*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="LcmPublisher"
*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="DropWeight"
*n code=0037 name="NAL9602"
*n code=0038 name="Onboard"
*n code=0039 name="Onboard ThreadHandler"
*n code=003A name="Power24vConverter"
*n code=003B name="Radio_Surface"
*n code=003C name="Radio_Surface ThreadHandler"
*n code=003D name="RDI_Pathfinder"
*n code=003E name="Sonardyne_Nano"
*n code=003F name="BuoyancyServo"
*n code=0040 name="ElevatorServo"
*n code=0041 name="DockingStepper"
*n code=0042 name="MassServo"
*n code=0043 name="RudderServo"
*n code=0044 name="ThrusterHE"
*n code=0045 name="CTD_Seabird"
*n code=0046 name="CTD_Seabird ThreadHandler"
*n code=0047 name="ESPComponent"
*n code=0048 name="PAR_Licor"
*n code=0049 name="WetLabsBB2FL"
*n code=004A name="WetLabsBB2FL ThreadHandler"
*n code=004B name="SBIT"
*n code=004C name="IBIT"
*n code=004D name="CBIT"
*n code=004E name="GFScanner"
*n code=004F name="MissionManager"
*n code=0050 name="Reporter"
*n code=0051 name="NavChartDb"
*n code=0052 name="NavChartDb ThreadHandler"
*n code=0053 name="DefaultWithUndock"
*n code=0054 name="DefaultWithUndock:A.Wait"
*n code=0055 name="DefaultWithUndock:LeaveDock"
*n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout"
*n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout:A"
*n code=0058 name="DefaultWithUndock:LeaveDock:A."
*n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock"
*n code=005A name="DefaultWithUndock:SurfaceDefault"
*n code=005B name="DefaultWithUndock:SurfaceDefault:A.GoToSurface"
*n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn"
*n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS"
*n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium"
*n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout"
*n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute"
*n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B"
*n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait"
*n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D"
*n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:E"
*n code=0065 name="DefaultWithUndock:D"
*n code=0066 name="DefaultWithUndock:E.Execute"
*n code=0067 name="keepstation"
*n code=0068 name="keepstation:NeedComms"
*n code=0069 name="keepstation:NeedComms:A"
*n code=006A name="keepstation:NeedComms:B.GoToSurface"
*n code=006B name="keepstation:NeedComms:C"
*n code=006C name="keepstation:NeedComms:C:A_Timeout"
*n code=006D name="keepstation:NeedComms:C:A_Timeout:A"
*n code=006E name="keepstation:NeedComms:D"
*n code=006F name="keepstation:NeedComms:D:A_Timeout"
*n code=0070 name="keepstation:NeedComms:D:A_Timeout:A"
*n code=0071 name="keepstation:NeedComms:E"
*n code=0072 name="keepstation:NeedComms:E:A_Timeout"
*n code=0073 name="keepstation:NeedComms:E:A_Timeout:A"
*n code=0074 name="keepstation:B"
*n code=0075 name="keepstation:StandardEnvelopes"
*n code=0076 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope"
*n code=0077 name="keepstation:StandardEnvelopes:B.DepthEnvelope"
*n code=0078 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope"
*n code=0079 name="keepstation:D"
*n code=007A name="keepstation:E"
*n code=007B name="keepstation:BackseatDriver"
*n code=007C name="keepstation:BackseatDriver:A.BackseatDriver"
*n code=007D name="keepstation:PowerOnly"
*n code=007E name="keepstation:PowerOnly:A"
*n code=007F name="keepstation:PowerOnly:B"
*n code=0080 name="keepstation:PowerOnly:C"
*n code=0081 name="keepstation:PowerOnly:D"
*n code=0082 name="keepstation:PowerOnly:E.Wait"
*n code=0083 name="keepstation:H.Pitch"
*n code=0084 name="keepstation:SurfaceComms"
*n code=0085 name="keepstation:SurfaceComms:A"
*n code=0086 name="keepstation:SurfaceComms:B"
*n code=0087 name="keepstation:SurfaceComms:HandleNan"
*n code=0088 name="keepstation:SurfaceComms:HandleNan:SetOnStation"
*n code=0089 name="keepstation:SurfaceComms:HandleNan:SetOnStation:A"
*n code=008A name="keepstation:SurfaceComms:HandleNan:SetLat"
*n code=008B name="keepstation:SurfaceComms:HandleNan:SetLat:A"
*n code=008C name="keepstation:SurfaceComms:HandleNan:SetLon"
*n code=008D name="keepstation:SurfaceComms:HandleNan:SetLon:A"
*n code=008E name="keepstation:SurfaceComms:setTransit"
*n code=008F name="keepstation:SurfaceComms:setTransit:A"
*n code=0090 name="keepstation:SurfaceComms:setStation"
*n code=0091 name="keepstation:SurfaceComms:setStation:A"
*n code=0092 name="keepstation:SurfaceComms:setSink"
*n code=0093 name="keepstation:SurfaceComms:setSink:A"
*n code=0094 name="keepstation:StartingMission"
*n code=0095 name="keepstation:DiveCmd"
*n code=0096 name="keepstation:DiveCmd:SurfaceSink"
*n code=0097 name="keepstation:DiveCmd:SurfaceSink:sink"
*n code=0098 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy"
*n code=0099 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed"
*n code=009A name="keepstation:DiveCmd:SurfaceSink:sink:C"
*n code=009B name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch"
*n code=009C name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout"
*n code=009D name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A"
*n code=009E name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit"
*n code=009F name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A"
*n code=00A0 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation"
*n code=00A1 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A"
*n code=00A2 name="keepstation:DiveCmd:TransitToStation"
*n code=00A3 name="keepstation:DiveCmd:TransitToStation:dive"
*n code=00A4 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy"
*n code=00A5 name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch"
*n code=00A6 name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed"
*n code=00A7 name="keepstation:DiveCmd:StationKeep"
*n code=00A8 name="keepstation:DiveCmd:StationKeep:A"
*n code=00A9 name="keepstation:DiveCmd:StationKeep:B.Pitch"
*n code=00AA name="keepstation:DiveCmd:StationKeep:C.KeepStation"
*n code=00AB name="keepstation:TransitToStation"
*n code=00AC name="keepstation:TransitToStation:Dive"
*n code=00AD name="keepstation:TransitToStation:Dive:A"
*n code=00AE name="keepstation:TransitToStation:Wpt1.Waypoint"
*n code=00AF name="keepstation:TransitToStation:C"
*n code=00B0 name="keepstation:TransitToStation:D"
*n code=00B1 name="keepstation:OnStation"
*n code=00B2 name="keepstation:KeepStation"
*n code=00B3 name="keepstation:KeepStation:Dive"
*n code=00B4 name="keepstation:KeepStation:Dive:A"
*n code=00B5 name="keepstation:KeepStation:B.Wait"
*n code=00B6 name="run_backseat_on_surface"
*n code=00B7 name="run_backseat_on_surface:Science"
*n code=00B8 name="run_backseat_on_surface:Science:A"
*n code=00B9 name="run_backseat_on_surface:Science:B"
*n code=00BA name="run_backseat_on_surface:Science:C"
*n code=00BB name="run_backseat_on_surface:Science:D"
*n code=00BC name="run_backseat_on_surface:Science:E"
*n code=00BD name="run_backseat_on_surface:Science:F"
*n code=00BE name="run_backseat_on_surface:Science:Read_Oil"
*n code=00BF name="run_backseat_on_surface:Science:OceanCurrent"
*n code=00C0 name="run_backseat_on_surface:Science:OceanCurrent:A."
*n code=00C1 name="run_backseat_on_surface:Science:PeakDetectChl"
*n code=00C2 name="run_backseat_on_surface:Science:PeakDetectChl:A"
*n code=00C3 name="run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth"
*n code=00C4 name="run_backseat_on_surface:Science:PeakDetectChl:C"
*n code=00C5 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl"
*n code=00C6 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A"
*n code=00C7 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B"
*n code=00C8 name="run_backseat_on_surface:Science:EdgeDetectChl"
*n code=00C9 name="run_backseat_on_surface:Science:EdgeDetectChl:A"
*n code=00CA name="run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth"
*n code=00CB name="run_backseat_on_surface:Science:EdgeDetectChl:C"
*n code=00CC name="run_backseat_on_surface:Science:EdgeDetectChl:D"
*n code=00CD name="run_backseat_on_surface:Science:HighestChlPeakReport"
*n code=00CE name="run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal"
*n code=00CF name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl"
*n code=00D0 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A"
*n code=00D1 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal"
*n code=00D2 name="run_backseat_on_surface:Science:PeakDetectNO3"
*n code=00D3 name="run_backseat_on_surface:Science:PeakDetectNO3:A"
*n code=00D4 name="run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth"
*n code=00D5 name="run_backseat_on_surface:Science:PeakDetectNO3:C"
*n code=00D6 name="run_backseat_on_surface:Science:PeakDetectOil"
*n code=00D7 name="run_backseat_on_surface:Science:PeakDetectOil:A"
*n code=00D8 name="run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth"
*n code=00D9 name="run_backseat_on_surface:Science:PeakDetectOil:C"
*n code=00DA name="run_backseat_on_surface:Science:HighestOilPeakReport"
*n code=00DB name="run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal"
*n code=00DC name="run_backseat_on_surface:Science:PeakDetectFDOM"
*n code=00DD name="run_backseat_on_surface:Science:PeakDetectFDOM:A"
*n code=00DE name="run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth"
*n code=00DF name="run_backseat_on_surface:Science:PeakDetectFDOM:C"
*n code=00E0 name="run_backseat_on_surface:Science:PeakDetectSalinity"
*n code=00E1 name="run_backseat_on_surface:Science:PeakDetectSalinity:A"
*n code=00E2 name="run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth"
*n code=00E3 name="run_backseat_on_surface:Science:PeakDetectSalinity:C"
*n code=00E4 name="run_backseat_on_surface:Science:HighestSaltPeakReport"
*n code=00E5 name="run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal"
*n code=00E6 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI"
*n code=00E7 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A"
*n code=00E8 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth"
*n code=00E9 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:C"
*n code=00EA name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI"
*n code=00EB name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A"
*n code=00EC name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth"
*n code=00ED name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:C"
*n code=00EE name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:D"
*n code=00EF name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI"
*n code=00F0 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A"
*n code=00F1 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth"
*n code=00F2 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:C"
*n code=00F3 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI"
*n code=00F4 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A"
*n code=00F5 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth"
*n code=00F6 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:C"
*n code=00F7 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:D"
*n code=00F8 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms"
*n code=00F9 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A"
*n code=00FA name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth"
*n code=00FB name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:C"
*n code=00FC name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms"
*n code=00FD name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A"
*n code=00FE name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth"
*n code=00FF name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:C"
*n code=0100 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:D"
*n code=0101 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates"
*n code=0102 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A"
*n code=0103 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth"
*n code=0104 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:C"
*n code=0105 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates"
*n code=0106 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A"
*n code=0107 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth"
*n code=0108 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:C"
*n code=0109 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:D"
*n code=010A name="run_backseat_on_surface:Science:ChlThreshTrigger"
*n code=010B name="run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect"
*n code=010C name="run_backseat_on_surface:Science:ChlThreshTrigger:B"
*n code=010D name="run_backseat_on_surface:Science:ChlThreshTrigger:C"
*n code=010E name="run_backseat_on_surface:BackseatDriver"
*n code=010F name="run_backseat_on_surface:BackseatDriver:A.BackseatDriver"
*n code=0110 name="run_backseat_on_surface:C"
*n code=0111 name="run_backseat_on_surface:PowerOnly"
*n code=0112 name="run_backseat_on_surface:PowerOnly:A"
*n code=0113 name="run_backseat_on_surface:PowerOnly:B"
*n code=0114 name="run_backseat_on_surface:PowerOnly:C"
*n code=0115 name="run_backseat_on_surface:PowerOnly:D"
*n code=0116 name="run_backseat_on_surface:PowerOnly:E.Wait"
*n code=0117 name="run_backseat_on_surface:E.GoToSurface"
*n code=0118 name="run_backseat_on_surface:CheckIn"
*n code=0119 name="run_backseat_on_surface:CheckIn:Read_GPS"
*n code=011A name="run_backseat_on_surface:CheckIn:Read_Iridium"
*n code=011B name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout"
*n code=011C name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute"
*n code=011D name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:B"
*n code=011E name="run_backseat_on_surface:CheckIn:C.Wait"
*n code=011F name="run_backseat_on_surface:CheckIn:D"
*n code=0120 name="run_backseat_on_surface:CheckIn:E"
*n code=0121 name="run_backseat_on_surface:G"
*n code=0122 name="run_backseat_on_surface:H.Execute"
*n code=0123 name="marl"
*n code=0124 name="marl:AbortDrift"
*n code=0125 name="marl:AbortDrift:A"
*n code=0126 name="marl:AbortDrift:B.AbortDrift"
*n code=0127 name="marl:AbortDrift:C.Execute"
*n code=0128 name="marl:AbortDrift.Redefine.AcousticTimeout"
*n code=0129 name="marl:B."
*n code=012A name="marl:SendObservationData"
*n code=012B name="marl:SendObservationData:A"
*n code=012C name="marl:SendObservationData:B"
*n code=012D name="marl:SendObservationData:C"
*n code=012E name="marl:SendObservationData:D.SendDirect"
*n code=012F name="marl:SendObservationData:E"
*n code=0130 name="marl:UpdateContactLabel"
*n code=0131 name="marl:UpdateContactLabel:A"
*n code=0132 name="marl:UpdateContactLabel:B"
*n code=0133 name="marl:NeedComms"
*n code=0134 name="marl:NeedComms:A"
*n code=0135 name="marl:NeedComms:B.GoToSurface"
*n code=0136 name="marl:NeedComms:C"
*n code=0137 name="marl:NeedComms:C:A_Timeout"
*n code=0138 name="marl:NeedComms:C:A_Timeout:A"
*n code=0139 name="marl:NeedComms:D"
*n code=013A name="marl:NeedComms:D:A_Timeout"
*n code=013B name="marl:NeedComms:D:A_Timeout:A"
*n code=013C name="marl:NeedComms:E"
*n code=013D name="marl:NeedComms:E:A_Timeout"
*n code=013E name="marl:NeedComms:E:A_Timeout:A"
*n code=013F name="marl:F"
*n code=0140 name="marl:StandardEnvelopes"
*n code=0141 name="marl:StandardEnvelopes:A.AltitudeEnvelope"
*n code=0142 name="marl:StandardEnvelopes:B.DepthEnvelope"
*n code=0143 name="marl:StandardEnvelopes:C.OffshoreEnvelope"
*n code=0144 name="marl:H"
*n code=0145 name="marl:I"
*n code=0146 name="marl:J"
*n code=0147 name="marl:SpeedTimeout"
*n code=0148 name="marl:SpeedTimeout:A"
*n code=0149 name="marl:SpeedTimeout:B"
*n code=014A name="marl:UpdateSpeed"
*n code=014B name="marl:UpdateSpeed:A"
*n code=014C name="marl:UpdateCommandMode"
*n code=014D name="marl:UpdateCommandMode:A"
*n code=014E name="marl:UpdateHeading"
*n code=014F name="marl:UpdateHeading:A"
*n code=0150 name="marl:UpdateHeading:B"
*n code=0151 name="marl:UpdateRudder"
*n code=0152 name="marl:UpdateRudder:A"
*n code=0153 name="marl:UpdateRudder:B"
*n code=0154 name="marl:Science"
*n code=0155 name="marl:Science:A"
*n code=0156 name="marl:Science:B"
*n code=0157 name="marl:Science:C"
*n code=0158 name="marl:Science:D"
*n code=0159 name="marl:Science:E"
*n code=015A name="marl:Science:F"
*n code=015B name="marl:Science:Read_Oil"
*n code=015C name="marl:Science:OceanCurrent"
*n code=015D name="marl:Science:OceanCurrent:A."
*n code=015E name="marl:Science:PeakDetectChl"
*n code=015F name="marl:Science:PeakDetectChl:A"
*n code=0160 name="marl:Science:PeakDetectChl:B.PeakDetectVsDepth"
*n code=0161 name="marl:Science:PeakDetectChl:C"
*n code=0162 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl"
*n code=0163 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A"
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:öAHRS rotation from veh to nav: [[-0.350987,0.904889,0.240799],[-0.932076,-0.362253,0.002705],[0.089678,-0.223493,0.970571]]˛2H ”vÖż`Ůôě?}ŇÎ?‘Óíż &/׿Ä)f? $ő¶? k›Ěż ëď?i˛2±J„@I˛2]ą^;‰˛2Ť’CYčN¬IAyčRřGÔ\yôť
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^AÚIyâI‰ŤĹŚIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFEROÍÖ>n$„�ŔŹ,Ä_B?ÚA™±2Iwn@ů±2m|@ą±2ľ…‰ľŮ±2Ńż
JřAHRS rotation from veh to nav: [[-0.669948,0.542453,0.506867],[-0.693357,-0.701216,-0.165992],[0.265380,-0.462646,0.845891]]˛2H 6pĺżŔĆ[á?B8ŕ?ú/ćżŔ[pćż`:?Ĺż@ţűĐ?`ý›Ýż€Šë?i˛2Iwn@I˛2łR^;‰˛2Ź’CYčR»[AyčRHééTÉéVa=yô-
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Úwcéüâwcéüňwkéü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwcéüâu™rs­Ź=zs­Ź=‚s­ü0ž@Šs­žO@é˘éɢíeĺľ)Łí̵E˝	˘í"˘żiŁé)˘ő¸z:˝éˇń‰˘ůi˘ýĚÁtĽ‰¨I©ÔiE
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-5ZE	a•@aŤ@a™@a‘@^AFs>ÚI�âI‘ťĄtmodem://10: set _.others_observations nan n/a str none_strťĄ"#Outgoing data=35ŤĄpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ©OÝ�>–B}Ď>žB}·ŹC˘B}mHŞB}Ý]A¶B}¨=ľByĆB}Ö»DÎB}pá;ŇB}í“E	ď}	7l>éîy	ÉîŐ	d‚G©ďń	Éď	
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BřAHRS rotation from veh to nav: [[-0.698563,0.509987,0.501920],[-0.663722,-0.723913,-0.188209],[0.267362,-0.464611,0.844188]]˛:HŔ Z激ĎQŕ?şŕ?@6=ĺż@L*çż 8Čż€wŃ?@/ĽÝż`—ë?i˛:»k@I˛:ž<^;‰˛8YčJk]AyčJ'H©ęXÉęX	ë\)ë\bDbhßVDb“Í8y”j°Ś>%jU=Ů”%
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ÚwŁëüâwŁëüňw«ëü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwŁëüâu
rs!zs!‚s!Šs%Ow@é˘IɢMÄ׾)ŁQ	˘UŁ”żiŁQ)˘Uä>˝éˇQ‰˘Yi˘]"Ę{Ľ‰¨YI©aŤzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔá^AŐ's>’AÝQ?ŠAŮÔE=R
E=EE=BE9"E=sď9*E=ÎA9VE=Ů5ZE9BE=�Ş:a•M€2E=ŤŞ:aŤU€JE=W:a™U€:E=W:a‘U€¦AI	ÚIi	âIy	Oµ	˘>Ô9ş(‘�ŔŹ,�ÜDB?ÚA™±2
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:řAHRS rotation from veh to nav: [[-0.725632,0.475527,0.497325],[-0.633496,-0.743823,-0.213094],[0.268590,-0.469682,0.840987]]˛2Hŕ`8çż	oŢ?Ŕ+Ôß? šEäż fÍçż­FËż“0Ń?€CŢż ]éę?i˛2
	i@I˛2[^;‰˛2�’CYčB�^AyčBŕHbDJpßVDJšÍ8y”V=>%VM=Ů”V÷V»Q-Vć>9•XI•X‘=Z5Fy•Z¦dE–Z(Ţ˝ŃE^ć>©­`Q
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If™?™«b�RCI­bŐé:i­bRě:‰­bÎa]4y®hÉ®nčŚBą®ljwt‚wtúvxęvxşvxŠvxZvxÚwłčüâwłčüňw»čü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwłčüâu
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Šs%
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BřAHRS rotation from veh to nav: [[-0.750180,0.442234,0.491588],[-0.604185,-0.760523,-0.237837],[0.268684,-0.475431,0.837720]]˛:H@y
čż`�MÜ?@/vß?ŔzU㿀3VčżŔqqÎż@ 2Ń?ŔtmŢżŔ™Îę?i˛:Ą~f@I˛:öH^;‰˛:Ź’CYčJ`AyčJĘ	H©éL‰éLi´pI´pbD

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@颉ɢ•Zŕč˝)Ł‘	˘•®~żiŁ‘)˘ťE˝éˇ™‰˘™i˘ťű†Ľ‰¨™I©ˇÔ�ąý`Á˝Ô©^A's>ÔŮÚIůâI
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^řAHRS rotation from veh to nav: [[-0.771776,0.412452,0.483989],[-0.576858,-0.774379,-0.259946],[0.267575,-0.479813,0.835573]]˛VHŔc˛čżŕ›eÚ?Ŕ¬ůŢ?Ŕžuâż`¶Ç迀ö˘ĐżŕôŃ?CµŢż˝ę?i˛VJ.d@I˛VŐs^;‰˛V�’CYčfZaAyčf’
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BřAHRS rotation from veh to nav: [[-0.790543,0.387359,0.474336],[-0.551976,-0.786184,-0.277916],[0.265261,-0.481527,0.835325]]˛6H !LéżĘŘ?ŕ�[Ţ?`ʩ῀j(éż@aÉŃżúĐ? VŃŢżüşę?i˛6ťb@I˛6¶d^;‰˛4YčJVcAyčJĘHÔy
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BřAHRS rotation from veh to nav: [[-0.807465,0.368049,0.461020],[-0.528775,-0.798031,-0.289039],[0.261528,-0.477165,0.838997]]˛6H ÁÖ鿎×?@Z�Ý?€ąëŕżx‰éżŔžŇż ŢĽĐ?€ß‰Ţż@Ůę?i˛6.5`@I˛6ó·^;‰˛6’’CYčJ•dAyčJŽHééLÉéNp=bDVHßVDVuÍ8y”^NU>%^[=Ů”b¬)<Q-bď>9•`I•`‘=b5Fy•fĽdE–f+Ł˝ŃEfď>©­hQ
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ťť.set remote address to 0ŤĄ2Acoustic response timeoutťĄ†Querying Benthos address 20 with one ping in standard two-way mode.Ôa
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ťíBDAT read: Tx time:23:17:53.9363
ťí$Ping request sent.ťő<transmitted an acoustic signalťő:publishing transmit ping time™âéťýŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.000969Ô�¦AQÚIaâIqOĄ<>Ô©ÔŃ
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büAHRS rotation from veh to nav: [[-0.640676,-0.684734,-0.347380],[0.766046,-0.600700,-0.228764],[-0.052028,-0.412673,0.909392]]˛VHl€äż€Wéĺżŕx;Öż@s�č?ŕî8㿀%HÍż€uŁŞż€;iÚż ˝í?i˛Vľ%@I˛VkŁ^;‰˛V’’CYčj/AyčjęHéélÉénR=	÷r4<éör4<bDv�ŘVDv;Ç8y”~ÚĹĽ%~G=Ů”
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5ZEYBE]—Ă:a•e€2E]›Ă:aŤe€JE]˙V:a™e€:E]W:a‘m€ťí	BDAT read: Rx Time:23:17:56.4729
ťő	TRx dataTimestamp_ set to:1761347877.757050Ťő	dchecking for remote address setting acknowledgmentťő	Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024081i´a
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>üAHRS rotation from veh to nav: [[-0.524356,-0.760826,-0.382354],[0.849284,-0.499668,-0.170437],[-0.061377,-0.414097,0.908161]]˛6H@†ÇŕżŕŻXčż@|xŘż V-ë?ŔŤúßżŕÝĐĹż€ŐlŻżŔŽ€Úż@¨í?i˛6ęđó?I˛6˘^;‰˛6‘’CYčRT}AyčRĆHbDhVDhy”r4;%rI=Ů”vŤĆ9Q-vŰ>9•tI•x‘=z6Fy•zfE–zU=˝ŃEzŰ>©­|Q
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@ť©PUpdating rudder angle  -0.000000 arcdeg ńT
ť¨-6Completed marl:UpdateRudderqT5Ť¨5RAggregate::uninitialize marl:UpdateRudderé˘IɢMŐç9=)Łi	˘mKU?iŁi)˘ud† Ľéˇq‰˘qi˘uę꼉¨}€I©yÔ
ŤMdchecking for remote address setting acknowledgmentťMŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275470¦AÝÎÇAÚIáâIůIµO=P>Ô1E�
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:üAHRS rotation from veh to nav: [[-0.509574,-0.768843,-0.386283],[0.858267,-0.485980,-0.164925],[-0.060924,-0.415575,0.907516]]˛2HnN࿀]ščż@ڸؿŕěvë?ŔMßż€DĹż r1Żż Č�Úż`_
í?i˛2ąń?I˛2W/_;‰˛2“’CYčB}AyčB™HťjDAT read: 23:17:56.4728 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 137,-0.03, 1.269, 2.848, 1.034, 1.733, PHS=-0.361, 1.160,-0.743, RAW= 340.9,  -0.7, CAL= 340.5,  -3.6, ROT= 169.5,   3.6
ť~Ygot valid direction response:
 23:17:56.4728 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 137,-0.03, 1.269, 2.848, 1.034, 1.733, PHS=-0.361, 1.160,-0.743, RAW= 340.9,  -0.7, CAL= 340.5,  -3.6, ROT= 169.5,   3.6
ť
PDAT read: Bearing  99.5,  14.3 (Local)
ť

~Local bearing/azimuth received:
 Bearing  99.5,  14.3 (Local)
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”DAT read: Range 11 to 20 : 99.3 m  (Round-trip  132.5 ms) speed -1.2 m/s
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(DAT read: user:32>
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búAHRS rotation from veh to nav: [[-0.361852,-0.889985,-0.277469],[0.925834,-0.377900,0.004724],[-0.109060,-0.255181,0.960723]]˛RH`–(׿ŔÂzěżŔÂŃżo í?€…/ŘżzYs? X뻿ŔŕTĐż`>ľî?i˛RŐÜ?I˛RŚě];‰˛R”’CYčj¬oAyčn`HéóE
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Ô‚wQúvQęvYşvYŠvYZvaÚwÓőüâwÓőüňwŰőü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwÓőüâuÁrsŮzsŮ‚sŮŠsÝŔBź?é˘!ɢ%ć�;)Ł)	˘-†¦ĽiŁ))˘M{ţm;éˇQ‰˘Qi˘UMB°Ľ‰¨QI©Y–BµçÍ>žBµ—ŹC˘BµÇHŞBµ˛nA¶B±ľB±ĆBµ˝»DÎBµłÔ;ŇBµ|ŚEÚBuÄ•ŹCâBuÄ•ŹCęBuÄ”�CňBuÄ©=úBuÄ©=CuĢ55ÔA¦AťÎÇAÚI©âIąOőF>bEÇŮ5jEÇ5rEÇ3t1E}R
E}BE}?Ey"E}sď9*E}†(9VE}^î4ZEyBE}�Ş:a•Ť€2E}ŤŞ:aŤŤ€JE}T+:a™Ť€:E}V+:a‘•€ÔqŤ}	ŚIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERÔ™cä>“ŔŹ,OvţL?ÚA™±2»’Ü?ů±2^~ř?ą±2ŞtŘ=ٱ2‡†ľ
:úAHRS rotation from veh to nav: [[-0.360117,-0.890471,-0.278167],[0.926923,-0.375249,0.001250],[-0.105495,-0.257389,0.960532]]˛2H@'׿Ŕ˝~ěżŔ{ÍŃż[©í?€ŘżđyT?Ŕ±
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@Ôů;ĚE“ŔŹ,PQM?ÚAŤzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY™±^ě@Ü?ů±^Ź,ř?ą±^­ Đ=ٱ^>Ȇľ
füAHRS rotation from veh to nav: [[-0.357953,-0.891385,-0.278034],[0.928212,-0.372045,-0.002234],[-0.101450,-0.258874,0.960569]]˛^H`łčÖż€9†ěżŕNËŃżŔéłí?€•Ď׿tLbż` řąż@d‘Đż€úĽî?i˛^ě@Ü?I˛^Ź^;‰˛\YčnunAyčnˇHbDM
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>üAHRS rotation from veh to nav: [[-0.355442,-0.892376,-0.278075],[0.929641,-0.368417,-0.005993],[-0.097100,-0.260640,0.960541]]˛2H ŹżÖż XŽěż`úËŃżŕžżí?@&”׿ü‹xż€†Ű¸ż S®ĐżŕżĽî?i˛2ÝâŰ?I˛2ę6^;‰˛2’’CYčF
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BüAHRS rotation from veh to nav: [[-0.351938,-0.893929,-0.277544],[0.931404,-0.363873,-0.009079],[-0.092875,-0.261701,0.960670]]˛6H '†Öż›ěż€FĂŃż`Îí? ˛I׿�‚ż@ŁĆ·żŕłżĐż`Ď˝î?i˛6obŰ?I˛6ý+^;‰˛6•’CYčJŤmAyčJHÉöP©öRAAbDV~ÖVDV_Ĺ8y”^›˝%^J=Ů”^m+ĽQ-bÜ>9•`I•`‘=b6Fy•bŐfE–f\ĽŃEfÜ>©­hQ
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NüAHRS rotation from veh to nav: [[-0.347997,-0.895564,-0.277243],[0.933298,-0.358898,-0.012150],[-0.088621,-0.262979,0.960723]]˛>H@”EÖż@u¨ěż ZľŃż “Ýí?@/řÖż3â�ż€ŮŻ¶ż`¤ÔĐż>ľî?i˛>!ÓÚ?I˛>ÜG^;‰˛<YčVĄlAyčV„HÔ`Éî-
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:üAHRS rotation from veh to nav: [[-0.343871,-0.897349,-0.276616],[0.935218,-0.353753,-0.015020],[-0.084375,-0.263861,0.960863]]˛2H€ü
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:úAHRS rotation from veh to nav: [[-0.340466,-0.911638,-0.230216],[0.939978,-0.324041,-0.106952],[0.022903,-0.252811,0.967245]]˛2H€1ĘŐż`#,íżŕ´wÍż€Lî?Ŕ˝ÔżŔ;a»żŕŔs—?@.ĐżŔŞóî?i˛2]źŮ?I˛2cŹ^;‰˛2’’CYčBĽaAyčBÎ
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búAHRS rotation from veh to nav: [[-0.387782,-0.901158,-0.193753],[0.917451,-0.357069,-0.175459],[0.088933,-0.245798,0.965233]]˛ZH@kŃŘż`HÖěżŔăĚČżŕÁ[í? 6ÚÖżquĆż€SĶ?ŕRvĎż€/ăî?i˛ZTŕ?I˛Z–];‰˛Z�’CYčjjAyčjčHéó]
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fúAHRS rotation from veh to nav: [[-0.386205,-0.902617,-0.190074],[0.917827,-0.355517,-0.176636],[0.091860,-0.242673,0.965749]]˛^H`–·Řż =âěż@UTČż ×^í? ËŔÖż śĆż@&„·?ŕäĎż kçî?i˛^�ŕ?I˛^é+];‰˛^•’CYčnkAyčn€HbDE
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Úw3îüâw3îüňw;îü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęw3îüâu	rsIzsI‚sIŠsM2˛·@颹ɢŤĽG=)ŁÁ	˘ĹJŚľiŁÁ)˘Í°Š=éˇÉ‰˘Éi˘Íp!˝Ô‰¨I©ť}DAT read: 
ťŤ&DAT read: user:1>
ť•(setting verbose to 3ÔA^A=“ň=¦Ai	Ôi	ÚIy	âI™	OĹ	Ł>EÍ
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RôAHRS rotation from veh to nav: [[0.767858,0.564187,0.303457],[-0.631833,0.745157,0.213376],[-0.105740,-0.355577,0.928647]]˛JHŕK’č? Ň
â?€ŘkÓ?`ů7俀RŘç?äOË? ľ»żÄÁÖż y·í?i˛J™¬@I˛JúŹ^;‰˛J–’Cťb&DAT read: user:1>
ťfTDAT read: Verbose         | 3           
ťf set verbose to 3ťf6setting DatVerbose to 27440YčnkAyčr…Hyô…
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ęvŃşvŮŠvŮZvŮÚwăíüâwăíüňwëíü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwăíüâuńrsÁ>zsÁ>‚s?Šs‰î;é˘AɢEJĺ<=)ŁI	˘MźľiŁI)˘U–‘‰=éˇQ‰˘Qi˘U6C ˝Ôi‰¨qI©yÔ™^Aqťu&DAT read: user:2>
ť}TDAT read: DatVerbose      | 27440       
ť}.set DatVerbose to 27440ť…6setting transmit power to 8ÔÉ	¦Aĺ	$ĹAÚIů	âI
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:ôAHRS rotation from veh to nav: [[0.760999,0.572338,0.305467],[-0.640469,0.737797,0.213202],[-0.103349,-0.357889,0.928027]]˛2H Zč?€�Pâ?€ĹŚÓ?`¸~俀śç?8JË?€uşż ¦çÖż@f˛í?i˛2Ʊ«@I˛2�^;‰˛0YčBÚjAyčFjHÔL	÷5
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Úw“ńüâw“ńüňw›ńü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęw“ńüâu	rszs‚sŠs„ÔČ@é˘9ɢ=H@2=)Ł9	˘=ˇ¤ľiŁ9)˘Eű‰=éˇA‰˘Ai˘E'‰˝‰¨II©IťŐ&DAT read: user:3>
ťÝTDAT read: TxPower         | 8 (Max)     
ťÝ.set transmit power to 8ťĺ6setting local address to 11Ôń^A™’AťS?ŠA™Ô¦AíÎÇAÚIńâI		O=	š>ÔA
ť…&DAT read: user:4>
ťŤTDAT read: LocalAddr       | 11          
ťŤ.set local address to 11ť•`Setting time to: 23:19:44 And date to:10/24/2025˙(™ŔŹ,Vd;d?ÚAÔ
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HR č?ŕůŚâ?ŔBÇÓ? ˙Ĺäżŕ§Xç?Ŕ
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9Eo4«=«Ľń
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IE§?™«=]ŁCI­=Ýç:i­=‘é:‰­=1ďo4y®U'ŁBÉ®UŮ…Bą®UŻEjwa‚waúvięvişviŠviZviÚwóěüâwóěüňwűěü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwóěüâu‰rs™zs™‚s™ŠsťţŽČ@颹ɢ˝4Ĺ/=)Łą	˘˝豾iŁą)˘ĹÜ{�=éˇÁ‰˘Ái˘ĹŔĽ˝‰¨ÉI©ÉÔIE•]
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ťĺPDAT read: Fri Oct 24, 2025  23:19:44  
ťíhLocal DAT time set to Fri Oct 24, 2025  23:19:44  
ťő8setting remote address to 10Ťý2Acoustic response timeoutť6setting remote address to 0^A!Ôq¦A�	ÚI‘	âIˇ	OÝ	Ą>Ôˇ
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ZôAHRS rotation from veh to nav: [[0.746601,0.586487,0.314039],[-0.657920,0.720895,0.217832],[-0.098633,-0.369246,0.924083]]˛RHŔ&äç?@�Äâ? 5Ô?Ż
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Úwóëüâwóëüňwűëü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwóëüť=&DAT read: user:6>
ťETDAT read: RemoteAddr      | 10          
­E|failed to set remote address to 0, device returned 10 instead.qM
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ťUTDAT read: RemoteAddr      | 0           
ť].set remote address to 0ť]8setting remote address to 10Ť]2Acoustic response timeoutťe6setting remote address to 0âuń
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~ôAHRS rotation from veh to nav: [[0.739154,0.592490,0.320324],[-0.666413,0.712321,0.220209],[-0.097702,-0.376237,0.921358]]˛vH€%§ç?Ŕ­őâ?€0€Ô?`ASĺżVËć?ŕŃ/Ě? üążŕBŘż€Ă{í?i˛v‹šŞ@I˛vË]^;‰˛tYč

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rôAHRS rotation from veh to nav: [[0.711779,0.613574,0.341903],[-0.695040,0.685543,0.216680],[-0.101440,-0.391865,0.914414]]˛fHŔäĆć? f˘ă?@ĽáŐ? Ä=激÷ďĺ?€.ĽË? ń÷ąż€OŮż@ŕBí?i˛fpT©@I˛f„ż^;‰˛dYčz/gAyčz(HbD
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zôAHRS rotation from veh to nav: [[0.699623,0.625307,0.345714],[-0.707190,0.675094,0.210073],[-0.102029,-0.391457,0.914522]]˛rH€Pcć?€„ä?€, Ö?€Lˇćżŕ^šĺ? ¬ăĘ?€“şż€˘
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zôAHRS rotation from veh to nav: [[0.686701,0.637987,0.348444],[-0.719749,0.663963,0.202765],[-0.101992,-0.390032,0.915136]]˛nH@uůĺ?Ŕdjä?@čLÖ?`/çż@0?ĺ?@7ôÉ?@+şżGöŘż@ĘHí?i˛n„2¨@I˛n^š^;‰˛n—’CYč
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PExceeded connect timeout, disconnecting.ť…DAT read: 
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>ôAHRS rotation from veh to nav: [[0.412147,0.876436,0.248989],[-0.910447,0.406651,0.075641],[-0.034957,-0.257867,0.965548]]˛2H@ś`Ú?Ăě? ŕŢĎ? a"íż ’Ú?€=]ł? Ü塿@ă€ĐżŔÄĺî?i˛2Hkť@I˛2˛˛^;‰˛2™’CYčr‘SAyčvHyôÝ
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ťő	TDAT read: TxPower         | 8 (Max)     
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ťMTDAT read: LocalAddr       | 11          
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JôAHRS rotation from veh to nav: [[0.406496,0.882428,0.236816],[-0.913481,0.397559,0.086603],[-0.017728,-0.251531,0.967687]]˛>H Ú? Ů<ě? ţOÎ? ;;íż@›qŮ?@•+¶?ŔE'’żŕĐż J÷î?i˛>Ú6ť@I˛>`•^;‰˛>–’CťR&DAT read: user:5>
ťVPDAT read: Fri Oct 24, 2025  23:20:07  
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ť˝PDAT read: Fri Oct 24, 2025  23:20:29  
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FöAHRS rotation from veh to nav: [[-0.091362,0.964455,0.247951],[-0.994652,-0.100424,0.024123],[0.048165,-0.244421,0.968472]]˛:Hŕwc·ż ĐÜî? ŰĽĎ? 1Ôďż ^µąż@”ł�?©¨?1IĎż`ąýî?i˛:źâŚ@I˛:†›^;‰˛8YčN<~AyčNUH©óT‰óVżAbDZÖVDZĹ8y”bőC<%bN=Ů”b�<Q-fŕ>9•dI•d‘=f8Fy•f(nE–j	 <ŃEjá>©­lQ
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ZúAHRS rotation from veh to nav: [[-0.159101,0.963148,0.216870],[-0.984379,-0.137986,-0.109349],[-0.075395,-0.230880,0.970057]]˛JHŔm]ÄżŔŇî?`hÂË?ŕ€ďż`‰©Áż€Sţ»żŔMłż@|ŤÍż@´
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>úAHRS rotation from veh to nav: [[-0.159077,0.962710,0.218824],[-0.984249,-0.137330,-0.111334],[-0.077131,-0.233088,0.969392]]˛2H` \Äż`…Îî?`lĚ?÷~ďż`”Áż€c€ĽżŔâľłż€ŇŐÍż`Bď?i˛2O°Š@I˛2Ă^;‰˛0YčF˝{AyčFĚH–Bb!Í>žB`˘Bb°HŞBbŹ{A¶Bb˝=ľB`ĆBb«»DÎBb`×;ŇBb|ŤEbD-
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ť­TDAT read: Verbose         | 3           
ť­ set verbose to 3ťµ6setting DatVerbose to 27440ÔqE	V
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:úAHRS rotation from veh to nav: [[-0.158046,0.962196,0.221812],[-0.984307,-0.135663,-0.112847],[-0.078489,-0.236166,0.968538]]˛2HŕÖ:ÄżOĘî?ŔWdĚ?@rďż@j]Áż ‰ăĽżÜ´ż@ł:Îż`Bţî?i˛2Ŕ¸Š@I˛2€â^;‰˛2–’CYčN {AyčRkHť
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ť˝TDAT read: TxPower         | 8 (Max)     
ť˝.set transmit power to 8ť˝6setting local address to 11ÔŃÔůET
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JúAHRS rotation from veh to nav: [[-0.155947,0.962302,0.222833],[-0.984573,-0.133313,-0.113331],[-0.079352,-0.237069,0.968247]]˛BH€öĂż@.Ëî?ŕÎ…Ě?ŕž�ďżŕhÁżŕ=˝ż@eP´ż JXÎż@ŕűî?i˛BĘŠ@I˛BpÄ^;‰˛B—’CYčz·zAyčz+Héé|Éé|Éöa
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&DAT read: user:4>
ťTDAT read: LocalAddr       | 11          
ť.set local address to 11ť%`Setting time to: 23:20:51 And date to:10/24/2025¦A…$ĹAÚI‰Ô	âI™OQ–BÉžBɢBÍ3HŞBÍÄzA¶BÉľBÉĆBÉÎBÍĽÖ;ŇBÍ%ŤEÔ)	ťĹ&DAT read: user:5>
ťĹPDAT read: Fri Oct 24, 2025  23:20:51  
ťÍhLocal DAT time set to Fri Oct 24, 2025  23:20:51  
ťÍ8setting remote address to 10ŤŐ2Acoustic response timeoutťŐ6setting remote address to 0jL8ťŔŹ,pÎât?ÚAÔ™±6Řߊ@ů±6ÄÚ‘@ą±6˘"Ł=ٱ6™řsľ
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ť=TDAT read: RemoteAddr      | 0           
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:öAHRS rotation from veh to nav: [[0.232911,0.971333,0.047596],[-0.972262,0.233654,-0.010625],[-0.021441,-0.043801,0.998810]]˛2H@ĐÍ? (ď?„^¨?€Äďż`cčÍ? ‚Â…żŔ¸ô•ż`m¦żŔ@öď?i˛2W—@I˛2ö<_;‰˛2”’CÔ@Yč^ywAyčb,HbDjů×VDjĽĆ8y”r­#˝%rG=Ů”vţxşQ-vŮ>9•vÎH?I•vÎH?‘=v9Fy•zĐqE–z}O<ŃEzŮ>©­|Q
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:ôAHRS rotation from veh to nav: [[0.246662,0.960115,0.131674],[-0.968892,0.247146,0.012908],[-0.020150,-0.130762,0.991209]]˛2H ś’Ď?@Bąî?˛ÚŔ? *
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:ôAHRS rotation from veh to nav: [[0.252019,0.955184,0.155275],[-0.967504,0.252106,0.019461],[-0.020557,-0.155134,0.987680]]˛2H !Đ?€Ý�î?ŔŕĂ? Ęőîż@‚"Đ?‚í“? ř•żmŰĂż@›ď?i˛2tř—@I˛2•_;‰˛2’’CYčBgvAyčB�HÉö
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:ôAHRS rotation from veh to nav: [[0.257046,0.950660,0.173704],[-0.966156,0.256831,0.024110],[-0.021692,-0.174022,0.984503]]˛2H ssĐ? Îkî?`í;Ć?żęîż@ëoĐ?@M°�?ŕr6–ż]FĆżŕ�ď?i˛2#�@I˛2Ž_;‰˛2�’CYčr�vAyčr”HéétÉétbDe
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ťµTDAT read: DatVerbose      | 27440       
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ťĄTDAT read: LocalAddr       | 11          
ťĄ.set local address to 11ťµ`Setting time to: 23:21:57 And date to:10/24/2025EíV
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ťEPDAT read: Fri Oct 24, 2025  23:21:57  
ťMhLocal DAT time set to Fri Oct 24, 2025  23:21:57  
ťe8setting remote address to 10Ťu2Acoustic response timeoutť}6setting remote address to 0Ô™é˘9ɢ=ţ¤=)Ł9	˘=.»>iŁ9)˘E†˝"<éˇA‰˘Ai˘Eű#”Ľ‰¨iI©i‚AyzAy¦AyÚI�âI‘ÔąOÝe>Ôá	ťĹ
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ť5 set verbose to 3ť56setting DatVerbose to 27440Úwcřüâwcřüňwkřü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwcřüâuŃrsĺ=ď=zsĺ=ď=‚sĺ>ç�@Šsĺi«@额¨@ɢĄŔőv˝)Łˇ	˘Ą±čľiŁˇ)˘ĄP˝éˇˇ‰˘©i˘­«wý»‰¨ůI©ů‚A
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ťÝ&DAT read: user:2>
ťĺTDAT read: DatVerbose      | 27440       
ťĺ.set DatVerbose to 27440ťĺ6setting transmit power to 8m&DµŔŹ,#hŐ?ÚA™±2€ż·>ů±2B·?ą±2"ć<ٱ2Z)_ľ
:öAHRS rotation from veh to nav: [[0.838066,-0.534113,-0.111211],[0.545506,0.817300,0.185590],[-0.008233,-0.216203,0.976314]]˛2H€pŃę?Ŕtáż`OxĽż€Étá?`R'ę?€iÁÇ?Ŕ·Ü€ż ‰¬Ëż@ö=ď?i˛2€ż·>I˛2‘U^;‰˛0Yč^™@yčb)<Géé`Ééba=EE
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ťM.set transmit power to 8ťM6setting local address to 11Ô‘ÔÁ
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>öAHRS rotation from veh to nav: [[0.841282,-0.527954,-0.116231],[0.540573,0.819523,0.190166],[-0.005144,-0.222814,0.974847]]˛6H`Çëę?ŕ˙äŕżŔXÁ˝ż_Lá? �9ę?ŕXWČ? 6użŔ.…Ěżó1ď?i˛6˘»´>I˛6Ňu^;‰˛6|’CYčFŢ—@yčFÄ:GbDR‚!
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ťť&DAT read: user:4>
ťťTDAT read: LocalAddr       | 11          
ťĄ.set local address to 11ť­`Setting time to: 23:27:16 And date to:10/24/2025bEŐĂ×5jEŐĂß5rEŐĂ]†3E]l
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&DAT read: user:5>
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ťĹTDAT read: RemoteAddr      | 0           
ťĹ.set remote address to 0ťĹ8setting remote address to 10ŤÍ2Acoustic response timeoutťÍ6setting remote address to 0Ea
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:ôAHRS rotation from veh to nav: [[0.847775,-0.515124,-0.126196],[0.530356,0.823835,0.200049],[0.000915,-0.236525,0.971625]]˛2H€ř ë? ĺ{ŕż 0'Ŕż€¬řŕ?@Ú\ę? 1›É?Ŕ·ůM?sFÎż@Ťď?i˛2á�®>I˛2WZ^;‰˛2{’CYčN�@yčR
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Úw�ńüâw�ńüňw‹ńü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęw�ńüâu1rsAzsA‚sAŠsAé˘eaá@ɢe �ľ)Ła	˘e–‹żiŁa)˘eC«ś˝éˇi‰˘ii˘mżú »‰¨qI©qÔ)ąý…`”Ô»^Ae`=¨ĽťµDAT read: 
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 set verbose to 3ť

6setting DatVerbose to 27440Yč]
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ť˝TDAT read: DatVerbose      | 27440       
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>öAHRS rotation from veh to nav: [[0.491231,-0.865964,-0.093799],[0.857135,0.499742,-0.124810],[0.154956,-0.019088,0.987737]]˛6HŔSpß? úµëż`4¸żŕ¦më?@Äűß?@ŚóżżŔšŐĂ?‹“ż€Š›ď?i˛6‰U?I˛6ťi^;‰˛6y’CYčJűÁ@yčJŽnGééNa=ÉéL©ęXÉęX	ë\)ë\ÔdbDb®
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ť~TDAT read: TxPower         | 8 (Max)     
ť~.set transmit power to 8ť~6setting local address to 11–-
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ť­TDAT read: LocalAddr       | 11          
ť­.set local address to 11ťµ`Setting time to: 23:27:38 And date to:10/24/2025ÔQ
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JöAHRS rotation from veh to nav: [[0.486721,-0.865143,-0.120952],[0.860391,0.498717,-0.104925],[0.151096,-0.052997,0.987097]]˛>H p&ß?@AŻëż ´öľż`R�ë?ůęß?cÜşż WĂ?`\"«ż`M–ď?i˛>D}V?I˛>eh^;‰˛>~’CYčNŔĂ@yčR»pGbDZw
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ťÝPDAT read: Fri Oct 24, 2025  23:27:38  
ťÝhLocal DAT time set to Fri Oct 24, 2025  23:27:38  
ťĺ8setting remote address to 10Ťí2Acoustic response timeoutťő6setting remote address to 0Ô!yď5
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ť•.set remote address to 0ť•8setting remote address to 10Ť•2Acoustic response timeoutťť6setting remote address to 0#;¶¶ŔŹ,}"ÚÚ?ÚA™±2"X?ů±2Rő‡?ą±2|mľŮ±2]´˝
:öAHRS rotation from veh to nav: [[0.481659,-0.863720,-0.148294],[0.863884,0.496406,-0.085359],[0.147340,-0.086994,0.985253]]˛2H ‚ÓŢ? ™Łëż`IűÂż`ď¤ë?@Ĺß?Úµż@ÜÂ?@EE¶ż 0‡ď?i˛2"X?I˛2ăŹ^;‰˛2}’CÔY
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ťĺTDAT read: Verbose         | 3           
ťĺ set verbose to 3ťí6setting DatVerbose to 27440ÔÉÔů\¸ŔŹ,Á¬ŕ?ÚA™±2Ý!\?ů±2­ü‰?ą±2BôćĽŮ±2­ă=ľ
>ôAHRS rotation from veh to nav: [[0.472883,-0.863461,-0.175548],[0.880674,0.469539,0.062814],[0.028189,-0.184305,0.982465]]˛2H`µCŢ?yˇëż`\xĆż |.ě?€íŢ?ŕš°? ŤÝś?ŕJ—Çż Zpď?i˛2Ý!\?I˛2Jmb;‰˛2|’CYč^˘Ayč^áˇGéé`Éébp=bD%
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 set verbose to 3ťí
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NöAHRS rotation from veh to nav: [[-0.864080,-0.475881,0.164021],[0.472029,-0.879237,-0.064269],[0.174798,0.021889,0.984361]]˛BH@‹¦ëż ŐtŢżŔĄţÄ?ŕ¸5Ţ?`¶"ěż@ós°ż Č_Ć?j–? âď?i˛BL@I˛BW_;‰˛B~’CYčRÄSAyčV7HéóZ¬=ÉóZđ=Éö^@A©ö^AAbDbgńVDb"Ţ8y”jáw>%jV=Ů”j÷<Q-né>9•lI•l‘=n@Fy•n€E–r�9=ŃEré>©­tQ
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^öAHRS rotation from veh to nav: [[-0.873163,-0.460166,0.160729],[0.456666,-0.887591,-0.060317],[0.170417,0.020733,0.985154]]˛VHŕóđëż ZsÝżŕŔ’Ä?@:Ý?@%g쿀ŕᮿŔ9ĐĹ?@ň:•?`a†ď?i˛VăB@I˛Vń
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Úwcďüâwcďüňwkďü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwcďüâuť5DAT read: 
ť=$DAT read: user:1
ť=(setting verbose to 3ÔYrs]dŔ=zs]dŔ=‚s]	ĚŤ@Šs]ë”M?é˘}QAɢ}<4¶˝)Ł�	˘…ÁF>iŁ�)˘…ŰĎ˝éˇ�‰˘�i˘…TéĚ»‰¨‰I©‘©ű™‰ű™éű™Éű™Ôy–BĄ"Ď>žBĄµŹC˘BĄxHŞBĄ-TA¶BĄş=ľBˇĆBĄŐ»DÎBĄ_ć;ŇBĄ’–EÚBeƸŹCâBeĆ»ŹCęBeĆš�CňBeĆĽ=úBeĆş=CeĆĎĐ6ÚI9	âII	OŤ	ź>Ô©	ťĺ
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 set verbose to 3ťő
6setting DatVerbose to 274404ČşŔŹ,_›!ë?ÚAÔLEnS
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öAHRS rotation from veh to nav: [[-0.882360,-0.443606,0.157018],[0.440546,-0.895999,-0.055733],[0.165411,0.019997,0.986022]]˛]
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ťETDAT read: DatVerbose      | 27440       
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JöAHRS rotation from veh to nav: [[-0.899940,-0.409413,0.149966],[0.407054,-0.912166,-0.047534],[0.156255,0.018267,0.987548]]˛BH NĚěżŔŃ3Úż€2Ă?Ŕ,
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ť˝8setting remote address to 10Ť˝2Acoustic response timeoutť˝6setting remote address to 0ER
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föAHRS rotation from veh to nav: [[-0.927309,-0.348133,0.137479],[0.347224,-0.937259,-0.031329],[0.139760,0.018684,0.990009]]˛ZHŕ„¬íż ĐGÖżć�Á?ę8Ö?@ţíżŔW
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jöAHRS rotation from veh to nav: [[-0.938632,-0.319746,0.129357],[0.319346,-0.947324,-0.024387],[0.130340,0.018420,0.991298]]˛^H E	îż ¸vÔżŕÁŽŔ?ŕ+pÔ?ŔzPîżŔĎř�żŔü®Ŕ?ŔŹÜ’?·¸ď?i˛^&@I˛^}4_;‰˛^|’CYč
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:řAHRS rotation from veh to nav: [[-0.832492,0.541675,0.116384],[-0.553935,-0.817800,-0.156077],[0.010636,-0.194402,0.980864]]˛2HŔĆŁężfUá?`\Ë˝? Őąáż`j+ęż@SúĂż`mČ…?`*âČż€=cď?i˛2e­`@I˛2Qoa;‰˛2€’CYčB{rAyčBHééDÉéFa=yô­
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NřAHRS rotation from veh to nav: [[-0.781696,0.609944,0.130073],[-0.623049,-0.772982,-0.119616],[0.027585,-0.174545,0.984263]]˛6H §éż Ş„ă?€;¦Ŕ?ŕđ㿀EĽčż,źľżŔ4?ś?`�WĆż`ď?i˛6o+f@I˛6ę.b;‰˛6‚’CYčVwAyčVňHyô5
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FřAHRS rotation from veh to nav: [[-0.782664,0.608432,0.131330],[-0.621829,-0.773666,-0.121528],[0.027664,-0.176780,0.983861]]˛>H€•éż@Fxă?€iĎŔ? ćăż`ßÁčżŕwżż@âSś?`˝ ĆżË{ď?i˛>éf@I˛>gía;‰˛<YčN@wAyčN	HééPÉéPbDZôßVDZÎ8y”bÁ<%bT=Ů”fWąQ-fč>9•f„K?I•f„K?‘=fAFy•jł�E–jĄ„»ŃEjč>©­lQ
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BřAHRS rotation from veh to nav: [[-0.783955,0.606881,0.130809],[-0.620202,-0.774981,-0.121468],[0.027658,-0.176353,0.983938]]˛:Hŕ'éż`‘kă?ŕYľŔ? ±ŘăżŔ¤ĚčżŔ~żżoRś?`Ľ’Ćż`l|ď?i˛:Ţďe@I˛:Ĺäa;‰˛:�’CYčRPwAyčRH©ę`Éę`	ë`)ë`bDj®ßVDjÓÍ8y”r.<%rH=Ů”v„c7Q-vÚ>9•tI•t‘=vAFy•vµ�E–z٦»ŃEzÚ>©­|Q
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~řAHRS rotation from veh to nav: [[-0.785450,0.604956,0.130753],[-0.618312,-0.776365,-0.122259],[0.027551,-0.176874,0.983848]]˛rH g"éż Í[ă?`„ĽŔ?ŕ5Éăż@ü×čż`ZLżżŔN6ś?`ŃŁĆż@®{ď?i˛r^Če@I˛rôĘa;‰˛r€’CYč%
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RřAHRS rotation from veh to nav: [[-0.788236,0.601488,0.129983],[-0.614764,-0.779080,-0.122881],[0.027356,-0.176768,0.983872]]˛FH`;9éżŔc?ă?€JŁŔ? &¬ăż`8îčż` użż€-ś?X Ćż á{ď?i˛Fn~e@I˛Fťa;‰˛F�’CYč^üwAyčb}HÔY
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VřAHRS rotation from veh to nav: [[-0.786954,0.602203,0.134371],[-0.616436,-0.776758,-0.129049],[0.026661,-0.184387,0.982492]]˛NH€ą.éżŔ>Eă?€3Á?€×ąăż 4Ű迪„Ŕż ëL›? ú™Çż@“pď?i˛Nö e@I˛Nů/c;‰˛N‚’CYč^8xAyč^˘H©ęlÉęp	ëp)ëpbDv‹ŢVDvÇĚ8y”
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BřAHRS rotation from veh to nav: [[-0.634614,0.772434,-0.024701],[-0.772801,-0.634538,0.011810],[-0.006552,0.026584,0.999625]]˛6HŕÂNäż Ç·č?ŔSK™ż€Éşčż@#Näż@Ă/�?€ęŐzżŕÔ8›?Ŕíüď?i˛6ˇs@I˛6úx_;‰˛6‚’CYčJřyAyčJµHbDRŢŮVDRzČ8y”Zć”<%Ze=Ů”^ó$;Q-^ú>9•`I•`‘=bAFy•b‚E–b‘Q=ŃEbú>©­dQ
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ťTDAT read: Verbose         | 3           
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ť…TDAT read: LocalAddr       | 11          
ť….set local address to 11ť•`Setting time to: 23:35:10 And date to:10/24/2025Ô1¦AAÚIQâIiIµ‰OĄ=>ÔQbE]Ç®5jE]ÇŢ	5rE]Ç•Ú1EÝV
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ť-PDAT read: Fri Oct 24, 2025  23:35:10  
ť-hLocal DAT time set to Fri Oct 24, 2025  23:35:10  
ť58setting remote address to 10Ť52Acoustic response timeoutť56setting remote address to 0BÝđ<úAÝđ<–BĺŹĎ>žBĺĆŹC˘BáŞBá¶Bĺ–=ľBáĆBĺá»DÎBĺ·Ů;ŇBĺ�EÚBĄËŔŹCâBĄËÁŹCęBĄË–�CňBˇËúBˇËCĄËŞ~6ć<ďŇŔŹ,ŽéżK?ÚA™±^řŽ?ů±^ÔăŞ?ą±^x;˝Ů±^ç)cľÔI

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ťŤTDAT read: RemoteAddr      | 0           
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JüAHRS rotation from veh to nav: [[-0.998554,-0.050929,-0.017229],[0.053239,-0.981345,-0.184734],[-0.007499,-0.185384,0.982637]]˛BHŔ&ôďżŕ^Şż ‡¤‘żŔB«?€.gďż ^ĄÇż ż·~ż@«şÇż Äqď?i˛BN±7@I˛BM€_;‰˛@Yč
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Ť¨%NAggregate::initialize marl:UpdateRudder±T%
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Ô±Bhą"hąhą*h˝2hą:h˝ŔiŁÉťÝ&DAT read: user:1>
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nüAHRS rotation from veh to nav: [[-0.998902,-0.044217,-0.015457],[0.046315,-0.981668,-0.184888],[-0.006998,-0.185401,0.982638]]˛fH÷ďż”Ł¦ż 槏żŔ’¶§? Ňiďż iŞÇż€gŞ|ż€8»Çż@Ĺqď?i˛fĺ"8@I˛f6a_;‰˛f‹’CYčvńiAyčvÚH©óx‰ózżAbD%
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ďµÉ?ť©PUpdating rudder angle  -0.000000 arcdeg ńTť¨56Completed marl:UpdateRudderqT5Ť¨5RAggregate::uninitialize marl:UpdateRudderBh9"h9hA*hE2hA:hEŔiŁqɢqI˘uÚÄ>©˘}s#Żľ)Ły)˘yéˇy‰˘yi˘}OłĄĽ‰¨�I©�ÔQąýmS%}˝¶@M]¶<ť
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:ňAHRS rotation from veh to nav: [[0.269253,0.960232,-0.073867],[-0.939777,0.278734,0.197806],[0.210529,0.016159,0.977454]]˛2H€r;Ń?`9şî? ô貿 ¦îżÇÖŃ? łQÉ?`›ňĘ?ŕç‹�?ŔMGď?i˛2Ďľ�@I˛2(`;‰˛0YčB'M?yčBKüEÉö|©ö|bD
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NňAHRS rotation from veh to nav: [[0.330552,0.916332,-0.225990],[-0.938876,0.343664,0.020190],[0.096165,0.205503,0.973920]]˛BHĹ'Ő?Ŕ–Rí?Ŕ<íĚżŕDîż@—ţŐ?¤¬”?ŔGž¸?ŕčMĘ?[*ď?i˛B"¦š@I˛BG5f;‰˛Bz’CYč^ż$>yčbšĘD©ę
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:ôAHRS rotation from veh to nav: [[0.313962,0.944772,-0.093982],[-0.949034,0.315165,-0.002148],[0.027590,0.089867,0.995572]]˛2H`őÔ?€“;î? ;¸ż€}^îż ©+Ô?*™aż§@ś?€†
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I-Ť?™«”äBI­v÷:i­Âő:‰­=bM4y®5ź©BÉ®=TŽBą®=đ±EjwI‚wIúvIęvQşvQŠvQZvQÚwđüâwđüňwđü`41da3f02400000004051400000000000404263274fc01706c05e775122876399402b532ca000000040572cccc0000000ęwđüâuirs…Ź>zs…Ź>‚s…łKq?Šs…	´ŕ?ť©ŤPUpdating rudder angle  -0.000000 arcdeg ńTŤť¨Ť6Completed marl:UpdateRudderqTŤŤ¨ŤRAggregate::uninitialize marl:UpdateRudderÔŃé˘%ĹXAɢ%?˛č˝)Ł)	˘-É=iŁ))˘-íűő˝éˇY‰˘Yi˘]ôa»‰¨aI©ať•&DAT read: user:1>
ťťTDAT read: Verbose         | 3           
ťť set verbose to 3ťĄ6setting DatVerbose to 27440ÚIÉâIŮÔ
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ťUTDAT read: DatVerbose      | 27440       
ťU.set DatVerbose to 27440ťU6setting transmit power to 8b0EóŔŹ,¤ĂÍ?ÚAÔ ™±ZŤ?ů±Z‘d;?ą±Z±Ď%ľŮ±ZÝąAľ

ôAHRS rotation from veh to nav: [[0.734107,-0.633884,-0.243472],[0.659618,0.750829,0.034056],[0.161218,-0.185599,0.969310]]˛ZH@Í}ç?ŕĆH俀*Ďż`—ĺ?€Ęč?€Ŕoˇ? ΢Ä?`µÁÇż –ď?i˛ZŤ?I˛ZĎĺ];‰˛Z†’CYč%
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ťĄTDAT read: TxPower         | 8 (Max)     
ť­.set transmit power to 8ť­6setting local address to 11ÔÁÔÁ	EĄ]
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JôAHRS rotation from veh to nav: [[0.731056,-0.637718,-0.242638],[0.663550,0.747307,0.035121],[0.158928,-0.186678,0.969481]]˛BH Ďdç? .häżĆĎżŔÍ;ĺ? đéç?\űˇ?ŕÁWÄ?ŕĺÇż üď?i˛B”Ö?I˛BÂ];‰˛B…’CÔPYčbĆ[Ayčb$HbDM
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ťTDAT read: LocalAddr       | 11          
ť.set local address to 11ť
`Setting time to: 23:43:48 And date to:10/24/2025rs™zs™‚s™ŠsťďŔá?é˘ÝwYAɢÝę&á˝)Łá	˘ĺČ>iŁá)˘ĺc‹ő˝éˇá‰˘ái˘ĺőu»‰¨éI©ńÚIqâI‰ÔŃOm>Ôůť­	&DAT read: user:5>
ťµ	PDAT read: Fri Oct 24, 2025  23:43:48  
ťµ	hLocal DAT time set to Fri Oct 24, 2025  23:43:48  
ť˝	8setting remote address to 10Ť˝	2Acoustic response timeoutťĹ	6setting remote address to 0Ô!
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:ôAHRS rotation from veh to nav: [[0.727671,-0.642132,-0.241166],[0.667720,0.743599,0.034794],[0.156988,-0.186350,0.969860]]˛2HŕIç? XŚäżŔ�ŢÎż`ő]ĺ?Ŕ�Ëç?€•Đˇ?ŕ1Ä?TÚÇż 	ď?i˛2j:?I˛2!ŕ];‰˛2�’CYč^Ü\AyčbÎHÔ|bD%
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:ôAHRS rotation from veh to nav: [[0.943663,-0.318941,-0.088185],[0.330827,0.915228,0.230024],[0.007345,-0.246239,0.969181]]˛2HŔ|2î?`‰iÔżG“¶ż`C,Ő?ŔŚIí?€mqÍ?É~? Â„Ďż€�ď?i˛2BÔó=I˛2/ç^;‰˛2‡’CYčBV�AyčB…!HÉöH©öJAAbDNUäVDNŇ8y”V+G=%V`=Ů”ZÓÇ<Q-Ző>9•ZÎH?I•ZÎH?‘=^OFy•^q’E–b›ĽŃEbő>©­dQ
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>öAHRS rotation from veh to nav: [[0.944933,-0.318178,-0.076574],[0.327258,0.917377,0.226544],[-0.001834,-0.239129,0.970986]]˛2H ĺ<î?@]Ôż \šłż€ÉńÔ?Ŕ&[í?`e˙Ě?€b^ż`ÛοŔQď?i˛2ůě=I˛2…Â^;‰˛2‹’CYčbt�AyčbŞ!HyôM
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ťŤTDAT read: Verbose         | 3           
ť• set verbose to 3ť•6setting DatVerbose to 27440–B%1Î>žB%ťŹC˘B%¸!HŞB%�A¶B%±=ľB!ĆB%Ă»DÎB%ÉÚ;ŇB%ŘŹEÔąÔé	ďöŔŹ,G!Ř?ÚA©°‰°™±:ă^â=ů±:°F¨>ą±:Żç1<ٱ:�ťpľ
BöAHRS rotation from veh to nav: [[0.946419,-0.316302,-0.065155],[0.322760,0.919649,0.223766],[-0.010858,-0.232806,0.972463]]˛:H€Iî?J>Ôż€ů­°ż¨Ô?Ämí?ŕ^¤Ě?@Ů<†ż€”ĚÍżŕiď?i˛:ă^â=I˛:Ś_^;‰˛:�’CYčR›�AyčRŰ!HÔ`©ęhÉęhéęh	ëh)ëhIëhťr&DAT read: user:2>
ťvTDAT read: DatVerbose      | 27440       
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:öAHRS rotation from veh to nav: [[0.947846,-0.314063,-0.054338],[0.318116,0.921601,0.222382],[-0.019764,-0.228069,0.973444]]˛2HŔŔTî?Ŕ›Ôż =Ň«ż@\Ô?ŔÁ}í?wĚ?Ŕă<”ż€`1Íż€t&ď?i˛25lŘ=I˛2@e^;‰˛2Š’CYčv©�Ayčvë!H	÷

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ťýTDAT read: LocalAddr       | 11          
ťý.set local address to 11ť`Setting time to: 23:44:33 And date to:10/24/2025ÔI¦AQÚIYâIi’DŤ=ŠDŤ4=E•U
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ť­PDAT read: Fri Oct 24, 2025  23:44:33  
ť­hLocal DAT time set to Fri Oct 24, 2025  23:44:33  
ťµ8setting remote address to 10Ťµ2Acoustic response timeoutťµ6setting remote address to 0–B%,Î>žB!˘B%Ń!HŞB%“�A¶B!ľB!ĆB!ÎB%rÚ;ŇB%¦ŹEŠöŔŹ,\UŘ?ÚA™±E
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ť%TDAT read: Verbose         | 3           
ť% set verbose to 3ť%6setting DatVerbose to 27440Ôq–B}¬Ď>žB}ÇŹC˘B}ŕHŞB}ŰnA¶B}ź=ľB}€DĆB}ä»DÎB}ÇŐ;ŇB}ňŤEÚBĺÁşŹCâBĺÁľŹCęBĺÁ™�CňBĺÁ¤=úBáÁCĺÁ×56^Aµˇé<Ôˇ¦AůÚI
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ťÝ	TDAT read: DatVerbose      | 27440       
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JöAHRS rotation from veh to nav: [[0.951065,-0.307914,-0.025762],[0.305085,0.922566,0.236209],[-0.048965,-0.232510,0.971361]]˛>Hŕ oî?€Ű´Óż@Qašż �†Ó?@©…í?ŕ<Î? ô©ż`ĺÂÍżŕbď?i˛>�ýĽ=I˛>§#^;‰˛>‹’CYčbâmAyčbFH	÷­
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ť=PDAT read: Fri Oct 24, 2025  23:44:55  
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>öAHRS rotation from veh to nav: [[0.951904,-0.304409,-0.034831],[0.303559,0.921542,0.242099],[-0.041599,-0.241028,0.969626]]ÔP˛6Hvî? q{Óż VŐˇżŔ€mÓ?@F}í?ŔýÎ?@€LĄż`ÚÎż@-ď?i˛6N|ą=I˛6Ç,^;‰˛4Yč~ńlAyč
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föAHRS rotation from veh to nav: [[0.317667,0.918306,0.236224],[-0.940931,0.336086,-0.041179],[-0.117206,-0.209189,0.970826]]˛FH`§TÔ?€Ăbí?”<Î? îżo‚Ő?@\Ąż7
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:öAHRS rotation from veh to nav: [[0.320233,0.916056,0.241438],[-0.940623,0.337755,-0.033899],[-0.112600,-0.216247,0.969824]]˛2H °~Ô?ŔTPí?ŔqçÎ? –îżŔÇťŐ?Ŕ,[ˇż€\ÓĽż@ú­Ëż Ěď?i˛2Qš@I˛2ÝÉ];‰˛2™’CYčF¶iAyčF¶HééHÉéJa=bDZ%ŇVDZ_Á8y”b”	ľ%fa=Ů”fQĽQ-fő>9•dI•h‘=jTFy•jl›E–j{ĺ;ŃEjő>©­lQ
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ť8setting remote address to 10Ť2Acoustic response timeoutť6setting remote address to 0–B:;Î>žB:źŹC˘B:ÖHŞB:A¶B8ľB8ĆB8ÎB:‡Ń;ŇB:íŠE™±nÝë�@ů±nÔćŠ@ą±n˛
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Ť¨ÝNAggregate::initialize marl:UpdateRudder±TÝ
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ť•TDAT read: LocalAddr       | 11          
ťť.set local address to 11ťĄ`Setting time to: 23:51:57 And date to:10/24/2025I©ąÔˇ¶@Ĺť<¦AÎÇAÚIâI)ÝM€Failed to create a data reader. azimuth_vehicleFrame is unknown.­MbFailed to request data from azimuth_vehicleFrame.IµQOŤŹ>ÔŃ–Be�Ň>žBe�C˘Be¤ÎGŞBe(A¶Be–=ľBe€DĆBeĽDÎBeűÖ;ŇBe�EÔůť=&DAT read: user:5>
ťEPDAT read: Fri Oct 24, 2025  23:51:57  
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^úAHRS rotation from veh to nav: [[-0.297055,-0.898524,-0.323131],[0.943912,-0.327423,0.042720],[-0.144185,-0.292317,0.945390]]˛RHŕńÓżµŔěż`,®Ôż†4î?@€ôÔż€`ߥ? ©tÂżQµŇżŕˇ@î?i˛RË*Ô?I˛Rš8_;‰˛RŹ’CYčf›_>yčf~	EééjĄ=Ééjp=bDvaňVDvß8y”~>©˝%~S=Ů”~ůŞ=Q-
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BúAHRS rotation from veh to nav: [[-0.233353,-0.936242,-0.262675],[0.968236,-0.248666,0.026156],[-0.089806,-0.248228,0.964530]]˛6H €ŢÍżŔ°őíż «ĎĐż€Ęűî?€EÔĎż†Čš?Ŕ‰ý¶żŔđĹĎż€mÝî?i˛6śiË?I˛6_;‰˛6Ť’CYčJSm>yčJíEbDV}óVDV
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>úAHRS rotation from veh to nav: [[-0.227462,-0.968136,-0.104759],[0.973672,-0.224464,-0.039726],[0.014946,-0.111037,0.993704]]˛2H`yÍż ÷úîż`ŃşżŔR(ď?€=»Ěż W¤ż`ý›Ž?ŕńlĽżlĚď?i˛22„Ę?I˛2ŤS_;‰˛0YčF‡=>yčFéDbD

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>úAHRS rotation from veh to nav: [[-0.230261,-0.965482,-0.121756],[0.971227,-0.235823,0.033240],[-0.060806,-0.110599,0.992003]]˛6H`/yÍż€:ĺîż`d+żż€Kď?ŕq/οܡ?`ę!Żż 2PĽżŔ}ľď?i˛6íďĘ?I˛6t7_;‰˛6Ť’CYčFj>>yčF+ęD©óL‰óNżAbDR_÷VDR ă8y”ZÚ;%ZQ=Ů”^ŤF>Q-^ä>9•\I•`‘=bVFy•`–b˛	<ŃEbä>©­dQ
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ťXChecking local IP, expecting subnet 10.89.11ť
TFound local IP address 10.89.11.2 for eth0Ôąť]DAT read: 
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ťĹTDAT read: Verbose         | 3           
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ťÍTDAT read: TxPower         | 8 (Max)     
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ťÝPDAT read: Fri Oct 24, 2025  23:52:42  
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aÝŤĺ2Acoustic response timeoutťĺ6setting remote address to 0Ô!‚DązD˝@AEĹm
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:úAHRS rotation from veh to nav: [[-0.184025,-0.979069,-0.086939],[0.981891,-0.179062,-0.061868],[0.045006,-0.096750,0.994291]]˛2Hŕ"ŽÇżŔ�T￀§A¶żŕĄkď?`~ëĆż@6­Żż§?€źÄ¸ż :Ńď?i˛2úÚÄ?I˛2•_;‰˛2Ť’CYčFA0>yčFŔŘD©éH‰éHbD

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ťU.set remote address to 0ŤU2Acoustic response timeoutťU†Querying Benthos address 20 with one ping in standard two-way mode.ÚIqâI±Ô!O-,>ÔQÔyťĺ&DAT read: user:7>
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ťí$Ping request sent.ťí<transmitted an acoustic signalťí:publishing transmit ping time™âáťőŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.000938Šµ±ÁŹ,,+ÇR?ÚA™±JŐuÄ?ů±J˘aŕ?ą±J8w˝Ů±Jń•Š˝
fúAHRS rotation from veh to nav: [[-0.180846,-0.981939,-0.055582],[0.981656,-0.176747,-0.071503],[0.060387,-0.067494,0.995891]]˛JHŔů%Çż`lďż@Ku¬ż@ąiď?`ŁźĆżN˛ż€ë®? EG±żŕUŢď?i˛JŐuÄ?I˛J±_;‰˛HYč=
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NAggregate::initialize marl:UpdateRudder±T

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ťĄ	Ygot valid direction response:
 23:53:02.6349 LVL= 29360, 24193, 25202, 32755, AGC= 58, IDX= 112, 0.00,-1.196,-0.306,-2.574,-1.099, PHS= 0.005, 0.838,-1.520, RAW=   9.6,   6.6, CAL=   9.5,   6.2, ROT= 140.5,  -6.2
ť­	JDAT read: Bearing 185, -21 (Remote)
ťµ	fRemote Bearing received:Bearing 185, -21 (Remote)
ťµ	PDAT read: Bearing  37.3,  39.6 (Local)
ť˝	~Local bearing/azimuth received:
 Bearing  37.3,  39.6 (Local)
ťĹ	’DAT read: Range 11 to 20 : 35.4 m  (Round-trip  47.2 ms) speed  0.0 m/s
ťÍ	R#Rx 1: Read range and direction messages.ťÍ	^direction in FSK: [-0.767111,0.632358,0.107999]ťŐ	Fpublishing direction and range infoyâi	âm	Ęßh÷,Śčż]É&yF<ä?„ĂNiŘĄ»?Yâm	™
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:ňAHRS rotation from veh to nav: [[0.302838,0.950467,0.070004],[-0.859978,0.240870,0.449910],[0.410763,-0.196452,0.890326]]˛2H€´aÓ? :jî?@Ęë±?€ń„ëż@ÓÔÎ?ŕQËÜ? ďIÚ? V%Éż`Ť}ě?i˛2¦¦š@I˛2‘ö`;‰˛2†’CÔlYčŐĐ4?yčŐ\ŢEbD]ŽVD]ąr9y”• >%•5=Ů”ť(�ľQ-ťĆ>9•™I•™‘=ĄYFy•ĄźE–Ą‹>ŃEĄĆ>©­©Q
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>ňAHRS rotation from veh to nav: [[0.313444,0.946205,0.080302],[-0.864219,0.249192,0.437069],[0.393546,-0.206395,0.895836]]˛6H@xÔ? PGî?@°Ž´?®§ëż€…ĺĎ? đřŰ? Ý/Ů?ŕ*kĘż`°Şě?i˛6>óš@I˛6µ˝`;‰˛4©ÂDÉÂFńr@iÂDIÂD‰ÂDéĂH	ÄJŰyA©ĂJ9ż‰ĂJţFÉĂH‰ÄL©ÄLIÄL)ÄLiÄL)ĹPIĹPéÄPÉÄP	ĹPÉĹVf�CéĹT‰ĹTiĹT©ĹTiĆT‰ĆZŮzA)ĆX	ĆXIĆX	ÇX)ÇXÉĆ\©Ć\éĆ\Y·\Yčb™3?yčfÝÜEŤnľParsing RMC sentence: $GPRMC,235544.00,A,3646.53806,N,12151.87169,W,1.866,277.30,241025,,,A*7D
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FňAHRS rotation from veh to nav: [[0.350481,0.929468,0.115121],[-0.888716,0.291263,0.354049],[0.295546,-0.226397,0.928115]]˛:H GnÖ? 3ľí? Šx˝? [pěżŔ
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ŤťzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYYč'|@yč%Gyô­7‰A`ĺĐâ?yé&1¬ĽżV-˛ťż™ô­‡?ąô­`ĺ˝Ůô­‘íĽéô©	ő©9ő­q=
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:ňAHRS rotation from veh to nav: [[0.340951,0.935837,0.089224],[-0.899409,0.297112,0.320605],[0.273524,-0.189559,0.943001]]˛2HŔ#ŇŐ? aňí?`d׶?ŔőÇěżăÓ?Ę„Ô?`l�Ń?@|CČż -î?i˛2Di›@I˛2RĐ_;‰˛2‡’CYč
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ZňAHRS rotation from veh to nav: [[0.350387,0.929336,0.116458],[-0.900095,0.299737,0.316207],[0.258956,-0.215618,0.941515]]˛JHŔ˝lÖ?ŕ˝í?`5Đ˝?ŕ“Íěżŕä.Ó?@»<Ô? ş’Đ?a™Ëż`ä î?i˛J
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:ňAHRS rotation from veh to nav: [[0.360049,0.924873,0.122374],[-0.904265,0.313702,0.289647],[0.229498,-0.214945,0.949278]]˛2H 	×? Ž�í?ĺSż?Ŕ˝ďěż@±Ô?Ŕ’‰Ň?ŕ,`Í?ŔT�Ëżŕ|`î?i˛2ń›@I˛2¬_;‰˛2†’CYčB9“@yčF
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DAT read: 23:56:07.9441 LVL= 25280, 22321, 20466, 25747, AGC= 60, IDX= 153,-0.27, 2.572,-2.067,-1.656,-2.168, PHS=-1.441, 0.147, 0.468, RAW= 260.9,   9.4, CAL= 260.1,   9.3, ROT= 249.9,  -9.3
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Ygot valid direction response:
 23:56:07.9441 LVL= 25280, 22321, 20466, 25747, AGC= 60, IDX= 153,-0.27, 2.572,-2.067,-1.656,-2.168, PHS=-1.441, 0.147, 0.468, RAW= 260.9,   9.4, CAL= 260.1,   9.3, ROT= 249.9,  -9.3
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JDAT read: Bearing 155, -10 (Remote)
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fRemote Bearing received:Bearing 155, -10 (Remote)
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PDAT read: Bearing 266.3, -67.6 (Local)
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~Local bearing/azimuth received:
 Bearing 266.3, -67.6 (Local)
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EeVEaEa"Ee‹G:*Ee†¨9VEaZEaBEe/_;a•u€2EaaŤu€JEeCç:a™u€:EeDç:a‘}€ÚwŁîüâwŁîüňw«îü`41da3f04600000004051400000000000404263478006654ac05e775b64d4be443fcaadbb800000004041b33340000000ęwŁîüâu™rsÉzsÉ‚sÉŠsÍ,{™@Ęf
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öC@“E–Received valid acoustic ping at time: 1761350144.00. Resetting abort timer.é˘UDz@ɢU—�<)ŁY	˘]]ň?iŁY)˘]˘O×˝éˇY‰˘Yi˘m¤˙ »‰¨ˇI©ˇ‚AµvAzAµvAÔ™¦AµxĘAÚIąâIÉO]‹>ÔÁ	[üš!ÁŹ,ŕn†?ÚA™±2ÄW @ů±2şR§@ą±2E`‹ĽŮ±2×x˛»
:ôAHRS rotation from veh to nav: [[0.493733,0.869606,-0.003665],[-0.869447,0.493717,0.017483],[0.017013,-0.005446,0.999840]]˛2H@R™ß? ĎÓë?‘nżŕ‚Ňëż@
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:ôAHRS rotation from veh to nav: [[0.511258,0.859414,-0.004754],[-0.859238,0.511254,0.018133],[0.018014,-0.005186,0.999824]]˛2Hŕ9\ŕ?R€ë?  xsż á~ëż1\ŕ?`u‘’?ŔJr’?@ţ=uż€Źţď?i˛2ńý @I˛2űú_;‰˛0YčF}ą@yčFdGÔ|yô%
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bňAHRS rotation from veh to nav: [[0.527925,0.849237,-0.009596],[-0.849158,0.528009,0.011755],[0.015049,0.001943,0.999885]]˛ZHŔÂäŕ?Ŕň,ë?€5§�żŔL,ëż rĺŕ?@Ĺ�?`,ŇŽ?ŔzÖ_?€˙ď?i˛Z�ťˇ@I˛ZsŐ_;‰˛XYčn!ą@yčn«cG©ę

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fňAHRS rotation from veh to nav: [[0.544402,0.838736,-0.012197],[-0.838780,0.544465,0.002361],[0.008621,0.008945,0.999923]]˛JHŕ˝ká?`ěÖę? ŕú�ż`I×ęż`Blá?@”Wc?¨�?ŔűQ‚? ^˙ď?i˛J=˘@I˛JĆţ_;‰˛HYčne¸@yčnĹbG	ńtéđt©ót‰óvÁAbDzĽ®
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:ôAHRS rotation from veh to nav: [[0.561911,0.827160,-0.007901],[-0.827197,0.561895,-0.004295],[0.000887,0.008949,0.999960]]˛2HŔ,űá? xę?r.€ż@fxężŔűá?`Ö—qż`ĆM?@˙S‚? «˙ď?i˛2
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Iť�?™«eęAI­e¦ě;i­eEí;‰­eŞR=4y®©É®­ľ™Bą®©jwą‚wąúvÁęvÁşvÁŠvÁZvÁÚwŁëüâwŁëüňw«ëü`41da3f04600000004051400000000000404263478006654ac05e775b64d4be443fcaadbb800000004041b33340000000ęwŁëüâuársńzsń‚sńŠsőŇŤ@颗€@ɢbA<)ŁS±»	˘×Ü?iŁ)˘Ű·Č˝éˇ‰˘i˘ĘZG»‰¨!I©ˇÚI)âI9ÔAOť:>ÔiťŐtmodem://10: set _.others_observations nan n/a str none_strťŐ"#Outgoing data=42ŤÝpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ™„J»!ÁŹ,´[ď†?ÚA™±2¨Ł@ů±2
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:öAHRS rotation from veh to nav: [[0.581032,0.813870,0.004225],[-0.813858,0.581046,-0.004496],[-0.006114,-0.000826,0.999981]]˛2H Ď—â? 9ę? ĘMq?ŕęż î—â?Üjrż 2yż`ć
KżŘ˙ď?i˛2¨Ł@I˛2×Ó_;‰˛2‰’C©Â@ÉÂBŔr@iÂ@IÂ@‰Â@éĂD	ÄF“zA©ĂF|?ľ‰ĂFÄFÉĂD‰ÄH©ÄHIÄJ94Ľ)ÄHiÄH)ĹHIĹJńzAéÄLÉÄL	ĹLÉĹLéĹP‰ĹPiĹP©ĹPiĆP‰ĆP)ĆT	ĆTIĆT	ÇT)ÇTÉĆT©ĆTéĆXY·XYč^·@yč^aGbDE
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	@é˘A�@ɢÄrÎ<)Ł	˘×?iŁ!)˘%>(Ć˝éˇ!‰˘!i˘%
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ťíTDAT read: RemoteAddr      | 10          
ťí0set remote address to 10ťő(entering online modeÔ	_2Â!ÁŹ,Á6	‡?ÚAYče
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?zs5
?‚s5ć\@Šs5ÚT­?é˘Uţ�@ɢU…�<)ŁQ	˘]ÂĎ?iŁY)˘]¸lĂ˝éˇY‰˘Yi˘]ZM»‰¨aI©aÚIqâI�Oµ>Ôůť=(DAT read: user:16>
ťEDAT read: 
ťM„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
ťMcommRate: 600ťM0online mode acknowledgedŤUzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔ1	E•	s
E•	gE•	«E‘	"E•	so:*E•	&đ9VE•	‰é5ZE‘	BE•	’;a•ť	€2E•	’;aŤť	€JE•	‚1;a™Ą	€:E•	‚1;a‘Ą	€ÔQ#_Č!ÁŹ,ř#‡?ÚA™±2–$Ą@ů±2Ś¬@ą±2'űŽ<ٱ2§ÚĽ
:ôAHRS rotation from veh to nav: [[0.618115,0.785446,0.031763],[-0.785894,0.618355,0.002785],[-0.017453,-0.026684,0.999492]]˛2H€�Çă?€_"é?€2C ?€&éż�Éă?PŃf?`)ß‘ż`ýR›żŔŐűď?i˛2–$Ą@I˛2Ë×_;‰˛2†’CYč~öµ@yč~Ć_GbD

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FôAHRS rotation from veh to nav: [[0.628762,0.776829,0.034578],[-0.777311,0.629116,0.000835],[-0.021105,-0.027403,0.999402]]˛>HŕŃä?€ÇŰč?ŕ1´ˇ?Ŕ»ßčż@·!ä?$[K?੶•ż`tśż űď?i˛>¤”Ą@I˛>ať_;‰˛>…’CYčnAµ@yčnč^GbDzá§
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:öAHRS rotation from veh to nav: [[0.635235,0.771385,0.037970],[-0.771915,0.635724,-0.001076],[-0.024968,-0.028626,0.999278]]˛2H ŘSä?ŕ/Żč? ÇpŁ?ŕ‡łčżŔÚWä?ˇQż M‘™ż` Pťż€úď?i˛2°ŮĄ@I˛2ú|_;‰˛0YčBµ@yčF«^GbDN‘¦
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BöAHRS rotation from veh to nav: [[0.760827,0.648938,-0.004632],[-0.648693,0.760299,-0.033797],[-0.018411,0.028718,0.999418]]˛6H`˛Xč?€Ää?Ŕ›řrż`Âäż_Tč?€ÍMˇż7Ú’żŔ=hť?`;űď?i˛6@}«@I˛6Âą_;‰˛4Yč^6Ż@yčbyWGňAY
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RňAHRS rotation from veh to nav: [[0.781128,0.619161,0.080490],[-0.623990,0.769637,0.135261],[0.021800,-0.155881,0.987535]]˛BH€˙č?€*Đă?ŕřš´?ş÷ăżŔÝ č? 7PÁ?@ĘR–?ĺóĂżŔă™ď?i˛B@�¬@I˛BL_;‰˛B†’CYč^)®@yčb/VG©ę|Éę

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Úwłýâwłýňw»ý`41da3f0480000000405140000000000040426351442825dbc05e775f6be5335240172f398000000040878999a0000000ęwłýâursAzsA‚sAŠsE‘jŚ?颍©–@ɢ•hr¬Ľ)Ł‘	˘•<?iŁ‘)˘ť"@“˝éˇ™‰˘™i˘ť…絺‰¨ˇI©ˇÚIâI)ÔQOeâ=ÔyťŐ	DAT read: 23:56:21.3743 LVL= 29072, 32753, 20210, 30867, AGC= 56, IDX= 240,-0.04,-0.665,-0.289, 1.388,-0.063, PHS=-0.499,-0.181, 1.407, RAW= 219.0,  -8.3, CAL= 217.7, -12.0, ROT= 292.3,  12.0
ťĺ	Ygot valid direction response:
 23:56:21.3743 LVL= 29072, 32753, 20210, 30867, AGC= 56, IDX= 240,-0.04,-0.665,-0.289, 1.388,-0.063, PHS=-0.499,-0.181, 1.407, RAW= 219.0,  -8.3, CAL= 217.7, -12.0, ROT= 292.3,  12.0
ťĺ	DAT read: 
ťí	2DAT read: DATA(0002):~~
ťí	Got DATA 2ťő	NDAT read: Source:010  Destination:011
ťő	0Got Src/Dest after DATA ťő	&DATA Src=10, Dst=11ťý	‚DAT read: CRC:Pass MPD:03.8 PSNR:14.6 AGC:41 SPD:+0.9 CCERR:011
ťý	Got CRC:Passťý	Got CRC:Passť
@Incoming data is intended for usŤ
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DAT read: 
ť
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X#Rx 2: Read direction message, but no range.ť
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ňAHRS rotation from veh to nav: [[0.784837,0.609990,0.109284],[-0.619096,0.763984,0.181792],[0.027400,-0.210334,0.977245]]˛E
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>ňAHRS rotation from veh to nav: [[0.791262,0.602070,0.106847],[-0.609786,0.763945,0.211068],[0.045453,-0.232164,0.971614]]˛2H€Ré?€(Dă?ŕQZ»?€]�ăż <rč?€IË?`–E§?@Ť·Íż€vď?i˛2"­@I˛2g_;‰˛2„’C©Â@ÉÂB°r@iÂ@IÂD‰ÂDéĂD	ÄF—zA©ĂFťoľ‰ĂF¶FÉĂH‰ÄH©ÄHIÄH)ÄHiÄH)ĹLIĹLéÄLÉÄL	ĹLÉĹPéĹP‰ĹPiĹP©ĹPiĆT‰ĆVázA)ĆT	ĆTIĆT	ÇX)ÇZş{AÉĆX©ĆXéĆX	ŃZŮ�C)Ń^z|AÉĐ^t˝©Đ^ŚŹFéĐ\©Ńn€�CÉŃrŁ|AiŃrt˝IŃrxťF‰ŃpIŇr¦�CiŇrA|A	ŇrŤ˝éŃv��F)ŇtéŇt	Ót©ŇvÂőĽ‰ŇtÉŇx‰Óx©ÓxIÓx)ÓxiÓx–B-ćjÔ>žB-ćD�C˘B-ćsVGŞB-ća®@¶B-ć¬=ľB-ć€DĆB-ćBĽDÎB-ćő;ŇB-暡E)Ô
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jňAHRS rotation from veh to nav: [[0.803793,0.590268,0.074167],[-0.594286,0.790980,0.145514],[0.027227,-0.161040,0.986572]]˛JH¬¸é?@yăâ?@Łü˛?€căż ¶Oé?`5 Â? {á›?ŕôśÄżŕ˙‘ď?i˛Jpµ­@I˛Ją_;‰˛J„’CYčr)µ@yčrĘ^GbDe
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JňAHRS rotation from veh to nav: [[0.801810,0.591670,0.083829],[-0.597244,0.788741,0.145558],[0.020003,-0.166776,0.985792]]˛BHŔm¨é? őîâ?€Ěuµ?`źăżŕ]=é?€¦ˇÂ? ş{”?`ěXĹż`›‹ď?i˛BJ�­@I˛Bn_;‰˛B‡’CYčjf´@yčnÚ]GbDv+t
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JňAHRS rotation from veh to nav: [[0.800070,0.592217,0.095750],[-0.599786,0.786442,0.147534],[0.012070,-0.175467,0.984411]]˛BH€+šé?`póâ?`�¸?ŕq1ăż �*é?dâÂ? Y¸�?ŕ±uĆż@L€ď?i˛B­@I˛BŇô^;‰˛B†’CYčVµ@yčV˝^GbDb<s
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FňAHRS rotation from veh to nav: [[0.798746,0.591122,0.112157],[-0.601650,0.783264,0.156573],[0.004705,-0.192541,0.981278]]˛>H`TŹé?`xęâ?€U¶Ľ?€¶@㿀é?`”
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BňAHRS rotation from veh to nav: [[0.797299,0.591141,0.121925],[-0.603584,0.780842,0.161159],[0.000064,-0.202084,0.979368]]˛6H z�é?ŕ ęâ?€u6ż?@ŹPăż ¨üč?`ß Ä? ÝÉ? äÝÉżŕűVď?i˛6�X­@I˛6ýú^;‰˛6†’CYčJ%µ@yčJĹ^GÔLyô
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:ôAHRS rotation from veh to nav: [[0.796371,0.591993,0.123849],[-0.604807,0.780066,0.160329],[-0.001697,-0.202586,0.979263]]˛2H@Ţ{é?`šńâ?�´ż?@“ZăżŕMöč?Ş…Ä? @Î[ż YîÉż@Vď?i˛2üK­@I˛2•ę^;‰˛0YčZEµ@yčZí^GÔ|bD-
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:ňAHRS rotation from veh to nav: [[0.804061,0.585595,0.102779],[-0.594437,0.788505,0.157808],[0.011370,-0.187983,0.982106]]˛2H ßşé?Ŕ1˝â?@˝Oş?Ŕˇăż o;é?Ŕ3Ä?ŕI‡? ×Čż`jmď?i˛2żµ­@I˛2Ó_;‰˛2Š’CYčBŚµ@yčBD_GbDNsm
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:ňAHRS rotation from veh to nav: [[0.807798,0.581364,0.097359],[-0.589156,0.790986,0.165034],[0.018935,-0.190674,0.981471]]˛2H@zŮé? ‰šâ?`…ě¸?`]Úâż@ÂOé?ŔŘĹ? Đc“?€
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I5�?™«%ÜĐAI­%É;i­%u;‰­%âg@4y®Eë¤BÉ®E”™Bą®EłłEÔqťDAT read: 23:56:32.4732 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 436,-0.45, 2.923,-2.529,-1.576,-2.513, PHS=-0.745, 0.029, 0.893, RAW= 238.2,  -2.5, CAL= 235.0,  -3.6, ROT= 275.0,   3.6
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Ygot valid direction response:
 23:56:32.4732 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 436,-0.45, 2.923,-2.529,-1.576,-2.513, PHS=-0.745, 0.029, 0.893, RAW= 238.2,  -2.5, CAL= 235.0,  -3.6, ROT= 275.0,   3.6
ťDAT read: 
ť2DAT read: DATA(0002):~~
ťGot DATA 2ťNDAT read: Source:010  Destination:011
ť0Got Src/Dest after DATA ť%&DATA Src=10, Dst=11ť-‚DAT read: CRC:Pass MPD:03.2 PSNR:12.7 AGC:45 SPD:+0.4 CCERR:011
ť-Got CRC:Passť-Got CRC:Passť-@Incoming data is intended for usŤ-€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť5Got ackť5DAT read: 
ť5"DAT read: <EOP>
Ť=ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť=X#Rx 3: Read direction message, but no range.ťE`direction in FSK: [0.086984,-0.994229,-0.062791]éäŃyâŃâŐčću@‘D¶?	±3ąĐďżÖŹŇ	
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Ô?ŠsĹ˙É�?“]–Received valid acoustic ping at time: 1761350144.00. Resetting abort timer.)ĺŃIĺŃiĺŃ颍±@ɢŤŚEZ˝)Ł‰	˘ŤC
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jňAHRS rotation from veh to nav: [[0.811176,0.576584,0.097689],[-0.584321,0.792352,0.175347],[0.023698,-0.199319,0.979648]]˛JH`(őé?@asâ?@!ą? ²⿀óZé? ĂqĆ? ]D�?ŕF�ÉżGYď?i˛J®@I˛J-'_;‰˛HYčvŢ´@yčzn^GbD
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:ňAHRS rotation from veh to nav: [[0.814453,0.568617,0.115498],[-0.579871,0.790670,0.196447],[0.020383,-0.226970,0.973688]]˛2HŔę?@2â?`A‘˝?@MŽâż€*Mé? *%É?Ŕ)ß”? ^
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JňAHRS rotation from veh to nav: [[0.813686,0.568534,0.121173],[-0.581070,0.789577,0.197296],[0.016494,-0.230947,0.972827]]˛BH@¸	ę? o1â?Ŕ6ż?  �âż`7Dé?ý@É?ŕ˝ă�?€¬ŹÍż e!ď?i˛Bł<®@I˛B�_;‰˛@YčVň˛@yčV\GÔ|bD-
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:ňAHRS rotation from veh to nav: [[0.813344,0.569393,0.119424],[-0.581576,0.790265,0.193006],[0.015520,-0.226435,0.973903]]˛2H ęę? x8â?“’ľ?@Dśâż@ŮIé? n´Č?@ëČŹ? ĐűĚż6*ď?i˛2ł7®@I˛2zú^;‰˛2†’CYčFa˛@yčF_[GÔY
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ťŤYgot valid direction response:
 23:56:43.5743 LVL= 32752, 25905, 29538, 32755, AGC= 53, IDX= 447, 0.10,-2.256,-0.873,-0.295,-1.104, PHS=-1.050, 0.275, 0.765, RAW= 254.9,   0.1, CAL= 250.9,  -2.7, ROT= 259.1,   2.7
ťŤDAT read: 
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>ôAHRS rotation from veh to nav: [[0.989422,0.065564,-0.129406],[-0.066737,0.997759,-0.004744],[0.128805,0.013329,0.991580]]˛6HŕW©ď? ĚČ°?ŕ_�ŔżŞ±żŕ¤íď?ňmsż ®|Ŕ?€}L‹?Ŕ»ď?i˛6*íż@I˛6g_;‰˛6�’CYčN•Ý@yčR@�GÔlbDZç>
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DAT read: 23:56:54.6784 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 473, 0.02,-1.533, 0.549,-0.351,-0.216, PHS=-1.215, 0.810,-0.180, RAW= 299.2,   6.7, CAL= 296.9,   5.6, ROT= 213.1,  -5.6
ťYgot valid direction response:
 23:56:54.6784 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 473, 0.02,-1.533, 0.549,-0.351,-0.216, PHS=-1.215, 0.810,-0.180, RAW= 299.2,   6.7, CAL= 296.9,   5.6, ROT= 213.1,  -5.6
ÔťDAT read: 
ť%2DAT read: DATA(0002):~~
ť%Got DATA 2ť-NDAT read: Source:010  Destination:011
ť-0Got Src/Dest after DATA ť-&DATA Src=10, Dst=11ť5‚DAT read: CRC:Pass MPD:03.6 PSNR:14.5 AGC:49 SPD:-1.1 CCERR:011
ť5Got CRC:Passť=Got CRC:Passť=@Incoming data is intended for usŤ=€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť=Got ackť=DAT read: 
ť="DAT read: <EOP>
ŤEŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťEX#Rx 5: Read direction message, but no range.ťM`direction in FSK: [-0.833721,-0.543496,0.097583]éäŮ
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EŐREŐ–EŃ"EŐ‹G:*EŐ¬—9VEŐ·Ç5ZEŃa•Ý@aŤÝ@a™Ý@a‘ĺ@rs­‚Q>zs­‚Q>‚s­›â?Šs­u˘á>“5–Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.é˘E”đ@ɢEŇĘ˝)ŁµN“ĚĽ	˘µĂíľiŁ±)˘µ顱‰˘±i˘˝v´Áş‰¨	I©ÔAÚIÉâIŮOI>–BážBá˘BĺHŠGŞBĺâŕ@¶BáľBáĆBáÎBĺó;ŇBĺU EÔqť•	tmodem://10: set _.others_observations nan n/a str none_strť•	"#Outgoing data=43Ť•	pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ™qé�$ÁŹ,a%’?ÚA™±2Á@ů±2Č@ą±2)ؾٱ24Ľ
:ôAHRS rotation from veh to nav: [[0.991269,0.031448,-0.128052],[-0.029999,0.999462,0.013230],[0.128399,-0.009273,0.991679]]˛2H`y¸ď?@î ?ŔţcŔż€ű·žż �űď?@h‹?`_oŔ? Úý‚ż Ö»ď?i˛2Á@I˛2_;‰˛2‡’CYčfţâ@yčj“‹GbDE
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BôAHRS rotation from veh to nav: [[0.991219,0.023419,-0.130137],[-0.021954,0.999678,0.012681],[0.130392,-0.009713,0.991415]]˛6HŔ¸ď? <ű—?ŕS¨Ŕż,{–żŔ]ýď?ŕ˝ř‰?`°°Ŕ?Ŕpä�żŕ«ąď?i˛6x_Á@I˛6eë^;‰˛6†’CYčJőă@yčJ,ŚGbD
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>ôAHRS rotation from veh to nav: [[0.991324,0.011429,-0.130942],[-0.010456,0.999912,0.008120],[0.131024,-0.006680,0.991357]]˛6H`í¸ď?ŔLh‡?·ÂŔżăi…ż@H˙ď? 5ˇ€?@aĹŔ? ě\{żŔ1ąď?i˛6{ľÁ@I˛6Ë_;‰˛6‹’C–BFŇÓ>žBF6�C˘BF ŚGŞBF˛ä@¶BFˇ=ľBDĆBF7ĽDÎBF¬ó;ŇBF} EÚBIŔâBMŔ;�CęBMŔ–�CňBMŔ¦=úBMŔ¦=CMŔ[?6YčZć@yčZvŤGbD-
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:ôAHRS rotation from veh to nav: [[0.990317,-0.045431,-0.131184],[0.045977,0.998942,0.001131],[0.130993,-0.007151,0.991358]]˛2H`¬°ď?€ÂB§żŕźĘŔżŕ@Š§?ŕT÷ď?€ň…R? dÄŔ?€_J}ż`3ąď?i˛2ď�Ă@I˛2µŕ^;‰˛2†’CYč^	é@yčbKŹG©ętÉęxéęx	ëx)ëxiëx‰ëxbD
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ÔѦA%ÎÇAÚI1âIQO*>Ôů©ßÝ=‰ßŮť­DAT read: 23:57:05.7847 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.25,-0.478, 1.436,-0.151, 0.132, PHS=-0.508, 1.349,-0.327, RAW= 324.9,  -5.9, CAL= 324.3,  -9.1, ROT= 185.7,   9.1
ťµYgot valid direction response:
 23:57:05.7847 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.25,-0.478, 1.436,-0.151, 0.132, PHS=-0.508, 1.349,-0.327, RAW= 324.9,  -5.9, CAL= 324.3,  -9.1, ROT= 185.7,   9.1
ťµDAT read: 
ť˝2DAT read: DATA(0002):~~
ť˝Got DATA 2ťĹNDAT read: Source:010  Destination:011
ťĹ0Got Src/Dest after DATA ťÍ&DATA Src=10, Dst=11Ô)	‚D‰	zD‰	E•	d
E•	SE•	‡E‘	"E•	9:*E•	ă›9VE•	ŽŻ5ZE‘	a•ť	@aŤť	@a™ť	@a‘ť	@ť­	‚DAT read: CRC:Pass MPD:03.6 PSNR:08.5 AGC:58 SPD:-1.9 CCERR:006
ť­	Got CRC:Passť­	Got CRC:Passť­	@Incoming data is intended for usŤ­	€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť­	Got ackť­	DAT read: 
ťµ	"DAT read: <EOP>
Ťµ	ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťµ	X#Rx 1: Read direction message, but no range.ť˝	bdirection in FSK: [-0.982532,-0.098070,-0.158158]éäáyâá–B
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:ôAHRS rotation from veh to nav: [[0.916594,-0.395661,-0.057516],[0.392489,0.917850,-0.059190],[0.076210,0.031679,0.996588]]˛2H`ĽTí?„RŮż€Żr­ż@ŚŮ?ŕ_í?`#N®ż }‚ł?ŕ48 ?€
äď?i˛2Šë>>I˛24ľ^;‰˛2�’Cť5tmodem://10: set _.others_observations nan n/a str none_strť5"#Outgoing data=43Ť5pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔiYčŐŠAyčŐžG©ę
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¦­XAggregate::initialize marl:UpdateCommandModeqS­
Zj±qSµ¦µ@Completed marl:UpdateCommandMode1Sµ
¦µ\Aggregate::uninitialize marl:UpdateCommandMode±Rµ

ĄµLAggregate::initialize marl:UpdateSpeedńR˝
BjąńR˝Ą˝4Completed marl:UpdateSpeed±R˝
Ą˝PAggregate::uninitialize marl:UpdateSpeed“Í–Received valid acoustic ping at time: 1761350272.00. Resetting abort timer.é˘ÝĄAɢÝ(Ä&˝)ŁŮ	˘Ý±1żiŁŮ)˘áéˇá‰˘ái˘ĺ(Ľ‰¨éI©éÔÁ	ťő
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ťDAT read: 
ť„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
ťcommRate: 600ť0online mode acknowledgedŤzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYąýU	‰cĽ’Dµ	4=ŠDµ	4=E˝	q
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FôAHRS rotation from veh to nav: [[0.892490,-0.447233,-0.058692],[0.444570,0.894161,-0.053228],[0.076285,0.021413,0.996856]]˛:H FŹě?wźÜżÓ®ż@ÖsÜ?ŕ÷śě?€¶@«ż k‡ł?€Jí•?Ŕ>ćď?i˛:zÝy>I˛:¦«^;‰˛:�’CÔpYčE
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bôAHRS rotation from veh to nav: [[0.883753,-0.464821,-0.054048],[0.461807,0.884967,-0.059722],[0.075591,0.027820,0.996751]]˛>H µGě? ˇżÝż 6¬«ż@@ŽÝ? §Qě?č“®żŔďYł?ŕË|ś?ŕaĺď?i˛>
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JôAHRS rotation from veh to nav: [[0.876705,-0.477823,-0.055434],[0.475034,0.878149,-0.056541],[0.075696,0.023236,0.996860]]˛BH ř
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颵ĘAɢµšŁ˝)Łą	˘˝#ŤżiŁą)˘ą项‰˘ąi˘˝ÄEFĽ‰¨ÁI©ÉÔÉťDAT read: 23:57:17.3918 LVL= 32720, 25569, 25570, 32755, AGC= 61, IDX=   3,-0.02, 0.749, 2.717, 1.740, 1.782, PHS=-0.931, 0.980,-0.086, RAW= 303.8,   0.5, CAL= 302.1,  -3.3, ROT= 207.9,   3.3
ťYgot valid direction response:
 23:57:17.3918 LVL= 32720, 25569, 25570, 32755, AGC= 61, IDX=   3,-0.02, 0.749, 2.717, 1.740, 1.782, PHS=-0.931, 0.980,-0.086, RAW= 303.8,   0.5, CAL= 302.1,  -3.3, ROT= 207.9,   3.3
ťDAT read: 
ť%2DAT read: DATA(0002):~~
ť%Got DATA 2ťMNDAT read: Source:010  Destination:011
ťM0Got Src/Dest after DATA ťU&DATA Src=10, Dst=11ť]‚DAT read: CRC:Pass MPD:03.3 PSNR:13.4 AGC:60 SPD:-1.1 CCERR:011
ť]Got CRC:Passť]Got CRC:Passť]@Incoming data is intended for usŤ]€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť]Got ackťeDAT read: 
ťe"DAT read: <EOP>
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aGot test_good :  41da3f04a0000000405140000000000040426359634297cfc05e77623f076034401c124ea000000040878999a0000000 n/a str  and temp var is  nan n/a str ńJĺ
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>ôAHRS rotation from veh to nav: [[0.978890,0.202810,-0.025344],[-0.203245,0.978998,-0.015931],[0.021581,0.020746,0.999552]]˛6H€Sď?«őÉ?ŔĎó™ż ëĘż`ôSď?@?P�żL–?h>•?@Tüď?i˛6҇»@I˛6Â_;‰˛6‰’CYčF AyčFĚÄG©´p‰´r»>–B
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:ôAHRS rotation from veh to nav: [[0.980808,0.194174,-0.017689],[-0.194231,0.980955,-0.001510],[0.017059,0.004916,0.999842]]˛2H€Ćbď?`µÚČ?  ’ż@ŽÜČżűcď?Ŕu»Xż`ůw‘?Ŕ-#t?€µţď?i˛2SÓ»@I˛2ś#_;‰˛0YčB? AyčBĹGbDNn
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BDAT read: Rx Time:23:57:28.4972
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BôAHRS rotation from veh to nav: [[0.984728,0.174010,-0.005643],[-0.173888,0.984607,0.017686],[0.008633,-0.016435,0.999828]]˛6HŔă‚ď?řEĆ?€śwż€ňAĆżć�ď? \’?ŔP®�?`XÔ�ż –ţď?i˛6}Ľ@I˛6±í^;‰˛6‹’CYčJ} AyčJ^ĹG©éP‰éR@A	÷-
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@颽…/AɢĹq“Ą˝)ŁÁ	˘Ĺ�pżiŁÁ)˘Ĺäž…ĽéˇÉ‰˘Éi˘Ís®qĽ‰¨ÉI©Ń©űىűŮéűÝÉűÝÔiÚIiâI�Ô‘O˝’>ťÍ	DAT read: 23:57:28.4972 LVL= 32752, 32369, 32754, 32755, AGC= 57, IDX= 474, 0.10, 1.052, 3.115, 2.145, 2.183, PHS=-1.030, 0.976,-0.082, RAW= 301.8,   1.6, CAL= 299.9,  -2.3, ROT= 210.1,   2.3
ťÝ	Ygot valid direction response:
 23:57:28.4972 LVL= 32752, 32369, 32754, 32755, AGC= 57, IDX= 474, 0.10, 1.052, 3.115, 2.145, 2.183, PHS=-1.030, 0.976,-0.082, RAW= 301.8,   1.6, CAL= 299.9,  -2.3, ROT= 210.1,   2.3
ťÝ	DAT read: 
ťĺ	2DAT read: DATA(0002):~~
ťĺ	Got DATA 2ťe
NDAT read: Source:010  Destination:011
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&DATA Src=10, Dst=11ťu
‚DAT read: CRC:Pass MPD:03.5 PSNR:11.7 AGC:54 SPD:-1.6 CCERR:010
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:ôAHRS rotation from veh to nav: [[0.987246,0.159149,-0.004026],[-0.159045,0.987086,0.019146],[0.007021,-0.018262,0.999809]]˛2H …—ď?Ŕ˙^Ä?@J}pż€—[Äż 4–ď? ›“?ÝÁ|?`)ł’ż nţď?i˛2dřĽ@I˛2^ű^;‰˛2�’CYčE
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vôAHRS rotation from veh to nav: [[0.989980,0.141090,-0.005745],[-0.140982,0.989879,0.016210],[0.007974,-0.015238,0.999852]]˛nHŔę­ď?Ŕ<Â?i�wż`ŻÂżŔ­ď?@X™�?ŕĚT€?@Ţ4ŹżŕÉţď?i˛nŽ˝@I˛nËç^;‰˛nŠ’CYč
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>ôAHRS rotation from veh to nav: [[0.992747,0.119868,-0.009253],[-0.119802,0.992770,0.007362],[0.010069,-0.006200,0.999930]]˛6HŔ”Äď?@¦Żľ?}ó‚ż W«ľż ĆÄď?ŔŻ'~?ŕź„? Beyż@m˙ď?i˛6=ľ@I˛6k_;‰˛4YčF  AyčFŠĹG	ńHéđH©óL‰óNŔAbDr‰

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:ôAHRS rotation from veh to nav: [[0.995223,0.096811,-0.012608],[-0.096895,0.995275,-0.006197],[0.011948,0.007389,0.999901]]˛2HŔÝŘď?@›Č¸?Ŕ҉żŕθżŔKŮď? ,byżŔMx�?ŔD~?1˙ď?i˛2Đůľ@I˛2'ó^;‰˛2‡’CYčBń AyčBîĹGÔPbDR3

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RôAHRS rotation from veh to nav: [[0.997202,0.073207,-0.015121],[-0.073551,0.997011,-0.023670],[0.013343,0.024716,0.999605]]˛FH éď?@Ş˝˛?€—÷Žż CÔ˛ż ‚çď?€=�ż eS‹? 4O™? Äüď?i˛Fżąż@I˛F°(_;‰˛FŠ’CYčb!Ayčb ĆGÔ|©ę

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JôAHRS rotation from veh to nav: [[0.965211,-0.246062,-0.088434],[0.248481,0.968482,0.017301],[0.081390,-0.038673,0.995932]]˛:HŔăî?ŕř~Ďż źŁ¶ż=ÎĎ?@Îýî?@W·‘? öŐ´?`ýĚŁż@¬Ţď?i˛:‰�
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ť˝Ygot valid direction response:
 23:57:39.6039 LVL= 32752, 30321, 32754, 32755, AGC= 59, IDX= 479, 0.09,-1.280, 0.608,-1.139,-0.756, PHS=-0.422, 1.410,-0.426, RAW= 330.1,  -6.2, CAL= 329.6,  -9.3, ROT= 180.4,   9.3
ť˝X#Rx 4: Read direction message, but no range.ťŐbdirection in FSK: [-0.986832,-0.006889,-0.161604]yâ‘â•Ly€
 ”ďż!�ő8|żż‡oŻÄżůá‘©â‘Éâ•qvéâ‘	ă‘)ă•;Iă•bŘľiă•áz´?‰ă•¬Úľ©ă•Ő\¸@I©IÉă•kťÝ˝éă•X¸@	ä•6&ľ)ä•<‚I@Iä•6&>©ä‘‰ĺ•%ňĄ€…뿍–3¶řęßż¦J
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NôAHRS rotation from veh to nav: [[0.949196,-0.294660,-0.110461],[0.301257,0.952315,0.048373],[0.090940,-0.079193,0.992703]]˛BH Ń_î?€µŰŇż+GĽż ÍGÓ?`]yî?YĨ?€ŘG·?€řE´ż 8Äď?i˛B´¨¶=I˛B?_;‰˛B‰’CYčVĹ#AyčVhÉGbDb˙VDb°ę8y”f
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:ôAHRS rotation from veh to nav: [[0.925192,-0.359903,-0.120374],[0.363316,0.931640,0.006961],[0.109640,-0.050174,0.992704]]˛2H@,›í?€¤׿ŔŘĐľż@“@×?@ţĎí?Ř‚|?`bĽ?ŕe°©ż ;Äď?i˛2żĚ>I˛2ž¦^;‰˛2‰’CYč^g%AyčbjËGéóf´=Éófé=bDjţVDjÄé8y”r‡=%rg=Ů”vľtĽQ-vü>9•v„K?I•v„K?‘=z[Fy•zűˇE–z8€=ŃEzü>Ô|©­

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ŠsđsG@é˘5ŮBAɢ5âIľ)Ł9	˘=ŤëżiŁ9)˘=ť�u˝éˇ9‰˘9i˘=Y¶l»‰¨AI©AŤőzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔ1¦AĹ$ĹAÚIÉâIáO*>ÔQ–BM
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BöAHRS rotation from veh to nav: [[0.914989,-0.386954,-0.114286],[0.386808,0.921838,-0.024359],[0.114779,-0.021918,0.993149]]˛6H@—Gí?ÜĂŘżŔÖA˝ż wÁŘ? łí? žń�ż (b˝?€Áq–żŕŕÇď?i˛6â/:>I˛6âŰ^;‰˛6Š’CYčJ®%AyčJÁËG’Dn=ŠDlEra
ErOErnEp"Er%.:*Er‹9VErJ‡5ZEpBErK3;a•z€2ErM3;aŤz€JErL´:a™z€:ErM´:a‘z€bD

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Ť¨˝NAggregate::initialize marl:UpdateRudder±T˝
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:öAHRS rotation from veh to nav: [[0.903724,-0.413988,-0.109067],[0.411227,0.910281,-0.047767],[0.119057,-0.001683,0.992886]]˛2H Oëě?@É~Úż Ô뻿`ŠQÚ?Ŕ!í?Ŕňt¨ż�zľ?Î’[żŕ¸Ĺď?i˛2éU>I˛2.Ľ^;‰˛2Ś’CYčnx&AyčnąĚGbDe
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Úwsńüâwsńüňw{ńü`41da3f04a0000000405140000000000040426359634297cfc05e77623f076034401c124ea000000040878999a0000000ęwsńüâursˇzsˇ‚sˇŠsĄż9N@ť©­PUpdating rudder angle  -0.000000 arcdeg ńT­ť¨­6Completed marl:UpdateRudderqT­Ť¨­RAggregate::uninitialize marl:UpdateRudderé˘ĺÚCAɢĺëDCľ)Łé	˘íëżiŁé)˘í"	�˝éˇé‰˘i˘…eM»‰¨€I©‚A)zA-wAÔéEEc
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:ôAHRS rotation from veh to nav: [[0.891378,-0.440704,-0.105953],[0.436207,0.897591,-0.063673],[0.123163,0.010539,0.992330]]˛2H@*†ě?`~4Üż@¸»ż@ŇęŰ?ŕąě?ÚL°ż ś‡ż?€z•…?ŕ+Áď?i˛2ů¦r>I˛2`Ű^;‰˛2‰’CYč^Ň&Ayč^(ÍG	ń
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vôAHRS rotation from veh to nav: [[0.878011,-0.467160,-0.104206],[0.461332,0.883979,-0.075859],[0.127554,0.018532,0.991658]]˛jH ©ě? óĺÝż€@­şżŔv†Ý?`ŤIě?ŕ†kłż ´SŔ?€ú’?`Ş»ď?i˛jÉ�>I˛j͸^;‰˛j‡’CYč~'Ayč~„ÍGyô˝
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nôAHRS rotation from veh to nav: [[0.849364,-0.518026,-0.101145],[0.509214,0.854672,-0.101177],[0.138858,0.034432,0.989713]]˛BH€ý-ë?@Ş“ŕż §äążŔ{Kŕ?ŕxYë? żćąż`ĆÁ?Ŕˇˇ? »«ď?i˛B_Ô¤>I˛B»´^;‰˛BŠ’CYč~f(Ayč~ĎG©ęI
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:ôAHRS rotation from veh to nav: [[0.823967,-0.558308,-0.096802],[0.545978,0.827964,-0.127996],[0.151609,0.052612,0.987039]]˛2H€đ]ę?ŕ§ÝáżŔȸżŕ§xá? ®~ę?@(bŔż đgĂ?`đŞ?`Ó•ď?i˛2Mď»>I˛2”Â^;‰˛2Ś’CYčB)AyčFűĎGÔlbD
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BôAHRS rotation from veh to nav: [[0.815714,-0.570428,-0.096039],[0.557058,0.819377,-0.135307],[0.155875,0.056872,0.986138]]˛6HŔSę?@ń@âżŔ–¸ż@lÓá?@U8ę?ŕşQÁż€µóĂ?€W­?ŔqŽď?i˛6ĺĂ>I˛6U°^;‰˛6‰’CYčRđ)AyčRţĐGÔ1
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~ňAHRS rotation from veh to nav: [[0.930040,-0.363305,0.055087],[0.367426,0.917471,-0.152466],[0.004851,0.162040,0.986772]]˛rH ăÂí?Ŕd@׿@Z4¬?Ŕç�×?`ë[í?€
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JňAHRS rotation from veh to nav: [[0.917726,-0.393336,0.055371],[0.397110,0.905349,-0.150486],[0.009062,0.160093,0.987060]]˛BH ^í?ŕh,Ůż�Y¬?ŔAjŮ?ŕžřě?€!CĂż€éŽ‚?ń}Ä?`˙•ď?i˛BĂĎB>I˛B Ď^;‰˛@YčVlsAyčV®H©éX‰éZ@AbDb
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BňAHRS rotation from veh to nav: [[0.904959,-0.421834,0.055728],[0.425298,0.892708,-0.148980],[0.013096,0.158522,0.987269]]˛:Hŕkőě?`U˙Úżn�¬?ŕ8Ű?`‘ě? ĹĂżŔäŃŠ?€pJÄ?`´—ď?i˛:o€b>I˛:řĺ^;‰˛:Ź’CťJ*entering command modeYčNhsAyčR¬HbD
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>ňAHRS rotation from veh to nav: [[0.891544,-0.449313,0.057163],[0.452620,0.879097,-0.149413],[0.016882,0.159081,0.987121]]˛6H€†‡ě?€ŚÁÜż€hD­?`ş÷Ü? Ź!ě?@÷ĂżŕzI‘?@Ĺ\Ä?–ď?i˛6_Ö€>I˛6kŘ^;‰˛6�’CYčF1sAyčJŠHÔ\©ó|‰ó~ÁAyô}
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rňAHRS rotation from veh to nav: [[0.861093,-0.504620,0.062264],[0.507913,0.848107,-0.150794],[0.023287,0.161472,0.986602]]˛ZHŕŽë? Ř%ŕż@áŻ?Ó@ŕ?`±#ë?€5MĂż`�Ř—?`«Ä?`?’ď?i˛Z+ˇ>I˛Zcš^;‰˛XYč~ŠsAyč~ÁHbDm
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 23:59:04.0420 LVL= 26656, 32753, 32754, 30675, AGC= 57, IDX= 188,-0.43,-2.763,-2.154, 2.455,-2.752, PHS= 0.091, 0.643,-1.120, RAW=  12.2,   5.0, CAL=  12.2,   3.9, ROT= 137.8,  -3.9
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ý`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęws
ýâuyrs‰zs‰‚s‰ŠsŤ	3?颩ɢ­ŤRq=)Ł©	˘­Ú:?iŁ©)˘µ˙űĚ;顱‰˘±i˘µ_ÂĽ‰¨ąI©ą©űÁ‰űÁéűÁÉűÁEU\
EUEEUMEQ"EU
:*EUÎA9VEUH$5ZEQBEUő;a•e€2EU÷;aŤe€JEUW:a™e€:EUW:a‘e€Ôa¦A‰Ô‘ÚI™âI©OÝ”>ÔąxD¬-ÁŹ,tł¶?ÚA™±2qí?ů±21�@ą±2\§š=ٱ2g&=
:řAHRS rotation from veh to nav: [[-0.477806,-0.878453,-0.004601],[0.875220,-0.476484,0.083386],[-0.075443,0.035815,0.996507]]˛2Hŕ`”ŢżŕI쿡ŘrżŔĚ
ě? ¸~Ţż€ĂXµ?Ŕ7Płż_V˘? băď?i˛2qí?I˛2uÓ^;‰˛2�’CYčBc{AyčB”H©ętÉętéęt	ët)ëtiëx‰ëxÉö~@A©ö~@AbD
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Úwóýâwóýňwűý`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwóýâuy
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=
:řAHRS rotation from veh to nav: [[-0.491388,-0.870897,-0.008706],[0.867510,-0.490315,0.083769],[-0.077223,0.033610,0.996447]]˛2H çrßżŔcŢ뿀‚Ô�ż ĄÂë?Qaßżâqµ?áÄłż@c5ˇ? ĺâď?i˛2®ď?I˛20Ö^;‰˛0Yč^ţzAyčbVHbDj ÓVDjĽÂ8y”r5}˝%rM=Ů”vĎ’;Q-vŕ>9•tI•t‘=v\Fy•zn¤E–z!=ŃEzŕ>©­Q
Q
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Úws	ýâws	ýňw{	ý`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęws	ýâuˇ
rs±
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Ôń¦AaÚIqâI�O˝>ißŃIßŃÔ!bEńČjEőČ$5rEőČŚž0Em	T
Em	DEm	EEi	"Em	÷ý9*Em	a99VEm	�
5ZEi	BEm	ťĂ:a•}	€2Em	˘Ă:aŤ}	€JEm	sH:a™…	€:Em	vH:a‘…	€Ô‰	żVą-ÁŹ,„+ç¶?ÚAÔ0™±2zń?ů±25‚@ą±2ęL =ٱ2ęé=
:řAHRS rotation from veh to nav: [[-0.504760,-0.863193,-0.010747],[0.859711,-0.503774,0.084312],[-0.078192,0.033318,0.996381]]˛2H˙&ŕż@FźëżÂ†żŔŔ‚ë?ŕęŕży•µ?Ŕ`´ż ˇ?`[âď?i˛2zń?I˛25Ć^;‰˛2‘’CYčR‹zAyčRHbD

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<łEjw‚wúvęvşvŠvZvÚwcýâwcýňwký`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwcýâu9rsIzsI‚sIŠsM_Ő<?é˘aɢmGX=)Łi	˘mµ(?iŁi)˘mŰ
<éˇi‰˘qi˘uF¦ŔĽ‰¨qI©yÔ‰¦AáÚIéâIůO5.>ÔÁ©´Y‰´]»>Ôá	S>Ŕ-ÁŹ,h
·?ÚAE
ECENE"E*Eô09VE€'5ZEa•@aŤ@a™@a‘@™±:`:ó?ů±:(“@ą±:°Cˇ=ٱ:›=–BFöĎ>žBFÎŹC˘BF HŞBFyA¶BF¤=ľBDĆBDÎBF¨Ţ;ŇBFÚ’EÔ\
vřAHRS rotation from veh to nav: [[-0.518993,-0.854680,-0.012986],[0.851152,-0.518129,0.084163],[-0.078661,0.032627,0.996367]]˛:H –›ŕżŕ‰YëżŔP�Šż@˘<ë?�”ŕż ş‹µ?@!#´ż`„´ ?Ŕ=âď?i˛:`:ó?I˛:o©^;‰˛:�’CYč
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ĹHyôŤ—n�Ŕć?”V-Âż{®Gázt?™ô6?ąôhľŮôף;éô	ő9őPŤ—n�č?!°rh‘íĽżš™™™™™©żYőD?yőlç˝™őĚL˝ÉőĽxBéőc}B	öěrB)ö.‚B©őYô\{B	÷)éö)bD-ŻÓVD-ÉÂ8y”}Ś˝%}>=Ů”}żŹ:Q-}Đ>9•�I•�‘=…\Fy•…s¤E–Ť>=ŃEŤĐ>©­‘Q
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IĄ”?™«•u0CI­•¨ű:i­•ař:‰­•4ČV4y®­ěłBÉ®­Ş”Bą®­;łEjwą‚wÁúvÁęvÁşvÁŠvÁZvÉÚwŁýâwŁýňw«ý`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwŁýâuársőŞ=zsőŞ=‚ső­oř>Šsőń�*@é˘ɢ�Q=)Ł	˘/!?iŁ)˘HH
<顉˘i˘Mῼ‰¨!I©!Ôé©ß-=‰ß-đ<¦AŮÚIéâIůO-N>ÔÔA
�jĆ-ÁŹ,2é·?ÚA™±Fm\ő?ů±F.¤@ą±Fdrˇ=ٱF±Z
=
VřAHRS rotation from veh to nav: [[-0.533100,-0.845912,-0.015410],[0.842379,-0.532393,0.083396],[-0.078750,0.031477,0.996397]]˛FH`'ῶ뿀GŹŹż Ĺôę? \	῀pYµ? ó(´ż Ë ? |âď?i˛Fm\ő?I˛FĽ…^;‰˛F‘’CYčbíyAyčbŻHÔ)
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FřAHRS rotation from veh to nav: [[-0.547323,-0.836756,-0.016659],[0.833218,-0.546663,0.083107],[-0.078647,0.031606,0.996401]]˛:H Ş�áż`´Ćęż@‘ż`ą©ę?ŔC~áż ‚Fµ?`9"´ż@¤. ? …âď?i˛:„�÷?I˛:šĄ^;‰˛:’’CYčN€yAyčNkHbDZśÓVDZ¸Â8y”bbŽ˝%bT=Ů”f!ŚąQ-fç>9•fÎH?I•fÎH?‘=f\Fy•jx¤E–j}4=ŃEjç>©­lQ
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i˘f›ľĽ‰¨	I©	ťĄBDAT read: Rx Time:23:59:23.4767
ťĄTRx dataTimestamp_ set to:1761350364.909952¦AeÎÇAÚIqâI�Ô©OĹ>EES
EEKEAEA"EEµö9*EE]t9VEAZEAa•M@aŤM@a™M@a‘M@ByúA}Ň<–B…ńĎ>žB�˘B…qHŞB…čwA¶B…Ł=ľB�ĆB…é»DÎB…ćŢ;ŇB…ú’EÔŃÔ
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BřAHRS rotation from veh to nav: [[-0.560704,-0.827854,-0.016374],[0.824292,-0.559947,0.083682],[-0.078445,0.033424,0.996358]]˛6HJńáż Č}ężŔaÄ�ż`™`ę? ëáż 0lµ?ü´ż@íˇ? *âď?i˛6A™ů?I˛6–^;‰˛6�’CYčJyAyčJHÉöP©öPbDV‰ÓVDV¦Â8y”^Až˝%^K=Ů”bÜşQ-bÝ>9•b„K?I•b„K?‘=b]Fy•b{¤E–f$=ŃEfÝ>©­hQ
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RřAHRS rotation from veh to nav: [[-0.573942,-0.818721,-0.016921],[0.815141,-0.573165,0.083827],[-0.078330,0.034319,0.996337]]˛6H@»]âżŕö2ężŕŘS‘ż Łę?€]WâżŔłuµ? m
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3ÍAťDAT read: 23:59:23.4767 LVL= 23280, 32753, 29522, 32307, AGC= 57, IDX= 287,-0.03, 0.425,-1.297,-1.226,-0.392, PHS= 0.919,-0.860,-0.879, RAW=  89.5,   9.2, CAL=  89.1,   9.4, ROT=  60.9,  -9.4
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Ygot valid direction response:
 23:59:23.4767 LVL= 23280, 32753, 29522, 32307, AGC= 57, IDX= 287,-0.03, 0.425,-1.297,-1.226,-0.392, PHS= 0.919,-0.860,-0.879, RAW=  89.5,   9.2, CAL=  89.1,   9.4, ROT=  60.9,  -9.4
ť
DAT read: 
ť2DAT read: DATA(0002):~~
ťGot DATA 2Ô1ť]NDAT read: Source:010  Destination:011
ť]0Got Src/Dest after DATA ť]&DATA Src=10, Dst=11ťe‚DAT read: CRC:Pass MPD:02.9 PSNR:13.7 AGC:54 SPD:+0.4 CCERR:011
ťmGot CRC:PassťmGot CRC:Passťm@Incoming data is intended for usŤm€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťmGot ackťmDAT read: 
ťu"DAT read: <EOP>
©ęqÉęqéęq	ëq)ëyiëy‰ëybDŤ�ÓVDŤźÂ8ŤŐŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťĺX#Rx 2: Read direction message, but no range.y”F{Ľ%+=Ů”
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ş>ťU\direction in FSK: [0.479805,0.862039,0.163326]éä	
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“Ĺ–Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.é˘ÉɢŐvS2=)ŁŃ	˘Ő(?iŁŃ)˘Ő±*<éˇŮ‰˘Ůi˘ÝÁ‘ĽĽ‰¨áI©á¦A1ÚIQâIyÔ‰ťĹtmodem://10: set _.others_observations nan n/a str none_strťĹ"#Outgoing data=47ŤĹpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITO…	ź>ÔąEeY
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:řAHRS rotation from veh to nav: [[-0.586808,-0.809537,-0.017511],[0.805924,-0.586009,0.084144],[-0.078379,0.035264,0.996300]]˛2H!Çâżşçéż`eî‘ż!Ęé?Ŕ•ŔâżŔnŠµ?ࣴż`˘?°áď?i˛2m˛ý?I˛2ę}^;‰˛2“’CYčBCxAyčF¨Hyô
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JřAHRS rotation from veh to nav: [[-0.867750,-0.494776,-0.046974],[0.490443,-0.867770,0.080252],[-0.080469,0.046601,0.995667]]˛BHŔ›ÄëżiŞßż@ö¨żlcß?ŕĹÄëżŔc‹´?`˘™´żܧ?@�Üď?i˛Bw-@I˛BĚŻ^;‰˛B�’CYčm
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RřAHRS rotation from veh to nav: [[-0.875828,-0.480421,-0.046056],[0.476189,-0.875738,0.079543],[-0.078547,0.047734,0.995767]]˛FHČ쿀8żŢż`¶”§ż áyŢ? ěżŔĺ\´?଴żŕ•p¨? RÝď?i˛Fľ:@I˛FO–^;‰˛F“’CYčZÄmAyčZ4HbD5
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břAHRS rotation from veh to nav: [[-0.883641,-0.465986,-0.045126],[0.461899,-0.883471,0.078282],[-0.076346,0.048330,0.995909]]˛ZHŕČFěż@¶ŇÝżŔçżŔżŹÝ? eEěż O
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>řAHRS rotation from veh to nav: [[-0.891199,-0.451432,-0.044426],[0.447509,-0.890992,0.076607],[-0.074166,0.048392,0.996071]]˛6H€ł„ěżŕCäÜżŔńľ¦żŔűŁÜ?`�쿀‰śł?�ü˛ż€Ćƨ?€Đßď?i˛6oQ@I˛6«Ź^;‰˛6‘’CYčFŽlAyčFuHéóN–=ÉóLbDRaŇVDR–Á8y”Z0ľ%^l=Ů”^€Î»Q-^?9•`I•`‘=b]Fy•bäE–bn@=ŃEf?©­dQ
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ťDAT read: 23:59:34.8249 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 428, 0.04,-1.929, 2.410,-2.898,-2.449, PHS= 0.622,-1.380,-0.493, RAW= 116.2,  14.3, CAL= 117.2,  15.8, ROT=  32.8, -15.8
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Ygot valid direction response:
 23:59:34.8249 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 428, 0.04,-1.929, 2.410,-2.898,-2.449, PHS= 0.622,-1.380,-0.493, RAW= 116.2,  14.3, CAL= 117.2,  15.8, ROT=  32.8, -15.8
ťDAT read: 
ť2DAT read: DATA(0002):~~
ťGot DATA 2ťNDAT read: Source:010  Destination:011
ť0Got Src/Dest after DATA ť%&DATA Src=10, Dst=11ť-‚DAT read: CRC:Pass MPD:01.5 PSNR:10.5 AGC:58 SPD:+0.1 CCERR:008
ť-Got CRC:Passť5Got CRC:Passť5@Incoming data is intended for usŤ5€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť5Got ackť=DAT read: 
ť="DAT read: <EOP>
Ť=ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťEX#Rx 3: Read direction message, but no range.ťE\direction in FSK: [0.808808,0.521241,0.272280]éäŃ
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>řAHRS rotation from veh to nav: [[-0.999892,0.001264,-0.014621],[-0.001553,-0.999804,0.019721],[-0.014593,0.019741,0.999699]]˛6H@˙ďżŕë¶T?`tńŤżđoYżŔeţďżŔ±1”?ŕá⍿Ŕ7”?�ýď?i˛6V3;@I˛6^¤^;‰˛6”’CÔ\Yčb@dAyčbZHbDM
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rs™zs™‚s™ŠsťΆ@é˘ŃɢÝ$źA˝)ŁŮ	˘Ýř;żiŁŮ)˘Ý9N;éˇŮ‰˘ái˘ĺ­,?Ľ‰¨áI©éÔńÚIéâIůIµOU2>ť­BDAT read: Rx Time:23:59:46.1213
ť­TRx dataTimestamp_ set to:1761350387.633026Ô’DÉŠDÍ%=EŐU
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řAHRS rotation from veh to nav: [[-0.999765,0.018567,-0.011146],[-0.018770,-0.999655,0.018397],[-0.010801,0.018602,0.999769]]˛Ť
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:řAHRS rotation from veh to nav: [[-0.999379,0.034290,-0.008065],[-0.034445,-0.999206,0.020036],[-0.007371,0.020301,0.999767]]˛2H€ęúďż gŽˇ?€?„€żŃ˘ˇż@~ůďż J„”?@b1~ż€ÚÉ”?Ŕţď?i˛2`N=@I˛25¬^;‰˛2’’CYčBÝcAyčFHbD
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ťMYgot valid direction response:
 23:59:46.1213 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 407, 0.40, 0.822,-1.073, 0.424, 0.310, PHS= 0.614,-1.338, 0.069, RAW= 134.3,   7.6, CAL= 134.3,   8.7, ROT=  15.7,  -8.7
ťMDAT read: 
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ťUGot DATA 2ť]NDAT read: Source:010  Destination:011
ť]0Got Src/Dest after DATA ť]&DATA Src=10, Dst=11ťm‚DAT read: CRC:Pass MPD:01.1 PSNR:11.3 AGC:57 SPD:+0.9 CCERR:007
ťmGot CRC:PassťmGot CRC:Passťm@Incoming data is intended for usŤm€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťmGot ackťmDAT read: 
ťu"DAT read: <EOP>
ŤuŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťuX#Rx 4: Read direction message, but no range.ť}\direction in FSK: [0.951615,0.267487,0.151261]éäyâÔˇâňä8ˇsî?ťTC�Ń?niş©�\Ă?ůá©âÉâéâ	ă)ă:Iă/?iă–C«ż‰ăßOŤ=©ăą@ÉăÔ>éăą@	äć|>)äęKŚ>Iäć|ľ©ä‰ĺłčŇh	˝î?�Üď×YĎ?ě´˛6ă×Ŕ?	ĺ?ˇ>)ĺo#ľIĺęKŚ>iĺć|ľéäyââňä8ˇsî?ťTC�Ń?niş©�\Ă?ůá©âÉâéâ	ă)ăIăiă‰ă©ăÉăéă	ä)äIä©ä‰ĺłčŇh	˝î?�Üď×YĎ?ě´˛6ă×Ŕ?	ĺ)ĺIĺiĺÔŃÔ
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VôAHRS rotation from veh to nav: [[-0.865857,0.499430,0.029339],[-0.498786,-0.866312,0.026745],[0.038774,0.008523,0.999212]]˛:HŔµëż ¨öß?Ŕž?ŕěßżŕÔ¸ëżŕüb›?Ŕ4ÚŁ?`•t�?ŔŠůď?i˛:®Ś\@I˛:EŤ^;‰˛8Yč5
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ť%Ygot valid direction response:
 23:59:57.4684 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 422,-0.32,-1.674,-2.912,-1.221,-1.653, PHS= 0.080,-1.214, 0.387, RAW= 160.4,  10.2, CAL= 160.4,  11.0, ROT= 349.6, -11.0
ť%DAT read: 
ť-2DAT read: DATA(0002):~~
ť-Got DATA 2ť5NDAT read: Source:010  Destination:011
ť50Got Src/Dest after DATA ť5&DATA Src=10, Dst=11ť=‚DAT read: CRC:Pass MPD:04.6 PSNR:11.0 AGC:60 SPD:+1.1 CCERR:008
ť=Got CRC:Passť=Got CRC:PassťE@Incoming data is intended for usŤE€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťEGot ackťEDAT read: 
ťM"DAT read: <EOP>
ŤMŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťMX#Rx 5: Read direction message, but no range.ťU^direction in FSK: [0.965501,-0.177202,0.190809]éäéyâéâíjśXaĺî?vÇ?‘®ĆżP˙@ŢmlČ?ůáé©âéÉâééâé	ăé)ăí9Iăí
ף=iăíZd›ż‰ăíÝ$Ć>©ăí$+3@ÉăíĐK6>éăí$+3@	äí	�D>)äíä@Ă@Iäí	�DľÔá©äé‰ĺí.J8¨¸űç?•?ˇ9Ájä?Rsµŕ›Ć?	ĺí7‹4?)ĺí<Ó5ľIĺíÔŢ9ľiĺí	�DľéäéyâéâíjśXaĺî?vÇ?‘®ĆżP˙@ŢmlČ?ůáé©âéÉâééâé	ăé)ăéIăéiăé‰ăé©ăéÉăééăé	äé)äéIäé©äé‰ĺí.J8¨¸űç?•?ˇ9Ájä?Rsµŕ›Ć?	ĺé)ĺéIĺéiĺéE]a
E]NE]WEY"E]%.:*E]҆9VE]~D5ZEYa•e@aŤe@a™e@a‘e@Ô	Ô9&Őţ/ÁŹ,e6ţż?ÚAť&tmodem://10: set _.others_observations nan n/a str none_strť&"#Outgoing data=47Ť&pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT™±^č^@ů±^Üřk@ą±^ńx!˝Ů±^ľ<
jôAHRS rotation from veh to nav: [[-0.854219,0.519117,0.028781],[-0.518418,-0.854651,0.028537],[0.039412,0.009456,0.999178]]˛^H ÂUëż›śŕ?@Öxť?Ŕá–ŕżMY뿀˛8ť?€Ç-¤?ŕ‰]�?ŕDůď?i˛^č^@I˛^�Ň^;‰˛\ÔYč%LdAyč-bHyôZd;ßOá?”V-˛żD‹lçű©±ż™ô~
?ąôh‘˝ŮôOŤ˝éô	ő9őčű©ńŇMć?Ŕż1¬Zd»żYőn2?yőľ™ő"Ű˝Éő0�BéőţzB	ök‚B)öĂyB©őYôBbD-’ŃVD-×Ŕ8y”=ç·=%=*=Ů”EË­şQ-Eą>9•II•I‘=M]Fy•MXĄE–MNB=ŃEUą>©­QQ
5][4ůŞUDŠä?Q
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Im�?™«UALCI­U:;i­U#9;‰­UѲ[4y®uú°BÉ®uq”Bą®yjw‰‚w‰úv‰ęv‘şv‘Šv‘Zv‘ÚwÓňüâwÓňüňwŰňü`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwÓňüâu©rsĹv->zsĹv->‚sĹëeľ@ŠsĹ´óV@“Ő–Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.é˘áɢĺŕ…˝)Łá	˘ĺ2;żiŁé)˘í~)‹Ľéˇé‰˘éi˘í¢黉¨ńI©ń’A
W?ŠA
S?Ô9–BŤ¸Đ>žBŤăŹC˘BŤńHŞBŤ”cA¶B‰ľB‰ĆBŤů»DÎBŤÄá;ŇBŤó”E¦AqÚIyâI‰OĹ‚>ŤőzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔi	Ee]
EeFEeOEa"Ee˘:*Ee;J9VEeą*5ZEaBEe:;a•m€2Ee=;aŤu€JEe’e:a™u€:Ee•e:a‘u€ Ľ0ÁŹ,ÜŔ?ÚAÔ ™±2řo_@ů±2ěem@ą±2j…#˝Ů±2VÖ1<
>ôAHRS rotation from veh to nav: [[-0.842439,0.538073,0.027811],[-0.537311,-0.842829,0.030612],[0.039912,0.010845,0.999144]]˛2H Cőęż`ä7á?@‹zś?@¦1áżŕsřężľXź?€Io¤?`%6†? ýřď?i˛2řo_@I˛2ż^;‰˛2”’C	Ö@)ÖBb|AÉŐFď'˝©ŐDéŐD©ÖDÉÖFz|AiÖF94˝IÖH‰ÖHI×JY�Ci×J‹|A	×J×#˝éÖH)×Lé×L	ŘNE|A©×N 0˝‰×PÉ×P‰ŘP©ŘRQ|AIŘRď'˝)ŘPiŘT)ŮTIŮVI|AéŘV,˝ÉŘT	ŮTÉŮXéŮX‰ŮXiŮX©ŮXiÚ\‰Ú\)Ú\	Ú\IÚ\Y·\Yčf-dAyčfNHéó]
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I5�?™«%~LCI­%˝;i­%ë;‰­%lľ[4y®=î°BÉ®Ei”Bą®EͲEjwQ‚wQúvYęvYşvYŠvYZvYÚwSôüâwSôüňw[ôü`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwSôüâuyrs‰zs‰‚s‰ŠsŤ`fX@é˘
ɢµ@–˝)Ł		˘
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dPŹĽéˇ	‰˘)i˘5%ˇć»‰¨1I©9Ôq¦AaÚIiâI�O­=>Ô™ÔÉ		ďŐ	‡l>éîŐ	%’CÉî5
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:ôAHRS rotation from veh to nav: [[-0.830667,0.556182,0.025575],[-0.555313,-0.830939,0.034156],[0.040248,0.014170,0.999089]]˛2H Ň”ęż ?Ěá?@l0š?Ŕ Ĺáż`—ęż@á|ˇ?@r›¤?Ť?ŕ‰řď?i˛2°Đ`@I˛2#˘^;‰˛2•’CÔPYč
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:*EÎA9VEH$5ZEa•-@aŤ-@a™-@a‘-@âw“ďüňw›ďü`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęw“ďüâu1rsAzsA‚sAŠsE¬ÓY@é˘aɢeU’˝)Ła	˘mź>żiŁi)˘móý“Ľéˇi‰˘ii˘mR‚㻉¨qI©yÔѦAĹ$ĹAÚIÉâIáÝ€Failed to create a data reader. azimuth_vehicleFrame is unknown.­bFailed to request data from azimuth_vehicleFrame.Iµ
O-,>ÔůÔ!
žÎ0ÁŹ,ĆKŔ?ÚAB=úA–B˛Đ>žBâŹC˘B<HŞBdA¶BľBĆBÎBÇá;ŇBń”E™±V�b@ů±VŚp@ą±VâÄ%˝Ů±VůE�<
^ôAHRS rotation from veh to nav: [[-0.819380,0.572808,0.022536],[-0.571821,-0.819479,0.038393],[0.040460,0.018572,0.999009]]˛VH€\8ęż pTâ?Ĺ—?Ŕ[Lâż-9ężB¨Ł? )·¤?ŕy“?Ŕŕ÷ď?i˛V�b@I˛VŔ¨^;‰˛V”’CÔ|Yč]
[dAyč]
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rs
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Šs,[@颙ɢťâŤ˝)Łˇ	˘ĄO:żiŁˇ)˘Ą�ĺ�Ľéˇˇ‰˘ˇi˘­�q້¨©I©Ń‚AázAĺvAÔ)¦A!E-V
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:ôAHRS rotation from veh to nav: [[-0.809233,0.587145,0.020050],[-0.586081,-0.809186,0.041550],[0.040621,0.021873,0.998935]]˛2H@=ĺéż äÉâ?€�”?Ŕ-Áâż@ÚäéżFĄ?€9̤?ŔÚe–?G÷ď?i˛2–7c@I˛2ö¨^;‰˛2’’CYčBbdAyčFoH©ę\Éę\éę\	ë\)ë\ië\‰ë\	ń`éđ`bDfQŃVDfśŔ8y”-
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ÚwŁîüâwŁîüňw«îü`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwŁîüâu™
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ɢÝ
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FôAHRS rotation from veh to nav: [[-0.800381,0.599228,0.017749],[-0.598111,-0.800197,0.044142],[0.040654,0.024715,0.998868]]˛>H`ąśéżá,ă?ŔŞ,’?ş#ăżŔ5›éżĎ™¦?€‹Đ¤?ŔäN™? ąöď?i˛>,d@I˛>­»^;‰˛>“’CYčRśdAyčR“Hyô-
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Zv	Úwłíüâwłíüňw»íü`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwłíüâu!rs5Ű>zs5Ű>‚s5|™@Šs5o›@ť”EB*** querying acoustic contact ***:fABfAé˘Qɢ])ŁY	˘]76żiŁY)˘]ŹL˘ĽéˇY‰˘Yi˘e­SÚ»‰¨aI©i¦AÁÚIÉâIáÔáO*>–B%±Đ>žB!˘B%nHŞB%`dA¶B!ľB!ĆB!ÎB%Öá;ŇB%ů”EŤý2Acoustic response timeoutÔťŤ	*entering command modeEEZ
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FôAHRS rotation from veh to nav: [[-0.792486,0.609688,0.015684],[-0.608540,-0.792181,0.046128],[0.040548,0.027011,0.998812]]˛>H@\éż@�‚ă?Ŕx�?`)yăż ŚY鿀ž§?@żÂ¤?€ć¨›?`Eöď?i˛>üe@I˛>—^;‰˛>•’CYčNeAyčRÜHbD
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jw	‚w	úv	ęv	şv	ŠvZvÚw#őüâw#őüňw+őü`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęw#őüâu)rs9zs9‚s9Šs=Uv@é˘Yɢ][‰Š˝)Ła	˘eÍ.żiŁa)˘e­ß¦Ľéˇa‰˘ai˘ejl×»‰¨iI©i’A…T?ŠA…Y?ť5DAT read: 
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ZôAHRS rotation from veh to nav: [[-0.785333,0.618901,0.014609],[-0.617755,-0.784982,0.046714],[0.040380,0.027661,0.998801]]˛NHŕr!éżŔ	Îă?@�ëŤ?€¦Äăż’éż öę§?৬¤? ESś?€.öď?i˛NEÂe@I˛N»­^;‰˛N”’CYčbeAyčfŇHbDE
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ťEBDAT read: Tx time:00:00:02.0082
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:ôAHRS rotation from veh to nav: [[-0.778925,0.626942,0.014839],[-0.625810,-0.778610,0.046135],[0.040478,0.026649,0.998825]]˛2H óěčżŕčä?€dŽ? ˘俀_ęčż÷ž§? ‚ą¤?ŔÔI›?ŕ_öď?i˛2
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:ôAHRS rotation from veh to nav: [[-0.772965,0.634251,0.015826],[-0.633104,-0.772710,0.045808],[0.041283,0.025388,0.998825]]˛2HŔ ĽčżŔÉKä? Á4�?dBäż
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:řAHRS rotation from veh to nav: [[-0.499363,0.842644,0.201465],[-0.864568,-0.499735,-0.052791],[0.056195,-0.200542,0.978072]]˛2Hŕ�őßżđöę? —ÉÉ?€‹Şëż€¦űßżŔ`«ż`™Ĺ¬?ŕX«Éż^Lď?i˛2G~@I˛2€‹^;‰˛2–’CYč^zqAyčb|HbDjŃVDjjŔ8y”rO{<%rO=Ů”vOŽ9Q-vâ>9•tI•t‘=z]Fy•zöĄE–ző�»ŃEză>©­|Q
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ťMTRx dataTimestamp_ set to:1761350425.197062ÔaB=úA–B`Đ>žB˘B˘HŞB·qA¶BľBĆBÎBŐŕ;ŇB?”EÔ‰Ôą‹–1ÁŹ,Ţq[Ć?ÚA™±2+-~@ů±2�†@ą±2ۢb˝Ů±2ËňUľ
:řAHRS rotation from veh to nav: [[-0.498496,0.841882,0.206727],[-0.865126,-0.498342,-0.056680],[0.055303,-0.207100,0.976755]]˛2H ]çßż`˛đę?€vĘ? ŻëżŔÔäßżŔ)­ż ¨P¬?Ŕ>‚ĘżŔ”Aď?i˛2+-~@I˛2h ^;‰˛0YčRÚqAyčR·HbDZŃVDZdŔ8y”bvn=%bL=Ů”f;Q-fŢ>9•fÎH?I•fÎH?‘=j]Fy•jřĄE–jŤ(;ŃEnŢ>©­lQ
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Iu›?™«ew_CI­e;i­eS;‰­e”9_4y®yÉ®…1‘Bą®�ťĺDAT read: 07110 LVL= 19376, 25425, 11570, 21491, AGC= 43, IDX= 352,-0.21, 3.049, 2.806,-1.529,-2.823, PHS=-0.309,-0.609, 1.251, RAW= 201.4,  -3.9, CAL= 201.2,  -6.4, ROT= 308.8,   6.4
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!unknown deviceResponse_: 07110 LVL= 19376, 25425, 11570, 21491, AGC= 43, IDX= 352,-0.21, 3.049, 2.806,-1.529,-2.823, PHS=-0.309,-0.609, 1.251, RAW= 201.4,  -3.9, CAL= 201.2,  -6.4, ROT= 308.8,   6.4
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DAT read: 
ť2DAT read: DATA(0002):~~
ťGot DATA 2ťNDAT read: Source:010  Destination:011
ť0Got Src/Dest after DATA ť&DATA Src=10, Dst=11ť%‚DAT read: CRC:Pass MPD:03.3 PSNR:11.3 AGC:49 SPD:+0.9 CCERR:009
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RřAHRS rotation from veh to nav: [[-0.466180,0.859330,0.210304],[-0.883522,-0.464430,-0.060775],[0.045446,-0.214140,0.975745]]˛JH ĺŐÝż@˘ë?:ëĘ?€ĎEěż :ąÝż@ÜŻż`­D§?@îhËż@N9ď?i˛J–G€@I˛J›Ő];‰˛J—’CÔ‘Yč
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ť=Ygot valid direction response:
 00:00:35.0575 LVL= 32640, 32609, 15314, 32755, AGC= 53, IDX= 412, 0.40,-2.140,-1.726,-0.063,-1.486, PHS=-0.552,-0.195, 1.379, RAW= 220.0,  -7.2, CAL= 218.6, -10.5, ROT= 291.4,  10.5
ťEDAT read: 
ťE2DAT read: DATA(0002):~~
ťMGot DATA 2ťMNDAT read: Source:010  Destination:011
ťM0Got Src/Dest after DATA ťU&DATA Src=10, Dst=11ť]‚DAT read: CRC:Pass MPD:05.1 PSNR:11.8 AGC:57 SPD:+0.0 CCERR:008
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ťEYgot valid direction response:
 00:00:46.4085 LVL= 31280, 26577, 16226, 29011, AGC= 52, IDX= 455,-0.42,-1.287,-0.698, 0.773,-0.884, PHS=-0.301, 0.230, 1.613, RAW= 225.6, -17.7, CAL= 225.2, -23.5, ROT= 284.8,  23.5
ťEDAT read: 
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ťeGot DATA 2ťmNDAT read: Source:010  Destination:011
ťm0Got Src/Dest after DATA ťu&DATA Src=10, Dst=11ť…‚DAT read: CRC:Pass MPD:03.5 PSNR:11.5 AGC:57 SPD:+0.3 CCERR:008
ťŤGot CRC:PassťŤGot CRC:PassťŤ@Incoming data is intended for usŤŤ€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťŤGot ackťŤDAT read: 
ť•"DAT read: <EOP>
ŤťŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťĄX#Rx 3: Read direction message, but no range.ť­`direction in FSK: [0.234259,-0.886635,-0.398749]éäá¦Aµ$ĹAÚIÁâIŮOk>yâáÔIâĺžd´†1üÍ?DiČP_ěżůř
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É®,ŹBą®jw)‚w)úv)ęv)şv1ÔQŠv1ZvYÚwŁýâwŁýňw«ý`41da3f04c0000000405140000000000040426378429a21d5c05e775e00f52d5c402f3270a000000040878999a0000000ęwŁýâu‘rsˇzsˇ‚sˇŠsĄ˘Ł@“Ý–Received valid acoustic ping at time: 1761350400.00. Resetting abort timer.é˘áɢĺ$Ĺô<)Łé	˘í¤?iŁé)˘5eĽéˇ1‰˘1i˘5¤9\Ľ‰¨9I©9Ô�^AőŚ‹ď=Ô©ŤýzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY¦A5	ÎÇAÚI‰	âIˇ	Oő	¦>ÔŮ‚DQzDUAAbEĺËs5jEĺËg*5rEĺË’)2E]Y
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:úAHRS rotation from veh to nav: [[-0.362410,0.908460,0.208230],[-0.931961,-0.350748,-0.091782],[-0.010344,-0.227325,0.973764]]˛2Hŕş1׿í?ŔI§Ę?` Ňíż ¨rÖż·ż /…żŕýÍż)ď?i˛2·ň�@I˛29v^;‰˛2–’CYčBśyAyčB|HbDNŃVDNfŔ8y”VĘB˝%VL=Ů”Zßş:Q-Zß>9•Z„K?I•Z„K?‘=^^Fy•^Ź¦E–^Ë‹ĽŃE^ß>©­`Q
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RúAHRS rotation from veh to nav: [[-0.373299,0.899943,0.225279],[-0.927660,-0.359552,-0.100845],[-0.009755,-0.246628,0.969061]]˛FHŕä׿@UĚě? ôŐĚ?dŻíż ä׿ŕřĐąż€ú�żŔ€‘Ďż Śď?i˛FÎ’�@I˛F¬D^;‰˛F�’CYčZ®yAyčZ‡H©ępÉępéęp	ëp)ëpiëp‰ëtbDz
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:úAHRS rotation from veh to nav: [[-0.387049,0.887919,0.248584],[-0.922022,-0.370279,-0.112997],[-0.008287,-0.272935,0.961997]]˛2H gĹŘż@Ôiě?Ŕ™ŃĎ?€4�íż`¨˛×ż`bíĽż@§ř€żŕĹwŃż@­Čî?i˛2�@I˛2Ćw^;‰˛2•’CÔ@YčFqyAyčFbHyôM
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:úAHRS rotation from veh to nav: [[-0.402754,0.874214,0.271182],[-0.915290,-0.382788,-0.125372],[-0.005797,-0.298705,0.954328]]˛2H€ąĆŮż Žůë?ŕ[Ń?ŕ
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:řAHRS rotation from veh to nav: [[-0.455577,0.831019,0.319150],[-0.890180,-0.427448,-0.157694],[0.005373,-0.355942,0.934492]]˛2H@,(ÝżŔµ—ę?ólÔ?@[|ěż O[Űż`P/Äż€Ev?ĂÇÖż \çí?i˛2Ţ­€@I˛20w^;‰˛0YčB yAyčF0HbDN©ĐVDN
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:řAHRS rotation from veh to nav: [[-0.473338,0.816579,0.330379],[-0.880824,-0.443028,-0.166960],[0.010031,-0.370034,0.928964]]˛2H*KŢż€j!ę? ě$Ő?Ŕµ/쿀�ZÜżŕň^Ĺż`ůŠ„?€˘®×żşí?i˛2i	€@I˛2mŤ^;‰˛2•’CYčNĐxAyčR˙Hyô]
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BřAHRS rotation from veh to nav: [[-0.505046,0.789446,0.348861],[-0.862882,-0.470764,-0.183891],[0.019059,-0.393899,0.918956]]˛6HV)ŕż`$Cé? »SÖ?ŕşśëż˙ Ţż€˝‰Çż /„“? Ł5ŮżŔhí?i˛6Ď˝}@I˛6T|^;‰˛6—’CYčJîxAyčJHbDVŤĐVDVçż8y”^§Ô<%^M=Ů”^$9ĽQ-^ß>9•bÎH?I•bÎH?‘=b^Fy•b§¦E–f
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>řAHRS rotation from veh to nav: [[-0.518604,0.776734,0.357400],[-0.854691,-0.482439,-0.191718],[0.023510,-0.404892,0.914062]]˛6Hŕf�ŕż
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ť­TRx dataTimestamp_ set to:1761350466.293988ťµŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024973VŇ$4ÁŹ,.9”Đ?ÚAÔ™±6Égj@ů±6Ŕ]x@ą±6¸-4=ٱ6�FMľ
>úAHRS rotation from veh to nav: [[-0.738340,0.666626,0.102290],[-0.672993,-0.718356,-0.176194],[-0.043975,-0.198932,0.979026]]˛6Hŕ{ çżUĺ?€ł/ş?ŕ(‰ĺż€Ćüćż`�ŤĆżŰ�¦żŔšvÉż .Tď?i˛6Égj@I˛6Ś}^;‰˛6—’CYčF-}AyčJ®HbD5
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ťŤYgot valid direction response:
 00:01:04.8228 LVL= 27120, 32753, 15202, 31219, AGC= 51, IDX=  74,-0.13,-2.081,-2.987,-0.841,-1.891, PHS=-0.088,-1.051, 1.006, RAW= 182.1,   1.5, CAL= 182.0,  -1.3, ROT= 328.0,   1.3
ť•PDAT read: Bearing   4.5, -32.9 (Local)
ť•~Local bearing/azimuth received:
 Bearing   4.5, -32.9 (Local)
ťť–DAT read: Range 11 to 20 : 120.5 m  (Round-trip  160.7 ms) speed  0.1 m/s
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VúAHRS rotation from veh to nav: [[-0.743204,0.659273,0.114046],[-0.662742,-0.702029,-0.260630],[-0.091763,-0.269284,0.958679]]˛FHŕSČçż`Äĺ?€2˝?@/5忀w激)®ĐżŕÇ}·żŔó;ŃżŔ­î?i˛F:µi@I˛FR7^;‰˛F™’CYčz�kAyčzŢH©ę!
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:úAHRS rotation from veh to nav: [[-0.745640,0.658072,0.104703],[-0.660630,-0.709514,-0.245271],[-0.087117,-0.252054,0.963784]]˛2H@HÜçż@ěĺ? ×Íş?á#忀W´ćż€eĎż`NM¶ż ¦!Đż`Q×î?i˛2˘€i@I˛2 j^;‰˛2›’CYčF�jAyčF<HÔ	
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:úAHRS rotation from veh to nav: [[-0.753168,0.650937,0.094968],[-0.652514,-0.720945,-0.233376],[-0.083446,-0.237740,0.967738]]˛2H ôčżŕxÔä? ÖO¸?`dáäżŕú翀DßÍż€ş\µż @nÎż€µ÷î?i˛2«Ęh@I˛2G^;‰˛2›’CYčFYiAyčF|HbD
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:*EŐa99VEŐH$5ZEŃa•Ý@aŤÝ@a™Ý@a‘Ý@Ô	BMđ<úAM–<–BU‚Đ>žBUŢŹC˘BUŔHŞBUĆiA¶BUž=ľBQĆBUő»DÎBUÉÝ;ŇBU°’EÔ9G25ÁŹ,LÄjÔ?ÚAť2BDAT read: Rx Time:00:01:20.2054
ť6TRx dataTimestamp_ set to:1761350481.681019™±Fž[h@ů±F•Qv@ą±FRĺ¦=ٱF¶…rľ

úAHRS rotation from veh to nav: [[-0.757702,0.646044,0.092274],[-0.647504,-0.726595,-0.229779],[-0.081402,-0.233852,0.968859]]˛FH ?čżŔd¬ä?`=ź·?ŔY¸äż`D@çżŔfiÍż€ÁÖ´ż`ŮîÍżŕăď?i˛Fž[h@I˛F¶?^;‰˛DYč=
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BúAHRS rotation from veh to nav: [[-0.763026,0.639811,0.091831],[-0.641548,-0.732336,-0.228253],[-0.078788,-0.233077,0.969261]]˛6H µjčżŔUyä?ŕB‚·? �‡äż`LoçżŔf7Íżl+´żŔzŐÍż@0ď?i˛6]Řg@I˛6/	^;‰˛4YčN’hAyčNHyô]
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ťUYgot valid direction response:
 00:01:20.2053 LVL= 24320, 29505, 11762, 25459, AGC= 52, IDX= 228, 0.36, 0.226,-0.178, 1.975, 0.808, PHS=-0.480,-0.941, 1.123, RAW= 197.7,   3.2, CAL= 197.9,   1.0, ROT= 312.1,  -1.0
ť]DAT read: 
ť]2DAT read: DATA(0002):~~
ťeGot DATA 2ťeNDAT read: Source:010  Destination:011
ťm0Got Src/Dest after DATA ťm&DATA Src=10, Dst=11ťu‚DAT read: CRC:Pass MPD:03.3 PSNR:09.8 AGC:51 SPD:+0.8 CCERR:009
ťuGot CRC:PassťuGot CRC:Passťu@Incoming data is intended for usŤ}€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť}Got ackť}DAT read: 
ť}"DAT read: <EOP>
Ť…ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť…X#Rx 2: Read direction message, but no range.ťŤ^direction in FSK: [0.670325,-0.741863,0.017452]éäyâârĺOuLsĺ?¨ÜW˝çżW7)ß‘?ůá
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ť˝Ygot valid direction response:
 00:01:31.3513 LVL= 25808, 27601, 17666, 27955, AGC= 48, IDX= 393, 0.16, 1.427, 2.087,-2.743, 2.109, PHS=-0.580, 0.023, 1.387, RAW= 227.4,  -9.5, CAL= 226.3, -14.4, ROT= 283.7,  14.4
ť˝DAT read: 
ÔÁťĺ2DAT read: DATA(0002):~~
ťĺGot DATA 2ťíNDAT read: Source:010  Destination:011
ťí0Got Src/Dest after DATA ťí&DATA Src=10, Dst=11ťő‚DAT read: CRC:Pass MPD:03.7 PSNR:10.2 AGC:53 SPD:-0.8 CCERR:008
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ťĺ"DAT read: <EOP>
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:öAHRS rotation from veh to nav: [[-0.534292,0.845067,0.019851],[-0.844951,-0.534599,0.016171],[0.024278,-0.008133,0.999672]]˛2Hŕë῀É
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ťµBDAT read: Rx Time:00:01:42.4487
ťĹTRx dataTimestamp_ set to:1761350503.868185ÍŹ}6ÁŹ,ĘářŮ?ÚA™±-
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:öAHRS rotation from veh to nav: [[-0.232546,0.953173,0.193350],[-0.967938,-0.246228,0.049687],[0.094968,-0.175596,0.979871]]˛2H ÄÍżd€î?€­żČ?@Xůîż`b„Ďż –p©?ŮO¸?ŔëyĆż`[ď?i˛2dE�@I˛2…S^;‰˛2—’CYčBdAyčBDHbD

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DAT read: 00:01:42.4487 LVL= 30752, 22337, 18482, 29587, AGC= 53, IDX= 404, 0.06, 1.876, 3.053,-2.127, 2.958, PHS=-0.981, 0.140, 1.154, RAW= 241.7,  -3.4, CAL= 238.7,  -5.3, ROT= 271.3,   5.3
ť=
Ygot valid direction response:
 00:01:42.4487 LVL= 30752, 22337, 18482, 29587, AGC= 53, IDX= 404, 0.06, 1.876, 3.053,-2.127, 2.958, PHS=-0.981, 0.140, 1.154, RAW= 241.7,  -3.4, CAL= 238.7,  -5.3, ROT= 271.3,   5.3
ťE
DAT read: 
ťM
2DAT read: DATA(0002):~~
ťM
Got DATA 2ťU
NDAT read: Source:010  Destination:011
ťU
0Got Src/Dest after DATA ťU
&DATA Src=10, Dst=11ť]
‚DAT read: CRC:Pass MPD:03.4 PSNR:12.9 AGC:52 SPD:-0.6 CCERR:010
ť]
Got CRC:Passť]
Got CRC:Passť]
@Incoming data is intended for us–Bm
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€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť…
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DAT read: 
ťŤ
"DAT read: <EOP>
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ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťŤ
X#Rx 4: Read direction message, but no range.ť•
`direction in FSK: [0.022590,-0.995468,-0.092371]éä	
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ZöAHRS rotation from veh to nav: [[-0.232716,0.952609,0.195908],[-0.967717,-0.246860,0.050831],[0.096784,-0.177754,0.979304]]˛RH@źÉÍż€Ĺ{î? €É?Ŕ‰÷™Ďż ŤŞ?ŔÖƸ? ¤ŔĆż`uVď?i˛RťC�@I˛Rő;^;‰˛Rś’CYč%
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#ŽBą®v´Ejw!‚w!úv!ęv)şv)Šv)Zv)ÚwCďüâwCďüňwKďü`41da3f04e000000040514000000000004042636afc1bb2fec05e77607931d6e5402fa5b840000000405e200000000000ęwCďüâu©rsązsą‚sąŠs˝;ň‘@“í–Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.é˘ůɢý’q‰˝)Łů	˘ý?/żiŁů)˘¨5şĽéˇ!‰˘!i˘%ýÂÄ»‰¨)I©)ąý„ŮĽťmtmodem://10: set _.others_observations nan n/a str none_strťm"#Outgoing data=49ŤmpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ™¦AÚIâI1O˝�>ÔÉÔńy†‘6ÁŹ,ĂeFÚ?ÚA™±6@�@ů±6;Ź@ą±6.ăɽٱ6w‘9ľ
BöAHRS rotation from veh to nav: [[-0.233091,0.952107,0.197890],[-0.967462,-0.247637,0.051899],[0.098418,-0.179354,0.978849]]˛6H ěŐÍżŔ©wî? tTÉ? rőîż‘˛Ďż ‚’Ş?€đ1ą? őĆżĽRď?i˛6@�@I˛6•\^;‰˛6›’CYčJ1eAyčJîHŤbzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYbD5
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:öAHRS rotation from veh to nav: [[-0.233493,0.952070,0.197594],[-0.967244,-0.248234,0.053098],[0.099602,-0.178724,0.978845]]˛2H ăÍżŔ[wî? ÄJÉ?©óîżŔ%ĆĎż`ś/«? Šą?@lŕĆż`˛Rď?i˛2z<�@I˛2*E^;‰˛0Yčf»eAyčfC
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BöAHRS rotation from veh to nav: [[-0.233842,0.952215,0.196480],[-0.967069,-0.248675,0.054209],[0.100478,-0.177334,0.979008]]˛6H€�îÍżŔ‹xî?`B&É?@:ňîż–ÔĎż :Á«? 츹?`ݲƿ	Tď?i˛6Y9�@I˛6�n^;‰˛6ś’CYčJ>fAyčJ”
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>öAHRS rotation from veh to nav: [[-0.233830,0.952009,0.197492],[-0.966957,-0.248924,0.055060],[0.101578,-0.178091,0.978757]]˛2H $îÍżŰvî?@iGÉ?`Ońîż`şÜĎżŐ0¬?@
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ZöAHRS rotation from veh to nav: [[-0.233277,0.952024,0.198072],[-0.966955,-0.248650,0.056307],[0.102856,-0.178392,0.978569]]˛RH@ÜÍż úvî?ŔmZÉ?`LńĹÓĎż`7Ô¬? ĂTş?ŕ‹ŐĆż oPď?i˛R§=�@I˛RHN^;‰˛Rś’CYč~NgAyč~;H©ęI
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:öAHRS rotation from veh to nav: [[-0.231833,0.951622,0.201668],[-0.967151,-0.247711,0.057073],[0.104267,-0.181812,0.977790]]˛2H˛¬ÍżŻsî?AĐÉ? çňîżţ´Ďż@ž8­? ;±ş? žEÇż 
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>öAHRS rotation from veh to nav: [[-0.213586,0.953501,0.212642],[-0.972543,-0.228122,0.046054],[0.092421,-0.196967,0.976044]]˛2H ĘVËż�î? Ř7Ë?Ŕďż@3Íż r”§?`먷?Ŕ36Éż@Á;ď?i˛2ěĺ�@I˛2^^;‰˛2š’CYčF÷oAyčFŽHbD

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:öAHRS rotation from veh to nav: [[-0.212816,0.953138,0.215029],[-0.972822,-0.227243,0.044467],[0.091247,-0.199722,0.975595]]˛2HŔ‹=Ëż@€î? †Ë? \!ďżŕHÍżRĦ?`î[·?`|�Éż 8ď?i˛2›ě�@I˛2A/^;‰˛2ť’CYčBŹpAyčBěHyô­
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BöAHRS rotation from veh to nav: [[-0.211673,0.952809,0.217598],[-0.973200,-0.225958,0.042713],[0.089865,-0.202725,0.975103]]˛6H@Ëżj}î? =ÚË?Ŕt$ďż 0ěĚż`�ŢĄ?ŕl
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:öAHRS rotation from veh to nav: [[-0.210427,0.952918,0.218328],[-0.973639,-0.224387,0.040959],[0.088020,-0.203954,0.975016]]˛2H BďĘżŕN~î?€)ňË? 
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RöAHRS rotation from veh to nav: [[-0.209187,0.953213,0.218235],[-0.974126,-0.222654,0.038775],[0.085552,-0.204478,0.975125]]˛JHŔźĆĘżŔ·€î?€"ďË?Ŕ
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nöAHRS rotation from veh to nav: [[-0.209899,0.953368,0.216869],[-0.974175,-0.222807,0.036605],[0.083218,-0.203585,0.975514]]˛ZH@÷ÝĘż@ý�î?@_ÂË? q,ďż`í„ĚżŐ˝˘? ľMµ?@Ęż`i7ď?i˛Zi‰@I˛Z+^;‰˛X	Űt)ŰvM|AÉÚvj<˝©ÚtéÚt©ŰxÉŰzI|AiŰzj<˝IŰx‰ŰxIÜ|iÜ|	Ü|éŰ|)Ü|éÜ

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ŰşŃEĺŘ>ť=DAT read: 00:01:53.5006 LVL= 25136, 17089, 15890, 23731, AGC= 49, IDX= 441,-0.06, 1.732, 2.952,-2.268, 2.872, PHS=-1.037, 0.125, 1.099, RAW= 242.9,  -2.0, CAL= 239.4,  -3.2, ROT= 270.6,   3.2
ťEYgot valid direction response:
 00:01:53.5006 LVL= 25136, 17089, 15890, 23731, AGC= 49, IDX= 441,-0.06, 1.732, 2.952,-2.268, 2.872, PHS=-1.037, 0.125, 1.099, RAW= 242.9,  -2.0, CAL= 239.4,  -3.2, ROT= 270.6,   3.2
ťEDAT read: 
ťM2DAT read: DATA(0002):~~
ťMGot DATA 2ťUNDAT read: Source:010  Destination:011
ťU0Got Src/Dest after DATA ť]&DATA Src=10, Dst=11ťe‚DAT read: CRC:Pass MPD:03.3 PSNR:14.6 AGC:48 SPD:-0.8 CCERR:011
ťeGot CRC:PassťeGot CRC:Passťe@Incoming data is intended for usŤe€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťeGot ackťmDAT read: 
ťm"DAT read: <EOP>
ŤuŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťuX#Rx 5: Read direction message, but no range.ť}`direction in FSK: [0.010456,-0.998386,-0.055822]éä	yâ	â
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:öAHRS rotation from veh to nav: [[-0.212247,0.953795,0.212664],[-0.973857,-0.224477,0.034831],[0.080959,-0.199711,0.976504]]˛2Hé*Ëż€}…î? ‘8Ë?`Ő)￬»Ěż€QŐˇ?€Âą´? $�Éż@†?ď?i˛2ţň�@I˛2u:^;‰˛2ś’CÔ
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:öAHRS rotation from veh to nav: [[-0.215823,0.953527,0.210254],[-0.973206,-0.227554,0.033000],[0.079311,-0.197498,0.977090]]˛2HŔ ËżK�î?šéĘ?@�$ďż@| Íżpĺ ?ŕ¸M´?ŕžGÉż QDď?i˛2$Ő�@I˛2Ž^;‰˛0Yč
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JöAHRS rotation from veh to nav: [[-0.219413,0.953466,0.206787],[-0.972523,-0.230652,0.031601],[0.077826,-0.194171,0.977876]]˛BHŕşĚżŕĘ‚î?€üwĘ?€čďż †Íżŕ. ?`něł?@™ÚČż ÁJď?i˛B·�@I˛Bm^;‰˛@YčzVsAyčzˇHIń]
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:öAHRS rotation from veh to nav: [[-0.222574,0.953552,0.202974],[-0.971889,-0.233415,0.030820],[0.076766,-0.190408,0.978699]]˛2H R}Ěż€€�î? 	űÉ?@¶￀‰ŕÍżŔJŹź? č¦ł? I_Čż €Qď?i˛2¤ś�@I˛2P*^;‰˛2›’CYčvŕsAyčvöHbDe
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:öAHRS rotation from veh to nav: [[-0.223947,0.953614,0.201169],[-0.971667,-0.234471,0.029790],[0.075576,-0.188798,0.979104]]˛2H`KŞĚżŔ„î? äżÉ? äďżŔ#Îż@1�ž?`óXł?`„*ČżŃTď?i˛2=‘�@I˛24^;‰˛2š’CYčF°tAyčJuHbDVÇĎVDV1ż8y”b>%f\=Ů”fĺQ;Q-fď>9•hI•h‘=j_Fy•jA¨E–nht»ŃErď>©­tQ
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:řAHRS rotation from veh to nav: [[-0.193426,0.965587,0.173861],[-0.980808,-0.194740,-0.009638],[0.024551,-0.172388,0.984723]]˛2H 1ÂČż ćî? AĆ? Ćbďż<íČż@E˝�ż ä#™?ŕŇĆżÚ‚ď?i˛2Ń•‰@I˛27^;‰˛0YčfŠyAyčfrHyôU
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>řAHRS rotation from veh to nav: [[-0.194829,0.965393,0.173371],[-0.980606,-0.195552,-0.013069],[0.021286,-0.172555,0.984770]]˛2H€*đČż`€äî?€1Ć?@ aďżÝÉż@ŢĂŠż Ě•?`EĆż@<�ď?i˛28Š‰@I˛2Đ2^;‰˛0YčFęyAyčF¬H©ę\Éę\éę\	ë\)ë\ië\‰ë\bDf®ĎVDfż8y”nmy=%nU=Ů”r…<Q-ré>9•r„K?I•r„K?‘=v_Fy•vm¨E–vôq»ŃEvč>©­xťE
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NřAHRS rotation from veh to nav: [[-0.195171,0.965449,0.172673],[-0.980608,-0.195279,-0.016528],[0.017762,-0.172550,0.984841]]ÔP˛BH \űČżŕőäî?€%Ć?ŕ$aďż éţČż`Íě�ż`@0’?`!Ćż@Đ�ď?i˛Bz‡‰@I˛Bhp^;‰˛Bź’CYčbŐyAyčbźHbDvŻĎVDvż8y”
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BDAT read: Rx Time:00:02:04.6033
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TRx dataTimestamp_ set to:1761350526.049000ťu
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ť	Ygot valid direction response:
 00:02:04.6033 LVL= 28192, 22193, 21714, 25795, AGC= 51, IDX= 404, 0.19, 2.015,-2.790,-2.037,-2.881, PHS=-1.285, 0.136, 0.800, RAW= 251.8,   3.8, CAL= 248.4,   2.8, ROT= 261.6,  -2.8
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	DAT read: 
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	2DAT read: DATA(0002):~~
ť	Got DATA 2ť	NDAT read: Source:010  Destination:011
ť	0Got Src/Dest after DATA ť	&DATA Src=10, Dst=11ť%	‚DAT read: CRC:Pass MPD:06.8 PSNR:10.2 AGC:49 SPD:-0.9 CCERR:008
ť%	Got CRC:Passť%	Got CRC:Passť%	@Incoming data is intended for us¦A)	ÚI1	âIA	ŤM	€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťM	Got ackťM	DAT read: 
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ŤU	ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťU	X#Rx 1: Read direction message, but no range.ť]	`direction in FSK: [-0.145908,-0.988091,0.048850]éäÉyâÉâÍ\5 ­Âż"=Ś®qžďżs!DÖ©?ůáÍ©âÍ nÉâͱVéâÍŇT	ăÍĂd)ăÍ3IăÍáz¤żiăÍ–C>‰ăÍÍĚL?©ăÍ´ˇŚ@ÉăÍÔ‡=éăÍ”»Š@	äÍ+H=)äÍâ’@IäÍ+H˝©äɉĺÍđQč0LĺżcáŠůˇÉç?
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‚˛?“–Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.é˘1ɢ5éř<)Ł1	˘5Â6?iŁ9)˘=żăŽĽéˇ9‰˘9i˘=Ľ‰¨AI©aÚ@qŇ@qę@uâ@uiß!Iß%żAť5tmodem://10: set _.others_observations nan n/a str none_strť5"#Outgoing data=49Ť5pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔˇÔɦA!	ÚI)	âI9	Ou	ž>ťÝ8setting remote address to 10Ôůqóô7ÁŹ,	ÄÔß?ÚA™±2ZŃŚ@ů±2WĚ“@ą±2ß×<ٱ2Gb=
>úAHRS rotation from veh to nav: [[-0.093554,0.994042,-0.055932],[-0.995567,-0.093949,-0.004467],[-0.009695,0.055266,0.998425]]˛2H$ó·żŕ0Ďď? %Ł¬ż`ŻŰďżŔ
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>úAHRS rotation from veh to nav: [[-0.061154,0.992516,-0.105696],[-0.998052,-0.062116,-0.005831],[-0.012353,0.105133,0.994381]]˛6H`�OŻż€±Âď? ä»ż 
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BöAHRS rotation from veh to nav: [[0.010271,0.985969,-0.166612],[-0.999839,0.007677,-0.016206],[-0.014700,0.166752,0.985889]]˛6Hŕ	…?ŔŤď?@ŽSĹżŔ®ţďż r? P��ż ËŽżŔ!XĹ? gŚď?i˛6%�@I˛6őa;‰˛4	ŰD)ŰF9|AÉÚJ›Ä˝©ÚHéÚH©ŰHÉŰJ1|AiŰJľź˝IŰN�’F‰ŰLIÜLiÜNs@	ÜPéŰP)ÜPéÜP	ÝR-|A©ÜR�•˝‰ÜTÉÜT‰ÝT©ÝV5|AIÝVj<˝)ÝVŔťFiÝT)ŢXIŢZ1|AéÝZ´H˝ÉÝZ�F	ŢXÉŢ\éŢ^QvA‰Ţ\iŢ\©Ţ\Y·\YčdyčdÔ

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:öAHRS rotation from veh to nav: [[0.047879,0.982172,-0.181783],[-0.998740,0.044337,-0.023501],[-0.015022,0.182679,0.983058]]˛2H ˘�¨? ômď?¬DÇżŕ­őďż`bł¦?ž�ż@íĂŽżŕ	bÇ? 5uď?i˛2SY‘@I˛2÷`;‰˛0YčU
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:öAHRS rotation from veh to nav: [[0.085537,0.977872,-0.190920],[-0.996218,0.081005,-0.031432],[-0.015271,0.192886,0.981102]]˛2H€Ăĺµ?€ąJď?ŕpČż€áďżŕÂĽ´?ŕË ż@%FŹż €°Č? 0eď?i˛2�Ž’@I˛2‡`;‰˛2ś’CYč
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NöAHRS rotation from veh to nav: [[0.122664,0.973243,-0.194295],[-0.992325,0.117190,-0.039464],[-0.015639,0.197645,0.980149]]˛FH€ĺfż?`Ď$ď?¬ŢČż` Áďż@/ľ?@ 4¤żŤ�ż€nLÉ? a]ď?i˛FmŔ“@I˛F—F`;‰˛Fź’CYčnX{AyčnŽHbDzŘĎVDzAż8y”
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:öAHRS rotation from veh to nav: [[0.158158,0.968231,-0.193689],[-0.987284,0.151878,-0.046950],[-0.016042,0.198651,0.979939]]˛2H`„>Ä? żűî?`ĚĘČż Ó—ďżŕĽpĂ?Ű	¨ż 1m�żŔhmÉ?ŕ¨[ď?i˛2*ć”@I˛2$Ü_;‰˛2ť’CYčjA{Ayčj€H	ńléđlyô]
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:öAHRS rotation from veh to nav: [[0.191621,0.962739,-0.190830],[-0.981336,0.184739,-0.053394],[-0.016151,0.197499,0.980170]]˛2HŔ
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:öAHRS rotation from veh to nav: [[0.283237,0.943723,-0.170773],[-0.958921,0.275759,-0.066531],[-0.015695,0.182602,0.983062]]˛2HŹ Ň? ú2î? çŰĹż |Żîż 
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:öAHRS rotation from veh to nav: [[0.602816,0.790028,-0.111663],[-0.797593,0.592912,-0.110911],[-0.021417,0.155921,0.987537]]˛2HŕDJă? čGé?`ó•Ľż á…éż`"ůâ? ±dĽż@Iî•ż7őĂ?ŕç™ď?i˛2Á†¤@I˛2´Ö^;‰˛2ž’CYčByAyčB-H©ę\Éę\éę\	ë`)ë`ië`‰ë`bDj´ĎVDj ż8y”vŞŰĽ%vS=Ů”v7:Q-zć>9•xI•x‘=~_Fy•~ş¨E–~ź=ŃE
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FöAHRS rotation from veh to nav: [[0.626220,0.772148,-0.107866],[-0.779337,0.616058,-0.114478],[-0.021942,0.155753,0.987552]]˛>HŔţ	ä? pµč?`!ť»ż UđčżŔż¶ă?€vN˝ż x–ż@·ďĂ?@šď?i˛>ůyĄ@I˛>Ňú^;‰˛>ź’CYčNyAyčR(HbDZ©ĎVDZż8y”b˛Ż»%bK=Ů”b«:Q-fÝ>9•fÎH?I•fÎH?‘=f_Fy•fĽ¨E–j0—=ŃEjŢ>©­lQ
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BöAHRS rotation from veh to nav: [[0.649206,0.753614,-0.102943],[-0.760267,0.638862,-0.117685],[-0.022923,0.154666,0.987701]]˛:H@LĆä?›č? }Zşż`Tčż@Žqä?˘ ľż€y—ż`ĚĂ?Ŕ>›ď?i˛:·n¦@I˛:nŢ^;‰˛:ť’CYč^yAyčb-H	ń
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öAHRS rotation from veh to nav: [[0.671155,0.734654,-0.099174],[-0.740932,0.660464,-0.121682],[-0.023893,0.155149,0.987602]]˛FH`zĺ?@H‚ç?@ycąż`·µçżŕ…"ĺ?`Š&żż@kw�żŕčŰĂ?Ŕošď?i˛Fh^§@I˛FTÎ^;‰˛F›’CYču
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öAHRS rotation from veh to nav: [[0.692719,0.714939,-0.094885],[-0.720780,0.681760,-0.125218],[-0.024835,0.155132,0.987582]]˛rH@Ŕ*ć?ŔÇŕć?Ŕ\J¸ż ˇçżŔůĐĺ?%ŔżŔDn™ż`\ŰĂ? Dšď?i˛rEP¨@I˛rć^;‰˛rť’CYč-
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ť]Ygot valid direction response:
 00:02:16.2083 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488, 0.07,-0.310, 1.829, 0.591, 0.838, PHS=-1.046, 1.036,-0.291, RAW= 309.0,   3.3, CAL= 306.6,   0.2, ROT= 203.4,  -0.2
ťeDAT read: 
ťm2DAT read: DATA(0002):~~
ťmGot DATA 2ťuNDAT read: Source:010  Destination:011
ťu0Got Src/Dest after DATA ťu&DATA Src=10, Dst=11ť}‚DAT read: CRC:Pass MPD:04.1 PSNR:11.7 AGC:61 SPD:-1.6 CCERR:008
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:öAHRS rotation from veh to nav: [[0.757175,0.647751,-0.084290],[-0.652653,0.744860,-0.138667],[-0.027038,0.160007,0.986746]]˛2H@Ć:č? aşä?”µż �âäżŕăŐç?`ŐżÁż@»Ż›ż€{Ä?`k“ď?i˛2Q«@I˛2F_;‰˛2ś’CYčB�xAyčFÓHbDNŤĎVDNüľ8y”rO/Ľ%rJ=Ů”v˙:Q-vÝ>9•tI•t‘=v_Fy•z˨E–zł¤=ŃEzÝ>©­|Q
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Ą%PAggregate::uninitialize marl:UpdateSpeedé˘AɢEÜ1LĽ)ŁA	˘EHŽľiŁA)˘Eďçő;éˇI‰˘Ii˘Mw;WĽ‰¨II©Q©űY‰űYéűYÉűYÔqťŐBDAT read: Rx Time:00:02:41.1700
ťÝTRx dataTimestamp_ set to:1761350562.597135ÔˇEa
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JňAHRS rotation from veh to nav: [[0.754463,-0.654285,0.051931],[0.653560,0.756187,0.032251],[-0.060371,0.009608,0.998130]]˛BHŕŹ$č? ćďäż`·–Ş?Ŕöéä? Ż2č?Ŕ<� ?ŕ÷访 6­�?Ŕ­đď?i˛BÔÎý>I˛Bd)^;‰˛@YčrkAyčr�HIńzR=)ńz=bD~�ÎVD~ľ8y”

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ňAHRS rotation from veh to nav: [[0.740929,-0.669801,0.048902],[0.669093,0.742487,0.032061],[-0.057783,0.008965,0.998289]]˛zHŕ°µç? 
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ťĄDAT read: 00:02:41.1700 LVL= 27760, 27809, 31986, 31619, AGC= 53, IDX= 512, 0.19,-2.255,-2.561, 2.190,-2.533, PHS= 0.380, 0.017,-1.604, RAW=  39.9,  13.1, CAL=  37.1,  14.6, ROT= 112.9, -14.6
ť­Ygot valid direction response:
 00:02:41.1700 LVL= 27760, 27809, 31986, 31619, AGC= 53, IDX= 512, 0.19,-2.255,-2.561, 2.190,-2.533, PHS= 0.380, 0.017,-1.604, RAW=  39.9,  13.1, CAL=  37.1,  14.6, ROT= 112.9, -14.6
ť­DAT read: 
ťµ2DAT read: DATA(0002):~~
ťµGot DATA 2ť˝NDAT read: Source:010  Destination:011
ť˝0Got Src/Dest after DATA ťĹ&DATA Src=10, Dst=11ťÍ‚DAT read: CRC:Pass MPD:03.6 PSNR:13.4 AGC:55 SPD:-1.2 CCERR:011
ťÍGot CRC:PassťÍGot CRC:PassÚIâI!ťÍ@Incoming data is intended for usŤ-€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť-Got ackť-DAT read: 
ť5"DAT read: <EOP>
Ť5ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť5X#Rx 3: Read direction message, but no range.ť=^direction in FSK: [-0.376559,0.891440,0.252069]éä1yâ1â5 gŰ7ŠŘżL?r>¬†ě?ĘýŹç!Đ?Ô‰ůá1©â5plÉâ5ˇléâ5ň|	ă5�{)ă55Iă5\ŹÂ>iă5–C‹<‰ă5ßOÍż©ă5aF2?OÝ>Éă5 j>éă5ŻĂ%?	ä5„w‚>)ä5•8ü?Iä5„w‚ľ©ä1‰ĺ54×ËśĐjĹ?•TNWBłîżH6ĎŃŞÍ?	ĺ5Ňő˛ż)ĺ5ŚˇjľIĺ5•8ü?iĺ5„w‚ľéä1yâ1â5 gŰ7ŠŘżL?r>¬†ě?ĘýŹç!Đ?ůá1©â1Éâ1éâ1	ă1)ă1Iă1iă1‰ă1©ă1Éă1éă1	ä1)ä1Iä1©ä1‰ĺ54×ËśĐjĹ?•TNWBłîżH6ĎŃŞÍ?	ĺ1)ĺ1Iĺ1iĺ1Ôąťí	tmodem://10: set _.others_observations nan n/a str none_strťí	"#Outgoing data=50Ťí	pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ9
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rs!zs!‚s!Šs%$˙¦?“U–Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.é˘aɢe·ŕŠĽ)Ła	˘e±ľiŁa)˘mČţŰ;éˇi‰˘ii˘m±ŽKĽ‰¨‘I©‘ÚI!âI9O•î=Ô)Ť]zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYňA-@AęA-?A–BEUÎ>žBEŁŹC˘BEuHŞBELiA¶BAľBAĆBAÎBETŘ;ŇBEĄŽEÚBáĹâBáĹęBáĹňBĺŧ=úBĺŧ=CĺĹ4ÔQÔ�
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:ňAHRS rotation from veh to nav: [[0.703442,-0.709757,0.037611],[0.709080,0.704431,0.031346],[-0.048742,0.004619,0.998801]]˛2H�‚ć? T¶ćż ÇAŁ?ŕÇ°ć?€łŠć?@Ś ?ŔÂô¨żŔŮër?ŕ,öď?i˛2}=?I˛2ň5^;‰˛0YčZćiAyčZÓHbD-
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:ňAHRS rotation from veh to nav: [[0.692350,-0.720740,0.034435],[0.720128,0.693194,0.029961],[-0.045464,0.004054,0.998958]]˛2H »'ć?Mçż@{ˇˇ?@Jç?Ą.ć?@®ž?ŔG§ż@›p?@v÷ď?i˛2–@?I˛2u*^;‰˛2ť’CYčBBiAyčFnHbD%
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JňAHRS rotation from veh to nav: [[0.681822,-0.730889,0.030320],[0.730274,0.682494,0.030022],[-0.042635,0.001672,0.999089]]˛BH}Ńĺ? qcçż@ź? h^ç?ŔýÖĺ?Ŕő˝ž? NÔĄż 8f[?Šřď?i˛B˛˙?I˛B5^;‰˛Bś’CYčR9iAyčRiHIń
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NôAHRS rotation from veh to nav: [[0.671875,-0.740204,0.026137],[0.739577,0.672382,0.030470],[-0.040128,-0.001142,0.999194]]˛BH ˙ĺ? żŻçżźĂš?ŔťŞç?ŕ&„ĺ? ‰3ź?`§‹¤ż µRż€eůď?i˛B}?I˛B×^;‰˛B ’CYčV¨hAyčVHbDbŃÎVDbOľ8y”j7½%j[=Ů”jÜ»Q-jď>9•lI•l‘=n`Fy•nr©E–rP=ŃErî>©­tQ
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ťEYgot valid direction response:
 00:02:52.3224 LVL= 25696, 27441, 32754, 32755, AGC= 57, IDX= 500,-0.23, 0.314,-0.394,-1.363,-0.466, PHS= 0.883, 0.117,-0.941, RAW=  54.7,  -0.8, CAL=  55.4,  -2.9, ROT=  94.6,   2.9
ťEDAT read: 
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ťMGot DATA 2ÔQť]NDAT read: Source:010  Destination:011
ť]0Got Src/Dest after DATA ť]&DATA Src=10, Dst=11ťe‚DAT read: CRC:Pass MPD:04.5 PSNR:11.9 AGC:60 SPD:-0.1 CCERR:009
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:ôAHRS rotation from veh to nav: [[0.327669,-0.944746,-0.009374],[0.944791,0.327671,0.001347],[0.001799,-0.009298,0.999955]]˛2H †řÔ?@\;îż`Ł2�ż ş;î?ŔŹřÔ?Ŕ”V?ŕĂw]?`É
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@“Ą–Received valid acoustic ping at time: 1761350528.00. Resetting abort timer.é˘ŃɢŐš¸d˝)ŁŮ	˘ÝĹ6żiŁŮ)˘Ý˛2˝»éˇŮ‰˘Ůi˘Ý˘hÓ»‰¨áI©áťUtmodem://10: set _.others_observations nan n/a str none_strť]"#Outgoing data=50Ť]pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÚI©âIąO%
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:öAHRS rotation from veh to nav: [[0.308874,-0.951067,-0.008220],[0.951092,0.308901,-0.002149],[0.004583,-0.007154,0.999964]]˛2H —ÄÓ?%oîż pŐ€ż`Xoî?ŕĹÓ?ŕ3šaż:Ĺr?@kM}ż`´˙ď?i˛2Rň„?I˛24>^;‰˛2ť’CYč^@dAyč^ZHIńd)ńfĄ=éóf–=Éóf¬=bDjŃÎVDjOľ8y”vN˝%vJ=Ů”vćá»Q-vÝ>9•xI•x‘=z`Fy•z­©E–zI=ŃE~Ý>©­

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NöAHRS rotation from veh to nav: [[0.290400,-0.956874,-0.007721],[0.956877,0.290444,-0.005395],[0.007405,-0.005821,0.999956]]˛BHč•Ň?·žîż@ëźż@Ľžî?Ŕˇ–Ň?@‹vżŔ÷T~?@Ů×wżŁ˙ď?i˛Błl‡?I˛B9j^;‰˛Bž’CYčV)dAyčVLHbDbÓÎVDbQľ8y”jďdĽ%jK=Ů”nÜĺ»Q-nŢ>9•lI•p‘=r`Fy•rŻ©E–rE=ŃErŢ>©­tQ
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>öAHRS rotation from veh to nav: [[0.272785,-0.962043,-0.007882],[0.962016,0.272849,-0.008803],[0.010619,-0.005181,0.999930]]˛2H`NuŃ?ÉîżŔr$€żŔÖČî?€]vŃ?Q‚ż«ż…?€ý8uż m˙ď?i˛2Ɖ?I˛2ůě^;‰˛0YčFdAyčF3HÉî•
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>öAHRS rotation from veh to nav: [[0.255153,-0.966869,-0.007869],[0.966794,0.255237,-0.012749],[0.014335,-0.004355,0.999888]]˛6HnTĐ?€–đîż@Ę€żŔúďî? ĎUĐ?ŔŠż€˘[Ť?€­Öqż ˙ď?i˛6ĄŚ?I˛6i­^;‰˛6ť’CÔ`YčbdAyčbBH	ńdéđd­zĚonly read 0 of 1 data item for BIT error. Device response is::TS,00050103511230,4.4,   0.0,1504.8,  0
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:öAHRS rotation from veh to nav: [[0.238326,-0.971164,-0.006442],[0.971010,0.238404,-0.017424],[0.018457,-0.002103,0.999827]]˛2H€u�Î?`ĆďżŕXczż@�ď?„Î?€†×‘ż pć’?ŕ‹:aż –ţď?i˛2*UŽ?I˛2KO^;‰˛2ź’CYčF^dAyčFmHÔ
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:öAHRS rotation from veh to nav: [[0.209597,-0.977753,-0.008216],[0.977387,0.209744,-0.026872],[0.027998,-0.002398,0.999605]]˛2H ÔĘ?`ÁIďż@±Ó€żŕŔFď?čŘĘ?@h„›żs«ś?Ŕ9ĄcżŕĂüď?i˛2˝’?I˛2ŕ^;‰˛0YčFdAyčF?H©éH‰éHIń~–<)ń~Ň<bD
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VöAHRS rotation from veh to nav: [[0.187878,-0.982125,-0.011468],[0.981493,0.188172,-0.035543],[0.037065,-0.004578,0.999302]]˛FH _Č?`’mￌ|‡żŔchď?@
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FöAHRS rotation from veh to nav: [[0.178547,-0.983841,-0.013326],[0.983087,0.178938,-0.038993],[0.040747,-0.006139,0.999151]]˛6H ťÚĆ?€ {ďż čJ‹ż suď? pçĆ?@ÔöŁż Ěܤ?ŕO%yż 
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M˝<)ŁI	˘M?iŁQ)˘UˇţźĽéˇQ‰˘Qi˘UŤáMĽ‰¨YI©YťĹDAT read: 00:03:24.7711 LVL= 28864, 32753, 32754, 32755, AGC= 60, IDX= 366,-0.02,-2.037, 2.159, 3.031,-2.677, PHS= 0.742,-1.403,-0.620, RAW= 111.1,  13.5, CAL= 112.6,  15.4, ROT=  37.4, -15.4
ťÍYgot valid direction response:
 00:03:24.7711 LVL= 28864, 32753, 32754, 32755, AGC= 60, IDX= 366,-0.02,-2.037, 2.159, 3.031,-2.677, PHS= 0.742,-1.403,-0.620, RAW= 111.1,  13.5, CAL= 112.6,  15.4, ROT=  37.4, -15.4
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ť2DAT read: DATA(0002):~~
ťGot DATA 2ťNDAT read: Source:010  Destination:011
ť0Got Src/Dest after DATA ť%&DATA Src=10, Dst=11ť-‚DAT read: CRC:Pass MPD:07.8 PSNR:10.8 AGC:57 SPD:+0.8 CCERR:008
ť-Got CRC:Passť-Got CRC:Passť-@Incoming data is intended for usŤ-€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDÚI9âIIť­Got ackťµDAT read: 
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Ť˝ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť˝X#Rx 1: Read direction message, but no range.ťĹ\direction in FSK: [0.765891,0.585568,0.265556]éä‘yâ‘â•!‘ÉĐ.‚č?%0±ůĽâ?<�ßţĐ?ůá‘©â•ŔpÉâ•ńéâ‘	ă‘)ă•<I㕶ó=?iă•�•łż‰ă•R¸ż©ă•%3ř?Éă•:Fq>éă•Ťű?	ä• ť‰>Oí>EW
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:úAHRS rotation from veh to nav: [[-0.940479,-0.337336,-0.041284],[0.337484,-0.941325,0.003540],[-0.040056,-0.010603,0.999141]]˛2H€fîż`ę–Őżŕ,#Ąż@W™Ő?ŔTç˙l? 1‚¤ż=·…żŕöřď?i˛2
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"#Outgoing data=51ŤpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔE5X
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BúAHRS rotation from veh to nav: [[-0.944697,-0.325425,-0.040567],[0.325502,-0.945529,0.004877],[-0.039944,-0.008597,0.999165]]˛6Hŕő:îż@ÂÓÔż@+Ťż@ŐÔ?ŔĹAîż@ŕůs? Źs¤ż`u›�ż (ůď?i˛6fÝ%@I˛6ą�^;‰˛6ź’CYčJ°wAyčJNHbD
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:úAHRS rotation from veh to nav: [[-0.951947,-0.303438,-0.041505],[0.303398,-0.952835,0.007409],[-0.041796,-0.005539,0.999111]]˛2HŕXvîżŕ‡kÓż2@Ąż€ŕjÓ?ŕź}îż bY~? LfĄżS°vż ·řď?i˛2ŮZ'@I˛2ź˘^;‰˛2ž’CÔ|Yč
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BúAHRS rotation from veh to nav: [[-0.955351,-0.292410,-0.042441],[0.292276,-0.956287,0.009477],[-0.043357,-0.003351,0.999054]]˛6H ;’îżŕضҿ`㺥ż Ą´Ň?€ç™îż€�h�?Ŕí2¦ż °skż @řď?i˛6�(@I˛6eŤ^;‰˛6 ’CYčJ)wAyčJűHbDV-ĎVDVŁľ8y”^Z=˝%^[=Ů”^Ů�;Q-bî>9•`I•`‘=baFy•bŰŞE–fěţ<ŃEfî>©­hQ
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:úAHRS rotation from veh to nav: [[-0.958635,-0.281238,-0.043866],[0.281018,-0.959637,0.011227],[-0.045253,-0.001565,0.998974]]˛2H€#­îżŔË˙Ńż`Şu¦żŕ1üŃ?€Xµîż`óý†?ŕm+§ż n¤Yż™÷ď?i˛2ëŮ(@I˛2·°^;‰˛2ž’CYčFęvAyčFÔH©éH‰éJ?AIńJC=)ńJĄ=bDR<ĎVDR±ľ8y”Z§˝%ZM=Ů”^ľ›;Q-bß>9•`I•d‘=faFy•fŢŞE–j×ď<ŃEjŢ>©­pQ
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:řAHRS rotation from veh to nav: [[-0.968175,-0.245301,-0.049655],[0.244903,-0.969446,0.014036],[-0.051581,0.001429,0.998668]]˛2H Iűîż fĎżŕpl©ż€űXĎ? łďż żŚ? áhŞż€TiW? őď?i˛2§>+@I˛2‹©^;‰˛2ž’CYč^ĺuAyčb4H	ńQ
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:úAHRS rotation from veh to nav: [[-0.952883,-0.279408,-0.118087],[0.303319,-0.873461,-0.380872],[0.003275,-0.398745,0.917056]]˛2H`~îżŔĐáŃżŔí:ľżŕ“iÓ?dóëż 6`ŘżŕMÓj?€	…ŮżŔ…Xí?i˛2Ŕ`'@I˛2űÝ^;‰˛2ž’CYč

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núAHRS rotation from veh to nav: [[-0.933139,-0.334925,-0.130680],[0.359283,-0.855664,-0.372498],[0.012940,-0.394544,0.918786]]˛2HFÜíżŕgoŐżŕ!şŔżŕ~ţÖ?™aëż ×׿`Ś€Š?`5@ŮżŔ±fí?i˛2A”#@I˛2Ľ˝^;‰˛0Yčv•nAyčv´HbDe
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(>ÔÁť]Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522926E•U
E•CE•CE‘"E•ś:*E•ô09VE•5ZE‘BE•(Đ:a•Ą€2E•,Đ:aŤĄ€JE•ä9:a™Ą€:E•ç9:a‘Ą€ÔéÔ¤g?ÁŹ,[ ý?ÚA™±2�ż@ů±2{µ*@ą±2Ščě;ٱ2|kľ
:üAHRS rotation from veh to nav: [[-0.889605,-0.443197,-0.110361],[0.456674,-0.866961,-0.199571],[-0.007230,-0.227938,0.973649]]˛2HŔ¤wěż`V]Üż Ł@Ľż$:Ý?@$ľëż�‹Éż`ť}ż -Íż !(ď?i˛2�ż@I˛27š^;‰˛2ž’CYčF‚pAyčFäHbDVĎVDV…ľ8y”bžUĽ%f`=Ů”fˇ!şQ-jô>9•lI•l‘=naFy•nr«E–r˝š»ŃEró>©­tQ
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Ěx@é˘)ɢ-3ĹŽ;)ŁI	˘Mé=iŁQ)˘UV3	;éˇQ‰˘Qi˘UŰúUĽ‰¨YI©Y‚AŤuAzA‰ť˝Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775813Ôé¦AÁÚIŃâIáO-->ÔÔA	ťe
Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026901E­`
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VüAHRS rotation from veh to nav: [[-0.888025,-0.446108,-0.111355],[0.459749,-0.864962,-0.201174],[-0.006572,-0.229843,0.973206]]˛JH`˛jěż
ŤÜż`Á�Ľż �lÝ?@ŭ뿀ŔÉż ­ëzż |kÍż €$ď?i˛Jŕ†@I˛J�y^;‰˛J ’CYčn”pAyčnďHbDzÝÎVDzZľ8y”
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ÔQ¦A	ÚIâI)O…>ťĹBDAT read: Rx Time:00:04:05.5087
ťÍTRx dataTimestamp_ set to:1761350647.092992ťÍŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279849Ôy–Bu	RĎ>žBu	ľŹC˘Bu	óHŞBu	špA¶Bu	ź=ľBq	ĆBu	Ü»DÎBu	÷Ő;ŇBu	ߍEÔ©	ĺ˛t?ÁŹ,NµÓý?ÚA™±2Ć0@ů±2ą&*@ą±2•úĂ;ٱ29ăpľ
:üAHRS rotation from veh to nav: [[-0.885599,-0.450394,-0.113397],[0.464411,-0.861871,-0.203716],[-0.005981,-0.233074,0.972441]]˛2H€ÔVěżŔAÓÜż@“˝ż`ę¸Ý?€r”ëż`aĘżIxż^ŐÍżŔ;ď?i˛2Ć0@I˛2CŁ^;‰˛0Ô@YčJHpAyčJŔHéóNĄ=ÉóNa=	÷R–<éöR4<bDVńÎVDVlľ8y”^í@˝%^O=Ů”

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Úwăúüâwăúüňwëúü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwăúüâuy
rs‰
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ɢ­
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EµAEµOE±"Eµä&:*Eµ 9VEµą*5ZE±BEµÄ&;a•Ő€2EµÇ&;aŤŐ€JEµĆ:a™Ý€:EµÉ:a‘ĺ€Ô±¦AéÚI	âI)O�ÔŮťýDAT read: 00:04:05.5087 LVL= 22128, 32753, 31394, 32499, AGC= 66, IDX= 209, 0.40,-2.504, 1.589, 2.657, 3.069, PHS= 0.812,-1.435,-0.456, RAW= 115.8,  11.1, CAL= 116.9,  12.4, ROT=  33.1, -12.4
ť	Ygot valid direction response:
 00:04:05.5087 LVL= 22128, 32753, 31394, 32499, AGC= 66, IDX= 209, 0.40,-2.504, 1.589, 2.657, 3.069, PHS= 0.812,-1.435,-0.456, RAW= 115.8,  11.1, CAL= 116.9,  12.4, ROT=  33.1, -12.4
ť
	PDAT read: Bearing 320.2,  27.2 (Local)
ť	~Local bearing/azimuth received:
 Bearing 320.2,  27.2 (Local)
ť	–DAT read: Range 11 to 20 : 222.9 m  (Round-trip  297.3 ms) speed  0.0 m/s
ť%	R#Rx 1: Read range and direction messages.ť-	\direction in FSK: [0.818177,0.533363,0.214735]ť-	Fpublishing direction and range infoyâŃâŐÚĄ­Ô€.ę?Uľ;~Ná?ŤhČ`r|Ë?YâŐć^CůáŐ©âŐpVÉâŃéâŐ˘z	ăŐó~)ăŐBIăŐ;ßO?iăŐ®·ż‰ăŐŐxéľ©ăŐŹY
@ÉăŐ�aF>éăŐ”@	äŐkť]>)äŐhä?IäŐkť]ľ©äŃÉäщĺŐü�X%ąQď?˛Ý𚲿8BP&ŹČ?	ĺŐqĚ—˝)ĺŐłEľIĺŐhä?iĺŐkť]ľ©ĺŃÉĺŃIµ‰	Ô	
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:üAHRS rotation from veh to nav: [[-0.882922,-0.455194,-0.115093],[0.469489,-0.858704,-0.205442],[-0.005315,-0.235425,0.971878]]˛2H ć@ěż ç!Ýż`Âv˝ż Ţ?Ŕ�zëżîKĘżFĹuż€d"Îż  ď?i˛2ąŇ@I˛2„^;‰˛2ž’CYčNüoAyčR‘H©ędÉędéęd	ëd)ëhiëh‰ëhÔlbDrđÎVDrkľ8y”z×8˝%zF=Ů”~óŘşQ-~Ţ>9•|I•

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Ŕzfýú<Bęfůúňfůúúfýú4˘AÚfýúTCâfýú†ŻQ@“…–Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.颉ɢµĄ;)Ł±	˘µŔgşiŁ±)˘˝ě;项‰˘ąi˘˝�UĽ‰¨ÁI©Á’AőU?ŠAőR?Ô¦AáÚI	âI1’DĄ4=ŠDĄR=EĹY
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BüAHRS rotation from veh to nav: [[-0.880353,-0.459593,-0.117271],[0.474292,-0.855600,-0.207355],[-0.005038,-0.238167,0.971211]]˛:HŔÚ+ěż÷iÝż�ľż@ËZŢ?aëż`źŠĘżŕ5ŁtżA|Îż`)ď?i˛:}y@I˛:-q^;‰˛: ’CYč^ńoAyč^‹HÔ9
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büAHRS rotation from veh to nav: [[-0.878004,-0.463624,-0.119003],[0.478620,-0.853267,-0.207019],[-0.005562,-0.238721,0.971072]]˛RH`ś쿀¬ÝżővľżŔ·ˇŢ? ÷Mëż@šĘżŕPČvżgŽÎż@ď?i˛RË(@I˛RĄ‰^;‰˛Rť’CYčnŘoAyčn{H	ń9
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Úw�üüâw�üüňw‹üü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęw�üüâuqrs�zs�‚s�Šs…ßÚ“?Ť•ŚIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER颹ɢĹ´ôľ:)ŁÁ	˘ĹĽiŁÁ)˘Ĺ<;éˇÁ‰˘Éi˘ÍG-UĽ‰¨éI©ńÔÁ¦A=$ĹAÚIIâIYO•:>Ôů©ßE
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:üAHRS rotation from veh to nav: [[-0.876074,-0.466743,-0.121014],[0.482133,-0.851322,-0.206880],[-0.006462,-0.239588,0.970853]]˛2H ÍěżŔßÝżĚúľż CŰŢ?ŕ>ëż {Ęż`˙wzżĎŞÎżŔ:ď?i˛2"ç@I˛24t^;‰˛2ź’CYčv€oAyčvEHbDe
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Úw�üüâw�üüňw‹üü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęw�üüâurs!zs!‚s!Šs%7“?é˘AɢEŔŤě¸)ŁA	˘E˙ĽiŁA)˘Mä¦	;éˇI‰˘Ii˘M´×TĽ‰¨ŃI©ŮÚIéâIůÔ!O5.>ťĄ8setting remote address to 10ÔI–B	oĎ>žB	ÁŹC˘B	vHŞB	ĎoA¶B	ś=ľB	€DĆB	ß»DÎB	žÖ;ŇB	IŽEÚBŐČľŹCâBŐČ˝ŹCęBŐČ—�CňBŐČź=úBŐČź=CŐČ*6Ôyé
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:üAHRS rotation from veh to nav: [[-0.874284,-0.469530,-0.123166],[0.485346,-0.849855,-0.205392],[-0.008235,-0.239349,0.970899]]˛2HŔ!úëż@ÇŢż`ȇżżŕćß?€2ëż JJĘżŔśÝ€żŔű˘Îż@šď?i˛2ŢŞ@I˛2š^;‰˛0Yč^„oAyč^GHť
(DAT read: user:30>
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ť˝DAT read: 
ťĹ„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
ťĹcommRate: 600ťĹ0online mode acknowledgedŤÍzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔńÔm+›?ÁŹ,MŮnţ?ÚA™±2@t@ů±23j(@ą±2dÍ6<ٱ2 Mvľ
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>üAHRS rotation from veh to nav: [[-0.872767,-0.469556,-0.133396],[0.487438,-0.852967,-0.186688],[-0.026122,-0.227957,0.973321]]˛2H µí뿀6
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ť6TRx dataTimestamp_ set to:1761350659.441015™±B¸Ł@ů±B©™(@ą±BškÎ<ٱBXÖmľ
JüAHRS rotation from veh to nav: [[-0.873824,-0.467631,-0.133240],[0.485590,-0.853447,-0.189291],[-0.025195,-0.230107,0.972839]]˛BH ]öëż@¬íÝż€ÁżŔćß?ŔoOëż±:Čż@ŔĚ™ż`'tÍż`!ď?i˛B¸Ł@I˛Bô¦_;‰˛B ’CYčR3iAyčVeHIńZ=)ńZ%=bDbÎÎVDbLľ8y”fšż˝%jI=Ů”j’»Q-jŰ>9•hI•l‘=naFy•nĂ«E–n¤«;ŃErŰ>©­pQ
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üAHRS rotation from veh to nav: [[-0.874975,-0.466196,-0.130687],[0.483634,-0.854237,-0.190726],[-0.022722,-0.230085,0.972905]]˛jH Ě˙ëż )ÖÝżŕ[şŔż ÜóŢ?ŔéUëż µiČżŔxD—ż osÍżŕ	"ď?i˛jćČ@I˛jŮ´_;‰˛hYčM
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EťDEťRE™"Eť˘:*Eťa99VEťc45ZE™a•­@aŤ­@a™­@a‘­@ÔůÚI1âIIOuz>Ô)	ťMDAT read: 00:04:18.0064 LVL= 30480, 32753, 32754, 32755, AGC= 56, IDX= 441,-0.12, 3.120, 1.216, 2.405, 2.392, PHS= 0.830,-1.130,-0.030, RAW= 124.0,   3.9, CAL= 125.2,   5.2, ROT=  24.8,  -5.2
ť]Ygot valid direction response:
 00:04:18.0064 LVL= 30480, 32753, 32754, 32755, AGC= 56, IDX= 441,-0.12, 3.120, 1.216, 2.405, 2.392, PHS= 0.830,-1.130,-0.030, RAW= 124.0,   3.9, CAL= 125.2,   5.2, ROT=  24.8,  -5.2
ť]DAT read: 
ťe2DAT read: DATA(0002):
ťeGot DATA 2ťmNDAT read: Source:010  Destination:011
ťm0Got Src/Dest after DATA ťm&DATA Src=10, Dst=11ť}�DAT read: CRC:Fail {0001} MPD:04.0 PSNR:09.3 AGC:56 SPD:+0.3 CCERR:005
ť…®unknown deviceResponse_: CRC:Fail {0001} MPD:04.0 PSNR:09.3 AGC:56 SPD:+0.3 CCERR:005
ť•DAT read: 
ť"DAT read: <EOP>
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füAHRS rotation from veh to nav: [[-0.875814,-0.465434,-0.127752],[0.482269,-0.854399,-0.193441],[-0.019117,-0.231029,0.972759]]˛^H ¬ěż ŞÉÝż€*ZŔż@ÝŢ?ŕ;W뿬ÂČż`c““żŕ[’Íż€× ď?i˛^!ă@I˛^é_;‰˛\ňAn@AęAn@A–BrŻĐ>žBrăŹC˘Br§HŞBrťiA¶BpľBpĆBrú»DÎBrŁŰ;ŇBrˇ‘E	äUýŢŢą=)äUýkťÝ>IäUýŢŢą˝©äQý‰ĺUý´÷(óvŘď?>ŤĹ˛?¸Iő낱?	ĺUýy‹�=)ĺUýg3Ś˝IĺUýkťÝ>iĺUýŢŢą˝Yč}
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ZüAHRS rotation from veh to nav: [[-0.876001,-0.465965,-0.124493],[0.482075,-0.853948,-0.195899],[-0.015029,-0.231623,0.972690]]˛NHŕ3ěż ^ŇÝżŕĹŢżż OÚŢ?€‹Sëż 8Éż`CÇŽż€ĐĄÍżF ď?i˛Nfç@I˛Nŕ_;‰˛LYč~őhAyč~?HbDe
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:üAHRS rotation from veh to nav: [[-0.875490,-0.467864,-0.120915],[0.483108,-0.853181,-0.196696],[-0.011135,-0.230620,0.972980]]˛2Hěż{ńÝż Fôľż<ëŢ?@BMëżŔU-ÉżΆż`÷„Íż@§"ď?i˛2�Ô@I˛2j`;‰˛2ź’CYčF	iAyčFKHÔtbD

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:úAHRS rotation from veh to nav: [[-0.764638,-0.608586,-0.212018],[0.640605,-0.681824,-0.353187],[0.070386,-0.405880,0.911212]]˛2H@ęwčż ‰yăżŔe#Ëż€Őä?�Ńĺż@źšÖżŔҲ?€đůŮżŕĄ(í?i˛2Yx@I˛2ěc;‰˛2 ’CYčFPgAyčF<H©ęXÉęXéę\	ë\)ë\ië\‰ë\Ińbá=)ńbbDftÎVDfů˝8y”n†ŹĽ%nO=Ů”r,ĽQ-râ>9•pI•p‘=vaFy•v¬E–v¤I˝ŃEvâ>©­xQ
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búAHRS rotation from veh to nav: [[-0.752349,-0.622976,-0.214175],[0.654562,-0.670276,-0.349684],[0.074289,-0.403276,0.912058]]˛VH ?čżŔkď㿀jËż ,ňä?ćrĺżŔ9aÖżŔ“ł?@DĎŮż ”/í?i˛VćF
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^AqÔˇŤínManaging dock network, ignoring radio surface power off¦A	ÎÇAÚI	âI!	OU	ś>–BŰĐ>žB
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BúAHRS rotation from veh to nav: [[-0.740014,-0.637139,-0.215484],[0.668071,-0.659214,-0.345134],[0.077848,-0.399362,0.913482]]˛6H€1®çż qc俀ů”Ëż ×`ĺ?€Hĺż@¬Öż@Ýíł? 'ŹŮż€>;í?i˛6T@I˛6µőb;‰˛6ť’CYč^ŘgAyčb�HbD%
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:úAHRS rotation from veh to nav: [[-0.727818,-0.650308,-0.217672],[0.680952,-0.647770,-0.341610],[0.081150,-0.396855,0.914287]]˛2H`HJçżRĎäż±ÜËż€\Ęĺ?ŕ�şäż€ńÜŐżŔ?Ć´?ŕfŮż@×Aí?i˛2Íö
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>úAHRS rotation from veh to nav: [[-0.715702,-0.663144,-0.219113],[0.693251,-0.636505,-0.338031],[0.084696,-0.393830,0.915273]]˛2H çćż y8ĺż ĺĚż /ć?@?^äżŕJ˘Őż@©®µ?ŕ€4ŮżŔęIí?i˛2Ű	@I˛2I:a;‰˛0YčF”hAyčFHbD	
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BDAT read: Rx Time:00:04:32.1023
ťŤ
TRx dataTimestamp_ set to:1761350673.560935ÔQ^A]¬źď=’AeT?ŠAeQ?EÍ\
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BúAHRS rotation from veh to nav: [[-0.690546,-0.688594,-0.221327],[0.717455,-0.613333,-0.330274],[0.091678,-0.386862,0.917569]]˛:H@óćż`őćżŕpTĚż€dőć?ŕk ăż 7#Őż3x·?ŔWÂŘżş\í?i˛:Ţś@I˛:>Őa;‰˛:ź’CYčJLiAyčJuHbDVäÍVDVu˝8y”^Í=%^6=Ů”^߼Q-^Ç>9•`I•`‘=baFy•b¬E–fŮź˝ŃEfĆ>©­hQ
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Úwčüâwčüňwčü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwčüâu!
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FúAHRS rotation from veh to nav: [[-0.677697,-0.701019,-0.222034],[0.729155,-0.601547,-0.326302],[0.095180,-0.383031,0.918819]]˛:H`±Żĺż żnćżŕ›kĚż =Uç? ŕ?ăż#âÔż»]¸?Ŕ•�Řż@öfí?i˛:ň~@I˛:aîa;‰˛:ž’CYčNśiAERX
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IŤ´?™«}#ŐCI­}Öü:i­}ßú:‰­}°O€4y®µ	«BÉ®µŐŤBą®µ¸˛EjwÁ‚wÉúvÉęvÉşvÉŠvÉZvńÚwóčüâwóčüňwűčü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwóčüâu	rs=3Ä=zs=3Ä=‚s=s~@Šs=/‚Ž@é˘yɢ}†
1˝)Ł…[YŞĽ	˘…uĚľiŁ�)˘…3SŹĽéˇ�‰˘�i˘…™Pń»‰¨©I©±ÔŃÔůťMDAT read: 00:04:32.1023 LVL= 32688, 32753, 32754, 32755, AGC= 50, IDX= 401,-0.48,-2.860, 1.475, 1.973, 2.522, PHS= 1.003,-1.002,-0.593, RAW= 101.1,   6.5, CAL= 101.8,   6.4, ROT=  48.2,  -6.4
ťUYgot valid direction response:
 00:04:32.1023 LVL= 32688, 32753, 32754, 32755, AGC= 50, IDX= 401,-0.48,-2.860, 1.475, 1.973, 2.522, PHS= 1.003,-1.002,-0.593, RAW= 101.1,   6.5, CAL= 101.8,   6.4, ROT=  48.2,  -6.4
ťUDAT read: 
ť]2DAT read: DATA(0002):~~
ť]Got DATA 2ťeNDAT read: Source:010  Destination:011
ťe0Got Src/Dest after DATA ťm&DATA Src=10, Dst=11–B…ŰĐ>žB�˘B…oHŞB…ăjA¶B…›=ľB�ĆB�ÎB…¶ŕ;ŇB…t”EÚB
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ÇňBÇ›=úBÇ›=CÇI.5ťĄ‚DAT read: CRC:Pass MPD:03.6 PSNR:12.4 AGC:54 SPD:+0.6 CCERR:010
ť­Got CRC:Passť­Got CRC:Passťµ@Incoming data is intended for usŤ˝€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť˝Got ackťĹDAT read: 
ťÝ"DAT read: <EOP>
ŤĺŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťĺX#Rx 3: Read direction message, but no range.ťí\direction in FSK: [0.662379,0.740830,0.111469]éäyââźÜí–42ĺ?ă—1bá´ç?-§V:‰Ľ?ůá©â°Éâéâ	ă)ă2IăNb€?iă‰A€ż‰ăŮÎż©ăÜá?Éă–Vč=éăclă?	ä�Ăä=)ä\W?Iä�Ă佩ä‰ĺłô¤HÁî?î
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qV€4y®-˙ŞBÉ®-ŔŤBą®)jwa‚waúvaęvaşvaŠvaZviť}tmodem://10: set _.others_observations nan n/a str none_strť}"#Outgoing data=54Ť}pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÚwSďüâwSďüňw[ďü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwSďüâuárszs‚sŠsëŤ@“%–Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.é˘QɢU†ę5˝)ŁY	˘]eÁľiŁY)˘]sÄ‘ĽéˇY‰˘Yi˘]-ňö»‰¨aI©aEµY
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:úAHRS rotation from veh to nav: [[-0.639382,-0.733012,-0.232129],[0.761822,-0.563106,-0.320218],[0.104010,-0.381583,0.918464]]˛2H ŃuäżŔŐtçż`j¶Íż`Ř`č?@öâż r~Ôżŕf ş? ŮkŘż@dí?i˛2ëA@I˛23b;‰˛2ž’CißpIßrŔAYč~kAyč~…H–B%
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:úAHRS rotation from veh to nav: [[-0.312133,-0.894570,-0.319872],[0.945067,-0.257970,-0.200750],[0.097067,-0.364961,0.925949]]˛2H@űůÓż€P ěż ÉxÔż ü=î?ŕ“‚Đż@)˛Éżŕbٸ? †[׿€_ˇí?i˛2ŢřŐ?I˛2`;‰˛2ś’CYčBzAyčFËHbD
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BúAHRS rotation from veh to nav: [[-0.299095,-0.898094,-0.322443],[0.949686,-0.247249,-0.192264],[0.092947,-0.363724,0.926858]]˛6H@a$Óż€/˝ěż€ć˘ÔżÓcî?ŮĄĎżśČż€eË·?€BG׿ Ń¨í?i˛6Ä1Ô?I˛6+@_;‰˛6ź’CYčJËzAyčJ7H	ń|éđ|©ó

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ť-DAT read: 00:04:43.2026 LVL= 22064, 32753, 32754, 31731, AGC= 49, IDX= 451, 0.26,-2.720, 2.666, 1.667, 2.783, PHS= 0.882,-0.073,-1.160, RAW=  57.8,   4.0, CAL=  57.3,   2.4, ROT=  92.7,  -2.4
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 00:04:43.2026 LVL= 22064, 32753, 32754, 31731, AGC= 49, IDX= 451, 0.26,-2.720, 2.666, 1.667, 2.783, PHS= 0.882,-0.073,-1.160, RAW=  57.8,   4.0, CAL=  57.3,   2.4, ROT=  92.7,  -2.4
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ÔŃť-BDAT read: Rx Time:00:04:54.3046
ť-TRx dataTimestamp_ set to:1761350695.737043Ô
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ZöAHRS rotation from veh to nav: [[0.218321,-0.908116,-0.357297],[0.975304,0.190502,0.111760],[-0.033425,-0.372873,0.927280]]˛RH€íńË?`IíżŔőÝÖżŔ±5ď?ŕZbČ?ŔKśĽ? ˇż€'Ý׿@G¬í?i˛Rĺó�?I˛RD_;‰˛Rž’CYčb�Ayčb!HňAI
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ąa׼‰¨	I©ťíDAT read: 00:04:54.3046 LVL= 25904, 32753, 32754, 32755, AGC= 49, IDX= 373, 0.03, 0.997, 0.782,-0.884, 1.065, PHS= 0.033,-0.238,-1.993, RAW=  37.1,  22.2, CAL=  33.9,  26.0, ROT= 116.1, -26.0
ťőYgot valid direction response:
 00:04:54.3046 LVL= 25904, 32753, 32754, 32755, AGC= 49, IDX= 373, 0.03, 0.997, 0.782,-0.884, 1.065, PHS= 0.033,-0.238,-1.993, RAW=  37.1,  22.2, CAL=  33.9,  26.0, ROT= 116.1, -26.0
ťőDAT read: 
ťý2DAT read: DATA(0002):~~
ťýGot DATA 2ťNDAT read: Source:010  Destination:011
ť0Got Src/Dest after DATA ť&DATA Src=10, Dst=11ť‚DAT read: CRC:Pass MPD:03.8 PSNR:12.9 AGC:50 SPD:-1.1 CCERR:009
ťGot CRC:PassťGot CRC:Passť@Incoming data is intended for usŤ%€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť%Got ackÔ!ť-DAT read: 
ť-"DAT read: <EOP>
Ť5ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť5X#Rx 5: Read direction message, but no range.ť=^direction in FSK: [-0.395415,0.807142,0.438371]éä©yâ©â­Ăk�yNŮżb¸Ľ;Ôé?3ÁÓEÜ?ůá©©â­0eÉâ©éâ©	ă­ó)ă©Iă­+=iă­F¶sľ‰ă­ ˙ż©ă­ŻĂ%?Éă­�aĆ>éă­ww?	ä­–Vč>)ä­XŻ
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I©	ę@!â@%G>ÔˇŤÍzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY^A±Ô٦Aá	ÚIé	âI

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:öAHRS rotation from veh to nav: [[0.259589,-0.900016,-0.350121],[0.964773,0.225650,0.135258],[-0.042730,-0.372899,0.926887]]˛2H@ťĐ? íĚěż chÖż lßî?ŕâĚ?%PÁ?@°ŕĄż •Ý׿ ©í?i˛2,‹?I˛2í~_;‰˛2 ’CYčB:�AyčFc!HbDN1ÍVDNĐĽ8y”Vre<%VÔ<Ů”ZĚ<Q-Zî>9•ZÎH?I•^ÎH?‘=^bFy•^¶¬E–^Qé˝ŃE^î>©­`Q
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:öAHRS rotation from veh to nav: [[0.273226,-0.897874,-0.345209],[0.960903,0.238010,0.141480],[-0.044868,-0.370369,0.927801]]˛2Hŕ�|Ń?c»ěżŔçÖż€·żî? wÎ?ŔÂ?@űř¦ż ´×ż‹°í?i˛2>®‰?I˛2™U_;‰˛2ť’CYčJ=�AyčJf!HyôM
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:öAHRS rotation from veh to nav: [[0.367372,-0.873995,-0.318072],[0.928245,0.323105,0.184295],[-0.058302,-0.362953,0.929982]]˛2HŔ�×?@Ĺ÷ëż`I[Ôż .´í?Á­Ô? ů–Ç?`ËŮ­ż  :׿ŕhÂí?i˛2oÎy?I˛2äź_;‰˛0ňA@ęAB@A–BFgĎ>žBFżŹC˘BF;!HŞBF�A¶BDľBDĆBDÎBF,ß;ŇBFÓ’EYčV©‚AyčV° HbD%
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NöAHRS rotation from veh to nav: [[0.384670,-0.868812,-0.311761],[0.921039,0.338965,0.191808],[-0.060969,-0.360927,0.930599]]˛6HŕlžŘ?ŕNÍëż@äóÓż&yí?ŕ›±Ő?@*ŤČ?@R7Żżŕk׿ŕwÇí?i˛6>u?I˛6Č_;‰˛6ž’CYčVQ‚AyčZE HbDbÎĚVDbuĽ8y”jfă˝%jT=Ů”n-ă;Q-nç>9•lI•p‘=rbFy•rʬE–vG˝ŃEvç>©­|Q
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EťEE™E™"E™*EťÎA9VE™ZE™a•Ą@aŤĄ@a™Ą@a‘Ą@Ôą¦AÁ	ÚIŃ	âIá	Iµů	O
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:öAHRS rotation from veh to nav: [[0.540600,-0.806930,-0.237939],[0.836646,0.486028,0.252586],[-0.088174,-0.335619,0.937862]]˛2H™Lá?€_Ňéż ÇtÎżÎĹę?ŕß?@_*Đ?ŕ�’¶ż ÇzŐż€÷î?i˛2PlG?I˛2Ç^;‰˛2 ’C©Â@ÉÂBár@iÂ@IÂ@‰Â@éĂD	ÄD©ĂF›DĽ‰ĂDÉĂD‰ÄH©ÄJ+{AIÄJ&˝@)ÄHiÄH)ĹN™�CIĹN
{AéÄLÉÄL	ĹLÉĹRf�CéĹRőzA‰ĹPiĹP©ĹPiĆP‰ĆP)ĆT	ĆTIĆT	ÇT)ÇTÉĆT©ĆXéĆXY·XYčnr€Ayčn÷HbDĄ
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Vt‚4y®-“¬BÉ®-vŚBą®-é±Eť=Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953jwI‚wIúvIęvQşvQŠvQZvQÚwóíüâwóíüňwűíü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwóíüâuqrs�zs�‚s�Šs…
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 e4Initializing EZServoServo.ÔÁ
 ý6Initializing ElevatorServo.Ú@	Ň@	Ôůťí	Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900^Aa’AuN?ŠAuN?EµZ
EµFE±E±"EµŔ:*Eµ;J9VE±ZE±BEµk;a•í€2Eµn;aŤő€JEµ’e:a™ý€:Eµ”e:a‘€Ô¦AÉ
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öAHRS rotation from veh to nav: [[0.554284,-0.799349,-0.231970],[0.827445,0.499056,0.257445],[-0.090022,-0.334640,0.938036]]˛
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öAHRS rotation from veh to nav: [[0.568470,-0.790561,-0.227720],[0.817533,0.511840,0.263930],[-0.092096,-0.336204,0.937275]]˛:H@ç0â?ŕELéżŕé%Íż€;)ę?@˙`ŕ?ŕ8äĐ?@ź“·żŔ^„Őżŕ(ţí?i˛:•Ľ>?I˛:č˛^;‰˛:ź’CÔ‘
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FöAHRS rotation from veh to nav: [[0.582689,-0.781821,-0.221875],[0.807207,0.525094,0.269617],[-0.094287,-0.336202,0.937058]]˛:HdĄâ?®éż jfĚżŕŁÔé? ‘Íŕ?gAŃ?-#¸ż V„Őż€aüí?i˛:é7:?I˛:äĚ^;‰˛:ž’CYčf]AyčfHbDr,ĚVDrŕ»8y”vŔÜ˝%ze=Ů”z	Ę;Q-zú>9•|I•|‘=~bFy•~đ¬E–
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ť%BDAT read: Rx Time:00:05:05.4094
ťUTRx dataTimestamp_ set to:1761350706.834517ťmŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.036246Ô™E˝\
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I©	ÔńťŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528155Ô!^Ať¬źď=EÍd
EÍEEÍXEÉ"EÍ9:*EÍÎA9VEÍ·G5ZEÉa•Ý@aŤÝ@a™Ý@a‘Ý@¦Aé–B	>Đ>žB	ÖŹC˘B	HŞB	_A¶B	ˇ=ľB	ÔI	ÚIQ	âIa	ĆB	đ»DÎB	dÝ;ŇB	P’EO˝	Ł>Bş8CÁŹ,(›ä?ÚAÔťJDAT read: 00:05:05.4094 LVL= 32752, 30017, 32754, 32755, AGC= 50, IDX= 365,-0.19, 0.434, 1.440,-0.393, 1.057, PHS=-0.522, 0.428,-1.494, RAW=   0.4,  18.6, CAL=   0.6,  23.0, ROT= 149.4, -23.0
ťNYgot valid direction response:
 00:05:05.4094 LVL= 32752, 30017, 32754, 32755, AGC= 50, IDX= 365,-0.19, 0.434, 1.440,-0.393, 1.057, PHS=-0.522, 0.428,-1.494, RAW=   0.4,  18.6, CAL=   0.6,  23.0, ROT= 149.4, -23.0
ťRDAT read: 
ťR2DAT read: DATA(0002):~~
ťRGot DATA 2ťVNDAT read: Source:010  Destination:011
ťV0Got Src/Dest after DATA ťZ&DATA Src=10, Dst=11ť^‚DAT read: CRC:Pass MPD:03.7 PSNR:11.0 AGC:53 SPD:-2.0 CCERR:009
ť^Got CRC:Passť^Got CRC:Passť^@Incoming data is intended for usŤ^€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťbGot ackťbDAT read: 
ťb"DAT read: <EOP>
ŤfŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťfX#Rx 1: Read direction message, but no range.ťj^direction in FSK: [-0.792317,0.468575,0.390731]éä0yâ0â2ů2Ď�©Zéż’pÔ"ýÝ?dK˝
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öAHRS rotation from veh to nav: [[0.610072,-0.763527,-0.211752],[0.786177,0.550022,0.281781],[-0.098679,-0.338382,0.935821]]˛zH µ…ă? ĐnčżŔłËż ](é?@Č™á?€łŇ? Cąż@¨Őż@>ňí?i˛z«V1?I˛zoŐ^;‰˛z ’C)ä2Łá&@Iä2¬‡Íľ©ä0‰ĺ2T)‹QůÝżgČ�á[꿯íÖ:ktÔ?	ĺ2LžŔ)ĺ2vŹ¦ľIĺ2Łá&@iĺ2¬‡Íľéä0yâ0â2ů2Ď�©Zéż’pÔ"ýÝ?dK˝
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>öAHRS rotation from veh to nav: [[0.623080,-0.753849,-0.208526],[0.775720,0.561448,0.288156],[-0.100150,-0.341302,0.934603]]˛2HŔDđă?€�čżú°ĘżłŇč?`b÷á?@'qŇ?€mŁąż ä×Őż Dčí?i˛2r-?I˛2őą^;‰˛2ž’CYčF7~AyčFQHyô
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öAHRS rotation from veh to nav: [[0.636211,-0.743474,-0.206112],[0.764842,0.572726,0.294959],[-0.101248,-0.345299,0.933015]]˛vH Ř[ä?‰Ęçż`ŕaĘż –yč?€ĆSâ?@šŕŇ?@fëążŕaÖż BŰí?i˛v8¨(?I˛v8Ë^;‰˛vś’CYč
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ťŤ„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
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:öAHRS rotation from veh to nav: [[0.649198,-0.732752,-0.204000],[0.753762,0.583843,0.301611],[-0.101902,-0.349573,0.931351]]˛2H@;Ćä? ´rçż`ŻĘż`Ňč?Ř®â?ŕ™MÓ? Bşżi_Öż` Íí?i˛2¤C$?I˛2:ż^;‰˛2ź’CYčB?}AyčFąHÔY
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öAHRS rotation from veh to nav: [[0.880400,-0.465390,-0.091144],[0.462234,0.799172,0.384270],[-0.105996,-0.380442,0.918711]]˛=
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E­KE­YE©"E­=:*E­]t9VE­ďJ5ZE©BE­˛Ü:a•˝€2E­·Ü:aŤ˝€JE­/—:a™˝€:E­1—:a‘˝€ÚwŁîüâwŁîüňw«îü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwŁîüâuÉrsÝ9>zsÝ9>‚sݧ~?ÔáŠsÝ˝…Ą>é˘
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>öAHRS rotation from veh to nav: [[0.887368,-0.452902,-0.086356],[0.448987,0.806256,0.385177],[-0.104823,-0.380566,0.918793]]˛6H Reě?ŔXüÜż@e¶żŕ5ĽÜ? ŮĚé? ˝¦Ř? ŞŐşż3[Řż€Áfí?i˛6
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BDAT read: Rx Time:00:05:17.0164
ťTRx dataTimestamp_ set to:1761350718.421270¦AąEĹ[
EĹDEĹKEÁ"EĹa:*EĹa99VEĹ×5ZEÁa•Í@aŤÍ@a™Í@a‘Í@ÚIŮâIéOn>ÔqB‘úA‘–BťąĐ>žBťăŹC˘Bť˘HŞBť·qA¶Bťź=ľB™ĆBťú»DÎBť˝ŕ;ŇBťb”EÔˇ
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VöAHRS rotation from veh to nav: [[0.893736,-0.440961,-0.082398],[0.436463,0.812345,0.386776],[-0.103618,-0.381640,0.918485]]˛NH|™ě?€µ8Üżŕ
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böAHRS rotation from veh to nav: [[0.899412,-0.429944,-0.078776],[0.425006,0.818100,0.387404],[-0.102116,-0.381916,0.918538]]˛ZHŕűÇě?Ŕ5„Űż Ą*´żM3Ű?`ŕ-ę?:ËŘ?B$şżŕOqŘż`Şdí?i˛Z{©d>I˛Zż^;‰˛XYču
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ÚwCňüâwCňüňwKňü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwCňüâuArsizsi‚siŠsmÍüŽ>é˘!ɢ%<K=)Ł)	˘-�Ĺ;iŁ1)˘5îiI=éˇ1‰˘1i˘5ŹąÜĽ‰¨II©Qť˝DAT read: 00:05:17.0164 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=   2, 0.19, 1.058, 2.310, 0.639, 1.134, PHS= 0.026, 1.221,-0.539, RAW= 348.3,  -9.1, CAL= 348.0, -12.2, ROT= 162.0,  12.2
ťÍYgot valid direction response:
 00:05:17.0164 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX=   2, 0.19, 1.058, 2.310, 0.639, 1.134, PHS= 0.026, 1.221,-0.539, RAW= 348.3,  -9.1, CAL= 348.0, -12.2, ROT= 162.0,  12.2
ťÍDAT read: 
ťŐ2DAT read: DATA(0002):~~
ťÝGot DATA 2ťĺNDAT read: Source:010  Destination:011
ťĺ0Got Src/Dest after DATA ť%&DATA Src=10, Dst=11ť-‚DAT read: CRC:Pass MPD:07.9 PSNR:09.5 AGC:68 SPD:-1.4 CCERR:007
ť5Got CRC:Passť5Got CRC:Passť5@Incoming data is intended for usŤ5€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť5Got ackť5DAT read: 
ť="DAT read: <EOP>
Ť=ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť=X#Rx 2: Read direction message, but no range.ťu`direction in FSK: [-0.929578,0.302038,-0.211325]éä�yâ�â…Á›PŇżíżâ6Ü—TÓ?µ\é°Ëżůá…
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忬;ä™çżăÎŤ´*SÄż	ĺ�)ĺ�Iĺ�iĺ�Ô)ť%tmodem://10: set _.others_observations nan n/a str none_strť%"#Outgoing data=54Ť%pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔYč$÷CÁŹ,ýöÝ?ÚA™±2Z”X>ů±2‡ůŰ>ą±2šIÎ=ٱ2Ő|Éľ
:öAHRS rotation from veh to nav: [[0.904509,-0.419756,-0.075294],[0.414431,0.823563,0.387286],[-0.100556,-0.381508,0.918880]]˛2HĽńě?ŔGÝÚż{FłżŔ†Ú?ŔˇZę?ŕKÉŘ? ľąż jŘżŔvgí?i˛2Z”X>I˛2ĺ™^;‰˛2ť’CEBW
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kh�4y®-ł­BÉ®-ĚŹBą®-µ±EÔ1jwY‚waúvaęvaşvaŠvaZvaÚwńüâwńüňwńü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwńüâuŃrsŮzsŮ‚sŮŠsÝĺő‰>“–Received valid acoustic ping at time: 1761350656.00. Resetting abort timer.é˘!ɢ%Ô‹;=)Ł!	˘%�D˝iŁ!)˘-aAI=éˇ)‰˘)i˘-+FŰĽ‰¨qI©q’A…M?ŠA…P?ÔaÚI‰âIˇOíF>Ť}zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔ‰Ôą!QýCÁŹ,ěÚ÷?ÚA™±5
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FöAHRS rotation from veh to nav: [[0.914983,-0.397588,-0.068779],[0.391702,0.834340,0.387874],[-0.096829,-0.381839,0.919142]]˛2Hŕ‰Gí?rŮż€}›±ż`¦Ů?é˛ę?`ďŇŘ? ÍɸżpŘż`ťií?i˛2bÔ>>I˛2đµ^;‰˛0YčVnAyčViHbDe
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Úw�őüâw�őüňw‹őü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęw�őüâu	rszs‚sŠsa$Č?é˘9ɢ=Î%=)ŁA	˘EŚň˝iŁA)˘EşŞH=éˇA‰˘Ai˘E
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BöAHRS rotation from veh to nav: [[0.920701,-0.384772,-0.065269],[0.378596,0.839988,0.388698],[-0.094735,-0.382585,0.919051]]˛:H@bví?  Řż`wµ°ż`é:Ř? -áę?ŔmŕŘ? Ś@¸żG|Řż Ühí?i˛:Đ0>I˛:—~^;‰˛:›’CYč^çmAyč^JHIń=
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>öAHRS rotation from veh to nav: [[0.926736,-0.370664,-0.061394],[0.364005,0.845309,0.391092],[-0.093067,-0.384787,0.918301]]˛6H@ѧí?@÷¸×żŔoŻżŔÜK×?@Ĺë?Ŕ§Ů?`?Ó·ż X ŘżŔąbí?i˛6žá>I˛6/…^;‰˛6ž’CÔLYčRbmAyčRřHbD-
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ťe	!unknown deviceResponse_: 00:05:28.1235 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 491, 0.05, 2.430,-2.085, 2.884, 2.843, PHS=-0.311, 1.401,-0.002, RAW= 320.3, -L= 320.6, -17.3, ROT= 189.4,  17.3
ťe	DAT read: 
Ôi	ťu	2DAT read: DATA(0002):~~
ť}	Got DATA 2ť…	NDAT read: Source:010  Destination:011
ť…	0Got Src/Dest after DATA ť…	&DATA Src=10, Dst=11ť•	‚DAT read: CRC:Pass MPD:03.6 PSNR:10.0 AGC:63 SPD:-0.9 CCERR:008
ť•	Got CRC:Passť•	Got CRC:Passťť	@Incoming data is intended for usŤť	€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťť	Got ackťť	DAT read: 
ťĄ	"DAT read: <EOP>
Ť­	ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERéä	˘˝ĄDÁŹ,�?ÚAÔ™±22)Â@ů±2h";ą±2ÍU=ٱ2C¶Đľ
>ôAHRS rotation from veh to nav: [[0.998635,-0.022959,0.046916],[0.002475,0.918005,0.396562],[-0.052174,-0.395904,0.916808]]˛2H@Ńôď?@�‚—ż@`¨? ęEd?@K`í?ŔDaŮ?Ŕ…¶Şż@VŮż€~Ví?i˛22)Â@I˛2h^;‰˛2ś’CYčf“dAyčfŤHIń=
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ű&„4y®–®BÉ®’Bą®±±Ejw)‚w)úv)ęv)şv1ŠvQZvQÚwsöüâwsöüňw{öü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwsöüâuirs™zs™‚s™Šsť´Šî?é˘ŮɢÝ0Ľ)Łá	˘ĺĹ6żiŁá)˘ĺ›Z#=éˇá‰˘ái˘ĺf󭼉¨éI©‚A!zA!Ôiťutmodem://10: set _.others_observations nan n/a str none_strť}"#Outgoing data=54Ť}pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT¦A)ÚI9âIIBiúAi–BuĐĐ>žBućŹC˘Bu
HŞBu|eA¶BqľBqĆBuü»DÎBu�á;ŇBuă”EO•;>E%Y
E%IE%XE!"E%:*E%‚c9VE%·G5ZE!BE%'
;a•-€2E%*
;aŤ-€JE% �:a™5€:E%ˇ�:a‘5€Ô™ÔÁ	Ť%zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYOë«DÁŹ,ţ±?ÚAÔH™±RďˇÁ@ů±RĺśČ@ą±RśKJ=ٱR”ÝĎľ
ZöAHRS rotation from veh to nav: [[0.998682,-0.006603,0.050893],[-0.014016,0.918896,0.394251],[-0.049368,-0.394444,0.917593]]˛RH€4őď?´{żŕźŞ?2´Śż �gí?`g;Ů?ŕŃF©ż ”>Ůż@ë\í?i˛RďˇÁ@I˛RČR^;‰˛R›’CYčbRdAyčfeHbDnůËVDn±»8y”v›+˝%vV=Ů”zń»Q-zę>9•|I•|‘=~bFy•~�­E–~1˝ŃE
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Q
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ɢŤ
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E-	BE-	UE)	"E-	˘:*E-	†(9VE-	
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Ďľ
:ôAHRS rotation from veh to nav: [[0.998451,0.009510,0.054828],[-0.030282,0.919474,0.391982],[-0.046685,-0.393035,0.918338]]˛2H€Nóď?€Őy�? [¬?@Rźż`Ulí?€<Ů?ŕ秿ŕ|'Ůż€cí?i˛2�Á@I˛2d^;‰˛0YčFđcAyčF)HbDNűËVDNł»8y”Vżv˝%VO=Ů”Z8ß»Q-Zâ>9•XI•X‘=^bFy•^‹­E–^4)˝ŃE^â>©­`Q
5f„4ůŞbď;Šä?Q
9f„4«b”÷
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Úwňüâwňüňwňü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwňüâu‘
rsÉ
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ŠsÍ
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ɢ\qRĽ)Ł
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–BeÓĐ>žBa˘Be HŞBe±dA¶Bež=ľBe€DĆBaÎBeäá;ŇBe•EbEĹËÇ25jEĹËI75rEĹËÎĘ1E=X
E=AE=LE9"E=~
:*E= 9VE=!5ZE9BE=Ćő:a•M€2E=Ëő:aŤM€JE=Ć:a™U€:E=É:a‘U€Ëř¸DÁŹ,sˇĺ?ÚA™±2&šŔ@ů±2•Ç@ą±2Oz4=ٱ2˙2Îľ
:ôAHRS rotation from veh to nav: [[0.997962,0.025274,0.058594],[-0.046172,0.919808,0.389642],[-0.044048,-0.391554,0.919100]]˛2HŔMďď?€má™?€®?`ࣧż`oí?@ćďŘ?€kŤ¦żŔ6Ůż`Eií?i˛2&šŔ@I˛2ÔO^;‰˛2ť’CÔy
YčŐÉcAyčŐH©éىéŮ©ę
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éę		ë	)ë	ië	‰ë	Éö©öAAbDĚVDĹ»8y”-f Ľ%-(=Ů”5˛»Q-5·>9•1I•1‘=5bFy•=Ž­E–=*˝ŃE=·>©­AQ
5M„4ůŞEť<Šä?Q
9M„4«Eô÷
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IUş?™«EÇđCI­E@;i­EŹ;‰­Eô<„4y®]¶®BÉ®]=’Bą®]˛±Ejwq‚wqúvqęvqşvqŠvyZvyÚwCôüâwCôüňwKôü`41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000ęwCôüâu‘rsˇzsˇ‚sˇŠsĄLÜć?é˘Ůɢĺ�=Ľ)Łá	˘ĺaCżiŁá)˘ĺ|ł=éˇé‰˘éi˘í¤©Ľ‰¨ńI©ńÔ©ÚI
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BôAHRS rotation from veh to nav: [[0.997223,0.040844,0.062277],[-0.061923,0.919318,0.388613],[-0.041380,-0.391390,0.919294]]˛:Hŕ?éď?€†é¤?ŔŇâŻ?€O´ŻżŔ
kí?ßŘ?`Č/Ąż�Ůż€Űjí?i˛:ÝŔ@I˛:gl^;‰˛:ś’C©ÂHÉÂJ°r@iÂHIÂH‰ÂHéĂL	ÄL©ĂNýTĽ‰ĂLÉĂL‰ÄP©ÄPIÄR›D»)ÄPiÄP)ĹPIĹTéÄTÉÄT	ĹTÉĹTéĹVőzA‰ĹXiĹX©ĹXiĆZ€�C‰ĆX)ĆX	ĆXIĆ\	Ç\)Ç^ş{AÉĆ\©Ć`éĆ`Y·`YčfJcAyčfĂHyôe
ě?š™™™™™©?śÄ °rhˇ?™ôe
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ĚL=Ůôe
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	őa
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�•C‹lď?333333ł?şI+‡–żYőe
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EýFEýOEů"Eý:*Eý;J9VEýą*5ZEůa•@aŤ@a™@a‘@é˘!ɢ%úň Ľ)Ł!	˘%YKżiŁ))˘-­:=éˇ)‰˘)i˘Mź—§Ľ‰¨QI©QÚIŃâIéO5>ÔAÔqÔ™ľ
ĆDÁŹ,‚W?ÚA™±2Nšż@ů±2D•Ć@ą±2b†=ٱ2„BÎľ
:ôAHRS rotation from veh to nav: [[0.996245,0.055973,0.066051],[-0.077328,0.918369,0.388095],[-0.038937,-0.391746,0.919249]]˛2H`=áď?@x¨¬?@Ľč°?@ÉËłż@Hcí?`ŤÖŘ?ŕ�@\Ůż€}jí?i˛2Nšż@I˛2«Q^;‰˛0Yč
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 ÷
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ť•aGot test_good :  41da3f050000000040514000000000004042636f7576676cc05e776056fe357b402f2e0400000000405e200000000000 n/a str  and temp var is  nan n/a str ńJ1K
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:ôAHRS rotation from veh to nav: [[0.995093,0.070296,0.069631],[-0.091884,0.917590,0.386764],[-0.036705,-0.391264,0.919546]]˛2H@Í×ď?Ŕäţ±?TÓ±?Ŕ·…·ż@ĺ\í? ˝ŔŘ? ÷ʢż x
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>ôAHRS rotation from veh to nav: [[0.993729,0.084335,0.073416],[-0.106297,0.916228,0.386299],[-0.034687,-0.391680,0.919447]]˛2H@ˇĚď? ö–µ?@`˲?€E6»żŔ˝Qí?€ąŘ?@„¡żKŮż lí?i˛2ď«ľ@I˛2�M^;‰˛2›’CYčFÎbAyčFwHbD

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:ôAHRS rotation from veh to nav: [[0.990313,0.112131,0.081898],[-0.135272,0.912203,0.386766],[-0.031339,-0.394097,0.918534]]˛2H@¤°ď? ¤´Ľ?C÷´? šPÁż Ă0í? ÄŔŘ?¨ ż`ä8Ůżŕˇdí?i˛2ÉĽ˝@I˛28S^;‰˛2ś’CÔlYčz‡bAyčzKHť%
hDAT read: Forwarding Delay UpTx time:00:05:33.1057
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:ôAHRS rotation from veh to nav: [[0.988240,0.126452,0.085975],[-0.150045,0.910272,0.385865],[-0.029467,-0.394227,0.918541]]˛2H€©źď?€–/Ŕ?Ŕs¶? ®4Ăż ň í? 
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ťuDAT read: 00:05:39.2252 LVL= 32752, 28449, 31090, 32755, AGC= 54, IDX= 446, 0.20, 0.692, 2.775, 1.926, 2.015, PHS=-1.221, 0.805,-0.133, RAW= 297.5,   6.3, CAL= 295.2,   4.5, ROT= 214.8,  -4.5
ť…Ygot valid direction response:
 00:05:39.2252 LVL= 32752, 28449, 31090, 32755, AGC= 54, IDX= 446, 0.20, 0.692, 2.775, 1.926, 2.015, PHS=-1.221, 0.805,-0.133, RAW= 297.5,   6.3, CAL= 295.2,   4.5, ROT= 214.8,  -4.5
ť…DAT read: 
ť…2DAT read: DATA(0002):~~
ťŤGot DATA 2ťŤNDAT read: Source:010  Destination:011
ť•0Got Src/Dest after DATA ť•&DATA Src=10, Dst=11ťť‚DAT read: CRC:Pass MPD:08.3 PSNR:11.0 AGC:57 SPD:-1.6 CCERR:008
ťťGot CRC:PassťĄGot CRC:PassťĄ@Incoming data is intended for usŤĄ€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťĄGot ackťĄDAT read: 
ť­"DAT read: <EOP>
Ť­ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť­X#Rx 3: Read direction message, but no range.ťµ`direction in FSK: [-0.818618,-0.568954,0.078459]éä)yâ)â-7Úđ22꿢ó“nß4âż
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5•;ĺ´?ůá)©â)Éâ)éâ)ť©}NUpdating rudder angle  6.875494 arcdeg ńT}ť¨}6Completed marl:UpdateRudderqT}Ť¨}RAggregate::uninitialize marl:UpdateRudder1S}

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Ą…LAggregate::initialize marl:UpdateSpeedńRŤ
Bj‰ńRŤĄŤ4Completed marl:UpdateSpeed±RŤ
ĄŤPAggregate::uninitialize marl:UpdateSpeed	ă))ă)Iă)iă)‰ă)©ă)Éă)éă)	ä))ä)Iä)©ä)‰ĺ-8±Ś>ýĆ￀L˘ĚÁ»Ą?G�Ľ?	ĺ))ĺ)Iĺ)iĺ)“Ý–Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.é˘ńÔńɢő°/-˝)Ł)	˘5ňtżiŁ1)˘5|y¦<éˇ1‰˘1i˘5€q†Ľ‰¨9I©9’AUQ?ŠAUS?ÚI±âIÁO
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:ňAHRS rotation from veh to nav: [[0.696372,0.677596,0.236495],[-0.715009,0.626620,0.310016],[0.061873,-0.384983,0.920847]]˛2H`®Hć?ŕÜ®ĺ?|EÎ?@Záćż E
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DAT read: 00:05:50.3320 LVL= 31728, 31137, 30994, 27747, AGC= 56, IDX= 500, 0.23, 1.887,-2.681,-2.664,-3.068, PHS=-1.227, 0.432, 0.360, RAW= 272.2,   5.4, CAL= 269.9,  -0.2, ROT= 240.1,   0.2
ť-Ygot valid direction response:
 00:05:50.3320 LVL= 31728, 31137, 30994, 27747, AGC= 56, IDX= 500, 0.23, 1.887,-2.681,-2.664,-3.068, PHS=-1.227, 0.432, 0.360, RAW= 272.2,   5.4, CAL= 269.9,  -0.2, ROT= 240.1,   0.2
ť-DAT read: 
ťE2DAT read: DATA(0002):~~
ťEGot DATA 2ťUNDAT read: Source:010  Destination:011
ťU0Got Src/Dest after DATA ťU&DATA Src=10, Dst=11ťe‚DAT read: CRC:Pass MPD:00.8 PSNR:12.4 AGC:57 SPD:-1.2 CCERR:010
ťeGot CRC:PassťeGot CRC:Passťe@Incoming data is intended for usŤe€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťeGot ackťmDAT read: 
ťm"DAT read: <EOP>
ŤmŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťuX#Rx 4: Read direction message, but no range.ť}bdirection in FSK: [-0.498485,-0.866891,-0.003491]éä©yâ©â­íî|W,çßżîxĘ/“˝ëżQCş1m�lżůá©©â­đ{Éâ­ˇyéâ­y	ă­cl)ă­8Iă­Vťżiă­/Ý>‰ă­ěQ¸>©ă­q�@Éă­űÁ=éă­�˝–@	ä­�Ăd»)ä­Ţ†@Iä­�Ăd;©ä©‰ĺ­*�CK:.ěżMß6·Ý?KK÷ţü!¸?	ĺ­[*@)ĺ­gYÁ˝Iĺ­ůíŔiĺ­�Ăd;éä©yâ©â­íî|W,çßżîxĘ/“˝ëżQCş1m�lżůá©©â©Éâ©éâ©	ă©)ă©Iă©i㩉㩩ă©Éă©éă©	ä©)ä©I䩩䩉ĺ­*�CK:.ěżMß6·Ý?KK÷ţü!¸?	ĺ©)ĺ©Iĺ©iĺ©ÔŮÔ	”	FÁŹ,Ä&&?ÚA™±2h}§@ů±2`x®@ą±2
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:öAHRS rotation from veh to nav: [[0.274988,0.890842,0.361639],[-0.951126,0.307025,-0.033080],[-0.140501,-0.334868,0.931731]]˛2HŔe™Ń?`Ć�ě?Ŕ%×?€ oîż M¦Ó?€Ňď żŕđűÁż`znŐżŔ˝Đí?i˛2‚Ň�@I˛2Ë^;‰˛0ťrDAT read: 
ťv2DAT read: DATA(0002):~~
ťvGot DATA 2ťzNDAT read: Source:010  Destination:011
ťz0Got Src/Dest after DATA ťz&DATA Src=10, Dst=11Yč
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ť­.set remote address to 0ťµtmodem://10: set _.others_observations nan n/a str none_strťµ"#Outgoing data=54Ť˝pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITŤ˝2Acoustic response timeoutť˝†Querying Benthos address 20 with one ping in standard two-way mode.¦A1ÚI9âIQO­€>‚DzDE5\
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BöAHRS rotation from veh to nav: [[0.249967,0.898988,0.359635],[-0.953749,0.292659,-0.068658],[-0.166973,-0.325840,0.930564]]˛6H€çţĎ?@‚Äě? C×? …íşŇ?€Ť“±ż@__Ĺż ŽÚÔż@-Çí?i˛6ą�@I˛6˙Ş^;‰˛4Yč^ânAyč^äHyôE
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>öAHRS rotation from veh to nav: [[0.224014,0.906867,0.356945],[-0.955483,0.276522,-0.102895],[-0.192016,-0.318005,0.928441]]˛2H z¬Ě?€í?Ŕ.ŘÖ? Q“îż@‹˛Ń? XWşżŕ÷“Čż`0ZÔż ʵí?i˛2x/—@I˛2ÖŇ^;‰˛0YčF,nAyčFtHbDNžÍVDN4˝8y”V^đ˝%VX=Ů”Zw‰=Q-Zë>9•ZÎH?I•ZÎH?‘=^cFy•^]®E–^¬Ś˝ŃE^ë>©­`Q
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FöAHRS rotation from veh to nav: [[0.196375,0.914593,0.353491],[-0.956642,0.257798,-0.135561],[-0.215113,-0.311544,0.925563]]˛>HĎ"É? YDí? šźÖ?`ĎśîżŔÁĐ?@ZÁżŔÎ�Ëż`UđÓż€6ží?i˛>~K–@I˛>›Ŕ^;‰˛>›’CYčR’mAyčRHbDZśÍVDZ2˝8Ô`y”b˝˝%fI=Ů”fAm=Q-fŰ>9•j„K?I•j„K?‘=jcFy•j`®E–jí‹˝ŃEnŰ>©­lQ
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BjńRĄ4Completed marl:UpdateSpeed±R
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:öAHRS rotation from veh to nav: [[0.056020,0.926990,0.370879],[-0.950430,0.163302,-0.264604],[-0.305850,-0.337671,0.890188]]˛2H ¶®¬?ç©í?{Ľ×?`ěiîż@çÄ?ŕCďĐż “Óż hśŐż€j|ě?i˛28ł‘@I˛2‡«^;‰˛0Ô@YčziAyčzIHbD

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¶@ýY€<Ô±ťíDAT read: 00:06:05.4174 LVL= 23952, 26737, 14354, 27635, AGC= 60, IDX= 240, 0.22,-0.456,-0.182, 1.575, 0.087, PHS=-0.441,-0.224, 1.444, RAW= 216.0,  -8.8, CAL= 214.9, -12.4, ROT= 295.1,  12.4
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Ygot valid direction response:
 00:06:05.4174 LVL= 23952, 26737, 14354, 27635, AGC= 60, IDX= 240, 0.22,-0.456,-0.182, 1.575, 0.087, PHS=-0.441,-0.224, 1.444, RAW= 216.0,  -8.8, CAL= 214.9, -12.4, ROT= 295.1,  12.4
ť%JDAT read: Bearing 186, -15 (Remote)
’A-L?ŠA-Q?ťŤfRemote Bearing received:Bearing 186, -15 (Remote)
ťťPDAT read: Bearing 351.1, -57.3 (Local)
ťĄ~Local bearing/azimuth received:
 Bearing 351.1, -57.3 (Local)
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–DAT read: Range 11 to 20 : 248.7 m  (Round-trip  331.6 ms) speed  0.8 m/s
ť(DAT read: user:38>
ťTDAT read: RemoteAddr      | 10          
ť0set remote address to 10OE0>ťM(entering online modeÔŮÔ

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„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
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commRate: 600ťý
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Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290912E…X
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nřAHRS rotation from veh to nav: [[-0.073294,0.918513,0.388539],[-0.927557,0.080358,-0.364940],[-0.366425,-0.387140,0.846083]]˛fH _òż€tdí?ÓÝŘ?‹®íż@T’´?`/[׿@€s׿ŕĺĆŘżŕë?i˛fňJŤ@I˛f)Đ^;‰˛dYčz—ZAyčziHÔ|bD

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Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306754ÚwCôüâwCôüňwKôü`41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000ęwCôüâu1rsAzsA‚sAŠsEQ–‹?Bhˇ"hˇhˇ*h­2h©:h­ŔiŁąɢąI˘˝+ë>©˘˝¨Ö=)Łá)˘áéˇá‰˘ĺ$ë<i˘ĺ^J#˝‰¨éI©ńEm[
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>řAHRS rotation from veh to nav: [[-0.109402,0.925163,0.363463],[-0.918612,0.045580,-0.392523],[-0.379715,-0.376824,0.844879]]˛6H@Ë
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NřAHRS rotation from veh to nav: [[-0.148914,0.932350,0.329467],[-0.907188,0.003772,-0.420709],[-0.393491,-0.361538,0.845255]]˛>H`›ĂżĎŐí?ŕýŐ?ŻíżŘćn?€äěÚżŕň.Ůż€p#׿€Së?i˛>śŠ@I˛>ÍĄ^;‰˛>™’C©ÂR&�CÉÂRŹr@iÂPIÂP‰ÂTéĂT	ÄT©ĂT‰ĂXÉĂX‰ÄX©ÄXIÄX)ÄXiÄ\)Ĺ\IĹ^{AéÄ\ÉÄ\	Ĺ\ÉĹ`éĹbőzA‰Ĺ`iĹ`©Ĺ`iĆd‰Ćd)Ćd	ĆdIĆd	Çh)ÇhÉĆh©ĆhéĆh	Ńl)Ńn^|AÉĐnĺP˝©ĐnSŹFéĐl©ŃpÉŃr�|AiŃr´H˝IŃr?ťF‰ŃpIŇpiŇv|A	Ňv/]˝éŃvH�F)ŇtéŇx	Óz9|A©Ňzj<˝‰Ňzj”FÉŇx‰Óx©Ó|IÓ|)Ó~$MFiÓ|)Ô|IÔ~9|AéÓ
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:úAHRS rotation from veh to nav: [[-0.313858,0.914547,0.255140],[-0.854537,-0.154964,-0.495735],[-0.413836,-0.373617,0.830151]]˛2H€@ÔżŔřCí?@5TĐ?€]X뿀ÚŐĂżŔşßż@H|ÚżŕUé׿ŕ��ę?i˛2lŤ„@I˛2ɡ^;‰˛2™’CYčB?AyčBçęGIńF–<)ńFp;bDLVDLy”rŔŽľ%rG=Ů”vńŘ»Q-vŮ>9•tI•t‘=vcFy•z«®E–zf˝ŃEzŮ>©­|Q
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búAHRS rotation from veh to nav: [[-0.360721,0.904101,0.229089],[-0.840270,-0.208432,-0.500503],[-0.404756,-0.373039,0.834874]]˛ZH ׿eîě? ĘRÍ?`}ă꿀ä­Ęż@ŕż �çŮż Ýß׿€J·ę?i˛Zׂ@I˛ZëÁ^;‰˛Z�’CYčj†8AyčjíâG	ńléđlyô]
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l>ť}DAT read: 00:06:16.0347 LVL= 26320, 32753, 18242, 25027, AGC= 56, IDX= 130,-0.41,-0.932,-0.502, 1.412, 0.121, PHS=-0.951,-0.579, 1.247, RAW= 219.1,   2.8, CAL= 217.9,   2.9, ROT= 292.1,  -2.9
Ô©ť˝Ygot valid direction response:
 00:06:16.0347 LVL= 26320, 32753, 18242, 25027, AGC= 56, IDX= 130,-0.41,-0.932,-0.502, 1.412, 0.121, PHS=-0.951,-0.579, 1.247, RAW= 219.1,   2.8, CAL= 217.9,   2.9, ROT= 292.1,  -2.9
ť˝DAT read: 
ťĹ2DAT read: DATA(0002):~~
ťĹGot DATA 2ťÍNDAT read: Source:010  Destination:011
ťÍ0Got Src/Dest after DATA ťÍ&DATA Src=10, Dst=11ťÝ‚DAT read: CRC:Pass MPD:07.2 PSNR:11.7 AGC:58 SPD:-0.1 CCERR:009
ťÝGot CRC:PassťÝGot CRC:PassťÝ@Incoming data is intended for usŤÝ€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťÝGot ackťÝDAT read: 
ťe	"DAT read: <EOP>
Ťe	ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťe	X#Rx 1: Read direction message, but no range.ťm	^direction in FSK: [0.375743,-0.925342,0.050593]éäIyâIâMîj‡*Ř?:Ź3ćfśíż›|®rQç©?ůáI©âMĐfÉâMńéâMBG	ăMĂa)ăIIăMĽtsżiăMX9ż‰ăM˛ťź?©ăM°Ľt@ÉăM+H=éăMŠes@	äM4QO=)äM±#Ł@IäM4QO˝©äI‰ĺMRŹŢ|•6Äż"1L:Źď?Mřźďg©?	ĺM�bÝ?)ĺMă÷H˝IĺM§°—żiĺM4QO˝éäIyâIâMîj‡*Ř?:Ź3ćfśíż›|®rQç©?ůáI©âIÉâIéâI	ăI)ăIIăIiăI‰ăI©ăIÉăIéăI	äI)äIIäI©äI‰ĺMRŹŢ|•6Äż"1L:Źď?Mřźďg©?	ĺI)ĺIIĺIiĺIÔŃ«”¤GÁŹ,‡6“?ÚA™±2±D‚@ů±2Ş?‰@ą±2çOÓ>ٱ2ąŮľ
:úAHRS rotation from veh to nav: [[-0.376337,0.898775,0.224887],[-0.835158,-0.224009,-0.502326],[-0.401101,-0.376860,0.834922]]˛2H çŘżŔĂÂě?ŔÉĚ?`śąęż V¬Ěż€ŕż Ą«Ůż xŘżŔ­·ę?i˛2±D‚@I˛2ęˇ^;‰˛2š’CYčN&6AyčRŕGbDZÚÍVDZk˝8y”vĆľ%vU=Ů”vľ*ĽQ-vé>9•zÎH?I•zÎH?‘=zcFy•z¶®E–z&?˝ŃE
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ZúAHRS rotation from veh to nav: [[-0.540832,0.839378,0.054273],[-0.781321,-0.477432,-0.401989],[-0.311509,-0.259813,0.914035]]˛NH ~Náż@/Üę?§É«?€•éżAŽŢż`1şŮżŕÄďÓż`Ç Đż`Ĺ?í?i˛NĂáx@I˛N=„^;‰˛Nś’CYč

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ťBDAT read: Rx Time:00:06:27.1351
ťTRx dataTimestamp_ set to:1761350788.501373ÔQEM^
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JúAHRS rotation from veh to nav: [[-0.541793,0.837801,0.067447],[-0.780324,-0.471555,-0.410767],[-0.312336,-0.275182,0.909242]]˛>H_Váż`DĎę?@6D±? jřčżŔő-ŢżŔJÚż`QýÓż@“śŃżŕ‚í?i˛>XĘx@I˛>Č|^;‰˛>›’CYčnłAyčnâ¦GbDvJĐVDvŞż8y”~’uľ%~C=Ů”
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:úAHRS rotation from veh to nav: [[-0.543121,0.837218,0.063919],[-0.778912,-0.473941,-0.410702],[-0.313554,-0.272849,0.909526]]˛2HŔ?aáż }Ęę?]°?`Řěčż@UŢżóHÚżCÔżŔYvŃż Öí?i˛2ź©x@I˛24‘^;‰˛0YčBAyčFŐ¤GbDNWĐVDN¶ż8Ôly”r1†ľ%rN=Ů”vS;Q-vŕ>9•xI•x‘=zcFy•zú®E–zŤ»ŃEzŕ>©­|Q
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DAT read: 00:06:27.1351 LVL= 32752, 31857, 19810, 32755, AGC= 54, IDX= 454, 0.00, 2.889, 2.426,-1.909, 3.095, PHS=-0.104,-0.623, 1.236, RAW= 194.3,  -6.2, CAL= 194.4,  -8.6, ROT= 315.6,   8.6
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Ygot valid direction response:
 00:06:27.1351 LVL= 32752, 31857, 19810, 32755, AGC= 54, IDX= 454, 0.00, 2.889, 2.426,-1.909, 3.095, PHS=-0.104,-0.623, 1.236, RAW= 194.3,  -6.2, CAL= 194.4,  -8.6, ROT= 315.6,   8.6
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DAT read: 
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2DAT read: DATA(0002):~~
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ť0Got Src/Dest after DATA ť&DATA Src=10, Dst=11ť-‚DAT read: CRC:Pass MPD:04.1 PSNR:12.1 AGC:58 SPD:+1.1 CCERR:008
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ť5"DAT read: <EOP>
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Ő“›@Bh"h1h1*h52h1:h5Ŕ“=–Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.iŁIɢII˘Moľ>©˘MPúĽ)Łq)˘qéˇq‰˘qi˘uO˝‰¨yI©�¶@Ť�¦<ÔaŤŤzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY¦AÝÎÇAÚIáâIů–BŇ>žB	�C˘B`źGŞB�
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źÉ�4y®É®=¤Bą®jw!‚w!úv)ęv-şv)Šv-Ć·<Zv)ÚwCňüâwKňüŹÂő=ňwKňü`41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000ęwCňüâuIrsYzsY‚sYŠs]	ŔŚ?Bhi"hihi*hm2hi:hmŔiŁ�ɢ�I˘…°»>©˘…ŘW=)Ł�)˘‰顉‰˘‰i˘ŤX齉¨‘I©Ń¶@­ �<ÚIâI1O]>ÔiÔ‘Eýo
EýXEýźEů"Eýđ`:*Eýô°9VEý6Ö5ZEůBEý‰…;a•€2Eý‹…;aŤ€JEýÓő:a™€:EýŐő:a‘
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:üAHRS rotation from veh to nav: [[-0.555832,0.831293,-0.001467],[-0.738467,-0.494573,-0.458328],[-0.381730,-0.253670,0.888782]]˛2HŔ_ÉáżŔô™ę?ŔXż…ˇçż §ßż=UÝżDnŘżŕ <Đż`çpě?i˛2šVv@I˛2Rż^;‰˛2�’CYč
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ŻĐ�4y®ÝŻBÉ®b¤Bą®č˛Ejw!‚w!úv)ęv-şv)Šv-Ć·<Zv)Úw3ńüâw3ńüňw;ńü`41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000ęw3ńüâuIrsYzsY‚sYŠs]’Ť?Bhi"hihi*hm2hi:hmŔiŁ�ɢ�I˘…óÎ>©˘…ř~.=)Ł‰)˘‰顉‰˘‰i˘ŤĺX˝‰¨‘I©‘¶@u¬…<ÔÁ¦A™ÚI©âIąIµŮOýG>Ôůť•BDAT read: Rx Time:00:06:38.2293
ťťTRx dataTimestamp_ set to:1761350799.589064E
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VüAHRS rotation from veh to nav: [[-0.557068,0.830405,-0.010134],[-0.735063,-0.498714,-0.459311],[-0.386469,-0.248418,0.888217]]˛>HŔÓáż®’ę?bÁ„ż€˘…çżŕíęßż\eÝżŕç»Řż€*ĚĎżGlě?i˛>ł v@I˛>WŻ^;‰˛>—’CYčE
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:üAHRS rotation from veh to nav: [[-0.558717,0.829042,-0.022887],[-0.729509,-0.504392,-0.461958],[-0.394527,-0.241408,0.886606]]˛2Hŕááżŕ�‡ę?¬o—ż`#Xçżú#ŕżş�Ýż€î?Ůż tćÎż _ě?i˛2sÍu@I˛2SŔ^;‰˛2�’CE˝
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í­Ľ)˘	顉˘i˘0½‰¨I©9ťeDAT read: 00:06:38.2293 LVL= 31984, 32753, 22514, 32755, AGC= 53, IDX= 381,-0.23, 0.689, 0.430, 2.775, 1.967, PHS=-1.176,-1.492, 0.764, RAW= 202.6,  17.7, CAL= 202.7,  23.6, ROT= 307.3, -23.6
¶@}ź‹<ť˝Ygot valid direction response:
 00:06:38.2293 LVL= 31984, 32753, 22514, 32755, AGC= 53, IDX= 381,-0.23, 0.689, 0.430, 2.775, 1.967, PHS=-1.176,-1.492, 0.764, RAW= 202.6,  17.7, CAL= 202.7,  23.6, ROT= 307.3, -23.6
ť˝DAT read: 
ťĹ2DAT read: DATA(0002):~~
ťÍGot DATA 2ťŐNDAT read: Source:010  Destination:011
ťŐ0Got Src/Dest after DATA ťÝ&DATA Src=10, Dst=11ťĺ‚DAT read: CRC:Pass MPD:05.5 PSNR:11.4 AGC:57 SPD:+0.8 CCERR:009
ťĺGot CRC:PassťĺGot CRC:Passťí@Incoming data is intended for usŤí€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťíGot ackťíDAT read: 
ťý"DAT read: <EOP>
ŤŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťX#Rx 3: Read direction message, but no range.ť^direction in FSK: [0.555305,-0.728942,0.400349]éäůyâůâý�ąi%Ĺá?T¨ÉŰ~SçżŐ^¤›QźŮ?ůáů©âýđ|ÉâýńéâýňW	ăů)ăý5Iăý+‡–żiăýŰůľż‰ăý�•C?©ăýoNb@Éăý2+ž>éăýkb@	äýBäŇ>)äýň «@IäýBäŇľ©äů‰ĺý]
피Ťż?C58Ô<î?HĽ÷utgÓ?	ĺý”u¸?)ĺý"·ťľIĺýEwkżiĺýBäŇľéäůyâůâý�ąi%Ĺá?T¨ÉŰ~SçżŐ^¤›QźŮ?ůáů©âůÉâůéâů	ăů)ăůIăůiăů‰ăů©ăůÉăůéăů	äů)äůIäů©äů‰ĺý]
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:üAHRS rotation from veh to nav: [[-0.561735,0.826375,-0.039484],[-0.721775,-0.512840,-0.464796],[-0.404345,-0.232593,0.884537]]˛2H»ů῀©qę?€N7¤żČçż0i࿀9żÝżŔĘŕŮż@žĹÍż  Ně?i˛2JNu@I˛2·^;‰˛2—’C	ŃL)ŃRQ|AÉĐR‘m˝©ĐPéĐP©ŃRŚ�CÉŃR~|AiŃTIŃT‰ŃTIŇTiŇV|A	ŇV/]˝éŃX)ŇXéŇX	ÓZ5|A©ŇZj<˝‰ŇhÉŇl‰Ól©ÓlIÓl)ÓliÓl)ÔpIÔr5|AéÓrýT˝ÉÓp	ÔpÉÔtéÔvA|A‰ÔvY˝iÔvEŤF©ÔtiŐx‰Őzh„A)Őx	ŐxIŐxY·
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>üAHRS rotation from veh to nav: [[-0.567332,0.821841,-0.052076],[-0.712936,-0.521834,-0.468413],[-0.412135,-0.228619,0.881974]]˛2H–'âż…Lę?€¤©Şż `Đćżŕݲ࿀yúÝż€m`Úż dCÍżŕ 9ě?i˛2<ťt@I˛2ĘÓ^;‰˛0Yč
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:üAHRS rotation from veh to nav: [[-0.575278,0.816266,-0.052576],[-0.705368,-0.527611,-0.473373],[-0.414138,-0.235236,0.879292]]˛2H@®h⿀Úę?3몿€`’激0âŕż@żKŢż=�Úż8Îż(#ě?i˛2}Řs@I˛2ĺĚ^;‰˛2™’CÔ`Yčrɤ@yčr§JGbDe
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:üAHRS rotation from veh to nav: [[-0.581871,0.812522,-0.035137],[-0.702926,-0.524176,-0.480765],[-0.409050,-0.255045,0.876145]]˛2H Żžâż@.ę?yýˇżŔ]~ćż@Ćŕż`ÜÄŢżŕá-Úż ¦RĐż a	ě?i˛2as@I˛2�î^;‰˛0YčBí @yčFčEG©éD‰éF?AÔ
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RúAHRS rotation from veh to nav: [[-0.671004,0.732258,0.116408],[-0.674169,-0.537196,-0.506870],[-0.308626,-0.418591,0.854127]]˛JHŕÝxĺż@©nç?ŔîĚ˝?`ʒ忀µ0áżG8ŕż …ŔÓż`0ĘÚż@
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DAT read: 00:06:49.3257 LVL= 31120, 31313, 19186, 32755, AGC= 53, IDX= 407,-0.08,-1.473,-1.859, 0.411,-0.452, PHS=-0.919,-1.362, 0.819, RAW= 198.9,  14.5, CAL= 199.5,  18.8, ROT= 310.5, -18.8
ťÝ
Ygot valid direction response:
 00:06:49.3257 LVL= 31120, 31313, 19186, 32755, AGC= 53, IDX= 407,-0.08,-1.473,-1.859, 0.411,-0.452, PHS=-0.919,-1.362, 0.819, RAW= 198.9,  14.5, CAL= 199.5,  18.8, ROT= 310.5, -18.8
ťÝ
DAT read: 
ťĺ
2DAT read: DATA(0002):~~
ťĺ
Got DATA 2ťí
NDAT read: Source:010  Destination:011
ťí
0Got Src/Dest after DATA ťő
&DATA Src=10, Dst=11ťý
‚DAT read: CRC:Pass MPD:03.6 PSNR:12.4 AGC:50 SPD:+1.9 CCERR:010
ťý
Got CRC:Passťý
Got CRC:Passťý
@Incoming data is intended for usŤý
€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťý
Got ackťDAT read: 
ť"DAT read: <EOP>
ŤŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť
X#Rx 4: Read direction message, but no range.ť^direction in FSK: [0.614799,-0.719838,0.322266]éä‰
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IUÂ?™«EJDI­EĐî:i­E»ď:‰­Eä‰4y®}é®BÉ®…*«Bą®…łEjw‘‚w‘úv‘ęvŐşvŮŠvÝĆ·<ZvŮÚw“ăüâw“ăüňw›ăü`41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000ęw“ăüâu)ÔYrs‘zs‘‚s‘Šs•ĘÚf>Bh©"hńhń*hő2hń:hőŔ“ý–Received valid acoustic ping at time: 1761350784.00. Resetting abort timer.iŁ	ɢ	I˘-Ě	?©˘5°©˝IŁ5î÷»)Ł1)˘1éˇ1‰˘5ÂőĽi˘5h
˝‰¨9I©A¶@…éË<ę@Ť;>â@Ť?>Ô�ť%	tmodem://10: set _.others_observations nan n/a str none_strť%	"#Outgoing data=54Ť%	pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ©
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úAHRS rotation from veh to nav: [[-0.684406,0.724510,0.081690],[-0.662639,-0.571365,-0.484202],[-0.304134,-0.385522,0.871134]]˛m
H€§ćĺż0/ç?@¨é´?ŕV4ĺż žHâż`+ýŢż€đvÓż e¬ŘżŕTŕë?i˛m
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–’CŤŤzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔÉYčýőÝ?yčýz�F	ń
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yô…ňŇMbXń?¬Zd;ß?333333łż™ô…ŔŠ?ąô…Űů>Ůô…™™˝éô�	ő�9ő…^şI+ń?{®Gáz„żV-˛˝żYő…X‰?yő…×#Ľ™ő…‘í˝Éő…şCéő…�B	ö…–B)ö…NěB©ő�Yô…uÄBbDťLăVDť'Ń8y”­‚‡ľ%­=Ů”­yĽQ-µŞ>9•µ„K?I•µ„K?‘=˝cFy•˝‹ŻE–˝ë˝ŃE˝­>©­ÁQ
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łEjwˇ‚wˇúv©ęv­şv©ŠvŐĆ·<ZvŮÚwăÖüâwăÖüÔńňwëÖü`41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000ęwăÖüâurs%ć˙>zs%ć˙>‚s%ů–@Šs%@BhQ"hQhQ*hU2hY:h]ŔiŁiɢiI˘u?©˘uŕü#˝)Łq)˘qéˇq‰˘qi˘}hą˝‰¨‘I©‘¶@e©Č<Ô	^Am¬źď=‚D)zD-AAbEµËLĹ5jEµËJĘ5rEµËőˇ2E5s
E1E5˛E1"E5so:*E1VE5Đô5ZE1BE5’;a•E€2E5’;aŤE€JE5Óő:a™M€:E5Ôő:a‘M€ÔQ¦Aa
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>úAHRS rotation from veh to nav: [[-0.693728,0.718040,0.056220],[-0.659776,-0.602247,-0.449437],[-0.288855,-0.348879,0.891541]]˛2H 3ćż /úć?€ÎȬ?ă忀śEăż ’ĂÜż€›|Ňż@TÖżŕ�‡ě?i˛2úÂk@I˛2^R_;‰˛2™’C©Â@ÉÂB^r@iÂ@IÂD‰ÂDéĂD	ÄD©ĂJýTĽ‰ĂHÉĂH‰ÄH©ÄHIÄH)ÄHiÄL)ĹLIĹLéÄLÉÄL	ĹLÉĹPéĹRńzA‰ĹPiĹP©ĹPiĆT‰ĆV{A)ĆT	ĆTIĆT	ÇZL�C)ÇXÉĆX©ĆXéĆXY·XYčb<Ń?yčb§€FÔÁ
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:úAHRS rotation from veh to nav: [[-0.693650,0.718846,0.045938],[-0.662696,-0.611874,-0.431791],[-0.282283,-0.329955,0.900803]]˛2Ha2ćż Éç?$…§? Î4ĺż y”㿀w˘Űż îŇżŔůŐżŕ`Óě?i˛2čk@I˛2Y“_;‰˛2—’CYč
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>úAHRS rotation from veh to nav: [[-0.714241,0.699716,0.016037],[-0.615739,-0.617296,-0.489705],[-0.332755,-0.359642,0.871741]]˛6H@Űćż dć?ők�? "´ăż€äŔ㿀RWßż€ŰKŐżŕ]׿Mĺë?Ô@i˛6˘˘h@I˛6Oy_;‰˛4YčJ©?yčJÚOFbDVŞćVDV@Ô8y”^&xľ%^@=Ů”^ĺţ=Q-bŃ>9•bÎH?I•bÎH?‘=fdFy•f–ŻE–fjő˝ŃEfŃ>©­hQ
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JúAHRS rotation from veh to nav: [[-0.745491,0.666502,0.004310],[-0.572555,-0.637074,-0.516059],[-0.341209,-0.387185,0.856542]]˛2H@ŰçżűSĺ?$§q?€_Râż@ébäż`Ž�ŕż`\ÖŐż¤ÇŘżËhë?i˛2de@I˛2‚B_;‰˛2–’CYč%
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:úAHRS rotation from veh to nav: [[-0.780181,0.625312,0.017370],[-0.538438,-0.657138,-0.527499],[-0.318437,-0.420898,0.849378]]˛2H?÷čż Žä?ŚÉ‘?€á:áż`Eĺż Eáŕż DaÔż@ýďÚżŕ.ë?i˛2)Ăa@I˛2ed_;‰˛2—’CÔ1Yčí Ź?yčí 0FbD­çVD/Ő8y”%]˘ľ%%C=Ů”%Fl˝Q-%Ő>9•-„K?I•-„K?‘=-dFy•-śŻE–5óř˝ŃE5Ő>©­9Q
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NúAHRS rotation from veh to nav: [[-0.800327,0.596961,0.055800],[-0.525870,-0.654207,-0.543575],[-0.287989,-0.464382,0.837504]]˛2H€GśéżŕNă?€Ň‘¬?ŕěÓŕż`Cďäż@řd῀hnŇżn¸Ýż@ÔĚę?i˛2bN`@I˛2š]_;‰˛2�’C	Ń\)Ń\ÉĐ^�˝©ĐbLŹFéĐ`©Ńf€�CÉŃhiŃj/]˝IŃh‰ŃhIŇliŇn|A	Ňró}˝éŃr@�F)ŇpéŇt	Óz1|A©ŇzýT˝‰ŇxÉŇ|‰Ó|©Ó|IÓ|)Ó|iÓ

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IĄĂ?™«uI	DI­uĆ;i­uúě:‰­u7ă‰4y®©É®µ}¬Bą®±ÔąjwÉ‚wÉúvÉęvÍşvÉŠvÍĆ·<ZvŃÚwcĆüâwcĆüňwkĆü`41da3f052000000040514000000000004042636d1ff20f78c05e77537f3c91bd402c129180000000406bdcccc0000000ęwcĆüâu	rs9zs9‚s9Šs=ť×ˇ@BhI"hIhI*hM2hI:hMŔiŁyɢ�I˘…WÎ>©˘…Č9i˝)Ł…ř·V˝)˘�顉‰˘‰i˘Ť8{˝‰¨‰I©±¶@­'µ<ÔáťíhDAT read: Forwarding Delay UpTx time:00:06:54.3053
ŤípIn parseResponses, set commsState_ = SENDING_ACK_WAITINGEÝx
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^řAHRS rotation from veh to nav: [[-0.925644,0.265147,0.269962],[-0.283103,-0.958646,-0.029157],[0.251067,-0.103416,0.962429]]˛VHážíż@*řĐ?€GŃ? ^Ňż€:­îżGŰťżŕ|Đ?`yyşż 8Ěî?i˛VŘN@I˛VK`;‰˛V—’CYčfŰ—>yčfż:E©ę
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RřAHRS rotation from veh to nav: [[-0.924723,0.273737,0.264490],[-0.304505,-0.948930,-0.082520],[0.228394,-0.156847,0.960851]]˛JH@U—íż ć„Ń? híĐ?@
}Óż€ˇ]îż µż`<Í?@ŹÄż@Kżî?i˛JĐuO@I˛J[Ď_;‰˛J•’CYčZö�>yčZ<EbDfôVDfťŕ8y”r¬Ľ;%rZ=Ů”v´~=Q-ví>9•xI•x‘=zdFy•x–~Đg=ŃE~í>©­

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eřAHRS rotation from veh to nav: [[-0.976007,0.048498,0.212270],[-0.084152,-0.983146,-0.162302],[0.200822,-0.176271,0.963639]]˛5H€r;ďż@´Ô¨?@­+Ë?ôŠµżďuďżŔSĆÄż …´É?ŕ
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BüAHRS rotation from veh to nav: [[-0.903657,-0.402853,-0.145304],[0.421051,-0.897730,-0.129605],[-0.078232,-0.178299,0.980862]]˛6H ÂęěżŔXČŮż€S™Âżŕ~ňÚ?ŕ3şěż â–Ŕżŕ´ż}ŇĆżŔ7cď?i˛6ü1@I˛6]Ć_;‰˛6”’CYčJ…>yčJž#EbDVć

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V?ű=E÷9ťťBDAT read: Rx Time:00:07:27.8603
ťťTRx dataTimestamp_ set to:1761350849.269144Ôˇ¶@Ë|<ÔÁ^A•Ś‹ď=ÚIˇâI±Oí„>ÔńÔĚřLÁŹ,wˇe0?ÚAE2j
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FüAHRS rotation from veh to nav: [[-0.909881,-0.376616,-0.174002],[0.406129,-0.894220,-0.188230],[-0.084705,-0.241934,0.966588]]˛:H@żíż€yŘż±EĆż`ţŮ?@rťěżęČżŕAŻµż ±÷Îż€Jîî?i˛:ž; @I˛:­÷_;‰˛:•’CYčNx>yčNEbDZ!
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DAT read: 00:07:27.8603 LVL= 29360, 26097, 32754, 29139, AGC= 64, IDX= 300,-0.18,-1.992, 2.686,-3.050,-2.815, PHS= 0.925,-0.737,-0.279, RAW= 105.5,   1.2, CAL= 106.4,   0.4, ROT=  43.6,  -0.4
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Ygot valid direction response:
 00:07:27.8603 LVL= 29360, 26097, 32754, 29139, AGC= 64, IDX= 300,-0.18,-1.992, 2.686,-3.050,-2.815, PHS= 0.925,-0.737,-0.279, RAW= 105.5,   1.2, CAL= 106.4,   0.4, ROT=  43.6,  -0.4
ť5
DAT read: 
ť=
2DAT read: DATA(0002):~~
ť=
Got DATA 2ťE
NDAT read: Source:010  Destination:011
ťE
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&DATA Src=10, Dst=11ťu
‚DAT read: CRC:Pass MPD:03.8 PSNR:10.6 AGC:65 SPD:+0.9 CCERR:006
ťu
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Got CRC:Passťu
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€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťu
Got ackť}
DAT read: 
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X#Rx 1: Read direction message, but no range.ť…
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:üAHRS rotation from veh to nav: [[-0.902258,-0.388815,-0.186422],[0.420118,-0.890045,-0.176975],[-0.097114,-0.237996,0.966399]]˛2H@LßěżŕXâŘżŔ®ÜÇżŔ7ăÚ?`@{ěż §Ćżŕrܸż ¨vÎż`˝ěî?i˛2,6@I˛2-Î_;‰˛2“’CYčBÁV>yčF
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>üAHRS rotation from veh to nav: [[-0.878669,-0.459219,-0.130609],[0.472979,-0.874543,-0.107078],[-0.065050,-0.155862,0.985635]]˛2H`ěż ŘcÝż@É·ŔżŕIEŢ? Aüëż`~i»ż %§°żŔFóĂż€QŠď?i˛2[@I˛25ň_;‰˛0YčFd>yčF7EbD

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ZöAHRS rotation from veh to nav: [[-0.168509,0.910943,0.376548],[-0.946367,-0.256352,0.196655],[0.275670,-0.323214,0.905284]]˛NH ¶‘Ĺż q&í?`[Ř?ŔŁHhĐżŔű+É?“¤Ń? ŠŻÔżŔřě?i˛Nl-Š@I˛Np``;‰˛NŽ’CYč~ßÇ>yč
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NôAHRS rotation from veh to nav: [[0.009125,0.865484,0.500853],[-0.949121,-0.150176,0.276799],[0.314781,-0.477896,0.820078]]˛2Hŕ*°‚?€˛ë?Ŕýŕ?2_îżŔő8Ăż€·Ń?€^%Ô?`Ů•ŢżŔ>ę?i˛2¶�@I˛2ęT`;‰˛2Ť’CYčf,›>yčfÔ>EéónĂ=ÉónŇ=bDrdq
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BöAHRS rotation from veh to nav: [[-0.003458,0.983486,0.180954],[-0.930028,-0.069660,0.360827],[0.367473,-0.167044,0.914910]]˛:H€yTlż ¶xď?`|)Ç?`ÉÂíż6Ő±ż Ę×?Ŕ®„×?€˛aĹż đFí?i˛:˛Ź@I˛:cna;‰˛:Ź’CYčNË9?yčN{äEťr(DAT read: user:49>
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ťv„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
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:ôAHRS rotation from veh to nav: [[0.038778,0.983446,0.177001],[-0.916011,-0.035793,0.399553],[0.399274,-0.177628,0.899460]]˛2H§ÚŁ?Ŕdxď?ö§Ć?`öOíż`vS˘żŔF’Ů?`¶ŤŮ?€†ĽĆż`Čě?i˛2Š+‘@I˛28J`;‰˛0Ô9
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JôAHRS rotation from veh to nav: [[0.036181,0.984401,0.172177],[-0.920830,-0.034101,0.388470],[0.388282,-0.172601,0.905232]]˛BH Y†˘?@7€ď? ä	Ć?€pwíż€§uˇż€˛ÜŘ?ťŮŘ? ĘĆż Ş÷ě?i˛B«‘@I˛B|L`;‰˛B�’CYčRśR@yčR€
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BôAHRS rotation from veh to nav: [[0.031202,0.986417,0.161269],[-0.924847,-0.032697,0.378932],[0.379058,-0.160973,0.911264]]˛6H ‹óź?`ş�ď?z¤Ä?ŕW�íż@Ł˝ ż m@Ř?~BŘ?@ĚĿ€)í?i˛6;ĺ�@I˛61u`;‰˛6Ť’CYčJJ\@yčJtGÉöP©öPbDVZj
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ôAHRS rotation from veh to nav: [[0.007418,0.986177,0.165529],[-0.922112,-0.057292,0.382658],[0.386852,-0.155475,0.908941]]˛m
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ťUTRx dataTimestamp_ set to:1761350991.765714ÔYű­é9EÍr
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VôAHRS rotation from veh to nav: [[0.004638,0.981679,0.190488],[-0.922622,-0.069267,0.379434],[0.385677,-0.177508,0.905397]]˛2H š˙r?@éiď?ŔĺaČ?†íż@~»±ż¦HŘ?@î®Ř? •¸Ćż ůě?i˛2#úŹ@I˛2B4`;‰˛2Ť’CYč^…z@yč^GyôE
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ôAHRS rotation from veh to nav: [[0.008619,0.972870,0.231191],[-0.934890,-0.074201,0.347094],[0.354832,-0.219130,0.908888]]˛rH`ަ�?ŔŔ!ď?Ş—Í?@źęíżŕÍţ˛ż É6Ö?Ŕ�µÖ?ŔpĚż@›í?i˛ry�@I˛r44`;‰˛rŚ’CYčm
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IĄ€?™«ťWŠ@I­ťŞë:i­ť_í:‰­ť‡-<4y®­›©BÉ®µ€ˇBą®±jwÁ‚wÁúvÉęvÉşvÉŠvÉZvÉÚwýâwýňwý`41da3f054000000040514000000000004042636643e9f0b7c05e775a255abf7d3fcfef1e20000000406bdcccc0000000ęwýâuérszs‚sŠsĂ3f?ťÝDAT read: 00:09:50.3895 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 175,-0.18,-0.821, 0.034, 1.726, 0.507, PHS=-1.226,-0.428, 1.174, RAW= 229.0,   4.6, CAL= 227.8,   5.6, ROT= 282.2,  -5.6
ťĺYgot valid direction response:
 00:09:50.3895 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 175,-0.18,-0.821, 0.034, 1.726, 0.507, PHS=-1.226,-0.428, 1.174, RAW= 229.0,   4.6, CAL= 227.8,   5.6, ROT= 282.2,  -5.6
ÔéťíDAT read: 
ťő2DAT read: DATA(0002):~~
ťőGot DATA 2ťýNDAT read: Source:010  Destination:011
ťý0Got Src/Dest after DATA ťý&DATA Src=10, Dst=11ť
‚DAT read: CRC:Pass MPD:03.3 PSNR:14.0 AGC:48 SPD:+0.4 CCERR:011
ť
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Got CRC:Passť
@Incoming data is intended for usŤ
€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť
Got ackť
DAT read: 
ť"DAT read: <EOP>
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NôAHRS rotation from veh to nav: [[0.014352,0.973426,0.228554],[-0.942232,-0.063335,0.328918],[0.334652,-0.220071,0.916284]]˛FHŔÁdŤ?@M&ď?€>AÍ?`Ä&îż Ľ6°ż@ýŐ?@ňjŐ?L+ĚżŔ2Rí?i˛FşM�@I˛FŰ`;‰˛FŤ’CYč

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rs1zs1‚s1Šs5ż>g?“M–Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.é˘]ŇT@ɢ]Î.Ő˝)ŁY	˘]ń[?iŁY)˘e�(ľéˇa‰˘ai˘eˇ2Î<‰¨aI©‰ÔIŤ˝zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÔyąýŐÇĚĽ¦A%
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^ôAHRS rotation from veh to nav: [[0.015455,0.976262,0.216040],[-0.947150,-0.054945,0.316052],[0.320420,-0.209507,0.923817]]˛VHŔ§Ź?@Š=ď?@1§Ë?ŔOîż@Î!¬ż€0:Ô?`Á�Ô?ŔŃĘż éŹí?i˛VžV�@I˛VÂ`;‰˛TYčf‚Š@yčfV*GÔy
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NAggregate::initialize marl:UpdateRudder±T

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:ňAHRS rotation from veh to nav: [[0.063954,0.986129,0.153162],[-0.997201,0.057190,0.048170],[0.038743,-0.155814,0.987026]]˛2HŔJ_°?`_Žď? ĎšĂ? é￀H­?ŔĆ©¨?ŕÖŁ?€µńĂż@¸•ď?i˛2ťÝ‘@I˛2!C_;‰˛2Ś’CYč
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ňAHRS rotation from veh to nav: [[0.059766,0.983903,0.168411],[-0.997524,0.052603,0.046683],[0.037072,-0.170784,0.984611]]˛~HŔś™®?Ŕ"|ď?ŕ€ŽĹ?·ë￀ąîŞ?`Čć§?$ű˘?CÜĹż€î�ď?i˛~.»‘@I˛~(_;‰˛|ÔńYčM:Â@yčMÜnGÉö]@A©ö]@AbDeYL
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RňAHRS rotation from veh to nav: [[0.058991,0.982075,0.179020],[-0.997687,0.051936,0.043846],[0.033762,-0.181192,0.982868]]˛JH 4®?`)mď?ęĆ?@íďż Y—Ş?€ěr¦? CIˇ? M1Çż §sď?i˛J´‘@I˛Jx=_;‰˛H	ÖX)ÖXÉŐZC‹˝©ŐXéŐX©Ö\ÉÖbZ|AiÖb›D˝IÖ`‰ÖdI×di×fj|A	×f 0˝éÖd)×dé×h	Řj(|A©×j�@˝‰×hÉ×h‰Řl©Řn-|AIŘnQ8˝)ŘliŘl)ŮpIŮr$|AéŘrQ8˝ÉŘp	ŮpÉŮtéŮt‰ŮtiŮt©ŮtiÚx‰Úx)Úx	ÚxIÚxY·xYč
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ť…2DAT read: DATA(0002):~~
ť…Got DATA 2ťŤNDAT read: Source:010  Destination:011
ťŤ0Got Src/Dest after DATA ťŤ&DATA Src=10, Dst=11ťť‚DAT read: CRC:Pass MPD:03.4 PSNR:15.0 AGC:49 SPD:+0.0 CCERR:011
ťťGot CRC:PassťťGot CRC:PassťĄ@Incoming data is intended for usŤĄ€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťĄGot ackťĄDAT read: 
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JňAHRS rotation from veh to nav: [[0.058384,0.978725,0.196695],[-0.997851,0.051346,0.040696],[0.029731,-0.198649,0.979620]]˛>H€ä­?Ŕ¶Qď?`N-É? fîďż`JŞ?`Ö¤?ŕłqž?€PmÉż Yď?i˛>·Ż‘@I˛>&!_;‰˛>Ž’CYč=
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NňAHRS rotation from veh to nav: [[0.046573,0.976074,0.212391],[-0.998669,0.040779,0.031582],[0.022166,-0.213579,0.976674]]˛BH hا?@<ď?ŕť/Ë?€ő￀öŕ¤?Ť+ ? ”˛–?ŤVËż€ę@ď?i˛BµN‘@I˛Bą9_;‰˛@YčrĹ@yčrfrG©óY
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nňAHRS rotation from veh to nav: [[0.041377,0.976881,0.209741],[-0.998888,0.035692,0.030818],[0.022619,-0.210783,0.977271]]˛bH€^/Ą?@śBď?@ÉŘĘ? ăö￀HF˘?€˘Žź?€i)—?€ěúĘż`ÎEď?i˛b$‘@I˛bR_;‰˛bŽ’CYčv¦Ä@yčvÖqGÉöe
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ÚwĂýâwĂýňwËý`41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000ęwĂýâu	rs!zs!‚s!Šs!é˘=*Š@ɢ=�t2=)ŁA	˘EJň?iŁA)˘EľĹ˝éˇA‰˘Ii˘Mc‹'<‰¨II©Qť•DAT read: 00:10:08.3810 LVL= 30192, 24017, 20802, 32307, AGC= 59, IDX= 345,-0.04,-3.133,-2.055,-1.236,-2.137, PHS=-0.894, 0.127, 0.856, RAW= 245.5,  -1.2, CAL= 241.7,  -2.3, ROT= 268.3,   2.3
ťĄYgot valid direction response:
 00:10:08.3810 LVL= 30192, 24017, 20802, 32307, AGC= 59, IDX= 345,-0.04,-3.133,-2.055,-1.236,-2.137, PHS=-0.894, 0.127, 0.856, RAW= 245.5,  -1.2, CAL= 241.7,  -2.3, ROT= 268.3,   2.3
ťĄJDAT read: Bearing 168, -17 (Remote)
ť­fRemote Bearing received:Bearing 168, -17 (Remote)
ťµPDAT read: Bearing 335.4, -71.2 (Local)
ťµ~Local bearing/azimuth received:
 Bearing 335.4, -71.2 (Local)
ť˝–DAT read: Range 11 to 20 : 147.3 m  (Round-trip  196.5 ms) speed -0.8 m/s
ťĹR#Rx 1: Read range and direction messages.ťÍbdirection in FSK: [-0.029642,-0.998755,-0.040132]ťÍFpublishing direction and range infoyâQâUŻY3—Zžżi8�8Ěőďż‚.=†'Ś¤żYâULCůáU©âUđuÉâUŃ]éâUBQ	ăU3~)ăU;IăU/ÝdżiăUJ>‰ăUŃ"[?©ăUň‰@ÉăU§’«ĽéăUˇý†@	äUŠl$˝)äUÔŘ•@IäUŠl$=©äQÉäQ‰ĺUŚYph”âżOp
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JöAHRS rotation from veh to nav: [[-0.112170,0.914719,0.388211],[-0.990855,-0.132447,0.025776],[0.074995,-0.381769,0.921210]]˛BH`3·Ľż`Eí? rŘŘ?`µďż ôŔż&eš?ć2ł? čnŘż€Ťzí?i˛B€5Ś@I˛B	Ć^;‰˛BŤ’CYčVÍ@yčV:|GbDb5
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VřAHRS rotation from veh to nav: [[-0.400743,0.834045,0.379176],[-0.913212,-0.396972,-0.091965],[0.073819,-0.383123,0.920743]]˛FH ĆĄŮż@~°ę?€lDŘ?ŕ9íż@ügŮż
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>řAHRS rotation from veh to nav: [[-0.420614,0.834253,0.356519],[-0.904733,-0.414899,-0.096525],[0.067393,-0.363154,0.929288]]˛2HŔXëÚżŔ2˛ę? 5ŃÖ?€’óěżŕ´ŤÚżÝµ¸ż®@±?ŕë=׿ »Ľí?i˛2öă�@I˛2Ř_;‰˛2Ź’CYčFŃä@yčFłŚGbD

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>řAHRS rotation from veh to nav: [[-0.443312,0.828158,0.342970],[-0.894150,-0.435462,-0.104256],[0.063010,-0.352885,0.933543]]Ô@˛6Hŕ:_Üż@E€ę? 8óŐ?ŕśěż šŢŰż@†°şżŔh!°?@©•Öż@•ßí?i˛6^�@I˛6Ő_;‰˛6Ž’CYčJć@yčJ{ŤGéóý
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:řAHRS rotation from veh to nav: [[-0.466383,0.818646,0.335120],[-0.882505,-0.456555,-0.112880],[0.060592,-0.348391,0.935389]]˛2H 8ŮÝżY2ę?`śrŐ?€{=ěż`38ÝżŔ¶ĺĽżěŻ?ŕLÖżŕ´îí?i˛2AB€@I˛2TŰ^;‰˛0Yč^\ç@yčbCŽGÔl	÷vđ;éötbDzŰ%
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^řAHRS rotation from veh to nav: [[-0.504085,0.794523,0.338572],[-0.861679,-0.489172,-0.134982],[0.058373,-0.359783,0.931208]]˛JH@w!ŕż@Ľlé? («Ő?Ŕߒ뿀—NßżŔGÁżŕă­?Ŕ­׿€uĚí?i˛J„Á}@I˛JOó^;‰˛J‹’CYčfâč@yčf3ŹG©ęxÉęx	ë|)ë|ië|©ó

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BřAHRS rotation from veh to nav: [[-0.515597,0.782657,0.348723],[-0.854961,-0.496811,-0.149065],[0.056583,-0.375002,0.925296]]˛6H€Ĺŕżŕ†é? yQÖ?ŕÖ[ëżŕÁËßż€�Ăż fř¬?Řż śí?i˛6Éć|@I˛6
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:řAHRS rotation from veh to nav: [[-0.523971,0.770968,0.362026],[-0.850087,-0.499803,-0.165977],[0.052978,-0.394721,0.917273]]˛2Hŕ]ÄŕżĆ«č?@m+×?ŕé3ëż Çüßż@ż>Ĺż`÷«?CŮżLZí?i˛2ÖG|@I˛2†÷^;‰˛2‹’CYčBŽę@yčB:�GbD

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JřAHRS rotation from veh to nav: [[-0.532712,0.763683,0.364699],[-0.844916,-0.504529,-0.177671],[0.048317,-0.402788,0.914017]]˛BHŕůáż`pč?Ŕ:W×?ŔŤ	ëż%ŕżŔě˝Ćż űĽ¨?ŕEÇŮż ˇ?í?i˛BDˇ{@I˛B/Ö^;‰˛@YčRÇę@yčV]�Géóm
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IÝ�?™«•ÜňAI­•	<i­•z<‰­•Wž@4y®áÉ®ĺóšBą®ájw‚wúvęvşvŠvZv!Úwňüâwňüňwňü`41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000ęwňüâuYrsizsi‚siŠsmÓ•¬@颭�®@ɢ­�d«=)ŁÉ	˘ÍŰđ?iŁÉ)˘ŐVC˝éˇŃ‰˘Ńi˘ŐçXỉ¨ŮI©ŮÔá¦A=ÎÇAÚIAâIYOŤ[>ťÝDAT read: 00:10:23.9371 LVL= 24112, 27313, 20082, 26995, AGC= 48, IDX= 503,-0.44,-2.113,-1.751, 0.101,-1.285, PHS=-0.726,-0.421, 1.342, RAW= 217.9,  -2.0, CAL= 216.3,  -3.6, ROT= 293.7,   3.6
ťĺYgot valid direction response:
 00:10:23.9371 LVL= 24112, 27313, 20082, 26995, AGC= 48, IDX= 503,-0.44,-2.113,-1.751, 0.101,-1.285, PHS=-0.726,-0.421, 1.342, RAW= 217.9,  -2.0, CAL= 216.3,  -3.6, ROT= 293.7,   3.6
ťĺDAT read: 
ťí2DAT read: DATA(0002):~~
ťíGot DATA 2ťőNDAT read: Source:010  Destination:011
ťő0Got Src/Dest after DATA ťý&DATA Src=10, Dst=11ť‚DAT read: CRC:Pass MPD:03.8 PSNR:13.6 AGC:49 SPD:+0.6 CCERR:011
ťGot CRC:PassťGot CRC:Passť@Incoming data is intended for usŤ€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťGot ackť
DAT read: 
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I˝„?™«ĄőAI­ĄŃ;i­Ąl;‰­ĄŽ¬@4y®Ĺž©BÉ®ĹčšBą®Ĺ$±Eťýtmodem://10: set _.others_observations nan n/a str none_strťý"#Outgoing data=56ŤýpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ1jw‘‚w‘úv‘ęv™şv™Šv™Zv™ÚwĂőüâwĂőüňwËőü`41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000ęwĂőüâuąrsíH‚>zsíH‚>‚síş‚a@Šsí-1ź?“ý–Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.é˘-ĄŻ@ɢ-ÖŃą=)Ł)	˘-ď?iŁ1)˘5eă˝éˇ1‰˘1i˘5Fóﻉ¨9I©9ÚIAâIQÔYO‰Ô�	ŤĄ
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fřAHRS rotation from veh to nav: [[-0.558977,0.750990,0.351509],[-0.828340,-0.524861,-0.195890],[0.037382,-0.400667,0.915461]]˛VHŕ"ăáżŔč?@!Ö?ŔĂ�ężŔ©Ë࿀íÉżŕ˝#Ł?‰¤Ůż@tKí?i˛VúŁy@I˛Vä˝^;‰˛VŽ’CYčr)ě@yčr7‘GbD
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:řAHRS rotation from veh to nav: [[-0.575944,0.741322,0.344573],[-0.816846,-0.538587,-0.206608],[0.032419,-0.400458,0.915742]]˛2H"nâż`č¸ç?`|
Ö?@š#ęż<áż "rĘżF™ ?@ˇŮż ÁMí?i˛2Tx@I˛2ÂŐ^;‰˛2‰’CYčBÚě@yčBŁ‘G©óH‰óJľAÔhbDn� 
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:řAHRS rotation from veh to nav: [[-0.592098,0.733511,0.333739],[-0.805354,-0.553350,-0.212622],[0.028714,-0.394671,0.918373]]˛2Hŕvňâżěxç?ŕű[Ő? vĹéż 
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řAHRS rotation from veh to nav: [[-0.605752,0.727969,0.321133],[-0.795241,-0.566932,-0.214894],[0.025625,-0.385550,0.922331]]˛%
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Ś’CYčÎí@yč:’G©ęaÉęa	ëa)ëiiëiyôíî|?5^şé?đ§ĆK7‰Áżü©ńŇMb ?™ôíŇM?ąôíIľŮôí=éôé	őé9őí\ŹÂő(\ç?Űů~jĽt“ż:´ČvľźŞ?Yőíá:?yőíĄ›Ľ™őíýT=ÉőíçÎBéőílyB	öí�ťB)öí@šB©őéYôíÜ BbDs
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BřAHRS rotation from veh to nav: [[-0.616510,0.721923,0.314233],[-0.787022,-0.576523,-0.219585],[0.022639,-0.382685,0.923602]]˛6H@rşăż ˙ç?fÔ?€H/éżŕŕrâż \Ěż@Ŕ.—?č}Řżŕ$Ží?i˛6®u@I˛6ýé^;‰˛6Ź’CYčJUî@yčJŚ’GéóRá=ÉóRđ=bDVÚ
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jřAHRS rotation from veh to nav: [[-0.624046,0.718529,0.307056],[-0.781155,-0.583270,-0.222696],[0.019083,-0.378831,0.925269]]˛^H@/řăżŔ/ţć? Ě¦Ó?Ŕ7˙čż&Şâż@O�Ěż`mŠ“? Â>Řż`Λí?i˛^+~t@I˛^Q_;‰˛^Š’CYčz†î@yčz«’G	÷e
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:řAHRS rotation from veh to nav: [[-0.632301,0.713802,0.301134],[-0.774566,-0.590285,-0.227181],[0.015593,-0.376895,0.926125]]˛2H Ď;äżŔw×ć? ÉEÓ?€>Éčż`ťăâżŕDÍż "ďŹ?€
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:řAHRS rotation from veh to nav: [[-0.643588,0.704455,0.299228],[-0.765249,-0.599283,-0.235061],[0.013732,-0.380266,0.924775]]˛2H@E�äż@ćŠć?@Ť&Ó?ŕë|čż`S-㿀{Îż –Ś?IVŘżŕÁ—í?i˛2Hár@I˛2	î^;‰˛2Ś’CYč^Ńî@yčbŮ’G©ó!
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:řAHRS rotation from veh to nav: [[-0.674981,0.682335,0.280748],[-0.737750,-0.629912,-0.242766],[0.011199,-0.370985,0.928572]]˛2H r™ĺż°Őĺ?`Ç÷Ń?ज़çż>(äż öĎżŔvď†?6ľ×ż Ű¶í?i˛2h5p@I˛2¬÷^;‰˛2Ť’CYčFˇď@yčFY“GbDj{
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VřAHRS rotation from veh to nav: [[-0.692670,0.668472,0.270838],[-0.721185,-0.647124,-0.247229],[0.010000,-0.366573,0.930336]]˛JH`Z*ćż@dĺ?ŔjUŃ? óçż =µäżŕ3ĄĎż@{„? îu׿ OĹí?i˛JS¨n@I˛J®_;‰˛HYč^…ď@yč^H“G©ętÉęt	ët)ëtiëtéózĘ=ÉózŽ=Ô9
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:úAHRS rotation from veh to nav: [[-0.810399,0.540870,0.225197],[-0.585791,-0.741396,-0.327385],[-0.010113,-0.397231,0.917663]]˛2HŕÉîéżŕÍNá?@=ÓĚ?ŕĚľâż �ąçż áóÔżŔ¶„ż€:lŮżŕ~]í?i˛2�(c@I˛2Đ_;‰˛2‹’CYč^Éň@yč^I•GbD%

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BúAHRS rotation from veh to nav: [[-0.818047,0.532181,0.218132],[-0.575075,-0.750676,-0.325230],[-0.009335,-0.391496,0.920132]]˛6Hŕq-ężŔ á?żëË? g⿉čż“ĐÔżŕN�ż€EŮż€ąqí?i˛6ŕPb@I˛6g_;‰˛6Ť’CYčJĄň@yčJ4•GéóRĘ=ÉóR´=bDV|
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:úAHRS rotation from veh to nav: [[-0.823062,0.523385,0.220539],[-0.567880,-0.752223,-0.334174],[-0.009007,-0.400285,0.916346]]˛2HŔ…V꿀‘żŕ?ŕ :Ě?€,âż 6čż@cŐż€r‚ż€FžŮż€µRí?i˛20Áa@I˛2śÝ^;‰˛2Ś’CYč^žň@yčb/•Gyô]
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JúAHRS rotation from veh to nav: [[-0.827441,0.515143,0.223536],[-0.561471,-0.752191,-0.344905],[-0.009534,-0.410898,0.911632]]˛>H@fz꿀
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FúAHRS rotation from veh to nav: [[-0.832224,0.509313,0.219099],[-0.554305,-0.755594,-0.349032],[-0.012217,-0.411920,0.911138]]˛:H€“ˇęż`JLŕ?ŔnĚ?ŕŢĽáż Ó-čż ŠVÖż@‰ż ç\Úż 
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>úAHRS rotation from veh to nav: [[-0.838978,0.503940,0.205332],[-0.543921,-0.765290,-0.344211],[-0.016323,-0.400470,0.916164]]˛6HŕçŘężŕE ŕ? SHĘ?ŕĚgáż@A}迀ŽÖż ű¶�żMˇŮż 8Qí?i˛6Ýé_@I˛6{_;‰˛4YčFó@yčF{•GÉöP©öRAAbDR4
VDReű8y”Zę=%ZN=Ů”^Q)<Q-^ŕ>ťzDAT read: 00:10:34.9835 LVL= 32752, 32753, 23458, 32483, AGC= 49, IDX= 405,-0.49, 2.813, 2.034,-1.981,-2.911, PHS=-0.457,-1.293, 0.886, RAW= 187.6,   9.1, CAL= 187.6,  10.0, ROT= 322.4, -10.0
ť~Ygot valid direction response:
 00:10:34.9835 LVL= 32752, 32753, 23458, 32483, AGC= 49, IDX= 405,-0.49, 2.813, 2.034,-1.981,-2.911, PHS=-0.457,-1.293, 0.886, RAW= 187.6,   9.1, CAL= 187.6,  10.0, ROT= 322.4, -10.0
ť~DAT read: 
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2DAT read: DATA(0002):~~
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NDAT read: Source:010  Destination:011
ť

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:úAHRS rotation from veh to nav: [[-0.859315,0.481587,0.172196],[-0.510902,-0.792763,-0.332425],[-0.023581,-0.373633,0.927277]]˛2Hŕ‚뿀PŇŢ? …
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:úAHRS rotation from veh to nav: [[-0.870953,0.464478,0.160316],[-0.490695,-0.805112,-0.333185],[-0.025685,-0.368855,0.929132]]˛2H@ŘŢëżŕşÝ?ŕ8…Ä? ŚgßżŕzĂéżŔčRŐż CMšż Q›×ż@s»í?i˛2(đ[@I˛2˝_;‰˛2Š’CYčBkó@yčB­•G	÷

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JúAHRS rotation from veh to nav: [[-0.882580,0.445279,0.150931],[-0.469409,-0.816358,-0.336474],[-0.026611,-0.367814,0.929519]]˛BH€>ěż rÜ? µQĂ? Î
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VúAHRS rotation from veh to nav: [[-0.989867,0.140519,0.020444],[-0.137646,-0.914156,-0.381278],[-0.034888,-0.380228,0.924235]]˛6H`ý¬ďż …üÁ?8ď”? _žÁżŕĂ@íż`ÚfŘż Óܡż€¨UŘż@T“í?i˛6ąńC@I˛6dć^;‰˛6Ž’CYč]
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i˘jw†Ľ‰¨	I©	Ô!ťBDAT read: Rx Time:00:10:46.0824
ť
TRx dataTimestamp_ set to:1761351047.505001ąý•Ë:ĽÔQ^Am5tr=¦Aˇ
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:úAHRS rotation from veh to nav: [[-0.992706,0.120142,0.010053],[-0.114548,-0.913894,-0.389457],[-0.037603,-0.387768,0.920990]]˛2Hŕ>Ä￀¤Áľ?k–„? 
S˝ż`ž>íż€ÝěŘż ˝@Łż0ŃŘż€żxí?i˛2/tB@I˛2ž_;‰˛0YčZŐí@yčZ>’Géóbť=ÉóbŽ=bDfş
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üAHRS rotation from veh to nav: [[-0.994605,0.103724,-0.001336],[-0.094756,-0.913698,-0.395193],[-0.042212,-0.392934,0.918597]]˛vH ÎÓ￀­Ťş?HăUż@íA¸ż =íżŔŐJŮż`ĆśĄżŔÔ%Ůż &eí?i˛v,.A@I˛v5_;‰˛vŚ’CYč-
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ł‰C4y®	É®3šBą®H±Ejw!‚w!úv!ęv)şv)Šv)Zv)Úwcîüâwcîüňwkîü`41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000ęwcîüâuArsuüV>zsuüV>‚suO!Đ?ŠsuBť@Ô±é˘=Hđ@ɢ=MWÇ»)ŁA	˘EHż˝iŁA)˘Aéˇá‰˘ái˘ĺ˘„Ľ‰¨éI©éť­DAT read: 00:10:46.0824 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 424,-0.20,-0.501,-1.726, 0.004,-0.973, PHS= 0.574,-0.708, 0.933, RAW= 162.0, -10.7, CAL= 163.1, -12.3, ROT= 346.9,  12.3
ťµYgot valid direction response:
 00:10:46.0824 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 424,-0.20,-0.501,-1.726, 0.004,-0.973, PHS= 0.574,-0.708, 0.933, RAW= 162.0, -10.7, CAL= 163.1, -12.3, ROT= 346.9,  12.3
ťµDAT read: 
ť˝2DAT read: DATA(0002):~~
ť˝Got DATA 2ťĹNDAT read: Source:010  Destination:011
ťĹ0Got Src/Dest after DATA ťÍ&DATA Src=10, Dst=11ťŐ‚DAT read: CRC:Pass MPD:03.7 PSNR:12.5 AGC:50 SPD:+0.6 CCERR:009
ťŐGot CRC:PassťŐGot CRC:PassťŐ@Incoming data is intended for usŤŐ€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťŐGot ackťŐDAT read: 
ťÝ"DAT read: <EOP>
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ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťX#Rx 4: Read direction message, but no range.ťe`direction in FSK: [0.951619,-0.221449,-0.213030]éäiyâiâmłQ=V©sî?f/]´pXĚżAzUm”DËżůái©âiÉâiéâmň	ămó)ăm,IămŞń?iăm}?5ż‰ămŮn?©ăm«ô4@Éămt;?ľéăm8/6@	ämĺÓ[ľ)ämŮľÁ@ÔŮIämĺÓ[>©äi‰ĺmzănký\ç?Žžĺ?a—J?.ÇÇż	ĺm2ł;?)ĺmřU?>Iĺm4 jľiĺmĺÓ[>éäiyâiâmłQ=V©sî?f/]´pXĚżAzUm”DËżůái‚D•@AzD•@AEťl
EťWEť‘E™"EťV:*Eť˝¬9VEť©ż5ZE™BEťAx;a•­€2EťDx;aŤ­€JEťŠî:a™­€:Eť‹î:a‘­€ÚIŮâIńOm>©âiÉâiéâi	ăi)ăiIăiiăi‰ăi©ăiÉăiéăi	äi)äiIäi©äi‰ĺmzănký\ç?Žžĺ?a—J?.ÇÇż	ĺi)ĺiIĺiiĺiÔ
	ťtmodem://10: set _.others_observations nan n/a str none_strť"#Outgoing data=56ŤpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔ1Ńď‡XÁŹ,J!b?ÚA™±2b|@@ů±2DrN@ą±2šAJ=ٱ2KĚľ
:üAHRS rotation from veh to nav: [[-0.995248,0.096540,-0.012674],[-0.083930,-0.916575,-0.390954],[-0.049359,-0.388033,0.920323]]˛2H Ů￀Զ¸?—ô‰ż€o|µżŕ•Tíż€eŮż’E©ż€�ŐŘżŔHsí?i˛2b|@@I˛2+_;‰˛2Ť’CYčf¨ě@yčf…‘G©ęQ
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I-†?™«üFBI­Ťî:i­„đ:‰­ř—C4y®QÉ®U=šBą®Qjwi‚wiúvięvişviŠviZv‘ÚwCöüâwCöüňwKöü`41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000ęwCöüâu©rsŮzsŮ‚sŮŠsÝîť@Ô“–Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.é˘%›ń@ɢ%‘l1Ľ)Ł%€–đ6	˘%[ľiŁ!)˘)éˇ)‰˘)i˘Mß‚Ľ‰¨QI©QÚ@aŇ@aę@aâ@aÔ9’A\?ŠA`?Ť}zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYÚI©âIŮO
†>Ôi	E©	
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>üAHRS rotation from veh to nav: [[-0.994663,0.101440,-0.018843],[-0.086652,-0.920457,-0.381118],[-0.056005,-0.377451,0.924334]]˛6HŕGÔďżŔů÷ą?”K“ż×.¶żŔatíż@<dŘż`¨¬¬żŔ((ŘżŔ%”í?i˛6´©@@I˛6<_;‰˛6Ś’CYč^…ě@yčbo‘G	ńdéđd©ód‰ófżAbDjd
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JüAHRS rotation from veh to nav: [[-0.993540,0.111349,-0.021915],[-0.096058,-0.927968,-0.360068],[-0.060430,-0.355636,0.932669]]˛BHŔËďżŔ`�Ľ?úp–ż€A—¸ż`é±íż€Y׿@­đ®ż`żÂÖż lŘí?i˛BEA@I˛Bťř^;‰˛BŽ’CYčnżë@yčrő�GÔ
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BüAHRS rotation from veh to nav: [[-0.992201,0.122257,-0.024301],[-0.107077,-0.935776,-0.335943],[-0.063811,-0.330721,0.941569]]˛6H Ŕ￀>Lż?Iâ�żbi»ż ŕńíż€Őż ňU°ż �*ŐżŕT!î?i˛6JűA@I˛6ű_;‰˛6Ś’CYčJXë@yčJ¶�GbD

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:üAHRS rotation from veh to nav: [[-0.990895,0.131916,-0.026942],[-0.117084,-0.943063,-0.311324],[-0.066477,-0.305335,0.949922]]˛2H hµďż@˘âŔ?@©–›ż€5ů˝ż€“-îżŔ»ěÓż@ť±ż`›ŠÓż`Âeî?i˛2÷ B@I˛2Ű
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ZüAHRS rotation from veh to nav: [[-0.989878,0.139091,-0.028200],[-0.124830,-0.947841,-0.293283],[-0.067522,-0.286795,0.955610]]˛JH ­ďżżÍÁ?ŔVŕśżŔÔôżż€¶Tîż 'ĹŇżŕI±żŕ×ZŇż€Z”î?i˛J>!C@I˛J<_;‰˛JŤ’CYčfáé@yčfĎŹG	÷péör4<bDvČ
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DAT read: 00:10:57.1773 LVL= 32752, 32753, 30322, 32755, AGC= 49, IDX= 387, 0.43, 2.811, 1.859,-3.024, 2.043, PHS= 0.870,-0.139, 1.173, RAW= 162.7, -29.5, CAL= 163.9, -30.4, ROT= 346.1,  30.4
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Ygot valid direction response:
 00:10:57.1773 LVL= 32752, 32753, 30322, 32755, AGC= 49, IDX= 387, 0.43, 2.811, 1.859,-3.024, 2.043, PHS= 0.870,-0.139, 1.173, RAW= 162.7, -29.5, CAL= 163.9, -30.4, ROT= 346.1,  30.4
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DAT read: 
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2DAT read: DATA(0002):~~
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Got DATA 2ťm
NDAT read: Source:010  Destination:011
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&DATA Src=10, Dst=11ť}
‚DAT read: CRC:Pass MPD:03.7 PSNR:11.2 AGC:53 SPD:+2.2 CCERR:008
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 00:11:12.0708 LVL= 32752, 32753, 23506, 29107, AGC= 48, IDX=  34,-0.10, 2.976, 1.937,-1.786,-2.860, PHS=-0.346,-1.442, 1.030, RAW= 183.7,   7.1, CAL= 183.6,   6.9, ROT= 326.4,  -6.9
ťŐ6DAT read: In Command Mode
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ť-DAT read: 00:11:38.0060 LVL= 32016, 31553, 24850, 32755, AGC= 39, IDX= 285,-0.02, 0.768, 0.390, 2.684, 1.792, PHS=-0.922,-1.357, 0.848, RAW= 199.3,  14.0, CAL= 199.8,  18.0, ROT= 310.2, -18.0
ť5Ygot valid direction response:
 00:11:38.0060 LVL= 32016, 31553, 24850, 32755, AGC= 39, IDX= 285,-0.02, 0.768, 0.390, 2.684, 1.792, PHS=-0.922,-1.357, 0.848, RAW= 199.3,  14.0, CAL= 199.8,  18.0, ROT= 310.2, -18.0
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:řAHRS rotation from veh to nav: [[-0.967992,0.177136,0.177804],[-0.212532,-0.955344,-0.205298],[0.133499,-0.236516,0.962413]]˛2H Ęůîż g¬Ć?LÂĆ?Ŕ>4Ëż@.’îż7GĘż`|Á?Ŕ)FÎż Ěî?i˛2ďH@I˛2,^;‰˛0ťnDAT read: 
ťr2DAT read: DATA(0002):~~
ťrGot DATA 2ťvNDAT read: Source:010  Destination:011
ťv0Got Src/Dest after DATA ťz&DATA Src=10, Dst=11ť~‚DAT read: CRC:Pass MPD:12.1 PSNR:13.3 AGC:39 SPD:+0.9 CCERR:010
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3/€î?Pˇś•ŽĎ?	ĺIţ)ĺIţIĺIţiĺIţŠvYZvYÚw#ôüâw#ôüňw+ôü`41da3f0560000000405140000000000040426353f363977dc05e774dfcf1b89e400f50b6c0000000406bdcccc0000000ęw#ôüâuyrs‰zs‰‚s‰ŠsŤŠë)@“˝–Received valid acoustic ping at time: 1761351040.00. Resetting abort timer.é˘íöGAɢőŔÍâ˝)Łń	˘őFÍľiŁń)˘ő¸Q¦˝éˇń‰˘ůi˘ý–Šň»‰¨ůI©
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EíLEíjEé"EíŔ:*EíĘ|9VEíŮ€5ZEéa•ő@aŤő@a™ő@a‘ő@¦A!Ô!ÚI1âIAO}7>ÔQÔy&śĐ[ÁŹ,ďŽBo?ÚA™±2]oI@ů±2;eW@ą±2Nپٱ20Étľ
:řAHRS rotation from veh to nav: [[-0.966954,0.186134,0.174223],[-0.220255,-0.954051,-0.203158],[0.128403,-0.234818,0.963521]]˛2HŕIńîż@>ÓÇ?ŕńLĆ?ŔP1Ěż—‡îżŕ
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řAHRS rotation from veh to nav: [[-0.966947,0.189180,0.170949],[-0.222411,-0.953653,-0.202679],[0.124683,-0.234000,0.964208]]˛U
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>řAHRS rotation from veh to nav: [[-0.967920,0.186522,0.168347],[-0.218978,-0.954764,-0.201184],[0.123206,-0.231595,0.964979]]˛2H3ůîż őßÇ?ŔeŚĹ?@zĚż@lŤîż hŔÉż€sŠż?`ä¤Íż`áî?i˛2EWI@I˛2­a^;‰˛2’’CYčF!EAyčFnňGééHÉéH©óL‰óNľAbDRáäVDRśŇ8y”ZX>%Zx=Ů”^ĺ“;Q-^?9•\I•\‘=bhFy•b¦łE–bs3ĽŃEb?©­dQ
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NřAHRS rotation from veh to nav: [[-0.969245,0.182538,0.165056],[-0.214084,-0.956186,-0.199689],[0.121374,-0.228883,0.965858]]ÔL˛BH ďż`f]Ç?Ŕ� Ĺ?`gËż ™îż`gŹÉżŕZż? 
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BřAHRS rotation from veh to nav: [[-0.970532,0.177931,0.162509],[-0.209015,-0.957192,-0.200243],[0.119923,-0.228309,0.966175]]˛6H �ďż pĆĆ? ÍÄ? ýŔĘż@Pˇîż ŽˇÉż`Jłľ? 89Íż@çęî?i˛6a­H@I˛6˝7^;‰˛4YčJ|FAyčJôGbDR{äVDR>Ň8y”Z#˘=%ZP=Ů”^¦s;Q-^ă>9•`I•`‘=bhFy•b«łE–bv[ĽŃEfă>©­dQ
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řAHRS rotation from veh to nav: [[-0.973154,0.167954,0.157360],[-0.198089,-0.959330,-0.201113],[0.117183,-0.226885,0.966846]]˛-
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:řAHRS rotation from veh to nav: [[-0.974183,0.164523,0.154598],[-0.194007,-0.960273,-0.200593],[0.115455,-0.225408,0.967399]]˛2Hŕ€,ďż Ĺ? âÉĂ? 7ŐČżŔŤşîżŕ
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ťŤYgot valid direction response:
 00:11:49.1036 LVL= 29616, 32097, 24370, 31507, AGC= 38, IDX= 421, 0.41, 1.315, 1.361,-2.866, 2.610, PHS=-1.193,-1.204, 0.762, RAW= 209.7,  16.4, CAL= 212.0,  20.1, ROT= 298.0, -20.1
ťŤDAT read: 
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ť•Got DATA 2ÔˇťĄNDAT read: Source:010  Destination:011
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颅!]Aɢ…€¶—˝)Ł�	˘…ż#>iŁ‰)˘ŤĎí®˝éˇ‰‰˘‰i˘ŤKzĽÔщ¨I©ÚI‘âIˇOÝ>–B-×Ń>žB-�C˘B-ý	HŞB-g`A¶B-¤=ľB)ĆB-ĽDÎB-*é;ŇB-Ś™EÔůÔ)	ťDAT read: 00:12:00.2521 LVL= 24464, 25969, 17826, 28131, AGC= 37, IDX= 422,-0.01,-0.373, 0.154, 2.149, 1.108, PHS=-1.380,-0.909, 0.997, RAW= 220.8,  11.8, CAL= 222.5,  13.8, ROT= 287.5, -13.8
ťYgot valid direction response:
 00:12:00.2521 LVL= 24464, 25969, 17826, 28131, AGC= 37, IDX= 422,-0.01,-0.373, 0.154, 2.149, 1.108, PHS=-1.380,-0.909, 0.997, RAW= 220.8,  11.8, CAL= 222.5,  13.8, ROT= 287.5, -13.8
ťDAT read: 
ť%2DAT read: DATA(0002):~~
ť%Got DATA 2ť-NDAT read: Source:010  Destination:011
ť-0Got Src/Dest after DATA ť-&DATA Src=10, Dst=11ť=‚DAT read: CRC:Pass MPD:11.5 PSNR:13.4 AGC:38 SPD:+0.4 CCERR:011
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:řAHRS rotation from veh to nav: [[-0.980916,0.147511,0.126668],[-0.173881,-0.957047,-0.232006],[0.087004,-0.249603,0.964432]]˛2H ©cďż@ áÂ?`Ş6Ŕ?ŕ¸AĆżŕ  îż ^˛Íż@çE¶? 
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BřAHRS rotation from veh to nav: [[-0.979877,0.153187,0.127961],[-0.179059,-0.957897,-0.224433],[0.088193,-0.242829,0.966052]]˛6HŔ'[ďż ˇ›Ă?`aŔ?ŕiëĆż §îżŕ7şĚżŔד¶?€Ďż ĺéî?i˛6G«F@I˛6ł^;‰˛4YčJ'cAyčJ­HbD

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E©˝éˇˇ‰˘ˇi˘­Ă .Ľ‰¨©I©±ť-DAT read: 00:12:06.0677 LVL= 29584, 32753, 32754, 32755, AGC= 59, IDX=  71, 0.15, 0.444,-1.325,-0.224,-0.016, PHS= 0.562,-1.264,-0.252, RAW= 123.6,  12.0, CAL= 123.9,  13.2, ROT=  26.1, -13.2
ť=Ygot valid direction response:
 00:12:06.0677 LVL= 29584, 32753, 32754, 32755, AGC= 59, IDX=  71, 0.15, 0.444,-1.325,-0.224,-0.016, PHS= 0.562,-1.264,-0.252, RAW= 123.6,  12.0, CAL= 123.9,  13.2, ROT=  26.1, -13.2
ťEJDAT read: Bearing 187,  -9 (Remote)
ťEfRemote Bearing received:Bearing 187,  -9 (Remote)
ťUPDAT read: Bearing 357.2,  25.7 (Local)
ťU~Local bearing/azimuth received:
 Bearing 357.2,  25.7 (Local)
ťe–DAT read: Range 11 to 20 : 100.3 m  (Round-trip  133.8 ms) speed  1.1 m/s
ťeR#Rx 1: Read range and direction messages.ťm\direction in FSK: [0.874301,0.428316,0.228351]ťuFpublishing direction and range infoyâáâĺŤIvEúë?ÂMk…iŰ?»˘ä™:Í?Yâĺ™ČBůáĺ©âĺ�sÉâĺńéâĺň	ăĺó)ăĺ;Iăĺ;ß?iăĺÁʡż–BÁŃ>žBţŹC˘BHŞBgA¶B˘=ľBĆBĽDÎBşç;ŇB·�E‰ăĺ%�ľ©ăĺ
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JřAHRS rotation from veh to nav: [[-0.984112,0.129921,0.121013],[-0.152922,-0.966550,-0.205901],[0.090215,-0.221135,0.971062]]˛>H@Ř}ďż@@ˇŔ?`ąúľ? ď’Ăż űíîż÷ZĘżM·?`(NĚż ďď?i˛>¶÷D@I˛>Aß];‰˛>Ź’CYč~ýfAyč~	HbD
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JřAHRS rotation from veh to nav: [[-0.985023,0.122405,0.121433],[-0.147462,-0.963040,-0.225408],[0.089354,-0.239939,0.966667]]˛>HŕO…ďżńUż?€9ż?ŔŕÂż`9Ńîż`/ÚĚż ŕ߶?ŔT¶Îż ďîî?i˛>¨śD@I˛>ĚŁ];‰˛>Ź’CYčR2iAyčRdH©éT‰éT	÷E
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břAHRS rotation from veh to nav: [[-0.982395,0.136946,0.127065],[-0.162813,-0.961154,-0.222879],[0.091606,-0.239644,0.966529]]˛ZHŕÇoďż@v‡Á?`¨CŔ?ŕ×Äż ĹÁîż P‡Ěż �s·? Ł¬Îż@Ďíî?i˛ZßśE@I˛Z˙ą];‰˛ZŹ’CYčj˝kAyčjőH©ę

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NřAHRS rotation from veh to nav: [[-0.982693,0.136096,0.125665],[-0.161271,-0.962321,-0.218930],[0.091135,-0.235407,0.967615]]˛BH`9rďż@–kÁ? ĚŔ?ŕ„¤Äż@UËîżŔăĚżŕśT·?`Đ!Îżłöî?i˛B�E@I˛Bk¨];‰˛BŽ’CYčV7lAyčV@H©éX‰éX	÷bp<éöb´<bDb>ŘVDbűĆ8y”jáš=%jO=ÔlŮ”nXť:Q-râ>9•pI•p‘=riFy•ri´E–vż‚»ŃEvâ>©­xÝ~HBuffer send receipt timeout failure.Ť
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RřAHRS rotation from veh to nav: [[-0.983161,0.135435,0.122688],[-0.159239,-0.964302,-0.211576],[0.089653,-0.227550,0.969630]]˛JH€
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rs1zs1‚s1Šs5žö­?é˘u1iAɢuęlˇĽ)Łq	˘u\<?iŁy)˘}gÍŽ˝éˇy‰˘yi˘}KpĽ‰¨�I©�‚AµtAzAµwAÚI™âI©ÔÉOĺ#>ÔńÔ­ŚP^ÁŹ,	NBy?ÚA™±2ĄĂC@ů±2€ąQ@ą±2Ý€˝Ů±2!‡cľ
:řAHRS rotation from veh to nav: [[-0.988893,0.117894,0.090511],[-0.134674,-0.968364,-0.210079],[0.062880,-0.219935,0.973486]]˛2H`ĄďżK.ľ?€ł+·?@=Áż ×üîżŕßăĘż ę°? Ö&Ěż Ë&ď?i˛2ĄĂC@I˛2ß];‰˛2Ź’CYčB4uAyčFÇHbDN2ÖVDNĹ8y”V/=%VM=Ů”Z“Ť;Q-Zß>9•XI•X‘=ZiFy•^ś´E–^�ĽŃE^ŕ>©­`Q
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FřAHRS rotation from veh to nav: [[-0.989517,0.114796,0.087620],[-0.131028,-0.968777,-0.210485],[0.060721,-0.219759,0.973663]]˛:H` ŞďżŔDc˝?€;n¶? „ĹŔż 7ďż`(ńĘż ŃŻ? 
!ĚżŔ>(ď?i˛:ô†C@I˛:i"^;‰˛:Ž’CYč^­uAyčbHéé`Éé`Éöh©öjBAbDníŐVDnŮÄ8y”v2’=%vG=Ů”v5¬;Q-vŮ>9•xI•x‘=ziFy•zž´E–zqĽŃE~Ů>©­

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řAHRS rotation from veh to nav: [[-0.989984,0.112099,0.085821],[-0.128322,-0.967939,-0.215936],[0.058864,-0.224786,0.972629]]˛]
H ó­ďż€˛Ľ?Ŕeřµ? ŮlŔż@Zůîż ËŁËż e#®?@ĘĹĚżŕĹď?i˛]
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:řAHRS rotation from veh to nav: [[-0.990323,0.110418,0.084068],[-0.126527,-0.967242,-0.220077],[0.057014,-0.228585,0.971853]]˛2HŔş°ďż€UDĽ? ‚…µ?€2Ŕż`Ąóîżŕ}+Ěż ô0­?@BBÍżŔkď?i˛2ý;C@I˛2±O^;‰˛2Ź’CYčFšvAyčJŁHbDR´ŐVDRĄÄ8y”Z¸¸=%Zw=Ů”^¦·;Q-^?9•\I•\‘=biFy•bŁ´E–bř´»ŃEb?©­dQ
5jP4ůŞfçŐ
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Úwłôüâwłôüňw»ôü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000–B�
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EIETE
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fřAHRS rotation from veh to nav: [[-0.990583,0.109412,0.082308],[-0.125308,-0.966722,-0.223037],[0.055166,-0.231251,0.971329]]˛VHŕڲ￠dĽ?`$µ?Ŕ
Ŕżŕcďîżŕ|ŚĚż ľ>¬?࠙Ϳ@ ď?i˛Vź'C@I˛V‘/^;‰˛VŽ’CYčrűvAyčrßH©ét‰év@A	÷e
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CI­î:i­Ťî:‰­śqP4y®-f©BÉ®-†ŠBą®-±EjwA‚wAúvAęvAşvAŠvIZvIÚwłřüâwłřüňw»řü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwłřüâuarsyzsy‚syŠs}˘%<颕,jAɢťDĽ)Ł™	˘ťńL?iŁ™)˘ťąd�˝éˇ™‰˘ˇi˘Ą‰%|Ľ‰¨ˇI©©Ô©¦AaÚIiâI‰O˝@>ÔŮÔ	
Űp^ÁŹ,Ť–Ăy?ÚA™±2C@ů±2ůQ@ą±2ßX˝Ů±2ŕżpľ
:řAHRS rotation from veh to nav: [[-0.990806,0.109020,0.080109],[-0.124507,-0.966438,-0.224712],[0.052922,-0.232621,0.971127]]˛2H`Ż´ďżŕ»č»?Ŕ‚´? µßżż@íîż`_ĂĚżĄ«? ‚ĆÍż xď?i˛2C@I˛2(^;‰˛2Ź’CißnŔAIßnŔAÔxYč~ĄwAyč~GH	ńy
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jw	‚w	úv	ęv	şv	ŠvZvÚwŁôüâwŁôüňw«ôü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwŁôüâuˇE˝Y
E˝HE˝\Eą"E˝:*E˝[9VE˝™T5ZEąa•Ĺ@aŤĹ@a™Ĺ@a‘Ĺ@rsÉzsÉ‚sÉŠs͢m
<é˘í^jAɢí€XĽ)Łń	˘őyT?iŁń)˘ő‰ű†˝éˇń‰˘ńi˘őQ‹~Ľ‰¨ůI©
‚AvAzAvAÔ	¦AEÎÇAÚIIâIaOť;>Ô1–B…»Ń>žB…ţŹC˘B…XHŞB…ŔwA¶B…ť=ľB…€DĆB…ĽDÎB…ĺç;ŇB…Ę�EÔa
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:řAHRS rotation from veh to nav: [[-0.990875,0.109833,0.078124],[-0.125043,-0.965441,-0.228665],[0.050309,-0.236348,0.970365]]˛2H€?µďż Ľ?@đ˙ł?ŕe
Ŕż ääčDÍżŕ©? ¤@Îż`;
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ÚwĂýâwĂýňwËý`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwĂýâuˇ
rsą
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ť˝BDAT read: Rx Time:00:12:22.4019
ťĹTRx dataTimestamp_ set to:1761351143.844396…4}^ÁŹ,íb÷y?ÚA™±}
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řAHRS rotation from veh to nav: [[-0.990673,0.112348,0.077108],[-0.127438,-0.964239,-0.232387],[0.048242,-0.240046,0.969562]]˛}
H@—łďż ÔÂĽ?ŔT˝ł?ŕOŔżŕ
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BřAHRS rotation from veh to nav: [[-0.990354,0.115705,0.076236],[-0.130546,-0.963566,-0.233447],[0.046448,-0.241148,0.969376]]˛:H ú°ďżŕŘž˝?Ŕ;„ł?`»µŔż‰Őîż`›áÍż ȧ?`ďÝÎż`!ď?i˛:R}C@I˛:qB^;‰˛:Ź’CB!
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DAT read: 00:12:22.4019 LVL= 29936, 25521, 20626, 20787, AGC= 41, IDX= 293, 0.36, 2.801,-1.858,-0.837,-1.864, PHS=-1.516, 0.051, 0.982, RAW= 248.4,   4.5, CAL= 245.6,   4.2, ROT= 264.4,  -4.2
ťE
Ygot valid direction response:
 00:12:22.4019 LVL= 29936, 25521, 20626, 20787, AGC= 41, IDX= 293, 0.36, 2.801,-1.858,-0.837,-1.864, PHS=-1.516, 0.051, 0.982, RAW= 248.4,   4.5, CAL= 245.6,   4.2, ROT= 264.4,  -4.2
ťM
DAT read: 
ťM
2DAT read: DATA(0002):~~
ťM
Got DATA 2ťU
NDAT read: Source:010  Destination:011
ťU
0Got Src/Dest after DATA ť]
&DATA Src=10, Dst=11ťe
‚DAT read: CRC:Pass MPD:15.9 PSNR:13.9 AGC:40 SPD:-0.3 CCERR:011
ťe
Got CRC:Passťe
Got CRC:Passťe
@Incoming data is intended for usŤe
€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťe
Got ackťm
DAT read: 
ťm
"DAT read: <EOP>
Ťm
ŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťu
X#Rx 2: Read direction message, but no range.ť}
`direction in FSK: [-0.097321,-0.992555,0.073238]éä	
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~řAHRS rotation from veh to nav: [[-0.990008,0.119115,0.075463],[-0.133654,-0.963260,-0.232952],[0.044942,-0.240711,0.969556]]˛6H@&®ďż@Z~ľ? ŠQł?ŕ‘ÁżŔÓîż `ŃͿ૧?€šĎÎżšď?i˛6�°C@I˛6ˇ8^;‰˛6�’C	Ű	
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:üAHRS rotation from veh to nav: [[-0.961944,0.272823,-0.015210],[-0.272099,-0.961514,-0.038108],[-0.025021,-0.032519,0.999158]]˛2HŔ>ČîżŔîuŃ?G&Źż`jŃżşÄîżě‚Łż€&ź™ż c¦ żŕůď?i˛2sľL@I˛2Zş`;‰˛2Ž’CYčB€AyčB�HééDÉéD©ęXÉęX	ëX)ëXiëXÉö`©öbAAbD`VD`y”jĄň<%jH=Ů”nŕ;<Q-nÚ>9•pI•p‘=riFy•rë´E–rpI=ŃErÚ>©­tQ
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:üAHRS rotation from veh to nav: [[-0.950857,0.308320,-0.028439],[-0.307853,-0.951230,-0.019684],[-0.033121,-0.009962,0.999402]]˛2H€lmîż …»Ó?@ťż ŰłÓżŕzpîż 	(”ż<ő ż@Ĺf„ż@űď?i˛2$O@I˛2ËÓ`;‰˛2’’CYčB%€AyčB�HbD

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ťeYgot valid direction response:
 00:12:33.5038 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 441,-0.27, 0.506, 2.567, 2.167, 2.280, PHS=-1.673, 0.332,-0.157, RAW= 283.5,  16.3, CAL= 282.5,  23.5, ROT= 227.5, -23.5
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ťm2DAT read: DATA(0002):~~
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BDAT read: Rx Time:00:12:44.6183
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ťíYgot valid direction response:
 00:12:44.6183 LVL= 28496, 26321, 23378, 18387, AGC= 46, IDX=  65,-0.35, 2.246,-2.987, 2.788, 1.736, PHS= 0.613, 1.605, 1.008, RAW= 306.7, -52.8, CAL= 301.8, -55.0, ROT= 208.2,  55.0
ťíDAT read: 
ťő2DAT read: DATA(0002):~~
ťőGot DATA 2ťýNDAT read: Source:010  Destination:011
ťý0Got Src/Dest after DATA ťý&DATA Src=10, Dst=11ť
	‚DAT read: CRC:Pass MPD:03.5 PSNR:11.7 AGC:48 SPD:-1.2 CCERR:009
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NúAHRS rotation from veh to nav: [[-0.377533,0.908323,0.180049],[-0.925313,-0.362586,-0.111032],[-0.035570,-0.208520,0.977371]]˛FH€�)Řż űí? ŮÇ? )śíż ›4׿Ŕ›lĽż86˘żŕČ°Ęż źFď?i˛Fyk�@I˛FhÉ^;‰˛F“’CYčV˙oAyčV“HbD-
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NúAHRS rotation from veh to nav: [[-0.370519,0.907652,0.197188],[-0.928222,-0.354191,-0.113810],[-0.033458,-0.225203,0.973737]]˛FHŔ•¶×ż€|í?ŕv=É?Ŕţłíż@«Öż ®"˝żŕi!ˇż wÓĚżŕÚ(ď?i˛F·©�@I˛F�›^;‰˛F’’CYčVžoAyčVXH	÷
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JúAHRS rotation from veh to nav: [[-0.361879,0.908941,0.207050],[-0.931682,-0.345058,-0.113591],[-0.031803,-0.234011,0.971714]]˛>H`)׿ í?€ź€Ę?ŔWĐíżŕmÖżŕF˝ż wH żŕôÍż Gď?i˛>ö�@I˛>ZĽ^;‰˛>�’CÔhYčzoAyčzýH©é|‰é|–B]
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fúAHRS rotation from veh to nav: [[-0.352291,0.911018,0.214331],[-0.935376,-0.335148,-0.112905],[-0.031026,-0.240256,0.970214]]˛FH î‹Öż 'í?@5oË?šîíż€sŐż`Z缿`HĹźż´ŔÎż€ýď?i˛F7J„@I˛F¦§^;‰˛DÔ9
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úAHRS rotation from veh to nav: [[-0.343044,0.913690,0.217923],[-0.938844,-0.326139,-0.110477],[-0.029868,-0.242495,0.969693]]˛}
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JúAHRS rotation from veh to nav: [[-0.335237,0.916849,0.216803],[-0.941704,-0.319140,-0.106506],[-0.028460,-0.239869,0.970388]]˛>H†tŐż@ÔVí? 2ŔË? p"ÉlÔż€ýC»ż Š$ťż@´Îż@k
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:úAHRS rotation from veh to nav: [[-0.327987,0.919914,0.214903],[-0.944298,-0.312766,-0.102368],[-0.026955,-0.236508,0.971256]]˛2H »ýÔżďoí?ô�Ë?ŕŻ7îż@\Ôż Ă4şżŕš›ż€äEÎż †ď?i˛2f…@I˛2îĂ^;‰˛0Yčf·mAyčf,HbDrĎVDr•ľ8y”z¦˝%zN=Ů”zvx»Q-zá>9•|I•|‘=~iFy•~™µE–
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FúAHRS rotation from veh to nav: [[-0.321989,0.923351,0.209154],[-0.946411,-0.308064,-0.096972],[-0.025106,-0.229170,0.973063]]˛:H w›Ôż@Śí?�ĹĘ?ŔţHîż@S·Óż`$Ó¸ż@jµ™ż mUÍż€T#ď?i˛:‚R…@I˛:®ĺ^;‰˛:“’CYčN–mAyčNH–BE
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BúAHRS rotation from veh to nav: [[-0.311757,0.928904,0.199864],[-0.949926,-0.300025,-0.087322],[-0.021150,-0.217079,0.975925]]˛6HŔÔóÓż”ąí? "•É?ŕËeîż š3Óż@şZ¶ż <¨•żŔ>ÉËżŕĆ:ď?i˛6(«…@I˛6őD_;‰˛6‘’CYčJ-mAyčJ×HbD

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:úAHRS rotation from veh to nav: [[-0.294181,0.939754,0.174127],[-0.955746,-0.288736,-0.056401],[-0.002726,-0.183013,0.983107]]˛2H@ŰÓŇżŕvî?ĚIĆ? x•îżŔ§zŇż“ି UfżűlÇż śuď?i˛2×B†@I˛2߆_;‰˛2�’CťBŽchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510418YčnÚlAyčn¤H©ę)
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:řAHRS rotation from veh to nav: [[-0.281657,0.933298,0.222765],[-0.959513,-0.274425,-0.063444],[0.001920,-0.231616,0.972805]]˛2H©Ňżŕ“Ýí? “�Ě?`U´îż`,�ŃżŔá=°ż`łt_? –ĄÍżŕ8!ď?i˛2ú­†@I˛2ö^;‰˛2“’CÔlYčµńlAy赲H©óÁ‰óĹÁAbDÍŮÎVDÍVľ8y”őŃ˝%ő2=Ů”őlX»Q-őÂ>9•ůI•ů‘=ýiFy•ý͵E–ý
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ť}TRx dataTimestamp_ set to:1761351189.229133ť}Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031746‚siŠsmßx–@额÷oAɢĄU˝)Łˇ	˘Ą›AľiŁˇ)˘Ą‚hĄĽéˇˇ‰˘©i˘­ u­»‰¨©I©±Ô	¦AYÚIaâIqOµ_>Ô1Ôa
ť%Žchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282590–B%NĐ>žB%׏C˘B%ÍHŞB%mA¶B%¨=ľB%€DĆB%đ»DÎB%5ă;ŇB%~•EÁîWaÁŹ,™Ea…?ÚAE*Y
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I…”?™«u.$CI­uČč:i­uáę:‰­u ŮV4y®­aŞBÉ®µÁŚBą®±jwé‚wéúvéęvńşvńŠvńZvńÚwűüâwűüňwűü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwűüÔiâuArs©zs©‚s©Šs­8—@é˘múoAɢmt©˝)Łq	˘uM=ľiŁq)˘u¨Ď¦Ľéˇq‰˘qi˘}\ę©»‰¨yI©�ťµDAT read: 00:13:07.6488 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 456,-0.36,-2.262, 2.376,-2.057,-2.650, PHS= 0.490,-1.212, 0.550, RAW= 151.7,   2.0, CAL= 150.5,   1.6, ROT= 359.5,  -1.6
ť˝Ygot valid direction response:
 00:13:07.6488 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 456,-0.36,-2.262, 2.376,-2.057,-2.650, PHS= 0.490,-1.212, 0.550, RAW= 151.7,   2.0, CAL= 150.5,   1.6, ROT= 359.5,  -1.6
ťĹJDAT read: Bearing 226,   0 (Remote)
ťĹfRemote Bearing received:Bearing 226,   0 (Remote)
ťÍPDAT read: Bearing  47.6,  -2.1 (Local)
ťÍ~Local bearing/azimuth received:
 Bearing  47.6,  -2.1 (Local)
ťĺšDAT read: Range 11 to 20 : 1061.4 m  (Round-trip  1415.2 ms) speed  0.8 m/s
ťýR#Rx 1: Read range and direction messages.ť^direction in FSK: [0.999572,-0.008723,0.027922]ť
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:řAHRS rotation from veh to nav: [[-0.251544,0.935738,0.247223],[-0.967840,-0.244076,-0.060928],[0.003328,-0.254599,0.967041]]˛2H€LĐż€‘ńí?Ŕ
ĄĎ?Ŕ‹řîżĺ=Ďż`ű1Żż@IDk?ŕWKĐż ňî?i˛2í­‡@I˛2Ó±^;‰˛2”’CYč%
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>řAHRS rotation from veh to nav: [[-0.239027,0.938227,0.250191],[-0.971011,-0.231408,-0.059896],[0.001700,-0.257255,0.966342]]˛6HŔs�Îż@őî?`Đ?`†￀ÞͿ µŞ®ż vŮ[?€ÜvĐż`Fěî?i˛6´�@I˛6óÄ^;‰˛6’’CYčFlAyčF.HbD

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rszs‚sŠs!@é˘5˙oAɢ5ď˝)Ł1	˘=zyľiŁ9)˘=«Ľéˇ9‰˘9i˘=żßź»‰¨AI©AÔQ¦AÁÚIÉâIáOm5>Ô�ťýRDAT read: user:65>Rx Time:00:13:09.5782
ťýTRx dataTimestamp_ set to:1761351190.993221Ô±bEµČe5jEµČč5rEµČÄ1EĄ	W
EĄ	FEĄ	IEˇ	"EĄ	Ý	:*EĄ	;J9VEĄ	e5ZEˇ	a•µ	@aŤµ	@a™µ	@a‘µ	@ÔŮraÁŹ,płČ…?ÚA™±f«��@ů±f™~Ź@ą±fr”f:ٱf.…ľ
vúAHRS rotation from veh to nav: [[-0.226210,0.941361,0.250338],[-0.974078,-0.218380,-0.059009],[-0.000880,-0.257197,0.966359]]˛fHŔsôĚż  î?@�Đ?¦+ďż ßóËż@]6®żŽŇLż€éuĐżiěî?i˛f«��@I˛fĺ©^;‰˛dYč
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núAHRS rotation from veh to nav: [[-0.215348,0.945425,0.244535],[-0.976531,-0.207581,-0.057423],[-0.003528,-0.251161,0.967939]]˛bHŔ†�Ëż€ë@î? čLĎ?ŕ˝?ďż@’Ęż }f­ż ±ćlż ĐżŕZůî?i˛bäŢ�@I˛bWŕ^;‰˛`Yčv}kAyčvÎH©ó|‰ó~ŔAbD
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Ôů¦AÉÚIAâIQOŤ9>Ô!ťuDAT read: 00:13:09.5782 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 260, 0.21,-0.895, 0.286,-1.161,-1.142, PHS= 0.349, 1.473,-0.063, RAW= 345.0, -24.3, CAL= 345.0, -27.1, ROT= 165.0,  27.1
ť}Ygot valid direction response:
 00:13:09.5782 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 260, 0.21,-0.895, 0.286,-1.161,-1.142, PHS= 0.349, 1.473,-0.063, RAW= 345.0, -24.3, CAL= 345.0, -27.1, ROT= 165.0,  27.1
ť…DAT read: 
ť…2DAT read: DATA(0002):~~
ť…Got DATA 2ťŤNDAT read: Source:010  Destination:011
ťŤ0Got Src/Dest after DATA ť•&DATA Src=10, Dst=11ťť‚DAT read: CRC:Pass MPD:05.6 PSNR:09.6 AGC:55 SPD:-0.8 CCERR:007
ťťGot CRC:PassťťGot CRC:Passťť@Incoming data is intended for usŤť€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťťGot ackťĄDAT read: 
ťĄ"DAT read: <EOP>
ŤĄŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERť­X#Rx 2: Read direction message, but no range.ťµ`direction in FSK: [-0.859880,0.230404,-0.455545]éäAyâAâE1g®"„ëżĘ‡Éá}Í?ŻţĐĄ'ÝżůáA©âAÉâAéâA	ăA)ăAIăE!°˛>iăED‹Ľ?‰ăE%�˝©ăE2ŻŔ@ÉăEš%ŮľéăE2ŻŔ@	äEý*ňľ)äE�N8@IäEý*ň>©äA‰ĺEŤj!›ťäż´N”|Ę äżö[Ü•WÚż	ĺEóĆŔ)ĺEP1Ů>IĺE�N8@iĺEý*ň>éäAyâAâE1g®"„ëżĘ‡Éá}Í?ŻţĐĄ'ÝżůáA©âAÉâAéâA	ăA)ăAIăAiăA‰ăA©ăAÉăAéăA	äA)äAIäA©äA‰ĺEŤj!›ťäż´N”|Ę äżö[Ü•WÚż	ĺA)ĺAIĺAiĺAÔY	h~aÁŹ,¤lü…?ÚAÔ ™±2׉@ů±2Ĺ�@ą±2®Á};ٱ2@ů{ľ
>úAHRS rotation from veh to nav: [[-0.209390,0.948575,0.237406],[-0.977825,-0.202162,-0.054678],[-0.003872,-0.243590,0.969870]]˛2H€GÍĘżŔąZî?ŔQcÎ?ŕVJďż`nŕÉż@Čţ«ż€0¸ożŕř-ĎżŔ-	ď?i˛2׉@I˛2!	_;‰˛0YčR,kAyčRśHyôĄ
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I••?™«eY%CI­eÎ;i­ežÍ;‰­eź,W4y®ťnŞBÉ®ĄŤBą®ˇjwŮ‚wŮúvŮęvŮşvŮŠváZváÚwCńüâwCńüňwKńü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwCńüâuůE_
EIEOE"Eä&:*E‚c9VEą*5ZEa•%@aŤ%@a™%@a‘%@rs-”>zs-”>‚s-˙*�@Šs-ţÁ@“E–Received valid acoustic ping at time: 1761351168.00. Resetting abort timer.Ôié˘qɢuőš)˝)Ły	˘}sšľiŁy)˘}Wâ°Ľéˇy‰˘yi˘}ه‘»‰¨�I©�¦AůÚI
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BúAHRS rotation from veh to nav: [[-0.207371,0.951804,0.225979],[-0.978260,-0.201213,-0.050213],[-0.002323,-0.231479,0.972837]]˛6H€ ‹Ęż€-uî?ŔäěĚ?@çMďż ZÁÉż}µ©żŕcż`ˇÍż@{!ď?i˛6Â!‰@I˛6@+_;‰˛6“’CYčJkAyčJ�HÔPÉöT©öVAAbDVŇÎVDVPľ8y”^v˛Ľ%be=Ů”b,Ž»Q-bú>9•`I•d‘=fiFy•fáµE–fĐż;ŃEfý>©­hQ
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ťŐ0set remote address to 10ťŐ(entering online mode–BmsĐ>žBmŰŹC˘BmHŞBm˙kA¶Bm¤=ľBiĆBmô»DÎBmFá;ŇBm‡”EE5X
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ť*„DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP
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úAHRS rotation from veh to nav: [[-0.204692,0.952490,0.225532],[-0.978827,-0.199161,-0.047261],[-0.000098,-0.230431,0.973089]]˛M
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NřAHRS rotation from veh to nav: [[-0.200609,0.953738,0.223919],[-0.979668,-0.195915,-0.043227],[0.002642,-0.228038,0.973649]]˛FH€‘­Éż`…î? b©Ě? pY￀»ÉżŕË!¦ż$Ąe?@Z0Íż !(ď?i˛FVZ‰@I˛F;ń^;‰˛F“’CYčV™jAyčVAHbDbŘÎVDbUľ8y”j2;%jd=Ů”j™ú»Q-jů>9•lI•l‘=niFy•nćµE–ry><ŃErů>©­tQ
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VřAHRS rotation from veh to nav: [[-0.194946,0.955561,0.221130],[-0.980799,-0.191159,-0.038615],[0.005371,-0.224412,0.974480]]˛JHŕüóČż ő“î?ŕřMĚ?@µbďż âwČż dĹŁżfv?ŕ„ąĚżŕď.ď?i˛J¦‰‰@I˛J]ł^;‰˛J‘’CYč^FjAyč^H	÷!
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BřAHRS rotation from veh to nav: [[-0.187839,0.955610,0.226994],[-0.982168,-0.184595,-0.035634],[0.007850,-0.229640,0.973244]]˛6H Čż [”î?ŕ"Í?`ěmďż Ó Çż€‘>˘ż Ć€?ŔÔdÍżŔĐ$ď?i˛6đĉ@I˛6*b_;‰˛6’’CYčJäiAyčJŇH©ó|‰ó~ÁAyô}
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:öAHRS rotation from veh to nav: [[-0.087160,0.974089,0.208695],[-0.995890,-0.090376,0.005904],[0.024612,-0.207322,0.977963]]˛2H"P¶żŕĽ+ď?€‚¶Ę? UŢ￀ß"·żÄ.x? á3™?‹‰ĘżyKď?i˛2ŇŤ@I˛2T´^;‰˛2’’C©˝@É˝B©yAi˝BżI˝BwŹF‰˝@Iľ@iľD	ľDé˝D)ľD‰żD©żF‘m@IżH)żHiżH)ŔHIŔJ3{AéżHÉżH	ŔLÉŔLéŔNń`A‰ŔPiŔP©ŔPiÁP‰ÁRzA)ÁRX9ľ	ÁVâ�FIÁT	ÂT)ÂTÉÁT©ÁTéÁTY·XYč^qiAyč^ŚHÔy
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:öAHRS rotation from veh to nav: [[-0.082418,0.979649,0.183019],[-0.996129,-0.086611,0.015021],[0.030566,-0.181073,0.982995]]˛2HŕUµżHYď? *mÇ?Jŕďż`,¶ż(ĂŽ? ČLź?Ŕb-Çż@±tď?i˛2¶,Ť@I˛2µÓ^;‰˛2“’CYčf0iAyčfcHyôu
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>öAHRS rotation from veh to nav: [[-0.021207,0.980292,0.196414],[-0.994446,-0.040941,0.096964],[0.103094,-0.193266,0.975715]]˛6Hŕ.·•żŤ^ď?Ŕ$É?€ŇďżŔ,ö¤żťŇ¸?Ŕ^dş?ŔóĽČżŔ9ď?i˛6J"Ź@I˛6Ť°^;‰˛6’’CYčJúlAyčJ¸HbDVĽĎVDV'ż8y”Z�e=%^T=Ů”^Ţ5ĽQ-^ç>9•`I•`‘=bjFy•bv¶E–fA;ĽŃEfç>©­hQ
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:öAHRS rotation from veh to nav: [[-0.024075,0.978642,0.204158],[-0.993936,-0.045350,0.100177],[0.107296,-0.200508,0.973799]]˛2Hŕ>§�żŔQď? ×!Ę?ŕQÎ￀8§ż`1Ąą?Ŕ˝w»?>ŞÉż \)ď?i˛2‘
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JöAHRS rotation from veh to nav: [[-0.025036,0.976646,0.213393],[-0.993483,-0.048051,0.103358],[0.111197,-0.209415,0.971484]]˛BH Ł™ż@®@ď?@wPË? śĘďż'š¨ż@Łuş?@owĽ?ÎĘżeď?i˛BŹŹ@I˛BY˛^;‰˛B‘’C©˝PÉ˝R®yAi˝R
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:öAHRS rotation from veh to nav: [[-0.022916,0.974795,0.221925],[-0.993212,-0.047520,0.106169],[0.114039,-0.217985,0.969267]]˛2Hŕfw—ż`„1ď?`hĚ?`dČďż@ŹT¨żŕă-»?¦1˝?ŔďćËż@;ď?i˛2úŹ@I˛2Ó^;‰˛2•’CYč
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ť•ŤaGot test_good :  41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000 n/a str  and temp var is  nan n/a str ńJŤ1KŤ
颙ɢťWiH˝)ŁĄ˝é™Ľ	˘ĄŮ÷˝iŁˇ)˘ĄĚ>&˝éˇˇ‰˘ˇi˘ĄM󻉨©I©±Ôˇ¦AÎÇAÚI!âI9OuW>ißąIß˝żAťíDAT read: 00:13:35.0395 LVL= 32752, 29233, 32754, 32755, AGC= 59, IDX= 502,-0.35,-0.195, 1.020,-0.647,-0.201, PHS= 0.107, 1.266,-0.491, RAW= 349.6, -11.4, CAL= 349.2, -14.4, ROT= 160.8,  14.4
ťýYgot valid direction response:
 00:13:35.0395 LVL= 32752, 29233, 32754, 32755, AGC= 59, IDX= 502,-0.35,-0.195, 1.020,-0.647,-0.201, PHS= 0.107, 1.266,-0.491, RAW= 349.6, -11.4, CAL= 349.2, -14.4, ROT= 160.8,  14.4
ťýDAT read: 
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ť%"DAT read: <EOP>
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>öAHRS rotation from veh to nav: [[-0.018593,0.972896,0.230493],[-0.993148,-0.044573,0.108029],[0.115375,-0.226905,0.967059]]˛6H@ő	“żŔ÷!ď? É€Í?`ŢÇďżŔMҦżŔǧ»?`2‰˝?Ŕ7Íż`%ňî?i˛6ť7Ź@I˛6ů®^;‰˛6“’CYč
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Ë׼‰¨)I©)Ô^A±Ôi	ťu	DAT read: 00:14:06.2797 LVL= 21232, 32753, 28706, 30195, AGC= 41, IDX= 249, 0.35,-2.381, 2.251, 2.296, 3.075, PHS= 0.930,-0.778,-0.822, RAW=  88.7,   7.8, CAL=  88.2,   7.1, ROT=  61.8,  -7.1
ť}	Ygot valid direction response:
 00:14:06.2797 LVL= 21232, 32753, 28706, 30195, AGC= 41, IDX= 249, 0.35,-2.381, 2.251, 2.296, 3.075, PHS= 0.930,-0.778,-0.822, RAW=  88.7,   7.8, CAL=  88.2,   7.1, ROT=  61.8,  -7.1
ť…	JDAT read: Bearing 268,  13 (Remote)
ť…	fRemote Bearing received:Bearing 268,  13 (Remote)
ťŤ	PDAT read: Bearing  61.4,  48.0 (Local)
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 Bearing  61.4,  48.0 (Local)
ťť	’DAT read: Range 11 to 20 : 34.8 m  (Round-trip  46.5 ms) speed -0.1 m/s
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ąýŐ�—˝ťµBDAT read: Rx Time:00:14:16.9510
ť˝TRx dataTimestamp_ set to:1761351258.549300Ô1EíR
EíFEíMEé"Eísď9*Eí;J9VEíH$5ZEéa•ő@aŤő@a™ő@a‘ő@¦A!ÚI)âI9Ou6>ÔQÔ�
–B%Î>žB%šŹC˘B%HŞB%_A¶B%Ş=ľB!ĆB%Ŕ»DÎB%·Ô;ŇB%�ŚE×±¬eÁŹ,Ń>µ–?ÚA™±2„2_@ů±2e(m@ą±2ň	&>ٱ2)lJľ
:üAHRS rotation from veh to nav: [[-0.834039,0.550954,-0.028792],[-0.527557,-0.811717,-0.250596],[-0.161438,-0.193817,0.967664]]˛2Hŕr°ęż@iˇá?€°{ťż żáŕżŔ–ůéżŕÂ	ĐżŔý©Äż`ĎČż ÷î?i˛2„2_@I˛2Ń^;‰˛2“’CYč^<€Ayčb´H©ętÉęt	ët)ëtiëtbD~ZÍVD~öĽ8y”

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rszs‚sŠseÔ/@é˘1ɢ5Ötč=)Ł=ąµ�Ľ	˘=Â�?iŁ9)˘=».=éˇ9‰˘Ai˘EzpńĽ‰¨AI©IÔ‘ąý]7༝íDAT read: 00:14:16.9510 LVL= 24480, 22113, 20930, 22611, AGC= 50, IDX= 148,-0.08, 2.837,-1.608,-2.207,-2.168, PHS=-1.177, 0.605,-0.083, RAW= 292.5,   8.5, CAL= 290.1,   9.1, ROT= 219.9,  -9.1
ťőYgot valid direction response:
 00:14:16.9510 LVL= 24480, 22113, 20930, 22611, AGC= 50, IDX= 148,-0.08, 2.837,-1.608,-2.207,-2.168, PHS=-1.177, 0.605,-0.083, RAW= 292.5,   8.5, CAL= 290.1,   9.1, ROT= 219.9,  -9.1
ťýX#Rx 1: Read direction message, but no range.ť`direction in FSK: [-0.757510,-0.633376,0.158158]yâąâ˝f»„=迪KµęťDäż@\~†>Ä?ůáą©â˝ _Éâ˝aVéâ˝ÂQ	ă˝SX)ă˝2Iă˝𧖿iă˝Há?‰ă˝çű©˝©ă˝â\Ł@Éă˝Řé>éă˝˝˘@	佣">)ä˝rˇu@I佣"ľ©äą‰ĺ˝0|ťŞśaďżUîČö‚Ŕ?ŤĚň”ÖÂ?	ĺ˝±@@)彿<ľIĺ˝C~ŔÔŮEV
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BüAHRS rotation from veh to nav: [[-0.835210,0.548938,-0.033028],[-0.524384,-0.813066,-0.252873],[-0.165666,-0.193883,0.966936]]˛6H şęż ć�á?@é ż ŔÇŕż Ł꿀/ĐżŠ4Ĺż€%ŃČżŔ"ńî?i˛6�ű^@I˛6ź^;‰˛6”’CYč^~AyčbHbDjXÍVDjôĽ8y”rzľ%rM=Ů”r0<Q-vŕ>9•tI•t‘=vjFy•v‰·E–zŇ	ĽŃEzŕ>©­|Q
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ť-Got DATA 2ť5NDAT read: Source:010  Destination:011
ť50Got Src/Dest after DATA ť=&DATA Src=10, Dst=11ťE‚DAT read: CRC:Pass MPD:08.1 PSNR:12.6 AGC:49 SPD:-1.6 CCERR:008
ťMGot CRC:PassťMGot CRC:PassťM@Incoming data is intended for usŤM€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťMGot ackťMDAT read: 
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NüAHRS rotation from veh to nav: [[-0.835955,0.547537,-0.037175],[-0.522008,-0.814227,-0.254050],[-0.169371,-0.192969,0.966476]]˛BH%Ŕężŕl…á?ŔŹŁż J´ŕż@&ężŔ[BĐż€ď­Ĺż6łČżŕ_íî?i˛B�Ó^@I˛Bď®^;‰˛B•’CYčb´~AyčbźHbDE
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:üAHRS rotation from veh to nav: [[-0.836939,0.545749,-0.041128],[-0.519650,-0.815996,-0.253210],[-0.171750,-0.190549,0.966537]]˛2HŔ3ČężŔĆvá?@ÂĄżř ŕżŁężŔ�4ĐżŕäűĹż€ęcČż@Ţíî?i˛2—©^@I˛2Ę‘^;‰˛2—’CYčF>~AyčJVHyô­
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VüAHRS rotation from veh to nav: [[-0.838107,0.543734,-0.043935],[-0.517271,-0.817720,-0.252516],[-0.173228,-0.188910,0.966595]]˛JH`ĹŃęż Efá?@–~¦ż€{Ťŕż Ă*ężŕ:)Đż U,Ćż€1.ČżŕWîî?i˛Jş}^@I˛JŞ©^;‰˛HYč^}Ayč^ HÉö%
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>üAHRS rotation from veh to nav: [[-0.839423,0.541566,-0.045554],[-0.514852,-0.819254,-0.252488],[-0.174059,-0.188490,0.966527]]˛6H`ŤÜężŕ‚Tá?ŔŘR§ż «y࿀T7ęż`Á(Đż �GĆżŔr Čż€Ęíî?i˛6űO^@I˛6ĂŹ^;‰˛6”’CYčZk|AyčZ6HbDfsÍVDf
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^üAHRS rotation from veh to nav: [[-0.840697,0.539469,-0.046921],[-0.512558,-0.820713,-0.252417],[-0.174679,-0.188156,0.966480]]˛RH`ýćężUCá?@ú¨ż ŕfŕż@HCężŕ—'Đż€ä[Ćż€�Čż@híî?i˛R[$^@I˛R®°^;‰˛R—’CYč
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@é˘AɢE–bÄ=)ŁA	˘EL:?iŁA)˘Mrź?=éˇI‰˘Ii˘MťˇćĽ‰¨QI©QÚIůâI	Oeá=ÔÉ	ď9éî9Éî˝7‚G©ďŮÉďůéď-Ú©ż9ď)Yď-ű¤AÔůÔ!
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füAHRS rotation from veh to nav: [[-0.842577,0.536304,-0.049428],[-0.509346,-0.823307,-0.250464],[-0.175019,-0.185859,0.966863]]˛ZHcö꿀f)á?@«N©ż€ŹL࿀�X꿙п€gĆż 8ĘÇż€‹đî?i˛Zoć]@I˛ZÉŠ^;‰˛Z�’CYčnYzAyčnńHÔ|©ę	
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FüAHRS rotation from veh to nav: [[-0.844619,0.532821,-0.052162],[-0.505853,-0.826161,-0.248137],[-0.175307,-0.183195,0.967320]]˛:HŔëżŕŢá?Ŕ÷´ŞżŔń/ŕż`čoężńÂĎż@rpĆż ërÇż`Hôî?i˛:Ł]@I˛:‘s^;‰˛:—’CYčRęyAyčR¬Hyô-
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ťíTRx dataTimestamp_ set to:1761351269.659065O
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NúAHRS rotation from veh to nav: [[-0.909701,0.407342,0.080727],[-0.402511,-0.817134,-0.412647],[-0.102124,-0.407879,0.907307]]˛FH@EíżŕâÚ?ŕ~Ş´?€»ÂŮż ő%ężŔĎhÚżŔĚ$şżŕŻÚż¨í?i˛FĂU@I˛Fö‡^;‰˛F”’C©ÂV3�CÉÂV•s@iÂVIÂT‰ÂTéĂZĚ�C	ÄX©ĂX‰ĂXÉĂX‰ÄX©ÄXIÄ\)Ä\iÄ\)Ĺm
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ť•Ygot valid direction response:
 00:14:28.2546 LVL= 30960, 25073, 25730, 27731, AGC= 49, IDX= 457, 0.06, 1.910,-2.680,-3.021, 3.018, PHS=-1.006, 0.630, 0.200, RAW= 284.7,   2.4, CAL= 283.3,  -2.8, ROT= 226.7,   2.8
ť•DAT read: 
ťť2DAT read: DATA(0002):~~
ťĄGot DATA 2ť­NDAT read: Source:010  Destination:011
ť­0Got Src/Dest after DATA ťµ&DATA Src=10, Dst=11ť˝‚DAT read: CRC:Pass MPD:05.8 PSNR:13.7 AGC:49 SPD:-0.9 CCERR:011
ť˝Got CRC:Passť˝Got CRC:Passť˝@Incoming data is intended for usŤ˝€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť˝Got ackťĹDAT read: 
ťĹ"DAT read: <EOP>
ŤĹŚIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERťÍX#Rx 2: Read direction message, but no range.ťŐbdirection in FSK: [-0.685000,-0.726904,-0.048850]éä9yâ9â=oĹO*„ë忼řîĚBçżs!DÖ©żůá9©â=đxÉâ=ńaéâ=‚d	ă=Sl)ă=1Iă=śÄ€żiă=®G!?‰ă=ÍĚL>©ă=©
ź@Éă=§’+=éă=}9ž@	ä=+H˝)ä=ń9}@Iä=+H=©ä9‰ĺ=ŁđKđÖîżŢőn��ăĐ?WŚ¤ *«Ą?	ĺ=jô7@)ĺ=“f-˝Iĺ=ÄĺŔiĺ=+H=éä9yâ9â=oĹO*„ë忼řîĚBçżs!DÖ©żůá9©â9Éâ9éâ9	ă9)ă9Iă9iă9‰ă9©ă9Éă9éă9	ä9)ä9Iä9©ä9‰ĺ=ŁđKđÖîżŢőn��ăĐ?WŚ¤ *«Ą?	ĺ9)ĺ9Iĺ9iĺ9^A©ÔŃÚI	âI1	OU	ś>Ôů¸ÚhfÁŹ,O#Ą™?ÚA™±2¬˝T@ů±2Śłb@ą±21“Ä=ٱ2QHÚľ
:úAHRS rotation from veh to nav: [[-0.916582,0.391571,0.080924],[-0.388191,-0.822941,-0.414821],[-0.095837,-0.411631,0.906297]]˛2HŔ¤Tíż€€Ů? i·´?€ŘŘż�UężmŚÚż ľ�¸ż+XÚż`cí?i˛2¬˝T@I˛2ޢ^;‰˛2–’CYč
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ÚwÓúüâwÓúüňwŰúü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwÓúüâuů
rszs‚sŠs=ř@“-–Received valid acoustic ping at time: 1761351296.00. Resetting abort timer.é˘AɢEŔŕó:)ŁI	˘M˘"żiŁI)˘U»éA=éˇQ‰˘Qi˘Užĺ¦Ľ‰¨YI©aę@}J>â@}G>ťĄtmodem://10: set _.others_observations nan n/a str none_strťĄ"#Outgoing data=62ŤĄpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITÔÉE=[
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^A}¬źď=ÚIŮâIéIµO5p>–B!Đ>žBŐŹC˘B�
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zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY-ofÁŹ,s÷ľ™?ÚAÔ™±6fŐS@ů±6FËa@ą±6“	¸=ٱ6äŰľ
BúAHRS rotation from veh to nav: [[-0.922520,0.377277,0.081361],[-0.375372,-0.828055,-0.416438],[-0.089741,-0.414713,0.905516]]˛6HŕG…íż`N%Ř? Ô´?ŕŘż€męż ë¦Úż Fů¶żŔ§ŠÚż`ýůě?i˛6fŐS@I˛6Ą�^;‰˛6•’CYč
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ÚwŁňüâwŁňüňw«ňü`41da3f058000000040514000000000004042633d885d599ac05e7754e6c2beea402a3c288000000040626999a0000000ęwŁňüâu©
rs9zs9‚s9Šs=ł$@é˘yɢ}ŔŰ™ş)Ły	˘}Ë0żiŁy)˘…˙ś?=éˇ�‰˘�i˘…Âx¤Ľ‰¨‰I©‰ÔQEe\
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:*Ee҆9VEeň-5ZEaBEe÷;a•m€2Eeú;aŤm€JEe­:a™m€:Ee­:a‘u€Ô™^Aýlwď=ÚIYâIqOĄ>Ô©	ŽëufÁŹ,˛ÔŘ™?ÚAÔH™±ZóS@ů±ZÓú`@ą±Zď«=ٱZĺ’Ýľ
júAHRS rotation from veh to nav: [[-0.927698,0.364161,0.082237],[-0.363792,-0.832313,-0.418223],[-0.083853,-0.417902,0.904614]]˛ZH´Żíż€iN×?@
µ?ŕ^H׿€N˘ęż`+ÄÚżlwµż čľÚżŕ�ňě?i˛ZóS@I˛ZŰŞ^;‰˛Z–’CYčv[dAyčzjH	ďm
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ŠsŤg@é˘!ɢ%`ÉA»)Ł)	˘-O:żiŁ))˘-==éˇ)‰˘1i˘5,˘Ľ‰¨1I©9Ô^AŚ‹ď=Ô9¦AI	bEŐČ€'5jEŐČ!5rEŐČËđ1EU	U
EU	PEU	SEQ	"EU	ś:*EU	?Ź9VEU	ś75ZEQ	a•e	@aŤe	@a™e	@a‘e	@ÚIq	âI�	O˝	˘>Ôa
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:úAHRS rotation from veh to nav: [[-0.932264,0.352335,0.082116],[-0.353163,-0.837074,-0.417832],[-0.078480,-0.418531,0.904805]]˛2H Őíż ¨ŚÖ?Ŕ“µ?Ŕ8šÖż`NÉężÄ˝Úż=´żŔ4ÉÚż *ôě?i˛2ëFR@I˛2gŽ^;‰˛2—’CYčB¶cAyčFHÔ9
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IÍť?™«]i^CI­]3ˇ<i­]Ľˇ<‰­]b4y®9É®=�Bą®Ajw‘‚w‘úv‘ęv™şv™Šv™ZvˇňwK.ý`41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000âurs!zs!‚s!Šs%Űş@é˘QɢU�„¸»)ŁQ	˘U™DżiŁY)˘]CC:=éˇY‰˘Yi˘]”źĽ‰¨aÔiI©�Ú@‘Ň@•vAÔ‘^A©ÔÁ
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:úAHRS rotation from veh to nav: [[-0.936710,0.340508,0.081419],[-0.342402,-0.842455,-0.415969],[-0.073049,-0.417520,0.905727]]˛2H@†ůíż äĘŐ?`ç×´?€ééŐż€dő꿀<źÚż Sł˛ż@§¸Úż@¶űě?i˛2ş‡Q@I˛2Q€^;‰˛0YčBcAyčFĄHÔy
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ç?Űů~jĽtłżš™™™™™™żYő-Q8?yő-Ą›˝™ő-ĚĚĽÉő)éő-“cB	ö-(‰B)ö)©ő)Yô-€†BÉö9©ö=@AbDE=ÍVDEŰĽ8y”U$ł˝%U<=Ů”U
NĽQ-]Î>9•YI•Y‘=]kFy•]Ü·E–eaŢĽŃEeĎ>©­iQ
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BúAHRS rotation from veh to nav: [[-0.941422,0.327547,0.080237],[-0.330394,-0.848178,-0.414045],[-0.067564,-0.416301,0.906713]]˛6H`  îżŔ�öÔ?€pŠ´?@.%ŐżŕF$ëżŕµÚż ŮK±żŕ«¤Úż€Ëí?i˛6őłP@I˛66•^;‰˛4YčJbAyčJHbDVBÍVDVŕĽ8y”Z´4ľ%^k=Ů”^‰�ĽQ-^?9•`I•`‘=bkFy•bŢ·E–bB˝ŃEf?©­dQ
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:úAHRS rotation from veh to nav: [[-0.946295,0.313669,0.078336],[-0.317274,-0.854401,-0.411504],[-0.062145,-0.414259,0.908035]]˛2H€
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ɢť
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JúAHRS rotation from veh to nav: [[-0.951610,0.298075,0.074770],[-0.301936,-0.861575,-0.408073],[-0.057217,-0.410902,0.909882]]˛>H –sîż`§Ó?Ŕ$ł?`ęRÓż€’ëż ŢÚż`{K­ż@7LÚż Áí?i˛>ÖĂN@I˛>łź^;‰˛>�’CYčRQaAyčRŤ
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NúAHRS rotation from veh to nav: [[-0.957030,0.281379,0.070137],[-0.285136,-0.869021,-0.404351],[-0.052825,-0.406974,0.911911]]˛FH ýźîżŔŇ?€€ô±?­?Ňż ĎëżáŕŮżŕä«żŔÝÚżŔ_.í?i˛F5˘M@I˛F1‹^;‰˛F—’CYčbŰ`AyčfD
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ŤípIn parseResponses, set commsState_ = SENDING_ACK_WAITINGOőČ>E=W
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zúAHRS rotation from veh to nav: [[-0.962556,0.263373,0.064198],[-0.266604,-0.876837,-0.400100],[-0.049084,-0.402234,0.914220]]˛rH@AÍîżŕŰĐ? Mo°? 
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řAHRS rotation from veh to nav: [[-0.993146,0.108459,0.043566],[-0.116363,-0.952559,-0.281231],[0.010997,-0.284373,0.958651]]˛E
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:řAHRS rotation from veh to nav: [[-0.992712,0.112685,0.042729],[-0.119938,-0.958414,-0.258956],[0.011772,-0.262193,0.964944]]˛2HKÄďżŕńŘĽ?@�ŕĄ?@F´ľż S«îż ş’Đż€Ă�? ĹÇĐż€Ńŕî?i˛2íËB@I˛2�ß^;‰˛2—’CYčB~\AyčB•HééDÉéFR=bD

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>řAHRS rotation from veh to nav: [[-0.992251,0.116726,0.042571],[-0.123595,-0.962357,-0.242059],[0.012713,-0.245445,0.969327]]˛6HŔ…ŔďżŕČá˝?`ŇËĄ?Ŕ飿żŔˇËîżŔĘűÎż �	Š? ˝jĎż`şď?i˛6PC@I˛6űí^;‰˛6–’CYčF‡\AyčFšH	÷
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ť=TRx dataTimestamp_ set to:1761351280.753187ZvAÚwcůüâwcůüňwkůü`41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000ęwcůüâuYrsqzsq‚sqŠsuŔŐČ?颉ɢ•ËÔn˝)Ł‘	˘•Ĺ›żiŁ‘)˘•6ţŐ<顑‰˘™i˘ťˇvĽ‰¨™I©ˇ‚D±zDµ?AE˝Y
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BřAHRS rotation from veh to nav: [[-0.991787,0.120413,0.043109],[-0.127127,-0.965060,-0.229125],[0.014013,-0.232723,0.972442]]˛6HąĽďżŔdÓľ?€[¦? ´EŔż`Ĺáîż`ôSÍżŔŐ˛Ś? ßÉÍżŕ>ď?i˛6°BC@I˛6ÉŞ^;‰˛6•’CYčJP\AyčJxHÔPbD

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BřAHRS rotation from veh to nav: [[-0.991471,0.122749,0.043797],[-0.129375,-0.967548,-0.217054],[0.015733,-0.220869,0.975177]]˛6H@!şďżvlż?”l¦?@]ŹŔżŔ'öîż nČËż€<�? qEĚż€Ą4ď?i˛6âgC@I˛6ź˛^;‰˛6—’CYčJ|\AyčJ”HťfDAT read: 00:14:39.3575 LVL= 28352, 20849, 20322, 22323, AGC= 49, IDX= 455, 0.06, 0.485, 2.088, 2.525, 1.863, PHS=-1.275, 0.270, 0.618, RAW= 260.1,   4.5, CAL= 256.6,   1.5, ROT= 253.4,  -1.5
ťjYgot valid direction response:
 00:14:39.3575 LVL= 28352, 20849, 20322, 22323, AGC= 49, IDX= 455, 0.06, 0.485, 2.088, 2.525, 1.863, PHS=-1.275, 0.270, 0.618, RAW= 260.1,   4.5, CAL= 256.6,   1.5, ROT= 253.4,  -1.5
ťnDAT read: 
ťn2DAT read: DATA(0002):~~
ťrGot DATA 2ťrNDAT read: Source:010  Destination:011
ťr0Got Src/Dest after DATA ťv&DATA Src=10, Dst=11ťz‚DAT read: CRC:Pass MPD:06.7 PSNR:13.4 AGC:51 SPD:-0.3 CCERR:010
ťzGot CRC:PassťzGot CRC:Passťz@Incoming data is intended for usŤz€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDť~Got ackť~DAT read: 
ť~"DAT read: <EOP>
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X#Rx 3: Read direction message, but no range.ť

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:řAHRS rotation from veh to nav: [[-0.991437,0.121571,0.047676],[-0.128953,-0.969005,-0.210713],[0.020582,-0.215057,0.976385]]˛2H@Úąďż@Jż?ŕi¨?`‹�Ŕż ďż ¤řĘż x•?@ú†Ëż‹>ď?i˛2aC@I˛2/q^;‰˛0YčBŘ[AyčF.H©ęXÉęX	ëX)ë\ië\bDbeÍVDb˝8y”jp›Ľ%nG=Ů”nŰi»Q-rŮ>9•xI•|‘=
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:řAHRS rotation from veh to nav: [[-0.991963,0.116854,0.048522],[-0.124576,-0.969091,-0.212939],[0.022140,-0.217273,0.975860]]˛2H`)ľďż!ę˝?€îר? .äżż€Ëďż �A˿׫–?`—ĎËż`>:ď?i˛2ŘC@I˛2$`^;‰˛0Yče	\AyčeMH	÷up<éöuđ;bD}XÍVD}ôĽ8y”ŤÎ×<%Ť2=Ů”Ťt^»Q-•Â>9••„K?I••„K?‘=ťkFy•ť!¸E–ťĽŃEťÄ>©­ˇQ
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:řAHRS rotation from veh to nav: [[-0.992680,0.110203,0.049420],[-0.118352,-0.969169,-0.216110],[0.024080,-0.220377,0.975117]]˛2H ÄďżE6Ľ?€�M©?€QLľż@o￀©Ëż Ś¨�?R5Ěż€)4ď?i˛2.˛B@I˛2ž^;‰˛0©ÂPÉÂRts@iÂPIÂP‰ÂPéĂP	ÄV|A©ĂT‰ĂXÉĂX‰Ä%
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>řAHRS rotation from veh to nav: [[-0.993463,0.102458,0.050330],[-0.111180,-0.968424,-0.223146],[0.025878,-0.227283,0.973485]]˛6H€sĘďżŔ¨:ş? čÄ©?`MvĽżŕSýîż �̿̚? źÍż`É&ď?i˛6ń;B@I˛6
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rřAHRS rotation from veh to nav: [[-0.994954,0.085235,0.052929],[-0.095472,-0.966492,-0.238283],[0.030845,-0.242134,0.969752]]˛jHŞÖďż íѵ?@t«? Ýp¸ż €í
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RřAHRS rotation from veh to nav: [[-0.995264,0.079075,0.056536],[-0.090765,-0.964170,-0.249276],[0.034798,-0.253227,0.966781]]˛JH`4Ůďż`C>´?ŕ=ň¬?@Y<·ż zÚîż@FčĎż€ѡ?€Ţ4Đż€Ţďî?i˛Jě@@I˛JvŠ_;‰˛J™’CYčZď[AyčZ=HbDf5ÍVDfÔĽ8y”nŚl;%nc=Ů”r:4ĽQ-rř>9•pI•p‘=vkFy•v+¸E–výVĽŃEvř>©­xÔ|Q
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VřAHRS rotation from veh to nav: [[-0.995304,0.075290,0.060844],[-0.088546,-0.962096,-0.257936],[0.039118,-0.262112,0.964244]]˛JH@‡Ůďż1Fł?@ţ&Ż? 𪶿`}É‚ĐżL¤?€rĆĐżŔŰî?i˛JĽÇ@@I˛J˘}_;‰˛J—’CYč^ű[Ayč^DHbDf3ÍVDfŇĽ8y”
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RřAHRS rotation from veh to nav: [[-0.995126,0.073724,0.065491],[-0.088568,-0.960215,-0.264845],[0.043360,-0.269354,0.962065]]˛FH€Řďżŕ•ß˛?`üĂ°?Ŕ\¬¶żşîż 8óĐż€73¦? =Ńż ;Éî?i˛FYČ@@I˛F®q_;‰˛F™’CYčZň[AyčZ?H©ęlÉęp	ëp)ëpiëp	÷téövŇ<bDz+ÍVDzĘĽ8y”
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NřAHRS rotation from veh to nav: [[-0.994824,0.073875,0.069775],[-0.090158,-0.958438,-0.270680],[0.046879,-0.275570,0.960137]]˛FH �ŐďżŔ}é˛?ŔČܱ?@ž·ż`†«îżÓRŃż`x¨? ď˘Ńżŕqąî?i˛FÇâ@@I˛Fď�_;‰˛F—’CYčV«[AyčVHyô5
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ťTRx dataTimestamp_ set to:1761351291.848808Ôi’Dµ=ŠDµđ<bEµČ6V5jEµČnY5rEµČ\˙1EÍ]
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:řAHRS rotation from veh to nav: [[-0.991817,0.093296,0.087152],[-0.108484,-0.975768,-0.190020],[0.067312,-0.197920,0.977904]]˛2H€öĽďż Bâ·? ‘O¶? —Ĺ»ż`~9ďż –RČż`U;±?@pUÉżţJď?i˛2óB@I˛2\ć_;‰˛2™’CYč^B_AyčbH	Hyô]
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:řAHRS rotation from veh to nav: [[-0.991437,0.095438,0.089129],[-0.111404,-0.974257,-0.195989],[0.068130,-0.204240,0.976547]]˛2H`ڹ￤n¸? $Ѷ?€ň„Ľżŕ-￀+Éż€ďp±?`Š$Ężŕß?ď?i˛2KCB@I˛2Šď_;‰˛2�’CYčB§_AyčB†	HbDU
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ťuYgot valid direction response:
 00:14:50.4597 LVL= 32752, 20561, 28594, 32755, AGC= 46, IDX= 447, 0.13, 1.067, 2.885, 2.987, 2.564, PHS=-1.394, 0.367, 0.379, RAW= 269.6,   7.4, CAL= 267.8,   4.8, ROT= 242.2,  -4.8
ť}DAT read: 
ť…2DAT read: DATA(0002):~~
ť…Got DATA 2ťŤNDAT read: Source:010  Destination:011
ťŤ0Got Src/Dest after DATA ťŤ&DATA Src=10, Dst=11ť•‚DAT read: CRC:Pass MPD:07.2 PSNR:14.2 AGC:47 SPD:-0.6 CCERR:011
ť•Got CRC:Passť•Got CRC:Passť•@Incoming data is intended for usŤť€In parseResponses, got ack so set commsState_ = SENDING_VERIFIEDťťGot ackťťDAT read: 
ťť"DAT read: <EOP>
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rszs‚sŠsŕ‘í?é˘)ɢM´9áĽ)ŁQ	˘Uš,ľiŁQ)˘U;$~ĽéˇQ‰˘Qi˘Uň&vĽ‰¨YI©Y’AuV?ŠAuI?ÔQ¦AĄÎÇAÚI±âIÁÝĺ€Failed to create a data reader. azimuth_vehicleFrame is unknown.­ĺbFailed to request data from azimuth_vehicleFrame.Iµé©´íş>‰´éO
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ť-DAT read: 00:15:01.5621 LVL= 32752, 19249, 24306, 29859, AGC= 48, IDX= 455,-0.07,-1.531, 0.230, 0.287,-0.094, PHS=-1.335, 0.369, 0.337, RAW= 270.9,   7.5, CAL= 269.2,   4.9, ROT= 240.8,  -4.9
ť5Ygot valid direction response:
 00:15:01.5621 LVL= 32752, 19249, 24306, 29859, AGC= 48, IDX= 455,-0.07,-1.531, 0.230, 0.287,-0.094, PHS=-1.335, 0.369, 0.337, RAW= 270.9,   7.5, CAL= 269.2,   4.9, ROT= 240.8,  -4.9
ť5DAT read: 
ť=2DAT read: DATA(0002):~~
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ťĺYgot valid direction response:
 00:15:13.4148 LVL= 28080, 19697, 24610, 32755, AGC= 49, IDX= 452,-0.06,-1.282, 0.483, 0.382, 0.086, PHS=-1.266, 0.443, 0.253, RAW= 275.8,   7.1, CAL= 274.0,   4.0, ROT= 236.0,  -4.0
ťĺDAT read: 
ťő2DAT read: DATA(0002):~~
ťőGot DATA 2ťýNDAT read: Source:010  Destination:011
ťý0Got Src/Dest after DATA ťý&DATA Src=10, Dst=11ť‚DAT read: CRC:Pass MPD:03.5 PSNR:12.9 AGC:51 SPD:-0.6 CCERR:011
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JöAHRS rotation from veh to nav: [[0.370335,-0.850785,-0.372849],[0.926793,0.311416,0.209938],[-0.062501,-0.423301,0.903830]]˛BH ‘ł×?@˘9ëż@ÂÜ׿`J¨í?`?îÓ? BßĘ? °ż_Űżŕ-ěě?i˛BĂöx?I˛B}l^;‰˛Bś’CYč
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ZöAHRS rotation from veh to nav: [[0.399969,-0.839416,-0.367974],[0.914650,0.339871,0.218868],[-0.058658,-0.424108,0.903710]]˛JH€™Ů?€Üęż@äŚ×ż€ĎDí?tŔŐ?`ŕĚ?@a®ż`–$Űż1ëě?i˛J	Ŕp?I˛Jęc^;‰˛Jť’CYčf€AyčfuH–Br+Ď>žBrąŹC˘Br·HŞBr>€A¶BrĄ=ľBpĆBrŮ»DÎBrż×;ŇBrşŽEbD~0ËVD~řş8y”

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JöAHRS rotation from veh to nav: [[0.414953,-0.833143,-0.365632],[0.908142,0.354701,0.222408],[-0.055608,-0.424334,0.903796]]˛BHŕ•ŽÚ?ŕ©ężŕ‚f׿ŕí?kłÖ?@ŢwĚ?ŔŁx¬ż€K(Űż€ćëě?i˛B»Źl?I˛B:e^;‰˛Bš’CYčR©AyčR5H©ęhÉęh	ëh)ëjiëhbDr,ËVDrôş8y”z¦‚˝%zL=Ů”zqú»Q-zß>9•|I•|‘=~lFy•~ŇąE–
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:öAHRS rotation from veh to nav: [[0.430984,-0.826116,-0.363023],[0.900828,0.370465,0.226419],[-0.052561,-0.424604,0.903852]]˛2H=•Ű?ŕŠoężĂ;׿`”Óě?€±µ×?NűĚ?ŕV骿@µ,ŰżŔ[ěě?i˛2Ih?I˛26^;‰˛2›’CYčNVAyčRHÔ\yô…
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ť=TDAT read: Verbose         | 3           
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nöAHRS rotation from veh to nav: [[0.448674,-0.818135,-0.359647],[0.892306,0.387671,0.231304],[-0.049813,-0.424695,0.903965]]˛fHŔ·Ü?ŕ).꿀u׿@ĹŤě? ™ĎŘ?@\›Í? �©ż€5.ŰżŔGíě?i˛f»c?I˛fy?^;‰˛dÔ
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föAHRS rotation from veh to nav: [[0.734119,-0.664750,-0.138483],[0.663097,0.657925,0.356983],[-0.146193,-0.353895,0.923789]]˛ZH ć}ç?ŕˇEĺż ĚąÁż@8ĺ?`ą
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ZöAHRS rotation from veh to nav: [[0.747847,-0.642418,-0.167407],[0.651933,0.663057,0.367884],[-0.125335,-0.384259,0.914678]]˛NH \îç?`ŻŽäż•mĹż€˘Üä?€Ă7ĺ?`j‹×?`ű
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FöAHRS rotation from veh to nav: [[0.755724,-0.629977,-0.178912],[0.645003,0.668708,0.369865],[-0.113366,-0.394915,0.911696]]˛>H ä.č?€Ć(äżŔ™ćĆż ŢŁä?ŕfĺ?Ý«×? ’˝ż@HFŮż ž,í?i˛>Ú
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:öAHRS rotation from veh to nav: [[0.764974,-0.616141,-0.187577],[0.636125,0.677215,0.369763],[-0.100796,-0.402181,0.909995]]˛2H «zč?Ŕl·ăż@†Čż`"[ä? ż«ĺ?`1Ş×?@ÁÍążŕV˝Ůż ­í?i˛2÷|ó>I˛2č^;‰˛0YčBbAyčB
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:ôAHRS rotation from veh to nav: [[0.780153,0.593497,0.197794],[-0.622332,0.768501,0.148695],[-0.063755,-0.239098,0.968900]]˛2H€÷č? íýâ?@OQÉ?$ę㿀Ž—č?€pĂ? 9R°żŔŚοŔ:
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:ôAHRS rotation from veh to nav: [[0.769347,0.602810,0.211485],[-0.633869,0.761509,0.135330],[-0.079469,-0.238170,0.967967]]˛2Hŕ|žč?8Jă?ŔďË?`¨Häż@G^č? €RÁ?ŕX´ż X|Îż •ůî?i˛2k¬@I˛20Ë^;‰˛2 ’C©ÇB‘CÉÇB"{AiÇ@IÇ@‰Ç@IČDiČD	ČDéÇD)ČDéČFĚ�C	ÉJs@©ČH‰ČHÉČH‰ÉH©ÉJűsAIÉL)ÉLiÉL)ĘLIĘPéÉPÉÉP	ĘPÉĘPéĘP‰ĘTiĘT©ĘTiËT‰ËVízA)ËT	ËTIËXY·XYč^›rAyč^.HbDjdĘVDj<ş8y”rĆË»%rk=Ů”vÇ�<Q-v?9•vÎH?I•vÎH?‘=zmFy•zr»E–zĹ}ĽŃEz?©­|Q
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™3v4y®ŹŞBÉ®YŚBą®ü±Ejw)‚w)úv)ęv)şv1Šv1Zv1Úw�úüâw�úüňw‹úü`41da3f05a000000040514000000000004042632e4ea368dec05e7760fccacfdc40301196c000000040909599a0000000ęw�úüâuIrsazsa‚saŠse°ýŁ@é˘yɢ}Pk´<)Ł�	˘…aÔ=iŁ�)˘…ľßk<éˇ�‰˘�i˘Ť4�ńĽ‰¨‰I©‘©ű™‰ű™éű™Éű™ÔÉťí&DAT read: user:4>
ťőTDAT read: LocalAddr       | 11          
ťő.set local address to 11ťý^Setting time to: 0:16:59 And date to:10/25/2025ŤŤnManaging dock network, ignoring radio surface power offňAAęAE@A–BU…Đ>žBUŢŹC˘BU>HŞBUqA¶BUˇ=ľBU€DĆBUö»DÎBU>Ú;ŇBUÄ�EE}Z
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ťť&DAT read: user:5>
ťĄPDAT read: Sat Oct 25, 2025  00:16:59  
ťĄhLocal DAT time set to Sat Oct 25, 2025  00:16:59  
ť­8setting remote address to 10Ť­2Acoustic response timeoutťµ6setting remote address to 0˙şoÁŹ,Aęľ?ÚAÔ|™±-
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ôAHRS rotation from veh to nav: [[0.770895,0.599578,0.215003],[-0.629269,0.769189,0.111215],[-0.098696,-0.221030,0.970260]]˛-
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ť-TDAT read: RemoteAddr      | 10          
­E|failed to set remote address to 0, device returned 10 instead.qE
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ťeTDAT read: RemoteAddr      | 0           
ťe.set remote address to 0ťe8setting remote address to 10Ťm2Acoustic response timeoutťm6setting remote address to 0O­€>‚D)	zD-	@AE=	[
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ôAHRS rotation from veh to nav: [[0.775476,0.589671,0.225666],[-0.623015,0.772637,0.122003],[-0.102416,-0.235203,0.966535]]˛vH`łĐč?@•Ţâ?žâĚ?˝ďăżqąč?`Ź;ż?€ő7şżŕ#Îż@Űíî?i˛v�l¬@I˛v˙];‰˛tYč
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RôAHRS rotation from veh to nav: [[0.777826,0.583594,0.233250],[-0.619480,0.774514,0.127955],[-0.105982,-0.244021,0.963962]]˛JHŔňăč?Ŕ̬â? #ŰÍ? ÇŇăż@ŇČč?`Ö`Ŕ?ť!»żŕ<ĎżŕĹŘî?i˛JUŹ¬@I˛JÖ#^;‰˛Jš’CÔ’Dőđ<ŠDőŇ<EýZ
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NôAHRS rotation from veh to nav: [[0.779480,0.578061,0.241366],[-0.616658,0.775860,0.133316],[-0.110201,-0.252757,0.961233]]˛BH ńč?@yâ?ŔĺÎ?Ş»ăż ŮÓč?@‚Á? $6Ľż€--Đż lÂî?i˛Bެ@I˛B1^;‰˛B›’C	ŃP)ŃPÉĐRxi˝©ĐPéĐT©ŃTÉŃTiŃVY˝IŃT‰ŃTIŇXiŇZ|A	ŇXéŃZ�F)ŇXéŇ\	Ó^$|A©Ň^�@˝‰Ň
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JôAHRS rotation from veh to nav: [[0.779324,0.575483,0.247939],[-0.616226,0.775623,0.136654],[-0.113665,-0.259284,0.959089]]˛BH`8đč?ŕ[jâ?@sĽĎ?@ ¸ăżçŃč?@â}Á? ˝ż@�ĐżŕŰ°î?i˛B¬¬@I˛BnD^;‰˛Bť’CYčM
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BôAHRS rotation from veh to nav: [[0.777879,0.575292,0.252870],[-0.617689,0.773994,0.139261],[-0.115604,-0.264523,0.957425]]˛:Hcäč?@Ęhâ?ŕ/Đ?€Äăż ŹÄč?ŔNÓÁ?ŕ;�˝ż@óíĐż@:Łî?i˛:)›¬@I˛:Ź'^;‰˛:›’CYč
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jôAHRS rotation from veh to nav: [[0.775707,0.576347,0.257105],[-0.620212,0.771526,0.141718],[-0.116684,-0.269391,0.955936]]˛bH@�Ňč?@nqâ?€ftĐ? ĆŘăż@X°č?ŕÓ#Â? 
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JôAHRS rotation from veh to nav: [[0.772576,0.579022,0.260499],[-0.623957,0.768310,0.142747],[-0.117491,-0.272823,0.954863]]˛BHń¸č? Y‡â?Ŕ¬Đ?ŕt÷ăżŔ˙•č?@…EÂ?`ŕľż îuŃż =Žî?i˛BvW¬@I˛Bµ;^;‰˛@ÔpYčz˙lAyčz»HbD5
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JôAHRS rotation from veh to nav: [[0.769121,0.582015,0.264029],[-0.627941,0.765061,0.142730],[-0.118927,-0.275571,0.953896]]˛BH@Łśč?ŔŢźâ?ŔŮĺĐ? 俀a{č?@üDÂ?`
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€Ć>Ôi颡ɢĄţ˝+=)Łˇ	˘ĄűO?iŁˇ)˘­W`$Ľéˇ©‰˘Éi˘Í5ň伉¨ŃI©Ńę@áâ@ĺC>EeV
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ť%TDAT read: Verbose         | 3           
ť- set verbose to 3ť-6setting DatVerbose to 27440^AQÔÉ	¦A˝
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:řAHRS rotation from veh to nav: [[-0.183900,0.906243,0.380664],[-0.982789,-0.176429,-0.054768],[0.017527,-0.384184,0.923090]]˛2HŕŠÇż€đ˙ě?ŕË\Ř? 
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ť}TDAT read: DatVerbose      | 27440       
ť}.set DatVerbose to 27440ť…6setting transmit power to 8ÔÉ^AŚ‹ď=’A%O?ŠA%I?Ôů¦AmÎÇAÚI�âI‘Oĺ”>Eu	W
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ť%&DAT read: user:3>
ť-TDAT read: TxPower         | 8 (Max)     
ť-.set transmit power to 8ť-6setting local address to 11˘±vrÁŹ,ÜÉ?ÚAÔt™±v‘s‰@ů±v�n�@ą±vłbnĽŮ±vĽNÇľ
~řAHRS rotation from veh to nav: [[-0.197569,0.905854,0.374693],[-0.980181,-0.188220,-0.061793],[0.014549,-0.379475,0.925087]]˛vH€ńIÉż Áüě?`řú×?€¤]ďżŔ™ČżTŁŻż€ĚŤ?ŕRIŘżQší?i˛v‘s‰@I˛v\^;‰˛vť’CYč5
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ť}TDAT read: LocalAddr       | 11          
ť}.set local address to 11ťŤ^Setting time to: 0:17:43 And date to:10/25/2025^AąÔI¦AńÚI
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8setting remote address to 10Ťí
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6setting remote address to 0™±Ą8ó�@ů±Ą*îŹ@ą±Ą?#DĽŮ±ĄAÉÄľ
ÝřAHRS rotation from veh to nav: [[-0.212908,0.904829,0.368720],[-0.976999,-0.201775,-0.068994],[0.011971,-0.374928,0.926977]]˛ĄH@•@Ëż€\ôě?Ŕ™×? “Cďż@ÄÓÉż@�©±ż€A„�?€Ńţ׿ Ë©í?i˛Ą8ó�@I˛Ą×�^;‰˛Ąś’CYčIyčIééUa=ÉéUp=Ô�yôŐŞńŇMbč?L7‰A`ĺŔ?¨ĆK7‰AŔż™ôŐ�@?ąôŐ+>ŮôŐľéôŃ	őŃ9őŐX9´Čvľă?{®Gáz„żËˇE¶óýÄżYőŐó?yőŐ×#Ľ™őŐď'ľÉőŐČżBéőŐ±[B	öŐĺ�B)öŐ�B©őŃYôŐ¨ŹBbDíýĘVDíÉş8Ů”ýq¦;Q-ýŻ>9•
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ťĄ	TDAT read: RemoteAddr      | 0           
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jřAHRS rotation from veh to nav: [[-0.227818,0.903936,0.361938],[-0.973653,-0.215294,-0.075161],[0.009982,-0.369525,0.929167]]˛RH!)Íżŕ
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ZřAHRS rotation from veh to nav: [[-0.243986,0.902794,0.354166],[-0.969743,-0.230284,-0.081046],[0.008391,-0.363224,0.931664]]˛NH ë:Ďż °ăě?@¨ŞÖ?€!ďż`őyÍż`rż´ż8/�? ?׿1Đí?i˛NĂí‡@I˛Nt§^;‰˛L	Ń\)Ń^=|AÉĐbŰy˝©Đ`éĐ`©Ń`ÉŃdiŃf©q˝IŃfţśF‰ŃdIŇdiŇfű{A	Ňj+‡˝éŃh)ŇhéŇh	Óh©Ňj`e˝‰ŇhÉŇl‰Ól©ÓlIÓl)ÓliÓl)ÔpIÔtéÓvGa˝ÉÓt	ÔtÉÔxéÔz(|A‰Ôz`e˝iÔx©ÔxiŐx‰Ő~f„A)Ő|	Ő|IŐ|Y·|Yč
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:řAHRS rotation from veh to nav: [[-0.260696,0.900623,0.347730],[-0.965397,-0.245755,-0.087257],[0.006871,-0.358445,0.933526]]˛2H@=ŻĐż çŃě?ŕ4AÖ?`‡äčtĎż€}V¶żV$|? ÂđÖż qßí?i˛2P`‡@I˛2¨Ž^;‰˛0Yč
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břAHRS rotation from veh to nav: [[-0.315625,0.889163,0.331315],[-0.948882,-0.296374,-0.108558],[0.001668,-0.348643,0.937254]]˛VH`43Ôżŕtě?ŔE4Ő?Ŕ>]îż@É÷Ňż@nĘ»żŔ2S[?€*PÖż`üýí?i˛V]Š…@I˛VŢŚ^;‰˛Vś’CYčně}Ayčr$Héévp=Ééva=bDm
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>úAHRS rotation from veh to nav: [[-0.335538,0.883410,0.327111],[-0.942027,-0.314455,-0.117065],[-0.000555,-0.347427,0.937707]]˛2HsyŐżŔäDě?`bďÔ?%îżŕ Ôż ÷÷˝ż 7.BżŔ=<Öżŕ±
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†×żŕđ°°?ŐŻí?i˛6"ś?I˛6Ç'^;‰˛6–’C-J¬Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-N¬Battery stick #12 (s/n: 0284) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x0AD0.-R¬Battery stick #14 (s/n: 0129) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-R¬Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-V¬Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-Z¬Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-Z¬Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-^¬Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-b¬Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.]f¬Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.]f¬Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.-j¬Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-n¬Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-r¬Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.r°Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 2.·FŹI)·F°{Aé¶D©¶DɶF,�A]
iFailed to receive data from 11 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 10, 12, 14, 17, 24, 26, 27, 28, 54, 58, 62.Yč

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BňAHRS rotation from veh to nav: [[0.287123,0.957847,0.009467],[-0.933170,0.277467,0.228486],[0.216227,-0.074438,0.973501]]˛:H 9`Ň?€®¦î?«c�?@‡ÜíżŕÂŃ?€?Í? V­Ë? błżě&ď?i˛:;^™@I˛:®×`;‰˛8YčJçM>yčJ7ýDbDVâA
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ťePDAT read: Sat Oct 25, 2025  00:23:25  
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BňAHRS rotation from veh to nav: [[0.434000,0.898515,0.065692],[-0.890510,0.416797,0.182409],[0.136517,-0.137665,0.981026]]˛:HŔ¦ĆŰ?˘Ŕě?@0Ń°?ěżŔ̬Ú?Ŕ,YÇ? byÁ?€˙žÁż �dď?i˛:÷Sž@I˛:ăľ`;‰˛:™’CYčNŁó=yčRĎ•DaŃő
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BňAHRS rotation from veh to nav: [[0.464406,0.875357,0.134450],[-0.880904,0.440927,0.172022],[0.091298,-0.198326,0.975875]]˛6H@Ó¸Ý?@íě?@Ş5Á?€]0ěż@%8Ü?ŕÓĆ?ŕR_·?@ľbÉż ]:ď?i˛6zWź@I˛6Ć«`;‰˛6ś’CYčNŮ=yčN{…DbDZ
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<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="run_backseat_on_surface">
    <DefineArg Name="ElapsedSinceMissionStarted">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <Insert Id="Science" Filename="Insert/Science.tl" />
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Assign>
        <Sequence />
        <Arg Name="BackseatDriver:EnableBackseat" />
        <True />
    </Assign>
    <Insert Filename="Insert/PowerOnly.tl" />
    <Guidance:GoToSurface>
        <Progression />
    </Guidance:GoToSurface>
    <Aggregate Id="CheckIn">
        <Sequence Repeat="288" />
        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M" />
            <Universal:time_fix />
        </ReadDatum>
        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>Burn on</String>
                    </Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
        <Assign>
            <Sequence />
            <Arg Name="ElapsedSinceMissionStarted" />
            <Elapsed>
                <Universal:mission_started />
            </Elapsed>
        </Assign>
        <Syslog Severity="Important">
            run_backseat_on_surface mission has been running for 
            <Arg Name="ElapsedSinceMissionStarted" />
            <Units:minute />
        </Syslog>
    </Aggregate>
    <Syslog Severity="Important">Restarting logs and run_backseat_on_surface mission.</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
</Mission>
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:ôAHRS rotation from veh to nav: [[0.523677,0.830339,0.190525],[-0.850095,0.523940,0.053152],[-0.055690,-0.189798,0.980242]]˛2HŔőÁŕ?`#’ę?€cČ?@ú3ëżŔÄŕ? ˛6«?X�¬żŕNKČż€%^ď?i˛2ô{ˇ@I˛2Ża;‰˛2�’CYč^�>yčbz°DbDj}
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:öAHRS rotation from veh to nav: [[0.546000,0.829857,0.114982],[-0.832741,0.552615,-0.034050],[-0.091797,-0.077159,0.992784]]˛2H€Őxá?€0Žę?@yo˝? ĎĄęż@Żá? ńnˇż €·ż ¶Ŕłż âÄď?i˛2:c˘@I˛2xa;‰˛2ś’CYčNË3>yčNÝDbDV/|
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:ôAHRS rotation from veh to nav: [[0.471984,0.878250,0.076863],[-0.881259,0.472451,0.013145],[-0.024769,-0.073941,0.996955]]˛2H`ý4Ţ?€źě?€O­ł? F3ěż ˘<Ţ?@ÜëŠ? #]™żČí˛ż çď?i˛2Ťź@I˛2H a;‰˛2š’CYčNPV>yčNÇEaŃe
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BôAHRS rotation from veh to nav: [[0.482537,0.865239,0.136086],[-0.875690,0.479773,0.054634],[-0.018019,-0.145532,0.989189]]˛6HäáŢ?`	°ë?@HkÁ? §쿀™´Ţ?ńř«?ŕ±s’żÎ Âż€p§ď?i˛6Ňîź@I˛6QË`;‰˛6ś’CYč^*>yč^"ŃDbDf&z
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>ňAHRS rotation from veh to nav: [[0.479722,0.870373,0.110987],[-0.876206,0.468557,0.112770],[0.046148,-0.151346,0.987403]]˛2H ÂłŢ?@Úë?Ŕ©iĽ? á	ěż ŐüÝ?Ŕ�ŢĽ?  §?@O_Ăż Î�ď?i˛2ŽŘź@I˛2žË`;‰˛2›’CYčr&>yčv<ĚD	÷xéözp<bD~µx
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:ňAHRS rotation from veh to nav: [[0.521282,0.850752,0.066979],[-0.851479,0.513273,0.107401],[0.056993,-0.113017,0.991957]]˛2H€X®ŕ?€[9ë?@Ś%±?ŔP?뿀şlŕ?Ŕš~»?Ŕ#.­?`µîĽżŔľď?i˛2Eeˇ@I˛2€Ő`;‰˛2�’CYčN>yčR=ˇDbDZ@x
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:ňAHRS rotation from veh to nav: [[0.494562,0.867573,0.052203],[-0.869130,0.493337,0.035103],[0.004700,-0.062732,0.998019]]˛2H č¦ß? (Ăë?\şŞ?ŔčĎëż`Ö’ß?@úřˇ?€ż@s?ŕ.°ż@Ćďď?i˛2
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VôAHRS rotation from veh to nav: [[0.497461,0.859403,0.118148],[-0.867014,0.497052,0.035023],[-0.028627,-0.119858,0.992378]]˛JHhÖß?€:€ë?Ŕí>ľ?€“ľëż łĎß?�îˇ?`ZPťż Żľż�Áď?i˛JD| @I˛Jɉa;‰˛Jť’CYčbË3>yčbÝDbD~x
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:ňAHRS rotation from veh to nav: [[0.526422,0.847280,0.070691],[-0.850184,0.523775,0.053348],[0.008175,-0.088184,0.996071]]˛2H`rŘŕ?€ęë?€Ç˛?Ŕµ4뿀ÄÂŕ? xP«? ľ€?ŕ5“¶ż€Ďßď?i˛2·Žˇ@I˛2Ę=a;‰˛2™’CYčvăQ>yčv
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:ňAHRS rotation from veh to nav: [[0.528753,0.848756,0.005865],[-0.848704,0.528606,0.016638],[0.011022,-0.013775,0.999844]]˛2H ‹ëŕ?`
)ë?tx?Ŕ•(ëżWęŕ?Ŕ›	‘?`Ź’†?Ŕő5Śż ąţď?i˛2VĄˇ@I˛2"a;‰˛2š’CYčNĚŠ>yčN±*EbDVîv
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ôAHRS rotation from veh to nav: [[0.527653,0.849460,0.000588],[-0.848569,0.527132,-0.045413],[-0.038886,0.023463,0.998968]]˛
H@‰âŕ?Ć.ë?ĐCC?ŕz'ëż@CŢŕ?P@§ż€Ţ裿Ŕ»�?Ś÷ď?i˛
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BôAHRS rotation from veh to nav: [[0.519608,0.854162,0.020379],[-0.852533,0.519900,-0.053782],[-0.056534,0.010572,0.998345]]˛6H@  ŕ?`KUë?ŕGŢ”?€ňG뿀Łŕ?ŕ]‰«ż€ň¬ż ®¦…? pňď?i˛6	Uˇ@I˛63Ţ`;‰˛6ť’CYčNF�>yčRp!EbDZot
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ôAHRS rotation from veh to nav: [[0.526262,0.850228,-0.012685],[-0.847888,0.525825,0.067776],[0.064295,-0.024913,0.997620]]˛U
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:ôAHRS rotation from veh to nav: [[0.550890,0.830035,-0.086959],[-0.809895,0.556841,0.184389],[0.201471,-0.031151,0.978999]]˛2HŔä á?€ĄŹę?€ëB¶ż¨ęéż ŁŃá?ŔšÇ?ŕÎÉÉ?őĺźż őSď?i˛24î˘@I˛2v[a;‰˛2™’CYč^�>yč^;EbDj«s
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GüN4y®)É®-Ě›Bą®)iŁ9)˘AéˇA‰˘Ai˘A‰¨AI©IÚIˇâIqO}č=Ť'˝˙˙TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
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        <False />
    </DefineArg>
    <DefineArg Name="PeakDepthAvgProfilesChlActive">
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    <DefineArg Name="EdgeDetectChlActive">
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        <Value>NaN</Value>
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    <DefineArg Name="HighestChlPeakReportActive">
        <False />
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    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
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    <DefineArg Name="HighestOilPeakReportActive">
        <False />
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    <DefineArg Name="PatchTracking">
        <False />
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    <DefineArg Name="FilterWidthHorizontal">
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        <Value>3</Value>
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    <DefineArg Name="NumProfilesSlidingwindow">
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        <Value>100</Value>
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    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
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    <DefineArg Name="PeakDetectNO3Active">
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    <DefineArg Name="PeakDetectOilActive">
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    <DefineArg Name="PeakDetectFDOMActive">
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    <DefineArg Name="PeakDetectSalinityActive">
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    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
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    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
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    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
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    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
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    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
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    <DefineArg Name="MedianFilterLen">
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    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
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    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
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    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
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    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
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    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
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    <DefineArg Name="ChlThreshTriggerActive">
        <False />
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    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
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    <DefineArg Name="ChlUpperThresh">
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        <Value>NaN</Value>
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    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
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    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
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    <DefineOutput Name="GoDown">
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    <DefineOutput Name="PeakChl">
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    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
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    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
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    <DefineOutput Name="PeakSaltTemperature">
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    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
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    <DefineOutput Name="PeakSaltLongitude">
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    <DefineOutput Name="PeakPlanktivoreLMavgROI">
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        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
        <Aggregate Id="SyslogSendDataPeakDepthAvgProfilesChl">
            <Sequence />
            <Break>
                <Not>
                    <Arg Name="PeakDepthAvgProfilesChlActive" />
                </Not>
            </Break>
            <Syslog Severity="Info">
                PeakChlAvgProfiles = 
                <Arg Name="PeakChlAvgProfiles" />
                <Units:microgram_per_liter />
                . PeakChlDepthAvgProfiles = 
                <Arg Name="PeakChlDepthAvgProfiles" />
                <Units:meter />
            </Syslog>
            <SendData Service="Express">
                <Arg Name="PeakChlAvgProfiles" />
                <Arg Name="PeakChlDepthAvgProfiles" />
            </SendData>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDepthAvgProfilesChl">
        <While>
            <Arg Name="PeakDepthAvgProfilesChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectHorizontal</Syslog>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <False />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <OutputArg Name="PeakChlAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepthAvgProfiles">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPla