ڭ3AA<AvBG>~BBH#IBBBBBB;BPEBQBQBQBQBQBUi24Py ,E@ٱ S@ 9= ż H ?seſ@س ?I ,E@) ];i CEބB9Em#IIiMBDU6DUN2Ye!eK=mQ)m>m H?9m H?9mFYu0Eu9Au>yQ 15٪}ث?Q 55}/t }$9Y#CQ E@y}@E)}:I}B:i}5YAg9=DNOT Ignoring new targets: 69.61 m.gE=9gE=9U ProNav: ac range: 69.613174 m, nav range: 68.428467 m, bearing: 187.365405 deg, approach rate: -0.344343 m/s, LOS rate: 0.010379 deg/s, cmd heading: 189.274159 deg, new cmd heading: 189.282840 deg. gU9uHeadingCmd: 3.303609 target range: 69.613174 and range: 69.80 m.gTnS@ggggzfrfffBdddccќ?ɢuBu= qu&?Iq }<ɡyiyI}*Ia>i=iՑ=)TnS@)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7523369]D D }D D E %: E k&:6E :E "E ;!= E ;!E *E ŀ;!e E ŀ;!e i 9 / i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003980A AI I N >|,y3Ay6bE@ٱ6S@6Q=6k`ȼ6HR?`)ᠿrſ[@E%`A`@?I6bE@)6_g];i6CBB9Br#I9mMb@Mb@Mb@ i)iIiiiim%C?:v~jt?mZ>mԼmDK?9K?9FY3Er:A>Q 15٪ͫ?Q 55~t 9>Q A$;YcCQ E@y@E) ;I ;iY5YBAEgDNOT Ignoring new targets: 69.61 m.gM9gM9 ProNav: ac range: 69.613174 m, nav range: 68.296356 m, bearing: 187.369832 deg, approach rate: -0.334916 m/s, LOS rate: 0.011244 deg/s, cmd heading: 189.282847 deg, new cmd heading: 189.291717 deg. g 9 HeadingCmd: 3.303764 target range: 69.613174 and range: 69.80 m.g pS@ggggzfrfffBBdd!d!c!c%`v@ɢIU = QU(?IQ ]k<ɡYiYI]!Ieخ>ie=ie=)epS@)i95ii1A1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256587IIIԑN~> D D D .D E  E *5:6E ـ4:E ! @! @! @! @fw,3Ay6?E@ٱ6S@61=66H`i?`oſaYD 7@?I6?E@)6f>];i6C@9Bs#IiF=IF=BDJ6DJ\3YR<;!R[=V@8Q)V>T9X9ZFYZ5EZBAZ>\Q 1b5٪^ë?Q 5b5^t \9dYfeCQ Ef@y^@E)^-:I^$:i^5YhjAhg|DNOT Ignoring new targets: 69.61 m.gG9gG9 ProNav: ac range: 69.613174 m, nav range: 68.176071 m, bearing: 187.373887 deg, approach rate: -0.322137 m/s, LOS rate: 0.010880 deg/s, cmd heading: 189.291712 deg, new cmd heading: 189.299838 deg. gJ9%HeadingCmd: 3.303905 target range: 69.613174 and range: 69.80 m.g%0sS@g!g!g!g!zf!rf!f)f)Bd)d)d1c1c5@ԙɢȅ= ()?I H<ɡiII>i|=iU=)0sS@)1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508231vB5H>~B1B5;#IB5BB5 =B1B1B5;B5PE9zi/M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760125Ae yAIi Iy N >9 [,sd(3Ay:E@ٱ:SS@:=::H@:@? @rſ`@ Z@`?I:E@):<];i8bՄB9ba#IIt)v@ABDz6Dz4d3Yb!D= 9Q) >  H?9  H?9 FY8E+u9A>Q 1%5٪y?Q 5%5u 9)Y-cCQ E-@y@E):It:i̠5Y15A1gDNOT Ignoring new targets: 69.61 m.g@9g@9BEUJ4JEU[4REU#e0DDD/DEI: E0:6EJ4:E"Ei=i)uS@)) iIABDAT read: Rx Time:23:54:35.0640 TRx dataTimestamp_ set to:1758412472.816390checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013356yi ԙ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264003>A =bAAZAAA]AIaIyN ?F,K3AׄB9d#IqDDyD.DEg: E:6Eـ4:E!@!@!@!@Mb@Mb@Mb@ )IitV?y&1Mb`?>`;I$@i@)@BD6D1Y<!=Q)>K?9K?9FYQ 15٪?Q 55uQ 9tI $9C>Q A ;Y eCQ E@y@E)C  ProNav: ac range: 69.613174 m, nav range: 67.842873 m, bearing: 187.385183 deg, approach rate: -0.334243 m/s, LOS rate: 0.011395 deg/s, cmd heading: 189.308911 deg, new cmd heading: 189.322494 deg. gԦ9%HeadingCmd: 3.304301 target range: 69.613174 and range: 69.80 m.g%yS@g!g)g)g)zf)rf)f1f5qBBd1d1dYcYc]lr @BDAT read: Tx time:23:54:36.1685 $Ping request sent.֌RV?BiTH@ >)뱿IX>i*@| >X*@-\->i@ -\-iI).ۚ?-!?6Ї??T Ѹ2)-\-i:publishing transmit ping timeYFpublishing direction and range info9x2?>֌RV?i )IiɢAx= "?I =ɡiI[I >i%=i^*=)yS@) iI).ۚ?-!?6Ї? )iAAvB ~B B .#IB BB  =B B B ;B PEi/ >A 9g=!AIIN%>2,j3AyBE@ٱBS@BF=B{ʼBH@,?sſ` `S@?IBE@)BW];iBCbńB9bN#IBDj!6Djr3Yrc!r0=r,;Q)r>t9t9vFYv?Ez^;Az>|Q 15٪~#?Q 55~u ~!$9 YKCQ E@y~@E)~ ;I~ť;i~O5Y9E^AI1D=D=xD=1D9E=: E=:6E=-4:E9"E=;!}E=;!hh T3AhBhBhpQ@ v.P@%CƗh|'@ux2?>֌RV?hѸ2h-\-v-P-K!.!@v}6sUnCiEI?hr hLhr?hWu^hB*ir?2iWu^:iBiuB"ipQ@*E=Wo;!eE=Wo;!eu addTargetRange:: Added new target pos. range: 68.500000 m, deltaT: 3.529279 s, deltaX: -1.300003 m, approachRate: -0.368348 m/s, rangeRepo size: 4  Added new target pos. range: 68.317169 m, bearing: 187.500013 deg, lat: 36.779134 deg, lon: -121.859795 deg, deltaT: 3.529279 s, deltaX: -1.296005 m, approachRate: -0.367215 m/s, posRepo size: 4 gDNOT Ignoring new targets: 68.32 m.gg ProNav: ac range: 68.317169 m, nav range: 67.728951 m, bearing: 187.500072 deg, approach rate: 0.000000 m/s, LOS rate: 0.011395 deg/s, cmd heading: 189.322489 deg, new cmd heading: 189.333751 deg. gHeadingCmd: 3.304497 target range: 68.317169 and range: 68.50 m.g|S@ggggzfrfffBdddc Q@c?ɢamz= im?Ii mM=ɡqiqIu`NIuԢ>i}hÐ=i}ɜ=)|S@)Yi111=/9ԩ>A =Թ AM yAIQ Ii N} >8.,3Ay6;F@ٱ6S@68"=6TѼ6H{}?Vˡ.ſ̄W@Q`$?I6;F@)6&g];i6CBB9BB#I Mb@Mb@Mb@ ) I i    ףp= ?MbP Q> ̼ I h@i C@ p@ Q@)  @p H?9 H?9FYAEt:A>Q 15٪ ?Q 55Yv ($9ø>Q A;YBQ E@y@E)e ;I ;i35YBAgDNOT Ignoring new targets: 68.32 m.gF9gF9 ProNav: ac range: 68.317169 m, nav range: 67.572914 m, bearing: 187.503986 deg, approach rate: -0.432015 m/s, LOS rate: 0.010860 deg/s, cmd heading: 189.333745 deg, new cmd heading: 189.341590 deg. g9HeadingCmd: 3.304634 target range: 68.317169 and range: 68.50 m.g S@ggggzfrf!f!f%~BBd)d)d)c)c-z?ɢY]= Ya]6?Ia ma=ɡiiiIm,!Iu>iuȐ=iu =)u S@)yi999=.09@Ea=@E=4>iDDuD/DEC: E:6EJ4:E!@!@!@!@IEG)YIqԑi"A?A>AD=ԹA5 AI9 II N] >vB ~B B "#IB BB B B B ;B PE O,"3Aɰ"4<";y> F@ٱ>mT@>LK'=>`ʼ>Hു?q3ſ`6礿 F?I> F@)>i];i>CZB9ZF#Ii\I^=BDb6Db03Yjt<!jY=nG;Q)n>rK?9rK?9rFYrDErVH:Ar>tQ 1z5٪v?Q 5z5vv v-$9|Y~BQ E~@yv@E)v;IvP;ivب5YqA g)5DNOT Ignoring new targets: 68.32 m.g5$9g5$9M ProNav: ac range: 68.317169 m, nav range: 67.437317 m, bearing: 187.507368 deg, approach rate: -0.360513 m/s, LOS rate: 0.009011 deg/s, cmd heading: 189.341586 deg, new cmd heading: 189.348365 deg. gM9MHeadingCmd: 3.304752 target range: 68.317169 and range: 68.50 m.gUS@gQgQgQgQzfQrfQfYfYBdYdadacacedA?ɢ0/= 顕?I ?1=ɡiI[I>i,ϐ=iʝ=)S@)i111541>Amȝ=DDD+DEƱ: E H:6E [4:E"EF;!=EG;!E*E;!UE;!]) A I I N >Q |,ގ3AB9>#I=Mb@Mb@Mb@ 9)9I9i99=Q?~jtMbP=µ>=ļ9I=~@i=-@=@9)9=@BDU 6DU:2Yeټ!e3=eQ)m>i9i9mFYuFEuAu>yQ 15٪}t?Q 55}&w }4$9,>Q A;YqBQ E@y}@E)}j:I}f:i}ժ5YAgDNOT Ignoring new targets: 68.32 m.g9g9 ProNav: ac range: 68.317169 m, nav range: 67.275452 m, bearing: 187.511172 deg, approach rate: -0.354084 m/s, LOS rate: 0.008340 deg/s, cmd heading: 189.348362 deg, new cmd heading: 189.355987 deg. g8t9)mHeadingCmd: 3.304885 target range: 68.317169 and range: 68.50 m.gm>S@gigigigizfirfqfqfuBBdqdydycyc}?ɢ= ?I Us=ɡiId搼Iw>iא=i=)>S@)i0@@@@Yԁ D D }D .D E C: E k&:6E ـ4:E ! @! @! @! @A I I N >a,=`Ү3A0y6TF@ٱ6 T@6D+=6Ƽ6H ?yſǟMp͘h?I6TF@)6Bl];i6Cr„B9rJ#IIt)vAABDz6DzP)3YT=!d= ?>;Q) > 9 9FYIE.:A>Q 1%5٪ki?Q 5%5w :$9)Y-hBQ E-@y@E):I:if5Y5B57A5EUB*** querying acoustic contact ***zhQhQgaeDNOT Ignoring new targets: 68.32 m.gmx9gmx9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 68.317169 m, nav range: 67.147987 m, bearing: 187.514124 deg, approach rate: -0.356646 m/s, LOS rate: 0.008277 deg/s, cmd heading: 189.355984 deg, new cmd heading: 189.361901 deg. g[r9HeadingCmd: 3.304989 target range: 68.317169 and range: 68.50 m.gS@ggggzfrfffBdddcc+@ɢBġ= ?I ` =ɡiIXIƚ>iܐ=iq]=)S@)ԉi 5A<A<vB~BB#IBBB =BBB;BPEAIINF>Թ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216303 , C3Ai@y6zF@ٱ6 T@6?.=6T*Ǽ6H@/@x?hſ@Tܥ ޘ?I6zF@)6=];i6CNB9N9#IpBDV6DVf?3Y~!~K=~*;Q)~>99FYKE 9A >Q 15٪k]?Q 55w @$9YfBQ E@y@E)f;I;i)5Y-B-A)DDyD+DE: E:6E [4:E"Ew;!EEx;!M*Er;!UEr;!]gDNOT Ignoring new targets: 68.32 m.gb8gb8 ProNav: ac range: 68.317169 m, nav range: 67.004898 m, bearing: 187.517436 deg, approach rate: -0.298435 m/s, LOS rate: 0.006923 deg/s, cmd heading: 189.361899 deg, new cmd heading: 189.368538 deg. gJ9HeadingCmd: 3.305104 target range: 68.317169 and range: 68.50 m.gՆS@ggggzfrfffBdddcc@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468406ɢ= I?I k =ɡiI~Iߘ>i\=iHQ=)ՆS@)!))i29A! I1 IA NM >a = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720268s,3Ay6F@ٱ6T@6x2=6Ǽ6H`\?ԣkſ d 5M?I6F@)65];i6CBB9B8#I Mb@Mb@Mb@ ) I i    ףp= ? t I @i C@ Z@a @)  @BD}36D}3Y&Ż!>=k;Q)>99FYNE@9A>Q 15٪uP?Q 55bx G$9>Q A;YBAQ E@y@E) :I@:i 5Y Ag!%DNOT Ignoring new targets: 68.32 m.g-P8g-P8= ProNav: ac range: 68.317169 m, nav range: 66.849937 m, bearing: 187.518672 deg, approach rate: -0.438628 m/s, LOS rate: 0.003506 deg/s, cmd heading: 189.368538 deg, new cmd heading: 189.371015 deg. g=M8EHeadingCmd: 3.305148 target range: 68.317169 and range: 68.50 m.gES@gAgAgIgIzfIrfIfIfUkBBdQdQdYcYc]@ɢB= 額?I j =ɡiIaIu,>iu=iuR=)uS@)yԉi}4D5D5qD5.D1E5U: E5$ :6E5ـ4:E1!E@!E@!E@!E@A1I9IQN]v>BDAT read: Rx Time:23:54:38.6625 TRx dataTimestamp_ set to:1758412476.344619checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973832ԱvB ~B B #IB BB B B B B BqBqBqBuʰ =Buʰ =Buʼ65 M,Y3Ay6F@ٱ6;T@6s36=6Ƽ6H~@?mKRſ@܂#@ĦҘ|?I6F@)6^;i6C^B9^5#Idif;BDf6Df{U3Yn@=!nZ=rp;Q)r>p9p9vFYvPEv:Av>xQ 1U5٪z1E?Q 5U5zx zM$9QY]i =i x?=) "S@) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225302i/>A9DeDexDe,DaEe%: Ee:6Eeg4:Ea"Ee;!Ee;!*EeWo;!EeWo;!rA>jA> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476288A I I N >A },93Aɰln4-ף-;I-h@i)-p@-Q@))-@BDE6DE!3YU),<!]5=]:Q)]>a9a9eFYeSEebAe>iQ 1u5٪m7?Q 5}5mLy mS$9}>Q A};Y}AQ E}@ym@E)m:Im:im5YAgDNOT Ignoring new targets: 68.32 m.g8g8 ProNav: ac range: 68.317169 m, nav range: 66.555916 m, bearing: 187.521905 deg, approach rate: -0.361159 m/s, LOS rate: 0.004993 deg/s, cmd heading: 189.373087 deg, new cmd heading: 189.377493 deg. g29HeadingCmd: 3.305261 target range: 68.317169 and range: 68.50 m.geS@ggggzfrfffvBBdddccr @ɢB@= ?I =ɡiI0IP>i,=iP=)eS@)A5DAT read: 23:54:38.6625 LVL= 19632, 30065, 20610, 28531, AGC= 65, IDX= 420, 0.14, 2.058, 0.459, 2.366, 1.928, PHS= 0.233,-1.423, 0.394, RAW= 154.6, 9.2, CAL= 154.3, 9.8, ROT= 355.7, -9.8 =Ygot valid direction response: 23:54:38.6625 LVL= 19632, 30065, 20610, 28531, AGC= 65, IDX= 420, 0.14, 2.058, 0.459, 2.366, 1.928, PHS= 0.233,-1.423, 0.394, RAW= 154.6, 9.2, CAL= 154.3, 9.8, ROT= 355.7, -9.8 EPDAT read: Bearing 347.6, -7.1 (Local) M~Local bearing/azimuth received: Bearing 347.6, -7.1 (Local) UDAT read: Range 11 to 50 : 67.3 m (Round-trip 89.8 ms) speed 0.3 m/s iyyyyy*DAT read: user:994> BDAT read: Tx time:23:54:39.7685 $Ping request sent.)$I^>i,@l$>Z,@%/>@ %/iI6f?_<&?vhri?o?$ ))%/i:publishing transmit ping timeYFpublishing direction and range info9ŏ%q?["1겿rl?i )Ii iI6f?_<&?vhri? )ii>A =DM DM {DM 0DI EM : EM 5":6EM 4:EI !U @!U @!U @!U @ԙ A I I N >[,EU3Ay6F@ٱ6 T@6Di==66H52?@Uſ@M0 . $?I6F@)6h^;i6CBB9B4#IBDN!6DNr3YVs!VZ=Z;Q)Z>X9\9^FY^VE^A^>`Q 1f5٪b,?Q 5f5by bY$9hYjAQ Ej@yb@E)b;Ib;ibI5YnBnArEhqhugF3Ahu=Bhu=BhuJO@ vu{A~}P@'W`p'"Z&@uuŏ%q?["1겿rl?hu)hu%/vu8%PkW @vu$1,KR‘xje(?huhu}huy^?hu5*huB*iuz?2iuhaZ:iqiuB"iuTQ@- addTargetRange:: Added new target pos. range: 67.300003 m, deltaT: 3.779092 s, deltaX: -1.199997 m, approachRate: -0.317536 m/s, rangeRepo size: 4 ԩ Added new target pos. range: 67.120346 m, bearing: 185.778662 deg, lat: 36.779134 deg, lon: -121.859793 deg, deltaT: 3.779092 s, deltaX: -1.196823 m, approachRate: -0.316696 m/s, posRepo size: 4 gDNOT Ignoring new targets: 67.12 m.gg ProNav: ac range: 67.120346 m, nav range: 66.463547 m, bearing: 187.402241 deg, approach rate: 0.000000 m/s, LOS rate: 0.004993 deg/s, cmd heading: 189.377500 deg, new cmd heading: 189.381276 deg. gHeadingCmd: 3.305327 target range: 67.120346 and range: 67.30 m.gyS@ggggzf rfIfIfQBdQdQdQcU@3P@c] ?ɢ-B5= 1=?I9 ==ɡAiAIEǕIu=>iu=iu=)uyS@)yvB~BB"IB~BBBBB;B QEiYYYYY >Ay 1 A yAI I N >7, o3AytF@ٱT@=A=ɦH!?٥ſ @m%策?ItF@)_;iCBEـ4JE|4RE(0D]DYD],DYE]: EY6E]g4:EY"E]w;!E]x;!*E]Bz;!E]Cz;!AB9U#II)@ABD6D 83Y!+=:Q)> H?9 H?9FYYEAA>!Q 1-5٪%?Q 5-5%4z %`$91Y5AQ E5@y%@E)% ;I% ;i%b5YQU!AQB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 67.12 m.g8g8T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 67.120346 m, nav range: 66.294365 m, bearing: 187.404365 deg, approach rate: -0.349747 m/s, LOS rate: 0.004402 deg/s, cmd heading: 189.381270 deg, new cmd heading: 189.385528 deg. g9HeadingCmd: 3.305401 target range: 67.120346 and range: 67.30 m.gS@ggggzfrff f Bd ddcc@p?ɢ]Beߍ= aer>Ia =ɡiInI>i=iM=)S@)aiIIIII@ea=@e=ԉ>A ȝ=bA AZA e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983246 A AI I N >VS,3Ay6 F@ٱ6T@6"E=6 6H+`J? cſ2⡨` `?I6 F@)6%:_;i6CBB9B#IEMb@Mb@Mb@ A)AIAiAAEv/?EtE94uK?9uK?9uFYu[E}@mA}>Q 15٪?Q 55z a$9Щ>Q A ;YAQ E@yAE) ;I ;i5Yb AgDNOT Ignoring new targets: 67.12 m.g7|8g7|8 ProNav: ac range: 67.120346 m, nav range: 66.173729 m, bearing: 187.405597 deg, approach rate: -0.336533 m/s, LOS rate: 0.003445 deg/s, cmd heading: 189.385532 deg, new cmd heading: 189.388002 deg. g8HeadingCmd: 3.305444 target range: 67.120346 and range: 67.30 m.gfS@ggggzfrfffqBBdddcc @?)ɢ=B=Bu= 9= ?I9 Ea0=ɡAiAIE<IMO>iM =iMǨ=)MfS@)QDDtDDE: Ev:6E:E!@!@!@!@iY]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235061>A)ԉvB1 ~B1 B5 "IB5 tBB1 B1 B1 B5 ՘;B5 #QEAq I I N >Ա |, 3Ay6F@ٱ6 T@6I=6_6HR~@?@>⦿3ſ@o0` ꕿ??I6F@)6G_;i6C@9@BDN6DN2YR͓:!RX=V';Q)V>T9X9ZFYZ]EZg:A^>\Q 1b5٪^ ?Q 5f5^z ^c$9dYfAQ Ef@y^AE)^:I^:i^5YjBnA Alg|DNOT Ignoring new targets: 67.12 m.gs8g s8 ProNav: ac range: 67.120346 m, nav range: 66.048080 m, bearing: 187.406850 deg, approach rate: -0.333422 m/s, LOS rate: 0.003331 deg/s, cmd heading: 189.388004 deg, new cmd heading: 189.390515 deg. g 8%HeadingCmd: 3.305488 target range: 67.120346 and range: 67.30 m.g%S@g!g!g!g!zf!rf)f)f)Bd)d1d1c1c=?ɢeBeY= aej ?Ia m=ɡiiiIm5ŗIu>iu=iu X=)uS@)y)߱ ߱checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487341ԉi)))-/)ԹD D D .D E  E 6E ـ4:E "E U;!=E V;!E*E `;!ME `;!e>A]=m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739011A I I N > ,b3Ay:F@ٱ:\T@:_L=:7:H@}?bZ@ſ{.~`?I:F@):E_;i:C^B9b*#IEMb@Mb@Mb@ A)AIAiAAE+?~jtMb`?Ev>EļE;IE@iE@Ep@E@)AEp@4!9!9%FY%`E-E88A->1Q 1=5٪5?Q 5=55o{ 5k$9=ܾ>Q A=;YE6BQ EE@y5AE)5 ;I5 ;i55YIMAIgquDNOT Ignoring new targets: 67.12 m.g}Z9g}Z9 ProNav: ac range: 67.120346 m, nav range: 65.880409 m, bearing: 187.410099 deg, approach rate: -0.372315 m/s, LOS rate: 0.007232 deg/s, cmd heading: 189.390518 deg, new cmd heading: 189.397032 deg. gS9HeadingCmd: 3.305602 target range: 67.120346 and range: 67.30 m.gS@ggggzfrfffBBdddcc!?ɢB.= {?I \=ɡiII>i=i=)S@)1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992289iAAAE/AYI)Ii 뢿  Aԉ >A D% D% }D% ,D! E% s: E% k&:6E% g4:E! !5 @!5 @!5 @!5 @A I I N% >,;ׯ3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.242885ɰ;;0yNF@ٱNT@N!P=N*赼NH|?`Dſ߃N@@]?INF@)N^;iNC}B9}#IBD#6DӀ3YB6!D=j;Q)>99FYcEC:A>Q 15٪?Q 55{ r$9Y/BQ E@yAE)6:I:ip5vB~BCB"IBoBB =BBB;B7QEYB& AEgY]DNOT Ignoring new targets: 67.12 m.ge8ge8ԑ ProNav: ac range: 67.120346 m, nav range: 65.723351 m, bearing: 187.413100 deg, approach rate: -0.362246 m/s, LOS rate: 0.006938 deg/s, cmd heading: 189.397034 deg, new cmd heading: 189.403050 deg. g&K9HeadingCmd: 3.305707 target range: 67.120346 and range: 67.30 m.gS@ggggzfrfffBdd dIcIcM.:@ɢBpq= 9 ?I @=ɡiI92I>i!=it=)S@)Թi=999=/9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495743 >A] ܝ=D- D- D- +D) E- C: E- a9:6E- [4:E) "E- 2;!U E- 4;!] *E- &;!e E- &;!e ԁ A yAI IIN>,"3Avchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746979y F@ٱ T@ S= 2 H`H|y? ſ C@$lvL?I F@) r^;i C%B9%!#IMb@Mb@Mb@ )IiCl?~jt{Gzt?d>ף;I@i@@~@)BD6DN3Yh;!3=:Q)> H?9 H?9FYfE:A>Q 15٪ઊ?Q 55X| x$9ϻ>Q A;iY9BQ E@y AE)i](=i]=)]S@)aԉi 9    BDAT read: Rx Time:23:54:42.2606 TRx dataTimestamp_ set to:1758412480.124189checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999983>AU ȝ= A AI I N >,3Ay6$F@ٱ6T@6V=66H { #?^ ſ: O٪t?I6$F@)6]x^;i6C@9B #IIF@A)FAABDJ#6DJӀ3YR^!RX=V;Q)V>VK?9VK?9ZFYZhEZ:AZ>\Q 1b5٪^Dժ?Q 5b5^| ^}$9dYf/BQ Ef@y^ AE)^:I^:i^Š5DDwD.DEU: E:6Eـ4:E!%@!%@!%@!-@Y-TBUAQgDNOT Ignoring new targets: 67.12 m.g9g9 ProNav: ac range: 67.120346 m, nav range: 65.418457 m, bearing: 187.419042 deg, approach rate: -0.376327 m/s, LOS rate: 0.007257 deg/s, cmd heading: 189.409601 deg, new cmd heading: 189.414962 deg. gT9HeadingCmd: 3.305915 target range: 67.120346 and range: 67.30 m.gS@ggggzfrfffBdddcc  @iɢy}ߢ= 顅 ?I ~ =ɡiIJI>i=/=i=)S@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251477i}9/@=@=ԙvB~BB"IBeBB =BBB;BIQE>AA I I N > DAT read: 23:54:42.2606 LVL= 21104, 30673, 20018, 31683, AGC= 65, IDX= 419,-0.33, 1.091,-0.475, 1.374, 0.955, PHS= 0.238,-1.385, 0.375, RAW= 154.0, 9.1, CAL= 153.7, 9.8, ROT= 356.3, -9.8  Ygot valid direction response: 23:54:42.2606 LVL= 21104, 30673, 20018, 31683, AGC= 65, IDX= 419,-0.33, 1.091,-0.475, 1.374, 0.955, PHS= 0.238,-1.385, 0.375, RAW= 154.0, 9.1, CAL= 153.7, 9.8, ROT= 356.3, -9.8  PDAT read: Bearing 347.5, -7.0 (Local)  ~Local bearing/azimuth received: Bearing 347.5, -7.0 (Local)   DAT read: Range 11 to 50 : 66.0 m (Round-trip 88.0 ms) speed 0.3 m/s  *DAT read: user:995> % BDAT read: Tx time:23:54:43.3684 % $Ping request sent.% )5 GI5 >i5 ,@5 ">5 >+@1 5 @ 1 i1 1 I5 s)520?] ?2ǁW?5 ?5 pm# 5 )A ,r*3Ai)qiqq2:publishing transmit ping timeYY2Fpublishing direction and range info9qu@n"w? +}Grl?qqiqqqqq q)qIqiqqqqq qiqqIus)520?] ?2ǁW?qq q)qiqq5B95#I9i9)A ABD6D3YZ!-=Q)> 9I9MFYUkEUA]>aQ 15٪e9ƪ?Q 55e>} e$9YQ E@yeAE)e;Ie;ie6Ċ5YOBAEDEDEpDE-DAEEƱ: EE :6EEt4:EA"EEF;!uEEG;!u*EE8R;!}EE9R;!hqhu'(3AhuBhuBhuEP@ vu-i.P@{B n`h&@uu@n"w? +}Grl?hu)Ahqvua9;PV`~4@vṷ!lܩf􏼿+( ?huhuށhu?f?huEi>hu`B*iuJv?2iuHQ:iu$Biu{B"iuP@ addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.527335 s, deltaX: -1.300003 m, approachRate: -0.368551 m/s, rangeRepo size: 4  Added new target pos. range: 65.823944 m, bearing: 186.452631 deg, lat: 36.779133 deg, lon: -121.859789 deg, deltaT: 3.527335 s, deltaX: -1.296402 m, approachRate: -0.367530 m/s, posRepo size: 4 gDNOT Ignoring new targets: 65.82 m.gg ProNav: ac range: 65.823944 m, nav range: 65.240837 m, bearing: 187.106429 deg, approach rate: 0.000000 m/s, LOS rate: 0.007257 deg/s, cmd heading: 189.414956 deg, new cmd heading: 189.423157 deg. g%HeadingCmd: 3.306058 target range: 65.823944 and range: 66.00 m.g%sS@g!g!g!g!zf)rf)f)f)Bd1d1dQcUP@c]`?ɢB͑= ) ?I 7#=ɡiI?i=29=i=қ=)=sS@)AI i 9  / q >A- =ԩAYIaIyN ?&,M3Ay:9F@ٱ:1T@:Ĺ_=:aUʼ:H\x P?ZUTƿ #J`\@I?I:9F@):^;i:CD9DMb@Mb@Mb@ )Iix?y&1Mbp?K>`;I@ip@@)@-99FYnE,;A>Q 15٪?Q 55} $9ݷ>Q A;YBQ E@yAE):I* ;iVƊ5YgDNOT Ignoring new targets: 65.82 m.gJ9gJ9 ProNav: ac range: 65.823944 m, nav range: 65.066315 m, bearing: 187.110720 deg, approach rate: -0.449256 m/s, LOS rate: 0.011074 deg/s, cmd heading: 189.423153 deg, new cmd heading: 189.431757 deg. g#9HeadingCmd: 3.306208 target range: 65.823944 and range: 66.00 m.gS@g!g!g!g!zf!rf!f)f-BBd)d1d1c1c5P?Iɢae-= imc ?Ii mg$=ɡqiqIuP՛Iŭ>i}@=i}=)}S@)yDDD2DEغ: E0:6E4:E!%@!%@!%@!%@i9yAAAAvB~BB"IB`BBBBB;BQQEBljCBljCBBǯ =Bǯ =BW4>AAԩA} yAI I N > C,8f3Ay68F@ٱ60T@6$b=6loμ6H1xO?@5ƿN`>+Ù?I68F@)6U^;i6CBB9B#IBDJ6DJ2Yjɀ!jr H?9r H?9rFYrqEr'Ar>tQ 1z5٪v??Q 5z5v~ v$9|YQ E@yvAE)vK;IvxL;ivNJ5Y JBA Eg1=DNOT Ignoring new targets: 65.82 m.gEa"9gEa"9U ProNav: ac range: 65.823944 m, nav range: 64.931282 m, bearing: 187.114062 deg, approach rate: -0.357745 m/s, LOS rate: 0.008873 deg/s, cmd heading: 189.431759 deg, new cmd heading: 189.438457 deg. gU9UHeadingCmd: 3.306325 target range: 65.823944 and range: 66.00 m.g]ӚS@gYgYgYgYzfYrfafafaBdadidicicm`j?ɢB~= 顝 ?I s&=ɡiIhI>iNG=i;5=)ӚS@)ԱiQQQU/QD=D9D=+D9E=C: E96E= [4:E9"E=2;!EE=4;!E*E=މ;!ME=މ;!M>A=rA >jA > AE AII IY Nm >9 + ,3Aɰ"4<"4@F@ٱ>^9T@>f=>wӼ>Hv@#c?@-ƿ`~n٬ cB?I>@F@)>^;i>CJB9J#IMb@Mb@Mb@ )IiK?Zd;OMb`^>jI@i@@@)@BD56D5P)3YEW!ED=E9;Q)E>MK?9MK?9MFYMsEMܧ:AU>QQ 1e5٪U?Q 5e5Ux~ U$9e>Q Ae;YeAQ Ee@yUAE)U:IUU:iUɊ5Yqu!AqB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 65.82 m.gŚ8gŚ85 ProNav: ac range: 65.823944 m, nav range: 64.779282 m, bearing: 187.115822 deg, approach rate: -0.364304 m/s, LOS rate: 0.004228 deg/s, cmd heading: 189.438452 deg, new cmd heading: 189.441981 deg. g58=HeadingCmd: 3.306386 target range: 65.823944 and range: 66.00 m.g=՛S@g9gAgAgAzfArfAfIfMBBdIdIdIcQcu Y?ɢ = ?I D(=ɡiII>i4P=i/=)՛S@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i9>AD5 D5 {D5 -D1 E5 Ʊ: E5 5":6E5 t4:E1 !E @!E @!E @!E @i A I I N% >i߽ ?I߽ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738300U&,3A y~AF@ٱ~9T@~k=~+ּ~H@mv@d?`-ƿ~|F]S?I~AF@)~r_;i~CB9"II!)!BD-%6D-03Y=!A!=K==|$;Q)E>A9A9EFYEvEMu7AM>QQ 1]5٪U8?Q 5]5U~ U$9YY]AQ Ee@yUAE)U#;IUa;iUˊ5Yim4AigDNOT Ignoring new targets: 65.82 m.vB~BB"IBUBBBBB;B^QEg8g8 ProNav: ac range: 65.823944 m, nav range: 64.632484 m, bearing: 187.117529 deg, approach rate: -0.364752 m/s, LOS rate: 0.004252 deg/s, cmd heading: 189.441977 deg, new cmd heading: 189.445399 deg. g8HeadingCmd: 3.306446 target range: 65.823944 and range: 66.00 m.gМS@ggggzfrfffBdddccF?ɢ= 顭>I )=ɡiImI>iTX=i=)МS@)qi0ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990065>A = A I I N >BEt4,,Um3AJE A{4RE ^0D}D}}D}1DyE}غ: E}k&:6E}-4:Ey"E}D;I@i@@@)\@BD6D 83Y<!&=;Q)>99FYyES:A> Q 15٪ :?Q 55 ] $9v>Q A;Y5BQ E@y AE) <:I Q:i ͊5Y%EB%A- EgIUDNOT Ignoring new targets: 65.82 m.gUe8gUe8m ProNav: ac range: 65.823944 m, nav range: 64.465492 m, bearing: 187.120077 deg, approach rate: -0.338269 m/s, LOS rate: 0.005174 deg/s, cmd heading: 189.445405 deg, new cmd heading: 189.450514 deg. gm9uHeadingCmd: 3.306535 target range: 65.823944 and range: 66.00 m.guFS@gqgqgqgqzfqrfyfyf}BBdyddcc`b@ɢmBm6m= qup?Iq u$+=ɡqiqIu흼I}n>ib=i=)FS@)i9/- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4939471 >A =bA ZA Y A II!N5>V4,2Ұ3AyBbBF@ٱB:T@B&t=BټBH4u6j?.ƿ@}~ @'?IBbBF@)B+e`;i@N|B9N"IBDV,6DV3Y^!^c=bMW;Q)b>`9`9fFYf{Ef fAf>hQ 1n5٪j{?Q 5n5j j$9pYr;BQ Er@yjAE)j :Ij:ijLϊ5YtvFAtDDD/DEg: E,:6EJ4:E!%@!%@!%@!%@g)5DNOT Ignoring new targets: 65.82 m.g5>8g5>8E ProNav: ac range: 65.823944 m, nav range: 64.343742 m, bearing: 187.121977 deg, approach rate: -0.335808 m/s, LOS rate: 0.005252 deg/s, cmd heading: 189.450514 deg, new cmd heading: 189.454323 deg. gE9MHeadingCmd: 3.306602 target range: 65.823944 and range: 66.00 m.gM]S@gQgQgQgQzfQrfQfYfYBdYdYdacace@@ɢ~2= 顕>I P-=ɡiI#\IW>i~BB"IBKBB =BBB;BkQE>A5=ԩAy I I N >] BDAT read: Rx Time:23:54:45.8589 ] TRx dataTimestamp_ set to:1758412483.656169e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999073 -:,ۈ3AyJ6F@ٱJ*/T@J"Uz=JyͼJHu`Q?`. lƿ E@9@"?IJ6F@)J`;iJCT9T^;i^BD^#6D^Ӏ3f \;Q)j>h9h9nFYn~EnKAn>pQ 1v5٪rNo?Q 5v5r r$9xYzGBQ Ez@yr!AE)r:Irp:irъ5Y~AB~ Ag!-DNOT Ignoring new targets: 65.82 m.g-8g-8= ProNav: ac range: 65.823944 m, nav range: 64.203903 m, bearing: 187.124261 deg, approach rate: -0.340618 m/s, LOS rate: 0.005574 deg/s, cmd heading: 189.454326 deg, new cmd heading: 189.458903 deg. gE9#9MHeadingCmd: 3.306682 target range: 65.823944 and range: 66.00 m.gMS@gIgIgIgQzfrfffBdddcc @qɢqu\= y}>Iy }Y /=ɡyiyI}XÞI>iGq=i~=)S@)DDzDDE: E :6E:E"E#;! E$;! *Ev;! Ev;!i?0ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253880>AM =A} yAI I N > wA, '3Ay 12F@ٱ *T@ d= B˼ H@PuNI?8(ƿRK篿[?I 12F@) u`;i %wB9-"IMb@Mb@Mb@ )IiS?~jtMbp?>;I@i@A)@%DAT read: 23:54:45.8589 LVL= 24656, 30033, 22754, 32755, AGC= 67, IDX= 417, 0.05,-3.064, 1.636,-2.737, 3.096, PHS= 0.225,-1.415, 0.406, RAW= 155.2, 9.1, CAL= 154.9, 9.7, ROT= 355.1, -9.7 -Ygot valid direction response: 23:54:45.8589 LVL= 24656, 30033, 22754, 32755, AGC= 67, IDX= 417, 0.05,-3.064, 1.636,-2.737, 3.096, PHS= 0.225,-1.415, 0.406, RAW= 155.2, 9.1, CAL= 154.9, 9.7, ROT= 355.1, -9.7 5PDAT read: Bearing 347.3, -8.7 (Local) 5~Local bearing/azimuth received: Bearing 347.3, -8.7 (Local) EDAT read: Range 11 to 50 : 64.8 m (Round-trip 86.4 ms) speed 0.3 m/s E*DAT read: user:996> MBDAT read: Tx time:23:54:46.9684 U$Ping request sent.U)I;>BD6D 83Y}S!}<}1;Q)}> H?9 H?9FYEi-\-@c-@-\->DS@ -\-iIY4p?a4?ml9*?*?! %)-\-i:publishing transmit ping timeYIFpublishing direction and range info9ͩ_m?؍RV?i )IiA>Q 15٪(b?Q 55 $9b>Q A;Y~AQ E@y#AE)]:I:iӊ5 iIY4p?a4?ml9*? )iYNAhhP5 3AhABhABhO@ v94O@*تm(%@uͩ_m?؍RV?h%h-\-v8{O/;V-@vT\h6[X?hѾhhxS?hmhB*i?f?2iEi>:iBiOB"iFP@ addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 3.532091 s, deltaX: -1.199997 m, approachRate: -0.339741 m/s, rangeRepo size: 4  Added new target pos. range: 64.627106 m, bearing: 185.325973 deg, lat: 36.779132 deg, lon: -121.859781 deg, deltaT: 3.532091 s, deltaX: -1.196838 m, approachRate: -0.338847 m/s, posRepo size: 4 gQiQIՈG))IQmDNOT Ignoring new targets: 64.63 m.i}y}Agg ProNav: ac range: 64.627106 m, nav range: 64.155205 m, bearing: 186.459166 deg, approach rate: 0.000000 m/s, LOS rate: 0.005574 deg/s, cmd heading: 189.458902 deg, new cmd heading: 189.464367 deg. gHeadingCmd: 3.306777 target range: 64.627106 and range: 64.80 m.gI 1=ɡiI'Iy}>iz=i =)Au =ԁ AIIN>H,1$%3Ay6~"F@ٱ6T@6=6S6Hv (?@>魿ſ ut@<I=?I6~"F@)6%a;i4BnB9B"IBDf6Df:3hYr!r==r);Q)r>t9t9vFYvEvbAz>|Q 15٪~U?Q 55~ ~$9YAQ E@y~%AE)~W:I~:i~Ԋ5YA5B*** querying acoustic contact ***zh1h1g9EDNOT Ignoring new targets: 64.63 m.gE۷gE۷] ProNav: ac range: 64.627106 m, nav range: 64.008812 m, bearing: 186.458571 deg, approach rate: -0.368228 m/s, LOS rate: -0.001502 deg/s, cmd heading: 189.464366 deg, new cmd heading: 189.463172 deg. g]/eHeadingCmd: 3.306756 target range: 64.627106 and range: 64.80 m.geS@gagagagazfarfififiBdqdqdqcqcu?ɢB= 顥_>I aW2=ɡiI-mI}>i=ib=)S@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iE9IIM0I >A- =1DDDDEƱ: E0:6E:E"EF;!EG;!*Eމ;!Eމ;!AY I I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747873a Nm >cO,>3Ay>,'F@ٱ>T@>3=>">HuQ3?:ſ:O 1 ?I>,'F@)>Ca;i<JaB9J"IMb@Mb@Mb@ )IiʡE?Zd;OMbp?->jIAi@@)@I5AA)19BD56D5f?3YMQ9Q9UFYUE]3:A]>aQ 1m5٪eI?Q 5m5eq e$9m>Q Au;Yu5BQ Eu@ye(AE)e<:Ie:ie֊5Y}I $3=ɡiI٧Ie}>i=i=)QS@)ii90checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996457ԑ>Aܝ=D D {D -D E U: E 5":6E t4:E ! @! @! @! @ A AI I N% >U, X3AyZ$F@ٱZT@Z'=ZZHjt`-?@rſ hqq?IZ$F@)ZHPa;iZCrXB9r"Ii>Ia=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250268BD6DN2Y==!=L=E†;Q)E>MK?9MK?9UFYUEUA]>iQ 1u5٪m=?Q 5u5mց m$9qYu9BQ E}@ԙym*AE)mI Q=5=ɡiIӟI|>i猑=i笝=)S@)AAvB~BCB"IB-BBBBB";BrQEi-9)15K51@==@==>AU =checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501522A I I N >! ]\,r3Ay:m%F@ٱ:T@:W=:M:Hs 1?@(ſ ᣡG?I:m%F@):o&a;i:CFUB9J"I)NA LBDR6DR:3YZ!ZS=ZX@;Q)^>\9\9^FYbEba9Ab>dQ 1j5٪f2?Q 5j5f6 f$9hYj7BQ En@yf,AE)f:If-:if=ڊ5Ypr7Apg DNOT Ignoring new targets: 64.63 m.g 8g 8% ProNav: ac range: 64.627106 m, nav range: 63.589172 m, bearing: 186.460756 deg, approach rate: -0.366467 m/s, LOS rate: 0.001926 deg/s, cmd heading: 189.466155 deg, new cmd heading: 189.467560 deg. g-a8-HeadingCmd: 3.306833 target range: 64.627106 and range: 64.80 m.g-&S@g1g1g1g1zf1rf1f9f9Bd9dAdAcAcEp?ɢmBup= qu>IqDD}D+DE: Ek&:6E [4:E"Egi=iEݝ=)&S@)i!!)-415checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756058!>Aȝ=QA! I) IA N >y )߹ ߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004683b,3Ay6'F@ٱ6# T@65=6k6Hr:7?Uſ_@#`N D?I6'F@)6a;i6CBSB9B"I Mb@Mb@Mb@ ) I i   (\? rh{Gz? > C #=9U;Q)>99FYE9A>Q 15٪&?Q 55 $9_>Q A;Y&AQ E@y/AE):If:i܊5Y7BA EgDNOT Ignoring new targets: 64.63 m.g[tg[t ProNav: ac range: 64.627106 m, nav range: 63.442829 m, bearing: 186.459323 deg, approach rate: -0.340111 m/s, LOS rate: -0.003338 deg/s, cmd heading: 189.467562 deg, new cmd heading: 189.464690 deg. g|øHeadingCmd: 3.306783 target range: 64.627106 and range: 64.80 m.gTS@ggggzfrfffBBd d d c c k@ɢ9=S= 9E'>IA E7=ɡAiAIEIM`}>iM=iM9=)MTS@Q)Yi3DDD/DE: E6EJ4:E!@!@!@!@ԁ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257376>A%8=ԩvB~BB"IBBBBBB;BnQEBBBBȰ =BȰ =B>4A% yAI) I9 NM > X$i,X3Ay6.F@ٱ6'T@6.=6Ǽ6Haq G?kƿ`|~@;(蘿X?I6.F@)6Ua;i4RYB9V"IBDZ6DZf?3Yf9<!fW=fe;Q)f>j H?9j H?9jFYjEj:An>pQ 1r5٪r?Q 5v5r r$9tYvAQ Ev@yr1AE)r:Ir:ir݊5Yx~A|B*** querying acoustic contact ***zhhg!-DNOT Ignoring new targets: 64.63 m.g-wg-w= ProNav: ac range: 64.627106 m, nav range: 63.313293 m, bearing: 186.457997 deg, approach rate: -0.340158 m/s, LOS rate: -0.003490 deg/s, cmd heading: 189.464694 deg, new cmd heading: 189.462036 deg. gE_̸EHeadingCmd: 3.306736 target range: 64.627106 and range: 64.80 m.gES@gIgIgIgIzfIrfIfQfQBdQdQdYcYc]@ɢB= 額>I $9=ɡiI1.I%~>i=ia=)S@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508748Աie9aae/a>Auȝ=DD|D-DEU: EP$:6Et4:E"E;!E;!*E};!E};! A AI M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763691IQ N} >9 p,B3Aɰ;y6-F@ٱ6C&T@6v=6@ɼ6HpG? ƿs@pFYw?I6-F@)6ka;i6CBZB9B"I Mb@Mb@Mb@ ) I i   S?Zd;O{Gz? > j I Ai @ @ A)  @BD%6D%:3Y5:!=C==Ic;Q)=>EK?9EK?9EFYEEEDAE>IQ 1U5٪M?Q 5]5M M$9]>Q A];Y]9BQ E]@yM3AE)M? ;IM ;iMߊ5Ye2BmAm EgDNOT Ignoring new targets: 64.63 m.g8g8% ProNav: ac range: 64.627106 m, nav range: 63.169750 m, bearing: 186.458766 deg, approach rate: -0.343002 m/s, LOS rate: 0.001842 deg/s, cmd heading: 189.462030 deg, new cmd heading: 189.463572 deg. g%W8MHeadingCmd: 3.306763 target range: 64.627106 and range: 64.80 m.gMS@gIgQgQgQzfQrfQfYf]BBdYdYdYcace`@ɢBM6= >I +:=ɡiI6I}>i=icܞ=)S@)iBDAT read: Rx Time:23:54:49.4573 TRx dataTimestamp_ set to:1758412487.184277checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0135551>A =a D D wD 1D E 7: E :6E -4:E ! @! @! @! @A I I NU >8v,eڱ3A yf-F@ٱf&T@fǾ=frʼfHo H?[S@ƿa@袿 `Y<?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264495If-F@)f=a;ifCzNB9z"II)BD6DJ2Ys!M=b;Q)>!9!9%FY%E%A->)Q 1=5٪-,?Q 5=5- -$99Y=:BQ E=@y-5AE)-B;I-;i-\5YIM'AIgquDNOT Ignoring new targets: 64.63 m.g}8g}8 ProNav: ac range: 64.627106 m, nav range: 63.032810 m, bearing: 186.459505 deg, approach rate: -0.342524 m/s, LOS rate: 0.001852 deg/s, cmd heading: 189.463574 deg, new cmd heading: 189.465055 deg. gX8HeadingCmd: 3.306789 target range: 64.627106 and range: 64.80 m.gnS@ggggzfrfffBdddcc j @ɢٖ= >I s;=ɡiI9IG}>i䭑=i)nS@)AqAqvBy~ByB}m"IB}BByByByB};B}mQEii9ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519307>A= A= yAIA IQ Ne >j`|,K3Ay6 7F@ٱ6/T@6ח=6м6H@hn ]? $ƿ HgP?I6 7F@)67a;i6CBOB9B"IBDJ6DJ3PYR;!VR=V,;Q)V>Z H?9Z H?9ZFYZEZy:A^>`Q 1b5٪b?Q 5f5bE b$9dYf0BQ Ef@yb7AE)b:Ib :ib5YhnAlBEـ4JE~4REn/DeDe|De.DaEe: EeP$:6Eeـ4:Ea"Ee#;!uEe$;!u*Ea!uEa!}gDNOT Ignoring new targets: 64.63 m.g7g7 ProNav: ac range: 64.627106 m, nav range: 62.899464 m, bearing: 186.460155 deg, approach rate: -0.325481 m/s, LOS rate: 0.001589 deg/s, cmd heading: 189.465049 deg, new cmd heading: 189.466351 deg. g:8HeadingCmd: 3.306812 target range: 64.627106 and range: 64.80 m.g͢S@ggggzfrfffBdddcc @ɢB2=  >I  ==ɡ i I  1I|>iE=id=)͢S@)iDAT read: 23:54:49.4573 LVL= 24496, 32753, 20786, 31283, AGC= 66, IDX= 432,-0.20, 2.129, 0.587, 2.475, 2.048, PHS= 0.183,-1.416, 0.383, RAW= 155.8, 10.0, CAL= 155.7, 10.8, ROT= 354.3, -10.8 @=@=UYgot valid direction response: 23:54:49.4573 LVL= 24496, 32753, 20786, 31283, AGC= 66, IDX= 432,-0.20, 2.129, 0.587, 2.475, 2.048, PHS= 0.183,-1.416, 0.383, RAW= 155.8, 10.0, CAL= 155.7, 10.8, ROT= 354.3, -10.8 ]PDAT read: Bearing 348.4, -10.2 (Local) ~Local bearing/azimuth received: Bearing 348.4, -10.2 (Local) DAT read: Range 11 to 50 : 63.5 m (Round-trip 84.7 ms) speed 0.3 m/s *DAT read: user:997> BDAT read: Tx time:23:54:50.5700 $Ping request sent.)}?I>i.@¸2>'-@A>@ AiIbBi? Lq?yd.? ?]2 )˽)Aim:publishing transmit ping timeYmFpublishing direction and range info9G?GBb0i?i )Ii iIbBi? Lq?yd.? )i>A =) A I) I9 NE >YH, 3A|DB9"IMb@Mb@Mb@ )Iigfffff? rh~jt?3>C D99FYEA>Q 15٪멊?Q 55 %9%>Q A;YDQ E@y:AE):I:i5Y.BMAh)h-%<3Ah-R}Bh-R}Bh-3N@ v-U$UN@u>Զ.޻'@u-G?GBb0i?h-)˽h-Av-4XO=,xD՛@v-1g0Vc_s?h-eh-zh-.H?h-H@ h-B*i-y^?2i-5*:i-`Bi-{B"i-|O@M addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 3.781667 s, deltaX: -1.300003 m, approachRate: -0.343765 m/s, rangeRepo size: 4 ] Added new target pos. range: 63.330376 m, bearing: 184.599510 deg, lat: 36.779131 deg, lon: -121.859773 deg, deltaT: 3.781667 s, deltaX: -1.296730 m, approachRate: -0.342899 m/s, posRepo size: 4 gYeDNOT Ignoring new targets: 63.33 m.gegau ProNav: ac range: 63.330376 m, nav range: 62.753899 m, bearing: 185.752528 deg, approach rate: 0.000000 m/s, LOS rate: 0.001589 deg/s, cmd heading: 189.466347 deg, new cmd heading: 189.467695 deg. gy}HeadingCmd: 3.306835 target range: 63.330376 and range: 63.50 m.g}0S@ggggzfrfffBBdddcO@ct?ɢB(= >I a>=ɡiII|>i]=i]0ğ=)]0S@)a)DuDu~Du-DqEu: Eu(:6Eut4:Eq!}@!}@!}@!}@i R=I >Y9cռvB~BCBZ"IBBBBBB;B_QEi) ) ) - 4) ԁ >AU 2=Ա AAIIN?#,ظ.3Ay^HF@ٱ^@T@^p>=^ü^Hk }? 3ƿ@8~`Ƣ` c`^ &?I^HF@)^k`;i^Cn%B9r"I~UK?9UK?9UFYUE];A]>iQ 1u5٪m7ݩ?Q 5u5m m %9qYuDQ Eu@ym=AE)mB:Im|:im+5YFAB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 63.33 m.g%9g%9 ProNav: ac range: 63.330376 m, nav range: 62.578136 m, bearing: 185.755998 deg, approach rate: -0.353664 m/s, LOS rate: 0.007002 deg/s, cmd heading: 189.467699 deg, new cmd heading: 189.474659 deg. g M9HeadingCmd: 3.306957 target range: 63.330376 and range: 63.50 m.g-S@ggggzfrfffBdddcc@I ?=ɡiIIz>iǑ=i1=)-S@)DD}DDE: Ek&:6E:E"EgA L= echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.197873AII N=>.~,vN3AIbG)jAItisAAyMTF@ٱMXMT@M=M^̼MH i`?m^LLƿ@|}˳w?IMTF@)M@`;iMCe,B9e"IMb@Mb@Mb@ )Ii`"?L7A`堿I +?η>+94I9I9MFYMEUN:AU>YQ 1e5٪]1ͩ?Q 5e5]` ]%9e>Q Am;YmCQ Em@y]@AE)] ;I] ;i]{5Yu)BuAuEgDNOT Ignoring new targets: 63.33 m.g8g8 ProNav: ac range: 63.330376 m, nav range: 62.387333 m, bearing: 185.758758 deg, approach rate: -0.361022 m/s, LOS rate: 0.005239 deg/s, cmd heading: 189.474652 deg, new cmd heading: 189.480190 deg. gf9HeadingCmd: 3.307053 target range: 63.330376 and range: 63.50 m.g¦S@ggggzfrfffBBdddcc?ɢB}2ȇ= 顅>I @=ɡiICbIx>i]ґ=i=)¦S@)) iIDEDEDE/DAEEU: EE0:6EEJ4:EA!M@!M@!M@!M@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449470!A1A1vBA~BECBEG"IBEBBE =BABABE;BEcQEi9o0@@Q >A =rA >jA >checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701756ԑAQIYIqN}?<, o3AɰJ;Hy`F@ٱYYT@?I=ZEռH>h`ɴ?`lzcƿF{a$`'?I`F@)g`;i- B9-"IBDE!6DEr3YU@L!U+=U?:Q)U>Y9Y9]FY]E]:Ae>aQ 1u5٪eȾ?Q 5u5eÅ e%9qYuCQ Eu@yeBAE)e;Ie;ie5YyJAgDNOT Ignoring new targets: 63.33 m.g8g8 ProNav: ac range: 63.330376 m, nav range: 62.215691 m, bearing: 185.761135 deg, approach rate: -0.360251 m/s, LOS rate: 0.005002 deg/s, cmd heading: 189.480185 deg, new cmd heading: 189.484951 deg. gv9HeadingCmd: 3.307136 target range: 63.330376 and range: 63.50 m.gS@)gIgIgIgIzfIrfQfQfQBdQdYdYcYc]@!?ɢ%B%kh= )-9>I) -.B=ɡ)i)I5I5w>i=ݑ=i==)=S@)9D-D-~D-*D)E-[: E-(:6E-(N4:E)"E-A! AQ IY Ii N} >Ա ,爲3A~B9~|"IMb@Mb@Mb@ )IiCl?lt99FYEA>Q 15٪ᱩ?Q 55 "%9g>Q A;Y/DQ E@yEAE)L:I:ic5YxAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.205570g)-DNOT Ignoring new targets: 63.33 m.g59g59E ProNav: ac range: 63.330376 m, nav range: 62.062191 m, bearing: 185.764588 deg, approach rate: -0.366094 m/s, LOS rate: 0.008257 deg/s, cmd heading: 189.484952 deg, new cmd heading: 189.491876 deg. gEq9MHeadingCmd: 3.307257 target range: 63.330376 and range: 63.50 m.gMS@gIgIgIgIzfQrfQfYf]BBdYdYdYcace14@ɢB_e= ԑ顕$>I B=ɡiIIu>i;=iAd=)S@)i 5D=D=D=.D9E=7: E=3:6E=ـ4:E9!E@!M@!M@!M@>A Т= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457772vB H>~B B ."IB ܃BB =B B B ;B gQEAQ IY Ii N > I,â3Ay6uF@ٱ6}mT@6=6 6He.?ײ ƿ9z`D5;` ?I6uF@)6M_;i6CnB9nm"I)rA pBDz'6Dz3Yiw!X=O;Q)> 9 9 FY ET;A>Q 1%5٪/?Q 5%5Z )%9!Y%DQ E%@yGAE);Ik:i 5Y5%B5A5EgYeDNOT Ignoring new targets: 63.33 m.gew9gew9u ProNav: ac range: 63.330376 m, nav range: 61.923027 m, bearing: 185.767585 deg, approach rate: -0.368290 m/s, LOS rate: 0.007949 deg/s, cmd heading: 189.491878 deg, new cmd heading: 189.497885 deg. guh9}HeadingCmd: 3.307362 target range: 63.330376 and range: 63.50 m.gҫS@ggggzfrfffBdddcc9@ɢB"= (z>I rC=ɡiIOIs>i=i1=)ҫS@)i/-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709492>AI I I N >DM DM DM /DI EM : EM ,:6EM J4:EI "EM = Dĕ~?Im`xF@)mK_;imCB9["I=Mb@Mb@Mb@ 9)9I9i99=rh|?l~jtx?=>9=;I=Ai=Q@=$@=lA)9=@BDU6DU4d3aYmm!m)=m8Q)m>q9q9uFYuE}9A}>yQ 15٪}5?Q 55} }4%9>Q A;YDQ E@y}JAE)} ;I}U:i}(5Y%AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 63.33 m.g9g9 ProNav: ac range: 63.330376 m, nav range: 61.744823 m, bearing: 185.771413 deg, approach rate: -0.368109 m/s, LOS rate: 0.007930 deg/s, cmd heading: 189.497888 deg, new cmd heading: 189.505566 deg. g2h9HeadingCmd: 3.307496 target range: 63.330376 and range: 63.50 m.gS@ggggzfrfffBBdddcc@ @ɢBbq{= 顥"Z>I D=ɡiIлIq>i=i{=)S@)iQQQU4Qԑ-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213325 >A =I I N >y,dײ3ArD:=jD:R=D>D>D>,D<E>7: E>C:6E>g4:EI 5E=ɡ=DAT read: 23:54:53.0572 LVL= 23920, 31217, 20338, 32755, AGC= 67, IDX= 431, 0.17, 1.900, 0.355, 2.278, 1.789, PHS= 0.214,-1.388, 0.446, RAW= 156.7, 8.5, CAL= 156.3, 8.9, ROT= 353.7, -8.9 AMYgot valid direction response: 23:54:53.0572 LVL= 23920, 31217, 20338, 32755, AGC= 67, IDX= 431, 0.17, 1.900, 0.355, 2.278, 1.789, PHS= 0.214,-1.388, 0.446, RAW= 156.7, 8.5, CAL= 156.3, 8.9, ROT= 353.7, -8.9 UPDAT read: Bearing 346.6, -11.3 (Local) U~Local bearing/azimuth received: Bearing 346.6, -11.3 (Local) eDAT read: Range 11 to 50 : 62.3 m (Round-trip 83.1 ms) speed 0.2 m/s e*DAT read: user:998> mBDAT read: Tx time:23:54:54.1700 m$Ping request sent.m) I Z>i  /@ > .@ > @ i  I Y=$c?3<"?-? C#? C i0) i  ]:publishing transmit ping timeYiiI]TIe"p>ie=iePB=)mS@)iFpublishing direction and range info9  }l?j?  i      ) I i      i  I Y=$c?3<"?-?   ) i  i/yԩ >A &=I I N >Ļ,[3Ay:~F@ٱ:wT@:=:|u@:H\9\9bFYbEbAb>dQ 1j5٪f~?Q 5j5fE fE%9hYlQ En@yfNAE)fY;If;if]5YprAphAhEݲ3AhExBhExBhEM@ vEdq݁N@ĺ JS9#@uE}l?j?hEi0hEvEڨ;Nn򁚹J@vE%P~{ P߳?hEhE!whE**?hEZUhEB*iExS?2iEm:iEBiE5vB"iEO@= addTargetRange:: Added new target pos. range: 62.299999 m, deltaT: 3.526401 s, deltaX: -1.200001 m, approachRate: -0.340290 m/s, rangeRepo size: 4 M Added new target pos. range: 62.133381 m, bearing: 184.155387 deg, lat: 36.779130 deg, lon: -121.859767 deg, deltaT: 3.526401 s, deltaX: -1.196995 m, approachRate: -0.339438 m/s, posRepo size: 4 gIUDNOT Ignoring new targets: 62.13 m.gUgQ ProNav: ac range: 62.133381 m, nav range: 61.552094 m, bearing: 185.321808 deg, approach rate: 0.000000 m/s, LOS rate: 0.007695 deg/s, cmd heading: 189.511002 deg, new cmd heading: 189.516926 deg. gHeadingCmd: 3.307694 target range: 62.133381 and range: 62.30 m.gDS@ggggzfrfffBdddc`f&O@c%@?ɢmBmRx= im62>Ii ?E=ɡiI՜Iqn>i=i=)DS@)DDD-DEI: E3:6Et4:E"EAI I I N >1 ,e5 3Ay6F@ٱ6~T@6L=66H`rc:?,\`cƿy`yӡ`ף`B`?I6F@)6^;i6CB܃B9B/"I!EMb@Mb@Mb@ A)AIAiAAEQ?y&1E`Eti9q9uFYuEu$d:Au>)y yQ 15٪s?Q 55 N%9a>Q A;YBQ E@yQAE) ;I ;i<5Y#AgDNOT Ignoring new targets: 62.13 m.g7g7 ProNav: ac range: 62.133381 m, nav range: 61.399834 m, bearing: 185.320747 deg, approach rate: -0.359423 m/s, LOS rate: -0.002510 deg/s, cmd heading: 189.516931 deg, new cmd heading: 189.514804 deg. gHeadingCmd: 3.307657 target range: 62.133381 and range: 62.30 m.gS@ggggzfrfffBBdddcc`?ɢ-B-Hm= 15 >I1 52F=ɡ1i1I=5>I=o>iE=iEU=)ES@)Ai/IbDZD?AyDDD.DE: E=:6Eـ4:E!@!@!@!@>A5=IIN>vB- G>~B) B- !IB- BB) B) B) B- ;B- `QEԡ +,j%3Ay:F@ٱ:T@:=::Hb@b?ho@ƿ%y =?I:F@):^^;i:CFӃB9F$"IIN@A)LBDR6DR:3YV0!ZW=Z<:Q)Z>X9\9^FY^E^I9Ab>`Q 1f5٪bhh?Q 5j5b bU%9hYjBQ Ej@ybSAE)bd:Ib:ib5YnBrBApg  DNOT Ignoring new targets: 62.13 m.g:g:% ProNav: ac range: 62.133381 m, nav range: 61.264839 m, bearing: 185.319782 deg, approach rate: -0.355674 m/s, LOS rate: -0.002549 deg/s, cmd heading: 189.514800 deg, new cmd heading: 189.512865 deg. g%H-HeadingCmd: 3.307623 target range: 62.133381 and range: 62.30 m.g-S@g)g)g)g)zf1rf1f1f1Bd9d9d9c9cE@p?ɢmBuPi= qu`=Iqy }oF=ɡyiyI}Io>i#=i=)S@)i/ԡ>A&=IyIN~>BE5t4JE5t4RE5/D D D +D E : E 3:6E [4:E "E g3AyF@ٱT@7=Hpb ?&ٳƿx`~Iܴ`?IF@)*p^;iCуB9!"I]Mb@Mb@Mb@ Y)YIYiYY]K?]t]ף;I]Ai]~@YY)Y]ABDu%6Du03Y'!0=d:Q)>99FYE9A>Q 1 5٪Y?Q 5 5 a%9>Q A;Y@Q E@yVAE)" ;I ;i5YUA=B*** querying acoustic contact ***zh9h9gIMDNOT Ignoring new targets: 62.13 m.gUbfgUbfe ProNav: ac range: 62.133381 m, nav range: 61.091248 m, bearing: 185.313779 deg, approach rate: -0.363013 m/s, LOS rate: -0.012589 deg/s, cmd heading: 189.512860 deg, new cmd heading: 189.500821 deg. geNmHeadingCmd: 3.307413 target range: 62.133381 and range: 62.30 m.gmS@gigigigizfqrfqfqfuBBdydydycyc}$?ɢBPc= 页P=I #F=ɡiIeԚI s>i0=i:=)S@)iAAAE/A@M=@M>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I>A =Q A yAI I N >,9X3ArD,jD.4=yF@ٱ"T@<=;H oa?@ fƿw@QZ?IF@)>^;iC˃B9"IBD-2D5D1D1D1E5: E16E1:E1!E@!E@!E@!E@6D- 3YM !U`=U:Q)U>] H?9] H?9]FY]Eev:Ae>aQ 1m5٪e8O?Q 5u5e ej%9qYu@Q E}@yeXAE)eP ;Ie ;ie5YBeAEgDNOT Ignoring new targets: 62.13 m.gqjgqj ProNav: ac range: 62.133381 m, nav range: 60.963585 m, bearing: 185.309290 deg, approach rate: -0.363543 m/s, LOS rate: -0.012810 deg/s, cmd heading: 189.500825 deg, new cmd heading: 189.491828 deg. gHeadingCmd: 3.307256 target range: 62.133381 and range: 62.30 m.gS@ggggzfrfffBdddcc ?ɢ Bd= =I =FG=ɡiI9Iu>i%:=i%EΨ=)%S@)!ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003769vB~BB!IBBB =BBB;BXQEiiiim/i>AMT= A} AI I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255692N >1 ,Ӣr3Ay6F@ٱ6xT@6n=6aZ6H@]a ? ƿwg) )?I6F@)6oF^;i6CBB9B"IBDJ6DJ\3YRڽ!RV=R|b:Q)V>VK?9VK?9VFYVEZAZ>\Q 1b5٪^C?Q 5b5^ ^s%9`Yf@Q Ef@y^ZAE)^;I^:i^.5Yhj Ahgy}DNOT Ignoring new targets: 62.13 m.gragra ProNav: ac range: 62.133381 m, nav range: 60.825096 m, bearing: 185.304410 deg, approach rate: -0.348835 m/s, LOS rate: -0.012319 deg/s, cmd heading: 189.491823 deg, new cmd heading: 189.482042 deg. g[HeadingCmd: 3.307086 target range: 62.133381 and range: 62.30 m.gJS@ggggzfrfffBdddcc%@ɢBjW= _=I sG=ɡiIqIlx>ilF=i)JS@)iC0DMDM|DM.DIEMg: EMP$:6EMـ4:EI"EM;!]EM;!]*EM};!eEM};!echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5098189>A|=q A% yAI) I9 NM >3,|3A y>wF@ٱ>T@>p=>¼>Ha@?0ƿ@w 6`:-g?`?I>wF@)>=F^;i>CH9HMb@Mb@Mb@ )IiK?M H?9M H?9MFYMEUӏ8AU>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759739QQ 1m5٪U6?Q 5m5U  U~%9qYu@Q Eu@yU\AE)UR:IU:iU5iCYI]G)uZAIiZAAgAEDNOT Ignoring new targets: 62.13 m.gMZgMZ] ProNav: ac range: 62.133381 m, nav range: 60.670975 m, bearing: 185.298948 deg, approach rate: -0.335418 m/s, LOS rate: -0.011917 deg/s, cmd heading: 189.482042 deg, new cmd heading: 189.471091 deg. g]yeHeadingCmd: 3.306894 target range: 62.133381 and range: 62.30 m.ge(S@gagagagazfiԉrfiffBBd)d)d)c)c5@ɢB4U= 42X=I :G=ɡiInI {>i ;U=i B=) (S@)bDZDԡi/DDD1DEغ: E=:6E-4:E!@!@!@!@i R>I = BDAT read: Rx Time:23:54:56.6554  TRx dataTimestamp_ set to:1758412494.492446 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012933vB H>~B B !IB vBB B B B ;B cQE >A h=A I I N >:z,U3AyB9F@ٱBT@B =BqȼBH`?ųƿ/wt棿<uS?IB9F@)B^;iBCNB9N!IBDV6DV4d3Y^]!^`9`9fFYfñEf|9Af>hQ 1n5٪jP*?Q 5n5j j%9pYr@Q Er@yj_AE)jN:Ij:ij5YvBz2AzEgDNOT Ignoring new targets: 62.13 m.gVgV5 ProNav: ac range: 62.133381 m, nav range: 60.522202 m, bearing: 185.293633 deg, approach rate: -0.416008 m/s, LOS rate: -0.014900 deg/s, cmd heading: 189.471087 deg, new cmd heading: 189.460430 deg. g5$ڹ=HeadingCmd: 3.306708 target range: 62.133381 and range: 62.30 m.g=S@g9g9g9g9zf9rfAfAfABdAdIdIcQcU  @ɢy}"R= 顅 =I G=ɡiIǗI~>i^=i*ѩ=)S@)!i91checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266001I>A|=D] D] D] 0DY E] : E] 0:6E] 4:EY "E]  DAT read: 23:54:56.6554 LVL= 22096, 29169, 21074, 29635, AGC= 66, IDX= 429, 0.45, 1.100,-0.395, 1.480, 1.045, PHS= 0.157,-1.395, 0.391, RAW= 156.9, 10.1, CAL= 156.8, 11.0, ROT= 353.2, -11.0  Ygot valid direction response: 23:54:56.6554 LVL= 22096, 29169, 21074, 29635, AGC= 66, IDX= 429, 0.45, 1.100,-0.395, 1.480, 1.045, PHS= 0.157,-1.395, 0.391, RAW= 156.9, 10.1, CAL= 156.8, 11.0, ROT= 353.2, -11.0  PDAT read: Bearing 348.6, -12.0 (Local) a,3A0R~Local bearing/azimuth received: Bearing 348.6, -12.0 (Local) rDAT read: Range 11 to 50 : 60.9 m (Round-trip 81.3 ms) speed 0.3 m/s u*DAT read: user:999> }BDAT read: Tx time:23:54:57.7684 }$Ping request sent.})\I'1>iLB/@J4>%/@ D>C@ DiI#eCmK?9uK?9FYƱEA>Q 15٪U?Q 55L %9ʫ>Q A;Y ?Q E@ybAE)]:II@v7enABԹ|l۴?hhphH?h h=B*i.H?2iH@ :iBiqB"i#N@E addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.527896 s, deltaX: -1.399998 m, approachRate: -0.396836 m/s, rangeRepo size: 4 u Added new target pos. range: 60.736858 m, bearing: 183.819175 deg, lat: 36.779128 deg, lon: -121.859759 deg, deltaT: 3.527896 s, deltaX: -1.396523 m, approachRate: -0.395851 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 60.74 m.g}gԱ ProNav: ac range: 60.736858 m, nav range: 60.407795 m, bearing: 184.546627 deg, approach rate: 0.000000 m/s, LOS rate: -0.014900 deg/s, cmd heading: 189.460432 deg, new cmd heading: 189.443378 deg. gHeadingCmd: 3.306411 target range: 60.736858 and range: 60.90 m.gip=i =)@M > D D D -D E : E ,:6E t4:E ! @! @! @! @ >A% ا=vB!~B!B%!IB%bBB% =B!B!B%;B%fQEAUyAIaIqN}?,3AXnB9n!IBDz6Dz3Y^!N=Q)>  H?9  H?9 FY ɱE A>Q 15٪?Q 5%5Ӌ %9)Y1Q E=@ydAE);I;i5YY]AYuB*** querying acoustic contact ***zhqhqgDNOT Ignoring new targets: 60.74 m.gg ProNav: ac range: 60.736858 m, nav range: 60.279659 m, bearing: 184.537203 deg, approach rate: -0.363083 m/s, LOS rate: -0.026761 deg/s, cmd heading: 189.443384 deg, new cmd heading: 189.424495 deg. gCHeadingCmd: 3.306081 target range: 60.736858 and range: 60.90 m.gՖS@ggggzfrfffBdddcc?ɢF B= PIy }G=ɡyiyI}aI>i<{=i=)ՖS@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9𕭼ie9aaii9 D D |D 0D E غ: E P$:6E 4:E "E A q mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.930869AAIIN >d,3AHiHԑy]F@ٱ][T@]A?=])]Ha [?`ƿexME! ϗ?I]F@)]E];i]CuB9u!IMb@Mb@Mb@ )Iid;O?{Gzy&1?>#`e-K?9-K?9-FY-ͱE5<=A5>9Q 1E5٪=?Q 5E5= =%9M>Q AM;YM_?Q EM@y=gAE)=:I=:i=M5YUBUAUEgyDNOT Ignoring new targets: 60.74 m.g3g3ṝ ProNav: ac range: 60.736858 m, nav range: 60.081234 m, bearing: 184.523512 deg, approach rate: -0.355526 m/s, LOS rate: -0.024611 deg/s, cmd heading: 189.424491 deg, new cmd heading: 189.397020 deg. g)4HeadingCmd: 3.305602 target range: 60.736858 and range: 60.90 m.gS@gggg!zf!rf!f!f-BBd)d)d)c)c5=?ɢ}B}4@B= 顅I G=ɡiIZI>i=iͪ=)S@Ա) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.18276990iM 9Q Q U /Q @Y @Y  D- D- {D- /D) E- U: E- 5":6E- J4:E) !5 @!5 @!5 @!5 @1>Au=rAyjA}>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435543vB9~B9B=y!IB=HBB9B9B9B=;B=UQEBBBBα =Bα =BΧ05AIIN?,%3A$y:F@ٱ:t|T@:=:}:H]b2?ֳ@]ƿ x\@/ V?I:F@):.];i:CFB9F!IBDN6DN!3YVd!V*=VQ)V>X9X9ZFYZбE^#A^>`Q 1f5٪b?Q 5f5bI b%9dYfc?Q Ef@ybiAE)b:Ib:ibd 5Yln#AlgDNOT Ignoring new targets: 60.74 m.g {߹g {߹ ProNav: ac range: 60.736858 m, nav range: 59.912601 m, bearing: 184.511853 deg, approach rate: -0.352243 m/s, LOS rate: -0.024423 deg/s, cmd heading: 189.397020 deg, new cmd heading: 189.373636 deg. g2%HeadingCmd: 3.305193 target range: 60.736858 and range: 60.90 m.g%JS@g!g!g!g)zf)rf)f)f)Bd1d1d1c1c=`0?ɢae == imIi mI|G=ɡiiiImCIul>iu=i} =)}JS@)y)! !i!I!y]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687539ԩi]9aaef3a Du Du ~Dq Dq Eu : Eu (:6Eq :Eq "Eu ;!} Eu ;! *Eu ;! Eu ;! >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.939174 A IIN>&,_D3AyF@ٱT@ 1=1˼H@b ?؇`ƿw@L?IF@)5];iC%B9%!I9Mb@Mb@Mb@ )IiS?:v rh?>TC99FYӱE :A>Q 15٪⨊?Q 55 %9r>Q A;Y?Q E@ylAE) ;I:i 5Y  B A Eg15DNOT Ignoring new targets: 60.74 m.g=þg=þM ProNav: ac range: 60.736858 m, nav range: 59.732006 m, bearing: 184.500870 deg, approach rate: -0.341758 m/s, LOS rate: -0.020847 deg/s, cmd heading: 189.373634 deg, new cmd heading: 189.351601 deg. gMUHeadingCmd: 3.304809 target range: 60.736858 and range: 60.90 m.gUS@gQgQgYgYzfYrfYfafeBBdadadacicmsD@ɢimm<= qu06Iq uHG=ɡqiqIu,I}>i}=i}IO=)S@)ii%9!!%/!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191248ԑ>AI rD =jD %=D D zD 1D E  E  :6E -4:E ! @! @! @! @A yAI I N >?,h^3Ay6F@ٱ6/T@6Ǽ=6*ȼ6H [b ?] ƿwָ`Ѵ|m?I6F@)6c];i6CBzB9B!IBDJ6DJf?3YR!Rc=V,Q)V>V H?9V H?9ZFYZձEZ6:AZ>\Q 15٪^ب?Q 55^k ^%9 Y ?Q E @y^nAE)^:I^:i^F 5Y|AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.442884gaeDNOT Ignoring new targets: 60.74 m.gmŹgmŹAA@AvB~BBf!IB9BB =BBB;BIQEԹ ProNav: ac range: 60.736858 m, nav range: 59.608875 m, bearing: 184.493316 deg, approach rate: -0.330225 m/s, LOS rate: -0.020302 deg/s, cmd heading: 189.351599 deg, new cmd heading: 189.336460 deg. gHeadingCmd: 3.304545 target range: 60.736858 and range: 60.90 m.g}S@ggggzfrfffBdddccZ@ɢMBM%2= IM@II UG=ɡiIo I >i=i8=)}S@)i]9YYe/a>Au=bAyZAychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.695558A AI I N >9 l,Ox3A}uB9}!IBE]J4JE]4RE]C0DDxD+DE E:6E [4:E"E!E!*EWo;!EWo;!BD26D 3Yּ!8=Q)>K?9K?9FYرEA>Q 15٪˨?Q 55 %9YQ E@yqAE):I:i85YBA5B*** querying acoustic contact ***zh1h1gAEDNOT Ignoring new targets: 60.74 m.gMƹgMƹ] ProNav: ac range: 60.736858 m, nav range: 59.456635 m, bearing: 184.483932 deg, approach rate: -0.351067 m/s, LOS rate: -0.021694 deg/s, cmd heading: 189.336464 deg, new cmd heading: 189.317648 deg. g]eHeadingCmd: 3.304216 target range: 60.736858 and range: 60.90 m.geHxS@gagagagazfirfifqfqBdqdqdqcyc}H@ɢy0= 顭 I XF=ɡiIIm>iǒ=i=)HxS@)UBDAT read: Rx Time:23:55:00.2522 UTRx dataTimestamp_ set to:1758412498.020966]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948938PExceeded connect timeout, disconnecting.AiAAIIIi>A .=ԑ A I I N >)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199107R$,3Ay6‘F@ٱ6=T@6=6&6H b?`ƿ`w8| —?I6‘F@)6!];i6CBsB9B!I)D D Mb@Mb@Mb@ ) I i   q= ףp?Zd;O{Gz? > j ף99FY۱E`K:A>Q 15٪?Q 55b %9:>Q A;YAQ E@ysAE)K;IK;i5YAg DNOT Ignoring new targets: 60.74 m.g?Kg?K- ProNav: ac range: 60.736858 m, nav range: 59.323002 m, bearing: 184.479535 deg, approach rate: -0.336786 m/s, LOS rate: -0.011106 deg/s, cmd heading: 189.317653 deg, new cmd heading: 189.308840 deg. g-5HeadingCmd: 3.304063 target range: 60.736858 and range: 60.90 m.g5uS@g1g1g1g1zf9rf9f9f=BBdAdAdAcAcE` @qɢq}.= y}Iy }F=ɡiII>iՒ=i=)uS@)i/DDwD-DE: E:6Et4:E!@!@!@!@ԩvBG>~BBT!IB*BBBBB;BDQEDAT read: 23:55:00.2522 LVL= 24144, 32737, 24690, 32755, AGC= 66, IDX= 428,-0.01, 1.652, 0.145, 2.058, 1.577, PHS= 0.177,-1.387, 0.437, RAW= 157.6, 9.1, CAL= 157.3, 9.7, ROT= 352.7, -9.7 Ygot valid direction response: 23:55:00.2522 LVL= 24144, 32737, 24690, 32755, AGC= 66, IDX= 428,-0.01, 1.652, 0.145, 2.058, 1.577, PHS= 0.177,-1.387, 0.437, RAW= 157.6, 9.1, CAL= 157.3, 9.7, ROT= 352.7, -9.7 PDAT read: Bearing 347.3, -12.3 (Local) ~Local bearing/azimuth received: Bearing 347.3, -12.3 (Local) >A DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.6 ms) speed 0.2 m/s E,DAT read: user:1000> MBDAT read: Tx time:23:55:01.3684 u$Ping request sent.u)m7Imw>imx 0@m">m/@m-\->m@ m-\-iiiImABu ?BycD?mǯ6?m'?mc" mtw)m-\-iii :publishing transmit ping timeYI Fpublishing direction and range info9im9hUnI?(RV?iiiiiiii i)iIiiiiiii iiiiImABu ?BycD?mǯ6?ii i)iiiiAA II IY Nm > |*,3Ay6͚F@ٱ6HT@6ۢ=6 ¼6H@Tb`Y"? 鲿ƿv@UxE?I6͚F@)6\;i4^gB9^!IBDf6Df03Yr!rY=r˺Q)r>t9t9vFYvݱEv:Az>xQ 15٪z?Q 5%5z z%9!Y%AQ E%@yzuAE)z.;Iz;iz5Y)5A1hh3Ah)nBh)nBhL@ vvRIM@=AQ$@u9hUnI?(RV?htwh-\-vuAMBsl *_93@vۭ ܯѿnSzܷ?hc[hlhar:?hhhB*iH?2iZU:i=BilB"iwM@ addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 3.530386 s, deltaX: -1.200001 m, approachRate: -0.339906 m/s, rangeRepo size: 4 U Added new target pos. range: 59.540096 m, bearing: 183.315015 deg, lat: 36.779128 deg, lon: -121.859753 deg, deltaT: 3.530386 s, deltaX: -1.196762 m, approachRate: -0.338989 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 59.54 m.g]ePowering the camera and arming the capture device at range: 59.70 m.gegmgi ProNav: ac range: 59.540096 m, nav range: 59.164799 m, bearing: 184.037736 deg, approach rate: 0.000000 m/s, LOS rate: -0.011106 deg/s, cmd heading: 189.308843 deg, new cmd heading: 189.299973 deg. gHeadingCmd: 3.303908 target range: 59.540096 and range: 59.70 m.g:sS@gggggzfrfffBdddcM@c ?ɢ]Be(= ae߽Ia e/#F=ɡiiiI퍼I{>i=i=):sS@) &Changing to mode: 2iaaaai@q@qDDvD1DE: E:6E-4:E"Ew;!Ex;!*Eh;!Eh;!) >A ʞ=rA >jA > nManaging dock network, ignoring radio surface power offY A yAI I9 Ne >'1,5%ȴ3Ay:F@ٱ:T@:`=:¼:Hb@2?6ƿu1@&@?F?I:F@):m\;i:CFZB9F!IMMb@Mb@Mb@ I)IIIiIIMZd;O?S㥛Mb?M~>M/ݼM H?9 H?9FYEK:A>Q 15٪ ?Q 55+ %9@>Q A;YBQ E@ywAE)` ;I:i5YBA EgDNOT Ignoring new targets: 59.54 m.gPowering the camera and arming the capture device at range: 59.70 m.gg=g= ProNav: ac range: 59.540096 m, nav range: 59.009716 m, bearing: 184.033175 deg, approach rate: -0.351380 m/s, LOS rate: -0.010360 deg/s, cmd heading: 189.299977 deg, new cmd heading: 189.290832 deg. g%HeadingCmd: 3.303748 target range: 59.540096 and range: 59.70 m.g%pS@g!g!g!g!g!zf)rf)f)f-BBd1ddcc?ɢ% = !% I! %E=ɡ)i)I-}ΌI5>i5F=i5c=)5pS@)9IEňG)]fAIuAAifA`Ai7Ay>A D D D D E : E .:6E :E ! @! @! @! @AY Ia Iq N >ԙ  8,3AvB&F>~B$B&A!IB&BB$B$B$B&;B&>QEyJF@ٱJ|T@J=J&JH`:d?\t)ƿw 梿`ٳ@?IJF@)J_;iHYB9!Ii =I =BD$6D3Y=ۻ!=S=EGQ)E>A9I9MFYMEM^*AM>QQ 1]5٪U.?Q 5]5U U%9aYeBQ Ee@yUzAE)UH;IU;iUR5Yq}AgDNOT Ignoring new targets: 59.54 m.gPowering the camera and arming the capture device at range: 59.70 m.gg,g, ProNav: ac range: 59.540096 m, nav range: 58.880123 m, bearing: 184.029475 deg, approach rate: -0.329736 m/s, LOS rate: -0.009436 deg/s, cmd heading: 189.290838 deg, new cmd heading: 189.283421 deg. g'HeadingCmd: 3.303619 target range: 59.540096 and range: 59.70 m.g~nS@gggggzfrfffBdddcc ?ɢ!-rh= )- I) -@E=ɡ)i1I5ۋԑI7>i)=iH=)~nS@)iM5IIM0I>AiA AI I N >) ^5>,93Ay6 F@ٱ6yT@6؜=6g6H`vf?F@bƿy]>b?I6 F@)6P`;i6CBRB9B!IBDJ6DJ2DRDR|DR.DPER%: ERP$:6ERـ4:EP"ER;!ZER;!Z*ER};!ZER};!^Yb!bR=bg.Q)f>fK?9fK?9fFYfEj 9Aj>lQ 1r5٪nK?Q 5r5nؐ n%9tYvBQ Ev@yn|AE)n;In=:in5YxzWAxB*** querying acoustic contact ***zhhg!%DNOT Ignoring new targets: 59.54 m.g)-Powering the camera and arming the capture device at range: 59.70 m.g)g5*g5*E ProNav: ac range: 59.540096 m, nav range: 58.750355 m, bearing: 184.025901 deg, approach rate: -0.337753 m/s, LOS rate: -0.009322 deg/s, cmd heading: 189.283421 deg, new cmd heading: 189.276258 deg. gEyMHeadingCmd: 3.303494 target range: 59.540096 and range: 59.70 m.gMrlS@gIgIgIgIgQzfrfffBdddcc@x?ɢ)5d= QU*IQ ]D=ɡYiYI]ъIeD>ie=ie=)erlS@)i)=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.i @3   .0 @>@>!>A1bA1ZA5AQ A! I) I9 NM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7330870E,!s3Ay:P}F@ٱ:uT@:ɣ=:K:Hsg?ƿy<O@?I:P}F@):_;i:CVJB9V|!ImMb@Mb@Mb@ i)iIiiiimoʡ?MbQ?m>mmu99FYEA>Q 15٪Ɔ?Q 55- %9>Q A;YCQ E@y~AE)k;IVk;i5YBrAgDNOT Ignoring new targets: 59.54 m.gPowering the camera and arming the capture device at range: 59.70 m.ggaga ProNav: ac range: 59.540096 m, nav range: 58.601261 m, bearing: 184.023785 deg, approach rate: -0.325145 m/s, LOS rate: -0.004628 deg/s, cmd heading: 189.276263 deg, new cmd heading: 189.272019 deg. gHeadingCmd: 3.303420 target range: 59.540096 and range: 59.70 m.g;kS@gggggzfrfffBBddd c c  ?ɢ9== 9=)I9 =(D=ɡAiAIEIEy>iM =iIQ)M;kS@)QD=D=xD=*D9E=: E=:6E=(N4:E9!M@!M@!M@!M@i0_0iE??IE?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.985469vBQ~BQBU.!IBU BBQBQBQBU;BUGQEԁ>A p=ԩ A9 IA IY Ne >HK,CU/3A@]LB9]~!I)a aBDm26Dm 3Y}a;!N=Q)>99FYEA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237290Q 15٪{?Q 55y %9YQ E@yAE):IF:i5YeAgDNOT Ignoring new targets: 59.54 m.gPowering the camera and arming the capture device at range: 59.70 m.ggg ProNav: ac range: 59.540096 m, nav range: 58.467026 m, bearing: 184.021870 deg, approach rate: -0.358607 m/s, LOS rate: -0.005127 deg/s, cmd heading: 189.272014 deg, new cmd heading: 189.268175 deg. g# HeadingCmd: 3.303353 target range: 59.540096 and range: 59.70 m.g "jS@g g g g g zf rfffBdddcc%JC@ɢIMn= IU4&IQ UTC=ɡQiQIUȽI]>i]o-=i]=)]"jS@)aԩi?.05D=D=~D=-D9E=%: E=(:6E=t4:E9"E9!EE9!E*E=;!ME=;!M>A (=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490083 AA Ii I N >1R,4I3Ay^{F@ٱ^ tT@^ U=^c^Hh?n@˙ƿ` z`.9沿 ?I^{F@)^/_;i^Clj=B9nl!IMb@Mb@Mb@ )Iii|?5?L7A`堿{Gz?>+#99FYEA>Q 15٪Uo?Q 55ˑ %9 >Q A ;Y CQ E @yAE):I:i{5YBA Eg9EDNOT Ignoring new targets: 59.54 m.gAEPowering the camera and arming the capture device at range: 59.70 m.gAgMϪgMϪ] ProNav: ac range: 59.540096 m, nav range: 58.322128 m, bearing: 184.019933 deg, approach rate: -0.348269 m/s, LOS rate: -0.004667 deg/s, cmd heading: 189.268176 deg, new cmd heading: 189.264292 deg. g]eHeadingCmd: 3.303285 target range: 59.540096 and range: 59.70 m.geiS@gagigigigizfirfqfqfuBBdqdydycyc}`@ɢ!%z= quBIy }B=ɡyiyI}6I>i<=i)iS@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742079i=+AAE/5A1>Ae =rAi jAm >DE DE DE +DA EE s: EE x:6EE [4:EA !M @!U @!U @!U @Y A I I N >vB9 ~B9 B= !IB= BB9 B9 B9 B= ;B= PQEBBB˝] BDAT read: Rx Time:23:55:03.8504 ] TRx dataTimestamp_ set to:1758412501.548346e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994335 eX,5c3AB =B =B4!4B9`!IBD'6D3Y8!K=Q)>99FYEA>Q 15٪c?Q 55 %9YQ E@yAE);Iz;i<5YAgY}DNOT Ignoring new targets: 59.54 m.gPowering the camera and arming the capture device at range: 59.70 m.ggggg ProNav: ac range: 59.540096 m, nav range: 58.182133 m, bearing: 184.018053 deg, approach rate: -0.341722 m/s, LOS rate: -0.004601 deg/s, cmd heading: 189.264296 deg, new cmd heading: 189.260526 deg. gHeadingCmd: 3.303219 target range: 59.540096 and range: 59.70 m.ggS@gggggzfrfffBdddcc @ɢB= TI 7OB=ɡiI Iķ>iI=i=)gS@)Qi/)3ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.245072>Ap=ԩ A! I) IA NM >U^,;|3ADD|D-DE: EP$:6Et4:E"E;!E;!*E};!E};!)B9R!IBD-#6D-Ӏ3Y=k!=U=9Q)E>A9A9EFYEEIAM>QQ 1]5٪U\X?Q 5]5Ue U%9YYYQ Ee@yUAE)U;IUU;iU 5Yim[AiB*** querying acoustic contact ***zhhgԙDNOT Ignoring new targets: 59.54 m.gPowering the camera and arming the capture device at range: 59.70 m.ggg ProNav: ac range: 59.540096 m, nav range: 58.048573 m, bearing: 184.016250 deg, approach rate: -0.355413 m/s, LOS rate: -0.004807 deg/s, cmd heading: 189.260526 deg, new cmd heading: 189.256913 deg. g HeadingCmd: 3.303156 target range: 59.540096 and range: 59.70 m.gfS@gggggzfrfffBdddcc @ɢ <  jI  A=ɡ iII˸>iV=iD=)fS@)i=I<%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499048i&/>AAA II IY Nm > DAT read: 23:55:03.8504 LVL= 19184, 28641, 22770, 27379, AGC= 62, IDX= 427,-0.29, 1.908, 0.451, 2.404, 1.870, PHS= 0.139,-1.374, 0.490, RAW= 160.2, 8.7, CAL= 159.9, 9.1, ROT= 350.1, -9.1  Ygot valid direction response: 23:55:03.8504 LVL= 19184, 28641, 22770, 27379, AGC= 62, IDX= 427,-0.29, 1.908, 0.451, 2.404, 1.870, PHS= 0.139,-1.374, 0.490, RAW= 160.2, 8.7, CAL= 159.9, 9.1, ROT= 350.1, -9.1  PDAT read: Bearing 346.9, -14.3 (Local)  ~Local bearing/azimuth received: Bearing 346.9, -14.3 (Local)  DAT read: Range 11 to 50 : 58.5 m (Round-trip 78.0 ms) speed 0.3 m/s  ,DAT read: user:1001>   BDAT read: Tx time:23:55:04.9683  $Ping request sent. ? jB i J o X j > V>) ;߯I H>i 2@ |> )2@ "> a@ "i I F`(?VIj?T`l? £3? R 40) "i  :publishing transmit ping timeY  Fpublishing direction and range info9 }8q ?ܺſ@\~>? i ) I i i I F`(?VIj?T`l? ) i ke,3Ay:)F@ٱ:{T@:C[=:u?:Hi@p? `ⰿƿ`yH'L|?I:)F@):h]^;i:C&B9O!I%Mb@Mb@Mb@ !)!I!i!!%/$?Mby&1|?%&>%%`;I%~ Ai%A!% A)!%ABD]6D]P)3Y}@!}+=}!ȻQ)>99FYE~:A>Q 15٪RJ?Q 55ǒ %9>Q A;YCQ E@yAE):I:i#5YBOAEbD ZD AADDtD/DEs: Ev:6EJ4:E!@!@!@!@hhk3Ah_iBh_iBhI@ vXC" `L@-ʧ+#1Q,st"@u}8q ?ܺſ@\~>?h40h"vF MvM|Fx@v!$￸`򬅿Ҡ?hh\hhz*+?hrhB*iar:?2i :iBihB"ir/M@} addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.777591 s, deltaX: -1.200001 m, approachRate: -0.317663 m/s, rangeRepo size: 4  Added new target pos. range: 58.343159 m, bearing: 180.609022 deg, lat: 36.779127 deg, lon: -121.859750 deg, deltaT: 3.777591 s, deltaX: -1.196938 m, approachRate: -0.316852 m/s, posRepo size: 4 gDNOT Ignoring new targets: 58.34 m.gPowering the camera and arming the capture device at range: 58.50 m.ggg ProNav: ac range: 58.343159 m, nav range: 58.023529 m, bearing: 183.691469 deg, approach rate: 0.000000 m/s, LOS rate: -0.004807 deg/s, cmd heading: 189.256919 deg, new cmd heading: 189.252133 deg. gHeadingCmd: 3.303073 target range: 58.343159 and range: 58.50 m.geS@gggggzfrf!f)f-BBd)d)d)c5@M@c5]?ɢ}B= 顥ToI Q@=ɡiI4I(>iDi=iU=)eS@)vBE>~BB!IBBBBBB;BZQEi#4Qy >A bA ZA AA)I1IANU>$l,@´3ADyJXF@ٱJ҉T@J=J|JH`i? aƿy1k#?IJXF@)J^;iJCVB9V!IBD^6D^J2Yfr!fW=fƻQ)f>h9h9jFYjEn;An>pQ 1v5٪rS??Q 5v5r r%9tYvwCQ Ev@yrAE)r;Ir;ir$5Y|~ A|g!%DNOT Ignoring new targets: 58.34 m.g!-Powering the camera and arming the capture device at range: 58.50 m.g)g5g5E ProNav: ac range: 58.343159 m, nav range: 57.892616 m, bearing: 183.688488 deg, approach rate: -0.362827 m/s, LOS rate: -0.008281 deg/s, cmd heading: 189.252138 deg, new cmd heading: 189.246163 deg. gEzrMHeadingCmd: 3.302969 target range: 58.343159 and range: 58.50 m.gMcS@gIgIgQgQgQzfYrfYfafiBdiddcc֗?ɢt< 顽_I ?=ɡiINI ݻ>i w=i 3 =) cS@)ԩi /BEA{4JE}4REĿJ0D%D%zD%.D!E%: E% :6E%ـ4:E!"E%;!EE%;!E*E%v;!EE%v;!M>A A yAI I) N= >4ws,3ε3A|B9)!I%Mb@Mb@Mb@ !)!I!i!!%X9v?Q{Gzt?%>%%ף;I%Q Ai!%A!)!%fA]p} H?9} H?9}FY}E}A>Q 15٪1?Q 55y %9b>Q A;YCQ E@yAE)6;I;i&5YC Ag -DNOT Ignoring new targets: 58.34 m.g15Powering the camera and arming the capture device at range: 58.50 m.g1g=;g=;M ProNav: ac range: 58.343159 m, nav range: 57.732006 m, bearing: 183.683726 deg, approach rate: -0.345159 m/s, LOS rate: -0.010263 deg/s, cmd heading: 189.246169 deg, new cmd heading: 189.236617 deg. gMBHeadingCmd: 3.302802 target range: 58.343159 and range: 58.50 m.gaS@gggggzfrfffnBBdddcc ?)ɢeBe< imᔾIi mx>=ɡiiiIḿIu>iu=iu>=)}aS@)yi=9999arD5=jD5<D=D=}D=0D9E=U: E=k&:6E=4:E9!E@!E@!E@!E@vB D>~B B IB ӂBB =B B B ;B TQEԉ >A] 벫=A AI I Ա N >fTz,iS3AyvF@ٱT@=\H@h ?@ ƿwz瞿 @z??IvF@)O^;iC=B9E!IBDU6DU2Ye!eE=e䆻Q)e>mK?9mK?9mFYmEu.;Au>yQ 15٪}%?Q 55}ד }%9YBQ E@y}AE)}y-;I}/;i}x(5Y B AEgDNOT Ignoring new targets: 58.34 m.gPowering the camera and arming the capture device at range: 58.50 m.ggKKgKK ProNav: ac range: 58.343159 m, nav range: 57.585968 m, bearing: 183.679213 deg, approach rate: -0.358599 m/s, LOS rate: -0.011108 deg/s, cmd heading: 189.236620 deg, new cmd heading: 189.227572 deg. gHeadingCmd: 3.302644 target range: 58.343159 and range: 58.50 m.g^S@gggggzfrfff Bd d dcc@v?ɢ]B]-ĺ< aeԢIa m ==ɡiiiImrÀI}/>i}A=i}=)}^S@)!iEAAM/IQ>AarAe>jAe>ԁ D D tD -D E s: E v:6E t4:E "E ;! E ;! *E `;! E `;! A I I N >'5,3A0=B99BDM#6DMӀ3Y]卺!]K=eQ)e>a9a9mFYmEmAm>qQ 1}5٪u?Q 5}5u2 u&9YQ E@yuAE)u;Iur;iu9*5Y AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 58.34 m.gPowering the camera and arming the capture device at range: 58.50 m.gg\Gg\G ProNav: ac range: 58.343159 m, nav range: 57.444798 m, bearing: 183.674829 deg, approach rate: -0.349937 m/s, LOS rate: -0.010893 deg/s, cmd heading: 189.227577 deg, new cmd heading: 189.218788 deg. g|HeadingCmd: 3.302491 target range: 58.343159 and range: 58.50 m.g\S@gg g g g zf rf ffBdddcc?ɢIu< y}/I n<=ԑɡiI()I>iu=i=)\S@))]d>iYIG)AIAik!)-/i565A5xB9Թ)Y YeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. >A ʞ=D D yD .D E C: E :6E ـ4:E ! @! @! @! @A  I! I1 N= >ԇ, 3Ay6F@ٱ67T@6=6K6H e@x?#jDǿ sಿ\ ?I6F@)66`;i6C@9B!IiF=IFa=Mb@Mb@Mb@ )Iid;O?tI AiA~ A)3ABD-6D-\3Y=\!=>=E bQ)E>AvB~BB IBBB =BBB;BMQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.24339599FYE);A>Q 1 5٪ ?Q 5 5  &9%>Q A%;Y%@Q E%@yAE)i]s=i]j=)]US@)yi>)>A= 벫=a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495730IA IY Nu >,:3A y: G@ٱ:$U@:uM=::H`?8Pǿm༆3P?I: G@):xd;i:Cb߂B9b IBDj6DjF3Yr!rQ=v+Q)v>t9t9vFYzEz <Az>|Q 15٪~?Q 55~7 ~&9 Y Y@Q E @y~AE)~d:I~|:i~-5Y?!Ag9EDNOT Ignoring new targets: 58.34 m.gAEPowering the camera and arming the capture device at range: 58.50 m.ElFinal approach. Armed for intercept at range: 58.50 m.M\Transitioning guidance mode to: FINAL_APPROACHgM@gMgMe ProNav: ac range: 58.343159 m, nav range: 57.155697 m, bearing: 183.654511 deg, approach rate: -0.359186 m/s, LOS rate: -0.026096 deg/s, cmd heading: 189.197128 deg, new cmd heading: 189.178048 deg. ge ?eHeadingCmd: 3.301780 target range: 58.343159 and range: 58.50 m.gm\PS@gigm:gm33?gizfirfifqfqBdqdqdycyc}G@ɢB < 顭ŹI ?:=ɡiIjzIX>iSÓ= 33? (kpHeading = 0.700000): (kiHeading = 0.001000ig=)\PS@)DDzD,DEƱ: E :6Eg4:E"EF;!EG;!*Ev;!Ev;!qiu@qqu/ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.747551ԙ>A=bAZA I I N >ޔ,lT3A&BDAT read: Rx Time:23:55:07.4488 &TRx dataTimestamp_ set to:1758412505.328347*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000637yB AG@ٱB9U@BRc=BGȤBH6\U?d \!ȿh@CI ?IB AG@)BU,e;iBCN݂B9N IPMb@Mb@Mb@ )IiʡE?~jtMb?>DI9I9UFYUE];A]>aQ 1m5٪e?Q 5m5eו e&9mů>Q Am;Ym?Q Em@yeAE)e:Ie;ie/5Yy}L!AygDNOT Ignoring new targets: 58.34 m.gg  g  = ProNav: ac range: 58.343159 m, nav range: 57.002151 m, bearing: 183.640311 deg, approach rate: -0.332585 m/s, LOS rate: -0.030840 deg/s, cmd heading: 189.178044 deg, new cmd heading: 189.149568 deg. g=aEHeadingCmd: 3.301283 target range: 58.343159 and range: 58.50 m.gE7HS@gAgAgAgAzfIrfIffmBBdddccj @ɢeBe< aeI 8=ɡiI~wI}>i>˓=i#=)7HS@)DD}D-DE: Ek&:6Et4:E!@!@!@!@i?!!%/!vB~BB IBBBBBB;BQQE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253150! >Ae +=I I) NU >,n3Ap҂B9 I)) -ABD=&6D=ދ3YUi!]X=]Q)e>a9a9mFYm EmAu>Q 15٪駊?Q 55b &9YQ E@yAE)B:Ig:iw15YB!AEgDNOT Ignoring new targets: 58.34 m.ggSgS ProNav: ac range: 58.343159 m, nav range: 56.869873 m, bearing: 183.628016 deg, approach rate: -0.352671 m/s, LOS rate: -0.032856 deg/s, cmd heading: 189.149562 deg, new cmd heading: 189.124915 deg. gpHeadingCmd: 3.300853 target range: 58.343159 and range: 58.50 m.g+AS@g!g!g!g!zf!rf!f)f)Bd)d)d)c1c5v @ɢ]BeF'< aeľIa e7=ɡaiiIm.uIm>iuГ=iu@=)u+AS@)q}DAT read: 23:55:07.4488 LVL= 22320, 28017, 18930, 27011, AGC= 66, IDX= 426, 0.37,-0.810,-2.284,-0.355,-0.908, PHS= 0.200,-1.331, 0.509, RAW= 159.0, 7.3, CAL= 158.5, 7.4, ROT= 351.5, -7.4 Ygot valid direction response: 23:55:07.4488 LVL= 22320, 28017, 18930, 27011, AGC= 66, IDX= 426, 0.37,-0.810,-2.284,-0.355,-0.908, PHS= 0.200,-1.331, 0.509, RAW= 159.0, 7.3, CAL= 158.5, 7.4, ROT= 351.5, -7.4 PDAT read: Bearing 345.4, -12.5 (Local) ~Local bearing/azimuth received: Bearing 345.4, -12.5 (Local) DAT read: Range 11 to 50 : 57.2 m (Round-trip 76.3 ms) speed 0.3 m/s ,DAT read: user:1002> BDAT read: Tx time:23:55:08.5683 $Ping request sent.)55^I5M?i5Κ1@5w>5 1@5 A>5P@ 5 Ai11I5dC?] ?y?> [?5fY.?51: 5)5 Ai11:publishing transmit ping timeYFpublishing direction and range info9156b?f¿OZ_|?11i11111 1)1I1i11111 1i11I5dC?] ?y?> [?11 1)1i111DDuD2DE: E:6E4:E"E;!E;!*Ekd;!Eld;!>A=Ii I N >a ,e3Ay6ZG@ٱ6ԓU@6~=6( 6HVT`?I'@ȿ`#`v|ί @`t?I6ZG@)6Cc;i6CR͂B9R IBDZ#6DZӀ3Yv!vR=v|Q)v>x9x9zFYz Ezh<A~>Q 1 5٪ާ?Q 5 5 "&9 Y >Q E @yAE)#;AIu3Ahe/dBhe/dBheOL@ ve0K@7 Yc@ue6b?f¿OZ_|?hehe AvekSjLEcJxnx9@ve.#¬=" C?he8heRchen)?heheۊB*iez*+?2ieh:ieBiecB"ie͜L@ addTargetRange:: Added new target pos. range: 57.200001 m, deltaT: 3.528486 s, deltaX: -1.299999 m, approachRate: -0.368430 m/s, rangeRepo size: 4  Added new target pos. range: 57.046349 m, bearing: 182.909812 deg, lat: 36.779125 deg, lon: -121.859745 deg, deltaT: 3.528486 s, deltaX: -1.296810 m, approachRate: -0.367526 m/s, posRepo size: 4 gDNOT Ignoring new targets: 57.05 m.ggg ProNav: ac range: 57.046349 m, nav range: 56.902065 m, bearing: 183.178644 deg, approach rate: 0.000000 m/s, LOS rate: -0.032856 deg/s, cmd heading: 189.124919 deg, new cmd heading: 189.094395 deg. gHeadingCmd: 3.300320 target range: 57.046349 and range: 57.20 m.gq8S@ggggzfrff!f!Bd!d)d)c-L@c-?ɢ]B]yI< Y]#ȾIY e46=ɡaiaIe6siIC>iٓ=i)7=)q8S@)iAAAM/I@Q@Qԙ>A% ˺=rA- >jA- >I I N > D D D *D E : E 6E (N4:E ! @! @! @! @w*, @3Ay6G@ٱ6=U@6B5{=6A6H POT?!^ ɿ-\`ag?I6G@)6b;i6CBB9B IvB!~B!B% IB%BB!B!B!B%;B%FQEBBBBBBۧ4Mb@Mb@Mb@ )IiʡE?~jtxy&1|?->Ļ`;IiA A)QAԡBD6DP)3Y׽!>=Q)>99FYEݶ;A>Q 15٪cҧ?Q 55 )&9=>Q A;Yx=Q E@yAE);I ;i55Yg"A B*** querying acoustic contact ***zh h gDNOT Ignoring new targets: 57.05 m.gg%zg%z5 ProNav: ac range: 57.046349 m, nav range: 56.753418 m, bearing: 183.159686 deg, approach rate: -0.428611 m/s, LOS rate: -0.054806 deg/s, cmd heading: 189.094402 deg, new cmd heading: 189.056387 deg. g5Ⱥ=HeadingCmd: 3.299656 target range: 57.046349 and range: 57.20 m.g=-S@g9g9g9g9zfArfAfAfEYBBdIdIdIcIcM?ɢ5B= L< 9='޾I9 =4=ɡAiAIEpIE$>iMi=iMm=)M-S@)qi?  0 >A7=IIIYNuW>M T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode. T,T3Ay6G@ٱ6eU@6w=66H`M?eeɿX`I﮿ !?I6G@)6`;i6CRB9V IiZ=IZ=BD^6D^N2YvS<!vY=vQ)v>x9x9zFYzE~q;A~>!Q 1-5٪%eǧ?Q 5-5%G %.&9)Y-T=Q E-@y%AE)%:I%1:i%65Y=B]"A]EgDNOT Ignoring new targets: 57.05 m.gguJguJ ProNav: ac range: 57.046349 m, nav range: 56.621853 m, bearing: 183.142531 deg, approach rate: -0.338579 m/s, LOS rate: -0.044251 deg/s, cmd heading: 189.056385 deg, new cmd heading: 189.021995 deg. gHeadingCmd: 3.299056 target range: 57.046349 and range: 57.20 m.g#S@ggggzfrfffBdddccs?DD}D-DE: Ek&:6Et4:E"Ew;!Ex;!*Eŀ;!Eŀ;!ɢ]B]To< Y]׾IY e}3=ɡaiaIeinIm>im=i3=)#S@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242250!iAAAEX2AY>A :_=y A yAI I N >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493707>B,ֶ3Ay6 H@ٱ6&V@6u=66HUJ?@泫 ɿiTߞiW#?I6 H@)6&_;i4^B9^ IMb@Mb@Mb@ )IiV-?t H?9 H?9FYEɪ;A>Q 1%5٪&?Q 5-5 3&9->Q A-;Y-@E4>qDDD0DE: E*:6E4:E!@!@!@!@A <A <vBE>~BB IBBBBBB;BBQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.745821ԩ>A 6[=A A I I N >kg,3Ayu$H@ٱu V@us=uRuH H?@dɿ@Qϡ`p M?Iu$H@)u_;iuCB9 IBD6Df?3ԱYP=!A=ŔQ)>K?9K?9FYE.k;A>Q 15٪D?Q 55֙ 8&9Y;Q E@yAE) ;I%;iq:5YB!AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997851gDNOT Ignoring new targets: 57.05 m.gg%lg%l5 ProNav: ac range: 57.046349 m, nav range: 56.332714 m, bearing: 183.098405 deg, approach rate: -0.335615 m/s, LOS rate: -0.051755 deg/s, cmd heading: 188.977428 deg, new cmd heading: 188.933522 deg. g5n=HeadingCmd: 3.297512 target range: 57.046349 and range: 57.20 m.g=p S@g9g9g9g9zfArfAfAfABdIdIdIcQcU0@ɢEBM< QUWӾIQ ]0=ɡYiYI]JoiIE?i6=i`=)p S@)i?BE9JE=44RE=DN0DD|D.DE%: EP$:6Eـ4:E"E;!E;!*E};!E};! >A% A!=i m?I R= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2500179 AQ IY Iq N} >c,% 3Ay6l5H@ٱ6-V@6lIp=6Q6H F 4?`%ʿP@࠿ ?I6l5H@)6^;i6CBB9F I)H JABDj!6Djr3Yr~!ri=vQ)v>t9t9zFYzEz?;A~>|Q 15٪~y?Q 5 5~y ~<&9 Y ;Q E @y~AE)~:I~$:i~;5Yb"AgaeDNOT Ignoring new targets: 57.05 m.gagm7lgm7l} ProNav: ac range: 57.046349 m, nav range: 56.215363 m, bearing: 183.080150 deg, approach rate: -0.331200 m/s, LOS rate: -0.051629 deg/s, cmd heading: 188.933524 deg, new cmd heading: 188.896937 deg. g}HeadingCmd: 3.296874 target range: 57.046349 and range: 57.20 m.gR@ggggzfrfffBdddcc @ɢB%< #I `/=ɡiI?gI5?i5=i==)=R@)Ii@S2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502326A >A] I=bD ZD @AD D xD D E U: E :6E :E ! @! @! @! @A I I i Nu >,$3AvB>F>~B<B> IB>}BB<B<B<B>;B>FQEyM@H@ٱ8V@m=>H EH?@EʿOkĠv`ݕh?IM@H@)ޞ^;=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753739iCB9 I=Mb@Mb@Mb@ 9)9I9i99=v/?~jth~jt?=x>=D=Di9i9uFYuEu:Au>yQ 15٪}?Q 55}@ }?&9>Q A ;YnA h=Ա AA IQ Ia Nm >,G@3Ay6NH@ٱ6GV@6,ej=66H@D d?J\o3ʿMH W@?I6NH@)6^;i6CBB9B IBDJ)6DJ3YRފ!RV=RQ)R>T9T9VFYVEV;AZ>\Q 1b5٪^?Q 5b5^ ^B&9`Yb`A- t=- eDAT read: 23:55:11.0472 LVL= 25952, 28225, 22578, 30835, AGC= 4261.820, .369, 1.791, PHS= 0.14 RAW= 161.2, 8.5, CAL= 160.9, 8.9, ROT= 349.1, -8.9 5 unknown deviceResponse_: 23:55:11.0472 LVL= 25952, 28225, 22578, 30835, AGC= 4261.820, .369, 1.791, PHS= 0.14 RAW= 161.2, 8.5, CAL= 160.9, 8.9, ROT= 349.1, -8.9 E PDAT read: Bearing 347.6, -14.5 (Local) M ~Local bearing/azimuth received: Bearing 347.6, -14.5 (Local) e DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.8 ms) speed 0.2 m/s m ,DAT read: user:1003> } BDAT read: Tx time:23:55:12.1683 } $Ping request sent. ׀,F[3Ay-eFH@ٱ->V@-6f=--H`$F R? #ʿO]g¬vC?I-eFH@)-j^;i)EB9E IiM=IM=!5@!5 !5@!5 !5@!5 !5@!5 9BD].6D]P3YmBN!m*=u- Q)u>q9q9uFYu!EA>Q 15٪A?Q 55 E&Q =+:9Q A;YhiZA5Y"A  addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 3.528529 s, deltaX: -1.100002 m, approachRate: -0.311745 m/s, rangeRepo size: 4 g DNOT Ignoring new targets: 57.05 m.gg=_g=_M ProNav: ac range: 57.046349 m, nav range: 55.781605 m, bearing: 183.015554 deg, approach rate: -0.324926 m/s, LOS rate: -0.048757 deg/s, cmd heading: 188.815088 deg, new cmd heading: 188.767423 deg. gMuUHeadingCmd: 3.294613 target range: 57.046349 and range: 56.10 m.gUR@gQgQgqgqzfyrfyfyfyBdddc L@c@#?DD}D.DE: Ek&:6Eـ4:E!@!@!@!@ɢBPK< 顕I af*=ɡiIT_ID?i,=i0=)R@)vB~BBl IBnBBBBB;BHQEiԙ95 :i < _0 >A^1=AIIN ?O,V*3AyN@H@ٱNN9V@NY0\=N9̼NHG sL?Oʿ N^!ć?IN@H@)NI^;iNCZB9Z IBDb(6Db:3Yj!j!=nQ)n>p9p9rFYr%Er0Ar>tQ 1z5٪vrs?Q 5z5v vH&Q =~ :9|Q A~:Y~kAuas=ԁ A I I N >)ߡ ߡ ,٘3Ay:z.H@ٱ:&V@:DX=:8ڼ:HJ_*?@ǷCɿ P آ@<?I:z.H@):F^;i:CFB9F I!=!= !=!E !E!E !E!E EMb@Mb@Mb@ A)AIAiAAEZd;O?EtE;IAiEAEAE A)AE ABD]%6D]03Ym؛!mB=m qQ)m>y9y9}FY}'E}s.A}>Q 15٪g?Q 55@ N&Q =T:9>Q A;Y=Q E@yAE);I;iD5YBR#AgDNOT Ignoring new targets: 57.05 m.ggEgE ProNav: ac range: 57.046349 m, nav range: 55.477264 m, bearing: 182.972571 deg, approach rate: -0.330670 m/s, LOS rate: -0.043240 deg/s, cmd heading: 188.717567 deg, new cmd heading: 188.681225 deg. gDHeadingCmd: 3.293109 target range: 57.046349 and range: 56.10 m.gKR@ggggzfrfffTBBdddcc|?ɢ-B-; 15I1 5A&=ɡ1i1I5i2ZI=k]?i=E=iE)=)EKR@)A)I IiIIIԙD%D%rD%-D!E%s: E%?:6E%t4:E!!-@!-@!-@!-@vB)~B)B-` IB-dBB)B)B)B-;B-NQEi>0 >A e=A I I N >,K3A0i2@yr"!H@ٱrV@rySR=rrH L 8?iΦ ɿQrzG Ҝ?Ir"!H@)roI^;irC B9  I) A%4A9A9EFYE*EMAM>Q 15٪Z?Q 55 T&9Y=Q E@yAE):I;iF5Y#AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 57.05 m.gg TEg TE ProNav: ac range: 57.046349 m, nav range: 55.323009 m, bearing: 182.952472 deg, approach rate: -0.330090 m/s, LOS rate: -0.043130 deg/s, cmd heading: 188.681230 deg, new cmd heading: 188.640920 deg. gݝ%HeadingCmd: 3.292405 target range: 57.046349 and range: 56.10 m.g%ĶR@g!g!g!g!zf)rf)f)f1Bd1d1d1c1c= ?ɢeBeP< ae1Ii m%=ɡiiiImWIuh?iuR=iq)}ĶR@)yIi?  4 qDDxDDE: E:6E:E"EAE=uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. Ay I I N >s,!з3APy1H@ٱU@$M=S!HXO ?uɿSǣ@á |ٝ >?I1H@)O];iCB9 I}Mb@Mb@Mb@ y)yIyiyy}sh|??MbMbP}>}}I}Ai}lA}A} A)y}= ABD&6Dދ3Y=!6=[8Q)>99FY-E)xA>Q 15٪N?Q 55 \&9>Q A;Y=Q E@yAE)&;I&;iH5YB,#AEgDNOT Ignoring new targets: 57.05 m.ggFg%F} ProNav: ac range: 57.046349 m, nav range: 55.179409 m, bearing: 182.933541 deg, approach rate: -0.328779 m/s, LOS rate: -0.043456 deg/s, cmd heading: 188.640918 deg, new cmd heading: 188.602958 deg. g}HeadingCmd: 3.291743 target range: 57.046349 and range: 56.10 m.gR@ggggzfrfffiBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996382BdAdAdAcAcMW@@ɢ~B~< 顝^I "#=ɡiITIs?i_=i8{=)R@)i@R5D D yD .D E : E :6E ـ4:E ! @! @! @! @ vB E>~B B S IB YBB B B B ;B KQEBIBIBIBIBIBM[4>A ^1= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248228I Aa Iq I N >G,3AyBFG@ٱBU@B[G=B 'BH`Q`?Iƅɿ T jzd?IBFG@)B];iBCNB9N IBDV$6DV3Y^!^V=beQ)b>`9`9bFYb/Ef_1Af>hQ 1n5٪jlD?Q 5n5j; jb&9lYr=Q Er@yjAE)j:Ij|:ij@J5YtvZ#AtgDNOT Ignoring new targets: 57.05 m.ggFgF- ProNav: ac range: 57.046349 m, nav range: 55.053764 m, bearing: 182.917033 deg, approach rate: -0.329713 m/s, LOS rate: -0.043418 deg/s, cmd heading: 188.602956 deg, new cmd heading: 188.569865 deg. g-랺5HeadingCmd: 3.291165 target range: 57.046349 and range: 56.10 m.g5sR@g9g9g9g9zf9rf9fAfABdIdIdQcQc]* @ɢ|B{1; 顥[I a!=ɡiIRIB}?ih=ip=)sR@)i2/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499919>A%Z=bA)ZA-AA Ay I I N >DY D] uDY DY EY  E] :6EY :EY "E] U;!e E] V;!m *E] kd;!m E] ld;!m ӂ,uV3Aɰy>G@ٱ>U@>xB=>؆>HSz?`^dɿUOV@7ˠS?I>G@)>1];i>CH9HBDR6DR 83ZBQ)Z>X9\9^FY^2E^+Ab>`Q 1f5٪bc9?Q 5f5bؠ bi&9hYj=Q Ej@ybAE)by:Ib[:ibL5Ylppchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751378gDNOT Ignoring new targets: 57.05 m.ggDgD- ProNav: ac range: 57.046349 m, nav range: 54.921818 m, bearing: 182.899762 deg, approach rate: -0.327834 m/s, LOS rate: -0.043014 deg/s, cmd heading: 188.569871 deg, new cmd heading: 188.535246 deg. g-q5HeadingCmd: 3.290561 target range: 57.046349 and range: 56.10 m.g5R@g1g9g9g9zf9rf9fAfABdAdAdIcIcMy>@ɢzB؋; !%XI! - =ɡ)i)I-JPI5)?iUt=iUe=)]R@)YQi>ԁ>ABDAT read: Rx Time:23:55:14.6456 TRx dataTimestamp_ set to:1758412512.384142checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004228ԩ A I I N e,v3 3Ay6^G@ٱ6U@6<=6f\ 6HV`w?@DBɿ`MWإ pꅡ?I6^G@)6];i6C@FxB9Fy I=Mb@Mb@Mb@ 9)9I9i99=#~j?I +=>=94=I9i=A9= A)9= ABDU&6DUދ3Ym!mq9q9uFYu5E}h%A}>Q 15٪-?Q 55q o&9>Q A#;Y>Q E@yAE):Iv:iM5YB#AEgDNOT Ignoring new targets: 57.05 m.gg1g1 ProNav: ac range: 57.046349 m, nav range: 54.784035 m, bearing: 182.883221 deg, approach rate: -0.322809 m/s, LOS rate: -0.038853 deg/s, cmd heading: 188.535242 deg, new cmd heading: 188.502075 deg. g5HeadingCmd: 3.289982 target range: 57.046349 and range: 56.10 m.gR@ggggzfrfffBdddccި @bD!ZD%AAD-D-rD--D)E-: E-?:6E-t4:E)!5@!=@!=@!=@ɢMxBUج; QUIQ ]f=ɡYiYI]UNIe?ie~=ie=)eR@)ivBD>~BBM IBTBBBBDB;BSQEԹi!>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256516i>A= A I) IQ N > ,P:3A2DAT read: 23:55:14.6456 LVL= 23136, 31409, 23602, 32755, AGC= 66, IDX= 426,-0.47,-1.195,-2.699,-0.696,-1.246, PHS= 0.152,-1.408, 0.506, RAW= 160.0, 8.5, CAL= 159.7, 8.9, ROT= 350.3, -8.9 6Ygot valid direction response: 23:55:14.6456 LVL= 23136, 31409, 23602, 32755, AGC= 66, IDX= 426,-0.47,-1.195,-2.699,-0.696,-1.246, PHS= 0.152,-1.408, 0.506, RAW= 160.0, 8.5, CAL= 159.7, 8.9, ROT= 350.3, -8.9 6PDAT read: Bearing 347.1, -12.6 (Local) :~Local bearing/azimuth received: Bearing 347.1, -12.6 (Local) >DAT read: Range 11 to 50 : 54.8 m (Round-trip 73.1 ms) speed 0.2 m/s B,DAT read: user:1004> FBDAT read: Tx time:23:55:15.7683 F$Ping request sent.F)X9I7?i¸2@>b2@>@ iIyQ9Q9UFYU8E]A]>aQ 15٪eP!?Q 55e ev&9YQ E@yeAE)enA] V=rAm >jAm >ԉ A yAI I N >9,UW3A,i.@yZG@ٱZ(U@Z2=ZOUZH@W`[f?EF1ɿ@W t`Z&e?IZG@)Z ^;iZCflB9fj IMb@Mb@Mb@ )Ii rh?Mb{Gzt>ףIAilAA) ABD)6D3Yߓ!I=rQ)> H?9 H?9FY:ErA>Q 15٪?Q 55 &9>Q A;Y=Q E@yAE)C ;I ;iQ5Y#AB*** querying acoustic contact ***zhhg!-DNOT Ignoring new targets: 54.65 m.g)g5_^g5_^E ProNav: ac range: 54.652710 m, nav range: 54.298340 m, bearing: 182.576239 deg, approach rate: -0.354891 m/s, LOS rate: -0.048603 deg/s, cmd heading: 188.463948 deg, new cmd heading: 188.426672 deg. gE屺MHeadingCmd: 3.288666 target range: 54.652710 and range: 54.80 m.gUyR@gQgQgQgQzfQrfQfYf]WBBdYdYdacaceX?ɢmtBm : qu&Iq u=ɡqiqIuxII}4?i}=i=)yR@)i=699=/9@A@ADDyD,DEC: E:6Eg4:E!@!@!@!@A)A)vB1~B1B5: IB5EBB1B1B1B5;B5YQET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>A ~E=! A1 I9 II N] >,q3AyVG@ٱVlU@Vv,=V(VHnYM?Zɿ`Xqdj @[?IVG@)Vq|^;iVCb[B9bU IBDj*6Dj3Yr9!v[=vSQ)v>x9x9zFYz=EzAz>Q 1 5٪} ?Q 5 5J &9 Y =Q E @yAE):I:iRS5YBN$AEgAEDNOT Ignoring new targets: 54.65 m.gAgM=QgM=Q] ProNav: ac range: 54.652710 m, nav range: 54.173645 m, bearing: 182.559218 deg, approach rate: -0.334264 m/s, LOS rate: -0.045733 deg/s, cmd heading: 188.426669 deg, new cmd heading: 188.392548 deg. g]deHeadingCmd: 3.288070 target range: 54.652710 and range: 54.80 m.geoR@gagigigizfirfifqfqBdqdqdqcyc} ?ɢsBY| 顭 I =ɡiIpGI?i:=ib=)oR@)i5%/!Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.971703ԁ>A]V=A AD D D D E : E 6E :E "E ;! E ;! *E r;! E r;! I I N >iߥ >Iߥ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222724",3Ay6ɷG@ٱ6CU@6'=6z6H@WZB? 䠿@ɿ@VY`Pm@ 0 ?I6ɷG@)6~^;i4D^cB9^_ IBDf6Df:3Yn =!rK=rDQ)r>vK?9vK?9vFYv?EvLAv>xQ 1~5٪z<?Q 55z z&9Y=Q E@yzAE)z;Iz7;izU5Y  $Ag1=DNOT Ignoring new targets: 54.65 m.g9gEQgEQU ProNav: ac range: 54.652710 m, nav range: 54.039181 m, bearing: 182.540821 deg, approach rate: -0.333874 m/s, LOS rate: -0.045793 deg/s, cmd heading: 188.392545 deg, new cmd heading: 188.355660 deg. gUHeadingCmd: 3.287426 target range: 54.652710 and range: 54.80 m.g2eR@ggggzfrfffBdddccX?ɢupB}@ҡ: y}Iy }y<=ɡyiyI7EI?i۫=id=)2eR@)iԹIG)AIi501999iɫAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.474616>AMt= Ay I I N >8(,Ѥ3AD2D2oD2+D0E2U: E2:6E2 [4:E0!6@!:@!:@!:@y^G@ٱ^~U@^d"=^^H@ZC?@R@Nɿ`Y nT Z E?I^G@)^^;i^CjVB9jO IvBrE>~BpBr4 IBr@BBpBpBrDBr;BrIQE|i=I=Mb@Mb@Mb@ )IiˡE?MbMb`?>;IdAiAA)\ AIAA)@ABD6D03Yn!>=z@Q)>99FYBE69A>Q 15٪?Q 55 &9>Q A!;Y=Q E@yAE)` ;I` ;iV5Yu$Ag DNOT Ignoring new targets: 54.65 m.g g jMgjM]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726818 ProNav: ac range: 54.652710 m, nav range: 53.899147 m, bearing: 182.521532 deg, approach rate: -0.325100 m/s, LOS rate: -0.044897 deg/s, cmd heading: 188.355662 deg, new cmd heading: 188.316984 deg. gUHeadingCmd: 3.286752 target range: 54.652710 and range: 54.80 m.g#ZR@ggggzfrfff[BBdddccVz?ɢ-nB-4 IM1 IQ U:M=ɡQiQIU)BI]?i]=i].=)]#ZR@)a i:/1>A- V= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978412ԁ Ay I I N >.,3Ay6^G@ٱ6بU@6d=6= 6H[.?=ɿ@[椿`c@@?I6^G@)6u_;i6CJ[B9JU IBDR6DR{U3YZ<!Z\=Z=sQ)Z>\9\9^FY^DEbAb>dQ 1j5٪fdꦊ?Q 5j5f f&9hYj>Q En@yfAE)fB:If:ifX5YrBr.$Apg  DNOT Ignoring new targets: 54.65 m.g gMgMY ProNav: ac range: 54.652710 m, nav range: 53.778225 m, bearing: 182.504865 deg, approach rate: -0.325329 m/s, LOS rate: -0.044942 deg/s, cmd heading: 188.316990 deg, new cmd heading: 188.283581 deg. gHeadingCmd: 3.286168 target range: 54.652710 and range: 54.80 m.gPR@ggggzfrfffBdddcc u-@ɢ mB @HG  I 5հ=ɡ1i1I=@I= ?iE=iEa=)EPR@)AD}D}vD}2DyE}I: E}:6E}4:Ey"E}A5~E=Ae yAI I N > 5,4ظ3Ay:aG@ٱ:ۨU@:%=:6:H@M\+? ϝ@ ɿ [ "`S ?I:aG@):0_;i:CNNB9NE Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.482501-Mb@Mb@Mb@ )))I)i))-oʡ?y&1|->-`-I-MAi-A)- A))- ABDE+6DEE3YUu!U@=]HQ)]>e H?9e H?9eFYeGEe5Ae>iQ 1u5٪m|ަ?Q 5u5m m&9}>Q A};Y}=Q E}@ymAE)m ;Im` ;imqZ5Y$AB*** querying acoustic contact ***zhhgԹDNOT Ignoring new targets: 54.65 m.ggPZgPZ ProNav: ac range: 54.652710 m, nav range: 53.635960 m, bearing: 182.484623 deg, approach rate: -0.334466 m/s, LOS rate: -0.047716 deg/s, cmd heading: 188.283576 deg, new cmd heading: 188.242984 deg. gHeadingCmd: 3.285460 target range: 54.652710 and range: 54.80 m.gDR@ggggzfrfff>BBdddcc@,@ɢ]kB]ں Y]Ia e|=ɡaiaIeI>Im?i Δ=i =) DR@)i8/DDuD/DE: E:6EJ4:E!@!@!@!@A<A<vB~BB( IB6BB =BBBBuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.734412>A ^1=rA >jA >A A AI I N ><,a3Ay6G@ٱ6U@6G=6ns6H[ 7?Mɿ`Z`BwʠB?I6G@)6_;i6CJQB9JI IBDR*6DR3YZ<!ZU=Z_$Q)Z>^K?9^K?9^FY^IEb9:Ab>dQ 1j5٪fӦ?Q 5j5fZ f&9hYj=Q Ej@yfAE)f:Ift:if\5Ypr|$Apg  DNOT Ignoring new targets: 54.65 m.g g\g\% ProNav: ac range: 54.652710 m, nav range: 53.507660 m, bearing: 182.466222 deg, approach rate: -0.335438 m/s, LOS rate: -0.048223 deg/s, cmd heading: 188.242978 deg, new cmd heading: 188.206089 deg. g%-HeadingCmd: 3.284816 target range: 54.652710 and range: 54.80 m.g-m:R@g)g)g)g1zf1rf1f1f1Bd9d9d9cAcE@@ɢmiBm qu Iq u =ɡqiqIuA<=qD D tD +D E ҝ: E v:6E [4:E "E ;! E ;! *E `;! E `;! A! I) I9 NM > BDAT read: Rx Time:23:55:18.2442  TRx dataTimestamp_ set to:1758412516.164170 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239504ԙ B,i; 3AyzG@ٱz:U@z(=z+zH[`=?˜@ɿ`Z?IzG@)zG_;izC KB9 B IBD!6Dr3Y->ۼ!-C=5LQ)5>19195FY5LE=T!:A=>AQ 1M5٪EǦ?Q 5M5E E&9QYU=Q EU@yEAE)Ey:IE:iE]5Y]ܖB]$A]EgDNOT Ignoring new targets: 54.65 m.gg]g] ProNav: ac range: 54.652710 m, nav range: 53.367161 m, bearing: 182.445930 deg, approach rate: -0.334770 m/s, LOS rate: -0.048477 deg/s, cmd heading: 188.206095 deg, new cmd heading: 188.165404 deg. goHeadingCmd: 3.284106 target range: 54.652710 and range: 54.80 m.g.R@ggggzfrfffBdddcc @ɢmgBm im Iqq %=ɡiI:I?i[=i =).R@)i-2))-0)ԩ) Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.490814>A =Ae yAIi Iy N > I,&3AD&D$D&*D$E&: E$6E&(N4:E$!*@!*@!*@!*@vBJD>~BHBJ IBJ,BBJ =BHBJDBJ;BJTQEBIBIBIBIBIBMY4DB99 I%Mb@Mb@Mb@ !)!I!i!!%MbX9?{Gzt~jth?%ʡ>%ף%D;I%Ai!%; A% A)!%3 AmDAT read: 23:55:18.2442 LVL= 21744, 28481, 18418, 27891, AGC= 64, IDX= 427,-0.13, 3.040, 1.563,-2.779, 2.991, PHS= 0.152,-1.383, 0.469, RAW= 159.2, 8.9, CAL= 159.0, 9.4, ROT= 351.0, -9.4 }Ygot valid direction response: 23:55:18.2442 LVL= 21744, 28481, 18418, 27891, AGC= 64, IDX= 427,-0.13, 3.040, 1.563,-2.779, 2.991, PHS= 0.152,-1.383, 0.469, RAW= 159.2, 8.9, CAL= 159.0, 9.4, ROT= 351.0, -9.4 PDAT read: Bearing 347.3, -11.1 (Local) ~Local bearing/azimuth received: Bearing 347.3, -11.1 (Local) DAT read: Range 11 to 50 : 53.7 m (Round-trip 71.7 ms) speed 0.3 m/s ,DAT read: user:1005> BDAT read: Tx time:23:55:19.3683 $Ping request sent.i=1@=>=Κ1@='>= @ ='i99I=U[}~?V6v?t'`?=./?= =t )='i99:publishing transmit ping timeYFpublishing direction and range info99=l.?my5ÿ$vz?99i99999 9BD6D\3Y%!%.=%Q)->- H?)9I9i99999 9i99I=U[}~?V6v?t'`?99 9)9i999 H?9FYOEA>Q 15٪8?Q 55 &9ѡ>Q A';Yj=Q E@yAE):IL:i`5Y $A h9h=Ǹ*3Ah=8VBh=8VBh= L@ v= J@P w sgz~!@u=l.?my5ÿ$vz?h=t h='v=c^[JL;׮W@v=6wtT"?h=h=Th=)G?h=h=B*i92i9:i9i=TB"i=K@M addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 3.778498 s, deltaX: -1.099998 m, approachRate: -0.291121 m/s, rangeRepo size: 4  Added new target pos. range: 53.555649 m, bearing: 182.667814 deg, lat: 36.779127 deg, lon: -121.859742 deg, deltaT: 3.778498 s, deltaX: -1.097061 m, approachRate: -0.290343 m/s, posRepo size: 4 gDNOT Ignoring new targets: 53.56 m.ggg } ProNav: ac range: 53.555649 m, nav range: 53.214649 m, bearing: 182.422911 deg, approach rate: 0.000000 m/s, LOS rate: -0.048477 deg/s, cmd heading: 188.165401 deg, new cmd heading: 188.115565 deg. gyHeadingCmd: 3.283236 target range: 53.555649 and range: 53.70 m.g R@ggggzfrfffDBBdddcJ@c?ɢdB ;:  I  J =ɡ iIC)8I=,?i=z=i=&=)= R@)Ai/) a >A bA ZA AAIIIYNm?Q,flF3A D"D"xD"2D E"C: E":6E"4:E "E"2;!&E"3;!&*E"Wo;!&E"Wo;!*yJG@ٱJU@Jn=JwJH_\;?ޚɿ@Y[&נ hI?IJG@)J_;iJCT9V: IBD^6D^:3Yf:!f?=f㬻Q)f>l9l9nFYnREn}8Ar>pQ 1v5٪r|?Q 5z5r[ r&9xYxQ Ez@yrAE)r&;Ir;ira5Y$AgDNOT Ignoring new targets: 53.56 m.gg_g_ ProNav: ac range: 53.555649 m, nav range: 53.086399 m, bearing: 182.403446 deg, approach rate: -0.321133 m/s, LOS rate: -0.048858 deg/s, cmd heading: 188.115567 deg, new cmd heading: 188.076543 deg. gԲHeadingCmd: 3.282555 target range: 53.555649 and range: 53.70 m.gaR@ggggzfrfffBdddcc?i5%=I54=ɢUbBU Q]IY ] =ɡYiYI]&H6IeU @ie=ieH=)eaR@)Ii%4!)-,0)q>Ap{=ԙ A AI I N >°W,A`3Ay6G@ٱ6^U@6%=66H!]]0?@ɿ6\` 2=X?I6G@)6_;i6C<NAB9N6 I%Mb@Mb@Mb@ !)!I!i!!%'1Z?y&1Mb`?%Т>%`e%;I%Ai%lA%A%~ A)!% ABD96D9YMZ!MB=U/7Q)U>]K?9]K?9]FY]TEe=0Ae>iQ 1u5٪mZ?Q 5u5m m&9u>Q A}&;Y}>?Q E}@ymAE)m ;Im ;imc5YؖB$AE=B*** querying acoustic contact ***zh9h9gImDNOT Ignoring new targets: 53.56 m.gigu-gu- ProNav: ac range: 53.555649 m, nav range: 52.953503 m, bearing: 182.387348 deg, approach rate: -0.312890 m/s, LOS rate: -0.037995 deg/s, cmd heading: 188.076540 deg, new cmd heading: 188.044264 deg. gHeadingCmd: 3.281991 target range: 53.555649 and range: 53.70 m.g& R@ggggzfrfff7BBdddcc?ɢE_BrDIjDM<DUDUsDU0DQEU: EUZ:6EU4:EQ!]@!]@!]@!]@AiAmAAvBq~BqBu IBu'BBu =BqBuDBu;BuYQE 額I =ɡiI;4I@i =i=)& R@)ԡET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.i}2yy}0y>A s= I I N >t],Rz3Ay6G@ٱ6}U@6K<6~J6H@])?` ɿ\6`ĝ?I6G@)6p_;i6CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247727lr;B9r/ IBDz6Dz 83Y!O= Q) > 9 9 FY WE_A>Q 1%5٪횦?Q 5%5f &9)Y-@?Q E-@yAE) :I$:ile5Y15$A1gYeDNOT Ignoring new targets: 53.56 m.gage9ge9u ProNav: ac range: 53.555649 m, nav range: 52.829124 m, bearing: 182.372232 deg, approach rate: -0.333649 m/s, LOS rate: -0.040644 deg/s, cmd heading: 188.044260 deg, new cmd heading: 188.013958 deg. guÔ}HeadingCmd: 3.281463 target range: 53.555649 and range: 53.70 m.g|R@ggggzfrfffBdddccզ?ɢ]B I ^=ɡiI3`2I9@io=i/=)|R@)i5?99=P59@A@A BE^n4JEŋ|4REg0DeDeuDe-DaEeU: Ee:6Eet4:Ea"Ee;!uEe;!u*Eekd;!uEeld;!}9>Au=rA}>jA}>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499910Iq I N >a fd,铹3Ay6G@ٱ6U@6.<6=6H[]2?;ɿ@[` ߞĻ`?I6G@)60_;i6C@9B. IBDJ!6DJr3YR琻!RQ=R׺Q)V>T9T9VFYVYEZF9:AZ>\Q 1b5٪^?Q 5b5^ ^&9dYf~Bq Bu  IBu !BBq Bq Bq Bu ;Bu kQEbD ZD @AD D ~D 3D E g: E (:6E 4:E "E ;E ;*E ;E ;>A s= I I N >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003649j,&ƭ3A%4B9-% Iԙ Mb@Mb@Mb@ ) I i   ?~jtx~jth? f> Ļ D;I 7Ai A   A)  BD%6D%F3Y-3!54=5Q)5>9999=FY=\EEAE>AQ 1M5٪EK?Q 5U5E E&9Uo>Q AU#;YU=Q E]@yEAE)Ey;IE\ ;iEi5YmԖB%AEg1=DNOT Ignoring new targets: 53.56 m.g9g=[ig=[iu ProNav: ac range: 53.555649 m, nav range: 52.558884 m, bearing: 182.334901 deg, approach rate: -0.335887 m/s, LOS rate: -0.051004 deg/s, cmd heading: 187.983581 deg, new cmd heading: 187.939098 deg. gu}HeadingCmd: 3.280156 target range: 53.555649 and range: 53.70 m.g}Q@gygggzfrfff*BBdddcc\@ɢWBhǻ aeIa e=ɡaiaIe(.Im1@im2=iud=)uQ@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256793i60>A =! I I N >Fq,ǹ3ADDuD2DEC: E:6E4:E!@!@!@!@yBG@ٱBU@B2899FY_E:A%>!Q 1-5٪%gz?Q 555%' %&91Y5=Q E5@y%AE)%:I%:i%j5Y9E$AAgimDNOT Ignoring new targets: 53.56 m.giguoguo ProNav: ac range: 53.555649 m, nav range: 52.440762 m, bearing: 182.316861 deg, approach rate: -0.342484 m/s, LOS rate: -0.052424 deg/s, cmd heading: 187.939103 deg, new cmd heading: 187.902941 deg. g⿺HeadingCmd: 3.279525 target range: 53.555649 and range: 53.70 m.gQ@ggggzfrfffBdddcc H @ɢUBg 4I =ɡiIV,I;@i;=ih=)Q@)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507863iQQQU/QI+G)AI!i5=A=A>AzA=bAZAI1QIaN> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759602y w,|3Ay68G@ٱ6U@65X<6U6H\ J?.ɿ@>ZYӢ@Q@?I68G@)6^;i6Cb0B9b IMMb@Mb@Mb@ I)IIIiIIM{Gz? rhMbP?Mף>MCM:IIiMAM; AM A)IM ABD'6D3Y !@=ܺQ)>99FYaE@:A>Q 15٪ o?Q 55 &9>Q A%;Y?Q E@yAE) ;I ;il5YЖB%AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 53.56 m.gg(g(E ProNav: ac range: 53.555649 m, nav range: 52.305283 m, bearing: 182.301263 deg, approach rate: -0.318312 m/s, LOS rate: -0.036742 deg/s, cmd heading: 187.902944 deg, new cmd heading: 187.871668 deg. gM{YeHeadingCmd: 3.278979 target range: 53.555649 and range: 53.70 m.geQ@gagagagazfarfififiBdidqdqcqc}|@ɢRBt 顥YI <ɡiI*ID@iI=iˋ=)Q@)AAvB~BB IBBBBBB;BdQED5D5{D50D1E5: E55":6E54:E1"E5U;!ME5V;!U*E5Bz;!UE5Cz;!UiM2IIM/I-BDAT read: Rx Time:23:55:21.8425 5TRx dataTimestamp_ set to:1758412519.6925245checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013049ԁ>AM=ԱA I I N > (~,c3Ay6G@ٱ6WU@6Bw<636H-]A? V`X&ɿZN͢ [?I6G@)6^;i6CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263738F.B9J IBDR.6DRP3YZz!Z\=Z$ҺQ)^>\9\9^FY^dEbz;Ab>dQ 1j5٪fe?Q 5j5f f&9lYn?Q En@yfAE)fH;If;if4n5Ypr%Apg  DNOT Ignoring new targets: 53.56 m.g g(g(% ProNav: ac range: 53.555649 m, nav range: 52.186848 m, bearing: 182.287596 deg, approach rate: -0.319037 m/s, LOS rate: -0.036899 deg/s, cmd heading: 187.871661 deg, new cmd heading: 187.844266 deg. g--HeadingCmd: 3.278501 target range: 53.555649 and range: 53.70 m.g-Q@g1g1g1g1zf1rf9f9f9Bd9dAdAcAcEti @ɢuPBu2 y}Iy } <ɡyiyI}(IL@i:U=i7=)Q@)ԩi/D=D=zD=/D9E=Ʊ: E= :6E=J4:E9!M@!M@!M@!M@>A=i5=I5<mDAT read: 23:55:21.8425 LVL= 25440, 31985, 19586, 30035, AGC= 63, IDX= 426,-0.12, 2.316, 0.798, 2.785, 2.265, PHS= 0.153,-1.422, 0.476, RAW= 159.2, 9.0, CAL= 158.9, 9.6, ROT= 351.1, -9.6 uYgot valid direction response: 23:55:21.8425 LVL= 25440, 31985, 19586, 30035, AGC= 63, IDX= 426,-0.12, 2.316, 0.798, 2.785, 2.265, PHS= 0.153,-1.422, 0.476, RAW= 159.2, 9.0, CAL= 158.9, 9.6, ROT= 351.1, -9.6 }PDAT read: Bearing 347.4, -10.7 (Local) ~Local bearing/azimuth received: Bearing 347.4, -10.7 (Local) DAT read: Range 11 to 50 : 52.5 m (Round-trip 70.1 ms) speed 0.3 m/s ,DAT read: user:1006> BDAT read: Tx time:23:55:22.9683 $Ping request sent.)5I5F>i15| >55~1@5+>5[@ 5+i11I536?C8?ߋ{ &?5.?5]! 5)5+i11:publishing transmit ping timeYFpublishing direction and range info915^*,?DSÿ8_X?11i11111 1)1I1i11111 1i11I536?C8?ߋ{ &?11 1)1i11 A] yAIi Iy N >1 ,53Ay>G@ٱU@ <H ]9?*`gɿ[@: W?I>G@)^;iM,B9M IBD 6Dk3Y +!57=EQ)E>M H?9u H?9}FY}fEA>Q 1-5٪uX?Q 555 &9AYE?Q EM@yAE)@AY ԙ A AI I N >,13AiB9IMb@Mb@Mb@ )Ii?tIdAiAQ A A)( ABD 6D2Yӽ!7=Q)>K?9K?9FYiE%A%>Q 15٪L?Q 55V &9v>Q A#;Y1>Q E@yAE):I:i3r5Y̖B%AEg)5DNOT Ignoring new targets: 52.36 m.g1g5cg5cm ProNav: ac range: 52.359005 m, nav range: 51.768211 m, bearing: 182.255060 deg, approach rate: -0.342776 m/s, LOS rate: -0.049786 deg/s, cmd heading: 187.806747 deg, new cmd heading: 187.765507 deg. gm9uHeadingCmd: 3.277126 target range: 52.359005 and range: 52.50 m.gupQ@gqgqgygyzfyrfyff3BBdddcc@e?ɢJB Q  I9 =\6<ɡ9iAIEq$IEDc@iMs=iM֤=)MpQ@)IAi3a>A =D D vD D E U: E :6E :E ! @! @! @! @ԑ A I I) N5 >’,K3Ay6.G@ٱ6U@6,<66H`` F?&Z@ȿ^@x䘿 ?I6.G@)6`^;i6CnB9n IBDv6Dv:3Y~2=!~^=~»Q)>99FYlE A >Q 15٪,C?Q 55խ &9YJ>Q E%@yAE) :I|:is5Y)-y%A)gQUDNOT Ignoring new targets: 52.36 m.gQg]Yg]Ym ProNav: ac range: 52.359005 m, nav range: 51.656097 m, bearing: 182.238934 deg, approach rate: -0.330180 m/s, LOS rate: -0.047596 deg/s, cmd heading: 187.765507 deg, new cmd heading: 187.733184 deg. gm6uHeadingCmd: 3.276562 target range: 52.359005 and range: 52.50 m.gu2Q@gygygygyzfyrfyffBdddcc@?ɢIBq݅ 顽I <ɡiI"Il@i}=i(=)2Q@)ԉi-9))-/1Ա>AmI=A I I N > ,Re3AyN=G@ٱNU@Np=#=I=Ai9=; A=~ A)9=3 AAyA}@AvBF>~BBIB BB =BBB;BBABABABE =BE =BE4rD=jD<DD|D1DE: EP$:6E-4:E"Eh;!Ei;!*E};!E};!BDU6DU4d3Y]<;!]7=]Q)]>a9a9eFYenEmlAm>qQ 15٪u7?Q 55ul u&9P>Q A*;Y>Q E@yuAE)u;Iu:iuu5Yt%AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 52.36 m.ggj=g%j=U ProNav: ac range: 52.359005 m, nav range: 51.518093 m, bearing: 182.219941 deg, approach rate: -0.300022 m/s, LOS rate: -0.041400 deg/s, cmd heading: 187.733186 deg, new cmd heading: 187.695100 deg. gU]HeadingCmd: 3.275898 target range: 52.359005 and range: 52.50 m.g]NQ@gYgYgYgYzfYrfafafeBBdadidicc ?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢFB& 顽9I T<ɡiI+ Ihw@i׍=iOU=)NQ@)!i2@=@=I >A =bA ZA A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750923q A yAI I N% >X5,߀3Aɰy6nzG@ٱ6rU@6<6g6HJe?P5ȿa,@b\k?I6nzG@)65_;i4BB9B IBDJ6DJ 83YRu!RZ=V 2Q)V>Z H?9Z H?9ZFYZqEZAZ>\Q 1b5٪^-?Q 5b5^ ^&9dYf>Q Ef@y^AE)^;I^ ;i^Ow5YjȖBnj%AnEg|DNOT Ignoring new targets: 52.36 m.gg Ig I ProNav: ac range: 52.359005 m, nav range: 51.402332 m, bearing: 182.204033 deg, approach rate: -0.319818 m/s, LOS rate: -0.044050 deg/s, cmd heading: 187.695101 deg, new cmd heading: 187.663212 deg. g;%HeadingCmd: 3.275341 target range: 52.359005 and range: 52.50 m.g%0Q@g!g!g!g!zf)rf)f)f)Bd1d1d1c1c5 ?ɢDBU I <ɡiII@iB=iG=)0Q@)ԁi}7yy/D%D%xD%.D!E%%: E%:6E%ـ4:E!!5@!5@!5@!=@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002505>A~=AM AIa Iy N > U,3Ay5mG@ٱ5hfU@5<56 5Hf?0 Ԅȿxb@!*2 ?I5mG@)5<_;i5C)߉ ߍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258019B9 IBD+6DE3Y5<!=5=E'Q)E>MK?9MK?9MFYMtEMSܺAU>YQ 1e5٪]'"?Q 5e5] ]&9aYe>Q Ee@y]AE)] :I]:i]Ky5YquF%Aqg1=DNOT Ignoring new targets: 52.36 m.g9g=9:gE9: ProNav: ac range: 52.359005 m, nav range: 51.262100 m, bearing: 182.184785 deg, approach rate: -0.295736 m/s, LOS rate: -0.040702 deg/s, cmd heading: 187.663218 deg, new cmd heading: 187.624617 deg. gHeadingCmd: 3.274667 target range: 52.359005 and range: 52.50 m.g&Q@ggggzfrfffBdddccM@ɢAB, I a<ɡiI[I@iզ=i9=)&Q@)i:/vBH>~BCBIBBB =BBB;BUQEbD1ZD5?AD=D=sD=,D9E=: E=Z:6E=g4:E9"E=U;!ME=V;!M*E=$];!ME=$];!U5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506663I >A 8=A I I N- >,vl3AyR^G@ٱRqWU@RϗTIMAi A)\ ABD#6DӀ3YW;!O=/GQ)>99FYvEA>Q 15٪?Q 55 &9 ܞ>Q A +;Y z?Q E @yAE):IH:i{5YA%Ag9EDNOT Ignoring new targets: 52.36 m.gAgE;gM;] ProNav: ac range: 52.359005 m, nav range: 51.141205 m, bearing: 182.169605 deg, approach rate: -0.324783 m/s, LOS rate: -0.040879 deg/s, cmd heading: 187.624613 deg, new cmd heading: 187.594181 deg. g]eHeadingCmd: 3.274136 target range: 52.359005 and range: 52.50 m.gerQ@gagagagazfarfififm%BBdidqdqcqc} @ɢ>BQd 顥I r<ɡiIIC@i.=i=)rQ@)QiM<IIU0Q@U@U@]@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758676yrA>jA>ԩ AI BEJ4JE(4RE 0DU DU xDU /DQ EU : EU :6EU J4:EQ !e @!e @!e @!e @Ii I N >E BDAT read: Rx Time:23:55:25.4409 E TRx dataTimestamp_ set to:1758412523.220206M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011626g,^Iκ3A@yfRG@ٱf9KU@f".a9a9eFYeyEmAm>qQ 1}5٪u?Q 5}5uu u&9Y?Q E@yuAE)uQ;Iun;iu|5YܖB%&AEgDNOT Ignoring new targets: 52.36 m.gg;1g;1 ProNav: ac range: 52.359005 m, nav range: 51.022102 m, bearing: 182.154679 deg, approach rate: -0.308382 m/s, LOS rate: -0.038737 deg/s, cmd heading: 187.594178 deg, new cmd heading: 187.564256 deg. gɍHeadingCmd: 3.273614 target range: 52.359005 and range: 52.50 m.gQ@ggggzfrfffBdddcc@ط@ɢ ,"3AvB6F>~B6CB4B4B4B4B4B6 ;B6_QEy^EG@ٱ^>U@^~R<^ p^HjE?̃6ȿ`bfW`ꐿ >?I^EG@)^o_;rD=jD%=D%D%uD%-D!E%: E%:6E%t4:E!"E%;!]E%;!e*E%kd;!mE%ld;!ui^CEB9EI%DAT read: 23:55:25.4409 LVL= 22304, 26817, 19906, 28403, AGC= 64, IDX= 426, 0.10,-0.635,-2.190,-0.191,-0.714, PHS= 0.181,-1.431, 0.479, RAW= 158.3, 8.7, CAL= 158.0, 9.2, ROT= 352.0, -9.2 -Ygot valid direction response: 23:55:25.4409 LVL= 22304, 26817, 19906, 28403, AGC= 64, IDX= 426, 0.10,-0.635,-2.190,-0.191,-0.714, PHS= 0.181,-1.431, 0.479, RAW= 158.3, 8.7, CAL= 158.0, 9.2, ROT= 352.0, -9.2 5PDAT read: Bearing 346.5, -9.3 (Local) =~Local bearing/azimuth received: Bearing 346.5, -9.3 (Local) EDAT read: Range 11 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.2 m/s M,DAT read: user:1007> UBDAT read: Tx time:23:55:26.5682 U$Ping request sent.U)+I}?>i0@|>|0@l$> @ l$iI>2?^ڞ?L`?K+? 4)l$i:publishing transmit ping time YQ-Fpublishing direction and range info9FGG?͏{•Čsv?i )Ii iI>2?^ڞ?L`? )iMb@Mb@Mb@ )Iiy&1?y&1~jth`>`eDIAiAQ A A) ABD=.6D=P3Ym'!=Q)>99FY|EA>!Q 1=5٪%?Q 5]5%& %&9e>Q Ae$;Ye?Q Ee@y%AE)%9,6!3AB9IBD%6D%f?3Yuq!u=}Q)}?} H?9} H?9FY~EA?Q 15٪?Q 55 &9YQ E@yAE).;I;is5Y_&AB*** querying acoustic contact ***zhhg)5DNOT Ignoring new targets: 51.16 m.g1g=Og=OM ProNav: ac range: 51.162304 m, nav range: 50.729229 m, bearing: 182.370634 deg, approach rate: -0.380087 m/s, LOS rate: -0.045382 deg/s, cmd heading: 187.516437 deg, new cmd heading: 187.493242 deg. gMUHeadingCmd: 3.272374 target range: 51.162304 and range: 51.30 m.gUnQ@gQgQgQgQzfYrfYfYfYBdadadacacm?DDyD0DE E:6E4:E!@!@!@!@ɢ7B%Ѽ I ԅ<ɡiI[I% @i-ٕ=i-~_=)-nQ@))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i3/0iېC!IEG)AIiAAAAII Nm>A d,3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.74653894`IdAiA A) AI)BD6D2Y-8!-?=-]Q)5>5K?95K?95FY5E=ȘA=>AQ 1M5٪E륊?Q 5M5E E&9M>Q AU ;YU.?Q EU@yEAE)E ;IE ;iER5Y]ؖB]A&A]EgDNOT Ignoring new targets: 51.16 m.ggGgG ProNav: ac range: 51.162304 m, nav range: 50.588615 m, bearing: 182.352561 deg, approach rate: -0.338871 m/s, LOS rate: -0.043677 deg/s, cmd heading: 187.493242 deg, new cmd heading: 187.456995 deg. gݟHeadingCmd: 3.271742 target range: 51.162304 and range: 51.30 m.g8dQ@ggggzfrfffBdddcc@r2?ԡɢ5Bܓ^ 顽I ΀<ɡiIgI}@i=i=)8dQ@)vBD>~BBIBBBBBDB ;B`QEiyy>0DDD/DEU: EE7:6EJ4:E"E;!E;!*ET;!ET;!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996282>A] = A yAI I N >,*83Ay>G@ٱ> U@>]<>">HDp?z,ǿjљ૸ע ?I>G@)>`T`;i>CR B9RIBDZ 6DZ2Yb!be=b&Q)f>f H?9f H?9fFYfEj^Aj>lpQ 1r5٪n=᥊?Q 5v5n n&9tYvB?Q Ev@ynBE)n-;In.;in5Yxz[&A|g!%DNOT Ignoring new targets: 51.16 m.g!g-G@g-G@= ProNav: ac range: 51.162304 m, nav range: 50.471340 m, bearing: 182.337576 deg, approach rate: -0.328155 m/s, LOS rate: -0.042026 deg/s, cmd heading: 187.457001 deg, new cmd heading: 187.426962 deg. g=ҙEHeadingCmd: 3.271218 target range: 51.162304 and range: 51.30 m.gE[Q@gAgAgAgIzfIrfIfIfIBdQdQdQcQc] O?ɢ3BƟ 額I _<ɡiIxI@i=ie-=)[Q@))checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249393i>   5  9>AUw=DD}D,DEs: Ek&:6Eg4:E!@!@!@!@AM AIQ Ia Nu >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500273Lq,+R3Ay6\G@ٱ6T@6zJ<6AV6H qT?+v]ǿ@l;Z[?I6\G@)6`;i6C^ B9bIBDf!6Dfr3Ynኼ!rH=r:Q)r>rK?9vK?9vFYvEv?$Av>xQ 15٪zե?Q 55z z&9 YS?Q E@yzBEa)z;Iz~Aq  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005565IiIN?C7,#IAiAQ A A)\ ABD"6DJz3YK=!= Q) >99FYE0A>Q 1%5٪ǥ?Q 5-5̳ &9-Y>Q A-);Y-D?Q E-@yBE) ;I;i 5Y=ӖB=%A=EgaeDNOT Ignoring new targets: 51.16 m.gagmDCgmDC} ProNav: ac range: 51.162304 m, nav range: 50.166847 m, bearing: 182.298520 deg, approach rate: -0.329510 m/s, LOS rate: -0.042679 deg/s, cmd heading: 187.392729 deg, new cmd heading: 187.348604 deg. g}6HeadingCmd: 3.269850 target range: 51.162304 and range: 51.30 m.g9EQ@ggggzfrfffBBdddcc`*K@ɢ/B2  I <<ɡiI<I|@iO =i =)9EQ@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2562519 q9 i7/9 D D ~D D E : E (:6E :E ! @! @! @! @>A = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508630aIIN> V,/3Ay6BF@ٱ6T@6%<6([6Hs3?@Jhǿm@飿 I?I6BF@)6 `;i6CBB9BIBDN)6DN3YV!V:=V7Q)V>X9X9ZFYbEbfAf>dQ 1j5٪f;?Q 5n5fY f&9lYnJ?Q En@yfBE)f;If ;if5Ypv&AtB*** querying acoustic contact ***zhhg DNOT Ignoring new targets: 51.16 m.gg%-g%-U ProNav: ac range: 51.162304 m, nav range: 50.029781 m, bearing: 182.280780 deg, approach rate: -0.292415 m/s, LOS rate: -0.037950 deg/s, cmd heading: 187.348606 deg, new cmd heading: 187.313029 deg. g]犺]HeadingCmd: 3.269229 target range: 51.162304 and range: 51.30 m.g] ;Q@gagagagazfarfaffBdddcc(@ɢ-BO>  I (<ɡiII@i=iu=)  ;Q@)!)1 1i1I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762558i8@@@@! vB= F>~B9 B9 B9 B= =B9 B= DB= ;B= tQEB B B B B B 4bDQ ZDU @AD] D] DY DY E] Ʊ: E] .:6EY :EY "E] F;!m E] G;!m *E] ;!m E] ;!u q I I N >a, S3AyNF@ٱNlT@N?INF@)N`;iNCVB9ZIEBDAT read: Rx Time:23:55:29.0393 ETRx dataTimestamp_ set to:1758412526.749050Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014535=Mb@Mb@Mb@ 9)9I9i99= rh?Mb~jtx=>==ĻI9i9=h A9)9= ABDu%6Du03Y*!(=ԉaƺQ)>99FYEoA>Q 15٪?Q 55 &9Ĭ>Q A;YS@Q E@y BE)$jA>I1IANUu>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264221 (,ǻ3Aɰ$$yFF@ٱFT@Fx 9 9 FY E A ?Q 15٪?Q 55Z &9!Y%m@Q E%@y BE);I ;i5Y)-&A1gQ]DNOT Ignoring new targets: 51.16 m.gYge2ge2u ProNav: ac range: 51.162304 m, nav range: 49.749088 m, bearing: 182.249634 deg, approach rate: -0.353152 m/s, LOS rate: -0.039031 deg/s, cmd heading: 187.276438 deg, new cmd heading: 187.250555 deg. gu܎}HeadingCmd: 3.268139 target range: 51.162304 and range: 51.30 m.g}/)Q@gygygygyzfyrfffBdddcc @ɢ*BR 顽uI V<ɡiIQ I@i3=iY=)/)Q@)D]D]wD],DYE]U: E]:6E]g4:EY!e@!e@!e@!e@i5@99E3mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519147AI!IiN=>I ,t3ALDAT read: 23:55:29.0393 LVL= 22416, 32481, 22114, 31603, AGC= 64, IDX= 426, 0.14,-3.126, 1.629,-2.723, 3.052, PHS= 0.207,-1.378, 0.464, RAW= 157.4, 8.2, CAL= 157.0, 8.6, ROT= 353.0, -8.6 %Ygot valid direction response: 23:55:29.0393 LVL= 22416, 32481, 22114, 31603, AGC= 64, IDX= 426, 0.14,-3.126, 1.629,-2.723, 3.052, PHS= 0.207,-1.378, 0.464, RAW= 157.4, 8.2, CAL= 157.0, 8.6, ROT= 353.0, -8.6 -PDAT read: Bearing 345.5, -7.6 (Local) -~Local bearing/azimuth received: Bearing 345.5, -7.6 (Local) ]DAT read: Range 11 to 50 : 50.1 m (Round-trip 66.9 ms) speed 0.2 m/s ],DAT read: user:1008> eBDAT read: Tx time:23:55:30.1682 e$Ping request sent.e)-NbI-h>i-F/@-C>-^/@-`>-'@ -`i))I-flc(?lPsD@+"ǿs c ً~`l?IF@):`;iC BFpublishing direction and range info9)-Q*Mg? 5پS&r#?))i))))) )))I)i))))) )i))I-flc(?lPsuuqIqiuAu Au A)qu3 ABD#6DӀ3Yl!%=MQ)>99FYE[)A>Q 15٪?Q 55 '9>Q A!;Yc@Q E%@yBE)5;I-;iΏ5Y)-&A)AE<AE<vBMG>~BIBIBIBM =BIBIBM#;BMyQEh)h-M3Ah-GBh-GBh->M@ v-#ֵH@O=@u-Q*Mg? 5پS&r#?h-5h-`v-,CSHԽY K7D?h-Nh-HEh-!Z?h-3 h-B*i-rP?2i-):i-Bi-EB"i-|K@ addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 3.781197 s, deltaX: -1.200001 m, approachRate: -0.317360 m/s, rangeRepo size: 4  Added new target pos. range: 49.965588 m, bearing: 183.744529 deg, lat: 36.779129 deg, lon: -121.859747 deg, deltaT: 3.781197 s, deltaX: -1.196716 m, approachRate: -0.316491 m/s, posRepo size: 4 gDNOT Ignoring new targets: 49.97 m.gDaDeDe-DaEa Ee0:6Eet4:Ea"Ee;!mEe;!u*Eeމ;!uEeމ;!ugg ProNav: ac range: 49.965588 m, nav range: 49.490574 m, bearing: 182.492106 deg, approach rate: 0.000000 m/s, LOS rate: -0.039031 deg/s, cmd heading: 187.250551 deg, new cmd heading: 187.210017 deg. gHeadingCmd: 3.267431 target range: 49.965588 and range: 50.10 m.gQ@gggg1zf1rf9f9f= BBd9dAdAcE I@cEk?ɢ'B3 顝 I rݱ<ɡiI IAi7D=iB=)Q@)iYI]%=i4/bAZAI I N% >! F,3Ay:F@ٱ:8T@:;::Hz?p( ? xƿ`t) U{/ۢB?I:F@):``;i8NB9NI|BDV6DV4d3Y R|! ="Q) ?99FYE=JfA= ?AQ 1M5٪EK?Q 5M5EM E'9QYUu@Q EU@yEBE)E :IE1:iE/5Y˖BL&AgDNOT Ignoring new targets: 49.97 m.gg\#g\#% ProNav: ac range: 49.965588 m, nav range: 49.387108 m, bearing: 182.481162 deg, approach rate: -0.336854 m/s, LOS rate: -0.035705 deg/s, cmd heading: 187.210021 deg, new cmd heading: 187.188087 deg. g%-HeadingCmd: 3.267048 target range: 49.965588 and range: 50.10 m.g-RQ@g)g)g)g)zf)rf1fQfQBdYdYdYcYc]`y?ɢ&Baּ JI 7<ɡiI-c I5cAi5L=i5*=)5RQ@)9)i?25QBEـ4JE#4RE/DuDu{DqDqEu: Eu5":6Eq:Eq!@!@!@!@>A=ԁ A% yAI) I9 NM >,93APiPy~F@ٱ~nT@~;~ԇ~H{?}S?`Hƿu# v E?I~F@)~_;i~CB9I) !i%p<BD%6D%P)3Y5;=!=G==7Q)=>E H?9E H?9EFYEEEԺAE>IQQ 1]5٪M#?Q 5]5MŶ M'9aYe@Q Ee@yMBE)M,;IM-;iM5Yim%AiB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 49.97 m.gg#g# ProNav: ac range: 49.965588 m, nav range: 49.254063 m, bearing: 182.467124 deg, approach rate: -0.336965 m/s, LOS rate: -0.035651 deg/s, cmd heading: 187.188082 deg, new cmd heading: 187.159930 deg. g}HeadingCmd: 3.266557 target range: 49.965588 and range: 50.10 m.gEQ@ggggzfrfffBdddcc`?ɢ$B' 页5 I <ɡiI8 IpAiW=i)EQ@)ԁi=b3T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ>Al9=vBI ~BI BI BI BM =BI BI BM ;BM lQEA AI I N >D} Dy D} .Dy E} : Ey 6E} ـ4:Ey "E} ;! E} ;! *E} Bz;! E} Cz;! n ,.3AyvF@ٱvq}T@v3;v9vH }?4U`?ƿ`AxȘ@sfrs{?IvF@)v_;itB9I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203356ԹMb@Mb@Mb@ )Ii?Zd;OMbpf>jIAiA A)( ABD6D03Y\ !?=Q)>K?9K?9FY E VA >Q 15٪pw?Q 55* '9Ԧ>Q A";Y.BQ E@yBE)m;I;iԔ5Y&AgDNOT Ignoring new targets: 49.97 m.ggH͹gH͹ ProNav: ac range: 49.965588 m, nav range: 49.114719 m, bearing: 182.456632 deg, approach rate: -0.297110 m/s, LOS rate: -0.022434 deg/s, cmd heading: 187.159928 deg, new cmd heading: 187.138885 deg. g:$HeadingCmd: 3.266190 target range: 49.965588 and range: 50.10 m.gA Q@ggggzf rf f f'BBdddcc Ų?ɢe"BeIz  I <ɡiIIuAiAe=i=)A Q@)i@/5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454390>A M=rA% >jA% >I Aq I I N >,K3Ay6ZqF@ٱ6iT@6fy;6U6Hl;? d?yƿ 6z8`,o)?I6ZqF@)6t_;i4B B9BIJPExceeded connect timeout, disconnecting.BDN 6DNk3YV<!VK=VkߺQ)Z>X9X9ZFYZE^BA^>`Q 1f5٪bpl?dQ 5j5b b '9hYjABQ Ej@ybBE)b.;Ib/;ib5YnǖBr%ArEDD}D/DE: Ek&:6EJ4:E!%@!%@!%@!-@gAMDNOT Ignoring new targets: 49.97 m.gIgUZgUZ񹝅e ProNav: ac range: 49.965588 m, nav range: 48.983719 m, bearing: 182.446897 deg, approach rate: -0.353991 m/s, LOS rate: -0.026376 deg/s, cmd heading: 187.138891 deg, new cmd heading: 187.119370 deg. geAHeadingCmd: 3.265849 target range: 49.965588 and range: 50.10 m.gQ@ggggzfrfffBdddcc?ɢm!Bm im Ii u9<ɡqiqIuI} Ai}eo=i}g]=)}Q@)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.706673IG)ZAIi2  / @R=@p=iZAA!>A%l9=AQ a I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960950I N >K,jd3Aɰ$$yFdF@ٱF-]T@FL;FZFH`|?i?`|ƿX{/`i*0 ?IFdF@)F^_;iFCRB9R I1Mb@Mb@Mb@ )Iijt?~jtMbpĠ>IAiQ Ah A)3 ABD+6DE3Y.=!<=̺Q)>99FYERA>Q 15٪`?Q 55  '9>Q A(;YAQ E@yBE);I ;i}5Y%AgDNOT Ignoring new targets: 49.97 m.gg g  ProNav: ac range: 49.965588 m, nav range: 48.847076 m, bearing: 182.435170 deg, approach rate: -0.320105 m/s, LOS rate: -0.027550 deg/s, cmd heading: 187.119371 deg, new cmd heading: 187.095850 deg. g%I%HeadingCmd: 3.265439 target range: 49.965588 and range: 50.10 m.g%P@g)g)g)g)zf)rf1f1f5BBd1d9d9c9c=<'@AAvBF>~BBBBBBB ;B_QEɢMBMpWy QU^IQ U<ɡQiQI]I]"AieZ{=ie=)eP@D D {D +D E : E 5":6E  [4:E "E ;!E ;!*E !E !)!ai=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211371ԙ>A = A I I) N5 >,|~3AyB#]F@ٱBUT@BKx;BhBH< l?p?mƿ{ @b﫢`?IB#]F@)B_;iBCN B9RIBDZ#6DZӀ3Ybds!b]=bQ)b>d9d9fFYfEfvAj>lQ 1~5٪n6W?Q 55nM n '9 Y AQ E @ynBE)n;InM;in5Y%AgAMDNOT Ignoring new targets: 49.97 m.gIgM gM 󹝅] ProNav: ac range: 49.965588 m, nav range: 48.730816 m, bearing: 182.425205 deg, approach rate: -0.309247 m/s, LOS rate: -0.026570 deg/s, cmd heading: 187.095848 deg, new cmd heading: 187.075870 deg. geBeHeadingCmd: 3.265090 target range: 49.965588 and range: 50.10 m.geq %,C3Ay6UF@ٱ6LNT@6Y:6id6H&]?vt?O_ƿ |fC=+Z Zk`?I6UF@)6P`;i4VB9VIBD^"6D^Jz3Yj!!nJ=vQ)z>x9|9~FY~E~ A>Q 1 5٪sL?Q 55 '9YAQ E@yBE):I:i囋5Y–B%%A%EEB*** querying acoustic contact ***zhAhAgIUDNOT Ignoring new targets: 49.97 m.gQgU2g]2m ProNav: ac range: 49.965588 m, nav range: 48.602581 m, bearing: 182.414228 deg, approach rate: -0.317310 m/s, LOS rate: -0.027233 deg/s, cmd heading: 187.075876 deg, new cmd heading: 187.053865 deg. gm[GuHeadingCmd: 3.264706 target range: 49.965588 and range: 50.10 m.guP@gqgqgqgqzfyrfyfyfyBdddccdd@ɢBb 顽 I Lؙ<ɡiII.Ai =i)P@)QBDAT read: Rx Time:23:55:32.6377 TRx dataTimestamp_ set to:1758412530.531478checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971164i=>AAE/IԉAqIIN>ԩvB~BBIBBBBBB ;B]QEDM DM tDM -DI EM : EM v:6EM t4:EI "EM ;!U EM ;!] *EM `;!] EM `;!] = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218450+,!3Ay6JF@ٱ6KCT@6:66Hۂ@'F?y?Iƿ|~|C@?I6JF@)6a;i6Cj B9jIԹMb@Mb@Mb@ )Ii#~j?I +9tIMAiAh A A)BDE6DE!3Yu<!}&=GQ)>99FYEA>Q 15٪ ??Q 55" '9MU>Q AM#;YMCBQ EU@yBE) BDAT read: Tx time:23:55:33.7682 $Ping request sent.)ZIy>i.@Q >].@>@ iI.߹ݡs?&?]]?#? i ڽ)i:publishing transmit ping timeY%Fpublishing direction and range info9rĊo?cEG຿j?i )Ii iI.߹ݡs?&?]]? )i A I I N >1 2,a˼3Ay:AF@ٱ:l:T@:ӌ:b:H n3?}?-8ƿ`}``5?@?I:AF@):B`;i:CRB9VIBDf6Df\3Yn=!n=ngAQ)r ?p9p9rFYrEvAv?xQ 1~5D%D%vD%,D!E%: E%:6E%g4:E!!-@!-@!-@!-@٪z6?Q 5=5zj z'9AYELBQ EE@yz!BE)z1-jA)9AuyAIyIN~>i  9,3AB9IAiAm<vBuD>~BqBqBqBu =BqBqBu;BuhQEB9B9B9B=° =B=° =B=4Mb@Mb@Mb@ )IiˡE?t94IdAi A)BD- 6D-:2Y=C!=)=EQ)E>E H?9E H?9MFYMEMAM>QQ 1]5٪UA)?Q 5]5U U'9eH>Q Ae!;Ye|AQ Ee@ayU$BE)U;;IU:;iU5YuBuT&AuEgDNOT Ignoring new targets: 48.87 m.gg!g! ProNav: ac range: 48.868332 m, nav range: 48.085125 m, bearing: 183.019735 deg, approach rate: -0.341779 m/s, LOS rate: -0.026789 deg/s, cmd heading: 187.014760 deg, new cmd heading: 186.989933 deg. gDHeadingCmd: 3.263590 target range: 48.868332 and range: 49.00 m.gP@ggggzfrfffBBdddcc?ɢBjq I m<ɡ i I I AAi`=i=)P@)D)D-wD--D)E) E-:6E-t4:E)"E-U;!5E-V;!5*E-k;!=E-k;!=i5599=/9ԑ >A} h=A AI I N >)J@, 73Ay6F@ٱ6 T@6/6v6Hχ??ſ r@Xe? }?I6F@)6_;i6CF B9FIiJ=IJ=IH)JAABDN)6DN3YZu>!Zn=^߻Q)^?^K?9bK?9bFYbEb7Ab?dQ 1j5٪f?Q 5j5f@ f'9lYnAQ En@yf%BE)f;IfQ;if5Ypr%Atg DNOT Ignoring new targets: 48.87 m.ggg⹝- ProNav: ac range: 48.868332 m, nav range: 47.972317 m, bearing: 183.011251 deg, approach rate: -0.328675 m/s, LOS rate: -0.024778 deg/s, cmd heading: 186.989939 deg, new cmd heading: 186.972930 deg. g-a55HeadingCmd: 3.263293 target range: 48.868332 and range: 49.00 m.g5P@g1g1g1g1zf1rf9f9f9BdAdAdAcAcMv?ɢB< I [<ɡiIQI%EAi%ܼ=i%`N=)%P@))i309DDtD.DEa: Ev:6Eـ4:E!@!@!@!@>AD=q A yAI I! N- >JeF,J3A0y:Q F@ٱ:T@:6\:<:Hsq?]?ſŃB@نk?@UС`?I:Q F@):_;i8F B9FIBDN6DNP)3YV!ZM=ZG޺Q)Z>^ H?9^ H?9^FY^E A >Q 15٪?Q 55 !'9!Y%AQ E%@y'BE);I+;iФ5Y)-%A)MB*** querying acoustic contact ***zhIhIgQ]DNOT Ignoring new targets: 48.87 m.gYge[ge[ṝu ProNav: ac range: 48.868332 m, nav range: 47.838169 m, bearing: 183.001193 deg, approach rate: -0.327583 m/s, LOS rate: -0.024628 deg/s, cmd heading: 186.972931 deg, new cmd heading: 186.952761 deg. guI4}HeadingCmd: 3.262941 target range: 48.868332 and range: 49.00 m.g}P@gygygygzfrfffBdddcc?ɢB I <ɡiICIKAiƖ=i=)P@))iU6QQU0QԑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.>AUt=bAUAZAQIaIN_>ԹvBC>~BBIB BBBBDB";BuQEbD ZD AAD D wD *D E : E :6E (N4:E "E ;! E ;! *E ! E !  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752409PL,43A\yrAF@ٱrS@r\;wrN8rH`(?i?}ſ`K@jfn? I?IrAF@)r_;irC~ B9Mb@Mb@Mb@ )Ii!rh?QI +l>uIAiA) ABD+6DE3YO:!;=vQ)>99FYEIA>Q 15٪?Q 55 %'9>Q A";Y"AQ E@y*BE) ;Iu ;i5YB%AgDNOT Ignoring new targets: 48.87 m.ggg ProNav: ac range: 48.868332 m, nav range: 47.698498 m, bearing: 182.989183 deg, approach rate: -0.314974 m/s, LOS rate: -0.027163 deg/s, cmd heading: 186.952755 deg, new cmd heading: 186.928665 deg. gFHeadingCmd: 3.262521 target range: 48.868332 and range: 49.00 m.g#P@ggggzfrfffBBdddcc ?ɢ B; I &<ɡiI.IRAi%Ӗ=i%6=)%#P@))i0@p=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004461>A =A I I N >:wS,LN3ABEut4JEus4REu0D2D2qD2+D0E2: E2$ :6E2 [4:E0!:@!:@!:@!:@yBpE@ٱBS@BBjcBH?@?)ſ@@Ţ`q?0k@?IBpE@)B_;iBCRB9RIBDZ-6DZ3Y5xV=!5S==Q)=>A9A9EFYEEEߺAM>IQ 1U5٪M6?Q 5]5M M)'9YY].AQ E]@yM,BE)M;IML;iM`5Yam/%AigDNOT Ignoring new targets: 48.87 m.ggg ProNav: ac range: 48.868332 m, nav range: 47.571815 m, bearing: 182.978334 deg, approach rate: -0.340743 m/s, LOS rate: -0.029259 deg/s, cmd heading: 186.928658 deg, new cmd heading: 186.906902 deg. g0VHeadingCmd: 3.262141 target range: 48.868332 and range: 49.00 m.gP@ggggzfrfffBdddccM@ɢB I B<ɡiIljIXAiMܖ=i=) P@) Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257402i@O5Iy>AZ=I9IINU> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508619ԩ wY,~qh3AyNZE@ٱNS@N짻NKNHs?@)?}ſ`Z2at?6 2?INZE@)Nn`_;iNC^B9^ IEMb@Mb@Mb@ A)AIAiAAE+?~jth{GzE>EDE#IAiEAEQ AE A)AABD] 6D]k3Ymp<!mF=AqAuAAvBy~ByByByByByByB}!;B}tQEԑ Q)>99FYEpA>Q 15٪e?Q 55 ,'9՟>Q A*;Y>Q E@y.BE) ;IX ;i25Y%AgimDNOT Ignoring new targets: 48.87 m.gqgu/gu/ ProNav: ac range: 48.868332 m, nav range: 47.442581 m, bearing: 182.961741 deg, approach rate: -0.298777 m/s, LOS rate: -0.038467 deg/s, cmd heading: 186.906897 deg, new cmd heading: 186.873620 deg. gˌHeadingCmd: 3.261560 target range: 48.868332 and range: 49.00 m.gfP@ggggzfrfffBBdddcc}@ɢ Be. YI "{<ɡiIIObAi%=i%n=)%fP@)!YYrDm=jDm<DDsD/DE1: EZ:6EJ4:E"E;!E;!*E$];!E$];!i?P5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760523>A t=rA >jA >Ii Iy N > B`,?3Ay6E@ٱ6S@6{»66H XH??@SſOf[x?@%٢`M?I6E@)6_;i4BB9BIBDJ&6DJދ3RBDAT read: Rx Time:23:55:36.2362 VTRx dataTimestamp_ set to:1758412534.056252Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013560Y^;_!^W=b Q)b>`9`9bFYbEfbAf>hQ 1n5٪j養?Q 5n5j j/'9lYr ?Q Er@yj0BE)j;Ij";ij֫5YvBv %AvEgDNOT Ignoring new targets: 48.87 m.gg=g= ProNav: ac range: 48.868332 m, nav range: 47.326031 m, bearing: 182.946881 deg, approach rate: -0.324203 m/s, LOS rate: -0.041436 deg/s, cmd heading: 186.873621 deg, new cmd heading: 186.843828 deg. gHeadingCmd: 3.261040 target range: 48.868332 and range: 49.00 m.gP@ggggzfrfffBddd c c ڏ@ɢ] Be< ae>Ia eu<ɡaiaImImjAiu#=iux=)}P@)i    >4 @A@A!DDrDDE~: E?:6E:E!@!@!@!@e4>ieCIsG)Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266045>AuSk=ԁiȡ¤AI I N5 >U >?U KAԁ ķf,8-3Ay>E@ٱS@ڻH4 a2?@V? R>ſ`W{?qa@?I>E@)'_;i"B9 IBD6D 3Y t=! 6=պQ)>99FYEA>!Q 1-5٪%ݤ?Q 5-5% %3'91Y5?Q E5@y%2BE)%D;I%;i%˭5Y9=$A9IeB*** querying acoustic contact ***zhahagiuDNOT Ignoring new targets: 48.87 m.gyg4g4 ProNav: ac range: 48.868332 m, nav range: 47.186863 m, bearing: 182.929160 deg, approach rate: -0.309513 m/s, LOS rate: -0.039529 deg/s, cmd heading: 186.843827 deg, new cmd heading: 186.808280 deg. gHeadingCmd: 3.260420 target range: 48.868332 and range: 49.00 m.gP@ggggzfrfffBdddcc`I @ɢ B I &Do<ɡiIItAi=ix=)P@))ߩ ߩDAT read: 23:55:36.2362 LVL= 23616, 28273, 21458, 31011, AGC= 65, IDX= 426, 0.47, 0.347,-1.236, 0.699, 0.208, PHS= 0.242,-1.398, 0.448, RAW= 155.8, 8.1, CAL= 155.4, 8.5, ROT= 354.6, -8.5 Ygot valid direction response: 23:55:36.2362 LVL= 23616, 28273, 21458, 31011, AGC= 65, IDX= 426, 0.47, 0.347,-1.236, 0.699, 0.208, PHS= 0.242,-1.398, 0.448, RAW= 155.8, 8.1, CAL= 155.4, 8.5, ROT= 354.6, -8.5  PDAT read: Bearing 344.4, -5.4 (Local)  ~Local bearing/azimuth received: Bearing 344.4, -5.4 (Local) DAT read: Range 11 to 50 : 47.8 m (Round-trip 63.8 ms) speed 0.3 m/s %,DAT read: user:1010> 5BDAT read: Tx time:23:55:37.3682 5$Ping request sent.5)IB`>i3/i.@>^-@> @ iI̭?ɃF܌?wa]?' ?O )i:publishing transmit ping timeY1Fpublishing direction and range info9ȝ?:ӷ%)k?i )Ii iI̭?ɃF܌?wa]? )iԉvBq~BqBuIBuBBqBqBqBu;BujQEԩ>AI1 IA NU >bD ZD D D wD -D E : E :6E t4:E "E #;! E $;! *E k;! E k;! el,3Ay6E@ٱ6 S@6󻹱6o6H z?ċ?@B)ſStb~?X`?I6E@)6^;i6CB9 I-Mb@Mb@Mb@ )))I)i))-y&1?MbI +-`>--94I-7Ai-lA))))-= ABDe'6De3Yu!uD=}Q)}>y9y9}FY²E̺A>ԱQ 15٪Ҥ?Q 55 6'9>Q A$;Y@Q E@y4BE);;I;i5Y$Ahh֣3Ah>Bh>BhzN@ vmZC"xG@!1{pe/@uȝ?:ӷ%)k?hhv%1vGWs N7uM:@vLy.kYSqlJ?hih;h%F`?h_h;B*i7^?2i3 :ii,A! bA) ZA- A9 A I I N >s, н3AD.D,D..D,E.U: E,6E.ـ4:E,!2@!2@!2@!2@yZE@ٱZ{S@Z`Z]ZH ]`?詌? ſ͋z̀?j`l?IZE@)Z^;iZCfB9f IBDn!6Dnr3Yvʼ!v_=z Q)z>x9|9~FY~ŲE~4A~>Q 1 5٪Ȥ?Q 5 5  9'9Y(@Q E@y6BE);I;i75YB$A%EgAMDNOT Ignoring new targets: 47.67 m.gIgMTgUT} ProNav: ac range: 47.671429 m, nav range: 46.925468 m, bearing: 183.567422 deg, approach rate: -0.337843 m/s, LOS rate: -0.031764 deg/s, cmd heading: 186.774132 deg, new cmd heading: 186.751892 deg. g}hHeadingCmd: 3.259435 target range: 47.671429 and range: 47.80 m.gP@ggggzfrfffBdddcc5?ɢB { 顝I * c<ɡiI2yIAԩi=i+=)P@)ie?aae/a@m=@i>Ao== A AI I N= > z,z3AA\A\vB`~B`Bb IBbBB`B`B`Bb;BbaQE="B9= IMb@Mb@Mb@ )IiZd;O?MbMb~>IAiVA; A) ABD 6D k2Y$,=!9=Q)>%K?9%K?9%FY%DzE-A->1Q 1=5٪5?Q 5=55} 5<'9=>Q A=;Y=AQ EE@y58BE)5 ;I5G ;i5%5YY]z$AagDNOT Ignoring new targets: 47.67 m.gg Ĺg ĹDUDUoDU0DQEU: EU:6EU4:EQ"EU;!eEU;!m*EUN;!mEUN;!mԩ  ProNav: ac range: 47.671429 m, nav range: 46.778301 m, bearing: 183.557683 deg, approach rate: -0.322846 m/s, LOS rate: -0.021433 deg/s, cmd heading: 186.751893 deg, new cmd heading: 186.732352 deg. g HeadingCmd: 3.259094 target range: 47.671429 and range: 47.80 m.g P@g g ggzfrfffBBdddc!c%q?ɢB]t  I  \<ɡiI\I}Ai=ib=)P@)i8 >A =rA >jA >1 A I I N >Fց,x3Ay6)E@ٱ6S@6٧6@6H?@Q?Ŀ࢏'t?k&?I6)E@)6_;i4V(B9V IBD^&6D^ދ3Yf<!fF=fMQ)f>h9h9jFYjʲEnfAn>pQ 1v5٪r?Q 5v5r r='9tYvAQ Ez@yr;BE)rr;Ir;ir5Y~B~#A|g!%DNOT Ignoring new targets: 47.67 m.g!g-0̹g-0̹= ProNav: ac range: 47.671429 m, nav range: 46.640556 m, bearing: 183.548788 deg, approach rate: -0.344559 m/s, LOS rate: -0.022314 deg/s, cmd heading: 186.732359 deg, new cmd heading: 186.714517 deg. g=Y#EHeadingCmd: 3.258783 target range: 47.671429 and range: 47.80 m.gEP@gAgAgIgIzfIrfIfQfQBdQdQdYcYc]?ɢB4t 額;۾I ;W<ɡiII͏AiG$=i=)P@)ii 3   / DDpD.DEa: E :6Eـ4:E!@!@!@!@ԙ>A 3W=Ay I I N > ",}!3Ay>zE@ٱ> sS@>}+>:>H@?k?Ŀ6qo?`=@?I>zE@)>_;i>Cb-B9b IBDj6DjF3Yr<!rI=rQ)r>t9t9vFYvͲEz"Az>|Q 15٪~?Q 55~O ~?'9YAQ E @y~=BE)~o:I~:i~5YB#AE-B*** querying acoustic contact ***zh)h)g9EDNOT Ignoring new targets: 47.67 m.gAgEw¹gEw¹U ProNav: ac range: 47.671429 m, nav range: 46.505459 m, bearing: 183.540179 deg, approach rate: -0.332504 m/s, LOS rate: -0.021252 deg/s, cmd heading: 186.714518 deg, new cmd heading: 186.697249 deg. g]]HeadingCmd: 3.258482 target range: 47.671429 and range: 47.80 m.geP@gagagagazfarfafifiBdididqcqcu]@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢ=B=~ AEվIA EhQ<ɡAiAIE}3IMAiMm.=iM =)UP@)qi9/@ @ vBEA>~BABE IBE!BBABABABE ;BEZQEBBBBį =Bį =B)4DDtDDE: Ev:6E:E"E;!E;!*E`;!E`;!>A L=1 im >Ii } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255422I I N >Q (,k`;3Ay6eE@ٱ6^S@6566H@1y?ԏ?NĿ` ` ?`S"?I6eE@)6$_;i6C^4B9^& Iib=Ib=uMb@Mb@Mb@ q)qIqiqquQ? rh{Gzu>uCu#Iu AiuAquA)qu ABD)6D3Yq=!?=_Q)>99FYϲEDA>Q 15٪ș?Q 55 B'9B>Q A ;YBQ E@y?BE)':I:i5Y\#AgDNOT Ignoring new targets: 47.67 m.ggg ProNav: ac range: 47.671429 m, nav range: 46.363869 m, bearing: 183.531960 deg, approach rate: -0.330571 m/s, LOS rate: -0.019247 deg/s, cmd heading: 186.697251 deg, new cmd heading: 186.680764 deg. g HeadingCmd: 3.258194 target range: 47.671429 and range: 47.80 m.g@P@ggggzf!rf!f!f%BBd)d)d)c)c5@:@ɢ]B]xy Ye̾Ia eL<ɡaiaIeEImuA)i-7=i5=)5@P@)1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506687i6Q>A- h=ԉ D D zD D E 7: E  :6E :E ! @! @! @! @I I N% >} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758386h-,(U3AyV.QE@ٱVIS@VACViWVH@P?r?\ĿĔBy?`Zi?IV.QE@)VQ_;iVCb6B9b( IBDj6Dj4d3Yr<!rS=rQ)v>t9t9vFYvҲEzRAz>|Q 15٪~?Q 55~ ~D'9Y.BQ E @y~ABE)~:I~:i~J5YB##Ag9=DNOT Ignoring new targets: 47.67 m.g9gE-gE-U ProNav: ac range: 47.671429 m, nav range: 46.236004 m, bearing: 183.524693 deg, approach rate: -0.330157 m/s, LOS rate: -0.018816 deg/s, cmd heading: 186.680763 deg, new cmd heading: 186.666189 deg. gU HeadingCmd: 3.257940 target range: 47.671429 and range: 47.80 m.gP@ggggzfrfffBdddcc@ɢ=B={ 9=ɾIA E\F<ɡAiAIEeIMAiM6A=iM@=)MP@)QiE0IIIIyBDAT read: Rx Time:23:55:39.8347 TRx dataTimestamp_ set to:1758412537.588180checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011554>A =Ա I I9 N >A A @AvB B>~B B  IB ,BB B B B ;B OQEW,o3A@yV>IE@ٱVAS@VPVVH`+>?E? BMĿ˔@ĝ@?G?IV>IE@)Vg_;iTf8B9j* IDeDaDaDaEe: Ea6Ea:Ea"Ee;!mEe;!m*Eev;!uEev;!u Mb@Mb@Mb@ ) I i   S㥛?I +Mb ݤ> 9 I 7Ai   )   ABD=+6D=E3YU <!]5=e׺Q)e>i9i9uFYuղE}A}>Q 15٪?Q 55l E'9L>Q A$;YGCQ E@yCBE)L;I;iH5Y#Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262785gaeDNOT Ignoring new targets: 47.67 m.gagKgK ProNav: ac range: 47.671429 m, nav range: 46.089092 m, bearing: 183.519426 deg, approach rate: -0.309377 m/s, LOS rate: -0.011126 deg/s, cmd heading: 186.666188 deg, new cmd heading: 186.655621 deg. g墹HeadingCmd: 3.257755 target range: 47.671429 and range: 47.80 m.gP@gԩgggzfrfffBBdddcc`_y @ɢBnW 額ƾI L@<ɡiI{WIAi L=i"=)P@)i3/@@= >A A!= DAT read: 23:55:39.8347 LVL= 22880, 30241, 20818, 30323, AGC= 64, IDX= 427,-0.21,-0.174,-1.766, 0.178,-0.295, PHS= 0.223,-1.426, 0.429, RAW= 155.8, 8.8, CAL= 155.5, 9.4, ROT= 354.5, -9.4 % Ygot valid direction response: 23:55:39.8347 LVL= 22880, 30241, 20818, 30323, AGC= 64, IDX= 427,-0.21,-0.174,-1.766, 0.178,-0.295, PHS= 0.223,-1.426, 0.429, RAW= 155.8, 8.8, CAL= 155.5, 9.4, ROT= 354.5, -9.4 - PDAT read: Bearing 345.0, -5.0 (Local) 5 ~Local bearing/azimuth received: Bearing 345.0, -5.0 (Local) = DAT read: Range 11 to 50 : 46.8 m (Round-trip 62.4 ms) speed 0.1 m/s E ,DAT read: user:1011> M BDAT read: Tx time:23:55:40.9182 M $Ping request sent.M YI  Fpublishing direction and range info9 ݁l?{tw5$vz? 3;B i `Y !v RQ sv @ Zd>) +I >i nF> -@ '> z@ 'i I ggD?ƀ?Cڎl?  ? C )Ľ) 'i % :publishing transmit ping timeYI % Fpublishing direction and range info9 ݁l?{tw5$vz? i ) I i >,j3A iIggD?ƀ?Cڎl? )ipy >E@ٱ t7S@ 6.^ x# HZ@9'?F?8Ŀ'Rŋ?`b?I >E@) c_;i e5B9e' I)i mABDu(6Du:3Y^!V=Q)>99FYײEvغA>Q 15٪^x?Q 55 G'9YRCQ E@yEBE):I|:i5Y(#Ahh3Ah:Bh:Bh*mM@ v OF@`'`|ѵ ~@u݁l?{tw5$vz?h)Ľh'vUEFy{ 1^j @vjl4qg]8 )K?h;Hh:7hRd?h/hB*i`?2i/:ii7B"ikM@ addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.533210 s, deltaX: -1.000000 m, approachRate: -0.283029 m/s, rangeRepo size: 4  Added new target pos. range: 46.674072 m, bearing: 183.907303 deg, lat: 36.779131 deg, lon: -121.859763 deg, deltaT: 3.533210 s, deltaX: -0.997356 m, approachRate: -0.282281 m/s, posRepo size: 4 gDNOT Ignoring new targets: 46.67 m.gg%g!U ProNav: ac range: 46.674072 m, nav range: 45.963852 m, bearing: 183.903040 deg, approach rate: 0.000000 m/s, LOS rate: -0.011126 deg/s, cmd heading: 186.655615 deg, new cmd heading: 186.647010 deg. gQ]HeadingCmd: 3.257605 target range: 46.674072 and range: 46.80 m.g]|P@gYgYgagazfarfafafiBdiddc`ffG@c?ɢBF ^ȾI ;<ɡiI IMAiMT=iMY=)U|P@)QBEـ4JE~4RE?/DDD,DE: E:6Eg4:E!@!@!@!@i;/9>A II IY a Nm >$i,F3Ay6T9T9ZFYZٲEZAZ>`Q 1f5٪bjn?Q 5f5b bH'9dYfVCQ Ej@ybGBE)b:Ib:ib5YnBn#AnEzB*** querying acoustic contact ***zh|h|g DNOT Ignoring new targets: 46.67 m.g g (g(% ProNav: ac range: 46.674072 m, nav range: 45.845287 m, bearing: 183.899882 deg, approach rate: -0.345005 m/s, LOS rate: -0.009213 deg/s, cmd heading: 186.647009 deg, new cmd heading: 186.640676 deg. g%ㆹ-HeadingCmd: 3.257494 target range: 46.674072 and range: 46.80 m.g-zP@g)g)g)g)zf)rf1f1f1Bd19d9dAcAcE ?eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ɢB f  zȾI  b7<ɡiIݬI=Ai=_\=i=Vf=)=zP@)Ai6_0qvBE>~BB. IB;BB =BBDB;BPQEDD|D/DEg: EP$:6EJ4ԙ:E"E;!E;!*E};!E};!>A5^=IIN> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734868 , 3Av;B9v. IuMb@Mb@Mb@ q)qIqiqqu)\(?X9vy&1|uG>uu`Iu AiuAqq)qup ABD6D03ԙY<!;=Q)>99FYܲEA>Q 15٪b?Q 555 9>Q A';Y>EQ E@yIBE)u:I:it5Y"AgDNOT Ignoring new targets: 46.67 m.ggt8gt8 ProNav: ac range: 46.674072 m, nav range: 45.707527 m, bearing: 183.901332 deg, approach rate: -0.316836 m/s, LOS rate: 0.003345 deg/s, cmd heading: 186.640670 deg, new cmd heading: 186.643579 deg. g8HeadingCmd: 3.257545 target range: 46.674072 and range: 46.80 m.g{P@ggggzf!rf!f!f%BBd)d)d)c)c-`?ɢ]B]uv Y]Ia eD2<ɡaiaIeImAime=ii)m{P@))i iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.987322i10@@>A=I GA yAI I N >)U Ai I i @ A ӤAD D D ,D E غ: E *:6E g4:E ! @! @! @! @% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238902z,־3AyZF)E@ٱZ!S@ZZ ZHΙ!?? Ŀ`Ơ`j?B?IZF)E@)Zɉ_;iZC>B92 Ii =I =I ) @ABD6D 83Y%3<!%R=-Q)->- H?9- H?95FY5߲E5AA5>9Q 1E5٪=yX?Q 5E5=e =I'9IYMPEQ EM@y=KBE)=1:I=k:i='Ë5YQU"AQgyDNOT Ignoring new targets: 46.67 m.gg8g8 ProNav: ac range: 46.674072 m, nav range: 45.584465 m, bearing: 183.902809 deg, approach rate: -0.316720 m/s, LOS rate: 0.003813 deg/s, cmd heading: 186.643580 deg, new cmd heading: 186.646543 deg. gL8HeadingCmd: 3.257597 target range: 46.674072 and range: 46.80 m.gw|P@ggggzfrfffBdddcc$?ɢBt+ ,I -<ɡiIܒI?Aim=i5`=)Uw|P@)qi @   P5 Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492023>AM~=yvB G>~B B : IB EBA AI B B B B ;B JQEIA NM >ԡ ,3ArD=%=jD==MCB9M8 I-Mb@Mb@Mb@ )))I)i))-jt?l񢿺I +-Ġ>--94I)i-VA)-$A))-G ABDE6DEP)3DUDU}DU.DQEUƱ: EUk&:6EUـ4:EQ"EUF;!]EUG;!]*EUŀ;!eEUŀ;!eYm<!m7=mqQ)m>uK?9}K?9}FY}E}A}>Q 15checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742814٪L?Q 5 5 K'9 >Q A';YFQ E@yNBE)yy}0y>A] Vo= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996106 A yAI I N >,n 3Ay6+E@ٱ6S@6į6T 6H`?`拖?ÿC@U?i`?I6+E@)61_;i6CBGB9B= IBDJ6DJ{U3YR<!Rd=R]Q)R>V H?9V H?9VFYVEZYAZ>\Q 1b5٪^ C?Q 5b5^ ^L'9`YbFQ Eb@y^PBE)^:I^:i^Ƌ5YhjA"Alg|DNOT Ignoring new targets: 46.67 m.gg+h9g+h9 ProNav: ac range: 46.674072 m, nav range: 45.330139 m, bearing: 183.912283 deg, approach rate: -0.334746 m/s, LOS rate: 0.012686 deg/s, cmd heading: 186.656967 deg, new cmd heading: 186.665547 deg. g9HeadingCmd: 3.257928 target range: 46.674072 and range: 46.80 m.gP@ggggzfrfffBdddcc),@ɢBʜ !%I! %J#<ɡ!i!I-`IUϝAiU=iU =)UP@)Yii@%5@@=DD{D/DEU: E5":6EJ4:E!@!@!@!@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246805ԑ>A6[=A AI I N > ,R%3Ay>E@ٱ>QS@>T>>H`ܚt??Oÿ V ힿ`ב? 5?I>E@)>)_;i>CJIB9J@ I)L NAR;iRBDR%6DR03YZ.<!ZJ=^Q)^>bK?9bK?9bFYbEbRAf>dQ 1j5٪f@8?Q 5j5f fN'9lrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498977YnFQ Ev@yfRBE)f1h;Ifpi;ifpȋ5Yxz0"AxB*** querying acoustic contact ***zhhg!%DNOT Ignoring new targets: 46.67 m.g!g-]9g-]9= ProNav: ac range: 46.674072 m, nav range: 45.201965 m, bearing: 183.917204 deg, approach rate: -0.314515 m/s, LOS rate: 0.012108 deg/s, cmd heading: 186.665546 deg, new cmd heading: 186.675415 deg. g=F9EHeadingCmd: 3.258101 target range: 46.674072 and range: 46.80 m.gEP@gAgIgIgIzfIrfIfQfQBdQdQdQcYc]vE@ɢt 額`I Ԛ<ɡiIHIAi=i=)P@)i6/vBH>~BCBG IBOBBBBB;BPQEbDZD?A>A%Vo=DD}D+DEغ: Ek&:6E [4:E"EQ V, 7?3Ay6fE@ٱ6S@6꒼6Q6HҚ.?h? bÿ`qണ]? 0?I6fE@)6^;i6CBLB9BC I Mb@Mb@Mb@ ) I i   w/?Zd;Oy&1 > j< `eI  Ai A  A A)  zABD-06D-3Y=I<!=B==Q)=>A9A9EFYEEEdAM>IQ 1U5٪M,?Q 5]5M MQ'9]>Q A]!;Y]HQ E]@yMTBE)Mz ;IMG ;iMGʋ5YeBm!AmEg 5DNOT Ignoring new targets: 46.67 m.g1g5&9g5&9E ProNav: ac range: 46.674072 m, nav range: 45.063465 m, bearing: 183.926630 deg, approach rate: -0.318786 m/s, LOS rate: 0.021764 deg/s, cmd heading: 186.675408 deg, new cmd heading: 186.694319 deg. gEQ:mHeadingCmd: 3.258430 target range: 46.674072 and range: 46.80 m.gu P@gqgqgqgqzfqrfqfyf}BBdydydcc@@ɢBR I <ɡiIxIA)i  =iQ=) P@)BDAT read: Rx Time:23:55:43.3831 TRx dataTimestamp_ set to:1758412541.116428checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004152i%4!!!!Y>AE S-=ԉ D D |D D E : E P$:6E :E ! @! @! @! @Aq I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254876N >,Y3A0yBE@ٱBS@BIB4BH4?@V?ÿ`ݞ&?~?IBE@)B.^;iBCNGB9R= IBDV36DV3Y^!^S=bQ)b>`9d9fFYfEfAf>hQ 1n5٪j!?Q 5n5j jT'9pYrHQ Er@yjVBE)j;IjQ;ijˋ5Ytv"AtgDNOT Ignoring new targets: 46.67 m.gg!9g%!9- ProNav: ac range: 46.674072 m, nav range: 44.935871 m, bearing: 183.935386 deg, approach rate: -0.343233 m/s, LOS rate: 0.023619 deg/s, cmd heading: 186.694314 deg, new cmd heading: 186.711875 deg. g5,:5HeadingCmd: 3.258737 target range: 46.674072 and range: 46.80 m.g5&P@g9g9gAgAzfArfAfAfIBdIdIdIcIcUw @ɢB 簾I )<ɡiI I Ai =i Hy=) &P@)ԑi1/@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510715>A vB ~B B M IB TBB =B B B ;B WQEAE yAIy BBBBɰ =BBɜ44I N >$,r3AlD1D1D5,D1E1 E16E5g4:E1"E5;!EE5;!E*E5};!EE5};!MEKB9EB IDAT read: 23:55:43.3831 LVL= 22640, 30865, 21810, 30019, AGC= 63, IDX= 427, 0.11,-3.137, 1.525,-2.831, 2.967, PHS= 0.281,-1.397, 0.441, RAW= 7.7, CAL= 154.0, 8.1, ROT= 356.0, -8.1 !unknown deviceResponse_: 23:55:43.3831 LVL= 22640, 30865, 21810, 30019, AGC= 63, IDX= 427, 0.11,-3.137, 1.525,-2.831, 2.967, PHS= 0.281,-1.397, 0.441, RAW= 7.7, CAL= 154.0, 8.1, ROT= 356.0, -8.1 PDAT read: Bearing 343.3, -3.3 (Local) ~Local bearing/azimuth received: Bearing 343.3, -3.3 (Local) DAT read: Range 11 to 50 : 45.6 m (Round-trip 60.8 ms) speed 0.3 m/s ,DAT read: user:1012> BDAT read: Tx time:23:55:44.4681 $Ping request sent.E'AIAiAEQ AEA)AAIU@A)UAABD]$6D]3Ym[t<!m&=uQ)u>u H?9u H?9}FY}E}A}>Q 15٪?Q 55 W'9e>Q A ;YGQ E@yXBE);I\ ;i΋5Y!A addTargetRange:: Added new target pos. range: 45.599998 m, deltaT: 3.778310 s, deltaX: -1.200001 m, approachRate: -0.317603 m/s, rangeRepo size: 4 gDNOT Ignoring new targets: 46.67 m.gg9g9% ProNav: ac range: 46.674072 m, nav range: 44.773056 m, bearing: 183.943329 deg, approach rate: -0.312228 m/s, LOS rate: 0.015288 deg/s, cmd heading: 186.711882 deg, new cmd heading: 186.727826 deg. g%9-HeadingCmd: 3.259015 target range: 46.674072 and range: 45.60 m.g-P@g)g1g1g1zf1rf1f9f=BBdddcF@c`jپ?ɢmBm։3 mm Iq uX<ɡqiI IAi磗=i.=)P@)1iM>IIM4Qa >Au O=ԑ AAIIN>.G,3Ay^E@ٱ^>S@^C^:^H`Ț? ?ÿ 9?@Ԡ?I^E@)^];i^Cv0B9v! IBD6D03Y-V!5G==rQ)=>EK?9EK?9EFYMEe87Ae>iQ 1u5٪m~?Q 5u5m! mZ'9qYqQ E}@ym[BE)m;Im;imϋ5YB"AEgDNOT Ignoring new targets: 46.67 m.gg9g9 ProNav: ac range: 46.674072 m, nav range: 44.635681 m, bearing: 183.950071 deg, approach rate: -0.355166 m/s, LOS rate: 0.017484 deg/s, cmd heading: 186.727823 deg, new cmd heading: 186.741348 deg. g9DDD5DEg: E,:6E4:E!@!@!@!@HeadingCmd: 3.259251 target range: 46.674072 and range: 45.60 m.gP@ggggzfrfff)Bdddcc?ɢ9= 9=(ƾI9 E8 <ɡAiAI*I"Ai=i=)P@)i=799=/9aԁ>A] o=A yAI I Ա N >[l,巫3Ay6E@ٱ6S@6696H??`ÿޘ L?aG?I6E@)6r];i6CBCB9B8 IBDJ06DJ3YR=!RT=R'Q)V>V H?9V H?9ZFY^EvB~BCBS IBYBB =BBB;BhQEE>8AM>Q 15٪)?Q 55= \'9YGQ E@y]BE)A O= A AI I N >,0ǿ3ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248556KB9B I) AMb@Mb@Mb@ )Ii!rh?S㥛Mbl>/ݼI~ Ai; AA)A4K?9K?9FYEA%>!)Q 155٪%?Q 555% %`'9=1>Q A=!;Y=mDQ E=@y%_BE)%D=;I%;;i%Ӌ5YAE!AIgquDNOT Ignoring new targets: 46.67 m.gqg}g} ProNav: ac range: 46.674072 m, nav range: 44.353622 m, bearing: 183.956063 deg, approach rate: -0.377168 m/s, LOS rate: -0.001632 deg/s, cmd heading: 186.754639 deg, new cmd heading: 186.753361 deg. g?HeadingCmd: 3.259461 target range: 46.674072 and range: 45.60 m.gP@ggggzfrfff߂BBdddcc>?ɢuBu1 quEIy } "<ɡyiyI}fIAib=i=)P@)YBEg4JEt4REJ0DDxD+DE: E:6E [4:E!@!@!@!@9Β{Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501192ԉi% @! ! % E5! Ա >Ae =rAm >jAm >IaIN?,3A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752593y^j E@ٱ^S@^-^CH^H`7?`u? ÿ`B cE?!Ɵs?I^j E@)^];i^CjPB9jH IBDr#6DrӀ3Yzy<!z,=~Q)~>|9|9~FY~EúA> Q 15٪ 㣊?Q 55  e'9YxDQ E@y bBE) :I :i Ջ5Y%~B%p!A!gIMDNOT Ignoring new targets: 46.67 m.gQgU8gU8e ProNav: ac range: 46.674072 m, nav range: 44.197212 m, bearing: 183.955519 deg, approach rate: -0.329127 m/s, LOS rate: -0.001149 deg/s, cmd heading: 186.753368 deg, new cmd heading: 186.752276 deg. gemHeadingCmd: 3.259442 target range: 46.674072 and range: 45.60 m.gmP@gqgqgqgqzfqrfqfyfyBdydydycc`8?ɢB"[ 页I F;ɡiIIAi`ŗ=ii=)P@)i9A<AvB~BBBBBBB;BtQEi619E/A@]@]@e@eԑDuDurDqDqEus: Eu?:6Eq:Eq"Eu;!Eu;!*EuY;!EuY;! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005119ԹI I N > 9j,3Ay:E@ٱ:mR@:XΣ::HK??`ÿ@,/qy?` n?I:E@):w];i8FQB9JI IMb@Mb@Mb@ )IiQ?tuI Ai)ABD-$6D-3Y=qN;!EF=EQ)E>A9I9MFYMEM{AM>QQ 1]5٪U0أ?Q 5e5U+ Uh'9eb>Q Ae ;YeBQ Ee@yUdBE)U: ;IU ;iU׋5Yiuk!AqgDNOT Ignoring new targets: 46.67 m.ggngn ProNav: ac range: 46.674072 m, nav range: 44.061104 m, bearing: 183.950162 deg, approach rate: -0.330631 m/s, LOS rate: -0.013053 deg/s, cmd heading: 186.752275 deg, new cmd heading: 186.741529 deg. gHeadingCmd: 3.259254 target range: 46.674072 and range: 45.60 m.gP@ggggzfrfffBBdddcc@X@ɢBa uI v;ɡiI$vuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256615I}Ai}Η=i}t=)}P@)) iIyyii?3I eG)% ZA) IA IQ Ia Nu >D D pD 1D E : E  :6E -4:E ! @! @! @! @i ZA A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508499Q ,ϡ3Ay6TD@ٱ6R@6N6B 6H N?? ÿ[칚{?>?I6TD@)6So];i4\9\BDf6DfN3Yn:!nQ=n#Q)r>p9p9rFYrEvCAv>xQ 1M5٪zRͣ?Q 5M5z zk'9IYMBQ EU@yzfBE)zGQ}BDAT read: Rx Time:23:55:46.9315 TRx dataTimestamp_ set to:1758412544.644203checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761565vBG>~BBBBBBB#;BxQEԁ ,Ot53AbD ZD"AAD&D&vD&.D$E&: E&:6E&ـ4:E$"E&w;!*E&x;!.*E&h;!.E&h;!.yFKD@ٱFR@Fq0FFH@6)?kǘ?Ӧÿ;~ܙ ?@Z?IFKD@)FP];iFCL\9bJ IEMb@Mb@Mb@ A)AIAiAAEq= ףp?I +~jtE>E94EDIE~ AiE$AAA)AEAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012556BD&6Dދ3Y%:!-7=-8Q)->)9195FYUEUA]>YQ 1e5٪]?Q 5m5] ]m'9m>Q Am;Ym\AQ Em@y]hBE)]]:I]<:i]=ۋ5Y:!AB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 46.67 m.ggEйgEй ProNav: ac range: 46.674072 m, nav range: 43.780739 m, bearing: 183.934917 deg, approach rate: -0.336277 m/s, LOS rate: -0.022761 deg/s, cmd heading: 186.731348 deg, new cmd heading: 186.710930 deg. g&%HeadingCmd: 3.258720 target range: 46.674072 and range: 45.60 m.g%P@g!g)g)g)zf)rfIfQfU܂BBdQdQdYcYc].@ɢBTP\ imIi mS;ɡiiiImIu֐Aiuޗ=i}\=)}P@)yi0/IIN^>)ߑ ߑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267613) %,NO3Ay:OD@ٱ:R@:24::H@C4x?@?@.ÿ@ۘ*?@lV@2?I:OD@):4x];i:C^XB9bR IBDf6Df!3Yn=!rb=riQ)r>p9t9vFYvEvmAv>x|Q 15٪z?Q 55z\ zo'9Y iAQ E @yzjBE)z+;Iz),;iz܋5Y!Ag9=DNOT Ignoring new targets: 46.67 m.g9gEҹgEҹU ProNav: ac range: 46.674072 m, nav range: 43.661007 m, bearing: 183.926920 deg, approach rate: -0.342664 m/s, LOS rate: -0.022950 deg/s, cmd heading: 186.710925 deg, new cmd heading: 186.694887 deg. gU(]HeadingCmd: 3.258440 target range: 46.674072 and range: 45.60 m.g]JP@gYgagagazfarfafifiBdqdydcc =W @ɢBR 顽XI );ɡiI>IkAih=i=)JP@)D]D]D]-DYE]U: E]a9:6E]t4:EY!m@!m@!m@!m@)i539999-DAT read: 23:55:46.9315 LVL= 20800, 28241, 21794, 32755, AGC= 63, IDX= 427, 0.09,-1.048,-2.648,-0.742,-1.242, PHS= 0.296,-1.361, 0.456, RAW= 154.6, 7.0, CAL= 154.0, 7.3, ROT= 356.0, -7.3 5Ygot valid direction response: 23:55:46.9315 LVL= 20800, 28241, 21794, 32755, AGC= 63, IDX= 427, 0.09,-1.048,-2.648,-0.742,-1.242, PHS= 0.296,-1.361, 0.456, RAW= 154.6, 7.0, CAL= 154.0, 7.3, ROT= 356.0, -7.3 =PDAT read: Bearing 342.3, -3.1 (Local) =~Local bearing/azimuth received: Bearing 342.3, -3.1 (Local) MDAT read: Range 11 to 50 : 44.4 m (Round-trip 59.2 ms) speed 0.3 m/s U,DAT read: user:1013> UBDAT read: Tx time:23:55:48.0181 U$Ping request sent.])?5Ix>i,@5=,@w>@ wiI]ٻa'?ֈD2?]d?wk? ))wi:publishing transmit ping timeYQFpublishing direction and range info9tFΩ? AuO=IIN>ԁ ,*i3Ay:D@ٱ:CR@:$::H$a?`?jtÿmo?_`A?I:D@):@];i8^dB9ba Ifpx9x9zFYzE~A~>Q 1 5٪C?Q 5 5 q'9 YtAQ E@ylBE)6:I:iދ5YsBw AEh!h%Y3Ah%1Bh%1Bh%>N@ v%0QE@́ 䒁@u%tFΩ? ~BBZ IB^BBBBB&;BzQEi7/ԑrD]=jD]R=DaDevDe/DaEa Ee:6EeJ4:Ea"Ee;!uEe;!u*Ea!uEa!uԱ>A$=AE yAII IY Nm > ( ,h3Ay6D@ٱ6R@6k 6b6H RM?Ҕ?@U`ÿ`?`􉜿,?I6D@)6A\;i6Cb[B9bV IMMb@Mb@Mb@ I)IIIiIIMw/?{GztMbM>MףMIM AiIM$AMlA)IMABDe%6De03Yu'!uB=uߡ9Q)}>} H?9} H?9}FY EA>Q 15٪˟?Q 55F r'9>Q A";Y[@Q E@yoBE) ;I ;ij5Y AԹgDNOT Ignoring new targets: 44.28 m.ggg ProNav: ac range: 44.280910 m, nav range: 43.399765 m, bearing: 184.127519 deg, approach rate: -0.328473 m/s, LOS rate: -0.027767 deg/s, cmd heading: 186.676064 deg, new cmd heading: 186.652888 deg. gCKHeadingCmd: 3.257707 target range: 44.280910 and range: 44.40 m.gG~P@ggggzfrfffтBBdddc c ` ?ɢmBu4P quaIq u;ɡqiyI}I}mAi=iT=)G~P@)i%6!!%/)>AM &=D} D} D} 0Dy E} Ʊ: E} ,:6E} 4:Ey ! @! @! @! @A A I I N >#&,ޜ3Ay6ĽD@ٱ6=R@66ޅ6H'?`?*9ÿF똿 ?~.d?I6ĽD@)6%\;i6CBfB9Bb IBDJ 6DJf2YRW=!RY=R;Q)R>T9T9VFYV EZRAZ>\Q 1b5٪^?Q 5b5^ \9`Ybo@Q Ef@y^qBE)^;I^;i^5Yhjl AhgqDNOT Ignoring new targets: 44.28 m.ggg ProNav: ac range: 44.280910 m, nav range: 43.277061 m, bearing: 184.117313 deg, approach rate: -0.312836 m/s, LOS rate: -0.026094 deg/s, cmd heading: 186.652882 deg, new cmd heading: 186.632413 deg. g?HeadingCmd: 3.257350 target range: 44.280910 and range: 44.40 m.gmxP@ggggzfrfffBdddcc?ɢB] I ;ɡiIHIHAi=i=)mxP@)!i1?0@a=@AuM=qvB~BBf IBiBBBBB2;BQEBYBYBYBYB]Ȱ =B]4A AI I N >ԡ n -,Ǻ3ADDxD+DE: E:6E [4:E"E#;!E$;!*EWo;!EWo;!yFnD@ٱFR@F䭚FSFHbr?? $ÿ@@qU?5 ?IFnD@)F\;iFCRhB9Re IiV=IV=-Mb@Mb@Mb@ )))I)i))-K7A`?--tI-h Ai)-A-A))-3ABDE6DE 3YU6<!U@=U3:Q)U>K?9K?9FYE˺A>Q 15٪4?Q 55I t'9>Q A;Y?Q E@ysBE);Ih;i5YmB%+ A%EqB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 44.28 m.ggg ProNav: ac range: 44.280910 m, nav range: 43.129593 m, bearing: 184.102101 deg, approach rate: -0.332970 m/s, LOS rate: -0.034465 deg/s, cmd heading: 186.632419 deg, new cmd heading: 186.601891 deg. gL|HeadingCmd: 3.256817 target range: 44.280910 and range: 44.40 m.goP@ggggzfrfffBBdddcc@F?ɢMBU_18 QU%IQ U\;ɡQiQI]&-I]Aie=ie=)eoP@)aiE0AAE0Aԡ>A ==u T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.I I N- > ;3,3AyBޣD@ٱBVR@BNBBHl?ꄗ?@ÿ@`uL?Y;{?IBޣD@)B\;iBCNyB9Nz IBDT6DTYj=!jS=rΊ:Q)r>t9x9zFYzE~&A~> Q 15٪ ~?Q 55  u'9!Y%?Q E-@y uBE) ;I ;i 5Y1=AAgDNOT Ignoring new targets: 44.28 m.gg+ g+  ProNav: ac range: 44.280910 m, nav range: 43.004391 m, bearing: 184.089273 deg, approach rate: -0.340679 m/s, LOS rate: -0.035007 deg/s, cmd heading: 186.601888 deg, new cmd heading: 186.576157 deg. g"HeadingCmd: 3.256368 target range: 44.280910 and range: 44.40 m.gVhP@ggggzfrfffBdddcc?ɢBU% ZbI ;ɡiII`Ai =i@=)VhP@)D1D5uD5,D1E1 E5:6E5g4:E1!E@!E@!E@!E@im1iim;1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002162>A!=) Ii Iy N >Q :,z3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254236y:D@ٱ:"R@:~:R :H@?@?@¿??I:D@):\;i8FB9F IBDR6DR{U3YV.T=!VL=ZN:Q)Z>\9\9^FY^E^Ab>`Q 1f5٪bs?Q 5j5bI bv'9hYj?Q Ej@ybwBE)b/;IbL ;ib]5YprPApg  DNOT Ignoring new targets: 44.28 m.g gg% ProNav: ac range: 44.280910 m, nav range: 42.872475 m, bearing: 184.075832 deg, approach rate: -0.339821 m/s, LOS rate: -0.034731 deg/s, cmd heading: 186.576152 deg, new cmd heading: 186.549188 deg. g%>~-HeadingCmd: 3.255898 target range: 44.280910 and range: 44.40 m.g-`P@g)g)g)g)zf1rf1f1f9Bd9d9d9c9cE`n@ɢB-a KI 6б;ɡiI.IAi=i=)`P@) A vB=E>~B9B=s IB=sBB= =B9B9B=4;B=QEIi@AIMO5Q@A@AD=D=|D=-D9E=Ʊ: E=P$:6E=t4:E9"E=F;!ME=G;!M*E=};!ME=};!UYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506023>A=IQ Ia Nm >ԁ 2A,K3A0y6OD@ٱ6ȃR@6am66Hm?@}?¿@``.̠@lM?Wn?I6OD@)6\;i6CFB9F I)H JAEMb@Mb@Mb@ A)AIAiAAEq= ףp?I +MbE>E94EIE~ AiEAEAEVA)AEABD]6D]f?3Ym&;!m?=u9Q)u>q9q9uFY}E}TԺA}>Q 15٪g?Q 55 w'9>Q A;YAQ E@yyBE):I:i<5YhBAgDNOT Ignoring new targets: 44.28 m.ggg ProNav: ac range: 44.280910 m, nav range: 42.729214 m, bearing: 184.067583 deg, approach rate: -0.334847 m/s, LOS rate: -0.019346 deg/s, cmd heading: 186.549187 deg, new cmd heading: 186.532633 deg. g HeadingCmd: 3.255609 target range: 44.280910 and range: 44.40 m.g[P@ggggzfrfffBBdddccR@ɢ-B- )-FFI1 53;ɡ1i1I5I=Ai==i=(K=)=[P@)A)1 1EBDAT read: Rx Time:23:55:50.4799 ETRx dataTimestamp_ set to:1758412548.173645Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760881ԑi=4>Au=IYIiNu>BEt4JEȭx4RE(90DU DU DU +DQ EU : EU 3:6EU [4:EQ !] @!e @!e @!e @  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013957w0G,x'3Ay6D@ٱ6R@66y6H t?@R?+¿/? -?I6D@)6\;i6CRB9R IBDZ/`6DZ3Yf֣=!fU=jޚ9Q)j>h9h9jFYjEnAn>pQ 1v5٪r\?Q 5v5r p9tYzAQ Ez@yr{BE)r:Irp:ir5Y|~A|g!-DNOT Ignoring new targets: 44.28 m.g)g-g-= ProNav: ac range: 44.280910 m, nav range: 42.600773 m, bearing: 184.060167 deg, approach rate: -0.335156 m/s, LOS rate: -0.019409 deg/s, cmd heading: 186.532630 deg, new cmd heading: 186.517754 deg. gEEHeadingCmd: 3.255349 target range: 44.280910 and range: 44.40 m.gMWP@gIgIgIgIzfIrfIfQfQBdQdQdYcYc]+@ɢB.ѻ 額 %I ;ɡiI7$IAi=iN=)WP@)i1115/1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262173>A:_=IQIqN>vB G>~B B IB BB =B B B 8;B QEI Di Dm {Di Di Ei  Em 5":6Ei :Ei "Em w;!} Em x;!} *Em Bz;!} Em Cz;!} >qM,a83AtzB9z IDAT read: 23:55:50.4799 LVL= 18736, 27121, 17458, 28147, AGC= 61, IDX= 427, 0.04, 2.329, 0.680, 2.641, 2.133, PHS= 0.298,-1.408, 0.464, RAW= 154.6, 7.3, CAL= 154.0, 7.5, ROT= 356.0, -7.5 Ygot valid direction response: 23:55:50.4799 LVL= 18736, 27121, 17458, 28147, AGC= 61, IDX= 427, 0.04, 2.329, 0.680, 2.641, 2.133, PHS= 0.298,-1.408, 0.464, RAW= 154.6, 7.3, CAL= 154.0, 7.5, ROT= 356.0, -7.5 PDAT read: Bearing 342.4, -3.5 (Local) ~Local bearing/azimuth received: Bearing 342.4, -3.5 (Local) DAT read: Range 11 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.3 m/s ,DAT read: user:1014> BDAT read: Tx time:23:55:51.5681 $Ping request sent.)mX9Imh>iimw>im >i m iiiIm*!?5?Vh(?m?m% i)m iii:publishing transmit ping timeYFpublishing direction and range info9im!?|,q /?iiiiiiii i)iIiiiiiii iiiiIm*!?5?Vh(?ii i)iiiimMb@Mb@Mb@ i)iIiiiim#~j?mtmĻImh Aim$AmAmA)imfABD6D\3Y<! =Q)>99FYEA>AQ 1M5٪EN?Q 5M5E A9M,>Q AM#;YM5CQ EM@yE~BE)Ea:IE:iE.5YbB<AEhihm_\;3AhmV,BhmV,BhmSN@ vmFNE@+3dq~@um!?|,q /?hihm vmw1-W9E" kQ@vm+_̴VE A?hm`hm)hmU U?hme$hmB*ii2im_:iiim)B"imsM@ addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.526957 s, deltaX: -1.200001 m, approachRate: -0.340237 m/s, rangeRepo size: 4  Added new target pos. range: 43.084156 m, bearing: 184.713489 deg, lat: 36.779131 deg, lon: -121.859767 deg, deltaT: 3.526957 s, deltaX: -1.196754 m, approachRate: -0.339316 m/s, posRepo size: 4 gDNOT Ignoring new targets: 43.08 m.ggg ProNav: ac range: 43.084156 m, nav range: 42.448612 m, bearing: 184.359415 deg, approach rate: 0.000000 m/s, LOS rate: -0.019409 deg/s, cmd heading: 186.517754 deg, new cmd heading: 186.496320 deg. gHeadingCmd: 3.254975 target range: 43.084156 and range: 43.20 m.gQP@ggggzfrfffBBd d d)c5E@c5`?ɢ}B}n 顅I ;ɡiI=!I4Ai)=iZ1=)QP@)Iie7aae1a@m=@m=y >A A=I% G)E AI] AAi 룿 A Aԡ D9D=|D=1D9E9 E=P$:6E=-4:E9!M@!M@!M@!M@AIIQIiNu?BU,X3AyVtD@ٱVVmR@V܎V VH7ғ??@%¿s  \ۑ?s@?IVtD@)Vi];iVCbB9b Iif=If=YBDn6Dn2Yu!u@=u]F:Q)>99FYE7A>Q 15٪NC?Q 55 9YICQ E@yBE);IK;i5YAB*** querying acoustic contact ***zhhg)-DNOT Ignoring new targets: 43.08 m.g)g5g=򸝅E ProNav: ac range: 43.084156 m, nav range: 42.311890 m, bearing: 184.356794 deg, approach rate: -0.343858 m/s, LOS rate: -0.006614 deg/s, cmd heading: 186.496321 deg, new cmd heading: 186.491061 deg. gMAMHeadingCmd: 3.254883 target range: 43.084156 and range: 43.20 m.gMPP@gQgQgQgQzfQrfQfYfYBdYdYdacace@P5?ɢMBU4< QUhJIQ UZ ;ɡYiYI]IeAie0=iePK=)ePP@)aԉie>aaeP5aԱ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.>A $= A! A% AAA yAI I N >vB9 ~B9 B= IB= BB= =B9 \,3r3ABiBm9;BiyEjD@ٱEZcR@E˽EEH@@??`v¿%O??IEjD@)E\;iEC]B9e IDD{DDEg: E5":6E:E"E;!E;!*E!E!Mb@Mb@Mb@ )Ii%C?:vy&1|Z>Լ`I AiAA)ABD6DJ2Y!=!+=:Q)> H?9 H?9FY!EA>Q 15٪{6?Q 55 9>Q A$;YDQ E@yBE) ;I:i5Y;Ag DNOT Ignoring new targets: 43.08 m.g g8g8 ProNav: ac range: 43.084156 m, nav range: 42.159431 m, bearing: 184.359235 deg, approach rate: -0.327955 m/s, LOS rate: 0.005271 deg/s, cmd heading: 186.491062 deg, new cmd heading: 186.495962 deg. g%X9-HeadingCmd: 3.254969 target range: 43.084156 and range: 43.20 m.g-hQP@g)g)g)g)zf)rf1f1f5BBd1d9d9c9c== ?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996404ɢuB}x y}\Iy }*;ɡyiI@I NAi 8=i p=) hQP@)i?4)>A K=Ա = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252139AM AIQ Ii Nu >c,Pߎ3Ay6aD@ٱ6YR@6~6@6H p?@Sf?`¿ Ȍd?/2`0?I6aD@)6\;i6CBB9B IF;iFBDJ6DJ4d3YRY=!Rp=VX);Q)V?VK?9VK?9VFYV#EZ6AZ?\Q 1b5٪^;-?Q 5b5^E ^x'9dYfDQ Ef@y^BE)^K:I^:i^5Yj\BjAnE1gDNOT Ignoring new targets: 43.08 m.gg8g8 ProNav: ac range: 43.084156 m, nav range: 42.049416 m, bearing: 184.361093 deg, approach rate: -0.303012 m/s, LOS rate: 0.005129 deg/s, cmd heading: 186.495966 deg, new cmd heading: 186.499690 deg. g.9%HeadingCmd: 3.255034 target range: 43.084156 and range: 43.20 m.g%yRP@gIgQgQgQzfYrfYfYfYBdadadacace ?ɢ)5$ 15@I1 52x;ɡ1i9I=MI=;AiE>=iEGw=)yRP@)aDDxD.DE: E:6Eـ4:E!@!@!@!@i#5@!@%A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500360ԉ>A= 2=rAE >jAE > A I I N >i,n3Ay6`D@ٱ6YR@6c~6x6H``ep?w4?;¿æ]@ ̏? dB?I6`D@)6z\;i6CBB9B IBDJ#6DJӀ3YR<!RK=V`9Q)V>T9T9VFYV&EZAZ>\Q 1b5٪^S"?Q 5b5^}Q 9btI \9dYdQ Ef@y^BE)^K ;I^:i^W5YhjAhg|DNOT Ignoring new targets: 43.08 m.gg F8g F8 ProNav: ac range: 43.084156 m, nav range: 41.919769 m, bearing: 184.363298 deg, approach rate: -0.339879 m/s, LOS rate: 0.005800 deg/s, cmd heading: 186.499695 deg, new cmd heading: 186.504119 deg. g)9%HeadingCmd: 3.255111 target range: 43.084156 and range: 43.20 m.g%SP@g!g!g!g!zf!rf)f)f)Bd)d1d1c1c5?ɢeBe倀 aeIa m;ɡiiiIm bIuAiuD=iu=)uSP@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752409)i2/vBi~BiBm IBmBBiBiBiBm,;BmQE>AS=D D wD 2D E s: E :6E 4:E "E ;!=E ;!E*E k;!ME k;!uu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004300A I I) N5 > p,3Ay6ZD@ٱ6RR@6{6L6Hhd?`?+u¿K`$c?~`e?I6ZD@)6n\;i6CrB9r ImMb@Mb@Mb@ i)iIiiiimoʡ?Qy&1m>mm`eImQ AimAii)iiBD,6D3Y=!<=9Q)>99FY)E`A>Q 15٪?Q 55 |'9>Q A;YEQ E@yBE)C ;I" ;i<5YMAgDNOT Ignoring new targets: 43.08 m.gg49g49  ProNav: ac range: 43.084156 m, nav range: 41.772320 m, bearing: 184.367566 deg, approach rate: -0.339769 m/s, LOS rate: 0.009869 deg/s, cmd heading: 186.504121 deg, new cmd heading: 186.512687 deg. g 9HeadingCmd: 3.255260 target range: 43.084156 and range: 43.20 m.g0VP@ggggzfrfffBBd!d!d!c!c%t@ɢQz PI C;ɡiI%IAiK=i=)0VP@)im4iim/ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256342!I>A=D D xD /D E Ʊ: E :6E J4:E ! @! @! @! @A yAI I N% >y v,Z3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508211yZSD@ٱZ LR@Z϶vZZH7W?`)?g¿`r֎?vR?IZSD@)Z6];iZCfB9j IInAA)n@ABDr!6Drr3YzԜ<!zU=z/7:Q)z>~ H?9~ H?9~FY~+EA> Q 15٪  ?Q 55  '9YEQ E@y BE) :I Q;i 5Y%VB%A%EEB*** querying acoustic contact ***zhAhAgIUDNOT Ignoring new targets: 43.08 m.gQgU,99g],99m ProNav: ac range: 43.084156 m, nav range: 41.642052 m, bearing: 184.371440 deg, approach rate: -0.339166 m/s, LOS rate: 0.010118 deg/s, cmd heading: 186.512686 deg, new cmd heading: 186.520458 deg. gm#9uHeadingCmd: 3.255396 target range: 43.084156 and range: 43.20 m.guiXP@gqgqgqgqzfqrfyffBdddcc @ɢ)5Cݺ 1Q5IY ];ɡYiYI]IeLAie*R=im=)miXP@)iiM5IIII@U=@U=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763718>Au2=bA}AZAyԱA <A vB ~B B IB BB B B B /;B QEBBBBʯ =Bʯ =B4A AI I) N5 > v|,xE3ADDvD.DE: E:6Eـ4:E"EU;!EV;!*Eh;!Eh;!y\`I AiA)ABD)6D3Y p! -= :Q) >K?9K?9FY.EzA>!5BDAT read: Rx Time:23:55:54.0284 5TRx dataTimestamp_ set to:1758412551.952305=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013435Q 1=5٪%G?Q 5=5% !9EҢ>Q AE&;YEFQ EE@y%BE)% ;I%;i%5YIUAQgq}DNOT Ignoring new targets: 43.08 m.gyg}9g9 ProNav: ac range: 43.084156 m, nav range: 41.491714 m, bearing: 184.380450 deg, approach rate: -0.316078 m/s, LOS rate: 0.019012 deg/s, cmd heading: 186.520459 deg, new cmd heading: 186.538544 deg. g- :HeadingCmd: 3.255712 target range: 43.084156 and range: 43.20 m.g]P@ggggzfrfff BBdddccS@ɢBװ I (g;ɡiI=I!AiY=i=)]P@)i}2yyyy >A = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2648419 A yAI I! Ne >f,u3Ay^ND@ٱ^ZGR@^j^^H]M?@?@8^¿ວ@ @SV? @?I^ND@)^\;i\B9 IBD/6D3Y%•!%X=%N/:Q)->- H?9- H?9-FY-1E5 9A5>9Q 1E5٪=%?Q 5E5= ='9AYEFQ EM@y=BE)=W:I=:i=5YQUAQgy}DNOT Ignoring new targets: 43.08 m.gyg9g9 ProNav: ac range: 43.084156 m, nav range: 41.371513 m, bearing: 184.387674 deg, approach rate: -0.320146 m/s, LOS rate: 0.019295 deg/s, cmd heading: 186.538545 deg, new cmd heading: 186.553034 deg. g? :HeadingCmd: 3.255965 target range: 43.084156 and range: 43.20 m.gaP@ggggzfrfffBdddcc@XT @ɢ# HI E;ɡiI:IAi_=i)aP@)DDxD+DE E:6E [4:E!@!@!@!@i6/MDAT read: 23:55:54.0284 LVL= 20464, 30609, 20594, 31603, AGC= 61, IDX= 427, 0.27,-3.045, 1.609,-2.739, 3.035, PHS= 0.305,-1.381, 0.466, RAW= 154.5, 6.9, CAL= 153.9, 7.2, ROT= 356.1, -7.2 UYgot valid direction response: 23:55:54.0284 LVL= 20464, 30609, 20594, 31603, AGC= 61, IDX= 427, 0.27,-3.045, 1.609,-2.739, 3.035, PHS= 0.305,-1.381, 0.466, RAW= 154.5, 6.9, CAL= 153.9, 7.2, ROT= 356.1, -7.2 ]PDAT read: Bearing 341.8, -3.5 (Local) e~Local bearing/azimuth received: Bearing 341.8, -3.5 (Local) mDAT read: Range 11 to 50 : 42.0 m (Round-trip 56.1 ms) speed 0.3 m/s u,DAT read: user:1015> }BDAT read: Tx time:23:55:55.1181 }$Ping request sent.})İI>i,@Ϣ=o+@>>@ iI~Ƚ,?WC4?ٌ?4?? )g)i:publishing transmit ping timeYyFpublishing direction and range info9$4?M rMFcK ?i )IiԹ iI~Ƚ,?WC4?ٌ? )i>A C=A I I N > , =,3A~B9~ I !9)9-FY-3E-A->1Q 1=5٪5`颊?Q 5E55< 5'9AYAQ EE@y5BE)5;I5Y;i5c5YMQBMAQhQhU&3AhU'BhU'BhU{+N@ vU7lD@K̷Y'@uU$4?M rMFcK ?hU)ghUvUPcD-pr -@vU3j˱%RX4k ?hUShUU%hU=FN?hU0!hUB*iUU U?2iU0!:iUBiU%B"iU>.N@vB~BB IBĂBBBBBB addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 3.527981 s, deltaX: -1.200001 m, approachRate: -0.340138 m/s, rangeRepo size: 4  Added new target pos. range: 41.887451 m, bearing: 184.572850 deg, lat: 36.779130 deg, lon: -121.859769 deg, deltaT: 3.527981 s, deltaX: -1.196705 m, approachRate: -0.339204 m/s, posRepo size: 4 g!%DNOT Ignoring new targets: 41.89 m.g)g-gQ ProNav: ac range: 41.887451 m, nav range: 41.378681 m, bearing: 184.582504 deg, approach rate: 0.000000 m/s, LOS rate: 0.019295 deg/s, cmd heading: 186.553039 deg, new cmd heading: 186.569868 deg. gHeadingCmd: 3.256258 target range: 41.887451 and range: 42.00 m.gfP@ggggzfrfffBdddcE@c ?ɢ TI ;ɡiI I%+Ai%gf=iMGh=)UfP@)Qi4/!@@ADDuD2DE: E:6E4:E"Ew;!Ex;!*Ekd;! Eld;! I >A qb=y I I N >Ƒ,~pG3Aiy66ID@ٱ6AR@6e6c6HΪ@B?ђ?S¿`ٝ?`"?I66ID@)6\;i4BB9B I)D FA Mb@Mb@Mb@ ) I i   q= ףp?Mb:v >  TI  Ai  A VA)  pABDm6Dm{U3Y} !};=}%5:Q)>99FY6EOA>Q 15٪ܢ?Q 55k '9m>Q A;YFQ E@yBE):If:iL5YAgDNOT Ignoring new targets: 41.89 m.gg%9g%9 ProNav: ac range: 41.887451 m, nav range: 41.231602 m, bearing: 184.589184 deg, approach rate: -0.364787 m/s, LOS rate: 0.016627 deg/s, cmd heading: 186.569868 deg, new cmd heading: 186.583276 deg. go9HeadingCmd: 3.256493 target range: 41.887451 and range: 42.00 m.g`jP@ggggzfrfffBBddd c c G?ɢ9=ֺ 9=I9 =;ɡAiAIEeIETAiMk=iM]=)M`jP@)Qi7>A(=BE4JEȶ4REț0D- D- yA D- +D) E- : E- :6E- [4:E) !M @!U @!U @!U @I I N >,9a3Ay:GD@ٱ:@R@:^:p:H @?]?O¿A` ދ?X9X9ZFYZ8E^A^>`Q 1f5٪bTҢ?Q 5f5b b'9dYf FQ Ef@ybBE)b:Ib-:ib5YlnNAp]B*** querying acoustic contact ***zhYhYgamDNOT Ignoring new targets: 41.89 m.gigu9gu9 ProNav: ac range: 41.887451 m, nav range: 41.105038 m, bearing: 184.594987 deg, approach rate: -0.325428 m/s, LOS rate: 0.014968 deg/s, cmd heading: 186.583283 deg, new cmd heading: 186.594925 deg. g$9HeadingCmd: 3.256696 target range: 41.887451 and range: 42.00 m.gmP@ggggzfrfffBdddcc"?ɢIMX9 IMYII UR;ɡQiIoIAir=i2+=)mP@)Qi1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yAA@AvB~BB IB΂BB =BBB*;B~QE>A=IQ Ia Nm >ԩ rD! jD% 4=D= D= |D= -D9 E= U: E= P$:,{3A6Eet4:Ea"Ee;!Ee;!*Ee};!Ee};!"/ݼuIAiAA?A)AI)AABD6D:3Yn~!8=:Q)>9i9mFYu;Eu탺Au>yQ 15٪}?Ţ?Q 55} }'9>Q A;YEQ E@y}BE)} ;I}e ;i}5YKB<AEgDNOT Ignoring new targets: 41.89 m.gg#9g#9 ProNav: ac range: 41.887451 m, nav range: 40.949501 m, bearing: 184.599016 deg, approach rate: -0.343746 m/s, LOS rate: 0.008938 deg/s, cmd heading: 186.594921 deg, new cmd heading: 186.603010 deg. gڂ9HeadingCmd: 3.256837 target range: 41.887451 and range: 42.00 m.gpP@g!g!g!g!zf!rf!fQf]BBdadadacc@W?ԩɢо7 wI ;ɡiI]7I Ai x=i D=) pP@)i4@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751760>A  II IY Nm >M d>iQ I G) ZAI Ai% % ZA% A,3Aɰy65D@ٱ6J.R@6 S6>6HO?u!?,¿A\p?C`#?I65D@)6k\;i6CBƂB9B IBDJ$6DJ3YR}<!Va=V9Q)V>X9X9ZFYZ=EZrAZ?`Q 1b5٪bk?Q 5f5b b'9dYf&EQ Ef@ybBE)b:Ib:ibx5Yhn%AlgyDNOT Ignoring new targets: 41.89 m.gg 9g 9 ProNav: ac range: 41.887451 m, nav range: 40.832653 m, bearing: 184.602154 deg, approach rate: -0.326088 m/s, LOS rate: 0.008782 deg/s, cmd heading: 186.603008 deg, new cmd heading: 186.609302 deg. g9HeadingCmd: 3.256947 target range: 41.887451 and range: 42.00 m.gqP@ggggzfrfffBdddcc@4?ɢ=BE< AEbIA En;ɡAiIIMkIMAiU}=i]*=)]qP@)iDDtDDEҝ: Ev:6E:E!@!@!@!@ i50uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0039101>A5(=IIN>a % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255802(,Sˮ3AyFN'D@ٱFR@F!MFvT޼FH_?`Ҥ?¿k7?ɛV?IFN'D@)Fs\;iFCZłB9Z IQBDu#6DuӀ3Y!==V:Q)>99FY@EKA>vBF>~BBBBBBB";BtQEQ 15٪߮?Q 55@ '9Y4EQ E@yBE)A Ö= A AI I N >b,~3Ay6UD@ٱ6R@6H6=ؼ6H u`? 6?]`.@z?`k?I6UD@)6I\;i6CBƂB9@EMb@Mb@Mb@ A)AIAiAAEV-?~jtQE>EļAIE$AiE@ElAA)AE(A]4uK?9}K?9}FY}CE}A}>Q 15٪?Q 55 '9+>Q A;YDQ E@yBE)" ;I ;i45YAgDNOT Ignoring new targets: 41.89 m.gg8g8 ProNav: ac range: 41.887451 m, nav range: 40.543392 m, bearing: 184.608642 deg, approach rate: -0.342973 m/s, LOS rate: 0.005592 deg/s, cmd heading: 186.617762 deg, new cmd heading: 186.622331 deg. g#9HeadingCmd: 3.257174 target range: 41.887451 and range: 42.00 m.guP@ggggzfrfffBBdddcc@ @ɢ)- 15xnI1 5|;ɡ1i1I5l" IE)Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775077i=i F=) uP@) !i;0@@IDmDmDm.DiEm: Em.:6Emـ4:Ei!}@!}@!}@!}@>A := BDAT read: Rx Time:23:55:57.5768  TRx dataTimestamp_ set to:1758412555.484200 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016878y Aa I I N >.,3Ay6ZD@ٱ6 R@6XME6cӼ6H C?kϏ?4@]z?u?I6ZD@)6Z ];i6CBςB9B IBDJ6DJ!3YjA=!jU=j:Q)n>l9l9nFYrEErőAr>tQ 1z5٪v#?Q 5z5v v'9xYzDQ E~@yvBE)v:Iv;iv 5YA%B*** querying acoustic contact ***zh!h!g)5DNOT Ignoring new targets: 41.89 m.g1g5+8g=+8M ProNav: ac range: 41.887451 m, nav range: 40.413136 m, bearing: 184.610847 deg, approach rate: -0.339702 m/s, LOS rate: 0.005769 deg/s, cmd heading: 186.622338 deg, new cmd heading: 186.626762 deg. gM(9UHeadingCmd: 3.257252 target range: 41.887451 and range: 42.00 m.gUvP@gQgQgQgQzfQYrfYfafaBdadadicicm`2 @ɢB^p: 顝&I ,z;ɡiIQ IAi=i=)vP@)iU@QQU@5Qԉ)a amchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268094vBG>~BB IBӂBBBBB7;BQE>A˺=ԹI I N > D D zD /D E : E  :6E J4:E "E ;! E ;! *E v;! E v;! R,3AyZD@ٱZQ@Z/6CvDAT read: 23:55:57.5768 LVL= 20240, 27377, 20338, 29907, AGC= 61, IDX= 427, 0.30,-0.741,-2.387,-0.436,-0.942, PHS= 0.303,-1.400, 0.462, RAW= 154.4, 7.2, CAL= 153.8, 7.4, ROT= 356.2, -7.4 ~Ygot valid direction response: 23:55:57.5768 LVL= 20240, 27377, 20338, 29907, AGC= 61, IDX= 427, 0.30,-0.741,-2.387,-0.436,-0.942, PHS= 0.303,-1.400, 0.462, RAW= 154.4, 7.2, CAL= 153.8, 7.4, ROT= 356.2, -7.4 PDAT read: Bearing 341.7, -3.5 (Local) ~Local bearing/azimuth received: Bearing 341.7, -3.5 (Local)  DAT read: Range 11 to 50 : 40.8 m (Round-trip 54.5 ms) speed 0.2 m/s ,DAT read: user:1016> BDAT read: Tx time:23:55:58.6681 $Ping request sent.)^33I^D>i^iw,@^>^+@^ A>^@ ^ Ai\\I^hSD1?%Z+?Z$?^0?^= ^Ӈ)^ Ai\\E:publishing transmit ping timeYEFpublishing direction and range info9\^? ӰOZ_|?\\i\\\\\ \)\I\i\\\Z=׼ZH ? ᡏ?"&f?X暿@?IZD@)Z\;iZC˂B9 IԱ\\ \i\\I^hSD1?%Z+?Z$?\\ \)\i\\mMb@Mb@Mb@ i)iIiiiimV-?~jtMbiimImAimAmVAmA)imAI)BD-6D3Ys!%= 9Q)>99FYHE ]ںA >Q 15٪?Q 55  '91>Q A;YDQ E@yBE):IH:i 5Y?BAEh\h^;43Ah^"Bh^"Bh^M@ v^I޴!D@btd@u^? ӰOZ_|?h^Ӈh^ Av^bD&D &{'@v^&→mz#X>s5?h^Dh^ h^T}Q?h^ݟh^_B*i^T}Q?2i\:i^Bi^(!B"i^5N@5 addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.532069 s, deltaX: -1.200001 m, approachRate: -0.339744 m/s, rangeRepo size: 4  Added new target pos. range: 40.690643 m, bearing: 184.378223 deg, lat: 36.779129 deg, lon: -121.859769 deg, deltaT: 3.532069 s, deltaX: -1.196808 m, approachRate: -0.338840 m/s, posRepo size: 4 gDNOT Ignoring new targets: 40.69 m.ggg ProNav: ac range: 40.690643 m, nav range: 40.289520 m, bearing: 184.608402 deg, approach rate: 0.000000 m/s, LOS rate: 0.005769 deg/s, cmd heading: 186.626764 deg, new cmd heading: 186.632942 deg. gHeadingCmd: 3.257359 target range: 40.690643 and range: 40.80 m.gxP@ggggzfrfffBBdddc`ffD@c`?ɢiml]k: iuGIq u Dw;ɡqiIJ I#AiȔ=iI=)xP@)i409 >A =bA ZA ADuDuDqDqEuI: Eu,:6Eq:Eq!@!@!@!@IIN>,3Ay:wC@ٱ:Q@:B>::H ?@? g$ه?n`?I:wC@):\;i:CFB9F IBDN 6DN2YV!VQ=Z4:Q)Z>X9\9^FY^KE^$sA^>`Q 1f5٪b~?Q 5f5bE b'9hYjDQ Ej@ybBE)b:Ib9:ib 5YlnApg DNOT Ignoring new targets: 40.69 m.g g 9g 9% ProNav: ac range: 40.690643 m, nav range: 40.160633 m, bearing: 184.611057 deg, approach rate: -0.367448 m/s, LOS rate: 0.007593 deg/s, cmd heading: 186.632938 deg, new cmd heading: 186.638265 deg. g%R^9-HeadingCmd: 3.257452 target range: 40.690643 and range: 40.80 m.g-zP@g)g)g)g)zf1rf1f1f1Bd9d9d9c9cM #?ɢԜ I s;ɡiI"( IEAiE=iE=)EzP@)Ai?4!>A=IaIqN>Q vB F>~B B IB ؂BB =B B B F;B QEBIBIBIBMʰ =BMʰ =BMʫG4,y63A y6C@ٱ6 Q@6F>6%6H j?1_?ލPȇ? à ?I6C@)6\;i6CB҂B9F IiHIJ=BDN6DN03YV^=!VL=V?8Q)V>X9X9ZFYZME^≺A^>`Q 1f5٪bYs?Q 5f5b b'9dYfDQ Ej@ybBE)b3:Ib:ib5YlniA9gDNOT Ignoring new targets: 40.69 m.gg19g19 ProNav: ac range: 40.690643 m, nav range: 40.024620 m, bearing: 184.613985 deg, approach rate: -0.326780 m/s, LOS rate: 0.007059 deg/s, cmd heading: 186.638266 deg, new cmd heading: 186.644142 deg. gN9HeadingCmd: 3.257555 target range: 40.690643 and range: 40.80 m.g{P@ggggDDwD4DEg: E:6E4:E"E;!E;!*Ek;! Ek;!zfrf)fYfYBdaydidcc%?ɢc: I sq;ɡiI IAi==i|=){P@)ԙi4O0 >A 2=IA IQ Ne >,TP3APyV>C@ٱVQ@V$(?V>VH`n?c?]}@En??IV>C@)V\;iVCnȂB9r IMb@Mb@Mb@ )IiˡE? rhy&1>C`eI$Ai@$A)\Ai<BD 6D2Y>!7=Q)>99FYPEmA>Q 1 5٪g?Q 5 5 '9P>Q A!;YCQ E@yBE) ;I ;iq5Y%9B%A!gIMDNOT Ignoring new targets: 40.69 m.gIgUgUe ProNav: ac range: 40.690643 m, nav range: 39.878201 m, bearing: 184.613264 deg, approach rate: -0.340867 m/s, LOS rate: -0.001684 deg/s, cmd heading: 186.644140 deg, new cmd heading: 186.642693 deg. geGEmHeadingCmd: 3.257529 target range: 40.690643 and range: 40.80 m.gm]{P@gigigigizfqrfqfyf}͂BBdydydycc@3?ɢL"! )-eI1 5o;ɡ1i1I5| I=XAi==i=xԶ=)=]{P@)Ai>@5DDxD*DE: E:6E(N4:E!@!@!@!@>A =rA>jA>I I! NE >! J,5j3Ay6C@ٱ6gQ@6 >6x6H@f?`fK?@t`GÇ?F#?I6C@)6\;i4B؂B9B IBDJ6DJ\3YR=!Rb=R59Q)V>T9T9VFYVREZ>AZ>\Q 1b5٪^]?Q 5b5^ ^'9`YfCQ Ef@y^BE)^6:I^N:i^5Yhj AhzB*** querying acoustic contact ***zhxhx|gDNOT Ignoring new targets: 40.69 m.g g ܷg ܷ ProNav: ac range: 40.690643 m, nav range: 39.759247 m, bearing: 184.612718 deg, approach rate: -0.327767 m/s, LOS rate: -0.001508 deg/s, cmd heading: 186.642692 deg, new cmd heading: 186.641597 deg. g%0%HeadingCmd: 3.257510 target range: 40.690643 and range: 40.80 m.g% {P@g)g)g)g)zf)rf)f1f1Bd1d9d9c9c=d?ɢamF: im ļIi mm;ɡiiqIu I}Ai}ᥘ=i}=)} {P@)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i5/AAAAvB~BBBB =BBBH;BQE)>A1QIIN>DDD,DE%: E6Eg4:E"E;! E;! *EWo;!% EWo;!- i߅ ?I߅ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004470ԉ , 3Ay:C@ٱ:Q@:*9:i0:HsT? ӏ?`2bT`ꞿ`#%?eF?I:C@):\;i:C^݂B9b I)d fAMMb@Mb@Mb@ I)IIIiIIMZd;O?/${GzM~>MM#IMAiIMAMA)IYMABDe36De3Yuf<!u>=}u8:Q)}>y9y9FYUEخA>Q 15٪P?Q 55\ '9>Q A;YnDQ E@yBE). ;I ;i5YAgDNOT Ignoring new targets: 40.69 m.gg8g8 ProNav: ac range: 40.690643 m, nav range: 39.615627 m, bearing: 184.614413 deg, approach rate: -0.334492 m/s, LOS rate: 0.003961 deg/s, cmd heading: 186.641599 deg, new cmd heading: 186.645000 deg. g8HeadingCmd: 3.257570 target range: 40.690643 and range: 40.80 m.g|P@ggggzfrfffBBdddccR@ɢ 2; ^I %m;ɡiIIAi%=i%V=)%|P@)!ԉi/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256848Ա>Aõ= A I I N% >BEmA{4JEm44REm0D D yD .D E g: E :6E ـ4:E ! @! @! @! @] ,3AyJC@ٱJDQ@J4JDJH`N,]?@Q? j  \?@g`K?IJC@)Ju\;iHT9V IIZ@A)XBD^%6D^03Yf\!fV=j2:Q)j>h9h9jFYjWEn2:An>pQ 1v5٪rDF?Q 5v5r r'9xYzjDQ Ez@yrBE)r:Ir:ir5Y~4B~A~Eg!-DNOT Ignoring new targets: 40.69 m.g)g-8g-8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508366M ProNav: ac range: 40.690643 m, nav range: 39.487976 m, bearing: 184.615881 deg, approach rate: -0.333890 m/s, LOS rate: 0.003853 deg/s, cmd heading: 186.645000 deg, new cmd heading: 186.647946 deg. gM8UHeadingCmd: 3.257621 target range: 40.690643 and range: 40.80 m.gU|P@gQgQgQgQzfYrfYfafaBdadadacicm3@Թɢ$; vI il;ɡiI/I%עAi%=i%=)%|P@))i7>A&6=bAZA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762500vB ~B B IB BB B B B 7;B QEA I I N >A J,3Ay6'C@ٱ6Q@6026^z6H`Ej?ю?FwzK@F?``|?I6'C@)6)\;i6CBB9B IBDJ6DJ 3YRa=!RM=R9Q)V>T9T9VFYVZEZ~:AZ>\Q 1b5٪^;?Q 5b5^ ^'9`YbcDQ Ef@y^BE)^;I^z;i^Q5Yhj~Ahgq}DNOT Ignoring new targets: 40.69 m.gyg}8g}8 ProNav: ac range: 40.690643 m, nav range: 39.354977 m, bearing: 184.617342 deg, approach rate: -0.321113 m/s, LOS rate: 0.003540 deg/s, cmd heading: 186.647951 deg, new cmd heading: 186.650883 deg. gI8HeadingCmd: 3.257673 target range: 40.690643 and range: 40.80 m.g}P@ggggzfrfffBdddccྀ@ɢ$g; I Zl;ɡiI`IAi=i=)}P@)!DDD/DE: E*:6EJ4:E"E#;!E$;!*Eh;!Ei;!i3/eBDAT read: Rx Time:23:56:01.1252 uTRx dataTimestamp_ set to:1758412559.015523checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018257A>AM箵=yA I I N ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2661312,43AI G)!I9iuɥy}ըAyC@ٱ Q@E+ H@6^?c? h?`ߝ?IC@)9\;iC9 Ii =I yMb@Mb@Mb@ )Iish|??{Gzy&1|>ף`IAi@?AA) Ap 9 9FY]Eӡ:A>Q 1%5٪,?Q 5%54 '9-T>Q A-;Y-%DQ E-@yBE)` ;I. ;i5Y5.B5JA=EgYeDNOT Ignoring new targets: 40.69 m.gagm 8gm 8} ProNav: ac range: 40.690643 m, nav range: 39.183643 m, bearing: 184.618297 deg, approach rate: -0.342997 m/s, LOS rate: 0.001920 deg/s, cmd heading: 186.650888 deg, new cmd heading: 186.652806 deg. g}`8HeadingCmd: 3.257706 target range: 40.690643 and range: 40.80 m.gA~P@ggggzfrfff߂BBdddcc= @ɢB%Rl; AEIA ErZl;ɡIiIIM&RIUuAiUظ=iUD=)UA~P@)QDDyD,DE: E:6Eg4:E!@!@!@!@Աi7DAT read: 23:56:01.1252 LVL= 19952, 25025, 20082, 29635, AGC= 62, IDX= 427, 0.27, 1.789, 0.154, 2.074, 1.587, PHS= 0.305,-1.388, 0.443, RAW= 153.9, 7.3, CAL= 153.3, 7.6, ROT= 356.7, -7.6 Ygot valid direction response: 23:56:01.1252 LVL= 19952, 25025, 20082, 29635, AGC= 62, IDX= 427, 0.27, 1.789, 0.154, 2.074, 1.587, PHS= 0.305,-1.388, 0.443, RAW= 153.9, 7.3, CAL= 153.3, 7.6, ROT= 356.7, -7.6 PDAT read: Bearing 341.7, -3.3 (Local) ~Local bearing/azimuth received: Bearing 341.7, -3.3 (Local) DAT read: Range 11 to 50 : 39.7 m (Round-trip 53.0 ms) speed 0.3 m/s ,DAT read: user:1017> BDAT read: Tx time:23:56:02.2181 $Ping request sent. e(>)eIe>ieo+@ew>e<+@e>e8@ eiaaIe$ΡY?}?_XD?e`?e} eQk)eiaa:publishing transmit ping timeYFpublishing direction and range info9ae N*ƒ?5'}6) ?aaiaaaaa a)aIaiaaaaa aiaaIe$ΡY?}?_XD?aa a)aiaa>A= = Au yAI I N >,&3AyZ\C@ٱZQ@Zs!Z;ҼZH ܗ?|8?U 㢘@N.?`F?IZ\C@)ZK\;iZC~B9~!IBDE+6DEE3ԑY?<!Z=:Q)> H?9  H?9 FY `E:A>A-<A-<vB1~B1B5!IB5BB1B1B1B5+;B5~QEAQ 1M5٪E!?Q 5M5Ew E'9QYUDQ EU@yEBE)E:IEg:iE@5YY]AahIhM 3AhM_BhM_BhMIoN@ vM/C@q ,@uM N*ƒ?5'}6) ?hMQkhMvM⠁CjBH ۶@vM {wr> ot&[?hMGRhM/hM|lG?hM|$hMFB*iMc O?2iMe$:iMBiMaB"iMMmN@  addTargetRange:: Added new target pos. range: 39.700001 m, deltaT: 3.528846 s, deltaX: -1.099998 m, approachRate: -0.311716 m/s, rangeRepo size: 4  Added new target pos. range: 39.593548 m, bearing: 184.809956 deg, lat: 36.779129 deg, lon: -121.859770 deg, deltaT: 3.528846 s, deltaX: -1.097095 m, approachRate: -0.310894 m/s, posRepo size: 4 gDNOT Ignoring new targets: 39.59 m.g9gEgAU ProNav: ac range: 39.593548 m, nav range: 39.094780 m, bearing: 184.803015 deg, approach rate: 0.000000 m/s, LOS rate: 0.001920 deg/s, cmd heading: 186.652801 deg, new cmd heading: 186.654339 deg. gQ]HeadingCmd: 3.257733 target range: 39.593548 and range: 39.70 m.g]~P@gygygygzfrfffBdddcC@cC?ɢB&; ?A5 = Ae AIq I N > ,3Ay6C@ٱ6Q@6=!6.Lͼ6Hz?Q? 7 6?`?I6C@)6>];i6CBB9B I Mb@Mb@Mb@ ) I i   v/?{Gz~jtx x>  ĻI $Ai  A $A)  ABD%6D%3Y5!5Q=50Q)5>=K?9=K?9=FY=bE=с:AE>AQ 1U5٪EX?Q 5U5E E'9Uϩ>Q AU ;YUDQ EU@yEBE)EP ;IE? ;iE5YaeHAaԩG Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLGEEntering USBL mode with 120.000000 count pings at 39.700001 m (mode 2.000000 count ).GM1HMMB*** querying acoustic contact ***zhIhIgY]DNOT Ignoring new targets: 39.59 m.gYgeQ8geQ8 ProNav: ac range: 39.593548 m, nav range: 38.969036 m, bearing: 184.804132 deg, approach rate: -0.321746 m/s, LOS rate: 0.002867 deg/s, cmd heading: 186.654344 deg, new cmd heading: 186.656585 deg. g8HeadingCmd: 3.257772 target range: 39.593548 and range: 39.70 m.gVP@ggggzfrfffBBdddcc ?ɢBn; AE9IA EJl;ɡAiIIMIM_AiU˜=iUR=)UVP@)Q)9 9ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.- zonly read 2 of 4 ADC values. Response is: /0`16256,62016256 ] DDocking arm not reporting position1- (Communications FaultPExceeded connect timeout, disconnecting. >A2=A I -& bCommunications Fault in component: DockingStepperI N >1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993573:,"3AyJYC@ٱJQ@JJɼJH ?)? no҂?`v9+?IJYC@)J5\];iJCfB9f!I)h hBDn6Dn!3Yv<!vN=z4:Q)z>x9x9zFYzeE~ί:A~>Q 1 5٪B ?Q 5 5 '9Y DQ E@yBE):I:i5Y=(B=A=EjiU^@1HUqHmgDNOT Ignoring new targets: 39.59 m.ggGL8gGL8 ProNav: ac range: 39.593548 m, nav range: 38.837078 m, bearing: 184.805207 deg, approach rate: -0.341489 m/s, LOS rate: 0.002791 deg/s, cmd heading: 186.656584 deg, new cmd heading: 186.658741 deg. gl8HeadingCmd: 3.257810 target range: 39.593548 and range: 39.70 m.gP@gggg zf rf f fBdQdQdQcYc]T?ɢ; 顭#At=vB~BB!IBBBBBB);B{QEqA I I N >ԙ d,!\<3Ay6ZD@ٱ6Q@6!6ż6H.K? ?@RO$?ʻS?I6ZD@)6];i6CBB9B !IBDJ6DJ 3Yj<!nL=bDlZDlDtDvDv-DtEt Ev.:6Evt4:Et"EtEt*Ev ;Ev ;n;Q)> 99FYgE%j:A%>)Q 155٪-?Q 555-F -'99Y=DQ E=@y-BE)-;I-5;i-o!5YAMAIriaqHeHegyDNOT Ignoring new targets: 39.59 m.gg@8g@8 ProNav: ac range: 39.593548 m, nav range: 38.701454 m, bearing: 184.806244 deg, approach rate: -0.342931 m/s, LOS rate: 0.002631 deg/s, cmd heading: 186.658743 deg, new cmd heading: 186.660824 deg. g8HeadingCmd: 3.257846 target range: 39.593548 and range: 39.70 m.gP@ggggzf rff!f)ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500043Bdddcc i?ɢС;  A`=U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750662A I I N >} nManaging dock network, ignoring radio surface power off M,p>V3Ay6 D@ٱ6R@6E6giļ6H ï@$?D?=߭B9(?@dh?I6 D@)6];i6CBB9B!I Mb@Mb@Mb@ ) I i   /$?:vy&1| > Լ `I Ai @ A )  fABD%6D%\3Y5C=!5D=5:Q)>99FYjE}:A>Q 15٪?Q 55 '9>Q A;YEQ E@yBE):I:iF#5YvAziHCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLG Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLgDNOT Ignoring new targets: 39.59 m.ggH9gH9 ProNav: ac range: 39.593548 m, nav range: 38.559441 m, bearing: 184.810825 deg, approach rate: -0.337661 m/s, LOS rate: 0.010932 deg/s, cmd heading: 186.660819 deg, new cmd heading: 186.670015 deg. g9HeadingCmd: 3.258006 target range: 39.593548 and range: 39.70 m.g-P@ggg!g!zf!rf!f)f-߂BBd)d)d)c1c5q?ɢY]; ae=Ia eup;ɡaiaIeGImAiuyИ=iu~=)u-P@)qDDD0DEy: E*:6E4:E!@!@!@!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001467>A=AII N >) v,p3A) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255170yD@ٱQ@仹cCH .`?@iф?fZ@O|?痿@?ID@)|];iC5B95!Ii==I==BDM6DMF3Y]O<!]H=]q:Q)]>a9a9eFYelEm]Am>qvBE>~BB!IBBBBBB6;BQEBABABABABABE3Q 15٪u顊?Q 55u u'9YEQ E@yuBE)u.;Iu;iu%5Y"B2AgDNOT Ignoring new targets: 39.59 m.ggx>9gx>9 ProNav: ac range: 39.593548 m, nav range: 38.426224 m, bearing: 184.815217 deg, approach rate: -0.314568 m/s, LOS rate: 0.010408 deg/s, cmd heading: 186.670013 deg, new cmd heading: 186.678828 deg. g`9HeadingCmd: 3.258160 target range: 39.593548 and range: 39.70 m.gP@ggggzfrfffBdddccͣ@Qɢj; 顝p4=I s;ɡiI>IAi-՘=i-1=)-P@)1yDDvD-DE: E:6Et4:E"EU;!EV;!*Eh;!Eh;!>A5˺=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508979ԩ A yAI I N >]",3A@~B9~"!IMb@Mb@Mb@ )IiV-?Zd;O:v>jTIAi?A)BD"6DJz3Y9<!D=Q)> H?9 H?9FYoEA>Q 15٪ݡ?Q 55 '9>Q A;YDQ E@yBE):I:i&5YAB*** querying acoustic contact ***zhhxg!%DNOT Ignoring new targets: 39.59 m.g!g-s9g-s9= ProNav: ac range: 39.593548 m, nav range: 38.284267 m, bearing: 184.818002 deg, approach rate: -0.364880 m/s, LOS rate: 0.007183 deg/s, cmd heading: 186.678824 deg, new cmd heading: 186.684412 deg. g=RR9EHeadingCmd: 3.258258 target range: 39.593548 and range: 39.70 m.gEKP@gAgAgIgIzfIrfIfQfUBBdQdQdYcYc]@@ɢK; 額`a=I u;ɡiIdIjAi>ژ=i)KP@)@@AԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757828>A=A- AI1 IA N] >D D }D ,D E U: E k&:6E g4:E ! @! @! @! @  BDAT read: Rx Time:23:56:04.6737  TRx dataTimestamp_ set to:1758412562.540205 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010623Ĉ(,ˣ3Ay:D@ٱ:#R@:e:U2:HĮ?@l?@٬Ԗ೬w?@嗿?I:D@):];i:CJB9HlBD!6Dr3Y-:!-T=5M;Q)5>5K?9]K?9]FY]rE]X;Ae>aQ 1m5٪eҡ?Q 5u5e= e'9qYupDQ Eu@yeBE)e:Ie;ie(5Y1B}AEgDNOT Ignoring new targets: 39.59 m.gg18g18  ProNav: ac range: 39.593548 m, nav range: 38.152012 m, bearing: 184.820359 deg, approach rate: -0.333345 m/s, LOS rate: 0.005961 deg/s, cmd heading: 186.684411 deg, new cmd heading: 186.689141 deg. g .9HeadingCmd: 3.258340 target range: 39.593548 and range: 39.70 m.gP@ggggzfrff!f!Bd!d!d)c)c-@^@ɢBN%; 顝Xa=I x;ɡiIIAi_ߘ=iR=)P@))>A-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263314YvBD>~BBBB =BBB2;BQEA! I1 IA NI ԁ F.,3Ay6"D@ٱ6R@6)6ȿ6H= ?3G?¿D0Eu?t ?I6"D@)6 ];i4BB9B%!I)D FABDJ-6DJ3YR<!RT=V:Q)V>T9X9ZFYZtEZ:AZ>DbDbtDb/D`EbC: Ebv:6EbJ4:E`"Eb2;!jEb3;!j*Eb`;!jEb`;!jlQ 1E5٪nǡ?Q 5E5n} n'9AYEhDQ EE@ynBE)n=:Ing;in6*5aYu+B>AEg-DNOT Ignoring new targets: 39.59 m.g)%DAT read: 23:56:04.6737 LVL= 23904, 28321, 22898, 32755, AGC= 61, IDX= 427, 0.44, 2.630, 1.029, 2.937, 2.462, PHS= 0.270,-1.388, 0.430, RAW= 154.6, 7.9, CAL= 154.1, 8.4, ROT= 355.9, -8.4 EYgot valid direction response: 23:56:04.6737 LVL= 23904, 28321, 22898, 32755, AGC= 61, IDX= 427, 0.44, 2.630, 1.029, 2.937, 2.462, PHS= 0.270,-1.388, 0.430, RAW= 154.6, 7.9, CAL= 154.1, 8.4, ROT= 355.9, -8.4 ]PDAT read: Bearing 342.7, -4.2 (Local) m~Local bearing/azimuth received: Bearing 342.7, -4.2 (Local) g]8g}8 ProNav: ac range: 39.593548 m, nav range: 38.020901 m, bearing: 184.822617 deg, approach rate: -0.319140 m/s, LOS rate: 0.005517 deg/s, cmd heading: 186.689137 deg, new cmd heading: 186.693670 deg. g!9HeadingCmd: 3.258419 target range: 39.593548 and range: 39.70 m.gP@gggԁDAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.3 m/s ,DAT read: user:1018> BDAT read: Tx time:23:56:05.7681 $Ping request sent.)I(>i,@0 >!,@Q >@ Q iI#7?IK?f)?yh?5 i)Q i:publishing transmit ping timeYeFpublishing direction and range info9ܶ`?h/8ٲ?i )Ii iI#7?IK?f)? )iɢY}; y8l=I Z|;ɡiIIĕAi=iy=)P@)Ա>A%  = AU yAIa Iq N} >u5,>3Ay6tD@ٱ6R@66ċ6H@:?@ـ? v*u?p`?I6tD@)6e];i6C`9b$!IԑMb@Mb@Mb@ )Iiw/?V-{Gzt>ףIiAA)ABD6D{U3YQ9!3=Q)> H?9 H?9%FY%wE%!UA%>)Q 155٪-.?Q 555- -'9=>Q A=";Y=EQ E=@y-BE)-:I-:i-0,5YAECAIhh`3AhBhBhdM@ v/PB@YԴo@uܶ`?h/8ٲ?hihQ vaMM=QBPow@vQ`픊>QNv1?h/hbhE?hdhB*i=FN?2i0!:ii|B"iJ=N@ addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.528902 s, deltaX: -1.200001 m, approachRate: -0.340049 m/s, rangeRepo size: 4 % Added new target pos. range: 38.396580 m, bearing: 184.149390 deg, lat: 36.779129 deg, lon: -121.859769 deg, deltaT: 3.528902 s, deltaX: -1.196968 m, approachRate: -0.339190 m/s, posRepo size: 4 g)MDNOT Ignoring new targets: 38.40 m.gIgMgI] ProNav: ac range: 38.396580 m, nav range: 37.871361 m, bearing: 184.635122 deg, approach rate: 0.000000 m/s, LOS rate: 0.005517 deg/s, cmd heading: 186.693672 deg, new cmd heading: 186.698478 deg. gYmHeadingCmd: 3.258503 target range: 38.396580 and range: 38.50 m.gmQP@gigigqgqzfqrfqfqf}߂BBdydydyc}@C@c:?DDD,DEU: E6Eg4:E!@!@!@!@ɢAEx< IMe=II M;ɡIiIIMʐIUeAiUl=i]?=)]QP@)Y>A=A AI I N > ;,Q3AyJ D@ٱJmR@JKJEJH?"?`b咿cw? I蓿`Q?IJ D@)J ];iJCVB9V!IBDb6DbP)3YjV!jb=jʅQ)n>nK?9nK?9rFYryEr Ar>tQ 1z5٪v5?Q 5z5v v'9xA|A~<vBE>~BB!IBBBBBB1;BQEYEQ E@yvBE)v;Iv;iv-5Y!%A)gIUDNOT Ignoring new targets: 38.40 m.gQg]9g]9m ProNav: ac range: 38.396580 m, nav range: 37.752918 m, bearing: 184.640489 deg, approach rate: -0.338103 m/s, LOS rate: 0.015367 deg/s, cmd heading: 186.698481 deg, new cmd heading: 186.709247 deg. gm9uHeadingCmd: 3.258691 target range: 38.396580 and range: 38.50 m.gueP@gqgqggzfrfffBdddc c {?ɢqu; y}'A]˺=BEM^n4JEMcw4REM/DDwDDE: E:6E:E"E;!E;!*Ek;!Ek;!QAyAIIN >y ͻB,-w 3Ay6 D@ٱ6R@6MĻ6K6HƯ`?e?nUഉx??I6 D@)6s];i6CBB9B !I5Mb@Mb@Mb@ 1)1I1i115v/?S㥛I +5x>5/ݼ594I5Ai5@15A)15ABDM 6DMk3Y]Ӽ=!eB=eP.Q)e>m H?9m H?9mFYm|EmAu>qQ 1}5٪un?Q 55u u'9 >Q A;Y\EQ E@yuBE)u. ;Iuf:iu/5Y%B.AEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 38.40 m.ggY9gY9 ProNav: ac range: 38.396580 m, nav range: 37.612957 m, bearing: 184.645426 deg, approach rate: -0.334937 m/s, LOS rate: 0.011859 deg/s, cmd heading: 186.709245 deg, new cmd heading: 186.719156 deg. g9HeadingCmd: 3.258864 target range: 38.396580 and range: 38.50 m.g;P@ggggzfrfffBBdddcc)?ɢ%B%d; )-(G=I1 5r;ɡ9i9I=IMyAiMC=Yie#_=)e;P@)i@@A4>iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.IňG)AIi5Ȗ5A5,Aԁ>Au =ԱA AI D D D +D E : E ,:6E [4:E ! @! @! @! @I N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442581 H,vR%3Ay6D@ٱ6UR@6kλ6]̼6H@e??`N@pgy?[`G?I6D@)6e];i6C^B9b)!IBDj6Djf?3Yr=!rS=rPQ)r>vK?9vK?9vFYv~Ev:Az>xQ 15٪z?Q 55zC z'9YYEQ E@yzBE)zP;Iz] ;izN15YAgDNOT Ignoring new targets: 38.40 m.ggW9gW9 ProNav: ac range: 38.396580 m, nav range: 37.484200 m, bearing: 184.649971 deg, approach rate: -0.332635 m/s, LOS rate: 0.011781 deg/s, cmd heading: 186.719163 deg, new cmd heading: 186.728283 deg. g}9HeadingCmd: 3.259023 target range: 38.396580 and range: 38.50 m.gדP@ggggzfrfffBdddcc@.?ɢh< ~=I! %秂;ɡ!i!I%I-ދAi- =i-=)-דP@)1Թ>A]=) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695555vBF>~BB"!IBBB =BBB=;BQEAIIN> 9 +O,-?3Ay6 D@ٱ6BR@6/̻6PӼ6H`@ ?@j?F@Tڝy?{?I6 D@)6d>];i6CDBDBDB-D@EB: EB?:6EBt4:E@"E@!JE@!J*EB;!JEB;!NrB9r4!IBDz 6Dzk3Y%4=!%F=-u8Q)->)9)9-FY-E5ڠA5>9Q 1E5٪=?Q 5E5=x ='9IYM\EQ EM@y=BE)=:I=:i=35YUBUxAQgDNOT Ignoring new targets: 38.40 m.ggmY9gmY9 ProNav: ac range: 38.396580 m, nav range: 37.347076 m, bearing: 184.654878 deg, approach rate: -0.330797 m/s, LOS rate: 0.011881 deg/s, cmd heading: 186.728288 deg, new cmd heading: 186.738137 deg. g9HeadingCmd: 3.259195 target range: 38.396580 and range: 38.50 m.gP@ggggzfrfffBdddcc@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.948662ɢS< Т=I %„;ɡ!i)IMLXIe Ai@=ic=)P@)9>A =i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198357A I) I9 NE >U,- Y3Ai  B90!IMb@Mb@Mb@ )Iiy&1?tIlAi@A)ABD&6Dދ3Ybw!>=Q)>99FYEA>Q 15٪f?Q 5 5 '9 >Q A #;Y CQ E @yBE)a:I:i45YAgAEDNOT Ignoring new targets: 38.40 m.gAgMsgMs] ProNav: ac range: 38.396580 m, nav range: 37.208248 m, bearing: 184.654391 deg, approach rate: -0.324877 m/s, LOS rate: -0.001144 deg/s, cmd heading: 186.738137 deg, new cmd heading: 186.737159 deg. g]eHeadingCmd: 3.259178 target range: 38.396580 and range: 38.50 m.ge`P@gagagigizfirfifqfuBBdqdqdycyc}i@ɢB2< 顭\=I J;ɡiI0IVAi=i3=)`P@)qDDzD0DE: E :6E4:E!@!@!@!@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.450678ԡ>A=bAAZAAAA IQ Ia Nu > !\,er3Ay6oD@ٱ6Q@6ػ6"ȼ6H$?KT?(`՗@{?`?I6oD@)6];i6CBB9B5!IBDNVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.702543ATATvBZE>~BXBZ(!IBZBBXBXBXBZM;BZQE|6DN3Y%<!-X=-jQ)->)9195FY5E5EA5>YQ 1e5٪]x?Q 5m5]  ]'9iYmCQ Em@y]BE)]:I]:i]65YquAgDNOT Ignoring new targets: 38.40 m.ggg ProNav: ac range: 38.396580 m, nav range: 37.084202 m, bearing: 184.654029 deg, approach rate: -0.316930 m/s, LOS rate: -0.000926 deg/s, cmd heading: 186.737153 deg, new cmd heading: 186.736429 deg. gط%HeadingCmd: 3.259166 target range: 38.396580 and range: 38.50 m.g%+P@g!g!g!g!zf)rf)f)f)Bd1d1dQcYc]@ɢ6< 顭=I Ԉ;ɡiI IAi=ix=)+P@)DD{D5DEU: E5":6E4:E"E;!E;!*EBz;!ECz;!>A=mBDAT read: Rx Time:23:56:08.2220 }TRx dataTimestamp_ set to:1758412566.071268checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960199A! I1 A IA NU > c,{3Ay6C@ٱ6 Q@6ܻ66H@Ѱ[?Q?Ζ+{?@?I6C@)6J];i4B9C!I=Mb@Mb@Mb@ 9)9I9i99=v/?Zd;O{Gz=x>=j=#I9i=@=$A=@)9=pABDU6DU:3Ye"==!e+=eŢQ)e>i9i9mFYmEuEAu>yQ 15٪}k?Q 55}T }'9>Q A;YDQ E@y}BE)}8:I}:i}85YBAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.206532B*** querying acoustic contact ***zhhIgDNOT Ignoring new targets: 38.40 m.gg8g8 ProNav: ac range: 38.396580 m, nav range: 36.927292 m, bearing: 184.657021 deg, approach rate: -0.336223 m/s, LOS rate: 0.006438 deg/s, cmd heading: 186.736429 deg, new cmd heading: 186.742438 deg. g<9HeadingCmd: 3.259270 target range: 38.396580 and range: 38.50 m.gP@gggg zf rf f fBBdddcc @ɢEBEY-< IM$=II M;ɡIiIIM9)IU҇AiU =iUr=)]P@)YԁD D D .D E s: E E7:6E ـ4:E ! @! @! @! @>A =ԡ  DAT read: 23:56:08.2220 LVL= 19872, 27569, 21634, 29939, AGC= 62, IDX= 427, 0.40,-1.041,-2.650,-0.738,-1.218, PHS= 0.279,-1.386, 0.436, RAW= 154.5, 7.7, CAL= 154.0, 8.1, ROT= 356.0, -8.1  Ygot valid direction response: 23:56:08.2220 LVL= 19872, 27569, 21634, 29939, AGC= 62, IDX= 427, 0.40,-1.041,-2.650,-0.738,-1.218, PHS= 0.279,-1.386, 0.436, RAW= 154.5, 7.7, CAL= 154.0, 8.1, ROT= 356.0, -8.1  PDAT read: Bearing 342.3, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 342.3, -3.9 (Local)  DAT read: Range 11 to 50 : 37.4 m (Round-trip 49.9 ms) speed 0.3 m/s  ,DAT read: user:1019>  BDAT read: Tx time:23:56:09.3180  $Ping request sent. )i,o3ABiMkTt> َ>)shId;>i,@ >,@>@ iIi=%??4? ? ))i":publishing transmit ping timeY &Fpublishing direction and range info9p낄?%N^򭱿:N ?i )ɰ(*p;Ii iIi=%??4? )i%checking for new query: numPingsReceived=1, elapsed TxPingTime=0.052405i=fC=zt@)9 AIAAAiAIAIIM3CiMA MԽUF)QQ UAUUcFY]ُC]AI],)]LFiY)aIe҂AeeF eiiiiiԑi9BD6D03Y#;!k=Q)?99FYEA>Q 15٪a?Q 55 '9YQ E@yBE):Ig=< =I ;ɡiII qAiB=i9)=DP@)A@y@}AvB~BB.!IB BBBBBL;BQEByƝchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.239401ByByByByB}ƛ5>A  A yAI I N >\ p,33Ay:C@ٱ:oQ@:N黹::H,@q?`c ?`w` S)}?v&?I:C@):9p];bD@ZD@DFDFxDF-DDEF: EF:6EFt4:ED"EF#;!JEF$;!J*EFWo;!NEFWo;!Ni:C=B9=e H?9e H?9mFYmEmAm>qQ 1}5٪u3W?Q 55u u'9YDQ E@yuBE)u;IuS;iu;5YAgDNOT Ignoring new targets: 37.30 m.ggU8gU8 ProNav: ac range: 37.299694 m, nav range: 36.748981 m, bearing: 184.399821 deg, approach rate: -0.354054 m/s, LOS rate: 0.005446 deg/s, cmd heading: 186.747262 deg, new cmd heading: 186.751197 deg. gw9HeadingCmd: 3.259423 target range: 37.299694 and range: 37.40 m.gdP@ggggzfrf=checking for new query: numPingsReceived=1, elapsed TxPingTime=0.491227AffyBdddccÉ?ɢquT#.< qu`=Iq }Ȑ;ɡyiyI}OIRAi=iͳ=)dP@)aԉ>A checking for new query: numPingsReceived=1, elapsed TxPingTime=0.748567A AI I N% >Թ `6v,3Ay6C@ٱ6nQ@6wV6:r6HuKL? ?eQ`aཪ}? M@T?I6C@)6];i6CB9>!IMb@Mb@Mb@ )Iiv/?Zd;O{GztףIVAi~@A)ABD!6Dr3Y;!C=>Q)>K?9K?9FYE5A>Q 15٪K?Q 55 '9>Q A;YDQ E@yBE):I& ;i=5YBAEg!-DNOT Ignoring new targets: 37.30 m.g)g-x8g5x8E ProNav: ac range: 37.299694 m, nav range: 36.610161 m, bearing: 184.402149 deg, approach rate: -0.331837 m/s, LOS rate: 0.005586 deg/s, cmd heading: 186.751196 deg, new cmd heading: 186.755870 deg. gE#9MHeadingCmd: 3.259505 target range: 37.299694 and range: 37.40 m.gMP@gIgIgIgIzfIrfQԑffՂBBdddcc*?ɢ!-y6< )-4=I) U!;ɡQiQIU I]Ai]=i]O=)]P@)YDDyD/DEI: E:6EJ4:E!@!@!@!@Mchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.995408>A]?=A I I N > c|,3AA.<A,vB0~B0B2;!IB2BB0B0B0B2G;B2QEyFC@ٱF-Q@FB𻹱FNFH`*?@C? /1ɳov~? $?IFC@)Fx];iDRchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.247427nB9nC!IIrAA)r@ABDv6DvF3Y~<!~X=~ʏQ)>99FYE ,A >Q 15٪@?Q 559 '9YDQ E%@yBE);I;il?5Y)-A)gQ]DNOT Ignoring new targets: 37.30 m.gYg]8g]8m ProNav: ac range: 37.299694 m, nav range: 36.484829 m, bearing: 184.404473 deg, approach rate: -0.331882 m/s, LOS rate: 0.006175 deg/s, cmd heading: 186.755868 deg, new cmd heading: 186.760532 deg. gm49uHeadingCmd: 3.259586 target range: 37.299694 and range: 37.40 m.g}P@gygygygyzfyrfyffBdddcc?ɢQUXD@< Y]=IY ]Md;ɡYiYI]_!IeAie=iḛ=)mP@)!rD%=jDDDxD-DE: E:6Et4:E"E!E!*E!E!>A=uchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.502513IQ I! N >H,~ 3Ay6C@ٱ6Q@6s'滹6҂6H`@?@3?@ $`]t|?Z?I6C@)6q];i6CF*B9FT!IMb@Mb@Mb@ )IiZd;O?I +{Gzt~>9IiA@)ABD6D\3Y=!==mC:Q)>99FYEsA>Q 15٪4?Q 55{ '9 >Q A ;Y DQ E @yBE){:I:iQA5YHAg9EDNOT Ignoring new targets: 37.30 m.gAgM8gM8] ProNav: ac range: 37.299694 m, nav range: 36.340172 m, bearing: 184.406508 deg, approach rate: -0.333707 m/s, LOS rate: 0.004713 deg/s, cmd heading: 186.760526 deg, new cmd heading: 186.764612 deg. g] 9eHeadingCmd: 3.259657 target range: 37.299694 and range: 37.40 m.ge:P@gagagagazfirfififm؂BBdqdqdqcqc}?ɢ!%%W< !%z>I! -;ɡ)i)I-"QIu{Aiut=iuP=)u:P@)ychecking for new query: numPingsReceived=1, elapsed TxPingTime=1.751551y>A=D D uD +D E  E :6E [4:E ! @! @! @! @ I I N >e checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003313r,,'3A@1B9\!IBD-6D-!3Y=V=!=V=EQ)E>A9A9MFYMEMAM>QQ 1]5٪U*?Q 5]5U Q9aYaQ Ee@yUBE)U;IUn;iUB5Ym BmAmEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 37.30 m.gg8g8 ProNav: ac range: 37.299694 m, nav range: 36.212547 m, bearing: 184.408316 deg, approach rate: -0.333312 m/s, LOS rate: 0.004741 deg/s, cmd heading: 186.764611 deg, new cmd heading: 186.768241 deg. g 9HeadingCmd: 3.259721 target range: 37.299694 and range: 37.40 m.gDP@ggggzfrfffBdddcc@ɢشq< 顽x>I ;ɡiI $IpAi!=i)DP@)ԱvBa~BaBeG!IBe BBaBaBaBe@;BeQE>A6=checking for new query: numPingsReceived=1, elapsed TxPingTime=2.256029I9IQN}z> ],+A3ABEmA{4JEm4REm0D>D>D>2D<E>: E>0:6E>4:E<"E>U;!ZE>V;!^*E>މ;!bE>މ;!blɰ!%;yHC@ٱQ@ڻ!H&? =?@@k@bV{?[`?IHC@)oM];iC3B9`!IDDAT read: Rx Time:23:56:11.4955 %TRx dataTimestamp_ set to:1758412569.092917-PDAT read: Bearing 342.2, -3.8 (Local) 5~Local bearing/azimuth received: Bearing 342.2, -3.8 (Local) ]DAT read: Range 11 to 50 : 36.3 m (trip time 24.2 ms) speed 0.2 }DAT read: 23:56:11.4955 LVL= 19440, 21489, 20306, 30707, AGC= 63, IDX= 171,-0.02,-1.619, 3.048,-1.323,-1.796, PHS= 0.278,-1.394, 0.429, RAW= 154.3, 7.9, CAL= 153.8, 8.3, ROT= 356.2, -8.3 Ygot valid direction response: 23:56:11.4955 LVL= 19440, 21489, 20306, 30707, AGC= 63, IDX= 171,-0.02,-1.619, 3.048,-1.323,-1.796, PHS= 0.278,-1.394, 0.429, RAW= 154.3, 7.9, CAL= 153.8, 8.3, ROT= 356.2, -8.3 R#Rx 2: Read range and direction messages.^direction in FSK: [0.987350,-0.065579,0.144356]Fpublishing direction and range info9_?:ĕeɰ'ЌCz?3BiKSROw? V>)nI>iZ,@0 >+@V>@ ViIn2-0?RwM?\Ԓ?)? Ӈ)Vichecking for new query: numPingsReceived=2, elapsed TxPingTime=2.532035BDU.6DUP3Y0<!)=;:Q)>!9I9MFYUEHA>Q 1 5٪V?Q 5 5 '9YDQ E@yBE)':I:iIE5Y%A!hhZE3AhBhBhM@ vqQA@ g?Y@u_?:ĕeɰ'ЌCz?hӇhVvq{(Auiyx+â&@vcX_ڊH_9̈Z?h#hh>\?hfUhGB*i2id:iGBiB"i!M@ addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 2.520778 s, deltaX: -1.100002 m, approachRate: -0.436374 m/s, rangeRepo size: 4 M Added new target pos. range: 36.202614 m, bearing: 184.102169 deg, lat: 36.779128 deg, lon: -121.859765 deg, deltaT: 2.520778 s, deltaX: -1.097080 m, approachRate: -0.435215 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 36.20 m.gIg}gy ProNav: ac range: 36.202614 m, nav range: 36.025635 m, bearing: 184.169447 deg, approach rate: 0.000000 m/s, LOS rate: 0.004741 deg/s, cmd heading: 186.768244 deg, new cmd heading: 186.773420 deg. gHeadingCmd: 3.259811 target range: 36.202614 and range: 36.30 m.gP@ggggzfrfff!Bd!d)1dc`f&B@c ?ɢ1X\< >I ;ɡ i I %I~AiX&=i=)P@)@)@)I G)5 AIA iu au Au _A checking for new query: numPingsReceived=2, elapsed TxPingTime=2.759427Y >A5 ٦=I I N >,)\3AyVyC@ٱVQ@VܻV!VHf`?@z? 9M `Ø{?`H?IVyC@)Vq];iVCb?B9bn!IlUMb@Mb@Mb@ Q)QIQiQQUZd;O?S㥛{GztQU/ݼQIUAiQUAU@)QUABDm6DmF3Y}P=!}l=AQ)?99FYE<<A ?Q 15٪?Q 55' 9>Q A;YEQ E@yBE)Q:IE:iF5YqAgDNOT Ignoring new targets: 36.20 m.gg`\9g`\9 ProNav: ac range: 36.202614 m, nav range: 35.924332 m, bearing: 184.172842 deg, approach rate: -0.358301 m/s, LOS rate: 0.012042 deg/s, cmd heading: 186.773422 deg, new cmd heading: 186.780231 deg. gM9HeadingCmd: 3.259930 target range: 36.202614 and range: 36.30 m.gP@ggggzfrfffBBdd d c c@{?D-D-yD)D)E-: E-:6E):E)!}@!}@!}@!}@ ɢ1=< 9=f,>I9 =T;ɡAiAIE&Ie}Aie(=ie.'=)mP@)iDDAT read: Rx Time:23:56:11.9954 TRx dataTimestamp_ set to:1758412569.596874PDAT read: Bearing 341.9, -3.9 (Local) ~Local bearing/azimuth received: Bearing 341.9, -3.9 (Local) DAT read: Range 11 to 50 : 36.2 m (trip time 24.1 ms) speed 0.2 %DAT read: 23:56:11.9954 LVL= 19696, 31681, 18466, 32755, AGC= 60, IDX= 506,-0.03,-1.774, 2.897,-1.473,-1.956, PHS= 0.283,-1.386, 0.438, RAW= 154.4, 7.6, CAL= 153.9, 8.0, ROT= 356.1, -8.0 5Ygot valid direction response: 23:56:11.9954 LVL= 19696, 31681, 18466, 32755, AGC= 60, IDX= 506,-0.03,-1.774, 2.897,-1.473,-1.956, PHS= 0.283,-1.386, 0.438, RAW= 154.4, 7.6, CAL= 153.9, 8.0, ROT= 356.1, -8.0 5R#Rx 3: Read range and direction messages.>A]"=m^direction in FSK: [0.987975,-0.067353,0.139173]mFpublishing direction and range info9R}? E=>H@l?BiL{"H< `>)shIA>iiw,@>o+@5>>@ 5iI!+?1a A A vB ~B B T!IB *BB B B B 5;B QEݜ,u3Achecking for new query: numPingsReceived=3, elapsed TxPingTime=3.263367;B9h!IBD-6D-4d3qY !I=Q)>99FYEA>Q 15٪]?Q 55W '9YQ E@yBE);I;icH5YBaAhh/3f3AhiBhiBh{M@ vQ8iA@8tS$@uR}? E=>H@l?h)gh5vg0 Aw3t|U@vxƒyR}B?hh|hﺜM?h^*hB*i2i:iFBi&B"iM@ addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 0.503957 s, deltaX: -0.099998 m, approachRate: -0.198427 m/s, rangeRepo size: 4 - Added new target pos. range: 36.102917 m, bearing: 183.957862 deg, lat: 36.779128 deg, lon: -121.859765 deg, deltaT: 0.503957 s, deltaX: -0.099697 m, approachRate: -0.197829 m/s, posRepo size: 4 g)5DNOT Ignoring new targets: 36.10 m.g1g=g9M ProNav: ac range: 36.102917 m, nav range: 35.787968 m, bearing: 184.168918 deg, approach rate: 0.000000 m/s, LOS rate: 0.012042 deg/s, cmd heading: 186.780225 deg, new cmd heading: 186.790119 deg. gIUHeadingCmd: 3.260103 target range: 36.102917 and range: 36.20 m.gUP@gQgQgQgQzfQrfYfYfYBdYdadaceB@ce`*?ɢB~< 顕8$>I ;ɡiI'I1zAiC+=i=)P@)@@@@ԉD]D]|D]-DYE]U: E]P$:6E]t4:EY"E];!E];!*E]};!E]};!II1N=r>ԹDDAT read: Rx Time:23:56:12.4952 TRx dataTimestamp_ set to:1758412570.101315PDAT read: Bearing 342.2, -3.7 (Local) ~Local bearing/azimuth received: Bearing 342.2, -3.7 (Local) DAT read: Range 11 to 50 : 35.9 m (trip time 23.9 ms) speed 0.3 -DAT read: 23:56:12.4952 LVL= 20176, 23537, 21810, 32131, AGC= 61, IDX= 504,-0.02,-2.983, 1.680,-2.687, 3.121, PHS= 0.281,-1.396, 0.431, RAW= 154.2, 7.8, CAL= 153.7, 8.2, ROT= 356.3, -8.2 MYgot valid direction response: 23:56:12.4952 LVL= 20176, 23537, 21810, 32131, AGC= 61, IDX= 504,-0.02,-2.983, 1.680,-2.687, 3.121, PHS= 0.281,-1.396, 0.431, RAW= 154.2, 7.8, CAL= 153.7, 8.2, ROT= 356.3, -8.2 UR#Rx 4: Read range and direction messages.u^direction in FSK: [0.987713,-0.063873,0.142629]}Fpublishing direction and range info9#?KX?t*Yx0A?BiN[2U}= ;ߏ>)!I>i9>,@'g >>+@C>@ CiI?&4?/gP?u0|t?? )A)Ci checking for new query: numPingsReceived=4, elapsed TxPingTime=3.556570 'ƣ,Vԏ3A(i(]DIVAih@$AA)AI)BABD6D{U3Y ;!C=Q)>99FYE!A%>)Q 1-5٪-?Q 555-h )95>Q A5;Y5GQ E=@y-BE)- ;I- ;i-8J5YAEXAAhh{3Ah7Bh7BhM@ v&8A@~B'Kׄ4m@u#?KX?t*Yx0A?h)AhCv{xpMA9@v?DGGL_p W?hx$h2 h~]?hh B*iﺜM?2i:iI ɭ;ɡiI)INwAi.=i=)hP@))AIINb>Dm Dm yDm ,Di Em : Em :6Em g4:Ei ! @! @! @! @ DDAT read: Rx Time:23:56:12.9951  TRx dataTimestamp_ set to:1758412570.604781 PDAT read: Bearing 342.4, -3.6 (Local)  ~Local bearing/azimuth received: Bearing 342.4, -3.6 (Local)  DAT read: Range 11 to 50 : 35.7 m (trip time 23.8 ms) speed 0.3 5 DAT read: 23:56:12.9951 LVL= 21600, 24753, 22722, 32755, AGC= 62, IDX= 503, 0.00,-2.917, 1.751,-2.623,-3.091, PHS= 0.276,-1.397, 0.424, RAW= 154.2, 8.0, CAL= 153.7, 8.5, ROT= 356.3, -8.5 5 Ygot valid direction response: 23:56:12.9951 LVL= 21600, 24753, 22722, 32755, AGC= 62, IDX= 503, 0.00,-2.917, 1.751,-2.623,-3.091, PHS= 0.276,-1.397, 0.424, RAW= 154.2, 8.0, CAL= 153.7, 8.5, ROT= 356.3, -8.5 9 E R#Rx 5: Read range and direction messages.M ^direction in FSK: [0.986954,-0.063824,0.147809]M Fpublishing direction and range info9  3Q!?И9V%)k? B i `T ` X  > O>) вI >i 5> > i I CPz5?l ;?g]? #?  ) i e checking for new query: numPingsReceived=5, elapsed TxPingTime=4.035742h,3Ay6RC@ٱ6ʙQ@6ͻڻ6:)6H ??(Ŗ`lW{?@v䗿@?I6RC@)6];i6CnAB9nq!IBDv.6DvP3Y=<!EY=EE-9Q)E>I9I9MFYMEMx:AM>QQ 1}5٪U?Q 55Ux Q9YGQ E@yUBE)UR:IU:iUK5Y,Ahh3AhjBhjBh M@ vp8A@%8- @u 3Q!?И9V%)k?hhv[ARQLQ1@vTs$Ȇ BAҪ?h"hO he?h+EhZB*i>\?2ifU:ii B"iM@E addTargetRange:: Added new target pos. range: 35.700001 m, deltaT: 0.503466 s, deltaX: -0.200001 m, approachRate: -0.397248 m/s, rangeRepo size: 4 u Added new target pos. range: 35.604256 m, bearing: 184.141156 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.503466 s, deltaX: -0.199467 m, approachRate: -0.396187 m/s, posRepo size: 4 gquDNOT Ignoring new targets: 35.60 m.gqgygy ProNav: ac range: 35.604256 m, nav range: 35.274364 m, bearing: 184.132602 deg, approach rate: 0.000000 m/s, LOS rate: 0.012042 deg/s, cmd heading: 186.800210 deg, new cmd heading: 186.809687 deg. gHeadingCmd: 3.260444 target range: 35.604256 and range: 35.70 m.gP@ggggzfrfffBddd c5A@c5X?ɢQ< ~1>I L;ɡ i I HD*ItAi1=i"=)P@)AvB~BB`!IB4BBBBB0;BQEEchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.271401AyIIN]>iԡ D} D} D} .Dy E} : E} *:6E} ـ4:Ey "E} ;! E} ;! *E} h;! E} i;! V ,i3Ay^C@ٱ^(Q@^һ^z^H@E ?T?` m͛Qz?`?I^C@)^U];i^CjEB9jv!IBDr6Dr!3Yz<!zH=z :Q)~>|9|9~FY~EA> Q 15٪ 堊?Q 55  9YGQ E@y BE) ];I ;i M5Y%B%A%E=DDAT read: Rx Time:23:56:13.4949 =TRx dataTimestamp_ set to:1758412571.108840EPDAT read: Bearing 342.1, -3.6 (Local) M~Local bearing/azimuth received: Bearing 342.1, -3.6 (Local) ]DAT read: Range 11 to 50 : 35.4 m (trip time 23.6 ms) speed 0.3 }DAT read: 23:56:13.4949 LVL= 19440, 23393, 19442, 31955, AGC= 60, IDX= 501, 0.00, 2.349, 0.730, 2.643, 2.167, PHS= 0.284,-1.392, 0.432, RAW= 154.2, 7.8, CAL= 153.7, 8.2, ROT= 356.3, -8.2 Ygot valid direction response: 23:56:13.4949 LVL= 19440, 23393, 19442, 31955, AGC= 60, IDX= 501, 0.00, 2.349, 0.730, 2.643, 2.167, PHS= 0.284,-1.392, 0.432, RAW= 154.2, 7.8, CAL= 153.7, 8.2, ROT= 356.3, -8.2 R#Rx 6: Read range and direction messages.^direction in FSK: [0.987713,-0.063873,0.142629]Fpublishing direction and range info99=#?KX?t*Yx0A?= B9i=K=a[=K=|=< =sh>)=-I=/>i9='g >9=C>9 =Ci99I=w"V:?ó )?6kF?=?= 9)=Ci99checking for new query: numPingsReceived=6, elapsed TxPingTime=4.545876h9h=<3Ah=8 Bh=8 Bh=M@ v=@VoA@W3N ta$@u=#?KX?t*Yx0A?h9h=Cv=@hA^M=@v=֮`ߍ-.P 7@?h=| h=@ h=o?h=~Ih=B*i=~]?2i=+E:i= Bi= B"i=2M@] addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.504059 s, deltaX: -0.299999 m, approachRate: -0.595167 m/s, rangeRepo size: 4  Added new target pos. range: 35.305084 m, bearing: 184.119928 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.504059 s, deltaX: -0.299171 m, approachRate: -0.593525 m/s, posRepo size: 4 gDNOT Ignoring new targets: 35.31 m.ggAgAU ProNav: ac range: 35.305084 m, nav range: 35.129536 m, bearing: 184.141703 deg, approach rate: 0.000000 m/s, LOS rate: 0.012042 deg/s, cmd heading: 186.809690 deg, new cmd heading: 186.820296 deg. gy}HeadingCmd: 3.260629 target range: 35.305084 and range: 35.40 m.g&P@ggggzfrfffBdddc@3A@c ?ɢB< 9>I ;ɡ i I  +I qAi5=iUi=)U&P@)YyIIN>ԡchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.775466 0,(3Aɰ4Q@6˻6tɼ6H$?M?`H ry?-`]?I6ƟC@)6v];i6CNĻIi~@A)ABD-6D3Y%(!-9=59Q)=>A9A9MFYMEm9Am>DD}D+DEC: Ek&:6E [4:E!@!@!@!@Q 1u5٪ ٠?Q 5u5 '9u>Q Au!;Yu&HQ Eu@yBE)7)UIUsh>iU+@U0 >UD +@UV>USF@ UViQQIU@|b?xv?{?UZ?U" Ud)UViQQ checking for new query: numPingsReceived=7, elapsed TxPingTime=5.051350ɢ9=3< 9=&>I9 e8;ɡiiqIu,IsiAi28=i^=)BP@)I >A =AE <AE <vBI ~BI BM f!IBM 9BBI BI BI BM 6;BM QEBBBBBBˎ4i 4=I 4= checking for new query: numPingsReceived=7, elapsed TxPingTime=5.280058y I I N >i,<3Ay6C@ٱ6vQ@6Hλ6ܕ߼6H ?5?(P@֚y??I6C@)6]];i6CfFB9fw!IBDr6Drf?3Yz{Y=!zZ=zgQ)z>|9|9~FY~E~B9A>Q 1 5٪Π?Q 55 '9Y%HQ E@yBE);I;i5Q5YB%A%Eh9h=K93Ah9h9h=HN@ v=jpA@13B˪b@u=L@?w H'ЌCz?h=dh=Vv=U=cADx@v=<݅-d蜴/u?h=5h= h=5\?h=ih=B*i92i9:i=Bi=r B"i=M@u addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 0.504032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.305050 m, bearing: 184.672846 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.504032 s, deltaX: -0.000034 m, approachRate: -0.000068 m/s, posRepo size: 4 gDNOT Ignoring new targets: 35.31 m.ggg ProNav: ac range: 35.305050 m, nav range: 34.861378 m, bearing: 184.167305 deg, approach rate: 0.000000 m/s, LOS rate: 0.032556 deg/s, cmd heading: 186.848649 deg, new cmd heading: 186.870192 deg. gHeadingCmd: 3.261500 target range: 35.305050 and range: 35.40 m.gkP@ggggzfrfffBdddcc?ɢ< z:>I ;ɡiIo.IJcAi8:=i=)kP@) >A=IIaN>rD=jD<DD|D-DEU: EP$:6Et4:E"E;!E;!*E};!E};!1DDAT read: Rx Time:23:56:14.4947 TRx dataTimestamp_ set to:1758412572.116885%PDAT read: Bearing 342.1, -3.6 (Local) -~Local bearing/azimuth received: Bearing 342.1, -3.6 (Local) =DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.2 uDAT read: 23:56:14.4947 LVL= 18592, 25377, 20450, 30115, AGC= 60, IDX= 499, 0.07, 2.379, 0.761, 2.675, 2.199, PHS= 0.282,-1.393, 0.433, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2 Ygot valid direction response: 23:56:14.4947 LVL= 18592, 25377, 20450, 30115, AGC= 60, IDX= 499, 0.07, 2.379, 0.761, 2.675, 2.199, PHS= 0.282,-1.393, 0.433, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2 R#Rx 8: Read range and direction messages.^direction in FSK: [0.987600,-0.065596,0.142629]Fpublishing direction and range info9Uk?ʰx0A?f BiH!cOu Nb>)MI->iZ,@'g >+@C>@ CiIª`3?\ܧ?.ݍQ?P!? Ӈ)Cichecking for new query: numPingsReceived=8, elapsed TxPingTime=5.561166a b,d3A,t94IiA@)zABD 6Dk3Y6!<=Q)>99FYEA> Q 1 5٪  ?Q 55  '9>Q A;Y|GQ E@y BE)  ;I  ;i S5Y!%A!hQhU {3AhU BhU BhUM@ vUS0IA@"Y^@uUUk?ʰx0A?hUӇhUCvU-JL}BA~m`-@vUλ4,3)Ҡw6F?hU/hU hUe?hU1$UhUǍB*iUe?2iQ:iQiUz B"iU#M@}checking for new query: numPingsReceived=8, elapsed TxPingTime=5.783439 addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.504013 s, deltaX: -0.300003 m, approachRate: -0.595229 m/s, rangeRepo size: 4  Added new target pos. range: 35.005852 m, bearing: 184.069649 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.504013 s, deltaX: -0.299198 m, approachRate: -0.593632 m/s, posRepo size: 4 gDNOT Ignoring new targets: 35.01 m.ggg ProNav: ac range: 35.005852 m, nav range: 34.620113 m, bearing: 184.190457 deg, approach rate: 0.000000 m/s, LOS rate: 0.032556 deg/s, cmd heading: 186.870192 deg, new cmd heading: 186.898601 deg. gHeadingCmd: 3.261996 target range: 35.005852 and range: 35.10 m.gP@ggggzfrfffBBdddcm̌A@cm?ԉɢr< 顽 &>I ڪ;ɡiIf/I+[Aia==iث=)P@)Թ>A1bAAZAADDwD.DE E:6Eـ4:E!@!@!@!@II N > - DDAT read: Rx Time:23:56:14.9947 5 TRx dataTimestamp_ set to:1758412572.620799= PDAT read: Bearing 341.8, -2.8 (Local) = ~Local bearing/azimuth received: Bearing 341.8, -2.8 (Local) M DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.2 u DAT read: 23:56:14.9947 LVL= 21312, 32433, 22498, 32755, AGC= 59, IDX= 499, 0.10,-2.248, 2.437,-1.982,-2.446, PHS= 0.299,-1.355, 0.419, RAW= 153.5, 7.5, CAL= 152.9, 7.8, ROT= 357.1, -7.8 } Ygot valid direction response: 23:56:14.9947 LVL= 21312, 32433, 22498, 32755, AGC= 59, IDX= 499, 0.10,-2.248, 2.437,-1.982,-2.446, PHS= 0.299,-1.355, 0.419, RAW= 153.5, 7.5, CAL= 152.9, 7.8, ROT= 357.1, -7.8  R#Rx 9: Read range and direction messages. ^direction in FSK: [0.989479,-0.050125,0.135716] Fpublishing direction and range info91 5 ϩ?5dOj M _?1 1 i5 @S5 ~5 W5 5 ; 5 >)5 pI5 +>i5 v+@5 >5 {*@5 'g >5 8q@ 5 'g i1 1 I5 F< w?1}?a4^6?5 H?5  5 QQO)5 'g i1 1  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.051256X,>,3Aiy6rC@ٱ6Q@6uл6M6H`$??@,Uz?{ 4?I6rC@)6_];i6ClrHB9ry!IBDx6DxY-s=!-X=-8Q)5>19195FY5Er8;A>Q 1 5٪Z?Q 55 '9QY]kGQ E]@yBE)LCAA#i]:@ve52DoET:\?heBhe heJ[?heu$heSB*ia2ia:ieBie B"ie+M@} addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.503914 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 35.005852 m, bearing: 185.043496 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.503914 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 35.01 m.ggg ProNav: ac range: 35.005852 m, nav range: 34.485813 m, bearing: 184.201057 deg, approach rate: 0.000000 m/s, LOS rate: 0.032556 deg/s, cmd heading: 186.898605 deg, new cmd heading: 186.927063 deg. g HeadingCmd: 3.262493 target range: 35.005852 and range: 35.10 m.gP@ggggzfrfffBd!d!d!cIcM`?ɢA< 顝<>I T;ɡiI0vB~BBBBBBBBISAi{@=i =)P@)@A@Achecking for new query: numPingsReceived=9, elapsed TxPingTime=6.2882031>AM ʞ=I I N >i bD ZD ?AD D D /D E : E *:6E J4:E "E ;! E ;! *E h;! E i;! Nu,F3AyV#C@ٱVQ@V}ܻVVH I2??`9Z @{?nQt?IV#C@)V];iVCbEB9bu!IrDDAT read: Rx Time:23:56:15.4945 vTRx dataTimestamp_ set to:1758412573.124834zPDAT read: Bearing 342.2, -3.6 (Local) z~Local bearing/azimuth received: Bearing 342.2, -3.6 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.2 -DAT read: 23:56:15.4945 LVL= 19520, 23665, 20674, 31027, AGC= 60, IDX= 497, 0.14, 2.687, 1.058, 2.984, 2.505, PHS= 0.284,-1.401, 0.436, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2 9=Ygot valid direction response: 23:56:15.4945 LVL= 19520, 23665, 20674, 31027, AGC= 60, IDX= 497, 0.14, 2.687, 1.058, 2.984, 2.505, PHS= 0.284,-1.401, 0.436, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2 =T#Rx 10: Read range and direction messages.E^direction in FSK: [0.987600,-0.065596,0.142629]MFpublishing direction and range info9tvUk?ʰx0A?v3 Btiv@Lvq\vPv3yv< vsh>)vSIvd;>ivZ,@v'g >v+@vC>v@ vCittIv֚Y\3?![\'?g0J?vU$?vv vӇ)vCittechecking for new query: numPingsReceived=10, elapsed TxPingTime=6.555996BDh6DhYuvM!uF=}hQ)}>y9y9FYE:A>Q 15٪b?Q 55 '9YdGQ E@yBE);I3;iV5YByAEhthvHG3Ahv Bhv Bhv߷M@ vv"}X^#A@W96B4@uvUk?ʰx0A?hvӇhvCvvi%0A6fBr@vvtT+E-eLV?hvhvhvӻh?hvdhvB*ive?2ivd:ivǍBiva B"ivM@i addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.504035 s, deltaX: -0.299999 m, approachRate: -0.595195 m/s, rangeRepo size: 4 5 Added new target pos. range: 34.706673 m, bearing: 184.168556 deg, lat: 36.779132 deg, lon: -121.859764 deg, deltaT: 0.504035 s, deltaX: -0.299179 m, approachRate: -0.593568 m/s, posRepo size: 4 g1=DNOT Ignoring new targets: 34.71 m.g9gg ProNav: ac range: 34.706673 m, nav range: 34.345535 m, bearing: 184.164038 deg, approach rate: 0.000000 m/s, LOS rate: 0.032556 deg/s, cmd heading: 186.927060 deg, new cmd heading: 186.954531 deg. gHeadingCmd: 3.262972 target range: 34.706673 and range: 34.80 m.gP@ggggzfrfffBdddc`ffA@cM?ɢY]ߓ< Y]7>Ia eF;ɡaiaIeM2Im-KAimC=imȬ=)mP@)qԑchecking for new query: numPingsReceived=10, elapsed TxPingTime=6.791478>A N1= I! I1 NE >,E_3A%?B9%m!IԡD]D]uD]-DYE]g5; E]:6E]t4:EY!e@!e@!e@!e@Mb@Mb@Mb@ )IiʡE?L7A`堿Mb>+IAi;@A@)(ABD6D\3Y!6=Q)>99FYEA>DDAT read: Rx Time:23:56:15.9945 TRx dataTimestamp_ set to:1758412573.628788PDAT read: Bearing 19.3, -10.1 (Local) ~Local bearing/azimuth received: Bearing 19.3, -10.1 (Local) DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.2 =DAT read: 23:56:15.9945 LVL= 17344, 23281, 20130, 29523, AGC= 59, IDX= 513, 0.18,-2.198, 2.547,-1.675,-1.422, PHS=-0.674,-2.269,-0.297, RAW= 160.4, 32.3, CAL= 163.1, 44.7, ROT= 346.9, -44.7 EYgot valid direction response: 23:56:15.9945 LVL= 17344, 23281, 20130, 29523, AGC= 59, IDX= 513, 0.18,-2.198, 2.547,-1.675,-1.422, PHS=-0.674,-2.269,-0.297, RAW= 160.4, 32.3, CAL= 163.1, 44.7, ROT= 346.9, -44.7 MT#Rx 11: Read range and direction messages.U^direction in FSK: [0.692302,-0.161104,0.703395]UFpublishing direction and range info9U'?Q" Ŀbij5?iCZNSs; D,)L7Ibi$+3@ZQ?8/6@G?پ@ GiI )?9;5?__}?[d4?#? 4 j)Giuchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.059615!Q 1-5٪%Q A5;Y5FQ E5@y%CE)%:I%:i%X5Y9eAahh>h3AhhhD@ vhZ 8@Jko] i8@uU'?Q" Ŀbij5?h4 jhGv~M8.#I%?rC8@v"XKh Lp?o?h-?hkh0L?hhB*i2i:iiB"iM@ addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.503954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 34.706673 m, bearing: 176.153006 deg, lat: 36.779132 deg, lon: -121.859764 deg, deltaT: 0.503954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gAMDNOT Ignoring new targets: 34.71 m.gIgIgI ProNav: ac range: 34.706673 m, nav range: 34.165775 m, bearing: 184.174549 deg, approach rate: 0.000000 m/s, LOS rate: 0.032556 deg/s, cmd heading: 186.954531 deg, new cmd heading: 186.985180 deg. gHeadingCmd: 3.263507 target range: 34.706673 and range: 34.80 m.gMP@ggggzfrfff ݂BBd d d c c?ɢY]ִ< ae*>Ia eGX;ɡaiiIm&3IhBAiG=i<=)MP@)A A @AvB ~B B B B B B B B !  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.295470>A =rA >jA >IA!I)IAN?n,Ё3AYBEEt4JEE|4REE0DD{DDE: E5":6E:E"Ew;!Ex;!*EBz;!ECz;!9i<BD6D{U3Q)>99FYEA>Q 15٪%?Q 55?  (9YQ E@yCE);I:iZ5YB*** querying acoustic contact ***zhhg  DNOT Ignoring new targets: 34.71 m.g g9g9% ProNav: ac range: 34.706673 m, nav range: 34.010426 m, bearing: 184.183723 deg, approach rate: -0.360291 m/s, LOS rate: 0.021373 deg/s, cmd heading: 186.985185 deg, new cmd heading: 187.003616 deg. 5DDAT read: Rx Time:23:56:16.4943 5TRx dataTimestamp_ set to:1758412574.132891EPDAT read: Bearing 342.2, -3.6 (Local) E~Local bearing/azimuth received: Bearing 342.2, -3.6 (Local) UDAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.2 }DAT read: 23:56:16.4943 LVL= 18128, 22897, 19522, 27443, AGC= 59, IDX= 511, 0.21, 3.122, 1.492,-2.865, 2.939, PHS= 0.284,-1.402, 0.435, RAW= 154.2, 7.8, CAL= 153.7, 8.2, ROT= 356.3, -8.2 Ygot valid direction response: 23:56:16.4943 LVL= 18128, 22897, 19522, 27443, AGC= 59, IDX= 511, 0.21, 3.122, 1.492,-2.865, 2.939, PHS= 0.284,-1.402, 0.435, RAW= 154.2, 7.8, CAL= 153.7, 8.2, ROT= 356.3, -8.2 T#Rx 12: Read range and direction messages.^direction in FSK: [0.987713,-0.063873,0.142629]Fpublishing direction and range info915#?KX?t*Yx0A?5 B1i5F5qY5BL53k1 5sh>)5tI5R>i59>,@5'g >5>+@5C>5@ 5Ci11I50\5??;lV?g%u:-HeadingCmd: 3.263829 target range: 34.706673 and range: 34.80 m.g-P@g)g)g)g)zf)rf1f1f1Bd1d9d9c=@A@5?5 5)A)5Ci11Echecking for new query: numPingsReceived=12, elapsed TxPingTime=7.583404ce ø?ԁɢ<  *>I >;ɡiI25I#=Ai'J=iA=)P@)ԩiI[G) I) i] d9Y ] C=A checking for new query: numPingsReceived=12, elapsed TxPingTime=7.799481 >A= 벫=Aa Iq I N >5,=3Ay6C@ٱ6}Q@6,6zh6Hy`4I? : ?O> z_?y?8I6C@)6l];i6CEB9u!IDmDmxDm.DiEm%: Em:6Emـ4:Ei!u@!u@!u@!u@eMb@Mb@Mb@ a)aIaiaaeK7A`?I +Mbe>e9aIeVAieh@eAa)aeQABD56D3YF<!< *Q) > 9 9 FY Ev:A>Q 1%5٪j?Q 5%5 (9%>Q A-;Y-DQ E-@yCE)z ;I ;i\5Y5B5KA1h)h-I3Ah- Bh- Bh-M@ v-p @@i.}I@u-#?KX?t*Yx0A?h-)Ah-Cv-l +@Ы\ pԕ@v-W(Պw:7m/Eo?h-!h-h-|ToX?h-\h-B*i)2i):i-Bi-cB"i-M@ addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.504103 s, deltaX: -0.299999 m, approachRate: -0.595115 m/s, rangeRepo size: 4  Added new target pos. range: 34.407501 m, bearing: 184.242695 deg, lat: 36.779132 deg, lon: -121.859764 deg, deltaT: 0.504103 s, deltaX: -0.299171 m, approachRate: -0.593473 m/s, posRepo size: 4 gDNOT Ignoring new targets: 34.41 m.ggg ProNav: ac range: 34.407501 m, nav range: 33.847065 m, bearing: 184.184857 deg, approach rate: 0.000000 m/s, LOS rate: 0.021373 deg/s, cmd heading: 187.003613 deg, new cmd heading: 187.024616 deg. gHeadingCmd: 3.264195 target range: 34.407501 and range: 34.50 m.gP@ggggzfrfffBBdddcc?DDAT read: ime 22.9 ms) speed 0.3  bunknown deviceResponse_: ime 22.9 ms) speed 0.3 -DAT read: 23:56:16.9942 LVL= 20816, 22193, 20050, 30931, AGC= 61, IDX= 510, 0.23,-2.520, 2.128,-2.218,-2.714, PHS= 0.296,-1.396, 0.452, RAW= 154.4, 7.4, CAL= 153.8, 7.7, ROT= 356.2, -7.7 5Ygot valid direction response: 23:56:16.9942 LVL= 20816, 22193, 20050, 30931, AGC= 61, IDX= 510, 0.23,-2.520, 2.128,-2.218,-2.714, PHS= 0.296,-1.396, 0.452, RAW= 154.4, 7.4, CAL= 153.8, 7.7, ROT= 356.2, -7.7 5Z#Rx 13: Read direction message, but no range.^direction in FSK: [0.988805,-0.065676,0.133986]9;]I?C#аL`u&?iPQVRNx= P>)!Il>iiw,@ A>+@ >@  iI%?u2?E?OXIb??n Ӈ) checking for new query: numPingsReceived=13, elapsed TxPingTime=8.074231ɢƠ< 7>I 5;;ɡiI6I 7AiM=i=)P@) >A Y vB ~B B m!IB >BB B B B 1;B QEA I I N >Z,3Ai2=I2%=6checking for new query: numPingsReceived=13, elapsed TxPingTime=8.303765y^C@ٱ^Q@^^^HqJ??@P/``?Mᔿ@ ?I^C@)^ ^;i\x9xBD%6D%f?3Y5q!5}=5=9Q)5?9Y9Y9]FY]Ee8Ae?iQ 1m5٪my?Q 5u5m m(9qYuDQ Eu@ymCE)m ,I  !;ɡiI37I6Ai"O=i)P@)qDDD/DEU: E,:6EJ4:E"E;!E;!*E:;!E;;!ԑ>Aʞ=%DDAT read: Rx Time:23:56:17.4940 -TRx dataTimestamp_ set to:1758412575.1418755PDAT read: Bearing 341.6, -3.4 (Local) 5~Local bearing/azimuth received: Bearing 341.6, -3.4 (Local) EDAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.3 mDAT read: 23:56:17.4940 LVL= 19664, 24625, 18786, 29171, AGC= 61, IDX= 508, 0.24, 2.966, 1.324,-3.020, 2.765, PHS= 0.303,-1.396, 0.455, RAW= 154.2, 7.2, CAL= 153.7, 7.5, ROT= 356.3, -7.5 uYgot valid direction response: 23:56:17.4940 LVL= 19664, 24625, 18786, 29171, AGC= 61, IDX= 508, 0.24, 2.966, 1.324,-3.020, 2.765, PHS= 0.303,-1.396, 0.455, RAW= 154.2, 7.2, CAL= 153.7, 7.5, ROT= 356.3, -7.5 uT#Rx 14: Read range and direction messages.}^direction in FSK: [0.989378,-0.063980,0.130526]}Fpublishing direction and range info9!%H?]Ya /?%fB!i%L%1`%bI%q! %">)!I%>i%9>,@%>%>+@% >%@ % i!!I%s9a>?Ǩ:?B,\?%?% %)A)% i!!checking for new query: numPingsReceived=14, elapsed TxPingTime=8.572084A1 I I1 N >B,3A}DB9}t!Iԙ) AMb@Mb@Mb@ )Ii(\?I + rh>94CI?AiQ@@@)@I)@ABD.6DP3Y!4=Q)>99FYóEA>Q 15٪l?Q 55% (9c>Q A;YBQ E@y CE)v:Is:iK`5YBAEhQhU{3AhUBhUBhUM@ vUz+=@@YIX5h૯f@uUH?]Ya /?hQhU vU<79V@laCYk@vU<ę￿"=.O?hUhUVhU^?hUghUŒB*iU^?2iUg:iUBiUB"iUM@uchecking for new query: numPingsReceived=14, elapsed TxPingTime=8.807482 addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 1.008984 s, deltaX: -0.400002 m, approachRate: -0.396440 m/s, rangeRepo size: 4  Added new target pos. range: 34.008564 m, bearing: 184.225218 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 1.008984 s, deltaX: -0.398937 m, approachRate: -0.395385 m/s, posRepo size: 4 gDNOT Ignoring new targets: 34.01 m.ggg M ProNav: ac range: 34.008564 m, nav range: 33.675674 m, bearing: 184.225234 deg, approach rate: 0.000000 m/s, LOS rate: 0.002252 deg/s, cmd heading: 187.026070 deg, new cmd heading: 187.028117 deg. gIUHeadingCmd: 3.264256 target range: 34.008564 and range: 34.10 m.gUP@gQgYgYgYzfYrfYfafeɂBBdaddc A@c J?ɢBס< 7>I ;ɡiI9I  6Ai ZR=i =) P@)>Am =D D {D 0D E : E 5":6E 4:E ! @! @! @! @- DDAT read: Rx Time:23:56:17.9940 - TRx dataTimestamp_ set to:1758412575.6447175 PDAT read: Bearing 341.6, -3.4 (Local) = ~Local bearing/azimuth received: Bearing 341.6, -3.4 (Local) M DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.3  DAT read: 23:56:17.9940 LVL= 19184, 23441, 19058, 28979, AGC= 61, IDX= 508, 0.25,-1.934, 2.712,-1.637,-2.135, PHS= 0.303,-1.391, 0.454, RAW= 154.2, 7.2, CAL= 153.7, 7.5, ROT= 356.3, -7.5  Ygot valid direction response: 23:56:17.9940 LVL= 19184, 23441, 19058, 28979, AGC= 61, IDX= 508, 0.25,-1.934, 2.712,-1.637,-2.135, PHS= 0.303,-1.391, 0.454, RAW= 154.2, 7.2, CAL= 153.7, 7.5, ROT= 356.3, -7.5  T#Rx 15: Read range and direction messages. A I! I9 NE >Nd, 3A6^direction in FSK: [0.989378,-0.063980,0.130526]6Fpublishing direction and range info9imH?]Ya /?iiimJm[mrJm3qi i)mJ Imr>iiiiii iiiiImwg ?? e?2N ?m?m| i)iiiibchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.121312yU_C@ٱUQ@UU8ɮԡUH U?@~?`\ Ƌ4?ؕ?IU_C@)U];iUCEB9u!IBD6D4d3Y-;!-D=- Q)5>19195FY5ųE=5]:A=>AQ 1M5٪E`?Q 5M5E E"(9IYU}BQ EU@yE CE)E:IE$:iEb5YY]Ayhihm C3AhihihmM@ vmz+=@@YIX5h૯f@umH?]Ya /?hihivmք@pFƃ4^@vm"Z↓3˲FA=?hmhmThmR?hm5hmŌB*ii2ii:iiim"B"imM@  addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.502842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 34.008564 m, bearing: 184.252507 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.502842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g9EDNOT Ignoring new targets: 34.01 m.gAgAgI} ProNav: ac range: 34.008564 m, nav range: 33.533974 m, bearing: 184.218232 deg, approach rate: 0.000000 m/s, LOS rate: 0.002252 deg/s, cmd heading: 187.028119 deg, new cmd heading: 187.029992 deg. gyHeadingCmd: 3.264289 target range: 34.008564 and range: 34.10 m.gP@ggggzfrfffBdddcc Y?ɢ< :>I ;ɡ i I ';I5Ai+U=i5=)5P@)9AYA]<vBa~BaBef!IBe9BBe =BaBaBe/;BeQEchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.3115549] r) D D vD /D E : E :6E J4:E "E ;! E ;! *E h;! E h;! >A 벫=MDDAT read: Rx Time:23:56:18.4938 MTRx dataTimestamp_ set to:1758412576.149092]PDAT read: Bearing 342.2, -3.6 (Local) ]~Local bearing/azimuth received: Bearing 342.2, -3.6 (Local) mDAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.3 DAT read: 23:56:18.4938 LVL= 19056, 23969, 19746, 30899, AGC= 60, IDX= 506, 0.25, 2.480, 0.849, 2.784, 2.297, PHS= 0.286,-1.403, 0.443, RAW= 154.4, 7.7, CAL= 153.9, 8.0, ROT= 356.1, -8.0 Ygot valid direction response: 23:56:18.4938 LVL= 19056, 23969, 19746, 30899, AGC= 60, IDX= 506, 0.25, 2.480, 0.849, 2.784, 2.297, PHS= 0.286,-1.403, 0.443, RAW= 154.4, 7.7, CAL= 153.9, 8.0, ROT= 356.1, -8.0 T#Rx 16: Read range and direction messages.^direction in FSK: [0.987975,-0.067353,0.139173]Fpublishing direction and range info9IMR}? E=>H@l?M3BIiMpJM]M"MMxM< Mn>)MIM>iMiw,@M >Mo+@M5>M>@ M5iIIIM) s++?r݃?6wك ?M?MD M)g)M5iIIchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.587668QAIIN?,G 3Aԑ5JB95{!I}Mb@Mb@Mb@ y)yIyiyy}ʡE?Mb:v}>}}TI}$Ai};@}@y)y}@BD+6DE3YB<!=Q)>99FYɳEA>Q 1 5٪OP?Q 5 5 ((9 ʯ>Q A;YAQ E@yCE)M;I:id5YAhh 3AhBhBhM@ v\>s@@!)1@uR}? E=>H@l?h)gh5vؾCK@w4"(<@vN]70eﱿ$tb?h)hh4^?h^;hKB*i4^?2i:iKBi^B"i,M@ addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.504375 s, deltaX: -0.299999 m, approachRate: -0.594794 m/s, rangeRepo size: 4  Added new target pos. range: 33.709297 m, bearing: 184.062903 deg, lat: 36.779131 deg, lon: -121.859765 deg, deltaT: 0.504375 s, deltaX: -0.299267 m, approachRate: -0.593342 m/s, posRepo size: 4 gchecking for new query: numPingsReceived=16, elapsed TxPingTime=9.815500DNOT Ignoring new targets: 33.71 m.gg!g!5 ProNav: ac range: 33.709297 m, nav range: 33.342049 m, bearing: 184.204568 deg, approach rate: 0.000000 m/s, LOS rate: 0.002252 deg/s, cmd heading: 187.029991 deg, new cmd heading: 187.032562 deg. g1]HeadingCmd: 3.264334 target range: 33.709297 and range: 33.80 m.g]P@gYgYgagazfarfafifmBBdididicu`f@@cu8?ɢBИ< PE>I ;ɡiI=I4AiA =) DM DM wDM -DI EM O: EM :6EM t4:EI !] @!] @!e @!e @ DDAT read: Rx Time:23:56:18.9938  TRx dataTimestamp_ set to:1758412576.653515 PDAT read: Bearing 342.1, -3.5 (Local)  ~Local bearing/azimuth received: Bearing 342.1, -3.5 (Local)  DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.3  DAT read: 23:56:18.9938 LVL= 20560, 24625, 20402, 29683, AGC= 60, IDX= 506, 0.22,-2.190, 2.462,-1.891,-2.378, PHS= 0.289,-1.398, 0.442, RAW= 154.3, 7.6, CAL= 153.8, 7.9, ROT= 356.2, -7.9 Ygot valid direction response: 23:56:18.9938 LVL= 20560, 24625, 20402, 29683, AGC= 60, IDX= 506, 0.22,-2.190, 2.462,-1.891,-2.378, PHS= 0.289,-1.398, 0.442, RAW= 154.3, 7.6, CAL= 153.8, 7.9, ROT= 356.2, -7.9 T#Rx 17: Read range and direction messages.^direction in FSK: [0.988332,-0.065645,0.137445]Fpublishing direction and range info9 bp j?'!ΰyjȗ? i PP 1` O s >) I M>i Z,@ > +@ 0 > @ 0 i I \E4?|B@?-w,? n=?  Ӈ) 0 i =checking for new query: numPingsReceived=17, elapsed TxPingTime=10.084427AIIQIaNu>:R ,MJ+3Ay6C@ٱ6SQ@6!6ɼ6H ZK? ? %S]@>㗿`?:@?hI6C@)6e];i6C%FB9%w!IBD5"6D5Jz3YE{!Ed=MrQ)M>I9q9uFYu˳EuGAu>Q 15٪E?Q 55x ,(9YAQ E@yCE)IA E;ɡAiAIM,>IMU4AiM\=iU.=)UaP@)QvB~BBm!IB>BBBBB';BwQEByByByByByB}4) iIchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.3194751@ =@ =a bD) ZD- @AD5 D5 D1 D1 E5 U: E5 *:6E1 :E1 "E5 ;!E E5 ;!E *E5 h;!E E5 i;!M ԉ >A 벫=DDAT read: Rx Time:23:56:19.4936 TRx dataTimestamp_ set to:1758412577.156776PDAT read: Bearing 341.9, -3.7 (Local) ~Local bearing/azimuth received: Bearing 341.9, -3.7 (Local) DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.3 DAT read: 23:56:19.4936 LVL= 18800, 24993, 20338, 29667, AGC= 60, IDX= 504, 0.19, 2.620, 0.996, 2.926, 2.432, PHS= 0.290,-1.391, 0.450, RAW= 154.5, 7.4, CAL= 154.0, 7.7, ROT= 356.0, -7.7 %Ygot valid direction response: 23:56:19.4936 LVL= 18800, 24993, 20338, 29667, AGC= 60, IDX= 504, 0.19, 2.620, 0.996, 2.926, 2.432, PHS= 0.290,-1.391, 0.450, RAW= 154.5, 7.4, CAL= 154.0, 7.7, ROT= 356.0, -7.7 %T#Rx 18: Read range and direction messages.5^direction in FSK: [0.988569,-0.069127,0.133986]5Fpublishing direction and range info9[?LWUL`u&?BipIarOs z>)J Iff>i,@ A>,@ >@  iIc &?%?a^͉?$?` )) imchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.596624AI!I1N=?./,[M3A8iԡTB9!IMb@Mb@Mb@ )Ii`"?Qy&1|η>u`I?Ai$@@)f@BD 6D N3YG!=!%<%Q)%>!9)9-FY-ϳE-A->9Q 1E5٪=*2?Q 5E5=  =.(9E>Q AE;YECQ EE@y=CE)=@:I=:i=i5YQUoAQhhJ3AhBhBh~M@ v2@@|5y@u[?LWUL`u&?h)h v ~@-p@L*/@vx+￸Ud85_?h`hhbV?hN4hB*ibV?2iPE:iBiJB"iM@ addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503261 s, deltaX: -0.299999 m, approachRate: -0.596111 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=18, elapsed TxPingTime=10.823484% Added new target pos. range: 33.410103 m, bearing: 183.966456 deg, lat: 36.779130 deg, lon: -121.859765 deg, deltaT: 0.503261 s, deltaX: -0.299194 m, approachRate: -0.594511 m/s, posRepo size: 4 g!-DNOT Ignoring new targets: 33.41 m.g)g)g1E ProNav: ac range: 33.410103 m, nav range: 33.072342 m, bearing: 184.167740 deg, approach rate: 0.000000 m/s, LOS rate: 0.002252 deg/s, cmd heading: 187.034417 deg, new cmd heading: 187.037104 deg. gAHeadingCmd: 3.264413 target range: 33.410103 and range: 33.50 m.g&P@ggggzfrfffԂBBdddc@@c 3?ɢ5B5̥< 9=\>I9 =<ɡ9i9I=@IE3AiM&`=iI)M&P@)I >A ʞ=DQ DU yDU 0DQ EQ  EU :6EU 4:EQ !] @!] @!] @!e @) A  DDAT read: Rx Time:23:56:19.9936  TRx dataTimestamp_ set to:1758412577.660853 PDAT read: Bearing 341.9, -3.8 (Local)  ~Local bearing/azimuth received: Bearing 341.9, -3.8 (Local)  DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.3 DAT read: 23:56:19.9936 LVL= 18992, 23793, 19522, 30323, AGC= 61, IDX= 504, 0.13,-2.427, 2.236,-2.119,-2.614, PHS= 0.289,-1.387, 0.451, RAW= 154.6, 7.4, CAL= 154.0, 7.7, ROT= 356.0, -7.7 Ygot valid direction response: 23:56:19.9936 LVL= 18992, 23793, 19522, 30323, AGC= 61, IDX= 504, 0.13,-2.427, 2.236,-2.119,-2.614, PHS= 0.289,-1.387, 0.451, RAW= 154.6, 7.4, CAL= 154.0, 7.7, ROT= 356.0, -7.7 %T#Rx 19: Read range and direction messages.%^direction in FSK: [0.988569,-0.069127,0.133986]-Fpublishing direction and range info9 [?LWUL`u&? i 0J \ BL sv = >) 7I y>i ,@ i I `=!?R ?e9By? p? ' ) i Echecking for new query: numPingsReceived=19, elapsed TxPingTime=11.091333I IYNm>c,k3Ay%C@ٱ%Q@%m%QƼ%H C@BO?9?`rVRM?`;јZ?I%C@)%i];i%C YB9 !IBD6DP)3Y<!O=j:Q)>99FYҳE9A> Q 15٪ &?Q 55 g 0(9YCQ E@y CE) :I :i j5Y%ەB-A-EhhjKj3Ahhh~M@ v2@@|5y@u[?LWUL`u&?hhv@aH~@ O-="@v'oHщoS?h}hh^J?hhB*i1S?2i^;:iiB"ilM@ addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 33.410103 m, bearing: 183.969322 deg, lat: 36.779130 deg, lon: -121.859764 deg, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 33.41 m.ggg% ProNav: ac range: 33.410103 m, nav range: 32.958954 m, bearing: 184.023598 deg, approach rate: 0.000000 m/s, LOS rate: 0.002252 deg/s, cmd heading: 187.037108 deg, new cmd heading: 187.038948 deg. g!-HeadingCmd: 3.264446 target range: 33.410103 and range: 33.50 m.g-P@g)g)g1g1zf1rf1f9f9BdYdYdacac} D?ɢ< 顭h>I <ɡiIyBI3Aib=ij=)P@)AAAA?AvB~BBy!IBHBBBBB);ByQEi I checking for new query: numPingsReceived=19, elapsed TxPingTime=11.327758A>A A1 y I I N- >D!,S3ADDD-DE: E*:6Et4:E"Eh;!Ei;!*E!E!]aB9]!IBDm6Dm3Y}:=!}c=}Q)>99FYԳEA>Q 15٪h?Q 55 1(9YQ E%@yCE))nIl>i!,@'g >@ 'g iI|?瑝r9?/%?K?E i)'g ichecking for new query: numPingsReceived=20, elapsed TxPingTime=11.599422- addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504144 s, deltaX: -0.299999 m, approachRate: -0.595067 m/s, rangeRepo size: 4 g15DNOT Ignoring new targets: 33.41 m.g1g=?xg=?xM ProNav: ac range: 33.410103 m, nav range: 32.831833 m, bearing: 184.018398 deg, approach rate: -0.330341 m/s, LOS rate: -0.013565 deg/s, cmd heading: 187.038952 deg, new cmd heading: 187.028512 deg. gMƹHeadingCmd: 3.264263 target range: 33.410103 and range: 33.20 m.gP@ggggzfrfffBdddc@@c`?ԉɢB:< 顝{>I a<ɡiIjDI6Aif=i8]=)P@)@@Aԩ- checking for new query: numPingsReceived=20, elapsed TxPingTime=11.831382>A =rA >jA I I N >',Ƞ3AyZC@ٱQ@+ʼHT?e?\U @HW?@ W`@?IZC@)T\;iCeB9!IMb@Mb@Mb@ )Iiv?I +~jtxԸ>9ĻIi@)@BD 6D2Yj`<!-=Q)>99FY׳E9A>Q 15٪ ?Q 55  2(93>Q A;YFDQ E@yCE)3:I:inn5YՕBAhhP3AhqBhqBhfM@ veE=\@@RM|xg8փ@u]o?@tR" M _?hih'g vjnW@rΙɻU3@v]yϖD!d*؎?hhhRCJ?hqhB*i2i:iBiB"iM@DMDM}DM0DIEM: EMk&:6EM4:EI!]@!]@!]@!]@gaeDNOT Ignoring new targets: 33.41 m.gagmkgmk} ProNav: ac range: 33.410103 m, nav range: 32.660713 m, bearing: 184.016999 deg, approach rate: -0.391686 m/s, LOS rate: -0.003218 deg/s, cmd heading: 187.028516 deg, new cmd heading: 187.025704 deg. g}wHeadingCmd: 3.264214 target range: 33.410103 and range: 33.20 m.gP@ggggzfrfffۂBBdddcc?ɢEBE< AM>II M. <ɡIiIIMbEIU6AiUh=iU;=)UP@)Y) DDAT read: Rx Time:23:56:20.9933 TRx dataTimestamp_ set to:1758412578.669513PDAT read: Bearing 342.5, -3.9 (Local) ~Local bearing/azimuth received: Bearing 342.5, -3.9 (Local) DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.3 ]DAT read: 23:56:20.9933 LVL= 17392, 25393, 16114, 27491, AGC= 59, IDX= 501,-0.01, 2.443, 0.831, 2.752, 2.271, PHS= 0.274,-1.396, 0.437, RAW= 154.6, 7.8, CAL= 154.1, 8.2, ROT= 355.9, -8.2 eYgot valid direction response: 23:56:20.9933 LVL= 17392, 25393, 16114, 27491, AGC= 59, IDX= 501,-0.01, 2.443, 0.831, 2.752, 2.271, PHS= 0.274,-1.396, 0.437, RAW= 154.6, 7.8, CAL= 154.1, 8.2, ROT= 355.9, -8.2 mT#Rx 21: Read range and direction messages.u^direction in FSK: [0.987243,-0.070767,0.142629]uFpublishing direction and range info9Q]~?"x0A?BiC1c>ck; I>)!Iw>i'g >C> CiI[?:?y? ?? )Cichecking for new query: numPingsReceived=21, elapsed TxPingTime=12.113388I>Am벫=I vB D>~B B !IB RBB =B B B 3;B QEI N >q C-,3Achecking for new query: numPingsReceived=21, elapsed TxPingTime=12.335393y:C@ٱ::Q@:󻹱:ͼ:H@he?@z ?lcj@b~?@@2?I:C@):\;i:CndB9lBDz/6Dz3Y"!l=%?0:Q)%?!9!9%FY%ٳE-:A-?1Q 1=5٪5}?Q 5=55M 53(9AYE>DQ EE@y5CE)5;I5;i5o5YIMAIh h M٪3Ah Bh Bh sM@ v 71>@@iGyޡۮ@u Q]~?"x0A?h h Cv 3%:@oNJ]@v .o2ᅫ5CUN6u8j?h h h H$S?h %h `B*i 2i N4:i i !B"i xM@ addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504516 s, deltaX: -0.200001 m, approachRate: -0.396421 m/s, rangeRepo size: 4  Added new target pos. range: 32.911476 m, bearing: 183.927826 deg, lat: 36.779130 deg, lon: -121.859763 deg, deltaT: 1.008660 s, deltaX: -0.498627 m, approachRate: -0.494346 m/s, posRepo size: 4 gDNOT Ignoring new targets: 32.91 m.ggg ProNav: ac range: 32.911476 m, nav range: 32.532585 m, bearing: 183.947362 deg, approach rate: 0.000000 m/s, LOS rate: -0.003218 deg/s, cmd heading: 187.025702 deg, new cmd heading: 187.023488 deg. gHeadingCmd: 3.264176 target range: 32.911476 and range: 33.00 m.gAP@ggggzfrfffBdddc@@c 1?QɢuBu$< q}\>Iy }I <ɡyiyI}kGIt7Aik=i=)AP@)ԁbDaZDaBE4JE4RE/DDsD.DE: EZ:6Eـ4:E"E;!E;!*E#];!E$];!>A=IYIiN}z>DDAT read: Rx Time:23:56:21.4931 TRx dataTimestamp_ set to:1758412579.172738PDAT read: Bearing 342.5, -3.9 (Local) ~Local bearing/azimuth received: Bearing 342.5, -3.9 (Local) DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.3 %DAT read: 23:56:21.4931 LVL= 16448, 24481, 15426, 29523, AGC= 59, IDX= 499,-0.06, 0.365,-1.234, 0.673, 0.196, PHS= 0.271,-1.385, 0.432, RAW= 154.6, 7.9, CAL= 154.1, 8.3, ROT= 355.9, -8.3 -Ygot valid direction response: 23:56:21.4931 LVL= 16448, 24481, 15426, 29523, AGC= 59, IDX= 499,-0.06, 0.365,-1.234, 0.673, 0.196, PHS= 0.271,-1.385, 0.432, RAW= 154.6, 7.9, CAL= 154.1, 8.3, ROT= 355.9, -8.3 mT#Rx 22: Read range and direction messages.u^direction in FSK: [0.986993,-0.070749,0.144356]}Fpublishing direction and range info9✚s?L'ЌCz?Bi@@_B<Ss >)GI/>i0 >V> ViԩIkReN5??Da V?o?k )Vi checking for new query: numPingsReceived=22, elapsed TxPingTime=12.627585 y4,r3AI>KG)HIPiju`I$Ai@Q@)BD*6D3Y4<!=):Q)>99FYݳEb:A>Q 15٪|?Q 55 5(9q>Q A;Y{EQ E@y"CE)|;Il;iAr5Y  uA hh$3AhrBhrBh |M@ v@@Ou2^@u✚s?L'ЌCz?hhVv hE@%iUX^9@v$Dw?hjhh9]?hdhdB*iH$S?2id:ii]B"ixM@] addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.503225 s, deltaX: -0.299999 m, approachRate: -0.596153 m/s, rangeRepo size: 4 m Added new target pos. range: 32.612282 m, bearing: 183.959341 deg, lat: 36.779130 deg, lon: -121.859763 deg, deltaT: 0.503225 s, deltaX: -0.299194 m, approachRate: -0.594554 m/s, posRepo size: 4 giuDNOT Ignoring new targets: 32.61 m.gqgqgy ProNav: ac range: 32.612282 m, nav range: 32.340988 m, bearing: 183.945438 deg, approach rate: 0.000000 m/s, LOS rate: -0.003218 deg/s, cmd heading: 187.023489 deg, new cmd heading: 187.020089 deg. gHeadingCmd: 3.264116 target range: 32.612282 and range: 32.70 m.gHP@ggggzfrfffBdddcY@@cH?ɢB< >I <ɡiI#IIm8Ain=i]N=)HP@)@@= De De xDe -Da Ee ҝ: Ee :6Ee t4:Ea !m @!m @!m @!u @ DDAT read: Rx Time:23:56:21.9931  TRx dataTimestamp_ set to:1758412579.677000 PDAT read: Bearing 342.5, -4.2 (Local)  ~Local bearing/azimuth received: Bearing 342.5, -4.2 (Local)  DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.3 >A5 6=bA1 ZA1 E DAT read: 23:56:21.9931 LVL= 17856, 24241, 18386, 28147, AGC= 60, IDX= 499,-0.14, 2.062, 0.452, 2.381, 1.897, PHS= 0.267,-1.401, 0.440, RAW= 154.9, 7.9, CAL= 154.4, 8.3, ROT= 355.6, -8.3 M Ygot valid direction response: 23:56:21.9931 LVL= 17856, 24241, 18386, 28147, AGC= 60, IDX= 499,-0.14, 2.062, 0.452, 2.381, 1.897, PHS= 0.267,-1.401, 0.440, RAW= 154.9, 7.9, CAL= 154.4, 8.3, ROT= 355.6, -8.3 U T#Rx 23: Read range and direction messages.] ^direction in FSK: [0.986609,-0.075915,0.144356]] Fpublishing direction and range info9 =PM?8>e1o'ЌCz? i E ^ G m < 9>) SI G>i c-@ iw,@ @ i I ?+?G? [?  iF) i } checking for new query: numPingsReceived=23, elapsed TxPingTime=13.111819I I N >) ;,.X3A,i,iYes@)a aIaiiiiIiiIqiuA u}F)yy ŅAąOāāʼnōقAIōu)ʼniʼn)IAtF iqB9!IBD"6DJz3Yo=!p=Q)?99FY߳EA? Q 1M5٪*蟊?Q 5M5 7(9QYQQ EU@y$CE)3%e1o'ЌCz?hiFhv~Uj@qVt):@vڴ%ȱE?hhhR?h{hpB*iR?2i%:i`BiB"i_tM@ addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 32.612282 m, bearing: 183.659049 deg, lat: 36.779129 deg, lon: -121.859763 deg, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 32.61 m.g!g)g)= ProNav: ac range: 32.612282 m, nav range: 32.237034 m, bearing: 183.932504 deg, approach rate: 0.000000 m/s, LOS rate: -0.003218 deg/s, cmd heading: 187.020087 deg, new cmd heading: 187.017792 deg. g9A<A<vBE>~BB!IB\BBBBB6;BQEHeadingCmd: 3.264076 target range: 32.612282 and range: 32.70 m.gP@ggggzfrfffBdddccJ?ɢ%B%.< !%<>I! %<ɡ)i)I-3KI59Ai5q=i1)5P@)1=checking for new query: numPingsReceived=23, elapsed TxPingTime=13.343480A>AM <=i I I N >A,#3ADDyD/DE: E:6EJ4:E"E;!E;!*Er;!Er;! DDAT read: Rx Time:23:56:22.4929 TRx dataTimestamp_ set to:1758412580.180614PDAT read: Bearing 342.6, -4.3 (Local) ~Local bearing/azimuth received: Bearing 342.6, -4.3 (Local) DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.3 DAT read: 23:56:22.4929 LVL= 18832, 23777, 17906, 29907, AGC= 61, IDX= 497,-0.21, 0.623,-0.979, 0.944, 0.465, PHS= 0.260,-1.399, 0.435, RAW= 155.0, 8.1, CAL= 154.5, 8.5, ROT= 355.5, -8.5 Ygot valid direction response: 23:56:22.4929 LVL= 18832, 23777, 17906, 29907, AGC= 61, IDX= 497,-0.21, 0.623,-0.979, 0.944, 0.465, PHS= 0.260,-1.399, 0.435, RAW= 155.0, 8.1, CAL= 154.5, 8.5, ROT= 355.5, -8.5 T#Rx 24: Read range and direction messages.^direction in FSK: [0.985967,-0.077597,0.147809]Fpublishing direction and range info9` ?,/m#hݳ%)k?BiI\Et= >)oIR>i"-@>,@>u@ iIM܈&?pua'?ZS99FYEA>Q 15٪۟?Q 5 5 8(9 Y Q E@y&CE);If;iu5Y1=AAhh. 3Ah@Bh@Bh M@ vx<>?@>}** c@u` ?,/m#hݳ%)k?hi٠hv? ,?AeC@v= U .o[{?hhh_?h+hB*iH$S?2iq:idBi>B"imM@ addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503614 s, deltaX: -0.299999 m, approachRate: -0.595693 m/s, rangeRepo size: 4 ԙ Added new target pos. range: 32.313118 m, bearing: 183.564026 deg, lat: 36.779130 deg, lon: -121.859763 deg, deltaT: 0.503614 s, deltaX: -0.299164 m, approachRate: -0.594034 m/s, posRepo size: 4 gDNOT Ignoring new targets: 32.31 m.gg g = ProNav: ac range: 32.313118 m, nav range: 32.061333 m, bearing: 183.906729 deg, approach rate: 0.000000 m/s, LOS rate: -0.003218 deg/s, cmd heading: 187.017792 deg, new cmd heading: 187.014642 deg. g9EHeadingCmd: 3.264021 target range: 32.313118 and range: 32.40 m.gEP@gAgAgIgIzfIrfIfIfQBdQdqdqc}@33@@c ?ɢނB8< 7>I <ɡiI9MI9Aiu=iNa=)P@)U checking for new query: numPingsReceived=24, elapsed TxPingTime=13.847564 >A 6= AMyAIQIaNu>)I,en&3Ay6C@ٱ62Q@69˻6ȼ6HQ?@e?`6 @gy?l`b?I6C@)6(=];i4DD|D,DE: EP$:6Eg4:E!%@!%@!%@!%@U}B9U!Iԩ!! Mb@Mb@Mb@ )Ii-?X9vy&1|?>Ii$@@@)@BD 6D F3Y=!@=#;Q)%>% H?9% H?9%FY%E-s;A->1Q 1=5٪5Ο?Q 5=550 5:(9=>Q A=;YEEQ EE@y5)CE)5:I5:i5sw5YMȕBMVAMEmB*** querying acoustic contact ***zhihigy}DNOT Ignoring new targets: 32.31 m.gyg{9g{9DDAT read: Rx Time:23:56:22.9929 TRx dataTimestamp_ set to:1758412580.684469DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.3 Z#Rx 25: Read range message, but no direction.9checking for new query: numPingsReceived=25, elapsed TxPingTime=14.102902- ProNav: ac range: 32.313118 m, nav range: 31.912670 m, bearing: 183.911376 deg, approach rate: -0.436829 m/s, LOS rate: 0.013719 deg/s, cmd heading: 187.014637 deg, new cmd heading: 187.023974 deg. g595HeadingCmd: 3.264184 target range: 32.313118 and range: 32.40 m.g=eP@g9g9g9g9zf9rf9fAfEBBdIdIdIcIcMe?ɢ= ğ>I <ɡiI0OIEP7AiMx=iMO=)MeP@)Q vBmF>~BiBm!IBmlBBm =BiBiBm.;BmQE>A] K=E checking for new query: numPingsReceived=25, elapsed TxPingTime=14.3513941 A AI I N > P,i5@3Aɰ@@yu{C@ٱuQ@uԸuuH'`?H?4 `xw? 2?Iu{C@)u];iuCB9!IBD+6DE3Y `0<! L= :Q) >K?9K?9FYE9A>!Q 1-5٪%Ÿ?Q 5-5%a %<(91Y5EQ E5@y%+CE)%7;I%;i%4y5Y9=DAAm addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503855 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gquDNOT Ignoring new targets: 32.31 m.gqg} L9g} L9 ProNav: ac range: 32.313118 m, nav range: 31.770149 m, bearing: 183.915824 deg, approach rate: -0.355784 m/s, LOS rate: 0.011154 deg/s, cmd heading: 187.023980 deg, new cmd heading: 187.032916 deg. gM9HeadingCmd: 3.264340 target range: 32.313118 and range: 32.40 m.gP@ggggzfrfffBd!d!d!c!c-`?ɢ݂Bк= 顽ɢ>I  9!<ɡiIQI4AbD)ZD)D5D1D1D1E5s: E16E1:E1"E5;!=E5;!=*E5};!EE5};!Ei{=iE i=)MP@)IADDAT read: Rx Time:23:56:23.4926 TRx dataTimestamp_ set to:1758412581.188886PDAT read: Bearing 342.9, -4.5 (Local) ~Local bearing/azimuth received: Bearing 342.9, -4.5 (Local) DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.3 DAT read: 23:56:23.4926 LVL= 19056, 26481, 18930, 28915, AGC= 59, IDX= 511,-0.33,-0.046,-1.638, 0.280,-0.197, PHS= 0.253,-1.396, 0.433, RAW= 155.1, 8.2, CAL= 154.7, 8.6, ROT= 355.3, -8.6 Ygot valid direction response: 23:56:23.4926 LVL= 19056, 26481, 18930, 28915, AGC= 59, IDX= 511,-0.33,-0.046,-1.638, 0.280,-0.197, PHS= 0.253,-1.396, 0.433, RAW= 155.1, 8.2, CAL= 154.7, 8.6, ROT= 355.3, -8.6 T#Rx 26: Read range and direction messages.^direction in FSK: [0.985432,-0.081017,0.149535] Fpublishing direction and range info9EƧ?H {~S&r#?BipJqgIp; 7>)!I->i?-@C>3,@`>o@ `iIP@?uB9?wi07??8 )`iechecking for new query: numPingsReceived=26, elapsed TxPingTime=14.627484q>A٦=A I & dClearing failed state for component DockingStepper1 I N >ԙ P6V,AZ3Ay:7D@ٱ:Q@::U:H{v??Ö@v?ʗ@?I:7D@):S];i:C^B9b!Ichecking for new query: numPingsReceived=26, elapsed TxPingTime=14.855349uMb@Mb@Mb@ q)qIqiqqutV? rh{Gzu>uC u#IuAiu@u@u~@)qu@BD6D 83Y1<!O=9Q)>99FYE:A>Q 15٪񶟊?Q 55 ?(9>Q A;YfFQ E@y-CE):I:iz5YAhhL3AhPAhPAhSL@ vHy s?@ VҖ@uEƧ?H {~S&r#?hh`vԉv?IGb:2@v}2*JaR}80?hhh[?h hB*i[?2i{:ipBi5A"i<.M@E addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504417 s, deltaX: -0.400002 m, approachRate: -0.792998 m/s, rangeRepo size: 4 ] Added new target pos. range: 31.914320 m, bearing: 183.481219 deg, lat: 36.779130 deg, lon: -121.859761 deg, deltaT: 1.008272 s, deltaX: -0.398798 m, approachRate: -0.395526 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 31.91 m.gYgegaq} ProNav: ac range: 31.914320 m, nav range: 31.526257 m, bearing: 183.687226 deg, approach rate: 0.000000 m/s, LOS rate: 0.011154 deg/s, cmd heading: 187.032914 deg, new cmd heading: 187.041805 deg. gyHeadingCmd: 3.264495 target range: 31.914320 and range: 32.00 m.g~P@ggggzfrfffۂBBdddc@@c`R`?ɢ܂B = >I ;%<ɡiIHySI62Ai=iP)=)~P@) 4Initializing EZServoServo.ԡ 8Initializing DockingStepper.D=D=D=.D9E=: E=|;:6E=ـ4:E9!M@!M@!U@!U@DDAT read: Rx Time:23:56:23.9925 TRx dataTimestamp_ set to:1758412581.692897PDAT read: Bearing 343.1, -4.7 (Local) ~Local bearing/azimuth received: Bearing 343.1, -4.7 (Local) DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.3  DAT read: 23:56:23.9925 LVL= 20976, 22641, 23746, 32755, AGC= 60, IDX= 511,-0.40, 0.877,-0.725, 1.211, 0.729, PHS= 0.250,-1.409, 0.438, RAW= 155.3, 8.2, CAL= 154.9, 8.7, ROT= 355.1, -8.7  Ygot valid direction response: 23:56:23.9925 LVL= 20976, 22641, 23746, 32755, AGC= 60, IDX= 511,-0.40, 0.877,-0.725, 1.211, 0.729, PHS= 0.250,-1.409, 0.438, RAW= 155.3, 8.2, CAL= 154.9, 8.7, ROT= 355.1, -8.7  T#Rx 27: Read range and direction messages. ^direction in FSK: [0.984881,-0.084434,0.151261] Fpublishing direction and range info9]%?1wni\?fAiQqX\< >)ZIA>ix-@c-@|>DS@ |iIYUJ?Ig!`M?yW??H> %)|i] checking for new query: numPingsReceived=27, elapsed TxPingTime=15.128614>A = AU yAIY Ii Nu >\,xGv3AyF D@ٱF R@Fs"F3TFH``:?:X?VЭGu?艗@?IF D@)F];iFCbB9b!IBDj%6Dj03AxAzAAvB|~B|B~!IB~vBB|B|B|B~(;B~yQEBBBBBB35YU<!]?=]&:Q)]>e H?9e H?9eFYeEe:Am>iQ 15٪mV?Q 55m mB(9YZFQ E@ym0CE)m,:Im:im|5Y•BAEԱhhmXl3AhAhAhL@ vJGD?I I*<ɡiIUIc/Ai?=i<=)QP@)@=@=>A ٦=rD- =jD- <DM DM DM +DI EM Ʊ: EM .:6EM [4:EI "EM F;!] EM G;!e *EM ;!e EM ;!m AU AIY Ii N} > DDAT read: Rx Time:23:56:24.4923  TRx dataTimestamp_ set to:1758412582.196756 PDAT read: Bearing 342.7, -4.4 (Local)  ~Local bearing/azimuth received: Bearing 342.7, -4.4 (Local)  DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.3  DAT read: 23:56:24.4923 LVL= 22080, 23921, 23586, 32755, AGC= 61, IDX= 508, 0.48, 0.814,-0.806, 1.138, 0.646, PHS= 0.270,-1.407, 0.447, RAW= 155.0, 7.8, CAL= 154.5, 8.2, ROT= 355.5, -8.2  Ygot valid direction response: 23:56:24.4923 LVL= 22080, 23921, 23586, 32755, AGC= 61, IDX= 508, 0.48, 0.814,-0.806, 1.138, 0.646, PHS= 0.270,-1.407, 0.447, RAW= 155.0, 7.8, CAL= 154.5, 8.2, ROT= 355.5, -8.2  T#Rx 28: Read range and direction messages. ^direction in FSK: [0.986725,-0.077657,0.142629] Fpublishing direction and range info9 ^@?`Q᳿x0A? A i @V q] "\ = q=>) I />i "-@ 'g > ,@ C> u@ Ci I :UƘ?s*?t? c6? , i٠) Ci  checking for new query: numPingsReceived=28, elapsed TxPingTime=15.6272249 c,j3Ay6D@ٱ6R@6h6Ǽ6H v?6ŀ?¿HHs? y?I6D@)6];i6CA9E!I!BD6DY .!'=:Q)>K?9K?9FYE;A>iQ 1u5٪m?Q 5u5m mF(9yY}IFQ E}@ym2CE)m;Im;im~5YAhh3AhSAhSAh"JM@ vף>@Dz`"Q@u^@?`Q᳿x0A?hi٠hCvWO>21kg)"T@vG Ep^pa?h;hh>#g?h-hB*i_?2i:iiDA"iM@ addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503859 s, deltaX: -0.299999 m, approachRate: -0.595403 m/s, rangeRepo size: 4 AM Added new target pos. range: 31.415634 m, bearing: 183.784792 deg, lat: 36.779131 deg, lon: -121.859761 deg, deltaT: 0.503859 s, deltaX: -0.299194 m, approachRate: -0.593806 m/s, posRepo size: 4 gIUDNOT Ignoring new targets: 31.42 m.gQgQgQ ProNav: ac range: 31.415634 m, nav range: 31.158575 m, bearing: 183.586922 deg, approach rate: 0.000000 m/s, LOS rate: 0.011154 deg/s, cmd heading: 187.051684 deg, new cmd heading: 187.062685 deg. gHeadingCmd: 3.264860 target range: 31.415634 and range: 31.50 m.gvP@ggggzfrfffBdddc?@c?checking for new query: numPingsReceived=28, elapsed TxPingTime=15.863406ɢ)5<= 11I1 5s/<ɡ1i9I=/(XIu@,AiЇ=iS=)vP@)q>A =ԙ DE DE {DE .DA EE : EE 5":6EE ـ4:EA !M @!M @!U @!U @A I I N >Qj,4I3Ay6"D@ٱ6)R@6"IbDDAT read: Rx Time:23:56:24.9922 bTRx dataTimestamp_ set to:1758412582.700878fPDAT read: Bearing 342.4, -4.3 (Local) j~Local bearing/azimuth received: Bearing 342.4, -4.3 (Local) rDAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.3 DAT read: 23:56:24.9922 LVL= 19136, 25425, 19794, 30579, AGC= 59, IDX= 507, 0.37, 1.367,-0.245, 1.688, 1.191, PHS= 0.279,-1.391, 0.453, RAW= 154.9, 7.5, CAL= 154.4, 7.8, ROT= 355.6, -7.8  Ygot valid direction response: 23:56:24.9922 LVL= 19136, 25425, 19794, 30579, AGC= 59, IDX= 507, 0.37, 1.367,-0.245, 1.688, 1.191, PHS= 0.279,-1.391, 0.453, RAW= 154.9, 7.5, CAL= 154.4, 7.8, ROT= 355.6, -7.8 T#Rx 29: Read range and direction messages.^direction in FSK: [0.987828,-0.076009,0.135716]Fpublishing direction and range info9`b7*.I?FUVu M _?b3A`ibJbQcbRMbswb; bَ>6ļ6HD?`"~?`-¿``nė! q??I6"D@)6P^;i6C)bJ Ib>ibc-@b >biw,@b'g >b@ b'g i``Ibɥ?ul&?1>?b?b biF)b'g i``checking for new query: numPingsReceived=29, elapsed TxPingTime=16.142187-B95!IMb@Mb@Mb@ )IiX9v?MbMb>Ii)BD6D3YE!E<=E:Q)M>I9I9MFYMEU9AU>YQ 15٪]?Q 55]D ]L(9>Q A;YCQ E@y]5CE)]6;I];i]Ԁ5YBAh`hb/۬3AhbAhbAhbjfM@ vbN&XI>@Lہ g@ub7*.I?FUVu M _?hbiFhb'g vb>,#@vbma<\Қ¢ *K ?hbahbnhbI`?hb[~hb`B*ib{_?2i`:i`ibA"ibgM@M addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504122 s, deltaX: -0.100000 m, approachRate: -0.198365 m/s, rangeRepo size: 4 } Added new target pos. range: 31.315901 m, bearing: 183.883697 deg, lat: 36.779131 deg, lon: -121.859761 deg, deltaT: 0.504122 s, deltaX: -0.099733 m, approachRate: -0.197836 m/s, posRepo size: 4 gyDNOT Ignoring new targets: 31.32 m.ggg ProNav: ac range: 31.315901 m, nav range: 30.998896 m, bearing: 183.579410 deg, approach rate: 0.000000 m/s, LOS rate: 0.011154 deg/s, cmd heading: 187.062680 deg, new cmd heading: 187.072312 deg. gHeadingCmd: 3.265028 target range: 31.315901 and range: 31.40 m.g7P@ggggzfrfffقBBdddc`ff?@c ?ɢMڂBM=vB]E>~BYB]!IB]BB] =BYBYB]!;B]pQE 页~>I y4<ɡiI@ZI})Ai務=i.=)7P@))checking for new query: numPingsReceived=29, elapsed TxPingTime=16.371029Y >AM *=ԁbDZDDD}D/DEg: Ek&:6EJ4:E"E;!E;!*Eŀ;!Eŀ;!A9IAIQNe?Tr,+3Ay6"'D@ٱ6R@6K.65ϼ6HW ?iy?¿+Ae?噿Y?I6"'D@)6ic^;i6CB~B9B!IiF=IFp=JXbDDAT read: Rx Time:23:56:25.4920 bTRx dataTimestamp_ set to:1758412583.204857fPDAT read: Bearing 342.7, -4.4 (Local) ~Local bearing/azimuth received: Bearing 342.7, -4.4 (Local) 5DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.3 9q9uFYuEk+:A>DAT read: 23:56:25.4920 LVL= 18528, 25297, 18770, 29043, AGC= 59, IDX= 505, 0.30, 0.183,-1.410, 0.502, 0.018, PHS= 0.267,-1.383, 0.440, RAW= 154.9, 7.8, CAL= 154.5, 8.2, ROT= 355.5, -8.2 Ygot valid direction response: 23:56:25.4920 LVL= 18528, 25297, 18770, 29043, AGC= 59, IDX= 505, 0.30, 0.183,-1.410, 0.502, 0.018, PHS= 0.267,-1.383, 0.440, RAW= 154.9, 7.8, CAL= 154.5, 8.2, ROT= 355.5, -8.2 T#Rx 30: Read range and direction messages.Q 15٪ۂ?Q 55 R(9YBQ E@y7CE)Q)b%IbG>i`b'g >b,@bC>bu@ bCi``IbK?|δ/'?)c?b?IYQUAQb bi٠)bCi``checking for new query: numPingsReceived=30, elapsed TxPingTime=16.686533h`hba3AhbAhbAhbGTM@ vb`v >@j}T4+@ub^@?`Q᳿x0A?hbi٠hbCvb~j/>q(g6pQ@vbckʔHUPްTy?hb=hbhbg?hbhbB*ibI`?2ib-:ibBibA"ibBM@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503979 s, deltaX: -0.199999 m, approachRate: -0.396840 m/s, rangeRepo size: 4 U Added new target pos. range: 31.116352 m, bearing: 183.820271 deg, lat: 36.779131 deg, lon: -121.859762 deg, deltaT: 0.503979 s, deltaX: -0.199549 m, approachRate: -0.395947 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 31.12 m.gQgYgY ProNav: ac range: 31.116352 m, nav range: 30.850437 m, bearing: 183.759186 deg, approach rate: 0.000000 m/s, LOS rate: 0.011154 deg/s, cmd heading: 187.072311 deg, new cmd heading: 187.081965 deg. gHeadingCmd: 3.265196 target range: 31.116352 and range: 31.20 m.gP@ggggzfrfffBdddc@33?@c@?ɢuقB}VT= 顭>I 9<ɡiII\I &Ai=i^=)-P@)Aԁ@@@@mchecking for new query: numPingsReceived=30, elapsed TxPingTime=16.871567ԩ A I I N >x,S3AyFr0D@ٱF(R@FFH0ҼFH \?Gt?p"¿ΙV?JEK?IFr0D@)F -^;iFCbB9b!IMb@Mb@Mb@ )IiQ?{Gz~jt>ףDIi$@@Q@)3@BD%6D03Y =!<=@;Q)>99FYE:A>Q 15٪w?Q 55 W(9a>Q A ;YCQ E@y9CE):Is:ik5YAD}D}DyDyE}: E},:6Ey:Ey!@!@!@!@B*** querying acoustic contact ***zhhԱgDNOT Ignoring new targets: 31.12 m.gg2g2 ProNav: ac range: 31.116352 m, nav range: 30.715754 m, bearing: 183.755390 deg, approach rate: -0.343683 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.081969 deg, new cmd heading: 187.074345 deg. gjHeadingCmd: 3.265063 target range: 31.116352 and range: 31.20 m.gP@ggggzfrff!f%҂BBd!d!d!c)c-?ɢ= 顝>I $H=<ɡiIl#^I(Ai=iӊ=DDAT read: Rx Time:23:56:25.9920 TRx dataTimestamp_ set to:1758412583.708833PDAT read: Bearing 342.7, -4.7 (Local) ~Local bearing/azimuth received: Bearing 342.7, -4.7 (Local) DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.3 MDAT read: 23:56:25.9920 LVL= 18320, 25969, 18866, 30307, AGC= 59, IDX= 505, 0.25, 0.852,-0.748, 1.180, 0.689, PHS= 0.265,-1.392, 0.447, RAW= 155.2, 7.8, CAL= 154.7, 8.1, ROT= 355.3, -8.1 ]Ygot valid direction response: 23:56:25.9920 LVL= 18320, 25969, 18866, 30307, AGC= 59, IDX= 505, 0.25, 0.852,-0.748, 1.180, 0.689, PHS= 0.265,-1.392, 0.447, RAW= 155.2, 7.8, CAL= 154.7, 8.1, ROT= 355.3, -8.1 ]T#Rx 31: Read range and direction messages.u^direction in FSK: [0.986695,-0.081121,0.140901]uFpublishing direction and range info9*?E[Ĵ:N ?iGqeIcv >)-I/>i-\-@3,@>o@ iIf@?[Y@?Ymn_??f )ichecking for new query: numPingsReceived=31, elapsed TxPingTime=17.151936)P@)AQIaIqN}z> AM <AM 4=vBQ ~BQ BU !IBU BBU =BQ BQ BU ';BU vQEi} 99FYEA> Q 155٪  l?Q 5=5 4 [(9IYQ E@y ;CE) M@ (̊1QV@u *?E[Ĵ:N ?h h v zBi_>ie?@v ^ǙV%ٗx?h -h h v@N?h h B*i 2i :i Bi A"i @M@ addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 31.116293 m, bearing: 183.654036 deg, lat: 36.779131 deg, lon: -121.859762 deg, deltaT: 0.503976 s, deltaX: -0.000059 m, approachRate: -0.000117 m/s, posRepo size: 4 g)-DNOT Ignoring new targets: 31.12 m.g)g5g1E ProNav: ac range: 31.116293 m, nav range: 30.578917 m, bearing: 183.751500 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.074346 deg, new cmd heading: 187.066307 deg. gAMHeadingCmd: 3.264923 target range: 31.116293 and range: 31.20 m.gMP@gIgQgQgQzfQrfQfYfYBdYdYdYcace@&?ɢ؂Bd= 顝F>I B<ɡiI})`I6+Ai=i@=)P@)BE ـ4JE A{4RE ź/DmDm|Dm.DiEm: EmP$:6Emـ4:Ei"Emh;!}Emi;!*Em};!Em};!AIIN-N>9DDAT read: Rx Time:23:56:26.4918 TRx dataTimestamp_ set to:1758412584.215666PDAT read: Bearing 342.6, -4.7 (Local) %~Local bearing/azimuth received: Bearing 342.6, -4.7 (Local) =DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.3 DAT read: 23:56:26.4918 LVL= 17392, 25585, 19826, 30259, AGC= 59, IDX= 503, 0.22, 0.004,-1.596, 0.327,-0.164, PHS= 0.270,-1.387, 0.446, RAW= 155.0, 7.7, CAL= 154.5, 8.1, ROT= 355.5, -8.1 Ygot valid direction response: 23:56:26.4918 LVL= 17392, 25585, 19826, 30259, AGC= 59, IDX= 503, 0.22, 0.004,-1.596, 0.327,-0.164, PHS= 0.270,-1.387, 0.446, RAW= 155.0, 7.7, CAL= 154.5, 8.1, ROT= 355.5, -8.1 T#Rx 32: Read range and direction messages.^direction in FSK: [0.986972,-0.077676,0.140901]Fpublishing direction and range info9QE?⳿:N ?3AiCcrM3v q=>)7IZ>i"-@ >,@u@ iIp?K/?t-?sX? i٠)i5checking for new query: numPingsReceived=32, elapsed TxPingTime=17.670750i  i ېCI G) I iU eAQ ] nEA,3A,~B9~!I) A--only read 0 of 1 data item for BIT error. Device response is::TS,000328035.0, +11.9, 0.0,1496.6, 0 !-@!- !-@!- !-@!- !-@!- I1)5AABD=!6D=r3Y !L=Q)>99FYEA>Q 15٪a?Q 55{ `(Q =+:9Q A;YQ E@y>CE):I>i5Y7AEchecking for new query: numPingsReceived=32, elapsed TxPingTime=17.880833h)h-y 3Ah-Ah-Ah-]M@ v-UYej>@Ri&a^@u-QE?⳿:N ?h-i٠h)v-j$ m>1ePN@v-?￲Qi"0[u?h-.h-hh-Y0]?h-%eh-rB*i)2i-:i-Bi-A"i-NM@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.506833 s, deltaX: -0.300001 m, approachRate: -0.591913 m/s, rangeRepo size: 4  Added new target pos. range: 30.817097 m, bearing: 183.854083 deg, lat: 36.779131 deg, lon: -121.859762 deg, deltaT: 0.506833 s, deltaX: -0.299196 m, approachRate: -0.590325 m/s, posRepo size: 4 g DNOT Ignoring new targets: 30.82 m.ggg% ProNav: ac range: 30.817097 m, nav range: 30.450710 m, bearing: 183.800281 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.066314 deg, new cmd heading: 187.058659 deg. g!MHeadingCmd: 3.264790 target range: 30.817097 and range: 30.90 m.gMPP@gQgQgQgQzfQrfQfYfYBdYdYdace`f>@ceT?ԑɢׂB0= AE>II MG<ɡQiQI]sIbIe-Ai<=iѴ=)PP@)DuDuDu-DqEu: Eu,:6Eut4:Eq!@!@!@!@AII N > ) A DDAT read: Rx Time:23:56:26.9918  TRx dataTimestamp_ set to:1758412584.720883- PDAT read: Bearing 343.1, -4.9 (Local) 5 ~Local bearing/azimuth received: Bearing 343.1, -4.9 (Local) M DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.3  DAT read: 23:56:26.9918 LVL= 22000, 24689, 22338, 32755, AGC= 61, IDX= 503, 0.24, 1.131,-0.481, 1.457, 0.974, PHS= 0.259,-1.410, 0.440, RAW= 155.1, 8.1, CAL= 154.6, 8.5, ROT= 355.4, -8.5  Ygot valid direction response: 23:56:26.9918 LVL= 22000, 24689, 22338, 32755, AGC= 61, IDX= 503, 0.24, 1.131,-0.481, 1.457, 0.974, PHS= 0.259,-1.410, 0.440, RAW= 155.1, 8.1, CAL= 154.6, 8.5, ROT= 355.4, -8.5  T#Rx 33: Read range and direction messages. ^direction in FSK: [0.985830,-0.079318,0.147809] Fpublishing direction and range info9  K?п$3N%)k?  i U q` BW  =  >) zI G>i ?-@ > ,@ > (~@  i  I S+?:1i6?yLx? ? {  l) i   checking for new query: numPingsReceived=33, elapsed TxPingTime=18.191151",h23Ay6aD@ٱ6R@6L;6z 6H`?U` k%q`2?I6aD@)6@^;i6CNB9R!I\BDZ6DZf?3Y%w"=!-P=-zq19195FY5E5BA>Q 15٪V?Q 55 e(Q = :9Q A:YCQ E@y@CE):IlK?iĈ5YAhAhE".3AhAhAhE (M@ vE,IPca>@Qf `8@uEK?п$3N%)k?hElhEvEm>:㶈0L0j@vEcFC>1.;?hEhEmhEҨQ?hE8hEB*iEY0]?2iA:iEBiEA"iELM@ addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.505217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 30.817097 m, bearing: 183.665562 deg, lat: 36.779131 deg, lon: -121.859762 deg, deltaT: 0.505217 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 30.82 m.gggvBD>~BBBBBBB";BpQE5 ProNav: ac range: 30.817097 m, nav range: 30.360540 m, bearing: 183.791664 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.058664 deg, new cmd heading: 187.050938 deg. g9=HeadingCmd: 3.264655 target range: 30.817097 and range: 30.90 m.gEP@gAgAgAgAzfArfAfyfyBdydydcc 1?ɢ = ɿ>I K<ɡiI dI/Ai=io=)P@))Mchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.383577!>AU=A Ay I I N >D D D .D E : E 1]:6E ـ4:E "E )ZIZZ>iZ-\-@Z5>Z,@ZV>Za@ ZViXXIZ.`D?>sI?,?Zu?Z7. Z)ZViXXchecking for new query: numPingsReceived=34, elapsed TxPingTime=18.6658255B95!IBDE!6DEr3Yu}<!}7=}Q)}>99FYEA>Q 15٪I?Q 55 k(Q =99Q A:YQ E@yBCE);Iޝ?iƉ5YBAEhXhZ6N3AhZ$AhZ$AhZL@ vZ9>@4##7S~_-@uZx*č?Pty2'ЌCz?hZhZVvZFO'>.P]N@vZwᅱl=Z*CĆ%?hZthZ<hZ#\?hZ; hZAB*iZ#\?2iZ8:iXiZA"iZY+M@ addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.501197 s, deltaX: -0.299999 m, approachRate: -0.598566 m/s, rangeRepo size: 4 Qu Added new target pos. range: 30.517889 m, bearing: 183.461254 deg, lat: 36.779131 deg, lon: -121.859761 deg, deltaT: 0.501197 s, deltaX: -0.299208 m, approachRate: -0.596986 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 30.52 m.gygg ProNav: ac range: 30.517889 m, nav range: 30.216745 m, bearing: 183.677133 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.050932 deg, new cmd heading: 187.042123 deg. gyHeadingCmd: 3.264501 target range: 30.517889 and range: 30.60 m.gP@ggg)g1zf1rfffBdddc>@c@zQ?ɢ ւB =  H>I  0R<ɡiI0fI2Ai%]=i%=)%P@)! 5&Changing to mode: 2qiU=IQechecking for new query: numPingsReceived=34, elapsed TxPingTime=18.888428i- 1) ) - 0) Ա >Au =rAu >jAq DDD/DEƱ: E*:6EJ4:E!@!@!@!@AIIDDAT read: Rx Time:23:56:27.9916 %TRx dataTimestamp_ set to:1758412585.7269215PDAT read: Bearing 343.0, -5.2 (Local) =~Local bearing/azimuth received: Bearing 343.0, -5.2 (Local) ]DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.0 N?,,ywp3A"DAT read: 23:56:27.9916 LVL= 21632, 23985, 24562, 32755, AGC= 59, IDX= 501, 0.32, 0.225,-1.366, 0.549, 0.072, PHS= 0.255,-1.393, 0.433, RAW= 155.1, 8.1, CAL= 154.6, 8.6, ROT= 355.4, -8.6 *Ygot valid direction response: 23:56:27.9916 LVL= 21632, 23985, 24562, 32755, AGC= 59, IDX= 501, 0.32, 0.225,-1.366, 0.549, 0.072, PHS= 0.255,-1.393, 0.433, RAW= 155.1, 8.1, CAL= 154.6, 8.6, ROT= 355.4, -8.6 *T#Rx 35: Read range and direction messages.2^direction in FSK: [0.985571,-0.079297,0.149535]2Fpublishing direction and range info9e'͉?(LS&r#?iT]_; \>)MI->i?-@>,@`>(~@ `iIЍ*?޿3?0lƗ?u?a l)`irchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.201244y1C@ٱQ@i<FuH>? .wݮ`έ`IAi@@)@p 9 9 FY E€A>vBA~BABE!IBEBBABABABE(;BEwQEyQ 15٪}O8?Q 55} }r(Q =T:9L>Q A;YCCQ E@y}ECE)}A;I};i}|5YAhhn3AhhhKM@ v>@&$\F^lA@ue'͉?(LS&r#?hlh`vD%>+Qz6Z@vK\ҜS}"ʯb|2?hh/hQK?hfhCB*iҨQ?2i:irBiA"ikM@E addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.504841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 30.517900 m, bearing: 183.596511 deg, lat: 36.779129 deg, lon: -121.859761 deg, deltaT: 0.504841 s, deltaX: 0.000011 m, approachRate: 0.000023 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 30.52 m.gygg ProNav: ac range: 30.517900 m, nav range: 30.136587 m, bearing: 183.635409 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.042121 deg, new cmd heading: 187.030468 deg. gHeadingCmd: 3.264297 target range: 30.517900 and range: 30.60 m.g@P@ggggzfrfffBBdddcc?ɢ=ՂB== 9=>I9 EX<ɡAiAIE:hIImt5Aimɨ=im=)m@P@)qchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.391453i > 3y >AE *=ԩ rD =jD <D D ~D -D E غ: E (:6E t4:E "E ʣ,!3A&DAT read: 23:56:28.4915 LVL= 19344, 24721, 22466, 30931, AGC= 60, IDX= 499, 0.33,-0.508,-2.117,-0.178,-0.674, PHS= 0.268,-1.398, 0.452, RAW= 155.2, 7.7, CAL= 154.7, 8.1, ROT= 355.3, -8.1 h}B9}!IYgot valid direction response: 23:56:28.4915 LVL= 19344, 24721, 22466, 30931, AGC= 60, IDX= 499, 0.33,-0.508,-2.117,-0.178,-0.674, PHS= 0.268,-1.398, 0.452, RAW= 155.2, 7.7, CAL= 154.7, 8.1, ROT= 355.3, -8.1 T#Rx 36: Read range and direction messages.^direction in FSK: [0.986695,-0.081121,0.140901]Fpublishing direction and range info9*?E[Ĵ:N ?fAiK`Wx< L7>)Il>i-\-@ >BD6D2YC=!@=Q)>99F3,@>o@ iI8?;D?tP9?.?5 )Y Ei5checking for new query: numPingsReceived=36, elapsed TxPingTime=19.7351305A5>9Q 1E5٪=p,?Q 55= =v(9YQ E@y=HCE)=%)@c5?ɢ%ԂB%< = !->I) -_<ɡ)i)I-viI5!8Ai5欙=i==)=P@)9checking for new query: numPingsReceived=36, elapsed TxPingTime=19.8962361i00Y >AM d=DM DM DI DI EM Ʊ: EM *:6EI :EI !U @!U @!] @!] @ԉ AIDDAT read: Rx Time:23:56:28.9914 TRx dataTimestamp_ set to:1758412586.734358PDAT read: Bearing 342.6, -5.7 (Local) ~Local bearing/azimuth received: Bearing 342.6, -5.7 (Local)  DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.0 EDAT read: 23:56:28.9914 LVL= 16928, 23937, 17778, 26035, AGC= 58, IDX= 498, 0.32,-0.141,-1.747, 0.193,-0.302, PHS= 0.263,-1.400, 0.451, RAW= 155.3, 7.8, CAL= 154.8, 8.2, ROT= 355.2, -8.2 MYgot valid direction response: 23:56:28.9914 LVL= 16928, 23937, 17778, 26035, AGC= 58, IDX= 498, 0.32,-0.141,-1.747, 0.193,-0.302, PHS= 0.263,-1.400, 0.451, RAW= 155.3, 7.8, CAL= 154.8, 8.2, ROT= 355.2, -8.2 UT#Rx 37: Read range and direction messages.e^direction in FSK: [0.986305,-0.082822,0.142629]eFpublishing direction and range info9ycϏ?$3x0A?Ai B]rEe: >)33Iy>ix-@'g >IN?x,3A,@C>a@ CiI-ԏ4?raԵ Q?|@n?/? )Ci*checking for new query: numPingsReceived=37, elapsed TxPingTime=20.184870yEC@ٱEcQ@En C`IAi@h@@)@BD56D3Y<!=g~;Q)>99FY EQOA>Q 15٪?Q 55T }(9>Q A;YCQ E@yKCE);Is:iÐ5YAAvBQ~BQBQBQBQBQBQBU ;BUnQEB B B B ı =B ı =B Z4hh3AhAhAhL@ vTܴ=@37&l.@uycϏ?$3x0A?hhCv`U=lEs#(Nrt@v4. ᅣ9s䭿vJ?hhbh*GL?h|< hB*iҨQ?2is޻ :iABiXA"iL@ addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503080 s, deltaX: -0.099998 m, approachRate: -0.198773 m/s, rangeRepo size: 4  Added new target pos. range: 30.118973 m, bearing: 183.377412 deg, lat: 36.779129 deg, lon: -121.859760 deg, deltaT: 0.503080 s, deltaX: -0.099731 m, approachRate: -0.198242 m/s, posRepo size: 4 gDNOT Ignoring new targets: 30.12 m.ggg ProNav: ac range: 30.118973 m, nav range: 29.793201 m, bearing: 183.468172 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.021112 deg, new cmd heading: 187.011261 deg. g=HeadingCmd: 3.263962 target range: 30.118973 and range: 30.20 m.gEP@gAgAgAgAzfArfAfIfMBBdIdIdQcU@33>@cU?ɢd#= *>I  e<ɡiIWkI:Ai=imF=)P@)AAi=I4=checking for new query: numPingsReceived=37, elapsed TxPingTime=20.400673iU?QY]25Y@eA@eAԉԙ >A 9=bD ZD ?AD D xD .D E : E :6E ـ4:E "E #;!5 E $;!5 *E Wo;!5 E Wo;!= A I IN5>Jp,3l3A6DDAT read: Rx Time:23:56:29.4912 6TRx dataTimestamp_ set to:1758412587.238389:PDAT read: Bearing 342.5, -5.9 (Local) >~Local bearing/azimuth received: Bearing 342.5, -5.9 (Local) FDAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.3 VDAT read: 23:56:29.4912 LVL= 17280, 26513, 18930, 28307, AGC= 60, IDX= 496, 0.29,-0.237,-1.836, 0.103,-0.397, PHS= 0.262,-1.394, 0.456, RAW= 155.5, 7.7, CAL= 155.0, 8.1, ROT= 355.0, -8.1 ZYgot valid direction response: 23:56:29.4912 LVL= 17280, 26513, 18930, 28307, AGC= 60, IDX= 496, 0.29,-0.237,-1.836, 0.103,-0.397, PHS= 0.262,-1.394, 0.456, RAW= 155.5, 7.7, CAL= 155.0, 8.1, ROT= 355.0, -8.1 ^T#Rx 38: Read range and direction messages.b^direction in FSK: [0.986256,-0.086286,0.140901]bFpublishing direction and range info946rUGqi?# :N ?63A4i6C6g6I6n6< 6$>)6nI6x>i6-@6 >6"-@6>6D@ 6i44I6q ? f?l#K6?6w?6Y! 6)6i44rchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.668995yC@ٱ'Q@i<yH?$ w w@< ?IC@)];iCB9!IBD6D 3YE!1=5;Q)>99FYE;A>Q 15٪'?Q 55 (9YCQ E@yMCE)N:IF:i̒5YBAh4h6A3Ah6Ah6Ah64L@ v60P^h=@7q!z@u6rUGqi?# :N ?h6h6v62ok=rmylp *@v6}→`r?h6ֿh6+h6;wV?h6 h6\B*i6sU?2i6; :i6Bi6A"i6L@ addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.504031 s, deltaX: -0.300001 m, approachRate: -0.595204 m/s, rangeRepo size: 4 E Added new target pos. range: 29.819750 m, bearing: 183.242999 deg, lat: 36.779130 deg, lon: -121.859760 deg, deltaT: 0.504031 s, deltaX: -0.299223 m, approachRate: -0.593660 m/s, posRepo size: 4 gIDNOT Ignoring new targets: 29.82 m.ggg ProNav: ac range: 29.819750 m, nav range: 29.585707 m, bearing: 183.414004 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 187.011262 deg, new cmd heading: 187.002329 deg. gHeadingCmd: 3.263806 target range: 29.819750 and range: 29.90 m.g4P@ggggzfrfffBdddc%`f=@c%C?ɢuӂBu = qu>Iq ul<ɡyiyI}mmI}=Ai=i=)4P@) checking for new query: numPingsReceived=38, elapsed TxPingTime=20.903381! ie 1a a m 0i A >A "=DEDEwDE-DAEE: EE:6EEt4:EA!M@!M@!M@!M@qAI)߹ ߽ADDAT read: Rx Time:23:56:29.9912 TRx dataTimestamp_ set to:1758412587.742851PDAT read: Bearing 7.8, -11.8 (Local) ~Local bearing/azimuth received: Bearing 7.8, -11.8 (Local) DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.2 I9NU?d,3ADAT read: 23:56:29.9912 LVL= 17392, 24209, 17458, 27843, AGC= 59, IDX= 512, 0.26, 0.999,-0.759, 1.530, 1.437, PHS=-0.335,-2.151, 0.049, RAW= 159.4, 22.9, CAL= 161.9, 32.9, ROT= 348.1, -32.9 "Ygot valid direction response: 23:56:29.9912 LVL= 17392, 24209, 17458, 27843, AGC= 59, IDX= 512, 0.26, 0.999,-0.759, 1.530, 1.437, PHS=-0.335,-2.151, 0.049, RAW= 159.4, 22.9, CAL= 161.9, 32.9, ROT= 348.1, -32.9 &T#Rx 39: Read range and direction messages.>^direction in FSK: [0.821576,-0.173133,0.543174]>Fpublishing direction and range info9 9XJ?g7)ƿ#@ca?iC^2Dl; ) I9H=i/ 2@>4@?mj@ iI~?eQg?54B?0?; T)iVchecking for new query: numPingsReceived=39, elapsed TxPingTime=21.196867yD@ٱsQ@|<xHb{?`eb@*K𘏿^`?ID@)l9^;iCIUB9U!Ii]=I]=]Mb@Mb@Mb@ Y)YIYiYY]uV?Zd;O]r>]j]I]Ai]@Y]h@)Y]=@ip;BD6D\3Y ! =;Q)>99FYEp:A>AQ 1M5٪E?Q 5M5E E(9Uۨ>Q AU ;YUDQ EU@yEPCE)E:IE:iE55Ae<Ae<vBi~BiBm!IBmBBiBiBiBm;BmgQEYAhhߊ3AhhhE@ vؚ8@rJQ20@u 9XJ?g7)ƿ#@ca?hThv)9pI 3s<ɡiI3oI%@Ai%!=i%=)%"P@))%checking for new query: numPingsReceived=39, elapsed TxPingTime=21.408743i 0/ԩ >Am =rDI jDM <DU DU DQ DQ EU U: EU *5:6EQ :EQ "EU ;!] EU ;!] *EU ;!e EU ;!e DDAT read: Rx Time:23:56:30.4910 TRx dataTimestamp_ set to:1758412588.244629PDAT read: Bearing 342.9, -6.2 (Local) ~Local bearing/azimuth received: Bearing 342.9, -6.2 (Local) DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.3  DAT read: 23:56:30.4910 LVL= 17456, 24513, 17202, 25683, AGC= 59, IDX= 510, 0.27, 0.264,-1.320, 0.609, 0.117, PHS= 0.249,-1.393, 0.448, RAW= 155.6, 8.0, CAL= 155.2, 8.4, ROT= 354.8, -8.4 Ygot valid direction response: 23:56:30.4910 LVL= 17456, 24513, 17202, 25683, AGC= 59, IDX= 510, 0.27, 0.264,-1.320, 0.609, 0.117, PHS= 0.249,-1.393, 0.448, RAW= 155.6, 8.0, CAL= 155.2, 8.4, ROT= 354.8, -8.4 T#Rx 40: Read range and direction messages.%^direction in FSK: [0.985201,-0.089660,0.146083]%Fpublishing direction and range info9[ Æ?vDB/8ٲ?Ai0D_2CSd ~>)MIB`>i-@5>-\-@Q >_(@ Q iI!ƿ?U;x? ?J?  ޹)Q i=checking for new query: numPingsReceived=40, elapsed TxPingTime=21.674809AAIIQIaNu? ,J 3Ay D@ٱR@8<kH ?@i@{LƐ엿 ?I D@)9^;iCuB9u!IBD)6D3Yu<!@=S;Q)>99FYE9A>Q 15٪?Q 55H (9YDQ E@yRCE)%IY ] 4z<ɡYiYI]pI+CAi=i u=)P@)checking for new query: numPingsReceived=40, elapsed TxPingTime=21.911461i]1@=@=Q >A= *=rAA jAE >y DE DE xDE ,DA EE : EE :6EE g4:EA !M @!M @!M @!M @AIIDDAT read: Rx Time:23:56:30.9910 TRx dataTimestamp_ set to:1758412588.750087PDAT read: Bearing 342.9, -6.2 (Local) ~Local bearing/azimuth received: Bearing 342.9, -6.2 (Local) DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.3 -DAT read: 23:56:30.9910 LVL= 15936, 26657, 16354, 27731, AGC= 58, IDX= 510, 0.28, 1.399,-0.196, 1.744, 1.250, PHS= 0.251,-1.401, 0.450, RAW= 155.6, 8.0, CAL= 155.2, 8.4, ROT= 354.8, -8.4 =Ygot valid direction response: 23:56:30.9910 LVL= 15936, 26657, 16354, 27731, AGC= 58, IDX= 510, 0.28, 1.399,-0.196, 1.744, 1.250, PHS= 0.251,-1.401, 0.450, RAW= 155.6, 8.0, CAL= 155.2, 8.4, ROT= 354.8, -8.4 =T#Rx 41: Read range and direction messages.N]?־,C13Au^direction in FSK: [0.985201,-0.089660,0.146083]Fpublishing direction and range info9[ Æ?vDB/8ٲ?i@>!h?Sl: >)SIff>i iIFj?Bt??M&? )i$6checking for new query: numPingsReceived=41, elapsed TxPingTime=22.194077y}ZD@ٱ} R@} <<}}HY@k?@1mXG ?I}ZD@)}2^;i}C B9 !I!i!yMb@Mb@Mb@ )IitV?:v~jth>ԼDIi@@vB=C>~B9B=!IB=BB= =B9B9B= ;B=WQE)@BD]6D]!3Ym\!m =m2:Q)m>99FYE`:A>Q 15٪ដ?Q 55 (90>Q A;YDQ E@yVCE)y;Ih;i5YBAEhhm03AhhhDpL@ v$k=@]G,X?@u[ Æ?vDB/8ٲ?hhv 9=]dFt@ve~u82cTĪ BT?hſhhnB?h<h[B*i|T?2i<:iqBirA"ivL@m addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.505458 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.520544 m, bearing: 183.022902 deg, lat: 36.779130 deg, lon: -121.859758 deg, deltaT: 0.505458 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.52 m.ggg ProNav: ac range: 29.520544 m, nav range: 29.056086 m, bearing: 183.044831 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 186.982535 deg, new cmd heading: 186.971764 deg. gHeadingCmd: 3.263273 target range: 29.520544 and range: 29.60 m.gwP@ggggzfrff f BBd d dcc ?ɢy}o&= 顅>ԡ checking for new query: numPingsReceived=41, elapsed TxPingTime=22.415272I ft<ɡiIf;rI->FAi5Ię=i=8=)}wP@) iQ Q Q U /Q bDA ZDA >AqBEt4JEy4RE..DDwD.DE: E:6Eـ4:EDDAT read: Rx Time:23:56:31.4908 TRx dataTimestamp_ set to:1758412589.253681PDAT read: Bearing 342.9, -6.6 (Local) ~Local bearing/azimuth received: Bearing 342.9, -6.6 (Local) DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.3 MDAT read: 23:56:31.4908 LVL= 17104, 26385, 17442, 31059, AGC= 59, IDX= 508, 0.25, 0.034,-1.558, 0.393,-0.108, PHS= 0.245,-1.405, 0.457, RAW= 156.0, 8.0, CAL= 155.5, 8.4, ROT= 354.5, -8.4 UYgot valid direction response: 23:56:31.4908 LVL= 17104, 26385, 17442, 31059, AGC= 59, IDX= 508, 0.25, 0.034,-1.558, 0.393,-0.108, PHS= 0.245,-1.405, 0.457, RAW= 156.0, 8.0, CAL= 155.5, 8.4, ROT= 354.5, -8.4 UT#Rx 42: Read range and direction messages.]^direction in FSK: [0.984718,-0.094818,0.146083]]Fpublishing direction and range info9Aς?3lE/8ٲ?fAiBg"DSy; Hz>) ׳I>i@.@-@z@ iIO-Y?üH?wn?ֵ ?Z6 )Ľ)i}checking for new query: numPingsReceived=42, elapsed TxPingTime=22.691875"E;!E;!*Ek;!Ek;!1AIIN?" ,g'U3AIՈG)ZAI i6e:ZA:*jAtity0D@ٱz(R@a<H*?@2 ¿۫` k`~`z?I0D@)r?^;iCB9!I9BDE6DEP)3YU;!]=e:Q)>99FYEW;A>Q 15٪О?Q 55 (9Y DQ E @yYCE);I;i&5YAUchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.919485ih1h5Oh5:B*i12i5w:i5\Bi5A"i5]kL@ addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503594 s, deltaX: -0.300001 m, approachRate: -0.595720 m/s, rangeRepo size: 4 U Added new target pos. range: 29.221348 m, bearing: 182.801533 deg, lat: 36.779130 deg, lon: -121.859758 deg, deltaT: 0.503594 s, deltaX: -0.299196 m, approachRate: -0.594122 m/s, posRepo size: 4 gQUDNOT Ignoring new targets: 29.22 m.gQgygy ProNav: ac range: 29.221348 m, nav range: 28.856426 m, bearing: 183.005747 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 186.971770 deg, new cmd heading: 186.960159 deg. gHeadingCmd: 3.263070 target range: 29.221348 and range: 29.30 m.g%P@ggggzfrfffBdddcL=@c:?ɢ = |>I! %!<ɡ!i!I%sI-IAi-ʙ=i-ķ=)-%P@)1ԑi 0 D] D] xD] 0DY E] : E] :6E] 4:EY !e @!e @!m @!m @ DDAT read: Rx Time:23:56:31.9908  TRx dataTimestamp_ set to:1758412589.758362% PDAT read: Bearing 342.7, -6.7 (Local) - ~Local bearing/azimuth received: Bearing 342.7, -6.7 (Local) E DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.3  DAT read: 23:56:31.9908 LVL= 17232, 25137, 17234, 26323, AGC= 58, IDX= 508, 0.30, 0.851,-0.740, 1.216, 0.704, PHS= 0.249,-1.399, 0.469, RAW= 156.2, 7.8, CAL= 155.7, 8.1, ROT= 354.3, -8.1  Ygot valid direction response: 23:56:31.9908 LVL= 17232, 25137, 17234, 26323, AGC= 58, IDX= 508, 0.30, 0.851,-0.740, 1.216, 0.704, PHS= 0.249,-1.399, 0.469, RAW= 156.2, 7.8, CAL= 155.7, 8.1, ROT= 354.3, -8.1  T#Rx 43: Read range and direction messages.>Al=bAAZAA ^direction in FSK: [0.985129,-0.098329,0.140901]%Fpublishing direction and range info9  a~O,?Wg,:N ?  i PC 1b RC f :  ~>) oI >i !z.@ 'g > '-@ > @  i  I dg?b`U?yD? !? 7  )˽) i  checking for new query: numPingsReceived=43, elapsed TxPingTime=23.221252AEyAIIIYNu ?-C,fw3AyjCD@ٱj};R@jUtUףIQiU@UQ@U@)QQBD"6DJz3Y_ͻ!)=&9Q)> H?9 H?9FYE*!;A>Q 15٪ž?Q 55- (9.>Q A;YnFQ E%@y\CE)':i%[Bi%tA"i%1L@ addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504681 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.221329 m, bearing: 182.684406 deg, lat: 36.779129 deg, lon: -121.859757 deg, deltaT: 0.504681 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 gDNOT Ignoring new targets: 29.22 m.gg!g!5 ProNav: ac range: 29.221329 m, nav range: 28.806690 m, bearing: 182.804140 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 186.960159 deg, new cmd heading: 186.951455 deg. g1]checking for new query: numPingsReceived=43, elapsed TxPingTime=23.425652HeadingCmd: 3.262918 target range: 29.221329 and range: 29.30 m.gP@ggggzfrfffBdd d1c9cE@f?ɢ9=:-= AE>IA EG<ɡAiAIMpuIU LAiUЙ=iU۔=)UP@)Yi   0 rDy jD} =D- D- vD- +D) E- y: E- :6E- [4:E) "E- AM 2=m DAT read: 23:56:32.4906 LVL= 20784, 24561, 19762, 30451, AGC= 59, IDX= 506, 0.29,-0.964,-2.547,-0.604,-1.105, PHS= 0.243,-1.397, 0.457, RAW= 156.1, 8.0, CAL= 155.6, 8.3, ROT= 354.4, -8.3 } Ygot valid direction response: 23:56:32.4906 LVL= 20784, 24561, 19762, 30451, AGC= 59, IDX= 506, 0.29,-0.964,-2.547,-0.604,-1.105, PHS= 0.243,-1.397, 0.457, RAW= 156.1, 8.0, CAL= 155.6, 8.3, ROT= 354.4, -8.3 } T#Rx 44: Read range and direction messages. ^direction in FSK: [0.984803,-0.096561,0.144356] Fpublishing direction and range info9  ?y7'ЌCz? A i 0Q _ 2M v ;  x>) вI >i ].@ 5> -@ V> .@  Vi  I *?lXЦ?R+? !?   )+Ƚ) Vi  checking for new query: numPingsReceived=44, elapsed TxPingTime=23.730158IAIQYNe>3, ϕ3AB9!IBD%(6D%:3Yء<!;=Q)>99FY"EA> Q 15٪ }?Q 55 X (9YQ E@y ^CE) |:I :i )5YhA)h!h%3Ah%`Ah%`Ah%>-L@ v%6a{<@SVWLJ@u%?y7'ЌCz?h%)+Ƚh%Vv%&<0=Sخ6x @v%C5ᅩbس4m?h%h%1h%CKG?h% h%B*i%CKG?2i!:i%:Bi%wA"i%u1L@U addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503525 s, deltaX: -0.299999 m, approachRate: -0.595798 m/s, rangeRepo size: 4 } Added new target pos. range: 28.922136 m, bearing: 182.788506 deg, lat: 36.779128 deg, lon: -121.859757 deg, deltaT: 0.503525 s, deltaX: -0.299192 m, approachRate: -0.594196 m/s, posRepo size: 4 gDNOT Ignoring new targets: 28.92 m.ggg ProNav: ac range: 28.922136 m, nav range: 28.683342 m, bearing: 182.803250 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 186.951457 deg, new cmd heading: 186.941908 deg. gHeadingCmd: 3.262752 target range: 28.922136 and range: 29.00 m.gP@ggggzfrf f f Bd ddUDDAT read: Rx Time:23:56:32.9905 ]TRx dataTimestamp_ set to:1758412590.515251mchecking for new query: numPingsReceived=44, elapsed TxPingTime=23.932590c=@c?aɢ/= >I )<ɡiIwINAi-ՙ=i))-P@))i//y Dm Dm Dm 0Di Em : Em 0:6Em 4:Ei !} @!} @!} @!} @ԩ >A t= PDAT read: Bearing 342.8, -6.4 (Local)  ~Local bearing/azimuth received: Bearing 342.8, -6.4 (Local)  DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.3 U DAT read: 23:56:32.9905 LVL= 18832, 24865, 19282, 30499, AGC= 59, IDX= 505, 0.23,-1.073,-2.651,-0.724,-1.223, PHS= 0.252,-1.384, 0.454, RAW= 155.8, 7.8, CAL= 155.3, 8.1, ROT= 354.7, -8.1 ] Ygot valid direction response: 23:56:32.9905 LVL= 18832, 24865, 19282, 30499, AGC= 59, IDX= 505, 0.23,-1.073,-2.651,-0.724,-1.223, PHS= 0.252,-1.384, 0.454, RAW= 155.8, 7.8, CAL= 155.3, 8.1, ROT= 354.7, -8.1 ] T#Rx 45: Read range and direction messages. ^direction in FSK: [0.985791,-0.091449,0.140901] Fpublishing direction and range info9 b򕙋?s:4i:N ? fA i I !a RK #w %>) &I r>i .@ 'g > x-@ > @ i I du*8?.z&M̅?vi? ? q) i  checking for new query: numPingsReceived=45, elapsed TxPingTime=24.206924IIN>:,83Aɰ4<;B9!IvB~BB!IBBBBBB;BCQEMb@Mb@Mb@ )Ii?y&1I +>`94IAi@h@@)3@BD!6Dr3Y-i!5=1Q)5>9999=FY=%E9A=>AQ 1m5٪E򤞊?Q 5u5E E(9u>Q Au ;YuDQ Eu@yEaCE)E+;IE;iEs5YBIAEhh.3AhAhAhL@ vuP<@<.f_o00@ub򕙋?s:4i:N ?hqhvUtI  ƍ<ɡiIxIlQAi=ڙ=i='ٹ=)=IP@)AIIDDAT read: Rx Time:23:56:33.4903  TRx dataTimestamp_ set to:1758412591.020755-PDAT read: Bearing 343.3, -6.8 (Local) 5~Local bearing/azimuth received: Bearing 343.3, -6.8 (Local) Mchecking for new query: numPingsReceived=45, elapsed TxPingTime=24.444021i1/@ =@ =yԙ >A} ˺=rA >jA >I I1 NM >x,3ADNDNDLDLEN: EN*:6EL:EL"EN;!VEN;!V*ENh;!VENi;!Vy>9`D@ٱ>XR@><>>H`*? L -¿`ܘp> O?I>9`D@)>S^;i>CfB9f!IBDn%6Dn03Yv<!vy=v;Q)v?x9x9zFYz'E~;A~?Q 1 5٪?Q 5 5 (9 Y DQ E @ycCE)y:I9:i㣌5YyAmDAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.3 yDAT read: 23:56:33.4903 LVL= 19568, 24737, 21314, 32147, AGC= 59, IDX= 503, 0.15,-2.430, 2.278,-2.072,-2.563, PHS= 0.235,-1.397, 0.447, RAW= 156.0, 8.2, CAL= 155.6, 8.6, ROT= 354.4, -8.6 Ygot valid direction response: 23:56:33.4903 LVL= 19568, 24737, 21314, 32147, AGC= 59, IDX= 503, 0.15,-2.430, 2.278,-2.072,-2.563, PHS= 0.235,-1.397, 0.447, RAW= 156.0, 8.2, CAL= 155.6, 8.6, ROT= 354.4, -8.6 T#Rx 46: Read range and direction messages.^direction in FSK: [0.984037,-0.096486,0.149535]Fpublishing direction and range info9IM)MвIM/>hIhMpD3AhMcAhMcAhMQL@ vMɃB;@ئR@iM@.@MC>M-@M`>M.@ M`iIIIM3Ͻ? ?(R?M ?M| M)+Ƚ)M`iIIchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.704353uM_Y"I  <ɡiIyIMSAi4ߙ=i<"=)iP@)ԩi/ PExceeded connect timeout, disconnecting.i %=I % DDAT read: Rx Time:23:56:33.9903 5 TRx dataTimestamp_ set to:1758412591.527420M PDAT read: Bearing 343.5, -6.6 (Local) U ~Local bearing/azimuth received: Bearing 343.5, -6.6 (Local) } DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.3 >A t=I! II N} >  DAT read: 23:56:33.9903 LVL= 17488, 25569, 17090, 28739, AGC= 58, IDX= 503, 0.07,-1.593,-3.132,-1.250,-1.723, PHS= 0.231,-1.364, 0.429, RAW= 155.8, 8.3, CAL= 155.4, 8.8, ROT= 354.6, -8.8  Ygot valid direction response: 23:56:33.9903 LVL= 17488, 25569, 17090, 28739, AGC= 58, IDX= 503, 0.07,-1.593,-3.132,-1.250,-1.723, PHS= 0.231,-1.364, 0.429, RAW= 155.8, 8.3, CAL= 155.4, 8.8, ROT= 354.6, -8.8  T#Rx 47: Read range and direction messages.m ^direction in FSK: [0.983843,-0.093000,0.152986]m Fpublishing direction and range info9) - Fz{?9lSη8C ?) ) i- PD- c- B- Cp- : - Dl>)- I- >i- .@- V>- ^-@- nF>- @ - nFi) ) I- P? H?bʃ?- ?- ͣ - )- nFi) )  checking for new query: numPingsReceived=47, elapsed TxPingTime=25.020264,f3Ay6XqD@ٱ6iR@6ܠ<6$x6H%5?y ¿ AVmF?I6XqD@)6h^;i6CBB9B!IMb@Mb@Mb@ )Iix?~jty&1|K>ļ`IAi@;@@)@BD#6DӀ3Y58<!5*==r:Q)=>99A9EFYE*EE;AM>DUDUxDU.DQEU: EU:6EUـ4:EQ!e@!e@!e@!e@Q 15٪֋?Q 55I (9>Q A5;Y5DQ E5@yfCE)^b@v]I3;m{B:0<-x_?h]ȿh]h]}J?h] h]YB*iY2i] 8:iYi]A"i] IL@E addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.257618 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 28.423479 m, bearing: 183.190299 deg, lat: 36.779128 deg, lon: -121.859757 deg, deltaT: 0.257618 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 28.42 m.gYgg ProNav: ac range: 28.423479 m, nav range: 28.190489 m, bearing: 182.885761 deg, approach rate: 0.000000 m/s, LOS rate: -0.009727 deg/s, cmd heading: 186.926117 deg, new cmd heading: 186.916284 deg. gHeadingCmd: 3.262305 target range: 28.423479 and range: 28.50 m.gP@ggggzfrfffՂBBdddcc@1?ɢMՂBMF0= IM>II UI<ɡQiQIUpT{I}VAi}=i}<=)}P@)i?R5AvB~BBBBBBB;BBQEBBBBBBȫ4a >A O== DDAT read: Rx Time:23:56:34.4901 M TRx dataTimestamp_ set to:1758412592.032416 PDAT read: Bearing 343.8, -7.3 (Local)  ~Local bearing/azimuth received: Bearing 343.8, -7.3 (Local) I I N >t-,c3A DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.3 :DAT read: 23:56:34.4901 LVL= 20144, 23265, 19666, 32115, AGC= 60, IDX= 501,-0.04, 3.139, 1.597,-2.779, 3.024, PHS= 0.217,-1.383, 0.436, RAW= 156.3, 8.5, CAL= 156.0, 9.0, ROT= 354.0, -9.0 >Ygot valid direction response: 23:56:34.4901 LVL= 20144, 23265, 19666, 32115, AGC= 60, IDX= 501,-0.04, 3.139, 1.597,-2.779, 3.024, PHS= 0.217,-1.383, 0.436, RAW= 156.3, 8.5, CAL= 156.0, 9.0, ROT= 354.0, -9.0 BT#Rx 48: Read range and direction messages.F^direction in FSK: [0.982278,-0.103242,0.156434]FFpublishing direction and range infohiht9)-nn?g np ?-A)i-N-Z-L-s}-< -?5^>)-%I-d;>i-.@->-@.@-| >-@ -| i))I-6}~?Hǔ?K5?-S"?-ބ -iwֽ)-| i))mchecking for new query: numPingsReceived=48, elapsed TxPingTime=25.538494yV|D@ٱtR@b<%tH?J`¿:@9L@ ?IV|D@)/_;iCMB9M!IU499FY-E9:A>Q 15٪?Q 55 (9YCQ E@yiCE):IF:iާ5YA9h)h-3Ah-Ah-Ah-L@ v-e#9;@B7:K`F3@u-nn?g np ?h-iwֽh-| v-@Px;DCT~6.@v-3:!dWQ#W?h-h-h-XI Yە<ɡiIo|IUXAi=i=)`P@)5checking for new query: numPingsReceived=48, elapsed TxPingTime=25.695423Iie8iim03i@q@uAq >A }=bA  nManaging dock network, ignoring radio surface power offZA ԩ A A DDAT read: Rx Time:23:56:34.9901 TRx dataTimestamp_ set to:1758412592.5376355PDAT read: Bearing 344.1, -7.5 (Local) =~Local bearing/azimuth received: Bearing 344.1, -7.5 (Local) IIDAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.3 Z#Rx 49: Read range message, but no direction.N>,_$3A9Mchecking for new query: numPingsReceived=49, elapsed TxPingTime=26.025555B9!IMb@Mb@Mb@ )IiK?ttIAi@Q@@)3@BD6D:3Y[<!=DDD*DEU: E*5:6E(N4:E! @! @! @! @Q)>K?9K?9FY1E%A%>)Q 155٪-m?Q 555-  -(9=>Q A=;Y=BQ EE@y-lCE)-J;I-A;i-W5YMBU AUߦEB*** querying acoustic contact ***zhhE addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.505219 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gAMDNOT Ignoring new targets: 28.12 m.gIgu~gu~ ProNav: ac range: 28.124298 m, nav range: 27.795176 m, bearing: 182.860921 deg, approach rate: -0.358370 m/s, LOS rate: -0.034641 deg/s, cmd heading: 186.908509 deg, new cmd heading: 186.868754 deg. g}HeadingCmd: 3.261475 target range: 28.124298 and range: 28.20 m.gP@ggDAT read: 23:56:34.9901 LVL= 17648, 25505, 18146, 29603, AGC= 60, IDX= 501,-0.13,-1.659, 3.097,-1.292,-1.763, PHS= 0.206,-1.378, 0.427, RAW= 156.4, 8.8, CAL= 156.1, 9.3, ROT= 353.9, -9.3 Ygot valid direction response: 23:56:34.9901 LVL= 17648, 25505, 18146, 29603, AGC= 60, IDX= 501,-0.13,-1.659, 3.097,-1.292,-1.763, PHS= 0.206,-1.378, 0.427, RAW= 156.4, 8.8, CAL= 156.1, 9.3, ROT= 353.9, -9.3 Z#Rx 50: Read direction message, but no range.^direction in FSK: [0.981268,-0.104867,0.161604]9(Nf?rŖغo?iDcFs R>)NbI>iR.@nF>].@6&>@ 6&iI79p?"`YV?. ?"?` i ڽ)6&checking for new query: numPingsReceived=50, elapsed TxPingTime=26.209187ggzfrf ffBBdddcc#?ɢeւBe+= 額$>I i<ɡiI~IcAia=iۥ=)P@))i / / vB ~B B !IB {BB B B B ;B FQEQ >A $ӿ=iQIUR=uDDAT read: Rx Time:23:56:35.4899 ԁTRx dataTimestamp_ set to:1758412593.042276PDAT read: Bearing 343.5, -7.1 (Local) ~Local bearing/azimuth received: Bearing 343.5, -7.1 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.3 -DAT read: 23:56:35.4899 LVL= 16448, 24657, 14914, 26995, AGC= 58, IDX= 499,-0.19, 2.634, 1.120, 2.984, 2.510, PHS= 0.226,-1.345, 0.430, RAW= 156.0, 8.2, CAL= 155.6, 8.6, ROT= 354.4, -8.6 =Ygot valid direction response: 23:56:35.4899 LVL= 16448, 24657, 14914, 26995, AGC= 58, IDX= 499,-0.19, 2.634, 1.120, 2.984, 2.510, PHS= 0.226,-1.345, 0.430, RAW= 156.0, 8.2, CAL= 155.6, 8.6, ROT= 354.4, -8.6 =T#Rx 51: Read range and direction messages.E^direction in FSK: [0.984037,-0.096486,0.149535]EFpublishing direction and range info9y})}(I}(>i}@.@}C>}-@}`>}.@ }`iyyI}?k?BmW?} ?}@ })+Ƚ)}`iyychecking for new query: numPingsReceived=51, elapsed TxPingTime=26.523989AIIN ?i,oG3Ay6zD@ٱ6%sR@6N<6¼6HX?¿`@bR]?I6zD@)6s`;i4iBsCBs@)@ @I@@DiDIFnFDIDiJA J½H)HH JANN\FLLNԂAIN)NEFiP)PIRARvP PTVATiThTt~B9~!IBD 6D \3Yμ!7=(;Q)>99FY3EoA>!Q 1-5٪%_?Q 555% %(91Y5BQ E5@y%nCE)%-:I%|:i%R5Yim;Aqh!h%B3Ah%Ah%Ah% rL@ v%Va;@^0Pz@u%I P<ɡiI7NIlAi=iM=)ԲP@) checking for new query: numPingsReceived=51, elapsed TxPingTime=26.703466i00)Y >A (= DDAT read: Rx Time:23:56:35.9899  TRx dataTimestamp_ set to:1758412593.544312E PDAT read: Bearing 343.8, -7.4 (Local) M ~Local bearing/azimuth received: Bearing 343.8, -7.4 (Local) } DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.3 ԉ  Z#Rx 52: Read range message, but no direction.A I I N >,Pd3A9Fchecking for new query: numPingsReceived=52, elapsed TxPingTime=27.007111ymsD@ٱmlR@mvjӼmH@@?Bl@¿`eݝ lj?ImsD@)me`;iiB9!I)! !Mb@Mb@Mb@ )Ii-?y&1|Mb?>`I@i@)@I ) BD6Df?3Y%a!%#=-;Q)->)9)95FY57E5`A5>9Q 1E5٪=xQ?Q 5E5= =(9MT>Q AM;YMAQ EM@y=qCE)=:I=f:i=v5YWAe addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.502036 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gDNOT Ignoring new targets: 27.83 m.gg`|g`| ProNav: ac range: 27.825056 m, nav range: 27.422356 m, bearing: 183.002696 deg, approach rate: -0.358634 m/s, LOS rate: -0.055161 deg/s, cmd heading: 186.836656 deg, new cmd heading: 186.783539 deg. gɺHeadingCmd: 3.259988 target range: 27.825056 and range: 27.90 m.gP@ggggzfrfDD|DDE: EP$:6E:E!-@!-@!-@!-@f)f5ׂBBd1d1d9c9c=E? ɢEׂBE/= IMн>II MH<ɡIiIIMd:IU|AiU[=i]a =)]P@)YDAT read: 23:56:35.9899 LVL= 16272, 25889, 14194, 27411, AGC= 57, IDX= 499,-0.22,-2.499, 2.277,-2.144,-2.611, PHS= 0.215,-1.350, 0.424, RAW= 156.2, 8.5, CAL= 155.8, 9.0, ROT= 354.2, -9.0 Ygot valid direction response: 23:56:35.9899 LVL= 16272, 25889, 14194, 27411, AGC= 57, IDX= 499,-0.22,-2.499, 2.277,-2.144,-2.611, PHS= 0.215,-1.350, 0.424, RAW= 156.2, 8.5, CAL= 155.8, 9.0, ROT= 354.2, -9.0 Z#Rx 53: Read direction message, but no range.^direction in FSK: [0.982632,-0.099812,0.156434]9D(ָq?.UFHp ?i?!er7k9 (\>)̬I>i!z.@>.@| >@ | iIEЊ?Ѫ?=?!?' )QϽ)| checking for new query: numPingsReceived=53, elapsed TxPingTime=27.218477i805@=@=1 vB D>~B B !IB vBB B B B ;B LQEY >A =rA >jA >}DDAT read: Rx Time:23:56:36.4897 TRx dataTimestamp_ set to:1758412594.048943PDAT read: Bearing 343.8, -7.7 (Local) ~Local bearing/azimuth received: Bearing 343.8, -7.7 (Local) DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.3 Z#Rx 54: Read range message, but no direction.9y}AyEchecking for new query: numPingsReceived=54, elapsed TxPingTime=27.488682AiIqIԉN?M!,t3Ay%nD@ٱ%gR@%<%%Hճ?@¿@ˤ ?`4nۜ@?I%nD@)%_;i%CB9!IBD-6D-N3Y5k!=*==M;Q)=>99A9EFYE:EEA&AM>IQ 1U5٪MFC?Q 5]5M M(9YY]AQ E]@yMtCE)MK:IM:iM5YeyBmAAmަEhihm!3Ahm5Ahm5Ahm7hmB*ii2imq1>:iiimA"im%=L@ addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504631 s, deltaX: -0.299999 m, approachRate: -0.594492 m/s, rangeRepo size: 4  Added new target pos. range: 27.525911 m, bearing: 182.840871 deg, lat: 36.779129 deg, lon: -121.859758 deg, deltaT: 1.006667 s, deltaX: -0.299145 m, approachRate: -0.297164 m/s, posRepo size: 4 g  DNOT Ignoring new targets: 27.53 m.g gg!M ProNav: ac range: 27.525911 m, nav range: 27.249798 m, bearing: 182.844126 deg, approach rate: 0.000000 m/s, LOS rate: -0.055161 deg/s, cmd heading: 186.783544 deg, new cmd heading: 186.733178 deg. gQHeadingCmd: 3.259109 target range: 27.525911 and range: 27.60 m.g=P@ggggzfrfffBdddc;@c Cr?ɢQU/2= Qu>Iy }N<ɡyiyI}IwAi=i=)=P@)BEـ4JE44RExE0DDD,DEU: E6Eg4:E"E;!E;!*E};!E};!i5719=|49aDAT read: 23:56:36.4897 LVL= 16880, 23665, 16354, 27379, AGC= 58, IDX= 497,-0.24, 2.244, 0.731, 2.609, 2.134, PHS= 0.212,-1.359, 0.431, RAW= 156.4, 8.5, CAL= 156.1, 9.0, ROT= 353.9, -9.0 Ygot valid direction response: 23:56:36.4897 LVL= 16880, 23665, 16354, 27379, AGC= 58, IDX= 497,-0.24, 2.244, 0.731, 2.609, 2.134, PHS= 0.212,-1.359, 0.431, RAW= 156.4, 8.5, CAL= 156.1, 9.0, ROT= 353.9, -9.0 Z#Rx 55: Read direction message, but no range.^direction in FSK: [0.982096,-0.104956,0.156434]9im>Tm?{0c޺p ?iimAmq\m?mjm: mY>)mIm>imR.@im].@im@ iiiImu?=K,? ?m"?m& mi ڽ)ichecking for new query: numPingsReceived=55, elapsed TxPingTime=27.723396QiUCI%G)AIieAjAm?m2Ay >AU C=Aa I ԩ I N} >](,ڡ3ADiDNDDAT read: Rx Time:23:56:36.9896 NTRx dataTimestamp_ set to:1758412594.548362RDAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.3 VZ#Rx 56: Read range message, but no direction.9LNAL^checking for new query: numPingsReceived=56, elapsed TxPingTime=27.967464y% gD@ٱ%_R@%<%m/%H`iޥ?์¿>`s`"`?I% gD@)%Ѹ_;i%C]B9]!IAMb@Mb@Mb@ )Ii rh?Mbp~jth>DIAi@)3@BD6D 83Y-5:=!-,=5p;Q)5>19195FY5=E=A=>AQ 1M5٪E5?Q 5M5E= E(9U>Q AU;YU@Q EU@yEwCE)E:IE:iE5YY}AyhLhN]3AhNhAhNhAhNK@ vNWe:@l?7^)@uN>Tm?{0c޺p ?hNi ڽhLvNK:(;w۴<=O\ @vN6 ￳NQFM1J?hN阿hNDhN9QE?hNs2hNߊB*iNe1K?2iL:iNBiNA"iN!4L@ addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.499419 s, deltaX: -0.100000 m, approachRate: -0.200233 m/s, rangeRepo size: 4  Added new target pos. range: 27.426178 m, bearing: 182.518681 deg, lat: 36.779129 deg, lon: -121.859758 deg, deltaT: 0.499419 s, deltaX: -0.099733 m, approachRate: -0.199699 m/s, posRepo size: 4 gDNOT Ignoring new targets: 27.43 m.ggg ProNav: ac range: 27.426178 m, nav range: 27.121429 m, bearing: 182.812588 deg, approach rate: 0.000000 m/s, LOS rate: -0.055161 deg/s, cmd heading: 186.733178 deg, new cmd heading: 186.677645 deg. g-HeadingCmd: 3.258140 target range: 27.426178 and range: 27.50 m.g-\P@g)g1g9g9zf9rfAfAfEBBdIdIqdc;@c!?ɢAET4= AE>IA E4<ɡIiIIMKDDDDE: E6E:E!@!@!@!@IXAi=i =)\P@)Uchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.216322i10ԩ vBU C>~BQ BU !IBU qBBQ BQ BQ BU ;BU MQE>A Kk=AyA I)IINm?w0,'M3AUDDAT read: Rx Time:23:56:37.4894 ]TRx dataTimestamp_ set to:1758412595.079474ePDAT read: Bearing 343.9, -8.3 (Local) e~Local bearing/azimuth received: Bearing 343.9, -8.3 (Local) DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.3 DAT read: 23:56:37.4894 LVL= 18832, 23953, 20818, 31507, AGC= 58, IDX= 510,-0.23, 0.556,-0.973, 0.944, 0.457, PHS= 0.201,-1.385, 0.443, RAW= 157.0, 8.7, CAL= 156.7, 9.1, ROT= 353.3, -9.1 Ygot valid direction response: 23:56:37.4894 LVL= 18832, 23953, 20818, 31507, AGC= 58, IDX= 510,-0.23, 0.556,-0.973, 0.944, 0.457, PHS= 0.201,-1.385, 0.443, RAW= 157.0, 8.7, CAL= 156.7, 9.1, ROT= 353.3, -9.1 T#Rx 57: Read range and direction messages.5^direction in FSK: [0.980670,-0.115203,0.158158]5Fpublishing direction and range info9QU 9,Ѧa?p}@\~>?UAQiUIU]URQU{Q UM>)UGIU>iU^/@U|>U /@U">UQ@ U"iQQIU%C?h ?yF?UP%?U> U|)U"iQQchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.535057ԩy WD@ٱOR@<E׼H_ N?l¿ ;Ҟ@E욿?I WD@)҇_;iCB9!Ii=I=BD#6DӀ3Y!=y:Q)> H?9 H?9FY@EA>Q 15٪'?Q 55 (9Y@Q E@yyCE){:I:i5YsBA%ݦEhQhU3AhUAhUAhU K@ vUgD:@:h3 @P)@uU 9,Ѧa?p}@\~>?hU|hU"vU΀I:9+q?z @vU6i#Z_Ue?hU^hUhUݓN?hU#hUӊB*iUM?2iUs2:iUߊBiUAA"iU9K@ addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.531112 s, deltaX: -0.299999 m, approachRate: -0.564851 m/s, rangeRepo size: 4 u Added new target pos. range: 27.126961 m, bearing: 181.849007 deg, lat: 36.779129 deg, lon: -121.859756 deg, deltaT: 0.531112 s, deltaX: -0.299217 m, approachRate: -0.563379 m/s, posRepo size: 4 gqDNOT Ignoring new targets: 27.13 m.ggg ProNav: ac range: 27.126961 m, nav range: 26.906887 m, bearing: 182.494692 deg, approach rate: 0.000000 m/s, LOS rate: -0.055161 deg/s, cmd heading: 186.677649 deg, new cmd heading: 186.619863 deg. gHeadingCmd: 3.257131 target range: 27.126961 and range: 27.20 m.gtP@ggggzfrfffBdd!d!c%@33;@c%"?ɢm؂Bu(2=DD{D+DE: E5":6E [4:E"Eh;!Ei;!*EBz;!ECz;! >I +W<ɡiIρIߪAi=i)tP@)=checking for new query: numPingsReceived=57, elapsed TxPingTime=28.719959i/ 9 >A =II)iN?]DDAT read: Rx Time:23:56:37.9893 ]TRx dataTimestamp_ set to:1758412595.571619mPDAT read: Bearing 344.0, -8.5 (Local) m~Local bearing/azimuth received: Bearing 344.0, -8.5 (Local) }DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.3 DAT read: 23:56:37.9893 LVL= 18704, 24769, 19890, 28899, AGC= 58, IDX= 510,-0.21, 1.604, 0.061, 1.999, 1.509, PHS= 0.197,-1.402, 0.446, RAW= 157.1, 8.8, CAL= 156.8, 9.3, ROT= 353.2, -9.3 Ygot valid direction response: 23:56:37.9893 LVL= 18704, 24769, 19890, 28899, AGC= 58, IDX= 510,-0.21, 1.604, 0.061, 1.999, 1.509, PHS= 0.197,-1.402, 0.446, RAW= 157.1, 8.8, CAL= 156.8, 9.3, ROT= 353.2, -9.3 T#Rx 58: Read range and direction messages.^direction in FSK: [0.979914,-0.116847,0.161604]Fpublishing direction and range info9Y]Qjs[?'齿o?]AYi]I]`]M]pY ]^I>)]tI]Z>i]~{/@]nF>]%/@]6&>]C@ ]6&iYYI] F6?7O?:e?]%?] ])]6&iYYchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.002234+9,g3Aɰ;4<,yf9HD@ٱf@R@f`IAi@@)@BD56D503YE!E =m׈:Q)u>q9q9}FY}DE} ˺A>ԉQ 15٪%?Q 55 (9->Q A;Y1AQ E@y}CEDD|D1DE: EP$:6E-4:E!@!@!@!@)1I R<ɡiIJI pAi b =i =) EbP@)Թi9_5AI AI vBQ ~BQ BQ BQ BU =BQ BQ BU ;BU FQE >AY rAe >jAa  Ii  DDAT read: Rx Time:23:56:38.4891  TRx dataTimestamp_ set to:1758412596.076954 PDAT read: Bearing 343.7, -8.6 (Local)  ~Local bearing/azimuth received: Bearing 343.7, -8.6 (Local)  DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.3  DAT read: 23:56:38.4891 LVL= 16016, 26209, 16258, 25331, AGC= 57, IDX= 508,-0.28, 1.077,-0.466, 1.473, 0.977, PHS= 0.203,-1.398, 0.453, RAW= 157.2, 8.6, CAL= 156.8, 9.0, ROT= 353.2, -9.0 I N> dA,^3AYgot valid direction response: 23:56:38.4891 LVL= 16016, 26209, 16258, 25331, AGC= 57, IDX= 508,-0.28, 1.077,-0.466, 1.473, 0.977, PHS= 0.203,-1.398, 0.453, RAW= 157.2, 8.6, CAL= 156.8, 9.0, ROT= 353.2, -9.0 T#Rx 59: Read range and direction messages.^direction in FSK: [0.980740,-0.116946,0.156434]ZFpublishing direction and range info9Wf9b?!p}-𽿨p ?Ai>af?b9 ;O>)I>i/@`>| > | iI`8? ?+}?Ǭ:Yv?%? F )| ifchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.532461B9!IBD%*6D%3Y5X<1!5@=UQ)U>Y9Y9]FY]FEeAe>iQ 1m5٪m ?Q 5}5m m(9yYyQ E}@ymCE)m2;Im4;imU5YmBAhh3AhAhAh4J@ vOj:@ۙ@uWf9b?!p}-𽿨p ?hh| vMMc:`~远" @vjE I  o<ɡiIłI5Ai'=iEh=)5TP@)9-checking for new query: numPingsReceived=59, elapsed TxPingTime=29.740276i0_0>A 2= IA IQ N] >G,׾3A}DDAT read: Rx Time:23:56:38.9890 }TRx dataTimestamp_ set to:1758412596.576771PDAT read: Bearing 343.5, -8.8 (Local) ~Local bearing/azimuth received: Bearing 343.5, -8.8 (Local) DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.3 DAT read: 23:56:38.9890 LVL= 17536, 27025, 16178, 26099, AGC= 59, IDX= 508,-0.40,-2.747, 1.989,-2.343,-2.850, PHS= 0.205,-1.399, 0.463, RAW= 157.3, 8.4, CAL= 157.0, 8.8, ROT= 353.0, -8.8 Ygot valid direction response: 23:56:38.9890 LVL= 17536, 27025, 16178, 26099, AGC= 59, IDX= 508,-0.40,-2.747, 1.989,-2.343,-2.850, PHS= 0.205,-1.399, 0.463, RAW= 157.3, 8.4, CAL= 157.0, 8.8, ROT= 353.0, -8.8 T#Rx 60: Read range and direction messages.^direction in FSK: [0.980862,-0.120435,0.152986]Fpublishing direction and range info9y} C9c? $Ծ8C ?}Ayi}D}i}2?}e}; }Q>)}oI}V>i}/@}Q >}^/@}nF>}'@ }nFiyyI}nYd*?O94?> f?}&?}M^ }5)}nFiyychecking for new query: numPingsReceived=60, elapsed TxPingTime=30.007801yE2D@ٱE)+R@E]+5945;I5Ai15;@5A)15(@BD)6D3Y%(=!%=%V/;Q)->19Q9]FY]JE] Ae>qQ 15٪uR?Q 55uz u(9>Q A!;YBQ E@yuCE)ub {忙 @v}n:8|ydL陿3[͛>?h}+h}qh}R?h}r"h}XB*i}5O?2i}S:i}ӊBi}A"i}J@ addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.499817 s, deltaX: -0.100000 m, approachRate: -0.200074 m/s, rangeRepo size: 4  Added new target pos. range: 26.528587 m, bearing: 181.461791 deg, lat: 36.779129 deg, lon: -121.859752 deg, deltaT: 0.499817 s, deltaX: -0.099731 m, approachRate: -0.199536 m/s, posRepo size: 4 gD=D=}D=/D9E=U: E=k&:6E=J4:E9!M@!M@!M@!M@DNOT Ignoring new targets: 26.53 m.gIgQgQ ProNav: ac range: 26.528587 m, nav range: 26.357981 m, bearing: 181.640611 deg, approach rate: 0.000000 m/s, LOS rate: -0.055161 deg/s, cmd heading: 186.506798 deg, new cmd heading: 186.449512 deg. gHeadingCmd: 3.254158 target range: 26.528587 and range: 26.60 m.gDP@ggggzfrfffBBdddc:@c?ɢ  9=   >I  <ɡ i! I% EA IM AiM /=iM m=)M DP@)Q 5 checking for new query: numPingsReceived=60, elapsed TxPingTime=30.244289i / q vB D>~B B B B =B B B ;B GQEBQBQBQBQBQBU4>A =I!I9NE>B3O,?3Ai,y1D@ٱt*R@1<HuD?`& R#¿ @)`V?I1D@)_;iCUB9]!IBD6D 83YfF!f=f:Q)>99FYLE.A>DDAT read: Rx Time:23:56:39.4888 TRx dataTimestamp_ set to:1758412597.080825PDAT read: Bearing 343.8, -9.0 (Local) ~Local bearing/azimuth received: Bearing 343.8, -9.0 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.3 DAT read: 23:56:39.4888 LVL= 17328, 25633, 15202, 27043, AGC= 58, IDX= 506,-0.47, 3.048, 1.513,-2.831, 2.954, PHS= 0.196,-1.396, 0.455, RAW= 157.4, 8.6, CAL= 157.1, 9.1, ROT= 352.9, -9.1 Ygot valid direction response: 23:56:39.4888 LVL= 17328, 25633, 15202, 27043, AGC= 58, IDX= 506,-0.47, 3.048, 1.513,-2.831, 2.954, PHS= 0.196,-1.396, 0.455, RAW= 157.4, 8.6, CAL= 157.1, 9.1, ROT= 352.9, -9.1 T#Rx 61: Read range and direction messages.^direction in FSK: [0.979842,-0.122046,0.158158]Fpublishing direction and range info9; &Z?#id>@\~>?fAiC!db;i: 9H>)!I>iF/@`>~{/@">@ "iI/1 ?2d9?+P`3?5'?/ )"ichecking for new query: numPingsReceived=61, elapsed TxPingTime=30.511593 Q 1E5٪ ?Q 5M5  (9IYMBQ EM@y CE) ;I q;i <5YQUAYԁhh=,E3AhAhAh4J@ vͻ^9@И ~j@u; &Z?#id>@\~>?hh"vs29,俾Q}d @v9/յPyD?=塌5?hg!hhl9c?hmehB*iR?2i<|.:iBiA"igJ@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504054 s, deltaX: -0.300001 m, approachRate: -0.595177 m/s, rangeRepo size: 4 E Added new target pos. range: 26.229389 m, bearing: 181.389549 deg, lat: 36.779129 deg, lon: -121.859752 deg, deltaT: 0.504054 s, deltaX: -0.299198 m, approachRate: -0.593584 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 26.23 m.gIgQgQ ProNav: ac range: 26.229389 m, nav range: 26.199402 m, bearing: 181.610562 deg, approach rate: 0.000000 m/s, LOS rate: -0.055161 deg/s, cmd heading: 186.449507 deg, new cmd heading: 186.407100 deg. gHeadingCmd: 3.253418 target range: 26.229389 and range: 26.30 m.g7P@ggggzfrfffBdddcL:@c@%?ɢMڂBMn I= IMI>IQ U<ɡQiQIUIAi5=i=)7P@)ԱibDIZDM@AD]D]D].DYE]7: E]0:6E]ـ4:EY"E];!eE];!e*E]މ;!mE]މ;!m E checking for new query: numPingsReceived=61, elapsed TxPingTime=30.747509>Au 2=bA} AZA} AI I N >V,zY3Ay61D@ٱ6*R@69(=6c 6HPD?@"¿@D`[`W`,?I61D@)6^;i6CFB9F!IBDJ6DJN3YRe;!V^=V:Q)V>X9X9ZFYZNEZwA^>\`Q 1f5٪b睊?Q 5f5b' b(9hYhQ Ej@ybCE)bW:Ib:ibо5YngBn`ArܦE~B*** querying acoustic contact ***zh|h|g  DNOT Ignoring new targets: 26.23 m.g gugu% ProNav: ac range: 26.229389 m, nav range: 26.080816 m, bearing: 181.589436 deg, approach rate: -0.389495 m/s, LOS rate: -0.069704 deg/s, cmd heading: 186.407105 deg, new cmd heading: 186.364661 deg. g%!-HeadingCmd: 3.252677 target range: 26.229389 and range: 26.30 m.g-+P@g)g)g1g1zf1rf1f1f9Bd9d9dAcAcE?ɢim-\= qu>Iq uЙ<ɡiI"IAiK:=i:#=)+P@)i}1yS2DDAT read: Rx Time:23:56:39.9888 TRx dataTimestamp_ set to:1758412597.589225PDAT read: Bearing 343.4, -9.1 (Local) ~Local bearing/azimuth received: Bearing 343.4, -9.1 (Local) DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.3 eDAT read: 23:56:39.9888 LVL= 17248, 22417, 15298, 26291, AGC= 58, IDX= 506,-0.44,-1.859, 2.895,-1.453,-1.959, PHS= 0.202,-1.384, 0.462, RAW= 157.5, 8.4, CAL= 157.1, 8.8, ROT= 352.9, -8.8 mYgot valid direction response: 23:56:39.9888 LVL= 17248, 22417, 15298, 26291, AGC= 58, IDX= 506,-0.44,-1.859, 2.895,-1.453,-1.959, PHS= 0.202,-1.384, 0.462, RAW= 157.5, 8.4, CAL= 157.1, 8.8, ROT= 352.9, -8.8 mT#Rx 62: Read range and direction messages.u^direction in FSK: [0.980651,-0.122146,0.152986]Fpublishing direction and range info9ʇV}a?;D8C ?i`CW;f N>)&ID>i/@Q >nF> nFiĪ ?!C? XʧR?q'? )nFichecking for new query: numPingsReceived=62, elapsed TxPingTime=31.033651>AS=A A AI I N >De De |De /Da Ee Ʊ: Ee P$:6Ee J4:Ea !u @!u @!u @!u @FA\,fs3Ay6K6D@ٱ6.R@6h=6f6HШXP?d+¿WZ@r@?I6K6D@)6z_;i6CBB9B!Ichecking for new query: numPingsReceived=62, elapsed TxPingTime=31.251455YuMb@Mb@Mb@ q)qIqiqquV-?Zd;O~jth?u>ujuD;IuAiu@u$@u@)qu@BD6D{U3Y;!<=:Q)>K?9K?9FYQE1+:A>Q 15٪%۝?Q 55q )9>Q A;YADQ E@yCE) ;I ;i5YWAhhݵe3AhhhhJ@ vPr*̸9@e(p 8  @uʇV}a?;D8C ?hhnFvrD: ֛?-F2j @v`W,͍$zF?h$hhK?h~bh6B*i2i~b:iBitA"iͦJ@ addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.508400 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 26.229389 m, bearing: 181.418238 deg, lat: 36.779129 deg, lon: -121.859751 deg, deltaT: 0.508400 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g15DNOT Ignoring new targets: 26.23 m.g1g=g9M ProNav: ac range: 26.229389 m, nav range: 25.931656 m, bearing: 181.423115 deg, approach rate: 0.000000 m/s, LOS rate: -0.069704 deg/s, cmd heading: 186.364662 deg, new cmd heading: 186.303565 deg. gIUHeadingCmd: 3.251611 target range: 26.229389 and range: 26.30 m.gUcP@gQgQgYgYzfYrfYfafeBBdadadacicm@?ɢ-ۂB5B= IU>IQ UY<ɡQiQIU䖄I]QBi]A=i]p&=)ecP@)aiiAQAQvBa~BaBaBaBaBaBaBe;BeKQEԁi0_0@=@=ԙDDAT read: Rx Time:23:56:40.4886 TRx dataTimestamp_ set to:1758412598.089870PDAT read: Bearing 343.8, -9.5 (Local) ~Local bearing/azimuth received: Bearing 343.8, -9.5 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.3 >AK= DAT read: 23:56:40.4886 LVL= 17168, 24481, 15058, 25043, AGC= 58, IDX= 504,-0.44, 2.649, 1.126, 3.066, 2.565, PHS= 0.186,-1.394, 0.457, RAW= 157.8, 8.7, CAL= 157.5, 9.2, ROT= 352.5, -9.2  Ygot valid direction response: 23:56:40.4886 LVL= 17168, 24481, 15058, 25043, AGC= 58, IDX= 504,-0.44, 2.649, 1.126, 3.066, 2.565, PHS= 0.186,-1.394, 0.457, RAW= 157.8, 8.7, CAL= 157.5, 9.2, ROT= 352.5, -9.2  T#Rx 63: Read range and direction messages. ^direction in FSK: [0.978691,-0.128847,0.159881] Fpublishing direction and range info98&pQ?7p~Čsv?AiC_:a v>>)nI>iC0@|>/@l$>@ l$iIw7?j:a?qzf?(?{  )l$i checking for new query: numPingsReceived=63, elapsed TxPingTime=31.544479 A I) I9 NE >+c,I3AyZl8D@ٱZ0R@Z,=ZZHsT?/¿v,@Ġ 3?IZl8D@)Z^;iZCt9tBD6DF3-;Q)->19195FY5SE}!9A}>Q 15٪ϝ?Q 55 )9Y?DQ E@yCE):I:ԑisŒ5YaB%AۦEhhn3AhqAhqAh7J@ v]Iͮ`9@q)p 8L7@@u8&pQ?7p~Čsv?h hl$vzAӲ9vݿgj @vߢ϶Bv_XW?hhrDjD<DDwD+DE: E:6E [4:E"Eh;!-Ei;!-*Ek;!-Ek;!-hs7Z?hshwB*is7Z?2ir":iwBiA"iӝJ@m addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500645 s, deltaX: -0.299999 m, approachRate: -0.599225 m/s, rangeRepo size: 4  Added new target pos. range: 25.930210 m, bearing: 181.035608 deg, lat: 36.779130 deg, lon: -121.859751 deg, deltaT: 0.500645 s, deltaX: -0.299179 m, approachRate: -0.597587 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.93 m.ggg ProNav: ac range: 25.930210 m, nav range: 25.706127 m, bearing: 181.391727 deg, approach rate: 0.000000 m/s, LOS rate: -0.069704 deg/s, cmd heading: 186.303559 deg, new cmd heading: 186.245852 deg. gHeadingCmd: 3.250603 target range: 25.930210 and range: 26.00 m.g P@ggggzfrfffBdddc:@c?ɢe܂BeHE= 額B>I <ɡiIIBi3I=i-=) P@))  Achecking for new query: numPingsReceived=63, elapsed TxPingTime=31.755793iAAAE?0A>Am !=rA >jA >!  DDAT read: Rx Time:23:56:40.9885  TRx dataTimestamp_ set to:1758412598.597180 PDAT read: Bearing 343.3, -9.5 (Local)  ~Local bearing/azimuth received: Bearing 343.3, -9.5 (Local)  DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.3 5 DAT read: 23:56:40.9885 LVL= 16784, 24209, 14578, 25027, AGC= 58, IDX= 503,-0.45,-2.896, 1.853,-2.478,-2.996, PHS= 0.201,-1.390, 0.474, RAW= 157.8, 8.2, CAL= 157.4, 8.6, ROT= 352.6, -8.6 I9 II N] >Wi,'03A.Ygot valid direction response: 23:56:40.9885 LVL= 16784, 24209, 14578, 25027, AGC= 58, IDX= 503,-0.45,-2.896, 1.853,-2.478,-2.996, PHS= 0.201,-1.390, 0.474, RAW= 157.8, 8.2, CAL= 157.4, 8.6, ROT= 352.6, -8.6 2T#Rx 64: Read range and direction messages.6^direction in FSK: [0.980521,-0.127347,0.149535]6Fpublishing direction and range info9#n`?}=LS&r#?fAiA^8a M>yF,5D@ٱF-R@F =F1)뱿FH d|L?#)¿`'@R Z@!?IF,5D@)F^;iFCI!>iC>F/@`>@ `iI,j?A5h? ]?l(?o @)`ichecking for new query: numPingsReceived=64, elapsed TxPingTime=32.0856909-only read 0 of 1 data item for BIT error. Device response is::TS,00032803442460,35.0, +11.91496.6, 0 !@! !@! !@! !@! BD"6DJz3;Q)>99FYWE<عA>Q 15٪ ?Q 55 )Q = +:9 Q A :Y CDQ E @yCE)I;I>i'Č5YAAIhh283AhAhAhBJ@ v_K:9@nF6 ډ@u#n`?}=LS&r#?h@h`v,k9~Xv|޿I5@vrwQ+؉ Hp ʾ?hhPh(Y?hh̉B*i(Y?2ime:iXBi^A"ixJ@ addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.507310 s, deltaX: -0.200001 m, approachRate: -0.394238 m/s, rangeRepo size: 4 D%D%|D%,D!E%g: E%P$:6E%g4:E!!-@!-@!-@!-@1M Added new target pos. range: 25.730745 m, bearing: 181.073041 deg, lat: 36.779130 deg, lon: -121.859751 deg, deltaT: 0.507310 s, deltaX: -0.199465 m, approachRate: -0.393181 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 25.73 m.gIgQgQ ProNav: ac range: 25.730745 m, nav range: 25.546167 m, bearing: 181.310053 deg, approach rate: 0.000000 m/s, LOS rate: -0.069704 deg/s, cmd heading: 186.245858 deg, new cmd heading: 186.177211 deg. gHeadingCmd: 3.249405 target range: 25.730745 and range: 25.80 m.gBO@ggggzfrfffBdddc9@c@ ?ɢM݂BM>= IMA>Iq u <ɡqiqIupI}s)Bi}FR=i}+=)}BO@)checking for new query: numPingsReceived=64, elapsed TxPingTime=32.259476IiIIIM/I@Q@UAvBA ~BA BA BA BA BA BA BE ;BE HQEq >Au $=IiIyN>Yq,P3A"DDAT read: Rx Time:23:56:41.4884 "TRx dataTimestamp_ set to:1758412599.096737*PDAT read: Bearing 343.9, -10.0 (Local) *~Local bearing/azimuth received: Bearing 343.9, -10.0 (Local) 2DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.2 FDAT read: 23:56:41.4884 LVL= 18496, 21121, 15634, 24547, AGC= 59, IDX= 501,-0.38, 1.486,-0.042, 1.919, 1.408, PHS= 0.180,-1.406, 0.467, RAW= 158.2, 8.7, CAL= 157.9, 9.2, ROT= 352.1, -9.2 JYgot valid direction response: 23:56:41.4884 LVL= 18496, 21121, 15634, 24547, AGC= 59, IDX= 501,-0.38, 1.486,-0.042, 1.919, 1.408, PHS= 0.180,-1.406, 0.467, RAW= 158.2, 8.7, CAL= 157.9, 9.2, ROT= 352.1, -9.2 JT#Rx 65: Read range and direction messages.N^direction in FSK: [0.977768,-0.135677,0.159881]NFpublishing direction and range info9 "SI?v@߳]Čsv?"A i"@H"R"="_"; "Q8>)"I">i" 0@"|>"A`0@"l$>"U@ "l$i I"Ks ?`ی?4n7n?"ϔ*?",  "0 )"l$i ^checking for new query: numPingsReceived=65, elapsed TxPingTime=32.527153y-0D@ٱ-(R@- =--H@? L՞¿ ٯj`?I-0D@)-^;i)B9!IiBD'6D3Y! |< :Q)>99FYYEAA>!Q 1-5٪%?Q 5M5%P % )Q =M :9IQ AM:YUHDQ EU@y%CE)%;I%Gh?i%[Ō5YY]<AYh h"03Ah" Ah" Ah"(I@ v"- Ψ9@^ %vqCd@u"SI?v@߳]Čsv?h"0 h"l$v"Dli99(;Ͽ @v"qG￶ ~Ꝟ?h"yh"Mh".X?h"{h"AB*i 2i":i"ABi"6A"i"=J@I% addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.499557 s, deltaX: -0.099998 m, approachRate: -0.200174 m/s, rangeRepo size: 4 } Added new target pos. range: 25.631002 m, bearing: 180.550089 deg, lat: 36.779130 deg, lon: -121.859750 deg, deltaT: 0.499557 s, deltaX: -0.099743 m, approachRate: -0.199663 m/s, posRepo size: 4 gyDNOT Ignoring new targets: 25.63 m.ggg ProNav: ac range: 25.631002 m, nav range: 25.401503 m, bearing: 181.055054 deg, approach rate: 0.000000 m/s, LOS rate: -0.069704 deg/s, cmd heading: 186.177214 deg, new cmd heading: 186.120012 deg. gHeadingCmd: 3.248407 target range: 25.631002 and range: 25.70 m.gO@ggggzfrff9fABdAdAdAcM@39@cM?ɢނB¾F= 顕r>I n<ɡiIZӅI9Bi 4Z=i [%=) O@)  =>=>BEt4JEŭx4RE0DDDDEU: E=:6E:E"E;!%E;!%*Eʔ;!%Eʔ;!%qi10IGchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.763500)I i=f9=kAԡ >A ?=I I) N= >~w,o3A@yF1D@ٱF)R@F7=FݼFH@(7A?@ ¿@CE؜?IF1D@)F_;iFCB9!IBDM"6DMJz3Y!?=G/;Q)>99FY\E9A >!Q 1E5٪%?Q 5M5uDDAT read: Rx Time:23:56:41.9884 TRx dataTimestamp_ set to:1758412599.604859PDAT read: Bearing 344.0, -10.2 (Local) Ա~Local bearing/azimuth received: Bearing 344.0, -10.2 (Local) % %)Q =99Q A:YQ E@y%CEDAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.3 )%a)}jI}>i}0@ ProNav: ac range: 25.631002 m, nav range: 25.253687 m, bearing: 181.036159 deg, approach rate: -0.316767 m/s, LOS rate: -0.040728 deg/s, cmd heading: 186.120018 deg, new cmd heading: 186.082008 deg. g-HeadingCmd: 3.247744 target range: 25.631002 and range: 25.70 m.g-O@g1g1g1g1zf1rf9}>}|0@}'>} @ }'iyyI} Y?$AY?Hԫ?}'+?}f }4)}'iyyUchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.113640fyfyBdddcc2?ɢ߂BwS>= - >I1 5`<ɡqiqIu*I}DBi}Wc=i}6=)O@)D D D +D E Ʊ: E *:6E [4:E !- @!- @!- @!5 @i / /   checking for new query: numPingsReceived=66, elapsed TxPingTime=33.2675219 >A +=A<A<vBC>~BBBBBBB;BBQEbA1ZA5AIIN>~,:3Ay66D@ٱ6>/R@68=66ܼ6H@w@CM?@+¿רI@Ƣ F?I66D@)6_;i4BB9B!IԱ! !- !5!5 !5!5 !5!5 5Mb@Mb@Mb@ 1)1I1i115{Gz?{GzMb?5ף>5#599%FY-_E=k;:A]>iQ 1u5٪mJ?Q 5u5m m)Q =uT:9u*>Q Au$;Y}GQ E}@ymCE)m;Im0;imȌ5Y?AhQhU3AhQhQhUՔI@ vU}v|l 9@5Ah' 76@uUXC?aG/$vz?hU4hU'vU]j\Bh9Bspeʿ/6 @vUܻˈzDYZ?hU.ShUFhU["??hUAhUJB*iU.X?2iUs:iQiUA DDAT read: Rx Time:23:56:42.4882 TRx dataTimestamp_ set to:1758412600.105388%PDAT read: Bearing 343.9, -10.2 (Local) %~Local bearing/azimuth received: Bearing 343.9, -10.2 (Local) 5DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.3 uDAT read: 23:56:42.4882 LVL= 20064, 22001, 20178, 29875, AGC= 59, IDX= 499,-0.25, 0.043,-1.487, 0.479,-0.033, PHS= 0.177,-1.409, 0.468, RAW= 158.3, 8.8, CAL= 158.0, 9.2, ROT= 352.0, -9.2 "iU&J@ addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.508122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Ygot valid direction response: 23:56:42.4882 LVL= 20064, 22001, 20178, 29875, AGC= 59, IDX= 499,-0.25, 0.043,-1.487, 0.479,-0.033, PHS= 0.177,-1.409, 0.468, RAW= 158.3, 8.8, CAL= 158.0, 9.2, ROT= 352.0, -9.2 T#Rx 67: Read range and direction messages.^direction in FSK: [0.977530,-0.137383,0.159881]Fpublishing direction and range info9FGG?͏{•Čsv?3Ai`NUNt }?5>)ZI>inF> Added new target pos. range: 25.630976 m, bearing: 180.465028 deg, lat: 36.779130 deg, lon: -121.859749 deg, deltaT: 0.508122 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.63 m.gggl$> l$iIhII?W?+(N? +?? )l$i-checking for new query: numPingsReceived=67, elapsed TxPingTime=33.5562405 ProNav: ac range: 25.630976 m, nav range: 25.110773 m, bearing: 180.975749 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 186.082002 deg, new cmd heading: 186.044044 deg. g1HeadingCmd: 3.247081 target range: 25.630976 and range: 25.70 m.g-O@ggggzfrfffBBdddc`ff9@c@Q.?ɢBy?= X>I  <ɡiIyIOBiOl=i=)-O@) i 1   / D D D ,D E  E ,:6E g4:E "E E;! E G;! *E :;! E ;;! 9  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.771500>A- =I I N >Yi,P3Ay665D@ٱ6-R@6o=6 ׼6H ?`lJ?#9 (¿@ `U`ܚ@V?I665D@)6h_;i6CBB9B!IBDJ"6DJJz3YRl<!R\=VA;Q)V>T9T9VFYZaE\Z7A^>`Q 1f5٪b{?Q 5f5b b)9dYfGQ Ej@ybCE)b:Ib|:ibʌ5Yln#Alhh3AhAhAh I@ vW@Z78@ "kY F3@uFGG?͏{•Čsv?hhl$vA 9:*ɿLxyj @vP `e-?hPIhhBM?hphB*i2i{:iiA"i+I@ addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.500529 s, deltaX: -0.300001 m, approachRate: -0.599368 m/s, rangeRepo size: 4  Added new target pos. range: 25.331781 m, bearing: 180.448261 deg, lat: 36.779130 deg, lon: -121.859747 deg, deltaT: 0.500529 s, deltaX: -0.299194 m, approachRate: -0.597756 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.33 m.ggg ProNav: ac range: 25.331781 m, nav range: 24.991747 m, bearing: 180.522166 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 186.044039 deg, new cmd heading: 186.015318 deg. g!%HeadingCmd: 3.246580 target range: 25.331781 and range: 25.40 m.g-O@g)g)gIgIzfIrfQfQfQBdQdYdYcYc]'?)ɢB2LO= Yeڴ>Ia m@<ɡqiqIƆIWBiI4=DDAT read: Rx Time:23:56:42.9882 TRx dataTimestamp_ set to:1758412600.614303PDAT read: Bearing 344.0, -10.1 (Local) -~Local bearing/azimuth received: Bearing 344.0, -10.1 (Local) eDAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.3 iuPt=iu@=)uO@)y)DAT read: 23:56:42.9882 LVL= 19024, 25441, 18354, 30387, AGC= 59, IDX= 499,-0.29, 0.994,-0.520, 1.419, 0.917, PHS= 0.178,-1.392, 0.458, RAW= 158.1, 8.8, CAL= 157.8, 9.3, ROT= 352.2, -9.3 Ygot valid direction response: 23:56:42.9882 LVL= 19024, 25441, 18354, 30387, AGC= 59, IDX= 499,-0.29, 0.994,-0.520, 1.419, 0.917, PHS= 0.178,-1.392, 0.458, RAW= 158.1, 8.8, CAL= 157.8, 9.3, ROT= 352.2, -9.3 T#Rx 68: Read range and direction messages.%^direction in FSK: [0.977725,-0.133931,0.161604]%Fpublishing direction and range info9M_I?k&$o?QiPJacGv E6>)-I~>ir0@C0@6&>@ 6&iI #A?Q?y?_*?9 g )6&ichecking for new query: numPingsReceived=68, elapsed TxPingTime=34.088005i y D D {D /D E g: E 5":6E J4:E ! @! @! @! @>A5 Vo=} checking for new query: numPingsReceived=68, elapsed TxPingTime=34.276924Ա AaIiIyN>,WZ93AvB~BB!IBgBBBBB;B8QEIB9!IMb@Mb@Mb@ )Iish|??tD;I$Ai$@A)@BD6Df?3Y-Ň!-=-Q)5>19195FY5eE=A=>AQ 1M5٪E󀝊?Q 5M5E E)9M>Q AM;YUFQ EU@yECE)EQ:IE:iĚ5yYTB AhhP'3AhhhI@ v{8@J$ P_@uM_I?k&$o?hg h6&vb'91@ҿI @v r^,n*c?hhh;?hѢnhB*iBM?2i:iBi]A"iڠI@= addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.508915 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 25.331774 m, bearing: 180.650363 deg, lat: 36.779129 deg, lon: -121.859747 deg, deltaT: 0.508915 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 25.33 m.gIgQgQe ProNav: ac range: 25.331774 m, nav range: 24.920778 m, bearing: 180.507061 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 186.015312 deg, new cmd heading: 185.964390 deg. gamHeadingCmd: 3.245691 target range: 25.331774 and range: 25.40 m.gmfO@gigigqgqzfqrfqfyf}BBdydydcc@?DDAT read: Rx Time:23:56:43.4880 TRx dataTimestamp_ set to:1758412601.112997PDAT read: Bearing 343.8, -9.7 (Local) ~Local bearing/azimuth received: Bearing 343.8, -9.7 (Local) DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.2 DAT read: 23:56:43.4880 LVL= 15248, 23489, 15746, 25171, AGC= 57, IDX= 497,-0.32, 0.559,-0.953, 0.970, 0.475, PHS= 0.186,-1.383, 0.451, RAW= 157.7, 8.7, CAL= 157.4, 9.2, ROT= 352.6, -9.2 =Ygot valid direction response: 23:56:43.4880 LVL= 15248, 23489, 15746, 25171, AGC= 57, IDX= 497,-0.32, 0.559,-0.953, 0.970, 0.475, PHS= 0.186,-1.383, 0.451, RAW= 157.7, 8.7, CAL= 157.4, 9.2, ROT= 352.6, -9.2 =T#Rx 69: Read range and direction messages.E^direction in FSK: [0.978915,-0.127138,0.159881]EFpublishing direction and range info92<-DS?\FČsv?Ai;[=Sb9 v>>)%Iy>i'0@|>F/@l$>@ l$iII V<ɡiI3 IPfBiU=i@=)fO@)ԩi 0 1 bDQ ZDQ D] D] }D] -DY E] ҝ: E] k&:6E] t4:EY "E] ;!e E] ;!e *E] ŀ;!m E] ŀ;!m >A 2=rA >jA >Uchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.780800A1IAIQN] ?,[3AiyFGD@ٱF"@R@FX'=FhӼFHq?`̢`L¿ǧ 餿f@p?IFGD@)F_;iFCLN ANtiRuFPiPRA)R+ PIP T)VAV+VhFTXZAiZ+IZ%FXI^̏Ci\ \\)\` bAbbF``fAIf̼)f Fid)ffCIf AjDh hhnB9n!IBDv$6Dv3Y~"ٽ!~M=<;Q)>99 FY hE 8;A >Q 15٪u?Q 55 )9!Y%FQ E%@yCE):IN:iΌ5Y)-A1hhX;G3AhBAhBAhLJ@ v7^78@ ?2u :J@u2<-DS?\FČsv?h@hl$vui88뭿޿ۙ=@v~9I^Ѣ\<$.4|?hhh􈳯H?hjhB*i􈳯H?2i:iiA"i/I@} addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.498694 s, deltaX: -0.299999 m, approachRate: -0.601570 m/s, rangeRepo size: 4  Added new target pos. range: 25.032581 m, bearing: 181.108167 deg, lat: 36.779128 deg, lon: -121.859747 deg, deltaT: 0.498694 s, deltaX: -0.299192 m, approachRate: -0.599952 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.03 m.ggg ProNav: ac range: 25.032581 m, nav range: 24.838825 m, bearing: 180.497728 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.964386 deg, new cmd heading: 185.933299 deg. gHeadingCmd: 3.245148 target range: 25.032581 and range: 25.10 m.gO@ggggzfrfffBdddc9@c`#?ɢBh?= ̚>IQ ]`<ɡYiI2I3oBi=iCS=)O@)i31DDAT read: Rx Time:23:56:43.9880 TRx dataTimestamp_ set to:1758412601.621859PDAT read: Bearing 110.7, 3.5 (Local) ~Local bearing/azimuth received: Bearing 110.7, 3.5 (Local) 5DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.3 DAT read: 23:56:43.9880 LVL= 16992, 27761, 15234, 26867, AGC= 57, IDX= 513,-0.33,-2.182,-1.140,-2.139,-0.997, PHS=-1.082,-0.098,-1.186, RAW= 334.9, 38.8, CAL= 334.0, 43.8, ROT= 176.0, -43.8 UYgot valid direction response: 23:56:43.9880 LVL= 16992, 27761, 15234, 26867, AGC= 57, IDX= 513,-0.33,-2.182,-1.140,-2.139,-0.997, PHS=-1.082,-0.098,-1.186, RAW= 334.9, 38.8, CAL= 334.0, 43.8, ROT= 176.0, -43.8 UT#Rx 70: Read range and direction messages.]^direction in FSK: [-0.720002,0.050347,0.692143]eFpublishing direction and range info9g'A -p#ǩ?f &?i`Bql;h ~)9ȽIΗi @-\-?q@EC? D@ ECiI‘nV`괔ܿ];?i"}k-  D@)ECichecking for new query: numPingsReceived=70, elapsed TxPingTime=35.104572)>A} 6[=Q De De zDe +Da Ee Ʊ: Ee  :6Ee [4:Ea !m @!m @!m @!m @A I I N >,v3A>checking for new query: numPingsReceived=70, elapsed TxPingTime=35.283588yV?D@ٱV{7R@V )=VϼVH`c`_?@ I;¿`ѽ//Z?IV?D@)VC_;iVCԱB9!IMb@Mb@Mb@ )IiS?L7A`堿Mb`>+IAi;@Q@@)@BD6D03Y5=!5&=53:Q)=>9999=FY=kEAMAAAMAAvBUD>~BQBU!IBU\BBU =BQBQBU;BU2QEBBBBBBè4A>Q 15٪Bg?Q 55D #)9>Q A;YFQ E@yCE):I#:iЌ5YNB4A٦Ehyh}g3Ahyhyh}:8= v}12%:L*?" Q}S1@u}g'A -p#ǩ?f &?h} D@h}ECv}^[1@†+r??62@v}o0?&P ?KKP?h}H?h}݊Ah}?h}h}B*iy2i}A:iyi}UA"i}I@ addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.508862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 25.032583 m, bearing: 2.583518 deg, lat: 36.779128 deg, lon: -121.859747 deg, deltaT: 0.508862 s, deltaX: 0.000002 m, approachRate: 0.000004 m/s, posRepo size: 4 gDNOT Ignoring new targets: 25.03 m.ggg ProNav: ac range: 25.032583 m, nav range: 24.666958 m, bearing: 180.427497 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.933295 deg, new cmd heading: 185.891362 deg. gHeadingCmd: 3.244416 target range: 25.032583 and range: 25.10 m.gO@ggggzfrff)f-BBdQdYdacicz?ɢB4=  a>I =<ɡiIKI0{Bi=iC=)O@)!)) i5=I5<=DDAT read: Rx Time:23:56:44.4878 ETRx dataTimestamp_ set to:1758412602.122451UPDAT read: Bearing 343.8, -9.8 (Local) ]~Local bearing/azimuth received: Bearing 343.8, -9.8 (Local) }DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.3 i10DAT read: 23:56:44.4878 LVL= 18864, 29425, 15938, 27379, AGC= 57, IDX= 511,-0.29, 0.069,-1.424, 0.478,-0.012, PHS= 0.183,-1.367, 0.446, RAW= 157.7, 8.7, CAL= 157.4, 9.2, ROT= 352.6, -9.2 Ygot valid direction response: 23:56:44.4878 LVL= 18864, 29425, 15938, 27379, AGC= 57, IDX= 511,-0.29, 0.069,-1.424, 0.478,-0.012, PHS= 0.183,-1.367, 0.446, RAW= 157.7, 8.7, CAL= 157.4, 9.2, ROT= 352.6, -9.2 T#Rx 71: Read range and direction messages. ^direction in FSK: [0.978915,-0.127138,0.159881] Fpublishing direction and range info9AE2<-DS?\FČsv?E3AAiEIErEB>EjA EZd;>)EIEZ>iE'0@E|>EF/@El$>E@ El$iAAIEn|3?.qX?,@$t?E(?E#< E@)El$iAAm checking for new query: numPingsReceived=71, elapsed TxPingTime=35.5754361 >A a5=rD jD =D D ~D 4D E  E (:6E 4:E "E E;! E G;! *E ;! E ;! iA9IAIQN]?;o,>˖3Ay67D@ٱ6K0R@6*=Bchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.7875146Z6HڥT?X -¿`_@.!Bk?I67D@)6@^;i6C5B95!IBDE6DE 3YU!]9=]9Q)]>Y9a9eFYenEe⁺Ae>iQ 15٪mZ?Q 55mr m))9YFQ E@ymCE)m;ImK;imҌ5YPAhahe=և3AheAheAhe_BJ@ ve;O8@] B .+F@ue2<-DS?\FČsv?he@hel$ve>B>86x7"ݿ$xY@ve+:s͚_v`?hehe!he7>?hedheB*ia2ieѢn:ieBie&A"ieFI@)U addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.500592 s, deltaX: -0.200001 m, approachRate: -0.399528 m/s, rangeRepo size: 4 e Added new target pos. range: 24.833118 m, bearing: 181.071909 deg, lat: 36.779128 deg, lon: -121.859748 deg, deltaT: 0.500592 s, deltaX: -0.199465 m, approachRate: -0.398458 m/s, posRepo size: 4 gaDNOT Ignoring new targets: 24.83 m.ggg ProNav: ac range: 24.833118 m, nav range: 24.518778 m, bearing: 180.620444 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.891357 deg, new cmd heading: 185.855804 deg. gHeadingCmd: 3.243796 target range: 24.833118 and range: 24.90 m.gYO@ggggzfrff f Bd d dc`f8@c=_?ɢ}B}EA= 顅>I 6<ɡiIqI ]Bi }=i |=)YO@)ii0]DDAT read: Rx Time:23:56:44.9878 mTRx dataTimestamp_ set to:1758412602.630431ԉPDAT read: Bearing 343.9, -9.9 (Local) ~Local bearing/azimuth received: Bearing 343.9, -9.9 (Local) DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.3  DAT read: 23:56:44.9878 LVL= 17040, 26385, 17330, 27123, AGC= 59, IDX= 511,-0.28, 1.463,-0.042, 1.874, 1.383, PHS= 0.182,-1.379, 0.447, RAW= 157.7, 8.8, CAL= 157.4, 9.3, ROT= 352.6, -9.3  Ygot valid direction response: 23:56:44.9878 LVL= 17040, 26385, 17330, 27123, AGC= 59, IDX= 511,-0.28, 1.463,-0.042, 1.874, 1.383, PHS= 0.182,-1.379, 0.447, RAW= 157.7, 8.8, CAL= 157.4, 9.3, ROT= 352.6, -9.3  T#Rx 72: Read range and direction messages. ^direction in FSK: [0.978636,-0.127102,0.161604] Fpublishing direction and range info>A ==bA ZA A9aeȫNGP?=Do?aaieBegeCeie; e5^:>)eIe/>iaenF>ae6&>a e6&iaaIe ?"YX?:)?e(?ev a)e6&iaau checking for new query: numPingsReceived=72, elapsed TxPingTime=36.113289Թ AU yAIa Iq N >Ʋ,3AyE:D@ٱE3R@E )=ElgEH@Y\?آ2¿[`R: E_?IE:D@)E{^;iECDeDexDe/DaEeC: Ee:6EeJ4:Ea!u@!u@!u@!u@}yB9}!IYMb@Mb@Mb@ )IiZd;O?~jt~jth~>ļDI$Ai@$@A)z@BD/6D3]checking for new query: numPingsReceived=72, elapsed TxPingTime=36.291454Ym-!+=NQ)> H?9 H?9FYqEE9A>Q 15٪&M?Q 55 1)9>Q A;YDQ E@yCE)W;I6;iԌ5YHBqAئEhaheX3AhahaheKJ@ ve6.vM8@\c53@ uA+q @ueȫNGP?=Do?hahe6&vewi8c\8U޿(UP@veTAᅥCo#e;??heheheX31?he6heB*ie7>?2ied:ieBieA"ieI h<ɡiIIBiz=i=).O@)vB ~B B !IB RBB  =B B B ݘ;B +QEiaiiiqԹ- DDAT read: Rx Time:23:56:45.4876 5 TRx dataTimestamp_ set to:1758412603.132473= PDAT read: Bearing 343.8, -10.0 (Local) = ~Local bearing/azimuth received: Bearing 343.8, -10.0 (Local) U DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.2  DAT read: 23:56:45.4876 LVL= 18592, 27265, 18466, 29171, AGC= 59, IDX= 509,-0.21, 0.071,-1.455, 0.490,-0.011, PHS= 0.184,-1.400, 0.457, RAW= 157.8, 8.8, CAL= 157.5, 9.3, ROT= 352.5, -9.3  Ygot valid direction response: 23:56:45.4876 LVL= 18592, 27265, 18466, 29171, AGC= 59, IDX= 509,-0.21, 0.071,-1.455, 0.490,-0.011, PHS= 0.184,-1.400, 0.457, RAW= 157.8, 8.8, CAL= 157.5, 9.3, ROT= 352.5, -9.3  T#Rx 73: Read range and direction messages. ^direction in FSK: [0.978413,-0.128811,0.161604] Fpublishing direction and range info9) - _q(O?ͣA|o?- A) i- H- j- "H- q) - j<>)- 33I- >i- C0@) - /@) - @ ) i) ) I- |?7d?Sw&ߋ?- =)?- 6 - )) i) ) >A A!= checking for new query: numPingsReceived=73, elapsed TxPingTime=36.565983 AAII)N5>抳,3AyV<7D@ٱV/R@V7*=VVHX?@+¿0:`bE\`?IV<7D@h)V/>^;iVC9i%=I%=BD-%6D-03]9Q)>K?9K?9FYsEA>Q 15٪A?Q 5 5 8)9YDQ E@yCE)^;I;i֌5Yhyh}pz3Ah}EAh}EAh}1J@ v}r8@^(H @M߷@u}_q(O?ͣA|o?h} hyv}} MV8fsQۿ%@v}wm BX5(?h}ܾh}h}>?h}Sh}B*i}>?2iy:i}Bi}A"i}8J@DDwD0DEU: E:6E4:E"E;!E;!*Ek;!Ek;! addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502042 s, deltaX: -0.299999 m, approachRate: -0.597558 m/s, rangeRepo size: 4  Added new target pos. range: 24.533958 m, bearing: 181.013788 deg, lat: 36.779127 deg, lon: -121.859750 deg, deltaT: 0.502042 s, deltaX: -0.299160 m, approachRate: -0.595886 m/s, posRepo size: 4 gDNOT Ignoring new targets: 24.53 m.ggg ProNav: ac range: 24.533958 m, nav range: 24.342163 m, bearing: 181.035996 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.816744 deg, new cmd heading: 185.783857 deg. gHeadingCmd: 3.242540 target range: 24.533958 and range: 24.60 m.gDžO@ggg!g)zf)rf)f)f)Bd1d1d1c58@c=@]2?ɢB&T;= 顭Џ>I C<ɡiI򢇼IBiD=i5q=)DžO@) >>checking for new query: numPingsReceived=73, elapsed TxPingTime=36.796104iYYY]/Y1>A =Y A I U DDAT read: Rx Time:23:56:45.9875 ] TRx dataTimestamp_ set to:1758412603.636306} PDAT read: Bearing 343.8, -10.0 (Local)  ~Local bearing/azimuth received: Bearing 343.8, -10.0 (Local)  DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.2 Iq ԑ N >s,,3AZDAT read: 23:56:45.9875 LVL= 17600, 26225, 17506, 27123, AGC= 57, IDX= 508,-0.13,-0.122,-1.633, 0.291,-0.203, PHS= 0.183,-1.385, 0.450, RAW= 157.7, 8.8, CAL= 157.4, 9.3, ROT= 352.6, -9.3 ^Ygot valid direction response: 23:56:45.9875 LVL= 17600, 26225, 17506, 27123, AGC= 57, IDX= 508,-0.13,-0.122,-1.633, 0.291,-0.203, PHS= 0.183,-1.385, 0.450, RAW= 157.7, 8.8, CAL= 157.4, 9.3, ROT= 352.6, -9.3 ^T#Rx 74: Read range and direction messages.b^direction in FSK: [0.978636,-0.127102,0.161604]bFpublishing direction and range info9 ȫNGP?=Do? A i D qf bD i 9 Zd;>) GI ff>i '0@ F/@ @ i I {?KAMZ?Sݕ? }(? M @) i %checking for new query: numPingsReceived=74, elapsed TxPingTime=37.137100moB9m!I Mb@Mb@Mb@ ) I i   (\? rh{Gzt > C ףI i  Q@D%D%{D%+D!E%s: E%5":6E% [4:E!!E@!E@!E@!E@ A)  @BDM'6DM3Y}!<Q)>99FYwEA>Q 15٪+2?Q 55r C)9P>Q A;Y*CQ E@yCE):I :i،5YAh h =3Ah yAh yAh .NJ@ v _q7@C]aRݖ@u ȫNGP?=Do?h @h v 0 9 =8&$޿P7sd@v GDo!Dn?h &h h 7?h h B*i 7>?2i :i Bi PA"i .J@ addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503833 s, deltaX: -0.100000 m, approachRate: -0.198479 m/s, rangeRepo size: 4  Added new target pos. range: 24.434225 m, bearing: 181.113204 deg, lat: 36.779127 deg, lon: -121.859750 deg, deltaT: 0.503833 s, deltaX: -0.099733 m, approachRate: -0.197949 m/s, posRepo size: 4 gDNOT Ignoring new targets: 24.43 m.ggg ProNav: ac range: 24.434225 m, nav range: 24.164190 m, bearing: 181.003283 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.783864 deg, new cmd heading: 185.739119 deg. gHeadingCmd: 3.241759 target range: 24.434225 and range: 24.50 m.gxO@ggggzfrfffBdddc8@c @-x?checking for new query: numPingsReceived=74, elapsed TxPingTime=37.299458ɢuBuX+= y}Z>Iy }ɒ<ɡyiyI}nIBib=i=)xO@)i%1!!!!AA4=vBC>~BBy!IBHBB =BBB;B4QE9 i >A Dc=rA >jA > DDAT read: Rx Time:23:56:46.4874  TRx dataTimestamp_ set to:1758412604.137893 PDAT read: Bearing 344.2, -10.2 (Local)  ~Local bearing/azimuth received: Bearing 344.2, -10.2 (Local) DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.2 =DAT read: 23:56:46.4874 LVL= 19056, 23409, 19170, 31427, AGC= 59, IDX= 506,-0.11,-1.552,-3.068,-1.131,-1.622, PHS= 0.172,-1.401, 0.446, RAW= 157.9, 9.1, CAL= 157.7, 9.7, ROT= 352.3, -9.7 EYgot valid direction response: 23:56:46.4874 LVL= 19056, 23409, 19170, 31427, AGC= 59, IDX= 506,-0.11,-1.552,-3.068,-1.131,-1.622, PHS= 0.172,-1.401, 0.446, RAW= 157.9, 9.1, CAL= 157.7, 9.7, ROT= 352.3, -9.7 ET#Rx 75: Read range and direction messages.M^direction in FSK: [0.976816,-0.132071,0.168489]MFpublishing direction and range info9 B?aRV? A i pJ q[ J z ; 0>) SI Z>i A`0@ "> '0@ -\-> @ -\-i I gV?Xh?y0D? W)? " ) -\-i mchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.572823A}yAIIN>;, 3A|yD@ٱR@f/*=WH`I? Ϣ\@H`٢[D?ID@)ue];iCiB9!IBD6D2Y!L=Q)%>% H?9% H?9%FY%yEmʻAm>qQ 1}5٪u&?Q 5}5u uJ)9yY}SCQ E@yuCE)u:Iu:iuڌ5YABAצEhh=3AhAhAhI@ vFP7@p{ Es`GD@uB?aRV?h h-\-vWd57v4ҿuGs @vH￾]#nĊ?hhahҀF?h@hƉB*i2i:ii6A"i'J@= addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.501587 s, deltaX: -0.299999 m, approachRate: -0.598100 m/s, rangeRepo size: 4 M Added new target pos. range: 24.135000 m, bearing: 180.681309 deg, lat: 36.779127 deg, lon: -121.859750 deg, deltaT: 0.501587 s, deltaX: -0.299225 m, approachRate: -0.596556 m/s, posRepo size: 4 gIUDNOT Ignoring new targets: 24.14 m.gQgQgY ProNav: ac range: 24.135000 m, nav range: 24.026838 m, bearing: 180.979622 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.739126 deg, new cmd heading: 185.706126 deg. gHeadingCmd: 3.241183 target range: 24.135000 and range: 24.20 m.goO@ggggzfrfffBddd!c%@338@c% ?ɢBdU1= 顕z>I B<ɡiIƲI)BiUÚ=i^R=)oO@)BEmـ4JEm44REmĴ0DDD/DEC: Ea9:6EJ4:E"E2;! E3;! *E&;! E&;! )i)IG)I)I Achecking for new query: numPingsReceived=75, elapsed TxPingTime=37.839241- @getADC uart error serial timeoutibxgA] Puart error - getPosition..serial timeout1- (Communications Faultԁ >A l=ԩ AAI)-&UbCommunications Fault in component: DockingStepperIQDDAT read: Rx Time:23:56:46.9874 TRx dataTimestamp_ set to:1758412604.645607PDAT read: Bearing 344.0, -10.1 (Local) ~Local bearing/azimuth received: Bearing 344.0, -10.1 (Local) %DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.3 N}>=,'*3AZDAT read: 23:56:46.9874 LVL= 19888, 25441, 20258, 31667, AGC= 59, IDX= 506,-0.08, 0.109,-1.417, 0.530, 0.034, PHS= 0.177,-1.406, 0.451, RAW= 157.9, 9.0, CAL= 157.6, 9.5, ROT= 352.4, -9.5  Ygot valid direction response: 23:56:46.9874 LVL= 19888, 25441, 20258, 31667, AGC= 59, IDX= 506,-0.08, 0.109,-1.417, 0.530, 0.034, PHS= 0.177,-1.406, 0.451, RAW= 157.9, 9.0, CAL= 157.6, 9.5, ROT= 352.4, -9.5  T#Rx 76: Read range and direction messages.^direction in FSK: [0.977622,-0.130443,0.165048]Fpublishing direction and range info99%H?WG ?YiMac"O{ }?5>)Iy>i| >x 0@)>:@ )iIQ v?jK7e?0?1#)? ))ichecking for new query: numPingsReceived=76, elapsed TxPingTime=38.137482i9m!I)q qԉMb@Mb@Mb@ DD}D.DE: Ek&:6Eـ4:E!@!@!@!@)Iiq= ףp?Mb~jth>DI?Ai@)p@BD"6DJz3Y !=:! = Q) >K?9K?9FY}EA>Q 1E5٪?Q 5M5` T)9M>Q AM;YMAQ EM@yCE);I;iH݌5YY]AYhhQ)3AhhhI@ vcEK7@-5/ ]p @u9%H?WG ?hh)vY~Ap7beyԿc,@vK%_)iŒ{l?hchwh%5?hkhB*i7?2iS:iiAA"i'J@% addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.507714 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 24.135000 m, bearing: 180.773271 deg, lat: 36.779127 deg, lon: -121.859750 deg, deltaT: 0.507714 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g9eDNOT Ignoring new targets: 24.14 m.gichecking for new query: numPingsReceived=76, elapsed TxPingTime=38.307468gg ProNav: ac range: 24.135000 m, nav range: 23.906902 m, bearing: 180.906775 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.706123 deg, new cmd heading: 185.657044 deg. gHeadingCmd: 3.240327 target range: 24.135000 and range: 24.20 m.gaO@ggggzfrff f ڂBBd d dcc`p?ɢB&= 顥Hx>I <ɡiIDI2BԱigК=i==)aO@) :Uninitialize Docking Stepper. Powering down vB1 ~B1 B5 m!IB5 >BB1 B1 B1 B5 ;B5 =QE >A ^=bA ZA A A)I1IANU>c$,H3Ai%=I4=DDAT read: Rx Time:23:56:47.4872 TRx dataTimestamp_ set to:1758412605.145151PDAT read: Bearing 343.9, -10.1 (Local) ~Local bearing/azimuth received: Bearing 343.9, -10.1 (Local) &DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.3 6DAT read: 23:56:47.4872 LVL= 20672, 24657, 20466, 31411, AGC= 59, IDX= 504,-0.07,-0.696,-2.221,-0.276,-0.773, PHS= 0.179,-1.403, 0.453, RAW= 157.9, 8.9, CAL= 157.6, 9.4, ROT= 352.4, -9.4 :Ygot valid direction response: 23:56:47.4872 LVL= 20672, 24657, 20466, 31411, AGC= 59, IDX= 504,-0.07,-0.696,-2.221,-0.276,-0.773, PHS= 0.179,-1.403, 0.453, RAW= 157.9, 8.9, CAL= 157.6, 9.4, ROT= 352.4, -9.4 >T#Rx 77: Read range and direction messages.B^direction in FSK: [0.977906,-0.130480,0.163326]BFpublishing direction and range info9K?K?F$vz?3AiPQ`Oz K7>)I>i>'> 'iI`b?|Y f? R?Z()? )'i^checking for new query: numPingsReceived=77, elapsed TxPingTime=38.579559y C@ٱQ@&'=5HtL?`⦢>}`b㤿@f?I C@)]];iCEaB9E!IBD5 6D5k3Ye!eG=mQ)m>i9i9uFYuEuתAu>yQ 15٪}P ?Q 55} }[)9YAQ E@y}CE)}C ;I}` ;i}ߌ5Y;BAhh'JI3AhAhAhXI@ vE%O7@2K*!$@uK?K?F$vz?hh'vi67IdпSvy6@vqۂ4VR┖W A?h"h!hGWB?hX=hoB*i>?2ik:iivA"ihI@u addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.499544 s, deltaX: -0.300001 m, approachRate: -0.600550 m/s, rangeRepo size: 4  Added new target pos. range: 23.835810 m, bearing: 180.620692 deg, lat: 36.779127 deg, lon: -121.859749 deg, deltaT: 0.499544 s, deltaX: -0.299191 m, approachRate: -0.598927 m/s, posRepo size: 4 gDNOT Ignoring new targets: 23.84 m.ggg ProNav: ac range: 23.835810 m, nav range: 23.683016 m, bearing: 180.743312 deg, approach rate: 0.000000 m/s, LOS rate: -0.040728 deg/s, cmd heading: 185.657041 deg, new cmd heading: 185.623856 deg. gHeadingCmd: 3.239748 target range: 23.835810 and range: 23.90 m.gXO@ggggzfrfffBdddc`f7@c%A?ɢmBm`0= img>Iq u#<ɡqiqIuIBiؚ=iw=)XO@)bDZDDDuD0DEU: E:6E4:E"E;!E;!*Ekd;!Eld;!checking for new query: numPingsReceived=77, elapsed TxPingTime=38.811581A >A= Dc=Ay ԉ I I N >?,y!d3AyFC@ٱFQ@FV&=FaFH,?d xJ`Ҥ4 ?IFC@)F\;iFCRfB9R!IBDZ#6DZӀ3Yb}<!bo=bG͹Q)b?d9d9fFYfEfA-?1Q 1=5٪5?Q 5=55" 5a)99Y=AQ EE@y5CE)5:I5[:i55YIMAImB*** querying acoustic contact ***zhihigq}DNOT Ignoring new targets: 23.84 m.gyg}OºgOº ProNav: ac range: 23.835810 m, nav range: 23.566696 m, bearing: 180.715135 deg, approach rate: -0.348922 m/s, LOS rate: -0.084940 deg/s, cmd heading: 185.623860 deg, new cmd heading: 185.567227 deg. grHeadingCmd: 3.238759 target range: 23.835810 and range: 23.90 m.gGO@ggggzfrfffBdddcc^?ɢ;<= o>I  R<ɡiIӇIBiߚ=i=)GO@)DDAT read: Rx Time:23:56:47.9872 TRx dataTimestamp_ set to:1758412605.651819 PDAT read: Bearing 343.6, -10.0 (Local) ~Local bearing/azimuth received: Bearing 343.6, -10.0 (Local) DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.3 DAT read: 23:56:47.9872 LVL= 16880, 26561, 15634, 25235, AGC= 58, IDX= 504,-0.09, 0.692,-0.838, 1.112, 0.608, PHS= 0.187,-1.400, 0.460, RAW= 157.8, 8.7, CAL= 157.5, 9.2, ROT= 352.5, -9.2 Ygot valid direction response: 23:56:47.9872 LVL= 16880, 26561, 15634, 25235, AGC= 58, IDX= 504,-0.09, 0.692,-0.838, 1.112, 0.608, PHS= 0.187,-1.400, 0.460, RAW= 157.8, 8.7, CAL= 157.5, 9.2, ROT= 352.5, -9.2 T#Rx 78: Read range and direction messages.^direction in FSK: [0.978691,-0.128847,0.159881]Fpublishing direction and range info98&pQ?7p~Čsv?iAg=b: |?>)33I>iC0@|>/@l$>@ l$iI@]M?ֱ_d?A\?(?U  )l$i-checking for new query: numPingsReceived=78, elapsed TxPingTime=39.148655>A=DUDUDU/DQEUI: EU.:6EUJ4:EQ!m@!m@!m@!m@AyAIIN >! E checking for new query: numPingsReceived=78, elapsed TxPingTime=39.315510,}3AA"@AA vB&D>~B$B&`!IB&4BB& =B$B$B&;B&FQE\gB9!I-Mb@Mb@Mb@ )))I)i))-sh|??I +->-94-I-VAi-;@-h@-$A))-\@BDE'6DE3YU;!](=]Q)]>] H?9e H?9eFYeEeAe>iQ 1u5٪mJ?Q 5}5m mh)9>Q A;YsBQ E@ymCE)m;Im;im5YAhhgi3AhhhI@ v3S7@yđFj|@u8&pQ?7p~Čsv?h hl$v7Yh.WпF^\@vI9 =dK<ɡ9iaIe߇ImsBim =im=)mB0O@)qDDAT read: Rx Time:23:56:48.4870 TRx dataTimestamp_ set to:1758412606.153060PDAT read: Bearing 342.6, -9.5 (Local) ~Local bearing/azimuth received: Bearing 342.6, -9.5 (Local) DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.3 DAT read: 23:56:48.4870 LVL= 22976, 32753, 19874, 32035, AGC= 54, IDX= 502,-0.11,-0.404,-1.921,-0.001,-0.514, PHS= 0.212,-1.362, 0.469, RAW= 157.5, 8.0, CAL= 157.0, 8.3, ROT= 353.0, -8.3 Ygot valid direction response: 23:56:48.4870 LVL= 22976, 32753, 19874, 32035, AGC= 54, IDX= 502,-0.11,-0.404,-1.921,-0.001,-0.514, PHS= 0.212,-1.362, 0.469, RAW= 157.5, 8.0, CAL= 157.0, 8.3, ROT= 353.0, -8.3 T#Rx 79: Read range and direction messages. ^direction in FSK: [0.982150,-0.120593,0.144356] Fpublishing direction and range info9b[m?]-߾'ЌCz?̼AiYM#}6 Y>)VI >i/@5>^/@V>'@ ViI (?f](D?,9Jy?Q'?ө 5)Vi-checking for new query: numPingsReceived=79, elapsed TxPingTime=39.5842861 >A ^=rA >jA >rDe <jDe 4=Du Du Du ,Dq Eu Ʊ: Eu ,:6Eu g4:Eq "Eu E;!} Eu G;!} *Eu :;! Eu ;;! A AI I) NE >",3A checking for new query: numPingsReceived=79, elapsed TxPingTime=39.819435 yBݙC@ٱBTQ@Bv"=BQBH`N ?@P wM➿?IBݙC@)B\;iBCbB9!IBD6DN3Ylռ!E=Q)>K?9K?9FYEA>Q 15٪眊?Q 55 m)9YBQ E@yCE);I@;i5Y5BA֦Ehhˉ3A9hJAhJAhJ@ vX7@TƖLf. @ub[m?]-߾'ЌCz?h5hVvPd7HO׿ 07@v{AJGIi u7<ɡqiqIuI}Ci}=i}=)}O@)i4=I<DDAT read: Rx Time:23:56:48.9870 TRx dataTimestamp_ set to:1758412606.663147%PDAT read: Bearing 343.5, -9.9 (Local) -~Local bearing/azimuth received: Bearing 343.5, -9.9 (Local) mDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.3 ԙ  DAT read: 23:56:48.9870 LVL= 16112, 25201, 14402, 24819, AGC= 57, IDX= 502,-0.14, 1.490,-0.039, 1.906, 1.407, PHS= 0.186,-1.400, 0.455, RAW= 157.7, 8.8, CAL= 157.4, 9.3, ROT= 352.6, -9.3  Ygot valid direction response: 23:56:48.9870 LVL= 16112, 25201, 14402, 24819, AGC= 57, IDX= 502,-0.14, 1.490,-0.039, 1.906, 1.407, PHS= 0.186,-1.400, 0.455, RAW= 157.7, 8.8, CAL= 157.4, 9.3, ROT= 352.6, -9.3  T#Rx 80: Read range and direction messages. ^direction in FSK: [0.978636,-0.127102,0.161604] Fpublishing direction and range info9ȫNGP?=Do?i>qbB8`9 v>>)33I>i'0@nF>F/@6&>@ 6&iI?k9MX?gK0?~(? @)6&i= checking for new query: numPingsReceived=80, elapsed TxPingTime=40.152069>A ew= D D ~D 2D E : E (:6E 4:E ! @! @! @! @A IIN>/,rN3AyvvC@ٱvnQ@vm%=v)vH m?@%\ @´@Gu ɟ g?IvvC@)vQ\;ivCis@) !I!!!i!I!)I)i) -)))]checking for new query: numPingsReceived=80, elapsed TxPingTime=40.323582a eAeaaaiIm)iii)iIƑŕő ƑƑƙƙiƙƙiB9!IMb@Mb@Mb@ )IitV? rh~jth>CDIiQ@Q@)BD6DP)3Y-=<!-+=5:Q)5>19195FY=E=GA=>AQ 1m5٪Eٜ?Q 5m5EH Eu)9u>Q Au;YuCQ Eu@yECE)E:IE]:iE5Yy}[AyvB~BBZ!IB/BBBBB ;BXQEBQBQBQBQBQBU4haheq3AheKAheKAheI@ vet >7@kdԮm@ueȫNGP?=Do?he@he6&ve9x>Y7r+eƿF8@vesuʛs~V?he-3heɺheA;*?heheWB*ie1g4?2ia:ieWBieչA"ieI@ addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.510087 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 23.536629 m, bearing: 180.429380 deg, lat: 36.779126 deg, lon: -121.859749 deg, deltaT: 0.510087 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 g5DNOT Ignoring new targets: 23.54 m.g1gaga ProNav: ac range: 23.536629 m, nav range: 23.229048 m, bearing: 180.562381 deg, approach rate: 0.000000 m/s, LOS rate: -0.084940 deg/s, cmd heading: 185.405908 deg, new cmd heading: 185.330749 deg. gHeadingCmd: 3.234632 target range: 23.536629 and range: 23.60 m.g5O@g!g!g!g!zf!rf!f)f-BBd)d)d1c1c57?ɢBV0= 顥p>I <ɡiIICi=i=)5O@)) DDAT read: Rx Time:23:56:49.4868  TRx dataTimestamp_ set to:1758412607.160833 PDAT read: Bearing 343.4, -9.8 (Local) % ~Local bearing/azimuth received: Bearing 343.4, -9.8 (Local) 5 DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.3 u DAT read: 23:56:49.4868 LVL= 17536, 26817, 14978, 26739, AGC= 56, IDX= 500,-0.16, 0.263,-1.257, 0.673, 0.178, PHS= 0.187,-1.390, 0.451, RAW= 157.6, 8.8, CAL= 157.3, 9.3, ROT= 352.7, -9.3  Ygot valid direction response: 23:56:49.4868 LVL= 17536, 26817, 14978, 26739, AGC= 56, IDX= 500,-0.16, 0.263,-1.257, 0.673, 0.178, PHS= 0.187,-1.390, 0.451, RAW= 157.6, 8.8, CAL= 157.3, 9.3, ROT= 352.7, -9.3  T#Rx 81: Read range and direction messages. ^direction in FSK: [0.978857,-0.125394,0.161604] Fpublishing direction and range info9  cbXR?>2 o? fA i D h : sh 8  |?>) 뱿I y>i x 0@  /@  @  i  I N ?|Ya$N?Ü۽? A(? 6  tw) i   checking for new query: numPingsReceived=81, elapsed TxPingTime=40.601868Y >A} =A I I N >,D3Aɰ4<y6ZC@Xٱ6;SQ@6P%=66H -?w w @Vf$_?I6ZC@)6\;i4bDxZDzAAD~D~wD~/D|E~7: E~:6E~J4:E|"E~;!E~;! *E~k;! E~k;! m^B9m!I)y }AIy)yBD$6D3Yva!L=<9Q)>99FYEA>Q 15٪Μ?Q 55 |)9YCQ E@yCE)[:I:iX5Y.BAզEhhK3AhAhAh'I@ vѦ6@H*O; @ucbXR?>2 o?htwhv=k 74G4ƿU4^@vĨ9Ǿw;ye~xj?h1hkhWs7?h#h6B*i2iX=:iJBiA"ikI@U addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.497686 s, deltaX: -0.300001 m, approachRate: -0.602792 m/s, rangeRepo size: 4  Added new target pos. range: 23.237434 m, bearing: 180.431180 deg, lat: 36.779126 deg, lon: -121.859749 deg, deltaT: 0.497686 s, deltaX: -0.299194 m, approachRate: -0.601171 m/s, posRepo size: 4 gDNOT Ignoring new targets: 23.24 m.ggg ProNav: ac range: 23.237434 m, nav range: 23.089357 m, bearing: 180.467087 deg, approach rate: 0.000000 m/s, LOS rate: -0.084940 deg/s, cmd heading: 185.330749 deg, new cmd heading: 185.264917 deg. gHeadingCmd: 3.233483 target range: 23.237434 and range: 23.30 m.gbN@ggggzfrfffBdddcL7@c1?checking for new query: numPingsReceived=81, elapsed TxPingTime=40.827492ɢMBM4= IMX>II Ut<ɡQiQIUI]T.Ci]=i]5I=)]bN@)!>A6[=A I I N >9  DDAT read: Rx Time:23:56:49.9867  TRx dataTimestamp_ set to:1758412607.666208 PDAT read: Bearing 343.3, -9.5 (Local)  ~Local bearing/azimuth received: Bearing 343.3, -9.5 (Local)  DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.3 e DAT read: 23:56:49.9867 LVL= 15424, 25633, 12194, 26403, AGC= 56, IDX= 499,-0.17, 0.206,-1.312, 0.607, 0.117, PHS= 0.191,-1.384, 0.446, RAW= 157.4, 8.8, CAL= 157.1, 9.2, ROT= 352.9, -9.2  Ygot valid direction response: 23:56:49.9867 LVL= 15424, 25633, 12194, 26403, AGC= 56, IDX= 499,-0.17, 0.206,-1.312, 0.607, 0.117, PHS= 0.191,-1.384, 0.446, RAW= 157.4, 8.8, CAL= 157.1, 9.2, ROT= 352.9, -9.2 ,!3A^T#Rx 82: Read range and direction messages.^direction in FSK: [0.979567,-0.122011,0.159881]Fpublishing direction and range info9ȄKX?/$<Čsv?̸Ai@<!d/#g C>)&IZ>iF/@~{/@l$>@ l$iITBŗ ?;a44?X^v?>'?+N )l$ichecking for new query: numPingsReceived=82, elapsed TxPingTime=41.185795E\B9E!IDD{D-DE: E5":6Et4:E!@!@!@!@9Mb@Mb@Mb@ )Ii/$?Zd;OMb`&>jIAi$@h@)@BD'6D3Y! =Q)>99FYEA>Q 15٪,?Q 55 )9>Q A;YEQ E@yCE)r;Ip;i5YAhh'3AhMAhMAhI@ v?366@v|ǀzw @uȄKX?/$<Čsv?hhl$v 6Ͽ٬i@vRn￸AE7U?hh߶hn8?hNphB*i2ibG:i6BiNA"iI@ addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.505375 s, deltaX: -0.199999 m, approachRate: -0.395743 m/s, rangeRepo size: 4  Added new target pos. range: 23.037971 m, bearing: 180.626358 deg, lat: 36.779126 deg, lon: -121.859749 deg, deltaT: 0.505375 s, deltaX: -0.199463 m, approachRate: -0.394683 m/s, posRepo size: 4 gDNOT Ignoring new targets: 23.04 m.gggchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.331467 ProNav: ac range: 23.037971 m, nav range: 22.913218 m, bearing: 180.514547 deg, approach rate: 0.000000 m/s, LOS rate: -0.084940 deg/s, cmd heading: 185.264920 deg, new cmd heading: 185.177737 deg. gHeadingCmd: 3.231961 target range: 23.037971 and range: 23.10 m.g%tN@g!g!g!g!zf!rf!f)f-BBd)dQdQcU7@cU`I <ɡiI!IAGCi =i=)tN@)qA <A <vB~BBT!IB*BBBBB;BUQEԑ >A A yAI I! N- >`R, 3AiB%=IB%=LRDDAT read: Rx Time:23:56:50.4865 ZTRx dataTimestamp_ set to:1758412608.173569^PDAT read: Bearing 343.6, -9.8 (Local) b~Local bearing/azimuth received: Bearing 343.6, -9.8 (Local) rDAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.3 DAT read: 23:56:50.4865 LVL= 16112, 22449, 14994, 23715, AGC= 57, IDX= 497,-0.17,-1.147,-2.664,-0.741,-1.226, PHS= 0.181,-1.393, 0.441, RAW= 157.5, 9.0, CAL= 157.3, 9.6, ROT= 352.7, -9.6 -Ygot valid direction response: 23:56:50.4865 LVL= 16112, 22449, 14994, 23715, AGC= 57, IDX= 497,-0.17,-1.147,-2.664,-0.741,-1.226, PHS= 0.181,-1.393, 0.441, RAW= 157.5, 9.0, CAL= 157.3, 9.6, ROT= 352.7, -9.6 -T#Rx 83: Read range and direction messages.E^direction in FSK: [0.978004,-0.125285,0.166769]EFpublishing direction and range info9TVK?,V 8_X?VfATiV>VWV:V\V9 VX9>)VMIV>iV/@V| >V/@V+>V@ V+iTTIV4(?(:~@?9ݗ ?V'?V! Vtw)V+iTTy:1C@ٱ:g*Q@:`)=:= :Hx U?¢{&#@# *)'?I:1C@):\;i:CbB9!Ichecking for new query: numPingsReceived=83, elapsed TxPingTime=41.630676BD%6D03Y% =!%n=-/;Q)-?- H?95 H?95FY5E5TA5?9Q 1E5٪=&?Q 5E5= =)9IYM8EQ Em@y=CE)=>;I=;i=5YcAhThV 3AhVAhVAhVAoI@ vV^[=6@ckW>V@uVK?,V 8_X?hVtwhV+vVN P6@ 3i@vV2ȗ%U{wd>*?hVlhVZhVIeI?hV^2hVPB*iVWs7?2iV#:iTiVA"iVI@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.507361 s, deltaX: -0.300001 m, approachRate: -0.591297 m/s, rangeRepo size: 4 5 Added new target pos. range: 22.738745 m, bearing: 180.333622 deg, lat: 36.779127 deg, lon: -121.859749 deg, deltaT: 0.507361 s, deltaX: -0.299227 m, approachRate: -0.589771 m/s, posRepo size: 4 g15DNOT Ignoring new targets: 22.74 m.g1g9g9 ProNav: ac range: 22.738745 m, nav range: 22.757683 m, bearing: 180.390989 deg, approach rate: 0.000000 m/s, LOS rate: -0.084940 deg/s, cmd heading: 185.177739 deg, new cmd heading: 185.118614 deg. gHeadingCmd: 3.230929 target range: 22.738745 and range: 22.80 m.gN@ggggzfrfffBdddc6@c*P?ɢ1=e6= 9=\>I9 }<ɡiI4I*XCi=i!=)N@)D=D=~D=,D9E=U: E=(:6E=g4:E9"E=;!ME=;!M*E=;!ME=;!M=checking for new query: numPingsReceived=83, elapsed TxPingTime=41.836712>AZ=9 A AI I9 Ne >~,#3A8i8yb#C@ٱbPQ@bi+=bȸbH@0`8? `w ~ ckҠf?Ib#C@)bS];ibCn[B9n!IipIpv;xiv4<BD~$6D~3Y ! ^= :Q) >K?9K?9FYEA>!Q 1%5٪%k?Q 5-5%A %)9)YmFEQ Em@y%CE)%$I) -%<ɡ)i1I5>I5aCi==i9)=սN@)9DDAT read: Rx Time:23:56:50.9865 TRx dataTimestamp_ set to:1758412608.675251PDAT read: Bearing 24.2, -17.8 (Local) ~Local bearing/azimuth received: Bearing 24.2, -17.8 (Local) 9DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.3 DAT read: 23:56:50.9865 LVL= 15152, 24673, 14706, 24947, AGC= 56, IDX= 513,-0.13,-0.529,-1.746, 0.356, 0.611, PHS=-1.038,-2.311,-0.299, RAW= 171.3, 36.2, CAL= 172.2, 47.8, ROT= 337.8, -47.8  Ygot valid direction response: 23:56:50.9865 LVL= 15152, 24673, 14706, 24947, AGC= 56, IDX= 513,-0.13,-0.529,-1.746, 0.356, 0.611, PHS=-1.038,-2.311,-0.299, RAW= 171.3, 36.2, CAL= 172.2, 47.8, ROT= 337.8, -47.8  T#Rx 84: Read range and direction messages.=^direction in FSK: [0.621926,-0.253804,0.740805]=Fpublishing direction and range info9K?Q>п;ի?i0;a`r9sa8 /݄)mIi X?@?!?hY@@U?@ UiI ]&?0&?J E?](e?! aƾ)Uichecking for new query: numPingsReceived=84, elapsed TxPingTime=42.185860I>A L=DI DM tDM 9DI EI  EM v:6EM 4:EI !] @!] @!e @!e @A= yAIA IQ N] >y = checking for new query: numPingsReceived=84, elapsed TxPingTime=42.339432,d=3Ay6 C@ٱ6Q@6+',=6]6H`|` ?hm |@F ?I6 C@)6D\;i6CNVB9R!IvBrC>~BpBrM!IBr%BBpBpBpBr;BrRQEa%Mb@Mb@Mb@ !)!I!i!!%v/? rhMbp?%x>%C %;I%?Ai%;@%~@!)!% @BD}.6D}P3Y%G!%-=M9Q)M>U H?9U H?9UFYUE]7A]>aQ 1m5٪e?Q 5m5eY e)9`>Q A;YGQ E@yeCE)e;Ie;ie5YAhhP7+3Ahhhx=;@ vwH,@3ysO0@uK?Q>п;ի?haƾhUvAɞ.) @-ј.g0@vU<?(w?hW@hvh-ߌ?hsVh%B*in8?2i:iPBiA"iqI@ addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.501682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 22.738739 m, bearing: 167.626063 deg, lat: 36.779127 deg, lon: -121.859749 deg, deltaT: 0.501682 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 g!MDNOT Ignoring new targets: 22.74 m.gIgMgQ] ProNav: ac range: 22.738739 m, nav range: 22.454931 m, bearing: 180.343203 deg, approach rate: 0.000000 m/s, LOS rate: -0.047039 deg/s, cmd heading: 185.084644 deg, new cmd heading: 185.039732 deg. gYԁHeadingCmd: 3.229553 target range: 22.738739 and range: 22.80 m.gN@ggggzfrfffBBdddcc?ɢB'= B>I `<ɡiI 6InCi$=iP=)N@)!DDAT read: Rx Time:23:56:51.4863 TRx dataTimestamp_ set to:1758412609.179120PDAT read: Bearing 343.8, -9.2 (Local) ~Local bearing/azimuth received: Bearing 343.8, -9.2 (Local) DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.3 -DAT read: 23:56:51.4863 LVL= 17168, 24369, 17650, 28019, AGC= 58, IDX= 511,-0.11,-2.149, 2.603,-1.765,-2.232, PHS= 0.185,-1.403, 0.423, RAW= 156.9, 9.3, CAL= 156.6, 9.9, ROT= 353.4, -9.9 =Ygot valid direction response: 23:56:51.4863 LVL= 17168, 24369, 17650, 28019, AGC= 58, IDX= 511,-0.11,-2.149, 2.603,-1.765,-2.232, PHS= 0.185,-1.403, 0.423, RAW= 156.9, 9.3, CAL= 156.6, 9.9, ROT= 353.4, -9.9 =T#Rx 85: Read range and direction messages.E^direction in FSK: [0.978581,-0.113226,0.171929]MFpublishing direction and range info9P?v[!?AiC1_Dsm: p=>)Iu>iLB/@6&>.@;0>4`@ ;0iIO(zB?͛6?«?$?% );0ichecking for new query: numPingsReceived=85, elapsed TxPingTime=42.6206821>AI 9 A I I N >I G)! I9 BEJ4JE˃4RE|1D] D] D] /DY E] %: E] *:6E] J4:EY "E] ;!m E] ;!m *E] h;!u E] i;!u ɚ,W3Ai"d9 "C=AyVB@ٱVP@V,=VkcVH ɿ?@ -w 2`oA dR?IVB@)V\;iVCbWB9b!IBDj%6Dj03Y;!b= :Q)>99FYE8IA>checking for new query: numPingsReceived=85, elapsed TxPingTime=42.843372Q 15٪?Q 55j )9YGQ E@yCE) ;I;iR5Y  AhhvK3AhAhAhI@ vS|{5@FEkSZM4@uP?v[!?hh;0v~;p<6A ӿR@vX7EJ4Vyj?h9hh HA?hhWB*i HA?2i#:iiA"i=xI@ addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503869 s, deltaX: -0.299999 m, approachRate: -0.595391 m/s, rangeRepo size: 4  Added new target pos. range: 22.439547 m, bearing: 180.796224 deg, lat: 36.779128 deg, lon: -121.859749 deg, deltaT: 0.503869 s, deltaX: -0.299192 m, approachRate: -0.593790 m/s, posRepo size: 4 gDNOT Ignoring new targets: 22.44 m.ggg  ProNav: ac range: 22.439547 m, nav range: 22.236540 m, bearing: 180.365033 deg, approach rate: 0.000000 m/s, LOS rate: -0.047039 deg/s, cmd heading: 185.039728 deg, new cmd heading: 185.005447 deg. g 5HeadingCmd: 3.228954 target range: 22.439547 and range: 22.50 m.g5/N@g1g1g1g1zf9rf9f9f9BdAdAdAcE6@cE i?ɢ/= 页C>I <ɡiI_:IxCi+=iї=)/N@)9>A=Q DDAT read: Rx Time:23:56:51.9863  TRx dataTimestamp_ set to:1758412609.682522 PDAT read: Bearing 343.7, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 343.7, -8.7 (Local)  DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.3 A AI) I9 NM > DAT read: 23:56:51.9863 LVL= 17760, 24305, 18562, 29363, AGC= 57, IDX= 511,-0.09,-1.073,-2.606,-0.708,-1.166, PHS= 0.195,-1.394, 0.415, RAW= 156.4, 9.2, CAL= 156.1, 9.8, ROT= 353.9, -9.8 u Ygot valid direction response: 23:56:51.9863 LVL= 17760, 24305, 18562, 29363, AGC= 57, IDX= 511,-0.09,-1.073,-2.606,-0.708,-1.166, PHS= 0.195,-1.394, 0.415, RAW= 156.4, 9.2, CAL= 156.1, 9.8, ROT= 353.9, -9.8 ԁ  T#Rx 86: Read range and direction messages.% ^direction in FSK: [0.979828,-0.104714,0.170209]- Fpublishing direction and range info9 ,Hjq3Aɰ*;*p;yF$B@ٱFP@FT/=F+FHc ?` 3@g @ߥ ˽J?IF$B@)FL%];iFC#d4Z?pfκrl?i`E^Hr9 G>)nIz>iR.@l$>].@%/>@ %/iIJpjl? ir?M4|?1"?Ֆ$ i ڽ)%/ifchecking for new query: numPingsReceived=86, elapsed TxPingTime=43.213360nSB9r!I5Mb@Mb@Mb@ 1)1I1i115S?Q롿5>5\5I5VAi5Q@15?A)15QAIDDyD.DE: E:6Eـ4:E!@!@!@!@BD$6D3YUF!U3=U:Q)]>]K?9]K?9]FY]EeVA>Q 15٪?Q 55 )9>Q A;YGQ E@yCE)H:I]:i[5Y"B uA hhqk3AhhhmJ@ vإ5@Rrt-<}.@u#d4Z?pfκrl?hi ڽh%/v䦑=6Ik޿{@vzy!ٻذ?h]hh_g3?hwh5B*i2iNp:iiA"i~I@} addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503402 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.439547 m, bearing: 181.224318 deg, lat: 36.779128 deg, lon: -121.859750 deg, deltaT: 0.503402 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 22.44 m.gggchecking for new query: numPingsReceived=86, elapsed TxPingTime=43.347588 ProNav: ac range: 22.439547 m, nav range: 22.077324 m, bearing: 180.586236 deg, approach rate: 0.000000 m/s, LOS rate: -0.047039 deg/s, cmd heading: 185.005441 deg, new cmd heading: 184.962040 deg. g HeadingCmd: 3.228197 target range: 22.439547 and range: 22.50 m.g ƚN@g g ggzfrfffBBdYdYdYcace?yɢB'= 页:>I 0<ɡiI+ICi4=i@O=)ƚN@)@=@=AA@AvB~BBG!IB BBBBB;BUQEԩ>A L=bA ZA A1 IA Ia Nu >B",߉3ADDAT read: Rx Time:23:56:52.4861 TRx dataTimestamp_ set to:1758412610.186428&PDAT read: Bearing 343.6, -8.3 (Local) *~Local bearing/azimuth received: Bearing 343.6, -8.3 (Local) :DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.3 JDAT read: 23:56:52.4861 LVL= 16928, 24369, 17106, 27555, AGC= 57, IDX= 509,-0.09,-2.233, 2.515,-1.885,-2.333, PHS= 0.202,-1.391, 0.404, RAW= 155.9, 9.3, CAL= 155.6, 9.9, ROT= 354.4, -9.9 NYgot valid direction response: 23:56:52.4861 LVL= 16928, 24369, 17106, 27555, AGC= 57, IDX= 509,-0.09,-2.233, 2.515,-1.885,-2.333, PHS= 0.202,-1.391, 0.404, RAW= 155.9, 9.3, CAL= 155.6, 9.9, ROT= 354.4, -9.9 RT#Rx 87: Read range and direction messages.V^direction in FSK: [0.980408,-0.096130,0.171929]VFpublishing direction and range info96v#_?!?Ai B1_Bk N>)J I>iX$.@6&>-@;0>.@ ;0iIʕ?=܍?O?{b ?Qm% )+Ƚ);0ibchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.620644y0B@ٱP@y1=Hһb?`@MoT@5yi?I0B@)];iCPB9!IBD'6D3Yf!%^=%:Q)%>)9)9MFYMEMAU>QQ 1]5٪U {?Q 5e5U U)9aYeGQ Ee@yUCE)U:IU:ԉiU5Y  A hhp3AhAhAhJ@ v 5@!$s@u6v#_?!?h)+Ƚh;0v5Y'~eZf@vN@ꨈvYW?h'h}h&ЀB?hIh*B*i&ЀB?2i:iiA"idI@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503906 s, deltaX: -0.299999 m, approachRate: -0.595348 m/s, rangeRepo size: 4  Added new target pos. range: 22.140348 m, bearing: 181.713412 deg, lat: 36.779128 deg, lon: -121.859751 deg, deltaT: 0.503906 s, deltaX: -0.299198 m, approachRate: -0.593758 m/s, posRepo size: 4 gDNOT Ignoring new targets: 22.14 m.gggM ProNav: ac range: 22.140348 m, nav range: 21.938572 m, bearing: 180.792216 deg, approach rate: 0.000000 m/s, LOS rate: -0.047039 deg/s, cmd heading: 184.962042 deg, new cmd heading: 184.925540 deg. gIUHeadingCmd: 3.227560 target range: 22.140348 and range: 22.20 m.gUVN@gQgQgQgQzfYrfYfyfBdddc@336@c Z+?ɢn+= ^4>I  I<ɡiI/!I_Ci;=i XY=) VN@) ԹrD=jD<DDwD+DE: E:6E [4:E"Ew;!Ex;!*Ek;!Ek;!) Achecking for new query: numPingsReceived=87, elapsed TxPingTime=43.851982>AE +=Aq I I N > H(,S3Ay6&B@ٱ6P@63=6 6HU@$??t. !ܾ``/ͣ`o@4?I6&B@)6|5];i6CBJB9B{!IBDJ#6DJӀ3YR!Rg=R#:Q)R>T9T9VFYVEZrAZ>\Q 1b5٪^p?Q 5b5^ ^)9`YbGQ Eb@y^CE)^;I^H;i^z5YhjAhvB*** querying acoustic contact ***zhxhxg|DNOT Ignoring new targets: 22.14 m.ggg ProNav: ac range: 22.140348 m, nav range: 21.818428 m, bearing: 180.790600 deg, approach rate: -0.387287 m/s, LOS rate: -0.005237 deg/s, cmd heading: 184.925541 deg, new cmd heading: 184.922292 deg. g\]HeadingCmd: 3.227503 target range: 22.140348 and range: 22.20 m.g]hN@gagagagazfarfafifiBdididicqcu e?ɢB-= j&>I <ɡiIILCiLA=iQ=)hN@)EDDAT read: Rx Time:23:56:52.9861 UTRx dataTimestamp_ set to:1758412610.690600ePDAT read: Bearing 343.7, -8.4 (Local) e~Local bearing/azimuth received: Bearing 343.7, -8.4 (Local) DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.2 DAT read: 23:56:52.9861 LVL= 15840, 22961, 16210, 25299, AGC= 57, IDX= 509,-0.08,-0.983,-2.510,-0.637,-1.080, PHS= 0.199,-1.385, 0.399, RAW= 155.9, 9.3, CAL= 155.6, 10.0, ROT= 354.4, -10.0 Ygot valid direction response: 23:56:52.9861 LVL= 15840, 22961, 16210, 25299, AGC= 57, IDX= 509,-0.08,-0.983,-2.510,-0.637,-1.080, PHS= 0.199,-1.385, 0.399, RAW= 155.9, 9.3, CAL= 155.6, 10.0, ROT= 354.4, -10.0 T#Rx 88: Read range and direction messages.^direction in FSK: [0.980108,-0.096101,0.173648]Fpublishing direction and range info9IMʶ ]?J> ٖNs:?IIiM=MYMR?MbI MK>)MGIMI>iIIIM¸2>I M¸2iIIIMjH?dπ?W7G?MG ?M& I)M¸2iII%checking for new query: numPingsReceived=88, elapsed TxPingTime=44.133373!>A9AmyAIyIN>DD|D-DEs: EP$:6Et4:E!@!@!@!@i  checking for new query: numPingsReceived=88, elapsed TxPingTime=44.355324`/,.3Ai vB$~B$B&;!IB&BB$B$B&DB&;B&QQEyZB@ٱZP@Z4=ZXZH`A@AH?yپ೼`]@%?IZB@)ZM];iZCeKB9e|!Ii=IMb@Mb@Mb@ )IiS?MbIAi;@Q@)A4 H?9 H?9FYEA%>!Q 155٪%b?Q 555% %)95ޯ>Q A5;Y5KGQ E5@y%CE)% ;I%] ;i%5YEBEAEӦEhyh}23Aihyhyh}K@ v} +5@½JP3@u}ʶ ]?J> ٖNs:?hyh}¸2v}jAf5b70n忛F@v}xf Xr?h}q+h}sh}*?h}\h}7B*i} HA?2i}w:i}7Bi}[A"i}8pJ@ addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504172 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.140308 m, bearing: 181.749063 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.504172 s, deltaX: -0.000040 m, approachRate: -0.000079 m/s, posRepo size: 4 gDNOT Ignoring new targets: 22.14 m.ggg ProNav: ac range: 22.140308 m, nav range: 21.669861 m, bearing: 181.232236 deg, approach rate: 0.000000 m/s, LOS rate: -0.005237 deg/s, cmd heading: 184.922290 deg, new cmd heading: 184.917178 deg. gHeadingCmd: 3.227414 target range: 22.140308 and range: 22.20 m.gN@ggggzfrfffBBdddcc?ɢNy#= 額T'>I i_<ɡiIIÑCiWJ=i=)N@)MDDAT read: Rx Time:23:56:53.4859 UTRx dataTimestamp_ set to:1758412611.193496]PDAT read: Bearing 343.5, -8.0 (Local) e~Local bearing/azimuth received: Bearing 343.5, -8.0 (Local) uDAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.2 DAT read: 23:56:53.4859 LVL= 15840, 24945, 13922, 23891, AGC= 55, IDX= 507,-0.07,-1.941, 2.804,-1.606,-2.048, PHS= 0.209,-1.387, 0.398, RAW= 155.5, 9.2, CAL= 155.3, 9.9, ROT= 354.7, -9.9 ԙYgot valid direction response: 23:56:53.4859 LVL= 15840, 24945, 13922, 23891, AGC= 55, IDX= 507,-0.07,-1.941, 2.804,-1.606,-2.048, PHS= 0.209,-1.387, 0.398, RAW= 155.5, 9.2, CAL= 155.3, 9.9, ROT= 354.7, -9.9 T#Rx 89: Read range and direction messages.^direction in FSK: [0.980898,-0.090995,0.171929]Fpublishing direction and range info9IMEjc? dtK!?M3AIiIMqaMb6MS]M7 MV>)M7IM>iM-@Ml$>Mx-@M;0>M@ M;0iIIIM6j?].W[?)ieʃ?M:?MO$ Mq)M;0iIIchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.624870>AO=rA>jA> I I N >D D uD *D E : E :6E (N4:E "E ;! E ;! *E kd;! E ld;! 5,A 3Ay6B@ٱ6P@6NS5=6-U 6H `? 9 `O?I6B@)6];i4L^?B9^n!IBDf6Df{U3Y~!!s=x9Q)?9 9 FY E s:A ?Q 1=5٪5Y?Q 5=5 )9AYEFGQ EE@yCE);IE:i5YIMAQchecking for new query: numPingsReceived=89, elapsed TxPingTime=44.859543hyh}=b3Ah}Ah}Ah}`K@ v}jl5@%̇Q} @u}Ejc? dtK!?h}qh};0v}'pw5_sg6{|@v}F_M!>￳; (]u?h}Hh}h}X9?h})oh}B*i}X9?2i}I:i}5Bi}+A"i}J@ addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.502896 s, deltaX: -0.300001 m, approachRate: -0.596547 m/s, rangeRepo size: 4  Added new target pos. range: 21.841112 m, bearing: 182.073558 deg, lat: 36.779127 deg, lon: -121.859754 deg, deltaT: 0.502896 s, deltaX: -0.299196 m, approachRate: -0.594947 m/s, posRepo size: 4 g 5DNOT Ignoring new targets: 21.84 m.g1g1g9E ProNav: ac range: 21.841112 m, nav range: 21.646112 m, bearing: 181.710478 deg, approach rate: 0.000000 m/s, LOS rate: -0.005237 deg/s, cmd heading: 184.917181 deg, new cmd heading: 184.913541 deg. gIMHeadingCmd: 3.227350 target range: 21.841112 and range: 21.90 m.gMN@ggggzfrfffBdddc`f5@c#+?ɢ ;#= @>I 8<ɡiI|܇I̒Ci%P=i%zH=)%N@)!>AI1 U DDAT read: Rx Time:23:56:53.9858 ] TRx dataTimestamp_ set to:1758412611.696936e PDAT read: Bearing 343.8, -8.1 (Local) e ~Local bearing/azimuth received: Bearing 343.8, -8.1 (Local) u DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.3  DAT read: 23:56:53.9858 LVL= 16624, 24273, 17314, 27891, AGC= 57, IDX= 506,-0.05,-2.332, 2.417,-1.994,-2.429, PHS= 0.198,-1.393, 0.390, RAW= 155.6, 9.5, CAL= 155.4, 10.2, ROT= 354.6, -10.2  Ygot valid direction response: 23:56:53.9858 LVL= 16624, 24273, 17314, 27891, AGC= 57, IDX= 506,-0.05,-2.332, 2.417,-1.994,-2.429, PHS= 0.198,-1.393, 0.390, RAW= 155.6, 9.5, CAL= 155.4, 10.2, ROT= 354.6, -10.2  T#Rx 90: Read range and direction messages. ^direction in FSK: [0.979828,-0.092621,0.177085] Fpublishing direction and range info9Q U 8VZ?@^ki?U fAQ iU @U ^U CU lU 9 U J>)U MIU >iU -@U )>U ^-@U K6>U @ U K6iQ Q I N >IU WE+&?O hCb?- 1?U >1?U U* U )U K6iQ Q  checking for new query: numPingsReceived=90, elapsed TxPingTime=45.129333! )<,3Aty=B@ٱ=uP@=9Y5==b=H઼A*?@)8 ॿA[F(?I=B@)=K];i=Cy9}m!IDD}DDE: Ek&:6E:E!@!@!@!@Mb@Mb@Mb@ )Ii rh?QMbP>IVAiQ@~@)QABD(6D:3Y-n!-+=-F7Q)->19195FY5E=!ԺA=>aQ 1m5٪eK?Q 5m5e e)9m:>Q Am;Ym GQ Eu@yeCE)e:Ie':ie)5Y}B}AҦEhyh}3Ah}Ah}Ah}57K@ v}o|ۄM5@s0.Sv@u}8VZ?@^ki?h}h}K6v}*C5h\ 0^@v}eE߁xT?h}9h}2h}|5?h}h}3B*i}|5?2i}\:i}3Bi}FA"i}K@- addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503440 s, deltaX: -0.100000 m, approachRate: -0.198634 m/s, rangeRepo size: 4 ] Added new target pos. range: 21.741381 m, bearing: 181.928114 deg, lat: 36.779126 deg, lon: -121.859755 deg, deltaT: 0.503440 s, deltaX: -0.099731 m, approachRate: -0.198100 m/s, posRepo size: 4 gYeDNOT Ignoring new targets: 21.74 m.gagagichecking for new query: numPingsReceived=90, elapsed TxPingTime=45.363441 ProNav: ac range: 21.741381 m, nav range: 21.534634 m, bearing: 181.759890 deg, approach rate: 0.000000 m/s, LOS rate: -0.005237 deg/s, cmd heading: 184.913547 deg, new cmd heading: 184.908505 deg. gHeadingCmd: 3.227262 target range: 21.741381 and range: 21.80 m.gwN@ggggzfrfffBBdddc5@c "?ɢ-B-= 1 >I }O<ɡiII=CiY=i=)wN@)A1A5<vB9~B9B=.!IB= BB9B9B9B=;B=MQEBBBBBBƥ3Yq >A II Ia N} >U DDAT read: Rx Time:23:56:54.4856 U TRx dataTimestamp_ set to:1758412612.200742e PDAT read: Bearing 343.7, -7.9 (Local) e ~Local bearing/azimuth received: Bearing 343.7, -7.9 (Local) u DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.3  DAT read: 23:56:54.4856 LVL= 16688, 24417, 18354, 30131, AGC= 58, IDX= 504,-0.02,-3.087, 1.648,-2.752, 3.093, PHS= 0.205,-1.400, 0.394, RAW= 155.5, 9.4, CAL= 155.2, 10.1, ROT= 354.8, -10.1  Ygot valid direction response: 23:56:54.4856 LVL= 16688, 24417, 18354, 30131, AGC= 58, IDX= 504,-0.02,-3.087, 1.648,-2.752, 3.093, PHS= 0.205,-1.400, 0.394, RAW= 155.5, 9.4, CAL= 155.2, 10.1, ROT= 354.8, -10.1  T#Rx 91: Read range and direction messages. ^direction in FSK: [0.980451,-0.089228,0.175367] Fpublishing direction and range info9Q U _?Q3s׶:ujr?U AQ iU 0AU a_U GU uU : U Q>)U 33IU ^>iU -@U '>U -\-@U J4>U _(@ U J4iQ Q IU 6>?_"U?r?U ?U P( U ޹)U J4iQ Q  checking for new query: numPingsReceived=91, elapsed TxPingTime=45.635658_C,'3AXyvB@ٱv P@v,,5=v> vH` ?a ,ξfZF?IvB@)vN];it%9999}FY}EGA>Q 15٪F??Q 55 )9YGQ E@yCE)1I E<ɡiIICia=iF=)*N@)checking for new query: numPingsReceived=91, elapsed TxPingTime=45.867523>A L=9 Iq I N >8I,'3Ay6aB@ٱ6طP@624=66H,ܾ?@` ?'AL?I6aB@)6e];i4N1B9R\!IBDZ$6DZ3Ybk!b~=bcQ)b ?d9d9fFYfEj(ѺAj?hQ 1r5٪j^6?Q 5r5j+ j)9pYrGQ Er@yjCE)j;Ij;ijh5Yxz*Ax!5B*** querying acoustic contact ***zh9h9gQ]DNOT Ignoring new targets: 21.44 m.gYge'U8gm'U8 ProNav: ac range: 21.442192 m, nav range: 21.235107 m, bearing: 181.934503 deg, approach rate: -0.352980 m/s, LOS rate: 0.002912 deg/s, cmd heading: 184.903958 deg, new cmd heading: 184.905703 deg. g8%HeadingCmd: 3.227213 target range: 21.442192 and range: 21.50 m.g%N@g!g!g!g!zf)rf)f)f)Bd1dQdQcYc]@?i}=I}=DDAT read: Rx Time:23:56:54.9856 TRx dataTimestamp_ set to:1758412612.705145PDAT read: Bearing 343.6, -7.9 (Local) ~Local bearing/azimuth received: Bearing 343.6, -7.9 (Local) DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.3 DAT read: 23:56:54.9856 LVL= 17632, 26017, 19170, 29539, AGC= 58, IDX= 504, 0.02,-1.524,-3.086,-1.188,-1.633, PHS= 0.211,-1.408, 0.401, RAW= 155.5, 9.3, CAL= 155.2, 10.0, ROT= 354.8, -10.0 Ygot valid direction response: 23:56:54.9856 LVL= 17632, 26017, 19170, 29539, AGC= 58, IDX= 504, 0.02,-1.524,-3.086,-1.188,-1.633, PHS= 0.211,-1.408, 0.401, RAW= 155.5, 9.3, CAL= 155.2, 10.0, ROT= 354.8, -10.0 T#Rx 92: Read range and direction messages.^direction in FSK: [0.980755,-0.089256,0.173648]Fpublishing direction and range info9b߼Wb?@vٶٖNs:?iDeJcs bX>)X9IO>i6&>¸2> ¸2iI;>?ͻ7T?ֵ?֊?% )¸2ichecking for new query: numPingsReceived=92, elapsed TxPingTime=46.135689ɢQUR= QU=IQ U6<ɡYiYI]hIe Ciecg=ie=)eN@)aQy>A}=IIN>DMDMyDM0DIEM: EM:6EM4:EI!U@!U@!U@!U@- checking for new query: numPingsReceived=92, elapsed TxPingTime=46.371468ԡ vB ~B B !IB BB B B B ;B DQErnP,>A3Ay]ȸB@ٱ]?P@]4=] ټ]H?@ʤ}k(4s`i4"?I]ȸB@)]Po];i]Cq}0B9yMb@Mb@Mb@ )Ii(\?:v~jth>ԼDIlAi~@A)ABD&6Dދ3Y-!-5=58Q)5>19195FY5E=iA=>AQ 1M5٪El)?Q 5M5EW E)9M>Q AU;YUUFQ EU@yECE)E ;IE ;iEa5Y]B]A]ѦEhh!-3Ahhh9K@ vW2N5@4f @ub߼Wb?@vٶٖNs:?hh¸2v#=5DK(@vY￉j!t"?h7hhu~+?h6h߈B*i|5?2i6:iBiA"i/)ZI>i iI? i4{T? ?<& )i%checking for new query: numPingsReceived=93, elapsed TxPingTime=46.643826>A% $=rA- >jA- > D= D= {D9 D9 E= : E= 5":6E9 :E9 "E= w;!M E= x;!M *E= Bz;!M E= Cz;!M AU AIY Iq N} >wV,([3Ay6FB@ٱ6P@6zG5=6.м6H`?@g@1k/ V?I6FB@)6,];i6Crchecking for new query: numPingsReceived=93, elapsed TxPingTime=46.875347v-B9vX!IBD~6D~\3Y-x!-]=-E9Q)->5K?95K?95FY5E5A=>AQ 1M5٪E?Q 5M5Ez E)9IYMdFQ EM@yECE)Ey:IE:iE5YY]AYhh^M3Ah$Ah$Ah'K@ vp4@\ˆ1m_ @ub߼Wb?@vٶٖNs:?hhvo|+4!+*P`@v~iOvǜ?hA}D%=1DDAT read: Rx Time:23:56:55.9854 TRx dataTimestamp_ set to:1758412613.714031PDAT read: Bearing 343.6, -8.0 (Local) ~Local bearing/azimuth received: Bearing 343.6, -8.0 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.2 I I N > DAT read: 23:56:55.9854 LVL= 16832, 27361, 18034, 26259, AGC= 58, IDX= 502, 0.03,-0.866,-2.424,-0.523,-0.973, PHS= 0.209,-1.407, 0.406, RAW= 155.7, 9.2, CAL= 155.4, 9.9, ROT= 354.6, -9.9 E Ygot valid direction response: 23:56:55.9854 LVL= 16832, 27361, 18034, 26259, AGC= 58, IDX= 502, 0.03,-0.866,-2.424,-0.523,-0.973, PHS= 0.209,-1.407, 0.406, RAW= 155.7, 9.2, CAL= 155.4, 9.9, ROT= 354.6, -9.9 M T#Rx 94: Read range and direction messages.U ^direction in FSK: [0.980737,-0.092707,0.171929]] Fpublishing direction and range info9\`3b?BR!?iAjrFf V>)I;>i'-@i l$>\,…u3A^-@;0> @ ;0iILܧ?"zl?>Yq?n?$ );0i2checking for new query: numPingsReceived=94, elapsed TxPingTime=47.264137yZLB@ٱZ”P@Z܉6=ZUƼZH@s@E?0J`LϦ@˘`v?IZLB@)Z];iZCv)B9vS!IDDyD-DE E:6Et4:E!@!@!@!@)UMb@Mb@Mb@ Q)QIQiQQU/$?{GzMbPU&>UףUIUAiQU@UA)QUABDm6Dmf?3Y}٥!}6=3:Q)>99FYEA>Q 15٪?Q 55 )9r>Q A;Y>EQ E@yCE)]:I]:i5Y8Ahhm3Ahhh*J@ vڬX4@Y,\ @u\`3b?BR!?hh;0v>_4r e'e@vs"Yᅳ_*8ya?hhhn+?h6hB*i|5?2i:i߈Bi˦A"i2K@ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.505134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=94, elapsed TxPingTime=47.379429 Added new target pos. range: 21.143000 m, bearing: 181.609724 deg, lat: 36.779126 deg, lon: -121.859755 deg, deltaT: 0.505134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 21.14 m.ggg- ProNav: ac range: 21.143000 m, nav range: 20.849138 m, bearing: 181.912188 deg, approach rate: 0.000000 m/s, LOS rate: 0.002912 deg/s, cmd heading: 184.910474 deg, new cmd heading: 184.913225 deg. g15HeadingCmd: 3.227345 target range: 21.143000 and range: 21.20 m.g5ЌN@g9g9g9g9zf9rfYfafeBBdadadicicm?ɢ= =I =<ɡiIІICi|=i=)ЌN@)AIAMAAYvBy~ByB}!IB}BByByByByByԁ>AE ]=I I N > DDAT read: Rx Time:23:56:56.4852  TRx dataTimestamp_ set to:1758412614.216943 PDAT read: Bearing 343.7, -8.0 (Local) Ա  ~Local bearing/azimuth received: Bearing 343.7, -8.0 (Local)  DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.2  DAT read: 23:56:56.4852 LVL= 17024, 24465, 18306, 24547, AGC= 58, IDX= 500, 0.02,-1.802, 2.925,-1.460,-1.907, PHS= 0.206,-1.406, 0.403, RAW= 155.7, 9.3, CAL= 155.4, 10.0, ROT= 354.6, -10.0  Ygot valid direction response: 23:56:56.4852 LVL= 17024, 24465, 18306, 24547, AGC= 58, IDX= 500, 0.02,-1.802, 2.925,-1.460,-1.907, PHS= 0.206,-1.406, 0.403, RAW= 155.7, 9.3, CAL= 155.4, 10.0, ROT= 354.6, -10.0  T#Rx 95: Read range and direction messages. ^direction in FSK: [0.980437,-0.092678,0.173648] Fpublishing direction and range info9 `~_?7ƹٖNs:? 3A i B _ G _ R>) I V>i 6&> ¸2> ¸2i I N?Uƍl?? }? `& ) ¸2i  checking for new query: numPingsReceived=95, elapsed TxPingTime=47.648167ac,O3Ay6͘B@ٱ6CP@65=6.ռ6H )9)9-FY-E-A->1Q 15٪5R?Q 555 5)9YBEQ E@y5CE)51gAZs= I I N > Ri,o)3Aɰ4!9)9-FY-E51A5>9Q 1M5٪=?Q 5U5=" =)9QYUFEQ EU@y=CE)=2;I= ;i=J5YBAڦEB*** querying acoustic contact ***zhhg  DNOT Ignoring new targets: 20.84 m.g g>g>% ProNav: ac range: 20.843805 m, nav range: 20.537798 m, bearing: 181.840487 deg, approach rate: -0.367055 m/s, LOS rate: -0.027675 deg/s, cmd heading: 184.915378 deg, new cmd heading: 184.894232 deg. g%J-HeadingCmd: 3.227013 target range: 20.843805 and range: 20.90 m.g-bN@g)g)g)g1zf1rf1f9f9Bd9d9d9cAcE@7?eDDAT read: Rx Time:23:56:56.9851 eTRx dataTimestamp_ set to:1758412614.720874mPDAT read: Bearing 343.7, -8.2 (Local) u~Local bearing/azimuth received: Bearing 343.7, -8.2 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.3 DAT read: 23:56:56.9851 LVL= 15408, 23537, 15538, 23123, AGC= 56, IDX= 500, 0.01,-0.461,-2.016,-0.114,-0.564, PHS= 0.204,-1.408, 0.405, RAW= 155.8, 9.3, CAL= 155.5, 10.0, ROT= 354.5, -10.0 Ygot valid direction response: 23:56:56.9851 LVL= 15408, 23537, 15538, 23123, AGC= 56, IDX= 500, 0.01,-0.461,-2.016,-0.114,-0.564, PHS= 0.204,-1.408, 0.405, RAW= 155.8, 9.3, CAL= 155.5, 10.0, ROT= 354.5, -10.0 T#Rx 96: Read range and direction messages.^direction in FSK: [0.980274,-0.094390,0.173648]Fpublishing direction and range info9aeOg^?1?)ٖNs:?eAaie0<e[e<eSZe8 e`P>)eX9Ie)\>ie.@ae-@aez@ aiaaIewT2?x-y?h1?eT?e& e)Ľ)aiaaɢ= 顝z=I )<ɡiIachecking for new query: numPingsReceived=96, elapsed TxPingTime=48.187138ITCi5=i5T=)=bN@)A!DDDDE: E3:6E:E!%@!%@!%@!%@I >A D%=I I N% >)) - A5 checking for new query: numPingsReceived=96, elapsed TxPingTime=48.392448vBa ~Ba Be !IBe BBa Ba Ba Be ;Be ;QE p,3AyrB@ٱrdP@r5=rrH`?`夿q%@ ?IrB@)r];irC~B9~=!IMb@Mb@Mb@ )Ii?{Gz{Gzt?f>ף;IlAi@@VA)GABD.6DP3Y;!@=+8Q)>99FYEEĺA>Q 15٪?Q 55U )9>Q A#;YEQ E@yCE) ;I ;i" 5YBA٦Ehh"3Ah'Ah'AhJ@ v<4@S{-ƭ @uOg^?1?)ٖNs:?h)ĽhvPvt4\C῾HCs@v!tZ ejE?h:hh :4?hThB*i :4?2i/E:iBiA"iJ@ addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503931 s, deltaX: -0.199999 m, approachRate: -0.396877 m/s, rangeRepo size: 4  Added new target pos. range: 20.644341 m, bearing: 181.490191 deg, lat: 36.779126 deg, lon: -121.859754 deg, deltaT: 0.503931 s, deltaX: -0.199465 m, approachRate: -0.395818 m/s, posRepo size: 4 gDNOT Ignoring new targets: 20.64 m.ggg ProNav: ac range: 20.644341 m, nav range: 20.463192 m, bearing: 181.590421 deg, approach rate: 0.000000 m/s, LOS rate: -0.027675 deg/s, cmd heading: 184.894232 deg, new cmd heading: 184.871601 deg. gHeadingCmd: 3.226618 target range: 20.644341 and range: 20.70 m.gN@ggg g zf rf ffڂBBdddc@34@c]m?IɢB2= =I `<ɡiIyI͞Ci%|=i-p=)-N@))DDAT read: Rx Time:23:56:57.4849 TRx dataTimestamp_ set to:1758412615.229107PDAT read: Bearing 344.0, -8.5 (Local) ~Local bearing/azimuth received: Bearing 344.0, -8.5 (Local) DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.3 DAT read: 23:56:57.4849 LVL= 14624, 20465, 15122, 21475, AGC= 56, IDX= 498,-0.03,-1.704, 3.032,-1.352,-1.794, PHS= 0.191,-1.412, 0.398, RAW= 156.0, 9.6, CAL= 155.8, 10.4, ROT= 354.2, -10.4 Ygot valid direction response: 23:56:57.4849 LVL= 14624, 20465, 15122, 21475, AGC= 56, IDX= 498,-0.03,-1.704, 3.032,-1.352,-1.794, PHS= 0.191,-1.412, 0.398, RAW= 156.0, 9.6, CAL= 155.8, 10.4, ROT= 354.2, -10.4 T#Rx 97: Read range and direction messages.^direction in FSK: [0.978536,-0.099396,0.180519]Fpublishing direction and range info9UW+P?Ro`]rlE@?3Ai 9O;S C>)jI>i@.@+>.@9>@ 9iIj p?$?*wf? ?, )QϽ)9ichecking for new query: numPingsReceived=97, elapsed TxPingTime=48.660179q>Am$=IIN>ԙ bD ZD ?AD% D% D% /D! E% U: E% *:6E% J4:E! "E% ;!- E% ;!- *E% h;!5 E% i;!5 v,3Ay9y9}FY}E})A}>Q 15٪q⛊?Q 55 )9YEQ E@yCE):I9:iJ 5YAhh3Ah¢Ah¢AhiJ@ ve3@I -_aa @uUW+P?Ro`]rlE@?h)QϽh9vhDw:$4Q7=?3ۿcr;`9 9H>)\IO>i'>'-@J4>@ J4iI e?"e?YV? ?#( )˽)J4i checking for new query: numPingsReceived=98, elapsed TxPingTime=49.197708! >A] a=rAm >jAm >Q D5D5wD5+D1E5: E5:6E5 [4:E1!=@!=@!=@!=@AyAIIN>H~,d3AiyFˁB@ٱFBzP@Fa6=FFH`?@`;:ئ@Zx?IFˁB@)F];iFC`bAbi``idfA)f dId h)jAj`弩hlprAir`IppIpivGuA tt)tt tv/ݼxx5C5AI5)1i9)9I=A99 99MB9M5!I}checking for new query: numPingsReceived=98, elapsed TxPingTime=49.399445ԱA}<A}<vB~BB IB݂BB =BBB;B7QEMb@Mb@Mb@ )Ii}?5^I?~jtMb?M> H?9 H?9FYĴECA>AQ 1M5٪E՛?Q 5M5E E)9M>Q AM';YMmEQ EU@yECE)E:IE:iE^5YY]AYhYh]3Ah]Ah]Ah]6{J@ v] H3@)E|m*g @u]E,Y?&:ujr?h])˽h]J4v]74G3yܿshbԼ@v]aE`Ekꪀř-?h]h]uh] ;?h]~h]B*i]2;?2i]T:i]Bi]A"i]J@E addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504942 s, deltaX: -0.100000 m, approachRate: -0.198043 m/s, rangeRepo size: 4 U Added new target pos. range: 20.245430 m, bearing: 181.270686 deg, lat: 36.779127 deg, lon: -121.859754 deg, deltaT: 0.504942 s, deltaX: -0.099716 m, approachRate: -0.197480 m/s, posRepo size: 4 gy}DNOT Ignoring new targets: 20.25 m.gygg ProNav: ac range: 20.245430 m, nav range: 20.070271 m, bearing: 181.469502 deg, approach rate: 0.000000 m/s, LOS rate: -0.027675 deg/s, cmd heading: 184.844303 deg, new cmd heading: 184.817114 deg. gHeadingCmd: 3.225667 target range: 20.245430 and range: 20.30 m.gUqN@ggggzfrfff؂BBdddcL4@c%U?ɢ]B]k = Y]b=IY eI<ɡaiaIeeoIm_Cim=im==)mUqN@)q 5 DDAT read: Rx Time:23:56:58.4846 5 TRx dataTimestamp_ set to:1758412616.236993= PDAT read: Bearing 344.1, -8.7 (Local) E ~Local bearing/azimuth received: Bearing 344.1, -8.7 (Local) U DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.3 u DAT read: 23:56:58.4846 LVL= 16032, 24929, 16274, 24851, AGC= 57, IDX= 511,-0.06,-3.036, 1.715,-2.678,-3.119, PHS= 0.185,-1.404, 0.396, RAW= 156.2, 9.7, CAL= 156.0, 10.4, ROT= 354.0, -10.4 } Ygot valid direction response: 23:56:58.4846 LVL= 16032, 24929, 16274, 24851, AGC= 57, IDX= 511,-0.06,-3.036, 1.715,-2.678,-3.119, PHS= 0.185,-1.404, 0.396, RAW= 156.2, 9.7, CAL= 156.0, 10.4, ROT= 354.0, -10.4  T#Rx 99: Read range and direction messages. ^direction in FSK: [0.978183,-0.102811,0.180519] Fpublishing direction and range info91 5 5)GM?5QlE@?5 A1 i5 >5 aa5 ?5 a1 5 p=>)5 FI5 >i5 !z.@5 -\->5 @.@5 9>5 @ 5 9i1 1 I5 ۋGx?iP?c&?5 !?5 '- 5 iwֽ)5 9i1 1  checking for new query: numPingsReceived=99, elapsed TxPingTime=49.667824>A =1 A AI I N >,3AyJ}B@ٱJuP@J;7=JJH &ݽ?6 ?# @' ?IJ}B@)JAX];iJCiuB9u4!IBD6DYK˻!k=K:Q)?K?9K?9FYƴEwDA?rDjDDDD.DE E;J:6Eـ4:E"E;!E;!*E;!E;! Q 15٪ Q̛?Q 55  )9YqEQ E@y CE) :I A:i 5Y%B%A!hh*3AhAhAh*J@ vqMՂ3@.g9./ @u5)GM?5QlE@?hiwֽh9vF3{ pտjA@vUaqo v}M78?h,hh%*L?h@hB*i ;?2i~:iBiA"ixJ@ addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.502944 s, deltaX: -0.299999 m, approachRate: -0.596486 m/s, rangeRepo size: 4 % Added new target pos. range: 19.946238 m, bearing: 180.986870 deg, lat: 36.779127 deg, lon: -121.859753 deg, deltaT: 0.502944 s, deltaX: -0.299192 m, approachRate: -0.594882 m/s, posRepo size: 4 g!-DNOT Ignoring new targets: 19.95 m.g)g)g)= ProNav: ac range: 19.946238 m, nav range: 19.950512 m, bearing: 181.259654 deg, approach rate: 0.000000 m/s, LOS rate: -0.027675 deg/s, cmd heading: 184.817119 deg, new cmd heading: 184.797575 deg. g9eHeadingCmd: 3.225326 target range: 19.946238 and range: 20.00 m.gekN@gagagigizfirfifqfqBdqdqdqc}4@c}5\?checking for new query: numPingsReceived=99, elapsed TxPingTime=49.903461ɢ = P^=I <ɡiI 3I5Ci5o=i]^=)ekN@)iԙ>A% $= Ai Iy  DDAT read: Rx Time:23:56:58.9846  TRx dataTimestamp_ set to:1758412616.741965 PDAT read: Bearing 344.1, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 344.1, -8.7 (Local)  DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.3  DAT read: 23:56:58.9846 LVL= 16240, 25825, 16562, 26803, AGC= 57, IDX= 511,-0.06,-2.047, 2.708,-1.693,-2.131, PHS= 0.187,-1.398, 0.395, RAW= 156.1, 9.6, CAL= 155.9, 10.4, ROT= 354.1, -10.4 I N >5 Ygot valid direction response: 23:56:58.9846 LVL= 16240, 25825, 16562, 26803, AGC= 57, IDX= 511,-0.06,-2.047, 2.708,-1.693,-2.131, PHS= 0.187,-1.398, 0.395, RAW= 156.1, 9.6, CAL= 155.9, 10.4, ROT= 354.1, -10.4 5 V#Rx 100: Read range and direction messages.E ^direction in FSK: [0.978361,-0.101104,0.180519]E Fpublishing direction and range info9 Ƥ,E03A=mN?MnZṿlE@?ip?d@h |?>)Iq=>i].@+>X$.@J@ iI+Ŧ~?H}YU#?GLn?=!?G, )ҽ)ichecking for new query: numPingsReceived=100, elapsed TxPingTime=50.259647yxB@ٱqP@V8=7H\Ͻ? l` =@`Y?IxB@)mZ];iCUB9U6!IYiY)]A ]ADDvD+DE E:6E [4:E!@!@!@!@Mb@Mb@Mb@ )Ii!rh?~jtMb?l>ļIAi@lA)ABD26D 3Y;!=CD9Q)>99FYʴEA> Q 15٪ ?Q 55 ( )9>Q A!;YQFQ E@y CE) %A :_=ԉDDAT read: Rx Time:23:56:59.4844 TRx dataTimestamp_ set to:1758412617.244788PDAT read: Bearing 344.1, -9.1 (Local) ~Local bearing/azimuth received: Bearing 344.1, -9.1 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.3 DAT read: 23:56:59.4844 LVL= 16656, 26465, 16930, 26099, AGC= 57, IDX= 509,-0.06, 2.846, 1.316,-3.070, 2.769, PHS= 0.179,-1.407, 0.401, RAW= 156.4, 9.7, CAL= 156.3, 10.5, ROT= 353.7, -10.5 Ygot valid direction response: 23:56:59.4844 LVL= 16656, 26465, 16930, 26099, AGC= 57, IDX= 509,-0.06, 2.846, 1.316,-3.070, 2.769, PHS= 0.179,-1.407, 0.401, RAW= 156.4, 9.7, CAL= 156.3, 10.5, ROT= 353.7, -10.5  V#Rx 101: Read range and direction messages.-^direction in FSK: [0.977317,-0.107897,0.182236]-Fpublishing direction and range info9q]M.F?ym~S?AiAag"Be K7>)IO>iR.@-\->.@f;>@ f;iI%]?mɾ?[^?"?- i0)f;i]checking for new query: numPingsReceived=101, elapsed TxPingTime=50.681606AMyAIYIiN} ?,aS3Ay~ B@ٱ~yP@~8=~zU~H`?@lʤzN$?I~ B@)~ s];i~C5 B950!I9BD6D\3YV!J=8Q)> H?9 H?9FY̴E:A>Q 15٪j?Q 55O )9YGFQ E@yCE)\;I;i5Y!%A!hhO3Ah-Ah-AhI@ vH33@tM @uq]M.F?ym~S?hi0hf;vK0lr3!9|п0iG@v.qgr[ڊR$?h僾hh/UK?hhB*i_@)A?2i:iiA"iFJ@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.502823 s, deltaX: -0.299999 m, approachRate: -0.596630 m/s, rangeRepo size: 4  Added new target pos. range: 19.647041 m, bearing: 180.758935 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.502823 s, deltaX: -0.299196 m, approachRate: -0.595033 m/s, posRepo size: 4 gDNOT Ignoring new targets: 19.65 m.ggg% ProNav: ac range: 19.647041 m, nav range: 19.575081 m, bearing: 181.084976 deg, approach rate: 0.000000 m/s, LOS rate: -0.027675 deg/s, cmd heading: 184.768037 deg, new cmd heading: 184.745852 deg. g!-HeadingCmd: 3.224423 target range: 19.647041 and range: 19.70 m.g-\N@g)g)g)g)zfQrfQfQfQBdYdYdYc]@33@c]`?ɢBV = 页X=I z<ɡiIICi9=i(A=)\N@)bDZD@ADDtD.DE Ev:6Eـ4:E"E!E!*E`;!E`;!ichecking for new query: numPingsReceived=101, elapsed TxPingTime=50.911633ԑ>AA% AI1 IA NM > ޺,2m3Ay6B@ٱ6{P@6{8=6 6H'?ؤ@&`@( a m?I6B@)6Q];i4B B9B.!IBDJ"6DJJz3YR".!V_=VWQ)V>ZK?9ZK?9ZFYZϴEZ$9AZ>\Q 1b5٪^m?Q 5f5^q ^)9dYfEFQ Ef@y^CE)^:I^:i^5YjBnAnئEzB*** querying acoustic contact ***zhxhxgDNOT Ignoring new targets: 19.65 m.g g "g "幝- ProNav: ac range: 19.647041 m, nav range: 19.456446 m, bearing: 181.076364 deg, approach rate: -0.342880 m/s, LOS rate: -0.025041 deg/s, cmd heading: 184.745853 deg, new cmd heading: 184.728525 deg. g-N75HeadingCmd: 3.224121 target range: 19.647041 and range: 19.70 m.g=XN@g9g9g9gAzfArfAfIfIBdIdQdQmDDAT read: Rx Time:23:56:59.9844 uTRx dataTimestamp_ set to:1758412617.750023PDAT read: Bearing 343.8, -8.8 (Local) ~Local bearing/azimuth received: Bearing 343.8, -8.8 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.3 DAT read: 23:56:59.9844 LVL= 15920, 26289, 16114, 25251, AGC= 56, IDX= 509,-0.03,-2.465, 2.283,-2.105,-2.556, PHS= 0.192,-1.399, 0.406, RAW= 156.2, 9.4, CAL= 156.0, 10.1, ROT= 354.0, -10.1 ԹcQcU`?Ygot valid direction response: 23:56:59.9844 LVL= 15920, 26289, 16114, 25251, AGC= 56, IDX= 509,-0.03,-2.465, 2.283,-2.105,-2.556, PHS= 0.192,-1.399, 0.406, RAW= 156.2, 9.4, CAL= 156.0, 10.1, ROT= 354.0, -10.1 V#Rx 102: Read range and direction messages.^direction in FSK: [0.979110,-0.102909,0.175367]Fpublishing direction and range info9quwbT?-t:X:ujr?qqiu0>ufu>ubu8 uD>)uoIu;>iu!z.@u'>ɢB = O=I <ɡiIFu@.@uJ4>u@ uJ4iqqIu.w?r-`??uW!?u ?( uiwֽ)uJ4iqqchecking for new query: numPingsReceived=102, elapsed TxPingTime=51.216209ICi=i=)XN@) DD}D,DEҝ: Ek&:6Eg4:E! @! @! @! @>Au$=- checking for new query: numPingsReceived=102, elapsed TxPingTime=51.417988A A A @AvB B>~B B IB ΂BB B B B ;B GQEI1 IQ N} >9 ᢡ,܆3Ay:B@ٱ:vP@::7=:::H? m p樂@?I:B@):I];i8RB9R'!I-Mb@Mb@Mb@ )))I)i))-q= ףp?Zd;O{Gzt?->-j-ף;I-Ai-@))))-ABDm#6DmӀ3YQ̼!==, Q)>99FYѴE:A>Q 15٪?Q 55 *9>Q A;YEQ E@yCE)W;I2;i~5YAhh`p3Ahhh2J@ v3<3@j]kԾ,݆8= @uwbT?-t:X:ujr?hiwֽhJ4v&/1w3;&ֿV[9A!@v(K ]BVr~(5?h󑰾hh3?h\hNB*iy=?2i\:iBiӚA"i3J@ addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.505235 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 19.646994 m, bearing: 181.014962 deg, lat: 36.779127 deg, lon: -121.859752 deg, deltaT: 0.505235 s, deltaX: -0.000048 m, approachRate: -0.000094 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 19.65 m.g9gEgA ProNav: ac range: 19.646994 m, nav range: 19.353151 m, bearing: 181.021022 deg, approach rate: 0.000000 m/s, LOS rate: -0.025041 deg/s, cmd heading: 184.728531 deg, new cmd heading: 184.704905 deg. gHeadingCmd: 3.223709 target range: 19.646994 and range: 19.70 m.g>QN@ggggzfrfffBBdddcc?ɢ=B== 9EX-=IA E<ɡAiAuDDAT read: Rx Time:23:57:00.4842 }TRx dataTimestamp_ set to:1758412618.252928PDAT read: Bearing 344.0, -9.0 (Local) ~Local bearing/azimuth received: Bearing 344.0, -9.0 (Local) DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.3 DAT read: 23:57:00.4842 LVL= 18496, 25969, 18866, 29395, AGC= 57, IDX= 507,-0.03, 2.428, 0.889, 2.796, 2.345, PHS= 0.185,-1.410, 0.407, RAW= 156.4, 9.6, CAL= 156.2, 10.3, ROT= 353.8, -10.3 Ygot valid direction response: 23:57:00.4842 LVL= 18496, 25969, 18866, 29395, AGC= 57, IDX= 507,-0.03, 2.428, 0.889, 2.796, 2.345, PHS= 0.185,-1.410, 0.407, RAW= 156.4, 9.6, CAL= 156.2, 10.3, ROT= 353.8, -10.3 V#Rx 103: Read range and direction messages.^direction in FSK: [0.978130,-0.106259,0.178802]Fpublishing direction and range info9qu.L?&&3?u3Aqiu@HuqeuIuru9 up=>)uzIuNb>iuR.@u+>u!z.@uX8>ue@ uX8iqqIoIvCi'ś=iI=)>QN@)Iu"c?.I ?L]MC?u"?u9* uiݽ)uX8iqq checking for new query: numPingsReceived=103, elapsed TxPingTime=51.687496@@AAq>AM D%=rD =jD 4=D D zD 0D E s: E  :6E 4:E "E ;! E ;! *E v;!% E v;!% Ay I ԙ I N >5 DDAT read: Rx Time:23:57:00.9842 = TRx dataTimestamp_ set to:1758412618.507061M PDAT read: Bearing 344.3, -8.8 (Local) U ~Local bearing/azimuth received: Bearing 344.3, -8.8 (Local) e checking for new query: numPingsReceived=103, elapsed TxPingTime=51.928131}ا,63AYyB@ٱdP@A6=wH| ? 褿cR8KƦR?IB@)G];iCB9!IBD!6Dr3Y!7=|8Q)>99FYԴEr :A>Q 15٪?Q 55 *9YEQ E@yCE)W:I:in5YBAצEhh/3AhȚAhȚAh0I@ v2@G}4aorV~ @u.L?&&3?hiݽhX8v P)3^cѿ_@vP'9 9Ì6ʬ?hhHh@?h^`hVB*i@?2i@:iiMA"iJ@E addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.502905 s, deltaX: -0.300001 m, approachRate: -0.596536 m/s, rangeRepo size: 4 ] Added new target pos. range: 19.347801 m, bearing: 180.812486 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.502905 s, deltaX: -0.299192 m, approachRate: -0.594928 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 19.35 m.gYgagau ProNav: ac range: 19.347801 m, nav range: 19.162996 m, bearing: 180.919435 deg, approach rate: 0.000000 m/s, LOS rate: -0.025041 deg/s, cmd heading: 184.704899 deg, new cmd heading: 184.684261 deg. gq}HeadingCmd: 3.223348 target range: 19.347801 and range: 19.40 m.g}WKN@gygygygyzfrfffBdddc`ff3@c@|'?ɢBr= p)mImC>im.@m-\->m].@mf;>m@ mf;iiiIm.4Ep?4zʀ?{g?m7!?mF- mi ڽ)mf;iiichecking for new query: numPingsReceived=104, elapsed TxPingTime=52.191929Թ>AGg=A) IY I N D,3ADbD`Db*D`Eb: E`6Eb(N4:E`!f@!f@!f@!f@uB9u!IDDAT read: Rx Time:23:57:01.4840 TRx dataTimestamp_ set to:1758412619.011880PDAT read: Bearing 344.3, -8.3 (Local) ~Local bearing/azimuth received: Bearing 344.3, -8.3 (Local) -checking for new query: numPingsReceived=104, elapsed TxPingTime=52.4334989vB~BB IBɂBBBBB;BMQEMb@Mb@Mb@ )Ii/$?y&1&>`Ii@@)fABD=&6D=ދ3YM}$!M=UQ)U>Q9Q9UFYY}شE}A}>Q 15٪V?Q 55  *9>Q A;YFQ E@yCE):I:i5YAhh0h3AhhhJ@ v!AO2@",4 @uőv7I?Df0m~S?hi ڽhf;vo&36匦ӿ7]*@vB j@r?h4h4h2?h7hwB*iy=?2i7:iwBi/A"iOJ@ addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503431 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 19.347807 m, bearing: 180.918535 deg, lat: 36.779127 deg, lon: -121.859752 deg, deltaT: 0.503431 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 gDNOT Ignoring new targets: 19.35 m.ggg- ProNav: ac range: 19.347807 m, nav range: 19.023190 m, bearing: 180.924815 deg, approach rate: 0.000000 m/s, LOS rate: -0.025041 deg/s, cmd heading: 184.684258 deg, new cmd heading: 184.656796 deg. g)UHeadingCmd: 3.222869 target range: 19.347807 and range: 19.40 m.gU}CN@gQgQgQgQzfYrfYfYf]BBdadadacace?ɢB = =I ܘ<ɡiI3I 8Ci m֛=i P=) }CN@)I ԉ  DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.3  DAT read: 23:57:01.4840 LVL= 20512, 25425, 21026, 32755, AGC= 57, IDX= 505,-0.04, 1.996, 0.475, 2.341, 1.910, PHS= 0.188,-1.390, 0.387, RAW= 155.9, 9.7, CAL= 155.7, 10.5, ROT= 354.3, -10.5  Ygot valid direction response: 23:57:01.4840 LVL= 20512, 25425, 21026, 32755, AGC= 57, IDX= 505,-0.04, 1.996, 0.475, 2.341, 1.910, PHS= 0.188,-1.390, 0.387, RAW= 155.9, 9.7, CAL= 155.7, 10.5, ROT= 354.3, -10.5  V#Rx 105: Read range and direction messages. ^direction in FSK: [0.978393,-0.097657,0.182236] Fpublishing direction and range info9 ߱fN?,m~S? ̘A i P Qc "R  @>) 뱿I $>i X$.@ '-@ @ i I 7Z?]@8{?q2!? ? ? L- )˽) i  checking for new query: numPingsReceived=105, elapsed TxPingTime=52.687950Ա >Au +=I G) I iS6!%!:AAyAIIN?ɩ,3AbDZD?ABEAJEEs4REE}0DDxD.DE: E:6Eـ4:E"EU;!&EV;!&*EWo;!*EWo;!*yF,B@ٱF~P@F^5=Fv׼FHO? CE皿 ?IF,B@)F];iFCbB9f!IBDn6Dn03Yv!vm=vܹQ)-?5 H?95 H?95FY5ڴE=ZA=?AQ 1M5٪E&v?Q 5M5E E*9iYmFQ Eu@yECE)Eu;IE?;iE;5Yy}Ayh!h%Ü3Ah%cAh%cAh%|J@ v%2@薗>zĶJ @u%߱fN?,m~S?h%)˽h!v%h2߃ڿ k @v%ᅱi{4?h%־h%Ӗh%nA?h%A h%ZBmDDAT read: Rx Time:23:57:01.9839 uTRx dataTimestamp_ set to:1758412619.515843PDAT read: Bearing 344.5, -8.4 (Local) ~Local bearing/azimuth received: Bearing 344.5, -8.4 (Local) DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.3 \#Rx 106: Read range message, but no direction.9im3Aichecking for new query: numPingsReceived=106, elapsed TxPingTime=52.945160*i%@?2i!:i%ZBi%A)"i%J@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.759484 s, deltaX: -0.500000 m, approachRate: -0.658342 m/s, rangeRepo size: 4  Added new target pos. range: 19.048615 m, bearing: 181.273640 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.503209 s, deltaX: -0.299192 m, approachRate: -0.594569 m/s, posRepo size: 4 gDNOT Ignoring new targets: 19.05 m.ggg- ProNav: ac range: 19.048615 m, nav range: 18.861500 m, bearing: 180.919754 deg, approach rate: 0.000000 m/s, LOS rate: -0.025041 deg/s, cmd heading: 184.656801 deg, new cmd heading: 184.637343 deg. g)5HeadingCmd: 3.222530 target range: 19.048615 and range: 18.90 m.g5=N@g1g1g1g1zf9rfYfYfaBdadadace`f2@cm ?ɢB= A "=ԁ 5 DAT read: 23:57:01.9839 LVL= 17456, 27057, 18354, 30563, AGC= 58, IDX= 504,-0.06, 1.749, 0.217, 2.097, 1.666, PHS= 0.185,-1.404, 0.387, RAW= 155.9, 9.8, CAL= 155.7, 10.6, ROT= 354.3, -10.6 ] Ygot valid direction response: 23:57:01.9839 LVL= 17456, 27057, 18354, 30563, AGC= 58, IDX= 504,-0.06, 1.749, 0.217, 2.097, 1.666, PHS= 0.185,-1.404, 0.387, RAW= 155.9, 9.8, CAL= 155.7, 10.6, ROT= 354.3, -10.6 e \#Rx 107: Read direction message, but no range.m ^direction in FSK: [0.978075,-0.097625,0.183951]9  pdL?UQ =η? i 0D i G cw :  p=>) FI i  %/>  q=>  q=i I Vlj?)D~?? Tr ? /  ) q= checking for new query: numPingsReceived=107, elapsed TxPingTime=53.207672AQ IY Ii N} >fμ,3Aɰ((0yJB@ٱJ xP@J86=JμJH(\ֽ? $X枿˙N?IJB@)Jd];iJCDUDU~DU+DQEUC: EU(:6EU [4:EQ!e@!e@!e@!e@ԉeB9m!IDDAT read: Rx Time:23:57:02.4837 TRx dataTimestamp_ set to:1758412620.019685PDAT read: Bearing 344.8, -8.1 (Local) ~Local bearing/azimuth received: Bearing 344.8, -8.1 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.2 A<A<vBC>~BB IBĂBBBBB;BWQEԹ\#Rx 108: Read range message, but no direction.9fAchecking for new query: numPingsReceived=108, elapsed TxPingTime=53.487427=Mb@Mb@Mb@ 9)9I9i99=(\?Mb=>=9I=Ai=@=@9)9=ABD6DF3Y <!='9Q)>99FY޴E'A%>!Q 1U5٪%d?Q 5U5%9 %*9Uٮ>Q AU;YUGQ EU@y%DE)%d;I%K;i%5YeBeAe֦EhhB3AhAhAh sJ@ v$V2@*^Iq @updL?UQ =η?hhq=v.2sܾٿ&_g@v?^N?5D?h;hlh?H?h-hVB*i2i\:iVBi-A"i+J@  addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503842 s, deltaX: -0.100000 m, approachRate: -0.198476 m/s, rangeRepo size: 4 %  Added new target pos. range: 18.749441 m, bearing: 181.242106 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.760117 s, deltaX: -0.299173 m, approachRate: -0.393589 m/s, posRepo size: 4 g! % DNOT Ignoring new targets: 18.75 m.g) g) g) E  ProNav: ac range: 18.749441 m, nav range: 18.647411 m, bearing: 180.990239 deg, approach rate: 0.000000 m/s, LOS rate: -0.025041 deg/s, cmd heading: 184.637348 deg, new cmd heading: 184.608605 deg. gA HeadingCmd: 3.222028 target range: 18.749441 and range: 18.80 m.g 5N@g g g g zf rf f f BBd d dA cE 2@cM Y?ɢ B Ai= 顕 =I <ɡ i I sI Ci =i |=) 5N@) @ @ i I = DAT read: 23:57:02.4837 LVL= 16944, 26289, 18338, 29171, AGC= 57, IDX= 502,-0.09, 1.169,-0.369, 1.507, 1.083, PHS= 0.187,-1.408, 0.380, RAW= 155.6, 9.9, CAL= 155.5, 10.7, ROT= 354.5, -10.7 E Ygot valid direction response: 23:57:02.4837 LVL= 16944, 26289, 18338, 29171, AGC= 57, IDX= 502,-0.09, 1.169,-0.369, 1.507, 1.083, PHS= 0.187,-1.408, 0.380, RAW= 155.6, 9.9, CAL= 155.5, 10.7, ROT= 354.5, -10.7 E \#Rx 109: Read direction message, but no range.M ^direction in FSK: [0.978089,-0.094179,0.185667]9  :WL? % &K{? i 0B f G q 9  |?>) X9I \>i -@ ;0> -@ t;?> z@  t;?i I `ܟ?=_^?i|m? tA? U1  )Ľ) t;?m checking for new query: numPingsReceived=109, elapsed TxPingTime=53.693394i >A/=ԁAAI!I1N=?+,3Ay6{B@ٱ6utP@6c5=6{KӼ6H_ ɽ?  #zybb1?I6{B@)6D];i6CiPVts@)T TITTTiTIXXIXiZA ^h^xF)\\ ^A^```b݂AIbGa)`i`)dIfAffF dhhhihhhrB9r!IBDz6DzN3Y!i=ĚQ)? K?9 K?9 FY E+A?Q 1%5٪yZ?Q 5%5I !*9!Y%GQ E%@yDE):I-:io!5Y15A1UB*** querying acoustic contact ***zhQhQgYeDNOT Ignoring new targets: 18.75 m.gagegeD}D}xD}-DyE}: E}:6E}t4:Ey"E}6A =AU yAIi I N >e DAT read: 23:57:02.9837 LVL= 16544, 27121, 16242, 25587, AGC= 56, IDX= 502,-0.07, 2.414, 0.875, 2.743, 2.323, PHS= 0.194,-1.402, 0.377, RAW= 155.4, 9.8, CAL= 155.2, 10.7, ROT= 354.8, -10.7 m Ygot valid direction response: 23:57:02.9837 LVL= 16544, 27121, 16242, 25587, AGC= 56, IDX= 502,-0.07, 2.414, 0.875, 2.743, 2.323, PHS= 0.194,-1.402, 0.377, RAW= 155.4, 9.8, CAL= 155.2, 10.7, ROT= 354.8, -10.7 m \#Rx 111: Read direction message, but no range.u ^direction in FSK: [0.978569,-0.089057,0.185667]99 = goP?nCm̶ &K{?9 i= @= i= r?= c= 8 = F>)= tI= %>i= ^-@= %/>= -\-@9 = _(@ 9 i9 I= 54??_b??#t?= m?= / = ޹)9  checking for new query: numPingsReceived=111, elapsed TxPingTime=54.198093 {Q,33A]B9]!Iie=Ie=BDm)6Dm3Y}A!}C=Q)> H?9 H?9FYEA>Q 15٪rN?Q 55^ '*9YQ E@yDE);I;iC#5YBAhhl!3AhhhK@ v%MfX2@v[1b @ugoP?nCm̶ &K{?h޹ht;?vX6y2~-ῡ\ 4@v|SZxDv?hh[h)3?hd%hYB*i2i-:iYBi#A"iJqJ@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 18.749441 m, bearing: 181.735087 deg, lat: 36.779128 deg, lon: -121.859753 deg, deltaT: 0.505243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gimDNOT Ignoring new targets: 18.75 m.gigugq ProNav: ac range: 18.749441 m, nav range: 18.392231 m, bearing: 181.235978 deg, approach rate: 0.000000 m/s, LOS rate: -0.004838 deg/s, cmd heading: 184.605533 deg, new cmd heading: 184.600850 deg. gDDyD.DE: E:6Eـ4:E!@!@!@!@HeadingCmd: 3.221893 target range: 18.749441 and range: 18.80 m.g}3N@ggggzfrfffBdddcc 0H?ɢMBM= QU~BB IBBBBBB ;BZQE}DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.2 \#Rx 112: Read range message, but no direction.9Auchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.499119) >A L=Y I I N >3,N3Ai}DAT read: 23:57:03.4835 LVL= 16528, 26961, 17346, 25571, AGC= 56, IDX= 500,-0.07, 1.299,-0.247, 1.621, 1.205, PHS= 0.195,-1.407, 0.372, RAW= 155.2, 9.9, CAL= 155.0, 10.8, ROT= 355.0, -10.8 Ygot valid direction response: 23:57:03.4835 LVL= 16528, 26961, 17346, 25571, AGC= 56, IDX= 500,-0.07, 1.299,-0.247, 1.621, 1.205, PHS= 0.195,-1.407, 0.372, RAW= 155.2, 9.9, CAL= 155.0, 10.8, ROT= 355.0, -10.8 \#Rx 113: Read direction message, but no range.^direction in FSK: [0.978549,-0.085612,0.187381]9Y]m%7FP?])p굿0i?Yi]@]Qi]C]cY ]G>)]I]v>i]-\-@];0>]"-@]A>]D@ ]AiYI]c1k?7a5N)?|U?]0?]_]1 ])]Achecking for new query: numPingsReceived=113, elapsed TxPingTime=54.701885ԉB9!IMb@Mb@Mb@ )IiS?+~jth?>D;Ii@A)AI)BD6D\3YE<!"=Q)>99FYEA>Q 15٪??Q 55a ,*9 >>Q A ;Y HQ E @yDE) ;I] ;iw%5YAhIhMA3AhMAhMAhM9K@ vMe 2@$ EWcMf @uMm%7FP?])p굿0i?hMhMAvMq~>2$㿍a0@vM14}ᅭDXl)?hMhMhM>?hMǚhMVB*iM>?2iMA :iIiMA"iM~J@m addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503200 s, deltaX: -0.299999 m, approachRate: -0.596183 m/s, rangeRepo size: 4 } Added new target pos. range: 18.450222 m, bearing: 181.936629 deg, lat: 36.779127 deg, lon: -121.859753 deg, deltaT: 0.503200 s, deltaX: -0.299219 m, approachRate: -0.594633 m/s, posRepo size: 4 gyDNOT Ignoring new targets: 18.45 m.ggg ProNav: ac range: 18.450222 m, nav range: 18.246998 m, bearing: 181.282953 deg, approach rate: 0.000000 m/s, LOS rate: -0.004838 deg/s, cmd heading: 184.600848 deg, new cmd heading: 184.596565 deg. gHeadingCmd: 3.221818 target range: 18.450222 and range: 18.50 m.gC2N@ggggzfrfff߂BBdddc2@c?ɢBtt= AE Ϛ=} PDAT read: Bearing 344.9, -7.5 (Local)  ~Local bearing/azimuth received: Bearing 344.9, -7.5 (Local)  DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.3 M DAT read: 23:57:03.9835 LVL= 16624, 26017, 16994, 26355, AGC= 56, IDX= 500,-0.04, 1.954, 0.409, 2.265, 1.860, PHS= 0.196,-1.406, 0.361, RAW= 154.9, 10.1, CAL= 154.7, 10.9, ROT= 355.3, -10.9 U Ygot valid direction response: 23:57:03.9835 LVL= 16624, 26017, 16994, 26355, AGC= 56, IDX= 500,-0.04, 1.954, 0.409, 2.265, 1.860, PHS= 0.196,-1.406, 0.361, RAW= 154.9, 10.1, CAL= 154.7, 10.9, ROT= 355.3, -10.9 U V#Rx 114: Read range and direction messages. ^direction in FSK: [0.978657,-0.080460,0.189095] Fpublishing direction and range info9) - '5'Q? oG4?) ) i- @- e- bB- f) - 9H>)- I- Ը>i- c-@- J4>- 3,@- B>- o@ - Bi) ) I- P,I9X?Ts?u8`?- ?- 3 - )- Bi) )  checking for new query: numPingsReceived=114, elapsed TxPingTime=55.008118I9 II N] > ,h3Ay]z\B@ٱ]TP@] /9=]]H`U?!P?#`h??I]z\B@)]];i]CuB9u !IBD!6Dr3Y!s= 5;Q) ?9195FY5E=ൻA=?AQ 1M5٪E5?Q 5M5Ea E0*9IYM IQ EU@yE DE)E;IE;iE&5Yy}Ayhahe"b3AhahaheyK@ ve䭅r2@ڢ i+ @ue'5'Q? oG4?heheBveh&5*<2ߑb&@veT~\Պpd?he0hehe_4?heyhe[B*ia2ied%:iaieA"ie- K@= addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.450222 m, bearing: 182.160381 deg, lat: 36.779127 deg, lon: -121.859755 deg, deltaT: 0.504656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gVStarting intercept timer at range: 18.50 m.DNOT Ignoring new targets: 18.45 m.ggg ProNav: ac range: 18.450222 m, nav range: 18.131859 m, bearing: 181.774132 deg, approach rate: 0.000000 m/s, LOS rate: -0.004838 deg/s, cmd heading: 184.596558 deg, new cmd heading: 184.593084 deg. g)5HeadingCmd: 3.221757 target range: 18.450222 and range: 18.50 m.g5E1N@g1g1g9g9zf9rf9fAuchecking for new query: numPingsReceived=114, elapsed TxPingTime=55.195526fBdddcc??ɢB= 顽pD D D ,D E : E 6E g4:E ! @! @! @! @E DDAT read: Rx Time:23:57:04.4833 Aa Aa vB} A>~By B} IB} BBy By By By B} YQEB9B9B9B=̰ =B=̰ =B=3,%̓3ATRx dataTimestamp_ set to:1758412622.037396PDAT read: Bearing 344.9, -7.5 (Local) ~Local bearing/azimuth received: Bearing 344.9, -7.5 (Local) VDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.3 fDAT read: 23:57:04.4833 LVL= 17680, 26849, 19058, 30563, AGC= 58, IDX= 498,-0.03, 0.861,-0.692, 1.171, 0.770, PHS= 0.194,-1.417, 0.357, RAW= 154.8, 10.2, CAL= 154.6, 11.1, ROT= 355.4, -11.1 jYgot valid direction response: 23:57:04.4833 LVL= 17680, 26849, 19058, 30563, AGC= 58, IDX= 498,-0.03, 0.861,-0.692, 1.171, 0.770, PHS= 0.194,-1.417, 0.357, RAW= 154.8, 10.2, CAL= 154.6, 11.1, ROT= 355.4, -11.1 UV#Rx 115: Read range and direction messages.]^direction in FSK: [0.978132,-0.078699,0.192522]eFpublishing direction and range info9@A{L?Uo%M?AiEhrJcw: F>)B`Iȶ>i,@K6>,@aF>(~@ aFiInd?&{a?_R?W?yaAB@ٱ9P@)'==! H@ ?@ِ``Cm?IaAB@)\;i-6 l)aFichecking for new query: numPingsReceived=115, elapsed TxPingTime=55.531284B9 IiQMb@Mb@Mb@ )Iim?l~jtx?>;IAi@A) ABD%#6D%Ӏ3Y !=:Q)>99FYELVA>Q 15٪,'?Q 55f 5*9>Q A;YHQ E@y DE)0;I:i0)5YBAզEhhd3Ah5Ah5Ah$K@ v9z 1@ \M; @u@A{L?Uo%M?hlhaFv!&1,^濓Zz@v2J qhbW*?h2hvhQ@?hUhTB*i2iǚ:iVBiA"iAK@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504612 s, deltaX: -0.299999 m, approachRate: -0.594515 m/s, rangeRepo size: 4  Added new target pos. range: 18.151005 m, bearing: 182.232120 deg, lat: 36.779127 deg, lon: -121.859756 deg, deltaT: 0.504612 s, deltaX: -0.299217 m, approachRate: -0.592965 m/s, posRepo size: 4 gTStopped intercept timer at range: 18.20 m.DNOT Ignoring new targets: 18.15 m.ggg- ProNav: ac range: 18.151005 m, nav range: 17.960287 m, bearing: 181.965589 deg, approach rate: 0.000000 m/s, LOS rate: -0.004838 deg/s, cmd heading: 184.593089 deg, new cmd heading: 184.588162 deg. g)5HeadingCmd: 3.221671 target range: 18.151005 and range: 18.20 m.g5/N@g1g1gYgYzfYrfYfafaBdadadacm@332@cm`ک?ychecking for new query: numPingsReceived=115, elapsed TxPingTime=55.699413ɢB< 8I <ɡiIթICi=i=i=)/N@)IIN>ԡ v,n3ArDjD<DDzD.DEU: E :6Eـ4:E"E;!E;!*Ev;!Ev;!<9 IBDeDDAT read: Rx Time:23:57:04.9833 uTRx dataTimestamp_ set to:1758412622.541436PDAT read: Bearing 344.8, -7.4 (Local) ~Local bearing/azimuth received: Bearing 344.8, -7.4 (Local) 6Df?3Y=!Ee=EQ)E>I9I9MFYmEuAu>yQ 1}5٪}?Q 55}j }8*9YQ E@y} DE)}:I}:i}*5Y%AԩDAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.3 PExceeded connect timeout, disconnecting.B*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 18.15 m.gDAT read: 23:57:04.9833 LVL= 17440, 26609, 17378, 27747, AGC= 57, IDX= 498,-0.02, 2.162, 0.606, 2.465, 2.067, PHS= 0.197,-1.417, 0.354, RAW= 154.6, 10.2, CAL= 154.5, 11.1, ROT= 355.5, -11.1 %Ygot valid direction response: 23:57:04.9833 LVL= 17440, 26609, 17378, 27747, AGC= 57, IDX= 498,-0.02, 2.162, 0.606, 2.465, 2.067, PHS= 0.197,-1.417, 0.354, RAW= 154.6, 10.2, CAL= 154.5, 11.1, ROT= 355.5, -11.1 %V#Rx 116: Read range and direction messages.gM:gmM:} ProNav: ac range: 18.151005 m, nav range: 17.836285 m, bearing: 181.977464 deg, approach rate: -0.354263 m/s, LOS rate: 0.034163 deg/s, cmd heading: 184.588157 deg, new cmd heading: 184.612073 deg. g}z:HeadingCmd: 3.222089 target range: 18.151005 and range: 18.20 m.g6N@^direction in FSK: [0.978268,-0.076991,0.192522]Fpublishing direction and range info9aeM?'鱵M?aggggzfrfffBdddccKr?aie DegeCecle9 e^I>)aIe}?>ie,@ae,@aeu@ aiaaIe checking for new query: numPingsReceived=116, elapsed TxPingTime=56.203503! ;,3AyJY4B@ٱJ,P@Ji==JB JHǼ?]R`룿`íb`?IJY4B@)JR\;iJCVۂB9V IBDr6Dr4d3Y5 R!=s=M29Q)M?a9a9mFYmE}A?Q 15٪?Q 55m ;*9YHQ E@yDE);Ig濛k*=@@vf￾ .5CS%?h+7huhh+?h)m$Imj>im,@mX8>miw,@m+H>m@ m+HiiiImY?\?}?m2;?mN7 miF)m+Hiiichecking for new query: numPingsReceived=117, elapsed TxPingTime=56.501247 ProNav: ac range: 18.151005 m, nav range: 17.835245 m, bearing: 182.204950 deg, approach rate: 0.000000 m/s, LOS rate: 0.034163 deg/s, cmd heading: 184.612077 deg, new cmd heading: 184.641545 deg. gHeadingCmd: 3.222603 target range: 18.151005 and range: 18.20 m.g ?N@ggggzfrfffBd1d9d9c=`f1@c=i?QɢBe<  {I <ɡiIEICi=i=) ?N@)I I N >ԁ u#,[3AiPIPVchecking for new query: numPingsReceived=117, elapsed TxPingTime=56.707771rB9v IYMMb@Mb@Mb@ I)IIIiIIMGz?MtMD;IMAiM@M@I)IIBD*6D3Y<!6=Q)>99FYEA>Q 15٪?Q 55u @*9>Q A;YHQ E@yDE)&A/=PDAT read: Bearing 345.3, -7.3 (Local) e ~Local bearing/azimuth received: Bearing 345.3, -7.3 (Local) } DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.3  DAT read: 23:57:05.9831 LVL= 14928, 20801, 16114, 24867, AGC= 55, IDX= 511,-0.03, 1.167,-0.397, 1.461, 1.081, PHS= 0.188,-1.433, 0.336, RAW= 154.3, 10.7, CAL= 154.2, 11.7, ROT= 355.8, -11.7  nManaging dock network, ignoring radio surface power off Ygot valid direction response: 23:57:05.9831 LVL= 14928, 20801, 16114, 24867, AGC= 55, IDX= 511,-0.03, 1.167,-0.397, 1.461, 1.081, PHS= 0.188,-1.433, 0.336, RAW= 154.3, 10.7, CAL= 154.2, 11.7, ROT= 355.8, -11.7  V#Rx 118: Read range and direction messages.- ^direction in FSK: [0.976593,-0.071717,0.202787]5 Fpublishing direction and range info9pv@@?߹D\ ?AiP:AQ>#a7 @>)lI1>iZ,@t;?>9>,@Q>Y@ QiIS0?;޺?7o?\?X? i )Qi} checking for new query: numPingsReceived=118, elapsed TxPingTime=57.029758 A I I N= >M,q83Ay66#B@ٱ6P@6c@=66H ` ??qҥ`$@Y?I66#B@)6\;i6C~߂B9~ IBD 16D [3ԹY!W=;Q)>99FYEM4A>Q 15٪?Q 5 5z E*9 Y HQ E @yDE);I;i/5YAEAAhhO3Ah7Ah7AhK@ v{9=1@fAp2) @upv@@?߹D\ ?hi hQv= 9i1iPwo@vӜ│6/kd 'VyU?hEhIhɗ??h*Bh{B*i2iA=Du Du xDq Dq Eu U: Eu :6Eq :Eq ! @! @! @! @I A IQ  DDAT read: Rx Time:23:57:06.4829  TRx dataTimestamp_ set to:1758412624.052795A <A <vB ~B B IB BB =B B B ;B CQE PDAT read: Bearing 345.2, -6.8 (Local)  ~Local bearing/azimuth received: Bearing 345.2, -6.8 (Local)  DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.3  DAT read: 23:57:06.4829 LVL= 17216, 26865, 17714, 26835, AGC= 56, IDX= 509,-0.04,-0.029,-1.593, 0.252,-0.124, PHS= 0.197,-1.424, 0.332, RAW= 154.0, 10.6, CAL= 153.8, 11.6, ROT= 356.2, -11.6  Ygot valid direction response: 23:57:06.4829 LVL= 17216, 26865, 17714, 26835, AGC= 56, IDX= 509,-0.04,-0.029,-1.593, 0.252,-0.124, PHS= 0.197,-1.424, 0.332, RAW= 154.0, 10.6, CAL= 153.8, 11.6, ROT= 356.2, -11.6  V#Rx 119: Read range and direction messages.% ^direction in FSK: [0.977422,-0.064920,0.201078]% Fpublishing direction and range info9  N G?o? 3A i @C h 2E h 8 ^I>) EI >i ,@ q=> +@ 4QO> @ 4QOi I M0?[U?]>Ӆ? ? A= Ӈ) 4QOi E checking for new query: numPingsReceived=119, elapsed TxPingTime=57.491993NM >?3,3AyMB@ٱMnO@MD=MMH ?ǦR9aѡɔ@ y?IMB@)M\;iMCׂB9 I=Mb@Mb@Mb@ 9)9I9i99=m?Q롿y&1|?=>=\=`;I=$Ai=A=A=A)9=ABDU06DU3YeK !e(=e:Q)e>99FYE|A>Q 15٪욊?Q 55 I*9>Q A;YHQ E@yDE)h;IW;i25YܔB%AӦEhh`3AhӊAhӊAh*L@ vC0@WUh{u' @u N G?o?hӇh4QOIvC1NlGP0@v(̙|ᅳ$K_?hThh-I?h ah?B*iɗ??2iG:iIBiA"i7K@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.501064 s, deltaX: -0.300001 m, approachRate: -0.598728 m/s, rangeRepo size: 4  Added new target pos. range: 17.353138 m, bearing: 182.780331 deg, lat: 36.779127 deg, lon: -121.859757 deg, deltaT: 0.501064 s, deltaX: -0.299200 m, approachRate: -0.597129 m/s, posRepo size: 4 gDNOT Ignoring new targets: 17.35 m.ggg  ProNav: ac range: 17.353138 m, nav range: 17.257584 m, bearing: 182.435211 deg, approach rate: 0.000000 m/s, LOS rate: 0.034163 deg/s, cmd heading: 184.693588 deg, new cmd heading: 184.726051 deg. g HeadingCmd: 3.224078 target range: 17.353138 and range: 17.40 m.gJWN@ggggzfrffAfEBBdAdAdAcM`ff1@cM?ɢB/< 顝0Ichecking for new query: numPingsReceived=119, elapsed TxPingTime=57.715496 c<ɡiI|IlCi,=i=)JWN@)AiAyIG)Ii 8  A =ԡ BE^n4JEv4RE˝/De De }Da Da Ee s: Ee k&:6Ea :Ea "Ee ;!} Ee ;!} *Ee ŀ;!} Ee ŀ;! I IA Ne >,U0!3A5DDAT read: Rx Time:23:57:06.9829 ETRx dataTimestamp_ set to:1758412624.557928MPDAT read: Bearing 345.4, -6.7 (Local) U~Local bearing/azimuth received: Bearing 345.4, -6.7 (Local) aeDAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.3 DAT read: 23:57:06.9829 LVL= 15472, 24257, 19362, 24979, AGC= 56, IDX= 509,-0.08, 1.748, 0.176, 2.024, 1.657, PHS= 0.194,-1.435, 0.323, RAW= 153.8, 10.8, CAL= 153.7, 11.9, ROT= 356.3, -11.9 Ygot valid direction response: 23:57:06.9829 LVL= 15472, 24257, 19362, 24979, AGC= 56, IDX= 509,-0.08, 1.748, 0.176, 2.024, 1.657, PHS= 0.194,-1.435, 0.323, RAW= 153.8, 10.8, CAL= 153.7, 11.9, ROT= 356.3, -11.9 V#Rx 120: Read range and direction messages.^direction in FSK: [0.976469,-0.063146,0.206204]Fpublishing direction and range info915)5I5B`>i5+@5A>5>+@5ȭT>5@ 5ȭTi11I5h1E ?G y?zz ?5?5N}A 5)A)5ȭTi11T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԉЂB9 IBD"6DJz3Y!3=Q)> 9 9 FY EA>Q 15٪ߚ?Q 5%5 M*9!Y!Q EE@yDE)2;IG;i35YQU[AQh1h5#3Ah1h1h5JL@ v5K%0@!\K EV @u5?h5> h5eB*i5>?2i5*B:i1i5A"i5K@ addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.505133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 17.353138 m, bearing: 182.889502 deg, lat: 36.779127 deg, lon: -121.859757 deg, deltaT: 0.505133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g15DNOT Ignoring new targets: 17.35 m.g1g9g9m ProNav: ac range: 17.353138 m, nav range: 17.122654 m, bearing: 182.577107 deg, approach rate: 0.000000 m/s, LOS rate: 0.034163 deg/s, cmd heading: 184.726045 deg, new cmd heading: 184.756655 deg. giuHeadingCmd: 3.224612 target range: 17.353138 and range: 17.40 m.gu `N@gqgqgqgyzfyrfyffBdddcc@U?ɢM߂BM< QUIQ *<ɡiII{ICi2=i#*=) `N@Թ)@p=@=iߵ%=Iߵ%=2Acoustic response timeout >A $ӿ=IQ Iq N > >,;3AiDDtD.DEU: Ev:6Eـ4:E!@!@!@!@yeBA@ٱeO@e(G=e}ԼeH6?@Q@5`ß`⨿?IeBA@)e6];ieCvB~BB IBBBBBB;B9QEDDAT read: Rx Time:23:57:07.4827 TRx dataTimestamp_ set to:1758412625.063920 PDAT read: Bearing 345.8, -6.5 (Local)  ~Local bearing/azimuth received: Bearing 345.8, -6.5 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.3 EDAT read: 23:57:07.4827 LVL= 17184, 24385, 17874, 24755, AGC= 56, IDX= 507,-0.12, 0.368,-1.194, 0.635, 0.283, PHS= 0.187,-1.432, 0.308, RAW= 153.6, 11.1, CAL= 153.5, 12.3, ROT= 356.5, -12.3 MYgot valid direction response: 23:57:07.4827 LVL= 17184, 24385, 17874, 24755, AGC= 56, IDX= 507,-0.12, 0.368,-1.194, 0.635, 0.283, PHS= 0.187,-1.432, 0.308, RAW= 153.6, 11.1, CAL= 153.5, 12.3, ROT= 356.5, -12.3 MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.975223,-0.059647,0.213030]]Fpublishing direction and range info9g4#C5?sO٧AzUmD?̈Ai CA_E` |?>)KI->i+@aF>v+@[>o@ [iI~")?",\?9:k?D? G 5z)[iu2Acoustic response timeoutԑ΂B9 IQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Mb@Mb@Mb@ )Iim?99FYEVAE>IQ 1U5٪Myњ?Q 5U5M MR*9U>Q AU;Y]HQ E]@yMDE)M:IMQ:iM65YmAhhDD3AhnAhnAh{_L@ vNJͣ0@5ԦF\!g @ug4#C5?sO٧AzUmD?h5zh[vo%0r-8m@vA3 ZlJ~_=[?h^hVhojJ?h Aj hB*iɗ??2i a:ieBiA"i 3L@U addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.505992 s, deltaX: -0.299999 m, approachRate: -0.592893 m/s, rangeRepo size: 4  Added new target pos. range: 17.053947 m, bearing: 182.964194 deg, lat: 36.779127 deg, lon: -121.859758 deg, deltaT: 0.505992 s, deltaX: -0.299191 m, approachRate: -0.591295 m/s, posRepo size: 4 gDNOT Ignoring new targets: 17.05 m.ggg ProNav: ac range: 17.053947 m, nav range: 16.940500 m, bearing: 182.808807 deg, approach rate: 0.000000 m/s, LOS rate: 0.034163 deg/s, cmd heading: 184.756658 deg, new cmd heading: 184.790513 deg. gHeadingCmd: 3.225203 target range: 17.053947 and range: 17.10 m.giN@ggggzfrfffBBd d d c 1@c% ?ɢm ނBm PU< i m `Iq u <ɡq iq I zI Ci y8=i ܾ=) iN@) u 2Acoustic response timeout>A }=IAIYNe>-,Y3AyBA@ٱBvO@B+BH=BԼBH@?Lu,@kƟ@r?IBA@)B6];iBCNB9N IIT)VAABDV.6DVP3Y^~Ƚ!^=b:Q)b%?`9d9fFYfEfAf&?hQ 1n5٪jɚ?Q 5n5j jT*9pYrHQ Er@yjDE)jS:Ij:ij>75YvՔBzAx B*** querying acoustic contact ***zh h gDNOT Ignoring new targets: 17.05 m.gg%΋:g%΋:5 ProNav: ac range: 17.053947 m, nav range: 16.851519 m, bearing: 182.823115 deg, approach rate: -0.378079 m/s, LOS rate: 0.061113 deg/s, cmd heading: 184.790508 deg, new cmd heading: 184.819275 deg. g5:=HeadingCmd: 3.225705 target range: 17.053947 and range: 17.10 m.g=qN@g9g9g9gAzfArfAfAfIBdIdQdQcQcU@Ĕ?ɢh< #顅xtI <ɡiIyICi:=i=)qN@)>Am C=bDZDAADDuDDE: E:6E:E"E;!E;!*Ekd;!Eld;!I&dClearing failed state for component DockingStepper1I N-=DDAT read: Rx Time:23:57:07.9827 TRx dataTimestamp_ set to:1758412625.561842PDAT read: Bearing 345.7, -6.3 (Local) ~Local bearing/azimuth received: Bearing 345.7, -6.3 (Local) DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.3 DAT read: 23:57:07.9827 LVL= 16736, 24513, 19186, 25699, AGC= 56, IDX= 507,-0.15, 1.947, 0.369, 2.207, 1.855, PHS= 0.195,-1.441, 0.308, RAW= 153.3, 11.1, CAL= 153.2, 12.2, ROT= 356.8, -12.2 Ygot valid direction response: 23:57:07.9827 LVL= 16736, 24513, 19186, 25699, AGC= 56, IDX= 507,-0.15, 1.947, 0.369, 2.207, 1.855, PHS= 0.195,-1.441, 0.308, RAW= 153.3, 11.1, CAL= 153.2, 12.2, ROT= 356.8, -12.2 %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.975892,-0.054561,0.211325]-Fpublishing direction and range info9_o&:?#=nn﫿\ ?i`A_Jcd G>)rIi<+@D +@^ Z>SF@ ^ ZiI>?t+v???Fj??E d)^ ZiE2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9 XQ,s3A2Acoustic response timeout i y>A@ٱ>!O@>fH=>׼>H`@Mu?#w @4L 6ښ`?I>A@)>\;i>CnĂB9n IBDv/6Dv3Y~L<!~G=8Q)>99 FY E (A >Q 15٪?Q 55 Y*9!Y%HQ E%@yDE)3;Ir;i 95Y)-A)h h 8c3Ah h h L@ v "0@?X;;& @u _o&:?#=nn﫿\ ?h dh ^ Zv ujO0gh^Xxx@v (l28ᅰ^ʇjd?h Gsh Zh e6?h h bB*i 2i > :i i A"i ]L@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.497922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.053947 m, bearing: 183.238652 deg, lat: 36.779127 deg, lon: -121.859759 deg, deltaT: 0.497922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 17.05 m.ggg ProNav: ac range: 17.053947 m, nav range: 16.712664 m, bearing: 182.958866 deg, approach rate: 0.000000 m/s, LOS rate: 0.061113 deg/s, cmd heading: 184.819277 deg, new cmd heading: 184.869865 deg. gHeadingCmd: 3.226588 target range: 17.053947 and range: 17.10 m.gjN@ggggzfrfffBdddcc`k?ɢ݂BvT< LI c]<ɡiINxIJCi?=i c=) jN@)  4Initializing EZServoServo.QDDrDDE: E?:6E:E!@!@!@!@ԁ 8Initializing DockingStepper.@A@ADDAT read: Rx Time:23:57:08.4825 TRx dataTimestamp_ set to:1758412626.064860PDAT read: Bearing 346.1, -6.2 (Local) ~Local bearing/azimuth received: Bearing 346.1, -6.2 (Local) DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.3 %DAT read: 23:57:08.4825 LVL= 14448, 19873, 16034, 20211, AGC= 54, IDX= 505,-0.16, 0.468,-1.105, 0.724, 0.383, PHS= 0.187,-1.443, 0.297, RAW= 153.2, 11.4, CAL= 153.2, 12.5, ROT= 356.8, -12.5 -Ygot valid direction response: 23:57:08.4825 LVL= 14448, 19873, 16034, 20211, AGC= 54, IDX= 505,-0.16, 0.468,-1.105, 0.724, 0.383, PHS= 0.187,-1.443, 0.297, RAW= 153.2, 11.4, CAL= 153.2, 12.5, ROT= 356.8, -12.5 5R#Rx 1: Read range and direction messages.5^direction in FSK: [0.974774,-0.054499,0.216440]=Fpublishing direction and range info9ʘX1?I<竿K?fAip8M>N6 |?>)9Ib>iD +@%K>f_> f_iIϥ!ֽ=?>1?@$6?AQAQvB]@>~BYB] IB]BBYBYBYB]ޘ;B],QE?K )f_iu2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԩ >A  =bA ZA A AI I) N5 >#,^3AyF6A@ٱFO@FԑF=FFH`;y?y-`ϨP?IF6A@)F\;iFCfB9f IMb@Mb@Mb@ )IiGz?S㥛Mb`?>/ݼ;I$AiAA)(ABD"6DJz3Y ! /=zQ)>K?9K?9FYE8A>!Q 1-5٪%?Q 5-5% %_*95.>Q A5;Y5@GQ E5@y%"DE)%T ;I%2 ;i%;5Y=֔B=A9iU=IU<U2Acoustic response timeouth)h-&3Ah- Ah- Ah-L@ v-U0@J~Z/8Ls @u-ʘX1?I<竿K?h)h-f_v->&{0vYnc@v-m*{@ $5?h-ph-݃h-XC?h-yGd h-rB*i-XC?2i- Aj :i)i- A"i-vjL@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503018 s, deltaX: -0.300001 m, approachRate: -0.596402 m/s, rangeRepo size: 4 - Added new target pos. range: 16.754723 m, bearing: 183.263044 deg, lat: 36.779128 deg, lon: -121.859759 deg, deltaT: 0.503018 s, deltaX: -0.299225 m, approachRate: -0.594859 m/s, posRepo size: 4 g)-DNOT Ignoring new targets: 16.75 m.g)g1g1E ProNav: ac range: 16.754723 m, nav range: 16.505705 m, bearing: 183.002602 deg, approach rate: 0.000000 m/s, LOS rate: 0.061113 deg/s, cmd heading: 184.869862 deg, new cmd heading: 184.928708 deg. gAmHeadingCmd: 3.227615 target range: 16.754723 and range: 16.80 m.gm>N@gigigigizfqrfqfqfuۂBBdydydyc}0@c7?ɢƆ< N@)DDD/DEC: E6EJ4:E"E2;!E>AM=E3;!m*EY;!}EY;!})  DDAT read: Rx Time:23:57:08.9825  TRx dataTimestamp_ set to:1758412626.570222- PDAT read: Bearing 346.0, -5.9 (Local) - ~Local bearing/azimuth received: Bearing 346.0, -5.9 (Local) E DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.3 e DAT read: 23:57:08.9825 LVL= 17392, 24977, 18402, 25923, AGC= 56, IDX= 505,-0.18, 1.197,-0.377, 1.440, 1.104, PHS= 0.194,-1.437, 0.292, RAW= 152.9, 11.3, CAL= 152.8, 12.5, ROT= 357.2, -12.5 m Ygot valid direction response: 23:57:08.9825 LVL= 17392, 24977, 18402, 25923, AGC= 56, IDX= 505,-0.18, 1.197,-0.377, 1.440, 1.104, PHS= 0.194,-1.437, 0.292, RAW= 152.9, 11.3, CAL= 152.8, 12.5, ROT= 357.2, -12.5 u R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.975130,-0.047692,0.216440]} Fpublishing direction and range info9  0@8D4?1/jkK?  i C a G Ce 8  F>) ﷿I >i {*@ I> *@  @  i  I ޻l[Y?ЍVo ?W赬? ? 6J  *H) i  A yAI I N > 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.@),13A B9 I;iBD6D3YURż!UF=UQ)]>] H?9] H?9]FY]EeAe>iQ 15٪m{?Q 55m me*9YQ E@ym$DE)mu;Im>;im<5YϔBAҦEhIhM~3AhIhIhM8&M@ vM/ƉV0@鿉Ls @uM0@8D4?1/jkK?hM*HhIvMϵ z0^# t@vM/xLD@G?hMhMЃhM$08?hMP~hMkB*iM>?2iMyGd :iMkBiMrA"iMbL@i addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.505362 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.754723 m, bearing: 183.659197 deg, lat: 36.779127 deg, lon: -121.859759 deg, deltaT: 0.505362 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 16.75 m.ggg ProNav: ac range: 16.754723 m, nav range: 16.431150 m, bearing: 183.264603 deg, approach rate: 0.000000 m/s, LOS rate: 0.061113 deg/s, cmd heading: 184.928710 deg, new cmd heading: 184.979883 deg. gHeadingCmd: 3.228508 target range: 16.754723 and range: 16.80 m.gN@ggg!g!zf!rfAfIfIBdIdIdIcQcU t?ɢ܂B< 顥,I [<ɡiIIuICi,I=iD˷=)N@)u2Acoustic response timeoutԙ9t0 D% D% qD% .D! E% : E% $ :6E% ـ4:E! !m @!m @!m @!u @  DDAT read: Rx Time:23:57:09.4823 % TRx dataTimestamp_ set to:1758412627.0732185 PDAT read: Bearing 346.2, -5.7 (Local) = ~Local bearing/azimuth received: Bearing 346.2, -5.7 (Local) >AU =rAU >jAU >vB ~B B IB BB B B B ۘ;B )QEBBBBBBgn4 DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.3  DAT read: 23:57:09.4823 LVL= 18448, 25521, 19266, 29283, AGC= 56, IDX= 503,-0.19,-0.458,-2.025,-0.222,-0.547, PHS= 0.191,-1.433, 0.281, RAW= 152.7, 11.5, CAL= 152.6, 12.7, ROT= 357.4, -12.7 Ygot valid direction response: 23:57:09.4823 LVL= 18448, 25521, 19266, 29283, AGC= 56, IDX= 503,-0.19,-0.458,-2.025,-0.222,-0.547, PHS= 0.191,-1.433, 0.281, RAW= 152.7, 11.5, CAL= 152.6, 12.7, ROT= 357.4, -12.7 R#Rx 1: Read range and direction messages.m^direction in FSK: [0.974530,-0.044253,0.219846]mFpublishing direction and range info9! % E+Z/?>XF#?% A! i% H% c% BK% cr! % C>)% lI% ;ߏ>i% J*@% M>% t*@% b>% @ % bi! ! I%  ae?$dM? ́?% ?% }nM % 9)% bi! ! -2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.AIIN?}2,o3Aɰ4<; yJA@ٱJO@J|B=JC JH`w?`@. 4\@5?IJA@)J=\;iJCfB9f IhihMb@Mb@Mb@ )IitV?L7A`堿Mbp>+IAi$AA)ABD-6D-03Ye!!e=eݺQ)e>i9i9mFYm EmEAu>Q 15٪?Q 55 p*9>Q A;YTHQ E@y'DE):IC:i,?5YAhh3AhAhAhfM@ v#Q 0@HV"zM6zb @uE+Z/?>XF#?h9hbvRׂ*0cF֍) I >i %K> J*@ z0a> Ѝ@ z0ai I 1y9db?SD??=Z? A? +L QA) z0ai 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.!>A=IAAIIN(?<,3A2Acoustic response timeoutB9 IBD%6D%f?3Y5nB!5==Q)=>=K?9=K?9=FY=EEAE>IQ 15٪Mڂ?Q 55M M|*9YQ E@yM+DE)ME~B1B5y IB5xBB1B1B1B5;B51QE]DAT read: 23:57:10.4820 LVL= 17984, 28433, 17074, 27011, AGC= 55, IDX= 500,-0.19,-1.641, 3.062,-1.413,-1.745, PHS= 0.206,-1.431, 0.288, RAW= 152.4, 11.2, CAL= 152.3, 12.3, ROT= 357.7, -12.3 eYgot valid direction response: 23:57:10.4820 LVL= 17984, 28433, 17074, 27011, AGC= 55, IDX= 500,-0.19,-1.641, 3.062,-1.413,-1.745, PHS= 0.206,-1.431, 0.288, RAW= 152.4, 11.2, CAL= 152.3, 12.3, ROT= 357.7, -12.3 eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.976258,-0.039210,0.213030]uFpublishing direction and range info9`f=?6(bAzUmD?̀Ai@FoBi R>)+It>i;*@+H>*@[>@ [iIK):?:Q>G?ȜB?q?1lG Ql$)[i2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.>A 箵= A I I N >&C,3AyFA@ٱFO@F<=FRFH@W?严@e0PsK L?IFA@)Fn\;iFCRB9R I}Mb@Mb@Mb@ y)yIyiyy}kt?~jt~jth} >}ļ}DI}$Ai}A}A}$A)yyBD6DF3Y!!;={fQ)>99FYEQ\:A>Q 15٪$v?Q 55  *9>Q A;YFQ E@y-DE):I';iC5Y?Ahhk-3AhsAhsAhsM@ v"Y/@n%!F] @u`f=?6(bAzUmD?hQl$h[v&bݐ/0􆕗 @v~atw Έ-D#?h̔h|hU%D?hE:hB*iyVB?2i!:ii]}A"iUM@- addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503005 s, deltaX: -0.299999 m, approachRate: -0.596414 m/s, rangeRepo size: 4 = Added new target pos. range: 16.056601 m, bearing: 184.212533 deg, lat: 36.779128 deg, lon: -121.859761 deg, deltaT: 0.503005 s, deltaX: -0.299189 m, approachRate: -0.594802 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 16.06 m.gAgAgAI] ProNav: ac range: 16.056601 m, nav range: 15.835368 m, bearing: 183.825836 deg, approach rate: 0.000000 m/s, LOS rate: 0.061113 deg/s, cmd heading: 185.118043 deg, new cmd heading: 185.170438 deg. gYeHeadingCmd: 3.231834 target range: 16.056601 and range: 16.10 m.ge^N@gagagagazfirfifqfuςBBdqdqdqc}0@c}m9?2Acoustic response timeoutɢEڂBE*< aeHIa m<ɡiiiImNqIuWICiu"W=iu펳=)u^N@)yy>Al=DeDesDe0DaEeU: EeZ:6Ee4:Ea"Ee;!Ee;!*Ee#];!Ee$];!ԩ)Y Y m DDAT read: Rx Time:23:57:10.9820 m TRx dataTimestamp_ set to:1758412628.585019u PDAT read: Bearing 346.0, -5.1 (Local) } ~Local bearing/azimuth received: Bearing 346.0, -5.1 (Local)  DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.3  DAT read: 23:57:10.9820 LVL= 17840, 29089, 17490, 27507, AGC= 55, IDX= 500,-0.21,-0.596,-2.174,-0.375,-0.697, PHS= 0.203,-1.432, 0.278, RAW= 152.2, 11.3, CAL= 152.1, 12.5, ROT= 357.9, -12.5 A yA Ygot valid direction response: 23:57:10.9820 LVL= 17840, 29089, 17490, 27507, AGC= 55, IDX= 500,-0.21,-0.596,-2.174,-0.375,-0.697, PHS= 0.203,-1.432, 0.278, RAW= 152.2, 11.3, CAL= 152.1, 12.5, ROT= 357.9, -12.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.975640,-0.035775,0.216440] Fpublishing direction and range info9i m ݞ r8?/XQK?i i im Em qm RDm ski m ;O>)m KIm V>im P*@m I>m )@m f_>m @ m f_ii i Im sԱs?7rj?e5?m e?m yK m Q )m f_ii i 5 2Acoustic response timeoutIi Iy N >  Querying Benthos address 50 with 120 pings in terminal homing one-way mode.mI,l)3Ay=A@ٱ=jO@=79===H ?@kYz+$`7?I=A@)=4\;i=CUB9U IBD6DJ2Yp!H=Q)> H?9 H?9FYE s:A >Q 1=5٪$j?Q 5=5/Q 9=tI *99Y=FQ EE@y/DE);I;iE5YMÔBMAMЦEԱhhp%3AhhhlN@ v"T/@aڳa%a @uݞ r8?/XQK?hQ hf_vPS 0Ո/g4h[:@v-z`l;YkquK"&?hhF|hdx9?h^Ah.B*idx9?2i]:iJBi|A"iWtM@5 addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 16.056601 m, bearing: 184.422264 deg, lat: 36.779127 deg, lon: -121.859761 deg, deltaT: 0.504122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gIuDNOT Ignoring new targets: 16.06 m.gqgygy ProNav: ac range: 16.056601 m, nav range: 15.804461 m, bearing: 183.932389 deg, approach rate: 0.000000 m/s, LOS rate: 0.061113 deg/s, cmd heading: 185.170445 deg, new cmd heading: 185.223208 deg. gHeadingCmd: 3.232755 target range: 16.056601 and range: 16.10 m.guN@ggggzfrfffBdddcc[A = A AD D oD (D E 1: E :6E c44:E ! @! @! @! @I 9 I9 NE >P,Z-C3AyVA@ٱVeO@V5=Vy޼VHP画?`A@F B0 Л?IVA@)VI\;iVCbB9b I-,DAT read: user:1020> 5DAT read: 120 5 E2Acoustic response timeoutvBQ~BQBUl IBUnBBU =BQBQBU;BU3QEMb@Mb@Mb@ )Ii rh?/$MbP>IAi$A)A4K?9K?9FYE Z]A >AQ 1U5٪E]?Q 5U5E[ E*9U>Q AU;YU7FQ E@yE2DE)E 3AM ?=A I I ԡ N >W,n]3Ay6A@ٱ6O@64=6Tټ6Hb{?`*@ ՟T+&?I6A@)6];i6CBB9B IBDJ+6DJE3YRY!Rm=V\`Q)V?T9X9ZFYZEZBAZ?\Q 1b5٪^'T?Q 5b5^} ^*9dYf=FQ Ef@y^4DE)^:I^A=AyAIIN >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503198\;],w3Aɰ;4<0y:uA@ٱ:O@:=2=:?޼:H: ?z'`41`E`Z;?I:uA@):];i:CFsB9Fr I)JA JABDR6DR03YZ!ZJ=ZQ)Z>^ H?9^ H?9^FY^Eb;Ab>dQ 1j5٪fH?Q 5j5f f*9hYj0FQ Ej@yf6DE)f:If:ifJ5YrBrNApg  DNOT Ignoring new targets: 16.06 m.ggm:gm:% ProNav: ac range: 16.056601 m, nav range: 15.407185 m, bearing: 183.968072 deg, approach rate: -0.350704 m/s, LOS rate: 0.031785 deg/s, cmd heading: 185.270520 deg, new cmd heading: 185.295200 deg. g%h:-HeadingCmd: 3.234011 target range: 16.056601 and range: 16.10 m.g- N@g)g1g1g1zf1rf1ffBdddcc`m?ɢ؂Bv< JI <ɡiI(lI%Cic=i)=) N@)! -&Changing to mode: 2)-ԉi0bD ZD ?AD-D-sD-*D)E-1: E-Z:6E-(N4:E)!U@!U@!U@!U@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755175AA?AvB @>~B CB ` IB dBB  =B B B ٘;B &QE>A= AE AIQ Ia Nu ><#d,Z3Ay6A@ٱ6O@6ް/=6Lܼ6Hqz?`WY`bx?I6A@)6P];i6C\]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007296B9 IEMb@Mb@Mb@ A)AIAiAAEq= ףp?:vMbpE>EԼEIEAiEAEAEA)AEQAIY)YBD]6D] 83Ym9=!u%=u,Q)u>}K?9}K?9}FY}E}x6A}>Q 15٪:?Q 55 *9 >Q A;Y.GQ E@y8DE) ;I ;iL5YAgDNOT Ignoring new targets: 16.06 m.ggzh:gzh: ProNav: ac range: 16.056601 m, nav range: 15.241676 m, bearing: 183.992887 deg, approach rate: -0.335271 m/s, LOS rate: 0.050812 deg/s, cmd heading: 185.295205 deg, new cmd heading: 185.345372 deg. g:HeadingCmd: 3.234887 target range: 16.056601 and range: 16.10 m.gcO@ggggzfrfffBBdddcc:?ɢ5ׂB5(< 15I1 =Z<ɡ9i9I= jIERCiE'g=iE6=)EcO@)iyyy}o0DDqD,DEO: E$ :6Eg4:E"E;!%E;!%*EU;!-EU;!-- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262751A >A =A I I N >j,PP3Ay6A@ٱ6dO@6Hr,=6ܼ6H`_@ǻ?`Lz@` ?I6A@)6@];i6C<<@i@@i@BA)B+ @ID D)FAFtDDHHNAiNILLIRُCiP PP)PP VAV\V{FTVCVAIZ`)XiX)XIX^`e\ \\b~B9b IBDj6Dj03Yr᤽!rr=vQ)v?t9x9zFYz Ez:A~?|Q 15٪~+1?Q 55~ ~*9 Y 'GQ E @y~:DE)~:I~:i~]N5YAgDNOT Ignoring new targets: 16.06 m.gg]^:g]^:= ProNav: ac range: 16.056601 m, nav range: 15.128206 m, bearing: 184.010043 deg, approach rate: -0.319049 m/s, LOS rate: 0.048601 deg/s, cmd heading: 185.345366 deg, new cmd heading: 185.379936 deg. g=:EHeadingCmd: 3.235490 target range: 16.056601 and range: 16.10 m.gEFO@gAgigigizfqrfqfyfyBdydydcc@@ɢւB~< 60I <ɡiI~iIo Cii=iY=)%FO@))i/0@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512848>A ٦=bA ZA A! D D pD /D E : E  :6E J4:E != @!= @!= @!= @I I N >sq,3AvB>>~BBS IBYBB =BBBǘ;BQE&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763393HiHyA@ٱbO@i+=FּH@ Υ?|ڣZ@EK@k9ؚ?IA@)~B];iCB9 IMb@Mb@Mb@ )Ii?{GzMbp?f>ף;I$AiA$AA)ABD&6Dދ3YR<!1=6Q)>99FY#EĊA>Q 15٪$?Q 55  *9>Q A#;YFQ E@y=DE) ;I ;iaP5YBAϦEB*** querying acoustic contact ***zhhgDNOT Ignoring new targets: 16.06 m.gg:g:- ProNav: ac range: 16.056601 m, nav range: 14.977980 m, bearing: 184.023824 deg, approach rate: -0.337532 m/s, LOS rate: 0.031273 deg/s, cmd heading: 185.379940 deg, new cmd heading: 185.407778 deg. g-d:5HeadingCmd: 3.235976 target range: 16.056601 and range: 16.10 m.g5<O@g1g1g9g9zf9rf9f9fE‚BBdAdAdAcAcM` @ɢuՂBul4< y}Iy }:<ɡyiyI}9hIxCil=ig=)<O@) AA1i//Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015261>A =ԁ I I N >w,3Ay6LA@ٱ6O@6*=6Ҽ6H ¥?`Σ@\\ÞmX BS+?I6LA@)67];i6CBB9B IBDJ$6DJ3YRe!Vs=VQ)V?T9X9ZFYZ&EZ8AZ?\Q 1b5٪^I?Q 5f5^. ^*9dYdQ Ef@y^>DE)^d:I^:i^Q5YhjAlgDNOT Ignoring new targets: 16.06 m.gg 6 :g 6 : ProNav: ac range: 16.056601 m, nav range: 14.868323 m, bearing: 184.034052 deg, approach rate: -0.326154 m/s, LOS rate: 0.030646 deg/s, cmd heading: 185.407780 deg, new cmd heading: 185.428387 deg. gW`:%HeadingCmd: 3.236336 target range: 16.056601 and range: 16.10 m.g%! O@g!g!g!g!zf)rf)f)f)Bd1d1d1c1c5@YDDuD0DEa: E:6E4:E"Ed;!Ee;!*Ekd;!Eld;!ɢԂB< (I ޟ<ɡiIgIBi8o=i*=)! O@)1)Q UA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267637ԑi 0 0Ա>AM 6=I I N >  DDAT read: Rx Time:23:57:14.1168  TRx dataTimestamp_ set to:1758412631.860848 PDAT read: Bearing 346.0, -5.8 (Local) % ~Local bearing/azimuth received: Bearing 346.0, -5.8 (Local) 5 DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.2 U DAT read: 23:57:14.1168 LVL= 17904, 27633, 17762, 27123, AGC= 56, IDX= 313,-0.22,-0.278,-1.835,-0.022,-0.361, PHS= 0.185,-1.428, 0.295, RAW= 153.3, 11.3, CAL= 153.2, 12.5, ROT= 356.8, -12.5  Ygot valid direction response: 23:57:14.1168 LVL= 17904, 27633, 17762, 27123, AGC= 56, IDX= 313,-0.22,-0.278,-1.835,-0.022,-0.361, PHS= 0.185,-1.428, 0.295, RAW= 153.3, 11.3, CAL= 153.2, 12.5, ROT= 356.8, -12.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.974774,-0.054499,0.216440] Fpublishing direction and range info9 ʘX1?I<竿K? pA i E k bE i 8 p=>) ȶI = >i <+@ D +@ SF@ i I F };?6?H-? f? J d) i  checking for new query: numPingsReceived=1, elapsed TxPingTime=2.554849},3AyzA@ٱzO@z)=zмzH`ɻ?6sx`< L?IzA@)zw];ix{B9| IBD6D!3ԹY!7=Q)>99FY(E oO:A >Q 1]5٪?Q 5]5[ *9YYeFQ Ee@yADE)?;I.;iS5YmBmAmΦEh9h="3Ah=ZoAh=ZoAh=L@ v=E*-@C꿐p @u=ʘX1?I<竿K?h=dh9v=Fae-61\N2@v=*q↓9! :MC]?h=Yh=,kh=k8?h=L h=LJB*i92i9:i=.Bi=kA"i=NM@ addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 3.275829 s, deltaX: -1.100000 m, approachRate: -0.335793 m/s, rangeRepo size: 4  Added new target pos. range: 14.959525 m, bearing: 183.308679 deg, lat: 36.779127 deg, lon: -121.859761 deg, deltaT: 3.275829 s, deltaX: -1.097075 m, approachRate: -0.334900 m/s, posRepo size: 4 g DNOT Ignoring new targets: 14.96 m.ggg% ProNav: ac range: 14.959525 m, nav range: 14.722698 m, bearing: 184.047671 deg, approach rate: 0.000000 m/s, LOS rate: 0.030646 deg/s, cmd heading: 185.428393 deg, new cmd heading: 185.456829 deg. g!MHeadingCmd: 3.236832 target range: 14.959525 and range: 15.00 m.gUC(O@gQgQgQgQzfQrfQfYfYBdYdYdace.@cex?ɢӂBՏ< 0I *f<ɡiI|eIrBir=i=)C(O@)DDpDDE1: E :6E:E!@!@!@!@iiiqu4qA-<A-<mchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.772214vBQ~BQBUM IBUTBBU =BQBQBU;BUQEBŇCBŇCBBBBŠD5>A rA >jA >I I N- >9 y,&3Aɰ;y6A@ٱ6yO@6F(=6̼6H`ͻ?G͆@_ {?I6A@)6N];i6CNB9R I%Mb@Mb@Mb@ !)!I!i!!%#~j?:v%>%Լ%I% Ai%A%?A%$A)!%ABD=36D=3YM=!MV=UlQ9Q9]FY]+E]M:A]>aQ 1m5٪e?Q 5m5er e*9uk>Q Au#;YuIGQ Eu@yeCDE)e:DDAT read: Rx Time:23:57:14.6166 TRx dataTimestamp_ set to:1758412632.364645PDAT read: Bearing 346.2, -6.2 (Local) ~Local bearing/azimuth received: Bearing 346.2, -6.2 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.3 DAT read: 23:57:14.6166 LVL= 18192, 27889, 18514, 26227, AGC= 55, IDX= 502,-0.22,-2.021, 2.704,-1.754,-2.096, PHS= 0.177,-1.438, 0.298, RAW= 153.6, 11.5, CAL= 153.6, 12.7, ROT= 356.4, -12.7  Ygot valid direction response: 23:57:14.6166 LVL= 18192, 27889, 18514, 26227, AGC= 55, IDX= 502,-0.22,-2.021, 2.704,-1.754,-2.096, PHS= 0.177,-1.438, 0.298, RAW= 153.6, 11.5, CAL= 153.6, 12.7, ROT= 356.4, -12.7 R#Rx 2: Read range and direction messages.^direction in FSK: [0.973610,-0.061255,0.219846]Fpublishing direction and range info9,'?m,\F#?iAiGlRHsf7 }?5>)bIu>i+@M>+@b>" @ biIZQ ?DrX?mѕq??L ))bi=checking for new query: numPingsReceived=2, elapsed TxPingTime=3.039393Ie:ieyU5Yy}nAyhhXV3AhhAhhAhjUL@ v46 HZ,@%yҁ՛ @u,'?m,\F#?h)hbvN,8mT-]jʾ@vK6M*nᅤ򺩿zoM+?hR;hdhnO?hh*i2i!:iBiiA"ivM@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503797 s, deltaX: -0.400000 m, approachRate: -0.793970 m/s, rangeRepo size: 4  Added new target pos. range: 14.560592 m, bearing: 182.928999 deg, lat: 36.779127 deg, lon: -121.859761 deg, deltaT: 0.503797 s, deltaX: -0.398933 m, approachRate: -0.791853 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 14.56 m.g!g!g)] ProNav: ac range: 14.560592 m, nav range: 14.596494 m, bearing: 183.941081 deg, approach rate: 0.000000 m/s, LOS rate: 0.030646 deg/s, cmd heading: 185.456834 deg, new cmd heading: 185.481714 deg. gYeHeadingCmd: 3.237267 target range: 14.560592 and range: 14.60 m.ge`/O@gagagagazfirfffقBBdddc@33-@c ή?ɢтB%< IMII MZ<ɡIiIIMhdIUUBiUt=i]٭=)]`/O@)Y >>AiIIIMS5IDDnD-DE: E:6Et4:E"E;!E;!*EJ;!EJ;!qu checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275418>A II Iq ԡ N >+ڊ,{-3Ay6 B@ٱ6VP@6(=6˼6H>?~@\oޝr?I6 B@)6ݢ];i6CRtB9Vt IBD^6D^ 3Y!E=Q)>99FY-El:A>Q 15٪0?Q 55 *9Y=GQ E@yEDE);Iy;iKW5YA gIqUDNOT Ignoring new targets: 14.56 m.gqg}:g}: ProNav: ac range: 14.560592 m, nav range: 14.461390 m, bearing: 183.962689 deg, approach rate: -0.351073 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.481710 deg, new cmd heading: 185.525330 deg. gq:HeadingCmd: 3.238028 target range: 14.560592 and range: 14.60 m.g;O@ggggzfrfffBdddcce?ɢ5ЂB5s< 9=.9I9 =<<ɡ9i9IE)cIEBiEw=iM̭=)M;O@)IDDAT read: Rx Time:23:57:15.1166 TRx dataTimestamp_ set to:1758412632.868859PDAT read: Bearing 346.0, -7.0 (Local) ~Local bearing/azimuth received: Bearing 346.0, -7.0 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.2 i14 =DAT read: 23:57:15.1166 LVL= 18784, 29681, 20178, 27443, AGC= 56, IDX= 502,-0.19,-0.294,-1.855, 0.004,-0.361, PHS= 0.169,-1.449, 0.321, RAW= 154.4, 11.3, CAL= 154.4, 12.5, ROT= 355.6, -12.5 Ygot valid direction response: 23:57:15.1166 LVL= 18784, 29681, 20178, 27443, AGC= 56, IDX= 502,-0.19,-0.294,-1.855, 0.004,-0.361, PHS= 0.169,-1.449, 0.321, RAW= 154.4, 11.3, CAL= 154.4, 12.5, ROT= 355.6, -12.5 R#Rx 3: Read range and direction messages.ԡ^direction in FSK: [0.973419,-0.074900,0.216440]Fpublishing direction and range info9"?#>&?cS,K?i`IsN3k8 V->)xIZ>iiw,@I>iw,@f_>@ f_iIJ'4?r?3z,r ??ðI iF)f_iEchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.575349>A- "=I I N >rD jD R=D D D .D E : E 0:6E ـ4:E !- @!- @!5 @!5 @ vB% ?>~B% CB% A IB% JBB% =B! B! B% ;B% PE+Ñ,VdG3Achecking for new query: numPingsReceived=3, elapsed TxPingTime=3.781210yB@ٱO P@ (=2ʼHdd#?}ݻ@``A@@?IB@)Z];iCzB9| IMb@Mb@Mb@ )IiZd;O?Q~jtx?~>;Ii$AA)ABD5'6D53YE2<!E=EQQ)E>I9I9MFYM1EU̘:AU>YQ 1e5٪]Ꙋ?Q 5e5] ]*9e6>Q Ae;YeGQ Em@y]HDE)] ;I] ;i]Y5YuBu|AuͦEhhc73AhhhK@ vZX,@cLs>0]B6 @u"?#>&?cS,K?hiFhf_vؕh, l@vqE wU[kW{?h heh 4?hhB*i2iL :iLJBiodA"i:L@ addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.560615 m, bearing: 182.202097 deg, lat: 36.779127 deg, lon: -121.859759 deg, deltaT: 0.504214 s, deltaX: 0.000023 m, approachRate: 0.000045 m/s, posRepo size: 4 gDNOT Ignoring new targets: 14.56 m.ggg  ProNav: ac range: 14.560615 m, nav range: 14.277242 m, bearing: 183.368967 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.525328 deg, new cmd heading: 185.583861 deg. g%HeadingCmd: 3.239049 target range: 14.560615 and range: 14.60 m.g%LO@g!g!g)g)zf)rf)f1f5̂BBd1d1d1c9c=?ɢeςBm< imt*Ii mf<ɡiiqIuaI}Bi}%z=i}*=)}LO@)y)DDAT read: Rx Time:23:57:15.6164 TRx dataTimestamp_ set to:1758412633.373982PDAT read: Bearing 346.3, -7.2 (Local) ~Local bearing/azimuth received: Bearing 346.3, -7.2 (Local) DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.3 i /0@@DAT read: 23:57:15.6164 LVL= 17904, 29425, 18162, 27123, AGC= 55, IDX= 500,-0.18,-1.670, 3.072,-1.371,-1.728, PHS= 0.160,-1.438, 0.313, RAW= 154.5, 11.5, CAL= 154.6, 12.7, ROT= 355.4, -12.7 Ygot valid direction response: 23:57:15.6164 LVL= 17904, 29425, 18162, 27123, AGC= 55, IDX= 500,-0.18,-1.670, 3.072,-1.371,-1.728, PHS= 0.160,-1.438, 0.313, RAW= 154.5, 11.5, CAL= 154.6, 12.7, ROT= 355.4, -12.7 ) - R#Rx 4: Read range and direction messages.5 ^direction in FSK: [0.972392,-0.078237,0.219846]5 Fpublishing direction and range info9E?~&WF#?dAiErFi7  #>)bIA>i,@M>,@b>(~@ biI86?_c?'{z?A?2M l)biu checking for new query: numPingsReceived=4, elapsed TxPingTime=4.084114>A bA AZA AY D D sD -D E  E Z:6E t4:E "E ;! E ;! *E #];! E $];! AIIQIaNm>,e3AiyZU#B@ٱZP@Z|'=Za ϼZHb?-T`2 N3⤿`ڙ?IZU#B@)Z];iZCidd)fD; dIdhjAih%checking for new query: numPingsReceived=4, elapsed TxPingTime=4.284645)IQQIYi]A ](\Y)Ya eAm`彉ĕTFđũŭAI )i)IMAUvQ QaaƉiƉƑqB9q IBD5%6D503YM'-!UH=UQ)U>Q9Y9]FY]3E];A]>Q 15٪ޙ?Q 55 *9YGQ E@yJDE)$:I:i`[5YAhhRW3Ah.dAh.dAh`K@ vbB+@RT39" @uE?~&WF#?hlhbv}jU,g7^m@v9(r̰1H?hh:`hA?h1 hB*i2i:ii bA"iTL@- addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.505123 s, deltaX: -0.300000 m, approachRate: -0.593915 m/s, rangeRepo size: 4 = Added new target pos. range: 14.261423 m, bearing: 182.071077 deg, lat: 36.779127 deg, lon: -121.859758 deg, deltaT: 0.505123 s, deltaX: -0.299191 m, approachRate: -0.592314 m/s, posRepo size: 4 g9=DNOT Ignoring new targets: 14.26 m.Agagagau ProNav: ac range: 14.261423 m, nav range: 14.132936 m, bearing: 182.926602 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.583862 deg, new cmd heading: 185.631475 deg. gq}HeadingCmd: 3.239880 target range: 14.261423 and range: 14.30 m.g}3ZO@ggggzfrfffBdddc,@c?ɢe΂Bmr< im\:Iq ux<ɡqiqI>`IBi|=iy=)3ZO@)iIQQU/QyDDAT read: Rx Time:23:57:16.1164 TRx dataTimestamp_ set to:1758412633.876816PDAT read: Bearing 346.2, -7.7 (Local) ~Local bearing/azimuth received: Bearing 346.2, -7.7 (Local) DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.3  DAT read: 23:57:16.1164 LVL= 18544, 30513, 19426, 27683, AGC= 56, IDX= 500,-0.14, 0.015,-1.536, 0.336,-0.039, PHS= 0.157,-1.452, 0.332, RAW= 155.1, 11.3, CAL= 155.1, 12.5, ROT= 354.9, -12.5 % Ygot valid direction response: 23:57:16.1164 LVL= 18544, 30513, 19426, 27683, AGC= 56, IDX= 500,-0.14, 0.015,-1.536, 0.336,-0.039, PHS= 0.157,-1.452, 0.332, RAW= 155.1, 11.3, CAL= 155.1, 12.5, ROT= 354.9, -12.5 - R#Rx 5: Read range and direction messages.- ^direction in FSK: [0.972431,-0.086787,0.216440]5 Fpublishing direction and range info9#g'?57K?ipH1wK#l8  >)#۹I>i?-@I>?-@f_>6@ f_iI!ޫ?ޖ ?qw??J K)f_iM checking for new query: numPingsReceived=5, elapsed TxPingTime=4.551883ԡ >A= =Ai Iq I N >,3Ayz/B@ٱz%(P@zN&=zϼzH`@'?vH`GL*Bc/ڤ陿?Iz/B@)zv`];izCbD9ZD=@AD]D]nD]0DYE]: E]:6E]4:EY!@!@!@!@sB9s IAA@AvB@>~BB: IBEBB =Bchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.789753i4<BB;BPEiBD36D3Y}<!)=Q)>99FY6E:A>Q 1%5٪Й?Q 5%5 *9)Y-GQ E-@yMDE):I:i]5YQUAYhhx3Ahhh$J@ v3=4܏+@*Q9+(e@u#g'?57K?hKhf_v6"` ,3:GٿZ1Se@v}xw \#X?h>ʾhk`hl2?h3hB*ik8?2i:iBi_A"iK@ addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502834 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.261460 m, bearing: 181.613145 deg, lat: 36.779127 deg, lon: -121.859756 deg, deltaT: 0.502834 s, deltaX: 0.000037 m, approachRate: 0.000074 m/s, posRepo size: 4 g%DNOT Ignoring new targets: 14.26 m.g!g!g!] ProNav: ac range: 14.261460 m, nav range: 13.971533 m, bearing: 182.231883 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.631469 deg, new cmd heading: 185.688398 deg. gYeHeadingCmd: 3.240874 target range: 14.261460 and range: 14.30 m.gezjO@gagagagazfirfififqBdqdqdqcqc}w?ԑɢ"< 4I <ɡiI ^I;Bi=i =)zjO@)i1_5 i IU ՈG)a Iy  DDAT read: Rx Time:23:57:16.6162  TRx dataTimestamp_ set to:1758412634.380792 PDAT read: Bearing 346.3, -7.8 (Local)  ~Local bearing/azimuth received: Bearing 346.3, -7.8 (Local)  DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.3  DAT read: 23:57:16.6162 LVL= 18032, 28577, 16546, 28083, AGC= 54, IDX= 498,-0.09,-1.514,-3.055,-1.190,-1.563, PHS= 0.151,-1.447, 0.329, RAW= 155.2, 11.4, CAL= 155.3, 12.6, ROT= 354.7, -12.6  Ygot valid direction response: 23:57:16.6162 LVL= 18032, 28577, 16546, 28083, AGC= 54, IDX= 498,-0.09,-1.514,-3.055,-1.190,-1.563, PHS= 0.151,-1.447, 0.329, RAW= 155.2, 11.4, CAL= 155.3, 12.6, ROT= 354.7, -12.6  R#Rx 6: Read range and direction messages. ^direction in FSK: [0.971744,-0.090146,0.218143] Fpublishing direction and range info9 9ć?[{'$? `A i pF o @ m 6 >) L7I r>i -\-@ %K> x-@ z0a> @ z0ai I R)?C6?έV|R? s^? AK q) z0ai  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.054976i5 q1 5 A>A /= AIIN>,CS3AyrAB@ٱri:P@r_%=r ƼrH@Oؼ? %@m`7s򻘿?IrAB@)r];ip1BEA{4JE}4RE'0DDxD,DEC: E:6Eg4:E"E2;!E3;!*EWo;!EWo;! nB9 m IUMb@Mb@Mb@ Q)QIQiQuchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.292338QUuV?l~jtx?Ur>UQIQiQQUA)QUAaBD56D5f?3Y-Ƙ!- =u]8Q)}>y9y9}FY}:E;A>Q 15٪™?Q 55 *9>Q A ;YIQ E@yODE);I;i_5YBAhAhE^3AhEe_AhEe_AhE9J@ vE4"+@B(f#΁]@uE9ć?[{'$?hEqhEz0avEb D~t+L*~ֿ~'3@vE5@Ev~ƙ 7P&?hEhE[hEI>?hE.ZhE{B*iEI>?2iE1 :iEBiE[A"iEhK@u addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503976 s, deltaX: -0.300000 m, approachRate: -0.595267 m/s, rangeRepo size: 4  Added new target pos. range: 13.962269 m, bearing: 181.466559 deg, lat: 36.779127 deg, lon: -121.859755 deg, deltaT: 0.503976 s, deltaX: -0.299191 m, approachRate: -0.593662 m/s, posRepo size: 4 gDNOT Ignoring new targets: 13.96 m.ggg ProNav: ac range: 13.962269 m, nav range: 13.736744 m, bearing: 182.099124 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.688391 deg, new cmd heading: 185.745213 deg. gHeadingCmd: 3.241866 target range: 13.962269 and range: 14.00 m.gzO@ggggzfrffIfMłBBdQdQdQc],@c]]?ԉɢ̂B|< &)% I% y>i! % M>% -\-@% b>% _(@ % bi! ! I% PP??I*aly?% ]I?% *M % ޹)% bi! !  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.560183 >A =rA >jA >IIN?,3AɰyJ$PB@ٱJHP@J#=J]ļJHg@? kͼ`A 2u @?IJ$PB@)J];iHncB9n` IrDjD=DDpD/DE: E :6EJ4:E!@!@!@!@BD6D03YP!%A=vB~BB4 Ichecking for new query: numPingsReceived=7, elapsed TxPingTime=5.798597B@BBBBB;BPEMkQ)U>Y9a9eFYm=Eu0:Au>Q 15٪?Q 55 *9YHQ E%@yRDE)t) L7I >i x-@ %K> x-@ z0a> @ z0ai I h?jao!?q"<8? *? K q) z0ai  checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064083>A I)IANM>@ҷ, 3Ay6@UB@ٱ6MP@6E#=6껼6H & 1!?`Ἷ @g xV?I6@UB@)6];i45jB95g IEMb@Mb@Mb@ A)AIAiAAE!rh?+Mbp?El>EE;IEAiEAEAE$A)AEABD]+6D]E3Ym2<!m+=mp}Q)m>q9q9uFYu?E}(;:A}>DDtD.DE: Ev:6Eـ4:E"E;!E;!*E`;!E`;!ԩQ 15٪ ?Q 55 *9>Q A!;YH@Q E@yTDE)8;I;ic5YBA̦Ehh]3AhjWAhjWAhJ@ v秜**@1XtFk֩~@u9ć?[{'$?hqhz0avxeIx*۰qֿ~mUЅ@v"{uDZO(v?X3?hhSh XN?hhKB*iA?2iK:i{BiIVA"idJ@DDAT read: Rx Time:23:57:18.1158 %TRx dataTimestamp_ set to:1758412635.6471075PDAT read: Bearing 346.7, -7.8 (Local) E~Local bearing/azimuth received: Bearing 346.7, -7.8 (Local) Uchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.312309e addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503698 s, deltaX: -0.300000 m, approachRate: -0.595595 m/s, rangeRepo size: 4  Added new target pos. range: 13.463610 m, bearing: 181.517751 deg, lat: 36.779128 deg, lon: -121.859754 deg, deltaT: 0.503698 s, deltaX: -0.299191 m, approachRate: -0.593990 m/s, posRepo size: 4 gDNOT Ignoring new targets: 13.46 m.gg!g! ProNav: ac range: 13.463610 m, nav range: 13.392982 m, bearing: 181.635008 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.800707 deg, new cmd heading: 185.848317 deg. gHeadingCmd: 3.243665 target range: 13.463610 and range: 13.50 m.g5O@ggggzfrfffBBdddc+@c 4?ɢeʂBeTz< amFAIi mׁ<ɡiiiIZIBi=i{O=)5O@)iAAIMP5I  DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.3  DAT read: 23:57:18.1158 LVL= 19488, 28881, 19394, 30259, AGC= 55, IDX= 511, 0.02,-1.370,-2.924,-1.045,-1.417, PHS= 0.149,-1.462, 0.328, RAW= 155.2, 11.5, CAL= 155.3, 12.8, ROT= 354.7, -12.8  Ygot valid direction response: 23:57:18.1158 LVL= 19488, 28881, 19394, 30259, AGC= 55, IDX= 511, 0.02,-1.370,-2.924,-1.045,-1.417, PHS= 0.149,-1.462, 0.328, RAW= 155.2, 11.5, CAL= 155.3, 12.8, ROT= 354.7, -12.8  R#Rx 9: Read range and direction messages. ^direction in FSK: [0.970980,-0.090075,0.221548] Fpublishing direction and range info9 EGE?O7)@|[? fVA i L p K 3v u>) ") I >i -\-@ M> d> di I zS?AT?n|$? gP? 6N ) di E checking for new query: numPingsReceived=9, elapsed TxPingTime=6.573069>A I I N >X,+3Ay-`B@ٱ-:YP@-"=-:-H`M?ɢ`괛>|=@{?I-`B@)-];i-CecB9e_ Iim=Im=BD%6D03Y!K=HQ)>99FYBEy:A>Q 15٪Þ?Q 55 *9YH@Q E@yVDE)#;I3&;iie5YAIh h <3Ah UAh UAh J@ v Wb)@z\B%`K@u EGE?O7)@|[?h h dv EA*) ֿScl@v ^7jo￞`f?h h Rh uL?h 0h TB*i K7B?2i 0:i lBi TA"i J@ addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503166 s, deltaX: -0.100000 m, approachRate: -0.198742 m/s, rangeRepo size: 4  Added new target pos. range: 13.363879 m, bearing: 181.560308 deg, lat: 36.779128 deg, lon: -121.859754 deg, deltaT: 0.503166 s, deltaX: -0.099730 m, approachRate: -0.198206 m/s, posRepo size: 4 gDNOT Ignoring new targets: 13.36 m.ggg ProNav: ac range: 13.363879 m, nav range: 13.254805 m, bearing: 181.546002 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.848314 deg, new cmd heading: 185.892483 deg. gHeadingCmd: 3.244436 target range: 13.363879 and range: 13.40 m.g֤O@ggggzf!rf!fAfABdIdIdIcM*@cU?ɢɂBJ< 顝LI g<ɡiIzXIzBi=iwD=)֤O@)DDzD+DEU: E :6E [4:E!5@!5@!5@!5@ԁi0|4A<A<vB~BB. IB;BB =BeDDAT read: Rx Time:23:57:18.6156 uTRx dataTimestamp_ set to:1758412636.149897BB;BPEPDAT read: Bearing 346.9, -7.6 (Local) ~Local bearing/azimuth received: Bearing 346.9, -7.6 (Local) DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.3 Z#Rx 10: Read range message, but no direction.9imQAichecking for new query: numPingsReceived=10, elapsed TxPingTime=6.831196ԡ>A =bA AZA A I I) N5 >0,3Ai_B9Z IMb@Mb@Mb@ )IiK7A`?~jt~jth?>D;I Ai?AVA)fADAT read: 23:57:18.6156 LVL= 17392, 29633, 18722, 27635, AGC= 54, IDX= 509, 0.01,-2.538, 2.189,-2.220,-2.585, PHS= 0.149,-1.464, 0.322, RAW= 155.0, 11.6, CAL= 155.1, 12.9, ROT= 354.9, -12.9 Ygot valid direction response: 23:57:18.6156 LVL= 17392, 29633, 18722, 27635, AGC= 54, IDX= 509, 0.01,-2.538, 2.189,-2.220,-2.585, PHS= 0.149,-1.464, 0.322, RAW= 155.0, 11.6, CAL= 155.1, 12.9, ROT= 354.9, -12.9 Z#Rx 11: Read direction message, but no range.^direction in FSK: [0.970902,-0.086651,0.223250]9Z%i?.Nu?iCs"Ik6 )ZdI/ݤ>i"-@4QO>?-@f>6@ fiIf?_P?[sD??6O K)fchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.064931BD 96D 3Y!E=%Q)%>!9!9-FY-EE-A->1Q 1=5٪5?Q 5=55 5*9E>Q AE;YEIQ EE@y5XDE)5@:I5:i55g5YamAihh 3AhQAhQAhK@ v5z^)@ZNU=z9@bU@uZ%i?.Nu?hKhfvw#E)-@?ٿN._@v5;Rla0 잿\*G?hɾhDMhSZ?hE)h?B*iuL?2i:iTBiOA"iJ@ addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.257976 s, deltaX: -0.299999 m, approachRate: -1.162896 m/s, rangeRepo size: 4 M Added new target pos. range: 13.064680 m, bearing: 181.761384 deg, lat: 36.779129 deg, lon: -121.859754 deg, deltaT: 0.257976 s, deltaX: -0.299199 m, approachRate: -1.159794 m/s, posRepo size: 4 gIMDNOT Ignoring new targets: 13.06 m.gIgQgQ ProNav: ac range: 13.064680 m, nav range: 12.995128 m, bearing: 181.576438 deg, approach rate: 0.000000 m/s, LOS rate: 0.056675 deg/s, cmd heading: 185.892478 deg, new cmd heading: 185.943150 deg. gHeadingCmd: 3.245320 target range: 13.064680 and range: 13.10 m.gSO@ggggzfrfffƂBBdddc@33*@c`u?ɢ ȂB 'jc<  QI 7<ɡiI#ZWIEblBiU=iUܪ=)SO@)im1qquQ3qDDD.DEҝ: E*:6Eـ4:E"E;!-E;!-*Eh;!5Ei;!5)  DDAT read: Rx Time:23:57:19.1156  TRx dataTimestamp_ set to:1758412636.652113 PDAT read: Bearing 347.0, -7.2 (Local)  ~Local bearing/azimuth received: Bearing 347.0, -7.2 (Local)  DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.3  Z#Rx 12: Read range message, but no direction.9   checking for new query: numPingsReceived=12, elapsed TxPingTime=7.325066>A} +=I I N >^W,/3A UB9N IBD 6Dk3YC!N=Q)>99FYGEA> Q 15٪ ۇ?Q 55  *9YQ E@y ZDE) ;I ;i h5Y%B% A%˦EEB*** querying acoustic contact ***zhAhA] addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502216 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gY]DNOT Ignoring new targets: 13.06 m.gYgeT:geT:u ProNav: ac range: 13.064680 m, nav range: 12.861556 m, bearing: 181.592361 deg, approach rate: -0.386071 m/s, LOS rate: 0.046499 deg/s, cmd heading: 185.943144 deg, new cmd heading: 185.975319 deg. gu2:}HeadingCmd: 3.245882 target range: 13.064680 and range: 13.10 m.g}O@gygyggzfrfffBdddccf?ɢǂBc%< cI H<ɡiI8VqI/cBi=i=)O@)i%=I=DAT read: 23:57:19.1156 LVL= 18128, 29873, 17490, 27827, AGC= 54, IDX= 509,-0.00,-1.255,-2.816,-0.950,-1.307, PHS= 0.153,-1.465, 0.313, RAW= 154.6, 11.7, CAL= 154.7, 13.0, ROT= 355.3, -13.0 Ygot valid direction response: 23:57:19.1156 LVL= 18128, 29873, 17490, 27827, AGC= 54, IDX= 509,-0.00,-1.255,-2.816,-0.950,-1.307, PHS= 0.153,-1.465, 0.313, RAW= 154.6, 11.7, CAL= 154.7, 13.0, ROT= 355.3, -13.0  Z#Rx 13: Read direction message, but no range.^direction in FSK: [0.971094,-0.079839,0.224951]9^2?Lp:/2?iFtRDl >)IA>i,@Q>3,@Vh>o@ VhiI:#[p?Mn?Ӓ??TQ )VhMchecking for new query: numPingsReceived=13, elapsed TxPingTime=7.575125iQYY]@5Yԙ>Am \= I I N >D5 D5 sD1 D1 E5 : E5 Z:6E1 :E1 !u @!u @!} @!} @vB ~B B ! IB 1BB =B B B ;A,wI3A&DDAT read: Rx Time:23:57:19.6154 .TRx dataTimestamp_ set to:1758412637.157472>PDAT read: Bearing 347.3, -6.9 (Local) B~Local bearing/azimuth received: Bearing 347.3, -6.9 (Local) \B-PEBCBCBBB齝ZDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.2 -Z#Rx 14: Read range message, but no direction.9$B 4&LA$checking for new query: numPingsReceived=14, elapsed TxPingTime=7.853380y-[yB@ٱ-qP@-=-j-H`୽?H#q༨`7nH?I-[yB@)-G];i-C-VB9-O I1i1)1 5AMb@Mb@Mb@ )Iim?X9v>I AiA)ABD+6DE3Yg:!$=("Q)>99FYJE E;A>Q 15٪xy?Q 55 *9O>Q A;Y{GQ E@y]DE) ;I ;i k5Y% A)h$h&J3Ah&?LAh&?LAh&0K@ v&c=(@H}N𿂰@u&^2?Lp:/2?h&h&Vhv& )>Sq߿V@v&We￟8Am3'X)̼I">iiw,@ȭT>,@k>u@ kiI(k ?m`m?/s??"U i٠)kuchecking for new query: numPingsReceived=15, elapsed TxPingTime=8.0836679 >A5 H=q AaIyIN>b,m6h3AD^D^zD^-D\E^: E^ :~DDAT read: Rx Time:23:57:20.1154 TRx dataTimestamp_ set to:1758412637.660368PDAT read: Bearing 347.1, -6.6 (Local) %~Local bearing/azimuth received: Bearing 347.1, -6.6 (Local) MDAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.3 mZ#Rx 16: Read range message, but no direction.9|||checking for new query: numPingsReceived=16, elapsed TxPingTime=8.3362686E^t4:E\"E^= A9I9MFYMMEU$;AU>YQ 1m5٪]%l?Q 5m5] ]*9qYuhGQ Eu@y]`DE)]{<;I]Z4;i]%m5YB8AʦEh|h~xCj3Ah|h|h~MK@ v~X(@y4￀Q@u~;?g :?h~i٠h~kv~Y)V);[nOvM@v~\¬vCBz?h~h~.Hh~p`M?h~"h~< Y]nvIY e<ɡaiaIeRImHBim=im=)mO@)qi /   0 ADAT read: 23:57:20.1154 LVL= 19696, 28833, 18050, 28259, AGC= 54, IDX= 507, 0.02,-0.945,-2.527,-0.657,-1.004, PHS= 0.162,-1.478, 0.303, RAW= 154.1, 11.8, CAL= 154.2, 13.1, ROT= 355.8, -13.1 Ygot valid direction response: 23:57:20.1154 LVL= 19696, 28833, 18050, 28259, AGC= 54, IDX= 507, 0.02,-0.945,-2.527,-0.657,-1.004, PHS= 0.162,-1.478, 0.303, RAW= 154.1, 11.8, CAL= 154.2, 13.1, ROT= 355.8, -13.1 Z#Rx 17: Read direction message, but no range.^direction in FSK: [0.971360,-0.071332,0.226651]9;b?*AGB+#?iLpFcn T%>)/Ii!,@BR>9>,@ j>Y@  jiI_+h?Pэ?+?%I?UR i ) jchecking for new query: numPingsReceived=17, elapsed TxPingTime=8.580853q >A v=ԩA9IQAADDD,DEs: E*:6Eg4:E!@!@!%@!%@vBA>eDDAT read: Rx Time:23:57:20.6152 uTRx dataTimestamp_ set to:1758412638.165872PDAT read: Bearing 347.3, -6.7 (Local) ~Local bearing/azimuth received: Bearing 347.3, -6.7 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.3 I1~BB IB'BB =BBB;BPENu?,9Ԍ3AZ#Rx 18: Read range message, but no direction.9y}HAychecking for new query: numPingsReceived=18, elapsed TxPingTime=8.863167(eKB9eA IMb@Mb@Mb@ )Iii|?5?V-MbP>I AiA; A)AI)BABD$6D3Y5Q;!5=5Q)5>9999=FY=QE=AE>IQ 1U5٪Ml\?Q 5U5M* M*9UH>Q AU;YUFQ EU@yMcDE)MH:IMf:iM}o5Yam1Aiԁhyh}3Ah}vGAh}vGAh}:L@ v}{7(@Gt㥚@u};b?*AGB+#?h}i h} jv}!Ap(]㿆gD!@v}+^uQڨZub?h}h}Ch}ЮV?h}yh}B*i}ЮV?2i}:i})uvIu>iquȭT>quk>q ukiqIuP?ٮ^?"ދ,e?u1u?u T q)ukchecking for new query: numPingsReceived=19, elapsed TxPingTime=9.085552iu2qqu/5q@y@y >A "= D D D 1D E : E ,:6E -4:E "E h;! E i;! *E :;! E ;;! A EDDAT read: Rx Time:23:57:21.1152 MTRx dataTimestamp_ set to:1758412638.667882ePDAT read: Bearing 347.3, -6.6 (Local) m~Local bearing/azimuth received: Bearing 347.3, -6.6 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.3 Z#Rx 20: Read range message, but no direction.I9AAAchecking for new query: numPingsReceived=20, elapsed TxPingTime=9.348749INE?W,nݬ3Axy B@ٱP@L=2˼H@ ?+̽`:`ȢRa?I B@) ];i @B94 IBDm6Dm3Y )!&=ºQ)>99FYTE9A=>AQ 1M5٪EM?Q 5M5EQ E*9QYUFQ EU@yEeDE)E$:IE:iEq5Y}BSAhh3Ahhh?L@ voHo5(@_oNqJ- @ue#?~)OIu>i!,@@ iI,_R?[Ft,?';#w?1?HU i)echecking for new query: numPingsReceived=21, elapsed TxPingTime=9.601381y >A \=vB B>~B B  IB BB =B B B ;B PED%D%uDDAT read: Rx Time:23:57:21.6150 TRx dataTimestamp_ set to:1758412639.174611AID%,D!E%C: E%.:6E%g4:E!"E%2;E%3;*E% ;E% ;5PDAT read: Bearing 347.5, -6.9 (Local) =~Local bearing/azimuth received: Bearing 347.5, -6.9 (Local) MDAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.2 IaN}?.,Y3A6DAT read: 23:57:21.6150 LVL= 20336, 28337, 18642, 28467, AGC= 54, IDX= 503, 0.09,-2.198, 2.503,-1.902,-2.244, PHS= 0.149,-1.491, 0.299, RAW= 154.3, 12.1, CAL= 154.4, 13.5, ROT= 355.6, -13.5 ZYgot valid direction response: 23:57:21.6150 LVL= 20336, 28337, 18642, 28467, AGC= 54, IDX= 503, 0.09,-2.198, 2.503,-1.902,-2.244, PHS= 0.149,-1.491, 0.299, RAW= 154.3, 12.1, CAL= 154.4, 13.5, ROT= 355.6, -13.5 ^T#Rx 22: Read range and direction messages.b^direction in FSK: [0.969504,-0.074599,0.233445]bFpublishing direction and range info9y}!y-?%%E?}DAyi}pO}n}H}3o}6 }u>)}پI}>i}Z,@}@X>}iw,@}:Fq>}@ }:FqiyyI};x?fy?ᦓy?}-e?}FX }iF)}:Fqiyyy%B@ٱ%&P@%H=%Kڼ5checking for new query: numPingsReceived=22, elapsed TxPingTime=9.904030%H@!D?`L`|`W`C ?I%B@)%w\;i!=B91 IԉMb@Mb@Mb@ )IiV-?X9vMbp?>;I AilAA)A p99FYWE`:A>I )!I9Q 1=5٪=?Q 5E5s +ieFgaekA9]M>Q Am;YmZGQ Em@yhDE)U'@NG6H+Q@u}!y-?%%E?h}iFh}:Fqv}mb( M\⿽@v}Z8QBf_@Q?h}h}@h}PAJ?h}1h}$B*i}p`M?2i}1:i}$Bi}?A"i}!L@  addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.506729 s, deltaX: -0.200000 m, approachRate: -0.394688 m/s, rangeRepo size: 4 ] Added new target pos. range: 12.266884 m, bearing: 182.736251 deg, lat: 36.779129 deg, lon: -121.859757 deg, deltaT: 0.506729 s, deltaX: -0.199453 m, approachRate: -0.393610 m/s, posRepo size: 4 gY]DNOT Ignoring new targets: 12.27 m.gYgaga}checking for new query: numPingsReceived=22, elapsed TxPingTime=10.079433 ProNav: ac range: 12.266884 m, nav range: 11.977329 m, bearing: 182.745942 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.162584 deg, new cmd heading: 186.215836 deg. gHeadingCmd: 3.250079 target range: 12.266884 and range: 12.30 m.gMP@ggggzfrfffBBdddc(@c`s?ɢBh7< !%I! %d<ɡ!i!I%_MI-hBi5=i1)5MP@)1i/0 >A5 =rAA jAE >BEJEy4RE/D D tD D E %: E v:6E :E "E ;E ;*E `;E `;UDDAT read: Rx Time:23:57:22.1149 uTRx dataTimestamp_ set to:1758412639.678390IIN%>=,3A PDAT read: Bearing 347.5, -7.4 (Local) ~Local bearing/azimuth received: Bearing 347.5, -7.4 (Local) DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.2 -DAT read: 23:57:22.1149 LVL= 19280, 28609, 19490, 28611, AGC= 54, IDX= 502, 0.11,-2.008, 2.695,-1.698,-2.051, PHS= 0.145,-1.493, 0.308, RAW= 154.7, 12.0, CAL= 154.8, 13.4, ROT= 355.2, -13.4 y]BB@ٱ]P@]=](A]H. @?`.@\ ykk]i?I]BB@)]\\;i]CYgot valid direction response: 23:57:22.1149 LVL= 19280, 28609, 19490, 28611, AGC= 54, IDX= 502, 0.11,-2.008, 2.695,-1.698,-2.051, PHS= 0.145,-1.493, 0.308, RAW= 154.7, 12.0, CAL= 154.8, 13.4, ROT= 355.2, -13.4 T#Rx 23: Read range and direction messages.FB9< I^direction in FSK: [0.969364,-0.081400,0.231748]Fpublishing direction and range info9?-ִ] A?3CAiPKo"Lo z>)I->i3,@PwV>,@|o>a@BD 6Dk3 |oiI ZL1?wXQ?|K-??W )|oi=checking for new query: numPingsReceived=23, elapsed TxPingTime=10.436306Y =!:=>Q)>99FYZEh ;A>Q 15٪W1?Q 55 +9YJGQ E@ykDE):I:iv5Y#AAhhj3AhBAhBAhK@ vf 컖'@zrc,1#1Ŏ@u?-ִ] A?hh|ove 'S5 FXAeU@voUᅧ.N :Zm?hMh>h\E?h+hB*iPAJ?2i:iBi=A"it"L@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503779 s, deltaX: -0.100000 m, approachRate: -0.198500 m/s, rangeRepo size: 4  Added new target pos. range: 12.167152 m, bearing: 182.408797 deg, lat: 36.779129 deg, lon: -121.859757 deg, deltaT: 0.503779 s, deltaX: -0.099731 m, approachRate: -0.197967 m/s, posRepo size: 4 gDNOT Ignoring new targets: 12.17 m.ggg ProNav: ac range: 12.167152 m, nav range: 11.869769 m, bearing: 182.750786 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.215832 deg, new cmd heading: 186.254802 deg. gHeadingCmd: 3.250760 target range: 12.167152 and range: 12.20 m.gr P@g g g g zf rf ffBdddc`ff(@cv?ɢB < dqI <ɡiIKICBi=i:=)r P@)9qchecking for new query: numPingsReceived=23, elapsed TxPingTime=10.583356i0/ԡ >A \= I I N- >#,3AD:D:{D:+D8E:C:vB.F>~B,B. IB.BB,B,B.DB.;B.PE E:5":6E: [4:E8"E:2;]DDAT read: Rx Time:23:57:22.6147 uTRx dataTimestamp_ set to:1758412640.182433PDAT read: Bearing 347.6, -7.9 (Local) ~Local bearing/azimuth received: Bearing 347.6, -7.9 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.2 E:3;*E:Bz;E:Cz;DAT read: 23:57:22.6147 LVL= 19360, 29553, 18930, 29331, AGC= 54, IDX= 500, 0.12,-2.904, 1.804,-2.576,-2.937, PHS= 0.135,-1.497, 0.317, RAW= 155.2, 12.1, CAL= 155.4, 13.4, ROT= 354.6, -13.4 Ygot valid direction response: 23:57:22.6147 LVL= 19360, 29553, 18930, 29331, AGC= 54, IDX= 500, 0.12,-2.904, 1.804,-2.576,-2.937, PHS= 0.135,-1.497, 0.317, RAW= 155.2, 12.1, CAL= 155.4, 13.4, ROT= 354.6, -13.4 T#Rx 24: Read range and direction messages.E^direction in FSK: [0.968459,-0.091546,0.231748]EFpublishing direction and range info9ae‹?[qZɑo] A?ef>AaieKeqseIera eq= >)eIeM>ie-\-@e@X>e^-@ae @ aiaaIeL`M?&o ?b'?e e?emW e)aiayB@ٱP@v=2Ha?];s@ [@m 휿`k?IB@)];iCachecking for new query: numPingsReceived=24, elapsed TxPingTime=10.914680>B92 I}Mb@Mb@Mb@ y)yIyiyy}S?Mb`?}>}̼};I} Ai}$A}Ay)yyBD6DYg!=Q)>99FY^Eδ:A>)Q 155٪- ?Q 555- - +95>Q A5;Y5FQ E5@y-nDE)-:I-v:i-x5YEBE3AeɦEhahe 3Ahe=Ahe=AheX$K@ ve$V/&@3`+1b2@ue‹?[qZɑo] A?hehave6 x?'dv/ؿF@veڕCWl7Mu?he~he9heMMM?he̔heB*ia2ia:ieBie:A"ie"L@- addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504043 s, deltaX: -0.300000 m, approachRate: -0.595188 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.868038 m, bearing: 181.862149 deg, lat: 36.779129 deg, lon: -121.859757 deg, deltaT: 0.504043 s, deltaX: -0.299114 m, approachRate: -0.593430 m/s, posRepo size: 4 g9]DNOT Ignoring new targets: 11.87 m.gYgagau ProNav: ac range: 11.868038 m, nav range: 11.673603 m, bearing: 182.752237 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.254805 deg, new cmd heading: 186.307905 deg. gq}HeadingCmd: 3.251686 target range: 11.868038 and range: 11.90 m.g}P@ggggzfrfffBBdddc'@c ?checking for new query: numPingsReceived=24, elapsed TxPingTime=11.087294 ɢ- B- n6< ) 5 ,~I1 5 km<ɡ1 i1 I5 JI] Bi] ֠=ie Щ=)e P@)a i 1   0 I >A==DeDepyDe-DaEe: Ee :6Eet4:Ea"EeU;EeV;bAZA*Ee8R;Ee9R;IIIqDDAT read: Rx Time:23:57:23.1147 TRx dataTimestamp_ set to:1758412640.687369PDAT read: Bearing 347.8, -8.1 (Local) ~Local bearing/azimuth received: Bearing 347.8, -8.1 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.3 EDAT read: 23:57:23.1147 LVL= 18240, 28993, 19122, 28595, AGC= 54, IDX= 500, 0.12,-1.454,-3.020,-1.116,-1.479, PHS= 0.127,-1.496, 0.319, RAW= 155.5, 12.1, CAL= 155.7, 13.5, ROT= 354.3, -13.5 MYgot valid direction response: 23:57:23.1147 LVL= 18240, 28993, 19122, 28595, AGC= 54, IDX= 500, 0.12,-1.454,-3.020,-1.116,-1.479, PHS= 0.127,-1.496, 0.319, RAW= 155.5, 12.1, CAL= 155.7, 13.5, ROT= 354.3, -13.5 MT#Rx 25: Read range and direction messages.U^direction in FSK: [0.967562,-0.096576,0.233445]UFpublishing direction and range info9D?BP -%E?i@GAqJo J >)|IS>i-@'-@:Fq>@Nm?  :FqiIIEv?y-?gES?!?fX )˽):Fqi checking for new query: numPingsReceived=25, elapsed TxPingTime=11.368806,M-3Ay¸B@ٱ7P@=yZѼH`X?@à@m@K ^u9&?I¸B@9)#\;iC7B9) IBD6D03Y-;!57=5V9Q)5>9999=FY=aE=(@AE>AQ 1m5٪E ?Q 5u5E E+9qYuFQ Eu@yEpDE)E1:IE:iEqz5YyjAhh+3Ahhh&J@ vwT&@bVfz*@uD?BP -%E?h)˽h:Fqvt>'LӿVlTX@vgKV￐ƒ?hh9h@?h hB*i7H?2i+:ii8A"iK@5 addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ae Added new target pos. range: 11.868038 m, bearing: 181.525752 deg, lat: 36.779128 deg, lon: -121.859756 deg, deltaT: 0.504936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gimDNOT Ignoring new targets: 11.87 m.gigqgq ProNav: ac range: 11.868038 m, nav range: 11.538866 m, bearing: 182.409043 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.307903 deg, new cmd heading: 186.349636 deg. gHeadingCmd: 3.252415 target range: 11.868038 and range: 11.90 m.g'P@ggggzfrfffBdddcc?ɢ-B-< 15~I1 5/<ɡ1i1I5kHI]%Aie=ie}=)e'P@)achecking for new query: numPingsReceived=25, elapsed TxPingTime=11.591496i/0ԑԹ >A \=IY Iq N} >,> G3ArDr<jDr<DDD/ԙvBD>~BmDDAT read: Rx Time:23:57:23.6145 }TRx dataTimestamp_ set to:1758412641.190571PDAT read: Bearing 347.9, -8.6 (Local) ~Local bearing/azimuth received: Bearing 347.9, -8.6 (Local) BIBBB =BBB;BPEDEC: E6EJ4:E"E2;E4;*EEMDAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.3 DAT read: 23:57:23.6145 LVL= 18976, 29921, 19442, 30387, AGC= 54, IDX= 498, 0.12,-2.420, 2.302,-2.065,-2.435, PHS= 0.117,-1.501, 0.326, RAW= 156.0, 12.2, CAL= 156.2, 13.6, ROT= 353.8, -13.6 yoB@ٱP@=ɼH )Ⱦ?`o`g p8[`8??IoB@)D"];i0B9! I-Ygot valid direction response: 23:57:23.6145 LVL= 18976, 29921, 19442, 30387, AGC= 54, IDX= 498, 0.12,-2.420, 2.302,-2.065,-2.435, PHS= 0.117,-1.501, 0.326, RAW= 156.0, 12.2, CAL= 156.2, 13.6, ROT= 353.8, -13.6 5T#Rx 26: Read range and direction messages.=^direction in FSK: [0.966276,-0.104971,0.235142]=Fpublishing direction and range info9imqF?>Zscߺ#?m9Aiim JmtmKmvi m=)m Imy>im@.@m^ Z>m!z.@ms>me@ msiiiIm 9N?cV$vb?Lx?m ?mHY miݽ)msiiichecking for new query: numPingsReceived=26, elapsed TxPingTime=11.920358Mb@Mb@Mb@ )Iioʡ?Zd;OMbp?>j;I AiAlA; A)\ABD6DN3Y+!'=ӹQ)>99FYdEv:A>!Q 1-5٪%?Q 5-5%7 %+95w>Q A5;Y5EQ E5@y%sDE)%:I%#:i%|5Ym~BupAuȦEhihmQ2L3Ahm9Ahm9Ahm/;J@ vm3&|[&@BL'n796@umqF?>Zscߺ#?hmiݽhmsvm&B]}ʿ-f@vm^];ST→OgQaa?hmShm85hmfK?hmhmB*imPAJ?2im̔:imBim5A"imK@e addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503202 s, deltaX: -0.299999 m, approachRate: -0.596181 m/s, rangeRepo size: 4  Added new target pos. range: 11.568830 m, bearing: 181.046767 deg, lat: 36.779129 deg, lon: -121.859754 deg, deltaT: 0.503202 s, deltaX: -0.299209 m, approachRate: -0.594609 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.57 m.ggg ProNav: ac range: 11.568830 m, nav range: 11.345776 m, bearing: 181.828909 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.349636 deg, new cmd heading: 186.396896 deg. gHeadingCmd: 3.253240 target range: 11.568830 and range: 11.60 m.g5P@ggggzfrfffBBdd!d!c%@33'@c%/?ɢBrt < 顝ˉI O<ɡiIFIAi=iJ=)5P@) checking for new query: numPingsReceived=26, elapsed TxPingTime=12.096259i 0 / @ =@ =! I>Aا=I9IQNm?(k,g3A0i0DvDvwDv,DtEvs: Ev:6Evg4:Et"Ev;Ev;*Evk;Evk;yMB@ٱP@x= FB¼H Lo?@rǾ`` NCu?IMB@UDDAT read: Rx Time:23:57:24.1145 ]TRx dataTimestamp_ set to:1758412641.693147mPDAT read: Bearing 348.0, -9.0 (Local) m~Local bearing/azimuth received: Bearing 348.0, -9.0 (Local) }DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.3 DAT read: 23:57:24.1145 LVL= 19664, 30305, 17186, 32339, AGC= 53, IDX= 498, 0.11,-1.045,-2.601,-0.676,-1.053, PHS= 0.110,-1.503, 0.333, RAW= 156.4, 12.2, CAL= 156.6, 13.6, ROT= 353.4, -13.6 Ygot valid direction response: 23:57:24.1145 LVL= 19664, 30305, 17186, 32339, AGC= 53, IDX= 498, 0.11,-1.045,-2.601,-0.676,-1.053, PHS= 0.110,-1.503, 0.333, RAW= 156.4, 12.2, CAL= 156.6, 13.6, ROT= 353.4, -13.6 T#Rx 27: Read range and direction messages.^direction in FSK: [0.965520,-0.111714,0.235142]Fpublishing direction and range info9QU,R?,YؕQ#?QQiULUavU"CUS~U5 UG=)UNbIU~>iUR.@QU.@QU4`@ QiQQIUIaB-?(햎?.Tb?U`"?UY U)QiQQchecking for new query: numPingsReceived=27, elapsed TxPingTime=12.368439)];iC}4B9}& IBD6D03Y<!<=^bQ)>99FYgEq ;A>Q 15٪?Q 55k +9YEQ E @yuDE) nٍ@vUgbTgO/tt?hUq hU;5hUz$??hUhUB*iU\E?2iU :iUBiU4A"iUJ@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502576 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 11.568830 m, bearing: 180.688794 deg, lat: 36.779128 deg, lon: -121.859754 deg, deltaT: 0.502576 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 g DNOT Ignoring new targets: 11.57 m.ggg% ProNav: ac range: 11.568830 m, nav range: 11.257023 m, bearing: 181.492076 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.396901 deg, new cmd heading: 186.439295 deg. g)uHeadingCmd: 3.253979 target range: 11.568830 and range: 11.60 m.gu3AP@gqgqgygyzfyrfyfyfBdddcc8/?ɢB < I w_<ɡiITDI%Ai-জ=i-z=)-3AP@))ai checking for new query: numPingsReceived=27, elapsed TxPingTime=12.599358ԉ >A ԹAI!I9Nq!,23AbD`ZD`AtAtvB~BBIB BB =BBDB;BQEBBBBBB4DmDmpDm.DiEm: Em :6Emـ4:Ei"Em;Em;*Em8R;Em9R;=DDAT read: Rx Time:23:57:24.6143 MTRx dataTimestamp_ set to:1758412642.197564qPDAT read: Bearing 348.3, -9.3 (Local) ~Local bearing/azimuth received: Bearing 348.3, -9.3 (Local) %DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.3 5DAT read: 23:57:24.6143 LVL= 19024, 29985, 19442, 29683, AGC= 54, IDX= 496, 0.12,-2.045, 2.682,-1.663,-2.041, PHS= 0.099,-1.514, 0.334, RAW= 156.7, 12.4, CAL= 157.0, 13.9, ROT= 353.0, -13.9 =Ygot valid direction response: 23:57:24.6143 LVL= 19024, 29985, 19442, 29683, AGC= 54, IDX= 496, 0.12,-2.045, 2.682,-1.663,-2.041, PHS= 0.099,-1.514, 0.334, RAW= 156.7, 12.4, CAL= 157.0, 13.9, ROT= 353.0, -13.9 =T#Rx 28: Read range and direction messages.yUB@ٱUnP@UzO=U:UHAE?@`(pÕ?IUB@)Ub];iUCm0B9m I^direction in FSK: [0.963481,-0.118301,0.240228]Fpublishing direction and range info9AET?HHؼʿ?E4AAiEPJE!uEKEsE6 E=)EIE >iE /@Ek]>E^/@EUlx>E'@ EUlxiAAIE=: ?? ?Wl?E$?Eb] E5)EUlxiAAchecking for new query: numPingsReceived=28, elapsed TxPingTime=12.945557ԙMb@Mb@Mb@ )IiQ?V-{Gzt?>ף;IiA) ABD5%6D503Yu!=ZQ)>99FYjE :A>Q 15٪蘊?Q 55 +9>Q A ;YFQ E@yyDE)d;Id;i!5YxBDAǦEhAhE㤌3AhEP4AhEP4AhEynI@ vE4S%@;@Tk鑳@uET?HHؼʿ?hE5hEUlxvEhM &t׽K!#@vEiadL_#u"w\O?hE\hEZ0hEG?hE!FhEB*iEG?2iE:iEBiEa0A"iE-J@ addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504417 s, deltaX: -0.300000 m, approachRate: -0.594746 m/s, rangeRepo size: 4 - Added new target pos. range: 11.269612 m, bearing: 180.330882 deg, lat: 36.779128 deg, lon: -121.859753 deg, deltaT: 0.504417 s, deltaX: -0.299217 m, approachRate: -0.593194 m/s, posRepo size: 4 gDNOT Ignoring new targets: 11.27 m.ggg ProNav: ac range: 11.269612 m, nav range: 11.023755 m, bearing: 180.999927 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.439289 deg, new cmd heading: 186.493199 deg. gHeadingCmd: 3.254920 target range: 11.269612 and range: 11.30 m.gPP@ggggzfrfffBBddd c &@c e?ɢU BU < Y ] [IY ] <ɡY iY I] RBI Ai t=i =) PP@)  checking for new query: numPingsReceived=28, elapsed TxPingTime=13.103406i= 19 9 = z09 @A @A !>A.=bAAZAAD5D5yD55D1E5: E5:6E54:E1"E5;E5;*E5r;E5r;DDAT read: Rx Time:23:57:25.1143 TRx dataTimestamp_ set to:1758412642.696791PDAT read: Bearing 347.9, -9.2 (Local) ~Local bearing/azimuth received: Bearing 347.9, -9.2 (Local) DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.3 DAT read: 23:57:25.1143 LVL= 19008, 29521, 20194, 29779, AGC= 54, IDX= 512, 0.14,-1.217,-3.073,-0.791,-1.244, PHS= 0.129,-1.784, 0.409, RAW= 156.7, 12.0, CAL= 156.9, 13.4, ROT= 353.1, -13.4 Ygot valid direction response: 23:57:25.1143 LVL= 19008, 29521, 20194, 29779, AGC= 54, IDX= 512, 0.14,-1.217,-3.073,-0.791,-1.244, PHS= 0.129,-1.784, 0.409, RAW= 156.7, 12.0, CAL= 156.9, 13.4, ROT= 353.1, -13.4 T#Rx 29: Read range and direction messages.^direction in FSK: [0.965730,-0.116866,0.231748]Fpublishing direction and range info9<ĀC?0꽿] A?i@JQsNSt >)ZIsh>iPwV>LB/@|o>P5@ |oiI{^U?vHJ?BEe?#$?V )|oichecking for new query: numPingsReceived=29, elapsed TxPingTime=13.372066QAyAIIN?V+,֎3AyUB@ٱU(P@U=U3UH _?h,m鼙 &?IUB@)Uh];iQ.B9 IBD6D:3Y ! .=`Q)>ԑ H?9 H?9FYmEX^:A>Q 15٪Cۘ?Q 55 +9YFQ E@y{DE)?;I;i>5YTAhh93AhhhI@ vixM%@ ! $@u<ĀC?0꽿] A?hh|ov|"!&ɈZP @vAe 4= vB C>~B B IB BB =B B B ;B QED D tD ,D E C: E v:6E g4:E "E 2;E 4;*E `;E `;A AI DDAT read: Rx Time:23:57:25.6141 %TRx dataTimestamp_ set to:1758412643.205458EPDAT read: Bearing 348.5, -9.5 (Local) M~Local bearing/azimuth received: Bearing 348.5, -9.5 (Local) IDAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.2 N%>۬3,iu^/@uk]>u/@uUlx>u@ uUlxiqqIuA`?`H?7̕߂?uh%?u] utw)uUlxiqquchecking for new query: numPingsReceived=30, elapsed TxPingTime=13.947396yB@ٱ6P@E=YHxf?`geP_֡'F?IB@)7];iC'B9 IA Mb@Mb@Mb@ ) I i   S?Q롿 > \ I ~ Ai A  )  AIa)eAABDm6Dm{U3Y豼!=C̹Q)>K?9K?9FYqEY:A>Q 15٪ʘ?Q 55 "+9>Q A;YGQ E@y~DE) ;I;i5YrBVAhqhu9&3Ahu/Ahu/Ahux&I@ vu., %@G?iL@uuFD?6^pؼʿ?hutwhuUlxvut%H=S^aX@vubK8Y9V֥?hurhu+hu7tB?huK=huB*iu7tB?2iu:iqiu+A"iu1I@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.508667 s, deltaX: -0.300000 m, approachRate: -0.589777 m/s, rangeRepo size: 4  Added new target pos. range: 10.970407 m, bearing: 180.079081 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.508667 s, deltaX: -0.299206 m, approachRate: -0.588215 m/s, posRepo size: 4 gDNOT Ignoring new targets: 10.97 m.ggg ProNav: ac range: 10.970407 m, nav range: 10.728348 m, bearing: 180.427826 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.536619 deg, new cmd heading: 186.589121 deg. gHeadingCmd: 3.256594 target range: 10.970407 and range: 11.00 m.g lP@ggggzfrfffBBd!d!d!c%&@c%@VE?uchecking for new query: numPingsReceived=30, elapsed TxPingTime=14.111228yɢB|; 顕I aP<ɡiI55?IAi=i=) lP@)ie1aae/aԙ >A ا=rA jA > DE DE wDE 2DA EE s: EE :6EE 4:EA !m @!m @!m @!m @5DDAT read: Rx Time:23:57:26.1140 5TRx dataTimestamp_ set to:1758412643.705862EPDAT read: Bearing 348.9, -9.5 (Local) M~Local bearing/azimuth received: Bearing 348.9, -9.5 (Local) eDAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.3 DAT read: 23:57:26.1140 LVL= 18912, 28641, 18610, 29827, AGC= 53, IDX= 509, 0.21,-3.035, 1.698,-2.645,-3.019, PHS= 0.086,-1.521, 0.329, RAW= 157.0, 12.7, CAL= 157.3, 14.2, ROT= 352.7, -14.2 Ygot valid direction response: 23:57:26.1140 LVL= 18912, 28641, 18610, 29827, AGC= 53, IDX= 509, 0.21,-3.035, 1.698,-2.645,-3.019, PHS= 0.086,-1.521, 0.329, RAW= 157.0, 12.7, CAL= 157.3, 14.2, ROT= 352.7, -14.2 T#Rx 31: Read range and direction messages.^direction in FSK: [0.961587,-0.123182,0.245307]Fpublishing direction and range info915jS?ڈ/;f?5,A1i5I5o5H5t1AyAIIN>Q.;,m3A =)!¿Ir>ib>x}> }iI"X?"? ?y%?)4b )}ichecking for new query: numPingsReceived=31, elapsed TxPingTime=14.425752y& C@ٱQ@kD =H E?ru` Ygn?I& C@)R];iC!B9 IBD/6D3Y6!9=%Q)> H?9 H?9FYtEEU;AE>IQ 1U5٪M?Q 5U5M M'+9QYUGQ E]@yMDE)M:IM|:iM5YAhh,3AhU,AhU,AhHI@ vo$@+):ɬ5#@ujS?ڈ/;f?hh}vW`q %8a¢4ċ@vP?^|h6kR?hhK(h:jG?h*hĆB*i2i!F:iĆBi2)A"i[^I@ addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.500404 s, deltaX: -0.200000 m, approachRate: -0.399677 m/s, rangeRepo size: 4  Added new target pos. range: 10.770945 m, bearing: 180.199605 deg, lat: 36.779128 deg, lon: -121.859751 deg, deltaT: 0.500404 s, deltaX: -0.199462 m, approachRate: -0.398602 m/s, posRepo size: 4 gDNOT Ignoring new targets: 10.77 m.ggg ProNav: ac range: 10.770945 m, nav range: 10.574930 m, bearing: 180.274522 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.589116 deg, new cmd heading: 186.630590 deg. gHeadingCmd: 3.257318 target range: 10.770945 and range: 10.80 m.gwP@ggggzfrfffBdddc%@c5??ɢEBEP; IMkII MR4<ɡIiIIM|=IuϧAi}=i}=)}wP@)ychecking for new query: numPingsReceived=31, elapsed TxPingTime=14.616142i/4Iy >A ħ=A <A <vB1 ~B1 B5 IB5 BB1 D D pD /D E y: E  :6E J4:E "E B, 3A:DDAT read: Rx Time:23:57:26.6138 >TRx dataTimestamp_ set to:1758412644.210298BPDAT read: Bearing 349.0, -9.4 (Local) B~Local bearing/azimuth received: Bearing 349.0, -9.4 (Local) JDAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.2 bDAT read: 23:57:26.6138 LVL= 20240, 31009, 22898, 31059, AGC= 54, IDX= 507, 0.25, 1.579, 0.015, 1.966, 1.595, PHS= 0.086,-1.535, 0.327, RAW= 156.8, 12.7, CAL= 157.1, 14.4, ROT= 352.9, -14.4 rYgot valid direction response: 23:57:26.6138 LVL= 20240, 31009, 22898, 31059, AGC= 54, IDX= 507, 0.25, 1.579, 0.015, 1.966, 1.595, PHS= 0.086,-1.535, 0.327, RAW= 156.8, 12.7, CAL= 157.1, 14.4, ROT= 352.9, -14.4 vT#Rx 32: Read range and direction messages. ^direction in FSK: [0.961156,-0.119718,0.248690] Fpublishing direction and range info98:;@?b^ۥl?:(A8i:O:!y:rY:Sy:6 8):zĿI:l>i:%/@8:~{/@:>:@ :i88I: M&?_?|rmtiIiimVAmAmQ A)imzAyi}BD.6DP3Y?:!=LQ)>99FYwE˪:A> Q 15٪ S?Q 55  ,+9ɟ>Q A*;)i1YyHQ E@Iy DE) VA =bA AZA ABEJE#4RE0DDsD+DE: EZ:6E [4:E!@!@!@!@ԙDDAT read: Rx Time:23:57:27.1138 TRx dataTimestamp_ set to:1758412644.712844PDAT read: Bearing 349.0, -9.4 (Local) AAIIN ?K,+.3A~Local bearing/azimuth received: Bearing 349.0, -9.4 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.3 2DAT read: 23:57:27.1138 LVL= 21808, 30945, 22322, 30979, AGC= 53, IDX= 507, 0.27, 3.022, 1.459,-2.874, 3.038, PHS= 0.086,-1.535, 0.327, RAW= 156.8, 12.7, CAL= 157.1, 14.3, ROT= 352.9, -14.3 6Ygot valid direction response: 23:57:27.1138 LVL= 21808, 30945, 22322, 30979, AGC= 53, IDX= 507, 0.27, 3.022, 1.459,-2.874, 3.038, PHS= 0.086,-1.535, 0.327, RAW= 156.8, 12.7, CAL= 157.1, 14.3, ROT= 352.9, -14.3 zT#Rx 33: Read range and direction messages.~^direction in FSK: [0.961585,-0.119772,0.246999]Fpublishing direction and range info9AEXtN?.&\\⩝?AAiE0UExE2WEyE5 A)AIAiAAAEr>A EriAAIE M&?_?|rK?9K?9FYzE-;A>9Q 1E5٪=J?Q 5E5= =0+9AYMeHQ EM@y=DE)=g:I=t:i=5YUlBU~AUƦEhAhE<-3AhAhAhE9I@ vE T#$@oG,@uEXtN?.&\\⩝?hAhErvEOA ħ=I A IA vB B>~B B IB BB =B B B Ԙ;B %QErD=jDD=D=D=*D9E=C: E=*5:6E=(N4:E9"E=2;!ME=3;!U*E=;!UE=;!UIaNu>R,zL3AVDDAT read: Rx Time:23:57:27.6136 ZTRx dataTimestamp_ set to:1758412645.216841^PDAT read: Bearing 349.1, -9.4 (Local) ^~Local bearing/azimuth received: Bearing 349.1, -9.4 (Local) zDAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.2 eDAT read: 23:57:27.6136 LVL= 19248, 28145, 20210, 28659, AGC= 53, IDX= 505, 0.31, 2.176, 0.602, 2.566, 2.195, PHS= 0.084,-1.548, 0.327, RAW= 156.9, 12.8, CAL= 157.2, 14.5, ROT= 352.8, -14.5 yM=C@ٱML6Q@MaI=MMH;`^?0@Y?~ib蠿@Ǿ`M?IM=C@)Me];Ygot valid direction response: 23:57:27.6136 LVL= 19248, 28145, 20210, 28659, AGC= 53, IDX= 505, 0.31, 2.176, 0.602, 2.566, 2.195, PHS= 0.084,-1.548, 0.327, RAW= 156.9, 12.8, CAL= 157.2, 14.5, ROT= 352.8, -14.5 T#Rx 34: Read range and direction messages.iMC^direction in FSK: [0.960513,-0.121341,0.250380]Fpublishing direction and range info9TV1细?J;=9?V3#ATiV0KVmVNVoT V1=)V$ƿITiVLB/@Vd>V/@V>Vj @ ViTTIVpr[?%s?C^Ȉh?V[$?V,e V)ViTTchecking for new query: numPingsReceived=34, elapsed TxPingTime=15.978812)YB9I]checking for new query: numPingsReceived=34, elapsed TxPingTime=16.127378mMb@Mb@Mb@ i)iIiiiimv/?Qmx>miImh Aim?AmAm; A)imABD6D3Y(!< Q)>99FY~Es;A>Q 15٪Ց?Q 55; 7+9*>Q A;YFQ E@yDE);IX:iю5YAhThVM3AhV"AhV"AhVI@ vV׫ZI#@LHMô?`@uV1细?J;=9?hVhVvVkd?hVɽhVhVN?hV{hVB*iV:jG?2iV3<":iTiVA"iVWI@  addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503997 s, deltaX: -0.300000 m, approachRate: -0.595242 m/s, rangeRepo size: 4  Added new target pos. range: 10.172523 m, bearing: 180.566991 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.503997 s, deltaX: -0.299218 m, approachRate: -0.593690 m/s, posRepo size: 4 g DNOT Ignoring new targets: 10.17 m.g g g  ProNav: ac range: 10.172523 m, nav range: 9.994426 m, bearing: 180.414358 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.722755 deg, new cmd heading: 186.783715 deg. g % HeadingCmd: 3.259991 target range: 10.172523 and range: 10.20 m.g- P@g) g) g) g) zf) rf) f1 f5 BBd1 d1 d9 c= `ff$@c= @p?ԁ ɢ B ; 顭 ߝI U<ɡ i I 17I |Ai =i =) P@) > >i 1 @5 Թ DDvD-DE: E:6Et4:E!-@!-@!-@!-@MDDAT read: Rx Time:23:57:28.1136 UTRx dataTimestamp_ set to:1758412645.728830]PDAT read: Bearing 349.2, -9.2 (Local) e~Local bearing/azimuth received: Bearing 349.2, -9.2 (Local) uDAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.2 >A=DAT read: 23:57:28.1136 LVL= 19536, 28097, 19186, 31923, AGC= 53, IDX= 505, 0.37, 3.119, 1.548,-2.779, 3.138, PHS= 0.083,-1.545, 0.322, RAW= 156.7, 12.9, CAL= 157.1, 14.5, ROT= 352.9, -14.5  Ygot valid direction response: 23:57:28.1136 LVL= 19536, 28097, 19186, 31923, AGC= 53, IDX= 505, 0.37, 3.119, 1.548,-2.779, 3.138, PHS= 0.083,-1.545, 0.322, RAW= 156.7, 12.9, CAL= 157.1, 14.5, ROT= 352.9, -14.5  T#Rx 35: Read range and direction messages.=^direction in FSK: [0.960724,-0.119664,0.250380]EFpublishing direction and range info9IMjb6??$T=9?IIiMPLMmMJM|I M=)MſIM/ݤ>iM /@Mf>M~{/@IM@ IiIIIMc ?r4K?Aؓ?M8$?M8f M)IiIIchecking for new query: numPingsReceived=35, elapsed TxPingTime=16.429424AyAII N?\,}t3Aɰ4E H?9E H?9EFYEEM\:AM>Q 15٪ԅ?Q 55_ ;+9YFQ E@yDE):I$:i5YfBAŦEhh'n3AhhhI@ v=iċ#@dJzô?`@ujb6??$T=9?hhv#FI㽿JAk*%@vI)1¬Ed;?hhh35AB?hqh*i2ib:iBiA"iI@u addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.511989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.172523 m, bearing: 180.674640 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.511989 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gDNOT Ignoring new targets: 10.17 m.ggg ProNav: ac range: 10.172523 m, nav range: 9.852101 m, bearing: 180.518053 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.783722 deg, new cmd heading: 186.822862 deg. gHeadingCmd: 3.260674 target range: 10.172523 and range: 10.20 m.gP@ggggzfrfffBdddc!c%?ɢuBu yj: quעIq u<ɡyiyI}5IpAi=ijb=)P@)i߱Iߵ%=checking for new query: numPingsReceived=35, elapsed TxPingTime=16.634493i/P5Q>A% \=ԁ A A vB C>~B B IB BB =B B B ݘ;B /QEbDQ ZDU AAD] D] pD] /DY E] C: E]  :6E] J4:EY "EY !m E] 4;!m *E] 8R;!m E] 9R;!m AM AIY Ii N} >Q}c,ע3A.DDAT read: Rx Time:23:57:28.6134 2TRx dataTimestamp_ set to:1758412646.2404046PDAT read: Bearing 349.4, -8.8 (Local) 6~Local bearing/azimuth received: Bearing 349.4, -8.8 (Local) >DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.2 RDAT read: 23:57:28.6134 LVL= 20112, 31281, 16354, 32755, AGC= 51, IDX= 503, 0.45, 1.116,-0.454, 1.486, 1.131, PHS= 0.087,-1.540, 0.311, RAW= 156.4, 13.0, CAL= 156.7, 14.7, ROT= 353.3, -14.7 Ygot valid direction response: 23:57:28.6134 LVL= 20112, 31281, 16354, 32755, AGC= 51, IDX= 503, 0.45, 1.116,-0.454, 1.486, 1.131, PHS= 0.087,-1.540, 0.311, RAW= 156.4, 13.0, CAL= 156.7, 14.7, ROT= 353.3, -14.7 9 T#Rx 36: Read range and direction messages.e^direction in FSK: [0.960662,-0.112852,0.253758]Fpublishing direction and range info9,.'W?)7㼿N=?.fA,i.N.1z.?..3 .-=).ſI.d;>i.R.@.Vh>. /@.G\>.Q@ .G\i,,I.gD?ހ|?2?.+{"?.l8h .|).G\i,,checking for new query: numPingsReceived=36, elapsed TxPingTime=16.983944y LC@ٱ BEQ@ ,< @Լ H@߸w?͛P]!yhy 얚]?I LC@) ];i CB9IY Mb@Mb@Mb@ ) I i   y&1?MbMbp `>  I  Ai A  )  ABDE#6DEӀ3YM!U =eغQ)e>mK?9mK?9mFYmEm):Am>Q 15٪ x?Q 55 B+92>Q A#;Y2GQ E@yDE)a:I:i䒍5YAh,h.b3Ah.Ah.Ah.FJ@ v.0L"@Ж񿘯& @u.'W?)7㼿N=?h.|h.G\v.=n\:#H-ZǿA}R-@v.("L뒿 ?h.:h.h.QM?h.4!Lh.B*i.QM?2i.{:i.Bi.A"i.I@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.511574 s, deltaX: -0.300000 m, approachRate: -0.586426 m/s, rangeRepo size: 4  Added new target pos. range: 9.873361 m, bearing: 181.087141 deg, lat: 36.779129 deg, lon: -121.859752 deg, deltaT: 0.511574 s, deltaX: -0.299163 m, approachRate: -0.584789 m/s, posRepo size: 4 gBNOT Ignoring new targets: 9.87 m.g6Short final. Range: 9.90 m.VTransitioning guidance mode to: SHORT_FINALg@@gg ProNav: ac range: 9.873361 m, nav range: 9.614389 m, bearing: 180.524661 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.822859 deg, new cmd heading: 186.870521 deg. g|HeadingCmd: 3.261506 target range: 9.873361 and range: 9.90 m.gP@gggg!zf!rf!f!fMBBdIdIdIcU#@cU$?ԉɢB; I 3n<ɡiI3I2cAiL=i*=)P@)checking for new query: numPingsReceived=36, elapsed TxPingTime=17.147295) i 0 @ @ Ա >A H= DIDMrDIDIEI EM?:6EI:EI!]@!]@!]@!]@)ߡ ߡDDAT read: Rx Time:23:57:29.1134 TRx dataTimestamp_ set to:1758412646.742866PDAT read: Bearing 349.9, -8.4 (Local) ~Local bearing/azimuth received: Bearing 349.9, -8.4 (Local) DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.2 AI!I9NM?k,ް3A\bDAT read: 23:57:29.1134 LVL= 18576, 28657, 19474, 29155, AGC= 52, IDX= 504,-0.46, 1.503,-0.075, 1.863, 1.523, PHS= 0.082,-1.552, 0.296, RAW= 156.1, 13.3, CAL= 156.5, 15.1, ROT= 353.5, -15.1 fYgot valid direction response: 23:57:29.1134 LVL= 18576, 28657, 19474, 29155, AGC= 52, IDX= 504,-0.46, 1.503,-0.075, 1.863, 1.523, PHS= 0.082,-1.552, 0.296, RAW= 156.1, 13.3, CAL= 156.5, 15.1, ROT= 353.5, -15.1 fT#Rx 37: Read range and direction messages.j^direction in FSK: [0.959266,-0.109295,0.260505]jFpublishing direction and range info9 zO?̛6_QfJ0?iHoLq4 =)ƿIP>i].@,m>.@V>n@ ViIzm|*?RU?{rц?0!?\n V)Vichecking for new query: numPingsReceived=37, elapsed TxPingTime=17.458092B9Ii=I=BD 6Dk3Y׼!=Q)> 9 9 FY E A>Q 15٪i?Q 5%5 J+9!Y!Q E%@yDE);I|:iL5Y-`B5A5ĦEhh3Ahhh J@ v/s>"@ cD~蝑@u zO?̛6_QfJ0?hVhVv,s1#Q4`F˿oE>|t@v6G$0"?h^hh{<@?h[hB*i\G?2iq:iiCA"iI@ addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.502462 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.873361 m, bearing: 181.298068 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 0.502462 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 9.435856 m, bearing: 180.502985 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.870520 deg, new cmd heading: 186.919826 deg. gchecking for new query: numPingsReceived=37, elapsed TxPingTime=17.651203U|HeadingCmd: 3.262366 target range: 9.873361 and range: 9.90 m.gUP@gQgQgQgQzfYrfYfYfYBdadadacace?ɢB: ZI W<ɡiId1IUAik=iO=) P@)Ii 0 I vB ~B B IB BB B B B ;B ;QEBQBQBQBU̯ =BQBU:4rDQ jDQ D] D] uDY DY E] ҝ: E] :6EY :EY "E] ;!m i E] ;!u *E] kd;!u E] ld;!u >A ا=DDAT read: Rx Time:23:57:29.6132 TRx dataTimestamp_ set to:1758412647.244812PDAT read: Bearing 349.9, -8.2 (Local) ~Local bearing/azimuth received: Bearing 349.9, -8.2 (Local) DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.2 mDAT read: 23:57:29.6132 LVL= 18000, 28449, 19842, 29171, AGC= 52, IDX= 502,-0.36,-0.427,-1.998,-0.070,-0.409, PHS= 0.083,-1.545, 0.295, RAW= 156.0, 13.3, CAL= 156.4, 15.0, ROT= 353.6, -15.0 Ygot valid direction response: 23:57:29.6132 LVL= 18000, 28449, 19842, 29171, AGC= 52, IDX= 502,-0.36,-0.427,-1.998,-0.070,-0.409, PHS= 0.083,-1.545, 0.295, RAW= 156.0, 13.3, CAL= 156.4, 15.0, ROT= 353.6, -15.0 AIԡIN ?t,a3AT#Rx 38: Read range and direction messages.>^direction in FSK: [0.959906,-0.107670,0.258819]>Fpublishing direction and range info9IMֵ ?X$KV!}?MAIiMPFM!oMMMqI M=)MſIM= >iM@.@IMR.@M >M|@ M iIIIMJ&A-?d7R? 0Jy?M !?Mm Mi)M iII5checking for new query: numPingsReceived=38, elapsed TxPingTime=18.016970y\C@ٱPUQ@N<6H[y?@i}и9Hӣ w?I\C@)p^;iCiAEds@)E IIIIMAiMuIIIIQiUA UQ)Qy }A}yyŁŅԂAIŅ)Ņ>FiŁ)ƉIƍAōʼn ƉƉƑƑiƑƑB9IMb@Mb@Mb@ )Ii!rh?tDI AiVAA A)QABD'6D3YU~<!U#=UTQ)U>Y9Y9]FY]Ee;Ae>aQ 15٪eC[?Q 55e eP+9>Q A";YSDQ E@yeDE)e;Ie;ie{5YAhIhM3AhM/AhM/AhMJ@ vM+nma"@l a~y6@uMֵ ?X$KV!}?hMihM vM1Ҝ"Ɇ[-ͿS*@vMmmI|Da.?hMjihMhM2 K?hM hM~B*iM2 K?2iM4!L:iIiMA"iM2J@M addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.501946 s, deltaX: -0.299999 m, approachRate: -0.597672 m/s, rangeRepo size: 4 ] Added new target pos. range: 9.574158 m, bearing: 181.403112 deg, lat: 36.779129 deg, lon: -121.859753 deg, deltaT: 1.004408 s, deltaX: -0.299203 m, approachRate: -0.297890 m/s, posRepo size: 4 gagauchecking for new query: numPingsReceived=38, elapsed TxPingTime=18.155369zIgnoring new targets. Set target to previous: 9.57 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 9.272645 m, bearing: 180.437097 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.919820 deg, new cmd heading: 186.967429 deg. g|HeadingCmd: 3.263197 target range: 9.873361 and range: 9.60 m.g9P@ggggzfrfffBBdddc@33#@c@ ?ɢEBM%: IMȣII M<ɡIiIIU@0IU|GAi]k=i]<=)]9P@)Yi1}31 D D oD .D E : E :6E ـ4:E ! @! @! @! @>A= =i - DDAT read: Rx Time:23:57:30.1131 5 TRx dataTimestamp_ set to:1758412647.750090E PDAT read: Bearing 350.2, -8.4 (Local) E ~Local bearing/azimuth received: Bearing 350.2, -8.4 (Local) u DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.2  DAT read: 23:57:30.1131 LVL= 20976, 28721, 22978, 31667, AGC= 53, IDX= 501,-0.29,-0.450,-2.022,-0.086,-0.421, PHS= 0.073,-1.556, 0.291, RAW= 156.2, 13.6, CAL= 156.6, 15.4, ROT= 353.4, -15.4 Ygot valid direction response: 23:57:30.1131 LVL= 20976, 28721, 22978, 31667, AGC= 53, IDX= 501,-0.29,-0.450,-2.022,-0.086,-0.421, PHS= 0.073,-1.556, 0.291, RAW= 156.2, 13.6, CAL= 156.6, 15.4, ROT= 353.4, -15.4 T#Rx 39: Read range and direction messages. ^direction in FSK: [0.957706,-0.110810,0.265556]5Fpublishing direction and range info91 5 J?O'^<?5 A1 i5 Q5 1p5 Y5 {5 5 5 =)5 +ǿI5 >i5 !z.@5 s>5 .@5 >5 4`@ 5 i1 1 I5 Hߏ?6t_?:o=?5 !?5 :r 5 )5 i1 1 Mchecking for new query: numPingsReceived=39, elapsed TxPingTime=18.445686AiIyIN>q(|,3Ay6_C@ٱ6XQ@6S<6H6ʼ6H\?`M \x@CV?I6_C@)6i^;i6CxB9IBD*6D3Y%nl!%Z=% Q)->I9I9UFYUEU9AU>YQ 1e5٪]P?Q 5e5]2 ]T+9iYmPDQ Em@y]DE)]`;I]:;i]"5Y4Ahhy3AhAhAhuJ@ v%"@GH?]Y @uJ?O'^<?hhvx{;b" ɿ:SM@v-:X Z M?h7MhhEJ?hpwhB*iEJ?2i[:iBiA"imJ@M addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.505278 s, deltaX: -0.100000 m, approachRate: -0.197912 m/s, rangeRepo size: 4 ] Added new target pos. range: 9.474426 m, bearing: 181.249009 deg, lat: 36.779129 deg, lon: -121.859753 deg, deltaT: 1.509686 s, deltaX: -0.398934 m, approachRate: -0.264250 m/s, posRepo size: 4 gYgY]zIgnoring new targets. Set target to previous: 9.47 m. 9.87 m.gag ProNav: ac range: 9.873361 m, nav range: 9.149009 m, bearing: 180.385495 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.967426 deg, new cmd heading: 187.002669 deg. g|HeadingCmd: 3.263812 target range: 9.873361 and range: 9.50 m.gMP@ggggzfrfffBdddc#@cJ?ɢ=Be7H aeIa et<ɡiiiImk.Iui=Aiu=iuy=)uMP@)q!i//@@==checking for new query: numPingsReceived=39, elapsed TxPingTime=18.659479I>A- =ԁ Ai vB A>~B I I B IB ߁BB B B B ;B 2QEN- > ,˾ 3AbD ZD"@AD&D&mD&/D$E&1: E&:6E&J4:E$"E&;!.E&;!.*E&MG;!.E&MG;!.yFfC@ٱF_Q@Fji.@~{/@c>@ ciIs6Ջ?3*? ??J#?}Es )ciMchecking for new query: numPingsReceived=40, elapsed TxPingTime=18.933622BD]+6D]E3Ye?;!m8=myºQ)m>i9q9uFY}E^|:A>Q 15٪D?Q 55z Y+9 Y5IDQ E5@yDE)]A] ܪ=bAa ZAe AIiIN>Of,+3ADzDzqDz1DxEz: Ez$ :6Ez-4:Ex!~@!~@!~@!~@B9IMb@Mb@Mb@ )Iish|??I +{Gzt>94ףIh Ai?A)ABD(6D:3Y6<!0=Q)>99FYEA>Q 15٪7?Q 55 `+9>Q A;YBQ E@yDE)>;IQ;i5Y)-A1UDDAT read: Rx Time:23:57:31.1129 ]TRx dataTimestamp_ set to:1758412648.757878mPDAT read: Bearing 350.3, -9.6 (Local) m~Local bearing/azimuth received: Bearing 350.3, -9.6 (Local) ԁDAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.2  DAT read: 23:57:31.1129 LVL= 20464, 29233, 23986, 31987, AGC= 52, IDX= 499,-0.21, 0.159,-1.392, 0.567, 0.210, PHS= 0.052,-1.556, 0.313, RAW= 157.4, 13.5, CAL= 157.9, 15.4, ROT= 352.1, -15.4 Ygot valid direction response: 23:57:31.1129 LVL= 20464, 29233, 23986, 31987, AGC= 52, IDX= 499,-0.21, 0.159,-1.392, 0.567, 0.210, PHS= 0.052,-1.556, 0.313, RAW= 157.4, 13.5, CAL= 157.9, 15.4, ROT= 352.1, -15.4 T#Rx 41: Read range and direction messages.-B*** querying acoustic contact ***zh)h)g9g9EzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gE,tgM,tU ProNav: ac range: 9.873361 m, nav range: 8.851161 m, bearing: 180.232787 deg, approach rate: -0.356483 m/s, LOS rate: -0.213474 deg/s, cmd heading: 187.048473 deg, new cmd heading: 186.865311 deg. }^direction in FSK: [0.954946,-0.132510,0.265556]}Fpublishing direction and range info9Y]$_?}L<?YYi]O]1r]]]|]4 ]T=)]+ǿI]A>i]F/@]:Fq>]A`0@]>]U@ ]iYYI]6&7?!G?V]\?]#'?]haq ]0 )]iYYg]Wû|HeadingCmd: 3.261415 target range: 9.873361 and range: 9.20 m.gP@ggggzfrfffBBdddccҦ?checking for new query: numPingsReceived=41, elapsed TxPingTime=19.466539ɢ%B-Ժ )-ЧI) -ƨ<ɡ)i1I5-+IUdAi]Ĝ=i]=)]P@)YԱi_5 checking for new query: numPingsReceived=41, elapsed TxPingTime=19.667210>A I I N > D,DRE3Ay^kC@ٱ^2dQ@^ <^^Hٲ?:`&@U2?I^kC@)^U^;i\vB9vIip;BD6D03Y-/_;!-X=-YQ)->19195FY5E5e[:A=>AQ 1M5٪EG-?Q 5M5E/ Ee+9IYMBQ EM@yEDE)E:IE:iE5YBEAæEvBB>~BBIBځBBBBBט;B(QEhh03AhhhI@ vQ24!@sO~@u$_?}L<?h0 hv;z?!fMā;|@vxgґuN\ЏRH?h"hȟ??hihyB*iEJ?2i:i~BiV A"i 8J@ addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.505058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.175219 m, bearing: 180.055868 deg, lat: 36.779129 deg, lon: -121.859753 deg, deltaT: 2.517474 s, deltaX: -0.698142 m, approachRate: -0.277318 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.18 m. 9.87 m.ggT:DDrD/DE: E?:6EJ4:E"Eh;!Ei;!*EY;!%EY;!%- ProNav: ac range: 9.873361 m, nav range: 8.726735 m, bearing: 180.156978 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.865315 deg, new cmd heading: 186.904068 deg. g-2:5|HeadingCmd: 3.262091 target range: 9.873361 and range: 9.20 m.g5P@g1g1g1g1zf1rf9f9f9Bd9dAdAcAcE@ϻ?mDDAT read: Rx Time:23:57:31.6127 uTRx dataTimestamp_ set to:1758412649.260787}PDAT read: Bearing 350.2, -10.1 (Local) }~Local bearing/azimuth received: Bearing 350.2, -10.1 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.2 DAT read: 23:57:31.6127 LVL= 19520, 32449, 23154, 31299, AGC= 53, IDX= 497,-0.18,-1.087,-2.629,-0.662,-1.028, PHS= 0.043,-1.556, 0.323, RAW= 157.9, 13.5, CAL= 158.4, 15.3, ROT= 351.6, -15.3 Ygot valid direction response: 23:57:31.6127 LVL= 19520, 32449, 23154, 31299, AGC= 53, IDX= 497,-0.18,-1.087,-2.629,-0.662,-1.028, PHS= 0.043,-1.556, 0.323, RAW= 157.9, 13.5, CAL= 158.4, 15.3, ROT= 351.6, -15.3 T#Rx 42: Read range and direction messages.^direction in FSK: [0.954210,-0.140906,0.263873]Fpublishing direction and range info9imU?" 1 ¿&K?mfAiim@Lm~mrZmCzm5 m 0=)iImB`>imA`0@im;0@mܸ>m^@ mܸiiiImA$?]M!?km>I5 G)A I Ii i b fAiE /A I M 0I @Q @Q y  checking for new query: numPingsReceived=42, elapsed TxPingTime=20.171349>Amʞ=IIN>,0d3A\~B9~IMb@Mb@Mb@ )IiV-?QMbP?>uBEJ4JE~4RE}0DDpD,DEO: E :6Eg4:E!@!@!@!@:I AiAlA$A)ABD#6DӀ3Y!=Q)>99FYEA->1Q 1e5٪5?Q 5e55 5j+9m>Q Am;YmCQ Em@y5DE)5q;I5;i5p5YnA) DDAT read: Rx Time:23:57:32.1128 TRx dataTimestamp_ set to:1758412649.766421PDAT read: Bearing 351.8, -13.0 (Local)  ~Local bearing/azimuth received: Bearing 351.8, -13.0 (Local) %DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.2 MDAT read: 23:57:32.1128 LVL= 20000, 31409, 24050, 32659, AGC= 53, IDX= 513,-0.16, 0.211,-1.370, 0.758, 0.355, PHS=-0.042,-1.680, 0.359, RAW= 160.7, 14.5, CAL= 161.4, 16.8, ROT= 348.6, -16.8 ]Ygot valid direction response: 23:57:32.1128 LVL= 20000, 31409, 24050, 32659, AGC= 53, IDX= 513,-0.16, 0.211,-1.370, 0.758, 0.355, PHS=-0.042,-1.680, 0.359, RAW= 160.7, 14.5, CAL= 161.4, 16.8, ROT= 348.6, -16.8 ]T#Rx 43: Read range and direction messages.e^direction in FSK: [0.938433,-0.189221,0.289032]eFpublishing direction and range info9$!#?d8ȿ\.?Ai Nz] 1,)= ׿Iη>i3@>I4@Q >@ Q iI@jܨ~?x#4?JDY'?5? K)Q ichecking for new query: numPingsReceived=43, elapsed TxPingTime=20.443949hh q3AhAhAh4KE@ v)MC @n,,{@u$!#?d8ȿ\.?hKhQ v: `A!Ȳ)F?Þ [a@v#Qi?KvF?h1?h hpD?h1kHhІB*i2i;:iiA"iI@ addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 1.008543 s, deltaX: -0.200000 m, approachRate: -0.198306 m/s, rangeRepo size: 4 % Added new target pos. range: 8.975764 m, bearing: 176.626566 deg, lat: 36.779129 deg, lon: -121.859753 deg, deltaT: 3.526017 s, deltaX: -0.897596 m, approachRate: -0.254564 m/s, posRepo size: 4 g)g)UzIgnoring new targets. Set target to previous: 8.98 m. 9.87 m.gQgQe ProNav: ac range: 9.873361 m, nav range: 8.517760 m, bearing: 180.039629 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.904070 deg, new cmd heading: 186.959326 deg. ga|HeadingCmd: 3.263056 target range: 9.873361 and range: 9.00 m.gP@ggggzfrfffBBdddc"@c@P?ɢ B b ਾI X<ɡiI 'IIAiɜ=i%=)%P@)!i  ! % /! I i  checking for new query: numPingsReceived=43, elapsed TxPingTime=20.684114>AEp=IIN>c۠,-3AyVDkC@ٱVcQ@V99FYEA>Q 15٪?Q 55 l+9 Y Q E @yDE);In;i5Yy\AggAAAAAAvB A>~B B B B  =B B B ;B :QEEzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gEbgMbU ProNav: ac range: 9.873361 m, nav range: 8.389694 m, bearing: 179.964837 deg, approach rate: -0.334139 m/s, LOS rate: -0.198120 deg/s, cmd heading: 186.959326 deg, new cmd heading: 186.807458 deg. g]J}|HeadingCmd: 3.260405 target range: 9.873361 and range: 9.00 m.g{P@ggggzfrfffBdddcc?ɢBX\  DI   Q<ɡ i I K&I:uAi̜=i6=bDZDD%D%nD!D!E%: E%:6E!:E!"E%;!5E% ;!5*E%J;!5E%J;!5){P@)9DDAT read: Rx Time:23:57:32.6126 TRx dataTimestamp_ set to:1758412650.269899PDAT read: Bearing 350.6, -11.6 (Local) ~Local bearing/azimuth received: Bearing 350.6, -11.6 (Local) DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.2 DAT read: 23:57:32.6126 LVL= 19552, 29905, 25714, 32755, AGC= 53, IDX= 511,-0.14,-0.372,-1.896, 0.110,-0.279, PHS= 0.009,-1.572, 0.345, RAW= 159.5, 13.6, CAL= 160.0, 15.7, ROT= 350.0, -15.7 Ygot valid direction response: 23:57:32.6126 LVL= 19552, 29905, 25714, 32755, AGC= 53, IDX= 511,-0.14,-0.372,-1.896, 0.110,-0.279, PHS= 0.009,-1.572, 0.345, RAW= 159.5, 13.6, CAL= 160.0, 15.7, ROT= 350.0, -15.7 T#Rx 44: Read range and direction messages.^direction in FSK: [0.948066,-0.167169,0.270600]Fpublishing direction and range info9Ϣ5V?F%eſRlyQ?i03 Ai`Ltrd t<)L7ɿIף>i)2@s>¸2@K>z@ KiIqVZ?s?F5?>0?s 2)Kiuchecking for new query: numPingsReceived=44, elapsed TxPingTime=20.9591871>A =Q Iy I N >!,e3Ay6eC@ٱ68^Q@6vI<6IX6H࿸4?` %qܟ眿[?I6eC@)6 ];i6CNB9NIMb@Mb@Mb@ )Ii/$?tIi?AAA)AI)@ABD'6D3Y!J=Q)>99FYEV]A>checking for new query: numPingsReceived=44, elapsed TxPingTime=21.179340Q 15٪>?Q 55; p+9d>Q A;YDQ E@yDE)(;Il;iפ5YBFA¦E1hhF3Ah Ah AhF@ vZs @ӕ5ȤBy@uϢ5V?F%eſRlyQ?h2hKvB j`6?zU@vXU&67?Ǻ%?h>h?hS1B?h&VhYB*ipD?2ii:iyBiA"iH@} addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503478 s, deltaX: -0.300000 m, approachRate: -0.595856 m/s, rangeRepo size: 4  Added new target pos. range: 8.676584 m, bearing: 177.950793 deg, lat: 36.779128 deg, lon: -121.859752 deg, deltaT: 4.029495 s, deltaX: -1.196776 m, approachRate: -0.297004 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 8.68 m. 9.87 m.ggT: ProNav: ac range: 9.873361 m, nav range: 8.251619 m, bearing: 179.889487 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.807463 deg, new cmd heading: 186.840751 deg. g2:|HeadingCmd: 3.260986 target range: 9.873361 and range: 8.70 m.gP@ggggzfrfffBBdddc`ff!@c@?ɢB1 I q<ɡiI$I kAi ͜=i -o=)P@)iIQQU0YiD=D9D=)D9E=1: E96E=FA4:E9!E@!E@!E@!E@ԑ DDAT read: Rx Time:23:57:33.1126  TRx dataTimestamp_ set to:1758412650.773603 PDAT read: Bearing 350.5, -11.9 (Local)  ~Local bearing/azimuth received: Bearing 350.5, -11.9 (Local)  DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.3  DAT read: 23:57:33.1126 LVL= 17536, 29761, 23026, 32083, AGC= 52, IDX= 511,-0.11, 0.389,-1.132, 0.883, 0.487, PHS= 0.004,-1.574, 0.353, RAW= 159.8, 13.6, CAL= 160.3, 15.6, ROT= 349.7, -15.6  Ygot valid direction response: 23:57:33.1126 LVL= 17536, 29761, 23026, 32083, AGC= 52, IDX= 511,-0.11, 0.389,-1.132, 0.883, 0.487, PHS= 0.004,-1.574, 0.353, RAW= 159.8, 13.6, CAL= 160.3, 15.6, ROT= 349.7, -15.6  T#Rx 45: Read range and direction messages. ^direction in FSK: [0.947641,-0.172216,0.268920] Fpublishing direction and range info9 DS? ( ƿ]^|5? i D At Y S} 4 o;) xɿI j>i 2@ 3@ 'g> 0O@ 'gi I cP?#?C5? 1? ws T8) 'gi  checking for new query: numPingsReceived=45, elapsed TxPingTime=21.448534>A Ss=bA! ZA! AQ Ia Iq N} >^A,И3Aɰ,.p;y~EfC@ٱ~^Q@~dp<~s~Hȸ ?@uf: +fwM@o|`?I~EfC@)~h];i~C5B95IBDE6DE3YuI<!}L=}cQ)}>99FYEr8A>Q 15٪?Q 55 s+9YQ E@yDE) ;I;i5Y(Ahh3AhhhmF@ v~bPq @OH)kxf@uDS? ( ƿ]^|5?hT8h'giv j 0?*l@vX1`?֏ ?hѰ>hDha6?hLLohWB*iS1B?2i&V:iuBiA"iF@ addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503704 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.676584 m, bearing: 177.643383 deg, lat: 36.779128 deg, lon: -121.859749 deg, deltaT: 4.533199 s, deltaX: -1.196776 m, approachRate: -0.264003 m/s, posRepo size: 4 gTStarting intercept timer at range: 8.70 m.gzIgnoring new targets. Set target to previous: 8.68 m. 9.87 m.gg- ProNav: ac range: 9.873361 m, nav range: 8.112598 m, bearing: 179.810991 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.840754 deg, new cmd heading: 186.878970 deg. g)5|HeadingCmd: 3.261653 target range: 9.873361 and range: 8.70 m.g5P@g1g9g9g9zf9rf9fafaBdadadicicmr?ɢB 顽rI G<ɡiI[#I`AiМ=i{=)P@)checking for new query: numPingsReceived=45, elapsed TxPingTime=21.684425ԑi0vB B>~B B B B B B B ;B 9QE>A p=D% D% pD% +D! E% : E%  :6E% [4:E! "E% B;!5 E% C;!5 *E% 8R;!= E% 9R;!= A yAI I1 N= >,?3ADDAT read: Rx Time:23:57:33.6125 TRx dataTimestamp_ set to:1758412651.276618"PDAT read: Bearing 350.5, -12.4 (Local) &~Local bearing/azimuth received: Bearing 350.5, -12.4 (Local) .DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.3 >DAT read: 23:57:33.6125 LVL= 19472, 32561, 25874, 32755, AGC= 53, IDX= 509,-0.09,-0.643,-2.161,-0.127,-0.535, PHS=-0.005,-1.581, 0.364, RAW= 160.3, 13.6, CAL= 160.9, 15.6, ROT= 349.1, -15.6 BYgot valid direction response: 23:57:33.6125 LVL= 19472, 32561, 25874, 32755, AGC= 53, IDX= 509,-0.09,-0.643,-2.161,-0.127,-0.535, PHS=-0.005,-1.581, 0.364, RAW= 160.3, 13.6, CAL= 160.9, 15.6, ROT= 349.1, -15.6 FT#Rx 46: Read range and direction messages.J^direction in FSK: [0.945786,-0.182129,0.268920]JFpublishing direction and range info9]C?ڤPǿ]^|5?fAiL1e5  ף)5^ʿI5^>i3@3@g@ iIxL?{F;?g%j8 ?p4?EԼED H?9 H?9FYEA>Q 15٪ꗊ?Q 55 p+9?>Q A;YEQ E@yDE)v&hh_??hSmh-B*i_??2iLLo:iYBiA"i@F@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503015 s, deltaX: -0.300000 m, approachRate: -0.596404 m/s, rangeRepo size: 4  Added new target pos. range: 8.377402 m, bearing: 177.046671 deg, lat: 36.779127 deg, lon: -121.859748 deg, deltaT: 5.036214 s, deltaX: -1.495958 m, approachRate: -0.297040 m/s, posRepo size: 4 gRStopped intercept timer at range: 8.40 m.gzIgnoring new targets. Set target to previous: 8.38 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 7.929280 m, bearing: 179.732839 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.878975 deg, new cmd heading: 186.928919 deg. g-|HeadingCmd: 3.262525 target range: 9.873361 and range: 8.40 m.g-6P@g)g)g)g)zf)rf1f1f5BBd1d9d9c= @c=b?ɢB- 顭ţI <ɡiI!IRAiҜ=ib=)6P@checking for new query: numPingsReceived=46, elapsed TxPingTime=22.187313)Y i / ԉ >A \=rA >jA >DADEtDE2DAEA EEv:6EE4:EA!U@!U@!]@!]@DDAT read: Rx Time:23:57:34.1124 TRx dataTimestamp_ set to:1758412651.780860PDAT read: Bearing 350.7, -12.5 (Local) Ա~Local bearing/azimuth received: Bearing 350.7, -12.5 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.3 DAT read: 23:57:34.1124 LVL= 21648, 31873, 27730, 32755, AGC= 53, IDX= 508,-0.06,-1.207,-2.717,-0.687,-1.094, PHS=-0.011,-1.578, 0.363, RAW= 160.5, 13.7, CAL= 161.0, 15.8, ROT= 349.0, -15.8 Ygot valid direction response: 23:57:34.1124 LVL= 21648, 31873, 27730, 32755, AGC= 53, IDX= 508,-0.06,-1.207,-2.717,-0.687,-1.094, PHS=-0.011,-1.578, 0.363, RAW= 160.5, 13.7, CAL= 161.0, 15.8, ROT= 349.0, -15.8 T#Rx 47: Read range and direction messages.^direction in FSK: [0.944539,-0.183600,0.272280]Fpublishing direction and range info9r9?Ļ!~4ǿ ^ m?AiT|RlAYIa X94)ɿI#۹>iG3@Gt>3@0>@ 0iI,*w?-?!Kg9?4?t D)0ichecking for new query: numPingsReceived=47, elapsed TxPingTime=22.476667IN%?,Y13AyEcC@ٱE\Q@Eu99FYE ¹A >Q 1%5٪!ݗ?Q 5%5 n+9!Y%EQ E-@yDE)F;IyH;iܪ5Y9=A9hh3AhqAhqAhE@ vZ$y;F@{pQ،©@ur9?Ļ!~4ǿ ^ m?hDh0v ?J|\hO?VV@vUF&c&Yd?>(qa?h{>hh\;?hh7B*i2iSm:iWBi@"iE@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504242 s, deltaX: -0.099999 m, approachRate: -0.198316 m/s, rangeRepo size: 4  Added new target pos. range: 8.277672 m, bearing: 176.943108 deg, lat: 36.779127 deg, lon: -121.859748 deg, deltaT: 5.540456 s, deltaX: -1.595689 m, approachRate: -0.288007 m/s, posRepo size: 4 gg%zIgnoring new targets. Set target to previous: 8.28 m. 9.87 m.g!g!U ProNav: ac range: 9.873361 m, nav range: 7.775741 m, bearing: 179.664725 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.928918 deg, new cmd heading: 186.969233 deg. gY]|HeadingCmd: 3.263229 target range: 9.873361 and range: 8.30 m.g]P@gYgagagazfarfafifiBdddc @cV_?ɢB 㞾I IG<ɡiI1n I FAi aԜ=i=)P@)i1%checking for new query: numPingsReceived=47, elapsed TxPingTime=22.691463>A =A <A <vB) ~B) B) B) B- =A B) B) B- ;B- ;QEBBBBʮ =Bʮ =B4O5I! I1 N] >,3ADDyD.DE: E:6Eـ4:E"Ew;!Ey;!*Er;!Er;!yfmC@ٱffQ@fÁI9I9MFYMEM:AU>YQ 1e5٪]җ?Q 5e5]4 ]l+9aYexEQ Ee@y]DE)]:I]:i]5iqIu=}4DAT read: Rx Time4.6122 Runknown deviceResponse_: Rx Time4.6122 PDAT read: Bearing 350.8, -12.8 (Local) ~Local bearing/azimuth received: Bearing 350.8, -12.8 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.3 DAT read: 23:57:34.6122 LVL= 21200, 31793, 28658, 32755, AGC= 53, IDX= 506,-0.05,-2.342, 2.431,-1.806,-2.220, PHS=-0.020,-1.587, 0.370, RAW= 160.9, 13.7, CAL= 161.4, 15.9, ROT= 348.6, -15.9 Ygot valid direction response: 23:57:34.6122 LVL= 21200, 31793, 28658, 32755, AGC= 53, IDX= 506,-0.05,-2.342, 2.431,-1.806,-2.220, PHS=-0.020,-1.587, 0.370, RAW= 160.9, 13.7, CAL= 161.4, 15.9, ROT= 348.6, -15.9 T#Rx 48: Read range and direction messages.^direction in FSK: [0.942767,-0.190095,0.273959]Fpublishing direction and range info9y}f@g&+?^Uȿψ.?}Ayi}R}1|}oyy } ף)}"˿I}p>i}3@y}I4@}q>}@ }qiyyI}u:?{DFiU?qkRP?}Q6? }t }K)}qiyychecking for new query: numPingsReceived=48, elapsed TxPingTime=22.963694Y)-3A1hyh})3Ah}O@h}O@h}@E@ v} b`@(2GDW'y|@u}f@g&+?^Uȿψ.?h}Kh}qv}߱W?|܂u|@v}5YVk?l8ׇ?h}>h}6h}YI?h}%h}B*iy2iy:i}7Bi}`@"i}7E@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.502947 s, deltaX: -0.300000 m, approachRate: -0.596485 m/s, rangeRepo size: 4  Added new target pos. range: 7.978484 m, bearing: 176.590161 deg, lat: 36.779127 deg, lon: -121.859748 deg, deltaT: 6.043403 s, deltaX: -1.894877 m, approachRate: -0.313545 m/s, posRepo size: 4 gg-zIgnoring new targets. Set target to previous: 7.98 m. 9.87 m.g1g9 ProNav: ac range: 9.873361 m, nav range: 7.643920 m, bearing: 179.603433 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.969230 deg, new cmd heading: 187.007515 deg. g5|HeadingCmd: 3.263897 target range: 9.873361 and range: 8.00 m.g5P@g1g1g1g19zfyrfyfyfBdddc @c ?ɢBW I 4ڕ<ɡiI@I%A =I I N >T,*W,3Ay>nC@ٱ>]gQ@>H<>>H a?[ȟW1`?I>nC@)>\;i<JB9JIh%Mb@Mb@Mb@ !)!I!i!!%Gz?S㥛~jth!%/ݼ%DI% Ai%A!% A)!%QAIy)}AADDzD,DEU: E :6Eg4:E!@!@!@!@BD&6Dދ3Y3<!-=!:Q)>99FYE(9A>Q 15٪%ė?Q 55n q+9 />Q A ;Y EQ E @yDE)8W;Iud;i5YדBAUB*** querying acoustic contact ***zhQhQgagiuzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gunFg}nF ProNav: ac range: 9.873361 m, nav range: 7.479369 m, bearing: 179.529076 deg, approach rate: -0.375654 m/s, LOS rate: -0.173483 deg/s, cmd heading: 187.007520 deg, new cmd heading: 186.855535 deg. g|HeadingCmd: 3.261244 target range: 9.873361 and range: 8.00 m.g:P@ggggzfrfffBBdddcc?DDAT read: Rx Time:23:57:35.1122 TRx dataTimestamp_ set to:1758412652.788731PDAT read: Bearing 350.8, -13.2 (Local) ~Local bearing/azimuth received: Bearing 350.8, -13.2 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.3 5DAT read: 23:57:35.1122 LVL= 22912, 32353, 29906, 32755, AGC= 53, IDX= 506,-0.03,-1.245,-2.754,-0.692,-1.116, PHS=-0.027,-1.593, 0.380, RAW= 161.3, 13.7, CAL= 161.8, 15.8, ROT= 348.2, -15.8 =Ygot valid direction response: 23:57:35.1122 LVL= 22912, 32353, 29906, 32755, AGC= 53, IDX= 506,-0.03,-1.245,-2.754,-0.692,-1.116, PHS=-0.027,-1.593, 0.380, RAW= 161.3, 13.7, CAL= 161.8, 15.8, ROT= 348.2, -15.8 ET#Rx 49: Read range and direction messages.M^direction in FSK: [0.941884,-0.196770,0.272280]MFpublishing direction and range info9v#?(n'/ɿ ^ m?iYa~t /ݼ)m˿I\>i,4@{4@0>x@ 0iI&f_?!ǾA?EJNb8?<`8?t 4R)0imchecking for new query: numPingsReceived=49, elapsed TxPingTime=23.463259ɢB@n I ܓ<ɡ i I ̞IzgAi؜=i=):P@)i0/)>A ا=bA ZA AI I N >Q  checking for new query: numPingsReceived=49, elapsed TxPingTime=23.699221s,F3Aɰ((yZ}C@ٱZJvQ@Za@s$?IZ}C@)Z];iZCfB9jIBDr*6Dr3Yz\<!zY=zWQ)z>|9|9~FY~E;A> Q 15٪ P?Q 55  t+9!Y-EQ E-@y DE) ;AI ;i <5YaeAih)h-z23Ah)h)h-hD@ v-n )@zԗgP a@u-v#?(n'/ɿ ^ m?h-4Rh-0v-W/v*>?BBs@v-meY"?rLc~?h-?h-)h-1?h-lbh-B*i-\;?2i-:i--Bi-@"i-CE@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504924 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 vBD>~BBIB߁BB =BBB;B6QE5 Added new target pos. range: 7.978484 m, bearing: 176.260086 deg, lat: 36.779127 deg, lon: -121.859748 deg, deltaT: 6.548327 s, deltaX: -1.894877 m, approachRate: -0.289368 m/s, posRepo size: 4 g9g9=zIgnoring new targets. Set target to previous: 7.98 m. 9.87 m.gEgET:u ProNav: ac range: 9.873361 m, nav range: 7.350862 m, bearing: 179.467777 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.855534 deg, new cmd heading: 186.894795 deg. gu2:}|HeadingCmd: 3.261930 target range: 9.873361 and range: 8.00 m.g}tP@gygygygyzfrfffBdddccS?ɢBPJ= I e<ɡiIUI A\Ai ڜ=i #=)tP@)iDDxD2DE E:6E4:E"E;!E;!*EWo;!EWo;!i/ DDAT read: Rx Time:23:57:35.6120  TRx dataTimestamp_ set to:1758412653.292641PDAT read: Bearing 351.0, -13.6 (Local) ~Local bearing/azimuth received: Bearing 351.0, -13.6 (Local) -DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.3 MDAT read: 23:57:35.6120 LVL= 20896, 31809, 24306, 32755, AGC= 52, IDX= 504,-0.03,-2.555, 2.237,-1.991,-2.414, PHS=-0.039,-1.587, 0.379, RAW= 161.7, 13.8, CAL= 162.2, 16.1, ROT= 347.8, -16.1 UYgot valid direction response: 23:57:35.6120 LVL= 20896, 31809, 24306, 32755, AGC= 52, IDX= 504,-0.03,-2.555, 2.237,-1.991,-2.414, PHS=-0.039,-1.587, 0.379, RAW= 161.7, 13.8, CAL= 162.2, 16.1, ROT= 347.8, -16.1 UT#Rx 50: Read range and direction messages.e^direction in FSK: [0.939081,-0.203037,0.277315]eFpublishing direction and range info9  _ ?pɿ/? f@ i Q A| ^  4 w) "˿I J >i 4@ Ϣv> -5@ ޏ> ?@ ޏi  I %n9?p?DS܋? :? v t Z) ޏi  }checking for new query: numPingsReceived=50, elapsed TxPingTime=23.966646ԙ>A q= I I N% >Q,8_3Ay6%C@ٱ6Q@6+%<66H@^?@Uvijՠ9ĕ S@a?I6%C@)6\;i6C\9\echecking for new query: numPingsReceived=50, elapsed TxPingTime=24.203373ԙEMb@Mb@Mb@ A)AIAiAAE?QMbP?Ef>EuE:IE AiEVAE$AA)AEABD.6DP3YYn:!.=#Q)>99 FY EUM);AU>aQ 15٪e)?Q 55e ew+9>Q A#;YCQ E@yeDE)e9;Ie:ieV5YӓBAEh9h=R3Ah=@h=@h=D@ v=q@mgt(c @u=_ ?pɿ/?h=t Zh=ޏv=–C7t?GvM-@v=1$;~<9h?  ??h=?h=yh=lXo=?h== ;h=B*i=lXo=?2i=%:i=Bi=@"i=D@ addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503910 s, deltaX: -0.300000 m, approachRate: -0.595345 m/s, rangeRepo size: 4  Added new target pos. range: 7.679304 m, bearing: 175.957928 deg, lat: 36.779127 deg, lon: -121.859747 deg, deltaT: 7.052237 s, deltaX: -2.194057 m, approachRate: -0.311115 m/s, posRepo size: 4 gg%zIgnoring new targets. Set target to previous: 7.68 m. 9.87 m.g!g!5 ProNav: ac range: 9.873361 m, nav range: 7.194958 m, bearing: 179.348503 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.894794 deg, new cmd heading: 186.941176 deg. g1]|HeadingCmd: 3.262739 target range: 9.873361 and range: 7.70 m.g]P@gagagagazfarfafifmBBdididqcu@cu`0?ɢB 15I1 =i<ɡ9i9I=UIENAiEݜ=iE;=)EP@)IDD{D0DE: E5":6E4:E!@!@PExceeded connect timeout, disconnecting.!@!@i 0 `5 = DDAT read: Rx Time:23:57:36.1119 = TRx dataTimestamp_ set to:1758412653.801412M PDAT read: Bearing 350.8, -14.0 (Local) M ~Local bearing/azimuth received: Bearing 350.8, -14.0 (Local) ] DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.3  DAT read: 23:57:36.1119 LVL= 23056, 32593, 29554, 32755, AGC= 53, IDX= 504,-0.06,-0.807,-2.318,-0.217,-0.664, PHS=-0.041,-1.609, 0.403, RAW= 162.1, 13.5, CAL= 162.7, 15.7, ROT= 347.3, -15.7  Ygot valid direction response: 23:57:36.1119 LVL= 23056, 32593, 29554, 32755, AGC= 53, IDX= 504,-0.06,-0.807,-2.318,-0.217,-0.664, PHS=-0.041,-1.609, 0.403, RAW= 162.1, 13.5, CAL= 162.7, 15.7, ROT= 347.3, -15.7  T#Rx 51: Read range and direction messages. ^direction in FSK: [0.939139,-0.211644,0.270600] Fpublishing direction and range info99 = 9m ?()˿RlyQ?= @9 i= Z= Q= rs9 = 5 = ')= ͿI= V>i= D5@= :Fq>= ּ5@= K>= @ = Ki9 9 I= xQ#?R(?ےs?= 5A5 \=I I N >w,|3Ay6C@ٱ60Q@6I<6 6H@3?O @ `h?I6C@)65];i6CLRB9RIj;ijBDn#6DnӀ3Yv<!vV=voQ)z>19195FY=E=:A=>AQ 1M5٪EС?Q 5M5E? Ey+9IY{CQ E@yEDE)E%~BCBBB =BBDB;BAQEDm Dm yDi Di Em : Em :6Ei :Ei "Em ;!} Em ;!} *Em r;!} Em r;!  >A} d=rA >jA > DDAT read: Rx Time:23:57:36.6117  TRx dataTimestamp_ set to:1758412654.306546 PDAT read: Bearing 351.6, -14.2 (Local)  ~Local bearing/azimuth received: Bearing 351.6, -14.2 (Local)  DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.3 E DAT read: 23:57:36.6117 LVL= 24688, 32753, 30194, 32755, AGC= 54, IDX= 502,-0.08,-2.018, 2.755,-1.417,-1.853, PHS=-0.063,-1.630, 0.392, RAW= 162.4, 14.1, CAL= 163.0, 16.5, ROT= 347.0, -16.5 M Ygot valid direction response: 23:57:36.6117 LVL= 24688, 32753, 30194, 32755, AGC= 54, IDX= 502,-0.08,-2.018, 2.755,-1.417,-1.853, PHS=-0.063,-1.630, 0.392, RAW= 162.4, 14.1, CAL= 163.0, 16.5, ROT= 347.0, -16.5 U T#Rx 52: Read range and direction messages.] ^direction in FSK: [0.934245,-0.215687,0.284015]] Fpublishing direction and range info9 LV?p{8˿HN-? f@ i p`  u 6 %) ףпI 9>i g5@ d{> 6@ r> &@ ri I 9%{G?x?[ &? V`=? E4{ Vh) ri  checking for new query: numPingsReceived=52, elapsed TxPingTime=24.988405A AI I N >0,23AiېC@IT)`Ipi5a1=fA[?-`A%B9%I-only read 0 of 1 data item for BIT error. Device response is::TS,00032803452044,3.9, 0.0 , 82.77 !@! !@! !@! !@! BD6DN3YZ<!=Q)>K?9K?9FYEA>YQ 1e5٪]?Q 5e5] ]|+Q =e+:9aQ Ae;YiQ Em@y]DE)]:I]O?i]5YuBu Aqchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.215326hhs3Ah@h@hLC@ vb8}@ P@uLV?p{8˿HN-?hVhhrvuw?Hэ?v0ĭr(r?BGDT?h?hmh728N?hh{h݅B*i_B?2i= ;:iBi@"i$D@u addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.505134 s, deltaX: -0.300000 m, approachRate: -0.593902 m/s, rangeRepo size: 4  Added new target pos. range: 7.180689 m, bearing: 175.210582 deg, lat: 36.779128 deg, lon: -121.859747 deg, deltaT: 8.066142 s, deltaX: -2.692672 m, approachRate: -0.333824 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 7.18 m. 9.87 m.gg] ProNav: ac range: 9.873361 m, nav range: 6.892978 m, bearing: 179.100257 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.973410 deg, new cmd heading: 187.022480 deg. gYe|HeadingCmd: 3.264158 target range: 9.873361 and range: 7.20 m.geP@gagigigizfrfffBdddc@c ?ɢB 7 I h<ɡi!I%I]7Aie=i=)P@)! i / 0 BEt4JE}4RE!0D D |D +D E s: E P$:6E [4:E ! @! @! @! @% nManaging dock network, ignoring radio surface power offI u DDAT read: Rx Time:23:57:37.1117 } TRx dataTimestamp_ set to:1758412654.808980 PDAT read: Bearing 351.6, -14.6 (Local)  ~Local bearing/azimuth received: Bearing 351.6, -14.6 (Local)  DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.2  DAT read: 23:57:37.1117 LVL= 27184, 32753, 32754, 32755, AGC= 54, IDX= 502,-0.05,-1.378,-2.889,-0.758,-1.208, PHS=-0.068,-1.636, 0.406, RAW= 162.8, 13.9, CAL= 163.4, 16.3, ROT= 346.6, -16.3  Ygot valid direction response: 23:57:37.1117 LVL= 27184, 32753, 32754, 32755, AGC= 54, IDX= 502,-0.05,-1.378,-2.889,-0.758,-1.208, PHS=-0.068,-1.636, 0.406, RAW= 162.8, 13.9, CAL= 163.4, 16.3, ROT= 346.6, -16.3  T#Rx 53: Read range and direction messages. ^direction in FSK: [0.933675,-0.222433,0.280667] Fpublishing direction and range info9q u UN?40ARx̿rwkq?q q iu 0jq u q q u C)u shѿIu ;>iu o5@u Ulx>u 6@u >u @ u iq q Iu @i#?b?mr?u I??u x u |o)u iq q Mchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.495728>A"=qAII N?),0g3AyuC@ٱuJQ@u699FYE%;A%>!Q 1m5ԉ٪%A?Q 55% %+Q = :9Q A:YOCQ E@y%DE)%%hAe ǫ= DDAT read: Rx Time:23:57:37.6115  TRx dataTimestamp_ set to:1758412655.314342 PDAT read: Bearing 351.7, -15.3 (Local)  ~Local bearing/azimuth received: Bearing 351.7, -15.3 (Local)  DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.2   DAT read: 23:57:37.6115 LVL= 27248, 32753, 32754, 32755, AGC= 54, IDX= 500,-0.02,-2.158, 2.613,-1.505,-1.973, PHS=-0.083,-1.652, 0.424, RAW= 163.6, 13.9, CAL= 164.1, 16.3, ROT= 345.9, -16.3 % Ygot valid direction response: 23:57:37.6115 LVL= 27248, 32753, 32754, 32755, AGC= 54, IDX= 500,-0.02,-2.158, 2.613,-1.505,-1.973, PHS=-0.083,-1.652, 0.424, RAW= 163.6, 13.9, CAL= 164.1, 16.3, ROT= 345.9, -16.3 - T#Rx 54: Read range and direction messages.5 ^direction in FSK: [0.930888,-0.233823,0.280667]5 Fpublishing direction and range info9 }#?5Ϳrwkq? @ i pj ) tӿI >i 36@ -M7@ /@ Iy I N >q4,3AiIK5?/f??.B?5x t{)i.checking for new query: numPingsReceived=54, elapsed TxPingTime=26.011602yRC@ٱRtQ@Rr99FYE:A>!Q 1-5٪%z?Q 5-5%Z %+Q =-99)Q A-:Y-HCQ E5@y%DE)%:I%_?i%J5Y9= A9hh.3Ah5@h5@h B@ v֫s@^ ?u}#?5Ϳrwkq?ht{hvؘ[֤an%Wt?J?v^n=?]u*?h+?h hUN?h4hB*i_B?2iD:iЅBie@"iCC@ addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.505362 s, deltaX: -0.300000 m, approachRate: -0.593633 m/s, rangeRepo size: 4  Added new target pos. range: 6.881493 m, bearing: 174.195527 deg, lat: 36.779128 deg, lon: -121.859747 deg, deltaT: 9.073938 s, deltaX: -2.991868 m, approachRate: -0.329721 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.88 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 6.601880 m, bearing: 178.831956 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 187.066136 deg, new cmd heading: 187.108623 deg. g|HeadingCmd: 3.265661 target range: 9.873361 and range: 6.90 m.gQ@ggg!g!zf!rf!f!f)Bd)d)d)c-@cu/?ɢB'? 顽I 閭<ɡiI4kIAi=ik=)Q@)checking for new query: numPingsReceived=54, elapsed TxPingTime=26.224190iU/QQU0Y@i@m= >AE x=1 D D tD *D E : E v:6E (N4:E !- @!- @!- @!- @IA IQ Ne >,3Aɰ;yFC@ٱFQ@F~}i%!k8@%Vh>%8@%ԇ>%g@ %ԇi!!I%+R]?K1S?&$?%ʪI?%=h %j)%ԇi!!checking for new query: numPingsReceived=55, elapsed TxPingTime=26.495113!U!U !U!U !U!U !U!U UMb@Mb@Mb@ Q)QIQiQQU rh?~jthU>U̼UDIU~ AiU?AUAU$A)QUABD6DN3Y<!*=iQ)>99FY E Ȱ9A >Q 15٪l?Q 55 +Q =%T:9%>Q A%;Y%EQ E%@yDE);I;iW5YMBUf AQh!h%F3Ah%@h%@h%@@ v%,9@إ ȟs?u%A?&+~Cп;f$?h%jh%ԇv%jZZ ~wv?@+?v%Dֻ3Nbe7?P0P?h%S?h%mh% !G?h%h%cB*i% !G?2i% :i%΅Bi%m@"i%B@ addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.502465 s, deltaX: -0.100000 m, approachRate: -0.199019 m/s, rangeRepo size: 4  Added new target pos. range: 6.781761 m, bearing: 172.764268 deg, lat: 36.779128 deg, lon: -121.859746 deg, deltaT: 9.576403 s, deltaX: -3.091599 m, approachRate: -0.322835 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.78 m. 9.87 m.!gAgAU ProNav: ac range: 9.873361 m, nav range: 6.443830 m, bearing: 178.715589 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 187.108620 deg, new cmd heading: 187.150074 deg. gQU|HeadingCmd: 3.266385 target range: 9.873361 and range: 6.80 m.g]t Q@gYgYgYgYzfarfafafeBBdididicm@33@cuQ?ɢBp0 BI m<ɡiI%I AAi =i H=)t Q@) %J>%>i0/Ichecking for new query: numPingsReceived=55, elapsed TxPingTime=26.727377ԁ >A =I I N >, 3AA,A,vB2D>~B2CB0B0B0B0B2DB2;B0yVRC@ٱVQ@ViDAi=i=)xP@)DDAT read: Rx Time:23:57:38.6112 TRx dataTimestamp_ set to:1758412656.322110PDAT read: Bearing 350.6, -17.8 (Local) ~Local bearing/azimuth received: Bearing 350.6, -17.8 (Local) DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.2 iaaae/0aDAT read: 23:57:38.6112 LVL= 23152, 32753, 26898, 32755, AGC= 53, IDX= 497, 0.09,-2.865, 1.951,-2.096,-2.654, PHS=-0.109,-1.633, 0.515, RAW= 166.4, 12.8, CAL= 166.7, 15.0, ROT= 343.3, -15.0 Ygot valid direction response: 23:57:38.6112 LVL= 23152, 32753, 26898, 32755, AGC= 53, IDX= 497, 0.09,-2.865, 1.951,-2.096,-2.654, PHS=-0.109,-1.633, 0.515, RAW= 166.4, 12.8, CAL= 166.7, 15.0, ROT= 343.3, -15.0 T#Rx 56: Read range and direction messages.^direction in FSK: [0.925185,-0.277569,0.258819]Fpublishing direction and range info936_?5ѿV!}?@ipZi d;߽)%ѿI ?i9@d>4:@ >!@  iI&?bJ?>RKK?_RO??d ;) iechecking for new query: numPingsReceived=56, elapsed TxPingTime=27.031523I>A"=IIN > checking for new query: numPingsReceived=56, elapsed TxPingTime=27.231852ԉ ( ,i&3Ay>C@ٱ>FQ@>9<>G}>H``g?ӎ`͓ &m撿 W?I>C@)>l^;i>CZB9ZIQMb@Mb@Mb@ )IiˡE?S㥛~jtx>/ݼĻIiAA; A)(A499FYŵE :A > Q 15٪ V?Q 55  +9>Q A!;YEQ E@y DE) :I :i Ƚ5Y)-v A)h h s3Ah p@h p@h ?@ v 7x@aW!X;D?u 36_?5ѿV!}?h ;h v l#F?>v޼?v "6 `@%?!p>?h 0j?h h 4K?h D@h 4B*i 4K?2i 4:i Bi @"i A@} addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.505303 s, deltaX: -0.300000 m, approachRate: -0.593704 m/s, rangeRepo size: 4  Added new target pos. range: 6.482519 m, bearing: 171.623688 deg, lat: 36.779129 deg, lon: -121.859746 deg, deltaT: 10.081706 s, deltaX: -3.390841 m, approachRate: -0.336336 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.48 m. 9.87 m.ggT: ProNav: ac range: 9.873361 m, nav range: 6.182857 m, bearing: 178.519664 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 186.978778 deg, new cmd heading: 187.021918 deg. g2:|HeadingCmd: 3.264148 target range: 9.873361 and range: 6.50 m.gP@ggggzfrfffBBdddc@c?ɢBL I #<ɡiII7Ai =i [=) P@) DmDmDm.DiEms: Em*:6Emـ4:Ei!u@!u@!u@!u@yi/0DDAT read: Rx Time:23:57:39.1112 TRx dataTimestamp_ set to:1758412656.824969PDAT read: Bearing 346.8, -11.0 (Local) ~Local bearing/azimuth received: Bearing 346.8, -11.0 (Local) DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.2 %DAT read: 23:57:39.1112 LVL= 26224, 32753, 30386, 32755, AGC= 54, IDX= 513, 0.15,-1.534,-3.075,-1.041,-1.534, PHS= 0.102,-1.496, 0.449, RAW= 159.6, 10.5, CAL= 159.7, 11.5, ROT= 350.3, -11.5 -Ygot valid direction response: 23:57:39.1112 LVL= 26224, 32753, 30386, 32755, AGC= 54, IDX= 513, 0.15,-1.534,-3.075,-1.041,-1.534, PHS= 0.102,-1.496, 0.449, RAW= 159.6, 10.5, CAL= 159.7, 11.5, ROT= 350.3, -11.5 5T#Rx 57: Read range and direction messages.=^direction in FSK: [0.965915,-0.165107,0.199368]=Fpublishing direction and range info9?9"ſi?ipfv6 `=)|IT>iaF2@f;>b2@M>@ MiI7b..;?/?>_f?1?B< 4\-)Mi]checking for new query: numPingsReceived=57, elapsed TxPingTime=27.499735ԩ>A 0=rA >jA >I I N- >  ,6@3Aiy6C@ٱ6[Q@6Q <66H ԰?@7 Ʋ @V_@?I6C@)6z^;i4BB9FIBDN*6DN3Yf !fw=fQ)f?h9h9jFYjǵEj:An?Q 1 5٪rM?Q 5 5- +9 Y EQ E @yDE):I:i?5YB AEhhK43AhhhcG@ vpRL @;MX?u?9"ſi?h4\-hMvaAPx ʊJ? j7@?v'r$nᅤsF?K+?hT*>hh4?h&h_B*i !G?2i:icBi@"iA@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502859 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.482519 m, bearing: 178.503662 deg, lat: 36.779128 deg, lon: -121.859746 deg, deltaT: 10.584565 s, deltaX: -3.390841 m, approachRate: -0.320357 m/s, posRepo size: 4 gg%zIgnoring new targets. Set target to previous: 6.48 m. 9.87 m.Mchecking for new query: numPingsReceived=57, elapsed TxPingTime=27.737083g)gQm ProNav: ac range: 9.873361 m, nav range: 6.072796 m, bearing: 178.435108 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 187.021918 deg, new cmd heading: 187.054169 deg. g|HeadingCmd: 3.264711 target range: 9.873361 and range: 6.50 m.gP@ggggzfԱrfffBdddcc?ɢYe$ aeIa eBl~<ɡaiiIm8I.Ai=i'=)P@))i 0 vBa~BaBaBaBaBaBaBe;BeLQEB!B!B!B%Ư =B%Ư =B%y]4D}D}pDyDyE}1: E} :6Ey:Ey"Ey!Ey!*E}8R;!E}9R;! >A ?=I I N >E DDAT read: Rx Time:23:57:39.6111 E TRx dataTimestamp_ set to:1758412657.339132M PDAT read: Bearing 351.9, -20.9 (Local) U ~Local bearing/azimuth received: Bearing 351.9, -20.9 (Local) e DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.2  DAT read: 23:57:39.6111 LVL= 26400, 32753, 29986, 32755, AGC= 54, IDX= 511, 0.25,-3.110, 1.767,-2.195,-2.804, PHS=-0.204,-1.667, 0.565, RAW= 169.8, 13.2, CAL= 170.1, 16.0, ROT= 339.9, -16.0  Ygot valid direction response: 23:57:39.6111 LVL= 26400, 32753, 29986, 32755, AGC= 54, IDX= 511, 0.25,-3.110, 1.767,-2.195,-2.804, PHS=-0.204,-1.667, 0.565, RAW= 169.8, 13.2, CAL= 170.1, 16.0, ROT= 339.9, -16.0  T#Rx 58: Read range and direction messages. ^direction in FSK: [0.902715,-0.330347,0.275637] Fpublishing direction and range info9A E {b. ?7)g$տ ?E @A iE gA E "uA A E `P)E B`տIE ף?iE =@E k>E >@E 5>E ֽ@ E 5iA A IE  6^?5?ߛK?E T^?E Jwl E )E 5iA A  checking for new query: numPingsReceived=58, elapsed TxPingTime=28.013601A <,)Z3Ay=C@ٱ=Q@=<==H ܩ?@`L@ݯj@ ?I=C@)=^;i=CB9IMb@Mb@Mb@ )IiS㥛?Mbݤ>̼I AiAA)AI)BD,6D3Y»!E =MSQ)M>I9I9MFYU˵EU{9AU>yQ 15٪}X??Q 55}p }+9i>Q A$;Y7EQ E@y}DE)}U:I}:i}5Y AhihmWU3Ahm@hm@hm;@ vm0@xcϚ@פ?um{b. ?7)g$տ ?hmhm5vm*h?`?vm ,-1(?JN ?hm?hmhmK?hm_5hmNB*im4K?2im:imNBim@"imv?@ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.514163 s, deltaX: -0.200000 m, approachRate: -0.388981 m/s, rangeRepo size: 4  Added new target pos. range: 6.283062 m, bearing: 168.233148 deg, lat: 36.779129 deg, lon: -121.859744 deg, deltaT: 11.098728 s, deltaX: -3.590298 m, approachRate: -0.323487 m/s, posRepo size: 4 gg%zIgnoring new targets. Set target to previous: 6.28 m. 9.87 m.g)g1M ProNav: ac range: 9.873361 m, nav range: 5.905773 m, bearing: 178.293117 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 187.054170 deg, new cmd heading: 187.101425 deg. gQ]|HeadingCmd: 3.265536 target range: 9.873361 and range: 6.30 m.geP@gagagagizfirfichecking for new query: numPingsReceived=58, elapsed TxPingTime=28.248753ffBBdddc@33@c` 2?1ɢaeY aeMIa my<ɡiiiImGI+!Aif=i =)P@)i-0115/9Y D D vD D E : E :6E :E ! @! @! @! @>A ԉ U DDAT read: Rx Time:23:57:40.1111 U TRx dataTimestamp_ set to:1758412657.844993e PDAT read: Bearing 353.2, -23.0 (Local) m ~Local bearing/azimuth received: Bearing 353.2, -23.0 (Local)  DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.2  DAT read: 23:57:40.1111 LVL= 28064, 32753, 32754, 32755, AGC= 53, IDX= 511, 0.38,-2.218, 2.732,-1.212,-1.840, PHS=-0.276,-1.666, 0.584, RAW= 172.3, 13.7, CAL= 172.5, 16.9, ROT= 337.5, -16.9 A!I1IANM>b,%x3AYgot valid direction response: 23:57:40.1111 LVL= 28064, 32753, 32754, 32755, AGC= 53, IDX= 511, 0.38,-2.218, 2.732,-1.212,-1.840, PHS=-0.276,-1.666, 0.584, RAW= 172.3, 13.7, CAL= 172.5, 16.9, ROT= 337.5, -16.9 T#Rx 59: Read range and direction messages.^direction in FSK: [0.883980,-0.366157,0.290702]Fpublishing direction and range info9ltI?t;{o׿Tcݚ?im5 O)}?տI?iv@@Gt>2@@>~@ iI2'?9?6\?zi?7u ɾ)i.checking for new query: numPingsReceived=59, elapsed TxPingTime=28.547754yM@C@ٱMQ@M=DQ)>99FY͵Eb^A>Q 15٪4?Q 55 +9 Y @ addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.505861 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.283062 m, bearing: 165.824312 deg, lat: 36.779128 deg, lon: -121.859743 deg, deltaT: 11.604589 s, deltaX: -3.590298 m, approachRate: -0.309386 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 6.28 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 5.772217 m, bearing: 178.174080 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 187.101421 deg, new cmd heading: 187.141560 deg. g=|HeadingCmd: 3.266236 target range: 9.873361 and range: 6.30 m.g= Q@g9g9g9gAzfArfAfAfABdIdIdIcIcU)?ԑɢ=B=' 9=I9 =Fu<ɡAiAIEIMAiMS=iMႯ=)M Q@)qchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.752337i%/))-0)AY A] AAvBe C>~Ba Ba Ba Be =Ba Ba Be ;Be WQE >Am =bAq ZAq D D yD 1D E : E :6E -4:E "E U;! E V;! *E r;! E r;! A I I N >Q%,3A,i>%=I>%=NDDAT read: Rx Time:23:57:40.6109 RTRx dataTimestamp_ set to:1758412658.348472VPDAT read: Bearing 352.5, -26.2 (Local) V~Local bearing/azimuth received: Bearing 352.5, -26.2 (Local) ^DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.2 rDAT read: 23:57:40.6109 LVL= 27104, 32753, 32210, 32755, AGC= 54, IDX= 509, 0.45,-2.957, 2.067,-1.791,-2.514, PHS=-0.340,-1.657, 0.679, RAW= 175.8, 12.9, CAL= 175.9, 16.0, ROT= 334.1, -16.0 vYgot valid direction response: 23:57:40.6109 LVL= 27104, 32753, 32210, 32755, AGC= 54, IDX= 509, 0.45,-2.957, 2.067,-1.791,-2.514, PHS=-0.340,-1.657, 0.679, RAW= 175.8, 12.9, CAL= 175.9, 16.0, ROT= 334.1, -16.0 vT#Rx 60: Read range and direction messages.z^direction in FSK: [0.864711,-0.419881,0.275637]~Fpublishing direction and range info9LNCir?(Rڿ ?Nf@LiNiLN}LN6 N{)NԿIN-?iN^D@Nf>Np{D@N5>N@ N5iLLIN+`W?|??rE?NCy?N7g Nq)N5iLLchecking for new query: numPingsReceived=60, elapsed TxPingTime=29.042852B9IBD6D4d3Y5V!50=ԑQ) >99UFYеEA>Q 155٪%?Q 555 +9YYYQ E]@yDE)A d=D-D-sD--D)E-: E-Z:6E-t4:E)!=@!=@!=@!E@DDAT read: Rx Time:23:57:41.1110 TRx dataTimestamp_ set to:1758412658.848686PDAT read: Bearing 352.6, -30.0 (Local) ~Local bearing/azimuth received: Bearing 352.6, -30.0 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.2 %DAT read: 23:57:41.1110 LVL= 28256, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.40,-2.773, 2.361,-1.434,-2.240, PHS=-0.432,-1.637, 0.762, RAW= 179.8, 12.5, CAL= 179.8, 15.6, ROT= 330.2, -15.6 -Ygot valid direction response: 23:57:41.1110 LVL= 28256, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.40,-2.773, 2.361,-1.434,-2.240, PHS=-0.432,-1.637, 0.762, RAW= 179.8, 12.5, CAL= 179.8, 15.6, ROT= 330.2, -15.6 1=T#Rx 61: Read range and direction messages.=^direction in FSK: [0.835799,-0.478667,0.268920]EFpublishing direction and range info9o ޾?.Fzy޿]^|5?i`n /ݾ)7ѿIoC?iH@f_>H@'g>!k@ 'giI;;a?A?tH3HQ?ӳ?o` %)'giIIchecking for new query: numPingsReceived=61, elapsed TxPingTime=29.543501N5?ޞ-, 3AyjaC@ٱjQ@j@-ļ)I-~ Ai-VA)-A))-(Aep99FYԵEøA>Q 15٪g?Q 55. +94>Q A,;YLEQ E%@yDE);Ik;iȍ5Y)-Z A)Yh1h5P3Ah1h1h51@ v5$ @8`?u5o ޾?.Fzy޿]^|5?h5%h5'gv5P0 Jq@_6JK?v5Q쿽U4?i?h5 @h5h5C?h5.h5AB*i5oG?2i5:i1i5@"i5k8@)Y Yechecking for new query: numPingsReceived=61, elapsed TxPingTime=29.760481 addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.500214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 6.183326 m, bearing: 158.545058 deg, lat: 36.779128 deg, lon: -121.859737 deg, deltaT: 12.608282 s, deltaX: -3.690035 m, approachRate: -0.292668 m/s, posRepo size: 4 g}RStopped intercept timer at range: 6.20 m.gzIgnoring new targets. Set target to previous: 6.18 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 5.433012 m, bearing: 177.847040 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 187.191033 deg, new cmd heading: 187.244668 deg. g-|HeadingCmd: 3.268036 target range: 9.873361 and range: 6.20 m.g-'Q@g)g)g)g)zf1rf1f1f5BBd9d9d9c9c= ?ԁɢBN #I &tj<ɡiI I4@i H=i ?=) 'Q@) vB D>~B B B B =B B B ;B YQEi 0 Ա rDI jDM =DU DU rDU /DQ EU s: EU ?:6EU J4:EQ "EU ;!e EU ;!e *EU Y;!e EU Y;!e =DDAT read: Rx Time:23:57:41.6108 MTRx dataTimestamp_ set to:1758412659.360090UDAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.3 ]Z#Rx 62: Read range message, but no direction.9AE@Aechecking for new query: numPingsReceived=62, elapsed TxPingTime=30.022667>A2_=IUՈG)}AIi_AcAIIIN?,78,3AAiAyC@ٱvQ@8<%H?@(g K@`1B k?IC@) ^;iCB9IMb@Mb@Mb@ )IiS?{Gz>̼#I AiAA)ABD6D{U3YƼ!=Q)>99FY׵EOQ:A>Q 15٪?Q 55y +9>Q A;YDQ E@yDE):I/:iGʍ5YBl AEB*** querying acoustic contact ***zhhE addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.511404 s, deltaX: -0.200000 m, approachRate: -0.391080 m/s, rangeRepo size: 4 gIgI]zIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gedged󻝅 ProNav: ac range: 9.873361 m, nav range: 5.260363 m, bearing: 177.654838 deg, approach rate: -0.370134 m/s, LOS rate: -0.425576 deg/s, cmd heading: 187.244664 deg, new cmd heading: 186.847650 deg. gB|HeadingCmd: 3.261107 target range: 9.873361 and range: 6.00 m.gP@checking for new query: numPingsReceived=62, elapsed TxPingTime=30.263355ggggzf!rf!f!f%{BBd)d)d)cM@cUU?ɢBл 顝I  f<ɡiI IiAi=i&]=)P@))i0BEـ4JEɋ|4REJ0D D yD .D E : E :6E ـ4:E !% @!% @!% @!% @9 >A =II Ia Nm > DDAT read: Rx Time:23:57:42.1107  TRx dataTimestamp_ set to:1758412659.856473 DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.3  Z#Rx 63: Read range message, but no direction.9  ̼@  checking for new query: numPingsReceived=63, elapsed TxPingTime=30.519115,K=,3Ay6HC@ٱ6Q@6~Kx<66H ^?@8=! @R?I6HC@)6ۓ^;i6CnB9nIBDv'6Dv3YY<!l=?Q)? 9 9 FY ڵE :A?Q 1E5٪?Q 5E5 +9AYEDQ EE@yDE);I;iˍ5YQU? AQ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.496383 s, deltaX: -0.100000 m, approachRate: -0.201457 m/s, rangeRepo size: 4 gTStarting intercept timer at range: 5.90 m.gzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.g$g$껝 ProNav: ac range: 9.873361 m, nav range: 5.142423 m, bearing: 177.515327 deg, approach rate: -0.338344 m/s, LOS rate: -0.409407 deg/s, cmd heading: 186.847652 deg, new cmd heading: 186.562233 deg. gP;|HeadingCmd: 3.256125 target range: 9.873361 and range: 5.90 m.g[dP@ggggzfrffQfQBdYdYdYc]@c]?ɢ;. 閾I b<ɡiIIZAi =iOc=)[dP@) ]> >Ii0>Ae=II1NMR>=checking for new query: numPingsReceived=63, elapsed TxPingTime=30.767282qԡ vB E>~B B B B B B DB ;B JQE3D,$3Ay62D@ٱ6Q@6 99FYܵEY;A>Q 1%5٪'?Q 5-5 +9)Y-DQ E-@yDE)p:I$:i͍5Y15! A9gagaezIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gm2gm2y ProNav: ac range: 9.873361 m, nav range: 5.004412 m, bearing: 177.342227 deg, approach rate: -0.347849 m/s, LOS rate: -0.448318 deg/s, cmd heading: 186.562232 deg, new cmd heading: 186.206491 deg. gM|HeadingCmd: 3.249916 target range: 9.873361 and range: 5.90 m.gO@ggggzfrfffBdddcc-?ɢ I A_<ɡiII!Bi=i=)O@)DDAT read: Rx Time:23:57:42.6106 TRx dataTimestamp_ set to:1758412660.361456DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.2 Z#Rx 64: Read range message, but no direction.9f@checking for new query: numPingsReceived=64, elapsed TxPingTime=31.025215i^5ԡ>A}t=IIANM>M checking for new query: numPingsReceived=64, elapsed TxPingTime=31.271233 P^J,|+3Aɰ4<4EEtIE AiE?AEAA)AE(ABD],6D]3YmRG!mD=uIQ)u>q9q9}FY}ߵE} :A}>Q 15٪斊?Q 55 +9n>Q A;YEQ E@yDE)A Gg=Y A I I N >QQ,F3Achecking for new query: numPingsReceived=65, elapsed TxPingTime=31.775192y D@ٱR@+g<I޼H@7^?؄(ܐ`>匿 Sқ)?I D@)AA^;iCB9IBD-!6D-r3Y=><!=A==Q)E>A9A9EFYEEM]AM>QQ 1]5٪Uږ?Q 5]5UM U+9YYeEQ Ee@yUDE)UW:IU :iU:э5Yim5 Aqi addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504183 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gggg ProNav: ac range: 9.873361 m, nav range: 4.713364 m, bearing: 176.999597 deg, approach rate: -0.370695 m/s, LOS rate: -0.463022 deg/s, cmd heading: 185.866209 deg, new cmd heading: 185.500377 deg. gS|HeadingCmd: 3.237592 target range: 9.873361 and range: 5.70 m.g4O@ggggzfrfffBdddcc@z?ɢAEL IMII M̎V<ɡIiIIM<IUBiU#=i]=)]4O@)YvBC>~BBBBBBDB;BCQE)!ԡiO0rD==jD=4=DEDE|DE,DAEEC: EEP$:6EEg4:EA"EE2;!]EE4;!]*EE};!]EE};!eDDAT read: Rx Time:23:57:43.6104 TRx dataTimestamp_ set to:1758412661.368355DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.2 Z#Rx 66: Read range message, but no direction.9̬@ checking for new query: numPingsReceived=66, elapsed TxPingTime=32.030659>A A!= A yAI I NE >%W,:a3AyRD@ٱRQ@RfbE`EĻIAiAEAA)AEAԙ= H?9= H?9=FY=EMAM>YQ 1e5٪]͖?Q 5e5] ]+9e4>Q Ae;YeeEQ Em@y]DE)]:I]<:i]+Ӎ5YB AEB*** querying acoustic contact ***zhh addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.502716 s, deltaX: -0.300000 m, approachRate: -0.596758 m/s, rangeRepo size: 4 gchecking for new query: numPingsReceived=66, elapsed TxPingTime=32.279388gzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.g%Lg%Lm ProNav: ac range: 9.873361 m, nav range: 4.562284 m, bearing: 176.790647 deg, approach rate: -0.333587 m/s, LOS rate: -0.476642 deg/s, cmd heading: 185.500370 deg, new cmd heading: 185.068642 deg. gZ|HeadingCmd: 3.230057 target range: 9.873361 and range: 5.40 m.gBN@ggggzfrfffBBdddc@c?ɢ 9ӻ I! %MR<ɡ!i!I%G I-tfCi-j/=i-vI=)5BN@)1iD D mD 1D E s: E :6E -4:E ! @! @! @! @>Am w= DDAT read: Rx Time:23:57:44.1104  TRx dataTimestamp_ set to:1758412661.873101 DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.2  Z#Rx 67: Read range message, but no direction.9   checking for new query: numPingsReceived=67, elapsed TxPingTime=32.536858 A] AIa Iq N >],z3A0i0y^D@ٱ^5Q@^jb<^ ^H`?*d|`@kA@ ?I^D@)^׏^;i^CvB9vIBD%%6D%03Y5ڼ!5\==mQ)=>=K?9EK?9EFYEEE%AE>IQ 1U5٪MXÖ?Q 5U5M M+9YY]hEQ E]@yMDE)ML;IMz;iMԍ5Yae Ai addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504746 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.g'g' ProNav: ac range: 9.873361 m, nav range: 4.439420 m, bearing: 176.610497 deg, approach rate: -0.348481 m/s, LOS rate: -0.525102 deg/s, cmd heading: 185.068647 deg, new cmd heading: 184.698381 deg. g?p|HeadingCmd: 3.223595 target range: 9.873361 and range: 5.40 m.gaON@ggggzfrfffBdddccl?ɢE/ 7I O<ɡiII UCi imx=)aON@)AiP5@=@=>Am=auchecking for new query: numPingsReceived=67, elapsed TxPingTime=32.785137AIINj>ԉA A @AvB A>~B B B B B B B ;B GQEBqBqBqBqBqBu4Թ d,j3AD*D*sD*-D(E*: E*Z:6E*t4:E("E*;!2E*;!2*E*$];!2E*$];!6yJD@ٱJ6Q@J4bh9h9jFYjEn#An>pQ 1v5٪r?Q 5v5r r+9tYviEQ Ev@yrDE)r:Ir:irt֍5Y|~M A|g!g!-zIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.g-lg-lE ProNav: ac range: 9.873361 m, nav range: 4.306932 m, bearing: 176.404761 deg, approach rate: -0.339571 m/s, LOS rate: -0.543528 deg/s, cmd heading: 184.698383 deg, new cmd heading: 184.274263 deg. gExE|HeadingCmd: 3.216193 target range: 9.873361 and range: 5.40 m.gMM@gIgIgIgIzfIrfIfQfQBdQdQdYcYc]]?ɢB" 額I K<ɡiIIIDiiD=)M@)DDAT read: Rx Time:23:57:44.6101 TRx dataTimestamp_ set to:1758412662.386850%DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.3 -Z#Rx 68: Read range message, but no direction.9@]checking for new query: numPingsReceived=68, elapsed TxPingTime=33.054626ԑiQQQU5Q>A%zA= DDAT read: Rx Time:23:57:45.1101  TRx dataTimestamp_ set to:1758412662.631017 checking for new query: numPingsReceived=68, elapsed TxPingTime=33.292339A I I N > k,G3A~B9IMb@Mb@Mb@ )Ii-?:vԼtI AiA)AI)AABD!6Dr3Ys;!:=Q)>99FYEA>Q 15٪?Q 55/ +9˵>Q A ;Y DQ E @yDE):I:i`؍5YB AE addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.513749 s, deltaX: -0.400000 m, approachRate: -0.778591 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.g1g1 ProNav: ac range: 9.873361 m, nav range: 4.152071 m, bearing: 176.129227 deg, approach rate: -0.337240 m/s, LOS rate: -0.622407 deg/s, cmd heading: 184.274269 deg, new cmd heading: 183.702668 deg. gb|HeadingCmd: 3.206216 target range: 9.873361 and range: 5.00 m.g2M@ggg g zf rf ffxBBdddc@c`6?ɢIM`DUDUDU.DQEU: EU?:6EUـ4:EQ!e@!e@!e@!e@ aeIa mYF<ɡiiiImtIuDiqiuC>)u2M@)yDAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.2 Z#Rx 69: Read range message, but no direction.9checking for new query: numPingsReceived=69, elapsed TxPingTime=33.542835i2  _5 >A=bAAZAA!AyAII)N5>I q,03ADDAT read: Rx Time:23:57:45.6099 &TRx dataTimestamp_ set to:1758412663.136236.PDAT read: Bearing 149.7, -6.1 (Local) 2~Local bearing/azimuth received: Bearing 149.7, -6.1 (Local) :checking for new query: numPingsReceived=69, elapsed TxPingTime=33.800987|ɰiiy% D@ٱ%RR@%s<%'%H @?+{G L{?I% D@)%ƛ];i!}B9}IBD#6DӀ3Y%<!?=;Q)> H?9 H?9FYE:A>Q 15٪󝖊?Q 55t +9YDQ E@yDE)W:I:iHڍ5Y)- A)vBU@>~BQBUIBUځBBQBQBQBU;BULQE addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.493275 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gJLgJL ProNav: ac range: 9.873361 m, nav range: 3.998459 m, bearing: 175.833617 deg, approach rate: -0.357509 m/s, LOS rate: -0.714415 deg/s, cmd heading: 183.702664 deg, new cmd heading: 183.088755 deg. gn|HeadingCmd: 3.195502 target range: 9.873361 and range: 5.00 m.gL@ggggzf rf f f BdddccYg?ɢ` 顅I 0A<ɡiI0IEiiԍ >)L@)D]D]uDYDYE]: E]:6EY:EY"E]U;!mE]V;!m*E]kd;!}E]ld;!i1H1@@ADAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.3 DAT read: 23:57:45.6099 LVL= 27344, 12929, 22674, 18739, AGC= 49, IDX= 501, 0.12,-2.721,-0.565,-2.354,-1.626, PHS=-0.993, 1.105,-0.772, RAW= 324.5, 6.7, CAL= 323.2, 6.0, ROT= 186.8, -6.0  Ygot valid direction response: 23:57:45.6099 LVL= 27344, 12929, 22674, 18739, AGC= 49, IDX= 501, 0.12,-2.721,-0.565,-2.354,-1.626, PHS=-0.993, 1.105,-0.772, RAW= 324.5, 6.7, CAL= 323.2, 6.0, ROT= 186.8, -6.0 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.987526,-0.117755,0.104528]Fpublishing direction and range info9N.ϙN 8%4ޮ`º?f@ij2X3I1 ?5~)p?IˡEi(<@|=J@Pw=YP@ PwֽiIܫ #6G\ڿC,T3%?-B \wA)Pwֽi5checking for new query: numPingsReceived=70, elapsed TxPingTime=34.055771A >A ɯ=A AI I) NM >?x,G3A yv7C@ٱvQ@vay`ĻI AiAA$A)BD+6DE3Y2!I=l:Q)>K?9K?9FYELA>)9 9UDDAT read: Rx Time:23:57:46.1098 ]TRx dataTimestamp_ set to:1758412663.640364eDAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.3 eZ#Rx 71: Read range message, but no direction.9QU@Quchecking for new query: numPingsReceived=71, elapsed TxPingTime=34.303162Q 15٪Q A;YOEQ E@yDE) vUO#?"Zm:w?uUN.ϙN 8%4ޮ`º?hU\wAhUPwֽvU4xB=@Jz?^\?vU~a.?&C?(5\w?hUˏ?hU@hU9Uj?hU"hUB*iU\ǟG?2iQ:iQiUy@"iUh0@I addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.760239 s, deltaX: -0.500000 m, approachRate: -0.657688 m/s, rangeRepo size: 4  Added new target pos. range: 4.487864 m, bearing: 14.609747 deg, lat: 36.779128 deg, lon: -121.859737 deg, deltaT: 17.399960 s, deltaX: -5.385497 m, approachRate: -0.309512 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 4.49 m. 9.87 m.ggT: ProNav: ac range: 9.873361 m, nav range: 3.860452 m, bearing: 175.562990 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 183.088753 deg, new cmd heading: 183.127999 deg. g2:%|HeadingCmd: 3.196187 target range: 9.873361 and range: 4.50 m.g%RL@g!g!g!g!zf!rf)f)f-qBBd)d1d1c5@c5Or?ɢg& 顥I 5=<ɡiIAIcEiB=i >)RL@) N> >i99AEs0Aq>A >DuDuDu/DqEu: Eu|;:6EuJ4:Eq!@!@!@!@AA II IY Ne >ԙ  checking for new query: numPingsReceived=71, elapsed TxPingTime=34.5474621~,3Ay:C@ٱ:KQ@:W<::H॰`I?@Byا1㠿Jԟ?I:C@):];t9t9vFYvEvAz>xQ 15٪z*?Q 55z z+9Y\EQ E@yzDE)zT;IzP;izݍ5YB AE-B*** querying acoustic contact ***zh1h1g9g9EzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gMlgMlU ProNav: ac range: 9.873361 m, nav range: 3.730114 m, bearing: 175.290454 deg, approach rate: -0.382660 m/s, LOS rate: -0.828099 deg/s, cmd heading: 183.127999 deg, new cmd heading: 182.563902 deg. g]pe|HeadingCmd: 3.186341 target range: 9.873361 and range: 4.50 m.geK@gagagagazfarfafifiBdididqcqcu ?ɢK H顥I 2:<ɡiII2FiiO>)K@)iU/QQ]4YԩuDDAT read: Rx Time:23:57:46.6096 TRx dataTimestamp_ set to:1758412664.145868PDAT read: Bearing 46.6, 40.4 (Local) ~Local bearing/azimuth received: Bearing 46.6, 40.4 (Local) DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.2 Z#Rx 72: Read range message, but no direction.9quf@qchecking for new query: numPingsReceived=72, elapsed TxPingTime=34.825081>Au >rA}>jA}>AQAQvB]A>~BYBYBYB] =BYBYB];B]QQEA I I N > D D uD ,D E : E :6E g4:E "E ;! E ;! *E ! E ! J,3Ai$i(fDAT read: 23:57:46.6096 LVL= 26096, 14833, 17762, 25331, AGC= 49, IDX= 498,-0.15, 0.955, 0.089, 0.014, 1.089, PHS=-0.032,-0.955,-1.120, RAW= 81.9, 36.3, CAL= 78.9, 44.3, ROT= 71.1, -44.3 jYgot valid direction response: 23:57:46.6096 LVL= 26096, 14833, 17762, 25331, AGC= 49, IDX= 498,-0.15, 0.955, 0.089, 0.014, 1.089, PHS=-0.032,-0.955,-1.120, RAW= 81.9, 36.3, CAL= 78.9, 44.3, ROT= 71.1, -44.3 jZ#Rx 73: Read direction message, but no range.lv\direction in FSK: [0.231825,0.677106,0.698415]9TV)s?|۪?yjY?TiVeV9VbEVbT Vo)VztIV)\iVc?V0"?VC?V.E?I~GV֞? V.EiT)ZAIVm-iN?Oמ߿N{"?V.*V" V֞?)V.E-checking for new query: numPingsReceived=73, elapsed TxPingTime=35.068474I)iUyhUZA]lAy}C@ٱ}kQ@} .<}07 }H@Oe? v&G?yE A?I}C@)}];i}CB9IBD$6D3Y,!>=R:Q)>99FYEdA>Q 15٪\z?Q 55 +9IYMvEQ E@yDE)Ƴ)K@) )9i=099=09@E=@E>mDDAT read: Rx Time:23:57:47.1097 uTRx dataTimestamp_ set to:1758412664.646970}DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.2 }Z#Rx 74: Read range message, but no direction.9im̌@ichecking for new query: numPingsReceived=74, elapsed TxPingTime=35.309170a >A] ":>ԑ ABEJE~4RE+0DDsDDE: EZ:6E:E!@!@!@!@IIN>P,63A=checking for new query: numPingsReceived=74, elapsed TxPingTime=35.555134B9IMb@Mb@Mb@ )Iii|?5?I +y&1|>9`I AiA; A)I!)!BD-6D-4d3Y='!="=EQ)E>A9A9MFYMEMAU>QQ 1]5٪Uk?Q 5]5Um U+9e>Q Ae;YeeDQ Ee@yUDE)U]:IU:iU5YmBu Aq5 addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.501102 s, deltaX: 0.200000 m, approachRate: 0.399121 m/s, rangeRepo size: 4 g1g1=zIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gEgEu ProNav: ac range: 9.873361 m, nav range: 3.408349 m, bearing: 174.486959 deg, approach rate: -0.355102 m/s, LOS rate: -1.018521 deg/s, cmd heading: 182.607648 deg, new cmd heading: 181.626363 deg. gu鼝}|HeadingCmd: 3.169978 target range: 9.873361 and range: 4.40 m.g}J@gygygygyzfyrffAfEuBBdAdAdIcM@cM)\?ɢy !%롾I! %/<ɡ!i!I-4fI->Gi)i5T>)5J@)1i/0I) A DDAT read: Rx Time:23:57:47.6095  TRx dataTimestamp_ set to:1758412665.1530115 PDAT read: Bearing 16.5, 19.2 (Local) = ~Local bearing/azimuth received: Bearing 16.5, 19.2 (Local) ] DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.2  Z#Rx 75: Read range message, but no direction.9  3@ ] checking for new query: numPingsReceived=75, elapsed TxPingTime=35.854664>A  >y vB J>~B CB B B B B DB ;B MQEA I I! N5 >]f,OtR3Ay6C@ٱ6(Q@6<6!6H`:?W[! <`44`R?I6C@)6f];i6C>B9>IBDF6DF{U3YNZ!RX=R;Q)R>P9T9VFYVEV.A^>dQ 1j5٪f`?Q 5j5f f+9lYnDQ En@yfDE)f/;If;ifi5Ypr( Apq addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.506041 s, deltaX: -0.300000 m, approachRate: -0.592838 m/s, rangeRepo size: 4 ggDDD)DEC: E6EFA4:E"E2;!E3;!*E#];!E$];!zIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 3.277593 m, bearing: 174.106225 deg, approach rate: -0.360554 m/s, LOS rate: -1.091731 deg/s, cmd heading: 181.626369 deg, new cmd heading: 180.834580 deg. g|HeadingCmd: 3.156159 target range: 9.873361 and range: 4.10 m.gI@ggggzfrfffBdddc`ff@c=?ɢAMdW MMII M+<ɡIiQIUWIU3!HiYi]6$>)]I@)YDAT read: 23:57:47.6095 LVL= 31168, 20577, 15586, 32755, AGC= 50, IDX= 494, 0.39, 2.927, 0.802, 2.065, 2.928, PHS= 0.101,-2.081,-0.906, RAW= 122.5, 28.3, CAL= 122.3, 37.6, ROT= 27.7, -37.6 Ygot valid direction response: 23:57:47.6095 LVL= 31168, 20577, 15586, 32755, AGC= 50, IDX= 494, 0.39, 2.927, 0.802, 2.065, 2.928, PHS= 0.101,-2.081,-0.906, RAW= 122.5, 28.3, CAL= 122.3, 37.6, ROT= 27.7, -37.6 Z#Rx 76: Read direction message, but no range.\direction in FSK: [0.701488,0.368290,0.610145]9im\r?)B\X?X'O?iimymaPm<mm2 m=)m/Imgimu@m'>mD@m'?m> m'iiIm68 "?W ?^b?m5=mH m>)m'checking for new query: numPingsReceived=76, elapsed TxPingTime=36.068958ԙ9 711i 0 >A >J>bA AZA = DDAT read: Rx Time:23:57:48.1095 E TRx dataTimestamp_ set to:1758412665.656405] PDAT read: Bearing 12.3, 12.2 (Local) e ~Local bearing/azimuth received: Bearing 12.3, 12.2 (Local)  DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.2  Z#Rx 77: Read range message, but no direction.99 9 9  checking for new query: numPingsReceived=77, elapsed TxPingTime=36.335297AA IQ Ia Nm >R,n3A\B9IiMb@Mb@Mb@ )Iiy&1?QMb``>uI Ai$AlA$A)\ABD6DN3Y]<! =Q)>99FYEA>Q 15٪R?Q 55  +9>Q A$;YCQ E@yDE)2 ;Im ;i5Y AhYh]j3Ah]ق@h]ق@h]q@ v]2SNx@;JU?@u]\r?)B\X?X'O?h]>h]'v]AbKOΊz@v] іj^=޿b?h]h]+h]Cq?h]m6h]B*i]Cq?2i]":iYi]:@"i]r.@DDrD0DEҝ: E?:6E4:E!@!@!@!@% addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503394 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 4.089013 m, bearing: 216.452910 deg, lat: 36.779133 deg, lon: -121.859743 deg, deltaT: 19.416001 s, deltaX: -5.784348 m, approachRate: -0.297917 m/s, posRepo size: 4 g9g9=zIgnoring new targets. Set target to previous: 4.09 m. 9.87 m.gegeT:u ProNav: ac range: 9.873361 m, nav range: 3.116262 m, bearing: 173.538066 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 180.834586 deg, new cmd heading: 180.883734 deg. gu2:}|HeadingCmd: 3.157017 target range: 9.873361 and range: 4.10 m.g} J@gygggzfrfffmBBdddcc ?ɢEBEe! AE֣II Mn&<ɡIiIIMJIU$HiU{=iU">)U J@iYI]<DAT read: 23:57:48.1095 LVL= 30752, 26337, 20418, 32755, AGC= 52, IDX= 511,-0.49,-2.471, 1.710,-3.108,-2.469, PHS= 0.100,-2.059,-0.683, RAW= 129.0, 26.3, CAL= 131.9, 35.7, ROT= 18.1, -35.7 Ygot valid direction response: 23:57:48.1095 LVL= 30752, 26337, 20418, 32755, AGC= 52, IDX= 511,-0.49,-2.471, 1.710,-3.108,-2.469, PHS= 0.100,-2.059,-0.683, RAW= 129.0, 26.3, CAL= 131.9, 35.7, ROT= 18.1, -35.7 Z#Rx 78: Read direction message, but no range.\direction in FSK: [0.771898,0.252295,0.583541]9ae]뽿c?š%?^?aie xefeOae4 e=)eIe.ie)@e>enU@eW?e?> eWiaIeMSW?Xb?'Q?e !>eѮ e?>)eWchecking for new query: numPingsReceived=78, elapsed TxPingTime=36.573277)9i-0))-/)9 >A R>5 DDAT read: Rx Time:23:57:48.6093 E TRx dataTimestamp_ set to:1758412666.161468e PDAT read: Bearing 5.9, 8.4 (Local) i  ~Local bearing/azimuth received: Bearing 5.9, 8.4 (Local) I I N>,/3A6DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.2 VDAT read: 23:57:48.6093 LVL= 31136, 28993, 26946, 32755, AGC= 49, IDX= 509,-0.31, 2.776, 0.579, 2.319, 2.749, PHS= 0.130,-2.125,-0.473, RAW= 135.0, 23.3, CAL= 137.5, 30.2, ROT= 12.5, -30.2 ZYgot valid direction response: 23:57:48.6093 LVL= 31136, 28993, 26946, 32755, AGC= 49, IDX= 509,-0.31, 2.776, 0.579, 2.319, 2.749, PHS= 0.130,-2.125,-0.473, RAW= 135.0, 23.3, CAL= 137.5, 30.2, ROT= 12.5, -30.2 ^T#Rx 79: Read range and direction messages.b\direction in FSK: [0.843788,0.187063,0.503020]%Fpublishing direction and range info9JO?}?6]?3s@iyAqBi1 >)I-i@5>ǖ@V?f_> ViIcv(`?Ͳ{?pe[?LW>ߓо f_>)Vi=checking for new query: numPingsReceived=79, elapsed TxPingTime=36.889877yS!C@ٱQ@~<X?4H ?`ًG`锧? @?IS!C@)ҟ];iCAAvBK>~BBIBՁBB =BBB;BAQEB9IBD6D 83YE<!E8=E}];Q)E>I9I9MFYMEU<AU>yQ 15٪F?Q 55W ,9YDQ E@yDE)g:I:i5YB AEhh~U3Ahr@hr@hz`@ v4*! @נ?v?uJO?}?6]?hf_>hVvvh|w<3'31?vj?O%VdԿƐ?hphFhhݕ@?hǪ"hB*i2iǪ":iBi2@"i>e@ addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.505063 s, deltaX: -0.300000 m, approachRate: -0.593985 m/s, rangeRepo size: 4  Added new target pos. range: 3.789835 m, bearing: 200.962120 deg, lat: 36.779133 deg, lon: -121.859769 deg, deltaT: 19.921064 s, deltaX: -6.083526 m, approachRate: -0.305382 m/s, posRepo size: 4 gTStarting intercept timer at range: 3.80 m.gzIgnoring new targets. Set target to previous: 3.79 m. 9.87 m.gg5 ProNav: ac range: 9.873361 m, nav range: 2.972808 m, bearing: 173.000838 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 180.883736 deg, new cmd heading: 180.926638 deg. g1=|HeadingCmd: 3.157766 target range: 9.873361 and range: 3.80 m.g=J@g9g9g9g9zfArfAfAfABdIdIdIcm`ff@cuD?ɢ0<* 顽❾I *"<ɡiI0IHiQ=itP>)J@)) iID1D5tD5-D1E1 E5v:6E5t4:E1"E5;!=E5;!=*E5`;!EE5`;!Eԡchecking for new query: numPingsReceived=79, elapsed TxPingTime=37.067371 J>i) ) ) ) 1 >A5K >eDDAT read: Rx Time:23:57:49.1094 mTRx dataTimestamp_ set to:1758412666.661802}DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.2 Z#Rx 80: Read range message, but no direction.9aey@achecking for new query: numPingsReceived=80, elapsed TxPingTime=37.325527)IIIYNm ?,3AyRB@ٱRP@R%`Ynaēe?IRB@)R];iRCbB9bIMb@Mb@Mb@ )Ii?tIi; A)ABD(6D:3Y ;!=[=8Q)>99FYE%ƻA%>)Q 155٪-78?Q 555- -,95>Q A5#;Y=DQ E=@y-DE)- ;I-j:i-5YAE AAeB*** querying acoustic contact ***zhaha} addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.500334 s, deltaX: 0.100000 m, approachRate: 0.199867 m/s, rangeRepo size: 4 g}}RStopped intercept timer at range: 3.90 m.gyzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gǼgǼ ProNav: ac range: 9.873361 m, nav range: 2.805640 m, bearing: 172.348208 deg, approach rate: -0.337307 m/s, LOS rate: -1.395300 deg/s, cmd heading: 180.926643 deg, new cmd heading: 179.543910 deg. g|HeadingCmd: 3.133632 target range: 9.873361 and range: 3.90 m.goH@ggggzfrfffyBBdddc@33@c?ɢB! I B<ɡiIIoH@ii~.>)oH@)D5D5rD5/D1E5O: E5?:6E5J4:E1!E@!E@!E@!E@im.iiii!>A=9 >IIchecking for new query: numPingsReceived=80, elapsed TxPingTime=37.575413NA>Iq ,w3A=DDAT read: Rx Time:23:57:49.6092 ETRx dataTimestamp_ set to:1758412667.172616ePDAT read: Bearing 105.8, -15.0 (Local) u~Local bearing/azimuth received: Bearing 105.8, -15.0 (Local) DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.2 yB@ٱ2P@R<&>H` p?%ȋ= @r@?IB@)a];iCB9IBD6D\3DAT read: 23:57:49.6092 LVL= 21328, 15025, 24274, 32755, AGC= 50, IDX= 509, 0.40,-2.588,-1.460,-2.048,-1.175, PHS=-1.311,-0.240,-0.917, RAW= 308.7, 42.9, CAL= 309.8, 47.4, ROT= 200.2, -47.4 %Ygot valid direction response: 23:57:49.6092 LVL= 21328, 15025, 24274, 32755, AGC= 50, IDX= 509, 0.40,-2.588,-1.460,-2.048,-1.175, PHS=-1.311,-0.240,-0.917, RAW= 308.7, 42.9, CAL= 309.8, 47.4, ROT= 200.2, -47.4 %T#Rx 81: Read range and direction messages.I`direction in FSK: [-0.635243,-0.233724,0.736097]Fpublishing direction and range info99=BSd-Ϳ0/z?=ff@9i=PS=:=^9=2 =Χ)=uI=ji=i@=֭??=c@=S?=$_@ =Si99I=$U&*5ډEd?=v_?=? =2)=Si99Yy^<!7=MlQ)>99FYEA>%checking for new query: numPingsReceived=81, elapsed TxPingTime=37.885990Q 1-5٪f,?Q 555  ,91Y5EQ E5@yDE);I<;i5Y=BE| AEEvBF>~BCBBB =BBB;B9QEBiBiBiBiBiBmD5h9h=$ 3Ah=e@h=e@h=> v=I\>kLK$@u=BSd-Ϳ0/z?h=2h=Sv=Cט@ww*?<ȃ"@v=4_0 ?Z{}i\?Si9DC?h=Sy?h=<@h=%ߖ?h=@/Ah=dB*i=(2G?2i9:i=Bi=K?"i=H@U addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.510814 s, deltaX: -0.300000 m, approachRate: -0.587298 m/s, rangeRepo size: 4  Added new target pos. range: 3.590335 m, bearing: 24.585188 deg, lat: 36.779156 deg, lon: -121.859769 deg, deltaT: 20.932212 s, deltaX: -6.283025 m, approachRate: -0.300161 m/s, posRepo size: 4 ggzIgnoring new targets. Set target to previous: 3.59 m. 9.87 m.ggT: ProNav: ac range: 9.873361 m, nav range: 2.667950 m, bearing: 171.760126 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 179.543912 deg, new cmd heading: 179.587157 deg. g2:|HeadingCmd: 3.134387 target range: 9.873361 and range: 3.60 m.g͙H@ggggzfrfffBddd1c5 @c5 ?yɢBO 顭I w<ɡiII͙H@i׵=i\(>)͙H@)rD5<jD5<D=D=jD=+D9E=a: E=96E= [4:E9"E=d;!ME=e;!M*E=a<;!ME=b<;!Uim0iiqqchecking for new query: numPingsReceived=81, elapsed TxPingTime=38.079144>Au A>bAy ZA} AI I N >.,3O3AyfgB@ٱfQ`P@f͘fH$a?@ B0@X̧?IfgB@)f8];ifC%B9%IBD(6D:3Y=T!EV=UqQ)]>a9i9uFYu E}:/A}>Q 15٪!?Q 55 ,9YREQ E@yEE);I;iy5Y Ag9gAuzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gg缝 ProNav: ac range: 9.873361 m, nav range: 2.544590 m, bearing: 171.189994 deg, approach rate: -0.334326 m/s, LOS rate: -1.620033 deg/s, cmd heading: 179.587161 deg, new cmd heading: 178.391812 deg. EDDAT read: Rx Time:23:57:50.1092 UTRx dataTimestamp_ set to:1758412667.676557uPDAT read: Bearing 106.2, -30.0 (Local) }~Local bearing/azimuth received: Bearing 106.2, -30.0 (Local) DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.2 gM9|HeadingCmd: 3.113524 target range: 9.873361 and range: 3.60 m.gCG@ggggzfrfffBdddcc ?%DAT read: 23:57:50.1092 LVL= 12960, 14129, 14130, 21891, AGC= 47, IDX= 510,-0.15, 1.225, 3.131, 2.682,-2.798, PHS=-2.158,-0.309,-0.847, RAW= 286.4, 35.4, CAL= 290.1, 41.8, ROT= 219.9, -41.8 -Ygot valid direction response: 23:57:50.1092 LVL= 12960, 14129, 14130, 21891, AGC= 47, IDX= 510,-0.15, 1.225, 3.131, 2.682,-2.798, PHS=-2.158,-0.309,-0.847, RAW= 286.4, 35.4, CAL= 290.1, 41.8, ROT= 219.9, -41.8 -T#Rx 82: Read range and direction messages.5`direction in FSK: [-0.571903,-0.478185,0.666532]5Fpublishing direction and range info9IMB&MD޿S,;T?ɢeBeL aeIi m<ɡiiiImAݻIudTG@iqiu|36>)uCG@IIiM2M17M27MUM/ M )M?5IMXiM@M2+?M@M:?Mru@ M:iIIIMG6Y鿁f/y?AEe;?M{9@MJF MC~)M:iIIchecking for new query: numPingsReceived=82, elapsed TxPingTime=38.377270))i1>A@">I1IANM>! DE DE pDA DA EE : EE  :6EA :EA !M @!M @!M @!M @ checking for new query: numPingsReceived=82, elapsed TxPingTime=38.5832676U,3Aɰ;y6B@ٱ6(P@6ܑ<6E6HMRB?g]`V];@ )?I6B@)6];i4\bB9bIMb@Mb@Mb@ )Ii!rh?~jt{Gztl>ļףI AiAAA)iBD6DN3Y_<!O=b Q)>99FY E% 8A%>)Q 1U5٪-?Q 5U5-/ -,9U>Q A]!;Y]FQ E]@y-EE)-;I-;i-05Yaer AahhL3AhhhAH? vzd5m2x%@uB&MD޿S,;T?hC~h:vd? $?c? @v6;?A!?-'i]?h?h%?hv?hhB*i2i:iBin?"iy@ addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 3.590335 m, bearing: 44.819681 deg, lat: 36.779156 deg, lon: -121.859769 deg, deltaT: 21.436153 s, deltaX: -6.283025 m, approachRate: -0.293104 m/s, posRepo size: 4 g!g!MzIgnoring new targets. Set target to previous: 3.59 m. 9.87 m.gUgUT:e ProNav: ac range: 9.873361 m, nav range: 2.418510 m, bearing: 170.615898 deg, approach rate: 0.000000 m/s, LOS rate: 0.046499 deg/s, cmd heading: 178.391810 deg, new cmd heading: 178.428333 deg. ge2:|HeadingCmd: 3.114162 target range: 9.873361 and range: 3.60 m.gnNG@ggggzfrfff-~BBd)d)d1c1c54?ɢmBu6 quIq u<ɡyiyI}>ڻIZZG@iҝ=i10>)nNG@)i0/!EDDAT read: Rx Time:23:57:50.6090 ETRx dataTimestamp_ set to:1758412668.176633MDAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.2 UZ#Rx 83: Read range message, but no direction.9AE3S@A]checking for new query: numPingsReceived=83, elapsed TxPingTime=38.839073A A <vB A>~B B IB ځBB B B DB ;B ?QEA >A= [Z&>rAE >jAE >DU DU rDU ,DQ EU : EU ?:6EU g4:EQ "EU ;!e EU ;!e *EU Y;!e EU Y;!e Ai q Iy I N >,3Ay6HA@ٱ6O@6I<6I6H@ ?d@ٺ`/@"@7?I6HA@)6 ];i6C>B9BIBDJ"6DJJz3YR!RK=RߺQ)R>T9T9VFYVE-G=A->1Q 1=5٪5 ?Q 5=55L 5,9AYEGQ EE@y5EE)5y:I5:i55Uchecking for new query: numPingsReceived=83, elapsed TxPingTime=39.087364Y]~B]X A]E addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.500076 s, deltaX: -0.300000 m, approachRate: -0.599909 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.gg ProNav: ac range: 9.873361 m, nav range: 2.285411 m, bearing: 169.956322 deg, approach rate: -0.329560 m/s, LOS rate: -1.728221 deg/s, cmd heading: 178.428337 deg, new cmd heading: 177.032667 deg. gE|HeadingCmd: 3.089803 target range: 9.873361 and range: 3.30 m.gUE@ggggzf!rf!f)f)Bd)d1d1c5`ff @c5?ɢBV I [ <ɡiI׻I AF@i i w;>) UE@)i//>A}_;->1A!I)I9NE> DDAT read: Rx Time:23:57:51.1090  TRx dataTimestamp_ set to:1758412668.680460 DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.2  Z#Rx 84: Read range message, but no direction.9    checking for new query: numPingsReceived=84, elapsed TxPingTime=39.342754Թ 7,cb23Ay6A@ٱ6*xO@64<6/P6H¹?2r``qfn`a?I6A@)6B];i4LVB9VI5Mb@Mb@Mb@ 1)1I1i115v/?I +y&1|5x>595`I5 Ai15lA5A)15 ABDM16DM[3YUN7<!]@=]*Q)]>a9a9eFYeEeGAm>iQ 1}5٪m?Q 55mj m,9>Q A;YFQ E@ymEE)mQ:;Im9;im5YE AB*** querying acoustic contact ***zhh addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503827 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ggzIgnoring new targets. Set target to previous: 9.87 m. 9.87 m.g g  ProNav: ac range: 9.873361 m, nav range: 2.152699 m, bearing: 169.209665 deg, approach rate: -0.327336 m/s, LOS rate: -1.955114 deg/s, cmd heading: 177.032670 deg, new cmd heading: 175.447743 deg. g_|HeadingCmd: 3.062141 target range: 9.873361 and range: 3.30 m.gC@ggggzfrfffpBBdddcc@a?ɢBo8 页 I  <ɡiIԻIC@iiץS>)C@)DDpD1DEҝ: E :6E-4:E!@!@!@!@uchecking for new query: numPingsReceived=84, elapsed TxPingTime=39.592140i0>A r.>) A9 II IY Ne >% DDAT read: Rx Time:23:57:51.6088 % TRx dataTimestamp_ set to:1758412669.184399- DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.2 5 Z#Rx 85: Read range message, but no direction.9! % @@! = checking for new query: numPingsReceived=85, elapsed TxPingTime=39.846691,B9BIBDF$6DF3YR <!RW=R_Q)R>T9T9VFYVEV7nAZ>XQ 1^5٪Zx?Q 5b5Z Z,9`YbRGQ Eb@yZEE)Z;IZ<;iZs5Ydj Ah| addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503939 s, deltaX: -0.300000 m, approachRate: -0.595310 m/s, rangeRepo size: 4 g g  BIntercept lockout. Range: 3.00 m. bTransitioning guidance mode to: INTERCEPT_LOCKOUTg @g ggggzfrfffBdddc@cWX?ɢ B 6 IvB@>~BBBB =BBB ;BZQE .<ɡQiQIU@һIYi]=i]J>)Y)ai)>A16>DDnDDEa: E:6E:E"Ed;!Ee;!*EJ;!EJ;!IG)IismxAII1N=r>Qchecking for new query: numPingsReceived=85, elapsed TxPingTime=40.103256ԁ u,s*f3AYy@@ٱ+I AiAAA)ABD#6DӀ3Y]!=.DQ)>99FYE%A > Q 15٪ 7畊?Q 55 s #,9I>Q A!;YOH@Q E@y  EE)  ;I  ;i 5Y-zB- A)h9h=_l3Ah=9@h=9@h=(L@ v=s @;0/ʿCte@u=wa d0?X[?h=)ҽh=Lv=HXB'2F:q@v=y}R\9uy\r?h=h=h=;?h=h=B*i=Cq?2i=:i=Bi=?"i=WM@y addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.517589 s, deltaX: -0.100000 m, approachRate: -0.193203 m/s, rangeRepo size: 4  Added new target pos. range: 2.892182 m, bearing: 182.634342 deg, lat: 36.779133 deg, lon: -121.859758 deg, deltaT: 23.461584 s, deltaX: -6.981178 m, approachRate: -0.297558 m/s, posRepo size: 4 gggggggzfrfffBBddd c @33@c  +?ɢB& dI 5Y<ɡiI.ϻI!i%@(=i% G>))ԩ)BEiJEm4REm 0DDmDDE: E:6E:E! @! @! @! @i 3  checking for new query: numPingsReceived=86, elapsed TxPingTime=40.611385 >A `R>rA >jA IIN?,o3AYB9IBD5)6D53YEOU!E0=EQ)M>I9I9MFYUEUAU>YQ 1e5٪]]ڕ?Q 5e5]g ]&,9aYaQ Em@y] EE)]P ;I];i]5Yqu AqgggggggzfrfDDAT read: Rx Time:23:57:52.6086 TRx dataTimestamp_ set to:1758412670.204845PDAT read: Bearing 33.5, -2.3 (Local) ~Local bearing/azimuth received: Bearing 33.5, -2.3 (Local) DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.1 DAT read: 23:57:52.6086 LVL= 12096, 11249, 15282, 14899, AGC= 44, IDX= 502, 0.14, 2.823, 1.776, 2.832,-2.425, PHS=-0.933,-2.037,-1.069, RAW= 143.5, 53.9, CAL= 147.3, 61.3, ROT= 2.7, -61.3 Ygot valid direction response: 23:57:52.6086 LVL= 12096, 11249, 15282, 14899, AGC= 44, IDX= 502, 0.14, 2.823, 1.776, 2.832,-2.425, PHS=-0.933,-2.037,-1.069, RAW= 143.5, 53.9, CAL= 147.3, 61.3, ROT= 2.7, -61.3 T#Rx 87: Read range and direction messages. \direction in FSK: [0.479690,0.022622,0.877146]Fpublishing direction and range info9k?? G*?&կ͔?,@i@/+;3:, n)5^IԈiJ @p?"$@ ?A=  iI4NM?@u? a?f!f)Bd)d)d)c5@c5?>9p A=) iMchecking for new query: numPingsReceived=87, elapsed TxPingTime=40.883240ɢmBmW3 imwIi u3;ɡqiqIu5̻Iyi}K=i}_*H>)y)AAvBA>~BBIB߁BBBBB;BpQEԡi14>AmI>IIN>DmDmkDm+DiEm: Em:6Em [4:Ei"Em;!}Em ;!}*Em@;!}Em@;!e checking for new query: numPingsReceived=87, elapsed TxPingTime=41.115227 >,;3AB9%IBDM"6DMJz3Ye!eZ=aQ)m>i9q9}FY}EA>Q 15٪ϕ?Q 55^ (,9YQ E@yEE)x;I;i_5YvB AEhh.3AhU,@hU,@h32X@ vT[?zz0?Tbe3@uk?? G*?&կ͔?hA=h vnB Կ۲@vpyA޿DtǽERr?h_h`hzfb?ho" hB*izfb?2i:iBi֦?"i^M@- addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502857 s, deltaX: -0.200000 m, approachRate: -0.397727 m/s, rangeRepo size: 4 = Added new target pos. range: 2.692726 m, bearing: 193.548803 deg, lat: 36.779131 deg, lon: -121.859758 deg, deltaT: 0.502857 s, deltaX: -0.199456 m, approachRate: -0.396646 m/s, posRepo size: 4 g9g9g9gAgAgAgAzfArfAfIfIBdYdadacicu >>?ɢAuf5@ y顅yI p%;ɡiIqɻIir=i=H>)) DDAT read: Rx Time:23:57:53.1085 TRx dataTimestamp_ set to:1758412670.710004PDAT read: Bearing 30.2, 31.1 (Local) ~Local bearing/azimuth received: Bearing 30.2, 31.1 (Local)  DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 EDAT read: 23:57:53.1085 LVL= 10928, 15809, 16786, 16771, AGC= 47, IDX= 503,-0.23, 1.991, 0.514, 0.882, 2.151, PHS=-0.058,-1.592,-1.313, RAW= 99.8, 36.5, CAL= 97.8, 43.7, ROT= 52.2, -43.7 MYgot valid direction response: 23:57:53.1085 LVL= 10928, 15809, 16786, 16771, AGC= 47, IDX= 503,-0.23, 1.991, 0.514, 0.882, 2.151, PHS=-0.058,-1.592,-1.313, RAW= 99.8, 36.5, CAL= 97.8, 43.7, ROT= 52.2, -43.7 UT#Rx 88: Read range and direction messages.e\direction in FSK: [0.443112,0.571256,0.690882]eFpublishing direction and range info9 [?=G?O u?f&@i*=AA/ hm)˿Ibi?i0;4e#?|?@C?Z;i? @CiI9>ר$?O¼ѿXn ?=7# Z;i?)@Cichecking for new query: numPingsReceived=88, elapsed TxPingTime=41.4274521>A G>I! I9 NE >Y D D hD *D E : E ]96E (N4:E ! @! @! @! @R,3Ay6K?@ٱ6wM@6<6&6HA`չ?ccr`֛ : ﱂ@X?I6K?@)6^;i6CBB9BI@i@)D D%checking for new query: numPingsReceived=88, elapsed TxPingTime=41.619278Mb@Mb@Mb@ )Ii?{GzMbPf>#I7AiAAA)BD(6D:3Y͡<!E=Q)>99FY EuKA>Q 15٪ĕ?Q 55- ),9>Q A";YE@Q E@yEE)~ ;IU:i,5Y Ahhp3Ah%@h%@h؄@ v}?b?iB?Ѹ̩?u [?=G?O u?hZ;i?h@CvTi6B 0>>?v"1ٿi2ޗշW?hEֿhhk?hw40hUB*ik?2i:iiF?"i^O@1M addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505159 s, deltaX: -0.100000 m, approachRate: -0.197958 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.592995 m, bearing: 237.860611 deg, lat: 36.779132 deg, lon: -121.859758 deg, deltaT: 0.505159 s, deltaX: -0.099731 m, approachRate: -0.197424 m/s, posRepo size: 4 gYgYgYgYgagagazfarfafifmBBdididicu@cui?ɢB; 顥}I ;ɡiIǻIi=if7>)))iiiim/ia>AԑDDAT read: Rx Time:23:57:53.6086 TRx dataTimestamp_ set to:1758412671.212329DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 Z#Rx 89: Read range message, but no direction.9,@checking for new query: numPingsReceived=89, elapsed TxPingTime=41.874687II N >vB ~B B IB BB =B B B ;B `QEԹ ,3Aiy> ?@ٱ> M@>F<> >H 0?Ckϯr~[`?I> ?@)>p];i>CJB9JIBDj6DjF3Yr<!rY=rt9t9vFYv"EzIAz>|Q 15٪~4?Q 55~ |9Y5E@Q E @y~EE)~ ;I~w:i~5Y A5B*** querying acoustic contact ***zh1h1E addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502325 s, deltaX: 0.100000 m, approachRate: 0.199075 m/s, rangeRepo size: 4 gMMTStarting intercept timer at range: 2.70 m.gIgIgIgIgQgQzfQrfQfQfYBdYdYdace@ceq?ɢB|8 顕I Rl;ɡiIvƻIi~=i43>))DEDEoDE1DAEEO: EE:6EE-4:EA"EE;!]EE;!]*EEN;!]EEN;!eԑiU/QQQQ>A-@>=checking for new query: numPingsReceived=89, elapsed TxPingTime=42.124573IIN> DDAT read: Rx Time:23:57:54.1086  TRx dataTimestamp_ set to:1758412671.716685 PDAT read: Bearing 55.0, -21.8 (Local)  ~Local bearing/azimuth received: Bearing 55.0, -21.8 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.1  - DAT read: 23:57:54.1086 LVL= 32752, 22513, 28066, 32755, AGC= 51, IDX= 505,-0.29, 0.800, 0.974, 1.465, 2.196, PHS=-1.294,-1.177,-0.775, RAW= 222.4, 67.6, CAL= 222.5, 72.0, ROT= 287.5, -72.0 ',h3A&Ygot valid direction response: 23:57:54.1086 LVL= 32752, 22513, 28066, 32755, AGC= 51, IDX= 505,-0.29, 0.800, 0.974, 1.465, 2.196, PHS=-1.294,-1.177,-0.775, RAW= 222.4, 67.6, CAL= 222.5, 72.0, ROT= 287.5, -72.0 &T#Rx 90: Read range and direction messages..^direction in FSK: [0.092923,-0.294715,0.951057].Fpublishing direction and range info9.gɷ?\ҿo?iWm3 ˡ)𧖿IffFiUlx@?x@|٠?@ |٠iI9贿%?Y;`??) o)|٠ivchecking for new query: numPingsReceived=90, elapsed TxPingTime=42.419952yU*>@ٱU@#L@UOU;UJ$UHm?@Z`@_ʳ up`y?IU*>@)U ^;iUCB9I5Mb@Mb@Mb@ 1)1I1i115sh|??~jtx5>5L5ĻI5MAi5@5A5A)15AIA)ABDM$6DM3Y]./!](=eèQ)e>a9a9mFYm%EKA>Q 15٪e?Q 55 +,9>Q A;YB@Q E@yEE)))Echecking for new query: numPingsReceived=90, elapsed TxPingTime=42.627411iYYY]/YI >A= z6>rAE >jAE >ԁ A I I N >,U 3Ay6=@ٱ6K@6ysO;6ꜽ6H*v?w\ؤ`@lio?I6=@)6V];i6C>B9BIBDJ06DJ3YR;!R^=R¿Q)R>T9T9VFYV(EZAZ>\Q 1b5٪^-?Q 5b5^0 ^,,9`Yb B@Q Eb@y^EE)^K:I^-:i^5~DDAT read: Rx Time:23:57:54.6084 ~TRx dataTimestamp_ set to:1758412672.220814 PDAT read: Bearing 17.2, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 17.2, 7.5 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.1 EDAT read: 23:57:54.6084 LVL= 21312, 32753, 32754, 32755, AGC= 49, IDX= 502, 0.10,-1.293,-2.990,-1.761,-0.966, PHS=-0.225,-1.979,-0.839, RAW= 129.8, 34.9, CAL= 134.0, 45.5, ROT= 16.0, -45.5 MYgot valid direction response: 23:57:54.6084 LVL= 21312, 32753, 32754, 32755, AGC= 49, IDX= 502, 0.10,-1.293,-2.990,-1.761,-0.966, PHS=-0.225,-1.979,-0.839, RAW= 129.8, 34.9, CAL= 134.0, 45.5, ROT= 16.0, -45.5 MT#Rx 91: Read range and direction messages.U\direction in FSK: [0.673757,0.193197,0.713250]UFpublishing direction and range info9|~[k?j??~@|i~@S~~|~1 ~fff)~OI~Vi~@~I?~@~KK?~5> ~KKi||I~ƷV?S$D?VAP?~ߍ/>~Z ~5>)~KKi||uchecking for new query: numPingsReceived=91, elapsed TxPingTime=42.894970ԩY Ah|h~!3Ah~/@h~/@h~b@ v~*My?{ G\?k0NP?u~[k?j??h~5>h~KKv~Lz4,x9?v~CfJVFѿnd(7?h~9(h~˿h~@P?h~Kxh~QB*i~zfb?2i~o" :i~Bi~WV?"i~We@] addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504129 s, deltaX: -0.300000 m, approachRate: -0.595086 m/s, rangeRepo size: 4 A<A<vBB>~BBIBBBBBB;BFQEBQBQBQBU® =BU® =BU4 Added new target pos. range: 2.393540 m, bearing: 202.422901 deg, lat: 36.779131 deg, lon: -121.859760 deg, deltaT: 0.504129 s, deltaX: -0.299192 m, approachRate: -0.593484 m/s, posRepo size: 4 gTStarting intercept timer at range: 2.40 m.gggggg zf rf ffBdddc@33@cb?ɢQUm: QU耾IQ ]#;ɡYiYI]ɗ»Iaie=ie$>)a)ii0>ASs.>DDnD0DEa: E:6E4:E"Ed;!Ee;!*EJ;!EJ;!AyAI I!N->checking for new query: numPingsReceived=91, elapsed TxPingTime=43.131374Q o ,w%3Ay6=@ٱ6YK@6cB:6v6H`(?ϘW?D+ `@zLH`B`v?I6=@)6 ^;i6CNB9RIBDZ*6DZ3YjJ>=!nH=nQ)n>r H?9r H?9rFYr*Ev춼Av>xQ 1~5٪z?Q 5~5z z-,9Y vA@Q E @yzEE)zU;Iz(;izU5Y1=T AAԑgggggggzf rf1fAfIBdqdydcc ?ɢ~By `mI 2;ɡiIyIi=i/>)DDAT read: Rx Time:23:57:55.1083 TRx dataTimestamp_ set to:1758412672.724830%PDAT read: Bearing 28.3, 45.0 (Local) %~Local bearing/azimuth received: Bearing 28.3, 45.0 (Local) 5DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 ]DAT read: 23:57:55.1083 LVL= 19600, 27297, 32546, 27955, AGC= 48, IDX= 501, 0.38,-1.703, 3.046, 3.040,-1.940, PHS= 0.339,-1.253,-1.347, RAW= 87.1, 26.0, CAL= 85.7, 33.1, ROT= 64.3, -33.1 eYgot valid direction response: 23:57:55.1083 LVL= 19600, 27297, 32546, 27955, AGC= 48, IDX= 501, 0.38,-1.703, 3.046, 3.040,-1.940, PHS= 0.339,-1.253,-1.347, RAW= 87.1, 26.0, CAL= 85.7, 33.1, ROT= 64.3, -33.1 eT#Rx 92: Read range and direction messages.m\direction in FSK: [0.363284,0.754849,0.546102]uFpublishing direction and range info9 @?!vS'?nĪy?3@iLj"3m0 h>)NbIjiQ?V>t?h?)ȥ? hiIXy+?\f4߿?` ȥ?)hichecking for new query: numPingsReceived=92, elapsed TxPingTime=43.411819ԡi/D D D -D E : E 6E t4:E ! @! @! @! @>A5 R(>bA9 ZA= A checking for new query: numPingsReceived=92, elapsed TxPingTime=43.636551 Aq Iy I N >,F@3Ay6a<@ٱ6|YJ@6:6=6H SEm?7k? ``?`@?I6a<@)6];i6C>B9BIMb@Mb@Mb@ )Ii rh?V-MbP>mIi@A)\AiBD6DN3Y%-#=!%3=%ɻQ)%>)9q9uFYu-E}DʼA}>ԉQ 15٪r?Q 55" ,,9>Q A;Ys?@Q E@yEE)3;I 3;i]5YnB AEhhc.3Ah@h@h@ vJEp?4%?A6F ?u @?!vS'?nĪy?hȥ?hhvpk$ hZ7,LH?v*hSUf*ֿDvߟopV?hah_KhuɀF?hǥ2hZB*i2iKx:iUBiMV?"i[@ addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504016 s, deltaX: -0.100000 m, approachRate: -0.198407 m/s, rangeRepo size: 4  Added new target pos. range: 2.293810 m, bearing: 246.456614 deg, lat: 36.779131 deg, lon: -121.859763 deg, deltaT: 0.504016 s, deltaX: -0.099730 m, approachRate: -0.197871 m/s, posRepo size: 4 g  RStopped intercept timer at range: 2.30 m.g g g gggzfrfffBBdddc%`ff@c% m?ɢIM [ QUZIQ U>;ɡQiQI]^IYi]=ie>)a)ai  / Թ>A=H!>DDAT read: Rx Time:23:57:55.6083 TRx dataTimestamp_ set to:1758412673.233280PDAT read: Bearing 34.5, 30.0 (Local) ~Local bearing/azimuth received: Bearing 34.5, 30.0 (Local) 5DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 eDAT read: 23:57:55.6083 LVL= 14944, 32753, 32754, 32755, AGC= 50, IDX= 500, 0.02, 0.517,-0.527,-0.356, 0.815, PHS=-0.196,-1.297,-1.215, RAW= 93.9, 42.0, CAL= 92.5, 48.8, ROT= 57.5, -48.8 Ygot valid direction response: 23:57:55.6083 LVL= 14944, 32753, 32754, 32755, AGC= 50, IDX= 500, 0.02, 0.517,-0.527,-0.356, 0.815, PHS=-0.196,-1.297,-1.215, RAW= 93.9, 42.0, CAL= 92.5, 48.8, ROT= 57.5, -48.8 T#Rx 93: Read range and direction messages.\direction in FSK: [0.353914,0.555533,0.752415]Fpublishing direction and range info9IIN >vBQ~BQBUIBUBBQBQBQBU;BU:QE?ND?ԏs?f@i`:2 9H)IiM?f;??^ Z?t? ^ ZiIEӷU?,"=ԿtY8l?&; t?)^ Zichecking for new query: numPingsReceived=93, elapsed TxPingTime=43.945324 6,Z3AD&D&wD&0D$E&: E&:6E&4:E$"E&B;!*E&C;!**E&k;!*E&k;!.B9IBD%6D03Y%!%]=-Q)->)9)9-FY-/E5A5>9Q 1E5٪=(?Q 5E5= =*,9AYIQ EM@y=EE)=:I=:i=5YQU_ AQh9h=N3Ah= @h= @h=|@ v=?zq?ڨ z6?u=?ND?ԏs?h=t?h=^ Zv='`p%{fi?v=QտI6{ p?h=3h=n6h=C?h=n/#h=B*i=uɀF?2i=n/#:i=QBi=?"i=D@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.508450 s, deltaX: -0.200000 m, approachRate: -0.393352 m/s, rangeRepo size: 4  Added new target pos. range: 2.094348 m, bearing: 240.798719 deg, lat: 36.779128 deg, lon: -121.859770 deg, deltaT: 0.508450 s, deltaX: -0.199463 m, approachRate: -0.392296 m/s, posRepo size: 4 gggggggzfrfffBdddc@c@E?=checking for new query: numPingsReceived=93, elapsed TxPingTime=44.139153ɢQu@ quvIy }#;ɡyiyI}޿Ii%=i>))i00>A"x>I  DDAT read: Rx Time:23:57:56.1083  TRx dataTimestamp_ set to:1758412673.735014 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  Z#Rx 94: Read range message, but no direction.9  3@ - checking for new query: numPingsReceived=94, elapsed TxPingTime=44.399136I I N >`,s3Ay6N<@ٱ6GJ@6V66H~Z?@h?Ir c? i?I6N<@)6i];i6CRB9RI-Mb@Mb@Mb@ )))I)i))-X9v? ףp= ~jth-s>-Q-DI-7Ai-@-A-A)))BD6D3Y =!B=VQ)>99FY2E.A>Q 15٪v?Q 55 9I>Q AP;Y 3@Q E@y!EE)? ;I? ;i5Y AB*** querying acoustic contact ***zhh addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.501734 s, deltaX: 0.200000 m, approachRate: 0.398618 m/s, rangeRepo size: 4 gggg!g!g!g!zf!rf!f)f-BBd)d)d)c5`ff@c5`u?ɢm}Bm2 quB[Iq uc;ɡqiyI}8+Iyi9=i~ >))D]D]qD]/DYE]: E]$ :6E]J4:EY!m@!u@!u@!u@yi2/>At>I)I9Mchecking for new query: numPingsReceived=94, elapsed TxPingTime=44.643204NU2>ԙ H#,ƍ3Ay6L<@ٱ6yJ@6+6ѻ6H`ʝ?@6%?񝖿`j9z`ue>;z?I6L<@)6];i6CRDDAT read: Rx Time:23:57:56.6083 VTRx dataTimestamp_ set to:1758412674.236382ZDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 ^Z#Rx 95: Read range message, but no direction.9TTTbchecking for new query: numPingsReceived=95, elapsed TxPingTime=44.898689`B9II!)!BD%36D%3Y}<!I=;Q)>99FY5EAAAAvBA>~BBIBBBBBB;BFQE;A>Q 1%5٪>n?Q 5%5 +,9)Y-U3@Q E-@y"EE):I:i 5YUjBU AY addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.501368 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gTStarting intercept timer at range: 2.30 m.ggggggzfrfffBdddccʠ?ɢ)MV QUVTIQ Uߺ;ɡQiQIU)a)ai/@@AQiQIG)AIi-e5A5wjADeDenDe,DaEe1: Ee:6Eeg4:Ea"Ee;!mEe;!u*EeJ;!uEeJ;!u]checking for new query: numPingsReceived=95, elapsed TxPingTime=45.148006>A>I9 II NU >i r),3Ayj*<@ٱjJ@j`";jM 99FY7E=;A>Q 1U5٪ne?Q 5]5 .,9iY3@Q E@y$EE): \I ;ɡi I ޼I ik=i>))ԙi2/BEA{4JEy4RE҄0Du Du qDu .Dq Eu : Eu $ :6Eu ـ4:Eq ! @! @! @! @ e checking for new query: numPingsReceived=96, elapsed TxPingTime=45.651478>A ׉>bA AZA AI! I1 N= >N0,99FY:E/÷A>Q 15٪ob?Q 5 5[ 9 =Q A ;Y+@Q E@y%EE);I;i5Y AgAgIgIgYgYgYgYzfYrfYfafeBBdadadicicm?ɢ:1 顝KI ;ɡiIIi{=i>))i-0)15/1>A%h>IyIN;>DDAT read: Rx Time:23:57:57.6083 TRx dataTimestamp_ set to:1758412675.244777PDAT read: Bearing 34.2, 21.8 (Local) ~Local bearing/azimuth received: Bearing 34.2, 21.8 (Local) DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 %DAT read: 23:57:57.6083 LVL= 29008, 32753, 31282, 32755, AGC= 49, IDX= 500, 0.44, 1.756, 0.846, 1.267, 2.450, PHS=-0.592,-1.559,-1.227, RAW= 109.7, 54.5, CAL= 107.9, 59.3, ROT= 42.1, -59.3 -Ygot valid direction response: 23:57:57.6083 LVL= 29008, 32753, 31282, 32755, AGC= 49, IDX= 500, 0.44, 1.756, 0.846, 1.267, 2.450, PHS=-0.592,-1.559,-1.227, RAW= 109.7, 54.5, CAL= 107.9, 59.3, ROT= 42.1, -59.3 -T#Rx 97: Read range and direction messages.5\direction in FSK: [0.378811,0.342282,0.859852]5Fpublishing direction and range info9u"n>?&- ?r?3@iPq2z1 P)PǿIVix?"s? ?;z?Vy?GD7s ~BBIBBBBBB;BHQE9 *u6,3AD&D&nD$D$E&ҝ: E&:6E$:E$"E&;!*E&;!**E$!.E$!.yRAc<@ٱR[J@RC;Rsb=RH`N?@5@;6?|J?`G?IRAc<@)R]^;iRC^B9b IBDf6DfN3Y%:N!%X=-{;Q)->)9)95FY59Q 1E5٪=X_?Q 5E5= =/,9IYM+@Q EM@y9)=:I=9:i=5YQU AQhhm3Ah@h@hTt@ v1,?zv?1"?uu"n>?&- ?r?h)=checking for new query: numPingsReceived=97, elapsed TxPingTime=46.155231A)Ai11119@M=@M=aԑ>A>% DDAT read: Rx Time:23:57:58.1084 5 TRx dataTimestamp_ set to:1758412675.755998E PDAT read: Bearing 34.7, 24.4 (Local) E ~Local bearing/azimuth received: Bearing 34.7, 24.4 (Local) ] DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 23:57:58.1084 LVL= 30768, 32753, 29954, 32755, AGC= 49, IDX= 502,-0.36, 0.945, 0.036, 0.400, 1.603, PHS=-0.555,-1.522,-1.246, RAW= 106.1, 53.7, CAL= 104.4, 58.6, ROT= 45.6, -58.6  Ygot valid direction response: 23:57:58.1084 LVL= 30768, 32753, 29954, 32755, AGC= 49, IDX= 502,-0.36, 0.945, 0.036, 0.400, 1.603, PHS=-0.555,-1.522,-1.246, RAW= 106.1, 53.7, CAL= 104.4, 58.6, ROT= 45.6, -58.6  T#Rx 98: Read range and direction messages. \direction in FSK: [0.364531,0.372247,0.853551] Fpublishing direction and range infoA I I N% >9) - 8d{T?Y4?qеIP?- @) i- 0x) - u) ) - {)- ¿Թ I- |i- ?- o?- Z;?- ?- %K? - 邿i) ) I- b?dT8¿/?- x- o - %K?)- 邿i) )  checking for new query: numPingsReceived=98, elapsed TxPingTime=46.472347<,x3AyNn$<@ٱNJ@N99FY?E A>Q 15٪]?Q 55r 2,9h=Q Ai))Uchecking for new query: numPingsReceived=98, elapsed TxPingTime=46.660259i999AA>A /> A I I  DDAT read: Rx Time:23:57:58.6083  TRx dataTimestamp_ set to:1758412676.252815 PDAT read: Bearing 36.1, 20.1 (Local)  ~Local bearing/azimuth received: Bearing 36.1, 20.1 (Local)  DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 E DAT read: 23:57:58.6083 LVL= 25520, 32753, 28754, 32755, AGC= 51, IDX= 501,-0.14,-0.711,-1.510,-1.122, 0.035, PHS=-0.644,-1.500,-1.201, RAW= 110.2, 57.5, CAL= 108.4, 61.9, ROT= 41.6, -61.9 M Ygot valid direction response: 23:57:58.6083 LVL= 25520, 32753, 28754, 32755, AGC= 51, IDX= 501,-0.14,-0.711,-1.510,-1.122, 0.035, PHS=-0.644,-1.500,-1.201, RAW= 110.2, 57.5, CAL= 108.4, 61.9, ROT= 41.6, -61.9 M T#Rx 99: Read range and direction messages.U \direction in FSK: [0.352222,0.312717,0.882127]] Fpublishing direction and range info9  =c"͊??81-b:? 3@ i c  Rp  3  /$) I ^i m0? t? *? 3I? 9?  3Ii  I Vq?uB? l0 χ  9?) 3Ii  u checking for new query: numPingsReceived=99, elapsed TxPingTime=46.927181N >%D,gE3AAF<ADvBJ?>~BHBJIBJBBHBHBHBJ;BJ;QE\i\yE'<@ٱE: J@E?99FYAEy9A > Q 15٪ $\?Q 55   5,9Y@Q E@y ) :I  ;i 5YIM AIhh.3Ah@h@h|t@ vM=/?+ 5?%17/@u=c"͊??81-b:?h9?h3IvtJ D =L)9)9D=D=oD=0D9E=: E=:6E=4:E9"E=;!ME=;!U*E=N;!UE=N;!Ui/-checking for new query: numPingsReceived=99, elapsed TxPingTime=47.163292!>A %|>Q A1 IY Iq N >rJ,+3Ay^Y_<@ٱ^WJ@^Hd<^w<^H@L1?ea^~ a$?Ԉn?i?I^Y_<@)^l3^;i^CB9  IUDDAT read: Rx Time:23:57:59.1084 eTRx dataTimestamp_ set to:1758412676.761236PDAT read: Bearing 37.9, 17.1 (Local) ~Local bearing/azimuth received: Bearing 37.9, 17.1 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.1 DAT read: 23:57:59.1084 LVL= 23008, 31297, 24370, 32755, AGC= 50, IDX= 501, 0.02,-0.470,-1.166,-0.798, 0.330, PHS=-0.698,-1.451,-1.172, RAW= 111.5, 60.7, CAL= 109.9, 64.7, ROT= 40.1, -64.7 Ygot valid direction response: 23:57:59.1084 LVL= 23008, 31297, 24370, 32755, AGC= 50, IDX= 501, 0.02,-0.470,-1.166,-0.798, 0.330, PHS=-0.698,-1.451,-1.172, RAW= 111.5, 60.7, CAL= 109.9, 64.7, ROT= 40.1, -64.7 V#Rx 100: Read range and direction messages.\direction in FSK: [0.326895,0.275271,0.904083]Fpublishing direction and range info9Y]1V?2}m ? >?]@Yi]Y]Az]2_Y]2 ]!2)]^I]i]?]蚇?]ۄ?]?]$+3? ]iYYI]4v"?朐?]] ]$+3?)]iYY}checking for new query: numPingsReceived=100, elapsed TxPingTime=47.457157eMb@Mb@Mb@ a)aIaiaae{Gzt?A`"~jtheף;eYeDIelAiaeAe$A)aaBD}'6D}3Y<!!=k;Q)>99FYEE;A>Q 15٪[?Q 55[ 7,9eZ=Q Ax@,w?#O@u]1V?2}m ? >?h]$+3?h]v]A{Jqi%v*GT@v]ZceտRп;?h],!h]Lh]c&t?h]rF h]pB*iY2i]:i]@Bi]?"i]w@U addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.508421 s, deltaX: 0.100000 m, approachRate: 0.196688 m/s, rangeRepo size: 4 e Added new target pos. range: 2.393531 m, bearing: 218.193027 deg, lat: 36.779123 deg, lon: -121.859761 deg, deltaT: 0.508421 s, deltaX: 0.099731 m, approachRate: 0.196158 m/s, posRepo size: 4 gigigigigigigizfqrfff|BBdddc@33@c*?ɢ)-N 顭CI ;ɡiI=ֲIiן=i>)) ]>DDlD.DEa: E:6Eـ4:E!@!@!@!@)iE1IIU/Q@a@a checking for new query: numPingsReceived=100, elapsed TxPingTime=47.667286Q >Am (>bAm AZAm AԁAII1NU?'R,BL3Ay6Q2<@ٱ6*J@6)9<6%Ȯ<6H`eL?%ѭ@2?Ƒ@ו??I6Q2<@)6^;i6C>B9BIBDJ6DJF3YR)!RZ=RT9T9VFYVGEVVAZ>\Q 1b5٪^[?Q 5b5^ ^8,9`Yb'?Q Eb@y\)^:I^:i^b5Ydj AhzB*** querying acoustic contact ***zhxhxg|ggggggzfrff f Bd d dcc!?ɢ>0 tSI  ;ɡiIV2Ii>=i>)))A EAUDDAT read: Rx Time:23:57:59.6083 UTRx dataTimestamp_ set to:1758412677.263437]PDAT read: Bearing 36.5, 10.2 (Local) e~Local bearing/azimuth received: Bearing 36.5, 10.2 (Local) iuDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 DAT read: 23:57:59.6083 LVL= 22448, 30449, 17458, 32579, AGC= 49, IDX= 500, 0.15,-2.330,-2.943,-2.469,-1.534, PHS=-0.694,-1.363,-0.979, RAW= 124.9, 61.5, CAL= 125.5, 66.6, ROT= 24.5, -66.6 Ygot valid direction response: 23:57:59.6083 LVL= 22448, 30449, 17458, 32579, AGC= 49, IDX= 500, 0.15,-2.330,-2.943,-2.469,-1.534, PHS=-0.694,-1.363,-0.979, RAW= 124.9, 61.5, CAL= 125.5, 66.6, ROT= 24.5, -66.6 V#Rx 101: Read range and direction messages.\direction in FSK: [0.361389,0.164695,0.917755]Fpublishing direction and range info9QvB9~B9B9B9B9B9B9B=;B=4QEBBBBBBŠ3U@t}.!?.WN?ʝ'>^?U3@QiUWUvU2DUCU1 U1)UvIUziU @Uod?UR/ @U,ɔ?U!> U,ɔiQQIU/_?t¤?Ks"?UU=U U!>)U,ɔiQQchecking for new query: numPingsReceived=101, elapsed TxPingTime=47.965267i00ԙ>A">DDtD7DE1: Ev:6EԺ4:E"E;!E;!*E`;! E`;!  checking for new query: numPingsReceived=101, elapsed TxPingTime=48.171303A I I N5 > *Y,Ve3Ay:<<@ٱ:I@:&{<:<:Hi?@`8ќ?/z??I:<<@):];i:CFB9F IBDN%6DN03YV =!VJ=ZX9X9ZFY^JE^A^>`Q 1f5٪b[?Q 5f5bE b:,9hYj?Q Ej@y`)b:Ib:ib'5Ylnz Aphh'P3Ah@h@hS`@ vlkɆ? z-?EwU@u@t}.!?.WN?ʝ'>^?h!>h,ɔvˑv!տnً@vCu0;7ؿHcNl¿:B?h h/^hc`?hhMB*i}?2ii :ii?"i_w@m addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.502201 s, deltaX: -0.100000 m, approachRate: -0.199124 m/s, rangeRepo size: 4  Added new target pos. range: 2.293797 m, bearing: 200.827728 deg, lat: 36.779123 deg, lon: -121.859761 deg, deltaT: 0.502201 s, deltaX: -0.099734 m, approachRate: -0.198593 m/s, posRepo size: 4 gggggggzfrffYfYBdadidc`ff@cs?ɢe|B{ 顝0CI Vj;ɡiIVǬI9iE=iM>)Q)YeDDAT read: Rx Time:23:58:00.1084 mTRx dataTimestamp_ set to:1758412677.767932}PDAT read: Bearing 1.2, -37.6 (Local) ~Local bearing/azimuth received: Bearing 1.2, -37.6 (Local) DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 23:58:00.1084 LVL= 23216, 29841, 10722, 32755, AGC= 47, IDX= 502,-0.28,-1.674,-2.115,-0.403,-0.925, PHS=-0.647,-1.145, 0.478, RAW= 192.6, 17.9, CAL= 192.0, 24.6, ROT= 318.0, -24.6 Ygot valid direction response: 23:58:00.1084 LVL= 23216, 29841, 10722, 32755, AGC= 47, IDX= 502,-0.28,-1.674,-2.115,-0.403,-0.925, PHS=-0.647,-1.145, 0.478, RAW= 192.6, 17.9, CAL= 192.0, 24.6, ROT= 318.0, -24.6 V#Rx 102: Read range and direction messages.^direction in FSK: [0.675694,-0.608398,0.416281]Fpublishing direction and range info9im ,[KI?P1kw㿳7X?m@i%/!!%/)iimZmtm)mm/ mˡ%)m\Imj>im"W@m>mPwV@m>mΚ@ m۾iiiImZ`Ͷ=?gc?yk%?m!?mş me;)m۾iiichecking for new query: numPingsReceived=102, elapsed TxPingTime=48.468197) >A] >D D rD /D E : E ?:6E J4:E ! @! @! @! @Y A I I N > `,3A"checking for new query: numPingsReceived=102, elapsed TxPingTime=48.675274y9} IMb@Mb@Mb@ )Ii~jt:vļTIAiAA)1i5<BD5 6D5k3YE:!E.=MQ)M>Q9Q9UFYULEUAU>YQ 1e5٪]n\?Q 5e5] ];,9mj=Q Amg))iqqqu/q@}=@}=DDAT read: Rx Time:23:58:00.6083 TRx dataTimestamp_ set to:1758412678.268309DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 \#Rx 103: Read range message, but no direction.93@ checking for new query: numPingsReceived=103, elapsed TxPingTime=48.930656AAvB>>~BBBBBBB;B;QE! >A} #>rA} ?jA} ?Q A I I N >ېf,3Ay6;@ٱ6^I@6'}<6=6H9(?ो`J _?.@݀??I6;@)6];i6C>B9B IBDJ"6DJJz3YR;z!R^=RDYT9T9VFYVOEZd1AZ>\Q 1b5٪^)]?DfDfqDf0DdEfa: Ef$ :6Ef4:Ed"Efd;!nEfe;!n*EfU;!nEfU;!nQ 5r5^ \9pYr?Q Er@y\)^+;I^ӽ;i^5Ytz Ax% addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.500377 s, deltaX: -0.100000 m, approachRate: -0.199850 m/s, rangeRepo size: 4 g!g!g!g)g)g)g)zf)rf)f1f1Bd1d1d1c=`ff@c= ?ɢam)y)yԡchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.180367i0/>AA IQ )y y  DDAT read: Rx Time:23:58:01.1083  TRx dataTimestamp_ set to:1758412678.776939 DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  \#Rx 104: Read range message, but no direction.9   checking for new query: numPingsReceived=104, elapsed TxPingTime=49.445595I N= >! ήl,23Ay6;@ٱ6 I@6*<6G=6H``ـ?@`c@tg?@?@?I6;@)6-^;i6CBB9BI5Mb@Mb@Mb@ 1)1I1i115I +?Mby&1|594<5@5`I5Ai5A15$A)15fABDM%6DM03Ye靼!e@=mag;Q)m>i9i9mFYmQEu5Au>yQ 15٪}\?Q 55} }?,9G=Q A)!)!iDDD/DE: E:6EJ4:E!@!@!@!@>A >checking for new query: numPingsReceived=104, elapsed TxPingTime=49.684532AAIINi>ԉ zs,_ 3A0y:;@ٱ:I@:CQ<:Y<:H I?Ĝb@D?@6??I:;@):r];i:C^B9b IId)dBDj6DjP)3Yr<!rS=r;Q)r>t9t9vFYvTEvϺAz>xQ 15٪ze\?Q 55z zB,9Y?Q E@yz)EE)z;Iz;iz\ 5Y  A-B*** querying acoustic contact ***zh)h)EDDAT read: Rx Time:23:58:01.6082 MTRx dataTimestamp_ set to:1758412679.276450UDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 U\#Rx 105: Read range message, but no direction.9AE@A]checking for new query: numPingsReceived=105, elapsed TxPingTime=49.938740 addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.499511 s, deltaX: -0.300000 m, approachRate: -0.600587 m/s, rangeRepo size: 4 gggggggzfrfvB?>~BBIBBBBBB;B?QEff1Bd1d9d9c=@c=9?ɢ{Bk 額EI qs;ɡiIIimL=ib>))ԑi@@IUG)mZAIioZAtAԹDDxDDE: E:6E:E"Eڽ;! E۽;! *EWo;! EWo;!>A>bAZAA checking for new query: numPingsReceived=105, elapsed TxPingTime=50.189014 A AI I N >y,3A`y;@ٱI@<t<H ]@R%|?3H T?Ӏ`J+??I;@)7];iCB9IBD/6D3YVD!==;Q)>K?9K?9FYWE A>Q 15٪[?Q 55 F,9Y?Q E@y)p:I:iA"5Y Agggggggzfrf!f!f!Bd!d!d)c)c-?ɢy}+: y}ZIy 3h;ɡiIƙIil^=i}v>))i }DDAT read: Rx Time:23:58:02.1083 TRx dataTimestamp_ set to:1758412679.787548PDAT read: Bearing 38.1, 18.9 (Local) ~Local bearing/azimuth received: Bearing 38.1, 18.9 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 MDAT read: 23:58:02.1083 LVL= 10016, 17217, 18626, 18067, AGC= 42, IDX= 504,-0.41, 1.191, 0.276, 0.652, 2.148, PHS=-0.855,-1.826,-1.540, RAW= 106.7, 59.9, CAL= 105.2, 64.0, ROT= 44.8, -64.0 UYgot valid direction response: 23:58:02.1083 LVL= 10016, 17217, 18626, 18067, AGC= 42, IDX= 504,-0.41, 1.191, 0.276, 0.652, 2.148, PHS=-0.855,-1.826,-1.540, RAW= 106.7, 59.9, CAL= 105.2, 64.0, ROT= 44.8, -64.0 UV#Rx 106: Read range and direction messages.}\direction in FSK: [0.311055,0.308891,0.898794]}Fpublishing direction and range info9UcT?+1?L?f@i 'ACHF* HZ)^Iſi^?aх??5?+H? 5iIT5?6g8 ?܆n߅ +H?)5ichecking for new query: numPingsReceived=106, elapsed TxPingTime=50.481842>Amt>BEJ4JE`4RE1D D uD +D E 1: E :6E [4:E ! @! @! @! @A A yAI I N > checking for new query: numPingsReceived=106, elapsed TxPingTime=50.692673ͨ,3AB9IMb@Mb@Mb@ )IiI +?l񢿺I +94=94IAiAVAA)ABD"6DJz3YЃ<!K=Q)> H?9 H?9FYYEA>Q 15٪Z?Q 554 L,9o=Q Ab))Ii/0@@@@eDDAT read: Rx Time:23:58:02.6083 eTRx dataTimestamp_ set to:1758412680.284804mDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 q}\#Rx 107: Read range message, but no direction.9aaachecking for new query: numPingsReceived=107, elapsed TxPingTime=50.947815AA<vB~BBIBBBBBB;B5QEԩ A I I N >҆,Z3Ay6W;@ٱ64PI@6|%<6$<6HL@@k?{p t?`??I6W;@)6];i6CNB9RIV;iV;BDZ 6DZk3DbDbpDb/D`Eb: Eb :6EbJ4:E`"EbB;!jEbC;!j*Eb8R;!jEb9R;!jYn<!rY=r,;Q)r>t9t9vFYv[Ev?Av>xQ 1~5٪zY?Q 55z zQ,9Y@Q E@yz*EE)za;Iz;iz%5Y   AE addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.497256 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gAgAgAgAgAgIgIzfIrfIfIfQBdQdQdQcQyco?ɢ%zB%79 !%XJI! -gS;ɡ)i)I-dI1i5=iUׅ >)Q)Ychecking for new query: numPingsReceived=107, elapsed TxPingTime=51.196426i 0rA?jA>ԩA=AIaINh> DDAT read: Rx Time:23:58:03.1083  TRx dataTimestamp_ set to:1758412680.792599 PDAT read: Bearing 47.0, 39.9 (Local)  ~Local bearing/azimuth received: Bearing 47.0, 39.9 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 !  DAT read: 23:58:03.1083 LVL= 10560, 14881, 15378, 21155, AGC= 41, IDX= 500, 0.23, 3.064, 1.999, 1.679,-2.775, PHS=-0.342,-1.465,-1.873, RAW= 75.1, 43.5, CAL= 71.4, 49.9, ROT= 78.6, -49.9  Ygot valid direction response: 23:58:03.1083 LVL= 10560, 14881, 15378, 21155, AGC= 41, IDX= 500, 0.23, 3.064, 1.999, 1.679,-2.775, PHS=-0.342,-1.465,-1.873, RAW= 75.1, 43.5, CAL= 71.4, 49.9, ROT= 78.6, -49.9  V#Rx 108: Read range and direction messages. \direction in FSK: [0.127316,0.631416,0.764921] Fpublishing direction and range info,z63A9K?4?Unchecking for new query: numPingsReceived=108, elapsed TxPingTime=51.525585yf^L;@ٱfDI@fhK?9K?9FY ^E PA >9Q 1u5٪=.V?Q 5u5=h =X,9u=Q Au!))!i=Ichecking for new query: numPingsReceived=108, elapsed TxPingTime=51.701462i/iAq I I N >ԁ , TP3Ay6;@ٱ6I@63<6;6H9 ?R ㄿ@z@xs?@zE`\u?@?I6;@)6];i6CNB9RIBDZ96DZ3Yzһ!zs=zBQ)~?|9|9~FYaE=<A? Q 15٪ #T?Q 55  ],9Y-@Q E@-DDAT read: Rx Time:23:58:03.6082 -TRx dataTimestamp_ set to:1758412681.2929185PDAT read: Bearing 61.5, 41.4 (Local) =~Local bearing/azimuth received: Bearing 61.5, 41.4 (Local) MDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 mDAT read: 23:58:03.6082 LVL= 7520, 14641, 14402, 13523, AGC= 41, IDX= 499, 0.05,-0.951,-1.666,-2.466,-0.370, PHS=-0.479,-1.252,-2.141, RAW= 57.7, 43.5, CAL= 54.3, 48.9, ROT= 95.7, -48.9 uYgot valid direction response: 23:58:03.6082 LVL= 7520, 14641, 14402, 13523, AGC= 41, IDX= 499, 0.05,-0.951,-1.666,-2.466,-0.370, PHS=-0.479,-1.252,-2.141, RAW= 57.7, 43.5, CAL= 54.3, 48.9, ROT= 95.7, -48.9 }V#Rx 109: Read range and direction messages.^direction in FSK: [-0.065290,0.654125,0.753563]Fpublishing direction and range info9)-o ;޶:oK?= )1?-@)i-`-19-B8-4) -}?)-AI-% i-.?)-_r?-|Z?-? -|Zi)vB>>~BBIBBBBBB;B3QE)y +EE) E)a)iiEAAE0IDDD-DEC: E0:6Et4:E"E2;!E4;!*Eމ;!E߉;!IAIQN]v>checking for new query: numPingsReceived=109, elapsed TxPingTime=52.203785 u,Cj3Ay <@ٱJ@<@zH ?򚛿`z;ZEO ?I <@)];iC%B9-IBD=*6D=3YE;!MD=M{Q)M>Q9Q9UFYUcE]}=A]>aQ 1e5٪eQ?Q 5m5e ed,9iYm-@Q Em@ya)e;Ie;ie+5Yy} AyB*** querying acoustic contact ***zhhgggggggzfrfffBdddcc?ɢxBB LIi u&3;ɡqiqIuڄIyit=i0>)))1 1]DDAT read: Rx Time:23:58:04.1083 uTRx dataTimestamp_ set to:1758412681.804442PDAT read: Bearing 62.5, 40.4 (Local) i0~Local bearing/azimuth received: Bearing 62.5, 40.4 (Local) EDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 DAT read: 23:58:04.1083 LVL= 7056, 14145, 13986, 12787, AGC= 42, IDX= 500, 0.09, 0.841, 0.156,-0.639, 1.445, PHS=-0.502,-1.244,-2.128, RAW= 57.1, 44.2, CAL= 53.8, 49.5, ROT= 96.2, -49.5 ]Ygot valid direction response: 23:58:04.1083 LVL= 7056, 14145, 13986, 12787, AGC= 42, IDX= 500, 0.09, 0.841, 0.156,-0.639, 1.445, PHS=-0.502,-1.244,-2.128, RAW= 57.1, 44.2, CAL= 53.8, 49.5, ROT= 96.2, -49.5 ]V#Rx 110: Read range and direction messages.e^direction in FSK: [-0.070140,0.645649,0.760406]eFpublishing direction and range info9imD4(?y;>U?mf@iimmA7m6m1m* m)md;Im'1im ?m|E?mvap?m +]?m? m +]iiiImyJ?05n\L?mZ}m8ZE m?)m +]iiichecking for new query: numPingsReceived=110, elapsed TxPingTime=52.536640>A >bA ZA A D D nD 1D E : E :6E -4:E ! @! @! @! @I I N > checking for new query: numPingsReceived=110, elapsed TxPingTime=52.708755, 3Ay:=@ٱ:}K@:^<:~mڻ:H: J2?|`К99FYfE9,=A>Q 15٪O?Q 55 j,9=Q A8U?h?h +]vٵ'?l5sc*!c?v'`Ӽ?Y &d>?hhY%>h\?hnh;B*iY)A)ai0y>A;>I9IINUu>mDDAT read: Rx Time:23:58:04.6082 mTRx dataTimestamp_ set to:1758412682.305695}PDAT read: Bearing 54.9, 43.7 (Local) }~Local bearing/azimuth received: Bearing 54.9, 43.7 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 AA@AvB?>~BBBBBBB;B2QEBaBaBaBaBaBeǙ4DAT read: 23:58:04.6082 LVL= 9040, 16545, 16946, 15091, AGC= 44, IDX= 499, 0.12, 0.997,-0.032,-0.622, 1.348, PHS=-0.248,-1.334,-2.013, RAW= 67.6, 39.5, CAL= 63.4, 45.9, ROT= 86.6, -45.9 Ygot valid direction response: 23:58:04.6082 LVL= 9040, 16545, 16946, 15091, AGC= 44, IDX= 499, 0.12, 0.997,-0.032,-0.622, 1.348, PHS=-0.248,-1.334,-2.013, RAW= 67.6, 39.5, CAL= 63.4, 45.9, ROT= 86.6, -45.9 V#Rx 111: Read range and direction messages.\direction in FSK: [0.041272,0.694688,0.718126]Fpublishing direction and range info9imW!?:? ?m@iimP#m@m2Bm:m, m})mImim?m|0?m?mKM?m\w? mKMiiiImx~?,|RuZ?m3jmy0 m\w?)mKMiiichecking for new query: numPingsReceived=111, elapsed TxPingTime=52.988079ԩ !!,%3Aɰ;4<@DPDRkDR,DPEP ER:6ERg4:EP"ER;!ZER ;!Z*ER@;!ZER@;!ZB9IBD-#6D-Ӏ3Y=/<!=O=EQ)E>A9A9MFYMhEMAM>QQ 1]5٪UL?Q 5]5U Uo,9aYaQ Ee@yQ)U;IU;iU.5Yim Aihh3AhO?hO?hea@ v\5?+? ?uW!?:? ?h\w?hKMvĶ?Ha-؇:?vc-0 ̟Wqs?hh}hUG?hhB*iUG?2in:ii?"iL@] addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.501253 s, deltaX: -0.100000 m, approachRate: -0.199500 m/s, rangeRepo size: 4  Added new target pos. range: 1.994604 m, bearing: 267.464658 deg, lat: 36.779128 deg, lon: -121.859765 deg, deltaT: 0.501253 s, deltaX: -0.099730 m, approachRate: -0.198961 m/s, posRepo size: 4 gggggggchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.215408zfrff fBdddc@c ?ɢae9 aeDIi mN;ɡqiqIuY yIi=iz&>))ԱiUYYeK0a>A OT> I9  DDAT read: Rx Time:23:58:05.1083  TRx dataTimestamp_ set to:1758412682.813420 PDAT read: Bearing 43.9, 47.1 (Local)  ~Local bearing/azimuth received: Bearing 43.9, 47.1 (Local) I  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 NM > DAT read: 23:58:05.1083 LVL= 10224, 16305, 15346, 14179, AGC= 43, IDX= 500, 0.28, 0.735,-0.711,-1.050, 0.760, PHS= 0.077,-1.426,-1.855, RAW= 77.8, 32.8, CAL= 73.7, 40.9, ROT= 76.3, -40.9  Ygot valid direction response: 23:58:05.1083 LVL= 10224, 16305, 15346, 14179, AGC= 43, IDX= 500, 0.28, 0.735,-0.711,-1.050, 0.760, PHS= 0.077,-1.426,-1.855, RAW= 77.8, 32.8, CAL= 73.7, 40.9, ROT= 76.3, -40.9  V#Rx 112: Read range and direction messages.E \direction in FSK: [0.179015,0.734349,0.654741]E Fpublishing direction and range info9 rgq?@?{S? f@ i ' ? ; c7 + -=) +I pi έ? C? ? 36? t? 36*K,3AiIn93?3bW&DV?< t?)36iFchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.547661yN?@ٱNM@N 99FYkE=A>Q 15٪K?Q 55n r,9G=Q ACӿ~$>8kE&?vZA¿߬*PV?hſh_h?1?h$j h؄B*i2in:iBis?"i@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.507725 s, deltaX: 0.100000 m, approachRate: 0.196957 m/s, rangeRepo size: 4  Added new target pos. range: 2.094334 m, bearing: 258.681756 deg, lat: 36.779128 deg, lon: -121.859766 deg, deltaT: 0.507725 s, deltaX: 0.099730 m, approachRate: 0.196425 m/s, posRepo size: 4 DDtD.DE: Ev:6Eـ4:E!@!@!@!@gggggggzfrfffcBBdddc@c? ɢ5vB5* 15f?I1 =QI;ɡ9i9I=oIAiES=iE?>)A)iquAchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.720100i00@ A@ A>AEm$>9IAIQNew>a 3,3Ay6K@@ٱ6CN@6=6 =6Hz?,Ǵ}@?@; L?`?I6K@@)69^;i6CNB9RI)T VABDZ-6DZ3Yf!fk=j;Q)j?h9h9nFYnmEng<An?pQ 1v5٪rJ?Q 5v5r rt,9xYzQ Ez@yp)r::Ir>:ir25Y|~ A) %DDAT read: Rx Time:23:58:05.6082 -TRx dataTimestamp_ set to:1758412683.3126925DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 vBA~BABABABABABABEܘ;BE,QEU\#Rx 113: Read range message, but no direction.9)-@)]checking for new query: numPingsReceived=113, elapsed TxPingTime=53.978889a} addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.499272 s, deltaX: -0.100000 m, approachRate: -0.200291 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@c ?ɢuBTW HI  ;ɡiIgIi.=itcE>))imqquO5qԉrD=jDp=DDiDDEU: E96E:E"E;!E;!*E8;!E8;!>A[Z&>I9IaN>checking for new query: numPingsReceived=113, elapsed TxPingTime=54.223289 \,v3Aiy6K@@ٱ6N@6E =6C=6H ʲ? ) `]Ʀ? g@o??I6K@@)6Õ^;i6CRB9R IBDX6DXYbA4=!bK=b4P;Q)f>d9d9fFYfpEj]<Aj>lQ 155٪nI?Q 555n nv,91Y5FQ E=@yl)nK))i599=(59>Ar.>UDDAT read: Rx Time:23:58:06.1083 eTRx dataTimestamp_ set to:1758412683.821520DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 \#Rx 114: Read range message, but no direction.9Y]f@Ychecking for new query: numPingsReceived=114, elapsed TxPingTime=54.492214AYIaIyNZ>D D rD +D E : E ?:6E [4:E ! @! @! @! @A  checking for new query: numPingsReceived=114, elapsed TxPingTime=54.727226E,S3Ay6]A@ٱ6:VO@6: =6r7=6H?`ˣ@d `? r 9??I6]A@)6a^;i6CBB9B IMb@Mb@Mb@ )IiJ +?kt?H= 0=IVAiAAA)ABD'6D3Y.<!:=:Q)>99FYsEo<A>Q 15٪H?Q 55. 9=Q AK)Q)YiQ5A=DDAT read: Rx Time:23:58:06.6082 ETRx dataTimestamp_ set to:1758412684.320397MDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 U\#Rx 115: Read range message, but no direction.9AE@A]checking for new query: numPingsReceived=115, elapsed TxPingTime=54.982864AaAe<vBm@>~BiBiBiBiBiBiBiBm-QEi>A- D>bA1 ZA1 i I G) I1 im Wjq u nAAy I I ԙ N >n,-3ADBDBwDB.D@EBC: EB:6EBـ4:E@"EB2;!JEB4;!J*EBk;!JEBk;!NB9% IBDE+6DEE3Ye!eR=mQ)u>q9q9}FY}uEA>Q 15٪F?Q 55 9YQ E@y)?a;Ib;id75YN Aqchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.231346 addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.498877 s, deltaX: -0.100000 m, approachRate: -0.200450 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@c@?ɢqBė! x)I %g:ɡ!i!I%JI)i-=i- P>)))Qi@5ԡ>AxL>A1IAIQNm>)Q Q u DDAT read: Rx Time:23:58:07.1082  TRx dataTimestamp_ set to:1758412684.829791 PDAT read: Bearing 26.4, -0.5 (Local)  ~Local bearing/azimuth received: Bearing 26.4, -0.5 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ] DAT read: 23:58:07.1082 LVL= 11552, 13601, 17778, 21411, AGC= 45, IDX= 502,-0.10, 0.409,-1.212, 0.435, 1.311, PHS=-0.801,-2.479,-0.920, RAW= 146.4, 42.5, CAL= 151.1, 52.4, ROT= 358.9, -52.4 } Ygot valid direction response: 23:58:07.1082 LVL= 11552, 13601, 17778, 21411, AGC= 45, IDX= 502,-0.10, 0.409,-1.212, 0.435, 1.311, PHS=-0.801,-2.479,-0.920, RAW= 146.4, 42.5, CAL= 151.1, 52.4, ROT= 358.9, -52.4  V#Rx 116: Read range and direction messages. ,93A"PExceeded connect timeout, disconnecting.y:A@ٱ:iO@N^direction in FSK: [0.610033,-0.011713,0.792290]RFpublishing direction and range info9]Ec?erۘ"){oZ?i -!5rES- VM)IkiƇ#@N=?(@ j?r@  jiIX<%?F&?7?:?v>= F) jivchecking for new query: numPingsReceived=116, elapsed TxPingTime=55.580677:N=:M =:H Y}?˾@ù@x@??)?I:A@):>^;i:C-)B95 IMb@Mb@Mb@ )Ii#~j?/$?Mbp=<IlAiAVAA)ABD&6Dދ3Y5[]=!50=5ڻQ)5>9999=FY=xEE-;AE>IQ 1u5٪MC?Q 5u5M Mx,9u=Q Au)y)ychecking for new query: numPingsReceived=116, elapsed TxPingTime=55.737099iL1) >A QO>rA ?jA ?Q A) I1 II ] DDAT read: Rx Time:23:58:07.6082 ] TRx dataTimestamp_ set to:1758412685.328756e PDAT read: Bearing 38.2, -11.5 (Local) m ~Local bearing/azimuth received: Bearing 38.2, -11.5 (Local) } DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 23:58:07.6082 LVL= 10192, 12273, 17314, 18931, AGC= 44, IDX= 501, 0.02,-0.381,-1.097, 0.363, 1.194, PHS=-1.473,-2.246,-0.875, RAW= 175.8, 53.7, CAL= 176.0, 61.4, ROT= 334.0, -61.4  Ygot valid direction response: 23:58:07.6082 LVL= 10192, 12273, 17314, 18931, AGC= 44, IDX= 501, 0.02,-0.381,-1.097, 0.363, 1.194, PHS=-1.473,-2.246,-0.875, RAW= 175.8, 53.7, CAL= 176.0, 61.4, ROT= 334.0, -61.4  V#Rx 117: Read range and direction messages. ^direction in FSK: [0.430245,-0.209845,0.877983] Fpublishing direction and range info9Y ] 3#?\a1ʿE+o?Y Y i] '] /] C] I] , ] D)] wI] `i] ^D@] o?] D@] >+?] q@ ] >+iY Y I] B~bF?A)I?&?] (@y?] 2p ] V)] >+iY Y  checking for new query: numPingsReceived=117, elapsed TxPingTime=56.002911vB ~B B IB BB B B B Θ;B QEN5>ut,*V3Ay&A@ٱ4O@<~<H?1@2>G?`?Z+? ?I&A@);^;iC=,B9= IIMp99FY{EsA>Q 15٪@?Q 55V {,9Y2Q E@y);I;i7;5Y AhhW U3Ahhhfq0@ v*L$v?\ڿ_A ?u3#?\a1ʿE+o?hVh>+vh"UP ?6f?v;j޿0k?x"*y?h>hrh?h>hB*i?1?2i:i;Bi?"i@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.498965 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994610 m, bearing: 157.959952 deg, lat: 36.779126 deg, lon: -121.859766 deg, deltaT: 0.498965 s, deltaX: -0.000000 m, approachRate: -0.000000 m/s, posRepo size: 4 gggggggzfrfffBdddcc *?ɢeoBe&N aeIa mϩ:ɡiiiImܿ9Iqiu=ium M>)q)q)qDDsDDEҝ: EZ:6E:E"E;!E;!*E$];!E$];!i,3iI4=checking for new query: numPingsReceived=117, elapsed TxPingTime=56.239681ԡ>A Q> Ai Iq I N >ؖ,؛p3Ayb'A@ٱbyO@bt99FY}E 58A > Q 15٪ N>?Q 55  },9Y2Q E@y 0EE) ;I ;i <5Y)-} A)EB*** querying acoustic contact ***zhIhIgQgQgYgYgagagazfirfqffBdddcc ?ԱɢnBٻ ܽI :ɡiI3Ii=iM>))]DDAT read: Rx Time:23:58:08.1083 mTRx dataTimestamp_ set to:1758412685.836912PDAT read: Bearing 59.7, -23.2 (Local) ~Local bearing/azimuth received: Bearing 59.7, -23.2 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 iyyy4 DAT read: 23:58:08.1083 LVL= 12960, 11089, 20722, 17331, AGC= 44, IDX= 502, 0.12, 1.314, 1.754, 2.639,-2.672, PHS=-2.195,-1.812,-1.016, RAW= 228.6, 59.6, CAL= 229.9, 65.2, ROT= 280.1, -65.2 Ygot valid direction response: 23:58:08.1083 LVL= 12960, 11089, 20722, 17331, AGC= 44, IDX= 502, 0.12, 1.314, 1.754, 2.639,-2.672, PHS=-2.195,-1.812,-1.016, RAW= 228.6, 59.6, CAL= 229.9, 65.2, ROT= 280.1, -65.2 V#Rx 118: Read range and direction messages.%^direction in FSK: [0.073558,-0.412952,0.907777]EFpublishing direction and range info9ae Բ?m.mڿ hH ?ef@aie2eQ+ePeCa ez )eIeJ ieBY@e%?ef@e?eo@ eiaamnManaging dock network, ignoring radio surface power offIe?1Ŀq:<@?= ?e5?e( e)eiaachecking for new query: numPingsReceived=118, elapsed TxPingTime=56.568863>AN>AII1N=q>DDDDEs: E6E:E!@!@!@!@ checking for new query: numPingsReceived=118, elapsed TxPingTime=56.743172A +,3Ay>:;A@ٱ>3O@><>B<>H@Y?I@s?{dp?t?I>:;A@)>];i>Cr9B9r, I}Mb@Mb@Mb@ y)yIyiyy}Zd;O?:vMb`?}j<}T};Iyi}lA}A}A)y}GABD*6D3YF<!@=Q)>99FYEz=;A>Q 15٪M=?Q 55 9 i=Q Ai5Yh Ahhu3Ah @h @hD.? v1D%?뿄$Q!Kk?u Բ?m.mڿ hH ?hhvqҿȀ0p0J?9?vyscp?(Y?hQb?hhcw$?h hB*icw$?2iY:i=Bi>"i-S@% addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.508156 s, deltaX: 0.100000 m, approachRate: 0.196790 m/s, rangeRepo size: 4 = Added new target pos. range: 2.094340 m, bearing: 108.405728 deg, lat: 36.779125 deg, lon: -121.859753 deg, deltaT: 0.508156 s, deltaX: 0.099730 m, approachRate: 0.196259 m/s, posRepo size: 4 g9g9g9g9g9g9g9zfArfAff|BBdddc@c@?ɢmB (νI %3:ɡ!iAIE+Iaim==imN>)i)iiB5EDDAT read: Rx Time:23:58:08.6082 ETRx dataTimestamp_ set to:1758412686.336490MDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 U\#Rx 119: Read range message, but no direction.9AE@A]checking for new query: numPingsReceived=119, elapsed TxPingTime=56.998955aAAvB~BBIBBBBBBȘ;BQEԉ>A M>bA- AZA- AAq I I Ա D D pD .D E ҝ: E  :6E ـ4:E "E ! E ! *E 8R;! E 9R;! N >>,S3Ay:tkA@ٱ:cO@Rchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.247375:<:ao<:H"?͞@C` m?s?S?I:tkA@): ^;i:C)9-+ IBD=%6D=03YMᎺ!MQ=MPvQ)M>Q9Q9UFYUE];A]>aQ 1m5٪e`))i4@ >@=Թ]DDAT read: Rx Time:23:58:09.1082 ]TRx dataTimestamp_ set to:1758412686.840823eDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 m\#Rx 120: Read range message, but no direction.9YYYuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.>A O> A I I N% > Q,73Ay6A@ٱ6AO@6Q<6J<6H``ł?`v``S a?>Q?`R?I6A@)6< ^;i6CZBB9^7 I=Mb@Mb@Mb@ 9)9I9i99=kt?&1Mbp= 0==P=I=Ai=A=A9)99BD6D\3DMDMuDM/DIEMغ: EM:6EMJ4:EI!]@!]@!]@!]@Yu$=!u9=u'Q)u>y9y9}FY}EA<A>Q 15٪:?Q 55 ,9݈=Q AF))i}yy}5y>AE (Q>I ] DDAT read: Rx Time:23:58:09.6081 e TRx dataTimestamp_ set to:1758412687.344348m DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 u X#Rx 1: Read range message, but no direction.9a e f?a u 2Acoustic response timeout} Querying Benthos address 50 with 120 pings in terminal homing one-way mode.vB A>~B B IB BB B B B Ϙ;B QEBiBiBiBiBiBm˰4A I I N >,h3Ayj B@ٱj"P@j;:99FYED<A>Q 15٪9?Q 55 ,9Y<@Q E@y2EE)b:I:iD5YAE addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503525 s, deltaX: -0.200000 m, approachRate: -0.397200 m/s, rangeRepo size: 4 gAgAgAgAgAgIgIzfIrfIfQfQBdqdqdqc}?c}`?ɢjB7{ tI /:ɡiIYIiR=inX>))Qiuqqu/yrD=jD<DeDeqDaDaEe: Ee$ :6Ea:Ea"Ee;!mEe;!u*EeU;!uEeU;!uy2Acoustic response timeout>A9T>ԩ A I I N >,3Ay6`B@ٱ6'YP@6<6T|:6Hk ?`DXLmV?m?I6`B@)6 ^;i6C@BDB9B9 IHiJp;BDJ(6DJ:3YR_!V\=VHQ)V>X9X9ZFYZEZzg<AZ>\Q 1b5٪^7?Q 5f5^ ^,9dYf@Q Ef@y\)^:I^:i^E5Yhj AlzB*** querying acoustic contact ***zhxhxgggggg g zf rf f fBdddcc z?ɢAEcO IMpII M,ֆ:ɡIiIIMOqIQiU*Ԣ=i\>))DDAT read: Rx Time:23:58:10.1082 -TRx dataTimestamp_ set to:1758412687.848510EDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 eX#Rx 1: Read range message, but no direction.9!%@!u2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.i}/Ա@@>A^W>DmDmlDm0DiEm: Em:6Em4:Ei!}@!}@!}@!}@ 2Acoustic response timeout A yAI I N >U,R 3Ay:JB@ٱ:P@:Ѳ<::H@c̾?Yžyg8vՙ@c`^?I:JB@):T];i:CFIB9F? IlMb@Mb@Mb@ )Ii ףp= ?y&1MbpQ8=`IAiA?A$A)ABD5!6D5r3YE<!EA=E:Q)M>M H?9M H?9MFYMEUE<AU>YQ 1e5٪]5?Q 5e5] ],9eY=Q Amy)9)9 i/-DDAT read: Rx Time:23:58:10.6081 5TRx dataTimestamp_ set to:1758412688.352375=DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 =X#Rx 1: Read range message, but no direction.9)AE<AE<vBM@>~BIBM IBMBBIBIBIBM͘;BMQE-f?)u2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.9>A- Ի[>i I) I9 NU >D] ~DY D] 2DY E] : EY 6E] 4:EY "E] s;!m E] t;!m *E] C;!m E] C;!m ,%3Ay6CC@ٱ6y99FYEW<A>Q 15٪*4?Q 55 ,9Y-@Q E@y3EE):I:iNI5Y A addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503865 s, deltaX: -0.200000 m, approachRate: -0.396932 m/s, rangeRepo size: 4 gggggggzfrfffBdddc?c`A(?ɢf~ 額(I Op:ɡiI[BIi/=if>))imiim/iq>Aeas`>IYIiN|>ԑ=DDAT read: Rx Time:23:58:11.1082 =TRx dataTimestamp_ set to:1758412688.856359EDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 MX#Rx 1: Read range message, but no direction.99=@9U2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. ,Lp?3Ay6C@ٱ6YQ@6<6ֹ6H@%wo?ʝ@$m 9r`u!:s?I6C@)6^;i6CBIB9B? IԙDD~D/DEs: E(:6EJ4:E!@!@!@!@uMb@Mb@Mb@ q)qIqiqquy&1?Zd;OMbP?u`e!9!9-FY-E-<A->1Q 1=5٪53?Q 5=55e 19E)))2Acoustic response timeouti/@=@!>>Ana>I9 IQ N] > )A E AE DDAT read: Rx Time:23:58:11.6081 M TRx dataTimestamp_ set to:1758412689.360560U 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.9I M f?I ] 2Acoustic response timeoute Querying Benthos address 50 with 120 pings in terminal homing one-way mode.vB ~B B  IB !BB B B B Ř;B QE&,LY3AIJG)TI`ivwtv|ADB99 IBD 6D f?3YE!EH=EQ)E>I9I9MFYMEMAU>YQ 1]5٪]2?Q 5e5]+ ],9aYaQ Ee@yY)]:I]W:i]L5Yim Aq addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504201 s, deltaX: -0.200000 m, approachRate: -0.396667 m/s, rangeRepo size: 4 gggggg g zf rf ffBdddc?caj?ɢAE5 IMȐII MaS:ɡQiQIUdIQi]=i]l>)Y)YDDlDDE: E:6E:E"E;!E;!*E!E!i!>Ai>I!I1NEQ>2Acoustic response timeoutIy 1, %s3Ay6uE@ٱ6S@6c} =6,<6H_@;?`N@Eÿ6st?Ů`y?@?I6uE@)6{3^;i6CRd9d9fFYfEfb=Aj>hQ 1r5٪js2?Q 5r5j h9pYr@Q Er@yh)j@;Ij;ij~N5YxzN AxB*** querying acoustic contact ***zhhgg!g!g!g!g!g!zf!rf!f)f)Bd)d)d1c1c5ю?DDAT read: Rx Time:23:58:12.1082 %TRx dataTimestamp_ set to:1758412689.867738-DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5X#Rx 1: Read range message, but no direction.9@=2Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Yɢ, L<页0I J'D:ɡiI<,ݺIi m=i5}>)1)Ai%))-/)ԁBEJ4JE(4REA/DDoD2DE: E:6E4:E!@!@!@!@Ա>AM l> 2Acoustic response timeoutI I N > #,T3Ay:E@ٱ:tS@:hl=:<:HJ@"?{ܣ`2ſH?x̢z?z?I:E@):#^;i:CF>B9F2 IMb@Mb@Mb@ )Ii{Gz?y&1|MbP?#<`IiAVAA)A)i-4<BD-6D-\3Y=<!EB=E;Q)E>A9I9MFYMEM^<AM>QQ 1]5٪U2?Q 5e5U Q9eH)q)yԱiIIIM/I@Q@QAAvB~BB IBBBBBBĘ;B>AE%jr>UDDAT read: Rx Time:23:58:12.6081 UTRx dataTimestamp_ set to:1758412690.377302eDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 eX#Rx 1: Read range message, but no direction.9QUf?Qm2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.IIN J> D D zD /D E : E  :6E J4:E "E B;! E C;! *E v;! E v;! 9 D),]ݦ3Ay6wF@ٱ6>pT@6=6@<6Hxg?@۝ƿ~?:Ē??I6wF@)6^;i6CZDDAT read: Rx Time:23:58:13.1082 bTRx dataTimestamp_ set to:1758412690.631076f2Acoustic response timeoutr7B9r) IBD46Df3Y!B=ˊ;Q)>99FYEh<A>Q 15٪1?Q 55 9Y[-@Q E @y):I4:i/R5Y5x A1 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.509564 s, deltaX: -0.200000 m, approachRate: -0.392493 m/s, rangeRepo size: 4 gggggggzfrfffBdddc?cm?ɢ)mG qu½Iq u:ɡqiqIuIyi}j*=i}A>)y)i%!!!)9)Q UA]DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 eX#Rx 1: Read range message, but no direction.9QU@Qe2Acoustic response timeoutmQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.>AM p{>q A] AIa Iy N > .0,'3A yvG@ٱv U@v"=vK?9K?9FYEѿ<A>Q 15٪0?Q 55& 9=Q A))qDDAT read: Rx Time:23:58:13.6081 TRx dataTimestamp_ set to:1758412691.137199DAT 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?2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙ95[RӺi/@>@)>>A 1> vB ~B B  IB BB B B B ˘;B QE] 2Acoustic response timeoutA yAI I N >U6,3Ay6'G@ٱ6U@6ֿ'=67<6H d[?eȿ a?z_??I6'G@)67^;i6CB-B9B IIH)HBDJ5P6DJ3YVn!V^=Z^;Q)Z>Z H?9Z H?9ZFYZE^<A^>`Q 1f5٪b0?Q 5f5bi `9dYjQ Ej@y`)b:Ib:ibU5Yln Al  addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.257487 s, deltaX: -0.200000 m, approachRate: -0.776738 m/s, rangeRepo size: 4 g ggggggzfrfffBd!d!d!c%?c%U-?ɢQU| QUlIQ g`9ɡiIhIii))93;iMIIM0IDDoD/DE: E:6EJ4:E"E;!E;!*EN;!EN;!i߽%=I߽%=,DAT read: user:1022> 2Acoustic response timeout>AUׄ>) A I I N >_<,#k3Ayv_H@ٱv XV@vN+=vّ.^;ivC| 1B9 ! I,DAT read: user:1022> %BDAT read: Tx time:23:58:14.5173 %$Ping request sent.-y9y9}FY}E}O<A>Q 15٪)/?Q 55 ,9Y=Q E@y)e;I;iW5YbB AEB*** querying acoustic contact ***zhhggggggg zfrff!f)Bd1d9dA1cIc?ɢIU@ͻ QU޽IQ Uqq9ɡYiYI]TkIYii))YDDwD1DE: E:6E-4:E!@!@!@!@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2506739 <ԁ i} y y 2 Ա >A܄>AAvB A>~B B IB BB B B B ̘;B QEBBBBBBE_4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502727AIIN?:F,!3AyNW I@ٱNW@N0=N ߩ9 9 F Y E<A>Q 1%5٪.?Q 5%5m ,9%9=Q A-A A!IIN>YM,"93Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789yV1I@ٱVW@VY5=Va99FYEe<A>)IQ 15٪M.?Q 55M  M,9YԿQ E@yM5EE)MMA5 ׄ>ԩ A AI I N >W8U,U3AB9 IvB)~B)B-IB-BB)B)B)B-ט;B-(QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510803Mb@Mb@Mb@ )Ii:v?v/?{Gzt?T<xi=ף;IAi$A; A)BD6D3Yk<!5=Q)>!K?9%K?9%FY%E-A->1Q 155٪5.?Q 5=55 5,9=Wp=Q A=bA܄> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764264A I I N= >ԡ ;W[,o3A$i$ybJ@ٱb`X@b9=b^)9195FY5E5P=A5>9Q 1E5٪=.?Q 5E5=? =,9IYMƿQ EM@y=6EE)=:I=u:i=_5YQUt AYgyggggggzfrfffBdddcc`B@ɢM -I VaɡiIDIii))ԑi511=/9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014702>A}ׄ>A I I N >D D sD .D E : E Z:6E ـ4:E ! @! @! @! @ >b,j3A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850y>^K@ٱ>kWY@> A8=>P<>Ha?п @ ?`$@k? ?I>^K@)>];i<RB9RIi=IMb@Mb@Mb@ )IiI +?sh|??9<=IAiA)ABD)6D3Y8$!>=Q)>99FYE4<A > Q 15٪ .?Q 55 8 9گ=Q A~BABEIBEBBABABABE;BE4QEiDDAT read: Rx Time:23:58:16.6491 TRx dataTimestamp_ set to:1758412694.409201 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9@checking for new query: numPingsReceived=1, elapsed TxPingTime=2.522975Ia)yIi- ɬ1 5 AI >AM >A} yAI I N >ih,AI3AB9IBD-(6D-:3bD9ZD=?ADEDEuDE<DAEE: EE:6EE 4:EA"EE#;!MEE%;!U*EEkd;!UEEld;!UYW;!O=Q)> H?9 H?9FYEA>Q 15٪.?Q 55 ~,9YQ E@y7EE) :IS:ibc5Y A  addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 3.272002 s, deltaX: 0.200000 m, approachRate: 0.061125 m/s, rangeRepo size: 4 g g g g gggzfrfffBddd!c%@c%@X?ɢIMT QU2IQ UɡYiYI]n9IYiaia)a)a]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771090Yi/y>A ׄ>rA?jA>ԩ Ae AIy I N > DDAT read: Rx Time:23:58:17.1490  TRx dataTimestamp_ set to:1758412694.912383 DAT 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.9  f? % checking for new query: numPingsReceived=2, elapsed TxPingTime=3.026198n,03Aɰ @B9IMb@Mb@Mb@ )IiZd;O?{Gz?MbP?j<ף=:IAiA?A; A)=ABD-6D3Y <<! 5=Q)>K?9K?9FYEA>!Q 1-5٪%.?Q 5-5% %},95}=Q A5A ܄>vB5 ?>~B1 B5 IB5 ߁BB1 B1 B1 B5 ;B5 =QEI Ae yAIq I N >v,3Ay6SL@ٱ6Z@6x =6v@=6Hb?`'`п ? ??I6SL@)< <BDDAT read: Rx Time:23:58:17.6492 BTRx dataTimestamp_ set to:1758412695.416697FDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 JX#Rx 3: Read range message, but no direction.9@Bf@@Nchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.530486)6];i6CT9T)X ZABD^06D^3Yfޙ:!f]=fhQ)j>j H?9j H?9nFYnEn<An>pQ 1v5٪r.?Q 5v5r r|,9tYzC˿Q Ez@yr8EE)r;Ir;irf5Y|~i A| addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504314 s, deltaX: 0.300000 m, approachRate: 0.594867 m/s, rangeRepo size: 4 g g g ggggzfrfffBdddc%@c%1?ɢmB85[ 顕Z/I bZPɡiIX&:Iii))iAIIM/IrD=jD4=DDvD/DE E:6EJ4:E"E;!-E;!-*Eh;!-Eh;!->A-ׄ>UDDAT read: Rx Time:23:58:18.1491 ]TRx dataTimestamp_ set to:1758412695.673311uchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.786880ԡ A I! I9 NM >/A|,Mf3A@yBK@ٱBY@B=B P=BHc?kп`"?EU`` ? ?IBK@)B];iBCL9N IBDV6DVF3Y^ ;!^L=bXfQ)b>`9`9bFYbEfAf>hQ 1n5٪j.?Q 5n5j jz,9lYr˿Q Er@yh)jI;Ij;ijh5Ytve Atgggggggzfrff!f!Bd!d!d)c)c-&?ɢQUz\ Y]/IY ]_qɡaiaIeM:Iaiiii)i)ii/DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 X#Rx 4: Read range message, but no direction.Ա9@checking for new query: numPingsReceived=4, elapsed TxPingTime=4.035663>A]܄>D5 D5 oD5 *D1 E5 : E5 :6E5 (N4:E1 != @!= @!= @!= @A I I N > u DDAT read: Rx Time:23:58:18.6491 } TRx dataTimestamp_ set to:1758412696.177863 checking for new query: numPingsReceived=4, elapsed TxPingTime=4.291200"),A 3Aiy6GK@ٱ6Y@6K==6cW=6H[?Ϩ|п 1`;?@@?Q?I6GK@)6)];i6CNB9P ]Mb@Mb@Mb@ Y)YIYiYY]=pQ)>99FYEܶA>Q 15٪.?Q 55Z w,9P=Q A>~BBIBځBB =BBB;BHQEDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 X#Rx 5: Read range message, but no direction.9checking for new query: numPingsReceived=5, elapsed TxPingTime=4.536882Y>Aԁ A AI I N5 >D= D= qD= +D9 E= : E= $ :6E= [4:E9 "E= U;!M E= V;!M *E= U;!M E= U;!M S,'3Ay6K@ٱ6Y@6 =6QR=6HA`c+? @Jп ? "yJ?j?I6K@)6K];i4>B9B IiF=IFp=BDJ'6DJ3Y%F<!%P=-㫻Q)->-K?95K?95FY5¶E5lA5>9Q 1E5٪=.?Q 5E5= =u,9IYMQ EM@y9)=:I=:i=Ol5YQYUP AY addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503722 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gggggggzfrfffBdddcc@E?DDAT read: Rx Time:23:58:19.1490 TRx dataTimestamp_ set to:1758412696.679730%checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792102ɢEoBES IM,II M98ɡIiIIM8:IQiQiQ)Q)Yԉi/Ա>A)  DAT 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.9  f?  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.041935 A= yAIA IY N} >%?,A3AyeK@ٱ^Y@1=p?A=H?@n勵п`g=?e w"??IeK@)];iCB9 IԱ5Mb@Mb@Mb@ 1)1I1i115:v? rh?~jth5T<5C<5DI5VAi5A5?A1)15ABDM"6DMJz3Y]o<!]8=]FQ)]>e H?9e H?9eFYeĶEeʻAm>qQ 1u5٪u.?Q 5}5u uv,9}AY A vB ~B B IB ߁BB B B B ;B IQEBYBYBYBYBYB]64IQ Ii Nu >0y,&[3A.DAT read: 23:58:19.6491 LVL= 14800, 12833, 18274, 16547, AGC= 42, IDX= 506,-0.13, 0.430,-1.616,-1.237, 0.241, PHS= 0.292,-1.812,-1.521, RAW= 97.3, 28.6, CAL= 95.9, 35.6, ROT= 54.1, -35.6 2Ygot valid direction response: 23:58:19.6491 LVL= 14800, 12833, 18274, 16547, AGC= 42, IDX= 506,-0.13, 0.430,-1.616,-1.237, 0.241, PHS= 0.292,-1.812,-1.521, RAW= 97.3, 28.6, CAL= 95.9, 35.6, ROT= 54.1, -35.6 2X#Rx 8: Read direction message, but no range.6\direction in FSK: [0.476780,0.658645,0.582123]9\J?ў8?%I?i9!2bG@* >)I!¿i^?r>>??q? iIN?Gܻoտo?eʾG q?)Fchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.552161yv-K@ٱv &Y@vTA9I9MFYMǶEMcAM>Q 15٪B.?Q 55M w,9YQ E@y):I:io5Y Ah1h5K3Ah5O?h5O?h5A@ v5MXxn?* ??u5\J?ў8?%I?h5q?h5v5X俋CeX&|?v5ӿ㎐ԿY3aX/?h5@h5$h5A@?h5S&h5B*i5A@?2i1:i1i5+?"i56@5 addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.256502 s, deltaX: 0.200000 m, approachRate: 0.779721 m/s, rangeRepo size: 4 E Added new target pos. range: 1.994601 m, bearing: 246.453372 deg, lat: 36.779120 deg, lon: -121.859753 deg, deltaT: 11.347348 s, deltaX: -0.099739 m, approachRate: -0.008790 m/s, posRepo size: 4 gagagagigigigizfirfifqfqBdqdqdqc}@c}?ɢ  J{@  I  kɡiI:Iii))!!i/DDsD/DEa: EZ:6EJ4:E"Ed;!Ee;!*E$];!E$];!i=I<DDAT read: Rx Time:23:58:20.1490 TRx dataTimestamp_ set to:1758412697.688893=PDAT read: Bearing 31.7, 28.6 (Local) E~Local bearing/azimuth received: Bearing 31.7, 28.6 (Local) IuDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 9: Read range message, but no direction.9f?checking for new query: numPingsReceived=9, elapsed TxPingTime=5.816640>A q Iq I N >œ,DŽu3Ay>J@ٱ>X@>j<>=>H@`?졿~#Ͽ?@??I>J@)> ^;i<J+B9J I)L NABDV#6DVӀ3Y^%=!^O=^GûQ)^>`9`9bFYbɶEbIeAf>dQ 1j5٪f-?Q 5n5f fx,9lYn{Q En@yd)f;If;ifq5Ypv At addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504633 s, deltaX: -0.200000 m, approachRate: -0.396328 m/s, rangeRepo size: 4 ggggg!g!g!zf!rf!f)f)Bd)d)d)c5?c5 ?ɢ]pB]sB aeIa evKͺɡaiaIe:Iiiiiq)q)qi/-DAT read: 23:58:20.1490 LVL= 15136, 11377, 17890, 17491, AGC= 43, IDX= 505,-0.03,-1.007,-2.759,-1.965,-0.800, PHS=-0.105,-1.914,-1.209, RAW= 112.7, 35.9, CAL= 109.8, 43.2, ROT= 40.2, -43.2 5Ygot valid direction response: 23:58:20.1490 LVL= 15136, 11377, 17890, 17491, AGC= 43, IDX= 505,-0.03,-1.007,-2.759,-1.965,-0.800, PHS=-0.105,-1.914,-1.209, RAW= 112.7, 35.9, CAL= 109.8, 43.2, ROT= 40.2, -43.2 =Z#Rx 10: Read direction message, but no range.E\direction in FSK: [0.556783,0.470518,0.684547]9  2 zH+?O:?X? i  ; q, E SD + = ׽) I i 3? g ? K? A? 3? Ai I lצ+?05\P1? d 2 3?) Amchecking for new query: numPingsReceived=10, elapsed TxPingTime=6.059064i>AIQIaNuy>ԁDDrD-DEC: E?:6Et4:E!@!@!@!@ DDAT read: Rx Time:23:58:20.6491  TRx dataTimestamp_ set to:1758412698.192134 PDAT read: Bearing 30.1, 13.0 (Local)  ~Local bearing/azimuth received: Bearing 30.1, 13.0 (Local) - DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 = Z#Rx 11: Read range message, but no direction.9  @ ] checking for new query: numPingsReceived=11, elapsed TxPingTime=6.317836Թ ,DM3A~&B9~ IԑMb@Mb@Mb@ )Ii~jtx~jtx?~jthĻ;IlAiAA)ABD6D4d3Y!,=Q)>99FY̶EA>Q 1 5٪H.?Q 5 5 y,9 t %VSi!I%=ʔQ0?K)?S?k?%C/>%x& %[>)%VSchecking for new query: numPingsReceived=12, elapsed TxPingTime=6.565035iQYY]/Y@e,>@e0>>Ay bA ZA AD D qD ,D E : E $ :6E g4:E "E g <Щ,)3Ay6I@ٱ6WW@6W<6<6H p?TͿ99FY϶EA>Q 15٪.?Q 55 z,9Y Q E@y):IJ;ifu5Y15 A1hh3Ahhhj@ v'sy? V ?NK{+t?uSR?[5l?lk?h[>hVSv'T!濱#?v" GI9'ֿdbp3?h0hh[ouʔ?hLh B*i2iL:i Bi?"isy@m addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504505 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 1.994602 m, bearing: 210.176976 deg, lat: 36.779119 deg, lon: -121.859763 deg, deltaT: 0.504505 s, deltaX: 0.000001 m, approachRate: 0.000002 m/s, posRepo size: 4 gygygygygyggzfrfffBdddcc ?ɢ%qB%&A )- I) -)ɡ)i)I-+k:I9iaia)a)yi999=/9M DAT read: 23:58:21.1491 LVL= 14928, 10737, 17842, 15955, AGC= 42, IDX= 505, 0.17, 0.290,-1.224, 0.187, 0.886, PHS=-0.494,-2.066,-0.743, RAW= 141.5, 38.6, CAL= 147.0, 49.2, ROT= 3.0, -49.2 U Ygot valid direction response: 23:58:21.1491 LVL= 14928, 10737, 17842, 15955, AGC= 42, IDX= 505, 0.17, 0.290,-1.224, 0.187, 0.886, PHS=-0.494,-2.066,-0.743, RAW= 141.5, 38.6, CAL= 147.0, 49.2, ROT= 3.0, -49.2 ] Z#Rx 14: Read direction message, but no range.e \direction in FSK: [0.652525,0.034197,0.756995]9) -  T|?/R?M9?) i i- P:- )- E- S>) - )- X9I- ?5>i- @- iw,?- Y3$@- [?- PwV= - [i) I- G2D?)[?ō?- V]>- j, - PwV=)- [ checking for new query: numPingsReceived=14, elapsed TxPingTime=7.064697>A I I! NM >K,_ 3A yoI@ٱ^hW@<<H0"]? Dq̿O11? —??IoI@) ^;iC5B9& Ii=I=DuDupDu-DqEus: Eu :6Eut4:Eq!@!@!@!@=Mb@Mb@Mb@ 9)9I9i99=Mb~jti==D=I9i=A=VA=A)9=ABD}-6D}3Ye=!7=Q)>99FYѶEA> Q 1%5٪ /?Q 5M5 l 9Uף-p տ=ڥ?va俥 ĿA;5?h(hEhrH?hP_ hQB*iZ┊?2i:iiS?"iu s@] addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503752 s, deltaX: 0.100000 m, approachRate: 0.198510 m/s, rangeRepo size: 4 m Added new target pos. range: 2.094332 m, bearing: 194.027385 deg, lat: 36.779118 deg, lon: -121.859763 deg, deltaT: 0.503752 s, deltaX: 0.099730 m, approachRate: 0.197974 m/s, posRepo size: 4 gigigigqgqgqgqԙzfrfffBBdddc@c J?ɢY]=> Y]lIY eKɡaiaIeZ:Iiiiii)i)i- ) ) - /) vB ~B B IB BB =B B B ;B 2QEIu G) I i Y~ A] DAT read: 23:58:21.6492 LVL= 14192, 10161, 18210, 14995, AGC= 42, IDX= 506, 0.27, 1.490, 0.093, 1.521, 2.222, PHS=-0.630,-2.084,-0.745, RAW= 145.9, 41.1, CAL= 150.9, 51.3, ROT= 359.1, -51.3 e Ygot valid direction response: 23:58:21.6492 LVL= 14192, 10161, 18210, 14995, AGC= 42, IDX= 506, 0.27, 1.490, 0.093, 1.521, 2.222, PHS=-0.630,-2.084,-0.745, RAW= 145.9, 41.1, CAL= 150.9, 51.3, ROT= 359.1, -51.3 e Z#Rx 16: Read direction message, but no range.m ^direction in FSK: [0.625166,-0.009821,0.780430]99 = 5O[?ly 2I?9 i= p7= '= "G= :9 = G!)= B`I= R>i= "@= 7?= (@= 5e?= -@ = 5ei9 I= ?x?=!: ?= e>= 7 = )= 5e checking for new query: numPingsReceived=16, elapsed TxPingTime=7.568645 >A AAIIN%?͸,3A 9B9 + IBD%6D03Y-<!55=5Q)5>=K?9=K?9=FY=ԶE=A=>AQ 1M5٪E}/?Q 5U5E? A9QYQQ EU@yA)E;IEY;iEDy5YY]J Aa}B*** querying acoustic contact ***zhyhygggggggzfrfffBdddcc`9{?rDjD<DDuD.DE1: E:6Eـ4:E"E;!E;!*Ekd;!Eld;!ɢrB[' I <ɡiI5";Iii))))i/@@DDAT read: Rx Time:23:58:22.1491 TRx dataTimestamp_ set to:1758412699.705689PDAT read: Bearing 39.4, -6.0 (Local) %~Local bearing/azimuth received: Bearing 39.4, -6.0 (Local) UDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 uZ#Rx 17: Read range message, but no direction.9@checking for new query: numPingsReceived=17, elapsed TxPingTime=7.835696Q>Ay A yAI I N > DAT read: 23:58:22.1491 LVL= 14240, 10225, 18578, 15443, AGC= 42, IDX= 505, 0.43, 0.107,-0.840, 0.501, 1.246, PHS=-1.037,-2.041,-0.789, RAW= 160.8, 50.0, CAL= 162.7, 58.6, ROT= 347.3, -58.6  Ygot valid direction response: 23:58:22.1491 LVL= 14240, 10225, 18578, 15443, AGC= 42, IDX= 505, 0.43, 0.107,-0.840, 0.501, 1.246, PHS=-1.037,-2.041,-0.789, RAW= 160.8, 50.0, CAL= 162.7, 58.6, ROT= 347.3, -58.6  Z#Rx 18: Read direction message, but no range. ^direction in FSK: [0.508263,-0.114542,0.853551]9q u vC?KRqеIP?q iu 7u 'u Hu S<q u j)u Iu Iiu 3@u f_?u ּ5@u ?u @ u 邿iq Iu 0*?r qj?H ?u 656?u FI_ u b)u 邿 checking for new query: numPingsReceived=18, elapsed TxPingTime=8.072391,z3Aɰ;0y`(H@ٱ V@<N<H`S@+? ɿ Ss?Ws?T?I`(H@)I];iC4B9% Iyi}BD$6D3Y-!U/=]]&Q)e>ԑ H?9 H?9FY׶E)A>Q 15٪0?Q 55 9YX?Q E@y)P:IG:i_{5YfB AEh1h5*3Ah5O?h5O?h5ޔE@ v5(Pt8?`>Ϳr~k=?u5vC?KRqеIP?h5bh5邿v5fc^5J?Nu?v5Zlp=b"_?~?h5Wr=h5h5-pԔ?h5uh5B*i5-pԔ?2i1:i1i5C?"i5X%n@u addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505298 s, deltaX: -0.100000 m, approachRate: -0.197903 m/s, rangeRepo size: 4 BEUA{4JEU4REUS}0DDrD1DEC: E?:6E-4:E!@!@!@!@ Added new target pos. range: 1.994603 m, bearing: 176.884170 deg, lat: 36.779116 deg, lon: -121.859763 deg, deltaT: 0.505298 s, deltaX: -0.099728 m, approachRate: -0.197365 m/s, posRepo size: 4 gggggggzfrfffBdddc@c`?ɢsB 額I m ɡiI ;Iii)) DDAT read: Rx Time:23:58:22.6491 TRx dataTimestamp_ set to:1758412700.209682EPDAT read: Bearing 39.5, 4.0 (Local) M~Local bearing/azimuth received: Bearing 39.5, 4.0 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 19: Read range message, but no direction.9 i/  checking for new query: numPingsReceived=19, elapsed TxPingTime=8.343538 >A A <A <vB! ~B! B% IB% BB! B! B! B% ݘ;B% ,QEI A AII!N5>,Cp3A>DAT read: 23:58:22.6491 LVL= 12928, 11681, 19122, 16627, AGC= 43, IDX= 506,-0.37,-1.648,-2.787,-1.734,-0.664, PHS=-0.882,-2.078,-1.114, RAW= 139.5, 52.7, CAL= 143.5, 60.3, ROT= 6.5, -60.3 BYgot valid direction response: 23:58:22.6491 LVL= 12928, 11681, 19122, 16627, AGC= 43, IDX= 506,-0.37,-1.648,-2.787,-1.734,-0.664, PHS=-0.882,-2.078,-1.114, RAW= 139.5, 52.7, CAL= 143.5, 60.3, ROT= 6.5, -60.3 BZ#Rx 20: Read direction message, but no range.F\direction in FSK: [0.492274,0.056088,0.868631]9,.buj?ɀ?}D?,i.2.-.J.@.+ .a).I.i.@.Cwk?.J @.$?.V= .$i,I.dܜL?4?sfq?.>.Sk .V=).$Vchecking for new query: numPingsReceived=20, elapsed TxPingTime=8.5761117B9) I) A1}Mb@Mb@Mb@ y)yIyiyy}Q~jtMb`?}}D};I}Ai}Ay}A)yyBD.6DP3Yk<!*=Q)>K?9K?9FYڶEA>Q 15٪0?Q 55h 9g=Q Ajѿ s= e?v]<ٱ߿mϠbx?h]h]|h]pQݔ?h]nmh]B*iY2i]P_ :i]QBi]o?"i][^@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994603 m, bearing: 195.115846 deg, lat: 36.779116 deg, lon: -121.859759 deg, deltaT: 0.503993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggzfrfffBBdddcc ?ɢ=tB=M$ 9=I9 EJ ɡAiAIE;IIiIiI)I)IYbDZD@ADDoD.DE1: E:6Eـ4:E"E! E! *EN;!EN;!i199=0A5DDAT read: Rx Time:23:58:23.1490 =TRx dataTimestamp_ set to:1758412700.713030mPDAT read: Bearing 48.9, -2.8 (Local) u~Local bearing/azimuth received: Bearing 48.9, -2.8 (Local) ԉDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 M DAT read: 23:58:23.1490 LVL= 13168, 9937, 19570, 15283, AGC= 42, IDX= 505,-0.18, 2.531, 1.905, 2.837,-2.293, PHS=-1.357,-2.040,-1.197, RAW= 160.3, 64.5, CAL= 161.7, 69.9, ROT= 348.3, -69.9 U Ygot valid direction response: 23:58:23.1490 LVL= 13168, 9937, 19570, 15283, AGC= 42, IDX= 505,-0.18, 2.531, 1.905, 2.837,-2.293, PHS=-1.357,-2.040,-1.197, RAW= 160.3, 64.5, CAL= 161.7, 69.9, ROT= 348.3, -69.9 ] T#Rx 21: Read range and direction messages. ^direction in FSK: [0.336519,-0.069690,0.939094] Fpublishing direction and range info915t譈?Of3ױ:_ ?5f?1i5p35&5rL5;5* 5-)5\I5L7i53@5)?54@5y(?5@ 5y(i11I5D\?4 "?w)6?54?5 5Q)5y(i11 checking for new query: numPingsReceived=21, elapsed TxPingTime=8.876968>A Թ A I I N >s,93AyF'G@ٱF U@Ft9t9vFYvݶExze/A>Q 1%5٪o1?Q 5%5 y,9!Y%ř?Q E-@y;EE)l:I:i5YQU AQchecking for new query: numPingsReceived=21, elapsed TxPingTime=9.070836hhI-3Ah?h?hC@ vhrT?!c][C?ut譈?Of3ױ:_ ?hQhy(vp dK忓&?͇,D\?v(ޕ׿?"z@?h=_=h\*hd[?h,vhB*i2inm:iBi?"iOY@  addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503348 s, deltaX: -0.200000 m, approachRate: -0.397340 m/s, rangeRepo size: 4  Added new target pos. range: 1.795143 m, bearing: 175.317972 deg, lat: 36.779116 deg, lon: -121.859757 deg, deltaT: 0.503348 s, deltaX: -0.199460 m, approachRate: -0.396267 m/s, posRepo size: 4 gg!g!g!g!g!g!zf!rf)f)f)Bd1d1d1c5?c5?ɢuB67 額xI ɡiI ;Iii))!iEAAE/AIDuDunDu0DqEu: Eu:6Eu4:Eq!}@!}@!}@!@>AibAyZA}A DDAT read: Rx Time:23:58:23.6491  TRx dataTimestamp_ set to:1758412701.219975 PDAT read: Bearing 57.2, -10.3 (Local)  ~Local bearing/azimuth received: Bearing 57.2, -10.3 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 y A I I N >5 DAT read: 23:58:23.6491 LVL= 13616, 11537, 19554, 16995, AGC= 43, IDX= 506,-0.08,-2.071,-2.157,-1.356,-0.160, PHS=-1.810,-1.953,-1.240, RAW= 199.1, 69.7, CAL= 198.0, 73.9, ROT= 312.0, -73.9 } Ygot valid direction response: 23:58:23.6491 LVL= 13616, 11537, 19554, 16995, AGC= 43, IDX= 506,-0.08,-2.071,-2.157,-1.356,-0.160, PHS=-1.810,-1.953,-1.240, RAW= 199.1, 69.7, CAL= 198.0, 73.9, ROT= 312.0, -73.9 } T#Rx 22: Read range and direction messages. ^direction in FSK: [0.185560,-0.206085,0.960779] Fpublishing direction and range info9 Ӳk?5i@`ʿ? @ i 05 - bL cB + ) I Ri e^@ ? +]@ ? @@ i I n+а?7?e;@? ݦ? ś MwV) i  checking for new query: numPingsReceived=22, elapsed TxPingTime=9.399990 ,rjS3Aiy6F@ٱ6AT@6I<6H<6Hhu$?=ǿ@u@?@??I6F@)6j^;i6CB4B9B& IYMb@Mb@Mb@ )IiMbZd;~jthyDIlAiAA)ABD%6D%P)3Y5!=7==A:Q)=>I9Y9eFYe߶EuSAu>yQ 15٪}1?Q 55}' }{,9L=Q ARhh?h:hB*ipQݔ?2iu:iib?"iI@% addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.506945 s, deltaX: 0.200000 m, approachRate: 0.394520 m/s, rangeRepo size: 4 vBY~BYB]IB] BBYBYBYB]ؘ;B]&QEu Added new target pos. range: 1.994603 m, bearing: 141.973133 deg, lat: 36.779117 deg, lon: -121.859754 deg, deltaT: 0.506945 s, deltaX: 0.199460 m, approachRate: 0.393456 m/s, posRepo size: 4 gygygygygygygyzfrfffrBBdddc@c@?ɢ|1  I ~!ɡiI";IIiIiI)I)Qԁchecking for new query: numPingsReceived=22, elapsed TxPingTime=9.576159i/Ա>A D D oD -D E 1: E :6E t4:E "E ! E ! *E ! E ! A1 IY Iy  DDAT read: Rx Time:23:58:24.1490  TRx dataTimestamp_ set to:1758412701.720615 PDAT read: Bearing 57.5, -15.2 (Local)  ~Local bearing/azimuth received: Bearing 57.5, -15.2 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 N >+,n3ADAT read: 23:58:24.1490 LVL= 13344, 11313, 20274, 16435, AGC= 43, IDX= 505, 0.01,-2.456,-2.386,-1.495,-0.408, PHS=-1.946,-1.933,-1.131, RAW= 210.8, 65.5, CAL= 209.5, 70.6, ROT= 300.5, -70.6 >Ygot valid direction response: 23:58:24.1490 LVL= 13344, 11313, 20274, 16435, AGC= 43, IDX= 505, 0.01,-2.456,-2.386,-1.495,-0.408, PHS=-1.946,-1.933,-1.131, RAW= 210.8, 65.5, CAL= 209.5, 70.6, ROT= 300.5, -70.6 BT#Rx 23: Read range and direction messages.F^direction in FSK: [0.168584,-0.286200,0.943223]JFpublishing direction and range info915/@-?Qҿk>A.?|5f?1i5 451,52O53@1 5)5lI5Đi5Cwk@5T?5j@5ϸ?5ԧ@ 5ϸi11I5wM?x[OB?5?5i? 5섿)5ϸi11checking for new query: numPingsReceived=23, elapsed TxPingTime=9.911440y5F@ٱ5NS@5f<5<5H?`r`'ſ=@C?E@??I5F@)5Q^;i5CA9AiM=IM=BD]6D]4d3m:Q)>99FYEpA>Q 15٪1?Q 55n },9Y˽?Q E@yA.?h5섿h5ϸv5C9qۿ%Fw? c4?v5)tο#RC?; [%?h5>h5 ޾h5m}F ?h5ujh5B*i5d[?2i5,v:i5Bi5+?"i5*I@ addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.500640 s, deltaX: -0.200000 m, approachRate: -0.399489 m/s, rangeRepo size: 4 ! Added new target pos. range: 1.795143 m, bearing: 131.415613 deg, lat: 36.779120 deg, lon: -121.859753 deg, deltaT: 0.500640 s, deltaX: -0.199461 m, approachRate: -0.398412 m/s, posRepo size: 4 gggggggzfrfffBdddc?c^?ɢ vB il3 I Q)ɡiI҂+;IAiEf=iE2>)A)Ai2=checking for new query: numPingsReceived=23, elapsed TxPingTime=10.078833Qԉ >A ׄ>D D qD 2D E C: E $ :6E 4:E ! @! @! @! @AI Iq I N >,O;3ADDAT read: Rx Time:23:58:24.6492 TRx dataTimestamp_ set to:1758412702.224739%PDAT read: Bearing 54.3, -19.8 (Local) %~Local bearing/azimuth received: Bearing 54.3, -19.8 (Local) 5DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ]DAT read: 23:58:24.6492 LVL= 13472, 10113, 20690, 15123, AGC= 42, IDX= 506, 0.10,-0.386,-0.310, 0.807, 1.701, PHS=-1.984,-1.966,-0.937, RAW= 210.9, 59.0, CAL= 209.3, 65.5, ROT= 300.7, -65.5 eYgot valid direction response: 23:58:24.6492 LVL= 13472, 10113, 20690, 15123, AGC= 42, IDX= 506, 0.10,-0.386,-0.310, 0.807, 1.701, PHS=-1.984,-1.966,-0.937, RAW= 210.9, 59.0, CAL= 209.3, 65.5, ROT= 300.7, -65.5 eT#Rx 24: Read range and direction messages.m^direction in FSK: [0.211719,-0.356575,0.909961]mFpublishing direction and range info9  9?Zֿg? f@ i 4 ' P ; * ) I ;oi ۓk@ ΃? Ti@ T? L@ Ti  I ;72Dz?Nn? ? |σ ;z) Ti  checking for new query: numPingsReceived=24, elapsed TxPingTime=10.352597y5E@ٱ5'S@5D<5Z<5H ?)ſӍ`k?'i?b?I5E@)5x^;i16B9( IuMb@Mb@Mb@ q)qIqiqqu:vZd;O~jthuTuj<qIqiuAuVAq)quABD#6DӀ3Y-e;!5<50Q)5>9999=FY=E=AE>iQ 1m5٪m2?Q 5u5m m,9u.D=Q Au=iE>)A)Achecking for new query: numPingsReceived=24, elapsed TxPingTime=10.584104is21 a >A >rA ?jA ?D=D=vD=0D9E=: E=:6E=4:E9"E=;!UE=;!U*E=h;!]E=h;!]A!IIIiԉN?8,s3AZDDAT read: Rx Time:23:58:25.1491 ^TRx dataTimestamp_ set to:1758412702.727535bPDAT read: Bearing 54.7, -22.5 (Local) f~Local bearing/azimuth received: Bearing 54.7, -22.5 (Local) nDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ~DAT read: 23:58:25.1491 LVL= 12784, 11841, 20466, 17251, AGC= 43, IDX= 505, 0.18,-0.843,-0.680, 0.484, 1.322, PHS=-2.063,-1.957,-0.882, RAW= 214.7, 56.9, CAL= 213.5, 63.7, ROT= 296.5, -63.7 Ygot valid direction response: 23:58:25.1491 LVL= 12784, 11841, 20466, 17251, AGC= 43, IDX= 505, 0.18,-0.843,-0.680, 0.484, 1.322, PHS=-2.063,-1.957,-0.882, RAW= 214.7, 56.9, CAL= 213.5, 63.7, ROT= 296.5, -63.7  T#Rx 25: Read range and direction messages.=^direction in FSK: [0.197697,-0.396520,0.896486]=Fpublishing direction and range info9\^5$N?z֓`ٿ~_?^@\i^1^A.^O^cC^+ ^1)^~I^ai^|o@^M;~?^W{n@^N?^ʘ@ ^Ni\\I^Жgc𴦿ܮ?p?{$|?^t?^I~ ^C܍)^Ni\\checking for new query: numPingsReceived=25, elapsed TxPingTime=10.868638y}E@ٱ}uS@}ف<}<}H`?Ŀ?/ 8?`?I}E@)};%_;i}C2B9# IBD6D{U3 Y!/=~8Q)>99FYE:A>Q 1-5٪G2?Q 5-5, ,91Y5x?Q E5@y)6-;I,;iM5Y9E AAh\h^3Ah^O?h^O?h^!7@ v^ f?h^h^`?h^Ҡh^B*i^`?2i^uj:i^Bi^68?"i^@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.502796 s, deltaX: -0.100000 m, approachRate: -0.198888 m/s, rangeRepo size: 4  Added new target pos. range: 1.994603 m, bearing: 127.317800 deg, lat: 36.779121 deg, lon: -121.859748 deg, deltaT: 0.502796 s, deltaX: -0.099730 m, approachRate: -0.198352 m/s, posRepo size: 4 gggggggzf rf f f Bdddc@ciP?ɢxB7oA 顝 I cn:ɡiI6=;Ii=i!9>))1i)11501)I MAUchecking for new query: numPingsReceived=25, elapsed TxPingTime=11.087245i >AU 0ƀ>ԡ A I I D D rD ,D E : E ?:6E g4:E ! @! @! @! @N>},Ts3AԹybE@ٱ [S@<c<Hඓqp?M` ~Ŀ@ࢋ?@*??IbE@DDAT read: Rx Time:23:58:25.6492 TRx dataTimestamp_ set to:1758412703.228917PDAT read: Bearing 54.5, -20.3 (Local) ~Local bearing/azimuth received: Bearing 54.5, -20.3 (Local) %DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 MDAT read: 23:58:25.6492 LVL= 12336, 11617, 20258, 16963, AGC= 44, IDX= 506, 0.32,-0.158,-0.052, 1.044, 1.957, PHS=-2.012,-1.964,-0.957, RAW= 212.3, 59.4, CAL= 210.9, 65.7, ROT= 299.1, -65.7 UYgot valid direction response: 23:58:25.6492 LVL= 12336, 11617, 20258, 16963, AGC= 44, IDX= 506, 0.32,-0.158,-0.052, 1.044, 1.957, PHS=-2.012,-1.964,-0.957, RAW= 212.3, 59.4, CAL= 210.9, 65.7, ROT= 299.1, -65.7 UT#Rx 26: Read range and direction messages.]^direction in FSK: [0.200134,-0.359570,0.911403]]Fpublishing direction and range info9(XX?;1׿o(27*?f@i00a-"OCB, )ZdIti1$m@m?ۓk@tƒ? @ tƒiI` =q2 1G?|?S8? K )tƒichecking for new query: numPingsReceived=26, elapsed TxPingTime=11.358782)\^;i,B9 IMb@Mb@Mb@ )Ii~jtL7A`堿~jthD+IiA)AImAA)iBDu"6DuJz3Y!=ȅ:Q)>99FYEA>Q 15٪2?Q 55 ,9Y=Q AN?X 33^?u(XX?;1׿o(27*?hK htƒvO]Ro/5v?[$?v)ܮeѿ75s?!>l;?h3?h,h#?h=hB*i2iQb:iBi^?"i1@ addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.501382 s, deltaX: 0.100000 m, approachRate: 0.199449 m/s, rangeRepo size: 4 } Added new target pos. range: 2.094332 m, bearing: 129.886051 deg, lat: 36.779121 deg, lon: -121.859745 deg, deltaT: 0.501382 s, deltaX: 0.099730 m, approachRate: 0.198910 m/s, posRepo size: 4 gyggggggzfrfff~BBddvB?>~BBBB =BBB٘;B(QEdc@c$~?ɢzBD 額jI :EɡiIH;Ii,=i?~>)) checking for new query: numPingsReceived=26, elapsed TxPingTime=11.591593iM I I U /Q @] >@] =9 >Am& >irDIjDIDuDuDu.DqEu7: Eu,:6Euـ4:Eq"Eu;!Eu;!*Eu:;!Eu;;!IaIqN ?Ѿ,3AinDDAT read: Rx Time:23:58:26.1491 rTRx dataTimestamp_ set to:1758412703.732283vDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 vZ#Rx 27: Read range message, but no direction.9ln@lzchecking for new query: numPingsReceived=27, elapsed TxPingTime=11.846103%0B9%! IBD=6D=!3YԜ<!I=Q)>99FYEA>Q 15٪2?Q 55U ,9YQ E@y)I;I}K;iZ5Y AB*** querying acoustic contact ***zhh% addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503366 s, deltaX: -0.100000 m, approachRate: -0.198662 m/s, rangeRepo size: 4 g)g)g)g1g1g1g1zf1rf1f9f9Bd9d9dAcE@cE2R?ɢ{B4_ 顭FI fLɡiIRP;Ii[=i0~>))Ai/ichecking for new query: numPingsReceived=27, elapsed TxPingTime=12.096406>A F]~>ԙ I I) NU >V,3Aiy8E@ٱ0S@d"<<H6?ۜ*Ŀ`1?@? ?I8E@)*^;iC,B9 IDDqD0DEҝ: E$ :6E4:E!@! @! @! @Mb@Mb@Mb@ )Ii{Gzt~jtףļIAiAAA)BD16D[3Y-!-2=-:Q)5>19195FY5E=BA=>AQ 1M5٪E2?Q 5M5E  A9M(Y;DDAT read: Rx Time:23:58:26.6491 TRx dataTimestamp_ set to:1758412704.236392DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 28: Read range message, but no direction.9checking for new query: numPingsReceived=28, elapsed TxPingTime=12.350199Ii=i)|>))ԙiI iM ֐CA <A <vB @>~B B IB BB B B B ʘ;B QE>A H~>I G) I i5 |9 = AIA IQ Ne > )ߑ ߕ A checking for new query: numPingsReceived=28, elapsed TxPingTime=12.600316q, 3AyRH?E@ٱR7S@R))i111511 DDpD1DE: E :6E-4:E"Ew;!mEx;!u*E8R;!}E9R;!} DDAT read: Rx Time:23:58:27.1490 TRx dataTimestamp_ set to:1758412704.741852%PDAT read: Bearing 60.1, -15.8 (Local) %~Local bearing/azimuth received: Bearing 60.1, -15.8 (Local) =DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 mDAT read: 23:58:27.1490 LVL= 13632, 11313, 19506, 16499, AGC= 43, IDX= 505,-0.07, 1.925, 2.127, 2.870,-2.232, PHS=-2.023,-1.879,-1.224, RAW= 219.8, 67.9, CAL= 219.6, 72.3, ROT= 290.4, -72.3 }Ygot valid direction response: 23:58:27.1490 LVL= 13632, 11313, 19506, 16499, AGC= 43, IDX= 505,-0.07, 1.925, 2.127, 2.870,-2.232, PHS=-2.023,-1.879,-1.224, RAW= 219.8, 67.9, CAL= 219.6, 72.3, ROT= 290.4, -72.3 }T#Rx 29: Read range and direction messages.^direction in FSK: [0.105977,-0.284965,0.952662]Fpublishing direction and range info9  U!?FmX<ҿU3|? f? i @5 1, 2L s@ + x) I i ۄu@ ? Ku@ ? 0@ i  I p=Ppv?$ r? ? >AAz|> |) i  checking for new query: numPingsReceived=29, elapsed TxPingTime=12.876620I1I)N=>Y ,:3Aɰy6IE@ٱ6BS@6إ<6ͱ}<6H@? LĿ@З lֆ?$?;?I6IE@)6p];i4B&B9B IBDJ+6DJE3Yf!fK=f9Q)f>h9h9jFYjEn:An>1Q 1=5٪52?Q 5=55 199Y=?Q EE@y1)5^;I5;i55YIM AIh9h=z/3Ah=?h=?h= @ v=Y?Yx^l\?u=U!?FmX<ҿU3|?h=|h=v=%^ڨHԿ-Pל?O0$?v=zKƿf",?D`}=?h=>h=Eh=4?h=+h=B*i92i9:i=Bi=aW?"i=@ addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.505460 s, deltaX: -0.200000 m, approachRate: -0.395679 m/s, rangeRepo size: 4  Added new target pos. range: 1.795149 m, bearing: 122.686067 deg, lat: 36.779121 deg, lon: -121.859745 deg, deltaT: 1.512935 s, deltaX: -0.299183 m, approachRate: -0.197750 m/s, posRepo size: 4 gggggggzfrfffBdddc?c?ɢ}Bx  .I %]eɡ)i)I-Yi;9I9iE:=iE0~>)A)Iechecking for new query: numPingsReceived=29, elapsed TxPingTime=13.103331i0aBE}ǻ4JE}͋4RE}Ǐ0DDnD5DE: E:6E4:E!]@!]@!]@!]@ԙ>AM V}>I I N > DDAT read: Rx Time:23:58:27.6491  TRx dataTimestamp_ set to:1758412705.244790 PDAT read: Bearing 68.1, -22.5 (Local) % ~Local bearing/azimuth received: Bearing 68.1, -22.5 (Local) 5 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 U DAT read: 23:58:27.6491 LVL= 13392, 10993, 19538, 16723, AGC= 44, IDX= 506, 0.02,-2.592,-1.939,-1.301,-0.163, PHS=-2.327,-1.731,-1.182, RAW= 241.3, 61.8, CAL= 243.2, 66.5, ROT= 266.8, -66.5 ] Ygot valid direction response: 23:58:27.6491 LVL= 13392, 10993, 19538, 16723, AGC= 44, IDX= 506, 0.02,-2.592,-1.939,-1.301,-0.163, PHS=-2.327,-1.731,-1.182, RAW= 241.3, 61.8, CAL= 243.2, 66.5, ROT= 266.8, -66.5 e T#Rx 30: Read range and direction messages.m `direction in FSK: [-0.022259,-0.398127,0.917060]m Fpublishing direction and range info9   & ˖zٿ\ZX? @ i P4 * RL SA ,  ) hݿI Ki qĆ@ ? ԇ@ ? \@  i  I  npϿ?qc 6? Ȏ@ v$  5п) i   checking for new query: numPingsReceived=30, elapsed TxPingTime=13.370548Թ ,qT3AyJrdE@ٱJ\S@J!q9q9uFYuE}~j;A}>Q 15٪2?Q 55s 9+<ԑQ A=Y@Q E@y));I;i5Y, AhAhEO3AhEO?hEO?hE? vE;RVi鿅V#QOD?uE & ˖zٿ\ZX?hE5пhEvES35PSv?|?vE` A<h?%Ӛ(?hEO?hE hE]i'?hE!!hEÅB*iA2iE=:iEÅBiE~^?"iE.@vBU?>~BQBUIBUBBQBQBQBU;BUQE} addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.502938 s, deltaX: 0.200000 m, approachRate: 0.397663 m/s, rangeRepo size: 4  Added new target pos. range: 1.994610 m, bearing: 99.417884 deg, lat: 36.779121 deg, lon: -121.859745 deg, deltaT: 0.502938 s, deltaX: 0.199461 m, approachRate: 0.396592 m/s, posRepo size: 4 gggggggzfrfffhBBdddc@c@JA?ɢ-~B-| 15:I1 5pɡ1i1I5s;I9i=j'=iE >)A)uchecking for new query: numPingsReceived=30, elapsed TxPingTime=13.608290i/0>A% 'I~>I I N >D D vD .D E s: E :6E ـ4:E "E ;!E E ;!E *E h;!M E h;!U A ,Yn3AfDDAT read: Rx Time:23:58:28.1491 fTRx dataTimestamp_ set to:1758412705.749941nPDAT read: Bearing 72.9, -24.6 (Local) r~Local bearing/azimuth received: Bearing 72.9, -24.6 (Local) ~DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 -DAT read: 23:58:28.1491 LVL= 13392, 10785, 19538, 16755, AGC= 43, IDX= 505, 0.13, 2.730,-2.647,-2.124,-0.977, PHS=-2.474,-1.626,-1.192, RAW= 250.6, 58.9, CAL= 252.3, 63.8, ROT= 257.7, -63.8 ]Ygot valid direction response: 23:58:28.1491 LVL= 13392, 10785, 19538, 16755, AGC= 43, IDX= 505, 0.13, 2.730,-2.647,-2.124,-0.977, PHS=-2.474,-1.626,-1.192, RAW= 250.6, 58.9, CAL= 252.3, 63.8, ROT= 257.7, -63.8 eT#Rx 31: Read range and direction messages.m`direction in FSK: [-0.094054,-0.431371,0.897258]Fpublishing direction and range info9dfwՂͳۿU=&W?ddidf!*dfsAf+ fV)f пIfuif!@fx?f1@fӇ?fE@ fӇiddIfXȦտ{<8T ?YZe?f@fK fW)fӇiddchecking for new query: numPingsReceived=31, elapsed TxPingTime=13.903488'B9 I BDm"6DmJz3Y}#<!}8=Q)>99FYEA>Q 15٪2?Q 55W 9YQ E@y>EE);I?"if\@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994608 m, bearing: 90.168409 deg, lat: 36.779123 deg, lon: -121.859745 deg, deltaT: 0.505151 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 gggggggzfrfffBdd!d!c!c%8?ɢBYw 顅/I zɡiI`};Ii_=ih>))1iMQQU0Quchecking for new query: numPingsReceived=31, elapsed TxPingTime=14.111183a >Au K>ԙ A I D%D%oD%0D!E%: E%:6E%4:E!!-@!-@!5@!5@IaNm>8#,V3A i  !B9 IIDDAT read: Rx Time:23:58:28.6492 TRx dataTimestamp_ set to:1758412706.252447DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 32: Read range message, but no direction.9f@checking for new query: numPingsReceived=32, elapsed TxPingTime=14.366269Mb@Mb@Mb@ )IiI +?Mb`?9<;Ii?A)ABD 6Dk3Yм!A= Q) > 9 9 FYEA>Q 1%5٪1?Q 5%5fQ 9-tI 9-))i=99=0AyA)A-@AvB1~B1B1B1B1B1B1B5;B5PEԩ>A checking for new query: numPingsReceived=32, elapsed TxPingTime=14.618309 A yAI! I1 NE >W$),X3AB9 IBD-:6D-{3Y=i!EY=AQ)E>E H?9M H?9MFYMEIAM>QQ 1]5٪U#1?Q 5]5Ut Q9aYaQ Ee@yQ)U+;IU;iU5YimY AigggggggzfrfffBdddcc?Թɢimߕ 顝HI 8цɡiIU;Ii*¦=i>))DDrD.DEs: E?:6Eـ4:E"E!E!*EY;!EY;!imiim1iiI=DDAT read: Rx Time:23:58:29.1491 TRx dataTimestamp_ set to:1758412706.761604 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 33: Read range message, but no direction.9@%checking for new query: numPingsReceived=33, elapsed TxPingTime=14.877079Aq>AA I I N >ԩ 0,>3A"checking for new query: numPingsReceived=33, elapsed TxPingTime=15.122795yB~F@ٱBT@BVA9A9EFYMEMI=AM>QQ 1]5٪Uj0?Q 5]5U Q9aYe7Q Ee@yQ)U:IUd:iU5YimP Ai addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.509157 s, deltaX: -0.100000 m, approachRate: -0.196403 m/s, rangeRepo size: 4 gggggggzfrfffBdddc@c|?ɢEBE+ AEGIA E~#ɡIiIIM ;IQiQiU >)Q)Yyi  R5ԡDDD1DE: E6E-4:E!@!@!@!@DDAT read: Rx Time:23:58:29.6492 TRx dataTimestamp_ set to:1758412707.265034 DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 34: Read range message, but no direction.9f@checking for new query: numPingsReceived=34, elapsed TxPingTime=15.380271>A-[>A} AI I N > m66,3Aɰy6G@ٱ6;T@6 2<6!;<6Ho?@뜿ǿq(R?噿Œ??I6G@)6];i6CBB9B IvBe>>~BaBeIBeBBaBaBaBe;BePEBBBBBB4Mb@Mb@Mb@ )IiS㥛?y&1?MbP?/<`e<:IAiVAAA)pABDE6DE 83Uchecking for new query: numPingsReceived=34, elapsed TxPingTime=15.626826Ye/!e,=e Q)e>mK?9K?9FYE6<A>Q 15٪s/?Q 55 9HAY>DDtD0DEa: Ev:6E4:E"Ed;! Ee;! *E`;! E`;!% 1 A I I N > DDAT read: Rx Time:23:58:30.1491  TRx dataTimestamp_ set to:1758412707.769894- PDAT read: Bearing 65.3, -11.4 (Local) - ~Local bearing/azimuth received: Bearing 65.3, -11.4 (Local) ] DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Y b<,3A.DAT read: 23:58:30.1491 LVL= 13808, 11473, 19522, 15603, AGC= 42, IDX= 506,-0.12, 0.617, 0.862, 1.349, 2.749, PHS=-2.030,-1.842,-1.444, RAW= 228.3, 74.6, CAL= 228.9, 77.4, ROT= 281.1, -77.4 2Ygot valid direction response: 23:58:30.1491 LVL= 13808, 11473, 19522, 15603, AGC= 42, IDX= 506,-0.12, 0.617, 0.862, 1.349, 2.749, PHS=-2.030,-1.842,-1.444, RAW= 228.3, 74.6, CAL= 228.9, 77.4, ROT= 281.1, -77.4 6T#Rx 35: Read range and direction messages.:^direction in FSK: [0.041997,-0.214062,0.975917]:Fpublishing direction and range info9AEM?df˿bҵ:?E@AyJGG@iE5E,EBLE<E* E)EIEԸiEx@Er?E @E?E@ E鬿iAAIED`Uao&?bI?E?E EC)E鬿iAAfchecking for new query: numPingsReceived=35, elapsed TxPingTime=15.948539ٱJ?U@J 9)95FY5 E5@<A5>9Q 1E5٪=.?Q 5E5= 99IYMRQ EM@y9)=jhE_hEQ?hEr)hEB*iEQ?2iE=:iEÅBiE 5?"iE@?e addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504860 s, deltaX: -0.100000 m, approachRate: -0.198075 m/s, rangeRepo size: 4  Added new target pos. range: 1.994605 m, bearing: 116.937734 deg, lat: 36.779124 deg, lon: -121.859745 deg, deltaT: 2.019953 s, deltaX: -0.000003 m, approachRate: -0.000002 m/s, posRepo size: 4 gggggggzfrfffBdddc@c`z4?ɢ 4XI  ɡiI;IAiAiI)I)Ii4echecking for new query: numPingsReceived=35, elapsed TxPingTime=16.130877aԉ >A= ܄>D D sD .D E O: E Z:6E ـ4:E != @!= @!= @!= @Ա A I I N >C,3A5DDAT read: Rx Time:23:58:30.6491 5TRx dataTimestamp_ set to:1758412708.272703=PDAT read: Bearing 67.4, -16.7 (Local) E~Local bearing/azimuth received: Bearing 67.4, -16.7 (Local) UDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 uDAT read: 23:58:30.6491 LVL= 13184, 11377, 19442, 17075, AGC= 43, IDX= 506,-0.02, 1.440, 1.868, 2.430,-2.579, PHS=-2.162,-1.791,-1.318, RAW= 236.0, 68.5, CAL= 237.4, 72.3, ROT= 272.6, -72.3 }Ygot valid direction response: 23:58:30.6491 LVL= 13184, 11377, 19442, 17075, AGC= 43, IDX= 506,-0.02, 1.440, 1.868, 2.430,-2.579, PHS=-2.162,-1.791,-1.318, RAW= 236.0, 68.5, CAL= 237.4, 72.3, ROT= 272.6, -72.3 T#Rx 36: Read range and direction messages.^direction in FSK: [0.013792,-0.303720,0.952662]Fpublishing direction and range info915gQ>?iC&pӿU3|?11i535q,5K5B5+ 55^ )5}?I59i5΃@5?5Ԗ@5?5?@ 5i11I5@ŸĿzf ?P?5<@5 5@ÿ)5i11checking for new query: numPingsReceived=36, elapsed TxPingTime=16.404928=B9=I-Mb@Mb@Mb@ )))I)i)-wD-Q??MbP-\=-<-I-Ai)-A-A))-AIa)aBDm76Dmp3Y}Ż!}#=}Q)}>99FY EA>Q 15٪{-?Q 55W 990=Q A?iC&pӿU3|?h5@ÿh5v5*} ɿ3 &,?߄1?v5O}DVc?яt F?h5?h5UHh5?h5]'h5مB*i5?2i5]':i1i5R%?"i5#u?= addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.502809 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 1.994605 m, bearing: 107.634406 deg, lat: 36.779124 deg, lon: -121.859746 deg, deltaT: 0.502809 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gQgQgQgQgQgQgYzfYrfYfYf]dBBdadadacacmң?ɢv X[I ԞɡiI;Iii)))))AAvB~BBIBBBBBB;BPEi@0checking for new query: numPingsReceived=36, elapsed TxPingTime=16.635008Q >A ԁ A II9DuDqDu-DqEu: Eq6Eut4:Eq"Eu;!Eu;!*Eu$];!Eu$];!N>J,h!.3Ahtity]G@ٱ]uU@] <]<]HXF{?@7ɿ LZ@ڭ?`K۔??I]G@)]y^;iYuB9}IBD6D{U3DDAT read: Rx Time:23:58:31.1489 TRx dataTimestamp_ set to:1758412708.777080PDAT read: Bearing 71.8, -23.7 (Local) ~Local bearing/azimuth received: Bearing 71.8, -23.7 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 23:58:31.1489 LVL= 13376, 11873, 18690, 15603, AGC= 42, IDX= 505, 0.07, 0.912, 1.688, 2.325,-2.802, PHS=-2.467,-1.747,-1.200, RAW= 244.5, 60.1, CAL= 246.4, 64.9, ROT= 263.6, -64.9 -Ygot valid direction response: 23:58:31.1489 LVL= 13376, 11873, 18690, 15603, AGC= 42, IDX= 505, 0.07, 0.912, 1.688, 2.325,-2.802, PHS=-2.467,-1.747,-1.200, RAW= 244.5, 60.1, CAL= 246.4, 64.9, ROT= 263.6, -64.9 -T#Rx 37: Read range and direction messages.5`direction in FSK: [-0.047285,-0.421556,0.905569]5Fpublishing direction and range info9Y45סwڿl}jk??i@4a.I<* T)߿Ii@C?@?8@ iIkҿ J?Ɔ\? @D \׿)i}checking for new query: numPingsReceived=37, elapsed TxPingTime=16.912437YG;!?=Q)>99FYEX<A>Q 15٪m,?Q 55 ,9YwQ E@y)q;I;il5Yy Ahh13Ah?h?h@? v;`݅ʾ濡O?uY45סwڿl}jk?h\׿hv툻Z?CiY?v0D=lW?,(?h?=?hGܽh]c]#?hJ@hB*i]c]#?2iJ@:ii=??"i??  addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504377 s, deltaX: -0.300000 m, approachRate: -0.594793 m/s, rangeRepo size: 4 E Added new target pos. range: 1.695413 m, bearing: 98.278224 deg, lat: 36.779124 deg, lon: -121.859744 deg, deltaT: 0.504377 s, deltaX: -0.299192 m, approachRate: -0.593192 m/s, posRepo size: 4 gAgAgAgAgAgAgAzfIrfIfIfIBdQdQdQcU@33?c] ?ɢj YI 3ɡiIѠ;Iii))!i01)Y Y e checking for new query: numPingsReceived=37, elapsed TxPingTime=17.138933Y >A A I I N >3R,W=I3Ay6sTH@ٱ6LV@6Γ<6&<6H`N6?@W GʿKP@-? 1#Ֆ?{?I6sTH@)6];i4>B9B IBDF#L6DFӀ3Y <!%[=UOQ)]>a9i9mFYmEx<A>D D vD .D E 1: E :6E ـ4:E !=@!=@!=@!=@Q 1]5٪v+?Q 5]5 ,9YQ E@y)A !  checking for new query: numPingsReceived=38, elapsed TxPingTime=17.642735A% yAI9 II Ne >lhX,Cc3Ay6H@ٱ6V@6f;<6<6HD`?S ˿E@k?&`??I6H@)6%];i6C>B9> Ip Mb@Mb@Mb@ ) I i  A Mb?L7A`?Mb`? < += ;I Ai A VA A)  !i%4<BD-6D-3Y5 =!=G=иQ)> H?9 H?9FYEOk<A>Q 15٪)+?Q 55f ,9p=Q AAQa A AI I N >N^,|3AɰB9% IBD="6D=Jz3YY]#!eJ=mQ)u>uK?9uK?9}FY}EA>Q 15٪*?Q 55 ,9YQ E@y);I;i5Y[ AE addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503848 s, deltaX: -0.200000 m, approachRate: -0.396945 m/s, rangeRepo size: 4 gAgAgAgIgIgIgIzfIrfIfQfQBdQdQdYc]?c]n/?ɢB 額QI rUɡichecking for new query: numPingsReceived=39, elapsed TxPingTime=18.146889I;;Iii))iMIIM75IԉBE4JEJ4RET/D-D-hD-1D)E-s: E-]96E--4:E)!e@!m@!m@!m@>AU DDAT read: Rx Time:23:58:32.6491 ] TRx dataTimestamp_ set to:1758412710.289579m DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 u Z#Rx 40: Read range message, but no direction.9Y ] @Y } checking for new query: numPingsReceived=40, elapsed TxPingTime=18.404398 A I I N% >ke,Ի3AyVa!I@ٱVW@Vy99FYEՄ<A>Q 15٪*?Q 55- ,94=ԹQ AAׄ>bAAZAAAA II IY Nm >D% D% rD% /D! E% : E% ?:6E% J4:E! "E% ;!5 E% ;!5 *E% Y;!5 E% Y;!5 9 k,I3AyjWI@ٱj5PW@jA9A9EFYEEE{ <AE>IQ 1U5٪M*?Q 5]5M M,9YY]οQ E]@yI)M;IM3;iM5Yae[ Ai addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.502838 s, deltaX: -0.200000 m, approachRate: -0.397743 m/s, rangeRepo size: 4 gggggggzfrfffBdddc?cꑖ?ɢe~Bel aeFOIa mcɡiiiImg|;Iii)))iEIIM2I@U,>@U%>A>Am>qchecking for new query: numPingsReceived=41, elapsed TxPingTime=19.155428II IY Na ԙ }r,Cr3A,i,y]oI@ٱ]W@]<]+=]HH- h?@W@(̿ * 1M?@n?@?I]oI@)]S];i]CB9IDDpD-DE: E :6Et4:E!-@!5@!5@!5@yBD $6D 3YY!*=Q)>99FYE;A>Q 15٪*?Q 55 ,9Y?οQ E@yAEE);I[;i95Y ADDAT read: Rx Time:23:58:33.6491 TRx dataTimestamp_ set to:1758412711.296848%PDAT read: Bearing 66.6, -10.5 (Local) %~Local bearing/azimuth received: Bearing 66.6, -10.5 (Local) 5DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ]DAT read: 23:58:33.6491 LVL= 12912, 11233, 19730, 17363, AGC= 43, IDX= 507,-0.09, 1.214, 1.431, 1.968,-2.942, PHS=-2.025,-1.865,-1.417, RAW= 224.7, 73.8, CAL= 225.0, 76.9, ROT= 285.0, -76.9 eYgot valid direction response: 23:58:33.6491 LVL= 12912, 11233, 19730, 17363, AGC= 43, IDX= 507,-0.09, 1.214, 1.431, 1.968,-2.942, PHS=-2.025,-1.865,-1.417, RAW= 224.7, 73.8, CAL= 225.0, 76.9, ROT= 285.0, -76.9 eT#Rx 42: Read range and direction messages.m^direction in FSK: [0.058662,-0.218928,0.973976]uFpublishing direction and range info9@rG?)L̿PA*?@ip2+MC+ )RIB`iz@ޤ?S{@˫?,@ ˫iIh'obJ?R޹??Ҥ 7)˫ichecking for new query: numPingsReceived=42, elapsed TxPingTime=19.426744hh3AhO?hO?hs<@ va`D'?"T|ۿ vG?u@rG?)L̿PA*?h7h˫vs"nѿ?-?v-?z (N?G}s?h>huh!v?hN8hB*i?2i]':iمBiA ܄> checking for new query: numPingsReceived=42, elapsed TxPingTime=19.658930 I I N >c y, 3Ay6UI@ٱ6ʣW@6<69=6H*?=̿`&$?.??I6UI@)6];i6C>B9>IiB=IB=-^only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.73, 83.73, 83.05, !^@!^ !^@!^ !^@!^ !^@!b BDb)6Db3YUO<!Uf=]8Q)]>Y9Y9eFYe!Ee;Ae>iQ 15٪m*?Q 55mj m~,Q =+:9Q Aim{5Yi AB*** querying acoustic contact ***zhh gggggggzfrff!f!Bd!d!d)c)cU I?ɢM}BU Y]8PIa ˻ɡiI;Iii))D5D1D5.D1E5: E16E5ـ4:E1"E1!=E1!E*E58R;!EE59R;!E9i#5eDDAT read: Rx Time:23:58:34.1490 mTRx dataTimestamp_ set to:1758412711.801702}PDAT read: Bearing 63.3, -14.3 (Local) }~Local bearing/azimuth received: Bearing 63.3, -14.3 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 23:58:34.1490 LVL= 12640, 10353, 19762, 15683, AGC= 42, IDX= 506, 0.01, 1.081, 1.255, 2.027,-3.090, PHS=-2.010,-1.894,-1.211, RAW= 217.8, 67.5, CAL= 217.3, 72.0, ROT= 292.7, -72.0 Ygot valid direction response: 23:58:34.1490 LVL= 12640, 10353, 19762, 15683, AGC= 42, IDX= 506, 0.01, 1.081, 1.255, 2.027,-3.090, PHS=-2.010,-1.894,-1.211, RAW= 217.8, 67.5, CAL= 217.3, 72.0, ROT= 292.7, -72.0 T#Rx 43: Read range and direction messages.^direction in FSK: [0.119252,-0.285080,0.951057]Fpublishing direction and range info9imRzF?ޝ>ҿo?mf?iim`1mq(m2MmC=m* mף)mnIm imHs@m˖?mr@m|٠?m{y@ m|٠iiiIm1@ʔH|;?<^V?m\O?mߖ mY)m|٠iiichecking for new query: numPingsReceived=43, elapsed TxPingTime=19.929611i>A9 I I N >ԙ v0,c3Ay:aI@ٱ:ּW@:ѕ<: 8B=:H'@?shͿg"NA?`Z cC??I:aI@):U];i:C^B9^ Ifp99FY#E ;A >Q 15٪*?Q 55 },Q = :9Q Ab?i5Y)-K A)hhO3Ah?h?hX @ vbIf?laU`SQ?uRzF?ޝ>ҿo?hYh|٠vq ؿҶ<\?$q?vʿ B?ꃣ?h(?hh ?hF hsB*iQ?2ir:ii?"i ?} addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504854 s, deltaX: -0.200000 m, approachRate: -0.396154 m/s, rangeRepo size: 4  Added new target pos. range: 1.795145 m, bearing: 125.898749 deg, lat: 36.779124 deg, lon: -121.859748 deg, deltaT: 0.504854 s, deltaX: -0.199458 m, approachRate: -0.395082 m/s, posRepo size: 4 gggggggzfrfffBdddc?c5?checking for new query: numPingsReceived=43, elapsed TxPingTime=20.162853ɢ=|B=$ AEXGIA EϻɡAiAIM;IIqiqiq)q)yi)))-/)ԡDQDUlDU+DQEQ EU:6EU [4:EQ!u@!}@!}@!}@>AII IY u DDAT read: Rx Time:23:58:34.6491 u TRx dataTimestamp_ set to:1758412712.304803 PDAT read: Bearing 58.6, -16.5 (Local)  ~Local bearing/azimuth received: Bearing 58.6, -16.5 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 23:58:34.6491 LVL= 12512, 10033, 20146, 15635, AGC= 42, IDX= 506, 0.09, 2.092, 2.145,-3.125,-2.147, PHS=-1.942,-1.947,-1.022, RAW= 209.8, 62.0, CAL= 208.3, 67.8, ROT= 301.7, -67.8  Ygot valid direction response: 23:58:34.6491 LVL= 12512, 10033, 20146, 15635, AGC= 42, IDX= 506, 0.09, 2.092, 2.145,-3.125,-2.147, PHS=-1.942,-1.947,-1.022, RAW= 209.8, 62.0, CAL= 208.3, 67.8, ROT= 301.7, -67.8  T#Rx 44: Read range and direction messages. ^direction in FSK: [0.198545,-0.321471,0.925871] Fpublishing direction and range info9q u ̥i?4փԿ[b?u @q iu 0u 1'u Nu =q u u)u L7Iu Ђiu NYj@u c?u `h@u ww?u F@ u wwiq q Iu -ulM b?`5? OB?u v?u u S>)u wwiq q  checking for new query: numPingsReceived=44, elapsed TxPingTime=20.430878N > ,23Aɰp;y6I@ٱ6W@6A<6YD=6H&` ?@U0Ϳ ? 䧓? ?I6I@)6];i4BB9B Il!]!] !]!] !]!] !]!] eMb@Mb@Mb@ a)aIaiaae{Gz/$?e#e<eIeAieAaa)aeABD}6D}03Y;!B=CQ)>99FY&EB:A>Q 15٪+?Q 55 |,Q =T:9hwwvM;⿆|??Ozy?vX5ҿ4i? #?h?hhF^?hVhB*i!v?2iV:iBi+?"i)?- addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503101 s, deltaX: 0.200000 m, approachRate: 0.397535 m/s, rangeRepo size: 4 AE<AE<vBI~BIBIBIBIBIBIBMʘ;BMQEB B B B B B r4 Added new target pos. range: 1.994605 m, bearing: 133.756751 deg, lat: 36.779123 deg, lon: -121.859747 deg, deltaT: 0.503101 s, deltaX: 0.199461 m, approachRate: 0.396462 m/s, posRepo size: 4 gggggggzfrffflBBdd d c @c-@`?ɢ9 顝CI iջɡiIb|;Iii)) checking for new query: numPingsReceived=44, elapsed TxPingTime=20.667732iaaaaa1>A DM DM kDM .DI EM a: EM :6EM ـ4:EI "EM d;!] EM e;!] *EM @;!] a I EM @;! I N >A,g33Ai%=I<DDAT read: Rx Time:23:58:35.1490 TRx dataTimestamp_ set to:1758412712.809094PDAT read: Bearing 54.4, -16.8 (Local) "~Local bearing/azimuth received: Bearing 54.4, -16.8 (Local) *DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 :DAT read: 23:58:35.1490 LVL= 12064, 11329, 21058, 17331, AGC= 43, IDX= 505, 0.17, 2.011, 1.910, 3.088,-2.324, PHS=-1.847,-2.004,-0.915, RAW= 202.3, 58.8, CAL= 200.5, 65.3, ROT= 309.5, -65.3 >Ygot valid direction response: 23:58:35.1490 LVL= 12064, 11329, 21058, 17331, AGC= 43, IDX= 505, 0.17, 2.011, 1.910, 3.088,-2.324, PHS=-1.847,-2.004,-0.915, RAW= 202.3, 58.8, CAL= 200.5, 65.3, ROT= 309.5, -65.3 BT#Rx 45: Read range and direction messages.F^direction in FSK: [0.265796,-0.322436,0.908508]FFpublishing direction and range info9́Ԙ?:H٨̢Կ?f?i /A,BRC+ j)AIq=jia@G\?_@?۬@ ᑿiIMR?Y5ik?Gt`?#?h ݢa)ᑿiVchecking for new query: numPingsReceived=45, elapsed TxPingTime=20.935131yzI@ٱz,W@zR9999=FY=)EE9AE>IQ 15٪M+?Q 55M: I9YyeQ E@yI)M$A Dm Dm rDm -Di Em 1: Em ?:6Em t4:Ei ! @! @! @! @ A I1IN>z,R3ANDDAT read: Rx Time:23:58:35.6491 NTRx dataTimestamp_ set to:1758412713.312787RPDAT read: Bearing 49.7, -15.4 (Local) V~Local bearing/azimuth received: Bearing 49.7, -15.4 (Local) ^DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 nDAT read: 23:58:35.6491 LVL= 11360, 11809, 21362, 18163, AGC= 43, IDX= 506, 0.30,-2.754,-3.094,-1.750,-0.946, PHS=-1.706,-2.103,-0.848, RAW= 192.0, 56.0, CAL= 190.7, 63.1, ROT= 319.3, -63.1 rYgot valid direction response: 23:58:35.6491 LVL= 11360, 11809, 21362, 18163, AGC= 43, IDX= 506, 0.30,-2.754,-3.094,-1.750,-0.946, PHS=-1.706,-2.103,-0.848, RAW= 192.0, 56.0, CAL= 190.7, 63.1, ROT= 319.3, -63.1 vT#Rx 46: Read range and direction messages.z^direction in FSK: [0.343006,-0.295032,0.891798]zFpublishing direction and range info9LN#8??*Gҿa?N@LiN`,N!.NrSNFL N5^ڿ)NINYiNPwV@N5z?NU@N}?NT@ N}iLLIN_'?8J?^A?N~ʠ?NU)z Nu5)N}iLL5checking for new query: numPingsReceived=46, elapsed TxPingTime=21.4428019i9yI@ٱW@J<3=H{&@?u9ͿC!?`Ca??II@)'];iCB9 I!MMb@Mb@Mb@ I)IIIiIIMI +{Gz?M9M#<IIMVAiMAMAI)IMGAI)BD#6DӀ3Y`!"=>Q)>99FY,E,9A>Q 1U5٪,?Q 5]5J {,9]hNXhNnf唊?hNmhNB*iNF^?2iN :iNBiNL?"iNV@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503693 s, deltaX: 0.200000 m, approachRate: 0.397067 m/s, rangeRepo size: 4 QvB?>~BBIBBBBBBBQE Added new target pos. range: 1.994605 m, bearing: 150.154453 deg, lat: 36.779120 deg, lon: -121.859748 deg, deltaT: 0.503693 s, deltaX: 0.199461 m, approachRate: 0.395996 m/s, posRepo size: 4 gggggggzfrfff\BBdddc@c}?ɢyB;㓼 >I ߐɡiI{;I)i)i)))))Mchecking for new query: numPingsReceived=46, elapsed TxPingTime=21.675730ԁi0@@0>ԩ >A >D D oD 0D E : E :6E 4:E "E ;! E ;! *E N;! E N;! AIIAN]?',r3AyFI@ٱFqW@RDDAT read: Rx Time:23:58:36.1490 RTRx dataTimestamp_ set to:1758412713.816899VPDAT read: Bearing 41.8, -7.1 (Local) Z~Local bearing/azimuth received: Bearing 41.8, -7.1 (Local) bDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 rDAT read: 23:58:36.1490 LVL= 12976, 10449, 20466, 16531, AGC= 42, IDX= 506,-0.44, 0.832,-0.113, 1.373, 2.249, PHS=-1.314,-2.317,-0.919, RAW= 165.9, 52.2, CAL= 167.2, 60.4, ROT= 342.8, -60.4 vYgot valid direction response: 23:58:36.1490 LVL= 12976, 10449, 20466, 16531, AGC= 42, IDX= 506,-0.44, 0.832,-0.113, 1.373, 2.249, PHS=-1.314,-2.317,-0.919, RAW= 165.9, 52.2, CAL= 167.2, 60.4, ROT= 342.8, -60.4 zT#Rx 47: Read range and direction messages.~^direction in FSK: [0.471852,-0.146063,0.869495]~Fpublishing direction and range info9PRy%2?D.¿~P?Rf?PiR2R(ROR@R* R'1)RIIRCkiRO9@RZ;i?R:@RV?Rt@ RViPPIRvSM?ø-?։H?F~XI9I9MFYM/EUAU>YQ 1]5٪]-?Q 5e5]X Y9aYeJQ Ee@yY)]:I]:i]5RM?RA/i Rj)RViPPuchecking for new query: numPingsReceived=47, elapsed TxPingTime=21.954721Yy} AyhPhRHt3AhR?hR?hRKA@ vRlY+X?ʆпR?uRy%2?D.¿~P?hRjhRVvRYM[UZCZ?id?vR#E%W࿪X?$X]p?hR=hRjhRI?hRghR>B*iRw?2iP:iRsBiRX?"iR)@5 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504112 s, deltaX: -0.200000 m, approachRate: -0.396737 m/s, rangeRepo size: 4 E Added new target pos. range: 1.795146 m, bearing: 173.045265 deg, lat: 36.779120 deg, lon: -121.859748 deg, deltaT: 0.504112 s, deltaX: -0.199460 m, approachRate: -0.395666 m/s, posRepo size: 4 gigigigigigigizfqrfqfqfqBdydydyc}?c}`6:?ԩɢxBGۓ I BɡiIs;Iii))iMIIM_5QMchecking for new query: numPingsReceived=47, elapsed TxPingTime=22.178711 >A ܄>A yA1 I9 IY N >L,,O3ADMDM~DM,DIEM: EM(:6EMg4:EI!m@!u@!u@!u@.B9 Ii=IBDE"6DEJz3YEo<!E,=MQ)M>M H?9M H?9UFYU2EUAU>YQ 1e5٪]|.?Q 5e5]guDDAT read: Rx Time:23:58:36.6491 }TRx dataTimestamp_ set to:1758412714.321004PDAT read: Bearing 38.8, -4.0 (Local) ~Local bearing/azimuth received: Bearing 38.8, -4.0 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 23:58:36.6491 LVL= 12640, 11617, 20354, 18803, AGC= 44, IDX= 507,-0.26, 1.625, 0.438, 1.958, 2.877, PHS=-1.150,-2.394,-0.963, RAW= 156.9, 49.8, CAL= 159.4, 58.4, ROT= 350.6, -58.4 Ygot valid direction response: 23:58:36.6491 LVL= 12640, 11617, 20354, 18803, AGC= 44, IDX= 507,-0.26, 1.625, 0.438, 1.958, 2.877, PHS=-1.150,-2.394,-0.963, RAW= 156.9, 49.8, CAL= 159.4, 58.4, ROT= 350.6, -58.4 T#Rx 48: Read range and direction messages.^direction in FSK: [0.516950,-0.085580,0.851727]Fpublishing direction and range info9quwڊ?q赿([XA?u@qiu`1ua-uOusIu, u33)uL7Iu+viuLB/@u/^?u/ 2@uw?u@ uwiqq Y9YQ E@yY)]}yſ0~.?uuwڊ?q赿([XA?hu'huwvu?h6/\ X?vuATޠKP?-'~ gn?huphuhu!Ӕ?hun*huB*iunf唊?2ium:iuBiu~?"iuZ+(@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504105 s, deltaX: 0.200000 m, approachRate: 0.396743 m/s, rangeRepo size: 4  Added new target pos. range: 1.994606 m, bearing: 180.780291 deg, lat: 36.779118 deg, lon: -121.859749 deg, deltaT: 0.504105 s, deltaX: 0.199461 m, approachRate: 0.395673 m/s, posRepo size: 4 gggggggzfrfffBdddc@c ?ɢMwBM4 QUIQ UɡQiQIUK;IYiaia)a)aiېCi0IG)I)iU}QUAu?AvB]>>~BYB]IB]BBYBYBYB]ۘ;B]+QE! >A >M checking for new query: numPingsReceived=48, elapsed TxPingTime=22.688147Y AM AIQ Ia Nu >,g3Aɰ&4<&4D5D5qD50D1E5: E5$ :6E54:E1"E5 Q 15٪/?Q 55_ },99Q E@y)I;IBI;i5Y AB*** querying acoustic contact ***zh!h!g)g)g)g)g1g1g1zf1rf1f9f=sBBd9dYdacace?ɢuBL 页I ɡiI ;Iii)))9DDAT read: Rx Time:23:58:37.1490 TRx dataTimestamp_ set to:1758412714.830168PDAT read: Bearing 36.1, -3.1 (Local) ~Local bearing/azimuth received: Bearing 36.1, -3.1 (Local) DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 23:58:37.1490 LVL= 12880, 11297, 20082, 19123, AGC= 43, IDX= 506,-0.12, 0.070,-1.322, 0.320, 1.242, PHS=-1.070,-2.519,-0.966, RAW= 153.4, 47.0, CAL= 156.6, 56.1, ROT= 353.4, -56.1  Ygot valid direction response: 23:58:37.1490 LVL= 12880, 11297, 20082, 19123, AGC= 43, IDX= 506,-0.12, 0.070,-1.322, 0.320, 1.242, PHS=-1.070,-2.519,-0.966, RAW= 153.4, 47.0, CAL= 156.6, 56.1, ROT= 353.4, -56.1  T#Rx 49: Read range and direction messages.=^direction in FSK: [0.554049,-0.064106,0.830012]=Fpublishing direction and range info92ĺ?h:iTu?f?iP2!,rNJ+ )L7!IKwiuY+@~Q?.@iQQQU0Q@Y@Y>z?4`@ >ziIgޡ9?vy'?nюc?Ob?3Q )>zichecking for new query: numPingsReceived=49, elapsed TxPingTime=22.975618a>A ܄>ԑ A I I N ><0, 3A checking for new query: numPingsReceived=49, elapsed TxPingTime=23.190819y>!BI@ٱ>:W@>R6<>&Ȫ<>H7`e?̿6R?%ʆHX?`?I>!BI@)>Ȃ^;i>CFB9F IBDN&6DNދ3YVw!Vi=ZjQ)Z>X9X9^FY^7E^ A^?`Q 1f5٪b/?Q 5f5bZ b,9hYj>Q Ej@y`)b ;Iby:ib5Yln Alhhy!3Ah?h?h. N@ v?;uɌ?u2ĺ?h:iTu?hh>zv\vK9K.V3-ө%?vK s&'IqP?hh^hgٔ?hKqhB*iI?2ig:iMBiwr?"ivA@M addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.509164 s, deltaX: -0.200000 m, approachRate: -0.392801 m/s, rangeRepo size: 4 ] Added new target pos. range: 1.795145 m, bearing: 184.459890 deg, lat: 36.779117 deg, lon: -121.859753 deg, deltaT: 0.509164 s, deltaX: -0.199461 m, approachRate: -0.391742 m/s, posRepo size: 4 gYgYgYgYgYgagaԡzfrfffBdddc?c?ɢ 9EB*IA ExɡAiAIE;IIiIiI)I)Qi!!-?5)BE ـ4JE 4RE Ŗ/DD|D.DEs: EP$:6Eـ4:E!@!@!@!@DDAT read: Rx Time:23:58:37.6491 TRx dataTimestamp_ set to:1758412715.337231PDAT read: Bearing 36.3, -5.7 (Local) ~Local bearing/azimuth received: Bearing 36.3, -5.7 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 >AY= DAT read: 23:58:37.6491 LVL= 13200, 12913, 19826, 21363, AGC= 45, IDX= 507,-0.04, 2.036, 0.720, 2.444,-2.983, PHS=-1.162,-2.535,-0.900, RAW= 158.6, 46.9, CAL= 161.0, 56.1, ROT= 349.0, -56.1 M Ygot valid direction response: 23:58:37.6491 LVL= 13200, 12913, 19826, 21363, AGC= 45, IDX= 507,-0.04, 2.036, 0.720, 2.444,-2.983, PHS=-1.162,-2.535,-0.900, RAW= 158.6, 46.9, CAL= 161.0, 56.1, ROT= 349.0, -56.1 M T#Rx 50: Read range and direction messages. ^direction in FSK: [0.547498,-0.106423,0.830012] Fpublishing direction and range info9 ?4>Tu?@i3q2rMsS- j)q="Ifffim(1@Q?3@@ iIHϞ?{=@E?i>L]?_,?ފQ D)i5 checking for new query: numPingsReceived=50, elapsed TxPingTime=23.522696A yAI I N >) S,Q3AvB?>~BBIBBBBBB;B6QEyZI@ٱZW@Z== H?9= H?9=FY=9E=:AE>AQ 1U5٪Ea0?Q 5U5E E,9UqTu?h-Dh)v-p~82x1svx7?v-q.>⿤q0 dPvI?h-蟻h-h-\3Д?h-=h-nB*i-gٔ?2i-=:i-nBi-?"i-]I@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507063 s, deltaX: 0.200000 m, approachRate: 0.394428 m/s, rangeRepo size: 4  Added new target pos. range: 1.994608 m, bearing: 180.245859 deg, lat: 36.779117 deg, lon: -121.859754 deg, deltaT: 0.507063 s, deltaX: 0.199463 m, approachRate: 0.393370 m/s, posRepo size: 4 ggg-checking for new query: numPingsReceived=50, elapsed TxPingTime=23.694706ggAgAgIzfIrfIfIfUoBBdQdQdQcU@c]"?ɢsB( I mGɡiI;Iii))AiP5irDjD%=DDpD-DEҝ: E :6Et4:E"E;!E;!*E8R;!E9R;!>A > DDAT read: Rx Time:23:58:38.1491  TRx dataTimestamp_ set to:1758412715.836764 PDAT read: Bearing 38.2, -12.1 (Local)  ~Local bearing/azimuth received: Bearing 38.2, -12.1 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 - DAT read: 23:58:38.1491 LVL= 13264, 12705, 19554, 21395, AGC= 45, IDX= 506, 0.04, 2.228, 1.221, 3.027,-2.545, PHS=-1.408,-2.471,-0.755, RAW= 172.1, 47.5, CAL= 172.8, 56.6, ROT= 337.2, -56.6 5 Ygot valid direction response: 23:58:38.1491 LVL= 13264, 12705, 19554, 21395, AGC= 45, IDX= 506, 0.04, 2.228, 1.221, 3.027,-2.545, PHS=-1.408,-2.471,-0.755, RAW= 172.1, 47.5, CAL= 172.8, 56.6, ROT= 337.2, -56.6 ԙ  T#Rx 51: Read range and direction messages. ^direction in FSK: [0.507468,-0.213320,0.834848] Fpublishing direction and range info9 -=?hN˿&j? i 3 1 bL S X9) $I GAi <@@ g;T? A@ '|? S@ '|i I Oݳ??tRҙ? yh?A AI I N >꽽,33AST ˾)'|i>checking for new query: numPingsReceived=51, elapsed TxPingTime=24.026646@i@yzH@ٱV@KE<<H?u?ݏؓ˿ >?K o?`!?IzH@)];iC-%B9M IIY)]AABDe)6De3Y ! D=N:Q)>%K?9%K?9%FY%YQ 15٪],1?Q 55] ],9Y+=?Q E@y]CEE)]hh9{Ӕ?hhoB*i9{Ӕ?2i:ii?"iI@] addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.499533 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994608 m, bearing: 168.660955 deg, lat: 36.779116 deg, lon: -121.859754 deg, deltaT: 0.499533 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggggggzfrfffBdddcc5?ɢAEՑ AE,IA M;ɡIiIIM;IQiQiQ)Q)Y}PExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=51, elapsed TxPingTime=24.199533iR5I>AU ,#>D D uD /D E : E :6E J4:E !% @!% @!- @!- @ԁ A I I) NM >!#, 3ADDAT read: Rx Time:23:58:38.6491 TRx dataTimestamp_ set to:1758412716.340870PDAT read: Bearing 39.5, -13.3 (Local) ~Local bearing/azimuth received: Bearing 39.5, -13.3 (Local) "DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 6DAT read: 23:58:38.6491 LVL= 13952, 12337, 19906, 21411, AGC= 45, IDX= 506, 0.13, 2.364, 1.471,-3.053,-2.332, PHS=-1.486,-2.436,-0.765, RAW= 175.5, 48.8, CAL= 175.7, 57.5, ROT= 334.3, -57.5 :Ygot valid direction response: 23:58:38.6491 LVL= 13952, 12337, 19906, 21411, AGC= 45, IDX= 506, 0.13, 2.364, 1.471,-3.053,-2.332, PHS=-1.486,-2.436,-0.765, RAW= 175.5, 48.8, CAL= 175.7, 57.5, ROT= 334.3, -57.5 :T#Rx 52: Read range and direction messages.>^direction in FSK: [0.484148,-0.233005,0.843391]BFpublishing direction and range info9 ^H? Ϳs?i610MS ?5)mI Ci D@^ Z??BD@t?U@ tiI=v?\%`^_?Mw?w?Y Z)ti5checking for new query: numPingsReceived=52, elapsed TxPingTime=24.486017QyuH@ٱu;V@ut=P9 9 FY ?E A >Q 15٪1?Q 55 9eKh刿htה?hzdhuB*i2i:ioBi4?"i-J@ԁvB@>~BBIB BBBBB;B;QE addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504106 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994608 m, bearing: 165.701014 deg, lat: 36.779116 deg, lon: -121.859754 deg, deltaT: 0.504106 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gggg!g!g!g!zf!rf!f)f-tBBd)d)d)c1c5@ 3?ɢrB>͐ 顥I ɡiI[;Iii))imiimo0iԩ) checking for new query: numPingsReceived=52, elapsed TxPingTime=24.706448 >A D5 ~D5 wD5 +D1 E5 : E5 :6E5 [4:E1 "E5 s;!M E5 t;!M *E5 k;!M E5 k;!U AyA!I1IANM>I,Ҋ33AyJH@ٱJV@J^j H?9j H?9jFYnAEn޻An>pQ 1v5٪r1?Q 5v5rH p9xYz?Q Ez@yp)r;Ir ;irÎ5Y|~ A|B*** querying acoustic contact ***zhh5DDAT read: Rx Time:23:58:39.1490 =TRx dataTimestamp_ set to:1758412716.844910EPDAT read: Bearing 41.9, -16.7 (Local) M~Local bearing/azimuth received: Bearing 41.9, -16.7 (Local) ]DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 23:58:39.1490 LVL= 12464, 13137, 19890, 20963, AGC= 45, IDX= 505, 0.24, 1.951, 1.313, 3.008,-2.597, PHS=-1.633,-2.328,-0.723, RAW= 184.4, 49.9, CAL= 183.7, 58.3, ROT= 326.3, -58.3 Ygot valid direction response: 23:58:39.1490 LVL= 12464, 13137, 19890, 20963, AGC= 45, IDX= 505, 0.24, 1.951, 1.313, 3.008,-2.597, PHS=-1.633,-2.328,-0.723, RAW= 184.4, 49.9, CAL= 183.7, 58.3, ROT= 326.3, -58.3 T#Rx 53: Read range and direction messages.^direction in FSK: [0.437168,-0.291555,0.850811]Fpublishing direction and range info99="? ֨ҿ@9?=f?9i=0=Q3=M=Q9 =%ѿ)=I=9i=M@=^?=1M@=S>?==@ =S>i99I=et?GÖ? z?=?=^ =)=S>i99checking for new query: numPingsReceived=53, elapsed TxPingTime=24.976521g!ggggggzfrfffBdddc?cd?ɢeqBek imIi m2xɡiiiImf;Iqiqiy)y)yiP5 >A=>nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=53, elapsed TxPingTime=25.2067799 Ai Iy I N >),AM3Aɰy:uH@ٱ:mV@:m<:T<:H'M ?`ʿ`L@U(?`Ʃ?`?I:uH@):$];i:CBB9B IJX9X9ZFYZDE^A^>`Q 1f5٪bK2?Q 5f5b `9dYf?Q Ej@y`)b:Ib:ibSŎ5Yln9 AYhyh}63Ah}?h}?h}=/@ v}0t ?T࿠ߠo?u}"? ֨ҿ@9?h}h}S>v}ףm`?2W?v}Yb9࿵F?Zn?h}(>h}\gh}"攊?h}.h}"B*i}tה?2i}:i}nBi}?"i}c>@ addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504040 s, deltaX: -0.200000 m, approachRate: -0.396794 m/s, rangeRepo size: 4 DDkD.DE: E:6Eـ4:E! @! @! @! @  Added new target pos. range: 1.795153 m, bearing: 157.553729 deg, lat: 36.779116 deg, lon: -121.859752 deg, deltaT: 0.504040 s, deltaX: -0.199456 m, approachRate: -0.395714 m/s, posRepo size: 4 gggg1g1g1g1zf9rf9f9f9BdAdAdAcAcM?YmDDAT read: Rx Time:23:58:39.6491 uTRx dataTimestamp_ set to:1758412717.351752DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 54: Read range message, but no direction.9im@iɢpBIۗ "Ichecking for new query: numPingsReceived=54, elapsed TxPingTime=25.473440 7ɡ i I pK;I ii))yi0vB?>~BBBBBBB;B4QEBBBBBBi4ԩ >A 4(> checking for new query: numPingsReceived=54, elapsed TxPingTime=25.711725A A I I N >,Qh3AyN7H@ٱNW0V@N& K?9 K?9 FY GEvA>Q 1E5٪2?Q 5M5 ,9MNAi ԑ A I I N >L,s3Ay:H@ٱ:%U@:ʼn<:<:H:X`^?``ɿWœ?8@?@?I:H@):S];i:CBB9B IJchecking for new query: numPingsReceived=55, elapsed TxPingTime=26.214825)NA NABDR/6DR3YZ^!^V=^;L;Q)^>\9`9bFYbJEb7Ab>dQ 1j5٪f1?Q 5j5fP d9lYnZ?Q En@yfDEE)fK:IfB:if+Ɏ5Ypr^ AthqhuMv3Ahqhqhu@@ vuQ}?:>ϿՙCb?uuF?nkG?huΘhuvuX~ӭ뿽?GF?vu,C)޿^uʯ??w"?huH=hu^huX蔊?huahuAmDDAT read: Rx Time:23:58:40.6491 uTRx dataTimestamp_ set to:1758412718.361322PDAT read: Bearing 42.9, -5.6 (Local) ~Local bearing/azimuth received: Bearing 42.9, -5.6 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 23:58:40.6491 LVL= 13296, 11889, 20642, 17843, AGC= 43, IDX= 507,-0.11,-0.221,-1.099, 0.201, 1.263, PHS=-1.382,-2.317,-1.106, RAW= 162.6, 57.1, CAL= 164.0, 64.2, ROT= 346.0, -64.2 Ygot valid direction response: 23:58:40.6491 LVL= 13296, 11889, 20642, 17843, AGC= 43, IDX= 507,-0.11,-0.221,-1.099, 0.201, 1.263, PHS=-1.382,-2.317,-1.106, RAW= 162.6, 57.1, CAL= 164.0, 64.2, ROT= 346.0, -64.2 T#Rx 56: Read range and direction messages.^direction in FSK: [0.422303,-0.105292,0.900319]Fpublishing direction and range info9qu@?lh8i?u@qiu3uq.uPuEq u`尿)uIIuhiu>5@u ?u07@ul?u,>@ uliqqIuv_??$dT?u&>? ug u5z)uliqq checking for new query: numPingsReceived=56, elapsed TxPingTime=26.491844AQ IY Ii N} >) o,03AiA A"@AvB$~B$B&IB&BB$B$B$B&;B&2QE~B9~ IMb@Mb@Mb@ )Ii~jt?S㥛D</ݼIAilAA)AI1)1BD=36D=3YM4;<!M4=UQ)U>Q9Q9]FY]LE]A]>aQ 1m5٪eU1?Q 5m5e a9u ~?h+=hghQ唊?h%&hB*iQ唊?2i:ioBij?"ik{>@  addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507910 s, deltaX: 0.200000 m, approachRate: 0.393771 m/s, rangeRepo size: 4 % Added new target pos. range: 1.994609 m, bearing: 175.491072 deg, lat: 36.779118 deg, lon: -121.859752 deg, deltaT: 0.507910 s, deltaX: 0.199461 m, approachRate: 0.392708 m/s, posRepo size: 4 g!g!g!g)g)g)g)zfQrfYfftBBdddc@c}?checking for new query: numPingsReceived=56, elapsed TxPingTime=26.718838ɢnBʙ 0"I  ɡ i I ?;Iii))i2@!>@>AD D tD ,D E ҝ: E v:6E g4:E "E ;! E ;! *E `;!% E `;!% q >AA  DDAT read: Rx Time:23:58:41.1490  TRx dataTimestamp_ set to:1758412718.864876 PDAT read: Bearing 46.7, -11.4 (Local)  ~Local bearing/azimuth received: Bearing 46.7, -11.4 (Local)  DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 23:58:41.1490 LVL= 13008, 11041, 20594, 16115, AGC= 42, IDX= 506,-0.00,-0.671,-1.198, 0.073, 1.049, PHS=-1.618,-2.202,-1.021, RAW= 180.4, 59.1, CAL= 180.2, 65.6, ROT= 329.8, -65.6  Ygot valid direction response: 23:58:41.1490 LVL= 13008, 11041, 20594, 16115, AGC= 42, IDX= 506,-0.00,-0.671,-1.198, 0.073, 1.049, PHS=-1.618,-2.202,-1.021, RAW= 180.4, 59.1, CAL= 180.2, 65.6, ROT= 329.8, -65.6  T#Rx 57: Read range and direction messages. ^direction in FSK: [0.357036,-0.207800,0.910684] Fpublishing direction and range info9 Q?.ʿѧ? R$? f? i 2 !+ rP > * Ͽ) I !i K,3Ay-ةG@ٱ-MU@-O><-[<-Ha?M|ȿ`XB?璿`i?F?I-ةG@)-];i-C=B9=IBD,6D3Y 6!eH=m;Q)m>q9q9uFY}OETA>Q 1 5٪0?Q 5 5 ,9Y @Q E@y):I:i͎5Y!% A!hihm!Z3Ahm?hm?hm$d2@ vm?<׿]ߦ0(?umQ?.ʿѧ? R$?hmUhmCvmҋZ\Ny?4Q@?vmORڿT`>x?.Y?hm͋>hm=hm}?hmmhmNB*im"攊?2imzd:imNBimxh?"imG:@ addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503554 s, deltaX: -0.200000 m, approachRate: -0.397177 m/s, rangeRepo size: 4  Added new target pos. range: 1.795148 m, bearing: 159.704084 deg, lat: 36.779118 deg, lon: -121.859751 deg, deltaT: 0.503554 s, deltaX: -0.199461 m, approachRate: -0.396106 m/s, posRepo size: 4 gggg g g g zf rf ffBd1d9d9c=?c=`o?ɢmBFܦ 額3I > ɡiIA D D mD /D E : E :6E J4:E ! @! @! @! @ԡ A I I N >rQ,QN3ARDDAT read: Rx Time:23:58:41.6492 VTRx dataTimestamp_ set to:1758412719.369649jPDAT read: Bearing 49.4, -16.7 (Local) n~Local bearing/azimuth received: Bearing 49.4, -16.7 (Local) DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 )IG)IiAmDAT read: 23:58:41.6492 LVL= 13296, 11137, 20210, 15923, AGC= 42, IDX= 507, 0.09, 1.267, 1.019, 2.295,-3.111, PHS=-1.804,-2.108,-0.922, RAW= 195.7, 58.0, CAL= 194.2, 64.7, ROT= 315.8, -64.7 =Ygot valid direction response: 23:58:41.6492 LVL= 13296, 11137, 20210, 15923, AGC= 42, IDX= 507, 0.09, 1.267, 1.019, 2.295,-3.111, PHS=-1.804,-2.108,-0.922, RAW= 195.7, 58.0, CAL= 194.2, 64.7, ROT= 315.8, -64.7 ET#Rx 58: Read range and direction messages.M^direction in FSK: [0.306377,-0.297939,0.904083]MFpublishing direction and range info9TVﯛ? nӿ >?Vf@TiV3V+VNV3>T Vy)VyIV1liVXZ@V?ViX@V?VA`@vB~BBIBBBBBBܘ;B,QE ViTTIVѣ(ù?^_(l?$?V:&?V V|E)ViTTchecking for new query: numPingsReceived=58, elapsed TxPingTime=27.615562YB9Ii=Ia=-checking for new query: numPingsReceived=58, elapsed TxPingTime=27.726868ԁMb@Mb@Mb@ )Ii rh?QC<uIiAVA)p 9 9 FY SE A > Q 1E 5٪ /?Q 5E 5   9E ?hV|EhVvV3f鿫0??vVؿ`닺h?@i3-BPE, )`I&Qikg@w?oe@ً?@ ًiIײ袛?E'L$'?2óV??w w)ًi}checking for new query: numPingsReceived=59, elapsed TxPingTime=27.998749 >A9AyAIIN8?% ,|`3Ay6QpG@ٱ6hU@6z:<6;<6H f`{?`N@ȿ@fCȒ?G ??I6QpG@)6^;i6CBB9BIBDJ!6DJr3YRs~;!R7=V,V:Q)V>V H?9V H?9ZFYZVEZAZ>\Q 1b5٪^.?Q 5b5^l \9dYf!'@Q Ef@y\)^`:I^:i^ю5Ylns Alhyh}m3Ah}O?h}O?h}@ v}YM?oW-|Ӝ`U?u}J~?&V\c`>ؿ`닺h?h}wh}ًv}IH=\T?h?v}N|Wֿݗ@?.?h},?h}@2h}[;?h}ʱh}B*i},씊?2iy:i}Bi}S?"i}4@- addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.500372 s, deltaX: -0.100000 m, approachRate: -0.199851 m/s, rangeRepo size: 4 = Added new target pos. range: 1.994609 m, bearing: 135.932629 deg, lat: 36.779119 deg, lon: -121.859750 deg, deltaT: 0.500372 s, deltaX: -0.099730 m, approachRate: -0.199312 m/s, posRepo size: 4 g9gAgAgAgAgAgAgAgAzfIrfIfIchecking for new query: numPingsReceived=59, elapsed TxPingTime=28.230597fBdddc@cD?ɢ%Ҭ %6<%/I! %Cɡ)i)I-l;A i] =I] = DDAT read: Rx Time:23:58:42.6491  TRx dataTimestamp_ set to:1758412720.380948 PDAT read: Bearing 48.6, -17.9 (Local)  ~Local bearing/azimuth received: Bearing 48.6, -17.9 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 - DAT read: 23:58:42.6491 LVL= 13392, 11985, 20754, 16963, AGC= 42, IDX= 506, 0.34, 0.554, 0.328, 1.628, 2.433, PHS=-1.777,-2.061,-0.849, RAW= 197.1, 56.5, CAL= 195.4, 63.5, ROT= 314.6, -63.5 5 Ygot valid direction response: 23:58:42.6491 LVL= 13392, 11985, 20754, 16963, AGC= 42, IDX= 506, 0.34, 0.554, 0.328, 1.628, 2.433, PHS=-1.777,-2.061,-0.849, RAW= 197.1, 56.5, CAL= 195.4, 63.5, ROT= 314.6, -63.5 5 T#Rx 60: Read range and direction messages.A= AIa Iq N > ^direction in FSK: [0.313299,-0.317704,0.894934] Fpublishing direction and range info9 L* ?DUԿ/K?9K?9FYYEA>Q 15٪,.?Q 55Z ,96@Q E@y)f ?u-"?v٣Nؿ5:(?`5?h?hiFh씊?hjIhB*i씊?2ioq:iBiin?"ir#@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.510927 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994606 m, bearing: 145.394198 deg, lat: 36.779119 deg, lon: -121.859747 deg, deltaT: 0.510927 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 gggggggggzfrffAfEeBBdAdAdIcIcM?ɢkBj4 顝J/Ichecking for new query: numPingsReceived=60, elapsed TxPingTime=28.734919 )ɡiI A ] DDAT read: Rx Time:23:58:43.1490 e TRx dataTimestamp_ set to:1758412720.876691m PDAT read: Bearing 44.1, -6.6 (Local) m ~Local bearing/azimuth received: Bearing 44.1, -6.6 (Local) } DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  DAT read: 23:58:43.1490 LVL= 12448, 11745, 21058, 16547, AGC= 42, IDX= 506,-0.40,-2.083,-2.788,-1.628,-0.643, PHS=-1.338,-2.100,-1.029, RAW= 166.3, 58.8, CAL= 167.3, 65.6, ROT= 342.7, -65.6  Ygot valid direction response: 23:58:43.1490 LVL= 12448, 11745, 21058, 16547, AGC= 42, IDX= 506,-0.40,-2.083,-2.788,-1.628,-0.643, PHS=-1.338,-2.100,-1.029, RAW= 166.3, 58.8, CAL= 167.3, 65.6, ROT= 342.7, -65.6  T#Rx 61: Read range and direction messages. ^direction in FSK: [0.394416,-0.122847,0.910684] Fpublishing direction and range info9Y ] 0Vy>?QWrѧ? R$?] f?Y i] 0] -] BR] @Y ] C)] ffI] Fi] F9@] G\?] ;:@] C?] Yf@ ] CiY Y I] 8?8t?  ~b?] ^N?] &v ] )] CiY Y   checking for new query: numPingsReceived=61, elapsed TxPingTime=29.005404AaIiIN>,*<3AyMG@ٱMcU@M 9 9 FY \E 3A >qQ 1}5٪us-?Q 5}5uH q9Y5@Q E@yuEEE)u:IuN:iuՎ5Yc Ah9h=83Ah=?h=?h=?@ v=K7?{yA:̿UBF.(?u=0Vy>?QWrѧ? R$?h=h=Cv=gz C ?y?v=;Odۿ?P(z?h==h=Eh==V씊?h=Th=QB*i92i9:i=Bi=5l?"i=E#@= addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.495743 s, deltaX: -0.200000 m, approachRate: -0.403435 m/s, rangeRepo size: 4 m Added new target pos. range: 1.795146 m, bearing: 171.735360 deg, lat: 36.779119 deg, lon: -121.859747 deg, deltaT: 0.495743 s, deltaX: -0.199461 m, approachRate: -0.402347 m/s, posRepo size: 4 gigqgqgqgqgqgqgqgqzfyrfyfyfyBdddc?ceM?ɢjBZ" (I nrɡiI Ay D D D .D E C: E 6E ـ4:E ! @! @! @! @ A yAI 5 DDAT read: Rx Time:23:58:43.6491 E TRx dataTimestamp_ set to:1758412721.384756e PDAT read: Bearing 38.6, 1.1 (Local) m ~Local bearing/azimuth received: Bearing 38.6, 1.1 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 I 1NE>'y,&[3ADAT read: 23:58:43.6491 LVL= 11968, 13185, 17650, 18275, AGC= 43, IDX= 507,-0.23,-1.041,-2.176,-1.027, 0.066, PHS=-1.004,-2.197,-1.137, RAW= 144.2, 53.6, CAL= 148.0, 61.1, ROT= 2.0, -61.1 "Ygot valid direction response: 23:58:43.6491 LVL= 11968, 13185, 17650, 18275, AGC= 43, IDX= 507,-0.23,-1.041,-2.176,-1.027, 0.066, PHS=-1.004,-2.197,-1.137, RAW= 144.2, 53.6, CAL= 148.0, 61.1, ROT= 2.0, -61.1 &T#Rx 62: Read range and direction messages.*\direction in FSK: [0.482988,0.016866,0.875465]*Fpublishing direction and range info9QU׼F?9v#gE?/ ?U@QiU.U3UDUcGU+ U)U IU7iU!@U|o?UMQ%@U?U5= UiQQIU'6[W??;mi\?U>UOo U5=)UiQQMchecking for new query: numPingsReceived=62, elapsed TxPingTime=29.577131EB9EIvB>>~BBIBBBBBBB.QEMb@Mb@Mb@ )Ii~jtx?~jth?MbP?;D;:IAiVAA)ABD &6D ދ3Y폼!=Q)E>E H?9E H?9EFYE_EMAM>QQ 1]5٪U5-?Q 5]5UW U,9}>;Q A=YQ E@yQ)US;IU;iUB؎5Y AhQhU؟X3AhUO?hUO?hUMT@ vU_?\vz9?'Ww?uU׼F?9v#gE?/ ?hU5=hUvUi׏P0_sǿxIf?vU0AiAAIIN.?5!,3AyB G@ٱB_U@BLK?9K?9FYcE pA >Q 15٪,?Q 55f 9Y%Q E%@y)l:I:iڎ5)Y15Y A1UB*** querying acoustic contact ***zhQhQe addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.500042 s, deltaX: -0.200000 m, approachRate: -0.399967 m/s, rangeRepo size: 4 gagigigigigigigigqzfqrfqfqfyBdydydyc}?c6?ɢgB\ 页 I ?ɡiI?A <-> DAT read: 23:58:44.6491 LVL= 14496, 12273, 18978, 19811, AGC= 44, IDX= 507,-0.03,-0.274,-1.145, 0.352, 1.204, PHS=-1.376,-2.304,-0.897, RAW= 169.6, 52.6, CAL= 170.4, 60.6, ROT= 339.6, -60.6  Ygot valid direction response: 23:58:44.6491 LVL= 14496, 12273, 18978, 19811, AGC= 44, IDX= 507,-0.03,-0.274,-1.145, 0.352, 1.204, PHS=-1.376,-2.304,-0.897, RAW= 169.6, 52.6, CAL= 170.4, 60.6, ROT= 339.6, -60.6 % T#Rx 64: Read range and direction messages.- ^direction in FSK: [0.460115,-0.171115,0.871214]5 Fpublishing direction and range info9^`r?t5 ſ?@i8/"JcM,  )tIˡeiq=@k?V>@a?@ aiIk',3AA AAAvB~BBBBBBB;B1QEBiBiBiBiBiBmH4yG@ٱi U@<Z<H`p?fǿo` ?@R5 Wj?`X?IG@)>_;iԑB9I}Mb@Mb@Mb@ y)yIyiyy}{Gz?Mb?}#<}<}Iyiyyy)yyBD6D3Y!1=Q)> H?9 H?9FYfE,:A>Q 1-5٪,?Q 5-5 9-Qh h _|ؔ?h nh B*i =V씊?2i n:i Bi |I?"i =)9@ addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.509314 s, deltaX: 0.200000 m, approachRate: 0.392685 m/s, rangeRepo size: 4  Added new target pos. range: 1.994605 m, bearing: 169.029986 deg, lat: 36.779119 deg, lon: -121.859751 deg, deltaT: 1.009356 s, deltaX: -0.000002 m, approachRate: -0.000002 m/s, posRepo size: 4 )  checking for new query: numPingsReceived=64, elapsed TxPingTime=30.751135gggg!g!g!g!g!g!zf!rf)f)f-_BBd)d1d1c5@c5h?ɢfB] 顥&I I ɡiI+<Iii)))) )i1I1 A ADe De rDe /Da Ee : Ee ?:6Ee J4:Ea "Ea !u Ea !u *Ee Y;!u Ee Y;!u i 0+     DDAT read: Rx Time:23:58:45.1491  TRx dataTimestamp_ set to:1758412722.892785 PDAT read: Bearing 40.8, -17.5 (Local)  ~Local bearing/azimuth received: Bearing 40.8, -17.5 (Local)  DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  DAT read: 23:58:45.1491 LVL= 14096, 11617, 20194, 16963, AGC= 42, IDX= 506, 0.06,-0.011,-0.615, 1.083, 1.721, PHS=-1.630,-2.290,-0.681, RAW= 185.9, 49.3, CAL= 185.0, 57.8, ROT= 325.0, -57.8  Ygot valid direction response: 23:58:45.1491 LVL= 14096, 11617, 20194, 16963, AGC= 42, IDX= 506, 0.06,-0.011,-0.615, 1.083, 1.721, PHS=-1.630,-2.290,-0.681, RAW= 185.9, 49.3, CAL= 185.0, 57.8, ROT= 325.0, -57.8  T#Rx 65: Read range and direction messages. ^direction in FSK: [0.436507,-0.305645,0.846193] Fpublishing direction and range info9 vϤ?sӿU? i 7 a- N CB * ףп) \I V.i O@ FF\? N@ ^ ? @ ^ i I p3 ?33?va?? D? Y\ a) ^ i 5 checking for new query: numPingsReceived=65, elapsed TxPingTime=31.018663A>AAAII N?J 1,a3A(y>K G@ٱ>U@>q<>q<>H@|p? ٓ@ǿ`)o -?h6?D?I>K G@)>E^;i>CFB9F I)h jAIl)nAABDn 6Dnk3Yvb<!v#=zwQ)z>~K?9~K?9~FY~iE~A~>Q 1 5٪F,?Q 5 5 9YQ E@y);I;iގ5Y[ A!h)h-d#3Ah)h)h-,@ v-ŧ`o?!|o/p=Q?u-vϤ?sӿU?h-ah-^ v-hOڮcy?'.Ї?v-tk 8^}?&.?h->h-$h-ה?h-wh-hB*i-Tڔ?2i):i-Bi-|?"i-<@u addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.498673 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.994605 m, bearing: 154.562965 deg, lat: 36.779117 deg, lon: -121.859751 deg, deltaT: 0.498673 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gXStarting latch delay timer at range: 2.00 m."Cable is present.ggggggg?gzfrfffBdddcc7M?ɢdB› I =#ɡiIAE2>D}DjD-DE݉: E96Et4:E!@!@!@!@A i =I 5 DDAT read: Rx Time:23:58:45.6492 E TRx dataTimestamp_ set to:1758412723.402559e PDAT read: Bearing 42.4, -16.3 (Local) e ~Local bearing/azimuth received: Bearing 42.4, -16.3 (Local)  DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 I  I1 N > DAT read: 23:58:45.6492 LVL= 12912, 13185, 18226, 20467, AGC= 44, IDX= 507, 0.15, 1.410, 0.840, 2.451,-3.116, PHS=-1.655,-2.282,-0.760, RAW= 185.8, 51.4, CAL= 185.0, 59.5, ROT= 325.0, -59.5 (37,23AYgot valid direction response: 23:58:45.6492 LVL= 12912, 13185, 18226, 20467, AGC= 44, IDX= 507, 0.15, 1.410, 0.840, 2.451,-3.116, PHS=-1.655,-2.282,-0.760, RAW= 185.8, 51.4, CAL= 185.0, 59.5, ROT= 325.0, -59.5 "T#Rx 66: Read range and direction messages.&^direction in FSK: [0.415751,-0.291112,0.861629]&Fpublishing direction and range info9im&Y?ARДҿ%!Fw?mf@iimp2m3m2GmOm, m ӿ)mJ Im\BimdO@mLe?im?i m섿iiiIm<[?+4? ?mn?mFe i)m섿iiiVchecking for new query: numPingsReceived=66, elapsed TxPingTime=31.603554y~ G@ٱ~ U@~_<~dA<~H p/?@ sǿ n@CΙ?`?@?I~ G@)~^;i~C B9 IvBY~BYBYBYBYBYBYB]ܘ;B]+QEMb@Mb@Mb@ )Iiy&1|?~jth?`;D;IiVA)pABD+6DE3Y%~;!%,=-Q)->)9195FY5lE5sZA5>9Q 1E5٪=,?Q 5m5= 99m;Q Am=Ym4#Q Em@y9)=S;I=B;i= 5Yq}N Ayhihm3Ahm @hm @hm`U,@ vmĎ?qQd?um&Y?ARДҿ%!Fw?hihm섿vmhDYM?)ɘd?vma޿YC?qSjD3?hm">hmDhmדה?hmm$hmB*im_|ؔ?2ii:iiimt?"imAL<@- addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.509774 s, deltaX: 0.100000 m, approachRate: 0.196165 m/s, rangeRepo size: 4 = Added new target pos. range: 2.094334 m, bearing: 154.280972 deg, lat: 36.779116 deg, lon: -121.859751 deg, deltaT: 0.509774 s, deltaX: 0.099729 m, approachRate: 0.195634 m/s, posRepo size: 4 g9g9g9g9g9gAgAgAgAzfIrfIfIfM`BBdQdQdQcU@cUu?ɢcBĝ I J%ɡiIA <->y I I  DDAT read: Rx Time:23:58:46.1490  TRx dataTimestamp_ set to:1758412723.900389% DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 % Z#Rx 67: Read range message, but no direction.9  f? - checking for new query: numPingsReceived=67, elapsed TxPingTime=32.014179N= >=,p3Ay6G@ٱ6xU@6ueV<6?9<6H@p2?]ǿ`n6?|̊`??I6G@)6ɴ];i6CBB9B IBDJ&6DJދ3YR ;!Ri=RӺQ)V>T9T9VFYZnEZ^:AZ>\Q 1b5٪^+?Q 5b5^ \9`Yb1#Q Ef@y\)^:I^;i^5YhjK Ahq5 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.497830 s, deltaX: -0.300000 m, approachRate: -0.602615 m/s, rangeRepo size: 4 g1g1g1g1g1g9g9g9g9zf9rf9fAfaBdadadicm?cm-t?ɢbB 顽I E\'ɡiI~A I I N > ԯD,r3Ay>G@ٱ>)U@>ZF<><>H o?j/ǿmdl?C09?J?I>G@)>a];i>CFB9J IiLIN=DRDRnDR0DPER: ER:6ER4:EP!Z@!Z@!Z@!Z@BD^-6D^3Yfs<!fI=f !Q)f>h9h9jFYjqEn:An>pQ 1v5٪r+?Q 5v5r p9tYv'#Q Ev@yp)r:Ir:ir\5Y|~2 A|B*** querying acoustic contact ***zhhg!g!g)g)g)g)g)g)g)zf)rf1f1f1Bd1d9d9c9cE?ɢimᦼ imx Iq u(ɡqiqIu9A I) I9 NM > checking for new query: numPingsReceived=68, elapsed TxPingTime=32.766895Թ J,8-3A9Mb@Mb@Mb@ )IiIAilAAA)ABD'6D3%Q)->)9)9-FY-tE5A5>9Q 1E5٪9Q 5E59 99EQ AE?YEQ EM@y9)=:I=:i=Q5YQQQ addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.508232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gggggggggԑzfrfffnBBdddccv?ɢaBG  I *ɡiI2A4(>bAAZAIQ Ia Nm > 9Q,-\G3A B9 IBD-+6D-E3Y=,<!EA9I9MFYMvEIAM>Qechecking for new query: numPingsReceived=69, elapsed TxPingTime=33.270885Q 1m5٪QQ 5m5Q Q9iYiQ Em@yQ)UZ;IU];iU5Y A  addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.499732 s, deltaX: -0.100000 m, approachRate: -0.200107 m/s, rangeRepo size: 4 g g g g gggggzfrfffBdd!d!c%@33?c% ?ɢm`Bmӛ \I ̭,ɡiIIA IQ I N >W,9a3AvB~BBIBBB =BBB;BPE 'B9 I)! %AMb@Mb@Mb@ )Ii:v~jth?MbPTD;IAiAVAA)ABD!6Dr3Y<!>=Q) > 9 9 FY yEA>Q 1%5٪,?Q 5%5 9%3[AM <->ԩ rD <jD <D D pD 5D E ҝ: E  :6E 4:E "E ;! E ;! *E ! E ! A AI I N >% DDAT read: Rx Time:23:58:48.1490 % TRx dataTimestamp_ set to:1758412725.916364- DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 5 Z#Rx 71: Read range message, but no direction.9! ! ! = checking for new query: numPingsReceived=71, elapsed TxPingTime=34.030163~^,{3Ay6wG@ٱ6pU@6;6֔<6Hg?ȿ@!g+{?@Ap}q? ?I6wG@)6_;i4@NB9R IBDj6DjN3Y!S=NQ)>)?9)?9FY{Et<A>Q 15٪,?Q 55 9Y Q E@y):I:i5YL ABDocked. Homing sequence complete.1CqCzf!rf!f!f!Bd)d)d)c)c- ?ɢ_B; 顝 I /ɡiAV}>bAZArAjA A} I I N >d,3ADBDBoDB0D@EB: EB:6EB4:E@!J@!J@!J@!J@bB9b IBDj&p6Djދ3Yv=!zT=zQ)z>~9~9~FY|A> Q 1 5٪ ,?Q 55  ,9YQ E@y ) *:I :i 55Y% A!=B*** querying acoustic contact ***zh9h9gMqCMzfIrfIfQfQUCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide1@U UAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAUUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlA Uninitialize.qBBCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceBdddcci4?zZE3[<ZE3[<ZE:@ZE@ɢU^Bq y}I u1ɡiLSAEZ>IQIaNm5>A!A!vB)~B)B-IB-BB)B)B)B-;B-PE1i  DDAT read: Rx Time:23:58:49.1490  TRx dataTimestamp_ set to:1758412726.676273 checking for new query: numPingsReceived=72, elapsed TxPingTime=34.790073)k,BҮ3AyB[G@ٱBЯU@B/1;B`99FY<A>!Q 1-5٪%a-?Q 5-5% %,9-FA Ho>II)N=>Թ r,73Ay:G@ٱ:-U@:o;:_<:H^=?jCɿ]@^&?]8}Q ??I:G@)::^;i8F.B9F IBDN-6DN3YV1<!Vd=Z:Q)Z>X9X9^FY\^0;A^>`Q 1f5٪b-?Q 5f5b b,9hYj/=Q Ej@y`)be:Ib:ib5Ytz Ax]DDAT read: Rx Time:23:58:49.6491 eTRx dataTimestamp_ set to:1758412727.179655mDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 mZ#Rx 74: Read range message, but no direction.9Y]@Yuchecking for new query: numPingsReceived=74, elapsed TxPingTime=35.293320Bi?FFBdddԙcc R?zZZZZ/=I ɡiIi)9*:<>A=II!N5 >DDtD/DE: Ev:6EJ4:E!@!@!@!@checking for new query: numPingsReceived=74, elapsed TxPingTime=35.538761! vB! ~B! B% IB% BB% =B! B! B% ;B% QEBBBBBBq4Y:x,3Ay6G@ٱ6U@6<6- <6HZՐ?Vьoɿ9W 0?`??I6G@)6];i4n,B9n IeMb@Mb@Mb@ a)aIaiaaeZd;O{GztejeףeIeAieAaeA)aaBD%6D03Y-!!:=M+;Q)>99FY;A>Q 15٪.?Q 55 9Q E@yFEE):I:i5Y A1F Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminalFBddd!c!c%@w?zZE<ZE<ZEV@ZE>IQ QɡQiYIYiY)aUDDAT read: Rx Time:23:58:50.1490 ]TRx dataTimestamp_ set to:1758412727.680801eDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 eZ#Rx 75: Read range message, but no direction.9QUf?Qmchecking for new query: numPingsReceived=75, elapsed TxPingTime=35.794594!9u">AUC|w=QIaIqN}>D D mD ,D E : E :6E g4:E "E ;! E ;! *E ! E ! y  checking for new query: numPingsReceived=75, elapsed TxPingTime=36.042713sf~,f3Ayv H@ٱv+V@vM)9195FY15(;A=>9Q 1E5٪=5/?Q 5M5= 99IYM*>Q EM@y9)=:I=:i=L5YY] AYBdydydyc?c@b?zZZZZM*>I ɡiIi)) iIQy>A <I!I9NEQ>]DDAT read: Rx Time:23:58:50.6490 ]TRx dataTimestamp_ set to:1758412728.184443eDAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 mZ#Rx 76: Read range message, but no direction.9YYYuchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.298252ԩ L,73AD2D2nD0D0E2: E2:6E0:E0!:@!:@!:@!:@yB'H@ٱB, V@B0J0!9!9%FY!-;A->)Q 155٪-/?Q 5=5-x )99Y=>Q E=@y))-;I-;i- 5YIM AIeB*** querying acoustic contact ***zhaheBdididicqcuF?zZZZZ]>I ɡiIi)@@checking for new query: numPingsReceived=76, elapsed TxPingTime=36.549435>A ;IIN]=AA4=vB~BBIB BBBBB;B QE) )a a m DDAT read: Rx Time:23:58:51.1490 u TRx dataTimestamp_ set to:1758412728.688606} DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 77: Read range message, but no direction.9i i i  checking for new query: numPingsReceived=77, elapsed TxPingTime=36.802414v,03A@yR[GH@ٱR?V@RMhD99FYݖ;A>Q 15٪1?Q 55Q ,9Y=Q AyQ E@y) ;I* ;i5YfB AEBdddcc ?zZY=ZY=ZCL@Z5C>I ɡiIi)DqDqDu/DqEq Eq6EuJ4:Eq"Eu;!Eu ;!*EuJ;!EuJ;!ԩchecking for new query: numPingsReceived=77, elapsed TxPingTime=37.052040>A9IIN%o> ],I3AyjxH@ٱj}pV@jAS%DDAT read: Rx Time:23:58:51.6491 -TRx dataTimestamp_ set to:1758412729.1924285DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5Z#Rx 78: Read range message, but no direction.9!%@!=checking for new query: numPingsReceived=78, elapsed TxPingTime=37.306217A9A9EFYIM;AM>QQ 1]5٪Uq3?Q 5]5U, U,9aYe>Q Ee@yUGEE)U;IUM;iU5Yim AiBdddc@c ɋ?zZZZZ}>I ɡiIi)@@@@ IIN>>DD}DDE: Ek&:6E:E!@!@!@!@9i%=I%=checking for new query: numPingsReceived=78, elapsed TxPingTime=37.556759I +G)5 AIA iu u} A} {Aԉ vB ~B B IB BB =B B B Ƙ;B QEw,Oc3Ay6H@ٱ6'V@6hc<66=6H`uJ?"ʿ`;?l? ?I6H@)6h];i4N.B9R I-Mb@Mb@Mb@ )))I)i))-~jt-D--I-VAi-lA-A-A))-GAYBD,6D3YI<!A=b;Q)>99FYa;A>Q 15٪5?Q 55 ,9D=Q AQ E@y)&;I&;in5Y ABdddc c ж?zZ-D=Z-D=Z-I@Z-ʄW>I9 9ɡ9i9I9iA)AIYIqN}=5DDAT read: Rx Time:23:58:52.1490 5TRx dataTimestamp_ set to:1758412729.696393=DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 EZ#Rx 79: Read range message, but no direction.915f?1Mchecking for new query: numPingsReceived=79, elapsed TxPingTime=37.810196ԉԱrD =jD D D mD *D E g: E :6E (N4:E "E ;! E ;! *E MG;! E MG;!  checking for new query: numPingsReceived=79, elapsed TxPingTime=38.059052Ͽ,}3AyBH@ٱB`V@B2t\9\9bFY`bl;Ab>dQ 1j5٪f6?Q 5j5f d9lYnX>Q En@yd)f:If::if5Ypr} AtBddd c ?c u?zZ)Z)Z)Z-ZX>I9 9ɡAiAIAiA)IIaIqԙN=%DDAT read: Rx Time:23:58:52.6491 -TRx dataTimestamp_ set to:1758412730.2003385DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5Z#Rx 80: Read range message, but no direction.9!%@!=checking for new query: numPingsReceived=80, elapsed TxPingTime=38.314133! ,3ABEMJ4JEIREM0D&D&hD&0D$E&a: E&]96E&4:E$!*@!*@!*@!.@ybH@ٱbV@b99FY zz;A >Q 15٪38?Q 55 9YZ>Q E%@yHEE)M;I;i5Y)- A)EB*** querying acoustic contact ***zhAhAMDone Waiting.CM M8Uninitialize Wait Component.CMBdIdQdQcU@cUd?zZqZqZqZuJZ>I ɡiIi)IINm=!checking for new query: numPingsReceived=80, elapsed TxPingTime=38.563457QAuAAAqvB@>~BBBB =BBBΘ;BQEqM DDAT read: Rx Time:23:58:53.1490 U TRx dataTimestamp_ set to:1758412730.704318] DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 ] Z#Rx 81: Read range message, but no direction.9I M f?I e checking for new query: numPingsReceived=81, elapsed TxPingTime=38.818150ԙ ī,\3Ay:H@ٱ::V@:<:p=:H A%?G[˿Q1U{? _Vб?`?I:H@):9];i:CN1B9R" I%Mb@Mb@Mb@ !)!I!i!!%J +%H!!I%Ai%A%lA!)!%ABD6D4d3YQ<!@=.5;Q)>99FY;A>Q 15٪9?Q 55 ,9H=Q AQ E@y)k:I:i5Y A8GuidanceMode 0.000000 count CBdddc?c@t?i NCompleted lineCaptureHoming:LineCapture4  i jAggregate::uninitialize lineCaptureHoming:LineCaptureq5 j Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes5  k NUninitialize AltitudeEnvelopeComponent.5 k Uninitialize.16  lNUninitialize OffshoreEnvelopeComponent.17q77 o|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass718 pUninitialize.q8pAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy8 q@Uninitialize Buoyancy Component.zZ-H=Z-H=Z)Z-\>IA AɡAiIIIiI)QIiqIyN=bDIZDMAADU}DUkDU2DQEU݉: EU:6EU4:EQ"EUQ;!eEUR;!e*EU@;!eEU@;!echecking for new query: numPingsReceived=81, elapsed TxPingTime=39.067375Ա n,mq3Ay:H@ٱ:OV@:&ݐ<:=:HJ>`?@ `˿ 0@O)?f??I:H@):d];i:CB-B9B IBDJ6DJ3YR!RZ=Vk;Q)V>T9X9ZFYXZ';AZ>\Q 1b5٪^n;?Q 5b5^ \9dYfg^>Q Ef@y\)^^;I^:i^[5Yhj AhvDDAT read: Rx Time:23:58:53.6491 vTRx dataTimestamp_ set to:1758412731.208486zDAT 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.9tv@tchecking for new query: numPingsReceived=82, elapsed TxPingTime=39.322254BCompleted lineCaptureHoming:Lap:BP^Aggregate::uninitialize lineCaptureHoming:Lap:B1QzZ9Z9Z9Z=Jg^>IMp: IɡIiIIIiQ)QIqIN =ԹDMDMlDM3DIEM: EM:6EM4:EI!]@!]@!]@!]@checking for new query: numPingsReceived=82, elapsed TxPingTime=39.571529 vBm A>~Bi Bm IBm BBm =Bi Bi Bm Ԙ;Bm &QEָ,3Aɰ;;DyNrI@ٱNW@NǤi9i9mFYiug;Au>qQ 15٪uQ E@yq)u:Iu:iu65Y Aj1QqQzZE=ZE=ZE@Zʘ#>I ɡiIi)IIN=ԑ)  DDAT read: Rx Time:23:58:54.1490 TRx dataTimestamp_ set to:1758412731.712600%DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 %Z#Rx 83: Read range message, but no direction.9f?-checking for new query: numPingsReceived=83, elapsed TxPingTime=39.826385ԹrDm =jDm =Du Du eDu 0Dq Eu ~: Eu 96Eu 4:Eq "Eu ;!} Eu ;!} *Eu .*;! Eu /*;!   checking for new query: numPingsReceived=83, elapsed TxPingTime=40.074841J,3Ay62I@ٱ6+W@6ř<6z=6Hh8`? 3˿,`p?q85J?>?I62I@)6];i6C>(B9B I\BDJ"6DJJz3Y!O=2:Q)>!9!9%FY!-;A->1Q 1=5٪5=?Q 5=55 5,99Y=%>Q E=@y5IEE)5:I5;i55YIM AIe(Mode 0.000000 count qQeQe mZAggregate::initialize lineCaptureHoming:Lap:EzZZZZJ%>I ɡiIi)IINu=DDAT read: Rx Time:23:58:54.6492 %TRx dataTimestamp_ set to:1758412732.216287-DAT 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@5checking for new query: numPingsReceived=84, elapsed TxPingTime=40.330078Ya ,q3ADDrDDEҝ: E?:6E:E!@!@!@!@yB0LI@ٱBDW@B x9x9zFYxz;A~>Q 15٪/??Q 5 5p ,9 Y .'>Q E @y)2:I:i5Y AyL fAggregate::initialize lineCaptureHoming:restartDHCPL$Restarting DHCP...L1MB*** querying acoustic contact ***zhhzZZZZ.'>I) 1ɡQiQIQiY)YiqIu<}checking for new query: numPingsReceived=84, elapsed TxPingTime=40.579082IIN=ԩA A p<vB-@>~B)B)B)B)B)B)B-ט;B-(QEBBBBĭ =Bĭ =Bđ5- DDAT read: Rx Time:23:58:55.1491 5 TRx dataTimestamp_ set to:1758412732.720367= DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 = Z#Rx 85: Read range message, but no direction.9) - @) E checking for new query: numPingsReceived=85, elapsed TxPingTime=40.834152 ,\23Ay6dI@ٱ6]W@6`<6vy=6H2 )?Z@$\̿'@'?@0G(?8?I6dI@)6TG];i6CN.B9N I%Mb@Mb@Mb@ !)!I!i!!%{GzMb`?Mb`%ף!%I%Ai%$A%VA%A)!%pABD=6D=!3YM<!MD=MQ:Q)M>Q9Q9UFYY]i;A]>aQ 1m5٪e??Q 5m5ej a9mxq9q9uF=T/mnt/mmc/started/2025-09-20UTC235853_sh ԉԑYq;A>Q 15٪@?Q 55c ,9Y=Q E@y)hDEDEtDE0DAEEg: EEv:6EE4:EA!U@!U@!U@!U@checking for new query: numPingsReceived=86, elapsed TxPingTime=41.587040 vB5 A>~B1 B5 IB5 BB1 B1 B1 B5 ܘ;B5 /QE*,rf3AyBFI@ٱBW@Bs99EFYAM;AM>QQ 1]5٪UA?Q 5]5Uq U,9]JDE DE }DA DA EE : EE k&:6EA :EA "EE #;!U EE %;!U *EE ŀ;!U EE ŀ;!U Q iߑ Iߕ = checking for new query: numPingsReceived=87, elapsed TxPingTime=42.091045\ ,33AɰyRI@ٱR W@RՠRI@ٱ>W@>M<>Յ=>H$@?p EͿ[?>?@?I>RI@)>M];i>Cliln(B9v IIG)Iic@BD,6D3Ya!7=Echecking for new query: numPingsReceived=88, elapsed TxPingTime=42.594788E>:Q)M>I9I9MFYQU*;AU>yQ 15٪A?Q 55 ,9YžQ E@y)]:I3:i5Y A*kSSInitialize.dInitializing internal variables to default values.kQ!zZAZAZAZE5@Iq yɡiIi)IIIA@AA@AvBE>~BBBB =BBDBӘ;B(QEN>ԩ) A DDAT read: Rx Time:23:58:57.1490  TRx dataTimestamp_ set to:1758412734.736640 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 89: Read range message, but no direction.9  f?  checking for new query: numPingsReceived=89, elapsed TxPingTime=42.851643 `,)3Ay:cI@ٱ:W@:<:&=:H@!8?袿uͿ6?A@๰? i?I:cI@):?];i:C^.B9b IEMb@Mb@Mb@ A)AIAiAAEy&1|I +?MbPE`E94<EIE?AiEAEAA)AEABDe6De4d3Yu =!uW=u:Q)}>y9y9}FYy;A>Q 15٪B?Q 55 9?VX9X9ZFYX^|;A^>fDDAT read: Rx Time:23:58:57.6491 fTRx dataTimestamp_ set to:1758412735.240526jDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 nZ#Rx 90: Read range message, but no direction.9df@drchecking for new query: numPingsReceived=90, elapsed TxPingTime=43.354473rXRequesting device enable set for address 50.!Q 1-5٪%aB?Q 5-5% !9)Y-EQ E-@y%JEE)%:I%;i% 5YY] AYkkkkzZZZZ]@I) )ɡ)i)I)iQ)YԉIIN=BEŻ4JE`4RE?/D-D-xD-/D)E-: E-:6E-J4:E)!E@!E@!E@!E@ԹiqIu<}checking for new query: numPingsReceived=90, elapsed TxPingTime=43.603081}XRequesting device enable set for address 50. vB H>~B CB IB BB =B B B ֘;B ,QEs,83A\yj1J@ٱj)X@j 9999EFYAE;AE>IQ 1U5٪MB?Q 5U5M I9] rD) jD- x9x9zFYxz;A~>Q 1 5٪B?Q 5 5 ,9 Y Q E @y):Ia:i5Y% A!kAkAkAkAzZaZaZaZe@Iq qɡqiqIqiy)yI=9IQIaNmW>DDAT read: Rx Time:23:58:58.6492 TRx dataTimestamp_ set to:1758412736.248333DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 Z#Rx 92: Read range message, but no direction.9f@checking for new query: numPingsReceived=92, elapsed TxPingTime=44.362194qԡ ԅ,[3Aɰ(*4?S?IZ}~J@)Z];iZCd9f IBDr,6Dr3Yv:!zJ=z:Q)z>D|D~wD~.D|E| E~:6E~ـ4:E|!@!@!@!@ 9 9 FY b;A>yQ 15٪:C?Q 55 9YQ E@y)z:IA;ih5Y AkkkkzZZZZ@I ɡiIi ) Echecking for new query: numPingsReceived=92, elapsed TxPingTime=44.611412IQIaNm=AIAM4=vBY~BYB]IB]BBYBYBYB]ޘ;B]4QEԩ DDAT read: Rx Time:23:58:59.1491  TRx dataTimestamp_ set to:1758412736.753109 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  Z#Rx 93: Read range message, but no direction.9  @  checking for new query: numPingsReceived=93, elapsed TxPingTime=44.868137 ,253Ay:WJ@ٱ:̡X@:B<:Ju=:H[ X?{@ο^tĪ?30? ?I:WJ@):0\;i8b$B9b IUMb@Mb@Mb@ Q)QIQiQQUy&1|Mbp?QU;QIUAiQUAQ)QQBDm6Dmf?3YӅ;!B=k:Q)>99FY ;A>Q 15٪}C?Q 55 9@I ɡiIi)bD@AZDDDD0DE: E,:6E4:E"EU;!EV;!*E:;!E;;! iAIE%=Mchecking for new query: numPingsReceived=93, elapsed TxPingTime=45.115215IIND>1Y },k O3AVDDAT read: Rx Time:23:58:59.6491 VTRx dataTimestamp_ set to:1758412737.256410ZDAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 ^Z#Rx 94: Read range message, but no direction.9TTTbchecking for new query: numPingsReceived=94, elapsed TxPingTime=45.370274#B9 IBD&6Dދ3Y!C=Q)>99FY A >Q 15٪C?Q 55 9YQ E%@y)#;I;i5Y)- A)1kIkIkQkQzZZZZI ɡiIi)II!N5=aDDD1DEƱ: E:6E-4:E!@!@!@!@Uchecking for new query: numPingsReceived=94, elapsed TxPingTime=45.618702ԉvBU I>~BQ BU IBU BBQ BQ BQ BU ;BU NQEBʉCBʉCBBʯ =Bʮ =BxH5 ,h3Ahihyu*J@ٱuX@u9I9I9MFYIUF;AU>YQ 1e5٪]!D?Q 5e5] Y9e:ԱD D D /D E  E *:6E J4:E "E F;! E G;! *E h;! E i;! ] checking for new query: numPingsReceived=95, elapsed TxPingTime=46.122772 ,‚3AyJJ@ٱJX@J>Lh9l9nFYln׎;Ar>tQ 1v5٪vqD?Q 5z5v v,9xYzqӾQ Ez@yt)v8:Iv:iv^ 5Y Ak!k!k!k!zZAZAZAZEػ@IQ QɡQiQIQiY)aaiaiiII9NE=DDAT read: Rx Time:23:59:00.6491 TRx dataTimestamp_ set to:1758412738.264250DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 Z#Rx 96: Read range message, but no direction.9@checking for new query: numPingsReceived=96, elapsed TxPingTime=46.378010I &,3AD.D.D.,D,E.: E.,:6E.g4:E,!6@!6@!6@!6@8yB?K@ٱBX@B+99A9EFYAE ;AE>IQ 1U5٪MD?Q 5]5M  I9YY]ҾQ E]@yI)Mj;IM;iM1"5Yae AikkkkzZZZZ1@I ɡiIi)checking for new query: numPingsReceived=96, elapsed TxPingTime=46.626766IIN=ԉAAAAvBK>~BBIBBB =BBB ;BdQEԹ DDAT read: Rx Time:23:59:01.1490  TRx dataTimestamp_ set to:1758412738.769067 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  Z#Rx 97: Read range message, but no direction.9  f?  checking for new query: numPingsReceived=97, elapsed TxPingTime=46.884090 ,,-z3Ay6 K@ٱ6YY@6f<6n=6H vI?UYϿ 9?뜿?`?I6 K@)6\;i6CB,B9B IiF=IF=\ Mb@Mb@Mb@ ) I i   {Gzt{Gzt? ף ף; I i A VA )  ABD-6D-03Y5!5J= :Q)>99FY:A>Q 15٪E?Q 55 9;Q A=Y< Q E@y)w;ID;i$5Y AkkkkzZM;ZM;ZM@ZMK@Ii iɡqiyIyi)IIDDvD.DE: E:6Eـ4:E"E;!%E;!%*Eh;!-Eh;!-Nu=5checking for new query: numPingsReceived=97, elapsed TxPingTime=47.131519A 3,X3Ay6,K@ٱ6Y@6;<6]=6H [?c`/Ͽu?yFz?P?I6,K@)6B ];i6CBDDAT read: Rx Time:23:59:01.6492 FTRx dataTimestamp_ set to:1758412739.272393JDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 NZ#Rx 98: Read range message, but no direction.9DFf@DRchecking for new query: numPingsReceived=98, elapsed TxPingTime=47.386261n/B9n IBDv!6Dvr3Yy<!M= l:Q) > 9 9FYM:A>)Q 155٪-8E?Q 555- )91Y= Q E=@y))-T;I-;i-%5YAE AAkakakakazZZZZm@I QɡQiQIQiY)Y m&Changing to mode: 1i :   1 II1N= >AIGD%D%xD%2D!E%: E%:6E%4:E!!-@!-@!-@!-@)AIyi> &Aq5checking for new query: numPingsReceived=98, elapsed TxPingTime=47.634789vB L>~B B B B B B B ;B mQEԡ :,D3Ay=' K@ٱ=Y@=<===H@`k?ԦϿ`C˨? 0??I=' K@)=I ];i9U)B9U IqMb@Mb@Mb@ )Ii{GztMbP?:IAiA$A)ABD6D:3Y +!u:=u6:Q)}>y9y9FY:A>Q 15٪fE?Q 55 ,9;Q A!>Y1>Q E@y)-J;II;i'5Y AkkkkzZ%;Z%;Z%I@Z%1>I9 9ɡ9iAIAiI)QDDAT read: Rx Time:23:59:02.1491 TRx dataTimestamp_ set to:1758412739.776971DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5Z#Rx 99: Read range message, but no direction.9@=checking for new query: numPingsReceived=99, elapsed TxPingTime=47.909096ԡi:0II N*>D- D) D- /D) E- s: E) 6E- J4:E) "E- ;!5 E- ;!5 *E- Wo;!5 E- Wo;!= i5 =I5 <= checking for new query: numPingsReceived=99, elapsed TxPingTime=48.138992@, 3Aiy6"K@ٱ6`Y@6<6wS=6H@Xp?+ϽϿ`ȭ?@Н1E? ?I6"K@)6n@];i4N/B9R I)VA TBDZ#6DZӀ3Yy<!\=:Q)%>!9!9%FY!-]9A->1Q 1=5٪5E?Q 5=55 199YEP>Q EE@y1)5;I5 ;i5<)5YIM AIkikikikqzZZZZeP>I ɡiIi)iU9YYe/0aIINM>DDAT read: Rx Time:23:59:02.6492 TRx dataTimestamp_ set to:1758412740.280398DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 \#Rx 100: Read range message, but no direction.9f@checking for new query: numPingsReceived=100, elapsed TxPingTime=48.3941921a BEJ4JEމ4RE0D= D= rD= 2D9 E= : E= ?:6E= 4:E9 !M @!M @!M @!M @ !G,!3Ay6M*K@ٱ6"Y@6!_<6=6H~? Ͽ? ꝿb-??I6M*K@)6];i6CN5B9R& IBDZ%6DZ03Yb<<!bP=bl9Q)b>d9d9fFYdjg:Aj>lQ 1r5٪nE?Q 5r5n n,9pYr>Q Er@yl)n;In;in*5Yxz AxkkkkzZ1Z1Z1Z5큇>IA AɡIiIIIiI)Qchecking for new query: numPingsReceived=100, elapsed TxPingTime=48.642807 R>>1i:0IA<A<vBK>~BBBB =BBB';BQEIN>aԑ DDAT read: Rx Time:23:59:03.1491  TRx dataTimestamp_ set to:1758412740.784358 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  \#Rx 101: Read range message, but no direction.9  @  checking for new query: numPingsReceived=101, elapsed TxPingTime=48.898209Թ /KM,73Ay: 1K@ٱ:)Y@:<:U=:H `?2 BϿ?`Jް??I: 1K@): ];i:C^.B9^ IeMb@Mb@Mb@ a)aIaiaae~jtx?Mb`Mb`e;eeIaiaaa)aaBD6D\3Y!==[9Q)>99FYz:A>Q 15٪zE?Q 55 ,9[;Q A=YE@Q E@y)Hv;IT{;i,5Yq} AyԑkkkkDD{D0DEU: E5":6E4:E"E;!E;!*EBz;!ECz;! zZ5[;Z5[;Z5ľ@Z5E@IA IɡIiiIiiq)q checking for new query: numPingsReceived=101, elapsed TxPingTime=49.146774i199=/9IiIN:> 2T,Q3A6DDAT read: Rx Time:23:59:03.6491 6TRx dataTimestamp_ set to:1758412741.288438:DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 >\#Rx 102: Read range message, but no direction.9444Bchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.402302yJ=K@ٱJh6Y@J?IJ=K@)J?\;iJC=2B9=# IiE=IE=BDM6DM03Y<!M=58Q)>99FY;A>Q 15٪CE?Q 55 ,9YE@Q E@y)^;I;i.5Y  AkQkikikizZZZZ޶E@I ɡiIi)iyy0IIN*>DDD/DE: E3:6EJ4:E! @! @! @!@checking for new query: numPingsReceived=102, elapsed TxPingTime=49.650730I vB J>~B B B B =B B B 7;B QEaZ,/k3A,ymCK@ٱmy;Y@m$? `w?|?ImCK@)mh\;imC9B9, I5Mb@Mb@Mb@ 1)1I1i115Mbp?y&1|MbP5;5`5I5Ai15VA1)15=ABDU6DUN3Ym?=!m<=ue+Q)u>q9y9}FYy9:A>Q 15٪E?Q 55 ,9ԱrD jD R=D D xD 2D E s: E :6E 4:E "E ;! E ;! *E Wo;! E Wo;!  checking for new query: numPingsReceived=103, elapsed TxPingTime=50.154724\Ea,T3Ay6AK@ٱ6<:Y@6t <6Yʃ=6H?pȦ }Ͽ`?1 t??I6AK@)6\;i4`v;B9v. IBD~ 6D~k3Y E<! d= 7Q)>99FY]A>!Q 1-5٪%D?Q 5-5% !9)Y5@Q E5@y!)%:I%:i% 25Y9=V A9kYkakakazZyZyZyZ}<@I ɡiIi)i-:115/1IAIYNe=DDAT read: Rx Time:23:59:04.6491 TRx dataTimestamp_ set to:1758412742.296342DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 \#Rx 104: Read range message, but no direction.9@checking for new query: numPingsReceived=104, elapsed TxPingTime=50.410133A D! D% yD% 3D! E!  E% :6E% 4:E! !- @!- @!- @!- @Jog,.3Ay69K@ٱ6P2Y@6?<6e=6H@?Ͽf ;?? f 臰?H?I69K@)6\;i6CB2B9B# I)FA DBDJ*6DJ3YRB!RQ=V4:Q)V>T9T9ZFYXZ5AZ>\Q 1b5٪^D?Q 5b5^ ^,9dYf@Q Ef@y\)^:I^:i^35Yhj Ahkxk|9k|kYzZqZqZqZu@I ɡiIi)checking for new query: numPingsReceived=104, elapsed TxPingTime=50.658905AQAU?AvB]I>~BYB]IB]BB] =BYBYB]<;B]QEBBBBBï =B5iu9qy}/yIIN=aԑ DDAT read: Rx Time:23:59:05.1491  TRx dataTimestamp_ set to:1758412742.800302 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  \#Rx 105: Read range message, but no direction.9   checking for new query: numPingsReceived=105, elapsed TxPingTime=50.914085 m,3Ayz+;K@ٱz3Y@zW799FY'9A>Q 15٪D?Q 55 9' rt,3A&DDAT read: Rx Time:23:59:05.6492 &TRx dataTimestamp_ set to:1758412743.304481*DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 .\#Rx 106: Read range message, but no direction.9$&f@$2checking for new query: numPingsReceived=106, elapsed TxPingTime=51.418274yfCK@ٱf&9DDtD.DE Ev:6Eـ4:E!@!@!@!@checking for new query: numPingsReceived=106, elapsed TxPingTime=51.666874ivBM H>~BI BM IBM BBI BI BI BM I;BM QEԡ Tz,i3AɰV499FYC:A>Q 15٪C?Q 55 ,9[ԙDDxD,DEs: E:6Eg4:E"E;!E;!*EWo;!EWo;!  checking for new query: numPingsReceived=107, elapsed TxPingTime=52.170780 V,3Ay6TK@ٱ6LY@6s<6=6H "?hVпo?,_o???I6TK@)6u\;i6CBBB9B7 IBDJ$6DJ3Yf|;!f>iiiim qIIN=eDDAT read: Rx Time:23:59:06.6492 eTRx dataTimestamp_ set to:1758412744.312306uDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 u\#Rx 108: Read range message, but no direction.9aef@a}checking for new query: numPingsReceived=108, elapsed TxPingTime=52.4262051 q iu CI ) I i5 {1 5 AD D qD 1D E : E $ :6E -4:E ! @! @! @! @t͇, 3Ay6aK@ٱ6YZY@6Ϊ<6T=6H@C?ʂ пɫ?`e? F?I6aK@)6y\;i6Cn;B9n/ IBDv%6Dv03Y~!~E='9Q)>99 FY  ;A >Q 1%5٪B?Q 5%5u ,9!Y%*@Q E-@y)S.;I/;i<5Y15U A1kQkQkQkQzZqZqZqiߝ%=Iߝ4=checking for new query: numPingsReceived=108, elapsed TxPingTime=52.675148Zu(*@I! !ɡ!i)I)i1)9AA<vB~BBBBBBBN;BQE)i II N >aU DDAT read: Rx Time:23:59:07.1490 U TRx dataTimestamp_ set to:1758412744.816365] DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 e \#Rx 109: Read range message, but no direction.9Q U f?Q m checking for new query: numPingsReceived=109, elapsed TxPingTime=52.930187ԉ ,:3A,y^xK@ٱ^_qY@^`<^„=^H`NJ ? 1п @? ʟ;??I^xK@)^Z\;i^CjAB9j5 I)l nA]Mb@Mb@Mb@ Y)YIYiYY]I +?y&1|MbP]94<]`]I]AiYYY)Y]AIq)u@ABD}6D}{U3Y(<!B=:Q)>99FYZ;A>Q 15٪B?Q 55j ,9?V5Y* AkkkkzZ}?V<Z}?V<Z}5@Z}^5@I ɡbDZD@ADDzDDEs: E :6E:E"E!E!*Ev;!Ev;!iIi)ԉi Ichecking for new query: numPingsReceived=109, elapsed TxPingTime=53.178795IN>Թ )Q U A] DDAT read: Rx Time:23:59:07.6490 e TRx dataTimestamp_ set to:1758412745.320420m DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 m \#Rx 110: Read range message, but no direction.9Y Y Y u checking for new query: numPingsReceived=110, elapsed TxPingTime=53.434200,+T3Ay6K@ٱ6"Y@6<6b=6Hj?@Cп b?0ڰ?`9?I6K@)6];i6CBCB9B8 IXBDJ$6DJ3Yy<!E=9Q)>99FY++;A>Q 15٪B?Q 55_ ,9Yq5@Q E@y):I:iS@5Y - A)kqkqkqkqzZZZZq5@I1 9ɡ9i9I9iA)a)qi9) I I!N-->BE4JEŻ4REŃA0D}D}{D}.DyE}[: E}5":6E}ـ4:Ey!@!@!@!@checking for new query: numPingsReceived=110, elapsed TxPingTime=53.682777vBI>~BBIBBBBBBT;BQE ,yn3A yK@ٱ'Y@=$=H `4?)]]п?? >?`S?IK@) ];iCGB9= IUMb@Mb@Mb@ Q)QIQiQQU~jtx?{GztU;UףUIU?AiU$AQQ)QUABDm6DmF3Y}<!}?=:Q)>99FY DDAT read: Rx Time:23:59:08.1489 TRx dataTimestamp_ set to:1758412745.827523DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 \#Rx 111: Read range message, but no direction.9  ? %checking for new query: numPingsReceived=111, elapsed TxPingTime=53.941265m`|;Am>qQ 1}5٪uA?Q 5}5uU q9;Q A=Y'-@Q E@yq)u:Iu;iuNB5YAkkkk!zZ5;Z5;Z5Բ@Z5'-@Ia iɡiiiIiiq)qi9%@ !IAIQN]U>QDDwD0DEҝ: E:6E4:E"E;!E;!*Ek;!Ek;!y iߡ Iߥ %= checking for new query: numPingsReceived=111, elapsed TxPingTime=54.187023,j3Ay6nK@ٱ6Y@6=6=6H@ {K?ܨuп I팭?gu@w? ?I6nK@)6B];i6C>?B9B3 IBDF+6DFE3YR9!Ro=R6;Q)R?T9T9VFYTV+;AZ?XQ 1b5٪ZA?Q 5b5ZN X9`YbA-@Q Eb@yX)Z+;IZj;iZC5Ydj: AhkxkxkxkxzZZZZ2A-@IQa iɡqiqIyi)i9O IIN>ԁDDAT read: Rx Time:23:59:08.6491  TRx dataTimestamp_ set to:1758412746.328409DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 \#Rx 112: Read range message, but no direction.9@checking for new query: numPingsReceived=112, elapsed TxPingTime=54.442200Ա D D uD D E : E :6E :E ! @! @! @! @w*, @3AyFK@ٱFY@FX=Fir=FH@`Uf?TпLɭ? Zʠ`E??IFK@)FuB];iFCfCB9f8 IBDn6Dn03YvĢ<!vF=v:Q)z>x9x9zFYx~Z;A~>Q 1 5٪dA?Q 5 5E ,9 Y ^-@Q E@y)M:I:i{E5Y% A!kAkAkAkAechecking for new query: numPingsReceived=112, elapsed TxPingTime=54.690838zZiZiZiZm,^-@Iy ɡiIi)ԹAYAYvBeJ>~BaBaBaBaBaBaBeU;BeQEi] IIN%=)  DDAT read: Rx Time:23:59:09.1490  TRx dataTimestamp_ set to:1758412746.832582% DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 % \#Rx 113: Read range message, but no direction.9  f? - checking for new query: numPingsReceived=113, elapsed TxPingTime=54.946358A T,a3Ay6L@ٱ6Y@6!=6=6H&@?Z@п@@ ?  ??I6L@)6];i6CBBB9B6 I5Mb@Mb@Mb@ 1)1I1i115551I1i15A5$A)15ABDM(6DM:3Y]˻!]C=e:Q)e>a9a9mFYimڰ;Am>qQ 1}5٪qQ 5}5q q9}Q A?YQ E@yq)u;Iu;iuOG5Y# AkkkkzZZZI@ZI@I ɡiIi)DDzD.DE: E :6Eـ4:E"EU;!EV;!*Ev;!Ev;!im9iqum qIIN=mchecking for new query: numPingsReceived=113, elapsed TxPingTime=55.194775AUPExceeded connect timeout, disconnecting.iԙ % DDAT read: Rx Time:23:59:09.6491 % TRx dataTimestamp_ set to:1758412747.336317- DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 5 \#Rx 114: Read range message, but no direction.9! % @! = checking for new query: numPingsReceived=114, elapsed TxPingTime=55.450104<,3Aiy60L@ٱ6)Z@6G =6^=6H ?өп@&?0PZ?v?I60L@)6N];i6CB?B9B3 IID)FAABDJ"6DJJz3Yfn!fT=f:Q)f>h9h9jFYhn;An>pQ 1r5٪pQ 5v5p p9tYtQ Ev@yp)r:Ir:irH5Yx~: A|kkkkzZ9Z9Z9Z9IQ YɡYiYIYԁi)iiiim iIyIN>ԡDDtD2DE Ev:6E4:E!@!@!@!@}checking for new query: numPingsReceived=114, elapsed TxPingTime=55.698872vB]L>~BYBYBYBYBYBYB]R;B]QEBBBBBB?w4 o,f3A94 IMb@Mb@Mb@ )Ii{Gz?MbP?#<:Ii?A)ADDAT read: Rx Time:23:59:10.1490 TRx dataTimestamp_ set to:1758412747.841329DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 \#Rx 115: Read range message, but no direction.9f?checking for new query: numPingsReceived=115, elapsed TxPingTime=55.955143BD!6Dr3Y91;!*= Q) > 9 9FYA>Q 15٪A?Q 55e ,9$M>i9 II)N5q>rD%=jDDDrD1DE: E?:6E-4:E"E;!E;!*EY;!EY;! } checking for new query: numPingsReceived=115, elapsed TxPingTime=56.202854M, 3Ay6L@ٱ6_Z@6P=6)=6H@:?ARCѿ@`6?(ɡ? ?I6L@)6_];i6CBX9\9^FY\^;Ab>`Q 1f5٪bA?Q 5j5b `9hYjQ Ej@y`)b:Ib:ibEN5Ypr ApEchecking for new query: numPingsReceived=116, elapsed TxPingTime=56.706676kykykkzZZZZao@I A<A<vBK>~BBBB =BBBN;BQEɡiIi!)9i IIN% >DDAT read: Rx Time:23:59:11.1490 TRx dataTimestamp_ set to:1758412748.848689 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  \#Rx 117: Read range message, but no direction.9f? checking for new query: numPingsReceived=117, elapsed TxPingTime=56.962467! e,a=3Ay6EL@ٱ6Z@6=6D,=6H@j? 'ѿ`o"0?55b??`1?I6EL@)6q];i6CR@B9R4 I|-Mb@Mb@Mb@ )))I)i))-Mbp?:v?-;-T<-I-Ai-A)-A))-ABDE'6DE3YU !U@={:Q)>99FY;A>Q 15٪A?Q 55 ,9^ԑ  DDAT read: Rx Time:23:59:11.6490  TRx dataTimestamp_ set to:1758412749.352385 DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0  \#Rx 118: Read range message, but no direction.9    checking for new query: numPingsReceived=118, elapsed TxPingTime=57.466187,=W3Ay>.M@ٱ> [@>&=>=>Hࢹ`ҍ?`8cѿ@@ź?c`d?X?I>.M@)>]U];i<fEB9f: IBD6DY<!H=Yk:Q)>99FԙYO;A>Q 15٪A?Q 555 99Y=˿Q E=@y)?a]checking for new query: numPingsReceived=118, elapsed TxPingTime=57.714703vBL>~BBIBBB =BBBM;BQE ,'q3A i y 4M@ٱ -[@ y$= = Hڴ?竿`yѿx \?  9 9FY-;A5>IQ 1e5٪MA?Q 5e5M I9aYeh˿Q Em@yI)ߩ ߩDDAT read: Rx Time:23:59:12.1490 TRx dataTimestamp_ set to:1758412749.856681DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 \#Rx 119: Read range message, but no direction.9checking for new query: numPingsReceived=119, elapsed TxPingTime=57.970524)Mo;IM0IrD=jD<DDuD-DE: E:6Et4:E"Ew;!Ex;!*Ekd;!Eld;!e checking for new query: numPingsReceived=119, elapsed TxPingTime=58.218765q Y,3AyVUM@ٱV7N[@V=V =VH?@~3ѿJF?Z?@G?IVUM@)Vc];iVCbAB9b5 IMMb@Mb@Mb@ I)IIIiIIM~jth/$?Mb`?MDM<M;IM?AiIMAMA)IMABD6DF3Yn<!J= :Q)>99FY$;A>Q 15٪A?Q 559 ,9yDDAT read: Rx Time:23:59:12.6491 TRx dataTimestamp_ set to:1758412750.360315DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 \#Rx 120: Read range message, but no direction.9@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡBE%J4JE%4RE%S}0D D |D D E : E P$:6E :E ! @! @! @! @ ,Ф3Ay6oM@ٱ6\h[@61=6d=6H@*?$+ҿ0 [? E?m?I6oM@)6l];i6C\9^6 IBDf6Df 83Ya;!X= :Q) > 9 9 FYĊ;A>%2Acoustic response timeout!Q 1-5٪%0B?Q 5-5%i %,91Y5ؒQ E5@y!)%$:I%:i%&W5Y9E% AAkakakakazZZZZY@AAAAvBI>~BBBBBBB_;BQEI ɡiIi)ԱiU9QQU QIaIyN=DDAT read: Rx Time:23:59:13.1490 TRx dataTimestamp_ set to:1758412750.864336DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9f?2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԉ ,i3A0y6oyM@ٱ6q[@6n=6?=6H` ?I=ҿ s?:uԲ??I6oyM@)6];i4^DB9^9 Iib=Ib=MMb@Mb@Mb@ I)IIIiIIMI +?MM9<MIMAiM; AMAM; A)IMABD.6DP3Y"<!<==^:Q)>99FY?:A>!Q 1-5٪%jB?Q 5-5% %,9-91a  DDAT read: Rx Time:23:59:13.6491  TRx dataTimestamp_ set to:1758412751.368307 DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0  X#Rx 1: Read range message, but no direction.9  @  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.o,3A9yMiM@ٱMy[@M=M߹=MH`?v%ҿGͮ?`(@?@?IMiM@)M];iMCAB95 IBD46Df3Y%N!%G=%W:Q)%>)9)9-FY)-:A5>9Q 1E5٪=B?Q 5E5= =,9AYEQ EE@y9)=8:I=]:i=Z5YQ( AkkkkzZZZZ@I! !ɡ)i)I)i1)1ii9 IIN&>DmDmvDm/DiEm: Em:6EmJ4:Ei!u@!u@!u@!u@=2Acoustic response timeoutvBK>~BBBBBBBr;BQEԱ ,x`3AyFZM@ٱFτ[@F=F:=FHj?|w`Y0ҿ5?`X?@r?IFZM@)Fّ];iFCb?B9f3 IԡBD.6DP3Y0! L=džQ)>)9)95FY1E:AE>aDDAT read: Rx Time:23:59:14.1490 TRx dataTimestamp_ set to:1758412751.875347DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9f?2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Q 15٪eB?Q 55e a9YQ E@ya)egG=IeF=ie\5Y : AkQkQkQkYzZZZZ@I ɡiIi)i}9yy} yIIN_>DuDu~Du0DqEu: Eu(:6Eu4:Eq"Eu#;!Eu$;!*Eu;!Eu;!M 2Acoustic response timeout ,MI 3Aiy6M@ٱ6[@6=6=6H@$U?k`=ҿ Ȝ@Xڮ?_t? ?I6M@)6L];i4BGB9B= I)D FA Mb@Mb@Mb@ ) I i   MbP?I +? :  I i $A $A )  ABDM'6DM3Y]"/=!eU=e>Q)e>i9i9mFYim) ;Am>qQ 1}5٪uC?Q 55uQ u,9hDDAT read: Rx Time:23:59:14.6491 TRx dataTimestamp_ set to:1758412752.376373DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ID} D} }D} <Dy E} 7: E} k&:6E} 4:Ey ! @! @! @! @ԉ  ,&3AyFݞM@ٱFR[@F=FH|=FH ? U1`,BҿȮ? =? ?IFݞM@)F\;iDd9dBDn*6Dn3Yv!vS=v]Q)z>x9x9zFYx~X: 2Acoustic response timeoutA>1A9A=<vBA~BABABABABABABEo;BEQEB!B!B!B!B!B%F4Q 1e5٪5-C?Q 5e55 5,9iYm/Q Em@y1)5;I5N;i5_5YquAykkkkzZZZZ@I ɡiIi))Yi199= 9IIIYNm=ԁ)߱ ߱DDAT read: Rx Time:23:59:15.1490 TRx dataTimestamp_ set to:1758412752.880548DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 X#Rx 1: Read range message, but no direction.9f?2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. 1?,,?3Ay6M@ٱ6'[@6`=69=6Hࡧ`?@ `4ҿٝ?`U??I6M@)6\;i4BEB9B; I]Mb@Mb@Mb@ Y)YIYiYY]~jtxy&1?]Ļ]`e<YI]$Ai]; A]A]A)Y]ABDu6DuN3Y!A=PQ)>99FYA>Q 15٪C?Q 55 9y99FYRA>Q 15٪C?Q 55 ,9YbQ E@y);Io;ic5Y Ak1k1k1k9zZqZqZqZuϬ@I ɡiIi)iiAAAE AIQIiNu>DEDEDE0DAEEs: EE.:6EE4:EA!M@!M@!M@!M@ԑ2Acoustic response timeoutvB9~B9B9B9B= =B9B9B=u;B=QE P,s3APHB9 > IBDE6DE!3YmV<!uN=Q)>99FYA>Q 1U5٪.D?Q 5e5 9iDDAT read: Rx Time:23:59:16.1490 TRx dataTimestamp_ set to:1758412753.892400DAT 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?2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.YiQ E@y) 4=IL4=i[e5Y)-AQkIkIkIkIzZZZZI ɡiIi)iyyy} yIIN_>rDQjDQD]D]xDYDYE]: E]:6EY:EY"E]w;!mE]x;!m*E]Wo;!uE]Wo;!u- 2Acoustic response timeout1 8#,I3Ay6O+M@ٱ6#[@66=6C=6H`Q?`vѿ`=`? Y??I6O+M@)6\;i6C>UB9BN I|eMb@Mb@Mb@ a)aIaiaaeMb`eeaIeAieAae$A)aeABD}6D}\3Yw=!I=9Q)>99FYA>Q 15٪>D?Q 55 9;Q A>Y>Q E@y):I':ig5YAkkkkzZ;Z;ZI@ZM>I) 1ɡ9i9I9iI))i119= 9IIIYN>,DAT read: user:1023> HDAT read: Command 'tr50' not found funknown deviceResponse_: Command 'tr50' not found "DAT read: Error @unknown deviceResponse_: Error ,DAT read: user:1024> BDAT read: Tx time:23:59:17.1670 $Ping request sent.~BpBrIBrBBpBpBpBrm;BrQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.240400BDZ#6DZӀ3Y!R= ;9Q)>!9!9%FY!%dA->)Q 155٪-ND?Q 555Y- )9Y>Q E@y))-Iq qɡqiyIyiy)i-9))-/ )IIIYԉN>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.495161 N0,9G3AyNL@ٱNzZ@N?=N-=NH@u@?4qѿ;?`@ޱ?W?INL@)N\;iNCV?B9Z2 I=Mb@Mb@Mb@ 9)9I9i99=~jthQ=D=u9I=Ai=; A9=A)9=ABDU6DU\3Yet&!eE=eQ)m>i9i9mFYiu7 Au>yQ 15٪}DD?Q 55} y9zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745043i9+ IIN>)Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997044t6,3Ay^4L@ٱ^Z@^4 =^N|=^H@)?@+cXѿ@0(?HI??I^4L@)^5];i^CjBB9j7 IBDr6Drf?3Yz<!zR=zQ)~>|9|9~FYĄA> Q 15٪ :D?Q 55  ,9Y?Q E@y ) :I {;i Pl5Y!% A!kAkAkAkAzZaZaZaZe?Iq qɡqiyIyiy)1i, I!I1NE=BEă4JE͋4REo1D-D-D-.D)E-s: E-e:6E-ـ4:E)!=@!=@!=@!=@avBH>~BBBB =BBBp;BQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248398ԉԹ <,3Aɰ,,yJދL@ٱJSZ@J˷=J&=JH ?\@:ѿ?@G8??IJދL@)J\;iHV@B9V4 IiZ=IZ=BD\6D\Y -! I= LQ) >99FYA=>AQ 1U5٪E1D?Q 55Ek A9Y[?Q E@yA)EC*D5D5rD52D1E5U: E5?:6E54:E1"E5;!EE5;!E*E5Y;!EE5Y;!M- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752519 rC,v3AyBmL@ٱBDfZ@B =BD=BH@@r?@@Fѿgb?`? G?IBmL@)B\;iBCNMB9ND I%Mb@Mb@Mb@ !)!I!i!!%Mb?MbMbp%<%%I!i%$A%?A%A)!%pABD96D9YM=!ME=U(:Q)U>Q9Q9UFYQ]A]>aQ 1m5٪eC?Q 5m5e\ e,9uDuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0050821 D- D- pD- -D) E- : E-  :6E- t4:E) != @!= @!= @!= @I,k(3AA><A><vBBI>~B@BBIBB BB@B@B@BBn;BBQEijS?Ij%=nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256864y~jIL@ٱ~AZ@~k=~L=~H?K`2п3?K, g??I~jIL@)~q\;i~C HB9 > IBD+6DE3Y-O̼!-M=599Q)5>1999=FY9=A=>AQ 1M5٪EC?Q 5M5EN E,9QYU(@Q EU@yA)E@;IE;iEq5YY]AakykykkzZZZZ(@I ɡiIi)ie9aam@ iqIIN- >ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510642Թ P,B3Ay6C-L@ٱ6%Z@6bw=6ฐ=6H ?:@п ?m`?`?I6C-L@)63\;i6CPR@B9R4 I)T VA-Mb@Mb@Mb@ )))I)i))-Mb`?{GzMbp-;-ף)I-?Ai))-A))-AI)BD6DP)3Y !D=М:Q)>99FYچA>Q 15٪KC?Q 55 ,999FYCA>Q 1%5٪C?Q 5-5 ,9)Y-?Q E-@y)2:I:i*u5Y15A9kQkYkYkYzZZZZ?I ɡiIi)im9iquO qIIN= DDrD1DE1: E?:6E-4:E!@!@!@!@vBeH>~BaBeIBeBBe =BaBaBej;BeQEB!B!B!B%Ʈ =B%Ʈ =B%=4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2645871i $\,7v3Ay:vL@ٱ:Y@:m=:e=:H`?=@п\ k?@w;?@*?I:vL@)::];i:CRCB9R8 IBDZ6DZJ2YbB!bQ=b%:Q)b>d9d9fFYdfAj>hQ 1r5٪jB?Q 5r5j j,9tYv}?Q Ez@yh)j\;Ijhg;ijv5Y  A kQakQkakazZZZZ}?IDAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s X#Rx 1: Read range message, but no direction.9ae3?a ɡiIi)ԉi9IIN>ԱDDpD2DE%: E :6E4:E"E;!%E;!%*E8R;!-E9R;!- c,3Ay6K@ٱ6pY@6 "=6 v=6H`-n?~`ßп@c?? g??I6K@)6V];i6CRBB9R6 IUMb@Mb@Mb@ Q)QIQiQQUMbp?Mb~jthU;UUDIQiQUAU$A)QUABDm.6DmP3Y}X!}?=:Q)>99FYt?A>Q 15٪B?Q 55 ,9RD% D% qD% ,D! E% : E% $ :6E% g4:E! !- @!- @!5 @!5 @9 Ei,[3AAA@AvBG>~BBBBBBBb;BQEyFK@ٱFY@F!J$=FD=FH:g?ƃ@п@ 0?@ۇ5а??IFK@)F];iFCbCB9b8 IBDn6Dn03Yv;!vT=v:Q)v>x9x9zFYxz;ĺA~>Q 1 5٪NB?Q 5 5k ,9 Y @Q E @y):I:imz5Y Ak9k9k9k9zZZZZ@I ɡiIi)!i9W IIN>A)y yԑԡ p,K3Ay>K@ٱ>OY@>/&=>FO=>H C5n? @п` K?Ĥ@c?p?I>K@)>\;i>CFGB9F= IMb@Mb@Mb@ )Ii~jtx?MbMbp;Ii)BD-6D- 83Y=<!=E=En:Q)E>A9A9EFYAMs:AM>QQ 1]5٪U B?Q 5]5UZ U,9ev0ԡ w,`3AiI>ՈG)HI`iv"Yxz]AM8B9M* IBDe6De4d3Yu@!}8=}Q)}>99FYA>Q 15٪A?Q 55H ,9YQ E@y)-:Ig:i/~5Yu AkkkkzZQZQZQZQIi iɡiiiIiiq)q)D-D-jD--D)E-1: E-96E-t4:E)!=@!=@!=@!=@iY I)vBEF>~BABEIBEBBE =BABABE];BEQEIaNmV>i=I) :},|3AyZeK@ٱZY@Z*=ZE=ZH@{{?`2Bп@-?%Y t??IZeK@)Z\;iXj?B9j3 IBDz6Dzf?3YM)=!M`=UK;Q)U>Q9Q9]FYY]K;Ae>iQ 15٪mA?Q 55m: m,9Y@Q E@yi)m;Im;im5Y7 AkkkkzZZZZ#@I) 1ɡ1iYIYii)qQi` IIN>yrD5=jD1D=D=vD=/D9E=: E=:6E=J4:E9"E=;!EE=;!M*E=h;!ME=h;!Mԩ ",`X3Ay:K@ٱ:Y@:+=:=:Hs?mп@ w? }]??I:K@):\;i:C@FCB9F8 IMb@Mb@Mb@ )Ii{Gzt?~jth?ף;D;IiA?A)BD-6D-N3Y5Ğ<!=L==j3:Q)=>A9A9EFYAMAM>IQ 1U5٪MbA?Q 5]5ME I9;Q A >YQ E@yI)M BEJ4JE4RE+0DU DU qDQ DQ EU a: EU $ :6EQ :EQ !e @!e @!e @!e @A9 A= <vBA ~BA BE IBE BBE =BA BA BA BE QE>N,9+3Ay:K@ٱ:Y@l:v-=:`=:Hl?_E пd?$H??I:K@):4\;i:Cv:B9v- IBD~(6D~:3Y ]1! 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'?I: N@):];i:C^IB9b@ IBDj'6Dj3Yr;!rU=rRQ)r>t9t9vFYtvG2Az>xQ 15٪z,L?Q 55z z,9YQ E@yx)z ;Iz ;izg5YAk9k9k9k9zZYZYZYZ]O@Ii iɡiiiIiiq)q vB]P>~B]CBYBYBYBYBYB];B]oQEiiK IIN>ԙ uF,I 3ADD~D,DEU: E(:6Eg4:E"E;!E;!*E;!E;!PyblM@ٱb[@bӢ"=b@=bH`@\?[|ҿэ` ?`R ޳??IblM@)b];ibCnKB9nB IeMb@Mb@Mb@ a)aIaiaae~jtxMbp?MbP?eĻe;e:IeAiaaeA)aepABD})6D}3Y~&<!@=HQ)>99FY6A>Q 15٪kL?Q 55 9;Q A=Y钾Q E@y):I :iC5YAkYkYkYkYeB*** querying acoustic contact ***zhahazZ;Z;Zn#@ZH@I ɡiIi)52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.iU IIN>!  ,DAT read: user:1025>  BDAT read: Tx time:00:00:55.4166  $Ping request sent. 99FYMA>Q 15٪L?Q 55 ,9YQ E@y):I{:i5YAkkkkzZ)Z)Z)Z-տ@IY YɡYiaIaia)ibD1ZD5@AD=D={D=+D9E=,: E=5":6E= [4:E9!M@!M@!M@!M@)i-9)15N 1IAIQN]>=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250913QAQAU<vBY~BYBYBYBYBYBYB];B]tQEBBBBBB]~4ԁ S,M 3AyRM@ٱR[@R$=R=RH;?R㭿~rҿ4?Uã@n??IRM@)R^];iRCn+B9n IBDv6Dv4d3Y~0!~S=*Q)>99FY  ;A >QQ 1m5٪L?Q 5u5 ,9qYuHQ Eu@y)SԉDEDEwDE-DAEE: EE:6EEt4:EA"EE;!MEE;!M*EEk;!MEEk;!UԩiE >IE :?M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755244 EY,zf 3Ay6ͼM@ٱ6B[@6x=6ع=6H `)?$l@^ҿai8?፣x? (?I6ͼM@)63];i6C>GB9>= IMb@Mb@Mb@ )Iiy&1|~jth?Mb``D;Ii$A$A)ABD!6Dr3Y-# >!-G=5zQ)5>1999=FY9EIAE>IQ 1U5٪M#M?Q 5U5M M,9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006934rDA jDE %=DU DU |DU +DQ EU : EU P$:6EU [4:EQ !] @!] @!] @!] @9 +`,p 3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830 CB9 8 I) AI)BABD6Df?3Ye!eG=mQ)m>i9i9uFYquAu>yQ 15٪}gM?Q 55} },9YQ E@yy)}:I}:i}M5Y AkkkkzZZZZI ɡiIi)vB]M>~BYB]IB] BB] =BYB]DB]#;B]~QEi-9))-P )I9IQN]>Aqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512767ԙ D] DY D] 1DY E] : EY 6E] -4:EY "E] ;!m E] ;!m *E] };!m E] };!m adf,xϚ 3Ay6vM@ٱ6n[@6=6=6H;"?ҿ@'n?A@*?@?I6vM@)6b];i6CzJB9z@ I}Mb@Mb@Mb@ y)yIyiyy}I +Mb`}94}yIyi}A}A}A)y}ABD6D!3Y=!D=Q)>99FY(A>Q 15٪M?Q 55 9-7Q E@y):I:i5YAkkkkzZ-7<Z-7<ZI@Z-g>I) )ɡ)i)I)i1)1YAichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764264iAAAEU AI;GIIN$>) I!iMDIU'HAԁԹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015024 %l,an 3Ay6{NM@ٱ6F[@6T=6]܏=6H@ܰv?.ѿ!`?hI~?@?I6{NM@)6];i6CBMB9BD IBDJ06DJ3Yf=w<!f\=f 9Q)f>h9h9jFYhjO׻An>pQ 1v5٪rN?Q 5v5r r,9tYv:>Q Ev@yp)r:Ir:ir5Yx~A|kkkkzZZZZM:>I ɡiIi)DDwD/DE: E:6EJ4:E!-@!-@!-@!-@iIIQUP QIaIqN}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266900AQAU@AvB]L>~BYBYBYB] =BYBYB]+;B]QEI iis,YO 3Ay6 M@ٱ6h[@6$3=6H=6H'`J?@OxeѿЯ'¬?@4e`±?`_?I6 M@)62^;i6C^PB9^G Iib=Ib=BDf'6Df3YnKb<!rI=r:Q)r>p9t9vFYtv߻Av>xQ 1~5٪zzN?Q 5~5z z,9Y>Q E@yzlEE)z;Iz;iz5Y  Ak)k)k)k1zZIZIZIZMU>IY aɡaiaIaia)i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519730i9W II!NM=iD%D%yD!D!E%s: E%:6E!:E!"E%;!-E%;!-*E%r;!5E%r;!5ԑ - BDAT read: Rx Time:00:00:57.8232 - TRx dataTimestamp_ set to:1758412855.5563465 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772114ʑy,)# 3Ay:wL@ٱ:Z@:=:뤍=:H@`g?|ؘѿ ?i?k?I:wL@):];i:CLRQB9RJ I5Mb@Mb@Mb@ 1)1I1i115 rhMb`55C1I5$Ai115A)15GABDM6DMf?3Y]<!]C=eE:Q)e>a9a9eFYamAm>qQ 1}5٪uQN?Q 5}5u| u,99im9iimL iIIN>)߁ ߁checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023191D5 D5 tD5 ,D1 E5 Ʊ: E5 v:6E5 g4:E1 != @!= @!= @!= @! |, 3AyJWL@ٱJZ@J=Jf=JH rC?@!tѿ:-?-ףZp??IJWL@)J];iHVJB9VA IrDAT read: Range 11 to 50 : 1.8 m (Round-trip 2.5 ms) speed 0.0 m/s vX#Rx 1: Read range message, but no direction.9lnf?l|BD5 6D5k3YE4!EK=MƔ:Q)M>I9Q9UFYquA}>yQ 15٪}*N?Q 55}P },9Y?Q E@yy)}G:I}`:i}!!5YAvB~BBBBBBB0;BQEk1k9k9k9zZqZqZqZu?I ɡiIi)!iE9AAE7 AIQIiNu>Qԁ BEt4JE˭x4RE0D= D= D= -D9 E= U: E= R:6E= t4:E9 "E= ;!M E= ;!M *E= ;!M E= ;!M 죆,3Aiy6UL@ٱ6ʣZ@6=6ވ=6H (?@v 0Xѿ %?@`+?@|?I6UL@)6];i6CBMB9BD I)D FA Mb@Mb@Mb@ ) I i   I +  9 I Ai A $AY $A)  ABD6D\3YK<!D=\/:Q)>99FY6A>Q 15٪M?Q 55 ,99Ա ͌,53Ay6YL@ٱ6ΊZ@6d =6u>=6HD?F@ѿG?[? a?I6YL@)6];i6C<9@BDJ"6DJJz3YR;!R]=R:Q)R>T9T9VFYTZ鈻AZ>XQ 1b5٪ZM?Q 5b5Z Z,9`Yb?Q Eb@yX)Za;IZ;iZ$5YhjAhkxkxkxkxzZZZZ?I! !ɡ!i!I!i))))9Թi9[ IIN=bDZDAADDDDE: E.:6E:E!@!@!@!@AA<vB~BBIBBB =BBB#;B}QE9 ,XO3Ay:L@ٱ:uxZ@:*"=:H=:H@<?9f.ѿa/?C C??I:L@):];i:CFVB9FO IBDN'6DN3YV&=!VJ=V4k:Q)Z>X9X9ZFYX^'5A^>`Q 1f5٪bM?Q 5f5b `9dYf?Q Ej@y`)bh:Ib:ibQ&5YlnAlk|k|k|k|zZZZZq?I) )ɡ)i)I)i1)1iW IIN=IDD|D0DEU: EP$:6E4:E"E!E!*E};!E};!qԙ ߙ,ji3Aɰ499FYA>Q 15٪L?Q 55z ,9t(5YAqkkkkzZt<Zt<Ztc@Z/@I9 9ɡ9i9I9iA)Ii9P II)N=.>ԡD D zD 1D E C: E  :6E -4:E ! @! @! @! @ Ǡ,D3Ay6|L@ٱ6ytZ@69#=6=6H6?f|*ѿv?@~d0?`?I6|L@)6e];i4>PB9BH IBDJ6DJ 3YR;!R^=R':Q)R>T9T9VFYTZ{:AZ>XQ 1b5٪Z>L?Q 5b5ZT Z,9`Yb@Q Eb@yZmEE)ZU;IZ;iZ)5YhjAhir=Ir=kYkYkYkavBK>~BBIB BB =BBB;B`QEBeCBeCBaBaBe =Be4zZZZZ_@I ɡiIi)  Ai9Y IIN>) D% D% sD% 2D! 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Ů %ҿ?u`㱲?m?I6$PN@)632];i6CPRaB9R] IBDZ6DZJ2YjV!r_=v˅Q)z>x9x9zFYx~IA~>Q 1 5٪H?Q 5 5x ,9 Y~?Q E@y):I:i'5Y*AkkkkzZZZZ~?DDzD0DE: E :6E4:E"E;! E;! *Ev;! Ev;! I ɡiIi!)! 5>5 >i9 IIN>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266012) T ,+3Ay6N@ٱ6L\@69$=6S=6HВق?VIҿ?@?L?j?I6N@)6R];i6CNbB9N^ I)` bA|UMb@Mb@Mb@ Q)QIQiQQU{GzX9vUףUUIUAiUAUAQ)QUAIi)iBDu6Du:2Y;!@=Q)>99FYA>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518116Q 155٪ZI?Q 5=5 9==Q A=rD=jDD D D D E : E 6E :E !@!@!@!@QM BDAT read: Rx Time:00:02:57.8229 U TRx dataTimestamp_ set to:1758412975.536211U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771060ԁ A! 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Sp@{*?`?I @N@) <^;i C%dB9%` II5@A)5@ABD=!6D=r3YM=m=!MD=M2:Q)M>Q9Q9UFYQ]:A]>aQ 1m5٪eOB?Q 5m5e7 a9iYm:@Q Em@ya)e:Ie :ie.5Yy}AyrD=jDDDrD/DEC: E?:6EJ4:E"E2;!E4;!*EY;!EY;!V rAggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1V1WqWUninitialize.WpAggregate::initialize lineCaptureHoming:Lap:Docked:DriftqX99FY^:A>Q 15٪A?Q 55E 9Completed lineCaptureHoming:LapqPZAggregate::uninitialize lineCaptureHoming:LapzZ<Z<Z/3Z\@36Completed lineCaptureHoming'%>lineCaptureHoming is completed.'%PUninitializing Mission lineCaptureHoming% 3%RAggregate::uninitialize lineCaptureHoming%3%bAggregate::uninitialize lineCaptureHoming:Scienceq%%1%%7%|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent1-1.- \-vAggregate::uninitialize lineCaptureHoming:StandardEnvelopesq.-\-NUninitialize AltitudeEnvelopeComponent..- ]-Uninitialize..-]-NUninitialize OffshoreEnvelopeComponent.q3-f5rAggregate::uninitialize lineCaptureHoming:MicromodemComms35 g5Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn35E55HUninitializing TrackAcousticContact.XE!S%!S-!S)aR#aR#aR#aR}#$Powering downbDZDrDjDBy#Bu#Bq#Bm#Bi#Be#Ba#B]#BB< < <}  BDAT read: Tx time:00:03:59.2650  $Ping request sent. ,b-;3AyuN@ٱu\@uC;=uf.=uHw *%?et\ӿt?`a??IuN@)u$Q_;iuCcB9_ IBD%6D03Yޯ;!)=;Q)> 9 9 FY T9A>Q 15٪(A?Q 5%5T 9AYE^5Q EE@y)q;IK;i15YamAiIy yɡyiyIyi)i%=I<9IINe>Ʋ,G;3A~=B9~0 Ii=I=Mb@Mb@Mb@ )Ii:v?~jth?Mb`?T<D;;Ii$AA)BD=6D=2YM9!MF=MQ)u>q9q9}FYy}A}>Q 15٪@?Q 55g 9],`;3Ay6>N@ٱ6\@6@=6=6Hyx?@,Lӿt߬? b?z?I6>N@)6`;i6CB^B9BY IBDJ6DJ:3Y5>!b= |;Q) > 9 9FY"7A>9Q 1E5٪=e@?Q 5E5=w =,9IYM'Q EM@y9)=:I=:i=f55YQUBAQI ɡiIi))q q9IIN=!E @!E @!M @!M @!M @!M @!M @!M @AM AM AM AM ,z;3Ay6N@ٱ6\@6*&B=6=6H`;y% ?V9Kӿte?qB E9??I6N@)6`Ia;i6CBOB9BG IBDJ6DJ\3Yr)!rM=rT:Q)r>t9t9vFYtz݋Az>|Q 15٪~@?Q 55~ ~,9Y'Q E @y|)~1:I~:i~ 75YAI ɡiIi)=0>u9IIN=,>;3Aiy6N@ٱ6.\@6D=63=6H*w}? Vӿ r@? @[??I6N@)6 a;i4N\B9RV I)T VAMb@Mb@Mb@ )Ii:v?{Gzt?MbP?ף;:I(Ai(AAA)ABD6D 83Y`=!9= N:Q) > 9 9 FY 5:A5>9Q 1E5٪=??Q 5E5= 99Md,;3Ay:N@ٱ: \@:05E=:=:H`)u`,!?+@bӿp?5q??I:N@):_;i:CN^B9RY IBDX6DXYv-<!v^=va9Q)v>x9x9zFYxz ;A~>!Q 1E5٪%B??Q 5E5% !9AYEPQ EE@y!)%t:I%1:i%:5YIUDAQIa aɡaiaIaii)i9IIN =BDAT read: Rx Time:00:04:01.1474 TRx dataTimestamp_ set to:1758413038.856264,g;3Ay6N@ٱ6\@6}E=6~=6H@r@_0?@ rӿ[n?Jl??I6N@)6_;i6CB[B9BV IMMb@Mb@Mb@ I)IIIiIIM{Gzt?Mb?Mף;M<MIMAiMAM(AI)IMGABD6DY%!@=(9Q)>99FYs;A>Q 15٪,??Q 55 9 +,cB;3Aɰy6IN@ٱ6\@61JC=6c֚=6H^p`dA?|)ӿkg? f`tP?P?I6IN@)6(^;i6CNcB9N_ IiV=ITVx9x9zFYxz#1;A~>yQ 15٪}??Q 55} },9YLQ E@yy)}l:I}d:i}B>5YAI ɡiIi)eBDAT read: Tx time:00:04:02.2650 e$Ping request sent.eI %=,U,;3Ay6(N@ٱ6\@6A=6՚=6H@hn`O?esӿip?0 xP?z?I6(N@)6];i6CNSB9NL IBDZ6DZf?3Y! H= Q) >99FY;A>Q 1%5٪??Q 5-5 9)Y-0Q E-@y):I:i?5Y1]AYIi iɡiiiIiiq)q9I!I9NE=<,<3Ay:O@ٱ:\@:Ў>=:=:Hwm`dW?:"ӿmh?ϧ S?@?I:O@):];i:CNEB9R: ImMb@Mb@Mb@ i)iIiiiim~jthy&1?mDm`e<iIm(AiimAi)imABD 6D2Y!@=-Q)>99FYΒ:A>Q 15٪F??Q 55' 9j)q qg ,A/<3Ay6O@ٱ6m\@6Ա;=6瀞=6H 1nT?  ]ӿho٭? tXk??I6O@)6J];i6CBSB9BK I)D FAID)DBDH6DHYK=!W=/Q)> 9 9 FY   A>Q 1=5٪??Q 5E5F ,9AYEQ EE@y):I:iC5YIUAQI ɡiIi)9IIN=O,I<3Ay6jN@ٱ6\@67=6C=6HqoP?/ӰWӿi@V.? ަ@~?@?I6jN@)6`];i6CBkB9Bi IUMb@Mb@Mb@ Q)QIQiQQU99FYOA>Q 15٪??Q 55\ 9h 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . am%$M"vU @']PDefineArg OnDock.DockedTime = 8.000000 ham)$e:va'm\DefineArg OnDock.DetachedTimeout = 30.000000 sam-$RvD'XDefineArg OnDock.RangeTimeout = 600.000000 sam1$bv'hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 minam5$ rv '^DefineArg OnDock.NumberOfPings = 1.000000 countam9$-v)'5VDefineArg OnDock.TransponderCode = 50 countam=$=v9'EPDefineArg OnDock.MaxDepth = 275.000000 mamA$UvQ'URDefineArg OnDock.MinAltitude = 5.000000 mamE$eva'mTDefineArg OnDock.MinOffshore = 2.000000 kmamI$uvu'}HDefineArg OnDock.StayOnDock = 0 boolamM$v'\DefineArg OnDock.IfconfigInterval = 2.000000 hamQ$v'HDefineArg OnDock.RunScience = 0 boolamU$w @'XDefineArg OnDock.MissionTimeout = 8.000000 h'~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 'rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 'TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl@z,c<3Ay6 N@ٱ6~\@6M4=6)_=6H~p`K?c_ӿ~i鎮?އ ? ?I6 N@)6E];i6CNfB9Rc IBDV&6DVދ3Y~̼!~W=Q)>9 9 FY  mbA >Q 1=5٪N@?Q 5=5p ,9AYEVQ EE@y)!;I/:iG5YIMAQ 'uTethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 I ɡiIi)mY$%w!'-vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m9i=Am]$u"wq'}|DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 mma$2wi@'tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 mme$Bw'|DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m6Construct AltitudeEnvelope. ;9I!I1N== U0Construct DepthEnvelope.6Construct OffshoreEnvelope.an'xInserting Stack from file: Missions/Insert/BackseatDriver.tl 'lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl 'TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 'TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: oi$x'nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool2Construct BackseatDriver.'nInserting Stack from file: Missions/Insert/PowerOnly.tl 'bTethyslAPI: loading: Missions/Insert/PowerOnly.tl ' zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl ' qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 !pm$ x ' ZDefineArg OnDock:PowerOnly.SampleAll = 0 bool!pq$ y  BDAT read: Rx Time:00:04:04.1475  TRx dataTimestamp_ set to:1758413041.880310' ^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool!pu$ y ' ^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool!py$ "y ' ^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool!p}$ :y ' hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool Construct Wait. Construct Wait.' jInserting Stack from file: Missions/Insert/Science.tl ' ^TethyslAPI: loading: Missions/Insert/Science.tl ' vTethyslAPI: mission file loaded: Missions/Insert/Science.tlN,Ve}<3Ay6-N@ٱ6\@6H/=62w=6H s I9I9MFYIM7AM>QQ 1e5٪U@?Q 5e5U Q9aYeQ Ee@yQ)U:IU:iUH5Yy} AI ɡiIi)M9IIN=%,?<3Ay6=N@ٱ6\@6*=6:q=6HwO(?֯@.aӿCqZ? [`Ų??I6=N@)6k-];i6CBjB9Bh IRDAT read: OK R:unknown deviceResponse_: OK V,DAT read: user:1029> Mb@Mb@Mb@ )Ii99FYbWA>!Q 1-5٪%A?Q 5u5% !9uUBDAT read: Tx time:00:04:05.2650 ]$Ping request sent.]99FYA>qQ 1}5٪uA?Q 5}5ud q9 <8,<3Ay6 N@ٱ6\@6X&#=6cO=6H@?cӿ~?ic`&#??I6 N@)6$];i4BZB9BT IBDJ6DJP)3Yr=!r_=rx5Q)r>t9t9vFYtzAz>|Q 1]5٪~nB?Q 5e5~P |9aYe?Q Ee@y|)~Be,<3Ay6wN@ٱ6Rp\@6SK!=6=6H V?`@>ӿh`?(@? o?I6wN@)6M?];i6CBeB9Bb IBDJ 6DJ2Yrc=!rJ=r꒺Q)v>t9t9vFYtz Az>Q 1%5٪B?Q 5%56 ,9!Y%`?Q E%@y)P:I:iQ5Y15A1IA AɡAiAIIiI)IiA9I IN-=E,=3Ay:2cN@ٱ:[\@:=:=:H`?;4ҿ X??w?iB?IBp=I:2cN@):];i:CNdB9Ra IiV=IV=-Mb@Mb@Mb@ )))I)i))-I +~jtMbp-94-D-I)i-(A-(A-(A))-GABDm 6Dmk3Y!==CQ)>99FY?A>yQ 1}5٪}@C?Q 55}  },9Rq i} ƐCI ~G) I i= A E UA=L,|b2=3Ay6NN@ٱ6JG\@6j=6=6H`@?@ .ҿ@!|? 죿 ^??I6NN@)6Q];i6CBlB9Bk IBDJ6DJ{U3Y #,=! W=Q)>99FY=SA=>AQ 1M5٪EyC?Q 5M5E E,9IYU?Q EU@yA)E:IE:iE+U5YY]AYIi iɡqiqIqi)9IIN=BDAT read: Rx Time:00:04:07.1476 TRx dataTimestamp_ set to:1758413044.904282)I M AR,bLL=3Ay6BN@ٱ6c;\@6=61v=6H^ධ? ҿ?@֣?y?I6BN@)69];i6CNjB9Nh IMb@Mb@Mb@ )Iiy&1~jt`eI(AiAA)pABD6Df?3YXF!?=TŹQ)>99FY-޺A>Q 15٪C?Q 55 9  x9x9zFYxz>A~>Q 1 5٪#D?Q 5 5 9 Y ǀ?Q E @y)p:I:iX5Y=A9II IɡIiIIIiQ)Q9I)I9NE=i߭ =I߭ C=h?_,=3A~iB9~f IBD +6D E3Y%<!-F=-Q)->19195FY15A5>YQ 1e5٪]|D?Q 5e5]h Y9iYiQ Em@yY)]2:I]:i]zZ5YqAI ɡiIi) '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 = , , , , , q9y9}FYy} ;A}>'fDefineOutput OnDock:science:Science.GoDown = 1 boolQ 15٪D?Q 55@ ,9JMrY%|' pDefineOutput OnDock:science:Science.EdgeChlDepth = nan mr]%|']DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degCra%|'DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdegre% }'DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdegri% } '5pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/lrm%E*}A'MpDefineOutput OnDock:science:Science.PeakNO3Depth = nan mrq%u:}q'}DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdegru%J}'DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdegry%Z}'nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3r}%j}'pDefineOutput OnDock:science:Science.PeakOilDepth = nan mr% z} ) 'UDefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdegr%]}Y'eDefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdegr%}'lDefineOutput OnDock:science:Science.PeakFDOM = nan ppbr%}' rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan mr% } ' DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degCr%M }I 'U DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdegr%] }Y ' DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdegr% } ' lDefineOutput OnDock:science:Science.PeakSalt = nan psur% } ' rDefineOutput OnDock:science:Science.PeakSaltDepth = nan mr%  ~ ' DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degCr% ~ ' DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdegr% *~ 'E DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdegr%e :~a 'u DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/sr%} J~y ' DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan mr% Z~ ' DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degCr% j~ ' DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdegr% z~ ' DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdegr%% ~! '- DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/sr%5 ~1 ' DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan mr% ~ ' DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degCr% ~ ' DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdegr% ~ ' DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdegr% ~ ' DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/sr%% ~! '- DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan mQl,֫=3Ay6&VN@ٱ6N\@6=6vɁ=6H `?p 9ҿ!?@£O3?w?I6&VN@)6\;i6C^dB9^a Iib=Ib=BDh6DhYr56!vj=v\ :Q)v ?x9x9zFYxz:A~ ?r%~'%DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degCr%- )'5DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg9Q 1E5٪=D?Q 5M5=% 99IYMS?Q EM@y9)=:I=W:i=]5r%}'DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdegr%*YQ AI ɡiIi'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/sr%:'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m)r%=J9'EDefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degCr%MZI'DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdegr%j>9IIN=' DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdegr&5z1'=DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/mlr&MI'eDefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan mr &'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degCr &' DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdegr&'DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdegr&-)'5DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/mlr&=9'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan mr&'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degCr!&'DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdegr%&M I'UDefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdegr)&}y'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/mlr-&*'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan mr1&:' DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degCr5&J'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdegr9&Z'DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdegr=&j'DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/mlrA&z'5DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan mrE&EA'MDefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degCrI&uq'}DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdegrM&'DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdegrQ&'nDefineOutput OnDock:science:Science.PatchChl = nan ug/lrU&ʀ'rDefineOutput OnDock:science:Science.PatchChlDepth = nan mrY&ڀ' DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdegr]&51'=DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdegra&MI'uxDefineOutput OnDock:science:Science.PatchChlDistance = nan mre&} y'nDefineOutput OnDock:science:Science.PatchSalt = nan psuri&'tDefineOutput OnDock:science:Science.PatchSaltDepth = nan mrm&*'DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdegrq&:' DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdegru&- J) '5 zDefineOutput OnDock:science:Science.PatchSaltDistance = nan mry&= Z9 'e lDefineOutput OnDock:science:Science.PatchOil = nan psur}&u jq '} rDefineOutput OnDock:science:Science.PatchOilDepth = nan mr& z ' DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdegr&  ' DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdegr&  'e xDefineOutput OnDock:science:Science.PatchOilDistance = nan mr&m i 'u vDefineOutput OnDock:science:Science.TriggeredOnChl = 0 boolr&} y ' xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/l@s,f=3AyNWaN@ٱNY\@NF=N=NHڈ?yҿ (`?aߣ a??INWaN@)N\;iNCjjB9jg It}"t" t" t" t"t"uMb@Mb@Mb@ q)qIqiqquMb`Mbuu 8Construct PeakDetectVsDepth.qIu?AiuAquA)qqBD6DN3Y  <! != 9Q)>99FY]6:A]>aQ 1m5٪eD?Q 5m5e  a9miqIu4= >Construct PeakDetectHorizontal.8Construct PeakDetectVsDepth.8Construct PeakDetectVsDepth. >Construct PeakDetectHorizontal.M 8Construct PeakDetectVsDepth.} 8Construct PeakDetectVsDepth.Fcy,`=3Ay6uN@ٱ6n\@6=67́=6H`ׅ?@7ӿ@ j ?[ޣ3?e?I6uN@)6\;i6CNhB9Rf IBDV6DV2 v>Construct PeakDetectHorizontal.Y]!e=eMзQ)e ?i9i9mFYimr;Am?qQ 15٪uD?Q 55u q9Y?Q E@yq)u:Iug:iua5YAI ɡiIi)E8Construct PeakDetectVsDepth.MM9IIN=8Construct EdgeDetectVsDepth. U8Construct PeakDetectVsDepth.C@8Construct EdgeDetectVsDepth.@U8Construct PeakDetectVsDepth.cA 8Construct EdgeDetectVsDepth.BU 8Construct PeakDetectVsDepth.B 8Construct EdgeDetectVsDepth.C ,Construct ValueDetect.K,u=>3Aiy6nN@ٱ6\@6\=6u=6HR8?Ƭ %ӿ }`?`ϣ@l? ?I6nN@)6!\;i6CN[B9RV I)T VABDZ*6DZ3Y! P= Q) >99FYdr;A>9Q 1E5٪=D?Q 5M5= 99IYMH?Q EM@y9)=:I=:i=Ic5YQ}XAyI ɡiIiC$Construct Execute.)D$Construct Execute.#DConstruct Wait.CDConstruct.CDdInitializing internal variables to default values.9IIyN=uDEConstruct.DEdInitializing internal variables to default values. 'a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } =bLoaded ./Missions/Engineering/OnDock.tl id=OnDocku,w>3Ay:N@ٱ:\@:':=:Í=:H~ ?ά ;ӿ@z@E)? t˰?N?I:N@):\;i:CV`B9V[ IMb@Mb@Mb@ )Ii~jtx?;I(Ai(AA)ABD6DN3Y%<!%:=-)9)9-FY1UO;AU>YQ 1e5٪]eD?Q 5e5] Y9e;Q Am >Ym5Q Em@yY)]:I]:i]5e5Yqu4Aq='}BStarted mission DefaultWithUndockKy} )}NAggregate::initialize DefaultWithUndock})4Initialize Wait Component.I ɡiIi)i9IIN&>o,4>3Ay6N@ٱ6 \@6|Y=6Gt=6H`.z,?U`[ӿtꩪ?@J5?@?I6N@)6];i6CN]B9RX IBDV6DVF3Yvi!va=v1Q)v>x9x9zFYxz;A~>!Q 1%5٪%8D?Q 5-5% !9)Y-a5Q E-@y!)%-:I%g:i%f5Y1IAI ɡiIi ) U9IIN=G,N>3AɰR49999=FY9P;A>Q 15٪C?Q 55 ,9BV,zh>3Ay6 O@ٱ6]@6=6=6H2pn?],@ӿ 0i ?Oaw??I6 O@)6-\;i6CnYB9nS IBDz6Dz!3Y%!-g=-.Q)->19195FY15d;A=?YQ 1e5٪]C?Q 5m5] Y9iYmQ Em@yY)]:I]v:i]\j5YkAI ɡiIi)S?O?I-G)EAIQi5lA#qAII N>D,؂>3Ay6,'O@ٱ6]@6vk=6=6H l \?@諿@ӿSd@?~졿`?q?I6,'O@)6H ];i4BPB9BH IBDJ6DJ3Yr.!rO=rQ)r>t9t9vFYtz ;Az>|Q 1]5٪~DC?Q 5e5~% ~,9aYeQ Ee@y|)~g3Aiy>.FO@ٱ>>]@> => =>HgΨ? 8oӿ;_@e?Qҽ? ?I>.FO@)>];i>CNUB9NN I)T VAMb@Mb@Mb@ )Iiy&1?Mb`?~jth?`e<;D;I?Ai?A(A)ABD6DYe<!:= 1Q)>99FY&;A> Q 155٪ B?Q 555 7 ,9=l3Ay:tO@ٱ:l]@:'_=:b=:H`?ת`Կ`XX?#\?'?I:tO@):3];i:CNIB9R@ IBDZ6DZ 83YfB{!f_=fbQ)f>h9h9jFYhnO;An>Q 1 5٪dB?Q 5 5F ,9 Y ,Q E @y)s:IH:io5Y=A9II IɡIiQIQiQ)yiu9IIQNe=) ٳ,R'>3AyU7O@ٱU]@UI9I9MFYIM;AU>QQ 1]5٪UA?Q 5e5Up Q9,>3Aɰ4t9t9vFYtz;Az>|Q 15٪~@?Q 5%5~ |9!Y%Q E%@y|)~;I~?;i~t5Y)5A1I ɡiIi)T?s?09II!N5=\,ȵ?3Ay:Z)P@ٱ:!^@:U<:~ی=:H@}E`*?ɧ@LԿc:@? 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