*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="marl" *n code=00B7 name="marl:AbortDrift" *n code=00B8 name="marl:AbortDrift:A" *n code=00B9 name="marl:AbortDrift:B.AbortDrift" *n code=00BA name="marl:AbortDrift:C.Execute" *n code=00BB name="marl:AbortDrift.Redefine.AcousticTimeout" *n code=00BC name="marl:B." *n code=00BD name="marl:SendObservationData" *n code=00BE name="marl:SendObservationData:A" *n code=00BF name="marl:SendObservationData:B" *n code=00C0 name="marl:SendObservationData:C" *n code=00C1 name="marl:SendObservationData:D.SendDirect" *n code=00C2 name="marl:SendObservationData:E" *n code=00C3 name="marl:UpdateContactLabel" *n code=00C4 name="marl:UpdateContactLabel:A" *n code=00C5 name="marl:UpdateContactLabel:B" *n code=00C6 name="marl:NeedComms" *n code=00C7 name="marl:NeedComms:A" *n code=00C8 name="marl:NeedComms:B.GoToSurface" *n code=00C9 name="marl:NeedComms:C" *n code=00CA name="marl:NeedComms:C:A_Timeout" *n code=00CB name="marl:NeedComms:C:A_Timeout:A" *n code=00CC name="marl:NeedComms:D" *n code=00CD name="marl:NeedComms:D:A_Timeout" *n code=00CE name="marl:NeedComms:D:A_Timeout:A" *n code=00CF name="marl:NeedComms:E" *n code=00D0 name="marl:NeedComms:E:A_Timeout" *n code=00D1 name="marl:NeedComms:E:A_Timeout:A" *n code=00D2 name="marl:F" *n code=00D3 name="marl:StandardEnvelopes" *n code=00D4 name="marl:StandardEnvelopes:A.AltitudeEnvelope" *n code=00D5 name="marl:StandardEnvelopes:B.DepthEnvelope" *n code=00D6 name="marl:StandardEnvelopes:C.OffshoreEnvelope" *n code=00D7 name="marl:H" *n code=00D8 name="marl:I" *n code=00D9 name="marl:J" *n code=00DA name="marl:SpeedTimeout" *n code=00DB name="marl:SpeedTimeout:A" *n code=00DC name="marl:SpeedTimeout:B" *n code=00DD name="marl:UpdateSpeed" *n code=00DE name="marl:UpdateSpeed:A" *n code=00DF name="marl:UpdateCommandMode" *n code=00E0 name="marl:UpdateCommandMode:A" *n code=00E1 name="marl:UpdateHeading" *n code=00E2 name="marl:UpdateHeading:A" *n code=00E3 name="marl:UpdateHeading:B" *n code=00E4 name="marl:UpdateRudder" *n code=00E5 name="marl:UpdateRudder:A" *n code=00E6 name="marl:UpdateRudder:B" *n code=00E7 name="marl:Science" *n code=00E8 name="marl:Science:A" *n code=00E9 name="marl:Science:B" *n code=00EA name="marl:Science:C" *n code=00EB name="marl:Science:D" *n code=00EC name="marl:Science:E" *n code=00ED name="marl:Science:F" *n code=00EE name="marl:Science:Read_Oil" *n code=00EF name="marl:Science:OceanCurrent" *n code=00F0 name="marl:Science:OceanCurrent:A." *n code=00F1 name="marl:Science:PeakDetectChl" *n code=00F2 name="marl:Science:PeakDetectChl:A" *n code=00F3 name="marl:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=00F4 name="marl:Science:PeakDetectChl:C" *n code=00F5 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=00F6 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=00F7 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=00F8 name="marl:Science:EdgeDetectChl" *n code=00F9 name="marl:Science:EdgeDetectChl:A" *n code=00FA name="marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=00FB name="marl:Science:EdgeDetectChl:C" *n code=00FC name="marl:Science:EdgeDetectChl:D" *n code=00FD name="marl:Science:HighestChlPeakReport" *n code=00FE name="marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00FF name="marl:Science:PeakDepthAvgProfilesChl" *n code=0100 name="marl:Science:PeakDepthAvgProfilesChl:A" *n code=0101 name="marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=0102 name="marl:Science:PeakDetectNO3" *n code=0103 name="marl:Science:PeakDetectNO3:A" *n code=0104 name="marl:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0105 name="marl:Science:PeakDetectNO3:C" *n code=0106 name="marl:Science:PeakDetectOil" *n code=0107 name="marl:Science:PeakDetectOil:A" *n code=0108 name="marl:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0109 name="marl:Science:PeakDetectOil:C" *n code=010A name="marl:Science:HighestOilPeakReport" *n code=010B name="marl:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=010C name="marl:Science:PeakDetectFDOM" *n code=010D name="marl:Science:PeakDetectFDOM:A" *n code=010E name="marl:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=010F name="marl:Science:PeakDetectFDOM:C" *n code=0110 name="marl:Science:PeakDetectSalinity" *n code=0111 name="marl:Science:PeakDetectSalinity:A" *n code=0112 name="marl:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0113 name="marl:Science:PeakDetectSalinity:C" *n code=0114 name="marl:Science:HighestSaltPeakReport" *n code=0115 name="marl:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0116 name="marl:Science:PeakDetectPlanktivoreLMavgROI" *n code=0117 name="marl:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0118 name="marl:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0119 name="marl:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=011A name="marl:Science:EdgeDetectPlanktivoreLMavgROI" *n code=011B name="marl:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=011C name="marl:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=011D name="marl:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=011E name="marl:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=011F name="marl:Science:PeakDetectPlanktivoreHMavgROI" *n code=0120 name="marl:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=0121 name="marl:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=0122 name="marl:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0123 name="marl:Science:EdgeDetectPlanktivoreHMavgROI" *n code=0124 name="marl:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=0125 name="marl:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=0126 name="marl:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=0127 name="marl:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=0128 name="marl:Science:PeakDetectPlanktivoreDiatoms" *n code=0129 name="marl:Science:PeakDetectPlanktivoreDiatoms:A" *n code=012A name="marl:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=012B name="marl:Science:PeakDetectPlanktivoreDiatoms:C" *n code=012C name="marl:Science:EdgeDetectPlanktivoreDiatoms" *n code=012D name="marl:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=012E name="marl:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=012F name="marl:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0130 name="marl:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0131 name="marl:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0132 name="marl:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0133 name="marl:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0134 name="marl:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0135 name="marl:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0136 name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0137 name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0138 name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0139 name="marl:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=013A name="marl:Science:ChlThreshTrigger" *n code=013B name="marl:Science:ChlThreshTrigger:A.ValueDetect" *n code=013C name="marl:Science:ChlThreshTrigger:B" *n code=013D name="marl:Science:ChlThreshTrigger:C" *n code=013E name="marl:BackseatDriver" *n code=013F name="marl:BackseatDriver:A.BackseatDriver" *n code=0140 name="marl:U" *n code=0141 name="marl:PowerOnly" *n code=0142 name="marl:PowerOnly:A" *n code=0143 name="marl:PowerOnly:B" *n code=0144 name="marl:PowerOnly:C" *n code=0145 name="marl:PowerOnly:D" *n code=0146 name="marl:PowerOnly:E.Wait" *n code=0147 name="marl:StartingMission" *n code=0148 name="marl:JoystickControl" *n code=0149 name="marl:JoystickControl:A.Buoyancy" *n code=014A name="marl:JoystickControl:B.Pitch" *n code=014B name="marl:JoystickControl:C.Pitch" *n code=014C name="marl:JoystickControl:D.SetSpeed" *n code=014D name="marl:JoystickControl:CmdHeading" *n code=014E name="marl:JoystickControl:CmdHeading:A.Point" *n code=014F name="marl:JoystickControl:CmdRudder" *n code=0150 name="marl:JoystickControl:CmdRudder:A.Point" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e code=0003 elementURI="acoustic_contact_address" type=04 *e code=0004 elementURI="acoustic_contact_range" type=04 *e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04 *e code=0006 elementURI="depth" type=04 *e code=0007 elementURI="depth_rate" type=04 *e code=0008 elementURI="direction_of_sea_water_velocity" type=04 *e code=0009 elementURI="distance_from_shore" type=04 *e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=000B elementURI="downward_sea_water_velocity" type=04 *e code=000C elementURI="eastward_sea_water_velocity" type=04 *e code=000D elementURI="fix_distance_made_good" type=04 *e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04 *e code=000F elementURI="fix_residual_distance" type=04 *e code=0010 elementURI="fix_residual_bearing" type=04 *e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04 *e code=0012 elementURI="grid_latitude" type=04 *e code=0013 elementURI="grid_longitude" type=04 *e code=0014 elementURI="height_above_sea_floor" type=04 *e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04 *e code=0016 elementURI="northward_sea_water_velocity" type=04 *e code=0017 elementURI="latitude" type=04 *e code=0018 elementURI="latitude_fix" type=04 *e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002 *e code=001A elementURI="longitude" type=04 *e code=001B elementURI="longitude_fix" type=04 *e code=001C elementURI="mission_started" type=04 *e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04 *e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0021 elementURI="platform_average_current" type=04 *e code=0022 elementURI="platform_average_power" type=04 *e code=0023 elementURI="platform_battery_charge" type=04 *e code=0024 elementURI="platform_battery_charge_usage" type=04 *e code=0025 elementURI="platform_battery_energy_usage" type=04 *e code=0026 elementURI="platform_battery_voltage" type=04 *e code=0027 elementURI="platform_battery_fully_charged" type=04 *e code=0028 elementURI="platform_battery_discharging" type=04 *e code=0029 elementURI="platform_buoyancy_position" type=04 *e code=002A elementURI="platform_communications" type=04 *e code=002B elementURI="platform_conversation" type=04 *e code=002C elementURI="platform_course" type=04 *e code=002D elementURI="platform_distance_wrt_ground" type=04 *e code=002E 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I(?(&BI(;i(l;(H4y?(ɮ(B?(N?(N?(N?(N?(i?()?()?(?(?(i?(?(I?(I?(I?(O(==(0got command restart logs)2Acoustic response timeoutxh:я, D?Aɰ;22@2f-@2;ٱ2V :AHRS rotation from veh to nav: [[0.569285,0.820795,0.047005],[-0.822111,0.568817,0.024104],[-0.006953,-0.052365,0.998604]]2H7?C? ? N3?? z|Ϫ?i22@I2_;2>CY^>y^Ddf@AbDj& VDj(q9yVJ<% T=ٔ =Q- >9I=EyE>9Q 5EI4=ʼn?Q 9MI4=+)=jAYIyMv̿Q IM?='BI=[:i=:=U I4yQɮUByNNNNi))顑iIIIO= 2Acoustic response timeout 2Acoustic response timeoutHn:я,BD?A2l@2g@2騀ٱ2 :AHRS rotation from veh to nav: [[0.549223,0.834360,0.046866],[-0.835528,0.547208,0.049559],[0.015705,-0.066377,0.997671]]2H =??@? ?_???i2l@I2w_;2=CYN >yRԴDbDZ" VDZ&q9yfF7=%fN=ٔf[jQ-f>9hIh=jEyhnyEn>Q 5 I4ʼn?Q 9 I4)VAY y ϿQ I ?2(BIA:iZ:-I4yɮ=wB9NANANANAiQ)Q)QQqiyyIIIOs=iIA2Acoustic response timeoutI ) >0u:я,*D?A2N@2* @2.ٱ2mU :AHRS rotation from veh to nav: [[0.539744,0.839939,0.056378],[-0.841661,0.537088,0.056062],[0.016808,-0.077710,0.996834]]2HE??ݬ?/? ?06?䳿?i2N@I2=_;2?CYN>yRDTVAbDZ VDZ%q9yv<%vH=ٔvI1Q-v>9xIx=zEyxzE~>Q 5I4%~ʼn?Q 9 I4)KAY y пQ I ?(BI:i:K)I4yߦBɮB=ENANANANAiQ)Q)QQQiQyIyIIO}2Acoustic response timeout- 2Acoustic response timeoutZ{:я,D?A2c-@2?(@2C<ٱ2랮 :AHRS rotation from veh to nav: [[0.542594,0.835518,0.086608],[-0.839532,0.542828,0.022886],[-0.027892,-0.085128,0.995980]]2H\??+?q^?@No?ʵ?i2c-@I2p_;0YNV>yRBD Vp9hIh=jEyhn`<En>Q 5I4|}ʼn?Q 9 I4)+AY y οQ I ?)BId:ij7I4yɮ=B9NANANANAiQ)Q)QQQiqyIyIIO߅=߅<2Acoustic response timeoutB:я,[{ D?A2c@2?@2!o=ٱ2( :AHRS rotation from veh to nav: [[0.539953,0.834554,0.109412],[-0.841065,0.540001,0.031767],[-0.032571,-0.109175,0.993489]]2HKG??d?`@G?C?"?i2c@I2A_;0BnManaging dock network, ignoring radio surface power offYN>yRjDr2Acoustic response timeouty{Gz?S㥻v/#=/ݽxi 9:v?333333:vY>yTwB ٛB)ٛBYaBbD4 VDq9yV%;=ٔ/9I=EyE>Q 5I4=ʼn?Q 9 I4)AY >Q E :y }Q I ?L*BI:i/:FI4y9ɮ=B9NANANANAiQ)q)qqqiyyIIIO=2Acoustic response timeout 'm:я,W#D?A25@20@2]ٱ2 :AHRS rotation from veh to nav: [[0.517176,0.850974,0.091502],[-0.855851,0.513333,0.063315],[0.006908,-0.111057,0.993790]]2H@?-;? l?!c`8m?b5?K|?:n ?i25@I2w_;2>CYNR >yN(DV=Vp=bDZZ VDZq9yf˓=%f\=ٔfٽQ-f>9hIh=jEyhjEn>|Q 5I4~Ӈʼn?Q 9 I4~)~AY y ᛿Q I ?~*BI~:i~b:~SI4yɮ=B9NANANANAiQ)Q)QQqiyyIIIOt=2Acoustic response timeout 2Acoustic response timeoutݖ:я,'1=D?Aɰ2 *@2$@2'oٱ2 :AHRS rotation from veh to nav: [[0.515876,0.854580,0.059701],[-0.856496,0.513147,0.055622],[0.016898,-0.079827,0.996666]]2H?X?@?@khk?lz?M?o ?i2 *@I2j_;0YN*>yRDV@AVAAbDZ VDZvq9y<%G=ٔǼQ->9 I = Ey  fE>Q 5=I4ʼn?Q 9EI4))FAYAyEQ IE?+BI;i':aI4yIɮUBQNyNyNyNyi))顉iIIIO=2Acoustic response timeout~:я, WD?A2-$@2 @2T5]ٱ2< :AHRS rotation from veh to nav: [[0.515289,0.855359,0.053272],[-0.856910,0.513249,0.047750],[0.013501,-0.070254,0.997438]]2H?}?_?F? kl?r?s? 0?i2-$@I20_;0YN|>yR`DbDZ VDZ}q9yfg%fN=ٔf4 9hIh=jEyhnE~>Q 5 I4ݑʼn?Q 9 I4[)AY y Q I ?L,BI:i:oI4yBɮ=B9NANANANAiQ)Q)QyyiyIIIOw=]2Acoustic response timeout 2Acoustic response timeoutI >) >:я,pD?A2@2@2B3lٱ2M :AHRS rotation from veh to nav: [[0.510276,0.858596,0.049301],[-0.858077,0.504450,0.096092],[0.057634,-0.091338,0.994151]]2H/T?y?@ >? ^ut$?|?8?a ?i2@I2h_;2=CYN'->yRDTTbDZG VDZ7q9yf'~=%fJ=ٔf߽Q-f>9hIh=jEyhnFE~>Q 5 I4ϖʼn?Q 9 I4)AY y oQ I ?,BI4:i:~I4yɮ=B9NANANANAiQ)Q)QQyiyyIIIOu=e2Acoustic response timeout:я,jŠD?Ab2Acoustic response timeoutU+@U@UGٱU5 mAHRS rotation from veh to nav: [[0.503251,0.860892,0.074861],[-0.861229,0.492564,0.125163],[0.070878,-0.127461,0.989308]]UH?m?*?/*?V?`%?Pi?iU+@IU:_;U>CY0%>y%Da@a a@a a@a a@a yClǿi|?5?V-?d;q=|> )Mb@Mb@Mb@Ii‰B ]B)YB 15;bD= VD=p9yE3%M(=ٔU߼Q-U>9QIQ=]EyY]&E]>aQ 5I4eʼn?Q 9I4e)eAQ A+:YQ E:y❿Q I?e-BIee%eI4yɮBNNN N i))i!I!I9 GI !OE0>U` 9QYUAu2Acoustic response timeout:я,bD?A2u@2p@2ٱ2H :AHRS rotation from veh to nav: [[0.496832,0.860301,0.114195],[-0.867534,0.488801,0.091975],[0.023307,-0.144764,0.989192]]2H ? ?;?`H?ઋ?`ݗ?¿ u?i2u@I2[l_;0YN=yNDbDV8 VDVp9y=R%=s=ٔE>Q-E?9AIA=EEyAMԼEM?QQ 5I4Ueʼn?Q 9I4UB)UAQ A :YQ E:yFQ I?U`.BIU&y^cDf=f=bDj` VDjWp9yv==%vP=ٔvِQ-v>9xIx=zEyxzE=>9Q 5EI4=ʼn?Q 9MI4=)=oAQ AM9YIQ EM:yMvQ IM?=/BI=:i=j?=ԚI4yɮBNNNNi))iIIYIiO=2Acoustic response timeout̵:я,SD?Aɰ2_@2Z@2 Rٱ2ؽ :AHRS rotation from veh to nav: [[0.494017,0.866922,0.066291],[-0.867940,0.487227,0.096383],[0.051258,-0.105152,0.993134]]2H?@ҽ?`q?@*.??@>?7뺿?i2_@I2ņ_;2?CYN>yRDTTbDZ VDZ!p9yr<%rK=ٔv\UQ-v>9tIt=zEyxzEz>9Q 5EI4=ʼn?Q 9EI4=Ȼ)=JAQ AE9YAQ EMV:yMQ IM?=/BI=:i=?=I4yQɮUBQNNNNi))顱iI=2Acoustic response timeoutIIaOm=i I  2Acoustic response timeout:я,.D?A2M@2G@2|؎ٱ2zkx :AHRS rotation from veh to nav: [[0.492646,0.868757,0.050603],[-0.870219,0.491515,0.033647],[0.004359,-0.060612,0.998152]]2H@?`??@t?5:? q?|@?i2M@I2_;2y^DbDj VDj%p9y}м%}A=ٔ=Q->9I=Ey]E>Q 5I4rʼn?Q 9I4))AQ A9YQ E-:yמQ I?s0BI%) >:я, D?A2uڟ@2Qզ@249ٱ23R :AHRS rotation from veh to nav: [[0.480435,0.876351,0.034507],[-0.877030,0.480080,0.018456],[-0.000392,-0.039131,0.999234]]2Hr? ? 쪡? ?7?F9?i2uڟ@I2_;2>CR2Acoustic response timeoutY^>y^DdfAaa aa aa aa yʡET㥛 ?nٿ->Vξ 9y&1GzǿK7Y`eyp=I wB B)BYzBbD] VD]ip9yms =%m<=ٔu29yIy=}EyyE>Q 5I4Vʼn?Q 9I4)AQ AT:Yr>Q E`;yS;Q I?0BI&'U2Acoustic response timeout:я,%D?A2cӟ@2?Φ@2Dٱ2)xa :AHRS rotation from veh to nav: [[0.479444,0.876939,0.033326],[-0.877017,0.477444,0.053737],[0.031213,-0.054992,0.997999]]2H@6? ??@ s?x?@T?' ?i2cӟ@I2_;2?CYN0>yRKD V49tIt=vEytzh Ez>|Q 5=I4~ʼn?Q 9EI4~)~\AYAyE9Q IE?~1BI~":i~':~I4yIɮUBQNNNNi))顩iII IYOm=2Acoustic response timeoute 2Acoustic response timeout 3:я,@?D?A2@2v@2t,ٱ21s :AHRS rotation from veh to nav: [[0.475204,0.877825,0.060036],[-0.878868,0.470290,0.080113],[0.042091,-0.090834,0.994976]]2H`i?$?@ ?`@:? I??`@`?i2@I2Y_;2y^DbDj VDj+p9y]%]C=ٔeRԼQ-e>9aIi=mEyim3Em>qQ 5I4uʼn?Q 9I4u)uAYy9Q I?uk1BIu'CYN>yRpD TTV=V=bDZ; VDZFp9yr<%rS=ٔrQ-r>9tIt=vEytzC;Ez>|Q 5=I4~ʼn?Q 9EI4~$)~ AYAyE8Q IE?~1BI~q:i~H:~I4yQɮUBQNNNNi))顩iII2Acoustic response timeoutIYOm= 2Acoustic response timeoutE:я,vsD?Aɰ21*@2 %@2Q&ٱ2܀ :AHRS rotation from veh to nav: [[0.488545,0.867937,0.089489],[-0.871594,0.480671,0.096330],[0.040593,-0.125059,0.991318]]2HSD?$??Q??Ȥ?@?i21*@I2_;2?CYN>yRDTV@AbDZ VDZjp9yrw_%rJ=ٔr=Q-r>9tIt=vEytzW=Ez>|Q 5EI4~Gʼn?Q 9EI4~)~ AYAyEg8Q IE?~2BI~:i|~I4yUBɮUBUENYNYNYNYii)i)iqqiqIII!O-=%%=!-2Acoustic response timeout,:я,]QD?A2ҟ@2ͦ@2j ٱ2|- :AHRS rotation from veh to nav: [[0.479545,0.872557,0.093170],[-0.877310,0.474418,0.072487],[0.019048,-0.116500,0.993008]]2H@ް??ٷ?@\??@?ҽ?i2ҟ@I2%o_;2>CB2Acoustic response timeoutYNW>yRDy($ 9Fx?w/ĿA`"ۿYK>y&پB B B)YzBbD9 VDEp9yb%;=ٔI=Q->9I=5Ey1=üE=>AQ 5MI4Eʼn?Q 9MI4E)E: AYM>Q EM:yMQ IM?E2BIEq:iE%) >nV:я,0*D?A2@2⌥@2 ٱ2 :AHRS rotation from veh to nav: [[0.444553,0.893641,0.061473],[-0.894891,0.440069,0.074230],[0.039283,-0.088011,0.995345]]2H`s?`?hy?*???䇶?i2@I2;t_;2?CY>yD!%AbD5 VD5p9yz=%;=ٔ[=Q->9I=EyE> Q 5UJ4 ʼn?Q 9UJ4 3) zAYQyUQ I]? 3BI e%E 2Acoustic response timeout>:я,D?A2@2{@2.ufٱ2>E :AHRS rotation from veh to nav: [[0.414137,0.909984,0.020502],[-0.908476,0.411849,0.071076],[0.056234,-0.048061,0.997260]]2H6?`?@n?@<[? 2?ʬ?f@?i2@I2_;2ACYN2>yRD VCY^b+>y^DbDj VDjo9y]|%eC=ٔe=Q-e>9aIi=mEyimٳ<Em>qQ 5J4unʼn?Q 9J4u)uAYy}Q I?u3BIu:iu:u$J4yɮBNNNNi))i2Acoustic response timeoutI1IIIO= 2Acoustic response timeout AA,:я,/D?A2!@2@20aٱ2aB :AHRS rotation from veh to nav: [[0.460448,0.887686,0.000350],[-0.887410,0.460295,0.025122],[0.022139,-0.011878,0.999684]]2Hw?g?6?e`yu???Sj?i2!@I2`;0Y^*>y^D ``f!>f=bDjVDjzo9yv%vR=ٔvQ-z>9xIx=zEyx=t=E=>AQ 5MJ4Eʼn?Q 9MJ4EK)E@YIyMQ IM?E_4BIE:iEE:E2J4yBɮƦBENNNNi))iIIYIiO= 2Acoustic response timeout {;я,FD?Aɰ4<22Acoustic response timeout6@6@6 2ٱ6 BAHRS rotation from veh to nav: [[0.456283,0.889662,-0.017523],[-0.887049,0.456324,0.070087],[0.070350,-0.016436,0.997387]]6H3?x?@bg4?5?q?{Ԑ ?i6@I6X`;4YN=>yRDye@5^I ?jtĿQ?eb>e eu>a a9e(\?X9vS?Yez?yee/>e!BeIB eٛB)eBaYe3BAAbDVD:o9y3=%==ٔ+Q->9I=EyYE%>!Q 5-J4%Uʼn?Q 9-J4%)%VAYu?Q Eu:yu$Q Iu?%_5BI%2)ٱ2 :AHRS rotation from veh to nav: [[0.436967,0.899463,0.005139],[-0.898276,0.436081,0.054156],[0.046470,-0.028280,0.998519]]2HE? f?< u??J?ʧ?@x?i2M@I2K`;0Y^->y^خDbDjVDj+o9y]R%eR=ٔel{=Q-e>9iIi=mEyimoEm>qQ 5J4uʼn?Q 9J4uK)uAYyXQ I?uC6BIu:iu;:u?OJ4yɮԦBNNNNi)))))))i)qIqIIO=u2Acoustic response timeoutI >) >% 2Acoustic response timeout+;я,PBD?A2!@2@2 J:ٱ2A :AHRS rotation from veh to nav: [[0.432591,0.900573,0.042825],[-0.901590,0.432143,0.019694],[-0.000771,-0.047130,0.998888]]2H`?~?1?:?*?AIu!?i2!@I2 `;2@CYN>yRcDTVAbDZVDZ-o9yf!:%fT=ٔfj=Q-f>9hIh=jEyhn7eE~>Q 5 J4ʼn?Q 9 J4#)AY y Q I?.7BIa:i:\J4y=Bɮ=զB9NANANINIiQ)y)yyyiyIIIO=aa2Acoustic response timeoutԉԹ V;я,k+\D?A22@2,@2rٱ25 :AHRS rotation from veh to nav: [[0.434321,0.897925,0.071382],[-0.900636,0.431592,0.050822],[0.014827,-0.086362,0.996153]]2H?@λ?@F?@2?\?`m]?@}?i22@I2~_;2>CY^>y^D fp9xIx=zEyxz|;E~>Q 5%J4mʼn?Q 9-J42)AY)y-QQ I-?#8BI9:ig:kJ4y1ɮ]ЦBYNaNaNaNaiq)q)qqiI2Acoustic response timeoutIIO=ԑi߉ I߉  2Acoustic response timeout ;я,vD?A2\@2^W@2E'ܼٱ2 :AHRS rotation from veh to nav: [[0.438878,0.893826,0.091982],[-0.898145,0.433316,0.074654],[0.026871,-0.115377,0.992958]]2H@?9?@?@r?@??`\@P?i2\@I2U_;2=CYN#>yNDbDVJVDVn9yr<%rK=ٔrQ-r>9tIt=vEytzR<Ez>xQ 5J4zʼn?Q 9%J4z)z*AY!y%Q I%?z9BIz;izI:z yJ4y)ɮ5ʦB1NYNYNYNYii)i)iiiiiqIIIO=2Acoustic response timeoutI @A#;я,D?A"2Acoustic response timeoutY >y D% >%p=a@a a@a a@a a@a y?:v?M?f><n> )Mb@Mb@Mb@Ii‰B B)YǖBbDWVDn9ya%:=ٔQ->9I=EyE> Q 5 J4 ʼn?Q 9J4 ) AQ A+:YQ E:yQ I? :BI &;i > wJ4y%:Bɮ%B%EN)N1N1N1i9)A)AAAiAIIIIiIyO=Iy2Acoustic response timeoutԡ P);я,4D?Aɰ:)@:@:n=ٱ::@ FAHRS rotation from veh to nav: [[0.430684,0.897410,0.095745],[-0.900625,0.434203,-0.018522],[-0.058195,-0.078254,0.995233]]:HR??Ă??n@˭l?i:)@I:_;:@CYNg'>yNDTTbDVVDVn9y^F=%b`=ٔbo>Q-b>9`Id=fEydf3Ef>hQ 5nJ4jʼn?Q 9nJ4j)jjAQ Ar :YpQ Erb:yrQ Ir?j:BIj;ij%M?jӍJ4ytɮvBxNxN|N|N|i ) )   i II)I9OM+=U2Acoustic response timeoutԩ  2Acoustic response timeout0;я,hD?A2.@2x)@2P'=ٱ2LJ :AHRS rotation from veh to nav: [[0.433631,0.897700,0.078097],[-0.900158,0.435494,-0.007771],[-0.040986,-0.066930,0.996916]]2H?@?$? @#?(O"`?i2.@I2_;2?CtYvj>>yv+DbD VD n9y]=%E=ٔ)Q->9!I!=%Ey!-;E->)Q 55J4-mʼn?Q 95J4-Y)-q AQ A=9Y9Q E=7:y=Q I=?-;BI-q ;i-›?-J4yIɮMۦBINQNQNQNQia)a)iiiiiiIqIIO[= e2Acoustic response timeout1a I >) >7;я,ipD?A2@2i@2<ٱ27T :AHRS rotation from veh to nav: [[0.444122,0.892956,0.073378],[-0.895524,0.444984,0.005044],[-0.028148,-0.067952,0.997291]]2H~l??Ȳ?"@z?t?ҜRe?i2@I2f_;2>CY^9>y^DdfAbDjVDjn9yr?2%rN=ٔrQ-v>9tIt=vEytz<Ez>|Q 5J4~ʼn?Q 9J4~Q)~y AQ A9YQ E:yQQ I ?~yOD -4<-<bD5ԹVD5n9yt%9=ٔ R:Q- >9 I=Ey)E>!Q 5-J4%ʼn?Q 9-J4%)% AQ A-9Y)Q E-9y-Q I5?%=BI%H:i%@%J4yɮBNNNNiq)y)yyyiyI==2Acoustic response timeoutnManaging dock network, ignoring radio surface power offIIO k>9 wD;я,1%D?A2Acoustic response timeoutF@F@Fu<ٱFԎ RAHRS rotation from veh to nav: [[0.427121,0.901428,0.070680],[-0.904015,0.427286,0.013527],[-0.018007,-0.069673,0.997407]]FHU?@??`X?@?@mpֱ?iF@IF_;F=CYb>ybD k>*Ca}tAq 9tAYiAaa aa aa aa a@a a@a a@a a@a y"~jܿq= ףp?7A`?S㾹k>> )Mb@Mb@Mb@IiZB 9B)YbDVDn9y 5>% ;=ٔ ļQ->9I=EyٺE>!Q 5-J4%-ʼn?Q 9-J4%)% AQ A-o9Y)Q E59y5Q I5?%>BI% ;i%@%5J4y=YBɮ= B=ENANANANAiQ)Q)YYYiYYIaI1IiO>A2Acoustic response timeoutq ԙ @J;я,+D?A231@2,@2һٱ2f'߽ :AHRS rotation from veh to nav: [[0.434272,0.895739,0.095181],[-0.900759,0.431076,0.052983],[0.006429,-0.108744,0.994049]]2H? ?`]?`? ?Tz?ֻ??i231@I2k_;2>CYB->yFخDJ=J=bDNVDNn9yr Լ%ru=ٔvߕQ-v?9tIt=zEyxz<Ez?|Q 5J4~ʼn?Q 9J4~)~ AQ A B9Y Q E 9y dQ I ?~?BI~j:i~4@~J4yɮBN!N!N!N!i))1)111i19I9IQIaOu?=q52Acoustic response timeoutԡ 2Acoustic response timeout )Q;я, DD?Aɰ;2zM@2WH@2)Zٱ2  :AHRS rotation from veh to nav: [[0.436765,0.895073,0.089896],[-0.897994,0.427891,0.102553],[0.053326,-0.125518,0.990657]]2H?@o?q? ]b?`@?M?v?i2zM@I2ve_;2?CYB=yFtDHJAAbDRVDRn9yVp%ZN=ٔZQ-Z>9\I\=^Ey\bE<Eb>`Q 5fJ4b'ʼn?Q 9jJ4bU)b'AQ Aj9YhQ Ej9yjQ Ij?b@BIbZ:ibLN@bsJ4ypɮrBpNtNtNtNti|)y)yyyiyIIIOw=E2Acoustic response timeout) WRW;я,^D?A2M@2*@2Xٱ2)v >AHRS rotation from veh to nav: [[0.442223,0.894194,0.069686],[-0.892583,0.431143,0.131952],[0.087946,-0.120553,0.988804]]2H`M?9XI\=^Ey\^R<Eb>`Q 5fJ4bʼn?Q 9fJ4b"%)bAQ Aj8YhQ EjN9yj+Q Ij?bABIb:ib!h@bJ4ylɮrBpNtNtNtNtix)|)|||iIII1O=$=2Acoustic response timeoutQyU 2Acoustic response timeoutԩ I >) >|];я,ɒxD?A:!@:@:Bٱ:_@ FAHRS rotation from veh to nav: [[0.442124,0.894710,0.063401],[-0.892978,0.432415,0.124929],[0.084359,-0.111850,0.990138]]:HK?w?;?G?`U? ?35?i:!@I:9_;8YJq=yJDRARAbDVVDVn9y^p;%bI=ٔb(9dId=fEydf+Ej>hQ 5nJ4j*ʼn?Q 9rJ4j*)j,AQ Ar8YpQ Er'9yrQ Ir?jBBIj;ij@jKJ4yvZBɮxzEN|N|N|N|i ) )   i II)IAOM+=ԩ2Acoustic response timeout ] 2Acoustic response timeoutid;я,0D?A@2؝@2Ӥ@2Vٱ2[ :AHRS rotation from veh to nav: [[0.422979,0.903436,0.069950],[-0.902065,0.412508,0.126950],[0.085836,-0.116796,0.989440]]2H? ?`9?`@f? ??\?[潿`}?i2؝@I29_;0YJ=yJϕDhaa aa aa aa y~jtT㥛 /$Ῑ  9ˡEܿMb?5^I ӿYy=lB B)BYB p<4<bD VD n9y=D;%=4=ٔ=)VQ-=>9AIA=EEyAE@E>Q 5J4 ʼn?Q 9J4&)AQ AT:Y ?Q E:y?Q I?WCBI;i:J4yYBɮ B ENNNNi!)!)AAAiAIIIIIO=)2Acoustic response timeoutY wj;я,'KD?A27C@2>@21lٱ2S :AHRS rotation from veh to nav: [[0.406420,0.911049,0.069369],[-0.909626,0.396297,0.124612],[0.086037,-0.113744,0.989778]]2H?P'?#±?\??@?`[@B?i27C@I2_;2>CYNg'>yRDbDZVDZn9yf>%ff=ٔfQ-f>9hIh=jEyhnSREn>Q 5 J4ʼn?Q 9 J4s") AY y?Q I?CBI9:i:J49yɮBNNNNi))iII9IIOU=2Acoustic response timeoutqԑ 2Acoustic response timeout wq;я,'D?A2}6@2Z1@2eٱ2a :AHRS rotation from veh to nav: [[0.405873,0.910112,0.083448],[-0.912205,0.397809,0.098133],[0.056116,-0.115952,0.991668]]2H?@?@\?@0 u?@F?`9?@?i2}6@I2z_;2?CYN=>yRsDV=V=bDZVDZRn9yf7 %fJ=ٔf=Q-f>9hIh=jEyhj|En>Q 5J4ʼn?Q 9 J4) AY y ?Q I ?DBI:i:J4yɮ= B9NANANANAiQ)Q)QQԙQiIIqIO=%2Acoustic response timeout ww;я,mD?Aɰ4<:@:@:W`ٱ: FAHRS rotation from veh to nav: [[0.418504,0.902889,0.098212],[-0.908111,0.414369,0.060271],[0.013722,-0.114411,0.993339]]:H?w?i$?`??ۮ? 1?@J@n?i:@I:}_;:>CYN<4>yRDTV@AbDZVDXyf=%fJ=ٔf=Q-j>9hIh=jEyhn=E~>Q 5 J44ʼn?Q 9 J4) AY y ?Q I ?[EBI:i:J4y9ɮ=B9NANININIiQ}2Acoustic response timeout))顁iIIqIO=ԡi) I- A5 2Acoustic response timeout };я,D?A2@_@2Z@2`ٱ2 :AHRS rotation from veh to nav: [[0.410767,0.907654,0.086227],[-0.910972,0.404698,0.079692],[0.037437,-0.111285,0.993083]]2H@J? ? ?&?f?*?&}`V?i2@_@I2o_;2=CYNM>yR DbDZVDZ@n9y~[q=%G=ٔlQ->9 I = Ey  "E >Q 5=J4ʼn?Q 9EJ44)AYAyEq?Q IE?FBI\;i;-J4yIɮMBQNyNyNyNyi))顉iIIIO=2Acoustic response timeout) I >) >= 2Acoustic response timeout;я,D?A2ޜ@2x٣@2ٱ2a :AHRS rotation from veh to nav: [[0.395827,0.916582,0.056562],[-0.915957,0.389635,0.095959],[0.065916,-0.089792,0.993777]]2H 9U?@T??@O?`ɐ?`߰?@?i2ޜ@I2r_;2BCYNF>yRDVAVAYymS㥛?> ףp=ҿl񢿙m>m둾mi i9m~jt?gfffffֿB`"Ym>ym3mmBm/B mٛB)mBiYmBbDVDn9yd%==ٔنQ->9I=EyE>Q 5%K4ʼn?Q 9%K4o)AY%/C?Q E%:y%jQ I%?GBI:i:uK4y5XBɮUBQNYNYNYNYii)i)iiiIIIIaOm=ԁ2Acoustic response timeoutԱ ݊;я,-D?A@2 @2@2qٱ2br :AHRS rotation from veh to nav: [[0.403896,0.913846,0.041867],[-0.914302,0.401734,0.051587],[0.030323,-0.059114,0.997791]]2Hm?:>?o?A?`i? ?@?D?i2 @I2_;2=CYNn:>yRED TVp;bDZwVDZn9y'%Z=ٔ=Q->9 I = Ey  -<E>Q 5=K4ʼn?Q 9EK4 )AYAyEtQ IE?GBI;i4:lK4yIɮUBQԹN N NNi9)9)AAAiAIIIIIO=2Acoustic response timeout 2Acoustic response timeout9 ő;я,nnGD?A:!@:@: }nٱ:˼ BAHRS rotation from veh to nav: [[0.417663,0.908452,0.016511],[-0.908485,0.417250,0.023606],[0.014556,-0.024859,0.999585]]:H ? ?!?O@7?,?`\ύ?t?i:!@I:_;:BCYN5!>yR?DbDZVDZm9yf0~%fN=ٔf"=Q-f>9hIh=jEyhn;=En>Q 5K4 ʼn?Q 9 K4%)@Y y Q I ?HBI:i:qK4yɮ=B9NANANANAiQ)Q)QQyiyyIIIOw=A2Acoustic response timeoutހG 5tA!U 9U5tAYU|Ai ԙ ;я,IaD?A2؜@2]ӣ@2Ժ*ٱ2 :AHRS rotation from veh to nav: [[0.395661,0.918397,-0.000401],[-0.917451,0.395273,0.045200],[0.041670,-0.017516,0.998978]]2HR? c? F:[(L?u$?U? ?i2؜@I2`;2=CYN{.>yRD TTV=Vp=bDZeVDZm9y%V<%-D=ٔ-Q-->91I1=5Ey15iE5>]2Acoustic response timeoutiQ 5mK4mʼn?Q 9uK4m+)m@YqyuQ Iu?mIBIm`;im\;m.K4yɮBNNNNi))iII!qI1O=ԡ 2Acoustic response timeout ;я,#{D?A4<ɰ2ݜ@2أ@2ȼٱ2ȼ :AHRS rotation from veh to nav: [[0.396501,0.917946,0.012728],[-0.917709,0.395954,0.032098],[0.024424,-0.024407,0.999404]]2HG`?_??]OW?o??@0`?i2ݜ@I2`;2?CYN>yRDTVAAbDZ#VDZxm9yv R%vN=ٔvo2=Q-v>9xIx=zEyx~:E~>Q 5 K4Iʼn?Q 9 K40Q = tI) @Y y Q I?JBI:i3:;K4yuBɮ(BENNNNi))iIIIO=}2Acoustic response timeout)  2Acoustic response timeout ;я,KD?A2f'@2C"@2h[ٱ29 >AHRS rotation from veh to nav: [[0.404824,0.913786,0.033359],[-0.914379,0.404333,0.020651],[0.005382,-0.038863,0.999230]]2H?=?w?B?n%?f v?壿@?i2f'@I2 `;2ACYF>yFDy kt?~jtxn?  > Ļ V>  9 oʡ?w/ĿJ +?Y -?y & = B IB B) B Y aBbD%VD%tm9y5r^%5E=ٔ=g<=Q-=>9AIA=EEyAEJ<EE>IQ 5UK4Mʼn?Q 9UK4M/8)M{@Y]3?Q E]:y]QQ I]?MKBIM ;iM ;M$JK4yaɮe4BiNqNqNqNqi))!!!i!!I)IAIQOe=)Y}2Acoustic response timeoutԁ I >) >O+;я,خD?A0: @:r@:~ٱ:U( BAHRS rotation from veh to nav: [[0.372798,0.925223,0.070593],[-0.927904,0.371396,0.032541],[0.003889,-0.077635,0.996974]]:H`?m? f?`d?@)?uo?߳6?i: @I:&_;:>CYJ >yJ6DLNAbDVVDVPm9yZ<%^S=ٔ^|;Q-^>9`I`=bEy`fEf>dQ 5jK4fHʼn?Q 9nK4f*?)f@YlynQ In?fLBIf;if;fWK4ypɮv/BtNxNxNxNxi))i  I I!I9OE(=2Acoustic response timeoutԉԹ  2Acoustic response timeout;я,hD?A2@2`ޢ@2J2Wٱ2ݢɽ :AHRS rotation from veh to nav: [[0.368369,0.925295,0.090180],[-0.929674,0.366287,0.039247],[0.003284,-0.098296,0.995152]]2H`\?@? ?@?q?<? Fj?)H?i2@I24_;2@CdYj'>yjiD pr<bDviVDv"m9yz=%~F=ٔ~x:Q-~>9I=Ey =E > Q 5K4 ʼn?Q 9K4 F) i@Yy3Q I? MBI #;i /; fK4y)ɮ-!B)N1N1N1N1iA)A)AAAiIIIQIiIyOJ=2Acoustic response timeoutA C=;я,D?A2w~@2Ty@2L;ٱ2Gr :AHRS rotation from veh to nav: [[0.385883,0.919284,0.077535],[-0.922530,0.385029,0.026278],[-0.005696,-0.081669,0.996643]]2HN?j?@Rٳ?^R??@Tw:贿?i2w~@I2H_;2=CY^">ybVDbDjVDj6m9yre%rL=ٔr9tIt=vEytvLA=Ez>x=%==%=E2Acoustic response timeoutAQ 5}K4zʼn?Q 9}K4zM)z@YyQ I?zNBIzCY^>yb/Df=f=bDjeVDj!m9yr%rJ=ٔr9tIt=vEytztEz>|Q 5K4~Ϋʼn?Q 9K4~U)~@YyqQ I ?~PBI~;i~;~;K4yBɮHBENNNNi))))))1i11I9IQԙIO=]2Acoustic response timeoutA  2Acoustic response timeoutIO;я,AED?Aɰ;BD@B!@B;ٱB! JAHRS rotation from veh to nav: [[0.372081,0.927406,0.038390],[-0.928188,0.371967,0.010346],[-0.004684,-0.039482,0.999209]]BH-? O?̧?N?`0?@/s` 7?iBD@IBg_;@YRF>yRDa-@a- a-@a- a-@a- a-@a- y-x&/$?I +-7-,=-94) ))-Mb@Mb@Mb@I-i-‰---zB -B)--Y-BAAbDE{VDE+m9yUJ%UC=ٔ]мQ-]>9aIa=eEyae Ee>iQ 5uK4m|ʼn?Q 9uK4m\)mc@Q A}+:YyQ E}t:y}ϵQ I?mHQBImq';im>mK4yɮJBNNNNi))顩iIIIqO=!]2Acoustic response timeoutY] nManaging dock network, ignoring radio surface power offy y;я,"0D?A2-@2(@2(ٱ2# :AHRS rotation from veh to nav: [[0.376739,0.925879,0.028554],[-0.926179,0.375966,0.029007],[0.016122,-0.037374,0.999171]]2H|?͠?-=?B?!? V?"6?i2-@I2r_;2ACYN#>yRDbDZ5VDZ m9yu;=%N=ٔVQ-%>9!I!=%Ey!-Q<E->1Q 5=K45 ʼn?Q 9=K45c)5@Q A= :Y9Q EEF:yEKQ IE?5aRBI5& ;i5JQ?5.K4yMBɮMBBINQNQNQNYia)a)iiiiiiIqIIO\=Q2Acoustic response timeoutԁԩe 2Acoustic response timeoutI >) > a;я,ID?A2@2@2oļٱ2| :AHRS rotation from veh to nav: [[0.370679,0.927498,0.048413],[-0.928450,0.368703,0.045145],[0.024021,-0.061684,0.997807]]2H 4? ?ɨ?ݵ Ԙ? 4??` ?i2@I2K_;2>CYB>yBDDFAbDJVDJl9yR%VR=ٔVNQ-V>9XIX=ZEyXZ6EZ>\Q 5bK4^vʼn?Q 9bK4^j)^d@Q Af9YdQ Ef :yfQ If?^uSBI^:i^u?^jK4yhɮnHBlNpNpNpNpix)x)xxxix|III)O5=Թ2Acoustic response timeout 9 ;я,!cD?A2@2@26ٱ2cDŽ :AHRS rotation from veh to nav: [[0.362445,0.928393,0.081978],[-0.931764,0.358946,0.054539],[0.021208,-0.096151,0.995141]]2H N2?d?}????_`1?i2@I29z_;2ACYB(>yBD HJp<bDNVDNl9yV.=%VJ=ٔV;Q-V>9XIX=ZEyX^E^>`Q 5fK4bʼn?Q 9fK4br)b @Q Af9YdQ Ef:yf#Q If?bTBIb7:ibK?bK4ynBɮn]BnǰENpNpNpNpix)x)|||i||I2Acoustic response timeoutI!I1OE&= 1iIA2Acoustic response timeouta ε;я,}D?A02ӛ@2΢@2pٱ2A :AHRS rotation from veh to nav: [[0.366520,0.924734,0.102617],[-0.930193,0.361820,0.061857],[0.020072,-0.118125,0.992796]]2Hu?`k?E? %`(?? ?w=?i2ӛ@I2|_;0Yn>ynpDbDvVDvl9y~ͼ%E=ٔ3;Q->9 I = Ey  ,<E>Q 5K4ʼn?Q 9%K4y)@Q A%9Y!Q E%9y%Q I%?UBI" ;i@K4y)ɮ5cB1N9N9N9N9iI)I)IIIiIQIQIiIOM=ԑ=2Acoustic response timeoutԹ M k>M C G  2Acoustic response timeout  9 Y% A;я,;D?A2@2@2=mٱ2 :AHRS rotation from veh to nav: [[0.357263,0.929019,0.096371],[-0.932208,0.348278,0.098439],[0.057888,-0.125006,0.990466]]2Hd??ཫ?/J?F3?`q?1@?i2@I2#y_;2?CYN>yRDV=V=\aa aa aa aa y(\ؿMbX?:vǾ=Խ 9!rhZd;O?:v?Ylyj<=T>oB B)BYBbD{VDl9y;%@=ٔƵQ->9I=EyسE>Q 5K4yʼn?Q 9K4w)j@Q AT:Yv>Q E\;y?Q I?UBI;i;vK4yɮbBNNNNi))iI I!I1O===2Acoustic response timeoutA ;я,hD?A;ɰ2@2@2hٱ25߽ :AHRS rotation from veh to nav: [[0.342101,0.936004,0.082842],[-0.937955,0.334836,0.090141],[0.056634,-0.108539,0.992478]]2H ? ?@5? m?}?`#?@;ɻ`?i2@I2_;2@CY^ >y^ Ddf@AbDjVDjl9yrR%rX=ٔvY;Q-v>9tIt=vEytz0Ez>Q 5%K4)ʼn?Q 9-K4v)bAY)y-u?Q I-?-VBI:i[:K4y1ɮ5lBNNNNi))iAIqI2Acoustic response timeoutIO=IqM 2Acoustic response timeoutԡ <;я,JD?A2@2ݡ@2E3ٱ2@@ :AHRS rotation from veh to nav: [[0.338772,0.938704,0.063788],[-0.939851,0.334474,0.069339],[0.043754,-0.083441,0.995552]]2Ho? ?eT?Ah?;?f?g\ ?i2@I2({_;2?CYN>yNSDbDVVDVl9yba%fL=ٔf=Q-f>9dIh=jEyhjEj>|Q 5K4~ȿʼn?Q 9K4~u)~AY y ?Q I ?~fVBI~9:i~:~K4yɮ5pB9NANANANAiI)Q)QQqyiyyIIaIO=ԡiߡIߡ2Acoustic response timeoutI >) ;я,> D?A60p@6 k@6ӭٱ6 >AHRS rotation from veh to nav: [[0.353969,0.934596,0.035177],[-0.931407,0.348853,0.103838],[0.084775,-0.069520,0.993972]]6Hk?5??S?!?`ϳ? ̱@?i60p@I6ҧ_;6>CYNx>yRFDTVAbDZ_VDZl9yv>=%vH=ٔv`νQ-v>9xIx=zEyxz,=E~>2Acoustic response timeout!Q 5%K4%#ʼn?Q 9-K4%s)%AY)y-׿?Q I-?%VBI%:i%:%K4y1ɮ]fBYNaNaNaNaiq)q)qqqiIIIO=12Acoustic response timeoutY ;я,nD?A2ꠛ@2Ǜ@2սٱ2۲l :AHRS rotation from veh to nav: [[0.358837,0.933257,0.016331],[-0.927565,0.354586,0.117863],[0.104206,-0.057441,0.992896]]2H.?>?@?@?>,?6?h?i2ꠛ@I2_;2@CYN >yRD TV<bDZVDZl9y];%eC=ٔe>Q-e>9aIi=mEyiuh<Eu>Q 5K4Wʼn?Q 9K4q)8AYy?Q I?VBIl;i;K4yɮeBNNNN9i)!)!!)iqII 4= 2Acoustic response timeoutIQO]>aԉ 2Acoustic response timeout <я,D?A2l@2Iߡ@22ٱ2. :AHRS rotation from veh to nav: [[0.338925,0.940801,-0.004783],[-0.939800,0.338791,0.044677],[0.043653,-0.010647,0.998990]]2H ? ?ns ?@ߦ?Y? ΅?i2l@I29`;0YNk#>yRDygfffff?V-?S㥻?3>m=/= 9Dl1Zd˿K7ѿYOy"[B B)BYkBbDVDtl9yƭ<%?=ٔV>Q->9!I!=%Ey!-F\E->)Q 5UK4-Tʼn?Q 9]K4-'r)-bAY]>Q E];y]pCQ I]?-BWBI-;i-!;-K4yaɮm`BiԑNNNNi))顩iIIIO>Թ2Acoustic response timeout  G <я,W2D?A2L@2)@2i;ٱ2< :AHRS rotation from veh to nav: [[0.359022,0.933108,-0.020335],[-0.933327,0.358883,-0.010215],[-0.002234,0.022647,0.999741]]2H5??Ҕ@?넿"Mb0??i2L@I2O`;0YN8>yRDV=V=bDZVDZcl9yfSk=%fb=ٔf->Q-f>9hIh=jEyhnfo=En>Q 5 L4ʼn?Q 9 L4?r)AY y >FQ I ?WBI:i:J L4yɮ=UB9NANANANAiQ)Q)QQiIIQIi}2Acoustic response timeoutO}=I - 2Acoustic response timeout <я,LD?Aɰ>%D@>?@>QFpٱ>ө FAHRS rotation from veh to nav: [[0.378659,0.925297,-0.021039],[-0.923677,0.379241,0.054737],[0.058627,-0.001293,0.998279]]>H@;?`?GĎ|E??a?1U?i>%D@I>N`;>?CYNw2>yRyDV@AVAAbDZVDZLl9yfau%fJ=ٔfZQ-f>9hIh=jEyhnY]=En>Q 5 L4&ʼn?Q 9 L4r) @Y y ?Q I ?WBIF:i:iL4yBɮ=WB9NANANANAiQ)Q)QQyiyyIIIyO=I2Acoustic response timeoutyԡ (<я,gfD?A2"d@2^@2-ƽٱ2B :AHRS rotation from veh to nav: [[0.381130,0.924495,0.006933],[-0.919459,0.378249,0.107343],[0.096616,-0.047286,0.994198]]2Hpd? w?e|?`5l`<5? z?@λ?5 x?i2"d@I2E_;0yRDr=pr2Acoustic response timeoutbDVaVDV3l9y=J;%EC=ٔE6Q-E>9III=MEyIM<EM>QQ 5L4U?ʼn?Q 9L4Us)U@Yy) > <я,BD?A2p@2j@2ujٱ2ҽ :AHRS rotation from veh to nav: [[0.384051,0.919640,0.082267],[-0.922720,0.379088,0.069854],[0.033054,-0.102737,0.994159]]2HH?`m? p?B???L'?i2p@I2_;2@CYNh >yRDTVAbDZ-VDZl9pyƽ%N=ٔ$>Q->9 I = Ey o;E>Q 5L4ʼn?Q 9L4ys)g@Y9y=?Q IE?XBIf1a iߙ Iߙ  2Acoustic response timeout9&<я,zD?A2S%@20 @2Aaٱ2C, :AHRS rotation from veh to nav: [[0.375792,0.914475,0.150050],[-0.926601,0.368384,0.075520],[0.013785,-0.167417,0.985790]]2H ?aC? 4?`?LU?;?mſ@?i2S%@I22`;2>CYn>ynSDAy> ףp=?ʡE̿>-ff 9}?5^I?9I=EyE>Q 5L4ʼn?Q 9L4x)@Y?Q E:yQ I?YBI ;i& ;EL4yɮoBNNNNi)) i  II)IO=a2Acoustic response timeoutԑ c,<я,D?A2F@2A@29ٱ2L :AHRS rotation from veh to nav: [[0.378567,0.912271,0.156363],[-0.922653,0.358537,0.141997],[0.073478,-0.198024,0.977439]]2Hq:?R1? ?^ F? ,? oϲ?Xɿ.G?i2F@I2`;0Y^>yb3DbDjqVDjk9yr=%rY=ٔr"Q-r>9tIt=vEytv1<Ez>xQ 5}L4z>ʼn?Q 9}L4z})z!@Yyy(Q I?zXZBIzƑyBID DDJ=J=bDNVDNk9yV;%VN=ٔVp9XIX=ZEyXZ[[=E^>`Q 5fL4bʼn?Q 9fL4b)b!@Ydyf*Q If?b%[BIb:ibd:b`L4yhɮngBlNpNpNpNpix)x)|i I!I9IIOu=G)Au9qYueA!e2Acoustic response timeoutQy u9<я,?D?Aɰp;>{T@>XO@>!H:ٱ>:k FAHRS rotation from veh to nav: [[0.409856,0.910628,0.052668],[-0.912150,0.409221,0.022828],[-0.000766,-0.057398,0.998351]]>H@;? #?]?T00?``?I@6c~?i>{T@I>_;yNDVAATbDZVDZrk9b2Acoustic response timeoutyfk=%fH=ٔf+>Q-j>9hIh=jEyhrZ<Er>Q 5 L4>ʼn?Q 9 L4)@YytQ I?[BI-:i|:!oL4y%Bɮ%aB!N)N)N)N)i9)9)99AiAAIIIaIqO}F=QԁiqIqu2Acoustic response timeoutԩ ]@<я,{D?A>A@>@>(ٱ> FAHRS rotation from veh to nav: [[0.397710,0.917432,0.012029],[-0.916733,0.396799,0.046378],[0.037776,-0.029472,0.998852]]>H t?[?x?U'e?ܾ?`WW?-?i>A@I> `;>ACYK>y~DbD]vVD]Qk9yh=%;=ٔQ->9I=EyE>Q 55L4ʼn?Q 9}L4K)@YypQ I?\BIg) > 2Acoustic response timeout9 F<я,dD?A2疜@2đ@2Yٱ2"`N :AHRS rotation from veh to nav: [[0.387779,0.921523,0.020581],[-0.919349,0.385059,0.080794],[0.066528,-0.050252,0.996518]]2H ]?`}?@O?Mk@Ϥ?뮴?? `z?i2疜@I2>`;2@CYB'>yBiDDFAymEԸ?|?5^?Dl?m=m=mO>i i9mbX9?x?YmE>ymmK7>mBmwB m0B)m0BiYmBbD`VDGk9yʹ%N=ٔHQ->9I=EyԼE>Q 5L4gʼn?Q 9L4) @Y>Q E:yQ I?r]BI;i;L4yϧBɮ{BѰENNNNi))iIIIO%=92Acoustic response timeouti ձL<я,>5D?A 6@6r@649ٱ6+t >AHRS rotation from veh to nav: [[0.372006,0.924316,0.085150],[-0.928226,0.370157,0.037155],[0.002824,-0.092861,0.995675]]6H?? k̵? ??!g?`ŷ?i6@I6,_;6ACYNu>yND \^4<bDbVDbik9yjϽ%jW=ٔj+>Q-n>9lIl=rEypr BEr>tQ 5zL4voʼn?Q 9zL4v)v8AYxyzQ I~?v^BIv:iv;vaL4yɮBN N N Ni)!)!!!i!)I)IAIQOy==2Acoustic response timeoutiԙ  2Acoustic response timeoutřS<я,.OD?AJޣ@J@J!#.PٱJ ZAHRS rotation from veh to nav: [[0.389745,0.913569,0.116147],[-0.919942,0.380400,0.094884],[0.042501,-0.143829,0.988689]]JH ?;?̻?`)p@zX?@WJ?`¥?h¿ X?iJޣ@IJӜ_;J@CYb>ybDbDjVDjk9yrNQ=%rI=ٔr9ȽQ-v>9tIt=vEytzE=Ez>|Q 5L4~ʼn?Q 9L4~)~AYyQ I?~^BI~Q;i~<;~L4yɮBNNNNi))))))1i11I9IQIaOm==nManaging dock network, ignoring radio surface power offM2Acoustic response timeout! Y<я,ZhD?AB@Bޣ@B񦀽ٱB JAHRS rotation from veh to nav: [[0.396482,0.912053,0.104696],[-0.915894,0.385175,0.113045],[0.062777,-0.140711,0.988058]]BH_? /? _ͺ?@O@?`? )?¿,?iB@IBơ_;B=Cb2Acoustic response timeoutYrJ >yrD ttz=x|bDVD}k9y )%G=ٔJQ->9I=Ey%ě<E%>)Q 5-L4-ʼn?Q 95L4-S)-AY1y5Q I5?-._BI-l:i-:-L4yAɮEBANINININIiY)Y)YYaiaaIiIIOW=)Qu2Acoustic response timeoutԁ B`<я,O΂D?A>4<ɰ>4y&DyNbX9?/$?Zd;>=y 9kt?I +Y 0=y9B/B }B)\BY(B @A @AbDVDwk9y5%=,=ٔ=n2=Q-=>99IA=EEyAE_EE>IQ 5UL4Mʼn?Q 9UL4Mٜ)MAY]E=Q E]D?ABƛ@B@B9ٱBƑ NAHRS rotation from veh to nav: [[0.365118,0.928596,0.066326],[-0.930961,0.364214,0.025670],[-0.000320,-0.071120,0.997468]]BH^? ??`oIO?I?]4@4`A?iBƛ@IBt_;BBCYV9>yVYDbD^*VD^k9yf=%f{=ٔj>Q-j ?9hIh=jEyhnEn ?pQ 5vL4rʼn?Q 9vL4r2)rAYtyzQ Iz?rR_BIr:ir:rL4y|ɮBN N N N i))i!I!I9IQԱO=2Acoustic response timeoutiI >) >ԙ m<я,D?AB7@B@BsٱB® NAHRS rotation from veh to nav: [[0.400888,0.913438,0.070134],[-0.916096,0.399069,0.038880],[0.007526,-0.079836,0.996780]]BH&?`:?J?PY? ?@~?@p`?iB7@IB0_;B?CYj/>yj5DllbDr~VDrUk9yz5=%~G=ٔ~Q-~>9|I=EyR=E> Q 5L4  ʼn?Q 9L4 ) AYywQ I? d_BI ;i : ,L4y!ɮ%wB!N1N1N1N1i9)A)AAAiAIIIIaIqOK=52Acoustic response timeoutiԑ 2Acoustic response timeout Rs<я,;pD?A2N:@2+5@2,xٱ2 :AHRS rotation from veh to nav: [[0.406193,0.908714,0.096155],[-0.911779,0.396077,0.108546],[0.060552,-0.131763,0.989430]]2H`?/??J-SY?ɻ?@?@i?i2N:@I2l_;2ACYBA>yBD J49xIx=zEyx~<E~>Q 5 L4ʼn?Q 9 L4)zAY y ΛQ I ?v_BI:i:9L4yɮBN!N!N!N!i1)1)999i99IAIYIiOuC=E2Acoustic response timeout! ~z<я,:D?A6ڜ@6tգ@6Tٱ6V% >AHRS rotation from veh to nav: [[0.395286,0.910621,0.120493],[-0.915938,0.380853,0.126521],[0.069323,-0.160376,0.984619]]6H^L?#?ؾ?@^O_?@1?%?@3Ŀ?i6ڜ@I6_;6?CYF>yFDR%=R%=R2Acoustic response timeoutbDNVDNj9yZIV%^N=ٔ^Q-^>9`I`=bEy`fbEf>dQ 5jL4f ʼn?Q 9nL4f)f[AYlyrQ Ir?f_BIf#;if$;fL4ytɮvBtNxNxNxN|i))顁iIIIO}=QyU2Acoustic response timeoutԩ <я,,D?A<-(@-@-qٱ-^5 AHRS rotation from veh to nav: [[0.403663,0.910348,0.091227],[-0.914238,0.397541,0.078300],[0.035013,-0.115010,0.992747]]-H@?!?Z?oANq?r ?G?Lq?i-(@I-t_;-@CY>yD==y-(\?#~j?|?5^?-.>-%>->) )9-~jt? rhտEȿY-9YIY=]EyY]<E]>aQ 5mM4eֲʼn?Q 9uM4e)e<AYuT>Q Eu;yu*Q Iu?e0`BIe ;ie ;e M4yyɮNNNNi))顙iIIIO=2Acoustic response timeoutԩ 1 1 9 Y [A ] 2Acoustic response timeout$<я,D?A;ɰ:g@:D@:ٱ:~ܼ FAHRS rotation from veh to nav: [[0.428054,0.903612,0.015957],[-0.903542,0.427505,0.029179],[0.019545,-0.026907,0.999447]]:H ;e?d?V?=\? ? ?w?i:g@I:a_;:ACYNA>yRDVAAVAAlbDZVDZnj9yv<%zd=ٔz$1=Q-z>9|I=Ey%=E%>)Q 55M4-ʼn?Q 95M4-)-+AY1y5(Q I]?-`BI-;i-;-M4yeΧBɮeBeаENiNiNiNii))顡iIIYIO= 2Acoustic response timeout1a N<я,7D?A2+@2%@2 gٱ2~O; :AHRS rotation from veh to nav: [[0.432915,0.901021,-0.027302],[-0.899670,0.433764,0.049424],[0.056375,0.003166,0.998405]]2H?)?? )N?4ݬ?Yi?@?i2+@I2/N`;2@CY^=>y^sDbDj*VDjCj9yv<%vK=ٔvAQ-v>9xIx=zEyxz=y<E~>!Q 5%M4%؟ʼn?Q 9-M4%)%@Y)y-&Q I-?%:aBI%:i%A:%&M49y1ɮ]BYNaNaNaNaiq)q)qqiIII2Acoustic response timeoutO=aԑM 2Acoustic response timeout I >) >6<я,QD?A2Ȋ@2@26ؽٱ2Ժ :AHRS rotation from veh to nav: [[0.413578,0.910176,-0.023076],[-0.904350,0.413600,0.105291],[0.105377,-0.022678,0.994174]]2H x?* ?``okx?Z??8@E?i2Ȋ@I2C`;2?CY^g'>y^DdfAbDjVDjj9y% =%-F=ٔ-oQ-->9)I1=5Ey15BE5>aQ 5mM4eʼn?Q 9mM4eڥ)el@Yiymk&Q Im?eaBIe1:ie:e85M4ԙyɮzBNNNNi))iIII1O==2Acoustic response timeout `<я,kD?A26@2@2ٱ2, :AHRS rotation from veh to nav: [[0.416674,0.908610,0.028488],[-0.901376,0.408885,0.142598],[0.117917,-0.085096,0.989371]]2H Ȫ?T?,?`-+?@? /?ȵ?i26@I2`;2BCYNI(>yND TVbDZJVDZi92Acoustic response timeouty  ;% L=ٔ Q- >9I=Ey'<E>Q 5M4 ʼn?Q 9M4֧)K@Yym&Q I?abBIg:iC;CM4yͧBɮyBNNNNi))i!I!IYIiO=!Ii߱I߱2Acoustic response timeoutԁ T<я,攅D?A~@~g@~\ٱ~~ 5AHRS rotation from veh to nav: [[0.457201,0.886685,0.068973],[-0.884955,0.445853,0.134423],[0.088439,-0.122496,0.988521]]~HB?_?3?`Q@ۈ?4??[@?i~@I~_;~@CYE>yEȡD9y`"?K?~jth?η>^=D; 9:v? rh/$ٿYT9I=Eyam=Em>iQ 5M4m ʼn?Q 9M4mΨ)m@Y>Q E;y< Q I?mbBIm;im:mSM4yɮBNNNNi))i2Acoustic response timeoutIII!O5 >iԑ AA 2Acoustic response timeout r<я,yn3Dv=va=bDzUVDzki9y &=% q=ٔ >Q- ?9I=Ey <E ?9Q 5EM4=Lʼn?Q 9MM4=^)=@YIyMQ IM?=bBI=l:i=B:=l_M4yQɮ}ByNNNNi))顑iIII O=Ա2Acoustic response timeout 1 <я,D?Aɰ;29@24@2Hٱ2 :AHRS rotation from veh to nav: [[0.434698,0.895405,0.096376],[-0.899245,0.425747,0.100488],[0.048946,-0.130347,0.990260]]2H?`'??p???k? 74?i29@I2_;2>CYN5>yN DTV@AbDZVDZ8i9y=߼%EG=ٔE}Q-E>9III=MEyIMEM>QQ 5}M4U'ʼn?Q 9}M4U)U@YyNQ I?UbBIUT;iU:UmM4yɮBNNNNi))iIII!O-=}2Acoustic response timeout9i - 2Acoustic response timeout<я,ED?A 2u@2R@2lٱ2 >AHRS rotation from veh to nav: [[0.429824,0.900290,0.068766],[-0.899589,0.420469,0.118093],[0.077404,-0.112621,0.990619]]2H=?@-??@n`?T;?@г?Լ%?i2u@I2_;2@CYNE,>yRDbDZcVDZh9yf=%fR=ٔf.Q-f>9hIh=jEyhn?En>Q 5 M4oʼn?Q 9 M4Ъ)@Y y p Q I ?bBI:iB:b{M4yɮwBNNNNi))iIIQIiOu=q2Acoustic response timeoutԙ I >) >2<я,D?A2@2z@2lٱ2н :AHRS rotation from veh to nav: [[0.456181,0.888122,0.056014],[-0.888006,0.450225,0.093504],[0.057824,-0.092396,0.994042]]2H2?k?歬?jz??@?@?1?i2@I2_;2ACHYN&>yNDPRAbDVVDVh9ybc%bJ=ٔbF=Q-b>9dId=fEydf =n2Acoustic response timeoutEj>|Q 5~M4~݁ʼn?Q 9M4~})~@Yy Q I?~cBI~W:i~:~M4y ɮ5yB1N9N9N9N9iI)I)IIiiqqIyIIIYOm=2Acoustic response timeout <я,,D?A((NZ@NT@N0ٱN% ZAHRS rotation from veh to nav: [[0.466191,0.883024,0.054171],[-0.883634,0.461780,0.077139],[0.043100,-0.083829,0.995548]]NH?A?@V?@F΍?[?6?`u?iNZ@IN _;N@CYb >ybԴDxyMm?:vrh|M>MTMI I9MNbX9?Q rhYM>yM\MC M9yI=Eyg<E>Q 5M4ʼn?Q 9M4)N@Yݦ>Q E";y̿Q I?cBI ;i ;EM4yɮBNNNNi))iIIIO=4=2Acoustic response timeout!Iy  2Acoustic response timeout@<я, D?A2/@2 @2aHٱ2! :AHRS rotation from veh to nav: [[0.454291,0.889168,0.054771],[-0.889510,0.449373,0.082678],[0.048902,-0.086279,0.995070]]2H ?t? ? v?@]*? ?^`?i2/@I2 _;0YBI(>yBDbDJVDJ0h9yVa=%VY=ٔV|Q-V>9XIX=ZEyXZjE^>`Q 5bM4bʼn?Q 9fM4b)b@YdyfοQ If?bdBIb:ib :brM4yjBɮnBnڰENANANANAiI)Q)QQQiQYaIaIIOu=ԁ2Acoustic response timeoutԱ @A d<я,]:D?A2@2`@20˼ٱ2ѽ :AHRS rotation from veh to nav: [[0.454513,0.887182,0.079530],[-0.890395,0.450037,0.068298],[0.024801,-0.101856,0.994490]]2H?@c?\?~f?{?ie?6?i2@I2m_;2?CYB>yBDF=F=bDJRVDJh9yR*%VJ=ٔVt=Q-V>9TIX=ZEyXZEZ>\Q 5bM4^ʼn?Q 9bM4^))^~@YdyfϿQ If?^dBI^:i^p:^M4yhɮjBhNpNpNpNpit)x)xxxix|I|II!O5=Թ]2Acoustic response timeout9 2Acoustic response timeoutY ]<я,ETD?Aɰ2$@2@22ٱ2 >AHRS rotation from veh to nav: [[0.460661,0.883309,0.086932],[-0.887092,0.454961,0.077965],[0.029317,-0.113032,0.993159]]2Hy{?@D?.A? c?? 9? _?i2$@I2_;0YF >yFDN@ALbDN VDNg9yV%VI=ٔZn6Q-Z>9\I\=^Ey\^݌<E^>`Q 5fM4bʼn?Q 9fM4bl)b @YhyjpϿQ Ij?beBIb:ib;bM4ylɮnBpNpNtNtNtix)|)|||i|III1O=#=1ay9YAe2Acoustic response timeoutaԉԱ R<я,nD?A67@6r2@6?ٱ6,E >AHRS rotation from veh to nav: [[0.462873,0.881463,0.093659],[-0.886348,0.458851,0.061988],[0.011665,-0.111707,0.993673]]6H?4??`\]?`? ?@՘*?i67@I6f_;6@Cb=b<b2Acoustic response timeoutYfS>yfDbDnVDng9yvq%vG=ٔz/=Q-z>9xIx=zEy|~;E~>Q 5 M4ʼn?Q 9 M4)@YyϿQ I?eBI:i:M4yɮBN!N!N)N)i1)1)999i9AIAIYIqO}E=ԑu2Acoustic response timeoutI >) > H<я,9D?A2QJ@2.E@2;ٱ2 :AHRS rotation from veh to nav: [[0.464924,0.882942,0.065264],[-0.885336,0.464075,0.028545],[-0.005084,-0.071052,0.997460]]2H@Q?A?+?T@g?:?0tx00?i2QJ@I2_;2?CYv->yvخDxxyu rh?V-$C?uC >umuZ>q q9uK7?HzGѿ$C?YuI>yu=u>uhBq uٛB)uBqYuBbDVDg9y<%@=ٔ =Q->9I=Ey¯;E>Q 5M4M~ʼn?Q 9M4)@Yl?Q E:yҿQ I?]fBI ;i ;M4yɮBNNNNi))iII IO%=2Acoustic response timeout!I iy I} A 2Acoustic response timeoutk<я,hʡD?A 6@6@6:ٱ6; >AHRS rotation from veh to nav: [[0.459883,0.887492,0.029422],[-0.887978,0.459696,0.013220],[-0.001793,-0.032206,0.999480]]6Hn?Uf? ?@Pj`k??`"_]J}?i6@I6y_;6BCYF$>yFD Np9\I\=^Ey\b:yEb>dQ 5jM4f|ʼn?Q 9jM4f)f@YhyjտQ Ij?fgBIf:ifW:fM4ypɮrBpNtNtNtNti|)|)|iI IIOw=iԙ2Acoustic response timeout 8<я,aD?A2I@2C@2guL<ٱ2# < :AHRS rotation from veh to nav: [[0.464763,0.885433,-0.001821],[-0.885347,0.464687,-0.015049],[-0.012479,0.008607,0.999885]]2H ?xU?U]Tl?@!Ҏ`@\? ?i2I@I2`;2@CYB >yBԴDbDJQVDJg9PyV%VK=ٔV9XIX=ZEyX^aa<E^>`Q 5fM4bzʼn?Q 9fM4b)bT@YdyfZ׿Q Ij?bgBIb :ib:b+M4ylɮnBlNpNpNpNtix)x)x||nManaging dock network, ignoring radio surface power offi| I I!I1OE'==2Acoustic response timeout =  2Acoustic response timeout1 <я,D?A6 П@6ʦ@6)ٱ6! >AHRS rotation from veh to nav: [[0.479300,0.877641,0.004281],[-0.877604,0.479217,0.012777],[0.009162,-0.009881,0.999909]]6H׬?? q? T|?+?Â?`<A?i6 П@I6_;6ACYF>yFpD HHN=N=bDRVDRdg9yZ<%ZJ=ٔZZQ-Z>9\I\=^Ey\b&=Eb>dQ 5jN4ftyʼn?Q 9jN4f)fO@YhyjԿQ Ij?fhBIf:if:fRN4ypɮrBpNtNtNtNt|i))i  I I!I9OE(=)E2Acoustic response timeoutQԁ sJ<я,l[D?Aɰ4<2U@22@2kxiٱ20ޘ :AHRS rotation from veh to nav: [[0.472862,0.879160,0.058987],[-0.881021,0.470657,0.047787],[0.014249,-0.074566,0.997114]]2H@`C?`"?3? S1`??`w?.?@\?i2U@I2_;2>Cj2Acoustic response timeoutYn>ynDvAAtbDvVDv?g9y~%E=ٔkIQ->9 I = Ey  _E >Q 5N4`xʼn?Q 9%N4)@Y!y%ѿQ I%?giBI;i;N4y-Bɮ-B5EN9N9N9N9iI)I)IIIiIQIQYIqIOO=ԁԱiQIUAU2Acoustic response timeout a2=я,6 D?A2U@2}P@2hٱ2 :AHRS rotation from veh to nav: [[0.466105,0.876593,0.119713],[-0.884615,0.459586,0.078970],[0.014206,-0.142708,0.989663]]2H? ??N`i?`c7? 5?CD¿`Q?i2U@I2_;0YR>yRDyUQӿ(\µ?DlU(U=UO Q Q9UˡE@5^I ?\(\?YU什yUb>Uz>U}BUB UB)U}BQYUBbDmVDmvg9y}Z%B=ٔ8Q->9I=Ey(E>Q 5N4p|ʼn?Q 9N4()@Y>Q E4;yYp?Q I?iBI;ir;w%N4yɮBԹNNNNi))iIII O=2Acoustic response timeoutI >) >9 e 2Acoustic response timeout\=я,E#D?A2L@2G@2Syٱ22 * :AHRS rotation from veh to nav: [[0.464863,0.876013,0.128464],[-0.884526,0.453121,0.110882],[0.038924,-0.165175,0.985496]]2H`R?L?q?` N?b?`?q$ſ.?i2L@I2j_;2CCY^=ybDdfAbDjVDjLg9yrA%rU=ٔr能Q-v>9tIt=vEytz4Ez>|Q 5N4~8ʼn?Q 9N4~)~=@YyPs?Q I ?~ jBI~ ;i~P ;~2N4yɮɧBNNNN!i)))))11i11I9IQIO=A2Acoustic response timeoutiԙ =я,yND e49I=Ey>c=E>2Acoustic response timeoutQ 5=N4ʼn?Q 9=N4)6@Y9y=S?Q I=?ajBI5ynߢDbDz,VDz g9y ;% T=ٔ ;Q- >9I=Eyx=E>9Q 5EN4=(ʼn?Q 9MN4=)=@YIyMp?Q IM?=jBI=:i=:=qON4yQɮyyNNNNi))顑iIII O=-2Acoustic response timeout) +=я,pD?A2}@2Z@29ٱ2u :AHRS rotation from veh to nav: [[0.482163,0.875354,0.035694],[-0.871069,0.474654,0.126266],[0.093585,-0.091973,0.991354]]2H`??F?`?w)?@*?`@,?i2}@I2_;2BCB2Acoustic response timeoutYN:>yR&D PPV=V=bDZVDZf99ym%mD=ٔmEQ-m>9qIq=uEyq}E}>Q 5N4aʼn?Q 9N4 )@Yy?Q I?kBI<:i:]N4yɮBNNNNi))iIII O==aԑ52Acoustic response timeout "=я,D?A4<ɰ2|j@2Ye@2I[ٱ2&U :AHRS rotation from veh to nav: [[0.466726,0.884379,0.006409],[-0.880352,0.463884,0.098960],[0.084546,-0.051829,0.995071]]2H?L??z?+D?yU?ɤ?[?i2|j@I2 _;2CCYN#>yNDԙy(\?y&1Dl>`O 9I +?㥛 ¿5^I ۿY949I=Ey/E>Q 5 N4ʼn?Q 9N4])[@Y5>Q E5:y5Q I5?KkBI;iG;lN4yAɮEBANINININIiY)Y)YYaiaaIiIIO=2Acoustic response timeout !=tAQ}` 9tAYNAy ?cA E 2Acoustic response timeoutE(=я,K\D?A>@>@>2ٱ> FAHRS rotation from veh to nav: [[0.508763,0.860884,0.006173],[-0.859802,0.507734,0.054290],[0.043603,-0.032928,0.998506]]>HG?@]?Hy?~[??˫?#S? ۠@?i>@I>@_;>ACYN>yRѺDbDZVDZsf9y %[=ٔ:=Q->9 I = Ey  >E>Q 5=N4ʼn?Q 9EN4h)c@YAyEPQ IE?kBIP;i/:yN4yIɮMBQNyNyNyNyi))顉iIIIyO=!2Acoustic response timeoutII >) >y >.=я,6D?A2+@2%@2cٱ2A :AHRS rotation from veh to nav: [[0.488924,0.871156,0.045171],[-0.872036,0.486769,0.051075],[0.022506,-0.064362,0.997673]]2H`J?? ? ;'?v&? ? z?i2+@I2_;0Yn&>yn9)I1=5Ey15iE5>9Q 5EN4=+}ʼn?Q 9MN4=)=@YIyM Q IM?=kBI=:i=N:=N4yQɮUByNNNNi))顑iI2Acoustic response timeoutIIQO=yԩ 2Acoustic response timeout 5=я,D?A2(;@26@2BEٱ2Sп :AHRS rotation from veh to nav: [[0.462752,0.884411,0.060647],[-0.885176,0.457266,0.085856],[0.048200,-0.093414,0.994460]]2H?`M?! ?]SC??`?鷿?i2(;@I2O_;2@CYN)>yRD V;V4<bDZVDZe9yfy<%fP=ٔfKQ-f>9hIh=jEyhnEn>YQ 5eN4]xʼn?Q 9mN4])]@YiymQ Im?] lBI]$:i]:]-N4yuBɮBENNNNi))iIII O5=Ա 2Acoustic response timeout 1 f;=я,D?A2%=24=22Acoustic response timeout6oܟ@6Lצ@6_qٱ6AȽ BAHRS rotation from veh to nav: [[0.479672,0.875717,0.055082],[-0.875136,0.472911,0.102429],[0.063650,-0.097336,0.993214]]6H??3?`@.D?8?YK?븿 i?i6oܟ@I6-_;4YN!>yNDbDZ5VDZe9yr8%vH=ٔv_Q-v>9xIx=zEyxzE=E~>Q 5%N4(sʼn?Q 9-N4)@Y)y-Q I-?mlBI:i1:N4y1ɮBNNNNi))!!i!!I)IaIO=92Acoustic response timeouti B=я, D?A2E@2"@2OC[ٱ2Fý >AHRS rotation from veh to nav: [[0.500964,0.863678,0.055637],[-0.863813,0.494997,0.093838],[0.053505,-0.095069,0.994032]]2H?@?m|?[?? e?qV?i2E@I2z_;2>CYJ=yJDR>R=y}S?RQ?Mb?}>}=}=y y9}A`"?K7ɿ(\µ?Y}>y}I}=}B}ӒB }B)}5ByY}BbDVDe9y%%%8=ٔ%9III=MEyIU&\=EU>YQ 5]N4]tʼn?Q 9eN4]R)]a@YeL>Q Ee:ye黿Q Ie?]>mBI]:i]u;]N4yɮʧBNNNNi))iIIIO =m2Acoustic response timeoutiԑԹ  2Acoustic response timeout H=я,ע%D?A;ɰ;: x@:r@:iٱ:/P̽ FAHRS rotation from veh to nav: [[0.496407,0.866137,0.058198],[-0.866214,0.489816,0.098756],[0.057030,-0.099435,0.993408]]:H"?`d?̭?`%Y? H?3?`t`?i: x@I:_;:ACLYR>yRDXZ@AbD^VD^je9yvۥ=%va=ٔvaQ-v>9xIx=zEyxz~kE~>Q 5N4Fvʼn?Q 9 N4)@Y y Q I ?mBI:i:N4yɮBN!N!N!N!i1)1)111i19IAIQIiOuA=2Acoustic response timeout! 0#O=я,}?D?A2 /@2)@2xٱ2G۽ :AHRS rotation from veh to nav: [[0.488466,0.870380,0.061969],[-0.870222,0.480693,0.107929],[0.064151,-0.106646,0.992225]]2H C?&?a? ?6?2l?(MO?i2 /@I2y_;0YN>yR3D bDZVDZ-e9yN%%G=ٔ%+Q-%>9)I)=-Ey)-cE->1Q 5=N45wʼn?Q 9EN45)5@YAyEQ IE?5nBI5L;i5;5wN4yIɮMBQNYNYNYNYii)i)iiiiiqIqIIO^=2Acoustic response timeout)Q 2Acoustic response timeoutԁ I >) > V=я,dWYD?A2䲟@2@2Dbٱ2F۽ :AHRS rotation from veh to nav: [[0.475467,0.877115,0.067828],[-0.877999,0.468279,0.099161],[0.055213,-0.106701,0.992757]]2Hn?R?`.]?`F?@b?D?P`?i2䲟@I2e_;0Y^>yb#DdfAbDjVDje9yrּ%rN=ٔr,9tIt=vEytzEz>|Q 5N4~xʼn?Q 9N4~H)~:@Yy `Q I ?~`oBI~ ;i~ ;~ON4yɮçBNNNN!i))))111i11yIIIO =ԡ2Acoustic response timeout 8\=я,?sD?A22Acoustic response timeout6c@6^@6qٱ6 BAHRS rotation from veh to nav: [[0.467478,0.881920,0.060683],[-0.883534,0.463885,0.064642],[0.028859,-0.083834,0.996062]]6H`'?8?@?`E`L? Y?0? v?i6c@I6u_;6CCYF">yJVD N49\I\=bEy`biƼEb>dQ 5jN4fyʼn?Q 9jN4f)f@YlynQ In?fpBIf#;if;fAN4ypɮrBpNtNtNtNxi|)|)i I I!I1OE&=iI%2Acoustic response timeoutiԑ c=я,t D?A:vQ@:SL@: ٱ:ﱽ BAHRS rotation from veh to nav: [[0.465685,0.881951,0.072798],[-0.884909,0.463285,0.047996],[0.008604,-0.086771,0.996191]]:H ?8?ᢲ? ,Q`u?`? /?6@?i:vQ@I:;d_;:BCYbF>ybDyEDl?y&1?/$?EO=E`=E1>A A9E/$?X9v?$C?YE1>yEEBEB EB)EfBAYEBbDe%VDed9ym%m?=ٔujB=Q-u>9qIy=}Eyy}E>Q 5N4ʼn?Q 9N4o)@YG>Q E;y_Q I?pBI:i{:.N4yɮBNNNNi))项iIIIqO}=u2Acoustic response timeoutԡ % 2Acoustic response timeout KHi=я,D?A2G@2$@2)ٱ2u :AHRS rotation from veh to nav: [[0.459539,0.885258,0.071714],[-0.887954,0.456202,0.058468],[0.019043,-0.090547,0.995710]]2Hi? T?[?j`h2?y??.?i2G@I2`w_;2CCYv#>yvDz=z=bD~VD~d9y ==% Q=ٔ8ڼQ->9I=Ey[E>!Q 5-O4%ʼn?Q 9-O4%)%@Y1y5_Q I5?%pBI%y:i% :%O4y9ɮ=B9NANANINIiQ)Y)YYYiYaIaIyIOU=}2Acoustic response timeout! 3.p=я,D?Aɰ4<>@>̉@>[^Yٱ>G̽ JAHRS rotation from veh to nav: [[0.443933,0.893651,0.065655],[-0.894489,0.437626,0.091508],[0.053044,-0.099351,0.993638]]>Hfi?ʘ?ΰ?` ?@ m?(? o@?i>@I>9^_;yRDXZAAbD^VD^wd9yfW%fO=ٔfhQ-j>9hIh=jEyhn?/En>pQ 5vO4r<ʼn?Q 9vO4r)ry@Ytyv_Q Iv?reqBIr:ir:rO4y~$Bɮ~֧B~ENNNNi))iI2Acoustic response timeoutI IO-=Qy 2Acoustic response timeoutԩ 5tA M 9M 5tAYM [AYv=я,D?A2j@2G@2tٱ2tŽ :AHRS rotation from veh to nav: [[0.446924,0.891241,0.077126],[-0.894344,0.443200,0.061013],[0.020196,-0.096245,0.995153]]2H@h? ??vd]?)=?$?@J?i2j@I2_;2BC@YF>yFcDbDN)VDNGd9yV%VL=ٔZ)=Q-Z>9XIX=ZEyX^;E^>`Q 5fO4bʼn?Q 9fO4b)bX@YdyjaQ Ij?bqBIb:ib:b"O4yn%BɮnާBlNpNpNtNtix)x)|||i|III)O5!=ԩ2Acoustic response timeoutEnManaging dock network, ignoring radio surface power off I >) >|=я,zD?A:2Acoustic response timeout:@:ۥ@:eL<ٱ:Ͻ FAHRS rotation from veh to nav: [[0.453459,0.886104,0.095892],[-0.891190,0.452289,0.034867],[-0.012475,-0.101268,0.994781]]:Hx? Z?X? L?@ڡ?`칿>?i:@I:b_;:ACYJW>yJDPPbDVtVDVjd9y^%^I=ٔ^ۤ=Q-b>9`I`=bEy`fp<Ef>hQ 5nO4jʼn?Q 9nO4lj)j%@Ypyrc`Q Ir?jErBIj,;ij,;j0O4ytɮvBxN|N|N|N|i ) )   i II)IAOM+= 9%2Acoustic response timeouta j=я,UD?A2]@2:@2 wٱ2b :AHRS rotation from veh to nav: [[0.445870,0.892272,0.071065],[-0.893066,0.438107,0.102451],[0.060281,-0.109146,0.992196]]2H "?~?N1?` ?@:? ݮ??i2]@I21_;2DCY^ >ybD9yZd;OǿˡE?#~jj<'>㥽 9S㥫?9v?Y/]yL=>9I=EyE>Q 5O4ʼn?Q 9O4)AY>Q E0;y?Q I?vrBI:i : @O4yɮէBNNNNi))iIII)O==u2Acoustic response timeoutiԡ % 2Acoustic response timeoutؔ=я,/(D?A23G@2B@2Iٱ2 :AHRS rotation from veh to nav: [[0.435242,0.897943,0.065287],[-0.896609,0.425738,0.121820],[0.081593,-0.111558,0.990403]]2H@? ? ?` K??`/? B?a?i23G@I2d_;2@CY^*>yb"DbDj{VDjc9yr<%rX=ٔrhgQ-r>9tIt=vEytz:Ez>xQ 5O4zϙʼn?Q 9O4z)z4AYy?Q I?zrBIz;iz;zAMO4yɮЧBNNNNi)))))))i11I9ԙII O=2Acoustic response timeoutI AAY =я,#BD?A2S@2M@2߹;ٱ2tj :AHRS rotation from veh to nav: [[0.437999,0.891696,0.114175],[-0.898967,0.435011,0.051226],[-0.003989,-0.125077,0.992139]]2H@,? ň?:?U9?M:?9Wp`?i2S@I2Dj_;2BCYB>yBzDF=Fa=bDNYVDNc9yVI%VM=ٔV/\>Q-Z>9XIX=ZEyX^Zn;E^>`Q 5fO4bʼn?Q 9fO4b)bAYdyf?Q If?brBIb;ib;b0[O4yn?BɮnBlNpNpNpNpix)x)|||i||III)O5!=2Acoustic response timeout)Qԁ 2Acoustic response timeoutԱ =я,[D?Aɰ:hc@:E^@:;ٱ: BAHRS rotation from veh to nav: [[0.439786,0.889775,0.122018],[-0.898085,0.436557,0.053501],[-0.005664,-0.133112,0.991085]]:Hu%? y?ybDhhbDjVDjd9yr %vG=ٔv;Q-v>9tIx=zEyxzI;Ez>|Q 5O4~ʼn?Q 9O4~)~AY y }?Q I ?~rBI~`:i~y:~iO4yɮBN!N!N!N!i))1)111i19IAIQIiOu@=ԑ2Acoustic response timeout ќ=я,HuD?A"="=&2Acoustic response timeout6U@6P@6vٱ6} BAHRS rotation from veh to nav: [[0.436476,0.896070,0.080917],[-0.895060,0.423321,0.140236],[0.091407,-0.133636,0.986806]]6H:? ??U???@tf?``?i6U@I6l_;6@CYN!>yRDbDZ=VDZc9yS=%G=ٔrQ-=>99I9==EyAEEE>IQ 5UO4M"ʼn?Q 9UO4M)MAYQy}?Q I}?M(sBIM;iM;MwO4y!BɮѧBENNNNi))iIII1O==2Acoustic response timeoutI I >) >=я,bD?A2ҝ@2̤@2ٱ2? >AHRS rotation from veh to nav: [[0.421215,0.904761,0.063129],[-0.900264,0.408647,0.150105],[0.110012,-0.120060,0.986652]]2H-??>)?@G'?6?@)?@:@?i2ҝ@I2 _;2ACYN6=yRDTTye{Gz?QʡEͿeף=eueoa a9eQ?kt7A`ҿYeu=ye 0eeBe/B e5B)eBaYe\BbD}VD}c9y%<=ٔ0Q->9I=Ey E >Q 5=O4ʼn?Q 9=O4)AY=3>Q E=/;y=Q IE?]sBI;i':O4yM?BɮMBMENqNyNyNyi))顉iIIU2Acoustic response timeoutQIyO=yԡ i I A 2Acoustic response timeout=я,{D?A2g@2D@2n!ٱ2̽ :AHRS rotation from veh to nav: [[0.402618,0.912272,0.075221],[-0.914516,0.397338,0.076044],[0.039485,-0.099407,0.994263]]2H?@U1?A? Cm?w?@U7?r?i2g@I2r_;2BCQ->9 I = Ey  .|E>Q 5EO4Μʼn?Q 9EO4 )AYAyE"Q IM?sBI;i|:O4yQɮUBQNYNYNYNYii)i)iqqiq1I1IIIO=ԩe2Acoustic response timeout ~˰=я,UD?A6@6@6?ٱ6I >AHRS rotation from veh to nav: [[0.415422,0.906700,0.072937],[-0.909579,0.413223,0.043731],[0.009512,-0.084509,0.996377]]6HE???E?r?@c?z?@_R?i6@I6 _;4YN>yRDbDZVDZc9yf-=%fN=ٔf=Q-j>9hIh=jEyhlni =E~>Q 5 O4ʼn?Q 9 O4)7AY y Q I ?sBI:i:O4y9ɮ=B9NANANANAiQ)Q)QyyiyyIII2Acoustic response timeoutOi= 1m %=m R=u 2Acoustic response timeouta @A=я,0D?A2@2@2ia4ٱ2# :AHRS rotation from veh to nav: [[0.427102,0.902077,0.061985],[-0.903131,0.422254,0.077818],[0.044024,-0.089217,0.995039]]2HU???s 5??O?ֶ[?i2@I2yvD xxz=z=9bD~kVD~zc9ye>%eA=ٔmڦQ-m>9iIi=uEyqu=Eu>Q 5O4~ʼn?Q 9O4)KAYyQ I?sBI:i :O4yɮۧBNNNNi))iII1IIO=a2Acoustic response timeoutԑ =я, D?A2Acoustic response timeout4<ɰ;6r@6m@62ٱ6wĽ BAHRS rotation from veh to nav: [[0.413007,0.907729,0.073850],[-0.910147,0.408489,0.069052],[0.032513,-0.095733,0.994876]]6Hn?@ ??@$? a???i6r@I6\_;6BCYN#>yRDTTbDZ!VDZXc9yf%fU=ٔf9hIh=jEyhn'En>Q 5O4Qʼn?Q 9 O4) @Y y Q I ?sBI:i9:@O4yԙɮBNNNNi))   i  IIIIyO=iIA2Acoustic response timeout  =я,D?A2{_@2XZ@244ٱ2 :AHRS rotation from veh to nav: [[0.411080,0.909268,0.065153],[-0.911598,0.409922,0.030868],[0.001360,-0.072083,0.997398]]2H#O??䭰?+)yNVDyx&1?{GzX9vA>ף 9$C?Zd;Oǿsh|?տY>yj<lBגB )fBY8BbD\VDsc9y}%7=ٔ=Q->9I!=%Ey!%E%>)Q 5UO4-ʼn?Q 9UO4- )-@Y]>Q E]:y]߿Q I]?-tBI-;i-d;-O4yaɮeBaNiNiNNi))顡iIIIO=52Acoustic response timeout Yq9Y@!I 2Acoustic response timeoutI >) >y 1=я,*D?A2]@2:@2Ҕٱ2@_5 :AHRS rotation from veh to nav: [[0.418786,0.907474,0.033322],[-0.907937,0.417771,0.033443],[0.016428,-0.044260,0.998885]]2H@b? ?@? ü?@r?hҐ? :?i2]@I2p_;2DCYn->yn|DtvAbDz4VDzac9y%<%-[=ٔ-R%Q-->9)I1=5Ey15.<E5>YQ 5eO4];ʼn?Q 9eO4])]@YiymZۿQ Im?]/uBI]1:i]:]O4yqɮuBNNNNi))顱iIQIIO=ԁE2Acoustic response timeoutԩ =я,EDD?A2ύ@2@2Ǻٱ2g :AHRS rotation from veh to nav: [[0.387361,0.921140,0.038113],[-0.921213,0.385102,0.055345],[0.036303,-0.056549,0.997740]]2H?y??z?@,V? M?`{?i2ύ@I2n_;2BCYN/>yR5D TVbDZVDZc9yf;%fP=ٔfOQ-f>9hIh=jEyhnCEn>YQ 5eO4]ʼn?Q 9eO4])]@Yiym߿Q Im?]uBI]:i]g:]O42Acoustic response timeoutyqɮBNNNNi))iII!IQO]=Ա M 2Acoustic response timeout1 ED=я,z^D?A2v@2|q@2\ٱ2 :AHRS rotation from veh to nav: [[0.384996,0.919969,0.073720],[-0.922890,0.383128,0.038561],[0.007231,-0.082881,0.996533]]2Hģ?cp?J߲?P*?`P?z}?7?i2v@I2z_;2DCYN>yNDbDZ\VDZb9yrX%vH=ٔv=Q-v>9xIx=zEyxz^Ez>|Q 5O4~nʼn?Q 9 O4~T)~@Y y ?Q I ?~]vBI~N:i~:~O4yɮBN!N!N!N!i))1)111i1IIIO = 2Acoustic response timeoutAa r=я,gxD?A2Acoustic response timeout6*@6 @6:+<ٱ6q BAHRS rotation from veh to nav: [[0.402213,0.906737,0.126701],[-0.915486,0.399903,0.044305],[-0.010495,-0.133813,0.990951]]6H@ܽ??7? K? ?`~` ޵?i6*@I6_;6CCYJ(>yJD LLN=N=bDVVDVb9y^Җ%^M=ٔ^5=Q-^>9`I`=bEy`ba@=Ef>dQ 5jP4fzʼn?Q 9nP4f%)f@YlynaQ In?fvBIf;if&;fP4yr>BɮvBtNxNxNxNxi))i I I!I9OE'=aԡ2Acoustic response timeoutԹ GU=я,,D?A;ɰ4ybDyM:v?Zd;OͿ ףp= ?MT>M~jMQ>I I9M/$?/$`"?YM,?yMMw>MBMB M B)M8BIYM3Be@AabDeVDeb9yu Ǽ%u?=ٔ}iQ-}>9I=EyE>Q 5P4ʼn?Q 9P4;)n@Y8?Q E:yQ I?xBI ;i ;P4y?BɮBNNNNi))iIIIO=2Acoustic response timeoutA = 4= 2Acoustic response timeout_=я,D?A2Sܛ@20ע@2!ٱ2  :AHRS rotation from veh to nav: [[0.367492,0.921515,0.125533],[-0.929843,0.361372,0.069304],[0.018501,-0.142195,0.989666]]2H? }?{? E ??@?s3¿W?i2Sܛ@I2t_;2@CY^=ybZDbDj&VDjob9|y0%%P=ٔ%:ŻQ-%>9!I)=-Ey)-ܒE->1Q 5=P45!ʼn?Q 9=P45)5@YAyE7Q IE?5(yBI5z;i5T;5O!P4yM\BɮMBUENQNYNYNYia)i)iiiiiqIqIIO]=)%2Acoustic response timeoutQԁ I >) >=g=я,D?A2@2@2iٱ2F :AHRS rotation from veh to nav: [[0.344793,0.934831,0.084901],[-0.938678,0.343242,0.032694],[0.001422,-0.090968,0.995853]]2H`?#?? ?@T?"MW?I?i2@I2_;2BCYR>yRDTVAbDZVDZkb9ybS=%bP=ٔfA2=Q-f>9dId=fEyhjB~Ej>lQ 5rP4nʼn?Q 9rP4n)n@YpyvQ Iv?n7zBIna;ing:n/P4yxɮzBxN|N|N|Ni ) )iII1y2Acoustic response timeoutIOn=ԡm2SBD MTMSN=20251025T1815585 2Acoustic response timeout =я,D?A2@2ݏ@2K_ϼٱ2c8 :AHRS rotation from veh to nav: [[0.359329,0.932631,0.032905],[-0.932868,0.358017,0.039771],[0.025311,-0.044987,0.998667]]2H@? ?@ؠ? ?\?4? ~@?i2@I2œ_;2CCYB(>yBD HJ<bDNVDN2b9yV=%VL=ٔVsQ-V>9XIX=ZEyX^=E^>`Q 5fP4bʼn?Q 9fP4bd#)bA@YdyfQ Ij?bJ{BIb:ib:b=P4ylɮnBlNpNpNpNpix)x)|||i||III)O=!=2Acoustic response timeout)Q 5 2Acoustic response timeout=я,D?A:Z@:U@:SKٱ: FAHRS rotation from veh to nav: [[0.381416,0.924339,-0.010940],[-0.923071,0.381474,0.049167],[0.049620,-0.008655,0.998731]]:Hi?@/? g̉ j?],?g??i:Z@I:K`;:DCYNN$>yNDbDVMVDV b9y^.%^I=ٔbuQ-b>9`I`=fEydft=Ef>hQ 5nP4jʼn?Q 9nP4j8*)j@YpyrQ Ir?j^|BIj;ij;jя,qD?A6@6@6ٱ6m4 >AHRS rotation from veh to nav: [[0.368615,0.929571,0.004510],[-0.929452,0.368478,0.018536],[0.015568,-0.011025,0.999818]]6Hc? ?nyr?#??`G?@`?i6@I6 `;6ACYR_=yR˛D TTXXyulkt?X9v?uu =u=q q9ugfffff?S㥛+?Yu33>yu$u>quzB u8B)uBqYuBbDVDa9y$%==ٔ=Q->9I=EyIE>Q 5P4ʼn?Q 9P4,) @Y>Q EE;y Q I?|BIG ;im ;UZP4yɮBNNNNi))iII IO-=ԑ2Acoustic response timeout 2Acoustic response timeout >я,O-D?Aɰ;2_<@2<7@2M);ٱ2D! :AHRS rotation from veh to nav: [[0.349305,0.936432,0.032895],[-0.936939,0.348636,0.024445],[0.011423,-0.039359,0.999160]]2H[?@??@נ?h P?<?@e?&?i2_<@I2M_;2BCY^&>ybDfAAdbDjVDja9yr=%rV=ٔvS29tIt=vEytz^Ez>|Q 5P4~Щʼn?Q 9P4~.)~@Yy MQ I ?~}BI~:i~:~gP4yɮBNNNNi))顩iIIIO=2Acoustic response timeoutI d>я,*GD?A 2E@2"@2*ٱ2AHRS rotation from veh to nav: [[0.362120,0.930782,0.050140],[-0.931198,0.358827,0.064129],[0.041698,-0.069913,0.996681]]2H ,???` ?j?`~Y?`屿 ?i2E@I2>_;2?CYF>yFDbDN3VDNa9yV%VN=ٔZUQ-Z>9XIX=ZEyX^=E^>`Q 5fP4bʼn?Q 9fP4b0)bAYdyfQ Ij?bd}BIb:ib:buP4ynxBɮn)BnENpNpNpNtix)x)x||i|III)O5!=e2Acoustic response timeoutiԙ 2Acoustic response timeout% OG9 I 9 Y m A I >) >>я,aD?A6n@6L@6 ٱ6% >AHRS rotation from veh to nav: [[0.370933,0.924337,0.089496],[-0.925924,0.360727,0.111990],[0.071233,-0.124408,0.989671]]6H^?+?>?*@%?]?L9\I\=bEy`b)<Eb>dQ 5jP4fʼn?Q 9jP4f2)fKAYhynQ In?f}BIf:if;fP4ypɮr>BpNtNtNxNxi|))i I I!I1OE&=m2Acoustic response timeout!  2Acoustic response timeoutE >я,vzD?A00|zD@z"@z82ٱz>v0  AHRS rotation from veh to nav: [[0.360760,0.923471,0.130591],[-0.929044,0.343505,0.137409],[0.082035,-0.170896,0.981868]]zH ??@4?@?`?:?`ſ`vk?izD@Iz<_;zCCYyyy <bDVDQa9ٔz̼Q->9I=EyȼE>Q 5P4Nʼn?Q 9P44)AYy|Q I? ~BI:i$:֒P4yɮNNNNi))iI1IIIaOm=1Q}2Acoustic response timeoutԁ $>я,>ʔD?AJ@Jiۡ@J3ҏٱJ_ %AHRS rotation from veh to nav: [[0.337968,0.923636,0.180760],[-0.938538,0.316434,0.137896],[0.070167,-0.216255,0.973812]]JHD?l?'#?s@?@?@~?>˿@x)?iJ@IJ>_;JBCԑY->yخD 2Acoustic response timeoutyMb~jt&1@P 9/$ſK7?пY,yI>hBB !B)5BYמBbD VD :a9y3<%<ٔ9!I!=%Ey!-xPE->1Q 5=P45ʼn?Q 9=P452)5LAY=E>Q E=;y=?Q I=?5o~BI5-=i5-=5ԣP4yɮ1BNNNNi))i I I!IOb>) 2Acoustic response timeout   Y ;+>я,D?A6@6]@6\ٱ6G BAHRS rotation from veh to nav: [[0.331300,0.928943,0.165245],[-0.941983,0.315637,0.114196],[0.053924,-0.193491,0.979619]]6H4? ?@&?`$e3?;?`䛫?Nȿ Y?i6@I6_;6?CY~>y~D bDoVD/a9yl<%{=ٔAL=Q-?9I=Ey0E?Q 5P4ʼn?Q 9P40)@Yy?Q I?~BI:i|:_P4yɮ.B1NNNNi))iIIYIiO>a2Acoustic response timeout @22>я,?6D?A.Q@.lL@.ٱ. :AHRS rotation from veh to nav: [[0.351600,0.930082,0.106413],[-0.935696,0.345610,0.070904],[0.029169,-0.124501,0.991791]].H@?`y}D@AbDVDJa9y=%E==ٔEj=Q-E>9AII=MEyIMhI=EM>qQ 5}P4uʼn?Q 9}P4u.)u@YyҐ?Q I?uBIu:iu:uyP4y\BɮBENYNYNYNYii)i)iIII!O>!2Acoustic response timeoutԑ k8>я,RD?A02t@2o@27ٱ2) :AHRS rotation from veh to nav: [[0.355619,0.934190,0.028694],[-0.934206,0.354364,0.041054],[0.028184,-0.041406,0.998745]]2H`v?`?@a?@??`Lܜ?!3?i2t@I2`;0Yw2>yyDbD5VD5da9yp=%R=ٔD&;Q->9I=Ey4<E>Q 5P4\ʼn?Q 9P4K,)h@Yy?Q I?}BI:in: P4y]BɮBNNNNi))!!!i!)I)Ia-2Acoustic response timeoutԉIOG>Ա I >) > 2Acoustic response timeout)>>я,f2D?A2.@2j)@2+ٱ2K :AHRS rotation from veh to nav: [[0.346921,0.937658,-0.021039],[-0.935362,0.347544,0.065658],[0.068877,-0.003099,0.997620]]2H 3?`L?(`|)>?@ΰ?@䡱?ci?i2.@I2ʝ`;2CCYnJ>ynhDbDvXVDv$a9y}s=%M=ٔнQ->9I=EyE>ԱQ 5P4ֶʼn?Q 9P4*)@Yy$?Q I?BI:iF:%P4yɮBNNNNi)!)))qiqIIIO-,>2Acoustic response timeoutA _E>я,D?A2G@2$@2>ٱ2c :AHRS rotation from veh to nav: [[0.340400,0.940267,0.005091],[-0.939627,0.339956,0.039124],[0.035056,-0.018102,0.999221]]2H??t?l? ??`E@?i2G@I2`;2ACYo>yDymX9v?/$ÿI +m3?mm94u2Acoustic response timeouti i9mX9v?x&:vڿYm>ym7mԾmmzB m B)m]BiYmB ;p;bDVDJa9y5%52=ٔ5ۖ=Q-=>99I9==Ey9EpEE>IQ 5P4M*ʼn?Q 9P4M.)M:@Y?Q E:yQ I?MLBIM;iM:MP4yɮ BNNNNi))iII!I1AO8>i- 2Acoustic response timeoutԙ ,K>я,0D?A2@2p@2Df<ٱ2n :AHRS rotation from veh to nav: [[0.339298,0.937336,0.079232],[-0.940421,0.339971,0.005246],[-0.022020,-0.076291,0.996842]]2H`??H?`?U|u?Qˇ "?i2@I2^`;2@CYN>yNDbDVVDVla9yu%ul=ٔ}(>Q-}?9yIy=EyvE?Q 5P4 ʼn?Q 9P42)@YyžQ I?BIC'я,XKD?A2`@2>@2\ٱ2# :AHRS rotation from veh to nav: [[0.333864,0.934919,0.120258],[-0.941965,0.326145,0.079574],[0.035174,-0.139845,0.989548]]2H^?? 5ɾ?@$`?^?X?u`a?i2`@I2,(`;2ACb2Acoustic response timeoutY .>yD-=-=bD5VD58a9ym=%mI=ٔm Q-u>9qIq=uEyZE>Q 5Q4rʼn?Q 9Q46)T@Y y ſQ I ?BI-:i|:Q4y1ɮ5#B9NANANANAiI)Q)qqqiqyIyԱIIO=u2Acoustic response timeout 9 NX>я,dD?A4<ɰ4<2@2@2{ٱ2J# >AHRS rotation from veh to nav: [[0.328262,0.936538,0.123045],[-0.940963,0.312817,0.129362],[0.082661,-0.158245,0.983934]]2H@>?@??@^0??@M)?`cAĿ`b|?i2@I2_;2BCY^2>y^DfAAf@AbDjVDj`9y~7#<%Q=ٔQ->9 I = Ey   YE >Q 5mQ4ʼn?Q 9mQ4:)@YqyuƿQ Iu?8BIHя,˹~D?A 6i5@6G0@6¼ٱ6F FAHRS rotation from veh to nav: [[0.318986,0.939336,0.126077],[-0.947461,0.312716,0.067274],[0.023767,-0.140913,0.989737]]6H Cj? ?K#?Q?8??V? l ¿`?i6i5@I6K_;4Y^>ybDbDj~VDj`9y=M%=G=ٔE>Q-E>9AIA=EEyIMؼEM>QQ 5}Q4U˺ʼn?Q 9}Q4U?)U@YyyȿQ I?UBIUq;iU;UI Q4yɮ1BNNNNi))iIIaqIO- >ԙ=2Acoustic response timeout I >) >`e>я,D?A2<ؙ@2Ӡ@2:ٱ2oֽ :AHRS rotation from veh to nav: [[0.308276,0.946058,0.099700],[-0.951296,0.306746,0.030706],[-0.001533,-0.104310,0.994544]]2Hɺ?F??q?`hq?`Y M?i2<ؙ@I29_;2CC DDTvGY~,>yfD} 9yY}VAA=2Acoustic response timeouty^I +?RQZd;?X>½y= 9%C?GzǿQ?YZ?yp=µ>BB B)fBYpBbD]VD`9ymOj=%u,=ٔuY=Q-u>9qIy=}Eyy}üE}>Q 5Q4ʼn?Q 9Q4E)e@Yc'?Q E:y\ĿQ I?BI;i_;0Q4yɮ#BNNNNi))iII9IO)> 2Acoustic response timeout! l>я,vD?A2@2@23ٱ2{ :AHRS rotation from veh to nav: [[0.312615,0.948957,0.041866],[-0.946974,0.307910,0.091828],[0.074249,-0.068353,0.994894]]2H?]?ro?M@ʹ???,?i2@I2_;2BCYNk#>yND Vpя,KD?A6n@6L@6٬ٱ6˴1 >AHRS rotation from veh to nav: [[0.327379,0.944800,0.013294],[-0.941125,0.324786,0.093795],[0.084300,-0.043217,0.995503]]6H ?`;?9?K??@? (?i6n@I6_;6DCR2Acoustic response timeoutYV>yVDbD^VD^x`9yf@%fJ=ٔfU̼Q-j>9hIh=jEyhnQ 5 Q4ʼn?Q 9 Q4O)@Y y CɿQ I?΂BI:iN:IJQ4y9ɮ=2B9NANANANAiQ)QY)QyyiyyIIIOw=ԁԱ]2Acoustic response timeout xy>я,N&D?A2i@2G@2Bٱ2Ri :AHRS rotation from veh to nav: [[0.309982,0.949735,0.043753],[-0.950160,0.307854,0.049203],[0.033260,-0.056825,0.997830]]2H?:d?`f?g@?-1?`?@% 9?i2i@I2Ժ_;2BCYrh >yvDz=z=bD~VD~k`9ye%eA=ٔm$=Q-m>9iIi=uEyqu;Eu>yQ 5Q4}ʼn?Q 9Q4}|U)}@Yy ɿQ I?}@BI}1:i}:}XQ4yBԹɮPB ENNNNi))iII!I9OE=2Acoustic response timeoutie 2Acoustic response timeoutԙ D>я,D?A;ɰ;2iN@2FI@2h}:ٱ2ko :AHRS rotation from veh to nav: [[0.292228,0.954697,0.056186],[-0.956348,0.291782,0.016158],[-0.000968,-0.058455,0.998290]]2H۳??\Ĭ?g ?̋?O?i2iN@I2_;2DCY^[>y^\DdfAAbDjVDjW`9yr<%rS=ٔr=Q-v>9tIt=zEyx~FE>Q 5Q4gʼn?Q 9Q4[)z@YyaʿQ I?BIя, D?A2q@2l@2z<ٱ2O{ :AHRS rotation from veh to nav: [[0.296308,0.953002,0.063152],[-0.954970,0.296680,0.003615],[-0.015291,-0.061380,0.997997]]2H ?~?*?`?mm? Q )m ?i2q@I2_;2CCYB9>yB.Dy ʡEӿJ +?w/?  > >  9 ʡE?l¿#~j?Y =y  > B B ) B Y BbD%8VD%*`9y5P=%5E=ٔ5 =Q-=>99I9==EyAE*<EE>IQ 5UQ4MJʼn?Q 9UQ4MN\)Mz@YU>>Q EU:yUQ I]?M˃BIMX ;iM~ ;MtQ4yaɮe:BaNiNiNiNqi))iI 2Acoustic response timeoutIAIqO}=-Received command: sched asap "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree" 4go2k 1 2=M got command schedule asap "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree" 4go2k 1 2.000000=M PScheduling command #1 of 2 with id=4go2k=U Scheduled #3 (#1 of 2 with id='4go2k'): "load Engineering/marl3.tl;set marl.NeedCommsTime 30 min;set marl.ContactLabel 20 count;set marl.SendDataLabel 6 count;set marl.CenterLatitude 36.7749 degree;set marl.CenterLongitude -121.8631661 degree", ASAPQ  2Acoustic response timeoutI >) >S>я,3D?A$6[@68@6С<ٱ6 BAHRS rotation from veh to nav: [[0.305340,0.948090,0.088841],[-0.952089,0.305641,0.010534],[-0.017166,-0.087801,0.995990]]6Hఊ?V?A?w?Ԓ?`z&?i6[@I6_;6DCYJg'>yJDLNAbDVQVDV5`9yZ ;%ZS=ٔ^W;Q-^>9`I`=bEy`b+<Ef>dQ 5jQ4fƵʼn?Q 9jQ4fx])f,@Ylyn Q In?fBIf;ife;fQ4ypɮvCBtNxNxNxNxi))i I I!I9OE(=q-2Acoustic response timeoutԩ ;>я,MD?A2k@2H@2";ٱ20 :AHRS rotation from veh to nav: [[0.273370,0.954263,0.121043],[-0.961880,0.272166,0.026698],[-0.007467,-0.123727,0.992288]]2H~?Q? ?@`+k?`V?~ ?i2k@I2_;0B2Acoustic response timeoutxY~(>y~D  <bDVD`9y%YK%%D=ٔ%'Q-->9)I)=-Ey)5E5>1Q 5EQ45uʼn?Q 9EQ45^)5.AYAyE Q IE?5BI5;i5:5Q4yQɮUMBQNYNYNYNYii)i)iiqiqqIyIIO_= 152Acoustic response timeouta f>я,kgD?A2Ϙ@2ʟ@2eکٱ2'J" :AHRS rotation from veh to nav: [[0.277374,0.949612,0.145948],[-0.960538,0.270813,0.063455],[0.020733,-0.157789,0.987255]]2H@~?8c?m?T?@>?:?q2Ŀ?i2Ϙ@I2_;2CCYB>yBIDbDJVDJ`9yR:%RS=ٔVДQ-V>9TIX=ZEyXZ2<EZ>\Q 5bQ4^ʼn?Q 9bQ4^w_)^AYdyfaQ If?^BI^:i^ :^Q4yhɮhhNlNpNpNpit)x)xxxix|I|IYIO`=2SBD MTMSN=20251025T1816082Acoustic response timeoutԉԱ E 2Acoustic response timeout8N>я,HD?AB@B @BMٱB? JAHRS rotation from veh to nav: [[0.314026,0.936401,0.156656],[-0.947150,0.297594,0.119767],[0.065530,-0.185987,0.980365]]BH? ?`M ? O ??ư?hǿ%_?iB@IB_;BDCYRh=yRDV=V=bDZVDZ`9yb>j%fH=ٔjQ-j>9pIp=vEytz =Ez>Q 5%Q4+ʼn?Q 9-Q4'`)8AY)y5 Q I5?%BI6;i;#Q4yQɮUYBYԹNqNNNiI)y)y顁iIII1O==2Acoustic response timeout9 x>я,F"D?A4<ɰp;>@>@> iٱ> FAHRS rotation from veh to nav: [[0.308851,0.944402,0.112763],[-0.947386,0.294990,0.124258],[0.084085,-0.145207,0.985822]]>H5?@8? ޼? P ?[Ͽ??&¿ڋ?i>@I>_;>ECYN=yN{Dy% rhͿGzοV-տ%l%p%! !9% ףp= ߿Q{GzY%Qy%\%ף%B%B %}B)%!Y%B11bD=VD=Z`9yM%MB=ٔMW5Q-U>9QIQ=UEyQ]ZDE]>aQ 5mQ4eʼn?Q 9mQ4e[)eAYm?Q Eu:yu* @Q Iu?eBIe:iea:eQ4y}Bɮ}_B} ENNNNi))顙iIII2Acoustic response timeout!Ou=Ai߭ %=߭ %= 2Acoustic response timeoutԙ >я,+D?A2@2@2}ֽٱ2G :AHRS rotation from veh to nav: [[0.278487,0.959751,0.036367],[-0.954717,0.272502,0.119410],[0.104694,-0.067975,0.992179]]2H ?G?? p?ੑ?7ͺ?@f?i2@I2_;2BCYB5>yF DbDNVDNi`9yn=%rR=ٔriYQ-r>9tIt=vEytvEv>xQ 5~Q4zʼn?Q 9Q4znW)zAYy @Q I?zBIz;iz;zIQ4y ɮ RBNNNNi!))))))i)1I1IIIYOm;=q 2Acoustic response timeoutԡI >) > >я,fD?A22Acoustic response timeout:@:@:KVͽٱ:.m BAHRS rotation from veh to nav: [[0.280219,0.959714,-0.020668],[-0.954703,0.280872,0.098247],[0.100094,-0.007799,0.994947]]:H? ?@)?&?ȟ??i:@I: `;:CCYJ>yJDLNAbDRPVDR5`9yZv=%ZM=ٔ^=9`I`=bEy`b};Ef>dQ 5jQ4fʼn?Q 9jQ4fS)fAYlyn< @Q In?fXBIf;if;fя,D?A6@6~@6Wݖٱ6G BAHRS rotation from veh to nav: [[0.303081,0.952842,-0.015293],[-0.950118,0.303376,0.072371],[0.073598,-0.007404,0.997261]]6He?}?Q^gj?醲?Mײ?@S~?i6@I6.a;6@CYF_>yFvD N9\I\=bEy`bdl=Eb>dQ 5jQ4fʼn?Q 9jQ4fN)fAAYhyn @Q In?fBIf:if ;fWQ4yrwBɮr-BrENtNtNxNxi|))i I I!I1OE&=Qu2Acoustic response timeoutyԩ % 2Acoustic response timeoutʜ>я,D?AD%@%t@%;ٱ%} eAHRS rotation from veh to nav: [[0.314973,0.948639,0.029609],[-0.944618,0.310304,0.106811],[0.092138,-0.061612,0.993838]]%H(??[?@Q? O:?W?S?` ?i%@I%`;%CCYs6>y_DbD=VD=_9yM%=%U3=ٔmu%Q-u>9qIq=}Eyy}@<E}>Q 5Q4Sʼn?Q 9Q4I)gAYy @Q I?4BI;iY;oQ4yɮBNNNNi))项iIIIO=ԩ}2Acoustic response timeout a>я,jD?A2Y@2T@26нٱ2|"̽ :AHRS rotation from veh to nav: [[0.321602,0.944874,0.061521],[-0.941420,0.312109,0.127734],[0.101491,-0.098996,0.989899]]2H@? iyB?D DDF=F=lyU?"~jUf>USUQ Q9U\(\?T㥛 |?5^YUz>yUUUBU8B UqB)U×BQYU=BbDmVDm_9y a%X=̼ٔQ->9I=Eyc<E>Q 5R4|ʼn?Q 9R4,M)3AY"?Q E:yQ I?xBI ;i ;R4yɮ'B2Acoustic response timeoutNNNNi))iIII)Ou= 1 2Acoustic response timeouta >я,G6D?A;ɰ;2j@2ue@2ٱ2 :AHRS rotation from veh to nav: [[0.324170,0.941927,0.087674],[-0.942582,0.313740,0.114484],[0.080329,-0.119753,0.989549]]2H`5?`D$?q?)@O?N?r? b?i2j@I2_;0YN9>yRYDTTbDZ"VDZ_9yfT'%fW=ٔje=Q-j>9hIh=jEyl9};E>Q 5R4yʼn?Q 9R4P)@YyeQ I?BIX;i;R4yBɮFB ENNNNi))i I IAIqO=a2Acoustic response timeoutԑ >я,"PD?A"2Acoustic response timeout6@6˛@64➽ٱ6%н >AHRS rotation from veh to nav: [[0.300938,0.950811,0.073454],[-0.950489,0.292792,0.104131],[0.077502,-0.101154,0.991847]]6HB?@ m?Ͳ? hj ?S?@-׳?:广6?i6@I6`_;6FCYN5>yRHDbDZVDZy_9yf>q=%fJ=ٔf?;Q-f>9hIh=jEyhnEn>Q 5R4 wʼn?Q 9 R4 T)@Y y Q I ?BI9:i:R4yɮ=9B9ԙNNNNi)))))))i)QIYIiIO=2Acoustic response timeoutI >) > >я,iD?A:(@:@:yٱ: BAHRS rotation from veh to nav: [[0.299451,0.952705,0.051796],[-0.952160,0.294928,0.080057],[0.060994,-0.073291,0.995444]]:H6*?@|?? x?~?:?6ò?i:(@I:_;:DCYN#>yRDTVAbDZVDZq_9yfA/%fJ=ٔf'=Q-f>9hIh=jEyhn'En>Q 5 R4otʼn?Q 9 R4jW)@Y ydQ I?FBI:i9:2,R4yAɮMBBINQNQNyNyi))顉iIIIyO=U2Acoustic response timeout!I 2Acoustic response timeoutԁ >я,FD?A44@@ιٱƒ AHRS rotation from veh to nav: [[0.313802,0.948648,0.039938],[-0.947107,0.309762,0.083877],[0.067198,-0.064146,0.995676]]HV? S[?r?@N "? x?3?k?i@I_;Y=x>y=FDIy=X9v?/$? ףp= =?=>=Q89 99=~jt?Cl?{Gz?Y=[?y=;==#<=B=גB =B)=B9Y=B up9I=Ey<E>!Q 5-R4%dʼn?Q 9-R4%a)%@Y5m]?Q E5u:y5ՏQ I5?%&BI%:i%:%=R4yYɮ]HBaNiNiNiNiiq)y)y顙iIIIO'>y]2Acoustic response timeoutԡ >я,D?AYv>yzDbD% VD%)_9y-<%5=ٔ5Q-5?9YIY=]EyY]Ee ?aQ 5mR4e;ʼn?Q 9mR4e5h)eu@YqyqQ Iu?eBIe:ie:eHR4yɮDBNNNN2Acoustic response timeouti))iIII)O==Ա m 2Acoustic response timeout 9 +?>я,D?A2r@2O@2fٱ2 :AHRS rotation from veh to nav: [[0.297746,0.953669,0.043167],[-0.951896,0.293156,0.089184],[0.072397,-0.067644,0.995079]]2HE? t?`?u?Զ??%Q?i2r@I2u_;2BCY^>y^D ``f=f=bDzVDz^9y%C=ٔKQ->9I=Ey%E>Q 5R4ʼn?Q 9R4p)S@YyQ I?jBI:iF:WR4yBɮjBENNNNi)))))11iQQIYIIO= 2Acoustic response timeout9i i(>я,vpD?A2Acoustic response timeoutɰ:ߘ@:ڟ@:݆ٱ:R BAHRS rotation from veh to nav: [[0.279245,0.956656,0.082659],[-0.960079,0.276692,0.041116],[0.016462,-0.090840,0.995729]]:H`&??")?Q?@ ?ې?PA?i:ߘ@I:'_;:FCYN->yNخDTTbDbOVDb^9y%ۻ%%S=ٔ%>Q-->9)I)=-Ey)5ETE5>9Q 5ER4=ʼn?Q 9ER4=x)=@YAyMQ IM?=BI=:i=o:=dR4yQɮ}kByNNNNi))!i!qIqIIO=iԑ2Acoustic response timeout P>я,ED?A6{@6Y@68-iٱ6Pt >AHRS rotation from veh to nav: [[0.272327,0.954170,0.124085],[-0.962198,0.269574,0.038786],[0.003558,-0.129957,0.991513]]6Hm??Ŀ?S`@?@ۣ?%m?nz?i6{@I6_;6DCPYZ >y^DbDj"VDj^9yr<%rO=ٔv=Q-v>9tIt=vEyxz֕Ez>Q 5%R4~ʼn?Q 9%R46)|@Y!y-Q I-?ŊBI:i:rR4y5Bɮ5fB1NYNYNYNaii)i)iqqiqIIIO=52Acoustic response timeout! I >) > 2Acoustic response timeout8<?я,Q.D?A|u )@u#@u[ܼٱu AHRS rotation from veh to nav: [[0.287758,0.947912,0.136598],[-0.957325,0.280694,0.068850],[0.026921,-0.150581,0.988231]]uHj?JU?` |?@g? !? 1?;Fÿ?iu )@Iu_;uBCY>yDAy r?MbI +?>9> 97A`?=BB fB)BY̞BbD VD ^9y1%+=ٔwHQ-%>9!IA=EEyIM =EM>QQ 5]R4Uʼn?Q 9]R4U&)U@Y]5?Q E]:ye[Q Ie?USBIU<:iU:UR4yɮiBNNNNi))iI!IIO >=2Acoustic response timeoutI m ]G ԉ 9 Y 6Ab?я,YD?AY~ >y~D p; bDVD^9y%; =%%r=ٔ%Q-%?9)I)=-Ey)5E5?1Q 5ER45Bʼn?Q 9ER45)5@YAyAQ IE?5BI5:i59:5AR4yIɮUcBQYNYNaNaNaii)q)qqqiq2Acoustic response timeoutII1IAOM=ԁԱI M R=U 2Acoustic response timeout  ?я,B8D?ANJ@N(@N>=ٱN VAHRS rotation from veh to nav: [[0.269910,0.961833,0.045008],[-0.962256,0.271129,-0.023507],[-0.034813,-0.036965,0.998710]]NH5F?V?M ?@-Z?6ҡn?iNJ@INƻ_;NCCY^>y^DbDfVDf^9yn\%rO=ٔr>Q-r>9pIt=vEytv@Ev>xQ 5~R4zʼn?Q 9~R4z)z@Yy{Q I?z/BIz8;izD;zR4y ШBɮ B ENNNNi!))))))i)1I1IIIYOm;=Թ2Acoustic response timeout 9  Received command: sched asap "set marl.SpeedUpdateTimeout 15 min;set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 30 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4go2k 2 21u?я,RD?A*2Acoustic response timeoutFO@FjJ@F9<ٱF, rAHRS rotation from veh to nav: [[0.262322,0.964955,0.007073],[-0.964914,0.262383,-0.009840],[-0.011351,-0.004244,0.999927]]FH@??@|?@?'P?aqf?iFO@IFE`;FDCYz#>yzD==bD VD ^9yy<%F=ٔ%iQ-%>9!I!=-Ey)-mE->1Q 5=R45ʼn?Q 9=R45()5_@YAyEܨQ IE?5BI5H;i5T;5zR4yIɮM~BINQNYNYNYii)i)iiiiiqIyIIO^==ugot command schedule asap "set marl.SpeedUpdateTimeout 15 min;set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 30 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run" 4go2k 2 2.000000=}PScheduling command #2 of 2 with id=4go2k=Scheduled #4 (#2 of 2 with id='4go2k'): "set marl.SpeedUpdateTimeout 15 min;set marl.AcousticContactTimeout 0.5 h;set marl.SendObservationDataInterval 10 min;set marl.TrackingUpdatePeriod 30 s;set marl.Depth 15 m;set marl.MaxDepth 35 m;run", ASAPԁ=`got command load ./Missions/Engineering/marl3.tl'tLoading Mission from file: ./Missions/Engineering/marl3.tl'hTethyslAPI: loading: ./Missions/Engineering/marl3.tl' TethyslAPI: mission file loaded: ./Missions/Engineering/marl3.tl2Acoustic response timeoutQ?я,lD?A$ɰ$B@Bԟ@BVٱBF NAHRS rotation from veh to nav: [[0.272012,0.962287,0.003626],[-0.960869,0.271402,0.055428],[0.052353,-0.018562,0.998456]]BH h?`?m?o`^?`a?Ϊ?@Z?iB@IBm`;@Y^$>y^DddbDjVDj^9y%t%%J=ٔ-!Q-->9)I1=5Ey15<E5>9Q 5ER4=ʼn?Q 9ER4=)=<@YIyMQ IM?=#BI=-:i=:=R4yQɮUBip:)   i  I1IIIO=2Acoustic response timeout 2Acoustic response timeout!?я,0D?AV@V@VCٱV{ ^AHRS rotation from veh to nav: [[0.268321,0.962210,0.046420],[-0.962147,0.265293,0.062391],[0.047719,-0.061404,0.996972]]VH+,?m?iħ?`?@? n?]p 1?iV@IVu`;VCCYj(>yjDyʡE?)\(-2>̽G 9-?K7A/$?Y5^>y >$B8B B)BYuBbD-VD-^9y=e%=9=ٔEF,9III=MEyIUEU>YQ 5eR4]ʼn?Q 9eR4])]AY>Q E;yQ I?]WBI];i]B;]R4yɮBi)iIII)O5=2Acoustic response timeoutI >) >e'?я,=DD?A2{@2Y@2C6<ٱ2_ :AHRS rotation from veh to nav: [[0.223599,0.967851,0.115188],[-0.974618,0.223366,0.015090],[-0.011124,-0.115638,0.993229]]2H?@? |?0`E? y?YȆz`?i2{@I2;`;2ACY^=y^DdfAbDjDVDjX^9yvl%vd=ٔv(>Q-v>9xIx=zEyxzE~>Q 5%R4ʼn?Q 9-R4)AY)y-+޿Q I-?BI:i:R4y1ɮ]BYii)iiiiiq}2Acoustic response timeoutIIIO~=- 2Acoustic response timeout-?я,D?A2@2_@2<ٱ2( :AHRS rotation from veh to nav: [[0.225784,0.964189,0.139147],[-0.973759,0.227557,0.003239],[-0.028541,-0.136227,0.990266]]2H@z?@?@?@ ) ?j?9o@C?i2@I2;`;2ECYNk#>yND V49III=MEyIMI;EM>QQ 5}R4Uʼn?Q 9}R4U)UAYy~ٿQ I?UBIU:iU:UR4yɮ~Bi)iIII1OE=i߉I߉2Acoustic response timeout= nManaging dock network, ignoring radio surface power off= 2Acoustic response timeoutc4?я,{D?A2d@2^@2*ʻٱ2U :AHRS rotation from veh to nav: [[0.264745,0.955931,0.126911],[-0.964299,0.261594,0.041184],[0.006170,-0.133283,0.991059]]2H`??`>?@??REy? l?i2d@I2_;0YN=>yNsDbDZVDZ^9yv<ϼ%vP=ٔvQ-v>9xIx=zEyxz=E>!Q 5%R4%ʼn?Q 9-R4%)%AY)y-ֿQ I-?%BI%9:i%:%R4yɮBi)iII IYOe=2Acoustic response timeout :?я,D?A2x@2fs@2W@ٱ2 :AHRS rotation from veh to nav: [[0.266868,0.960979,0.072804],[-0.962589,0.262110,0.068705],[0.046942,-0.088415,0.994977]]2H _?@W?B?j?ਖ? ?@a?i2x@I2_;2ACYJ">yJDR=R=bDVVDV^9yb<%bL=ٔbнQ-b>9dId=fEydf;Ej>|Q 5~R4~wʼn?Q 9R4~>)~AYyQ I?~BI~B:i~:~R4y)ɮ5~B1iA)AAAiAIIi2Acoustic response timeout2:IIOE> 2Acoustic response timeoutyNDy#~jĿ~jt?t 9ʡEq= ףpQYy뽙uIJBגB ]B)YBbDVD^9yޡ%;=ٔ@Q-e>9aIa=eEyamZEm>Q 5S4ʼn?Q 9S4E)rAY2>Q E;yZ'@Q I?9BIX:i:S4yɮBi)iI7:IIO >2Acoustic response timeoutdG?я,a!D?A2Z@28@2^Qٱ2x= :AHRS rotation from veh to nav: [[0.222865,0.973533,-0.050646],[-0.972578,0.225590,0.056585],[0.066512,0.036646,0.997112]]2Hֆ?.'?`8`[!??`? Dâ?`X?i2Z@I2Ƒa;2ECYR:>yRDbDZVDZ^9y9=%Y=ٔT;Q-%>9!I!=%Ey!-,kE->1iYIYe2Acoustic response timeoutQ 5eS45ʼn?Q 9eS45y)5AYiymH%@Q Im?5VBI5;i5;5jS4yqɮurBi)顩iI2:IIO= 2Acoustic response timeoutI >) ?p)N?я,0f;D?A2 @2@2Mٱ2L :AHRS rotation from veh to nav: [[0.223613,0.974644,-0.008187],[-0.973386,0.223741,0.049594],[0.050168,-0.003121,0.998736]]2H V?H0?@KĀ%`?kd??i?i2 @I2`;0YN5>yRDTVAbDZVDZ^9yf`g%fM=ٔfb*=Q-f>9hIh=jEyhn˶:En>Q 5S4iʼn?Q 9 S4)AY y %@Q I ?wBIg:i:Q*S4yɮuBi)iIʃ:IIO=m2Acoustic response timeout = = 2Acoustic response timeoutU?я,_BUD?A2.@2 @2Iٱ2 >AHRS rotation from veh to nav: [[0.243505,0.967150,0.072981],[-0.967846,0.237406,0.083143],[0.063086,-0.090880,0.993862]]2H++??宲?Rc?H?c&? C?i2.@I2ʘ`;2DCYN">yND TV4<bDZjVDZ]9yr6%rI=ٔr,Q-r>9tIt=vEytvO=Ez>xQ 5=S4zʼn?Q 9ES4z)z@AYAyEM(@Q IE?zBIz#}2Acoustic response timeout;[?я,oD?A6 @6@6ҽٱ6\3 BAHRS rotation from veh to nav: [[0.253120,0.956826,0.142878],[-0.962004,0.233311,0.141827],[0.102369,-0.173348,0.979526]]6H3? R?@I?#?b'?4?D0ƿFX?i6 @I6`;6FCYN%>yRDbDZVDZ]9yrd;%rJ=ٔrǽQ-r>9tIt=vEytz<Ez>xQ 5ES4zyʼn?Q 9ES4z)zAYAyES*@Q IE?zBIz&yvPD xxy-Zd;O?&1?-~>-н->) )9-v/?V-ؿY-xi=y-h--B-B -$B)-B)Y-BbDVDV]9yv%/=ٔr29I=Eyp?E>Q 55S4ʼn?Q 95S4l)RAY5>Q E5 ;y=Q I=?BI')m>m]:IyIO%>2Acoustic response timeoutNh?я,0բD?A2 @2j@2ٱ2h :AHRS rotation from veh to nav: [[0.253871,0.960555,0.113508],[-0.964937,0.243427,0.098184],[0.066680,-0.134454,0.988674]]2Hm??@ݼ??@(?@"??5 7?i2 @I2_;2FCYN=yNGDTV@AbDVwVDV]9=2Acoustic response timeouty]d%]f=ٔ]˰=Q-e>9aIa=eEyamz<Em>qQ 5S4u#ʼn?Q 9S4uq)uIAYyQ I?uBIu#y^DbDjDVDj\9yvn=%vR=ٔv=Q-v>9xIx=zEyxzD;E~>9Q 5ES4=ťʼn?Q 9ES4=d)=@YIyMQ IM?=BI= :i=-:=1qS4yQɮBi)   i  IQ-<:IAIQOe=M2Acoustic response timeoutI >) > 2Acoustic response timeout_u?я,vD?A:ݗ@:a؞@:mٱ:'ͼ FAHRS rotation from veh to nav: [[0.248881,0.968238,0.023960],[-0.968533,0.248774,0.007370],[0.001175,-0.025041,0.999686]]:HQ?? ?9?G0~?` BS?Nl?i:ݗ@I:%_;:DCYN >yRDbDZVDZ\9yr %rK=ٔr=Q-r>9tIt=vEytz(Ez>xQ 5ES4zʼn?Q 9ES4z-)z,@YAyE@Q IM?z*BIz)ynYD ttbDzVDz\9y}'=%}A=ٔhQ->9I=EyE>Q 5S4aʼn?Q 9S4)@YyQ I?@BI7#@'E bDefineArg marl.TrackingUpdatePeriod = 30.000000 s- rW 4@' DDefineArg marl.Depth = 20.000000 mu 2Acoustic response timeout-  W N@'% JDefineArg marl.MaxDepth = 60.000000 m- - W1 '5 NDefineArg marl.MinAltitude = 5.000000 m- W ' @DefineArg marl.MassHold = 1 bool- W ' HDefineArg marl.BuoyancyHold = 1 bool-  W '% ZDefineArg marl.NumberOfPings = 1.000000 count- - W) '5 VDefineArg marl.CircleMaxError = 10.000000 mq?я,q= D?A2@2@2ٱ2U :AHRS rotation from veh to nav: [[0.241395,0.969336,0.045992],[-0.970239,0.240144,0.031108],[0.019109,-0.052132,0.998457]]2H ??`A? 2 ` ?ڟ?`i?`\?i2@I2p_;2DC- rWp'vPDefineArg marl.CircleTurnToPort = 0 bool- zWzY=w2>y=yD']FDefineArg marl.Speed = 0.000000 m/s- eXa'mLDefineArg marl.MyTempVar = nan n/a str- uXq'TDefineArg marl.KwpHeading = 0.010000 rad/m- "X'PDefineArg marl.MinOffshore = 1.500000 km- U*XQ']\DefineOutput marl.HeadingMode = 0.000000 count- e:Xa'mZDefineOutput marl.RudderMode = 1.000000 count- JX'VDefineOutput marl.Heading = 0.000000 arcdeg- ZXy=)\(?(\?+?=G==G>=>9 99= +?"~jy&1?Y=>y=S㽙=`==B=×B =ݛB)=]B9']^DefineOutput marl.RudderAngle = 0.000000 arcdeg- ejXiY==BbDVD\9y1=%+=ٔL' ^DefineOutput marl.TimeLastSendData = 0.000000 s- zX'%nDefineOutput marl.ElapsedSinceLastSendData = 0.000000 s'%pInserting Stack from file: Missions/Insert/AbortDrift.tl'%dTethyslAPI: loading: Missions/Insert/AbortDrift.tlQ->9III=MEyIU<EU>YQ 5eS4]ʼn?Q 9eS4]r)] @'|TethyslAPI: mission file loaded: Missions/Insert/AbortDrift.tlYe?Q E:yoſQ I?]BI]h'= TethyslAPI: Missions/Insert/AbortDrift.tl translated into: 96 Insert acoustic timeout set to . stop - u Xu A'} nDefineArg marl:AbortDrift.AcousticTimeout = 96.000000 h\ *Construct AbortDrift. ] $Construct Execute.' RedefineArg marl:AbortDrift.AcousticTimeout = reader:marl.AcousticContactTimeout *a code=0D65 owner=00BC element=07E3 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0D66 owner=00BC element=07E4 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0D67 owner=00BC element=07E5 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=0D68 owner=00BC element=07E6 universal=3FFF unitName="meter" type=00 size=0018 fl=05 @?я,$D?A2@2@2 9ٱ2 :AHRS rotation from veh to nav: [[0.249862,0.964741,0.082725],[-0.968281,0.248960,0.021208],[-0.000135,-0.085400,0.996347]]2Hz?(?z-?`)?z?@!ܵ?i2@I2_;2CC*a code=0D69 owner=00BE element=083B universal=3FFF unitName="none_str" type=00 size=0060 fl=04 *a code=0D6A owner=00C0 element=083B universal=3FFF unitName="none_str" type=00 size=0060 fl=04 %2Acoustic response timeoutY%:>y-&D 115=5=bDEYVDE\9yM%U}=ٔUs=Q-U ?9I=Ey<E ?Q 5S4ʼn?Q 9S4)a@Yy.ÿQ I?BIe2Acoustic response timeoutŎ?я,=D?Aɰ2]@2;@2kٺٱ2 :AHRS rotation from veh to nav: [[0.243065,0.962671,0.119097],[-0.970009,0.241016,0.031538],[0.001656,-0.123190,0.992382]]2H ? 3?@}?`O ?@%?"[?`h ?i2]@I2 _;2ECYN>yRDV@ATbDZVDZQ\9yr5=%rR=ٔr}Q-r>9tIt=vEytzEz>xQ 5=S4zRʼn?Q 9ES4zu)z@YAyE¿Q IE?zlBIz# 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout 1  Z @'dDefineArg marl:NeedComms.DiveInterval = 1.000000 h1 Z'nDefineArg marl:NeedComms.WaitForPitchUp = 10.000000 min1 *Z'pDefineArg marl:NeedComms.SurfacePitch = 20.000000 arcdeg1!:Z' fDefineArg marl:NeedComms.SurfaceDepthRate = nan m/s1!JZ'hDefineArg marl:NeedComms.SurfaceSpeed = 1.000000 m/s1 !ZZ'=rDefineArg marl:NeedComms.SurfacingTimeout = 1000.000000 s1 !EjZA'MdDefineArg marl:NeedComms.GPSTimeout = 7.000000 min1!uzZq'}jDefineArg marl:NeedComms.CommsTimeout = 30.000000 min d],Construct GoToSurface.' ~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl' rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl' TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2Acoustic response timeout?я,=WD?A:C@:>@:v8ٱ:3d FAHRS rotation from veh to nav: [[0.230414,0.965683,0.119859],[-0.972048,0.222708,0.074322],[0.045078,-0.133633,0.990005]]:H5~???ು?@?n?@?i:C@I:_;:DCYN>yRzDbDZzVDZ$\9yrD/%rJ=ٔr0ܽQ-r>9tIt=vEytzEz>xQ 5=S4zʼn?Q 9ES4z)z@YAyEĿQ IE?zАBIz%) >כ?я,TqD?A2k@2e@2iٱ26ٽ :AHRS rotation from veh to nav: [[0.234727,0.968208,0.086469],[-0.969469,0.226681,0.093517],[0.070943,-0.105780,0.991856]]2H ??@"?? ?V)?lG?i2k@I2$_;2FCYn>ynPDtvAbDz,VDz\9y+x%?=ٔwQ->9I=Ey7<E>Q 5S4wʼn?Q 9S4 )@YyĿQ I?:BI#U 2Acoustic response timeout?я,D?A2j#@2H@2Fٱ2~] :AHRS rotation from veh to nav: [[0.226549,0.972512,0.053817],[-0.972790,0.223168,0.062256],[0.048534,-0.066457,0.996608]]2H? ??!ɐ?? {٨?S6?i2j#@I2_;0YN>yRDyy&1w/Ŀ{Gz`役&# 9X9v333333X9vYyIJB`B B)BYaB p<<bDVD[9yØ<%D=ٔ o\=Q- >9 I = Ey UEU>YQ 5eS4]^ʼn?Q 9eS4])]_@Ye~>Q Ee;ymD@Q Im?]MBI]:i]E:]jS4yɮBi!)!!!i!iIqMw:IYIqO}>2Acoustic response timeout Ek>E*CGZ9YPA?я,bD?A2dז@2Bҝ@2 ٱ2L :AHRS rotation from veh to nav: [[0.217611,0.975966,0.011635],[-0.975297,0.216967,0.041485],[0.037963,-0.020375,0.999071]]2H ?;?`Eԇ?5? =?@o?@Pݔd?i2dז@I2_;2DCY^>y^DbDjVDj[9i|I|2Acoustic response timeouty%Q=ٔ9I=Ey}¼E>Q 5S4ʼn?Q 9S4)@YyA@Q I?]BI#yNFDR=R=bDZ[VDZ[9ynZ=%rW=ٔrֽQ-r>9pIt=vEytv٨=Ev>xQ 5=S4z0ʼn?Q 9=S4z)zw@YAyEyG@Q IE?zlBIz*$y^DfAAfAAbDjVDj[9y}'%}A=ٔ9I=Ey;E>Q 5T4<ʼn?Q 9T4)@YyF@Q I?~BI&2Acoustic response timeout%?я,D?A2e@2_@2B`:ٱ2| :AHRS rotation from veh to nav: [[0.204119,0.977071,0.060566],[-0.978945,0.203836,0.010868],[-0.001727,-0.061509,0.998105]]2H` ?*D??S O?A?`L\`!~z?i2e@I2*`;2HCYr>yrzDbD~TVD~[9y<%F=ٔ0>Q->9I=EyE>Q 5T48ʼn?Q 9T4)\@Yy%>@Q I%?BI4:iV:HT4y)ɮ-B)i9)AAAiAAII2Acoustic response timeout rA #r:IQIaOmx>iA IA M 2Acoustic response timeout ?я,5 D?A2@2@20;ٱ2i :AHRS rotation from veh to nav: [[0.243818,0.966606,0.078901],[-0.969817,0.243235,0.017061],[-0.002700,-0.080680,0.996736]]2Hm5?p? 2?@U"?x?f`nC?i2@I2`;2GCY^A0>y^DdfAy}Fx?/$?Mb}>}1>}y y9}ʡE?Zd;Op= ףY}->y}j}}B}B }B)}ByY}BbD(VD[9yMُ=%M3=ٔU ;Q-U>9QIY=]EyY];=E]>aQ 5T4eޕʼn?Q 9T4e)e@YG>Q E;yS̿Q I?eBIe'2Acoustic response timeoutV9?я,)&D?A2ts@2Rn@2< ٱ2Jн :AHRS rotation from veh to nav: [[0.266410,0.959730,0.089126],[-0.963256,0.261832,0.059842],[0.034096,-0.101794,0.994221]]2H ?? ж? @?? u? /?i2ts@I2-_;2DCYN>yND VyRDbDZ)VDZ[9y%S=ٔt=Q->9 I = Ey  FֽE>Q 5]T4Vʼn?Q 9eT4)]@Yaye^οQ Ie?mBI%yzD==bD VD Z9yE=%MF=ٔM=Q-M>9QIQ=UEyQU&E}>yQ 5T4}ٔʼn?Q 9T4})}T@YyοQ I?}BI}:i}W:}aST4yɮBi)iIIIO%=2Acoustic response timeouts?я,;tD?Aɰ2@2Ԥ@2bٱ2c< :AHRS rotation from veh to nav: [[0.272969,0.961599,-0.028553],[-0.962008,0.273008,-0.002572],[0.005322,0.028170,0.999589]]2HQx?k?@=``x?BeXu?`؜??i2@I2aj`;2ECYNZ3>yRDTTbDZjVDZZ9yf<%fS=ٔfսQ-f>9hIh=jEyhnG>En>Q 5 T4ʼn?Q 9 T4)@Y y ƿQ I ?BI:i1:`T4yɮBi)iI I)}2Acoustic response timeoutIIOK>- 2Acoustic response timeout[?я,D?A2H@2&۟@2>Qٱ2a :AHRS rotation from veh to nav: [[0.278979,0.960190,0.014346],[-0.958932,0.277755,0.057464],[0.051192,-0.029788,0.998244]]2H?@?ea??k?5?ǀ`?i2H@I2Ke`;2FCYN%>yRDyy=>̌>BB B)YܛBbDVDZ9y%8=ٔӽQ->9I= Ey  t<E >1Q 5=T45ʼn?Q 9=T45T)5@YE?Q EE:yEQ IE?5bBI5H:i5:5npT4yIɮMBIiy)顁iIIIO=2Acoustic response timeoutI >) >?я,D?A2@2sz@2_Cٱ2۽ :AHRS rotation from veh to nav: [[0.237489,0.966942,0.092857],[-0.970219,0.231424,0.071534],[0.047680,-0.107080,0.993106]]2H f?0?yŷ? @P?P?`i?@i@?i2@I2S`;2HCYf1 >yfDhjAr2Acoustic response timeoutbDvVDvvZ9y]%]U=ٔe.9aIi=mEyimEm>qQ 5T4uHʼn?Q 9T4u)u@YyQ I?uBIum;iu;u}T4yɮ¨Bi)iIIIO=2Acoustic response timeoutm?я,D?A2@2@2ckٱ2 :AHRS rotation from veh to nav: [[0.253269,0.958763,0.128950],[-0.967389,0.250512,0.037439],[0.003592,-0.134227,0.990944]]2H5? 0? m?``d?8+? ulm?X.е?i2@I2a`;2GCYNc>yRD Vp9hIh=jEyhn2*=EU>yQ 5T4}Hʼn?Q 9T4})}@Yy Q I?}BI}B:i}:}֋T4yBɮBi)iII I9OE=iI2Acoustic response timeout'UTethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates yfŧDnfO9pYrEAbDzVDzXZ9y%F=ٔ >=Q- >9 I = Ey 9!_'%PDefineArg marl:Science.DeepBound = nan m9!-_)'5DefineArg marl:Science.DepChangeThreshForAttitudeFlip = 2.000000 mu=Eu>yQ 5T4}Lʼn?Q 9T4}5)}kAYyQ I?}vBI}1:i}:}T49!_'xDefineArg marl:Science.OffPeakFractionVerticalAscent = nan %9!_yɮĨBi) i 'zDefineArg marl:Science.OffPeakFractionVerticalDescent = nan %9!_'%hDefineArg marl:Science.ChlPeakThresh = 0.000000 ug/l9!- `)'UlDefineArg marl:Science.NumberOfLayers = 1.000000 count9!]`Y'elDefineArg marl:Science.ChlThreshTriggerActive = 0 boolII9!*`'`DefineArg marl:Science.ChlLowerThresh = nan ug/l9!:`'`DefineArg marl:Science.ChlUpperThresh = nan ug/lI1OE=9!MJ`I'UrDefineArg marl:Science.NumProfilesThresh = 5.000000 count9!]Z`Y'eDefineArg marl:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s9!j`'DefineArg marl:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s9!z`'DefineArg marl:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml9!`'DefineArg marl:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml9!`'RDefineOutput marl:Science.GoDown = 1 bool9!`'XDefineOutput marl:Science.PeakChl = nan ug/l9!E`A'M\DefineOutput marl:Science.PeakChlDepth = nan m9"U`Q']nDefineOutput marl:Science.PeakChlTemperature = nan degC9"`'lDefineOutput marl:Science.PeakChlLatitude = nan arcdeg9 "`'nDefineOutput marl:Science.PeakChlLongitude = nan arcdeg9 "`'nDefineOutput marl:Science.PeakChlAvgProfiles = nan ug/l9"a'%rDefineOutput marl:Science.PeakChlDepthAvgProfiles = nan m9"-a)'5XDefineOutput marl:Science.EdgeChl = nan ug/l9"]"aY'e\DefineOutput marl:Science.EdgeChlDepth = nan m9"u2aq'nDefineOutput marl:Science.EdgeChlTemperature = nan degC9!"Ba'lDefineOutput marl:Science.EdgeChlLatitude = nan arcdeg9%"Ra'nDefineOutput marl:Science.EdgeChlLongitude = nan arcdeg9)"ba' \DefineOutput marl:Science.PeakNO3 = nan umol/l9-"]raY'e\DefineOutput marl:Science.PeakNO3Depth = nan m91"mai'lDefineOutput marl:Science.PeakNO3Latitude = nan arcdeg2Acoustic response timeout95"a'nDefineOutput marl:Science.PeakNO3Longitude = nan arcdeg99"-a)'UZDefineOutput marl:Science.PeakOil = nan kg/m39="]aa'e\DefineOutput marl:Science.PeakOilDepth = nan m9A"a'lDefineOutput marl:Science.PeakOilLatitude = nan arcdeg9E"a'nDefineOutput marl:Science.PeakOilLongitude = nan arcdeg9I"a'%XDefineOutput marl:Science.PeakFDOM = nan ppb9M"a'^DefineOutput marl:Science.PeakFDOMDepth = nan m9Q"b'% pDefineOutput marl:Science.PeakFDOMTemperature = nan degC9U"- b) '5 nDefineOutput marl:Science.PeakFDOMLatitude = nan arcdeg9Y"= "b9 ' pDefineOutput marl:Science.PeakFDOMLongitude = nan arcdeg9]" 2b ' XDefineOutput marl:Science.PeakSalt = nan psu9a" Bb ' ^DefineOutput marl:Science.PeakSaltDepth = nan m9e" Rb ' pDefineOutput marl:Science.PeakSaltTemperature = nan degC9i"E bbA 'M nDefineOutput marl:Science.PeakSaltLatitude = nan arcdeg9m"U rbQ ' pDefineOutput marl:Science.PeakSaltLongitude = nan arcdeg9q" b ' ~DefineOutput marl:Science.PeakPlanktivoreLMavgROI = nan count/s9u"= b9 'E |DefineOutput marl:Science.PeakPlanktivoreLMavgROIDepth = nan m9y"M bI 'u DefineOutput marl:Science.PeakPlanktivoreLMavgROITemperature = nan degC9}" b ' DefineOutput marl:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg9" b ' DefineOutput marl:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg9" b ' ~DefineOutput marl:Science.EdgePlanktivoreLMavgROI = nan count/s9" b ' |DefineOutput marl:Science.EdgePlanktivoreLMavgROIDepth = nan m9" b ?я,D?A2@2 @2:ٱ2o :AHRS rotation from veh to nav: [[0.255088,0.964187,0.072619],[-0.966914,0.254145,0.022099],[0.002852,-0.075853,0.997115]]2H\S??'? C?@?\g? !k]?i2@I2_;2DCYN>yNDV=V=bDZVDZVZ9yf=%I=ٔ%:Q-%>9!I!=%Ey)-5E->1'eDefineOutput marl:Science.EdgePlanktivoreLMavgROITemperature = nan degC9"EcA'MDefineOutput marl:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg9"UcQQ 5}T45ʼn?Q 9}T45)5AYyy}Q I?5єBI5$yNDyev/ͿK7MbX9?exieI eʡ=a a9ey&1?ClɿyeOeteBe2B e8B!99I9==Ey9E)OEE>IQ 5T4Mʼn?Q 9T4M)MAY >Q E/;yQ I?MBIMShConstruct PeakDetectHorizontal.>Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth. 8Construct PeakDetectVsDepth.% >Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth. 8Construct PeakDetectVsDepth. >Construct PeakDetectHorizontal.o @я,:)E?A2ʗ@2Ş@2QQٱ2 :AHRS rotation from veh to nav: [[0.246328,0.969156,-0.007749],[-0.967840,0.246399,0.050737],[0.051081,-0.004998,0.998682]]2H?R??@&?@G'?`>yt4?i2ʗ@I2G`;2GCi\I\b2Acoustic response timeoutYn7S>ynEbDvVVDv=Z9yE2=%ET=ٔMȽQ-M>9IIQ=UEyQU-= m8Construct PeakDetectVsDepth.Eu>yQ 5T4}ʼn?Q 9T4})}AYyQ I?}PBI}:i}1:}TT4yɮBi!))))i))I1IIIO= 8Construct EdgeDetectVsDepth.8Construct PeakDetectVsDepth.8Construct EdgeDetectVsDepth. 8Construct PeakDetectVsDepth. 8Construct EdgeDetectVsDepth.m8Construct PeakDetectVsDepth.8Construct EdgeDetectVsDepth.u2Acoustic response timeout,Construct ValueDetect.'xInserting Stack from file: Missions/Insert/BackseatDriver.tl'lTethyslAPI: loading: Missions/Insert/BackseatDriver.tl'TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl' TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: Om# h ' jDefineArg marl:BackseatDriver.EnableBackseat = 0 bool 2Construct BackseatDriver.' nInserting Stack from file: Missions/Insert/PowerOnly.tl'% bTethyslAPI: loading: Missions/Insert/PowerOnly.tl'- zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlI ) >@я,CE?A6L@6*@6ٱ6~~ >AHRS rotation from veh to nav: [[0.269858,0.962689,0.020179],[-0.960711,0.267773,0.073019],[0.064891,-0.039091,0.997126]]6HXE?X??%/#?`^? ?u?i6L@I6+y`;4YRB>yRDTVAbDZVDZZ9yv'%vP=ٔvQ-v>9xIx=zEyx~=E>!Q 5-T4%#ʼn?Q 9-T4%c)%AY)y-/Q I-?%BI%:i%:%T4yYɮ]BYii)iiiiiqIyIIOp='-qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 aPq#EhA'EVDefineArg marl:PowerOnly.SampleAll = 0 boolaPu#UhQ'UZDefineArg marl:PowerOnly.SampleLoad1 = 0 boolaPy#]hY'eZDefineArg marl:PowerOnly.SampleLoad2 = 0 boolaP}#mhi'uZDefineArg marl:PowerOnly.SampleLoad3 = 0 boolaP#}iy'dDefineArg marl:PowerOnly.EnabledPowerOnly = 0 bool2Acoustic response timeout Construct Wait.&Construct Buoyancy. Construct.RyR-Construct. MConstruct.!SU mConstruct.SSS Construct.'% mission marl { """ This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only. """ arguments { # Mission-wide settings MissionTimeout = 4 hour """ Maximum duration of mission """ NeedCommsTime = 1 hour """ Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """ # You probably need to change these. ContactLabel = 8 count """ The acoustic address of the asset to be tracked. This is the default value, but it will be overwritten by bash file duirng simulation launch. tethys = 6 brizo = 11 daphne = 8 galene = 9 makai = 5 pontus = 10 triton = 12 """ SendDataLabel = 10 count """ The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus This is the default value, but it will be overwritten by bash file duirng simulation launch. """ ContactDepth = NaN meter """ The asset's depth to be tracked """ CenterLatitude = 36.81544 degree """ The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterLongitude = -121.82506 degree """ The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. """ CenterNorthingsDelta = 0 meter """ Desired change in latitude to achieve, expressed as a distance. """ CenterEastingsDelta = 0 meter """ Desired change in longitude to achieve, expressed as a distance. """ CircleRadius = 50 meter """ Radius of circle around acoustic contact during wait time """ SpeedUpdateTimeout = 240 second """ Max time allowed between speed command updates. """ StateUpdateDelay = 10 second """ Minimum time delay between state updates to avoid rapid changes. """ HorizontalCommandMode = 0 count """ Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. """ AcousticContactTimeout = 4 hour """" If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. """ SendObservationDataInterval = 1 minute """ How often to send back some a-comms data """ TrackingUpdatePeriod = 30 second """ How long to wait between acoustic queries """ # parameters for constant depth trajectory Depth = 20 meter """ Depth of flat and level flight during the mission. """ MaxDepth = 60 meter """ Maximum depth for the entire mission. """ MinAltitude = 5 meter """ Minimum height above the sea floor for the entire mission. """ MassHold = true """ Set to True in order to hold mass at default position, False to allow mass to run on its own. """ BuoyancyHold = true """ Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own. """ # You probably do not need to change these. NumberOfPings = 1 count """ Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) """ CircleMaxError = 10 meter """ If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. """ CircleTurnToPort = false """ If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. """ Speed = 0 meter_per_second """ Vehicle speed. """ MyTempVar = NaN none_str """ A custom variable from the backseat driver interface. """ # You are even less likely to need to change these. KwpHeading = 0.010 radian_per_meter """ Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) """ MinOffshore = 1.5 kilometer """ Minimum offshore distance for the entire mission. """ } output { HeadingMode = 0 count """ Heading angle command mode enumaration. """ RudderMode = 1 count """ Rudder angle command mode enumaration. """ Heading = 0 degree """ Commanded vehicle heading. Mission will init Heading to current vehicle heading. """ RudderAngle = 0 degree """ Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode. """ TimeLastSendData = 0 second ElapsedSinceLastSendData = 0 second """ Time elapsed since last Send Data fix. """ } # Missions should always start with a timeout. timeout duration=MissionTimeout # Add tracking directive high in the stack (above NeedComms to enable tracking from surface). insert Insert/AbortDrift.tl { redefineArg AcousticTimeout = AcousticContactTimeout } behavior Estimation:TrackAcousticContact { run in parallel set contactDepthSetting = ContactDepth set contactLabelSetting = ContactLabel set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } #assign in sequence customUri "_.others_observations" = "999" aggregate SendObservationData { run when ( elapsed (MyTempVar) >= SendObservationDataInterval ) syslog info "Got test_good : " + customUri "_.send_observations"~none_str + " and temp var is " + MyTempVar~none_str assign in sequence ElapsedSinceLastSendData = elapsed (MyTempVar) assign in sequence MyTempVar = customUri "_.send_observations" behavior Sensor:SendDirect { run in parallel set destType = "modem" set destId = SendDataLabel set destName = "_.others_observations" set value = MyTempVar set unit = "none_str" } syslog info "SendData: sent send_observations : " + MyTempVar~none_str + " to nearby vehicles. Elapsed time " + ElapsedSinceLastSendData~minute } aggregate UpdateContactLabel { run when ( elapsed ( customUri "_.contactLabelSetting" ) < ( elapsed ( ContactLabel ) ) ) assign in sequence ContactLabel = abs ( customUri "_.contactLabelSetting" ) syslog info "Upadating ContactLabel " + customUri "_.contactLabelSetting"~count } # Most missions have the NeedComms aggregate at high priority. insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # Add guidance update directives high in the stack. aggregate SpeedTimeout { run when ( elapsed ( Speed ) >= SpeedUpdateTimeout ) assign in sequence Speed = 0 meter_per_second syslog fault "Speed timeout reached. Stopping vehicle (speed " + Speed~meter_per_second + ")." } aggregate UpdateSpeed { run when ( elapsed ( customUri "_.speedCmd" ) < ( elapsed ( Speed ) ) and (elapsed ( Speed) > StateUpdateDelay) ) assign in sequence Speed = customUri "_.speedCmd" #syslog info "Updating vehicle speed " + Speed~meter_per_second } aggregate UpdateCommandMode { run when ( elapsed ( customUri "_.horizontalCmdMode" ) < ( elapsed ( HorizontalCommandMode ) ) and ( customUri "_.horizontalCmdMode" == HeadingMode or ( customUri "_.horizontalCmdMode" == RudderMode ) ) and (elapsed ( HorizontalCommandMode) > StateUpdateDelay) ) assign in sequence HorizontalCommandMode = customUri "_.horizontalCmdMode" #syslog info "Updating horizontal command mode " + HorizontalCommandMode~count } aggregate UpdateHeading { run when ( elapsed ( customUri "_.headingCmd" ) < ( elapsed ( Heading ) ) and (elapsed ( Heading) > StateUpdateDelay) ) assign in sequence Heading = customUri "_.headingCmd" syslog info "Updating heading " + Heading~degree } aggregate UpdateRudder { run when ( elapsed ( customUri "_.rudderAngleCmd" ) < ( elapsed ( RudderAngle ) ) and (elapsed ( RudderAngle) > StateUpdateDelay) ) assign in sequence RudderAngle = customUri "_.rudderAngleCmd" syslog info "Updating rudder angle " + RudderAngle~degree } insert id="Science" Insert/Science.tl # Power the Backseat payload. insert Insert/BackseatDriver.tl assign in sequence BackseatDriver:EnableBackseat = true insert Insert/PowerOnly.tl # Check for additional instructions first. call id="StartingMission" priorityHere=false refId="NeedComms" aggregate JoystickControl { run in sequence behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run while ( MassHold ) set massPosition = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in parallel set depth = Depth } behavior Guidance:SetSpeed { run in parallel set speed = Speed } aggregate CmdHeading { run while ( HorizontalCommandMode == HeadingMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set heading = Heading } } aggregate CmdRudder { run while ( HorizontalCommandMode == RudderMode ) behavior Guidance:Point { run in parallel set forceUpdate = true set rudderAngle = RudderAngle } } } } =\Loaded ./Missions/Engineering/marl3.tl id=marly } < 2Acoustic response timeout@я,$\E?A2@2@2żٱ2ƽ >AHRS rotation from veh to nav: [[0.274274,0.957742,0.086628],[-0.961349,0.270811,0.049698],[0.024138,-0.096911,0.995000]]2H?@ҥ?F-?^T?r?`?'ϸ ?i2@I2J`;2FCYRY>yRE XZp;bDZVDZZ9y%_=%%F=ٔ-=Q-->9)I1=5Ey15X"<E5>YQ 5eT4]xʼn?Q 9eT4]S)]AYiymQ Im?]̕BI]B:i]:]kT4yu%BɮuB;ENNNNi+:))顱iIII!O5=2Acoustic response timeout@я,vE?A2@2@2?;ٱ2 :AHRS rotation from veh to nav: [[0.281864,0.950889,0.127917],[-0.959446,0.279904,0.033427],[-0.004019,-0.132151,0.991221]]2H ?m?_?dz`?O?vp S?i2@I2]`;2ECY^YN>y^DbDjpVDjY9y% L=ٔ ,=Q- >9I=Ey-<E>qQ 5T4uʼn?Q 9T4u=)uAYysQ I?u BIuP;iu;uT4yɮBNNNNi))iI=2Acoustic response timeoutIiIyO=i I  2Acoustic response timeout #@я,vE?A2@2j@2q;ٱ2_ :AHRS rotation from veh to nav: [[0.273506,0.954813,0.116305],[-0.961852,0.272249,0.026876],[-0.006002,-0.119219,0.992850]]2H?Ӎ?/ƽ?}`l? h?x&m?i2@I2 `;2FCY^aF>y^D ``f=dy%?S㥻333333?%̌>%/ݽ%=! !9%S?ԿZd;ϿY%>y%f%~%B%zB %)%1B!Y%=BbD}2VD}Y9y%4=ٔG;Q->9I=EyJE>Q 5T4ʼn?Q 9T4D)AY?Q E-:y-#Q I5?|BIe&E2Acoustic response timeout*"*@я,E?A;ɰ;: @:@:5<ٱ: FAHRS rotation from veh to nav: [[0.281185,0.956952,0.071951],[-0.959590,0.281240,0.009568],[-0.011079,-0.071734,0.997362]]:H?Z?`k?`? [?@Ұ$]@d?i: @I:k_;:GCR2Acoustic response timeoutY^>y^DdfAAbDjVDjY9y% g=ٔ j9I=Eyg<E?YQ 5eU4]ʼn?Q 9eU4]3)]~@YiymQ Im?]ԖBI][:i]:] U4yu$Bɮu֨BNNNNi))iIIIqO}=QQU2Acoustic response timeout 1@я,[E?A2K™@2)@2䵶ٱ2 :AHRS rotation from veh to nav: [[0.305651,0.951916,0.020833],[-0.951882,0.304981,0.030103],[0.022302,-0.029032,0.999330]]2Hȏ?v?UU? uЄ? NӞ?`@֖?@?i2K™@I2`;2FCYN >yR}DbDZrVDZIZ9yr,%rM=ٔrIQ-r>9tIt=vEytz=Ez>xQ 5}U4zʼn?Q 9}U4z)z@Yy{Q I?z4BIzaI >) >e 2Acoustic response timeout947@я,;7E?A2a@2?@2_nٱ2vyڻ :AHRS rotation from veh to nav: [[0.299412,0.954059,-0.011084],[-0.952349,0.299543,0.057484],[0.058163,-0.006656,0.998285]]2H)??@y+?n?ǭ?KC{@?i2a@I2`;2HCYNN$>yRDTVAbDZ VDZZ9ykp=%?=ٔݨQ->9I=EyPeE>Q 55U48ʼn?Q 95U4)p@Y9y=Q I=?BI#r:I9IIO]>2Acoustic response timeoute=@я,.E?A-I @-'@-/#ٱ-g; =AHRS rotation from veh to nav: [[0.284390,0.958563,-0.016682],[-0.957881,0.284825,0.036595],[0.039830,0.005572,0.999191]]-Hs3? ?:?@?d?@v?@_?i-I @I-`;-FC 2Acoustic response timeoutY>yD 4<bDVDY9yv%.=ٔ"=Q->9I=Ey* E>Q 5U4ߕʼn?Q 9U4 )@Yy=Q Iu?BIO=iQ=8U4yɮԨBN1N1N1N1i))!!!iiyIyIp=)a=e;s:IqIO> 2Acoustic response timeoutFFD@я,E?A2D@2"@2@ٱ2O :AHRS rotation from veh to nav: [[0.311301,0.950270,0.008837],[-0.949540,0.310661,0.043165],[0.038273,-0.021828,0.999029]]2H [?@h??`b??@? #Z` ?i2D@I2n`;2GCYN+>yNODyx&1?MbX?y&1A>J>`e 9n?y&1|?V-Y>y`;mBB B)fBY BbDM VDMY9y=%]=ٔЉ;Q->9I=Ey=E>Q 5U4ʼn?Q 9U4)`@Y>Q E:yÞQ I?aBIa:ij:DU4yɮ ΨB NNNNi!)!)!!!i)iIqM#r:IY qqI-2Acoustic response timeout=> 99Y=AO=> pJ@я,+E?A2 a@2[@2ٱ2Φ :AHRS rotation from veh to nav: [[0.323429,0.944076,0.064140],[-0.944005,0.317250,0.090590],[0.065176,-0.089848,0.993821]]2H?5?k?@J5M?@0?[?@M`?i2 a@I2[`;2FCB2Acoustic response timeoutYN(>yND PPV=TbDZVDZY9yr%rk=ٔrQ-r?9tIt=vEytv]=Ez?xQ 5=U4zʼn?Q 9EU4zc)z@YAyEGQ IE?zBIz#AHRS rotation from veh to nav: [[0.299282,0.947829,0.109780],[-0.950786,0.286568,0.117833],[0.080226,-0.139642,0.986947]]6Hm'?T?`? l W?K*? ?@?i65@I66`;6GCYN>yRѺDV@ATbDZ\VDZTY9yr&%rJ=ٔrQ-r>9tIt=vEytz~Ez>xQ 5}U4zWʼn?Q 9}U4z)z@YydQ I?zBIznAHRS rotation from veh to nav: [[0.301823,0.946640,0.113030],[-0.950516,0.289642,0.112369],[0.073635,-0.141353,0.987217]]2HQ?J??j }?:ļ? ٲ?`¿H?i2ɧ@I2 `;2FCY^=>y^sDbDjVDjY9yIP;%H=ٔ9 I = Ey  ;E>Q 5]U4ʼn?Q 9]U4)Z@YayeQ Ie?[BI"2Acoustic response timeoutI >) >q]@я,YyE?A2 @2@27:ٱ2gn :AHRS rotation from veh to nav: [[0.313146,0.945022,0.094194],[-0.947058,0.303334,0.105209],[0.070852,-0.122153,0.989979]]2H ?=?`?MN`i??b#? oE?i2 @I2F_;2GCY^0%>y^%DddbDjoVDjX9y}<%}C=ٔ;Q->9I=Ey<E>Q 5U4Zʼn?Q 9U4c )@Yy;Q I?BIz# 2Acoustic response timeoutMd@я,4E?A2?@2{:@2zKٱ2C: :AHRS rotation from veh to nav: [[0.319862,0.945894,0.054520],[-0.946167,0.315885,0.070609],[0.049566,-0.074170,0.996013]]2Hx?D? ?@F`t7?k?`?V?i2?@I2_;0YN .>yRDy/$?Q? rh?=<C> 9|?5^?T㥛 |?5^?Yҍ>y=VB B)BYB bDVDX9y(<%C=ٔ5P=Q-5>99I9==Ey9=<EE>AQ 5MU4Eʼn?Q 9UU4Ey#)E@Y>Q E/;yQ I?EBIE& 2Acoustic response timeoutӿj@я,E?Ai0I022Acoustic response timeout6Wu@65p@6`7ٱ6k BAHRS rotation from veh to nav: [[0.326251,0.945230,0.010033],[-0.944600,0.325594,0.041472],[0.035934,-0.023007,0.999089]]6HL?R??*?):`?;?`e? ? ?i6Wu@I6`;6ICY^">y^DbDfVDfX9yr%r]=ٔv=Q-v>9tIt=zEyxze<Ez>9Q 5EU4=ʼn?Q 9EU4=-&)=@YAyMsQ IM?='BI= :i=:=ӗU4yQɮB!N)N)N)N)iq)y)yyyiyI&{:IIO>2Acoustic response timeout AACq@я,E?A6=@6~8@6 ^Xٱ6䤝; BAHRS rotation from veh to nav: [[0.319580,0.947316,-0.021455],[-0.946087,0.320263,0.048483],[0.052800,0.004804,0.998594]]6H@s?jP?HXF`0?Ҩ?? s?z?i6=@I6JI`;6HCYN'>yRiDV=V=bDZXVDZfX9yP<%I=ٔ)Q->9 I = Ey  ވE>Q 5]U4|ʼn?Q 9]U4))x@YayeͼQ Ie?`BIz#AHRS rotation from veh to nav: [[0.321987,0.946743,-0.001311],[-0.943404,0.320967,0.083485],[0.079459,-0.025644,0.996508]]6H@q? K?t|U\0?=_?qW?\B@e?i6nW@I64`;6FCYN&>yRDVAATbDZVDZ(X9y]CL%]D=ٔeQ-e>9aIi=mEyim;Em>qQ 5U4uʼn?Q 9U4u,)u'@YyRQ I?uBIu]#y^DbDjVDjX9y}=л%}H=ٔeQ->9I=EyK=E>2Acoustic response timeoutQ 5U4ʼn?Q 9U4.Q =tI)@YyuQ I?ҚBI|7i߉ I߉  2Acoustic response timeoutI >) >s@я,|E?A6M@6+@6!ٱ6 >AHRS rotation from veh to nav: [[0.366394,0.926426,0.086549],[-0.922126,0.349117,0.166736],[0.124253,-0.140900,0.982196]]6H r?G?@ (?@W?`W?Ͽ?¿%n?i6M@I6$`;6GCYN$>yRDTVAyzG?ʡE91I1=5Ey1==E=>AQ 5MU4Edʼn?Q 9MU4Eq+)E@YM>Q EM*;yM?Q IU?EBIE3%2Acoustic response timeout @я,W.E?A"2Acoustic response timeout6J@6(@6Ȁٱ6;w) BAHRS rotation from veh to nav: [[0.359108,0.923999,0.131403],[-0.931178,0.345244,0.117108],[0.062842,-0.164414,0.984388]]6H@?f? ?5{?@?c? ſ?i6J@I6_;4YN=yRD VQ-r>9tIt=vEytznEz>xQ 5U4zԱʼn?Q 9U4z~()z@Yy+?Q I?zOBIz9y^DbDj>VDjoW9y}Q=%}A=ٔ>Q->9I=Ey1E>Q 5U4pʼn?Q 9U4 %)@Yy?Q I?BI# sA 鉿9 sAY 8A @A 2Acoustic response timeout@я,bE?A24b@2]@2˖ٱ2&sŽ :AHRS rotation from veh to nav: [[0.353592,0.931660,0.083562],[-0.935219,0.350352,0.051180],[0.018407,-0.096245,0.995187]]2H??(?Ld?P`*l?@R4?8ْ?`?i24b@I2_;2JCYNI(>yNDV=V=bDZVDZIW9yrdz=%rU=ٔrQ-r>9tIt=vEytzI <Ez>xQ 5=U4zʼn?Q 9EU4z!)z @YAyE?Q IE?zЛBIzv#yRDTTbDZVDZDW9yvl<%vJ=ٔvu#Q-v>9xIx=zEyxzi;E~>Q 5V4aʼn?Q 9 V4)K@Y y ?Q I ?BI:i1:~V4yɮB9NANANANAiQ)Q)QQQiqyI2Acoustic response timeoutu:IIO=m 2Acoustic response timeouto0@я,ÕE?A2@2@2 iٱ26; :AHRS rotation from veh to nav: [[0.369684,0.929149,-0.003910],[-0.929151,0.369694,0.002280],[0.003564,0.002790,0.999990]]2H?@?`Kp `?@ӭb?2m?@f??i2@I2gX`;2FCYN<4>yRDy1Zd?? rh?"=>C= 9~jt?!rhL7A`?YjBB B)BYGBbDVDSW9y<%8=ٔ2=Q-%>9!I!=%Ey!-9 =E->1Q 5V45ůʼn?Q 9V45Z)5)@Y3>Q E;y#Q I?5*BI5;i56;5V4yQBɮBDENNNNi))iI!2Acoustic response timeoutuʃ:IIO>I >) >Z@я,鞯E?A2Acoustic response timeout6؅@6@6+=ٱ6U >AHRS rotation from veh to nav: [[0.386381,0.922105,0.020767],[-0.921388,0.386907,-0.036713],[-0.041888,-0.004950,0.999110]]6Hw?@? D?| ?ˢVr'Ft?i6؅@I6X:`;6GCYN*>yR"DTVAbDZVDZW9yf%fc=ٔf >Q-f>9hIh=jEyhnP=En>Q 5 V4ʼn?Q 9 V4 )@Y y 2Q I ?@BI:i9:$V4yɮBNNNNi))i I  :II!O-N>2Acoustic response timeoutB@я,hzE?A2@2@2i<ٱ2K :AHRS rotation from veh to nav: [[0.402923,0.912218,0.074241],[-0.915082,0.403004,0.014545],[-0.016651,-0.073797,0.997134]]2H|?0?y?[H?`ɍ?  `c䲿?i2@I2O`;2DCYN1>yRbD Vp9hIh=jEyhnl3=En>Q 5 V4ʼn?Q 9 V4 )@AY y ~Q I ?VBI:i:2V4yɮ=B9NANANANAiQ)Q)QQQiyIIAIO=52Acoustic response timeout 2Acoustic response timeoutl@я,2UE?A2`@2a[@2$ٱ2, :AHRS rotation from veh to nav: [[0.410864,0.901463,0.136216],[-0.910811,0.399276,0.104888],[0.040165,-0.167162,0.985111]]2HK?`?`o?^% ?`ٺ??eſ?i2`@I2=`;2ICYf>yfDbDnVDn^W9yebY%eA=ٔei Q-e>9iIi=mEyiu<Eu>Q 5V4rʼn?Q 9V4R!)DAYy7!Q I?jBI[:iF:AV4yɮBNNNNi))iII)IO=E2Acoustic response timeout ˖@я,0E?A2m@2K@2&Kٱ2\ :AHRS rotation from veh to nav: [[0.390691,0.903141,0.178034],[-0.919186,0.372341,0.128293],[0.049577,-0.213770,0.975625]]2H???i q?k?*b?@\˿R8?i2m@I2,`;0YN>yRDV=TbDZ:VDZmW9yfr%fT=ٔfȼQ-j>9hIh=jEyhnhE~>Q 5 V43ʼn?Q 9 V4!)7AYy"Q I?zBI:iOV42Acoustic response timeoutyɮBNNNNi))iII!IYOu=M 2Acoustic response timeout~@я,[ E?Aɰ4<2{@2av@2!ٱ2^+ :AHRS rotation from veh to nav: [[0.385477,0.911099,0.145967],[-0.922493,0.377046,0.082720],[0.020330,-0.166540,0.985825]]2H?'??!?-? Fє?`,Qſ ?i2{@I2_;0YR>yRSDy rh?MbX9QC=ʡ 9n㥛 ¿~jtӿYVyB )gBYB@A@AbDVD[W9y;%;=ٔ=Q->9I=Ey?dE>Q 5V4ǜʼn?Q 9V4@!)JAYº>Q E;y;@Q I?BI.;i;<^V4yɮ%B!N)N)N)N)iY)Y)YYYiYaIaIIO=2Acoustic response timeoutiY IY ] 2Acoustic response timeout7@я,0E?A>Y@>T@>?>"ٱ> > FAHRS rotation from veh to nav: [[0.410136,0.909992,0.060849],[-0.911164,0.405939,0.070661],[0.039600,-0.084424,0.995643]]>H??@?'?@B(??`lF?@͜ N?i>Y@I>,_;>FCYZ>yZDbDbVDb$W9yzI=%zX=ٔ~ QQ-~>9|I|=EyD=E> Q 55V4 'ʼn?Q 95V4  ) @Y1y=/;@Q I=? ؜BI ;i `; mkV4yAɮEBANiNiNiNqiy)y)顁iI I)mnManaging dock network, ignoring radio surface power offIIOD>2Acoustic response timeoutI >) >h@я,+JE?A2 #@2@2x܃ٱ2W :AHRS rotation from veh to nav: [[0.431827,0.901917,-0.008391],[-0.899659,0.431372,0.067325],[0.064341,-0.021524,0.997696]]2H` ??@/`?3yRDTTbDZ.VDZV9y <% J=ٔ zQ- >9I=Ey`x=E>9Q 5EV4=ʼn?Q 9MV4=Y )=@YIyM4;@Q IM?=BI=:i=:=yV4yUPBɮUByNNNNi))顑iIIIO=2Acoustic response timeout = %= 2Acoustic response timeout@я,dE?A25@2@2;ٱ2T: :AHRS rotation from veh to nav: [[0.426672,0.904178,-0.020313],[-0.903244,0.427155,0.041101],[0.045839,0.000811,0.998948]]2HN?? ̔_V?`2 ?Ex? J?b?i25@I2`;2JCYN|>yR`D TVp;bDZVDZV9y}R%}C=ٔ}D5=Q->9I=EyrE>Q 5V4)ʼn?Q 9V4)@Yy7@Q I?)BI;ii;6V4yɮBNNNNi)) i  II)IYOe=%2Acoustic response timeout@я,w~E?A2S@2aN@23[:ٱ2 ̚ :AHRS rotation from veh to nav: [[0.437597,0.899166,-0.002934],[-0.898020,0.437200,0.049155],[0.045481,-0.018875,0.998787]]2H??h?*?WI?T?i2S@I2?`;2HCYN9>yRYDbDZVDZV9yfA<%fV=ٔffv:Q-f>9hIh=jEyhn7=En>Q 5 V4ʼn?Q 9 V4T)@Y y 9@Q I ?PBI:i:V4yɮ=B9NANANANAiQ)Q)QQQ}2Acoustic response timeoutiIIIO%=i) I) 5 2Acoustic response timeout E@я,UE?A2|@2Z@2Xٱ2= :AHRS rotation from veh to nav: [[0.447945,0.893680,0.026108],[-0.889838,0.442805,0.110056],[0.086794,-0.072531,0.993582]]2H#? ??yV?@,? 8?em?i2|@I2<`;2JCY^s6>y^_D ``f=f= k> C55tAIyeS㥛?A`"V-׿un9}5tAY}cAeݤ>eYe|a a9e~jt? ףp= nѿYe>yeQy<-?7%AeVe:Be8B eRB)eBaYeBbDVDV9y %S=% +=ٔ-毽Q-5>91I1=5Ey1=<E=>AQ 5MV4Eʼn?Q 9mV4E#)EF@Ym>Q Em;ym Q Iu?EBIE;iEu;EcV4yyɮ}ByNNNNi))顙iIIIiOu>2Acoustic response timeout= 2Acoustic response timeout@я,.E?Aɰ21@2@2ٱ2 :AHRS rotation from veh to nav: [[0.446680,0.891929,0.070285],[-0.891736,0.437446,0.115964],[0.072686,-0.114475,0.990763]]2Hh??:??ѯ?@?;NU?i21@I2]`;2HCYN1 >yRDTVAAbDZ,VDZ{V9yf%fx=ٔf1=Q-f ?9hIh=jEyhnȻEn ?YQ 5eV4]ʼn?Q 9eV4]%)]@YiymY¿Q Im?]ϝBI]p:i]:]XV4yqɮ BNNNNi))顱iII!IQOe=ߕ=ߕ<2Acoustic response timeout@я, E?A2)?@2:@2wļٱ2۽ :AHRS rotation from veh to nav: [[0.463591,0.882067,0.083914],[-0.885725,0.458775,0.070831],[0.023980,-0.107161,0.993952]]2Hz? 9?@a{?@W\? "?W?n@u?i2)?@I2_;2GCY~$>yDbDVDaV9y%<%-D=ٔ-=Q-->9)I1=5Ey15u/=E5>Q 5V4'ʼn?Q 9V4()%@YykQ I? BI|:i;V4yɮBNNNNi))iI!I9IIOu=2Acoustic response timeout 2Acoustic response timeoutI >) > @я,QE?A2%@2@2wٱ2q½ :AHRS rotation from veh to nav: [[0.476890,0.876171,0.070004],[-0.878509,0.472569,0.070002],[0.028252,-0.094882,0.995088]]2H[? ??>???`1J?i2%@I2_;2HCYJ5>yJDPPbDVVDVDV9yb=%bP=ٔbg2Q-f>9dId=fEydj=Ej>lQ 5rV4nʼn?Q 9rV4n+)n@YpyrQ Iv?nEBIn:in:n V4yɮBN!N!N!N!iI)Q)QQQiQYIYIqIOE=2Acoustic response timeout%3@я,E?A:Y@:7@:ݻٱ:悔 FAHRS rotation from veh to nav: [[0.484467,0.872680,0.061000],[-0.874509,0.481293,0.059919],[0.022931,-0.082374,0.996338]]:H??a;?@?? 3{?@n?i:Y@I:_;:ICYN&>yRD V;VbDZVDZ@V9y@%G=ٔXT9 I = Ey]2Acoustic response timeoute<Ee>iQ 5uV4mʼn?Q 9uV4m /)mk@YqyQ I?mBIm5 2Acoustic response timeoutAя,cE?A2<@27@2'<ٱ2m˼ :AHRS rotation from veh to nav: [[0.463406,0.881665,0.089000],[-0.886000,0.462812,0.028460],[-0.016098,-0.092042,0.995625]]2Hr? 6?ȶ? Z`?@$?@{(?i2<@I2Ƃ_;0Y^E,>y^Da5@a5 a5@a} a}@a} a}@a a@a y-V-?~jt:v?->--T>) ))-Mb@Mb@Mb@I-i-‰--- -)--I-bDVD8V9yoE<%/=ٔs=Q->9I=Ey@SE>Q 5V4ʼn?Q 9V4e2)p@Q A +:Y Q E :y Q IM?ĞBIL%V4yUlBɮUB]NENaNaNaNai))顱iIm2Acoustic response timeoutII!O-->  2Acoustic response timeout E Aя,uv3E?A2 @2颦@2<ٱ2Ľ :AHRS rotation from veh to nav: [[0.474885,0.874779,0.096158],[-0.879702,0.474918,0.024010],[-0.024664,-0.095993,0.995076]]2Hd?/?՝?@&`e?`?`A ?i2 @I2_;2GCY^*>y^"D ``f=f=bDjKVDjV9y%_=ٔ9I=Ey=E>Q 5V4-ʼn?Q 9V45);@Q A :YQ E:yQ I%?BI%yNDVAATbDZVDZU9yn಼%rY=ٔrQ-r>9pIt=vEytv:=Ev>xQ 5=V4zʼn?Q 9=V4z7)z @Q AE9YAQ EE:yEaQ IE?z0BIz$y^DbDjVDjU9y2G% H=ٔ 9I=Ey<E>Q 5%V4Ɖʼn?Q 9-V4:)@Q A-9Y)Q E-j:y-Q I-?kBI*:i?,V4y1ɮ}&ByNNNNi))顑iIIIO=2Acoustic response timeoutI >) >> Aя,E?A26@2@2<ٱ2m JAHRS rotation from veh to nav: [[0.474679,0.877250,0.071498],[-0.879791,0.475261,0.009720],[-0.025453,-0.067518,0.997393]]2H#a? o?M?`?'@j?M?_`H`?i26@I2_;2ECYn>ynDxzAM2Acoustic response timeoutbD5SVD5V9yʼ%3=ٔO=Q->9)I1=5Ey15E5>9Q 5EW4=ʼn?Q 9EW4=X>)=W@Q AM9YIQ EM=:yM̽Q IM?=BI=:i=;@=W4yɮ,B NNNNi)!)!!!i!IIIO (>2Acoustic response timeouti&Aя,&E?A2y@2t@2\ٱ2) :AHRS rotation from veh to nav: [[0.497403,0.866932,0.031910],[-0.867481,0.496697,0.027742],[0.008201,-0.041480,0.999106]]2Ht??vV?f`?@Nh?ˀ? <?i2y@I2B_;2ICY^k#>y^Daa aa aa aa aa yT㥛 kt?~jt? => 9m?L7A`Gz?Y>y+p>B ݛB)BYB p<<bDVVDV9y F=% T=ٔQ->9I=EyN=E>Q 5W4ʼn?Q 9W4A)@Q A T:Y ?Q E:yHQ I?BIz'i I  2Acoustic response timeout-,Aя,4E?A2A@2f<@2ٱ2qK :AHRS rotation from veh to nav: [[0.518326,0.854529,0.033448],[-0.855006,0.517026,0.040598],[0.017399,-0.049641,0.998616]]2H?MX?@ ?6\z?`Aɤ? Б?`j?i2A@I2_;0Y^[>y^\DbDjVDjU9y%P=ٔ|Q->9I=Ey=E>Q 5W4ʼn?Q 9W4:E)@YyFQ I?7BI@#]2Acoustic response timeout {3Aя,_E?A2"ɠ@2ħ@2˃k<ٱ2G :AHRS rotation from veh to nav: [[0.505728,0.860301,0.064196],[-0.862573,0.505496,0.021012],[-0.014374,-0.066000,0.997716]]2H`.??`%o?2@-?)?6p a尿`J?i2"ɠ@I2_;0Y^>y^Df=f=bDjGVDjV9yiT<%L=ٔ=Q->9I=Ey}E>Q 5W4ʼn?Q 9W4H)@YyQ I?BI# 9!Y%Am 2Acoustic response timeout9Aя,czE?A4<ɰ2n@2L @218ݼٱ2 :AHRS rotation from veh to nav: [[0.513082,0.856070,0.062376],[-0.857915,0.509186,0.068642],[0.027001,-0.088732,0.995689]]2H+k?d??` t@AK??)?' ?i2n@I2_;2HCYN88>yNDTTbDZQVDZV9yn=%rW=ٔr߽Q-r>9pIt=vEytv<Ev>xQ 5=W4zʼn?Q 9=W4z,L)zB@YAyEQ IE?zàBIz@#yDbDVDU9yQ%1=ٔFQ->9I=EyNo=E>Q 5W4ʼn?Q 9W4O)W@YyQ I?BI|:it:KW4y1ɮ5B1N9N9N9N9iI))顑iIIQIO>2Acoustic response timeoutI >) 'FAя,*E?A2 @2@2޽ٱ2׽ :AHRS rotation from veh to nav: [[0.533228,0.845421,0.030535],[-0.838973,0.523839,0.147367],[0.108592,-0.104198,0.988611]]2H3?` ?D?`@I?@?̻?@?i2 @I2t`;2HCYr >yv}DxzAy-@5^I ?(\µ?-b>--L>) )9-HzGZd;QY-= y-y-)-B -dB)-kB)Y-BbD]VDU9y%G=ٔ9I=EyDE->1Q 5=W45ʼn?Q 9=W45N)5@YE>Q EE;yE%@Q IE?5'BI5:i5':5YW4yɮ(BNNNNi-2Acoustic response timeout)y)顁iII!I1O=/> 2Acoustic response timeoutKLAя,6E?A2ʡ@2Ũ@2P˼ٱ2𖌽 :AHRS rotation from veh to nav: [[0.532508,0.845235,0.044864],[-0.846061,0.529976,0.057491],[0.024816,-0.068572,0.997337]]2H`M ? + ?@z?@ ? eo?Vi?@󍱿@0?i2ʡ@I2_;0YN}=yR@D TVp;bDZVDZ[U9yr%rp=ٔr|>Q-r?9tIt=vEytzTEz?xQ 5W4zʼn?Q 9W4z N)z@Yy$@Q I?zABIz;y^fDbDjiVDj6U9yv=%vJ=ٔv]=Q-v>9xIx=zEyxzP=E~>AQ 5EW4Eʼn?Q 9MW4E5M)E(@YIyM<&@Q IM?E`BIE:iE:EsW4ylBɮBNNNNi ))QQiYYIa2Acoustic response timeoutIAIO=M 2Acoustic response timeout OYAя,0iE?A6_Σ@6=ɪ@6@ٱ6~ BAHRS rotation from veh to nav: [[0.584188,0.811482,-0.014865],[-0.810256,0.584170,0.047228],[0.047008,-0.015546,0.998774]]6H`?`?q@?@.?`w?X֏?i6_Σ@I6l_;6HCYN>yRDV>V=bDZ-VDZU9y- %I=ٔQ->9 I = Ey  @=E>Q 5]W4Yʼn?Q 9]W4sL)@Yaye (@Q Ie?~BI]#y=Da@a% ae@ae ae@ae ae@ae yV-?&1y&1?h>P`e= )Mb@Mb@Mb@Ii‰dB )YfBqu@AbD}VD}T9y7ּ%=ٔ ֽQ->9I=Ey\2<E>!Q 5-W4%ʼn?Q 9-W4%xK)%@Q A-+:Y)Q E-;y5H)@Q I5?%BI%';i% ?%W4y ɮ $B NNQNQNQia)a)aiiiiiIqIIIOUu>2Acoustic response timeout7gAя,rE?A2@K@2F@2ٱ2+ʽ :AHRS rotation from veh to nav: [[0.595592,0.802461,0.036418],[-0.800076,0.588552,0.116129],[0.071755,-0.098302,0.992566]]2H?­?[?`8@j?`? ^?`W*?i2@K@I2`;2HCY^ >y^}DbDjVDjT9yߙ%=ٔ=Q-?9I=Ey=E?Q 5W4Zʼn?Q 9W4J)@Q A :YQ Ef;y*@Q I?BI$) > 2Acoustic response timeout/mAя,rNE?A20@2@2Dz ٱ2  :AHRS rotation from veh to nav: [[0.606407,0.789700,0.092979],[-0.794189,0.595756,0.119744],[0.039169,-0.146456,0.988441]]2H g?8E?vͷ?in??@ ?¿O?i20@I2# `;2KCY^ >y^ DdfAbDjgVDjT9yvÔ:%vW=ٔvx=Q-v>9xIx=zEyxz,=E~>9Q 5EW4=zʼn?Q 9EW4=AJ)=a@Q AM9YIQ EM:;yM +@Q IM?=ڡBI=:i= ?=W4yQɮ NiNiNiNii))项iIIIQO]=2Acoustic response timeout%tAя, (E?A:ܤ@:׫@:?ٱ:+ BAHRS rotation from veh to nav: [[0.611264,0.781490,0.125016],[-0.791341,0.601196,0.111098],[0.011662,-0.166840,0.985915]]:H`y?@?? R9hIh=jEyhnd<En>Q 5W4vʼn?Q 9 W4I)@Q A 9Y Q E ;y q+@Q I ?BI:i?W4yɮ=-B9NANANANIiQ)Q)yyyiyIII}2Acoustic response timeoutO=- 2Acoustic response timeoutMAzAя,OE?A23@2@2(<ٱ2Nd >AHRS rotation from veh to nav: [[0.607274,0.784513,0.125532],[-0.794317,0.602837,0.075158],[-0.016713,-0.145353,0.989239]]2H`n??k?@ k pJ?=?0¿ק?i23@I2y `;2HCYN$>yRDbDZVDZkT9yi=%G=ٔ<=Q-%>9!I!=%Ey!-DE->1Q 5]W45qʼn?Q 9]W45H)5@Q A]9YYQ E]:y]*@Q Ie?5BI5;i5@5W4yiɮmBiNqNqNqNi))顩iIIIO=2Acoustic response timeout q,Aя,%E?Av2Acoustic response timeout=@=@=<ٱ="ҽ uAHRS rotation from veh to nav: [[0.617356,0.782034,0.085406],[-0.786645,0.614762,0.057079],[-0.007867,-0.102422,0.994710]]=H@a?l? +ݵ?1,@!?`e9? S8?i=@I=_;9Y}o>yDY>B?a a  a a  aa aa a@a a@a a@a a@a yp= ףS?)\(?/>Ga> )Mb@Mb@Mb@IiB B)Y̖BbD-VD-_T9y=w1%=+=ٔEQ-E>9aIi=mEyim<Em>qQ 5}W4ulʼn?Q 9}W4uG)u@Q A}o9YQ E:yQ+@Q I?u=Xgot command set marl.NeedCommsTime 30 minuteV @=Tgot command set marl.ContactLabel 20 countY4@=Tgot command set marl.SendDataLabel 6 countV@=dgot command set marl.CenterLatitude 36.7749 degreeVu?=pgot command set marl.CenterLongitude -121.8631661 degreeV7Q92Acoustic response timeout % k>% *Cy 9 Y ?AaSAя,E?Aɰ;2H@2&@2};ٱ2Z :AHRS rotation from veh to nav: [[0.629708,0.775125,0.051467],[-0.776822,0.628647,0.036744],[-0.003873,-0.063119,0.997998]]2H@&??@Y? ? Т?`o(?i2H@I2:_;2ICYN&>yRRDTTbDZAVDZ8T9yfV<%f}=ٔfJQ-f ?9hIh=jEyhnJ=En ?Q 5W4hʼn?Q 9 W4lG)C@Q A B9Y Q E :y +@Q I ?UBIj:i4@W4yɮ=B9NANANANAiQ)Q)QQiIII1O}=2Acoustic response timeoutiߙ Iߙ  2Acoustic response timeoutr}Aя,͔8E?A>@>ܷ@>=H~ٱ>N FAHRS rotation from veh to nav: [[0.632639,0.773895,0.029221],[-0.774291,0.631306,0.043891],[0.015520,-0.050393,0.998609]]>H>??@I>_;>HCYN)>yRDbDZVDZ T9yfR;%fJ=ٔfDQ-f>9hIh=jEyhn<En>Q 5W4Udʼn?Q 9 W4F)@Q A 9Y Q E :y -,@Q I ?tBI:iN@W4yɮ=B9NANANANAiQ)Q)QQyiyyIIIO=2Acoustic response timeoutI >) >,fAя,sRE?A2@2@2EYٱ2a :AHRS rotation from veh to nav: [[0.636986,0.770828,0.008576],[-0.769040,0.634663,0.076025],[0.053160,-0.055022,0.997069]]2H0b??)?`)O?@ev?`7?+@?i2@I2`;2ICYb>ybDhjAbDnVDnS9y-%-D=ٔ-91IY=]EyY]A<E]>aQ 5mW4e_ʼn?Q 9mW4e F)ep@Q Au8YqQ EuR:yu,@Q Iu?eBIe9;iei@eW4yɮ$BNNNNi))iI]2Acoustic response timeoutIIO = = %= 2Acoustic response timeoutAя,MKlE?A2>@28@2 ٱ2 >AHRS rotation from veh to nav: [[0.642913,0.765881,0.009391],[-0.762049,0.638366,0.108488],[0.077094,-0.076905,0.994053]]2H@?`?w;?b@m?@Ż?`q?  I?i2>@I2 `;2JCYN>yRD V;VbDZ>VDZS9yf;%fQ=ٔfzQ-f>9hIh=jEyhn<En>Q 5 W4<[ʼn?Q 9 W4lE)@Q A 8YQ E*:y-@Q I?BI:iC@aW4yɮ#BNNNNi))iIIYIiO=e2Acoustic response timeout~Aя,DE?AVP@Z2Acoustic response timeoutV.{@VvٱV nAHRS rotation from veh to nav: [[0.649657,0.758695,0.048247],[-0.757517,0.640680,0.125291],[0.064147,-0.117944,0.990946]]VH?@;G?۳?=r? ?@k? 1Ե?iVP@IVG_;VICYv=y Dauau auau auau auau yuJ +?1ZdK7AؿuH=u"۽u ¾q q9u|?5^Zd;O?B`"ѿYuҽyuj<>uَuĢBuGB u)u1BuYuBbDVDS9y"%.=ٔ5n91I1=5Ey9=<E]>aQ 5mW4e]ʼn?Q 9mW4e`C)eF@Q AuT:Yu>Q Eu;yu?Q Iu?eۢBIe0;ie:eHW4yɮ,BNNNNi))iIII)O]>nManaging dock network, ignoring radio surface power offiaIeAe2Acoustic response timeout iAя,2E?A6@6@6Yr$ٱ6a+ >AHRS rotation from veh to nav: [[0.662183,0.742794,0.098853],[-0.748267,0.648387,0.140325],[0.040137,-0.166889,0.985158]]6H0??lN? @?(?@ጤ?\ſj?i6@I6T_;6KCYN=yRD TTV=V=bDZVDZwS9yvt%vo=ٔv֏=Q-v?9xIx=zEyxz3B=E~?Q 5W4^ʼn?Q 9 W4 B)@Y y ~?Q I ?BI :i:W4yɮ/B9NANININQi))顁iIIiIO=2Acoustic response timeout 2Acoustic response timeout˭Aя,rܹE?Aɰ2-@2(@2 lٱ2G :AHRS rotation from veh to nav: [[0.665833,0.738438,0.106656],[-0.743874,0.645993,0.171300],[0.057596,-0.193396,0.979429]]2HN?H? M?` ? ,?)}?5ȿ{W?i2-@I2_;2ICY^B=ybWDf@AfAAbDj'VDj@S9yv-<%vJ=ٔv*1Q-v>9xIx=zEyx~?e<E~>!Q 5-W4%`ʼn?Q 95W4%s@)%@YYy]4?Q I]?%BI% ?&Dƿ@k?i2q)@I2_;2JCYR">yRVDbDZVDZS9yfҮ=%fL=ٔfd4Q-f>9hIh=jEyhnʴEn>yQ 5W4}aʼn?Q 9W4}>)}@Yy?Q I?}7BI} ;i} ;}fW4yɮBNNNNi))iIII)=2Acoustic response timeoutO= 2Acoustic response timeoutI >) >޺Aя,E?A2@2g@2ܽWٱ2Խ :AHRS rotation from veh to nav: [[0.677776,0.732181,0.067314],[-0.735151,0.673182,0.079874],[0.013167,-0.103623,0.994530]]2H W?@n?;?Z?r?`?`/?i2@I2_;2ICYN(>yNDPRAbDZVDZS9ybm<%fJ=ٔfN>Q-f>9hIh=jEyhj=E~>Q 5W4-cʼn?Q 9W4=) @Yy{?Q I?[BI ;i?;W4yɮBNNNNi))i I IAIqO}=E2Acoustic response timeout0Aя,2uE?A2S@2N@2 =ٱ2' :AHRS rotation from veh to nav: [[0.669890,0.738999,0.071612],[-0.741496,0.670816,0.013797],[-0.037842,-0.062342,0.997337]]2H o??$U?`U`Rw?@A?` Y믿/?i2S@I2_;2KCN2Acoustic response timeoutYRaF>yRDyS㥛?gfffffֿS㥛Ŀ$>3$ 9Cl?㥛 ҿT㥛 Yd>y`B B)fBYB 4<p;bD VD S9y=6=%=5=ٔE.=Q-E>9AIA=MEyIM1EM>qQ 5}X4uIgʼn?Q 9}X4uC)u%@Y!?Q E:yQ I?uߣBIu:iu':u X4yɮBNNNNi))iIIIO >U2Acoustic response timeoutAя,sI!E?A2*@2%@2NIٱ2Vx :AHRS rotation from veh to nav: [[0.666610,0.744387,0.038980],[-0.745349,0.664994,0.047309],[0.009295,-0.060590,0.998119]]2H@T??&?G?8? ? ?i2*@I2_;2ICYC>y DbDVDR9y߻%W=ٔ)Q->9I=EyZXE>Q 5X4jʼn?Q 9X4bI)@Yy밿Q I ?PBI:i:PX4yɮ BNNNNi))顩iIIIIaOm=2Acoustic response timeout AAe 2Acoustic response timeoutAя,$;E?A20@2o+@2Iٱ2q :AHRS rotation from veh to nav: [[0.688751,0.724914,0.010995],[-0.722248,0.684740,0.097410],[0.063086,-0.075033,0.995184]]2H@ ?2?|?d?? a&?`V5@?i20@I2_;2HCYb(>ybD ddj=hbDnBVDnR9yT%G=ٔQ->9I=EyD=E>Q 5X4oʼn?Q 9X4DO)@YyϬQ I%?ƤBI#2Acoustic response timeout~Aя,TE?A4<ɰ2@2@2Oٱ2ý :AHRS rotation from veh to nav: [[0.674327,0.737534,0.036433],[-0.736702,0.668550,0.101540],[0.050532,-0.095312,0.994164]]2H?@? a?d??Mߩ?Xf 1?i2@I2_;2ICY^o>ybDfAAf@AbDjQVDjR9yŹ%L=ٔ=Q->9I=Ey5QE>Q 5X4rʼn?Q 9X42U)c@YyQ I?ybRDbDjNVDjR9yv<%vW=ٔv>Q-v>9xIx=zEyxzŮ=E~>9Q 5EX4=2wʼn?Q 9MX4=Z)=@YIyM.Q IM?=BI=:i=:=DX4yQɮ4BNNNNi))顱iqqIyIIO=-2Acoustic response timeoutI >) >Aя,$E?AB=B=B2Acoustic response timeoutR%)@R$@RUٱR ZAHRS rotation from veh to nav: [[0.711704,0.701584,0.035461],[-0.702358,0.709736,0.054474],[0.013050,-0.063675,0.997885]]RH G?``s?'?@y`(??` ?M@?iR%)@IR _;RKCY>yDAyMףp= ?q= ףpտ|?5^?M>MM=I I9MuV?@5^I ҿ> ףp=?YMr(?yMbMQ>MBMB MݛB)IIYMBBbD/VDR9y%-=ٔҼQ->9I=Ey!=E> Q 5UX4 ʼn?Q 9UX4 b) 1@YU>?Q EU:yUuQ I]? UBI %52Acoustic response timeout=Aя,E?AF@Fu@FK}ٱF$ NAHRS rotation from veh to nav: [[0.699961,0.712721,0.045650],[-0.714014,0.696982,0.066333],[0.015459,-0.079025,0.996753]]FH f?? u_?3M?-?`%?:f?iF@IF_;FICY^F>ybD fp9I=Ey&<E>Q 5X41ʼn?Q 9X4i)@Yy Q I?ئBIV:iI:aX4y ɮ ?B NQNQNQNYia)a)iiiiiiIqII9OE=2Acoustic response timeoutiA IE AE 2Acoustic response timeoutgAя,YlE?AB~@By@B0GٱBΎ JAHRS rotation from veh to nav: [[0.696866,0.716275,0.036443],[-0.716938,0.694332,0.062470],[0.019442,-0.069661,0.997381]]BH@L??@?@(@7???Lձ ?iB~@IBb_;BHCY^>y^zDbDjVDjR9y=%J=ٔ!Q->9I=Ey,E>Q 5X4-ʼn?Q 9X4o)@YyQ I?jBIr#@>@>H;ٱ># FAHRS rotation from veh to nav: [[0.697769,0.715550,0.033268],[-0.716292,0.697419,0.023082],[-0.006685,-0.039936,0.999180]]>H@T? ??AQ?袗?b{}rH?i>@I>Y`;>JCYZ>yZD^=\bDbVDbR9yuw=%uL=ٔuƅ=Q-u>9yIy=}Eyy3;E>2Acoustic response timeoutQ 5=X4ʼn?Q 9=X4v)@Y9y=Q I=?BIyn8DttbDvVDvR9y<%R=ٔ "=Q- >9 I = Ey q<E>YQ 5eX4]ʼn?Q 9eX4]})]A@YiymėQ Im?]BI]N:i]$:]X4yɮOBNNNNi))iII I!O-=2Acoustic response timeout[aBя, E?A22Acoustic response timeout6@6l@6 0:ٱ6j[ >AHRS rotation from veh to nav: [[0.724120,0.688659,0.037415],[-0.689674,0.723106,0.038307],[-0.000674,-0.053543,0.998565]]6H+? ~ ? (?` #? ? F`j@??i6@I6_;6HCY]4>y]1Dy333333ÿI +??9=̌> 9~jt?MbB`"?Y>y?B  B)BYLBbD%VD%R9yu/<%u)=ٔ}(Q-}>9yIy=}Eyyg=E>Q 5X4ʼn?Q 9X4")@Y?Q E:yDQ I?ͨBI7:i:+X4yɮKBNNNNi))iIII1O=/>2Acoustic response timeoutI >) >Bя,#E?A2ĩ@2侰@2qٱ2 :AHRS rotation from veh to nav: [[0.724743,0.685903,0.065467],[-0.688672,0.718079,0.100471],[0.021903,-0.117901,0.992784]]2H@1??n°? @?{?`m?.?i2ĩ@I2_;0Y^,)>y^ DddbDjVDjR9y%m=ٔRQ-?9I=Ey\;E?Q 5X4ʼn?Q 9X4z)@YyqQ I?BIK:i:|X4y Bɮ QBbENQNYNYNYia)i)iiiiiIIu2Acoustic response timeoutIO=% 2Acoustic response timeoutBя,=E?A:I@:'@:^ٱ:9 FAHRS rotation from veh to nav: [[0.720121,0.685875,0.104888],[-0.693834,0.710840,0.115333],[0.004545,-0.155829,0.987774]]:H: ?@?ٺ? 32?u?'r?1ÿכ?i:I@I:_;:KCYN0%>yR%D V49tIt=vEytzyEz>xQ 5=X4zʼn?Q 9EX4zԂ)z@YAyE Q IE?z,BIz#ynDbDv}VDv|R9y%?=ٔ,==Q->9I=EyQE>2Acoustic response timeoutQ 5X4]ʼn?Q 9X4)N@Yyd#Q I?gBI#9I=EyU<E>Q 5X4ʼn?Q 9X4)7AYyeFQ I?BIe#yRvDy rп +?~jt?>D= 9Q?zG?ʡE?YuBגB B)BYBBAbDVD4R9y PM=% A=ٔ ~Q->9QIQ=UEyQ] =E]>aQ 5mX4eʼn?Q 9mX4eʅ)eEAYmz?>Q Em;ym1?Q Im?eBIe/2Acoustic response timeout YYOG M ` 9I YM Aq(Bя,W&E?A2@2@2_Yٱ2>G :AHRS rotation from veh to nav: [[0.740858,0.671629,-0.006650],[-0.669564,0.739290,0.071659],[0.053045,-0.048637,0.997407]]2H?}?:={`mB?AX?(?樿 ?i2@I2,`;0YN>yNDbDVVDV+R9yu%}T=ٔ}Q-}>9I=EyK<E>Q 5X4?ʼn?Q 9X4)+AYyE?Q I?ʩBI) > 2Acoustic response timeout)/Bя,E?A6b@6]@6:%ٱ6 BAHRS rotation from veh to nav: [[0.732371,0.680903,0.001910],[-0.669368,0.719444,0.185327],[0.124816,-0.137007,0.982675]]6H`o?@?K_?vk ?͸??qr?i6b@I6`;6ICYN >yRMDTTbDZLVDZQ9yp%F=ٔ3Q->9I=Ey;^E>Q 5UX4ʼn?Q 9UX4)AYYy]ZY?Q I]?BIyRD V9aIa=mEyimK=Em>2Acoustic response timeoutqQ 5Y4u'ʼn?Q 9Y4u)uAYyT?Q I?uBIu59I=Ey<E>yQ 5Y4}ʼn?Q 9Y4})}AYy L?Q I?}BI}W:i}:}Y4yɮqBNNNNi))iII1IAOM=2Acoustic response timeout BBя,* E?A=2Acoustic response timeout6Y@6T@62@ٱ6` >AHRS rotation from veh to nav: [[0.757289,0.644207,0.107285],[-0.651383,0.733227,0.195137],[0.047045,-0.217659,0.974891]]6H`;?Y?@w?!v?`@?`??<˿M2?i6Y@I6_;6ICYN>yRjDV=TyDl?X9vϿ rؿO >}þ 9X9v{Gz?^I +׿Yyף<XBB QB)BYBbDVD-Q9yHf=%5:=ٔ599I9==Ey9E<EE>IQ 5UY4MLʼn?Q 9uY4M)M1AYu^>Q Eu ;yuQ=@Q I}?M7BIMW;iM;M'Y4yɮeBNNNNi))项iIIIO=2Acoustic response timeout!(IBя,g& E?Aɰp;:i@:d@:6ٱ:k FAHRS rotation from veh to nav: [[0.758668,0.649715,0.047889],[-0.649959,0.749837,0.123682],[0.044449,-0.124960,0.991166]]:H@G?v?ℨ?@w`??¦?Y?i:i@I:_;:HCYLyPTV@AbDZ]VDZ Q9ٔv;Q-v>9tIt=zEyxz;Ez>Q 5%Y4bʼn?Q 9%Y4.) AY)y-?+@Q I-?KBI:ig:4Y4y5Bɮ5dB1NyNyNyNi))顑iIIIyO=52Acoustic response timeouti I A 2Acoustic response timeoutPBя,B@ E?A2@2@2Vٱ2 :AHRS rotation from veh to nav: [[0.761908,0.647382,-0.019827],[-0.645558,0.761528,0.057702],[0.052454,-0.031164,0.998137]]2H a?Z?|Mi`p^??:۪?{響?i2@I2|`;2ICYr>yvDbD~MVD~Q9yE<%E<ٔMQ-M>9III=UEyQUV<EU>yQ 5Y4}ʼn?Q 9Y4}g)}AYy@Q I?}`BI}:i}:}?CY4yɮ\BNNNNi))iII1IAOM=E2Acoustic response timeoutI >) >W;VBя,W#Z E?A2@2 @2~Nٱ2~< :AHRS rotation from veh to nav: [[0.772522,0.634642,-0.020950],[-0.634863,0.772604,-0.005646],[0.012603,0.017662,0.999765]]2H?N?@sP,?w@ω??`?i2@I2`;2KCYND>yNDPPbDZ?VDZP9yb=%fS=ٔfl=Q-f>9hIh=jEyhj=Ej>|Q 5Y4~ʼn?Q 9Y4~t)~@Y y @Q I ?~wBI~:i~:~PY4y2Acoustic response timeoutɮDBNNNNi))iI I!IQO]=M 2Acoustic response timeout@d\Bя,bs E?A2[b@29]@2y^<ٱ2i\ :AHRS rotation from veh to nav: [[0.758501,0.650781,0.034067],[-0.651038,0.759032,-0.004410],[-0.028728,-0.018834,0.999410]]2H@E?1?5q?NI?rj`8I`*?i2[b@I2b`;0YN/>yR5D TVbDZ9VDZP9yfM%fJ=ٔf=Q-f>9hIh=jEyhnYEn>Q 5Y4ʼn?Q 9 Y4s~) @Y y +@Q I ?BI:i:^Y4yɮ=NB9NANANANAiQ)Q)QQQiIIQIaO=2Acoustic response timeout] 2Acoustic response timeoutPcBя,G E?A:@:l @:Xٱ:I FAHRS rotation from veh to nav: [[0.752089,0.657273,0.048520],[-0.659015,0.749116,0.067263],[0.007863,-0.082563,0.996555]]:H?a?@ר? ?(8? ?"?i:@I:N#`;:MCYZ'>yZiDy~jt?NbX9ؿ ףp= =žQ8 9On?$CӿSտY>yB8B RB)YBbD\VD Q9y#%7=ٔUQ- >9I=Ey E>Q 5Y4ʼn?Q 9Y4ل)n@Y&?Q E:y4Q I?BIO;i; oY4yɮRBNNNNi)))))))i)1I1IqIO >2Acoustic response timeout U nManaging dock network, ignoring radio surface power off0viBя,d E?A2B@2 ߲@2<ٱ2  :AHRS rotation from veh to nav: [[0.767218,0.640235,0.038402],[-0.637674,0.754977,0.152914],[0.068909,-0.141807,0.987493]]2H ?|?k?`g(? ??&¿?i2B@I2`;2KCYU7>yuD !!-=-=bD1VD1y=%M=ٔCQ->9I=Eyz=E>Q 5Y4Sʼn?Q 9Y4M)8@Yy%ҭQ I%?~BI ;iy;>|Y4y)ɮ-JB)NYNYNYNYia)i)iiiiiqIqI2Acoustic response timeoutI)Ou= 2Acoustic response timeout)^pBя, E?Aɰ;2@2@2I!ٱ2E9 :AHRS rotation from veh to nav: [[0.772924,0.631532,0.061285],[-0.633276,0.761835,0.136265],[0.039367,-0.144133,0.988775]]2H ˻?5?`?C`?#q?'?r¿ ?i2@I2_;0YN">yRlDV@ATbDZVDZP9yf\%f^=ٔf<=Q-f>9hIh=jEyhn2<En>Q 5Y4ʼn?Q 9 Y4)@Y y /Q I ?BI :i9:IY4yBɮVBNNNNi))iIII)O]=%2Acoustic response timeout'vBя,e E?A2@2|@2 <ٱ2 :AHRS rotation from veh to nav: [[0.748485,0.656302,0.095066],[-0.662499,0.746384,0.063292],[-0.029417,-0.110355,0.993457]]2H?l?DV?@03a?`3?5@e?i2@I2%_;2JCYb|>yf`D-@GAY}2Acoustic response timeoutO 9YAbDVDP9y %8=ٔ>Q- >9 I = Ey įE5>9Q 5EY4=5ʼn?Q 9EY4=ʕ)=]@YAyE5Q IM?=aBI=p:i=:=ϘY4yuéBɮuyBulENyNyNyNyi))顉iIIIOM=- 2Acoustic response timeoutI >) ?B|Bя,@ E?A6Ԫ@6α@6\<ٱ6Q5} >AHRS rotation from veh to nav: [[0.747266,0.662274,0.054645],[-0.664275,0.746711,0.034083],[-0.018232,-0.061769,0.997924]]6H?Z1?@v?@A`?`_s?`S( ?i6Ԫ@I6`;6ICYN>yRDTVAbDZVDZP9yfW<%fa=ٔfQ-f>9hIh=jEyhnEn>Q 5 Y47ʼn?Q 9 Y4)@Y y Q I ?ìBI:i:Y4yɮ=tB9NANANANAiQ)Q)QQQiyyIIIOu=2Acoustic response timeout= 2Acoustic response timeoutdBя, E?A2@2g@2Z#ٱ2^ڼ :AHRS rotation from veh to nav: [[0.761868,0.647600,-0.013144],[-0.646505,0.761515,0.046110],[0.039870,-0.026632,0.998850]]2H8a?"?9늿*`U^??i?{E ?i2@I2!`;0Yz9>yz.Da@a a@a a@a a@a y~jtxS㥛K7A?Ļ$ > )Mb@Mb@Mb@Ii‰B )YB p< <bD5PVD5P9yE6~=%E4=ٔMxQ-M>9III=UEyH=E>Q 5Y4aʼn?Q 9Y4)@Q A+:YQ E:y0Q I?CBI:i>Y4yɮfBNNNN!iI)I)QQQiQQIYIIO=2Acoustic response timeoutbĉBя,^( E?A2P@2K@2c ٱ2 :AHRS rotation from veh to nav: [[0.776906,0.629176,-0.023554],[-0.628479,0.777207,0.031051],[0.037843,-0.009320,0.999240]]2H`i?@6"?@`?˟? `??i2P@I2et`;0Y^>y^DbDjqVDjP9y}%X=ٔ;Q->9I=EyƄ=E>Q 5Y4ʼn?Q 9Y4)@Q A :YQ E`:yQ I?BI:iQV?Y4yɮvBN1N9N9N9iA)I)IIIiIQII2Acoustic response timeoutIyO= 2Acoustic response timeout jBя,(B E?A2w@2V@2:ٱ2|!7 :AHRS rotation from veh to nav: [[0.769296,0.638212,0.029476],[-0.638891,0.768562,0.033619],[-0.001199,-0.044695,0.999000]]2H`? ;l? /?q?r6? PS:⦿?i2w@I2`;2KCY^>y^3D ``f=fp=bDjVDjP9yv@%vT=ٔv=Q-v>9xIx=zEyxz) E~>9Q 5EY4=ʼn?Q 9EY4=>)=@Q AM9YIQ EM5:yM䪿Q IM?=BI=:i=c?=HY4yQɮzBNNN N i!)!)!!)i)1III9OE=2Acoustic response timeoutd֖Bя,\ E?Aɰ:r@:Q@:!ٱ:evս FAHRS rotation from veh to nav: [[0.750470,0.659743,0.039166],[-0.659722,0.744266,0.104096],[0.039527,-0.103960,0.993796]]:H?`? ?`p@??`9tIt=vEytvEz>xQ 5=Y4zvʼn?Q 9=Y4zְ)z>@Q AE9YAQ EE:yEPQ IE?z~BIz;'y~DbD LVD P9yU<%<ٔQ->9I=Ey<E>Q 5Y4ʼn?Q 9Y4)@Q A9YQ E9yQ I?BI:i@gY4yɮBNNNNi ) )iIII!Om=m2Acoustic response timeoutI >) > 2Acoustic response timeoutfBя,c E?A23@2.@2Ȓٱ2%] :AHRS rotation from veh to nav: [[0.755085,0.641045,0.137505],[-0.655612,0.736841,0.165041],[0.004479,-0.214769,0.976655]]2H )?`q?? 4? ?Yr?`}˿@?i23@I2 _;2KCY^;=y^ DfAdaEaE aEaE aEaE aEaE yE ףp= ?$C?K7?EQ8=E>EI >A A9E'1Z? ףp= Zd;O?YE">yEQ8Ej<>AEB EB)EBEYEBbDgVDP9y%6=ٔF=Q->9I)=-Ey)5E5>9Q 5EY4=mʼn?Q 9EY4=Z)=@Q AET:YE>}>Q EMV;yM6>Q IM?=BI=&}2Acoustic response timeoutxBя,> E?A6@6@6q<ٱ6O >AHRS rotation from veh to nav: [[0.742189,0.655003,0.141868],[-0.670126,0.728239,0.143525],[-0.009304,-0.201592,0.979425]]6H? ?(?@q@M?_?`-ɿtW?i6@I6F_;4YN>yRD VAHRS rotation from veh to nav: [[0.743165,0.662981,0.090340],[-0.668829,0.732157,0.128893],[0.019310,-0.156211,0.987535]]6H?#7? ? g@m??Ɠ?ÿ?i6⡪@I6ؽ_;6JCYN >yNDbDZEVDZP9yrW<%rJ=ٔrQ-r>9tIt=vEytz>;Ez>xQ 5=Y4z/ʼn?Q 9EY4z)z@YAyEbUQ IE?zZBIzH#ynDv=tbDz)VDz~P9yO% H=ٔ /Q- >9I=Ey+E>=2Acoustic response timeoutYQ 5eZ4]ʼn?Q 9eZ4])]@YiymgkQ Im?]{BI]:i]$:]Z4yqɮBNNNNi))iII)I9OM= 2Acoustic response timeoutNBя, E?AɰB*@B%@BwٱB JAHRS rotation from veh to nav: [[0.732988,0.680189,-0.008464],[-0.679181,0.732483,0.046709],[0.037970,-0.028489,0.998873]]BH t??]Uٻ p?@@?p?`/,?iB*@IBpV`;BMCYn>yrDttbDz*VDzP9ye!=%eE=ٔm Q-m>9iIi=mEyiuXEu>Q 5Z4}ʼn?Q 9Z4`)@YyjQ I?BI :i:!Z4yɮBNNNNi)))))))i)qIyI1IAO=M2Acoustic response timeout 2Acoustic response timeout6Bя, E?A2@2@2ȀDٱ2; :AHRS rotation from veh to nav: [[0.741567,0.669699,-0.039774],[-0.669163,0.742607,0.027504],[0.047956,0.006219,0.998830]]2H?@,n? H]i@o?*??ryy?j?i2@I2E`;2JCYN(>yRDy%C̿V-?Q?Zd|>\= 9`"333333Mb?Yy<B GB)BY(BbDVDVP9y<=%B=ٔR¼Q->91I1=5Ey1=<E=>AQ 5MZ4Eʼn?Q 9MZ4E)E0@YM>Q EM;yM|=@Q IU?EBIE* G !U9QYUA]2Acoustic response timeoutI >) >xdBя,і+ E?A2uԩ@2Tϰ@2rUٱ2U :AHRS rotation from veh to nav: [[0.725307,0.688423,-0.002133],[-0.686443,0.723449,0.073596],[0.052208,-0.051915,0.997286]]2H@5??Fza X`&?,ײ?? ?i2uԩ@I2Fs`;2KCYV>yBDAbD-VD-9P92Acoustic response timeouty % 9=ٔ Q- >9I=Ey`E>Q 5Z4gʼn?Q 9Z4)`@Yy;@Q I?ۯBIee 2Acoustic response timeoutHBя,bE E?A:ͨ@:xȯ@:fٱ:Z FAHRS rotation from veh to nav: [[0.702233,0.710376,0.047271],[-0.708675,0.691105,0.141963],[0.068178,-0.133191,0.988743]]:Hx?f?3?w@? +?t?d ǣ?i:ͨ@I:4`;:NCY^J >y^D fp? VƿWw?i2Q @I2\_;2LCYr=yv|D%2Acoustic response timeoutbD~VD~FP9ym%6=ٔy=Q->9I=Ey<E>Q 5Z46ʼn?Q 9Z4)@Yy8@Q I?BI?&2Acoustic response timeout Bя,y E?A22@2-@2n ٱ2V< :AHRS rotation from veh to nav: [[0.712037,0.694811,0.101194],[-0.701049,0.695469,0.157648],[0.039158,-0.183194,0.982297]]2H?@;??n@HA?-? ?rǿ`n?i22@I2_;2MCYb>ybjDf=f=bDjaVDj"P9yv=%vg=ٔvw=Q-v?9xIx=zEyx~c<E}?yQ 5Z4} ʼn?Q 9Z4})}.@Yy8@Q I?}/BI}:i}F:}uZZ4yɮBNNNNi))1i19I9IIO =-2Acoustic response timeout 2Acoustic response timeoutBя,M E?Aɰp;2D@2?@2Ǽٱ2"p :AHRS rotation from veh to nav: [[0.713914,0.695264,0.083276],[-0.699812,0.704296,0.119294],[0.024290,-0.143443,0.989360]]2H@b???Q?d?` ?rߘ?@X\¿ ר?i2D@I2_;2KCYN>yRȡDam@am am@am am@am am@au ymV-?/$ѿV-?m>m1mm=i i)mMb@Mb@Mb@Imim‰mimƑB m)mmYmǑB@A@AbDVDO9y?7%0=ٔY=Q->9I=Eym?;Em>qQ 5}Z4uʼn?Q 9}Z4u?)u@Q A+:YQ E;y9@Q I?uQBIu3:iu>ugZ4yɮNNNNi))iII I9OER>=2Acoustic response timeoutЮBя,ά E?A2t@2S@23Aٱ28ν :AHRS rotation from veh to nav: [[0.708091,0.702737,0.069043],[-0.706114,0.704283,0.073405],[0.002958,-0.100730,0.994909]]2H?|?`Ϭ?`}{?`ʲ?;h?hɹ`L?i2t@I2ſ_;0YNw2>yNyDbDVVDVO9yu>%ub=ٔq=Q->9I=EyE>Q 5Z4ʼn?Q 9Z4)@Q A :YQ Es;y9@Q I?jBI&M 2Acoustic response timeoutI >) Bя, E?A2@2@2⮼ٱ24T :AHRS rotation from veh to nav: [[0.698934,0.715105,0.010800],[-0.714868,0.698092,0.040394],[0.021347,-0.035953,0.999125]]2H]?`#?? 2 V??ە?@oh?i2@I2<4`;0YJD>yJDRAPbDVVDVO9ynD<=%nT=ٔnfCQ-n>9pIp=rEypr Ev>tQ 55Z4v3ʼn?Q 9=Z4v)v@Q A=9Y9Q E=D;y=B9@Q I=?vBIv~&yRQE V49I=Ey5<E]>aQ 5mZ4ePʼn?Q 9mZ4e;)e'@Q Am9YiQ Em;ymL:@Q Im?eBIe:ie?e}Z4yɮqBNNNNi))顑iIIIO=2Acoustic response timeoutBя,` E?A2* @2 @2V<ٱ25; :AHRS rotation from veh to nav: [[0.709128,0.705068,0.003986],[-0.704957,0.709100,-0.014580],[-0.013106,0.007529,0.999886]]2H .??iSp??܍p׊~?`?i2* @I2`;2KCY~7S>y~EbD VD O9ym)%mD=ٔm"=Q-m>9qIq=uEyq}<E}>Q 5Z4ʼn?Q 9Z4)`@Q A9YQ E;y:@Q I?°BI:ik@Z4yɮuBNNNNi)1)111i99IAIIO5=2Acoustic response timeout  2Acoustic response timeoutCя,: E?A2ͨ@2ȯ@21<ٱ2,W :AHRS rotation from veh to nav: [[0.703687,0.708427,0.054366],[-0.710098,0.703823,0.019864],[-0.024191,-0.052583,0.998324]]2H ?n?ի?@@? UW?`Ř 2쪿 D?i2ͨ@I2#`;2LCYN[>yR ETV=aa aa aa aa y/$y&1?"~j`=S 9y<>B&B B)BYBbDVDO9y<%B=ٔ9I=Ey0E%>!Q 5-Z4%ʼn?Q 9-Z4%)%@Q AUT:YU$>Q EU ;yU0Q IU?%BI%;i%c;%אZ4yaɮeqBaNiNiNiNiiy)y)yyiIIIQO]=2Acoustic response timeout Cя,. E?A4<ɰ4<2@2@24ٱ2Dν :AHRS rotation from veh to nav: [[0.702172,0.710829,0.040949],[-0.710650,0.696125,0.101916],[0.043940,-0.100663,0.993950]]2H1x??@??@@F?/?=? Źo?i2@I2R_;0Y^T>y^EfAAfAAbDj)VDjO9y䍼% Z=ٔ q:Q- >9I=EyԁE>9Q 5EZ4=ʼn?Q 9EZ4=)=@YIyM$Q IM?=8BI=:i=:=Z4yQɮUuBN NNNi9)A)AAAiAIII}2Acoustic response timeoutIIO=- 2Acoustic response timeoutCя,5G E?A6hѨ@6G̯@6tƽٱ6 >AHRS rotation from veh to nav: [[0.700897,0.713022,0.018488],[-0.706670,0.690670,0.153600],[0.096751,-0.120722,0.987960]]6H`m??? ? '?ĸ?羿^?i6hѨ@I6_;4YNE>yRkDbDZVDZqO9yf%fN=ٔfQ-f>9hIh=jEyhn*;En>9Q 5EZ4=2ʼn?Q 9EZ4=C)=@YAyEQ IE?=oBI=:i=9:=Z4yQɮU|BQNYNYNYNYii)i)iqqiqqIIIO=2Acoustic response timeout GI >) >  9 Y dACя,a E?A2/@2*@2pٱ2 :AHRS rotation from veh to nav: [[0.687329,0.725773,0.028834],[-0.720862,0.676734,0.149629],[0.089084,-0.123630,0.988322]]2H@?9??MΧ? '? .ζ?3T?i2/@I2_;2KCYN&>yR99I9=EEyAE6AEE>IQ 5UZ4Mʼn?Q 9UZ4M)M9@YQy}?!Q I}?MBIM?;iM;M8Z4yɮBNNNNi))iIIIO%=2Acoustic response timeout8Cя,{ E?A2@2੮@2hLٱ2&/ :AHRS rotation from veh to nav: [[0.676439,0.735399,0.040233],[-0.732179,0.665559,0.144722],[0.079651,-0.127353,0.988654]]2Hb?d?@m? nBL?A?d?M ?i2@I2_;2MCYNA>yRD Vp9 I = Ey  M"E>Q 5}Z4ʼn?Q 9}Z4)@Yy$Q I?ޱBI)eyN=DyK7ɿZd;OQIj 99!I!=-Ey)- =E->QQ 5]Z4U ʼn?Q 9]Z4U)U@Ye=Q Ee;ye?Q Ie?UBIUU:iU:UZ4yiɮmBiNNNNi))顩iIIIO =2Acoustic response timeout y+Cя,2" E?A2@2@2Ȳٱ2³ :AHRS rotation from veh to nav: [[0.698287,0.715330,0.026431],[-0.710488,0.688118,0.147309],[0.087186,-0.121643,0.988737]]2H^X???Q?? Q?#?i2@I2t_;2ICYN >yRMDV=V=bDZVDZN9yf.<%f[=ٔfQ-f>9hIh=jEyhn/=En>Q 5Z4Dʼn?Q 9 Z4)@Y y ?Q I ?BI:i:Z4yɮB9NANANANAiQ)Q)Q2Acoustic response timeoutQiIIQIaO= 2Acoustic response timeouta2Cя,L E?Aɰ"nManaging dock network, ignoring radio surface power offB@Bo@B0<ٱB:嘽 NAHRS rotation from veh to nav: [[0.698475,0.715634,-0.000699],[-0.711459,0.694506,0.107179],[0.077186,-0.074364,0.994240]]BHY?y?pFFd9?p?|³? `?iB@IB_;BLCY^F>y^Ddf@AbDj9VDjN9yr <%rI=ٔv9tIt=vEyxzkEz>Q 5%Z4Sʼn?Q 9%Z4޿) @Y!y-?Q I-?BI:i:Z4y1ɮ5B1NYNYNaNaii)i)qqqiqIIIO= 2Acoustic response timeoutŋ8Cя,, E?A22Acoustic response timeout6}u@6\p@6 ٱ6 >AHRS rotation from veh to nav: [[0.695886,0.718148,0.002540],[-0.717544,0.695147,0.043609],[0.029552,-0.032169,0.999045]]6H@D??[d?@>?S?B?`x .?i6}u@I6_;6MCYNO >yRۨDbDZ/VDZN9y % H=ٔ =Q- >9I=Ey uE=>AQ 5E[4Efʼn?Q 9M[4E)E>@YIyM?Q IM?E(BIE:iEB:E.[4yQɮ}ByNNNNi))顑iIII O=2Acoustic response timeoutIe >)e >Ե>Cя, E?A2@2@2xٱ2C :AHRS rotation from veh to nav: [[0.684311,0.729181,-0.003683],[-0.729032,0.684259,0.017360],[0.015179,-0.009195,0.999843]]2H@?`sU?*n;Ts?Ƒ??Ԃ?i2@I2|_;2OCYN,>yRfDTTbDZ VDZN9yfڲ=%fN=ٔf=Q-f>9hIh=jEyhn(En>Q 5 [4ʼn?Q 9 [4=)n@Y y ?Q I ?8BI:iN:[4yɮBNNNNi))iIIAIqO=2Acoustic response timeout% 2Acoustic response timeoutECя, E?A2l@2g@2Ǽٱ2̼ :AHRS rotation from veh to nav: [[0.695235,0.718781,0.001041],[-0.718369,0.694786,0.034898],[0.024361,-0.025010,0.999390]]2H ^??B?^ Q? ;?&ޡ?@? 8?i2l@I2_;2JCYN9>yR.DyE r?y&1|?Zd;OǿEC>E`;EjyEE&1EBEB EB)E×BAYEB U49I=EyG =E%>!Q 5-[4%ʼn?Q 9-[4%)%$@YUչ>Q EU;yUMڿQ IU?%BI%;i%2;%s[4y]ߩBɮeBaNiNiNiNii))顙iIIIO=}2Acoustic response timeoutKCя,i1 E?A6g@6F@6ˆٱ6/v BAHRS rotation from veh to nav: [[0.701650,0.711898,0.029820],[-0.712282,0.699712,0.055290],[0.018496,-0.060034,0.998025]]6H@s???`` d?N??м?i6g@I6_;6OCYR>yR/DbDZVDZpN9yf;%f_=ٔf"9hIh=jEyhn<En>Q 5 [4}ʼn?Q 9 [4)V@Y y ڿQ I ?BI|:i:A+[4yɮ=B9NANANANAiQ)Q)QQQiyyIII2Acoustic response timeoutOs==bgot command set marl.SpeedUpdateTimeout 15 minuteW @=hgot command set marl.AcousticContactTimeout 0.5 hourBW @=tgot command set marl.SendObservationDataInterval 10 minuteRW@=Efgot command set marl.TrackingUpdatePeriod 30 secondbWI=MFgot command set marl.Depth 15 meterrWM.@=ULgot command set marl.MaxDepth 35 meterWUA@=]got command run=eRunning ai 2Acoustic response timeout a a ԁ RRCя,GK E?A2C@2>@2ٱ2/Ƚ :AHRS rotation from veh to nav: [[0.691720,0.719747,0.059061],[-0.721976,0.687345,0.079423],[0.016569,-0.097579,0.995090]]2H "?+?9=?m? U?`??i2C@I2V_;2ICY=>y=D AAM=M=YbDUVDU|N9y3%8=ٔ|;Q->9I=Ey IE >Q 5=[4xʼn?Q 9=[4)O@Y9y=%޿Q I=? BI;i::[4yIɮMBIu)uRAggregate::uninitialize DefaultWithUndocku -upAggregate::uninitialize DefaultWithUndock:SurfaceDefaultu-uDUninitialize GoToSurfaceComponent.1u .uAggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckInu 1u8Uninitialize Wait Component.'}(Started mission marlKy-} [}4Aggregate::initialize marl-}[}JAggregate::initialize marl:AbortDrift1.}1/}^}DInitializing TrackAcousticContact.4iXAggregate::initialize marl:StandardEnvelopes15 jJInitialize AltitudeEnvelopeComponent.q5jDInitialize DepthEnvelopeComponent.5 kJInitialize OffshoreEnvelopeComponent.9sDAggregate::initialize marl:Science1:q:::1;q;;q<x`Aggregate::initialize marl:Science:PeakDetectChl<1> |`Aggregate::initialize marl:Science:EdgeDetectChlq>q?~nAggregate::initialize marl:Science:HighestChlPeakReport?Initialize.?tAggregate::initialize marl:Science:PeakDepthAvgProfilesChl1@@ `Aggregate::initialize marl:Science:PeakDetectNO3@A `Aggregate::initialize marl:Science:PeakDetectOilAB nAggregate::initialize marl:Science:HighestOilPeakReportBInitialize.1C bAggregate::initialize marl:Science:PeakDetectFDOMqC1D jAggregate::initialize marl:Science:PeakDetectSalinityqD 1E  pAggregate::initialize marl:Science:HighestSaltPeakReportqE  Initialize.EM UAggregate::initialize marl:Science:PeakDetectPlanktivoreLMavgROIEUFU UAggregate::initialize marl:Science:EdgeDetectPlanktivoreLMavgROIFUGUUAggregate::initialize marl:Science:PeakDetectPlanktivoreHMavgROI1HUHUUAggregate::initialize marl:Science:EdgeDetectPlanktivoreHMavgROI1I]1J] ]~Aggregate::initialize marl:Science:PeakDetectPlanktivoreDiatomsqJ]1K] ]~Aggregate::initialize marl:Science:EdgeDetectPlanktivoreDiatomsqKeqLeeAggregate::initialize marl:Science:PeakDetectPlanktivoreDinoflagellatesLeqMeeAggregate::initialize marl:Science:EdgeDetectPlanktivoreDinoflagellatesMeNe efAggregate::initialize marl:Science:ChlThreshTriggerNmmInitialize.;w^Aggregate::initialize marl:Science:OceanCurrent1<x} |}dAggregate::uninitialize marl:Science:EdgeDetectChlq>}q<}x}dAggregate::uninitialize marl:Science:PeakDetectChl<}1<}2f@>:f@>ԉBf^@Jf6O{@;q;1; vInitialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water:: uInitialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature uInitialize ReadDataComponent to sense CTD_Seabird.sea_water_salinityq:tvInitialize ReadDataComponent to sense sea_water_temperaturetpInitialize ReadDataComponent to sense sea_water_salinity1:45q52Acoustic response timeout15%B[% @4%5-1/-Y]]Ӑ?YK YYBYJYBbY@:k<5"8@mVRҚeB*kV?ŰѨCt׿RYZYBkΰH<,[Tm0k;2k9gH1߿19me꿜 qubzѿ*Y2YFY]]Ӑ?"YK:YT-X @\XInsert acoustic timeout set to 0.500000 h .1.q.\0Initializing AbortDrift.\HAcoustic timeout set to: 0.50 hours.ip:)999i9AIAIyIO%o>Ա BXCя,`!e E?Aɰ"2Acoustic response timeout:@:@:yٱ: BAHRS rotation from veh to nav: [[0.685576,0.723276,0.082814],[-0.727695,0.677540,0.106765],[0.021111,-0.133459,0.990829]]:HyRDTVAAbDZVDZN9yg<%\=ٔHQ->9 I = Ey ۸E>Q 5][4ʼn?Q 9e[4')@YayeAQ Ie?JBI%yNDbDVvVDVUN9y=_%=G=ٔE09AIA=EEyIM]<EM>QQ 5[4U|ʼn?Q 9[4U)U@Yy߿Q I?UBIU&AiIe >)e > 2Acoustic response timeoutԙ eCя,o֘ E?A>a@>@@>P-;ٱ>~. JAHRS rotation from veh to nav: [[0.686122,0.716656,0.125063],[-0.727483,0.676438,0.114890],[-0.002261,-0.169810,0.985474]]>H@?`??@G@b?li?bSſ`?i>a@I>g`;yRDTVAyI +?:vʿRQ94>T½ 9L7A`?J +ɿV-?Y+>yH<gBB B)BYBBbDVDwN9y%A=ٔ=Q-> ae/Cy9I=Ey%9!Y%A-֞E->qQ 5}[4uʼn?Q 9}[4u)u@Y}>Q E:yQ I?uBIu :iu:uf[4yBɮBE2f5|>:f5|>Bf5if=Jf5m@\5p@q651P=iI)QQQiQYIYIIO )>ԩe2Acoustic response timeout %lCя,ȱ E?A2Kx@2*s@2lvfٱ2.! :AHRS rotation from veh to nav: [[0.673607,0.731378,0.106486],[-0.738955,0.663717,0.115867],[0.014066,-0.156737,0.987540]]2H@1?rg?`B?*=?t?@Ό?Ŀ?i2Kx@I2#`;2KCYN!>yRD V;V<bDZVDZ}N9y]@=%]R=ٔe+Q-e>9aIi=mEyim[HEm?qQ 5[4u&ʼn?Q 9[4u)u@YyuQ I?uEBIu;iuo:u^r[4yBɮBE2Acoustic response timeouth1PQTAggregate::initialize marl:StartingMission*Initializing backseat2f):f)Bf)Jf-'@ia)iiiiiqIqm2:IIO>) ii Ii u 2Acoustic response timeout Powering up 8Subscribing to LCM channels.Q sCя, E?A2 @2@2esٱ2b׽ :AHRS rotation from veh to nav: [[0.686789,0.723841,0.066147],[-0.726705,0.681936,0.082840],[0.014855,-0.104963,0.994365]]2H@,?)??+Ak?5? ll?`޺?i2 @I2^6`;2NCYN>yNDbDVgVDVNN9ybWJ%bT=ٔfjQ-f>9dId=jEyhj?=Ej>|Q 5[4~Rʼn?Q 9[4~)~O@Yy 梿Q I ?~BI~d:i~:~[4yɮB2f:fBfJfʲ@1 cHAggregate::initialize marl:NeedComms12 d@Initialize GoToSurfaceComponent.dHReceived depth rate setting nan m/s.dRReceived pitch setting 19.999999 degrees.dHReceived speed setting 1.000000 m/s.djReceived surface timeout setting 1000.000000 seconds. dNo altitude timeout specified. Using default value of 600.000000 seconds.dnReceived pitch timeout configuration 60.000000 seconds.1ZZZZc last time_fix was: 1761415977.000000 second since 1970/01/01T00:00:00Z 1 i=+:)9)AAAiAAII)M@:IaIqO}=2Acoustic response timeoutQԁ Y ] AA(yCя,]j E?A2Acoustic response timeout,B4@B/@B<ٱB2$ JAHRS rotation from veh to nav: [[0.690238,0.721976,0.048182],[-0.723047,0.690757,0.007567],[-0.027819,-0.040061,0.998810]]BH`n?n?T? 4#?~?|@䂤 @?iB4@IBw`;BKCY^x>y^FDb=b=bDf5VDf7N9y=J%=C=ٔE=Q-E>9AII=MEyIMRD<EM>QQ 5}[4Uʼn?Q 9}[4U])U@YyȢQ I?UBIU;iU;Uw[4yɮB2f:fBfJf@ZZZZq2i))项iII9IiOyԱ2Acoustic response timeout E g E \E lE "E C:*E 9VE 5ZE Cя,CE?A;ɰ;2"@2@2jq;ٱ2 :AHRS rotation from veh to nav: [[0.684218,0.729195,0.010911],[-0.729244,0.684253,0.000762],[-0.006910,-0.008478,0.999940]]2H ?U?X?`U`f?H?N|@,]?i2"@I25_;0YN=>yRDTTpbDZ˿VDZN9y-n=%-K=ٔ5+UQ-5>91IY=]EyamzEu>Q 5[4ʼn?Q 9[4)@YyAQ I?TBIs9a  2Acoustic response timeout6y~DaEh EPEoE"EG:*E?9VE5ZEyUMbZd;?@5^I ?UUy=Ub>Q Q9Ud;O?MbȿS?YU>yU@U?UBUzB U B)UQYUܝBbDmmVDmM9ym%m+=ٔmԙQ-u>9qIq=uEyq} =E}>Q 5[4Ɖ?Q 9[4)9@Yr9?Q E:yQ I?BI;iK;4[4yɮB2f0?:f0?Bf_̸@Jf푞@Z!Z!Z)Z)i9)9)999iAԁIIIYOe4>i9I=A=2Acoustic response timeoutԱB <A <" jFailed to parse device response: eCя,3E?A2K@2fF@2ٱ2T; :AHRS rotation from veh to nav: [[0.692483,0.721384,-0.008516],[-0.721392,0.692522,0.002599],[0.007773,0.004343,0.999960]]2H(? ?p $)?@xKe?b?]q??i2K@I2]E`;2MCY^>y^mDdfAbDjVDjM9yް%{=ٔ =Q-  ?9 I = EyfE ?9Q 5E[4=Ɖ?Q 9E[4=)=@YAyM>Q IM?=BI=:i=9:=[4yQɮUBqԱ2Acoustic response timeout2fA:fABfAJfEʞ@ZiZiZqZqi))顁iIIIO=Ej EREuE"EN:*E9VE5ZE  2Acoustic response timeout9 LCя,ME?A6g@6F@6ٱ6OV BAHRS rotation from veh to nav: [[0.685925,0.727605,0.009882],[-0.727625,0.685662,0.020717],[0.008298,-0.021401,0.999736]]6H`?@H?A=?H`?@6?u?*ꕿ`?i6g@I6#`;4YN=yRϕD <<bD ̾VD M9y%r%-H=ٔ-Q-->91I1=5Ey15E5>YQ 5e[4]Ɖ?Q 9m[4])]AYiymQ Im?]EBI]:i]C:][4yBɮکBE2f:fBfJf'@ZZZZi))iI I)-2Acoustic response timeoutAIIOj>D=D<Ed EMEE"E9:*E9VEZEԑԹ DvCя,gE?A2_ȧ@2>î@2U ٱ2a :AHRS rotation from veh to nav: [[0.680466,0.732580,0.017068],[-0.731978,0.678449,0.062566],[0.034255,-0.055068,0.997895]]2H`a?Lq?Tz?]l@۵?`U?؉?1@?i2_ȧ@I2m_;0B2Acoustic response timeoutYN!>yRDZParsing RMC sentence: $GPRMC,181728.00,A,3646.40626,N,12151.90108,W,0.467,281.48,251025,,,D*78 )ZZE?AZ9ĉ?Z)9ZecB@ut\w^bhGPS fix at 20251025T181728: (36.773438, -121.865018)Zv>ZF5@bDjLVDjVM9y=%==ٔevQ->9 I = Ey  EE>YQ 5e;4]9ĉ?Q 9e;4])Q =mtI)]YiymQ Im?]ԑI]!;i]/<]>g;4y*Bɮ٩BE2f:fBfJfu@q213 Z ZZZ\Received valid gps time fix: 1761416192.00. Resetting abort timer.i!)))))a]a] a]ae aeaeaeae aeae aeae BU#>BQBUDBU=BU=BUDBU(Damam BU;BUBEiIIIOM>52Acoustic response timeout E a E RE E "E %.:*E 9VE H5ZE BE T3;a 2E V3;a JE (:a :E ):a A ^Cя,ŠE?A> @>n@>+ٱ>L FAHRS rotation from veh to nav: [[0.663551,0.745544,0.062157],[-0.747251,0.656451,0.103387],[0.036277,-0.115049,0.992697]]>H;??ү?z?w?@ڒ?s,?i> @I>_;yRpDV=V=-?>-:?bDMȽVDMM9y])%eD=ٔmܞQ->9I=EyYE>Q 5;4ʼn?Q 9;4f-)t>YyƗQ I?>Ik:ib:u;4yɮ۩B2f:fBfJfp@ f5zInitialize ReadDataComponent to sense platform_communicationsZ1Z1Z1Z1iI)I)iiiiq2Acoustic response timeoutIIII E 2Acoustic response timeoutO >Cя,cE?AHߧ@'ڮ@D@AzD@AE^ EMEUE"EC#:*E9VE >5ZEa@a@a@a@G <ٱC }AHRS rotation from veh to nav: [[0.682888,0.720913,0.118108],[-0.730475,0.675714,0.099080],[-0.008379,-0.153935,0.988045]]H 7??@Ly5&DIy=V-?=H9 99= rhMb?%C?Y=Cy=>=Zd>==jB =B)=B9Y=BIM@AbDUVDU1M9yeO%e=ٔm=Q-m>9iIi=uEyquH=Eu>yQ 5;4ʼn?Q 9;4*)S>Ye>Q E;y{?Q I?0>I:i]:<;42Acoustic response timeoutyɮB2f>:f>Bfe@Jf\?ZZqZyZyi))顙iIIIO>AM @AAM @ABU H>BQ BU zDBU J=BU =BU DBU )DBU H;BU BEԩ ϱCя,>E?A2;@2 @2<ٱ2) :AHRS rotation from veh to nav: [[0.687082,0.713926,0.135010],[-0.726215,0.680665,0.096470],[-0.023025,-0.164329,0.986137]]2H?{?H?'=?@=?ȓ ſn?i2;@I2h`;2OC@Y^">ybVDbDj5VDjKM9yr>%r=ٔv3=Q-vG?9tIt=vEytz<EzG?|Q 5;4~ ʼn?Q 9;4~()~>Yy z?Q I ?~g>I~;i~:~;4yɮ٩B2f:fBfJf緜?ZZZZi))i2Acoustic response timeoutII!IO=ԩE` EiEcE"E*:*E9VE&k5ZEBE -;a2E -;aJE8;a:E8;a 2Acoustic response timeout Cя,E?A2m@2h@2m$ٱ2 :AHRS rotation from veh to nav: [[0.672184,0.736168,0.078903],[-0.739296,0.661596,0.125426],[0.040133,-0.142642,0.988960]]2H@??2? P@+? ?`I? B¿`?i2m@I2f`;2LCYN)>yNDTVAbDZVDZ M9yf+<%fL=ٔfc!Q-f>9hIh=jEyhjJEn>lQ 5 ;4bʼn?Q 9 ;4&)>Y y ?Q I ?>I@:i:-;4y=+Bɮ=֩B92fa:faBfaJfe?ZqZZZi) )   i IqIIO=]Sending 39 bytes from file Logs/20251025T160131/Courier0049.lzma  2Acoustic response timeoutAEo EREuE"E`:*E9VE5ZEa@a@a@a@ b9YAa ùCя,E?A22Acoustic response timeout:<@:@:ٱ:"ݽ FAHRS rotation from veh to nav: [[0.665023,0.744769,0.055343],[-0.745845,0.658536,0.100231],[0.038203,-0.107933,0.993424]]:HG?@&?U? `?@? X? ?i:<@I:O`;:MCY^x>ybFD~&~%~& $) I"i##&'& % 4<bD%TVD%L9y5-%5D=ٔ=;9Q-E>9AII=MEyIMEU>YQ 5e;4]ʼn?Q 9e;4]s#)]5?Yiym<?Q Im?]x?I];i];];4yyɮ}ߩBy2f:fBfJfwۮ?ZZZZiq)y)yyyiyIIIO=B`>B*CBDB=B=BB+DB;BEiԑ2Acoustic response timeoutMxMoved sent file to Logs/20251025T160131/Courier0049.lzma.bakM$SBD MOMSN=26236819E a E LE pE "E %.:*E |9VE 5ZE BE M3;a 2E P3;a JE w:a :E x:a Cя,E?A-3@-.@-f~<ٱ- eAHRS rotation from veh to nav: [[0.667397,0.741794,0.065747],[-0.744540,0.666488,0.038141],[-0.015527,-0.074406,0.997107]]-HQ[?Ƽ?@԰?ES?*? ̏`D `M?i-3@I-_;)Y$=ԡyDyT㥛 HzGѿl?== 9HzG?/$ÿ|?5^Y= >yҽBڒB B)YǣBbDNVDL9yO%1=ٔ=Q->9I=Eyj;E>Q 5 ;4ʼn?Q 9 ;4%)=?Y j>Q Eh;yۿQ I?1?I ;i& ;;4yɮB2f]ډ>:f]ډ>Bf]?Jf]@Ziu2Acoustic response timeoutZiZqZqi))顉iIIIO=% 2Acoustic response timeout) Cя,E?A2B@2!@2=<ٱ2ɽ :AHRS rotation from veh to nav: [[0.651897,0.754083,0.079925],[-0.758264,0.649355,0.058084],[-0.008099,-0.098469,0.995107]]2HW?s!?u?C`?0?[@5 ?i2B@I2)_;0YBF>yBDbDJVDJL9yRV=%Vx=ٔV¸Q-V?9TIX=ZEyXZ€EZ?\Q 5b;4^ʼn?Q 9b;4^')^>Ydyf޿Q If?^C?I^y:i^:^;;4yhɮjBh2f :f Bf Jf @ZZZZi))))111i11bE5jEׅ5rE2E` EMEaE"E*:*E9VEd5ZEa@a@a@a@IIIO=!2Acoustic response timeoutQB<A=Bc>B+CBDB#>BBBB;BėEBB*CBȔCBȡ=Bș=Cc7y lCя,6E?A2@2@2ۡٱ2C :AHRS rotation from veh to nav: [[0.635255,0.771292,0.039486],[-0.768256,0.625874,0.134402],[0.078950,-0.115715,0.990140]]2HT? m?7?(?4? 6?9?i2@I2_;2PCYN>yNDbDVVDVL9yr+<%rF=ٔrNXQ-v>9tIt=vEytz>Ez>|Q 5;4~[ʼn?Q 9;4~*)~>Yy޿Q I?~Z?I~:i~[:~;4yɮB2fA:fABfAJfE'@ZYZYZYZYiy)y)顁iIu2Acoustic response timeoutIIIaIqO}=E_ ETEjE"E&:*E9VEـ5ZEBE&;a2E&;aJE:a:E:ayԡi! I% A% 2Acoustic response timeout ,Cя,cPE?A2ȥ@2ì@2oٱ2 :AHRS rotation from veh to nav: [[0.629091,0.776999,0.022717],[-0.767702,0.616446,0.175009],[0.121978,-0.127537,0.984305]]2H!?.?5C??f?9? Sl?i2ȥ@I2<_;2NCYNx>yRFDbDZ8VDZaL9y݉;%G=ٔ%׽Q-%>9!I)=-Ey)-0E->1Q 5=;45ʼn?Q 9=;45c,)5>>YAyE_޿Q IE?5q?I5;i5;5;4yIɮMߩBI2f:fBfJf=p@ZZZZi))顩iIIIO=Ա2Acoustic response timeoutEe ENElE"E<:*E҆9VE5ZEa@a@a@a@ Im >)i 1 !Cя,u=jE?A2~@2y@2M|ٱ2 BAHRS rotation from veh to nav: [[0.649632,0.759716,0.028462],[-0.757752,0.644013,0.105156],[0.061559,-0.089880,0.994048]]2H?O?;%? ? ›? ??d`>?i2~@I2J_;2MCYJ>yJ9DLLTVAbDZ(VDZZL9yf%fP=ٔj>Q-j>9hIl=nEr2Acoustic response timeoutytvf=Ev>xQ 5;4z ʼn?Q 9;4z.)z>Y y ۿQ I ?z?Iz<;iz=;z;4yɮB2fI:fIBfIJfMu_@ZZZZi))iIII)O==Bf>BBDB,>B=BBB;BnE92Acoustic response timeouti E c E PE aE "E g5:*E ?9VE d5ZE BE ?;a 2E ?;a JE :a :E :a <Cя,O?E?A<<;n@i@沼ٱЮ eAHRS rotation from veh to nav: [[0.672605,0.740000,0.001100],[-0.739679,0.672268,0.030508],[0.021837,-0.021333,0.999534]]H??R?`s8?v=?[\?Vؕ.?i;n@IB<`;NCYuV>yuBDa5@a= a=@a= a=@a= a=@a= a=@a= y5Mb?/$ÿOnÿ5@=551 1)5Mb@Mb@Mb@I5i5‰555 5)15I5 Up9qIq=uEyq}=E}>Q 5;4.ʼn?Q 9;41)T>Q A+:YQ E<;y׿Q I?Ï?I:i>;4yFBɮBEZZZZi))iII YIO=2Acoustic response timeoutԉԱ  2Acoustic response timeoutU$Cя,E?A2@2@2?؍ٱ2- :AHRS rotation from veh to nav: [[0.659890,0.750283,-0.040256],[-0.748168,0.661076,0.056768],[0.069205,-0.007342,0.997575]]2H?Q?w'? ? g?~`#?i2@I2/:`;2PCLY~3>y~DbD}VD L9y%Y=%%c=ٔ%Q-->9)I)=-Ey)5|,E5>9Q 5E<4=ʼn?Q 9E<4= 3)=S>Q AE :YAQ EE;yEHֿQ IM?=e?I=<:i=Q?=<4yUEBɮUBQEed EeUEejEa"Ee9:*EeP9VEeـ5ZEaam@am@am@am@ZZZZi))iIIIO=iI2Acoustic response timeout AAAABe>BBBBBBB;BE! 1NCя,ηE?A2rB@2P=@2iٱ2 :AHRS rotation from veh to nav: [[0.642539,0.765317,-0.037861],[-0.760770,0.643063,0.087750],[0.091504,-0.027579,0.995423]]2H@?y}?b9X?v?l?=?i2rB@I2R`;2LCYb=>ybsD hhn=n=bDMLVDMK9ye%mF=ٔm]Q-u>9qIq=uEyquLE>Q 5 <4ʼn?Q 9 <4h5)m>Q A 9Y Q E :y ٿQ I ? ?I:i?<4y9ɮ=B9]2Acoustic response timeoutZZZZi))iII IO=)Em^ EmHEiEi"EmC#:*Em[9VEiZEiBEm ;a}2Em ;a}JEmX:a}:EmY:a}Q 2Acoustic response timeoutԁ 7Cя,E?A2@2@28ٱ2 /} :AHRS rotation from veh to nav: [[0.641628,0.766199,0.035396],[-0.766788,0.639629,0.053959],[0.018703,-0.061762,0.997916]]2H7? ?d?w?t?@&?P?i2@I2`;2OCYNu>yNDTTbDZVDZK9yb%fU=ٔfB>Q-f>9dIh=jEyhjiLEj>|Q 5<4~ ʼn?Q 9<4~m7)~U|>Q A 9Y Q E :y ޿Q I ?~?I~]:i~??~<4YyɮBZ!Z!Z)Z)iY)Y)YYYiaaIiIIO =ԁe2Acoustic response timeoutDqDu<E}g E}NE}\Ey"E}C:*E}҆9VE}T5ZEya@a@a@a@Ա fCя,RE?A>^r@><ٱ>j޽ JAHRS rotation from veh to nav: [[0.649493,0.753911,0.098878],[-0.759940,0.647979,0.051136],[-0.025518,-0.108354,0.993785]]>H? ? 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U?F!?jI?i?Rǿ`W?i2MA@I2U_;0Y~>y~=DbDVDF9y);%D=ٔ<9I=Ey=E>1Q 5]?4ʼn?Q 9]?4C)#D@Q A]9YYQ E]:yerBQ Ie?E4AIfE%a E%TE%E!"E%%.:*E%9VE%5ZE!a-@a-@a-@a5@B B B DB M>B B B B ;B 6Ee 2Acoustic response timeout =Eя,uE?A:a@:\@: ٱ:2 fAHRS rotation from veh to nav: [[0.622714,0.778564,0.077880],[-0.779674,0.609046,0.145504],[0.065851,-0.151329,0.986288]]:HE?`??@O}?@ߟ?`۰?^ÿ?i:a@I:J_;:QCY~ >y~ DԹbDwVDF9y`<%8=ٔ ]=Q-U>9YIY=eEyaC<E>iQ 5u?4mƉ?Q 9u?4m)mS@Q Au9YqQ E}9y}KQ I}?mC7AIm':imN @m?4yɮªBZZZZi))顑iIIIO J>ߙߝ%=2Acoustic response timeout E i E UE jE "E ,K:*E P9VE ـ5ZE BE te;a% 2E ve;a% JE :a% :E :a- 9 Eя,TE?A2Ȥ@2pë@2,ٱ2JŽ :AHRS rotation from veh to nav: [[0.609299,0.789854,0.069897],[-0.792871,0.605706,0.066897],[0.010502,-0.096179,0.995309]]2H_?`|F??3_a? / ?I?6`?i2Ȥ@I2_;2RCYv=yvZD2Acoustic response timeoutaa aa aa aa y(\?:vbX9ȶ?>TE= 9)\(̿)\(?Mb?YGayGa=<BːB B)BYB@AbDVDF9y'%L=ٔ >Q->9I=Ey MsJEU>QQ 5]?4U-Ɖ?Q 9]?4U)US@Q AeT:Ye[h>Q Eei;yeK?Q Ie?U8AIU:iU:U?4yɮʪB2fk?:fk?Bf<@JfdG@ZZZZi))i!I!I9IO 9i  2Acoustic response timeoutD zD AAE!  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Eя,eE?Af2@f@fb*ٱfJa rAHRS rotation from veh to nav: [[0.629347,0.776950,0.016460],[-0.776004,0.627161,0.066981],[0.041718,-0.054927,0.997618]]fH@#??@ڐ? ?%?\?q}?if2@If_;fTC|Y=>ysD <p<bDʯVDF9y}L<%}A=ٔ9I=Ey&<E>Q 5?4ʼn?Q 9?4{)R@Yy]@Q I?yRخDbDZVDZF9y%S=ٔ ;Z=Q->9!I!=%Ey)-ʛE5>YyQ 5?4}ʼn?Q 9?4}H)}R@Yy?Q I?}>>AI}h}2Acoustic response timeoutԱEh EQEE"EG:*Ev9VE85ZEBE/_;a2E1_;aJE:a :E:a A E @A wEя,E?A2@2l@2rٱ2 :AHRS rotation from veh to nav: [[0.606973,0.790118,0.085421],[-0.794455,0.600464,0.091020],[0.020624,-0.123110,0.992179]]2HRl?`H?$޵?,l7?M? ??i2@I2_;2RCYN>yNDV=V=Ա2Acoustic response timeouty~jt?S? ףp= ǿD>/]>Q8 9S㥫?X9v?:vY/]=y}=TBB (B)9YIY=]EyY]*:Ee>aQ 5m@4eʼn?Q 9m@4 e\)e^R@YEz=]GqQ EAIe@+=y9YqmAieX+=e @4yɮB2f5>:f5>Bf5~@Jf5JT>@ZYZYZYZYii)q)qqqiqyIyII!O--> 2Acoustic response timeout9 D zD @AE a E PE }E "E %.:*E ?9VE s5ZE a @a @a @a @(EEя,vE?A>w@>r@>; ٱ> JAHRS rotation from veh to nav: [[0.625782,0.775929,0.079574],[-0.779243,0.617424,0.107555],[0.034324,-0.129313,0.991010]]>Hg?h?^?`?@? 咡?SY?i>w@I>z_;>OCYn>yr/DxzAAbDVDF9y5fd%5\=ٔ$Q->9I=Ey=E>Q 5@4ʼn?Q 9@4j)Q@YypQ I?N?AI&;i;@4yɮB2fa:faBfaJfeR ?@ZiZqZqZqi))顉iAABBBBB=BBB ;BJEIIIO=2Acoustic response timeoutAiԙ ,Eя,QE?A"2Acoustic response timeout:Ty@:4t@:Ѽٱ:y~ٽ FAHRS rotation from veh to nav: [[0.626094,0.776890,0.066705],[-0.779328,0.620656,0.086215],[0.025578,-0.105964,0.994041]]:H@?`G??Bj?@0?`;1? v /?i:Ty@I:_;:RCYNW>yRDbDZVDZF9yfY%fQ=ٔf9hIh=jEyhn:En>Q 5@48ʼn?Q 9 @4v)vQ@Y y HnQ I ??AI:i:&@4yɮȪB92fa:faBfaJfet@@ZqZqZZi))顩iqIyEl EMEoE"EV:*E9VE5ZEBEBx;a2EEx;aJE:a:E:aIIO=ԡ2Acoustic response timeout VEя,|,E?A2j@2J@2ٱ2 :AHRS rotation from veh to nav: [[0.627979,0.777533,0.032938],[-0.777374,0.624741,0.073413],[0.036503,-0.071707,0.996758]]2Hg??>ݠ?>?1˲??`b[ p?i2j@I2f_;0Y^ >y^ DdfAbDjVDjF9yv<%vH=ٔvvۼQ-v>9xIx=zEyxz;E~>!Q 5%@4%ʼn?Q 9-@4%)%Q@Y)y-VRQ I-?%U@AI%:i%:%5@4y1ɮ]êBY2f:fBfJfA@ZZZZi))顩iIIIO=U2Acoustic response timeoutbEMX5jEMF5rEM3Ee EVEE"E<:*E9VE5ZEa@a@a@a@Ba>BBBB=BBBQ;BnEBqBqBqBqBqCu9 5)  2Acoustic response timeoutQ AFя,E?A6sS@6RN@6ٱ6p JAHRS rotation from veh to nav: [[0.621315,0.783546,0.004772],[-0.780748,0.618558,0.088428],[0.066336,-0.058667,0.996071]]6H@??s?@9?8?^?` ?i6sS@I6H`;6QCY]l>y]ŧD <<bDVDF9yM %6=ٔQ->9I=EypE>Q 5@4?Ɖ?Q 9@4)P@Yy7wQ I ?)@AIU;i;GE@4y1ɮ=ĪB92f:fBfJfϠ@@ZZZZi))项iIIIO!>]2Acoustic response timeoutaEz ESErE"El:*E9VE5ZEBE;a2E;aJEl:a:Em:aԉ hFя,E?A,2 @2l@28ٱ2a :AHRS rotation from veh to nav: [[0.614977,0.788388,0.015740],[-0.787255,0.612708,0.069412],[0.045079,-0.055078,0.997464]]2H? y:?1?@21M?@ı?`?139?i2 @I27`;2SCYN>yRpD2Acoustic response timeouty?tGa 9S㥛?~jtÿX9v߿Y$>y7B }B)}BYBbDQVDrF9y%Y=%%M=ٔ%`=Q-%>9)I)=-Ey)-YüE5>QQ 5]@4USƉ?Q 9e@4U )UD@Ye ?Q Ee:yei׿Q Ie?UBAIUU:iU:UR@4yiɮmB2f?>:f?>Bf@Jfa@ZZZZԉi))顡iIIIO>Թm 4=m R=m 2Acoustic response timeout Fя,4E?AB@Bd@B&ٱBM½ JAHRS rotation from veh to nav: [[0.603932,0.794642,0.061725],[-0.796712,0.599666,0.075173],[0.022722,-0.094576,0.995258]]BHhS?m?`?`~u0?`>?XD?'6'?iB@IB`;BRCYR">yRDEZt EZPEZiEX"EZs:*EZ?9VEZz~5ZEXa^@a^@a^@a^@``ba=bDf0VDfbF9ynwB<%n`=ٔr{=Q-r>9pIp=rEytvv#Ev>xQ 5~@4zʼn?Q 9~@4z)z9@Y|yQ I?zDAIz:izp:z:_@4y ɮ B 2f9:f9Bf9Jf=T_@ZIZIZIZIiY)a)aaaiaiIiIIO=BM<AIBQBQBQBQBQBQBU*DBUw;BUE2Acoustic response timeout 9 zFя, NE?A"2Acoustic response timeout>r@>R߫@>M ٱ> JAHRS rotation from veh to nav: [[0.612006,0.784936,0.096563],[-0.790809,0.606097,0.085255],[0.008393,-0.128540,0.991669]]>H?1?a?MN%e?Gӵ?`\0?@s@?i>r@I>;_;>TCY^*>yb"DddbDjTVDjsF9yr9<%rK=ٔv=Q-v>9tIt=vEyxz<Ez>|Q 5@4~Yʼn?Q 9@4~T)~-@Yy Q I ?~EAI~:i~:~Qm@4yɮB2fI:fIBfIJfMs_@ZQZQZYZYii)i)iqqiqqIyIIO_=Eg EREE"EC:*E9VEDz5ZEBEX;a2EX;aJE$:a:E&:aIqiI2Acoustic response timeout Sending 107 bytes from file Logs/20251025T160131/Express0050.lzmaԡ Fя,qhE?A2-@2(@2=/ٱ21 :AHRS rotation from veh to nav: [[0.619045,0.774702,0.128918],[-0.785282,0.608346,0.115097],[0.010739,-0.172488,0.984953]]2H6?\?f?!w?v?K?ƿ?i2-@I2M_;2SCYv >yvDbD~VD~IF9y ε% H=ٔ Q->9I=EyB<E>!Q 5-@4%ʼn?Q 9-@4%M)%!@Y1y5 Q I5?%GAI%;i%;%{@4yAɮEBA2f:fBfJfa@ԙZZZZi))iIII O=U2Acoustic response timeoutԡE]^ E]ME]dEY"E]C#:*E]9VE]^n5ZEYae@ae@ae@ae@B]`>BYB]DB]#>BYBYBYB]y;BYIE >)E >  2Acoustic response timeout Fя,OE?ARˤ@Rƫ@RgٱR>8 nAHRS rotation from veh to nav: [[0.608688,0.786031,0.107958],[-0.791395,0.591804,0.153172],[0.056508,-0.178671,0.982285]]RH^z?*'?"?S`?$??`ƿn?iRˤ@IR_;RTCY >y ԴDAbDVD/F9yE%M8=ٔMҽQ-m>9iIi=mEyquټEu>yQ 5@4}ʼn?Q 9@4})}@YyQ I?}IAI}p:i}g:}I@4yɮB2f:fBfJff@ZZ Z Zi!)!)!!!i!)IQIaIO=e2Acoustic response timeout1Ee p Ee TEe pEa "Ee d:*Ee 9VEe 5ZEa BEe ;au 2Ee ;au JEe :au :Ee :au Y &Fя,(E?A2w@2r@2$ Wٱ2v :AHRS rotation from veh to nav: [[0.601439,0.794633,0.082640],[-0.798811,0.596433,0.078544],[0.013125,-0.113253,0.993479]]2H>?m? 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l? ?ÿ)?iJ@IJH`;JWCY^>y^jD fp9iIi=uFyqu=E>Q 5B4ʼn?Q 9B4ʔ)o@Q A9YQ E:yu?Q I?AI:i@۰B4yɮUBZ Z Z Z i)!)!!!i!)I)IA}2Acoustic response timeoutIO=iB]>BBDB#>B=BBB*;BED%=D=E h E KE mE "E G:*E ]t9VE 5ZE BE /_;a2E 1_;aJE /:a:E 0:aԙ % 2Acoustic response timeoutcGя,aE?ABŨ@B@B ٱB NAHRS rotation from veh to nav: [[0.700639,0.712773,0.032557],[-0.708390,0.689422,0.151265],[0.085372,-0.129045,0.987957]]BHk??X?! ?\?ڵ?W?iBŨ@IB_;BTC`Yf >yf}Daa aa aa aa a@a a@a a@a a@a y#~j? ףp= ǿ)\(Կ>Q8G )Mb@Mb@Mb@IiÔB )Y”BbDVD&E9y*Z<%B=ٔeQ->9I=FyUE> Q 5B4 ʼn?Q 9B4 d) @Q Ao9YQ E9y?Q I? vAI 2 ;i @ B4y!ɮ%RB!ZiZiZiZiiy)y)顁iIIIO=2Acoustic response timeout>>Ea ENEsE"E%.:*E҆9VEX5ZEa@a@a@a@I 9iGя,E?AFɢ@F@F$ٱF( RAHRS rotation from veh to nav: [[0.719507,0.694441,-0.007775],[-0.689272,0.715431,0.114286],[0.084927,-0.076871,0.993417]]FH`4?8?M?A?˽?`Э`?iFɢ@IF ,`;FSCYZ#>yZD^=^=bDbJVDb E9yjI=%j^=ٔnE:r2Acoustic response timeoutQ-r>9tIt=vFytz=Ez>|Q 5 B4~ʼn?Q 9 B4~b)~@Q A B9Y Q E9y!?Q I?~*AI~;i~5@~B4y!ɮ-EB)ZqZqZyZyi))顑iIIIO=Iq2Acoustic response timeoutԡ B [>B )CB DB ,>B =B B B ;B iED zD E d E YE yE "E 9:*E *9VE 5ZE BE F;a 2E F;a JE :a :E :a gpGя,E?A6K@6+@6Hٱ6鎒 >AHRS rotation from veh to nav: [[0.706375,0.707654,0.016110],[-0.706152,0.702940,0.084996],[0.048824,-0.071415,0.996251]]6H ??$?˘}~?@Oµ?e?FHI?i6K@I6_;6WCYZ>yZDbAA`bDf+VDfD9yM%MC=ٔM=Q-M>9QIQ=UFyQ]PE]>aQ 5eB4e:ʼn?Q 9mB4eI)e@Q Am9YiQ Em9qymx?Q Iu?eAIe 2;ie=P@eB4y}~Bɮ}3BEZZZZi))iIIIO=2Acoustic response timeoutԙ  2Acoustic response timeoutpvGя,E?A2H=@2(8@2<@ٱ2v :AHRS rotation from veh to nav: [[0.690483,0.723075,0.019898],[-0.721816,0.686971,0.083979],[0.047053,-0.072349,0.996269]]2Hp?`m#?3`? ??``?r@o?i2H=@I2_;2VCYB&>yB9TIX=ZFyXZoEZ>\Q 5bB4^ʼn?Q 9bB4^f)^@Q Af8YdQ Ef9yfQr?Q If?^AI^:i^h@^B4yhɮj+BlZZZZi!))))))i)1I1IIO=El ESEuE"EV:*E9VE5ZEa@a@a@a@GV`9!Y%uUA=<2Acoustic response timeoutԑԹ }Gя,nE?A2n@2i@2a:ٱ2 :AHRS rotation from veh to nav: [[0.716968,0.696837,0.019334],[-0.695612,0.713343,0.085240],[0.045606,-0.074564,0.996173]]2Hg?~L?b̓?`tB ?Jҵ? Y??i2n@I2_;0Yn6>ynDttbDz«VDzD9y7=%D=ٔ:d;Q->9 I = Fy =E>Q 5%B4ʼn?Q 9%B4I)@Q A%8Y!Q E%S9y%z?Q I-?kAI:i@iB4y1ɮ5#B1ZiZiZiZqi))顁iII!I1OM=]2Acoustic response timeoutԑBMX>BIBIBIBM=BIBIBM;BMlEEe EQEvE"E<:*Ev9VE-5ZEBE`L;a2EcL;aJE:a:E:aԹ 2Acoustic response timeout 7Gя,kE?AN@N{@NoNٱN~' ZAHRS rotation from veh to nav: [[0.719048,0.693208,0.049321],[-0.694596,0.714562,0.083293],[0.022496,-0.094150,0.995304]]NHp?.?@@?!:`? R?N ? 7`?iN@INآ_;LYb'->yfDaUaU aUaU a]a] a]a] y]bX9?/$?]E>]]>Y Y9]x&1?vϿ%C̿Y]?y]x]ZdYY ]B)]B]Y]B m49I=Fy;E>Q 5B4Ɖ?Q 9B4N)(@Q AT:Y?Q E:y5Q I?ZAI;i; B4yBɮBBE2f ?:f ?Bf2z@Jf@ZZZZi))  i  IIIO=e2Acoustic response timeoutE] EREiE"E:*E9VEz~5ZEa@a@a@a@A kGя,>*E?A:@:yݯ@:@<ٱ:y BAHRS rotation from veh to nav: [[0.705641,0.704614,0.074764],[-0.708472,0.703359,0.057917],[-0.011777,-0.093837,0.995518]]:H ?@3?#?ͫ?@J?`@H?i:@I:__;:WCYNc>yRDb2Acoustic response timeoutbD^VD^D9y=%=O=ٔE̱=Q-E>9III=MFyIUGEU>yQ 5B4}\Ɖ?Q 9B4})}@Yy\Q I?}+AI}1:i}:}B4yɮPB2f:fBfJfK5@ZZZZi) )   i I1IIIO =Qyu2Acoustic response timeoutԡ BM <AM <BU U>BQ BU DBU ">BQ BQ BU )DBU 5;BU EB)CB)CBBBC4bE%&5jE%͋5rE%˻1E f E E E "E I@:*E VE ZE BE R;a 2E R;a JE $:a :E &:a ~Gя,DE?A22@2-@2bd<ٱ26b :AHRS rotation from veh to nav: [[0.712479,0.699793,0.051614],[-0.701460,0.712211,0.026647],[-0.018113,-0.055191,0.998312]]2H ?d?6m? \rm?@?I?I@A+?i22@I2_;2VCyRDV=V=bDZVDZD9yh<%N=ٔ 9 I = Fy <E>Q 5B4 Ɖ?Q 9B4)@YyQ I?AI:ik:XB4yBɮNB2f:fBfJfH@ZZZZi!))))))i)1IQIiIO=ԩ2Acoustic response timeout  2Acoustic response timeout+Gя,^E?A2@2۰@23ٱ2( :AHRS rotation from veh to nav: [[0.727323,0.686061,0.017954],[-0.686278,0.726867,0.026207],[0.004929,-0.031383,0.999495]]2H:F?@5?b?@B?`֚?0t?`k?i2@I2`;0YJt>yJ,DPPbDVcVDVD9y^LV<%^N=ٔbnQ-b>9`I`=bFydfb[=Ef>hxQ 5~B4zƉ?Q 9~B4z)z@Y|ylQ I?zAIzp:iz:zB4y Bɮ-LB)2fY:fYBfYJf]|@ZiZZZEMh EM^EMsEI"EMG:*EM;9VEMX5ZEIaU@a]@a]@a]@i))顉iIIIO=2Acoustic response timeout)Q NGя,wE?A6eI@6ED@6x;ٱ6釽 >AHRS rotation from veh to nav: [[0.714503,0.697701,0.051953],[-0.699589,0.713314,0.041941],[-0.007796,-0.066313,0.997768]]6H5?@S? ?c@w?@Sy?`?i6eI@I6Z_;4YN >yNDbDZaVDZD9yv8%vH=ٔv9xIx=zFyxz9E~>9AQ 5MC4E,Ɖ?Q 9MC4E)EJ@YIyMQ IU?EAIAiE:E2C4yyɮ}TBy2f:fBfJf\@ZZZZi))ii1I5A=2Acoustic response timeoutIIIO%=BT>BBDBw>B=BBB ;BqEaE}| E}`E}~Ey"E} :*E}9VE}5ZEyBE}G;a2E}I;aJE};a:E};aԑ 2Acoustic response timeout 7Gя,E?A2@2 @2f_ٱ2*ս >AHRS rotation from veh to nav: [[0.709506,0.702008,0.061531],[-0.704497,0.704500,0.085809],[0.016890,-0.104231,0.994410]]2HE?@v?`? >C?`?K?ܮ`4?i2@I2)_;0YN>yNmDVAVAԙyʡEÿS㥻?Q?/=\= 9jt?ʡE rh?YĠ>yC >MBЖB B)Y\BbDVDD9yм%9=ٔ deQ- >9 I =5Fy15퀼E5>9Q 5EC4=Ɖ?Q 9EC4=)=^@YM>Q EM;yMzQ IM?=AI=:i=:=qC4yɮZB2f=?:f=?Bf=@Jf=hn@ZIZIZIZIiY)Y)aaaiaiIIIO>E2Acoustic response timeoutEu^ EuREujEq"EuC#:*Eu9VEuـ5ZEqa}@a}@a}@a}@ aGя,E?A>L@>,@>ٱ>" JAHRS rotation from veh to nav: [[0.741213,0.667711,0.069028],[-0.670286,0.730636,0.129958],[0.036340,-0.142595,0.989114]]>H ?`]?Ϋ?r]a?`s? (?@@¿Ҧ?i>L@I>_;>XCR2Acoustic response timeoutY^*>y^8D jp9 I =Fy9>E>Q 5C4%Ɖ?Q 9C4s)J@YyjQ I?AIR:i:!C4yɮEB2f :f Bf Jf @ZYZaZaZaiy))顁iII1IAOu=AU2Acoustic response timeoutiA A B V>B B DB =B =B B B ;B 4EE c E PE lE "E g5:*E ?9VE 5ZE BE ?;a 2E ?;a JE :a :E :a ԙ GGя,_E?A2@2Ү@2,fٱ2) :AHRS rotation from veh to nav: [[0.744770,0.661866,0.085150],[-0.667306,0.737805,0.101716],[0.004498,-0.132577,0.991163]]2H'?.?h̵?`Z`? ?`lr?D?i2@I2_;2VCYn>ynDbDvūVDvD9yECN%MF=ٔMU=Q-M>9QIQ=UFyQU6<EU>aQ 5eC4eU,Ɖ?Q 9mC4e)e%@YiymjQ Im?eAIeB:ie:e/C4yqɮOB2f!:f!Bf!Jf%>@Z1qZ1ZyZyi))顉iIIIO =2Acoustic response timeoutԡ A A e 2Acoustic response timeout rGя,<E?AiIB`@B@@BZ;ٱB JAHRS rotation from veh to nav: [[0.728786,0.681583,0.065696],[-0.684708,0.726341,0.060032],[-0.006801,-0.088733,0.996032]]BH`7R?@?`{Ѱ? 0>?? {9?iB`@IB<_;@Y^ >y^D ``bDfVDfD9yvϼ%vP=ٔv9xIx=zFyxzvE~>!Q 5%C4%2Ɖ?Q 9-C4%ѱ)%@Y)y-tQ I-?%AI%:i%$:%=C4y5Bɮ]pB]E2f:fBfJfH@ZZZZi))iE=f E=YE=kE9"E=I@:*E=*9VE=u5ZE9aE@aE@aE@aE@IqIIO=2Acoustic response timeout) 蜽Gя,E?A2˩@2ư@2\Aٱ2fc :AHRS rotation from veh to nav: [[0.725102,0.688608,-0.006784],[-0.687728,0.724612,0.044350],[0.035455,-0.027492,0.998993]]2H4?@ ?{0?? 2'? &@?i2˩@I2`;2WCY%N$>y%D5@A5@AbD5AVD5 E9yi=%A=ٔ)̽Q->9I=Fy6E>Q 5C48Ɖ?Q 9C4Ǵ)@Yy}Q I?ʲAI1:i:ULC4yɮcB2Acoustic response timeout2f):f)Bf)Jf-tƤ@ZZZZi))  i )I1IIIyO=BY>BBBB=BB*DBI;B EIE]d EYE]EY"E]9:*EYVE]Dz5ZEYBE]F;a2E]F;aJE]:a:E]:aq %= %= 2Acoustic response timeoutԡ Gя,8E?A2;+@2&@2hٱ2 C< :AHRS rotation from veh to nav: [[0.710801,0.701705,-0.048702],[-0.701109,0.712368,0.031266],[0.056633,0.011922,0.998324]]2H`?]t?@t憎|o ???qj?E?i2;+@I2`;2VCY^o>y^Dyy ףp= ǿMb?Cl绿Q8=;߽ 9y&1?MbпʡE?Y`e=y=BB B)BY BbDVDD9y:%D=ٔOQ->9I=Fy>E%>!Q 5-C4%3Ɖ?Q 95C4%0)%@YU׋>Q EUB;yU Q IU?%AI%W;i%%;%ZC4yYɮefBa2fE>:fE>BfEì@JfE@ZqZqZqZqi))顩iIIIO >ԡ-2Acoustic response timeout CEGYe9YZAEQ EUPEUuEQ"EQ*EU?9VEU5ZEQae@ae@ae@ae@IE >)E > ˰Gя,,E?A6@6@6ٱ6k <B2Acoustic response timeout BAHRS rotation from veh to nav: [[0.723567,0.689723,-0.027063],[-0.689632,0.724023,0.014065],[0.029295,0.008486,0.999535]]6Hu'?6?@Tw2+? Ό?|?Va?@0?i6@I6vv`;6WCYN*>yN"DbDVVDVD9yrW<%r]=ٔvC=Q-v>9tIt=zFyxz?=Ez>|Q 5C4~g/Ɖ?Q 9C4~V)~ߞ@Y y  Q I ?~oAI~W:i~-:~gC4yBɮ_B2fQ:fQBfQJfUy@ZaZiZiZiiA)A)AAAiAIIqIIO=52Acoustic response timeout1B Z>B B DB #>B =B B B &;B ED] ?AzD] ?AEe i Ee YEe Ea "Ee ,K:*Ee *9VEe 5ZEa BEe te;am 2Ee ve;am JEa au :Ea au q Gя,]FE?ARd@R_@RaٱR- ZAHRS rotation from veh to nav: [[0.737999,0.674762,0.007334],[-0.674185,0.736816,0.050766],[0.028851,-0.042410,0.998684]]RH`?@?W ~?@?@ ?1?ö`7?iRd@IR`;PYb>yb9D hjbDjVDjD9yrר%vJ=ٔv:Q-v>9xIx=zFyxzV=E~>|Q 5C4~*Ɖ?Q 9 C4~)~@Y y Q I ?~DAI~:i~[:~uC4yɮpB2fI:fIBfIJfM"@ZQZQZYZYii)i)iqqiqqIyIIO`=12Acoustic response timeoutaԉE 2Acoustic response timeoutԹ =Gя,`E?A2=@28@2nٱ2W :AHRS rotation from veh to nav: [[0.733441,0.678920,0.033646],[-0.676486,0.724174,0.133937],[0.066567,-0.120995,0.990419]]2HYx?൹?`:?@ť o,?$? ?@?i2=@I2_;2UCYj&>yjDbDrVDrD9yz=%zJ=ٔzQ-~>9|I|=Fy*AE> Q 5C4 &Ɖ?Q 9C4 ) w@YyQ I? AI ;i ; C4y!ɮ%aB!2fI:fIBfIJfMJ@ZQZQZYZYii)i)iqqiqqIyIIOEe EfE|E"E<:*E9VEם5ZEa%@a%@a%@a%@ԑߙߝR=2Acoustic response timeout A A  aGя,]zE?A2L@2oG@2N4Vٱ2( :AHRS rotation from veh to nav: [[0.735290,0.673821,0.072898],[-0.675734,0.720551,0.155529],[0.052272,-0.163619,0.985138]]2H??@r?`? c?jê?vĿ??i2L@I2_;2YCY^(>ybD ``f)>fA?bDjVDjD9yrzJ%rK=ٔv=Q-v>9tIt=zFyxzv;Ez>YQ 5eC4]"Ɖ?Q 9eC4]B)]@YayeQ Im?]AI]:i]F:]|C4yqɮukBq2f:fBfJf"@ZZZZi))iII2Acoustic response timeoutI O=B=X>B9B9B9B==B9B9B=;B=EBBBBBCŽH5bE5jEړ5rEa2E=d E=KE=lE9"E=9:*E=]t9VE=5ZE9BE=F;am2E=F;amJE=/:au:E=0:a}I  2Acoustic response timeoutGя,!:E?A2L@2,@2Bmٱ2y( :AHRS rotation from veh to nav: [[0.732054,0.673704,0.101093],[-0.681092,0.720627,0.129652],[0.014497,-0.163766,0.986393]]2Hl?@?3? a?s? İ?HĿ`?i2L@I2_;2VCPYR>yRDy-kt?Pn?~jt?- 0>->->) )9-I +?)\(MbXY-949I=FyMhE>Q 5C4lƉ?Q 9C4\)@Y>Q E;yEQ I?OAI:iM:0C4yɮjB2f%>:f%>Bf%Ӄ@Jf%8t\@Z1Z1Z1Z1iA)I)IIIiIQIQIiIyO= 2Acoustic response timeoutE5h E5[E5hE1"E5G:*E59VE5A{5ZE1aE@aE@aE@aE@! Gя,E?A22Acoustic response timeout:@:@:Bٱ:e JAHRS rotation from veh to nav: [[0.732073,0.676216,0.082469],[-0.680639,0.721039,0.129742],[0.028270,-0.151112,0.988112]]:H$m????a?? Wÿ?i:@I:_;:XCYV=>yVsDbDf%VDfD9yrZ<%rR=ٔv_Q-v>9tIx=zFyx|~np:E> Q 5C4 Ɖ?Q 9C4 Y) @Y!y% Q I%? AI aB;i uI; _C4y1ɮ5hB12fi:fiBfiJfm \@ZZZZi))顙iIIIO=)Q2Acoustic response timeoutA) A) B5 W>B1 B5 DB5 M>B5 =B1 B1 B5 ;B5 EIE >)E >ԁ EE f EE TEE gEA "EE I@:*EE 9VEE x5ZEA BEE R;aU 2EE R;aU JEE :aU :EE :aU 0Gя,E?A2@2{@2t)ٱ2g= :AHRS rotation from veh to nav: [[0.731780,0.679265,0.055655],[-0.680285,0.723036,0.120128],[0.041359,-0.125768,0.991197]]2Hj??~?#??,?, ?i2@I2m_;0YfE,>yfDjAjAbDn'VDnD9yv;=%vJ=ٔz`Q-z>9xIx=~Fy|~/9E>Q 5 C4Ɖ?Q 9 C4f)@Yy Q I?AIW:i-:vC4yɮ^B!2fI:fIBfIJfM&\@ZQYZYZaZaiq)q)qqqiyyIIIOc=}2Acoustic response timeoutԉԱ % 2Acoustic response timeout\Gя,*E?A2O@2J@2p\ٱ2j :AHRS rotation from veh to nav: [[0.736494,0.675050,0.043394],[-0.676310,0.733559,0.067048],[0.013429,-0.078728,0.996806]]2H\?@?7?UQy? *?w?' ?i2O@I2_;2WCY^>ybSD f49tIt=vFytz/y<Ez>|Q 5]C4~6Ɖ?Q 9eC4~g)~Ǟ@Yayeq Q Ie?~vAI~;i~;~C4yiɮmrBq2f:fBfJfZ@ZԹZZZi))iIEi EOEfE"E,K:*E9VEt5ZEa @a @a @a @IIO%=2Acoustic response timeout9 t8Gя,+E?A2ɪ@2ı@2N;ٱ2 :AHRS rotation from veh to nav: [[0.746541,0.664690,0.029386],[-0.665309,0.746202,0.023380],[-0.006388,-0.037006,0.999295]]2H?`$E?}?5J@?`?`)z c8?i2ɪ@I2Q`;0YB|>yB`DbDJVDJD9yR`=%VN=ٔVL=Q-V>9XIX=ZFyXZ =EZ>\Q 5bC4^Ɖ?Q 9bC4^[)^@YdyfG Q If?^ҸAI^):i^:^bC4yhɮjkBl2f :f Bf Jf Y@ZZZZi))))111i11I9IQ2Acoustic response timeoutIO=BV>BBDB#>B=BBB;BED =D %=E%n E%UE%E!"E%O]:*E%P9VE%Dz5ZE!ABE%f;aU2E%g;aUJE%:a]:E%:aei 2Acoustic response timeout A E AAԙ ~!Hя,/ E?A6$@6g@69{1;ٱ61d >AHRS rotation from veh to nav: [[0.732979,0.679083,0.039860],[-0.680246,0.731947,0.038975],[-0.002708,-0.055683,0.998445]]6Ht? ?h?@l??`e/fjB?i6$@I6s_;6VCY^>y^Db>b=yEm?%CԿEZEtA A9E ףp= ?`"ֿi|?5YEQ>yEηEqEEB EB)EBAYEBbD]VD]D9ymf<%m>=ٔmk Q-u>9qIq=uFyy}a@E}>Q 5C4Ɖ?Q 9C4)@Y?Q E:yĿQ I?AIQ:i:cC4yɮhB2f >:f >Bf)¿@Jf@ZZZZi))iqIyIIO=>>2Acoustic response timeoutԙEi EKEkE"E,K:*E]t9VEu5ZEa@a@a%@a%@ 2M Hя,f/ E?A;ɰp;62Acoustic response timeoutNʆ@N@N`ٱN@ vAHRS rotation from veh to nav: [[0.719654,0.692375,0.052118],[-0.694144,0.715677,0.077262],[0.016195,-0.091779,0.995648]]NHf?'? %?n6@?`mdz?\?`~X?iNʆ@IN_;NWCY~$>y~D AA bD"VDD9y%Y%%O=ٔ%CQ-->9)I)=-Fy)5GE5>9Q 5EC4=Ɖ?Q 9EC4=n)=Ɯ@YAyE3ǿQ IE?=1AI=:i=:=2C4yUϫBɮUBUE2f:fBfJfuƦ@ZZZZi))顩iIIIO~=U2Acoustic response timeoutB<A<BBBDB=BBBB;BݞE! E% c E% XE% uE! "E% g5:*E% 9VE% 5ZE! BE% ?;a- 2E% ?;a- JE% :a- :E% :a5 Q #4Hя,)>I E?A2n@2i@2dٱ2/ :AHRS rotation from veh to nav: [[0.717634,0.693025,0.068692],[-0.696236,0.711674,0.093683],[0.016038,-0.115056,0.993230]]2H`?A-?@ƕ?`G?@?bl?Gt`?i2n@I2Q_;2VCYNx>yNFDbDVVDVD9ybY;%bQ=ٔbV9Q-f>9dId=fFydj%Ej>lQ 5rD4nƉ?Q 9vD4n)n@YtyvǿQ Iv?n̽AIn:in:nD4yɮB2f!:f!Bf!Jf%Z@Z)Z)Z1Z1iA)I)IIIiIQIYIy)IiO=2Acoustic response timeoutYԉ iY IY e 2Acoustic response timeout lG ) ]Hя,Yc E?A,>4d9#YAJQ\@J1W@JӒrٱJ< RAHRS rotation from veh to nav: [[0.716134,0.692350,0.088336],[-0.697953,0.709694,0.095895],[0.003701,-0.130327,0.991464]]JH?'?`(?Uе??URn? ?iJQ\@IJ|_;JXCYn >ynMDAbD XVD E9y%E=ٔ9!I!=%Fy!-곻E->1Q 5=D45)Ɖ?Q 9=D45H)5}@Y9y= ȿQ IE?5~AI5;i5;5`D4yIɮMBI2f:fBfJf^m@E ESEmE"E*E9VE5ZEa@a@a@a@ZZZZi!))))))i)1I1IIIO%=ԉ2Acoustic response timeout $Hя,5| E?A6Z@6: @6 ٱ6[^ >AHRS rotation from veh to nav: [[0.730985,0.680299,0.053431],[-0.681754,0.724667,0.100340],[0.029541,-0.109773,0.993518]]6H9d?`?D[?`y0?@ܯ?@@?`@?i6Z@I6_;6WCYN#>yRD Vp9xIx=zFyxzub=E~>Q 5%D4Ɖ?Q 9-D4)a@Y)y-ſQ I-?#AIN:i:jD4y1ɮ]}BY2f:fBfJf|?@ZZZZi))i2Acoustic response timeoutBBBDB#>BBBBe;BEIII!OM=D=DR=Ef E]EeE"EI@:*E9VEq5ZEBER;a2ER;aJE ;a:E ;a = = 2Acoustic response timeoutA o%Hя,Oʖ E?A2 j@2d@2ٱ2<~ :AHRS rotation from veh to nav: [[0.738277,0.674306,0.016087],[-0.673595,0.735846,0.069291],[0.034886,-0.061992,0.997467]]2H?? y? ? ?`ܡ?@j??i2 j@I2_;2XCY^ >y^Da@a a@a a@a a@a y&1?J +?ףp= ?=H=> )Mb@Mb@Mb@Ii‰ɑB B)Y.BbDūVDD9y%>%%8=ٔ-EQ-->9)I)=-Fy15<E5>9Q 5ED4=Ɖ?Q 9ED4=)= @Q AM+:YIQ EM:yM\ÿQ IM?=AI=~:i=>=+D4yɮBZ!Z!Z!Z!iq)y)yyyiyIIIO>I-2Acoustic response timeoutqE_ EOEwE"E&:*E9VEɕ5ZEa@a@a@a@ԡ U+Hя,H E?A2 @2@2.ٱ2> :AHRS rotation from veh to nav: [[0.730605,0.682553,0.018358],[-0.682786,0.730157,0.025951],[0.004309,-0.031495,0.999495]]2Ha?`y?|̒?br]??Хq?  ?i2 @I2 `;2VCB2Acoustic response timeoutYN{.>yRDV=V=bDZVDZD9y^=%_=ٔ٪=Q->9 I = Fy  E>yQ 5D4Ɖ?Q 9D4)@Q A :YQ E:yĿQ I?oAIBqBuDBuM>BqBqBqBu;Bu*EB9B9B9B9B9C=Ȝ4 D zD bE5jE05rEʹ2E e E RE E "E <:*E 9VE ZE BE `L;a 2E cL;a JE $:a :E &:a% 2Hя,C E?A.&p@.k@.ٱ. ! :AHRS rotation from veh to nav: [[0.717442,0.696578,-0.007502],[-0.695849,0.717114,0.039266],[0.032732,-0.022951,0.999201]].HH?^J?~ eD?`? : ?_s?i.&p@I._;.TCYnb+>ynDttbDzgVDzD9y%%-D=ٔ-Q-->91I1=5Fy1536E5>9Q 5ED4=]Ɖ?Q 9MD4=)=@Q AM9YIQ EM\:yMƿQ IM?=#AI=]:i=?=yRyDbDZ<VDZD9yrb<%rO=ٔr쁽Q-r>9tIt=vFytz<Ez>xQ 5%D4zƉ?Q 9%D4zk)z@Q A%9Y!Q E%2:y-ſQ I-?zAIz;iz?zAD4y1ɮ5B1ZiZiZqZqE ESEE"E*E9VE5ZEa@a@a@a@i))顡iIIIO=!e2Acoustic response timeoutII% >)% >y y>Hя,ǹ E?A2*@2%@26%ٱ2 :AHRS rotation from veh to nav: [[0.733163,0.676237,0.071943],[-0.679389,0.723664,0.121414],[0.030043,-0.137894,0.989991]]2Hv?໣? j?`@(?`?`wÞ?~@?i2*@I2_;2XCY^=ybϕDddbDj%VDjD9yv %vJ=ٔv\=Q-v>9xIx=zFyxzs=E~>!Q 5%D4%\Ɖ?Q 9-D4%)%@Q A-9Y)Q E-:y-ĿQ I-?%mAI%v:i%@%FD4y1ɮ]BYZZZZ2Acoustic response timeoutBX>BBDBw>BBBBS;BEQi)1)999iAIIQEh EEnE"EG:*EVEJ5ZEBE/_;a2E1_;aJEl:a:Em:aIO>ԁԩm 2Acoustic response timeout ZEHя,!E?A2@2@2Mٱ2E :AHRS rotation from veh to nav: [[0.732122,0.673064,0.104795],[-0.680236,0.714346,0.164281],[0.035711,-0.191559,0.980831]]2Hm??Ӻ? `?@%? H?ȿ b?i2@I2&`;2ZCYN=yRDaa aa aa aa yrh|NbX9?{GzE>ף 9y&1?$C?v?Y`x>B B) BYB p<bDVDrD9y-%-7=ٔ-PQ-5>9qIq=uFyq}@E}>Q 5D4!Ɖ?Q 9D4)@Q AT:Y>Q E#;Աy-=?Q I-?YAIE:f>Bf>Jfȿ@ZZZZi))iIIIyO2Acoustic response timeoutE_ ENElE"E&:*E҆9VE5ZEa@a@a@a@ 9 LHя,p2!E?A2Acoustic response timeout6@6@6Mٱ6H >AHRS rotation from veh to nav: [[0.728705,0.679387,0.086147],[-0.681685,0.707563,0.186174],[0.065530,-0.194391,0.978733]]6HQ?? ?@]@Z? ?ư?ȿQ?i6@I6p_;6[CYN>yRjDbDZVDZQD9yf?=%fd=ٔfxQ-f>9hIh=jFyhnEn>Q 5D4'Ɖ?Q 9 D4;)؟@Y y B?Q I ?AI):i:cD4yɮB92f:fBfJf@ZZ1Z1Z1iA)A)IIIiIQIqIIO=92Acoustic response timeoutB<A<BBBDB#>B=BBB#;BEi E ^ E TE fE "E C#:*E 9VE t5ZE BE ~ ;a 2E ;a JE :a :E :a XRHя,+KL!E?A 6-@6 @6q%ٱ6A BAHRS rotation from veh to nav: [[0.721560,0.688163,0.076045],[-0.691173,0.709568,0.137089],[0.040381,-0.151478,0.987635]]6H?n?w?Ǵ? ?ì?cÿ?i6-@I6_;6WCYN>yRȡDV=V=bDZVDZ D9yfTR%fJ=ٔfS=Q-f>9hIh=jFyhnEn>Q 5D4h-Ɖ?Q 9D4y)@Y9y=X:?Q I=?AIw;i ;3qD4yIɮMBI2f:fBfJfv@ZyZyZyZyi))iIIIO%=52Acoustic response timeoutiԙi) I- qA  2Acoustic response timeout\YHя,%f!E?Aɰ;2z@2t@2ٱ2ý :AHRS rotation from veh to nav: [[0.718670,0.692302,0.065049],[-0.695349,0.715283,0.069707],[0.001730,-0.095328,0.995444]]2HW?W'?@?`M@?`Qر?@V\?@ng@?i2z@I2c_;2XCLYnk#>ynDttbDz[VDz)D9y%8=%-D=ٔ-^=Q-->9)I1=5Fy15EE5>AQ 5ED4E3Ɖ?Q 9MD4E)Ew@YIyM\/?Q IM?EAIEl:iEB:ED4Eel EeXEeEa"EeV:*Ee9VEe5ZEaam@am@am@am@yUBɮuBu%E2f:fBfJfZ@ZZZZi))iIIIO =E2Acoustic response timeout) B_Hя,i!E?A2@2@2;ٱ2U :AHRS rotation from veh to nav: [[0.710801,0.700397,0.064852],[-0.703366,0.708554,0.056807],[-0.006164,-0.085993,0.996277]]2H ?i?`*?@@y?@??y?i2@I2_;0YN[>yR\DbDZpVDZ3D9yb^%bQ=ٔbb9dId=fFydj[Ej>lQ 5=D4n9Ɖ?Q 9ED4n\)nB@YAyEP*?Q IE?neAInWeBiIA2Acoustic response timeoutBDB=BBBB;B͞E2f:fBfJf*̸@ZZZZiq)q)qqqiqyIyII O>IEmf EmOEmxEi"EmI@:*Em9VEme5ZEiBEmR;a}2EmR;a}JEmM:a}:EmO:a}qm 2Acoustic response timeoutԡ N*fHя,ۙ!E?A2l@2g@2s)ٱ2+н :AHRS rotation from veh to nav: [[0.694823,0.717814,0.044305],[-0.717990,0.688813,0.100131],[0.041358,-0.101384,0.993987]]2H@;?U?.?@ ?6?,?T`?i2l@I2_;2WCYN;>yRDTVAy%/$?пnҿ%1>%%! !9%S?Zd;O?bX9ƿY%/>y%j<=%E6!%B %&B)%nB!Y%BbD=6VD=D9yMͧ=%MB=ٔUQ-U>ԙ9QI=FyJE>Q 5D4)?Ɖ?Q 9D4)Х@Y>Q ES;y%Q I?AI:i:D4yɮB2f%>:f%>Bf% ?Jf%'(?Z1Z1Z1Z1iA)I)IIIiIQIQIiIyO= C5@GM5tAaE[95tAY+QA2Acoustic response timeouty}?qASending 62 bytes from file Logs/20251025T181502/Express0004.lzmaE}c E}UE}Ey"E}g5:*E}P9VE}5ZEya@a@a@a@  TlHя,!E?A2Acoustic response timeoutF"ڨ@Fկ@F>ٱFŽ NAHRS rotation from veh to nav: [[0.704524,0.708326,0.043816],[-0.708814,0.699271,0.092754],[0.035061,-0.096405,0.994724]]FHu??o?m`??v?@`?iF"ڨ@IFR_;FVCYV$>yVD ^;^p;bDb*VDbD9yf½%jS=ٔj09hIl=nFylr=Er>pQ 5vD4rCƉ?Q 9zD4r)r@Yxyz Q Iz?rAIr:ir :rD4yBɮB2f):f)Bf)Jf-!+?Z1Z9Z9Z9iI)I)QQQiQQIYIqIOO=QԁAqAu@AB}[>ByB}DB}=ByByByB};B}ОE2Acoustic response timeoutԩE l E QE nE "E V:*E v9VE J5ZE BE Bx;a 2E Dx;a JE :a :E :a yDbDKVD"D9y-JP%5D=ٔ5[=Q-5>91I9==Fy9E;EE>IQ 5UD4MHƉ?Q 9UD4M)MN@YQyU>%Q I]?M$AIMI;iMU;MD4yeBɮeBa2f:fBfJf)?ZZZZi))顩iIIIO=Ա52Acoustic response timeout ! % @Ai I  2Acoustic response timeout xMoved sent file to Logs/20251025T181502/Express0004.lzma.bak $SBD MOMSN=262368579 SfyHя,l!E?A2>@2@2uٱ2 :AHRS rotation from veh to nav: [[0.684792,0.724584,0.077705],[-0.728053,0.675624,0.116067],[0.031600,-0.136055,0.990197]]2H?/?}?@5L@?@?-? Aj?i2>@I2|_;0YB>yBzD DDbDJOVDJ$D9yR=%VS=ٔVdQ-V>9XIX=ZFyXZEZ>`Q 5fD4bMƉ?Q 9fD4b)b@Ydyf2Q If?bAIb:ib:bD4yhɮnBl2f :f Bf Jf #?ZEEi EENEElEA"EE,K:*EE҆9VEE5ZEAaM@aM@aM@aM@ZZyZyi))顉iIIIO=E2Acoustic response timeoutAi aNHя,H"E?A0BPʧ@B0Ů@BٱBȁ JAHRS rotation from veh to nav: [[0.679271,0.731920,0.053709],[-0.730344,0.666995,0.147358],[0.072031,-0.139322,0.987624]]BH?k? ?^X??p?P@?iBPʧ@IB_;@YrV>yrBDB1B1B5DB5=B5=B1B1B5;B5̞EBBBB=BCx~42Acoustic response timeoutbDVDC9yML<%U2=ٔ}Q->9I=FyCE> Q 5D4 RƉ?Q 9D4 y) @Yy5Q I? fAI  :i p: [D4y%Bɮ%B)2fy:fyBfyJf}$?ZԉZZZi))iIII1O=>bEJ5jEó5rE~2EMc EMPEMiEI"EMg5:*EM?9VEMz~5ZEIBEM?;a]2EM?;aeJEM:ae:EM:aeԹM 2Acoustic response timeout xHя, ""E?A6@6zޮ@6S0ٱ6X BAHRS rotation from veh to nav: [[0.682661,0.727592,0.067708],[-0.729460,0.673066,0.121941],[0.043151,-0.132634,0.990225]]6H[?oH?OU?`W?`7??*?i6@I6$_;6WCYF$>yJD\yGz?rh|׿ʡE?p=>绾> 9B`"? rhٿK7ٿYN>yC˾ɾdB B)(BYkBbD5ҩVD5C9yE텼%E]=ٔE=Q-M>9III=MFyIU6 <EU>YQ 5eD4]}MƉ?Q 9eD4])]٘@Ye=?Q Ee:ymQ Im?]AI]:i]:]D4yuBɮuBq2f ?:f ?BfEK@Jf0@ZZZZi))iIIIO=2Acoustic response timeoutEma Em[EmoEi"Em%.:*Em9VEm5ZEiau@au@au@au@A ] 2Acoustic response timeoutHя,5"E?A2װ@2@2D<4ٱ23ڽ :AHRS rotation from veh to nav: [[0.678103,0.733371,0.048405],[-0.733650,0.671476,0.104301],[0.043989,-0.106239,0.993367]]2H@?`w?Ȩ?z`|?@z? ?@2?i2װ@I2j_;2VCYJ">yJlDbDVVDVC9y~x=%~N=ٔ Q->9I = Fy  E >1Q 5=D45GƉ?Q 9=D45)5|@YAyEQ IE?5WAI5:i5:5D4yIɮmBq2f:fBfJfdI@ZZZZi))i I I!IO=99BA<B=]>B=*CB=DB=w>B9B9B9B=;B=EyiߩIߩ2Acoustic response timeoutEY  E] WE] pEY "EY *E] 9VE] 5ZEY BE] M3;am 2E] O3;am JE] :am :E] :am ԑ Hя,N"E?A>H@>(@> ٱ>" FAHRS rotation from veh to nav: [[0.685953,0.727643,0.002140],[-0.726609,0.684816,0.055366],[0.038822,-0.039534,0.998464]]>HT? H?ha?`b@?X?l?=j?i>H@I>`;>XCY^w2>y^yD fp9tIt=vFytzi<Ez>|Q 5D4~BƉ?Q 9D4~)~Ώ@Yy`Q I ?~AI~:i~:~VD4yɮBy2f:fBfJf=@133ZZZZi))iIII!O-=2Acoustic response timeoutԡ 2Acoustic response timeout Hя,дh"E?A2@2@2'I׼ٱ2+1< :AHRS rotation from veh to nav: [[0.688129,0.725125,-0.025931],[-0.725112,0.688533,0.011616],[0.026277,0.010810,0.999596]]2H '?94?`4u?@ɇ?Y?@b#?@?i2@I2\ `;2YCYB=>yBDbDJjVDJC9yRT<%VN=ٔV=Q-V>9XIX=ZFyXZ;E^>\Q 5bE4^=Ɖ?Q 9fE4^ )^ӊ@Ydyf{Q If?^;AI^9:i^1:^0 E4yhɮjBl2f :f Bf Jf )@E-c E-SE-hE)"E-g5:*E-9VE-A{5ZE)a5@a5@a=@a=@gM\Initialize ReadDataComponent to sense time_fixZIZIZQZQiq)q)i!I!IAIQOm=!%<%2Acoustic response timeout1 ! ! Y #Hя,㎂"E?ABn^>BlBnDBn6>BlBlBlBn;BnE2Acoustic response timeoutmѧ@m̮@ms)ٱm|: AHRS rotation from veh to nav: [[0.681131,0.731582,-0.029126],[-0.730992,0.681752,0.029390],[0.041358,0.001272,0.999144]]mH?`i?Aӝ Jd`? }?,? T??imѧ@Im`;mXC1Yu(>yuDa@a a@a a@a a@a yZd;O&1?&1?jP=P= )Mb@Mb@Mb@Ii‰&BB )YBbD}VDC9y%/%%(=ٔ%Q-->9)I)=5Fy15E5>9Q 5EE4=28Ɖ?Q 9EE4=)=Մ@Q AE+:YAQ EM:yMQ IM?=AI=:i=l>=E4yUBɮUBU.EZZZZi))iI!E5n E5QE5nE1"E5O]:*E5v9VE5J5ZE1BE5f;a=2E5g;a=JE5:a=:E5:aEIQIiOu>aԉ5 2Acoustic response timeoutԹ 1ƦHя,i"E?A2=@27@2ɹٱ2`cq :AHRS rotation from veh to nav: [[0.665568,0.746152,-0.016626],[-0.740818,0.663187,0.106636],[0.090593,-0.058656,0.994159]]2HUL?y?pȴ8?`yL?1? 5&?i2=@I2`;2ZCYv0>yvKD@A@AbD IVD C9y8<%s=ٔQ-?9!I!=%Fy!-\E-?)Q 55E4-3Ɖ?Q 95E4-)-@Q A= :Y9Q E=j:y=&Q I=?-HAI- ;i-S?-!E4yIɮMBIZZZZ>>i))顩iIIIO=ԑ2Acoustic response timeoutEEf EE]EEEA"EEI@:*EE9VEE5ZEAaM@aM@aM@aM@ = 2Acoustic response timeoutHя,H"E?A2ߧ@2ڮ@2cٱ2̲ :AHRS rotation from veh to nav: [[0.678601,0.734323,0.016459],[-0.725770,0.666914,0.168772],[0.112956,-0.126474,0.985518]]2H??ڐ?9[W?R? ?O0`\?i2ߧ@I2_;2YCYNk#>yNDbDVDC9y%B=ٔZQ->9I=Fy[A=E>Q 5E4.Ɖ?Q 9E4S)y@Q A9YQ E=:yQ I?AI~:i?y)E4yBɮBZIZIZIZIiy)y)顁iIIAIqO}=AAB_>BBBBBBB;BE2Acoustic response timeoutI I% >)% >EM ` EM QEM |EI "EM *:*EM v9VEM ם5ZEI BEM -;aU 2EM -;aU JEI a] :EI a] سHя,""E?A2@2l@2K-ٱ2m( >AHRS rotation from veh to nav: [[0.679083,0.732786,0.043253],[-0.725292,0.660724,0.193376],[0.113125,-0.162690,0.980171]]2H` ?r?E%?@5$???Ŀ@]?i2@I2_;2XCYN>yRDZParsing RMC sentence: $GPRMC,181850.00,A,3646.40701,N,12151.91126,W,0.214,268.25,251025,,,D*7F )^^"E?A^Yrʼn?^B9^uAjcB@O<_w^bhGPS fix at 20251025T181850: (36.773450, -121.865188)^w=^ѕ@dfAbDnVDnRC9y-% T=ٔ Q- >9I=Fy:E>9Q 5E;4=Yrʼn?Q 9M;4=BQ =MtI)=Q AM9YIQ EM:yMfQ IM?=I=P;i=5?=>g;4yBɮ}BE3MZIZIZIZIc0Completed marl:NeedComms1 cLAggregate::uninitialize marl:NeedComms12 dDUninitialize GoToSurfaceComponent.\Received valid gps time fix: 1761416320.00. 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Du?i2@I2_;0YR>yRpD`bDfVDf?9yv=%zO=ٔz9I!=%Fy!%5<E->1Q 5>45ʼn?Q 9>455l)5?Yy?Q I?50AI54yDBɮBAEiiiiziJi i 2f!:f!Bf!Jf%?e4@ehQ)a eia)mAݽiiiiAqAuAAByByB}aDB}=ByByByB}c;B}EiIII?)>mw6:IIO=2Acoustic response timeout-hptvr-v2b: running backseat_app backseat application.I55>5>EM i EM PEM eEI "EM ,K:*EM ?9VEM q5ZEI BEM te;aU 2EM ve;aU JEM :a] :EM :a] Y xJя,)E?A2{@2v@2ݗٱ2 :AHRS rotation from veh to nav: [[0.718648,0.695356,0.005035],[-0.695066,0.718095,0.034969],[0.020701,-0.028630,0.999376]]2H`*?Z@?4t?=?@?`2?5Q?i2{@I2[`;2ZCY^A0>y^DdfAAbDjVDj?9yE2=%I=ٔ =Q- >9 I = FyŒ=E>!Q 5->4%5ʼn?Q 9->4%f)%j?Y)y-ٸ?Q I-?%24AI%:i%p:%ÿ>4i9I9=2Acoustic response timeoutyYɮ]BYiiiqiqiziJii2fA:fABfAJfEH? @ݗ) i)iiiII5:IIO>Iq2Acoustic response timeoutԡ H~Jя,)E?A6;@6۰@6Mٱ6; >AHRS rotation from veh to nav: [[0.727228,0.686032,0.022354],[-0.686282,0.726127,0.041905],[0.012517,-0.045816,0.998872]]6HrE??@? oyRfDbDZVDZ?9yv %vL=ٔv9xIx=zFyxz{<E~>El ESE}E"EV:*E9VEs5ZEa @a @a @a @9Q 5E>4=[ʼn?Q 9E>4=`)=?YIyME?Q IM?=7AI=:i=:=>4yQyɮUByiiiiziJii2f:fBfJfƋ?额1 @M) fi)b顡iiII3:IIAe2Acoustic response timeoutԩO >BqBqBuDBu=BqBqBqBu;Bu,EI >) > %= %= 2Acoustic response timeout0Jя,T*E?A2@2 @2ٱ2뻽 :AHRS rotation from veh to nav: [[0.709044,0.704090,0.038920],[-0.704229,0.704182,0.090489],[0.036305,-0.091569,0.995137]]2H@|?@?\?@ @?D*??q)?i2@I2s`;2^CYNA>yRoDy"~?i|?5ֿ{GzĿS># 9㥛 ?X9v5^I ۿY>yؾPB B)BY̝BbDVD?9y o8=% 9=ٔ\Q-5>91I9==Fy9=jE=>AQ 5M>4Ezʼn?Q 9M>4EVc)E)?YU>Q Eu:yu-ǿQ Iu?EN9AIE;iE;EJ>4yyɮ}Bi9i9i9iAziAJiAiA2f]>:f]>Bf]?Jf]N?} @})y }iy)3顁iiII Ei EOE`E"E,K:*E9VE|a5ZEBEa2EaJEM:a%:EO:a%m1:IIO>]2Acoustic response timeout1Y ZJя,/*E?A2U@25 @20Fٱ21 :AHRS rotation from veh to nav: [[0.708798,0.704010,0.044449],[-0.703739,0.701375,0.113242],[0.048548,-0.111546,0.992573]]2H x?@@? ¦?`@q?l?`Eۨ?K'?i2U@I2_;2[CYNL>yRD V49 I = Fy  o9E>Q 5=>4ʼn?Q 9E>4e)?YAyEȿQ IE?:AI;i,:>4yIɮMޫBQi i i i zi Jii12fA:fABfAJfE?颅< @0F) i)=顉iiII2Acoustic response timeout0:IIO=aEb EEkE"E1:*EVEu5ZEa%@a%@a-@a-@ԉe 2Acoustic response timeoutԹ DJя,I*E?AR@Rη@Rޝ&ٱRgӽ ZAHRS rotation from veh to nav: [[0.724283,0.686553,0.063717],[-0.689428,0.719742,0.081610],[0.010169,-0.103037,0.994626]]RH@S-?=?O?  !? ]?@ӄ?`?iR@IR_;PYzD>y~DbD VD ?9y=%=F=ٔ==Q-=>9AIA=EFyAMQ=EM>QQ 5}>4Uhʼn?Q 9}>4Ug)U?Yyy}ʿQ I}?U!4yɮBiiiiziJii2f:fBfJf5?B<A<BBBDB#>BBBB;BwEԉ @ޝ&) i)-iiaiIiIiE6/:IYIiOu>2Acoustic response timeoutE% f E% QE% bE! "E% I@:*E% v9VE% g5ZE! BE% R;a5 2E% R;a5 JE% :a5 :E% :a5  lJя,Uc*E?AF@GRsA\~9~sAY~A%2Acoustic response timeout=@=y@=~ <ٱ=NF MAHRS rotation from veh to nav: [[0.742372,0.667373,0.059144],[-0.669803,0.741345,0.042098],[-0.015751,-0.070867,0.997361]]=H?[?H?o@?ҍ?!P$b?i=@I=a_;9Y]4<>y]rDbDmޠVDm?9y%D=ٔ=Q->9I=FyS=E>Q 5?4ʼn?Q 9?45j)?YyƿQ I?}=AIR:i:?4yɮBi!i!i!i!zi!Ji)i)2fA:fABfAJfE?z @~ <) i)515*i1iAAAIAIII ?)>-:IIO#>=2Acoustic response timeoutI Jя,0}*E?A2ߪ@2ڱ@2Pɼٱ2$ >AHRS rotation from veh to nav: [[0.748099,0.663535,0.008315],[-0.663132,0.747063,0.046394],[0.024572,-0.040221,0.998889]]2Hm?;??`8?`?])?ۗ@?i2ߪ@I2>_;2\CYNO>yRdDTTbDZ٠VDZ?9yfN=%fY=ٔf4۽Q-f>9hIh=jFyhn-<En>Erg ErjErqEp"ErC:*Er9VEr5ZEpav@av@av@av@Q 5 ?4hʼn?Q 9 ?4Dl)s?Y y yQ I ?>AI9:iF:Q?4yɮݫBiiiiziJii2f:fBfJf?Q- @ePɼ) i)B顙iiIIE2Acoustic response timeoutS,:IIOC>IAyFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IBZ>BBDB">BBBB;BEԡ  ~Failed to copy DAT.enableBroadcast's data value to LCM message. *Activating messaging.M 2Acoustic response timeoutO~Jя,| *E?AiI2@2m@2Mٱ2ʼ :AHRS rotation from veh to nav: [[0.743318,0.668614,-0.020837],[-0.667052,0.743199,0.051930],[0.050207,-0.024701,0.998433]]2H`B?He?8V|X J??ఴ?:K`*?i2@I2g`;2_Cy= Dy r?EԸL7A`?>ƽ+> 9~jt?MҿZd;Y>yny:BB B)BYuBbDVD?9ym%-=ٔ ^Q->9I=FySE>Q 5?4ʼn?Q 9 ?4ur)o?Y ?Q E :y ਿQ I-?BAIq;i ;$?4y=^Bɮ=B=KEiiiiiqiqziqJiqiqO)!ԱEj E\EE"EN:*E9VEZEBEk;a2Ek;aJEx ;a:Ey ;a-vCreated data writer for _.horizontalCmdMode with code: 2122 kO1!55pCreated data writer for _.rudderAngleCmd with code: 2124kO%!=EdCreated data writer for _.speedCmd with code: 2121khA2fu>:fu>Bfubl@Jfuu@5 @M) ri)ii!AAIAII*+:I1IAOZ>i9I9E2Acoustic response timeout Jя,*E?A2ɪ@2dı@2nmٱ2( :AHRS rotation from veh to nav: [[0.746454,0.665389,0.008039],[-0.665280,0.745959,0.030792],[0.014491,-0.028333,0.999493]]2H?J?v?I?Ї? ?N?i2ɪ@I2p_;0YN>yRѺDPPbDZVDZ?9yf%ft=ٔf=Q-f?9hIh=jFyhn0'<En?lyQ 5?4}_Ɖ?Q 9?4} w)}k?YyQ I?}EAI}F:i}:}1?4yɮBiiiiziJii kkkh  kkkh92fI:fIBfIJfM@19u ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]}?18}o}@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeout] @]nm)a epia)e}aaiaiII  *:IIO">Ef EMEyE"EI@:*E9VE5ZEa @a @a @a @1] 2Acoustic response timeouta UJя,?*E?A@2Ӫ@2α@2Qtmٱ2wS :AHRS rotation from veh to nav: [[0.747281,0.664093,0.023470],[-0.664350,0.745867,0.048183],[0.014493,-0.051599,0.998563]]2H?A@??[B $?z?F? +k9?i2Ӫ@I2_;2]CYN >yNԴD bDVD?91yE9%EC=ٔERQ-E>9III=MFyIMdB;EU>YQ 5]?4]Ɖ?Q 9e?4]f|)]g?YayeĨQ Ie?]HAI]:i]Q:]??4yiɮuBqShAggregate::initialize marl:JoystickControl:CmdRudder1TS1T*jBjqSnAggregate::uninitialize marl:JoystickControl:CmdHeadingSiiziBY>BBBBBBBC;BEBBBBBC4Jii1 kkkhA kkkhq2f:fBfJf@sNUpdating rudder angle 0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder @Qtm) ~i)KiI b(:II1aO}>2Acoustic response timeoutԑbE5jEk5rEɑs2E b E RE wE "E 1:*E 9VE ɕ5ZE BE 9;a= 2E 9;a= JE $:aE :E &:aE Թ /Jя,ؚ*E?A6 ڪ@6ձ@6ٱ6D BAHRS rotation from veh to nav: [[0.746265,0.665591,0.008781],[-0.662401,0.741258,0.108448],[0.065673,-0.086748,0.994063]]6H g?L??d2b?Fû?ϰ?5]?i6 ڪ@I6:_;6_CYF>yJ9DRParsing RMC sentence: $GPRMC,181922.00,A,3646.40729,N,12151.91556,W,0.855,283.59,251025,,,D*73 )TV*E?AVʼn?V$_9V gcB@nήh`w^ZhGPS fix at 20251025T181922: (36.773455, -121.865259)V4>Vb@bDfVDf?9yj%nR=ٔn~Q-n>9pIp=rFypvw;Ev>tQ 5z;4vʼn?Q 9~;4v$_2Acoustic response timeout)vY y ڨQ I ?vIvl;ivm;v>g;4yABɮB@E*j)Bj)i)i)zi1Ji1i1 kIkIkIhI kkkhY2fi:fiBfiJfm@\}Received valid gps time fix: 1761416320.00. Resetting abort timer.颍_ @) i)顑iԙI}8':IIO=2Acoustic response timeout Jя,w*E?A2&@2o!@2V!ٱ2Q_Ͻ :AHRS rotation from veh to nav: [[0.753451,0.656477,0.036732],[-0.656314,0.747553,0.102059],[0.039540,-0.101004,0.994100]]2H E??΢?? ?>?f۹?i2&@I2g_;2^CYN>yRDEbu EbTEblE`"Ebv:*Eb9VEb5ZE`af@af@aj@aj@=a=bD VD ?9y<%<=ٔv=Q->9I=Fy߯<E>Q 5;4ʼn?Q 9;4d)һYyԧQ I?g>I:i:ov;4yɮB*jBj!i)i)zi1Ji9iA k k k h2f:fBfJf@%2Acoustic response timeoutM@MV!)I MiI)MQQiQQIY!%:IIOF>BBBDB#>BBBB;BIEQy  2Acoustic response timeoutJя,t+E?A2@2Ӕ@2Fr<ٱ2 ν :AHRS rotation from veh to nav: [[0.763134,0.641736,0.076171],[-0.646071,0.760317,0.067163],[-0.014813,-0.100466,0.994830]]2H`k??`?T?1? V)?i2@I2+_;2\CYB>yBDyn?{Gz/$ÿ># 9-?7A`¿ rh?Y5^>yC =BƗB B)ZBYkB%@A!bD-9VD-?9y=1%=S=ٔ=y>Q-=>9AIA=EFyAM=EM>QQ 5];4U_ʼn?Q 9];4Ulg)U#7Q E]H;y]?Q I]?U9>IU':iU:U;4yiɮmBi*jBjiiziJi i  kkkhA kkkhQ2fy>:fy>BfҖ@Jfw ]@o @Fr<) Di)9iIg$:D%=D<Ed ESExE"E9:*E9VEe5ZEBEF;a2EF;aJEl:a:Em:aq 2Acoustic response timeout^A=sIQIiԙO > \Jя,w,2+E?A6;ƫ@6@6q<ٱ6Ž BAHRS rotation from veh to nav: [[0.766616,0.637935,0.073077],[-0.641937,0.764048,0.064398],[-0.014752,-0.096280,0.995245]]6H@?i?,?`s?`h|? 6 ǥ ?i6;ƫ@I6 _;6_CYRx>yRFDhn'n$ n#)n!In!in(n+n*r r+ r*bDvVVDv@9y~R=%O=ٔ+ Q->9 I = Fy  `<E >Q 5;4ݧʼn?Q 9%;4j)2I` ;i~ ;ő;4y)ɮ5B1*jIBjIiIiIziIJiQiQ k9k9k9ha kAkAkAhy2f:fBfJfK]@颥\@q<) i) 顩biI2Acoustic response timeoutԱG#:^AIIO>Eb ENEdE"E1:*E҆9VE^n5ZEa@a@a@a@ - 2Acoustic response timeout9 _Jя,-L+E?A2=@28@2ևB;ٱ2ݽ :AHRS rotation from veh to nav: [[0.755884,0.650651,0.072750],[-0.654698,0.751699,0.079486],[-0.002968,-0.107712,0.994178]]2H`40?@!?? J ?`6Y?`PhM?i2=@I2ԧ_;2]CY^3>ybDdfAbDjVDj?9yrY=%rL=ٔvQ-v>9tIt=zFyxzl*Ez>Be[>BaBeDBe=Be=BaBaBef;BeEQQ 5};4USʼn?Q 9};4Ul)UH=YyQ I?UN ?IU ;iUz;U-;4yɮB*jBjiiziJii kkkh kkkh2f:fBfJfG [@ @ևB;) i) K  ~si I !:^A9[IIO% >2Acoustic response timeout9i E h E TE pE "E G:*E 9VE 5ZE BE /_;a 2E 1_;a JE :a :E :a eJя,e+E?A 6@6@6j I<ٱ6M >AHRS rotation from veh to nav: [[0.748767,0.657583,0.083265],[-0.662720,0.745033,0.075678],[-0.012270,-0.111847,0.993650]]6H`? ?P?5`P? _?C!?i6@I6_;6^CYF5>yFHDr2Acoustic response timeout p<p;bD vVD @9yU;%UD=ٔ9I=Fy^ɼE>Q 5 ;4ʬʼn?Q 9;4o)ߍ=YyۦQ I?%?Iqa;iN; ;4y!ɮ%B!*j9Bj9iAiAziAJiAiA kkkhY2fq:fqBfqJfuZ@额v @j I<) i) 顩# iIiv :^Aeu)IqIO>ԙ2Acoustic response timeout {2Jя,ܽ+E?A6O2@6/-@6P ;ٱ6w >AHRS rotation from veh to nav: [[0.754960,0.653078,0.059371],[-0.655726,0.752862,0.056759],[-0.007631,-0.081782,0.996621]]6H(? ?e? r?x? VA﴿Q?i6O2@I6_;6]CYFb+>yFDERd ERERoEP"ER9:*ER:VER5ZEPaZ@aZ@aZ@aZ@XbParsing RMC sentence: $GPRMC,181925.00,A,3646.40746,N,12151.91616,W,0.564,285.07,251025,,,D*78 )`b@+E?Abʼn?bv9b?+cB@9`w^jhGPS fix at 20251025T181925: (36.773458, -121.865269)b>b6@bDr֡VDr>@9yzϼ%zQ=ٔz.KQ-z>9|I=Fy <E>)Q 55;4-ʼn?Q 95;4-v)-Y1y5TQ I5?-I-:i- ;->g;4yE\BɮEBEJE*jYBjYiYiaziaJiaia kɴkɴkɴh2f:fBfJf@\@\5Received valid gps time fix: 1761416320.00. Resetting abort timer.颅 @P ;) i)p 医i2Acoustic response timeoutInManaging dock network, ignoring radio surface power off:^Ap{IIOEQ>B]\>BYBYBYB]=BYBYB]V;B]E! ߙ ߝ R= 2Acoustic response timeoutvJя,p+E?A2_@2?@2Eٱ2bA :AHRS rotation from veh to nav: [[0.771077,0.636134,0.027819],[-0.636735,0.770125,0.038424],[0.003018,-0.047341,0.998874]]2H?5[?|?@!`ݤ? @?h?= ?i2_@I2_;2^CYB'H>yB$D|yˡE^I +?Q?'X9>u= 9Mb?S㥛п+η?Y@>y$v=ڒB B)BY#BbDġVD6@9y=%?=ٔ ̼Q->9I=Fy4p=E>Q 5;4ʼn?Q 9;4z)7=Yի>Q E;yпQ I? >I:i: v;4yɮB*jBjiiziJii kkkh  kkkh!2f5>:f5>Bf5K@Jf5@^B*** querying acoustic contact ***XY @E) i)\ 漻iII ?) V?Eg EPEuE"EC:*E?9VE5ZEBEX;a2EX;aJE:a:E:a:)^AtII U_GrA뫿9rAY'AOB>%2Acoustic response timeoutYԁ EJя,v+E?A2?q@2l@2t5:ٱ2߼ :AHRS rotation from veh to nav: [[0.779933,0.625604,0.017995],[-0.625862,0.779662,0.020570],[-0.001161,-0.027306,0.999626]]2H5??Vm??h?@S?i2?q@I2_;2_CYBX>yBiEJAAHbDNVDN2@9yV4=%V\=ٔV+89XIX=ZFyX^z=E^>`Q 5f;4btʼn?Q 9f;4b<})b֧=YdyfLϿQ Ij?b>IbK:ib:b;4ylɮnBl*jxBjxixi|YziqJiyiy kњkњkњh kkkh2f:fBfJfau@  @ t5:) Qi)- )-ܪi))I1}2Acoustic response timeout:^A̼II O5 >ԁEc EVElE"Eg5:*E9VE5ZEa@a@a@a@Ա- 2Acoustic response timeout ,Jя,O+E?A2@2@2l<ٱ26_ :AHRS rotation from veh to nav: [[0.784402,0.618610,0.045105],[-0.620084,0.783808,0.033776],[-0.014459,-0.054463,0.998411]]2H??? ?K?`@⫿?i2@I2_;0YN]J>yRDbDZVDZK@9yz %zF=ٔz=Q-z>9|AABB*CBDB#>BBBB;BSEI=Fy%o<E%>)Q 55;4-ʼn?Q 95;4-)-~>Y1y5=ͿQ I5?->I-t:i-;-;4yAɮEBAԹ*jBjiiziJii kikikih12fA:fABfAJfEƐ@颅 @l<) %i)=顉;iIm:^AM9IQIiI>>O>2Acoustic response timeoutQE e E TE xE "E <:*E 9VE e5ZE BE `L;a 2E cL;a JE :a :E :a y VJя,*+E?AFÀ@F{@Fݥ<ٱFb VAHRS rotation from veh to nav: [[0.800081,0.595984,0.068364],[-0.599550,0.798262,0.057596],[-0.020246,-0.087069,0.995997]]FH C?@M?`I?/\?0}?_#J 4?iFÀ@IFF_;F]CYb`a>yb Ev2Acoustic response timeout-'-(-" -$)-I5#i55(5 5-=! =#bDUVDUT@9ye[=%eC=ٔetb9iIi=mFyiuu=Eu>yQ 5;4}ʼn?Q 9;4}.)}/>YyȿQ I?}?I}-:i}:};4yɮB*jBjiiziJii k!k!k!hQ2fi:fiBfiJfm@@ @ݥ<) i)LP2Acoustic response timeoutԩ n>Kя,,E?A6`@6[@6+X<EH EJMEJ{EH"EH*EJ9VEJ:5ZEHaN@aN@aN@aN@ٱ6 zAHRS rotation from veh to nav: [[0.797739,0.594267,0.102272],[-0.602648,0.791533,0.101438],[-0.020670,-0.142555,0.989571]]6H?;? y.?H>T??*9?¿?i6`@I6B_;4Y-"L>y- D e49I=FyE>Q 5%;4>ʼn?Q 9%;4)f>Y)ԹyǿQ I?7&?IB[>B)CBBBBBB;B/EBBBBBCY4  2Acoustic response timeout9 0iKя,,E?A2@2Ѻ@2v<ٱ2A& :AHRS rotation from veh to nav: [[0.785820,0.608316,0.111527],[-0.618271,0.777102,0.117702],[-0.015068,-0.161447,0.986766]]2Hp%?Rw? ? ? !? ێJĿ?i2@I2_;2_CY^S>y^%Ea @a  a @a  a @a  a@a y (\?Կ~jt? .> f <  ) Mb@Mb@Mb@I i ‰   B gB)  Y BbDM%VDMb@9y}ы<%}>=ٔ}VQ-}>9I=FyN=E>Q 5;43ʼn?Q 9;4)h>Q A+:YQ E;yɿQ I?G?IH:i>ƺ;4yɮB bEÊ5jE@5rE1Ef EYEvE"EI@:*E*9VE-5ZEBER;a2ER;aJE:a:E:a*jBjiiziJii kkkh kkkh) @v<) i)12Acoustic response timeouti @AP Kя,ƾ4,E?A 2<<@27@2M@@=ٱ2t >AHRS rotation from veh to nav: [[0.794325,0.595545,0.119892],[-0.605679,0.791618,0.080582],[-0.046919,-0.136624,0.989511]]2Hk??E?a@T??` |`?i2<<@I2_;0YN7S>yREZParsing RMC sentence: $GPRMC,181928.00,A,3646.40750,N,12151.91669,W,0.700,283.37,251025,,,D*7F )\^,E?A^߾ʼn?^B9^>îcB@`w^bhGPS fix at 20251025T181928: (36.773458, -121.865278)^`>^C@bDjVDjM@9yΞ% e=ٔ =Q- >9I=FyG.=E>9Q 5E;4=߾ʼn?Q 9E;4=B)=Q AM :YIQ EM:yM?ǿQ IM?=I=^;i=H?=>g;4yQɮ*j)Bj)i)u2Acoustic response timeoutiyziyJiyiy kkkh\-Received valid gps time fix: 1761416320.00. Resetting abort timer.=o @=M@@=)9 =;i9)E[AAiAIIIq-2:I9IIO>ԙEd EHElE"E9:*E[9VE5ZEa@a@a@a@  2Acoustic response timeout{Kя,=N,E?Aɰ;:Tح@:4Ӵ@:=ٱ:՟ BAHRS rotation from veh to nav: [[0.804156,0.583913,0.111257],[-0.589288,0.807665,0.020432],[-0.077927,-0.081993,0.993582]]:Hॻ?k? P{? rc?;? `~k?i:Tح@I:ص_;8BPAR<BTBTBTBTBTBTBTBVn;BVE\YbG^>ybEbDEˡVDE9@9y.<%A=ٔ_=Q->9I=Fyp8=E>Q 5;4,ʼn?Q 9;4ʎ)H*=Q A9YQ E:yſQ I? >I;i?o;4yɮB*jBjiiziJii kckckch kkkhIq @=) i)F iI:II e%=e%=m2Acoustic response timeoutO9>E g E LE oE "E C:*E |9VE 5ZE BE X;a 2E X;a JE v:a :E x:a ! Kя,B|h,E?AFl@FL@Fo=ٱF'$ RAHRS rotation from veh to nav: [[0.808206,0.580967,0.096337],[-0.581992,0.812948,-0.019999],[-0.089936,-0.039904,0.995148]]FH?G?? `?z`Gn`@?iFl@IF^_;F^C^2Acoustic response timeout|YV>y EbD5VD5M@9yei%mN=ٔm09qIq=}Fyy}ת<E>Q 5;4wʼn?Q 9;41)=Q A9YQ E:yſQ I?>I;i?u;4yvBɮ BTE*j Bj1i1i1zi9Ji9i9 k#k#k#h @o=) i)%!!i!!II!-a:I9IQO>Q}2Acoustic response timeouty I >) >2 Kя,7P,E?AE:e E:SE:sE8"E:<:*E:9VE:X5ZE8aN@aN@aN@aN@@@9 E=ٱ㭺Y %AHRS rotation from veh to nav: [[0.808591,0.587029,0.039707],[-0.586402,0.809565,-0.027157],[-0.048087,-0.001325,0.998842]]H??@iT??@ϛ؞U?i@I_;_CY\>yE?AA2Acoustic response timeouta-a- a-a- a-a- a-a- a-@a5 a5@a5 a5@a5 a5@a5 y-MbXѿRQ?Mb-->-@) ))-Mb@Mb@Mb@I)i)))-JB -VB)))Y-іBԁ p<<bDVDS@9y52<%=ٔmQ->9!I!=%Fy!-һE->1Q 5=;45ʼn?Q 9=;45)5=Q A=9Y9Q E=\:y=OȿQ Ie?5>I5`;i5Q@5h{;4yiɮmBi*jBjiiziJii kkkh!颅 @9 E=) i)D顉iBY>BBDBM>BBBB$;BܝEIԱ:IIO>  2Acoustic response timeoutr&Kя,+,E?A2!@2@2)<ٱ25; :AHRS rotation from veh to nav: [[0.821631,0.569730,0.018179],[-0.569449,0.821817,-0.018548],[-0.025507,0.004888,0.999663]]2HJ?`:;?`g?8TL?@-k t?yNyEbDZ4VDZi@9yf=%f=ٔfӪQ-f$?9hIh=jFyhn=En*?Q 5;4ʼn?Q 9 ;4)>Q A o9Y Q E 2:y WƿQ I ?0?I:i@ ~;4y9ɮ=B9*jQBjQiQԱiQziJii kkkh  kkkhY颥 @)<)  i)顩iIDm<DmC=E}h E}]E}xEy"E}G:*E}9VE}e5ZEyBE}/_;a2E}1_;aJE} ;a:E} ;a:IIO>2Acoustic response timeout9 ;,Kя,,E?A6P@60@6M6=ٱ6WH BAHRS rotation from veh to nav: [[0.820332,0.568250,0.064395],[-0.570154,0.821405,0.014785],[-0.044493,-0.048844,0.997815]]6H)@?/?@7|?@> H?G?Ǧ ?i6P@I6_;6_CYN3W>yRREj(j&j! n#)nIni *$%' %bD.VDf@9y-\%-D=ٔ5:=Q-5>91I1=5Fy1]ME]>aQ 5m;4eʼn?Q 9m;4eu)e<>Q AmB9YiQ Eu:yuĿQ Iu?er'?Ie3:ie3@e^;4yɮ B=2Acoustic response timeout*jBjiiziJii kckckch kskskshe'@eM6=)a eii)ǫ顩iI:IIO">AEa E[EsE"E%.:*E9VEX5ZEa@a@a@a@q 2Acoustic response timeoutԙ 3Kя,,E?AA A"@AB&X>B$B&DB&=B$B$B$B&;B&GEB1@B,@BO"=ٱB JAHRS rotation from veh to nav: [[0.812389,0.574856,0.097798],[-0.581771,0.810417,0.069041],[-0.039568,-0.112985,0.992809]]BH?7e?L ?ޝ@?@? OB켿`?iB1@IB_;@Y Y>y E A==bD%*VD%d@9ye;%eG=ٔmODQ-m>9iIi=uFyqu Eu>Q 5;4~ʼn?Q 9;4ޟ)Pl>Q A9YQ E9yĿQ I?H?I:iN@;4yɮ B*jBjiiziJii kkkh)q kkkh U @UO"=)Y ]iY)]hM YYiYaIiI$?)>? :IIO#>M2Acoustic response timeoutԡD zD E b E RE kE "E 1:*E 9VE u5ZE BE 9;a 2E 9;a JE $:a :E &:a  G) y A9 Y QA \9Kя,f,E?A2"O@2J@2z<ٱ2p :AHRS rotation from veh to nav: [[0.815001,0.571257,0.097157],[-0.579258,0.807615,0.110540],[-0.015319,-0.146369,0.989111]]2H|?G?`L߸?`G?^L?i_@<¿̦?i2"O@I2_;0R2Acoustic response timeoutYb `>yb EbDm֡VDm>@9yn<%E=ٔ9oQ->9I=Fy <E>Q 5;4ʼn?Q 9;49)>Q A8YQ E9yÿQ I?_i?I3:iqh@1;4yɮB*j)Bj)i)i)zi)Ji1iQ kkkha kkkh] @]z<)Y ]ia)e!aaiaIM :IIOU2Acoustic response timeout) Y @Kя,~-E?AE"e E"PE E "E"<:*E"?9VE ZE a2@a2@a2@a2@%@%w@%<ٱ%D3 eAHRS rotation from veh to nav: [[0.821202,0.558105,0.118935],[-0.570123,0.811295,0.129462],[-0.024238,-0.174122,0.984426]]%H`IG??r?q> !?8?`јIƿ@j?i%@I%љ_;%bCYu:>yuDParsing RMC sentence: $GPRMC,181931.00,A,3646.40744,N,12151.91697,W,0.214,278.07,251025,,,D*74 ),E?Aʼn?09O_cB@>?`w^hGPS fix at 20251025T181931: (36.773457, -121.865283)w=M@2Acoustic response timeoutaEaE aEaE aEaE aEaE aE@aM aM@aM aM@aM aM@aM yEQ:v?I +EET=E9A A)EMb@Mb@Mb@IAiAAAE`B E5B)AAYELBbDVDQ@9y%=ٔ9I=Fy%^<E%>!Q 5U;4%ʼn?Q 9U;4%0)%Q AU8YQQ EU9yUQ IU?%I%;i%ڄ@%>g;4yaɮeBa*jBjiiziJii kSjkSjkSjh kkkh ABUZ>BQBQBQBU=BQBQBU1;BU˜E\Received valid gps time fix: 1761416320.00. Resetting abort timer.V@<) i)*$iI!%f :I9IIO>i I q I >) >M 2Acoustic response timeout>GKя,.r-E?A,>@>t@>[=ٱ> JAHRS rotation from veh to nav: [[0.826009,0.551417,0.116828],[-0.562325,0.820405,0.103569],[-0.038737,-0.151244,0.987737]]>Hn?`5?r?@@?? Fգ[ÿ?i>@I>"_;>`CYN I>yR;DbD ǡVD 7@9y%O=%-=ٔ-Y=Q--#?91I1=5Fy15x =E5#?YQ 5e;4]ʼn?Q 9e;4]u)] =Q Am8YiQ Emy9ym'Q Im?]=I]:i]@]2h;4yɮB*jBjiiziJii k3mk3mk3mh kSmkSmkSmh @[=) i)I%!i!!I)DU=DU%=E]c E]RE]EY"E]g5:*E]9VE]5ZEYBE]?;ae2E]?;aeJEYam:E]%:am-:I9IIIiO>2Acoustic response timeout! x/MKя,M7-E?A2l@2f@2<ٱ2ȧ :AHRS rotation from veh to nav: [[0.834404,0.546820,0.068978],[-0.550403,0.833245,0.052534],[-0.028749,-0.081800,0.996234]]2Ho??@? ??Fp`@&?i2l@I21_;2_CYN=>yRD|bDZOVDZ@9y%nۼ%%K=ٔ%ʼQ-%>9)I)=-Fy)5=E5>9Q 5E;4=ʼn?Q 9E;4=ț)=S=Q AE8YAQ EEI9yEQ IM?=BZ>I=:i=\@=Oi;4yQɮUBQ*jiBjiiiiqziqJiqiq kTkTkTh kTkTkTh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed @<) i)&iI2Acoustic response timeout:IIO]=)Eej EeNEeEa"EeN:*Ee҆9VEeH5ZEaam@am@am@am@Qi I  2Acoustic response timeoutԁ B] <AY B] \>BY B] zDB] J=B] =BY BY B] ;B] EBBBBBC4j*TKя,xQ-E?A2ׯ@2Ҷ@2}ٱ2Rͼ :AHRS rotation from veh to nav: [[0.841874,0.539640,0.006037],[-0.539601,0.841522,0.025936],[0.008916,-0.025093,0.999645]]2H?D?x?`hD?@?B?@?i2ׯ@I21`;2]CYNP>yN=EbDVҠVDV?9yr9=%rL=ٔrQ-r>9tIt=vFytvI=Ez>|Q 5~;4~Eʼn?Q 9;4~&)~]=Q A[8YQ E#9y¿Q I?~®>I~:i~-@~7j;4yQɮBq*jBjiiziJii k8k8k8h kFkFkFhsNUpdating rudder angle 0.000000 arcdeg 9r6Completed marl:UpdateRudder19  r RAggregate::uninitialize marl:UpdateRudderE& @E})A E;iA)M#(Im*yZDba=`~)|" ")I"i&,  = =bDVD?9y%n%-F=ٔ-[;Q-->91I1=5Fy15X;E=>9Q 5E;4=ݷʼn?Q 9E;4=)=K!>Q AM18YIQ EM9yMA¿Q IM?=>I=<:i=^@=j;4yYɮ]BY*jiBjiiqiqziqJiqԱi k6k6k6h  k37k37k37h9颅N @'ػ) <i)8*顉`2Acoustic response timeoutA :aKя,$%-E?AEs ERE}E"Eso:*E9VEs5ZEa*@a*@a*@a.@!ɰ!}F@}&@}F<ٱ}.] AHRS rotation from veh to nav: [[0.843005,0.537063,0.030090],[-0.537769,0.842733,0.024628],[-0.012131,-0.036943,0.999244]]}H? /? Ϟ?f5?@8?9؈@0ꢿ?i}F@I}A_;}aCYE,>yDu2Acoustic response timeoutaa aa aa aa a@a a@a a@a a@a y ףp= ?~jttV޿Q=Ľ )Mb@Mb@Mb@Ii  B)Y BbDVD%@9y)%=ٔ=Q->9I=Fy!:E>Q 5;4Ǹʼn?Q 9;4)QW>Q A8YQ E8yQ I?x$?IG ;i4@k;4y ɮ B9*jBjiiziJii kBBBDB=BBBBU;BTEkkhEm @MF<)I MiI)Mi% 2Acoustic response timeoutԙ |bgKя,D-E?A2ԯ@2϶@2ևٱ2 :AHRS rotation from veh to nav: [[0.841616,0.537733,0.050249],[-0.539822,0.834714,0.108836],[0.016581,-0.118723,0.992789]]2H ?5?:?7F ?ܻ??d@?i2ԯ@I2_;2_CYB9>yBYDbD~VD~_@9yEkR%M=ٔMͽQ-M?9IIQ=UFyQU(EU?YQ 5e;4]Nʼn?Q 9e;4]c)]^|>Q Am7YiQ Em8ymQ Im?]8;?I]:i]Y@]l;4yqɮ}(By*jBjiiziJii kkkh kkkh @և) i)\w-yRDZParsing RMC sentence: $GPRMC,181934.00,A,3646.40750,N,12151.91707,W,0.641,268.62,251025,,,D*7A )\^-E?A^߾ʼn?^9^>îcB@O=`w^fhGPS fix at 20251025T181934: (36.773458, -121.865285)^֨>^@dfAbDn VDnW@9yvX;%vP=ٔvQ-v>9xIx=zFyxz1E~>Q 5 ;4߾ʼn?Q 9 ;4)Q A 7Y Q E 8y xQ I?II;i@>g;42Acoustic response timeoutyɮ'B*jBjiiziJii kkkh9\uReceived valid gps time fix: 1761416320.00. Resetting abort timer.} @"^J) 4i)K4/顁غiImc:IIO>EEa EE]EE~EA"EE%.:*EE9VEE5ZEAaM@aM@aM@aM@>>)  2Acoustic response timeoutB B *CB aDB =B B B B ;B ECutKя,̲-E?A2@2@2ٱ2`}N :AHRS rotation from veh to nav: [[0.839709,0.536698,0.082725],[-0.542124,0.819683,0.184992],[0.031476,-0.200187,0.979252]]2H?@,?~-?Y`:?ӭ??ຟɿ V?i2@I2I_;0YB>yBPD@AbD VD ,@9yEP%ED=ٔMy0=Q-M>9III=UFyQU^<EU>YQ 5e;4]ʼn?Q 9e;4]_)]~=Q Am7YiQ Emd8ymlQ Im?] >I]':i]4@]g;4yqɮ2B*jBjiiziJii kC#kC#kC#h1 k8k8k8hAm/ @m)i miq)u0quiqyIy)mt9IIO=2Acoustic response timeoutYDM @AzDI EU b EU SEU qEQ "EU 1:*EU 9VEU 5ZEQ BEU 9;a] 2EU 9;a] JEU l:ae :EU m:ae ԩ zKя,2-E?A"2Acoustic response timeouty^DbDjDVDj?9yr<%rQ=ٔrm=Q-r>9tIt=vFytzܤ<Ez>xQ 5;4zʼn?Q 9;4z)z=Q Aw7YQ E88yĽQ I?z {>Iz:iz@zg;4yɮ0B*j!Bj)i)i)zi)Ji)i) k8k8k8hA k8k8k8hQ}@}O)  i)f2顁iIUnManaging dock network, ignoring radio surface power offu79IIO=ԩ2Acoustic response timeout ZKя,q.E?Af @lf@fGٱfF  AHRS rotation from veh to nav: [[0.845171,0.533980,0.023466],[-0.533973,0.841588,0.081257],[0.023641,-0.081206,0.996417]]fH ? ^?W?M J?Dʹ?u5?ɴ?if @En EEuE"EO]:*EVE5ZEa%@a%@a%@a%@If_;f^CY-%>y5D====aa aa aa aa y\(\?{Gzy&1?z>ף`= 9T㥛 ?SݿEԸY>yルƽB ޠB) BY3BbDVD?9ytf=%;=ٔ' Q->9I=Fy;E>Q 5;4ʼn?Q 9;4u)̾=Q A T:Y ?Q E :y ếQ I ??I>;i;!w;4yɮ$B*j)Bj)i1i1zi1Ji1i1 k#5k#5k#5hI k#Rk#Rk#RhY2f>:f>BfP@Jf2@- @-G)) -|i))59?415i19I9M2Acoustic response timeout%9I9IIO>B[>B)CBDB=BBBBX;BɛE1a  2Acoustic response timeoutɰKя,A .E?A26=@28@2Mfٱ2 :AHRS rotation from veh to nav: [[0.847192,0.529164,-0.047442],[-0.528306,0.848520,0.030126],[0.056197,-0.000459,0.998420]]2H`3??JJ@'? Iٞ? Ŭ?  > ?i26=@I2Y`;2`CYBJ>yBhD HJ4<bDNVDN?9yV=%Va=ٔZQ-Z>9XIX=^Fy\^<E^>`Q 5f;4bwʼn?Q 9f;4b-)b=YhyjQ Ij?b:?Ib:ib|:bԃ;4ylɮrBp*jxBjxixi|zi|Ji|i| k6k6k6h kPkPkPh!2f1:f1Bf1Jf5P@y @Mf) i)5i 7l>CI!]nGusAA9sAYAuq9IID=D<O>E d E VE wE "E 9:*E 9VE ɕ5ZE BE F;a2E F;aJE C:a:E D:aԡ}2Acoustic response timeout ލKя,$*:.E?A2䥰@2Ġ@2oٱ2l u< :AHRS rotation from veh to nav: [[0.854838,0.517813,-0.033505],[-0.518021,0.855363,0.002816],[0.030117,0.014949,0.999435]]2H@Z??'ࠓ"_?g?@֞? ?`^?i2䥰@I2`;2^CYB=>yBD^%^$\ ^!)^I^ib$`b%b%b( b*bDjVDj?9yrX%rG=ٔr=Q-r>9tIt=vFytz<Ez>|Q 5;4~^ʼn?Q 9;4~)~B B B B 5;B E”Kя,jS.E?AJ @Jn@J<ٱJ"G RAHRS rotation from veh to nav: [[0.845120,0.532530,0.046740],[-0.534010,0.845016,0.027953],[-0.024610,-0.048583,0.998516]]JH 8 ?| ?X?  ^ ?`?}3ߨ?iJ @IJ<`;J`CYZZ3>yZD``bDfܠVDf?9yj%nK=ٔnX >Q-r>9pIp=rFypv>Ev>xQ 5~;4zʼn?Q 9~;4z)zY|y~#Q I?z ?Iz;iz;zA;4y ɮ 7B *j!Bj!i!i!zi!Ji!i) kOkOkOh9 k#jk#jk#jhI2fY:fYBfYJf]@} @}<) i)9顁iI1U9IiIyO=2Acoustic response timeoutaԉE j E ^E E "E N:*E ;9VE 5ZE BE k;a 2E k;a JE ;a :E ;a Թ Kя,m.E?A22Acoustic response timeout6 @6z@6?R<ٱ6*Sҽ >AHRS rotation from veh to nav: [[0.852677,0.517834,0.069204],[-0.522111,0.849318,0.077834],[-0.018471,-0.102500,0.994562]]6H!I?`?X? #-??`꒿l=r?i6 @I6<_;6aCY~A>y~DaabDmVDm?9y=%>=ٔ jQ->9I=Fy\=E>Q 5;49ʼn?Q 9;4)YyQ I?`?I/:i:I;4yɮ/B*jBjiiziJiiԑ kQkQkQh kjkjkjh12fA:fABfAJfE @颅 @?R<) i):顉޻iI9IIIO%>2Acoustic response timeout סKя,.E?AEBa EBYEBnE@"EB%.:*EB*9VEBJ5ZE@aF@aF@aF@aF@J@Je@Jq;ٱJy RAHRS rotation from veh to nav: [[0.859707,0.507087,0.061371],[-0.510748,0.854891,0.091086],[-0.006277,-0.109653,0.993950]]JHข? :?`k? X@E[?@nQ?y 0p?iJ@IJ_;J^CY^9>y^DfParsing RMC sentence: $GPRMC,181937.00,A,3646.40762,N,12151.91803,W,1.069,284.10,251025,,,D*79 )hj@.E?Ajʼn?j9j5cB@-Yaw^rhGPS fix at 20251025T181937: (36.773460, -121.865301)j ?j߫@yףp= ?+η333333?>v> 9K7A`?Mڿq= ףp?Y>ynҾk>BB -B)BY\BbDqVD?9y̍%6=ٔK޼Q- >9)I)=-Fy)5D<E5>9Q 5E;4=ʼn?Q 9E;4=)=m2Acoustic response timeoutYE[(?Q Eu:yupQ Iu?=I=;i=3;=>g;4y}Bɮ}4B^E*jBjiiziJii ksQksQksQh2f>:f>Bf5@Jf@\5Received valid gps time fix: 1761416320.00. Resetting abort timer.p @q;) i)}<  _i  IB!B!B%DB%M>B!B!B!B%U;B%ǛEBBBBBCѦ49I1IAO_>A   4=% 2Acoustic response timeoutKя,ߋ.E?A2 @2@2=ٱ2Ž :AHRS rotation from veh to nav: [[0.861009,0.502408,0.079052],[-0.507376,0.859246,0.065315],[-0.035111,-0.096346,0.994729]]2Hb?? yRD==bD VD ?9y]Ͻ%]j=ٔe=Q-e>9aIi=mFyim )<Em?qQ 5;4uʼn?Q 9;4u)u|=YyQ I?uV>IueJԩ Z)Kя,e.E?A6lx@6Ms@6=h<ٱ6ҽ< BAHRS rotation from veh to nav: [[0.852250,0.518990,0.065718],[-0.522942,0.848596,0.080102],[-0.014195,-0.102634,0.994618]]6H@E?`?Ұ? '?@?1F?i6lx@I6W_;6^CYN">yRVD Z49xIx=zFyxz<E~>Q 5%;4ʼn?Q 9-;4)C>Y)y-LQ I-?>I:i:;4y1ɮ]@BY*jiBjiiiiqziqJiqiq k5k5k5h kX2Acoustic response timeoutkXkXh2f:fBfJfHK@  @=h<)  i)??Ed EXE_E"E9:*E9VEC^5ZEa@a@a@a@ 2Acoustic response timeout! A! A! B- Z>B) B- DB- ,>B- =B) B) B- H;B- ElKя,A.E?A23@2.@2Pٱ22ӽ :AHRS rotation from veh to nav: [[0.846250,0.532784,0.001736],[-0.529095,0.839998,0.120257],[0.062613,-0.102685,0.992741]]2H@z? ?Xo\?W@D?#ɾ?f? I?i23@I2_;2_CY^>y^D|bDj VDjj?9y%u%-F=ٔ-?Q-->9)I1=5Fy15E5>YQ 5e;4]ʼn?Q 9e;4])]>YiymeQ Im?]0?I]:i]t:]s;4yuBɮu_BgE*jBjiiziJii k3@k3@k3@h kPkPkPh2f):f)Bf)Jf-$@mm @mP)i mii)mpA)-x6i)QIQIIO>)2Acoustic response timeoutQE  E RE iE "E *E 9VE z~5ZE BE F;a 2E F;a JE a :E a ԁ a;Kя,7.E?A"2Acoustic response timeout6@6@6@ٱ6Ͻ BAHRS rotation from veh to nav: [[0.844441,0.535648,-0.000118],[-0.531805,0.838410,0.119380],[0.064044,-0.100746,0.992849]]6H?@$?`A??4e?ʹj?i6@I6_;6`CYN >yRgDj$j&j$ j#)n In!i~'|~'~)~0bD VD e?9yz%K=ٔ%kiQ-%>9!I!=%Fy)-E->1YQ 5;45ʼn?Q 9;45)5>YyQ I?5k?I5cԁԱ=<2Acoustic response timeout &Kя,d /E?AE.k E.ME,E,"E.mR:*E.9VE,ZE,a6@a6@a6@a6@>Ȏ@>@>ٱ>U䚽 FAHRS rotation from veh to nav: [[0.853656,0.520184,0.026065],[-0.520603,0.850706,0.072606],[0.015595,-0.075550,0.997020]]>H`'Q?X?@?`Ǩ@8?H?@? 7W?i>Ȏ@I>ێ_;>_CYZ_>y^vDԱy~jt?#~j>㥽 9`"ο ףp= ??YwyQ=ff>:BPB )-BY=B11bD5VD5?9yEؿ<%E8=ٔM:=Q-m>9iIq=uFyqu=Eu>yQ 5;4}ʼn?Q 9;4} )}x?YX>Q E;y @Q I?}9?I};i}>;};4yɮaB*jBjiiziJii kS2kS2M2Acoustic response timeoutkS2h2f>:f>Bf gw@JfP@@E)A E]iA)EmDIIiIIIQIiIyB\>BBDBw>B=BBBp;B֛EO%>iI  2Acoustic response timeout1 MKя,x"/E?A2@2@2,2;ٱ2} :AHRS rotation from veh to nav: [[0.856768,0.514275,0.038347],[-0.515648,0.855385,0.049233],[-0.007483,-0.061955,0.998051]]2H j?@t?D?0P_?5?2~?i2@I2Lo_;2`CY0%>y%DbDVD?9y,=%R=ٔcr=Q->9I=Fy%5t<E%>)Q 5;4-ʼn?Q 9;4-)-?YyM @Q I?-e?I- fF顑ؼiI I)Ae2Acoustic response timeoutIIO>i ԙ wKя,?7(?c(@?i2Ұ@I2c}_;0YNV>yRBDR=Rp=ZParsing RMC sentence: $GPRMC,181940.00,A,3646.40761,N,12151.91829,W,0.253,274.35,251025,,,D*70 )\^/E?A^ ʼn?^9^K$cB@3'aw^bhGPS fix at 20251025T181940: (36.773460, -121.865305)^G>^9@bDjVDj?92Acoustic response timeouty%L=ٔXQ->9I=Fy';E>Q 5;4 ʼn?Q 9;4)YyG @Q I?I:i:>g;4yBɮCB^E*j1Bj1iQiQziQJiYiY kkkhiq kkkh2f :f Bf Jf P@\]Received valid gps time fix: 1761416320.00. Resetting abort timer.颭 @Ca) i)4H顱iIIIO(>ԡEg ESEnE"EC:*E9VEJ5ZEa@a@a@a@m 2Acoustic response timeoutB <A <B B B DB =B B B B ;B E ^Kя,bV/E?Aɰp;2u5@2V0@2ټٱ2Rt :AHRS rotation from veh to nav: [[0.863873,0.502476,0.035228],[-0.503012,0.856888,0.112793],[0.026489,-0.115159,0.992994]]2H٤?H?o ?``k??` ?{?i2u5@I2e_;2aCYjg'>yjDbDMVDM?9ye<%mQ=ٔmIQ-m>9qIq=uFyqu?<Eu>Q 5;4ʼn?Q 9;4^):=Yyj @Q I?=II:i:7u;4yBɮ%=4=2Acoustic response timeout%G9Y9YؗA) E d E PE rE "E 9:*E ?9VE 5ZE BE F;a 2E F;a JE :a :E :a Kя,9dp/E?A2Acoustic response timeout6"@6@6Gٱ6 BAHRS rotation from veh to nav: [[0.860171,0.506945,0.055798],[-0.509658,0.850384,0.130746],[0.018832,-0.140902,0.989844]]6H?@8?}?@O@Y6?M?`H?` ¿@ά?i6"@I6ޅ_;6^CYj*>yj8D|bDrVDr?9y] <%eK=ٔe9iIi=mFyimEm>qQ 5;4uʼn?Q 9;4u)u'>Yy @Q I?u^>Iu:iu:u;4yɮ;B*jBjiiziJii2f!:f!Bf!Jf% M@颽 @G) i)kKiIIIOM=)Q2Acoustic response timeoutI ) >ԙ ZqKя,>/E?AE$ E&NE&kE$"E$*E&҆9VE&u5ZE$a*@a*@a*@a*@:v@:W@:؄k;ٱ:$  FAHRS rotation from veh to nav: [[0.854813,0.512840,0.079307],[-0.518923,0.845810,0.123791],[-0.003594,-0.146972,0.989134]]:H@Z?/i?`sM?`??pm@¿?i:v@I:\k_;:]CYN9>yRDPPTVAYyMb-?zGế5^> ׽ 9(\µCl?)\(?Yy;=Ga=gB~B B)BYBbD=VD=?9yM =%M<=ٔunS=Q-u>9yIy=}Fyy}ǼE>Q 5;4Zʼn?Q 9;4V)9>YU>Q E;y?Q I?>Itg:fT>Bf@Jf,0[@ @؄k;) i)&BiBmzDBmJ=BiBiBiBmN;BmPEԁiIIIaO;>Ա 2Acoustic response timeout lKя,/E?A2@2@2<ٱ21ؽ :AHRS rotation from veh to nav: [[0.861867,0.501013,0.078554],[-0.506294,0.858965,0.076455],[-0.029170,-0.105665,0.993974]]2Hj?L?`?3 |??ޝ @?i2@I2_;2bCYNM?>yRADXZAAbD^VD^?9yzxl<%zc=ٔ~=Q-~>9I=Fy D&=E >Q 5%;4ʼn?Q 9%;4)I>Y)y- ?Q I-?j>IA;im(;ў;4y9ɮ=1B9Թ*jBjiiziJii ksksksh92fI:fIBfIJfM`@颅 @<) i)UN顉viIIIO=DU=DQE]l E]WEYEY"E]V:*E]9VEYZEYBE]Bx;am2E]Ex;amJE]:am:E]:auE2Acoustic response timeout9 "Kя,8/E?A6@6x@6q=ٱ6+Ľ BAHRS rotation from veh to nav: [[0.868550,0.489334,0.078574],[-0.494282,0.866843,0.065327],[-0.036144,-0.095578,0.994765]]6H(? ?Q?m?R߿-?@M?w`?i6@I6c_;6`CYF5>yJDb&f)f+ f )fIfif#dff*f# j#bDncVDn @9yvɼ%vK=ٔzՍ9xIx=~Fy|~ =E~>Q 5 ;4_ʼn?Q 9 ;4)2]>Yy?Q I?m>I:ip:ܬ;4yɮ6B!*j1Bj1i9i9zi9Ji9iA kskskshQ k#k#k#ha2fq:fqBfqJfuُb@19} r}NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeout颵C @q=)q uiq)}u?Py};iyIIII)Ou=AEew EeTEelEa"Ee}:*Ee9VEe5ZEaam@am@am@am@iM 2Acoustic response timeoutAa Aa Bi Bi Bm DBm =Bi Bi Bi Bm 9;Bm DEB)B)B)B)B)C-ܽ4ԙ PKя,/E?A2>Ȱ@2÷@2>yٱ2 :AHRS rotation from veh to nav: [[0.857292,0.511762,0.056134],[-0.514605,0.848575,0.122893],[0.015258,-0.134242,0.990831]]2Hn? Z`??w'? u?@x??.`?i2>Ȱ@I2@P_;2^CYb88>ybD dfAf=f=bDnVDn?9yG;% I=ٔ 2Q- >9I=FyiE>9Q 5E;4=ʼn?Q 9E;4=)=pm>YIyM?Q IM?=>I= :i=:=;;4yQɮU4BQ*jiBjiiiiiziiJiqiq kkkh k#k#k#h2f:fBfJfI[@sNUpdating rudder angle 0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder @>y) #i)kQ̼iIII qO=2Acoustic response timeoutԡbEu5jEm5rEȻ1Eu g Eq Eu wEq "Eu C:*Eq VEu ɕ5ZEq BEu X;a 2Eu X;a JEu :a :Eu :a ] 2Acoustic response timeout5Kя,ƾ/E?A.@.ݟ@.O ٱ.\ :AHRS rotation from veh to nav: [[0.854667,0.518315,0.029901],[-0.518046,0.847590,0.114973],[0.034248,-0.113754,0.992918]].HnY? ?e?Փu?n???i.@I.s_;.aCYZ6>yZD 4<bD%GVD%?9y5%O%5G=ٔ5=Q-5>99I9==Fy9=+EE>AQ 5M;4Edʼn?Q 9U;4Ev)E}>YQyU?Q IU?EE?IE;iE;Eo;4yYɮe5Ba*jqBjqiyiyziyJiyiy kkkh kkkh2f:fBfJfZ@ @O ) ji)8SiIIIOE=2Acoustic response timeout) mLя,0 0E?AEk EMEjE"EmR:*E9VEـ5ZEa@a@a@a@>I@>C@>;ٱ>׽ FAHRS rotation from veh to nav: [[0.865357,0.497682,0.058908],[-0.501106,0.860949,0.087520],[-0.007160,-0.105255,0.994419]]>H@?? @)? @?@g?S}H?i>I@I>^_;>`CYN>yN3DZParsing RMC sentence: $GPRMC,181943.00,A,3646.40750,N,12151.91823,W,0.700,257.05,251025,,,D*7A )\^/E?A^߾ʼn?^b9^>îcB@HQT#aw^bhGPS fix at 20251025T181943: (36.773458, -121.865304)^`>^U@y:v?(\¿x&1ؿ<z 9EԸ/$ӿ(\ؿYƽyǾBڒB VB)dBY̡BbDNVD?9y%?=ٔK=Q->9!I!=%Fy!%==E->)Q 5U;4-߾ʼn?Q 9];4-b)-Y]O?Q E]:y]Q I]?-I-d;i-;->g;4yaɮmGBi*jBjiiziJii kkkh kckckch2Acoustic response timeout2fO>:fO>Bf@JfSb@Q\UReceived valid gps time fix: 1761416320.00. Resetting abort timer.e @e;)a eia)m{UimCiiqIqIIBBBDB=BBBB;B%EO>yԩ 4= a= 2Acoustic response timeoutLя,e%0E?AyjD9=AbDEVDE?9yZ;%R=ٔYQ->9I=Fy ˼E>Q 5;4|ʼn?Q 9;4) Yy7Q I?4>Ip:i:t;4yɮFB*jBjiiziJii kkkha kkkh2f:fBfJfa@o @LbY) "i) W  0Ѽi IE5g E5TE5E1"E5C:*E59VE5c5ZE1BE1aE2E1aEJE1aM:E1aMIYԩIO >%2Acoustic response timeout 5Lя,:?0E?A@2@2υ@2Kdٱ2OH :AHRS rotation from veh to nav: [[0.868029,0.496381,0.011441],[-0.493378,0.859734,0.132044],[0.055708,-0.120263,0.991178]]2H??n?`߿??`? ɾ?i2@I2a_;2aCYB=>yBsDHJ@AlbDr VDr?9yv8<%zT=ٔz Q-z>9|I|=~Fy|.;=E>Q 5 ;4ʼn?Q 9;4)jYyQ I?Y>Ii:+;4yBɮ%CB!*j1Bj1i1i9zi9Ji9i9 kskskshQ kkkha2fq:fqBfq2Acoustic response timeoutJfub@额 @Kd) i)юX顡iIIIO= EEc EAEEvEA"EEg5:*EAVEE-5ZEAaM@aM@aM@aM@15 2Acoustic response timeoutB <A 4=B B B zDB J=B B B B ;B Ea sLя,]Y0E?A2M@2.@2K!ٱ2Fk :AHRS rotation from veh to nav: [[0.860565,0.509263,0.008882],[-0.505055,0.850937,0.144311],[0.065934,-0.128675,0.989493]]2H ?K?0?h):?x?`?jx`?i2M@I2_;2_CYN>yRD^nManaging dock network, ignoring radio surface power offbDZVDZ?99yEr<%EE=ٔM#ʼQ-M>9IIQ=UFyQUEU>YQ 5e;4]1ʼn?Q 9m;4])]o־YiymQ Im?]*>I]:i]:];4yqɮ}ABy*jBjiiziJii kCkCkCh kSkSkSh2f:fBfJfea@ @K!) !i)AZiIII)O]=i2Acoustic response timeout>ԑEU g EU EU ~EQ "EU C:*EU ,:VEU 5ZEQ BEQ ae 2EQ ae JEU A;ae :EU A;am = 2Acoustic response timeout%Lя,Vr0E?A2ư@2@2ٱ2eս :AHRS rotation from veh to nav: [[0.856791,0.515036,0.025457],[-0.514608,0.850836,0.106095],[0.032983,-0.104002,0.994030]]2H`j?+{?w?w :?)??؟@?i2ư@I2|_;2`CYN#1>yRDjj&n# n!)n"Ilin'n$n n)r+ r+r=rp=bDzޠVDz?9yN=%O=ٔ =Q->9 I = Fy  ҼE>Q 5;4ڝʼn?Q 9%;44)Y!y%Q I%?}?I;ij;y;4y-Bɮ5PB5fE*jABjAiIiIziIJiIiIԙ kkkh2f:fBfJfEa@-' @-)1 5)i9)=[99i9QIYIIO=2Acoustic response timeout #Lя,Xˌ0E?AE&f E&UE&gE$"E&I@:*E&P9VE&x5ZE$a*@a*@a*@a*@B@B@BOٱBɃ JAHRS rotation from veh to nav: [[0.853850,0.520442,0.008953],[-0.519726,0.851474,0.069832],[0.028721,-0.064279,0.997519]]BHR?v?@U?`@F???h?t?iB@IBz_;@YRL>yRDy-㥛 ?Eؿ->-ƾ-) )9-+?E:v?Y-v>y-&-T<-DB) -B)-ƗB)Y-B Ep9aIa=eFyamhEm>qQ 5u;4uڠʼn?Q 9};4u)u(Y}Q?Q E}:y}Q I?uIh?Iu ;iu; ;u;4yɮCB*jBjiiziJii kkkh92fM>:fM>BfM>@JfM&@颍n @O) Ii)D]顙iII2Acoustic response timeoutIOM=BBBDB=BBBB:;BE!Q 2Acoustic response timeoutԁ gl>  nG! 9 M:)Lя,50E?Aa9YVAynY?nwAz@z@zN*ٱzy AHRS rotation from veh to nav: [[0.858938,0.511838,-0.015698],[-0.510389,0.858190,0.054890],[0.041566,-0.039135,0.998369]]zH`l|?`?@UJv? ?/H?@ ?iz@Iz:_;zaCYrQ>yEbDVD?9ym:<%D=ٔ,Q->9I=Fy<E>Q 5;4%ʼn?Q 9;4)YybQ I?՟?I#:i]:;4yɮ@B*jBj i Ii ziJii k k k h2f:fBfJfD@EU~ EUYEUmEQ"EU:*EU*9VEU5ZEQBEU;a]2EU;a]JEU:a]:EU:aee( @eN*) i)[_顉iIIIOU>y2Acoustic response timeoutԩ 0Lя,b0E?A2ʰ@2ŷ@2Qmٱ2_Ӽ :AHRS rotation from veh to nav: [[0.857464,0.514543,0.000847],[-0.514339,0.857076,0.029612],[0.014511,-0.025827,0.999561]]2HXp?"w?fK?vu)m?R??Trg?i2ʰ@I29_;0YBuh>yBENParsing RMC sentence: $GPRMC,181946.00,A,3646.40771,N,12151.91923,W,1.594,287.12,251025,,,D*78 )LN0E?ANʼn?Nm9NzocB@9hIh=jFyhn6En>pQ 5v;4rʼn?Q 9v;4rm)rYtyvĺQ Iz?rIr;ir;r>g;4y~Be2Acoustic response timeoutɮ}7B}gE*jBjiiziJii kkkh kkkh2f :f Bf Jf @\MReceived valid gps time fix: 1761416448.00. Resetting abort timer.}k @}Qm) i)`顉iԱIII9O>Eem EeTEeiEa"EeY:*Ee9VEez~5ZEaam@am@am@am@ 2Acoustic response timeout A A B B B DB 6>B =B B B ;B E9 wI6Lя,^0E?AmF@m'@mٱmx˼ }AHRS rotation from veh to nav: [[0.854715,0.519065,0.005851],[-0.519033,0.854374,0.025502],[0.008239,-0.024834,0.999658]]mH@Y?@/?w?``W?R?g߀? n2?imF@Im_;m_CY->yEbDEjVDE?9y}O=%2=ٔe_9I=FyAE>Q 5;4ʼn?Q 9;4\)|I:i:vw;4yŬB1ɮDB}qE*jBjiiziJii ksksksh2f:fBfJf ǎ@E@Em=m%=u2Acoustic response timeout)y }i)5biII1IaO>>YEu e Eu SEu qEq "Eu <:*Eu 9VEu 5ZEq BEu `L;a} 2Eu cL;a} JEu l:a} :Eu m:a ԉ  2Acoustic response timeouts%e@>`@><ٱ>Y/ FAHRS rotation from veh to nav: [[0.866891,0.495911,0.050714],[-0.498035,0.865976,0.045250],[-0.021477,-0.064484,0.997688]]>H ? ?1?߿`?`*?+?i>%e@I>O_;>aCYNf>yNEbDZFVDZ?9yv:%vh=ٔv=Q-v>9xIx=zFyxzD=E~>Q 5;4Aʼn?Q 9 ;4)ynEE ttyn?/$gfffff?V>,33> 9?DlѿGz?Yf?yOp=>B9I=Fy!%E%>BaBaBeDBeJK>Be=BaBaBe;BeEBBBBBC64)Q 5;4-*ʼn?Q 9;4-)-=Y?Q E:y Q I?-Hr?I-Fg:f%*>Bf%c@Jf%y@颅w@2m=) i)$f顩\VA  2Acoustic response timeoutILя,Z'1E?A2@2a@2Et5=ٱ2 bȽ :AHRS rotation from veh to nav: [[0.844087,0.528686,0.089492],[-0.534375,0.843189,0.058962],[-0.044286,-0.097592,0.994241]]2H? ??f?Q0?@?i2@I2º_;2`CYN>yR0Ej%hn( n%)nI~i~~(~%#' &bD DVD ?9y=%]=ٔ+Q->9I=Fy߼E>Q 5%;4ʼn?Q 9%;4 )?>Y)y-Q I-??I;il;;4yYɮ](BY*jBjiiziJii k k D==D=<bE5jE5rEŒ2EM~ EMNEMEI"EM:*EM҆9VEM5ZEIBEM;a]2EM;a]JEM:a]:EM:a]k ha2f:fBfJf@颵9@Et5=) zi)g项2Acoustic response timeoutԑ mPLя,A1E?A2ŏ@2@2#?=ٱ2*l :AHRS rotation from veh to nav: [[0.852894,0.517403,0.069761],[-0.519996,0.853804,0.024959],[-0.046648,-0.057563,0.997251]]2HJ??@۱?ϣ\R?ώ? F⧿x{?i2ŏ@I2_;2bCYN>yR57EbDZdVDZ?9yf<%f]=ٔf;Q-f>9hIh=jFyhn;=En>Q 5;4Ɖ?Q 9 ;4)>Y y  Q I ?1?I9:i:;4yE2Acoustic response timeoutɮE#BAԙ*jBjiiziJii! kSkSkSha2f:fBfJf/@%S@-#?=)i miii)u2iqqiqyIyIIO- >EEl EAEEfEA"EEV:*EAVEEt5ZEAaM@aM@aM@aM@2Acoustic response timeoutBI AI BU Z>BQ BU @EBU tU>BQ BQ BQ BU ;BU E! VLя,z[1E?A6v@6q@6ļ]=ٱ6 BAHRS rotation from veh to nav: [[0.866887,0.494595,0.062315],[-0.495560,0.868574,0.000034],[-0.054109,-0.030910,0.998057]]6H@?`q?`?@߿@[??`!򦟿@?i6v@I6_;4YNi>yR4:EbDXVD?9y%<;<%-D=ٔ-91I1=5Fy15ʊ=E5>YQ 5e;4][Ɖ?Q 9m;4]:)]&>Yiym|Q Im?]?I]:i]:];4yѬBɮ:B{E*jBjiiziJii kkkhԉ kkkh2f:fBfJf% @@ļ]=) i)ji!I!IYIO >U2Acoustic response timeoutԡEU d EU VEU iEQ "EU 9:*EU 9VEU z~5ZEQ BEU F;a] 2EU F;a] JEU C:a] :EU D:ae  2Acoustic response timeout \Lя,u1E?A2a2@2B-@2=ٱ2iCL :AHRS rotation from veh to nav: [[0.876459,0.475355,0.076535],[-0.474735,0.879706,-0.027277],[-0.080295,-0.012427,0.996694]]2H ?8l?З? b޿&?4's ?i2a2@I2b_;2`CYRa>yRDEZParsing RMC sentence: $GPRMC,181949.00,A,3646.40794,N,12151.92001,W,0.272,289.53,251025,,,D*73 )@1E?AƉ? 9tGcB@Ÿaw^hGPS fix at 20251025T181949: (36.773466, -121.865334)I>=@bD%GVD%?9y9=%D=ٔ==Q->9I=Fya=E>Q 5;4Ɖ?Q 9;4 )YyvwQ I?Iiv:>g;4yBɮBqE*j Bj i i zi Jii k#k#k#hA kkkh2f!:f!Bf!Jf% @\uReceived valid gps time fix: 1761416448.00. Resetting abort timer.颅Q@=) i)6liIIIO>u2Acoustic response timeout) XcLя,[1E?A6@6i@6a=ٱ6REFo EFMEFeED"EF`:*EF9VEFq5ZEDaJ@aJ@aJ@aJ@ NAHRS rotation from veh to nav: [[0.867482,0.486663,0.103124],[-0.489346,0.872089,0.000825],[-0.089532,-0.051179,0.994668]]6Hh?}%?Wf?sQ߿'? K? 붿,4@R?i6@I6_;6dClYrA>yrGEaM@aM aM@aM aM@aM aM@aM yMvϿ`"??MxM=ML>I I)MMb@Mb@Mb@IMiM‰MMMכB MЖB)MMYMQBbDpVD?92Acoustic response timeoutyM<%6=ٔ9I=Fy:E>B[>BBDB A>BBBB;BoEQ 5;4mƉ?Q 9;4)=Q A+:YQ E%:y%xQ I%?2>IU:iJ>s;4y-ѬBɮ-/BM{E*jaBjaiaiaziaJiiii  kkkh9 kkkhW@a=) i)pniIIIiO<>1m 2Acoustic response timeoutq iLя,91E?A2Cư@2$@2F=ٱ2ཽ :AHRS rotation from veh to nav: [[0.853985,0.505722,0.122293],[-0.512901,0.857753,0.034547],[-0.087426,-0.092227,0.991893]]2H`S?@.?@N?i`r? ,?a,?i2Cư@I2x_;2bCY^x>y^BJEbDjVDj?9y-K<%-j=ٔ5ƻQ-5>99YIY=]FyYeEe>iQ 5u;4m3Ɖ?Q 9;4mV)m=Q A :YQ E`:y2|Q I?m>Im;imN?m{;4yɮ-B*jBjiiziJii kkkh) kkkhY=@=F=)9 E iA)E,oAAiAEb ETEtE"E1:*E9VE5ZEBE9;a2E9;aJE:a:E:aIIIIIiO>iaIa2Acoustic response timeoutԑ pLя,41E?A2i@2d@2f=ٱ2 :AHRS rotation from veh to nav: [[0.847802,0.508930,0.149069],[-0.522282,0.850030,0.068334],[-0.091937,-0.135790,0.986463]]2H2!?&I??@s3?O~?'a`?i2i@I2h_;2_CYb>yb@ME r;p%2Acoustic response timeoutbDvVDv?9yM><%MH=ٔU5ԙ9I=FyۼE>Q 5;4%Ɖ?Q 9;4)I>Q A9YQ E5:y{Q I?:?IB;i?;4yɮ%*B!*jYBjYiYiYziYJiaia kSkSkSh@f=) ii)mzqqqiqqIyIIO >Ec ERE{E"Eg5:*E9VE:5ZEa@a@a@a@2Acoustic response timeoutAABBBDBw>BBBB;BE vLя,91E?A6ڰ@6Է@6=ٱ6X BAHRS rotation from veh to nav: [[0.852322,0.493251,0.173929],[-0.509097,0.858632,0.059760],[-0.119865,-0.139482,0.982943]]6H@8F?`k?PC?Jy?ޘ?q`Et?i6ڰ@I6h_;4YN~>yRBEbDZ)VDZ?9yf-%fS=ٔf=Q-f>9hIh=jFyhnv=En>Q 5 ;40Ɖ?Q 9 ;4!)>Q A 9Y Q E :y bvQ I?t?I&:i ?`;4y=ҬBɮ=4B=|E*jQBjQiQiyziyJiyiy kkkh kkkh9颥<@=) mi) s顩iIIIIaM2Acoustic response timeoutG4`9YTUAO%>!QE l E UE E "E V:*E P9VE H5ZE BE Bx;a 2E Ex;a JE :a :E :a y  2Acoustic response timeout}Lя,11E?A24@2s/@2=ٱ2C :AHRS rotation from veh to nav: [[0.857509,0.486195,0.168204],[-0.499431,0.865166,0.045341],[-0.123480,-0.122886,0.984709]]2Hp? ?ಇ?߿q? 6?_@wu@?i24@I2A`;2aCYj>yjQE    $) !I #i')!$ #bD%ɡVD%8@9y5\=%5D=ٔ599I9==Fy9E<EE>IQ 5U;4M<Ɖ?Q 9U;4M')M>Q AU9YQQ E]9y]tQ I]?M1?IM~ ;iM@Mj;4yaɮe(Ba*jyBjyiiziJii ksksksh kCkCkCh,@=) i)EtiIIIqO=ԙM2Acoustic response timeout Lя,2E?AE6e E6RE6rE4"E6<:*E69VE65ZE4a:@a:@a:@a:@>H@>wC@>~=ٱ>qH FAHRS rotation from veh to nav: [[0.859139,0.493179,0.136578],[-0.497573,0.867419,-0.002257],[-0.119584,-0.066018,0.990627]]>H~?@@?c{?=߿?(~b 氿6?i>H@I>v_;>bCYN>yNhXEa}a} a}a} a}a} a}a} a}@a} a}@a a@a a@a y}I +Q?~jtÿ}9}u>}y y)}Mb@Mb@Mb@Iyiyyy}VB }VB)yyY}WBbDVD]@9y <%C=ٔkQ->9I=Fy;E>Q 5;4HƉ?Q 9;4,)>Q Ao9YQ E9ymyQ I??I:iM@;4yɮ"B*jBjiiziJii kkkh kCkCkChIu@}~=)y }Riy)}Vbv顁iIBZ>BBDB=BBBB;BE2Acoustic response timeoutIIQO=)  2Acoustic response timeoutK"Lя,A*2E?A >a @>B@> >ٱ>yy JAHRS rotation from veh to nav: [[0.853766,0.503735,0.131664],[-0.502736,0.863361,-0.043185],[-0.135427,-0.029322,0.990353]]>H R??Z?j@?@_@U@?i>a @I>Q_;>cCYR>yRNEbD-VD-@9ye9iIi=mFyqu䕼Eu>Q 5;4QTƉ?Q 9;42)>Q AB9YQ E9y}Q I?`?Iq ;iQ5@̕;4yBɮCBE*j)Bj)i1i1zi1Ji1i9 kkkhI kkkhY颅c@ >) ci)x顉iIIIO=)Eua EuMEugEq"Eu%.:*Eu9VEux5ZEqBEuM3;a}2EuO3;a}JEu:a:Eu:a2Acoustic response timeoutYԁ Lя,]D2E?A0R@RӒ@RTK>ٱRͼ ^AHRS rotation from veh to nav: [[0.847006,0.516738,0.124753],[-0.515248,0.855781,-0.046465],[-0.130771,-0.024923,0.991099]]RH? ?@? |@b?9ʧV?iR@IR4_;R`CYj>yjPZEzParsing RMC sentence: $GPRMC,181952.00,A,3646.40779,N,12151.91964,W,0.894,85.28,251025,,,D*43 )|~2E?A~)ʼn?~o9~:NcB@@aw^hGPS fix at 20251025T181952: (36.773463, -121.865327)~y>~q?bDVD@9y%,@=%%N=ٔ-QBQ-->9)I1=5Fy15?E5>E2Acoustic response timeoutIQ 5U;4M)ʼn?Q 9U;4Mo)MQ AU9YQQ EU}9y]Q I]?MIMc;iMN@M>g;4yeBɮeBeqE*jyBjyiiziJii kkkh kkkh19 rNAggregate::initialize marl:UpdateRudderq9J]Fߑ?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed\]Received valid gps time fix: 1761416448.00. Resetting abort timer.md@mTK>)i mfii)y顑iIIIOM=ԉEo EPEcE"E`:*E?9VE&k5ZEa@a@a@a@ԱBABY>BBDB=B=BBB;BEBYBYBYBYBYC]42Acoustic response timeout 3Lя,D6^2E?Aɰ;2@2q@2=ٱ2o :AHRS rotation from veh to nav: [[0.853640,0.512160,0.094817],[-0.515349,0.856909,0.011048],[-0.075591,-0.058295,0.995433]]2HQ?`c? E? }k?M?Y ح ?i2@I2<_;2aC\Yb>ybxeEbDE_VDE}@9y.=%D=ٔQ->9I=Fy<E>Q 5;4ʼn?Q 9;4)]=Q A8YQ EM9yQ I?~>I:ih@ki;4yBɮB*jBj5<iiziJii kkkh  kkkh!sNUpdating rudder angle 1.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@=) i)d{i5ybKEbDjZVDj{@9yr߽%rU=ٔviQ-v>9tIt=zFyxz-=Ez>aQ 5m;4eƉ?Q 9m;4e )e >Q Au8YqQ Eu&9yuxQ Iu?eJ>Ie:ie@ek;4yyɮB*jBjiiziJii kkkh@Kb}=) i) |  i II1IAOu=I]2Acoustic response timeoutqI ) >ԡ ELя,O2E?AE&d E$E&{E$"E&9:*E$VE&:5ZE$a*@a*@a*@a*@:$@@:;@:ԫ=ٱ:5 FAHRS rotation from veh to nav: [[0.859064,0.484401,0.165424],[-0.498713,0.864870,0.057319],[-0.115305,-0.131740,0.984555]]:Hs}?`m?,?߿?`X?@z?i:$@@I:p_;8Y^a>ybDE`b@AaMaM aMaM aMaM aMaM aM@aM aM@aM aM@aM aM@aU yMQ?Mb`?V-M\>M;MmI Iԡ)MMb@Mb@Mb@IIiIIIM*B MJB)IIYMBbD-ޢVD-@9B9B9B9B9B==B9B9B=;B=Ey]˼%]5=ٔ]=Q-]>9aIa=eFyae ;Em>iQ 5u;4mƉ?Q 9};4m)mS>Q A}8YyQ E}9y} tQ I}?m??Im ;im@ml;4yɮB*jBjiiziJii2Acoustic response timeout kkkh@Mԫ=)I U&iQ)Up~QQiQYIYIIO >Qm 2Acoustic response timeouty DoLя,ī2E?A J@J@Jd>ٱJYJ VAHRS rotation from veh to nav: [[0.853551,0.491794,0.172015],[-0.505740,0.861421,0.046701],[-0.125210,-0.126856,0.983987]]JHJP?y?? / Ð?(?<|?iJ@IJ_;JcCY^M>yb ZEz$zz' ~#)~I~i~%~%~'~&~!   bD!VD@9y%=%%a=ٔ%9)I)=-Fy)-ȼE5>1Q 5=;45Ɖ?Q 9E;45q)5 >Q AE8YAQ EE8yE|vQ IE?5w?I5 ;i5@5m;4yUѬBɮU BU{E*jaBjaiiiiziiJiiii k3k3k3hMN@Md>)Q UIQiQ)u(qqiyyIE]c E]OE]~EY"E]g5:*E]9VE]5ZEYBE]?;am2EYamJE]M:am:E]O:amԁnManaging dock network, ignoring radio surface power off2Acoustic response timeout^Arg:IIOg>ԩ YLя,?2E?A6@6@6=ٱ6Q-ӽ NAHRS rotation from veh to nav: [[0.853433,0.497639,0.154945],[-0.507271,0.861343,0.027643],[-0.119705,-0.102191,0.987536]]6HRO?Q???;?@N?0)?i6@I6_;6`CYV>yVmOEbD^SVD^@9yfF/%fO=ٔjfQ-j>9hIh=nFylnfEn>pQ 5v;4rb%Ɖ?Q 9v;4r)r>Q Az[8YxQ Ez8yz6yQ Iz?rD?Ir:irA@rn;4y|ɮ~)B*jBj%==%2Acoustic response timeoutii)zi)Ji1i9 kkkhI kkkh颭@=) wi)S顱iI^A<IԱIO=E]p E]gE]xEY"E]d:*E]&9VE]e5ZEYam@am@am@am@A1A5?AB9B9B=DB=#>B9B9B9B=;B=E2Acoustic response timeout y y 1 1Lя,A~2E?A2T@25@2=ٱ2P :AHRS rotation from veh to nav: [[0.847777,0.511459,0.140296],[-0.515663,0.856760,-0.007345],[-0.123957,-0.066118,0.990082]]2H ?]?5?Oj?~`?i2T@I2_;2cCY^T>y^REbp=ba===bD-VD-EA9y5K<%=D=ٔE'9YIa=mFyimżEu>qQ 5};4u1Ɖ?Q 9;4uC)uz>Q A18YQ E8y~Q I?u?IuD;iuǴ@uIo;4yҬBɮ'B|E*jBjiiziJii kkkh kkkh@=) i)́  i I -2Acoustic response timeout9^A}m<IIOd>i Eu g Eu JEu `Eq "Eu C:*Eu k9VEu |a5ZEq BEu X;a} 2Eu X;a JEu :a :Eu :a  2Acoustic response timeoutLя,W2E?A 6@6@6=ٱ6p >AHRS rotation from veh to nav: [[0.856237,0.505273,0.107504],[-0.505985,0.862247,-0.022576],[-0.104102,-0.035065,0.993948]]6H@Kf?2+?d?@1? Gsl?i6@I6_;6_CYF>yFRWERParsing RMC sentence: $GPRMC,181955.00,A,3646.40797,N,12151.91975,W,0.525,0.48,251025,,,D*78 )PR2E?AREƉ?R9R2ycB@ƕaw^ZhGPS fix at 20251025T181955: (36.773466, -121.865329)RH>RB < bp9lIp=rFypr=Er>tQ 5z;4vEƉ?Q 9z;4v)vQ A~8Y|Q E~g8y~~Q I~?vIv ;iv#@v>g;4yBɮ  B qE*jBji!i)zi)Ji1i k3k3k3h k4k4k4h\]Received valid gps time fix: 1761416448.00. Resetting abort timer.m@m=)i mii)u顑iI@@@@i>IiIԙOe>=2Acoustic response timeout ǓLя,23E?AEh EPEzE"EG:*E?9VE5ZEa@a@a@a@PZ\@ZW@Z==ٱZ-7 fAHRS rotation from veh to nav: [[0.861062,0.494174,0.119850],[-0.495860,0.868227,-0.017428],[-0.112670,-0.044422,0.992639]]ZH ҍ?`?}?-߿?ؑ׼z?iZ\@IZ9_;ZcCYj=>ynoLEaa aa aa aa a@a a@a a@a a@a yX9v?zGҿns> V )Mb@Mb@Mb@Ii5B B)YܕBBX>BBDBM>BBBB ;BE2Acoustic response timeoutbDU;VDUXA9y%/=ٔF9I=Fys<E>Q 5;4Ɖ?Q 9;4)׃=Q A7YQ E;8yzQ I?>Iv:i1@g;4y-Bɮ5B5rE*jABjAiAiIziIJiIii k34k34k34h颽X@==) i)iIII9Ou> l>C% G1 I } _9y Y} 0TA! A A M 2Acoustic response timeoutLя,-3E?A2ݰ@2׷@2 >ٱ2* >AHRS rotation from veh to nav: [[0.850580,0.501644,0.157693],[-0.507636,0.861567,-0.002631],[-0.137183,-0.077813,0.987485]]2H7?w ? J/?@>?؍e8볿`y?i2ݰ@I2_;0YBX>yFMEHHbDjVDjGA9yr;%vn=ٔz=Q-?9I=Fy%6E%>)Q 5-;4-|Ɖ?Q 95;4- )-?=Q A57Y1Q E58y5U{Q I5?-^>I- ;i-?@-%h;4yAɮEBA*jYBjYiYiYziYJiYia kC4kC4kC4hq kC4kC4kC4h^B*** querying acoustic contact ***XY颵 @ >) 5i)%G项iIIIO=E5c E5nE5nE1"E5g5:*E5:VE5J5ZE1BE5?;aE2E5?;aEJE5J;aE:E5J;aE)2Acoustic response timeoutQԁ Lя,BF3E?A2M@2.@2=ٱ2ҏԽ :AHRS rotation from veh to nav: [[0.838770,0.521514,0.156487],[-0.531038,0.847021,0.023548],[-0.120267,-0.102852,0.987399]]2H4?`>??B??ɾ }T`Ƙ?i2M@I26p_;0YN˥>yRKEXXbDZVDZJA9E2Acoustic response timeoutyM%MD=ٔU(Q-U>Y9QIY=]FyaeՂEe>iQ 5u;4m*Ɖ?Q 9u;4m )m/>Q Au7YyQ E}7y}+Q I}?ma>?Im;imr@mxh;4yѬBɮ+B{E*jBjiiziJii kc4kc4kc4h ks4ks4ks4hX@=) i)0 iIII)Oe=ԉEEi EEWEEEA"EE,K:*EE9VEEH5ZEAaM@aM@aM@aM@ԱBA<BBBDB=BBBB";BE2Acoustic response timeout Lя,Y`3E?A2gc@2H^@2 >ٱ23 :AHRS rotation from veh to nav: [[0.843052,0.508524,0.175121],[-0.520280,0.853601,0.025961],[-0.136282,-0.112999,0.984205]]2HG?E?^j? "@P??q@z~?i2gc@I2~w_;2aCYb3>yf{7EbDvRVDvbA9yu%O=ٔ'=Q->9 I = Fy  T<E>Q 5;45Ɖ?Q 9%;4C)!h>Q A%w7Y!Q E%7y%|Q I%?D{?I ;i@h;4y5ҬBɮ5=B5|E*jABjIiIiQziQJiQԹiQ k37k37k37h颅*@ >) i) 顉iIIIO-=M2Acoustic response timeoutEQ  EU ZEU tEQ "EQ *EU a9VEU 5ZEQ BEU te;ae 2EU ve;ae JEU 0;ae :EU 1;am ԙ  2Acoustic response timeoutMLя,{z3E?A> ѯ@>˶@>>ٱ>~O rAHRS rotation from veh to nav: [[0.834735,0.528107,0.155949],[-0.535973,0.844174,0.010140],[-0.126293,-0.092048,0.987713]]>H&?@@?"?&y?$Ą?``*{X?i> ѯ@I>L_;>bCYz>yzDGEimm" i)mIiim(m m)u)u==bDYVDfA9yp=%@=ٔQ-5>91I1==Fy9=[%E=>AQ 5M;4EAƉ?Q 9M;4E:)E4>Q AMH7YIQ EU7qyUaQ I}?E?IE;iEAEh;4yɮ0B*jBjiiziJii kkkh=@=>)9 =i9)E:AAiAIII IqԡOMR>]2Acoustic response timeout kLя,|3E?A2q@2R@2%=ٱ2 >AHRS rotation from veh to nav: [[0.836904,0.541384,0.080591],[-0.542226,0.840133,-0.012933],[-0.074709,-0.032875,0.996663]]2H?S??`Y@^?@|" Ԡ?i2q@I2_;2aCY^u>y^LEb=b?>E=f E=UE=pE9"E=I@:*E=P9VE=5ZE9aM@aM@aM@aM@BBBDB=B=BBB$;BEBBBBBC4aa aa aa aa a@a a@a a@a a@a a@a yJ +?ףp= ?S?H=>/> )Mb@Mb@Mb@Ii )I bD% VD%AA9y5m<%5B=ٔUQ-U>9YIY=]FyYes$Ee>aQ 5m;42Acoustic response timeoute\LƉ?Q 9-;4e#)ey>Q A5"7Y1Q E57y5Q I5?eb?Ie) m 2Acoustic response timeout1*Lя, Ԯ3E?AV@V`@V=ٱV= ^AHRS rotation from veh to nav: [[0.838467,0.536722,0.094353],[-0.533402,0.843759,-0.059599],[-0.111600,-0.000356,0.993753]]VH?,?@'?? ʃ ͑Z7?iV@IVI `;VdCtY~1>y~9EbDm0VDmSA9y%Q=ٔ=Q->9I=Fy`<E>Q 5;4VƉ?Q 9;4.))>Q A7YQ ET7yÄQ I??I;i^A@i;4yӬBɮ2Acoustic response timeout9i WLя,y3E?AB@B@B6=ٱB,K JAHRS rotation from veh to nav: [[0.825864,0.555059,0.099285],[-0.557207,0.830343,-0.007174],[-0.086422,-0.049397,0.995033]]BH`{m? ?j?`+?pb}@JO?iB@IB0_;BcCY^*>y^GAEjParsing RMC sentence: $GPRMC,181958.00,A,3646.40815,N,12151.92062,W,0.564,287.67,251025,,,D*79 )hj3E?Ajb$Ɖ?j$9j cB@gaw^rhGPS fix at 20251025T181958: (36.773469, -121.865344)j>jM@~2Acoustic response timeoutbDz)VDzPA9y%g<%%S=ٔ-Q-->9)I)=-Fy15JE5>YaQ 5e;4eb$Ɖ?Q 9m;4e$)eQ Am6YiQ Em+7ymQ Im?eIeY;ieAe>g;4y5ѬBɮ54B={E*jIBjIiIiziJii k3k3k3h kkkh\UReceived valid gps time fix: 1761416448.00. Resetting abort timer.eU@e6=)a e_ia)lciII IO}>ԁEo EZEuE"E`:*Ea9VE5ZEa%@a%@a%@a%@AA@ABY>BBDBw>B=BBBr;B֛EԱ2Acoustic response timeout .Lя,aO3E?AV@Vr@VL^=ٱVA fAHRS rotation from veh to nav: [[0.821135,0.562459,0.096838],[-0.568150,0.821692,0.045026],[-0.054246,-0.091991,0.994281]]VH@F??Zʸ? I.MK? ?`ƫ&?iV@IV_;V`CYĒ>y}4EԱbDVDA9yhB%?=ٔ\Q->9I=FyE>aQ 5m;4e5/Ɖ?Q 9u;4e*)e=Q A6YQ E 7y䆿Q I?e>Ieh;ieAeWg;4yɮ>B*jBjiiziJii kkkh]@]L^=)Y ]iY)es9aaiaiII 4= R=2Acoustic response timeoutIqO>E- a E- OE- wE) "E- %.:*E- 9VE- ɕ5ZE) BE) a5 2E) a= JE- M:a= :E- O:a= 9  2Acoustic response timeoutG^Lя,C3E?A6׮@6ѵ@6=ٱ6pý >AHRS rotation from veh to nav: [[0.822862,0.558036,0.107205],[-0.564538,0.824322,0.042305],[-0.064764,-0.095333,0.993336]]6HT?n?q? `?@?] gi?i6׮@I6b_;6cCYJȎ>yJ/EbDVVDVA9y^$%^^=ٔb9`I`=fFydfa0<Ef>1Q 5=;45f8Ɖ?Q 9=;45/)5>Q A=6Y9Q EE6yEQ IE?5>I5:i5p!A5hg;4ymҬBɮmDBm|E*jBjiiziJii kkkh kkkh 5@5=)9 =i9)=99iAIIIYO(>12Acoustic response timeouta Y Y ԉ X@Mя,4E?A2g@2b@2ف=ٱ2ý :AHRS rotation from veh to nav: [[0.815194,0.569309,0.106517],[-0.575712,0.816599,0.041489],[-0.063361,-0.095145,0.993445]]2H?7?@D? ;l!? >?`m8@i[ M?i2g@I2Hz_;2bCYN>yN!E TTErb ErLErkEp"Er1:*Er|9VEru5ZEpav@av@av@av@BBBDBM>BBBB;B!Ea%a% a%a% a%a% a%a- a-a- y-~jtÿi|?5?5^I ˿--q=-X) )9- ףp= ?y&1Mb?Y-Q8=y-`彙-<- B-ƗB -PB)- B-Y-LBbDe VDeBA9iqIq}2Acoustic response timeoutԉyE%2=ٔ=GQ->9I=FyE>Q 5-;4o7Ɖ?Q 95;40)>Q A5T:Y5\=Q E5;y5wQ I5?+?IW:f >Bf/@Jfҡ@]]@eف=)a ei)顑iIIIO}7>ԡ- 2Acoustic response timeout Kj Mя,/4E?A6~@6y@6T>.=ٱ6qA BAHRS rotation from veh to nav: [[0.817704,0.568964,0.087402],[-0.574065,0.817233,0.050795],[-0.042527,-0.091709,0.994877]]6H*?4?_? ^&??ƥBz ?i6~@I6_;6cCYN>yR.ERa=Rp=j%n!n! ~!)~I~i~&~*|+& 'bD#VDMA9y=h=%E`=ٔElQ-E>9III=MFyIM;EU>QQ 5};4U6Ɖ?Q 9;4U2)U&>YyQ I?U/?IU,:iU:U;4yɮ\B*jABjAiAiAziAJiIiI kSkSkSh2f:fBfJfy@@T>.=) "i ) 鲌iiiiqIqIIEf EREiE"EI@:*E9VEz~5ZEBER;a2ER;aJE$:a :E&:a O5 >2Acoustic response timeout) Q ATMя,I4E?A20@2@2Co=ٱ2ͽ :AHRS rotation from veh to nav: [[0.820771,0.561522,0.105017],[-0.568250,0.821374,0.049358],[-0.058542,-0.100187,0.993245]]2HC?`?a?`/@H?@vE?D⥹`?i20@I2bt_;2bCY^>y^*En2Acoustic response timeoutbDfVDf3A9yv{%vO=ٔz&=Q-z>9|I|=~Fy|~<E>Q 5 ;45Ɖ?Q 9 ;4N3)0>YyLQ I?:?I;iq;;4y9ɮE_BA*jqBjqiqiyziyJiyiy kkkh2f:fBfJf*@,@Co=) i)vi  III1OM=YiIEo EYElE"E`:*E*9VE5ZEa @a @a @a @Bu<Au<ByByB}DB}w>ByByByB};B}E2Acoustic response timeoutԁ dMя,rc4E?A,F2˭@Fƴ@FT=ٱF VAHRS rotation from veh to nav: [[0.802985,0.579847,0.137815],[-0.590410,0.805491,0.050997],[-0.081438,-0.122317,0.989144]]FH ??@? ?P?ٴ`/P?iF2˭@IFt_;F`CYZht>yZHEeŁGy_9YUAbDJVD_A9y5%57=ٔ5R=Q-5>99I9==Fy9EEE>AQ 5;4E4Ɖ?Q 9;4E4)E<>YyQ I?E,?IE:iE:E;4yɮpB*jBjiiziJii k3k3k3hqԁ2f:fBfJf4@2Acoustic response timeout颭@T=) i)~顱iII1IOG>Ա E s E [E rE "E so:*E 9VE 5ZE BE ;a 2E ;a JE ;a :E ;a  2Acoustic response timeoutMя,r}4E?A2ۭ@2@2ߘ=ٱ2so :AHRS rotation from veh to nav: [[0.782102,0.607468,0.138923],[-0.618145,0.784494,0.049651],[-0.078823,-0.124707,0.989058]]2H`? `p?@>?? k?-쿿@\?i2ۭ@I2˒_;2cCYNd>yR EPR?AZParsing RMC sentence: $GPRMC,182001.00,A,3646.40825,N,12151.92089,W,0.428,287.58,251025,,,D*7C )\\^@4E?A^4Ɖ?^^n@j@AhbDnVDnA9y)% `=ٔ Q- >9I=FyýE>Q 5;44Ɖ?Q 9;4g;4y=ҬBɮ=`BE|E*jYBjYiYiYziYJiYia kkkh2f:fBfJf'@\EReceived valid gps time fix: 1761416448.00. Resetting abort timer.颥@ߘ=) ji)RiIIIIYO%M>2Acoustic response timeoutA T%Mя,M4E?A6V@6P@6g<ٱ6lZĽ >AHRS rotation from veh to nav: [[0.777592,0.623621,0.080298],[-0.628231,0.775847,0.058193],[-0.026009,-0.095696,0.995071]]6H`??@m?`x?~˭? ?i6V@I6;_;6bCYN`>yRO EEbf EbYEbfE`"EbI@:*Eb*9VEbt5ZE`af@af@af@af@B%X>B!B%DB%=B!B!B!B%y;B%ڛE9yA`"?ʡEӿClǿY>d; 9S?#~jԿy㥾t=gBPB ƗB)YaB]2Acoustic response timeoutbDؤVDA9y%-=ٔ%oQ-%>9!I!=%Fy!-⹼EM>QQ 5];4Ut5Ɖ?Q 9];4Uc4)U.=Y]>Q Ee:ye˽Q Ie?UMI>IUU:iU]:Uv;4yBɮyBE*jBjii)zi)Ji)i) kkkhAI kkkhq2f>:f>Bfn@Jf@颽@g<) i))iII IOK>q = = 2Acoustic response timeoutԡ +Mя,+4E?A2@2@2u;ٱ2ݏl :AHRS rotation from veh to nav: [[0.784312,0.618974,0.041543],[-0.620323,0.783288,0.040737],[-0.007325,-0.057721,0.998306]]2H?`?!E? `?ۤ?~@?i2@I2`;0YNd>yN7 EbDZVDZA9y=<%=o=ٔ=p_Q-E?9AIA=EFyAM<EM?QQ 5];4U6Ɖ?Q 9];4UI8)U8=YYy]Q I]?Uհ>IU;iUU;U;4yiɮmxBiԱ*jBjiiziJii kkkh kkkh2f:fBfJf$6@%k@%u;)! -*i))-Qѐ))i)qIyIiIyO=Ec EPEoE"Eg5:*E?9VE5ZEBE?;a2E?;aJE:a:E:ae2Acoustic response timeout)Y 2Mя,4E?A2H@2}C@2>PP=ٱ2e :AHRS rotation from veh to nav: [[0.775815,0.627689,0.064163],[-0.628909,0.777477,-0.001514],[-0.050836,-0.039179,0.997938]]2H z? ? m? @?X@(4@?i2H@I24=`;2cCYNLZ>yN:ER=Ra=2Acoustic response timeoutbDZVDZA9yWü%M=ٔ=Q->9I=Fy%E%>)Q 55;4-7Ɖ?Q 95;4-<)-=Y1y5ʾQ I=?-?I-@;i-];-;4yAɮE}BA*jBjiiziJii! kqkkh2f:fBfJfxg@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oMXAggregate::initialize marl:UpdateCommandMode18M]I18UoU@Completed marl:UpdateCommandMode7UoU\Aggregate::uninitialize marl:UpdateCommandModeq7UnULAggregate::initialize marl:UpdateSpeed7U]Q7UnU4Completed marl:UpdateSpeedq7]n]PAggregate::uninitialize marl:UpdateSpeed颕@>PP=) i)i顙iIIIIO$>ԙEi E_EjE"E,K:*Er9VEـ5ZEa@a@a@a @BY>BBzDBJ=BBBB1;BEBBBBBCƬ 42Acoustic response timeout 8Mя,4E?A2@2@2ʄ=ٱ2ڼ :AHRS rotation from veh to nav: [[0.771692,0.632512,0.066483],[-0.632750,0.774095,-0.020094],[-0.064174,-0.026561,0.997585]]2H?=??}? c?sm27?i2@I26_;0Yv7S>yvEbDVDA9yM%J=ٔ=Q->9I=Fy%bE%>)Q 55;4-8Ɖ?Q 95;4-A)-@=Y1y5Q I5?-3?I-;i- ;-Ȟ;4yAɮEBA*jQBjQiYiYziYJiYia kkkhq kkkh2f:fBfJf;Q@sNUpdating rudder angle 1.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颽 @ʄ=) i)uiIIIO-=2Acoustic response timeout) bEu|5jEu5rEuɌ1E  E QE sE "E *E v9VE X5ZE BE te;a 2E ve;a JE :a :E :a%  2Acoustic response timeout>Mя,14E?A 2׫@2bҲ@2HR=ٱ2 >AHRS rotation from veh to nav: [[0.767638,0.639235,0.045929],[-0.640044,0.768328,0.003912],[-0.032787,-0.032400,0.998937]]2H@~?t? ?={%?_p?ɠ J?i2׫@I2V_;2bCYFrQ>yFEb'b'b' b")bIb!ib#bbb.f( f(bDj,VDjA9yr3%rM=ٔvQ-v>9tIx=zFyxz Ez>|Q 5;4~9Ɖ?Q 9;4~BF)~4>Y y Q I ?~`?I~:i~_:~;4yɮB*jBjiiziJii kckckchA2f:fBfJfP@q颽 @HR=) i)9eiII9IiIO>ԙ2Acoustic response timeout LEMя,5E?A2ث@2Ӳ@2,kٱ2* :AHRS rotation from veh to nav: [[0.768085,0.640156,0.015699],[-0.640187,0.767111,0.041234],[0.014353,-0.041722,0.999026]]2H&?'|?y?j|`-??>e?\?i2ث@I26_;2cCYBPV>yBEDF@ALB`B`BbDBb=B`B`B`Bb;BbEErg ErKEroEp"ErC:*Er]t9VEr5ZEpBErX;2ErX;JEr/::Er0:yM}?5^I̿Mbp?n?MMbM;M>I I9M|?5^?rh|׿+?YM>yM绾Mv>MBMjB I)MBIYMBbDeVDeA9yul8<%uA=ٔ}}Q-}>9yIy=}FyF9E>Q 5;49Ɖ?Q 9;43K)0>Yd.?Q E:yʿQ I?u?INyVdD|bD%VD%A9ye%eK=ٔm7;Q-m>9iIq=uFyquS=Eu>yQ 5;4}9Ɖ?Q 9;4}O)}?YyƿQ I?}?I} :i}:};4yɮB*jBjiiziJii kkkh kkkh2f:fBfJfR{@  @ 7H\)  i)iyBDNParsing RMC sentence: $GPRMC,182004.00,A,3646.40828,N,12151.92149,W,0.214,279.47,251025,,,D*7F )LN5E?AN8Ɖ?NF9NcB@9hIh=nFyl%2Acoustic response timeout%eE->)Q 55;4-8Ɖ?Q 9=;4-F)-Y9y=ÿQ I=?-I-" ;i-` ;->g;4yIɮMBIY*jyBjyiiziJii kkkh2f:fBfJfC@\Received valid gps time fix: 1761416448.00. Resetting abort timer. s @ r)<) .i)5ѕ15BBDBM>BBBB6;BEEn ETEyE"EO]:*E9VE5ZEBEf;a2Eg;aJE:a:E:aԱ2Acoustic response timeout 7YMя,f5E?A2]@2X@2T̻ٱ2 :AHRS rotation from veh to nav: [[0.758451,0.649585,0.052834],[-0.651700,0.755145,0.071019],[0.006236,-0.088297,0.996075]]2H;E?e?  ?`%*?`P.?`y? ?i2]@I2[_;2dCYbE,>ybDf=f4> AE<bDMRVDMbA9ye<%m==ٔm{Q-m>9qIq=uFyqudEu>yQ 5;48Ɖ?Q 9;4nK))e>YyhǿQ I?9>I:i:v;4yɮB*jBjiiziJii kkkh kkkh!2f9:f9Bf9Jf=d}@e @eT̻)a mii)m*imԩD zD AAE b E ME uE "E 1:*E 9VE 5ZE a @a @a @a @)  2Acoustic response timeoutN `Mя,5E?A><@>@>6dٱ>D FAHRS rotation from veh to nav: [[0.764257,0.644169,0.030943],[-0.642505,0.756387,0.122747],[0.055665,-0.113691,0.991956]]>Ht??x?e@R4?Yl? ??i><@I>Sq_;>cCYVb+>yVDbD-VD-9I=Fy9<E>Q 55;48Ɖ?Q 95;4"P)I>Y9y=ɿQ I=?d>Icl2Acoustic response timeout1Y JfMя,c5E?ABW>BBBBBBB;BEE2r E2TE2jE0"E2k:*E29VE2ـ5ZE0BE2;a:2E2;a:JE0a::E0a:N@N@N .ٱN ZAHRS rotation from veh to nav: [[0.769348,0.636017,0.059885],[-0.637403,0.757985,0.138481],[0.042685,-0.144711,0.988553]]NH~? AZ? 1?eiA? ¹?`ڥ?@¿9?iN@IN_;NdCYn>ynDtt1]2Acoustic response timeoutyMڿK7A`?V-nҾ> 9X9vϿCl?A`"?Y}y;_>Y> BB B)BY̡BbDУVD'A9y "%-2=ٔ5o91I1==Fy9=̓<E=>AQ 5m;4El7Ɖ?Q 9m;4E=L)E% ?Yu>Q Eu;yuR?Q Iu?EY?IEW;iE;EG;4y}Bɮ}BE*jBjiiziJii kîkîkîh)2f%n>:f%n>Bf%yө@Jf%Q@am< @m .)i mii)u䌘quiqyI l>C G)Am]9iYm,SAI>IO-p>ԉ 2Acoustic response timeoutԹ tlMя,>5E?A2J"@2+@2rbٱ2YU :AHRS rotation from veh to nav: [[0.732448,0.670402,0.118664],[-0.680126,0.712612,0.172083],[0.030804,-0.206748,0.977909]]2H6p? s?`? `??@?@vʿ K?i2J"@I2V_;2`CYN =yNaDPPj$j%j) ~#)~"I~$i~%~#~'~+  AA bDͣVD%A9yE%El=ٔM=Q-M?9III=MFyIU)EU?Q 5;47Ɖ?Q 9;4H)s?Yy?Q I?#?I:iR:;4y ɮBQ*jaBjaiaiiziiJiiiiԑ kCkCkCh kkkh2f:fBfJf@E @Erb)I MEun EuLEusEq"EuO]:*Eu|9VEuX5ZEqa}@a}@a}@a}@i)rB顁iIIIO>e2Acoustic response timeoutԹ [sMя,5E?A2o@2P@2`ٱ2 cg :AHRS rotation from veh to nav: [[0.729972,0.675241,0.105784],[-0.680296,0.702901,0.207672],[0.065873,-0.223559,0.972462]]2H[???@*~?? ݰ? ̿ h?i2o@I2_;2cCb2Acoustic response timeoutYr>yr3DbDz{VDzA9y3=%E=ٔmQ->9I=FyPE>Q 5;46Ɖ?Q 9;4E)&?Yy ?Q I?H?I/;i ;;4yɮB*jBjiiziJii kkkh k#k#k#h 2f:fBfJfC@颽z@`) i)iIIIOE=A%AAA%AAB%Y>B!B!B!B!B!B!B%;B%E9Eh EQEE"EG:*Ev9VES5ZEBE/_;a2E1_;aJE:a:E:au2Acoustic response timeouti yMя,o5E?A 6BǪ@6#±@6^ٱ6pQ >AHRS rotation from veh to nav: [[0.744695,0.661742,0.086758],[-0.664080,0.721738,0.195174],[0.066538,-0.202959,0.976924]]6H?,?5?$@y?@r?`?@ɿB?i6BǪ@I6_;6fCYN=yRD5=5=bD=#VD=@9y>%D=ٔDѺQ->9 I = Fy 5CW=E=>AQ 5M;4E5Ɖ?Q 9M;4E@)E6?YQyu?Q I}?Ep?IE;iE;Ex;4yɮB*j1Bj9i9i9zi9Ji9i9 kkkhQ kckckchai2fy:fyBfyJf}=v@额 @^) i)}顡iII2Acoustic response timeoutInManaging dock network, ignoring radio surface power offO >ԙE o E kE E "E `:*E :VE ZE a @a @a @a @  2Acoustic response timeoutpMя,6E?APz9@z3@zٱzo' 5AHRS rotation from veh to nav: [[0.734166,0.673852,0.083211],[-0.677931,0.720737,0.144733],[0.037555,-0.162669,0.985966]]zHH~?`2?@VM? G?`?h:?`YĿ?iz9@Iz`_;zdCYx>yFD!%a=UParsing RMC sentence: $GPRMC,182007.00,A,3646.40821,N,12151.92072,W,0.622,114.20,251025,,,D*74 )Y]5E?A]-Ɖ?](9]!cB@mdaw^hGPS fix at 20251025T182007: (36.773470, -121.865345)]գ>] ?y]5^I ?Cl׿Mڿ]>]d]nҾY Y9]A`"S㥛?Zd;OY]ٽy]$>]j<]B]6B ]B)]7BYY]B u49I=FynE>Q 5;4-Ɖ?Q 9;4()YJA?Q E:y@Q I?I ;i ;>g;4yѬBɮB{E*jBjiiziJii kkkh kkkh2f7?:f7?Bf"@Jfo?\%Received valid gps time fix: 1761416448.00. Resetting abort timer.5`@5)1 5i9)='͛99i9AIAIYIqOm5>2Acoustic response timeout B X>B B DB =B B B B ;B EBBBBBC4Mя,H6E?AE"e E"XE"uE "E"<:*E"9VE"5ZE BE"`L;a*2E"cL;a*JE":a*:E":a*b@bИ@bGٱbV jAHRS rotation from veh to nav: [[0.721545,0.689539,0.062519],[-0.692044,0.715504,0.095547],[0.021151,-0.112208,0.993460]]bH@??D?9%`h?u?`?৹k?ib@Ib_;`|Y&>yDbDVD@9yY.=%m=ٔB=Q-?9I=Fy`E?Q 5;4,Ɖ?Q 9;4')^Yy$?Q I?W=I:iK:Rs;4y=2Acoustic response timeoutɮU~BY*jiBjiiiiiziqJiqiq kkk?h kkkh2f:fBfJf]? @G) i)oiIII Oe=)Y = < 2Acoustic response timeoutԁ Mя,56E?A2&@2@2Oٱ2 :AHRS rotation from veh to nav: [[0.706855,0.706397,0.036864],[-0.707173,0.704515,0.059702],[0.016201,-0.068270,0.997535]]2H?Κ? ߢ?)c?2?@?"z@?i2&@I2ݰ_;0YN I>yR;DbDZVDZ@9yb=%b\=ٔfoZ9dId=fFyhjhEj>lQ 55;4n,Ɖ?Q 95;4n&)nY1y=?Q I=?n =In&;in;nH;4yAɮEmBAY*jaBjaiaiaziaJiaii kkkhy kkkh2f:fBfJfн?颽 @O) i)FiIIIO%=bEɕ5jE5rEq3EUf EUREUyEQ"EUI@:*EU9VEU5ZEQae@ae@ae@ae@ԁM2Acoustic response timeout9 Mя,\O6E?A2B@2#@2Ǜٱ2b :AHRS rotation from veh to nav: [[0.697795,0.715812,0.026356],[-0.716045,0.696100,0.052195],[0.019015,-0.055294,0.998289]]2HVT? ?@*?sF?I? x?@tO?i2B@I2_;2cCR2Acoustic response timeoutYVd>yV7 EXZ?A^@A\bDb;VDbl@9yӂ=% F=ٔ p߻Q- >9I=FyE>Q 5%;4,Ɖ?Q 9-;4%)WY)y-?Q I-?y >Iy:i:;4y1ɮ5_B*j9Bj9i9iAziAJiAiA kkkhQ2fa:faBfaJfep?颽$ @Ǜ) i):iIIII)OU>ABBBaDB=BBBB;B/EEej EeYEetEa"EeN:*Ee*9VEe5ZEaBEek;am2Eek;amJEe:au:Ee:auU2Acoustic response timeoutqԙ ֙Mя,Ci6E?A2Ԩ@2ί@2@ٱ2No{ :AHRS rotation from veh to nav: [[0.704284,0.709319,0.029166],[-0.709624,0.702214,0.057700],[0.020447,-0.061334,0.997908]]2H ? ?@ݝ?`<`x?劭?`(?.g`?i2Ԩ@I2k_;2dCYBn>yBE\^#^# b")bIb!ib!b(bb*b fbDn4VDni@9yv<%vL=ٔziQ-z>9|I|=~Fy|<E> Q 5;4 l,Ɖ?Q 9;4 #) #YyX?Q I%? <>I 4;i 4; ǜ;4y)ɮ-ZB1*jIBjIiIiQziQJiQiY kkkhq2f:fBfJf#̼?%@-@)) -i))MVQQiQQIYiIIO=2Acoustic response timeoutԙEu d Eu REu qEq "Eu 9:*Eu 9VEu 5ZEq a} @a} @a @a @ 9 9 ] 2Acoustic response timeout Mя,'6E?AB@#@ᡩ<ٱ AHRS rotation from veh to nav: [[0.708443,0.701076,0.081242],[-0.705464,0.706808,0.052372],[-0.020706,-0.094416,0.995317]]H?6o?@E̴?(,?Ъ?3+?iB@I)_;Y&c>y EyM-?m{Gz?M?5?MMף9I=Fy!%+><E%>)Q 55;4-V2Ɖ?Q 95;4-.)-Y5g?Q E=j:y=ճQ I=?-?I-j:i-;-|;4yeҬBɮeaBe|E*jyBjyiiziJii kkkh kkkh2f>:f>Bf?JfJ?5@ᡩ<) Yi)项iIIIOER>2Acoustic response timeout! B Y>B B DB #>B B B B q;B bEMя,x6E?AEe EWEE"E<:*E9VEZEBE`L;a2EcL;aJE:a:E:a$ɰ&4yu+!Ey}p= bD@VDo@9y=%i=ٔ9 I = Fy 2Acoustic response timeout9ѽE5?9Q 5M;4=d5Ɖ?Q 9M;4=A6)=YQyQ I?=d?I=ԑ 2Acoustic response timeout %Mя,\ʶ6E?A2wͧ@2XȮ@2`<ٱ2 :AHRS rotation from veh to nav: [[0.681190,0.729689,0.059452],[-0.731842,0.680879,0.028479],[-0.019698,-0.062909,0.997825]]2H`N?Y?@sp??k?)?+`.?i2wͧ@I2_;0YNI>yREZParsing RMC sentence: $GPRMC,182010.00,A,3646.40845,N,12151.92174,W,1.788,285.62,251025,,,D*7A )\^6E?A^;SƉ?^lP9^-3cB@6bw^bhGPS fix at 20251025T182010: (36.773474, -121.865362)^yk?^2@bDj#VDja@9y\% \=ٔ sQ- >9I=Fy#E>ԙQ 5;4;SƉ?Q 9;4lP)YyaQ I?I:i:>g;4y5BɮEBEE*jBjiiziJii ksksksh2f:fBfJfW?D-<D-<E=f E=TE=zE9"E=I@:*E=9VE=5ZE9aE@aE@aE@aE@\uReceived valid gps time fix: 1761416448.00. Resetting abort timer.颅@`<) i)҆顉;iIIIOe>-2Acoustic response timeoutIE >)E > UMя,c6E?A2 @2@2lv=ٱ2#$ :AHRS rotation from veh to nav: [[0.685453,0.725614,0.060324],[-0.724931,0.687849,-0.036591],[-0.068044,-0.018650,0.997508]]2H@:?;8?@? 2@?Zk?i2 @>2Acoustic response timeoutI2b_;0YN>yN(EbDѡVD<@9yUB=%]E=ٔ]=Q-]>9aIa=eFyaeܚ<Em>iQ 5;4m(WƉ?Q 9;4mX)m7"YyQ I?m>ImBaBaBeDBe,>BaBaBaBe);BeǜEE=c E=UE=pE9"E=g5:*E=P9VE=5ZE9BE=?;aM2E=?;aMJE=:aM:E=:aM52Acoustic response timeoutI G  #[9 Y PAq "Mя,6E?AF@Fۙ@FN>ٱF RAHRS rotation from veh to nav: [[0.671307,0.732303,0.114362],[-0.729482,0.680105,-0.072897],[-0.131161,-0.034489,0.990761]]FH@Y{?o? F?W k?X@P?iF@IFɜ_;FfCYn>yr#Etv@AbD%VD%0@9y5%5M=ٔ=">Q-=>9AIA=EFyAM EM>QQ 5};4UZƉ?Q 9};4U`)UYyQ I?U!?IU;iU ;Uނ;4yɮ~B*jBjiiziJiiQ kkkh2f:fBfJfKĵ? @-N>)1 5i1)5'11i19I9Iyߍ=ߍ=2Acoustic response timeoutI O]>ԁiyIyԩDI zDM @AEQ  EQ EU yEQ "EQ *EQ VEU 5ZEQ a] @a] @a] @a] @M 2Acoustic response timeout Mя,k7E?A}@}@}Ù=ٱ}M AHRS rotation from veh to nav: [[0.654944,0.749400,0.097201],[-0.751946,0.659063,-0.014609],[-0.075009,-0.063522,0.995158]]}HL??%?@ ?[덿 3BT?i}@I}t_;}cCY>y/Eԩa @a  a@a a@a a@a a@a y !rhܿ@5^I ?K? l羹 b> ^>  ) Mb@Mb@Mb@I i ‰    )  I bDMáVDM5@9y].=%],=ٔ]tQ-]>9I=FyiE>Q 5;4 ]Ɖ?Q 9;4#k)%Q A+:YQ E>:y{Q I??I;i>i;4yɮtB*jBjiiziJii kCkCkCh]/@eÙ=)a eia)el aiiiiIqIIO5O>2Acoustic response timeout BY BY B] DB] JK>B] =BY BY B] ;B] *E1 M4Mя,77E?A2K@2,@2:ٱ2(y :AHRS rotation from veh to nav: [[0.653402,0.754907,0.056400],[-0.757010,0.651710,0.047003],[-0.001273,-0.073407,0.997301]]2H`? 3(?q?m9? ?aT@ʲ@?i2K@I2f_;0Erg ErSErnEp"ErC:*Er9VErJ5ZEpBErX;av2ErX;avJErl:az:Erm:azY~>y~6E = =bDVD0@9ys<%h=ٔVQ->iIA2Acoustic response timeout91I1=5Fy9=KEE>IQ 5u;4M_Ɖ?Q 9};4Ms)M$Q A} :YyQ E:yQ I?M?IMx;iMX?M;4yBɮBE*jBjiiziJii k#k#k#hy kkkh%X@%:)) -i))-zा))i)1I1IqIO#>9i  2Acoustic response timeout?^Mя,87E?A :@:~@:n =ٱ:9S BAHRS rotation from veh to nav: [[0.653881,0.753034,0.073341],[-0.755825,0.654515,0.018380],[-0.034162,-0.067451,0.997138]]:H??rƲ?/?Ғ?}tD?i:@I:*_;:dCYNц>yR%ER=Ra=j(n n% ~$)~!I~i~(|~'-! bDVD(@9y={%ET=ٔEf=Q-E>9III=MFyIMG;EU>QQ 5};4U(bƉ?Q 9};4U,{)UaFQ A9YQ E9yQ I?UV?IU2;iU?U;4yɮB*jBjiiziJii kkkh kkkh]@]n =)Y ]$iY)]qaaiaaiIIIEe ENEoE"E<:*E҆9VE5ZEa@a@a@a@O5 > 2Acoustic response timeoutԙ FMя,Q7E?A22Acoustic response timeout6 r@6l@6=ٱ6L RAHRS rotation from veh to nav: [[0.647774,0.754379,0.106309],[-0.757986,0.652202,-0.009446],[-0.076461,-0.074462,0.994288]]6H?`#?7? lA`?zX 񒳿5?i6 r@I6Q|_;6eCYnb>yn"EbDzVDz@9y%B%%L=ٔ%=Q-%>9)I)=-Fy)5wE5>1Q 5e;45IdƉ?Q 9e;45Ã)5mQ Ae9YiQ Em9ym+Q Im?5C?I5:i58?5;4yqɮuB*jBjiiziJii ksksksh kkkh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]?7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedU^@U=)Q UiQ)]NzYYiYaIaII OE>BAB B B B B B B B {;B EBBBBBC@4Eb EKEnE"E1:*E]t9VEJ5ZEBE9;a 2E9;aJE/:a:E0:a2Acoustic response timeout! upMя,k7E?A>I'@>*"@>)RB=ٱ>( JAHRS rotation from veh to nav: [[0.641988,0.761368,0.090395],[-0.765247,0.643582,0.014123],[-0.047424,-0.078241,0.995806]]>H)?]?$?| 9?k?G@?i>I'@I>_;>cCY^F>ybp!E|!%AbD-%VD-?9y}4%D=ٔ8Q->9I=FyE>Q 5;4ufƉ?Q 9;4ό)CQ A9YQ E9y}Q I?@I:i@;4yɮB*jBji?iziJii kkkh!sUPUpdating rudder angle -0.000000 arcdeg 9UrU6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudder颕@ɢD)> i)^D顙i.9:ISAu2Acoustic response timeoutII 1Ou>QbE5jEș5rEI"2E e E _E E "E <:*E r9VE *5ZE a @a @a @a @ԉ 5 2Acoustic response timeout0[Mя,67E?A~x@~s@~-=ٱ~ý AHRS rotation from veh to nav: [[0.625676,0.773543,0.100803],[-0.778932,0.626532,0.026888],[-0.042357,-0.095342,0.994543]]~H ??1ι? ??ɯ`OhL?i~x@I~kz_;|Y=}{>yEEAE?AQuParsing RMC sentence: $GPRMC,182013.00,A,3646.40842,N,12151.92230,W,0.564,198.59,251025,,,D*7B )y}@7E?A}NƉ?}If9}ESc/cB@?bw^hGPS fix at 20251025T182013: (36.773474, -121.865372)}>}]@aa aa aa aa aa y$CӿS㥛?RQ?$>= 9{GzĿQ?e;O?Y#y\>t>BB B)YBAAbD%VD%?9y5%51=ٔ=H4Q-=>99IA=EFyAei=Ee>iQ 5u;4mNƉ?Q 9};4mIf)mQ A}T:Y}ƣ>Q E}%;y}O?Q I}?mIm;im;m>g;4yBɮBE*jBjiizi!Ji!i! kC!kC!kC!h9ԁ k34k34k34h2f}O>:f}O>BfT@Jf@\Received valid gps time fix: 1761416448.00. Resetting abort timer.=@ɢE)A E[iA)EEIAIiM9h;IIQIIOL>}2Acoustic response timeoutԩ B B B DB 6>B B B B ;B EMя,g|7E?A2q@2R@2=ٱ22ݽ :AHRS rotation from veh to nav: [[0.613288,0.778954,0.130801],[-0.786299,0.617799,0.007576],[-0.074907,-0.107494,0.991380]]2H?0? ?])??!-b?i2q@I2r_;0YEa>yE E2Acoustic response timeoutbDtVD@9Ec EfEE"Eg5:*E9VEH5ZEBE?;a2E?;aJE-;a:E-;a ym%`=ٔ=Q->9I=Fy%@ E%>)Q 55;4-OƉ?Q 95;4-@d)-+=Y1y=(?Q I=?-=I-;i-;-s;4yAɮEBA*jYBjYiYiYziYJiYia kkkh2f:fBfJfܪ@E0@ɢM)U> UiQ)UQQi];YIaIyIIO>ߍ %=ߍ = 2Acoustic response timeout9 Mя,W7E?A2@@2! @2O=ٱ2\н :AHRS rotation from veh to nav: [[0.639729,0.760660,0.110199],[-0.766923,0.641205,0.026173],[-0.050752,-0.101258,0.993565]]2Hx?`SW?`6? ?͚? 칿`H?i2@@I21_;2dCYBrQ>yBEJ=J=bDNVDND@9yV6%Vd=ٔVQ-V>9XIX=ZFyX^=E^>`Q 5f;4bPƉ?Q 9f;4b1b)bf+>YdyfW?Q If?b!>Ib:ib:bc;4ynBɮnBl*jxBjxixixzixJixi| kkkh  kkkh!2f1:f1Bf1Jf5@@ɢt)q > i)ia@;IE EUEdE"EO:*EP9VE^n5ZEa@a@a@a@2Acoustic response timeoutA59q^A% <I1 II O} >ԙ Mя,27E?A"2Acoustic response timeoutB@B@BP2ٱBbʽ JAHRS rotation from veh to nav: [[0.653904,0.753044,0.073035],[-0.756572,0.650499,0.066703],[0.002721,-0.098874,0.995096]]BH??p?`5@?q?Jf?`O ?iB@IB_;@YbPV>ybEjp=h pr<bDvcVDv @9yo;<%E=ٔ Q- >9I=Fy.,=E%>!Q 5-;4%eQƉ?Q 9-;4%_)%i>Y1y5־?Q I5?%>I%:i%:%;4y9ɮEBA*jQBjQiQiYziYJiYiY kskskshq ksksksh2f:fBfJf@颵 @ɢDU)_= Di)项i<Iq<^AmTP<IyIO=B\>BBDB=B=BBB;BEԡEj EOEmE"EN:*E9VE5ZEBEk;a2Ek;aJEM:a:EO:a2Acoustic response timeout >Mя,7E?A2!@2@2Լٱ2 :AHRS rotation from veh to nav: [[0.636382,0.769392,0.055258],[-0.770936,0.631976,0.079143],[0.025970,-0.092966,0.995331]]2H>]?۞?@J?`%9?B?@?̷?i2!@I2n_;2cCYB?>yFDz#xx x)~I~#i~!~)~~+~% ~$bD 5VD ?9y]%I=ٔ%iQ-%>9!I!=-Fy)-]dE->1Q 5=;45 RƉ?Q 9=;45:])5K>YAyE}?Q IE?5Ա>I5;i5j;5%;4yIɮMBI*jaBjaiaiaziiJiiii kkkh kkkh2f:fBfJf @ @ɢ) i)Tgi<IJM=U2Acoustic response timeout^A"IIIYO>) E  E VE E "E *E 9VE S5ZE a @a @a @a @ 2Acoustic response timeoutMNя,8E?AFE@F@@FfݚٱFy NAHRS rotation from veh to nav: [[0.621276,0.782413,0.042972],[-0.783364,0.618838,0.058148],[0.018903,-0.069788,0.997383]]FH ~?` ?]?P?ŭ? a[?ݱ ?iFE@IFn_;FeCYV+>yVODye7A`?+Zd;OͿe>ee~ja a9eK7A`ſ ףp= MbX9ԿYe+yeQeʡeBePB eB)eBaYeGBbD}rVD}@9y^>%C=ٔc9I=Fyf?E>Q 5;4lKƉ?Q 9;4\)`>Y>Q E;yF6@Q I?>I ;i7 ;ǫ;4yBɮB*jBjiiziJii kkkh kkkh2fۨ>:fۨ>Bf]S@Jf@5 @ɢ5b^)1 5i1)=E99i=5ԡ B [>B B zDB J=B B B B B CNя, 8E?AyvfD||Eh ESEwE"EG:*E9VEɕ5ZEBE/_;a%2E1_;a%JEl:a%:Em:a-YY2Acoustic response timeoutbDe_VDe@9y%;%%A=ٔ%U9)I)=-Fy)5n^<E5>9Q 5=;4=DƉ?Q 9E;4=[)=G=YAyET3@Q IE?=?I=:i=:=;4yQɮUBQ*jaBjaiiiiziiJiiiq kkkh kkkh2f:fBfJft@ l>CU Gihg9Y/\AԱm @ɢ6)щ> i)6iQ<ID >IIOF>m 2Acoustic response timeout Nя,8:8E?A6tW@6UR@6s;ٱ6v< BAHRS rotation from veh to nav: [[0.623053,0.781126,0.040581],[-0.782145,0.622677,0.022877],[-0.007399,-0.045994,0.998914]]6H@ ??Ǥ?T`?#m?mN~ ?i6tW@I6Q_;6bCYDyHRParsing RMC sentence: $GPRMC,182016.00,A,3646.40842,N,12151.92198,W,0.194,127.88,251025,,,D*7C )TV8E?ATVY9VESc/cB@x.y)bw^ZhGPS fix at 20251025T182016: (36.773474, -121.865366)Ve=V@bDfVDf?9ٔn=Q-n>l9pIp=rFypv"Ev>xQ 5~;4zNƉ?Q 9~;4zY)zY|y2@Q I?zIz` ;iz\ ;z>g;4y ɮ  *j!Bj!i!i!zi!Ji)i) kkkh9 k1k1k1hI2fa:faBfaJfe@\uReceived valid gps time fix: 1761416448.00. Resetting abort timer.颅L @ɢ7)L> i)S㭾顉i8g<IE  E RE E "E *E 9VE 5ZE a@a@a@a@2Acoustic response timeout >A4<A>>IaIqOe>1e nManaging dock network, ignoring radio surface power offi Nя,tzT8E?A2Acoustic response timeout:ua@:V\@:/.<ٱ:E BAHRS rotation from veh to nav: [[0.623910,0.778367,0.069874],[-0.781261,0.623419,0.031316],[-0.019186,-0.074128,0.997064]]:H`?`?E?` ??v@ ?i:ua@I:~_;:eCYJ>yJD9bD VD ?9yM^%M<ٔUI9QIQ=UFyY]?;E]>aQ 5m;4eGƉ?Q 9m;4eY)eYqyu4@Q Iu?e@=Ie:ieN:eu;4yyɮ}By*jBjiiziJii ks8ks8ks8h ks8ks8ks8h2f:fBfJf(@q @ɢ) i)kiK<IBM<AM<BU\>BQBUDBU=BQBQBQBU;BUEi=>Ee EYEE"E<:*E*9VE5ZEBE`L;a2EcL;aJE:a:E:aII1O|>ԑ2Acoustic response timeout Nя,XUn8E?A2@2o@2 ٱ2 ڽ :AHRS rotation from veh to nav: [[0.614572,0.786347,0.062929],[-0.788122,0.608588,0.092109],[0.034132,-0.106204,0.993758]]2H@?`)? ?K8`y?v? y?`'0?i2@I2_;2dCYBt>yB,DF=DbDN VDN?9yV]%VU=ٔZ^Q-Z>9XIX=ZFyX^E^>`Q 5f;4b_AƉ?Q 9f;4bX)b|Ydyj9@Q Ij?b&>Ib-:ib:bG;4ylɮnBl*jxBjxixixzixJi|i| k5k5k5h k6ԙk6k6h2f:fBfJf@o @ɢQ)= i)ei?-<I!))))52Acoustic response timeoutIAIQOY>D zD E _ E IE qE "E &:*E c9VE 5ZE a @a @a @a @ 2Acoustic response timeoutA !Nя,v48E?A2U}@26x@2Faٱ2/ͽ :AHRS rotation from veh to nav: [[0.600749,0.798392,0.040881],[-0.796784,0.593809,0.111920],[0.065081,-0.099809,0.992876]]2HV9?l? W?A {?Ѧ?$??i2U}@I2V_;0YN>yNpDy%-?L7A`尿㥛 ?%?5>%+%>! !9% rh?q= ףpտ%C̿Y%C=y%%Zd%B! %9QIQ=FytE>Q 5;48Ɖ?Q 9;4[)Y>Q E;yQ I?{>Iv:i':;4yɮB*jBj i i zi Ji i k34k34k34h) kOkOkOh92fM^>:fM^>BfMz@JfMM`@md @ɢm)i mii)uxsqqiuKAE2Acoustic response timeoutiBM ]>BM *CBM DBM =BI BI BI BM ;BM EBBBBBCʯ4ԙ q(Nя,8E?AEBi EBTEBrE@"EB,K:*EB9VEB5ZE@BEBte;aJ2EBve;aJJEB:aJ:EB:aJRS@R4@RɼٱRf ZAHRS rotation from veh to nav: [[0.604081,0.795111,0.053719],[-0.796543,0.600336,0.071532],[0.024627,-0.086001,0.995991]]RH@T?q?@?F}5?O?7?`('?iRS@IRX_;RfCYbc>ybDbDjàVDj?9yrR %rQ=ٔv=Q-v>9v??Iz??=zFyzEz;Ez>|Q 5;4~1Ɖ?Q 9;4~^)~̾Y y Q I ?~>I~:i~:~ʟ;4yɮB*j)Bj)i)i1zi1Ji1i1 k4k4k4hI kNkNkNhY2fi:fiBfiJfm]@颍~ @ɢK)G> xi):iߙIߝA2Acoustic response timeout顑iS'<IqAAII!Ou>ԙM 2Acoustic response timeout 2H.Nя,28E?A2æ@2@2<ٱ2ޣ :AHRS rotation from veh to nav: [[0.605950,0.792866,0.064717],[-0.795283,0.605686,0.025871],[-0.018686,-0.067145,0.997568]]2H@c?@(_?L?r@a?}?z"`f0`?i2æ@I2_;2eCYB0%>yB%DDDz%~$~& ~&)~#I|i|~ ~')( (bDVD?9y%eJ=%%G=ٔ%=Q-%>9-c?I-c?=-Fy-E-f;E5>1Q 5=;45(Ɖ?Q 9E;45Va)5YAyEQ IE?5?I5Y;i5T;5&;4yMBɮUBQ*jaBjaiiiiziiJiiii kSkSkSh kikikih2f:fBfJfrZ@ @ɢr)N> i)iE<IbEmÞ5jEmÞ5rEm)2Eh EE}E"EG:*ET:VEs5ZEa@a@a@a@A!I1IAOu>2Acoustic response timeout) 05Nя,8E?A2Acoustic response timeout0:Ӥ@:Ϋ@:+<ٱ:Q BAHRS rotation from veh to nav: [[0.610184,0.788025,0.081804],[-0.791739,0.610266,0.026926],[-0.028703,-0.081197,0.996285]]:H?7??`UK? ?pd`Yɴ`?i:Ӥ@I:1_;:fCY^4<>y^rDbDjƠVDj?9ye=%L=ٔ9 I = Fy Ea<E>Q 5;4 Ɖ?Q 9;4d)YyQ I?i??I:i:#;4yɮB*jBjiiziJii kCQkCQkCQh!2fQ:fQBfQJfU Z@颕 @ɢ6) i)¸顙iH <IԉAAB\>B)CBDBM>B=BBB;BEEj EVEpE"EN:*E9VE5ZEBEk;a2Ek;aJEC:a:ED:a >2Acoustic response timeoutA>A> AE AIQ Ii I O >\;Nя,'8E?AlYn .>yrDbDeVDe?9yE%==ٔQ->9%?I%?=FyEE>Q 5;4Ɖ?Q 9;4g)a%YyQ I?f?Iq;i;8;4y!ɮ%B!*jYBjYiaiaziaJiaia kOkOkOh2f:fBfJf{ @ɢ)  i )i ?<Im2Acoustic response timeout 5%>A,AII 1O5p>E e E SE oE "E <:*E 9VE 5ZE a @a @a @a @a iQ IQ ] 2Acoustic response timeoutBBNя,z 9E?AB'Ѥ@B̫@B{<ٱBm? ZAHRS rotation from veh to nav: [[0.610073,0.776488,0.157728],[-0.792157,0.602063,0.100038],[-0.017284,-0.185976,0.982402]]BHඅ??o0?YY D??ղ`ǿo?iB'Ѥ@IB^_;BdCYn >yrDzParsing RMC sentence: $GPRMC,182019.00,A,3646.40837,N,12151.92244,W,0.680,280.01,251025,,,D*7E )8E?AFƉ?k9me(cB@3Ibw^%hGPS fix at 20251025T182019: (36.773473, -121.865374)>c@9yPn?Mbp?7A`?>;> 9}?5^I?J +?Zd;O?YM>yH=j=:B"B B)BY(BbD4VD?9y%:=ٔԼQ->9>(?I>(?=FyELE>Q 5-;4FƉ?Q 95;4k)Y5ڪ>Q E5;y5\6Q I5?I-;i;>g;4yEBɮEBA*jqBjqiyiyziyJiyiy k3k3k3h12fEM>:fEM>BfEzp>JfE@i\}Received valid gps time fix: 1761416448.00. Resetting abort timer.颥 @ɢ<) i)顩i-<I2Acoustic response timeoutԑ;>B B B DB w>B =B B B ;B E A *AI) I9 O >YlHNя,aT#9E?AE2h E2KE2gE0"E2G:*E2]t9VE2x5ZE0BE2/_;a:2E21_;a:JE2/:a::E20:a:RC@R$@R<ٱRN ZAHRS rotation from veh to nav: [[0.615109,0.770372,0.167832],[-0.788273,0.605291,0.110675],[-0.016326,-0.200374,0.979583]]RH??{?`9`^?@,U?᷐ ޥɿ X?iRC@IR:_;ReCYEA>yEDԙbDVDH@9y"%]=ٔ)Q->9b0?Ib0?=FyE <2Acoustic response timeoutE>!Q 5-;4%NƉ?Q 9-;4%m)% NNя,0=9E?A2@2@2a&ٱ2> :AHRS rotation from veh to nav: [[0.628788,0.766194,0.132558],[-0.777352,0.615306,0.130851],[0.018694,-0.185322,0.982500]]2H?? ?@??$?@ǿp?i2@I2Β_;2fCYN >yRDbDZ VDZ`@9yż% Y=ٔ ̾Q- >9I=FyE>=E>Q 5;4VƉ?Q 9;4o)a|=Yy/Q I?J{>Ih;i;;4yBɮB*j9Bj9i9i9ziAJiAiA kS4kS4kS4h2f:fBfJfA@E @ɢE)E!> EHiA)IIEud Eu]EuoEq"Eu9:*Eu9VEu5ZEqa}@a}@a@a@Ii_<I=2Acoustic response timeoutAIIO%M>Iy ~UNя,o W9E?A2@2~@2k ٱ2 :AHRS rotation from veh to nav: [[0.630997,0.771905,0.077493],[-0.775052,0.622908,0.106207],[0.033711,-0.127077,0.991320]]2H!1?q?`ֳ?:? f0?B?D@?i2@I2_;2dCB2Acoustic response timeoutYN>yRDbDZVDZ4@9yfͼ%fN=ٔfZQ-f>9hIh=jFyjEn<En>Q 5;4^Ɖ?Q 9 ;4q)=Y y 2Q I ? >I:i:H;4yBɮ=٬B=E*jQBjQiQiQziJii k7k7k7h Q k7k7k7ha2f:fBfJfN@t @ɢ)) Wi)i=IBBBDB=BBBBX;BoEIIO >ԁE EXEnE"E*E9VEJ5ZEBEF;a2EF;aJE:a:E:a52Acoustic response timeoutԩrA- R9- rAY- {A [Nя,p9E?A2\@2lW@2cּٱ25 :AHRS rotation from veh to nav: [[0.623342,0.781013,0.038244],[-0.781511,0.620611,0.063894],[0.026167,-0.069715,0.997224]]2H@k???$@ ?T[?˚?رA?i2\@I2_;2eCYN_=yR˛Djjl n$)nI="i==="9=% =%bDeVDe@9yu%u@=ٔ}-9yIy=FyEE>Q 5;4!gƉ?Q 9;4Rt)>Yy89Q I??I;iK;;4yɮ۬B*jBjiiziJii k3k3k3h92fI:fIBfIJfM+@Ա@ɢ)  i )IIIiM=QIY2Acoustic response timeoutIIO > E i E ^E qE "E ,K:*E ;9VE 5ZE a @a @a @a @ E 2Acoustic response timeout9 ՐbNя,Š9E?A2=@2|8@2b;ٱ2C :AHRS rotation from veh to nav: [[0.620591,0.781798,0.060490],[-0.784118,0.619222,0.041507],[-0.005007,-0.073190,0.997306]]2H?}? {??`]@?Ɓt@?i2=@I2f`;2gCYN=yR-Da@a a@a a@a a@a a@a yCl?i|?5Mbd>q )Mb@Mb@Mb@Ii‰ )IbDxVD@9yl%C=ٔ"=Q->9I=FyEE%>!Q 5-;4%oƉ?Q 9-;4%v)%X4>Q AU+:YQQ EU;yUW:Q IU?%#?I%W;i%/>%;4yYɮeެBa*jBjiiziJii kCkCkCh 颽@ɢν)~$> /i)i4 =I iI92Acoustic response timeout5,>IIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO>i B B B B B =B B B ;B EhNя,(9E?AE&f E&KE&~E$"E&I@:*E&]t9VE&5ZE$BE&R;a*2E&R;a*JE&/:a*:E&0:a.,FB@F=@F:4G<ٱF1 RAHRS rotation from veh to nav: [[0.621052,0.778152,0.093665],[-0.783675,0.618381,0.058809],[-0.012158,-0.109927,0.993865]]FH??@o?@@???_房@&$?iFB@IF?_;FdCY^>yb=D`` !%bD-SVD-@9y}+<%}R=ٔk9I=FyE:E>2Acoustic response timeoutQ 5];4wƉ?Q 9];4x)T>Q A] :YYQ E]:ye7Q Ie?C?Iz:iU?ڲ;4ymBɮm٬Bi*jBjiiziJii k#(k#(k#(h ks3ks3ks3hiL@ɢ) i)im=I%]#>ԙAu(AIyIO> 2Acoustic response timeout nNя,[x9E?A2@2@2f.6ٱ2{ :AHRS rotation from veh to nav: [[0.637268,0.765806,0.086206],[-0.769359,0.625759,0.128502],[0.044463,-0.148214,0.987955]]2Hd? {??7?r?æ?@¿T?i2@I2K_;2gCLYr_=yr˛DParsing RMC sentence: $GPRMC,182022.00,A,3646.40869,N,12151.92324,W,1.302,294.19,251025,,,D*78 )  9E?A xƉ? 9 n#UcB@bw^EhGPS fix at 20251025T182022: (36.773478, -121.865387) x+? N@bD}VD}?9y-%I=ٔ Q->98?I8?=FyEMW=E>Q 5;4xƉ?Q 9;4)Q A9YQ E:y.Q I?I;i?>g;4yɮ ܬB *jBjiiziJii kkkhEUg EUTEUvEQ"EUC:*EU9VEU-5ZEQa]@a]@a]@a]@\Received valid gps time fix: 1761416448.00. Resetting abort timer.颽@ɢ)>  i)i A=I?A=`?) A |AI I O >uNя,mS9E?A22Acoustic response timeout6ڦ@6@6xٱ6' >AHRS rotation from veh to nav: [[0.653356,0.752420,0.083608],[-0.754614,0.638415,0.151603],[0.060693,-0.162143,0.984899]]6HJ?`?]g?% m? g??`ĿJ?i6ڦ@I6ܬ_;6dCYN>yR9D9bDMʠVDM?9y<%K=ٔz'Q->9=?I=?=FyEa=E>Q 5;4<Ɖ?Q 9;4 )'=Q A9YQ E:y(Q I?>I":i?Im;4yɮ׬B*j Bj ii1zi1Ji1i9 kSkSkShI kSkSkShy19 rNAggregate::initialize marl:UpdateRudderq9J]q9B1B1B5DB5=B1B1B1B5;B5EBBBB¥=B¥=C¬49m7momXAggregate::initialize marl:UpdateCommandMode18m]q18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed@ɢ) 1i)i-) =1I9IR==e9g>Eef EeSEesEa"EeI@:*Ee9VEeX5ZEaBEaam2EaamJEel:au:Eem:auqAII2Acoustic response timeoutOE>ԡ 3{Nя,/49E?A2.@2@2q2ٱ2/_ :AHRS rotation from veh to nav: [[0.651753,0.753325,0.087867],[-0.757173,0.639620,0.132570],[0.043667,-0.152933,0.987271]]2H(? <?@p~?: w? ? |[? Pÿ ?i2.@I2_;2hCYN=yNNDPR@AXZBAbDZVDZ?9y%S=ٔ 3=Q- >9 I =FyEE>9Q 5E;4=uƉ?Q 9E;4= )= =Q AE9YIQ EM]:yM)Q IM?=Ā>I=:i=@=r;4yyQɮ}By*jBjiiIziIJiQiQ kC kC kC ha kS#kS#kS#hsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@ @ɢƉ)@> i)   i h%=Im2Acoustic response timeoutԡU.>ԙDi zDi bEQ5jEɁ5rE-2E g E NE E "E C:*E ҆9VE 5ZE a @A zAI I1 a @a= @aE @Om >% 2Acoustic response timeoutԹ jނNя,[ :E?A2w@2X@2 쑽ٱ25 :AHRS rotation from veh to nav: [[0.635858,0.766374,0.091408],[-0.768516,0.617767,0.166577],[0.071191,-0.176168,0.981782]]2H@X?`"?@f?@?aR?9?@ƿj?i2w@I2_;2eCY~>y~SDaa aa aa aa aa yK7?MbQ?)?< 9"~j?/$V-?YS?y1<BdB  B)BY\BbD%JVD%?9y5Jd=ԑ%9=ٔPxQ->9F?IF?=Fy E/E>Q 5;4Ɖ?Q 9;4)=Q AT:Y?Q E:yQ I?>I-;i;Á;4y3BɮBE*jBjiizi!Ji!i! kkkhY2fmB>:fmB>Bfm us@Jfm:@颥@ɢT)R> UiQ)QQYi]t+=YIam.@>2Acoustic response timeoutAIQIiO>B5 ^>B5 *CB5 DB5 ">B5 =B1 B1 B5 ;B5 E Nя,P%:E?AEi EUEtE"E,K:*EP9VE5ZEBEse;a2Eve;aJE:a:E:a> @>@>!ٱ>; JAHRS rotation from veh to nav: [[0.638988,0.764472,0.085297],[-0.764351,0.618578,0.182015],[0.086382,-0.181503,0.979589]]>Hr?v? ֵ?`u d?CL?&?y;ǿX?i> @I>ly_;>dCY^6=y^Dz#z!z ~#)~ Im im"m%m#m*m( m'bD}ƟVD}K?9y%V=ٔ(Q->9I=Fy Ea<E>Q 5;45Ɖ?Q 9;42) >YyQ I?5.?I :i[:;4yɮB*jBji2Acoustic response timeoutiziJii kSkSkSh k k k h 2f:fBfJfI:@=@ɢ=n)9 EiA)AAAiEmI0=III]qA]pA!I >AпAII I) - >- >I OU > 2Acoustic response timeout4Nя,?:E?A$ɰ&;R@R@R>3ٱR! bAHRS rotation from veh to nav: [[0.638847,0.762568,0.101806],[-0.768765,0.627677,0.122563],[0.029561,-0.156564,0.987225]]RH pq?`f???I`?FE?`K ĿY?iR@IR_;ReCYn=yrZDv=vp=bD~wVD~'?9y ;% S=ٔ 0>Q->9`C?I`C?=FyE+E>!Q 5-;4%Ɖ?Q 9-;4% )%7>Y1y5nQ I5?%b?I%d:i%;%E;4y9ɮ=BA*jQBjQiiziJii kkkh k#"k#"k#"h2fI:fIBfIJfM:@mQ@ɢml)ujv*> uiq)qqqi}wu6=yIE5b E5TE5uE1"E51:*E59VE55ZE1aE@aE@aE@aE@I>2Acoustic response timeoutA|AIIOEQ>qԡ WNя,Y:E?A&2Acoustic response timeout>@>@@>2^ٱ>\& JAHRS rotation from veh to nav: [[0.617183,0.776573,0.126568],[-0.786819,0.608911,0.100720],[0.001147,-0.161749,0.986831]]>H ? ?d3? -2|?ȹ?R?@/Ŀ@?i>@I>_;>dCYRh >yRDbD  VD >9yE0=%MG=ٔM=Q-M>9U=?IU=?=UFyUEUEU>YQ 5e;4]8Ɖ?Q 9m;4]?)]M>YiymⒿQ Im?]?I]:i]:];4yqɮ}By*jBjiiziJii k k k h kC kC kC h92fI:fIBfIJfM9@颅|@ɢߞ) ki)顑i <=IBAB\>B)CBDB6>B=BBBA;BbEԱE] E]iE]vEY"E]:*E]9VE]-5ZEYBE];am2E];amJE]8;am:E]8;au>AS?A5?2Acoustic response timeoutAM $AIY Ii O > qDNя,ss:E?A2@2ڣ@2 üٱ2 :AHRS rotation from veh to nav: [[0.630642,0.769539,0.100501],[-0.775706,0.621050,0.112146],[0.023884,-0.148683,0.988596]]2H8.??h?`??(u?`ÿ ?i2@I2_;0YV5>yV DbParsing RMC sentence: $GPRMC,182025.00,A,3646.40918,N,12151.92441,W,1.361,301.70,251025,,,D*7B )df@:E?Af<Ɖ?f9fȤcB@Wbw^jhGPS fix at 20251025T182025: (36.773486, -121.865407)f=3?fF@pbDvVDv>9y~{%~O=ٔ1lQ->9H?IH?=FyE G5=E >Q 5;4<Ɖ?Q 9;4)Yy%Q I%?I;i ;>g;4y-LBɮ- B-E*jABjAiAiAziAJiIiI kkkhY kkkhi2f:fBfJf<:@\Received valid gps time fix: 1761416448.00. Resetting abort timer.颥 @ɢ}) ,i)顩iB=I==>U2Acoustic response timeoutAzAI!I1Ou6>1Ee e Ee YEe rEa "Ee <:*Ee *9VEe 5ZEa am @am @am @am @a i I  2Acoustic response timeout,Nя,P:E?A2j@2e@2E虽ٱ28 :AHRS rotation from veh to nav: [[0.647161,0.761209,0.041757],[-0.758648,0.637654,0.133611],[0.075079,-0.118146,0.990154]]2H ?`[?a?@F`g?@&?@f8?> W?i2j@I2p_;2hCYbA>ybDdf?AyyʡE?y&1?>`e> 9@5^I ?&1E?Yb0?yP>B6B VB)nBYBbDuVD>9y =%<=ٔQ->9F?IF?=FyE>_=E>Q 5;4Ɖ?Q 9;4)q >Y ?=?Q E :y dQ I ?R>I:i:jv;4yMBɮBE*j)Bj)i)i)zi1Ji1i ksksksh kkkh2f>:f>Bf@JfK@%Z @ɢ%x )%Z> -i)))IIiMH=QIQԡe2Acoustic response timeoutu*:+>AyzA}qAB^>BBBBBBB;BEA $AI I O >9 A A Ee g Ee \Ee }Ea "Ee C:*Ee 9VEe s5ZEa BEe X;au 2Ee X;au JEe x ;au :Ee y ;au gNя,q:E?A2ŁGyeDbD}VD}>9yX%N=ٔpQ->2Acoustic response timeout9H?IH?=FyEE>Q 5;4MƉ?Q 9;4)È>YyLhQ I??I';i4;];4yɮB*jBjiizi Ji i  kkkh)2fA:fABfAJfE@m' @ɢmD) hi)iM=I>!>)A9IAIQOZ>IM 2Acoustic response timeouty PNя, R:E?A2@2z@2.NAٱ2xӽ :AHRS rotation from veh to nav: [[0.631692,0.773595,0.050171],[-0.773783,0.625260,0.101534],[0.047176,-0.102960,0.993566]]2H 6?I? ? "?#?z'?[ K?i2@I2S_;2gCY^}=y^@DbDfVDfp>9yn%rV=ٔrY=Q-r>9pIt=vFyvEv*QEv>xQ 5~;4zbƉ?Q 9~;4zz)z>YykQ I?zO?Izo:iz:z;4y ɮ B *j!Bj!i!i!zi)Ji)i) k#k#k#h2f:fBfJfW@^B*** querying acoustic contact ***XY  @ɢ5)5ݸ+> =i9)999i=FS=AIAQQUqAEb ELEwE"E1:*E|9VEɕ5ZEa@a@a@a@2Acoustic response timeoutyr>ԩAAII OM >E nManaging dock network, ignoring radio surface power off U 2Acoustic response timeoutNя,X:E?A24H@2C@2yٱ2_ >AHRS rotation from veh to nav: [[0.620212,0.782806,0.050524],[-0.781559,0.611145,0.125170],[0.067106,-0.117120,0.990848]]2H`?` ? Oީ?`@?@?`-??i24H@I2_;2dCYF>yFDJa=HbDRVDRP>9yZ'=%ZL=ٔZ LQ-Z>9^K?I^K?=^Fy^E^y Eb>dQ 5f;4fƉ?Q 9j;4f#)f?YhyjmQ Ij?fG?Ifp:if:f;4ynNBɮrBp*jxBjxi|i|zi|Ji|i| ksksksh kSkSkSh!2f1:f1Bf1Jf5'@U@ɢUP)]n > ]iY)YYaieX=aIiBE_>BE*CBEDBEJK>BE=BABABE;BEEm[>ԡA$AIIO%>Ed EUElE"E9:*EP9VE5ZEBEF;a2EF;aJE:a:E:a2Acoustic response timeout fNя, :E?A:,]@:X@: ٱ:&I BAHRS rotation from veh to nav: [[0.617998,0.785993,0.017117],[-0.774688,0.605112,0.183570],[0.133927,-0.126706,0.982858]]:H?&??@? ]?@9?`$?`7s?i:,]@I:_;:eCY^(>y^Dz"z"z% |)~I|i~'~+~&~#| )bD aVD 1>9y;%E=ٔ%%Q-%>9%H?I%H?=-Fy- E-B;E->1Q 5=;45 lj?Q 9=;45)5u'?YAyEslQ IE?5?I5;i5;5!;4yMeBɮMBME*jaBjaiaiaziiJiiii kkkh k)k)k)h2f:fBfJf6N@颽 @ɢ)& > i)i]=I2Acoustic response timeout-|,>AAm"AIIO>E b E ME oE "E 1:*E 9VE 5ZE a @a @a @a @i  2Acoustic response timeoutzNя, ;E?A 6@6f@6N!ٱ6; >AHRS rotation from veh to nav: [[0.622876,0.782321,0.000105],[-0.766430,0.610197,0.200609],[0.156876,-0.125034,0.979671]]6H??i?@??`? wY?i6@I6_;6hCYFF>yFDyEA`"?:v?J +?EY>EA A9ENbX9?yEtEBEB EB)EBAYEBbD]VD]>9ym%mE=ٔuseQ-u>9uP?IuP?=}Fy}#E}m<E}>Q 5;4lj?Q 9;4)F?YҪ>Q E;yQ I?д?I:ik:;4yɮB*jBjiiziJii k'k'k'h k'k'k'h2f,=:f,=Bfw@Jf@  @ɢ) i)i0?b=!I!-=-=MR!>iIIO-->%=4=%2Acoustic response timeoutԙBYBYB]@EB]tU>BYBYBYB]i;B]yEB%*CB%*CB!B%Ȥ=B!C%ȹ4 E g E KE lE "E C:*E ]t9VE 5ZE BE X;a- 2E X;a- JE /:a- :E 0:a- Nя,(;E?A2h@2c@2ٱ2 :AHRS rotation from veh to nav: [[0.620419,0.783653,0.031118],[-0.775431,0.607002,0.173939],[0.117419,-0.132045,0.984265]]2H`x??ݟ?Tl?C?-??i2h@I23_;2eCYB >yBDDDL2Acoustic response timeoutbD VD =9y <%@=ٔԿ=Q->9I=%Fy%&E%E->)Q 5=;4-lj?Q 9=;4-)-\f?Y9y=Q I=?-?I-/;i-:-;4yMfBɮMBI*jYBjYiaiaziaJiaia k3k3k3hy k3k3k3h2f:fBfJf@ɢÿ)g> oi)iAug=I!-a >IIO5O>- 2Acoustic response timeout! 2Nя,!B;E?A2Ӥ@2Ϋ@2"ٱ2+ :AHRS rotation from veh to nav: [[0.606341,0.792708,0.062969],[-0.786799,0.586563,0.192071],[0.115321,-0.166004,0.979359]]2H@$g?@]??t-` ?ƕ???ſ@V?i2Ӥ@I21_;2gCY^0%>y^%DjParsing RMC sentence: $GPRMC,182028.00,A,3646.40947,N,12151.92509,W,0.583,299.72,251025,,,D*78 )ln;E?AnƉ?n79nJ0cB@cw^rhGPS fix at 20251025T182028: (36.773491, -121.865418)n>n.e@bDzD|VDz=9y <% \=ٔ ;Q->9I=Fy(EIE>!Q 5-;4%Ɖ?Q 9-;4%7)%Y)y5Q I5?%I%:i%:%>g;4y=eBɮ=B9*jQBjQiQiQziQJiQiY k3k3k3hi k3k3k3h2f):f)Bf)Jf-@\]Received valid gps time fix: 1761416448.00. Resetting abort timer.m @ɢm )q 2i)顑i6l=IbEe‘5jEeӏ5rEed1E ETEuE"E*E9VE5ZEa@a@a@a@)2Acoustic response timeout'>I9IIQO~>ԁ = 2Acoustic response timeoutNя,l\;E?A:@:~@:v)ٱ:9 BAHRS rotation from veh to nav: [[0.605841,0.794433,0.042808],[-0.778284,0.580646,0.239007],[0.165019,-0.178117,0.970074]]:H c?k?? ?Ǘ?U?ƿ ?i:@I:ߥ_;:hCYNV>yNBDYbDƛVDt=9y%A=ٔ[Q->9I=Fy+E&<<E>Q 5;4oƉ?Q 9;4Bm<AiBu^>BqBu"EBu#>BqBqBqBu;BuGE);>YyPQ I?q=I4 eia)ii i @p= IpAԉ>IiIyO=>Em EQEjE"EY:*Ev9VEـ5ZEBE~;a2E~;aJE:a:E:a2Acoustic response timeoutԱ Nя,AGv;E?A2@2 @2;ٱ2 :AHRS rotation from veh to nav: [[0.606201,0.795312,-0.000019],[-0.774157,0.590082,0.229093],[0.182212,-0.138862,0.973404]]2He?1s?>?R?R?7 !&?i2@I2>_;2dCYN(>yRDR=R,> Zp9)I1=5Fy5-E5B;E5>iYI]oAaQ 5m;4e|Ɖ?Q 9m;4e)ew>Yqyu Q Iu?e3>Ie:iep:eǃ;4yɮB*jBjiԹiziJii k#;k#;k#;h k3;k3;k3;h2f):f)Bf)Jf-l@2Acoustic response timeout @ɢ) (i)!!!i%t=)II}.@>IIQIiO>DzDAAE` E[EvE"E*:*E9VE-5ZEa@a@a@a@ 2Acoustic response timeout9 Nя,";E?AYnHC>yn'Dyv?/$?NbX9п>1> 9jt?{Gzsh|?տYĠ>yףBڒB ԶB)Y.BbD̚VD=9y-r=%-;=ٔUQ-U>9YIY=]Fy]0E]Ee>aQ 5m;4elj?Q 9m;4e)e>Y1>Q E:yQ I?eΓ>Ie;ie;e ;4yɮB*jQBjQiQiYziYJiYiY kcDkcDkcDh2fv>:fv>Bfw@Jf_A@5 @ɢ=G)9 =i9)99AiE y=IAe$>2Acoustic response timeoutAuAIIBQBQBU@5EBUb>BQBQBQBU;BU7EiO>ԙ E j E TE qE "E N:*E 9VE 5ZE BE k;a 2E k;a JE :a :E :a Nя,'f;E?A:]@:?@:J5ٱ:gSý FAHRS rotation from veh to nav: [[0.582339,0.812488,-0.027284],[-0.793514,0.575394,0.198135],[0.176681,-0.093731,0.979795]]:H??X xdi?`y\?{? {Z?i:]@I:`;:hCYfiY>yfE52Acoustic response timeoutUU$U( ]%)]"I]iY])]]+e+ e+bDIVD<9y,[=%J=ٔd9%K?I%K?=%Fy-3E-\E->1Q 5=;45lj?Q 9=;458)5I5;i5X;5);4yiɮmBi*jBjiiziJii k;k;k;h2f:fBfJfd@?@) @ɢ8) %i)i}=I%=%=i]~>ԙ2Acoustic response timeoutI I O > ONя,;E?A:i@:K@:Hjٱ:28 BAHRS rotation from veh to nav: [[0.573546,0.819067,0.013192],[-0.787150,0.546596,0.285706],[0.226802,-0.174250,0.958227]]:H ~Z?5?@?U0}?I??Mƿʩ?i:i@I:_;:fCYN]J>yRDPPbDZVDZ<9yr[$%r_=ٔvQ-v>9tIx=zFyz5EzxEz>Q 5%;4 lj?Q 9%;4)*Y)y-ȒQ I-??I:i9:;4y1ɮ5B1*jiBjiiqiqziqJiqiq kS#kS#kS#h kCCkCCkCChy2f:fBfJf)@@Eg ESEnE"EC:*E9VEJ5ZEa@a@a@a@Ա|@ɢh)= i )i*=I%%%%M2Acoustic response timeoutIYIiO>  2Acoustic response timeout9 $Nя,#;E?A6r@6T@6gőٱ6@: FAHRS rotation from veh to nav: [[0.565094,0.824870,-0.016044],[-0.775742,0.537858,0.330051],[0.280878,-0.174064,0.943827]]6H@?Ve?m @!6?`?@? Gƿ3?i6r@I6_;4Y^P>yb=EbDUVDU4<9yi<%A=ٔQ->9I=Fy8EE>B_>BBZEB>B=BBB;B&EQ 5%;4lj?Q 9%;4)+Y!y%4Q I%?2A?I:i:3;4y5fBɮUBQ*jiBjiiiiiziJii k'k'k'h k<k<k<hq2f:fBfJfL A@颽 @ɢ)e= i)iЖ=IIGsA595sAY5AIAO:>Ee ETEjE"E<:*E9VEـ5ZEBE`L;a2EcL;aJE:a:Ea9]2Acoustic response timeouti NNя,[;E?A 28@2ު@2yٱ2{ >AHRS rotation from veh to nav: [[0.561066,0.823743,-0.081556],[-0.774023,0.557007,0.301051],[0.293416,-0.105783,0.950114]]2H@?@\?@ി?lD?U? Ug?i28@I26`;0YNk>yREZParsing RMC sentence: $GPRMC,182031.00,A,3646.40989,N,12151.92577,W,1.341,301.78,251025,,,D*78 )\^;E?A^4lj?^9^cB@i2cw^bhGPS fix at 20251025T182031: (36.773498, -121.865430)^0?^@bDjqVDj;9yn=% S=ٔ - Q- >9I=Fy:E2ƻE>Q 5%;44lj?Q 9%;4)Y)y-Q I-?I:i:>g;42Acoustic response timeoutiygBɮB*j9BjAiAiAziAJii kAkAkAh kAkAkAh2f:fBfJfCA@\Received valid gps time fix: 1761416448.00. Resetting abort timer.m<@ԙɢu) i)i=)IqA1?A$?I9IIO>Ek EUEyE"EmR:*EP9VE5ZEa@a@a@a@ ia Ie Am 2Acoustic response timeout6Oя,yR(EVa=Va=y"~j?I +?~jt?Sc?9=D< 9d;O?x&1ȿʡEY4?yA'BPB B)BYBbD5VD5;9ye=%e6=ٔeA=Q-e>9iIi=mFym=EmޛE>Q 5;4$<lj?Q 9;4U)i=Y"I:i:u;4y~BɮB²E*jBjiiziJii k7k7k7h k7k7k7h2f%>:f%>Bf%1@Jf%N@颅@ɢj=)= i)顩i{C=IIIIYO>>2Acoustic response timeoutB`>BB@EBt>B=BBB;B0E! > >E e E SE wE "E <:*E 9VE ɕ5ZE BE a 2E a JE l:a :E m:a b Oя,Ō+y~lRE2Acoustic response timeoutbDVD<;9y,>%O=ٔ;=Q->9I=Fy%@E%E%>)Q 5U;4-Clj?Q 9U;4-y)-^=YQy]TQ I]?-=?I-`;i-;-;4yaɮeӬBa*jBjiiziJii kAkAkAh 2f:fBfJfI,L@]@ɢ])]> eXia)aaaieɅ= I )Q5 >A=qAzA=pA2Acoustic response timeoutA} &AI I I >) > O >wHOя,aEyfbdEbDnAVDn:9y%=%-[=ٔ-G95@?I5@?=5Fy5BE5cE5>YQ 5e;4]Ilj?Q 9e;4]a)]>YiymޣQ Im?]g\?I]:i]F:];4ԙyqɮŬB*jBjiiziJii k#&k#&k#&h kS6kS6kS6h!E}_ E}OE}pEy"E}&:*E}9VE}5ZEya@a@a@a@2f:fBfJfK@ e@ɢMp)Q U^iQ)QQQiUr=YIY-2Acoustic response timeoutU>A |AI I O >  2Acoustic response timeouttOя,=F_y^mE``f@Af@AbDjVDj:9yrs=%rN=ٔvfQ-v>9v=?Iv=?=vFyzDEz%Ez>B}^>ByB}EB}8 ?B}=ByByB}J;B}fEB9B9B9B9B9C=h4Q 5;4Plj?Q 9;4 )U>Yy줿Q I?!?I:i9:/;4yBɮB*jBjiiziJii kkkhQ2fa:faBfaJfeXK@19e reNAggregate::initialize marl:UpdateRudderq9mJ]iq9m9m7 o XAggregate::initialize marl:UpdateCommandMode18 ] 18 o @Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedMF@ɢUx)U= UiQ)QYYi]܈=YIaEf EMErE"EI@:*E9VE5ZEBER;a2ER;aJE:a:E:a52Acoustic response timeoutQII IY O >q Oя,yyREj!jn! n#)~I~i|~~(~-$ #bD VD -:9y=M=%=E=ٔEIQ-E>9AII=MFyMGEMBEM>QQ 5;4UVlj?Q 9;4U)U>YyিQ I?U?IUbEQ5jEz5rEȍ1Ed ENEkE"E9:*E҆9VEu5ZEa@a@a@a@ԩM 2Acoustic response timeout $Oя,yfYEyK?i|?5Zd;O?^Z?j<> 9NbX9?jtĿ ףp= Y?y Q8BڒB B)YBbDܓVD99y=%==ٔ%-@Q-%>9!I!=%Fy-IE-E->ԱQ 5;4Telj?Q 9;4)L>YA?Q EH:y˗Q I?e?I:i:¼;4yɮB*jBji!i!zi!Ji!i! kkkhY2f>:f>Bfӝ@Jf@颭k@ɢ) i)i %=AIIIIO )>2Acoustic response timeoutByByB}EB}"?B}=ByByB};B}E E e E RE uE "E <:*E 9VE 5ZE BE `L;a 2E cL;a JE $:a :E &:a 9 *Oя,Ѭ%P=ٔ;Q->9I=FyLEnE>Q 5;4qlj?Q 9;4D&) ?YyRQ I?>@I:is:;4yBɮB*jBj i i zi Ji i  kkkh! k%k%k%h92fI:fIBfIJfMΜ@颍@ɢ ) Hi)i4=I!IIO>92Acoustic response timeouta 1Oя,AHRS rotation from veh to nav: [[0.483538,0.873322,0.059155],[-0.808760,0.419897,0.411816],[0.334809,-0.246971,0.909345]]6H@J?@A?I?]?2[?m?Ͽ`Z?i6Q@I6_;6gCYF?yF7ERParsing RMC sentence: $GPRMC,182034.00,A,3646.41040,N,12151.92754,W,2.158,284.77,251025,,,D*79 )TVVDb99yj=%j[=ٔnۖQ-n>9pIp=rFyrNErCEv>tQ 5z;4vÃlj?Q 9z;4v2)vY|y~ Q I~?vIv;iv;v>g;4y Bɮ  ֲE*jBj!i!i!zi!Ji!i! kckckch9 kskskshI2f:fBfJf%@\ Received valid gps time fix: 1761416448.00. Resetting abort timer.Eei EeXEe~Ea"Ee,K:*Ee9VEe5ZEaau@au@au@au@颕#@ɢBh) i)顙i%=IiM2Acoustic response timeoutԙ >ApAzAI9IQIiO>  2Acoustic response timeoutM7Oя,Â(@> @>p%Ǿٱ>AG FAHRS rotation from veh to nav: [[0.473354,0.880160,0.035409],[-0.795063,0.409592,0.447336],[0.379224,-0.239900,0.893665]]>HmK?@F*?!? (q6?&?4E? ο ?i>(@I>_;>jCYN'?yNEPAA@AA@AB%[>B%)CB% FB%_P?B%=B!B!B%<;B%[EbD CVD 89y}4#>%@=ٔQ->9I=FyPEE>Q 5;4xlj?Q 9;4=)^+>YyQ I?>I;i,:v;4yBɮ`B*jIBjIiIiQziQJiqiq k$k$k$h k%k%k%h2f:fBfJfk@&@ɢ ) = i )111i5ˍ=9I9-6S=IIO >Ei EmTEmuEi"Ei*Em9VEm5ZEiBEmse;a}2Emve;a}JEm:a:Em:a]2Acoustic response timeout! ^=Oя,]%vT=ٔzQ-z>9xIx=zFyzSE|<E> Q 5 ;4  lj?Q 9;4 2F)  >YyQ I? J?I -:i : ;4y!ɮ%?B!*j1Bj1i9i9zi9Ji9iA kkkhQ kkkha2fq:fqBfqJfuK@颕*@ɢ>) i)顙i(=Ia5=2Acoustic response timeout9AzAI I1OK>QDqzDu?AE}l E}YE}Ey"E}V:*E}*9VE}5ZEya@a@a@a@m 2Acoustic response timeoutԁ QDOя,9=E?A2̡@2Ǩ@2ٱ2. :AHRS rotation from veh to nav: [[0.479969,0.877146,-0.015605],[-0.762209,0.425751,0.487621],[0.434359,-0.222149,0.872916]]2Hѷ?`?Z d@??.5??@bo̿?i2̡@I2]`;2fCYRF?yRgEYye(\?i|?5rh|?e.?eqe{>a a9eS?Dl\(\?Ye/]?yeOez>eZBePB e{B)eBaYezBbD}!VD}79y >%A=ٔ*Q->9F?IF?=FyUE=E>Q 5;4lj?Q 9;4L)?Yf?Q Ek:y]Q I?:f%<>Bf%S@Jf%ۦ@E7/@ɢEX)Eޚ= EiA)IIIiM_c=QIQԁ2Acoustic response timeout]=A]?Al?B%\>B!B%FB%S?B%=B!B!B%/;B%SEA) 9 = CIQ FGI rA 9 rAY ٷAO% >9 E j E SE tE "E N:*E 9VE 5ZE BE k;a 2E k;a JE l:a :E m:a JOя,.=E?AY~L_?y~M F%2Acoustic response timeout=EE E)EIEiEEEE E0bDUVDU%79yZq>%I=ٔQ->9I=FyXEE>Q 5;4lj?Q 9;4R)V?YyQ I??I;i;;4yȭBɮ BE*j Bj i iziJii kkkh) kS"kS"kS"h92fI:fIBfIJfIm2@ɢm)i uiq)qqqi}=yIm+W=AAIIO J>q2Acoustic response timeoutԙ :QOя,G=E?A6'@6!@6!ٱ6*} BAHRS rotation from veh to nav: [[0.487848,0.872623,-0.023084],[-0.756102,0.435626,0.488406],[0.436251,-0.220814,0.872311]]6H8??F1J?@ B?@?C̿?i6'@I6V`;6iCY^Nx?ybFb=b4>bDj݌VDj69yr>%vW=ٔvQ-v>9tIx=zFyzZEz<Ez>|Q 5;4~lj?Q 9;4~@X)~?Y y Q I ?~w?I~ :i~:~;4yɮ׫B*j)Bj)i)i1zi1Ji1i1 k k k hI kkkhY2fi:fiBfiJfm4@颅8@ɢ) i)顑iԎ=IEEh EEREE~EA"EEG:*EE9VEE5ZEAaM@aM@aM@aM@q}X=52Acoustic response timeoutA$AIIO-->ԡ 2Acoustic response timeout TXOя,a=E?AB`Ab<Bf]>BdBfAFBf?Bf=BdBf+DBf;Bf8EY&?y)F 9%bDVD59y}>%==ٔQ->9H?IH?=Fy]EE>Q 5;4lj?Q 9;4^)?YyQ I?Z?I#:i:;4yɮB*j Bj i i zi Jii kc$kc$kc$h) kc$kc$kc$h2f:fBfJf]?@ɢ) i )   i ,=1I199AAEMi EM\EMzEI"EM,K:*EM9VEM5ZEIBEMse;a]2EMve;aeJEMx ;ae:EMy ;aeAzArA=2Acoustic response timeoutII ) OE >i I Q :^Oя,O{=E?A2@2w@2ٱ2c :AHRS rotation from veh to nav: [[0.486089,0.870774,-0.073955],[-0.731907,0.451886,0.510010],[0.477523,-0.193782,0.856983]]2H?a? k?R? ?ȿgl?i2@I2$>`;0YB?yB%f[=ٔfQ-j>9hIh=jFyj_En=En>pQ 5v;4rȉ?Q 9v;4rʏ)rYtyzQ Iz?rIr:ir:r>g;4yBɮ{BE*jBjiiziJii k%k%k%h12fA:fABfAJfEٓ@\}Received valid gps time fix: 1761416448.00. 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"J?pTʿsk?iBE@IBb_;BiCYV5@yVZFb2Acoustic response timeout9Y]Y Y)] IYiYeaaaimAbDu{VDug.9y>%L=ٔ9K?IK?=Fy~E<E>Q 5<4ȉ?Q 9<4E)\@Yy Q I?o?IR:i:x<4yɮeB*jBjiiziJii k6k6k6h kSkSkSh2f :f Bf Jf u@-2O@ɢ-H)) -̾i))111i5=9I9AAEEiԙA $AII)QU>Om>u2Acoustic response timeout ѲOя,>E?A$$Bڤ@Bի@B&ٱBy~ JAHRS rotation from veh to nav: [[0.506309,0.851418,-0.136886],[-0.655813,0.483238,0.579991],[0.559964,-0.203883,0.803039]]BH3?`>?|`l`]?@J?`9?ʿ`?iBڤ@IBSY_;@YRo@@yRFbD^myVD^-9yb3>%bW=ٔf"=Q-f>9fH?IjH?=jFyjEjoEn>lQ 5r<4nȉ?Q 9r<4n)n@YtyvQ Iv?n@InN:in:n<4yzBɮ~B|*j BjiiziJii k7k7k7h)ԑ k#\k#\k#\h2f:fBfJfM@ {P@ɢ )) -[i1)111i5t=9I9Ed EZEvE"E9:*Ea9VE-5ZEa@a@a@a@2Acoustic response timeoutAAIIO&> } 2Acoustic response timeoutA A ?AB />B $CB FB M@B B B B w;B XEB%CB&CB˔CB˦=BC45Oя,>E?AB@Bg@B0ٱB"E| JAHRS rotation from veh to nav: [[0.507651,0.851717,-0.129875],[-0.663786,0.482748,0.571264],[0.549253,-0.203794,0.810426]]BH >?EA?=V? G? z?ʿ?iB@IB H_;BgCYbJ@ynFppbDMwVDM,9yS>%==ٔ9K?IK?=FyE,E>Q 5<4(ȉ?Q 9<4q)0"@YydQ I? @I :i:-<4y7BɮB*jBjiiziJii kSkSkSh kSkSkSh 2f:fBfJfÜ@19% r%NAggregate::initialize marl:UpdateRudderq9%J]!q9%9%7-o-XAggregate::initialize marl:UpdateCommandMode18-])18-o-@Completed marl:UpdateCommandMode7-o-\Aggregate::uninitialize marl:UpdateCommandModeq7-n-LAggregate::initialize marl:UpdateSpeed75]175n54Completed marl:UpdateSpeedq75n5PAggregate::uninitialize marl:UpdateSpeedMQ@ɢUW)Q UiQ)YYYi]}=aIaA}qAzAyA$AIIO5.>Ei EUEpE"E,K:*EP9VE5ZEBEse;a2Eve;aJE:a:E:a2Acoustic response timeout1Y p#Oя,~>E?A2-@2@2yٱ2y{ :AHRS rotation from veh to nav: [[0.508340,0.852236,-0.123631],[-0.669644,0.481461,0.565484],[0.541449,-0.204669,0.815440]]2HRD?E?NmB?@r?S?2ʿ?i2-@I2c_;0YfX@yfG 99E=E=bDMvvVDMI,9y,?%M=ٔʾ9H?IH?=FyEE>Q 5<4ȉ?Q 9<4)(@YyňQ I ?1@I;i ;<<4y-9Bɮ-xBY2Acoustic response timeout*jqBjqiyiziJii k3Rk3Rk3Rh kCRkCRkCRh2f:fBfJf@@s-PUpdating rudder angle -0.000000 arcdeg 9-r-6Completed marl:UpdateRudder19- r-RAggregate::uninitialize marl:UpdateRuddereXS@ɢm<)i mϖ=ii)mʯiqiuaz=qIyԁAAIIOm>ԩbEu-5jEu5rEuF2El EQEE"EV:*Ev9VEU5ZEa@a@a @a @M 2Acoustic response timeout Oя,W?E?A2U@27@2ٱ2A|y :AHRS rotation from veh to nav: [[0.508069,0.852555,-0.122541],[-0.672323,0.481481,0.562279],[0.538375,-0.203290,0.817818]]2HB? H?^ @?1?`^:? gʿ+?i2U@I2@F_;2hCY^b@y^ GyMbX9? 9!rh?&1Zd;Yl?yнbBB C)0BYBbDuVD+9y >% B=ٔ99K?IK?=FyE%E%>)Q 5=<4-yȉ?Q 9=<4-)-7@YEɘ?Q EE1:yE؅Q IE?-M@I-lK;i-)K;-J<4y]PBɮ]9B] E*jyBjyiyiziJiiԱ kZkZkZh92feE>:feE>BfeM@JfeO@@颅T@ɢb)*: }d>i)顉itw=I2Acoustic response timeoutB'>BB0GB=g@BBB'DB;BaEA$AIIO5O> E e E E tE "E <:*E VE 5ZE BE `L;a% 2E bL;a% JE :a% :E :a% y4Oя,03?E?A>p@>k@>Kٱ>Qt FAHRS rotation from veh to nav: [[0.505595,0.853454,-0.126452],[-0.672708,0.481729,0.561606],[0.540220,-0.198880,0.817685]]>H-?~O?/҆`?@?`{I?tɿ`z*?i>p@I>a_;>kCYNIp@yNGbDZsVDZ*9ybB?%bb=ٔbƻQ-b>9fH?IfH?=fFyfEfHEj>hQ 5r<4jrȉ?Q 9r<4j3)jD@Ypyr"Q Ir?je@Ij8;ij3;j0W<4ytɮzΦBx2Acoustic response timeout*jBjiiziJii kAkAkAh) kRkRkRhA2fQ:fQBfQJfUiq)uuyi$t=IA%e?A%f?YAeAIqIO&>yߵ%=ߵ4=2Acoustic response timeoutԩ Oя, M?E?A6D@6>@6ٱ60n@ >AHRS rotation from veh to nav: [[0.499704,0.856109,-0.131805],[-0.672504,0.479350,0.563881],[0.545924,-0.193134,0.815270]]6H'?@?e?` (`?O ? 6x? ȿ?i6D@I6F_;6gCYJ |@yJGPRAbDV_rVDVg*9y^>%^K=ٔ^Q-^>9bK?IbK?=bFybEfr^Ef>hQ 5j<4jȉ?Q 9n<4j)j,S@YlynцQ In?j@Ij;ij];jHe<4yvTBɮvsBt*j|BjiiziJii  kQkQkQh kQkQkQh)2fA:fABfAJfEL@] W@ɢ]~)e eS?ia)e8aaimq=iIqEd EUEzE"E9:*EP9VE5ZEa@a@a@a@ԱAII2Acoustic response timeoutOM> B #>B #CB GB G@ 2Acoustic response timeoutB B B B B \EFOя,f?E?A2@2@2Kٱ2 i :AHRS rotation from veh to nav: [[0.494149,0.858655,-0.136118],[-0.671875,0.476543,0.567002],[0.551725,-0.188729,0.812392]]2H#? z?`Ql@?`$??@G(ȿ`?i2@I2e_;2jCYBx@yB!GZZN Z )ZIZciZ^/|15AAbD="qVD=)9yM>%MA=ٔMQ-M>9QIQ=UFyUEU=E]>aQ 5m<4efȉ?Q 9m<4e)eb@YiymrQ Im?e@IeW:iep:e t<4y}kBɮ}3B}E*jBjiiziJii kNkNkNh kNkNkNh2f:fBfJfG@wX@ɢ ) 9?i)籾i$m= I )Ec EKEwE"Eg5:*E]t9VEɕ5ZEBE?;a2E?;aJE/:a:E0:a]k<AazAa2Acoustic response timeoutQAIIIO >ԁ .Oя, Ā?E?A29@2n4@2ٱ2h :AHRS rotation from veh to nav: [[0.496403,0.856879,-0.139078],[-0.669846,0.479997,0.566488],[0.552168,-0.188046,0.812249]]2H?k?KaoF? ?]?ȿ`?i29@I2BG_;2hCYJ@yN)GbDZoVDZ9)9yb?%bS=ٔfܳQ-f>9dIh=jFyjEj<Ej>lQ 5r<4nCȉ?Q 9r<4nL)np@YtyvQ Iv?n@In9:in:n<4ylBɮ̥B Y*jBjiiziJi i 2Acoustic response timeout ksVksVksVh2f:fBfJfj@]Y@ɢ]J䒾)Y ]h?ia)e|aaiezh=iIiM] ;ԉAIIOf>ԱEe ENEyE"E<:*E҆9VE5ZEa@a@a@a@- 2Acoustic response timeout XOя,?E?A2a@2\@2 ٱ2 j :AHRS rotation from veh to nav: [[0.500604,0.854445,-0.138992],[-0.668631,0.483621,0.564839],[0.549843,-0.189827,0.813412]]2H?@W?yme?(?@P?`=Lȿx?i2a@I27_;0YB@yB 1Gr=r=Թy -?X9v?sh|?? 5>? < =  9 ףp= ?V-`"?Y ~?y m = B B O C) B Y BbD-\nVD-(9y5J>%=5=ٔ=K;Q-=>9AIA=EFyEEE"2<EM>IQ 5U<4Mɉ?Q 9]<4M)M@Y]?Q E]S:y]^wQ I]?M@IM ;iM ;MX<4yaɮmlBi*jyBjyiiziJii k:k:k:h k3Pk3Pk3Ph2f5>:f5>Bf2@Jf%5@R[@ɢ )d 0?i)id=IBM!>BIBM0GBM@BIBIBIBM?;BM,E2Acoustic response timeout ml>inGE2Ϳ9AYE?A] &y?AA $AI I O >9 E f E UE oE "E I@:*E P9VE 5ZE BE R;a 2E R;a JE :a :E :a Oя,Fx?E?ANϋ@N@N]ٱN Rp VAHRS rotation from veh to nav: [[0.506186,0.851941,-0.134063],[-0.668900,0.485950,0.562517],[0.544379,-0.195063,0.815844]]NH2?C?(g?#?@k?ȿd?iNϋ@IN4Q_;NiCY^ @y^8Gr2Acoustic response timeout Ep9H?IH?=FyE\<E>Q 5<4ɉ?Q 9<4)މ@YyuQ I?@I:i:<4ymBɮ BE*jBjiiziJii k4k4k4h kZkZkZh2f:fBfJf{@\@ɢfE) ?i)i5`=I(AAAI!I9OmW>q2Acoustic response timeoutԙ jOя,PU?E?A2ǩ@2@2ٱ2Ƴs :AHRS rotation from veh to nav: [[0.511550,0.849531,-0.128896],[-0.670873,0.488610,0.557844],[0.536885,-0.198892,0.819876]]2H^?@[/?` waE?@?`*.? Juɿk%R=ٔ9%K?I%K?=%Fy%E-<E->)Q 55<4-X,ɉ?Q 9=<4-o )-@Y9y=tQ I=?-@I-;i-j;-L<4yIɮMBI*jYBjaiaiaziaJiaii kSkSu>kShy kUkUkUh2f:fBfJf@颽]@ɢ"x) ?i)i\=IqEc ELEiE"Eg5:*E|9VEz~5ZEa@a@a@a@2Acoustic response timeoutԡ AiIyIO>BU >BU "CBU #BGBU ݝ@BU =BQ BQ BU ;BU E 2Acoustic response timeout Oя,0?E?A2e@2H@2ٱ2:s :AHRS rotation from veh to nav: [[0.515188,0.847977,-0.124567],[-0.674855,0.490942,0.550950],[0.528348,-0.199778,0.825189]]2Hk|? "?@㿿i@k?b?;?@Tɿ`g?i2e@I2U_;2kCYB#@yBDGHJAbDNcjVDN&9yV>%VQ=ٔZ9XIX=ZFy^E^a:E^>`Q 5f<4b;ɉ?Q 9f<4b)bߙ@YhyjitQ Ij?bA@Ib:ibb:b<4ynBɮnBrE*jxBjxixixzixJi|i| k[k[k[h kkkkkkh2f:fBfJfa۞@%m_@ɢ%Ds)) -?i))-b11i5\X=YIYiiiiEd EEyE"E9:*EVE5ZEBEF;a2EF;aJEv:a:Ex:aAzAqA2Acoustic response timeoutAIIYIiO>) Pя,T@E?AN@N됫@N[ ٱNq rAHRS rotation from veh to nav: [[0.516520,0.847965,-0.119010],[-0.680788,0.490976,0.543571],[0.519360,-0.199745,0.830883]]NH T?"?@hw'l?d???ɿ@?iN@IN'?_;NgCY @yKGIM@AbDeiVDe&9yE>eIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe2Acoustic response timeout%M3=ٔm 9qIq=uFyuE}һE}>Q 5<4Lɉ?Q 9<4)+@Yy)uQ I?@I ;i;<4yɮ)B*jBjiiziJii) kSSkSSkSSh12fA:fABfAJfEޞ@颅a@ɢLxm) ?i)Ӝ顩iS=IAII1YOmW>E` EQExE"E*:*Ev9VEe5ZEa@a@a@a@ԁ  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeouti9 I= pAPя,C@E?A0Rj@Re@RٱRϕp bAHRS rotation from veh to nav: [[0.516536,0.849031,-0.111073],[-0.688353,0.488886,0.535874],[0.509275,-0.200341,0.836960]]RHu? C+?@oI?%?K?Ĥɿ`?iRj@IR__;RhCYn@yniSGy-?:vp= ף?5~?T= 9Gz?Cl绿|?5^?Yp?y;߽R>B9I=FyEdE>Q 5<4rXɉ?Q 9<4!)U@Yw?Q E[:yWQ IU?E@I[:f6>Bf@Jf;*@jb@ɢ%V)! %?i!)%᭾))i-ՆO=1I1ԑB>B!CBTSGB׫@BBB&DB;BΜEB#CB#CBBBĦ=Cl5ezIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYm2Acoustic response timeoutAIIOK>Թ E _ E ME nE "E &:*E 9VE J5ZE BE &;a 2E &;a JE :a :E :a , Pя,;5@E?A2l2@2O-@2qٱ2q :AHRS rotation from veh to nav: [[0.515610,0.850894,-0.100630],[-0.697030,0.484849,0.528271],[0.498293,-0.202240,0.843092]]2H ?:?¹N?@??ɿ@?i2l2@I2Q_;2jCYBt@yB;ZGb2Acoustic response timeoutd )IiE=E=bDMifVDM$9y]>%uP=ٔ}Z=Q-}>9yIy=FyEōE>Q 5<4dɉ?Q 9<4')@YyQ I?6@I;i;0<4yɮnB*jBjiiziJii kEkEkEh kMkMkMh2f:fBfJf *@c@ɢ(F) X?i)F !!i%mK=!I)AIIO%>u2Acoustic response timeoutA Pя,O@E?Aɰ4<2@2@2 ٱ28r :AHRS rotation from veh to nav: [[0.514054,0.853156,-0.088733],[-0.706492,0.479794,0.520257],[0.486434,-0.204751,0.849388]]2H s? M?4 ??!?F5ʿ..?i2@I2M_;2kCYB@yFBbG LN<bDN/eVDNV$9yV?%VV=ٔZa=Q-Z>9XIX=^Fy^E^kE^>`Q 5f<4bpɉ?Q 9f<4b-)b@Yhyj炿Q Ij?b@Ib:ib9:bl<4ynBɮrBp*jxBjxixi|zi|9Jiyiy k:k:k:h ks]ks]ks]h2f:fBfJf)@+e@ɢ<)  @i)=iQG=I!bE^5jEO5rE1E~ ENEoE"E:*E҆9VE5ZEa@a@a@a@2Acoustic response timeoutiAIIO!>ԑ B A <B >B CB dGB @B B B B ;B ֜E} =} < 2Acoustic response timeoutPя,vi@E?A>@>֩@>,%ٱ>q JAHRS rotation from veh to nav: [[0.512055,0.855405,-0.077986],[-0.715979,0.475218,0.511412],[0.474525,-0.206035,0.855789]]>Hb? z_? L@i?@}]?^?Z_ʿb?i>@I>q_;>hCYR5@yRhGbD cVD #9yM+>%MA=ٔU=Q-U>9QIY=]Fy]EewEe>iԙQ 5=4m~ɉ?Q 9=4m4)mx@YyՃQ I?m@Imiyyi}B=IAIIO-,>Ei EOEgE"E,K:*E9VEx5ZEBEse;a2Eve;aJEM:a:EN:a2Acoustic response timeoutI >) >!  Pя, `@E?Aeo@ej@eٱep AHRS rotation from veh to nav: [[0.509859,0.857449,-0.069464],[-0.724650,0.471600,0.502470],[0.463601,-0.205852,0.861800]]eH P?`8p?cȱT0.?<??[Yʿܓ?ieo@Ie^_;aY@ypG52Acoustic response timeoutquAy333333?J +?Y?= 9kt?#~jX9v?Y ?y㥽s>BPB tB)CBYBbDbVD8#9y>%0=ٔ9I=Fy%E%E%>)Q 55=4-ɉ?Q 95=4-<)-@Y=?Q E=M:y=|Q I=?-@I-:i-:-q=4yAɮMcBI*jYBjYiYiaziaJiaia kS@kS@kS@h k#Rk#Rk#Rh!2f5b>:f5b>Bf5pN@Jf5@ujh@ɢu;00)y }@iy)} yyi(>=I!IDzD@AE` EMEoE"E*:*E9VE5ZEa@a@a@a@7ƙ 2Acoustic response timeoutA I! I1 Ou >y &Pя,a6@E?A B5@B0@B9ٱB]m NAHRS rotation from veh to nav: [[0.507333,0.859425,-0.063251],[-0.732035,0.468532,0.494573],[0.454684,-0.204611,0.866832]]BH 9I=FyEE>Q 5=4#ɉ?Q 9=4B)?@Yy~Q I?oAI:i|:=4yBɮB*E*jBjiiziJii k6k6k6h kRkRkRh2f:fBfJf @%i@ɢ%^)- " -)@i))-()Q)in:=I2ļB>BCBtGB(@BBB$DB;BҜEM2Acoustic response timeoutyAIIO%M>ԩE c E KE tE "E g5:*E ]t9VE 5ZE BE ?;a 2E ?;a JE /:a :E 0:a [-Pя,( @E?A2t@2W@2 ٱ2k :AHRS rotation from veh to nav: [[0.504187,0.861666,-0.057689],[-0.738079,0.464628,0.489244],[0.448369,-0.204092,0.870237]]2HL"?Ò?Z`Xu?O?? ʿ?i2t@I2.__;2hCYB@yB<~GDF@AR2Acoustic response timeoutbDN$`VDN"9yZ>%ZY=ٔ^9`I`=bFybEbUEb>dQ 5j=4fɉ?Q 9j=4fDI)f^@Ylyn\Q In?f)AIfT;if;f*=4ypɮvBt*jyBjiiziJii kc7kc7kc7h kCVkCVkCVh2f:fBfJf$@k@ɢ) ^2@i)hi6=I Ա=WgU2Acoustic response timeoutAIIIO> 9 ;4Pя,K@E?A2Ϣ@2wʩ@24ٱ2pk :AHRS rotation from veh to nav: [[0.501340,0.863652,-0.052560],[-0.743005,0.460844,0.485353],[0.443398,-0.204274,0.872737]]2H ? ?3骿u~??`?%ʿv?i2Ϣ@I2p_;2jCYB@yBfG DDbDN^VDNe!9yV.>%VK=ٔVb9XIX=ZFyZE^iE^>`Q 5f=4bɉ?Q 9f=4bOP)b@YdyfQ If?b: AIbd:ib[:b8=4ynBɮnsBn4E*jxBjxixixzi|Ji|i| k:k:k:h kTkTkTh!2f1:f1Bf1Jf5 *@Ul@ɢU)Q U;@iQ)াi&1=I qA qAE]` E]SE]iEY"E]*:*E]9VE]z~5ZEYae@ae@ae@ae@;A`?AU?2Acoustic response timeoutAAIQIiOA>Ii B >B CB GB @B =B DB #DB ;B Ee 2Acoustic response timeout _G ˿9 Y AO1:Pя,<@E?A be@bH@b ٱb ]h rAHRS rotation from veh to nav: [[0.500570,0.864213,-0.050658],[-0.746804,0.460680,0.479643],[0.437850,-0.202263,0.876000]]bH? ?奔 {?v??ɿ 2?ibe@Ib B_;bhCYz@yzG11 1)1I9i99 E;E<bDM|]VDM 9y]>%]@=ٔ]Qm9aIa=eFyeEmEm>qQ 5}=4uɉ?Q 9}=4uW)u@YyyQ I?uAIu@;iu];uG=4yɮB*jBjiiziJii kQkQkQh kQkQkQhY2fi:fiBfiJfm7@颭3n@ɢ^) E@i)u项i,=IqEmd EmNEmrEi"Em9:*Em҆9VEm5ZEiBEmF;au2EmF;auJEm:au:Em:a}hDAT read: Forwarding Delay UpTx time:18:20:51.5050 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout5l"Aa Iq I O > FAPя,AE?A\=x@=[@=ٱ=[e MAHRS rotation from veh to nav: [[0.501948,0.863510,-0.048970],[-0.750033,0.462782,0.472528],[0.430696,-0.200456,0.879954]]=H?@?E :?=??@ɿ(?i=x@I=X_;=jCY]@y]/Ge=ep=yCl?333333?Qd?= 9(\?y&1|??Yz4?y`;L>BdB B)BYkBbDW\VDD 92Acoustic response timeouty>%>=ٔ9!I!=%Fy%E%ܺE->Q 5=4ɉ?Q 9=4\)@Y;?Q E:y{cQ I?AI ;i: ;W=4yBɮĠB*jBjiiziJii kPkPkPh  kPkPkPh2f->:f->Bf-@Jf-]=@Mo@ɢMн)Q UfN@iQ)U QQiU~(=YIammii1Euh EuKEqEq"EuG:*Eu]t9VEqZEqa}@a}@a}@a}@A I I OU > 2Acoustic response timeoutY ECGPя,WvAE?A2F@2)@2V߾ٱ2Sa :AHRS rotation from veh to nav: [[0.502769,0.863120,-0.047413],[-0.753883,0.464654,0.464496],[0.422946,-0.197790,0.884305]]2H? ?vF@ ?`L??2Qɿ`:L?i2F@I2;9_;2lCYBh@yBԋGbDv[VDv99yE>%EY=ٔM9III=UFyUEUhEU>YQ 5e=4]ɉ?Q 9e=4]a)]L@YiymhdQ Im?]AI]W:i]:]d=4yqɮuBy*jBjiiziJii kSZkSZkSZh kcZkcZkcZh2f:fBfJfD@-q@ɢ)UM U@i)Ԣi#=IB5>B5CB5GB5@B5=B1B5"DB5-;B5EAaiIqIO>!!-2Acoustic response timeoutԑ E d E SE nE "E 9:*E 9VE J5ZE BE a 2E F;a JE l:a :E m:a mMPя,Q8AE?A2w@2Z@2ˀھٱ2?Ta :AHRS rotation from veh to nav: [[0.502593,0.863549,-0.041031],[-0.758989,0.463467,0.457311],[0.413927,-0.198699,0.888360]]2H >?@1? I s?D?}?nɿ`qm?i2w@I26_;2iCB2Acoustic response timeoutY^O@y^vGAEAAԙbDMZVDM39y>%?=ٔ ɽ9 I =FyEE>!Q 55=4%Zɉ?Q 9==4%e)%^AY9y=peQ I=?%AI%U;i%TE;%s=4yMBɮUBQ*jyBjiiziJii k#Vk#Vk#Vh ktktkth2f:fBfJf`{K@r@ɢjw) _@i)52Acoustic response timeout9 UTPя,-RAE?A2k@2e@2wԾٱ2t d :AHRS rotation from veh to nav: [[0.502508,0.864005,-0.031332],[-0.764817,0.461135,0.449900],[0.403164,-0.202115,0.892529]]2H? ? ay`%S=ٔA9H?IH?=FyE0E>Q 5=4ɉ?Q 9=4j)8AYyZfQ I?4!AI:i:=4yɮڠB*jBjiiziJii kC\kC\kC\h kmkmkmh2f :f Bf Jf HS@5Pt@Du<Du<E}b E}IE}aEy"E}1:*E}c9VE}d5ZEya@a@a@a@ɢ1]) f@i)ܟiZ=I2Acoustic response timeoutAEAIIYIO?>iB- <A) B5 >B5 CB5 |GB5 :@B5 =B1 B5 !DB5 ;B5 ٜEBCBCBɕCBɥ=BC2>5% >! 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X? ο`?i6ý@I6Г_;6hCYFAyJGy}X9v?ʡE󽿺I +}?}}9y y9}K7?&1ʿDlѿY}I?y}P}O}B}B }B)}ByY}BbDPVD9y>%G=ٔWy=Q->9I=FyӉEeE>Q 5=43Gʉ?Q 9=4ڗ)AY?Q E8:yIQ I?@AI:i:=42Acoustic response timeout1yuޯBɮu>BuHE*jBjiiziJii kskkskkskh kkkkkkh2f>:f>Bfm@JfO@E@ɢE:)I M@iI)]tYaie\Eu\ EuBEuJEq"Eu:*Eu(9VEu5ZEqa}@a}@a}@a@ԉiߑ Iߑ  2Acoustic response timeoutԹ ߇Pя,!BE?A2@2q@2\ٱ2tv :AHRS rotation from veh to nav: [[0.513730,0.854699,0.074638],[-0.821633,0.465074,0.329585],[0.246984,-0.230643,0.941171]]2Hzp?Y?@?J?? +?@Ϳ?i2@I2|_;2jCYB{AyBbGbDvOVDv9yz|>%~V=ٔ~D=Q->9I=FyՉE jE >Q 5=4 Sʉ?Q 9=4Ģ)> AYy>Q I%?HAID;ir;=4y)ɮ-B-IE*jABjAiAiAziAJiAiI kwkwkwhY kwkwkwhi2f:fBfJfBM@额@ɢ-=) m@i)s顡i<Iԑ^Ah==B}>B}CB}GB}AByB}DB} DB};B})E Gl>-GIi9Y'A2Acoustic response timeoutAII!O<>E X E E KE "E ~ :*E VE 5ZE BE :a 2E :a JE U+:a :E X+:a  Pя,:BE?A"2Acoustic response timeoutZ @Zz@Zu%hٱZNr jAHRS rotation from veh to nav: [[0.511485,0.855115,0.084629],[-0.829375,0.465515,0.308923],[0.224768,-0.228199,0.947314]]ZH^?@]?@?< ?e?`6?5Ϳ fP?iZ @IZ_;ZiCYvrAyvͧG5a=5a=bDENVDE9yUЖ>%UD=ٔ]`=Q-]>9YIY=eFye؉EerEe>iQ 5u=4m_ʉ?Q 9u=4m)mt AYyy}蟿Q I}?mOAIm@;imn;ms=4yɮОB*jBjiiziJii ksmksmksmh ksmksmksmh2f:fBfJfJ@c@ɢ@<) @i)i< I Ug@^A5N!>A5pAzA5rA2Acoustic response timeoutA Ae $AIi Iy O >~Pя,?TBE?A2@2@2 Tٱ2Rv :AHRS rotation from veh to nav: [[0.502656,0.858466,0.101853],[-0.839684,0.456814,0.293686],[0.205591,-0.233147,0.950460]]2H?x? ?@@q%VV=ٔVR=Q-Z>9ZH?IZH?=ZFyZډE^ E^>`Q 5f>4bjʉ?Q 9f>4b)b AYdyjQ Ij?bVAIb:ib:b >4ynBɮnBnRE*jxBjxixixzi|Ji|i| krkrkrh  krkrkrh!2f1:f1Bf1Jf5{H@^EB*** querying acoustic contact ***XAYAU-@ɢU?=) @i)im<IE5S E5AE5FE1"E59*E5 9VE5 5ZE1aE@aE@aE@aE@']2Acoustic response timeouta^AC>AIIOUS>qBi Am <Bu >Bu CBu $GBu ABu =Bu DBu DBu ;Bu Eԡ  2Acoustic response timeoutPя,$nBE?A6p@6k@6yCٱ6U >AHRS rotation from veh to nav: [[0.487416,0.864095,0.125561],[-0.852223,0.439472,0.283866],[0.190107,-0.245367,0.950608]]@6H1??^?jEN ?*?iU? ,hϿ`k?i6p@I6@_;6iCYFK AyJNG`` `)`I`i``bDjLVDj9yrBb>%rG=ٔv=Q-v>9tIt=vFyv݉Ez^FEz>|Q 5>4~'vʉ?Q 9>4~)~~ AY y Q I ?~7^AI~:i~:~'>4yɮBSE*j)Bj)i)i)zi)Ji1i1 kslkslkslhI klklklhQ2fi:fiBfiJfmdF@颅@ɢ2=)C @i)ь顑i$<IԩEeX EeDEeHEa"Ee~ :*Eea99VEe-5ZEaBEaam2EaamJEetH:am:EevH:aul"@rA@qAm2Acoustic response timeout^A,p>A_?A]?Ae AIq I O- >}Pя,rBE?A2@2@2ʯ7ٱ2 :AHRS rotation from veh to nav: [[0.466945,0.870966,0.152909],[-0.866099,0.415563,0.277812],[0.178421,-0.262157,0.948388]]2Hm?@?@? ??@?/п1Y?i2@I2b_;2kCYN AyRGPR@Alyml?Mb?1Zd?m?m=m"[>i i9m/$?V-Ͽ}?5^I?Ym?ym|mMb>mXBmB mҫB)mCBiYm\BbDKVD9y X>%@=ٔ9K?IK?=Fy߉EpE>Q 5>40ʉ?Q 9>4) AY/?2Acoustic response timeoutQ E:yQ I?fAIg;ig; *>4y BɮsB\E*jBjiiziJii ktktkth ktktkth2f%>:f%>Bf%_u@Jf%-@E@ɢEȴ9=)A E@iA)MŊIIiMEmU EmCEmLEi"Em:*Em09VEm!5ZEiau@au@a}@a}@} 2Acoustic response timeoutAe $AIi Iy O >Թ  nManaging dock network, ignoring radio surface power off-Pя,MBE?A2T@27@2k/ٱ2 :AHRS rotation from veh to nav: [[0.442724,0.877944,0.182235],[-0.880304,0.386937,0.274490],[0.170473,-0.281946,0.944164]]2H U??}S?r+@?@=??@e ҿ6?i2T@I2_;2hCY^AybFGybD]JVD]49y>%G=ٔc9H?IH?=FyEoE>Q 5>4ʉ?Q 9>4:)SAYyQ I?loAII:i:]8>4yɮ;B]E*jBjii zi Ji i  ksksksh! ksksksh12fA:fABfAJfEq@@eń@ɢe,=)a eF@ia)m]ȈiiimBϏCBpGB AB=BDBDBp;BEBCBCB®CB¡=B¥=C17ԩ2Acoustic response timeouti I ^A 12q> Ee W Ee GEe FEa "Ee :*Ee R9VEe 5ZEa BEe 3:a} 2Ee 8:a} JEe t:a :Ee t:a } 2Acoustic response timeoutA AI I O >Pя,[BE?AB Ν@Bɤ@B]*ٱB JAHRS rotation from veh to nav: [[0.417512,0.884020,0.210220],[-0.893453,0.357219,0.272281],[0.165607,-0.301502,0.938973]]BH`?I?~?@*@?m?2? Kӿ@ ?iB Ν@IB=`;BjCYRAyRGAbD%IVD%9yCL>%D=ٔhB9K?IK?=FyEE>Q 5>4Eʉ?Q 9>4)AYy̡Q I?xAI];i8:F>4yɮB*jBjiiziJii ksiksiksih ksiksiksih2f :f Bf Jf c@-@ɢ-$=)) - @i))5ݻ11i5|/<9I9q^AE2Acoustic response timeoutԙA $AI I) O] > Q~Pя, BE?A2z@2]@2'ٱ2S :AHRS rotation from veh to nav: [[0.392248,0.888908,0.236610],[-0.905278,0.327422,0.270677],[0.163135,-0.320371,0.933140]]2H@?q?@I? |?R??`Կ`G?i2z@I2$`;2iCYB!AyB{GDDbDIVDi9yEbP>%MP=ٔM;Q-M>9MH?IUH?=UFyUEUbEU>aQ 5e>4e2ʉ?Q 9m>4ey)eAYiymפQ Im?eAIe-:ie:eT>4D=D4=Թy!BɮB%fE*jaBjaiiiiziiJiiiq kl2Acoustic response timeoutbE%:5jE%P#5rE%s*2EO E@EIE"E9*E9VEe5ZEa@a@a@a@klklh2f:fBfJf-@U@ɢ]t%=)Y ]@iY)][YaieBŏCBGB]AB=BDB߻DBV;B=EA AI I O] >m 2Acoustic response timeout9 BPя,BE?A6@6@6Y'ٱ6 BAHRS rotation from veh to nav: [[0.366773,0.892340,0.263071],[-0.916020,0.297027,0.269597],[0.162433,-0.339859,0.926343]]6H`7y? ?&?@ P@|?A???տ?i6@I6A8`;6jCYFAyJ~GLNAbDVGVDV9yZ>%^T=ٔ^:Q-^>9bK?IbK?=bFybEfEf>dQ 5j>4fʉ?Q 9n>4f)fAYlynԧQ In?fAIf;if;fb>4yv"BɮvBvgE*j|Bj|iiziJii kSkSkSh kkkkkkh)2f9:f9Bf9Jf=ө@]N@ɢ] =)e< e@ia)e1؂aaieWAI9IIqO>ԙ Pя,ӿ CE?A2@2@2Z'ٱ2/ :AHRS rotation from veh to nav: [[0.341104,0.893428,0.292291],[-0.925837,0.265483,0.268968],[0.162705,-0.362360,0.917727]]2H??@?u?@6?`?@0׿^?i2@I2`;2kCYBAyBG%2Acoustic response timeoutyM rh?(\?Mb?MC+?Mz>MM'BM|B M B)MxBIYMBbDe GVDex9yu>%u?=ٔ})Q-}>9yIy=FyECE>Q 5>4Sʉ?Q 9>4#)LAY?Q EI:yヿQ I?4y7BɮٝBpE*jBjiiziJii kSkSkSh krkrkrh2f>:f>Bf @JfS@:@ɢǧ=) @i)%9!!i%u<)I)qԡ^A]QFq>D?AzD?AEe ETERE"E<:*E9VEc45ZEa@a@a@a@2Acoustic response timeoutA I I O > FPя,9$CE?A2;@26@2(ٱ2̾ :AHRS rotation from veh to nav: [[0.315507,0.892918,0.321173],[-0.934761,0.234199,0.267156],[0.163330,-0.384509,0.908557]]2HD1?ɒ??`%eK=ٔeκQ-e>9iIi=mFymEm5Eu>qQ 5>4u"ʉ?Q 9>4u)ub AYyZQ I?u@AIu:iu:u>4yɮBqE*jBjiiziJii kcZkcZkcZh klklklh2f:fBfJfN@@ɢp=)  @i ) fG}  iM<IBMi>BMCBMrGBMABM=BMDBMٻDBMS;BME52Acoustic response timeout^A=12q>AiIyIO>) E} X E} BE} FEy "E} ~ :*E} (9VE} 5ZEy BE} :a 2E} :a JE} O+:a :E} R+:a i I A 2Acoustic response timeoutPя,u>CE?A6^@6Y@6(ٱ6 پ >AHRS rotation from veh to nav: [[0.290131,0.890983,0.349246],[-0.942796,0.203500,0.264053],[0.164195,-0.405877,0.899057]]6H??@ Z? b+H ?>?Y?`ٿ?i6^@I6E_;6mCYF-AyFtGbDNWEVDN9yV8>%VW=ٔZQ-Z>9XIX=^Fy^E^ E^>`Q 5f>4bʉ?Q 9f>4b!)bK#AYhyj̈Q Ij?bAIb:ib:bl>4ylɮnBp*jxBjxi|i|zi|Ji|i kSkSkSh kpkpkph!2f1:f1Bf1Jf5ڼ@U@ɢUl=)Y m@i)]yi}<IQy=2Acoustic response timeoutԩ ^A (q>A1 IA IQ Iq O >XPя,XCE?A6 @6}@6T)*ٱ63 NAHRS rotation from veh to nav: [[0.264706,0.887316,0.377626],[-0.950037,0.172786,0.259951],[0.165410,-0.427569,0.888720]]6H? d?+?`f@??$,?`L]ۿep?i6 @I6_;6jCYZAyZdG M49I=FyE tE>Q 5>4Eʉ?Q 9>4*)&AYy5Q I?AI;iD;#>4y8BɮzB*j Bj i i ziJii ksWksWksWh) krkrkrh9E2Acoustic response timeout2fQ:fQBfQJfU@u@ɢu^R=)y }@iy)}tyyi֡<IY}H*ԑ^Ae12q>B;>BCBĸGB=AB=BBջDB;B4E-nGAQ޿9YAA1 IA I Ա O > 2Acoustic response timeoutPя,ޯrCE?A6̮@6@66+ٱ6 >AHRS rotation from veh to nav: [[0.239963,0.883573,0.402139],[-0.956411,0.144158,0.253963],[0.166424,-0.445552,0.879651]]6H`?;F?ॼ?`@s?@? ^M?ܿ&?i6̮@I6_;4YFAyFVGHHPbDkCVD9yEi=%MT=ٔM.Q-M>9IIQ=UFyUEUEU>YQ 5e>4]ˉ?Q 9m>4]q3)])AYiymQ Im?]lAI]y:i]9:]>4yuMBɮ}vB}{E*jBjiiziJii kYkYkYh ksqksqksqh2f:fBfJf@mˋ@ɢm=)i m@iq)+p顑iX<IEV EDEGE"E=:*Ea99VE5ZEBE:a2E:aJEmH:a:EpH:aeIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERm2Acoustic response timeout}=! ^A A Y?A V?A I I  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutO >:bPя,81CE?A2ܖ@2ם@2%,ٱ2~] >AHRS rotation from veh to nav: [[0.215314,0.881143,0.420984],[-0.962103,0.117541,0.246051],[0.167323,-0.458008,0.873059]]2H`g?R2?g?/?~?j?Pݿ?i2ܖ@I2v_;2lCYBAyF{Gy5^I ??̽ 9RQ?Q?Zd;Y"?y<yB {B gB)ڒBYBbDBBVDD9y>%6=ٔ Q->9I=FyEiE>Q 5>47 ˉ?Q 9>4:))AY}#?Q E:y4yɮXB*j)Bj)i)i1zi1Ji1i1 kjkjkjhI kjkjkjhY2fm3>:fm3>Bfm?JfmE@颍@ɢ8=) @i)l顑ij<IaԉEZ EAECE"E:*E 9VE5ZEa@a@a@a@iߩI߭AzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԹ ^A5 AAa Iq I O >Pя,CE?AB2>B2CB2GB2AB2=B0B2лDB2;B2ۗEB, @B@BT,ٱB JAHRS rotation from veh to nav: [[0.190748,0.880009,0.434970],[-0.967174,0.092691,0.236608],[0.167900,-0.465824,0.868803]]BH`nj? )? ? @?@-I?}?ݿ;?iB, @IB'_;BkCYR[AyR^GbD^hAVD^9yfi=%fU=ٔf;ȺQ-f>9hIh=jFyjEn2En>pQ 5v>4rˉ?Q 9z>4rA)r *AYxyzQ Iz?rAIr;ir;;r>4yNBɮ BB *j)Bj)i1i1zi1Ji1i9 k3kk3kk3kh2f:fBfJf!i@-@ɢ-f>)52j 5@iQ)U1gQQi]AII E5 Y E5 KE5 =E1 "E5 :*E5 ]t9VE5 |4ZE1 BE5 !;aE 2E5 #;aE JE5 ,:aE :E5 -:aE O >ԡ M 2Acoustic response timeoutƫPя,xCE?A6r<@6V7@6D,ٱ6Bo@ BAHRS rotation from veh to nav: [[0.166178,0.880789,0.443390],[-0.971776,0.069927,0.225301],[0.167438,-0.468316,0.867551]]6HOE?@m/?`??@?@n?ݿ?i6r<@I6`;6iCYJ*AyJ]GN?AN?AbDVU@VDVa9y^>%^K=ٔb:Q-b>9`I`=fFyfEfEf>hQ 5n>4jˉ?Q 9n>4jG)ja*AYpyr泿Q Ir?jAIj;ij;j>4ytɮv(Bt*jBji i zi Ji i  kRkRkRh! khkhkhh12fA:fABfAJfE@e@ɢe>)i mӣ@ii)mciiimAzAAI!I1Oe> E= e E= FE= JE9 "E= <:*E= ;J9VE= 5ZE9 aM @aM @aM @aM @BPя,CE?A2m@2h@2M)ٱ2i :AHRS rotation from veh to nav: [[0.141588,0.883355,0.446808],[-0.976052,0.049273,0.211884],[0.165154,-0.466108,0.869176]]2H@?qD?? ;C:??#?`ݿJ?i2m@I2`;2kCYfAyf GlbDvL?VDv9yz=%~F=2Acoustic response timeoutٔ ;Q- >9 I =FyEzE>Q 5%>4ˉ?Q 9%>4N)*AY)y-Q I-?ӛAI:iF:7>4y1ɮ5B9*jIBjQiQiQziQJiQiY kOkOkOhi kpkpkphy2f:fBfJf@颭p@ɢ >) @i)_项i/u<I ^A12q>Be>BeCBenGBeABe=BeDBeͻDBe;BeEB%ƷCB%ƸCB%ƜCB%=B%=C%)N69A)I9IIO>2Acoustic response timeouta Pя,jCE?A25@2@2M$ٱ2 :AHRS rotation from veh to nav: [[0.117468,0.887972,0.444643],[-0.980065,0.031417,0.196177],[0.160230,-0.458823,0.873961]]2H[? Dj? u?`\?T?n?\]ݿ|?i25@I2 _;2iCYBAyB9GXX X)XIXiX\bDb>VDb9yj>%jM=ٔnxM<9Q-E>9QIQ=]Fy]EetEm>Q 5>4iˉ?Q 9=>4U)*AY9y='Q I=?AI4E[ EEVE"Ea:*EVEFA5ZEBE ;a2E ;aJEe:a:Ee:ayUbBɮm BuE*jBj2Acoustic response timeoutiiiziJii k#Xk#Xk#Xh kjkjkjh2f!:f!Bf!Jf% @19- r-NAggregate::initialize marl:UpdateRudderq9-J])q9-9-7-o-XAggregate::initialize marl:UpdateCommandMode185]1185o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq75n5LAggregate::initialize marl:UpdateSpeed75]17=n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeedU@ɢU=)Q ]@iY)m&Yiiiu#c<IIIԙ [1  2Acoustic response timeout^A A A S? A$AI)I9Ou ?Qя,XDE?AX~D @~(@~ٱ~: AHRS rotation from veh to nav: [[0.068973,0.901286,0.427700],[-0.987471,0.000686,0.157798],[0.141928,-0.433225,0.890041]]~H`1?T? o_? ]yF?2?*?`ۿ6{?i~D @I~^;~jCY-FAy5G5=5=yx&1?rh|V-a? 9S㥛?K7A`ſJ +ѿYd?y+wBgyB B)ѝBYBbD=VD%9bEuX5jEu5rEu 2EW EBEAE"E :*E(9VEA4ZEa@a@a@a@y=%=ٔ}=Q-}>9H?IH?=FyE;E>Q 5?4ˉ?Q 9?4vc)*AYr?Q E`:yQ I?HAI%;i;?4yɮBE2Acoustic response timeout*j Bj i i zi Jii k#Ik#Ik#IhA2fu!>:fu!>BfuM@Jfu^@sPUpdating rudder angle 13.750987 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颽@ɢ֛=) Ҥ@i)Ti܅R<IcBe>BeCBeGBeABe=BaBeɻDBex;Be]E^AA9 ߭ =߭ < 2Acoustic response timeoutA! I1 IA Ou > Qя,2DE?AYfAyWGbD<VD9y^5>%M=ٔQ->9I=Fy EE>Q 5?47 ˉ?Q 9?4l)H*AYyQ I?&AI:i<:?4yɮ՜B*j Bj i i zi Jii kPkPkPh) kPkPkPh92fI:fIBfIJfIu@ɢ}5>)}B }=@iy)}& QyiVIC<IuC=u=IE Q E E FE "E 29*E VE  5ZE BE :a2E :aJE N+:a:E Q+:a%2Acoustic response timeoute8kyԡ ^A (q> 2Acoustic response timeoutA A I I O->Qя,iPDE?A63@6.@6ٱ6; FAHRS rotation from veh to nav: [[0.011981,0.920883,0.389656],[-0.992666,-0.035926,0.115428],[0.120294,-0.388181,0.913698]]6H?w?`?d@?˾?ؿ`=?i63@I6^;6kCYNAyNGbDe <VDeg9y>%0=ٔ@=Q->9K?IK?=Fy EE>Q 5?4ʉ?Q 9?4w))AYyQ I?AI ;i:5#?4ywBɮƜBE*jBjiiziJii  kCNkCNkCNh!2f1:f1Bf1Jf5[@U@ɢU̬>)UV Ug@iQ)]JLYYi]r3Qя,:jDE?ABA4=B>BCBGBWAB=BBǻDBc;B.E Z(@Z#@Z4ٱZ fAHRS rotation from veh to nav: [[-0.020428,0.929673,0.367820],[-0.993780,-0.059166,0.094349],[0.109476,-0.363605,0.925098]]ZH 딿?`^? JA'??ME׿`g?iZ(@IZ^;XYroAyvGbDm;VDm9y>%F=ٔ9H?IH?=Fy E +E >Q 5?4$ʉ?Q 9?4)+)AY!y%rQ I%?«AI@;i:1?4y)ɮ-B)*jABjAiAiAziAJiIiI k2k2k2ha kRkRkRhi2f:fBfJfX@额@ɢ+>) H@i)>G顡ir$<hDAT read: Forwarding Delay UpTx time:18:21:05.3549 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutIQԁEU X EU AEU GEQ "EU ~ :*EU  9VEU 5ZEQ BEU :a] 2EU :a] JEU :ae :EU :ae ԩ m 2Acoustic response timeout^AA  Aq I I O >!Qя,1xDE?A>@>@>Jdɽٱ>_a FAHRS rotation from veh to nav: [[-0.053082,0.935436,0.349486],[-0.993752,-0.083893,0.073611],[0.098177,-0.343395,0.934045]]>H-?@]?``z#ز?'"?1տ?i>@I>^;>lCYNNAyNGy%ףp= ?kt?~jtx?%?% =%;! !9%ʡE?~jtʡEY%-?y%%-%B%ztB %GB)%B!Y%ܠBbD=1:VD=9yMp>%M<=ٔM\9YIY=]Fy]EevEe>iQ 5u?4mʉ?Q 9u?4m)m)AYu?Q Eu':y}ԿQ I}?m-AIm ;im ;m@?4yBɮBE*jBjiiziJii k3k3k3h kIkIkIh12fuS>:fuS>Bfu@Jfu}@颵@ɢ> >) @i)rB项iA<IqArA`k-2Acoustic response timeoutY^Aq>ԉA I I I O5 >E U E ?E ?E "E :*E ?9VE ^4ZE a @a @a @a @Ա  2Acoustic response timeout*'Qя,RGDE?Aɰ;2I@2- @2zSٱ2J :AHRS rotation from veh to nav: [[-0.085832,0.936595,0.339738],[-0.992464,-0.110307,0.053357],[0.087450,-0.332599,0.939005]]2H ?@F?D =@Q?c?@KIտT ?i2I@I2{^;2iCYneAynG )Ii !%4<bD-x9VD-99y=ge<%=L=ٔE9AIA=EFyEEMNEM>QQ 5]?4Uʉ?Q 9e?4UK)U)AYayeؿQ Ie?U>AIU);iU!*;UN?4yiɮuBuE*jBjiiziJii k#.k#.k#.h kSKkSKkSKh2f:fBfJf{@@ɢC>) >@i)k>iY<Iԑ l>%_G=MrAQ}9}MrAY}AB>BCBGB!AB=BDBDB=;B9E=gW=2Acoustic response timeout^Ae #q>Am W?Am Y? 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C`ʃ˿tm?@Tٿ`nW?i:x@I:^;:mCY^(AybBGbD%,VD%H 9ye~<%eD=ٔm.9iIq=uFyu@EuɵEu>yQ 5@4}dʉ?Q 9@4}@)}1AYy Q I?}AI}:i}:}H@@4yBɮBƳE*jBjiiziJii k`k`k`h kekekehy2f:fBfJfV*@@ɢ>) e@i)i廉ID5=D5<E=T E9E=DE9"E=9*E9VE=J5ZE9aE@aE@aE@aE@2Acoustic response timeout!蘽aB >B{CBfGBu)ABBBDB;BߎEBȀCBȀCBȗCB=B=C5^A Ay I I O >= 2Acoustic response timeoutQя,~tFE?Aɰ6Uv@6%@62@ٱ6*̾ >AHRS rotation from veh to nav: [[-0.601387,0.733233,0.317337],[-0.798872,-0.557687,-0.225364],[0.011731,-0.389043,0.921145]]6H`>v?`AO?\@`̿`4?ؿ z?i6Uv@I6^;6lCYF)AyFG ;bD +VD  9yx=%O=ٔ%[9)I)=5Fy5CE=E=>IQ 5e@4M0Sʉ?Q 9e@4MG)M0AYiymQ Im?M>AIMv;iMUw;M,N@4yyɮ}ޛB*jBjiiziJii k`k`k`h2f:fBfJf<(@-@ɢ-mS>)1 5b@Qi)ܽ顱id IԁEEP EEBEE@EA"EE9*EE(9VEE4ZEABEEg:aU2EEl:aUJEEM+:aU:EEO+:aU2Acoustic response timeoutԩ^A 12q>I I O- > > >.Qя,؎FE?A2s@2@2vٱ2Aɾ >AHRS rotation from veh to nav: [[-0.630648,0.715499,0.300572],[-0.776048,-0.584254,-0.237480],[0.005693,-0.383024,0.923721]]2HE.^?=ٔf9I=FyFE E>Q 5@4@ʉ?Q 9@4fP)/AYq?Q E`:y\ Q I?lAI? ;iT ; ]@4y Bɮ B гE*j!Bj!i)i)zi)Ji)i) k3[k3[k3[hA kC[kC[kC[hQ2feۉ>:feۉ>Bfe ?Jfeb@19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18uo}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7}nPAggregate::uninitialize marl:UpdateSpeedԱ2Acoustic response timeout5@ɢ5$>)9 =V@i9)=Hӽ99i=kAII^AAII)OU> bE4jE+5rEȆ1EU Q EU @EU AEQ "EU 29*EU 9VEU A4ZEQ a] @a] @a] @a] @iߡ Iߡ  2Acoustic response timeout9 VQя,FE?A2q@2I@2gNS:ٱ2SȾ >AHRS rotation from veh to nav: [[-0.657732,0.696699,0.286357],[-0.753252,-0.607942,-0.251033],[-0.000806,-0.380811,0.924653]]2H@# [K?@S?CtпiJ4_ؿ?i2q@I2c^;2kCYF})AyFqGbDRY*VDRD 9yV=%V_=ٔZg9\I\=^Fy^HE^ŽEb>`Q 5f@4b.ʉ?Q 9j@4bW)b#/AYhyj Q Ij?b*AIb;ib@;bi@4ynBɮrBrϳE*jxBjxi|i|zi|Ji|i k[k[k[h2f9:f9Bf9Jf=lR@sEPUpdating rudder angle 13.750987 arcdeg 9ErE6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderm@ɢm>)q uH@iq)}˽yyi}IBm>BmyCBmGBm)ABm=BiBmDBmC;BmE 2Acoustic response timeout9^Au (q>A$AIIO>a Qя,FE?AE EFE@E"E*E;J9VE4ZEBE:a2E:aJEe:a:Ee:a $$bro@b;}@bDA;ٱbףɾ nAHRS rotation from veh to nav: [[-0.682045,0.677316,0.275786],[-0.731270,-0.627699,-0.266904],[-0.007668,-0.383715,0.923420]]bH@P?{?@fѿ`hɎؿ?ibro@Ib`^;bnCYv)AyvG||bD)VD9y =% E=ٔW9H?IH?=FyJEE%>!Q 5-@4%bʉ?Q 95@4%_)%-.AY1y5Q I5?%DAI%:i%:%[x@4y9ɮEڛBA*jQBjQiQe2Acoustic response timeoutiYziaJiaii kCCkCCkCChy kC[kC[kC[h2f:fBfJfE@颽ɫ@ɢ܇>) @i)½i +Iq^Aq>ԙA5AI9IIO> =  2Acoustic response timeout TƶQя,MjFE?A2Tm@2{@2k<ٱ2; >AHRS rotation from veh to nav: [[-0.703690,0.658192,0.267588],[-0.710361,-0.644115,-0.283730],[-0.014391,-0.389742,0.920811]]2H ? + ?G (ҿ yؿIw?i2Tm@I2o^;2lCYF)AyFGPbDR )VDR9yZ\F<%ZP=ٔ^F9~K?I~K?=~FyMEԙE> Q 5@4 ʉ?Q 9@4 g) 4-AYyQ I? 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In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 8Ack receipt timeout failure.% 2Acoustic response timeoutQя,EFE?A>k@>ny@>ᝧ<ٱ>о NAHRS rotation from veh to nav: [[-0.723686,0.639379,0.259758],[-0.689826,-0.659014,-0.299734],[-0.020460,-0.396101,0.917979]]>Hn(@u?ޟ?.ӿ`\ Yٿ`?i>k@I>d^;9H?IH?=FyPEVE>Q 5@4ɉ?Q 9@4n),AYyQ I?}AI:i:@4y Bɮ ̛B *j!Bj!i!i!zi)Ji)i) k<k<k<hA k<k<k<hQ2fa:faBfaJfebJ@}@ɢ3>) @@i)<8顉i_lFI)EUT EU@EQEQ"EU9*EU9VEQZEQBEU:a}2EU:aJEU.:a:EU1:a^AAA ]?A Y?YIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutAE AIQ Ia O >ԁ QQя, GE?A;ɰ6:j@6w@67<ٱ6WӾ >AHRS rotation from veh to nav: [[-0.743059,0.620454,0.250800],[-0.668730,-0.673957,-0.313978],[-0.025781,-0.401022,0.915706]]6H#`? ?;f8Կ;fVٿ vM?i6:j@I6Y^;6kCYF*AyF'Gy+?y&1|?~jt??`; 9HzG?~jt?Zd;OY=j?y=j<@B B)gBY %p<%<bD-'VD-9y=U%=U=ٔ=c9EK?IEK?=EFyEREMEM>QYQ 5]@4Uɉ?Q 9e@4U7u)U+AYej?Q Eeg:yeQ Ie?UJAIU-/;iUS.;U@4ym%BɮuBuسE*jBjiizi Ji i  kHkHkHhA2fu->:fu->Bfu* =>JfuЀ@颵@ɢdO>) @i)项iSIpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutԉ^AU12q>ԹEU U EU BEQ EQ "EU :*EU (9VEQ ZEQ a] @a] @a] @a] @A $AI I O > zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout % k>% C%Qя,*GE?A"ŁG\lۿ9YAEV2h@E(v@E.<ٱEվ eAHRS rotation from veh to nav: [[-0.761506,0.601660,0.241069],[-0.647427,-0.688417,-0.326986],[-0.030779,-0.405076,0.913765]]EH@A^@?V?WԿ}ٿ`=?iEV2h@IE8^;AYub*AyuG"hFailed to parse device response: 4,4.00202,4584.81 ԱbD]W'VD]9ye3=%m8=ٔm89uH?IuH?=uFyuUE}3E}>Q 5@4ɉ?Q 9@4A|Q =tI)+AYyQ I?CBI ;i ;i@4y$Bɮ؛B*jBjiiziJii k-k-k-h kCDkCDkCDh2f:fBfJf@ 2@ɢ6ȋ>) @i)lƟiaI!=<2Acoustic response timeoutI^A AA II IY O >9 Qя,CGE?AEO EIE:E"E9*Ec9VE(4ZE:*af@:Vt@:tJ=ٱ:L[ؾ FAHRS rotation from veh to nav: [[-0.779470,0.581981,0.231784],[-0.625462,-0.702364,-0.339826],[-0.034976,-0.409856,0.911479]]:Hk??yտ _衿;ڿ*?i:*af@I:p^;:mCYNp*AyNGE2Acoustic response timeoutbDe&VDe9yx<%V=ٔY49I=FyWEE>Q 5@4iɉ?Q 9@4)v*AYyQ I?BI;iV:@4y#Bɮ՛B*jBjii zi Ji i  k(k(k(h!2f:fBfJf}@B@ɢx>) @i)1iEnIA^Adq>q2Acoustic response timeoutAI IY Iq O >ԙ ^Qя,]GE?A2d@2Kvr@2w=ٱ2Jھ :AHRS rotation from veh to nav: [[-0.797364,0.561680,0.220740],[-0.602240,-0.716961,-0.351102],[-0.038945,-0.412895,0.909946]]2HH?@1A?E Yuxֿ@lڿF?i2d@I2^;2oCYB'*AyBBG9=@AbDE&VDEL9yl5%L=ٔ"9I=FyZE4E>Q 5@41ɉ?Q 9@4))AYyQ I?BI;i:@4yɮޛB*jBjiiziJii kS,kS,kS,h kS,kS,kS,h2f!:f!Bf!Jf%E |@EM@ɢE>)A E@iA)EIIiMzIIQyE5R E5EE5=E1"E5s9*E5A9VE5|4ZE1M2Acoustic response timeoutԩ^A=aPq>B<A<B>BwCBGB*AB=BBB;BEAmAIyIO> 2Acoustic response timeout >Qя,?wGE?AJb@J̚p@J\/=ٱJiھ RAHRS rotation from veh to nav: [[-0.814374,0.541825,0.207895],[-0.578757,-0.731807,-0.359861],[-0.042842,-0.413383,0.909549]]JHZV?@Q?,j@׿`s勵tڿ?iJb@IJ^;JmCYZb*AyZGbDf%VDf 9yn=%rW=ٔrW(9rK?IvK?=vFyv\EvEv>xQ 5~@4zyɉ?Q 9@4zj)zG)AYym Q I?zBIzQ;iz ;z@4y ɮ ֛B׳E*j!Bj!i!i)zi)Ji)i) k+k+k+hA2fQ:fQBfQJfU!2z@_@ɢa>) e@i)0^iʃI!E]W E]AE]?EY"E] :*E] 9VE]^4ZEYBE]+:a2E]0:aJE]:a:E]:a^A12q>e2Acoustic response timeoutIIO>) %Qя,eGE?A:5`@:n@:H?=ٱ:پ BAHRS rotation from veh to nav: [[-0.830383,0.522313,0.194045],[-0.555223,-0.746387,-0.366925],[-0.046817,-0.412426,0.909787]]:Hʶ?t?b@g`{׿j/eڿ@?i:5`@I:^;:lCYJw*AyJGy%Zd;O?:v?~jt%j9QIQ=UFyU_EUыE]>aQ 5m@4eL`ɉ?Q 9m@4e)eB(AYmd?Q Emm:ym"Q Im?eBIe:ie:e@4y}6Bɮ}B}E*jBjiiziJii kc!kc!kc!h k$k$k$hA2fU|0>:fU|0>BfUe>JfUAu@颥@ɢx]>)2Acoustic response timeout f@i)B;}i@IQy^AUAI1 IA DI zDM @AEU Q EU DEQ EQ "EU 29*EU a99VEQ ZEQ a] @a] @a] @a] @O > m 2Acoustic response timeoutQQя,EGE?A4<ɰPN_@Nm@NuQ=ٱNߎپ ^AHRS rotation from veh to nav: [[-0.845054,0.503367,0.180292],[-0.532231,-0.759684,-0.373645],[-0.051116,-0.411707,0.909881]]NH ? ? @TO`׿+iYڿ?iN_@IN^;NmCYj=*Ayn\G )Ii %4<%bD%$VD%9y5d%5K=BE>BABEGBEh*ABE=BABEDBE;BEEٔ]-9YIY=eFyebEeljEe>iQ 5u@4m-Gɉ?Q 9u@4m)m?'AYyy}#Q I}?meBIm~ ;im;m@4yɮB*jBjiiziJii k$k$k$h k$k$k$h2f:fBfJfXs@@ɢ&>) @i)mim I 2Acoustic response timeout^A}12q>IIO5q>! E] U EY E] AEY "E] :*EY VE] A4ZEY BE] :am 2E] :am JE] lH:am :E] nH:am EQя,VGE?A2Y]@2Ok@2c=ٱ20ؾ :AHRS rotation from veh to nav: [[-0.858868,0.484520,0.166093],[-0.509171,-0.772457,-0.379545],[-0.055598,-0.410549,0.910142]]2H{@`?B?!K@wJؿMwmFڿ`?i2Y]@I2^;2nCYBN*AyBqGbDND$VDNx9yZj5<%ZQ=ٔZ[>9\I\=^Fy^dE^iI 2Acoustic response timeoutE=>AQ 5MA4E-ɉ?Q 9UA4E)E8&AYQyU%Q IU?EBIE:iE(:EA4y]5BɮeBa*jqBjqiqiyziyJiyi k'k'k'h k'k'k'h2f:fBfJfq@5@ɢ5>)1 5@i1)]\YYi]-aIa)^AAIIOUu>a2Acoustic response timeoutii Ii ԁ |bQя,DGE?A2ͨ[@2i@2ev=ٱ2׾ :AHRS rotation from veh to nav: [[-0.871786,0.465899,0.151419],[-0.486168,-0.784788,-0.384382],[-0.060251,-0.408714,0.910672]]2H@H?@a?^߿@ؿ`Cٮ@^(ڿ8$?i2ͨ[@I22_;2kCYB)AyBGbD #VD 89yy}xS%?=ٔ29I=FygE}E>Q 5A4ɉ?Q 9A4ġ)$%AYy@'Q I?@ BI;i@:)A4yɮB*jBjiiziJii kc&kc&kc&h k&k&k&h2f:fBfJfIp@%Է@ɢ%q>)! %@i))-L))i-⸜1I1D%=D4=bE4jE4rEA0EW ECE?E"E :*E09VE^4ZEa%@a%@a%@a%@m2Acoustic response timeoutԩ^A}12q>IIO-o>B=>B9B=.GB=*AB9B9B=DB=;B=EBwCBxCBǔCB=B=C5  hDAT read: Forwarding Delay UpTx time:18:21:19.5048  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutQя,aGE?A@RY@R{g@R =ٱR?־ ZAHRS rotation from veh to nav: [[-0.884806,0.445758,0.135717],[-0.461484,-0.798039,-0.387513],[-0.064430,-0.405505,0.911819]]RHSPK?+_?@ݿؿt~`ٿ-?iRY@IR^;RlCYb&*Ayb?G99bDE#VDE9ԱyC<%D=ٔ$9I=FyiEE>Q 5A4ȉ?Q 9A4_)$AYy)Q I? BI3;it:"A4y4BɮB߳E*jBjiiziJii  k&k&k&h k'k'k'h)2f9:f9Bf9Jf=ߣn@]@ɢ]O>)a eO@ia)eBn 9 xtRя,yHE?A2VW@2e@2=ٱ2 Ծ :AHRS rotation from veh to nav: [[-0.897889,0.423648,0.119659],[-0.434843,-0.811162,-0.391059],[-0.068608,-0.403160,0.912554]]2H@ ?? yۿ ٿK``ٿ3?i2VW@I2^;0YZ)AyZGyRQ?-?+ÿB??5> 9x&?Cl?ClɿY7i?y;_>OBAlB B)qBYBbD"VD9y %I=ٔ(9I=FylE lE >92Acoustic response timeoutQ 5A4ȉ?Q 9A4)!AY]u?Q E]:y#Q I?? BI>e;iud;1A4y3BɮB*jBjiiziJii k,k,k,h k`k`k`h2f%K'>:f%K'>Bf%=>Jf%ym@E/@ɢE>)I M@iI)M+IIiUϨQIYa^AԉD) zD- ?AE= W E= =E= =E9 "E= :*E= 8VE= |4ZE9 aE @aE @aM @aM @A I I m 2Acoustic response timeoutO >Թ ן Rя,֏,HE?A:fU@:/c@:nԔ=ٱ:OҾ FAHRS rotation from veh to nav: [[-0.911000,0.399560,0.102130],[-0.405964,-0.825238,-0.392652],[-0.072607,-0.399167,0.913999]]:H&d?,%?QٿXh6!ٿ\ٿ`z??i:fU@I:s^;8Yb *Ayb!GB>BxCBGB)AB=BBB;BEbDj,"VDj9y=<%=V=ٔE,9AII=MFyMnEM6EM>QQ 5]A4Uiȉ?Q 9]A4Ua)UAYaye%Q Ie?UBIU:iU=:U>>A4ymGBɮmBuE*jBjiiziJii kGkGkGh k#_k#_k#_h2f:fBfJf;l@0@ɢ^&>) @i)SiIԑ2Acoustic response timeout^A] (q>A$AIIO> E= U E= AE= AE9 "E= :*E=  9VE= A4ZE9 BE= :aE 2E= :aM JE= :aM :E= :aM Q nRя,eFHE?Aɰ2S@2`a@2ʉ=ٱ2Ҿ >AHRS rotation from veh to nav: [[-0.923573,0.373785,0.085424],[-0.375742,-0.837954,-0.395793],[-0.076360,-0.397641,0.914358]]2H@?W޵?`& ؿ TٿY`rٿkB?i2S@I2^;0Yb)AybGbDj!VDjY9yrS%vP=ٔv9zH?IzH?=zFyzqEz=Ez>Q 5A4ȉ?Q 9 A4)AY y 'Q I ?BI:i:KA4yFBɮB%2Acoustic response timeout*j1Bj9i9i9zi9JiAiA kFkFkFhQ kFkFkFh2f:fBfJfMj@5[@ɢ5ɨ>)9 =@i9)E{ AAiErNQIY9^A12q>2Acoustic response timeoutAII O= >i Rя,>A`HE?A :Q@:P_@:=ٱ:`Ѿ FAHRS rotation from veh to nav: [[-0.935470,0.346694,0.068551],[-0.344262,-0.850116,-0.398481],[-0.079874,-0.396366,0.914611]]:H`^`=0??`cֿ%4ീٿ r`^ٿ~D?i:Q@I:Ρ^;8YN})AyNqGdh h)hIhihhbDrN!VDr9yz|%zJ=ٔz{9|I|=~FysEeE> Q 5A4 ȉ?Q 9A4 n) dAYy)Q I? eBI ;i T; $ZA4y!ɮ%B!*j9Bj9i9i9ziAJiAiA k@k@k@hQ k@k@k@hi2fy:fyBfyJf})g@额q@ɢ>) @i)g顡i빼IEQ ECE;E"E29*E09VE4ZEa@a@a@a @i52Acoustic response timeout GMrA1mO9mMrAYmB^AԡB>BzCBGB#)AB=BBDBF;BFEAIIO>  2Acoustic response timeoutRя,&zHE?A2yO@2o]@2s=ٱ2Ѿ :AHRS rotation from veh to nav: [[-0.946464,0.318530,0.052384],[-0.311921,-0.860628,-0.402523],[-0.083133,-0.397313,0.913910]]2H oIb?Ҫ?`ӿCٿ 0Hmٿ>?i2yO@I2^;2mC\Yb)AyfGbDn VDn9yvR<%vK=ٔz9xIx=zFyzvE~$E~>Q 5 A4`vȉ?Q 9 A4)%AYy",Q I?BIF:i:;hA4yɮB!*j1Bj1i9i9zi9Ji9iA k#Bk#Bk#BhQ kYkYkYha2fq:fqBfqJfune@颕@ɢ|>) @i) ޼顙i捿I^AAE%a E%@E%AE!"E%%.:*E%9VE%A4ZE!BE%F3;a52E%H3;a5JE%/:a=:E%1:a= =2Acoustic response timeoutAAIIIO>! 5$Rя,HE?A2zIM@2C?[@2հ=ٱ2dӾ >AHRS rotation from veh to nav: [[-0.956326,0.289994,0.036660],[-0.279291,-0.869541,-0.407302],[-0.086238,-0.399752,0.912557]]2H9C?Ţ?ѿG =ڿ ٿ3?i2zIM@I2,^;0YF\)AyFGGyn?x&1?1Zd?A>"۽ 9%C?Cl?MbXɿYZd?y>JcBvB B)BYBbD2 VD9y%0%%8=ٔ-;Q-->9-K?I-K?=-Fy-yE5̝E5>9Q 5EA4=Zȉ?Q 9EA4=)=*AYM?Q EMT:yM!Q IM?=sBI= :i=:=wA4yUEBɮUB]E*jiBji2Acoustic response timeoutiiziJii kSAkSAkSAh  k[k[k[h92fm?>:fm?>Bfm>Jfm0e@颵@ɢ<>) ʒ@i)项iOżIIy^A E U E CE @E "E :*E 09VE 4ZE a @a @a @a @M 2Acoustic response timeoutAI Ia Iq  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I O >*Rя,ҭHE?A2K@2Y@2]=ٱ2r7վ :AHRS rotation from veh to nav: [[-0.965114,0.261032,0.020440],[-0.245996,-0.877242,-0.412229],[-0.089674,-0.402876,0.910851]]2H5 ?E?`|Ͽ\aڿٿ%?i2K@I2b^;2nCBR >BR|CBRlGBR(ABR=BPBRDBRC;BRNJE ``Y^f)AybTGbDEVDEP9Թy0;%Q=ٔg9I=Fy{EE>Q 5A4Aȉ?Q 9A4)AYy"$Q I?BI$:i:mA4yDBɮB*j Bj i iziJii k\k\k\h) k\k\k\h92fI:fIBfIJfM)rc@m@ɢmnt>)i mё@ii)u@qqiu@ʼyIy2Acoustic response timeout^A12q>AII O5 >9 E!  E% GE% DE! "E! *E% R9VE% J5ZE! 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O] > Rя,_eJE?A:-*@:8@:$b>ٱ:߾ BAHRS rotation from veh to nav: [[-0.960302,-0.174832,-0.217380],[0.248386,-0.890584,-0.381004],[-0.126984,-0.419873,0.898655]]:H˺@`ƿ ˿ ?```bؿA4ڿ?i:-*@I:n^;:lCYJ$"AyJfGbDVVDV8yZ/5%^V=ٔ^x?:Q-^>9`I`=bFybEf͖Ef>hQ 5jB4jfƉ?Q 9nB4j)j2@Ypyr1@Q Ir?j-BIj$5;ij6;j@tB4yvPBɮv BzE*jBjii zi Ji i  ks[ks[ks[h! ks[ks[ks[h12fA:fABfAJfE>g@ed@ɢe>)a e]@ii)mk=iiim qIqԹbE4jEu5rE1E}W E}CE}OEy"E} :*E}09VE}*5ZEya@a@a@a@2Acoustic response timeoutB<A<B>BCBpGB[!AB=BBDB;BEBmŌCBmŎCBmřCBmż=Bmż=Cm m6^AA5$AIAIQO>9 e In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe 2Acoustic response timeout=Rя,:JE?A2()@2J7@2>ٱ2ܾ :AHRS rotation from veh to nav: [[-0.953116,-0.200530,-0.226623],[0.274453,-0.888290,-0.368261],[-0.127460,-0.413193,0.901679]]2H@`ɿͿ? l ׿Pqڿ?i2()@I2X^;2mCYB!AyBGJJ>J5?bDNTVDN18yvD%vG=ٔvE:Q-z>9zH?IzH?=zFyzE~E~>Q 5 B4 KƉ?Q 9 B4)@Y y/@Q I?n/BI:i:B4yOBɮB*j9BjAiAiIziQJiQiY k\k\k\hq2f:fBfJf\f@@ɢ-&q>)1 X@i)(=i7 IAES EBECE"E9*E(9VE5ZEBE :a2E:aJEQ+:a:ET+:apIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout^AqqA AI I O >ԙ Rя,JE?A2c'@2}Y5@2,O>ٱ2ؾ :AHRS rotation from veh to nav: [[-0.945116,-0.226382,-0.235599],[0.300670,-0.884814,-0.355951],[-0.127881,-0.407253,0.904318]]2Hc>̿`(ο`,>?fPֿd^nڿ-?i2c'@I2H^;2rCYB5!AyB@GyEn?K7MbE6?EI EA A9Ed;O? rhL7A`пYE4?yEC E+EyBE\yB E/B)AAYEBbDVD8yO%@=ٔ:Q->9K?IK?=FyEE>Q 5B45Ɖ?Q 9B44)@Y'A?Q E:y>(@Q I?0BI ;iq ;zB4yɮ)B*jBjiiziJii kDkDkDh kYkYkYh zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout2fUK>:fUK>BfUIE?JfU.@y%@ɢ%\>)! %T@i))- 5'=))iMQIQԡ^A (q>DzD@AET EEEE"E9*EVE 5ZEa@a@a@a@A I I  2Acoustic response timeoutO >B >B CB GB  AB =B B DB ;B E E%Rя,9JE?Aɰp<2%@2u3@2>ٱ2Ӿ :AHRS rotation from veh to nav: [[-0.936115,-0.253485,-0.243790],[0.327404,-0.881252,-0.340883],[-0.128431,-0.398924,0.907946]]2H 9п@4Ͽ0?`73տ opٿ ?i2%@I2@^;2nCYJ AyNGxx x)xIxi||  <bDtVDc8y-%-Q=ٔ5X:Q-5>9AIA=MFyUEE>Q 5B4G!Ɖ?Q 9B4i)@Yy&@Q I?1BI:i:ԟB4yɮ7B*j Bj iiziJii kSAkSAkSAh) kZkZkZh92fI:fIBfIJfM@mF@ɢm͍>)i mXP@iq)}RZ1=yyi}I-2Acoustic response timeout^A12q>A $AI I! ) O] >E U E E NE "E :*E VE '5ZE BE :a 2E $:a JE a :E a Q HRя,RJE?AB2Acoustic response timeoutR#@RI1@R >ٱRϾ ZAHRS rotation from veh to nav: [[-0.925750,-0.281557,-0.252412],[0.355331,-0.876042,-0.326023],[-0.129329,-0.391506,0.911042]]RH` ҿ@'п?`ԿٍmٿA'?iR#@IRک^;RoCYv= AyvGbD-VD-8yMu%UH=ٔU;Q-U>9]H?I]H?=]Fy]EeEe>iQ 5mB4mXƉ?Q 9uB4m)m@Yqyu$@Q Iu?m2BIm;im3;mmB4yNBɮFBE*jBjiiziJii kCBkCBkCBh k\k\k\h2f1:f1Bf1Jf5Υ@u@ɢu>)q uK@iq)};=yyi}I)i^A=2Acoustic response timeoutA AI I! OQ ԁ 37Rя,3JE?A06g!@6//@6ɔ>ٱ6˾ >AHRS rotation from veh to nav: [[-0.913962,-0.311238,-0.260392],[0.384385,-0.869688,-0.309663],[-0.130081,-0.383111,0.914497]]6H.?RӿAп`Ù?{ӿ |ؿC?i6g!@I6^;6nCYfAyfNGbDMVDM8y%G=ٔ/:Q->9K?IK?=FyEE>Q 5B4ʼn?Q 9B4)v@Yy#@Q I?3BI:i:ʻB4y9BɮEBE5GDU=DU4=Eec Ee?EeDEa"Eeg5:*Ee?9VEeJ5ZEaam@am@am@au@qDؿ9YA*j!Bj!i!i)zi)Ji)iI kDkDkDha2Acoustic response timeoutԙ k3[k3[k3[h2f:fBfJf'ף@@ɢP>)  F@i ) +G=iaI@Mt>@Ml>A!A%?AB-/>B-CB-GB-AB)B-DB-DB-;B-3EԹ^AAzApA A I I E 2Acoustic response timeoutO] >Rя,,KE?A2h{@20q-@2>ٱ2ɾ :AHRS rotation from veh to nav: [[-0.900475,-0.340502,-0.270561],[0.414677,-0.859746,-0.298126],[-0.131101,-0.380650,0.915379]]2HտPѿ? ~ӿ \ؿJ?i2h{@I2^;2pCYBAyBG`bDVD%8yܵ%%A=ٔ5;Q-=>9AIA=MFyME}+E>Q 5B4ʼn?Q 9 B4)@Yy @Q I?5BI ) A@i!)%HQ=!!i%IIIEmS EmCEmFEi"Em9*Em09VEm 5ZEiBEm :au2Em:auJEm9:a}:Em9:a}2Acoustic response timeout^AA A I I O >} >} >IRя,1`KE?A2R@2H+@2#>ٱ2i˾ :AHRS rotation from veh to nav: [[-0.885808,-0.367580,-0.283247],[0.444716,-0.846778,-0.291882],[-0.132557,-0.384516,0.913551]]2HX@l׿ ҿ 9v?@2ҿؿ;?i2R@I2Ř^;0YBAyBG pp=p=yq= ףp?n?zGế ?V> ׽ 9 rh? ףp= ?MҿY ?yQ8>ncBwB B)YBbDVD8ym%N=ٔ@s;Q->9I=F2Acoustic response timeoutyEtE> Q 5B4 ʼn?Q 9B4 ) @Y%?Q E:yJ2@Q I? 5BI  ;i  ; B4y!ɮ%eB!*j9Bj9iAiAziAJiAiA kAkAkAhY k3Zk3Zk3Zhi2f}>>:f}>>Bf}?Jf} ?额g@ɢv>) =@i)g1Z=顡iAII^AqDqzDqE}V E}AEyEy"E}=:*E} 9VEyZEya@a@a@a@A- $AI1 IA I  2Acoustic response timeoutO >ԡ B% i>B% CB% \GB% :AB% =B! B% ĻDB% ;B% REtRя,!?4KE?AqY}Ay}fGbD[VDu8y%L=ٔQ->9H?IH?=FyEE>Q 5B40ʼn?Q 9B4C)@YyQ I?6BI;iD;xB4y7BɮuB*jBjiizi!Ji!i! kAkAkAh9 kXkXkXhI2fY:fYBfYJfYu@ɢ}W>)y }8@iy)}c=顁iBaIԡ2Acoustic response timeout^AAA IQ Ia O > E Y E IE AE "E :*E c9VE A4ZE BE #;a 2E %;a JE :a :E :a S[Rя,DNKE?A;ɰ;22Acoustic response timeoutY~RAy~yGbD-VD-$8y=%=T=ٔAQ-E>9AIA=EFyEEIEM>QQ 5]B4Uʼn?Q 9]B4U~)U@YYyaQ Ie?Uv7BIU;iU;UB4yiɮmBi*jBjiiziJii k#@k#@k#@h kXkXkXh2f:fBfJf@ɢL>)c_ u3@i)i9I^A92Acoustic response timeout1A}AIIO>Y jRя,AgKE?AVr@Vh"@V>ٱVrо ^AHRS rotation from veh to nav: [[-0.814954,-0.475769,-0.330900],[0.562292,-0.787360,-0.252767],[-0.140278,-0.392056,0.909183]]VHr޿@u-տ`L? 2@W-п`qٿ`?iVr@IV^;TYf2AyfRG11 1)1I1i11bDMVDM8y]'%]H=ٔeh9eK?IeK?=mFymEmŭEu>yQ 5C4}ʨʼn?Q 9C4})}@Yy)@Q I?}G8BI}!*;i}1;}6C4yɮB*jBjiiziJii k#@k#@k#@h2f :f Bf Jf  >5>@EEX EEBEEEEA"EE~ :*EE(9VEE 5ZEAaM@aM@aU@aU@Yɢ]6B>)a eL0@ia)aaiimqI}hDAT read: Forwarding Delay UpTx time:18:21:33.3548 }pIn parseResponses, set commsState_ = SENDING_ACK_WAITING}2Acoustic response timeoutB<AB>BCBGBAB=BBȻDBH;BEԁ^A=QFq>ԱAe $AIq I O >% 2Acoustic response timeout wqRя,ہKE?A^<@^2 @^H>ٱ^Ͼ AHRS rotation from veh to nav: [[-0.794809,-0.502547,-0.340184],[0.589924,-0.771330,-0.238832],[-0.142369,-0.390508,0.909524]]^Hoտ`? ο@)9¿ؿ`?i^<@I^č^;^oCY'Ay GbD5VD5L8y %:=ٔZ;Q->9H?IH?=FyÊEğE>Q 5C4˘ʼn?Q 9C4ԩ)@Yy&@Q I?)9BI>+;iK,;C4yɮB*jBjiiziJii kC;kC;kC;hQ2fa:faBfaJfeM9>额@ɢl2>)J; 4)@i)顡i{ZIEES EECEEDEA"EE9*EE09VEEJ5ZEABEE:aM2EE:aMJEE9:aU:EE9:aU}2Acoustic response timeout^A12q> A AI I OM >1 җRя,;KE?AJ@J[@J>ٱJFξ RAHRS rotation from veh to nav: [[-0.773992,-0.528760,-0.348352],[0.616451,-0.754925,-0.223778],[-0.144655,-0.387944,0.910261]]JH fKֿ?@X(̿` ¿ؿ ?iJ@IJ^;HYnAyn_G2Acoustic response timeoutyʡE?x&1?y&1??A`>`e= 9+?Zd;O?I +Y>yj>94B )95K?I5K?==Fy=ƊE=-E=>AQ 5MC4E8ʼn?Q 9MC4Eۿ)E3@YU?Q EU:yUG@Q IU?E9BIEW;iE;EXC4y]6Bɮ]Be߳E*jyBjyiyiyziyJii k"k"k"h k3;k3;k3;h2f2>:f2>BfE@Jf9@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed@ɢ<>) $@i)iI9U%|bEǃ 5jEr 5rE0E]f E]LE]HEY"E]I@:*E]|9VE]-5ZEYam@am@am@am@i  2Acoustic response timeoutB >B CB GB 6AB =B DB ʻDB ;B ыEBʣCBʢCBʚCBʵ=Bʳ=C6^A ԡ A $AII!OU>oRя,KE?A> @>@>>ٱ>ξ FAHRS rotation from veh to nav: [[-0.752602,-0.552412,-0.358373],[0.641665,-0.737449,-0.210794],[-0.147837,-0.388599,0.909469]]>HQ[ֿ?`/`LʿP¿`ؿ_?i> @I>I^;>mCYNAyN{G==bDTVD8y]ѽ%]9=ٔ];Q-e>9eH?IeH?=eFyeȊEmEm>iqQ 5}C4uuʼn?Q 9C4u)u@YyE@Q I?u:BIu:iu:u.C4yɮٝB*jBjiiziJi)i) ks;ks;ks;h9 ks;ks;ks;hq2fy:fyBfyJf}˄@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRuddert@ɢ@$>) @i)i- I;>4=2Acoustic response timeout&lmԡ^AE#q>E Z E FE JE "E :*E ;J9VE 5ZE BE j;a 2E l;a JE e:a :E e:a i I A1 IA IQ  2Acoustic response timeoutO > Rя,{KE?AZ^ @Z&@Z>ٱZ`i; jAHRS rotation from veh to nav: [[-0.730933,-0.575967,-0.366057],[0.665410,-0.720597,-0.194860],[-0.151547,-0.386008,0.909962]]ZH@c Sn@|m׿` K? `,ȿ@eÿZؿi?iZ^ @IZ^;ZoCYr\AyrսGbDeVDe[8yD%F=ٔ79I=FyˊEE>Q 5C46dʼn?Q 9C4)R@YyC@Q I?;BI:i:7=C4y5BɮB*jBjiiziJii ks9ks9ks9h  k9k9k9h2f:fBfJfq@@ɢ]*>) @i)iW; I2Acoustic response timeout5l;^A c>1AY Iy I O Y Rя,7PKE?AEQ ECEEE"E29*E09VE 5ZEa@a@a@a@"4<ɰ >J @>@>^ >ٱ>F̾ FAHRS rotation from veh to nav: [[-0.708281,-0.598825,-0.373829],[0.688485,-0.702970,-0.178384],[-0.155970,-0.383722,0.910182]]>H<)׿? ~Lƿÿ ؿ5 ?i>J @I>^;>nCYNAyNټGbDZVDZ8yb%bZ=ٔbC9dId=fFyf͊Ej²Ej>hQ 5UC4e2Acoustic response timeoutjTʼn?Q 9eC4j)jڹ@YaymA@Q Im?ji) :@i)i_I1AA@AB>BCBGBAB=BB˻DB;BEa^A}=>ԡAAII 2Acoustic response timeoutO > ߴSя,_(LE?A2 @2Ҩ@2p%>ٱ2; :AHRS rotation from veh to nav: [[-0.685375,-0.619020,-0.383503],[0.710171,-0.684642,-0.164083],[-0.160992,-0.384812,0.908846]]2H`Rؿ?ſ _ĿؿE?i2 @I2^;2pCYB<AyBrGHJAy uV? rh?ʡE? rH? C = -=  9 "~?~jt?S?Y ?y > > jB {B ]B) FB Y aBbD-WVD-8y5F%5C=ٔ}(C9K?IK?=FyЊE E>Q 5C4h=ʼn?Q 9C4)ܸ@Y+?Q E:y7@Q I?=BI;iq;:fM>BfM@JfMR@颅h@ɢ3>)d  @i)顑ԑi!AIE=U E=uE=DE9"E=:*E=:VE=J5ZE9BE=#:aM2E=(:aMJE=wd;aU:E=xd;aU^A2>u2Acoustic response timeoutAIIOX> 2Acoustic response timeout! Sя,>!LE?A:@:@:Z+>ٱ:˾ FAHRS rotation from veh to nav: [[-0.663156,-0.639492,-0.388939],[0.729791,-0.667842,-0.146259],[-0.166218,-0.380837,0.909579]]:H@8 v`ؿ sZ?@^ ¿Fſ_ؿ F?i:@I:^;8YNwAyNGdd d)dIdiddbDnVDn98yv%vO=ٔz{`9xIx=~Fy~ӊE~E~>Q 5 C4(ʼn?Q 9 C4)@Yy5@Q I?>BI:i:fC4y2Bɮ#B%޳E*j1Bj1i1i1zi9Ji9i9 k3<k3<k3<hQ kVkVkVha2fq:fqBfqJfuh @颕@ɢA >)  @i)顙i "I^Al=AoAzA i>CnG1AIIu9qYuBIyIOC>EE[ EEBEEFEA"EEa:*EE(9VEE 5ZEAaM@aM@aM@aM@}2Acoustic response timeoutB>BCBGBAB=BBͻDB;B_EI Sя,/:LE?A02(@2\@28/>ٱ2^Ⱦ >AHRS rotation from veh to nav: [[-0.643976,-0.657052,-0.391889],[0.745734,-0.653479,-0.129795],[-0.170809,-0.375830,0.910811]]2H`tٿ ?`Lſ ؿ\%?i2(@I2^;2oCYFAyFGbDjVDj8yrvý%rK=ٔvV=9tIx=zFyzՊEzEz>|Q 5C4~:ʼn?Q 9 C4~@)~@Y y @4@Q I ?~?BI~:i~=:~tC4yɮ7B*j)Bj)i)i1zi1Ji1i1 k:k:k:hI kYkYkYhY2fi:fiBfiJfm96@颍@ɢ>) r@i)顑itI^Ael=2Acoustic response timeoutԉAIIO)>ԹEU X EQ EU PEQ "EU ~ :*EQ VEU -5ZEQ BEU :a] 2EU :a] JEU S+:ae :EU V+:ae i߁ I߁  2Acoustic response timeoutSя,TLE?A27@2@24>ٱ2ƾ :AHRS rotation from veh to nav: [[-0.629876,-0.669095,-0.394421],[0.756745,-0.643036,-0.117648],[-0.174910,-0.372580,0.911367]]2H ':i3>ٿA7? -qcƿ`Z׿)?i27@I2^;2nCYBAyBԹG\~=~=bD VDl8y߽%?=ٔ9I=Fy؊E-E>Q 5C4ĉ?Q 9C4)@Yy3@Q I?@BI:i:ŃC4y1BɮNB*jBjiiziJii kXkXkXh kXkXkXh 2f!:f!Bf!Jf%&@=h@ɢ=z5 >)A E6?iA)AAAiE6IIQ2Acoustic response timeoutU-B^A5jZX;A! 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O5 >"Sя,rLE?A;ɰ^@^@^<>ٱ^ fAHRS rotation from veh to nav: [[-0.615113,-0.691512,-0.378744],[0.766804,-0.636451,-0.083323],[-0.183433,-0.341675,0.921743]]^H@ U=ؿ?]@T@zǿտ~?i^@I^x^;^oCYrAyrGyyK7A`?K7A9 I = Fy ݊E2mE>Q 5C4Oĉ?Q 9C4)k@Y"Q?Q E:y@Q I?FCBI:iC4yBɮYBԳE*jBjiiziJii kWkWkWh kWkWkWh2f~>:f~>Bf3@Jf@%7@ɢ%~>)! %?i!))))i-TE5W E5AE1E1"E5 :*E5 9VE1ZE1BE57:aE2E5<:aEJE5:aE:E5:aEIIQM2Acoustic response timeoutԡu+@}@}@}@}  2Acoustic response timeoutI I OU >(Sя,fLE?A2r@29@2+@>ٱ2p :AHRS rotation from veh to nav: [[-0.613274,-0.701003,-0.363991],[0.767520,-0.637722,-0.064989],[-0.186568,-0.319226,0.929132]]2H`nK׿`?8htǿ 4nԿs?i2r@I2^;0YBNAyBGHHbDN VDNV8yVs%VP=ٔV9XIX=^Fy^E^ҟE^>`Q 5fC4bĉ?Q 9fC4b)b@Ydyj`@Q Ij?bDBIb6:ibp:b1C4lyrBɮrqBrӳE*jxBjxi|i|zi|Ji|i| kYkYkYh kYkYkYh!2f1:f1Bf1Jf5@U}@ɢUHi>)Q ]?iY)YYYi]?aIa pܼIIDAzDAEMY EMGEMSEI"EM:*EMR9VEM75ZEIaU@aU@aU@aU@O]3>]2Acoustic response timeout1B]>B]CB]rGB]ABYBYB]ѻDB];B] Ea .Sя,4LE?A6p@67@6:+B>ٱ6 >AHRS rotation from veh to nav: [[-0.613467,-0.708281,-0.349280],[0.766898,-0.639863,-0.049426],[-0.188484,-0.298183,0.935714]]6H<Zֿ m?`ycN< ȿoӿ@^?i6p@I6'^;4YFAyFGbDRz VDR 8yZ&%ZJ=ٔZ0;Q-Z>9\I\=^Fy^Eb:Eb>dQ 5jC4fJĉ?Q 9jC4f)f@YhyjU@Q Ij?fEBIf:if9:fPC4yrBɮrBp*jxBj|i|i|zi|Jii kCYkCYkCYh kCYkCYkCYh!2f1:f19Bf1Jf5Ӈ@]@ɢ]=)Y e2?ia)aaaie0iIi2Acoustic response timeouti8ƼIIOMR>ԱEuV Eu?EuGEq"Eu=:*Eu?9VEu5ZEqBEu:a2Eu:aJEuK9a:EuP9am 2Acoustic response timeout 5Sя,LE?A2@2P@2gB>ٱ2@ :AHRS rotation from veh to nav: [[-0.615548,-0.713395,-0.334915],[0.765172,-0.642749,-0.037223],[-0.188711,-0.279180,0.941513]]2H "=oտ`J|?e'ȿѿ ?i2@I2'^;2pCYvSAyviGbDI VD8y%D=ٔ:Q->9I!=%Fy%E%n;E%>)Q 55C4-ĉ?Q 95C4-ݚ)-F@Y9y=n@Q I=?-'GBI-/;i-L;-C4yAɮEBI*jYBjYiYiaziaJiaia kSVkSVkSVhy kcVkcVkcVh2f:fBfJfև@ԹG@ɢ=) ~?i)iI2Acoustic response timeoutIIO J>9 bEX5jE5rEЊ1Ee X Ee BEe JEa "Ee ~ :*Ee (9VEe 5ZEa au @au @au @au @;Sя,pLE?A2Acoustic response timeoutN*@N @N%A>ٱN$Ҋ ^AHRS rotation from veh to nav: [[-0.618505,-0.716744,-0.322069],[0.762978,-0.645818,-0.028005],[-0.187925,-0.263053,0.946302]]NH@ǜԿ`Pj?k ȿпH?iN*@INl^;NqCYj=AyjGB >B CB GB AB =B B ԻDB $;B fEBCBCBCB=B=C:5 )Ii=a=bD VD8yE"%?=ٔQ->9I=FyE]<E>Q 5C4 ĉ?Q 9C4~)׭@Yy@Q I?HBI];i;C4yBɮB*jBji!i!zi!Ji!i! kSVkSVkSVh9 kcVkcVkcVhI2fY:fYBfYJf]@}@ɢ}=)}0s }?i)顁iII1IIO=A2Acoustic response timeoutqԙ BSя, ME?A68W@6L@6A>ٱ6~Z >AHRS rotation from veh to nav: [[-0.620633,-0.719095,-0.312597],[0.761384,-0.647957,-0.021106],[-0.187372,-0.251106,0.949651]]6H9`@ԿC]? ٜǿпc?i68W@I6^;6nCYFAyF{GHHybX9?Q롿I +E6?\94 9Cl?y&1|?V-Yd;?y`;%BŀB ʉB)Y=BbD- VD-88y=٠%ET=ٔEQ-E>9AII=MFyMEM-;EM>QQ 5]C4UTuĉ?Q 9eC4Uߎ)Uƪ@Ye=?Q Ee:ye3@Q Ie?UIBIUS;iU;UKC4ymBɮuBuɳE*jBjiiziJii kTkTkTh kTkTkTh2f=:f=Bf-?JfGg@@ɢސ=) ͵?i)iEU EFEGE"E:*E;J9VE5ZEBE$:a-2E):a-JEe:a-:Ee:a-qIIAIYe2Acoustic response timeoutO=ԡ% 2Acoustic response timeout HSя,0%ME?A4<ɰ4<2i@2^@2hA>ٱ2+0| :AHRS rotation from veh to nav: [[-0.621454,-0.722142,-0.303819],[0.760694,-0.648971,-0.013454],[-0.187454,-0.239474,0.952635]]2HqӿW?`_ǿο@{?i2i@I2^;2oCY^$AybG E49I=FyEE-;E>Q 5C4fĉ?Q 9C4و)y@Yyf@Q I?JBI:i:C4yBɮB*jBjiiziJii kVkVkVh kspkspksph2f :f Bf Jf 7Dh@-{@ɢ-;=)) -1?i1)111i5J9I9AaIqIO>E5Y E5KE5CE1"E5:*E5]t9VE55ZE1a=@a=@a=@a=@2Acoustic response timeoutBF>BCB°GBAB=BDB׻DB;BE) q#OSя,~?ME?A,2 e@2Z@2rA>ٱ2r :AHRS rotation from veh to nav: [[-0.621228,-0.725032,-0.297329],[0.760795,-0.648953,-0.007116],[-0.187793,-0.230628,0.954748]]2Hu3 rӿ@oX? 9&} ȿ5ͿL?i2 e@I2^;2rCY^Ay^lGbDE VDE8y$%G=ٔ5\:Q->9I=FyEkE>%=%=2Acoustic response timeoutQ 5D4Wĉ?Q 9D4)1@Yy{@Q I?KBII;i*(;D4yɮ B *jBji!i!zi!Ji!i! kxkxkxh9 kxkxkxhI2fY:fYBfYJf]h@}@ɢ}լ=)y }?iy)顁iI1YcռAqAzAE=_ E=EE=NE9"E=&:*E=A9VE='5ZE9BE=&;aM2E=&;aMJE=W:aU:E=W:aUAII O} > 2Acoustic response timeoutԡ VSя,!WYME?A0:K@:uA@:,B>ٱ:;k BAHRS rotation from veh to nav: [[-0.619971,-0.728002,-0.292659],[0.761667,-0.647967,-0.001672],[-0.188416,-0.223946,0.956215]]:H` Kҿ_?`%f[ ȿ A̿P?i:K@I:o^;:pCY^VAybGba=bC=bD- VD-x8ye8%mP=ٔm:Q-m>9qIq=uFyuEuvE}>Q 5D4Iĉ?Q 9D4&}) @Yyt@Q I?MBI :i:D4yBɮBȳE*jBjiiziJii kfkfkfh kukukuhY2fi:fiBfiJfm h@颭V@ɢ=) V?i)i aIԉe2Acoustic response timeoutA9IAIQOY>ԹG = 9A YE OA D= =D9 EE f EE DEE JEA "EE I@:*EE a99VEE 5ZEA aU @aU @aU @aU @5\Sя,3sME?A&2Acoustic response timeoutF2@F(@FB>ٱF>f NAHRS rotation from veh to nav: [[-0.618748,-0.730414,-0.289217],[0.762517,-0.646963,0.002574],[-0.188993,-0.218941,0.957260]]FH_@ҿf?`e?0ȿ>̿ߡ?BR}>BRCBR8GBR ABPBPBRܻDBR;BREliF2@IF}^;FqCYAy GAAAAbD= VD=P8yM%ML=ٔU:Q-U>9QIQ=]Fy]E]AwE]>aQ 5mD4ee;ĉ?Q 9mD4eRw)eҝ@Yqyui@Q Iu?e"NBIe:ie:eD4yyɮ}B*jBjiiziJii kSukSukSuh kSukSukSuh2f:fBfJfNh@@ɢ=) ?i)ilI  n1 2Acoustic response timeoutA1IQIyO} >a cSя, ME?A2!@2@2uB>ٱ2d :AHRS rotation from veh to nav: [[-0.617809,-0.731739,-0.287872],[0.763336,-0.645991,0.003826],[-0.188762,-0.217380,0.957661]]2Hgjlҿ>m?Vo?\)ȿ`˿(?i2!@I2^;2nCYBAyBgGy /$?Zd;O?sh|? ,? j<   9 }?5^I?Q?OnÿY M"?y =   hB B) :B9 Y BbDn VD*8yj %F=ٔQ->9I=FyE)IE>Q 5D42,ĉ?Q 9D4r)@Y)?Q E:y!@Q I?OBIe ;i ;G.D4yBɮ-B*jBjiiziJiiE[ EBENE"Ea:*E(9VE'5ZEBE ;a 2E ;a JET+:a :EV+:a  kqkqkqh2f-=:f-=Bf-?Jf-,@e@ɢm1=)m_ uq?iq)yyyi}:IU2Acoustic response timeoutiAE\?AAA$AIIO>  2Acoustic response timeoutGiSя,ME?A2@2 @2@>ٱ2b :AHRS rotation from veh to nav: [[-0.617608,-0.732740,-0.285748],[0.763876,-0.645351,0.003843],[-0.187223,-0.215903,0.958297]]2HrrIҿ q?pzo?`ǿ`˿^?i2@I2l^;2oCYB AyBGXX X)XIXi\\bDf VDf8yj<%jW=ٔnLQ-n>9rH?IrH?=rFyrErJEv>tQ 5zD4v7ĉ?Q 9zD4vn)v@Y|y~@Q I~?vPBIv ;iv;v;D4y Bɮ E X E IE YE "E ~ :*E c9VE J5ZE a@a@a@a@e2Acoustic response timeoutB>B̏CB|GBq AB=BDBDB;BJE9 .pSя,ME?A6@6P@6 >>ٱ6:vb >AHRS rotation from veh to nav: [[-0.616994,-0.733866,-0.284183],[0.764864,-0.644185,0.002918],[-0.185208,-0.215561,0.958766]]6Hi { 0ҿy?`*g?`ǿ˿`5?i6@I68^;6pCYF AyFϬG Np9^K?I^K?=bFybEbl7Eb>dQ 5jD4fĉ?Q 9jD4fj)fے@Yhyn @Q In?fPBIf`:if ;fID4yrBɮr[Bt*jBjiiziJii  kckkckkckh kckkckkckh)2f9:f9Bf9Jf=1@]Aɢ]O=)a e9?ia)aaaie iIq2Acoustic response timeoutA$AIIIiIO >AqEM ^ EI EM [EI "EM C#:*EI VEM aQ5ZEI BEM } ;aU 2EM  ;aU JEM :aU :EM :a] m 2Acoustic response timeoutԙ XvSя,#ME?A2@2@2I<>ٱ2b :AHRS rotation from veh to nav: [[-0.616079,-0.735084,-0.283017],[0.766170,-0.642637,0.001310],[-0.182840,-0.216032,0.959114]]2H`΅ҿv?{uU?Lgǿ˿?i2@I2^;0YB AyB۫GbDv VDvY8y~"%~F=ٔ~Q->9H?IH?=FyE LwE >Q 5D4Pĉ?Q 9D4$f)@Yy%@Q I%?QBIa;i;WD4y)ɮ-sB)*jABjAiIiIziIJiIiI kikikiha kikikihq2f:fBfJf3@颥Aɢ1=) !?i)顩i]IAzAqAqAAIIO= >2Acoustic response timeoutԡE [ E BE TE "E a:*E (9VE :5ZE a @a @a @a @ |Sя,[zME?AIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutA A"?AB&>B&ݏCB&GB& AB&=B&DB&DB&Z;B&EF@Fq@F9>ٱFib RAHRS rotation from veh to nav: [[-0.614234,-0.737313,-0.281220],[0.768220,-0.640186,0.000535],[-0.180428,-0.215711,0.959643]]FHϧ@@ѿA?g|A?@Cǿf˿@e?iF@IF>^;DYV AyVgGbDr VDB8y/%>=ٔQ->9K?IK?=FyErһE>Q 5D4{É?Q 9D4~a)0@Yy@Q I?RBI:i:gD4yɮB*jBjiiziJii krkrkrh1 krkrkrhA2fQ:fQBfQJfUŒ@ujAɢu =)q }^?iy)yyyi}FI=}U=<pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout) Iq I O >Q mSя,x^NE?A2d@2+u@2C7>ٱ2mGb :AHRS rotation from veh to nav: [[-0.611577,-0.740004,-0.279942],[0.770789,-0.637091,0.000187],[-0.178487,-0.215662,0.960017]]2H  ѿM? c{(?`ƿ`К˿`u?i2d@I2u^;0YB AyBqGy/$?~jt?ˡE??='= 9Gz?Gz?X9vYp?yp=>:B ބB)gBY(B%@A%@AbD-& VD-8yE%MB=ٔUQ-U>9YIY=]Fy]Ee]Ee>iQ 5uD4mÉ?Q 9uD4m])mň@Yu$?Q Eu:y}!@Q I}?m TBIm ;im ;muD4yBɮBE EFE[E"E*E;J9VEaQ5ZEBE ;a2E ;aJEe:a:Ee:a*jBjiiziJii kwkwkwh kwkwkwh)5zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY52Acoustic response timeout2f=:f=Bf?Jf(@8Aɢ 0<)  >i )  iIKaII)O]v>ԁ  2Acoustic response timeoutSя,0(NE?A0::6@:,@:}6>ٱ:sd BAHRS rotation from veh to nav: [[-0.608248,-0.742391,-0.280874],[0.773663,-0.633596,-0.000722],[-0.177425,-0.217741,0.959744]]:Hvѿ?kFG ޵ƿ`˿9?i::6@I:Œ^;:nCYJAyJGR=R=bDVVDV8y^1d%^h=ٔb|HQ-b>9`I`=bFyfEf!PEf>hQ 5nD4jÉ?Q 9nD4j:Z)j@Ypyrg!@Q Ir?jTBIjQ;ij;jD4yvBɮv؟BvE*jBji i zi Ji i  kCzkCzkCzh! kSzkSzkSzh12fA:fABfAJfE_P@19M rMNAggregate::initialize marl:UpdateRudderq9UJ]Qq9U9U7UoUXAggregate::initialize marl:UpdateCommandMode18]]Y18]o]@Completed marl:UpdateCommandMode7eoe\Aggregate::uninitialize marl:UpdateCommandModeq7eneLAggregate::initialize marl:UpdateSpeed7e]a7mnm4Completed marl:UpdateSpeedq7mnmPAggregate::uninitialize marl:UpdateSpeed颍Aɢ`<) >i)顙iIԉDzDbEm*15jEm"25rEmD2Ee\ Ee@EeZEa"Ee:*Ee9VEe(N5ZEaam@am@am@au@E2Acoustic response timeoutBU>BUCBUҥGBUABU=BUDBUDBU;BU0EB̏CBЏCBƦCBƩ=BƦ=C6u9Ab?Aa?ԹIIOew> |Sя, BNE?A2@2@2s5>ٱ2}f :AHRS rotation from veh to nav: [[-0.604772,-0.744925,-0.281669],[0.776646,-0.629936,-0.001557],[-0.176273,-0.219699,0.959510]]2HKZlҿH? o(pY ƿ̿N?i2@I2J~^;2qCYBAyBGDF@AhbDNVDNy8yr%vG=ٔvT;Q-v>9tIx=zFyz Ez :Ez>|Q 5D4~bÉ?Q 9 D4~VV)~i@Y y !@Q I ?~UBI~:i~:~UD4yɮB*j)Bj)i)i1zi1Ji1i1 kclkclkclhI kclkclkclhY2fi:fiBfiJfm~@suPUpdating rudder angle -0.000000 arcdeg 9uru6Completed marl:UpdateRudder19u ruRAggregate::uninitialize marl:UpdateRudder颍Aɢ@Z<)P< C>i2Acoustic response timeout)顡iIIIIOE>EMX EMKEM`EI"EM~ :*EM]t9VEM|a5ZEIBEM:a]2EM:a]JEM0:a]:EM1:a]U 2Acoustic response timeoutA Sя,[NE?A2a@2'@2f4>ٱ2^i :AHRS rotation from veh to nav: [[-0.601107,-0.747078,-0.283804],[0.779635,-0.626228,-0.002831],[-0.175611,-0.222965,0.958878]]2H E<`)ҿ@? 0gnzƿ !̿!?i2a@I2^;2oCYBAyBzGbDNVVDN<8yVY&%VN=ٔVn޺Q-Z>9XIX=ZFyZ E^FE^>`Q 5fD4bÉ?Q 9fD4bR)b$@Ydyj @Q Ij?bVBIb:ib:b/D4ynBɮnBl*jxBjxixixzixJixi|9 kCnkCnkCnhi kcnkcnkcnh2f:fBfJf~@FAɢ林;) n=i)iIIIO=i߭4=߭4=2Acoustic response timeoutԑ E ] E FE eE "E :*E ;J9VE q5ZE a @a @a @a @B= )>B= CB= GB= KAB= =B9 B= DB= -;B= E=ќSя,uNE?A2Acoustic response timeoutN]@NjS@Nq4>ٱNn ZAHRS rotation from veh to nav: [[-0.598164,-0.748276,-0.286849],[0.781893,-0.623397,-0.004279],[-0.175619,-0.226846,0.957966]]NH`)$`[ҿE?\q`zƿF Ϳ?iN]@INr^;NrCYbnAybGxx x)xIxixx||bD&VD8y,%D=ٔe7Q->9!I!=%Fy%E%E->)Q 55D4-2É?Q 9=D4-N)-z@Y9y=} @Q I=?-WBI-];i-;-ɬD4yM԰BɮM&BMEԙ*jBjiiziJii kmkmkmh kmkmkmh 2f9:f9Bf9Jf=x~@uAɢ}fg')y }iy)yyi| II9IIO}=2Acoustic response timeout Sя,˟NE?A6I@6d?@64>ٱ6Us BAHRS rotation from veh to nav: [[-0.597217,-0.747573,-0.290632],[0.782636,-0.622439,-0.007175],[-0.175537,-0.231744,0.956808]]6H@g`඙ҿZ ?c}wƿ`ʩͿ+?i6I@I6^;6oCYF:AyJGPRa=ym ףp= ?Mb ףp= ?mQx?mmQ=i i9mJ +?V-?"~j?YmH?ymm=mS=im7B m#B)m BiYm̑BbD VD8y76%A=ٔOQ->9I=FyEE_ EGElE"E&:*ER9VE5ZEBE&;a%2E&;a-JE#t:a-:E&t:a-u=Eu>yQ 5D4}É?Q 9D4}G)}2~@Y?K?Q E:y@Q I?}YYBI}:i}:}hD4yӰBɮKB*jBjiiziJii khkhkhh 52Acoustic response timeout khkhkhhA2fuT>:fuT>Bfu88,@Jfu6@颕Aɢ"1) &i)顙iϖ򼉨I!AI!I9O]>I 2Acoustic response timeouty Sя,zNE?A2~`@2DV@2!3>ٱ2) x :AHRS rotation from veh to nav: [[-0.598382,-0.745454,-0.293660],[0.781897,-0.623311,-0.010976],[-0.174859,-0.236180,0.955847]]2H%@SҿL?@*zaƿ%;ο@L?i2~`@I20^;2qC fWi>jCYjGAyrrGMGaۮ9Y`AAAAAbDVD8Qy]N?]Ayn %<=ٔiϺQ->9I=FyEgR;E>Q 5D4tÉ?Q 9D4A)}@Yy @Q I?ZBI:i:D4yɮjB*jBjiiziJii kikikih k3ik3ik3ih 2f:fBfJfœ@=Aɢ=_)E^S< EiA)AAAiEܔIIQE-] E-LE-kE)"E-:*E-|9VE-u5ZE)a5@a5@a5@a5@ԁBg>BCBğGBABBBDB;BEE2Acoustic response timeoutUΒ{A]f?A]l?ԱA I I O > ˰Sя,SNE?A2؍@2@22>ٱ2J!| :AHRS rotation from veh to nav: [[-0.600678,-0.742735,-0.295856],[0.780411,-0.625081,-0.015231],[-0.173621,-0.240039,0.955111]]2H`8{ Oҿ ?199ƿο E?i2؍@I24^;2pCYBnAyBgGbDVD8ye4%e`=ٔmaQ-m>9iIi=uFyuEu;Eu>yQ 5D4}dÉ?Q 9D4}<)}{@Yy@@Q I?}[BI} :i}$:}D4yҰBߝ=ߝ<2Acoustic response timeoutɮB*jBjiiziJii k#kk#kk#kh kSlkSlkSlh2f:fBfJfDۜ@%8Aɢ%mJؼ)) -Di)))))i-載1I9Ա5;AaIiIugJIO@>E5[ E5HE1E1"E5a:*E5[9VE1ZE1BE5 ;aE2E5 ;aEJE5Y:aE:E5Z:aE M 2Acoustic response timeout9 DSя,+/NE?A2*@2@20>ٱ2 :AHRS rotation from veh to nav: [[-0.603661,-0.739615,-0.297594],[0.778537,-0.627271,-0.020275],[-0.171676,-0.243927,0.954477]]2H`1Q ӿ ?” }ſ9Ͽ?i2*@I2e^;2qCYbAybGln?AbDTVDO8yҽ%D=ٔQ->9I=FyE- <E>Q 5D4PÉ?Q 9D45)z@Yy@Q I? ]BI:i: D4yɮB*j Bj i i zi Jii kctkctkcth! ktktkth92fI:fIBfIJfM@eAɢe)i m)ii)iiiiu:㼉qIy hDAT read: Forwarding Delay UpTx time:18:21:47.2047 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout9R5<A$AII OU >i D= <D= <EE f EE NEE nEA "EE I@:*EE ҆9VEE J5ZEA aM @aU @aU @aU @B >B CB GB `@B =B DB DB ;B E] 2Acoustic response timeout.Sя,8KNE?AR@Rn@RK,>ٱR`r ^AHRS rotation from veh to nav: [[-0.607073,-0.737085,-0.296933],[0.776800,-0.629198,-0.026275],[-0.167462,-0.246608,0.954537]]RH#m`2ӿ?d"皿 hoſݐϿ?iR@IRɃ^;RpCYrAyv&G ~4<~4<bD$VD#8y%=%%S=ٔ-4Q-->9-H?I-H?=5Fy5E56!<E5>9Q 5ED4=>É?Q 9ED4=/)=y@YIyM@Q IM?=Z^BI=:i=:=D4yUBɮUBUE*jiBjiiiiiziiJiqiq knknknh2f:fBfJfS@ Aɢ5lu#)9 =vi9)999iE>ݼAIIIIQQIԑ2Acoustic response timeoutII)O]>u>u>ԩ 3Sя,[OE?ALR T@RI@R!$>ٱR3 bAHRS rotation from veh to nav: [[-0.611478,-0.734551,-0.294161],[0.774866,-0.631177,-0.034615],[-0.160241,-0.249101,0.955129]]RH9 p@ҿ`?2@ ȂĿϿj?iR T@IR@^;RqCYn@ynۜGyeZd;O?1Zd"~je~j?e"۽eSa a9eNbX9?ʡEA`"Yee?yeeYe#Ba eB)e9BaYeBbD}VD}8y"%F=ٔ$Q->9I=FyE*;<E>Q 5E43.É?Q 9E4')=u@Yf?Q Ek:y@Q I?_BI:i<:E4yBɮɠBE*jBjiiziJii k3Vk3Vk3VE}_ E}JEyEy"E}&:*E}k9VEyZEyBE}&;a2E}&;aJE}:a:E}:ah2fG=:fG=Bfթ@JfɁ@u Aɢym=) .i)iؼ2Acoustic response timeoutII IIAOm5>! 4> ]> 2Acoustic response timeout1Sя,*OE?A>y@>?@>>ٱ>p2 JAHRS rotation from veh to nav: [[-0.616519,-0.731865,-0.290305],[0.772836,-0.632970,-0.045537],[-0.150427,-0.252433,0.955850]]>Hpk[ҿ@?`JAP4Aÿ'пR?i>y@I>9^;>pCY@y%G))QY Y)YIYiYYbDmVDm8y} %}K=ٔ}yʼQ->9I=Fy E0W<E>Q 5E4É?Q 9E4 )p@YyC @Q I?=aBI;i;E4yɮB*jBjiiziJii kZkZkZh2f:fBfJfJ@# AɢPKd) Fi)iҼ!I!IIOe=)E\ EEiE"E:*EVEz~5ZEa@a@a@a@B>BCB~GB?@B=BBDBV;BE%2Acoustic response timeoutaԁ Sя,DOE?A. @.k@. >ٱ.X :AHRS rotation from veh to nav: [[-0.622183,-0.729495,-0.284122],[0.770613,-0.634657,-0.058016],[-0.137997,-0.255045,0.957031]].HX /ҿݨ?O@R Rп ?i. @I.И^;.oCYB@yBGHJBAbDJVDJ8yf%fV=ٔfQ-j>9hIh=jFyj"En5|<En>pQ 5vE4rAÉ?Q 9vE4r)r/m@Ytyv @Q Iz?rbBIr:ir:reE4y~Bɮ~B|*jBjiiziJii kCkCkCh) k[k[k[h92fI:fIBfIJfM@2Acoustic response timeoutԡ  Aɢ Dx)  s^i )i5rͼ9I9IIO =Et EEE"Es:*EVE5ZEBE6;a2E7;aJE:a:E:am 2Acoustic response timeout FCSя,\v^OE?A6 g@6\@6S{=ٱ6Jo BAHRS rotation from veh to nav: [[-0.627655,-0.726986,-0.278460],[0.768484,-0.635764,-0.072369],[-0.124424,-0.259415,0.957717]]6HwCKѿk?,XȆ`:ڿ`Bп?i6 g@I66^;6pCYF@yJ)GbD VD 8yEY%MC=ٔMQ-M>9QIQ=UFyU%EU[<EU>YQ 5eE4]‰?Q 9mE4]X)][i@Yiym @Q Im?]dBI]:i]:],E4yqɮ}By*jBjiiziJii kRkRkRh kRkRkRhY2fi:fiBfiJfm9@颥 Aɢ̈́) 1ti)顩ihaȼIIaIqO=2Acoustic response timeout!QB} <A} 4=B >B CB GB @B =B DB DB ;B EBECbEu5jEʖ5rE2E a E NE ^E "E %.:*E ҆9VE [5ZE BE P3;2E R3;JE ::E :BECBE˝CBE˘=BE˗=CE6 nSя,PTxOE?A2Acoustic response timeout6g@6-@6He=ٱ6P戾 ~AHRS rotation from veh to nav: [[-0.631917,-0.725897,-0.271579],[0.767145,-0.635702,-0.085857],[-0.110320,-0.262595,0.958579]]6H8`:aѿ s?W`=Zп?i6g@I6|^;4Y @y GbDWVDf8y%%A=ٔ8 Q->9I=Fy'EE!<E>Q 5E4‰?Q 9E4)e@YyJ @Q I ?eBI:i$::E4yBɮ]B]E*jqBjqiqiyziyJiyiy kQkQkQԑh2f:fBfJf@W Aɢr) i)i1vüIApAzAoAIQIaO=2Acoustic response timeout WSя,34OE?A2X@2@2 =ٱ21 :AHRS rotation from veh to nav: [[-0.634490,-0.726096,-0.264967],[0.766835,-0.634313,-0.098039],[-0.096886,-0.265390,0.959261]]2H`M-<6п`?JL@͸'пC?i2X@I23^;2rCYB@yBGyd;O?~jt?ˡE?D<什 9RQ?RQпY"?yDBeB kB)BYB p<bD1VDC8y]%M=ٔ Q->9I=Fy*E;E>Q 5E4‰?Q 9E4)^@Y-/?Q E:y @Q I?fBI:i:HE4yɮ#B*jBjiizi Ji i  ks5ks5ks5h! kQkQkQh12fE9>:fE9>BfE@JfE?E]b E]IE]jEY"E]1:*E]c9VE]ـ5ZEYae@ae@ae@ae@ Aɢr) i)i羼 2Acoustic response timeoutI)A}AIIOC>A  2Acoustic response timeout~Sя,OE?AB+@B@Bq=ٱBn! NAHRS rotation from veh to nav: [[-0.635269,-0.727766,-0.258438],[0.767698,-0.631525,-0.108701],[-0.084102,-0.267457,0.959893]]BHTI@п? t5ӻѿp?iB+@IB|^;BoCYV3@yVcGbDbVDb8yj3!%j[=ٔj Q-j>9nK?InK?=nFyn,Er, 9Er>tQ 5zE4v0‰?Q 9zE4v)vV@YxyxQ Iz?vgBIv:iv:vUE4yɮAB*jBjiiziJii! k5k5k5h1 kYkYkYh2f:fBfJfݥ?mAɢmݯ)i u0iq)qyyi}oIQA$AIIB54>B5 CB5ȖGB56@B5=B1Em\ EmKEmgEi"Em:*Em]t9VEmx5ZEiBEm;au2Em;auJEm0:au:Em1:a}B5DB5~;B5EO9>i!I!-2Acoustic response timeoutyiIԩ hSя,OE?A2@2@2y=ٱ2 :AHRS rotation from veh to nav: [[-0.634771,-0.730227,-0.252655],[0.769318,-0.627813,-0.118324],[-0.072217,-0.269481,0.960294]]2H P`^+п@A? |J|-?ѿ?i2@I2^;2qC9~H?I~H?=~Fy/EcE> Q 5E4 ‰?Q 9E4 ) IO@Yy @Q I? hBI r;i ; .dE4y%Bɮ%PB!*j9Bj9i9i9zi9JiAiA kCkCkChY kWkWkWha}2Acoustic response timeout2f:fBfJf1O?EtAɢEպ)A EܦiA)IIIiM%qIqԱAAIIOm5>Eq EuLEubEq"Eq*Eu|9VEug5ZEqa}@a}@a}@a}@- 2Acoustic response timeout tSя,DOE?A:Ď@:@:?|=ٱ: BAHRS rotation from veh to nav: [[-0.633240,-0.733403,-0.247240],[0.771496,-0.623601,-0.126158],[-0.061654,-0.270633,0.960706]]:H CxϿ?@%'@ Rѿ@?i:Ď@I:0^;8YJ@yJGlaeAAIbDuVDu8yBɽ%@=ٔM˼Q->9K?IK?=Fy2EŻE>Q 5E4T‰?Q 9E44)G@Yyd @Q I?iBI:i:sE4yɮeB*jBjiiziJii kS<kS<kS<h kWkWkWh2f:fBfJfR?2Aɢ) -i)iBͱI 2Acoustic response timeoutAAIIIY G!AOUT>e59aYmvA1a A! A% @AB- K>B- CB- 8GB- @B- =B) B- DB- $;B- wEE b E WE mE "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE :a :E :a = 2Acoustic response timeoutǻSя,=OE?A2eX@2+N@2qV=ٱ25 :AHRS rotation from veh to nav: [[-0.631010,-0.737047,-0.242049],[0.774002,-0.619221,-0.132235],[-0.052418,-0.270788,0.961211]]2H;1`sο`? ֪Tѿ =?i2eX@I2^;0YB@yB1GXX X)XIXi\\bDVD8y%Ƚ%%S=ٔ-üQ-->9)I)=5Fy54E5D E5>9AQ 5ME4E?‰?Q 9ME4E)E@@YIyM6 @Q IM?EjBIE:iE:EE4y]Bɮ]cB]E*jqBjqiqiyziyJiyiy k<k<k<h kUkUkUh2f:fBfJf?Aɢl۽) 4i)i𭼉IA $AII!iO}>2Acoustic response timeoutԙ Tя,uPE?A2!@2F@2f4=ٱ2G :AHRS rotation from veh to nav: [[-0.628664,-0.740673,-0.237034],[0.776422,-0.615092,-0.137225],[-0.044159,-0.270307,0.961761]]2H"Wοr?ծ Lѿ?i2!@I2!^;2pCYRN@yR`GTV@Aye)\(?A`"?eG!?ee=a a9ex&1?Q?L7A`堿Ye?ye(>e+e#BeB e(B)eBaYeBbD}VD}8y˽%D=ٔ[Q->9H?ԙIH?=Fy7E@E>Q 5E4‰?Q 9E4)=@Y?Q E:y"@Q I?lkBI ;i. ;>E4yBɮwB*jBjiiziJii kc9kc9kc9h kNkNkNh 2f~>:f~>Bf @Jf#Ɣ@E=_ E=GE=vE9"E=&:*E=R9VE=-5ZE9aE@aE@aE@aE@UAɢUڽ)Q ]TǿiY)YYYi],ЩaIa2Acoustic response timeoutAAIIO+> 2Acoustic response timeout Tя,P-PE?A;ɰ;2@2@2 =ٱ2v :AHRS rotation from veh to nav: [[-0.626787,-0.743983,-0.231575],[0.778341,-0.611688,-0.141501],[-0.036378,-0.268935,0.962471]]2H@@ ?Ϳ+?¿`@;6ѿ@?i2@I2ɬ^;0YB@yBjG <bD pVD 8ye%eM=ٔmŸQ-m>9uK?IuK?=uFyu9EлE>!Q 5-E4%‰?Q 95E4%O)%p;@Y1y5y"@Q I5?%NlBI% ;i% ;%E4yAɮEBA*jYBjYiYiYziaJiaia kC3kC3kC3hy kPkPkPh2f:fBfJf|@颽LAɢ[) gӿi)iҴIB]>BCBړGBs@B=BBDB;BQE!EM] EM]EMdEI"EM:*EM9VEM^n5ZEIBEM<;aU2EM?;aUJEM ;aU:EM ;a]A]$AIaIyO>>2Acoustic response timeoutIy Tя,,GPE?A6@6@6o<ٱ6u@ BAHRS rotation from veh to nav: [[-0.625465,-0.746953,-0.225510],[0.779717,-0.609067,-0.145185],[-0.028904,-0.266642,0.963362]]6H@ ̿@p?z}o¿@ѿ?i6@I6Ɉ^;6rCYFP@yJ'GbDVVDz8yE %EL=ٔM6Q-M>9MH?IUH?=UFyU]=]a=e2Acoustic response timeoutyQ 5E4}҅‰?Q 9E4}N)}:9@YyZ"@Q I?}mBI}:i}:}DE4yBɮBE*jBjiiziJii k4k4k4h kUkUkUh2f:fBfJfz5@Q颥AɢW) ڿi)顩i͡IAII OE0>ԁE]a E]NEYEY"E]%.:*E]҆9VEYZEYae@ae@ae@ae@ԩ 2Acoustic response timeout qTя,`aPE?A2 @2Я@23<ٱ2 :AHRS rotation from veh to nav: [[-0.624202,-0.749613,-0.220120],[0.780943,-0.606733,-0.148333],[-0.022362,-0.264491,0.964129]]2H@v,̿ |?\j ¿@喿lп$?i2 @I2~^;2sCYv@yvKGxxbDe;VDea8yֽ%D=ٔـQ->9I=Fy>E E>Q 5E4v‰?Q 9E4 )6@Yy="@Q I?mBI[:iR:E4yɮB*jBjiiziJii kc:kc:kc:h  k]k]k]h!2f1:f1Bf1Jf5@MAɢU Ա) i)i I}2Acoustic response timeoutAEAIIIaIOA> B {>B CB |GB :@B =B B DB ;B ED] =DY Ee ` Ee OEa Ea "Ee *:*Ee 9VEa ZEa BEe -;au 2Ee -;au JEe O:au :Ee P:au  2Acoustic response timeout9 Tя,&zPE?A:@:w@:[<ٱ:4 BAHRS rotation from veh to nav: [[-0.622864,-0.751892,-0.216098],[0.782137,-0.604618,-0.150660],[-0.017377,-0.262859,0.964678]]:H˿D?YHÿ`7ˑ п?i:@I:^;:pCY^@y^ȑGddbDjVDjC8yr%rW=ٔvLWQ-v>9vK?IvK?=zFyzAEzEz>|Q 5E4~h‰?Q 9E4~ )~4@Y y "@Q I ?~nBI~t:i~:~E4yBɮB*j)Bj)i1i1zi1Ji1i1 kcDkcDkcDh kTkTkTh2f :f Bf Jf 뿓@E[AɢE%)A MiI)IIIiMZQIYAIIO}7>9}2Acoustic response timeouti $Tя,ƔPE?A6T@6~@6+Ua<ٱ67\ BAHRS rotation from veh to nav: [[-0.621926,-0.754003,-0.211395],[0.782955,-0.603485,-0.150956],[-0.013753,-0.259396,0.965673]]6H@ ˿ ?O@Rÿ k*@п ?i6T@I6^;4YJe@yJ\Gy!rh?㥛 ?V-?lg?=h> 9kt?"~?/$?Y 0?yS>1>DB B)BYBbD5VD5;8yET%ED=ٔEQ-E>9III=MFyMCEUCEU>YQ 5eE4]R‰?Q 9eE4])]:@Ye D?Q Em:ymA'@Q Im?]pBI]v:i]:]E4yqɮuBy*jBjE] EHEmE"E:*E[9VE5ZEa%@a%@a%@a%@ii!zi)Ji)i) k8k8k8ha k[k[k[h2f͐>:f͐>Bfl%@Jf壗@2Acoustic response timeout Aɢ )  i)iW IqAyIIOB>ԑ  2Acoustic response timeout+Tя,9PE?A:H{@: q@:t7<ٱ:Ą NAHRS rotation from veh to nav: [[-0.621322,-0.755544,-0.207634],[0.783475,-0.602836,-0.150848],[-0.011197,-0.256401,0.966506]]P:H j-࿓ʿ:?`oJNÿ{hп ?i:H{@I:^;:qCYZ@y^Gdf?A  )IibD-VD-%8yEl%MJ=ٔMTϻQ-M>9QIQ=UFy]FEeEe>iQ 5uE4m<‰?Q 9uE4m)m'?@Yqyu*'@Q Iu?m6qBIm;im ;mE4ymBɮBE*jBjiiziJii kBkBkBh kZkZkZh2f:fBfJfӧ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颍AɢC) fi)顱i!IBu>BuCBuPGBuR@Bu=BqBuDBu;Bu{EBECBECBEĖCBEĕ=BEĕ=CEb5AI IbE|5jE~5rEİ2E-c E-NE-yE)"E-g5:*E-҆9VE-5ZE)BE-?;a=2E-?;a=JE-:a=:E- :a=Ou6>2Acoustic response timeout! l2Tя,qPE?Aɰp;2@2@2 <ٱ2 :AHRS rotation from veh to nav: [[-0.622377,-0.756335,-0.201505],[0.782675,-0.604037,-0.150194],[-0.008120,-0.251191,0.967904]]2H` 3ɿ` ?ET9ÿ+п?i2@I2^;2pCY^[@ybG fp9tIt=zFyzHEzc^;Ez>|Q 5 E4'‰?Q 9 E4!)&D@Y y .'@Q I ?^rBI:iR:QE4ylBe2Acoustic response timeoutɮB*jBjiiziJii kSkSkSh khkhkhh2f9:f9Bf9Jf=—@sMPUpdating rudder angle -0.000000 arcdeg 9MrM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderemAɢe6)i mii)iiiim?*qIy1AIIO >QE9 E=IE=xE9"E9*E=c9VE=e5ZE9aE@aE@aE@aE@ 2Acoustic response timeoutԁ -8Tя,MMPE?A2@2e@2j}T;ٱ2 ~ :AHRS rotation from veh to nav: [[-0.626288,-0.755089,-0.193917],[0.779585,-0.607633,-0.151754],[-0.003242,-0.246216,0.969209]]2H` @)Eȿ\?qlÿ@jϿ?i2@I2^;2sCYB@yBVGbDvVDv8yE?%EE=ٔE9@Q-E>9III=MFyMKEUaD<EU>YYQ 5eE4]S‰?Q 9eE4])]I@Yiymr'@Q Im?]sBI]:i]:]E4yuWBɮuBE*j Bj i i zi Jii kgkgkghA kgkgkghQ2fa:faBfaJfe>@颅Aɢc) i)顉i+Iu2Acoustic response timeoutԉAIIO-,>ԱAi Ai Bm >Bm CBm GBm ^@Bm =Bi Bm DBm y;Bm E EE ` EE JEE pEA "EE *:*EE k9VEE 5ZEA BEE -;aU 2EE -;aU JEE :aU :EE :aU  2Acoustic response timeoutW>Tя,(PE?AR@@R6@RٱR z ZAHRS rotation from veh to nav: [[-0.630758,-0.753309,-0.186198],[0.775976,-0.611586,-0.154351],[0.002397,-0.241843,0.970312]]RH@,/ Zǿ?ÿ.c?@ο ?iR@@IR-^;RqCYn9@yrGppbDexVDe8y%%D=ٔ]Q->9I=FyNEa<E>ԹQ 5F4?Q 9F4)0O@Yy'@Q I?tBI:i:iF4yUVBɮUBQ*jiBjiiiiiziiJiiiq kikikih k#ik#ik#ih2f:fBfJf?@Aɢ Q)  i)i|,IA a?A R?AaIiIyO>>}2Acoustic response timeout>9 7@ETя, QE?A2O@2@26? ٱ2Tt :AHRS rotation from veh to nav: [[-0.635299,-0.751544,-0.177701],[0.772220,-0.615700,-0.156809],[0.008438,-0.236845,0.971511]]2H`^T ƿ`?@ѳMĿ@G?Pο?i2O@I2^;2sCYBR@yBGy}/$?ˡE?㥛 ?}1?}=}=y y9}V-?X9v?^I +?Y}|?y}=}X9>}B}B }B)yyY}B@AbDHVD8yl;%J=ٔuQ->9I=FyPEn<E>Q 5F4:f5 >Bf55(@Jf5<@2Acoustic response timeoutvAɢ$!) 3 i)iiIAAYIiIyO@>i Q ] C 2Acoustic response timeout ŁG  = 99 YE qAԙ kKTя, /QE?AJ@J@JԻvٱJp VAHRS rotation from veh to nav: [[-0.640117,-0.749303,-0.169692],[0.768130,-0.619859,-0.160475],[0.015059,-0.233068,0.972344]]JH{Ixſ?mĿ .׎?,Ϳp?iJ@IJ ^;HY^@y^ˏGf=f=bDj(VDjd8yr%rW=ٔr玼Q-v>9tIt=vFyvSEzh<Ez>|Q 5F4~ ?Q 9F4~)~W@Yyx@Q I ?~wBI~=:i~k:~)F4yTBɮBE*jBjiiziJii ksmksmksmh kmkmkmh2f:fBfJfko@=!AɢEv!)A EiA)AAIiML}IIQyB>BCBVGB@B=BBBc;BEIiIyO>E b E E }E "E 1:*E VE s5ZE BE 9;a2E 9;aJE :a:E :aԙ2Acoustic response timeout QRTя,IQE?A2qp@26f@2 ⶼٱ2Km :AHRS rotation from veh to nav: [[-0.644873,-0.747035,-0.161486],[0.763964,-0.623874,-0.164744],[0.022323,-0.229608,0.973027]]2H@̢ Ŀ`dr?`Uſۖ?cͿ #?i2qp@I2V^;2pCY^g@y^"G`b@AbDj#VDj_8yr;/=%rJ=ٔvIQ-v>9tIt=zFyzUEz*<Ez>|Q 5F4~5?Q 9F4~)~[@Y y @Q I ?~yBI~:i~I:~7F4yRBɮB*j)Bj)i)i1zi1Ji1i1E2Acoustic response timeout k3lk3lk3lhQ2fa:faBfaJfe~ۖ@AɢB$) Yi)   i vI1I1IAOu>Ef EEoE"EI@:*EVE5ZEa%@a%@a%@a%@2Acoustic response timeout) /{XTя,cQE?Aɰ;>@>@>Eٱ>Dl FAHRS rotation from veh to nav: [[-0.649605,-0.744280,-0.155119],[0.759673,-0.627339,-0.171296],[0.030180,-0.229114,0.972932]]>H`#ÿ=O?*ſ`}?SͿA"?i>@I>Z8_;>rCYNK@yNGdh h)hIhihhbDrVDr,8yz %zJ=ٔz螼Q-z>9|I|=~Fy~XE<E> Q 5F4 -?Q 9F4 ح) `@YyE@Q I? .{BI :i : FF4y%>Bɮ%B%}E*j1Bj1i9i9zi9Ji9iA kSkSkShQ k3lk3lk3lha2fq:fqBfqJfuH8@颕oAɢF4)) 'i)顙i4oIIYIiO=QUIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERU2Acoustic response timeoutePExceeded connect timeout, disconnecting.yԩ B <A <B >B CB GB @B =B B DB u;B EE% _ E% KE% sE! "E% &:*E% ]t9VE% X5ZE! BE% &;a5 2E% &;a5 JE% 0:a5 :E% 1:a5  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout6^Tя,q}QE?A2-@2#@2eٱ2dfm :AHRS rotation from veh to nav: [[-0.653348,-0.742146,-0.149519],[0.756092,-0.629686,-0.178383],[0.038236,-0.229597,0.972534]]2H9ਿr#ÿ 1?c&@Dƿ?lcͿ?i2-@I2U^;2qC@Y^'@ybGdfAbDjVDj8y,%G=ٔ+Q-%>9!I!=%Fy%[E-O<E->1Q 5=F45z?Q 9=F45)5d@Y9yE@Q IE?5|BI5;i5;5]TF4yM=BɮMBI*jaBjaiaiaziaJiiii kSkSkShy kmkmkmh2f:fBfJfZ@^B*** querying acoustic contact ***XYAɢR() #i)imhIIyIO=Ա]zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY]2Acoustic response timeout eTя,{LQE?A2h@2^@2:ٱ22n :AHRS rotation from veh to nav: [[-0.655869,-0.740736,-0.145419],[0.753507,-0.630827,-0.185158],[0.045419,-0.231014,0.971890]]2H@¿? /Dǿ@,A?@ܑͿ?i2h@I2¸^;2tCYR]@yRGTTly+?X9v&1??}P= 9S㥛?~jt?{Gz?Y$?y<#<B4B +B)BYBbDTVD8E` EJEhE"E*:*Ek9VEA{5ZEa@a@a@a@y:v<%==ٔxQ->9I=Fy]E<E> Q 5F4 1a  2Acoustic response timeout] XRadio surface powered OFF, will not connect.] nManaging dock network, ignoring radio surface power offkTя,;QE?A2@2h@2XTٱ2RLp :AHRS rotation from veh to nav: [[-0.658266,-0.739355,-0.141563],[0.750992,-0.632009,-0.191248],[0.051931,-0.232205,0.971280]]2H`@̨¿ ? j9zȿຖ?Ϳ?i2@I2^;2rCYB@yB_G!%AA1bD%VD%`8y =%M=ٔQ->9I=Fy`E:<E>Q 5F4I?Q 9F4)g@Yy@Q I?%BI:i:eqF4y:BɮB|E*jBji i zi Ji i kQkQkQh! klklklh12fA:fABfAJfEM@eyAɢe_/)a mOii)iiiimu[qIqIiIyIB>BCBGB@BBBBa;BEO>YEl EHEuE"EV:*E[9VE5ZEBEEx;a2EGx;aJEY:a:EZ:a2Acoustic response timeoutԉԱ rTя,qQE?A6@6|@6[mٱ6r >AHRS rotation from veh to nav: [[-0.660934,-0.737498,-0.138788],[0.748206,-0.633322,-0.197714],[0.057916,-0.234518,0.970385]]6H`_&``M?-DNɿ9?οd ?i6@I6^;6qCYF@yFG==E2Acoustic response timeoutbD VD ;8yUf<%UR=ٔU|Q-U>9YIY=]Fy]bEe["<Ee>iQ 5uF4mV2?Q 9uF4m3)mi@Yqyu@Q I}?mBIm;im;m~F4y%BɮtBsEԙ*jBjiiziJii ksSksSksSh2f:fBfJfvM@颭%Aɢ.) ji)ixUIAyIIOB>E^ EPEjE"EC#:*E?9VEـ5ZEa@a @a @a @2Acoustic response timeout 8xTя,QE?A2$@2@2L]ٱ2$u :AHRS rotation from veh to nav: [[-0.663828,-0.735280,-0.136734],[0.745216,-0.634879,-0.203914],[0.063124,-0.237260,0.969393]]2H> i@@?Pʿ(?^οD?i2$@I29I=FyeE%,<E%>)Q 5-F4-?Q 95F4-8)-fk@Y1y5`@Q I5?-ɁBI-d:i-:-̌F4yE$BɮEiBErE*jQBjQiYiYziYJiYiY kTkTkThq kTkTkTh2f:fBfJfCM@颵Aɢr99) i)项iȹOIA!I1IAM2Acoustic response timeoutO>!IA A AAB >B CB GB F@B B B DB ;B EBuCBuCBuɓCBuɖ=Buɖ=CuN5bEʵ5jEZ5rE 2E _ E ME lE "E &:*E 9VE 5ZE BE &;a 2E &;a JE :a :E :a y  2Acoustic response timeout~Tя, QE?A4<ɰ4<2(x@2m@2$ٱ2$y :AHRS rotation from veh to nav: [[-0.667401,-0.732363,-0.134980],[0.741597,-0.637090,-0.210119],[0.067889,-0.240334,0.968313]]2HY[oG`*? c@-ʿ .a?Fοl?i2(x@I2W^;2vCYB%@yB4GbDNxVDN8yVg =%VQ=ٔV-HQ-V>9XIX=ZFyZgEZjU<E^>`Q 5fF4b?Q 9fF4b`~)bOm@Ydyf@Q If?bBIb:i`btF4yn#BɮnaBl*jtBjtixixzixJixix kSkSkSh  kSkSkSh2f:fBfJfRM@jAɢ%S2)) -]!Yi1)iiiiJIAYIiIyԁO?>]2Acoustic response timeoutԩ ۅTя,RE?A6@6@6ٱ6{ BAHRS rotation from veh to nav: [[-0.671183,-0.729342,-0.132565],[0.737739,-0.639712,-0.215663],[0.072488,-0.242548,0.967428]]6HUzV?`x֚˿@?` Ͽ*?i6@I6l^;6rCYJI@yJJGPRAyZd;O?7A`¿J +~J?Ƚ 9!rh?)\(B`"ɿYlg?yGaN ΛB)SBYbD55VD58yE '<%EA=ٔM02Q-M>9III=MFyUjEUP<EU>YQ 5eF4]?Q 9eF4]v)]%j@Ymm?Q Emd:ym @Q Im?]bBI]u:i]:]EF4yu"Bɮu]By*jBjiiziJii kcTkcTkcTh ksTEX ESEgE"E~ :*E9VEx5ZEa@a@a@a@ksTksTh92fMQ7>:fMQ7>BfM.?JfM2@颅Aɢ`$2) #i)顉2Acoustic response timeouti]DIAaIiIyO>> m 2Acoustic response timeout9 Tя,;q2RE?A2y-@2>#@2Ҟٱ2~ :AHRS rotation from veh to nav: [[-0.675094,-0.726208,-0.129882],[0.733652,-0.642387,-0.221571],[0.077472,-0.244869,0.966456]]2H`_=`z?np\̿9ճ?@WϿ5?i2y-@I2U^;2sCYV@yVGXXpp p)pIpippbDzVDz\8y=%N=ٔ NQ- >9 I =FylE&j<E>Q 5%F4?Q 9%F4Rn)Pg@Y)y- @Q I-?BI :i:F4y5 Bɮ5BB5hE*jIBjIiIiIziQJiQiQ kSSkSSkSShi kSkSkShy2f:fBfJf2@颥Aɢg,?) g%i)顱i3>IA^?AU?B]>B]CB]GB]@B]=BYB]DB]L;B]EA%$AI1IAOe>Ef E^ElE"EI@:*E;9VE5ZEBER;a2ER;aJE;a:E;a2Acoustic response timeout9i Tя,^ILRE?A 6@6J@6Rٱ6 >AHRS rotation from veh to nav: [[-0.678934,-0.723255,-0.126298],[0.729467,-0.645002,-0.227706],[0.083227,-0.246728,0.965504]]6Hӹ@$* W?ܣw%Ϳ@YN?ĔϿi?i6@I6q^;6rCYF@yF*GLLbDRVDR*8yVx=%ZP=ٔZpQ-Z>9^H?I^H?=^Fy^oEbl<Eb>dQ 5fF4f~?Q 9jF4ff)fd@YhyjP @Q Ij?fքBIf:if:fF4%2Acoustic response timeouty5 Bɮ51BY*jBjiiziJii kTkTkTh2f!:f!Bf!Jf%|2@m` Aɢ+7) &i)M顙iw9IiAAI IOM1>iYIYԙE_ EJEdE"E&:*Ek9VE^n5ZEa@a@a@a@hDAT read: Forwarding Delay UpTx time:18:22:01.1061 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout _Tя,%fRE?A2@2@2^ٱ2 :AHRS rotation from veh to nav: [[-0.682273,-0.720944,-0.121424],[0.725528,-0.647209,-0.233943],[0.090073,-0.247709,0.964638]]2H-@7?`@Ϳ?@ϿQ?i2@I2l`^;2qC\Yb?@ybGbDEVDE 8yo=%:=ٔ`Q->9K?IK?=FyrEv@<E>Q 5F4?Q 9F4&^)a@Yy @Q I?BI~ ;i:(F4yɮ(B*jBjiizi Ji i  k39k39k39h! kTkTkTh12fa:faBfaJfe93@颕 !Aɢ<) 'i)3顡i4IG52Acoustic response timeoutE 9AYMڠAA$AIIOg>BM <AM 4=BU >BU CBU GBU @BU =BQ BU DBU ;BU LEA E k E IE hE "E mR:*E c9VE A{5ZE BE q;a 2E r;a JE :a :E :a  2Acoustic response timeout0BTя,RE?A:@:@: ɽٱ:> FAHRS rotation from veh to nav: [[-0.684582,-0.719766,-0.115255],[0.722317,-0.648573,-0.240026],[0.098011,-0.247568,0.963900]]:HSY7? *οE?NϿE?i:@I:*{^;:uCY^ @yb_G``bDMVDM8y%L=ٔQ-5>9MH?IMH?=uFyutE<E>Q 5F4?Q 9F4U)F_@Y y5 @Q I5?rBItqԡ *Tя,ڙRE?A;ɰ2H@2>@2ڽٱ2_ :AHRS rotation from veh to nav: [[-0.685824,-0.719649,-0.108400],[0.719915,-0.649033,-0.245924],[0.106624,-0.246699,0.963209]]2HD ^ ? ozϿK?ՓϿ?i2H@I2uf^;2rCYnb@yn2GyEg EMEeE"EC:*E9VEq5ZEa@a@a@a@y(\?sh|?`".? 9/$?S㥛㥛 ҿY?y/ݼbB ) BYǖB 4<<bD'VD8yF=%D=ٔQ->2Acoustic response timeout9K?IK?=FywE(;E>Q 5F4F?Q 9F4#P)Y@Y-?Q E:yn @Q I?BI;i;[F4yɮB*jBji!i!zi!Ji!i! kC7kC7kC7hY2fmD>:fmD>Bfm@Jfmv@颥^"AɢEL) *i)Zi*IԩA9IAIQO[>U 2Acoustic response timeout TTя,ZRE?A2E@2;@2rAٱ2 :AHRS rotation from veh to nav: [[-0.685001,-0.721400,-0.101762],[0.719314,-0.647533,-0.251571],[0.115589,-0.245525,0.962474]]2H@ @?п5? `mϿ?i2E@I2^;2tCY^@y^GbDjVDj{8y.=%Z=ٔ%ļQ-%>9!I!=%Fy-yE-E->1Q 5=F45,?Q 9EF45*K)5BU@YAyEy @Q IE?5mBI51;i5p;5F4yMBɮMBU]E*jiBjiiiiiziiJiiiq k7k7k7h k7k7k7h2f:fBfJf)@"Aɢ[) +i)z/iʁ&IB~>BCBjGB@B=BBDB;BuEAE$AIQIaO>E` EJEgE"E*:*Ek9VEx5ZEBE -;a2E -;aJE:a:E:a!iߡIߡ2Acoustic response timeoutIy 9EH?IEH?=EFyE|EMBEM>QQ 5UG4Un~?Q 9G4UsE)UP@Yyp @Q I?UBIU{ fTя,kRE?A@:U)@:@:} ٱ:+ BAHRS rotation from veh to nav: [[-0.682066,-0.725870,-0.088878],[0.718735,-0.642961,-0.264614],[0.134931,-0.244364,0.960250]]:H{S:@?#qпhE?PGϿ ^?i:U)@I:[^;8YJ @yJ֔Gdd d)dIdiddhhbDnVDn8yv}=%vO=ٔzμQ-z>9xIx=zFyz~E~AE~>Q 5 G4r?Q 9 G4?)GK@Yyo @Q I?xBI:i:G4yɮԠB*j1Bj1i9i9zi9Ji9iA k9k9k9hQ kRkRkRha2fq:fqBfqJfuNX@颕)$AɢV) ,i)Pov顙iIԱ 2Acoustic response timeout͢!<AAI!I1O]v>AA@A"RFailed to parse device response: 7.74.92  2Acoustic response timeout9 NTя,GSE?AY~w@yGbDEyVDE8yu3<%}B=ٔQ->9K?IK?=FyEE>Q 5G4d?Q 9G49)E@Y y Q I?BI;iB;(G4yBɮ̠B*jBjiiziJii k7k7k7h12fA:fABfAJfA颅$AɢF) .i)6顑iAI92Acoustic response timeouti A $AI I I O >xTя,!SE?A 2W(@2@2ٱ2: >AHRS rotation from veh to nav: [[-0.680441,-0.728355,-0.080616],[0.717110,-0.639181,-0.277851],[0.150846,-0.246872,0.957235]]2H`+ND? ,tPѿN? Ͽ@?i2W(@I2IV^;2qCYBv@yFGDDE` EGEsE"E*:*ER9VEX5ZEyS㥛?Mb?n?$F?<V> 9w/?Pn?MbY>y>B B)BYBbDuVD8yٕ=%@=ٔQ->9%H?I%H?=%Fy%E%E->)Q 5=G4-V?Q 9=G4-)7)-F@Y=O>Q E=:y=%@Q I=?-kBI-u ;i- ;-f7G4yIɮMBI*jaBjaiaiiziiJiiii}2Acoustic response timeout k6k6k6h2fV>:fV>Bf 3@JfB@]%Aɢ]ίX)Y ]/iY)eaaieiiIiAAIIO-N>ԙ - 2Acoustic response timeout9MK?IUK?=UFyUEU:EU>Q 5G4UI?Q 9G44)G@Yy%@Q I?ʉBI:it:*EG4yBɮB*jBjiiziJii k2k2k2h1 k2k2k2hA2fQ:fQBfQJfU3{@19] r]NAggregate::initialize marl:UpdateRudderq9]J]Yq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]a18eoe@Completed marl:UpdateCommandMode7eoe\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7mnm4Completed marl:UpdateSpeedq7mnmPAggregate::uninitialize marl:UpdateSpeed颅&Aɢ a) /i)Y顉Bi>BCB&GBp@B=BBDB;BEi IE_ ELEpE"E&:*E|9VE5ZEBE&;a2E&;aJEw:a:Ex:aAIIO*>2Acoustic response timeout! Tя,NSE?AJU @J@JٱJ RAHRS rotation from veh to nav: [[-0.678620,-0.730336,-0.077998],[0.717907,-0.637111,-0.280532],[0.155189,-0.246370,0.956670]]JHA^ ?7c<ѿ ?? Ͽ ?iJU @IJT^;JsCYZ@yZGn>n<r2Acoustic response timeout|bD%\VD%8y5m=%5K=ٔ=ǺQ-=>9AIA=MFyME]AEe>qQ 5}G4u4QbE=x5jE=|5rE= 1E[ ECEbE"Ea:*E09VEg5ZEa@a@a@a@2Acoustic response timeoutԁ Tя,hSE?A2@2@2Śٱ2? :AHRS rotation from veh to nav: [[-0.676660,-0.732051,-0.078947],[0.720159,-0.635690,-0.277972],[0.153304,-0.244947,0.957340]]2H 2l5 ?WJѿ@u?jZϿ?i2@I2v^;2tCYN,@yR_GR=Rp=bDZZVDZ8YyU@=%eI=ٔeј;Q-m>9iIi=mFyuEudE}>Q 5G4.?Q 9G4t/)BH@Yy%@Q I?BI9;i;;`G4yܯBɮyBSE*jBjiiziJii k5k5k5h2f:fBfJfJ@-M'Aɢ-nb)1 50i1)5ּ19i=<:9IA2Acoustic response timeoutAԉIIO">BW>BCBGB@BBBDB;BƙEB=CB=CB=CB==B==C=5D =D %=E ^ E OE \E "E C#:*E 9VE T5ZE BE ;a 2E ;a JE N:a :E O:a  2Acoustic response timeouthTя,SE?Am@m@mٱmxԹ AHRS rotation from veh to nav: [[-0.676027,-0.732972,-0.075757],[0.721523,-0.637556,-0.270049],[0.149639,-0.237221,0.959862]]mHtd@?`f}Hѿa'? B]ο/?im@Im^;muCY@yJGyx&1?{Gz?rh|?A?ף<= 9I +?sh|??x?Y9T?y)>K7>BbB hB)NBY̛B@A@AbDNVD8y=%5=ٔ9AIA=EFyEEMGEM>QQ 5]G4Ui?Q 9]G4U *)UO@Ye<]?Q Eeu:ye$@Q Ie?UMBIUw;iU;U/qG4yiɮmaBq*jBjiiziJii k#k#k#h k5k5k5h2fn>:fn>BfT3@Jf@(AɢU) 0i)LiC IA9IAIQO[>2Acoustic response timeout9 @Tя,iSE?AY@y GbD--VD-8y=+=%Eg=ٔEQ-E>9AII=MFyMEMEM?QEee EeLEekEa"Ee<:*Ee|9VEeu5ZEaam@am@am@am@Q 5uG4U?Q 9uG4U&)UnU@YyyyQ I}?U܋BIUW;iU;U}G4yۯBɮPBRE*jBjiiziJii ksksksh k39k39k39h2f:fBfJf1]2Acoustic response timeout额(Aɢ׀u) 0i)C顡iZIIIO)>a j>C1}ѿ9yY}Aԑ 2Acoustic response timeoutԹ = >= >Tя,ZFSE?A2m@21@2m-ٱ2r :AHRS rotation from veh to nav: [[-0.679469,-0.730386,-0.069706],[0.718006,-0.642376,-0.267994],[0.150961,-0.232143,0.960896]]2H@5Q_Dر@?@W&ѿR?۶Ϳ@?i2m@I2d^;2sCY@y"GII I)IIIiIIbD]!VD]8ym^>%mG=ٔuUQ-u>9qIq=}Fy}E}F<E}>Q 5G4y翉?Q 9G4U!)8\@Yy$@Q I?BI:i:ZG4yگBɮ/B*jBjiiziJii k6k6k6h k6k6k6h2f:fBfJf5—@")Aɢ;d) 2/i)i>!I!B=.>B= CB=xGB=@B==B=DB=DB=;B=ʙEԑDizDiEu] EuKEqEq"Eu:*Eu]t9VEqZEqBEu;;a}2Eu>;a}JEu0:a:Eu1:aIIOe2Acoustic response timeoutԹ FTя,X SE?A4<ɰ2X{@2q@2)ٱ2[o :AHRS rotation from veh to nav: [[-0.683849,-0.726785,-0.064301],[0.713428,-0.647601,-0.267644],[0.152878,-0.228903,0.961370]]2H@A` vf?@&!ѿ ?LͿ?i2X{@I2T^;0r2Acoustic response timeoutYv@yvG ~4<~4<bDVD8y 9=%P=ٔQ->9I=}Fy}E}݁<E}>Q 5G4Ͽ?Q 9G4)b@Yy^%@Q I?3BI:iL:xG4y%mE=ٔmʻQ-u>9qIy=}Fy}E<E>Q 5G4?Q 9G4)i@Y!y%%@Q I%?ލBIԙB5 >B5CB5НGB5SAB5=B1B5DB5;B5E E Z E OE ]E "E :*E 9VE W5ZE BE l;a 2E n;a JE N:a :E O:a  2Acoustic response timeout{Uя,TE?A\u@9@SQ'ٱl AHRS rotation from veh to nav: [[-0.699106,-0.713312,-0.049360],[0.696268,-0.663444,-0.273958],[0.162670,-0.225893,0.960474]]H_`sE G?:`ѿ`_?̿`4?iu@Io^;qCYI@yG=a=y r?P=B_B )KBYBbDVDd8y=%4=ٔQ->9I=FyEX=E>Q 5G4™?Q 9 G4/)n@Y ~?Q E U:y ? @Q I ?BIC ;i ;mG4y:BɮEBQE*j)Bj1i1i1zi1Ji1i1 kC kC kC hI ks6ks6ks6hY2fm{>:fm{>Bfm=?JfmNc@颍+Aɢ$f) ~-i)"顑iY 𻉨IIIO5.>2Acoustic response timeout9 XUя,TE?A@YvAyvKGEE` EEIEE[EA"EE*:*EEc9VEEaQ5ZEAaM@aM@aM@aM@eAAabDmVDm@8y=>%b=ٔQ->9I=FyEE>Q 5G4?Q 9G4 )s@YyQ I?vBId:i:G4y!Bɮ BGE*jBjiiziJii kkkh  kS8kS8kS8h2f):f)Bf)Jf)=2Acoustic response timeoutU+AɢUt)Y ]\+iY)]*YYi]Y軉aIaIIO>I 2Acoustic response timeoutԡ u> Uя,7TE?AJ @JQ@J/ٱJo RAHRS rotation from veh to nav: [[-0.706658,-0.706282,-0.042423],[0.686636,-0.670061,-0.282044],[0.170777,-0.228438,0.958463]]JHݙv?#q` ҿ?s=Ϳ?iJ @IJ y^;JsCYZAyZaGbDfYVDf8yj>%nX=ٔn6Q-n>9pIp=rFyrEv=Ev>xQ 5zG4zh?Q 9~G4z)zw@Y|y~!@Q I?z3BIz;iz;zGG4y Bɮ B *j!Bj!i!i!zi!Ji!i) kc;ykc;kc;h2f:fBfJf'3d@B>BCBGBAB=BBDB;BtE #,Aɢ l)  &*i )m3i5⻉9I9AIEU] EUHEU`EQ"EU:*EU[9VEU|a5ZEQBEU:;a]2EU=;a]JEUX:ae:EUY:aeIԡIO$>M2Acoustic response timeout _&Uя,gQTE?AJ @J@Jt3ٱJpR2Acoustic response timeout ZAHRS rotation from veh to nav: [[-0.708277,-0.704801,-0.039977],[0.684065,-0.671248,-0.285450],[0.174352,-0.229525,0.957559]]JH5w?`z Dҿ 'Q?aͿ`S?iJ @IJoV^;JtCYb9Ayb%GddbDn&VDn8yv=%vI=ٔvpQ-v>9xIx=zFyzEz;E~>Q 5 G4WM?Q 9 G4)|@Y y A!@Q I ?BI:i:yG4yBɮ՞B*j)Bj)i1i1zi1Ji1i1 k"k"k"hI k;k;k;hY2fi:fiBfiJfm+pd@颍,Aɢ3p) )i);顑i ܻIAIIIO>E]Z E]LE]UEY"E]:*E]|9VE] >5ZEYae@ae@ae@ae@1U2Acoustic response timeoutY QUя,HkTE?A(ɰ(^ @^@^2T7ٱ^r rAHRS rotation from veh to nav: [[-0.708542,-0.704622,-0.038428],[0.682830,-0.670851,-0.289313],[0.178077,-0.231230,0.956463]]^H_@C@Ϭ?w@ҿ@%}A=ٔQ->9I=FyEG(;E>Q 5G40?Q 9G4)@YyU!@Q I?ӑBI7[;iv\;RG4yɮB*jBjiiziJii kC#kC#kC#h k:k:k:h 12f:fBfJfd@\-Aɢ}c) 'i)uEi׻I2Acoustic response timeoutIQaIiO<>B<A<B>BCBGBAB=BBDBP;B2EԉEe ] Ee ZEe ZEa "Ee :*Ee a9VEe (N5ZEa BEe ;;au 2Ea au JEe 1;au :Ee 1;au u 2Acoustic response timeoutԹ =!Uя,5TE?A @@(M;ٱt -AHRS rotation from veh to nav: [[-0.707708,-0.705550,-0.036731],[0.682689,-0.669541,-0.292660],[0.181893,-0.232193,0.955511]]H`ݓZ΢ ?l ҿGH? Ϳ?i @IM_^;uCY=FAy=GAEAy rh? rh?T㥛 CK?C = 9Zd;O?Q?I +ƿYj\?y=94BbB hB)|BYBbDVD8y >%C=ٔQ->9I=FyEE>Q 5 G4?Q 9 G4b)a@Yc?Q Eo:y_@Q I?BI ;i ;G4yBɮB%FE*j1Bj1i1i9zi9Ji9i9 k6k6k6hQ k6k6k6ha2fu >:fu >Bfu۰h?Jfu*<@ԉ -Aɢ tk) &i)CNiһI!IIO(>2Acoustic response timeout e'Uя,1TE?A2d @2(@2Rh?ٱ2vu :AHRS rotation from veh to nav: [[-0.705947,-0.707377,-0.035445],[0.683450,-0.667230,-0.296143],[0.185835,-0.233286,0.954486]]2H@բ%?@Yҿ@o?LͿ&?i2d @I2K^;2tCYBcAyB GF=DbE6V5jE [5rED92EX EKEPE"E~ :*E]t9VE-5ZEa-@a-@a-@a-@bDVD8y'3>%M=ٔ0%Q->9I=FyEQE>Q 5H4?Q 9H4)@Yy=@Q I?EBI{:is: H4yBɮTB @>@> Cٱ>v FAHRS rotation from veh to nav: [[-0.703651,-0.709700,-0.034661],[0.684856,-0.664403,-0.299234],[0.189337,-0.234294,0.953550]]>H@N@ݵ%V?B&ӿ 3 @I>ef^;>sCYN*AyNGAAbD VD 8yE=%ES=ٔMQ-M>9IIQ=UFyUEUEU>YQ 5eH4]Q뾉?Q 9eH4])]@Yiym @Q Im?]BI]:i]_:]^H4yuBB>BCBGBxABBDB DB ;BEBECBECBECBE=BE=CE6ɮ9B*jBjiiziJii kc<kc<kc<h ks<ks<ks<hY2fi:fiBfiJfml;@颭/Aɢl) #i)o^iAɻIIqIԉO=E-U E)E-YE)"E-:*E)VE-J5ZE)BE-):a=2E--:a=JE-/:a=:E-1:a=-2Acoustic response timeoutԹ t4Uя,TE?A2 @2x|@2˚Fٱ2ϵw :AHRS rotation from veh to nav: [[-0.701286,-0.712077,-0.033818],[0.686331,-0.661584,-0.302088],[0.192736,-0.235061,0.952680]]2H@pUPl?`+@hUӿ`?wοZ|?i2 @I2DQ^;2uCB4=B4=F2Acoustic response timeoutYRAyRإG`bD-VD-8y0=%E=ٔQ->9I=FyEٻE>Q 5H4mӾ?Q 9H4);~@Yy@Q I?BI;i:&H4yɮ"B*jBjiiziJii kDkDkDh kUkUkUh2f!:f!Bf!Jf% ;@E/AɢEVr)A EA#iA)MgIIiMTĻQIQII OU=E=X E=FE=LE9"E=~ :*E=;J9VE=!5ZE9aE@aE@aM@aM@5In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED58Ack receipt timeout failure.=2Acoustic response timeoutA F:Uя,TE?ANnG\h|b9YQAf @\@Iٱ8Fx 5AHRS rotation from veh to nav: [[-0.699547,-0.713834,-0.032797],[0.687289,-0.659549,-0.304351],[0.195625,-0.235448,0.951995]]Hb`ʠD?zzӿ@; ?@*#οv?if @I(n^;sCYuAyu4GyybDVD8yF->%H=ٔQ->9I=FyExE>Q 5H4컾?Q 9H4)}@Yy@Q I?kBI[:i:)5H4yBɮB*jBjiiziJii kSkSkSh k#Sk#Sk#Sh2f!:f!Bf!Jf%:@=A0AɢEun)A E*!iA)EcoIIiMQIQI1IAmIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERu2Acoustic response timeoutO=!BU7>BUCBUGBU ABU=BQBUDBU&;BUǘEyD =D 4=E- V E- DE- QE) "E- =:*E- a99VE- *15ZE) BE- :a5 2E- :a5 JE- uH:a5 :E- xH:a5 ԁ i I - pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT= 2Acoustic response timeoutAUя,l|UE?AN6` @NU@N"LٱN!%x VAHRS rotation from veh to nav: [[-0.698919,-0.714521,-0.031165],[0.687237,-0.658889,-0.305893],[0.198033,-0.235212,0.951556]]NH`]@[響 ?ӿ%Y?lο$s?iN6` @INT^;NwCY^Ay^ZGyEK7?L7A`?Mb?Ei?E+=E=A A9EB`"?V-?~jthYEN?yEh>EDE%BEB E)E؄BAYEܘB Y]bDeVDeU8qyu>%uO=ٔ}˻Q-}>9yIy=}FyE*E>Q 5H4?Q 9H4)R@YR?Q E:y5"@Q I?BI;i#;BH4yBɮܝB;E*jBjiiziJii kSkSkShY kkkkkkhi2f}%>:f}%>Bf} @Jf}QL@颽0Aɢwm) i) xi\mIԙAQIaIqO=>zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout аGUя,A UE?A2s @2i@24MNٱ2.w :AHRS rotation from veh to nav: [[-0.699445,-0.714110,-0.028689],[0.686101,-0.659688,-0.306720],[0.200106,-0.234217,0.951367]]2H`a`?*@Lӿ? Ϳq?i2s @I2}^;2tCYB AyBGbDNVDN58yVp?>%VY=ٔVQ-Z>9XIX=ZFyZE^4Q;E^>EY E@EFE"E:*E9VE 5ZEa @a @a @a @9Q 5EH4=?Q 9MH4=)=@YIyMK"@Q IM?=BI==:i=V:=PH4yUBɮB*jBjiiziJii kSkSkSh kokokoh2f:fBfJf3B@2Acoustic response timeoutc1Aɢst) ui)%!!i%޲!I)AaIqIO>1 2Acoustic response timeoutY MUя,&:UE?A2 @2L@2VOٱ2Kv :AHRS rotation from veh to nav: [[-0.701537,-0.712148,-0.026280],[0.683496,-0.661959,-0.307643],[0.201691,-0.233786,0.951139]]2Hr /隿`2?.`mӿ?@Ϳo?i2 @I2Z^;2vCY^ AybrGba=`xx x)xIxixxbD,VD8y=%D=ٔ~Q->Be>BeߏCBevGBe< ABe=BeDBeDBeR;Be}E9I=FyE5;E>Q 5H4 x?Q 9H4)@Yy"@Q I?`BI[:it:`_H4yBɮB1E*jBjiiziJii kSVkSVkSVh  klklklh2f):f)Bf)Jf-]Q@1M1AɢUDo)Q U{iQ)]YYi]HTaIaE EGEHE"E*ER9VE-5ZEBE(;a%2E*;a%JE"t:a%:E%t:a%AIIaOB>2Acoustic response timeoutԉԹ TUя,SUE?A22Acoustic response timeout:y @:<@:Qٱ:@lt BAHRS rotation from veh to nav: [[-0.704536,-0.709326,-0.022022],[0.679915,-0.665783,-0.307325],[0.203332,-0.231495,0.951350]]:H̲጖`?`N`8ӿ?Ϳtq?i:y @I:]I^;:sCYJ AyJիGPPbDVVDV8y^7>%^P=ٔbQ-b>9`I`=bFyfEf#P<Ef>hQ 5nH4jb?Q 9nH4je)j%@Ypyr"@Q Ir?jBIj;ij;jtlH4yvݮBɮvfBt*jBji i zi Ji i  ksSksSksSh! klklklh12fA:fABfAJfE<\@e~2Aɢenw)a mii)miiim qIqԑAAIQIaO>EU ECEGE"E:*E09VE5ZEa%@a-@a-@a-@2Acoustic response timeout ZUя,#mUE?A>N @>ID@>|Sٱ>0r FAHRS rotation from veh to nav: [[-0.707795,-0.706197,-0.017671],[0.675999,-0.669844,-0.307138],[0.205063,-0.229336,0.951501]]>H@B)C`ɡ?`]o$ӿ?? ZͿ`r?i>N @I>Z^;>uCYN AyN%EB=ٔM\Q-M>9III=UFyUEUI<EU>YQ 5eH4]K?Q 9eH4]a)]@Yiym+#@Q Im?]BI]:i]:]4{H4yuڮBɮ}?B}0E*jBjiiziJii kcSkcSkcSh khkhkhh2f:fBfJf7k@m3Aɢmi)m*% i)E顑i6Iu2Acoustic response timeoutA $AII)O]3>BQAQB]>B]ɏCB]GB]AB]=B]DB]DB];B]PEI E= \ E= JE= BE9 "E= :*E= k9VE= 5ZE9 BE= ;a] 2E= ;ae JE= :am :E= :au = 2Acoustic response timeoutaUя,UE?A2Ѧ @2@2eUٱ2n :AHRS rotation from veh to nav: [[-0.711060,-0.703029,-0.012025],[0.671828,-0.674258,-0.306634],[0.207464,-0.226114,0.951752]]2H5? ӿ0? L̿t?i2Ѧ @I2)C^;2qCY^ Ay^dG``y#~j?$C˿ʡE?e?Z-= 9-?~jt?MbX?Y5^?y<=B )4BY=BbDVD\8y>%A=ٔڽQ->9H?IH?=FyEtP<E>Q 5H4V4?Q 9H4f)@Y_?Q Er:y +@Q I ?_BIk8;i8;H4yɮ% B!*jBjiiziJii kCPkCPkCPh12fEt>:fEt>BfE-?JfE\@Ie3Aɢej)a mi)>顉ik䭻IApAzApAAI!I1OuW>}2Acoustic response timeoutԁԡ gUя,UE?A;ɰ2$ @2@2GYٱ2an :AHRS rotation from veh to nav: [[-0.714059,-0.700039,-0.008036],[0.667658,-0.677487,-0.308617],[0.210600,-0.225737,0.951152]]2H@fJus]?bӿ@?@̿o?i2$ @I2,L^;2uC@YF.AyFGEr[ ErAErFEp"Era:*Er 9VEr 5ZEpav@av@av@av@ Ep%M=ٔ{Q->9I=FyċEU<E>2Acoustic response timeoutQ 5H4?Q 9H4η)@Yy@Q I?BI7[;i:H4y׮BɮB*jBjiiziJii kCQkCQkCQh) kkkkkkhA2fQ:fQBfQJfU[@m94Aɢudu)u u.iq)}Ɠyyi}*IԱA}AIIIOK> 2Acoustic response timeout (nUя,cUE?A2G; @2 1@2]ٱ2P?n :AHRS rotation from veh to nav: [[-0.715952,-0.698140,-0.003582],[0.664275,-0.679626,-0.311204],[0.214830,-0.225187,0.950336]]2H `*WXm A?`~ӿ`?̿'i?i2G; @I2"^;2sCYB2AyBUGHHbDNVDN8yV_0>%V^=ٔVM@Q-Z>9ZK?IZK?=ZFyZƋE^0+<E^>`Q 5fH4b ?Q 9fH4b)bD@Ydyj@Q Ij?bBIb:ibC:bۤH4lynծBɮrΜBpBw>BCBGByAB=BBڻDB;BE*j|BjiiziJi!i! k3Sk3Sk3Sh1 kikikihI2fY:fYBfYJf]1@19e reNAggregate::initialize marl:UpdateRudderq9eJ]aq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]i18mom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7unu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed 4Aɢ viq)  Ei )-oiQ19I9EX EEEBE"E~ :*EA9VE5ZEBE:a2E:aJEV:a:EW:a 2Acoustic response timeouth%<9AIIaIqO>a iuUя,AUE?A"2Acoustic response timeoutBxQ @B;G@BmbٱBqNp JAHRS rotation from veh to nav: [[-0.716117,-0.697979,-0.001354],[0.662626,-0.679234,-0.315545],[0.219324,-0.226865,0.948910]]BH o U0.V:4?`H`1Կ`?@ Ϳw]?iBxQ @IBsG^;BvCYRAyReGTTbD^VD^8yf>%fH=ٔf8Q-f>9hIh=jFyjɋEjY;En>pQ 5vH4r?Q 9vH4r)r@Ytyv@Q Iv?rRBIr|:ir1:rH4yzBɮ~B~&E*j Bj iiziJii k3Qk3Qk3Qh) kk9kkkkhA2fQ:fQBfQJfU/@s]PUpdating rudder angle -0.000000 arcdeg 9]r]6Completed marl:UpdateRudder19e reRAggregate::uninitialize marl:UpdateRudder}K5Aɢ}4r)y }iy)顁i򒧻IU2;aAIIO$>bEX5jE5rEƊ2ET EJEDE"E9*Ek9VEJ5ZEa @a @a @a @ԑhDAT read: Forwarding Delay UpTx time:18:22:15.2046 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout :{Uя,.UE?A2? 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;=   9 /$?5^I ?MbY L?y X>  B |B ) 0~B Y  BbD%VD% 8y5>%5N=ٔ5xn;9Q-=>9AIA=EFyEEM;EM>QQ 5UI4Uu?Q 9I4UUN)U߬@YU?Q E~:y'@Q I?UxBIUAɢyO) νi)Fн顱iZIiAI IOU2>2Acoustic response timeoutiI @7Uя,iWE?AE6T E6>E6DE4"E69*E69VE6J5ZE4a:@a:@a:@a:@B @BR@BDkٱB JAHRS rotation from veh to nav: [[-0.728194,-0.685369,-0.001511],[0.646427,-0.686083,-0.333799],[0.227739,-0.244047,0.942643]]BH@^M0X?e\տ&?<Ͽ!*?iB @IBs^;BsCYR+(AyRGTT]2Acoustic response timeoutbD-VD-8yuxm>%uF=ٔu;Q-u>9yIy=}Fy}Eۀ:E>Q 5I4Uw?Q 9I4I)@Yy'@Q I?(BI ;i ;I4yVBɮPBԹ*jYBjYiaiaziaJiiii ktktkth2f:fBfJf[@M>AɢMTL)Q UεiQ)U۹ҽQQi]eYIaAIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO%M> 2Acoustic response timeout9 B >B wCB GB h*AB =B !DB DB ;B E+Uя,WE?A28 @2@2#Xiٱ2  :AHRS rotation from veh to nav: [[-0.727710,-0.685885,-0.000897],[0.647614,-0.686673,-0.330266],[0.225908,-0.240918,0.943888]]2HeI`dMA?:`#տ?iοS4?i28 @I2w^;2vCYv])AyvIGaabDebVDe8yZ:>%G=ٔ;Q->9I=FyE6FE>Q 5I4A^?Q 9I4eE)@Yy'@Q I?קBI:iR:[I4yRBɮ&B*jBjiiziJii kC\kC\kC\h  klklklh!2f:fBfJf[@b?AɢN) 'i)Խi2"ĻIE}R E}AE}:Ey"E}s9*E} 9VE}(4ZEyBE}x:a2E}}:aJE}:a:E}:au2Acoustic response timeoutAAqIIOC>iԙ  2Acoustic response timeoutmIUя,l^WE?A2^ @2S@2/gٱ2W| :AHRS rotation from veh to nav: [[-0.726117,-0.687570,-0.000980],[0.650110,-0.686091,-0.326551],[0.223855,-0.237752,0.945179]]2HY<P?u@7ԿD?nο>?i2^ @I2>j^;0YB*AyB GbDvRVDv8y}|o>%M=ٔ;Q->9I=FyE9E>Q 5I4E?Q 9I4 A)3@Yy'@Q I?BI:i:LI4yOBɮBE*jBjiiziJii kcTkcTkcTh kmkmkmh2f:fBfJf|[@%?Aɢ%sK)) -i))-ֽ))i-ƻ1I9qAIIO >ԡEU EDEE"E:*Ea99VE5ZEa@a@a@a@2Acoustic response timeout asUя,8WE?A2 @2@2Heٱ2fy :AHRS rotation from veh to nav: [[-0.723677,-0.690136,-0.001950],[0.653443,-0.684286,-0.323673],[0.222044,-0.235509,0.946167]]2H\( 0_`?`Կ k?+%οF?i2 @I2ϭ^;2uCYBQ,AyBGDDbDNVDNL8yVw>%VY=ٔV;Q-V>9XIX=ZFyZE^k7E^>`Q 5fI4b.?Q 9fI4b<)bF@Ydyf}'@Q If?b#BIb9:ibt:bxI4ynLBɮn˜Bl*jxBjxixixzi|Ji|i| k3Uk3Uk3Uh kkkkkkh!2f1:f1Bf1Jf5{G[@US@AɢUH)Q UiQ)ؽiɻI2Acoustic response timeoutIIO= >AA?AB>BrCBGB-AB=BBDB%;BޏE) E R E BE =E "E s9*E (9VE |4ZE BE v:a 2E {:a JE K+:a :E N+:a  2Acoustic response timeout[Vя,+XE?Aɰ0: @:@:>cٱ: v FAHRS rotation from veh to nav: [[-0.721368,-0.692548,-0.002107],[0.656645,-0.682997,-0.319894],[0.220103,-0.232145,0.947451]]:H s@[)`Ca@<?`#yԿQ,?`Ϳ Q?i: @I:^;:sCYN{-AyNYGy%Dl?x?~jth?%O ?%K7>%D;! !9%?~jt?bX9ȶY% ?y%>%E%B! !)%B!Y%BbD=VD=8yM/>%M@=ٔM;Q-U>9QIQ=UFyUE]!E]>aQ 5mI4et?Q 9mI4e9)e.@Ym.?Q Eu:yu/@Q Iu?eBIe:ie:eNI4yyɮ}By*jBjiiziJii kSkSkSh kckkckkckh2f>:f>Bf'T?Jf;@m@AɢuO@) i)۽顙iͻIԑIIO%>2Acoustic response timeoutԹ T Vя,'XE?AE&S E$E&>E$"E&9*E$VE&4ZE$a*@a*@a*@a*@> @>ǁ@>p`ٱ>^ t FAHRS rotation from veh to nav: [[-0.718724,-0.695285,-0.003818],[0.660286,-0.680804,-0.317062],[0.217849,-0.230401,0.948397]]>H@?Go!?%JԿy?}ͿDY?i> @I> i_;>uCYNz.AyNGpE2Acoustic response timeoutqq q)qIqiyybD}VD8y>%D=ٔr;Q->9I=FyE3E>Q 5I48?Q 9I47)@Yy/@Q I?JBI;i;I4yIBɮzB*j!Bj!i!i!zi)Ji)i) kRkRkRh2f:fBfJf;@ cAAɢ-h@)1 5Ii1)5O)ݽ11i=]л9IAII O >92Acoustic response timeouta B >B oCB bGB 0AB =B "DB DB U;B َE1mVя,AXE?A2TA @27@2]ٱ2ׄr :AHRS rotation from veh to nav: [[-0.716153,-0.697916,-0.006185],[0.663970,-0.678536,-0.314218],[0.215101,-0.229135,0.949331]]2H@@SUTy=??'Կ@q?JTͿ`?i2TA @I2w_;0YB/AyBGDDbDN1VDNv8yVI>%V\=ٔV;Q-Z>9XIX=ZFyZE^IJE^>`Q 5fJ4b?Q 9fJ4bx4)b@YdyfO/@Q Ij?bʪBIb9:ib:bJ4ynGBɮnRBnE*jxBjxixi|zi|9JiYiY k#Tk#Tk#Thq kCTkCTkCTh2f:fBfJf;@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed%AAɢ5C)9 =i9)=2޽99i=}ӻAIIIII>O =EUU EU@EU;EQ"EU:*EU9VEU4ZEQBEU:ae2EU:aeJEU,:ae:EU/:aeU2Acoustic response timeoutiԑ  2Acoustic response timeoutǗVя, [XE?A2d @2&@2EZٱ2)q :AHRS rotation from veh to nav: [[-0.714246,-0.699837,-0.008951],[0.667159,-0.676918,-0.310936],[0.211545,-0.228056,0.950389]]2H@eT]Y? P^ӿ?`0Ϳi?i2d @I2_;0YN0AyRxGbD VD )8yEz3>%MA=ٔM 9QIQ=UFyU EUԙE>Q 5J4׻?Q 9J4`1)ͬ@Yy/@Q I?cBIR:i:J4yɮ,B*jBjiiziJii kRkRkRh  kRkRkRh!2f1:f1Bf1Jf5u;@s=PUpdating rudder angle -0.000000 arcdeg 9=r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderUWBAɢ]T=)Y ] iY)]oaaie}ֻaIiIIO=bE&4jEŻ 5rE3EeS EeNEe@Ea"Ee9*Ee҆9VEe4ZEaam@au@au@au@]In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe2Acoustic response timeout Vя,uXE?A2 @2@2Vٱ2Yo :AHRS rotation from veh to nav: [[-0.713390,-0.700680,-0.011082],[0.669345,-0.676633,-0.306830],[0.207491,-0.226307,0.951700]]2H@k6Ek?ӿ?̿Rt?i2 @I2t_;2vCYf1AyjGbDMVDM8ye>%F=ٔ$9I=Fy EoE>Q 5J4»?Q 9J4.)@Yy.@Q I?BI$:i: #J4y-BɮBE*jBjiiziJii ksSksSksSh ksSksSksSh2f:fBfJf=;@-BAɢ- =)1pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout "i)A{iaػII1IIO}=!B)A)B5>B5mCB5GB53AB5=B1B5DB5T;B5EBrCBuCBěCB=B=CĒ6QEm [ Em CEm ?Ei "Em a:*Em 09VEm ^4ZEi BEm ;a} 2Em ;a} JEm 9:a} :Em 9:a m zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYm 2Acoustic response timeouty #Vя,\XE?A2 @2o@2Qٱ2B?n :AHRS rotation from veh to nav: [[-0.713874,-0.700141,-0.013641],[0.670141,-0.677374,-0.303440],[0.203211,-0.225759,0.952753]]2H gq? @kӿ@?@̿|?i2 @I2_;2xCYN2AyRGPPyGz?Zd;i|?5?0?y= 9K7?Q?v/?YI,?y(>x=DyB :B)|BYBbDoVD8yD5>%E=ٔ,9I=FyE E>Q 5J4?Q 9J46+)d@Y3?Q E:y*@Q I?}BI ;i:1J4y *Bɮ ˗B *j!Bj!i!i!zi!Ji)i) ksSksSksShA kSkSkShIQ2feh>:feh>Bfe?Jfe8~@颅QCAɢ:9) i)7顉i}ۻIA%qAzA!A]$AIiIyԁO?>2Acoustic response timeoutԩ ~)Vя,6XE?A(ɰ(V @V@V?MٱVAk fAHRS rotation from veh to nav: [[-0.715273,-0.698696,-0.014434],[0.669883,-0.679600,-0.298997],[0.199099,-0.223534,0.954145]]VH`[~o? I`"ӿ |?̿Z?iV @IV_;VuCYr4AyrdG <bD/VD8%2Acoustic response timeouty5.>%=V=ٔ=39EH?IEH?=EFyMEMG;EM>E]R E]@E]=EY"E]s9*E]9VE]|4ZEYam@am@am@am@ wk>QMGayQ 5J4U\?Q 9J4U#()U@/9YAYy*@Q I?ԱUBIUJ4yɮB*j BjiiziJii kOkOkOh) kSkSkShY2f:fBfJf@颭CAɢw6) }i)bi ޻IA=AIAIQO[>2Acoustic response timeout B% t>B% jCB% GB% )6AB% =B! B% DB% b;B% E9 |0Vя,^XE?A> @>@>(Iٱ>Sj RAHRS rotation from veh to nav: [[-0.717739,-0.696141,-0.015479],[0.668397,-0.682562,-0.295558],[0.195184,-0.222480,0.955199]]>HFc?@mҿ`?9z̿@?i> @I>|_;>vCYV[5AyZG\^AbDfVDfN8yjY>%jQ=ٔn '9rK?IrK?=rFyrEv;Ev>xQ 5zJ4z?Q 9~J4z%)zw@Y|y~+@Q I~?zBIz;iz;zLJ4y (Bɮ |B *jBj!i!i!zi!Ji!i! kSkSkSh9 kSkSkShI2fY:fYBfYJf]#T@}E"E :*EVE4ZEBE':a2E+:aJE,:a:E/:aI 52Acoustic response timeoutOM>9i  2Acoustic response timeout6Vя,lXE?A 6T @6J@6Eٱ6)(h >AHRS rotation from veh to nav: [[-0.720520,-0.693260,-0.015504],[0.666414,-0.686091,-0.291842],[0.191685,-0.220610,0.956341]]6H0/BS?`uҿ@&?@<̿X?i6T @I6#_;6uCY^!6Ay^G``bDjVDj8yr$=%rI=ٔv9vH?IzH?=zFyzEz <Ez>|Q 5J4~ r?Q 9J4~!)~@Y y C+@Q I ?~BI~:i~:~ZJ4yɮcB*j)Bj)i)i1zi1Ji1i1 kcXkcXkcXhI kcXkcXkcXhY2fi:fiBfiJfm@颍DAɢy@5) Sii)o顑i້IqAAIIO>ԡEU EE;E"E:*EVE4ZEa@a@a@a@=2Acoustic response timeout =Vя,XE?A2 @2@2Bٱ2g :AHRS rotation from veh to nav: [[-0.723219,-0.690429,-0.016160],[0.664421,-0.689211,-0.289021],[0.188411,-0.219762,0.957186]]2H$ 6B?Pҿ ?+!̿`E?i2 @I2_;2sCYBN7AyBnGP\\ \)`I`i``df@AbDjtVDj8y=:5>%=E=ٔE9EK?IEK?=MFyMEMn<EM>QQ 5]J4U\?Q 9]J4U)U@Yayes+@Q Ie?UBIU;iU;UOiJ4ym%Bɮm;BmE*jBjiiziJii kOkOkOh kPkPkPh2f:fBfJf@3EAɢ@2) K^i)*Ciq~⻉I2Acoustic response timeoutA)I1IAO}>AAAAAABW>BgCBXGB8AB=BBDB;BEE T E DE <E "E 9*E a99VE 4ZE BE :a 2E :a JE iH:a :E lH:a ! E =E %=M 2Acoustic response timeoutCVя,]YE?A2 @2@2ۥ>ٱ27Xf :AHRS rotation from veh to nav: [[-0.725865,-0.687625,-0.017083],[0.662462,-0.692188,-0.286392],[0.185106,-0.219199,0.957960]]2HI:,~2? g& @Tҿ`?̿ ?i2 @I2h#`;2uCYRd8AyRG|y-uV?㥛 /$-rh?--,) )9--?&1?/$?Y-5^?y-P=-=-gB) -)))Y-ǍBbDNVD8y}&>%D=ٔ9I=FyE+<E>Q 5J4E?Q 9J4)ϼ@Y_?Q Es:y@Q I?VBIU:iH:wJ4y"BɮB*jBjiiziJii kVkVkVh  kVkVkVh2f-9>:f-9>Bf-?Jf-͊@^=B*** querying acoustic contact ***X9Y9MEAɢU0)Q UTiQ)]YYi]c仉aIa)A$AIIO&>2Acoustic response timeoutYԁ u+JVя,*YE?AE&R E&EE&;E$"E&s9*E&A9VE&4ZE$a.@a.@a.@a.@N @N@Nh;ٱN)1f ZAHRS rotation from veh to nav: [[-0.727993,-0.685335,-0.018490],[0.660987,-0.694459,-0.284294],[0.181996,-0.219186,0.958559]]NH`KD&?9 1ҿK?`F̿?iN @INb`;NvCYf9AyfGGhhz2Acoustic response timeoutIbD]VD]t8y =>%D=ٔ;Q->9H?IH?=FyE;E> Q 5J4 .?Q 9J4 6) ׿@Yy@Q I?  BI :i g: wJ4y%Bɮ%B)*j9Bj9i9iAziAJiAiA k3[k3[k3[hY k[k[k[hi2fy:fyBfyJf} ֊@额+FAɢ-) Hi)顡iЅ廉IyAAIIO%+>PExceeded connect timeout, disconnecting.ԡ2Acoustic response timeoutB B>B dCB xGB g;AB =B B DB H;B E u QVя,hYDYE?A6x @69 @68ٱ6f >AHRS rotation from veh to nav: [[-0.730011,-0.683141,-0.020066],[0.659449,-0.696376,-0.283175],[0.179475,-0.219953,0.958858]]6H@@\I 4?`H@ҿ?`j'̿?i6x @I6 `;6tCY^:AybxG E%S=ٔ;Q->9K?IK?=Fy E;E>Q 5J41?Q 9J4 )@Yy>@Q I?BIN:i:J4yBԹɮBE*jBjiiziJii kSkSkSh k#nk#nk#nh2f:fBfJfފ@ FAɢ r&,DzDE%T E%BE%?E!"E%9*E%(9VE%^4ZE!BE!a-2E%:a5JE%K+:a5:E%M+:a5)I U@iQ)U7NQQiU滉YIY2Acoustic response timeoutA$AIIOF>9  hDAT read: Forwarding Delay UpTx time:18:22:29.0545  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout3WVя,4^YE?A27 @2-@2ԁ6ٱ2i :AHRS rotation from veh to nav: [[-0.731684,-0.681272,-0.022504],[0.658185,-0.697531,-0.283271],[0.177288,-0.222077,0.958776]]2H i@X ?`-R@!ҿ[? m̿J?i27 @I2P `;2xCY;AyGbDVD8y>%F=ٔð;Q->9H?IH?=Fy#E^;E>Q 5J4?Q 9J4p)@Yyb@Q I?dBI:i:fJ4yBɮB*j Bj i i ziJii kmkmkmh) kmkmkmh92fI:fIBfIJfMߊ@GAɢ\+) k9i )!~iv绉IAAIIOG>E) E)E-CE)"E)*E)VE-5ZE)a5@a5@a5@a5@=2Acoustic response timeoutiԙ ]]Vя,xYE?A2Z @2P@2U4ٱ2fwl :AHRS rotation from veh to nav: [[-0.733370,-0.679345,-0.025663],[0.656867,-0.698364,-0.284277],[0.175200,-0.225337,0.958399]]2Hw2{G` ?`Y1ҿ`l?̿3?i2Z @I2 `;2uCBnManaging dock network, ignoring radio surface power offYF|%Z]=ٔ^N;Q-^>9\I\=bFyb%Eb;Eb>dQ 5jJ4f뺉?Q 9jJ4f{)f.@Ylyn@Q In?fBIf;if;fLJ4yrBɮrsBvE*j|Bj|i|iziJii kkkkkkh kkkkkkh2f:fBfJfފ@GAɢ+) 0i)i軉I A=_?A=`?q2Acoustic response timeoutBiAiBu->BubCBuGBu=ABqBqBuDBu;Bu EAAIIO%>ԡiIoAE5 Z E5 CE5 >E1 "E5 :*E5 09VE5 4ZE1 BE5 a;a= 2E5 c;a= JE5 9:aE :E5 9:aE M 2Acoustic response timeout FdVя,YE?A2.~ @2s@2y2ٱ2m :AHRS rotation from veh to nav: [[-0.735022,-0.677497,-0.027212],[0.655493,-0.699740,-0.284065],[0.173412,-0.226632,0.958419]]2HLݛ?Dd .ҿ@^2?DͿ]?i2.~ @I2B`;0YN}=AyRGy%|?5^?:vQ%r?%Լ%u! !9%Gz?v/?ʡEY%p?y%xi=%% B%?yB %B)%+~B!Y%ܒB99bDE VDE8yMQ>%UA=ٔUG;Q-U>9]K?I]K?=eFye(Ee;Ee>iQ 5uJ4mѺ?Q 9uJ4m)m8@Yq?Q E`:y@Q I?mвBIma2Acoustic response timeout) bE̴4jE4rE80EE T EA EE :EA "EE 9*EA VEE (4ZEA aU @aU @apjVя,ȫYE?Aa@a2@F @F_@F,1ٱFp vAHRS rotation from veh to nav: [[-0.736732,-0.675545,-0.029398],[0.653922,-0.700739,-0.285221],[0.172079,-0.229356,0.958011]]FHO?tlAҿ?@[Ϳ`?iF @IF$`;FvC2Acoustic response timeoutY~>AyG11 1)9I9i99E=E=bDMVDM;8y]H>%]I=ٔeZ;Q-e>9eH?IeH?=eFye*Em;Em>qQ 5}J4u ?Q 9}J4us)u0@Yy&@Q I?uBIuv;iu;uHJ4yBɮ'B*jBjiiziJii kQkQkQh kkkkkkh2f:fBfJf5yz@rHAɢb%) i)`  i ?뻉 IIA!I1IAOu>y2Acoustic response timeoutԡ Bm >Bm `CBm GBm S@ABm =Bm #DBm DBm z;Bm QEB-dCB-eCB-ʗCB-=B-=C-ʖ5WqVя,YE?A2Z @2@2/ٱ2xr :AHRS rotation from veh to nav: [[-0.738575,-0.673456,-0.031046],[0.652202,-0.702089,-0.285838],[0.170702,-0.231361,0.957775]]2Hhʟ? w*Kҿ?<Ϳ?i2Z @I2nk`;2uC@YF?AyFGbDNVDN(8yVT>%VV=ٔZ$p;Q-Z>9XIX=^Fy^-E^;E^>`Q 5fJ4b?Q 9fJ4by)b@YhyjM@Q Ij?bLBIbp:ib:bJ4ynBɮnBp*jxBjxixixzi|Ji|iy kCSkCSkCSh2f:fBfJfz@%HAɢ-")) -9i1)UDQQiU컉YIYEY EAE>E"E:*E 9VE4ZEBE;a 2E;a JE:a :E:a Ա 2Acoustic response timeoutIqIO>  2Acoustic response timeoutˁwVя,|YE?A2 @2@2.ٱ2*s :AHRS rotation from veh to nav: [[-0.740310,-0.671512,-0.031825],[0.650644,-0.703787,-0.285213],[0.169126,-0.231853,0.957936]]2H}@]K ?k@ҿ?\Ϳ`h?i2 @I2\A`;2vCYB@AyBGl 4<p;bD FVD 8yE>%MA=ٔMTw;Q-M>9IIQ=UFyU/EU;EU>Q 5J4?Q 9J4)@Yys@Q I?BI:i:J4yBɮҕBE*jBjiiziJii kQkQkQh khkhkhh2f!:f!Bf!Jf%(z@E[IAɢE^!)I M iI)MgIIiMQIY IyIO#>EV E?E=E"E=:*E?9VE|4ZEa@a@a@a@ŁG%2Acoustic response timeout!9Am9iYmAa i}Vя,YYE?A: @:@@:N+ٱ:s BAHRS rotation from veh to nav: [[-0.742015,-0.669595,-0.032519],[0.649206,-0.705632,-0.283927],[0.167170,-0.231790,0.958294]]:H@Qm@QL?+ҿe?IͿX?i: @I:Q`;8YJAAyJ%G9bDVD{8yM.>%MJ=ٔM;Q-U>9QIQ=UFyU2E];E]>aQ 5mJ4ejn?Q 9mJ4e)e@Yiyu@Q Iu?e۵BIe:ie:eJ4y}Bɮ}B}E*jBjiiziJii kcOkcOkcOh k3ik3ik3ihA}2Acoustic response timeout2fy:fyBfyJf}F{@颽IAɢW) i)giRﻉIIqIO=A@AA@AB- >B-^CB-GB-BAB)B)B-DB-9;B-EaE P E EE >E "E 9*E A9VE 4ZE BE b:a 2E f:a JE V:a% :E V:a% - 2Acoustic response timeout Vя,3ZE?A25 @2l+@2S*ٱ2-?r :AHRS rotation from veh to nav: [[-0.743366,-0.668076,-0.032891],[0.648135,-0.707281,-0.282265],[0.165312,-0.231144,0.958772]]2H `נ? ҿ@(?@!Ϳ@C?i25 @I2G`;2uCYjuBAyj&GllyK7A?I +Mb B?94 9`"?X9v?"~jYW?y}=SStB kB)BYчBbDVD@8y=%A=ٔ;Q->9I=Fy4E;E>Q 5K4V?Q 9K4)9@Y ?Z?Q E y:y @Q I ?BI:i]:`K4yɮB*j)Bj1i1iziJii kPkPkPh khkhkhh2f l>:f l>Bf 5?Jf w7@EIJAɢM)Q UkiQ)]2Acoustic response timeout1Y E% U E% DE! 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ZE! a- @a5 @a5 @a5 @)Vя,4-ZE?A2K @2A@2%<(ٱ2!n :AHRS rotation from veh to nav: [[-0.744460,-0.666921,-0.031546],[0.647325,-0.709398,-0.278792],[0.163554,-0.227970,0.959833]]2H kW&@?c`ѿU?.Ϳ`?i2K @I2xB`;2vCYF3CAyFGLLbDRVDR38yV>%Z`=ٔZ0;Q-Z>9XI\=^Fy^7Eb/r;Eb>`Q 5fK4bAB?Q 9jK4b)bm@Yhyj@Q Ij?b3BIb:ib:r2Acoustic response timeoutbK4yvޭBɮvwBt*jBjiiziJii kSPkSPkSPh2f:fBfJf8@ JAɢ 1)1 5|i9)=99i=񻉨AIAIIO=Y>>2Acoustic response timeoutԑB >B \CB bGB EAB =B B DB ;B EԹ ǥVя,FZE?A2cP @2#F@2X&ٱ2Ĭk :AHRS rotation from veh to nav: [[-0.744833,-0.666551,-0.030564],[0.647280,-0.710659,-0.275669],[0.162026,-0.225110,0.960767]]2H aT%L ?@ѿH? k̿?i2cP @I2N_`;2uCYBDAyF'GR=Rp=bDZHVDZ8yf >%jI=ٔjx;Q-j>9hIl=nFyr9Er'5:Ev>xQ 5K4zM+?Q 9K4z)z@Yy@Q I ?zBIzC;iz3;zj K4yۭBɮXB*jABjAiIiIziIJiQiQ2f:fBfJf?8@% KAɢ%)! %i))-))i-C򻉨1I1ԑIIES E?E@E"E9*E?9VE4ZEBE:a2E:aJE:9a:E?9aO]=2Acoustic response timeout 2Acoustic response timeout ϗVя,`ZE?A>C @>9@>$ٱ>4j FAHRS rotation from veh to nav: [[-0.744549,-0.666826,-0.031479],[0.648024,-0.710620,-0.274014],[0.160350,-0.224416,0.961210]]>HWV?fqѿ [?̿`C @I>6H`;>vCYN+EAyN{GPR@AdjO h)hIhihhbDrVDr8yz(>%zH=ٔz?;Q-z>9|I|=~Fy~ Q 5K4 w?Q 9K4 ) @Yy@Q I? BI :i ; .K4y%ĭBɮ%B%زE*j9Bj9iAiAziAJiAiA k#9k#9k#9hY k39k39k39hi2fy:fyBfyJf}#I8@额KAɢ4) ˾i)Q顡i󻉨IAIIOU>ER EE;E"Es9*EVE4ZEa@a@a@a@2Acoustic response timeoutI Vя,fzZE?Aɰ65 @6|+@6#ٱ6Aj >AHRS rotation from veh to nav: [[-0.744144,-0.667218,-0.032720],[0.648808,-0.710214,-0.273211],[0.159053,-0.224537,0.961398]]6H@`Y@ ? @I|ѿ[? ̿?i65 @I6Z`;6uCYFEAyFSG Np9xIx=~Fy~>E~" E~>Q 5 K4?Q 9 K4kQ =tI)@Yy@Q I?GBI:i:BWCBGB'GAB=BBDB ;BWEA AI1IYO+>yES EE>E"E9*E=:VE4ZEBE:a2E:aJEϔ;a :Eϔ;a ԩ  2Acoustic response timeoutpVя,|ZE?A2$ @2@2"ٱ2{fl :AHRS rotation from veh to nav: [[-0.743536,-0.667803,-0.034526],[0.649692,-0.709221,-0.273690],[0.158284,-0.225930,0.961198]]2H `^qF?"ѿB?E̿`"?i2$ @I2@`;0PYRFAyReGyZd;O? rhZd;Oj%<=ٔ,:Q->9K?IK?=FyAE"E>Q 5K4X繉?Q 9K4t)>@YA?Q E:y!@Q I?BI ;i ;KK4yBɮ B ײE*j!Bj!i!i!zi!Ji)i) k36k36k36hA kC6kC6kC6hQ2feH>:feH>BfeR?Jfe)t@颅qLAɢ\) ߶i)顉i IAam2Acoustic response timeoutIqIOG>! E R E AE <E "E s9*E  9VE 4ZE a @a @a @a @4 Vя,XVZE?A2 @2@2"ٱ27n :AHRS rotation from veh to nav: [[-0.742908,-0.668378,-0.036853],[0.650587,-0.707984,-0.274764],[0.157555,-0.228100,0.960805]]2H Zc[ޢ? ͧѿ*?d2Ϳ?i2 @I2d`;2wCYBuGAyBLGDFp=b2Acoustic response timeout|bD qVD +8yE]=%MT=ٔM:Q-M>9IIQ=UFyUDEUP;EU>Q 5K4ҹ?Q 9K4)@Yy!@Q I?BIF:iH;YK4yɮϔB*jBjiiziJii k5k5k5h k5k5k5h!2f9:f9Bf9Jf=ut@ULAɢUU)Y ]iY)]#YYi]kaIi)AIIO)>Qu2Acoustic response timeoutB >B TCB DGB IAB =B B DB ;B ņEԁ Vя,4ZE?AR @R@RG!ٱR|q bAHRS rotation from veh to nav: [[-0.742234,-0.668975,-0.039519],[0.651527,-0.706559,-0.276201],[0.156849,-0.230753,0.960287]]RHa`=h;N? "Gѿ?RͿ?iR @IRaG`;RvCYf]HAyjiGAAYbDE+VDE8y >%E=ٔ:Q->9I=FyFE7E>Q 5K4ཹ?Q 9K4C)@Yy{!@Q I?$BI;ik:gK4yBɮB*jBjiiziJii k6k6k6h k6k6k6h2f:fBfJf0t@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandModeDzDEU EE:E"E:*EVE(4ZEBE:a2E:aJE:a:E:a18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedQMAɢL) %wi!)%!!i%ۖIIQ2Acoustic response timeoutԉIiIOB>Ա } 2Acoustic response timeout`Vя,V ZE?A2 @2@2Q ٱ2$u :AHRS rotation from veh to nav: [[-0.741465,-0.669615,-0.042960],[0.652624,-0.704810,-0.278073],[0.155923,-0.234218,0.959599]]2H |mK? ΍ѿ`F?Ϳ?i2 @I2e`;0YN IAyRXGbDZVDZ8y]=%S=ٔ;Q-%>9!I!=%Fy%IE-/dE->1Q 5=K45۩?Q 9=K45̴)5@Y9yEX!@Q IE?5BI5;i5;5kuK4yMBɮMBI*jaBjaiaiaziaJiaii k7k7k7hy k7k7k7h2f:fBfJfgs@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderԹMAɢ}) ;i)iIIII!OE>bEajEe24rEeŒ0ET EEEE"E9*EA9VEZEa@a@a@a@2Acoustic response timeout9 >HVя,dZE?A2 @2@2gٱ2w :AHRS rotation from veh to nav: [[-0.740855,-0.670110,-0.045677],[0.653526,-0.703480,-0.279320],[0.155042,-0.236786,0.959111]]2Hqb?` _ѿ`k?@Oο ?i2 @I2P`;2xCYNJAyRGPPbDZVDZ8yb >%fP=ٔf;Q-f>9dIh=jFyjKEj26Ej>lQ 5rK4n?Q 9vK4n@)ne@YtyvB}QCB}GB} KAB}=B}$DB}DB}N;B}OEBWCBXCBØCB=B=CqW6IiER EAE>E"Es9*E 9VE4ZEBEr:a2Ew:aJEa:E:a 2Acoustic response timeoutԙ 0Vя,[E?A2% @2@2O4ٱ2w :AHRS rotation from veh to nav: [[-0.740161,-0.670793,-0.046880],[0.654585,-0.702812,-0.278521],[0.153883,-0.236837,0.959285]]2Hf #w[?o} Jѿ@l?`Pο w?i2% @I2_;2wCYnJAynKGyeZd;O?~jt?y&1|ae=e`a a9eV-?x&1?Ye-?yeA>eeBerB eQB)ezBaYeB };}4<bDVDd8y=%>=ٔ2;Q->9I=FyNE:AE>Q 5K4~?Q 9K4W)@Y7?Q E:y(@Q I?BIy;i%;0K4yBɮHBͲE*jBjiiziJii k9k9k9h k9k9k9hq2f1>:f1>Bfe@JfɌ@NAɢF) wi)i4IIqIO=U2Acoustic response timeoutԙ m 7k>i nGE X E @E <E "E ~ :*E 9VE 4ZE a @a @a @a @   E 9A YM &AFZVя,˝/[E?A2l @2,@2ٱ2Jw :AHRS rotation from veh to nav: [[-0.739148,-0.671831,-0.047983],[0.656002,-0.701918,-0.277440],[0.152713,-0.236546,0.959544]]2H4? vѿ?&Gο?i2l @I2,T_;2vCYBEKAyBGXX X)XIXi\\b2Acoustic response timeoutbDjVDja8y=%K=ٔv@;Q->9I=FyQEE>Q 5K4i?Q 9K4)@Yy(@Q I?BI :i[:DK4yBɮ3B̲E*jBjiiziJii k9k9k9h k9k9k9h2f :f Bf Jf (Ȍ@-NAɢ-)) -qli1)5sO11i5֑9I9IIO%=u2Acoustic response timeout) BU >BU OCBU &GBU MABU =BQ BU DBU ;BU E~AVя,.vI[E?A2X @2w@2ٱ2qnv :AHRS rotation from veh to nav: [[-0.737819,-0.673245,-0.048626],[0.657732,-0.700887,-0.275946],[0.151698,-0.235581,0.959942]]2H@6@9娿# ?mѿ j?'ο ٷ?i2X @I2^;2uCYB>LAyF.GDDbDNtVDNB8yV&>%VY=ٔZ*3;Q-Z>9XIX=^Fy^SE^E^>`Q 5fK4b0V?Q 9fK4b:)b @Yhyjd(@Q Ij?b BIb :ib$:bgK4ylɮnBp*jxBjxixixzi|Ji|i| k7k7k7h k7k7k7h!2f1:f1Bf1Jf5@]OAɢso ) Gi)iIIyIER ECE?E"Es9*E09VE^4ZEBEa2EaJE9:a:E9:aO=Q2Acoustic response timeoutyԩ  2Acoustic response timeoutrVя,oc[E?A2QQ @2G@2ٱ2Tt8 >AHRS rotation from veh to nav: [[-0.736009,-0.675209,-0.048821],[0.660001,-0.699644,-0.273673],[0.150630,-0.233648,0.960583]]2H cO`?{c܃ѿG?@*Ϳ`?i2QQ @I2@^;2wCYFLAyFGz@AxbD~SVD~$8y==%=A=ٔ=';Q-=>9AIA=EFyEVEMEM>QQ 5]K4U@?Q 9]K4UU)U2@YYy]<(@Q Ie?UBIU:iU:U6K4ymBɮmBi*jBjiiziJii kS8kS8kS8hI2fa:faBfaJfe~@OAɢ ) EU E@E@E"E:*E9VE4ZEa@a@a@a@2Acoustic response timeout AHRS rotation from veh to nav: [[-0.733935,-0.677364,-0.050168],[0.662622,-0.697817,-0.271998],[0.149234,-0.232872,0.960989]]6He|34? T@lhѿ ?@Ϳ l?i6  @I6u];6vCYFMAyFGlbD 4VD 8yE>%MJ=ٔMd;Q-M>9QIQ=UFyUXEUEU>YQ 5eK4]*?Q 9mK4])]a@Yiym (@Q Im?]8BI]B:i]|:]UK4yuBɮ}ݓBy*jBjiiziJii k6k6k6h k6k6k6h2f:fBfJfȝ@/PAɢ? ) i).iAIAU2Acoustic response timeouti1IBA<B%|>B%NCB%~GB%NAB!B!B%DB%;B%EAIIIiIpAO J>1ER EE:E"Es9*EVE(4ZEBEa2EaJE*:a:E-:a 2Acoustic response timeouta ~Vя,A [E?A2 @2@2Kٱ2ɢs :AHRS rotation from veh to nav: [[-0.731937,-0.679370,-0.052202],[0.665147,-0.695789,-0.271029],[0.147807,-0.233098,0.961155]]2H@l`e?`H?CXѿY?+Ϳ ?i2 @I2];2yCYNNAyRGPR?A9y1Zd?? ףp= ?"[?L=Q8= 9~jt?n?V-YD?yV>hoB B)YBbDVD8y=%D=ٔc;Q->9I=Fy[EyE>Q 5K4?Q 9K4 )@Y9Q?Q E:y.@Q I?BI:i:K4yɮÓB*jBjiiziJii k#7k#7k#7h  kSkSkSh2f->:f->Bf-5?Jf-@MPAɢM) i)fiIaAAM2Acoustic response timeoutIQIaO?>ԑ E S E E ?E "E 9*E VE ^4ZE a @a @a @a @%^[=ٔ^M;Q-b>9`I`=bFyb]EfEf>hQ 5nK4j?Q 9nK4jӖ)j@Ylyn.@Q Ir?jBIjn;ij;jK4yvBɮvBv˲E*jBjiiziJii  k7k7ԙk7h2f:fBfJf䀉@PAɢM) Խi)ieI!A!I1IAO>U2Acoustic response timeoutBu>BBkHBPAB=BBB ;BE! 9Vя,f[E?A2 @2f@2 ٱ2*v :AHRS rotation from veh to nav: [[-0.729629,-0.681431,-0.057390],[0.668285,-0.692713,-0.271190],[0.145043,-0.236221,0.960813]]2H@YH>bb?@*@/[ѿ?<ο?i2 @I2];2vCY^3PAy^HbDjVDj8yr>%rH=ٔr;Q-v>9tIt=vFyv`EzEz>|Q 5K4~J߸?Q 9K4~J)~ @Yy .@Q I ?~-BI~:i~|:~Ey"E}29*E}A9VE}4ZEyBE}:a2E}:aJE}V:a:E}V:a2Acoustic response timeoutAIIO%>!Qe In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe 2Acoustic response timeouty =Vя,[E?AB @Bc@BٱBw JAHRS rotation from veh to nav: [[-0.729150,-0.681835,-0.058666],[0.669076,-0.692235,-0.270459],[0.143798,-0.236457,0.960942]]BH 2U@v i? &2Oѿg?9Dο` ?iB @IBߢ];BwCYRPAyR}HTVa=hl l)lIlillbDvVDv8y~P=%I=ٔ\J;Q->9 I =FybEE>)Q 55L4-rŸ?Q 9=L4-)-X@YAyE.@Q IE?-BI-Wg;i-g;-L4yUvBɮUWBUE*jqBjyiyiziJii ks6ks6ks6h2f:fBfJfz@QmQAɢmR)i muYiq)顑iIAIIO$>ET EBEE"E9*E(9VEZEa@a@a@a@ԑpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutԩ ZVя,)v[E?A2+ @2@2gٱ2x :AHRS rotation from veh to nav: [[-0.729066,-0.681736,-0.060815],[0.669447,-0.691774,-0.270718],[0.142488,-0.238084,0.960736]]2H`T`@#l?@#pSѿ =?@yο Y?i2+ @I2];2vCYBQAyFHHHbDnVDnx8yv=%vK=ٔvX;Q-z>9xIx=zFyzeE~ZE~>Q 5 L4L?Q 9 L4G)@Y y{.@Q I?BI:i:L4ysBɮBMCBHBRABBBDBI;BE2Acoustic response timeoutAIIO%>ER ECE=E"Es9*E09VE|4ZEBEs:a2Ew:aJE9:a:E9:aI %= C= 2Acoustic response timeoutWя,R\E?A02 @2`@2ٱ2}y >AHRS rotation from veh to nav: [[-0.729327,-0.681315,-0.062387],[0.669485,-0.691915,-0.270264],[0.140969,-0.238878,0.960763]]2HVU/@ll?+$Lѿ B ?@ο?i2 @I2 ];2uCYRRAyRHyHzG?ʡE?+?=J?-== 9-?Zd;?~jt?Y?U?y~>=&qB B)9|BYBbDgVDK8yq >%<=ٔlg;Q->9I=FyhE9E>Q 5L4?Q 9L4)\@Yk_?Q Es:y-@Q I?@BIh;i ;L4y pBɮ B E*j!Bj!i!i!zi!Ji)i) kQkQkQhA kRkRkRhI2fe/>:fe/>Bfe7ڧ?Jfe$m@}RAɢ9) ;i)顁i*I)ԉ-2Acoustic response timeoutA}$AIIOE>Թ bE%4jE%H4rE%0E Q E AE @E "E 29*E  9VE 4ZE a @a @a @a @ Wя,-2\E?A2N @2 @2ٱ2{4z :AHRS rotation from veh to nav: [[-0.729814,-0.680682,-0.063595],[0.669221,-0.692308,-0.269912],[0.139697,-0.239545,0.960783]]2HZ$GAj? d'>Fѿ ?eο?i2N @I2Ҡ];2zCB2Acoustic response timeoutYFSAyFH\bD BVD )8y>%N=ٔT;Q->9H?IH?=FyjE:E>Q 5L4u?Q 9L4M)@Yy&-@Q I?BI:iM:-L4yɮB*jBjiiziJii kRkRkRh k#Sk#Sk#Sh2f!:f!Bf!Jf%m@ERAɢEt)I Me =iI)MIIiMQIYAAIIIO (>52Acoustic response timeoutBk>BBHBTAB=BBB;BCEB]NCB]NCB]ȔCB]=B]=C]jx5I ,Wя,WL\E?A6 @6|@6ٱ6vx >AHRS rotation from veh to nav: [[-0.730095,-0.680393,-0.063458],[0.669197,-0.693089,-0.267960],[0.138336,-0.238102,0.961338]]6H@\ >j?-A&ѿ@?!zοG?i6 @I6<];6wCYFTAyFgHHH p<;bD VD 8y]=%eO=ٔec;Q-e>9mK?ImK?=mFymmEm :Eu>qQ 5}L4ur[?Q 9L4u)u@Yy(-@Q I?uBIu;iu:ub;L4ymBɮB*jBjiiziJii kTkTkThA2fQ:fQDQzDQE]T E]@E]>EY"E]9*E]9VE]4ZEYBE]:am2E]:amJE]*:am:E]-:amBfQJfUm@颍`SAɢ) 1=i)顱i>~ I2Acoustic response timeoutQAI IOM1>qԡ E 2Acoustic response timeoutWя,e\E?AJ: @J@JC ٱJw ZAHRS rotation from veh to nav: [[-0.730200,-0.680242,-0.063864],[0.669335,-0.693457,-0.266661],[0.137107,-0.237462,0.961672]]JH]gY1k?0ѿ ?)eο?iJ: @IJ];HYf*UAyfHbDzVDz8y 1>% P=ٔN;Q->9I=Fy%oE%른E->1Q 5=L45aA?Q 9=L45|)5C@Y9yE'-@Q IE?5MBI1i5;53IL4yMjBɮMŒBI*jaBjaiaiaziaJiaiiy kC9kC9kC9h2f:fBfJf9m@颵SAɢTW) ڶ=i)Ɗ项i| IAI1IIeGyԡ9YAO!>EmQ EmCEm?Ei"Em29*Em09VEm^4ZEiau@au@au@au@2Acoustic response timeout o2Wя,\E?A2 @2@2ԣ ٱ2w :AHRS rotation from veh to nav: [[-0.730428,-0.679945,-0.064411],[0.669323,-0.693851,-0.265663],[0.135945,-0.237160,0.961912]]2H _=}`k?`4ѿ`f?@[ο ?i2 @I2];0YBUAyBHbDJVDJ8yR=%VQ=ٔVD;Q-V>9XIX=ZFyZrEZZ9EZ>`Q 5fL4b'?Q 9fL4bx)b@Ydyf)-@Q If?bBIb|:ib:bVL4yngBɮnBnE*jBjiiziJii 2Acoustic response timeoutBE<AAB]a>B]LCB]HB]VAB]=BYB]DB];B]E k7k7k7h2fA:fABfAJfE\m@.TAɢe) )=i)Viް I)A=b?A=a?AyIIOc>1Eq EuBEu=Eq"Eq*Eu(9VEu|4ZEqBEu:a2Eu:aJEuI+:a:EuL+:a 2Acoustic response timeoutY &Wя,H\E?A2 @2@2u ٱ2{v :AHRS rotation from veh to nav: [[-0.729848,-0.680531,-0.064808],[0.670187,-0.693600,-0.264137],[0.134802,-0.236213,0.962305]]2H`Z>@+r?1п4A?:<ο4?i2 @I2];2yCYBzVAyBHDFp=yA`"?l?I +?Y?=94< 9V-?Cl?y&1?Y|_?yd;>`e<oB B)YBB%AA%AAbD-VD-8y=Ʒ=%=A=ٔEM2;Q-E>9AIA=EFyEtEM EM>QQ 5]L4Ux ?Q 9]L4Us)U @Ye_d?Q Een:ye&@Q Ie?UBIUn:iU:UeL4ymdBɮmBi*jBjiiziJii kCkCkCh12fM>:fM>BfMZ?JfM,q@颍TAɢ) =i)D(顑i IA2Acoustic response timeoutII!OU2>YԉE} T Ey E} >Ey "E} 9*Ey VE} 4ZEy a @a @a @a @Ա ~D,Wя,.t\E?A22Acoustic response timeoutR| @RFr@R~ ٱRt ZAHRS rotation from veh to nav: [[-0.729148,-0.681287,-0.064737],[0.671136,-0.693352,-0.262374],[0.133867,-0.234757,0.962792]]RH-U@`y?@/п"? ο1?iR| @IR];RxCYrWAyzH11 1)1I1i99E=E=bDMVDMu8y]'>%]I=ٔ];Q-e>9aIa=eFyewEmo>Em>qQ 5}L4uT?Q 9}L4u o)u.@Yyy&@Q I?urBIuQ;iun;usL4yMBɮ_BE*jBjiiziJii k k k h k k k h2f:fBfJfr q@]TAɢu)q u$>iy)}yyi} IԑAIIO*>2Acoustic response timeoutB=[>B=KCB=4HB=XAB9B9B9B=};B=E \,3Wя,HO\E?A2e @2[@2ٱ2Ru :AHRS rotation from veh to nav: [[-0.728307,-0.682066,-0.065985],[0.672217,-0.692443,-0.262006],[0.133015,-0.235177,0.962808]]2HKN|g䰿@͂?}(п?Kο R?i2e @I2];0YBAXAyBHbDZlVDZd8y}=%}H=ٔ ;Q->9I=FyzE\E>Q 5L4ط?Q 9L4#j)P@Yy&@Q I?,BIt:i:$L4yJBɮBBE=U E=?E9E9"E=:*E=?9VE9ZE9BE=:aM2E=:aMJE=79aM:E=<9aM*jBjiiziJii}hDAT read: Forwarding Delay UpTx time:18:22:42.9545 }pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout kkkh2f:fBfJff q@PUAɢ) T<>i)Ni#I=>=>AIIO>I % 2Acoustic response timeoutX9Wя,2\E?ABP @BF@B;ٱBv JAHRS rotation from veh to nav: [[-0.727535,-0.682694,-0.067981],[0.673232,-0.691329,-0.262342],[0.132102,-0.236631,0.962577]]BHG@;g?@]7п?Iοo?iBP @IB];@YR YAyRwHbD%@VD%;8y<=%H=ٔ;Q->9I=Fy|EME>Q 5L4𽷉?Q 9L4ii)m=qqiuPyIyQA$AIIO-,>EE[ EE@EE=EA"EEa:*EE9VEE|4ZEAaM@aU@aU@aU@}2Acoustic response timeoutԁԡ ?@Wя,A ]E?A @F4@FٱFv NAHRS rotation from veh to nav: [[-0.726858,-0.683355,-0.068587],[0.674105,-0.690764,-0.261586],[0.131379,-0.236371,0.962740]]FH@kB 鎱`D?@սп?gAο ?iF> @IF2];FtCYVYAyV|HbDM#VDM!8AA@ABV>BB`HBZABBBDBJ;BEiIIMAu2Acoustic response timeouty;%6=ٔ%:Q-->9=H?I=H?==Fy=EEEE>IQ 5UL4M?Q 9UL4M_)M@YYy]X&@Q I]?MBIMF:iM=:MTL4yeDBɮe!BeEԩ*jBjiiziJii kkkh kkkh2f :f Bf Jf  p@MVAɢM)I MxA>iQ)UQQiUYIYIaIqO`>EUR EUEEU<EQ"EUs9*EUA9VEU 4ZEQBEUs:ae2EUx:aeJEUV:ae:EUV:ae 2Acoustic response timeout fiFWя,]E?A2+ @2!@2Yٱ2Mu :AHRS rotation from veh to nav: [[-0.726132,-0.684119,-0.068658],[0.674994,-0.690302,-0.260510],[0.130825,-0.235508,0.963027]]2H@y<L ?@1п ? 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"E% 9*E% 9VE% 4ZE! a5 @a5 @a5 @a5 @ .Wя,'K7^E?A22Acoustic response timeout6R @6@6Iٱ6{ BAHRS rotation from veh to nav: [[-0.724972,-0.684120,-0.079972],[0.677931,-0.688203,-0.258433],[0.121762,-0.241572,0.962713]]6H2P@y?`(п@+?ο?i6R @I6 ];6|CYJaAyJ H`` `)`I`i``dfAbDj^VDj8y]=%]B=ٔe^;Q-e>9aIa=mFymEmF;Em>qQ 5}M4u?Q 9}M4u)u4@Yy@Q I?u BIuz;iuv;uGM4yBɮB*jBjiiziJii kkkh2f:fBfJfq?8ZAɢf) >i)!!i%$!I)ԑIIO]=B%:>B!B%t HB%bAB!B!B%}DB%m;B%E2Acoustic response timeout Wя,'Q^E?A2  @2 @2'ٱ2w${ :AHRS rotation from veh to nav: [[-0.726184,-0.682830,-0.079995],[0.676847,-0.689670,-0.257358],[0.120562,-0.241034,0.962999]]2H`<@`z?@xп ݾ?2ο?i2  @I2 ];2zCYN_bAyR2 HbDZ3VDZX8yv)>%vR=ٔvK;Q-v>9xIx=zFyzEze;E~>Q 5 M4Mx?Q 9 M4)@Y y 8@Q I ?BI:i:=UM4yɮB*j)Bj)i1i1zi1Ji1i1 kkkhI kE[ EOEAE"Ea:*E9VEA4ZEBE ;a2E ;aJEH:a:EI:akkh2f :f Bf Jf ,*?MZAɢMt)I M>iI)UQqiuӬ&yIy2Acoustic response timeoutA$AIIO#>)Q % 2Acoustic response timeoutBWя,k^E?A,R\5 @R+@R߱ٱR{ bAHRS rotation from veh to nav: [[-0.727597,-0.681223,-0.080857],[0.675570,-0.691055,-0.256998],[0.119196,-0.241616,0.963023]]RHyH @E?rп?Cο?iR\5 @IR&];RyCYjbAyj HbDEVDE 8yȦ=%@=ٔOS;Q->9H?IH?=FyE;E>Q 5M4`?Q 9M4)1@YyV@Q I?BI6:i::dM4yMƫBɮMhBUE*jaBjaiaiiziiJiiii ksksksh kk=kh2f:fBfJfQ1?ZAɢ ) C?i)@)i(IԩER E@E=E"Es9*E9VE|4ZEa@a@a@a@}2Acoustic response timeoutg׻Ae AIq I O > J-Wя,^E?ABb<Ab<Br2>BrGCBrU HBr7dABr=BpBpBr>;BrE lm @*c@1ٱ5w AHRS rotation from veh to nav: [[-0.730034,-0.678908,-0.078324],[0.673196,-0.694641,-0.253537],[0.117721,-0.237818,0.964150]]Ho\@ ъ?`:9п"?pο@P?ilm @I7];YHcAy HiIA2Acoustic response timeoutm=m=ysh|??9K?IK?=FyE;E>!Q 5-M4%aE?Q 9-M4%)%@Y5 s?Q E5_:y5@Q I5?%YBI%@:i%:%sM4y=ëBɮ=ZBA*jQBjQiQiYziYJiYiY k k k hq kkkh2f=:f=Bfx?JfX@颵C[Aɢe) U?i)FD项i*!YIa=IAD=D<ES EDEFE"E9*Ea99VE 5ZEBE:a2E:aJEhH:a:EkH:aIIOE> 2Acoustic response timeouty RWя,^E?AYdAy HabDVD8y9\>%a=ٔQ->9I=FyEE>Q 5M4F/?Q 9M4)@YyQ I? BI;i;M4y Bɮ /B E*j!Bj!i!i!zi!Ji)i) kCkCkChA kSkSkShI2fa:faBfaJfa}[Aɢ}) ?i)un顁ix,Iԁ2Acoustic response timeoutUHoAeqAzAerAA I I O > bE&4jEp4rEU0E V E FE =E "E =:*E ;J9VE |4ZE a @a @a @a @|Wя,S^E?A&2Acoustic response timeout`ɰb4< | @ q@ ٱ RWw %AHRS rotation from veh to nav: [[-0.730683,-0.678212,-0.078300],[0.672588,-0.695411,-0.253039],[0.117163,-0.237555,0.964282]] H a w ׅ?@@1пe?1hοf?i | @I $]; xCY-dAy5 HbDDVD|8Թy2s=%L=ٔ:Q->9I=FyE?;E>Q 5M4?Q 9M4\)@Yy*@Q I?BI:iI:M4yɮ#B*jBji i zi Ji i  k3%k3%k3%h! kC8kC8kC8h12fA:fABfAJfEX@e[Aɢe–)a m?ii)m;iiim.qIyyyB*>BFCBO HBeAB=BB|DB6;BEBHCBHCBBBC@52Acoustic response timeoutAM$AIYIiO>9 dWя,n^E?A6Tr @6h@6^ٱ6Fw BAHRS rotation from veh to nav: [[-0.730396,-0.678356,-0.079716],[0.673126,-0.695096,-0.252475],[0.115857,-0.238066,0.964314]]6H`h_@Fh>?9>`(пԨ?xο`?i6Tr @I6sH];6zCYFeAyF! HLNAbDVVDVB8yZ=%Z]=ٔ^h;Q-^>9bH?IbH?=bFybEb@ҺEf>dQ 5jM4fe?Q 9jM4fk)f@Ylyn@Q In?f~BIf;if&;fM4yrBɮv Bt*j|Bj|iiziJii k;k;k;hA2fQ:fQBfQJfUY@u-\Aɢu)y }t?iy)}yi0IE]U E]@E]>EY"E]:*E]9VE]4ZEYBE]:am2E]:amJE]+:am:E]-:am]2Acoustic response timeoutAAIIIO- >Ai 2Acoustic response timeoutԙ U @>nK@>ٱ>!w NAHRS rotation from veh to nav: [[-0.729345,-0.679365,-0.080743],[0.674518,-0.694325,-0.250874],[0.114373,-0.237436,0.964646]]>H V`[?`7`RпG?Odο@b?i>U @I>0];>yCYVcfAyV Hll l)lInailpbDvVDv 8y=>%EC=ٔ]g;Q-e>y9K?IK?=FyEE>9YAQ 5M4嵉?Q 9M4Z)@Yy@Q I?RBI:i:M4yBɮ֎BE*j BjiqiziJii k"k"k"h kC9kC9kC9h2f :f Bf Jf m3Y@E\AɢE9x)A M?iI)MqIIiM2QIQEmX EmBEm@Ei"Em~ :*Em(9VEm4ZEiau@au@au@au@IyIԡOA>e2Acoustic response timeout zWя,&5_E?AA2@AA0B6#>B6ECB6IHB6dgAB4B4B6{DB6I;B6EDDY5gAy=H2Acoustic response timeouty/$?S㥛?/$&Q?$>, 9|?5^?!rh?Zd;OǿYM?ylg>j<hB RB)xBYBbDVD8y =%>=ٔQ->9I=FyEE> Q 5M4 ̵?Q 9M4 ) @YZ?Q Ex:y&@Q I? BI ;i ` ; HM4y%Bɮ%B!*j9Bj9i9i9zi9Ji9iA k k k hQ k3k3k3ha2ft/>:ft/>Bf7x?Jfw@U\AɢU)Q U#?iQ)]LaYYi]D05aIIIOB>Em^ EmAEm;Ei"EmC#:*Em 9VEm4ZEiBEms ;a}2Emv ;a}JEm:a}:Em:a}! e 4=a m 2Acoustic response timeoutiWя,_E?A6c @6 @6sٱ6Zx >AHRS rotation from veh to nav: [[-0.724451,-0.683913,-0.086220],[0.680345,-0.689269,-0.249076],[0.110917,-0.239103,0.964638]]6H. @ b?~Ͽe?ο`Q?i6c @I60C];6xCYFgAyFcHbD VD 8y}=%S=ٔ9I=FyEjE>Q 5M4?Q 9M4=)@Yy1&@Q I?BIz;i;M4yɮB*jBjiiziJii kC3kC3kC3h kS3kS3kS3h2f!:f!Bf!Jf%qw@U%]AɢU?)Q ]&?iY)]FeaaieF7iIiIIYIiO=2Acoustic response timeoutyԩ E W E E <E "E :*E VE 4ZE a @a @a @a @GWя,\:_E?A"2Acoustic response timeout0Z( @Z@Z`2۽ٱZ'z fAHRS rotation from veh to nav: [[-0.717449,-0.690366,-0.093064],[0.688371,-0.682121,-0.246690],[0.106825,-0.241050,0.964616]]ZHW`{ ӷ@#?@ϿX? ο`!?iZ( @IZ+I];ZyCYn[hAynHbDEyVDE8y=%E=ٔ<"9I=FyEҼE>Q 5M4?Q 9M4`)@Yy{%@Q I?^BI;i;_M4yBɮBE*jBjiizi Ji i  kC5kC5kC5h! kCXkCXkCXh12fA:fABfAJfEvw@ev]Aɢe( )i mO.?ii)mL?iiimc9qIyII ԉO=BM>BMDCBMCHBMhABM=BIBMzDBM=;BMۂEԹ2Acoustic response timeout Wя,S_E?AlYrhAyr(Htv@A ep9I=FyEE>Q 5M4?Q 9M4)-@YyQ I? BI:i:EM4yBɮB*jBjiiD1zD5@AE=X E=BE=>E9"E=~ :*E=(9VE=4ZE9BE=:aM2E=:aMJE=J+:aM:E=L+:aMziJiqiq k<k<k<h kSkSkSh2f:fBfJf]Aɢ ̲)  x0?5In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER52Acoustic response timeouti )=499i=_;AIAII O% >1a  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout-Wя,m_E?A2n @2+@2ֽٱ2J{ JAHRS rotation from veh to nav: [[-0.714014,-0.693482,-0.096262],[0.692273,-0.678753,-0.245056],[0.104604,-0.241613,0.964718]]2H`4 1 '?X]Ͽ@LǺ?.ο?i2n @I2>];0YV0iAyVcHbDz:VDz8y]y=%U=ٔ;Q- >9 I = Fy E>_E>Q 5%M4m?Q 9%M46)\@Y!y-$%@Q I-?BI:i=:M4y5Bɮ5qB19*jQBjQiQiQziQJiQiY k#8k#8k#8hi kSTkSTkSTh2f:fBfJf%x@颭^Aɢ) 2?i)项i=II9IIO=iEMZ EMDEM=EI"EM:*EMa99VEM|4ZEIaU@aU@aU@aU@EzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYE2Acoustic response timeoutԡU>Q BY A] <Be >Be BCBe $HBe ijABe =Be %DBe yDBe 6;Be ЂEIWя,!_E?AF1 @Fd'@Fڵ˽ٱFɝy RAHRS rotation from veh to nav: [[-0.707530,-0.699401,-0.101189],[0.699671,-0.673170,-0.239378],[0.099304,-0.240166,0.965639]]FH@~a繿c? οk?½ο@?iF1 @IFA1];DYZjAyZH2Acoustic response timeoutԁyQ?I +?X9v?\o?94=< 9 +?Fx?MbY6?yƋ>uB~hB B)zBYuBbDVDP8y >%==ٔI9I=FyEE>Q 5M4S?Q 9M4)8@YC?Q E:yu-@Q I?YBI;i@;M4yɮSB*j Bj iiziJii ks8ks8ks8h) ksQksQksQh92fM>:fM>BfM@JfM?@mb^Aɢmh)q u;?iq)uLyyi}f?yIA\?AY?ԩAAIIIYO:>E=` E=BE=<E9"E=*:*E=(9VE= 4ZE9BE=,;aE2E=,;aEJE=I+:aE:E9aM5 2Acoustic response timeout FWя,G_E?AF`@F@FŽٱFx NAHRS rotation from veh to nav: [[-0.704303,-0.702275,-0.103762],[0.703339,-0.670474,-0.236176],[0.096291,-0.239319,0.966154]]FH`` y @?t ;ο@?ο?iF`@IFV];F}CYVjAyV{HXZa=ll l)pIpippvAAtbDzVDz48y >%Z=ٔ*9 I = Fy EUE>Q 5-N4=?Q 9-N4c)@Y1y5&-@Q I5?BI[;iU; N4yEBɮM5BME*jqBjqiqiziJii k6k6k6hA2fQ:fQBfQJfUÖ@颍^Aɢ$r) D?i)v项i AI2Acoustic response timeoutA%$A)I1IIOQEe _ Ee EEe =Ea "Ee &:*Ee A9VEe |4ZEa am @am @am @am @y ] 2Acoustic response timeoutWя,z8_E?Abњ@b@bZٱb$v jAHRS rotation from veh to nav: [[-0.701532,-0.704745,-0.105770],[0.706632,-0.668687,-0.231365],[0.092327,-0.237050,0.967100]]bH`r`E`?@e_Ϳ ?Wο@|?ibњ@IbD];byCYr5kAyrHz=z=bD~VD~8y [=% I=ٔa 9H?IH?=FyČEf-E>!Q 5-N4%&?Q 9-N4%)%@Y1y5,@Q I5?%BI%;i%;%N4y=yBɮ=B=}E*jQBjYiYiYziYJiYiY k4k4k4hq kSkSkSh2f:fBfJf@颵^Aɢãh) C?i)!H项iXCIIAIIO*>qB>B@CBHBkAB=BBwDB1;BłE2Acoustic response timeoutԡ Wя,!_E?A:?b@:W@:vӴٱ:t FAHRS rotation from veh to nav: [[-0.699352,-0.706572,-0.107994],[0.709318,-0.667404,-0.226806],[0.088179,-0.235220,0.967934]]:H@a@=?^[Ϳ꒶?οP?i:?b@I:PO];:zCY^kAybHbD5XVD58yu=%uC=ٔ}7#9yIy=}Fy}ƌEZE>Q 5N4 ?Q 9N4L)@Yy,@Q I?.BI:i:)N4yvBɮB*jBjiiziJii kNkNkNh kNkNkNh2f:fBfE Z E GE 9E "E :*E R9VE 4ZE BE _;a2E a;aJE t:a:E t:aJf[@ԡ19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedJ_Aɢ Cr) I?i)<i@ E2Acoustic response timeout!I!AmAIyIOA> 2Acoustic response timeout) O0Wя,_E?A2>@2S4@2Mٱ2s >AHRS rotation from veh to nav: [[-0.698057,-0.707400,-0.110910],[0.711094,-0.666689,-0.223319],[0.084033,-0.234757,0.968415]]2H|V@dG?`U̿1?@ ο`A?i2>@I2v];2xCYBUlAyFSHbD5*VD58y}&=%}J=ٔ}(9K?IK?=FyɌEE>Q 5N4C?Q 9N4)j@Yy,@Q I?BI:i:7N4yɮB*jBj=iiziJii kOkOkOh kkkkkkh2f:fBfJf+@s NUpdating rudder angle 6.875493 arcdeg 9 r 6Completed marl:UpdateRudder19  r RAggregate::uninitialize marl:UpdateRudder%_Aɢ-Y)) -ZL?i))5z11i5F5=I9A}$AIIO>bE|4jEč4rE- 0E%\ E%BE%=E!"E%:*E%(9VE%|4ZE!a-@a-@a-@a-@2Acoustic response timeout1Y A A @AB >B >CB HB mAB =B B vDB -;B EBBCBBCB˕CB=B=C<6OXя,x`E?A F#@F@FoNٱFr NAHRS rotation from veh to nav: [[-0.697124,-0.708003,-0.112917],[0.712457,-0.666504,-0.219492],[0.080142,-0.233462,0.969058]]FH@N@輿 s?T@R̿`*?Ϳ?iF#@IF/X];FzCYfmAyfH=A=AiyIy2Acoustic response timeouty333333?T㥛 x&?Y?7= 9Fx?|?5^?ʡE?YK?yR>> gB B)NyBY~BbD %VD 8y=%A=ٔ59%H?I%H?=%Fy%̌E-{E->1Q 5=N45ܴ?Q 9=N45d)5@Y=&V?Q E=}:yE(@Q IE?5~BI5 ;i5;:5FN4yMsBɮMЍBI*jaBjaiaiaziaJiaii kCSkCSkCShy kukukuh2f^>:f^>Bfk?Jf؊@颽_Aɢ3[) S?i)d/i HIiAI IOU2>ԙE5W E5EE5>E1"E5 :*E5A9VE54ZE1BE5!:aE2E5&:aEJE5V:aE:E5V:aE5 2Acoustic response timeout <Xя,"`E?AJ$@JA@JٱJpP ^AHRS rotation from veh to nav: [[-0.697319,-0.707647,-0.113937],[0.712606,-0.667373,-0.216344],[0.077057,-0.232053,0.969646]]JHpP *?@[+˿?`Ϳ W?iJ$@IJD];J{CYjmAyjHbD~ VD~q8yɝ=%]=ٔ9!I)=-Fy-ΌE58E5>9Q 5MN4=ƴ?Q 9MN4=)=@YQyU(@Q IU?=BI=+;i="&;=SN4y]qBɮeBe|E*jqBjqiqiyziyJiyiy k\k\k\h krkrkrh2f:fBfJf@"`AɢgF) V?i)߽isII2Acoustic response timeoutAAIIIOE0> i>-}GAYt9YHA! EE T EE DEE 9EA "EE 9*EE a99VEE 4ZEA aM @aM @aU @aU @= 2Acoustic response timeoutGhXя,m<`E?A@2j@2'@2ٱ2n :AHRS rotation from veh to nav: [[-0.697162,-0.707667,-0.114769],[0.713064,-0.667910,-0.213156],[0.074188,-0.230442,0.970254]]2H'O 5@al?_ H˿?"ͿQ ?i2j@I2[u];2zCYBmAyFRHDFp=LLbDRVDR)8yVc=%ZQ=ٔZ;Q-Z>9ZK?I^K?|=^Fy%ЌE-E->1Q 5=N45?Q 9=N45M)5@Y9y=(@Q I=?5BI5];i5;5aN4yMnBɮMBI*jYBjaiaiaziaJiaia kCZkCZkCZhy kCvkCvkCvh2f:fBfJf@j`AɢJ) X?i)޽i@JI)B>B=CBHBanAB=BBuDB;BE^A]qZ;QhDAT read: Forwarding Delay UpTx time:18:22:56.8044 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutA$AII OM >ԁ UOXя,tEV`E?A2@2@2liٱ2n :AHRS rotation from veh to nav: [[-0.696761,-0.707757,-0.116637],[0.713738,-0.667879,-0.210988],[0.071429,-0.230257,0.970505]]2H`K`@۽`?B_`˿ 0I? yͿ``?i2@I2];0Y^nAybHf=f=bDjVDj8yr^=%vG=ٔv;Q-v>9vH?IzH?=zFyzӌEzEz>|Q 5N4~?Q 9 N4~#)~@Y y (@Q I ?~kBI~:i~:~oN4yɮB*j)Bj)i1i1zi1Ji1i1Y k]k]k]hEX ECE>E"E~ :*E09VE4ZEBE:a 2E:a JE9:a :E9:a  kSskSskSsh2f):f)Bf)Jf-x@m`AɢmiG)i m^?ii)u|ܽ顑iMLI2Acoustic response timeout^AjZX<ԁAIIO5O> 2Acoustic response timeout |Xя,-p`E?A2@2@2TGٱ2m :AHRS rotation from veh to nav: [[-0.696506,-0.707868,-0.117480],[0.714185,-0.668046,-0.208935],[0.069416,-0.229427,0.970847]]2HI ۦ`1?`bʿ Aű?]Ϳ.?i2@I2Qq];2wCYBnAyBHXX X)\I\i\\bDb|VDb8yjR%nK=ٔn%;Q-n>9pIp=rFyrՌEr.Ev>tQ 5zN4vL}?Q 9~N4v)v@Y|y~(@Q I~?vBIv;iv;v}N4ykBɮ  *jBji!i!zi!Ji!i! kZkZkZh9 kCjkCjkCjhI2fY:fYBfYJf]z@}`Aɢ};) Y?i)۽顁i.MI^A-[=ET EBE:E"E9*E(9VE(4ZEa @a @a @a @I!I1Om5>2Acoustic response timeout)Q B A B >B \hB B)|BY3BbDXVD8yB=%>=ٔ=z;Q->9I=Fy،E2E>Q 5N4c?Q 9N4)@Yl?Q Ee:yo@Q I?BI:i/:N4yPBɮfBrE*jBjiiziJii kmkmkmh  kmkmkmh!q2f5f9>:f5f9>Bf5M?Jf5sE}@GaAɢE) `?i)ڽi(SNI@rA@pA^AL=ԡIIOI>EV EEE?E"E=:*EA9VE^4ZEBE:a%2E:a%JEV:a%:EV:a% 2Acoustic response timeout (Xя,wף`E?AFQ@FZG@F/ٱF@u RAHRS rotation from veh to nav: [[-0.688599,-0.713920,-0.127082],[0.722058,-0.658909,-0.210883],[0.066818,-0.236974,0.969215]]FHo8D?8ʿ?,Uο ?iFQ@IF]];DYZpAyZHbDEVDE8y=%M=ٔ;Q->9I=FyیE>E>Q 5N4J?Q 9N4դ)@Yy@Q I?BI:i:N4yMBɮMBqE*jBjiiziJii kmkmkmh kmkmkmh2f :f Bf Jf ]|@^B*** querying acoustic contact ***XY-aAɢ-T()1 5g?i1)5ؽ99i=ʞO9IA^AU=IIO >u2Acoustic response timeout) E% Z E! E% =E! "E% :*E! 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Kֿ?i2V@I2];2zCY^qAy^H`b?Axx x)xIxixx ;bD;VD8y_=%S=ٔQ}Q->9I!=%Fy%E%;E%>)Q 55N4-ٳ?Q 95N4- )-q@Y9y=C@Q I=?-EBI-;i-;-N4yAɮEBI*jYBjYiaiaziaJiaia kmkmkmh2f!:f!Bf!Jf%2@ebAɢeh)i mo?ii)m2ѽiiimֵVqIyM2Acoustic response timeout^A=1AII OQ Y bEʴ4jE4rEn0E X E OE DE "E ~ :*E 9VE J5ZE a @a @a @a @ 2Acoustic response timeoutOXя,r>aE?AR;@RN1@RĉٱR=x ZAHRS rotation from veh to nav: [[-0.616910,-0.746313,-0.249878],[0.784158,-0.555737,-0.276137],[0.067218,-0.366296,0.928068]]RH @Ͽ@?@9ѿ-5?`cq׿?iR;@IR];P~nManaging dock network, ignoring radio surface power offYrAyHAbD%)VD%8y-]=%5I=ٔ5úQ-5>91I9==Fy=E=Z-EE>AQ 5MN4E0ų?Q 9UN4Ep|)E@YQyU&@Q IU?EBIE:iEN:EN4y]*BɮeBefE*jqBjqiqiyziyJiyiy kTkTkTh2f:fBfJf0@9颍)cAɢ2) n?i)vϽ项iYXIB>BBQHBrAB=BBsDB;BEBԹ wUXя,RXaE?A2$@2~@2Njٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.603436,-0.752048,-0.265119],[0.794490,-0.538588,-0.280551],[0.068198,-0.379929,0.922498]]2HYO п`ul?`<@ѿju?@Pؿ?i2$@I2];2xCYBrAyB'HbDz&VDz8y=%L=ٔi Q-%>9!I!=%Fy%E--E->1Q 5=N45?Q 9=N45t)5@Y9y= @Q IE?5BI5;i5;5N4yM)BɮM֌BI*jaBjaiaiaziaJiaii kTkTkThy k#lk#lk#lh2f:fBfJf/@hcAɢ) r?i)ͽi ZIE=W E=FE=>E9"E= :*E=;J9VE=4ZE9BE= :aM2E=%:aMJE=e:aU:E=e:aUԑ2Acoustic response timeout^AYAIIYIiO>m 2Acoustic response timeout G! 9 e F9a Ye A \Xя,raE?AY~rAy~^HbDVD8y"P=%@=ٔQ->9I=FyEE>Q 5O4?Q 9O4l)@YyQ I?BI@;i: O4yBɮB\E*jBjiiziJi i  kSkSkSh! kmkmkmh12fA:fABfAJfA]cAɢe)a es?ia)eV̽aiim/[iIqEMZ EIEM:EI"EM:*EIVEM(4ZEIaU@aU@aU@aU@2Acoustic response timeout!^AA I9 IY i I O >B <A <B >B :CB HB sAB =B B B ;B EbXя,aE?A:6?: @:0̐ٱ:Ѿ BAHRS rotation from veh to nav: [[-0.576847,-0.764607,-0.287445],[0.813792,-0.507496,-0.283179],[0.070643,-0.397272,0.914978]]:H u weҿ ?@h=ҿ? lٿ G?i:6?I:];:zCYJosAyJHi!I%A-2Acoustic response timeoutyV-?7A`¿|_?L 9"~j?~jt333333ÿYSc?ycB _B):BŶBbDVD8y;=%F=ٔ»Q->9I = Fy E E >Q 5O4ꌳ?Q 9O4jd)@Y%f?Q E%k:y%}@Q I%?JBI:i]:DO4y- Bɮ-B1*jIBjIiIiIziIJiIiQ k#Uk#Uk#Uha kkkkkkhq2f '>:f '>BfJ!?Jf\@颥cAɢ|) w?i)wʽ顩i ^IIԁ^AEuY EqEu=Eq"Eu:*EqVEu|4ZEqBEu;a2Eu;aJEqa:Eue:a2Acoustic response timeoutAi Iq I O >'iXя,eaE?A6?6 @61=ٱ6sӾ >AHRS rotation from veh to nav: [[-0.563581,-0.772085,-0.293702],[0.822889,-0.493607,-0.281436],[0.072319,-0.400296,0.913528]]6HҿU?A߿ ҿ?rٿ;?i6?I6o];6wCYFsAyFHPbDVVDVs8yZo=%Zb=ٔ^ Q-^>9`I`=bFybEb?6Ef>dQ 5jO4fl?Q 9nO4f\)f@Ylynm@Q In?fBIfa;if;f&O4ypɮvBt*jBjiiziJi i  k3Sk3Sk3Sh! klklklh12fA:fABfAJfE3[@e*dAɢeټ)a ey?ia)mAɽiiimw;`qIq-2Acoustic response timeout^AAAqIyIO5>! Ee Z Ee GEe FEa "Ee :*Ee R9VEe 5ZEa am @am @am @am @ 2Acoustic response timeoutpXя,>aE?A2?2 @2Zٱ22Ծ :AHRS rotation from veh to nav: [[-0.550072,-0.779969,-0.298445],[0.831818,-0.479984,-0.278737],[0.074157,-0.401577,0.912818]]2H`1 ӿ@?޿ѿ ? pٿ5?i2?I2];2zCYBsAyBHF@AD HHbDNVDNk8yZ=%ZK=ٔZƕQ-Z>9\I\=^Fy^EEuEE>IQ 5}O4M=p?Q 9O4MB9CBHB uAB=BBrDB;BE^A=E2Acoustic response timeoutYA) I1 IA Om >ԁ w:vXя,aE?A2?2@2ïٱ20Ծ :AHRS rotation from veh to nav: [[-0.536325,-0.788198,-0.301825],[0.840544,-0.466417,-0.275576],[0.076432,-0.401496,0.912666]]2H)8Qӿ?ݿ ѿ? ٿ@4?i2?I2k];2|CYB~tAyBWHbDNVDNR8yV^=%VK=ٔVbQ-V>9XIX=ZFyZEZ-E^>`Q 5fO4bb?Q 9fO4b#L)bC@YdyfU@Q If?bdBIb:ib9:bCO4ynBɮn\BnRE*jxBjxixixzi|Ji|i| kSkSkShY kSkSkSh2f:fBfJfX@dAɢdּ) }?EY ECE=E"E:*E09VE|4ZEBEa%2Ea-JE9:a-:E9:a-i))5CŽQQiU-eYIY2Acoustic response timeoutԉ^A=AII OU >iA IA M 2Acoustic response timeout c|Xя,aE?A2?2@2ٱ2Ӿ :AHRS rotation from veh to nav: [[-0.521798,-0.796674,-0.305021],[0.849459,-0.452381,-0.271608],[0.078397,-0.400827,0.912793]]2H Y~vӿ.?ܿ bѿ?@(ٿ5?i2?I2];0YBuAyBHXX X)XIXi\\bDbsVDb8yj]=%jH=ٔnQ-n>9pIp=rFyrEr*Ev>tQ 5zO4vT?Q 9zO4v{C)v{@Y|y~>@Q I~?v!BIv;iv[;vnQO4y ɮ IB *j!Bj!i!i!zi)Ji)i) k\k\k\hA k#\k#\k#\hQ2fa:faBfaJfeFYW@dAɢ5|Ƽ)9 =9?i9)=SĽ99i=gAIAE) E-IE-?E)"E)*E-c9VE-^4ZE)a5@a5@a5@a5@2Acoustic response timeout^Ay1AIIO= >B >B 8CB EHB vAB B B qDB +;B EY KXя,- bE?A6a?6@6*ٱ6Ѿ BAHRS rotation from veh to nav: [[-0.506570,-0.806178,-0.305719],[0.858427,-0.438453,-0.266199],[0.080561,-0.397286,0.914152]]6H55ӿ9YIY=]Fy]Ee-Ee>iQ 5uO4mG?Q 9uO4m;)mT@YuK?Q Eu:yu@Q Iu?mBIm& ;im ;m`O4yBɮ?B*jBjiiziJii kUkUkUh kUkUkUh2fE>:fE>Bf ?JfpY@1}*eAɢ}Fּ)}0 }?iy)}T½顁ijIa^AE=X E=KE=<E9"E=~ :*E=]t9VE= 4ZE9BE=:aM2E=:aMJE=(:aU:E=*:aUԑ2Acoustic response timeoutAII O9 Թ > >uXя,֭'bE?A2h?2|@2\;ٱ2 о :AHRS rotation from veh to nav: [[-0.490815,-0.815520,-0.306640],[0.867346,-0.424004,-0.260638],[0.082539,-0.393888,0.915445]]2Hi߿ӿK?@"ۿ@Jп`B!?u5ٿSK?i2h?I2 ];2zCYzuAyzHbDeDVDe8yf;=%E=ٔvQ->9I=FyE2E>Q 5O4K;?Q 9O4M4)5@Yy@Q I?nBI&@;iTA;nO4yɮ6B*jBjii!zi!Ji!i! kSTkSTkSThAԑ2f:fBfJfKX@meAɢpEؼ) U?i):i)n!I)2Acoustic response timeout^Au=Iq I O >EA  EE JEE @EA "EA *EE k9VEE 4ZEA aM @aM @aM @aM @ 2Acoustic response timeout _Xя,AbE?AV?VJ@VtٱV2ξ fAHRS rotation from veh to nav: [[-0.474452,-0.824437,-0.308544],[0.876244,-0.408781,-0.255137],[0.084217,-0.391410,0.916355]]VHk]޿a/ӿ0 ?y)ڿ`*TпB? ٿR?iV?IVK}];V{CYvuAyv?HbDe#VDe8yup=%uN=ٔu銻Q-}>9yIy=}Fy}EAE>Q 5O4/?Q 9O4-)6@Yy@Q I? BI;i+;|O4yͪBɮBHE*jBjiiziJii k8k8k8h kUkUkUh2f:fBfJfV@eAɢѡ) ?i)%7!!i%Xq)I)B->B-7CB-HB-wAB-=B-&DB-pDB-.;B-E^AUlw=2Acoustic response timeoutIQIaO>I ȇXя,c[bE?A2-?2 @2x$ٱ2;1; >AHRS rotation from veh to nav: [[-0.457304,-0.833342,-0.310507],[0.885199,-0.393008,-0.248933],[0.085415,-0.388698,0.917397]]2HyDݿ @WӿS?` 'ٿϿݵ?nؿQ[?i2-?I2An];0YFvAyFHJ?AH <4<bD VD 8yE=%MM=ٔMEQ-M>9IIQ=UFyUEUGEU>YQ 5eO4]$?Q 9mO4]%)]6@Yiym@Q Im?]BI]:i]:]iO4DzDE` EHE;E"E*:*E[9VE4ZEBE,;a 2E,;a JEQ:a :ES:a yqɮB1*jIBjIiIiIziQ}2Acoustic response timeoutJiyiy k:k:k:h2f:fBfJf̛U@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7] 7 n54Completed marl:UpdateSpeedq75n5PAggregate::uninitialize marl:UpdateSpeedQmeAɢ4h) ?i)%P顙itIy]Ա - 2Acoustic response timeout^A5 =I I O >Xя,UvbE?A2J?2@2)?ٱ2̾ :AHRS rotation from veh to nav: [[-0.440068,-0.841645,-0.313008],[0.893794,-0.376998,-0.242907],[0.086438,-0.386660,0.918162]]2H*ܿ RԿ?` ؿϿ ? ؿa?i2J?I2];2zCYBvAyBHbDNVDN8yV^;%VJ=ٔV&Q-V>9XIX=ZFyZ EZ DE^>`Q 5fO4b?Q 9fO4b )b1@Ydyf?Q If?bMBIb:ib:bO4ylɮnBl*jtBjtixixzixJixix k4k4k4h  k4k4k4h2f):f)Bf)Jf-LT@s5NUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderfAɢډ)  ?i)icxI bE|4jEã4rE0E}Z E}CE}<Ey"E}:*E}09VE} 4ZEya@a@a@a@2Acoustic response timeoutI^A==IIO>i B >B 6CB HB xAB B B B B;B EBU8CBU8CBQBU=BU=CUH5NXя,gbE?A"2Acoustic response timeout$:7B?:ז@:aAٱ:\˾ BAHRS rotation from veh to nav: [[-0.422894,-0.849402,-0.315717],[0.902000,-0.361147,-0.236577],[0.086929,-0.384824,0.918887]]:H`ۿ M.4Կ/?׿@(Hο@?`ؿg?i:7B?I:u];:{CYJIwAyJHyZd;?Q?~jth?9?u=D; 9kt?S㥛?DlY 0?y$>OaB B)BY(BbD5VD58yE:=%EA=ٔEEQ-M>9III=MFyM EU8EU>YQ 5eO4]m ?Q 9eO4])]N@Ym5?Q Em:ym @Q Im?]BI]I;i];]XO4yuʪBɮuBy*jBjiiziJii k#;k#;k#;h) k3;k3;k3;hY2fm>:fm>Bfm?Jfm$@颥^fAɢ) \?i)ݹi6|Iqԙ5E}] E}GE};Ey"E}:*E}R9VE}4ZEyBE},;a2E}/;aJE}t:a:E}t:a2Acoustic response timeout ^A} =I I O% >Xя,?3|ؿ`:o?i6 ?I6Ò];6xCYj^wAyjHprp=! !)!I!i!!15AAbD=VD=8yUQ<%UI=ٔ]8Q-]>9aIa=eFymEm;BEm>qQ 5}O4u?Q 9O4uS)ut@Yyx @Q I?uyBIu;iuZ:uO4yɮߋB*jBjiiziJii k<k<k<h k<k<k<h2f:fBfJfKI~@fAɢPs) M?i ) 9  i   e'i>eC}GI9!Y%ܱA))))U2Acoustic response timeout) E  E E ?E "E *E VE ^4ZE a @a @a @a @^A = 2Acoustic response timeoutI I O% >`Xя,mbE?A>j_?>J?>ٱ>Ⱦ JAHRS rotation from veh to nav: [[-0.388182,-0.863794,-0.321208],[0.917526,-0.329572,-0.222549],[0.086375,-0.381106,0.920488]]>Hؿ3 Կ_\?տ{|̿?` dؿt?i>j_?I> ~];>zCYRxAyRHbDZVDZr8yb=%bF=ٔf':Q-f>9hIh=jFyjEj<En>lQ 5rO4n?Q 9rO4n )n@YtyvG @Q Iv?nBInr;in;nO4yzBɮ~B~>E*j Bj iiziJii k37k37k37h) ks@ks@ks@h92fI:fIBfIJfM}@mfAɢmPr)i m?iq)ujqqiuׁyIyBm>BiBm HBmyABiBiBiBmV;BmEYIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout^AԱIII O5> Xя,F|bE?A2/?2?2ٮٱ2Ǿ :AHRS rotation from veh to nav: [[-0.371205,-0.870276,-0.323769],[0.924627,-0.314418,-0.214956],[0.085272,-0.379159,0.921394]]2H׿LԿ? lԿ˿dԵ?@#Dؿ|?i2/?I2ң];0EBZ EBFEB>E@"EB:*EB;J9VEB4ZE@BEB^;aJ2EB`;aJJEBe:aJ:EBe:aJ`YfxAyfHIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutbDVD=8yEd<%<=ٔ';Q->9I=FyEZ.E>Q 5O4ⲉ?Q 9O4 )@Yy@Q I?BI8:iQ:O4yBɮB*j Bj i i zi Jii k@k@k@h) k@k@k@hy2f:fBfJf{@颭 gAɢŒ) t?i)c{iV҃I^AIyIO>pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutA ΫXя,?WbE?Aɰ2n?2?2>ٱ2Ǿ :AHRS rotation from veh to nav: [[-0.354807,-0.875572,-0.327850],[0.931182,-0.299536,-0.207792],[0.083734,-0.379014,0.921595]]2H(ֿ}Կ??@+ӿ@ʿo? Aؿ}?i2n?I2Ռ];2|CYBxAyBHDD E49I=FyE7E>Q 5O4ֲ?Q 9O4)@Yy@Q I?:BI:i:O4yɮB*jBjiiziJii k@k@k@h k3Zk3Zk3Zh2f:fBfJfz@%CgAɢ% V)! %?i))-))i-ų1I1%zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYQe2Acoustic response timeoutEY EHE;E"E:*E[9VE4ZEa @a @a @a @^AI9IIyO>AqAuAAB}>ByB}HB}"zAByByB}oDB};B}ĂEԡ  2Acoustic response timeoutדXя, 3cE?A2 ?2?2ިٱ2Ǿ :AHRS rotation from veh to nav: [[-0.339644,-0.880204,-0.331484],[0.936941,-0.285768,-0.201193],[0.082363,-0.378915,0.921759]]2Hտ*7տ@k?Jҿ@ɿ?@$@ؿ ?i2 ?I2];2yCYBEyAyBGHyyv/??xI?LL= 9V-?T㥛 ?v/?Y|??y>xi= B)$BYBbDaVD8y$=%D=ٔX;Q->9I=FyE E>Q 5O4cɲ?Q 9O4)@YB?Q E:y@Q I ?BI:i]:xO4yBɮB=E*j!Bj)i)i)zi)Ji)i1 kXkXkXhA k#Xk#Xk#XhQ2fm8>:fm8>Bfm{?Jfm@l@颅|gAɢ%) G?i)9۰顉iIԡ^A-2Acoustic response timeoutIIEX EDE=E"E~ :*Ea99VE|4ZEBE:a2E:aJEfH:a:EhH:aO> Xя,-cE?A:?:?:Pٱ:Ǿ BAHRS rotation from veh to nav: [[-0.325615,-0.884177,-0.334971],[0.942016,-0.272978,-0.195162],[0.081118,-0.379096,0.921795]]:HԿ-K*pտ $?@zxѿȿ)Ĵ?@Cؿ X?i:?I:ݘ];:|CYJyAyJHbDVfVDV8y^o=%^_=ٔbd_;Q-b>9`I`=bFybEfM'Ef>hQ 5nO4j׽?Q 9nO4j=)j{@Ylyr@Q Ir?jjBIj;ij;jEO4ytɮvtBt*jBjiiziJi i  kSZk[ZkSZh! kZkZkZh)2fA:fABfAJfEDRk@egAɢe6)a eÐ?ia)m(iiimVqIq@G>@J>}2Acoustic response timeout ^A=IQIaO]>1- 2Acoustic response timeoutE V E HE ;E "E =:*E [9VE 4ZE a @a @a @a @i Xя,FcE?A2& ?2?2!᤽ٱ2nǾ :AHRS rotation from veh to nav: [[-0.313114,-0.887859,-0.337144],[0.946304,-0.261609,-0.189918],[0.080421,-0.378507,0.922098]]2H Կ Wiēտ H?@3п 9tIt=vFyzEzEz>|Q 5P4~>?Q 9P4~)~U@Y y @Q I ?~ BI~:i~:~ P4yBɮQB4E*j)Bj)i)i)zi1Ji1i1 kZkZkZhI kZkZkZhY2fi:fiBfiJfmL}j@颅gAɢp>) ?i)@顑iI1Be>Be5CBe~HBe>{ABaBaBaBek;BeEi2Acoustic response timeout^AAqIyIԑO>Թ Xя,:`cE?AD0zD2@AVh?V:T?V ٱVǾ fAHRS rotation from veh to nav: [[-0.301021,-0.891302,-0.339068],[0.950269,-0.250591,-0.184913],[0.079846,-0.377868,0.922410]]VH`Cӿ@Iտh? п@=ǿp?.ؿb?iVh?IV];r2Acoustic response timeoutEX EEAE"E~ :*EVEA4ZEBEa%2E:a%JEQ:a-:ES:a-TYezAye%H )Ii==bD?VD8y/=%<=ٔ˭:Q->9I=Fy EE>Q 5P4.?Q 9P4s)<@Yy@Q I?BI;i;P4yBɮia Ia  Xя,zcE?A2A?2?2kٱ2{/ƾ :AHRS rotation from veh to nav: [[-0.288373,-0.895101,-0.340053],[0.954213,-0.239163,-0.179662],[0.079488,-0.376293,0.923085]]2Htҿlտ?ο@*ƿMY?@-ؿ@?i2A?I2a];2|CYBC{AyBHbDJVDJ8yR?=%V_=ٔV:Q-V>9XIX=ZFyZ#EZEZ>\Q 5bP4^u?Q 9fP4^)^@Ydyf @Q If?^?BI^-:i^:^&P4yhɮj)Bl*jtBjtitixzixJixix kYkYkYh  k#rk#rk#rh2f):f)Bf)Jf-(h@PhAɢ;)[_ ?i)JViI2Acoustic response timeoutEY EFE<E"E:*E;J9VE 4ZEaM@aM@aM@aM@^A==AIzAIBU<AQB]>B]4CB]-HB][|AB]=BYB]nDB];B]EA$AIIO>Q  2Acoustic response timeoutXя,cE?A 6?6p ?6ٱ6e0ƾ >AHRS rotation from veh to nav: [[-0.276549,-0.897988,-0.342253],[0.957706,-0.228071,-0.175450],[0.079494,-0.376299,0.923082]]6Hѿ R {տ?`j1Ϳ#uƿY?Gؿ?i6?I67];6{CYF{AyFHymX9v?q= ףpX9vmS?mmi i9m?L7A`? rhYmL?ym+=mCim_B mXB)m\BiYmBbDVD8y=%6=ٔlQ->9H?IH?=Fy%E E >Q 5P40?Q 9P4)@YM?Q E:y?Q I?BI:iH:;6P4y)ɮ-B)*j9BjAiAiAziAJiAiI kYkYkYhY kqkqkqhi2f}>:f}>Bf}(?Jf}e@额hAɢD) ?i)4顡iIAԉ%=<2Acoustic response timeoutE EGE>E"E*ER9VE4ZEBE;a-2E;a-JEt:a5:Et:a5^AI ԙ I O > Xя,uUcE?A6@?6w?6ٱ6ž@ >AHRS rotation from veh to nav: [[-0.264711,-0.901197,-0.343178],[0.960977,-0.216883,-0.171710],[0.080315,-0.375240,0.923442]]6H`п @տS?@˿ſ?`ؿՌ?i6@?I6];6xCYJK|AyJ#HbD VD 8yE1=%MW=ٔM0Q-M>9IIQ=UFyU(EUEU>YQ 5eP4]?Q 9mP4]Y)]@YiymU?Q Im?]BI]:i]:]~CP4yuvBɮ}B})E*jBjiiziJii kSYkSYkSYh kqkqkqh2f:fBfJfd@hAɢ;) ?i)M]2Acoustic response timeoutiu"yIyԩ^A=IqIO>bEC4jE|4rET0E V E E <E "E =:*E VE 4ZE a @a @a @a @ 2Acoustic response timeout Xя,80cE?A:s?:?: ٱ:Už FAHRS rotation from veh to nav: [[-0.251266,-0.904433,-0.344770],[0.964483,-0.203968,-0.167839],[0.081477,-0.374697,0.923560]]:H@п ֿ ?@ʿ{ſ۴? ׿΍?i:s?I:];:{CYJ#}AyNHlbD VD 8y>%M=ٔ?Q->9!I!=%Fy%*E-aE->1Q 55P45?Q 9=P45P)5i@Y9y=?Q IE?56BI5;i5;5gQP4yIɮMҊBI*jaBjaiaiaziaJiaii kSYkSYkSYhy krkrkrh2f:fBfJfc@hAɢP5 <) ?i)Y9ifIB>B3CBHB}AB=BBmDB";BEB5CB5CBB=B=Cs#5 mhDAT read: Forwarding Delay UpTx time:18:23:10.9043 mpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGu2Acoustic response timeout}Ǽ9a ^A lw=A ]?A Z?I I OM >Xя,cE?AE"Y E"ME E "E":*E"9VE ZE BE a*2E";a*JE":a*:E":a*B ?B~?BٱBľ JAHRS rotation from veh to nav: [[-0.236628,-0.907955,-0.345869],[0.968055,-0.189938,-0.163683],[0.082923,-0.373553,0.923895]]BH`Iο @"ֿ@O?@OȿĿp:?`I׿?iB ?IB|];BxCYR}}AyVHb2Acoustic response timeoutbDfVDf8yjc=%nN=ٔn pQ-n>9pIp=rFyr-ErYEv>tQ 5zP4vy?Q 9~P4vH)v@Y|y~?Q I~?vBIv;iv;v>_P4yɮ NJB 9*jyBjyiyiziJii kpkpkph kpkpkph2f:fBfJf0b@iAɢo<) ?i)%!!i%)I)-iG MrA!U9]MrAY]ǮA^Au=ԑIIO>u2Acoustic response timeoutԹ 5HXя,>cE?AY~}Ay~H Y> ??bDVD8y%;<%%F=ٔ-Q-->9)I)=-Fy5/E5E5>9Q 5EP4=r?Q 9EP4=)=g@YIyIQ IM?=BI=N:i=1:=mP4yQɮUBQ*jiBjiiiiiziiJiqiqԙ kSykSykSyh!2fA:fABfAJfA}QiAɢ} <)y ?i)O鞽顉iIEeW EeCEeCEa"Ee :*Ee09VEe5ZEaa@a@a@a@2Acoustic response timeout@@qAAA@AB~>BBHBAB=BBBf;BE^A  Ia Iq  2Acoustic response timeoutO >0Yя,adE?AF[?F5G?F񉮽ٱF%ľ NAHRS rotation from veh to nav: [[-0.202647,-0.914595,-0.349928],[0.975545,-0.157489,-0.153325],[0.085121,-0.372442,0.924144]]FH@Wɿ@]D 9eֿ7?@(Ŀ*ÿ{ʵ?׿?iF[?IFm];FzCYV|~AyV|Hy5+?X9vˡE5v?55'1 195?~jt?J +Y5,?y5<5Ƚ11 5B)5B1Y5BbDMVDM8y]i=%]G=ٔeQ-e>9aIi=mFym2EmέEm>qQ 5}P4udn?Q 9}P4u)u@Y.?Q E:y?Q I?uBIu ;iuv:u|P4yʪBɮBE*jBjiiziJii kpkpkph kpkpkphY2fJ#>:fJ#>Bf?JfjI3@颽iAɢ_<) ɧ?i)Wi66I!Ey E}KE}<Ey"Ey*E}]t9VE} 4ZEyBE}:a2E}$:aJE}(:a:E}*:a2Acoustic response timeoutQ^A y A- AI9 II Ii O >| Yя,/12dE?A2?2?2ٱ2>þ :AHRS rotation from veh to nav: [[-0.183654,-0.917786,-0.352050],[0.979290,-0.139777,-0.146468],[0.085218,-0.371659,0.924450]]2Hǿ^ֿ`XV?9z¿@е?B׿?i2?I2];2{CYB~AyBHXX X)XIXi\\ `b<bDfVDf8yjf6=%n?=ٔn\oQ-n>9rK?IrK?=rFyr5EvL:Ev>xQ 5zP42Acoustic response timeoutzj?Q 9P4z)zT@Y y ;?Q I ?zBIzP];izL^;zP4yɮBԙ*jBjiiziJii kvkvkvh kvkvkvh2f):f)Bf)Jf-2@EiAɢM`<)I M?iI)M^QQiUYIY^A}=E5f E5OE5@E1"E5I@:*E59VE54ZE1aE@aE@aE@aE@2Acoustic response timeoutA$AIIOE > mYя,hLdE?AB6y>B62CB6HB6)AB6=B4B4B6;B6E> M?>8?>ٱ>þ JAHRS rotation from veh to nav: [[-0.163958,-0.920830,-0.353821],[0.982811,-0.121628,-0.138887],[0.084857,-0.370511,0.924944]]>H Ŀ@qw@ֿ/s?" .?r׿#?i> M?I>7];>zCYRpAyRHbDZVDZf8yb6=%bL=ٔfl:Q-f>9fH?IjH?=jFyj7EjLEj>lQ 5rP4nag?Q 9rP4n)n@Ytyv?Q Iv?n2BInF:in_:nP4yxɮz܊Bx*j BjiiziJii kxkxkxh) kxkxkxh92fI:fIBfIJfM0@miAɢm<)u#@ us?iq)uLqqiI@5;>@50> 2Acoustic response timeout!^A]p=Ae\?Aeo?QAAIIO>EE X EE IEE <EA "EE ~ :*EE c9VEE 4ZEA BEE :aU 2EE :aU JEE :aU :EE :aU y ߽ ?߽ ? 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׿x?i2X/?I2];2|CYBȁAyBH xxbD~pVD~H8y=p*=%=O=ٔEi9EH?IEH?=EFyMOEMsEM>ԉQ 5Q4]E?Q 9Q4X)x@Yyy?Q I?dBI ;ii ;Q4yɮ B*jBjiiziJii ks<ks<ks<h  kCWkCWkCWh2f):f)Bf)Jf-1}@MtkAɢM*=)I M?iQ)UQQiUeYIY^AM\=ԹAAIIOD>E1 E1E5;E1"E1*E1VE54ZE1a=@a=@a=@a=@2Acoustic response timeout B= c>B= /CB= ( HB= :AB9 B9 B9 B= v;B= ESYя,#PeE?A:}?:*i?: K6ٱ: RAHRS rotation from veh to nav: [[0.020690,-0.928629,-0.370432],[0.998796,0.035686,-0.033675],[0.044491,-0.369289,0.928249]]:H/?U&׿ "? uE?= wǦ?l׿7?i:}?I:];8YZՁAyZHbD%kVD%D8yer<%eH=ٔm-V9mK?ImK?=uFyuQEuEu>yQ 5Q4}A?Q 9Q4}P)}2@Yy?Q I?}CI}:i}:}'Q4yBɮ B*jBjiiziJii k;k;k;hI kTkTkThy2f:fBfJf|@颥kAɢ4 '=) c?i) 顱iUI52Acoustic response timeout^Abb=)A9IAIQO\>IDA zDE AAEM Y EM FEM >EI "EM :*EM ;J9VEM 4ZEI BEM ;aU 2EM ;a] JEM e:a] :EM e:a]  2Acoustic response timeouty xZYя,ieE?A2 ?2?2Cu ٱ2 >AHRS rotation from veh to nav: [[0.032664,-0.929458,-0.367480],[0.998699,0.044760,-0.024440],[0.039164,-0.366204,0.929710]]2H]?˄׿ W??@X ?o׿/?i2 ?I2^;2zCYf1Ayf Hhh rp9 I=FyTEbE>!Q 5-Q4%,>?Q 95Q4%G)%@Y1y57?Q I=?%WCI%]?;i%@;%5Q4yMeBɮMىBME*jiBjiiiiiziqJiqiq k@k@k@h2f:fBfJf{@kAɢvL=) ?i)r{iޅIQ^A 7;A!I)I9IYԁO;>%2Acoustic response timeoutԩ `Yя,eE?AE X E DE =E "E ~ :*E a99VE |4ZE a=@a=@aE@aE@}2Acoustic response timeout3ͧ??ٱA AHRS rotation from veh to nav: [[0.041688,-0.931849,-0.360444],[0.998574,0.050902,-0.016104],[0.033354,-0.359259,0.932642]]H)X?@׿Q?? }`?@ֿ3?i3ͧ?Ia];|CYsAyn Hyu(\?V-Zd;OuzT?uujq q9uCl?~jt?q= ףpYud[?yuD=uqu^B u/B)uYBqYu~BԩbD _VD 98y=؊=%E+=ٔECG9III=MFyMWEUךEU>YQ 5]Q4]y??Q 9eQ4]<)]h@Ye]?Q Eeu:ye:fB>Bf-?Jf5@kAɢ5%=) ?i)aui¼IB<ABY>BB HBABBBjDB\;BE^AM!9 - 2Acoustic response timeoutA I I O >1 gYя,eE?A6!?6D ?62ܼٱ6 FAHRS rotation from veh to nav: [[0.046920,-0.937417,-0.345034],[0.998537,0.053310,-0.009049],[0.026876,-0.344105,0.938546]]6H?Q ֿ?hK?@N|?`ֿ`?i6!?I6D];6zCYVAyV HbDjTVDj/8yv=%vz=ٔz3i = 2Acoustic response timeout>mYя,㍷eE?A 2xۦ?2?26(ٱ21 >AHRS rotation from veh to nav: [[0.049071,-0.945178,-0.322849],[0.998594,0.052912,-0.003126],[0.020037,-0.322241,0.946445]]2H? >`Կ|?J?i?ԿHI?i2xۦ?I2_^;2|CYBAyF!HDFa= )Ii bD%VD8y%=%-F=ٔ-M9)I1=5Fy5[E5qE5>9Q 5EQ4=A?Q 9MQ4=-,)=@YIyM?Q IM?=cCI=:i=|:=_Q4yUIBɮUB]E*jiBjiiiiqziqJiqiq kC:kC:kC:h kS:kS:kS:h2f:fBfJf7@6lAɢ5`=) 0?i)մki/ƼIqA II)O>ԙEZ EFEE"E:*E;J9VEZEa%@a-@a-@a-@2Acoustic response timeout B Q>B .CB ;!HB AB =B B iDB I;B }E_&tYя,geE?A2^?2і?2Rٱ2# :AHRS rotation from veh to nav: [[0.050543,-0.952123,-0.301509],[0.998640,0.052055,0.003022],[0.012817,-0.301252,0.953458]]2H@?wKӿ ??dh?@@?Gӿ@?i2^?I2^];0YB!AyBD!HbDN"PVDN8yVV6=%VR=ٔZU9XIX=^Fy^^E^wE^>`Q 5fQ4bB?Q 9fQ4bj#)b@Yhyj??Q Ij?bCIb):ib:bmQ4ylɮnBp*jxBjxixixzixJi|iy kSDkSDkSDh k`k`k`h2f:fBfJf7@ \lAɢ b=)  5?i)b?>-N?>Gٱ> ᑾ JAHRS rotation from veh to nav: [[0.052760,-0.958269,-0.280956],[0.998593,0.052110,0.009792],[0.005258,-0.281077,0.959671]]>Hg?$,ѿz? ? ?u? *ѿ?i>b?I>^;>zCYV4AyV[!H|bD%VD%8y<%<=ٔr9I=FyaEE>Q 5Q4C?Q 9Q4)@Yy[?Q I?CI~ ;iC ;|Q4yɮ|B*jBjiiziJii kHkHkHh k#Zk#Zk#Zh 2f!:f!Bf!Jf%e8@=lAɢE!i=)A AiA)E`IIiMEʼIIQ)AIIO)>-2Acoustic response timeoutQԁ u;Yя,+fE?AEr[ ErCEr<Ep"Era:*Er09VEr 4ZEpaz@az@az@az@Q}2Acoustic response timeoutYkAy!HyGz?Cl˿{Gzp?;_# 9"~j?~jtI +ƿYS#?y94^B ЃB)~BYxB p<bDVD8yAt=%6=ٔQ->9I=FycE E >Q 5Q4G?Q 9Q4)@Y)?Q E:yʴ?Q I?aCI:i:oQ4y)ɮ-nB)*j9BjAiAiAziAJiIiI kAkAkAhY kYkYkYh2fw>:fw>BfTU?Jf;@=lAɢ] xV=)Y eV?ia)eZaaieN ̼iIqԁAAAABM>B-CB!HBVABBBBQ;BEAII OEs>ԩ- 2Acoustic response timeout iQ IQ XiYя, fE?AFL?Ft?F])<ٱFs ^AHRS rotation from veh to nav: [[0.059383,-0.967566,-0.245540],[0.998182,0.055006,0.024651],[-0.010345,-0.246557,0.969073]]FHng?LmϿ?)?>?/ .Ͽ?iFL?IF^;F|CYbzAyb!HbD=VD=8y}8<%}f=ٔ}3=Q-}>9I=FyfEʘE>Q 5Q4J?Q 9Q45 )@Yy?Q I?CI:i:ޘQ4ԩy.BɮPBE*jBjiiziJii kAkAkAh ks[ks[ks[h2f:fBfJf:<@颥lAɢӗ=) [?i)U顩ijͼIEY EEEEE"E:*EA9VE 5ZEBE;a2E;aJEV:a:EV:a2Acoustic response timeoutAIIOE0>1 - 2Acoustic response timeoutግYя,8fE?A2?2?2,<ٱ2M1s :AHRS rotation from veh to nav: [[0.063632,-0.970234,-0.233660],[0.997806,0.057569,0.032686],[-0.018261,-0.235227,0.971769]]2H7J? ( Ϳ?y?7?`!`ο?i2?I2];0YBAyB!HbDNjVDNW8yVp<%VZ=ٔV9XIX=ZFyZhEZ :E^>`Q 5bQ4bM?Q 9fQ4b)bu@Ydyfߴ?Q If?bCIb:ib:bQ4yhɮnKBl*jtBjtixixzixJixix k#^k#^k#^h k{k{k{h2f:fBfJf3=@lAɢ=)  e?i ) ?P  !iμAIAIaIqO>AbE|4jE4rE50EW EGE;E"E :*ER9VE4ZEa @a @a @a @2Acoustic response timeoutiB K>B B !HB kAB B B B B EBM.CBM.CBIBM=BM=CM5ԙ tYя,-RfE?A2VP?2;?2&<ٱ2;i :AHRS rotation from veh to nav: [[0.068893,-0.972269,-0.223487],[0.997272,0.061168,0.041315],[-0.026500,-0.225724,0.973831]]2H?@8̿?bQ?M'?"`̿`)?i2VP?I2^;0YBAyB!HDDHHbDNVDN8yV%VJ=ٔZڦ9XIX=^Fy^kE^VE^>`Q 5fQ4bHQ?Q 9fQ4bO)b@Yhyj~?Q Ij?bCIb:ib:b!Q4yn1BɮnOBrE*jxBjxixixzi|Ji|i kcbkcbkcbh kqkqkqh!2f1:f1Bf1Jf5=@U mAɢU=) ,?i)ɑK项i|ϼIqIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutII!Oe>ԡE  E FE E "E *E ;J9VE ZE BE :a 2E $:a JE e:a :E e:a  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout ɟYя,lfE?ABs?B慿?Bi=ٱB`]c JAHRS rotation from veh to nav: [[0.074408,-0.973318,-0.217061],[0.996612,0.064933,0.050472],[-0.035031,-0.220081,0.974852]]BHe ?k%@˿??@p?ש?+̿1?iBs?IBw];B{CYRAyR!Hhl l)lIlillbDvVDv8y~;%~E=ٔ¨9I=FymE {[E >Q 5Q4T?Q 9Q4~)@Yy%?Q I%?^CI;i;Q4y)ɮ-NB)*jABjAiAiAziAJiIiI kcXkcXkcXhY kcxkcxkcxhi2f:fBfJf=@-mA=_GQiR9YAɢ`=) T?i)F顡i`мIIQIaO=iIAzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout1I Yя,xfE?A,JCԢ?J?J&3=ٱJ?_ VAHRS rotation from veh to nav: [[0.080406,-0.973779,-0.212815],[0.995794,0.069068,0.060198],[-0.043921,-0.216760,0.975236]]JH@|?1)`=˿?m?DҮ?|̾˿"5?iJCԢ?IJ];J}CE^^ E\E^DE\"E^C#:*E\VE^J5ZE\ab@ab@ab@af@YfAyf!H]2Acoustic response timeouty!rh?&1{GzlG?P# 9/$?~jtQ롿Y&?yD\QBIaB {B)BYuBbDVD8y $!=% :=ٔ ȥ9I=FypEfaE>!Q 5-Q4%PW?Q 9-Q4%)%@Y-u?Q E5:y5`?Q I5?%CI%X ;i% ;%Q4y9ɮ=EB9*jQBjQiQiQziQJiYiY k_k_k_h2f5^>:f5^>Bf%k=@JfT[@=RmAɢ=_Xt=)9 =c?i9)E}?AaieWмiIiԉB-I>B)B-!HB-VAB)B)B)B-a;B-EԹM90IIO> 2Acoustic response timeout Yя,AfE?A4<ɰ2 ?2?2YY=ٱ2K] :AHRS rotation from veh to nav: [[0.086405,-0.973948,-0.209666],[0.994847,0.073146,0.070204],[-0.053039,-0.214652,0.975249]]2H`?@*Yʿ?`? ?`'@y˿ >5?i2 ?I2^;0YByAyB!HDD\ 4<p;bD VD 8y%S=ٔ9I=FysEE>Q 5Q4Y?Q 9Q4K)@Yy?Q I?CIq;i׺;{Q4yBɮ8BE*jBjiiziJii k`k`k`h k`k`k`h!2f9:f9Bf9Jf=E(@UpmAɢUh=)Y ]?iY)];YYiejBѼaIiUr EV EGE:E"E=:*ER9VE(4ZEBE:a2E:aJEt:a:Et:aIIO= >2Acoustic response timeoutA = 2Acoustic response timeoutYя,K9fE?A2y^?2I?2Pv~=ٱ2\ :AHRS rotation from veh to nav: [[0.091671,-0.973896,-0.207662],[0.993852,0.076479,0.080056],[-0.062085,-0.213724,0.974919]]2Hw?'*ਔʿ?&?~?`ɯM[˿2?i2y^?I21^;2{CYBxAyB!H bD~VD~8yUd%UM=ٔU?9YIY=]Fy]uEe[Ee>aQ 5uQ4e[?Q 9uQ4eo)e(@Yqyu?Q Iu?eCIe(;ie ;;eeQ4y1ɮ11*jyBjyiyiziJii kC_kC_kC_h2f:fBfJf@=mAɢEi:~=)EǼ E?iA)Ep5IIiMAѼIIQIE^ EEEE"EC#:*EA9VEZEa@a@a@a@mq2Acoustic response timeoutA I I I  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I B% H>B! B% ;!HB% AB! B! B% hDB% ;B% EOE >ԑ ´Yя,DfE?A:R?:Ū?:%=ٱ:}\ BAHRS rotation from veh to nav: [[0.096442,-0.973765,-0.206109],[0.992823,0.079401,0.089427],[-0.070715,-0.213254,0.974434]]:Hd?@)aʿ5?`S??eK˿.?i:R?I:^;:|CYJ]AyJ!HbD {VD {8yE%ML=ٔM°9IIQ=UFyUxEUyFEU>aQ 5eQ4ee^?Q 9mQ4e)e<@YqԁyuN?Q I?eICIe;ie;ejQ4yɮ?B*jBjiiziJii kFkFkFh kVkVkVh2fy:fyBfyJf}:Վ@颵mAɢѵ=) ^?i)0i7ѼI2Acoustic response timeouta==7ԩAYIaIqO^>E U E DE <E "E :*E a99VE 4ZE BE :a 2E :a JE fH:a :E hH:a  2Acoustic response timeout Yя,fE?A2M?28?2t=ٱ2\ :AHRS rotation from veh to nav: [[0.099829,-0.973611,-0.205222],[0.991883,0.081052,0.097972],[-0.078753,-0.213337,0.973799]]2Hh?'@Dʿ? Ͽ??`')@N˿`])?i2M?I2 ^;2~CYvAyv7!HbDdVDf8y%N=ٔ39I=%Fy%zE%$E%>)Q 55R4-`?Q 95R4-)-D@Y1y=ڷ?Q I=?-CI-;i-;-M R4yAɮEQBA*jBjiiziJii ksUksUksUh kUkUkUh2f:fBfJfҹ@mAɢӉ=) ?i)+iмI2Acoustic response timeout8Ƽ1AiIIO>a Yя,gE?A2?2Ի?2&=ٱ2C^ :AHRS rotation from veh to nav: [[0.102815,-0.973242,-0.205496],[0.990942,0.082275,0.106139],[-0.086391,-0.214547,0.972885]]2HR?$Mʿ˵?@?@+? Jv˿!?i2?I2-^;2|CYBAyB!HJ=J=ERZ EREER;EP"ER:*ERA9VER4ZEPaZ@aZ@aZ@aZ@e2Acoustic response timeouty㥛 ?ˡEl?U?什= 9-?Mb?zG?Y?5?y@= =B>bB uB)BYWBbDZVD]8y%==ٔn9I=Fy}EE>Q 5%R4 a?Q 9-R4)@Y-7?Q E-:y-?Q I-?CIj:i:R41yYɮ]WBY*jqBjiiziJii kVkVkVh kVkVkVh2f\;>:f\;>Bf% @Jf-r@MmAɢM_r=)Q U?iQ)UL&QQi]!мYIaiimmAA@ABBB HBABBBB;BEaA%W?A%Q?ԉ 2Acoustic response timeoutAa Iq I O >Թ Yя,!gE?A2柟?2Y?2¾=ٱ2.~^ :AHRS rotation from veh to nav: [[0.104953,-0.973161,-0.204798],[0.990118,0.082993,0.113040],[-0.093009,-0.214638,0.972255]]2H5޺?"$6ʿ` ? ??,?@qϷCy˿?i2柟?I2 ^;2}CYBÂAyB HXX X)XIXi\\bDfOVDfS8yjנ%n^=ٔn9pIp=rFyrErIǻEv>tQ 5zR4vWa?Q 9~R4v)v@Y|y~?Q I~?vCIv;iv;vE%R4y Bɮ KB ۱E*jIBjIiIiIziIJiIiQ ksTksTksTha kxkxkxh2f:fBfJfr@EnAɢE=)A E?iI)M!IIiM|ϼqIqԙEX EIE>E"E~ :*Ec9VE4ZEBE:a2E:aJE:a:E:am2Acoustic response timeoutA$AIIOU1>Թi I A% 2Acoustic response timeout) (Yя,Ed;gE?A>e?>Q?>=ٱ>-)^ JAHRS rotation from veh to nav: [[0.106649,-0.973222,-0.203632],[0.989335,0.083432,0.119400],[-0.099213,-0.214194,0.971739]]>HSM?$`ʿࠨ?[?? fj˿`}?i>e?I> ^;9fH?IfH?=fFyfEj Ej>lQ 5rR4na?Q 9rR4n)nH@Ytyv?Q Iv?n_CIn-:in:nK3R4y|ɮXB *jABjIiIiIziIJiQiQ k_k_k_hq2f:fBfJfr@ nAɢ=)P ?i)@iμIAIIO%>E[ EHEAE"Ea:*E[9VEA4ZEa@a@a@a@}hDAT read: Forwarding Delay UpTx time:18:23:24.8043 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutI B G>B B A HB NAB =B B B R;B ~EeYя,AUgE?A 27?2#?2Rs=ٱ2zW] >AHRS rotation from veh to nav: [[0.107976,-0.973400,-0.202071],[0.988592,0.083662,0.125243],[-0.105006,-0.213289,0.971330]]2H`P?&`uɿ`?j?@?ế M˿"?i27?I2^;2|CYBrAyFm HAbD-VD-8yeZ%e@=ٔm`9iIi=mFyuEuYEu>yQ 5R4}a?Q 9R4} )}@Yy^?Q I?}CI}A:i}:}%BR4yɮ_B*jBjiiziJii kZkZkZh kZkZkZh2f:fBfJf-yr@ ԙE X E IE =E "E ~ :*E c9VE |4ZE BE a 2E a JE a :E a ߅ =߁  2Acoustic response timeout:Yя,TogE?A2C?2 ?2pT=ٱ2 ] :AHRS rotation from veh to nav: [[0.108646,-0.973519,-0.201137],[0.987944,0.083294,0.130497],[-0.110288,-0.212890,0.970832]]2H@?л?'ھɿ;?R?@ ?@;@?˿ ?i2C?I2^;2}CYBAyBHPbD VD 8y}A%I=ٔU9K?IK?=FyEE>Q 5R4Ob?Q 9R4^)@YyD?Q I?CI/;i:^PR4yɮ~B*jBjiiziJii kcRkcRkcRh ksRksRksRh2f:fBfJf0gr@19  r NAggregate::initialize marl:UpdateRudderq9 J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed=WnAɢ=[j=)9 =?i9)E AAiE2˼IIIA$AIIO&>2Acoustic response timeout>) "Yя,IgE?A2R?2?2=ٱ2'^ :AHRS rotation from veh to nav: [[0.109335,-0.973359,-0.201540],[0.987286,0.082805,0.135684],[-0.115381,-0.213813,0.970037]]2HZ?%ɿ@ؗ?@2?@^?5^˿ ?i2R?I23^;2{CbE 4jE |4rE 0EBW EBGEB<E@"EB :*EBR9VEB 4ZE@aJ@aJ@aJ@aJ@YNAyRHE2Acoustic response timeoutyT㥛 ?Zd;OQ?a?ju< 9&1?/$?"~j?YP?y=S=NBdB osB)=BYfB  BAbDVD8y%<%%@=ٔ%E9-H?I-H?=-Fy-E5E5>9Q 5ER4=a?Q 9ER4=)=@YES?Q EE:yE^?Q IM?=RCI=]:i=Q:=9_R4yUBɮU_BUұE*jaBjiiiiiziiJiiiq kRkRkRh kSkSkSh2f >:f >Bfb@Jf@\@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderrnAɢUi=) ?i);iNʼIB}H>ByB}HB}AB}=ByByB};B}dEB=-CB=-CB=ÓCB9B9C="q4)&ּY2Acoustic response timeoutA- AI1 IA O >ԁ LYя,$ТgE?A6yݞ?6Ⱥ?6=ٱ6a_ >AHRS rotation from veh to nav: [[0.110502,-0.973043,-0.202427],[0.986580,0.082758,0.140750],[-0.120203,-0.215264,0.969130]]6HI?*# "ɿ?/? ? ž@Í˿?i6yݞ?I6^;6|CYJAyJHbDfVDf8yn'%nb=ٔr[9rK?IrK?=rFyvEvaEv>xQ 5~R4zXa?Q 9~R4z;)z@Yy;?Q I?zCIz;iz;zkR4y Bɮ B *j!Bj!i!i!zi!Ji)i) kSkSkShA kSkSkShQY2fa:faBfaJfe \@颅nAɢ:=) ѧ?i)FX 顉iGȼID-EQ EE=E"E29*EVE|4ZEBE:a2E:aJEt:a:Et:aU2Acoustic response timeoutԉA$AIIOU2> mWh>m*CGMrA-ɨ95MrAY5AԱ  2Acoustic response timeoutVwYя,물gE?A^˞?^?^OY>ٱ^a AHRS rotation from veh to nav: [[0.110933,-0.972839,-0.203169],[0.985561,0.081374,0.148485],[-0.127919,-0.216707,0.967820]]^H`f?!oʿ`?Դ??_`˿`?i^˞?I^b/^;^{CYxAy9HbD5VD58yE%ED=ٔE9MH?IMH?=MFyMEU۫EU>YQ 5eR4]`?Q 9eR4]')]W@Yaye0?Q Ie?]CI]y:i] :]uzR4yqɮu%Bq*jBjiiziJii k#Xk#Xk#Xh k#Xk#Xk#XԹh2f:fBfJf[@nAɢdi]=) o?i)i@ƼIEZ EE<E"E:*EVE 4ZEa@a@a@a@e2Acoustic response timeoutAMAIYIiO>Bu J>Bq Bu HBu ABu =Bq Bu iDBu ;Bu WE9 ^Yя,{gE?A;ɰF ؞?F|ú?F>ٱF=a NAHRS rotation from veh to nav: [[0.110520,-0.972848,-0.203351],[0.985270,0.080381,0.150940],[-0.130496,-0.217037,0.967402]]FH K?!fʿ T?ٓ? 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Nο ?i2Z?I2ݏ];2|CYBLyAyBKHDDLN@AbDVVDV8y%+%%F=ٔ-aQ-->95K?I5K?=5Fy5E]E]>aQ 5uS4ԙe?Q 9S4e ")e@Yy²?Q I?e CIe;ie;ek\S4yɮB*jBjiiziJii kssksskssh!2fI:fIBfIJfMP@]2Acoustic response timeoutuoAɢ}<)y }?iy)}顁iIIIIO%>EU [ EU CEU DEQ "EU a:*EU 09VEU J5ZEQ BEU ;a] 2EU ;a] JEU 9:a] :EU 9:ae  2Acoustic response timeout ]s\Zя,8tiE?A2?2?2Qh=ٱ2v :AHRS rotation from veh to nav: [[0.125538,-0.966243,-0.224978],[0.987410,0.099691,0.122816],[-0.096241,-0.237564,0.966593]]2H@?u̿@ܘ?@a?`p? C }hοS?i2?I2Ǹ];2CYBcxAyBHXX X)XI\i\\bDfVDdyj%nO=ٔnLQ-n>9pIp=rFyrEvEv>xQ 5zS4z'?Q 9~S4z+)z@Y|y~X?Q I~?z CIzQ;izL;zjS4y ɮ B *jBjiiziJii kZkZkZh klklklh2f:fBfJf@-oAɢ5w <)Q UF?iQ)]C*YYi]񔣼aIaAqzAqIYIO>!iaIeAm2Acoustic response timeoutQy E] X E] FE] ;EY "E] ~ :*E] ;J9VE] 4ZEY ae @am @am @am @'fcZя,AiE?A2?2?2=ٱ2ox :AHRS rotation from veh to nav: [[0.127574,-0.965590,-0.226630],[0.987273,0.101752,0.122223],[-0.094957,-0.239338,0.966282]]2HXT?7Ϳ? r ? I?O ο?i2?I2];2~CYBwAyBuHV2Acoustic response timeoutyv?L7A`?ˡE?X?+='= 9 r??kt?Y#?y< = wB)؇BY(yBbD5tVD58y=%EB=ٔE6IQ-E>9III=MFyMEMEU>QQ 5]S4U~?Q 9eS4B>BBqHBwAB=BBB;BEU)U0@Y.%?Q E:y?Q I?U CIU:fZ>BfK@Jf3@oAɢ `<) A?i)i LI IIO>i]2Acoustic response timeoutԙ [iZя,iE?A4<ɰ:}?:h?:=ٱ:Hz FAHRS rotation from veh to nav: [[0.129171,-0.965016,-0.228166],[0.987197,0.103429,0.121430],[-0.093583,-0.240929,0.966020]]:Hੈ?h`4Ϳ?@Uz??ο?i:}?I: ];8YJwAyJ9HPP bD ^VD 8yE r%MK=ٔM`Q-M>9IIQ=UFyUEUqEU>YQ 5mS4]ύ?Q 9mS4]>)]i@Yiym[?Q Iu?]R CI];i];]S4y}BɮBE*jBjiiziJii kUkUkUh2fa:faBfaJfe#@颥oAɢ [^<) >i)顩Աi8IE_ EGE>E"E&:*ER9VE4ZEBE&;a%2E&;a%JEt:a%:Et:a%II2Acoustic response timeoutO>  2Acoustic response timeout9 ]mpZя,iE?A2\?2WH?2,=ٱ2| :AHRS rotation from veh to nav: [[0.130156,-0.964473,-0.229895],[0.987194,0.104489,0.120543],[-0.092239,-0.242640,0.965721]]2H@?@1mͿ?ѿ?۾?@ Ͽ`0?i2\?I2p];0YBvAyBHbD fVD 8yE%MJ=ٔMZQ-M>9QIQ=UFyUEU?EU>aQ 5eS4e%?Q 9mS4eg)e@YiymB?Q Im?e CIe:ie:eݔS4yqɮ}By*jBjiiziJii ksCksCksCh k3Xk3Xk3Xh2f:fBfJf@pAɢ5<) V>i) 쟼i2IAf?Aa?IIO=E%T E%DE%<E!"E%9*E%a99VE% 4ZE!a-@a-@a-@a-@9In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutB>BBHBzvABBBB;BāEi vZя,diE?A NW?NTC?NA{=ٱND2| ^AHRS rotation from veh to nav: [[0.130329,-0.964370,-0.230228],[0.987337,0.105056,0.118865],[-0.090443,-0.242804,0.965850]]NH?xͿC??m?K'3Ͽ@>?iNW?INq];NCYfvAyjOHbDEUVDE8yU%UI=ٔUQ-]>9YIY=]Fy]ōEewŹEe>iQ 5uS4m~?Q 9uS4m)m@Yqy}>?Q I}?m CIm;imn;m S4yBɮ2B*jBjiiziJii k<k<k<h kPkPkPh2f:fBfJf%@ pAɢ';) >i)Pkil I =pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT=2Acoustic response timeouti5#2ԙAIIO>D! zD% @AE- _ E- KE- ;E) "E- &:*E- ]t9VE- 4ZE) BE) a= 2E) a= JE- ):a= :E- *:a=  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout|Zя,iE?A2n?2mZ?2p}=ٱ2$_| :AHRS rotation from veh to nav: [[0.129656,-0.964343,-0.230722],[0.987602,0.104825,0.116854],[-0.088502,-0.243012,0.965977]]2H?@IͿn?պ? *?ϿI?i2n?I2];0YBuAyBHDDJ@AJAAPbDN<VDNj8yZ]%ZU=ٔZ⦻Q-Z>9\I\=^Fy^ǍEbJ:Eb>dQ 5jS4f?Q 9jS4f )f$@YhyjV?Q Ij?f CIf:ify:fmS4ypɮri )   i ĘI1M2Acoustic response timeoutAaIiIyO>>>>! bE˴4jE4rEA1E= X E= HE= IE9 "E= ~ :*E= [9VE= e5ZE9 aM @aM @aM @aM @Zя,]jE?A>?>#y?R2Acoustic response timeout>t=ٱ>uq{ bAHRS rotation from veh to nav: [[0.128752,-0.964588,-0.230203],[0.987894,0.104500,0.114655],[-0.086539,-0.242178,0.966365]]>Hz?@`HwͿ@Ӝ?? Z?e'οu?i>?I>];>}CYjuAyjH|ye\(\?~jt?~jtxeZ?eս%==ٔQ->9I=FyʍEAAB>B4CBHB5uABBBnDB;B́EBe3CBe3CBeCBe=Be=Ce45 ;E5>9Q 5ES4=?Q 9ES4=)=p@YM7L?Q EM:yM?Q IM?=t CI=:i=:=6S4yqɮuSBy*jBjiiziJii ks5ks5ks5h kQkQkQh2f >:f >Bf *@Jf ~q@s5PUpdating rudder angle -0.000000 arcdeg 95r56Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderm pAɢm^:)q u>iq)u}טqqi};HyI)QApAzAU2Acoustic response timeoutA I I O >ԁ |ӉZя,6)jE?A2?2 ?2"=ٱ2_y :AHRS rotation from veh to nav: [[0.127481,-0.965122,-0.228664],[0.988240,0.103970,0.112123],[-0.084438,-0.240269,0.967027]]2H@PQ? HDͿ੟?Ɲ? ?"ο`?i2?I2 ];2~CYVtAyVHpt t)tItittbDVDK8y%R=ٔOQ-%>9!I!=-Fy-̍E-g;E->9Q 5ES4=?Q 9ES4=)=@YIyM?Q IM?= CI=<;i=W-;=)S4Yye٨Bɮe>BeE*jBjiiziJii k36k36k36h2f:fBfJfq@(pAɢx}O;) >i)i i&_IE EFE;E"E*E;J9VE4ZEBE:a2E:aJEe:a:Ee:a  2Acoustic response timeoutGA)I1IAԉO>9YAԱ e 2Acoustic response timeout`Zя,CjE?A2G?2ո?2=ٱ2mw :AHRS rotation from veh to nav: [[0.126010,-0.965518,-0.227808],[0.988641,0.103260,0.109212],[-0.081922,-0.238982,0.967562]]2H`!? (Ϳ?>o?@J?οD?i2G?I2];0YNItAyR6HTV@A Z49hIh=jFyjύEj|;Ej>9Q 5ES4=_?Q 9ES4=V)=@YIyM'?Q IM?=CI=:i=|:=LS4yQɮUPBQ*jiBjiiiiiziiJiqiq k36k36k36h k36k36k36h2f:fBfJf`r@Թ0pAɢ) '>i)Ari6IA%$AI1IAO}>E EJE@E"E*Ek9VE4ZEa @a @a @a @2Acoustic response timeoutB>BBHBsABBBB;BہE9 Zя,\jE?A2T?2?2D=ٱ2Xv :AHRS rotation from veh to nav: [[0.124557,-0.965916,-0.226920],[0.989039,0.102592,0.106189],[-0.079290,-0.237659,0.968107]]2H? Ϳ5? sC?4/?RL@kο?i2T?I2q];2CYBsAyBHbD VD 8y}%}?=ٔʻQ->9H?IH?=FyэEe;E>Q 5S4/?Q 9S4)]@YyS?Q I?fCIf;i;S4yɮ^B*jBjiiziJii k8k8k8h k8k8k8h2f:fBfJfpr@2Acoustic response timeout!-7pAɢ-=$)1 5 h>i1)5擼99i=9IAAU^?AUY?AAIIO&>AiE W E DE BE "E :*E a99VE 5ZE BE !:a 2E &:a JE gH:a% :E iH:a% %= < 2Acoustic response timeoutԙ Zя,vjE?A2FO?2:?2ʜ=ٱ2pu :AHRS rotation from veh to nav: [[0.123016,-0.966230,-0.226420],[0.989453,0.101831,0.103020],[-0.076484,-0.236705,0.968567]]2H`}? \ Q̿`??}_?uULο@?i2FO?I2X];2~CYB sAyBqHbDVD 8yEX%EN=ٔE*Q-E>9MK?IMK?=MFyMԍEMɂ;EU>YQ 5eS4]핲?Q 9eS4]M)]@Yaye?Q Im?]CI]:i]-:]S4yuBɮu\BuE*jBjiiziJii k7k7k7hQq2fi:fiBfiJfmr@>pAɢĻ) 2>i)ӱi/I%2Acoustic response timeoutA]$AIaIqԡOC> E  E E :E "E *E VE (4ZE a% @a% @a% @a% @Zя,jE?A2{?2rf?2b=ٱ2)s :AHRS rotation from veh to nav: [[0.121719,-0.966672,-0.225233],[0.989813,0.101331,0.100007],[-0.073851,-0.235112,0.969159]]2H (?p̿ ???粿"οY?i2{?I2];2{CB2Acoustic response timeoutYrAyKH  B=<A=<BE>BE5CBEQHBErABABE%DBABE;BEEykt?v/y&1 ?x`e 9#~j?B`"۹?Mb?Ye?y==BeB {B)@BYB  bDuVDu8yW %8=ٔ»Q->9H?IH?=Fy׍ED;E>Q 5T4ҕ?Q 9T4)U@Yg?Q Ej:ys?Q I?CI:i::T4yɮdB*jBjiiziJii k5k5k5h k5k5k5h2fm>:fm>Bf@Jf [@-DpAɢ-0)1 5!>i1)5@11i=9y9IAAAIIIOK>52Acoustic response timeout) !Zя,|jE?A>?>?> =ٱ>*s JAHRS rotation from veh to nav: [[0.120681,-0.966825,-0.225136],[0.990131,0.100955,0.097206],[-0.071253,-0.234645,0.969466]]>H?@:B̿&?@-ع?}?@=@ο?i>?I>];>~CYV`rAyV HbDfVDf8yn%5j=ٔ5Q-=>9EK?IEK?=EFyEٍEMYB;EM>QQ 5]T4U?Q 9]T4U)U @Yaye?Q Ie?UrCIU;iU;UT4yiɮmqBi*jBjiiziJii k:k:k:h k:k:k:h2f:fBfJf \@IpAɢ$) >i)=֐iIAzAE EGE>E"E*ER9VE4ZEBEa2EaJEt:a:Et:aQ2Acoustic response timeoutAaIqIIO>yԱ M hDAT read: Forwarding Delay UpTx time:18:23:38.6542 M pIn parseResponses, set commsState_ = SENDING_ACK_WAITINGM 2Acoustic response timeout Zя,ZjE?A2qŝ?2᰹?27͌=ٱ2r :AHRS rotation from veh to nav: [[0.119514,-0.966928,-0.225314],[0.990453,0.100415,0.094445],[-0.068697,-0.234450,0.969698]]2H`? ̿@ʱ?Ŵ?-?`yο?i2qŝ?I2];2}C@Y^qAy^HbDjVDj8yr%rJ=ٔrԻQ-v>9tIt=vFyvۍEzH;Ez>|Q 5T4~?Q 9T4~)~@Y y ?Q I ?~CI~ :i~:~!T4yɮB*j)Bj)i)i)zi)Ji1i1 kC8kC8kC8h2f:fBfJf#$\@MpAɢO2) L=i)g/!i%s1I9ԩA$AIIO">EY EHE;E"E:*E[9VE4ZEa@a@a@a@2Acoustic response timeoutB=>B9B=HB=qAB==B9B=oDB=";B=E 5Zя,:jE?A2#?2ڹ?2/=ٱ2q :AHRS rotation from veh to nav: [[0.118274,-0.967227,-0.224684],[0.990771,0.099863,0.091651],[-0.066209,-0.233451,0.970112]]2H5G? @u̿e?`?jv?Ϳ ( ?i2#?I2];2~CYB+qAyBKHDD Jp9ZH?IZH?=ZFyZލE^R;E^>`Q 5fT4b[?Q 9fT4bI)bz@Ydyj?Q Ij?b*CIb:ib:b{/T4lyrBɮr|BrE*jxBj|i|i|zi|Jii k# k# k# h k;k;k;h!2f9:f9Bf9Jf==\@UQpAɢ]#3a)Y ]Y=iY)]ڏaaie/uaIi2Acoustic response timeoutAAIIO> 1EX EJE<E"E~ :*Ek9VE 4ZEBE:a2E:aJE:a:E:a  2Acoustic response timeouta ]Zя,jE?A6<?6?6ڂ=ٱ6l^r BAHRS rotation from veh to nav: [[0.116898,-0.967181,-0.225600],[0.991089,0.099003,0.089109],[-0.063849,-0.234006,0.970136]]6H ? &s̿?@X?϶?`jXͿ@[ ?i6<?I6H];4YJpAyJH`` `)bIdiddbDjVDj8yvЋ%vG=ٔv\Q-v>9zK?IzK?=zFyzEz `;E~>Q 5T4?Q 9 T4|):@Y y ?Q I?CI[;i;=T4y!ɮ%B)A*jQBjQiYiYziYJiaia ks"ks"ks"h2f:fBfJfMY\@TpAɢ ) 2Acoustic response timeout E [ E GE E "E a:*E R9VE ZE a @a @a @a @EZя,SkE?A22Acoustic response timeout6P?6;?6'}=ٱ6؅r >AHRS rotation from veh to nav: [[0.115361,-0.967245,-0.226118],[0.991401,0.097960,0.086758],[-0.061766,-0.234183,0.970229]]6H Q?`s̿? ?5?˟`Ϳ ?i6P?I6];6CYRpAyRHApApBv>Bv6CBv HBvpABtBtBtBv ;BvEy/$?/$&? 9Q?(\µ?:vYh?y=ԼgB 9}B)BY({BbDVD,8yK%:=ٔQ->9I=FyEj;E> Q 5T4 *?Q 9T4 ) Ϫ@Yj?Q Eh:y?Q I? CI  ;i C ; ,MT4y!ɮ%B!*j9Bj9i9i9ziAJiAiA kSkSkShY kSkSkShi2f}>:f}>Bf}@Jf}u@额WpAɢ9) 2Acoustic response timeout1Y pZя,P+kE?ABx?B牺?Bs=ٱBбp JAHRS rotation from veh to nav: [[0.113019,-0.967817,-0.224849],[0.991811,0.096345,0.083833],[-0.059472,-0.232483,0.970781]]BH`? [̿ ?` ?v?@s`Ϳ?iBx?IB];BCYVoAyVHZ=Z=%AA!bD-VD-8yeв%eT=ٔm/ûQ-m>9iIi=uFyuEu;Eu>Q 5T4 ?Q 9T4)@YyV?Q I?LCI:i:[T4yBɮB{E*j Bj i i ziJii kkkh)1 kkkh92fI:fIBfIJfMu@mYpAɢm6ʝ)q uǼiq)uEǏqyi}d}yID=D4=EX EEE=E"E~ :*EA9VE|4ZEBEa2EaJEV:a:EV:aII u2Acoustic response timeoutO>aԉ% 2Acoustic response timeoutԹ WZя,EkE?A2)?2?2j=ٱ2n :AHRS rotation from veh to nav: [[0.110227,-0.968435,-0.223571],[0.992253,0.094256,0.080927],[-0.057299,-0.230759,0.971322]]2H7? k ̿@?#!??XVͿ`?i2)?I2];0Yn|oAynCHbDeVDe$8y%F=ٔQ->9I=FyE;E>Q 5T4ۗ?Q 9T4)N@Yy?Q I?CI:i :iT4yɮB*jBjiiziJii kkkh  k7k7ԑk7h2f:fBfJf˷u@ZpAɢ) ~]i)%iƳyIAzAIQIaO=ԹbEM 4jEM4rEMsq0EU EHE<E"E:*E[9VE 4ZEa@a@a@a@2Acoustic response timeoutiIB>B8CB]HBoABBBqDB;BEB5CB6CBƔCB=B=CƲ75 Zя,_|_kE?A2Xo?2Z?2a=ٱ2Jl :AHRS rotation from veh to nav: [[0.106722,-0.969154,-0.222151],[0.992761,0.091483,0.077821],[-0.055098,-0.228848,0.971902]]2H@R? Oqo̿ ?kk??5JͿ`?i2Xo?I2];2~CYBoAyBHbDVD8yecq%mN=ٔmwQ-m>9iIq=uFyuEu<Eu>yQ 5T4}?Q 9T4}zx)}@Yy,?Q I?}CI}p:i}:}vT4yɮB*jBjiiziJii kkkh k52Acoustic response timeoutk5k5h2f:fBfJfu@ɢ0) ʞi)liFu!I)IIOE=nGDzDE[ EDE?E"Ea:*Ea99VE^4ZEBE ;a2E ;aJEgH:a:EjH:a1 Q Q p9 Y lA 2Acoustic response timeoutZя,2ZykE?A;ɰ;B>?BԻ?B"2X=ٱBzj RAHRS rotation from veh to nav: [[0.103041,-0.969828,-0.220944],[0.993277,0.088544,0.074571],[-0.052758,-0.227142,0.972432]]BH`?`G̿?˪??Ϳ(?iB>?IB];@YnnAynH z49!I)=-Fy-E5<E5>AQ 5MT4E?Q 9MT4En)E@YIyM?Q IM?EaCIE:iE:ET4y]kBɮ]B]rE*jiBjqiqiqziqJiqi k5k5k5h  kOkOkOh92fI:fIBfIJfMA v@颁ɢpм) ei)g顩i~qII1IAIO}=2Acoustic response timeoutԁԡ E V E FE <E "E =:*E ;J9VE 4ZE a @a @a @a @Zя,2kE?A"2Acoustic response timeoutBB<AB<BF>BF:CBFHBFnABF=BDBFrDBF;BF΁EPf|^?fI?fmN=ٱfh nAHRS rotation from veh to nav: [[0.099499,-0.970615,-0.219102],[0.993762,0.085784,0.071266],[-0.050376,-0.224826,0.973096]]fHx?H ̿@??|>?@ʩ@̿#?if|^?If];f}CYvnAyvHyuS㥛? rh?+ud?uC =uq q9uV-?Zd;O?~jtÿYu\?yuj9I=FyE <E>Q 5T4?Q 9T4e)K@Yg`?Q Er:y?Q I?CIz ;i ;`T4yɮ*jaBjaiaiaziaJiiii k4k4k4hy kc[kc[kc[h2f٥=:f٥=Bft^@Jf @YpAɢTѼ) i)'-iRm I1AUY?AUa?IiIyO>>2Acoustic response timeout! Zя,kE?A2Π?2H?2D=ٱ2jg >AHRS rotation from veh to nav: [[0.096101,-0.971051,-0.218687],[0.994213,0.083046,0.068148],[-0.048014,-0.223971,0.973412]]2H? @˿?B?(r?Q̿1&?i2Π?I2];2CYB'nAyFqHtt t)tIxixx|bDVD8yo%S=ٔ?ȻQ->9I!=%Fy%E%)<E%>)Q 55T4-?Q 95T4-])-@Y9y=?Q I=?-CI-;i-;-T4yAɮEBI*jYBjYiYiaziaJiaia kBkBkBhy kUkUkUh2f:fBfJfs:@颽XpAɢ) Q i)iiID%=Da=E EdEE"E:*E9VEZEBE3;a2E4;aJE&;a:E&;ae2Acoustic response timeoutII)O= >Qԁ i I  2Acoustic response timeout^Zя,kE?A2j2?2?2^8=ٱ2e :AHRS rotation from veh to nav: [[0.093093,-0.971629,-0.217417],[0.994640,0.080885,0.064410],[-0.044996,-0.222248,0.973951]]2H Է?P˿?紴?%}? @r̿ *?i2j2?I2];2}CYBmAyB+HbDNVDN8yV%VQ=ٔVQ-Z>9XIX=ZFyZE^E;E^>`Q 5fT4b?Q 9fT4bGT)b}@Ydyfi?Q Ij?bgCIb:ib:bT4ylɮnBl*jxBjxixYi|ziJii ks9ks9ks9h k]k]k]h2f:fBfJfX@VpAɢH) (i)ieIIyIO=ԁET EDE?E"E9*Ea99VE^4ZEa@a@a@a@e2Acoustic response timeoutB>B;CBJHBmAB=BBsDBI;BEԱ Zя,HkE?A2Ê?21v?2(=ٱ2b :AHRS rotation from veh to nav: [[0.090426,-0.972348,-0.215322],[0.995050,0.079261,0.059950],[-0.041226,-0.219677,0.974701]]2H'&?x ˿@r?zJ?ϱ?`_̿0?i2Ê?I2q];2~CYRmmAyRHV=T==bD VD 8yE?+%MA=ٔMQ-M>9IIQ=UFyUEUq;EU>2Acoustic response timeoutQ 5T4ܥ?Q 9T4kJ)ԛ@Yyѻ?Q I?CI:is:T4yOBɮBhE*jBjiiziJii k3Ek3Ek3Eh1 kRkRkRhA2fQ:fQBfQJfU?q@mSpAɢu7)q u9iq)}Wyyi}aII1IAO=DzDAAE[ EGE@E"Ea:*ER9VE4ZEBE ;a2E ;aJEt:a:Et:am 2Acoustic response timeout9 Zя,kE?AJ?J?JV=ٱJIb RAHRS rotation from veh to nav: [[0.088926,-0.972535,-0.215098],[0.995346,0.078719,0.055577],[-0.037118,-0.219039,0.975010]]JHö?@V˿?&?t?,{ ̿G3?iJ?IJ];JCYZ+mAyZHbD%kVD%8ye %eH=ٔe%Q-e>9iIi=mFymEu}t;Eu>yQ 5T4}?Q 9T4}A)}@Yy?Q I?}CI}:i}:}T4yɮB*jBjiiziJii kRkRkRh kRkRkRh2f:fBfJf◩@颥OpAɢ") Hi)i9^IIYIyIO>2Acoustic response timeoutAiԙ E X E FE =E "E ~ :*E ;J9VE |4ZE a @a @a @a @[я,lzlE?A2Acoustic response timeoutAAAAB>BBHBmAB=BBB;BEF%?F?Fs=ٱFb RAHRS rotation from veh to nav: [[0.088832,-0.972376,-0.215855],[0.995506,0.079534,0.051407],[-0.032819,-0.219452,0.975071]]FH?"˿.?S\? R?̿͠3?iF%?IF];FCY5mAy5Hy ףp= ?L7A`y&1Q8?+` 9ʡE?S㥫gfffffƿY-2?y/]33BeB 9~B)BYQB )-bD5^VD58yE%E==ٔE,#Q-E>9III=MFyMEM9EU>qQ 5T4n?Q 9T49)@Y=8?Q E:y?Q I?mCIx;i;'T4yɮB *jIBjIiiiqziqJiqiq kSkSkSh kSkSkSh2f+,>:f+,>BfE?Jf i@-KpAɢ-)) -Qi))5,11i52Z9I9ԡAIIO5q>2Acoustic response timeout [я,~U.lE?A28?2?2J<ٱ2d :AHRS rotation from veh to nav: [[0.089996,-0.971786,-0.218021],[0.995527,0.081456,0.047867],[-0.028757,-0.221353,0.974770]]2H` ?˿ [?@Fڴ?? rOU̿O1?i28?I2];2CYBlAyBHbDNaVDN8yV %Vh=ٔV=Q-Z>9XIX=ZFyZE^kWE^>`Q 5fT4bв?Q 9fT4b3)b@Ydyf?Q Ij?bCIb:ib$:bT4ynRBɮnBl*jxBjxixi|zi|Ji|i| kUkUkUh kCnkCnkCnh2f:fBfJfTh@GpAɢT) ^]i)"]iaWIA`?AY?EV EEE<E"E=:*EA9VE 4ZEBE:a2E:aJEV:a:EV:aU2Acoustic response timeoutAQIYIqO>)  2Acoustic response timeout[я,Y4HlE?A27?2/#?2<ٱ2e >AHRS rotation from veh to nav: [[0.092996,-0.971190,-0.219410],[0.995352,0.085146,0.044988],[-0.025010,-0.222574,0.974595]]2H@η?@̿ ? '̵??! O}̿/?i27?I2ij];2}CYBTlAyFQHbDNuVDN8yVZ%VJ=ٔZQ-Z>9XIX=ZFy^E^OE^>`Q 5fT4b?Q 9fT4bc,)b@YhyjI?Q Ij?bCIb:ib:b&T4yn6BɮnBr_E*jxBjxi|i|zi|Ji|i kUkUkUh kkkkkkh!2f1:f1Bf1Jf5g@UApAɢUU)Y ]~{iY)]蚼YaieITaIi9AAIQIaO>EX EHE>E"E~ :*E[9VE4ZEa@a@a@a@B%>B!B%iHB%ylAB%=B!B!B%;B%cEYe2Acoustic response timeoutԉ [я, blE?A0:d?:Ҩ?:r<ٱ:g BAHRS rotation from veh to nav: [[0.096721,-0.970426,-0.221174],[0.995081,0.089499,0.042466],[-0.021415,-0.224193,0.974309]]:H¸? kO̿`?l?!?@핿\̿-?i:d?I:];:CY^lAyb)Htx x)xIxixx||bDVD8y"%D=ٔL Q->9I=%Fy%E%E%>)Q 55U4-?Q 95U4-$)-d@Y1y=ƫ?Q I=?-<CI-H;i-;-U4yEBɮEBA*jYBjYiaiaziaJiaia k#Sk#Sk#Shy kkkkkkh2Acoustic response timeout2f:fBfJf,g@;pAɢ =) #i)iQqIԉA$AIqIO?>ԹET EBE;E"E9*E(9VE4ZEBE:a2E:aJEJ+:a:EL+:aM 2Acoustic response timeout H[я,{lE?A2"?20?2<ٱ2lij :AHRS rotation from veh to nav: [[0.101422,-0.969306,-0.223962],[0.994678,0.094699,0.040586],[-0.018132,-0.226886,0.973752]]2H@?`Ȫ̿g?2>?@Ǥ? Ϳ(?i2"?I2Q];2CYBkAyBHFa=Fp=bDN}VDN8yVh %VQ=ٔV Q-Z>9ZH?IZH?=ZFyZE^FE^>`dQ 5fU4fò?Q 9jU4f)fA@Yhyj?Q Ij?fCIf:ifp:fdU4ypɮrBp*j|Bj|iyiyziyJiyi kCjkCjkCjh kSjkSjkSjh2f:fBfJf/f@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed%4pAɢ%)! %i!)%m))i-N)I1AmAI2Acoustic response timeoutIO%M>A bE%C4jE%4rE%./E W E E <E "E :*E VE 4ZE a @a @a @a @B A <B% >B! B% HB% kAB% =B! B! B% \;B% 1EB;CB;CB˓CB=B=C5] 2Acoustic response timeout~5%[я,ٕlE?AB4t?B_?B#y<ٱBm jAHRS rotation from veh to nav: [[0.106724,-0.967945,-0.227358],[0.994172,0.100388,0.039289],[-0.015206,-0.230227,0.973018]]BH`HR?`hͿB? ??$ xͿ "?iB4t?IB];@Y kAyHy=ʡE?Mbp?V-?=-2?=;=<9 99=Pn?~jtZd;OY=?y=D=j<=WB9 =B)=B9Y=BbDedVDe8y}2%0=ٔ λQ->9K?IK?=Fy Ei;E>Q 5U4jDz?Q 9U4)@Y0?Q E:y3?Q I?CI ;iq ;!U4yɮB*jBjiiziJii kkkkkkh kkkh2fN>:fN>Bf[@Jf%ܞ@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder+pAɢ) qi)iJIA>>AIIYIiO^>ԁ2Acoustic response timeoutԙ Z+[я,lE?A6ε?6AHRS rotation from veh to nav: [[0.112503,-0.966799,-0.229442],[0.993569,0.106478,0.038512],[-0.012803,-0.232299,0.972560]]6H̼?@]^Ϳ Q? )B?ݷ?@f8Ϳ`6?i6ε?I6];6~CYFLkAyFH fwh>fC-_G AE49I=Fy E~E>Q 5U4 ˲?Q 9U4)(@Yyq?Q I?CI :i:.U4yɮB*jABjAiAiIziIJiIiIE]Y E]EE];EY"E]:*E]A9VE]4ZEYBE];ae2E];amJE]V:am:E]V:am kCmkCmkCmh2f:fBfJfͳ@2Acoustic response timeout=$pAɢ= +)A EiA)E:AAiEHyM?MQAQIQԩAIIOF> 2Acoustic response timeout A2[я,6xlE?A2?2Y?2"2<ٱ2gs :AHRS rotation from veh to nav: [[0.118170,-0.965333,-0.232741],[0.992934,0.112306,0.038339],[-0.010872,-0.235627,0.971783]]2Hi@?xͿ ? ?9?#D )ο?i2?I25];2CYBjAyBHbD  VD S8yE`F%MP=ٔM$Q-M>9IIQ=UFyUEUmEU>aQ 5eU4eβ?Q 9mU4e )e@Yiym?Q Im?e%CIe:ie:emEmT EmGEm=Ei"Em9*EmR9VEm|4ZEiau@au@au@au@B>BBHB]kABBBB;BE%2Acoustic response timeout1Y l8[я,UlE?A2ZS?2>?2w<ٱ2mu :AHRS rotation from veh to nav: [[0.123249,-0.964243,-0.234617],[0.992334,0.117576,0.038069],[-0.009123,-0.237511,0.971342]]2H7? ο3?x?}?ஂfο<?i2ZS?I2Ú];2CYBjAyBcHbDJVDJT8yR%VU=ٔVhQ-V>9XIX=ZFyZEZcZEZ>\Q 5bU4^Ҳ?Q 9fU4^t)^3@Ydyf?Q If?^XCI^W:i^p:^IU4yjBɮjBl*jtBjtitixzixJixix kikikih  kikikiiyIy2Acoustic response timeouth2f:fBfJfak@pAɢ*1) Ĩi)iBI1AIIYIiO>aDizDiEuY EuCEu:Eq"Eu:*Eu09VEu(4ZEqBEqa2EqaJEu9:a:Eu9:aԉ- 2Acoustic response timeoutԹ a>[я,/lE?A2Ü?2m?2<ٱ2VHv :AHRS rotation from veh to nav: [[0.127590,-0.963517,-0.235278],[0.991796,0.122065,0.037962],[-0.007858,-0.238191,0.971187]]2HT?!οʼ? ??o? @ }ο?i2Ü?I2];0YBjAyBGHJ@AJ@AbDNVDN:8yV%VJ=ٔV*MQ-V>9XIX=ZFyZEZ`1E^>`Q 5fU4bײ?Q 9fU4b)b@Ydyft?Q If?bCIb:ibN:bWU4ylɮnBl*jtBjtixixzixJixix khkhkhh  khkhkhh2f):f)Bf)Jf-WJ@MpAɢM7)Q UŭiQ)UרQQiU @YIaԑAiIIOu>2Acoustic response timeoutE W E KE >E "E :*E ]t9VE 4ZE a @a @a @a @A A @AB B B dB IB) B Y 3BbD%VD%08y=@J<%=3=ٔ=aQ-=>9AIA=EFyEEEEM>IQ 5]U4Meֲ?Q 9]U4M)M@Y]?Q E]:y]?Q I]?MCIM ;iM2 ;MgU4yiɮmBi*jyBjiiziJii kSikSikSih kSikSikSih2fb>:fb>Bf5.T@Jf;@ pAɢD.) i)Ri=IA zA qAAYIiIyO>>2Acoustic response timeoutI AK[я,0mE?A28?2?2;ٱ2W/x :AHRS rotation from veh to nav: [[0.133757,-0.962243,-0.237062],[0.990996,0.128414,0.037911],[-0.006037,-0.239998,0.970755]]2H?@Xο9I=FyE%;E%>!Q 5-U4%ղ?Q 95U4%v)%f@Y1y5]?Q I5?% CI%:i%:%tU4yAɮEBA*jQBjQiQiYziYJiYiY kmkm=kmhq kmkmkmh2f:fBfJf@颵pAɢ?) i)j项i<:ID=D<E[ EBEIE"Ea:*E(9VEe5ZEBE ;a2E ;aJEJ+:a:EL+:a2Acoustic response timeoutQA II1O>yԩ  In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeout'R[я,JmE?A4<ɰ4<2ϛ?2?2i׾;ٱ2x :AHRS rotation from veh to nav: [[0.134987,-0.961929,-0.237635],[0.990830,0.129635,0.038080],[-0.005824,-0.240596,0.970608]]2H?G? jο??*?@w`ο 8?i2ϛ?I2N];2C@YFOjAyFHbDNVDNT8yV%VQ=ٔZQ-Z>9XIX=^Fy^E^OE^>`Q 5fU4bsղ?Q 9fU4bp)b(@Yhyj:?Q Ij?bDCIb:ib:bTU4ylɮnBp*jxBjxixixzi|Ji|i kjkjkjh kjkjkjh2f:fBfJfؖ@ pAɢ <)  Ii)ׯi71I9ԩAIIIO#>Bm>BiBm$HBmijABiBiBiBm;BmπEEU EEE=E"E:*EA9VE|4ZEBE:2E:JEV::EV:pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout 8X[я,dmE?A2ț?2?2`;ٱ2 y :AHRS rotation from veh to nav: [[0.135213,-0.961811,-0.237985],[0.990802,0.129962,0.037695],[-0.005326,-0.240893,0.970537]]2HN?(Kvο঴??L?@uο?i2ț?I2];0YB_jAyBHDF?AlbD VD d8yEx<%MA=ٔMQ-M>9IIQ=UFyUEU EU>ezIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe2Acoustic response timeoutQ 5U4Բ?Q 9U4)'@Yy6?Q I ?CI:i:ՑU4yڧBɮ5B5LE*jIBjIiIiIziIJiIiQ kchkchkchh kshkshkshh2f:fBfJf:֖@ oAɢ י9) ҳi)Yi%41I1AIIOB>1DzD@AE EJE@E"E*Ek9VE4ZEa@a@a@a@ 2Acoustic response timeouta o^[я,v~mE?A2?2ӷ?2G;ٱ2Ay :AHRS rotation from veh to nav: [[0.134246,-0.961824,-0.238478],[0.990937,0.129163,0.036889],[-0.004678,-0.241269,0.970447]]2H.?Cuο?k? ?`(sο ?i2?I2];0Y^8jAybHYbDEVDE[8y%D=ٔ˺Q->9I=Fy!Eb;E>Q 5U4iԲ?Q 9U4)@YyY?Q I?CIy:i:U4yɮB*jBjiiziJii kCikCikCih2f:fBfJfݖ@oAɢ <) Oi)%!!i%1III2Acoustic response timeoutԉAIIOg>Ա B] <A] 4=Be >Ba Be HBe @jABa Ba Be tDBe ;Be ΀EE X E CE ;E "E ~ :*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a  2Acoustic response timeoutFe[я,YmE?AJw?J?J;ٱJz VAHRS rotation from veh to nav: [[0.132844,-0.961699,-0.239767],[0.991128,0.127846,0.036349],[-0.004303,-0.242468,0.970150]]JH`?`<ο`Q?D]?@S?oq3 Ͽw ?iJw?IJ!^;HYbTjAyfHԱyʡE?L7A`?Zd;O?o?+=j<= 9(\?7A`?zG?YG?y> W>BeB B)YBbDVD28yk<%F=ٔPnQ->9I=Fy$E\a;E>Q 5U4[Ѳ?Q 9U4)@Y/R?Q E :y ?Q I ?CI:i:U4yɮB*j)Bj)i)i)zi)Ji1i1 kPkPkPhI kikikihY2fm+v>:fm+v>BfmUi*@Jfmh{@颍oAɢG) i )  i%x/IAyIIOD>u2Acoustic response timeout 9 \k[я,w,mE?A2\?2G?2lx;ٱ2{ :AHRS rotation from veh to nav: [[0.130723,-0.961779,-0.240607],[0.991412,0.125884,0.035442],[-0.003799,-0.243174,0.969975]]2H@?6οह??{%?oQ Ͽ ?i2\?I2^;0YByjAyB.HbDNVDN*8yV<%Va=ٔVQ-V>9XIX=ZFyZ&E^ ;E^>`Q 5fU4bβ?Q 9fU4b6)b@Ydyfh?Q If?baCIbB:ib[:bʺU4ynקBɮnBnKE*jtBjxixixzixJixix k3Qk3Qk3Qh  kpkpkph2f):f)Bf)Jf-؈{@MoAɢMC)Q UiQ)UQQiU-IAzArAE}Z E}AE}>Ey"E}:*E} 9VE}4ZEya@a@a@a@2Acoustic response timeoutA $AII!O]>Ai 2Acoustic response timeoutԙ :r[я,mE?A6"?6?6n^;ٱ6{ BAHRS rotation from veh to nav: [[0.127952,-0.962116,-0.240752],[0.991774,0.123292,0.034386],[-0.003400,-0.243172,0.969977]]6H`? ο?@? ?@Jk ? Ͽ ?i6"?I6=$^;6~CYF/jAyFHbDRVDR)8yZ{7%ZJ=ٔZ瀺Q-^>9^H?I^H?=bFyb(Eb;Eb>dQ 5jU4ft˲?Q 9jU4fQ =jtI)f-@Ylyn?Q In?fCIf;if ;fU4yrBɮrvBrBE*j|BjiiziJii  kXkXkXh kkkkkkh)2fA:fABfAJfE|{@]oAɢ]LyD)a e฾ia)eylaaimG*iIqqAAIIO>B >B =CB B B =B B uDB ;B ȀEBE2Acoustic response timeout9EK?IMK?=MFyM+EM;EM>QQ 5]U4UȲ?Q 9eU4U)Ui@Yaye-?Q Ie?U CIU;iU;UU4yiɮmoBq*jBjiiziJii kSkSkSh kkkkkkh2f:fBfJfc{@ɢ?) ñi)ѽi'IA II!O]>!]@9YY]$AiI2Acoustic response timeout) E X E ME :E "E ~ :*E 9VE (4ZE a @a @a @a @3[я,{mE?A2ٙ?2F?2y ;ٱ2z :AHRS rotation from veh to nav: [[0.121118,-0.963044,-0.240576],[0.992636,0.116978,0.031471],[-0.002166,-0.242616,0.970120]]2H@?`A@2ο?G? ?@na Ͽ9 ?i2ٙ?I2V^;0YByjAyF.HDDbDNVDN8yV6<%VS=ٔZQ-Z>9XIX=^Fy^.E^u<E^>`Q 5fU4bIJ?Q 9fU4b)bw@Yhyj?Q Ij?b[CIby:ib:b+U4y9ɮ=lB9*jQBjQiQiQziQJiyi kRkRkRh 2f:fBfJfl8|@1qɢu<)y }iy)}Xyyi}ή$IM2Acoustic response timeoutII OMR>Yԁ A A B >B >CB $HB ijAB =B B B S;B E% 2Acoustic response timeout[я,nE?AE.T E.EE.;E,"E.9*E.A9VE.4ZE,BE,a22E,a6JE.V:a6:E.V:a68B?B?BS9ٱB y JAHRS rotation from veh to nav: [[0.117398,-0.963665,-0.239931],[0.993085,0.113805,0.028824],[-0.000471,-0.241656,0.970362]]BH ?`XοY? T"??@j>ο@4 ?iB?IBd}^;B~CYRjAyRNHy> ףp=?RQMbq?½ 9#~j?`"?J +?Ye?y=H==BeB B)FBY BbD VD 8y<%%5=ٔ%uQ-%>9!I)=-Fy-0E-<E5>9Q 5=U4= IJ?Q 9EU4=)=@YEMh?Q EEi:yEL?Q IE?=CI=:i=8:=U4yUBɮUJBU8E*jaBjaiiiiziiJiiii kUkUkUh kUkUkUh2fq>:fq>Bf~|?JfIyN@oAɢpqA) i)Mq¼IIiMB"QIQԉIIOM1>ԱU2Acoustic response timeout E[я,)z3nE?A2)?2x?2*ٱ2kw :AHRS rotation from veh to nav: [[0.113744,-0.964596,-0.237941],[0.993508,0.110907,0.025323],[0.001962,-0.239277,0.970949]]2HZ?@tο? gd?`?`?`ο?i2)?I26^;2CYBvjAyB,H\AAAAbD|VD8yE%EZ=ٔM9ԻQ-M>9III=MFyM3EUa <EU>YQ 5eV4]5ò?Q 9eV4])]@Yaym?Q Im?]CI]:i] :]V4yqɮuQBy*jBjiiziJii kTkTkTha2f:fBfJfN@hDAT read: Forwarding Delay UpTx time:18:23:52.5041 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutoAɢ ѮCE Y E JE <E "E :*E k9VE  4ZE a@a@a@a@)) -oi))5 ļ11i59I9IIO>A e 2Acoustic response timeout],[я,LOMnE?A6Q?6޺?6’ٱ6y6u >AHRS rotation from veh to nav: [[0.110646,-0.965382,-0.236209],[0.993850,0.108545,0.021919],[0.004479,-0.237181,0.971455]]6HES?i <ο ?`ɻ? r?ZXr?[ο )?i6Q?I68^;4YFjAyFSH=p=bD jVD 8yet=%eI=ٔemʻQ-e>9iIi=mFym5Em;Eu>qQ 5V4u7²?Q 9V4uL)uD@Yy(?Q I?uzCIu:iu9:uPV4yɮIB*jBjiiziJii k39k39k39h kWkWkWh2f:fBfJfN@颅oAɢC) èi)Ƽ顉iII1IIOu=IB>BB=HBjABBBB4;BE2Acoustic response timeoutEV EDE:E"E=:*Ea99VE(4ZEBE:a-2E:a-JEiH:a-:EkH:a-qԡ xV[я,Z*gnE?A2@?2+?2lٱ2|q :AHRS rotation from veh to nav: [[0.108302,-0.966371,-0.233232],[0.994092,0.106965,0.018413],[0.007154,-0.233848,0.972247]]2H?`Ϳ?b?ڒ?M}? Ϳ@?i2@?I2 ^;2CYBjAyB`HbDJrVDJ8yR_<%VW=ٔVQ-V>9XIX=ZFyZ8EZ;EZ> Q 5V4 0?Q 9V4 %2Acoustic response timeout) @Y!y-s?Q I-? CI `;i .a; V4y1ɮ5FB1*jIBjIiQiQziQJiQiQ kc;kc;kc;hi kUykUkUh2f:fBfJf O@颵oAɢ^D) Si)~ȼ项i IIAIO =ԡEY E>EE"E:*E9VEZEa@a@a@a@2Acoustic response timeout W>[я,ynE?A;ɰBE]?BH?B=?ٱBq JAHRS rotation from veh to nav: [[0.107428,-0.966400,-0.233517],[0.994165,0.106713,0.015728],[0.009720,-0.233844,0.972226]]BH^? Ϳ 4?Q?@? ?Ϳx?iBE]?IB1^;@YRjAyR@HbD^fVD^8yjf%nG=ٔrO̻Q-v>9|I|=Fy:Ef ;E>qQ 5V4u?Q 9V4u)u@Yy?Q I?u5CIu;iuQ;u,V4y Bɮ 1B.E*jBjiiziJii kRkRkRh  kRkRkRh92fI:fIBfIJfM:4O@}oAɢ}=?)y }嬾iy):m˼顁iSI-2Acoustic response timeoutI9IIO>1B <A p<B >B =CB VHB jAB =B B B @;B Ea x> 9I=Fy=E"E>Q 5V4#?Q 9V4)Y@YQ?Q E:yO?Q I?CI$:f >Bf?Jf5>@pAɢ/E) i)yͼiI!iA}$AIIOB>=2Acoustic response timeoutԑԹ [я,nE?A2?2Jͺ?2 7hٱ2yp :AHRS rotation from veh to nav: [[0.111165,-0.966156,-0.232777],[0.993701,0.111402,0.012171],[0.014173,-0.232664,0.972454]]2HNu?Ϳe?`Մ?@?`?`ͿW?i2?I2T ^;2CYBjAyB`HXX X)XI\i\\bD cVD 8y%v%%U=ٔ%Q-%>9-H?I-H?=-Fy-@E-{E5>AQ 5MV4E2²?Q 9UV4Ew)E̟@YQy]?Q I]?ECIEf;iEUw;EHV4yiɮiq*jBjiiziJii kS7kS7kS7h2f:fBfJf=@ɢlH) i)byϼ!!i%@)D5=D5<E=X E=?E=:E9"E=~ :*E=?9VE=(4ZE9aM@aM@aM@aM@I1ԑ2Acoustic response timeoutAEAIYIiOM 2Acoustic response timeout }z[я,nE?A6|?6}g?6!ƒٱ6p >AHRS rotation from veh to nav: [[0.114248,-0.965672,-0.233293],[0.993322,0.114841,0.011089],[0.016083,-0.233002,0.972343]]6H _??@`Ϳ@K?1f?ݵ?x? Ϳo?i6|?I64"^;6CYFjAyF8HbDNgVDN8yVE(%VR=ٔZ֠Q-Z>9ZK?IZK?=^Fy^BE^E^>`Q 5fV4bYò?Q 9fV4bro)bC@Yhyj?Q Ij?b/CIb:ib:bVV4ynhBɮnBr%E*jxBjxi|i|zi|Jii k36k36k36h ks6ks6ks6h2f:fBfJf=@ɢ(J) ήi)Ѽi I AQBiBiBmHBm kABiBiBiBm>;BmEIIEMU EMFEM?EI"EM:*EM;J9VEM^4ZEIBEM:aU2EM:aUJEMe:a]:EMe:a]2Acoustic response timeoutO@>I [я,6rnE?A 6(?6?6(ٱ6}\r >AHRS rotation from veh to nav: [[0.117971,-0.964851,-0.234830],[0.992865,0.118740,0.010915],[0.017353,-0.234442,0.971975]]6H`U3?ο?e?oZ?đ?2οk?i6(?I6^;4YFjAyFnH2Acoustic response timeoutbD[VD8yMP=%MA=ٔUDQ-U>9QIY=]Fy]EEeEe>iQ 5V4mIJ?Q 9V4mJf)m@Yy?Q I?mCImԙEUR EUHEU:EQ"EUs9*EU[9VEU(4ZEQae@ae@ae@ae@ߵ:?ߵ4=2Acoustic response timeout [я,QMoE?AP ? -z? Rٱ s UAHRS rotation from veh to nav: [[0.121434,-0.964064,-0.236293],[0.992428,0.122352,0.010829],[0.018471,-0.235819,0.971622]] H`L?>ο?`}R?-? ?N/ο ?i ?I 0^; Y`jAyHy w/?Cl绿ˡE? F? ;߽ '=  9 MbX9?{Gz?~jtY A?y #=  eB HhB )  B Y BbD%pVD%8y5%5/=ٔ5BQ-=>99I9==Fy=HEEEE>IQ 5UV4MƲ?Q 9UV4M ])M|@YUB?Q EU:yUI?Q I]?MCIM ;iMC ;M:uV4yaɮeBa*jBjiiziJi2Acoustic response timeouti k6k6k6hI2f]%>:f]%>Bf]$?Jf])J@19e reNAggregate::initialize marl:UpdateRudderq9eJ]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ`H) 峾i)%ּ!!i%x)I)AIIO>! AI AM ?ABU >BQ BQ BQ BU =BQ BQ BU !;BU EB=CB=CBB=B=C5bEea4jEe4rEe0Ee [ Ee GEe >Ea "Ee a:*Ee R9VEe 4ZEa BEe ;au 2Ee ;au JEe t:au :Ee t:a}  2Acoustic response timeout[я,(oE?Aɰ;2(?2&?2Ըٱ2&u :AHRS rotation from veh to nav: [[0.124522,-0.963171,-0.238319],[0.992035,0.125456,0.011307],[0.019008,-0.237829,0.971121]]2H?K;ο??@,(?v?*qοl?i2(?I2k ^;2CYRjAyR8H  4<bD vVD 8yG<%%s=ٔ%sѺQ-%?9)I)=-Fy-JE-E-?1Q 5=V45Ȳ?Q 9EV45_V)5V@YAyE?Q IE?5#CI5;i5;5V4yIɮMBQ*jaBje=iaiiziiJiiii kSkSkSh k7k7k7h2f:fBfJfI@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢQ\) ήi)[cؼi=IA))I1IIO}>%2Acoustic response timeoutY Q Q ԑ  9 Y PA[я,6oE?A2͜?2]?2'Ϛٱ2jw FAHRS rotation from veh to nav: [[0.127270,-0.962395,-0.239996],[0.991688,0.128076,0.012304],[0.018896,-0.239567,0.970696]]2HfJ?0ο?@d?@2?`Y?"ο?i2͜?I2U6^;0YRjAyR=HbDbpVDb8yr;%rN=ٔr9Q-r>9tIt=zFyzLEzE~>Q 5V4ʲ?Q 9V4wN))@Yy?Q I?pCISI;iJ;V4y-LBɮ-B-Ey*jBjiiziJii k#k#k#h k9k9k9hEV EFE=E"E=:*E;J9VE|4ZEa%@a%@a-@a-@}2Acoustic response timeout2fY:fYBfYJf]DI@颙ɢ%K) i)ڼ顡iTY IA]?AԩAAIIIYO:>>- 2Acoustic response timeout [я,OoE?A2?2?2hKٱ2hw :AHRS rotation from veh to nav: [[0.128052,-0.962271,-0.240078],[0.991586,0.128848,0.012447],[0.018956,-0.239652,0.970674]]2Hd?@@ο@? ~?~? i?ο?i2?I21^;2CYBjAyB?HbDNcVDN8yV2;%VM=ٔV2Q-V>9XIX=ZFyZOE^E^>`Q 5fV4b̲?Q 9fV4bF)b@Ydyfi?Q If?bCIbK:ib:bV4ylɮll*jtBjxixixzixJi|i| k!k!k!h  k;k;k;h2f):f)Bf)Jf-ƻI@IɢMZT)I UBiQ)U ܼQQi] YIaAIIB>BBBBBBtDB;BEO% >E%T E!E%?E!"E%9*E!VE%^4ZE!BE%:a-2E%:a5JE%e:a5:E%e:a5}%=}<2Acoustic response timeout)Q [я,ԹioE?A2h?2ԫ?2ᘜٱ2Hx :AHRS rotation from veh to nav: [[0.127680,-0.962049,-0.241163],[0.991631,0.128511,0.012346],[0.019115,-0.240721,0.970406]]2HW?@kοq? s?H?Β?ο@ ?i2h?I2^;2CYbWjAybHv2Acoustic response timeoutAA A)IIIiIIy}@AbDrVD8y%<=ٔQ->9I=FyREOb:E>Q 5V46ϲ?Q 9V4=)̝@Yyt?Q I?CIp:i:V4yɮB*j!Bj!i)i)zi)Ji)i)1 k9k9k9ha2f:fBfJfI@颩ɢdO) i)|c߼i Ia^A50;E5Y E5GE5;E1"E5:*E5R9VE54ZE1aE@aE@aE@aE@2Acoustic response timeoutA) I1 IA O} > /[я,裃oE?Am?mڸ?m2ٱm x AHRS rotation from veh to nav: [[0.126279,-0.962330,-0.240779],[0.991806,0.127216,0.011716],[0.019356,-0.240286,0.970509]]mH)?@hο߼?`H?? ғ? ο`i?im?Im'^;mCY4jAyHa=y5V-?X9v?S㥫5hQ?5<5/]1 195zG?{Gz?EԸY5 W?y15ƽ55gB 5B)5nB1Y5{BbDMjVDM8y]%]>=ٔeMQ-e>9aIa=mFymTEԩO;E>Q 5V4Ҳ?Q 9V4)4)@YX?Q Ez:y5?Q I?rCI:i:yV4y-NBɮ-B1*jABjAiaiiziiJiiii k k k h k6k6k6h2f?I=:f?I=Bf>Jf?2Acoustic response timeoutɢS) mi)i I^AEv<AIIO> B A 4=B >B 9I=FyWE;E>Q 5V4Gղ?Q 9V4F,)@Yy?Q I?CIn;i ;V4y2BɮBE*jBjiiziJii k#k#k#h k5k5k5h2f:fBfJf%?!ɢ%])! %i))-P))i-{1I1^A5<H=AIIOL>92Acoustic response timeouti 4[я,boE?A4<ɰ4<8Rڌ?RFx?RٱRx ^AHRS rotation from veh to nav: [[0.121489,-0.962912,-0.240918],[0.992402,0.122597,0.010442],[0.019481,-0.240356,0.970489]]RH?,bο?`b?b??@ο??iRڌ?IR0^;RCYfpjAyf(H 54<5<bD=fVD=8y}%}J=ٔ}Q-}>9I=FyYEp;E>ET ECE=E"E9*E09VE|4ZEa@a@a@a@Q 5V4Sز?Q 9V4#)f@Y y ӻ?Q I ?CI;iv;V4yɮ*j)Bj)i)i1zi1Ji1i1 kkU2Acoustic response timeoutkhQ2fa:faBfaJfe?颁ɢ[T) 籾i)\^顉iIԁ^A==A^?Ad?AIIO%M>ԩ  2Acoustic response timeout[я,&oE?A6?6(?6ٱ6 { >AHRS rotation from veh to nav: [[0.120795,-0.962405,-0.243280],[0.992475,0.122033,0.010032],[0.020033,-0.242661,0.969904]]6H`j?@#Ͽ[?=???Ͽt ?i6?I6^;6CYFjAyFSH\bD `VD 8yEL.=%MN=ٔMͶQ-M>9QIQ=UFyU\EU:E]>aQ 5mV4e#۲?Q 9mV4e)eS@Yiym?Q Im?ekCIeH:ie:eV4yyɮ}܉By*jBjiiziJii kkkh k#k#k#h2f:fBfJfe?^B*** querying acoustic contact ***XYɢFT)q }Fiy)}r顁i'IB>B=CBHB kABBBB!;BE^AI=E [ E FE ?E "E a:*E ;J9VE ^4ZE BE  ;a2E  ;a%JE e:a%:E e:a%e2Acoustic response timeoutAI II1O]U>A 'B[я,oE?ABB?BC.?BٱBĂ NAHRS rotation from veh to nav: [[0.123724,-0.959440,-0.253313],[0.992076,0.125219,0.010279],[0.021857,-0.252577,0.967330]]BHf?@G6п? -?L ?a? :*п]?iBB?IB09^;BCYZjAyZiHb2Acoustic response timeoutbD53VD58yEI<%EJ=ٔMQ-M>9III=MFyU^EUEU>YQ 5eV4]4޲?Q 9eV4])]8@YiymV?Q Im?]CI]:i]:]V4yqɮu׉By*jBjiiziJii k"k"k"h k8k8k8h2f:fBfJfT2?ɢFQ) ٤i)iIA^AyqDzDAAEY EDE<E"E:*Ea99VE 4ZEa%@a%@a%@a%@u2Acoustic response timeoutAIIO= >ԙ +\я,pE?A<<  r? w]? RRμٱ J AHRS rotation from veh to nav: [[0.130033,-0.953629,-0.271446],[0.991190,0.131978,0.011159],[0.025183,-0.270506,0.962389]] H? `_ѿӷ?@?چ?ə?@Oѿ?i  r?I ^; |CY-jAy-=HqybX9?K7A`ſS㥫EV?+ 9Fx?ClɿYK?y̼O{cB B)WBYyB  AAbD"VD{8y#%==ٔ%!Q-%>9!I)=-Fy-aE-YqE5>1Q 5=W45䲉?Q 9EW45)5@YEeR?Q EE:yEƫ?Q IE?5 CI5:i5#:58W4yUBɮUĉBUE*jaBjaiaiiziiJiiii k k k h k5k5k5h2fV>:fV>Bf ?JfW@ɢOT) iA)MIIiM( QIQ2Acoustic response timeoutԡ^A]=A AAA @AB >B B HB 4kAB =B B B @;B EA I I O% > E% Z E% ?E% >E! "E% :*E% ?9VE% 4ZE! BE% a;a- 2E% c;a- JE% 99a- :E% >9a5 } 2Acoustic response timeoutS\я,ܺpE?AJM?J8?J^ٱJ' ^AHRS rotation from veh to nav: [[0.138857,-0.945683,-0.293945],[0.989863,0.141479,0.012437],[0.029826,-0.292692,0.955742]]JH?Cҿ?@?Xx?@?@vҿ`o?iJM?IJ3^;JCYfjAyf5HbDrVDrS8yz%z`=ٔzPQ-z>9|I|=~Fy~dEhȼE> Q 5W4 겉?Q 9W4 Q) @Yy?Q I? g CI  ;i ;  W4y!ɮ%ʼnB!*j9Bj9i9i9zi9JiAiA k5k5k5hQ k5k5k5ha2fy:fyBfyJf}9W@ɢG^) ?i)Gi!I!^A2Acoustic response timeout1IqIO>Y } \я,%8pE?A: ԙ?:v?:{ٱ:ˣ BAHRS rotation from veh to nav: [[0.150226,-0.936818,-0.315917],[0.988029,0.153600,0.014348],[0.035084,-0.314291,0.948678]]:H:? j7Կ?+?Zb?}?WԿ[?i: ԙ?I:m^;:CYJjAyJOH`` `)`IdiddbDjVDj28yv<%vK=ٔvUQ-v>9xIx=zFyzfEz~E~>Q 5 W4?Q 9 W4)@Y y ӧ?Q I ? CI:i: W4yBɮÉB*j)Bj)i1i1zi1Ji1i1 k#4k#4k#4hI kC4kC4kC4hY2fi:fiBfiJfmqLW@颉ɢuW) i)6顑iID=D=EW EEE"E :*EVEZEa@a@a@a@=2Acoustic response timeoutAi^AIIO%>ԉ 2Acoustic response timeoutԹ d\я,mRpE?A;ɰp;2?2?2 'ٱ23 :AHRS rotation from veh to nav: [[0.163785,-0.926811,-0.337928],[0.985647,0.167948,0.017098],[0.040908,-0.335878,0.941017]]2H?`pտl?`U???`տ ?i2?I2`9^;2CYBjAyB}HbDNVDN+8yV;=%VN=ٔV*qQ-V>9XIX=ZFyZiE^|E^>`Q 5fW4b@?Q 9fW4b)b@Ydyfi?Q If?b !CIb:ib:b)W4ylɮnBY*jiBjiiiiqziqJiqiq k7k7k7h k#7k#7k#7h2f:fBfJfV@IɢuOP)q }iy)}.j顁iIԙ@?>@Y>B=>B9B=HB=]kAB9B9B9B=W;B=EBBBB=B=C¦5bEuĴ4jEuk4rEud/E EFE;E"E*E;J9VE4ZEBE%:a2E):aJEe:a:Ee:aM2Acoustic response timeout^A}I=IIO%n> \я,MlpE?AB?B?B@ٱBC JAHRS rotation from veh to nav: [[0.179928,-0.916385,-0.357581],[0.982562,0.184755,0.020928],[0.046887,-0.355111,0.933648]]BH@?Sֿ@%q??n??#ֿp?iB?IBD^;@R2Acoustic response timeoutYVjAyV_HXXbD-VD-D8y%:=ٔ7_Q->9I=FykEXE>Q 5W4?Q 9W4 ) @Yy?Q I?g!CI-:i::9W4yBɮBE*jBjiiziJi i  k9k9k9h! kTkTkTh12fA:fABfAJfEfU@aɢeaW)a eצia)miiim-qIq%9)Y-HA!^A]=I9IIO}{>DzDEU EEE"E:*EVEZEa@a@a@a@U2Acoustic response timeoutiIY ~!\я,RFpE?A N͠?N8?N'OXٱN9þ ZAHRS rotation from veh to nav: [[0.197736,-0.905914,-0.374460],[0.978833,0.203045,0.025661],[0.052785,-0.371608,0.926888]]NH@lO?`?&׿R?d?F?`?l׿?iN͠?IN@(^;LY^kAy^Hyjt?#~jĿS㥛? ?%/< 99 I =FynE3E>Q 5%W4> ?Q 9-W4/)@Y-?Q E-:y-?Q I-?!CI;iW;GW4y1ɮ5B9*jIBjIiIiQziQJiQiQ kcSkcSkcShi ksSksSksShy2f1>:f1>BfN"@Jf m@颩ɢfQ)h 8i)顱ilZII2Acoustic response timeoutPExceeded connect timeout, disconnecting.i^A)IIO>B A <B% >B% +?>y?>"oٱ>ɾ JAHRS rotation from veh to nav: [[0.216443,-0.896387,-0.386837],[0.974550,0.222053,0.030733],[0.058350,-0.383644,0.921636]]>Hg?4ؿ/??l?@x?߭? ؿ ~?i>+?I>a];9iIq=uFyupEuPNEu>yQ 5W4}?Q 9W4})}@YyX?Q I?}!CI}-:i}:}UW4yBɮBE*jBjiiziJii kTkTkTh kTkTkTh2f:fBfJf@颡ɢ(Q) ˗i)s顩iIԩ2Acoustic response timeout^AI=ApAzApAAI IQ Ia O > -\я,bڹpE?A2?2?2+ٱ2pbξ :AHRS rotation from veh to nav: [[0.235896,-0.887848,-0.395067],[0.969668,0.241831,0.035518],[0.064005,-0.391463,0.917965]]2H`1?@AiHٿ?N? j/?b?@ ٿ_?i2?I2];2CYBUkAyBH DDbDNVDN8yVL<%VW=ٔZ*tQ-Z>9XIX=ZFyZsE^XlE>Q 5%W4\?Q 9-W4s)@Y)y-?Q I-?"CI:i[:bW4y1ɮ5B9*jIBjIiIiQziQJiQiQ ksYksYksYhi kSkkSkkSkhy2f:fBfJf/@颩ɢPvT) \i)Ed顱iSLEU E@E9E"E:*E9VE4ZEa@a@a@a@IIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout ^A9A-$AI9IIO}> In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeouta % nManaging dock network, ignoring radio surface power off4\я,ٵpE?A2݋?2"ɧ?2=ٱ2-$Ѿ :AHRS rotation from veh to nav: [[0.256433,-0.879802,-0.400238],[0.964068,0.262543,0.040557],[0.069398,-0.396256,0.915513]]2Hdi? W'ٿ`??`ä? ı?C\ٿK?i2݋?I2&];2CYBkAyFHbDNVDN8yV=%VJ=ٔZ [Q-Z>9ZH?IZH?=^Fy^uE^5XE^>`Q 5fW4b'?Q 9fW4b)b@Yhyj?Q Ij?bX"CIbW:ibN:b}pW4ypɮvBtY*jBjiiziJii kRkRkRh2f :f Bf Jf @AɢM`G)I MiI)M6IIiUSQIYB>BBiHBylABBBBM;BEԁEa EFE@E"E%.:*E;J9VE4ZEBEB3;a2EE3;aJEe:a:Ee:a-pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT-2Acoustic response timeoutԱ^A! A) A- `? AU AIa Iq O >;\я,l>pE?AzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout"4<ɰ"49K?IK?=FyxEcFE>Q 5W42?Q 9W4)A@Yy!?Q I?"CI;i ;W4yBɮdBE*jBjiiziJii k3Tk3Tk3Th kCTkCTkCTh!2f1:f1Bf1Jf5@IɢU7E)Q U~iQ)UQYi]6YIa=Hԑ^Ae=E_ EHE:E"E&:*E[9VE(4ZEa@a@a@a@2Acoustic response timeoutA I I O > A\я,qE?A:fM?:8?:ٱ: Ծ BAHRS rotation from veh to nav: [[0.297855,-0.863560,-0.406874],[0.951290,0.304028,0.051122],[0.079554,-0.402282,0.912053]]:H?H`8 ڿ`p?3u?,?]?ٿ@/?i:fM?I:];:CYJ lAyJ%HyzG?y&1?p= ף? 7?`=> 9V-?QL7A`?Y>y+>]B B)BY8BbD5VD58yE;%ER=ٔMGKQ-M>9III=MFyM{EU-fEU>YQ 5eW4]:6?Q 9eW4])]\@Ymx>Q Em:ym?Q Im?]"CI]:i]:]W4yqɮqq*jBjiiziJii k#Qk#Qk#Qh k3Qk3Qk3Qh2f>:f>Bfj@Jf@ɢlE) $}i)\M i|I!!!!iQIUA]2Acoustic response timeout!QBBBHBDmABBBB";BEE W E E ;E "E :*E VE 4ZE BE $:a 2E ):a JE S:a :E T:a ^A = 2Acoustic response timeouty I I I O5 >~H\я,#qE?A2?2m?2Kٱ2վ :AHRS rotation from veh to nav: [[0.318432,-0.855443,-0.408433],[0.944257,0.324213,0.057136],[0.083543,-0.403860,0.910998]]2H 0a?_#ڿ[7?@?@?c?ٿ&?i2?I2];0YBilAyB_HԁbDbVD8yR=%7=ٔ>Q->9I=Fy~EHE>Q 5W4:?Q 9W4})͒@YyЦ?Q I?"CI$:i_:=W4yɮXB*jBjiiziJii kcZkcZkcZh kokokoh!2f1:f1Bf1Jf5!_@IɢU4U@)UL UeiQ)UYYi]yYIaԡ2Acoustic response timeout^A=IyIO> ϥN\я,o=qE?A:΀?:친?:)ٱ:վEB\ EBBEB=E@"EB:*EB(9VEB|4ZE@aF@aJ@aJ@aJ@ NAHRS rotation from veh to nav: [[0.338207,-0.847974,-0.408113],[0.937061,0.343447,0.062938],[0.086795,-0.403713,0.910759]]:H.?"`ڿf?` ??:8?`oٿ`$?i:΀?I:i];8YVlAyVHr=r=v2Acoustic response timeoutbD%9VD%8y|=%M=ٔQ->9I=FyEXE>Q 5W4 ??Q 9W4)@Yy?Q I?+#CIK:iB:4W4yQɮULBY*jiBjiiqiqziqJiyiy kSWkSWkSWh kClkClkClh2f:fBfJf@ ɢ ](9)  vLi )iiI^A1IIO>12Acoustic response timeouta U\я,'LWqE?A2w4|?2?2ٱ2qEվ :AHRS rotation from veh to nav: [[0.357855,-0.840487,-0.406843],[0.929522,0.362182,0.069377],[0.089041,-0.402997,0.910860]]2H`?D@ ڿ?-? ±?e˶? ٿ@%?i2w4|?I2]^;2CYZlAyZH\^p=Bm>BiBm|HBm8nABm=BiBiBm);BmEbD%%VD%8yץ<%I=ٔ Q->9I=FyEQ 5W4C?Q 9W4\)B@Yye?Q I?Z#CI7 ;i ;_W4yɮGB*jBjiiziJii kSkSkSh klklklh 12f:fBfJf@ɢn9) Di)]bi2 I EX EIE;E"E~ :*Ec9VE4ZE2Acoustic response timeoutBE:a2E:aJE:a:E:aa^AU=IIO>ԉ 2Acoustic response timeoutԹ [\я,0)qqE?A21w?2^?2ٱ2M վ :AHRS rotation from veh to nav: [[0.375910,-0.833121,-0.405710],[0.922178,0.379322,0.075510],[0.090986,-0.402521,0.910878]]2H?%ٿ |?`F?T? J?`ٿ%?i21w?I2^;2CYBmAyBHbDN;VDN8yV=%VZ=ٔV/Q-V>9XIX=ZFyZEZsVE^>`Q 5bW4bVH?Q 9fW4b*)bY@Ydyf?Q If?b#CIb:ib:brW4yhɮn1BY*jiBjqiqiqziqJii klklklh klklklh2f!:f!Bf!Jf%c@ԑ颡ɢ-) i)项i= IԹEW EDEAE"E :*Ea99VEA4ZEa@a@a@a@Jͻ2Acoustic response timeout^A =I I O > ןb\я,qE?A2"r?2|+?2mٱ2sԾ :AHRS rotation from veh to nav: [[0.392707,-0.826273,-0.403799],[0.915014,0.395141,0.081322],[0.092363,-0.401418,0.911226]]2H`"?pٿ@G? I?Ѵ? ?@հٿ@(?i2"r?I2jF^;2CYBmAyB6Hy-K7?A`"?Q?-IL?-=-\=) )9-MbX9?q= ףp?ʡE?Y-!?y-=--2>)-`B -B)-B)Y-BB <;bDVD8y<%;=ٔOQ->9I=FyE6,E>Q 5W4bK?Q 9W4٭)@Y_*?Q E:y?Q I?#CI]:i:W4yɦBɮBE*jBjiiziJii krkrkrh  krkrkrh2f-]>:f-]>Bf-oE@Jf-Q}@195 r=NAggregate::initialize marl:UpdateRudderq9=J]9q9=9=7=o=XAggregate::initialize marl:UpdateCommandMode18=]918EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnELAggregate::initialize marl:UpdateSpeed7E]A7EnE4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeed]2Acoustic response timeoutiɢm*)q uiq)uBQqqi}FyIpB]>B];CB]HB]oAB]=BYB]sDB]U;B]EBAh\я,qqE?A2[n?2?2*ٱ2Ӿ >AHRS rotation from veh to nav: [[0.407411,-0.819975,-0.402066],[0.908407,0.409121,0.086120],[0.093877,-0.400326,0.911551]]2H?<=sٿ?/? ?R?ٿn+?i2[n?I2A^;2CY^nAy^H  )IibD%VD%W8y5=%5R=ٔ=oQ-=>99IA=EFyEEE)EE>IQ 5UW4MrN?Q 9UW4MS)M@YYy]o?Q I]?M $CIM;iM;MPW4yaɮeBa*jyBjyiyiyziJii ktktkth2f!:f!Bf!Jf%BY|@s-NUpdating rudder angle 6.875493 arcdeg 9UrU6Completed marl:UpdateRudder19U rURAggregate::uninitialize marl:UpdateRudderiɢmG) 乽i)7顑iK8II2Acoustic response timeouty }h>yG@rA@rA)Uv9QYU9Aԡ ^A =A) zA- oAE V E GE ;E "E =:*E R9VE 4ZE a @a @a @a @ ] hDAT read: Forwarding Delay UpTx time:18:24:06.6041 ] pIn parseResponses, set commsState_ = SENDING_ACK_WAITING] 2Acoustic response timeoutAi Iq I O >Tgp\я,dqE?A6Ug?6z?6CŽٱ6fѾ >AHRS rotation from veh to nav: [[0.432834,-0.809434,-0.396827],[0.896302,0.433497,0.093399],[0.096423,-0.396103,0.913129]]6H?@eٿ?`i??3?YٿZ8?i6Ug?I6$S^;6CY MoAy &HbDVD=8yA=%1=ٔQ->9I=FyEzE>Q 5W4R?Q 9W4)t@Yy?Q I?Y$CI:i:yW4y˦BɮB*jBjiiziJii! k#Yk#Yk#Yh1A knknknha2fq:fqBfqJfuz@颱ɢv) 2i)GiI>>iiIIIU2Acoustic response timeoutԙ^A = B >B B HB pAB =B B B `;B EA $AI I O% >v\я,FEqE?AJc?Jvۍ?JȽٱJ=о RAHRS rotation from veh to nav: [[0.444079,-0.804432,-0.394567],[0.890631,0.444397,0.096367],[0.097823,-0.394208,0.913800]]JHk? @ٿ@ ? q?? ?:ٿ=?iJc?IJ0^;JCYZoAyZYHE5U E5DE5DE1"E5:*E5a99VE5J5ZE1BE5:aE2E5:aEJE5hH:aE:E5kH:aEbDVD8y@=%==ٔUQ->9H?IH?=FyEE>2Acoustic response timeoutQ 5]X4W?Q 9]X4})ߢ@YYy]?Q I]?$CIQ A}\я, qE?A2`?2H?2H˽ٱ2$YϾ :AHRS rotation from veh to nav: [[0.454934,-0.799582,-0.392051],[0.884995,0.454928,0.099124],[0.099097,-0.392058,0.914587]]2H?,^ٿ Q??4`?k^?{ٿLD?i2`?I2V^;0YZ1pAyZH\^a===bD-<VD-8yeܶ=%eN=ٔm\SQ-m>9mK?IuK?=uFyuEuEu>yQ 5X4}b[?Q 9X4})}@Yy|?Q I?}$CI}:i}-:}fX4yɮňB*jBjiiziJii ksSksSksSh kjkjkjh2f:fBfJf\y@ ɢ @) sڼ FԹ \я,rE?A&2Acoustic response timeout:+]?:Ɗ?:@νٱ:ξ BAHRS rotation from veh to nav: [[0.465266,-0.794411,-0.390433],[0.879443,0.464957,0.101956],[0.100540,-0.390801,0.914968]]:H?k@ؿ@e$?`?@??@ٿ@kG?i:+]?I:&V^;8YbpAybHyE?Zd;?Qf?= 9Q?7A`? rh?YU?y>C<`B LB)BYbDVD8y=%?=ٔ^Q-%>9!I)=-Fy-E5E5>AQ 5MX4Ed?Q 9MX4Eو)E@YUY?Q E]z:y]P?Q I]?E>%CIEo;iEIn;EcX4ymBɮmBmEԑ*jBj!i!i!zi!Ji!i) ksQksQksQhY2f=:f=Bfj1@JfSk@颡ɢ+S) (=i)Ь顩i4 IA@AAB>BBpHBeqABBBB?;BEEe\ EeCEe@Ea"Ee:*Ee09VEe4ZEaBEe;au2Ee;auJEe9:au:Ee9:au^A2Acoustic response timeout A I I O5 >9 1\я, *rE?A;ɰp;FýZ?FLJ?F&ѽٱF5r; RAHRS rotation from veh to nav: [[0.475355,-0.789577,-0.388079],[0.873832,0.474984,0.103959],[0.102248,-0.388533,0.915744]]FH7l?`7D@Iؿ o?"f? ?,?ؿM?iFýZ?IF}^;DY^~qAy^H jp%z_=ٔ~^Q-~>9I=FyE E >Q 5%X4mm?Q 9%X4")5@Y)y-ٞ?Q I-?%CI5;i5;.,X4y9ɮ=B9*jIBjIiQiQziQJiQi k#Rk#Rk#Rh k3Rk3Rk3Rh2f :f Bf Jf ,k@IɢMZμ)I M$=iI)MmfQi#I]2Acoustic response timeoutA^AA I I! O] >i E W E DE :E "E :*E a99VE (4ZE a @a @a @a @ 2Acoustic response timeout2\я,kDrE?A >W?>ه?>ֽٱ>˾ FAHRS rotation from veh to nav: [[0.485024,-0.784844,-0.385708],[0.868205,0.484995,0.104883],[0.104750,-0.385744,0.916640]]>H ? rqؿU?) ?`ٺ?к?` ؿ@U?i>W?I>h^;9dId=fFyfEjCEj>lQ 5rX4nv?Q 9rX4nx)n̦@Ypyvn?Q Iv?n%CIn;int:n:X4yzBɮzxBzE*j Bj i i zi Ji i kSkSkSh! kCSkCSkCSh12fA:fABfAJfEQj@aɢe< ü)i m=ii)ms iiim'qIyi= c@EpA@EpAm2Acoustic response timeoutԙ ^Ai B >B :CB jHB rAB =B B B /;B EIy I O >-{\я,`_rE?A6մT?6E?6Zvܽٱ66ʾ JAHRS rotation from veh to nav: [[0.495548,-0.779226,-0.383717],[0.861910,0.495800,0.106269],[0.107440,-0.383391,0.917316]]6H ?kӎؿĔ?1?m4?@-?{ؿ@Z?i6մT?I6^;6CYRrAyR&HEZU EZEEZ=EX"EZ:*EZA9VEZ|4ZEXBEZ:ab2EZ:abJEZV:ab:EZV:abbDjVDj08yr+=%rA=ٔvѻQ-v>9tIx=zFyzEzEz>|Q 5X4~M?Q 9X4~o)~u@Y y ߛ?Q I ?~?&CI~Y;i~;~HX4yBɮCBٰE*j)Bj)i1i1zi1Ji1i1 ksUM?M?U2Acoustic response timeoutksUksUhi2fy:fyBfyJf}Hi@频ɢh) #>i)顙i,IYԑ^AIIIO>2Acoustic response timeout A\я,yrE?A\Y~esAy~H)) ))1I1i1199bDEVDE18yU>%UE=ٔUQ-U>9YIY=]Fy]EeEe>iQ 5uX4m?Q 9uX4mOg)m@YqyqQ Iu?m&CImj;im;mQWX4yɮ(B*jBjiiziJii k:k:k:h kcSkcSkcSh2f:fBfJfɢA⋼) DY>i)i;1IEW EHE;E"E :*E[9VE4ZEa@a@a@a@m2Acoustic response timeout].ۼA ^A A X?A [?I I OM > 2Acoustic response timeout\я,rE?A2aM?2[?2sٱ2aʾ :AHRS rotation from veh to nav: [[0.519762,-0.764334,-0.381631],[0.846993,0.519383,0.113335],[0.111586,-0.382146,0.917340]]2H? lulؿ@?ɞ??`됼?uؿ Z?i2aM?I2^;2CYBtAyFH9yE?B`"ɿQF?Nu 9:v?I +?MbXYT?y9<ʽ B)hBYׁBbDVD#8y"=%@=ٔ} Q->9I=FyEE> Q 55X4 Л?Q 95X4 k_) @Y5V?Q E5}:y5?Q I=? &CI ;i . ; 1fX4yEBɮEBA*jYBjYiYiYziYJiaia k7k7k7hq k[k[k[h2fo>:fo>Bfd?Jfp@1ɢ5k)5 =>i9)=99i=A7AIAIIQQB A B>BBdHBtABBBrDB1;BEaET EE>E"E9*EVE4ZEBE:a2E:aJER:a:ET:a}2Acoustic response timeoutԑ ^AQ I I O= >\я,rE?A:HI?:w?:>ٱ:0Wɾ BAHRS rotation from veh to nav: [[0.533826,-0.755926,-0.378954],[0.838095,0.532540,0.118315],[0.112371,-0.380759,0.917821]]:H@?0@ؿ?@ ?I?Qļ?\^ؿ^?i:HI?I:}^;:~CYJtAyJHbDeVD8yU=%]W=ٔ]Q-]>9aIa=eFyeEe4Ee>ԩQ 5X46?Q 9X46X)@Yy{?Q I?I'CIt:i:sX4yɮB*jBjiiziJii kWkWkWh kXkXkXha2fq:fqBfqJfu{@频ɢ*m ) >i),顙i5a<I2Acoustic response timeout^A=I)IAOmx>E ] E JE :E "E :*E k9VE (4ZE a @a @a @a @ 2Acoustic response timeout1 \я, frE?Aɰ;:D?:|?:ٱ:!9Ⱦ FAHRS rotation from veh to nav: [[0.548231,-0.747299,-0.375482],[0.828673,0.545990,0.123272],[0.112889,-0.378733,0.918595]]:H? `ؿ}?x?๎?C?(=ؿ`"e?i:D?I:e^;:CYJ=uAyJHbD>VD8yE>=%ML=ٔMӪQ-M>9IIQ=UFyUEUf1EU>YQ 5eX4]Ϻ?Q 9mX4]-Q)]@Yiym/w?Q Im?]'CI]:i]:]}X4yuBɮ}B}ڰE*jBjiiziJii k3Jk3Jk3Jh k]k]k]h2f:fBfJf~ @颁ɢZ) >i)P顉iAIA2Acoustic response timeout^A=A!zA%qAIIO>qB- >B) B- ^HB- )vAB- =B) B) B- Q;B- EB:CB:CBB=B=C[5ԙ \я,@rE?A2@?2pw?2ٱ2Ǿ :AHRS rotation from veh to nav: [[0.562833,-0.737738,-0.372775],[0.818806,0.559297,0.129396],[0.113031,-0.378059,0.918856]]2H?`׿3?? ??@2ؿCg?i2@?I2D^;0YBuAyB?HbEMC4jEM4rEM1EbY EbCEb<E`"Eb:*Eb09VEb 4ZE`BEb;aj2Eb;ajJEb9:an:Eb9:anbD-VD-8y==%MK=ٔU[Q-U>9QIQ=UFe2Acoustic response timeoutyeEm2Em>iQ 5uX4m˳?Q 9}X4mI)mѧ@Yyy}r?Q I}?m'CIm;im& ;mX4y~BɮBаE*jBjiiziJii kVkVkVh kVkVkVh2f:fBfJf^ @ɢ|) >i)eNilG I qԩ^A9Am$AIyI 2Acoustic response timeout5 nGOM >Q y 9 Y (B ڽ\я,rE?A2;?2els?2Z`ٱ2%ƾ :AHRS rotation from veh to nav: [[0.577237,-0.728532,-0.368834],[0.808689,0.572652,0.134506],[0.113222,-0.375914,0.919712]]2Hx?`"P׿?*S?z7?@?ؿGn?i2;?I2l^;2CYBJvAyBrHbDLVDLyVW=%VT=ٔVQ-V>9ZH?IZH?=ZFyZEZ>>E^>`Q 5fX4b۳?Q 9fX4b(C)b@Ydyf3n?Q If?bE(CIb:ib:bX4ynBɮnBl*jtBjtixixzixJixix kTkTkTh kTkTkTh2f:fBfJfAF @ɢȡE)  W>i )   iKMIEU EFE?E"E:*E;J9VE^4ZEa@a@a@a@}2Acoustic response timeout=*) ^Aa Ai Am `? 2Acoustic response timeoutY A AI I O= >6\я, sE?A26?2n?2ٱ2#0ž NAHRS rotation from veh to nav: [[0.591902,-0.719088,-0.364093],[0.798059,0.586152,0.139739],[0.112929,-0.373279,0.920820]]2H ? KM׿????׿[w?i26?I2^;2CYVvAyZHi1I1y=|?5^?-ƿ~jt?=M?=?5=<9 99=w/?L7A`尿MbY=F?y=+=9=_B =גB)=\~B9Y=BbD]VD]8yex=%m2=ٔmN(:Q-m>9uK?IuK?=uFyuEu"E}>yQ 5X4}!?Q 9X4}B<)}@YLH?Q E:yR?Q I?}(CI} ;i}L ;}X4yBɮBѰE*jBjiiziJii kSIkSkSh2f>:f>Bf?Jf,@颹ɢ) >i)qAAAAAAB>B9CBXHBwABBBBp;BEiS I  qEZ EHE:E"E:*E[9VE(4ZEBE`;a2Eb;aJER:a:ES:aߕ=ߕ<2Acoustic response timeout^A!ԡAU $AIa Iq O > Z\я,/sE?A2I2?2 j?2ٱ2ľ :AHRS rotation from veh to nav: [[0.606263,-0.708660,-0.360897],[0.787262,0.599021,0.146262],[0.112534,-0.372794,0.921065]]2H f?W׿ @1?-+?? ϼ?׿`]y?i2I2?I2^;2CYBgwAyB!HXX X)XIXi\\b=bp=bDfVDf8ynϕ=%nU=ٔ=:Q-=>9EH?IEH?=EFyEEM:EM>QQ 5UX4U1?Q 9]X4Ue6)U6@YYy]"N?Q I]?U(CIU;iU;UX4yiɮmBi*jyBjiiziJii k7k7k7h kZkZkZh2f:fBfJf*@ 2Acoustic response timeoutԱɢr;) >i)oix8\я,MsE?A2-?2me?2KJٱ2Zľ :AHRS rotation from veh to nav: [[0.620700,-0.698238,-0.356645],[0.776117,0.611713,0.153136],[0.111239,-0.371850,0.921604]]2H?@WFֿ? &??*z?`b׿}?i2-?I2ů^;2CYBwAyByHbDNVDN8yV=%V1=ٔVj>;Q-V>9ZK?IZK?=ZFyZEZ'E^>\Q 5fX4^?Q 9fX4^/)^@YdyfsI?Q If?^I)CI^;i^n;^X4yjiBɮnjBnǰE!*jiBjiiiiiziqJiqiq kC;kC;kC;h2f:fBfJf)@ɢX H;) >i)WiI`I%2Acoustic response timeoutQB>BB9HB.yABBBBf;BEy^A E5 [ E5 EE5 =E1 "E5 a:*E5 A9VE5 |4ZE1 BE5 ;aE 2E5 ;aE JE5 V:aE :E5 V:aE ԩ  2Acoustic response timeoutA I I O >\я,!hsE?A4<ɰ4<2(?2k`?2 ٱ2Jľ :AHRS rotation from veh to nav: [[0.634873,-0.687508,-0.352518],[0.764858,0.623763,0.160970],[0.109220,-0.371822,0.921856]]2HP? @ֿ`y????׿ ?i2(?I2^;2CYBxAyBH1bDEVDE8y3=%9=ٔ;Q->9I=FyE9(E>Q 5X4,?Q 9X4))@YyD?Q I?)CI?;i-;X4yɮRB*jBjiiziJii k7k7k7h2f):f)Bf)Jf-L(@Yɢ]<)Y ] ?ia)e?aiimWgqIqY2Acoustic response timeout^A)ԉAY Ia Iy O >Ա -o\я,NҁsE?AE^U E^IE^;E\"E^:*E^c9VE^4ZE\an@an@an@ar@AE4=]2Acoustic response timeoutԙ%M$?#\?ڽٱтþ AHRS rotation from veh to nav: [[0.648776,-0.677288,-0.346946],[0.753473,0.635607,0.168173],[0.106620,-0.370521,0.922684]]H? W[4ֿt?V?`?pK? ׿?i%M$?I^;Y)yAy6H)-AyʡE?ˡE?&1?O?=P= 9Mb?Mbp?MbpY@?y;i^B B){BY~BbDVD_8ye=%(=ٔ ;Q- >9 I=FyEE>Q 5%X4??Q 9%X4M")ի@Y-@?Q E-:y-\?Q I-?)CI;i ;X4y5pBɮ5KB=ȰE*jQBjQiQiQziQJiQiY k#k#k#hi kAkAkAhy2f=:f=Bf@Jfޠ@颩ɢ <) ?i)s项inI2Acoustic response timeout^A  AY Ii Iy O >׾\я,JsE?AB>B BHBzAB B B BQ;BEr?rW?r#Խٱr(þ AHRS rotation from veh to nav: [[0.662201,-0.666461,-0.342520],[0.742107,0.646594,0.176617],[0.103764,-0.371143,0.922760]]rH 0?Sտ`W??@_?@A?׿`@?ir?Ir^;pY%yAy%HbDVDN8y>%%i=ٔ%9)I)=-Fy-E5NE5>9Q 5=X4=N?Q 9EX4= )=@YAyE_X?Q IE?=B*CI=;i=+;=BX4yQɮU4BQ*jiBjiiiiqziqJiqiq kc4kc4kc4h kBkBkBh2f:fBfJfH@ɢ<)8 ?i)li?9tIEm` EmLEm=Ei"Em*:*Em|9VEm|4ZEiBEm,;a}2Acoustic response timeout2Em,;aJEmq:a:Emr:a^A )A1 IA IQ O >I iߩ Iߩ  2Acoustic response timeoutI \я,>sE?A2Yz?2*QS?2Ͻٱ2þ :AHRS rotation from veh to nav: [[0.674759,-0.656266,-0.337661],[0.731107,0.656918,0.184233],[0.100909,-0.371179,0.923062]]2H?@":տ:e?w??@*չ?@f׿`?i2Yz?I2r^;2CYB4zAyBHbDNVDNi8yV k=%Vg=ٔV9XIX=ZFyZEZ]BE^>)Q 5-Y4-:^?Q 95Y4-)-|@Y1y5T?Q I5?-*CI- :i-:-Y4yEsBɮE,BI*jaBjaiaiaziaJiaii k:k:k:hy k;k;k;h2f:fBfJf=@颹ɢyh<) J#?i)߼i0zI1i^AEZ EEE>E"E:*EA9VE4ZEa@a@a@a@]2Acoustic response timeoutAIIYIiԑO>Թ \я,sE?AY~{Ay~aH = =bDVDK8yEx>%EA=ٔMQ-M>9III=MFyMEUEU>YQ 5eY4]o?Q 9eY4])]j@YayiQ Im?]*CI]:i]:]pY4yucBɮuBq*jBjiiziJii k:k:k:h2f:fBfJf9ɢ= <)A E1?iA)MOڼIIiMs[aIa2Acoustic response timeoutԙB->B)B-HB-{AB-=B)B)B-9;B-E^AI I) OU >E [ E HE E "E a:*E [9VE ZE BE ;a 2E ;a JE R:a :E S:a - 2Acoustic response timeout! \я,gsE?A21s?2JK?2ٱ2¾ :AHRS rotation from veh to nav: [[0.697787,-0.637577,-0.326479],[0.710036,0.675829,0.197750],[0.094563,-0.369799,0.924287]]2H FT?@g Կ?`c?O?@M5?ʪ׿“?i21s?I2^;2CYbS{AybH  ) I i  bD%VD%J8y='=%EK=ٔEQ9III=UFyUĎEUE]>aQ 5uY4e?Q 9uY4e! )eD@Yy L?Q I?e%+CIe$]я,tE?A;ɰ2 ?2ܷG?2?ٱ2X¾ :AHRS rotation from veh to nav: [[0.707828,-0.629127,-0.321213],[0.700436,0.683993,0.203820],[0.091479,-0.369259,0.924813]]2H@?!ŽԿ@i? E??@#k?׿?i2 ?I2ՠ_;0YB{AyBHy p= ף?Q?{Gz e? \= ף  9 +??333333Y ??y <   ]B B) |B Y \}BbD%VD%X8y5]=%5-=9ٔ=;Q-=>9AIA=EFyEǎEEEM>IQ 5Y4M어?Q 9Y4M)M@Y@?Q E:y(F?Q I?M+CIMV:fM>BfMLpM@JfM\>~@iɢmbø<)q uB >B 8CB HB &}AB B B B ;B xEB9CB9CBB=B=Cɒ5Թ N]я,!tE?A6g ?6:]D?6ӊٱ6_¾ >AHRS rotation from veh to nav: [[0.717136,-0.620979,-0.316388],[0.691288,0.691469,0.209741],[0.088528,-0.369128,0.925153]]6H`??Կ`? ???ɟ׿ښ?i6g ?I6K_;6CYF|AyFWHHHAbE|4jE4rE<0EEX EEDEE=EA"EE~ :*EEa99VEE|4ZEABEE:aU2EE:aUJEEhH:aU:EEjH:aUbD oVD 8ye=%mG=ٔm;Q-m>9iIq=uFyuʎEuEu>yQ 5Y4}?Q 9Y4})}@YyB?Q I?}+CI}:i}:}T?Y4ԙyɮB2Acoustic response timeout*jQBjQiQiYziYJiYiY kkkhq2f:fBfJfg}@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed!ɢ%C<)! %J?i!)- Oʼ))i-UQIQu8 =i>= CG% 9! Y% ״A 2Acoustic response timeout ^AY Ae U?Ae K?I I O >\8]я,Ƥ;tE?A2> ?2A?2Pٱ2%¾ :AHRS rotation from veh to nav: [[0.726146,-0.612854,-0.311642],[0.682244,0.698435,0.216177],[0.085177,-0.369592,0.925282]]2H` ?I2B_;2CY^}Ay^HbDEcVDE 8y7w=%H=ٔ 9I=Fy̎EE>Q 5Y4?Q 9Y4)î@Yy??Q I?,CI:i_:MY4yNBɮB*jBjiiziJii k#k#k#h k#k#k#h2f:fBfJf|@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ=) PP?i)żiiI!!!!EMW EIEM>EI"EM :*EIVEM4ZEIa]@a]@a]@a]@In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout!Q^A I1 IA ԉ O > > >} ]я,UtE?A "<&pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT&2Acoustic response timeout>?>=?>ٱ>|¾ FAHRS rotation from veh to nav: [[0.734898,-0.605453,-0.305536],[0.673294,0.705336,0.221758],[0.081241,-0.368685,0.925997]]>HH?_ӿ??b?8̴?׿@š?i>?I>u^;9I=FyώEE>Q 5Y4ϴ?Q 9Y4!)@YyUBBYHBC~ABBBqDB;BwEԁ^AyIIOn>E][ E]HE];EY"E]a:*E][9VE]4ZEYBE] ;am2E] ;amJE]R:am:E]S:amzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԩ wJ]я,}[otE?A2?2:?2aٱ2V :AHRS rotation from veh to nav: [[0.743660,-0.598010,-0.298922],[0.664118,0.712212,0.227377],[0.076922,-0.367611,0.926793]]2H ?"!ӿ`u@?q??0?׿I?i2?I2 ^;0Y^~Ayb?H`bp=f=f=bDn VDn8yv,_=%vW=ٔvr:9xIx=zFyzюEzE~>Q 5Y4ᴉ?Q 9 Y4#)F@Y y 9?Q I ?,CI:iN:iY4yQBɮBE*j)Bj)i1i1zi1Ji1i1 k!k!k!h2f :f Bf Jf lz@频ɢ&H=) a?i)p顙i~IԱU2Acoustic response timeout^A AM $AIq I Di zDm @AE V E EE :E "E =:*E A9VE (4ZE a @a @a @a @ 2Acoustic response timeoutO] >9 q4"]я,p?tE?A2e>287?2|ٱ2ϣ :AHRS rotation from veh to nav: [[0.752626,-0.590026,-0.292274],[0.654398,0.719430,0.232776],[0.072927,-0.366457,0.927573]]2H@?}ҿ`?`?? Y? t׿ମ?i2e>I2^;2CYB~AyBHy B`"?/$ƿq= ףp N? &1   9 m?T㥛 SſY .?y  /  Q[B hB) !~B Y p{BbD%VD%8y5~>%5E=ٔ=j9=H?I=H?=EFyEԎEE EE>IQ 5UY4M=?Q 9UY4M)Mq@Y]6?Q E]:y]{>Q I]?M-CIM;iM9;MwY4ye7BɮeXBmE*jyBjyiyiziJii k#k#k#h2f-+>:f-+>Bf-F62@Jf-j@颙ɢ5.=) Ko?i)>k顡itI 9]2Acoustic response timeout^AAIIO >a B <A B >B B !HB AB B B B ;B sEz\(]я,tE?Aɰ; E%W E%IE%>E!"E% :*E%c9VE%4ZE!BE%":a-2E%':a-JE%:a5:E%:a5Y5{Ay=Hii i)iIiiiibD} VD}8y&=%E=ٔQ->9I=Fy֎EE>Q 5Y4?Q 9Y4@)@YyQ I?L-CI:i4:2Acoustic response timeoutY4yɮGB*jBjiiziJii k k k hy2f:fBfJfɢ" <=) w?i)Mie͙Iiԡ^A1Am Aq q u 2Acoustic response timeoutI I O >.]я,tE?A2Y>2/?2)Lٱ2 :AHRS rotation from veh to nav: [[0.772158,-0.570812,-0.279188],[0.631992,0.735528,0.244100],[0.066015,-0.364928,0.928692]]2H`?D5ѿG9?q?>? _? Z׿ ٷ?i2Y>I2^;2CLYR~AyRHXXbD^VD^8y e;% S=ٔ 9K?IK?=FyَEE>!Q 5-Y4%#?Q 9-Y4%;)%ū@Y)y5K>Q I5?%-CI%f:i%:%Y4y=9Bɮ=JB=E*jQBjQiQiQziQJiQiY k#k#k#hi k3k3k3hy2f:fBfJf|h@颩ɢM=) w?i)项i雜IE1 E1E5AE1"E1*E1VE5A4ZE1a=@a=@a=@a=@2Acoustic response timeout^AAIIYIiO>! yn5]я,tE?A2Acoustic response timeout6>6*+?6|ٱ6п >AHRS rotation from veh to nav: [[0.783114,-0.558750,-0.273004],[0.618657,0.744599,0.250671],[0.063216,-0.365200,0.928780]]6H@E?F xѿ?? ?.? o_׿`?i6>I6^;6~CYF.AyFHbD VD 8y>%A=ٔ ;Q->9I=Fy܎E<'E>Q 5Y4:?Q 9Y4 )Ӫ@Yyc>Q I?-CI:i:lY4yaaieUğiIiBU>BU7CBUHBURABQBQBQBU;BUwE)^A=EEY EEEEE<EA"EE:*EEA9VEE 4ZEABEE;aM2EE;aMJEEV:aU:EEV:aUYiI2Acoustic response timeoutA I! I9 Om >ԁ ;]я,HtE?A2>2F&?2pxٱ2z :AHRS rotation from veh to nav: [[0.794911,-0.545363,-0.265888],[0.603691,0.754723,0.256809],[0.060617,-0.364654,0.929168]]2Ho?s@Mѿ@oQ?@&?@o?4 ? V׿ ?i2>I2$^;2CYBwAyBHbDVD8yMv=%UP=YٔU;Q-e>9iIi=mFymގEuEEu>!Q 5%Y4%Q?Q 9-Y4%)%ީ@Y)y->Q I-?%+.CI%:i%:%Y4y=?Bɮ=!B9*jIBjQiQiQziQJiYiY kCkCkChi kkkhy2f:fBfJff@颩ɢ6]=) w?i)Ƙ顱i⢼I=2Acoustic response timeoutԉ^A=ԱAI Ii I I9 E] n E] FE] 7EY "E] O]:*E] ;J9VE] Ժ4ZEY a} @a} @a} @a} @O > 2Acoustic response timeout yB]я,V~ uE?A6S>6!?6Z nٱ6 >AHRS rotation from veh to nav: [[0.807300,-0.530177,-0.259188],[0.587275,0.764977,0.264420],[0.058084,-0.365681,0.928926]]6Hg? 6п?z?@?!?Pg׿ù?i6S>I6P^;6CYFAyF4H>p=y}Zd;?9I=FyELE>ԹQ 5Y4Hg?Q 9Y4)˫@Y)?Q E:yu>Q I?m.CIV:fE$>BfEX@JfE@颉ɢa=) ;?i)"&i<IE2Acoustic response timeout^AB] >BY B] HB] AB] =BY BY B] 9;B] EI) I9 Om >9 H]я,OY$uE?A2c>2?2Lcٱ2ň :AHRS rotation from veh to nav: [[0.819782,-0.514740,-0.250997],[0.569983,0.775833,0.270559],[0.055464,-0.364863,0.929408]]2H@;?@x@VпM=??P?`e? 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|??ᢂ׿Ǵ?iB;=IB ^;BCYbAyb4!HbDnVDn8yv%vf=ٔv9zK?I~K?=~Fy~ E~E~>Q 5 Z4Y?Q 9 Z4)]@YyO?Q I?3CI;i<;˟Z4y%Bɮ`B%E=2Acoustic response timeout*jABjAiIiIziIJiQiQ k#Ak#Ak#Ahq2f:fBfJf?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeediɢuo=)q uI?iq)uнyyi} ѼyI E'i>InGsA9sAYUB^AqIAII2Acoustic response timeoutO>q U]я,uvE?A2]=2?>2R8<ٱ2Iľ :AHRS rotation from veh to nav: [[0.949759,-0.294090,-0.107094],[0.312781,0.879552,0.358547],[-0.011250,-0.374030,0.927348]]2H`ld?`ҿ`j ?@K%?@m?3 ׿֬?i2]=I2^;2CYb6Ayb]!HjAAjAAbDnVDn8yv&=%vJ=ٔv;Q-v>9xIx=zFyz E~(ʼE~>Q 5 Z4<ڶ?Q 9 Z4)@Y y ?Q I ?n3CI;ie;Z4y(BɮZB*j)Bj1i1i1zi1Ji1i9 kEkEkEhI kEkEkEhY2fi:fiBfiJfmk?s}NUpdating rudder angle 6.875493 arcdeg 9}r}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudder频ɢ+=) c?i)(顙iD ԼIIEW EBEE"E :*E(9VEZEa@a@a@a@E2Acoustic response timeouty^Alw=A$AIIO=>ԡ  2Acoustic response timeout]я,vE?A24=2tڝ>2 T<ٱ28ž :AHRS rotation from veh to nav: [[0.952768,-0.285858,-0.102557],[0.303421,0.881547,0.361677],[-0.012979,-0.375713,0.926645]]2H}?~Kҿ,A@>k?5?%? 󔊿 ؿ@?i24=I2.^;2CYBSAyB!HbDNVDN8yV=%VO=ٔVu;Q-Z>9ZH?IZH?=ZFyZE^̼E^>`Q 5fZ4b?Q 9fZ4b)b@Yhyj(?Q Ij?b3CIb:ib:bZ4ynBɮn9Bl*jxBjxixixzixJi|iy kFkFkFh kFkFkFh2f:fBfJf?ɢ]=) 6?i)&[:i\ּI!@-rA@)B9B9B=!HB=kAB9B9B9B=<;B=EԱ^A}=E_ EKE?E"E&:*E]t9VE^4ZEBE&;a2E&;aJE):a:E*:a}2Acoustic response timeoutAAII O >1 IѼ]я,vE?A2~=2a>2j<ٱ2ž :AHRS rotation from veh to nav: [[0.955841,-0.277075,-0.097966],[0.293534,0.883838,0.364235],[-0.014334,-0.376907,0.926140]]2H??ѿSD?gH?O?[?ؿ`?i2~=I2^;2CY^vAy^!Htx x)xIxixxbD VD8y)=%D=ٔT;Q->9K?IK?=FyE%I˼E%>)Q 55Z4- ?Q 95Z4-/)-@Y1y5|?Q I5?-&4CI-';i-/;-FZ4yAɮE0BA*jQBjiiziJii k3Ck3Ck3Ch kSkSkSh!2fQ:fQBfQJfUm?qɢ}=) m?i)T;顑ikؼIC=R=2Acoustic response timeoutA^A=AI IQ i Ii O >m 2Acoustic response timeoutD zD ?AE Y E HE ;E "E :*E [9VE 4ZE a @a @a @a @]я,,wE?A B_|=B>BX|<ٱBfƾ VAHRS rotation from veh to nav: [[0.959201,-0.266998,-0.092982],[0.282304,0.886541,0.366536],[-0.015432,-0.377831,0.925746]]BHű?ѿ ͷE?@^?@Su?ؚ@a.ؿ ?iB_|=IB^;BCY^UAyb!Hy}Mb?9I=FyE5ڼE5>9Q 5EZ4=(?Q 9EZ4=)=@YEQ?Q EM:yMh,>Q IM?=|4CI=E:i=8:=Z4yUBɮU:fE>Bf_?Jf۫?ɢ=) R?i)R;i ۼIq2Acoustic response timeoutԙ^A=AE@AAAB]>BYB]!HB]ABYBYBYB]8;B]|EAM $AIQ Ia O ]я,>x)wE?A24_=2B>2u&<ٱ2;ƾ :AHRS rotation from veh to nav: [[0.962939,-0.255267,-0.087105],[0.269215,0.889883,0.368283],[-0.016497,-0.378084,0.925624]]2H@e?`LVп`L:?y?`?`䐿2ؿ@?i24_=I2Ҟ^;2CPY^XAy^!H%2Acoustic response timeoutEA EEBEE@EA"EA*EE(9VEE4ZEABEE;aU2EE;aUJEEI+:a]:EEK+:a]bDeVDe8y;%K=ٔ!-;Q->9H?IH?=FyEE>Q 5Z4A?Q 9Z4})@YyP>Q I?4CI;i;5Z4yBɮ>B*jBjiiziJii kcPkcPkcPh2f:fBfJfy?ɢ=) ?i)YK;iVݼI^A9A9A92Acoustic response timeoutIQ Ia O ! ]я,rSCwE?A2m=2wM>2<ٱ2ebƾ :AHRS rotation from veh to nav: [[0.967146,-0.241299,-0.080026],[0.253609,0.893897,0.369637],[-0.017658,-0.377788,0.925724]]2H`? ο|!;? ͚?` ?-ؿ?i2m=I2!^;2CYBSAyB!H|bD%VD%8yeHֻ%mN=ٔm?;Q-m>9qIq=uFyuEuf'E}>yQ 5Z4}Z?Q 9Z4}c)}@Yy >Q I?}5CI}:i}W:}Z4yBɮBB*jBjiiziJii kBkBkBh kYkYkYh2f:fBfJf? ɢ M=)  6?i)=;i̎߼I-2Acoustic response timeout1DIDM<EUZ EUFEU=EQ"EU:*EU;J9VEU|4ZEQa]@a]@a]@a]@^A==QI9IIO>ԁ  2Acoustic response timeout,]я,.]wE?A2<2)s>2)<ٱ2rƾ :AHRS rotation from veh to nav: [[0.971573,-0.225471,-0.072168],[0.235980,0.897975,0.371423],[-0.018940,-0.377895,0.925655]]2H!?`8̿ y 4?@5?e?`dn/ؿ?i29I=FyE5E>Q 5[4=u?Q 9[4f)@Yy4=Q I?g5CI';i;Q[4yBɮDBEB>BB!HBABBBB ;BpE*jBjiiziJii k3Ak3Ak3Ah kC]kC]kC]h!2f1:f1Bf1Jf5ƨ?^EB*** querying acoustic contact ***XAYAQɢ]4s=)Y ]}?iY)]ݪ;aaieἉaIiԁ^A=IIM2Acoustic response timeoutEeW EeJEe<Ea"Ee :*Eek9VEe 4ZEaBEe":au2Ee':a}JEe:a}:Ee:a}O}> w"]я,3wwE?A2p92 _>2<ٱ2tž :AHRS rotation from veh to nav: [[0.976043,-0.208165,-0.063307],[0.216646,0.902898,0.371269],[-0.020125,-0.376089,0.926365]]2H@;?$ʿ4 ??@? ؿǤ?i2p9I2mp^;2CYB@AyBk!HbDNVDN8yR\%VZ=ٔV1O;Q-V>9XIX=ZFyZE^XE^>`Q 5b[4bX?Q 9f[4b)b@Ydyf=Q If?b5CIbl:ib:bl[4ylɮnJBl*jtBjtitixzixJixix kDkDkDh  kc\kc\kc\h2f):f)Bf)Jf- 3?IɢM=)I U ?iQ)U+;QQi], 伉YIa2Acoustic response timeout^AAzAqAI1IOUt>)iA IA M 2Acoustic response timeoutEe U Ee EEe 9Ea "Ee :*Ee A9VEe 4ZEa am @am @am @am @a ; ]я,wE?ANc@NI>N#><ٱNgľ ZAHRS rotation from veh to nav: [[0.980398,-0.189715,-0.053174],[0.195780,0.907746,0.371036],[-0.022123,-0.374174,0.927095]]NH l_?@Hȿ@9@Q?@ ??@K`v׿ª?iNc@IN֣^;NCi\I\Yf$AyfH!HyUQ?&1ҿZd;?UU?U吾Uy=Q Q9Uףp= ?FxѿoʡſYU>?yUƋU-QUXB UB)QQYUzyBbDmVDm8y}%}>=ٔ};Q->9I=Fy!EJE>Q 5[4 ?Q 9[4)@YO?Q E:yRQ I? 6CI ;is:w[4yBɮTB*jBjiiziJii k#Dk#Dk#Dh12f}>:f}>BfA@Jf@ɢI=) H?i)<i^漉IY2Acoustic response timeout^A=IYIiIO>BBB!HBABBBB;BhEԉԱ A1]я,wE?Aɰp;B@B3>B}<ٱBgþ NAHRS rotation from veh to nav: [[0.984357,-0.170947,-0.042642],[0.174478,0.912216,0.370701],[-0.024471,-0.372342,0.927773]]BH@?ſ0ե IU?0?? t׿P?iB@IBy?_;BCYVAyZ>!H2Acoustic response timeoutE-Y E)E-<E)"E-:*E)VE- 4ZE)BE-;a52E-;a=JE-V:a=:E-V:a= )Ii <bDVD8y%%C=ٔ;Q->9I=Fy#ESE> Q 5[4 ŷ?Q 9[4 ) @YyGhQ I? `6CI ;i ; .[4y% Bɮ%YB!*j9Bj9i9iAziAJiAiA kSFԑkSFkSFh2f:fBfJf"@Yɢ]=)Y eȱ?ia)e- % ]я,wE?A2@2>2k<ٱ2׷¾ :AHRS rotation from veh to nav: [[0.987972,-0.151314,-0.031855],[0.152273,0.916193,0.370681],[-0.026904,-0.371073,0.928214]]2Hx? D^ÿUO}? sQ?`;?׿?i2@I2 ^;2CYB AyB(!HbDNVDN8yVü%Vb=ٔV;Q-V>9ZK?IZK?=ZFyZ&EZE^>`Q 5f[4bݷ?Q 9f[4bf)bĽ@YdyfUQ If?b6CIb`:ib:b:[4yj#Bɮn`BnE*jtBjtixixzixJixix k*k*k*h  kCCkCCkCCh2f:fBfJf}@ɢr=) ?i)j5<i꼉I@ @ ;> pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutE1 E5DE1E1"E1*E5a99VE1ZE1a=@a=@a=@a=@^AAY?AQ?!AIIYIiO>I  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutzC]я,6wwE?A29A@2 >2<ٱ2o¾ >AHRS rotation from veh to nav: [[0.991078,-0.131613,-0.021023],[0.129972,0.919449,0.371109],[-0.029513,-0.370530,0.928351]]2H??`l?>?`8 Ķ׿ ?i29A@I2^;2CYBAyF1!HbD VD 8yE<%EA=ٔM;Q-M>9IIQ=UFyU(EUwYEU>YQ 5e[4]?Q 9m[4]ҟ)]@Yiym;Q Im?]7CI]A:i]:]I[4yu&BB>BB!HBkABBBB ;BdEBABABABABACE4ɮaB*jABjQiQiQziYJiYiY k'k'k'hi kDkDkDh2f:fBfJf!|@ɢ=) ?i)?I<i켉IQy2Acoustic response timeoutbEjEƍ4rE0EEb EEFEE>EA"EE1:*EE;J9VEE4ZEABEE9;aU2EE9;aUJEEe:a]:EEe:a]^A]=A ԩ I I O >m _G ۶9 Y A`m]я,eQwE?A:l@:=:=ٱ:¾@ FAHRS rotation from veh to nav: [[0.993515,-0.113204,-0.010595],[0.109030,0.922142,0.371170],[-0.032248,-0.369918,0.928504]]:H`? f? /?@@?Â׿O?i:l@I:X^;:CYNAyN !H@A@AbD  VD 8yE%MJ=ٔM;Q-M>9IIQ=UFyU+EUUEU>YQ 5e[4]?Q 9m[4]L)]@YiymQ Im?]V7CI]:i]:]W[4yu)BɮulBy*jBjiiziJii kDkDkDh kZkZkZh2f:fBfJf^z@aɢm=)i m=?ii)mZ - 2Acoustic response timeoutEM \ EM KEM 7EI "EM :*EM ]t9VEM Ժ4ZEI aU @aU @aU @aU @AU^я,,xE?A2@2@==2=ٱ2RO :AHRS rotation from veh to nav: [[0.995342,-0.096403,-0.000614],[0.089784,0.924646,0.370093],[-0.035110,-0.368425,0.928994]]2H?حp"D?ಖ?`?D׿R?i2@I2O^;2CYfAyf!Hlyrh|?p= ף??{?== 9m?п/$?YN?y1> _B)YQxBbDVD8y%A=ٔ2;Q->9H?IH?=Fy-E:E>Q 5[4f1?Q 9[4)8@Y Z?Q E x:y Q I ?7CIZ:io:f[4y,BɮpBE*j)Bj)i)i)zi1Ji1i kBkBkBh k^k^k^h2fĹ>:fĹ>Bfj@JfB@AɢE =)I Mˮ?iI)e\mB7CBm!HBBABBBB;BcEA AI I O >a  ^я, ,xE?ABc@B@=B-=ٱBLQ NAHRS rotation from veh to nav: [[0.996688,-0.080872,0.008484],[0.071996,0.926142,0.370239],[-0.037800,-0.368402,0.928898]]BH ?@C`?Pn? ? ?`wZ׿?iBc@IB^;BCYVӂAyV HbDb VDb8yjj%j^=ٔj0;Q-j>9nK?r2Acoustic response timeoutIrK?=vFyv0EvfEEv>x9EEW EEFEE=EA"EE :*EE;J9VEE|4ZEABEE":aU2EE':aUJEAaU:EAaUQ 5][4z(K?Q 9][4z)zj@YYyeQ Ie?z8CIz:f > Ag^я,ExE?Aɰ4<67@6c=61&=ٱ6X >AHRS rotation from veh to nav: [[0.997635,-0.066572,0.017120],[0.055494,0.927002,0.370927],[-0.040563,-0.369100,0.928504]]6H? Ї?i? ?D?ĤT׿N?i67@I6җ^;6CYF͂AyF H LNbDRVDR8yZ%ZL=ٔZ;Q-Z>9\I\=^Fy^2Eb*Eb>dQ 5j[4ff?Q 9j[4f+)f@Yhyjy)Q Ij?fU8CIf:if:fb[4yr/Bɮr{Bp*jxBjxi|i|zi|Ji|i kCkCkCh kCkCkCh!2f1:f1Bf1Jf5@QɢU=ԙ) ܬ?i1)5Ow<99i=nsAIA2Acoustic response timeoutEMV EMHEIEI"EM=:*EM[9VEIZEIa]@a]@a]@a]@^A}=A$AIIO> PExceeded connect timeout, disconnecting.  2Acoustic response timeout\^я,_xE?A2\@2#=2/=ٱ2¾ :AHRS rotation from veh to nav: [[0.998286,-0.052954,0.024925],[0.039877,0.927133,0.372605],[-0.042840,-0.370972,0.927655]]2H??j??? '勵׿ Z?i2\@I2r^;2CY^Ayb HdfAbDj"VDj8y%%%C=ٔ%S;Q-->9-H?I-H?=-Fy-5E5 E5>9Q 5E[4=҃?Q 9E[4=ҧ)=.@YIyM8Q IM?=8CI=:i=:=[4yU2BɮUBQBe>BaBe"!HBeABaBe%DBeqDBe;BebE*jBjiiziJii kEkEkEh kFkFkFh2f:fBfJf蔆@ɢv=) ?i)5<iEI@ C>@ ?>!^A92Acoustic response timeoutEe EeKEaEa"Ee:*Ee]t9VEaZEaBEe6y |^я,yxE?A2[@2[<27=ٱ2þ :AHRS rotation from veh to nav: [[0.998687,-0.039753,0.032320],[0.024796,0.927065,0.374079],[-0.044833,-0.372786,0.926834]]2H=?Z.?*d??@?\׿?i2[@I2)h^;0YBAyB HXZP X)\I\i\\bDfVDf8yj_{<%nO=ٔn;Q-n>9pIp=rFyr7EvEv>xQ 5z[4z?Q 9~[4z)zt@Y|y~GQ I~?z9CIz;iz;z̝[4y 5Bɮ  E*jBj!i!i!zi!Ji!i! k#Ck#Ck#Ch2f:fBfJf@ɢ ʹ=)  ?i ) 3< iI]2Acoustic response timeoutaԉ^AyIQIiO>ԩ 2Acoustic response timeoutE Z E HE 8E "E :*E [9VE F4ZE a @a @a @a @ آ$^я,qxE?A,.@JOg@J$=ٱJTľ VAHRS rotation from veh to nav: [[0.998870,-0.026698,0.039322],[0.010036,0.927156,0.374540],[-0.046457,-0.373722,0.926377]]JH?`V"?@?D?v? Eɧ׿?iJOg@IJq^;JCYZAy^ HyE!rh?RQ?:v?Elg?E=ETAEL[B EˀB)EVBAYEyBUAAUAAbD]"VD]8ymj%mA=ٔmV|;Q-m>9qIq=uFyu:EuXE}>Q 5[4?Q 9[4)@YU?Q E~:ykQ I?[9CI:i:[4y8BɮB*jBjii1zi1Ji9i9 kAkAkAhI kAkAkAhy2f)>:f)>nManaging dock network, ignoring radio surface power offԹBf@Jf@ɢ3D=) ?i)g<i I m2Acoustic response timeout^AQBYAYBaBaBe HBeȂABe=BaBaBe;BefEIIO=> 9 *^я,PxE?A2@2@2B=ٱ2%ž :AHRS rotation from veh to nav: [[0.998858,-0.013870,0.045730],[-0.004382,0.926336,0.376673],[-0.047586,-0.376443,0.925217]]2H ?gi?`q`?h?!] ؿ``?i2@I2 `^;2CYZtAyZo Hi`IbAfhDAT read: Forwarding Delay UpTx time:18:24:34.3540 fpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGj2Acoustic response timeoutbD=VD=8y%H=ٔm4;Q->9I=Fy=EE>Q 5[4Uظ?Q 9[4Ϊ)-@EY EE9E"E:*EVE4ZEBE;a2E;aJER:a:ES:aYyYQ I?9CI;i%;[4y;BɮB*jBjiiziJii k#Ck#Ck#Ch k3Ck3Ck3Ch2f:fBfJf'@ɢT=)! %F?i!)%u2Acoustic response timeouti \1^я,k*xE?A 6w@6wr@6ȭH=ٱ6ƾ >AHRS rotation from veh to nav: [[0.998616,-0.000767,0.052594],[-0.019188,0.925677,0.377829],[-0.048974,-0.378315,0.924380]]6H?I?`$?@Z.?`'@Q6ؿ ?i6w@I6t^;4YFfAyF^ HbDVD8ye$%eM=ٔm1e;Q-m>9iIq=uFyu?EuEu>yQ 5[4}v?Q 9[4})}f@YyQ I?}:CI}:i}f:}[4y>BɮBE*jBjiiziJii k#4k#4k#4h kcDkcDkcDh2f:fBfJf@ ɢ V=) c?i)`ϳ<i4I!i2Acoustic response timeoutD)D-=EZ EGE8E"E:*ER9VEF4ZEa @a @a @a @^AIԙIOd>  2Acoustic response timeoutK7^я,xE?A4<ɰ2a@2<@2`N=ٱ2ƾ :AHRS rotation from veh to nav: [[0.998153,0.012407,0.059464],[-0.033961,0.925615,0.376941],[-0.050364,-0.378264,0.924327]]2H ?@h?r? fc?`?Tɩ@z5ؿ?i2a@I2^h^;2CYB&AyB HLB>BB HBABBBB;B\EbD%VD%8y%E=ٔ[;Q->9I=FyBEE>Q 5[4?Q 9[4)@Yy޽Q I?[:CI;i[:J[4yɮB*jBjii zi Ji i  kSDkSDkSDh! kcDkcDkcDh12fA:fABfAJfEHE@aɢe=)a eg?ia)mdp! >^я, xE?A6@6@6S=ٱ6M_ƾ >AHRS rotation from veh to nav: [[0.997485,0.025514,0.066130],[-0.048544,0.925731,0.375054],[-0.051650,-0.377321,0.924641]]6H e?T ?? ڨ? ?q&ؿ`?i6@I6`^;6CYF9AyF' HHHbDRVDR8yZn<%Z]=ٔ^c;Q-^>9\I`=bFybDEb!Eb>dQ 5j[4f.)?Q 9j[4f)f@YlynDQ In?f:CIfs;if;f<[4yrABɮrBt|*jBjii zi Ji i  kSDkSDkSDh! kZkZkZh12fA:fABfAJfEN߄@aɢe c=)a e?ia)m{4 2Acoustic response timeoutDA zDE @Aԁ E Y E EE ;E "E :*E A9VE 4ZE a @a @a @a @xD^я,&yE?A2@2@2uY=ٱ2ž :AHRS rotation from veh to nav: [[0.996532,0.039438,0.073271],[-0.064066,0.925549,0.373168],[-0.053099,-0.376568,0.924866]]2H ?.1??f ??@/ؿ`?i2@I2s^;2CYBAyB HyEʡE?/$?)\(?EO?E,=EGa=A A9Ex&1?v/Mb?YEA?yEx齙E=AA A)E~BAYEzBYbD]VD]8ymK%m?=ٔu^;Q-u>9}K?I}K?=}Fy}GE}E>Q 5[4tD?Q 9[4)@Y2E?Q E:yQ I?:CIX;i ;3[4yDBɮB*jBjiiziJii k3Bk3Bk3Bh ksXksXksXh2f.>:f.>Bf'@Jf@ɢ~=) ڡ?i!)%B B Z HB bAB B B B ;B EEB7CB7CBB=B=CA5ԱA! 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̿`??ʰXlؿ?i2ʺ@I2k^;2CYBFAyBHyT㥛 ?DlI +?a?O 94< 9q= ףp?ʡE󽿜 rh?YK?yyC =o\B 3B)͋BY(|B <bDVD8yڼ%;=ٔF;Q->9I=FyaEB+E>Q 5\4??Q 9\4f)@YM?Q E:y]Q I?>CI:i:\4yyBɮ'BE*j Bj i i ziJii k3Ck3Ck3Ch) k3[k3[k3[h92fMy=:fMy=BfM b9@JfM%@iɢm=)i mi?ii)u=qqyi}wIyI 2Acoustic response timeoutԡBM>BIBM.HBMoABIBIBIBM;BMWE^AAII O= > ;^я,'1zE?A22Acoustic response timeout:b2@:=-@:؉=ٱ:Ⱦ FAHRS rotation from veh to nav: [[0.967598,0.200481,0.153499],[-0.243375,0.902443,0.355480],[-0.067257,-0.381319,0.921994]]:H?`^?ܥ?@&Ͽ?@.?@7gؿ?i:b2@I: |^;:CY^$Ay^HE\ EHEE"E:*E[9VEZEBE;a 2E;aJEa:EabDE<VDE8y)%N=ٔ*;Q->9I=FycE@E>Q 5\4X?Q 9\4d)@Yy⺾Q I?g>CIW:ip:\4y|Bɮ53B1*jIBjIiIiIziIJiIiQ kBkBkBh k#[k#[k#[h2f:fBfJfcP$@ɢ=) O?i ) = )i-1I1^AqA}[?A}a?2Acoustic response timeout) A I I I > O5 >Q ^я, KzE?A2O@2*@2g=ٱ2#Ⱦ :AHRS rotation from veh to nav: [[0.962725,0.217042,0.161409],[-0.261621,0.898697,0.351992],[-0.068661,-0.381100,0.921981]]2H@???gп`?@ ?cؿ݀?i2O@I2 q^;2CYBAyBHbD5VD8yE d%EN=ٔEh;Q-M>9QIQ=]Fy]fEeBEe>qQ 5\4uq?Q 9\4u)u6@YyľQ I?u>CIux;iun;u\4yBɮAB*jBjiiziJii kZkZkZh2f:fBfJf#@颹ɢ=) |?i)x=i I)u2Acoustic response timeoutD%=D<E [ E EE <E "E a:*E A9VE  4ZE a@a@a@a@a^AAA II Ia ԉ O >% 2Acoustic response timeoutB= >B9 B= HB= AB9 B9 B9 B= ;B= sEBBBBBCܙ4l˘^я,&dzE?A,6?@6@6=ٱ6[Ⱦ >AHRS rotation from veh to nav: [[0.957538,0.233478,0.169144],[-0.279651,0.894836,0.347943],[-0.070119,-0.380470,0.922131]]6H@&? ??ѿ`~?@D?PYؿ`?i6?@I6}^;6CYFAyFHNAALbDRVDR8yZqӼ%ZT=ٔZx;Q-Z>9\I\=^Fy^hEbIEb>dQ 5f\4f?Q 9j\4f)fu@Yhyj=ξQ Ij?f?CIfu:if;f\4yrBɮrbBp*jxBjxiyiyziyJiyiy ksAksAksAh kZkZkZh2f:fBfJf!@ ɢ5;=)1 57?i1)==99i=C AIAԉ^AY2Acoustic response timeoutԹbEC4jEƞ4rEz:0EZ EJE>E"E:*Ek9VE4ZEBE_;a-2Eb;a-JE:a5:E:a5}GsAAIIaIq9sAYAO> ^я,~zE?A2Tm@2/h@2d=ٱ20ƾ :AHRS rotation from veh to nav: [[0.952389,0.249156,0.175716],[-0.296402,0.891657,0.342189],[-0.071420,-0.377979,0.923055]]2Hy?X?@}? ?ҿ u?j?`H0ؿ?i2Tm@I2e^;0YBAyBHbDNVDN8yVጺ%VK=ٔV9T;Q-V>9XIX=ZFyZkE^2E^>``Q 5f\4b?Q 9f\4b3)b@Yhyj]׾Q Ij?b[?CIb:ibB:b\4ynBɮrBrŰE*jxBjxixi|zi|Ji|i| kAkAkAh ksWksWksWh!2f1:f1Bf1Jf5O @QɢU?3=)Q U)?2Acoustic response timeoutiQ)^e=i  9II^AAzA!AM $AIQ Ii i߉ Iߍ A 2Acoustic response timeoutO >E- Y E) E- <E) "E- :*E) VE- 4ZE) a5 @a5 @a5 @a5 @A ۥ^я, zE?A6@6@6Ϡ=ٱ6ž >AHRS rotation from veh to nav: [[0.947319,0.263829,0.181605],[-0.311975,0.888425,0.336709],[-0.072509,-0.375627,0.923930]]6HpP??`>?fӿm?@?`폲E ؿ֐?i6@I6z^;6CY^Ayb3HyU!rh?/$?kt?Ulg?U,=U 0=Q Q9U:v?Q뱿?YUT?yU\U=QQ Q)UBQYUQ}BbDmVDm8y}ӓ%}>=ٔ%;Q->9H?IH?=FymEE>Q 5\4)?Q 9\4v)@YEW?Q E|:y{Q I??CI;i;\4yBɮBưE*jABjAiAiAziAJiIiI k;k;k;hy2fO>:fO>Bf~@Jfzn@颹ɢQ=) -?i)a!=iD II2Acoustic response timeoutBBBfHB̀AB=BBpDBT;BE^AqA AI I) Ou >ԡ ^я,mzE?Aɰ"2Acoustic response timeout6o@6j@6ܺ=ٱ6Aľ RAHRS rotation from veh to nav: [[0.942618,0.276867,0.186589],[-0.325675,0.885566,0.331224],[-0.073532,-0.372985,0.924919]]6H)?1?*?ԿV?2?Ӳ׿?i6o@I6c^;6CYZAyZ HEr[ ErFEr>Ep"Era:*Er;J9VEr4ZEpBEr ;az2Er ;azJEre:az:Ere:az ) I i   p;bDVD8y-"%-P=ٔ-+;Q-->95K?I5K?=5Fy5pE=CE=>AQ 5M\4E%ٺ?Q 9M\4E)E:@YIyMQ IM?E @CIE:iE:E\4y]Bɮ]BY*jiBjqiqiqziqJiqyiy k@k@k@h kAkAkAh2f:fBfJfsm@ɢ=) /?i)}$=i Iԡ^A 2Acoustic response timeoutAIIYIiO> ^я,IzE?A2@2@2Ř=ٱ2?þ :AHRS rotation from veh to nav: [[0.938262,0.288314,0.191154],[-0.337802,0.882686,0.326735],[-0.074527,-0.371135,0.925583]]2H=?s?w?տ >?@9?,׿ a?i2@I2^;2CYFTAyFHbDZVDZ8yj}j%jP=ٔjW&;Q-n>9QIQ=UFyUrEe]Ee>iQ 5}\4m?Q 9\4m)m@YyQ I?md@CImH;imI;m\4yĦBɮB*jBjiiziJii ksAksAksAh ksAksAksAh2f:fBfJfnl@ɢam=)  O?i ) n$(=  iQ I@-C>@)U2Acoustic response timeoutE\ EJE?E"E:*Ek9VE^4ZEa@a@a@a@^AA11I9IQO> 2Acoustic response timeoutY B B B HB {AB B B B g;B En^я,.zE?A2ȡ@2@28_=ٱ2$þ :AHRS rotation from veh to nav: [[0.934005,0.298859,0.195751],[-0.349234,0.879262,0.323936],[-0.075306,-0.370921,0.925606]]2H^? ?a?Yֿ"?`_?9G+׿?i2ȡ@I2e^;0YBEAyBHDDbD VD8y}z%}@=ٔ}\:Q-}>9I=FyuEE>Q 5\4?Q 9\4X)@Yy'ȾQ I?@CI;i ;b\4yɮB*jBjiiziJii k#Dk#Dk#Dh k3Dk3Dk3Dh2f:fBfJfN=l@!ɢ%*=)! %P?i!)-+=))i- 11I9Ye2Acoustic response timeout^AqEW EEE;E"E :*EA9VE4ZEBE":a 2E':a JEV:a :EV:aԉAIIO >Ա ^я, {E?A2B@2w=@2-=ٱ2 þ :AHRS rotation from veh to nav: [[0.929822,0.308467,0.200695],[-0.360037,0.875398,0.322571],[-0.076185,-0.372192,0.925024]]2H??`? ׿`B??″׿˙?i2B@I2>W^;2CYB AyByH|~@AbDVDy]%]L=ٔe5;Q-m>9yIy=FyxE2Acoustic response timeoutEU>ԑiQ 5]4m*?Q 9]4m)mv@YyξQ I ?mACIm )^я,n{E?A6 @6߼@6E=ٱ6ڻž BAHRS rotation from veh to nav: [[0.925577,0.317338,0.206407],[-0.370603,0.870782,0.323096],[-0.077205,-0.375546,0.923583]]6H@S?@EO?k?׿s?@?óؿ ?i6 @I6p^;6CYJAyJ.Hy}"~?/$?K}3?}>}^y y9}x&1?Mb:v?Y}A@?y}}B)}ByY}z~BbDVD8yٓ%F=ٔ";Q->9I=FyzEME>Q 5]49A?Q 9]4)@Yj@?Q E:ylƾQ I?bACI;ib; ]4y˦Bɮ׆B*jBjiiziqJiqiq k3Ck3Ck3Ch k]k]k]h2f$X>:f$X>Bf馟@Jf@ ɢ-=)1 5y?i1)5[i2=11i5 9IA@UrA@UrA2Acoustic response timeoutAABBBHB)AB=BBBs;BE^AU=AYzA]pAI A $AI I O= >T^я,3{E?AIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout:킵@:}@:?=ٱ: Ǿ BAHRS rotation from veh to nav: [[0.921002,0.326518,0.212463],[-0.381634,0.865700,0.323910],[-0.078166,-0.379405,0.921923]]:Hx?@?1?lؿѳ?? @-Hؿ@d?i:킵@I:c^;:CYJiAyJHN=Na=bDVVDV8EbZ EbHE`E`"Eb:*Eb[9VE`ZE`BEb_;aj2Ebb;ajJEbR:aj:EbS:ajy^ %nZ=ٔ= ";Q-=>9]H?I]H?=]Fy]}Ee/Ee>iQ 5u]4m,X?Q 9u]4m)m@Yqyux̾Q I?mACIm;im;;m]4yΦBɮB*jBjiiziJii kDkDkDh2f):f)Bf)Jf-I@aɢm =)i mv?ii)mn5=iqiu5IQy^A=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutAII O= >ԩ )<^я,M{E?A@R@R@Re=ٱRnʾ ^AHRS rotation from veh to nav: [[0.915723,0.336655,0.219352],[-0.393925,0.859797,0.324919],[-0.079213,-0.383944,0.919952]]RHM???6ٿ`t?x?NG`ؿ?p?iR@IRǃ^;RCYf~AyfH np9|I|=~Fy~EV E> Q 5]4 n?Q 9]4  ) d@Yy=ӾQ I? ACI :i ; =)]4y!ɮ%B!*jBjiiziJii kAkAkAh kAkAkAh2f:fBfJf@!ɢ%=)! %go?i!)-u8=))i-ϝ1I15zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY52Acoustic response timeoutԩD=D4=EY EEE"E:*EVEZEa@a@a@a@^A]lw=AIIO>  2Acoustic response timeoutB >B B HB _AB =B B B c;B Epv^я,pg{E?A: @:菻@:#%=ٱ:p̾ BAHRS rotation from veh to nav: [[0.909397,0.348767,0.226627],[-0.408152,0.853171,0.324825],[-0.080063,-0.387892,0.918221]]:H?1R??'ڿ-M?? ;ؿb?i: @I:h^;:CYJ~AyJH\dd d)dIdiddbDnVDn8yvY%vI=ٔz* ;Q-z>9xIx=zFyzE~E~>Q 5 ]4W?Q 9 ]4c)@Yy%۾Q I?GBCIQ:i:z7]4yѦBɮB%ȰE*j1Bj1i9i9zi9Ji9iA kDkDkDhQ kDkDkDha2fq:fqBfqJfu@ɢF=)! %h?i!)%%{;=))i-AQIY-2Acoustic response timeout^A=AW?AY?EZ EDECE"E:*Ea99VE5ZEBEa2EaJEgH:a:EjH:a!AIIO >A N^я,I{E?AFO@F*@Fݦ=ٱFRAξ RAHRS rotation from veh to nav: [[0.901895,0.362687,0.234614],[-0.424219,0.846041,0.322883],[-0.081388,-0.390734,0.916899]]FH@R?@E6?@?h&ۿ??մٿ;W?iFO@IF^;DYj~Ayn>HbDVD8Aye%eE=ٔuFQ;Q-}>9I=FyE߭=߭%=2Acoustic response timeoutiaIeoA(E>Q 5]4b?Q 9]4E)@Yy1Q I?BCIl:i :kG]4yBɮ.BҰE*jBjiiziJii k<k<k<h92f:fBfJf 3@颩ɢ;=) va?i)>=iVIiԑ^AU 2Acoustic response timeoutE S E E :E "E 9*E VE (4ZE a @a @a @a @Ae AIi Iy I O > 4x^я,"{E?A2c@2^@2`=ٱ2ξ :AHRS rotation from veh to nav: [[0.893373,0.378305,0.242424],[-0.441635,0.838657,0.318768],[-0.082719,-0.391841,0.916307]]2H?$6?`?`CܿG?f?-ٿ@bR?i2c@I2^i^;0Yv}AyvHԙy/$?q= ףpMb?&q?< 9w/?K7~jtYF?yI ]B ȀB)ݏBYBAAbDVD8y*% @=ٔ N;Q- >9K?IK?=FyEBE>!Q 5%]4%?Q 9-]4%$)%@Y-J?Q E-:y-v(Q I-?%BCI%:i%f:%T]4y=Bɮ=:B9*jBjiiziJii k#k#k#h k#<k#<k#<h2f%>>:f%>>Bf%Q@Jf%?@AɢEM=)A M\?iI)M^A=IIiMQIQ2Acoustic response timeoutB->B)B-rHB-k~AB-=B)B-qDB-Q;B-EBBBB=BCS4^A1A I I O >  ǥ^я,9 {E?A_G2Acoustic response timeout :98Y:AbE% 4jE%4rE%0ERZ EREER<EP"ER:*ERA9VER 4ZEPBEPaV2EPaZJERV:aZ:ERV:aZy ? A]@]@]_/=ٱ]ξ mAHRS rotation from veh to nav: [[0.883854,0.395323,0.250043],[-0.460163,0.830807,0.313066],[-0.083976,-0.391765,0.916225]]]HH?`L??@Nsݿ`?D ?nٿ Q?i]@I]g^;]CY&}AyHbDVD8y-vͽ%-H=ٔ-I;Q-5>91I1=5Fy5E=8QE=>AQ 5M]4Eɻ?Q 9M]4Ex)E@YIyU-Q IU?E?CCIEU;iE;E$c]4yYɮ]OBY*jqBjqiqiyziyJiyiy ks#ks#ks#h k;k;k;h2f:fBfJf#=@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18%o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%])7-n-4Completed marl:UpdateSpeedq7-n-PAggregate::uninitialize marl:UpdateSpeedAɢEd?=)a mkR?ii)m#:D=iiimqIq^AAzA2Acoustic response timeoutIA I I O >y k^я,`{E?A2 @2@2<=ٱ2ξ :AHRS rotation from veh to nav: [[0.873820,0.412994,0.256659],[-0.478793,0.822873,0.306002],[-0.084821,-0.390277,0.916782]]2H`V?@}n?m? ޿T??׶`MؿGV?i2 @I2s^;2CYB|AyBfHbDVD8yE%EZ=ٔE;Q-E>9III=MFyMEMhEU>YQ 5e]4]ܻ?Q 9e]4]x)]@YayeA3Q Ie?]CCI]p:i]:]8p]4yuBɮu`Bq*jBjiiziJii k2k2k2h! kC\IkC\kC\hQ2fa:faBfaJfe%Y<@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颡ɢ4=) K?i)F=顱i3I-2Acoustic response timeoutEU EME;E"E:*E9VE4ZEa@a@a@a@y^A)ԩAa Ii Iy O > 2Acoustic response timeoutB5 >B5 8CB5 HB5 O}AB1 B1 B1 B5 G;B5 E ^я,K{E?AB[@B}V@B=ٱB ; NAHRS rotation from veh to nav: [[0.863322,0.430707,0.262994],[-0.497322,0.814621,0.298436],[-0.085702,-0.388439,0.917480]]BHV??? ߿@_?@?`0ؿ[?iB[@IBza^;@YVb|AyV1H ^4<^<bDbVDb8yf?_%jR=ٔj/;Q-j>9lIl=nFynEn=aEr>pQ 5v]4r?Q 9z]4r)r{@Yxyz8Q Iz?rCCIr:ir:r}]4y~BɮnBӰE*j!Bj!i!i!zi)Ji)i) kCkCkChI2fa:faBfaJfe:@颉ɢp=) #F?i)y I=顙ipIԹ^AE2Acoustic response timeoutE^ EHE=E"EC#:*E[9VE|4ZEBEs ;a2Eu ;aJER:a:ES:aA$AII)O}> 9 ڟ_я,w|E?AM@Mة@M=ٱM̾ AHRS rotation from veh to nav: [[0.852602,0.448065,0.268902],[-0.515375,0.806046,0.290994],[-0.086363,-0.386687,0.918158]]2Acoustic response timeoutMHH??5?@}"??|ؿ a?iM@IM^;IY{AyHyZd;?/$y&1?~?`e< 9ףp= ?ClǿV-?Y^?yd;m=Y^B _B)BYaBbDVD8yj%,=ٔ(:Q->9H?IH?=FyE5E> Q 5]4 ?Q 9]4)9@Yd?Q En:yo5Q I?EDCI/;i:^]4y!ɮ%|B!*j9Bj9i9i9zi9Ji9iA ksEksEksEhQ ksEksEksEhi2f}V>:f}V>Bf}@Jf}I\@频ɢ=) +??i)K=顙iI1^A=AV?AU?M 2Acoustic response timeouta E U E AE <E "E :*E  9VE 4ZE a @a @a @a @A] AIa Iq O >Q_я,@j|E?A 6@6 @65=ٱ6ʾ BAHRS rotation from veh to nav: [[0.842518,0.463888,0.273808],[-0.531611,0.798060,0.283707],[-0.086907,-0.384587,0.918988]]6H?@X???@(??ؿ`Zh?i6@I6>f^;6CYF}{AyFHbDRVDR8yZ%Zx=ٔ^:Q-^?9^K?I^K?=bFybEbmEb?dQ 5j]4f?Q 9j]4f()f@Ylynm:Q In?fDCIf;if;f]4yrBɮrBrݰE*j|Bj|i|iziJii kcDkcDkcDh2f:fBfJfa[@ɢI=) 7?i) M=i%I!ihDAT read: Forwarding Delay UpTx time:18:24:48.2039 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutB>B9CB-HB[|AB=BBrDBH;BE^Ae=ԡA$AIIO> ] 2Acoustic response timeouty _я,}Z6|E?A2@2a@2i=ٱ2"ʾE>X E>EE>:E<"E>~ :*E>A9VE>(4ZE<BE>:aF2E>:aFJE>V:aF:E>V:aFLLL NAHRS rotation from veh to nav: [[0.833176,0.477806,0.278423],[-0.546033,0.790508,0.277391],[-0.087556,-0.383144,0.919530]]2H`?_?@?yK??j mؿl?i2@I2L^;2CYV{AyVhHlp p)pIpippttbDzVDz8yn%E=ٔ:Q- >9 H?I H?= Fy E*E>Q 5%]4z4?Q 9%]4)\@Y!y->Q I-?DCI:iR:o]4y5Bɮ5B1*jIBjIiIiIziQJiQiQ ksBksBksBha kBkBkBh2f:fBfJfTZ@AɢE±=)i m1?ii)m8\P=iiiuqIy^A2Acoustic response timeoutAIIO5 > 2_я, P|E?A6'@6@6[=ٱ6Gɾ >AHRS rotation from veh to nav: [[0.824414,0.490547,0.282321],[-0.559097,0.783423,0.271400],[-0.088042,-0.381591,0.920129]]6Ha?e?@?` `?^?`kؿq?i6'@I6^;6CYFzAyFHbDRVDR8yZ%ZP=ٔZ+:Q-Z>9\I\=^Fy^Eb$Eb>dQ 5j]4fI?Q 9j]4f )f@YhyjBQ In?fHECIf@:if:f$]4ypɮrʇBp*jxBj||iiziJii ksDksDksDh ksDksDksDh)2f9:f9Bf9Jf=6_Y@Yɢ]@=)Y e)?ia)ecR=aaieeiIi2Acoustic response timeoutEZ EAE?E"E:*E 9VE^4ZEa@a@a@a@)^AAzAoAYAAIIO>ԁ  2Acoustic response timeoutB >B :CB ~HB >{AB =B B sDB <;B E[_я,Li|E?A2u@2Q@2=ε=ٱ2$uȾ >AHRS rotation from veh to nav: [[0.816531,0.501640,0.285719],[-0.570454,0.777103,0.265882],[-0.088656,-0.380090,0.920691]]2H!?o ?`6I?(A?5?@$`eSؿLv?i2u@I2^;2CYFyAyJHbD VD8y=fý%=B=ٔE3:Q-E>9MK?IMK?=MFyMEU}EU>YqQ 5]4u`?Q 9]4u')u@YyFQ I?uECIuSd;iu%c;u]4y!BɮB*jBjiiziJii kDkDkDh2f :f Bf Jf uX@)ɢ-pw=)) -?i))5T=11i1,Iԁ52Acoustic response timeoutEW EDE9E"E :*Ea99VE4ZEBE$:a2E):aJEhH:a:EkH:a^AԱAI IQ Ia O > % _я,|E?A8ɰ:49I=FyE޼E>Q 5 ]4x?Q 9]4U.)@Y_?Q Es:y(DQ I?FCI:i:]4y$Bɮ%B%ްE*j1Bj1i1i9zi9Ji9i9 kBkBkBhQ kBkBkBha2fud@>:fud@>BfuC-@Jfuח@频ɢĽ=) 5?i)V=顙i7I^A- 2Acoustic response timeoutE T E CE ?E "E 9*E 09VE ^4ZE a @a @a @a @A $AI! I1 Om >1 h'_я,ȱ|E?A2^í@2:@2=ٱ2mȾ :AHRS rotation from veh to nav: [[0.801815,0.520543,0.293476],[-0.590734,0.764552,0.257864],[-0.090149,-0.380125,0.920531]]2Hw?`I?O?@J 6w?׀?`Sؿ@t?i2^í@I2^;2CYBjyAyB^HbDvVDv8y%d%-m=ٔ-U ;Q--?95H?I5H?=5Fy5E5E=?AQ 5E]4EΊ?Q 9M]4E3)E@YIyMeGQ IM?E\FCIE:iEd:E]4yUABɮBE*jBjiiziJii kCBkCBkCBh  kCBkCBkCBh2f):f)Bf)Jf-w@IɢM=)Q U?iQ)UcX=QQi] JYIa@y@};>BiAm<Bu>BqBuHBu"zABu=BqBqBqBuE2Acoustic response timeoutA^A=AP?AZ?qAAII O5 >ԙ = 2Acoustic response timeout>-_я,獷|E?AE2X E2DE0E0"E2~ :*E2a99VE0ZE0BE2:a:2E2:a:JE0a::E0a:^U@^P@^|Y=ٱ^I ɾ vAHRS rotation from veh to nav: [[0.793802,0.530178,0.297976],[-0.601350,0.757432,0.254312],[-0.090865,-0.381061,0.920074]]^Hf?7??A>q?i^U@I^^;\Y~xAyH!!bD5&VD58ye%eG=ٔe0:Q-m>9mK?ImK?=mFymEuEu>Q 5]4I?Q 9]4:)=@YyJQ I?FCIW:i-:]4yDBɮ/BE*jBjiiziJii ksCksCksCh! kCkCkChQ2fa:faBfaJfe/@q颡ɢIV=)  ?i)lZ=顩iSHIԡ^A2Acoustic response timeoutA) I1 IA O} > &4_я,Ii|E?A2]@29@26=ٱ2ʾ :AHRS rotation from veh to nav: [[0.785565,0.539299,0.303388],[-0.611975,0.749641,0.252041],[-0.091507,-0.383660,0.918929]]2HY#?`A?j?M@?n!? mؿg?i2]@I2š^;2CYfxAyjHppbDr4VDr8y%;%-N=ٔ-:Q-->9)I1=5Fy5E5 E5>9Q 5E]4=G?Q 9M]4=0A)=r@YIyM(NQ IM?=GCI=:i=:=C]4yUGBɮU1BY*jiBjiiiiqziqJiqiq kSGkSGkSGh kcGkcGkcGh2f:fBfJfƖ@ɢv=)  ?i)\=iLI2Acoustic response timeoutDm%=Dm<EuZ EuEEu>Eq"Eu:*EuA9VEu4ZEqa@a@a@a@*:+) ^AI AQ zAU pAB} >B} ;CB} HB} yABy By By B} ;;B} EB5:CB59CB5ʔCB5=B5= 2Acoustic response timeoutC5ʙ6AU $AIa y I I O >X:_я,|E?AVl@Vg@V=ٱV˾ bAHRS rotation from veh to nav: [[0.776271,0.549589,0.308796],[-0.623632,0.741077,0.248772],[-0.092119,-0.385689,0.918018]]VH 7?`;?O???@!"ؿh`?iVl@IVT^;TYjJxAyjH )Ii  bDTVD8y%Ac%-?=ٔ-$:Q-->9-H?I5H?=5Fy5E5E=>9Q 5E^4=ɼ?Q 9M^4=aH)=@YIyMQQ IM?=pGCI=:i=p:=< ^4yQɮ]>BY*jiBjiiiiqziqJiqiq k3Dk3Dk3Dh kCDkCDkCDh2f:fBfJfc@ɢFȶ=) ?i)]=iKAIԑ)AmF9iYmBE2Acoustic response timeoutԹbEE|4jEEō4rEE(90Ea EDE=E"E%.:*Ea99VE|4ZEBEB3;a2EE3;aJEa:Ea^A=A AI I! Ou > pA_я,}E?A6@6޲@6-=ٱ6ҟ; BAHRS rotation from veh to nav: [[0.765712,0.560482,0.315507],[-0.636464,0.731006,0.246056],[-0.092728,-0.389217,0.916467]]6H@?w? C1?`]gd?~? `ؿS?i6@I65{^;6CYJwAyJ8HN>N=R2Acoustic response timeout~a=|y}'1Z?RQi|?5}b?}½}y y9}J +?> ףp=ʿbX9ȶY}h?y}Q}Ey}Y^B }_B)}ByY}aBbD]VD8yN%B=ٔ:Q->9K?IK?=FyE"E>Q 5^4_ݼ?Q 9^4P)@Yo?Q Eb:yoQ I?GCIU:i:^4ygBɮuBE*jBjiiziJii k#Bk#Bk#Bh kZkZkZh2f-=:f-=Bf-pd@Jf-ȴ@Aɢ=) >i)_=i+I M2Acoustic response timeoutEW ECEE"E :*E09VEZEa@a@a@a@A ^A =q A $AI I! O] >XFH_я,"}E?A>K@>nF@>X=ٱ>rϾ FAHRS rotation from veh to nav: [[0.753698,0.572673,0.322467],[-0.650566,0.719738,0.242366],[-0.093296,-0.392456,0.915027]]>H`J?`WS? M?`o`??`7ⷿٿ G?i>K@I>^;>CYLyL p;4<bDVD^8ٔU:Q-U>9]H?I]H?=]Fy]Ee2Ee>iQ 5u^4m?Q 9u^4m7Y)mV@YqyuFtQ I}?m:HCIm:im:m)^4yjBɮxB*jBjiiziJii ks<ks<ks<h1 kXkXBM>BIBMqHBMwABIBIBIBM9;BMEakXh2f:fBfJf(@2Acoustic response timeoutɢ=) i)La=ioIq^AaԡA AI I O >U 2Acoustic response timeoutE  E BE :E "E *E (9VE (4ZE BE $:a 2E ):a JE J+:a :E L+:a LgN_я,i<}E?A2@2@2=ٱ2!о :AHRS rotation from veh to nav: [[0.740737,0.586076,0.328367],[-0.665200,0.708201,0.236559],[-0.093908,-0.393657,0.914448]]2H ?!??PI?G?_ @1ٿ(C?i2@I2h^;0YbvAybHbDEVDE[8yw%<ٔ:Q->9K?IK?=FyEDE>Q 5^4?Q 9^4~a)7@YyMyQ I?HCI:i:8^4yɮB*jBjiiziJii kS@kS@kS@h k[k[k[h2f :f Bf Jf @Ա颡ɢ =) >i) b=项iOI2Acoustic response timeout^A A- $AI1 IA O} >9 _OU_я,EV}E?A2B@2@2=ٱ2о :AHRS rotation from veh to nav: [[0.726604,0.600313,0.334172],[-0.680511,0.695797,0.229718],[-0.094613,-0.394322,0.914089]]2HV@?5?c?C?jg?8<ٿ 7@?i2B@I20^;0YBevAyBHDD%2Acoustic response timeoutbD-VD-o8yeI]%eL=ٔm:Q-m>9mH?IuH?=uFyuEuQVEu>yQ 5^4}?Q 9^4}i)}@Yy~Q I?}HCI}:i}:}F^4EV EDE>E"E=:*Ea99VE4ZEa@a@a@a@ymBɮBE*jBjiiziJii k#Zk#Zk#Zh2f:fBfJf1@ɢ2^=) >i)c=i!I!^A9AIAB]>B]=CB]HB]vAB]=BYB]uDBYB]EIqO>2Acoustic response timeouti Ry[_я, p}E?A 6L@6G@6Y=ٱ6sJо >AHRS rotation from veh to nav: [[0.711572,0.615269,0.339278],[-0.696118,0.682859,0.221637],[-0.095313,-0.393888,0.914204]]6H3?H? ?@F? ^?lft5ٿ'A?i6L@I6 k^;6CYFavAyFHLLbDRVDRh8yZ%ZW=ٔZ:Q-Z>9\I\=^Fy^EbjEb>dQ 5j^4f#?Q 9j^4fq)f @YhyjQ Ij?fVICIfy:if:ffS^4yrBɮrBrE*jxBjxi|i|zi|Ji|i kAkAkAh kZkZkZh!2f1:f1Bf1Jf59@ɢm=) 8>i)7e=i2IiM2Acoustic response timeoutEW ETE?E"E :*E9VE^4ZEBE%:a2E*:aJE:a:E:a^A1ԙII)O>  2Acoustic response timeout$hb_я,H}E?A2i@2E@2=ٱ2ξ :AHRS rotation from veh to nav: [[0.696015,0.630868,0.342883],[-0.711583,0.669875,0.211935],[-0.095986,-0.391500,0.915158]]2H`E?0??J`o? ?@ UٿH?i2i@I2p^;2CHYNuAyNHixIzpAa}@a} a}@a} a}@a a@a y}Mb?)\(+?}?}G}=y y)}Mb@Mb@Mb@I}i}‰}yy y)}}Y}oBbDVDr8y % 6=ٔ :Q- >9I=FyEHE>!Q 5-^4%5?Q 9-^4%&{)%@Q A-+:Y)Q E-7:y-Q I5?%ICI% ;i%_>%!`^4y=Bɮ=ۈB=E*jQBjQiYiYziYJiYiY kAkAkAhq kYkYkYh颩ɢ9=) >i)Psf=顱imIԹ^A)M2Acoustic response timeoutIIET ECE;E"E9*E09VE4ZEa@a@a@a@O> ‹h_я,أ}E?A2J@2&@2c=ٱ20; :AHRS rotation from veh to nav: [[0.680440,0.646293,0.345409],[-0.726434,0.656907,0.201907],[-0.096410,-0.388302,0.916475]]2H)?n?`-?@>a?@? X ؿ@S?i2J@I2^;0Y^uAyb H``xx x)xIxixx|bD VD u8yUM<%UX=ٔ]:Q-]>9YIY=eFyeEeiEe>iQ 5u^4mD?Q 9u^4mB)m@Q A} :YyQ E}:y}Q I}?mJCIm` ;imT?mh^4yɮوB*jBjiiziJii kcAkcAkcAh k3Wk3Wk3WhB>B>CB,HBuABBBvDB3;BEɢ=) >i)g=i(>!I!2Acoustic response timeout)^AIIOEr>Qm 2Acoustic response timeoutԁ E Y E BE AE "E :*E (9VE A4ZE BE ;a 2E ;a JE J+:a :E M+:a n_я,l}E?A4<ɰ23@2.@2|=ٱ2h˾ :AHRS rotation from veh to nav: [[0.664350,0.661718,0.347516],[-0.741164,0.643288,0.191982],[-0.096515,-0.385110,0.917810]]2H[B?,?=?Е? ?3ؿ^?i23@I2Qi^;2CYNtAyRHbDZVDZd8yv%vQ=ٔv(9Q-v>9xIx=zFyzEz$fE~>Q 5^4~R?Q 9 ^4)@Q A 9Y Q E 9y Q I ?yJCI:iN?p^4YyBɮB*jBjiiziJii k[k[k[h k[k[k[h!ɢ%=)) ->i))-h=))i-1I9ԁ2Acoustic response timeout^AIIOew>Ա u_я,L}E?A2ޅ@2@2d=ٱ2"Tɾ :AHRS rotation from veh to nav: [[0.648487,0.676716,0.348597],[-0.755118,0.629762,0.182201],[-0.096235,-0.381386,0.919393]]2H`h??gO? )@'?YR?֢hؿk?i2ޅ@I2z^;2CYBtAyBHA%2Acoustic response timeoutbD VD >8yeJ%eC=ٔe/Q-e>9iIi=mFymEu=OEu>ԹEW EHE?E"E :*E[9VE^4ZEa@a@a@a@Q 5^4 b?Q 9^4Q)E@Q A%9Y!Q E%9y%=Q I%?JCI:i?v^4y-Bɮ-B5E*jiBjiiiiiziiJiii kXkXkXh kqkqkqh1ɢ5#%=)1 5o>i1)=i=99i=tAIA^AqB>BACBHBtAB=BBxDB/;BE2Acoustic response timeoutA AI I O= >9 {_я,g}E?A6@6ެ@6w=ٱ66Ǿ BAHRS rotation from veh to nav: [[0.633443,0.690561,0.349106],[-0.767819,0.616883,0.172940],[-0.095932,-0.377598,0.920987]]6H*E?? W?`?"?*ؿx?i6@I6a]^;6CYJtAyJnHLLbD VD O8yE%ML=ٔMGQ-M>9MK?IUK?=UFyUEUNJEU>YQ 5e^4]n?Q 9m^4])]'@Q Am9YiQ Em9ymŏQ Im?]=KCI]z:i]@]S{^4yqɮ}By*jBjiiziJii kXkXkXh k3ok3ok3ohaɢm=)i mu>ii)mj=iiiu~I-2Acoustic response timeoutER ECE<E"Es9*E09VE 4ZEBEv:a2E{:aJE9:a:E9:aA^A=ԙA- $AIQ I O} >Թ  2Acoustic response timeout_я, D ~E?AJPV@J,Q@J\=ٱJ\ž nAHRS rotation from veh to nav: [[0.620082,0.702369,0.349536],[-0.778642,0.605480,0.164652],[-0.095991,-0.374262,0.922342]]JH?y?@^?`?R?ؒ׿҃?iJPV@IJv^;JCYvPtAyv;Haa aa aa aa yMbX9?Mb?T㥛 ?a?@== 9Cl?)\(n?Yo?yGaV>``B }B) BYBbDVDF8y:B%?=ٔ A9Q- >9 H?I H?= FyŏE1%E>Q 5%^4 ?Q 9%^4̥)@Q A-T:Y-z?Q E-X:y-WQ I-?KCI:i :K^4ԙyBɮ%B*jBjiiziJii kVkVkVh) kSrkSrkSrhY2fz>:fz>Bf @Jf@@颡ɢi=) >i)Ɖk=i1IԹ=2Acoustic response timeoutES EFE>E"E9*E;J9VE4ZEa@a@a@a@^A=A- AI1 IA Oy  {و_я,%~E?A2ߤ@2٫@2=ٱ2H[þ :AHRS rotation from veh to nav: [[0.608652,0.712361,0.349407],[-0.787545,0.595968,0.156826],[-0.096519,-0.370626,0.923753]]2Hz??\?3`,??|`W׿ c?i2ߤ@I2_^;2CYB tAyBHbDNVDNH8yV%Vc=ٔV:Q-Z>9ZK?IZK?=ZFyZǏE^%E^>`Q 5f^4b?Q 9f^4b)b@Ydyf[Q Ij?bKCIb:ib:bܖ^4ynBɮn/Bl*jxBjxixi|zi|Jiyiy ktktkthB>BBCBHBtAB=B$DByDBBEBe>CBe?CBeCBe=Be=CeM6 ktktkth2f:fBfJf@1ɢ5=)9 =>i9)=YHl=99iEAII߭=߭<2Acoustic response timeout^A Wi>CGu9YAI Aa Iq I I O >M 2Acoustic response timeoutbE-ʴ4jE-k4rE-\00E V E BE <E "E =:*E (9VE 4ZE BE :a 2E :a JE K+:a :E N+:a _я,>~E?A 2s@2m@2=ٱ2¾ >AHRS rotation from veh to nav: [[0.598192,0.720395,0.350995],[-0.795464,0.586808,0.151305],[-0.096968,-0.369713,0.924072]]2H`d$? y ?v? qt!?]?Ҹ`׿?i2s@I2^;2CYFtsAyFHJp=Jp=bDRVDRT8yV&Խ%ZJ=ٔZ:Q-Z>9\I\=^Fy^ɏEbSEb>dQ 5f^4f/?Q 9j^4f)fH@Yhyj%_Q Ij?fbLCIf :if9:f^4yrϧBɮr`BrE*j|Bj|i|i|ziJii kqkqkqh kqkqkqh)2f9:f9Bf9Jf=e@19E rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7UnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeedɢ=) ?]>i)l=i7Ii2Acoustic response timeout^A5=ԙA}$AIIO> _я,X~E?A6 @6@6]=ٱ6Tþ >AHRS rotation from veh to nav: [[0.588124,0.727347,0.353661],[-0.802909,0.577631,0.147237],[-0.097193,-0.370551,0.923713]]6H?mF?_?n{??ḿ`׿?i6 @I6kk^;6CYF(sAyFHP R49bH?IbH?=bFyf̏Ef9Ef>hQ 5n^4jý?Q 9n^4jn)j@YpyrLbQ Ir?jLCIj;ij;j,^4yvҧBɮvmBt2Acoustic response timeout*j Bj i iziJii k#rk#rk#rh) k#rk#rk#rh92fI:fIBfIJfM@sUNUpdating rudder angle 6.875493 arcdeg 9UrU6Completed marl:UpdateRudder19U rURAggregate::uninitialize marl:UpdateRudderqɢuOa=)q u8J>iy)}m=yyi}SID=DES E@E;E"E9*E9VE4ZEa@a@a@a@^AB>BCCBHBMsABBBzDB2;BEAUAIiI2Acoustic response timeoutO>! _я,r~E?A2@2u@2=ٱ2>ľ :AHRS rotation from veh to nav: [[0.578233,0.733719,0.356794],[-0.810052,0.568439,0.143849],[-0.097271,-0.372201,0.923041]]2H?@z??`0?`i?渿 "׿?i2@I2X^;2CYVsAyV|Hpp p)pIpippbDzVDzX8|y% E=ٔ E9Q- >9K?IK?=FyϏEE>!Q 5%^4%׽?Q 9-^4%)%(@Y)y-NeQ I-?%,MCI%:i%:%^4y5էBɮ=rB=E*jIBjIiQiQziQJiQiQ kxkxkxhi k#yk#yk#yhy2f:fBfJfܤ@颩ɢN=) F>i)#En=顱iZ I2Acoustic response timeout)EV EEEAE"E=:*EA9VEA4ZEBEa2E:aJEV:a:EV:a^A=YA$AIIO >ԁ  2Acoustic response timeout_я,~E?A2bG@2>B@21=ٱ2]ƾ :AHRS rotation from veh to nav: [[0.568676,0.738525,0.362199],[-0.816782,0.559096,0.142402],[-0.097336,-0.376818,0.921159]]2H`2? ?D.?#?;:?`븿ؿ"z?i2bG@I2u^;2CYBqAyBHDF@AyMK7?~jt?{GzMIL?MDIM=cB M\B)MەBIYMBbDmVDm_8y}].%}C=ٔ}}$9Q->9H?IH?=FyяEE>Q 5^4C꽉?Q 9^4R)-@Y7=?Q E:yOIQ I?zMCI;ia;B^4yɮB*jBjiiziJii ksksksh ksksksh2f {>:f {>Bf%@Jf7?AɢE|p=)M ۼ MS=iI)M6n=IIiM QIYԁ^A%2Acoustic response timeoutDzD?AEU EBE<E"E:*E(9VE 4ZEa@a@a@a@AAII O= > '_я,e~E?A2@2@2=ٱ2Tdɾ :AHRS rotation from veh to nav: [[0.558884,0.743275,0.367683],[-0.823501,0.549576,0.140758],[-0.097447,-0.381455,0.919237]]2H_???Z ?^?Qiؿ`cj?i2@I2Jc^;2CYBqAyBH@A@ABE>BEDCBEHBEYrABE=BABABE0;BEEbD VD 8ԹyNt%F=ٔэ9Q->9K?IK?=FyԏEE>Q 5^4a?Q 9%^4)/@Y)y-LQ I-?MCI;i;^4y=BɮEÉBEE*jaBjaiiiiziq}In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED}8Ack receipt timeout failure.2Acoustic response timeoutJii kc{kc{kc{h2f:fBfJfYE V E GE =E "E =:*E R9VE |4ZE BE a 2E a JE t:a :E t:a 9 y_я,@~E?A6@6@6$=ٱ6-̾ BAHRS rotation from veh to nav: [[0.549282,0.747499,0.373542],[-0.829894,0.540288,0.139158],[-0.097799,-0.386438,0.917116]]6H???~ J??a dؿ@Y?i6@I64}^;4YF)qAyFJHbD VD 8yEn%MR=ٔMn:Q-M>9QIQ=UFyU֏EUEU>YQ 5e^4] ?Q 9m^4]x)]@YiymNQ Im?]NCI] :i]g:]G^4yqɮ}ЉBy*jBjiiziJii kbkbkbh kvkvkvhY2fi:fiBfiJfm^?颡ɢA=) =i)Eo=顩iC IApIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout^A=qAII O= >ԙ :_я,K ~E?A2(@2#@2=ٱ2oξ :AHRS rotation from veh to nav: [[0.539693,0.751826,0.378800],[-0.836076,0.531325,0.136644],[-0.098533,-0.390451,0.915336]]2H*E??A>?!?}?z9&ؿmJ?i2(@I2a^;2CYZpAyZH^a=^a=rzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYr2Acoustic response timeoutE}X E}@E}>Ey"E}~ :*E}9VE}4ZEya@a@a@a@bDUVDUx8y%E=ٔ:Q->9I=FyُE>E>Q 5^4{?Q 9^4^)@YyQQ I?`NCIY;iX%;^4yBɮB*jBj i i zi Ji iq k]k]k]h kukukuh2f:fBfJf;?9ɢ=P|=)9 EW==iA)Eno=AAiE" IIQԙBE>BEECBEWHBE=qABABABE{DBE);BAuS2Acoustic response timeout^A = A I I OE>[_я,~E?A;ɰ;6H@6B@6=ٱ69UҾ >AHRS rotation from veh to nav: [[0.516513,0.762996,0.388653],[-0.850487,0.509837,0.129378],[-0.099435,-0.397370,0.912255]]6H@E?`wj? ?/7P?r?`t nٿ`21?i6H@I6}s^;6CY^SpAybH j;hbDjVDj8pyvn%v8=ٔz;Q-z>9xIx=zFy~܏E~|E~>Q 5 _40?Q 9 _4)@Yy*XQ I?NCIW:i9:T _4yBɮB%E*j1Bj1i1i1zi1Ji9i9 kYkYkYhQ kpkpkpha2fq:fqBfqJfu~?^B*** querying acoustic contact ***XY频ɢ:u=) F 2Acoustic response timeouti 6_я,E?A2Ġ@2b@2K=ٱ2Ӿ :AHRS rotation from veh to nav: [[0.502799,0.769889,0.393020],[-0.858685,0.497072,0.124818],[-0.099263,-0.400239,0.911019]]2H?@? >'? Yz??`Ni@ٿ '?i2Ġ@I2h^;2CYBroAyB<Ha @a  a @a  a @a  a @a  y v/?Q9I=FyߏENE>Q 5_4A?Q 9_4)@Q A+:YQ Eh:y\Q I?OCI;i?>c_4yɮ B *j9Bj9i9iAziAJiAiA kcpkcpkcphy颹ɢ4e=)  i)`o=i Iԡi!I%A-2Acoustic response timeoutER ECE=E"Es9*E09VE|4ZEa@a@a@a@5.ۼ ^AY Bm >Bm FCBm HBm oABm =Bi Bm |DBm O;Bm ̀E 2Acoustic response timeoutA II1OM>]_я,/E?A2y9@2U4@2u=ٱ27Ӿ :AHRS rotation from veh to nav: [[0.488174,0.778302,0.394883],[-0.867135,0.483775,0.118490],[-0.098814,-0.400260,0.911059]]2H=>?`?E?`*?VU?K`ܝٿ`d'?i2y9@I2yq^;2CYBnAyBHDF?AX\ \)\I\i\\bDfVDf8yn%n3=ٔnLQ-n>9pIp=rFyrEvEv>xQ 5~_4zeS?Q 9~_4z)z@Q A~ :Y|Q E<:yv`Q I?zVOCIz;iz{^?z~ _4y Bɮ #B *j!Bj!i!i!zi!Ji)i) kSkSkShɢĿ[=) i ) o= )i-[P 1I199AA =2Acoustic response timeoutAET EFE?E"E9*E;J9VE^4ZEBEa2EaJEa:Ee:ai ^A A) I9 II ԡ O >}_я,rJE?A N@N@N<=ٱNӾ VAHRS rotation from veh to nav: [[0.473329,0.786548,0.396614],[-0.875378,0.470265,0.112089],[-0.098350,-0.400242,0.911117]]NH K?@f+?b?@?ݱ?w-ٿ`'?iN@INIq^;NCY^ nAy^^HfAAfAAbDjVDj8yr%rC=ٔvlQ-v>9tIt=zFyzEzx&Ez>|Q 5_4~c?Q 9_4~)~@Q A 9Y Q E :y dQ I ?~OCI~;i~?~J(_4yBɮYB'Ee2Acoustic response timeout*jBjiiziJii ksQksQksQh)ɢ-L=)1 5di1)5n=11i5 iIi!^AAIIO> 2Acoustic response timeoutY Eu d Eu CEu @Eq "Eu 9:*Eu 09VEu 4ZEq a} @a @a @a @_я,7dE?A :*@:%@:=ٱ:#Ӿ BAHRS rotation from veh to nav: [[0.459324,0.794648,0.396934],[-0.882861,0.457646,0.105438],[-0.097869,-0.398867,0.911771]]:He?m?]g?e@J?? @ ٿ`:-?i:*@I:9^;:CYJmmAyJHbD VD x8yE{%MF=ٔM:Q-M>9QIQ=UFyUEU,EU>aQ 5e_4ems?Q 9m_4e6)e@Q Am9YiQ Em9ymhQ Im?eOCIe:ie?e._4y}Bɮ}pBy*jBjiiziJii k#6k#6k#6h kCPkCPkCPhY颁ɢɲ@=) $i)>&n=顉iB>BBHBnABBBBo;BEBECBECB”CB=B=CP5Iq2Acoustic response timeoutԡ^AqGS9Y{AA I I O >= 2Acoustic response timeouti_я,b}E?AbE]4jE]4rE]0E&W E$E&>E$"E& :*E$VE&4ZE$BE&):a.2E&-:a.JE&9:a.:E&9:a.\b@b@b=ٱbyѾ nAHRS rotation from veh to nav: [[0.445461,0.802897,0.396132],[-0.889986,0.445254,0.098354],[-0.097411,-0.396365,0.912911]]bH n?U?;Z?z@ ?-?@︿ ^ٿ`6?ib@Ib ^;bCY5lAy5H99bDVDt8y%?=ٔ:Q->9I=FyE /E >Q 5_4R?Q 9_4)@Q A9YQ E9y"mQ I?DPCIհ_я,ΗE?Aɰ4<2#-@2(@2N=ٱ2Ͼ :AHRS rotation from veh to nav: [[0.431802,0.811372,0.393984],[-0.896772,0.433012,0.091106],[-0.096679,-0.392653,0.914591]]2H??`7?[ w?`R?;!ٿ TD?i2#-@I2^;2CYBUlAyBSHaa aa aa aa a@a a@a a@a a@a yI +?K7A9H?IH?=FyEE>Q 5_4ӑ?Q 9_4 )@Q Ao9YQ E9yAqQ I?PCI:i!@7_4y!BɮB*jBjiiziJii k4k4k4h1 k4k4k4hAiɢm.$=)i mjii)u1l=2Acoustic response timeoutqiIEUP EUBEU@EQ"EU9*EU(9VEU4ZEQae@ae@ae@ae@I^AyBA<B!>BGCBHBmAB=BB}DB;BEA I9 IQ O > hDAT read: Forwarding Delay UpTx time:18:25:02.3039  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutԱ t_я,֪E?AYkAyHbD5VD58yE%ES=ٔEQ-E>9III=MFyMEUEU>yQ 5_4#?Q 9_41)@Q AB9YQ E9yQ I?PCI? ;i:@:_4yɮB*jBjiiziJii kC:kC:kC:h kS:kS:kS:hɢ==) .i)*k=i!I!@5qA@5qAԡ2Acoustic response timeoutEeV EeAEe<Ea"Ee=:*Ee 9VEe 4ZEaBEe:au2Ee:auJEe:a}:Ee:a}^AAIIOE > :_я,E?A6;@66@6=ٱ6˾ BAHRS rotation from veh to nav: [[0.405242,0.827053,0.389567],[-0.909213,0.409093,0.077290],[-0.095446,-0.385521,0.917749]]6H{?7w??F .?`Lɳ?`'o`ؿ3^?i6;@I6^;6CYFZkAyFHHHbDRVDR8yZ2E%ZT=ٔ^?RQ-^>9`I`=bFybEb:Eb>dQ 5j_4f]?Q 9j_4fB)f@Q An9YlQ EnT9yn0yQ In?f QCIf ;if,S@f==_4yr=BɮvҊBv1E*j|Bj|iiziJii k:k:k:h k:k:k:h)QɢUz=)Q Ue2Acoustic response timeoutia)e j=iiimiIq)^A=IIO>Q 2Acoustic response timeoutDm =Di Eu Q Eu DEu >Eq "Eu 29*Eu a99VEu 4ZEq a} @a} @a} @a} @y )_я,_E?A2Ĝ@2t@2=ٱ2oʾ :AHRS rotation from veh to nav: [[0.391997,0.833907,0.388507],[-0.915065,0.396970,0.071213],[-0.094841,-0.383425,0.918690]]2H{?\?`N?5Hg? ;?@xGؿe?i2Ĝ@I2^;2CYZjAyZ9Hpp p)pIpiptxxbDzVDz8y% E=ٔ hQ- >9 I=FyEE>Q 5%_4|?Q 9%_4)@Q A-8Y)Q E-,9y-}Q I-?nQCI:im@j?_4y5@Bɮ=B9*jIBjIiQiQziQJiQiQ k:k:k:hi k;k;k;hy颡ɢ* =)X[ i)i=顩i3IBe&>BeHCBeHBekABaBaBaBey;BeEԉm2Acoustic response timeoutԡ^A=II O=>  2Acoustic response timeout^_я,\;E?AEP EAEE"E9*E 9VEZEBEe:a2Ej:aJEa:Ea>F@>A@>j=ٱ>ɾ JAHRS rotation from veh to nav: [[0.377936,0.840649,0.387909],[-0.921032,0.383992,0.065194],[-0.094149,-0.381916,0.919389]]>H0??@?y`Q??`&`Oqؿk?i>F@I>l^;>CYRjAyRHbDZVDZ8ybݕ%bO=ٔfQ-f>9dId=jFyjEjEj>YQ 5e_4]-ɾ?Q 9e_4]!)]@Q Ae8YaQ Em 9ymQ Im?]QCIYi]@]*A_4yqɮuBq*jBjiiziJii k+k+k+h9Iɢu=)y }ii)sh=顩iII@,>@%>ߍH?ߍ?2Acoustic response timeout^A)A5U?A5I?IIO >) `я,E?A2P@2-@2 =ٱ2ɾ :AHRS rotation from veh to nav: [[0.362772,0.847354,0.387799],[-0.927161,0.370014,0.058833],[-0.093639,-0.380895,0.919864]]2H7??? NP?@P?`ؿo?i2P@I2x^;2CYBuiAyBHDDaa aa aa aa y|?5^?-ƿ1Zdr??5"۽ 9^I +?Zd;Ͽ~jtÿYXy?y~ 4B) BYBbDVDy8y㴽%:=ٔpQ->9I=FyEE>Q 5_4(̾?Q 9_4,)@Q AT:Y$?Q EP:ytQ I ?)RCI:i:O_4yɮB*j)Bj)i)i)zi)Ji1i1 k k k hI k7k7k7hY2fmD=:fmD=Bfm}@Jfm~r@颉ɢ"<) SѾi)i'g=顑iqI2Acoustic response timeoutE=Q E9E9E9"E=29*E9VE9ZE9aE@aM@aM@aM@QPExceeded connect timeout, disconnecting.Y^AII OEs>B])>BYB] HB]@jAB]=BYBYB]h;B]Eԉ  2Acoustic response timeoutO% `я,c2E?A0:5@:0@:=ٱ:_)Ⱦ BAHRS rotation from veh to nav: [[0.347068,0.854190,0.387174],[-0.933204,0.355547,0.052123],[-0.093136,-0.379402,0.920532]]:H\6?U?s?`H?ϯ? ׷Hؿ@u?i:5@I:d^;:CYJhAyJ&H 4<p;bD VD w8yEڽ%MU=ٔM{Q-M>9IIQ=UFyUEU>4EU>YQ 5e_4]Oξ?Q 9m_4]7)]O@YiymQ Im?]RCI]:i]:]k]_4yu\BiyIyɮ}BB;E*jBjiiziJii kkkh2fa:faBfaJfeXjq@颙ɢ5<) Xi)se=顡iՈIԑ2Acoustic response timeoutEE\ EEEEE<EA"EE:*EEA9VEE 4ZEABEE;aU2EE;aUJEEV:aU:EEV:aUԹ? ^A A oAzA oAIi I O > `я,LE?A2 @2眡@2=ٱ2Lƾ :AHRS rotation from veh to nav: [[0.330188,0.861666,0.385367],[-0.939359,0.340028,0.044569],[-0.092632,-0.376714,0.921687]]2H!?`Ē?@٩?@:?Ѧ?ຶؿt~?i2 @I2@^;2CYZhAyZH`E2Acoustic response timeoutbD-VD-X8y}ʴ%G=ٔPQ->9I=FyE3E>Q 5_4Ͼ?Q 9_4A)@Yy¿Q I?RCI;i1:k_4yɮGB*jBjiiziJii kkkh kkkh2f :f Bf Jf 8Bp@颡ɢL<) i)P"d=顩iGIFΞ!^A2Acoustic response timeoutEU T EQ EU ?EQ "EU 9*EQ VEU ^4ZEQ a] @a] @a] @a] @ nManaging dock network, ignoring radio surface power offA I I I O >.7`я,fE?A2W@24@2e =ٱ2"ž :AHRS rotation from veh to nav: [[0.312288,0.868871,0.384107],[-0.945501,0.323523,0.036889],[-0.092216,-0.374694,0.922551]]2H??@7?A`??s@׿?i2W@I2j^;2CYBXhAyBHDDbDNVDN88yV`S%VY=ٔVdQ-Z>9XIX=ZFyZE^NE^>`Q 5f_4bо?Q 9f_4bK)b@YdyjRſQ Ij?bWSCIbt:ibk:bx_4yn_B!ɮ%TB)*jBjiiziJii kkkh2f):f)Bf)Jf- o@颙ɢ<) i)db=顡iIB5,>B1B5{HB5gAB1B1B1B51;B5ʀEM2Acoustic response timeoutQ yԩ ^A Q= 2Acoustic response timeoutEe V Ee CEe <Ea "Ee =:*Ee 09VEe 4ZEa BEe :a} 2Ee :a} JEe 9:a} :Ee 9:a} AU AIy I O>t!`я,E?Aj e@j_@j =ٱj6?ľ rAHRS rotation from veh to nav: [[0.293626,0.876090,0.382426],[-0.951513,0.306239,0.029015],[-0.091694,-0.372403,0.923530]]jH??y?ri??Gyr׿?ij e@Ij|^;jCYzgAyzHyE+?ˡEV-Ev~?E'EA A9ES㥛?MbXɿZd;OYEݔ?yEJEjAE`B EB)EBAYEBQQbD]~VD]68ym%m=ٔmzQ-u>9uK?IuK?=}Fy}E}E}>Q 5_4׾?Q 9_4\)@Yv?Q E3:yQ I?SCI:i:$_4y{BɮBEE*jBjiiziJii kkkh kkkh2ft>:ft>BfH@Jf/)@ɢ<) i)%i`=!!i%!)I)11112Acoustic response timeout)Q^A ԁ ia Ie Am 2Acoustic response timeoutE Q E ?E ?E "E 29*E ?9VE ^4ZE a @a @a @a @A1 I9 IQ O >t7(`я,vE?ANϻ@N@N=ٱNߟ¾ VAHRS rotation from veh to nav: [[0.273938,0.883558,0.379847],[-0.957478,0.287724,0.021244],[-0.090521,-0.369514,0.924806]]NH3?F?@hO?j??a,׿?iNϻ@INn^;NCY^YgAy^BH)11 1)1I1i11bDExVDE18yU{%UI=ٔ]=Q-]>9YIY=eFyeEeOEe>iQ 5u_4mھ?Q 9u_4mXi)mD@Yyy}:Q I}?mxTCIm :im$:ma_4yɮB*jBjiiziJii kkkh kkkh2f:fBfJf6@ɢ1<) g i ) ^=  i GIB9A9QBM/>BMICBM HBMfABIBIBM~DBMI;BM؀EBHCBHCBÓCB=B=Ce4^AA2Acoustic response timeoutԁA}$AIIO>   e Gy 9 Y Bԩ W.`я,(E?A6,@6 @6=ٱ6T BAHRS rotation from veh to nav: [[0.253736,0.890346,0.378023],[-0.963169,0.268530,0.014035],[-0.089014,-0.367662,0.925690]]6H4=?}?1?G`/??`ɶć׿??i6,@I62^;6CYFfAyJHHJp=bDRVDR98yZb%ZW=ٔ^Q-^>9bH?IbH?=bFybEbIbEf>dQ 5j_4fݾ?Q 9j_4fu)f@Ylyn뿿Q In?fTCIf;if;f_4yrBɮvBvOE*jBjiiziJi i  kCkCkCh! kSkSkSh12fA:fABfAJfEi҅@ԙɢAY<)  i)\=i7I2Acoustic response timeoutbEjE4rE5/E]U E]AE]=EY"E]:*E] 9VE]|4ZEYBE]:am2E]:amJE]:am:E]:au^A9AEpAzAEpAI9IIO}> 2Acoustic response timeout %B5`я,$րE?A4<ɰ>Va@>3\@>˲=ٱ>/ FAHRS rotation from veh to nav: [[0.233279,0.897068,0.375301],[-0.968493,0.248944,0.006953],[-0.087192,-0.365098,0.926877]]>H? Ǵ??f?z|?/R]׿?i>Va@I>|^;>CYRfAyR HbD%uVD%.8yeLh%e?=ٔeQ-e>9iIi=mFym EuKEu>yQ 5_4}߾?Q 9_4}Q)}K@Yy¿Q I?}kUCI}:i}:}_4yɮŋB*jBjiizi)Ji1i1 kC"kC"kC"hA kS"kS"kS"hq2f:fBfJfM$@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢp<) =i)aZ=i I)2Acoustic response timeout!Ee[ Ee@Ee9Ea"Eea:*Ee9VEe4ZEaam@am@am@am@^AiIIQ Ii I O >B= 2>B9 B= O HB= eAB9 B9 B9 B= _;B= Ey i;`я,E?A22Acoustic response timeoutbᰖ@b@b>0=ٱbپ nAHRS rotation from veh to nav: [[0.212406,0.903401,0.372492],[-0.973482,0.228764,0.000290],[-0.084950,-0.362676,0.928035]]bH@"0?@? ?`&#H? 3?P@6׿@w?ibᰖ@Ib-k^;bCYvnfAyv HbDe`VDe8y%F=ٔ費Q->9I=FyE#VE>Q 5_4ྉ?Q 9_4)@YyaſQ I?UCI:i:_4yɮɋB*jBjiiziJii kckckch  kckckch2f):f)Bf)Jf-s@QsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢl6<) i) X=i,I!ԁ^A2Acoustic response timeoutI9IIEV EAE=E"E=:*E 9VE|4ZEBE:a2E:aJEa:E:aԩO> aSB`я,3 E?Ab@b@bة=ٱb$] jAHRS rotation from veh to nav: [[0.191701,0.908484,0.371358],[-0.977951,0.208751,-0.005852],[-0.082838,-0.362048,0.928471]]bH`?N?@U?`KY?8w`4@+׿@ ?ib@Ib؂^;`YrfAyr~ Htty%C?Zd;? ףp= ?Z?y=Q= 9 +?{Gz:v?YȖ?yףT>bB B)BY3BbDVVD8yG%D=ٔᦻQ->9 I = Fy E +QE>Q 5%_4辉?Q 9%_4)x@Y%u?Q E%1:y%,Q I-?fVCIj:i<:_4y5Bɮ5B5XE*jABjIiIiIziIJiIiQ k#k#k#ha k#Bk#Bk#Bhq2f%o>:f%o>BfD@Jf@颡ɢ<) Qi)-V=))i--1I1u2Acoustic response timeout^AqA}X?A}[?IIO=>A % 2Acoustic response timeoutE} W E} CE} ;Ey "E} :*E} 09VE} 4ZEy a @a @a @a @{H`я,-#E?A``ca@@\@ =ٱ -AHRS rotation from veh to nav: [[0.172425,0.912991,0.369753],[-0.981667,0.190231,-0.011940],[-0.081240,-0.360916,0.929053]]H? 87? ?@i@~Y?$t@$̴>׿ͺ?ica@Io^;Y]eAy]Y HbDuRVDu8y/%O=ٔ؄Q->9I=FyEKE>Q 5_4ノ?Q 9_4<)@Y y Q I ?VCI:i1:_4y1ɮ=B9*jyBjyiiziJii k8k8k8h2f :f IAA@ABf Jf ދ@Qɢ]8+<)Y ]"iY)eFT=aaiu 󼉨qIyB5>BB HB+eABBBBc;BE2Acoustic response timeoutԁ^AI I! OU >ԩ VN`я,m=E?A:˔@:ƛ@:N=ٱ:9dId=fFyfEfIEj>hQ 5n_4j?Q 9r_4j)j@YpyrQ Ir?jPWCIj;ij;jS_4yvѨBɮzBzbE*jBji i zi Ji i  k;k;k;h! k;k;k;h12fA:fABfAJfE>A@aɢeF8)a e$ii)m?R=iiimqo񼉨qIqEE[ EE@EE=EA"EEa:*EE9VEE|4ZEABEE ;aM2EE ;aMJEE.:aU:EE0:aU}2Acoustic response timeoutԩ^AIaIqOa> - 2Acoustic response timeoutǍU`я,^KWE?Af8C@f>@fR=ٱf l rAHRS rotation from veh to nav: [[0.138060,0.919037,0.369202],[-0.987269,0.157431,-0.022704],[-0.078989,-0.361367,0.929072]]fH`?`h?? @&?@?@8 ׿?if8C@If|^;fCYzeAyz" H|~a=bD 'VD 8y6%E=ٔAQ->9!I!=%Fy%E%6$E->)Q 55_4-c?Q 9=_4-x)-M@Y9y=/Q I=?-WCI-;i- ;-_4yAɮM BI*jaBjaiaiaziaJiaii k@k@k@hy kUkUkUh2f:fBfJf@颹ɢ0k;) 'i)SmP=i;q)I@rA@rA EUU EQEU;EQ"EU:*EQVEU4ZEQa]@a]@a]@a]@2Acoustic response timeout^AAqAzAqA9A5AI9IQO>a B 7>B JCB HB dAB B B B ;B Eڷ[`я,J&qE?Ar2Acoustic response timeoutvœ@v@vt=ٱv) AHRS rotation from veh to nav: [[0.122921,0.920558,0.370760],[-0.989325,0.143129,-0.027376],[-0.078268,-0.363437,0.928325]]vHw?6u?@?@R?p@Y B׿`״?ivœ@Iv^;vCY-eAy- H9aa a)aIaiiibDu3VDu8yy%C=ٔQ->9K?IK?=FyE.E>Q 5`4?Q 9`4z) @YyQ I?OXCI:i:u `4yɮ-B*jBjiiziJii k:k:k:h kTkTkTh2f:fBfJf J@)ɢ-@v;)1 5#.i1)5FN=99i=e9IAi^AYԙEmS EiEm8Ei"Em9*EiVEmF4ZEi2Acoustic response timeoutBEm:a2Em:aJEia:EiaAI1 IY O > > >b`я,E?AM@H@=ٱ: -AHRS rotation from veh to nav: [[0.108458,0.921445,0.373063],[-0.991108,0.129326,-0.031289],[-0.077078,-0.366352,0.927278]]H û?z|?B?)@?`\ Pr׿C?iM@I^;ԙYdAy Ha@a a@a a@a a@a ym?L7A`?Dl?N?+=O > )Mb@Mb@Mb@Ii‰wdB тB)Y uBbD5VD8y%8=ٔ0Q->9I=FyE/E>Q 5`4?Q 9`4D)@Q A+:YQ E:y亿Q I?XCI ;i>`4yBɮPBlE*jyBjyiyiyziyJiyi kS9kS9kS9h2Acoustic response timeoutɢ-w;)) -1i))-GsK=11i5/뼉1I9^AMe=A I I O > Ee P Ee EEe ;Ea "Ee 9*Ee A9VEe 4ZEa am @am @am @am @ 2Acoustic response timeouth`я,ܤE?Avڒ@vՙ@v=ٱvþ AHRS rotation from veh to nav: [[0.094523,0.921456,0.376808],[-0.992661,0.115916,-0.034454],[-0.075426,-0.370786,0.925650]]vH2?`|? ??O׿?ivڒ@Ivv^;tY $dAyI H@AbDJVD8y=%=S=ٔEQ-E>9AII=MFyM E]E]>aQ 5e`4eV ?Q 9m`4eo)e@Q Am :YiQ Em9ymQ Im?eMYCIe:ieU?e `4yyɮ}hBy*jBjiiziJii k6k6k6h k6k6k6hɢh) =i)8I=i{?鼉I@= >@=>BqAup<B-9>B)B-< HB-dAB-=B)B-DB-;B-E!2Acoustic response timeout^AUQ=A][?A]S?QA I I9 Oe >y n`я,E?Afn@fvi@fa=ٱfƾ nAHRS rotation from veh to nav: [[0.081424,0.920200,0.382887],[-0.993976,0.103249,-0.036764],[-0.073363,-0.377587,0.923063]]fH.ش?Fr?8?n?ҢDzb*ؿ ?ifn@IfD^;fCYtytbDaVDaٔnQ->9I=Fy"E1 E>Q 5`4 ?Q 9`4b);@Q A9YQ E9yQ I?YCIf:iכ? (`4yBɮBvE*jBjiiziJii kC7kC7kC7h iQIQ]2Acoustic response timeoutiET EBE<E"E9*E(9VE 4ZEBE:a2E:aJEL+:a:EO+:a kS7kS7kS7h1qɢ})y yiy)}F=yyi,缉Iԁ^Ae=ԩA I I  2Acoustic response timeoutO] > u`я,؁E?AZ@Z@Z=ٱZ.ʾ bAHRS rotation from veh to nav: [[0.068845,0.918960,0.388295],[-0.995113,0.090871,-0.038624],[-0.070779,-0.383739,0.920725]]ZH՟?`h??KC?ƣ@ -ؿv?iZ@IZjz^;XYjcAyj HbDVD8y%<ٔϻQ->9I=Fy%EE>Q 5`4?Q 9`4$) @Q A9YQ E9yQ I?>ZCIs:i?0.`4yɮB*j BjiiziJii kc6kc6kc6h) kPkPkPh9aɢeX)i m~Bii)m[D=iiimDԱIe2Acoustic response timeoutDDE EEE=E"E*EA9VE|4ZEa@a@a@a@^AQ=II OM >B% :>B! B% HB% CcAB% =B! B! B% ;B% EBJCBJCBBB=CB49 |`я,nE?AF:@F@F=ٱF?ξ NAHRS rotation from veh to nav: [[0.057719,0.916867,0.394997],[-0.996002,0.079908,-0.039941],[-0.068184,-0.391113,0.917814]]FH`\? V? G??t?s@~tٿ^?iF:@IF{^;FCYV]cAyV HXZR=b2Acoustic response timeoutbDf$VDf8yn%nZ=ٔrQ-r>9pIt=vFyv'EvEv>xQ 5~`4z?Q 9~`4z )z@Q A9YQ Ew9yQ I?zZCIz; ;iz@z2`4y Bɮ B*j!Bj!i!i)zi)Ji)i) kc5nGkc5=99YEkAkc5hA颉ɢ ) !Ji)A=项i=㼉I9^A9AMpAzAMpA2Acoustic response timeoutbE4jEf4rE0ES EBEBE"E9*E(9VE5ZEBE:a 2E:a JEa :Ea I9 q I O >`я,H E?A;ɰ,BV@BpQ@B?=ٱBxѾ JAHRS rotation from veh to nav: [[0.047431,0.915104,0.400417],[-0.996708,0.069746,-0.041332],[-0.065751,-0.397139,0.915400]]BHH? H?`p?`ڱ?@y) հ jٿ@J?iBV@IB|^;BCYvbAyzd Ha}a} a}a} a}a} a}a} y})\(?T㥛 {Gz}GA?}}ףy y9}i|?5?~jt㥛 ?Y}1?y}D}>y}IeB }LB)}PB}Y}…BbDVD8yɽ%>=ٔQ->9I=Fy*E*żE>Q 5`4?Q 9`4)8@Q AT:Y5?Q E:yiQ I?ZCIj;i;A`4y9BɮBE*jBjiiziJiiq k3Ak3Ak3Ah kWkWkWh2f5>:f5>Bfb9@JfWF?9ɢ==!)9 =Ti9)E/>=AAiE ἉIiII2Acoustic response timeoutԙ^AII O5> iy I} A 2Acoustic response timeoutE [ E FE EE "E a:*E ;J9VE 5ZE a @a @a @a @`я,$&E?A> @>@>A=ٱ>~Ծ NAHRS rotation from veh to nav: [[0.038249,0.913443,0.405165],[-0.997214,0.060879,-0.043112],[-0.064046,-0.402388,0.913226]]P>H S?:?;?,+?Xeٿ`&9?i> @I>^;>CYb]bAyf1 H )IibDVD8yJ%G=ٔIQ->9I=Fy,E˷E>Q 5`4A?Q 9`4TQ =tI)@YynQ I?G[CI ;i ;P`4y ɮ B *jBj!i!i!zi!Ji!i) k;k;k;hA2fY:fYBfYJf]G[?ɢDo)6 +Zi)w<=i߼IBu<>BqBu) HBuObABqBqBqBu;BuEIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout^AqIII O)! l`я,@E?A>ʐ@>jŗ@> =ٱ>־ FAHRS rotation from veh to nav: [[0.030394,0.912102,0.408835],[-0.997531,0.053589,-0.045397],[-0.063316,-0.406445,0.911479]]>H@|? /?X*?`@o?R>z52ڿ@*?i>ʐ@I>5^;>CYNaAyN HPR?AbDZVDZ8ybH%b]=ٔfQ-f>9dId=fFyf/EjEj>lQ 5r`4ng?Q 9r`4n"")n@YpyvQ¿Q Iv?n[CIn:in :n\`4yxɮzBx|*j Bj iiziJii kFkFkFh) k`k`k`h2f:fBfJf?ɢhs) @ai)b9=iݼI=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT=2Acoustic response timeoutEQ E@E<E"E29*E9VE 4ZEBE:a2E:aJE.:a:E0:a)^AA\?AI9IIQO|> zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutԁ *`я,YE?A:B@: @:*=ٱ:׾ RAHRS rotation from veh to nav: [[0.022564,0.911857,0.409886],[-0.997732,0.046544,-0.048619],[-0.063411,-0.407860,0.910840]]:H ?-?`;?`lԧ? 䨿;`ڿ%?i:B@I:ݤ^;:CYVQaAyZ HYbD%VD%8ym%m@=ٔmk9Q-m>9qIq=uFyu1E}E}>Q 5`4?Q 9`4))f@YyGÿQ I?[CI-:i:k`4yɮB *jBjii!zi!Ji!i! k#Jk#Jk#Jh92fy:fyBfyJf}G^?频ɢ:j) ji)P.6=顙i:ڼIԁE2Acoustic response timeoutEU EDEE"E:*Ea99VEZEa@a@a@a@^AIYIiO>ԱB =>B B HB [aAB B B B n;B E 'T`я,ݵsE?A6A<@67@69/=ٱ6-׾ JAHRS rotation from veh to nav: [[0.013063,0.912048,0.409876],[-0.997895,0.037932,-0.052603],[-0.063524,-0.408326,0.910623]]6H?@~/?j;? k?@C@"ڿ#?i6A<@I6^;6CR2Acoustic response timeoutYZ`AyZK HbD-VD-8ye%eK=ٔmf9Q-m>9iIi=uFyu4EuxEu>yQ 5`4}e?Q 9`4}n1)}@Yy{ĿQ I?}\CI}:i}p:}y`4yTBɮ7BE*jBjiiziJiiԹ kCkCkCh kCkCkCh2f:fBfJf? ɢ ⿼) qi)`13=iؼI=ue2Acoustic response timeoutEQ EFEE"E29*E;J9VEZEBEa2EaJEe:a:Ee:a^A9 A I9 II O >:ӣ`я,- E?A2֏@2і@2)ށ=ٱ2{"־ :AHRS rotation from veh to nav: [[0.000719,0.913790,0.406187],[-0.997990,0.026395,-0.057615],[-0.063370,-0.405329,0.911972]]2H~G?=?`?T?@8 ٿ.?i2֏@I2p^;2CYBt`AyB HDFp=|yn?MbQv?u 9-? rȿQſY?U?yC(bB 0B)BYBbDVD8yMy%1=ٔQ->9I=Fy7E mۼE >Q 5`4?Q 9`4w;)@Y^?Q E%s:y%[Q I%?\CI ;iT ;`4y-QBɮ-BB)*jABjAiIiIziIJiIiI k=k=k=ha k=k=k=hq2Acoustic response timeout2fU>:fU>Bf{@Jf @颩ɢ) xi)z/=顱iּI` A^A=I I = 2Acoustic response timeoutOE >Eq  Eu BEu >Eq "Eq *Eu (9VEu 4ZEq a} @a} @a} @a} @ԁ `я,E?A4<ɰ;:\@:W@:?=ٱ:Ҿ BAHRS rotation from veh to nav: [[-0.014176,0.916585,0.399589],[-0.997908,0.012237,-0.063473],[-0.063068,-0.399653,0.914494]]:H@rT?ܒ???8%ٿC?i:\@I:^;:CYN_AyN HbD^VD^8yfǽ%ja=ٔjYQ-j>9tIt=zFy~9E %E >Q 5%`4+?Q 9-`4tC)p@Y)y-4Q I-?\CI};iy~;`4y9ɮEUBAY*jaBjiiiiiziiJiqiq ksBksBksBB?>BKCB HB?`AB=BBBR;BEh2f:fBfJf@aɢm\)i m〿ii)m8E,=qqiu ӼyIyԉߥ=ߥ<2Acoustic response timeout@@@@ԱI I O >ڰ`я,ÂE?A2*Ԏ@2ϕ@2=ٱ2wξ :AHRS rotation from veh to nav: [[-0.030802,0.919898,0.390947],[-0.997575,-0.003868,-0.069495],[-0.062417,-0.392140,0.917786]]2Hs o?@G?"o sʱٿ`^?i2*Ԏ@I2v^;2CYB_AyBt HbDNVDN82Acoustic response timeoutyZ%F=ٔϺQ->9I!=%Fy%)Q 55`4- ?Q 95`4-9L)-@EEU EE>EE=EA"EE:*EE9VEE|4ZEABEE:aM2EE:aUJEE9aU:EE$9aUYQyU@Q I]?-/]CI-;i-?;-6`4yaɮe`Ba*jyBjyiiziJii k&k&k&Թh2f:fBfJfM@ɢ) i)(=!!i%OѼ)IAe[?AeY?IIO5q>2Acoustic response timeoutiI II 9 `я,Tp݂E?A2 C@2=@2Fy=ٱ2ɾ :AHRS rotation from veh to nav: [[-0.048473,0.923273,0.381073],[-0.996971,-0.021491,-0.074746],[-0.060821,-0.383542,0.921518]]2HgѨ`t?`c?/ @"`#ؿ@}?i2 C@I2b^;2CYB[_AyBW HDDbDNVDN8yb%fP=ٔjQ-j>9hIh=jFyj>En7En>pQ 5v`4r?Q 9v`4rT)r!@YxyziQ Iz?r]CIry:ir[:r`4ylBɮBE*jBjiiziJii k$k$k$h k$k$k$h2f:fBfJf@ɢt#) %i)Ȋ%=i}μ I IIO5=i I A2Acoustic response timeoutEUV EUGEU<EQ"EU=:*EUR9VEU 4ZEQa]@a]@a]@a]@ABA>BBN HBK_ABBBB@;B݀Eiԙ  2Acoustic response timeout.`я,KE?A2,@2 @2n=ٱ2ž :AHRS rotation from veh to nav: [[-0.066957,0.925673,0.372353],[-0.996057,-0.040247,-0.079058],[-0.058196,-0.376179,0.924718]]2H@$@?`?3=`˭PؿI?i2,@I2{^;2CYR^AyVHpp p)pIpiptv=v=bDzVDz8y ½% E=ٔ XѻQ- >9I=FyAEu8E>!Q 5-`4%꾉?Q 9-`4%q])%m@Y1y5Q I5?%]CI%|:i%t:%i`4y=iBɮ=BEE*jQBjiiziJii k#k#k#h k$k$k$h!2f1:f1Bf1Jf5b@iqɢuˉ ) .i)!=顑iQ̼III)O]=ԡ-2Acoustic response timeoutEW EBE>E"E :*E(9VE4ZEBE):a2E.:aJEL+:a:EO+:a `я,[&E?AN|@Nv@NO=ٱN VAHRS rotation from veh to nav: [[-0.103807,0.926637,0.361342],[-0.993304,-0.078064,-0.085168],[-0.050712,-0.367764,0.928536]]NH?; ? %@͵`p׿ ?iN|@INi^;NCY^X^Ay^HaM@aM aM@aM aM@aM aM@aU yMx&? rhM7i?M̽MC I I)MMb@Mb@Mb@IMiM‰MIMeB MB)MMYMyBbDmVDm8yuh%}C=ٔ}Q-}>9I=FyDE%E>Q 5`4)߾?Q 9`46f)@Q A+:YQ EE:yFQ I?=^CI& ;i>;`4yɮB}2Acoustic response timeout*jBjiiziJii k3&k3&k3&h k9k9k9hɢֈ)  9i ) =iIɼIA-qAzA-qAAaIiIyO=>) 5 hDAT read: Forwarding Delay UpTx time:18:25:16.2038 = pIn parseResponses, set commsState_ = SENDING_ACK_WAITING= 2Acoustic response timeoutE  E E <E "E *E VE 4ZE a @a @a @a @Y cE`я,r+E?AZ @Z@ZU0<=ٱZ= fAHRS rotation from veh to nav: [[-0.120537,0.925127,0.360016],[-0.991646,-0.095432,-0.086783],[-0.045928,-0.367469,0.928901]]ZH۾?@ ??nl7@샧 ׿?iZ @IZj$_;ZCYrJ^AyrHA1A5AAB=B>B9B=HB=^AB9B9B9B=D;B=EBKCBKCBB=B=C4bDeVDe8yu %uJ=ٔ}AQ-}>9yIy=}FyFEc*E>Q 5`4Ӿ?Q 9`4n).@Q A :YQ E :yfQ I?^CIX;i S?`4yɮB*jBjiiziJii k k k h k3@k3@k3@h频ɢ"&) i)x=顙iǼI)A$A -i>-CIa2Acoustic response timeout_G9YAIOMS>Qy (`я,MDE?A0FSj@F1e@Fq )=ٱFI RAHRS rotation from veh to nav: [[-0.136987,0.922892,0.359869],[-0.989712,-0.112377,-0.088548],[-0.041279,-0.368297,0.928792]]FH ƈ T?`?`@ļ"+׿?iFSj@IFx^;FCYVd]AyZ"Hv2Acoustic response timeoutaeAbDm VDm8yL %G=ٔ9Q->9H?IH?=FyIEF%E>Q 5`4Ǿ?Q 9`4,w)@Q A9bEC4jE4rE0EQ EEBE"E29*EVE5ZEBE:a2E:aJEM+:a:EaYQ E:yQ I?^CI;i?#`4yBɮՍBE*jBjiiziJii! k$k$k$h1 kcBkcBkcBhAiɢmD7)q u۔iq)uЭ=qyi}ożyIԉIIO%>Թ2Acoustic response timeout R`я,^E?AB@B@B"=ٱBmO¾ JAHRS rotation from veh to nav: [[-0.152404,0.920056,0.360928],[-0.987635,-0.128200,-0.090234],[-0.036749,-0.370217,0.928218]]BHÿ@q?@r?`h Т׿@?iB@IB>^;BCYRV]AyVH`bD-!VD)y %K=ٔ 9Q->9I=FyKEE>Q 5`4V?Q 9`4o)0@Q A9YQ E9y@Q I?J_CI ;ir?,`4yɮ֍B*jBjiiziJii k'k'k'h kDkDkDh19% r%NAggregate::initialize marl:UpdateRudderq9%J])q9-9-7-o-XAggregate::initialize marl:UpdateCommandMode18-])18-o-@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq75n5LAggregate::initialize marl:UpdateSpeed75]175n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeedQɢU0`;)Q UMiY)]&=YYi]YEüaIaAu\?Au[?2Acoustic response timeoutIyIO>EL EFE:E"E9*E;J9VE(4ZEa@a@a@a@B=C>B9B=THB=]AB9B9B9B=S;B=EA  2Acoustic response timeout`я,xE?A:m@:h@: =ٱ:Aþ FAHRS rotation from veh to nav: [[-0.167471,0.916851,0.362406],[-0.985342,-0.143551,-0.092165],[-0.032478,-0.372529,0.927452]]:H oſ`V?@1?_¿#@׿௭?i:m@I:^;:CYr\AyvHbD~8VD~8y d% S=ٔd4Q->9I=%Fy%NE% E%>)Q 55`4-?Q 95`4-a)-@Q A=9Y9Q E=9y=;Q I=?-_CI-* ;i-@-`4yE~BɮEލBEE*jYBjYiYiYziYJiaia kDkDkDhy kDkDkDhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颱ɢ~K) i)=i1IIIIO=92Acoustic response timeoutiEV E>EAE"E=:*E9VEA4ZEBE:a2E:aJE9a:E$9aԑ Rj`я,脒E?A2}@2[@2W<ٱ2ľ :AHRS rotation from veh to nav: [[-0.181476,0.913601,0.363868],[-0.982992,-0.157925,-0.093740],[-0.028177,-0.374691,0.926722]]2H@:ǿ79I=FyPE E>Q 5`4?Q 9`4)@Q AT:Yw?Q EA:yqQ I?`CIb;i;`4yBɮBE*jBjiiziJii k31k31k31h kCkCkCh2f%->:f%->Bf%!A@Jf%@AɢExEU2Acoustic response timeout)Q UGiQ)] =YYi]EaIaI IOU=ԙ 2Acoustic response timeoutE S E BE =E "E 9*E (9VE |4ZE a @a @a @a @ Z`я,NE?A>@>~@>><ٱ>ƾ FAHRS rotation from veh to nav: [[-0.195583,0.909969,0.365656],[-0.980386,-0.172177,-0.095912],[-0.024320,-0.377243,0.925795]]>H@ɿ`v?f?Q_ ƿ@;瘿`$ؿ?i>@I>ޭ^;>CYNe\AyNHdd d)hIhihhBrD>BpBr HBr:]ABpBpBpBra;BrEbDSVD8y S%T=ٔ[$Q->9I=%Fy%SE%E%>)Q 55a4-e?Q 95a4-)-=@Y9y=OQ I=?-`CI-;i-;-a4yAɮE BA*jYBjYiYiaziaJiaia ksAksAksAh2f:fBfJfs&@)ɢ-ʊX)) -Ҝi))U=QQiUYIYIIO%=e2Acoustic response timeout)Y x`я,)ƃE?Af2Acoustic response timeoutEV ECE?E"E=:*E09VE^4ZEBEa 2Ea JE9:a:E9:aE@E @E<ٱEƾ }AHRS rotation from veh to nav: [[-0.209576,0.906822,0.365721],[-0.977567,-0.186283,-0.098296],[-0.021009,-0.378117,0.925519]]EH`ʿ@?g?9H ǿ)j3ؿڝ?iE@IE^;ECYc\AyHbDGVD8y%A=ٔQ->91IQ=UFyUUEUE]>YQ 5ea4])?Q 9ma4])]Y@Yiym$Q Im?]`CI]:i];]a4y}Bɮ} By*jBjiiziJii k&k&k&h k#Ck#Ck#Ch2f:fBfJf۲@ɢP) ᜿i)7=i IIIOU>auq?u%=u2Acoustic response timeoutԉ `я,߃E?A2Ι@2@2*<ٱ2gƾ :AHRS rotation from veh to nav: [[-0.223549,0.903774,0.364990],[-0.974527,-0.200346,-0.100787],[-0.017964,-0.378224,0.925540]]2H<̿`?[?S/ɿ@&͹ e4ؿ?i2Ι@I2^;2CYBb\AyBHAbD ;VD 8y]%eP=ٔenQ-e>9iIi=mFymXEmEu>qQ 5}a4u`?Q 9a4uس)u@YyQ I?udaCIu:iu:u!a4yBɮ%BE*jBjiiziJii k<k<k<h k<k<k<h2f:fBfJf@@ɢl) i ) <  i -IԱ2Acoustic response timeoutEQ EFE>E"E29*E;J9VE4ZEa@a@a@a@AeAIqIO>BE>BBHB\ABBBB=;BހE  2Acoustic response timeout9 G`я,@E?A2C@2!@2Ic<ٱ2Mƾ :AHRS rotation from veh to nav: [[-0.238110,0.900692,0.363398],[-0.971113,-0.214782,-0.103963],[-0.015587,-0.377655,0.925815]]2Hezοw?A?[}˿J`쏿 +ؿ`G?i2C@I2^;2CYB"\AyB\HbDE2VDE8y%H=ٔQ->9K?IK?=Fy[EE>Q 5a4 w?Q 9a4)@YyQ I?aCI:i9:/a4yɮ-B*jBjiiziJii k<k<k<h kVkVkVh2f :f Bf Jf Ȁ@)ɢ-se)) -잿i))5g<11i5B9I9 AIIO}7>9iI2Acoustic response timeoutEV EIEE"E=:*Ec9VEZEBEa-2Ea-JE:a-:E:a-i aя,tE?A02@2ܖ@2-]<ٱ21ž >AHRS rotation from veh to nav: [[-0.253648,0.897449,0.360899],[-0.967202,-0.230103,-0.107575],[-0.013499,-0.376348,0.926380]]2H;п??`RsͿؿ`?i2@I2M^;2CYF[AyF*Hy-?(\µ?~jt5~?= 9(\?L7A`?QY?y+=bB B)BY8BbD/VD8y7D%E=ٔݤQ->9I=Fy]E(E>Q 5a4n?Q 9a4):@Ya?Q E>:y$Q I?LbCI ;iT ;t>a4y Bɮ 4B *j!Bj!i!i!zi!Ji)i)=2Acoustic response timeout kC;kC;kC;hI2f]N=:f]N=Bf] @Jf]@yɢ}Cl) xi)B<顁ixRIԉAIIO5.>Թ>> 2Acoustic response timeout E- S E- DE- =E) "E- 9*E- a99VE- |4ZE) a5 @a5 @a5 @a5 @$ aя,-E?A6+ @6 @6{n=<ٱ6jľBBF>B@BBHBBo\AB@B@B@BB>;BBE NAHRS rotation from veh to nav: [[-0.270595,0.893885,0.357419],[-0.962624,-0.246778,-0.111608],[-0.011562,-0.374261,0.927252]]6H`oQѿ ??`hϿ@X׿` ?i6+ @I6>^;6CYV[AyVH^=^=\bDbFVDb8yj%j]=ٔn[Q-n>9pIp=rFyr`ErAEv>tQ 5za4vg?Q 9za4vO)vs@Y|y~`Q I~?vbCIv;iv;viKa4yɩBɮ SB E*j!Bj!i!i!zi!Ji)i) ks;ks;ks;hA kbkbkbhQ2fa:faBfaJfe @yɢw) i)<顉iyIAIIO>M2Acoustic response timeoutA kaя,mGE?A6zr@6Xm@6%<ٱ6¾ >AHRS rotation from veh to nav: [[-0.288611,0.889965,0.353081],[-0.957393,-0.264354,-0.116259],[-0.010128,-0.371591,0.928341]]V2Acoustic response timeout6Hxҿ@z??`+п%ý&׿?i6zr@I6^;6CY^[Ay^5HbDjVDjA8ErY Er@Er<Ep"Er:*Er9VEr 4ZEpBEr;az2Er!;azJEr.:az:Er0:azy~<%~H=ٔeQ->9I= Fy bE ;E >!Q 5%a4]?Q 9%a4)@Y)y-Q I-?*cCIJ;iJK;Ya4y1ɮ5MB1*jIBjIiIiQziQJiQiQ k3Jk3Jk3Jhi k^k^k^hy2f:fBfJfp@颩ɢu) ꠿i)U<顱iIApAzApAA$AII!IO]>qU2Acoustic response timeoutԡ aя,IJaE?A2)х@2̌@2<<ٱ2SC :AHRS rotation from veh to nav: [[-0.307410,0.885595,0.348167],[-0.951535,-0.282650,-0.121201],[-0.008925,-0.368552,0.929564]]2Hӿ V?@`H?rҿ  G[׿?i2)х@I2^;2CYB[AyB=HXX X)XIXiX\bDbiVDb#8yj;%jM=ٔnEQ-5>95H?I5H?=5Fy5eE=DE=>AQ 5Ma4ES?Q 9Ma4Er)E@YIyUBQ IU?EcCIE6:iE:E ha4yYɮ]KBY*jqBjqiqiqyziyJiyiy kFkFkFh kUkUkUh2f:fBfJfB̈@ɢOy) i)A<i_I2Acoustic response timeoutER EAE>E"Es9*E 9VE4ZEa@a@a@a@AEAIQIaO>ԩBI>BLCBBBBBDBk;BEBABABABABACEƓ4I a 9 Y A m 2Acoustic response timeoutzaя,>#{E?A2&@2!@2;ٱ2. :AHRS rotation from veh to nav: [[-0.327147,0.880093,0.344109],[-0.944943,-0.301736,-0.126644],[-0.007628,-0.366595,0.930349]]2H@Կ)? ?`<@Oӿ5 >Iv׿@l?i2&@I2|^;2CYN[AyRHTTbDZbVDZ8yb %fK=ٔfiSQ-f>9fK?IjK?=jFyjgEjZEj>lQ 5ra4nI?Q 9va4nf)n @YtyvQ Iv?ndCInd:in|:nua4yzBɮzjB~E*j Bj i iziJii ksXksXksXh)2f:fBfJf@1ɢ=)9 =Li9)=ů<9AiEҭAIIAII O9>2Acoustic response timeoutbEƴ4jE4rE0EW EE<E"E :*EVE 4ZEBE*:a 2E.:a JE:a:E:a1Y 9%aя,E?A2 x@2r@2;;ٱ2￾ :AHRS rotation from veh to nav: [[-0.347219,0.873443,0.341373],[-0.937763,-0.320982,-0.132552],[-0.006202,-0.366152,0.930535]]2H`8ֿ?? ?`(Կw`kgyo׿`?i2 x@I2)^;2CYB\AyBWHy}jt?{Gz?~jt?}Ā?}ף<}}\>y}eB }ɊB)}ByY}pBbDqVD*8y^=%8=ٔRQ->9 I = F2Acoustic response timeouty jECE>!Q 5-a4)%@?Q 95a4%)%@Y5+?Q E54:y58Q I5?%dCI%g1;i%0;%Ma4yAɮE^BA*jQBjQiYiYziYJiYiY kOkOkOhq kPkPkPh2fj>:fj>BfG/?Jfr@颱ɢax) 3i)<项iIAY?AZ?AI!I1YOm5>ԑ 2Acoustic response timeoutE U E CE >E "E :*E 09VE 4ZE a @a @a @a @Ա U++aя,خE?ABA<BH>BBBBBBB;B EVȃ@VjÊ@V!;ٱV) nAHRS rotation from veh to nav: [[-0.367232,0.865613,0.340375],[-0.930119,-0.340049,-0.138725],[-0.004337,-0.367534,0.930000]]VH׿??]տ 1q`׿?iVȃ@IV^;VCYv2\AyvfHbD\VD8y|<%P=ٔGQ->9I=FymE_E>Q 5a4'8?Q 9a4)@YyQ I? eCIr;i;a4yBɮvB˱E*jqBjqiqiyziyJiyiy kPkPkPhԑ kPkPkPh2f:fBfJf~Ȥ@ɢ-) mi)ú<in)II I-2Acoustic response timeoutOu6> "2aя,ȄE?A2@2@2i:ٱ2¾ :AHRS rotation from veh to nav: [[-0.386628,0.857043,0.340582],[-0.922234,-0.358553,-0.144653],[-0.001857,-0.370023,0.929021]]2H@ؿl??@ֿ¿ 5m^v׿`?i2@I2^;2CB2Acoustic response timeoutYF[AyJBHE S E AE ?E "E 9*E  9VE ^4ZE BE :a2E :aJE a:E a%%=%=bD-^VD-8ye0%eO=ٔmOλQ-m>9iIq=uFyuoEuYEu>yQ 5a4}.?Q 9a4}t)}@YyQ I?}eCI}p:i}$:}Ša4yBɮzBʱE*jBjiiziJii kcUkcUkcUh ksUksUksUh2f:fBfJf&@ ɢ 䋽)  @i )P<ilIIIIO5 >52Acoustic response timeoutI :=8aя,E?A2 }@2w@25ٱ2Yþ >AHRS rotation from veh to nav: [[-0.404564,0.848190,0.341908],[-0.914509,-0.375709,-0.150055],[0.001182,-0.373384,0.927676]]2Haٿ@`$??C ؿ5ÿ`_S?׿?i2 }@I2^;2CYB\AyFIHbDNqVDN*8yVs;%VW=ٔZQ-Z>9XIX=^Fy^qE^ZRE^>`Q 5fa4be%?Q 9fa4b')b@YhyjQ Ij?beCIbN:ib:ba4ynBɮnBp*jxBjxixixzi|Ji|i| kVkVkVh kVkVkVh2f:fBfJfڑ@!ɢ%)) -럿i))-<))i5*QIYAizAiIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO%=I2Acoustic response timeoutEV EBE=E"E=:*E(9VE|4ZEa%@a%@a%@a%@B%G>B%KCB%HB%\AB!B!B!B%;B%Eyԩ E 2Acoustic response timeoutg>aя,kE?A2@2l@2ꉻٱ29Ǿ :AHRS rotation from veh to nav: [[-0.419850,0.839076,0.345945],[-0.907584,-0.389918,-0.155744],[0.004209,-0.379363,0.925238]]2Hڿ?`#? iؿlÿR=q?{Gؿ`?i2@I2^;2C@Y^K\Ay^uH`ba=bDjVDjW8yr0=%rG=ٔv/Q-v>9tIt=vFyztEz/'Ez>|Q 5a4~j?Q 9a4~3)~@Y y (Q I ?~lfCI~:i~:~ma4y.BɮBԱE*j)Bj)i)i)zi)Ji1i1 kSkSkShA kSkSkShQ2fi:fiBfiJfm@ ɢ 6)  i )S<ir9I9IIO-=Ա2Acoustic response timeoutEW ECEE"E :*E09VEZEBE*:a-2E/:a-JE9:a-:E9:a- fOEaя,EE?A;ɰ4? ?xٿݞĿ*z~?ؿ?iBb@IB^;BCYb2\AybfHla@a a@a a@a a@a ygfffff?Mb)\(?33?Ga= )Mb@Mb@Mb@Ii‰eB B)Y~BbDVD_8yoe%==ٔQ->9I=FywEE>Q 5a4V?Q 9a4@) @Q A+:YQ E:yQ I?fCI:i.>a4y+Bɮ=2Acoustic response timeout*jBjiiziJii kSkSkShɢdm)  mi )-d<11i5q1I9IIO> 9i I  2Acoustic response timeoutE5 R E1 E5 ;E1 "E5 s9*E1 VE5 4ZE1 a= @a= @a= @a= @a A A ?AB% I>B% LCB% HB% \AB! B! B! B% ;B% E,yKaя,d0E?A2#@2@2͊3ٱ2Ͼ :AHRS rotation from veh to nav: [[-0.442694,0.822064,0.358096],[-0.896606,-0.410709,-0.165577],[0.010958,-0.394371,0.918886]]2H@UܿZN? ? Iڿ1ſ@9|I|=FyyEE> Q 5a4 a?Q 9a4 K) @Q A :YQ E9YyCQ I? _gCI h9\I\=^Fy^|EbмEb>dQ 5ja4f?Q 9ja4fmW)f1@Q Aj9YhQ Ej9ynQ In?fgCErS EpEr>Ep"Er9*EpVEr4ZEpBEr:az2Er:azJEpaz:EpazIff:if?fa4yQBɮŎBݱE*jBjiizi!Ji!i! ks4ks4ks4h1 ks4ks4ks4hIqɢu*Թ) ᜿i)X|<i8IAaIqIO>U4=U4=]2Acoustic response timeout9 eXaя,cE?AF@F@Ft쓼ٱFվ VAHRS rotation from veh to nav: [[-0.459995,0.808305,0.367488],[-0.887738,-0.427079,-0.171829],[0.018056,-0.405274,0.914017]]FHpݿ?`?`YhAUۿ`~ſL}?@ٿ??iF@IFϪ^;FCYb>\AybnHE=E=bDUVDUZ8y>%<=ٔQ->9I=Fy~EE>Q 5a46꽉?Q 9a4d)t@Q A9YQ E9yQ I?WhCI:i#?3a4yNBɮƎB*jyBjyiiziJii k#5k#5k#5h k35k35k35hɢ)  i)g<i$I2Acoustic response timeoutE E@EE"E*E9VEZEa@a@a@a@AAAIQIaO;>BJ>BB HB:]ABBBBd;BEie 2Acoustic response timeoutԡ ^aя,}E?A2/D@2 ?@2*ٱ25<׾ :AHRS rotation from veh to nav: [[-0.466939,0.803242,0.369824],[-0.884040,-0.433962,-0.173640],[0.021015,-0.408018,0.912732]]2HRݿ)? 3?@Jۿ9ƿ@섕? ڿ`5?i2/D@I2R_;2CYBy\AyBHbD VD r8yE=%MP=ٔMQ-M>9IIQ=UFyUEUEU>aQ 5ma4eݽ?Q 9ma4eo)e@Q Au9YqQ Eu|9yuQ Iu?ehCIe;ie@@ea4yyɮ}B*jBjiiziJii k4k4k4h k3Rk3Rk3Rh ɢ a)  7i)Ds<iڝI!A5qAzA1yAe$AIqIO>ԡi߹I߹2Acoustic response timeoutEV EAE?E"E=:*E 9VE^4ZEBE:a%2E:a%JE:a%:E:a% `eaя,ʌE?A2@2l@2ᄿٱ22׾ :AHRS rotation from veh to nav: [[-0.473659,0.799472,0.369449],[-0.880398,-0.440951,-0.174531],[0.023377,-0.407930,0.912714]]2H`lP޿E? ?8, 8ܿ`Wƿ@ ?ڿ4?i2@I2c^;2CYNg\AyRHaa aa aa aa a@a a@a a@a a@a yˡE?n&1G?VP )Mb@Mb@Mb@IifB B)YǁBbDVDf8y'%A=ٔQ->9H?IH?=FyEE>Q 5a49н?Q 9a4{)@Q Ao9YQ E L9y Q I ?LiCI/:iW@,a42Acoustic response timeoutyiBɮ%܎B%E*j9Bj9iAiAziAJiAiA k6k6k6hY ksSksSksShiɢÎ) Ĝi)2b<i!I!A}AIIOD>)  In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutE U E CE ;E "E :*E 09VE 4ZE a- @a- @a- @a- @B B B ;HB ]AB B B B ^;B EBLCBLCBBBC`*4"kaя,bfE?A 6ڌ@6K@6̼ٱ6Q/վ >AHRS rotation from veh to nav: [[-0.480411,0.797193,0.365634],[-0.876690,-0.448336,-0.174385],[0.024909,-0.404324,0.914277]]6H޿ ?@f?@ ܿ;Rƿ?qٿ A?i6ڌ@I6^;6CYF\AyFHHJAbDRVDR]8yV7 =%Z`=ٔZ‰Q-Z>9^K?I^K?=^Fy^EbEb>dQ 5fa4f<Ľ?Q 9ja4fv)f@Q AjB9YhQ Ej%9yjQ Ij?fiCIf:if4@fa4yrfBɮrюBrE*j|Bj|i|iziJii k7k7k7h kTkTkTh)QɢUҮ)Q UiQ)]`T<i\I mi>i=99Y=AqA II!O]>-pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT-2Acoustic response timeoutԙ sraя,_C˅E?A6~@6z@6ּٱ6iaҾBzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYF2Acoustic response timeout NAHRS rotation from veh to nav: [[-0.487920,0.795052,0.360313],[-0.872497,-0.456567,-0.174056],[0.026123,-0.399298,0.916449]]T6H:߿`q?^?~d8ݿ`yGƿ ? ٿS?bEM4jEIrEM١/ErV ErBEr>Ep"Er=:*Er(9VEr4ZEpBEpa2EpaJErM+:a:ErO+:ai6~@I6^;6CYW\Ay}HbD-VD-S8y=L0%=B=ٔ=9AIA=EFyEEM"EM>QQ 5]a4U?Q 9]a4U)Uw@Q A]9YYQ E]9yeQ Ie?U7jCIU ;iUO@Ua4ymBɮmBmE*jBjiiziJii k#9k#9k#9hɢi) Di)uC<iBIAY?AQ?AIIO&>52Acoustic response timeout! xaя,#E?AFO~@F"@F߼ٱFξ NAHRS rotation from veh to nav: [[-0.497259,0.792551,0.352982],[-0.867172,-0.466832,-0.173438],[0.027325,-0.392340,0.919414]]FH߿\?`B?޿@ݿ63ƿ@?ٿk?iFO~@IFH^;DYVP\AyVxH| )IibD-VD-=8y=鋻%=J=ٔEBQ-E>9AIA=EFyEEMټEM>QQ 5]a4U?Q 9]a4UE)U@Q A]8YaQ Ee8ye1Q Ie?UjCIUe ;iUi@Ua4ym~BɮmBi*jBjiiziJii k8k8k8h19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢo) |i) 3<isטI2Acoustic response timeoutE E@E@E"E*E9VE4ZEa@a@a@a@)AAIQIaO>BaBaBaBaBaBaBaBe/;BeـEQԁ E 2Acoustic response timeoutaя,E?A2n}@2᱅@2ٱ2Gyʾ :AHRS rotation from veh to nav: [[-0.509134,0.788480,0.345082],[-0.860203,-0.479605,-0.173291],[0.028867,-0.385069,0.922436]]2HJ`:;??@Ȇ`ڱ޿d.ƿH?`ؿ?i2n}@I2NK_;0Y^7\Ay^iHdf@AbDjbVDj8yr|%rP=ٔv€Q-v>9tIt=zFyzEzEz>|Q 5a4~ՙ?Q 9a4~)~*@Q A 8Y Q E 8y Q I ?~&kCI~:i~W@~a4yɮBY*jBjiiziJii kS6kS6kS6hYsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ*) Ci) <i6IԉI IOEQ>2Acoustic response timeoutER EBE;E"Es9*E(9VE4ZEBEy:a2E~:aJEa:EaԱ aя,E?A2Mn|@22@2ٱ2ƾ :AHRS rotation from veh to nav: [[-0.522467,0.783019,0.337505],[-0.852102,-0.493801,-0.173446],[0.030849,-0.378208,0.925206]]2H `~?@?jDo߿z3ƿΖ?4ؿJ?i2Mn|@I2V _;2CYB\AyBHauau auau a}a} a}a} y}/$?>bD\VD8y-=%2=ٔQ->9I=FyEl E>Q 5b4倽?Q 9b45)Z@Q AT:Yfx?Q EZ:y8Q I?kCI;ip;b4yBɮBE*jBjiiziJii kkkh k7k7k7h2f %?>:f %?>Bf  @Jf 2@iɢmeX)i uśiq)u:) 2Acoustic response timeoutE T E AE =E "E 9*E  9VE |4ZE a @a @a @a @AY A] @ABa Ba Be THBe ]ABa Ba Ba Be ;Be Eԁ aя,2E?ABb{@B)@B:/ٱB þ JAHRS rotation from veh to nav: [[-0.536287,0.776372,0.331123],[-0.843400,-0.508147,-0.174537],[0.032754,-0.372871,0.927305]]BHC) ?@1?!`B7Wƿ"Š?@׿`{?iBb{@IB^;BCYvW\Ayv}HxxbDe^VDe8y%Z=ٔĦQ->9I=FyE2E>Q 5b4#l?Q 9b4:)@Yy<Q I?kCI :i9:b4yBɮB*jBji1iziaJiaia kskskshy k7k7k7h2f:fBfJf1@颹ɢ) Di)1<i<2IIIO- > 2Acoustic response timeoutaԑԹ kaя,eLE?A22Acoustic response timeout6Iz@6@6f ٱ6Ϥ >AHRS rotation from veh to nav: [[-0.550634,0.769164,0.324328],[-0.834033,-0.523004,-0.175658],[0.034515,-0.367223,0.929492]]6H˞ ?@?e`s{ƿ ?@׿`f?i6Iz@I6˺^;4YF\AyFHERV EREER9EP"ER=:*ERA9VER4ZEPBER:aZ2ER:aZJERV:aZ:ERV:aZA p< bD _VD 8ye@=%%T=ٔ%gQ-%>9)I)=-Fy-E-5E->1Q 5]b45bV?Q 9eb45W)5@YayeKQ Ie?5TlCI5;i5K;58b4yiɮmBq*jBjiiziJii kkkh2f:fBfJf/0@1ɢUH)Q ]iY)];YYi]/aIaԑII O==2Acoustic response timeout 'aя,efE?A2!!y@2o@2ٱ2I :AHRS rotation from veh to nav: [[-0.565608,0.760087,0.319932],[-0.823883,-0.537803,-0.178844],[0.036124,-0.364742,0.930408]]2HuR?`y?`?]5Yƿ~?W׿?i2!!y@I2^;2CYB\AyBHbDN6VDN8yV%VR=ٔVQ-V>9XIX=ZFyZE^>E^>`Q 5fb4b @?Q 9fb4be)b^@YdyfpQ If?blCIb:ib:b)b4ynBɮnBnE*jtBjxixixzixJixix kS kS kS h  kC9kC9kC9h2f:fBfJf/@ɢn) i)9;i񒼉!I)AE^?AEa?IIOU=u2Acoustic response timeoutER E?E<E"Es9*E?9VE 4ZEa@a@a@a@B K>B B mHB ]AB B B B ;B EI % 2Acoustic response timeoutaя,BE?A2w@2@2ٱ23 >AHRS rotation from veh to nav: [[-0.580633,0.750493,0.315637],[-0.813311,-0.552424,-0.182628],[0.037304,-0.362751,0.931139]]2H@ ?e3? u`\`ǿ?N7׿?i2w@I2^;2CYB\AyFHDF?AbDNVDN8yfr<%fH=ٔf=Q-f>9hIh=jFyjEnu8En>pQ 5vb4r.(?Q 9vb4r)r@YtyvQ Iz?rmCIr:ir:r8b4y~Bɮ~B|*j BjiiziJii! k k k hq2fY:fYBfYJf]׏.@^B*** querying acoustic contact ***XY1ɢ5%)1 59i1)=;99i=ؑAIAIIIO= >2Acoustic response timeoutԁEV EBEE"E=:*E(9VEZEBEa2EaJEL+:a:EO+:aԡ 9aя,PE?A6 v@6ca@6ٱ6 >AHRS rotation from veh to nav: [[-0.595150,0.740332,0.312578],[-0.802694,-0.566274,-0.187129],[0.038467,-0.362274,0.931277]]@6Hx Ͱ?`F?`ǿ㱣?/׿`?i6 v@I6$_;6CY^I]AybH ddyMe;O?Q? rhMT?M\=MCI I9MX9v?l?X9vYM?yM=M}IMeB MyB)M,BIYMуBbDeVDe8yu}=%u@=ٔ}3Q-}>9yIy=FyE-E>Q 5b4?Q 9b4)L@Y@?Q E?:y Q I?mCI4;i(4;Fb4yBɮBE*jBjiiziJiihDAT read: Forwarding Delay UpTx time:18:25:30.1037 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout k k k h2f1>:f1>BfD;Jf!@ɢ3) i)Y;iϐIԩAE$AIQIaO=>i߉ I߉  2Acoustic response timeoutE X E @E 8E "E ~ :*E 9VE F4ZE a @a @a @a @ B A <B B B HB W^AB B B B ;B Ecaя,DE?A2u@2Ɂ@2!ٱ2Q :AHRS rotation from veh to nav: [[-0.609870,0.729165,0.310446],[-0.791516,-0.579959,-0.192741],[0.039506,-0.363270,0.930846]]2HRU?Z?Tȿ:??׿ }?i2u@I2k^;2CYBF]AyBHXX X)XIXiX\lbD VD8y%%%O=ٔ-,Q-->9-H?I5H?=5Fy5E5a@E5>9Q 5Eb4=?Q 9Mb4=)=@YIyM Q IM?=nCI=:i=:=Tb4yUBɮ]B]E*jiBjiiiiqziqJiqiq kkkh kkkh2f:fBfJfL!@ɢK) ̕i)^xM;iǏIII O= >2Acoustic response timeout1a Kaя,͆E?A"2Acoustic response timeout6B_t@6*@6h&ٱ6C,EBQ EBAEB=E@"EB29*EB 9VEB|4ZE@BEB:aJ2EB:aJJEB:aJ:EB:aJ NAHRS rotation from veh to nav: [[-0.625123,0.717092,0.308221],[-0.779469,-0.594089,-0.198712],[0.040616,-0.364468,0.930330]]6H`k??@h@eoɿˤ?qS׿C?i6B_t@I6n^;6CYnB]AynHpp9bDzVDz8yM %MH=ٔU 2Q-U>9QIQ=UFyUE}@E}>Q 5b4⼉?Q 9b4k)@YyQ I?xnCI:i:*cb4yBɮB*jBjiiziJii ksksksh  kkkh2f):f)Bf)Jf-@颉ɢ) 蕿i)N ;顑iIiIIO%>ԑ>2@2Acoustic response timeout uaя,KE?A2p)s@2@2u+ٱ2 :AHRS rotation from veh to nav: [[-0.639718,0.704916,0.306356],[-0.767470,-0.607537,-0.204670],[0.041847,-0.366050,0.929654]]2Hx?U?p2ʿm?[m׿?i2p)s@I2o^;2CYB]AyBAH!%AbD-!VD-8yeTL=%eI=ٔmeFQ-m>9iIi=uFyuEu@@Eu>yQ 5b4}ʼ?Q 9b4})}J@YySQ I?}nCI}&;i};}@qb4ԡyBɮB E*jBjiiziJii ksksksh2f :f Bf Jf }@1ɢ=5 )9 =Oi9)E:AAiEōIIQII O5=U2Acoustic response timeoutES EBE>E"E9*E(9VE4ZEa@a@a@a@BI>BB HB^ABBBB;BEBqBqBqBqBqCu4GMrAڤ9MrAYA 2Acoustic response timeout! `aя,E?ABkq@B(@B0ٱBݲ fAHRS rotation from veh to nav: [[-0.653903,0.692146,0.305524],[-0.755345,-0.620293,-0.211403],[0.043193,-0.369013,0.928420]]BH`&??+@pA˿ T?׿?iBkq@IB^;BCY]Ay HHbDFVD8ye;%;=ٔfGQ->9I=FyE,E>Q 5b4?Q 9b4g)@YyQ I?ioCI1;iѓ;b4y ɮ B*j!Bj!i!i)zi)Ji)i) kkkhA kkkhQ2fa:faBfaJfe׌|@颁ɢO) 쒿i)HR9顉irьII IOU>]2Acoustic response timeoutbE 4jEf4rEW0E ECE;E"E*E09VE4ZEBE:a2E:aJE9:a:E9:aIԁ aя,cE?A6̿p@6~@6=7ٱ6Xþ BAHRS rotation from veh to nav: [[-0.668105,0.678626,0.305127],[-0.742722,-0.632891,-0.218663],[0.044722,-0.372714,0.926868]]6HaM?`2?@`@&˿?`׿?i6̿p@I6^;6CYF]AyFqHy}NbX9?Q?Zd;O}e?}\=}j9I=FyE2Acoustic response timeout_PE>Q 5b4?Q 9b4X)@Yא?Q E;:y Q I?oCIq ;iP ;Սb4yBɮBQ*jBjiiziJii kkkh2fo>:fo>BfX>Jf @!ɢ%~)! %i))-7[3))i-䋼QIQIIOM>ԁԩm 2Acoustic response timeoutE  E EE <E "E *E A9VE 4ZE a @a @a @a @A A AAB H>B KCB N HB K_AB =B B B ;B E ڱaя,>5E?A2Po@2 }@2W<ٱ2)ƾ :AHRS rotation from veh to nav: [[-0.681259,0.665501,0.304949],[-0.730590,-0.644334,-0.225992],[0.046091,-0.376752,0.925167]]2H`K?J?@`aL̿F?ؿ?i2Po@I2^;2CYBZ^AyBHHJ=bDNVDN8yV=%V\=ٔVqQ-V>9XIX=ZFyZE^tEE^>)Q 5Eb4-'?Q 9Mb4-W)-@YIyMQ IM?-EpCI-;i- ;-:b4yUΪBɮUBE*jBjiiziJii kckckch Ա k3k3k3h2f1:f1Bf1Jf5p@QɢUf)Q ]+iY)]z?кYYi]w aIa2Acoustic response timeoutAAIIOG> 9 aя,OE?A2Acoustic response timeoutE2T E2?E2>E0"E29*E2?9VE24ZE0BE2:a:2E2:a:JE2>9a::E2C9a:Fzn@Fo|@F'CٱFf Ⱦ ^AHRS rotation from veh to nav: [[-0.693958,0.652448,0.304521],[-0.718438,-0.655436,-0.232917],[0.047627,-0.380415,0.923589]]FH4?F}?r T<Ϳb?Xؿ@ ?iFzn@IF^;FCYf_^AyfHbDVD8ypK;%D=ٔdqQ->9K?IK?=FyE$E>Q 5b4j?Q 9b4,)Q@YyQ I?pCI;i;b4y˪BɮB*j)Bj)i)i1zi1Ji1i1 kkkhI k k k hY2fi:fiBfiJfmV@颉ɢO) i)顑i@2IA$AIIO*>9iIlA2Acoustic response timeouti Laя,3hE?A2^m@2@T{@2Iٱ2Fɾ >AHRS rotation from veh to nav: [[-0.706230,0.639842,0.303054],[-0.706267,-0.666495,-0.238686],[0.049263,-0.382604,0.922598]]2Hn y?>e? S`Aο9?|ؿ`?i2^m@I2)^;2CYF^AyF HHH\\ \)`I`i``bDfVDf8yr=%rM=ٔvQ-v>9zH?IzH?=zFyzE~:E~>Q 5b4|S?Q 9b4")&@Yy"Q I?.qCI=;iY<;Tb4y)ɮ-B)*jIBjIiIiIziQJiQiQ kCkCkChq2f:fBfJf@AɢM9)I MiI)M~VQQiUmqIqi1I1=2Acoustic response timeoutIQiEuS EuMEu?Eq"Eu9*Eu9VEu^4ZEqa@a@a@a@BQBQBU HBU_ABQBQBQBU;BU~EAAI IOU2>ԙ  2Acoustic response timeoutaя,₇E?AT}Yl@}UOz@}0Oٱ}jʾ AHRS rotation from veh to nav: [[-0.717340,0.628120,0.301478],[-0.694886,-0.676404,-0.244155],[0.050562,-0.384635,0.921683]]}Hs@?`hK?@<@y@Ͽ>?@۝ؿ`m~?i}Yl@I}B^;}CY&_Ay7 HAyx&?/$Q롿7i?\ 9Q?9K?IK?=FyEb E>Q 5b46?Q 9b4*,)@YW?Q EJ:yOQ I?qCI:i:b4y ȪBɮ B *j!Bj!i!i!zi)Ji)i) kskskshA kkkhQ2feT>:feT>Bfe r\?Jfe:@颁ɢʗ) Άi)顉iI=2Acoustic response timeoutE}O E}FEyEy"E}9*E};J9VEyZEyBE}܄:a2E}:aJE}e:a:E}e:aA$AIIOi> aя,uE?A2Yk@2Oy@2eUٱ2^ʾ :AHRS rotation from veh to nav: [[-0.728044,0.616719,0.299350],[-0.683547,-0.686265,-0.248603],[0.052115,-0.385613,0.921187]]2H`"L )?(?:Ͽ Ԯ? ؿ^z?i2Yk@I2Ъ^;2CY^4_Ayb? H bD-$VD-8y5A"<%=j=ٔ=͑Q-=>9EH?IEH?=EFyEEM7EM>QQ 5Ub4UF!?Q 9]b4U3)U;@YYy]PQ I]?U rCIUn;iU;Ub4ymBɮmBmE*jyBjiiziJii k2Acoustic response timeoutkkh2f:fBfJfT@ɢV) ]i)iIA]?Ag?)AAIQIaO>QU 2Acoustic response timeoutE V E AE <E "E =:*E  9VE 4ZE a @a @a @a @BA AE 4=BI BI BM / HBM `ABI BI BI BM ;BM }Eԡ aя,]E?A2fj@2\x@2ۙ\ٱ2"Z˾ :AHRS rotation from veh to nav: [[-0.738028,0.605773,0.297245],[-0.672620,-0.695593,-0.252454],[0.053832,-0.386251,0.920821]]2H}b?@?KB 6(пя?Vؿ^w?i2fj@I2c^;2CY^_Ayby HybD}=VD}8yN^=%B=ٔQ->9I=FyEE>Q 5b4?Q 9b43;)@YyDQ I?zrCI:i=:b4yݪBɮB*j Bj i i zi Jii k3k3k3h) kkkh92fI:fIBfIJfM@iɢm )q uniq)u$fqyi}jyI2Acoustic response timeoutAAԱIIO(> ] 2Acoustic response timeoutAaя,ЇE?AEU EE>E"E:*EVE4ZEBE:a2E:aJE:a:E:a>ri@>gw@>bٱ>˾ JAHRS rotation from veh to nav: [[-0.747934,0.595022,0.294182],[-0.661458,-0.705107,-0.255533],[0.055382,-0.385711,0.920956]]>Hk ?@?*`<Zп`[?~ؿxx?i>ri@I>^;>CYR`AyR H==  BAbD@VD8yMG=%MP=ٔMʁQ-U>9UK?IUK?=UFyUE]"E]>aQ 5mb4e?Q 9mb4eB)ei@Yqyu8Q Iu?erCIeN:ie:eUb4Թy}ڪBɮَBE*jBjiizi9Ji9i9 kkkhQ kkkh2f:fBfJf@ɢG() ti)bٻi↼IAaIiIO?>2Acoustic response timeoutA aя,=E?ABPExceeded connect timeout, disconnecting.>vv@>+Siٱ>ʾ RAHRS rotation from veh to nav: [[-0.757510,0.584265,0.291229],[-0.650337,-0.714278,-0.258590],[0.056933,-0.385281,0.921041]]>H=K?`}?@^`п[&? rؿ+y?i>&^;>CYZ=`AyZ HbDjTVDj8yv=%vR=ٔzQ-z>9xI|=~FyEE> Q 5b4 hԻ?Q 9b4 I)  @Y!y%)Q I%? 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L? < :  9 +?J +?MbY v~?y H=    (B)  Y ܄BbD%YVD%8y=M=%=6=ٔ=MQ-=>9AIA=EFyEEEE>Q 5c4}?Q 9c4 R)1@Y~?Q EU:y{Q I?sCI:i<:c4yBɮގB%E*jBjiiziJii  k k k h k!k!k!h)2f="N>:f="N>Bf=B>Jf=x@Yɢ]t])a ebvia)mB1iiimiIq>AII2Acoustic response timeoutO-N>E]Q EYE]<EY"E]29*EYVE] 4ZEYBE]:ae2E]:aeJE]L+:am:E]O+:amA $bя,bE?Aɰ; 6Ef@6t@6Bsٱ6Ⱦ >AHRS rotation from veh to nav: [[-0.776425,0.563127,0.282936],[-0.627398,-0.733047,-0.262705],[0.059470,-0.381484,0.922460]]6Hx"?@?@u'п r?@;jؿ˄?i6Ef@I6Q^;6CYF`AyF: HbDRNVDR 8yZ =%Zh=ٔZRQ-Z>9\I\=^Fy^ÐEbZ/Eb>dQ 5jc4f?Q 9jc4fW)fO@YhyjpQ Ij?ftCIf:if:fc4yrBɮrՎBr$E*j|Bj|i|iziJii k3 k3 k3 2Acoustic response timeouth2f:fBfJfw@ɢ) Hsi)E;i/~IyAIIO!>nManaging dock network, ignoring radio surface power offԙi) I) 5 2Acoustic response timeoutEu V Eu AEu >Eq "Eu =:*Eu  9VEu 4ZEq a} @a} @a} @a} @ A! A! 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Lؿ@ߕ?iF"yc@IF”^;DYjaAyj H==9YbDE+VDE8yğ<%B=ٔ]Q->9I=FyːE#E>Q 5c4 Q?Q 9c4Ll)@YyQ I?UuCI:i1:HEc4yɮB*jBjiiziJii kkkh ksksksh2f!:f!Bf!Jf%t@19- r-NAggregate::initialize marl:UpdateRudderq9-2Acoustic response timeoutJ])q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n 4Completed marl:UpdateSpeedq7 n PAggregate::uninitialize marl:UpdateSpeedE5X E5FE5=E1"E5~ :*E5;J9VE5|4ZE1a=@a=@a=@a=@yɢ} ])y }yai)O|7顁iuIBE>BB HBCcAB=BBB;BEԁAIIOMS>Ա 2Acoustic response timeout K!bя,oE?A,Vb@Kp@Xٱ=ž -AHRS rotation from veh to nav: [[-0.816297,0.514036,0.263490],[-0.574228,-0.771598,-0.273678],[0.062628,-0.374706,0.925026]]H r??`ѿf? -׿Й?i,Vb@I^;CY=6bAy= HԱy5Cl?I +?kt?5d[?59=5 0=1 195x&1?MbX9?EԸ?Y5A?y5ʡ=5=11 1)5TB1Y5=BbDMUVDM8y]u5=%]>=ٔeQ-e>9aIa=eFyeΐEm)Em>qQ 5}c4u5?Q 9}c4us)u@Y@?Q ER:yQ I?uuCIu:iu:uJTc4yBɮB-E*jBjiiziJii kCkCkCh kCkCkCh2f>:f>Bf @Jfu@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢT) \i)CihIiAIA2Acoustic response timeoutEUZ EUAEU>EQ"EU:*EU 9VEU4ZEQBEUc;a]2EUe;a]JEU:ae:EU:aeAe$AIqIOa> 1 r'bя,:E?A6-a@6#o@6Yٱ6Юľ BAHRS rotation from veh to nav: [[-0.826527,0.500075,0.258414],[-0.559361,-0.781045,-0.277639],[0.062993,-0.374023,0.925277]]6H@r?܉?HRѿN ?׿`ߛ?i6-a@I6^;6CYJbAyJ_ HbD!VD8yM=%M^=ٔUQ-U>m2Acoustic response timeout9uH?IuH?=}Fy}АE_FE>Q 5c4?Q 9c4,z)@YyQ I?#vCII;i:K;^ac4yBɮB*jQBjYiYiYziYJiYia kckckch2f:fBfJft@ɢ*) Ui)fMi?,IAEAAIQIaIO>>i 2Acoustic response timeoutEU T EU ?EQ EQ "EU 9*EU ?9VEQ ZEQ a] @a] @a] @a] @B ?>B JCB U HB 7dAB =B B DB ;B Eԙ ޜ-bя,E?A2v`@23m@2jٱ2ž :AHRS rotation from veh to nav: [[-0.836555,0.485222,0.254431],[-0.544198,-0.789666,-0.283331],[0.063437,-0.375483,0.924656]]2H@@ ?@H?j@D"ҿ b=?ؿǖ?i2v`@I2^;2CY~.cAy~ H  bDVD8ye=%eH=ٔm Q-m>9mK?ImK?=mFyuӐEuz9Eu>Q 5c4n?Q 9c4)@Yy!Q I?vCI;i:oc4yBɮB,E*jBjiiziJii kkkh kkkh2f:fBfJfbs@!ɢ%ᐽ)! %Mi!)-7\W))i-)qIu2Acoustic response timeoutA9IIIYIԡO?>  2Acoustic response timeout4bя,҈E?AEV E@E=E"E=:*E9VE|4ZEBE:a2E:aJE.:a:E0:a>^@>l@>fٱ>4ƾ JAHRS rotation from veh to nav: [[-0.846137,0.470428,0.250498],[-0.529095,-0.797971,-0.288618],[0.064116,-0.376748,0.924094]]>H?*?X`xҿi?ؿ .?i>^@I>^;>CYRcAyR HbDZVDZ8yba=%fU=ٔfQ-f>9dIh=jFyjՐEjl?Ej>pQ 5vc4r/꺉?Q 9vc4r')r@YtyvEQ Iz?rvCIr:ir:r|c4y~Bɮ~B|*jBjiiziJii kkkh) kkkh2f:fBfJfEr@)ɢ-.w)) 5%Fi1)5~aQQiU惼YIYAmY?Am]?AiIqIO>2Acoustic response timeout) ٮ:bя,E?A>ڸ]@>k@>;ٱ>ƾ FAHRS rotation from veh to nav: [[-0.855412,0.455488,0.246577],[-0.513851,-0.806062,-0.293634],[0.065010,-0.377882,0.923569]]>H_&?ԏ?xqBҿx?6/ؿ?i>ڸ]@I>^;>CYNcAyN Hdd h)jIhihhbDrVDr8yvM=%zH=ٔzBQ-z>9|I|=~Fy~ؐE2E> Q 5 c4 κ?Q 9c4 ) @YyiQ I? UwCI :i : c4y%Bɮ%B!*j1Bj1i9i9zi9Ji9iA kkkhQ ksksksha2fy:fyBfyJf}))q@频ɢRM) FBi)5k顙iLЃI2Acoustic response timeoutE5P E5AE1E1"E59*E5 9VE1ZE1a=@a=@a=@a=@Bu=>BqBu HBu+eABu=BqBqBu;BuEԑAIIO(>Թ  2Acoustic response timeoutAbя,E?AF\@Fj@FeٱFǾ RAHRS rotation from veh to nav: [[-0.864007,0.440909,0.243086],[-0.499126,-0.813442,-0.298639],[0.066064,-0.379357,0.922889]]FH7?@n?߿ӿ?`GؿN?iF\@IFɨ^;FCYV;dAyZW H\y="~j?T㥛 9iIq=uFyuېE}&E}>yQ 5c4}?Q 9c4})}@Y~?Q EU:y#Q I?}wCI}3:i} ;}ʙc4yBɮB5E*jBjiiziJii kkkh kkkh2fM>:fM>Bf+]|?Jfۡ@颉ɢ) L2Acoustic response timeoutE]V E]EE];EY"E]=:*E]A9VE]4ZEYBE]:am2EYamJE]V:am:E]V:am9 LGbя, E?A2[@2i@2;ٱ20Ⱦ :AHRS rotation from veh to nav: [[-0.872030,0.426964,0.239303],[-0.484851,-0.820431,-0.303006],[0.066959,-0.380257,0.922454]]2H@_S?@x?߿@@ tdӿ3$?Vؿ`?i2[@I2^;0YJdAyJ HAE%=MIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERU2Acoustic response timeoutbDeVDe8y=%C=ٔ Q->9I=FyݐE E>Q 5c4a?Q 9c4)d@Yy$Q I?(xCI<;i:dc4y Bɮ B *j!Bj!i!i!zi)Ji)i) k!k!k!hA k!k!k!hQ2fa:faBfaJfe@ɢ,:)x 2i) 9iI!A1zA5oAQII!Om5>qpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutEU U EU BEQ EQ "EU :*EU (9VEQ ZEQ a] @a] @a] @a] @Ai Am @ABu :>Bq Bu HBu fABq Bq Bq Bu ;Bu Eԡ RMbя,t]:E?A2Z@2אh@2sٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.879231,0.413814,0.236032],[-0.471513,-0.826662,-0.307093],[0.068039,-0.381298,0.921945]]2H " {?`O6?C-޿tjӿk?0gؿ?i2Z@I2^;2CYNdAyR HVp=TbD!VD!yy@%P=ٔ4Q->9I=FyEE>Q 5c4x?Q 9c4؞) @Yy%Q I?xCIw:i:c4yBɮ~B*jBjiiziJii kkkh k k k h2f :f Bf Jf 3@!ɢ-)) -t2i))-郼11i59I9IIIO>]zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe2Acoustic response timeoutԱ  2Acoustic response timeoutEY  EY E] =EY "EY *EY VE] |4ZEY BE] :am 2E] :am JE] L+:am :E] O+:am Tbя,S{TE?Aɰ2[Y@2g@2Nٱ2SȾ >AHRS rotation from veh to nav: [[-0.886204,0.400958,0.232108],[-0.458136,-0.832980,-0.310252],[0.068943,-0.381284,0.921884]]2H@[M??Rݿħ@,ӿ>?fؿ ?i2[Y@I2E^;2CY^DeAy^ H %p9AIA=EFyEEMZEM>QQ 5]c4U?\?Q 9]c4U!)U@YYy]&Q I]?UxCIU;iU;U c4ymBɮmnBm4E*jBjiiziJiiԹ ksksksh2f:fBfJf%@9ɢE)A E+iA)EmAIiM(-IIqII OM==2Acoustic response timeoutiIpA9 gZbя,nE?A2@X@2f@2oٱ2ɾ :AHRS rotation from veh to nav: [[-0.892622,0.388468,0.228730],[-0.445340,-0.838630,-0.313643],[0.069980,-0.381827,0.921581]]2H\`?@G?tܿԿ/?oؿ}?i2@X@I2^^;2CYZeAyZj HbDfVDf8yj)=%nS=ٔn/Q-n>9pIp=rFyrEvEv>xQ 5~c4zd@?Q 9~c4z%)z@Y|y~'Q I?zRyCIz;iz ;zc4y Bɮ TB *j!Bj!i!i!zi!Ji!i) k#k#k#h9 k#k#k#hI2fa:faBfaJfe%@yɢ) O i)G顁iJ]I92Acoustic response timeoutB8>BICB0HBԉu 2Acoustic response timeout @abя,E?A2W@2e@27 ٱ2Ӎɾ :AHRS rotation from veh to nav: [[-0.898614,0.376410,0.225406],[-0.432989,-0.843757,-0.317167],[0.070803,-0.382609,0.921194]]2Hr??ۿtLԿ $ ?|ؿ kz?i2W@I2^;2CYB5fAyB HDDyEuV?i|?5:v?Erh?EE9qIq=}Fy}E}AE}>Q 5c4R?Q 9c4b);@YC?Q ER:y0Q I?yCI:i:`c4yBɮJB*jBjiiziJii kkkh ks8ks8ks8h2f=:f=Bfn>Jf}@ɢNr) i)ii!I!ԑOIqIO=2Acoustic response timeoutbE|4jEC4rE"/EET EEDEE:EA"EE9*EEa99VEE(4ZEAaU@aU@aU@aU@ 9 hbя,ϡE?A JoV@J-d@J^ٱJɾ ZAHRS rotation from veh to nav: [[-0.904177,0.364893,0.222075],[-0.421118,-0.848580,-0.320268],[0.071585,-0.383098,0.920929]]JH@iZ? l?`ڿ' DԿgS?@ؿ Ax?iJoV@IJ^;HYbfAyb Hxx x)xIxixx ||bDVD8y =%2Acoustic response timeout%%P=ٔ%%Q-->9)I)=-Fy-E5jE5>Q 5c4?Q 9c4^)@Yy0Q I?(zCIV:i,:c4y)BɮSB=E*jBjiiziJii kkkh k:k:k:h2f!:f!Bf!Jf%: }@AɢEPo)A E"iI)M0pIIiM QIQYYaa 9AIIQIiO>iAIA2Acoustic response timeoutB A <B 7>B B HB /hAB B B B ;B EEI  EM CEM ;EI "EI *EM 09VEM 4ZEI BEM :a] 2EM :a] JEI a] :EI a] i ~9nbя,E?A 2@*V@2d@2ٱ2wɾ >AHRS rotation from veh to nav: [[-0.909539,0.353762,0.218155],[-0.409299,-0.853588,-0.322277],[0.072205,-0.382414,0.921166]]2H ?~?1ڿP/Կ@|?wyؿ0z?i2@*V@I2^;0Y^gAy^HbDjVDj8yr=%rN=ٔrͺQ-r>9tIt=vFyvEzEz>|Q 5c4~ṉ?Q 9c4~)~B@Yy1Q I?~zCI~t:i~:~c4y&BɮCB*j!Bj)i)i)zi)Ji)i1 ks!ks!ks!hA k6k6k6hQ2fa:faBfaJfe5|@颁ɢo) ci)嗼顉ib1I1i-2Acoustic response timeoutIIIaO>ԙ  2Acoustic response timeoutE] V E] DE] =EY "E] =:*E] a99VE] |4ZEY ae @ae @ae @ae @+ubя,SՉE?ADNMU@NBc@NƔٱNfȾ VAHRS rotation from veh to nav: [[-0.914955,0.342446,0.213513],[-0.396975,-0.858902,-0.323572],[0.072581,-0.380813,0.921799]]NHPG?dT? hٿ`|fԿঔ?=_ؿ`?iNMU@IN_;NCYrgAyrvHva=tbDMVDM8yn=%?=ٔfQ->9I=FyEE>Q 5d4 ?Q 9d4θ)@Yy2Q I?zCI:i: d4y#Bɮ-B%2Acoustic response timeout zJ{bя,[E?Aɰ2tT@2{jb@20~ٱ2whȾ :AHRS rotation from veh to nav: [[-0.920094,0.331023,0.209405],[-0.384848,-0.863512,-0.325943],[0.072930,-0.380487,0.921906]]2Hiq y/??Xؿ`@?Կ?YؿA?i2tT@I2^;0YBgAyBHbD VD 8yE<%MP=ٔMjQ-M>9QIQ=UFyUEU EU>YQ 5ed4]Ɵ?Q 9md4]9)]k@Yiym3Q Im?]\{CI]:i]8:]d4yu Bɮ}$By*jBjiiziJii kC"kC"kC"h k8k8k8h2f:fBfJfz@ɢbf) i) Ҟi\IAZ?Ah?2Acoustic response timeoutB6>BBuHBLiABBBB;BEIIER ECE?E"Es9*E09VE^4ZEBEx:a%2E}:a%JEa-:Ea-O5=)Qe 2Acoustic response timeoutԁ h2bя,6 E?A2S@2ًa@2+ٱ2MǾ :AHRS rotation from veh to nav: [[-0.925197,0.319262,0.205140],[-0.372293,-0.868371,-0.327611],[0.073544,-0.379477,0.922274]]2H@6n? B?׿Կ`Ӳ?@ZIؿC?i2S@I2^;0Y^hAy^HYyOn? rh{Gzx?C # 9x&1?v/i|?5YA?yxiq ŒB)BY BbDVD8y <%>=ٔQ->9I=FyE%dE%>)Q 55d4-}?Q 95d4-)-@Y5?Q E=S:y=^5Q I=?-{CI- ;i-P ;-'d4yEBɮEBA*jYBjYiYiYziYJiaia kc;kc;kc;hy kSkSkSh2f90=:f90=Bf@Jf?2@1ɢ5"Z)9 =i9)=O99i=AIIIIIO= >ԁiߡIߡhDAT read: Forwarding Delay UpTx time:18:25:43.9550 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutE%U E%BE%;E!"E%:*E%(9VE%4ZE!a-@a-@a-@a5@Ա \bя,j#E?A2R@2`@2VDٱ2CeǾ :AHRS rotation from veh to nav: [[-0.930483,0.306469,0.200695],[-0.358726,-0.873338,-0.329540],[0.074281,-0.378626,0.922564]]2H 0?]?\ֿb.տ ?g;ؿ?i2R@I2I^;0YBiAyBFHbDJVDJ8yR%>%Re=ٔVuQ-V>9TIT=ZFyZEZi'EZ>\Q 5bd4^!`?Q 9bd4^d)^u@YdyfM6Q If?^&|CI^:i^A:^24d4yjBɮjBj;E*jtBjtitixzixJixix2Acoustic response timeout kVkVkVh2f):f)Bf)Jf-1@AɢMP-W)I M߾iI)MݤQQiUqQIYԹIIOE=2Acoustic response timeoutAAB3>BB HB@jABBBB;BEE5 T E5 EE5 <E1 "E5 9*E5 A9VE5 4ZE1 BE5 :a= 2E5 :a= JE5 V:aE :E5 V:aE 9 bя,9)I1=5Fy5E5 E5>9Q 5Ed4==?Q 9Md4=p)=@YIyMI7Q IM?=|CI=:i=:=Bd4yUBɮ]BY*jqBjqiqiqziyJiyiy k;k;k;h kVkVkVh2f:fBfJfH0@ɢVN) ^i)|秼i!I IIO = 2Acoustic response timeoutAiԩ  2Acoustic response timeoutE9  E= BE= CE9 "E9 *E= (9VE= 5ZE9 aE @aM @aM @aM @$nbя,VE?A2P@2‰^@2Vٱ2c9ƾ :AHRS rotation from veh to nav: [[-0.941509,0.277916,0.190585],[-0.328356,-0.883760,-0.333392],[0.075776,-0.376471,0.923324]]2H` a?`e?տ GKVտ f?ؿދ?i2P@I2^;0YBiAyBHbDN VDN8yr=%rO=ٔv%Q-v>9tIt=vFyvEz$0Ez>|Q 5}d4~?Q 9d4~ )~@Yy_8Q I?~|CI~ʾi )iIqAe$AIqIO!>ԡ2Acoustic response timeout bя,HpE?A2dqO@2!g]@2%ٱ2>ž :AHRS rotation from veh to nav: [[-0.947140,0.262053,0.185079],[-0.311590,-0.888774,-0.336143],[0.076407,-0.376044,0.923446]]2H`Nx?@? ӿp_տ b?`ؿߌ?i2dqO@I2^;0YBiAyBHXX X)XI\i\\bDb VDb8yjF=%jK=ٔnκQ-n>9rH?IrH?=rFyrEry4Ev>tQ 5zd4v?Q 9zd4v)v!@Y|y~9Q I~?v_}CIv;ivL ;v^d4yBɮ ҍB :E*j!Bj!i!i)zi)Ji)i) ksUksUksUhA kUkUkUhQ2f:fBfJfv.@ɢFA)! %Ii!)%!!i%餉)I1B]/>B]HCB]HB]]kAB]=BYBYB];B]E}2Acoustic response timeoutEY EDE=E"E:*Ea99VE|4ZEBE;a2E ;aJEjH:a:EmH:aAAIIO'>1 = 2Acoustic response timeoutbя,=|E?A6CN@6k9\@6񦝽ٱ6(ƾ BAHRS rotation from veh to nav: [[-0.952680,0.245407,0.179375],[-0.294085,-0.893397,-0.339641],[0.076903,-0.376321,0.923292]]6H[|~i??`Iҿഖտ㯳?ؿ?i6CN@I6^^;6CYJjAyJ3HLLRARAy%ʡE?Q?i|?5%-R?%\=%! !9%I +?A`"?(\¿Y%9t?y%=%z!%8cB %(B)%B!Y%8B 5;5p;bD= VD=8yM=%MC=ٔMQ-M>9UK?IUK?=UFyUE]C4E]>aQ 5md4esܸ?Q 9md4eG)e@Ymx?Q EmZ:ym3Q Iu?e}CIe:ie3:egmd4y}Bɮ}By*jBjiiziJii kSkSkSh kSkSkShA2fU>:fU>BfU>JfUt@颉ɢXj7) i)vh项i@IQA!I)I9Om5>2Acoustic response timeoutEW EFE>E"E :*E;J9VE4ZEa @a@a@a@ԙ bя,YE?A23 M@2[@2ߞٱ2qƾ :AHRS rotation from veh to nav: [[-0.958081,0.227996,0.173491],[-0.275853,-0.897653,-0.343693],[0.077374,-0.377144,0.922917]]2H.?4?ѿտ γ?#ؿ ?i23 M@I2 ^;2CPYZjAy^THr?rN?v2Acoustic response timeoutbD-VD-8ye7=%eH=ٔmQ-m>9iIq=uFyuEu?Eu>yQ 5d4}?Q 9d4})}{@Yy@4Q I?},~CI}:i}:}{d4y&BɮύBCE*jBjiiziJii kTkTkTh kTkTkTh2f:fBfJfms@ɢ08) i)顙i[IAI IOe4>Y]>BQAQB].>BYB]iHB]ylABYBYBYB];B]|EB%ICB%ICB!B%=B%=C%C52Acoustic response timeoutD zD @AE T E BE ;E "E 9*E (9VE 4ZE BE :a 2E :a% JE L+:a% :E N+:a% 5 j>5 C 9 Y ΡA! ym ?m AԮbя,4E?A2K@2Y@2Uٱ2yƾ :AHRS rotation from veh to nav: [[-0.963115,0.210856,0.167180],[-0.257661,-0.901774,-0.347009],[0.077590,-0.377286,0.922841]]2HS?)f?`}п Te5ֿܳ?`r%ؿ?i2K@I2k^;2CYNmkAyRHbDM-VDM8ym=%uJ=ٔu Q-u>9I=FyE>E>Q 5d4m?Q 9d4).@Yyv5Q I?~CI%);i6-;d4y$BɮB*jBjiiziJii kTkTkTh  kTkTkTh2f):f)Bf)Jf-|r@IɢM|*)M^ּ MCiI)UonQQiU>TYIY2Acoustic response timeout)AIIO">Qԁ  2Acoustic response timeoutbEjE4rE x0E% Y E% ZE% ?E! 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u`@ o׿5?׿G?i24;?@I2ǫ^;2CY vpAy HbD%VD%8y5=%5D=ٔ5X:Q-5>9YIY=]Fy]"EedEe>iQ 5ue4mN?Q 9ue4m)m@Yqyu8Q Iu?m]CIm;im.;m$e4y BɮB*jBjiiziJii khkhkhh kӇkӇkӇh!92f:fBfJf۳@!ɢ%H>)) -a2Acoustic response timeoutԑԹ bя,zE?A2N>@2DL@2'ٱ2^þ :AHRS rotation from veh to nav: [[-0.996062,0.019232,0.086547],[-0.049944,-0.928279,-0.368516],[0.073252,-0.371387,0.925584]]2H?'?3uĕ׿?׿b?i2N>@I2^;0YBqAyB:HXX X)XIXi\\bDbVDb8yj =%jP=ٔng ;Q-n>9lIp=rFyr%ErEr>tQ 5ze4v0?Q 9ze4v)v@Y|y~9Q I~?vCIvn;iv;v2e4yɮB BE>BEECBEHBEqABE=BABE{DBE;BEyEBGCBGCBCB=B=Cu5*j i)I)52Acoustic response timeout]9YY]AEX EFE>E"E~ :*E;J9VE4ZEBE:a2E:aJEe:a:EaԩBj iiziJii kClkClkClh kkkh2fA:fABfAJfE<@颁ɢ() b=i)J顉ieIAIIO]T>iI IM oA 2Acoustic response timeout jcя,zUE?A6:W=@6LK@6 ٱ6/þ BAHRS rotation from veh to nav: [[-0.996743,0.005424,0.080466],[-0.034880,-0.928588,-0.369469],[0.072716,-0.371072,0.925752]]6HP7v?j? ۡ``b׿}?׿ß?i6:W=@I6ٓ^;6CYFEqAyF\HHHN=N=y}?5^I?Zd;O?y&1?Mb?j<`e< 9Gz?333333?Mb?Yp}?y== )BYBbD5VD58yEC=%EC=ٔEɨ:Q-M>9III=MFyM(EU=EU>YQ 5ee4]V?Q 9ee4]6)]f@Ye~?Q EeU:ym@Q Im?]CI] :i]:]'Ae4yuBɮuBuHE*jBjiiziJii klklklh kCkCkCh12fEK>:fEK>BfEE>JfEo@颁ɢ~) Ң=i)Ϻ顉iIAI I-2Acoustic response timeoutOU2>bE-Ŵ4jE-H4rE-Ũh0EV ECE=E"E=:*E09VE|4ZEa@a@a@a@I cя,0(E?A 2XT<@2JJ@2ٱ24ľ >AHRS rotation from veh to nav: [[-0.997202,-0.009199,0.074182],[-0.019127,-0.927956,-0.372199],[0.072261,-0.372577,0.925184]]2Hׂ`?& б`׿? M׿?i2XT<@I2^;2CB2Acoustic response timeoutYrqAyrHbDmVDm8yez=%D=ٔ:Q->9I=Fy*EE>Q 5e4붉?Q 9e4r)@YyAQ I?CI3;i +;Oe4yBɮ܌B*j Bj iiziJii kmkmkmh kkkh2f :f Bf Jf In@)ɢ-_)) 5 =i1)519i=U9IAAUY?AUU?qAyIIOB>ԙA9A9BE>BABEHBE%sABABABABE;BE|E52Acoustic response timeoutD?AzDAAEU EAE9E"E:*E 9VE4ZEBE:a2E:aJE:a:E:a |cя,F BE?A2Gl;@2bI@2@ٱ2Љľ :AHRS rotation from veh to nav: [[-0.997369,-0.022436,0.068940],[-0.005002,-0.927349,-0.374165],[0.072326,-0.373525,0.924796]]2H`q@?`|t ׬Q׿`? ׿ ?i2Gl;@I2^;2CLY YrAy HbDVD8y=%J=ٔ'Q->9I=Fy-ExE>Q 5e4(ʶ?Q 9e4~)@YyBQ I?)CI;iH;]e4yBɮČB*jBjiiziJii kmkmkmh2f):f)Bf)Jf- n@IɢMAeD)I Mq>iI)M{,QQiUҟYIY2Acoustic response timeoutAIIO%>! E 2Acoustic response timeoutE V E FE @E "E =:*E ;J9VE 4ZE a @a @a @a @ cя,m[E?A2Eq:@2gH@2Qٱ2ľ :AHRS rotation from veh to nav: [[-0.997315,-0.036723,0.063362],[0.010278,-0.926815,-0.375378],[0.072510,-0.373719,0.924704]]2HU͢ {8? ?w@0ؿ? ׿ ,?i2Eq:@I2<^;2CYBrAyB>H|bDtVDtyf=%M=ٔQ->9I=Fy/ElE>Q 5e4Ш?Q 9e4_)l@YyCQ I?\CI;;i>/;ke4y BɮBGE*jBjii zi Ji i  klklklh)2fI:fIBfIJfM m@qɢup0)}B% }t->iy)} yyi}zI)AIIO&>2Acoustic response timeoutYԁ cя,uuE?A2 b9@2WG@2`Gٱ2Z ž :AHRS rotation from veh to nav: [[-0.996985,-0.052232,0.057383],[0.026785,-0.925725,-0.377248],[0.072826,-0.374573,0.924333]]2HL"@Xa?m?@$ؿ`?׿`"?i2 b9@I2^;2CYBssAyBHbDNVDN8yV(=%VZ=ٔVb]Q-Z>9XIX=ZFyZ2E^5E^>`Q 5fe4b?Q 9fe4b)b@YdyjDQ Ij?bCIb:ibp:bxe4Br>BrDCBr2HBrAtABr=BpBrzDBr;BrzEy~ Bɮ~B|*j Bj iiziJii kSkSkSh) kcmkcmkcmh92fI:fIBfIJfM'l@Yqɢu4ٻ)q u\>iy)}yyi}I2Acoustic response timeoutA=pAzA9Du=Du<E}[ E}HEyEy"E}a:*E}[9VEyZEyBE} ;a2E} ;aJE}S:a:E}T:aAAIYIqԁO$>Ա 2Acoustic response timeout #cя,AE?A6;P8@6EF@6Ǖٱ6-9ž >AHRS rotation from veh to nav: [[-0.996380,-0.067796,0.051284],[0.043442,-0.924647,-0.378339],[0.073070,-0.374742,0.924245]]6HX [A? >?`6ؿ?׿j?i6;P8@I6հ^;6CYFsAyFHyK7?y&1?{Gz?I?`e<#< 9bX9?9AIA=EFyM4EM/"EM>QQ 5]e4Uxg?Q 9]e4UD)U@Yev?Q Ee\:yeGQ Ie?UCIU ;iU ;Ue4ymBɮmBi*jBjiiziJii kTkTkTh kmkmkmhԹ2f<>:f<>Bf}>JfV@ɢd˪) |>i)ioIA In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeoutIQEV EBE:E"E=:*E(9VE(4ZEa@a@a@a@IO=Q>9 )cя,yE?A2In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER22Acoustic response timeout6+7@6u!E@6>ٱ6bž >AHRS rotation from veh to nav: [[-0.995434,-0.084368,0.044647],[0.061222,-0.923166,-0.379496],[0.073234,-0.375030,0.924115]]6H `+ۦ?X?Iؿz?|ؿZ?i6+7@I6^;6CYbtAybHddqq y)yIyiyybDVD8y\<%D=ٔιQ->9I=Fy7E.E>Q 5e4aE?Q 9e4N)@YyHQ I?CI;i] ;ae4yBɮBFE*jBjiiziJii  kUkUkUh!2f1:f1Bf1Jf50U@Yɢe) >i)EiSئIAB>BBCBHBuABBByDB;BoEU¼pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutqD@AzD@AE EEE=E"E*EA9VE|4ZEBE:a2E:aJEV:a:EV:aAM $AIQ Ia I O >Ա f0cя,PÌE?A26@2 D@2Xqٱ2Ֆž :AHRS rotation from veh to nav: [[-0.994281,-0.099851,0.037883],[0.078040,-0.921466,-0.380539],[0.072905,-0.375407,0.923989]]2H`&؏@le?i?@|Zؿ쩲?ؿ`P?i26@I2^;2CYBtAyBHbDNVDN8yV=%V\=ٔVi:Q-V>9ZH?IZH?=ZFyZ9E^;E^>`Q 5fe4bX'?Q 9fe4b/)b@Ydyf:H@Q If?b!CIb:ib|:bMe4ynBɮnhBl*jxBjxixixzi|Ji|i| kYkYkYh kYkYkYh!2f1:f1Bf1Jf5 pT@ɢ) q>i)biIquzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYu2Acoustic response timeoutA%AI)I9Om5>ԡ% 2Acoustic response timeoutE R E FE >E "E s9*E ;J9VE 4ZE a @a @a @a @ 6cя,.݌E?A> 4@>B@>Eٱ>ž ^AHRS rotation from veh to nav: [[-0.992789,-0.115833,0.030873],[0.095431,-0.919535,-0.381245],[0.072549,-0.375549,0.923958]]>H@@@?(n?lPfؿ`? ؿ`?i> 4@I>^;>CYz#uAyzHbDmVDm8y]=%==ٔW:Q->9K?IK?=FyQ 5e4%?Q 9e4)q@YyG@Q I?VCI7&i)Bi ªI2Acoustic response timeoutA zA oA1 AI IQ Ia O >Q !=cя,ME?A4<ɰ4<2`3@2A@2Pٱ2Mž :AHRS rotation from veh to nav: [[-0.991064,-0.131260,0.023720],[0.112368,-0.917411,-0.381747],[0.071869,-0.375671,0.923962]]2H ̶!J?-ļ?m[nؿ`f? ؿ@?i2`3@BB>BBACBBHBBvABB=BB%DBBxDBB;BBXEI2^;2CYvuAyzHbDeVDe8yf=%H=ٔ:Q->9I=Fy?E+E>Q 5e4 㵉?Q 9e4\)@YyF@Q I?CI:i:e4yB2Acoustic response timeoutɮJBEE*jBjii ziJi!i!EUX EQEU;EQ"EU~ :*EQVEU4ZEQBEU:ae2EU:aeJEUe:ae:EUe:ae kcYkcYkcYh2f:fBfJf\9R@ɢU%;) >i)i%ɬ!)IIQQQQYAa Ii Iy  2Acoustic response timeoutԉ O >Dcя,E?A06K2@6@@6ٱ6Sž >AHRS rotation from veh to nav: [[-0.989166,-0.145883,0.016417],[0.128640,-0.915218,-0.381873],[0.070734,-0.375624,0.924069]]6H>N¿ϐ? Dw?xIpؿ?`9 ؿ?i6K2@I6W^;6CYF%vAyF[HyA`"?ktS㥛Y? 0/ݼ 9ˡE?/$?L7A`尿Yg?y=+ )YbDVD8yB=%G=ٔH5;Q->9I = Fy AE!E>Q 5%e4:õ?Q 9%e4)}@Y-i?Q E-h:y-D@Q I-?CI3:i':6e4y5Bɮ53B9*jIBjIiQiQziQJiQiY k@k@k@hi kSXkSXkSXhy2fp>:fp>Bf9?Jf@)ɢ-;)) M>iI)U33QQiUӮYIYԉ2Acoustic response timeoutEmV EmBEm>Ei"Em=:*Em(9VEm4ZEiau@au@au@au@A$AIIO-O>Թ ;1Jcя,*E?A&2Acoustic response timeoutF1@FJ?@FhʍٱF ž VAHRS rotation from veh to nav: [[-0.987048,-0.160187,0.008709],[0.144742,-0.912656,-0.382241],[0.069178,-0.376030,0.924022]]FH @ĿՁ?`? {4vؿ@? ؿ?iF1@IF2^;FCY^vA`y^HbDrVDr8yz*=%zZ=ٔ~;Q-~>9H?IH?=FyDE 4E >Q 5%e4⦵?Q 9%e4)#@Y)y-uC@Q I-?CI.+;i:,;'e4y5Bɮ5B9*jQBjQiQiQziQJiYi ksBksBksBh!2fQ:fQBfQJfUi@qɢub"<)q u>iy)}4yyi}yͰIAA`?IIO!> M7j>IAAAAB>B?CBXHBwAB=BBwDB;BVEBEBCBEBCBEƕCBE=BE=CE6G-ڧ9)Y-A2Acoustic response timeoutEuY Eu`EuAEq"Eu:*Eu9VEuA4ZEqBEu;a2Eu;aJEu;a:Eu;aA oQcя,kDE?A2~0@2:>@2Jٱ2!-ƾ :AHRS rotation from veh to nav: [[-0.984690,-0.174315,0.000749],[0.160771,-0.909823,-0.382591],[0.067372,-0.376613,0.923918]]2HOƿXH?#? D]|ؿ`P??@lؿ?i2~0@I2^;0YnwAynHppv=vp=bDzVDz8y6=% I=ٔ ;Q- >9 I=FyFE $E>!Q 5-e4%܇?Q 9-e4%)%@Y)y5jB@Q I5?%CI%:i%:%We4y=Bɮ=B=DE*jQBjQiYiYziYJiYiY k8k8k8hq k8k8k8h2f:fBfJf@ɢh=<)  >i)ΤiŲIU2Acoustic response timeoutIIO >Iqԡ  2Acoustic response timeoutbEjEk4rE0E U E EE =E "E :*E A9VE |4ZE a @a @a @a @ >EWcя,~^E?AF/@F=@FOɆٱFm.ƾ VAHRS rotation from veh to nav: [[-0.982082,-0.188327,-0.006870],[0.176605,-0.907005,-0.382299],[0.065766,-0.376662,0.924013]]FH7mȿ#|?/wؿ ְ? <ؿ?iF/@IF^;FCYbTwAybHbD VD 8y)%=%I=ٔ%;Q-%>9!I!=-Fy-IE-!E->1Q 5=e45h?Q 9=e45)5L@YAyEcA@Q IE?5CCI5+;i5:5e4yMBɮMBI*jaBjiiiiiziiJiiiiy kC6kC6kC6h2f:fBfJf~@ɢTC<) >i)li"ܴIIIO]=ԡe2Acoustic response timeout _m]cя,aQxE?AB>B>CBHBxAB=BBvDB;BUE>.@><@>Xٱ>ž JAHRS rotation from veh to nav: [[-0.979238,-0.202201,-0.014384],[0.192314,-0.904232,-0.381286],[0.064090,-0.376136,0.924345]]>HUɿVu?xfؿ@7h?`ؿ@.@I>S^;>CYRwAyREHhh h)hIhihhbDrVDr8yzC=%zM=ٔzD;Q-~>9|I|=~FyKE$E> Q 5f4 J?Q 9f4 h) @Yy^@@Q I? qCI  ;i ; wf4y%Bɮ%B!2Acoustic response timeout*jBjiiziJii kkkh2f:fBfJf~}@19 r%NAggregate::initialize marl:UpdateRudderq9%J]!q9%9%7%o%XAggregate::initialize marl:UpdateCommandMode18-])18-o-@Completed marl:UpdateCommandMode7-o-\Aggregate::uninitialize marl:UpdateCommandModeq7-n-LAggregate::initialize marl:UpdateSpeed7-]175n54Completed marl:UpdateSpeedq75E9 E=DE9E9"E9*E=a99VE9ZE9BE=:aM2E=:aMJE=iH:aM:E=kH:aMnUPAggregate::uninitialize marl:UpdateSpeediɢm>JX<)q uD>i)qp顑iIAzAqAIYIqO= 1m 2Acoustic response timeoutY Ydcя,9yI=FyNEQE>Q 5f4-+?Q 9f4)f@Yg?Q Ek:y>@Q I?CI:fS>Bf%@Jf༢@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder ɢ <) O?i)qߚi,IIIO>hDAT read: Forwarding Delay UpTx time:18:25:58.0536 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutEEV EEBEE:EA"EE=:*EE(9VEE(4ZEAaM@aM@aM@aM@YԁԱ jcя, E?A&2Acoustic response timeoutR;,@R:@R2 {ٱROž ^AHRS rotation from veh to nav: [[-0.972397,-0.231433,-0.029726],[0.225151,-0.897205,-0.379908],[0.061253,-0.376114,0.924547]]RHͿp? iPؿ~\?@ؿ?iR;,@IR9^;RCYfxAyfHbDmVDm8y=%F=ٔfD;Q->9I=FyQEY,E>Q 5f4 ?Q 9f4)@Yy<@Q I?фCI-:iF:#f4yBɮ͋B*jBjiiziJii k#k#k#h  k#ԑk#k#h2f:fBfJf98@ɢц<)  G ?i ) }9 !i%yS)I1IIIYO:>ԹBA<B%>B!B%HB%yAB%=B!B!B%;B%KE2Acoustic response timeoutDU?AzDQE]\ E]EE]AEY"E]:*E]A9VE]A4ZEYBE];ae2E];aeJE]V:am:E]V:am Cgqcя,ōE?A2Cj+@2_9@27Bvٱ2dž :AHRS rotation from veh to nav: [[-0.968358,-0.246770,-0.037243],[0.242223,-0.893420,-0.378324],[0.060086,-0.375374,0.924924]]2H`&Ͽ`z +? u6ؿî?`!ؿ?i2Cj+@I2v^;0YBxAyBHbD%VD%e8yeּ%eN=ٔm|A;Q-m>9iIq=uFyuSEu5Eu>yQ 5f4}ﴉ?Q 9f4})}@Yy;@Q I?}CI}|:i}:}V1f4yBɮЋB*jBjiiziJii kkkh kCkCkCh2f:fBfJf>@ ɢ kΫ<)   ?i )+iOMIA-R?A-R?u2Acoustic response timeoutI!I1Oe>I  2Acoustic response timeoutwcя,rߍE?AE"S E"DE";E "E"9*E"a99VE"4ZE a&@a&@a&@a&@:uE*@:1;8@:qٱ:[ž FAHRS rotation from veh to nav: [[-0.963941,-0.262282,-0.045007],[0.259507,-0.889005,-0.377261],[0.058938,-0.375337,0.925013]]:H`<п `ě?r %ؿ-? ؿ@?i:uE*@I:^;:CYJpyAyJaH ||bD5VD5o8y=%C=ٔ3;Q->9I=FyVE.E>Q 5f4д?Q 9f4)@Yy:@Q I?.CIH;i:?f4y ˪Bɮ B 9E*j!Bj!i!i!zi!Ji)i) kkkh9 k#"k#"k#"hI2fa:faBfaJfe> @yɢ}<) ?i)Y揼顁iII9IIQO}=e2Acoustic response timeoutyԡ B% >B% =CB% 3HB% zAB! 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B >B B !HB AB =B B B n;B $Ecя,ٱ}E?AFS@F %@FXٱF NAHRS rotation from veh to nav: [[-0.845720,-0.501214,-0.183146],[0.533376,-0.783427,-0.318986],[0.016399,-0.367458,0.929895]]FH" Sqǿi?@DjԿʐ?p׿?iFS@IF^;FCYV~AyVHbDbVDb8yj%jN=ٔj;Q-n>l9rK?IrK?=rFyr~Ev56Ev>xQ 5zg4z?Q 9~g4z)z?@Y|y~l+@Q I?zCIz ;iz* ;z g4y Bɮ B *E*j!Bj!i!i)zi)Ji)i) kikikihA kkkhQe2Acoustic response timeout2fi:fiBfiJfm@DD<E ECEE"E*E09VEZEBE:a2E:aJE9:a:E9:aɢ5p=)1 =m?i9)=199i=ἉAIAAI IOU2>1 2Acoustic response timeouta ɍcя,fKE?A6@6#@6\ٱ6ٳ BAHRS rotation from veh to nav: [[-0.836065,-0.514263,-0.191125],[0.548465,-0.774897,-0.314198],[0.013478,-0.367516,0.929920]]6H tvȿ?`Կ@l? `׿?i6@I6^;6CYF|AyFHyl? rhMbW?C 9\(\?1Zd?Zd;OYZ?y"=j< fB)BY#BbD-VD-8y=S=%EE=ٔED;Q-E>9III=MFyMEM1EM>aQQ 5ug4U/?Q 9g4Up)UP@Y\?Q Ev:y*@Q I?U(CIU;iUN;UK/g4ytBɮB*jBjiQiQziQJiQiQ kSkkSkkSkhi2fx>:fx>Bf?Jf]@ɢX[g=) w?i)ֻi㼉)I)2Acoustic response timeoutԑEZ EIE@E"E:*Ec9VE4ZEa@a@a@a@AyIIOe>Ա = 2Acoustic response timeout,cя,'E?A@2@2"@2;7/ٱ2 :AHRS rotation from veh to nav: [[-0.826123,-0.527230,-0.198871],[0.563388,-0.766126,-0.309265],[0.010694,-0.367533,0.929949]]2Ho tɿG? ӿ?׿$?i2@I2q^;2CYzAy~DH~PExceeded connect timeout, disconnecting.11 1)1I1i11bDE VDE8yU)=%UI=ٔU{;Q-]>9YIY=eFyeEe4Ee>iQ 5ug4mZ۲?Q 9ug4m)m]@Yyy}(@Q I}?mUCImY;im;m=g4ymBɮuB*jBjiiziJiiԹ kCkkCkkCkh2f:fBfJf5~@ɢӥ=)  |?i)Wiڀ弉IAqAzAqA yCGEQ9AYEMAAAIQIaO>B<ABBBHBAB=BBB;B1EBu:CBu:CBuēCBu=Bu=Cu)5iߑIߑ2Acoustic response timeoutET ECE<E"E9*E09VE 4ZEBE:a2E:aJEa:Ea 9 cя,uˏE?A2$@2ߠ!@2ٱ2 :AHRS rotation from veh to nav: [[-0.816087,-0.539696,-0.206713],[0.577880,-0.757373,-0.304041],[0.007530,-0.367579,0.929962]]2H`b@0Euʿ`}?f<@huӿ@@~?l׿>?i2$@I2^;0YNAyR_HbDZVDZ8y=g<%EK=ٔE9III=MFyMEM3EM>QQ 5g4U ²?Q 9g4U)Ud@Yy'@Q I?UCIUPAq 2Acoustic response timeoutbEm|4jEm|4rEm/E X E E ;E "E ~ :*E VE 4ZE a% @a% @a% @a% @ cя,E?AN<@N| @N֍ٱN VAHRS rotation from veh to nav: [[-0.805677,-0.552204,-0.214370],[0.592339,-0.748403,-0.298375],[0.004329,-0.367373,0.930064]]NH  @yp˿`p?ӿκq?@ ׿?iN<@INX^;NCY^Ay^^HbD%%VD%8ye*%eH=ٔmK9iIi=uFyuEu{2Eu>yQ 5g4}?Q 9g4}IJ)}]@Yy&@Q I?}CI}:i}:}Yg4yhBɮjB*jBjiiziJii kPkPkPhq kSukSukSuhy2f:fBfJf|@颩ɢЃ=) ~?i)z项iL鼉IA!I)I9Ou6>ԡ2Acoustic response timeoutnManaging dock network, ignoring radio surface power off>>B B B HB RAB B B B ;B 2E cя,طE?Aɰ;2o@2He@2sٱ2 :AHRS rotation from veh to nav: [[-0.795456,-0.563845,-0.222099],[0.606011,-0.739545,-0.292957],[0.000930,-0.367629,0.929972]]2H@`t m̿@pd? [οҿ{N?:׿U?i2o@I2^;2CYBAyBHbDVD8yE =%ML=ٔM1 9IIQ=UFyUEu2Acoustic response timeoutU.E>Q 5g4?Q 9g4)O@Yy%@Q I?ۈCIz;ia;gg4yMBɮHB EET EEEHE"E9*EA9VE-5ZEBEa2EaJEV:a:EV:a*jBjiiziJi i  k\k\k\h2f:fBfJf {@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed1ɢ==)9 =)?i9)=;X99iE3뼉AIiA}V?A}Z?AIIO k> 2Acoustic response timeout) dя,ٕE?A2S@2EI@2i1;ٱ2 :AHRS rotation from veh to nav: [[-0.784830,-0.575520,-0.229824],[0.619706,-0.730476,-0.287000],[-0.002707,-0.367669,0.929953]]2HR@jjͿ@?@`3^ҿ@/-f@׿@,?i2S@I2q^;2CYBAyFHy333333?Mb?y&1Y?=` 9On?S㥻?MbpYX?y/= ,B)}BYBbDVD8y }w<% >=ٔ 9I=FyE%$E%>1Q 5=g45u?Q 9Eg45)5@YMVZ?Q EMx:yM%@Q IM?5 CI5z@;i5?;5vg4y]LBɮ]DBa*jyBjyiiziJii kWkWkWh2fn=:fn=Bf?Jf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder1qɢuJf=)q u?iy)}53)yyi}켉IiiIiuIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERu2Acoustic response timeoutE[ ECE@E"Ea:*E09VE4ZEa@a@a@a@AI!I1YOuW>ԉ  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout8 dя,2E?A$6>@6K4@6;ٱ6 >AHRS rotation from veh to nav: [[-0.774230,-0.586431,-0.238049],[0.632875,-0.721023,-0.282127],[-0.006191,-0.369086,0.929374]]6H }` gxο @? ^ҿ [y׿`o?i6>@I6^;6CYJGAyJHbDRVDR8yZ][=%Za=ٔ^n9\I\=bFybEb?Eb>dQ 5jg4f_?Q 9jg4f)f @Ylyn$@Q In?f0CIf:if:fg4yrIBɮr7BvE*j|Bj|i|i|ziJii kC;kC;kC;h k^k^k^h)2f9:f9Bf9Jf=}@Qɢ]=)Y ]z?iY)eKaaiesiIiyAIIO >A1A1B=>B9B=HB={AB9B9B9B=;B=8EԡezIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe2Acoustic response timeoutEV EEE<E"E=:*EA9VE 4ZEBE:a2E:aJEa:Ea dя,=ILE?A@2,@2"@2v<ٱ2l¾ :AHRS rotation from veh to nav: [[-0.763531,-0.597080,-0.246000],[0.645703,-0.711412,-0.277417],[-0.009367,-0.370659,0.928722]]2H@n H|Ͽ@?4ѿ .׿`?i2,@I2_^;2ChYj:AyjHlltvAAbDvVDv8y~d%~G=ٔ;Q->9I= Fy E &E >Q 5g4^G?Q 9g4)r@Y!y%#@Q I%?]CIU;i;Ցg4y-FBɮ-8B)*jABjAiAiIziIJiIiI kCFkCFkCFha k\k\k\hq2f:fBfJf@颡ɢ[=) ?i)顩i𼉨I2Acoustic response timeoutA II)O]>A  2Acoustic response timeoutE c E AE =E "E g5:*E  9VE |4ZE a @a @a @a @dя,W$fE?A2 @2@2͙O<ٱ2Ma¾ :AHRS rotation from veh to nav: [[-0.752197,-0.608423,-0.253026],[0.658817,-0.701786,-0.271028],[-0.012671,-0.370564,0.928720]]2H2x1п`?u`Xѿ S׿?i2 @I2^;0YB_AyBHXX X)XI\i\\bDfVDf8yjK:=%nM=ٔn9pIp=rFyrEv1Ev>xQ 5zg4z/?Q 9~g4zq)z@YYy]y"@Q I]?zCIze2Acoustic response timeoutqBQ BQ BU HBU ABU =BQ BQ BU |;BU +E Bdя,vE?A2 @2Q@2o<ٱ2i¾ :AHRS rotation from veh to nav: [[-0.741237,-0.618870,-0.259938],[0.671062,-0.692212,-0.265553],[-0.015590,-0.371272,0.928393]]2H6բпWy?&п`폿׿e?i2 @I2E^;2CYNiAyRHbDZ"VDZ8yj@<%nJ=ٔrK;Q-r>9vH?IvH?=vFyvEvE&Ez>xQ 5g4z#?Q 9g4z.)z@Yyk!@Q I?zCIz;iz;zg4y ɮ)B*j!Bj!i)i)zi)Ji)i)U2Acoustic response timeoutE_ EBE>E"E&:*E(9VE4ZEBE&;a2E&;aJEI+:a:EL+:a kS7kS7kS7h2fI:fIBfIJfM@iɢ=) ?i)`W:顑i`N󼉨I AAIIO]U>12Acoustic response timeoutY )&dя,ڙE?A6 @6@6Lߓ<ٱ6%þ BAHRS rotation from veh to nav: [[-0.729890,-0.629493,-0.266459],[0.683327,-0.682211,-0.260101],[-0.018050,-0.371924,0.928088]]6H@A[$ ѿ@?``~п{׿@?i6 @I6C~^;6CYFTAyFHHJa=Ayrh|?p= ף?~jt[?=ļ 9zG?i|?5?y&1Y W?y=`e B)BY 4<bD +VD 8yn%7=ٔ%H;Q-%>9%K?I%K?=-Fy-E-E->19Q 5Eg4=?Q 9Eg4=:)=n@YEY?Q EEy:yM@Q IM?=CI=:i=:=g4yU(BɮUBUE*jiBjiiiiiziiJiiiq kkkh k3k3k3h2f=:f=Bf6?JfQe@ɢӛ=) A?i)9:iYIU2Acoustic response timeoutEZ ECE=E"E:*E09VE|4ZEa@a@a@a@Ae$AIiIyIO@> 2Acoustic response timeout U,dя,sE?A2 @2P@2ں<ٱ2 þ >AHRS rotation from veh to nav: [[-0.718067,-0.640065,-0.273306],[0.695680,-0.671519,-0.255131],[-0.020229,-0.373334,0.927476]]2Hgj{}ѿC?}Tп׿?i2 @I2b^;2CYZjAyZHbD%VD%8ye<%eW=ٔe;Q-m>9mH?ImH?=mFymEu8Eu>yQ 5g4}鱉?Q 9g4} )}@Yy@Q I?}CI}:i}:}g4y&Bɮ BE*jBjiiziJii kkkh k4k4k4h2f:fBfJf@ɢ m=)  ?i ) ;id3IB<A<B>BB4HBAB=BBBb;BEAAIIO$>]2Acoustic response timeoutDzD@AE[ EE@E"Ea:*EVE4ZEBE ;a2E ;aJE9:a:E9:aA <3dя,͐E?A 2m@2(@22<ٱ2u|ľ >AHRS rotation from veh to nav: [[-0.705861,-0.650739,-0.279819],[0.707996,-0.660625,-0.249634],[-0.022409,-0.374317,0.927030]]2H jѿ`?#`Ͽ`h@׿`:?i2m@I2nx^;2CYBAyF HbDVD8yeM=%eJ=ٔm԰;Q-m>9mK?IuK?=uFyuEu/Eu>yQ 5g4}bӱ?Q 9g4}f)}@Yyn@Q I?}9CI}:iy}g4yɮB*jBjiiziJii kkkh ks5ks5ks5h2f:fBfJf{@ ɢ ]=)  ԙ m 2Acoustic response timeoutE W E EE <E "E :*E A9VE 4ZE a @a @a @a @f9dя,kE?A2Ң@2@2A<ٱ2ľ :AHRS rotation from veh to nav: [[-0.693518,-0.661449,-0.285514],[0.720038,-0.649602,-0.244055],[-0.024040,-0.374837,0.926779]]2HM1`*Eҿ ?1=Ͽ U׿ ,?i2Ң@I2ɏ^;2CYBAyBHbDNPVDN8yVr%VW=ٔZ;Q-Z>9XIX=^Fy^E^9E^>`Q 5fg4b?Q 9fg4b~)b'@YhyjS@Q Ij?bbCIb:ib:b2g4yn#Bɮpp*jxBjxixi|zi|Ji|i| k#k#k#h k5k5k5h!2f1:f1Bf1Jf5@ɢ==) ?i)% ;!!i%)I1ApAzArAAIIO)>2Acoustic response timeoutnG9YAB >B 9CB B B B B B ;B *EBBBBBCD{49 qO@dя,4ME?AB@B@B<ٱBSž JAHRS rotation from veh to nav: [[-0.681098,-0.671789,-0.291213],[0.731752,-0.638330,-0.238902],[-0.025398,-0.375811,0.926348]]BH@L:ҿj?2m`ZοJ ؿ?iB@IBAx^;BCYbkAybH52Acoustic response timeoutbDEVDEd8ym!%u?=D}%=D}%=EZ EIEE"E:*Ec9VEZEBE`;a2Eb;aJE:a:E:aٔ]"B;Q-]>9iIi=mFyE:E>Q 5g4?Q 9g4+x)d@Yy:@Q I?CIl:i:g4y BɮB*jBjiiziJii kckckchQ2f:fBfJfr@ɢ=) ?i)Bn;i}I)AI!I1OeU>Q%=%=hDAT read: Forwarding Delay UpTx time:18:26:11.9035 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԁ yFdя,_)E?AJ l@Ja@J<ٱJž fAHRS rotation from veh to nav: [[-0.668156,-0.682343,-0.296607],[0.743538,-0.626735,-0.233142],[-0.026811,-0.376313,0.926104]]JHa@ҿ?6Ϳ@ftؿ?iJ l@IJÖ^;JCYrvAyrHYyu'1Z?:vʡEu"?uԽu-q q9u%C?Zd;?QſYuZD?yu=u(quI^B uB)uBqYuBbD|VDI8yKO<%G=ٔs;Q->9I=FyEAE>Q 5h4?Q 9h4r)@YBK?Q E:y@Q I?CIi ;is:h4yɮB*jBjiiziJii k k k h k k k h 2f%>:f%>Bf%5҅?Jf%`P@颹ɢ=) i?i)RW;iIM2Acoustic response timeoutbEjE&4rE}1E[ EFE=E"Ea:*E;J9VE|4ZEa@a@a@a@ԩA$AI IOU1>  2Acoustic response timeoutiLdя,4E?A;ɰ4<2|I@26?@2<ٱ2ľ :AHRS rotation from veh to nav: [[-0.654833,-0.693347,-0.300770],[0.755239,-0.615278,-0.225934],[-0.028407,-0.375102,0.926548]]2Hd/?ӿ*?`\ e̿@`ؿH?i2|I@I2^;2CY^EAy^Htx x)xIxixxbDmXVDm(8yZv%K=ٔ;Q->9H?IH?=FyEo4E>Q 5h4`?Q 9h4Am)@Yy@Q I?CIQ;i;h4yBɮB E*jBjiiziJii k k k h k k k h 2f:fBfJfO@9ɢ=]=)A EP?iA)El;AAiEk?IIIAeX?AeX?AAAAAABBBLHBABBBrDB;B9EAIIO5->i9I9E2Acoustic response timeoutEY EGE;E"E:*ER9VE4ZEBE;a2E;aJEt:a:Et:aiIpA1Y ‰Sdя,NE?A2 @2@2ȓ<ٱ25ľ :AHRS rotation from veh to nav: [[-0.640987,-0.704435,-0.304805],[0.766961,-0.603397,-0.218364],[-0.030095,-0.373742,0.927044]]2H@ӿ`?O`Z˿Hўe׿X?i2 @I2^;2CYB{AyBHbDNNVDN8yV=%VZ=ٔV;Q-V>9XIX=ZFyZEZFE^>`Q 5fh4bq?Q 9fh4bg)bM@Ydyfh@Q If?bCIb:ibg:bh4ylɮnBl*jtBjtixixzixJixix k!k!k!h  k!k!k!h2f):f)Bf)Jf-N@IɢMY=)I U?iQ)U;QQiUI92Acoustic response timeoutAEAIQIaO>aԉM 2Acoustic response timeoutE W E IE ?E "E :*E c9VE ^4ZE a @a @a @a @Թ /Ydя,lhE?A:@:@:=ٱ:¾ BAHRS rotation from veh to nav: [[-0.626752,-0.715753,-0.308024],[0.778566,-0.591399,-0.209957],[-0.031888,-0.371408,0.927922]]:HZs੶ӿ?ʿ`S%׿?i:@I:~^;:CYHyHbD RVD "8ٔU0;Q-U>9]K?I]K?=eFyeEe0Em>qQ 5}h4u)_?Q 9h4ua)uB@YyF@Q I?u.CIu;;iu<;u-h4yBɮB E*jBjiiQziQJiYiY k k k hi k k k hy2fԑ:fBfJf\M@颱ɢ=) i)$f <项iIA$AI IOU2>2Acoustic response timeoutB >B B 4HB AB B B B ;B Ei"Em=:*EiVEm4ZEiBEm:a2Em:aJEm:a:Em:a @ں@l[ =ٱ ]AHRS rotation from veh to nav: [[-0.612265,-0.727322,-0.310056],[0.789941,-0.579346,-0.200876],[-0.033528,-0.367915,0.929255]]H@ 8F`ӿ2G?Lɿ*׿t?i @Il^;YmtAyuH==yux&?Mb?~jtu7I?uuqu]B u}B)uBqYu BbDVVD&8y3z%<ٔ`;Q->9H?I H?= Fy E6E>Q 5%h4K?Q 9%h4Z[)@Y-4?Q E-:y-5@Q I-?YCI ;i ;>h4y5Bɮ5B1*jIBjIiIiQziQJiQiQ ks#ks#ks#hi k7k7k7hy2fQ>:fQ>Bf=@Jf12@颩ɢU=) M?i)p<顱iDIAzApAAII OEs>2Acoustic response timeoutA fdя,pE?A6'?6 @6=ٱ6q >AHRS rotation from veh to nav: [[-0.597400,-0.738334,-0.313012],[0.801155,-0.566779,-0.192127],[-0.035555,-0.365547,0.930113]]6H nbԿ`?` #ȿ@<4 e׿ }?i6'?I6^;6CYFAyFHbDTVD$8ye\<%ew=ٔe;Q-m?9iIi=mFymEuUpEu ?yQ 5h4}G??Q 9h4}GW)}@Yy@Q I?}tCI}:i}:}Ih4yɮ߉B*jBjiiziJii k8k8k8h k9k9k9h2f:fBfJfe@ɢ =)  ?i ) 9%<iAIQiI2Acoustic response timeoutEmZ EmJEm;Ei"Em:*Emk9VEm4ZEiau@au@au@au@A}AIIO >yԡ  2Acoustic response timeoutuldя,tEE?A2?2<^ @2=ٱ2jB :AHRS rotation from veh to nav: [[-0.582615,-0.748380,-0.316998],[0.811869,-0.554028,-0.184178],[-0.037790,-0.364666,0.930371]]2HȤIԿ?`&ǿCY@V׿ ?i2?I2p^;2C@YBAyF$HbDN;VDN 8yV<%VW=ٔV;Q-Z>9ZK?IZK?=ZFyZE^DE^>`Q 5fh4b0?Q 9fh4bUR)b@Ydyf@Q Ij?bCIb:ib:b"Wh4ylɮnىBl*jxBjxixixzixJixi| ks9ks9ks9h  k9k9k9h!2f1:f1Bf1Jf5@ɢ 4=) u?i)3<iI B1A1B=>B=8CB=HB={AB==B9B=qDB=;B=5EԩAIIO!>2Acoustic response timeoutE}\ E}GE}=Ey"E}:*E}R9VE}|4ZEyBE};a2E};aJE}t:a:E}t:a sdя,>&БE?A2'v?20 @2}$=ٱ2xr :AHRS rotation from veh to nav: [[-0.567531,-0.758485,-0.320326],[0.822377,-0.541125,-0.175723],[-0.040054,-0.363157,0.930867]]2H5)@E`9ԿP?`P@~ƿ聤=׿?i2'v?I2^;2CYB}AyBHHJAbDNEVDN8yV %VJ=ٔV;Q-V>9XIX=ZFyZE^u:E^>`Q 5fh4b!?Q 9fh4bL)b'@Ydyf@Q If?bCIb:i`bBeh4lynBɮrĉBrE*jxBjxixi|zi|Ji|i| k<k<k<h ksSksSksSh!2f1:f1Bf1Jf5f@QɢUw=)Y ]ڇ?iY)]$A1% 2Acoustic response timeouta E V E E E "E =:*E VE ZE a @a @a @a @Wzdя,;E?A6o?6 @6ڈ.=ٱ6U꽾 FAHRS rotation from veh to nav: [[-0.551768,-0.768441,-0.324114],[0.832909,-0.527583,-0.167090],[-0.042598,-0.362152,0.931145]]6HFԿ0?2cſjϥ-׿ ?i6o?I6^;4YN`AyNHll l)pIpippbD~>VD~8y @ % D=ٔ:;Q->9I=%Fy%E%:E->19Q 5Eh45m?Q 9Eh45`G)51@YIyM@Q IM?5ۋCI5f;i5`a;5sh4y]Bɮ]׉BY*jyBjiiziJii kRkRkRh kRkRkRh2f:fBfJf}ϖ@ɢ=) ?i)ʞO<iIiAIIIO%+>2Acoustic response timeoutԑB5 >B5 7CB5 HB5 fAB5 =B1 B1 B5 ;B5 #E dя,E?Az2Acoustic response timeoutEUW EUQEU;EQ"EU :*EUv9VEU4ZEQBEU":au2EU':auJEU:au:EU:auԑr?s@ă7=ٱ+C AHRS rotation from veh to nav: [[-0.537531,-0.777257,-0.327004],[0.842054,-0.515365,-0.159199],[-0.044788,-0.360929,0.931517]]Ht3IԿ@?}`Ŀw׿?ir?Ia_;CY%cAy%HyeL7A`? rh?v/?e+G?eC >exi=a a9eE?M?~jtYe&?yen>eaeN^B eCB)aaYe~BbD?VD8ys,;%&=֑ٔ;Q->9I=FyE E>Q 5h4?Q 9h43A)@Y*?Q EM:yM>@Q IM?CI'u:f>BfE@JfS@ɢ9h=) 1?i)n`<iŠIAQIYIiO>2Acoustic response timeout ldя,ٱE?A2?2 @2WU@=ٱ2[ :AHRS rotation from veh to nav: [[-0.523094,-0.785433,-0.330860],[0.850981,-0.502718,-0.152005],[-0.046939,-0.361069,0.931357]]2H/C",տ =;?Ctÿg׿`?i2?I2^;2CY@y@F@AD=BAbD VD 8ٔ;Q-?9I=FyE7RE?Q 5h4?Q 9h4<)@Yy(@Q I?!CI:iZ:h4yɮ*jBjiiziJii kcTkcTkcTh kokokoh 2f:fBfJf@9ɢ==)9 9i9)Elk!Qԁ  2Acoustic response timeoutFdя,y7E?A2t?2 @2TI=ٱ2 :AHRS rotation from veh to nav: [[-0.508109,-0.793441,-0.335077],[0.859895,-0.489478,-0.144887],[-0.049053,-0.361749,0.930984]]2H@mB@cqտ`B? S߿¿u&׿ ?i2t?I2^;0YB+AyBH LNC~G!bDMVDM869YAy %<ٔ;Q->9I=FyđE%(E%>)Q 55h4-~㰉?Q 95h4-}7)-6@Y1y= @Q I=?-DCI-:i-:-jh4AyMBɮM߉BME*jaBjaiaiiziiJiiii k#nk#nk#nhy k3nk3nk3nh2f:fBfJf@A@AA@AB>BBHB>AB=BBpDBg;BEB8CB8CB”CB=B=C­V5ɢ=) ?i)Uy<i IAIIYIiqO;>2Acoustic response timeoutDAzDAEMY EMGEM=EI"EM:*EMR9VEM|4ZEIBEM;a]2EM;a]JEMt:a]:EMt:a]ԡ U&dя,gQE?A6@?6 @6P=ٱ6ž BAHRS rotation from veh to nav: [[-0.493186,-0.800728,-0.340002],[0.868429,-0.476081,-0.138485],[-0.050979,-0.363567,0.930172]]6H[߿@@տ+? x޿  D׿`?i6@?I6ј^;4YFAyFHbDVD8yE%MY=ٔM=;Q-M>9IIQ=UFyUƑEU;EU>aQ 5eh4eհ?Q 9mh4e2)e@Yiym@Q Im?edCIep:ie:eh4yqɮ}By*jBjiiziJii klklklh klklklh2f:fBfJfIv@ɢ ٶ=]2Acoustic response timeout) Ӂ?i)4<顙iIԱAII)Oe4>  2Acoustic response timeoutbEjEɞ4rE/Ei  Em EEi Ei "Ei *Em A9VEi ZEi au @a} @a} @a} @9 Qdя,GkE?A4<ɰ;Bv ?Bu{@BW=ٱB[ NAHRS rotation from veh to nav: [[-0.478094,-0.808135,-0.344011],[0.876730,-0.462583,-0.131766],[-0.052649,-0.364601,0.929674]]BH޿>Gֿ@+? ݿ@@`U׿?iBv ?IBCr^;@YVAyViHbD VD 8y%%%M=ٔ%;Q-%>9)I)=-Fy-ȑE-0E5>9Q 5Eh4=ǰ?Q 9Eh4=9-)=@YAyE@Q IE?=CI=:i=:=h4yUͩBɮU͉BUE*jiBjiiiiiziiJiqiq klklklh klklklh2f:fBfJf @ɢ=) ?i)<i6IAW?AY?AII!O]>e2Acoustic response timeout9B>B6CBHBAB=BBBG;BEa ;dя,0-E?A f2Acoustic response timeout~?~d@~+6^=ٱ~  AHRS rotation from veh to nav: [[-0.463084,-0.815095,-0.348101],[0.884654,-0.449103,-0.125272],[-0.054224,-0.365960,0.929049]]~H*ݿ`AGGֿ@O? ܿ`Hëk׿ź?i~?DADER=EI EIEM;EI"EI*EIVEM4ZEIBEIa]2EIa]JEMV:a]:EMV:a]I~}^;~CYmAym[Hy`"?v/MbW?x 9/$?#~j?9!I!=-Fy-ˑE-<E5>1Q 5=h45?Q 9=h45&)5,@YE2?Q EE:yE @Q IE?5CI5:i5Q:5h4yIɮUЉBQ*jiBjiiiiiziiJiqiq kmkmkmh kmkmkmh2fD>:fD>Bf@Jf@19- r-NAggregate::initialize marl:UpdateRudderq9-J])q959575o5XAggregate::initialize marl:UpdateCommandMode185]1185o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7=]97=n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeediyɢ} =)y s~?i)<<顡iIA$AIIOL>ԑ5>1m=m=u2Acoustic response timeout bdя,rE?A2?2E@2de=ٱ2v :AHRS rotation from veh to nav: [[-0.447463,-0.822321,-0.351519],[0.892549,-0.435242,-0.117984],[-0.055975,-0.366541,0.928717]]2H:ܿ tPGֿ Ï?@ۿ`74iu׿ ?i2?I2%c^;2CPYRAyRQHbD^VD^8yf:1%fc=ٔfӟ;Q-f>9jH?IjH?=jFyjΑEjGEn>pQ 5vh4rJ?Q 9vh4r1!)rů@Ytyvm @Q Iv?r͌CIrZ:ir:rVh4y~ʩBɮ~ωB|*j Bj iiziJii kokokoh) k3k3k3h92fI:fIBfIJfM p@s]NUpdating rudder angle 6.875493 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudderqɢuc=) t}?i)t<igI2Acoustic response timeoutEUZ EQEU=EQ"EU:*EQVEU|4ZEQa]@a]@a]@a]@AeAIqIO!>!  2Acoustic response timeoutdя,ԸE?A@Jf?J)@Jk=ٱJew ZAHRS rotation from veh to nav: [[-0.431846,-0.829523,-0.354119],[0.900115,-0.421379,-0.110607],[-0.057467,-0.366513,0.928636]]JH_ۿsֿ?ڿPZl t׿c?iJf?IJ|^;JCYfrAyfH !)!I!i!!bD=VD=8yUlo%UB=ٔ]h;Q-]>9]K?IeK?=eFyeБEe(Ee>iQ 5uh4mҟ?Q 9uh4m)mH@Yyy}Q @Q I}?mCIm+;imz;mh4yɮ܉B*jBjiiziJii kmkmkmh kkkh2fY:fYBfYJf]@Bu<Au<B}>ByB}:HB}AByByByB};B}E频ɢث=) %w?i)<<顙iIAzA)IIO*>iI2Acoustic response timeoutQEeW EeBEe<Ea"Ee :*Ee(9VEe 4ZEaBEe":am2Ee':amJEeI+:au:EeK+:auԁ )tdя,.ҒE?A2/?2 @2Lp=ٱ2 :AHRS rotation from veh to nav: [[-0.416181,-0.836303,-0.356918],[0.907381,-0.407346,-0.103581],[-0.058764,-0.366969,0.928375]]2H ڿֿC ?ڿDX@j|׿ @?i2/?I2a^;0YB(AyBHbDNVDN8yn2?%nR=ٔr9[;Q-r>9pIp=vFyvӑEvr6Ev>xQ 5h4z“?Q 9h4z)zӮ@Yy6@Q I?zCIzH!;iz";zh4yɮB*j!Bj)i)i)zi)Ji)i) kcmkcmkcmhA kkkhQY2fi:fiBfiJfmV@颉ɢ7Y=) r?i)h<顑i%I2Acoustic response timeoutIIO5 >ԉԱM 2Acoustic response timeoutEm X Em FEm >Ei "Em ~ :*Em ;J9VEm 4ZEi au @au @au @au @ dя,\E?AZ?Z?Zu=ٱZ rAHRS rotation from veh to nav: [[-0.400525,-0.843045,-0.358964],[0.914322,-0.393354,-0.096372],[-0.059954,-0.366808,0.928363]]ZH 4ٿ8Eֿ B?`,ٿ@ЫZ y׿%?iZ?IZc^;XYzAyzHԱbDVD8y%<=ٔ3;Q->9I=FyՑER E>Q 5i4?Q 9i4 )K@Y y @Q I ?9I=FyؑEV-E>Q 5i4y?Q 9i4y)@YI?Q E:y@Q I?eCI:i:i4yɮ ΉBI *jBjiiziJii kmkmkmhQ kkkh2f<>:f<>Bfm-@Jf @ɢ勪=) .o?i)]C'>2Acoustic response timeoutԩ ,dя,? E?A2?2?2WA=ٱ25 :AHRS rotation from veh to nav: [[-0.368932,-0.855267,-0.363879],[0.927347,-0.365074,-0.082149],[-0.062584,-0.367750,0.927816]]2H׿ X^`I׿Ӭ?_]׿@@| 6׿ ?i2?I2S^;2CYB~AyBHbDv-VDv8y-G%-W=ٔ-b;Q-->91I1=5Fy5ڑE59E=>Q 5i4cm?Q 9i4S)@Yy@Q I?CI;i;i4yBɮ҉B*jBjiiziJii kqkqkqh kkkh2f:fBfJf@!ɢ%=)! %k?i!)-B<))i-%1I1ԱIIIO=i I 2Acoustic response timeoutE5[ E1E5<E1"E5a:*E1VE5 4ZE1a=@a=@a=@a=@ % 2Acoustic response timeout9 6dя,T:E?ABp?B#\?Br=ٱB NAHRS rotation from veh to nav: [[-0.353139,-0.861303,-0.365307],[0.933370,-0.351110,-0.074449],[-0.064140,-0.367258,0.927905]]BHәֿ̏`2a׿ *?xֿ@wk&׿e?iBp?IB+f^;BCYV~AyVHbD^3VD^8yfļ%fN=ٔj;Q-j>9hIh=jFynݑEnL/En>pQ 5vi4ra?Q 9vi4r:)r_@Yxyz@Q Iz?rCIr:ir:r0+i4y|ɮ~׉B|*jBjiiziJii kClkClkClh1 kkkhA2fQ:fQBfQJfU@iɢu<6=)q uQi?iq)uBBHB~ABBBB;BE9IAIIIO-=!E%V E%HE%;E!"E%=:*E%[9VE%4ZE!BE%:a-2E%:a-JE%R:a5:E%S:a5u2Acoustic response timeoutI dя,SE?A FX?F4D?FF=ٱF NAHRS rotation from veh to nav: [[-0.337793,-0.866837,-0.366728],[0.938927,-0.337520,-0.067049],[-0.065658,-0.366980,0.927909]]FHgտ` zx׿ ?տ*ΰ`|׿m?iFX?IFX^;FCYf%~AyfGHbD~VD~8y d% H=ٔs;Q->9I=FyE=0"E=>AQ 5Mi4EU?Q 9Mi4E)E@YQyU@Q IU?E܍CIE :iE:E9i4yyɮ}By*jBjiiziJii klklklh kkkh2f:fBfJfn@ɢ=) Yb?i)u= ԙ EM X EM MEM <EI "EM ~ :*EM 9VEM 4ZEI aU @aU @aU @aU @ 2Acoustic response timeoutdя,mE?A2:?28&?2>k=ٱ2' :AHRS rotation from veh to nav: [[-0.322177,-0.872078,-0.368349],[0.944267,-0.323791,-0.059320],[-0.067536,-0.366931,0.927793]]2HԿ ׿o7?Կ=_J{׿{?i2:?I2l^;0YB~AyB4HP\\ x)xIxixxbDVD8y%J=ٔ[;Q->9I!=%Fy%E%(E%>)Q 55i4-tJ?Q 95i4- )-@Y9y=@Q I=?-CI-;i-&;-Gi4yEBɮEˉBME*jYBjYiYiaziaJiaia kjkjkjhy kkkh2f:fBfJf@颹ɢ{=) x`?i)<iIA%$AI1IAO}>2Acoustic response timeout nG)Iu9qYuAB>BB'HB}ABBBB;BEB6CB6CBǓCB=B=C4) dя,E?A2;?2Z'?2dP=ٱ2 :AHRS rotation from veh to nav: [[-0.307377,-0.876769,-0.369859],[0.949051,-0.310815,-0.051923],[-0.069433,-0.366975,0.927636]]2H@ӿ}@ë׿^?@cӿ`bƱ|׿1?i2;?I25T^;2CYR ~AyR6H|DD<E Z E EE BE "E :*E A9VE 5ZE BE _;a2E a;aJE V:a:E V:aE2Acoustic response timeoutysh|??ʡE{Gzti?ף 9~jt?v/?~jtY[?yx=D_B ΄B)XBY\BbDVD8y;%==ٔg;Q->9H?IH?=FyEE>Q 5 i4d=?Q 9 i42)h@Y]?Q Eu:y+@Q I?4CI ;i ;Vi4yBɮɉB!*j1Bj1i1i9zi9Ji9i9 k#mk#mk#mhQ kӍkӍkӍha2fuK>:fuK>BfuQ?Jfu/r@频ɢ=) `?i) <顙io& I)AAIIO5.>QIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutԁ ?dя,E?A;ɰ2t9?2$?2p=ٱ2 :AHRS rotation from veh to nav: [[-0.292398,-0.881280,-0.371281],[0.953624,-0.297713,-0.044360],[-0.071442,-0.367033,0.927460]]2Hҿ q3׿?` ӿNJy}׿ ?i2t9?I2s^;2CYBk}AyBHbDVD8yEн%EU=ٔMP;Q-M>9MK?IMK?=MFyMEU(EU>YaQ 5mi4e.2?Q 9mi4eH)e@YiymU?Q Im?e^CIe:ie:edi4yyɮ}݉By*jBjiiziJii k3rk3rk3rh) kCkCkChY2fi:fiBfiJfmq@颱ɢ =) V?i)8<项i Q IAY?AR?bE 4jErEL0E[ EIE;E"Ea:*Ec9VE4ZEa%@a-@a-@a-@MpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITM2Acoustic response timeoutԁIIOM1>Ա = zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutE-dя,BvE?AN[?N4G?Nⳕ=ٱN VAHRS rotation from veh to nav: [[-0.278434,-0.885379,-0.372261],[0.957675,-0.285398,-0.037510],[-0.073032,-0.366949,0.927370]]NHѿ`U׿E?`Cҿ}4`8|׿?iN[?INp[^;NCY^}Ay^HbD=VD=8y}p%}F=ٔ};Q->9I=FyEE>Q 5i4&?Q 9i4){@Yyx?Q I?CI:i:}ri4ymBB<A<B>B8CBHBO}AB=BBqDB;BEɮ̉BֱE*jBjiiziiJii klklklh kkkh2f:fBfJf0p@ɢ=) P?i!)-h<))i-q )I1IAIQO8>DzDES ETE:E"E9*E9VE(4ZEBE:a%2E:a%JE:a-:E:a-U2Acoustic response timeout)Q \dя,AՓE?A2?2y~?2Is=ٱ2O :AHRS rotation from veh to nav: [[-0.265032,-0.889579,-0.372032],[0.961367,-0.273541,-0.030797],[-0.074370,-0.365821,0.927709]]2H Jпmw^׿@?ѿ! @i׿ʯ?i2?I2~^;2CYv}AyvHbDeVDe8y%H=ٔV;Q->9I=FyE E>Q 5i4I?Q 9i4 )@Yy?Q I?CI%;i;?;i4yɮ͉B*j!Bj!i)i)zi)1Ji)i92Acoustic response timeout kSnkSnkSnh2f:fBfJfo@AɢEڂ=)A EP?iI)MaiIԉE- Y E- GE- ;E) "E- :*E- R9VE- 4ZE) a5 @a5 @a5 @a5 @m 2Acoustic response timeoutԹ :dя,E?A2Z?2̾?2=ٱ2D :AHRS rotation from veh to nav: [[-0.251851,-0.892859,-0.373328],[0.964810,-0.261776,-0.024801],[-0.075585,-0.366437,0.927368]]2HRп M׿?пqeY`s׿@?i2Z?I2U]^;2CYB|AyBSHbDNVDN8yVŒ%V\=ٔVW;Q-V>9XIX=ZFyZE^E^>`Q 5fi4b?Q 9fi4bh)b@Ydyf?Q Ij?bCIbF:ib_:bi4ylɮnډBl*jtBjxixixzixJixi| kmkmkmh  kmkmkmh2f:fBfJfo@ɢٯ=) I?i):<i I1AAzAAԑIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO%=2Acoustic response timeoutB>B9CBFHB|AB=BBrDB޿;BE "eя,E?A2.+?2?2K=ٱ2 :AHRS rotation from veh to nav: [[-0.239329,-0.895819,-0.374473],[0.967941,-0.250416,-0.019570],[-0.076242,-0.367151,0.927031]]2HSο\׿^?пD `g׿=?i2.+?I2,L^;2CYBk|AyB6HDn=DlEp ErIEr>Ep"Ep*Erc9VEr4ZEpBEr;az2Er;azJEr:az:Er:az%2Acoustic response timeouty5?p= ףEԸ5ff?55ƽ1 195MbX9?x&?HzGY5a?y57=5= 15_B 5B)5>B1Y5WBbDUVDU8yeU׼%e?=ٔeI:Q-e>9iIi=mFymEu Eu>Q 5i4V ?Q 9i4){@Ye?Q Em:y?Q I?CI:iv:=i4y jBɮ ݉BձE*j!Bj!i)i)zi)Ji)i) kkkkkkhy2f >:f >Bfh?JfZf@q/^\Aggregate::initialize marl:SendObservationDataq0/q0-_6data element is not active._pGot test_good : n/a str and temp var is nan n/a str //ɢ ߤ=) F?i)W<iB IIqIO=2Acoustic response timeoutI Leя,"E?A$6d?6t?6GȜ=ٱ6 BAHRS rotation from veh to nav: [[-0.226964,-0.899044,-0.374442],[0.970896,-0.239064,-0.014500],[-0.076479,-0.366835,0.927137]]6H+ Ϳ`׿?ο["8z׿`?i6d?I6Nd^;6CYJ|AyJH`` `)`I`i``bDjVDj8yr%rS=ٔrr :Q-v>9tIt=vFyvEzEz>|Q 5i4~?Q 9i4~b)~@Yy Q?Q I ?~x˿,׿(?e"Ϳ냿ි x׿?i2?I27S^;0lYn{AynHbDzVDzx8yܤ%H=ٔ^Q- >9 I = Fy E4E>Q 5%i4?Q 9%i4Q)@Y!y%?Q I-?iCI4:i:|i4y1ɮ5ӉB1*jIBjIiIiIziQJiQiQAYA]@ABe>BaBeHBe{ABe=BaBaBe׿;Ba ksVksVksVh2f:fBfJf e@Y100ɢ֥=) d>?i)5<i. IAX?AY?AII O5 >EX ELE?E"E~ :*E|9VE^4ZEBE:a 2E:a JEq:a:Er:ai9I9E2Acoustic response timeoutA x^eя,VE?A2@?2+?28=ٱ2 :AHRS rotation from veh to nav: [[-0.201969,-0.905140,-0.374073],[0.976423,-0.215809,-0.004997],[-0.076206,-0.366262,0.927386]]2Hɿ׿>?˿Twt8 p׿ %?i2@?I2m^;2CYB7{AyByHAbD~VD~c8yϽ%B=ٔyQ->9I=FyEE>Q 5i4)?Q 9i4Ԛ)@Yy ?Q I?CI1;it2;^i4yɮB*jBjiiziJii kSkSkSh kSkSkSh)2f9:f9Bf9Jf=2d@aUSendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 10.006443 min 0U^]DCompleted marl:SendObservationDataq/]^]`Aggregate::uninitialize marl:SendObservationDataq0]iɢm%=)i mq3?iq)uAE [ E EE =E "E a:*E A9VE |4ZE a @a @a @a @ 2Acoustic response timeout eя,apE?A2(?2?2~&=ٱ2 :AHRS rotation from veh to nav: [[-0.189358,-0.907901,-0.373978],[0.978987,-0.203922,-0.000636],[-0.075685,-0.366240,0.927437]]2H<ȿ B׿S?ʿD``{p׿?i2(?I2T^;0Y^^{AybHbDEsVDEU8ԙy<%I=ٔبQ->9I=FyEE>Q 5i4"﯉?Q 9i4ё)P@Yye?Q I?ŏCI:i:ui4yMBɮB˱E*jBjiiziJii kcTkcTkcTh  ksTksTksTh2f):f)Bf)Jf-Xc@IɢMȤ=)I U5?iQ)UV2Acoustic response timeoutB]>B]:CB]eHB]{AB]=BYB]sDB]Ͽ;B]E p"eя,9I=FyEE>Q 5i4쯉?Q 9i4I)ؑ@YeH?Q E:y?Q I?CI ;i] ;i4y2Bɮ݉B±E*jBjii!zi!Ji!i! ksRksRksRhY2fmb>:fmb>Bfm?Jfmv4:@ɢG=) z*?i)!T=i} I!AE>Q 2Acoustic response timeoutIQ Ia I O >y (eя,E?A2?2V?2=ٱ2fſ :AHRS rotation from veh to nav: [[-0.162049,-0.913878,-0.372245],[0.983974,-0.178091,0.008869],[-0.074399,-0.364843,0.928092]]2HĿ}> ׿@|?@ƿ*? Y׿?i2?I2V^;2CYnbzAynHbDziVDzL8yC%h=ٔ RQ- >9 I = FyE>)E>Q 5%i4E믉?Q 9%i4z)@Y)y-?Q I-?CI|:i:i4y1ɮ5B1*jIBjIiQiQziQJiQiQ k6k6k6hi kQkQkQhy2f:fBfJfE9@颩ɢ0=) *&?i)/!=顱iw IQIIO=EZ EHE9E"E:*E[9VE4ZEa@a@a@a@m2Acoustic response timeoutԁԩ = i>= C _G MrA 9 MrAY A  2Acoustic response timeout2.eя,|E?A2]?2?29=ٱ2) :AHRS rotation from veh to nav: [[-0.147188,-0.916937,-0.370894],[0.986354,-0.164036,0.014106],[-0.073774,-0.363757,0.928568]]2H@ ¿ W׿@5? Ŀa? ⲿG׿`Զ?i2]?I2Ԁ^;0YByAyByHbDJtVDJV8yR%VP=ٔVѺQ-V>9TIX=ZFyZEZEZ>\Q 5bi4^鯉?Q 9fi4^z)^@Ydyf6?Q If?^5CI^:i^N:^i4yhɮjBlBA<B >B B HB JzAB =B B B ;B ~EB9CB9CBCB=B=C5*jiBjiiqiqziqJiqiq k#6k#6k#6h kTkTkTh2f:fBfJfI8@Yɢ]j=)a eq?ia)e%4=aaie iIiԱII O==E EIE<E"E*Ec9VE 4ZEBE`;a2Eb;aJE:a:E:a}2Acoustic response timeout 9 5eя,9הE?A ɰ J?J?Jm=ٱJ ZAHRS rotation from veh to nav: [[-0.131230,-0.919565,-0.370377],[0.988652,-0.148952,0.019520],[-0.073119,-0.363612,0.928676]]JH$m@׿ ?`ÿ.?已kE׿?iJ?IJa^;JCYfyAyfHbDvVDvi8y|<%D=ٔ κQ- >9 I =FyEE>Q 5%j4诉?Q 9-j4r)@Y)y-&?Q I-?]CIi-:? j4y9ɮ=B9*jQBjQiiziJii kS9kS9kS9h kCQkCQkCQh2f):f)Bf)Jf- 17@aɢeM=)i mn?ii)m@=iiiuD qIyAAQ?2Acoustic response timeout II)O=9a bEm|4jEm4rEm|1E T E GE =E "E 9*E R9VE |4ZE a @a @a @a @ 2Acoustic response timeout;eя,qE?A0:̻?:n?:=ٱ: BAHRS rotation from veh to nav: [[-0.113968,-0.922088,-0.369817],[0.990826,-0.132709,0.025547],[-0.072635,-0.363513,0.928753]]:H, ׿ ش? @(?0C׿X?i:̻?I:L^;:CYJRyAyJOH`` `)`I`iddbDjVDj8yr%vL=ٔvQ-v>9xIx=zFyz Ez2Ez>Q 5j4M诉?Q 9 j4j)@Y y ?Q I ?CI:i:5j4yBɮBE*j1Bj1i1i1zi1Ji9i9 k5k5k5hQ kPkPkPha2fq:fqBfqJfua6@颉ɢ$=)  ?i) =顙iT II9IIO=ԉ2Acoustic response timeoutԹB>BBkHByABBBB;BmE OBeя, E?A2l?2\X?2#`=ٱ2A :AHRS rotation from veh to nav: [[-0.095564,-0.924363,-0.369351],[0.992788,-0.115489,0.032162],[-0.072386,-0.363614,0.928733]]2Hv@bq׿ ?w?`݇qE׿.?i2l?I2Z_^;0DLDN=ERV EPEPEP"ER=:*EPVEPZEPBER:aZ2ER:aZJERt:aZ:ERt:aZ\Yb.yAyb9HE2Acoustic response timeouty@5^I ?{GztMb?b0?ף< 9S?BY}BbDVD8yݡ%;=ٔQ->9I=Fy E-E>Q 5 j4築?Q 9 j4d)@Y?Q E:y?Q I?CI ;i7 ;~*j4yɮB!*j1Bj9i9i9zi9Ji9iA k5k5k5h2f&>:f&>BfK@Jfh@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ%T8=)! %?i!)%0 =!)i-O IIQAIIO%N>!2Acoustic response timeoutQ #Heя,_%E?A2O?2?2Ɠ=ٱ2 :AHRS rotation from veh to nav: [[-0.076292,-0.926514,-0.368444],[0.994476,-0.097424,0.039070],[-0.072094,-0.363428,0.928828]]2H؇`׿??thB׿?i2O?I2LG^;2CYBxAyBH9bD VD 8yG%O=ٔBQ->9I=FyEIE>Q 5j4築?Q 9j4^)]@YyS?Q I?CI9:i[:A8j4yɮB*jBjiiziJii k5k5k5h kc9kc9kc9h2f!:f!Bf!Jf%D@s-NUpdating rudder angle 6.875493 arcdeg 9-r-6Completed marl:UpdateRudder19- r-RAggregate::uninitialize marl:UpdateRudderIɢM2Ɩ=)I M ?iI)U =QQiU YIYAmpAzAmpAEY EFEE"E:*E;J9VEZEa@a@a@a@M2Acoustic response timeoutQAIIO!>y _?  2Acoustic response timeoutyOeя,i?E?A2U?2RA?2Z=ٱ2$ :AHRS rotation from veh to nav: [[-0.056023,-0.927544,-0.369492],[0.995852,-0.078487,0.046035],[-0.071699,-0.365380,0.928093]]2H o¥׿`?Ց?@Zdb׿?i2U?I2a^;0AFAAAFAABJ>BJ;CBJHBJxABJ=BHBHBHBJrEYVxAyVHiaIenAibD1VD1y}ܼ%}K=ٔ}Q-}>9I=FyENIE>Q 5j4/诉?Q 9j4X)ŀ@Yy?Q I?ېCI;;i;Fj4y)ɮ-B)*jYBjYiaiaziaJiaia ks7ks7ks7h2f:fBfJf@ɢ]=) J ?i)ݿ =i$ IԑIIO5.>DzDET EDEE"E9*Ea99VEZEBE:a2E:aJEhH:a:EkH:aE2Acoustic response timeoutԹ Ueя,KYE?A:j?:ۚ?:kw=ٱ:, FAHRS rotation from veh to nav: [[-0.035394,-0.928364,-0.369982],[0.996816,-0.059265,0.053351],[-0.071456,-0.366916,0.927506]]:H#)ʭ׿? 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Y ] >8eя,kE?ADD<E"Y E"JE"?E "E":*E"k9VE"^4ZE BE";a&2E";a&JE":a*:E":a*^?^! ?^X_=ٱ^C jAHRS rotation from veh to nav: [[0.178238,-0.921001,-0.346394],[0.980431,0.136324,0.142022],[-0.083580,-0.364929,0.927276]]^H?x@Q+ֿ`_?s?-?@eZ׿??i^?I^o4^;\~2Acoustic response timeoutYtAyHyn?#~j?+Vn?= 9q= ףp?B`"?I +?Yk?yN>94<`B B)؍BYBbDVD8y<%P=ٔ;Q->9I=Fy2EE>Q 5j4گ?Q 9j4)@Y%q?Q Ea:y?Q I?CIq ;i ; j4yɮDB*jBjiiziJii k3Qk3Qk3Qh2f>:f>Bf?Jf9B@ɢ_e=) >i)=iF I!AYIaIqO=>I2Acoustic response timeouty өeя,"7E?A;ɰ4<2(?2?2=ٱ2B :AHRS rotation from veh to nav: [[0.188942,-0.919309,-0.345212],[0.978358,0.146027,0.146602],[-0.084363,-0.365440,0.927004]]2HC/?`jֿN???@ɘ _c׿@?i2(?I2O^;2CYBsAyBHYbD9VD9yĥ%L=ٔc;Q->9I=Fy4E]߼E>Q 5k4#گ?Q 9k4)@Yy7?Q I?CIF;iG; k4yBɮQB*jBjiiziJii k5k5k5h kSOkSOkSOh)2f9:f9Bf9Jf=mB@Yɢ]H^=)e6 м e`>ia)eep=aaieCiIiE]T E]ME]<EY"E]9*E]9VE] 4ZEYae@ae@ae@ae@2Acoustic response timeoutԉAAIIIYO:>Ա B <A <B >B B HB MsAB =B B B ۿ;B E %= %= 2Acoustic response timeouteя,0ÖE?AFge?FP?Fy=ٱFME RAHRS rotation from veh to nav: [[0.199064,-0.917793,-0.343555],[0.976286,0.155287,0.150840],[-0.085090,-0.365434,0.926940]]FHz? ^`տ =?@r?@N?uȵFc׿}?iFge?IFx<^;FCYZAsAyZHbD%VD%8y"%K=ٔ:Q->9I=Fy7E%ӼE>ԹQ 5k4ٯ?Q 9k4)|@Yy?Q I?CIm(;iG);!k4yBɮ=BE*jBjiiziJii k3k3k3h kcVkcVkcVh 2f!:f!Bf!Jf%LrA@9ɢ=mY=)A EjP>iA)ES=AAiMIIQAIIO)>DYzD]@AEeX EeGEe>Ea"Ee~ :*EeR9VEe4ZEaBEe:au2Ee:auJEet:au:Eet:au]2Acoustic response timeout9 eя,ܖE?AVM%?V?V :=ٱVX nAHRS rotation from veh to nav: [[0.208585,-0.915884,-0.343000],[0.974264,0.163944,0.154701],[-0.085456,-0.366441,0.926509]]VH?N տ +-?@?A?jൿs׿`?iVM%?IV=Q^;VCYv,sAyvHbDeVDe8yUQ%I=ٔ)m:Q->9I=Fy:EFżE> Q 5k4  گ?Q 9k4 ) Qx@Yy?Q I?  CI +;i K,; (k4y!ɮ-@B)*jABjAiAiAziAJiIiI kSkSkShY kSkSkShi2f:fBfJf@@颙ɢ?W=) K>i)w=顡ie2Acoustic response timeoutIA!I)I9AOu6>iEu W Eu CEu @Eq "Eu :*Eu 09VEu 4ZEq a} @a} @a} @a} @m 2Acoustic response timeout eя,lE?AZ?ZӬ?Z-կ=ٱZA@ bAHRS rotation from veh to nav: [[0.218000,-0.913999,-0.342173],[0.972174,0.172567,0.158423],[-0.085750,-0.367188,0.926186]]ZH`k?z?(տ` ?`?1G? ׿P?iZ?IZ:^;ZCYjrAyj:HbDvVDv8y~d%~V=ٔ~J:Q-~>9I=Fy Q 5k4 mگ?Q 9k4 ) t@Yyc?Q I? LCI {;i ; 5k4y-Bɮ-GB)*jABjAiAiAziAJiIiI kTkTkTha klklklhi2f:fBfJf6@@颙ɢE'R=) +>i)5K =顩iPIqԡB>BBHBrAB=2Acoustic response timeoutBBuDB޿;BEժ A)zA)A$AIIO> ~eя,HE?AD=D%=E EBE?E"E*E(9VE^4ZEBE&:a2E*:aJEK+:a:EM+:aB?B?B=ٱBP JAHRS rotation from veh to nav: [[0.227530,-0.912209,-0.340740],[0.969998,0.181549,0.161687],[-0.085631,-0.367306,0.926150]]BH@?0տ@: ?@=?@*? 뵿׿?iB?IBS^;BCYRrAyR'H%In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER%2Acoustic response timeoutyB`"?ףp= ÿMbXN?ʽ 9+?/$?|?5^ʿYv^?y=RaB gB)BY\BbDVDr8y%==ٔQ->9H?IH?=Fy?EӹE>Q 5k4fᯉ?Q 9k45)l@Ye?Q El:y?Q I ?{CI;;i7:Dk4ytBɮ"BE*j)Bj)i1i1zi1Ji1i9 kSkSkShI k3ik3ik3ihY2fm>:fm>BfmK?Jfm*@!ɢ5L=)1 =*$>i9)=I =99i=qAIQMXҼAIIOg>rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=2pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout) Q #eя,*E?A>U?>^A?> =ٱ>+/ JAHRS rotation from veh to nav: [[0.237493,-0.911006,-0.337143],[0.967644,0.191424,0.164381],[-0.085214,-0.365274,0.926992]]>H(f?&տ`? ?m ? е`׿`?i>U?I>5^;>CYVprAyVHtt t)tItitxbDVDo8yϧ%W=ٔuQ-%>9!I!=-Fy-AE-:ݼE5>9Q 5Ek4=築?Q 9Mk4=)=e@YIyM?Q IU?=CI=#;i=$;=Rk4yɮ&B*j Bj i iziJii kPkPkPh) k3lk3lk3lh92fI:fIBfIJfM\K*@iɢuN=)q u2>iq)u]!=qyi}yIE5S E5FE5>E1Q"E59*E5;J9VE54ZE1ae@ae@ae@ae@-zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY-2Acoustic response timeouty iqG !U 9QYUAAAIIIO>ԡ Ay Ay B >B =CB HB qAB =B B B ;B EBE>CBE>CBE˔CBE=BE=CE[B6 2Acoustic response timeout eя,YDE?A:܌?:Ȩ?:%=@ٱ:ꮾ fAHRS rotation from veh to nav: [[0.248636,-0.909650,-0.332741],[0.964909,0.202666,0.166965],[-0.084444,-0.362579,0.928120]]:H`L?Kտ??_?#|4׿'?i:܌?I:Y^;:CYjrAyjHprp=bDvVDvm8y~1%L=ٔPQ->9 K?I K?= Fy DE DE >Q 5k4?Q 9%k4Z)]@Y!y%G?Q I%?ϓCI;i; `k4y)ɮ-4B1*jIBjIiIiIziIJiIiQ kSkSkSha khkhkhhq2f:fBfJf)@颡ɢpF=) >i))!=顩iˎIԱAaIqIO>EEW EEEEAEA"EE :*EEA9VEAZEABEE%:aM2EAaUJEEV:aU:EEV:aU=2Acoustic response timeout T3eя,{3^E?A25?2;!?2ª=ٱ2Ἶ :AHRS rotation from veh to nav: [[0.261091,-0.908008,-0.327649],[0.961715,0.215392,0.169442],[-0.083281,-0.359345,0.929481]]2H?e5Կ^??D?Qֿ`O?i25?I2J^;2CYZqAyZHlbD-]VD-A8yem%mD=ٔmP7Q-m>9iIq=uFyuFEu_Eu>yQ 5k4}w?Q 9k4}\)}V@Yy?Q I?}CI}:i}:}nk4ywBɮ:B*jBjiiziJii k3Pk3Pk3Ph k#ik#ik#ih2f:fBfJf(@ ɢC=2Acoustic response timeout) "=i))"=顡i,I IIO%>9bE4jEH4rE/EU U EQ EU =EQ "EU :*EQ VEU |4ZEQ a] @a] @a] @ae @M 2Acoustic response timeouta ]eя,4xE?A23t?2_?2T=ٱ2SA :AHRS rotation from veh to nav: [[0.274302,-0.905184,-0.324654],[0.958187,0.228670,0.172011],[-0.081463,-0.358262,0.930060]]2H*?D"Կw?E?@t?`ڴֿ ?i23t?I2U3^;2CYB0qAyBOH9bDnVDP8yM%ML=ٔMEQ-U>9QIQ=UFyUIE]4 E]>aQ 5mk4e4?Q 9mk4e¬)eN@Yiyu?Q Iu?e(CIe6:ieN:e|k4}PExceeded connect timeout, disconnecting.y\Bɮ6B~E*jBjiiziJii kPkPkPh kkkkkkh2f:fBfJfб'@ɢ`7=) 3=i)h"=i I IQIaiO>BE>BABE>HBEqABE=BABABE ;BEE2Acoustic response timeoutԑ Eeя,J둗E?A2{?2pf?2¡=ٱ2S- :AHRS rotation from veh to nav: [[0.289101,-0.901333,-0.322519],[0.954041,0.243505,0.174672],[-0.078903,-0.358194,0.930307]]2H`? `&Կ? 0+?`[?@2ֿ@?i2{?I2z^;0EBT EBDEB;E@"EB9*EBa99VEB4ZE@BEB:aJ2EB:aJJEBiH:aJ:EBkH:aJY^pAyb'H2Acoustic response timeout %>!ԙye/$?~jte1(?eeDa a9eK7?9I=FyLE E>Q 5k4 ?Q 9k4)]I@YM4?Q EM:yMx?Q IU?OCIBY*jBjiiziJii kcSkcSkcSh2f=>:f=>Bf@Jfb@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢi2=) p=i)%ۢ"=!!i% )I)A9zA9IIOU2>2Acoustic response timeout peя,PǫE?AFA?F,?F=ٱF RAHRS rotation from veh to nav: [[0.305718,-0.896164,-0.321601],[0.949079,0.259846,0.178126],[-0.076063,-0.359681,0.929970]]FH?_Կ^?R??x׿`P?iFA?IFc^;FCY^zpAy^HbDj{VDj\8yr%rl=ٔrQ-r?9tIt=vFyvNEzdNEz?xQ 5k4z=?Q 9k4z )z^E@YyBt?Q I?znCIz;iz;zbk4y_BɮPBE*j!Bj!i)i)zi)Ji)i) kVkVkVhA kSokSokSohQ2fa:faBfaJfeM@smNUpdating rudder angle 6.875493 arcdeg 9mru6Completed marl:UpdateRudder19u ruRAggregate::uninitialize marl:UpdateRudder颉ɢB- 9I=FyPE_CE>!Q 5%k4%<&?Q 9-k4%#)%@@Y)y-Ao?Q I-?%CI%:i%:%k4y1ɮ=YB9*jIBjIiQiQziQJiQiQ kVkVkVhi kjkjkjhy2f:fBfJf,@颩ɢ/&=) FII9IIԹO%=Ea EeGEeAEa"Ea*EeR9VEeA4ZEaBEe`;am2Eec;amJEet:au:Eet:au2Acoustic response timeout 9 ܁eя,|ߗE?A2C ?2 ?2=ٱ2aX :AHRS rotation from veh to nav: [[0.343627,-0.882858,-0.320127],[0.936456,0.296544,0.187380],[-0.070498,-0.364174,0.928659]]2H? `@|Կs???% N׿?i2C ?I2P^;2CYRoAyRTHTVAbDZ]VDZA8ybQ%fN=ٔf׻Q-f>9hIh=jFyjSEjTEn>pQ 5rk4r+4?Q 9vk4r)r9<@Ytyvi?Q Iv?rCIr:ir[:rk4yzbBɮ~oB|*j Bj iiziJii kSRkSRkSRh2f:fBfJfв@ɢ=) rͼi)"=iI!2Acoustic response timeoutIIO=9Eu  Eu TEu =Eq "Eu :*Eu 9VEu |4ZEq a} @a} @a} @a} @y - 2Acoustic response timeouteя,WE?A 2z?2J>?2[=ٱ2P >AHRS rotation from veh to nav: [[0.364089,-0.874820,-0.319576],[0.928821,0.315711,0.193956],[-0.068783,-0.367446,0.927498]]2H9pIt=vFyvVEvh\Ev>xQ 5k4zB?Q 9k4zϏ)z7@Y y.d?Q I?zؔCIze;iz;zk4y-FBɮ-bB-uE*j9Bj9iAiAziAJiAiA kSkSkShY kSSkSSkSShi2f:fBfJf @9ɢ=AL=)9 =[i9)E}"=AAiE\AIIqB>B;CBHB,oAB=BBsDB*;BEA%$AIIIihDAT read: Forwarding Delay UpTx time:18:26:39.7034 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԙO^> fя,2E?ADD<ES EDE;E"E9*Ea99VE4ZEBE:a2E:aJEhH:a:EkH:aJt?JR?J=PٱJ0¾r2Acoustic response timeout vAHRS rotation from veh to nav: [[0.385193,-0.866393,-0.317789],[0.920313,0.335201,0.201653],[-0.068187,-0.370141,0.926470]]JH`? }VԿ4s?s?@?tb׿ ?iJt?IJd^;HY nAy Hy %C?I +RQ? ZD? 94 =  9 /$?Sÿv/?Y  ?y  xi=  `B ʂB) uB Y BbD%oVD%Q8y51%=6=ٔ=}Q-=>9MH?IMH?=UFy]XEmNEm>qQ 5}k4uAO?Q 9}k4uF)u9@Y?Q E:y^v?Q I?uCIu:ius:uk4yɮlB*jBjiiziJii kRkRkRh kRkRkRh2f}>:f}>Bff@Jfe@ɢ=) i ) ;"=  i IAAIIIYO:>2Acoustic response timeout! ־ fя,-E?A2n?2yR?2=ٱ2ľ :AHRS rotation from veh to nav: [[0.406654,-0.857181,-0.316026],[0.910998,0.354472,0.210787],[-0.068660,-0.373617,0.925039]]2H`?n9Կ &?`??`U׿?i2n?I2;H^;2CYBnAyF[H|bD WVD ;8yE %E[=ٔMg:Q-M>9III=UFyU[EUEU>YQ 5ek4]Y?Q 9ek4]م)]q;@Yiymp?Q Im?]CI]:i]:]pk4yuJBɮ}B}vE*jBjiiziJii ksUksUksUh kUkUkUh2f:fBfJf@ɢ<)  i)&!=i~lIEUT EUKEU>EQ"EU9*EU]t9VEU4ZEQa]@a]@a]@a]@2Acoustic response timeout)AaIqIO!>Qԁ A A AAB >B B |HB 8nAB =B B B .;B Eߝ >ߝ #@ 2Acoustic response timeout˥fя,!FE?A2h?2zS?2H=ٱ2 ž :AHRS rotation from veh to nav: [[0.427818,-0.848145,-0.312445],[0.901133,0.373377,0.220338],[-0.070219,-0.375819,0.924029]]2H^a? $ӿ`?f? 4?@k ؿ?i2h?I2R^;2CYBmAyB.HYbD=hVD=K8y.%E=ٔv;Q->9I=Fy]EfE>Q 5k4e?Q 9k4)T=@Yyj?Q I?1CI;i,:k4yɮB*jBjiiziJii kUkUkUh knknknh92fI:fIBfIJfMT@aɢe]<)i m*ii)mi^!=iiiuhqIyAԉIIOD9zD9EE\ EEBEEMEA"EE:*EE(9VEEH$5ZEABEE;aU2EE;aUJEEJ+:aU:EEL+:aU2Acoustic response timeoutԱ fя,"`E?A2Gc?2?2=ٱ2iƾ :AHRS rotation from veh to nav: [[0.447137,-0.839830,-0.307822],[0.891545,0.390669,0.229183],[-0.072218,-0.376913,0.923429]]2H? [ӿ@?`?`U? |Yؿ?i2Gc?I2P^;2CYNfmAyRHbDyVDZ8yE9X%MP=ٔM";Q-M>9QIQ=UFyU`EUVaE>ԹQ 5k4q?Q 9k4@|)#?@Yy:e?Q I?NCI:i:k4yMBɮB*jBjiiziJi i kUkUkUh) k3mk3mk3mh92fI:fIBfIJfM5@]2Acoustic response timeoutyɢ})<)y }h&iy)} =顁iIAAII OU2>EU W EQ EU >EQ "EU :*EQ VEU 4ZEQ ae @ae @ae @ae @ 2Acoustic response timeout9 fя,zE?A*ԁG6MrA@LɰN;V9VMrAYVAz?^?z +?zS=ٱz/Ǿ AHRS rotation from veh to nav: [[0.463639,-0.832331,-0.303748],[0.882913,0.405309,0.237044],[-0.074187,-0.378086,0.922793]]zHE?u`pӿ@??tW? 2ؿ?iz?^?Iz&^;xYlAyHbD%bVD%E8y5O%=K=ٔ=;Q-=>9EK?IEK?=EFyEbEM >EM>QQ 5]l4U}?Q 9]l4Uw)U@@YYy]`?Q Ie?UkCIU ;iU;U l4yiɮmBi*jBjiiziJii kTkTkTh kmkmkmh2fY:fYBfYJf]m@颙ɢ<)  Hi)V. =顱iBIAU?A_?B>Biԡ R$fя,xE?AD D"<f2Acoustic response timeoutn,FZ?n?n=ٱn(Ǿ zAHRS rotation from veh to nav: [[0.478071,-0.825841,-0.299056],[0.875019,0.418318,0.243623],[-0.076093,-0.378149,0.922612]]nH@? Jm#ӿ@'?? /?z@3ؿ ?in,FZ?Inޗ^;nCY lAyyHE=R E=NE=AE9"E=s9*E=҆9VE=A4ZE9BE=t:aM2E=y:aMJE=:aM:E=:aMyMbX9?(\µ?:v?a?=T= 9??:v?Y,?y<T> gB);BYWBbD^VDA8y0% >=ٔ ;Q- >9 I=FyeEq*E>Q 5l4?Q 9l4p)D@Y4?Q E:y?Q I?CI]:iQ:wl4yɮB*jBjiiziJii kCUkCUkCUh  ktktkth92fM8>:fM8>BfM+[@JfMh1@颁ɢ<) [i)i=顱iIԡAI!I9OmW>u2Acoustic response timeout +fя,qUE?A2V?2/?2ym=ٱ2xǾ :AHRS rotation from veh to nav: [[0.490761,-0.819935,-0.294721],[0.867860,0.430010,0.248816],[-0.077280,-0.377886,0.922621]]2Hh?@<ҿ?I?@6? ȳH/ؿ?i2V?I2^;2CYBlAyBvHXX X)XIXiX\bDbaVDbD8yj%j`=ٔnU;Q-n>91I1==Fy=hE='E=>AQ 5Ml4E;?Q 9Ml4Ei)EG@YQyU ?Q IU?ECIE|:iE:E%l4y]1BɮeBelE*jqBjqiqiyziyJiyiy k\k\k\h kpkpkph2f:fBfJfG@ɢ3q<) [i)=iI 2Acoustic response timeoutbE´4jE¹4rEº1EV EGE<E"E=:*ER9VE 4ZEa%@a%@a%@a%@AIIO!>) Bi Am <Bu >Bq Bu PHBu QlABu =Bq Bq Bu ;;Bu E 2Acoustic response timeoutm1fя,.ȘE?A2%S?2I~?2=ٱ2دƾ >AHRS rotation from veh to nav: [[0.502167,-0.814516,-0.290502],[0.861243,0.440742,0.252998],[-0.078034,-0.377240,0.922822]]2H?ҿL?5?1?$ؿ`‡?i2%S?I2h^;2CYF5lAyF?HHHbDNWVDN;8yVJb%VM=ٔZ:Q-Z>9XIX=^Fy^jE^ Eb>`Q 5fl4b?Q 9fl4bhc)bJ@YhyjS?Q Ij?bՕCIb:ib:bv3l4yn4BɮrBp*jxBjxixi|zi|Ji|i| k3Xk3Xk3Xh ktktkth!2f1:f1Bf1Jf5S@ɢ <)GO ri)=i IQAIIO>DazDe?Ay2Acoustic response timeoutEY EE@E"E:*EVE4ZEBE;a%2E;a%JEt:a%:Et:a-ԩ 8fя,E?A2<P?2?2]=ٱ2ƾ :AHRS rotation from veh to nav: [[0.512654,-0.809137,-0.287198],[0.855024,0.450639,0.256627],[-0.078224,-0.377122,0.922854]]2Hg?ssaҿ \\?F?l?w "ؿ?i2<P?I2,~^;2C9III=MFyUmEUvEU>YQ 5l4])?Q 9l4]A\)][N@Yy?Q I?]CI](;i];]DBl4yɮÊB*j)Bj)i)=2Acoustic response timeouti1zi9JiAiA k#\k#\k#\hQ kclkclkclha2fy:fyBfyJf}@@频ɢN<) i) =顙idIԩAII!Om5>E U E EE ?E "E :*E A9VE ^4ZE a @a @a @a @ 2Acoustic response timeout %H>fя,E?A:L?:HY?:=ٱ:=ƾ BAHRS rotation from veh to nav: [[0.523172,-0.803328,-0.284525],[0.848649,0.460522,0.260221],[-0.078013,-0.377602,0.922676]]:Hӽ?ݴ5ҿ!(?/y?v?*ؿ@?i:L?I:L^;8YJxkAyJHlbD|VD]8yM %M=ٔ; Q->9!I!=%Fy%oE%E%>)Q 55l4-W?Q 95l4-U)-Q@Y9y=1?Q I=?-CI-;i-/;-*Pl4yQɮUŊBa*jBjiiziJii kSkSkSh klklklh2f:fBfJf@ɢّ<) i)C'=iIBM>BM?CBMHBMkABM=BIBMvDBM;BM EM2Acoustic response timeoutAaIiIyO>>1a s0Efя,E?A(ɰ(R2Acoustic response timeoutET EVBETET"ET*EV(9VETZETBEV:aZ2EV:aZJEVJ+:aZ:EVM+:a^ I? ? =ٱ /ǾA }AHRS rotation from veh to nav: [[0.533815,-0.797188,-0.282015],[0.842053,0.470622,0.263555],[-0.077380,-0.378161,0.922500]] H ?@ ҿ@??@?0ϳ`3ؿ?i I?I D4^; YEkAyHyx&1?Q?A`?\=L 9ʡE?x&?l?Y=?y7 >=3cB B)BYBbDNVD38yܼ%0=ٔ䲺Q->9I=FyrESݼE> Q 5l4 ճ?Q 9l4 L) zP@YA?Q E:y?Q I? KCI G ;i  ; i`l4y%Bɮ%B%cE*j9Bj9i9i9zi9Ji9iA kCTkCTkCThQ k#lk#lk#lha2f}F>:f}F>Bf}Ǻ,@Jf}\@颙ɢ'<) Zi) =顡iIiԑ7AY?AV?U2Acoustic response timeoutAA IQ Ii O > *ZKfя,V/E?A2HF?2~?2=ٱ2Ǿ :AHRS rotation from veh to nav: [[0.544855,-0.790356,-0.280126],[0.835031,0.480920,0.267281],[-0.076529,-0.379544,0.922003]]2H so?Jѿ?e?"?@g@qJؿ ?i2HF?I2@^;2CYBjAyBbHbDNOVDN48yV%Vx=ٔV)Q-Z?9XIX=ZFyZtE^;#E^?`Q 5fl4b?Q 9fl4bF)bO@Ydyj?Q Ij?bkCIb9:ibR:bkl4ylɮnŠBl*jxBjxixixzixJixi| kSkSkSԙh2f:fBfJf8#\@ɢY<) -i)<=if򼉨IE=W E=FE=:E9"E= :*E=;J9VE=(4ZE9aE@aE@aE@aE@i߱I߱2Acoustic response timeoutAE$AIIIYO9>A A B >B @CB VHB jAB =B B wDB ;B E e 2Acoustic response timeout9BRfя,>yIE?A2B?2|z?2{=ٱ2ɾ :AHRS rotation from veh to nav: [[0.556686,-0.782663,-0.278458],[0.827253,0.491686,0.271841],[-0.075846,-0.381685,0.921175]]2H_? Aѿx?w? e?jmؿ`Dz?i2B?I2)^;0YBjAyBBHbDNMVDN28yVP%VJ=ٔVT޺Q-V>9ZH?IZH?=ZFyZwEZE^>`Q 5bl4bJŰ?Q 9fl4bm?)bN@Ydyf0?Q If?bCIb:ib:b zl4yhɮnȊBl*jtBjtixi|ziJi i kTkTkTh1 kikikihA2fQ:fQBfQJfU[0[@iɢu[<)q uiq) =i񼉨I!EEMX EMCEM<EI"EM~ :*EM09VEM 4ZEIBEM:a]2EM:a]JEM9:a]:EM9:a]2Acoustic response timeoutQAmAIyIO>y lXfя,iScE?A6>?6Ӌv?6Ǚ=ٱ6Aʾ BAHRS rotation from veh to nav: [[0.569393,-0.773866,-0.277350],[0.818636,0.502984,0.277206],[-0.075017,-0.384888,0.919910]]6Hv8?@ѿC2?q?? X4 ؿ@o?i6>?I6A^;6CY^KjAybH )IibD%=VD%#8y5<%5B=ٔ=Q-=>9=K?IEK?=EFyEyEEeEE>IQ 5Ul4Mϰ?Q 9Ul4M7)MM@YYy]:?Q I]?MCIM+;iMH;MLjl4yaɮeҊBi*jyBjiiziJii ksPksPksPh k3ik3ik3ih2f:fBfJf#Z@2Acoustic response timeoutQYɢe!O<)a eia)eO=aiimy])iIԁAIԱIO>EU S EU GEU =EQ "EU 9*EU R9VEU |4ZEQ a] @a] @a] @a] @ 2Acoustic response timeout ^fя,R,}E?A6:?6]{r?6t=ٱ6P̾ >AHRS rotation from veh to nav: [[0.582361,-0.764789,-0.275595],[0.809555,0.514738,0.282253],[-0.074005,-0.387482,0.918902]]6H ?'yXѿ ?x?n?`ؿ@g?i6:?I6*^;6CYFiAyFHHHbDvbVDvE8yz~%~N=ٔ~'Q-~>9I=Fy|E "$E >Q 5l4.ڰ?Q 9l40)L@Y!y%4?Q I%?CI&%;i&;l4yEBɮEBA*jYBjYiYiaziaJiaia kPkPkPhy2f:fBfJfyY@ɢ)<)  )þi ) :=  i /!I)ԹB>BACBHBiAB=B$DBxDB&;B EIIO">-2Acoustic response timeout 9 }efя,E?AEV EBE7E"E=:*E(9VEԺ4ZEBE:a2E:aJEK+:a:EN+:aB2Acoustic response timeout> 6?>Xn?>=ٱ>; NAHRS rotation from veh to nav: [[0.595395,-0.755547,-0.273227],[0.800092,0.526600,0.287307],[-0.073193,-0.389668,0.918042]]>Hz ?`q-|ѿZ??>c?ǼQؿ@`?i> 6?I>H^;>CYfiAyfHyv/?~jt?~jtxI?D< 97A`?~jt?~jtY6?y=D @B)MBYaBbD\VD@8y-O%-8=ٔ-Q-->91I1=5Fy5E=DE=>AQ 5Ml4E谉?Q 9Ml4Eu))EI@YM7?Q EM:yU?Q IU?E CIE:iE";El4y]Bɮ]ҊB]ZE*jqBjyiyiyziyJiyiy kSPkSPkSPh kokokoh2f=:f=Bfm@JfX@QɢU\<)Y ]ξiY)]K=YYi]뼉aIiAyA}Y?IiIyO>>952Acoustic response timeouti kfя,簙E?A 2]2?2p4j?2ᷓ=ٱ2ξ >AHRS rotation from veh to nav: [[0.608314,-0.745992,-0.271017],[0.790418,0.538386,0.292198],[-0.072066,-0.391965,0.917153]]2H@Nw?*@YXѿ@K?t:?_? r ٿQY?i2]2?I20^;2CYR9iAyViHbD%vVD%X8ymV%mW=ٔuBQ-u>9I=FyE%'E> Q 5l4 ?Q 9l4 ,#) G@Y!y%ـ?Q I%? .CI mG;i ,; l4y5Bɮ=ߊB9*jaBjaiaiaziaJiiii kVkVkVhy knknknh2f:fBfJfW@颹ɢ ;) ؾi)=i꼉IE5Y E5?E5;E1"E5:*E5?9VE54ZE1a=@a=@a=@aE@iIy2Acoustic response timeoutIO> nGsA)U9UsAYUAyW?AԙB A <B >B BCB \HB #iAB B B B =;B -EBu@CBu@CBuɕCBu=Bu=Cu9\6 i I E 2Acoustic response timeoutrfя,ʙE?A2N.?2%f?2|=ٱ2Ͼ JAHRS rotation from veh to nav: [[0.620811,-0.736566,-0.268448],[0.780733,0.549840,0.296870],[-0.071060,-0.393886,0.916408]]2H?`A.ѿ?J??1n5ٿ`7S?i2N.?I2U^;L2CYniAyrSHpra=bDe7VDe8y %G=ٔ Q->9I=FyE$E>Q 5l4?Q 9l4)PE@Yy}?Q I?QCI:i:l4yɮB*jBjiiziJii kUkUkUh  klklklh2f):f)Bf)Jf-tV@ɢP_;) Eݾi)xJ=ib載IIIIO>EE] EEAEE@EA"EE:*EE 9VEE4ZEABEE0;aM2EE2;aMJEE:aU:EE:aU2Acoustic response timeout! Nxfя,ZE?AJ&?J^?J=ٱJѾ RAHRS rotation from veh to nav: [[0.643510,-0.718671,-0.263452],[0.762351,0.570878,0.304827],[-0.068672,-0.397002,0.915245]]JH@?Zdп.e?@D?`I?@wzhٿ I?iJ&?IJ%^;JCYZhAyZHbDb,VDb8yjĽ%jX=ٔnϻQ-n>9pIp=rFyrErEv>tQ 5zl4v?Q 9zl4v:)v"C@|Y|y v?Q I?vtCIv,;iv-;vl4y ɮ B *j!Bj!i)i)zi)Ji)i) k#Tk#Tk#Th2f:fBfJfT@2Acoustic response timeout1ɢ5:)9 =i9)==99i=漉AIAAYzA]qAIIOE=)YbEjE4rE0EU V EU GEU >EQ "EU =:*EU R9VEU 4ZEQ a] @a] @a] @a] @iߩ I߭ A 2Acoustic response timeoutԁ ~fя,wE?Af;X#?f/[?fI։=ٱfѾ ~AHRS rotation from veh to nav: [[0.653839,-0.710358,-0.260551],[0.753639,0.580812,0.307709],[-0.067252,-0.397553,0.915111]]fH>?@ݬп@???t7 qٿ H?if;X#?If;^;fCY hAy H====bDEVDE8yUk%UC=YٔU]Q-}>9I=FyE=EE>yQ 5l4}?Q 9l4}P)}@@Yyr?Q I ?}CI}BiBmHBmhABm=BiBiBmf;BmEEyM BɮB*jBji!i!zi!Ji!iA kTkTkThYԉ kTkTkTh2f:fBfJfS@ɢq};) ?i)W=i伍 2Acoustic response timeoutII!I1Omx>Ա ˅fя,aOE?AD%=DR=E  E"DE":E "E *E"a99VE"(4ZE BE":a*2E":a*JE"jH:a*:E"lH:a*22Acoustic response timeoutZ.?Z W?ZÆ=ٱZzҾ bAHRS rotation from veh to nav: [[0.664341,-0.701476,-0.258037],[0.744532,0.590706,0.311030],[-0.065756,-0.398747,0.914701]]ZHGB?|rп4?@?@? aհ`ٿ :E?iZ.?IZ*^;ZCYjgAyjHllԹy/$?p= ף~jtL? 9m?y&1?p= ףY.?y`< zB)BY3BbDVD8y-%-==ٔ-cQ-5>91I1==Fy=E=W E=>AQ 5Ml4E-?Q 9Ml4E )E=@YU/?Q EU:yUW?Q IU?ECIEG ;iE ;El4y]Bɮ]BeQE*jyBjyiyiyziyJii kTkTkTh kUkUkUh2f5>:f5>Bf5e@Jf5#[@19= r=NAggregate::initialize marl:UpdateRudderq9=J]9q9=9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnMLAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnmPAggregate::uninitialize marl:UpdateSpeed颁ɢ&C) i)@U =顱i㼉IIIOH>2Acoustic response timeout9 fя, B2E?A:B?:T?:Ȃ=ٱ:݃Ҿ BAHRS rotation from veh to nav: [[0.674600,-0.692746,-0.254987],[0.735420,0.600844,0.313278],[-0.063815,-0.398860,0.914789]]:H@R?*@Qп?:? ? (VٿE?i:B?I:J^;:CYNtgAyNRHtt t)xIxixxbD VD 8y%N%%\=ٔ%Q-->91I1=5Fy=E=E=>AQ 5Ul4E;?Q 9]l4E+)E:@YYy]S?Q I]?ECIEU;iEG;El4yӧBɮB*jBjiizi Ji i) kSVkSVkSVh9 kSVkSVkSVhq2f:fBfJf@9aAA AE @ABM >BM CCBM bHBM gABI BI BM yDBM z;BM SE 2Acoustic response timeout Kfя,nLE?Aɰ2?2zP?2|=ٱ2Ѿ :AHRS rotation from veh to nav: [[0.684391,-0.684391,-0.251432],[0.726505,0.610958,0.314515],[-0.061637,-0.397918,0.915348]]2H?`xп???@!?׎wٿJ?i2?I2$4^;0YB gAyBHbDjVDj8yrR%rO=ٔrQ-r>9tIt=vFyvEz Ez>|Q 5m4~_K?Q 9m4~)~ 8@YyP?Q I?~CI~>:i~:~m4yɮB*j!Bj)i)i)zi)Ji)i) kWkWkWhA k#Wk#Wk#WhQ2fa:faBfaJfe}TY@颁ɢ)  i)d =顉i޲߼III)O=E=R E=?E=<E9"E=s9*E=?9VE= 4ZE9BE=w:aM2E=|:aMJE=;9aM:E=@9aMiyI}A}2Acoustic response timeout! fя,qeE?A02Y?2/M?2ibs=ٱ2TѾ >AHRS rotation from veh to nav: [[0.694393,-0.675620,-0.247701],[0.717141,0.621327,0.315693],[-0.059385,-0.396852,0.915960]]2H`x8?@ Ͽ? ?P4? gfٿO?i2Y?I2P^;2CY^fAy^ H`bp=bD-VD-8yX%A=ٔ:Q->9I=FyEE>Q 5m4\\?Q 9m4)4@Yy!M?Q I?'CI:io:ym42Acoustic response timeouty֧BɮB*j Bj i i ziJii kSkSkSh) kTkTkThA2fQ:fQBfQJfUdX@yɢ}ٶ)y i)a=顁iݼIIYIiԑO=>EU U EU CEQ EQ "EU :*EU 09VEQ ZEQ a] @a] @a] @a] @ 2Acoustic response timeout 4fя,E?A2T?20mI?2Xj=ٱ2pѾ :AHRS rotation from veh to nav: [[0.704940,-0.665775,-0.244547],[0.706951,0.631710,0.318062],[-0.057275,-0.397098,0.915987]]2H ގ?`N`RMϿW?6?"[?.S jٿO?i2T?I25^;0\YbfAyb HbDEVDE8y%%A=ٔ-Q-U>9YIa=eFyeEu E}>B >B DCB  HB fAB =B B zDB ;B aEQ 5Um4m?Q 9]m4)1@YYy]]I?Q Ie?MCIA fя,)E?AEW EIE9E"E :*Ec9VE4ZEBE':a2E,:aJE:a:E:a&In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER&2Acoustic response timeout((Fه ?F^E?Fa=ٱF"Ѿ NAHRS rotation from veh to nav: [[0.716143,-0.654893,-0.241359],[0.695779,0.642589,0.320891],[-0.055055,-0.397737,0.915846]]FH`?ο C?`?@|? 10tٿN?iFه ?IFU%^;FCYAfAy H}=}=yT㥛 ?%C̿Qa?Zd 9Dl?|?5^I +YO-?yҽ9aB B)BYBbDVD8y%%%J=ٔ%贻Q-%>9)I)=-Fy-E5^$E5>Q 5m4c?Q 9m4)/@Y0?Q E:y?Q I?pCI:;i:3m4yاBɮBRE*jBjiiziJii kUkUkUh k#Uk#Uk#Uh 2f%w>:f%w>Bf%`&@Jf%N`@9ɢ=J)A EiA)E=AAiM~LڼIIQIAIIOB>qrmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=3pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutԡ Ffя,|E?AFh[ ?FD2A?FY=ٱFѾ VAHRS rotation from veh to nav: [[0.727467,-0.644095,-0.236500],[0.684084,0.654161,0.322650],[-0.053108,-0.396503,0.916496]]FHiG?n@Eο??J?`0 N`ٿ`S?iFh[ ?IF6^;FCYbeAybd HddbDnVDn8yvI_%v`=ٔv7Q-v>9xIx=zFyzE~6E~>Q 5 m4x?Q 9 m4)B.@Y y ?Q I ?CIS:iK:@m4yBɮBHE*j)Bj)i1i1qzi1Jii kUkUkUh kUkUkUh2f :f Bf Jf _@IɢMb)I M iI)e=aaie"ؼiIqE5V E5DE5<E1"E5=:*E5a99VE5 4ZE1a=@a=@a=@a=@UzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYU2Acoustic response timeoutԡAIIO-->BA<B>BB HBHfAB=BBB;BkE 2Acoustic response timeout 4fя,r͚E?A2?29XIX=ZFyZE^b.E^>`Q 5bm4b?Q 9fm4b)b],@YdyfH ?Q Ij?bCIb';ibD;bMm4ylɮnBl*jtBjxixixzixJixi| k_k_k_h  k_k_k_h2f):f)Bf)Jf-^@IɢM)Q U(iQ)U`E1"E529*E5(9VE54ZE1BE5:a=2E5:aEJE5L+:aE:E5N+:aEU2Acoustic response timeout!I Vfя,*E?A6e?6<8?6K=ٱ6JѾ BAHRS rotation from veh to nav: [[0.751092,-0.619688,-0.227700],[0.658324,0.677043,0.328971],[-0.049696,-0.396988,0.916478]]6H ?|F%Ϳ? V? ?q@?hٿS?i6e?I6;^;6CYFAeAyJ H`` `)`I`i``bDjVDj8yr%rH=ٔryQ-v>9tIt=vFyvEz5Ez>|Q 5m4~?Q 9m4~D)~q*@Yy?Q I ?~֘CI~_:i~:~0\m4y§BɮBIE*j)Bj)i)i)zi)Ji)i1 k#Rk#Rk#RhA ktktkthQ2fa:faBfaJfe]@颁ɢ]) +i)]<顉i>ռI=<2Acoustic response timeout1A$AIIO >aԑ 2Acoustic response timeout GE V  E CE ;E "E =: *E 09VE 4ZE a @a @a @a @ @9 Y UAԹ R>fя,dE?A>s3>>p3?>o&F=ٱ>Oо JAHRS rotation from veh to nav: [[0.763344,-0.606689,-0.221886],[0.644179,0.689178,0.331763],[-0.048358,-0.396184,0.916897]]>H`Qm?`if̿? ?;?T¨[ٿ@8W?i>s3>I>3%^;9 H?IH?==Fy=EMx+EM>ԙB>BECB HB|eAB=BB{DB;B|EBuDCBuCCBu”CBu=Bu=Cu 5iQ 5m4mCѱ?Q 9m4mH)mX(@Yy?Q I?mCImG E] S E] UE] ?EY "E] 9*E] P9VE] ^4ZEY BE] :am 2E] :am JE] :am :E] :am ufяiIA 2Acoustic response timeout,E?AIF}>Fƕ.?FCB=ٱFо NAHRS rotation from veh to nav: [[0.775458,-0.593246,-0.216159],[0.629617,0.700836,0.335278],[-0.047410,-0.396091,0.916986]]FH?˿%?@m?0u?@!FYٿW?iF}>IF#B^;DYVdAyV HyʡE?I +?y&1?o?94<`e= 9ʡE?OnÿDl?Y-2?yO=3cB )BŶBbD)VD)y=Dɼ%=B=ٔEaQ-E>9AIA=EFyEEM]>EM>QQ 5]m4U+汉?Q 9]m4U|)U*@Ye7?Q Ee:ye?Q Ie?U"CIU;iU;Uzm4yiɮm1Bi*jBjiiziJii k3\k3\k3\h klklklh2fՓ>:fՓ>Bfn@Jf@Yɢ])a eS6ia)eF2Acoustic response timeouti ؒfя,ϼ4E?A06Y>6)?6?=ٱ6о BAHRS rotation from veh to nav: [[0.787367,-0.579570,-0.210123],[0.614702,0.712172,0.339047],[-0.046858,-0.396118,0.917003]]6H`2?`׋Sʿࢫ???Yٿ`X?i6Y>I6*^;6CYJdAyJE HAAbD  VD 8yEϧ%E]=ٔMLĺQ-M>9MK?IUK?=UFyUEUTEU>YQ 5em4]w?Q 9em4]!)],@Yiym ?Q Im?]DCI]:i]:]m4yuǧBɮuCBy*jBjiiziJii kcnkcnkcnh kcnkcnkcnhQ2fa:faBfaJfeW @颡ɢɼ) >i)<顩i|ϼIbE 4jET4rE 0EQ E?E>E"E29*E?9VE4ZE52Acoustic response timeouta-@a=@a=@a=@ԉIIO%,>ԹAAAAB>BFCB HBdAB=BB|DB;BE  2Acoustic response timeoutzfя,NE?A2O>2$?2Ů>=ٱ2EѾ :AHRS rotation from veh to nav: [[0.799279,-0.565195,-0.204223],[0.599155,0.723140,0.343631],[-0.046537,-0.397018,0.916630]]2H?@#ʿ G,? #? ?ӧhٿU?i2O>I2>L^;0YV.dAyVO H`bD-VD-8ye4<%eH=ٔmNQ-m>9iIq=uFyuEuDEu>yQ 5m4}?Q 9m4})}!/@Yy%>Q I?}iCI}:i}j:}Cm4yɮAB*jBjiiziJii kkkkkkh kkkkkkh2f:fBfJff@ɢX) =i)<i"ͼIIIO-->E%T E%DE%=E!"E%9*E%a99VE%|4ZE!BE%:a52E%:a5JE%kH:a5:E%mH:a5E2Acoustic response timeoutA fя,\rhE?A2 >2?2X<=ٱ2wѾ :AHRS rotation from veh to nav: [[0.810420,-0.551104,-0.198757],[0.584041,0.733359,0.347968],[-0.046006,-0.398082,0.916195]]2H@?ढpɿu?w?E?)-zٿ yQ?i2 >I2.^;2CYBcAyB HbDJVDJ8yR<%VW=ٔV>Q-V>9XIX=ZFyZEZJEZ>\Q 5bm4^;#?Q 9fm4^Z)^T1@Ydyf>Q If?^CI^6:i^ :^m4yjʧBɮjRBnJE*jQBjQiQiyziyJiyiy kjkj2Acoustic response timeoutkjh2f:fBfJfɉ@9ɢ=Iܼ)E.ݻ ECiA)E+zc?zս:=ٱz?Ҿԁ AHRS rotation from veh to nav: [[0.820515,-0.537922,-0.193377],[0.569805,0.742708,0.351721],[-0.045575,-0.398779,0.915914]]zHA?6ȿ ;?C??Uٿ@*O?iz>Iz;!^;zCYcAy HB9B=GCB=U HB=7dAB9B9B9B=;B=Ey'1Z? rh?+?b?C == 9\(\?~jt#~j?Y:?yD%>aB B)BYBbD5VD58yE%E'=ٔMfQ-M>9QIQ=UFyUEUE]>YQ 5em4];?Q 9em4])]5@Ym??Q Em:ym"?Q Im?]CI] ;i]z ;]m4y}Bɮ}@B}@E*jBjiiziJii k#Rk#Rk#Rh kcikcikcih2f\>:f\>Bfh@Jf&z@ɢ() Gi)R<iɼIIԡhDAT read: Forwarding Delay UpTx time:18:26:53.8033 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutIO+> E= X E= EE= =E9 "E= ~ :*E= A9VE= |4ZE9 BE= :aM 2E= :aM JE= V:aM :E= V:aM ] 2Acoustic response timeoutMfя,/jE?A2c>2?249=ٱ2Ҿ :AHRS rotation from veh to nav: [[0.829962,-0.525073,-0.188314],[0.555986,0.751313,0.355539],[-0.045201,-0.399784,0.915494]]2H ?eȿ? ?%?`$ ٿK?i2c>I2q7^;2CYn/cAyn HbDzVDz8y%e%%r=ٔ%sQ-%?9)I)=-Fy-E5^KE5?1Q 5Em45L?Q 9Em45)5q8@YAyEV?Q IE?5ٙCI5:i5g:5qm4yQɮUKBQ*jaBjiiiiiziiJiiiiԹ kqkqkqh2f:fBfJfy@!ɢ%q )) -Mi))-r<))i- #ȼ1I9IIO=2Acoustic response timeoutA fя,E?A6j>65?66=ٱ6#=Ӿ BAHRS rotation from veh to nav: [[0.838342,-0.513230,-0.183788],[0.543317,0.759037,0.358704],[-0.044596,-0.400571,0.915180]]6H?`l`Zǿ@b?J?`??զ`ٿ&I?i6j>I6*^;6CYFbAyJ| H`` `)`I`i``bDjVDj8yra%rP=ٔrʺQ-v>9tIt=vFyvEzEz>|Q 5m4~`?Q 9m4~)~;@Yy?Q I ?~CI~;i~:~#m4yBɮYBAE*j)Bj)i)i)zi)Ji)i1 k3Yk3Yk3YhA knknknhQ2fa:faBfaJfex@颁ɢJf) Ri)qU<顉i2ƼI1ET ECE@E"E9*E09VE4ZEa@a@a@a@2Acoustic response timeoutiAIAa(AqAzAqAAII B5<A5<B=>B=FCB= HB=cAB9B9B9B=;B=EO}>ԉ 2Acoustic response timeoutԹ fя,ϛE?A2:>2w?2276=ٱ24 Ӿ :AHRS rotation from veh to nav: [[0.845539,-0.503057,-0.178878],[0.532059,0.765998,0.360777],[-0.044472,-0.400225,0.915337]]2H@? yƿ??`?ĦIٿ@qJ?i2:>I2C^;0YNbAyRb HbDZVDZ8y~м%~I=ٔ៹Q->9I = Fy E$E>!Q 55m4%v?Q 9=m4%1)%^?@YAyE ?Q IE?%%CI%;i%;%um4yUBɮUaBY*jBjiiziJii kCVkCVkCVh2f:fBfJfw@ɢ h)  1Ui )֜<iļIԑܪ&Ae$AIiIyO>>E EBE=E"E*E(9VE|4ZEBE:a2E:aJEL+:a:EN+:a%2Acoustic response timeout fя,E?A2Ӿ>2D ?2n2=ٱ2 _Ҿ :AHRS rotation from veh to nav: [[0.851895,-0.493747,-0.174610],[0.521899,0.772646,0.361441],[-0.043548,-0.399039,0.915899]]2HB?`߿Yƿd??!? K؉ٿ` O?i2Ӿ>I22,^;2CYB`bAyB3 HDDbD VD 82Acoustic response timeouty1%?=ٔ^ Q->9H?IH?=FyEE>Q 5m4-?Q 9m4)C@Yy?Q I?MCIr;iN:[m4yɮjB*jBj i i zi Ji i kSRkSRkSRh! kcRkcRkcRh12fA:fABfAJfEIGw@aɢe )i mYii)mrgя,E?A=#>= ?=+i+=ٱ=Ѿ AHRS rotation from veh to nav: [[0.857621,-0.484815,-0.171583],[0.512578,0.778661,0.361872],[-0.041836,-0.398298,0.916301]]=H@q?6߿lſ g? ?(?k }ٿ@WR?i=#>I=}J^;=CYwbAyA HBBB HBbAB=BBB;BEyK7A?Q?K b?u<^ 9X9v?MbPI +Y=?y9mdB QB)BYfBbDVD8yR<%;=ٔQ->9I=FyEͼE>Q 5m4?Q 9m4j)A@Y >?Q E:y?Q I?vCI:i:m4yBɮ*jBjiiziJiiA kPkPkPh k#Pk#Pk#Ph2f!>:f!>BfKP@Jfhe@ɢ,) XiA)ESgE W E EE E "E :*E A9VE ZE BE (:a% 2E -:a% JE V:a% :E V:a- 5 2Acoustic response timeoutgя,7qE?A@R>>RxI?R !=ٱRѾ ^AHRS rotation from veh to nav: [[0.862911,-0.476003,-0.169724],[0.503816,0.784106,0.362418],[-0.039431,-0.398244,0.916432]]RH?@v޿ſB?e?@1?J0|ٿhS?iR>>IRq8^;RCYbaAyf H99bDMVDM8yĿ%`=ٔYػQ->9K?IK?=FyEE>Q 5n4?Q 9n4)@@Yy?Q I?CI:i:Zn4yBɮ~BBE*jBjiiziJiQiQ kQkQkQhi kQkQkQh2f:fBfJfgd@ɢ0}*) @ai) )<iԽIԩAII!O]3>2Acoustic response timeout . gя,4K7E?A2&ݙ>2l?2=ٱ20Ѿ :AHRS rotation from veh to nav: [[0.867931,-0.467145,-0.168736],[0.495375,0.789501,0.362342],[-0.036049,-0.398075,0.916644]]2H?@ݿ ſ`9?C?@0? u@zٿ &U?i2&ݙ>I2c^;0YfaAyf HhhlbDvVDv8y~(ܻ%~T=ٔuQ->9I=Fy E SмE >Q 5n4̲?Q 9n4D)\?@Y!y%m?Q I%?CI;iL;n4y)ɮ-B)*jABjAiIiIziIJiIiI kXkXkXha kXkXkXhq2f:fBfJfYd@颡ɢ8P.) ai)<顩iI C%G9y 9YAET EBE>E"E9*E(9VE4ZEa@a@a@a@2Acoustic response timeoutApAzApA AE$AIIIYO<>1A@AAAAB>BGCB[ HBbAB=BBB;BEBFCBGCBǓCB=B=Cƺ4a  2Acoustic response timeoutgя,&QE?ABؔ>B-C?BlF=ٱBѾ NAHRS rotation from veh to nav: [[0.872856,-0.458147,-0.168000],[0.486908,0.794921,0.361968],[-0.032288,-0.397747,0.916927]]BHo?FRݿſ)?o?|*? tٿ`wW?iBؔ>IB"G^;BCYZaAyZ HbDjVDj8yv%zK=ٔzEQ-z>99eH?IeH?=eFyeĒEe"Em>iQ 5un4my㲉?Q 9}n4mj)m2>@Yyy}>Q I}?mCIm;im;m`"n4yBɮgB8E*jBjiiziJii kVkVkVh2f:fBfJfc@ɢ̽ ) [bi)<iIAEAIQiIiO>EV EE@E"E=:*EVE4ZEBE:a2E:aJEL+:a:EN+:a2Acoustic response timeoutԙ bBgя,kE?A>f>>>>2<ٱ>5Ҿ JAHRS rotation from veh to nav: [[0.878506,-0.447375,-0.167577],[0.476890,0.800427,0.363171],[-0.028341,-0.398963,0.916529]]>H ?̡ܿ'sſ[?`?/>?Rٿ`4T?i>f>I>d0^;9%K?I%K?=-Fy-ƒE-E->1Q 5=n45h?Q 9=n45Ы)5)=@YAyE>Q IE?5 CI5L;i5j;5>0n4yMBɮMpBM9E]2Acoustic response timeoutԑ*jBjiiziJii kc:kc:kc:h!2fQ:fQBfQJfU4b@iɢЏ%) ei)<顡i IAI II1O]3>bE}|4jE}Y4rE}/EU EE?E"E:*EVE^4ZEa@a@a@a@ 2Acoustic response timeout ,!gя,N턜E?A vE> *> T<ٱ l,Ҿ %AHRS rotation from veh to nav: [[0.884755,-0.435397,-0.166246],[0.465434,0.807013,0.363458],[-0.024086,-0.398948,0.916657]] HO?`ۿGſ ? ? B?橘[ٿAU?i vE>I [^; Y-aAy5 H99B}#>ByB} HB}'bAB}=ByByB} ;B}Ey-Pn?S㥻~jt-D?-/ݽ-) )9-i|?5?x&v/Y-1?y-7 -x)-3cB ))-uB)Y-̂BbDEVDE8yU|:%U8=ٔ]Q-]>9YIY=]FyeɒEeEe>iQ 5un4mP?Q 9un4mɩ)m;;@Y}H7?Q E}:y}{>Q I}?m3CIm:im<:m?n4yBɮsB*jBjiiziJii k9k9k9h k#9k#9k#9h2f=:f=Bf=_@Jf^@ɢ') tei)<i S IA%Y?A%Z?m2Acoustic response timeoutA9IAIQO9>Iq E V E >E >E "E =:*E 9VE 4ZE BE :a 2E :a JE 9a :E #9a  2Acoustic response timeoutZR'gя,E?Arz>r/>rm<ٱrҾ zAHRS rotation from veh to nav: [[0.891276,-0.422325,-0.165134],[0.453023,0.813253,0.365227],[-0.019948,-0.400327,0.916155]]rHT?_ۿ`#ſS?@*?@_? Wm ٿ$Q?irz>Iru^;rCYaAy HbDVD8y_ü%W=ٔ'2Q->9I=Fy̒EE>Q 5n4)?Q 9n4!)9@YyVm>Q I?VCI4:i ::Mn4yɮ wB*j)Bj)i)i)zi)Ji)i1Q k6k6k6h k6k6k6h2f:fBfJf9@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedQɢ] 1)Y ]giY)]s}2Acoustic response timeoutԩ }-gя,E?A2Tq>2W>2^<ٱ2 Ҿ :AHRS rotation from veh to nav: [[0.898676,-0.407542,-0.162146],[0.438325,0.821051,0.365714],[-0.015914,-0.399731,0.916495]]2H`?,ڿ@4Ŀ ? F?g? K/ٿ`S?i2Tq>I2^;0YB9I=FyΒE(E>Q 5n4@?Q 9n4)8@Yy\>Q I?zCI:i:[n4yBɮB*jBjiiziJii k2k2k2h12fA:fABfAJfE@sMNUpdating rudder angle 6.875493 arcdeg 9MrM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderaɢm&C)i m4lii)mļyB}">ByB} HB}aAB}=ByByB};B}Eԩ  2Acoustic response timeoutq4gя,^ҜE?A4B@S_>BVW>BaG<ٱBJҾ JAHRS rotation from veh to nav: [[0.906291,-0.391841,-0.158420],[0.422479,0.829079,0.366250],[-0.012169,-0.398858,0.916932]]BHV?ٿGĿ` ?`ч?p?숿ٿW?iB@S_>IBW^;BCYR aAyRn HTTbDVD8yMY%ML=ٔUQ-U>9QIQ=]Fy]ђE]3E]>aQ 5mn4eX?Q 9mn4e)e6@YqyuJ>Q Iu?eCIe:ie:e in4y}BɮB*jBjiiziJii kkkhI kc<kc<kc<hY2fi:fiBfiJfm|@颉ɢt=) mi)4w<顑iFyIAqAzAqAԑA$AIIO)>ES EBE?E"E9*E(9VE^4ZEBE:a2E:aJEL+:a:EO+:a-2Acoustic response timeout :gя,8LE?AF{LL>F>F#<ٱFSNѾ NAHRS rotation from veh to nav: [[0.914020,-0.375195,-0.154260],[0.405584,0.837393,0.366436],[-0.008309,-0.397495,0.917567]]FH@??`1ؿƾÿ`??s?qpٿ\?iF{LL>IFi^;FCYV`AyVH HbD^VD^8yf !%fT=ٔjc$Q-j>9jH?InH?=nFlyrӒErbEEr>tQ 5zn4voo?Q 9zn4vţ)v#5@Yxyz7>Q I~?v›CIv;iv/;vvn4yɮB*jBjiizi!Ji!i! k#k#k#h1 k;k;k;hI2fY:fYBfYJf]f@yɢ}T)y }qiy)Ό<顁i|I2Acoustic response timeoutAAII O= >1EV EAEE"E=:*E 9VEZEa@a@a@a@m 2Acoustic response timeouta zAgя,3E?A,,JPs9>J]g>J;ٱJо VAHRS rotation from veh to nav: [[0.921350,-0.358668,-0.149903],[0.388700,0.845022,0.367219],[-0.005038,-0.396604,0.917976]]JH{?iֿ0ÿw?k ??@ t@aٿ`?iJPs9>IJތ^;JCYr`Ayr1 HB,>BHCB HBaAB=BB}DB;BrE1yS?I +?!rh?O?94<l= 9Q? rȿA`"?Y(?yCY=aB )B);BYbDVD8y⪼%<=ٔmQ->9K?IK?=Fy֒E-E>Q 5n4至?Q 9n4v)8@Yj0?Q E:y->Q I?CI;iA;n4yBɮB:E*jBjiiziJi i  k"k"k"h k8k8k8h12fE">:fE">BfEu@JfEFȏ@ɢy>) +ti)ą<iT I a2Acoustic response timeoutA]$AIiIOI>qqԉԹ E T E DE 9E "E 9*E a99VE 4ZE BE :a 2E :a JE jH:a :E mH:a U 2Acoustic response timeout>Ggя,w E?A2̸'>2>2:ٱ2Ͼ >AHRS rotation from veh to nav: [[0.927952,-0.343038,-0.145707],[0.372696,0.852159,0.367318],[-0.001838,-0.395158,0.918611]]2Hȱ?@Tտ¿@??D?"?^@CJٿCe?i2̸'>I2z^;2CYBaAyB\ HDDbDRVDR8yVf:=%Z]=ٔZ Q-Z>9^H?I^H?=^Fy^ؒEbZ?Eb>dQ 5jn4fҜ?Q 9jn4fv)fk;@Yhyj>Q In?fCIf ;ifm ;fn4yrBɮrBp*j|Bj|i|i|zi|Ji|i kC kC kC h k9k9k9h!ԑ2f:fBfJf9@ɢ4W) oi)<i/II!I9Ou>Թ2Acoustic response timeout Mgя,J9E?A2&s>2H>2%ٱ2uϾ :AHRS rotation from veh to nav: [[0.934107,-0.327701,-0.141621],[0.356992,0.858615,0.367882],[0.001042,-0.394199,0.919025]]2H@4? Կ ¿?y?b?`DQ?:ٿ@h?i2&s>I2t^;0YB`AyB7 HXX X)XI\i\\bDbVDb8yjH%jH=ٔnQ-n>9lIp=rFyrےEr0)Er>tQ 5zn4v?Q 9~n4v|)v>@Y|y~ >Q I~?v+CIv7 ;ive ;vn4yBɮB *jBjii!zi!Ji!i! k k k h9 k35k35k35hI2fY:fYBfYJf]{@^mB*** querying acoustic contact ***XiYiyɢ})KV) si)s<顁iݫI)E E=E>E"E*E8VE4ZEa@a@a@a@2Acoustic response timeoutI)I9Om>B5>BICB HBaAB=BB~DBX;B]EI 2Acoustic response timeouty Tgя, SE?A:>:>:6lٱ:ZϾ FAHRS rotation from veh to nav: [[0.939520,-0.313399,-0.138144],[0.342476,0.863902,0.369301],[0.003604,-0.394277,0.918985]]:H?Կ!??@?Άm?;ٿ`Rh?i:>I:S^;8YJ`AyN0 HbDVVDV8y^Ի%^M=ٔbѻQ-b>9`Id=fFyfݒEfEf>hQ 5nn4jʳ?Q 9nn4j)jA@Ypyr@=Q Ir?jNCIj;ij;jn4ytɮvBt*jBjiizi Ji i  k9k9k9h! k9k9k9h12fA:fABfAJfE,@aɢeX)a eGtia)mXog2?»ٱ2ξ :AHRS rotation from veh to nav: [[0.944415,-0.300042,-0.134371],[0.328703,0.869167,0.369464],[0.005936,-0.393096,0.919478]]2H@8?3ӿ3`w ?`6?@N?Ox?z(ٿ]l?i2 <=I2f^;2CYN`AyR4 HVp=TbD VD 8yT;%E=ٔQ->9!I!=%Fy%E-E->1Q 5=n452ⳉ?Q 9=n45ݞ)5OE@Y9y==Q IE?5rCI5: ;i5y;5hn4yMBɮMBM;E*jaBjaiaiaziaJiiii2Acoustic response timeout k5k5k5h2f:fBfJfZ@ɢdS) si)hSZ<iQIIIO=G MQ9IYMYAEU EE;E"E:*EVE4ZEa@a@a@a@- 2Acoustic response timeout1 Q agя,wE?A2V=2bä>2cٱ2~ξ :AHRS rotation from veh to nav: [[0.948634,-0.287802,-0.131392],[0.316267,0.873585,0.369899],[0.008325,-0.392453,0.919734]]2H`5[?`Ykҿu=?h?l?r ? ٿvn?i2V=I2h>^;2CYN`AyN: HBb3>B`B`B`B`B`B`BbM;BbVEBHCBHCBCB=B=C5ym}?5^I?im3cB mcB)mcBiYibDVD8y ;% .=ٔQ->9I=FyEE>!)Q 55n4%?Q 9=n4%d)%sJ@Y=v4?Q E=:y=>Q I=?%CI%*b;i%a;%n4yMBɮMBI*jYBjYiaiaziaJiaia k3Bk3Bk3Bhy kCBkCBkCBh2f{>:f{>BfAd\@Jf_@颹ɢ}I) Hsi)gK<i0I2Acoustic response timeoutIIOU1>Yԁ E T E BE :E "E 9*E (9VE (4ZE BE :a 2E :a JE L+:a :E O+:a = 2Acoustic response timeoutggя,EE?A0Nݹ=N-%>Nϒ.ٱNҿξ VAHRS rotation from veh to nav: [[0.952621,-0.275552,-0.128778],[0.303972,0.877326,0.371349],[0.010655,-0.392900,0.919520]]NH{?ѿ{@Gt? ?.?>҅?E%ٿ@l?iNݹ=INP^;NCY^`Ay^A H%=%=bD-VD-8ye <%mj=ٔmڻQ-m>9iIq=uFyuEuEu>Q 5n4?Q 9n4)nN@Yy>Q I?CI;i;[n4yɮB*jBjiiziJii  kC:kC:kC:h kc]kc]kc]h)2fA:fABfAJfEE^@Yɢ]^n)a eria)e@6mTٱ6DϾ >AHRS rotation from veh to nav: [[0.956388,-0.263358,-0.126355],[0.291812,0.880652,0.373227],[0.012983,-0.393822,0.919095]]6H?пi, ?@L.?`??_4ٿ@:i?i6]˟=I63^;6CYF`AyFL HHHbDRVDR8yZ9<%ZV=ٔ^ȻQ-^>\9`I`=bFybEfEf>hQ 5nn4jy$?Q 9nn4jƘ)jR@Ylyn>Q Ir?jۜCIj;ij<;jVn4yvBɮtt*jBjiiziJii  kDkDkDh k_k_k_h)2fA:fABfAJfE]@YɢeGk)a egqia)e75B2>BB HBaABBBBT;BZEI  2Acoustic response timeoutugя,՝E?A2f=2*>2+}ٱ2Ͼ :AHRS rotation from veh to nav: [[0.959961,-0.251126,-0.124140],[0.279707,0.883690,0.375309],[0.015452,-0.395005,0.918549]]2H ?rп`ǿ`?@/G?@? ?Gٿ@d?i2f=I2W^;2CYv`AyvG HbDVD8yO%D=ٔ»Q->9K?I%K?=%Fy%E%E%>)Q 55n4-;?Q 95n4-ږ)-FW@Y9y=L>Q I=?-CI-;i-;-n4yEŧBɮEBMES E@E=E"E9*E9VE|4ZEBE:a2E:aJE.:a:E0:a2Acoustic response timeoutqԡ W+{gя,E?Aɰ4R˓ٱRо ^AHRS rotation from veh to nav: [[0.963595,-0.238033,-0.121760],[0.266758,0.886648,0.377751],[0.018040,-0.396480,0.917866]]RH?wο+`?j_?-?`0y?_ٿ)_?iRT=IRW^;PYzaAyzc He2Acoustic response timeouty )IibDVD8y <%;=ٔ=Z»Q-=>99I9==FyEEE/EE>IQ 5uo4M$T?Q 9uo4M)ML\@Yqy}6}>Q I}?M&CIMi;iM;MDo4yǧBɮB*jBjiiziJii k9k9k9h2f:fBfJf-\@!ɢ%U)) -oi))MVET EFE;E"E9*E;J9VE4ZEa@a@a@a@ 2Acoustic response timeout egя,jE?AB0B0B2 HB2aAB2=B0B0B2;B2qEBf=BƂ>BղٱBMѾ JAHRS rotation from veh to nav: [[0.967354,-0.223800,-0.118907],[0.252600,0.889371,0.381068],[0.020470,-0.398664,0.916869]]BH ?}̿p*?u?lc??ඃٿV?iBf=IBS~^;BCYRaAyRm HVa=Ty-rh|?y&1?~jth-[?-`e<-D) )9-Cl?Zd;sh|??Y-;??y-y-=)) -;B)-)B)Y-BbDEVDEy8yU\'<%UW=ٔ]ѻQ-]>9YIY=]FyeEeEe>iQ 5uo4m*k?Q 9uo4mF)m_@Y} A?Q E}:y}&f>Q I}?mJCIm ;im ;mio4yɮB*jBj)i1i1zi1Ji1i1 k:k:k:hI k:k:k:hY2f#>:f#>Bfgn@Jf-l@ɢ+j) ni)K<i/ۢIA pAzA mIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERu2Acoustic response timeoutIIO5->1Q E X E BE DE "E ~ :*E (9VE J5ZE BE :a 2E :a JE L+:a :E O+:a  rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=3 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT% 2Acoustic response timeoutZ=gя,C"E?Ab+bHٱb|4Ӿ jAHRS rotation from veh to nav: [[0.971025,-0.209026,-0.115839],[0.237871,0.892000,0.384387],[0.022982,-0.400804,0.915876]]bH?^ʿ१r?C?@˙?@?Ŧٿ@N?ib+9I=FyEE>!Q 5-o4%Y?Q 9-o4%)%Kb@Y)y-V>Q I-?%rCI%K:i%:1%Q!o4y=ʧBɮ=BA*jQBjQiYiYziYJiYiY k8k8k8hq kUkUkUh2f:fBfJfk@颱ɢh) mi)za<项i II1IIO}=a}zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY}2Acoustic response timeoutԉ `ggя,i2H+Ѽٱ2Ӿ :AHRS rotation from veh to nav: [[0.974471,-0.194479,-0.112177],[0.223056,0.895457,0.385231],[0.025531,-0.400418,0.915977]]2H`.? 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(?[пH?`J? !?ؿr?i2\@I2]y^;2CY^rjAyb)Hym?{Gz?MbN?ף<@ 9~jt?S㥛㥛 ?Y;?y/ݼ=3cB B)@BYBbDhVDK8yN=%D=ٔ9Q->9I=FyIEE>Q 5q4뷉?Q 9q4)v@Y:f5->Bf5Fm@Jf5x5@QɢU)Y ]iY)]-/YYi]5]aIaiiqqQ5rmodem://6: set _.others_observations nan n/a str none_str5 #Outgoing data=45pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT52Acoustic response timeoutyAM$AIYIiO>ԩ E U E DE =E "E :*E a99VE |4ZE BE :a 2E :a JE kH:a :E mH:a  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutcjhя,E?A<==@=8@=&_ٱ=6˾ ]AHRS rotation from veh to nav: [[0.959911,0.276439,0.046386],[-0.272172,0.879644,0.390064],[0.067026,-0.387052,0.919619]]=H@?+?࿧?`Ckѿ@ &?? (?tؿ@m?i==@I=Fe^;=CYmjAymYHy}a= )IibD xVD Y8y9=%C=ٔ:Q-%>9%H?I%H?=%Fy%LE-E->1Q 5=q45L?Q 9=q45 )5)@Y9yE Q IE?5CI5B:i5|:5q4yM8BɮMߊBI*jaBjaiaiiziiJiiii kUkUkUh kUkUkUh2f:fBfJf4@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ) i)y 4iLIԡAAI!I9IQOu6>U2Acoustic response timeout Hqhя,_šE?A|YEkAyHbDyVDZ8y%=%%\=ٔ-Q-->9-K?I-K?=5Fy5NE5E5>9Q 5Eq4=6?Q 9Eq4=)=@YIyIQ IM?=CI=:i=6:=q4yU;BɮUҊBUPE*jiBjmiiiiziiJiqiq kcUkcUkcUh kcUkcUkcUh2f:fBfJfsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ&) Zi)7i IAW?AR?E}S E}CE}>Ey"E}9*E}09VE}4ZEya@a@a@a@2Acoustic response timeout9BE.>BEHCBEHBEkABE=BABABE;BEEAaIqIO!>Qm 2Acoustic response timeoutԁ 'rwhя,:ߡE?AYkAyHY}=}=bDtVDV8yD=%A=ٔQ->9I=FyQEE>Q 5q473?Q 9q4 )c@YyQ I?=CI:i:g+q4y>BɮˊB*j Bj i i zi Jii kUkUkUh) kUkUkUh92fI:fIBfIJfIaɢm%)i mii)mq;iqiu&yIyԉAaIiIyEX EDE@E"E~ :*Ea99VE4ZEBE:a2E:aJEa:Ea2Acoustic response timeoutOEQ>Ա K}hя,/E?A28۷@2־@2Ջٱ2qU˾ :AHRS rotation from veh to nav: [[0.947164,0.314746,0.061772],[-0.313410,0.867199,0.386963],[0.068226,-0.385878,0.920024]]2H*O?$??Կ? ?Cw?8ؿp?i28۷@I2^;2CY^lAy^)H``%2Acoustic response timeoutbDEZVDE>8Թy?=%J=ٔGCQ->9I=FySEq۽E>Q 5q4J?Q 9q4) @YyBQ I?cCIK:i:9q4yɮB*jBj i i zi Ji i  kRkRkRh! k3lk3lk3lh12fA:fABfAJfE;2@aɢe4{)a m_{ii)m>iiim2qIyAI)IIOC>ES EEE;E"E9*EA9VE4ZEa@a@a@a@2Acoustic response timeoutB ,>B B HB lAB B B }DB ;B E9 hя,E?A6Bi@6d@67-ٱ6Lʾ BAHRS rotation from veh to nav: [[0.942670,0.327065,0.066345],[-0.326541,0.862931,0.385644],[0.068879,-0.385200,0.920259]]6H`Z*? ?? Կ`!?d? ? ؿ`r?i6Bi@I6bj^;6CYFklAyF`Ha}@a} a}@a a@a a@a y}Gz?9I=FyVEEEE>IQ 5Uq4Mb?Q 9Uq4M)M@Q A]+:YYQ E]i:y]kQ I]?MCIM ;iM_>M]Eq4yeABɮeBi*jyBjyiyiziJii kSkSkSh kjkjkjhɢx޼) ?ei)AinWI-2Acoustic response timeoutA^A=AzAoAqA I I! O] >ԙ E T E BE ?E "E 9*E (9VE ^4 2Acoustic response timeoutZE BE :a 2E :a JE L+:a :E N+:a _hя,,,E?A c@ ?@ ٱ ʾ AHRS rotation from veh to nav: [[0.937909,0.339567,0.070858],[-0.339824,0.858455,0.384155],[0.069618,-0.384382,0.920545]] HY?x?#?૿տux??ұ?ؿu?i c@I ^; CY-lAy-H9=AbDEkVDEM8yUi=%UP=ٔ]Q-]>9YIY=]Fy]XEe/Ee>iQ 5uq4mx?Q 9uq4m)mL@Q Au :YyQ E}<:y}Q I}?mCIm ;imK?mMq4yDBɮBQE*jBjiiziJii kQkQkQh kkkkkkhɢKټ) 52Acoustic response timeout hя,DFE?A2{@2v@2ȏٱ29ʾ >AHRS rotation from veh to nav: [[0.932720,0.352523,0.075897],[-0.353711,0.853463,0.382740],[0.070149,-0.383835,0.920733]]2H? ?@m?4ֿO?~?K?ؿv?i2{@I2ut^;2CYFmAyFHHHbDR|VDR]8yVO=%ZV=ٔZsQ-Z>9\I\=^Fy^[EbEb>`Q 5fq4b}?Q 9jq4b)b@Q Aj9YhQ Ej:yjYQ Ij?bУCIb:ibޖ?bUq4yaɮeBa*jyBjyiyiyziyJii kRkRkRh k3jk3jk3jhɢμ) 0?i)FiɔIDQDU<Ea EeAEaEa"Ea*Ee 9VEaZEaam@au@2Acoustic response timeouta@a@^AH=AAB(>BBcHBnABBBB;BEAI IOU2>>>) M 2Acoustic response timeouthя,b`E?A2@2d@2 ٱ2ʾ :AHRS rotation from veh to nav: [[0.926942,0.366081,0.082239],[-0.368594,0.847500,0.381945],[0.070125,-0.384353,0.920519]]2H?m? ?@ ׿ ?q?? >ؿ t?i2@I2e^;2CYBmAyFHbDNpVDNR8yVP=%VJ=ٔZx8Q-Z>9XIX=ZFyZ]E^z"E^>`Q 5fq4bx?Q 9fq4b)b@Q Af9YdQ Ej9yjQ Ij?bCI`ib?b([q4ynbBɮnBr[E*jxBjxixixzixJi|i| khkhkhh kCikCikCih!ɢ) \i)Hi֫I^A]<AZ?A]?1A9IIEmW EmJEm>Ei"Em :*Emk9VEm4ZEiBEm(:a}2Em-:a}JEm:a:Em:aI2Acoustic response timeoutO=Q>Yԁ hя,czE?A2w@2cr@2gٱ2)ɾ :AHRS rotation from veh to nav: [[0.921064,0.379384,0.087795],[-0.383162,0.842727,0.378152],[0.069477,-0.381942,0.921571]]2H@\y?G? y?ؿ?@3?Fɱ?@qؿ}?i2w@I2y^;2C9iIi=mFym`Eu! Eu>yQ 5q4}?Q 9q4}:)}p@Q A9YQ E9yǾQ I?} CI}:i}@}`q4yeBɮB*jBjiiziJii klklklh klklklhɢr) Yi)YtJiB Iԉ^A!A9IAIQO[>ԱEuV EuBEu;Eq"Eu=:*Eu(9VEu4ZEqa}@a}@a}@a}@2Acoustic response timeoutB !>B GCB HB oAB =B B |DB ;B EBuHCBuHCBqBu=Bu=Cuɚ#5 @Ҥhя,8E?A2 @2@2 ٱ2ƾ :AHRS rotation from veh to nav: [[0.916056,0.390365,0.091959],[-0.395296,0.840153,0.371328],[0.067693,-0.376509,0.923937]]2HTP?@??Lٿ??`\T?ؿ`?i2 @I2e^;0`YbAnAybHddaMaU aUaU aUaU aUaU yUn?Mbȿ9I=FycEE>Q 5q4Lո?Q 9q4)@Q AT:Yg?Q Ek:yR0Q I?KCI;i;mq4yhBɮB*jBjiiziJii kmkmkmh k3nk3nk3nh2f=:f=BfSz@Jfg@颙ɢg) ߽i)K顡iY{I@@@@2Acoustic response timeoutAIIO>A  2Acoustic response timeouthя,]E?AE"S E"EE":E "E"9*E"A9VE"(4ZE BE":a&2E":a&JE"V:a&:E"V:a*B@B@B.ٱB%V JAHRS rotation from veh to nav: [[0.912445,0.398869,0.091365],[-0.404085,0.843100,0.354821],[0.064497,-0.360674,0.930459]]BH2?`?@c?ٿ@? e?グ? J׿R?iB@IBΊ^;BCYVnAyVHbDEVDEk8yvn=%H=ٔ9I=FyeEE>Q 5q4츉?Q 9q4)/@Yy2Q I?zCI:id:|q4yɮB*jBjiiziJii kokokoh kokokoh 2f!:f!Bf!Jf%#g@9ɢE&Ǘ)A EciA)E!LIIiM6IIQAepAzAeqAAAaIiIO>2Acoustic response timeoutqԙ Chя,$ǢE?A2@2\@2uٱ2豾 :AHRS rotation from veh to nav: [[0.910156,0.404723,0.088409],[-0.409901,0.848915,0.333654],[0.059986,-0.339916,0.938541]]2H???@;ڿO*?@Z?@x?`-տ?i2@I2^;2CYB?oAyBHbDwVDX8yyu.=%}M=ٔ699I=FyhE3E>Q 5q4?Q 9q4%)l@Yy4Q I?CI;i;q4ykBɮB\E*jBjiiziJii ksmksmksmh ksksksh2f:fBfJf{f@)ɢ-́)1 5Ai1)EBMAAiEҰQIY}2Acoustic response timeoutBU>BUFCBUHBUoABU=BQBQBU;BUEbE4jE4rE(0EmY EmAEm?Ei"Em:*Em 9VEm^4ZEiBEm;2Em ;JEm::Em:ԩA$AI IOU2>- 2Acoustic response timeout hя,E?A2a@2\@2+O_ٱ2uܥ :AHRS rotation from veh to nav: [[0.908403,0.409334,0.085150],[-0.414530,0.855234,0.311031],[0.054492,-0.317838,0.946578]]2H@? 2?j̵?ઇڿ^??@[?vWԿ]J?i2a@I2^;2CYBoAyBHDDbDhVDK8yE!=%EM=ٔEc9MH?IMH?=MFyMjEU.LEU>YQ 5eq4]?Q 9eq4]H)]@YayeB6Q Im?]֤CI]:i]:]q4yunBɮurBq*jBjiiziJii kukukuh! kkkhQ2fa:faBfaJfe8e@颡ɢT) Իi)1M顩iIA=AIIIi2Acoustic response timeoutO@>EU EE8E"E:*EVEF4ZEBE:2E:JE:E)Y 8hя,eE?A:?@:w:@:jHٱ:hM BAHRS rotation from veh to nav: [[0.906918,0.413418,0.081143],[-0.418458,0.861562,0.287409],[0.048910,-0.294612,0.954365]]:Hy?ru?Ŵ?ڿ?d? ?ҿ'?i:?@I:^;:CY^6pAybHbDjVDj8r2Acoustic response timeoutyvbO=%vP=ٔz4i9zK?I~K?=~Fy~mE~.E>Q 5 q4 1?Q 9q4b)w@Yy7Q I?CI:i:q4yBɮ%B%fE*j1Bj1i1i9zi9Ji9i9 k#pk#pk#phQ k3k3k3ha2fq:fqBfqJfuY2Acoustic response timeoutԡE S E CE <E "E 9*E 09VE 4ZE a @a @a @a @BU >BU ECBU %HBU pABU =BQ BU {DBU ;BU xEԹ !hя,0E?A2(@2"@2R0ٱ2v :AHRS rotation from veh to nav: [[0.905958,0.416236,0.077385],[-0.421168,0.867451,0.264851],[0.043113,-0.272536,0.961179]]2H??`}ϳ?jڿ )?`Q??9qѿ ?i2(@I2^;2CYzpAyz!H==y}|?5^?kt1Zd?}r?} 0}"=y y9}/$?J +ɿ'1Z?Y}&q?y}H}">y}aB }B)}-ByY}f}BbDVD8y=%?=ٔ_^9I=FyoEۻE>Q 5q4`M?Q 9q4H)@Yy?Q EY:yQ I?6CIP:i:q4yɮpB*jBjiiziJii kvkvkvh  kkkh2f-%>:f-%>Bf-[U@Jf-*>@ԑɢ)  f=i ) )L )i-⳼1I12Acoustic response timeoutA9IIIYO<>Թ 2Acoustic response timeoutE Y E E E "E :*E VE ZE BE ;a 2E ;a JE 9:a :E 9:a  Jhя,[/E?A20@2 @25ٱ2e :AHRS rotation from veh to nav: [[0.905552,0.417486,0.075376],[-0.422585,0.872013,0.247015],[0.037396,-0.255537,0.966076]]2HG?@?K? ۿ ?-?`%?Zп?i20@I2X^;2CYBJqAyB_HDDX\ \)\I\i\\bDfVDf8yn=%nX=ٔrw9pIp=rFyrrEv{|Ev>xQ 5~q4zPf?Q 9~q4z)z@Yy=Q I?zdCIz;iz;zq4y Bɮ gB *jBjiiziJii kstkstksth kkkh2f:fBfJf2_@9ɢ=׻)9 =y=i9)EKAAiEPIIIIqIO>2Acoustic response timeoutI 2hя,G9IE?A2L@2(@22ٱ2{ :AHRS rotation from veh to nav: [[0.905727,0.417264,0.074495],[-0.422652,0.875814,0.233056],[0.032002,-0.242571,0.969606]]2H?t?`"?` ۿ?`?b?` Ͽ?i2L@I2^;2CYBqAyFHbDNVDN8yV =%VM=ٔVL^9XIX=ZFyZtE^8E^>`Q 5fq4b?Q 9fq4b)b@YdyfQ Ij?bCIbl:ib:bq4ynBɮncBngE*jxBjxixi|zi|Ji|i| knknknh kCkCkCh!2f1:f1Bf1Jf5@Yɢe0ﶻ)a e=ia)mjJiiim/LIA9zA9m2Acoustic response timeoutE}Z E}GE}8Ey"E}:*E}R9VE}F4ZEya@a@a@a@B >BDCBHBqAB=BBzDB;ByEQIIO >yԡ  2Acoustic response timeout\hя,{cE?A64.@6)@6ؼٱ6@m >AHRS rotation from veh to nav: [[0.906796,0.415149,0.073296],[-0.420739,0.880318,0.219130],[0.026448,-0.229545,0.972939]]@6Hy?@͑?ò?@dڿ+?s ?/?aͿ`P"?i64.@I6ּ^;6CY^qAy^HbD%VD%8yeN=%e?=ٔmT9iIi=uFyuwEuq;Eu>yQ 5q4}ޜ?Q 9q4}" )}@YyQ I?}ȥCI}:i}:}q4yBɮ[B*jBjiiziJii klklklh ksksksh2f:fBfJfλ@颉ɢ) *=i)H项iYﵼII1IIOu=ԩE5T E5CE5=E1"E59*E509VE5|4ZE1BE5:aE2E5:aEJE59:aE:E59:aEiaIam2Acoustic response timeout hя,[|E?A2G@2nB@2@ٱ2y` :AHRS rotation from veh to nav: [[0.908197,0.412369,0.071623],[-0.417977,0.884695,0.206422],[0.021758,-0.217409,0.975838]]2H@?@Ad?U?`"ڿkO?` l?@G? ˿:?i2G@I2'^;2Cb2Acoustic response timeout|YrAyH  bDVD8y=%D=ٔ89I=FyzE;E>Q 5q4m?Q 9q4)@YyQ I?CI:i:iI)U!FQYi]8xIIIIYO<>QD1zD5AAE=Y E=DE=:E9"E=:*E=a99VE=(4ZE9aE@aE@aE@aE@u2Acoustic response timeoutB>BBHBYrAB=BBB;BoEԁ ~nhя,&ȖE?AY~drAy~ HYy(\?M?I +?N?n>94= 9Q?y&1|?%C?YU?y`;Zd>ȖBfB |B)SBYBbDVD8y8=%F=ٔ Q- >9 I = Fy |EE%>AQ 5Mq4Eӹ?Q 9Mq4E;)E@YMB]?Q EMu:yMúQ IM?E'CIEH:iE8:Eq4y]Bɮ]kB]qE*jqBjqiqiyziyJiyiy kcnkcnkcnh knknknh2f=h>:f=h>Bfw@Jfj@QɢU闺)Q U>iQ)]EYYi]_YIaAuW?AuN?2Acoustic response timeoutIIO% >ԁԱ EA  EE CEE >EA "EA *EE 09VEE 4ZEA BEE ;aU 2EE ;aU JEE 9:aU :EA aU  2Acoustic response timeouthя,nE?A iPIRoA>܆@>@>?jٱ>Q jAHRS rotation from veh to nav: [[0.911521,0.405119,0.070765],[-0.411003,0.891380,0.191099],[0.014340,-0.203276,0.979017]]>H.+? w? ? Mڿ.?u?%^?ʿT?i>܆@I>^;>CY5rAy55HbDmVDiyuC.=%T=ٔƛ9I=FyE<E>Q 5r4 ?Q 9r47)@Y!y%͸Q I%?PCI~i)BiYWIAAIIIYO9>  G!9e9aYmA2Acoustic response timeoutA hя,0ʣE?A62@6@64ٱ6\gQ VAHRS rotation from veh to nav: [[0.913225,0.400889,0.072859],[-0.407307,0.893339,0.189860],[0.011025,-0.203061,0.979104]]6H"9?+?㦲?Qڿ:?@XM?`a?ɿT?i62@I6^;6CYbsAyflHhhD=D%=1=2Acoustic response timeoutbD VD 8B>BACB8HBrAB=B%DBxDB;BREB]DCB]DCB]•CB]=B]=C]l6yF=%7=ٔ;Q->9I=FyE<E>Q 5r4! ?Q 9r4)@YyƶQ I?CI:i:r4yBɮZBrE*jBji i zi Ji i kokokoh! kokokoh12fA:fABfAJfEN@aɢe:)a m @>ii)mJ@iiimҬqIyAAIIOI>q 2Acoustic response timeoutԙ hя,uWE?AYvrAyvLH )!I!i!!bD-VD-8y=%=f=ٔEQ-E>9AII=MFyMEMEM>QQ 5]r4U!?Q 9er4UR)U`@YayaQ Ie?UCIU;iU;U%r4ymBɮmdBq*jBjiiziJii kmkmkmh kmkmkmh2f:fBfJf ɢ Ѫ:) 53>i)q:>iGI!A5qAzA5pAIAIQO>E X E EE ;E "E ~ :*E A9VE 4ZE BE :2E :JE V::E V:M2Acoustic response timeoutI hя,4E?Aɰ6@6z@6kٱ6Z >AHRS rotation from veh to nav: [[0.916299,0.392290,0.080650],[-0.400469,0.895225,0.195437],[0.004468,-0.211377,0.977394]]6HRR?F?`v?@Jٿ??pMr?e˿F?i6@I6݊^;6CYFrAyFHHR2Acoustic response timeoutbDVVDV8yZZ%^S=ٔ^Պ9`I`=bFybEf<Ef>hQ 5nr4j$;?Q 9nr4j8)j@YlynޱQ Ir?jϦCIj{;ij;j2r4yvBɮvhBt*jBjii zi Ji i  knknknh! knknknh12f:fBfJf@qɢ}:) p1>i);项iIQIIOA>yEV EAEE"E=:*E 9VEZEa%@a%@a%@a%@U2Acoustic response timeoutB>BBCBQHBrAB=BByDBh;BFEԩ iя,E?A@Y~rAy~3Hy-?p= ף?V-?U?> 9Cl?333333?+Y;??y=$BhB B)-BYWBbD-VD-8y=K%=4=ٔ=Q-E>9AIA=EFyEEMEM>QQ 5]r4UJV?Q 9]r4U!)U_@Y]s@?Q Ee:ye~Q Ie?UCIUv:iU:UzBr4ymèBɮmoBmsE*jBjiiziJii kCpkCpkCph kCpkCpkCph2f>:f>Bfzm@JfH@ɢB) )>i)59i8I2Acoustic response timeoutԱII!O]> bE͹4jE͹4rE͹]%0E% T E% EE% =E! "E% 9*E% A9VE% |4ZE! BE% :a5 2E% :a5 JE% V:a= :E% V:a=  2Acoustic response timeout iя,1E?A.@.@.OS;ٱ.T+m :AHRS rotation from veh to nav: [[0.918937,0.383183,0.093415],[-0.394392,0.894696,0.209701],[-0.003224,-0.229544,0.973293]].Hg?@?@? =ٿX?|? ijaͿ 7%?i.@I.=^;.CYBrAyB)HlbDVD8yE*%M[=ٔM9IIQ=UFyUEU<EU>YQ 5er4]l?Q 9mr4]c#)]@YiyuģQ Iu?]CI];i] ;]Or4yɮqB*jBjiiziJii k#uk#uk#uh k3uk3uk3uh2f:fBfJfxH@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7 n LAggregate::initialize marl:UpdateSpeed7 ] 7 n 4Completed marl:UpdateSpeedq7 n PAggregate::uninitialize marl:UpdateSpeed!ɢ-`9)) - %>i))-7)1i5Y&IA]?Ak?I9IIO= 2Acoustic response timeout1a iя,KE?AF2,@F'@Fj;ٱF!w VAHRS rotation from veh to nav: [[0.919702,0.379643,0.100100],[-0.392554,0.893760,0.217012],[-0.007078,-0.238881,0.971023]]FH2n?`L?#?@ٿ ? ?`|ο ?iF2,@IFک^;FCYZrAyZ/Ha}=}=bDVD8y;%C=ٔY9I=FyE^;E>E EBE<E"E*E(9VE 4ZEa@a@a@a@Q 5r4?Q 9r4%)@YyQ I?GCI;i;H^r4yƨBɮ sB 2Acoustic response timeout*j!Bj)i)i)zi)Ji)B=>B=ECB9B9B==B=$DB={DB=S;B=DEi) klklklha klklklhq2f:fBfJf&H@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颩ɢ-8)I MC'>iI)UkV5QQiUYIYIIIO- >aԑ 2Acoustic response timeoutԹ iя,eE?A23@2.@2Y0<ٱ2!H~ :AHRS rotation from veh to nav: [[0.920031,0.377262,0.105906],[-0.391696,0.892902,0.222036],[-0.010798,-0.245763,0.969270]]2Hp? %??@ٿ@?k?/-uϿA?i23@I2^;2CYNgrAyRHPPbDZ{VDZq8yb%f\=ٔf#9hIh=jFyjEj!;En>pQ 5rr4r ?Q 9vr4rE()r@Ytyv⢾Q Iv?rjCIr>:iry:r.kr4yzɨBɮ~|B|*j Bj i iziJii kmkmkmh) kmkmkmhY2fi:fiBfiJfmG@ԙ)ɢ-)) ->i))5;n31QiUYIYIIOU=ES EAEE"E9*E 9VEZEBE:a2E:aJE:a:E:a-2Acoustic response timeout "iя,c|E?A6,@6'@6Md<ٱ6ҀB2Acoustic response timeout FAHRS rotation from veh to nav: [[0.919657,0.376818,0.110634],[-0.392476,0.891850,0.224869],[-0.013934,-0.250223,0.968088]]6Hm??@R?Uٿ??yп?i6,@I6;^;6CYNrAyN(HbDVVDV8y^<%^K=ٔb);Q-b>9`Id=fFyfEf Ef>hQ 5nr4j=?Q 9nr4j*)j<@Ypyr~Q Ir?jCIj;ijI;j?yr4yv̨BɮvzBztE*jIBjIiIiIziIJiIiQ ksnksnksnha2f:fBfJfG@ɢa9) $>i)2=1iTMI1AupAzAq)AIIO=P>EU EIE?E"E:*Ec9VE^4ZEa@a@a@a@52Acoustic response timeoutBE>BABE8HBErABE=BABABEh;BEREYԁ &iя,!XE?Aɰ49I=FyEE>Q 5Ur4hк?Q 9Ur4m1)@YUX?Q EUz:yU%&Q IU?ƧCIp:f./>Bf#(@Jf+2@ɢ0\) ;>i)6.i`IA1I9IQO{>E S E E E "E 9*E VE ZE BE :a 2E :a JE :a :E :a E 2Acoustic response timeout I5,iя,e4E?A2@2@2G<ٱ2 :AHRS rotation from veh to nav: [[0.917510,0.378975,0.120639],[-0.397201,0.888542,0.229616],[-0.020174,-0.258593,0.965776]]2H`=\? A?@5?@kٿ n?d?ʌп@?i2@I2^;2CYB-rAyBHDDXX X)\I\i\\bDfVDf8yn%n=ٔnr*i)Q-i+P!I!AaIqIO>2Acoustic response timeoutI 3iя, ͤE?A 2@2ۻ@2y<ٱ2u >AHRS rotation from veh to nav: [[0.915821,0.381464,0.125528],[-0.400906,0.886647,0.230501],[-0.023371,-0.261423,0.964941]]2HgN?@i?O?`sٿj_??`'п?i2@I2^;2CYB!rAyFHbDNVDNt8yV%VM=ٔV9XIX=ZFyZE^)E^>`Q 5rr4b?Q 9vr4b:)b@YxyzW(Q Iz?bCIbE;ib;br4yBɮB*jBjiiziJii kUkUkUh1 klklklhA2fQ:fQBfQJfUP2@^eB*** querying acoustic contact ***XaYaqET E@E<E"E9*E9VE 4ZEa@a@a@a@B>BFCBHBYrAB=BB|DBw;B[E2Acoustic response timeoutɢu ) H>i){+ i 2 IAE_?AEY?iAIIO$>ԙ 2Acoustic response timeout F9iя,E?A6T@61@6;<ٱ6` >AHRS rotation from veh to nav: [[0.913804,0.384702,0.130254],[-0.405277,0.884742,0.230177],[-0.026691,-0.263126,0.964392]]6H=?`? &? ٿO?sv?T п@M?i6T@I6ʍ^;6CPYR$rAyRHbD%nVD%e8yet;%e?=ٔmD;Q-m>9iIq=uFyuEuG8Eu>yQ 5r4}2?Q 9r4}@)}@Yy)Q I?}?CI}:i}:}{r4yɮB*jBjiiziJii kSkSkShY2f:fBfJft2@ɢ` ɺ) + >i)j)iݴIEX EEEE"E~ :*EA9VEZEBE:a2E:aJEV:a:EV:ai!I!-2Acoustic response timeoutIIIYO:>! G % 9! Y% Ay y .@iя,E?ABIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERB2Acoustic response timeoutf@`@I=ٱ6 AHRS rotation from veh to nav: [[0.909464,0.392719,0.136554],[-0.414463,0.882435,0.222550],[-0.033101,-0.258998,0.965311]]HT?M"?@z?ڿ@ ףp=ڿy&1Yg?yѾ)`-cB |B)مBYGyBbD=VD=8yU <%U#=ٔU.R9YIY=]Fy]EeEe>iQ 5ur4mp*?Q 9ur4mJ)m@Yu?Q E}T:y}]Q I}?mCIm:im]:mr4yBɮB*jBjiiziJii kRkRkRh2f:0>:f:0>Bf@Jf@)ɢ-x)1 5 >i1)5'99i=.ɳAIIQB>BBHBrAB=BBBq;BZEBECBECBǔCB=B=Cr6DzD?AEY EEE"E:*EVEZEBE;2E ;JEV::EII)5pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT52Acoustic response timeoutOm>ԁ XFiя,VE?AYqAyHYbDnVDe8y-ݽ%=ٔQ- ?9I=FyEE ?Q 5r4;?Q 9r4Q)@YyQ I?CI:i:$r4yBɮڊBE*j Bj i i zi Jii k#7k#7k#7h) kQkQkQh92fI:fIBfIJfIaɢm)i mb=ii)mH&iiiuqIyzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԉ¼AzAqAII1Omx>Ա E W E AE >E "E :*E  9VE 4ZE a @a @a @a @E 2Acoustic response timeout@Liя,g{4E?Aɰp;J @J@J#=ٱJ RAHRS rotation from veh to nav: [[0.904664,0.401585,0.142521],[-0.424243,0.880201,0.212753],[-0.040009,-0.252934,0.966656]]JH??@#>? &ۿ*?`~;? |0п?iJ @IJ ^;JCYZqAyZHbDfVDfv8yn<%n[=ٔnW9pIp=rFyrEvEv>xQ 5~r4zO?Q 9~r4zX)z?@Y|y~`Q I?zبCIz;iz&;z5r4y ɮ ֊B *j!Bj!i!i!zi!Ji!i) k5k5k5h92fI:fIBfIJfM]?@Թ ɢ \w)  3=i )>%i59I9 ]IIO>2Acoustic response timeoutA jSiя,~UNE?AJ޳@Jٺ@J1=ٱJe} VAHRS rotation from veh to nav: [[0.902148,0.406468,0.144613],[-0.429244,0.879336,0.206200],[-0.043349,-0.248097,0.967765]]JHe? ?@?xۿ#?`d?1`Ͽ?iJ޳@IJN^;HYZqAy^H``bDj|VDjr8yr%rJ=ٔrI9tIt=vFyvEzbEz>|Q 5r4~e?Q 9r4~`)~@Yy3bQ I?~ CI|i~;~Zr4yBɮBE*j)Bj)i)i)zi)Ji)i1 k:k:k:hA kRkRkRhQ2fa:faBfaJfe:@B>BGCBHBqAB=BBB|;BaE颡ɢD) =i)#顩iʰ2Acoustic response timeoutD=D<E%R E%ME%<E!"E%s9*E%9VE% 4ZE!BE%x:a-2E%}:a5JE%:a5:E%:a5IA}oMIIOMt>q 2Acoustic response timeoutԙ Yiя,0hE?AJ@J@JF==ٱJ{ RAHRS rotation from veh to nav: [[0.899592,0.411613,0.145980],[-0.434272,0.878504,0.199097],[-0.046293,-0.242501,0.969046]]JH t?W?x?ۿ?{?`C Ͽm?iJ@IJ^;JCYZqAyZH )IibDVD8y<% 9=ٔ ;Q- >9qI=FyESJE>Q 5r4}?Q 9r4j)@YycQ I?FCI):iB:Vr4yBɮ݊B*jBjiiziJii k37k37k37h kUkUkUh2f:fBfJf@!ɢ%()! -Q=i))-Q"))i-V1I199AA 2Acoustic response timeoutԡA I I! OU > `iя,E?A:2Acoustic response timeoutPR@̓@~@pH=ٱ>t AHRS rotation from veh to nav: [[0.897088,0.416771,0.146752],[-0.439137,0.877731,0.191694],[-0.048916,-0.236410,0.970421]]H ?^??ܿ@`?k? Bο ?i̓@I^;CY5^qAy=kHyV-?Zd;OMb?m?j= 9VcB {B)BY\yBbD VD 8yq%9=ٔ%b;Q-%>9!I)=-Fy-E-SE->1Q 5=s45?Q 9=s45'r)5v@YEL?Q EEM:yE$IQ IE?5}CI5:i5;50 s4yM4BɮMBUE*jaBjaiaiiziiJiiii k:k:k:h kVkVkVh2f_>:f_>Bf@Jf'@ɢ⃻) 6=i) !i4ݭIIIOe>"utFailed to parse device response: ,13.4040,3.96712,4107.92 2Acoustic response timeoutbE] 4jE]|4rE]/E1 E5BE5>E1"E1*E5(9VE54ZE1a=@a=@a=@a=@! Q fiя,E?A2c@2]@2SR=ٱ2ao :AHRS rotation from veh to nav: [[0.895215,0.420582,0.147316],[-0.442670,0.877337,0.185264],[-0.051327,-0.231063,0.971584]]2H?? >?`Tܿ%??GzͿ 7?i2c@I2^;2CYBUqAyBfHDDbDzVDz8yuɻ%ui=ٔuW;Q-u>9yIy=}Fy}E:E>Q 5s4?Q 9s4x)@YyqJQ I?CI:iZ:ts4yɮ B*jBjiiziJii k:k:k:h ksSksSksSh2f:fBfJf@ɢ\h) ɪ=i)C+ !i%Й!I)]2Acoustic response timeoutI9IIIqO>Iq  2Acoustic response timeoutE5 S E5 CE5 ?E1 "E5 9*E5 09VE5 ^4ZE1 liя,8E?A0JV@JQ@J[=ٱJJDi VAHRS rotation from veh to nav: [[0.894445,0.422262,0.147185],[-0.443953,0.877975,0.179068],[-0.053611,-0.225510,0.972765]]JH K?U? ? iܿ_?`?r̿ ?iJV@IJ^;JCYXy\bD%zVD%p8ٔms;Q-m>9iIi=uFyuEutEu>yQ 5s4}Ļ?Q 9s4}u)}@YyKQ I?}ߩCI}:i}:}m#s4y7Bɮ B*jBjiiziJii k8k8k8hA k#Vk#Vk#Vhq2f:fBfJf@颡ɢ=B)|ʻ i)顩i$II9IIԉO=2Acoustic response timeoutԹ siя,EϥE?A2|^@2YY@2Fd=ٱ2< d :AHRS rotation from veh to nav: [[0.894754,0.421745,0.146785],[-0.443058,0.879489,0.173777],[-0.055806,-0.220522,0.973784]]2Hӡ??@?[ܿ$?V>?:̿`=)?i2|^@I22^;2CYVpAyV#H`B%<A%<B- >B)B-HB-pAB-=B)B)B)B)bDEVDE8y%<ٔl;Q->9I=FyE;E>Q 5s4\ݻ?Q 9s4A)@Yy KQ I?CI:i9:1s4y:BɮBE*jBjiiziJii2Acoustic response timeout k:k:k:ET EAE<E"E9*E 9VE 4ZEBE:a 2E:a JE:a :E:a h2f:fBfJf@ɢ#) i=i)?iV IQIIO > 2Acoustic response timeoutA 'yiя,lxE?AJo@Ji@J,l=ٱJ[y` ZAHRS rotation from veh to nav: [[0.895545,0.420091,0.146709],[-0.441203,0.881131,0.170142],[-0.057795,-0.217098,0.974437]]JHM? ? ]?<ܿ:2?4?@L˿@.?iJo@IJ^;JCYjpAynHQQbDmmVDmd8yu%K=ٔ;Q->9I=FyE;E>Q 5s4?Q 9s4)]@YyJQ I?ICIA;iB;?s4y=Bɮ#B*jBjiiziJii k7k7k7h k7k7k7h 2f!:f!Bf!Jf%@9ɢEF1û)A EP=iA)EAIiMIIQAe[?AeJ?II O==IhDAT read: Forwarding Delay UpTx time:18:27:35.4031 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutE S E BE E "E 9*E (9VE ZE a@a@a@a@qԡ ΀iя,,bE?A&2Acoustic response timeouty#@@vr=ٱ^ AHRS rotation from veh to nav: [[0.896721,0.417605,0.146623],[-0.438640,0.882720,0.168527],[-0.059049,-0.215436,0.974731]]H? ??ܿ=??G?;f˿ 0?i#@Id^;YpAyHyML7A`?Q롿I +?M+g?M\M94=I I9M?A`"~jt?YM`?yMٽM>MBMfB M6xB)MBIYMǂBbDeVDe8yu?<%u;=ٔu =;Q-}>9yIy=}Fy}E;E>Q 5s4>?Q 9s4)x@Y-k?Q Eg:y&Q I?zCI ;if:Os4y\Bɮ@BE*jBjiiziJii k5k5k5hY2fi>:fi>BfƊ@JfUl@ɢ3Ļ) `=i)iʥ)I)ԡB!>BBHB pAB=BBB;BfEiIA2Acoustic response timeoutEU EFE=E"E:*E;J9VE|4ZEBE:a2E:aJEe:a%:Ee:a%m]A  I I O] >iя,&SE?A2瞳@2ę@2kx=ٱ2_ :AHRS rotation from veh to nav: [[0.897953,0.414468,0.147976],[-0.435884,0.883972,0.169110],[-0.060716,-0.216353,0.974425]]2H`? ??ۿI?e?'t˿`~.?i2瞳@I2J^;2CYB=pAyBHJ=J=bDNVDN8yVb%Vk=ٔZ;Q-Z?9XIX=^Fy^E^<E^?`Q 5fs4b)?Q 9fs4bޘ)b@YhyjJQ Ij?bCIb^;ib;b&[s4ylɮnTBl*jxBjxi|i|zi|Ji|i| k#k#k#h k7k7k7h!2f1:f1Bf1Jf5l@QɢU}C )Y ]w 2Acoustic response timeoutE% W E% BE% @E! "E% :*E% (9VE% 4ZE! a- @a- @a- @a- @I Eiя, 7E?AJO@J,@J&=ٱJa RAHRS rotation from veh to nav: [[0.899109,0.411356,0.149629],[-0.433275,0.884973,0.170572],[-0.062252,-0.218194,0.973918]]JH?S? 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KϿ?iV@IV];VCYfmAyf%HyuK?lZd;O?u^Z?uuj9 I=MFyMԓEM9EM>QQ 5]s4U?Q 9]s4Uֻ)U@YeD?Q Ee:yeϾQ Ie?U)CIU;iU;U#s4yBɮڋBE*jBjiiziJii kXkXkXPExceeded connect timeout, disconnecting.h2f =:f =BfZ'@Jf0@QɢU^̠)Q U%iQ)U#YYi]oyI1B9B9B=HB=mAB9B9B9B=i;B=[E2Acoustic response timeout9E EGE:E"E*ER9VE(4ZEBE:a2E:aJEt:a:Et:aiI I O% >ԉ iя,\E?A2볳@2ɮ@2ʮ=ٱ2z :AHRS rotation from veh to nav: [[0.898869,0.407387,0.161465],[-0.433482,0.880622,0.191307],[-0.064254,-0.241953,0.968158]]2H@???*ۿ.?|? r@Mο&?i2볳@I2%];0YBtmAyBHDDbD fVD ]8yE %MS=ٔM'Q-M>9IIQ=UFyU֓EUx;EU>YQ 5es4]&?Q 9ms4]Ǿ)]@YiymPξQ Im?]MCI]:i]:]s4yqɮ}By*jBjiiziJii k3@k3@k3@h k]k]k]h2f:fBfJfV3@ɢ{) "i)%ikI    q2Acoustic response timeoutԩ^A ; 2Acoustic response timeoutE T E DE <E "E 9*E a99VE 4ZE a @a @a @a @I  I O >iя,TR:E?An&ͳ@nȺ@nf=ٱn w AHRS rotation from veh to nav: [[0.900264,0.405423,0.158611],[-0.430742,0.882364,0.189458],[-0.063142,-0.238883,0.968993]]nH?t?`M?Gۿ T9I=FyٓE;E>Q 5 s4a@?Q 9 s4.){@Y y ̾Q I ?xCI:i :3s4yBɮB*j)Bj1i1i1zi1Ji1i1 kCkCkChI kWkWkWhY2fi:fiBfiJfmE@颉ɢ෼) 8i)`(Թ顑1i5'9I9^A-8;IIO!>2Acoustic response timeoutnManaging dock network, ignoring radio surface power off A A B B B HB lAB B B B o;B ^Eiя,SE?A>?@>@>|=ٱ>Au FAHRS rotation from veh to nav: [[0.901927,0.402882,0.155608],[-0.427473,0.884142,0.188575],[-0.061606,-0.236599,0.969652]]>H?@?`? [ۿJ?8#?݊Hο d?i>?@I>ۑ];>CYNllAyNaHE2Acoustic response timeoutbD VD 8yU%UV=ٔUEQ-U>9YIY=]Fy]ۓEe<Ee>iQ 5ut4m(W?Q 9ut4m))m@YqEV EAE?E"E=:*E 9VE^4ZEBE:a2E:aJE:a:E:ayu+˾Q I?mCImy2Acoustic response timeoutԩ iя,_mE?A6k@6I@60r=ٱ6s >AHRS rotation from veh to nav: [[0.903581,0.400462,0.152222],[-0.424323,0.885557,0.189050],[-0.059094,-0.235413,0.970097]]@6H "?`-?@|?`(ۿzV?2?A"ο ?i6k@I6];6CY^DlAybHH``bDhVDhyrм%vQ=ٔvMӻQ-v>9xIx=zFyzޓEz<Ez>|Q 5t4~n?Q 9 t4~/)~p@Y y jɾQ I ?~ĬCI~6:i~:~)t4yɮ B*j)Bj)i)i1zi1Ji1i1 k7k7k7hI kcQkcQkcQhY2fi:fiBfiJfmY"@颉ɢA) ni)~%.顑i I@qA@rA^Au=IIO=ԩM2Acoustic response timeoutES EBE>E"E9*E(9VE4ZEa@a@a@a@GsA9sAYA  2Acoustic response timeoutiя,E?A2@2` @2`c=ٱ2j{ FAHRS rotation from veh to nav: [[0.904135,0.399346,0.151863],[-0.423628,0.884095,0.197268],[-0.055483,-0.242691,0.968516]]2H?? ?p?ۿJ?@@?@Gh }Ͽ?i2@I2)];2CY%kAy%HyʡE?I +Q뱿O?9\ 9Zd;?V-?sh|?Y9?y< B 7~B)ƊBY.BbDVD8y".%;=ٔQ->9I=FyE;E>Q 5 t4?Q 9 t4)@Y 6;?Q E :yھQ I?CI;ib;p"t4yBɮBE*j1Bj1i1i1zi9Ji9i9 k5k5k5hI kCRkCRkCRh2f =:f =Bf y&@Jf | @AɢM߼)I MiI)Ul1QQiUKYIY)^A-]=IIO!>B%>BBHBkABBBBt;BbE]2Acoustic response timeoutaEX E@E;E"E~ :*E9VE4ZEBE:a2E:aJE-:a :E0:a ԁ iя,㈡E?Aɰ2@2@2O=ٱ2ԟ :AHRS rotation from veh to nav: [[0.902770,0.401045,0.155464],[-0.427118,0.878509,0.213989],[-0.050757,-0.259584,0.964386]]2H~??;?Uۿ?c?п??i2@I2Ϯ];2CYBHkAyBHXX X)\I\i\\bDfvVDfl8yj%n^=ٔnRQ-n>9pIp=rFyrEv>&Ev>xQ 5zt4z?Q 9~t4z)z/@Y|y~ݾQ I~?zCIz;iz;zU/t4y Bɮ 2B Y*jBjiiziJii kPkPkPh kPkPkPh2f:fBfJf{ @QɢUk)Q ]閾iY)]5YYi]aIa2Acoustic response timeoutԉ^A=ԱAII OM > 2Acoustic response timeout E i E TE IE "E ,K:*E 9VE e5ZE a @a @a @a @v(iя,bE?A6P@6.@69=ٱ6K >AHRS rotation from veh to nav: [[0.899719,0.404796,0.163234],[-0.434109,0.868757,0.238350],[-0.045328,-0.285309,0.957363]]6H?.??rۿ@?@>?`95@Bҿ?i6P@I6];6CYFjAyFZHHHbDPVDPyZ%ZM=ٔZK_Q-Z>9\I\=^Fy^EbEb>dQ 5jt4fⰽ?Q 9jt4f)f@YhyjDQ In?f3CIf>:if:fG=t4yrBɮraBrE*jxBj|i|i|zi|Jii kcZkcZkcZh klklklh!2f1:f1Bf1Jf5b @QɢUV)Y ]iY)]X9aaieaIiԹ2Acoustic response timeout^A=II1Oe>9 B A <B &>B B oHB jAB B B B T;B QEBBBBBCt4^iя,AէE?ANHU@N&P@N`"=ٱNL VAHRS rotation from veh to nav: [[0.894948,0.410856,0.173969],[-0.444406,0.855491,0.265779],[-0.039632,-0.315172,0.948207]]NH`j?uK? D?@'qܿ .`??J@+ԿW?iNHU@IN>];NCY^MjAy^HE2Acoustic response timeoutbD%hVD%_8y}%}>=ٔYQ->9I=FyEKؼE>Q 5t4WȽ?Q 9t4k) @YyQ I?[CI:i:OLt4yɮpBEV EDE<E"E=:*Ea99VE 4ZEBE:a2E:aJEjH:a:EmH:a*jYBjaiaiaziaJiaia k3Tk3Tk3Th2f:fBfJfQ$ @ɢAV)  Ti)>iIA^Aqi2Acoustic response timeoutIQ Ii O >Թ :iя,E?A2ڲ@2չ@2m=ٱ2 :AHRS rotation from veh to nav: [[0.888397,0.419858,0.185659],[-0.457857,0.839800,0.291725],[-0.033434,-0.344173,0.938311]]2Hm???Mݿ@?`?<ֿ?i2ڲ@I2];0YBiAyBHbD =VD 88y]^ɽ%eL=ٔe~Q-e>9iIi=mFymEmREm>qQ 5}t4uݽ?Q 9t4u)u@YyQ I?uCIuU;iuI:uIZt4yBɮB*jBjiiziJii k#]k#]k#]h kS]kS]kS]h2f:fBfJfV @ɢ*&) wʾi) ҶC  i |IԑiIIIU2Acoustic response timeoutEQ E@EE"E29*E9VEZEa@a@a@a@^AYAazAeqAIIOm> 2Acoustic response timeout $jя,E?AJF@JA@JԜ<ٱJ%i¾ RAHRS rotation from veh to nav: [[0.880150,0.431367,0.198137],[-0.473904,0.822584,0.314279],[-0.027415,-0.370510,0.928424]]JH/*?`?\?pT޿@R?@$? q׿?iJF@IJ=];JCYZuiAyZH\\y(\?(\ſL7A`尿zt?.+ 9m?}?5^I̿`"οYN?yMbwmdB ʂB)cBY#BbD>VDy%B=ٔiQ->9I=FyE/E>Q 5 t4'?Q 9 t4)`@Y ^?Q Es:yXQ I?CIi@;i?; it4y%Bɮ%B%E*j9Bj9i9i9zi9Ji9iA k[k[k[hQ k[k[k[ha2f}2q>:f}2q>Bf}L^@Jf}uFR@1ɢ5I$)1 5SѾi9)=bI99i=9YxAIABe'>BeHCBeHBejABe=BaBaBe1;Be?EU2Acoustic response timeout^A]=IIDzD@AbE] 4jE]Ǵ4rE]ǩH1Et EEE?E"Es:*EA9VE^4ZEBE0;a2E1;a JEV:a :EV:a O=>I Mjя,"E?ABg@BE@B<ٱBMnξ JAHRS rotation from veh to nav: [[0.870832,0.444535,0.209858],[-0.491116,0.805308,0.332092],[-0.021374,-0.392261,0.919606]]BH?`Bs??qn߿?@@?㕿ٿim?iBg@IBٙ];BCYbhAyb8HbDnIVDnC8y ~% Z=ٔ  Q- >9I=FyE VE=>AQ 5Mt4E?Q 9Mt4E)E@YIyMe^Q IM?EحCIEB:iE|:EJvt4iIyɮB*j Bj i iziJii1 kTkTkThI kTkTkThY2fi:fiBfiJfmR@颩ɢ22Acoustic response timeout) i)MDOitIQԁ^AIyIIO>ԩ m 2Acoustic response timeoutE T E CE >E "E 9*E 09VE 4ZE a% @a% @a% @a% @vjя,69tIt=zFyzEz REz>|Q 5t4~?Q 9t4~)~@Y y )dQ I ?~CI~:i|~t4y©BɮB*j)Bj)i)i)zi)Ji1i1 ksXksXksXhI kXkXkXhQ2fi:fiBfiJfm*Q@颁ɢV<) si)/T顑i8qIԩ2Acoustic response timeout^AIIIaO[> Bm +>Bi Bm HBm uiABm =Bi Bi Bm (;Bm 9I=FyEJE>%2Acoustic response timeout)Q 55t4-'?Q 95t4-)-@Y1y5iQ I5?-0CI-|:i-;-lt4yEBɮEBEE*jYBjYiYiYziYJiaia kCUkCUkCUhq kcUkcUkcUh2f:fBfJfP@DD%=EZ E@E=E"E:*E9VE|4ZEBEb;a2Ee;aJE-:a:E0:aɢ=) Hi)I [iTnI ^A==1AiII2Acoustic response timeoutO5 >a jя,apE?A2y@2W@2n;ٱ2ܾ :AHRS rotation from veh to nav: [[0.839639,0.491630,0.230880],[-0.543123,0.763750,0.348860],[-0.004825,-0.418313,0.908290]]2H`S?v?|?@Ca`p?S?hsڿ?i2y@I2 ];0YNhAyRHhh h)hIj^ihhbDr;VDr68yz`%zL=ٔzuZQ-~>9|I|=FyESLE> Q 5t4 I9?Q 9t4 ) <@YynQ I?Y \CI L In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutLq"jя,>E?A@B@B @BCٱBpܾ JAHRS rotation from veh to nav: [[0.828551,0.509019,0.233243],[-0.559913,0.752798,0.346112],[0.000592,-0.417367,0.908738]]BH@~?I?@? ?&?@rhC? &ڿ`?iB@IB ];BCYRgAyRHԹy^I +? ףp= ?X?̽Q= 9)\(?Gz׿{GztYG?ypף`B ƊB)uBY3BbD FVD @8y %9=ٔ%HQ-%>9%H?I%H?=%Fy%E-:E->QQ 5]t4UQ?Q 9]t4U)Ub@Y]?Q EeE:yejQ Ie?UCIU:iU:Ut4ymBɮmBi*jBjiiziJii kc]kc]kc]h kmkmkmh2f>:f>Bfv@Jfy@ɢ"rG) i)iiNiIB)>BBCHBhAB=BBB4;BBE=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT=2Acoustic response timeout^A=AzAoAEU EE>E"E:*EVE4ZEBE:a 2E:aJE:a:E:aA AI I O >9 (jя,E?A6ak@6?f@6iػٱ6پ BAHRS rotation from veh to nav: [[0.817070,0.527466,0.232756],[-0.576500,0.742852,0.340321],[0.006604,-0.412250,0.911047]]6Hq%??`? r r? ?+ {?MbڿK'?i6ak@I6];4YJgAyJsHbD @VD :8yE%MY=ٔMɂQ-M>9MK?IUK?=UFyUEUo[EU>YQ 5et4]]e?Q 9mt4]r)]:@YiymOpQ Im?]̮CI]:i]:]t4yqɮ}By*jBjiiziJii kUkUkUh2fY:fYBfYJf] Qx@zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutɢ%P)! %mi!)%p!!i-fQIQA^AqA $AI I O >M 2Acoustic response timeoutE Q E @E ;E "E 29*E 9VE 4ZE a @a @a @a @ % Wj>- CD.jя,\E?A>_GHZŭ@Z@Z2~ShٱZ\f־ rAHRS rotation from veh to nav: [[0.805152,0.545969,0.231619],[-0.592927,0.732535,0.334410],[0.012908,-0.406585,0.913522]]ZH ?`x?ഥ?Bp?`f? o?`{ڿ`;?iZŭ@IZS];ZC u9 Y AYgAy%H99ym?m/AbD[VDS8y x<%?=ٔPqQ->9H?IH?=FyE :BE >Q 5t4^{?Q 9t4B)h@Y!y%uQ I%?CI:i :t4y-Bɮ-#B-˱E*jABjAiIiIziIiJii k^k^k^h k{k{k{h2f!:f!Bf!Jf%Kv@AɢE͙N)A EiI)MwIIiMdQIQ2Acoustic response timeoutԡ^A=A I I O >! ! B <A <B B B *HB hAB B B B .;B >E 5jя,FרE?A2v$@2T@2 ٱ28Ӿ :AHRS rotation from veh to nav: [[0.793284,0.563843,0.229744],[-0.608535,0.722074,0.329082],[0.019659,-0.400863,0.915927]]2Hb? ?@h?y:?`?a!?ٿ`FO?i2v$@I233^;2CY^gAybH2Acoustic response timeout qqEV EAEBE"E=:*E 9VE5ZEBE:a2E:aJEa:EabD.VD*8y<%O=ٔϋQ->9I=FyEKE>Q 5t4?Q 9t4s!)z@Yy{Q I?Q U;jя,E?A2؍@2@2Kyּٱ2?о :AHRS rotation from veh to nav: [[0.781845,0.580122,0.228424],[-0.622923,0.711457,0.325262],[0.026178,-0.396595,0.917620]]2H? [?9ZK?IZK?=ZFyZE^KE^>`Q 5ft4b?Q 9ft4b*)bw@YdyfQ Ij?bnCIbl:ib:bt4ynBɮnBṉE*jxBjxi|i|zi|Ji|i| kTkTkTh kckkckkckh!2f1:f1Bf1Jf50t@QɢUS)Q UiY)]YYi]baIa) 2Acoustic response timeoutES ECECE"E9*E09VE5ZEa@a@a@a@^A=qAM$AIyIOM >ԉ  2Acoustic response timeoutBjя,# E?A,>\ @>:@>9xٱ>&ξ FAHRS rotation from veh to nav: [[0.771619,0.594115,0.227223],[-0.635287,0.701918,0.322058],[0.031848,-0.392858,0.919047]]>H@?@??DT@v?`?`RN?$ٿh?i>\ @I>$^;!%aB !)%cB!Y%aBbD=3VD=.8yM<%MA=ٔM[Q-U>9UH?IUH?=UFyUEeEe>iQ 5ut4m湾?Q 9ut4m52)m@Yuʼn?Q EuE:y}MQ I}?mCIm2 ;im ;mt4y=Bɮ3BֱE*jBjiiziJii kRkRkRh ksiksiksih2f0>:f0>BfT@Jf@qɢ}^H)}2& }iy)}}yiU$aIԑBBBCHBhABBBB5;BCEBuHCBuHCBqBu=BqCu2'5Թ^AiI%2Acoustic response timeoutEX EAE<E"E~ :*E 9VE 4ZEBE:a2E:aJEa:EaAIIO > ;Hjя,-`%E?A2)@2@26>ٱ2̾ :AHRS rotation from veh to nav: [[0.762319,0.606426,0.226092],[-0.646148,0.693201,0.319320],[0.036916,-0.389512,0.920281]]2Hd?g?? >.?o?@?@ؿ@r?i2)@I2&];0YBmhAyBHXX X)XIXi\\  p=@AbDAVDAy}<%G=ٔRJQ->9I=Fy EE>Q 5u4Ѿ?Q 9u48:)@YyQQ I?گCID;i;u4y@Bɮ2B*j!Bj!i!i!zi!Ji!i) kPkPkPh9 klklklhI}2Acoustic response timeout2f:fBfJf @ɢ\F) Ki)Li|`!I!)Q^AA AI I O >- 2Acoustic response timeoutԁ E U E BE =E "E :*E (9VE |4ZE a @a @a @a @MOjя,;?E?A2I*@2'%@2*ٱ2wZ̾ :AHRS rotation from veh to nav: [[0.753685,0.617086,0.226193],[-0.655917,0.684430,0.318321],[0.041618,-0.388278,0.920602]]2H`0?+??D`?a_? N? ؿ`u?i2I*@I2^;2CYBrhAyBHbDN@VDN:8yVa;%VY=ٔVLQ-V>9ZK?IZK?=ZFyZ EZNE^>`Q 5fu4b澉?Q 9fu4brA)bAYdyfLUQ If?b CIb:ib:bu4ylɮn1Bl*jxBjxixixzi|Ji|i| kCTkCTkCThY kukukuh2f:fBfJfA@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed!ɢ%P)! %i!)%9))i-B`)I1@a@eqAԉ2Acoustic response timeout^AyԹA$AIIO>A A ?AB *>B B HB uiAB =B B B F;B KE Ujя,8YE?A6Ǫ@6]±@6P<ٱ6̾ BAHRS rotation from veh to nav: [[0.745579,0.626391,0.227480],[-0.664831,0.675588,0.318718],[0.045959,-0.388865,0.920148]]6H?d ??KF j?e?`?)ؿq?i6Ǫ@I6?^;6CYJhAyJ Hr2Acoustic response timeoutbD <VD 78yE<%MA=ٔM'Q-M>9UH?IUH?=UFyUEUE]>aQ 5eu4e?Q 9mu4eI)eAYiym_XQ Im?e@CIe:ie:eu4ԹbE|4jEY4rE0E EE<E"E*EVE 4ZEBE:a2E:aJEL+:a:EN+:ayuCBɮ/B*jABjAiIiIziIJiIiI k3]k3]k3]h2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ G) i)tie_ I rg2Acoustic response timeout9 ^Ay A AI I I!O->]jя,vE?A >e@>`@>ϦMٱ>U; FAHRS rotation from veh to nav: [[0.737459,0.635332,0.229144],[-0.673524,0.666589,0.319411],[0.050187,-0.389887,0.919494]]>H D?T?T?`T?:q? ?ؿ l?i>e@I>ݍ^;>CYNhAyN9HA %p9mK?ImK?=uFyuEupмEu>yQ 5u4}d?Q 9u4}S)}AYy][Q I?}|CI}[:i}1:}40u4y`BɮCBE*jBjiiziJii%hDAT read: Forwarding Delay UpTx time:18:27:49.5530 %pIn parseResponses, set commsState_ = SENDING_ACK_WAITING%2Acoustic response timeout kWkWkWha kWkWkWh2f:fBfJf<@EQ EGE;E"E29*ER9VE4ZEa@a@a@a@9ɢ=6-=)9 =iA)E鑼AAiE `IIIq-ԡ^A 2Acoustic response timeout A% $AI) I9 Ou >ocjя, E?A2V@24@2^ٱ2ξ :AHRS rotation from veh to nav: [[0.729306,0.643787,0.231629],[-0.682026,0.657178,0.320871],[0.054351,-0.391990,0.918362]]2HxV?@?@?'?&? ӫ?^ٿ9c?i2V@I2+^;2CYB iAyBYHPyuy&1?/$?I +?u`E?u=u9qu3cB uB)uBqYuBbDBVD<8yH=%G=ٔP&Q->9H?IH?=FyE3E>Q 5u46/?Q 9u4Y) AY5m?Q Ee:y1Q I?CI* ;i;>u4yɮ:f:>Bf@Jf(@1ɢ5UJ)9 =۾i9)=*AAiE^`AIIB})>ByB}HB}iAByByByB}6;B}CEQQ-2Acoustic response timeoutES E@EE"E9*E9VEZEBE:a2E:aJE-:a:E0:a@G>@C>) ^A = 4= 4= 2Acoustic response timeoutA AI! I1 a O >jjя,9bE?A2@2@2zoٱ2Ͼ :AHRS rotation from veh to nav: [[0.720616,0.652564,0.234250],[-0.690862,0.647312,0.322019],[0.058505,-0.393886,0.917295]]2H@H???ȶ?`?m?n5ٿ{Z?i2@I2&^;2CYB2iAyBdHbDN?VDN98yRt)<%VD=ٔV(#Q-V>9VK?IZK?=ZFyZEZ,E^>\Q 5bu4^2F?Q 9fu4^ _)^* AYdyf4Q If?^װCI^6:i^p:^*Mu4yncBɮn=BnE*jxBjxixixzixJi|i| k#Mk#Mk#Mh  k3Rk3Rk3Rh!2f):f)Bf)Jf-Ṭ@IɢM}B) پi)[qi`I^A=2Acoustic response timeoutEV EHE9E"E=:*E[9VE4ZEa@a@a@a@AaIqIO>! qjя,+ǩE?AV9@V4@V~ٱVOо bAHRS rotation from veh to nav: [[0.711803,0.661416,0.236359],[-0.699624,0.637884,0.321916],[0.062151,-0.394503,0.916790]]VH? 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OE >ԁ ?jя,֪E?A2*@2%@2ٱ2nѾ :AHRS rotation from veh to nav: [[0.591306,0.760422,0.268543],[-0.800906,0.514759,0.305896],[0.094375,-0.395956,0.913407]]2H?`U?/? x?Γ?(?YWٿ:?i2*@I2 ^;2CBB<AB<BF">BDBFHBF,oABDBDBDBFr;BFEYRGnAyRHAAYbD VD 8ym=%:=ٔ5Q->9K?IK?=Fy4EE>Q 5u4?Q 9u4~)AAYy]Q I?ŲCI ;i;au4yBɮB*jBji i zi Ji i  k.k.k.h! k/k/k/h12fA:fABfAJfELi@aɢe)a miܽii)miiimIH{qIq2Acoustic response timeoutԉER E>EE"Es9*E9VE5ZEBEx:a2E}:aJE9a:E#9a^AԹA I I) O] >  2Acoustic response timeoutijя,E?A2m@2L@2Ľٱ2!о :AHRS rotation from veh to nav: [[0.577818,0.769499,0.272026],[-0.810551,0.502004,0.301662],[0.095570,-0.394796,0.913785]]2H|}??h?j?@lN?Jw?VDٿ@=?i2m@I2^;2CYBnAyBHbDVD8y]=%eP=ٔeHQ-e>9aIi=mFym7Em.Em>ԹqQ 5u4u?Q 9u4u)uAYyQ I?uCIu ^wjя,K E?AY~uoAy~?H)M2Acoustic response timeoutyףp= ?Mb?~jtx?^?<; 9Zd;O?oʡſ{GzY~j?y-ף-cB [B)91I1=5Fy5:E=E=>AQ 5Mv4E-?Q 9Mv4E,)EAYUn?Q EUc:yUQ IU?E%CIE:iE3:E1v4yYɮeٌBa*jqBjqiqiyziyJiyiy k3/k3/k3/h  k3/k3/k3/hA2fU&=>:fU&=>BfU@JfU@颉ɢ) " i)yY顑i޿IY?B!>BBHBrpABBBBk;BEԁ^A 2Acoustic response timeoutD zD E V E BE =E "E =:*E (9VE |4ZE BE :a 2E :a JE L+:a :E N+:a ԩ A I I O= >jя,b%E?AR@R@R~ȽٱRqξ bAHRS rotation from veh to nav: [[0.549933,0.787813,0.277351],[-0.829470,0.476300,0.291750],[0.097742,-0.390497,0.915401]]RH ?5?@? {?@??ؿJ?iR@IR ^;PYroAyrH 4<bD VD 8y=%_=ٔ%»Q-%>9!I!=%Fy%1Q 5=v45H8?Q 9=v45S)5AY9yE픿Q IE?5PCI5;i5;5v4yM˪BɮM̌BIԙ*jBji!i!zi!Ji!i! k3-k3-k3-hY2fi:fiBfiJfm݉}@颁ɢ۩) i)\顉iTIm2Acoustic response timeout8^A =! 5 G= 2Acoustic response timeoutM rAi G9 rAY AI I E T E HE E "E 9*E [9VE ZE a% @a% @a% @a% @OU >Rjя,[AE?A24@2@2:ɽٱ2X̾ :AHRS rotation from veh to nav: [[0.535775,0.796780,0.279440],[-0.838643,0.463710,0.285747],[0.098098,-0.387446,0.916658]]2H%?8?V?`)@m?I?? ؿCU?i24@I2}U^;2CYBmpAyBHbDNVDN8yRt=%VB=ٔV;^Q-V>9XIX=bFyb?Eb#Eb>dxQ 5ev4fD?Q 9mv4f)fAYiymQ Im?fCIfŅ!I)9999!@@G>}2Acoustic response timeouti^A =y A A B >B FCB HB qAB =B B |DB ;B EIy I O >&xjя,d"[E?A2z@2u@2]ɽٱ2ʾ :AHRS rotation from veh to nav: [[0.521847,0.805551,0.280647],[-0.847372,0.451662,0.279216],[0.098165,-0.383521,0.918300]]2H???@@ ?`?W!?ؿb?i2z@I2<^;2CYBpAyB,HbDNVDN8yV<=%VK=ٔV.Q-Z>9XIX=ZFyZAE^(E^>hQ 5jv4jԱ  2Acoustic response timeout qjя, uE?A2@2@24Ƚٱ2Ⱦ :AHRS rotation from veh to nav: [[0.507599,0.813844,0.282845],[-0.856006,0.439033,0.272953],[0.097963,-0.380668,0.919508]]2H@>?@ ?!?fd?x?`?\ؿl?i2@I2^;0YBqAyBHXX |)|I|i||@AbD VD 8yި=%C=ٔ%9Q-%>9!I!=%Fy%DE-#E->1Q 5=v45[?Q 9=v45j)5y AY9yEkQ IE?5CI5|:i5g:5~Fv4yIɮMBI*jaBjaiaiiziiJiiii k7k7k7h kLkLkLh2f!:f!Bf!Jf%HXz@Yɢ]Zj)a e=ia)eT aaie:I2Acoustic response timeoutEW EFE=E"E :*E;J9VE|4ZEa@a@a@a@^A=II1O>Q jя,w؎E?A"="<&2Acoustic response timeout>?m@>h@>Ƚٱ>Uƾ FAHRS rotation from veh to nav: [[0.493698,0.822064,0.283677],[-0.864123,0.427070,0.266276],[0.097746,-0.376592,0.921208]]>H྘?YN?'?U? ? ?ؿz?i>?m@I>)^;>CYN6rAyNH PPyGz?Cl?Mb??;== 9+?Sſsh|??Yv~?y/=aB ’B)BYBbDVD8y=%>=ٔ:Q->9I=FyGEE>Q 5 v4i?Q 9 v4)"AY?Q EQ:y-Q I?CI;i ;Uv4yɮB!1*j9Bj9i9iAziAJiAiA k#1k#1k#1hY ksMksMksMhi2f}̏>:f}̏>Bf}:@Jf}sd@颙ɢ5)>  >i)!2顡i󐌼I@9@=qABU>BQBUHBU%sABQBQBQBU;BUEBGCBGCBB=B=C[4a^A=IIO>2Acoustic response timeoutԉDzD?AEU EDE;E"E:*Ea99VE4ZEBE:a 2E:a JEjH:a :EmH:a Թ ejя,NE?A2#@2@2ǽٱ27ž :AHRS rotation from veh to nav: [[0.480248,0.829144,0.286149],[-0.871711,0.414950,0.260648],[0.097377,-0.374615,0.922053]]2H d?@Y?EP? ?s??׿t?i2#@I2] ^;2CYBrAyB8HbD5VD58y=%I=ٔo:Q->9 I = FyIEE>!Q 5-v4%su?Q 9-v4%)%#AY1yU3Q IU?%LCI%;i%;%cv4y]Bɮ]BeEԑ*jBjiiziJii k1k1k1h2f:fBfJf6}c@U2Acoustic response timeout颡ɢ5) *>i)iI^A-=IIO> 2Acoustic response timeoutE X E >E :E "E ~ :*E 9VE (4ZE a @a @a @a @ jя,Ύ«E?AFMu@F,p@F ǽٱF8ľ RAHRS rotation from veh to nav: [[0.467354,0.835885,0.287882],[-0.878728,0.403469,0.255048],[0.097039,-0.372168,0.923079]]FH ?`? l? o?R?׸?`׿܉?iFMu@IF#^;FCYZ?sAyZHbD-VD-8yu=%uT=ٔuf:Q-u>9I=FyLElE>Q 5v4?Q 9v4) %AYy"Q I?}CIAU;i^V;Rqv4yɮB*jBjiiziJii k#1k#1k#1h k31k31k31h2f:fBfJfNb@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ,龻) O>i) 8  i sdIe2Acoustic response timeout^AqI A $AI I O >BE <AE <BM >BM ECBM dHBM tABI BI BI BM ;BM E5jя,iܫE?A2@2@2bXƽٱ2þ :AHRS rotation from veh to nav: [[0.455041,0.841791,0.290388],[-0.885205,0.392209,0.250169],[0.096697,-0.370890,0.923629]]2Hd??@?S?@?`!?੼׿^?i2@I2^;2CYBtAyBHbDVD8y]`>%eK=ٔe7`:Q-e>9mH?ImH?=mFymNEmEm>qQ 5}v4u?Q 9v4u )u&AYyQ I?uCIu;iu:u>v4yɮB*jBjiiziJii2Acoustic response timeout k3k3k3h2f:fBfJf$a@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢmϺ) >i ) *  i ^IbEE|4jEE5rEEB4EU EGE=E"E:*ER9VE|4ZEBEa2EaJEt:a:Et:aQ=.ۼ@A@Ayi i u 2Acoustic response timeoutԱ ^Aa A AI I O >:jя,1}E?AYmtAymoHbDsVD~8y=%>=ٔQ->9K?IK?= FyQEE>Q 5v4?Q 9v4)A(AYyQ I?CI:i:?v4y'BɮBE*jBjiiziJii k2k2k2h k2k2k2h2f:fBfJf1ɢ5)1 5>i1)52 99i=mI=In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER=2Acoustic response timeoutE5S E5@E1E1"E59*E59VE1ZE1aU@aU@aU@aU@I^A=q A $AI I O% > pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutkя,&E?A@Y}uAy}Hy}bX9?v/I +?}EV?}xi}99H?IH?= FyTEE> Q 5v4 ?Q 9v4 r) *AY }?Q EV:y(Q I? CI  ;i &: ܝv4y!ɮ%B)*j9Bj9i9iAziAJiAiA k<k<k<hY kRkRkRhiBu>BqBu,HBuuABu=BqBu{DBu;BuE2f>>:f>>Bfַ@Jf@ԩ颹ɢm:) >i) iVIuzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY}2Acoustic response timeout;DQzDU@AE]T E]DE]<EY"E]9*E]a99VE] 4ZEYBE]:ae2E]:aeJE]jH:am:E]lH:am ^A= =1 AmAIqIIioAIO>{ kя,*0E?A"2Acoustic response timeout6@6g@6ʏٱ64ž BAHRS rotation from veh to nav: [[0.416901,0.856023,0.305644],[-0.904090,0.355792,0.236713],[0.093886,-0.375016,0.922252]]6H@? d?`?`NM?@L??Aؿ?i6@I6. ^;6CYFuAyF'HHH )IibD-{VD-8y==%=:=ٔE;Q-E>9EK?IMK?=M FyMVEMo̽EM>QQ 5]v4UQ?Q 9]v4U))U+AYayeQ Ie?UPCIU:iU:U֬v4ym5Bɮm{Bi*jBjiiziJiiԑ kS2kS2kS2h2f:fBfJf~@ɢ;) >i)?i\I2Acoustic response timeoutEU EFE=E"E:*E;J9VE|4ZEa@a@a@a@^A  I I O% >/akя,IE?A22)@2$@2bٱ2/ Ǿ :AHRS rotation from veh to nav: [[0.403320,0.860177,0.312135],[-0.910437,0.342974,0.231241],[0.091854,-0.377443,0.921466]]2H??@?M"J?@O??(ؿ |?i22)@I2 ^;2CYB9vAyBgHbDNVDN8yV=%VU=ٔV;Q-V>9XIX=Z FyZYEZ E^>`Q 5fv4bo?Q 9fv4b2)bp-AYdyfcQ If?bCIb:ib:bCv4yj^BɮnBn)E*jtBjtixixzixJixix k;k;k;h2f:fBfJf1@ɢB<) !>i)iIae4=u2Acoustic response timeout)^A9AAAAB>BCCBHBwAB=BBzDBɿ;BEI9IIQO}> 2Acoustic response timeouty D =D R=E V E @E ;E "E =:*E 9VE 4ZE BE :a 2E :a JE -:a :E /:a kя,^cE?AB@B@BٱB=Ⱦ RAHRS rotation from veh to nav: [[0.388732,0.864087,0.319752],[-0.916987,0.329105,0.225445],[0.089572,-0.380846,0.920290]]BH??v?`W ?b?5?_ؿ`s?iB@IB< ^;BCY^vAy^H ))bD5qVD5|8y=%<=ٔt;Q->9I= Fy\E E>Q 5v4c?Q 9v4=)3/AYy[Q I?CI ;i ;xv4yɮB*jBjiiziJii k#k#k#h k9k9k9h2f!:f!Bf!Jf%@^5B*** querying acoustic contact ***X1Y1AɢML-<)I M>iI)MKQQiU|QYIaԁe2Acoustic response timeout^AAzApAIIOEs>ԩ tkя,u}E?AVGbsAl ܾ9 sAY A% @%x@%&ٱ%Nɾ 5AHRS rotation from veh to nav: [[0.373878,0.868389,0.325753],[-0.923409,0.315662,0.218340],[0.086776,-0.382436,0.919898]]%H??$?3??`6?yؿo?i% @I%"^;%CYEbwAyEH2Acoustic response timeoutbD%gVD%s8y=%<=EW ECE:E"E :*E09VE(4ZEa@a@a@a@ٔ;Q-%>91I9== FyE_EE>Q 5v4?Q 9v4XH)1AY1y5dQ I=?CIia)eQaaim7iIq!I  2Acoustic response timeout^A =IA IQ O >Z%kя,E?A2b@2A@2ٱ2sʾ :AHRS rotation from veh to nav: [[0.358551,0.872701,0.331412],[-0.929701,0.301788,0.211142],[0.084248,-0.383820,0.919557]]2H ?`*?5?|P?? D?ؿm?i2b@I2 ^;2CBV>BVBCBVHBVbxABV=BV%DBVyDBV˿;BVEYvwAyv[Ha@a a@a a@a a@a bD3VDC8y(=%W=ٔ8;Q->9I= FyaE=E>Q 5v4?Q 9v4P)v2AQ A+:YQ E.:y{Q I?CI ;i>v4y |Bɮ B 3E*jBjiiziJii k8k8k8h k8k8k8hɢӜ<) >i)%GV!!i%!I)Q2Acoustic response timeoutDzDE EEE>E"E*EA9VE4ZEBE&:a2E+:aJEV:a:EV:aԁ^AII)O]>ԩ u+kя,gE?A"2Acoustic response timeout6@6 @6(姽ٱ6)ʾ@ BAHRS rotation from veh to nav: [[0.343085,0.877482,0.335139],[-0.935728,0.288178,0.203387],[0.081888,-0.383378,0.919954]]6H? U?@r?`|`q?@??DؿCp?i6@I6)^;6CYJtxAyJHPRAAbDV6VDVF8y^=%^_=ٔ^n;Q-b>9`I`=b FybcEf9Ef>hQ 5nv4jc?Q 9nv4jY)j3AQ AM :YIQ EM :yMQ IU?jECIj92Acoustic response timeoutEV ECE@E"E=:*E09VE4ZEa@a@a@a@ Q2kя,BˬE?A2@2ه@2ٱ2ɾ :AHRS rotation from veh to nav: [[0.328145,0.881892,0.338506],[-0.941272,0.275086,0.195794],[0.079551,-0.382875,0.920369]]2H`T?v8?`??`? m]?ؿs?i2@I2^;2CYBxAyBHbDJ0VDJ@8yV=%VK=ٔVR;Q-V>9XIX=Z FyZfEZ #E^>`Q 5fv4b?Q 9fv4bic)by5AQ Af9YdQ Ef9yfQ Ij?bwCIb3:ib?bv4ylɮn^Blp*jxBjxixi|zi|Ji|i| kBkBkBh kCkCkCh!ɢ <) ?i)ziIU2Acoustic response timeout ^AB<AB>B@CBHByAB=BBwDB߿;BEBmCCBmCCBmƕCBm=Bm=Cm5YA$AII)Oe>a  2Acoustic response timeoutR8kя,6E?AF0 @F@FٱFnɾEZ[ EZFEZAEX"EZa:*EZ;J9VEZA4ZEXBEZ ;a^2EZ ;a^JEZe:ab:EZe:ab jAHRS rotation from veh to nav: [[0.313002,0.886277,0.341383],[-0.946553,0.261619,0.188661],[0.077894,-0.382188,0.920796]]FH 8?@b\?`8?`)J]?@ &? ?uؿ`(w?iF0 @IF~4^;FCYrPyAyrNH )IibD%VD%&81y=xe=%=A=ٔ=a;Q-E>9EH?IEH?=E FyEhEMQEM>QQ 5]v4U?Q 9]v4Um)U7AQ A]9YYQ E]9yeQ Ie?UCIU:iU+?Uv4ymBɮmUBi*jBjiiziJii k@k@k@h k@k@k@hɢ`<) ?i)iҮIY]hDAT read: Forwarding Delay UpTx time:18:28:03.4029 ]pIn parseResponses, set commsState_ = SENDING_ACK_WAITING]2Acoustic response timeout^AaԑAIIO>Ա ?kя,DE?A2[@2:@2Gٱ2 Ⱦ :AHRS rotation from veh to nav: [[0.298940,0.890130,0.343952],[-0.951261,0.249357,0.181449],[0.075746,-0.381431,0.921289]]2H !?`{?@P?p?9?d?`\iؿ2{?i2[@I2b^;0YByAyBH HJ<bDNVDN$8yVi=%VU=ٔV;Q-Z>9XIX=Z FyZkE^E^>`Q 5fv4b_?Q 9fv4b@w)b8AQ Af9YdQ Ef9yjQ Ij?bڶCIb:ibT?bv4ynBɮn[Bn=E*jxBjxixixzixJixi|ԙ kDkDkDh2Acoustic response timeout1ɢ=sz<)AEuX EuAEu<Eq M?"Eu~ :*Eu 9VEu 4ZEqa@a@a@a@i)y+iI^AAzAqAu 2Acoustic response timeoutAa Iq I O >! Ekя,E?AB">B"=CB"LHB"zAB"=B B"uDB";B"EYzAyHa%a% a%a% a%a% a%a% y%ʡE?A`"?&1%-r?%Y=%P! !9%n?rh|9aIi=u FyunEE>Q 5w44?Q 9w4͂)l9AQ AT:Yx?Q E[:yQ I?CI;i:w4yɮVB*jBjiiziJii kCkCkCh kCkCkCh2f9>:f9>Bfd@Jf^_@ɢ%<)%``D %/!?i!)%:}顡i I2Acoustic response timeoutbE%C4jE%|4rE%ŷ80Ea EeFEaEa"Ea*Ee;J9VEaZEaBEe:a}2Ee:a}JEee:a}:Eaa}^AII I O >q Lkя,l2E?A2Acoustic response timeoutɰp;Fן@F@F(ٱF Ⱦ NAHRS rotation from veh to nav: [[0.271079,0.896861,0.349508],[-0.959860,0.224707,0.167856],[0.072007,-0.380981,0.921775]]FH`\Y?`?`W^?,`1?R|?o? aؿ@-?iFן@IF0"^;FCYVzAyVOHbD%VD%8yeU>%e[=ٔm$9iIq=u FyupEuEEu>yQ 5w4}?Q 9w4})}:AYyoQ I?}@CI}:i}:}w4yɮ:B*jBjiiziJii kS-kS-kS-h ks6ks6ks6h2f:fBfJfm]@Y颩ɢ@ =)  /?i)ui4Iԁ^A2Acoustic response timeoutԹEm U Em GEm ?Ei "Em :*Em R9VEm ^4ZEi au @au @au @au @I I O > uRkя,LE?A2-@2(@2*ٱ2PȾ :AHRS rotation from veh to nav: [[0.257725,0.899933,0.351708],[-0.963690,0.213101,0.160899],[0.069849,-0.380406,0.922178]]2H ~? @?c?@F?Y??Xؿ{?i2-@I2^;2CYB{AyBjHbD VD 8yEE<%ML=ٔM<;Q-M>9IIQ=U FyUrEUEU>aQ 5ew4eG?Q 9mw4e )e:AYiym8Q Im?erCIe:ie1:e)w4yuBɮ}OB}FE*jBjiiziJii k9k9k9h k:k:k:h2f:fBfJf_]@ɢq=) 1?i)qliӹIԱ52Acoustic response timeoutAAAABM>BM;CBMHBM |ABM=BIBMtDBM ;BME^AaAm^?AmU?IIOMt>  2Acoustic response timeoutE5 \ E5 NE5 VE1 "E5 :*E5 ҆9VE5 FA5ZE1 BE5 ;aE 2E5 ;aE JE5 :aE :E5 :aE I h(Ykя,'ifE?A2@2@2;_ٱ2Ǿ :AHRS rotation from veh to nav: [[0.244255,0.903143,0.353090],[-0.967358,0.201585,0.153564],[0.067513,-0.379073,0.922901]]2HC??@??? H? Bؿf?i2@I29^;2CYBl{AyBHbDJVDJ8yVJ=%VU=ٔV;Q-V>9XIX=Z FyZuEZTE^>`Q 5bw4b, ?Q 9fw4b)b];AYdyfQ If?bCIb:ib:b7w4yhɮnEBl*jtBjtixixzixJixix k8k8k8h  k8k8k8h2f:fBfJfL\@ɢ =) 6?i)tbi!IQ>=|?=]?M2Acoustic response timeoutIaq}ԉ ^A =I! I1 Oe >`kя,AE?A02B@2=@2ބٱ2{Ǿ >AHRS rotation from veh to nav: [[0.230084,0.905810,0.355766],[-0.971009,0.189328,0.145934],[0.064832,-0.379029,0.923111]]2Has?@e??@;? ?`٘?Bؿ?i2B@I2!^;2CYF{AyFHbD^VD^8yf(=%fH=ٔjf;Q-j>9hIl=n FynwEnEr>pQ 5vw4r?Q 9vw4r)r BE >BE :CBE HBE |ABE =BA BE sDBE ;BE E9fkя,E?A\Y>|AyHy`"?:v9I=U FyUzE]E]>aQ 5mw4e?Q 9mw4e)e:fd5>Bfջ@Jf@ɢ*=) C?i)-eNi>¼I2Acoustic response timeoutE] EFE?E"E:*E;J9VE^4ZEBE.;a2E1;aJEe:a:Ee:aUHCA ^A A zA rA] 2Acoustic response timeoutq A AI I O >'mkя, .E?AJv@JV@JGbٱJ ľ RAHRS rotation from veh to nav: [[0.184137,0.914882,0.359285],[-0.981351,0.150603,0.119455],[0.055178,-0.374580,0.925551]]JHɑ?F?`?9g F?? <@?׿?iJv@IJ~^;JCYZ|AyZH!! !)!I!i))bD=VD=8yMF=%M;=ٔMH9UK?IUK?=U FyU}E]]E]>aQ 5mw4e,?Q 9mw4eT)e=AYiymQ Im?eACIe;ie;ecw4yyɮ}3By*jBjiiziJii kS9kS9kS9h k#Wk#Wk#Wh2f:fBfJfnp@ɢf0=) SN?i)/FCiļI     ݑCG rA!Mvƿ9MrAYMWA52Acoustic response timeoutE X E CE ;E "E ~ :*E 09VE 4ZE a@a@a@a@ ^A AA I IQ Ia O >Etkя,hѭE?A20@2t+@2TQٱ2rþ :AHRS rotation from veh to nav: [[0.166908,0.918118,0.359447],[-0.984642,0.136281,0.109120],[0.051199,-0.372139,0.926764]]2H?]? 8a?`,?`0q?@C? 6? !׿ ?i20@I2L^;2CYBK}AyBHbDNVDN8yZ=%ZM=ٔZ#9\I\= FyE/E>%?%=-2Acoustic response timeout9Q 5Ew4=?Q 9Ew4=)=E>AYAyM*ÿQ IM?=tCI=d:i=p:=Xrw4yQɮU&BQ*jiBjqiqiqziqJiqiy k:k:k:h kS_kS_kS_h2f:fBfJf@ɢBj<=) T?i)d8iǼIԱB>B9CB@HB~AB=BBrDB߿;BE^AYAII2Acoustic response timeout O5 >D D E V E YE E "E =:*E *9VE ZE BE :a 2E :a JE :a :E :a 9 pzkя,PE?ABb@BB@BwAٱBS¾ RAHRS rotation from veh to nav: [[0.149340,0.921010,0.359776],[-0.987658,0.121570,0.098754],[0.047215,-0.370084,0.927798]]BH ? x?`?:?`G?,?@s׿ ?iBb@IB6^;BCY^}Ay^/H%@A!bD-aVD-8y=%:=ٔ9I= FyE +E>Q 5w4?Q 9w4)>AYyuſQ I?CI:iF:(w4yBɮ*BZE*j Bj i i zi Ji i kFkFkFh! k_k_k_h92fI:fIBfIJfMS@aɢe۰H=)i m_?ii)mU+iiiuCʼqIy -2Acoustic response timeoutA^AAY?AX?A) I1 II i O > 2Acoustic response timeoutikя,1E?AE6Y E6DE4E4"E6:*E6a99VE4ZE4a:@a:@a:@a:@Y}c~Ay}mHymS㥛?S㥫p= ף?md?m/]m=i i9mCl?bX9ȶ&1?Ym;?ymEm=im_B mcB)m݅BiYmWBbDmVD8y(g=%;=ٔQ->9I= FyEE>Q 5w4?Q 9w4#))@AYɀ?Q ES:yQ I?CI3;i;kw4yɮB*jBjiiziJii kMkMkMhI kmkmkmh2fR=:fR=Bfr@Jf{@ɢI=) 8f?i)Wi?)ͼIy2Acoustic response timeout^AIԡ B >B 8CB HB AB =B B qDB ۿ;B EB:CB:CBB=B=C;6Ay I I O >i I pAkя,[|E?A6@6@6"ٱ6 >AHRS rotation from veh to nav: [[0.115330,0.925919,0.359685],[-0.992535,0.092960,0.078947],[0.039663,-0.366105,0.929728]]6H F? ??2̷?5?N?@En׿T?i6@I6U;^;6CPYV~AyVHbD-hVD-8yea=%ec=ٔm٫9iIq=u FyuEudýEu>yQ 5w4}?Q 9w4})} AAYyQ I?}CI}:i}:}w4yɮB*jBjiiziJii kSUkSU2Acoustic response timeoutkSUh2f:fBfJf.@ɢAn=) Ok?i)%G!!i%ϼ)I)DqzDqE}` E}JE}:Ey"E}*:*E}k9VE}(4ZEyBE},;a2E},;aJE}:a:E}:a^AQA I I O >! 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OU >E ^ E JE ?E "E C#:*E k9VE ^4ZE BE a 2E a JE :a :E :a ԩ  kя,UE?A6@6@6Fٻٱ6 ; >AHRS rotation from veh to nav: [[0.008742,0.920864,0.389787],[-0.999940,0.005465,0.009514],[0.006631,-0.389847,0.920856]]@6H?w?E?bv? {?({?`?ؿw?i6@I6R^;6CYFtAyJHbDVVDV8y^=%^T=ٔ^?9`I`=b FybEfvEf>hQ 5nx4j(?Q 9nx4j89)jGAYlyn.ǿQ Ir?jCIj/;ij;j0 x4ytɮvBt*jBjiiziJii  kcZkcZkcZh ksZksZksZh)2fA:fABfAJfE)@Yɢ]=)a eM?ia)e:,aiimἉiIqԩ2Acoustic response timeout^A=IyIO>]nGusAu9sAYA  2Acoustic response timeoutkя,0E?AEZ EGEE"E:*ER9VEZEa@a@a@a@:b@:B@:f5ٱ:h; FAHRS rotation from veh to nav: [[-0.007401,0.920565,0.390519],[-0.999970,-0.007661,-0.000893],[0.002170,-0.390514,0.920595]]:HP~@Eu?`B?AaSAMa?-ؿu?i:b@I::^;:CYRAyR*Hlyףp= ?MbXɿV-~?J 9䥛 ?V-S㥻Yu?y/ݽ )BYBbDVD,8yD2=%;=ٔ]'9I= FyEoE>Q 5x4#?Q 9x48D)GAYx?Q EZ:yݿQ I?ĺCI;ih;sx4yɮB*jBjiiziJi i  kUkUkUh kUkUkUh)2fE#=:fE#=BfE?JfE>ɢƇ=) ?i):ٺi㼉I nManaging dock network, ignoring radio surface power off2Acoustic response timeout^A5=9IIO>B1 B1 B5 fHB5 ̀AB5 =B1 B1 B5 ;B5 Ea kя, "E?AN@N@N;ٱNW̾ bAHRS rotation from veh to nav: [[-0.025425,0.921134,0.388415],[-0.999674,-0.022525,-0.012018],[-0.002321,-0.388594,0.921406]]NH`y??T@`@Xcؿ@)|?iN@INGV^;NCYnAyn-HIQQ Y)YIYiYYae@AbDmVDm8y}V;%}N=ٔ99I= FyEo:E>Q 5x49?Q 9x4*N)&GAYyQ I?CI;i;J*x4yɮB*jBjiiziJii kSkSkSh k]k]k]h2f:fBfJf%>ɢ%ל=)! %?i!)%\!)i-{弉)I1e2Acoustic response timeoutE5X E5DE5;E1"E5~ :*E5a99VE54ZE1BE5:aE2E5:aEJE5gH:aE:E5iH:aEi^A9AEV?AEa?IIOg>ԑ 2Acoustic response timeout ?Hkя,h;E?A2c@2^@2g;ٱ2ʾ :AHRS rotation from veh to nav: [[-0.044582,0.921869,0.384927],[-0.998982,-0.038506,-0.023483],[-0.006826,-0.385583,0.922648]]2HnӦ`?? {bؿ U?i2c@I2 B^;2CYBAyBOHbDJVDJ 8yV\=%VY=ٔZC9XIX=Z Fy^E^PE^>`Q 5fx4b"?Q 9fx4bW)bFAYhyjwQ Ij?b$CIb:ib-:b~7x4yn=BɮnBrE*jxBjxixixzixJi|i| kYkYkYh k#{k#{k#{h!2f1:f1Bf1Jf5>IɢU~=)Q U?iQ)UYYi]^缉aIaԹm2Acoustic response timeout^A=I!I1EEU EEFEE<EA"EE:*EE;J9VEE 4ZEAaM@aM@aM@aM@O_>9   >l0kя,UE?A2@2@2:<ٱ2SǾ :AHRS rotation from veh to nav: [[-0.064695,0.923309,0.378570],[-0.997840,-0.055518,-0.035118],[-0.011408,-0.380024,0.924906]]2H`ӏ ?}:?Ml \@QRؿԘ?i2@I2Ai^;2Cb2Acoustic response timeoutYfAyfHHbDEVDE#8yĻ%==ٔ-9I= FyE!?E>Q 5x4~?Q 9x4]b)PFAYyQ I?ZCI:i:Fx4y:Bɮ BE*jBjiiziJii kbkbkbh k{k{k{h2f :f Bf Jf E}>ԑB>BBHBABBBB;BEB6CB6CB“CB=B=C45ɢ=) H?i)}:i.鼉I^A5lw=u2Acoustic response timeoutDI DM 4=EU V EU HEU >EQ "EU =:*EU [9VEU 4ZEQ BEU :ae 2EU :ae JEU R:ae :EU S:ae A I I O > (Zkя,NoE?AY Ay H 4<<bDVD8yh=%F=ٔQ->9I= FyEE>Q 5x43?Q 9x4l)EAYyQ I?CI :i[:Tx4yIBɮB*j Bj i i zi Jii kSckSckSch! kukukuh92fI:fIBfIJfIaɢm=)i mE?ii)mp:qqiu꼉yIyIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout!^A=AzAA I9 Q Iy O > pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutE] Y E] EE] ?EY "E] :*E] A9VE] ^4ZEY ae @am @am @am @Lkя,"E?A2X@2S@2&_<ٱ2 >AHRS rotation from veh to nav: [[-0.108205,0.925048,0.364112],[-0.993945,-0.093635,-0.057490],[-0.019087,-0.368128,0.929579]]2HR?M?f {`Nog׿ ?i2X@I2G^;2CYB܀AyFyHyCl?y&1X9v?;?`< 9Q?Qx&Y(?yu7I^B B)cBYBbDVD8y%G=ٔ9I= FyEٽE>Q 5x4U?Q 9x4Gx)yEAY ?Q E A:y VQ I ?ǻCIP ;i ;Ucx4yaBɮ*BE*j)Bj)i)i)zi1Ji1i1 k\k\k\hI kvkvkvhY2fm>:fm>BfmU@Jfm)@颉ɢ09=) ō?i) 4;顑iВ켉I9a^AzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutB>BBHBABBBB;BEAIIO% >ԑ knkя,]E?A:1@:@:|ʮ<<ٱ: RAHRS rotation from veh to nav: [[-0.131887,0.924286,0.358190],[-0.991035,-0.115170,-0.067715],[-0.021335,-0.363910,0.931190]]:H ??@ {Uؕ`MJ׿`N?i:1@I:e^;:CYZAyZHbDfVDf8ynE=%n^=ٔni;Q-n>9pIp=r FyrEvEv>xQ 5~x4zf?Q 9~x4z)zEAY|y~_Q I~?zCIz;iz;z.px4y ɮ #B *jBj!i!i!zi!Ji!i) k]k]k]h9 k#yk#yk#yhI2fY:fYBfYJf]9~@yɢ}=) |?i)i;顁iI=2Acoustic response timeoutD zD bE|4jE´4rE0E EJE9E"E*Ek9VE4ZEBE;a%2E;a%JE:a%:E:a-^A=A$AII O> 2Acoustic response timeout1 @kя,.E?A2̊@2Ƒ@2<ٱ2 :AHRS rotation from veh to nav: [[-0.156172,0.922036,0.354204],[-0.987472,-0.137552,-0.077322],[-0.022572,-0.361842,0.931966]]2HqÿP?I?^MZ˳ m(׿`?i2̊@I2r^;2CYR"AyRHbDZVDZ,8ybS=%fL=ٔf#J;Q-f>9jH?IjH?=j FyjEjzEj>lQ 5rx4n?Q 9vx4n)nDAYtyvQ Iv?n3CIn$:in=:n4~x4yxɮ~B||*jBjiiziJii k`k`k`h kwkwkwh2f:fBfJf8a}@ɢD֨=)  $?i ) ~;  i )I)M2Acoustic response timeoutE%U E%DE%<E!"E%:*E%a99VE% 4ZE!a5@a5@a5@a5@^AYAeT?AeB?yAAIIO>ԁ "~kя, ׯE?A2@2@2<ٱ2󲽾 :AHRS rotation from veh to nav: [[-0.178074,0.918779,0.352328],[-0.983727,-0.157522,-0.086418],[-0.023899,-0.361984,0.931878]]2H ƿf?@?z)Ŀy@y`*׿?i2@I2}^;2CYBAyBHR2Acoustic response timeoutbDNVDN8yZ%^K=ٔ^sX;Q-^>9bK?IbK?=b FybEfGbEf>hQ 5nx4j?Q 9nx4j))j?DAYlynZQ Ir?jkCIja;ij;jAx4yvuBɮv2BvE*jBjiiziJii  kukukuh k#uk#uk#uh)2fA:fABfAJfE{@ԙɢT=) ?i);iCV񼉨IB>B7CBHB2AB=B%DBBϿ;BE^A==iQIUA]2Acoustic response timeoutAIIO>E5 \ E5 IE5 =E1 "E5 :*E5 c9VE5 |4ZE1 BE5 ;a= 2E5 ;a= JE5 :aE :E5 :aE  9xIx=z FyzEzDE~>Q 5 x4{?Q 9 x4)CAY y Q I ?CI:i:x4ywBɮ'B*j)Bj)i1i1zi1Ji1i1 k#uk#uk#uhI kkkhY2fi:fiBfiJfmz@颉ɢ=) ?i);顑ic򼉨I2Acoustic response timeout!^AA1ԹII IQ O >e 2Acoustic response timeout E= T E= ?E9 E9 "E= 9*E= ?9VE9 ZE9 aM @aM @aM @aM @ilя,/ E?A2b@2B@2x(<ٱ243 :AHRS rotation from veh to nav: [[-0.214497,0.910212,0.354266],[-0.976321,-0.189376,-0.104570],[-0.028092,-0.368307,0.929280]]2Ht˿u ?`J?>@y=ȿ źĜW׿਼?i2b@I2ߐ^;2CYB%AyBHym$C?On?ˡE?mZ?m>m=i i9mi|?5?Mbp?> ףp=?Ymq?ym;mQ>im]B mB)m;BiYmB p;bDVD-8y%@=ٔ;Q->9I= FyE'E>Q 5x4?Q 9x4#)DAYLw?Q E[:yڿQ I?ټCI ;i2 ;~x4yɮ.B*jBjiiziJii kSukSukSuh kkkh2f%LX>:f%LX>Bf%@Jf%o@颡ɢu=) ]?i){;顩ivԱI2Acoustic response timeout^AAqAzAqAB}>ByB}HB}FAB}=ByB}qDB}ÿ;B}|E A- $AI1 IA O} >1 blя,$E?A2b@2o]@21<ٱ2ľ :AHRS rotation from veh to nav: [[-0.230046,0.905264,0.357178],[-0.972708,-0.202464,-0.113346],[-0.030292,-0.373505,0.927133]]2H`&rͿ??m Sɿ?׿?i2b@I2m^;2CYBFAyBH11bD=VD=8y(#=%L=ٔ;Q->9H?IH?= FyE"E>Q 5x42?Q 9x4)EAYyۿQ I? CI-:ig:x4yBɮ=BE*jBjiiziJii kSwkSwkSwh kkkh2f:f2Acoustic response timeoutBfJffo@9ɢ==)9 Ei?iA)EKq  2Acoustic response timeout]lя,6v>E?A *j>(ZGbrAp d9rAY#A% @%@%Z=ٱ%aǾ 5AHRS rotation from veh to nav: [[-0.244552,0.899994,0.360840],[-0.969104,-0.214537,-0.121700],[-0.032116,-0.379454,0.924653]]%HyMϿ??`u˿`'qqHؿ@–?i% @I%^;%CYE3AyEHbDMVDM8y}%;=ٔ;Q->9K?IK?= FyE} E>Q 5x4?Q 9x4)GAYyݿQ I??CIn:i:x4yBɮ?B*jBjiiziJii kwkwkwh k#k#k#hii2f:fBfJf#n@颙ɢ=) ??i)2=<顡iI-2Acoustic response timeoutEW EGE<E"E :*ER9VE 4ZEa @a @a @a@ԙ^A= A I I! OU >1lя,&QXE?A6[x@6AHRS rotation from veh to nav: [[-0.257728,0.894809,0.364545],[-0.965626,-0.225338,-0.129571],[-0.033795,-0.385408,0.922127]]6H~пF? T? i̿`ƕ Mؿ?i6[x@I6o^;4YNAyNHPbD VD 8yEGn%Ma=ٔML;Q-M>9IIQ=U FyUEUcEU>aQ 5ex4e?Q 9mx4e)eGAYiymR߿Q Im?ekCIe:ie:e}x4yqɮ}JBy*jBjiiziJii kukukuhAAB%>B!B%HB%ZAB!B!B!B%Ͽ;B%E kkkhY2fi:fiBfiJfmn@颩ɢ]=) ?i) &<i=I^AQA]S?A]Y?=hDAT read: Forwarding Delay UpTx time:18:28:17.2528 =pIn parseResponses, set commsState_ = SENDING_ACK_WAITING=2Acoustic response timeoutE Y E E =E "E :*E VE |4ZE BE ;a- 2E ;a- JE t:a= :E t:aE A $AI I! ! OY Ilя,(,rE?A2|@2] @2/f=ٱ2+ξ :AHRS rotation from veh to nav: [[-0.269815,0.889630,0.368454],[-0.962249,-0.234909,-0.137459],[-0.035734,-0.391633,0.919428]]2HDѿw??@}ο>Kٿ`k?i2|@I2d`^;0YVAyVHbDbVDb8yj%jR=ٔjY;Q-n>9rH?IrH?=r Fyr”EvEv>xQ 5zx4z?Q 9~x4|zz)zHAYyQ I?zCIz,;iz-;zx4y Bɮ cBE*j)Bj)i)i)zi)Ji)i1 kvkvkvhA kskskshQ2fi:fiBfiJfmLn@颁ɢ=) ?i)3<顑iyIߕ=ߕ<2Acoustic response timeout)^AaAIIO- >ԁ E 2Acoustic response timeoutE% U E% IE% <E! "E% :*E% c9VE% 4ZE! a- @a- @a- @a- @U"lя,E?A2Ҵ@2@2=ٱ2Fо :AHRS rotation from veh to nav: [[-0.280655,0.885206,0.371002],[-0.959045,-0.243220,-0.145179],[-0.038278,-0.396553,0.917214]]2H@BѿS?@?@!Ͽ5¿`)aٿ`Y?i2Ҵ@I2^;2CYBAyB:HYymuV?A`"˿im`B mzB)mMBiYmaBbDVD8y}ν%?=ٔ|;Q->9I= FyŔEtؼE>Q 5x4?Q 9x4)IAYI?Q E:yQ I?ŽCI ;i ;x4yɮyB*jBjiiziJii krkrkrh kkkh 2f%vz>:f%vz>Bf%Kf?Jf%@9ɢ=x=)A E?iA)E(BBBHBFABBBB;BEB7CB7CBB=B=C95AAIIOM > i pAI m)lя,㥰E?AYrÀAyr[H )Ii %;%4<bD-VD-8y5n=%=P=ٔ=Q-=>9EK?IEK?=E FyEǔEEEM>IQ 5Ux4M;?Q 9x4Mo)MJAYyQ I?MCIMI 2Acoustic response timeout9 x2/lя,ϽE?A6 @6@6<=ٱ6Ծ BAHRS rotation from veh to nav: [[-0.297920,0.879258,0.371685],[-0.953487,-0.255371,-0.160152],[-0.045897,-0.402109,0.914441]]6H ӿ"??Xп@Ŀ&ٿ`C?i6 @I6҇^;6CYNAyN H\\bDfVDf8yvdr%vO=ٔzd9H?IH?= FyʔE ;E >Q 5%y4M?Q 9-y4 )KAY)y5Q I5?CIQ;i,R; y4yEBɮE|BA*jiBjiiqiqziyJiyi k#qk#qk#qh k3qk3qk3qh2fQ:fQBfQJfU}@频ɢF=) ԙ W6lя,ٰE?A22Acoustic response timeout6څ@6Ռ@6O=ٱ6weԾ RAHRS rotation from veh to nav: [[-0.305902,0.877449,0.369468],[-0.950714,-0.260880,-0.167583],[-0.050659,-0.402523,0.914007]]6H`ӿ`?^?@@l Aп^sſ奔`ٿ??i6څ@I6ox^;6CYZAyZ)HbD-VD-8ye<%eC=ٔm>:9iIq=u Fyu͔EuɥEu>yQ 5y4}?Q 9y4}1)}pLAYyQ I?}=CI}:i}Q:}8y4yBɮBE*jBjiiBAB>B8CBHB ABBBB;BEziJii kpkpkph kpkpkph2f:fqBfJf*@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢO=) ?i)cn<iHIԡ^A12Acoustic response timeoutbEyjE}p4rE} 1ET EPE=E"E9*E?9VE|4ZEBE:a 2E:a JE:a :E:a A AI I O > DѿILƿ`ԐٿH?i2@I2^;2CYbAybHbDEVDE8y&%H=ٔ!9K?IK?= FyϔEڼE>Q 5y4?Q 9y4)DMAYyvQ I?eCIB:i:{(y4yɮB*jBjiiziJii kCwkCwkCwh kSwkSwkSwh2f :f Bf Jf @sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder)ɢ5Ey=)1 5?i1)=_{<99i=)AIA@UpA@UpAu2Acoustic response timeout^AyAW?AU?AI 1 I9 Oe >% 2Acoustic response timeoutE W E FE ?E "E :*E ;J9VE ^4ZE a @a @a @a @Q .Clя,X E?A2 @2@2ԑk=ٱ2fFо :AHRS rotation from veh to nav: [[-0.329586,0.874415,0.356050],[-0.942374,-0.281725,-0.180450],[-0.057480,-0.395007,0.916878]]2Hտ4??'ҿǿn`Gٿ@W?i2 @I2H^;0YBeAyBHyZd;?y&1p= ףY?`e 9#~j?HzGnYe?y= V B)BY3BbDVD8y %C=ٔ#;Q->9I= FyҔE  E >Q 5y4?Q 9y4)lLAY-k?Q E%g:y%Q I%?CIj:i:%7y4y-Bɮ-B-E*jABjAiAiAziAJiIiI kvkvkvha k3wk3wk3whq2f=>:f=>Bf@Jf wM@颡ɢ~L=)g \?i)G <顩ipI)a2Acoustic response timeout^A5=B>BBLHBAB=BBrDBѿ;BEԉ A I I O% >WIlя,0'E?A,6@6Ё@6؆u=ٱ6Xξ >AHRS rotation from veh to nav: [[-0.344899,0.871344,0.349005],[-0.936726,-0.295788,-0.187226],[-0.059907,-0.391496,0.918228]]6Hֿ ? V?2ҿ ǿ&Dٿb?i6@I6o^;6CYF^AyFHbDRVDR8yZ%Zb=ٔZW;Q-Z>9\I\=^ Fy^ԔEb9Eb>dQ 5jy4f0}?Q 9jy4f)fKAYhyjQ Ij?fCIfI;if;fCy4ypɮrBp*jxBj|iiziJii kukukuh kukukuh)2f9:f9Bf9Jf=*kL@Yɢ]y=)Y e?ia)e>E"Es9*EA9VE4ZEBEr:a2Ew:aJEV:a:EV:aԉ^AAIIO=> 2Acoustic response timeout >Plя,AE?AZb@ZB@Z~=ٱZj˾\ fAHRS rotation from veh to nav: [[-0.361438,0.868232,0.339907],[-0.930322,-0.311510,-0.193555],[-0.062166,-0.386181,0.920326]]ZH!׿??1ӿfȿ8ԯ /ؿOs?iZb@IZ~^;ZCYnAynHbDzVDz8y%E=ٔ ;Q- >9 I =  FyהE/E>Q 5%y4l?Q 9%y4m)JAY)y-Q I-?CI:it:BRy4y5ʬBɮ5ŒB5E*jIBjIiIiIziIJiQiQ ksksksha kskskshy2f:fBfJfAK@颩ɢ֙=) ?i)=#<顱iaEI2Acoustic response timeoutEX E@E?E"E~ :*E9VE^4ZEa@a@a@a@^A=AoAzAoAAaIiIIO>A hVlя,ZE?A"2Acoustic response timeout6yW@6ZR@6O=ٱ6Ǿ BAHRS rotation from veh to nav: [[-0.379256,0.864690,0.329357],[-0.923071,-0.328918,-0.199383],[-0.064073,-0.379637,0.922914]]6HEؿ@? 0?ˉ տbɿ`gKؿ?i6yW@I6q^;6CYFAyJ`HbDRVDR8yZVJ%ZP=ٔ^;Q-^>9`I`=b FybٔEbYHEb>dQ 5jy4fk[?Q 9jy4fD)fIAYlyn !AYAYBe>Be9CBeHBefABe=BaBaBeȿ;BeEQ I}?fCIfsE"E9*E;J9VE4ZEBE:a2E:aJEe:a:Ee:a^A ԡ A $AI I O% >\lя,PmvE?A2@2ܩ@2=ٱ2*ľ JAHRS rotation from veh to nav: [[-0.398118,0.859907,0.319473],[-0.914978,-0.347288,-0.205444],[-0.065714,-0.374101,0.925057]]2HzٿZ? >r? G`9ֿKʿҰF׿?i2@I2^;2CYRAyR[HTll l)lIlillbDvxVDv8y~%~:=ٔu;Q->9H?IH?=  Fy ܔE ?E >Q 5y4;H?Q 9y4&)HAY!y%] Q I%?QCI :i$:boy4y-ǬBɮ-ʌB-E*jABjAiAiIziIJiIiI krkrkrha ksskssksshq2f:fBfJfϞH@颙ɢ=) s~?i)Ͷ<顩iI2Acoustic response timeoutȿG9Y,A ^AM=Au AIy I O >5 2Acoustic response timeout9 E Z E BE E "E :*E (9VE ZE a @a @a @a @Kclя,m E?A2@2@20=ٱ2[ >AHRS rotation from veh to nav: [[-0.417867,0.854046,0.309825],[-0.906039,-0.366623,-0.211378],[-0.066938,-0.369042,0.926999]]2HTڿ@YT?@.?`Ev׿r˿"`b׿?i2@I2p^;2CYB^AyFHyEx&1?y&1?QE?E`9}K?I}K?=} Fy}ߔEUE>Q 5y4Q5?Q 9y461)GAY?Q E@:yQ I?CIm ;i~ ;}y4yެBɮB²E*jBjiiziJii ktktkth kukukuh2f+>:f+>Bf.@Jf9}S@ɢ=) u?i)E<!i%$!I)1199I2Acoustic response timeoutB>B:CBHBAB=BBsDBͿ;BEԁ^A }=A Z?A Y?ԡ AQ Ia Iq O >+jlя,vE?ABD@B?@B1Ê=ٱB% NAHRS rotation from veh to nav: [[-0.438101,0.846822,0.301597],[-0.896373,-0.386266,-0.217519],[-0.067703,-0.365639,0.928291]]BH ܿ)?]M?`ؿ˿U@f׿?iBD@IB|^;BCZ2Acoustic response timeoutYbwAybH!bDU/VDUh8yep<%uF=ٔ}:Q-}>9yI= FEV EEE"E=:*EVEZEBE:a2E:aJEJ+:a:EL+:ayE[E>Q 5y4!?Q 9y4w;)3FAYy2Q I?ſCIE:i]:y4y۬BɮB*jBjiiziJii k#tk#tk#th k3tk3tk3th 2f:fBfJfR@9ɢ=–=)A Ezw?iA)Eԩ qlя,YıE?A2@2@2D =ٱ2y :AHRS rotation from veh to nav: [[-0.457970,0.838468,0.295355],[-0.886337,-0.405138,-0.224208],[-0.068331,-0.364464,0.928707]]2H@cOݿ?? \ ٿֲ̿*~bS׿`?i2@I2ˆ^;2CYB~AyFHbD VD yz%H=ԙٔ-:Q->9H?IH?= FyEAcE>Q 5y4 ?Q 9y4*E)DAYyQ I?CI;i;y4yجBɮBE*jBjiiziJii krkrkrh krkrkrh2f!:f!Bf!Jf%(P@AɢE=)A En?iA)E  2Acoustic response timeout3wlя,2ޱE?AB<A<B">B";CB"HB"_AB"=B B"tDB"Կ;B"EBU9CBU9CBUCBU=BU=CU\5R@R+ن@R=ٱRz ZAHRS rotation from veh to nav: [[-0.476853,0.829747,0.290052],[-0.876247,-0.422726,-0.231287],[-0.069297,-0.364448,0.928642]]RH Ą޿J?8? 7 ۿ@ϚͿ`pS׿o?iR@IR^;RCYb~AybH Mp9K?IK?= FyEYE>1Q 5=y45?Q 9=y45,O)5lCAYAyE Q IE?58CI5:i5t:5Wy4yIɮMBI*jaBjaiaiiziiJiiii kvkvkvh2f:fBfJfO >y ]}lя,E?A2~@2:@2\=ٱ2& :AHRS rotation from veh to nav: [[-0.493668,0.820714,0.287611],[-0.866781,-0.437511,-0.239320],[-0.070581,-0.367441,0.927365]]2HB߿@JC?7h?`-ܿ ο %׿@?i2~@I2^;2CYZ~AyZHbDf VDfH8yn%nV=ٔn];Q-r>9pIp=r FyrEvPEv>xQ 5~y4z忉?Q 9~y4zW)z1BAY|y~A Q I?zjCIz;iz ;zy4y Bɮ B ˲E*jBj!i!i!zi!Ji!i) ks]ks]ks]h9 kvkvkvhI2fa:faBfaJfe"M@yɢ}ȣ=) Pj?i)rϾ<顁iI=2Acoustic response timeoutQԁ^AԩA$AII Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I O% > 2Acoustic response timeoutE [ E DE =E "E a:*E a99VE |4ZE a @a @a @a @ Elя,E?A2 Y}@2f@2~=ٱ2Aaþ :AHRS rotation from veh to nav: [[-0.509124,0.811734,0.286148],[-0.857680,-0.450687,-0.247520],[-0.071957,-0.371442,0.925664]]2HJ??P?r ܿ`Ͽ k׿` ?i2 Y}@I2^;2CYR~AyR@HyeV-?#~j?L7A`?ehQ?e=e+=a a9e/$?+?S㥛?Ye1?ye=e/9H?IH?= FyE,E>Q 5y4ӿ?Q 9y42b)AAYS?Q EG:yQ I?CI:i:y4yɮ)B*jBjiiziJii k]k]k]h khkhkhh2fS>:fS>Bf@Jf|}@)ɢ5=)1 5a?i1)=6<99i=FAIAԹM2Acoustic response timeoutB->B-9 plя,e+E?AR2Acoustic response timeoutY}Ay,Hii i)iIiiiqbE4jErEC1E EBE>E"E*E(9VE4ZEBE ;a2E ;aJEJ+:a:EL+:aBAbDVDQ8yЛ%H=ٔQ->9I= FyEE>Q 5y4j¿?Q 9y4Fl)NAAYyQ I?CI;i;8y4yBɮ*BʲE*jBjiiziJii kSYkSYkSYh ksksksh!2f9:f9Bf9Jf9QɢU=)Y ]_?iY)]AHRS rotation from veh to nav: [[-0.536633,0.794241,0.284966],[-0.840496,-0.473192,-0.263924],[-0.074776,-0.381144,0.921487]]6H,lj?9\I\=b FybEbEb>dQ 5jy4f?Q 9jy4fEu)f@AYhynQ In?fCIf&;ifT;f7y4yrBɮrDBrԲE*j|Bj|i|i|ziJii kS[kS[kS[h kcskcskcsh)2f9:f9Bf9Jf=X{@Yɢ]+=)Y ]]^?ia)e e 2Acoustic response timeoutB >B >CB 'HB }AB =B B vDB ;B Enlя,_E?AL~Oz@~"@~q=ٱ~ʾ AHRS rotation from veh to nav: [[-0.549051,0.786242,0.283489],[-0.832297,-0.483375,-0.271349],[-0.076314,-0.384931,0.919785]]~H ԑ(?@$?-޿@]ѿ Xൢؿn?i~Oz@I~ _;~CY%b}Ay%HbDVD58y%9=ٔd;Q->9I= FyE8 E>AQ 5My4E윿?Q 9My4E)E`@AYQyUQ IU?ELCIE;iE;Ey4y]Bɮ]RBY*jqBjqiqiyziyJiyiy ktktkth ktktkth2f:fBfJf^z@ɢ R=) .V?i)lT<i I2Acoustic response timeout^A5O=EX EDE<E"E~ :*Ea99VE 4ZEBE:a2E:aJEiH:a:EkH:aIIO> lя,XyE?A2:ny@2@2 T=ٱ2 ̾ >AHRS rotation from veh to nav: [[-0.560391,0.779215,0.280690],[-0.824574,-0.493099,-0.277364],[-0.077719,-0.386882,0.918848]]2H T?? b߿Vѿ\峿@ؿ4g?i2:ny@I2C^;2CYv8}AyvH|bDeVDe(8yּ%N=ٔi;Q->9I= FyERE>Q 5y4Ê?Q 9y4L)?AYyQ I?CI:i9:y4yBɮTBӲE*jBjiiziJii kukukuh  k#u2Acoustic response timeoutk#uk#uh!2f1:f1Bf1Jf5yy@ɢL=) S?i) <iaI@ 0>@ 0>)^A==AIzAIQIIO> 2Acoustic response timeoutԁ E Y E E >E "E :*E VE 4ZE a @a @a @a @lя,2E?A2+x@2D@2=ٱ2̾ >AHRS rotation from veh to nav: [[-0.571255,0.772565,0.277147],[-0.816957,-0.502683,-0.282651],[-0.079049,-0.387883,0.918313]]2H Gڸ?Ǽ?$`ҿ<ؿb?i2+x@I2 _;2CYB|AyFfHYyrh|?A`"+;?Y 9Cl?y&1Zd;O?Y;?y`弙j<=`B B)BYBbDVD8y%G=ٔT;Q->9I= FyEE>Q 5z4v?Q 9z4)?AY?Q ET:y Q I?CI*:i: z4y Bɮ {BݲE*j!Bj)i)i)zi)Ji)i) kCtkCtkCthA kStkStkSthY2fm>:fm>Bfm=Jfm@颉ɢs=) K?i)W<顑iIԁ-2Acoustic response timeoutB>B@CBHB&}AB=BBwDB;BE^AQԹIIIioAIO> 0lя,QE?AB2Acoustic response timeout:~w@: ׂ@:XA=ٱ:%̾ JAHRS rotation from veh to nav: [[-0.582107,0.765968,0.272843],[-0.809155,-0.512626,-0.287197],[-0.080117,-0.387952,0.918191]]:H`@Ђ?Cv?`ogmaҿ3ؿa?i:~w@I:^;8YnW|Ayn*HbDzVDz18y]%Y=ٔ:;Q- >9 I =  Fy EE>Q 5%z4d?Q 9%z4)?AY!y% Q I-?CI:i|: z4y5Bɮ5B1*jIBjIiIiQziQJiQiQDYzD]@AEeV EeGEe;Ea"Ee=:*EeR9VEe4ZEaBEe:am2Ee:amJEet:au:Eet:au ksuksuksuh kukukuh2f:fBfJft@Iɢu"=)q uyE?iq)u"ґCIQ e _G sA I ۷9 sAY AO5 >ԁ lя,ƲE?A2Qv@2 c@2ҥ=ٱ2<̾ >AHRS rotation from veh to nav: [[-0.593478,0.759037,0.267670],[-0.800776,-0.523443,-0.291145],[-0.080880,-0.387132,0.918470]]2H J?`!? ҿؿd?i2Qv@I29^;2CYF'|AyF HbDNVDN28yVp%VP=ٔZ:Q-Z>9ZK?IZK?=Z FyZE^E>Q 5%z4O?Q 9%z4)k?AY!y% Q I%?CII;if;#'z4y5 Bɮ5B5ܲE*jIBjIiIiIziQJiQiQ kqkqkqhi kqkqkqhy2f:fBfJf@颩ɢ=) |B?i)<顱i IԱ2Acoustic response timeoutEi EmCEiEi"Ei*Em09VEiZEia}@a}@a}@a}@^Ap=A%W?A%Y?A II)Oe> E 2Acoustic response timeoutB >B ACB -HB [|AB =B B xDB ;B E9 ѷlя,lE?A:u@:@:`%=ٱ:˾ FAHRS rotation from veh to nav: [[-0.605030,0.751743,0.262338],[-0.792018,-0.534507,-0.294974],[-0.081524,-0.386245,0.918787]]:Hg\G? $?`6Xҿ`޴:ؿ`f?i:u@I:^;8YJ{AyNHdfR d)dIdihhbDrVDr+8yv%vF=ٔz:Q-z>9|I|=~ Fy~E~)E>Q 5 z4:?Q 9z4ݪ)Hlя,fE?A 6=t@6v@6=ٱ6x˾ >AHRS rotation from veh to nav: [[-0.616297,0.744428,0.256915],[-0.783242,-0.545488,-0.298285],[-0.081908,-0.385059,0.919250]]6H`Y?Jq?@Rt@ӿ@Τؿ j?i6=t@I6^;4Yf{AyfHbDrVDrC8yz<%zJ=ٔzz:Q-~>9~H?I~H?=~ FyE>E> Q 5z4 %?Q 9z4 &)  ?AYyQ I? CI ;i ; RCz4y%!Bɮ%B%E*j9Bj9iAiAziAJiAiA kSZkSZkSZhY kqkqkqhi2fy:fyBfyJf} @颙ɢ)-=) :?i)R<顡iIpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeouti^A=ԙA-AI9IIOu> zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout E R E BE AE "E s9*E (9VE A4ZE a @a @a @a @lя, zE?A6s@6B@6t=ٱ6?ʾ >AHRS rotation from veh to nav: [[-0.628079,0.736609,0.250845],[-0.773774,-0.557067,-0.301581],[-0.082410,-0.383514,0.919851]]6H9N? ?}Mӿ~ؿ ko?i6s@I6^;6CYF_{AyFHPa@a a@a a@a a@a yZd;?y&1|sh|?Y?` )Mb@Mb@Mb@Ii‰aB @B)Y=vB 4<<bDVD@8y7%<=ٔ:Q->9K?IK?= FyEEE>Q 5z4k?Q 9z4)>AQ A+:YQ E,:yQ I ?CI6;ik>Oz4yBɮB*j)Bj)i)i1zi1Ji1i1 kckckchI kvkvkvhY颁ɢ(6=) 5?i)a_<顉ifI2Acoustic response timeoutBu>BqBuHBu{ABu=BqBuyDBu ;BuEB=@CB=?CB=ŕCB==B==C=56^A0=AzAI I! OU >!  lя,U.E?A22Acoustic response timeout:r@:y@:=ٱ:Ⱦ BAHRS rotation from veh to nav: [[-0.640104,0.728593,0.243763],[-0.763807,-0.569271,-0.304186],[-0.082861,-0.380898,0.920897]]:H{`P?3?qx7wӿX6`ؿw?i:r@I:4^;:CYJzAyJ1H|AEEV EEAEE:EA"EE=:*EE 9VEE(4ZEABEE:aM2EE:aMJEE:aM:EE:aUbD VD M8yeʽ%eR=ٔe:Q-m>9iIi=m FymEuD%Eu> Q 5 z4 ;?Q 9z4  ) >AQ A :YQ E :yQ I? CI  ;i W? Xz4y%6Bɮ%ލB!*j9Bj9i9iAziAJiAiA k^k^k^hY k3|k3|k3|hi频ɢ-=) #,?i)<顙iI)^Aԑ%2Acoustic response timeoutI I! OY lя,n0HE?Aɰ;6/q@6@6=ٱ6ƾ >AHRS rotation from veh to nav: [[-0.652380,0.720343,0.235597],[-0.753286,-0.582072,-0.306189],[-0.083427,-0.377224,0.922357]]6HK@ ?(?  Uӿ t[`p$ؿ@?i6/q@I6^;6CYZzAyZHbD-VD-28yeN%eJ=ٔm!:Q-m>9iIq=u Fyu EuD$Eu>yQ 5z4}⾉?Q 9z4})}x>AQ A9YQ E9yQ I?}CI}:i}F?}`z4ԙy0BɮݍB*jBjiiziJii kckckch kukukuh ɢ ̠=) ')?i)3=顑iUIu2Acoustic response timeoutEUW EUDEU;EQ"EU :*EUa99VEU4ZEQa]@a]@a]@a]@^A}T=IIO%o>- 2Acoustic response timeout1 Aa Ae @ABm >Bm BCBm 3HBm zABi Bi Bi Bm 4;Bm 'Elя, bE?A2p@2~@2j=ٱ2Hľ :AHRS rotation from veh to nav: [[-0.664919,0.711553,0.227101],[-0.742189,-0.595281,-0.307889],[-0.083890,-0.373274,0.923921]]2HG@ ?@? uӿ y׿?i2p@I2^;2CYRozAyRHbDZVDZB8y%O=ٔ%:Q-%>9!I!=% Fy% E-~.E->1Q 5=z45h̾?Q 9=z45O)5G>AQ A=9YAQ EE9yEQ IE?5NCI5 ;i5?5fz4yMDBɮMBME*jaBjaiiiiziiJiiii k3]k3]k3]h kukukuh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ}=) &?i)#"=iI@qA@rA!^A==AEV?AA2Acoustic response timeoutIIOf>bEƙ4jE 4rEƷ80E]T EYE]=EY"E]9*EYVE]|4ZEYBE]:am2E]:amJE]jH:am:E]lH:amQy Hlя,{E?A2ʿo@2}@2I7=ٱ2¾ :AHRS rotation from veh to nav: [[-0.677876,0.701820,0.218933],[-0.730306,-0.608615,-0.310226],[-0.084477,-0.370183,0.925110]]2H*@Pu??^y ӿN׿?i2ʿo@I2ܳ^;2CYF+zAyFHbDN'VDNa8yVy,%VR=ٔZ:Q-Z>9XIX=^ Fy^E^i9E^>`Q 5fz4bൾ?Q 9fz4b)b>AQ Aj9YhQ Ej9yjQ Ij?bCIb:ib@bjz4ylɮrBp*jxBjxixixzi|Ji|i| k\k\k\h kwkwkwh!s5NUpdating rudder angle 6.875493 arcdeg 95r56Completed marl:UpdateRudder195 r=RAggregate::uninitialize marl:UpdateRudder2Acoustic response timeoutɢ 8=) "?i ) ==  i~x9IAQԁ^A}=IIO%o>ԩ 2Acoustic response timeoutEm U Em @Em <Ei "Em :*Em 9VEm 4ZEi au @au @au @au @ M3lя,ϕE?A2nn@20|@2'=ٱ2в >AHRS rotation from veh to nav: [[-0.690612,0.691697,0.211210],[-0.718163,-0.621390,-0.313236],[-0.085421,-0.368007,0.925891]]2H @b"?@?0`m Կ ޵n׿?i2nn@I2^;2CYFyAyFHaa aa aa aa yMb?:v?Mb`?= 9ʡE?Q?L7A`堿Y-?y\=+ ЃB)_BYBbD-4VD-m8y=/%EA=ٔE;Q-E>9AII=M FyMEM*EM>QQ 5]z4UK?Q 9ez4UA)U=AQ AeT:Ye?Q EeP:ye1Q Ie?UCIU;iU;Uyz4yuABɮuBq*jBjiiziJii kukukuhA kukukuhq2f>:f>Bf'p@JfBn@ԩɢ=)k% ?i)bq=iCPI2Acoustic response timeoutB >B B HB yAB =B $DB B <;B -E^AyII O=> 1 9Zlя,E?A&2Acoustic response timeoutFPvm@Fl{@FjA=ٱF& NAHRS rotation from veh to nav: [[-0.703416,0.680961,0.203708],[-0.705502,-0.634051,-0.316617],[-0.086443,-0.366430,0.926422]]FHco?@?y`%JrCԿ!s׿>?iFPvm@IF֒^;DYVyAyV{Hll l)pIpipp vp9 I =  Fy E=;E>E%V E%HE%?E!"E%=:*E%[9VE%^4ZE!BE%:a52E%:a5JE%S:a5:E%U:a5Q 5=z4և?Q 9Ez4)3BɮU BUE*jaBjaiiiiziiJiiii kukukuh kukukuh2f:fBfJf3m@ɢ=) ?i)C =i&3I@@8>^AAzAqA92Acoustic response timeoutAIIO>i Alя,wɳE?A 6~@l@6@6z@6=ٱ6 >AHRS rotation from veh to nav: [[-0.716543,0.669509,0.195763],[-0.691990,-0.646931,-0.320358],[-0.087837,-0.365017,0.926848]]6H l?`?$ Կ|`n\׿`?i6~@l@I6^;4YFyAyF.HbDRDVDR{8yZ%ZP=ٔZi;Q-Z>9\I\=  Fy E ?E >Q 5z4np?Q 9%z4)C;AY!y%Q I%?CI ;i7;~z4y-UBɮ-2B5E*jABjAiAiIziIJiIiI kukukuha kukukuhq2f:fBfJf\k@颡ɢH=) ?i) =顩iIU2Acoustic response timeoutqE5U E5LE5=E1"E5:*E5|9VE5|4ZE1a=@a=@a=@a=@^AԙAm$AIyIO>  =  hDAT read: Forwarding Delay UpTx time:18:28:31.1027  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutB- >B- CCB- 9HB- .yAB) B) B- zDB- 2;B- )Exllя,TE?A LRzj@R9H?IH?= FyEI;E>Q 5z4W?Q 9z4)@:AYyQ I?VCI ;i/:wz4ySBɮ.B*jBjiizi Ji i  kpkpkph! kpkpkph12fA:fABfAJfEj@aɢeŕ=)a ey?ii)me# =iiimqIqe2Acoustic response timeoutDe=De=EmW EmFEiEi"Em :*Em;J9VEiZEiBEm':a}2Em,:a}JEme:a:Eme:a! ^A A% W?A! 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[Pmя,@E?AF GRsA\v9vsAYv:Azw]@zCmk@z=ٱzrɾ  AHRS rotation from veh to nav: [[-0.855670,0.502566,0.123516],[-0.509374,-0.775679,-0.372639],[-0.091467,-0.381773,0.919719]]zHa?`Ş?L@\S׿\j nؿ Wn?izw]@IzI^;xYsAy-|H5=5p=bDEVDE8yMZ%UF=ٔUQ-U>e2Acoustic response timeout9QIa=e FyeqQ 5}{4u?Q 9}{4uF)u%5AYy>7Q I?uCIu;iu;uA{4ybBɮBE*jBjiiziJii k0k0k0h kLkLkLh2f:fBfJfaj@颁ɢZU=) F>i)z=顉iFԑI^AQ=I9IIIiO|>% 2Acoustic response timeoutE R E @E >E "E s9*E 9VE 4ZE a @a @a @a @ WIVmя,^ZE?A2\@2j@2=ٱ2{bǾ :AHRS rotation from veh to nav: [[-0.860008,0.496374,0.118317],[-0.502016,-0.781461,-0.370539],[-0.091466,-0.378063,0.921250]]2H 0?J? @׿Mj 12ؿz?i2\@I2Ƨ^;2CYFYrAyFHbD VD 8ye%mI=ٔuQ-u>9yIy= Fy?ELE>Q 5{4ټ?Q 9{4I)4AYy7Q I?CIb;iVk; P{4y_BɮB*jBjiiziJii k1k1k1h!2fA:fABfAJfE7i@ɢG=) q>i)T.=iIB>BECBHBMsABBBBM;B@Em2Acoustic response timeout^Aw==IyIO>I  2Acoustic response timeoutns\mя, 9tE?A6a\@6EWj@6dO=ٱ6$0ƾ >AHRS rotation from veh to nav: [[-0.864161,0.490184,0.113775],[-0.494767,-0.786397,-0.369844],[-0.091819,-0.375897,0.922101]]6H5`-_?d ?D߿+*@׿oؿځ?i6a\@I6^;4YFqAyFHEbX EbFEb=E`"Eb~ :*Eb;J9VEb|4ZE`BEb:aj2Eb:ajJEbe:aj:Ebe:ajbDVD8y2%A=ٔ[:Q->9I= FyAE mE >Q 5{4?Q 9{4K)4AYy%Z8Q I%?CCI;i:^{4y-[Bɮ-!B)*jABjAiAiIziIJiIiI k33k33k33ha kC3kC3kC3hq2f:fBfJf|i@颡ɢ6?=) =i)=顩iIIy^AA zA 2Acoustic response timeoutIIO>ԩ 2[cmя,E?A@Y~3qAy~QHau@au au@au a}@a} a}@a} yuK7A?y&1|?T㥛 u b?u`;uq q)uMb@Mb@Mb@Iuiu‰uqumdB u݅B)uuYuxBbDVD8y%>=ٔQ->9I= FyDEiIA2Acoustic response timeoutE>Q 5{4|?Q 9{4N)z4AQ A+:YQ EI:yQ I?sCI:i>k{4y5XBɮ52B5EԩE E@EE"E*E9VEZEa@a@a@a@*j Bj i i ziJii kc4kc4kc4hA颩ɢ(2=) =i)=i( I^A B >B B HB rAB =B B B 2;B 4EBDCBDCBB=B=Cɑ4  2Acoustic response timeoutA9 IA IY O >Oimя,E?A2FZ@2h@2=ٱ2n :AHRS rotation from veh to nav: [[-0.875319,0.473077,0.100078],[-0.474531,-0.800619,-0.365828],[-0.092940,-0.367707,0.925286]]2H F?ພ?^޿ઞ i׿`ʷ׿ ?i2FZ@I2^;2CYfpAyfHlbDrVDr8yzE׽%zm=ٔ~U;Q-~?9I= FyFEsE ? 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CI , O>Dqmя,QŵE?A4<ɰ4<2Y@2g@2D=ٱ2% :AHRS rotation from veh to nav: [[-0.882950,0.460363,0.092004],[-0.460111,-0.809645,-0.364381],[-0.093257,-0.364062,0.926694]]2H Av?? urݿR׿߷ L׿ z?i2Y@I2̽^;2CYB#pAyBHbDNVDN8yVщ%V6=ٔVu9:Q-V>9XIX=Z FyZIE^vE^>`Q 5f{4b8g?Q 9f{4bR)b4AQ Af9YdQ Ef:yf:Q Ij?bCIb ;ib?b?{{4yniBɮneBnE*jqBjqiqiqziqJiyiy k#k#k#h k3k3k3hɢ_!=)  \ awmя,#޵E?A2X@2٤f@2=ٱ2 >AHRS rotation from veh to nav: [[-0.891147,0.445987,0.083383],[-0.443983,-0.819322,-0.362754],[-0.093466,-0.360287,0.928147]]2HF ?X?8jܿ 7Z7׿]@׿a?i2X@I2<^;0YFoAyFrHJ=HN=N=bDRVDR8yZ`%ZK=ٔZ:Q-^>9^H?I^H?=^ FybLEb9Eb>dQ 5j{4fJ?Q 9j{4fS)f3AQ Aj9YhQ En9ynBFCBHBrpAB=BBB;B$E2Acoustic response timeoutQHoy^A ԩ m 2Acoustic response timeoutDe %=De <bEʴ4jEʒ4rEַ/Em T Em IEm @Ei "Em 9*Em c9VEm 4ZEi BEm :a} 2Em :a} JEm :a :Em :a A AI I) Oe >4}mя,E?A8R^kW@R ae@R=ٱR7 nAHRS rotation from veh to nav: [[-0.899733,0.430048,0.074435],[-0.426284,-0.829336,-0.361225],[-0.093613,-0.356736,0.929503]]RH`?$?=HۿO׿ ֿ@}?iR^kW@IRi^;RCYrWoAyr,H )IibD-VD-8y=څ%=A=ٔE9Q-E>9EK?IEK?=E FyENEMh?EM>QQ 5]{4U-?Q 9]{4UU)U3AQ A]9YaQ Ee9yeb=Q Ie?U#CIUX:iU@@Ut{4ymcBɮmxBq*jBjiiziJii k,k,k,h k,k,k,h19U r]NAggregate::initialize marl:UpdateRudderq9]J]Yq9e9e7eoXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ=) :(i)7=iN𼉨 I ԡ2Acoustic response timeout ^A A I I! ) O] >mя,GE?A 2Acoustic response timeout6V@6 d@6Yǿ=ٱ6Um BAHRS rotation from veh to nav: [[-0.908453,0.412615,0.066802],[-0.407394,-0.838298,-0.362335],[-0.093505,-0.356379,0.929651]]6H Gh?? ڿU0׿ ﷿ֿ@?i6V@I6^;4YJnAyJHE  E BE =E "E *E (9VE |4ZE a@a@a@a@aa aa aa aa yףp= ?S㥛?J +^?$>Ƚ 9'1Z?T㥛 ?7A`ҿYЂ?y>dB SB)BY BbDVD8y%3=ٔxQ->9I= FyQE;E>Q 5{4 ?Q 9{4[)(0AQ AT:Y?Q EB:y%Q I?]CIh;i ;a{4yaBɮB E*jBjiiziJii k)k)k)h1 k)k)k)hA2fUE>:fUE>BfU ?JfU=k@s]NUpdating rudder angle 6.875493 arcdeg 9]re6Completed marl:UpdateRudder19e reRAggregate::uninitialize marl:UpdateRudderyɢ}S =) i)=顁i٣I@ >@ >)^AAzAqAB>BB+HBUoAB=BB|DB;B-E2Acoustic response timeoutA$AIIO% >Q mя, .E?A :2T@:b@:=ٱ:⺾ BAHRS rotation from veh to nav: [[-0.917166,0.394146,0.058791],[-0.387475,-0.847545,-0.362671],[-0.093117,-0.355410,0.930061]]:HkY9??aؿ`6׿ַֿ?i:2T@I:O^;:CYJ>nAyJHbD VD 8yEƽ%MU=ٔMQ-M>9MH?IUH?=U FyUTEUhEU>YQ 5e{4]?Q 9m{4]`)]W-AYiym 'Q Im?]CI]<:i]:]ϣ{4yqɮ}By*jBjiiziJii k##k##k##h kC:kC:kC:h92fI:fIBfIJfMi@颁ɢʠ<) i)*=顑i켉I52Acoustic response timeoutiE5O E5@E5<E1"E59*E59VE5 4ZE1BE5ۄ:a=2E5:a=JE5-:aE:E50:aEԡ^AIIO >  2Acoustic response timeout~mя,"rHE?A23:S@2/a@2t=ٱ2rR :AHRS rotation from veh to nav: [[-0.925813,0.374461,0.051483],[-0.366521,-0.856085,-0.364390],[-0.092376,-0.356226,0.929822]]2HA`)?@[?u׿` e)R׿hֿ?i23:S@I2d^;2CTYZmAyZ)HbD-VD-8yeb%eH=ٔm Q-m>9iIi=u FyuVEudEu>yQ 5{4}-ӻ?Q 9{4} f)}Z*AYy(Q I?}CI}:i}:}{4y^BɮB*jBjiiziJii k<k<k<h k<k<k<h2f:fBfJf"dh@ ɢ <)  `i )=i\뼉IE2Acoustic response timeout^AyE=U E=CE==E9"E=:*E=09VE=|4ZE9aE@aE@aM@aM@IIO>! -mя,@MbE?A;ɰ2ԽQ@2_@2۫=ٱ2R :AHRS rotation from veh to nav: [[-0.934188,0.353923,0.045063],[-0.344974,-0.863819,-0.367164],[-0.091022,-0.358546,0.929064]]2H ૦?p? ֿg׿6M@kֿ@?i2ԽQ@I2^;2CABAAABAABF>BDBFcHBFnABF=BDBDBF);BF5EYRxmAyRHbD-VD-8ye%eJ=ٔm\Q-m>9iIi=m FyuYEu{kEu>yQ 5{4}E?Q 9{4}j)}g'AYy*Q I?}CI}:i}t:}.{4y[BɮBIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout*jBjiiziJii kc@kc@kc@h k@k@k@h2f:fBfJff@ɢlE<) !i)!/=!i%鼉!I)I^A9AE[?AEU?IIOf>qM In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERU 2Acoustic response timeoutEI  EI EM ;EI "EI *EI VEM 4ZEI BEM :aU 2EM :aU JEM 9:a] :EM 9:a] ԡ bYmя,I/|E?ARGP@R=^@R,=ٱR?ǽ bAHRS rotation from veh to nav: [[-0.941925,0.333604,0.038553],[-0.323602,-0.870950,-0.369767],[-0.089778,-0.360769,0.928324]]RH?$Y?1? Կ@D׿`׿մ?iRGP@IR^;RCYn#mAynHbD~VD~8y (X% P=ٔ2PQ->9I= Fy[EmE>!Q 5-{4%˗?Q 9-{4%o)%$AY1y5+Q I5?%'CI%:i%:q%{4yXBɮB E*jBjiiziJii k;k;k;h k<k<k<hAeGy9Y:A2fY:fYBfYJf]d@)ɢ5e<)9 =97i9)mp=iqiuV缩߭4=߭C=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutI) ^Aa I I I i I O% >I ] zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY] 2Acoustic response timeoutuMmя,=E?AjN@jO\@jv=ٱjEvW Ev?Ev=Et"Ev :*Ev?9VEv|4ZEtaz@az@az@az@ ~AHRS rotation from veh to nav: [[-0.948602,0.314767,0.032794],[-0.303698,-0.876277,-0.374039],[-0.088998,-0.364774,0.926833]]jHZ"%?kʠ?oӿv B׿ȶuX׿`?ijN@Ij^;jCY ylAy hHa@a a@a a@a a@a y +?kt?Qv? =u )Mb@Mb@Mb@Ii‰mdB B)YvBbDqVD8y}6%}4=ٔ}9Q-}>9I= Fy^ET>E>Q 5{4gu?Q 9{4t){4ykBɮܐBE*jBjiiziJii k<k<k<hPExceeded connect timeout, disconnecting.ɢ <) ai)(=i( 漉I)Bm>BmGCBmHBmlABiBiBiBm";Bm3E2Acoustic response timeoutQ^AqIIO >ԁ imя,ޯE?A2M@2U[@2`=ٱ2{¾ >AHRS rotation from veh to nav: [[-0.954120,0.298151,0.027577],[-0.286062,-0.880463,-0.378093],[-0.088448,-0.368635,0.925357]]2H'@?.=?`Nҿ`,2ؿ׿@?i2M@I2^;2CYB@lAyFEHxx x)xIxixxbDVD8y%g=ٔ/̺Q->9I=% Fy%`E%(VE%>)Q 55{4-?Z?Q 95{4-Ox)-AQ A5 :Y9Q E=9y=S.Q I=?-CI-;i-O?-{4yEiBɮEBME*jYBjYiYiaziaJiaia k#k#k#hy k3Ak3Ak3Ah颱ɢC<)2 oi)4#=项i}伉Iq2Acoustic response timeoutE[ EKEE"Ea:*E]t9VEZEBE ;a2E ;aJE+:a%:E,:a%ԡ^Aw==A qAzA rAIiIOd> 2Acoustic response timeout Qmя,,ɶE?A2L@2^Z@2T=ٱ2Kľ :AHRS rotation from veh to nav: [[-0.958682,0.283541,0.023108],[-0.270548,-0.883606,-0.382156],[-0.087938,-0.372618,0.923809]]2H%??`PѿF>uؿ` ׿׏?i2L@I2W^;2CYJkAyJHPRAbDVVDV8yZ݋%^P=ٔ^ꪺQ-b>9`I`=b FybcEfn)Ef>hQ 5n{4j;?Q 9n{4jM|)jAQ An9YlQ Er9yrw/Q Ir?jCIj;ij?j.{4yvfBɮvBt*jyBjiiziJii k9k9k9hɢ<) i)vA=ir⼉I%2Acoustic response timeout^A}Q=ES EIE:E"E9*Ec9VE(4ZEa-@a-@a-@a-@AAII5 nManaging dock network, ignoring radio surface power offA Om >Q }mя,,E?AB >BBHBkABBBB);B8EBmFCBmFCBiBm=Bm=Cm.4FK@FCY@F"=ٱF8ž NAHRS rotation from veh to nav: [[-0.962655,0.270086,0.018661],[-0.256249,-0.886757,-0.384705],[-0.087356,-0.375120,0.922851]]FHI??afп@Q`ؿ\ؿ?iFK@IF<^;FCYVkAyVH}2Acoustic response timeoutbD%VD%8yl,%9=ٔQ->9K?IK?= FyfE^ E>Q 5{4?Q 9{4)AQ A9YQ E9y|0Q I?CI ;iq?{4y cBɮ B *jBji!i!zi!Ji!i! kC#kC#kC#h9 ks<ks<ks<hIqɢuL<)y }*iy)}J=yyi}(༉I)a^AA! - 2Acoustic response timeoutI9 II ԉ O >E% Q E% JE% <E! "E% 29*E% k9VE% 4ZE! BE% :a5 2E% :a5 JE% :a5 :E% :a5 Cmя, zE?A ɰ ,BJ@BpX@Bb=ٱBƾ JAHRS rotation from veh to nav: [[-0.966184,0.257459,0.014240],[-0.242790,-0.889762,-0.386493],[-0.086836,-0.376881,0.922182]]BH`3z?)? Ͽ`xNؿ :@ؿ`?iBJ@IB^;BCYRjAyR}HbD%VD%8yeɳ%eR=ٔe䯺Q-e>9iIi=m FymhEuEu>yQ 5{4}[?Q 9{4}J)}AQ A9YQ E9yl1Q I?})CI}:i}@}{4y`BɮBE*jBjiiziJii k#k#k#hA k9k9k9hԑɢ|K<) i)*=!)i-޼aIi2Acoustic response timeoutԱq歼@@ i1 I5 AE 2Acoustic response timeout^Aq Au \?Au Q? E5 U E5 CE5 >E1 "E5 :*E5 09VE5 4ZE1 aE @aE @aE @aE @AIIO=>mя,pE?AF_I@F W@F8 =ٱF7{ƾ ZAHRS rotation from veh to nav: [[-0.969432,0.245182,0.009367],[-0.229668,-0.893337,-0.386267],[-0.086338,-0.376610,0.922340]]FHb?.?eͿ7`ؿ`9bؿ΃?iF_I@IF?^;DYfjAyf{H|aa aa aa aa y ףp= ?y&1|?Mb`QX?`; 9zG?MbX?+?Y w?yJ>=9eB B)BYpBbDVD8y ٺ% =ٔ {Q- >9I= FykE>ռE>!Q 5-|4%rԺ?Q 9-|4%*)%AQ A-T:Y-|?Q E5V:y5:,Q I5?%kCI% ;i%;%|4y=\Bɮ=B9*jQBjQiQiQziYJiYiY k33k33k33hi kC3kC3kC3hB=$>B9B=HB= kAB9B9B=}DB=4;B=@E2fmu>:fmu>BfmB?Jfmlw@颡ɢ7<) i)3=顱iiܼI)(A2Acoustic response timeoutY^Am=ԁ A I I O >] 2Acoustic response timeout|4mя,b7E?A2?I@2W@2=ٱ2#ƾ :AHRS rotation from veh to nav: [[-0.972530,0.232731,0.004601],[-0.216459,-0.896910,-0.385614],[-0.085617,-0.376017,0.922649]]2H?r?˿`|ؿ 뵿ؿV?i2?I@I2\^;2CYBOjAyBHDxzDz?AbE}|4jE}4rE}١/E~T E~@E~?E|"E~9*E~9VE~^4ZE|BE~:a 2E~:a JE~-:a :E~0:a QbDVD8y5̽%=G=ٔ=8Q-E>9AIA=E FymnEuEu>yQ 5|4}?Q 9|4})}vAYy-Q I?}CI};i}];}V|4yYBɮB*j!Bj!i!i)zi)Ji)i) k3k3k3ha2fq:fqBfqJfuM@颩ɢA<) i)w=顱irڼIy2Acoustic response timeoutԹ0@@@@ A I I O->mя,aUE?A2AG@26U@2è=ٱ2`ľ >AHRS rotation from veh to nav: [[-0.978695,0.205279,-0.004187],[-0.188101,-0.904600,-0.382515],[-0.082310,-0.373578,0.923940]]2H`wQ F?&qȿ {{ؿE׿`?i2AG@I2^;0YBiAyBHbDNVDN8yV%VF=ٔVQ-Z>9XIX=Z FyZqE^/E^>`Q 5f|4b ?Q 9f|4b)bAYdyj.Q Ij?bCIb;ib ;b$|4ynmBɮn4BnE*jxBjxixixzixJi|i| kS1kS1kS1h k1k1k1h!52Acoustic response timeout2f9:f9Bf9Jf=n@ɢ*<) ƾi))e=iؼ I E5R E5BE5;E1"E5s9*E5(9VE54ZE1a=@a=@a=@a=@QBU(>BUHCBUHBUjABU=BQBQBUG;BULEIIO>hDAT read: Forwarding Delay UpTx time:18:28:45.2526 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeouty A+mя,nE?A :?BF@:8T@:У=ٱ:5þ BAHRS rotation from veh to nav: [[-0.981695,0.190282,-0.008237],[-0.172889,-0.908437,-0.380595],[-0.079903,-0.372204,0.924705]]:H j`*[?Tހ9tIt=z FyzsEzzEz>|Q 5|4~v?Q 9 |4~)~jAY y /Q I ?~CI~_:i~w:~2|4yjBɮ5B*j)Bj)i)i1zi1Ji1i1 k8k8k8hI kXkXkXhY2fi:fiBfiJfm@颉ɢ<) ʾi)&=顑i[ּIIYiIqO=iIIIU2Acoustic response timeoutEMS EMAEM<EI"EM9*EM 9VEM 4ZEIBEM:aU2EM:aUJEM:a]:EM:a]ԙ  2Acoustic response timeout'mя,гE?A22E@2(S@2C=ٱ2 ¾ :AHRS rotation from veh to nav: [[-0.984671,0.174012,-0.011966],[-0.156647,-0.912411,-0.378110],[-0.076714,-0.370440,0.925683]]2Hl F? 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Kwc^??`Iؿ`eԨDؿ?i2:@I2^;2CYndAyn HbDzVDz8y%%%H=ٔ-Q-->9)I)=5 Fy5E5iE5>YQ 5e|4]ڸ?Q 9e|4]A)]AYiym?@Q Im?]CI]R:i]:]|4yuDBɮuBuE*jBjiiziJii k3Zk3Zk3Zh kc_kc_kc_h2f):f)Bf)Jf-9 M@Yɢ] )a es3ia)e y򾼉iIiqII O==2Acoustic response timeoutԡ 5nя,ظE?A4<ɰ2V+:@2!H@2D:=ٱ2ՒȾ :AHRS rotation from veh to nav: [[-0.998860,0.003886,-0.047576],[0.014557,-0.924399,-0.381149],[-0.045460,-0.381407,0.923289]]2HEo?[HЍ?dؿF hؿ?i2V+:@I2a^;2CYBPdAyBd HbDNVDN8yZ%ZR=ٔ^hQ-b>9`Id=f FyfEjEj>v2Acoustic response timeoutxQ 5|4z?Q 9|4z)zAYy>@Q I?zCIzBEJCBE HBE|eABABABABE;BEE2Acoustic response timeout) >AHRS rotation from veh to nav: [[-0.998733,-0.009042,-0.049510],[0.027176,-0.924879,-0.379290],[-0.042361,-0.380154,0.923953]]2H`@@UYӛ?GFؿTrTؿ?i2f\9@I2_;2CYB>dAyFY H\\ \)\I\i\\bDfVDf!8yn -%nH=ٔrQ-r>9pIp=r FyvEvEv>xQ 5~}4zؚ?Q 9~}4z)zAYy=@Q I?zCIz];izz;z}4y ?Bɮ  *j!Bj!i!i!zi)Ji)i) kDkDkDhA kscksckschQ2f:fBfJf[nK@9ɢ=)9 EEmR Em@Em?Ei"Ems9*Em9VEm^4ZEiBEmy:au2Em~:auJEm.:a}:Em0:a}1EsAQ#9sAYA  2Acoustic response timeoutBnя,z E?A2ɂ8@2xF@2.. =ٱ2Ǿ :AHRS rotation from veh to nav: [[-0.998417,-0.022597,-0.051513],[0.040444,-0.924852,-0.378170],[-0.039097,-0.379655,0.924302]]2H#_?c3ؿ`wBLؿ?i2ɂ8@I2^;2CpYzcAyz HyI +?Q뱿Mb9t?\ 9`"? ףp= > ףp=ҿYw?yQ8둾fB [B)|BYBbDVD8y愽%==ٔ|Q->9K?IK?= FyEE>Q 5}41x?Q 9}4Ý)AYJ?Q ER:y<@Q I?CI ;i:}4y:fl#>Bf+?Jf;G?ɢ) ECi)ԃ<i󸹼I AAIIIYO<>2Acoustic response timeout9EuT EuAEuBEq"Eu9*Eu 9VEu5ZEqa}@a}@a}@a@a B= ;>B9 B= HB= dAB= =B9 B= DB= ;B= 5E'Inя,Ig&E?A27@2E@24=ٱ2ƾ :AHRS rotation from veh to nav: [[-0.997817,-0.037873,-0.054106],[0.055499,-0.924921,-0.376087],[-0.035800,-0.378269,0.925003]]2H`@ d³`[j? ؿeT`5ؿ@?i27@I2^;2CYBcAyB HYbDVD8yn5%L=ٔQ->9I= FyEZE>Q 5}43X?Q 9}4)AYy;@Q I?KCI:it:#}4y9BɮȑB*jBjiiziJii k#Rk#Rk#Rh k#Rk#Rk#Rh2f):f)Bf)Jf-Ա 2Acoustic response timeout E P E @E ;E "E 9*E 9VE 4ZE BE f:a 2E k:a JE a :E a Pnя,:?@E?A>E6@>D@>=ٱ>sƾ FAHRS rotation from veh to nav: [[-0.996958,-0.053416,-0.056761],[0.070877,-0.924280,-0.375077],[-0.032428,-0.377959,0.925254]]>H bY$?BؿYz0ؿ஛?i>E6@I>W^;9iIq=u FyuEuEu>ԹQ 5}47?Q 9}4M) AYy:@Q I?~CI ;iX ;2}4y6BɮɑB*jBjii zi Ji i  kCRkCRkCRh! kSRkSRkSRh12fA:fABfAJfEA?aɢe)a eIia)mVm2Acoustic response timeoutA 8y8%F=ٔ(Q->9I= FyE/E>Q 5}4?Q 9}4ז)) AYy9@Q I?CI:i:@}4E5X E5AE5:E1"E5~ :*E5 9VE5(4ZE1aE@aE@aE@aE@y3BɮmБBmE*jBjiiziJii kCQkCQkCQh kSQkSQkSQh2f:fBfJft?9ɢ=)A EqNiA)EBBU HB7dAB=BBB+;BIEBJCBJCBB=B=CŅ4IIOZ>u2Acoustic response timeoutyԑ c\nя,sE?A;ɰ;264@2S,B@2<ٱ2"ƾ :AHRS rotation from veh to nav: [[-0.993864,-0.089544,-0.064938],[0.107392,-0.921767,-0.372576],[-0.026496,-0.377263,0.925727]]2H Z춿 Ÿ~?@`H׿!`%ؿ ?i264@I2^;2CYBbAyBp HbDLVDLyr_%rW=ٔv"Q-v>9tIt=z FyzEzLEz>|Q 5}4~?Q 9}4~T)~ AY y P8@Q I ?~CI~":i~:~IM}4y0BɮؑB*j)Bj)i)i1zi1Ji1i1 kTkTkThI k#ok#ok#ohY2fi:fiBfiJfmu?颉ɢL) Si)<顑inqIq2Acoustic response timeoutA II!OU>EMT EIEM?EI"EM9*EIVEM^4ZEIBEM:aU2EM:aUJEM:a]:EM:a]ԡ} %=} a= 2Acoustic response timeout Kcnя,VҍE?A22@2@@2F<ٱ2Wƾ :AHRS rotation from veh to nav: [[-0.991713,-0.107881,-0.069768],[0.126222,-0.919400,-0.372520],[-0.023957,-0.378239,0.925398]]2HUܱ(? k^׿@A 5ؿܜ?i22@I27^;0YBbAyBj HyE(\??333333EG?E>EA A9Ew/?Q?V-ͿYEf?yE(\>EmAEeB EÊB)EBAYEkBbDUVDU8yeɻ%mB=ٔmŻQ-m>9qIq=u FyuEu8E}>Q 5}4ٷ?Q 9}4L)^AYt?Q E^:yH@Q I?CI:is:[}4y-Bɮ֑B*jBjiiziJii kClkClkClh kClkClkClh2f|_>:f|_>Bf"?JfM@ ɢ ) kTi)/<ib豼I!Ae$AIqIO>2Acoustic response timeoutEUR EUCEU;EQ"EUs9*EU09VEU4ZEQae@ae@ae@ae@) B B>B KCB HB cAB =B B B A;B VEpvinя,pE?A21@2ֵ?@2)o<ٱ2ƾ :AHRS rotation from veh to nav: [[-0.989106,-0.126550,-0.075193],[0.145565,-0.916866,-0.371709],[-0.021902,-0.378605,0.925299]]2H@¦2? ߡ?V׿om@;ؿ` ?i21@I2a^;2CYBMbAyB' HX\ \)\I\i\\bDfVDf8yn֋%nT=ٔreQ-r>9rH?IrH?=r FyrEvNEv>xQ 5~}4zn?Q 9~}4z)zjAY|yG@Q I?zYԉ i I  2Acoustic response timeoutbE&4jE4rEm0Ee T Ee BEe ?Ea "Ee 9*Ee (9VEe ^4ZEa BEe :au 2Ee :au JEe M+:au :Ee O+:au ]pnя,ʈE?A 0B0@Bru>@B <ٱBǾ JAHRS rotation from veh to nav: [[-0.986108,-0.145087,-0.080874],[0.164884,-0.913923,-0.370889],[-0.020101,-0.379071,0.925149]]BH27¿#? > ׿`fBؿҚ?iB0@IB^;BCYnRbAyn* HbDzVDz8y=K;%=D=ٔEɍQ-E>9AIA=M FyMEMn@EM>QQ 5]}4U̜?Q 9]}4U)USAYayeXF@Q Ie?UmCIU;iUd;Ux}4ym'BɮmݑBi*jBjiiziJii knknknh k#nk#nk#nh2f!:f!Bf!Jf%A"K@Yɢ]f)a eZia)egM2Acoustic response timeoutԹY]> ׈vnя,fh۹E?A2A/@27=@2ﮙ<ٱ2Ǿ :AHRS rotation from veh to nav: [[-0.982751,-0.163286,-0.086826],[0.183982,-0.910854,-0.369453],[-0.018759,-0.379055,0.925184]]2Hr@Ŀ9:?@%׿5oBؿ?i2A/@I2x^;0V2Acoustic response timeoutYZ1bAy^ H\``bD%VD%8y}%}F=ٔQUQ->9I= FyE@E>Q 5}4w}?Q 9}4)BAYyE@Q I?CI:i:q}4y$BɮޑB*jBjiiziJii klklklh klklklh2f:fBfJfI@ES E?E>E"E9*E?9VE4ZEa@a@a@a@ɢ) \i)Bź<i_IIqIO>BC>BB HBbABBBB=;BUEUIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER]2Acoustic response timeoutA -|nя,:@E?A2.@2;@2w3<ٱ2ƾ :AHRS rotation from veh to nav: [[-0.979076,-0.181109,-0.092792],[0.202723,-0.907768,-0.367234],[-0.017724,-0.378361,0.925488]]2HT.ǿ4?n `Ā׿0& 7ؿ?i2.@I2'^;2CYNaAyR H!bD-VD-*8ye> %eL=ٔm;)Q-m>9iIq=u FyuEu*CEu>yQ 5}4}_?Q 9}4}L)}@YyC@Q I?}CI}:i}:}v}4y!BɮBE*jBjiiziJii knknknh knknknh2f:fBfJfH@)ɢ-9a:EC9ayԡ e zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe 2Acoustic response timeoutnя,E?A2@,@2:@2<ٱ2=ƾ :AHRS rotation from veh to nav: [[-0.975163,-0.198225,-0.098817],[0.220840,-0.904320,-0.365289],[-0.016953,-0.378038,0.925635]]2H`4m_ɿ L}D?/``׿ [ 1ؿ̞?i2@,@I2S^;2~CYNaAyR Hyy?/$?ˡE?@?1>'= 9rh|?Gz?y&1|Y[?y>`gdB B)rBY8BbDVDE8y<>%C=ٔvQ->9I= FyES5E>Q 5}4??Q 9}4){@Yl?Q Ee:y@Q I?CI ;iq ;}4y Bɮ B *j!Bj!i!i!zi!Ji!i) klklklh9 klklklhI2fey>:fey>Bfe1F?Jfes|@yɢu$) tei)4<顁i\IIQIaO=ԡi߹I߹2Acoustic response timeoutEQ EE=E"E29*EVE|4ZEa@a@a@a@ B B B [ HB bAB =B B B ;B EEoӉnя,~6)E?A2G+@29@2x<ٱ2ž :AHRS rotation from veh to nav: [[-0.970994,-0.214974,-0.104675],[0.238540,-0.900997,-0.362357],[-0.016414,-0.376815,0.926143]]2HbG˿`˺y?0׿ ΐؿ?i2G+@I2^;0Y^aAyb H ddj=j=bDrLVDrn8yz%zX=ٔ~HQ->9I=  Fy E 3DE >Q 5%}4"?Q 9%}4)@Y)y-AQ I-?(CI(;i*;`}4y=Bɮ=B9*jQBjYiYiaziaJiaiaԹ2Acoustic response timeout kckkckkckh2f):f)Bf)Jf-N{@iɢm,)i m9gii)u5<顑iͨIII)Oe= 2Acoustic response timeout9 q q D zD @AE V E ME >E "E =:*E 9VE 4ZE BE :a 2E :a JE :a :E :a   nя,BE?A2s90Y2mA:*@:T8@:<ٱ:kž BAHRS rotation from veh to nav: [[-0.966650,-0.231147,-0.110263],[0.255614,-0.897303,-0.359873],[-0.015756,-0.376056,0.926463]]:H:Ϳ5:[? `'׿V"Lؿ?i:*@I:T^;:CYJZaAyJ HbDV<VDV_8y^%^P=ٔ=>ӺQ-=>9AIA=E FyEEM1EM>IQ 5U}4M?Q 9}}4M)M@Yyy}BQ I}?MXCIM;iM6;M}4yBɮBE*jBjiiziJii kSkSkSh kjkjkjh2f:fBfJfuz@ɢ'9) Rji ) bh<  i BI9AeAIqIO>-2Acoustic response timeoutaԱԹ Ֆnя,ҫ\E?A2)@2Yz7@2w<ٱ2ž :AHRS rotation from veh to nav: [[-0.962383,-0.245888,-0.115576],[0.271275,-0.893284,-0.358403],[-0.015116,-0.376274,0.926385]]2H@ByϿ`k\?ȕֿ` ؿ?i2)@I2^;0B2Acoustic response timeoutYRaAyR HbDZ;VDXyvr<%vG=ٔvպQ-z>9zK?IzK?=z FyzE~(E~>Q 5 }4䶉?Q 9 }4W)@Y y CQ I?CIN:ig:a}4yBɮB*jBjiiziJii ksQksQksQh kikikih2f:fBfJfqey@1ɢ51)1 =gi9)=S<99i=AIAEP EBE:E"E9*E(9VE(4ZEa@a@a@a@IQIaO>A!A!B)B)B-) HB-ObAB-=B)B)B-ʿ;B-E52Acoustic response timeout nя,vE?A2(@2|6@2l<ٱ2 ž :AHRS rotation from veh to nav: [[-0.958078,-0.259822,-0.120744],[0.286143,-0.889000,-0.357493],[-0.014457,-0.377056,0.926078]]2H`п龿`*P?r)ֿ@@!ؿm?i2(@I2^;0YB+aAyBu HXX X)XI\i\\``bDfVDf98yn9\%nK=ٔrֺQ-r>9pIp=r FyrEvEv>xQ 5~}4zŶ?Q 9~}4z)z@Y|yDQ I?zCIz;izL;zm}4y Bɮ B *j1Bj1i9iAziAJiAiA kSQkSQkSQhi2f:fBfJf"^x@AɢM;)I MOmiI)M%E E>E@E"E*E9VE4ZEBEf:a2Ek:aJE9a:E$9a!I E 2Acoustic response timeout3nя,$cE?A2'@25@2$_<ٱ2 fƾ :AHRS rotation from veh to nav: [[-0.953738,-0.273180,-0.125524],[0.300330,-0.884653,-0.356638],[-0.013619,-0.377838,0.925772]]2H{ѿ@.8? O (ֿd䋿@.ؿ?i2'@I2^;2C\YnIaAyn HyeL7A`?rh|?I +?e+g?e=e9e^=aefB erB)aaYepBbD}VD}B8y<%?=ٔQ->9I= Fy•EaE>Q 5}4ޣ?Q 9}4)@Yp?Q Ea:yF@Q I?CI:i:X}4yBɮBE*jBjiiziJii kSQkSQkSQh kkkkkkh2f>:f>Bfh?JfF@颱ɢHr>) nki)<项i*~IIQIaO=2Acoustic response timeoutEZ EBE=E"E:*E(9VE|4ZEa@a@a@a@A B! B! B% HB% aAB! B! B! B% ;B% EBKCBKCBB=B=Cʡ4nя,8y;Q;%I=ٔ 7Q->9I= FyŕEE>Q 5}4?Q 9}4){@YyE@Q I?CIn;iR:}4yBɮB*jBjiiziJii2Acoustic response timeout kUkUkUh knknknh!2f1:f1Bf1Jf5G@QɢU?)Q UkiY)]9I= FyȕEPE>Q 5~4#c?Q 9~4l)J@YyD@Q I?KCI;i:~4y  Bɮ B *j!Bj!i)i)zi)Ji)i) k#Vk#Vk#VhA kmkmkmhQ2fa:faBfaJfe@颁ɢH) qi)<顉iKIIqIO=ԡ 2Acoustic response timeout #nя,ݺE?A6V$@62@6<ٱ6ȾFhDAT read: Forwarding Delay UpTx time:18:28:59.1025 FpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGF2Acoustic response timeout JAHRS rotation from veh to nav: [[-0.940447,-0.310780,-0.137751],[0.339805,-0.870839,-0.355206],[-0.009568,-0.380861,0.924583]]6H$ӿ`ϡ`_? ֿ>@`ؿ.?i6V$@I63^;6~CYRaAyRl HbD-%VD-J8ye =%eR=ٔm;Q-m>9iIq=u FyuʕEuREu>Q 5~4RD?Q 9~4) @YyD@Q I?zCIB:i:~4yBɮB*jBjiiziJii kUkUkUhE}Q E}AE}DEy"E}29*E} 9VE}J5ZEya@a@a@a@ kmkmkmh2f:fBfJf.@ɢv9F) 2ni)F|<iDIIIO>BABE>BB HBaAB=BBB;B&EA52Acoustic response timeoutqԙ Nnя,E?A:1$@:1@:B;ٱ:gɾ JAHRS rotation from veh to nav: [[-0.935619,-0.323388,-0.141553],[0.352931,-0.865461,-0.355553],[-0.007527,-0.382620,0.923875]]:HcԿf¿k?ڱ_ֿ ~|ؿb?i:1$@I:g^;8Yv`Ayv5 HbD-0VD-T8yE]%EM=ٔM+Q-M>9QIQ=U FyU͕EU7EU>YQ 5e~4]$?Q 9m~4]œ)]@Yiym2C@Q Im?]CI]-:i]:]!~4yuBɮ}B}E*jBjiiziJii kSUkSUkSUh k#pk#pk#ph2f:fBfJf6@ɢܽ^) si)gp<i3Iq2Acoustic response timeoutII!OU>ԡbE|4jEY4rEi0E E>E<E"E*E9VE 4ZEBE:a2E:aJE9a:E$9aE >E :?M 2Acoustic response timeout 5nя,iE?A2,#@2I"1@2 ;ٱ2zʾ :AHRS rotation from veh to nav: [[-0.930907,-0.335333,-0.144788],[0.365221,-0.860061,-0.356242],[-0.005067,-0.384508,0.923108]]2H vտ`k¿@_?@ֿ+t`ƛؿ?i2,#@I2'_;2CY^:`Ayb Hddy(\?~jthMbg?D@ 9B`"?zG?S㥛Yn?y =/ݼhB B)BYBbD9VD]8yT%D=ٔCQ->9I= FyϕE)E>Q 5~4*?Q 9~4) @Ytp?Q Eb:y7@Q I?CI ;i ;0~4yBɮB*jBjiiziJii kWkWkWh k3lk3lk3lh)2f=#=:f=#=Bf=v?Jf=@19E rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7UnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeediɢmZ)i u[|iq)uXc2Acoustic response timeoutipAIpAEY E=EAE"E:*E8VEA4ZEa@a@a@a@) B H>B LCB B B =B B DB ;B =EY cnя,l+E?AB;"@Br10@By';ٱB ˾ NAHRS rotation from veh to nav: [[-0.925447,-0.348528,-0.148580],[0.378869,-0.853943,-0.356708],[-0.002555,-0.386407,0.922325]]BHBJNֿÿa??@SOֿ@ dؿ?iB;"@IB^;BCYV`AyV Htt t)tItittbD~4VD~X8y D=% U=ٔ$ֻQ->9I= FyҕEE>!Q 5-~4%'赉?Q 9-~4%')%4@Y1y56@Q I5?% CI%;i% ;%=~4y=Bɮ=ՑBEE*jBjiiziJii kSkSkS2Acoustic response timeouth 2f:fBfJf6@s%NUpdating rudder angle 6.875493 arcdeg 9%r-6Completed marl:UpdateRudder19- r-RAggregate::uninitialize marl:UpdateRudderaɢe\)a e vii)ߠV<顉iI)I1IAO}=Qԁ  2Acoustic response timeoutE R E @E ;E "E s9*E 9VE 4ZE BE y:a 2E ~:a JE .:a :E 1:a Hnя,_EE?A ɰ @>HF!@>^pٱ>˾ ^AHRS rotation from veh to nav: [[-0.919671,-0.362041,-0.152090],[0.392689,-0.847824,-0.356357],[0.000070,-0.387455,0.921889]]>Hm +׿wÿ!?`_!`ֿ n? ؿ`?i>HF!@I>^;9xI|=~ Fy~ԕE~E>Q 5 ~4&ʵ?Q 9 ~4$)^@Yy#5@Q I?:CI:iF:wK~4yBɮ%ΑB!*j1Bj1i1i9zi9Ji9i9 kCTkCTkCThQ kCTkCTkCTha2fq:fqBfqJfu@频ɢy$g) ti)LJ<顙i<IIIO=ԩ 2Acoustic response timeout rnя,:_E?A22Acoustic response timeout6K @6A.@6:!ٱ6˾ RAHRS rotation from veh to nav: [[-0.913560,-0.375781,-0.155556],[0.406697,-0.841769,-0.354995],[0.002458,-0.387574,0.921835]]6H@; ؿ`FÿT??ֿE"d?ؿ?i6K @I6 ^;6CYV`AyZ@ Hl%=%a=bD-VD-8ye[<%eC=ٔmQ-m>9iIq=u FyuוEu\Eu>yQ 5~4}Ȫ?Q 9~4}Ӈ)}@Yy)4@Q I?}lCI}{:i}:}Z~4yBɮȑBE*jBjiiziJii kTkTkTh kTkTkTh2f:fBfJf5@ ɢ Y)  riEY E]DE]=EY"EY*E]a99VE]|4ZEYae@ae@ae@ae@)=<顑i PIII)Oe= BuI>BqBqBqBqBqBqBu$;BuJE12Acoustic response timeouta nя,!yE?ABP@BHF-@BnٱBe˾ NAHRS rotation from veh to nav: [[-0.907206,-0.389689,-0.158494],[0.420660,-0.835997,-0.352356],[0.004809,-0.386331,0.922348]]BH ؿ`IĿ?|@ֿHs?ؿ@߃?iBP@IB^;BCYR`AyVJ HbD%VD% 8y5 <%5M=1ٔ=0Q-=>9AIA=E FyEڕEEEM>IQ 5U~4M ?Q 9]~4M)M@YYy].3@Q I]?MCIM;iM;M h~4yeBɮmÑBi*jyBjyiiziJii kcTkcTkcTh ksTksTksTh2f:fBfJfԴ@ɢ˼b) qi)1<i'IApAzAnAIIO5=m2Acoustic response timeoutiԁÿ9 Y AE}Y E}BE};Ey"E}:*E}(9VE}4ZEyBE};a2E}!;aJE}M+:a:E}O+:aԉԹ  2Acoustic response timeoutnя,E?A2O@2[E,@2޻ٱ2gʾ :AHRS rotation from veh to nav: [[-0.900487,-0.403660,-0.161805],[0.434829,-0.829914,-0.349523],[0.006804,-0.385098,0.922851]]2HٿĿ=?` ^ֿ`{?rؿ?i2O@I2 ^;2CYN`AyR? 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@X`ʿ?`ViԿ`?cؿŔ?i2n@I2U _;2CY^5aAyb{ Htx x)xIxixxbDVD=8y0c%[=ٔ/Q->9qIq=u Fy}E}9)E}>Q 54L?Q 94U)@Yy)@Q I?CI:i:2Acoustic response timeout4yBɮB*jBjiiziJii kSkSkSh kSkSkSh2f:fBfJfʗ@ɢ )! %li!)%:!!i%9)I1ԑAIIO#> wj>! 9 U 2Acoustic response timeoutY ˿9 Y 7AEe T Ea Ee <Ea "Ee 9*Ea VEe 4ZEa BEe :am 2Ee :au JEa au :Ea au  12oя,4ɼE?ABj@B]` @BXwٱB~ɾ JAHRS rotation from veh to nav: [[-0.804525,-0.553802,-0.214577],[0.593658,-0.739124,-0.318224],[0.017634,-0.383404,0.923412]]BH``Bw˿ >?`]Կ?ؿ?iBj@IBr^;B}CYRaAyR HbD^6VD^Z8yf$=%fO=ٔf\Q-f>9hIh=j FyjEj*En>pQ 5r4rl5?Q 9v4rQ)rO@Ytyv(@Q Iv?rCIr:ir=:r4yxɮ~wB|*j Bj iiziJii kTkTkTh) kTkTkTh92fI:fIBfIJfMI@iɢm9)i meiq)uH:qqiuZIAAIQIaO>2Acoustic response timeout!I e 2Acoustic response timeoutc8oя,D1E?A>Y@>BO@>;bٱ>wʾ JAHRS rotation from veh to nav: [[-0.794496,-0.565983,-0.220088],[0.606969,-0.728723,-0.317098],[0.019089,-0.385520,0.922502]]>Hl+̿Jl?QTKԿ?Zؿ@#?i>Y@I>e^;>CYNaAyR HPPAbDvVD8y]<%]@=ٔ]`Q-]>9aIa=e FyeEe Em>qQ 5}4u?Q 9}4uBM)u@Yyy}'@Q I}?u CIu:ius:u-4yBɮ\BE*jBjiiziJii kQkQkQhE W E EE >E "E  :*E A9VE 4ZE a@a@a@a@ k#ik#ik#ihi2fy:fyBfyJf}@频ɢq) di)T9顙i]냼IABUJ>BQBUB HBUxbABU=BQBQBU;BUBEAIIOU2>i2Acoustic response timeoutԙ >oя,E?A2R@2H@2fٱ2~˾ :AHRS rotation from veh to nav: [[-0.784630,-0.577829,-0.224656],[0.619608,-0.718581,-0.315797],[0.021043,-0.386983,0.921847]]2H`}̿? 6Կi?`Rؿ ?i2R@I2^;0@YBaAyF HbD VD 8yM¼%ML=ٔM(Q-M>9QIQ=U FyUEU8$E]>aQ 5m4eT?Q 9m4eH)e@Yiymy&@Q Im?e4CIe:ie:e;4y}Bɮ}^By*jBjiiziJii kPkPkPh kCjkCjkCjh2f:fBfJfC<@ɢq) Vgi) i_тIAU?AY?-2Acoustic response timeoutԱAIIqIO">E-R E-CE)E)"E-s9*E-09VE)ZE)BE-y:a52E-~:a5JE-9:a=:E-9:a=  2Acoustic response timeoutpEoя,E?A4<ɰ;JO@@J6@J\ٱJ˾ VAHRS rotation from veh to nav: [[-0.774107,-0.590554,-0.228046],[0.632635,-0.708533,-0.312655],[0.023061,-0.386299,0.922085]]JH {`@0Ϳ>?NԿ j? ؿ@?iJO@@IJ^;JCYbaAyf HlyX9v?L7A`堿l񲿙3?+ 9Cl?n?X9vYd;?yV>fB B)`BY=BbDVD8y=%?=ٔښQ->9I= FyE E > Q 54 ?Q 94 OD) @Y(A?Q E:yU$@Q I? \CI C:i  : J4y-Bɮ-TB-E*jABjAiAiAziAJiIiI kQkQkQha kikikihq2f8>:f8>Bfm?JfFs@颡ɢO{) ci)㒺顩iپ)I1 AyIIIO K>iIA%2Acoustic response timeout1E5Q E5?E5:E1"E529*E5?9VE5(4ZE1a=@a=@a=@a=@BM H>BI BM [ HBM bABI BI BI BM ;BM DEB B B B =B C 4a Koя,w0E?A2%@2@2̼ٱ2k˾ :AHRS rotation from veh to nav: [[-0.763055,-0.603040,-0.232574],[0.645850,-0.697493,-0.310454],[0.024997,-0.387101,0.921698]]2HjLͿΪ?Qyӿ?Cؿ~?i2%@I2^;2CYBaAyB HJ=Jp=bDNbVDN8yVW%Vc=ٔV믻Q-Z>9XIX=Z FyZE^CE^>`Q 5f4bE۳?Q 9f4bd@)b0@Ydyf7#@Q Ij?bCIb:ib(:blW4ylɮnVBl*jxBjxixi|zi|Ji|i kcQkcQkcQh kcokcokcoh!2f1:f19Bf1Jf5r@Yɢ]n)Y edia)e aaiekiIi2Acoustic response timeoutA II!O]>iԑ5 2Acoustic response timeout D9 zD= ?AEE Y EE AEA EA "EE :*EE  9VEA ZEA BEE ;aU 2EE !;aU JEE :aU :EE :aU tRoя,A~JE?ANp @N.@N,ܼٱN˾ VAHRS rotation from veh to nav: [[-0.751686,-0.615535,-0.236821],[0.658971,-0.686314,-0.307783],[0.026918,-0.387414,0.921513]]NH v#PοJ? H ӿ@k?eؿ }?iNp @IN^;LY^bAy^ HbDjVVDjw8yrl=%rG=ٔv Q-v>9tIt=v FyzEz,Ez>|Q 54~6Ƴ?Q 94~;)~K@Y y "@Q I ?~CI~:i~:~e4yBɮFB*j)Bj)i1i1zi1Ji1i1 kVkVkVhI k3kk3kk3khY2fi:fiBfiJfmap@颉ɢ?H) ^i)H"顑iԙIAIIO= >2Acoustic response timeout = In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER= 2Acoustic response timeout>Xoя,-\dE?A2 @2r@2]ٱ2ʾ :AHRS rotation from veh to nav: [[-0.739753,-0.628735,-0.239703],[0.672260,-0.675314,-0.303345],[0.028849,-0.385543,0.922239]]2Hο`&?+`jӿ?ؿ?i2 @I2^;2~CYNaAyR H )IibD-8VD-\8yeZ%eB=ٔmvQ-m>9iIq=u Fyu Eu-Eu>yQ 54}밳?Q 94}7)}a@Yy @Q I?}CI}:i}(:}t4yɮIB*jBjiiziJii kRkRkRh kkkkkkh2f:fBfJfRo@ES EE;E"E9*EVE4ZEa@a @a @a @ )ɢ-)) -A`i))5,\S11i5P}9I9AAAABF>BKCB HBbAB=BBB;B?EAIIO%>!pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutIy ^oя,4~E?A2 @2`@2ٱ2Dʾ :AHRS rotation from veh to nav: [[-0.727034,-0.641885,-0.243732],[0.685930,-0.663327,-0.299161],[0.030353,-0.384683,0.922549]]2HCR2Ͽ#?`9 s%ӿ? ؿ@?i2 @I2F^;2CYBaAyB HbDJ-VDJR8yVT;%VW=ٔV́Q-V>9XIX=Z FyZ EZIE^>`Q 5f4b?Q 9f4b2)b@Ydyf@Q If?bCIb:ib:bŁ4ynBɮnEBl*jxBjxixixzixJi|i| k#Sk#Sk#Sh klklklh2f:fBfJfhn@ɢu) `i ) D19i={IYIyiIAzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY%2Acoustic response timeoutbEC4jE 4rEļ 0E%X E%DE%=E!"E%~ :*E%a99VE%|4ZE!BE%:aE2E%:aEJE%kH:aM:E%nH:aMԁAIIO-N>ԩ 2Acoustic response timeout eoя,F%E?A6| @6r@6ٱ6:ʾ >AHRS rotation from veh to nav: [[-0.713915,-0.654634,-0.248557],[0.699525,-0.650798,-0.295173],[0.031470,-0.384600,0.922547]]6Hc` Ͽ`b?U`ҿ?Gؿ?i6| @I6ׇ^;6CYF4bAyF Hyi|?5?&1?~jth?1?P=D; 9&1?w/?(\µY0?y&> !B)ÊBYpBbD VD48yD<%6=ٔ"Q->9 I =  FyE,E>Q 5%4 ?Q 9%4-)@Y% 7?Q E-:y-/"@Q I-?CIG;i ;{4y5fBɮ5 B5E*jIBjQiQiQziQJiQiQ kSkSkShi kjkjkjhy2f>:f>Bf\}?Jf=#{@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedԩq7nPAggregate::uninitialize marl:UpdateSpeedɢ ) \i)wۘi}zIAII)OM1>2Acoustic response timeoutE S E AE ?E "E 9*E  9VE ^4ZE a@a@a@a@ B :>B JCB HB lcAB =B B DB 4;B KE) -koя,챽E?A;ɰ4<27@@25@2ٱ2dʾ :AHRS rotation from veh to nav: [[-0.700244,-0.667195,-0.253986],[0.713179,-0.637744,-0.290961],[0.032149,-0.384881,0.922406]]2HfhYOAп\? fh ҿu?ؿ`Y?i27@@I2bx^;2~CYnIbAyn% H]2Acoustic response timeoutbDmVDm8yrY<%Q=ٔQ->9I= FyEJE>Q 54=u?Q 94))v@Yy @Q I?=CI:i:"4yɮB*jBjiiziJii knknknh 2f:fBfJfKy@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderQɢUc)Q Uc[iQ)]vBYYi]SxaIaIIO J>9i1I1 2Acoustic response timeouti E!  E% CE% =E! "E! *E% 09VE% |4ZE! BE% :a5 2E% :a5 JE% 9:a5 :E% 9:a5 roя,*˽E?A 6@6|@6 fٱ6ʾ >AHRS rotation from veh to nav: [[-0.686557,-0.679126,-0.259668],[0.726358,-0.624770,-0.286473],[0.032318,-0.385292,0.922229]]6HEffпR>? @Uҿ ?ؿ?i6@I6Ӑ^;6|CYF8bAyF HbD=VD=8y0%L=ٔcݹQ->9I= FyEBE>Q 54Bb?Q 94%)@Yy@Q I?aCI:iF:4ycBɮBE*jBjiiziJii kCnkCnkCnh kSnkSnkSnh2f :f Bf Jf ox@)ɢ-z)) -~\i))53'Ż11i5cv9I9yI1IIm2Acoustic response timeoutO>ԡ  2Acoustic response timeoutxoя,E?A2@2@2;Kٱ2'ʾ :AHRS rotation from veh to nav: [[-0.673208,-0.690375,-0.264901],[0.738758,-0.612410,-0.281407],[0.032049,-0.385143,0.922300]]2H``"п?ݘҿ@h?@0ؿ{?i2@I2c^;0YB4bAyB HPbDNVDN8yV%ZY=ٔZ;:Q-Z>9XI\=^ Fy^E^0FEb>`Q 5f4bP?Q 9j4b )b@Yhyj@Q Ij?bCIb:ib1:bF4ypɮpp*jxBjxixi|zi|Ji|i| k3mk3mk3mh kCmkCmkCmh!2f1:f1Bf1Jf5rw@QɢU4)Q U\E EFE<E"E*E;J9VE 4ZEa@a@a@a@iQ).lڻiCtIIIO =BAB@>BB HBcAB=BBB@;BTE}2Acoustic response timeout! u#oя,~E?A:@:@:ٱ:вʾ BAHRS rotation from veh to nav: [[-0.662041,-0.699323,-0.269536],[0.748797,-0.601983,-0.277344],[0.031697,-0.385441,0.922188]]:H@p/`@ѿ%?`qCѿ:?ؿ`?i:@I:^;:CYJ)bAyJ HbDVVDV8yZѻ%ZJ=ٔ^c:Q-^>9`I`=b FybEbEf>dQ 5j4f=?Q 9n4f)f@Ylyn@Q In?fCIf+;ifz;fn4yz`BɮzB *jQGBjai9YAiziJi2Acoustic response timeouti kmkmkmhq2f:fBfJfv@ɢ) a]i)irI)IIER EBE>E"Es9*E(9VE4ZEBEx:a2E}:aJEL+:a:EN+:aO%,>Q߅ =߅ %= 2Acoustic response timeoutԙ oя,?XE?A2]@2@2>ٱ2/6ʾ :AHRS rotation from veh to nav: [[-0.651632,-0.707733,-0.272927],[0.757890,-0.592639,-0.272731],[0.031274,-0.384569,0.922566]]2H ,࿥`wѿ@?`ltѿ?Ɯؿ?i2]@I2ߴ^;2|CYvbAyv_ HxzAaE@aE aE@aE aE@aE aE@aE bDMVDM 8Yyer=%e@=ٔm:Q-m>9iIi=m FyuEuEu>yQ 54}o*?Q 94})}T@Q A+:YQ Ep:y@Q I?}CI}:i}3>}4y]BɮB*jBjiiziJii kUkUkUh klklklhɢJ) Ui ) f  i pIIIO]=ԑ2Acoustic response timeoutԱEU ECEE"E:*E09VEZEa@a@a@a@B G>B KCB HB cAB =B B DB ;B DE 4oя,33E?A21-@2"@2oٱ2GGɾ :AHRS rotation from veh to nav: [[-0.641583,-0.715909,-0.275400],[0.766430,-0.583839,-0.267801],[0.030932,-0.382891,0.923276]]2H@ه%ѿ`?Ю#ѿ`? Hؿ@y?i21-@I2S^;2}CY^bAy^e Htx x)xIxixxbDVD8y ;%P=ٔc:Q->M2Acoustic response timeout9yI= FyEE>ԹQ 54 ?Q 94)@Q A :YQ EB:y@Q I?CI;iAW?4yɮB*jABjAiAiAziAJiIiI kTkTkThyɢ%) Ti)tioIAAIIIYO:>2Acoustic response timeoutE T E <E E "E 9*E 8VE ZE BE :a 2E :a JE 9a :E 9a A _oя,9 ME?A"4<ɰ";> l@>a@>ٱ>VǾ FAHRS rotation from veh to nav: [[-0.632510,-0.723625,-0.276222],[0.773947,-0.576367,-0.262310],[0.030609,-0.379695,0.924605]]>H='@ѿ`-? q@пX?Lؿ^?i> l@I>^;>CYNbAyRw HbDZVDZ8yb<%bP=ٔfV:Q-j>9lIp=r Fyr!Ev]Ev>xQ 5~4z?Q 9~4zs Q =tI)zO@Q A9YQ E:y0@Q I?zCIz;iz?z4y CBɮ BٲE*j!Bj!i!i)zi)Ji)i) k3Wk3Wk3WhA kWkWkWhQɢ) Si)^i4mI II!ehDAT read: Forwarding Delay UpTx time:18:29:12.9524 mpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGm2Acoustic response timeoutO5->AqE PExceeded connect timeout, disconnecting.ԙ  2Acoustic response timeoutFoя,fE?AJ@J٨@JvٱJ'ƾ VAHRS rotation from veh to nav: [[-0.623737,-0.730780,-0.277332],[0.781041,-0.568892,-0.257559],[0.030447,-0.377257,0.925608]]JH`@bͿѿJ?@\4{п-?$ؿ?iJ@IJck^;J~CY^bAy^ Hba=`%=%>bD-VD-8ye|X<%e@=ٔm9Q-m>9iIq=u Fyu$EuOۼEu>yQ 54}%?Q 94}?)}@Q A9YQ E9y@Q I?}BBU HB7dABBBDB;B0EBMKCBMKCBIBM=BM=CM5i-8kQIQIIIYIyԡO<>]2Acoustic response timeout .oя,ÀE?AB@B@BUٱBľ JAHRS rotation from veh to nav: [[-0.614859,-0.738025,-0.277970],[0.788041,-0.561254,-0.252955],[0.030676,-0.374584,0.926686]]BH``Cѿ7? k0пri? -׿`h?iB@IBi^;B}CYRbAyRj HbDmVDm 8yҼ%C=ٔXQ->9!I)=- Fy-'E=׼EE>YQ 5u4])Ᲊ?Q 94])]@Q A9YQ E9y@Q I?2Acoustic response timeout]cCI]ET EHE>E"E9*E[9VE4ZEBE:a2EaJET:a:EU:a) u 2Acoustic response timeoutYoя,衚E?A2D@29@29ٱ2~þ >AHRS rotation from veh to nav: [[-0.606070,-0.744992,-0.278687],[0.794795,-0.553426,-0.249040],[0.031300,-0.372434,0.927531]]2Hdѿn? Ͽ? ׿T?i2D@I2m^;2CYFUcAyF Haa aa aa aa ytV?:vˡER?T' 9Zd;O?/$?{GzY~j?y1>#fB ’B)BY=BbDVD8y=%J=ٔ+˺Q->9I= Fy)E'E>Q 54˲?Q 94)U@Q AT:Y-m?Q Ee:y@Q I ?CIU;i;?4y=BɮӐB*j)Bj)i)i)zi)Ji)i1 ks8ks8ks8hA ks8ks8ks8hY2fmT>:fmT>BfmGp?JfmqR@颁ɢh) Ji)!;顑iYgI)IQIiO>nManaging dock network, ignoring radio surface power offiIA2Acoustic response timeoutYEV E=E?E"E=:*E8VE^4ZEa@a@a@a@B A>B B HB dAB =B B B ;B )Eԉ oя,zE?A8>I?>y @>ٱ>¾ NAHRS rotation from veh to nav: [[-0.596691,-0.752170,-0.279642],[0.801807,-0.544650,-0.245890],[0.032644,-0.370939,0.928083]]>Hѿf?@mSyϿ?@w׿۲?i>I?I>+^;>}CYZcAyZ HdfAbDnVDn8yz9=%z[=ٔ~ lQ-~>9I= Fy,E E >%2Acoustic response timeoutQ 5=4շ?Q 9=4`)@YAyE@Q IE?CIV;iW;4yQɮUʐBY*jqBjqiqiyziyJiyiy k:k:k:h k:k:k:h2f:fBfJfQ@ɢ؁) ^Fi)DieIIIO%=ԑԹ2Acoustic response timeout D zD @AbEm4jEmH4rEmʒ/E  E BE =E "E *E (9VE |4ZE BE :a 2E :a JE L+:a :E O+:a joя,LUξE?A2Ng?2d @2% ٱ2¾ :AHRS rotation from veh to nav: [[-0.586407,-0.759430,-0.281767],[0.809289,-0.534554,-0.243522],[0.034318,-0.370834,0.928065]]2H@@M xҿ?+Ͽ"?@׿`?i2Ng?I2h^;0YBcAyB HbDNVDLyV^;%VO=ٔVQ-V>9XIX=Z FyZ.E^E^>|Q 5 4?Q 9 44)@Y y2@Q I?CI:i: 4y$BɮBβE*j1Bj1i1i1zi1Ji9i9 k9k9k9hQ k9k9k9h2f:fBfJfP@ɢ(3) Ei)QOi'cIIyIO=52Acoustic response timeoutA  2Acoustic response timeoutoя,0E?Aɰ4<2R?2f @2Tٱ2¾ :AHRS rotation from veh to nav: [[-0.574755,-0.767220,-0.284659],[0.817533,-0.523027,-0.241004],[0.036019,-0.371236,0.927840]]2H`dd @7ҿ :)?8οq?V׿ܰ?i2R?I2^;2|CYBcAyB- HXX X)\I\i\\bDfVDf 8yjS=%nG=ٔnQ-n>9pIp=r Fyr1ErEv>tQ 5z4vÍ?Q 9~4v)vC@Y|y~G@Q I~?vCIv;iv;v4y !Bɮ B YET EEEE"E9*EA9VEZEa@a@a@a@*jBjiiziJii k#;k#;k#;h!B]<A]<Be?>BeJCBe HBe+eABaBaBaBe;Be+E2fy:fyBfyJf}O@颹ɢ*) @i)]YiRbIԉA%$AI)I9Ou6>=2Acoustic response timeoutԱ }oя,_ E?Ar?r @rJUٱrþ %AHRS rotation from veh to nav: [[-0.562438,-0.774777,-0.288761],[0.825958,-0.510346,-0.239458],[0.038158,-0.373185,0.926972]]rH {ҿ?n?Tο`r?@C׿?ir?Irf^;r~CYUIdAyU` HԹiߑIߑ2Acoustic response timeouty|?5^?I +`"2?9 9)\(?Mb?+ÿYGA?y>eB B)BY8BbDVD8y6+=%,=ٔ Q- >9MH?IUH?=U FyU4EUEU>YQ 5e4]@z?Q 9e4]Z)]@YuH?Q E}:y}@Q I?]LCI] ;i]!<](4yɮB*jBjiiziJii k"k"k"h k8k8k8h12feJg>:feJg>Bfev?Jfee[@颁EQ EBE<E"E29*E(9VE 4ZEBE:a2E:aJEa:Eaɢa{) j;i)/di`IA5AI9IQO|>>>M 2Acoustic response timeoutA oя,E?A6g?6q @6շ#ٱ6[ľ BAHRS rotation from veh to nav: [[-0.548341,-0.783445,-0.292467],[0.835300,-0.496414,-0.236321],[0.039960,-0.373882,0.926615]]6H ȷҿƺ?>߿?οu?@׿Ԧ?i6g?I6+^;4YFA2Acoustic response timeoutE E?E;E"E*E?9VE4ZEa@a@a@a@B]@>BYB]6 HB]eAB]=BYBYB]ܿ;B]EԉԹ Koя,5E?AFt8?F@F*ٱFxž bAHRS rotation from veh to nav: [[-0.533358,-0.791655,-0.298015],[0.844863,-0.481202,-0.233774],[0.041663,-0.376467,0.925493]]FHC;Uӿ ?`޿RͿ@T? ؿ?iFt8?IFk^;F{CYjdAyj H2Acoustic response timeoutbDEVDE8y=%F=ٔQ->9I= Fy9E0E>Q 54\?Q 94T)ٹ@Yy @Q I?CIN:i$:G)4yɮB*jBjiiziJii kkkh k#9k#9k#9h2f :f Bf Jf @Y@!ɢ-)) -4i))-Bv)ԑiZ^IAIIO5.>Թ Wj>ȑCM(GiͿ9YA2Acoustic response timeoutE S E HE AE "E 9*E [9VE A4ZE BE :a 2E :a JE T:a :E U:a  oя,ZOE?A2]?2lf@2p1ٱ2cǾ :AHRS rotation from veh to nav: [[-0.517786,-0.799429,-0.304648],[0.854413,-0.465198,-0.231450],[0.043307,-0.380137,0.923916]]2H഑`Yӿ ZW?ݿ+ͿM,?@*Tؿැ?i2]?I2b^;2}CYBdAyB HDDbDEVDE8y$ <%J=ٔ]Q->9I= Fy;EA9E>Q 54M?Q 94)Ƿ@YyW @Q I?CI:i|:V04yBɮlBòE*jBjiiziJii k k k h k6k6k6h2f :f Bf Jf ϸW@)ɢ-H)) -4i))5^11i5q:]9I92Acoustic response timeoutAaIqIO>I  2Acoustic response timeoutBoя,xiE?A2w?21@2u%7ٱ2ɾ >AHRS rotation from veh to nav: [[-0.501564,-0.807570,-0.310265],[0.863965,-0.449043,-0.227870],[0.044699,-0.382349,0.922936]]2H aӿ?ܿ*Ϳ?`ixؿ`?i2w?I2wz^;0YFdAyF HbDRVDR)8yZ><%ZY=ٔ^!rQ-^>9`I`=b Fyb>EfFLEf>hQ 5r4j??Q 9r4ju)jڵ@Ypyv @Q Iv?jCIj);ija';j64yxɮzfB|*jBjiiziJi!i! k"k"k"hA2fQEP EAE<E"E9*E 9VE 4ZEa@a@a@a@AA@ABB>BKCB HBHfAB=BBB;BE:fQBfQJfUnV@1ɢ5)Q U<1iY)];GYYi]0\aIaIAIIO%>y2Acoustic response timeoutԡ oя,W^E?A@V;ɰV;e2?eV@e׮:ٱeɾ AHRS rotation from veh to nav: [[-0.484878,-0.815827,-0.315151],[0.873394,-0.432917,-0.223081],[0.045561,-0.383418,0.922451]]eH<߿ A@m+Կ?`ۿ@̿S?ؿ ?ie2?Ie b^;ezCYdAy Hu2Acoustic response timeoutymV-?9I= FyAEd(E>Q 543?Q 94E)@Y?Q E:yg@Q I?CI:if:?4yɮdB*j Bj i iziJii k!k!k!h) kc;kc;kc;h92fMV>:fMV>BfM @JfM@ԡɢR) !0i)Ii4[IET EBE:E"E9*E(9VE(4ZEBE:a2E:aJEL+:a:EO+:aI!I1OuX> % %=% =- 2Acoustic response timeout&oя,.E?A2ٚ?2)@2<]<ٱ2ӵɾ :AHRS rotation from veh to nav: [[-0.468356,-0.823886,-0.319146],[0.882343,-0.417349,-0.217465],[0.045971,-0.383447,0.922418]]2HݿF] lԿ' 2Acoustic response timeout9ES E@EBE"E9*E9VE5ZEa@a@a@a@BBB HBfABBBB;BBBBB=BCǖ4a Coя, E?A2I9Q-n>r2Acoustic response timeout9tIt=v FyvEEz;Ez>9|Q 5]4~!?Q 9e4~$)~߯@Yaye@Q Ie?~>CI~)fE =E "E *E 9VE |4ZE BE :a 2E :a JE 9a :E $9a oя,пE?A2p?2u@2zX;ٱ2A0ʾ :AHRS rotation from veh to nav: [[-0.436334,-0.838012,-0.327642],[0.898622,-0.387350,-0.206005],[0.045723,-0.384313,0.922070]]2Hۿ @Կ?Vؿ_^ʿ@h?ؿ?i2p?I2 ^;2CYNeAyR HbDZVDZ$8yvs=%vI=ٔvL9Q-v>9xIx=z FyzHEz0E~>Q 54?Q 9 4)@Y y @Q I ?]CIB:i9:HS4yɮUB*j1Bj1i1i1zi9Ji9i9 kkkhQԙ k39k39k39h2fA:fABfAJfE@@颱ɢ)  (i)WS项i,4XIIQIaO=2Acoustic response timeout  2Acoustic response timeoutI1oя,#E?AN?N2a@N.:ٱNNɾ ZAHRS rotation from veh to nav: [[-0.421098,-0.845102,-0.329361],[0.905876,-0.373670,-0.199398],[0.045439,-0.382327,0.922909]]NH`Fڿ@ @Aտ?`4׿@݅ɿ@C? xؿ y?iN?INk^;N~CYfeAyfB H9=A AEp;EeU EeCEaEa"Ee:*Ee09VEaZEaam@am@am@am@bDMVDM-8BC>BBHBgABBBB˿;BEy=%>=ٔ,:Q->9I= FyKE E>Q 54R?Q 94)«@Yy@Q I?}CIN!2Acoustic response timeoutQԁ pя,ӥE?A??3&:ٱuȾ %AHRS rotation from veh to nav: [[-0.406509,-0.851187,-0.332009],[0.912516,-0.360181,-0.193864],[0.045431,-0.381771,0.923140]]H ?ڿ<@?տU3?`5 ׿ȿB?`nؿ[?i?I^;|CY5fAy5p HY}2Acoustic response timeoutyx&1?~jtMbP?D 9\(\?kt?:vY?y =T !B)BYbDVD#8yc)=%:=ٔo7Q->9I= FyMEE>Q 54&?Q 94)@Y?Q E:y@Q I?CI6;i ;{b4yɮ*B*jBjiiziJii kc:kc:kc:h1 k3Tk3Tk3ThA2fU>:fU>BfU4@JfUR@qɢu) )q uiy)}lyyi}VVIbE|4jE4rEl0EmV EmAEm?Ei"Em=:*Em 9VEm^4ZEiBEm:a}2Em:a}JEm:a}:Em:a}yAIIOF>ԩ 2Acoustic response timeout 5Cpя,vE?Aɰ2?2;?2:ٱ2jǾ :AHRS rotation from veh to nav: [[-0.391993,-0.857386,-0.333512],[0.918840,-0.346929,-0.188080],[0.045552,-0.380170,0.923794]]2Hkٿ@o@Xտ@"g?@4ֿ@ȿR?`Tؿ ?i2?I2:h^;2}CYBfAyBx HbDEVDE8y~<%b=ٔۯQ->9I= FyPE^3E>Q 541?Q 94h)e@Yy@Q I?CI:i1:h4yɮ(B*jBjiiziJii k8k8k8h kVkVkVh2f :f Bf Jf 4@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n-PAggregate::uninitialize marl:UpdateSpeedaɢm#Ӆ)i mii)mnqqiucUyIyԱA$AIIO )>e2Acoustic response timeoutE}Q E}?E}>Ey"E}29*E}?9VE}4ZEya@a@a@a@BD>BBbHBgABBBB;B,E) 9 ~m pя,Q8E?A2?2?2<ٱ2bǾ :AHRS rotation from veh to nav: [[-0.377830,-0.863021,-0.335318],[0.924726,-0.333707,-0.183089],[0.046112,-0.379254,0.924143]]2H_.ؿ ߝuտZ?@u[տ woǿ?Eؿ@?i2?I27S^;2~CY@y@ DDbDNVDN 8ٔV`úQ-V>9ZH?IZH?=Z FyZRE^T'E^>i`I`f2Acoustic response timeoutlQ 5r4n?Q 9r4n)n@Ytyv@Q Iv?nCIn:in:npo4yxɮxx*j Bj i i zi Jii kTkTkTh) kjkjkjh12fI:fIBfIJfMI@sUNUpdating rudder angle 6.875493 arcdeg 9UrU6Completed marl:UpdateRudder19U rURAggregate::uninitialize marl:UpdateRudderɢ) i) iuT!IQAAIIO&>9u2Acoustic response timeouti D zD E X E CE <E "E ~ :*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a 8Upя,g,RE?A 6a?6گ?6\@ٱ6jIƾ BAHRS rotation from veh to nav: [[-0.363142,-0.869046,-0.335987],[0.930545,-0.320063,-0.177894],[0.047061,-0.377252,0.924914]]6H=׿ 9πտ`?{Կ<ƿd?$ؿ?i6a?I6g^;6zCYJfAyJ HbDVVDV8yZ=%^<ٔ^|Q-^>9bK?IbK?=b FybUEfEf>hQ 5j4j籉?Q 9n4jA)j@Ylyr@Q Ir?jCIj&;ij5;jwv4yzBɮzB|*jBj!i!i)zi)Ji)i) k3Rk3Rk3RhQ2fq:fqBfqJfu5@颙ɢh) i)N顩iSqIyi2Acoustic response timeoutA$AI IOU2>i9I9ԙ  2Acoustic response timeoutpя,lE?AB?B?BEٱBƾ NAHRS rotation from veh to nav: [[-0.347856,-0.874503,-0.337995],[0.936305,-0.305482,-0.173242],[0.048250,-0.376730,0.925066]]BHGCֿտ6?ӿ,ƿ*? Xؿ`#?PiB?IBT^;B|CYVfAyV Hpp p)pIpippbDzVDz8yF<=%F=ٔ}9 H?I H?=  Fy WE"E>A9A9BABABEHBEgABABABEDBE;BEBEEeV EeAEe=Ea"Ee=:*Ee 9VEe|4ZEaBEe:2Ee:JEe::Ee:Q 54Wޱ?Q 94H)g@Yy@Q I?CI$:i:}4yЫBɮBE*j9Bj9i9i9zi9JiAiA k#Qk#Qk#Qhq2f:fBfJf@ɢs) i)󷮼iRIAEAIIIYO:>2Acoustic response timeout! U Gq 9 Y Ayh!pя,E?AZz?Zf?ZIٱZ%ƾ fAHRS rotation from veh to nav: [[-0.331736,-0.879643,-0.340852],[0.942087,-0.290052,-0.168349],[0.049222,-0.376959,0.924921]]ZH);տ&տ %? 7ҿtſ3? ؿ?iZz?IZwn^;ZCYn$gAyn!HpptvA|-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 567.94, 772I, +89, -768, -2, -10,A a-@a- a-@a- a-@a- a-@a- bD5VD58yEM=%EF=ٔMQ-M>9MK?IMK?=M FyUZEU,*EU>YQ 5e4]Wձ?Q 9e4]D)]@Q Am+:YiQ Em:ym~@Q Im?]9CI]:i]>]4yqɮB*j!Bj!i!i!zi!Ji)i)=2Acoustic response timeout k5k5k5hY颡ɢcw)  i).YihRI)EuW Eu@Eu>Eq"Eu :*Eu9VEu4ZEqa}@a}@a}@a}@AI)I9Ou6>Q 2Acoustic response timeoutԁ b'pя,E?A69?6B%?6 Nٱ66ƾ >AHRS rotation from veh to nav: [[-0.315084,-0.884378,-0.344381],[0.947731,-0.273971,-0.163543],[0.050284,-0.377911,0.924476]]6HV*Կ@L W ֿS?@ѿ@Ŀξ?/ؿM?i69?I6T^;6|CYFgAyF\HbD VD 8yEl=%MJ=ٔMu,Q-M>9IIQ=U FyU\EU2EU>YaQ 5m4e̱?Q 9m4eT)e@Q Am :YqQ Euc:yu?Q Iu?eYCIe;ieL?e,4y}ͫBɮ}ݎB*jBjiiziJii k4k4k4h颙ɢZs) i) ε顡iQIԉA!I)I9M2Acoustic response timeoutO8>B=C>B9B=HB=hAB9B9B=DB9B=AEE}R E}AE}@Ey"E}s9*E} 9VE}4ZEyBE}y:a2E}~:aJEya:EyaԱ k-pя,휹E?A4<ɰ2?2?29Rٱ2Ǿ :AHRS rotation from veh to nav: [[-0.297918,-0.888472,-0.349087],[0.953212,-0.257230,-0.158809],[0.051301,-0.380066,0.923536]]2H ӿ ]n@rWֿ ?rvпSĿ.D?Sؿ`?i2?I2u^;0R2Acoustic response timeoutYV~gAyVYHbD%VD%8ye*P%eH=ٔm#Q-m>9iIi=m Fyu_Eu5Eu>yQ 54}ı?Q 94}L|)}p@Q A9YQ E7:y]?Q I?}yCI}:i}?}4ԹyɮގB*jBjiiziJii k3k3k3h k#:k#:k#:h)ɢ-"v)) -i))5=11i5zQ9I9AE$AIQIaO>U=U4=]2Acoustic response timeoutE U E BE ?E "E :*E (9VE ^4ZE a @a @a @a @A x4pя,tE?AJt?Jj?JFRTٱJ]Ⱦ ZAHRS rotation from veh to nav: [[-0.279849,-0.892900,-0.352724],[0.958645,-0.240069,-0.152863],[0.051813,-0.380916,0.923157]]JH@ ѿ@ֿ7?οÿ=?@`ؿ`?iJt?IJW^;J{CYfgAyfHU=U=bD]VD]8y"=%F=ٔQ->9H?IH?= FybEC;E>Q 54?Q 94"v)ɥ@Q A9YQ E:y?Q I?CI:iY?4yɮՎB*jBjiiziJii kSAkSAkSAh kSAkSAkSAh!IɢM]p)Q UiQ)UYYi]QYIaIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutAAIIO!>Aie pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITe 2Acoustic response timeoutԙ 5:pя,NE?A2$?2A?2Vٱ2Q*ɾ :AHRS rotation from veh to nav: [[-0.262166,-0.896650,-0.356774],[0.963608,-0.223224,-0.147071],[0.052230,-0.382347,0.922541]]2H@Sп[bֿ ?̿7¿`? axؿ`u?i2$?I2H^;2|CYBhAyBHbDNVDN 8yVV=%V\=ٔZQ-Z>9ZK?IZK?=Z FyZdE^%KE^>`Q 5f4b?Q 9f4bp)b3@Q Af9YhQ Ej9yj?Q Ij?bCIbv:ib?bS4BrB>BpBruHBrLiABpBpBpBr;Br5EBBBBBC=4yBɮB*jBjiiziJi!i! k39k39k39h1EEQ EEDEE=EA"EE29*EEa99VEE|4ZEABEE:aU2EE:aUJEEkH:aU:EEmH:aU kC9kC9kC9h9aɢebl)a eii)miiimHPqqIyAIIO*>ԡzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout ߴApя,_(E?A:7?:?:Vٱ:ɾ FAHRS rotation from veh to nav: [[-0.244491,-0.900169,-0.360444],[0.968243,-0.206616,-0.140765],[0.052238,-0.383413,0.922098]]:H~KϿ /׿`?erʿ¿?`׉ؿԁ?i:7?I:MW^;:~CYJ?hAyJHaa a%a% a%a% a%a% y%5^I ?&1?V-?%X?%P=%%xi=!%eB %B)%مB!Y!bD=VD='8ym<%m?=ٔuQ-u>9qIq=u Fy}gE}.E}>Q 54p?Q 94h)@Q AT:YOD?Q E:y@Q I?CI:i:И4yBɮBE*jBjiiziJii k9k9k9h2Acoustic response timeout k9k9k9ha2fu>:fu>Bfu< @Jfu.@颩ɢ>j)  i)GEüiPIEUU EUBEU:EQ"EU:*EU(9VEU(4ZEQae@ae@ae@ae@AE$AIIIYIyFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO>>)  2Acoustic response timeout\Gpя,!E?A06?6 ?6)Tٱ6ɾ >AHRS rotation from veh to nav: [[-0.228368,-0.903391,-0.362949],[0.972188,-0.191715,-0.134518],[0.051940,-0.383575,0.922048]]6H ,;Ϳ:׿*? ȿ`7ԗ?@|ؿ@k?i6?I6Ge^;6{CYvrhAyvH )!I)i)1IMAbDUVDU<8ymt<%mK=ٔmVB:Q-m>9uH?IuH?=u FyuiEu(E}>Q 54 ?Q 94a)@Yy@Q I?CI-:i:ݟ4yɮB*jBjiiziJii k8k8k8h k8k8k8h2f:fBfJfѦ@ ɢ [m)  i);Ƽi>PIԑAEAIQIaO>-2Acoustic response timeoutԹBA>BJCBHBiAB=BBB;B&EEY E]?E]=EY"EY*E]?9VE]|4ZEYBE]:am2E]:amJE]=9am:E]B9am Npя,r:E?A2?2j?2}MQٱ2Rɾ :AHRS rotation from veh to nav: [[-0.213648,-0.906255,-0.364770],[0.975575,-0.178402,-0.128168],[0.051077,-0.383243,0.922234]]2H`X˿ @cX׿@7?ƿg&? ؿ?i2?I2T^;2yCB2Acoustic response timeoutYFhAyFHbDR"VDRH8yZq =%ZW=ٔZ;Q-^>`9^K?IbK?=b FyblEfO"Ef>hQ 5j4j?Q 9n4jZ)j`@Ylyn@Q In?j-CIj;ij;j4ytɮvBt*j|Bjiizi Jii k39k39k39h kWkWkWh2f:fBfJf+@)ɢ-)f)) -i1)5XMɼ1QiUOYIYAaIqIO>52Acoustic response timeoutA bEɴ4jErEɟ/Em T Ei Em >Ei "Em 9*Ei VEm 4ZEi au @a} @a} @a} @Tpя,dTE?Aɰ4<:U?:?:Mٱ:aɾ BAHRS rotation from veh to nav: [[-0.199714,-0.909062,-0.365678],[0.978570,-0.165940,-0.121923],[0.050155,-0.382191,0.922721]]:H ;ɿ@ Eg׿qP?=ſZ6?uؿ`?i:U?I:^;:~CYJ#iAyN\HbDVD+8y]=%]?=ٔe ;Q-e>9aIa=m FymnEm' Em>Q 54?Q 94R)ʦ@Yy>?Q I?XCI:in:/4yBɮpBE*jBjiiziJii k#<k#<k#<h kRkRkRh)2f9:f9Bf9Jf=@Yɢ]A_)a e۾ia)e1̼aaieͺOiIq2Acoustic response timeoutAAIIO-->iԙ = 2Acoustic response timeoutя,SnE?A:I?:)5?:9Jٱ:YUȾA@A@BF@>BDBF=HBFjABDBDBDBFܿ;BFE RAHRS rotation from veh to nav: [[-0.187293,-0.911554,-0.366048],[0.981064,-0.154862,-0.116327],[0.049351,-0.380904,0.923297]]:H`9ǿr+Um׿d?ÿǽ`D?`ؿ?i:I?I:Տ^;:|CYZiAyZHE%R E%@E%<E!"E%s9*E%9VE% 4ZE!BE%y:a52E%}:a5JE%.:a5:E%0:a5====ybDEVDE&8y=%H=ٔ;Q->9I= FyqE3E>Q 54}?Q 942K)(@Yy?Q I?CI:i:4y}BɮLBE*jBjiiziqJiqiy kc7kc7kc7h2f:fBfJf_O@!ɢ%,8W)! -:ξi))-ϼ)IiMLOQIQԩAaIiIyO>>2Acoustic response timeout sbpя,qE?A2/?2?2Fٱ2xǾ :AHRS rotation from veh to nav: [[-0.175926,-0.913815,-0.366050],[0.983209,-0.144800,-0.111056],[0.048481,-0.379441,0.923945]]2H࿄ƿ=[m׿@rv?̈¿`*n@vҨ?Hؿ?i2/?I2yf^;2}CYBiAyBHyʡE?S㥛?{Gz-R?/<ף 9%C?M?I +YZd?yn>9eB ’B)zBYBbDVD-8y<%H=ٔ ;Q->9I= FytEE>Q 54t?Q 94A)@YVg?Q Ej:yX?Q I?CI2;iB2;E4yɮFB2Acoustic response timeout*j Bj i i ziJii k5k5k5h) k5k5k5h92fMH >:fMH >BfM%‚?JfM-@ɢY) yȾi)Ѽi POID-<D-<E=U E=EE=?E9"E=:*E=A9VE=^4ZE9aE@aE@aE@aE@ A!I9IIOC>1 2Acoustic response timeoutY -hpя,IME?A2^?24J?2Dٱ2"7ƾ :AHRS rotation from veh to nav: [[-0.164894,-0.916278,-0.365026],[0.985143,-0.135000,-0.106148],[0.047983,-0.377106,0.924926]]2H=ſ&R@\׿K? G@,*?"ؿ?i2^?I2^;2~CYbjAybHbDnVDn%8yr`=%vX=ٔv :Q-v>9xIx=z FyzvEz/E~>Q 54k?Q 9 4c9)]@Y y ?Q I ?CI:i:€4yzBɮ8BE*jBjiiziJii k6k6k6h k6k6k6h2f :f Bf Jf )8-@1IɢMXkV)I UڽiQ)U4ӼQQiUOYIaAII 2Acoustic response timeoutO'>aB?>BBHB]kABBBBѿ;BEE=S E=CE=<E9"E=9*E=09VE= 4ZE9BE=:aM2E=:aMJE=9:aM:E=9:aMԑԹ Wnpя,(E?A22Acoustic response timeout6?6+?6dEٱ6#ež VAHRS rotation from veh to nav: [[-0.154420,-0.918257,-0.364635],[0.986830,-0.125353,-0.102239],[0.048173,-0.375620,0.925521]]6H@ÿ\b-V׿? Q,+? * ؿݝ?i6?I6T^;6{CYZjAy^:H`bAbDfVDf(8yn=%rK=ٔrxQ-r>9tIt=v FyvyEv׼Ez>xQ 5~4zb?Q 94z:0)z@Yy?Q I?z CIz;iz;zɀ4y ɮ)B*j!Bj!i)i)zi)Ji)i) k8k8k8hA k8k8k8hQ2fa:faBfaJfec,@ɢAgM) ]i)Rּ  i !N Iԑ -j>-͑C_G9YAI1IAO>hDAT read: Forwarding Delay UpTx time:18:29:26.8038 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING%2Acoustic response timeoutDE ?AzDE AAEM T EM AEM =EI "EM 9*EM  9VEM |4ZEI aU @aU @aU @aU @ ?upя,E?ANK?Nu7?NzNٱNþ VAHRS rotation from veh to nav: [[-0.133450,-0.922105,-0.363198],[0.989772,-0.105363,-0.096171],[0.050412,-0.372318,0.926735]]NH >׿`7? ϩ? ׿Ч?iNK?INO^;N|CY^jAy^EHbDjVDjB8yr /<%rJ=ٔvQ-v>9tIt=v Fyv{EzVEz>|Q 54~^Z?Q 94~&)~@Y y ?Q I ?~8CI~p:i~g:~Ѐ4ycBɮBE*j)Bj)i)i)zi)Ji1i1 k#;k#;k#;hI k3;k3;k3;hQ2fi:fiBfiJfm7+@颁ɢM) &i)u<ؼ顑i:OI}2Acoustic response timeoutIIO>I % 2Acoustic response timeouti{pя,E?AB<AB<>BB7HB(lABBBB¿;BE6;ɰ6p;dnɼ?ny?nr4WٱnWþ vAHRS rotation from veh to nav: [[-0.121739,-0.923559,-0.363620],[0.991172,-0.093734,-0.093767],[0.052516,-0.371825,0.926816]]nH`J*ʍ@E׿ ?@!@c?׿z?inɼ?In=^;n{CY~njAEV ECE:E"E=:*E09VE(4ZEBE:a2E:aJE9:a:Eay'HII I)IIIiIIbDmVDm78yZ%A=ٔQ->9I= Fy~EE>Q 54R?Q 94-):@Yyh?Q I?iCIL^;i7_;p؀4yɮB*jBjiiziJii  k9k9k9h)2f:fBfJfn*@ɢTK)  i)ڼi4*O I iIIO2Acoustic response timeoutԙ Qpя, E?ABo?B?Bu4`ٱBD>ľ JAHRS rotation from veh to nav: [[-0.108329,-0.924186,-0.366259],[0.992608,-0.080280,-0.091014],[0.054710,-0.373411,0.926051]]BHn`p׿r?8`L?׿6?iBo?IBU^;B|CPYVQkAyVHymQ?%I=ٔQ->9I= FyEE>Q 54N?Q 94b)$@YV?Q E}:y?Q I?CI ;i ;}߀4y`BɮBE2Acoustic response timeout*jBjiiziJii k k k h k39k39k39h2f%>:f%>Bf%D?Jf%^@AɢEC)I M͕iI)MtܼIIiMƃOQIYI9IIOu=ES EAEAE"E9*E 9VEA4ZEa@a@a@a@i߉ I߉  2Acoustic response timeout! {pя,!#E?AB ?Bk?BShٱBOž NAHRS rotation from veh to nav: [[-0.092691,-0.924636,-0.369400],[0.994080,-0.064813,-0.087204],[0.056690,-0.375296,0.925170]]BH?׿?@Sz?ؿ?iB ?IB?^;@YRkAyVH|bD-4VD-X8yex=%mM=ٔm颻Q-m>9qIq=u FyuEu!E>Q 54K?Q 94o )@Yy?Q I?CIp:i:4yIBɮЍBE*j Bj i i ziJii k k k h) k9k9k9h92fI:fIBfIJfM@iɢm:)i m3ii)me޼qyi}rPyIII O=)2Acoustic response timeoutB%9>B!B%HB%lAB!B!B!B%п;B%EBJCBJCBB=B=CO 4YEMP EM>EM9EI"EM9*EM9VEM4ZEIBEMe:a]2EMj:a]JEM9a]:EM$9a]ԁ pя,b=E?A2Acoustic response timeoutF?F#?FqٱFAǾ RAHRS rotation from veh to nav: [[-0.075975,-0.924336,-0.373939],[0.995374,-0.048190,-0.083115],[0.058806,-0.378524,0.923721]]FH s`)׿?V G`?@9ؿ ?iF?IFXd^;DYVkAyVHbDVDE8Qy]=%]J=ٔ]Q-e>9aIa=e FyeEmm*Em>Q 54I?Q 94)@Y1y5?Q I5?CIwԩJ??2Acoustic response timeout E5 U E5 BE1 E1 "E5 :*E5 (9VE1 ZE1 a= @a= @a= @a= @덕pя,KWE?A2y?2?2xٱ2Ǿ :AHRS rotation from veh to nav: [[-0.058364,-0.924445,-0.376822],[0.996459,-0.031063,-0.078132],[0.060524,-0.380048,0.922985]]2H᭿ ؿ?Οw ?Rؿ?i2y?I2"E^;0YBlAyB*HbDvVDvD8yz~<%~Q=ٔ~fQ-~>9H?IH?= FyE j9E >Q 54G?Q 94P)@Yy%Q?Q I%?CI ;i;T4y)ɮ-ƍB)*jABjAiIiIziIJiIiI kVkVkVha2fq:fqBfqJfury @频ɢ E:) zi)顙iϝQIԹ]2Acoustic response timeoutAAIIi I I)OU> 2Acoustic response timeoutA B= 7>B= ICB= 1HB= mAB= =B9 B= ~DB= Ͽ;B= Epя,$qE?A2O;?2&?2L}ٱ29Ⱦ :AHRS rotation from veh to nav: [[-0.039676,-0.924708,-0.378603],[0.997300,-0.013212,-0.072243],[0.061801,-0.380447,0.922736]]2H@\P 6`;ؿ?~ m?@=Yؿ ?i2O;?I2/^;0YBrlAyBdHbDV7VDV[8yfk=%fM=ٔjRQ-j>9jK?IjK?=n FynEv?Ev>|Q 54~F?Q 94~)~ @Yy?Q I?~>CI~AAe2Acoustic response timeoutqԙ pя,E?A4<ɰ4<2cƯ?2۱?2Kրٱ2VȾ :AHRS rotation from veh to nav: [[-0.020527,-0.924717,-0.380101],[0.997811,0.004958,-0.065947],[0.062867,-0.380623,0.922591]]2H`HSؿ?Nt?@᰿`?\ؿ݅?i2cƯ?I2@^;0YBlAyBHy '1Z?1ZdZd;O? "? "۽ j<=  9 /$?Qsh|?Y 1(?y u   I^B $B) ݅B Y aBbD%,VD%Q8y5<%5D=ٔ='Q-=>99IA=E FyEEE.=EE>IQ 5U4MG?Q 9U4MQ)M@2Acoustic response timeoutY)?Q E:y?Q I?MaCIMR:f#>Bf0V?JfC@ɢ-) Vi){iSIbEuC4jEu4rEuϚ0E EGE@E"E*ER9VE4ZEa@a@a@a@A!I)I9Ou6>ԡm 2Acoustic response timeout ɨpя,ܤE?A6VF?61?6kٱ6tLȾ BAHRS rotation from veh to nav: [[-0.001034,-0.924474,-0.381245],[0.997996,0.023164,-0.058877],[0.063262,-0.380542,0.922597]]6H`PIQfؿ@?W?#% 1?Zؿ?i6VF?I6-^;6zCYFlAyJH`` `)`I`i``f>f=bDj%VDjJ8yr*=%vO=ٔvfQ-v>9tIx=z FyzEz)KEz>|Q 54~I?Q 9 4~y)~J@Y y b?Q I ?~CI~-:i~:~w 4yɮB*j1Bj1i1i1zi1Ji1i9 k9k9k9hI kUkUkUha2fq:fqBfqJfu@19u ruNAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颡ɢ,) Ei)Ż顩i7TIIQIaO>2Acoustic response timeoutB5>BBHBanABBBB;B EEUT EUCEU<EQ"EU9*EU09VEU 4ZEQBEU:ae2EU:aeJEU9:ae:EU9:ae1 Q pя,z¾E?A22Acoustic response timeout6Ȫ?6?6فٱ6Ǿ >AHRS rotation from veh to nav: [[0.018405,-0.924096,-0.381717],[0.997821,0.041171,-0.051559],[0.063361,-0.379936,0.922840]]6Hؒ?1 nؿ@&?@i?er8?Pؿ?i6Ȫ?I6fG^;6yCYjXmAyjHbDvVDv(8y~=%~I=ٔ~€Q-~>9I= FyE DE > Q 54 K?Q 94 k) @Yy?Q I? CI ;i ; 4y)ɮ-B)*j9Bj9iAiAziAJiAiA ks9ks9ks9hY kVkVkVhi2fy:fyBfyJf}@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颡ɢ>") )i)顩iVI)IIO>Q2Acoustic response timeoutԁ E] V EY E] >EY "E] =:*EY VE] 4ZEY ae @ae @ae @ae @۵pя,ŒE?A@06d?6P?6u΁ٱ6y|Ⱦ >AHRS rotation from veh to nav: [[0.037018,-0.922777,-0.383553],[0.997305,0.058442,-0.044349],[0.063340,-0.380878,0.922453]]6H?b@#ؿ??⴦7? N`ؿ?i6d?I6/^;6zCYFmAyFHbD-VD-8y<%A=ٔkV8Q->9I= FyE4E>Q 54M?Q 94)@Yy?Q I?CI;i@:4yɮB*jBjiiziJii k:k:k:h k#Tk#Tk#Th2f!:f!Bf!Jf%J@AɢEͰ)A EiA)M2IIiMvWQIQII OE=iqIqu2Acoustic response timeoutԉԹ % 2Acoustic response timeoutB 3>B B HB ,oAB B B B ;B Epя,mE?AF ?F?F ٱFȾEbP EbGEb@E`"Eb9*EbR9VEb4ZE`BEbe:aj2Ebj:ajJEbt:aj:Ebt:ajl vAHRS rotation from veh to nav: [[0.055109,-0.921455,-0.384555],[0.996490,0.075061,-0.037054],[0.063009,-0.381164,0.922358]]FHF7? |ؿ??`.7?@V!? dؿ?iF ?IFK^;DYzmAy~3HAbDVD&8y=%D=ٔP:Q->9I=  Fy E 2E >Q 54zP?Q 94)@Y!y%+?Q I%?CI:i-:C4y-Bɮ-dB-tE*jABjAiAiAziAJiIiI k8k8k8ha kcTkcTkcThi2f:fBfJfn#@颙ɢ) ei)s顡iXII1IAO>2Acoustic response timeouti 2Ϳ9 Y ?AA 5pя,J E?A"> 6֣?6>¿?6Pٱ6~Ⱦ >AHRS rotation from veh to nav: [[0.072476,-0.920136,-0.384833],[0.995423,0.090832,-0.029710],[0.062292,-0.380918,0.922508]]6Hʍ?q`ؿ@?@@?Sl@? `ؿ/?i6֣?I6d4^;6}CY~mAySHa@a a@a a@a a@a 2Acoustic response timeoutbDVD%8y=%K=ٔ:Q->9I= FyE1E>Q 5 4S?Q 9 4)@Q A+:YQ E:y?Q Iu?CI[i$4yyɮ}^B*jBjiiziJii k8k8k8h ɢ ) i)ƸiT2Z!I!D=D%=EV EBE=E"E=:*E(9VE|4ZEa@a@a@a@IIIO]>q 2Acoustic response timeoutԡ pя,5$&E?A;ɰ2?2!?2{ٱ2Ǿ :AHRS rotation from veh to nav: [[0.088908,-0.919189,-0.383649],[0.994144,0.105644,-0.022727],[0.061421,-0.379382,0.923199]]2H@¶?`i`ؿ?y ?E r?Gؿي?i2?I2X^;2{CYBnAyBHbDNVDN8yV =%Vb=ٔV;Q-V>9XIX=Z FyZEZ:E^>`Q 5f4bV?Q 9f4b)ba@Q Af :YdQ EfR:yfٴ?Q If?b-CIb:ib1D?b)4ylɮnMB9*jIBjIiQiQziQJiQiQy k9k9k9h k9k9k9h^B*** querying acoustic contact ***XY ɢ  )  i)Kiaw[IIIO==ԡ2Acoustic response timeoutBm.>BmHCBm]HBmoABm=BiBiBmٿ;BmEES ECE>E"E9*E09VE4ZEBE:a2E:aJE9:a:E9:a #Bpя,?E?Ai I &2Acoustic response timeout>ʟ?>C?>yٱ>Bƾ FAHRS rotation from veh to nav: [[0.103915,-0.918540,-0.381426],[0.992727,0.119227,-0.016662],[0.060781,-0.376920,0.924249]]>H@/?dFiؿk???uؿs?i>ʟ?I>2^;>|CY^nAybHf=f=bDjVDj8yrx<%rF=ٔv:Q-v>9tIx=z FyzEz.Ez>|Q 54~Z?Q 94~)~@Q A 9Y Q E *:y ?Q I ?~PCI~:i~Ж?~,4yɮGB*j)Bj)i)i1zi1Ji1i1 k:k:k:h kVkVkVh9ɢ=N )A EiA)EAAiE\IIQAII O*>2Acoustic response timeout1D @AzD @AE V E IE E "E =:*E c9VE ZE a @a @a @a @Y *pя,]YE?A2U?2ܹ?2uٱ2ž :AHRS rotation from veh to nav: [[0.118253,-0.917090,-0.380739],[0.991171,0.132170,-0.010512],[0.059963,-0.376134,0.924623]]2H@E?@X@^ؿଷ??{?`ؿ?i2U?I2h^;2yCYZ|nAyZHbDfVDf 8ynN%nK=ٔnM;Q-r>9pIp=r FyrEvEv>xQ 5~4z^?Q 9~4zɲ)z@Q A~9YQ E :y?Q I?zrCIz" ;iz`?z/4y ɮ MB *j!Bj!i!i!zi!Ji)i) ks:ks:ks:hA kTkTkThQyɢ} t)y }iy)o顁iF^I9]2Acoustic response timeoutAAIQIaO>aԉ% 2Acoustic response timeoutAa Aa Bu '>Bu GCBu HBu rpABq Bq Bu }DBu ;Bu EB%ICB%ICB!B%=B%=C%˙ 5Թ PTpя,sE?A@ERU ER?ER<EP"ER:*ER?9VER 4ZEPBER:aZ2ER:aZJER<9aZ:ERA9aZb+?b,?bQsٱbž jAHRS rotation from veh to nav: [[0.131967,-0.915224,-0.380723],[0.989469,0.144669,-0.004799],[0.059471,-0.376080,0.924677]]bHK?I@]ؿ๩??ާsr?ؿ?ib+?Ib[1^;bzCYr/oAyrH11 1)1I1i19bDeVDe#8yu=%uA=ٔ :Q->9I= FyEE>Q 54c?Q 94})@Q A9YQ E9yX?Q I?CI.;i@24yBɮBjE*jBjii!zi!Ji!i! kc9kc9kc9h9ԑ颩ɢ) Pi)i_IԹ}2Acoustic response timeout0:DI1 IA O} > 9I= FyEoE>Q 54d?Q 94)9@Q AT:Y:f-]>Bf-9'@Jf-l@ɢ,) i)ir aIEW EFEE"E :*E;J9VEZEa@a@a@a@4IIOF>I m 2Acoustic response timeoutfpя,kE?A6?6~ش?6pٱ6Qž >AHRS rotation from veh to nav: [[0.157012,-0.911402,-0.380386],[0.985847,0.167557,0.005463],[0.058757,-0.375860,0.924812]]6H?4* >Xؿ?`r?i`v?n?ؿ?i6?I6@^;6xCYFoAyFwHbD  VD 38yV=%J=ٔp9Q->9I= FyEE>Q 54e?Q 94)T@Yy?Q I?CI;i;@4yɮ B*jBjiiziJii kkkh2f:fBfJf~@IɢM)I MX8iQ)UQYi]baIaI2Acoustic response timeoutB">BB>HBqAB=BBB ;B'EyU֣A_?A`?EU EDEE"E:*Ea99VEZEBE:a2E:aJEjH:a:EmH:aIII1OUu>ԩ _Opя,LE?A2Acoustic response timeoutɰ;6sR?6=?6qpٱ6ž< FAHRS rotation from veh to nav: [[0.169353,-0.909143,-0.380498],[0.983808,0.178927,0.010355],[0.058668,-0.376091,0.924724]]6HY?Zؿ`Z{?`?4?` ?`ؿU?i6sR?I60^;6zCYJpAyJHbDVD(8yEkD=%EN=ٔMl9Q-M>9III=M FyMEUnEU>YQ 5e4]g?Q 9e4]9)]m@Yaym?Q Im?]CI]:i]:]G4yqɮuBq*jBjiiziJii kckckch! kckckchQ2fa:faBfaJfeX}@颡ɢ) p;i) 顩iRdIԩIIOn>2Acoustic response timeoutbEUɴ4jEUɴ4rEU/E T E CE @E "E 9*E 09VE 4ZE a @a @a @a @ xpя,6"E?A6?6?6pٱ6ž >AHRS rotation from veh to nav: [[0.181677,-0.906801,-0.380403],[0.981612,0.190280,0.015220],[0.058582,-0.376173,0.924696]]6H-A? Xؿ@]i?[?+?k?6ؿ?i6?I6c^;4YF#pAyFHlbD VD 8yE ;%MJ=ٔM_9Q-M>9QIQ=U FyUEU3EU>aQ 5e4eni?Q 9m4ei)e@YiymM?Q Im?e.CIe:ie:eN4yuBɮ}B}`E*jBjiiziJii kckckch kS6kS6kS6h2f:fBfJf}@ɢ) \ B FCB HB qAB B B |DB ;B EDpя,~E?A265?2 ?2!qٱ2Hƾ :AHRS rotation from veh to nav: [[0.193234,-0.904292,-0.380678],[0.979387,0.201043,0.019569],[0.058836,-0.376613,0.924500]]2H?@@ ]ؿ`#W?Ż? ??`mؿ?i265?I2^;2{CEBW EBFEB9E@"EB :*EB;J9VEB4ZE@BEB(:aJ2EB-:aJJEBe:aJ:EBe:aJYRpAyRHbDZVDZ8y-O=%-L=ٔ-'Q-->91I1=5 Fy5E5h9E=>AQ 5M4Ek?Q 9M4E)E@YQyUʽ?Q IU?ETCIE:iE9:EU4yYɮ]،Ba*jqBjqiqiyziJii kkkh2f:fBfJfF|@ɢ&Ӽ) +=i)%!!i%ޜg)I)IIO=iE2Acoustic response timeoutԙ qя,E?A2?2t?2sٱ2Ož :AHRS rotation from veh to nav: [[0.206019,-0.902098,-0.379177],[0.976742,0.213106,0.023698],[0.059427,-0.375240,0.925021]]2H^?oDؿwA? G?6D?:m?`ؿř?i2?I2;w^;2~CY^cqAy^nH2Acoustic response timeoutԩyn?{Gzt?v/VN?ף;xi 9Zd;O?)\(?S㥛Y~*?yGa=$-cB B)BYbD VD 8y=%<=ٔqQ->9!I!=% Fy%E%yE->)Q 554-p?Q 9=4-(})-5@Y=U.?Q E=:y=Ǯ?Q I=?-yCI-e ;i- ;-8]4yEBɮMČBMaE*jYBjYiaiaziaJiaia k#k#k#hy kCkCkCh2f *>:f *>Bf3@Jfċ@9ɢ=ؤ)9 =ޱ=i9)EAAiEӹiAIiES EE?E"E9*EVE^4ZEa@a@a@a@AIIOM>M 2Acoustic response timeout g qя,W(E?A2?2(?2(uٱ2tľ :AHRS rotation from veh to nav: [[0.219912,-0.899362,-0.377871],[0.973684,0.226114,0.028492],[0.059817,-0.374193,0.925420]]2H&? /ؿk(?K?,?`d?׿ ?i2?I2s^;2wCYBqAyBHDDXX X)\I\i\\bDfVDf8yjL=%na=ٔnDQ-n>9pIp=r FyrEv Ev>xQ 5z4zu?Q 9~4zv)z@Yy?Q I?zCIzG;izBI;zc4yɮB*j1Bj1i1i9zi9Ji9iA k!k!k!hY2fq:fqBfqJfuI@!ɢ%)! - =i))-q))i-kQIY2Acoustic response timeoutB>BECBQHBrAB=BB{DB;BEAII!O=.>EW ECE:E"E :*E09VE(4ZEBE':a2E,:aJE9:a:E9:aQy ] 2Acoustic response timeoutߡqя,BE?A jGt|-먿9)Y-A5؎?5 Ī?52wٱ5Eľ EAHRS rotation from veh to nav: [[0.234056,-0.895942,-0.377500],[0.970341,0.239421,0.033396],[0.060461,-0.374121,0.925407]]5H?(ؿ ?V?E?@?׿`?i5؎?I5Q^;5zCYU!rAyUHbDmVDm!8y}=%}@=ٔ}ƺQ->9I= FyE E>Q 54z?Q 94o)@Yy ?Q I?CI:iy:k4yتBɮBWE*jBjiiziJii k k k h k#k#k#h2f:fBfJfъ@ɢ)! %H>i!)%!!ii%mIAIIOE0>ԑIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeoutE \ E FE ;E "E :*E ;J9VE 4ZE a @a @a @a @i I Aqя,i\E?A4<ɰ2nj?2?28zٱ2Ãľ :AHRS rotation from veh to nav: [[0.249678,-0.892026,-0.376762],[0.966391,0.254149,0.038694],[0.061237,-0.373760,0.925502]]2H@t? {@ؿ?C?ϣ?Z?׿?i2nj?I2R^;0YBrAyBHbD-VD-8y)o=%I=ٔQ->9I= FyEp"E>Q 54p?Q 94h)S@Yy?Q I?CI/;i:r4yɮB*jBjiiziJii k k k h k k k h2f!:f!Bf!Jf%J@AɢE_)A E >iA)MIIiM pQIQIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutAIIO!>) A AAA AAB >B DCB HB sAB =B B zDB ¿;B E pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout qя,CvE?AE6Y E6DE6>E4"E6:*E6a99VE64ZE4BE6;a:2E6;a:JE6jH:a>:E6lH:a>BУ?BF?B'~ٱBoľ JAHRS rotation from veh to nav: [[0.265782,-0.887623,-0.376145],[0.962030,0.269349,0.044159],[0.062118,-0.373599,0.925508]]BH`?hgؿ`?=?? ͯ? ׿ Ý?iBУ?IBh3^;B|CYRrAyR8H%=%=bD-VD-8yk<%G=ٔ Q->9I= FyE&E>Q 54?Q 94a)@Yy?Q I?CI;i;Ly4yɮB*jBjiiziJii! k!k!k!h1 k8k8k8hA2fY:fYBfYJf]@qɢu)y }*>iy)}cyyi}}rIQAIIO*>5zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYE2Acoustic response timeout #qя,!E?AJd[?JF?J%ӀٱJľ VAHRS rotation from veh to nav: [[0.282884,-0.882894,-0.374799],[0.957092,0.285443,0.049975],[0.062861,-0.372855,0.925758]]JH? @׿`?D?J??`׿`ϟ?iJd[?IJI^;JzC`Y~sAypH}2Acoustic response timeoutyV-?)\(Qh1?Ga 9L7A`?y&1|"~jY+?y`廙S]B B)BYBbDVD)8y_V=%>=ٔjQ->9I= FyEB*E>Q 54?Q 94[)@Y" ?Q E:y˘?Q I?!CI ;iu ;ˀ4yɮwB*jBjiiziJii kkkh kc7kc7kc7h 2fB>:fB>Bf6@Jf껊@9ɢ=z)A EA>iA)EAAiE AuIIQDu=Du<EU ECE8E"E:*E09VEF4ZEa@a@a@a@AyIIOB>- 2Acoustic response timeoutA \*qя,PE?A2=?2?2vٱ29þ >AHRS rotation from veh to nav: [[0.300558,-0.877691,-0.373260],[0.951654,0.301989,0.056191],[0.063402,-0.372103,0.926024]]2HVi)iw!I!I1BU>BUCCBUdHBUtABQBQBQBU;BUEB5ECB5ECiB5ĔCB5=B5=C5ħ5IA2Acoustic response timeoutO>EW EDE?E"E :*Ea99VE^4ZEBE':a2E+:aJEa:Eaԑ = 2Acoustic response timeout0qя,E?A29?2y?2-ٱ2Eþ :AHRS rotation from veh to nav: [[0.318556,-0.871997,-0.371677],[0.945745,0.318826,0.062577],[0.063933,-0.371446,0.926251]]2H:c?`e׿C?@g??]?׿أ?i29?I2TO^;2|CY^sAy^HfAfAbDj$VDjI8yr=%rI=ٔvݫQ-v>9tIt=z FyzƖEz@Ez>|Q 54~?Q 94~-R)~{@Y y ?Q I ?~UCI~p:i~$:~4yɮkB*j)Bj)i1i1zi1Ji1i1 kCkCkChI k7ԙk7k7h2f:fBfJf@ ɢ K)  `>i )`1i5fz9I9IIIAOU>2Acoustic response timeoutD zD E Z E GE DE "E :*E R9VE J5ZE a @a @a @a @ r7qя,E?A6(?6?6Mӂٱ68þ BAHRS rotation from veh to nav: [[0.336655,-0.865512,-0.370880],[0.939462,0.335431,0.069980],[0.063836,-0.371986,0.926040]]6H`? G@~׿@?w?6?W?@׿?i6(?I6,^;6yCYFsAyFHbDR VDRF8yZ^=%ZN=ٔ^9Q-^>9\I\=b FybȖEbEEb>dQ 5j4f?Q 9j4fM)f@Ylyn?Q In?fpCIfY;ifQ;f攁4yrêBɮrDBrNE*jBjiiziJii  kckckch k7k7k7h)2fA:fABfAJfE@Yɢeo)eY e~>ia)e&aiim}iIqI!I1Oe=2Acoustic response timeout!QBM >BM BCBM HBM uABM =BM %DBM yDBM ;BM E 2Acoustic response timeouty ~>=qя,E?A;ɰE&V E&HE&?E$"E&=:*E&[9VE&^4ZE$BE&:a*2E&:a*JE&S:a*:E&T:a.^3}?^:?^ٱ^ľ fAHRS rotation from veh to nav: [[0.354922,-0.858439,-0.370287],[0.932718,0.352157,0.077609],[0.063777,-0.372918,0.925670]]^H@ ?@UxȲ׿@??(޳? S?׿ ?i^3}?I^^;^xCY~@tAy~1H)) 1)1I1i11bDEVDEA8yM"=%UA=ٔUF9Q-U>9YIY=] Fy]˖Ee<Ee>aQ 5m4e?Q 9u4eG)e@Yqyu ?Q Iu?eCIe :ie;eN4yɮ;B*jBjiiziJii k5k5k5h k5k5k5h2f:fBfJfK@ɢN) >i)߼iI QII)IAIM>Om=ԁ2Acoustic response timeoutԩ 'Dqя,lE?AB$x?B?B᪂ٱBwľ JAHRS rotation from veh to nav: [[0.373281,-0.851038,-0.369317],[0.925525,0.368978,0.085202],[0.063759,-0.373616,0.925389]]BH?;@׿?`U?ϵ?R?T׿`ʜ?iB$x?IB1.^;B{CYRtAyRzH]2Acoustic response timeoutym~jt?~jt?V-?m;?m=mm=i i9mL7A`?X9v?Cl?Yiym9I= Fy͖ECE>Q 54?Q 941B)\@Y? ?Q E:y?Q I?CIC ;i ;4yɮ,B*jBjiiziJii k9k9k9h k9k9k9h2f%oX>:f%oX>Bf%?K@Jf%@9ɢE3߻)A E>iA)EݼIIiM/IIQԱII bEjE|4rE0EQ EUDEU=EQ"EQ*EUa99VEU|4ZEQae@ae@ae@ae@Om=i I  2Acoustic response timeoutA _RJqя,J+E?A Fcs?Ft?FٱFRľ VAHRS rotation from veh to nav: [[0.391555,-0.843491,-0.367706],[0.917981,0.385533,0.093136],[0.063204,-0.374015,0.925267]]FH=? ~׿`??׷?.?׿ț?iFcs?IF4^;DY^+uAy^HbDE VDEF8y=%H=ٔ.:Q->9I= FyЖEFE>Q 54h?Q 94<)@Yyq?Q I?CI;i:4yƪBɮ B*jBjii zi Ji i  k8k8k8h! k8k8k8h12fQ:fQBfQJfU@19e reNAggregate::initialize marl:UpdateRudderq9eJ]aq9m9m7momXAggregate::initialize marl:UpdateCommandMode18u]q18uo}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颱ɢH}) >i)Eۼ项i7I)B>BACBwHBRvAB=BBxDB;BEm2Acoustic response timeoutEY E]GE]<EY"EY*E]R9VE] 4ZEYBEYam2E]:amJE]t:am:E]t:amԑU(AYzA]pAAa Ii I ԁ O > 2Acoustic response timeout8Qqя,EE?A0>`n?>&?>S~ٱ>ž FAHRS rotation from veh to nav: [[0.409311,-0.835719,-0.366112],[0.910277,0.401370,0.101482],[0.062136,-0.374801,0.925021]]>H(2? 6_n׿@ ?@ ??`JЯ?׿ř?i>`n?I>R4^;9iIi=u FyuӖEu;JEu>yQ 54}c?Q 94}7)}@Yy?Q I?}CI}:i}_:}4yɮB*jBjiiziJii kCEkCEkCEhA kVkVkVhq2f:fBfJfYS@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢe) ]>i)ټiTɄ1I1ԉ &ּI I!OMS>Թu=u%=hDAT read: Forwarding Delay UpTx time:18:29:40.9523 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutEm W Em FEm @Ei "Em :*Em ;J9VEm 4ZEi a} @a} @a} @a} @ pbWqя,^E?A2Bi?2Ԍ?2Nyٱ2;ž :AHRS rotation from veh to nav: [[0.426504,-0.828195,-0.363577],[0.902438,0.416678,0.109474],[0.060829,-0.374797,0.925109]]2HK?`D׿?۪??`$?@׿~?i2Bi?I2 ^;2zC\YbhuAybHbDEVDE)8yHP<%H=ٔ`R;Q->9I= FyՖE=E>Q 54㾱?Q 94&2)@Yy?Q I?CI:i|:4yɮB*jBjiiziJii kYkYkYh krkrkrh2f :f Bf Jf 9@)ɢ- )) ->i1)5~k׼顱iB2Acoustic response timeoutII I! O] >B >B ?CB HB wAB =B B wDB ;B EI  2Acoustic response timeout]qя,xE?AEV EDE<E"E=:*Ea99VE 4ZEBE:a2EaJEiH:a:EkH:a>d?>>?>rٱ>.ž JAHRS rotation from veh to nav: [[0.442727,-0.820760,-0.361034],[0.894700,0.430950,0.117446],[0.059192,-0.375014,0.925128]]>H U?C .׿b?@?@?wN?9ؿ ?i>d?I>w?^;>yCYRuAyRHbDZVDZ%8yb8<%fW=ٔf;Q-f>9dIh=j FyjؖEjYBEj>lQ 5r4nJı?Q 9v4n--)n@Ytyvi)(ռ11i5Ç9I9AAIII2Acoustic response timeout(G%rAA9rAY:AII1qO}>ԡ tdqя,E?Aɰ4<2*&`?2?2mjٱ2Xž :AHRS rotation from veh to nav: [[0.458445,-0.813286,-0.358322],[0.886880,0.444612,0.125555],[0.057202,-0.375349,0.925117]]2H@)W?oֿ@Ra?t?,?I?ؿ?i2*&`?I2?%^;2wCYB"vAyBYHyx&1?/$?Zd;O?A`?1>j= 9Q?zG?Q?Y5?y =(\>aB B)ǂBYBbD-VD-.8E2Acoustic response timeouty=1=%EC=ٔMp;Q-M>9III=U FyUږEUf+EU>ԙQ 54Hʱ?Q 94%)W@Y??Q E:y?Q I?:f>BfQYz@Jf}@ɢ@\9) A>i)yҼiu`IE5Z E5>E5AE1"E5:*E59VE5A4ZE1aE@aE@aE@aE@IqIO=2Acoustic response timeout jqя,qE?AB\?BZ?BbٱBž JAHRS rotation from veh to nav: [[0.472569,-0.806001,-0.356427],[0.879555,0.456738,0.133320],[0.055338,-0.376500,0.924762]]BH>?ֿO%?@2;? ? >U? ؿ ?iB\?IBDL^;BzCYRwvAyRHhh h)lIlillr=r=bDvVDv8y~NV=%~N=ٔ;Q->9I= FyݖE P%E >Q 54ϱ?Q 94 )@Yy%?Q I%?_CI/;i<;́4y)ɮ-ߋB)*jABjAiAiAziIJiIiI k3Qk3Qk3Qha kokokohy2f:fBfJf]@ɢɁ;) >i)uмqqiuҊyIyII!OU=B>B>CBXHBwAB=BBvDB;BEM2Acoustic response timeout!EER EEEEE;EA"EEs9*EEA9VEE4ZEABEEt:aM2EEy:aMJEEV:aU:EEV:aUIy  2Acoustic response timeoutqqя,fE?A2xKX?22?2shYٱ2jƾ :AHRS rotation from veh to nav: [[0.485546,-0.799226,-0.354235],[0.872600,0.467672,0.140902],[0.053053,-0.377519,0.924481]]2H@1?BǫֿU?T?@ ?@)?`F)ؿX?i2xKX?I2(^;2xCY~vAyHbD5VD5 8yEk^<%E7=ٔM1;Q-M>9III=U FyUEqE>Q 54 ױ?Q 94)@Yy?Q I?CI:i:Ձ4yBɮEE*j)Bj)i)i1zi1Ji1i1 kCWkCWkCWhI knknknhY2fi:fiBfiJfmǁ@颁ɢ:) >i)̼顑i?zIIQIiO&>ԁ]2Acoustic response timeoutԹEU W EU GEU >EQ "EU :*EU R9VEU 4ZEQ a] @a] @a] @a] @ wqя,@E?A@2T?2T\?2.IPٱ2a>ƾ :AHRS rotation from veh to nav: [[0.497194,-0.793513,-0.350906],[0.866149,0.477629,0.147160],[0.050829,-0.377104,0.924775]]2H@?ud>uֿ~?y?&?F?`y"ؿ?i2T?I2^;2zCY^ wAybHbDeVDe8y=%U=ٔ=;Q->9I= FyEE>Q 54 ݱ?Q 94)@YyB?Q I?CI:i:܁4yBɮB;E*jBjiiziJii kCnkCnkCnh  kSnkSnkSnh2f):f)Bf)Jf-1@IɢM;)I M>iI)UVJʼQQiU ߍYIY2Acoustic response timeout1AIIOYB >B B HB xAB B B B ;B EBU?CBU@CBQBU=BU=CUK5ԩ  2Acoustic response timeout8}qя,E?AEX EDEE"E~ :*Ea99VEZEBE:a2E:aJEiH:a:EkH:a@>Q?>ք?>6Gٱ>ƾ JAHRS rotation from veh to nav: [[0.507503,-0.788282,-0.347927],[0.860267,0.486412,0.152785],[0.048798,-0.376849,0.924988]]>H v=? 9pDֿ O? a!? v?@?`Lؿ?i>Q?I>3F^;9qIq=u FyuEuEu>Q 5 4䱉?Q 9 4[)@Y y ?Q I ?CI:i:>4yɮB*j)Bj1i1i1zi1Ji9i9 kSmkSmkSmhI kcmkcmkcmhY2fi:fiBfiJfmƖ@颉ɢ< <) }>i)_Ǽ顑islIAX?AC?ԩAII O>>%2Acoustic response timeout „qя,E?A:RN?:b?:'@ٱ:ož BAHRS rotation from veh to nav: [[0.517288,-0.783482,-0.344337],[0.854518,0.494968,0.157499],[0.047038,-0.375715,0.925541]]:H@?I@ ֿ 5X??(?@^?` ؿ?i:RN?I:25^;8Y^wAybWHl2Acoustic response timeoutyx&?? ףp= 7i?L=Q 9 r?rh|?Zd;OYc?y=j`B MB)BYBbDVD8y~<%D=ٔd;Q->9III=M FyMEUU׼EU>YQ 5e4]?Q 9e4]m)],@Yee?Q Eml:ymq?Q Im?]CI]:i]:]4yuBɮqq*jBjiiziJii kmkmkmh kmkmkmh2f=:f=Bfz?Jf_(6@ɢ<) >i)üiID1D5<E=W E=JE=?E9"E= :*E=k9VE=^4ZE9aM@aM@aM@aM@ Ae$AIiIyO15 2Acoustic response timeouta  PExceeded connect timeout, disconnecting.qя,-E?Aɰ;2-?L?2 ?2X ;ٱ2;ľ :AHRS rotation from veh to nav: [[0.526253,-0.779114,-0.340645],[0.849102,0.502992,0.161325],[0.045651,-0.374140,0.926248]]2H?տ@+?@?I?_?׿ӣ?i2-?L?I2C^;0YB&xAyBHbDNVDN89ymf=%mQ=ٔunh;Q-u>9}H?I}H?= FyE4E>Q 545?Q 94W)٥@Yy?Q I?-CI1;i2;4yɮB*jBjiiziJii kSokSokSoh kSokSokSoh2f:fBfJfx5@!ɢ%V<)! -n?i))-P))i-kqIB=>B==CB=RHB=VyAB9B9B=uDB=;B=Ei2Acoustic response timeoutAAI IOM1>EEY EEFEAEA"EE:*EE;J9VEAZEABEE;aM2EE;aUJEEe:aU:EEe:aUԑiInA i9 I9 E 2Acoustic response timeoutԑqя,ͭGE?AI6+I?6 ?6q8ٱ62ľ BAHRS rotation from veh to nav: [[0.534846,-0.774467,-0.337845],[0.843754,0.510802,0.164807],[0.044935,-0.373204,0.926660]]6H@v?o Bտ?`}X?`a?@?׿3?i6+I?I6(^;6yCYFxAyJHN=N=bDVVDV8yZ^v=%ZW=ٔ^:Q-^>9bK?IbK?=b FybEfڼEf>hQ 5n4j ?Q 9n4jD)j@Ylynԏ?Q Ir?jYCIj;ij;j4yvBɮvsBv2E*jyBjyiyiziJii klklԙklh2f:fBfJf4@ɢ \)h<)  K?i ) t iIAaIqIO>2Acoustic response timeoutDI zDI bE&4jE&4rEȱo0EU W EU DEU CEQ "EU :*EU a99VEU 5ZEQ a] @ae @ae @ae @ qя, aE?A2)G?2~?27ٱ2J¾ :AHRS rotation from veh to nav: [[0.543460,-0.770018,-0.334252],[0.838237,0.519078,0.167085],[0.044845,-0.370986,0.927555]]2H@d?`dտ?I? c??`:׿@?i2)G?I2U^;2xCYByAyB&HXX X)XI\i\\bDfVDf-8yjG=%nH=ٔnh9Q-n>9pIp=r FyrEvͼEv>tQ 5z4v;?Q 9~4v)v*@Y|y~?Q I~?vCIv;iv;v4y Bɮ dB *jBj!i!i!zi!Ji!i! kSTkSTkSTh9 k#lk#lk#lhI2f:fBfJf-4@ɢX<) ?i)%a!!i%z)I)2Acoustic response timeoutAIIO'>!nManaging dock network, ignoring radio surface power offQB5 >B1 B5 HB5 "zAB1 B1 B1 B5 ;B5 E 2Acoustic response timeouty M(qя,ka{E?AEb EFE<E"E1:*E;J9VE 4ZEBE9;a"2E9;a"JEa":Ee:a"(*@FS|D?F=S|?F4:ٱF¾ NAHRS rotation from veh to nav: [[0.551755,-0.765167,-0.331793],[0.832767,0.527138,0.169187],[0.045445,-0.369656,0.928057]]FH?>|<տ?@P??D?`s׿?iFS|D?IF.^;FyCYVNyAyVMHbDbVDb8yj=%jK=ٔjúQ-j>9lIl=n FynEr8ʼEr>tQ 5z4v$?Q 9z4v#)vҤ@YxyzH?Q Iz?vCIv:iv:v4yɮ\B*jBjiiziJii! kSkSkSh1 khkhkhhA2fQ:fQBfQJfUD3@qɢuw<)q }?iy)}:yyi}Q=IQA$AIIO>ԁ2Acoustic response timeoutԩ \qя,AE?A2 A?2y?2@ٱ2 :AHRS rotation from veh to nav: [[0.560453,-0.760007,-0.329061],[0.826847,0.536067,0.170163],[0.047073,-0.367452,0.928851]]2H`;? QUտu?@v'??? T׿$?i2 A?I2V^;2zCYZzyAyZhH]2Acoustic response timeouty9H?IH?= FyEżE>Q 54x9?Q 94+)A@YAX?Q E{:yS?Q I?CI ;i; 4yBɮZB*jBjiiziJii kOkOkOhԱ ksjksjksjh2f >:f >Bf @Jf @E5R E5DE5=E1"E5s9*E5a99VE5|4ZE1a=@a=@aE@aE@IɢM6Z<)Q U?iQ)U\8QQiU,YIYA[?Ab?AAIIOK>i I  2Acoustic response timeout! 9 ?F(v?FrHٱF^̿ ZAHRS rotation from veh to nav: [[0.569863,-0.754100,-0.326480],[0.820282,0.545680,0.171378],[0.048918,-0.365468,0.929538]]FHQ?IFT^;F{CYbyAyf{HbDVD8y,<%K=ٔ:Q->9K?IK?= FyEE>Q 54L?Q 94)@YyQ?Q I?CI:i:4yqBɮ=B)E*jBji i zi Ji i  kQkQkQh! k#jk#jk#jh12fA:fABfAJfEc@aɢeB>E=X E=GE=>E9"E=~ :*E=R9VE=4ZE9BE=:aM2E=:aMJE=t:aM:E=t:aMQa ȑC- GE sAY ӿ9 sAY wAy =? 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R׿$?i22 ?I2!D^;2vCYND|AyRHbDZVDZ8yv:5=%vG=ٔv;Q-v>9xIx=z FyzEzAE~>9Q 54?Q 94٥)ћ@YyR>Q I?CI;i;b4y۪BɮRB*j Bj i iziJi1i1 kcVkcVkcVhI ksVksVksVhy2f:fBfJf\@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢI=) AD?i)vibIqA%$AI)I9Ou6>=In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER=2Acoustic response timeoutԑE W E E ;E "E :*E VE 4ZE a @a @a @a @ qя,_E?A2?29rH?IrH?=r FyrEr>Ev>tQ 5z4v)?Q 9~4v)v؝@Y|y~>Q I~?vCIv;iv7;vh4y ɮ JB *jBji!i!zi!Ji!i! kUkUkUh9 kUkUkUhIԙ2f:fBfJf@ɢ7k,=) H?i)gli1x I pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutAAIIO )>BBBHB}ABBBBBM zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYM 2Acoustic response timeout! E% U E% EE% <E! "E% :*E% A9VE% 4ZE! BE% :a- 2E% :a- JE% V:a- :E% V:a5 aqя,i;E?A";ɰ"p;>e?><8?>ʧ'ٱ>) ZAHRS rotation from veh to nav: [[0.751389,-0.602775,-0.268470],[0.658589,0.710297,0.248473],[0.040920,-0.363511,0.930691]]>H`a ?I.ѿ)? ??y?C׿7?i>e?I>I^;>vCYb|AybHbDnVDn8yv=%vI=ٔvf;Q-v>9zK?IzK?=z FyzEzs5E~>Q 5 4;?Q 94Z)@Y!y%>Q I-?CIE;i;o4y=˪Bɮ=+B9*jIBjIiQiQziQJiQiQ kTkTkThi kmkmkmh_G 9ɦ9YA2f:fBfJf&@ɢH =) O?i)d`i涼I !2Acoustic response timeoutAYIaIqO}{>Qy rя,E?A2t>2S3?2Y!ٱ2徾 :AHRS rotation from veh to nav: [[0.763324,-0.590021,-0.263082],[0.644815,0.720689,0.254598],[0.039382,-0.363980,0.930574]]2H%m?tWпR?`?WK? )?tK׿`B?i2t>I2+^;2wCYB|AyBH2Acoustic response timeoutyi|?5?n?Zd;O?Q?V>j<= 9Cl?~jtsh|??Y;?yĽ)>]B B)|BY=}BbDVD8y~#%==ٔh;Q->9I= FyEq,E>Q 54sM?Q 94)@Y&?Q E:y'?Q I?CIm ;i;mw4yɮ.B*jBjiiziJii k3Uk3Uk3Uh1 klklklhAQ2f]>:f]>Bf]x@Jf]@qɢ}f:>=)y }N?iy)}NVyi&IEV EAE;E"E=:*E 9VE4ZEa@a@a@a@IIO!>ԁi߱I߱2Acoustic response timeout _% rя,2E?A2>20/?23ٱ2& :AHRS rotation from veh to nav: [[0.774511,-0.577749,-0.257562],[0.631430,0.730464,0.260227],[0.037794,-0.364181,0.930561]]2H@?|{п`4?_??@Y?N׿(?i2>I2^;0YB:}AyBHDFa=bD VD 8yE=I=%MS=ٔM;Q-M>9IIQ=U FyUEU8EU>YQ 5e4]]?Q 9e4]_)]@Yiym#?Q Im?]CI]:i]p:]0~4yuΪBB>B9CB@HB~ABBBrDBs;B=Eɮu'B"E*j Bj i i zi Jii kTkTkTh! kokokohY2fi:fiBfiJfm@颉ɢZ8=) S?i)K顑i=#IiIpA%2Acoustic response timeoutIIO&>EX ECE=E"E~ :*E09VE|4ZEBE:a2E:aJE9:a:E9:a)  2Acoustic response timeout rя,*LE?AV>Vs*?VdIٱV6f fAHRS rotation from veh to nav: [[0.785337,-0.565318,-0.252313],[0.618010,0.739752,0.266140],[0.036195,-0.364941,0.930327]]VH`z!?`%п? ?`p? #?`2[׿IV/^;TYrd}AyrHbDeVDe8y'<%D=ٔ{;Q->9I= Fy E)E>Q 54$o?Q 94t)e@Yy?Q I?!CI:i:v4yIɮM!BI*jaBjaiaiaziaJiaii k3Wk3Wk3Why k#ok#ok#oh2f:fBfJf@颹ɢu<=) JV?i)@@iYIA\?AX?QIYIO>%=4=%2Acoustic response timeoutEY EDE?E"E:*Ea99VE^4ZEa@a@a@a@ .7rя,fE?A2?>2V&?2 ٱ24 :AHRS rotation from veh to nav: [[0.795765,-0.553156,-0.246529],[0.604640,0.748666,0.271863],[0.034185,-0.365400,0.930223]]2Hv?tAϿ@6Y??2f?@?b׿`b?i2?>I2^;0\Yv}AyzHbDVD8y=%T=ٔ;Q->9I!=% Fy%"E%84E%>)Q 554-?Q 954-)-@Y9y=k?Q I=?-?CI-D;i-r;-24yEѪBɮEBI*jYBjYiYiaziaJiaia kcmkcmkcmhy2f:fBfJf@颩ɢҺP=) Y?i)5顱i~hIIA}2Acoustic response timeoutIOE=B>B:CBHB~ABBBsDB|;BHEB}:CB}:CB}ǓCB}=B}=C}* 5- 2Acoustic response timeoutQ E T E E <E "E 9*E VE 4ZE BE :a 2E :a JE hH:a :E jH:a < rя,E?A2Z>2D"?2չٱ2蹿 JAHRS rotation from veh to nav: [[0.805331,-0.541741,-0.240746],[0.591953,0.756878,0.276998],[0.032154,-0.365586,0.930222]]2HE?Uο`F?W8?W?v?e׿ a?i2Z>I25^;0YR~AyR@HTV@AbD^VD^8yf=%fO=ٔf¨;Q-j>9hIh=j Fyj$En'%En>tQ 54v?Q 9 4v\)v@YYym^?Q Im?v^CIv2Acoustic response timeoutyԡ [I&rя, ^E?Aɰ;2->2m?2ٱ2 :AHRS rotation from veh to nav: [[0.814162,-0.530746,-0.235477],[0.579843,0.764402,0.281908],[0.030377,-0.366058,0.930096]]2H ?`@$ο?@u? ? 9?m׿X?i2->I2+^;2vCYB~AyB<Hr2Acoustic response timeoutyNbX9?l?Mbe?>@ 9`"?MbX9?i|?5?Y7?yʡ==_B B)BYf~BbD5VD58yE#%EC=ٔM݊;Q-M>9III=M FyM'EUkEU>YQ 5e4]ݢ?Q 9e4])]@Ye^;?Q Em:ymG?Q Im?]CI]:i]:]k4yqɮuBԹq*jBj i i zi Ji i  k39k39k39hA kTkTkTh2f>:f>Bf`@Jfq@EU EHE=E"E:*E[9VE|4ZEa@a@a@a@ɢZ=) >a?i)"fiEü I AYzA]pAIIO>2Acoustic response timeoutA Rs,rя,8E?A6>6?6eXٱ6$˿ BAHRS rotation from veh to nav: [[0.822443,-0.520418,-0.229679],[0.568140,0.771616,0.286050],[0.028359,-0.365750,0.930281]]6HsQ? D"fͿ4.??`N? ?sh׿?i6>I69tIt=v Fyv*EzEz>|Q 54~?Q 94~)~J@Yy &D?Q I ?~CI~:i~:~B4yBɮB*j)Bj)i)i)zi)Ji1i1 k9k9k9hI kSkSkSBe>BaBeHBe_ABe=BaBaBe;BeWEhY2f:fBfJfkq@颡ɢWk=) f?i)T顩i0żIAII=<2Acoustic response timeoutO% >IEX ECEEE"E~ :*E09VE 5ZEBE:a2E:aJE9:a:E9:ai hDAT read: Forwarding Delay UpTx time:18:29:54.8022  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutԱ 5]3rя,*E?ABP;>Bt?BtּٱBk: NAHRS rotation from veh to nav: [[0.829752,-0.511328,-0.223730],[0.557517,0.778142,0.289256],[0.026189,-0.364744,0.930739]]BH@T?@\@2̿.??+?eњ?`W׿?iBP;>IB/^;ByCY~~Ay~Hp=bDVD8y%=%%F=ٔ-3;Q-->9)I)=5 Fy5,E5E5>9Q 5E4=Ƴ?Q 9E4=/~)=@YIyM@?Q IM?=CI=:i=:={4yQɮ]BY*jiBjiiiiqziqJiqiq k8k8k8h k`k`k`h2f:fBfJfbUp@ɢԙ2Acoustic response timeoutDzDbEU|4jEUȣ4rEUp0EW EDE>E"E :*Ea99VE4ZEa@a@a@a@ ^9rя,E?A2ո>2A?2żٱ2 :AHRS rotation from veh to nav: [[0.836694,-0.502388,-0.218056],[0.547137,0.784334,0.292339],[0.024161,-0.363905,0.931123]]2H3?``D˿$?@C??@?@7J׿?i2ո>I2;]^;2wCYBAyBHbDEVDE8y=%D=ٔ;Q->9H?IH?= Fy/E0E>Q 54Zٳ?Q 94x)@Yy=?Q I?CI8<;iU=;ǯ4yBɮ݊B*jBjiiziJii kcVkcVkcVh2f1:f1Bf1Jf5#o@e2Acoustic response timeoutiɢuh=)y }q?iy)顁i7_ʼIAEAIIIYO:>B]<A]4=Be>BaBeSHBeABaBaBaBe;BeUE)  2Acoustic response timeoutE X E E ?E "E ~ :*E VE ^4ZE BE a 2E a JE hH:a :E jH:a l@rя,E?A->-F5?-ٱ-O达 AHRS rotation from veh to nav: [[0.843185,-0.493467,-0.213373],[0.537153,0.789843,0.295996],[0.022467,-0.364194,0.931052]]-H`? ߿`O˿[0?eF? ??N׿-?i->I-OT^;-yCYGAyHy~jt?V-?Mb{?m= 9Q?v/?J +YH?yx=H )9BY~BbD-VD-8y=<%=2=ٔ=q;Q-=>9EK?IEK?=E FyE2EMԼEM>QQQ 5]4U&?Q 9]4Ur)U@YetK?Q Ee:ye-?Q Ie?U%CIU:iU8:Uʷ4ymªBɮuيBuE*jBjiiziJii k:k:k:h kS[kS[kS[h2fCS>:fCS>Bfk7@Jf]9[@ɢ(e=) ~t?i)ֻi̼Iu2Acoustic response timeoutAYIaIqyOa>ԩ cFrя,jE?A6A>6w?6|ϫٱ6 >AHRS rotation from veh to nav: [[0.848914,-0.485367,-0.209197],[0.528114,0.794677,0.299305],[0.020971,-0.364564,0.930942]]@6HN*?A߿ʿ`P?m?'?`y?@U׿ G?i6A>I69N^;6wCYJRAyJHLN?Ab2Acoustic response timeoutbD VD yE;%Mp=ٔM;Q-M?9IIQ=U FyU4EUEU?aQ 5e4e?Q 9m4eon)e#@Yiym+?Q Im?eGCIe:ie:e4yuBɮ}B}E*jBjiiziJii kBkBkBh k[k[k[h92fI:fIBfIJfMZ@颁ɢ6Ʉ=) (u?i)顉D%=D<EW EGE>E"E :*ER9VE4ZEa@a@a@a@iԼμIԩA$AI IOU2>}2Acoustic response timeout Lrя,5E?A2ʶ>2P ?2o-ٱ2h :AHRS rotation from veh to nav: [[0.854602,-0.477132,-0.204939],[0.518906,0.799707,0.302002],[0.019796,-0.364436,0.931018]]2HX?V޿m;ʿ? 3?@T? WE?R׿?i2ʶ>I2?v^;2xCYVAyV8HbDbVDb8yjl=%jR=ٔj F;Q-j>l9rH?IrH?=r Fyr6ErqEv>tQ 5z4v?Q 9~4vziBBBHB>ABBBB[;B(E)v>@YyP(?Q I?voCIv;ivT;vĂ4y%Bɮ%B)*j9Bj9i9iAziAJiAiA kBkBkBhY k3Yk3Yk3Yhi2fy:fyBfyJf}]Y@颙ɢ=){? z?i)s顡iмI2Acoustic response timeoutA  II)OU>E E@E=E"E*E9VE|4ZEBE#:a2E(:aJE+:a:E-:a AmGMrADҿ9MrAYAa  2Acoustic response timeoutmSrя,[OE?A2>2n?2ٱ2վ :AHRS rotation from veh to nav: [[0.860803,-0.467866,-0.200299],[0.508591,0.805320,0.304621],[0.018783,-0.364089,0.931175]]2H? ݿdɿ`aF?.?~?;?`=M׿.?i2>I2H^;2vCY^Ay^4HbDjVDj 8y(%F=ٔ ;Q-%>9!I!=% Fy%9E-E->19Q 5=45|-?Q 9E45Pd)5I@YAyE>%?Q IE?5CI5G);i5u*;5˂4yIɮUBQ*jaBjaiiiiziiJiiii ksUksUksUh kUkUkUh2f:fBfJf2Y@ɢ7ȁ=) wz?i)2i ӼIAEAIQIaiO>2Acoustic response timeoutԑEV EAE?E"E=:*E 9VE^4ZEa@a@a@a@ yYrя,6iE?AY~AydH  a=aa a)aIiiiibDVD8ԙyy8=%B=ٔQ->9K?IK?= FyQ 54+D?Q 94^)M@YyQ I?CID=;iN;.ӂ4yBɮB E*j!Bj)i)i1E2Acoustic response timeoutzi1JiAiI kCSkCSkCShq2f:fBfJf颩ɢ4=) U?i)b顱iaռIAyIIOB>>BBBHB{AB=BBB9;BE 2Acoustic response timeout E U E FE <E "E :*E ;J9VE 4ZE BE :a 2E :a JE e:a :E e:a `rя,p_E?Aj>4?ٱp AHRS rotation from veh to nav: [[0.874529,-0.445695,-0.191194],[0.484645,0.817654,0.310742],[0.017834,-0.364414,0.931066]]H@$?Dܿ@yȿ m?`9*?1?#C?@R׿K?ij>I2^;uCYGAyHymv?Onÿ+mX?mmi i9mMb?S㥫Zd;Ym@?ym/]mimC^B mNB)mمBiYm3~BbDVD8y_=%:=ٔ ;Q->9I= Fy>EE>Q 54 ^?Q 94[).@YC?Q E:y >Q I?CI:i:ڂ4yBɮB*jBjiiziJii kc7kc7kc7h kUkUkUh 2f!>:f!>Bf@JfE@ɢj%=) z?i)&i]׼ I -2Acoustic response timeout )A9 IA IY O >Y rfrя,E?A2 4>2>2Uٱ2e :AHRS rotation from veh to nav: [[0.882191,-0.432534,-0.186153],[0.470556,0.824686,0.313801],[0.017788,-0.364428,0.931062]]2H:?ۿǿ?c?@R?6?R׿B?i2 4>I2d^;2vCZ2Acoustic response timeoutYn.AynHbDEVDE8y%`=ٔ9Q->9I= FyAE=4E>Q 54s?Q 94%Y)=@Yyֺ>Q I?CI8:is:)4yBɮB*jBjiiziJii kc:kc:kc:h kUkUkUh2f :f Bf Jf uD@QE}Z E}EE}DEy"E}:*E}A9VE}J5ZEya@a@a@a@ɢP=) ?i)oiڼIK'ԁA9IAIQO]>iQIQ]2Acoustic response timeoutԩ mrя,ȶE?A2Xo>2/>2Mѐٱ2N :AHRS rotation from veh to nav: [[0.890122,-0.418281,-0.180898],[0.455380,0.831773,0.317463],[0.017677,-0.364958,0.930856]]2H{?ڿ`'ǿ $?`?PQ??@x[׿?i2Xo>I2j^;2wCYB[AyBHDDBV>BV;CBVLHBVABTBTBTBV,;BV~EBiBiBiBm=Bm=Cm4bDMVDM8yUQ^=%eM=ٔe%9Q-m>9iIi=m FymCEu/Eu>yQ 54}ዴ?Q 94}mV)}6@Yy>Q I?}8CI}:i}:}%4yɮB*jBjiiziJii k9k9k9h kYkYkYh2f:fBfJfC@ ɢ =)  ?i )FiKܼIԱ2Acoustic response timeoutEX EE>E"E~ :*EVE4ZEBE:a2E:aJEV:a:EV:a} >AII O% >e 2Acoustic response timeout9 Gsrя,E?Aɰ4<2f(r>2 >2tٱ2˿ :AHRS rotation from veh to nav: [[0.898298,-0.402939,-0.175214],[0.439041,0.838927,0.321628],[0.017395,-0.365845,0.930513]]2H@ܾ?ٿkmƿA?|??Б? i׿?i2f(r>I2G^^;0YBsAyBHbDVD8y}<%H=ٔ&5:Q->9I= FyFE7E>Q 54?Q 94S)(@Yy>Q I?`CI:i:C4yBɮBE*jBjiiziJii k3Ak3Ak3Ah kTkTkTh2f :f Bf Jf muB@)ɢ-.=)) -0?i))5F 11i5t޼9I9AAAA AoAzAqA92Acoustic response timeoutA)I9IIOu>EV EFE;E"E=:*E;J9VE4ZEa@a@a@a@i #zrя,E?A >c]>>>>ٱ> JAHRS rotation from veh to nav: [[0.906887,-0.386452,-0.167964],[0.421062,0.846459,0.325904],[0.016228,-0.366281,0.930363]]>H6?@ؿ@ſ?1??`2? &q׿ ?i>c]>I>iQ^;>uCYVAyVHbDfVDf8yv<%vT=ٔzWF;Q-z>9|I= FyHE RE >Q 5%43?Q 9%4oQ)%@Y)y-`>Q I-?CImG;iH; 4y=Bɮ=BA*jiBjiiiiiziqJiqiq k#9k#92Acoustic response timeoutk#9h2fQ:fQBfQJfU?A@iɢl=) ?i)C:顑in'ἉIiAIIO-->ԑB>BBHBAB=BBtDBB~E 2Acoustic response timeout E W E EE @E "E :*E A9VE 4ZE BE $:a 2E ):a JE V:a :E a rя,bE?APeH>e>eDkٱe }AHRS rotation from veh to nav: [[0.915348,-0.369652,-0.159674],[0.402408,0.853910,0.330008],[0.014359,-0.366326,0.930376]]eH J?b׿2pĿ?`;S?? Vh?q׿?ieH>Ie/^;evCYAy HyEzG?Q?E W?EuEL=A A9EʡE?+ÿMb?YE-2?yEE@=AE^B EB)E_BAYE3}BbD]cVD]8ymy:%m4=ٔu;Q-u>9qIy=} Fy}KE}9E}>Q 54Sִ?Q 94O)@Y6?Q E:ym>Q I?CI ;i;4yBɮB E*jBjiiziJii kc9kc9kc9h kc9kc9kc9h2feN>:feN>Bf\z@Jf|@ɢ=) ?i)5:!!i%㼉!I)-2Acoustic response timeoutAYIaIyO>>! 3rя,4E?A23>2>2,ADٱ2sڿ :AHRS rotation from veh to nav: [[0.923483,-0.352821,-0.150650],[0.383451,0.861148,0.333750],[0.011978,-0.365980,0.930546]]2H@-?ֿHÿ`v?? )\??6l׿?i23>I2{<^;2uCB2Acoustic response timeoutYFAyJHbDRRVDR8yZ<%Zk=ٔ^;Q-^?|9I= FyNE%xkE%>)Q 5-4-7봉?Q 954-N)-@Y1y5yX>Q I5?-CI-l:i-:-24yAɮE|BA*jYBjYiaiaziaJiaia ks7ks7ks7hy k7k7k7h2f:fBfJfw׈@颹ɢX=) ?i)t;i弉IAW?A[?bE4jE74rE0E}U E}AE}<Ey"E}:*E} 9VE} 4ZEya@a@a@a@A $AII!)IAOm>Y52Acoustic response timeoutԁ arя,8E?AB B B"HB"AB B B B"B;B"EFGW>F{پ>FٱFH NAHRS rotation from veh to nav: [[0.931287,-0.335441,-0.142071],[0.364164,0.867369,0.339198],[0.009446,-0.367628,0.929925]]FH?`wտ^/¿xN?`|?l?X?7׿?iFGW>IF+ ^;DYVAyVQHll l)lIpippprAbDz/VDzh8yL=%E=ٔ;Q->9 H?I H?=  Fy PESE>QQ 54?Q 94L)q@Yy}C>Q I?CId:i: 4yEBɮB*jBjiiziJii k5k5k5h! kcTkcTkcThQ2fa:faBfaJfe-@19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uo}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed频ɢC=) ?i)p\;顡iB載I2Acoustic response timeoutԁA=AIAIQE E?E=E"E*E?9VE|4ZEBE:a2E:aJE89a:E=9aO<>ԩ = 2Acoustic response timeout]Frя,QE?A. >.>.Rػٱ.d :AHRS rotation from veh to nav: [[0.938381,-0.318907,-0.133190],[0.345540,0.873092,0.343967],[0.006594,-0.368794,0.929488]].H@7?hԿa S?^?`?`]{? S׿\?i. >I.:^;.vCY^Ay^UH``bDj>VDjv8yr;%rL=ٔv;Q-v>9vK?IvK?=v FyzSEzGLEz>|Q 54~;?Q 94~kK)~@Y y W/>Q I ?~CI~:i~):~84yHBɮB*j)Bj)i)i)zi)Ji)i1 k3Sk3Sk3ShA kCSkCSkCShQ2fi:fiBfiJfmW@suNUpdating rudder angle 6.875493 arcdeg 9ur}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudder频ɢЊ=) ?i);is꼉!I!AaIiIO>2Acoustic response timeout1E EBE<E"E*E(9VE 4ZEa@a@a@a@Y Gqrя,kE?A ɰ Zkp=Zɪ>ZƱQٱZcq¾ jAHRS rotation from veh to nav: [[0.944874,-0.302971,-0.124185],[0.327419,0.877944,0.349301],[0.003200,-0.370706,0.928745]]ZH`h9I= FyUE7E>Q 54z3?Q 945J)*@Yy>Q I?>CII:iA:4yKBɮB E*jBjiiziJi1=2Acoustic response timeouti kCSkCSkCSh ksSksSksSh2f:fBfJf'@ɢ=) *?i)>;i*켉I ApAzAA%$AI)I9aO}7>A9A9BE>BABEHBE2ABABABABEl;BE@Eԉ 2Acoustic response timeout!]rя,ZE?A"G:sA<E\ ED@E?E"E:*Ea99VE^4Zӿ9ZsAYZVAZEBE;av2E;avJEhH:az:EkH:azEB8=E;>E9ٱEþ UAHRS rotation from veh to nav: [[0.950824,-0.287528,-0.115158],[0.309731,0.882288,0.354449],[-0.000311,-0.372687,0.927957]]EH&m? fҿ@{?;?J? c4׿`ӱ?iEB8=IETL^;EwCYeAyeH%>=y%C?Mb? ףp= ?ZD?<Q8= 9^I +?~jtK7A`?YX9?y+> B)BYbDKVD8y<%9=ٔy9H?IH?= FyXE-E>Q 54@M?Q 94G)²@Y4??Q E :y `>Q I ?gCIJ;i;q!4yɮB*jIBjQiYiYziaJiaii kSkSkSh2f">:f">Bf+Έ@JfD@ɢg=) ?i)b;i#)YIa=2Acoustic response timeoutAAIIOj>9 rя,(|E?A23=2:>25z;ٱ2þ :AHRS rotation from veh to nav: [[0.956117,-0.273145,-0.105981],[0.292960,0.886570,0.358005],[-0.003828,-0.373343,0.927686]]2H? 6{ѿ!ܿ?^??![o׿?i23=I22^;2xCYB׀AyFtHDFp=R2Acoustic response timeoutbD UVD 8y%_=ٔ^9K?IK?= FyZEBEE>Q 54b?Q 94E)ܴ@Yyw>Q I?CI;i:'4yNBɮB*jBjiiziJii k38k38k38h k3Vk3Vk3Vh2f!:f!Bf!Jf%#'@AɢE+=)A E?iI)Ma;IIiMDU=DQE]Y E]TE]<EY"E]:*E]9VE] 4ZEYam@am@am@am@QIiIAIIO!>yU2Acoustic response timeoutԩ BE >BA BA BA BE =BA BA BE y;BE OErя,2XE?A2h=2܏>2}|;ٱ2nþ :AHRS rotation from veh to nav: [[0.960760,-0.259805,-0.097172],[0.277291,0.890581,0.360521],[-0.007125,-0.373319,0.927676]]2H? п`I฿#?@?`?/} v׿?i2h=I2"^;2wC@YF΀AyFhHbDRzVDR8yVP%Z[=ٔZ9\I\=^ Fy^]Eb3Eb>dQ 5f4fx?Q 9j4fC)f@Yhyj>Q Ij?fCIf`:ify:fV.4yrPBɮrBp*jxBjxixi|zi|Ji|i| kXkXkXh kXkXkXh!2f1:f1Bf1Jf5Ѕ@^EB*** querying acoustic contact ***XAYAQɢUd=)Y ]?iY)]*W;aaie󼉨aIiAY?AZ?2Acoustic response timeoutԱA!I1IAOm>EmS EmCEm=Ei"Em9*Em09VEm|4ZEiBEm:au2Em:auJEm9:au:Em9:a}iI ia Ia e 2Acoustic response timeoutړrя,3E?A>}C=>#>>*<ٱ>þ FAHRS rotation from veh to nav: [[0.964805,-0.247662,-0.088407],[0.262762,0.894618,0.361407],[-0.010417,-0.371918,0.928207]]>H? cϿ ա??L!?DU@׿߳?i>}C=I>.^;9hIh=j Fyj_EjEj>lpQ 5v4r?Q 9v4rA)rH@Yxyz0>Q Iz?rCIr:ir=:ru54y~SBɮ~ B~ E*jBjiiziJii kUkUkUh1 kUkUkUhA2fQ:fQBfQJfU@iɢu=)q u?iq)u\ 2Acoustic response timeout1EuU EuKEqEq"Eu:*Eu]t9VEqZEqa}@a}@a@a@a Grя,E?A6 =6 >6w`<ٱ6}q¾ >AHRS rotation from veh to nav: [[0.968316,-0.236516,-0.080148],[0.249353,0.898143,0.362164],[-0.013673,-0.370674,0.928662]]6Hr?*Fο`?@?@-? ׿ ?i6 =I6v%^;6uCYDyDHHxx x)xI|i||bD VD 8ٔ9!I!=% Fy%bE%E->)Q 5549-X?Q 9=4-?)-@YAyEu>Q IE?-CI-R2;i-_3;-<4yIɮII*jaBjaiaiaziiJiiii kSkSkSh kSkSkSh2f:fBfJfm@ɢl=) i)uS<i(I2Acoustic response timeoutA!I)IAaO}>BBBBBBBB;B[EB;CB;CBB=B=C5ԑ 2Acoustic response timeout E Z E EE <E "E :*E A9VE 4ZE BE `;a 2E c;a JE V:a :E V:a 4rя,E?Aɰp;28r<2t>2<ٱ2Zy :AHRS rotation from veh to nav: [[0.971486,-0.225833,-0.072215],[0.236511,0.901617,0.362145],[-0.016674,-0.368899,0.929320]]2Hi?̿ |F? ? c-? ׿?i28r9I= FyeEE>ԙQ 54õ?Q 94 >)(@YE?Q E:yl>Q I?!CI#:i:D4yVBɮ#B*jBjiiziJii kCTkCTkCTh kSTkSTkSTh2f%j>:f%j>Bf%~@Jf%AR@QɢU Ӯ=)Y ]?iY)e҅+-2Acoustic response timeout rя, E?AB2Acoustic response timeoutY~ԀAy~oHbDeVDe8y;<%E=ٔQ->9I= FygEE>Q 54޵?Q 94<)@YyQ I?JCI.;i:>K4yYBɮ$B*j!Bj!i)i)zi)Ji)i)E9 E=BE9E9"E9*E=(9VE9ZE9aE@aE@aE@aM@ kVkVkVhY kykykyhi2fy:fyBfyJfy颹ɢ=) F?i)Az:<iIAII !Ou6>i1I5A=2Acoustic response timeoutQy B >B B HB AB B B B m;B BErя,Z:E?AB@BuZ>BPJ<ٱB NAHRS rotation from veh to nav: [[0.977103,-0.204714,-0.057983],[0.211676,0.907739,0.362221],[-0.021518,-0.366201,0.930287]]BH`mD?4ʿ@ 4?1 ?.?@o׿@?iB@IBD^;BsCYn׀AyntHpra=bDeVDe8y;%L=ٔsF9I= FyjEbE>Q 54?Q 94u:)<@YyR>Q I?rCI3;i:;R4y\Bɮ&B EQ*jBjiiziJii k`k`k`h kpkpkph2f:fBfJfY@ɢ=) ?i)I<iƧ!I!2Acoustic response timeoutI)EMX EIEM>EI"EM~ :*EIVEM4ZEIBEM:aU2EM:aUJEMJ+:a]:EML+:a]I9ԁO;>ԩe In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe 2Acoustic response timeout rя,SzTE?A6"@6M>6 <ٱ6 >AHRS rotation from veh to nav: [[0.979582,-0.194339,-0.051498],[0.199660,0.910334,0.362529],[-0.023573,-0.365409,0.930549]]6HX?ȿ]t?u!?`3?#b׿?i6"@I6u`^;6xCYzÀAyz[HbDeVDe8y˼%L=ٔ ;Q->9I= FylEE>Q 54)?Q 948)@YyF>Q I?CI:i:>Y4y_Bɮ.B*jBjiiziJii k3Xk3Xk3Xh  kukukuh2f):f)Bf)Jf-~@IɢMJb=)I M9?iI)U?WpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutbEC4jE24rE(/EUV EUDEU<EQ"EU=:*EUa99VEU 4ZEQae@ae@ae@ae@ 9  rя,UnE?A2>@2 HA>2-<ٱ2X :AHRS rotation from veh to nav: [[0.981928,-0.183706,-0.045490],[0.187573,0.912715,0.362998],[-0.025166,-0.364970,0.930679]]2Hk?ǿnJ`h?4?@Z;? ř [׿?i2>@I2H_;2tCYBAyBHbDNVDN8yV!=%V\=ٔV[;Q-V>9XIX=Z FyZoE^E^>`Q 5f4b(?Q 9f4b7)b(@Ydyfc9>Q If?bCIb:ib:b_4yncBɮn+Bl*jtBjxixixzixJixix kc]kc]kc]h  ktktkth2f:fBfJf}@ɢ0=) ?i)e<ij zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutYIII)IIiOu=B>BBHB ABBBB^;B1EԹ 2Acoustic response timeout E} _ E} EE} :Ey "E} &:*E} A9VE} (4ZEy BE} &;a 2E} &;a JE} V:a :E} V:a .rя,1E?A:n@: n4>:y<ٱ:xھ FAHRS rotation from veh to nav: [[0.984165,-0.172831,-0.039345],[0.175228,0.915200,0.362910],[-0.026714,-0.364058,0.930993]]:H`H~?Uƿ%m?QI?9?Z L׿@?i:n@I:E^;:uC\YbրAybrHdf@Ayei|?5?~jt?MbeQ?e=ea a9eףp= ?y&1zGếYe>?ye`彙e ׽ae]B eB)eBaYe}BbD VD 8yK%%5=ٔ-6`;Q-5>9AII=U FyUrE]E]>aQ 5e4eF?Q 9m4e7)e@YmB?Q Em:ymYQ Im?eCIe:ie?;eg4y}fBɮ}1By*jBjiiziJii k\k\k\h k#nk#nk#nh2fX0>:fX0>Bf!@Jf:@ɢ!=) b?i)Su<iIII)O= >-2Acoustic response timeoutQԁ rя, E?Aɰ4<:C@:%>:Z<ٱ:^B2Acoustic response timeout JAHRS rotation from veh to nav: [[0.986534,-0.160205,-0.032943],[0.161108,0.917127,0.364586],[-0.028196,-0.364984,0.930587]]:H?Ŀݠ3?Y?_U?Pߜ [׿@^?i:C@I:(r^;:tCYRAyRFHhh h)hIhihhbDrVDr8yzA%z_=ٔ~*;Q-~>9|I|= FytE"E> Q 54 ]?Q 94 7) "@YyQ I?  CI  ;i \ ; n4y%iBɮ%B B HB AB B B B n;B BEHrя,E?A2@2>2K)<ٱ26 :AHRS rotation from veh to nav: [[0.988839,-0.146688,-0.026097],[0.146005,0.919151,0.365846],[-0.029678,-0.365573,0.930309]]2H? ¿`L?i?@j?de׿?i2@I2c^;0YNЀAyRkHbDZ~VDZ8yV=%H=ٔm;Q->9!I!=% Fy%wE%AE->)Q 554-w?Q 9=4-38)-@Y9y=x0Q I=?-5CI-;i-;-)u4yMjBɮM6BI*jYBjYiaiaziaJiaia ksVksVksVhy klklklh2f:fBfJfJ@ԹɢT7=)  ?i)t<i?IIYIiO=ߕ%=ߕR=2Acoustic response timeout 5Wj>9_Gb9YAE-R E-FE-@E)"E-s9*E-;J9VE-4ZE)BE-t:a52E-y:a5JE-e:a=:E-e:a=E 2Acoustic response timeoutI 0rя,;E?A.>@.?>.L<ٱ. :AHRS rotation from veh to nav: [[0.991068,-0.131979,-0.019133],[0.129697,0.920490,0.368615],[-0.031037,-0.367804,0.929385]].HӶ?`?t? c?@Cȟ׿ ?i.>@I.i<^;.uCYBAyBNHDDbDtVDty%a%-I=ٔ-[;Q-->91I1=5 Fy5yE52&E5>Q 54?Q 948) @YytQ I?]CI:iK:t|4ymBɮ?B*jBjiiziJii kSkSkSh 2f!:f!Bf!Jf%gČ@AɢEO=)A E?iA)MA2Acoustic response timeoutD5?AzD1E=U E=AE==E9"E=:*E= 9VE=|4ZE9aE@aE@aE@aE@iԙ @]rя,GE?A2@2=2^#=ٱ29¾ :AHRS rotation from veh to nav: [[0.993175,-0.116068,-0.011505],[0.112018,0.921707,0.371359],[-0.032499,-0.370114,0.928418]]2H ? 7? ~?Z?׿?i2@I2^^;0YBAyB,HbDVD8yEz%EH=ٔEj;Q-E>9III=M FyM|EM2EU>YQ 5e4]ݪ?Q 9e4]O9)]@YayeHQ Ie?]CI]:i]:]c4yiɮuFBq*jBjiiziJii2Acoustic response timeout k3Vk3Vk3VhA k3Vik3Vk3Vhq2f:fBfJf]3@ɢ==) ؉?i)k<i=IB%<A%<B%>B!B%HB%AB!B!B!B%t;B%GEAYIaIqԙO>> 2Acoustic response timeoutEE V EE DEE ;EA "EE =:*EE a99VEE 4ZEA BEE :aM 2EE :aU JEE hH:aU :EE kH:aU Asя,6x E?ARb@R@=R =ٱRþ bAHRS rotation from veh to nav: [[0.995030,-0.099509,-0.003577],[0.093607,0.922558,0.374331],[-0.033949,-0.372806,0.927288]]RHI?cy Nm?@?@ ?a ׿`X?iRb@IR C^;RwCYnAynHy Q? rhy&1|? H? C `;  9 tV?ѿL7A`堿Y 2?y ̌ +  ^B B) B Y ~BbD%VD%8y5̼%5<=ٔ5[;Q-5>99I9== Fy=EE.EE>IQ 5M4MCŶ?Q 9U4M;)M@YU=@?Q EU:yUԊQ I]?MCIM ;iMi ;M4yepBɮeNBeE*jyBjyiyiziJii kTkTkTh kTkTkTh2f,>:f,>Bf@JfJ|@ɢg\=) v?i)؁<iI 2Acoustic response timeoutAaIiI>O?>) ksя,Q#E?A62Acoustic response timeout:Ot@:ԗ=:f-=ٱ:?ž BAHRS rotation from veh to nav: [[0.996618,-0.082008,0.005179],[0.074021,0.923342,0.376776],[-0.035680,-0.375119,0.926290]]:HK?|6u??? ?D ؿ*?i:Ot@I:#[^;:vCYJAyJHLN?AbDVVDV8y^& <%^e=ٔ 1;Q- >9I= FyE(\E>!Q 5-4%h۶?Q 9-4%=)%@@Y)y-Q I-?%CI%:i%:%]4y5sBɮ=PB9*jQBjQiQiQziQJiYiY kVkVkVhq kVkVkVh2f:fBfJf܇@ɢy=) و?i)<ivID%=Da=EU EFE>E"E:*E;J9VE4ZEa @a @a @a @QAIIQIiO>y2Acoustic response timeoutԩ B- >B) B- 4HB- AB- =B) B- sDB- z;B- KEBBBB=B=Cޛ4Csя,.=E?Aɰ;2 @2]=2=ٱ2ƾ :AHRS rotation from veh to nav: [[0.997841,-0.064112,0.014276],[0.053908,0.923552,0.379665],[-0.037526,-0.378076,0.925014]]2H@O?@i9hIh=j FyjEjPEn>pQ 5v4r8?Q 9v4r @)rٺ@Ytyv枾Q Iz?rCIr+;ir8;rH4y~vBɮ~YB|*jBjiiziJii k#Yk#Yk#Yh ksmksmksmh2f:fBfJf7@)ɢ-=)1 5>?i1)U0E V E BE 8E "E =:*E (9VE F4ZE BE :a2E aJE J+:a:E L+:a % 2Acoustic response timeoutW~sя, WE?A2+@2 =2"=ٱ2M:Ǿ :AHRS rotation from veh to nav: [[0.998637,-0.046442,0.023808],[0.033912,0.924201,0.380398],[-0.039670,-0.379073,0.924516]]2H ?Kǧa?\? ?rX?OBؿ?i2+@I2)^;2xCY^\Ay^HbDjVDj8lyrB%vH=ٔvV;Q-v>9xIx=z FyzEz IEz>Q 54 ?Q 9 4B)s@Y y Q I ?CI:i:j4yɮ_B*j1Bj1i1i1zi1Ji9i9 kTkTkThq2f:fBfJfH@AɢE[=)A E?iA)MO'2Acoustic response timeout1E EEE=E"E*EA9VE|4ZEa%@a%@a%@a%@a 5sя,pE?A65@6pb<68+=ٱ62Ⱦ BAHRS rotation from veh to nav: [[0.999027,-0.028737,0.033449],[0.013808,0.924214,0.381624],[-0.041881,-0.380791,0.923712]]6H?@\m9 ?iG?*?l?kq`^ؿ ?i65@I6=^;6tCYF#AyFHJ=J=`` `)`I`i``bDjVDj8yrZ%rJ=ٔv;Q-v>9tIt=z FyzEz9LEz>|Q 54~#?Q 94~cE)~@Y y BQ I ?~DCI~:i~F:~w4yyBɮpBEA*jYBjYiYiYziaJiaia kTkTkThq2f:fBfJf@颩ɢ=) 6?i)[<顱iI]2Acoustic response timeoutIaIO=iB>B:CBHB{ABBBB;BSEԑ 2Acoustic response timeout E% X E% FE% >E! "E% ~ :*E% ;J9VE% 4ZE! 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BBHB6AB=BBB;BEB:CB:CBB=B=C@4A%$AI)I9Ou6> 2Acoustic response timeoutI E U E FE E "E :*E ;J9VE ZE BE :a 2E :a JE e:a :E e:a 0csя,|bE?AV@V@V|=ٱVg ^AHRS rotation from veh to nav: [[0.980855,0.149678,0.124582],[-0.184775,0.917331,0.352649],[-0.061499,-0.368917,0.927426]]VH`)c?@(??ǿ@Z? ͑?@|V׿@x?iV@IVw;^;VqCYf~AyfHyQ?i|?5?V-H?q>h 9Mb?p= ף?K?YC?y>^=C^B *B)ԍBYpBbDG VDj8y=%=B=ٔEB;Q-E>9EH?IEH?=M FyMEMӼEU>QQ 5]4UP?Q 9]4UY)U@YeAG?Q Ee:ye^:fG>Bf@Jf{@ɢn=) i?i)R=i"I%2Acoustic response timeout9AUAIaIqO=>aԑ Yisя,v7E?A2ƻ@2@2i=ٱ2¾ :AHRS rotation from veh to nav: [[0.978704,0.159001,0.129836],[-0.195480,0.914959,0.353041],[-0.062661,-0.370903,0.926555]]2HQ?%Z?v?zɿWG?:? ׿ W?i2ƻ@B2Acoustic response timeoutI2X^;2tCYF~AyFHJ=Jp=bD~;VD~_8y%_=ٔ%P;Q-%>9%K?I%K?=- Fy-E-XE5>9Q 5M4=h?Q 9M4=Y)=@YQyU+2;Q IU?=@CI=U;i=8W;=V4yaɮeBi*jBjiiziD=D=Jii ksVksVksVh2f:fBfJfw@EX EGE:E"E~ :*ER9VE(4ZEa@a@a@a@!ɢ-<=i) 6h?i)w=顱i,~IIIO-->ԙ52Acoustic response timeoutB B B HB ~AB B B B ;B RE >psя,E?A2Yo@27j@2$=ٱ2؜ľ :AHRS rotation from veh to nav: [[0.976503,0.167781,0.135244],[-0.205807,0.912177,0.354367],[-0.063910,-0.373875,0.925275]]2H??y?O?@Wʿ`0? ?@i\@׿ٛ?i2Yo@I2?^;2uCYNZ~AyRgHbDZ:VDZ^8yvͼ%vN=ٔvN;Q-v>9xIx=z FyzEzڼE~>YQ 5e4]x?Q 9e4]Z)]@YaymkQ Im?]hCI]`:i]:]s4yuBɮuBq*jBjiiziJii k:k:k:h kVkVkVh2f:fBfJf/@ɢ=) e?i)e=ieI2Acoustic response timeoutIIAO>E[ EFE=E"Ea:*E;J9VE|4ZEBE ;a 2E ;a JEa:Ea) E 2Acoustic response timeouthvsя,E?A6@6@6L=ٱ6ž >AHRS rotation from veh to nav: [[0.974157,0.176829,0.140533],[-0.216304,0.909501,0.354995],[-0.065042,-0.376218,0.924245]]6HK,?R??ۯ˿ ? ;?`@ؿj?i6@I61^;6sCYF)~AyFIHbDR!VDRG8yV %ZN=ٔZ;;Q-Z>9XI\=^ Fy^E^޼Eb>`Q 5f4b?Q 9j4b&Z)b@Yhyj_Q Ij?bCIb\:ibS:b, 4ynBɮrBp*jxBjxixi|zi|Ji|i| k:k:k:h kcTkcTkcTh!2f1:f1Bf1Jf5@QɢU=)Q Ub?i) 0 =iMNIIIO=Q2Acoustic response timeoutԩbEjE4rEA/EV EE;E"E=:*EVE4ZEa@a@a@a@ԩ "|sя,ԹE?A2PExceeded connect timeout, disconnecting.:8@:@:=ٱ:xǾ@ FAHRS rotation from veh to nav: [[0.971727,0.185419,0.146174],[-0.226599,0.906306,0.356740],[-0.066332,-0.379776,0.922697]]:Hb?@ͻ?ҵ?/Ϳt?? ANؿ@?i:8@I:Q^;8YN}AyNHPPdd d)hIhihhbDr VDr18yz%zF=ٔzuM;Q-z>9|I|=~ Fy~EҼE> Q 54 ?Q 94 dZ) \@YyQ I? CI l:i : a4y%Bɮ%B%E*j1Bj1i9i9zi9Ji9iA k8k8k8hQ kTkTkTha2fq:fqBfqJfuV@频ɢ<=) [?i) =顱i2Acoustic response timeoutI)IIO%=ԩBBB'HB}ABBBBc;B/E 2Acoustic response timeout E S E CE @E "E 9*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a zsя,E?Aɰ4<2of@2Ma@2U=ٱ2ɾ :AHRS rotation from veh to nav: [[0.969109,0.194418,0.151753],[-0.237217,0.903165,0.357802],[-0.067495,-0.382747,0.921384]]2H?@?@l?]ο@?:?`UG@~ؿ{?i2of@I2Z7^;2rClYrh}AyrHymrh|?~jth?&1m[?mD;mнi i9m$C?S㥻?:vYm:?ym/=mԽim`B mdB)mBiYmBbD6VDZ8yC%@=ٔ3;Q->9I= FyE`ӼE>Q 54"Ѹ?Q 94[)@Y>?Q E:yq Q I?CI ;i ;4yBɮB*jBjiiziJii kc9kc9kc9h kTkTkTh 2f,>:f,>Bfi@Jf@ɢ==) V?i)=iIAqAzAqAIqIIO>  2Acoustic response timeout1a sя,.r(E?A62Acoustic response timeoutRI@R'@Rh=ٱRpK˾ bAHRS rotation from veh to nav: [[0.966220,0.203701,0.157877],[-0.248313,0.899819,0.358701],[-0.068993,-0.385787,0.920004]]RHE?`?N5?@Ͽ Q??༰ؿ@p?iRI@IRL^;RuCYn|Ay-H9ET EEE<E"E9*EA9VE 4ZEa@a@a@a@bD*VDO8y3%G=ٔp;Q->9I= FyE~E>Q 54鸉?Q 94\)\@Yy,Q I?CI#9;i:;4yɮB *j!Bj!i)i)zi)Ji)i) kPkPkPhI2fY:fYBfYJf]K@ɢ=) nO?i)&=iO I iAaIiIyO@>]nManaging dock network, ignoring radio surface power offԑiIA2Acoustic response timeoutB B B HB &}AB =B B B B 0E ysя,/MBE?A2@2@2I=ٱ2 ; :AHRS rotation from veh to nav: [[0.962615,0.215099,0.164636],[-0.261618,0.895815,0.359265],[-0.070206,-0.388906,0.918599]]2H?]??Wп?3?`ؿ )e?i2@I2n6^;2sCYB|AyBfHFa=Fa= iiԡG-u9)Y-AbD <VD _8yEK%EB=ٔEz=;Q-E>9III=M FyMEUEU>yQ 54}?Q 94}g^)}@Yy;Q I?}+CI};i};}b&4yBɮ'B*jBjiiziJii kRkRkRh2f9:f9Bf9Jf=x@}2Acoustic response timeout颹ɢy=) K?i)!=iIE[ EFE=E"Ea:*E;J9VE|4ZEBE ;a2E ;aJEe:a:Ee:aAYIaIqO`>% 2Acoustic response timeout) Ҿsя,J\E?A2@2@2ב=ٱ2ξ :AHRS rotation from veh to nav: [[0.957788,0.229970,0.172501],[-0.278532,0.890870,0.358846],[-0.071152,-0.391746,0.917318]]2H 2? o??yѿ@?V?7\ٿZ?i2@I2g^;0YBD|AyBHbDzTVDzv8y5%=\=ٔ=';Q-=>9AIA=E FyEEEBEM>QQ 5]4U?Q 9]4U_)U@YYy]ENQ I]?UMCIU:iU:U,4ymBɮm9BmE*jyBjyiiziJii! k#7k#7k#7h9 kcSkcSkcShI2fY:fYBfYJf]e@yɢ}g=)y }AD?i),=顁iIAIIO+>u2Acoustic response timeoutEU ECE<E"E:*E09VE 4ZEa@a@a@a@Aq sя,vE?A:g@:|b@:=ٱ:vо FAHRS rotation from veh to nav: [[0.952160,0.246477,0.180669],[-0.297057,0.885294,0.357788],[-0.071759,-0.394341,0.916158]]:H@x?? , ?ӿ ST??`^ <ٿ`+Q?i:g@I:O^;8YJ|AyJHbDV]VDV~8y^ %^T=ٔb|:Q-b>9`Id=f FyfEfMEf>hQ 5n4jo/?Q 9n4jea)j:@YpyrbQ Ir?jqCIj;ij;j34ytɮvABt*jBjii zi Ji i  k7k7k7h!2f1:f1Bf1Jf5)4@QɢU^=)Q Ub@?iQ)]w-=YYi]aIa2Acoustic response timeoutQBU>BU;CBU-HBU[|ABU=BQBQBU;BU\EAIIO >ԉԩ 2Acoustic response timeoutE V E DE SE "E =:*E a99VE 75ZE BE :a 2E :a JE hH:a :E jH:a ȣsя,ޏE?A2,@2 @2$=ٱ2о :AHRS rotation from veh to nav: [[0.945661,0.264597,0.188982],[-0.317021,0.879472,0.355002],[-0.072271,-0.395623,0.915565]]2H`B? )? 0?JԿ`$?[?`@Qٿ@OL?i2,@I2i^;0YN{AyRHV@AV@Aae@am am@am am@am am@am yeB`"?B`"ɿZd;Oen?eNeja a)eMb@Mb@Mb@Ieie‰eaa eB)eeYe\tBbDoVD8y<%==ٔ<:Q->9I= FyEGE>Q 54H?Q 94Yc)@Q A+:YQ Eg:yxQ I?CI ;i>94yŪBɮOB*jBjiiziJii kC7kC7kC7h kS7kS7kS7h )ɢ5@Ų=)1 5K;?i1)==99i=]NAIAԱAaIqIO>2Acoustic response timeout 9 sя,DE?A"2Acoustic response timeout;ɰ;B@B@Bᖕ=ٱB$Ҿ JAHRS rotation from veh to nav: [[0.938486,0.282913,0.198000],[-0.337517,0.872697,0.352820],[-0.072977,-0.397945,0.914502]]BH`?>?`X?տ`"?@?wٿC?iB@IBbB^;@YV8{AyVzHtt x)xIxixxbDVD8y%R=ٔ%:Q-%>9)I)=- Fy-E5dE5>EeT EeBEe:Ea"Ee9*Ee(9VEe(4ZEaau@au@au@au@Q 54`?Q 94`e)@Q A :YQ E;:yQ I?CI:iW?_>4yȪBɮaB*j Bj i i ziJii k:k:k:h) k:k:k:hY颡ɢT=) 3?i) -=顩i}IAI)I9Ou6>>92Acoustic response timeoutBM >BM =CBM HBM g{ABM =BI BM uDBM ;BM yEBB;CBɔCBBCI5i ۰sя,E?A 2T@2zO@2=ٱ2Ҿ >AHRS rotation from veh to nav: [[0.930792,0.301534,0.206647],[-0.358061,0.865899,0.349302],[-0.073608,-0.399120,0.913939]]2H ?VL? es?xֿq?@Z?ײ-ٿ>?i2T@I21^;0YFzAyFLHbDNVDN8yV>%VR=ٔZL:Q-Z>9XIX=Z FyZėE^gE^>`Q 5f4bv?Q 9f4bYg)b@Q Aj9YhQ Ej:yjQ Ij?bCIb:ib+?bA4yn˪BɮnmBrE*jxBj|i|i|zi|Ji|i k8k8k8h k9k9k9h!IɢM`A=)Q U.?iQ)U1 =YYi]ɭYIaU=Q]In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER]2Acoustic response timeoutiAIIO>Ei EmPEm=Ei"Ei*Em?9VEm|4ZEiBEm:a}2Em:a}JEm:a}:Em:a}ԙ  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutsя,pE?A. @.蝼@.O=ٱ.AdӾ :AHRS rotation from veh to nav: [[0.922765,0.319731,0.215120],[-0.378132,0.858874,0.345474],[-0.074302,-0.400135,0.913439]].HK?xv? ?N3ؿ`{?=?{ Λٿ@:?i. @I.|E^;.uCTYZzAyZH\\bD-VD-8yeS%m?=ٔmP:Q-m>9iIq=u FyuƗEuOEu>yQ 54}?Q 94}i)}2@Q A9YQ E9yezIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe2Acoustic response timeoutDyzDyE EJEE"E*Ek9VEZEa@a@a@a@! 8/sя,LE?A2c@2B@2Ly=ٱ2Ӿ :AHRS rotation from veh to nav: [[0.914810,0.336888,0.222775],[-0.396792,0.852575,0.340104],[-0.075355,-0.399526,0.913619]]2HF??@?@ eٿ`LH? E?zJ֑ٿ^9iIi=u FyuɗEuINEu>yQ 54}?Q 94}Cl)}@Q A9YQ E9yQ I?},CI}:i}@}yG4yΪBɮB*jBji2Acoustic response timeoutiziJii k37k37k37h kC7kC7kC7hɢ=)  -#?i)k$=i!I!B<AB>BACBHBszAB=BBxDBf;BkE)AIIO$>Ym 2Acoustic response timeoutԁ E U E IE E "E :*E c9VE ZE BE :a 2E :a JE :a :E :a sя,N&E?A2_@2Y@29I= Fy̗E@;E>Q 548?Q 94r)@Q AT:Y Yk?Q E f:y 4Q I ?]CI:i:N4yBɮB)E*j)Bj)i1i1zi1Ji1i9 k5k5k5hI k5k5k5hY2fm@>:fm@>Bfm@Jfm|@颉ɢ=) ?i)7&=顑iWIԉ2Acoustic response timeoutAIIO5.>Ա VFsя,n+E?A2Acoustic response timeoutJ<ɳ@Jĺ@J==ٱJNѾ VAHRS rotation from veh to nav: [[0.899167,0.368760,0.235616],[-0.430745,0.840798,0.327898],[-0.077190,-0.396326,0.914859]]JH@?`ř?(?Rۿ?I?³@g]ٿF?iJ<ɳ@IJ6^;JsCYbyAybHf?Af?AbDr%VDr68y~%~Z=ٔ;Q->9I =  Fy ΗE .GE>Q 54ӹ?Q 9%4x)5@Y!y%9Q I%?CI:i-:bU4D5=D54=bEjE^4rE1E=S E==E9E9"E=9*E=8VE9ZE9aE@aE@aM@aM@yMBɮMBI*jaBjaiiiiziiJiiii kc6kc6kc6h k6k6k6h12fA:fABfAJfE@Yɢ]=)a e?ia)eA(=顁iIAIIO&>2Acoustic response timeout!B>BCCBHByAB=B$DBzDBD;BXEQ (sя,nDE?A4<ɰ:B<@:!7@:x=ٱ:ƶϾ FAHRS rotation from veh to nav: [[0.891546,0.383541,0.240921],[-0.446116,0.835523,0.320751],[-0.078274,-0.393443,0.916011]]:H??`?+ܿ ?0? ,.ٿO?i:B<@I: Y^;:qCYJ>yAyNCHbDV!VDV28y^v%^O=ٔb4;Q-b>9`Id=f FyfЗEf2Ef>hQ 5n4j 깉?Q 9n4j)j@Ypyr>Q Ir?jCIj;ij;jD\4ytɮvȋBt*jBj i i zi Ji i  ks:ks:ks:h! ksVksVksVh12fA:fABfAJfEU@19M rMNAggregate::initialize marl:UpdateRudderq9MJ]Qq9U9U7]o]XAggregate::initialize marl:UpdateCommandMode18]]a18eoe@Completed marl:UpdateCommandMode7eoe\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7mnu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed颡ɢ1=) ?i)*=顱i%+I9U2Acoustic response timeoutEQ EU?EU@EQ"EQ*EU?9VEU4ZEQBEU:a]2EU:a]JEU<9a]:EUA9aei=4/I9IQIqԑO> 2Acoustic response timeoutԹ Rsя,ȷ^E?A2%@2@2=ٱ2hϾ :AHRS rotation from veh to nav: [[0.883696,0.397477,0.247170],[-0.461252,0.829261,0.315551],[-0.079544,-0.392859,0.916152]]2H@=G?Dp?@B?(ݿ@N? 1? \$ٿ Q?i2%@I2>^;0YzxAyzHbD -VD =8y%%D=ٔ%H;Q-%>9!I!=% Fy%ӗE-d(E->1Q 5=45(?Q 9=45)5@Y9yEBQ IE?5CI5;i5;5c4yMBɮMԋBM*E*jaBjaiaiaziaJiiii k;k;k;h kUkUkUh2f:fBfJf͒@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ=) ?i)a,=ix/IԑIyIO">e2Acoustic response timeoutEY E]EE]<EY"EY*E]A9VE] 4ZEYae@ae@ae@ae@ }sя,xE?A2%@2 @2?~=ٱ2ξ :AHRS rotation from veh to nav: [[0.875698,0.411236,0.253057],[-0.476065,0.822920,0.310106],[-0.080719,-0.392031,0.916404]]2H?Q?2?`w޿[U? ? ٿ.S?i2%@I2C-^;2uCYBxAyBHDFp=X\ \)\I\i\\bDfZVDfg8ynNz%nN=ٔr1C;Q-r>9pIp=r Fyv֗Ev.Ev>xQ 5~4z?Q 9~4z)z`@YyFQ I?zCIz;iz;ztj4y Bɮ B *jBjiiziJii k#T2Acoustic response timeoutk#Tk#Th2f:fBfJf%E@)ɢ5n=)1 5f ?i1)={7.=99i==*AIAIIIIB>BDCBHBxAB=BBB3;BOE_G)I1es9aYeAIO>I m 2Acoustic response timeoutEm T Ei Ei Ei "Em 9*Ei VEi ZEi BEm :au 2Em :au JEm V:a} :Em V:a} dsя, nE?A6@6n@6h=ٱ6ξ >AHRS rotation from veh to nav: [[0.867474,0.424736,0.259014],[-0.490736,0.816034,0.305395],[-0.081652,-0.392029,0.916322]]6HX?.??`8h߿@??'紿ٿR?i6@I6zA^;6sCYFxAyFHy zG?|?5^ʿ  I^B ʂB) ’B Y BbD-AVD-P8y=ᔽ%=D=ٔ=g;Q-E>9AIA=E FyEؗEM&EM>QQ 5]4U.?Q 9]4U)Uf@Y]r?Q Ee`:ye=Q Ie?UGCIUr;iU;Uq4ymBɮmBm4E*jBjiiziJii k8k8k8h92fM@4>:fM@4>BfM(j~@JfM7@颉ɢ7=) ?i)/=顱iKII1IIIO=2Acoustic response timeoutԑԩ ʏsя,LE?A2Acoustic response timeout@Ry@RX@R=ٱReξ ZAHRS rotation from veh to nav: [[0.858479,0.439150,0.264879],[-0.506205,0.808455,0.300263],[-0.082282,-0.391853,0.916341]]RHx? ?? 2? 7?`vٿR?iRy@IR3^;RrCYnwAyndHE! E%CE!E!"E!*E%09VE!ZE!a-@a-@a-@a-@bDEGVDEU8y#+%F=ٔx:Q->9I= FyۗE1E>Q 54F?Q 94)g@YydBQ I?xCI:iM:x4yBɮB*jBjiiziJii kC5kC5kC5ha kC5kC5kC5h2f:fBfJfg6@ɢv=) v>i)1=i I!IIԩO>hDAT read: Forwarding Delay UpTx time:18:30:22.5522 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutB >BECBXHBwABBB{DB;B@E vsя,B$E?A2t@2o@2_"=ٱ28ξ :AHRS rotation from veh to nav: [[0.849170,0.453770,0.270191],[-0.521561,0.800943,0.294048],[-0.082978,-0.390618,0.916806]]2He,? ?J? T??` >ؿxV?i2t@I2Y^;2qCpYzwAy~7H@AbD[VDh8y(0%F=ٔ:Q->9I= FyݗE%3E>Q 54]?Q 94)b@YyGQ I?CI>:i6:(4yBɮ%B*j Bj i i zi Jii k5k5k5h! k5k5k5h2f:fBfJfӃ5@ɢG=) d>i)*3=iXIA pAzA pAU2Acoustic response timeoutIqIO= E5d E5KE5=E1"E59:*E5]t9VE5|4ZE1BE5F;a=2E5F;a=JE5*:aE:E5,:aE1a  2Acoustic response timeoutsя,mE?A;ɰ2@2޶@2=ٱ2I; :AHRS rotation from veh to nav: [[0.839795,0.468098,0.275005],[-0.536484,0.793188,0.288162],[-0.083243,-0.389533,0.917243]]2H@?R??*a?@q?cOؿ Z?i2@I26G^;2rCYBvAyBH9bDdVDp8y߽%O=ٔ,0:Q->9I= FyE37E>Q 54s?Q 94)H@YyKQ I?CI:i:4yBɮ>B5E*jBjiiziJii k7k7k7h k7k7k7h2f:fBfJfÙ4@!ɢ%R=)! %C>i))-U4=))i-g1I1Am$AiIqIO>]%=]R=e2Acoustic response timeoutE=P E=EE=:E9"E=9*E=A9VE=(4ZE9aE@aE@aE@aM@ԡ 6sя,E?A2K@2F@2:=ٱ2̾ :AHRS rotation from veh to nav: [[0.829674,0.483100,0.279742],[-0.551992,0.784751,0.281903],[-0.083341,-0.388304,0.917755]]2H ??@L?? ?U ؿ@@^?i2K@I2m^;2sCYBvAyBHJ=HbDNqVDN|8yV%VY=ٔVۈ9Q-Z>9ZH?IZH?=Z FyZE^JE^>`Q 5f4b?Q 9f4bT)b@YdyfPQ Ij?bCIb:ib:b4ylɮnCBl*jtBjxixixzixJixi| k:k:k:h  kXkXkXh2f):f)Bf)Jf-D3@IɢMk=)Q U>iQ)U.5=QQi]YIaԙ2Acoustic response timeoutB=>B=FCB=HB=vAB9B9B=|DB= ;B=5EBDCBDCBCB=B=C96AmAIqIO>iqIupAm 2Acoustic response timeoutEM W EM DEM <EI "EM :*EM a99VEM 4ZEI BEM (:aU 2EM -:aU JEM jH:a] :EM mH:a] ) tя,tE?A6{@6Z@6=ٱ6A̾ BAHRS rotation from veh to nav: [[0.819265,0.497949,0.284345],[-0.567313,0.776021,0.275583],[-0.083432,-0.387088,0.918260]]6H`j7?e?2?n'*?'?[ؿ cb?i6{@I6n^;4YJ~vAyJHLNa=y"~j?~jtMbSc?Ľ 9kt?tVοMbX9?Y p?yrʡ=aB ǂB)[BYaBbD5VD58yE %EA=ٔMa9Q-M>9MK?IUK?=U FyUEU3EU>YQ 5e4]?Q 9e4])]@@Ymx?Q EmZ:ymMQ Im?];CI]:i]:] 4yu7BɮugB}?E*jBjiiziJii kUkUkUh kUkUkUh2f61>:f61>Bf@Jfv@iɢm=)i m>ii)mA7=qqiIA$AII2Acoustic response timeoutFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO5.>Aiԙ  tя,֐-E?A2Acoustic response timeout:Z#@:9@:&=ٱ:׋˾ BAHRS rotation from veh to nav: [[0.809171,0.511992,0.288280],[-0.581649,0.767469,0.269585],[-0.083221,-0.385819,0.918813]]:H?@=b?/s?ޜ ?@? MAؿf?i:Z#@I:=^;8Y~>vAE ECE>E"E*E09VE4ZEa @a @a @a @y~jHAA A)AIAiAAbDUVDU8ye@%eH=ٔm Q-m>9mH?ImH?=m FymEu0Eu>yQ 54}?Q 94})}_@YyQQ I?}mCI}:i}:}-4y:BɮrB*jBjiiziJii kcSkcSkcSh kCmkCmkCmh2f:fBfJf@ɢ ʔ=)  >i ) 48= ivnIqA!I1IAO}>ԡ2Acoustic response timeoutB=">B=GCB=^HB=)vAB==B9B=}DB=;B=HE tя,nGE?AFX@F7@F =ٱFʾ VAHRS rotation from veh to nav: [[0.799463,0.524950,0.292038],[-0.594895,0.759372,0.263542],[-0.083419,-0.384424,0.919380]]FH 3?d??a L?`?Zfؿk?iFX@IF8^;FqCYbuAyb HfAfAbDhVDhyrʽ%vS=ٔv:Q-v>9tIx=z FyzEz-Ez>|Q 54~˺?Q 9 4~)~o@Y y UQ I ?~CI~:i~B:~4yɮB*jBjiiziJii kTkTkTh knknknh2f :f Bf Jf _@)ɢ-=)) ->i))5~9=11i5!?9I9U2Acoustic response timeoutEU EEEE"E:*EA9VEZEBE:a2E:aJEV:a:EV:a%AeAIqIO>)  2Acoustic response timeouttя,EaE?A2@2@2Z=ٱ2قɾ >AHRS rotation from veh to nav: [[0.789668,0.537918,0.295074],[-0.607816,0.751401,0.256819],[-0.083571,-0.382152,0.920313]]2HD?6?`}?:sz ?o?`d.uؿ3s?i2@I2Y^;2rCYFuAyFHHJ?AbD wVD 8yE$<%MD=ٔM9Q-M>9UK?IUK?=U FyUEU$ EU>aQ 5m4eA⺉?Q 9m4e)e@Yiym.ZQ Im?eCIe;ie;e;4y=BɮB*j Bj i iziJii1 k#Vk#Vk#VhA kjkjkjhY2fi:fiBfiJfm͓@颁ɢ=) >i)4:=顉i]IQIIO'>E2Acoustic response timeoutybEC4jEk4rEƋS0EX EDEBE"E~ :*Ea99VE5ZEa-@a-@a-@a-@ԩ tя,${E?A4<ɰ:c@:B@:>2=ٱ:qȾ@ FAHRS rotation from veh to nav: [[0.780451,0.549607,0.298039],[-0.619551,0.743883,0.250588],[-0.083981,-0.380222,0.921074]]:H u?`b??[? ?@@Uؿ qy?i:c@I:j^;:qCYNuAyNHbD%xVD%8ye%eH=ٔm%:Q-m>9iIi=u FyuEuUEu>yQ 54}?Q 94})}@Yy^Q I?}CI}y:i}-:}\4yZB2Acoustic response timeoutɮBIE*jBjiiziJii k#Sk#Sk#SAAB(>BHCBHB^uABBBB-;BiEh2f:fBfJfJ@ɢ6=) >i)<=iIԹIAIaOB>M 2Acoustic response timeout E- P E- CE- <E) "E- 9*E- 09VE- 4ZE) BE- e:a5 2E- j:a= JE- 9:a= :E- 9:a= %tя,E?A2+@2&@2ew=ٱ2bǾ :AHRS rotation from veh to nav: [[0.771842,0.560377,0.300394],[-0.630226,0.736789,0.244861],[-0.084113,-0.378311,0.921849]]2H?? 9?`*Ǔ?W?@g`=6ؿ ?i2+@I2]^;0YBuAyBHl=a=y}Zd;?J +?kt?}9?}H=} 0=y y9}}?5^I?p= ףK7A`?Y}Mb?y}}+>y}-cB y)}ByY}BbDqVD|8y%F=ٔԧ9Q->9I= FyEE>Q 54?Q 94z)\@Yh?Q Ei:y{?Q I?3CI:if:4yɮB*jBjiiziJii kUkUkUh  kUkUkUh2f->:f->Bf- @Jf-@ɢpP=) >i)F+==iIIqII>O> 2Acoustic response timeout1a ++tя,wۮE?A2Acoustic response timeout62@6@6=ٱ6ž >AHRS rotation from veh to nav: [[0.763338,0.570965,0.302182],[-0.640468,0.729983,0.238592],[-0.084360,-0.375665,0.922908]]6H`Cm?XE?V?~\?2?@ ؿv?i62@I6^;6rCYFtAyFyHHHbDRVDR8yZ%Z[=ٔ^N.:Q-^>9\I\=b FybEbyEb>dQ 5j4f$#?Q 9j4f)f@YlynCDn4=DnR=ErS ErJEr9Ep"Er9*Erk9VEr4ZEpav@av@az@az@Q Iz?f^CIf;if;f49y}]Bɮ}ƌB}JE*jBjiiziJii kTkTkTh kTkTkTh2f):f)Bf)Jf-k@AɢM<=)I M>iI)M>=Qqiu2tyIyII O5=aԑ2Acoustic response timeoutB+>BBdHBtAB=BB~DBC;BE CU Gq 9 Y AC2tя,FE?A2|[@2[V@2ϭ=ٱ2Jž :AHRS rotation from veh to nav: [[0.755539,0.579977,0.304610],[-0.649596,0.723438,0.233800],[-0.084767,-0.374519,0.923337]]2H`-?,?~?@~f&?*?`Q@׿?i2|[@I2`^;2pCY\y\bDjVDj8ٔr:Q-r>9tIt=v FyvEv)Ez>xQ 54zU9?Q 94zZ)z@Yy8FQ I?zCIz;iz;z=Ƅ4y `BɮɌB*j!Bj!i)i)zi)Ji)i) kUkUkUhA kUkUkUhQԙ2f:fBfJf@ɢ%ʉ=)! !i!)%?=!)i-`9)I1II2Acoustic response timeoutO-=EY EGEFE"E:*ER9VE 5ZEBE;a2E ;aJEt:a:Et:ai I A 2Acoustic response timeout E=8tя,E?A61@6@6*=ٱ6ľ BAHRS rotation from veh to nav: [[0.747667,0.588913,0.306882],[-0.658594,0.716819,0.228965],[-0.085138,-0.373300,0.923796]]6H? _??3-?`N?˵&׿໏?i61@I6]^;6qCYF5tAyJ*H`bS `)`I`i``fAfAbDjVDj8yr%r<ٔv9tIt=z FyzEzEz>|Q 54~O?Q 94~")~9@Y y ^IQ I ?~CI~:i~p:~Ö́4yzBɮBTE*j)Bj)i)i)zi1Ji1i1 k3Uk3Uk3UhI k3Uk3Uk3UhY2fi:fiBfiJfmB@颉ɢsk=) >i)?=顑iIIIIYO=!%2Acoustic response timeoutEU EEE>E"E:*EA9VE4ZEa @a @a @a @Qy ig>tя,jE?A2h@2G@2o=ٱ2=$ž :AHRS rotation from veh to nav: [[0.739613,0.596948,0.310848],[-0.667510,0.709665,0.225403],[-0.086044,-0.374205,0.923346]]2H?1?? =\?? `׿ ?i2h@I2^;2oCYnsAynHpr@AbDzVDz8y%C%H=ٔ ;Q- >9 I = FyEE>Q 5%4d?Q 9%4)@Y)y-dLQ I-?CI:id:qԄ4y5}Bɮ5B1*jIBjIiIiQziQJiQiQ kC\kC\kC\hi kS\kS\2Acoustic response timeoutkS\h2f:fBfJf@@颱ɢ=B,>BBHBsABBBB>;BE) y>i)a@=iIQA I)IQO%,>ԁԱ5 2Acoustic response timeoutE Z E @E AE "E :*E 9VE A4ZE BE c;a- 2E e;a- JE .:a- :E 0:a- 3OEtя,DE?A;ɰp;2 &@2 @2d=ٱ22ƾ :AHRS rotation from veh to nav: [[0.730334,0.605705,0.315806],[-0.677528,0.701203,0.221969],[-0.086996,-0.376079,0.922495]]2H^?a?`)6?NAp?`|i? aEؿ?i2 &@I2 W^;0YBsAyBHy`"?~jtMbp·?D 9n?ʡE'1Z?YVN?y">gdB dB)3BYBbDVD8y%?=ٔ;Q->9I= FyEcE>Q 54y?Q 94f)R@Y;S?Q E:yBQ I?CI ;iP ;ۄ4ynBɮB*jBji i zi Ji i  kTkTkTh! kTkTkTh12fE|>:fE|>BfE Y@JfE@aɢe\=)m mik>ii)m!A=iiimVԱI2Acoustic response timeoutAAIIIYO:> = 2Acoustic response timeoutA yKtя,h"0E?A2v@2U@2t=ٱ2ߕǾ :AHRS rotation from veh to nav: [[0.719876,0.615163,0.321486],[-0.688502,0.691577,0.218370],[-0.087999,-0.378543,0.921391]]2H9 ?`j?:?@5 g!?? :ؿ|?i2v@I2L_^;2rCYN#sAyRHEbV EbAEb?E`"Eb=:*Eb 9VEb^4ZE`af@af@af@af@=p=bD-VD-8y(%I=ٔ";Q->9I= FyEE>Q 54鍻?Q 94)@YyFQ I?BCI:i:4yɮ B*jBjiiziJii kZkZkZh1 kjkjkjhA2fQ:fQBfQJfU@qɢukz=)q uH>iy)}*B=yyi}IAIIO&>92Acoustic response timeoutB->BICBjHBrABBBB ;BbEB}HCB}HCB}ǓCB}=B}=C}ǵ)5i bRtя,JE?A2@2@2=ٱ2l~Ⱦ >AHRS rotation from veh to nav: [[0.708147,0.625943,0.326686],[-0.700472,0.680939,0.213684],[-0.088699,-0.380154,0.920660]]2H"?`?j?`Dj@?Z?pTؿ v?i2@I2B^;2pCYBrAyF0HDDbDxVD8yEZ%ES=ٔM:Q-M>9III=M FyMEU2EU>YQ 5e4]?Q 9e4]v )]@YiymJQ Im?]jCI]:i]:]4yuqBɮuB}UE*jBjiiziJii kkkkkkh) kkkkkkhY2fi:fiBfiJfm@颡ɢq=) '>i)>B=iJI2Acoustic response timeoutiE ECE=E"E*E09VE|4ZEBE:a2E:aJE9:a:E9:aIIO-->ԙ  2Acoustic response timeoutgXtя,cE?A:@:@:=ٱ:Ǿ BAHRS rotation from veh to nav: [[0.696103,0.637516,0.330171],[-0.712320,0.670723,0.206714],[-0.089670,-0.379082,0.921008]]:HzF?@f?!?Rv?u?@@Bؿx?i:@I:_^;:qCYJDrAyJHPbDVVDV8y^pi%bS=ٔb:%;Q-b>9dId=f FyfEf3Ej>hQ 5n4j ?Q 9r4j})j@@YpyrYOQ Ir?jCIj;ij;j4yvtBɮv+Bx*jBji!i!zi)Ji)i) kCkkCkkCkhI2fi:fiBfiJfmY@颡ɢqm=) ">i)%C=顱i0Iy= 2Acoustic response timeoutER EHE<E"Es9*E[9VE 4ZEa@a@a@a@IIO>! s^tя,p}E?A2y@2X@2)=ٱ2_Ǿ :AHRS rotation from veh to nav: [[0.683426,0.649121,0.334022],[-0.724430,0.659550,0.200487],[-0.090164,-0.378993,0.920996]]2H??@`?.??mAؿx?i2y@I2OK^;2pCYBqAyBHHHbDNVDN8yV ,%VL=ٔV :Q-Z>9XIX=Z FyZ E^3E^>|Q 5 40ƻ?Q 9 4)@YySQ I?CI:iR:4yBɮ%LB%_E*j1Bj9i9i9zi9JiAiA kRkRkRhQBe+>BeHCBeHBeqABe=BaBaBe;BeGE}2Acoustic response timeout kSmkSmkSmh2f:fBfJfj@!ɢ%wf=)! %=i!)-SC=))i- 1Iy1IQIiO>Q5 2Acoustic response timeoutE V E CE ?E "E =:*E 09VE ^4ZE BE :a 2E :a JE a :E a ԙ ]etя,E?A2s@2n@2~=ٱ2KnȾ :AHRS rotation from veh to nav: [[0.670513,0.660186,0.338477],[-0.736349,0.647898,0.194984],[-0.090573,-0.379976,0.920551]]2H@t? ? ?@?* ?:?`/Qؿ (u?i2s@I2=d^;2tCYBqAyBHF@AF?Ay Q?&19I= Fy Ep&E>Q 54׻?Q 94)@Y@U?Q E~:yrQ I?CI ;i? ;4yBɮ\B*jBjiiziJi i  kTkTkTh92fM>:fM>BfM}v@JfM[8@颉ɢ6_=) =i)_C=顱i,: I2Acoustic response timeoutԡA zA IIO> = 2Acoustic response timeoutktя,hE?Aɰ4<:@:s@:>C=ٱ:yɾ FAHRS rotation from veh to nav: [[0.657967,0.670529,0.342740],[-0.747550,0.636484,0.189888],[-0.090823,-0.381155,0.920039]]:H?`t?t?@^?@N?1@ dؿp?i:@I:H^;:rCYJqAyN5HbE-4jE-74rE-0ERP ERBER=EP"ER9*ER(9VER|4ZEPaZ@aZ@aZ@aZ@pp p)tItittbDzVDz8yU% M=ٔ *:Q- >9I= FyEU3E>Q 5%4 绉?Q 9-4$)X@Y)y-vQ I-?CIk:i :4y1ɮ=nB9*jQBjQiQiQziQJiYiY kRkRkRhq kRkRkRh2f:fBfJf26@颩ɢ0W=) =iq)uD=qqiu yI!IIOd>B].>BYB]>HB]qABYBYBYB];B]_E2Acoustic response timeoutQy Trtя,BE?A2#d@2_@2!=ٱ2yɾ :AHRS rotation from veh to nav: [[0.645707,0.680563,0.346259],[-0.758172,0.625321,0.184795],[-0.090758,-0.381847,0.919758]]2H?,?)?B?@Z?;.pؿ`n?i2#d@I2m^;2oCYZpAyZHbDbVDb8yj-c%jN=ٔn+Q-n>9lIp=r FyrEr'Er>tQ 5z4v?Q 9z4v+)v@Y|y~zQ I~?v?CIvP ;iv ;v 4yBɮ |B *j!Bj!i!i!zi!Ji)i) k3Uk3Uk3UhA kCUkCUkCUhI2fa:faBfaJfe 5@19e rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9m9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7un}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed频ɢCP=) +=i)@D=顙i: IQIyIO==<2Acoustic response timeoutEU ECEE"E:*E09VEZEBE:a2E:aJE9:a:EaԁiQIQԩ 2Acoustic response timeout xtя,E?AB@B@Bp=ٱB%ʾ RAHRS rotation from veh to nav: [[0.633971,0.689739,0.349772],[-0.768052,0.614427,0.180485],[-0.090422,-0.383065,0.919285]]BH}I?@X?b?@c??`%#ؿ`j?iB@IBQ^;@Y%kpAy%H11bDVD8y;%9=ٔhHQ->9I= FyE E >Q 54j?Q 943)@Yy%~Q I%?nCI;it:4y-Bɮ-B-iE*jABjAiAiAziAJiIiI kTkTkThY k#Tk#Tk#ThiԱ2f:fBfJfw4@s5NUpdating rudder angle 6.875493 arcdeg 95r56Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderqɢ} cK=)y }DzD@AET EAEE"E9*E 9VEZEa@a@a@a@ 9 tя,E?A2Xk@28f@2E=ٱ2˾ :AHRS rotation from veh to nav: [[0.622431,0.698349,0.353396],[-0.777483,0.603606,0.176578],[-0.089999,-0.384667,0.918657]]2H?X? ?$P? ?* bؿ e?i2Xk@I2C^;2pCY^oAy^LHB~<A|B->BBHBoABBBB@;BE]2Acoustic response timeoutbDU$VDU!8y}%B=ٔ Q->9I= FyE6 E>9(G)Q 5=4=?Q 9E4U9QYU֟A=<)=@YiymUQ Im?=CI=r=i====4yBɮB*jBjiiziJii kTkTkTh kTkTkTh 2f:fBfJf3@Yɢ]=<=)Y eia)m?>D=iiima I9IIO> 2Acoustic response timeouti E U E GE >E "E :*E R9VE 4ZE BE :a 2E a JE t:a :E t:a tя,E?A2@2z@2 ۷=ٱ2̾ :AHRS rotation from veh to nav: [[0.610923,0.706004,0.358233],[-0.786597,0.592539,0.173674],[-0.089653,-0.387887,0.917337]]2H??K?@+?:?z"ؿ Z?i2@I2B^^;2qCPYVPoAyZ(HyHzG?rh|p= ף=J? 9X9v?/$ÿbX9ȶYS?yE B)Y8BbD VD 8y%S=ٔkQ->9I= FyE p!E >Q 54)#?Q 94RC)g@Y%X?Q E%{:y%{Q I%?CI:i:"4y)ɮ-ÍB)*jABjAiAiAziAJiIiI kCUkCUkCUha kSVkSVkSVhq2fyZ=:fyZ=BfB@Jf3T@颙ɢpK6=) N/i)"D=顩iv )I1IIO>m2Acoustic response timeout!  2Acoustic response timeouttя,2E?A2Tu@24p@25=ٱ2u; :AHRS rotation from veh to nav: [[0.598840,0.714459,0.361854],[-0.795870,0.581297,0.169367],[-0.089339,-0.389412,0.916721]]2H@)??(?w?@ϭ?޶@ ؿU?i2Tu@I2G^;2rCDB%=DB4=ED EFBEF;ED"ED*EF(9VEF4ZEDaJ@aJ@aJ@aJ@YNnAyNHR?APbDZVDZ8yb%b`=ٔfbQ-f>9dId=f FyjEj,Ej>lQ 5r4n.?Q 9r4nJ)nI@YtyvrQ Iv?nCIn:in:n)4yxɮzٍBx|*j Bj iiziJii kVkVkVh) kSkkSkkSkh92fI:fIBfIJfM$֑@iɢme)=)q uiq)uC=qi IIyIO=)B*>BBHBnAB=BBBY;BEY}In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED}8Ack receipt timeout failure.}2Acoustic response timeoutԁ {tя,LE?A4<ɰ:N@:.@:n=ٱ:D; BAHRS rotation from veh to nav: [[0.586350,0.723826,0.363689],[-0.805158,0.570068,0.163530],[-0.088960,-0.388714,0.917054]]:H`?)?F? >??ƶؿ`X?i:N@I:(`^;:oCYJNnAyJHbDVVDV8y^A%^K=ٔ^wQ-^>9`I`=b FybEfEf>hQ 5j4j9?Q 9n4jR)j @YlynqQ In?jCIj;ij+;j 04yvثBɮvBvsE*j|BjiiziJii kRkRkRh ksjksjksjh)2fA:fABfAJfEOW@^MB*** querying acoustic contact ***XIYIYaɢe=%=)i mؽii)mBC=iiim? qIyIYIiIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutO=EV EEE?E"E=:*EA9VE^4ZEBE:a2E:aJEV:a:EV:aԉԱ pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout )tя,]nfE?A>m@>h@>"=ٱ>; FAHRS rotation from veh to nav: [[0.572974,0.733318,0.365985],[-0.814747,0.558045,0.157396],[-0.088815,-0.388369,0.917214]]>HU?@Ww?Ll?g?@%?@ ؿ@Y?i>m@I>N^;>pCYmAy@H11 9)9I9i99bDMVDM8y]{%]@=ٔ]Q-]>9aIa=e Fye EeJEm>iQ 5}4mdE?Q 9}4mc[Q =}tI)m@Yyy}Q I}?mDCImi ;im ;mw74yɮB*jBjiiziJiiԱ kQkQkQh2f:fBfJfzА@ɢw=)  i)C=itIII O=zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutEO E@E9E"E9*E9VE4ZEa@a@a@a@ 9 tя,lBE?A2_ޢ@2?٩@2=ٱ2x̾ :AHRS rotation from veh to nav: [[0.558595,0.743249,0.368174],[-0.824646,0.545314,0.150308],[-0.089054,-0.387575,0.917527]]2H`??@+?`c5s?@K=?B̶`ؿ`\?i2_ޢ@I2^;2qCATAVAABZ#>BZGCBZHBZmABZ=BXBZ}DBZ];BZEBiBiBiBm=Bm=Cm,5YjhmAyjHlnp=bDv#VDv 8U2Acoustic response timeouty[%B=ٔ:Q-->9YIY=e Fye#E2$E>Q 5 4SQ?Q 94d)_@Yy̗Q I?uCIqu>q2Acoustic response timeoutE S E CE =E "E 9*E 09VE |4ZE BE :a 2E :a JE 9:a :E 9:a ԙ 9tя,E?A6F@6A@6$"=ٱ6s̾ BAHRS rotation from veh to nav: [[0.543226,0.753295,0.370745],[-0.834824,0.531597,0.143085],[-0.089301,-0.387234,0.917646]]6Hb?? I?@?P?vܶ sؿ[]?i6F@I6+p^;6mCYJmAyJHa}@a} a}@a} a}@a} a}@a} y}T㥛 ?{Gz&1}a?}ף}нy y)}Mb@Mb@Mb@I}i}‰}y}gdB y)}}Y}3vBbD!VD8y~%N=ٔ$:Q->9H?IH?= Fy%EfGE5>9Q 5E4=[?Q 9E4=l)=0@Q AE+:YIQ EMK:yM*Q IM?=CI=:i=>=D4qyyɮ}:By*jBjiiziJii ksPksPksPh ksPksPksPh9ɢ=r =)A E0?iA)EOA=AAiE IIiU2Acoustic response timeoutԡAIIO5P> 2Acoustic response timeout ctя,@E?AE6V E6BE6?E4"E6=:*E6(9VE6^4ZE4a:@a:@a:@a:@>-@> @>̞=ٱ>˾ fAHRS rotation from veh to nav: [[0.527057,0.764023,0.372128],[-0.845100,0.517339,0.134784],[-0.089538,-0.385524,0.918343]]>H@?r?`?  ?@?붿nؿc?i>-@I>Y^;>qCYj[lAynVH99bDM;VDM68yEҽ%L=ٔ:Q->9I= Fy(EEE>Q 54Ud?Q 94~t)@Q A :YQ E$:yQ I?CI:i E?(I4yBɮgB}E*jBjiiziJii ksTksTksTh kTkTkTh颙ɢ<) :ii)"A=顡iPIIIO%>BBBHBlABBBB;;BvE]2Acoustic response timeout) ?Ltя,E?A2@2@23ӷ=ٱ2)5ʾ :AHRS rotation from veh to nav: [[0.509765,0.775305,0.372882],[-0.855631,0.502054,0.125846],[-0.089638,-0.383201,0.919305]]2H`O?`M?`K?@Ta?? ]ؿj?i2@I2u^;2tCYBkAyBHDDbD @VD :8yr%I=ٔ9Q->9I= Fy*ELE>Q 54m?Q 94})@Q A9YQ E:y7Q I?CI2 ;i?L4yɮuB*jBjiiziJii kCVkCVkCVh kSVkSVkSVh9ɢ=b}<)9 =まi9)ES@=AAiEfAII)=2Acoustic response timeoutEuW EuAEu>Eq"Eu :*Eu 9VEu4ZEqBEu(:a2Eu-:aJEu:a:Eu:aY}I_IIO>ԁ  2Acoustic response timeoutvtя,E?A;ɰp;06x\@6XW@6=ٱ6Ⱦ >AHRS rotation from veh to nav: [[0.492308,0.786878,0.372096],[-0.865802,0.486677,0.116331],[-0.089552,-0.379432,0.920875]]6H@?.?`l?@%?ǽ?춿Hؿw?i6x\@I6`^;6oCYFfkAyFHbDRTVDRM8yZ%Z[=ٔZqQ-Z>9\I\=^ Fy^-Eb0^Eb>dQ 5j4fu?Q 9j4f)f@Q Aj9YhQ Ej9yj͡Q Ij?fCIf:ifx?fO4yrBɮrBr~E*j|Bj|i|i|zi|Jii kUkUkUh k3Uk3Uk3Uh)IɢU}<)Q U&iQ)Uzq?=QYi]YaIaUǼIIO%=ԉE2Acoustic response timeoutbE|4jE4rEEC0EQ EBE9E"E29*E(9VE4ZEa@a@a@a@ atя,E?AB<A<B"">B B"HB"4kAB"=B B"|DB";B"LE\2Acoustic response timeout¶@@eķ=ٱAƾ }AHRS rotation from veh to nav: [[0.474693,0.797714,0.371913],[-0.875578,0.471017,0.107266],[-0.089610,-0.376558,0.922049]]H]a?߆?m?@$%?@u?@ؿm?i¶@I|^;qCYkAyH >0?aa aa aa aa a@a a@a a@a a@a% yZd;?{GzX9v?y?#}= )Mb@Mb@Mb@IicB B)YtBbD=yVD=o8yM?%M'=ٔM8Q-M>9QIQ=U FyU0EUB)E]>YQ 5e4]^?Q 9m4]B)]@Q Am9YiQ Em9ymaQ Im?]PCI] ;i]@]R4yyɮ}By*jBjiiziJii kUkUkUhɢs8<) i)@4>=iڿaIa-U֣IIO>M 2Acoustic response timeoutE V E CE <E "E =:*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a Y tя,cE?A2m@2M@2x=ٱ2Vľ :AHRS rotation from veh to nav: [[0.457688,0.807830,0.371393],[-0.884600,0.455767,0.098787],[-0.089466,-0.373748,0.923206]]2H`J???N`J+?@J?:綿{׿?i2m@I2^;2nCYB{jAyB/HDFR=bDRVDR8yV޽%Z=ٔZKQ-Z ?9XI\=^ Fy^2E^xEb ?`Q 5f4bQ?Q 9j4b )b@Q Ajo9YhQ Ej9yjئQ Ij?brCIb:ib@bLT4yr BɮrBrE*jxBjxi|i|zi|Ji|i k#:k#:k#:h9 kWkWkWhɢˢ<) i)A==i<Ii2Acoustic response timeoutII O]T>ԑ ] 2Acoustic response timeoutHtя,U5E?AEY EDEEE"E:*Ea99VE 5ZEa"@a&@a&@a&@>}@>x@>:=ٱ>+Hľ FAHRS rotation from veh to nav: [[0.440928,0.816800,0.372048],[-0.893091,0.440506,0.091341],[-0.089283,-0.372548,0.923708]]>H*8?9#??2B1?b?:۶׿?i>}@I>&^;>pCYNnjAyN'Hdd h)hIhihhbDrVDr8yz%zE=ٔzQ-z>9|I|=~ Fy~4E:E> Q 54 ?Q 94 ) @Q AB9YQ Ee9yAQ I? CI G ;i k1@ U4y!ɮ%B!*j9Bj9i9i9zi9JiAiA ksTksTksThQ kTkTkThaԩ ɢ <)  i)C<=i<IIII O5=BE0>BEICBE HBE@jABE=BABE~DBE;BE6EhDAT read: Forwarding Delay UpTx time:18:30:36.7020 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout IQ9YYAQ tя,aOE?A2r@2R@2쀶=ٱ2fþ :AHRS rotation from veh to nav: [[0.424904,0.824968,0.372673],[-0.900853,0.425823,0.084485],[-0.088995,-0.371621,0.924109]]2H@1?"f??@@?@Ҡ?cȶ׿L?i2r@I2Qy^;2qCYfiAyfHlnA r49|I= Fy7E5E> Q 54  ?Q 94 ) k@Q A9YQ E:9yQ I? CI e ;i ;K@ BW4y%Bɮ%ՎB-E*j9Bj9i9iAziAJiAiA kZkZkZhY kqkqkqhi频ɢ[͕<) ľi)::=顙i%+I12Acoustic response timeoutE]T E]FE]?EY"E]9*E];J9VE]^4ZEYBE]:ae2E]:aeJE]e:am:E]e:amAIIO= >aԉ 2Acoustic response timeoutԹ tя,#hE?A29d@2_@2G=ٱ2>¾ :AHRS rotation from veh to nav: [[0.409987,0.832760,0.372051],[-0.907767,0.412225,0.077647],[-0.088707,-0.369570,0.924959]]2H:=???`n a?? ׿@C?i29d@I2M^;0Y^hAyb<Hb@Ab@AbD}VD}8y %A=ٔ2Q->9I= Fy:EE>Q 54q?Q 94)@Q A8YQ E9yQ I?CIC;if@`X4y(Bɮ BE*jBjiiziJii kSikSikSih kcikcikcih)QɢUu|<)Y ]iY)]mN9=YYie#aIiԑA!I)I9Om5>%2Acoustic response timeoutDYzDYEeP EeCEe<Ea"Ee9*Ee09VEe 4ZEaam@am@au@au@ AA AA tя,]܂E?AB"2>B B"\HB"#iAB"=B B B";B"IEdɰf;2Acoustic response timeout@ߣ@=ٱI ¾ %AHRS rotation from veh to nav: [[0.395835,0.839586,0.372035],[-0.914086,0.399092,0.071916],[-0.088096,-0.368539,0.925429]]H]U?@?k?1@?i?@w`$׿?i@I\l^;oCY5GiAy5qHa]ae aeae aeae aeae yeʡE?:v333333?e-R?eԼe=a a9e䥛 ?I +Cl?Yeu?ye9eO>ae9eB eB)esBeYeWBbD}VD}8y8=%.=ٔbQ->9I= FyQ 54{?Q 94˻)@Q AT:Y{?Q EW:yQ I?2CI^;i0;`4yɮB*jBjiiziJii kPkPkPh kSpkSpkSph2fJ>:fJ>Bfƌ@Jf@1ɢ5sP<)9 =׾i9)=7=99iEAIIAUAIYIqO`>- 2Acoustic response timeoutA Em S Em ?Em ?Ei "Em 9*Em ?9VEm ^4ZEi BEm :au 2Em :au JEm =9a} :Em B9a} AHRS rotation from veh to nav: [[0.382247,0.845744,0.372297],[-0.919941,0.386289,0.066998],[-0.087152,-0.368101,0.925692]]6Hv?T?@?(p?@&?O׿`E?i6k@I6Y^;4YFhAyFH ||bDVD8yE%Ey=ٔM =Q-M?9MK?IMK?=M FyU?EU9EU?YQ 5e4]?Q 9e4])]@YiymQ Im?][CI]:i]:]Nf4yu+BɮuB}E*jBjiiziJi)i) kWkWkWhA kskskshQ2fa:faBfaJfe2@颁ɢ<) 4i)a6=顉iYIA[?AP?I2Acoustic response timeoutA$AIIO5->yԡ = ,?= {?= 2Acoustic response timeouthtя,YE?AE EAEAE"E*E 9VEA4ZEa@a@a@a@LZN@Z.@Z8.=ٱZ%þ fAHRS rotation from veh to nav: [[0.369586,0.850254,0.374799],[-0.925216,0.374035,0.063826],[-0.085920,-0.370359,0.924906]]ZHK?H5?@?]0?V? ׿՘?iZN@IZ0l^;ZqCY~ hAy~Ha=bDVD8y%%%L=ٔ-JQ-->9-H?I-H?=- Fy5AE5 E5>9Q 5E4=?Q 9E4=$)=O@YIyMB5>BBHBXhAB=BBB;BfEBICBBŔCB=BCh52Acoustic response timeout! tя,aE?A2@2Ӌ@2=ٱ2ľ :AHRS rotation from veh to nav: [[0.357689,0.853784,0.378300],[-0.929976,0.362488,0.061211],[-0.084868,-0.373704,0.923657]]2H`?3R?`6?]2?@W?幵׿`?i2@I2Y^;0YvgAyvwH|bD VD 8yd%K=ٔ+Q->9!I!=% Fy%DE%E->)Q 554-Uʼ?Q 9=4-)-@Y9y=ǚQ I=?-CI- ;i-;-Pt4yMCBɮMMBME*jaBjaiaiaziiJiiii kCSkCSkCSh kSikSikSih2f:fBfJf@颹ɢ(;) i)3=i_I2Acoustic response timeoutE5W E5CE5;E1"E5 :*E509VE54ZE1BE5):aE2E5.:aEJE59:aE:E59:aE)AIIIiIO%>Qԁ  2Acoustic response timeouttя,Y9I= FyFE?E>Q 54'ּ?Q 94)@Yy6Q I?CI;i;{4yFBɮTBE*jBjiiziJii kPkPkPh k#ik#ik#ih 2f:fBfJfD@9ɢ=8t;)9 =Ni9)= N1=AAiE\EAIIAYzA]mAAeAIqIԉO>2Acoustic response timeoutEET EE@EEAEA"EE9*EE9VEEA4ZEAaM@aM@aM@aM@Ա B A <B 6>B B 0HB 9eK?ImK?=m FymIEmܼEu>qQ 5}4uἉ?Q 94uK)u@Q A+:YQ E.:yQ I?u)CIu:iu>u4yɮdB*jBjiiziJii kPkPkPh kcjkcjkcjhɢh;) bi)EI "EM :*EM 09VEM 4ZEI BEM :a] 2EM :a] JEI ae :EI ae A $AI I OM >1 #uя,E?A4<ɰ:p@:k@:=ٱ:˾ FAHRS rotation from veh to nav: [[0.324876,0.861169,0.390952],[-0.942284,0.330125,0.055843],[-0.080973,-0.386530,0.918715]]:H@??@\?1' ?i?ؿf?i:p@I:}^;8YJfAyN HRJGPS failed to acquire within timeout. RRData Fault R R R R bDZVDZ8yb%bi=ٔb}Q-f>9fH?IfH?=f FyfKEj#Ej>lQ 5r4nA뼉?Q 9r4n)n@Q Ar :YpQ Er :yvQ Iv?nUCInu ;inH?nÅ4yz]BɮzBzE*j Bj i iziJii kpkpkph) kqkqkqh91M cUHAggregate::initialize marl:NeedComms12U dU@Initialize GoToSurfaceComponent.dUHReceived depth rate setting nan m/s.dURReceived pitch setting 19.999999 degrees.d]HReceived speed setting 1.000000 m/s.d]jReceived surface timeout setting 1000.000000 seconds. deNo altitude timeout specified. Using default value of 600.000000 seconds.denReceived pitch timeout configuration 60.000000 seconds.1e[aZiZiZmZiZmcmXcaught uninitialized data element exception.cutlast time_fix was: nan second since 1970/01/01T00:00:00Z 1uiɢ¸>I>7I)1Ƚ)額iPIm2Acoustic response timeoutAAI&@Data Fault in component: NAL9602IIOU2>qԙ  2Acoustic response timeoutbE&4jEp4rEˊ0E] X E] BE] =EY "E] ~ :*E] (9VE] |4ZEY am @am @am @am @ [ uя,8E?A6@6 @6X͢=ٱ6/ξ >AHRS rotation from veh to nav: [[0.314058,0.863411,0.394828],[-0.946077,0.319395,0.054084],[-0.079410,-0.390523,0.917162]]6H ??D?`CFp?ٰ?.TRؿ@dY?i6@I6b^;6pCYFfAyFr HJPowering downNNNNbDVVDV8y^ʚ%^I=ٔ^6}Q-^>9bK?IbK?=b FybNEfEf>hQ 5j4j?Q 9n4j)ji@Q An9YlQ En9yn9Q In?jCIj:ijڙ?j4yM`BɮMBME*jBjiiziJiƷ<i kokokoh[ZZZZZi ɢI>l))99i=AIAaBm7>BmJCBm HBmHfABiBiBiBm;ԉBm2E*:e2Acoustic response timeoutԱAII O5 > 6uя,QE?A2@2o@2R!=ٱ2q=Ͼ :AHRS rotation from veh to nav: [[0.303445,0.866281,0.396836],[-0.949682,0.308887,0.051895],[-0.077622,-0.392615,0.916421]]2H k??e?`c@?? ߳ ٿRS?i2@I2cV^;2nCYBeAyB) HbDJVDJ8yR֔%RM=ٔVwQ-V>9TIX=Z FyZPEZ^EZ>\Q 5b4^?Q 9b4^^)^F@Q Af9YdQ Ef9yfQ If?^CI^:i^B?^4yhɮjBl*jtBjtixizzixJizƷ<ix kWkWkWh  kmkmkmh19- r-NAggregate::initialize marl:UpdateRudderq9-J])q9-9-75o5XAggregate::initialize marl:UpdateCommandMode185]1185o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq75n=LAggregate::initialize marl:UpdateSpeed7=]97=n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeed[AZIZIZMZIZMiɢIk>n))iE I 2Acoustic response timeout7ƙES EAE@E"E9*E 9VE4ZEBE:a-2E:a5JE:a5:E:a5A!I)I9Ou6>)  2Acoustic response timeout8buя,akE?A F]Z@F=U@F6x=ٱFKmξ jAHRS rotation from veh to nav: [[0.292789,0.870593,0.395400],[-0.953203,0.298342,0.048945],[-0.075353,-0.391228,0.917204]]FH??=N? ?_?@WJ ٿY?iF]Z@IF i^;FoCYrAeAyr HbDzVDz8yD?%D=ٔ Q- >9 I =  Fy SE`ݼE>Q 5%4 ?Q 9%4)@@Q A%9Y!Q E-9y-Q I-?CI3:iI@4y5xBɮ5ϏB5E*jABjAiIiMziIJiMƷ<iI kUkUkUha kukukuhqsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢI3>))顱iI~u)AI& VClearing failed state for component NAL9602 IO=/>%=%=2Acoustic response timeoutE% E%DE%;E!"E%:*E%a99VE%4ZE!a-@a-@a-@a-@Yԁ A AAA @AB 8>B B HB +eAB B B B ̾;B EL!uя,sE?A,trA=2Acoustic response timeoutUϿ9urAYu3A4@@͔=ٱ; AHRS rotation from veh to nav: [[0.280704,0.875050,0.394326],[-0.957045,0.286261,0.046038],[-0.072594,-0.390310,0.917817]]H` ? i?@9I= FyVEUE>Q 54H ?Q 94)E@Q AT:Ya?Q Ep:y¿Q I? CIQ;iT: 4yɮޏB*jBjiiziJiƷ<i k3]k3]k3]h kjԁkjkjh2f~=:f~=BfJ@JfGL@[ZZZZZiɢI8>K))iF IƽԱ2Acoustic response timeoutE- U E- ?E- @E) "E- :*E- ?9VE- 4ZE) BE- :a5 2E- :a5 JE- >9a5 :E- C9a= A I I I >O > r'uя,~:E?A:Tt@:4o@:mҔ=ٱ:˾ BAHRS rotation from veh to nav: [[0.265966,0.881114,0.391025],[-0.961245,0.272962,0.038737],[-0.072603,-0.386173,0.919565]]:H?@2?? 6x?[գ?ؿm?i:Tt@I:yj^;8YJ dAyJ8 HbDRVDR8yZ# %Zp=ٔZk7Q-^?`9`I`=b FybXEf8Ef?hQ 5j4j& ?Q 9n4j$)j@YlynĿQ In?jGCIj;ij;j4ytɮvBt*j|Bj|i|iziJiƷ<i kQkQkQh kukukuh)2f9:f9Bf9Jf=rEK@[IZIZIZMZIZMiaɢaIe<>e')a)iiiim6qIqyyyyM2Acoustic response timeout@A I I O% > 2Acoustic response timeoutE= T E= GE= <E9 "E= 9*E= R9VE= 4ZE9 aM @aM @aM @aM @-uя,E?Aɰ4<2@2ߞ@2=ٱ2Ǿ :AHRS rotation from veh to nav: [[0.248974,0.888178,0.386202],[-0.965409,0.259476,0.025638],[-0.077439,-0.379227,0.922058]]2H`a?k?? @??@? ӳ`?Eؿ@?i2@I2T^;2mCYBdAyBB HbDJVDJ8y<%EE=ٔE<9III=M FyM[EUh*EU>YQ 5e4] ?Q 9e4]-)]@YayeƿQ Ie?]vCI]=:i]:]a4yqɮuBq*jBjiiziJiƷ<i kSpkSpkSph2f:fBfJfJ@[ZZZ Z Z i9ɢ9I=I>=)A)AAAiEoIII@-]2Acoustic response timeoutqԡ 14uя,kE?A2uA@2U<@2Μ=ٱ2@þ :AHRS rotation from veh to nav: [[0.229541,0.895849,0.380480],[-0.969524,0.244854,0.008393],[-0.085643,-0.370810,0.924751]]2H`a?̪?Y?V]W?.0?`쵿`[׿?i2uA@I2Qu^;2nCY^cAy^ Hf=fp=fAAdbDjVDj8yv|s%vL=ٔvի9xIx=z Fyz]EzOE~>YQ 5e4] ?Q 9e4]7)]t@Yaym|ɿQ Im?]CI]y:i]:]q4yuBɮuBuEy*jBjiiziJiƷ<i kWkWkWh kCjkCjkCjh2f:fBfJf>H@[ZZZZZiɢI>ц))iuI2Acoustic response timeoutEU EIE=E"E:*Ec9VE|4ZEBEa2EaJE:a:E:a @u <IIO>ԡm 2Acoustic response timeout :uя,E?A:Q@:1@:=ٱ:q] BAHRS rotation from veh to nav: [[0.208325,0.903001,0.375753],[-0.973329,0.229149,-0.011053],[-0.096084,-0.363429,0.926654]]:Hc?a?W ? %`T?ˢ@kB׿&?i:Q@I:x^^;:oCYJzcAyJ HbDRVDR8yZ%ZM=ٔ^9`I`=b Fyb`Eb^Eb>dQ 5j4f ?Q 9j4f?)fM@YlynG̿Q In?fCIfD;ifa;f04ypɮr Bt*j|Bj|i|i~zi|JiƷ<i kQkQkQh kSlkSlkSlh!2f9:f9Bf9Jf=41G@[AZIZIZMZIZMiɢIs>_s))iI@n<IqIO=2Acoustic response timeoutDzDAAE E?E;E"E*E?9VE4ZEa @a @a @a @)B) A) ԁ Be :>Ba Be HBe CcABa Ba Be DBe ;Be <EB JCB JCB ˓CB =B =C 34Auя,~E?AB Օ@BϜ@B=ٱBb JAHRS rotation from veh to nav: [[0.185791,0.909138,0.372760],[-0.976625,0.212595,-0.031737],[-0.108100,-0.358151,0.927385]]BH??`N?@R6?@?uֿ"?iB Օ@IB^;@Y8cAy H%2Acoustic response timeoutyQ?{Gz?MbP?u?#=: 9^I +?q= ףpʡEYX?y뽙-fB B)ЕBYBbDVD8y%;=ٔk9I= FycEcVE>Q 554'?Q 954GL)!@Y=?Q E=D:y=Q I=? CIf:fX>Bfi@Jf1x@[ZZZZZi!ɢ)I->-2v)))111i5 G9I9@ <IiIO>ԁԩ2Acoustic response timeoutE Y E BE >E "E :*E (9VE 4ZE BE ;a 2E !;a JE L+:a% :E O+:a% :Guя,s E?A2v@2V @2U=ٱ2+ :AHRS rotation from veh to nav: [[0.162062,0.915776,0.367547],[-0.979339,0.194924,-0.053851],[-0.120959,-0.351226,0.928445]]2Hq?N??V`B?``@.@|zֿ`ѵ?i2v@I2g^;2lCYBbAyB HDDbDJVDJ8yvk%vY=ٔvs =Q-z>9xIx=z FyzeE~0E~>Q 5 4Q?Q 9 4V)@Y y ĿQ I??CI:i:l4yBɮ%GB%òE*jABjIiIiUziQJiUƷ<iY k#Vk#Vk#Vhy2f:fBfJfv@[ZZZZZiɢI>Fi))iIB@qA:@pAԱ@D<IQIaO==2Acoustic response timeout  2Acoustic response timeoutD =D <E% T E% <E% EE! "E% 9*E% 8VE% 5ZE! a- @a- @a- @a- @9 Muя,9^:E?A2F@2@@2 >ٱ2 :AHRS rotation from veh to nav: [[0.137581,0.922098,0.361673],[-0.981325,0.176456,-0.076583],[-0.134436,-0.344382,0.929154]]2H@@?@Ӂ? %?g?@隳15@\ ֿ?i2F@I2]^;2oCYBbAyBU HbDJVDJ8yR_%RO=ٔV =Q-V>9TIT=Z FyZgEZ EZ>\Q 5b4^?Q 9b4^a)^@YdyfǿQ If?^tCI^:i^:^RDž4yhɮjSBh*jtBjtitizzixJizƷ<ix k:k:k:h2f:fBfJf?u@[ZZZZZiɢ1I5>=\[)9)999i="AIA@m<B;>BB HB'bABBBB;BUEAIIO-N>9=2Acoustic response timeouti 4Tuя,8TE?Aɰ; 6z@6}u@6Mz>ٱ6P BAHRS rotation from veh to nav: [[0.112939,0.927607,0.356075],[-0.982464,0.157764,-0.099372],[-0.148354,-0.338608,0.929159]]6H?`??Xp@1?ypF¿տ?i6z@I6x^;4YFbAyFW HbDRVDR8yV ;%ZJ=ٔZ=Q-Z>9XI\=^ Fy^jE^zEb>`Q 5f4b?Q 9f4bPm)b@Yhyj ˿Q Ij?bCIb:iby:bh΅4ylɮpp*jxBjxixizzixJi~Ʒ<i| k<k<k<h  k=k=k=h!2f1:f1Bf1Jf5zs@[AZAZAZEZAZEiQɢQI>7L))i`%I2Acoustic response timeout@ <E E@E=E"E*E9VE|4ZEBE:a=2E:a=JE.:a=:E0:a=iA$AI IOU2>ԙ iA IE AM 2Acoustic response timeoutoZuя,4nE?ALY~IbAy~% H==bDVD8y%B%%C=ٔ%Q-%>9-H?I-H?=- Fy-mE-E5>1Q 5=45?Q 9E45y)5n@YAyAQ IE?5CI5;i5;5Յ4yMBɮUtBU̲E*jaBjaiaieziiJimƷ<ii k:k:k:h k:k:k:h2f:fBfJf[ZZZZZiɢI9>))i(I@<AIIO=/>2Acoustic response timeoutbEm|4jEmţ4rEm0EP EEE;E"E9*EA9VE4ZEa@a@a@a@I B <>B B H HB `AB =B B B ;B iE3auя,E?A2@2@24>ٱ2 :AHRS rotation from veh to nav: [[0.065563,0.936119,0.345519],[-0.982250,0.121530,-0.142881],[-0.175745,-0.330018,0.927471]]2HȰ? ??n`?@I¿@~ƿտ֭?i2@I2^;2kCY^aAyb H2Acoustic response timeouta@a a@a a@a a@a y(\?)\(?ˡE?g?Ga='= )Mb@Mb@Mb@Ii‰jB qB)YuBbDVD8y4%A=ٔ=Q->9I= FyoEE>Q 54 ?Q 94̈́)I@Q A+:YQ E:y8ѿQ I?CI:iZ>ۅ4yɮB*jBjiizi Ji Ʒ<i  k8k8k8h![9Z9Z9Z=Z9Z=iIɢQIU>U0)Q)YYYi]B*aIa@q2Acoustic response timeoutET EFE=E"E9*E;J9VE|4ZEBEa2Ea JEe:a :Ee:a ԡ ]huя,.ʡE?AY#aAy%p HbD]VD]8ym%mP=ٔuQ-u>9uK?IuK?=u Fyy}rEE>Q 54 ?Q 94)_@Q A :YQ E:yQ I?SCI ;iR?=4yɮB*jBjiiziJiƷ<i ksksksh kS9kS9kS9h[ZZZZZiɢI>))i4,!I!2Acoustic response timeoutԩ](B@a:@eqA@UY<AYzA]oAIQ Ia O >  2Acoustic response timeoutE S E AE <E "E 9*E  9VE 4ZE a @a @a @a @Pnuя,5 E?A2@2@2 O>ٱ2ů :AHRS rotation from veh to nav: [[0.022007,0.939883,0.340785],[-0.979204,0.089028,-0.182303],[-0.201683,-0.329686,0.922297]]2H??`m?Uʶ?Uǿɿտ@t?i2@I2W^;2oCYB`AyB HbDJVDJ8yR%RT=ٔV=Q-V>9XIX=Z FyZtEZ~EZ>\Q 5b4^+?Q 9b4^L)^0@Q Af9YdfPExceeded connect timeout, disconnecting.Q Ef9yjֿQ Ij?^CI^-J;i^V?^4ynլBɮnBrֲE*jxBjxixizzi|Ji~Ʒ<i| kS kS kS h k8k8k8h![9Z9Z9Z=Z9Z=iIɢQIU*>Ux~)U)YYYi]Δ.YIaԡ;@m<BABABEN HBEK_ABABABABE ;BExE !%CIyIGOE>9!Y%AiIIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeouty?lA) uuя,E?AY~_Ay~ HbD VD 8y%%F=ٔ%Q-%>9!I)=- Fy-wE-E->1Q 5=452?Q 9=45)5@Q AE9YAQ EE9yAQ IE?5CI5 ;i5?54yIɮM֐BQ*jaBjaiaieziaJimƷ<ii ks ks ks h k3Gk3Gk3Gh[ZZZZZiɢI>))i0I1}pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT}2Acoustic response timeoutER EGEE"Es9*ER9VEZEBEy:a2E~:aJEt:a:Et:ai1I1a=(׵@4<IIIO>ԉ- zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY5 2Acoustic response timeoutԹ sJ{uя,l[E?A;ɰY~_Ay~" HbD VD 8y=%=I=ٔ9Q-E>9AIA=E FyEyEIEM>QQ 5U4UG?Q 9]4Uڰ)Ue@Q A]9YYQ E]9yYQ Ie?UCIU ;iU@Uf4ymBɮm BmE*jyBjyiiziJiƷ<i k+k+k+h[ZZZZZiɢI>))i8~2Iԑ5&@-3<IIO >2Acoustic response timeoutES EFE=E"E9*E;J9VE|4ZEa@a@a@a@nManaging dock network, ignoring radio surface power offBi Am <B =>B B HB :]AB =B B B %;B E 5uя,1E E?A2M@2.@2q>v>ٱ2s鷾 :AHRS rotation from veh to nav: [[-0.033274,0.938496,0.343683],[-0.970655,0.051598,-0.234874],[-0.238162,-0.341413,0.909239]]2H@J (??@k?Yο|οտ }?i2M@I2}^;2lCY^J^Ay^Hb=b=n2Acoustic response timeoutaMaM aMaM aMaM aMaM aM@aM aM@aM aM@aU aU@aU yM\(\?)\(MbM:?MGaMI I)MMb@Mb@Mb@IIiIIIM oB M%|B)IIYMuBbDmVDm8y}%}F=ٔ}c=Q->9I= Fy|E E> Q 54 ?Q 94 s) V@Q Ao9YQ E]9y|޿Q I? /CI *:i @ 4y!ɮ-#B)*j9Bj9i9iEziAJiEƷ<iA kS!kS!kS!hy[ZZZZZiɢI>&f޽)Z)iN 4ImX@Mɓ<2Acoustic response timeoutIIEV EDE?E"E=:*Ea99VE^4ZEBE:a2E:aJEkH:a:EmH:aO >A s]uя,#E?A Rj%@RK @R>ٱR. ZAHRS rotation from veh to nav: [[-0.050525,0.937291,0.344865],[-0.967093,0.040298,-0.251211],[-0.249355,-0.346209,0.904412]]RH sީJ?E?m@?пϿJ(ֿ?iRj%@IRk^;RpCYb ]AybHbDjVDj8yrDO%rU=ٔv9tIx=z FyzEz?Ez>|Q 54~ ?Q 94~V)~@Q A B9Y Q E 39y Q I ?~`CI~]:i~4@~4yɮKB*j)Bj)i)i-zi)Ji5Ʒ<i1 kkkhA k)k)k)hY[qZqZqZuZqZuiɢI>ƽ))顑i35IuĎ@M0  2Acoustic response timeoutE U E FE E "E :*E ;J9VE ZE a @a @a @a @φuя,ٱ2t :AHRS rotation from veh to nav: [[-0.067443,0.935940,0.345641],[-0.963185,0.029285,-0.267239],[-0.260241,-0.350940,0.899508]]2HC@8?`?j?oѿʧпuֿ?i2V@I2^;2mCYBR\AyBzHbDJVDJ8yV%VN=ٔV9XIX=Z FyZE^7E^>`Q 5f4b뼉?Q 9f4b)b@Q Af9YdQ Ef9yj8Q Ij?bCIb:ibN@bF4lynBɮrvBrE*jxBjxixi~zi|Ji~Ʒ<i| k!k!k!h k!k!k!h![9Z9Z9Z=ZAZEiQɢQIU5>U))项i;Q6IB>>BBHBZABBBB;BqEBBBBBCö!41dŇ@<2Acoustic response timeoutQA I I! Oe >ԁ nuя,VE?A6@6@6^F>ٱ6 >AHRS rotation from veh to nav: [[-0.084047,0.935064,0.344370],[-0.959027,0.017930,-0.282745],[-0.270560,-0.354025,0.895245]]6H  ?* ?@ZJ\?ҿPѿVֿ`٥?i6@I6s^;6oCYFO[AyFHHJAbDR<VDR"8yZ%ZJ=ٔZ9\I\=^ Fy^Eb1Eb>dQ 5f4fC㼉?Q 9j4f)fv@Q Aj8YhQ Ej8yjQ Ij?fCIf:ifg@fU4ypɮrBp*jxBj|i|i~zi|JiƷ<i k!k!k!h k!k!k!h)[AZAZAZEZAZEiQɢQYI]>eə)a)aaaieP7iIiqqyy]2Acoustic response timeoutES E?E=E"E9*E?9VE|4ZEBE:a2E:aJE>9a:EC9aԁ@u<ԱAM$AIYIiO> 2Acoustic response timeout uя,jpE?A2x@2s@2>ٱ2xJ¾ :AHRS rotation from veh to nav: [[-0.100123,0.934631,0.341233],[-0.954616,0.006451,-0.297770],[-0.280507,-0.355560,0.891568]]2H?@?6lz?ӿѿֿ?i2x@I2^;2mCYVIZAyV:HbDbuVDbW8yf %jH=ٔj9jH?InH?=n FynEn+Er>pQ 5v4rڼ?Q 9v4rT)r@Q Az8YxQ Ez8yzQ Iz?rCIr:ir@r34yɮB*jBjiiziJi%Ʒ<i! k,k,k,h1 k,k,k,hA[YZaZaZeZaZeiqɢqIu>})y)yyi-8IԹ@u<AAIIO%>e2Acoustic response timeoutDzD@AE^ E@EE"EC#:*E9VEZEa@a@a@a@A @AA ?AB1 B1 B5 HB5 WAB1 B1 B1 B5 ;B5 PEA >zuя,Z~E?A4<ɰ2W@28@2і>ٱ2g :AHRS rotation from veh to nav: [[-0.115093,0.935320,0.334559],[-0.949981,-0.005202,-0.312265],[-0.290327,-0.353764,0.889135]]2Hv$?ji?>ffNu%ӿ@ҿֿ@s?i2W@I2>^;0b2Acoustic response timeoutYfXAyf^Haa aa aa aa a@a a@a a@a a@a y"~j?9K?IK?= FyEE>Q 54UѼ?Q 94)8@Q A8YQ E8yQ I?8CI2 ;i@4yBɮBE*jBjii zi Ji Ʒ<i  kS-kS-kS-h![9ZAZAZEZAZEiQɢQI]>]h8_)]k)YYaieZ8aIi@<AqAzArAAAI!I9OmW>u2Acoustic response timeoutyET EDECE"E9*Ea99VE5ZEBE:a2E:aJEkH:a:EmH:aԙ uя,yYE?A2_v@2@q@2?>ٱ2: :AHRS rotation from veh to nav: [[-0.129389,0.936105,0.327057],[-0.945064,-0.016567,-0.326464],[-0.300186,-0.351331,0.886823]]2Hӏ??=Կ?6ӿ6|ֿ@`?i2_v@I2^;2oCYBWAyBHbDJVDJy8yR)W%R^=ٔV9TIT=Z FyZEZl,EZ>\Q 5b4^ȼ?Q 9b4^.)^@Q Af8YdQ Efz8yfQ If?^iCI^a:i^@^v4yjBɮj BjE*jtBjtitizzixJizƷ<ix kkkh  kc"kc"kc"h[1Z1Z1Z5Z1Z=iɢI>4))ib9Iy@ME<2Acoustic response timeoutIiIyԡO?>y y  hDAT read: Forwarding Delay UpTx time:18:30:50.5518  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutD D bEAjEE4rEE҄0E S E EE 9E "E 9*E A9VE 4ZE a @a @a @a @ uя,uwE?AR@Rn@R`>ٱRA ^AHRS rotation from veh to nav: [[-0.142841,0.936561,0.320079],[-0.939945,-0.027073,-0.340250],[-0.309999,-0.349459,0.884183]]RHH¿N?.|?  տ@ӿ]ֿ9K?iR@IR^;RlCYroVAyrHbDzVDz8y%c7%-@=ٔ-91I1=5 Fy5E5<E5>YQ 5e4]]?Q 9e4]1)]@Q Am[8YiQ EmJ8ymQ Im?]CI]:i]m@]4yɮGB*jBjiiziJiƷ<i kkkhyԱ[ZZZZZiɢI>@ ))i9IBB>BKCBHBTABBBB;BWE@t<IIOB>2Acoustic response timeout uя, E?A6@6@6Z>ٱ6n >AHRS rotation from veh to nav: [[-0.155814,0.937343,0.311626],[-0.934605,-0.037778,-0.353675],[-0.319742,-0.346355,0.881932]]6Hÿ??IWֿvԿ*ֿ8?i6@I6^;4YF UAyFHbDNVDN8yrb%vQ=ٔv9tIx=z FyzEz~Ez>Q 5 4}?Q 9 4)4@Q A 18Y Q E $8y Q I ?CI:iԴ@M4y,BɮBE*j1Bj1i1i5zi1Ji=Ʒ<i9 kkkhI kckckcha19m ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢI>>f))顩iqG:Ie2Acoustic response timeoutE}V E}?E}?Ey"E}=:*E}?9VE}^4ZEyBE}:a2E}:aJE}=9a:E}B9aQ4F@]~<AeK?AeR?yIIO%o>ԩ  2Acoustic response timeoutuя,E?A2@2 @2 >ٱ2~? :AHRS rotation from veh to nav: [[-0.168919,0.938099,0.302385],[-0.929079,-0.049124,-0.366604],[-0.329057,-0.342866,0.879866]]2H`"ſ? GZ? &@rv׿@Dտտ'?i2@I2^;0@YFSAyFRHbDNVDN8yV3%VN=ٔZb9XIX=Z FyZE^NE^>`Q 5f4b?Q 9f4b)bA@Q Af8YdQ Ej8yjQ Ij?bCIb:ib@b4yn)BɮnBl*jtBjxixizzixJizƷ<ix kkkh kc kc kc hsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZi ɢIU>Uva)]|yC)YYYi]w:aIa5rԱ@ z<IiIO>m2Acoustic response timeoutET EJE=E"E9*Ek9VE|4ZEa@a@a@a@B D>B B HB QQAB =B B B Ͼ;B 1E m _G MrA ܼ9 MrAY Auя,T E?A2@2ԗ@2@>ٱ2ͳ :AHRS rotation from veh to nav: [[-0.181300,0.938265,0.294600],[-0.923487,-0.059446,-0.378995],[-0.338085,-0.340771,0.877253]]2H4ǿ D??5@osAؿ .տ@3տu?i2@I2^;2nCYR RAyR)Hb2Acoustic response timeoutla5a5 a5a5 a=a= a=a= a=@a= a=@a= a=@a= a=@a= y=Q? rhMb=5?=C=@9 9)=Mb@Mb@Mb@I9i999=9I= FyE>E>!Q 5-4%?Q 9-4%M%)%@Q A57Y1Q EU7yUQ IU?%@CI%d;i%@%4yYɮeBa*jBjiiziJiƷ<i k#k#k#h[ZZZZZiɢIx>% )!)!!!i%:)IQ 9u`k@Us<A]oAzA]pAu2Acoustic response timeoutES EEECE"E9*EA9VE5ZEBE:a2E:aJEV:a:EV:aIIO>a uя,U%E?A;ɰ:*@:$@:>ٱ:R FAHRS rotation from veh to nav: [[-0.193616,0.938170,0.286966],[-0.917899,-0.069956,-0.390599],[-0.346374,-0.339032,0.874690]]:Hfȿ}?]?`m_@豿ؿ@*ֿೲտu?i:*@I: ^;8YJQPAyJHbDVWVDV'8yZݗ%^`=ٔ^9`I`=b FybEf Ef>dQ 5j4f2?Q 9n4f<.)fˏ@Q An7YlQ En7ynnQ Ir?fnCIf ;ifl@f 4ytɮvBt*j|Bj|iiziJiƷ<i kC#kC#kC#h kC:kC:kC:h)9[IZIZIZMZIZMiYɢaIe>e@;Ie )a)iimJimy:qIq},>}=U8R2Acoustic response timeouti@p<ԑAII I! OE >  2Acoustic response timeoutE R E CE ?E "E s9*E 09VE ^4ZE a @a @a @a @#uя,}?E?A2B@2#@2>ٱ2w` :AHRS rotation from veh to nav: [[-0.205646,0.937655,0.280200],[-0.912553,-0.080310,-0.400996],[-0.353493,-0.338161,0.872175]]2HRʿE??3@6ٿ࡟ֿmտ@?i2B@I2W^;2oCYBNAyB^GbDJSVDJ#8y &d%E=ٔ99IA=E FyEEE4EE>QQ 54U?Q 94U8)U/@Q A7YQ E7y@Q I?UCIU^;ԙiU@U44y=BɮbBE*jBjii zi Ji Ʒ<i  k!k!k!hY[qZqZqZuZqZuiɢI`>`}H:))顱㭼i8L:IB]G>BYB]GB]YMABYB]#DBYB]Ⱦ;B]-E}BiI2Acoustic response timeout@ nquя,p[E?AY MAy GbD]VD,8)y537%5<=ٔ5Q-5>99I9== Fy=EEEE>IQ 5M4My?Q 9U4M"C)My@Q AUw7YQQ EUe7yQQ IU?MCIMQ:iM@MW4yaɮeBam2Acoustic response timeout*jBjES E@E<E"E9*E9VE 4ZEBEa2EaJE.:a:E0:aiiziJiƷ<i kkkh kkkh[aZZZZZiɢIE>I<))顡woi:IQԁ 2Acoustic response timeout@m k<Ա A $AI I OE >quя,bvE?AB]@BX@B|>ٱBI+ JAHRS rotation from veh to nav: [[-0.242556,0.934993,0.258757],[-0.897151,-0.114685,-0.426577],[-0.369171,-0.335613,0.866647]]HBH Ͽu?z?u@[Mۿ~׿zտ`?iB]@IB@^;BjCYRKAyRGbD^rVD^?8yb-%fB=ٔfy#=Q-f>9jH?IjH?=j FyjEnͽEn>lQ 5r4nl?Q 9v4n>M)nE}@Q AvH7YtQ Ev97yvQ Iv?nCInH:in Ans4y~:Bɮ~“B|*j Bj i iziJiƷ<i k k k h) kCBkCBkCBh9[ZZZZZiɢI> E"E9*E 9VE4ZEa@a@a@a@@=Yi<AA@ABM>BLCBvGB8IABBBB˾;B7EBeKCBeKCBaBe=Be=Ced4AIIO> = 2Acoustic response timeoutuя,YE?A:@:@:>ٱ: FAHRS rotation from veh to nav: [[-0.254256,0.934739,0.248228],[-0.892277,-0.127706,-0.433050],[-0.373089,-0.331594,0.866516]]:HEпa??X@ۿ׿8տ?i:@I:^;:lCYJJAyNmG|a%a% a%a% a%a% a%a% a%@a% a-@a- a-@a- a-@a- a-@a- y%Mb?MbX9%@?%%ʡ! !)%Mb@Mb@Mb@I!i!!!% %)!!I%bDEVDEV8yU%UB=ٔUi$9YIY=e FyeEeEe>iQ 5u4m]?Q 9u4mBW)m}q@Q Au"7YyQ E}7y}Q I}?mFCIm` ;imAm4yQBɮBE*jBjiiziJiƷ<i k&k&k&h k8k8k8h[yZyZyZ}ZyZ}iɢIb>0F=I=))项g2Acoustic response timeoutER EQE@E"Es9*Ev9VE4ZEBEy:a2E~:aJE:a:E:aQԁ !uя,~E?A:@:j@:>ٱ:O JAHRS rotation from veh to nav: [[-0.265360,0.934727,0.236366],[-0.887342,-0.140881,-0.439064],[-0.377106,-0.326247,0.866807]]:Hп`I?=A?ec¿ܿ"ؿ<Կ?i:@I:^;:nCYrdHAyvrGbDVDP8y쁾%N=ٔ%29-K?I-K?=- Fy-E5E5>AQ 5M4EO?Q 9M4E`)E3f@Q AU7YQQ EU6yUQ IU?ExCIE';YiE+AE4yeNBɮeABi*jyBjyiyi}ziyJiƷ<i ksksksh k<k<k<h[ZZZZZiɢI>=))Ա 2Acoustic response timeoutE Q E GE AE "E 29*E R9VE A4ZE a @a @a @a @ uя,YE?Aɰ4<2#@2@2^>ٱ2 :AHRS rotation from veh to nav: [[-0.275375,0.935026,0.223372],[-0.882427,-0.153661,-0.444647],[-0.381433,-0.319555,0.867406]]2H࿟ѿ@?v?<@(ÿ uܿeiؿsԿ?i2#@I2ã^;2lCY^FAybcGbDfVDf{8yn %rN=ٔrA9vH?IvH?=v FyvEvEv>xBE]>BEMCBEGBEDABE=BABEDBEȾ;BEBEQ 5}4zA?Q 9}4zi)zZ@Q A}6YyQ E6yQ I?zCIzz---=)1)119i=98QIY-2Acoustic response timeoutJM@ux<A AI I i I nAO >9 3uя,4E?A2&ͅ@2Ȍ@2~>ٱ2ul :AHRS rotation from veh to nav: [[-0.284026,0.935642,0.209532],[-0.877687,-0.165733,-0.449664],[-0.385998,-0.311619,0.868273]]2Hz-ҿ`?`?@`6ſ@Lܿ@2ؿӿ@?i2&ͅ@I2^;0EFU EF<EF>ED"EF:*EF8VEF4ZEDBEF:aJ2EF:aJJEF9aJ:EF9aNR2Acoustic response timeoutYVxDAyVGZ=Z=bDbVDb8yf겾%jK=ٔjI9jK?InK?=n FynEnռEr>pQ 5v4rS3?Q 9v4r?s)r7O@Q Az6YxQ Ez6yzQ Iz?rCIr:irAr4y~eBɮՔBE*jBjiiziJiƷ<i! kCkCkChI[!Z!Z!Z%Z!Z%iYɢqIu>umA=)y)yyyi}K7IK'@m|U2Acoustic response timeoutqԡ fuя,6E?AJ@J@J`>ٱJ VAHRS rotation from veh to nav: [[-0.291183,0.936339,0.196168],[-0.873361,-0.176488,-0.453974],[-0.390453,-0.303515,0.869152]]JHҿ`}??)ƿ ݿ,ؿlӿ`?iJ@IJa^;JmCY^BAy^GbDfVDf8ynRv%nH=ٔn,B9rH?IrH?=r FyrEvEv>xQ 5~4zK$?Q 9~4z|)z6C@Q A~6Y|Q E6yQ I?zDIz:izm"Az4y bBɮ B E*jBj!i!i%zi!Ji-Ʒ<i) k%k%k%h9 k#4k#4k#4hI[aZiZiZmZiZmiyɢyI}>:U=))顁iJ6IaDyzD}?AbE&4jEù4rEI"0ES EEEE"E9*EA9VEZEa@a@a@a@2Acoustic response timeoutԑS@<B5<A5<B=>B=UCB="GB=@AB==B9B=DB=;B=PEԹI I O= >U 2Acoustic response timeout Evя,E?A2E@2@@2O>ٱ2 :AHRS rotation from veh to nav: [[-0.297420,0.936762,0.184440],[-0.869689,-0.186112,-0.457169],[-0.393932,-0.296376,0.870045]]2H ӿ??}ǿ@BBݿ/6ٿҿh?i2E@I2&|^;2nCYBAAyBGaMaM aMaM aMaM aMaM aMaM yMx&?Mb?MbM7I?M ףp=?:v ףp= ǿYMq?yMTMQ8MBMJB M |B)M3BMYMWBbDm3VDm8y}D%}B=ٔ}9I= FyEE>Q 54?Q 94ք) 5@Q AT:YJv?Q E\:ylQ I?DIy;i ;4y_Bɮ;B*jBjiiziJiƷ<i kkkh kAkAkAh2fk>:fk>BfI@Jfdi@[ Z Z Z Z Zi!ɢ!I%>%d=))))))i-/,61I199AAB@pA:@pAEV E@E<E"E=:*E9VE 4ZEBE:a2Acoustic response timeout2E:aJE.:a:E1:a@$<ApAzAqAII ) OA Q r vя,+E?AB@B @BJ>ٱBB NAHRS rotation from veh to nav: [[-0.302410,0.936623,0.176879],[-0.866665,-0.192939,-0.460073],[-0.396788,-0.292426,0.870084]]BH@Zӿ?@?`9ȿqݿ dٿҿ ?iB@IB^;BmCYZ>AyZGbDbsVDb,8yj_%nU=ٔn9lIp=r FyrErEr>tQ 5z4v?Q 9z4v>)v(@Y|y~"Q I~?v1DIv;iv;v4y\BɮB *jBjiiziJi%Ʒ<i! kS&kS&kS&h1 kc@kc@kc@hA2f:fBfJfuh@[ZZZZZiɢI>@tq=))if5 2Acoustic response timeoutI @ <)IiIO=Qԁ E S E EE ?E "E 9*E A9VE ^4ZE a @a @a @a @ =  2Acoustic response timeoutWvя,bEE?A06:@6݋@6>ٱ6 BAHRS rotation from veh to nav: [[-0.307243,0.936361,0.169792],[-0.864031,-0.199711,-0.462133],[-0.398814,-0.288692,0.870405]]6H`ߩӿ??#ɿ@ݿ`*ٿyҿ[?i6:@I6 }^;6lCYJ]=AyJGbDRVDRF8yZy%ZM=ٔ^z;Q-^>9`I`=b F fj>fCyjEBz>Bz[CBzFGBz>;ABz=Bz"DBzDBzy;Bz_EmE->MGerAQyQ 54Ϳ9rAYAUU?Q 94U@)U@YyQ I?UFDIU3#-z=)1)111i549I9ԉ@-ƈ<IIO >-2Acoustic response timeoutԹ vя,N|_E?Aɰ;R2Acoustic response timeout`^@^l@^>ٱ^wL vAHRS rotation from veh to nav: [[-0.312908,0.935345,0.164979],[-0.861370,-0.206282,-0.464208],[-0.400162,-0.287363,0.870226]]^H@Կ`X? ?Wvgʿ@ݿBٿ 'dҿ`?i^@I^n^;^iCY:AyGbD%VD%S8yE(%EB=ٔM0d;Q-M>9QIQ=U FyUE]E]>aQ 5m4e?Q 9m4e)e* @YiymSQ Im?e[DIe:ie :e/4yyɮ}By*jBjiiziJiƷ<iEV E@E=E"E=:*E9VE|4ZEBE:a2E:aJE/:a:E2:a kkkh k9k9k9h2f:fBfJf;#h@[ZZZZZiɢ I > 52Acoustic response timeoutA vя,WyE?A2a@2l\@2>ٱ2Ẓ :AHRS rotation from veh to nav: [[-0.320486,0.933374,0.161561],[-0.858318,-0.213990,-0.466367],[-0.400722,-0.288135,0.869713]]2H؂Կ2? ?@Xw d˿`ݿmٿ@pҿ?i2a@I2"^;2lCYB8AyBrGbDJVDJL8yR[%VT=ٔV:Q-V>9TIX=Z FyZEZ}EZ>\Q 5b4^뻉?Q 9b4^P)^D?YdyfQ If?^oDI^p:i^:^4yjoBɮjQBn E*jaBjaiiimziiJimƷ<ii k7k7k7h2f:fBfJfzg@[ZZZZZiɢI>\=))i2I@<I9IQI2Acoustic response timeoutO>QEY EEE;E"E:*EA9VE4ZEa@a@a@a@AAAAB>BaCB7GBR6AB=BBDBK;BbEqԡ E 2Acoustic response timeout$vя,"4E?A2@2@2[>ٱ2骤 :AHRS rotation from veh to nav: [[-0.329886,0.930736,0.157818],[-0.854535,-0.223368,-0.468910],[-0.401180,-0.289548,0.869032]]2Hտ?`3?`YXU̿޿`ٿҿ`?i2@I2vt^;2nCYbD7AybaGyy}e;O?~jtDl}t?}ļ}O y y9}x&?:v?V-ǿY}7?y}<}|?}sB}B }gzB)}ByY}BbDVD8y?v%;=ٔ :Q->9I= FyEuϼE>Q 54z޻?Q 94)?YS?Q EC:yQ I?DI:iE:4yɮB*jBjiiziJiƷ<i kkkh k8k8k8h2f- >:f- >Bf-}^>Jf-C@[9Z9Z9Z=Z9Z=iIɢIIU>Ut=)Q)QYYi]2YIa@UZ<ԡA}AIIOB>2Acoustic response timeoutE5R E5DE5BE1"E5s9*E5a99VE55ZE1BE5~:aE2E5:aEJE5mH:aE:E5pH:aE *vя,#E?A6ښ@6@6 >ٱ63 >AHRS rotation from veh to nav: [[-0.341000,0.927231,0.154797],[-0.849775,-0.233624,-0.472549],[-0.401997,-0.292682,0.867603]]6H`տ?f?[1@fͿ=>޿`Sٿ Mҿg?i6ښ@I6^;6jCYF4AyFpGbDNVDN8yV#;%V[=ٔZ;Q-Z>9ZK?IZK?=^ Fy^E^E^>`Q 5f4bһ?Q 9f4b)b?YdyjQ Ij?bDIb;ib;b%4ynBɮnBn*E*jtBjxixizzixJi~Ʒ<i| k3:k3:k3:h  kC:kC:kC:h2f1:f1Bf1Jf5@[9Z9ZAZEZAZEiQɢQI]>]x]=)]2ݼ)YYYi]vE1aIi2Acoustic response timeout@m<AqzAuoAAIIO )>! 2Acoustic response timeoutE b E LE ;E "E 1:*E |9VE 4ZE a @a @a @a @Q 1vя,E?A2 @2@2֑>ٱ2S :AHRS rotation from veh to nav: [[-0.353464,0.923368,0.149848],[-0.844021,-0.245729,-0.476703],[-0.403350,-0.294972,0.866199]]2H&ֿ;?@7.?8 tϿK޿`}ٿҿ@?i2 @I2jz^;2lCBF6>BFgCBF*GBFe1ABF=BF!DBFDBFC;BFEB][CB][CB]CB]=B]=C]8 7YH3Ay{GbD-VD-8yEeq%EB=ٔEe;Q-E>9III=M FyMEMEU>QQ 5]4U;Ż?Q 9e4U#)U?YayenQ Ie?UDIUr;iUn;Ue,4ymBɮuBq*jBjiiziJiƷ<i k5k5k5h k5k5k5h2f:fBfJf@[ZZZZZiɢI>Pd=))ix[0IԱ@v 9 57vя,zE?A62Acoustic response timeoutV@Vz@V>ٱVE/E^R E^@E^>E\"E^s9*E^9VE^4ZE\BE^:af2E^:afJE^2:af:E^4:af nAHRS rotation from veh to nav: [[-0.366970,0.919394,0.141594],[-0.837410,-0.260221,-0.480656],[-0.405066,-0.294958,0.865402]]VHm|׿k??@wп޿ٿҿ@`?iV@IVL^;TYv1AyvGbDe.VDe8yuz%uG=ٔu;Q-}>9}H?I}H?=} FyĘE#E>Q 54?Q 94)?Yy}Q I?DI;i;34yɮ`B*jBjiiziJiƷ<i k3Ak3Ak3Ah kcZkcZkcZh2f:fBfJf}@[Z Z Z Z Z iɢI%W>%;=)!)!!)i--q/)I1@< AQIaIqOC>92Acoustic response timeouti =vя,E?A4<ɰ 6 @6@6I>ٱ6 >AHRS rotation from veh to nav: [[-0.381102,0.914860,0.133390],[-0.830219,-0.275159,-0.484792],[-0.406813,-0.295498,0.864398]]6HcؿF?? (@5ѿ߿9 ڿ rҿ%?i6 @I6|^;6nCYF\/AyFGbDN&VDN8yVW%VX=ٔZs;Q-Z>9XIX=Z FyZƘE^;E^>`Q 5f4bt?Q 9f4b)bD?YdyjQ Ij?bDIb6:ib:b0:4ynBɮnBn)E*jxBjxixizzixJi~Ʒ<i| kAkAkAh kVkVkVh!2f1:f1Bf1Jf5@[AZAZAZEZAZEiQɢQI>&=))iS.IEe[ EeCEe@Ea"Eea:*Ee09u2Acoustic response timeoutyVEe4ZEaa}@a}@a}@a}@dByAyԙBT>BkCBGBy,AB=BBDB`;BE@r<AY?AAI IY Ii O > % 2Acoustic response timeoutDvя,zE?A>!y@>t@>Q>ٱ>^ FAHRS rotation from veh to nav: [[-0.395608,0.909977,0.124240],[-0.822690,-0.290982,-0.488375],[-0.408259,-0.295417,0.863744]]>H@Qٿ?7ο?@zS@rҿA߿ ڿҿʣ?i>!y@I>Kp^;>lCPYN{-AyRYGy%㥛 ?kt?x&%?% 0>%7! !9%Gz?Mb? rhY%?y%>%C%B%B %}B)%B!Y%BbD=BVD=8yM%M@=ٔUSt;Q-U>9QIQ=] Fy]ɘE]Y,Ee>aQ 5m4e?Q 9m4e)e?Yu?Q Eu(:yuQ Iu?eDIe:ie:eA4y}BɮB3E*jBjiiziJiƷ<i kckckch kckckchA2fu=:fu=Bfu@Jfus@[ZZZZZiɢI>d=))i-I&l@<EeV Ee?EeAEa"Ee=:*Ee?9VEeA4ZEaBEe:am2Ee:auJEeG9au:EeK9au2Acoustic response timeoutAAIIOEs>IQU>i Kvя,U.E?A2@2݇@2;>ٱ21 :AHRS rotation from veh to nav: [[-0.410514,0.904356,0.116702],[-0.815042,-0.306524,-0.491680],[-0.408882,-0.296958,0.862920]]2H Eڿ {?@,?ӿ@w߿+ڿ^ӿ ?i2@I22^;2mCYf_+AyfGbDnWVDn8yvZ%vQ=ٔzo:Q-z>9zK?IzK?=z Fy~˘E~@E~>Q 5 4?Q 9 4$)3>YySQ I?DI|:i:sH4yBɮ'B!*j1Bj1i19i=zi9JiEƷ<iA kRkRkRhQ k]k]k]hi2fy:fyBfyJf}m\r@[ZZZZZiɢIy>ɓ=))顡iW,I2Acoustic response timeouti.ۼ@<ԑA $AI I1 O] >bEm4jEmɒ4rEmɨh0Eu ] Eu BEu >Eq "Eu :*Eu (9VEu 4ZEq a} @a} @a} @a} @ In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeout Qvя,0HE?AB>BpCB@GB'AB=BBDB;BE$$BI@BD@B);>ٱB JAHRS rotation from veh to nav: [[-0.425831,0.897865,0.111834],[-0.807541,-0.321393,-0.494555],[-0.408101,-0.300907,0.861921]]BH@ۿ@O?$?@_Կ˦߿TڿBӿܔ?iBI@IB{^;BkCYR)AyRGbDZVDZ98yb%bM=ٔb Q-f>9fH?IfH?=f FyfΘEj@Ej>lQ 5r4nƀ?Q 9r4n)n-= =)9)AAAiEI+AIIqqqq pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutB@EqA:@A@N<A!zA%pAAe AIq I O >! Xvя, bE?AEU ECE?E"E:*E09VE^4ZEBE :a2E%:aJE9:a:E9:a2=06zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY62Acoustic response timeoutz[@zڨ@zW;>ٱz AHRS rotation from veh to nav: [[-0.441492,0.890989,0.105937],[-0.799994,-0.337412,-0.496148],[-0.406319,-0.303794,0.861751]]zH`gAܿ`??'տ߿ڿ^qӿv?iz[@Iz^;zmCY'Ay'GbD-VD-U8y5Q%5C=ٔ=Q-=>9EK?IEK?=E FyEјEE9EM>IQ 5U4Mp?Q 9]4M)MfYyBQ I?MXDIMʓT =))iױ*I@ @2Acoustic response timeoutQy *H^vя,{E?A6~@6 @6v>ٱ6F@ >AHRS rotation from veh to nav: [[-0.457360,0.883399,0.102116],[-0.792203,-0.352567,-0.498107],[-0.404025,-0.308711,0.861082]]6HbEݿD?E$?Ytֿ@߿@ٿӿ@?i6~@I6^;6jCY^%AybGbDjVDjw8yri%rP=ٔrLѻQ-r>9tIt=v FyvӘEzKIEz>xQ 54z~a?Q 94ze)zYygQ I?ztDIz];izj;z]4y®BɮB*j!Bj%i!i-zi)Ji-Ʒ<i) k:k:k:hA k:k:k:hQ2fa:faBfaJfen@smPUpdating rudder angle -0.000000 arcdeg 9mrm6Completed marl:UpdateRudder19m ruRAggregate::uninitialize marl:UpdateRudder[yZyZyZ}ZyZ}iɢIt>=))顡i)IY@<D9zD=@AEUR EUDEUFEQ"EUs92Acoustic response timeout*EUa99VEU 5ZEQa@a@a@a@AaIqԁI G B%>B%xCB%dGB%"AB%=B% DB%DB% ;B%vEe9aYeAO]>ԩ% 2Acoustic response timeout 00evя,•E?A;ɰ4<2|@2mu@2>ٱ2I :AHRS rotation from veh to nav: [[-0.472203,0.875490,0.102673],[-0.784540,-0.364303,-0.501777],[-0.401897,-0.317492,0.858882]]2H8޿@?H?P׿@୸ٿQԿ{?i2|@I2^;2mCY^#Ay^'GyEQ?Mb?Q?Eh?E=E\=A A9EHzG?ʡE?/$?YE=?yE=E1>E^BEB EJB)E/BAYEuBbDUVDU8yeЖ%mB=ٔm촻Q-m>9iIq=u Fyu֘EuG1Eu>yQ 54}S?Q 94})}Y?Q EB:yQ I?}DI}:i}:}d4yɮOB*jBjiiziJiƷ<i kFkFkFh k3Yk3Yk3Yh2fOJ>:fOJ>Bfz >Jf@[ZZZZZi ɢI$>Ա#=))项id)I@^<A_?AEEV EEBEENEA"EE=:*EE(9VEE'5ZEABEE:aM2EE:aUJEEQ+:aU:EES+:aUAy2Acoustic response timeoutIIOd> 9 9Zkvя,E?A2{@2k@2 >ٱ2 :AHRS rotation from veh to nav: [[-0.485994,0.867345,0.107345],[-0.777078,-0.372639,-0.507237],[-0.399949,-0.329930,0.855095]]2H߿I?@z? `O׿ J;Øٿ@տ\?i2{@I2^;2lCYB!AyBGbDJ!VDJ8yRҩ%RX=ٔV·Q-V>9TIT=V FyZؘEZ8EZ>\Q 5b4^rF?Q 9b4^w)^?Y`yfQ If?^DI^;i^F:^k4yjծBɮjBjEE*jaBjaiaimziiJimƷ<ii k^k^k^h2f:fBfJf=@[ZZZZZiɢ2Acoustic response timeoutI>8=))i5(I@ɬ<A-$AI9IIOu6>9DI DI EU T EU CEU GEQ "EU 9*EU 09VEU 5ZEQ a] @a] @a] @a] @i ߉ ߍ %= 2Acoustic response timeoutI B% q>B% CB% VGB% AB% =B! B% DB% K;B% E Brvя,xE?A 2z@2_@2{>ٱ2I+ƾ >AHRS rotation from veh to nav: [[-0.499466,0.858533,0.115991],[-0.769532,-0.378164,-0.514600],[-0.397937,-0.346284,0.849549]]2H@߿ y?@?3ؿwwٿ)ֿ /?i2z@I2?^;2kCYFAyFuGbDNKVDN8yV%VJ=ٔVQ-Z>9ZH?IZH?=Z FyZۘE^*E^>`Q 5f4b7?Q 9f4b#)bdYdyfQ Ij?bDIb:ib|:br4ylɮnݚBl*jtBjtixizzixJizƷ<ix ksEksEksEh  k]k]k]h2f):f)Bf)Jf-@[ZZZZZiɢI>ȕv=))i:i'I@a kxvя,QE?AEW E@EOE"E :*E9VE*5ZEBE0:a2E5:&2Acoustic response timeouta&JE1:a&:E4:a&,,Jy@JՃ@J+>ٱJӐѾP VAHRS rotation from veh to nav: [[-0.512951,0.848895,0.127506],[-0.761893,-0.381791,-0.523217],[-0.395476,-0.365530,0.842607]]JH@j&*?@R?laBoؿ0xOٿd׿ ?iJy@IJHn_;JmCY^)Ay^GGbDf}VDf 8ynɾ%nG=ٔr%ֻQ-r>9rK?IrK?=v FyvݘEv (Ev>xQ 5~4z(?Q 9~4z-)z$YyQ I?zDIz;iz;zy4y ҮBɮ -B *j!Bj!i!i%zi!Ji%Ʒ<i) k#Ek#Ek#Eh9 kRkRkRhI2fa:faBfaJfe@[iZiZqZuZqZu^uB*** querying acoustic contact ***XqYqiɢI/>șk=))顑i&I@<^AU^1=AIIOE>2Acoustic response timeout! A~vя,.E?A2}x@2F@2>ٱ2;<ݾ :AHRS rotation from veh to nav: [[-0.526917,0.838462,0.139072],[-0.753873,-0.385513,-0.532029],[-0.392472,-0.385178,0.835227]]2H@`?`??ؿaAٿؿ.?i2}x@I2_;0YBdAyBGbDJVDJ&8y~銾% H=ٔQ->9I= FyE%.E%>)Q 5E4-)?Q 9E4-7)-YAyMQ IM?-DI-b;i-,R;-4y]Bɮ]{BeOE*jyBjyiiziJiƷ<i k37k37k37h2f:fBfJf{@[ZZZZZiɢI>6^=))  i%!I!e2Acoustic response timeoutEMS EMEEMGEI"EM9*EMA9VEM5ZEIa@a@a@a@@<1^A[=BL>BCBzGBBAB=BDBûDBa;BVEBxCBCBũCBŸ=Bŵ=CŢ6AIIOEs>Qԁ  2Acoustic response timeout~vя, E?A2K}w@2@2y>ٱ2VC :AHRS rotation from veh to nav: [[-0.540714,0.828077,0.148044],[-0.745918,-0.390621,-0.539465],[-0.388889,-0.402125,0.828891]]2H`M?? ؿ KCؿiٿ@G?i2K}w@I2IX_;2kCY^qAybGYy}{Gz?MbX9Ŀsh|??}#?}!}=y y9}I +?Zd;OQ?Y}9T?y}j}=}By }bB)}2ByY}̷BbDVD/8y%@=ٔQ->9I= FyE'E>Q 54%?Q 94>) YW?Q E{:y Q I?DI:is:e4yBɮBNE*jBjiiziJiƷ<i kc9kc9kc9h ks9ks9ks9h2f%xP>:f%xP>Bf%>Jf%@[1Z9Z9Z=Z9Z=iIɢIIM>UEN=)Q)QQYi] =%YIa@5@<^Aԅ<ԉA9EEX EEBEEPEA"EE~ :*EE(9VEE-5ZEABEE:aU2EE:aUJEET+:aU:EEV+:aUe2Acoustic response timeoutIiIyO`>Ա Zvя,G0E?Aɰ2Jv@2@@2Z>ٱ2 :AHRS rotation from veh to nav: [[-0.552647,0.819540,0.151446],[-0.739152,-0.398031,-0.543347],[-0.385015,-0.412221,0.825735]]2HG9? b?!Uyٿcؿaڿ@kl?i2Jv@I2_;2lCY^Ay^GbDfVDfI8yng̾%rX=ٔr5Q-r>9tIt=v FyvEvEv>xQ 5~4z?Q 9~4zEE)zߪYyQ I?z$DIz;iz;z4y ɮ B*j!Bj!i!i%zi!Ji-Ʒ<i) k#8k#8k#8hA k#8k#8k#8hQ2fa:faBfaJfe+>@[iZqZqZuZqZuhDAT read: Forwarding Delay UpTx time:18:31:04.4518 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutiɢI >==) )   i ?$I1@й<^A"IIOI>EU U EU CEU NEQ "EU :*EU 09VEU '5ZEQ a] @a] @a] @a] @m 2Acoustic response timeout9 B >B CB lGB UAB =B DB ̻DB ;B ؁E,vя,/JE?AB>u@B@Bv>ٱB6 JAHRS rotation from veh to nav: [[-0.560205,0.815411,0.145859],[-0.735219,-0.408333,-0.541033],[-0.381605,-0.410328,0.828256]]BH3??@!"ڿ$P7lؿBڿ?iB>u@IB#^;@YrAyr@GxzAAbDzVDzP8y[% H=ٔ Q- >9I= FyE!E>Q 5%4争?Q 9-4 L)CY)y-xQ I-?:DIN:i|:*4y5Bɮ5BB9*jIBjIiIiMziQJiUƷ<iQ k6k6k6hi kVkVkVhy2f:fBfJfh@[ZZZZZiɢID>(-=))项i6$I2Acoustic response timeoutI@ܻ<@!@!@!@!iԙ I I O >i I oAE] R E] IE] LEY "E] s9*E] c9VE] !5ZEY BE] :am 2E] :am JE] :am :E] :am } 2Acoustic response timeoutǘvя,dE?A6u@6YՁ@6>ٱ6M >AHRS rotation from veh to nav: [[-0.563837,0.815395,0.131219],[-0.733899,-0.421802,-0.532425],[-0.378788,-0.396502,0.836245]]6H ??|ڿ@ @>ؿJ`ٿ?i6u@I6^;6jCYzAyzGbDVDW8y6%H=ٔQ->9!I!=% Fy%E%wE%>)Q 554-Һ?Q 954-R)-Y9y=Q I=?-ODI-y:i-#;-Q4yEBɮEBMXE*jYBjYiYi]ziYJieƷ<ia k#;k#;k#;hq kUkUkUh2f:fBfJf@[ZZZZZiɢI>xw!=))iڐ#IY@<I!I1O=ԁ2Acoustic response timeoutԱ vя,|~E?A Nsu@Nځ@N&>ٱN׾ ^AHRS rotation from veh to nav: [[-0.564153,0.817452,0.116206],[-0.735287,-0.433371,-0.521097],[-0.375611,-0.379424,0.845549]]NH@ @(??xYۿԬ` ؿ`{Hؿ@?iNsu@INs^;LYjAyjGbDzVDzi8y=s%EI=ٔEQ Q-E>9III=M FyMEM5:EM>QQ 5m4Uo?Q 9u4UY)UƿYyQ I?UeDIU;iUҨ;Ui4yBɮߜBWE*jBjiiziJiƷ<i k9k9k9h2f:fBfJf@[ Z Z!Z-Z)Z-iiɢqI}>}j=))bEH$5jE5rEt1E%T E%WE%Ne2Acoustic response timeoutE!"E%9*E%9VE%'5ZE!a@a@a@a@i#IB@-pA:@-nA@<AaAe?ABm >BmCBm^GBmiABm=BmDBmԻDBm;Bm~EIIOE>)  2Acoustic response timeout˥vя,OE?A2u@26@2V>ٱ2̾ >AHRS rotation from veh to nav: [[-0.562114,0.820731,0.102116],[-0.738512,-0.442508,-0.508711],[-0.372328,-0.361367,0.854860]]2HnC?C$?@Rܿ@\G8׿ ׿@[?i2u@I2^;0YFAyFMGHJAyEQ?X9vϿMbE5?E}EA A9El?V-ǿ333333ÿYE7?yE|?EE`BEׇB EׇB)EBAYEfBbDVD8y%B=ٔ_ Q->9I= FyE<E>Q 54?Q 94])\ؿYA?Q E:yE$Q I?wDI ;iP ;˫4yBɮ!B*jBjiiziJiƷ<i! k3:k3:k3:h1 k;k;k;hA2f]=:f]=Bf]o?Jf]˺@[aZaZiZmZiZmiyɢyI}:>=))顁iǢ"IQ@]<IIO >E-Z E-]E-bE)"E-:*E-9VE-g5ZE)BE-n;a52E-p;a5JE- ;a=:E- ;a=e2Acoustic response timeoutyԩ dvя,,E?A6 cv@6f,@6=>ٱ6M@ BAHRS rotation from veh to nav: [[-0.558330,0.824883,0.088515],[-0.742941,-0.449661,-0.495826],[-0.369197,-0.342596,0.863899]]6H qe?먶?+?ܿ߿׿տ ?i6 cv@I6^;4YJ} AyJƬGbDR VDR8yZ%Z^=ٔ^2Q-^>9`I`=b FybEb<Eb>dQ 5j4fz?Q 9j4fna)fYlyn#Q In?fDIf;if;f84ypɮrbBt*j|Bj|i|i~ziJiƷ<i k;k;k;h k#;k#;k#;h)2f9:f9Bf9Jf=@[AZIZIZMZIZMiYɢaIe.>e7<)a)aiiimI"iIq2Acoustic response timeout@U;<IIO=ԩE5 W E5 JE1 E1 "E5 :*E5 k9VE1 ZE1 a= @a= @a= @a= @m 2Acoustic response timeout Q Q (G 9 Y ABe ~>Be ÏCBe PGBe } ABe =Be DBe ݻDBe ';Be dE޲vя,E?Aɰ;27v@2|g@2">ٱ2 鶾 :AHRS rotation from veh to nav: [[-0.553587,0.829247,0.076754],[-0.747800,-0.454412,-0.484051],[-0.366519,-0.325361,0.871667]]2H0?.?ݿ޿ u׿Կ`?i27v@I2^;0YN AyRrGlbDZ@VDZ8y%%%D=ٔ%Q-%>9)I)=- Fy-E-<E5>1Q 5E45?Q 9E45e)5YAyE3#Q IE?5DI5;i5_:54yMBɮUBQ*jaBjaiaimziiJimƷ<ii kEkEkEh2f:fBfJfW@[ZZZZZiɢI>0<))i!IR@>J@>@< 2Acoustic response timeoutAII OE/>1a E= ` E= HE= cE9 "E= *:*E= [9VE= &k5ZE9 BE= -;aM 2E= -;aM JE= Y:aM :E= Z:aM vя,CE?AZ?<2Acoustic response timeout>Dw@>^@>>ٱ>N FAHRS rotation from veh to nav: [[-0.549123,0.833143,0.065852],[-0.752064,-0.458241,-0.473725],[-0.364505,-0.309658,0.878207]]>Hk?۰?SݿQ޿ T׿pӿ F?i>Dw@I>8^;>iCYNAyRGV=V=bDZgVDZ8ybb%bP=ٔb崻Q-f>9dId=f FyfEjt<Ej>lQ 5r4n,t?Q 9r4ni)n@Ypyr"Q Iv?nDIn;in:n]4yxɮzݝBx*jBji i zi Ji Ʒ<i Y kS*kS*kS*h2f:fBfJf?5@[ZZZZZiɢI><))i!I @M<ԉAIIOH>Ա2Acoustic response timeout 3vя,E?A:υw@:ɽ@:q&>ٱ:k BAHRS rotation from veh to nav: [[-0.546508,0.835721,0.053846],[-0.754736,-0.463646,-0.464119],[-0.362908,-0.294284,0.884135]]:H`|`9??&@aݿݿ9׿`ҿ@J?i:υw@I:/T_;:lCYJAyJGbDRVDR,8yZ"%ZK=ٔ^Q-b>9dIh=j FyjEr<Er>tQ 5z4va?Q 9z4vm)v YxyzS"Q I~?vDIve;iv;vxdž4yBɮBVE*jBjiiziJiƷ<i! k%k%k%hI2f):f)Bf)Jf-@[yZZDzDAAEh EKEkE"EG:*E]t9E2Acoustic response timeoutVEu5ZEaM@aM@aM@aM@ZZQZUiaɢaIe>mڶ<)i)qqqiuJF!I@ev<B Z>B ُCB ޣGB ?AB =B DB DB w;B xEAIIIOj>  2Acoustic response timeout9 Wvя,E?A2_w@2@2;>ٱ2b :AHRS rotation from veh to nav: [[-0.546540,0.836550,0.038450],[-0.755513,-0.472751,-0.453548],[-0.361238,-0.276932,0.890402]]2HB}??*-A޿@ݿ׿ @ѿ ,~?i2_w@I2x'_;0YBAyBEَA A9ES㥛?Cl?K7AYEd?yE;=E EBE3B EB)ESBAYEBbD]VD]c8ym%m?=ٔu^Q-u>9qIq=} Fy}E}Î:E}>Q 54=R?Q 94-s)#YZ?Q EM:y;Q I?DI:i:Ά4yBɮkB`E*jBjiiziJiƷ<i k k k h k)k)k)h2f>:f>Bf u@Jf?[ZZZZZi)ɢ)I5ʸ>=.<)9)AAAiE"!II@qԙ qDvя,s3E?A2rw@2J@2>>ٱ2Ct :AHRS rotation from veh to nav: [[-0.548172,0.836017,0.024144],[-0.755189,-0.482355,-0.443873],[-0.359439,-0.261552,0.895765]]2H ?U?*޿hhܿ ׿@Fп`?i2rw@I2_;0YBAyBGbDJ7VDJ8yR!%VX=ٔVQ-V>9TIX=Z FyZEZfEZ>\Q 5b4^ E?Q 9b4^-x)^\7YdyfpQ If?^DI^:i^ :^{Ն4yjBɮjBh*jtBjtitivzitJivƷ<ix k3k3k3h 2f:fBfJfq?[ZZZZZ2Acoustic response timeoutiɢI>P`<))i Iq@H<AZ?AU?AIIOm5>ԡD %=D %=E d E IE jE "E 9:*E c9VE ـ5ZE a% @a% @a% @a% @M =M 4=U 2Acoustic response timeoutB ;>B CB GB *AB =B DB DB ;B EBÏCBˏCBʯCBʜ=Bʚ=C|7 +vя,MME?A>>w@>왂@>>ٱ>4 FAHRS rotation from veh to nav: [[-0.551091,0.834345,0.012943],[-0.754092,-0.491322,-0.435831],[-0.357274,-0.249943,0.899936]]>H`??`!q߿@ۿֿϿE?i>>w@I>^;>jCYNAyN5GbDZtVDZ8yb%bI=ٔbQ-b>9dId=f FyfEfEj>hQ 5r4j7?Q 9r4j})jMLYpyrQ Ir?jDIj ;ij;j܆4yxɮzBx*jBjii zi Ji Ʒ<i  kkkh! kc$kc$kc$h12fA:fABfAJfED?[QZQZQZUZQZUiiɢiIm>m`<)i)qqqiuD I@<2Acoustic response timeoutAI I!OU2>) E% b E% KE% kE! "E% 1:*E% ]t9VE% u5ZE! BE% 9;a- 2E% 9;a- JE% 1:a- :E% 2:a5 Vvя,(gE?A2Acoustic response timeout4<ɰ4<^v@^Dx@^>ٱ^Q fAHRS rotation from veh to nav: [[-0.554744,0.832012,0.003820],[-0.752582,-0.499816,-0.428725],[-0.354795,-0.240708,0.903427]]^Hwן?Lo?`&߿@:pۿֿο?i^v@I^f^;^iCYn@yr/GbDvVDv:8y~%F=ٔһQ->9 I =  Fy E [#E >Q 54(?Q 94)vaY!y%Q I%?DII;i#;4y-Bɮ-B5_E*jABjAiIiMziIJiMƷ<iI k#k#k#ha kS$kS$kS$hq2f:fBfJfh?[ZZZZZiɢI#>`J_<))顱if I@y2Acoustic response timeoutԩ c>vя,E?A@Bv@BN@B>ٱB( NAHRS rotation from veh to nav: [[-0.559236,0.829006,-0.002018],[-0.750714,-0.507450,-0.422993],[-0.351687,-0.235038,0.906131]]BHB8?` =`Oۿ ֿ@ο@?iBv@IB)^;BjCY}O@yGbDVVD8y-%59=ٔmQ-u>9yI= FyE6E>Q 54E?Q 94B)xYyQ I?DI+;i;4yɮWBE` EFErE"E*:*E;J9VE5ZEa@a@a@a@*jBjiiziJiƷ<i k$k$k$h k$k$k$h!52Acoustic response timeout2fA:fABfAJfE+?[QZQZQZUZQZUiaɢaIm>m`(<)i)iqqiuH> qIyԩ@k<AqAzAqAB>BCBGB|@B=BB DB{;BEAIIOh>  2Acoustic response timeouthvя,E?A2=v@2@2>ٱ2 :AHRS rotation from veh to nav: [[-0.564915,0.825129,-0.005740],[-0.748150,-0.515122,-0.418236],[-0.348056,-0.231974,0.908320]]2H`tg?w`{aڿ`Fֿ OͿ`?i2=v@I2?^;0YB @yBKGlyEX9v?m?/$E?En>E,A A9EQ?+?tVοYE?yEv>ErEBEB EB)E7BAYEBbDuVDu)8y%T=ٔF(Q->9I= Fy E⍼E>Q 54 ?Q 94)Y ?Q E&:yQ I?,DIs;iMq;L4yBɮBiE*jBji!i%zi!Ji-Ʒ<i) k"k"k"hQ2fe/>:fe/>Bfecu2?Jfe@[qZqZqZuZqZuiɢIX>;)) i* I@ <E_ EPEiE"E&:*E?9VEz~5ZEBE&;a2E&;aJE:a:E:aE2Acoustic response timeoutA}$AIIOc>1a > >vя,E?A2}u@2 ؁@2}ҳ>ٱ2 :AHRS rotation from veh to nav: [[-0.571792,0.820368,-0.007096],[-0.744776,-0.522693,-0.414850],[-0.344039,-0.231923,0.909862]]2HL@t@?0} 4 ڿֿ Ϳ?i2}u@I2D^;0YR@yR8GbDZCVDZ8yb<%bY=ٔbL:Q-b>9fH?IfH?=f Fyf Ej㮼Ej>hQ 5r4j?Q 9r4j)jYpyrQ Ir?jEDIj ;ijH;j4yxɮzBx*j Bj i i zi Ji Ʒ<i k*k*k*h! k*k*k*h192fI:fIBfIJfM l@2Acoustic response timeout[ZZZZZiɢI> ;))i# Ii}B@qA:@qA@U<<ԙbE}z~5jE}A{5rE}|1Ec EHEE"Eg5:*E[9VEZEa @a @a @a @M 2Acoustic response timeoutA AI I O >B >B CB GB @B =B DB DB B;B E ozvя,E?A6 u@6g@6j>ٱ6]ှ BAHRS rotation from veh to nav: [[-0.579806,0.814725,-0.006991],[-0.740375,-0.530437,-0.412893],[-0.340103,-0.234222,0.910752]]6H@ō@9?|&Xlڿ`>տͿ`$?i6 u@I6^;6lCYF4@yJGJ&Powering up NAL9602bDVVDV8y^߉%^K=ٔ^N*Q-b>9bK?IbK?=b FybEfNüEf>hQ 5j4j?Q 9n4j)jYlyn$Q Ir?j`DIj;ij;j4ytɮvBt*jBjiiziJi Ʒ<i  k#k#k#h! k#k#k#h12fA:fABfAJfEЛ@[IZQZQZUZQZUiaɢaIm>m)i)iiu E h E LE hE "E G:*E |9VE A{5ZE BE 5_;a 2E 8_;a JE z:a :E {:a ] 2Acoustic response timeout$vя,~E?A2~it@2/@2կ>ٱ2h fAHRS rotation from veh to nav: [[-0.588647,0.808372,-0.005476],[-0.734927,-0.537962,-0.412890],[-0.336715,-0.239022,0.910764]]2H@1.?|nv`6lڿ`տBο $?i2~it@I2^;2jCYj@ynΐGbDvVDv"8y~+%~E=ٔ~vQ->9I= FyE ؼE >Q 54湉?Q 9%4Ʊ)Y!y%Q I%?|DIW-;i&%;4y5"Bɮ=jB=rE*jYBjYiYieziaJieƷ<ia kC%kC%kC%h2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢI>͸))顉(q awя,`YE?AB;ɰ@s@Ҁ@Y>ٱi AHRS rotation from veh to nav: [[-0.597438,0.801903,-0.004524],[-0.728843,-0.545341,-0.413994],[-0.334450,-0.244038,0.910268]]H5/?lrRps`~ڿgտ@<Ͽ ?is@Iƌ^;hCY @y wGQE` EREa2Acoustic response timeoutE%G"E*:*E9VEd51ZEa=@a=@a=@aE@I}¿9yY}ܸAy;On?V-?|?5^?t?h>R> 9㥛 ?ˡE?RQ?Y?y'>>EBKB bB)BYBbDIVDv8yv%&=ٔȟQ->9I= FyE仼E>Q 54Ϲ?Q 94X)1Yu?Q E/:yUQ I?DI?;i* ;4yBɮB*jBjiBAAABMB>BMCBMnGBMa@BIBIBMDBM=;BMEiziJiƷ<i kc$kc$kc$h kc$kc$kc$hA2fU>:fU>BfU~>JfU @ys}PUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢI? ))wя,E?AJs@J.@J>ٱJ ZAHRS rotation from veh to nav: [[-0.604782,0.796387,-0.002499],[-0.723327,-0.550607,-0.416690],[-0.333223,-0.250199,0.909045]]JH_Z |?0xd~%ڿSտDп?iJs@IJ^;JlCY%6@y%G->-=bD=VD=8yM,Ծ%Mr=ٔMw|Q-M?9QIQ=U FyUE]%E]?YQ 5m4]?Q 9m4])]VYiymQ Im?]DI];i];]4yyɮ}By*jBjiiziJiƷ<i kC"kC"kC"h kS"kS"kS"h2f:fBfJfׇ@[ZZZZZiɢI&> ))ԙ  wя,q6E?A2Kr@2R@2>ٱ2 :AHRS rotation from veh to nav: [[-0.609219,0.793000,0.001622],[-0.719902,-0.552202,-0.420493],[-0.332555,-0.257340,0.907294]]2H`~A`?Z?o @Zڿ`Hտ Axп@?i2Kr@I2*^;2jCY^v@ybGbDjVDj48yrb%rS=ٔrQ-r>9tIt=v FyvEzzEz>xQ 54z?Q 94z1)zϧYy-Q I ?zDIz ;izq ;zj4y2Bɮ*B{E%2Acoustic response timeout*j)Bj1i1i5zi1Ji5Ʒ<i9 kS.kS.kS.h kc.kc.kc.h2f!:f!Bf!Jf%$@[1Z1Z1Z5Z1Z=iIɢIIM<>M`$)I)QQUjFEuc EuTEunEq"Eug5:*Eu9VEuJ5ZEqa}@a}@a@a@2Acoustic response timeout B n>B CB (GB @B B DB DB ;B hE9 wя,PE?A6*}r@6v9@6">ٱ6{M >AHRS rotation from veh to nav: [[-0.611636,0.791110,0.006796],[-0.718289,-0.551693,-0.423905],[-0.331607,-0.264157,0.905681]]6H P?{?8xD!ۿ 9տ@пV?i6*}r@I6v^;6hCY^@y^܇GbDfmVDf8yn>%nJ=ٔnN#Q-n>9rH?IrH?=r FyrEriEv>tQ 5z4vؗ?Q 9~4v5)vcY|y~JQ I~?vDIv;iv;vw#4yɮ cB *jBjiizi!Ji%Ʒ<i! kSkSkSh9 kskskshI2fY:fYBfYJf]#@[iZiZiZmZiZmiɢI>45I <))顉;iN )I1 -2Acoustic response timeout9@]<AAIIIO >a E} f E} YE} Ey "E} I@:*E} *9VE} 5ZEy BE} R;a 2E} R;a JE} :a :E} :a  2Acoustic response timeout!wя,~jE?A Y]S@y]GaabDmVDm8y}%}A=ٔQ->9K?IK?= FyEE>Q 54?Q 94)YyQ I?DI<;i{;*4y/BɮB*jBjiiziJiƷ<i k!k!k!h kC7kK7=kC7h2f:fBfJf[ZZZZZiɢIR>IĽ<))?:i Iqԡ@<M2Acoustic response timeoutIIO] > T !wя,seE?AP5Vr@5?@5y>ٱ5 EAHRS rotation from veh to nav: [[-0.612178,0.790604,0.013552],[-0.720009,-0.550267,-0.422840],[-0.326842,-0.268611,0.906103]]5H@L?H?O ɛۿԿ0ѿ?i5Vr@I5^;5iCYU@yUtGyI +?nʿ/$94?V 9Zd;?(\¿ r?Yy?yzC>B B B)BY#BbDWVDZ8yb%B=ٔ'DQ->9 I =  Fy  E:E>Q 5%4i?Q 9%4)Y%?Q E%S:y%Q I-?3DI:i:A24E5` E5PE5mE1"E5*:*E5?9VE55ZE1aE@aE@aE@aE@yMBBɮMBME2Acoustic response timeout*jBjiiziJiƷ<i kkkh2fM>:fM>BfM l>JfM@[QZQZYZ]ZYZ]AA@AB>BCBGB@B=BBDB!;BEBUCBUCBUÝCBUÂ=BUÂ=CUÒ4iɢI~>0In<))项i'!!I@<IiIyO_> E 2Acoustic response timeoutI5'wя,;E?Aɰ;Br@B[@Be>ٱBS JAHRS rotation from veh to nav: [[-0.610532,0.791773,0.018585],[-0.723132,-0.547726,-0.420805],[-0.323003,-0.270355,0.906961]]BH {5V??#@zڿ Կ}Mѿ ?iBr@IB^;@Yn)@yn:GbDvVDv8|y~e%\=ٔd3Q->9 I =  Fy #E "<E>Q 5}4S?Q 9}4z)ïYyy}Q I}?KDIn;i ;84yɮB*jBjiiziJiƷ<i kSkSkSh kckckch2f:fBfJf@[ZZZZZiɢI>0IZ;) A8)   0i ]!I@ <IqIO=!EEa EENEEqEA"EE%.:*EE҆9VEE5ZEABEES3;aU2EEV3;aUJEE :aU:EE :aU2Acoustic response timeoutQy ]-wя,E?A2s@2߉@2 >ٱ2 :AHRS rotation from veh to nav: [[-0.607560,0.793880,0.025001],[-0.727857,-0.543880,-0.417634],[-0.317954,-0.271935,0.908271]]2H`"qwg?ݙ?Jwgڿ@[YԿbgѿ?i2s@I2'^;0YN7@yR~GV=Vp=bDZ2VDZ$8ybn%bN=ٔb\Q-f>9dId=f Fyf%Ej4h<Ej>lQ 5r4n?`мI0ݻ))iA! I @M<IIO>ԁԱDU=DU4=E]c E]PE]pEY"E]g5:*E]?9VE]5ZEYae@ae@ae@ae@pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutB >B CB yGB @B =B B DB ;B E E4wя,E?A6s@6=@6P>ٱ6y9 >AHRS rotation from veh to nav: [[-0.604385,0.796057,0.031793],[-0.733170,-0.540138,-0.413174],[-0.311738,-0.273026,0.910097]]6H WMy?3G?` vHsqڿ@ӿCyѿ ?i6s@I6^;6jCYF_@yFzGbDNVDN8yVN%VL=ٔZQ-Z>9XI\=^ Fy^(E^z<Eb>`Q 5f4b$?Q 9f4br)b*YhyjQ Ij?b~DIb6:ib:bF4yn]@Ie)a)aaeie"iIqԹ@U<IIO=zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout9 Ee h Ee KEe wEa "Ee G:*Ee ]t9VEe ɕ5ZEa BEe 5_;au 2Ee 7_;au JEe 2:au :Ee 3:au  2Acoustic response timeouto:wя,E?ABis@B@B>ٱB RAHRS rotation from veh to nav: [[-0.601428,0.798100,0.036345],[-0.738419,-0.537935,-0.406649],[-0.304995,-0.271408,0.912861]]BH`>`?? `6@ڿ@ӿ^ѿ )6?iBis@IBP^;BiCY^0@y^1vGbD VD 8ys%D=ٔQ->9!I!=% Fy%+E-g<E->)Q 554- ?Q 9=4-[)-IY9y=Q I=?-DI-;i-;-M4yM9BɮMBME*jYBjYiYieziaJieƷ<ia k;k;k;hy kSUkSUkSUh2f:fBfJfL@[ZZZZZiɢI>I ))i"IAV @%iI IM pAԡ 8ZAwя,&E?AV1t@V@Vq.>ٱV= bAHRS rotation from veh to nav: [[-0.599183,0.799678,0.038652],[-0.742896,-0.537342,-0.399209],[-0.298470,-0.267914,0.916045]]VH,?-ʣ?1@ٿ ӿ%ѿ =P?iV1t@IV^;VjCYf1@yjFqGlnAyL7A`?x&1̿~jt+G?A`Ľ 9K7?mͿ +οYI?ynvB B)ZBYuBbDVD[8y)%@=ٔQ->9I= Fy-EC8<E>Q 54$?Q 94o)Y8[?Q Ew:y)Q I?DI3:i]:eU4yOBɮ BE*jBjiiziJi Ʒ<i bEJ5jE5rE2Ef EPEnE"EI@:*E?9VEJ5ZEa%@a%@a%@a%@ k3Uk3Uk3Uh92fM>:fM>BfM@JfM?[YZYZYZ]ZYZeu2Acoustic response timeoutyiɢI>R<))顉ijI#IB)A-<B=>B=CB=oGB=@B==B9B="DB=;B=E]=%2@-<ԙAQIYIqO^>% 2Acoustic response timeout Gwя,҉E?A2Lgt@2.@2)Z>ٱ2 ؍ :AHRS rotation from veh to nav: [[-0.597778,0.800801,0.037122],[-0.746123,-0.538832,-0.391100],[-0.293191,-0.261489,0.919599]]2H `*?? >>@ٿ`ҿ <п[m?i2Lgt@I2+^;2iCYBU@yBlGbDJVDJ8yR%R^=ٔVuQ-V>9TIT=Z FyZ0EZ&<EZ>\Q 5b4^s߸?Q 9b4^)^DYdyf(Q If?^DI^:i^:^[4yjLBɮjGBl*jtBjtitivzitJivƷ<ix k9k9k9h kUkUkUh2f):f)Bf)Jf-|?[9Z9Z9Z=Z9Z=iIɢIIU>UR)Q)YYYi]#YIaE%d E%ME%uE!"E%9:*E%9VE%5ZE!BE%!F;a52E%$F;a5JE%:a5:E%¥:a52Acoustic response timeoutQ9@<ApAzApAAII ) O= >Q Mwя,__9E?Aɰ23t@2<@2᎖>ٱ21 :AHRS rotation from veh to nav: [[-0.597098,0.801508,0.032547],[-0.747975,-0.541641,-0.383612],[-0.289839,-0.253398,0.922921]]2Hm@??i`U@ؿҿ`7п?i23t@I2^;0YZƽ@yZbiGbDbPVDb8yjG%jH=r2Acoustic response timeoutٔj: Q-r>9tIt=v Fyv2Ev;Ev>xQ 5~4zmȸ?Q 94z)zkYy(Q I?zDIz;iz=:zc4y WBɮ {BE*j!Bj!i!i%zi!Ji-Ʒ<i) k#:k#:k#:hA kcXkcXkcXhQ2fa:faBfaJfe?[iZqZqZuZqZuiɢI~>Oa)&^)顡i$I)Y@up< %j>!_G9YDAE=h E=]E=vE9"E=G:*E=9VE=-5ZE9aE@aE@aE@aE@2Acoustic response timeoutAII B= >B= CB= LeGB= s@B9 B9 B9 B= ;B= CEO] >ԁ Twя,f2SE?A02|t@2C@2V>ٱ2aۄ >AHRS rotation from veh to nav: [[-0.596966,0.801798,0.027412],[-0.748960,-0.544727,-0.377268],[-0.287561,-0.245747,0.925698]]2HWU??z@hn(%ؿdgҿ@tϿ@R?i2|t@I2ԡ^;2hCYF @yFdGbDNVDN8yV앾%VM=ٔVûQ-Z>9XIX=Z FyZ5E^:E^>`Q 5f4b/?Q 9j4b)biYhyjX(Q Ij?bDIb:ibV:bi4yɮB!*j1Bj1i1i5zi1Ji=Ʒ<iY k<k<k<hq k3Xk3Xk3Xh2f:fBfJf7?[ZZZZZiɢI>k))iun%!I!@<ԑiI2Acoustic response timeoutA!I1IAO;>Թ EE j EE lEE sEA "EE N:*EE :VEE X5ZEA BEE k;aU 2EE k;aU JEE C;a] :EE C;a]  2Acoustic response timeoutYZwя,mE?A2t@2=L@2x>ٱ2ȩ >AHRS rotation from veh to nav: [[-0.596398,0.802339,0.023687],[-0.749959,-0.546457,-0.372755],[-0.286132,-0.240075,0.927627]]2H ì?pA?@`|7׿Oҿ@ĺο?i2t@I2^;2iCYB@yFp`GbDNiVDN8yV%VJ=ٔVqQ-Z>9XIX=Z FyZ7E\^g4;Eb>`Q 5f4b?Q 9j4b")bYhyj0(Q Ij?bDIb:ib:bq4ynTBɮrBp*jxBjxixizzi|Ji~Ʒ<i| k^k^k^h k^k^k^h!2f1:f1Bf1Jf5?[ZZZZZiɢI >P*q))i@4&I@<AI)I9O2Acoustic response timeoutI  PExceeded connect timeout, disconnecting.ݥawя,lE?A((Ft@F[@Fk>ٱF, RAHRS rotation from veh to nav: [[-0.595352,0.803156,0.022281],[-0.751553,-0.546865,-0.368926],[-0.284121,-0.236386,0.929192]]FH t?Ж? @}׿@/ҿ@Aο?iFt@IF^;DYV@yV\Gy=:v??=t?=L==9 99=l?Mb`lҿY=w?y===B=|B 9)=B9Y=pBbDU VDU8ye]%e?=ٔe Q-e>9iIi=m Fym:Em;Eu>qQ 54u?Q 94u))uYq?Q EQ:yQ I?uDIua:iu]:uxx4yQBɮB*jBjiiziJiƷ<iE EUEtE"E*EP9VE5ZEa @a @a @a @ ksT]2Acoustic response timeoutksTksThy2fN7>:fN7>BfF@JfB@[ZZZZZiAAAAB>BCB$[GB1@B=BB#DB;BTEɢI>y))i'I!@ /q 2Acoustic response timeoutԡ gwя,ĠE?A>t@>n@> *>ٱ>C| NAHRS rotation from veh to nav: [[-0.594050,0.804116,0.022425],[-0.753524,-0.546483,-0.365457],[-0.281615,-0.233997,0.930558]]>H`tQ?}?|c׿ҿͿ!?i>t@I>Ü^;>hCYV@yVmXGbDbVDbY8yf%fT=ٔj0޻Q-j>9jH?InH?=n FynpQ 5v4rs?Q 9v4r0)rYxyzQ Iz?r'DIr-:ir:r54y~fBɮgBE*jBjiiziJiƷ<i ks:ks:ks:h1 k_k_k_hI2fY:fYBfYJf]K@[aZiZiZmZiZmyiɢIĸ>:))顉i'IԡE%` E%PE%lE!"E%*:*E%?9VE%5ZE!BE% -;aE2E%-;aEJE%:aE:E%:aMuhDAT read: Forwarding Delay UpTx time:18:31:18.3017 upIn parseResponses, set commsState_ = SENDING_ACK_WAITINGu2Acoustic response timeout=-|,@U<A I I I O > mwя,E?A2Vu@2{@2>ٱ2Ux :AHRS rotation from veh to nav: [[-0.593419,0.804607,0.021475],[-0.755123,-0.547289,-0.360921],[-0.278646,-0.230393,0.932349]]2H I X??) eR׿ Wѿ }Ϳ ?i2Vu@I2y^;2gCYB@yBfUGbDJxVDJ8yRtE%VM=ٔVQ-V>9TIX=Z FyZ?EZ?~;EZ>b2Acoustic response timeoutdQ 5j4f`?Q 9]4f6)fYyQ I?f<DIf\))顙i(I8R@m< nManaging dock network, ignoring radio surface power offAIIOf>DD%=Eg EUEE"EC:*EP9VEZEa%@a%@a%@a%@1u2Acoustic response timeoutB>B!CBPGB@B=BB%DBM;B.EBCBCBȕCBȆ=BȆ=Cr6Y twя,:zE?A4<ɰp;Y~@y~OGbD VD 8y8%%C=ٔ%Q-%>9)I)=- Fy-BE-E->1Q 5u45K?Q 9u45t=)5YyyyQ I}?5SDI5) )   i )I92Acoustic response timeouta]|^@5<ԉAe AIq I O >E- j E) E- E) "E- N:*E) VE- 5ZE) BE- k;a= 2E- k;a= JE- :a= :E- :aE  2Acoustic response timeoutԹ {wя,E?AB{t@Bo@BQR>ٱB$9jK?IjK?=j FyjDEnAzEn>pQ 5v4r,8?Q 9v4rC)rYtyzgQ Iz?riDIr:ir:rs4y|ɮ~B|*jBjiiziJiƷ<i k;k;k;h1 kWkWkWhA2fQ:fQBfQJfU@[aZaZaZeZaZeiɢI>ę))is*!I)))11qԡ2Acoustic response timeout@<<AY?AY?A $AI! I1 O wя,0E?A6t@6ZO@6Ћ>ٱ6!a BAHRS rotation from veh to nav: [[-0.597496,0.801870,0.001894],[-0.751925,-0.559457,-0.348736],[-0.278581,-0.209792,0.937219]]6H@?_?`QֿGѿ`yʿ?i6t@I6^;6jCYF@yJIGyd;O?K7A`?V-?+>m 9@5^I ?5^I ?I +ƿYb?y>94cBNB B)BYܤBbD-(VD-8y= a%EE=ٔE;Q-E>9MH?IMH?=M FyMGEM"EM>QQ 5]4U(?Q 9e4UaN)UYe?Q Ee4:yeQ Ie?UDIU ;iU ;U4ym^BɮuBuE*jBjiiziJiƷ<i k;k;k;h kc]kc]kc]h2f~J>:f~J>Bf+u?Jf׊@DzD@AEf EaEwE"EI@:*E9VEɕ5ZEa@a@a@a@[ZZZZZ=2Acoustic response timeoutBqAu<B}>B}"CB}GGB}P@ByB}DB}&DB};B}EiɢIe>ȳ))i {+I@><AA!I)I9OuX>I  2Acoustic response timeoutwя, "E?A2 Ot@2f"@2 >ٱ2}[ >AHRS rotation from veh to nav: [[-0.600861,0.799321,-0.007218],[-0.747700,-0.565205,-0.348551],[-0.282684,-0.204034,0.937262]]2H`A: ?Đ})(Nֿ}ҿʿ ?i2 Ot@I2^;0YF@yFFGbDNVDN8yVlx%VT=ٔV59ZK?IZK?=Z FyZIE^iE^>`Q 5f4b?Q 9f4bX)bYdyf>Q Ij?bDIb:ib:bl4ynsBɮncB]E*jiBjiiqiuziqJiuƷ<iq kDkDkDh k]k]k]h2f:fBfJf@[ZZZZZiɢI>))i@,I@yԩ Hwя,;E?A@V2Acoustic response timeoutZs@ZS@Z'>ٱZeX jAHRS rotation from veh to nav: [[-0.605077,0.796023,-0.015167],[-0.742294,-0.570920,-0.350784],[-0.287891,-0.200992,0.936334]]ZH\y?@`D =sֿ`lҿɿ r?iZs@IZ^;ZhCYz@yzCGbD-VD|8y%9%%C=ٔ%PT9-H?I-H?=- Fy-LE-"E5>1Q 545 ?Q 945ib)5YyQ I?5DI5n5ؤi)1)999i=-9IA@5:<A9zA=oAԱAeAIiIyO=>bE}‘5jE}g5rE}1Ee ELE|E"E<:*E|9VEם5ZEa@a@a@a@U?U|?]2Acoustic response timeoutB}>ByB}<>GB}@B}=ByByB};B}E  > >4wя,0UE?A2]s@2@2%T>ٱ2Z :AHRS rotation from veh to nav: [[-0.609804,0.792317,-0.019313],[-0.736345,-0.575402,-0.355961],[-0.293147,-0.202845,0.934301]]2H` Z?Ɠ`#i@ֿ`ҿ@ɿ@?i2]s@I2^;2iCYB@yB?GbDNVDN8yVoU%VR=ٔVf9ZK?IZK?=Z FyZNE^E^>`Q 5b4bD?Q 9f4b l)bYdyfQ If?bDIb:ibN:b4hylɮnBl*jxBjxixi~zi|Ji~Ʒ<i| kRkRkRh kRkRkRh!2f1:f1Bf1Jf5@[AZAZAZEZAZMiYɢYI]>]$S)a)aaaieT-iIi@mǿ<2Acoustic response timeoutAIIO(>)Y E  E XE tE "E *E 9VE 5ZE BE eL;a 2E gL;a JE :a :E :a ] 2Acoustic response timeout&Zwя,EoE?A;ɰ;BAr@Bd@BB>ٱB~2_ JAHRS rotation from veh to nav: [[-0.615146,0.788109,-0.021902],[-0.730059,-0.579884,-0.361591],[-0.297674,-0.206441,0.932079]]BH F08?m\i@P$׿ ӿlʿ?iBAr@IB^;BhCYR @yR6=ٔr49I= FyQEE>Q 54뷉?Q 94v) YyQ I?DI ;i ;4yBɮBE*jBjiiziJiƷ<i kSSkSSkSSh kcSkcSkcShq2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢI>?))il\. 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X? =  =  9 /$?Mb{Gz?Y 1h?y  ף< B  B iB) B Y ±BbD%VD%f8y5П%5Q=ٔ=v99I9=E FyEmEEPEE>IAYAYB]>BYB]GB]g@BYBYBYB]n;B])EbEЙ5jE5rEѩ1E}i E}SE}yEy"E},K:*E}9VE}5ZEyBE}we;a2E}ze;aJEya:Eya2Acoustic response timeoutQ 5 4MS'?Q 94M)M-Y}i?Q Eh:y|Q I?MDIM{:f.>Bf@Jf+@[ZZZZZiɢI  >))!!!i%3)I)@#Ա \wя,E?Aɰ2Pm@2nF{@2O>ٱ2L :AHRS rotation from veh to nav: [[-0.668439,0.743749,0.005226],[-0.667347,-0.596641,-0.445720],[-0.328386,-0.301425,0.895157]]2Hc`?4hu?ZܿEտJӿ` ?i2Pm@I2E=_;2hCYBd@yB GFa=FR=bDNVDN8yvkp%vO=ٔzw99xIx=z FyzpE~}mE~>Q 5 4?Q 9 4V)YyQ I?)DI:i:v 4yɮB*j)Bj1i1i5zi1Ji5Ʒ<i1 k3Fk3Fk3FhI kc^kc^kc^hY2fi:fiBfiJfm)@[yZZZZZiɢIK>@m))顙i3Iԑ@ٟ<E E[EE"E*E9VE5ZEa@a@a@a@2Acoustic response timeout^AA$AII OE > 2wя,E?A"2Acoustic response timeout6rk@66y@6t>ٱ6W BAHRS rotation from veh to nav: [[-0.682223,0.731114,0.006621],[-0.651718,-0.603982,-0.458770],[-0.331415,-0.317298,0.888530]]6H Je?{?@S`|\ݿ5տNԿ`n?i6rk@I6_;6fCYF]@yFIGbDRHVDR8yZŎ%ZN=ٔ^}9^H?I^H?=b FybrEbtcEb>dQ 5j4f?Q 9j4f)f^Yhyn>Q In?f?DIf:if;fe4yrBɮrBp*jxBjxi|i=zi9Ji=Ʒ<iA kEkEkEhQ kSXkSXkSXh2f:fBfJf(@[ZZZZZiɢI>8))i3I @*<@@  Uk>]͑CG9YA^A#=Bu>BqBuGBuV@BqBqBqBu;BurEEh E`EvE"EG:*E9VE-5ZEBE2_;a2E5_;aJE;a:E ;a=<2Acoustic response timeoutI Am AIq I O >]wя,E?A69j@6x@6>ٱ6f >AHRS rotation from veh to nav: [[-0.695064,0.718864,0.010972],[-0.637851,-0.609549,-0.470740],[-0.331710,-0.334193,0.882204]]6H=?\x?Fil ޿@:տ kcտ`;?i69j@I6C._;6iCYFIV@yFGbDRVDRd8yZ%^J=ٔbJ:Q-b>9fK?IfK?=j FyjuEnIEn>tQ 5~4vᶉ?Q 94v)vYysQ I?vVDIvVP;ivP;v4yBɮBE*j9Bj9iAiEziAJiMƷ<iI k<k<k<h2f:fBfJfܗ'@[!Z!Z!Z%Z!Z%iYɢYI]l>]g3)Y)aaaie4iIi]2Acoustic response timeouta@myE f E YE ~E "E I@:*E *9VE 5ZE a @a @a @a @ 2Acoustic response timeoutDwя,KtE?A6Ryi@6ow@6%>ٱ6=Zľ@ BAHRS rotation from veh to nav: [[-0.706863,0.707098,0.018904],[-0.625696,-0.612576,-0.482966],[-0.329924,-0.353219,0.875435]]6H@?|[?8޿{տ"ֿ@?i6Ryi@I6^8_;6fCYJN@yJ[FLLbDVVDV8y^%^J=ٔ^Q-b>9`I`=b FybwEf6Ef>hQ 5n4jʶ?Q 9n4j.)jYlyn Q Ir?jlDIj;ij&;j!4yvBɮvMBv˳E*j|Bj|iiziJiƷ<i k:k:k:h k:k:k:h)2f9:f9Bf9Jf=/&@[IZIZIZMZIZUiaɢaIe>e@hR)i)iiiimw)4qIq@u<Աe2Acoustic response timeout^AIIOU > W,xя,3O E?A2nh@2Tdv@2]>ٱ2YϾ :AHRS rotation from veh to nav: [[-0.717666,0.695797,0.028667],[-0.614713,-0.613615,-0.495585],[-0.327236,-0.373287,0.868086]]2H`C?Z? `߿@nԿ׿\?i2nh@I2*(_;2hCYVG@yVFlB~<A~<B >BBFBF@B=BBBx;BEEeh Ee`EezEa"EeG:*Ee9VEe5ZEaBEaam2Ee4_;amJEaam:Eaau2Acoustic response timeouty rh?(\ؿ(\?C+?Ǿz> 9㥛 ?mͿV-?YU?yn<B:B B)BYBbDTVD8yd%8=ٔһQ->9I= FyzEpE>Q 5 4?Q 9 4) Y]?Q Eu:y+Q I?DI:f%݂>Bf%B?Jf%@[QZQZQZUZQZUiaɢiIm>mP))顑i`g4I @ <@>@9^A 7=u 2Acoustic response timeouta I I O- >qV xя,=*'E?A2CNg@2Du@2Ө>ٱ2jfؾ :AHRS rotation from veh to nav: [[-0.729284,0.683381,0.033690],[-0.602744,-0.618368,-0.504303],[-0.323798,-0.388086,0.862870]]2H KVB??? I@?#Կhؿ?i2CNg@I2^;2iCYB?@yBF9bD5VD5H8ym%mS=ٔmQ-m>9qIq=u Fyu}E}H:E}>Q 54?Q 94u)!Yy,Q I?DI:i1: 04yɮB*jBjiiziJiƷ<i k"k"k"h2f:fBfJf @[ZZZZZ i!ɢ!I%F>-O)))))1i5 49IA@M [>xя,AE?AIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout: f@:Ct@:=>ٱ:]ݾ BAHRS rotation from veh to nav: [[-0.742252,0.669273,0.033693],[-0.589317,-0.627990,-0.508266],[-0.319010,-0.397118,0.860541]]:Hj?=@? ~CjԿ ajٿ`?i: f@I::^;:fCYJc8@yJFԙbDVD8y%C=ٔsEQ->9I= FyE?E>Q 54By?Q 94n)"Yy4-Q I ?DI:i:^74yBɮB*j!Bj!i)i-zi)Ji-Ʒ<i) k3!k3!k3!hi2fy:fyBfyJf}ڑ@[ZZZZZiɢIN> Ǽ))顩i 4I@<B>B$CBFB6@B=BBB ;BEB#CB#CBBƑ=Bƒ=C~5E}j E}UE}yEy"E}N:*E}P9VE}5ZEyBE}k;a2E}k;aJE}:a:E}:aa 2Acoustic response timeout^A7=IYIiIO> jxя,ZE?AZd@Zr@Z>ٱZ*޾ nAHRS rotation from veh to nav: [[-0.755465,0.654498,0.030082],[-0.575704,-0.641195,-0.507379],[-0.312790,-0.400625,0.861198]]ZH`,?͞?*l@s<`Կ`أٿ`?iZd@IZ^;ZgCYzy1@yz@F==  bDVD8y%%%W=ٔ%hQ-%>9)I)=- Fy-E-`VE5>9Q 5E4=<`?Q 9E4=)=#YAyEn.Q IE?=DI=:i=:=>4yUBɮU/BQ*jaBjaiaimziiJimƷ<ii kkkh k#+k#+k#+h2f:fBfJf@[ZZZZZiɢI>0n))iiqiuY5qIy52Acoustic response timeout@m<^A=IIYIqO>E o E YE E "E `:*E *9VE 5ZE a @a @a @a @ 2Acoustic response timeoutԁ xя,ܻtE?AY~*@y~4FbDVD8y%%%J=ٔ-Q-->9)I)=- Fy5E5E5>9Q 5E4=E?Q 9E4=)=}$YAyIQ IM?=DI=1:i=I:=E4yUBɮUhBUɳE*jiBjiiiimziqJiuƷ<iq kkkh k$k$k$h2f:fBfJf[ZZZZZiɢI>))i5IQ@<ԁ]2Acoustic response timeout^AIyIOM>ԩ rz#xя,̖E?A2Eb@2p@2>ٱ2޾ :AHRS rotation from veh to nav: [[-0.772089,0.635323,0.015592],[-0.554059,-0.660908,-0.506181],[-0.311283,-0.399455,0.862286]]2H@T??ٺ )&2`ӿ ٿٗ?i2Eb@I2^;2hCYB#@yBFAPAPBV>BTBVFBV%@BTBTBV'DBVm;BVLEEEm EEPEEEA"EEY:*EE?9VEE5ZEABEE~;aM2EE~;aMJEE:aU:EE:aU2Acoustic response timeoutyZd;?:vV-׿Y?Լ 9ʡE?S㥛ĿˡEܿY]?y$B B)BYaBbD=;VD=-8yM~%M9=ٔMskQ-M>9qIq=u FyuE}E}>Q 54l(?Q 94=)(Y}?Q EV:yV=Q I?ԱDI7;i;L4yBɮB*jBjiiziJiƷ<i kkkh12fM#>:fM#>BfMeV@JfM@[qZqZyZ}ZyZ}iɢI>`6))顩i@6I@<^A#=AzA U 2Acoustic response timeoutA I I OM >9 )xя,rE?AYn;@yr!FbDzVDz8y-r%-_=ٔ5Q-5>99I9== Fy=EEEE>IQ 54M?Q 94M)M7,YyQ I?MDIM^q)y)yyyi}6IR@=J@=@m<EQ EUVEUEQ"EQ*EU9VEU5ZEQa]@a]@a]@a]@2Acoustic response timeout9^A=q A! I) I9 Ou >iY IY e 2Acoustic response timeoutA0xя,˂E?ABhb@B+p@B>ٱBо JAHRS rotation from veh to nav: [[-0.768142,0.640089,-0.015609],[-0.548966,-0.670944,-0.498467],[-0.329536,-0.374325,0.866768]]BH {?n"`x@߿`տ׿?iBhb@IB^;BfCYR@yR͹FbD VD 8yMG%MF=ٔU?=Q-U>9QIQ=U Fy]E]@E]>aQ 5m4e5?Q 9m4e& )eD0YqyuJ=Q Iu?eDIe:ie:ecZ4y}Bɮ}B*jBjii=zi9Ji=Ʒ<iA kkkhQ kkkh2f:fBfJfr@[ZZZZZiɢIC> &Y):)i76Iq@<B>B%CB@FBb@B=BBBv;BSEԡDADE<bEH5jEz5rEf1Eej EeSEeEa"EeN:*Ee9VEe5ZEaBEek;au2Eek;auJEem:au:Eeo:au2Acoustic response timeout^A#= I I O% >з6xя,k-E?A"4<ɰ :b@:p@:>ٱ:ƾ FAHRS rotation from veh to nav: [[-0.768014,0.639472,-0.035070],[-0.544955,-0.681300,-0.488728],[-0.336421,-0.356238,0.871731]]:Hv?Dp@5RG߿տֿ8?i:b@I:^;8YNe@yNXFhbDEVDE8yƖ%H=ٔ9I= FyEE>Q 54 ܵ?Q 94 )k4Yy6=Q I?-DI$:i:a4yBɮ7BȳE*jBjiiziJiƷ<i kkkh  kkkh2f):f)Bf)Jf- @[ZZZZZiɢI>@û))ia6I2Acoustic response timeout@ uA Em o Em ZEm zEi "Em `:*Em a9VEm 5ZEi au @au @au @au @ 2Acoustic response timeoutٱ2W. :AHRS rotation from veh to nav: [[-0.773300,0.631707,-0.054345],[-0.536448,-0.697555,-0.475016],[-0.337980,-0.338177,0.878297]]2H߾6?ӫ*@^Rf޿uտతտ?i2a@I2_;2dCYB @yByF)bD=+VD=8y[%H=ٔ;Q->9I= FyE׼E>Q 54µ?Q 94! )8Yyq=Q I?ADIR:i(:h4yBɮ`B*jBjiiziJiƷ<i kkkh  k%k%k%h2fA:fABfAJfE, @19] r]NAggregate::initialize marl:UpdateRudderq9]J]aq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18m]i18mom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7u]q7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed[ZZZZZiIɢQIU>UɌ)Q)QYYi]]6YIaI@U{<@Y@Y52Acoustic response timeouty^AI9 G I 9 Y kAO >ԡ Cxя,E?AB A"p<B&#>B$B&`FB&@B&=B$B$B&u;B&YEDzD?AE%k E%WE%E!"E%mR:*E%9VE%U5ZE!BE%r;a-2E%r;a5JE%:a5:E%:a5Y=@y=1F2Acoustic response timeoutԉymMbX9?"~?rh|ma?m>mi i9m{Gz?x&1?}?5^IYmד?ymA>mM"mBm B mB)mzBiYmBbDOVD8yY%<=ٔQ->9I= FyEE>Q 54\?Q 94B)#@Y?Q E:yQ I?XDI;iB;=p4yBɮBѳE*jBjiiziJiƷ<i k k k hq2f$?:f$?Bf>JfʉN@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢIv>))i7IԡQO5 2Acoustic response timeout@m 1t< ^A #=II)1Oe>vJxя,Q.E?A6.]@6k@6>ٱ66ֲ >AHRS rotation from veh to nav: [[-0.808441,0.580950,-0.094450],[-0.483848,-0.747348,-0.455370],[-0.335135,-0.322440,0.885278]]6H@$?-[޿G$ݿrտۢԿ2T?i6.]@I67_;4YF?yFFbDRVDR 8yZ8%ZG=ٔZiQ-Z>9\I\=^ Fy^Eb'Eb>dQ 5j4f𗵉?Q 9j4f)fKGYhyjQ Ij?foDIf:if:fiw4ypɮrޫBp*jxBjxixi~zi|Ji~Ʒ<i| kkkh kkkh!2f1:f1Bf1Jf5ZQ@[ZZZZZiɢIx>@))i7IEz EUEsE"El:*EP9VEX5ZEa-@a-@a-@a-@2Acoustic response timeoutl;@pI - 2Acoustic response timeoutrQxя,MGE?A2.[@2i@2ͯ>ٱ2 >AHRS rotation from veh to nav: [[-0.820047,0.562615,-0.104817],[-0.462800,-0.759673,-0.456852],[-0.336658,-0.326131,0.883346]]2H=?Eպ ݿ=O=ݿ@΋տSԿ^D?i2.[@I2]^;2hCYFt?yFǐFbDRVDR!8yZ˃%ZJ=ٔZ;Q-^>9\I\=^ Fy^Eb"Eb>dQ 5j4fP?Q 9j4f )f\NYhyjQ In?fDIf2;if3;f{~4yvBɮvBt*j|Bj|i|iziJiƷ<i kc kc kc h2f):f)Bf)Jf-M@[9Z9Z9Z=Z9ZEiQɢQIUk>Uɺ)Y)YYYi]317aIaiiiiIB-1>B-'CB-HFB-?B)B)B-(DB-;B-EE%r E%YE%xE!"E%k:*E%*9VE%e5ZE!BE%;a52E%;a5JE%:a5:E%:a52Acoustic response timeout@~j<@@>ԙ ^A =A $AI I) Oe >Xxя,xaE?A:bvZ@:%lh@:>ٱ: FAHRS rotation from veh to nav: [[-0.826870,0.549075,-0.121666],[-0.441051,-0.767335,-0.465480],[-0.348942,-0.331230,0.876656]]D:Hu?{%@.:ܿkݿUֿ2տ` ?i:bvZ@I:^;:dCYN,?yN:FbDZVDZ.8ybp%bH=ٔfN=Q-f>j2Acoustic response timeout9nH?InH?=n FynEnnEr>pQ 5z4rTl?Q 9z4r&)rUYxyzyQ Iz?rDIry;ir;r4yBɮ>B*jBjiiziJiƷ<i kkkh1 kkkhA2fQ:fQBfQJfUОF@[aZaZaZeZaZmiyɢyI}`>};I}w))顁ּi7IԹ@f<E%t E%TE%|E!"E%s:*E%9VE%ם5ZE!a5@a5@a5@a5@2Acoustic response timeout^Au #= A I I OU >xB^xя,-{E?A;ɰ;>1Y@>'g@>y>ٱ>  FAHRS rotation from veh to nav: [[-0.830999,0.538459,-0.139652],[-0.422323,-0.774087,-0.471628],[-0.362055,-0.332944,0.870669]]>H`;?!WۿQ%/޿+׿Nտ@?i>1Y@I>^;>hCYN?yNFtbDVDG8y%%%D=ٔ- =Q-->9)I)=- Fy-E5CE5>9Q 5E4=V?Q 9E4=,)=]YAyMQ IM?=DI=Y;i=;=⌈4yQɮUtBQ*jaBjiiiimziiJimƷ<ii kkkh kkkh2f:fBfJf M@@[ZZZZZ^B*** querying acoustic contact ***XYiɢI>p[B% (CB% `jFB% ?B! B! B% )DB% ;B% EB%CB&CBɔCBɖ=Bɕ=C.5^AA y i I EM f EM WEM EI "EM I@:*EM 9VEM 5ZEI BEM R;a] 2EM R;ae JEM :ae :EM :ae  2Acoustic response timeoutII IY Iy O >Mexя,?E?A2QX@2QGf@2>ٱ2M :AHRS rotation from veh to nav: [[-0.835454,0.529805,-0.146022],[-0.410300,-0.778096,-0.475627],[-0.365609,-0.337452,0.867442]]2H )?۰¿`ZBڿ(p޿#f׿`Ϙտ?i2QX@I2^;0YBL?yBnFyK?V-?x&1?^Z?m=A> 9p= ף?@5^I ?㥛 ?Y?yb>>XBB B)BYBbDVD8y#%<=ٔ9I= FyEE>Q 54:fE>BfE?JfE7ʙ@[qZqZqZuZyZ}iɢIp>lxя,E?A:gW@:]e@:>ٱ: BAHRS rotation from veh to nav: [[-0.841053,0.519948,-0.149278],[-0.398260,-0.781906,-0.479596],[-0.366086,-0.343914,0.864699]]:H`j?ÿ}ٿ`޿`m׿ ֿ ?i:gW@I:g^;:gCYJ?yJTZFbD-VD-8y=%=3=ٔEO:Q-E>9AIA=E FyMEM.EU>QQ 5]4Ut!?Q 9]4UA)U`YayeQ Ie?UDIU:iU:Us4ymʯBɮmBq*jBjiiziJiƷ<i kkkh kSkSkSh2f:fBfJfa@[ZZZZZiɢI7> jsxя,aUE?A:V@:d@:m>ٱ:7Bþ BAHRS rotation from veh to nav: [[-0.845062,0.511316,-0.156287],[-0.387049,-0.786689,-0.480950],[-0.368867,-0.345942,0.862706]]:H \?`6Ŀjؿ`,޿׿ #ֿI?i:V@I:^;:dCYJޤ?yJJFbDVC VDV8yZ%^T=ٔ^c;Q-^>9`I`=b FybEbEf>dQ 5j4f8 ?Q 9j4fI)fybYlynQ In?f DIfw;ifr;f-4yrǯBɮv4Bt*j|Bj|i|i~ziJiƷ<i kkkhBe<>BaBe0@FBeG?BaBaBaBe;Be{E k"k"k"h2f:fBfJfu @[ZZZZZiɢI7>M<)%۬)!!%o)  2Acoustic response timeoutyxя,r3E?A:!V@:Ld@:>ٱ: ž BAHRS rotation from veh to nav: [[-0.848186,0.505860,-0.157117],[-0.381149,-0.788834,-0.482148],[-0.367839,-0.349066,0.861886]]:HX$0? kĿdؿ` >@޿ઊ׿ Wֿ?i:!V@I: ^;:eCYJƓ?yJ5FbDV VDVa8y^%^J=ٔ^3Q-b>9`I`=b FybEf&Ef>hQ 5n4j?Q 9n4jR)j=dYlynLQ Ir?j* DIj;ij;j>4yvܯBɮvBvE*j|Bj|iiziJiƷ<i k k k h k k k h)2fA:fABfAJfE4И@[QZQZQZUZYZ]iqɢqI>><))Eg EPEiE"EC:*E?9VEz~5ZEa@a@a@a@2Acoustic response timeoutY^Au#=IIO%>ԉ |xя, E?A<m2Acoustic response timeoutU@c@>ٱl˾ AHRS rotation from veh to nav: [[-0.855545,0.493893,-0.155280],[-0.368225,-0.791313,-0.488092],[-0.363940,-0.360407,0.858868]]H``?@8ÿ׿ pR<߿J׿ ׿{?iU@I^;Y]?yeP$Fy+?y&1y&1|?v>?``; 9 rh?y&1?Mb?YCk?y`=>BʕB nB)nBYaBbD' VD8yk%*=ٔQ->9I= FyE%E%>!Q 554%oҴ?Q 954%Y)%weY5u?Q E5]:y5c!Q I=?%G DI% ;i%e ;%4yEٯBɮEíBA*jQBjQiYi]ziYJi]Ʒ<iY ks$ks$ks$hq k0k0k0hԉ2f>:f>Bfӻ,?Jf@[!Z!Z)Z-Z)Z-iQɢQIU+>U<)Y)YYYi]4aIa@em<B]<A]<BeE>Be)CBeFBen?Be=BaBe*DBeX;Be^EbEU5jEU5rEU4?2Eq ELEuE"E2h:*E|9VE5ZEBE΋;a2Eϋ;aJEx:a:Ey:a 2Acoustic response timeout^A =A V?A Y? 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B% DB% =B! B! B! B% ;B% E9 !xя,'E?A2qE@24S@2<ٱ2:S :AHRS rotation from veh to nav: [[-0.985405,0.170009,-0.008561],[-0.168722,-0.982139,-0.083277],[-0.022566,-0.080617,0.996490]]2Hp?`ಘſmQ`@P`>?i2qE@I2_;2dCY^.[>y^E=2Acoustic response timeoutDYzDYEeg Ee`EeEa"EeC:*Ee9VEe5ZEaBEeX;au2EeX;auJEe;au:Ee;aui9I9y`"?sh|??"~ҿ?= 9Zd;O?EȿNbX9ؿY~ ?yFžB'B B)YBbD$VD9yT%+=ٔQ->9I= FyE>Q 54C?Q 94H)xY<1?Q E:ya:@Q I? DIU:i<: 4yůBɮXBE*j!Bj!i%?i%zi!Ji-Ʒ<i) k7k7k7hA kMkMkMhQ2fe>:fe>Bfeې@Jfe2?smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m ruRAggregate::uninitialize marl:UpdateRudderZ}Z}ZyZ}i))顑iI9!@W<IIOK>I2Acoustic response timeouty Jxя,\E?A2]XE@2 NS@20=ٱ2VV :AHRS rotation from veh to nav: [[-0.986713,0.160805,-0.023225],[-0.159287,-0.985597,-0.056793],[-0.032023,-0.052339,0.998116]]2H&C?`ȗcĿ@^e!̪?i2]XE@I2_;2fCYjd>yj7 EbDEI&VDEf9y<%c=ٔq9I= FyؼE>Q 542?Q 94){Yy:@Q I? 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DI:i<:ʉ4yiɮii*jyBji?iziJiƷ<iG-sAAu9usAYuA k"k"k"h2f>:f>Bf>JfS@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))99i9AIAm2Acoustic response timeout:I)I9OuX>B) A- <B5 T>B1 B1 B1 B5 =B1 B1 B5 x;B5 Ei I I )  yя,((E?A:j)@:- 7@:4ٱ:н BAHRS rotation from veh to nav: [[-0.959661,-0.280812,0.013954],[0.277678,-0.954399,-0.109626],[0.044102,-0.101329,0.993875]]:Hѿœ?y?on}??i:j)@I:.+_;:cCYJ5!>yJ?DER{ ERUEREP"ER=:*ERP9VER5ZEPBER&;aZ2ER';aZJER:aZ:ER:aZb2Acoustic response timeoutbDjGVDj9yr %rn=ٔrQ-r?9tIt=v FytzO{;Ez?xQ 54zH?Q 94z)zJYy@@Q I?z DIz;izz;zЉ4yBɮB*j!Bj!i%?i-zi)Ji-Ʒ<i) kC kC kC hA2fQ:fQBfQJfUS@s]NUpdating rudder angle 6.875493 arcdeg 9]re6Completed marl:UpdateRudder19e reRAggregate::uninitialize marl:UpdateRudderZmZmZiZmiy))顁iI^:IIO=!Q2Acoustic response timeouty yя,h6E?A2)@2j 7@2\ٱ2ir߽ :AHRS rotation from veh to nav: [[-0.959925,-0.280183,0.006426],[0.277612,-0.953760,-0.115209],[0.038409,-0.108808,0.993320]]2HഷѿRz?e?3Z~S?ڻH?i2)@I24_;2dCYv>yv/D)x||, -4<)bD5MHVD5 9yM˼%MD=ٔU_9YIY=e Fyae9Ee>qQ 5}4u?Q 9}4u)uYy"A@Q I?u# DIuGH;iuyH;um׉4yɮB*jBji?iziJiƷ<i ksksksh k'k'k'h2f:fBfJfYS@ZZZ Z i))!i!!I)Qm!:IIEf EMEE"EI@:*E9VEU5ZEa@a@a@a@2Acoustic response timeoutO>ԁԩ 2Acoustic response timeout ɓyя,HOE?A2 (@26@2\ѻٱ2F2 :AHRS rotation from veh to nav: [[-0.956019,-0.293231,-0.006646],[0.293236,-0.955051,-0.043473],[0.006400,-0.043510,0.999032]]2H Kҿ'9{b?@Ǐ@B6z?F?i2 (@I2d@_;2bCYN>yRѺDbDZJIVDZ9yvY;%vQ=ٔv=Q-v>9xIx=z Fyxz )E~>QQ 5]4U?Q 9]4U)U~Yaye>@Q Ie?U- DIU ;iU;Ulމ4yiɮmBi*jBji?iziJiƷ<i k3 k3 k3 h kC kC kC h2f:fBfJfR@ZZZZi))iII$?)?ԱBU>BBDB">B=BBB;BE/":I!I1Om=Eh E^EpE"EG:*E;9VE5ZEBE0_;a2E3_;aJE;a:E;a2Acoustic response timeout AA1 ,yя,iE?A2]%@2 3@2UVٱ2:5; :AHRS rotation from veh to nav: [[-0.944564,-0.328284,0.005336],[0.328311,-0.944554,0.005389],[0.003270,0.006842,0.999971]]2H9 տu? ?9v?j?|??i2]%@I2tK_;0YRI(>yRDbD-JVD-9yi=%>=ٔ;Q->9I= FyE>Q 544?Q 94)}Yy;;@Q I?7 DI7;i;4yȯBɮtBE*jBji?iziJiƷ<i k#k#k#h k#k#k#h!=2Acoustic response timeout2fA:fABfAJfEQ@ZUZUZQZUia)a)iiiiiqIqM#:IaIqO>9i E e E PE jE "E <:*E ?9VE ـ5ZE a @a @a @a @ 2Acoustic response timeoutݠyя,'E?A m$@m2@mXd*ٱm ; AHRS rotation from veh to nav: [[-0.939138,-0.343338,0.011747],[0.343381,-0.939194,0.001843],[0.010400,0.005765,0.999929]]mH l ?տ@?? 14^?qL? w?k?im$@Im _;mcCY/@>yXD=p=y^I +?y&1Zd;X>`e 9tV? r??Y>y>L=xB AB)ABYQBAAbDKVD9y+Y=%:=ٔQ->9I= FyE>Q 54t?Q 94b)}Ya>Q E:y6Q I?C DI. ;i ;p4yݯBɮ}BE*j Bj i ?iziJiƷ<i k"k"k"h) k8k8k8h92fM>:fM>BfM `?JfM@Z]Z]ZYZ]iiq)q)yyyiyyI$:II)E2Acoustic response timeoutOm6>ԑAA@ABT>BBDBw>B=BBB;BؘEBBBBȜ=BȜ=C4 yя,oE?A2s$@2[i2@2tٱ20 :AHRS rotation from veh to nav: [[-0.937769,-0.347191,0.006886],[0.346476,-0.936800,-0.048576],[0.023316,-0.043167,0.998796]]2H@4@b8ֿ@4|?,?D`ߨ@? 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DIL;i7;=4yԯBɮBE*jBji?iziJiƷ<i kSkSkSh k6k6k6h)2f9:f9Bf9Jf=U@ZMZMZIZMiY)a)aaaiaiIiEuh EuSEu}Eq"EuG:*Eu9VEus5ZEqa}@a}@a}@a}@2Acoustic response timeout/:IIO > }n>}CG 5 91 Y5 1A1 I >) E 2Acoustic response timeouteyя,pRE?AB)@B(@B忼ٱBez JAHRS rotation from veh to nav: [[-0.870223,-0.492554,0.010141],[0.492102,-0.870033,-0.029640],[0.023423,-0.020803,0.999509]]BH߿ Ą?~?O@Z#?hM?iB)@IB)_;@YR(>yRDbD-VVD-9ye+;%eP=ٔmQ-m>9iIi=u FyquOEu>yQ 54}$?Q 94}V)}Yy@Q I?} DI}:i}:}%4yBɮkBE*jBji?iziJiƷ<i kkkh k9k9B%V>B!B%DB%#>B%=B!B!B%S;B% Ek9hy2f:fBfJf@ZZZZi) )iI!1D0:IIO= >YEb EkE{E"E1:*E:VE:5ZEBE9;a2E9;aJE@;a:E@;aߙߝ<2Acoustic response timeout15>ԁ ˏyя,LlE?A0B@B(@B[ƼٱB JAHRS rotation from veh to nav: [[-0.874788,-0.484079,-0.020305],[0.483897,-0.870824,-0.086650],[0.024264,-0.085626,0.996032]]BH`D`(޿ʔ,?@.ؘ? 뵿 ~?iB@IBI_;B_CYR*>yRDXZAbD^WVD^9y p;% P=ٔ  Q- >9I= Fy3<E>!Q 5%4%?Q 9-4%)%?Y)y-~@Q I-?% DI%:i%d:%+4y1ɮ=jB9*jIBjIiM?iUziQJiUƷ<iQ k38k38k38hi k38k38k38hy2f:fBfJf@ZZZZi))顱iI2Acoustic response timeout1:IIO =ԉԹE h E WE ~E "E G:*E 9VE 5ZE a @a @a @a @ 2Acoustic response timeout =zyя,r2E?ABے@B(@BCٱB JAHRS rotation from veh to nav: [[-0.873591,-0.483684,-0.053736],[0.486651,-0.867555,-0.102565],[0.002990,-0.115750,0.993274]]BH v ޿<I%?AMh? ϡ@?iBے@IBL_;BbCYRS>yRD\ym?i|?5?!rhm̌>m=mli i9m㥛 ?S?vϿYm>ym>mxmĩBmB mmB)mBiYmBbDXVD9y8%B=ٔmN=Q->9I= FyE>Q 54?Q 94{)-Y>Q E;y$Q I? 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?i:@I:SX_;:_C\YbF>ybDyMl?Zd;yM#9yIy=} Fyy~!E>Q 54*q?Q 94M)~Yd>Q E;y@Q I?/ DI ;i ;4yɮ|B*jBji?iziJiƷ<i kSkSkSh kSkSkSh2fu>:fu>BfuL?JfuI@ZZZZi))项iIV:IIO>2Acoustic response timeoutBA<B[>BBDBM>BBBB ;BEA E a E oE E "E %.:*E :VE 5ZE BE N3;a 2E P3;a JE N;a :E N;a 'zя,f&E?A2Acoustic response timeout6o@6Fe@69ٱ6z >AHRS rotation from veh to nav: [[-0.632882,-0.773300,-0.038310],[0.774066,-0.630886,-0.052959],[0.016784,-0.063171,0.997862]]6H@߾`Z'?60n@/?+{?i6o@I6S_;6`CYF>yF/DJa=HE=E=bDMpVDM)9yO<%G=ٔ6Q->9I= FyE>Q 54m?Q 94.)~Yy:@Q I?3 DI:i:4yBɮvBE*jBji?iziJiƷ<i kSQkSQkSQh kcQkcQkcQh2f):f)Bf)Jf-yF@ZEZEZAZEiY)Y)aaaiaiIqm"W:IIO=Iy2Acoustic response timeoutԡ zя,-A@E?A2t@26@2fٱ23~ :AHRS rotation from veh to nav: [[-0.624506,-0.780013,-0.039660],[0.780893,-0.622683,-0.049712],[0.014080,-0.062015,0.997976]]2H@N?s6֌?q k?i2t@I2m[_;2^CY^>ybDԁbDEqVDE"*9y%:%F=ٔ;Q->9I= Fy@ּE>Q 5 4Zj?Q 9 4 )t~Y y @Q I ?7 DI:i: 4yɮ*j)Bj)i-?i5zi1Ji5Ʒ<i1 kTkTkThI kTkTkThY2fi:fiBfiJfmE@Z}Z}ZyZ}i))顑iIDzD?AEf EKEzE"EI@:*E]t9VE5ZEa@a@a@a@=2Acoustic response timeoutUX:IiIO>ԡ 2Acoustic response timeout :zя,!ZE?AB2\>B0B2DB2w>B0B0B0B2;B2˙EB!B!B!B%=B%=C%SU4N!@N@NbٱN VAHRS rotation from veh to nav: [[-0.625017,-0.780453,-0.015755],[0.780489,-0.624433,-0.030354],[0.013851,-0.031269,0.999415]]NH"w5"@?@Z&^?`p@5?iN!@INv_;LY^>ybDbD%GrVD%\*9yem<%eS=ٔm :Q-m>9iIi=m Fyiu:Eu>yQ 54},g?Q 94})}]~Yyf@Q I?}: DI}:i}[:}4yɮsB*jBji?iziJiƷ<i kRkRkRh kRkRkRhq2f:fBfJfjD@ZZZZi))iIY:IIOE>AEd ERE}E"E9:*E9VEs5ZEBEF;a2EF;aJE%:a:E&:a===<E2Acoustic response timeoutiԙ czя,DsE?A2M@2@2RCYٱ2SX :AHRS rotation from veh to nav: [[-0.614397,-0.788977,0.005537],[0.788885,-0.614413,-0.012495],[0.013260,-0.003309,0.999907]]2H@$M?v?>?E󖉿 6(?k yJrDAbDrVD*9y-=%-N=ٔ-y:Q-5>91I9== Fy9Ev EE>IQ 5]4Mc?Q 9]4Mܶ)MD~Yaye_@Q Ie?M> DIMA;iM+;;M4yqɮucBy*jBji?izi2Acoustic response timeoutJiƷ<i kSSkSSkSSh kcqkcqkcqh2f:fBfJfB@ZZZZi))i I q&[:I!I1Om=ԡD%=DR=E EEE"E*EVE5ZEa@a@a@a@M 2Acoustic response timeout Kzя,ӍE?A2,?2X @2mtٱ2? :AHRS rotation from veh to nav: [[-0.590631,-0.806889,-0.009197],[0.806803,-0.590281,-0.025244],[0.014941,-0.022330,0.999639]]2H@s Ղ`U?@ٙC?ݖ ?i2,?I2M_;2_CYB+>yBODyEEPEBE*B EdB)EqBAYE.BbD]sVD]*9ym%mF=ٔmQ-m>9qIq=u Fyq}OE}>Q 54E_?Q 94)~Y>Q ES;y' Q I?D DI:i:4yɮkB*jBji?iziJiƷ<i kcZkcZkcZh kSrkSrkSrh2f:fBf@Jf_@ZZZZi))i!I!\:I IO}=2Acoustic response timeoutBeZ>BaBeDBe=BaBaBaBe%;Be~E) E  E NE E "E *E ҆9VE 5ZE BE a 2E a JE :a :E :a uzя,OE?A4<ɰ; &2Acoustic response timeout:?: @:iҼٱ:9] FAHRS rotation from veh to nav: [[-0.577766,-0.815228,-0.039885],[0.815799,-0.575252,-0.059647],[0.025682,-0.067000,0.997422]]:H`}@Xk?vh@{L?&@?i:?I:_;8YJ>yNDZ%Z"\ ^"bDb{tVDb`+9yj.%jT=ٔnQ-n>9lIp=r Fypr'Er>tQ 5z4vZ?Q 9z4v)vY|y~ Q I~?vJ DIv;iv3;v 4yɮtB *jBji%?i%zi!Ji%Ʒ<i! kYkYkYh9 klklklhI2f:fBfJf @ZZZZi)))))11i1YIaM ^:IaiIIO>ԙ2Acoustic response timeout ]zя,E?A6|?6/ @6"ٱ6s޽ BAHRS rotation from veh to nav: [[-0.586840,-0.807088,-0.065027],[0.808765,-0.580403,-0.095033],[0.038958,-0.108361,0.993348]]6H`d@g?਒T`Y? ?i6|?I6}_;6^CPYR.>yRDZ=Z=bD^uVD^+9yfE=%fK=ٔf#Q-f>9hIh=j Fyhn<En>pQ 5v4rMV?Q 9v4r,)rYtyvq Q Iv?rQ DIr:irB:r4y|ɮ~jB|*jBji?iziJiƷ<i kTkTkTh) klklklhA2fI:fIBfIJfM@Z]ZeZaZeiq)q)qqyiyyIu_:IE EPE}E"E*E?9VEs5ZEa@a@a@a@IO =U2Acoustic response timeout)  2Acoustic response timeoutB] [>BY B] DB] =BY BY BY B] ;B] QEZzя,E?A.G?. @.iiٱ. :AHRS rotation from veh to nav: [[-0.566765,-0.817936,-0.098781],[0.823756,-0.560517,-0.085131],[0.014263,-0.129620,0.991461]].H`",I4\?˵@5?g ?i.G?I.u0_;,pYv>yvpDbDmvVDmZ,9yL%;=ٔh=Q->9I= FyekE>Q 54PQ?Q 94i)Yyl Q I?W DI:i#:f4yɮrB*jBji?iziJiƷ<i kCSkCSkCSh  kjkjkjh2f):f)Bf)Jf-MX@ZZZZi))iI`:I IOE>bE s5jE ţ5rE ŨP3Ev EEE"EVz:*E3:VE5ZEBEy;a2E{;aJE;a:E;aE2Acoustic response timeout9a Lzя,DE?AF?FO @Fnxj<ٱF VAHRS rotation from veh to nav: [[-0.556573,-0.823611,-0.109051],[0.830676,-0.553936,-0.055969],[-0.014310,-0.121737,0.992459]]FHr[껿?ٹ N+*9?iF?IF_;DYb>ybDYbD]vVD]r,9y%L=ٔL=Q->9I= FyTE>2Acoustic response timeoutQ 54L?Q 94z)RYy Q I?] DI;i;i#4yBɮvB*jBji?iziJiƷ<i kSRkSRkSRh kClkClkClh!2f1:f1Bf1Jf5*T@ZEZEZAZEiQ)Y)YYYiYaIa5]b:IYIqO=ԁԱEb EXEE"E1:*E9VE5ZEa@a@a@a@m 2Acoustic response timeout @G sA - 95 sAY5 A2zя,E?A2?2 @2t@ٱ2W :AHRS rotation from veh to nav: [[-0.578424,-0.813489,-0.060515],[0.815731,-0.576558,-0.046508],[0.002944,-0.076265,0.997083]]2Hr x?*s`ϧ@h??i2?I2!_;0YRh=yRDAyMb?/$/$?Թ@=,= 9l?Mb?+?Y>y==BB B)\BYBbDwVD,9yV%F=ٔ+Q->9I= Fy=E>Q 54H?Q 94d)3Y >Q E;y@Q I?a DI:i:*4y ɮB*j!Bj)i-?i-zi)Ji-Ʒ<i) kSkSkShA krkrkrhQ2fe=>:fe=>Bfe!?Jfe2@19m rmNAggregate::initialize marl:UpdateRudderq9uJ]qq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]y18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI~c:IIO >2Acoustic response timeoutBBBDB=BBBB;BmE9 E ^ E RE E "E C#:*E 9VE U5ZE BE  ;a 2E ;a JE %:a :E &:a :zя,(E?A2Acoustic response timeout6?6R @6Lٱ6m >AHRS rotation from veh to nav: [[-0.550747,-0.834657,0.005097],[0.833866,-0.550473,-0.040592],[0.036686,-0.018105,0.999163]]6H@t?@?xmȤ@~Ȣ?<@$?i6?I6. _;6]CYn&>ynDbD%;xVD%-9y5=%5V=ٔ=״Q-=>9AIA=E FyAMEM>QQ 54U=E?Q 94UX)UYy@Q I?Ue DIU ;iU;UF14yɮkB*jBji?iziJiƷ<i kkkkkkh!2fq:fqBfqJfu1@s}PUpdating rudder angle -0.000000 arcdeg 9}r}6Completed marl:UpdateRudder19} rRAggregate::uninitialize marl:UpdateRudderZZZZi))iII%7?)%/?.e:IIOE>A2Acoustic response timeoutiԙ zя,BBE?A;ɰp;2?2z@2ּٱ2-%+ :AHRS rotation from veh to nav: [[-0.519120,-0.854625,0.011368],[0.854300,-0.519238,-0.023737],[0.026189,-0.002611,0.999654]]2HY-H?lV?`N`Kњ? be)?i2?I2_;2^CYB)>yBDbDNxVDNT-9yV;<%VS=ٔV9XIX=Z FyX^5ȽE^>`Q 5f4bA?Q 9f4b=)bYdyf>@Q Ij?bi DIb:ib-:b84ylɮniBl*jtBjtiz?izzixJizƷ<ix k3Sk3Sk3Sh2f:fBfJfh/@ZZZZi))iIE}e E}JE}xEy"E}<:*E}k9VE}e5ZEya@a@a@a@ԱXf:II!=2Acoustic response timeoutOe=ԡiIpA 2Acoustic response timeoutB B B DB M>B B B B ;;B E zя,q\E?A2?2@2_)uٱ2 :AHRS rotation from veh to nav: [[-0.523807,-0.851818,0.005651],[0.849734,-0.522968,-0.066755],[0.059818,-0.030165,0.997753]]2H`B%w?1?' |?㞿?i2?I2{^;2`CYB->yBخDJ=Jp=bDNyVDN-9yV‡%VJ=ٔZQ-Z>9XIX=Z FyX^r<E^>`Q 5f4bO>?Q 9f4b)bYdyj;@Q Ij?bm DIbl:ibd:b?4ylɮnwBl*jtBjtiz?izzixJizƷ<ix k3Tk3Tk3Th  k3Tk3Tk3Th2f):f)Bf)Jf-.@Z=Z=ZAZEiQ)Q)QQQiIg:II O==Ek EUEyE"EmR:*EP9VE5ZEBEq;a2Er;aJE:a:E:aE2Acoustic response timeout) zя,vE?A:T?:@:mٱ: BAHRS rotation from veh to nav: [[-0.524754,-0.850940,-0.023131],[0.849275,-0.521489,-0.082349],[0.058011,-0.062858,0.996335]]:H@:໯B-? ?`o ?i:T?I:^;:^CYJ>yJDXZ%^' ^!bDf*zVDf-9yj%nH=ٔnÐ;Q-n>9pIp=r Fypr';Ev>tQ 5z4v:?Q 9z4v)vEY|y~@Q I~?vp DIv;ivn;v:F4yɮ zB *jBji?i%zi!Ji%Ʒ<i! k#Rk+R=k#Rh9 k3Rk3Rk3RhI2fY:fYBfYJf]a.@ZmZmZiZmiy))顁iI2Acoustic response timeout i:IIO=)aE EMEE"E:*E9VE5ZEa@a@a@a@M 2Acoustic response timeoutԉ zя,xaE?A06S?6l@692ٱ6} >AHRS rotation from veh to nav: [[-0.525582,-0.848804,-0.057398],[0.850673,-0.523479,-0.048215],[0.010878,-0.074168,0.997186]]6Hg)Vc8?@WG? 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I|@`b{?@?i>{?I>^;yVDXX\AAbDMzVDM&.9ye;%eM=ٔm'9qIq=u Fyq}E}>Q 54t9?Q 94)YyZۿQ I?w DI:i:T4yɮsB*jBji?iziJiƷ<i kRkRkRh  kRkRkRh92fI:fIBfIJfMQ@ZZZZi))顱iIk:IIO>2Acoustic response timeoutA kzя,TE?A2w?21@2Rٱ2Q :AHRS rotation from veh to nav: [[-0.501399,-0.865018,-0.018528],[0.863689,-0.499128,-0.070089],[0.051380,-0.051145,0.997369]]2H`v 9`W?@߿YN? /q?i2w?I2^;2]CYBQ;>yB[DbDzVD8.9y}M=%}I=ٔ}Q-}>9I= FyE&E>Q 548?Q 94 )YyH޿Q I?{ DI;i;[4yɮ`B*jBji?iziJiƷ<i kSSkSSkSSh kcSkcSkcSh2f:fBfJf}@Z Z Z Z i)!)!!!i!)I)DYzD]@AEu\ EuOEu|Eq"Eu:*Eu9VEuם5ZEqa}@a}@a@a@2Acoustic response timeout-m:IAIQO=Iqԡ  2Acoustic response timeoutB [>B B DB =B B B B {;B E"2zя,w.E?Aɰ4<2L?2@24mgٱ2 :AHRS rotation from veh to nav: [[-0.486560,-0.872939,-0.035175],[0.871820,-0.482547,-0.084135],[0.056471,-0.071603,0.995833]]2H#߿ }? ޿׉?T?i2L?I2^;2[CYB">yBDbDvzVDvU.9y-`y%-N=ٔ-!RQ-5>91I1=5 Fy1=.E=>AQ 5M4E7?Q 9M4EY)EYIyM5Q IU?E~ DIE:iE:Eb4yYYɮemBa*jqBjqiu?iuziyJi}Ʒ<i kRkRkRhQ2fa:faBfaJfe,@ZuZuZqZ}i))顉iIn:IIO>ԉEMb EMXEMsEI"EM1:*EM9VEMX5ZEIBEM9;a]2EM9;a]JEM:a]:EM:a]%=%= 2Acoustic response timeoutԱ ,Nzя,E?A6vO?6}@6ٱ6 BAHRS rotation from veh to nav: [[-0.473368,-0.880090,-0.036926],[0.880036,-0.470690,-0.063154],[0.038200,-0.062391,0.997320]]6H@K޿)`碿@)?޿*`?@ ?i6vO?I65_;6_CY^=>ybDf=f=bDjT{VDj.9yrۉ=%rQ=ٔvJ?=Q-v>9tIx=z Fyxz"Ez>|Q 54~+7?Q 94~)~Y y Q I ?~ DI~:i~ :~i4yɮ_B*j)Bj)i-?i-zi)Ji-Ʒ<i1 k7k7k7hA k#Sk#Sk#ShQ2fi:fiBfiJfm̰@Zu2Acoustic response timeoutZuZZi))顙iIo:IIIO= 1DqDu%=E}s E}ZE}Ey"E}so:*E}a9VE}F5ZEya@a@a@a@5 2Acoustic response timeoutY 5{я,qE?A2l?2U@2F׼ٱ21P :AHRS rotation from veh to nav: [[-0.462794,-0.885851,-0.033016],[0.886074,-0.461161,-0.046948],[0.026363,-0.050982,0.998352]]2HjݿX砿Z?ݿ ?L?i2l?I2^;0YB;>yBDyCl?T㥛 ?ߏ>=L 9)\(?~jt~jtYG=yDD5BYB )BYBbD{VD.9y%~%%8=ٔ-:9)I)=- Fy)15bE=>AQ 5E4E6?Q 9M4E9)EYM=Q EM;yM?Q IM?E DIE:iEM:EVq4yɮ`B*jBji?iziJiƷ<i k7k7k7h k#Tk#Tk#Th2f%[T>:f%[T>Bf%m@Jf%bA@Z5Z5Z9Z=iI)I)IIQiQQIYMq:IYIq2Acoustic response timeoutO!>BIBIBMDBMM>BIBIBIBM;BMiEaԉbE ݡ5jE ˜5rE |2E j E UE E "E N:*E P9VE 5ZE BE k;a 2E k;a JE :a :E :a Թ E 2Acoustic response timeouta {я,+E?ABT?Bl@B4ٱBk. NAHRS rotation from veh to nav: [[-0.454673,-0.890480,-0.017840],[0.889564,-0.453031,-0.058633],[0.044129,-0.042529,0.998120]]BH^ݿ~`DOw?wܿ?[ƥ?iBT?IBJ^;B^CYVDG>yV Dn(n"n& nbDv{VDv.9yz<%~_=ٔ~FQ-~>9I= FyeżE > Q 54 6?Q 9u4 ) !Yyy}?Q I}?  DI )eyBADHHbDN{VDN.9yVΡ%VO=ٔVỼQ-Z>9XIX=Z FyX^=E^>`Q 5f4bQ6?Q 9f4bҾ)b$Ydyf?Q If?b DIb$:ib:b~4ylɮn^Bl*jtBjtiz?izzixJizƷ<ix k6k6k6h  k6k6k6h2f):f)Bf)Jf-@Z=Z=Z9Z=iI)Q)QQQiQYIaE=e E=KE=wE9"E=<:*E=]t9VE=ɕ5ZE9aE@aE@aE@aM@Udt:IiIyO= Gn>C2Acoustic response timeout MGays9YAI  2Acoustic response timeoutBE \>BA BE DBE ,>BE =BA BA BE K;BE Er{я,}<_E?A2}?2:@2#uٱ2W :AHRS rotation from veh to nav: [[-0.488631,-0.872017,-0.028728],[0.871778,-0.486637,-0.056467],[0.035261,-0.052636,0.997991]]2HE߿j?%߿`K鬿 ??i2}?I2a^;2]C\Yr->yr|DbDe{VDe.9y !%:=ٔd&=Q->9I= Fyt<E>Q 545?Q 94n))YyY?Q I? DI:iy:M4yɮgB*j Bj i ?iziJiƷ<iy k6k6k6h k6k6k6h2f:fBfJfu)@ZZZZi))iII1?)D?u:IIOU>EMf EMLEMtEI"EMI@:*EM|9VEM5ZEIBEMR;a]2EMR;a]JEMw:a]:EMx:a]2Acoustic response timeout! 6{я,yE?Aɰ;2c#?2t@2ٱ2 :AHRS rotation from veh to nav: [[-0.472176,-0.879830,-0.054311],[0.880655,-0.468120,-0.072874],[0.038693,-0.082239,0.995861]]2H8޿'Ϋ@S.? ݿ䧲ϣ?@ ?i2c#?I2+^;2`CYBx>yBFD]2Acoustic response timeoutbD%|VD%.9yu`%uP=ٔuOQ-u>9yIy=} FyyBE>Q 545?Q 94-),Yy?Q I? DI;i;?4yɮrB*jBji?iziJiƷ<i k7k7k7h k7k7k7h 2f:fBfJf\@Z-Z-Z)Z-i9)A)AAAiAIII5w:I!I9Om=)QEUn EUNEUjEQ"EUO]:*EU҆9VEUـ5ZEQae@ae@ae@ae@ 2Acoustic response timeoutԁ ${я,E?A6+?6@6&͐ٱ6 FAHRS rotation from veh to nav: [[-0.464688,-0.882329,-0.074577],[0.882652,-0.454841,-0.118511],[0.070645,-0.120896,0.990148]]6Hqݿ <u>?ݿV?`K?i6+?I6#8_;6_CYR>yVD%=%=Yy%@5^I ?T㥛 +%b>%%! !9%Q?Cl?\(\?Y%(\>y%d;>%z>%%͚B %B)%͚B!Y%ןBbD=|VD=.9yM<%M==ٔMQ-U>9QIQ=] FyY]E]>aQ 5m4e+?Q 9m4eN)e~Ymd>Q Eu;yu7@Q Iu?e DIe ;ie2 ;e4y}Bɮ}nB*jBji?iziJiƷ<i k6k6k6h k6k6k6h2fML>:fML>BfM@JfM@Z]Z]ZYZ]i))顑iIu2Acoustic response timeoutx:ԉIIB[>BBDB6>B=BBB;BҘEO)>AE>Ա Ee c Ee SEe lEa "Ee g5:*Ee 9VEe 5ZEa BEe ?;au 2Ee ?;a} JEe l:a} :Ee n:a} % 2Acoustic response timeout*{я,(E?AJŗ?J@J\ٱJ VAHRS rotation from veh to nav: [[-0.454251,-0.886864,-0.084426],[0.889244,-0.445650,-0.103157],[0.053862,-0.121935,0.991076]]JH@sݿ 1a򜵿t?ܿ@hѓ?7 ?iJŗ?IJx*_;J]CY^>y^SDbDjg|VDj/9yr~%rb=ٔrq>=Q-r>9tIt=v Fytz Ez>xQ 54z"?Q 94z)ze}Yy_6@Q I?z DIz+;iz;z4y ɮyB*j!Bj!i%?i-zi)Ji5Ʒ<iA k8k8k8hi k8k8k8ԙh2f:fBfJf@ZZZZi)))))))i11I9 AAz:I1IIO=]2Acoustic response timeout! 1{я,3E?A:=?:q@:Ƽٱ:ҽ FAHRS rotation from veh to nav: [[-0.436438,-0.896009,-0.081790],[0.899406,-0.432020,-0.066536],[0.024282,-0.102602,0.994426]]:Hۿ5?`5ۿ@rݘ?DV?i:=?I:!^;:\CYJ|>yN`D\^ ^# ^bDfc|VDf/9ynI=%nM=ٔnݗ=Q-r>9pIp=r FypvAREv>xQ 5~4z?Q 9~4zy)z{Y|y~[3@Q I?z DIz;iz;z4y ɮ qB *jBji%?i%zi!Ji%Ʒ<i! kC7kC7kC7ha2fq:fqBfqJfuH@ZZZZi))顙iIE-i E-]E-E)"E-,K:*E-9VE-85ZE)a=@a=@a=@a=@u&{:I2Acoustic response timeoutIO=Ai 2Acoustic response timeoutB \>B B B B B B B ;B ژEBBBBʠ=Bʠ=Cʍ4Ա <7{я,{E?A2{?2u@2jiٱ2| :AHRS rotation from veh to nav: [[-0.450695,-0.890887,-0.056519],[0.892564,-0.448723,-0.044458],[0.014246,-0.070484,0.997411]]2H /ܿ%@?@ܿ@Cæ@-?B ?i2{?I2HI_;2]CYN >yRԴDTVAbDZ|VDZ:/9yU%H=ٔ 9 I =  Fy%=E->AQ 5M4E?Q 9M4Ee)E_zYIyM2@Q IM?E DIE:iE(:E>4yYɮYY*jiBjiim?iuziqJiuƷ<iq kkkh k8k8k8h2f:fBfJf@ZZZZi))iIq|:IIO=E-c E-XE-oE)"E-g5:*E-9VE-5ZE)BE)a=2E)a=JE-:aE:E-:aEԡ2Acoustic response timeout Z={я,]E?A2=u?2a0@2(U<ٱ2 :AHRS rotation from veh to nav: [[-0.474527,-0.879726,-0.030096],[0.879756,-0.475123,0.016950],[-0.029211,-0.018434,0.999403]]2H`^޿&ў&? ih޿v[? 靿`_?i2=u?I2_;2[CYN[>yR\D]2Acoustic response timeoutbDe<}VDeg/9y$H<%@=ٔ=Q->9I= Fy=E>Q 54~?Q 948)xYy1@Q I? DI:i:4yBɮlBE*jBji?iziJiƷ<i kckckch  ks8ks8ks8h2f):f)Bf)Jf-(L@Z=Z=Z9ZEiQ)Q)QQYiYYIaIm*?)m>u~:IIO>E1 E5YE5sE1"E1*E5*9VE5X5ZE1aE@aE@aE@aE@) - 4=5 2Acoustic response timeout9 Q D{я,yZBDPExceeded connect timeout, disconnecting.yx&1̿S㥛?}?5^IܿA`/<M 9V-?)\(ؿY=yGὙB B)tBYBbD}VD/9y-<%-A=ٔ5=Q-5>91I1=5 Fy1=}A=E=>AQ 5M4E?Q 9M4E)E_{YM>Q EU;yU?Q IU?E DIE;iE;E4yYɮ]jBY*jqBjqiu?iuziyJi}Ʒ<iy k6k6k6h kRkRkRh2fu>:fu>Bf@Jfk?ZZZZi))iI!:IIO >e2Acoustic response timeoutB<A<B[>BBDB">BBBB;BИEQy E= d E= VE= mE9 "E= 9:*E= 9VE= 5ZE9 BE= F;aM 2E= F;aM JE= C:aU :E= D:aU  2Acoustic response timeoutsJ{я,D.E?A0B2?B۹@B&n<ٱBdw< JAHRS rotation from veh to nav: [[-0.468301,-0.883477,0.012764],[0.883450,-0.467951,0.023213],[-0.014535,0.022148,0.999649]]BHݿqE@E$?@8E?`ݿ.ŗ?čխ? ?iB2?IB _;B^CY,>yfD%p=!}>}=@AbD~VD09y$(=%R=ٔqQ->9I= FyE>Q 54d ?Q 9%47)}Y!y%??Q I%? DIp:i:澋4y)ɮ-bB1*jABjAiM?iMziIJiMƷ<iI k6k6k6ha kQkQkQhq2f:fBfJfh?ZZZZi))iIԉd:II1Oe>Թ}2Acoustic response timeout Q{я,NGE?A2{?2J3@2ٱ2gNr :AHRS rotation from veh to nav: [[-0.447099,-0.894464,-0.006026],[0.894340,-0.446895,-0.021018],[0.016107,-0.014787,0.999761]]2H@Dܿsx n?ܿ`ȅQ~?H ?i2{?I2_;2]CYN>yRѺDdbD~VD(09yEnV%MS=ٔMQ-M>9IIQ=U FyQU{EU>YQ 5e4] ?Q 9m4])]YiymZ?Q Im?] DI]6:i]:]ŋ4yqɮ}lBy*jBji?iziJiƷ<i k36k36k36h kTkTkTh2f:fBfJf?ZZZZi)DzDEg ESEnE"EC:*E9VEJ5ZEa @a @a @a @)   iI2Acoustic response timeout:I!I1IQO}=nManaging dock network, ignoring radio surface power off!A  2Acoustic response timeoutB B B DB #>B =B B B ;B EX{я,aE?A2p?2zP@2Yٱ2# :AHRS rotation from veh to nav: [[-0.462327,-0.885193,-0.051827],[0.885904,-0.458628,-0.069524],[0.037773,-0.078057,0.996233]]2HŖݿS@ TY?*ZݿU̱V?`@$?i2p?I2_;2_CY^>y^DbDjfVDjf09yr"%rQ=ٔrbQ-v>9tIt=v FytzG6=Ez>|Q 54~ ?Q 94~İ)~&Yy?Q I?~ DI~;i~;~`̋4yɮnBy*jBji?iziJiƷ<i kSkSkSh2f:fBfJfb?ZZZZi)))))11i19I9-с:IAIQO=ԡbE5jEĪ5rEax2E d E RE uE "E 9:*E 9VE 5ZE BE a%2E F;a%JE %:a-:E &:a-== 2Acoustic response timeout 8^{я,ƥ{E?A2l?2xE@2_#ٱ2P NAHRS rotation from veh to nav: [[-0.475483,-0.875936,-0.081557],[0.878820,-0.468747,-0.089168],[0.039876,-0.114072,0.992672]]2HQn޿ി L?ݿ@Ӷ j?3?i2l?I2HI_;0YVR >yV(Ddhh j )jlnAbDr\VDr09yz<<%zI=ٔz㩻Q-z>9|I|=~ Fy|=E> Q 54 ~?Q 94 Į) MYy"?Q I?  DI :i  ; yӋ4y%Bɮ%SB%EE2Acoustic response timeout*jIBjIiM?iMziIJiMƷ<iQ k38k38k38ha kRkRkRhq2f:fBfJf7?ZZ5Z1Z5iA)I)IIIiIqIqUf:IIOm> GD=Da=Ef EPEE"EI@:*E?9VE~5ZEa%@a-@a-@a-@-rA19mb9mrAYm4A2Acoustic response timeoutY e{я,킕E?ANo?NJ@N-rٱN9+ν VAHRS rotation from veh to nav: [[-0.453012,-0.889285,-0.062874],[0.889544,-0.446215,-0.097996],[0.059091,-0.100323,0.993199]]NH$ܿ@u  %w?ʎܿL9A?H?iNo?IN_;N]CYb!>ybDyMSտMb??MM@=M>I I9Mףp= ?QſYM yM>M(MBMB MB)MIYM(BbDeVDe)19yuI;%uB=ٔ}(;Q-}>9yIy= FyrE>Q 54?Q 94Ĵ)YB?Q E:yͬQ I? DI ;i& ;ڋ4yBɮjBE*jBji?iziJiƷ<i k#7k#7k#7h kSkSkSh12f}>:f}>Bf}Ui*@Jf}/[@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI5:IIB5\>B1B5DB5=B5=B1B1B5;B5јEM2Acoustic response timeoutOU>aԉE- c E) E- E) "E- g5:*E) VE- 5ZE) BE- ?;a= 2E- ?;a= JE- :a= :E- :a= Թ  2Acoustic response timeoutJk{я,[E?Aɰ4yV DbD%VD%19y5d%5N=ٔ=gQ-=>9AIA=E FyAE L<EM>IQ 5U4M?Q 9U4MN)MǃYYy]Q I]?M DIM;iM;M4yaɮeuBi*jyBj}=i}?i}ziyJiƷ<i kQkQkQh kQkQkQh2f:fBfJf$@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi ) )   i =I!ԑ]ʃ:IqIO`>]2Acoustic response timeout b2r{я,6E?AB ?B@B̧ٱBmd JAHRS rotation from veh to nav: [[-0.457168,-0.889132,-0.021021],[0.887191,-0.454257,-0.080893],[0.062375,-0.055631,0.996501]]BH;Bݿ@s c?ݿd?{`V?iB ?IB&3_;B^CYR;>yVDU=U=bD]VD]19y=%C=ٔ >Q->9I= FyE>Q 54?Q 94L)yYyQ I? DI:i: 4yɮ]BEe EMEfE"E<:*E9VEt5ZEa@a@a@a@*jBji?iziJiƷ<i kTkTkTh kUkUkUh)2f9:f9Bf9Jf= @ZMZMZIZMia)a)aaaiaiIi5%=54==2Acoustic response timeout}:IIOf>I B- ]>B) B- DB- #>B) B) B) B- *;B- E 2Acoustic response timeoutax{я,c'E?A>?>ƶ@>)Ѽٱ> FAHRS rotation from veh to nav: [[-0.454171,-0.889429,-0.051421],[0.890546,-0.451566,-0.054919],[0.025626,-0.070735,0.997166]]>H`$ݿ@4vSY?vܿM=?@?i>?I> _;>]CYN,)>yN DbDyVDF29y];%]N=ٔeA=Q-e>9aIa=e Fyim-Em>Q 54?Q 941)YyQ I?DI;ia;)4yɮfB*jBji?iziJiƷ<i kSkSkSh kikikih!2f1:f1Bf1Jf5@ZEZEZAZEiQ)Y)YYYiYaIaIIO=aE%f E%UE%rE!"E%I@:*E%P9VE%5ZE!BE%R;a-2E%R;a-JE%:a5:E%:a5iI52Acoustic response timeoutԑI 0>) N>Թ ~{я,E?A:?: e@:#Iٱ:n BAHRS rotation from veh to nav: [[-0.448262,-0.890947,-0.072629],[0.889899,-0.437097,-0.130487],[0.084511,-0.123124,0.988786]]:H@Qܿʗ z?`eۿ ̳ ? #?i:?I:`_;:^CLYN>yNDbDVcVDV29y^*%bU=ٔb\Q-b>9dId=f FydfTEj>hQ 5n4j#?Q 9r4jr)jŅYpyrQ Ir?jDIj:ij:j4ytɮzoBx*jBji?i zi Ji Ʒ<i  kPkPkPh! klklklh12fA:fABfAJfEHÙ@ZUZUZQZUia)a)iiiiiqIq2Acoustic response timeout^A2;IIOF>E-j E-QE-{E)"E-N:*E-v9VE-:5ZE)a=@a=@a=@a=@E 2Acoustic response timeout ;o{я,>E?A6?6@6wνٱ6M# >AHRS rotation from veh to nav: [[-0.455634,-0.885660,-0.089469],[0.884459,-0.439056,-0.157990],[0.100644,-0.151117,0.983379]]6H@)ݿSW`k綿~M?@ܿ9Ŀù?Wÿ`w?i6?I6|H_;6[CYF>yFDLLyUK?sh|??S㥛?U^=U=U>Q Q9UZd;ORQ?Q?YUjyUB>U(9I= Fy<E>Q 54?Q 94)iYoB?Q E:ySQ I?DI ;i ;#4yɮlB*jBji?iziJiƷ<i kSTkSTkSTh kkkkkkh2fȧ>:fȧ>Bf@Jf@Z Z Z Z i!)!)!!!i))I1^A-hW<I9IIO=BABZ>BBDBw>B=BBB6;BEBBBBBC c5)2Acoustic response timeoutQԁ EE _ EE LEE lEA "EE &:*EE |9VEE 5ZEA BEE &;aM 2EE &;aU JEE w:aU :EE x:aU ] 2Acoustic response timeout!{я,g0E?A2~?2@2 rrٱ2{= :AHRS rotation from veh to nav: [[-0.471570,-0.876579,-0.096073],[0.879842,-0.460399,-0.117945],[0.059156,-0.140148,0.988362]]2H`5.޿@ ;'?`,wݿ1I?@aਠ?i2~?I28_;2_CYJI(>yJD\\b b)bbDjVDj539yn%<%rT=ٔr;=Q-r>9tIt=v Fytve-=Ez>|Q 5 4~@?Q 94~)~@YyQ I?~$DI~;i~;~4qyɮgB*jBji?iziJiƷ<i kcRkcRkcRh2f!:f!Bf!Jf%|@ZUZUZYZ]i))顉iI^Aeh=IqIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO=ԙ2Acoustic response timeout {я,JE?Aɰ2{?2M3@2Vٱ2I :AHRS rotation from veh to nav: [[-0.474233,-0.879235,-0.045269],[0.878837,-0.469702,-0.083821],[0.052435,-0.079535,0.995452]]2H`Y޿"-m?޿Kuت?i\ ?i2{?I2*_;2]CYB>yBjDbDN/VDN39yV%VN=ٔV 9XIX=Z FyX^x;E^>`Q 5b4b ?Q 9f4b)b}Ydyf Q If?b*DIb:ib:b 4ynͯBɮnBnE*jtBjtiv?izzixJizƷ<ix kSUkSUkSUh  kcUkcUkcUh2f):f)Bf)Jf-&[@Z=Z=Z9Z=iI)I)QQQiQYIY eeIe)eE^ ENErE"EC#:*E҆9VE5ZEa@a@a@a@ 2Acoustic response timeout@erA@eqA^A5Z=IAIiO^>)B T>B )CB DB ,>B B B B ;B Ei߹ I߹  2Acoustic response timeoutY {я,YdE?A6?6@6ٱ6 BAHRS rotation from veh to nav: [[-0.443057,-0.896158,0.024514],[0.893672,-0.443665,-0.067166],[0.071067,-0.007851,0.997441]]6H [ܿ@T@??eܿ 1u1?`[?i6?I6._;6^CYJ=yJD==bD VD 39yE7U%MA=ٔM4Q-M>9IIQ=U FyQUSEU>YQ 5e4]?Q 9m4]c)]yYiym,Q Im?]0DI]:i]:]34yqɮuBy*jBji?iziJiƷ<i kRkRkRh kSkSkSh2f:fBfJf @ZZZZi))i1qIy^Am=IIO>E c E OE E "E g5:*E 9VE ZE BE ?;a2E ?;aJE N:a:E O:aa%2Acoustic response timeoutԉ ՞{я,5~E?A2?2@2ٱ2λ :AHRS rotation from veh to nav: [[-0.428660,-0.903195,0.022121],[0.901141,-0.429184,-0.061203],[0.064772,-0.006301,0.997880]]2H(oۿզ? &?@wۿU唰?Py?i2?I2G^;2\CYR6=yRDbD-ˇVD-B49ye:<%eH=ٔm`}9iIi=u Fyq2Acoustic response timeoutu&#E>Q 54?Q 94)3tYyiQ I?5DI#;i;k4yɮB*jBji?iziJiƷ<i kQkQkQh2f9:f9Bf9Jf=@ԑZZZZiq)y)顁iIԹE EVE^E"E~:*E9VE [5ZEa-@a-@a-@a-@^A)I9IIIiqu>O>- 2Acoustic response timeoutI G>) G> ({я,zE?A2 ?2G@2qeٱ2od :AHRS rotation from veh to nav: [[-0.428358,-0.903600,-0.004011],[0.903386,-0.428150,-0.024108],[0.020067,-0.013950,0.999701]]2H8jۿJemp@?fۿS? ?i2 ?I2^;0YB>yBDyףp= ?V-ǿ~jtȿ>?|?D 9Pn?Mb?Q?Y?y<(>B`B ).BYBbDPVD49y_=%C=ٔ=Q->9I= FyAE>Q 54?Q 94 )rYu?Q E:yh@Q I?CDI` ;i ;!4yɮB*jBji?iziJi%Ʒ<i! kQkQkQh1 kQkQkQhA2f]?:f]?Bf]@Jf]N@ZeZeZiZmiy)y)y顁iIAiAiBu[>Bu*CBuDBu">Bu=BqBqBu;BuE2Acoustic response timeout!^A=IIOn>A bEʻ5jEM5rEm53E% g E% eE% ~E! 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E d E XE mE "E 9:*E 9VE 5ZE BE F;a 2E F;a JE :a :E a  = < 2Acoustic response timeout*{я, {E?A2ž?2$@2Юٱ2( :AHRS rotation from veh to nav: [[-0.427029,-0.896150,-0.120674],[0.901882,-0.412480,-0.128331],[0.065228,-0.163635,0.984362]]2HqTۿA~便7?fڿ)mв?Ŀ?i2ž?I29_;0|Y5!>y?D)11 5')5#I5)i5.bDEGVDE79yUx%UI=ٔUQ-U>9YIY=] FyYeʼn=Ee>iQ 5u4mj?Q 9u4m)m3Yqyu~Q I}?mDIm;imr;mn4yBɮaBE*jBji?iziJiƷ<i k5k5k5h2f:fBfJfS@ZZZZi))i I )^A]#=IiIyO_>]2Acoustic response timeoutaI V>) a>ԁ j{я,iUE?A2j`?2@2Xٱ2) :AHRS rotation from veh to nav: [[-0.438511,-0.895168,-0.079890],[0.896412,-0.429276,-0.110308],[0.064449,-0.119986,0.990681]]2Hܿ6@sg?Byۿ@%=?g?i2j`?I2M_;2ZCYB>yBDbDNVDN79yV,%VV=ٔV;Q-V>9XIX=Z FyXZ=E^>i`IbqA`Q 5f4bӳ?Q 9j4b)b̄Yhyj ĿQ Ij?bDIb:ib:bu4ylɮrcBp*jxBjxi~?i~zi|Ji~Ʒ<i kCkCkChY k;k;k;h2f:fBfJf;>V@ZZZZi ))YYYiYaIi2Acoustic response timeoutEc ETE`E"Eg5:*E9VE|a5ZEa@a@a@a@ԁ^AIIIOn>ԱBBBDBM>B=BBB;BEia Ia m 2Acoustic response timeout {я,1E?A2?2Q@2KHhٱ2D> :AHRS rotation from veh to nav: [[-0.425940,-0.904575,-0.017843],[0.902974,-0.423785,-0.071018],[0.056679,-0.046361,0.997315]]2HBۿ@H@tE*?Kۿ6. ? ?i2?I239_;2[CYBR >yB(DAbD VD 89yE@;%MA=ٔM.9QIQ=U FyY]Ee>iQ 5u4m?Q 9u4Թmѹ)mYyѿQ I?mDIm`9 ||я, E?A52Acoustic response timeoutE?E#?EٱEI AHRS rotation from veh to nav: [[-0.406859,-0.912842,0.034439],[0.908929,-0.408302,-0.084481],[0.091180,-0.003069,0.995830]]EH ڿ5@ ??!ڿ W?$$i@?iE?IE_;E\CY>yDa-@a5 a5@a5 a5@a5 a5@a5 a5@a5 y-(\ȿl#~j-G--㥽) ))-Mb@Mb@Mb@I-i-‰--- -)--I-bDMSVDM/89y] %]-=ٔ]8Q-e>9aIa=e Fyam,Em>Q 54?Q 94)Q A+:YQ E:yF޿Q I?DI;i>4yɮcB*j Bj i ?i ziJiƷ<i kSkSkSh) kckckch9ZUZUZQZUia)a)iiiiiqIqAGa9YVAD%=D<Eub EuKEunEq"Eu1:*Eu]t9VEuJ5ZEqa}@a}@a}@a}@ԁ^A=I2Acoustic response timeoutIO > ԙ |я,E?A2=?2(?2zٱ2M; :AHRS rotation from veh to nav: [[-0.394185,-0.918192,0.039264],[0.914425,-0.396124,-0.083150],[0.091901,0.003128,0.995763]]2HT:ٿa@s?@B?Zٿ`NI҆?i?J?i2=?I2 _;2ZCYf(>yfDbDEVDEZ89y%n=ٔ Q-?9I= Fy+%E?Q 54?Q 94)ىQ A :YQ Eb:y Q I?DI':iP?4yBɮeB*jBji?iziJiƷ<i kkkh kC@kC@kC@h19  r NAggregate::initialize marl:UpdateRudderq9 J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeedZ-Z-Z)Z-B]R>B])CB]DB] A>BYBYB])DB];B]Eqi))iI 52Acoustic response timeoutԡ^A9IIIYO~>E} a E} ME} vEy "E} %.:*E} 9VE} -5ZEy BE} M3;a 2E} P3;a JE} :a :E} :a  2Acoustic response timeout * |я,35E?A2?2?2sٱ2ؼ :AHRS rotation from veh to nav: [[-0.407558,-0.913179,0.000120],[0.911242,-0.406702,-0.065050],[0.059451,-0.026402,0.997882]]2Hmڿ8 {?@(?@gڿ`Wp?% @?i2?I2f_;2[CYBg'>yBDbDN8VDN89yV(b=%VZ=ٔVg=Q-V>9XIX=Z FyXZ=E^>`Q 5b4b?Q 9f4bo)b^Q Af9YdQ Ef7:yf׿Q If?bDIb:ib?b>4yhɮn[Bl*jtBjtiv?izzixJizƷ<ix k$k$k$hsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi9)9)999i9AIA^A#=IIO-p>i9I9E2Acoustic response timeout) |я,OE?A22?2/?2q@ٱ2uo :AHRS rotation from veh to nav: [[-0.402287,-0.913834,-0.055428],[0.914305,-0.397909,-0.075594],[0.047025,-0.081088,0.995597]]2H`ٿ!> a@A?Vwٿ@Z?/´@?i22?I2'_;2ZCYB>yBѺDbDNVDN89yV%VJ=ٔZ9XIX=Z FyX^uE^>`Q 5f4b/?Q 9f4b )bQ Aj9YhQ Ej:yjοQ Ij?bDIbD=;ib?bI4ytɮvcBt*j Bj i?iziJiƷ<i kkkhAD}?AzDyE ERErE"E*E9VE5ZEa@a@a@a@ZZZZi ))111i19I92Acoustic response timeout)Y^A=IIOg>BUZ>BU*CBUDBU6>BQBQBU*DBU$;BUEԁ I a>) M 2Acoustic response timeout,|я,xiE?A0:Ҋ?:Vv?:dٱ: N BAHRS rotation from veh to nav: [[-0.375843,-0.918985,-0.119199],[0.925000,-0.364295,-0.107997],[0.055824,-0.150849,0.986979]]:H ؿ`Sh`҃@?`P׿@ꔬ?OÿU?i:Ҋ?I:t5_;8YJO >yJۨDf f%f$ f)j&Ij$ij)j.bDrVDr89y~/ %~E=ٔ6Q->9 I =  Fy E>Q 5%4i?Q 9-4)ŽQ A-9Y)Q E-9y-yƿQ I-?DIB2;i@ѐ4y9ɮEjBA*jQBjYi]?ieziaJieƷ<ia kkkhZZZZiY)Y)YaaiaaIiԉEf EEfE"EI@:*EVEt5ZEBER;a 2ER;aJE%:a:E&:a2Acoustic response timeout^AIIOl>I M > W |я,taE?A` 2Acoustic response timeout1??J.cٱ AHRS rotation from veh to nav: [[-0.371369,-0.920790,-0.119297],[0.926829,-0.359962,-0.106841],[0.055436,-0.150245,0.987093]]H@׿w`?`? ׿Y@b?@=;ÿD?i1?I/_;\CY$>yDaeae aeam amam amam am@am am@am am@am am@au auau yml:v?:v?mmT=mT>i i)mMb@Mb@Mb@IiiiiimB i)iiYmBbD̒VDR99yF<%2=ٔ^:Q->9I= Fy-E>Q 54?Q 94l)Q Ao9YQ E9y.ǿQ I?DI:i@4yɮcB*jBji?iziJiƷ<i kkkh k%k%k%h Z%Z%Z!Z%i1)1)999i9AIAEd EEE"E9:*Ey:VEZEa@a@a@a@^A#=IIO>2Acoustic response timeout9 &|я,j.E?A2 ^?2I?2Hٱ2!Ƚ :AHRS rotation from veh to nav: [[-0.382332,-0.920263,-0.083292],[0.923849,-0.378945,-0.053880],[0.018021,-0.097549,0.995068]]2H xؿ`r R,?@ؿ%t??i2 ^?I2f _;2YCYB>yBDbD8VD99ye;<%m`=ٔm=Q-m>9qIq=u Fyqu<E}>yQ 54}R?Q 94})}#Q AB9YQ E9yR̿Q I?} DI}:i}G5@}4yïBɮtBE*jBji?iziJiƷ<i k k k h k3%k3%k3%hZZB[>BBDB">B=BBB;B@EBBBBB=C>5ZZ^%B*** querying acoustic contact ***X!Y!i1)1)199i99IA 2Acoustic response timeoutI^AyIIOe>y E a E OE hE "E %.:*E 9VE A{5ZE BE N3;a 2E P3;a JE N:a :E O:a Թ  2Acoustic response timeoutZ-|я,$ E?Aɰ;2u'?2?2!ٱ2sȼ :AHRS rotation from veh to nav: [[-0.388060,-0.921410,-0.020322],[0.921616,-0.387821,-0.014785],[0.005741,-0.024466,0.999684]]2Hؿ1| Oϔ@}?@ؿ^G`7w? i?i2u'?I2V_;2ZCY^x>y^FDjParsing RMC sentence: $GPRMC,183231.00,A,3646.37372,N,12151.97282,W,0.641,112.85,251025,,,A*7E )hjE?Ajx#?j9j;bB@kr pw^rhGPS fix at 20251025T183231: (36.772895, -121.866214)j֨>j?bDzVDz99yI}%Q=ٔ =Q- >9 I = Fy<E>Q Q%?٫DQ M%?BQ U-?AQ Y-??Q ]-~<9 !=Q 5-;4x#?Q 9-;4Q =5tI)Q A59Y1Q E59y5ֿQ I5?I@Y;yikN@>g;4yTBɮBEMFix residual: 3.9 %DT, over the last 572.3 m. Residual distance 22.5 m at bearing 101.4 degrees. Fix at (36.7729, -121.8662) with 94.5 m made good.*jBji?iziJiƷ<i k&k&k&hQq2m13mZmZmZiZm\Received valid gps time fix: 1761417088.00. Resetting abort timer.i))顩iI@@rAԩ^A=II2Acoustic response timeoutO-o> 4|я,E?AV. ?V?V DٱVc< bAHRS rotation from veh to nav: [[-0.379646,-0.923946,0.046823],[0.923882,-0.381277,-0.032699],[0.048065,0.030845,0.998368]]VHLؿ`/?q?fؿ@`?Ǖ? ?iV. ?IV1_;TYr!>yrDEel EeNEenEa"EeV:*Ee҆9VEeJ5ZEaam@am@am@am@bD}VD}7:9y<%?=ٔhʽQ->9I= FyIE>QQ 5];4U ?Q 9];4U)UH_Q Ae8YaQ EeO9yeQ Ie?UI'>IU:iUj@Ui;4yiɮmBiu%=uC=}2Acoustic response timeout*jBji?iziJiƷ<i k$k$k$h k$k$k$hZZZZi))iI^AIIBZ>BBDB,>B=BBB;BiE1- 2Acoustic response timeouti ԉO>x;|я,`E?A2?2?2xٱ2>= BAHRS rotation from veh to nav: [[-0.378592,-0.923715,0.058474],[0.923569,-0.381167,-0.041620],[0.060733,0.038248,0.997421]]2H:ؿ]?@? eؿ/Op?`G?`?i2?I2_;2]CYN>yNDbDb4VDbn:9yn# %r2=ٔr|Q-v>9tIt=v FytzEz>Q 5 ;4?Q 9;4#)߾Q A8YQ E(9y Q I?>Ie;i@vk;4y)ɮ-B1*jBji?iziJiƷ<iEb EOEiE"E1:*E9VEz~5ZEBE9;a2E9;aJEa:Ea kS"kS"kS"hZ5ZZZi))2Acoustic response timeouti1I1Ii>)l>^AIIO>1  2Acoustic response timeoutaB|я,? E?A>?>=x?>ٱ>Q FAHRS rotation from veh to nav: [[-0.376233,-0.926511,0.005077],[0.925805,-0.376151,-0.037350],[0.036515,-0.009351,0.999289]]>H 3ؿ t?2?@ؿ { ?&-?i>?I>=_;>[CYN>yNSDa%a% a%a% a%a% a%a% a%@a- a-@a- a-@a- a-@a- y%)\(?9YIY=] FyaetEe>iQ 5u;4m?Q 9u;4m')m$Q Au8YqQ E}9y}wܿQ I}?m&>ImG ;im@ml;4yɮB*jBji?iziJiƷ<i k k k h k k k hZZZZi )) )111i19I9@>@!>Ec EUEE"Eg5:*EP9VE5ZEa@a@a@a@2Acoustic response timeouta^AIIOU>ԁ Be \>Ba Be DBe #>Ba Ba Ba Be :;Be EaH|я,#E?A02?2?2tٱ2xԟ >AHRS rotation from veh to nav: [[-0.356825,-0.931892,-0.065223],[0.933927,-0.354263,-0.047729],[0.021372,-0.077945,0.996729]]2H`7ֿ` |?`@ֿo@?3`3?i2?I2H_;2\CYF >yFԴD  # ) %I "i  bD VD:9y-=%-M=ٔ-=Q-->91I1=5 Fy1=[XE=>AQ 5M;4E?Q 9M;4E*)E;XQ AM8YQQ EU8yUQӿQ IU?E?IE;iE@En;4e2Acoustic response timeoutyaɮm Bi*jyBjyi}?iziJiƷ<i kC!kC!kC!h kS!kS!kS!hZZZZi))iIԑ^A#=I IIYO\>ԹbE}C5jE}͋5rE}݁3Ed EXE_E"E9:*E9VEC^5ZEBEF;a 2EF;a JE:a :E:a  2Acoustic response timeout qN|я,h=E?A2?2M?20ٱ2w :AHRS rotation from veh to nav: [[-0.365270,-0.922254,-0.126592],[0.930839,-0.360276,-0.061155],[0.010792,-0.140174,0.990068]]2H`׿`'4@o?׿O[?< ?i2?I2q_;2XCYB>yBzD\bDM\VDM:9yC%E=ٔ9I= Fy3<E>Q 5;4?Q 9;4y.)Q A[8YQ E8yƿQ I?B?I:i@n;4yɮ B*jBji?iziJiƷ<i kckckch kkkhZ Z ZZi!)!)!!)i))I1m2Acoustic response timeout^A=IIOh>  %m>%CIހGhi9Y^AA E i E LE E "E ,K:*E |9VE ZE a @a @a @a @ 2Acoustic response timeoutU|я,΍WE?Aɰ2G?2|?2#ٱ2Ӌ :AHRS rotation from veh to nav: [[-0.369070,-0.921184,-0.123320],[0.928541,-0.359759,-0.091567],[0.039984,-0.148302,0.988133]]2H՞׿Vz@? K׿p`x?¿ ʞ?i2G?I22_;2]CY^>y^ȡDbDjԖVDj-;9yr%rU=ٔrQ-r>9tIt=v FytzK;<Ez>xQ 5;4zJ?Q 9;4z1)zwQ A18YQ E8y ƿQ I ?z"c?Iz;izH@zo;4yhBɮ&BE*j)Bj)i-?i-zi1Ji5Ʒ<i1 kCkCkChIZZZZi))i!I!@@qAIB Q>B )CB zDB J=B =B B )DB ;B E^AIIO5p>}2Acoustic response timeoutԁԡ [|я,HnqE?AJvv?Jb?JѺbٱJ ZAHRS rotation from veh to nav: [[-0.353493,-0.930946,-0.091554],[0.933800,-0.345391,-0.093397],[0.055326,-0.118509,0.991410]]JHֿࠟ`Op? ֿ@跿S?V?iJvv?IJ@_;J[CYbt>yf,DbDnVDn<;9yvk=%vI=ٔz Q-z>9xIx=~ Fy|~%E~>Q 5 ;4?Q 9 ;4K5)lQ A8YQ Ej8yzϿQ I??I:iC@@p;4yɮ%B!*j1Bj1i5?i5zi9Ji=Ʒ<i9 kkkhI k#k#k#hayZ}Z}ZZi))顙iIE] EXEiE"E:*E9VEz~5ZEBE:;a2E<;aJEa:Ea2Acoustic response timeoutԡ^AI!I9OeV> 2Acoustic response timeout `b|я,CE?A2r?2l?2ٱ2옽 :AHRS rotation from veh to nav: [[-0.368754,-0.927688,-0.058447],[0.929055,-0.365835,-0.054958],[0.029602,-0.074567,0.996777]]2H׿`쭿Һ? i׿#P??i2r?I2H_;2ZCYB>yBDa=a= a=a= aEaE aEaE yEDl?y&1|q= ףp?EO>E`E=A A9Ex&1?yEt=E94AEB EdB)E|BEYEѝBbD]VD]:;9ymʼ%mC=ٔmu{=Q-m>9qIq=u Fyqu=E}>Q 5;4?Q 9;4u1)bĿQ AT:YG>Q E:y@Q I?:f>Bf'@Jf梃@ZZZZi))i!I!D=D4=Eh EUEoE"EG:*EP9VE5ZEa@a@a@a@2Acoustic response timeout^AIII)i>OMt>1B X>B B DB M>B B B *DB ;B EY sh|я,E?A2?2i?2b8ٱ2z :AHRS rotation from veh to nav: [[-0.364191,-0.931269,-0.010139],[0.931256,-0.364011,-0.016066],[0.011271,-0.015293,0.999820]]2HN׿Ä@? K׿s@l?Q?i2?I2_;2XCYB>yBSDiFE2Acoustic response timeoutbDMVDMO;9y%H=ٔ28=Q->9I= FyKE>Q 5;4)?Q 9;4-)_ͿYy@Q I?#?I[:iR:(;4yQBɮBE*jBji?iziJiƷ<i kkkh kkkh2f :f Bf Jf ,@ZZZZi))))))1i119I9a^AyIIOb>Ei EQEvE"E,K:*Ev9VE-5ZEBEte;a2Eve;aJE:a:E:aԉ2Acoustic response timeoutԹ o|я,ME?A2A?2,?2%ٱ2!Ď: :AHRS rotation from veh to nav: [[-0.345135,-0.938526,0.007138],[0.938386,-0.345207,-0.016252],[0.017717,0.001089,0.999842]]2Hֿ`g<}?A? ֿo{$?`Q??i2A?I2_;2ZCY^>ybѺDԑM2Acoustic response timeoutbDWVDj;9ye7<%m=ٔu'Q-u>9yIy=} Fyy E>Q 5;4X?Q 9;4()ۿYy%@Q I??iIpAI ;i;@;4yɮB*jBji?iziJiƷ<i kc kc kc h 2f9 :f9 Bf9 Jf= x@Z Z Z Z i ) ) i I E d E HE yE "E 9:*E [9VE 5ZE a @a @a @a @ 2Acoustic response timeout ^A-#=I9IIO>Sw|я,rE?Al??ٱᘼ AHRS rotation from veh to nav: [[-0.357011,-0.933982,-0.014854],[0.934072,-0.356832,-0.013405],[0.007219,-0.018661,0.999800]]HCֿ.k? Vֿsϑ}?@\?i?I _;YCY_>yvDByByB}DB}">B}=ByByB};B}EB=)CB=)CB9B9B9C=$65  -2Acoustic response timeout9a E f E SE {E "E I@:*E 9VE :5ZE BE R;a 2E R;a JE l:a :E m:a  2Acoustic response timeoutԑ Թ2Acoustic response timeoutAD=<D==EEr EENEEEA"EEk:*EE҆9VEE85ZEAaM@aM@aM@aM@=2Acoustic response timeouti"B"[>B"*CB"DB"M>B"=B"B"B"(;B" EA%e%2Acoustic response timeouti(I]+l>)Y+ԙ+E,u E,OE,iE,"E,v:*E,9VE,z~5ZE,BE,W;a-,2E,X;a-,JE,N:a-,:E,O:a-,-2Acoustic response timeout.142Acoustic response timeout!5Q8y;D};@AzD};AAE;f E;QE;E;"E;I@:*E;v9VE;*5ZE;a;@a;@a;@a;@qBB)CBBBBBB=BBBBBB;BBEQCy Cq= ףpտ~jtÿi|?5 C C C C C9 CS㥛?m?/$Y C$>y Cn> CL CB CB CB) C1B CY CQBbDDȗVDD;9yE%E <ٔ Ew;Q- E=9EIE=E FyEE#;EE=!EQ 5-E;4%EѰ?Q 9-E;4%E7#)%EfY-EX?Q E-E{:y-E6@Q I5E?%E@I%E:i%E:%E;4y=EUBɮ=E B9EE2Acoustic response timeout*jFBjFiF?iFzi FJi FƷ<i F kckckch!F kkkh1F2fEFl?:fEFl?BfEF (?JfEF%$@ZUFZUFZQFZUFiaF)iF)iFiFiFiiFqFyFIFԩI^AJQ=IJIJIJOJ@v|я,FtE?AB?B*?BYvMٱB NAHRS rotation from veh to nav: [[-0.356978,-0.928477,-0.102457],[0.934029,-0.353320,-0.052495],[0.012540,-0.114437,0.993351]]BHֿ:? ʜֿિ?K?iB?IB5_;@YRTR>yRTEbD~VD~};9y >% =ٔ Q- E?9I= Fy\EE?!Q 5-;4%Dΰ?Q 9-;4%")%QrY)y-'@Q I-?%@I%:i%:%;4y=RBɮ=B=E*jIBjIiM?iUziQJiUƷ<iQ kӢkӢkӢhibE5jEc5rE3E} E}UE}Ey"E}1:*E}P9VE}5ZEyBE};a2E};aJE}:a:E}:a kkkh2f:fBfJf@ZZZZi))iIu2Acoustic response timeout^A7=IIOmV> Qi! I! - 2Acoustic response timeoutq % ]G9 Z|я,E?A Jf?J?J?=ٱJ'DZNj9PYR^A VAHRS rotation from veh to nav: [[-0.320605,-0.946895,-0.024539],[0.946484,-0.321267,0.030920],[-0.037162,-0.013312,0.999221]]JHʄԿL `I?Կ?|C`?iJf?IJT_;JZCYZC>y^Dy+ǿ/$?MbP?v>,>: 9kt⿔V-Cl绿Y yh;߽KBB )BYBbDVD;9y % ;=ٔ =Q- >9I= Fy´E>!Q 5-<4%vװ?Q 9-<4%r()%tY-?Q E-:y-Q I-?%!@I%:i%j:% <4QyZBɮBE*jBji?iziJiƷ<i kkkhA2fua>:fua>Bfu8m@Jfu F@Z}ZZZi))顱iIEi EmExE"E,K:*E:VEe5ZEa@a@a@a@2Acoustic response timeoutԑ^A#=IIO>ԩB- R>B- (CB- DB- ">B- =B) B- )DB- ;B- әE o|я,VE?A2 ?2F?2<ٱ2 f :AHRS rotation from veh to nav: [[-0.336110,-0.941538,-0.023170],[0.941361,-0.336614,0.023035],[-0.029487,-0.014069,0.999466]]2Hӂտ!󹗿 ?տe?1`mЌ`?i2 ?I25_;2XCYB4>yB1DbDNVDN<9yV'%Vd=ٔV5Q-V>9XIX=Z FyXZ:=E^>`Q 5b<4bI߰?Q 9f<4b?-)bvYdyfٌQ If?b.@IbN:ib:b~<4yhɮnBlr2Acoustic response timeout*j|Bj|i~?i~ziJiƷ<i kSkSkSh k#k#k#h)2f9:f9Bf9Jf=5Գ@19E rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7UnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeedZ]Z]ZYZ]iq))iI Ա^A=IIOk>Ep ESEpE"Ed:*E9VE5ZEBE;a2E;aJEl:a:Em:a2Acoustic response timeout 9 _m|я,E?A6*?6 ?6l&ٱ6* BAHRS rotation from veh to nav: [[-0.329561,-0.943777,-0.025971],[0.943260,-0.327947,-0.052064],[0.040620,-0.041656,0.998306]]6H`տ l3%0/?Կ)!̤?S`?i6*?I6Y_;6[CYJ">yJlDbDRRVDRS<9yZ.%ZJ=ٔ^1Q-^>9\I\=b Fy`bEb>dQ 5j<4f谉?Q 9j<4f2)f/zYhynՌQ In?fn=@If:if;f'<4yrnBɮrBrE*jxBjxi~?i~zi|Ji~Ʒ<i kkkh kkkh!2f1:f1Bf1Jf5%@sENUpdating rudder angle 6.875493 arcdeg 9ErE6Completed marl:UpdateRudder19E rERAggregate::uninitialize marl:UpdateRudderZMZMZIZMia)a)aaaiaiIq2Acoustic response timeout^AE#=IQIaO;>9i E ^ E ME dE "E C#:*E 9VE ^n5ZE a @a @a @a @ 2Acoustic response timeouta|я,aE?A 6,?6?6dٱ6Ľ >AHRS rotation from veh to nav: [[-0.305158,-0.949391,-0.074396],[0.950668,-0.299129,-0.082175],[0.055763,-0.095802,0.993837]]6Hӿia k?$ӿ@r 쌬?`~?i6,?I656_;6XCYF>yFDLNAbDrUVDrT<9yz%zF=ٔzQ-~>9I= Fy{E>!Q 5-<4%?Q 9-<4%8)%}Y1y5ŎQ I5?%bL@I%:i%[:%/6<4y=qBɮ=%BEE*jQBjQiU?iUziQJiUƷ<iY kkkhi kkkhy2f:fBfJf^@ZZZZi))项iIiBV>B)CBDB=B=BB*DB;BE^A9IIIYO[>ԙ2Acoustic response timeout r|я,EE?A2U?2?2?ٱ2 :AHRS rotation from veh to nav: [[-0.282424,-0.950845,-0.127005],[0.956284,-0.268589,-0.115670],[0.075872,-0.154121,0.985135]]2H;ҿRm`A?0ѿ`_l?;ÿ8?i2U?I2#K_;2YCPYR=>yRsDTTbD^{VD^f<9yf;%fM=ٔjNQ-j>9hIh=j FyhnrEn>pQ 5v<4r?Q 9v<4rd=)rYtyz^Q Iz?rZ@Ir:ir:rD<4Eec EeNEeeEa"Eeg5:*Ee҆9VEeq5ZEaBEe?;am2Ee?;amJEe:au:Ee:auy|ɮ}$By*jBji?iziJiƷ<i k#k#k#h2f:fBfJf*@Z%Z%Z!Z%]2Acoustic response timeoutia)a)aaaiiiIq^A=II !O> 2Acoustic response timeout! n|я,[E?AB^>?B)?B4ŽٱBy6$ RAHRS rotation from veh to nav: [[-0.291935,-0.948258,-0.124819],[0.951594,-0.274854,-0.137568],[0.096143,-0.158938,0.982596]]BH`ҿ "X #ts?`4ѿ`ԛ`՜?XĿmq?iB^>?IB_;BZCYZ>y^jD|ymX9vmmǖB mB)mjBiYmBbDVDv<9y,9%:=ٔ=Q->9I= Fy<E>Q 5<4C?Q 9<4C){Yk?Q E :y uQ I ?j@I:iH:aS<4yɮ.B*j!Bj)i-?i-zi)Ji-Ʒ<i1 kkkhA kkkhQ2fm>:fm>Bfme:@Jfm@ZZZZi))顩iI)Emd EmQEmuEi"Em9:*Emv9VEm5ZEia}@a}@a}@a}@ae%=m2Acoustic response timeout^A#=IIO k>>>QB <A 4=B Q>B B DB =B =B B )DB N;B EBBBBBɢ=Cɭ6ԁ |я,6)E?A67N?69?6*Ըٱ6D >AHRS rotation from veh to nav: [[-0.292561,-0.952479,-0.084807],[0.951990,-0.281752,-0.119709],[0.090126,-0.115757,0.989180]]6HPҿ z嵵`v?8ҿB~? 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@M?`럿>@¿F?i6?I6!<_;6TCLYR>yRpD TVAZ=Z=bD^VD^|G9y5m=%5E=ٔ599I9==Fy9Ek<EE>IQ 5UA4Md?Q 9UA4M)M9YQyUQ IU?M\AIM;iM;MbA4yaɮeBa yy*jBji?iziJiƷ<i kkkh kkkh2f:fBfJf @19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI^A=V)=IIIYO[>2Acoustic response timeout!  nManaging dock network, ignoring radio surface power off9я,j3E?A2㎵?2qz?2m:ٱ2 :AHRS rotation from veh to nav: [[-0.065705,-0.989726,-0.126982],[0.997838,-0.065310,-0.007280],[-0.001088,-0.127186,0.991878]]2H`Ұ֫@K?%`}`mQ Gw?i2㎵?I2?_;2SCYB >yBԴDF>DbDNDZVDNG9yV%VS=ٔVHQ-Z>9XIX=ZFyX^.E^>`Q 5fA4b2?Q 9jA4b)bYhynʅQ In?b^AIbf;ibw;bA4yv BɮvֱBzE*jBji?izi!Ji%Ʒ<i! kkkh2f:fBfJfΌ@s PUpdating rudder angle -0.000000 arcdeg 9 r 6Completed marl:UpdateRudder19  r RAggregate::uninitialize marl:UpdateRudderD?AzD@AE! E%NE%cE!"E!*E%҆9VE%&k5ZE!a5@a5@a5@a5@Z]Z]ZYZei))顙iIB<>B&CBBB=BBB!;BEU2Acoustic response timeout)^AIIIO=r>Qԁ  2Acoustic response timeout4@я,.E?A%?%7|?%$ٱ%Q AHRS rotation from veh to nav: [[-0.042325,-0.996326,-0.074455],[0.998363,-0.039308,-0.041538],[0.038459,-0.076091,0.996359]]%H{?' D 氣?z,?i%?I%+_;!Y9>yYDy> ףp=(\ſ333333?.= 9ˡE࿒|?5^ʿPnпYyRB B)ߧBYBbDVDG9yw<%,=ٔQ->9I=FyIE>Q 5A4?Q 9A4.)Y ?Q E:yyQ I?cbAI;i;} A4yɮѱB*j Bj i ?i zi JiƷ<i kӣkӣkӣh2f>:f>Bfa5@Jf&>?ZZ%Z!Z%yia))顁iIE%o E%^E%nE!"E%`:*E%;9VE%J5ZE!BE%;a-2E%;a5JE%;a5:E%;a5^AuI=IyIOA>U2Acoustic response timeoutԡ Fя,E?A2Q?2ynlDzbSBD MO Status=1, MOMSN=2762, MT Status=0, MTMSN=02Acoustic response timeoutu|Sent 332 bytes from file Logs/20251025T181502/Express0007.lzmau.Packets left to send: 1bDhVDG9yc<%J=ٔQ->9I=Fy =E>Q 5A4?Q 9A4).YyQ I?eAI:i:.A4y#BɮұB *jBji?izi!Ji%Ʒ<i! kkkh9 kâkâkâhI2fY:fYBfYJf]㳆?ZeZmZiZmiy)y)顁iI@ >@>^Am8=IqIO>E=x E=ME=~E9"E=ˀ:*E=9VE=5ZE9aE@aE@aE@aM@BA<B3>B%CBBB=BBB;BLEB&CB&CBBȤ=BȤ=Cȩ6m 2Acoustic response timeout9 'Lя,'5E?A27ζ?2ƹ?2ٱ2fW= :AHRS rotation from veh to nav: [[-0.075388,-0.994980,0.065819],[0.996645,-0.077295,-0.026923],[0.031876,0.063568,0.997468]]2HL{ٰ?`?ɳ@ϑR?E?B?i27ζ?I2R_;2SCY^2>y^D`b?A2Acoustic response timeoutAqEE l EE JEE oEA "EE V:*EE k9VEE 5ZEA BEE Bx;aU 2EE Dx;aU JEE :aU :EE :aU ԙ bD VD H9y] '<%] <ٔe 9a Ia =e Fyi m ~<Em y>y } 4= 2Acoustic response timeoutq  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I i I Q 5 A4u °?Q 9 A4u )u Y y 璿Q I ?u [lAIu 2 dTя,SE?A0v?vd?v2WRٱv< ~AHRS rotation from veh to nav: [[-0.052596,-0.998073,0.032926],[0.997296,-0.054193,-0.049641],[0.051330,0.030226,0.998224]]vH6۠??`!jG?s?s?iv?IvE_;vTCY-->y-|DbDevVDeZH9ym%u4>ٔub/Q-u?9yIy=FyEE?Q 5A4 Ű?Q 9A4)YyuQ I?fmAI:i6:KA4yɮ̱B*jBji?iziJiƷ<i kkkh) kkkha2fq:fqBfqJful?ZZZZi))iI@@@@ԑ2Acoustic response timeoutIIO k> Zя,֎mE?AD@AzDEi E[EE"E,K:*E9VEZEa@a@a@a@>-?>x?>wٱ>hѲ FAHRS rotation from veh to nav: [[-0.054853,-0.994975,-0.083763],[0.996665,-0.049483,-0.064893],[0.060422,-0.087043,0.994371]]>H q ?@UҜ?`wH ?i>-?I>~_;>RCYN >BV<>BV&CBVDBV=BV=BTBV(DBV@;BVEyNDl2Acoustic response timeout 9iY I] A} 2Acoustic response timeouti ԑ Ec EMEjE"Eg5:*E9VEـ5ZEBE?;a2E?;aJE:a:E:aԹ2Acoustic response timeout2Acoustic response timeoutAqEm f Em XEm sEi "Em I@:*Em 9VEm X5ZEi au @au @au @au @B ?>B 'CB DB #>B B B B ;B ƙE!2Acoustic response timeout"A%I%>)%>q()2Acoustic response timeoutԙ+.bE-5jE-5rE-I2E/ E/SE/vE/"E/*E/9VE/-5ZE/BE/R;a/2E/R;a/JE/l:a/:E/m:a/ 0l>0Cm0G000Fg90Y0\A=12Acoustic response timeout1!5I8i8I882Acoustic response timeouty;!@D@zD@E@j E@UE@zE@"E@N:*E@P9VE@5ZE@a@@a@@a@@a@@B@<>B@B@DB@M>B@=B@B@B@;B@EyAX9v(\?J +?AAG>AH=A A9A9vDl?5^I ?YAyAO=AX>A.BA AB)ABAYAB BAA BAA]B2Acoustic response timeoutbDBVDBzH9ymB֨%mB<ٔuBUuQ-uB=9BIB=BFyBBv:EB=BQ 5BA4B湰?Q 9BA4B.)BYBv?Q EB:yBԿQ IB?B^AIB ;iB;BǠA4yB7BɮBBBE*jCBjCiC?iCziCJiCƷ<iC kkkQChQC2feC?:feC?BfeC%Z@JfeC@ZCZCZCZCiC)C)CCCiCCICIDI)DOeD @ }я,E?AF?F?FćٱF NAHRS rotation from veh to nav: [[-0.073859,-0.995415,-0.060772],[0.995066,-0.069511,-0.070793],[0.066244,-0.065700,0.995638]]FHl貿@qq?y˱ b?Ѱ`D?iF?IFD_;DYVM>yV7DZ=Z4>bDbVDbnH9yj>%ja>ٔjMQ-j?9lIl=nFyl%YN>E%?)Q 5-A4-?Q 95A4-]0)-:Y1y5HѿQ I5?-ӂAI-:i-:-A4y]JBɮeBeE*jqBjqiu?iuziyJi}Ʒ<iy k$k$k$h kSkSkSh2f:fBfJf̠@Z%Z%Z!Z%iQ)Q)YYYiYaIaIIO=I2Acoustic response timeout qE  E E E "E *E VE 5ZE BE k;a 2E k;a JE :a :E :a Թ qя,_E?A%2Acoustic response timeoutY%I>y-QDa@a a@a a@a a@a a@a yI +? )Mb@Mb@Mb@Ii‰ )IbDdVDH9y%;=ٔQ->9I=FyE> Q 5 A4 2?Q 9A4 7) Q A+:YQ E:yQ I? 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WA4y!ɮ-B)*jQBjQim?iziJiƷ<i k3k3k3h k#k#k#hZZZZi))iII II9AAO=iEa EUEE"E%.:*EP9VE5ZEBEM3;a2EO3;aJEa:E:aԙ=2Acoustic response timeoutI5>)5> #я, ]E?A2?2?2I1U=ٱ2v :AHRS rotation from veh to nav: [[-0.054337,-0.996107,-0.069408],[0.997166,-0.057753,0.048205],[-0.052025,-0.066592,0.996423]]2H ҫı?ݑD?% ?i2?I20h_;2RCPYR">yRVDbD^VD^I9yfIU%fM=ٔf[>Q-f>9hIh=jFyhnLEn>pQ 5vA4r󳰉?Q 9vA4rLI)rQ Av9YtQ Ev:yvԿQ Iv?rnAIr:irz?rUA4y|ɮ||*j Bj i?iziJiƷ<i kCkCkCh kCkCkChZZZZi))   i IIIIy2Acoustic response timeoutO=B7>BBDB=BBBB;BEBYBYB]ȔCB]Ȣ=B]ȣ=C] 5Eg EPEE"EC:*E?9VE5ZEBEX;2EX;JE::E:! M 2Acoustic response timeout1Nя,wE?A2Jl?2W?2X8=ٱ2 :AHRS rotation from veh to nav: [[-0.049003,-0.996062,-0.073893],[0.997781,-0.052157,0.041381],[-0.045072,-0.071701,0.996407]]2H겿?V/?[?i2Jl?I2_;2SCY^A>y^DbDj VDjJ9yr%rI=ٔvQ-v>9tIt=vFytzWEz>||Q 5A4~?Q 9 A4~vO)~Q A 9Y Q E 9y nտQ I ?~PAI~:i~@~KA4yɮB*j)Bj)i-?i5zi1Ji5Ʒ<i1 kkkhI kkkhYZuZuZqZui))  i  II)IYO=)2Acoustic response timeoutQԁ E o E SE xE "E `:*E 9VE e5ZE a @a @a @a @ 6я,E?ABQ?B?Bv^ٱBu JAHRS rotation from veh to nav: [[-0.062176,-0.995384,-0.073107],[0.997901,-0.060669,-0.022650],[0.018110,-0.074362,0.997067]]BHկ/*?@1@?`g ?iBQ?IB\l_;BTCYR>yRD2Acoustic response timeoutYaa aa aa aa a@a a@a a@a a@a aa yCl?RQ? ףp= ;==Q )Mb@Mb@Mb@IiB )YBbDVD|J9y%>=ٔ>Q->9I=Fy%<E>Q 5A4K?Q 9A4$V)Q Ao9YQ E9ypӿQ I?ZAIm%޴?>g?>w3ٱ>SS JAHRS rotation from veh to nav: [[-0.060286,-0.995952,-0.066676],[0.997220,-0.057162,-0.047806],[0.043801,-0.069372,0.996629]]>H`ݮ@ 9? ]Dz@m?b±b?i>޴?I>3_;>RCYn?=yn0DbDv9VDvK9y~P%V=ٔ$Q->9 I = Fy  E >Q 5A4î?Q 9%A4\)Q A%B9Y!Q E%9y%OӿQ I%?+AI;i4@A4y-[Bɮ5!B1*jABjAiE?iMziIJiMƷ<iI kkkha kkkhqZZZZi))顡iIԱIIO=Du=Du<E}j E}QE}cEy"E}N:*E}v9VE}&k5ZEyAAAAB?>B&CBBB=BB(DBz;BE 2Acoustic response timeout9  2Acoustic response timeoutGя,_E?A2?2B?2pٱ2 :AHRS rotation from veh to nav: [[-0.027716,-0.996223,-0.082293],[0.999508,-0.026408,-0.016937],[0.014700,-0.082722,0.996464]]2Ha.? @W ?J-?i2?I2^_;2TCYNW>yRDVAVAbDZ͹VDZDK9ybm =%bN=ٔfg=Q-f>9dIh=jFyhjEj>lQ 5rA4nl?Q 9rA4n9b)n'Q Av9YtQ Ev|9yv>ؿQ Iv?n AIn]:in"N@n)A4yxɮzB|*jBji?iziJiƷ<i kkkhZZZZi)))))11i19IAIaIyO=AEb ESEiE"E1:*E9VEz~5ZEBE9;a2E9;aJEl:a:Em:a2Acoustic response timeoutiԙ !rя,:E?A;ɰ2?2s?2@!ٱ2l? :AHRS rotation from veh to nav: [[-0.012589,-0.993849,-0.110024],[0.999772,-0.010615,-0.018509],[0.017227,-0.110232,0.993757]]2H`^ȉ`*"?q?`#8?i2?I2r_;2SCYBA>yBDbDNVDNPK9yVF=%VL=ٔVλQ-Z>9XIX=ZFyX^E^>`Q 5fA4b?Q 9fA4bgh)bQ Af8YdQ EfL9yf^ۿQ Ij?bAIb:ibg@bCA4ylɮnBl*jtBjtiz?izzixJizƷ<ix kkkh  kkkhZ5Z5Z1Z5iI)I)IIIiQQIIIOU=}2Acoustic response timeoutyԡI5>)1BG>B'CBDB=B=BBB4;BzEEh EEE"EG:*EVE*5ZEBE/_;2E1_;JE:E- 2Acoustic response timeout Iя,'E?A6+?6?6cMٱ6 >AHRS rotation from veh to nav: [[-0.014504,-0.995631,-0.092241],[0.998638,-0.009799,-0.051251],[0.050123,-0.092859,0.994417]]6H/5 ?=@?ŷ@C?i6+?I6?_;6QCY^p>ybߢDbDj2VDjsK9yr#%rG=ٔr죽Q-v>9tIt=vFytzߙ;Ez>|Q 5A4~Ц?Q 9A4~n)~fQ A8YQ E%9y,ڿQ I ?~AI~i ;i~ @~A4yɮB*j!Bj)i-?i-zi)Ji-Ʒ<i) kkkhA kkkhQZmZmZiZmi))顁iIIIO=2Acoustic response timeout) ! 1 e ]9a Ye SAbE%5jE%˽5rE%W3E f E E wE "E I@:*E VE ɕ5ZE a @a @a @a @я,ZE?A.?.?.ٱ.) :AHRS rotation from veh to nav: [[-0.022073,-0.996404,-0.081808],[0.999284,-0.019474,-0.032426],[0.030716,-0.082465,0.996121]].H@7\`#?@s?`n 8?i.?I.v_;.RCPYR$>yRDr2Acoustic response timeoutaa aa aa aa a@a a@a a@a a@a y r?MbпQ롿>\ )Mb@Mb@Mb@IiB )BYBbDEVD|K9y"=%<=ٔ!7=Q->9I=Fyy<E>Q 5A4"?Q 9A4u)ιQ A8YQ E9yؿQ I?AI ;i@A4ynBɮ#BE*jBji?iziJiƷ<i! kkkh1 kkkhAZ]Z]ZaZeiq))iII1IIO>2Acoustic response timeout! я,w,E?A6?6?6R<ٱ6` BAHRS rotation from veh to nav: [[-0.044827,-0.995884,-0.078771],[0.998731,-0.046487,0.019364],[-0.022946,-0.077803,0.996705]]6HHZ* ? *ͧ8ԓ? C곿 ?i6?I6x_;4YF!>yFDbDRVDRhK9yZ<%Z^=ٔ^9>Q-^>9\I\=bFy`bq}=Eb>dQ 5jA4fK?Q 9jA4f+{)fB9B=DB=M>B9B9B9B=;B=EEUm EUWEUEQ"EUY:*EU9VEU5ZEQBEU~;ae2EU~;aeJEU:ae:EU:aeIqO=R=2Acoustic response timeout!Q ))y  2Acoustic response timeoutŗя,OFE?A>}?>i?>=ٱ>gq FAHRS rotation from veh to nav: [[-0.049552,-0.996935,-0.060538],[0.998251,-0.051392,0.029226],[-0.032248,-0.058984,0.997738]]>H^ ?Pv? Ȃ'3x?i>}?I>J}_;y^FDfbSBD MO Status=1, MOMSN=2763, MT Status=0, MTMSN=0Y|Sent 156 bytes from file Logs/20251025T181502/Express0007.lzma.Packets left to send: 0bDVDK9yE%+=ٔq9I=Fy "<E >Q 5A4+?Q 9A4r)ɳQ A[8YQ E8yԿQ I?AI:i@A4y)ɮ-"B)*jABjAiE?iEziAJiEƷ<iI kkkhY kkkhqZZEZAZEiQ)Y)YYYiYaIiIyԁIO">Ee\ EeMEeEa"Ee:*Ee9VEe85ZEaam@am@au@au@2Acoustic response timeoutԱ 0я,I`E?A2?2?2峼ٱ2` :AHRS rotation from veh to nav: [[-0.037508,-0.997200,-0.064699],[0.999055,-0.035998,-0.024356],[0.021958,-0.065552,0.997608]]2HB4@#`B?In >|? Ȱf?i2?I27_;0Yv>yv#DԹiaIam2Acoustic response timeoutB=K>B=(CB=DB=#>B==B9B=)DB=;B=EE}e E}NE}Ey"E}<:*E}҆9VE}H5ZEyBE}`L;a2E}cL;aJE}:a:E}:a- 2Acoustic response timeout9 e Ae A a a bDm VDm L9y f% <ٔ `Q- >9 I = Fy  E > Q 5 A4 ?Q 9 A4 ) Q A 18Y Q E 8y 0ֿQ I ? -AI :i @ A4y ɮ= +B9 *jI BjI iU ?iU ziQ JiU Ʒ<iY  kkkhi  kkkhy 19  r NAggregate::initialize marl:UpdateRudderq9 J] q9 9 7 o XAggregate::initialize marl:UpdateCommandMode18 ] 18 o @Completed marl:UpdateCommandMode7 o \Aggregate::uninitialize marl:UpdateCommandModeq7 n LAggregate::initialize marl:UpdateSpeed7 ] 7 n 4Completed marl:UpdateSpeedq7 n PAggregate::uninitialize marl:UpdateSpeedZ Z Z Z i ) ) i I I I O- >Tя,|E?Ar?r1?r]ٱr* zAHRS rotation from veh to nav: [[-0.034724,-0.996773,-0.072374],[0.999152,-0.033020,-0.024607],[0.022138,-0.073167,0.997074]]rH`Qǡ@ ? 蠿~26? ?ir?IrY_;rQCAYe9>yeYDiibD}VD}GL9yU>%E>ٔQ-?9I=Fy]ܼE?Q 5A4?Q 9A4Վ)خQ A 8Y Q E g8y ֿQ I ?AI:i@A4yɮ B*jIBjIiM?iMziIJiMƷ<iQ kkkhsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZEZEZIZMi))iI1q2Acoustic response timeoutIIIO}7>i I I]>)]>ԙE f E PE wE "E I@:*E ?9VE ɕ5ZE a @a @a @a @ -1я,ƕE?A2Acoustic response timeout6:>?6)?6<ٱ6{[ >AHRS rotation from veh to nav: [[-0.039833,-0.996519,-0.073232],[0.998943,-0.041399,0.019998],[-0.022960,-0.072358,0.997114]]6Hd |`P`V?M2oz?񂗿\?i6:>?I6*_;4Y^>y^/DԱaa aa aa aa a@a a@a a@a a@a yy&1?#~j?K7Aп`=%>  )Mb@Mb@Mb@IiB )BYBbD5VD5L9yEC|%EB=ٔEb=Q-M>9III=MFyIUF<EU>YQ 5eA4]?Q 9eA4]")]Q Ae7YaQ Em;8ym{ֿQ Im?]AI]:i]@]A4yBɮ6B!E*jBji?iziJiƷ<i kCkCkChQZeZmZZi))顡iIIII1Ou>2Acoustic response timeout 9 9TIX=ZFyXZûEZ>\Q 5bA4^?Q 9bA4^})^Q Af7YdQ Ef8yfֿQ If?^EAI^:i^@^A4yhɮhl*jtBjtiv?ivzitJizƷ<ix kJkJ=kJh  kSPkSPkSPhAA@AB%J>B!B%DB%=B%=B!B!B%S;B%EB'CB'CBCB=BC5El ESEmE"EV:*E9VE5ZEBECx;a2EEx;aJEl:a:En:aZZZZ^B*** querying acoustic contact ***XYi))  i  IIIIO=52Acoustic response timeoutAi 2Acoustic response timeoutԙ Cя,|E?AF?F?FBlͻٱFB NAHRS rotation from veh to nav: [[-0.050902,-0.991647,-0.118513],[0.998684,-0.049796,-0.012273],[0.006269,-0.118982,0.992877]]FH`V8?~ "@}y? u@?iF?IFZm_;FRCYV>yVDZ>Z=bDbbVDb`M9yj:%j<ٔjQ-j>9lIl=nFylrv=Er>tQ 5zA4vߕ?Q 9zA4vѠ)vQ Az7YxQ Ez7yzֿQ Iz?v5AIvi ;iv.@v1A4yɮ*jBji?iziJiƷ<i k4k4k4h1 kcPkcPkcPhAZ]Z]ZYZ]iq)q)qqqiyyIIIIYy>O=Eg E^EwE"EC:*E;9VEɕ5ZEa@a@a@a@ԡE2Acoustic response timeout qq lя,iSE?A2e?2?2Lgkٱ2l( :AHRS rotation from veh to nav: [[-0.060696,-0.984695,-0.163379],[0.998156,-0.059730,-0.010822],[0.000898,-0.163734,0.986504]]2H@ Ŀ?@딮)@lM?=Ŀq?i2e?I2!]_;0Yf>yfDbDrOVDrWM9yz-s%zH=ٔzW9|I|=~Fy|<E> Q 5 A4 ?Q 9A4 ) ]Q Aw7YQ E7y׿Q I? #AI Q:i 8@ tA4y!ɮ%9B!*j1Bj1i5?i=zi9Ji=Ʒ<i9 k4k4k4hQ kSQkSQkSQhaZ}Z}ZyZ}i))顑i2Acoustic response timeoutIIIO =B!B!B%DB%#>B%=B!B!B%v;B%-EEk EcEE"EmR:*EL9VEZEBEq;a2Er;aJE";a:E";a) M 2Acoustic response timeoutя,-E?A2?2/?2ٱ2" :AHRS rotation from veh to nav: [[-0.060459,-0.985587,-0.157996],[0.998171,-0.059650,-0.009862],[0.000295,-0.158303,0.987390]]2H`{79Ŀ?p2@\3?HCĿ೘?i2?I2(S_;2QC@Y^*>ybDbDjRVDjYM9yr9=%rK=ٔrU:Q-v>9tIt=vFytzEz>|Q 5UA4~S?Q 9UA4~S)~ԡQ A]H7YYQ E]7y]l׿Q I]?~ AI~TAHRS rotation from veh to nav: [[-0.063056,-0.991268,-0.115813],[0.997181,-0.057850,-0.047781],[0.040664,-0.118499,0.992121]]6Ht$v䥽?vѤ?Ut?i69?I6!_;6PCY^>y^DlaMaM aMaM aMaM aMaM yMNbX9п9I=Fy;E>Q 5A4?Q 9A4m)Q AT:Y>Q E:yQ I?AI},;iD;A4y-Bɮ5HB5+E*jABjAiE?iMziIJiMƷ<iI k3k3k3ha kOkOkOhq2f6F>:f6F>BfT4@Jf/߿@ZZZZi))顩iIIIO> 1i߱IߵA2Acoustic response timeouta ? я,0F?A6?6o ?6ٱ6E >AHRS rotation from veh to nav: [[-0.070089,-0.994557,-0.077099],[0.997100,-0.067550,-0.035061],[0.029662,-0.079333,0.996407]]6H\h=?@Js_?$O?i6?I6Y_;6QCYF9>yFDbDRVDRM9yZҫ=%Z_=ٔZ9\I\Bb<Ab<BfC>Bf'CBfDBf">Bf=BdBf(DBf^;BfE=nFylr<Er>tQ 5zA4vʘ?Q 9zA4v)vYxyzQ Iz?vAIv:iv9:vA4yɮ8B*jBji?iziJiƷ<i k#4k#4k#4h19 kOkOkOhIEef EeSEeyEa"EeI@:*Ee9VEe5ZEaBEeR;am2EeR;auJEel:au:Een:au2fQ:fQBfQJfU{Ͻ@ZZZZi))顙iIIIO=52Acoustic response timeoutiԑ  2Acoustic response timeout'я,JF?A2J?2l6?2x<ٱ2\[ :AHRS rotation from veh to nav: [[-0.071411,-0.995925,-0.055074],[0.997203,-0.072506,0.018143],[-0.022063,-0.053624,0.998317]]2HH2?@Ï/?@t`7?i2J?I2G_;2RCYNzI>yRDV=V=Z@AZ@AbDZPVDZM9yM=% E=ٔ J=Q- >9 I=FyXQ;E>Q 5%B4'?Q 9%B4A)Y)y-Q I-?AI:i:0 B4y1ɮ51B9*jIBjIiM?iMziIJiUƷ<iQ k3k3k3ha k3Qk3Qk3Qhq2f:fBfJf 4@ԙZZZZi))顱iIII O== l>)]g_9YY]TAbEe5jEs5rE2Eq EuNEuEq"Eq*Eu҆9VEuF5ZEqa}@a}@a}@a}@E2Acoustic response timeout я,dF?A2;?2s?2.<ٱ2P :AHRS rotation from veh to nav: [[-0.081082,-0.995376,-0.051500],[0.996662,-0.081464,0.005362],[-0.009533,-0.050893,0.998659]]2H1^?`ڴ@du?˅`?i2;?I2+_;2TCYN >yRԴDbDZVDZM9yv%vL=ٔv>Q-v>9xIx=zFyxz:<E~>Q 5B4{?Q 9 B4G)Y y Q I ?AIp:i$:,B4yɮLB*j)Bj)i-?i5zi1Ji5Ʒ<i1 kNkNkNhI kNkNkNhY2fi:fiBfiJfme@2Acoustic response timeoutZ=Z=Z9Z=iq)q)yyyiyIIIO=!B5>B%CBDBw>B=BB'DBu;B EDqzDu?AE}j E}_E}xEy"E}N:*E}r9VE}e5ZEyBE}k;a2E}k;aJE}d;a:E}d;a AAim 2Acoustic response timeoutԙ я,w~F?A2ő?2U}?2g9ٱ2b :AHRS rotation from veh to nav: [[-0.073512,-0.995943,-0.051892],[0.996267,-0.070976,-0.049132],[0.045250,-0.055310,0.997443]]2H Ѳl?s+'*?Q@?i2ő?I2=#_;2QCY^+>ybODbDj0VDj5N9y~s=%I=ٔ Q->9 I = Fy  nE >Q 5B4ʢ?Q 9%B4()Y!y%Q I%?حAI&;i;b&B4y)ɮ-?B1*jABjAiE?iEziAJiMƷ<iI kOkOkOh2f:fBfJf#m@ZZZZi ) )i)yIIIO=>2Acoustic response timeoutԡE g E VE mE "E C:*E 9VE 5ZE a @a @a @a @ >%я,]QF?A2Acoustic response timeout6?6=?6ڇٱ6-z8 >AHRS rotation from veh to nav: [[-0.090386,-0.995149,-0.038840],[0.993698,-0.087522,-0.070026],[0.066287,-0.044924,0.996789]]6H#C⣿``?g8.?L?i6?I6_;6RCY^t>yb,Dyp= ף俚?㥛 ?%L== 9ʡE=ٔGQ->9I=Fy!=E>Q 5B4C?Q 9B4)Y}^?Q Et:yQ I?ְAI;i;w5B4yɮ HB *jBji?i%zi!Ji%Ʒ<i! kNkNkNh9 kNkNkNhI2f]>:f]>Bf]Xi@Jf]@ZmZmZiZmiy)y)顁iII9IqO=Y2Acoustic response timeoutԉ n+я,,F?AA0A0B63>B4B6DB6#>B6=B4B4B6n;B6E@Bd?B?BZfٱBy NAHRS rotation from veh to nav: [[-0.116223,-0.992957,-0.023012],[0.991626,-0.114691,-0.059358],[0.056300,-0.029718,0.997972]]BH MXf? h\dcӬ?Gnb?iBd?IB_;BPCYV(>yVDbDbVDboN9yfȼ%f]=ٔj|9hIl=nFyln=Er>pQ 5vB4r?Q 9vB4r)rHYxyzmQ Iz?rgAIr):irB:rhBB4y|ɮ~LB*jBji?iziJiƷ<i kSNkSNkSNh) kSNEEh EEEEuEA"EEG:*EE:VEE5ZEABEE/_;aM2EE1_;aUJEEU;aU:EEU;aUkSNkSNha2f:fBfJfD@ZZZZi!)!))))i)1IQIiIO=15<=2Acoustic response timeoutԩIu>)q  2Acoustic response timeoutD2я,F?A6P?6?6RGٱ6? >AHRS rotation from veh to nav: [[-0.084880,-0.995802,-0.034277],[0.995197,-0.083044,-0.051843],[0.048779,-0.038512,0.998067]]6H `?@\B`?㷣*?i6P?I6^;6RCY^>ybDjbSBD MO Status=0, MOMSN=2764, MT Status=0, MTMSN=0lYQbD%VDN9y<%+=ٔ9I=Fy!%@E%>)Q 55B4-?Q 95B4-)-Y9y=vQ I=?-AI-7;i-;-SB4yEBɮE^BE5E*jQBjYi]?i]ziYJi]Ʒ<iY kQkQkQhq kQkQkQh 2f:fBfJfJ@13%3%Z-Z-Z)Z5iA)A)AEUo EUSEUxEQ"EU`:*EU9VEUe5ZEQa]@a]@a]@a]@AYiYaIiIIO>E2Acoustic response timeout1a U9я,F?A2?2?2(ٱ2ɨ :AHRS rotation from veh to nav: [[-0.052833,-0.995495,-0.078728],[0.996423,-0.047347,-0.069989],[0.065947,-0.082144,0.994436]]2H @'?= 걿@?al?i2?I2p4_;2QCYB>yBDF=F=JAAJAAbDNkVDNN9yV\.<%V|=ٔVXQ-Z ?9XIX=ZFyX^mʽE^ ?AYQ 5eB4]?Q 9eB4])]ѺYiymQ Im?]AI]1;i]2;]'_B4yɮ\BiߙIߝA2Acoustic response timeoutIiIqA*jBji?iziJiƷ<i kOkOkOh2f):f)Bf)Jf- @Z]Z]ZYZ]iq)y)顁iIIIOU=iBe=>Be&CBeDBe=Be=BaBe(DBeK;Be EB%&CB%&CB%ƔCB%Ƥ=B!C%6E]h E]cE]qEY"E]G:*E]L9VE]5ZEYBEYam2EYamJE]";am:E]";amԑM 2Acoustic response timeout u2?я,½F?A2Ҹ?2J?2ٱ2' :AHRS rotation from veh to nav: [[-0.090731,-0.986930,-0.133183],[0.991438,-0.076905,-0.105532],[0.093911,-0.141618,0.985457]]2H -:@% ۹? - ? ¿܈?i2Ҹ?I2\_;0YN>yRSDV>Va=bD VD N9ԡyn%8=ٔQ->9 I =Fy==EE>YQ 5mB4]?Q 9B4]m)]YyQ I?]"AI]& qu@AEm l Em QEm Ei "Em V:*Em v9VEm H5ZEi au @au @au @au @ ] 2Acoustic response timeouts'Fя,F?A2x}?2 i?2ٱ2% :AHRS rotation from veh to nav: [[-0.126967,-0.980503,-0.149981],[0.988676,-0.112904,-0.098856],[0.079995,-0.160834,0.983734]]2Hp@G`2ÿ;?@?缿@N z?4Ŀz?i2x}?I2o_;0YB>yBDNParsing RMC sentence: $GPRMC,183339.00,A,3646.37323,N,12151.97829,W,1.225,266.27,251025,,,A*77 )LNF?ANְ?ND9Nl*xbB@#Ӊqw^VhGPS fix at 20251025T183339: (36.772887, -121.866305)NT!?N@yUp= ף?J +?:v?U=UH=UT>Q Q9Ux&Mb`?V-?YU7)yU;U>U:BUUB U)U'BQYUBbDmaVDmN9y}W%P=ٔ =Q-%>9!I!=%Fy!-K=E->1Q 5];45ְ?Q 9];45DQ =]tI)5Y],>?Q Ee:yeEÿQ Ie?5I5;i5(;5>g;4ym&BɮmBmE*jBji?iziJiƷ<i kc8kc8kc8h2f%==?:f%==?Bf% 3M@Jf%@3-Z-Z5Z1ZUcU0Completed marl:NeedComms1U cULAggregate::uninitialize marl:NeedComms12U d]DUninitialize GoToSurfaceComponent.\]Received valid gps time fix: 1761417216.00. Resetting abort timer.ii)i)i顱iIIIO> 2Acoustic response timeout9a CLя,q3F?ABA4<BB>B'CBDBM>B=BBB0;BEZcp?Z[?ZuٱZe bAHRS rotation from veh to nav: [[-0.095727,-0.988788,-0.114607],[0.993339,-0.087473,-0.075011],[0.064145,-0.121024,0.990575]]ZH&V n?@d@3k?qʲ?iZcp?IZ'_;ZPCYj,)>yj DE%h E%KE%hE!"E%G:*E%]t9VE%A{5ZE!BE!a52E!a5JE%/:a5:E%0:a5aeAbDmVDmN9y=%I=ٔ(=Q->9I=FyE>Q 5;4װ?Q 9;41)=YyĿQ I?ކ>I :i:t;4yɮұB*jBji?iziJiƷ<iQ k k k h k#Lk#Lk#Lh2f:fBfJfu6@2Acoustic response timeoutAɢE )Mi= M[miMK9)MMiimt:qI}SAIIO>ԁԩ 2Acoustic response timeout ^,Sя,QOMF?A2?2?28Sٱ2p :AHRS rotation from veh to nav: [[-0.082505,-0.993332,-0.080527],[0.995249,-0.077934,-0.058353],[0.051688,-0.084959,0.995043]]2H@_`q?`~x୿v?@俵d?i2?I2c_;2SCYB>yBDDDbDNVDNN9yV0%V\=ٔZV =Q-Z>9XI\=bFy`jE=>AQ 5M;4Eذ?Q 9M;4E)EHl>YIyMKĿQ IM?E?IEK:iE:EK;4yYɮ]رBY*jqBjqiqiyziyJiyiy k0k0k0h ks;ks;ks;h2f:fBfJf@ @ɢ=)ņ< i)Uip:IIIOE=ԱE5f E5OE5cE1"E5I@:*E59VE5&k5ZE1a=@a=@a=@a=@%2Acoustic response timeoutIu>)q 9 VYя,*gF?Aj?j&?jj<ٱjn/ zAHRS rotation from veh to nav: [[-0.106151,-0.993732,-0.035059],[0.994247,-0.106582,0.010650],[-0.014320,-0.033727,0.999328]]jH`,A?Hυ?SD?ij?IjĬ_;jRCY>yD}2Acoustic response timeout(( #)I!i&")bD VDO9yڼ%;=ٔ>Q->9I=Fy^=E>Q 5;4ڰ?Q 9;4])S>YyQ I?M?ID;i)0; ;4yɮޱB*j!Bj!i!i)zi)Ji)i) k8k8k8hI2fa:faBfaJfe%@颕 @ɢ)oE= i)O顡i6;I1IIO% >B%K>B%(CB!B!B%=B!B%)DB%;B%љEYD5?AzD5@AE=b E=NE=mE9"E=1:*E=҆9VE=5ZE9BE=9;aM2E=9;aMJE=:aM:E=:aM- 2Acoustic response timeoutԉ ?`я,F F?Ay%gDbDeVDe^O9yu%L=ٔQ- >9I=%Fy!5E5>IQ 5e;4Mܰ?Q 9m;4M )M(?YyyyQ I}?M-?IM ;iMX;M;4yɮB*jBjiiziJii k6k6k6h k6k6k6hԉ2f:fBfJf% @ɢ-om )) -zi))-W)1i58;1I92Acoustic response timeoutԱ!AM?B9IaIqO>#_9YPTA bEX5jEɱ5rEɁ(3EM k EM QEM EI "EM mR:*EM v9VEM 5ZEI aU @aU @aU @aU @= 2Acoustic response timeouthfя,F?AV?VP{?ViۼٱV3O` bAHRS rotation from veh to nav: [[-0.120133,-0.989589,-0.079254],[0.992397,-0.117552,-0.036477],[0.026781,-0.083033,0.996187]]VH @I?``l? A`?iV?IV[_;VQCY~1 >y~Dy%Q?ˡE/$ӿ%(>%什%! !9%B`"?B`"۹?I +?Y%N>y%=%9>!%0B !)%B!Y%BbDEVDEWO9yM^:%U?=ٔUU˽Q-U>9YIY=]FyY] =Ee>aQ 5m;4eְ?Q 9u;4e )ea7?Yu?Q Eu:yu@Q Iu?ev?Ie ;ie. ;e;4yɮB*jBjiiziJii k4k4k4h k4k4k4h2fN?:fN?Bf?JfL@@ɢ$)< i)ӻ!i%=P;!I)U2:]rA]rAiߑIߑ2Acoustic response timeout5<IIIaO>A A A B% I>B! B% DB% =B% =B! B! B% ;B% ÙElя,bF?AFɷ?Fb?Fh̼ٱFT NAHRS rotation from veh to nav: [[-0.083055,-0.990278,-0.111589],[0.996233,-0.079703,-0.034176],[0.024949,-0.114007,0.993167]]FH`CZ@#?mgw U?@/?iFɷ?IF1_;FRCYV>yV3DbParsing RMC sentence: $GPRMC,183342.00,A,3646.37334,N,12151.97832,W,0.350,266.27,251025,,,A*75 )`bF?Ab 谉?bp9b8bB@qw^jhGPS fix at 20251025T183342: (36.772889, -121.866305)b`8>`Eh E\ExE"EG:*E9VEe5ZEBE/_;a 2E1_;aJEx ;a:Ey ;abDeVDeO9ymX<%uZ=ٔu;Q-u>9yIy=}Fyyq˽E>Q 5;4 谉?Q 9;4p)Yy@Q I?I%g;4yɮޱB*jBj1i1i9zi9Ji9i9 kS4kS4kS4hQ kc4kc4kc4ha2f:fBfJfJJ@\Received valid gps time fix: 1761417216.00. Resetting abort timer.@ɢl) (i)hii;I2Acoustic response timeout I+,=IiIyOC>y 2Acoustic response timeoutԩ zsя,-F?AF?FZ?F ٱFӽ NAHRS rotation from veh to nav: [[-0.107913,-0.989067,-0.100501],[0.994020,-0.105644,-0.027649],[0.016729,-0.102883,0.994553]]FH`3pg ? ~ Oe!?@V@`?iF?IF<_;FPCYV$>yVD!%A %<%;ybD-VD-O9y+<%E=ٔ9I=Fy3w=E>Q 5;46Ⰹ?Q 9;4)E>Yyr@Q I?=I ;i ;u;4yBɮȱBE*jBji i zi Ji i  kC5kC5kC5h! kS5kS5kS5h12fA:fABfAJfEJ@e* @ɢe)eVX= eii)mFiiimʂ;qIqiE EMEpE"EC:*E9VE5ZEa%@a%@a%@a%@ԩ 2Acoustic response timeoutE=IqIO> yя, F?A(ɰ*;JN?J܆?J I<ٱJK RAHRS rotation from veh to nav: [[-0.151472,-0.987145,-0.050990],[0.988385,-0.151899,0.004584],[-0.012271,-0.049703,0.998689]]JHrcÿU@ڠ?@qqÿ`(r?`v!rB?iJN?IJVU_;HYZ|>yZ`DbDb~VDbO9yj%nY=ٔnΝ=Q-n>9pIp=rFypr=Er>tQ 5z;4vNݰ?Q 9~;4v)vc>Y|y~@Q I~?v=E>Iv:iv:v܂;4yɮɱB *j!Bj!i)i)zi1Ji1i1 kS6]2Acoustic response timeoutkS6kS6ha2fy:fyBfyJf}BB>B'CBDB=B=BB(DB;BEEr EZEE"Ek:*Ea9VE5ZEBE;a2E;aJE1;a:E1;a%! 2Acoustic response timeoutI 0я,`F?A]5?](!?]!<ٱ]-@< AHRS rotation from veh to nav: [[-0.148362,-0.988904,0.007640],[0.988573,-0.148096,0.028123],[-0.026679,0.011725,0.999575]]]H¿ =K? d?@¿@9̜?Q^?@?i]5?I]Ut_;]OCYx>yFD1y-ƿQ?A`"?5\=ٽ 9333333?MbM¿Y>ynMB B ȩB)Y.BbDVDO9y%p;%% =ٔ%9)I)=-Fy)-ǻE5>1Q 5E;45ܰ?Q 9E;45)5>YM_T>Q EM;yM?Q IM?5>I56;i56;5;4yQɮUDZBQiaIam2Acoustic response timeout*jBjiiziJii ksksksh k35k35k35h2f)>:f)>Bf@Jf8?19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedR @ɢ-) i)Wil; I Y:ԁ ;=E% l E% QE% E! "E% V:*E% v9VE% 5ZE! a- @a- @a- @a- @Ii Iy O >Ա  2Acoustic response timeoutmя,/F?A2>?2Y*?2rIDٱ27" :AHRS rotation from veh to nav: [[-0.156402,-0.987693,-0.000571],[0.987621,-0.156384,-0.012220],[0.011980,-0.002475,0.999925]]2H`Ŀ/mB?bĿ?Fd c?i2>?I2]_;0YB&>yBYhyj?Q Ij?bw>Ib2:ib:bܞ;4ylɮnBl*jxBjz=ixixzixJi|i| kkkh  k4k4k4hy2f:fBfJfI2?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder @ɢ13)`i"= Oi) jki<;=Iԑ 5:S,=IQIaO>Y]>}2Acoustic response timeoutB I>B (CB DB M>B =B B )DB );B EB(CB(CB˓CBˢ=Bˢ=C<5 я,G6F?A>G?>ճ?>dpٱ>K FAHRS rotation from veh to nav: [[-0.167972,-0.985403,-0.027680],[0.984042,-0.165936,-0.064235],[0.058704,-0.038028,0.997551]]>H`ſkCX F}?@c=ſq`?wx?i>G?I>s_;>RCYNR >yN(DR=Rp=Ebp EbREbE`"Ebd:*Eb9VEb5ZE`BEb;aj2Eb;ajJEb$:aj:Eb&:ajz"z)~! |)~$I~#i~)~ ~bD VD O9y Z%B=ٔ%Q-%>9!I!=-Fy)-$<E->1Q 5=;45۰?Q 9=;45)50J>YAyE?Q IE?5>I5;i5z;5;4yIɮMñBI*jaBjaiaiaziiJiiii kkkh2f :f Bf Jf [?M} @ɢM_)M0A< MwiQ)]*YYi];qIy2Acoustic response timeoutM:U\J= YYAmpAzAmrAI A UAI I I O >e 2Acoustic response timeout>ɓя,LOF?A :S?:>?:jxٱ:4 BAHRS rotation from veh to nav: [[-0.164430,-0.982935,-0.082472],[0.984518,-0.158396,-0.075071],[0.060726,-0.093539,0.993762]]:H@ ſ4t@ +? UFĿ7?`&?i:S?I:w_;:OCY^=y^ZD f49v>Iv>=vFyvEzPEz>|Q 5;4~۰?Q 9;4~')~>Yy ?Q I ?~>I~u:i~:~U;4yɮֱB*j)Bj)i)i)zi)Ji)i1 kkkhA kkkhQ2fa:faBfaJfe9?颅 @ɢh)) {i)!顉iF;I:m+=ԁEx EQEyE"Eˀ:*Ev9VE5ZEa@a@a@a@A}AIIOA>2Acoustic response timeoutԙ я,IiF?A2?2?2ٱ2& :AHRS rotation from veh to nav: [[-0.159506,-0.974761,-0.156203],[0.986984,-0.154174,-0.045751],[0.020513,-0.161467,0.986665]]2H`jĿ=1sÿ@_?`ÿ@lx? Ŀ@’?i2?I2ڨ_;2PCYB >yBDP!!iAIEAM2Acoustic response timeoutbD5pVD5)P9yG#=%<=ٔ=Q->9??I??=FyEFE>Q 5;4۰?Q 9;4`)=Yy?Q I?A?I#;i;~;4yɮͱB*jBjiiziJii kkkh1 k7k7k7hA2fQ:fQBfQJfUqϽ?u@ɢY)З5= i)?i;I<:BmF>Bm'CBiBiBiBiBm(DBmL;BmEE` EREuE"E*:*E9VE5ZEBE -;a 2E -;a JEa :Ea -e<2Acoustic response timeout! ^A] -;Y AڗAIIO>=я,eF?ABn?B ?B7+ٱBE NAHRS rotation from veh to nav: [[-0.193927,-0.962994,-0.187176],[0.981013,-0.189855,-0.039615],[0.002613,-0.191305,0.981527]]BHȿ`cǿtd?-Mȿ@iHfe?|ȿh?iBn?IBe_;BQCYRh=yVDTT^Parsing RMC sentence: $GPRMC,183345.00,A,3646.37324,N,12151.97835,W,0.505,253.12,251025,,,A*72 )`b@F?Abذ?b9bebB@ qw^jhGPS fix at 20251025T183345: (36.772887, -121.866306)b>bo^@yU$C˿A`"T㥛 ?UZUٽU=Q Q9U'1ZĿv/?KYU"yUx=U^UUUB UBa)UUBQYUBbDuVDu3P92Acoustic response timeouty}^%(=ٔ=Q->9?I?=FyE+=E>AQ 5e;4Eذ?Q 9e;4E)EYe\>Q Eev;ymQ Im?EIES;iE;E>g;4yu&BɮuBuE*jBjiiziJii kckckch2f?>:f?>Bf@?JfZZC@\Received valid gps time fix: 1761417216.00. Resetting abort timer.@ɢ)  Ai ) >  i _D;I9:ԑI>)8 =^Ah%<EM EMKEMqEI"EM~:*EM]t9VEM5ZEIa]@a]@a]@a]@ԹA.AI!I1O}>= 2Acoustic response timeout ]я,F?AV7?V,#?VB8ٱV Q bAHRS rotation from veh to nav: [[-0.217446,-0.965315,-0.144514],[0.975420,-0.209492,-0.068335],[0.035691,-0.155821,0.987140]]VHH˿ o¿6?ʿm~ F?ÿ@?iV7?IVd,_;TYf=yjDbDEVDE\P9y{%K=ٔDQ->9 ?I ?=FyEWw=E>Q 5;4ְ?Q 9;4V)w0Yy`Q I?=IVo;i;t;4yɮB*j Bj i i ziJii kkkh2f:fBfJfC@%@ɢ% ')%= -i))MΠIIiM;QIY-:2Acoustic response timeout1m;6=AAB@>BBDBw>B=BBB;B8E^AM =AM oAzAM oAE b E NE eE "E 1:*E ҆9VE q5ZE BE 9;a 2E 9;a JE :a :E :a Y A} AI I O >] 2Acoustic response timeoutя,!F?AJ?J?JϝٱJ RAHRS rotation from veh to nav: [[-0.193210,-0.978681,-0.069666],[0.978063,-0.186480,-0.092829],[0.077859,-0.086073,0.993242]]JH@ȿ [QձKL?ǿ÷?@?iJ?IJC^_;JPCYZl>yZŧDbDbVDbmP9yŇ=%Q=ٔ$ݽQ->9%%?I%%?=%Fy%E%~E%>)Q 5U;4-԰?Q 9U;4-)-ZYYy]gQ I]?-5>I-C;i-g:-2;4yaɮeBi*jBjiiziJii kCkCkCh2f:fBfJfUA@@ɢyA,)ȏ< i)àȼ!i%/2Acoustic response timeoutԁ C ހG% MrA1 u c9u MrAYu nAy 6p? dAԱ nя,qF?AbE5jET5rE2E! E%UE%sE!"E!*E%P9VE%X5ZE!a5@a5@a5@a5@ i?T?t zٱ AHRS rotation from veh to nav: [[-0.180449,-0.982264,-0.050943],[0.981690,-0.176648,-0.071273],[0.061010,-0.062871,0.996155]]H`ǿ n1j? cƿ@>`yFDbDVDtP9y =%%;=ٔ%=Q-%>9%*?I-*?=-Fy-E-E->QQ 5];4U#Ѱ?Q 9];4U )U YayeMQ Ie?Ue>IU:iU9:U;4yiɮm۱Bi*jBjiiziJiiԑ k#k#k#h2f:fBfJf׷A@2Acoustic response timeoutU@ɢU$)U= ]yiY)]$ּYYi]`B%CBDBM>B=BB'DB;BEEAE*AIIQIaO?4Qя,<F?A2?2d?2^"ؼٱ2ւ :AHRS rotation from veh to nav: [[-0.177325,-0.981694,-0.069512],[0.983799,-0.174925,-0.039259],[0.026381,-0.075347,0.996808]]2H ƿ` j`˱`G{?cƿ`~?@I?i2?I2zJ_;2QCYB>yBDD^@AzD\Ebi EbQEbE`"Eb,K:*Ebv9VEb5ZE`BEbse;af2Ebve;afJEb:aj:Eb:ajn*r(r% p)r Irir#r$r pbDz^VDzP9yհ%*=ٔ=Q- >9 b0?I b0?= Fy EE>Q 5%;4ΰ?Q 9%;43)/I:i :?;4y5#Bɮ5ٱB1*jIBjIiIiIziIJiIiQ kkkh! kSkSkShA2f:fBfJfB@颥 @ɢ&/)3=2Acoustic response timeoutԱ ei)iS项i?<I/{: e 2Acoustic response timeout^Au =1 A ԯAI I O > ŀя,(F?A2 ?2?2=ٱ2j >AHRS rotation from veh to nav: [[-0.168034,-0.978713,-0.117833],[0.985714,-0.165419,-0.031703],[0.011537,-0.121477,0.992527]]2H !ſQQ*? p,ſ`p;?@@?i2 ?I2{_;2PCYV_=yV˛D\^Ay]oʡ?y&1?v/]->]`<]xiY Ya9]I +"~?B`"?Y]94y]S>]N>]:B]'B ]:B)YYY]BbD}VD}P9y[:%,=ٔ=Q->93?I3?=FyÙEE>Q 5;4DŰ?Q 9;4@)fνYɕ>Q E5;y1Q I?>I` ;i ;ֲ;4yɮB*j Bj i iziJiiE- E)E-sE)"E-ҝ:*E)VE-X5ZE)a5@a5@a5@a5@ kckckchI2f]>:f]>Bf]gU@Jf]@颍 @ɢ') i)Pe顑i7<Iy:@@@@2Acoustic response timeoutԑԹAq Iy I O >  2Acoustic response timeout*ˀя,w.F?AI>)>6?6z?67eٱ6n$ >AHRS rotation from veh to nav: [[-0.169225,-0.973694,-0.152590],[0.985100,-0.162283,-0.056944],[0.030683,-0.159952,0.986648]]6H(ſ(`ÿ?Ŀ'ck? QyĿ`?i6?I6_;6QCYFu>yFDHJ@A@AbD fVD P9yP;%S=ٔ%yJQ-%>9!I!=-Fy-řE-+X;E->1Q 5=;45콰?Q 9=;45&)52YAyE1Q IE?5?I5;i5;5`;4yIɮMBI*jaBjaiaiaziaJiiii kkkh kCkCkCh2f:fBfJf;@@ɢh4) i)FZi <IUx:B};>B}&CB}DB}#>B}=ByByB};B}2EIIO-->EMe EMTEMqEI"EM<:*EM9VEM5ZEIBEM`L;aU2EMcL;aUJEM:a]:EM:a]=2Acoustic response timeout1a "Ҁя,HF?A6?6.y?6H=&ٱ6>> >AHRS rotation from veh to nav: [[-0.197063,-0.964851,-0.173861],[0.979551,-0.186434,-0.075647],[0.040575,-0.185213,0.981860]]6H [9ɿ@Aƿ{X?`ǿ] 3Ƥ?ǿ@fk?i6?I6ă_;6PCYF=yFdDRParsing RMC sentence: $GPRMC,183348.00,A,3646.37309,N,12151.97872,W,0.156,227.56,251025,,,A*72 )PRF?AR?R9R^bB@xqw^ZhGPS fix at 20251025T183348: (36.772885, -121.866312)R[=R/~@bD`VD`yjh%jO=ٔjͼQ-j>9lIl=nFynǙEr]=Er>tQ 5z;4v?Q 9z;4v)vYxyz#/Q Iz?vIv:iv:v>g;4yɮB*jBjiiziJii kkkh k k k h12f1:f1Bf1Jf5݃@\MReceived valid gps time fix: 1761417216.00. Resetting abort timer.}A@ɢ}c/) pi)n顁iM'<I2Acoustic response timeoutm5w:aIiIOB>E]h EYE]xEY"E]G:*EYVE]e5ZEYae@ae@ae@ae@ԉE %=A M 2Acoustic response timeoutԹ \@؀я,bF?A2?2D?2<9ٱ2' >AHRS rotation from veh to nav: [[-0.193049,-0.969431,-0.151447],[0.980144,-0.183410,-0.075354],[0.045274,-0.162987,0.985589]]2HԵȿbÿW]?yǿ`iJ .?Ŀ?i2?I2_;2OCYF=yFtD~=~=bDVDP9yEl<%EC=ٔE7Q-E>9III=MFyMəEUEU>YQ 5e;4]7?Q 9e;4])]6=Yaye.Q Ie?]P=I]p:i]F:]u;4yqɮuBq*jBjiiziJii k3k3k3hQԑ2f:fBfJfP0@ @ɢj/) i)DRi@.< Iu:2Acoustic response timeoutԹ-r =IIO>BM E>BM (CBM DBM w>BM =BI BM (DBM K;BM EB'CB'CBɔCBBɣ=Cr6Ee e Ee bEe vEa "Ee <:*Ee 9VEe -5ZEa BEe aL;am 2Ea am JEe O;am :Ee P;au  ^gހя,i|F?A AA6?6x?6ٱ6 >AHRS rotation from veh to nav: [[-0.159415,-0.979565,-0.122634],[0.986536,-0.153475,-0.056505],[0.036529,-0.129990,0.990842]]6HgĿXd@?ÿ:??i6?I6z7_;6PCYF >yF DbDrVDrP9yv=%zP=ٔz~9|2Acoustic response timeoutI|=Fy̙E%E%>)Q 5-;4-ֱ?Q 95;4-)- >Y1y51Q I5?-vH>I)i-:-Ã;4yaɮeޱBa*jqBjqiiziJii kkkh kkkh2f:fBfJf΋@5l@ɢ55)Y ewia)mviiLK5<Iudt:M31=II O8>2Acoustic response timeoutI 0Pя, IF?AY=y D = a=y? rh$C˿>CZ 9zG?~jthQ롿Y =yD\BB !B)oBY¨BbDVDP9y(%>=ٔQ->9I=FyΙEE>Q 5;4?Q 9;4)4=Y=Q E;y?Q I?v>IW;i;;4yɮB*jBjiiziJii Ej EQEE"EN:*Ev9VE5ZEa%@a%@a%@a-@ kkkh12fE>:fE>BfEF@JfE@e@ɢm6)i mbii)mEqqiu<ԡ  2Acoustic response timeoutyя, F?A2?2r?2 ;ٱ2Ͻ >AHRS rotation from veh to nav: [[-0.168340,-0.980587,-0.100555],[0.985720,-0.167902,-0.012861],[-0.004272,-0.101284,0.994848]]2H@&ſ`@?}ſ Wq@?i2?I2k_;@2QCYFS=yFDb$b'b b%)b'Ib%ib"ff)f/bDjQVDjQ9yr]%rY=ٔv=Q-v>9tIx=zFyzЙEzp<Ez>|Q 5;4~$?Q 9 ;4~)~5=Y y ?Q I ?~>I~:i~v:~П;4yɮB*j)Bj)i)i1zi1Ji1i1 kCkCkChI kkkh2f:fBfJfQ@]@ɢ]8)]}= e]ia)e"aaieFB'CBDB#>B=BBB2;BEq:ApAzAqAԩII!O>E-} E-NE-qE)"E-݉:*E-҆9VE-5ZE)BE-j;a52E-k;a5JE-:a=:E-:a==%=%2Acoustic response timeout `я,F?A6D?60?6+k<ٱ6` BAHRS rotation from veh to nav: [[-0.164294,-0.980020,-0.112112],[0.986307,-0.164866,-0.004215],[-0.014353,-0.111269,0.993687]]6HſR\Wӏ? VſKCq@!e| H?i6D?I6N_;6OClY~>y~#DbDVDP9}2Acoustic response timeouty=%.=ٔT9I=FyәE  E>Q 5%;4?Q 9%;4j)=Y!y%?Q I%?Ъ>I:i0={;4yɮB*jBjiiziJii! kkkh19E=b E=`E=E9"E=1:*E=9VE=5ZE9aE@aE@aE@aE@ kkkhy2f) :f) Bf) Jf- g@E @ɢ Е) i ) +- i vT< I - 2Acoustic response timeouta m Io:ԑ AM$AIQIaO>я,F?AJ)U?J@?J8ٱJ!' RAHRS rotation from veh to nav: [[-0.149271,-0.976513,-0.155372],[0.988143,-0.141609,-0.059331],[0.035935,-0.162387,0.986073]]JHQÿ ?>ÿ`ޞ?= ¿`f?@Ŀ@?iJ)U?IJ:_;JPCYZS=yZD\^?AbD-VD-P9y%8=ٔQ->9H?IH?=Fy֙E_ E>Q 5;4r?Q 9;4F)=Yy?Q I?>Ib6;ih-;;4yɮ B *j)Bj)i)i1zi1Ji1i1 kskskshI kkkhY2fi:fiBfiJfm@颍@ɢ_)wZ= ,i)Ew1顙i>Z<I52Acoustic response timeout;n:AAIIOUS>BW>B)CBDB=B=BB*DB-;B EiE^ EQEuE"EC#:*Ev9VE5ZEBE ;a2E ;aJE:a:E:a 2Acoustic response timeoutԙ Hя,EF?AmP?mZ9)I)=-Fy-ؙE5E5>9Q 5=;4=?Q 9E;4=)=Q AE+:YAQ EE;yIQ IM?=I=B;i=>=>g;4yQɮUBQ*jBjii zi Ji i  kkkhA\}Received valid gps time fix: 1761417216.00. Resetting abort timer.颍@ɢe2) i)D*9顑iјb<Iԙl:=2Acoustic response timeout}GrA9rAY9A t(/=bE}ɕ5jE}5rE}q2E f E YE E "E I@:*E *9VE 5ZE a @a @a @a @ AM пAIy I O > я,F?A44R?R?RفٱR ^AHRS rotation from veh to nav: [[-0.120683,-0.986908,-0.106995],[0.990667,-0.112856,-0.076436],[0.063361,-0.115221,0.991317]]RH徿@ d ?伿U`g8?$`޸?iR?IR_;RQCYb >yf6D2Acoustic response timeout =;=4<bDEVDEQ9y}y=%}_=ٔ/DQ->9`C?I`C?=FyۙEChE>Q 5;4?Q 9;4)C&Q A :YQ E;y0?Q I? =I{:iQ?o;4yɮ-ݱBAI*jYBjYiaiaziaJiaia kckckchy ksksksh颵(@ɢ/F)n5= i)?项i@h<Iak:G=yAIIOUu>ԡ2Acoustic response timeout B A <B \>B *CB DB ,>B =B B B ';B . я,K7F?A2 ?2y?2ٱ2# :AHRS rotation from veh to nav: [[-0.111581,-0.988837,-0.098751],[0.986743,-0.098462,-0.129006],[0.117843,-0.111837,0.986715]]2HGg?4F *?S*?i2 ?I2_;2OCYBK=yBqDbDNXVDN Q9y~47%~S=ٔQ->9I= Fy ݙE E >Q 5;4?Q 9;4u)1Q A%9Y!Q E%~;y%N?Q I%?M=I ;i?v;4y)ɮ-B)*jABjIiIiIziIJiIiI k3k3k3ha kCkCkChq额 @ɢWH)L< ci)E顡ixl<Iu@j:Ek E\ErE"EmR:*E9VE5ZEBEq;a2Er;aJEx ;a:Ey ;aԱ-2Acoustic response timeout5[=U>U>A $A I I) Oe > 2Acoustic response timeout9 я,&QF?A2?2?2h ٱ2 :AHRS rotation from veh to nav: [[-0.103886,-0.989584,-0.099659],[0.985286,-0.088723,-0.146083],[0.135719,-0.113368,0.984240]]2HA@? v? ֲ¿`=_?~?i2?I2o!_;2QCYBS>yBDHJAbDNVDNP9yV<%VP=ٔV;Q-V>9ZH?IZH?=ZFyZߙE^LE^>`Q 5f;4b?Q 9f;4bT)b8ؼQ Af9YdQ EfN;yfK?Q If?b=Ib8:ibR?b|;4ylɮnBl*jxBjxixi|zi|Jiyi k3k3k3h kckckch @ɢ >)  di )Ki9o<9I9h:[1=Ee EUEmE"E<:*EP9VE5ZEa@a@a@a@9A]AIaIqO_>=2Acoustic response timeouti I >) >4Bя,kF?A4< ɰp;J8?JȘ?J6ٱJJ VAHRS rotation from veh to nav: [[-0.074117,-0.990592,-0.115043],[0.993139,-0.062855,-0.098615],[0.090457,-0.121563,0.988453]]JHX vs?D@>)(?h?iJ8?IJ^;HYb>yb=D & (  !)Ii# %AA%@AbD%VD%P9y5%=B=ٔ==Q-=>9EK?IEK?=EFyEEE*EE>IQ 5U;4M?PExceeded connect timeout, disconnecting.Q 9;4M")MQ A9YQ E ';y ?Q I ?M->IMBBDB6>B=BB+DB;BEԡUc<El EEnE"EV:*EVEJ5ZEBEBx;a2EEx;aJE:a:E:aA zAI I  O >E 2Acoustic response timeout,!я,F?Al%?%?% ٱ%Y EAHRS rotation from veh to nav: [[-0.066076,-0.986326,-0.150983],[0.997340,-0.060617,-0.040478],[0.030772,-0.153256,0.987707]]%H T갿hSÿ5?8 Ђ? ÿ`L?i%?I%? _;!YU>yUDa a  a a  a a  a a aa yL7A`?S㥻?l?+?/== 9? ףp= ?-?Yff>yQ=?5>_BB _B)iBYkBbD-VD-P9y=%=;=ٔ= >Q-=>9EF?IEF?=EFyEEEEM>QQ 5];4U?Q 9];4U)Uc=Q A]T:Y]>Q Ee0;ye@Q Ie?U>IU;iU;U0;4yiɮmBi*jBjiiziJii k#k#k#h kkkh2f>:f>BfL@Jf6@@ɢbtC)E= }i)YiH]}<Ie: o=2Acoustic response timeoutAII 1O=r>Y E a E RE E "E %.:*E 9VE 5ZE a @a @a @a @R'я,F?A2?2?2xɼٱ2!% :AHRS rotation from veh to nav: [[-0.050873,-0.985948,-0.159120],[0.998402,-0.046285,-0.032412],[0.024591,-0.160515,0.986727]]2H@ ^Ŀ?ल?s.?ĿD?i2?I2^;2OCYB=yBD2Acoustic response timeout = bD VDP9y%F-%%^=ٔ-9)I)=5Fy5E5)E5>9AQ 5M;4E·?Q 9M;4E)E,=YIyM@Q IM?Eƽ>IE:iE:E;4yYɮ]BY*jqBjqiqiyziyJiyiy k k k h k/k/k/h2f:fBfJf䍘@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeeda@ɢ4M) i)Q_i2<Id:i6=ԑnManaging dock network, ignoring radio surface power off2Acoustic response timeoutA- $AI1 IA O} > @A B B B DB JK>B B B B ;B EB*CB)CBBˣ=BCE_5}-я,F?A2?2N?2ٱ2! :AHRS rotation from veh to nav: [[-0.037526,-0.987266,-0.154591],[0.996445,-0.025291,-0.080365],[0.075432,-0.157057,0.984705]]2H6ୗ`ÿ?噿`ɒ }O?tĿ ?i2?I2_;0YB(>yBDNParsing RMC sentence: $GPRMC,183354.00,A,3646.37300,N,12151.97838,W,0.778,167.95,251025,,,A*7A )LNF?AN?N9N#%PbB@~qw^VhGPS fix at 20251025T183354: (36.772883, -121.866306)N>N;@ Zp9jH?IjH?=nFynEnA Er>pQ 5v;4r?Q 9z;4r)rYxyz @Q Iz?rIr;ir;r>g;4yyɮ}ڱBy*jBjiiԙziJii kBkBkBh k#_k#_k#_h2f:fBfJfE)@s%NUpdating rudder angle 6.875493 arcdeg 9%r%6Completed marl:UpdateRudder19% r%RAggregate::uninitialize marl:UpdateRudder\5Received valid gps time fix: 1761417216.00. Resetting abort timer.=.@ɢE5AE)E]y = EiA)EfIIiM&!  2Acoustic response timeout#e4я,*oF?A2?2?2LBƽٱ2$ :AHRS rotation from veh to nav: [[-0.045189,-0.986780,-0.155637],[0.994292,-0.029353,-0.102580],[0.096655,-0.159384,0.982474]]2H"ÿyBDbDVDP9y]<%eA=ٔelNQ-e>9iIi=mFymEmÖ<Em>qQ 5;4u?Q 9;4u)uל=Yy6@Q I?u=Iu,Ty ҏ:я,LF?AFg:?F%?F ߽ٱF> RAHRS rotation from veh to nav: [[-0.023967,-0.988346,-0.150324],[0.993787,-0.007206,-0.111068],[0.108690,-0.152052,0.982378]]FH̊`=ÿ?}nӻ?mvÿ`o?iFg:?IF^;FLCYZ >yZD`bAbDfVDfP9yj%nS=ٔn Q-n>9pIp=rFyrEvuaEv>tQ 5z;4v?Q 9~;4vu)v>Y|y~@Q I?v0E>Iv ;iv ;v;4y  Bɮ DZB E*jBj!i!i!zi!Ji!i) kPkPkPh9 kPkPkPhI2fa:faBfaJfeƗ@颅 @ɢl#R) Li)ts顉i0<IQ2Acoustic response timeout`:mBa=BiBiBmEBmi>BiBiBiBm;BmEԁIIOC>Eue Eu^EuvEq"Eu<:*Eu;9VEu-5ZEqBEuaL;a2EucL;aJEu;a:Eu;aԩI >) M 2Acoustic response timeout n|Aя,;F?AN|?N ?N_ ٱNE VAHRS rotation from veh to nav: [[0.019220,-0.990487,-0.136257],[0.990432,0.037489,-0.132811],[0.136655,-0.132401,0.981731]]NH@|?`p?1?@}?Vj?iN|?IN _;NPCY-=yDyZd;O?L7A`B`"?~>+َ> 9^I +?ʡE)\(?YX9>y-Ga=0BmB ڰB)BYBbDVDP9y%<=ٔQ->9I=FyE̽E>Q 5;4?Q 9;4)?>Y7U>Q E~;y ?Q I?m>I ;i ;;4yɮϱB*j Bj i i ziJii kQkQkQh! kQkQkQh9ԩ2f׷>:f׷>Bf?>@Jf?@%1 @ɢ%F)-&%< -wi))-z))i-<1I1=^:2Acoustic response timeout"=IiIyO> E} d E} UE} jEy "E} 9:*E} P9VE} ـ5ZEy a @a @a @a @) +Gя,. F?A2ѥ?2{?2)ٱ2 ƽ :AHRS rotation from veh to nav: [[0.056548,-0.992889,-0.104758],[0.987507,0.071080,-0.140636],[0.147082,-0.095496,0.984504]]2H?hѺ@?N2?\¿?@qr ?i2ѥ?I24_;0YB>yBDDDbDNVDNP9yVET=%V_=ٔV)Q-Z>9XIX=ZFyZE^6ӽE^>`Q 5f;4bf?Q 9f;4b)bKa>Ydyf?Q Ij?bï>Ib:ib :b;4ynBɮnȱBl*jxBjxixixzixJixi|2Acoustic response timeout kSXkSXkSXh2f:fBfJf@@ɢ U) Li)xilV<I]:r=I1IAO>92Acoustic response timeouti BY AY Ba Ba Be "EBe #>Ba Ba Ba Be l;Be EMя,9F?A 6V`?6K?6-ٱ6Hi >AHRS rotation from veh to nav: [[0.075594,-0.994920,-0.066479],[0.988921,0.083346,-0.122837],[0.127754,-0.056457,0.990198]]6H%Z?b@=?`.V?Dr@?Z?笿 ?i6V`?I6<_;6QCYF&>yFD^!`` b )b!Ib&i`b``bDjkVDjP9yr9d=%rG=ٔvkB=Q-v>9tIt=vFyvEz7>Ez>|Q 5;4~?Q 9;4~')~>Yy E?Q I ?~>I~;i~:~;4yɮB*j)Bj)i)i)zi)Ji)i1 kPkPkPhA kQkQkQhQ2fi:fiBfiJfm0@%] @ɢ%N)%= %i!)-у))i-O<1IAE=k E=hE=pE9"E=mR:*E=]9VE=5ZE9BE=q;am2E=r;amJE=&5;am:E='5;auM=\:U=U=q2Acoustic response timeoutԙu<IIO-> m gl>m C 2Acoustic response timeout ހG  - 9) Y- A Tя,SF?AJ+?J?JuٱJ- P VAHRS rotation from veh to nav: [[0.092818,-0.994687,-0.044525],[0.989648,0.097080,-0.105704],[0.109465,-0.034253,0.993400]]JH·?y`˦@1?7ڸ?m??iJ+?IJx_;JPCYn>ynDbDzbVDzP9y%H=ٔ8=Q- >9 I = Fy E,E>Q 5%;47?Q 9%;4b)->Y!y%ł?Q I-?.?I=:i-:/;4y1ɮ5B1*jABjIiIiIziIJiIiI kCVkCVkCVha kgkgkghq2f:fBfJf @颥 @ɢV) i)a顩iג<I [:u=IIO5 >bE5jEM5rE2EMg EMJEMmEI"EMC:*EMk9VEM5ZEIaU@aU@a]@a]@2Acoustic response timeout! "Zя,mF?A2Iȝ?2׳?2#νٱ2#7 :AHRS rotation from veh to nav: [[0.119099,-0.991278,-0.056425],[0.987757,0.124059,-0.094583],[0.100758,-0.044469,0.993917]]2H>}?``㬿?Z¿?`6J˹?Ħ@*?i2Iȝ?I2}_;2OCYB'H>yB$DF=F4>|bDtVDP9yE=%MF=ٔMȭ9QIQ=UFyUEUdEU>aQ 5e;4eܺ?Q 9m;4e)ek>Yiym?Q Im?e?Ie:ieo:e;4yyɮ}By*jBjiiziJii kcOkcOkcOh kS|kS|kS|h2f:fBfJfޏ@L @ɢO) i)tXi<I}2Acoustic response timeoutuY:)B _>B B @5EB b>B =B B *DB ;B EA=QE]f E]UE]EY"E]I@:*E]P9VE]5ZEYBE]R;am2E]R;auJE]:au:E]:auA I I! O] >= 2Acoustic response timeoutԉ aя,nF?A2?2<?2[ٱ2 :AHRS rotation from veh to nav: [[0.123730,-0.986368,-0.108487],[0.982592,0.137051,-0.125416],[0.138574,-0.091081,0.986155]]2Hʬ?@S@Żeq?? ͼ?Q?i2?I2}8_;2NCY^K>y^~DjParsing RMC sentence: $GPRMC,183357.00,A,3646.37299,N,12151.97781,W,0.758,102.20,251025,,,A*7A )hj@F?Ajw?j9j+;bB@Ehqw^rhGPS fix at 20251025T183357: (36.772883, -121.866297)j>j&Q?tvAYa@a a@a a@a a@a a@a y~jt?I +Qѿ?94\ )Mb@Mb@Mb@Ii‰ )IbDnVDP9yx<%>=ٔ Q->9!I!=%Fy%E%LHE->)Q 55;4-w?Q 9=;4-)-Q A=+:Y9Q E=N;y=?Q I=?-I-;i->->g;4yIɮMBI*jYBjYiaiaziaJiaia kckckchy kSpkSpkSph\Received valid gps time fix: 1761417216.00. Resetting abort timer.5 @ɢ56zQ)9 =Ai9)=99i=r) >A% AI) IQ O > Ee w Ee REe uEa "Ee }:*Ee 9VEe 5ZEa am @am @am @am @gя,EF?A6D?6j?68nٱ6\ BAHRS rotation from veh to nav: [[0.136029,-0.982176,-0.129719],[0.980541,0.152182,-0.124015],[0.141545,-0.110326,0.983765]]6H@hi?mग़`?z?`k&?M>`{?i6D?I65_;6OCYFL>yJDr2Acoustic response timeoutbD QVD P9yM$;%MY=ٔMMQ-M>9UK?IUK?=UFyUE]E]>aQ 5m;4e?Q 9m;4e)e) =Q Am :YiQ Em';ym}?Q Im?eu=IeE:ieWO?eo;4Թyɮ*j9Bj9iAiAziAJiIiI kWkWkWh1 @ɢ4 W) hi)%:iD<I V:AAIIIYO\>2Acoustic response timeoutB ^>B B HEB >B B B B ;B E9 =nя,>"F?ABX?B?BAٱBX NAHRS rotation from veh to nav: [[0.178565,-0.974273,-0.137505],[0.976766,0.192356,-0.094480],[0.118499,-0.117439,0.985985]]BH@4?=-A? ?/ U?~ 0?iBX?IB^;@YV;O>yVDXXbDb,VDbP9yf;%jR=ٔju=Q-j>9lIl=nFynErcEr>pQ 5v;4rS?Q 9v;4ra)rh=Q Az9YxQ Ez;yzt?Q Iz?r,>Ir:irc?rw;4yɮB*jBjiiziJii! kdkdkdh1 kCskCskCshAm3 @ɢm a)uhB= u?iq)u)qqiuԉ 2Acoustic response timeoutԹ uя,TF?A2̔?2i?2;ٱ2  :AHRS rotation from veh to nav: [[0.186829,-0.968569,-0.164225],[0.970565,0.207844,-0.121671],[0.151980,-0.136659,0.978890]]2H`?@Rſ@??%t?@~S?i2̔?I2+^;2QCYn^>ynEbDvVDvkP9y%=%-E=ٔ-Q-->95;N?I5;N?=5Fy5E5E=>9Q 5E;4=%?Q 9M;4=)==Q AM9YIQ EM:yMq?Q IM?=bc>I=:i=?=]};4yYɮ]BY*jiBjiiqiqziqJiqiy kZkZkZh kcwkcwkcwhq @ɢbW)gM<  i)i=<Iԑ?T:E-k E-OE-|E)"E-mR:*E-9VE-ם5ZE)a5@a5@a5@a5@IIOC> 2Acoustic response timeout  +{я,F?A2I?2|5?2Eٱ2x; :AHRS rotation from veh to nav: [[0.189352,-0.967946,-0.165004],[0.962933,0.215930,-0.161663],[0.192111,-0.128276,0.972954]]2HyBEb)b'b b")f"If%if&f&ff)bDnVDnOP9yvQ.=%vN=ٔvҽQ-z>9xIx=zFyzE~G%Ee>iQ 5u;4m쿰?Q 9u;4m')m>Q A}9YyQ E}:y}n?Q I}?m>Im. ;im@m\;4yɮB*jBjiiziJii k^k^k^h kqkqkqhj@ɢpZ)잜< i)q嚽ikǝ<I  ]2Acoustic response timeoutR:BBBsEB5>BBBBI;BEBqBu*CBuēCBqBqCuĚ4I IOM0>D1zD5?AE=d E=QE=tE9"E=9:*E=v9VE=5ZE9BE=F;aE2E=F;aEJE=:aE:E=:aMI  2Acoustic response timeoutaя,ĴF?A2W?2ϫ?2hٱ2} :AHRS rotation from veh to nav: [[0.220699,-0.960867,-0.167409],[0.948931,0.251209,-0.190849],[0.225435,-0.116739,0.967239]]2H`??lmſ`]??mȿ?⽿?i2W?I2&_;0y^Ebp=bp=aMaM aMaM aMaM aMaM aMaM yM\(\?{GzMףMtI I9MS?Q?ףp= ӿYM/]>yMu9I=Fy EE>Q 5;4°?Q 9;4.)#=Q AT:Y>Q E ;y?Q I?>I;i;;4y ɮB*j!Bj!i)i)zi)Ji)i) kSYkSYkSYhA kxkxkxhQ2fe=0>:fe=0>Bfe^@Jfe@颅@ɢ,Z) i)W顉i`a<ImP:ԩe2Acoustic response timeoutu=IIO%> EE e EA EE oEA "EE <:*EA VEE 5ZEA aM @aM @aM @aM @B=я,ގ"F?A>O?>:?>U|}ٱ>$ FAHRS rotation from veh to nav: [[0.245970,-0.952590,-0.179086],[0.937796,0.280590,-0.204468],[0.245024,-0.117653,0.962352]]>H{?{@Kƿm?.?,ʿ\??i>O?I>u1_;>LCb2Acoustic response timeoutlYr+>yr EbDuVDuO9y<%N=ٔOQ->9I=FyECE>Q 5;4(ư?Q 9;4P)?uYy ?Q I??I:ig:5;4y ɮ B*j!Bj!i!i)zi)Ji)i) k3`k3`k3`hA k#sk#sk#shQ2fa:faBfaJfe[ @颅@ɢ_)< Ii)˨顉iۜ<IO: <I!I1IQO}7>1u2Acoustic response timeouta B ]>B B EB >B B B B ;B BEfя,g<F?A2:?2x&?2&まٱ2 :AHRS rotation from veh to nav: [[0.268031,-0.946025,-0.182198],[0.930146,0.303373,-0.206866],[0.250974,-0.114024,0.961255]]2Hm'? E?Rǿ ?wj?zʿ?0@?i2:?I2_;2NCYB>>yF<+ENParsing RMC sentence: $GPRMC,183400.00,A,3646.37288,N,12151.97727,W,0.311,84.01,251025,,,A*46 )lnF?AnI?nr9n-bB@EBqw^vhGPS fix at 20251025T183400: (36.772881, -121.866288)n#>n?bD~VD~O9y ;==% U=ٔbQ->9I=FyEhE>!Q 5-;4%I?Q 9-;4%r)%Y)y5?Q I5?%I%#:i%:%>g;49yEBɮEnBEݴE*jQBjQiYiYziYJiYia kZkZkZhq kwkwkwh2f:fBfJf@\Received valid gps time fix: 1761417216.00. Resetting abort timer.颽@ɢ#e) i) i9ߛ<II?)>E EVEzE"E*E9VE5ZEBE`L;a 2EcL;a JEC:a :ED:aN:2Acoustic response timeoutiu<I!I1Ouz>ԑ  2Acoustic response timeoutIOя,AEVF?A2?2?2ٱ2" :AHRS rotation from veh to nav: [[0.277491,-0.940788,-0.194720],[0.922021,0.317735,-0.221183],[0.269955,-0.118160,0.955595]]2Hi?@@ȿ@2?U?`O̿F??yB74EDDbD=1VD=O9y. =%C=ٔ?Q->9I=FyEE>ԙQ 5;4 ?Q 9;4n)WνYy?Q I?=I:i:u;4yɮfB*jBjiiziJii k^k^k^h k#rk#rk#rh2f:fBfJf ?5@ɢ5_)9 =Fi9)=g+99i=[2Acoustic response timeout _yя,: pF?A2?2ߠ?2̘ٱ2H{ >AHRS rotation from veh to nav: [[0.295202,-0.930606,-0.216397],[0.909068,0.343277,-0.236128],[0.294026,-0.127014,0.947320]]2H ?@˿ ? B?@p9ο`T?BrP?i2?I2v$_;0YF>yF9ZP?I^P?=^Fy^E^jkEb>`Q 5f;4b?Q 9j;4b)b@Yhyj?Q Ij?bp>Ib6:ib:b;4ylɮr_Bp*jxBj|i|i|zi|Jii kYkYkYh ksksksh!2f1:f1Bf1Jf5=?U@ɢU i) ;i)<i<I=2Acoustic response timeoutK:BU\>BQBUEBU ?BQBQBQBU;BUIE!X<E5g E5QE5|E1"E5C:I*E5v9VE5ם5ZE1BE5X;a]2E5X;a]JE5:a]:E5:aeA- пA 2Acoustic response timeoutI I O >y 7aя,;F?AY>y@MEy~jt?L7A`?v/??+=x> 9/$?y&1|Zd;?Y&1>y`廙~>B+B EB)BY=BbD@VD(O9yOm=%7=ٔQ- >9 `C?I `C?= Fy EE>Q 5%;4䧰?Q 9%;4)rY%G>Q E-/;y-"?Q I-?l>I;i;;4y1ɮ5RB1*jIBjIiIiQQziYJiYiY k_k_k_hi kSpkSpkSph2f>:f>BfsP@Jf@颭@ɢ]) i) ᮽ项i5<I .J:M]Gim9y%9YAM2Acoustic response timeoutԁA$AIIO-p>ԩbE:5jE5rE32E% i E% SE! E! "E% ,K:*E% 9VE! ZE! a5 @a5 @a5 @a5 @ fя,֣F?AV2Acoustic response timeoutYE >yEcEM=Ma=}}&& )I'i!bDdVDN9y;=%Q=ٔQ->9H?IH?=FyEE>Q 5;4?Q 9;4)Z=YyQ I?>I:i:f;4yɮ@B*jBjiiziJii kWkWkWh  kvkvkvh2f):f)Bf)Jf)Mh@ɢMh)M MiI)U QQiU^AA AE @ABM Z>BM )CBM EBM ,%?BI BI BI BM O;BM E9 я,>F?AY~>y~nEbDVD[N9y%Z;=%%S=ٔ!Q-%>9-`C?I-`C?=-Fy-E1E5>1Q 5E;45"?Q 9E;45)5(>YAyAQ IE?5Ĵ>I5 ;i5:5;4yQɮU7BQ*jBjiEg EYEE"EC:*E*9VEDz5ZEBEa2EaJE:a:E:aiziJii k]k]k]h  kmkmkmh2f):f)Bf)Jf)M@ɢMh)I MiI)UUQQiU|i I >) >A zAI I O >e 2Acoustic response timeoutgя,F?A >j?>o?>睾ٱ>^ FAHRS rotation from veh to nav: [[0.404251,-0.856461,-0.321024],[0.862812,0.473559,-0.176911],[0.303542,-0.205467,0.930401]]>H=? hԿ@'?N?ƿ9m?Lʿ ?i>j?I>c_;>NCYN>yNEbD VD M9yM=%MH=ٔMǼQ-M>9UF?IUF?=UFyUEUoE]>aQ 5m;4e?Q 9m;4e)e:>Yiym?Q Iu?e$>Ie:ieG:e=;4yyɮ}By*jBjiiziJii ktktkth kukukuhA2fQ:fQBfQJfU@颍@ɢ_f) Ei)h顩in=<Ii3F:Ek EZEE"EmR:*Ea9VEU5ZEa@a@a@a@ԡ2Acoustic response timeoutA $AI I O ǻя,bhF?ATY~?y~#EParsing RMC sentence: $GPRMC,183403.00,A,3646.37289,N,12151.97676,W,1.361,77.71,251025,,,A*4C )F?A١?9zbB@wqw^%hGPS fix at 20251025T183403: (36.772881, -121.866279)=3??bD5VD5M9yEC>%MJ=ٔMQ-M>9MH?IUH?=UFyU"EUEU>YQ 5e;4]١?Q 9m;4])]YiyiQ Im?]I]:i];]>g;4yqɮ}By*jBjiiziJii kmkmkmh k#mk#mk#mh2f:fBfJf\Received valid gps time fix: 1761417216.00. Resetting abort timer.@ɢU0k) Gi)*iIB<I-2Acoustic response timeoutD:AzABX>BBEB A?BBBB;BEA}zAIIOC>E E[EE"E*E9VEZEBEq;a2Er;aJE;a:E;a% 2Acoustic response timeout1 Yя,B F?A2(b?2?2ٱ2h :AHRS rotation from veh to nav: [[0.430650,-0.794414,-0.428306],[0.849380,0.517184,-0.105236],[0.305114,-0.318475,0.897485]]2Hŏ?k^iۿ .? ƌ?@?@aԿ@2?i2(b?I2m_;0Y^Y?ybE1=G>=p=y?:v?Zd;?`?T<= 9L7A`?rh|?ʡE?Y+'?y{>-2>kB?B B)SBYBbD+VDGM9y3=%A=ٔQ->9F?IF?=Fy%ErE>Q 5;4@?Q 9;4&)=Y8?Q E:y?Q I?>I" ;is:v;4y Bɮ ۰B ԴE*j!Bj!i)i)zi)Ji)i) kSwkSwkSwhA kcwkcwkcwhQ2fe>:fe>Bfe?@JfeLX@颅 @ɢjj) i)#顉i<1I1 bC:I-2Acoustic response timeoutA=пAIAIQO[>q ԡ E  E ^E vE "E *E ;9VE -5ZE a @a @a @a @ȁя,&%F?AB2Acoustic response timeoutJ_?J?JŧٱJgű RAHRS rotation from veh to nav: [[0.436740,-0.783788,-0.441514],[0.840043,0.530926,-0.111557],[0.321848,-0.322169,0.890292]]JH?@ Aܿ?Y?@)?kԿF}?iJ_?IJgI_;HYZ`?yZEbDfVDfL9ynxW>%n\=ٔr*BQ-r>9r`C?Ir`C?=vFyv'EvEv>xQ 5~;4z?Q 9~;4z)zd>Yy ?Q I?z?Iz;iz;z;4y ɮ B *j!Bj!i)i)zi)Ji)i) kykykyhA kykykyqhQ2f:fBfJfVTW@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed!@ɢ~m)%g %-i!)%;½!!i%<)II-A:ԡAzAIIOG>52Acoustic response timeoutB W>B B 0FB >g?B =B B B ;B EB)CB)CBBBCy4 ρя,3>F?A6;<]?6?6˫ٱ6 BAHRS rotation from veh to nav: [[0.443105,-0.788930,-0.425730],[0.833807,0.537125,-0.127522],[0.329277,-0.298471,0.895819]]6H [?>*?ۿ@?!0?`R?&ӿ?i6;<]?I636_;6PCYJ6%?yJ-EN=N!>bDVûVDV+L9yZ=%^M=ٔ^yQ-^>9bF?IbF?=bFyb)EfoEf>dQ 5j;4fs?Q 9n;4f֟)f'>Ylyn?Q In?fI?If;if;f;4ypɮvBt*j|Bj|iiziJii kqkqkqh kckckch)2f9:f9Bf9Jf=V@sENUpdating rudder angle 6.875493 arcdeg 9ErE6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudder^UB*** querying acoustic contact ***XQYQe&@ɢe+s)i m@ii)mJŽiiim1E 2Acoustic response timeoutY Ձя,XF?A2IZ?2?2 ٱ21 :AHRS rotation from veh to nav: [[0.453517,-0.785509,-0.421068],[0.830196,0.544181,-0.121004],[0.324186,-0.294692,0.898922]]2H l?"ڿ?`i?w?`:ҿ`?i2IZ?I2 9_;0YB<:?yBEbDNVDNK9yVP>%VK=ٔZ[9ZH?IZH?=^Fy^,E E >Q 5;4{?Q 9;4)>Y!y%E?Q I%?e?I{;iD;a;4y)ɮ-qB)*jABjAiAiAziAJiIiI kokokoha kkkhi2f:fBfJf;V@额)@ɢl) i)Ƚ顡im<I9>:Ee ESEE"E<:*E9VE5ZEa@a@a@a@AaiIIOMR>2Acoustic response timeoutԉI >) >Թ ܁я,rF?A2'W?2!ч?2ٱ2M :AHRS rotation from veh to nav: [[0.462054,-0.773485,-0.433852],[0.826572,0.552877,-0.105384],[0.321380,-0.309917,0.894800]]2HI?@c:ۿ Gs?*?y@}?@ӿ 3?i2'W?I2_;2KCY^H?ybEzzz z)zIz izz~~/bDѹVDFK9y >%D=ٔu;Q-u>9yIy=}Fy}.EE>Q 5;4?Q 9;4{)?Yy?Q I??I:i/;;4yɮSB*jBjiiziJii kSpkSpkSph kkkh2Acoustic response timeout2f:fBfJfۂU@:/@ɢ%en)! %i!)%˽!!i-Ձ<)I1I=$?)= ?ԑ=:BX>BB(FB8?BBBB;BErg:DzD@AEf EQEuE"EI@:*Ev9VE5ZEBER;a2ER;aJE:a%:E:a-Iq I I  2Acoustic response timeoutO > я,"F?AY~^?y~ F@Ayjt?S㥫I +?`?/]9< 9kt?J +?B B)ɒBY#BbD̸VDJ9yM>%@=ٔQ->9I=Fy1EE>Q 5;4 ?Q 9;4) :fMcR>BfMR?JfMyC@e2@ɢmVAo)i mcii)m )Ͻqqiu~I E h E XE |E "E G:*E 9VE ם5ZE a @a @a @a @0(я,%N=ٔ*Q->9I=Fy4EfE>Q 5;4,?Q 9;4f)a?Yye?Q I?:?I:i:[;4yձBɮB*jBjiiziJii ktktkth2f:fBfJfB@h8@ɢB B B HFB ?B B B B B E я,:AF?A@2UQ?2?2rٱ2 :AHRS rotation from veh to nav: [[0.478288,-0.756527,-0.445990],[0.808927,0.577217,-0.111618],[0.341875,-0.307387,0.888051]]2HE?y5ܿ ?@x?@E?<ӿ j?i2UQ?I2*_;2MCYB?yB#F 9F F PNParsing RMC sentence: $GPRMC,183406.00,A,3646.37428,N,12151.97672,W,4.276,70.52,251025,,,A*44 )PRF?ARz?R9R+!EbB@qw^ZhGPS fix at 20251025T183406: (36.772905, -121.866279)R @R?bD%VD%I9y5>%5P=ٔ5ZQ-5>99I9==Fy=6EEּEE>IQ 5U;4Mz?Q 9U;4M)MYQy}?Q I}?MIM;iM;M>g;4yBɮBE*jBjiiziJii kokokoh12fy:fyBfyJf}g6B@\Received valid gps time fix: 1761417216.00. Resetting abort timer.r<@ɢns) i);սE EWEE"E*E9VE5ZEBE/_;a2E1_;aJE:a:E:aiAr<I }2Acoustic response timeoutH9:IIOU>  @G% MrA9 e y9e MrAYm 3A! % 2Acoustic response timeout:я,F?A2|P?2)?23]ٱ2~ǫ :AHRS rotation from veh to nav: [[0.481166,-0.752490,-0.449709],[0.805873,0.581602,-0.110940],[0.345033,-0.309029,0.886258]]2Hk?e ܿ? {?f?ӿ:\?i2|P?I2_;2NCYBw?yB-F|bD {VD HI9y}#>%}E=ٔ"Q->9I=Fy9E)*E>Q 5;4?Q 9;4f)>Yy?Q I?͜>I;i:u;4yBɮůBִE*jBjiiziJii kVkVkVh kcskcskcsh2f:fBfJf A@=@ɢ%4s)! %i!)%ؽ))i-m<)I1M'8:IIO >)bEM5jEMݡ5rEM 2Ea EXE}E"E%.:*E9VEs5ZEa@a@a@a@}%=}%=2Acoustic response timeoutQԁ cя,nF?A24P?2?2ijٱ2I䳾 :AHRS rotation from veh to nav: [[0.482256,-0.744822,-0.461161],[0.805688,0.583782,-0.100325],[0.343942,-0.323169,0.881627]]2HH?ݿ 2?`X?@箹$?ήԿ I6?i24P?I23_;2MCYB˛?yB?FHJAbDNHVDNH9yV!>%VY=ٔV J;Q-V>9XIX=ZFyZ;E^ ?E^>`Q 5f;4b?Q 9f;4b{)bZ>Ydyf?Q If?b?IbR:ibI:bނ;4ylɮnBl*jtBjxixixzixJixix kZkZkZh  kqkqkqh2f):f)Bf)Jf-hA@M=@ɢMn)Q U߿iQ)U,;۽QQiUCgB9B=@gFB= ?B==B9B9B=;B=EԁEf EbEE"EI@:*E9VE5ZEBER;a2ER;aJEO;a:EP;a 2Acoustic response timeoutI >) > Kя, F?A2*N?2?24ٱ2. :AHRS rotation from veh to nav: [[0.489603,-0.739875,-0.461383],[0.803362,0.588470,-0.091174],[0.338967,-0.326019,0.882504]]2HU? 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AI;i;P@4yBɮB*jBjiiziJii kUkUkUh12fA:fABfAJfEڨ@e?@ɢeޯ<)i mEX?ii)m+iiim7…qIqB>BBRGB@B=BB'DB;BEAAIIOe4>iqIuAu2Acoustic response timeoutԁԙ EU k EU QEU EQ "EU mR:*EU v9VEU 5ZEQ BEU q;a] 2EU r;a] JEU :a] :EU :ae d5я,wF?A9qIq=uFy}E}A;E}>Q 5@4%?Q 9@4_t)H@Yy|$Q I?AI:i:Q^@4yBɮB*jBji2Acoustic response timeoutiziJii kSVkSVkSVh2f:fBfJfU@颭@ɢL<) SH?i)!(项iaIԑA IIAO}7>Թu 2Acoustic response timeout m;я,(F?A2|@2a@2=ٱ2G\a :AHRS rotation from veh to nav: [[0.995254,-0.004797,0.097192],[-0.016461,0.976093,0.216729],[-0.095908,-0.217300,0.971382]]2H ?s ?ې'9XIX=ZFyZE^;|E>!Q 5-@4%e?Q 9-@4%u)%@Y)y5!Q I5?%AI%:i%:%k@4y=Bɮ=B9*jQBjQiYiYziYJiYiY k:k:k:hq kcUkcUkcUh2f:fBfJf@颵Ғ@ɢ B<) 8?i)&项iYIA^?Ag?E5h E5KE5uE1"E5G:*E5]t9VE55ZE1a=@a=@a=@a=@A!)I1IIO}>2Acoustic response timeoutQB >B "CB lOGB @B B B B ;B ԁ Bя,? F?A&2Acoustic response timeout6@6@6ݾ=ٱ6df >AHRS rotation from veh to nav: [[0.995551,-0.006338,0.094009],[-0.014746,0.974960,0.221891],[-0.093061,-0.222290,0.970529]]6H ?@Xy ?2@2?f? ҷs̿ ?i6@I6ˣ];4YFI@yFNGLNAYyNbX9?EԸ?{Gze?=# 9`"?V-?L7A`?YW?yh=+>BB %B)BYBbDuF^VDu(!9y%==ٔ!ٻQ->9I=Fy"E";E>Q 5@4w0?Q 9@4t)c@Y1[?Q Ew:yh=Q I?AI<:iQ:z@4yBɮ-BE*jBjiiziJii k9k9k9h kWkWkWh2f:>:f:>Bfe@JfR2@-@ɢ-|;)1 5$?i1)5#$99i=}9IAԉAIIO%>E%` E%NE!E!"E%*:*E%҆9VE!ZE!BE%-;a52E% -;a5JE%:a5:E%:a5Ա2Acoustic response timeout Hя,$F?A2z@2_@2=ٱ2Al :AHRS rotation from veh to nav: [[0.995782,-0.007305,0.091464],[-0.013795,0.973575,0.227951],[-0.090713,-0.228251,0.969367]]2H@q?"}4j?@'?`-?8U7Ϳ ?i2z@I2g];2KCY^@y^=NGpt t)tItbD~]VD~ 9y ?% S=ٔ ǻQ- >9I=Fy$E!;E>!Q 5%@4%NL?Q 9-@4%t)%Ӳ@Y)y- =Q I-?%nAI%:i%:%@4y1ɮ=6B9*jQBjQiQiQziQJiYiY k<k<k<hqԹ kCRkCRkCRh2f :f Bf Jf Iq1@M@ɢM`:)I U?iQ)u"qqiuyyIyU2Acoustic response timeoutAIIOiIpAE5 g E5 QE5 wE1 "E5 C:*E5 v9VE5 ɕ5ZE1 a= @a= @a= @a= @ 2Acoustic response timeout9 oNя,>F?AR@Rm@R-w=ٱRp ^AHRS rotation from veh to nav: [[0.995960,-0.008944,0.089348],[-0.012089,0.972613,0.232117],[-0.088977,-0.232259,0.968576]]RH@?@Q{߶?ˆ??,ǶͿ?iR@IR];RMCYf6@yfgLGhhbDrW]VDr 9yz&%zL=ٔzJQ-~>9|I|=Fy'E;E> Q 5@4 i?Q 9@4 s) J@Yy=Q I? -AI ;i /; "@4y%Bɮ%QB!*j9Bj9iAiAziAJiAiA k6k6k6hY kSSkSSkSShi2fy:fyBfyJf}0@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颵J@ɢȺ) Y?i) 项i xtIAQzAQBAB>BBKGBΥ@BBBBV;BDEBe!CBe!CBaBe¤=Be¤=Ce¼4AIIO&>Ae2Acoustic response timeoutiԙ E= f E= SE9 E9 "E= I@:*E= 9VE9 ZE9 BE= R;aM 2E= R;aM JE= l:aM :E= m:aM -Uя,1XF?A2@2@2Eٳ=ٱ2r :AHRS rotation from veh to nav: [[0.996106,-0.011785,0.087377],[-0.009038,0.972158,0.234153],[-0.087704,-0.234030,0.968265]]2H?"X^?C?`?sͿ?i2@I2"];0YB>@yB6KGbD5\VD5 9ye%eC=ٔmHQ-m>9iIi=uFyu*Eu;Eu>yQ 5@4}?Q 9@4}r)}ʳ@Yyq=Q I?} AI}:i}:}Ť@4yBɮcB*jBj=iiziJi߽=߽=2Acoustic response timeouti kZkZkZh kZkZkZh2f :f Bf Jf T0@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder-)@ɢ5&ۻ)5VS< 5S>i1)=E99i= DoE=IAqI IO]2>ԡu 2Acoustic response timeout ! % AA \я,mrF?A2T@29@2ꚱ=ٱ2r :AHRS rotation from veh to nav: [[0.996220,-0.013862,0.085754],[-0.006644,0.972134,0.234331],[-0.086613,-0.234015,0.968367]]2H?@c ?|6{??@>, 7Ϳ@?i2T@I2];0YB@yBIGbD \VD c 9ye׽%eK=ٔe2Q-e>9iIi=mFym,EuJ;Eu>yQ 5@4}?Q 9@4}qQ =tI)}H@Yy^=Q I?}AI}:i}*:}۲@4yBɮ{BE*jBjiiziJii kRkRkRh kRkRkRh2f:fBfJf0@@ɢ()  c>i )   i 2jIEg EUEE"EC:*EP9VE5ZEa@a@a@a@I1IAO>2Acoustic response timeoutB>BBHGBC@BBBB;BrE) Q bя,"RF?A"2Acoustic response timeout6]@6B@6Ϯ=ٱ6jp >AHRS rotation from veh to nav: [[0.996349,-0.015488,0.083953],[-0.004451,0.972644,0.232258],[-0.085254,-0.231784,0.969024]]6H ?@}?@?;r@??-ӵ`Ϳ ??i6]@I6];6PCYF@yF,IGHJa=y+?A`"?Cl?_?>;= 9?jt?)\(?Y`?y >Ga=GB B)YaBbD)\VD/ 9y%B=ٔRTQ->9I=Fy/EB;E>Q 5@4º?Q 9@4Go)@Yd?Q E n:y 4;>Q I ?AI0;iT:@4yBɮoBڴE*j)Bj)i)i)zi)Ji1i1 k^k^k^hI k^k^k^hY2fm>:fm>Bfm@Jfm&@颅ޗ@ɢJY) l>i)8顑ildIA`?A`?)IIO>Eb ELEE"E1:*E|9VE5ZEBE9;a 2E9;a JEv:a :Ex:aQ2Acoustic response timeoutԉ iя,W$F?A2&@2 @2=ٱ2m :AHRS rotation from veh to nav: [[0.996523,-0.016160,0.081732],[-0.003018,0.973363,0.229252],[-0.083260,-0.228701,0.969930]]2H?@A@g?h %? 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E??ܱ?@Z׿?i2=@I2^;2KCYB@yBGy -?V-?Q? ?U?  <  9 d;O?X9v?Q?Y ?y < (> B €B B)  Y ¢BbD%1VD% 9y5%=%5B=ٔ5Q;Q-5>99I9==Fy= EEf EE>IQ 5UE4M‰?Q 9UE4M2 )M5AYUv?Q EUJ:yU>Q I]?MwBIM] ;iM ;ME4yeBɮeBa2Acoustic response timeout*jBjiiziJi!i! k5k5k5hY2fm}>:fm}>Bfm@Jfm:@q颭@ɢoc) Ri)))i-'IIQ@e>@e>ԡ^AqA}Y?A}`?5 2Acoustic response timeoutA $AI I O > Ɇя,6x)F?A2’@2ʽ@2nٱ2忾 :AHRS rotation from veh to nav: [[0.091687,0.928926,0.358735],[-0.993473,0.060782,0.096523],[0.067858,-0.365243,0.928436]]2Hx?@¹?? ?@?@"_? %`׿?i2’@I2^;2LCYn @yrGEm] EmLEiEi"Em:*Em|9VEiZEiBEm:;a}2Em<;a}JEmv:a}:Emx:a} bD1VD 9yo=%@=ٔΓ;Q->9H?IH?=Fy#E QE >Q 5}F46‰?Q 9}F4 ) 7AYyy}*Q I?XBI:i:F4yBɮB*jBjiiziJii kc(kc(kc(h kCSkCSkCSh2f:fBfJf0@9U'AɢUļ)Y ]BiY)YYYi]ěaIaߩ߭<2Acoustic response timeoutY^Aԉ A AI I OE >yІя,;QCF?A2Acoustic response timeout0:@@:{;@:ޅٱ:YS FAHRS rotation from veh to nav: [[0.075886,0.930107,0.359365],[-0.994975,0.047025,0.088397],[0.065319,-0.364267,0.929001]]:HAm?n??@?*?`Ÿ?@&P׿`?i:@@I:q^;:KCYJ@yJVG %;!bD-O1VD-x 9ye]=%mT=ٔm;Q-m>9uK?IuK?=uFyu%EuR)Eu>yQ 5F4}‰?Q 9F4} )}T8AYy9Q I?}#BI}p:i}$:}F4yBɮBE*jBjiiziJii k7k7k7h kTkTkTh2f:fBfJfD6@ Aɢּ) Vi)i"!I!ԉEu EuNEunEq"Eu:*Eu҆9VEuJ5ZEqa}@a}@a}@a}@BM>BMCBM&GBMp@BIBIBM!DBMJ;BMEBCBCBBť=Bť=CŰ5^A2Acoustic response timeoutAII 5 Failed to create a data reader. azimuth_vehicleFrame is unknown.5 bFailed to request data from azimuth_vehicleFrame.I1 = >= >Oe > ֆя,0]F?A2.@2@2 ٱ2 :AHRS rotation from veh to nav: [[0.058346,0.931295,0.359562],[-0.996309,0.031603,0.079816],[0.062969,-0.362891,0.929701]]2H߭?+?`?@Q.?n??9׿@?i2.@I2D^;2JC\Yb@ybGbD}0VD}I 9yh=%D=ٔ;Q->9I=Fy(E-E>Q 5F4$‰?Q 9F4 )9AYyQ I?BI :i9:F4yɮB*j Bj i iziJii kc9kc9kc9h) kTkTkTh92fI:fIBfIJfM䛚@mtAɢm¯м)i miq)qqqiuyIy=2Acoustic response timeout^AAzAE}] E}GE}zEy"E}:*E}R9VE}5ZEyBEya2EyaJE}!t:a:E}#t:aII OU >A  2Acoustic response timeout&݆я,|&wF?A2@2@2Gwٱ2 FAHRS rotation from veh to nav: [[0.039716,0.931646,0.361190],[-0.997378,0.015076,0.070783],[0.060500,-0.363054,0.929802]]2H`U? ??]???F<׿?i2@I2h^;0YZ@yZfGbDj0VDj 9yv=%zX=ٔz$;Q-~>9|I=Fy*EIE >!Q 5-F4%)‰?Q 95F4%; )%:AY1y5鸿Q I=?%LjBI%=N;i%kO;%*F4yAɮMBI*jqBjqiqiyziyJiyiy kc8kc8kc8h 2f:fBfJfs@19% rENAggregate::initialize marl:UpdateRudderq9MJ]Iq9M9M7MoMXAggregate::initialize marl:UpdateCommandMode18M]I18UoU@Completed marl:UpdateCommandMode7UoU\Aggregate::uninitialize marl:UpdateCommandModeq7UnULAggregate::initialize marl:UpdateSpeed7U]Q7Un]4Completed marl:UpdateSpeedq7]n]PAggregate::uninitialize marl:UpdateSpeed颕$Aɢۼ) Ǿi)顙i<I9]2Acoustic response timeout^A)iI) I9 Om >E} v E} [E} iEy "E} Vz:*E} 9VE} z~5ZEy a @a @a @a @ԑ BU >BU CBU GBU @BU =BQ BU DBU +;BU E(я,F?A2y@2}t@2nٱ2܀ :AHRS rotation from veh to nav: [[0.020544,0.931813,0.362357],[-0.998089,-0.002013,0.061763],[0.058281,-0.362933,0.929991]]2H ?i?0?W|``s?׭?`K:׿|?i2y@I2 ^;2KCYV@yVGy5 rh?1Zd?K7A`?5CK?5"=5+>1 195|?5^?S㥫?Dl?Y5m?y5/]=5O>5B5B 5B)5B1Y5̦BIIbDU,0VDU 9yez=%eD=ٔe;Q-e>9iIi=mFym-Emg=Eu>yyQ 5F4}.‰?Q 9F4}! )}:f9>Bf1@Jf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 r RAggregate::uninitialize marl:UpdateRudder额Aɢ~A)  ʾi)顡iqIԡ^A#=I9IIO{>M 2Acoustic response timeout H1я,F?ABݏ@Boؖ@BdhٱB޾ NAHRS rotation from veh to nav: [[0.001529,0.931346,0.364132],[-0.998385,-0.019260,0.053452],[0.056795,-0.363625,0.929812]]BHr Y?@?M?` Ѹ^?J?`E׿?iBݏ@IBn^;BMCYZ$@yZϙG11 1)1I1D9zD9EEe EEMEEEA"EE<:*EE9VEEF5ZEABEE`L;aU2EEcL;aUJEE:aU:EE:aUbDe/VDe 9yuw=%uI=ٔup;Q-}>9yIy=}Fy/E?E>Q 5F4 4‰?Q 9F4 )>AYyﳿQ I?LBIv;i;GF4y-BɮBE*jBjiiziJii kkkh2f:fBfJfn@ zAɢ )  ̾i)i(I!2Acoustic response timeout^A}=A]?A\?IIOuy>1Y ] 2Acoustic response timeout/я,WF?A2YF@2AA@2rgٱ2f :AHRS rotation from veh to nav: [[-0.016896,0.930455,0.366017],[-0.998260,-0.036379,0.046399],[0.056488,-0.364597,0.929451]]2HMH?l?@L??U׿@?i2YF@I2q^;2PCYB@@yBGbDJ#/VDJx 9yRe<%RX=ٔVT:Q-V>9TIX=ZFyZ2EZfGE^>\Q 5bF4^u8‰?Q 9bF4^  )^@AYdyfCQ If?^BI^W:i^-:^TF4yhɮnBl*jtBjtitixzixJixix kkkh  k#k#k#h2f):f)Bf)Jf-ߓ@MAɢMc)I M߾i)iȠI)PExceeded connect timeout, disconnecting.EEo EENEEwEA"EE`:*EE҆9VEEɕ5ZEAaM@aU@aU@aU@B>BCBGB@BBBB;B̗EY^A#=I9IIOY>2Acoustic response timeoutԁ G } 9y Y} ^AԱ >Cя,:vF?A6)@6@6Flٱ6k >AHRS rotation from veh to nav: [[-0.034095,0.928540,0.369664],[-0.997757,-0.052944,0.040963],[0.057607,-0.367438,0.928262]]6Ht? ??~?`׿R?i6)@I6du^;6JCY^@yb+G %49iIq=uFyu4EuP%Eu>yQ 5F4}<‰?Q 9F4}\ )}BAYy]Q I?}ʋBI} :i}:}cF4yɮB*jBjiiziJii k3%k3%k3%h k3%k3%k3%h2f:fBfJfi@颍Aɢ) iԑ)顙iI2Acoustic response timeout^AD]=D]R=Ee[ EeHEe}Ea"Eea:*Ee[9VEes5ZEaBEe ;am2Ee ;amJEeX:am:EeY:auIyIO> 2Acoustic response timeout nя,?VF?AF}=@Fe8@FawٱFľ VAHRS rotation from veh to nav: [[-0.049145,0.925338,0.375945],[-0.996970,-0.068171,0.037464],[0.060295,-0.372965,0.925884]]FH)]?`|?-s@u.?@߮? ׿ؠ?iF}=@IFkf^;FMCYvL@yz#GbDe .VDe 9y=%F=ٔ"ֻQ->9I=Fy7EE>Q 5F4@‰?Q 9F4R )nDAYyQ I?BIl:id:,rF4y@Bɮ{BõE*jBjiiziJii k(k(k(h k)k)k)h2f!:f!Bf!Jf%#@EAɢE|)I MiI)IIIiME I@!@!52Acoustic response timeoutQ^A=AzAqAXRadio surface powered OFF, will not connect.nManaging dock network, ignoring radio surface power offII O5 >a bEɐ5jE5rE 2Em a Em LEm qEi "Em %.:*Em |9VEm 5ZEi au @au @au @au @B >B CB GB @B =B B DB ;B ȗEUя,-F?A 2L֍@24є@2ٱ2 ɾ :AHRS rotation from veh to nav: [[-0.061684,0.920605,0.385593],[-0.996027,-0.081641,0.035580],[0.064235,-0.381866,0.921983]]2H`u?@?sh洿7?q?}pؿ?i2L֍@I2|~^;2KCY^A@y^G}2Acoustic response timeouty"~?(\ſv/?.xi 9K7?/$+η?YI,?yv=BeB )BYBbD-VD 9y=% D=ٔ 9Q- >9I=Fy:EyE>Q 5%F4=‰?Q 9-F4 )EAY-?/?Q E-:y-ٿQ I-?BI8:iA:F4y9ɮ=kB9*jIBjIiQiQziQJiQiQ k#+k#+k#+hi k;k;k;hy2fJ>:fJ>BfW я, ,F?AB8}@B x@B9eٱB1Hξ NAHRS rotation from veh to nav: [[-0.072488,0.915533,0.395658],[-0.994981,-0.093820,0.034805],[0.068986,-0.391149,0.917738]]PBH@ L?@tR?ѡ? 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Oe > 2Acoustic response timeoutYprя,:F?A6и@6@6&,ٱ6_ >AHRS rotation from veh to nav: [[-0.339497,0.873109,0.349890],[-0.939668,-0.331436,-0.084697],[0.042017,-0.357535,0.932954]]6HPտ?d?`@?6տ6?ֿ`?i6и@I6^;4YFAyFɡGbDN'VDN+9yV<%Vm=ٔZ& Q-Z?9ZK?IZK?=^Fy^eE^+hE^?`Q 5fG4b8?Q 9fG4b )b"GAYhyj߿Q Ij?bBIbt:ib:b|oG4ynBɮrBp*jxBj|i|iziJii k_k_k_h k_k_k_h2f:fBfJf@PAɢ'݋) li)iŊIA1A1B=@>B= CB=GB=AB==B9B=DB=[;B=>EQBCBCBB¦=B¦=C*-5E EJEmE"E*Ek9VE5ZEBE9;a2E<;aJE:a:E:a^A%#=ԁ2Acoustic response timeoutA$AIIO>ԩ xя,F?A2-@2(@22`;ٱ2Q :AHRS rotation from veh to nav: [[-0.355347,0.862929,0.359279],[-0.933615,-0.346461,-0.091255],[0.045730,-0.367855,0.928758]]2Hֿ?l?,l,ֿt\i?׿b?i2-@I2^;2MC@YB AyFbGXZ X)XIX\\bDb'VDb9yj~=%jH=ٔjQ-n>9nH?InH?=nFyrhEr)Er>tQ 5zG4v?Q 9zG4v )vHAYxyzQ I~?vBIva;iv;v}G4yBɮ"BE*jBji!i!zi!Ji!i! k#Zk#Zk#Zh9 k3Zk3Zk3ZhI2f:fBfJfO@^B*** querying acoustic contact ***XYAɢ ) oi!)!!!i%)I)e2Acoustic response timeoutԩ^A]=E\ EOEkE"E:*E9VEu5ZEa@a@a@a@IqIO> 2Acoustic response timeout A~я,F?A6@6@6hLٱ67ƾ >AHRS rotation from veh to nav: [[-0.369248,0.853092,0.368633],[-0.927990,-0.359770,-0.096958],[0.049909,-0.377889,0.924504]]6H`¡׿L??`w׿ 9Ҹ?@W/ؿ`?i6@I6Π^;6KCYFAAyFGLNBAbDR'VDR9yZ3 =%ZL=ٔ^b+Q-^>9\I\=bFybjEbEb>dQ 5jG4f}?Q 9jG4f+ )fJAYlynlQ In?lfBIfi);if*;fG4ytɮvBt*jBjii zi Ji i  k3Xk3Xk3Xh! kCXkCXkCXh12fA:fABfAJfEKB@19M rMNAggregate::initialize marl:UpdateRudderq9MJ]Iq9M9M7MoMXAggregate::initialize marl:UpdateCommandMode18U]Q18UoU@Completed marl:UpdateCommandMode7UoU\Aggregate::uninitialize marl:UpdateCommandModeq7UnULAggregate::initialize marl:UpdateSpeed7U]Q7]n]4Completed marl:UpdateSpeedq7]n]PAggregate::uninitialize marl:UpdateSpeeduAɢu)y }viy)yyyiIm2Acoustic response timeout^A#=9IYIiO~>B5 ->B5 CB5 zGB5 AB5 =B1 B5 DB5 ;B5 EE ] E JE jE "E :*E k9VE ـ5ZE BE a 2E ;;a JE a :E a a я,F?A>dC@>L>@>@_ٱ> ̾ FAHRS rotation from veh to nav: [[-0.381730,0.842909,0.379193],[-0.922660,-0.371752,-0.102464],[0.054598,-0.388980,0.919627]]>H Dnؿ? D?n`׿ ;8? ؿm?i>dC@I>S^;>HCYNAyRGb2Acoustic response timeout9yGz?X9vο ףp= ?>sQ8= 9zG?L7A`??Y W?y+=ff>.B B)vBYkBbD&VD9y+=%8=ٔ-Q->9I=FymEE>Q 5G4u?Q 9 G4 )KAY ^?Q E s:y &Q I ?̝BI:i:@G4yɮB*j)Bj)i1i1zi1Ji1i1 k3Yk;Yk3YhI k3Yk3Yk3YhY2fmA>:fmA>Bfmk!?JfmX6@s}NUpdating rudder angle 6.875493 arcdeg 9}r}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudderrAɢJ) E~i)i:8!I!i^AQԑIIO>u2Acoustic response timeout (׋я,1F?AE2Y E2DE2dE0"E2:*E2a99VE2^n5ZE0a:@a:@a:@a:@:@:܉@:݃rٱ:\Ҿ FAHRS rotation from veh to nav: [[-0.392579,0.833351,0.389111],[-0.917813,-0.382197,-0.107450],[0.059173,-0.399313,0.914903]]:H ٿЪ? 0?^uؿ`ց K? YٿF?i:@I:J^;:JCYJAyNBG=bD q&VD x9yE=%MU=ٔMCQ-M>9IIQ=UFyUoEU^EU>ԙQ 5G4n?Q 9G4 )PMAYyQQ I?wBI :i:6G4yBɮBE*j Bj i i ziJii kcYkcYkcYh) ksYksYksYhA2fa:faBfaJfeߠ@额#Aɢ) i)顩i梼I2Acoustic response timeout^A=IQIiO>  2Acoustic response timeoutiY IY K’я,hKF?AB6@B@BrٱB?׾ NAHRS rotation from veh to nav: [[-0.402061,0.825177,0.396774],[-0.913432,-0.391381,-0.111642],[0.063165,-0.407313,0.911102]]BH ]ٿg?d?: a ٿ +?jڿ'?iB6@IB^;BLCYRAyR7G <p<bD%&VD%G9y]%eH=ٔe Q-e>9iIi=mFymrEmҼEu>yQ 5G4}Sg?Q 9G4}h )}NAYy`Q I?}BI}:i}N:}G4y_BɮȤB*jBjiiziJii k3`k3`k3`h kmkmkmhq2f:fBfJf @颽Aɢh) i)BM>BMCBMtGBMABIBIBMDBM;BMEEm\ EmTEmfEiiu(y"Em:*Em9VEmt5ZEiBEm;a2Em;aJEm:a:Em:aIy! yG !M9IYUqA2Acoustic response timeout^A#=IAIIYO>q 7阇я,`eF?A2>@29@2Tgٱ2پ :AHRS rotation from veh to nav: [[-0.410598,0.819075,0.400656],[-0.909420,-0.399704,-0.114857],[0.066067,-0.411524,0.909001]]2H;Gڿ5? 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WxO?Ͽ`?i2Lk@I2q_;0YFAyFGN@ALbDR;VDRx9yZ2%ZT=ٔZQ-Z>9\I\=FyE;E>!Q 5-J4%C?Q 9-J4%Ą )%VAY)y5Q I5?%6BI%|:i%R:%B9J4y9ɮ=ѣB9*jQBjQiQiYziYJiYiY ks\ks\ks\hq k\k\k\h2f:fBfJf@颵p2Aɢ%>) Qi),项iIqIII!OM>ԙ}2Acoustic response timeout E W E CE KE "E :*E 09VE 5ZE a @a @a @a @^侈я,:v"F?A2$l@2z@2+{ٱ2 :AHRS rotation from veh to nav: [[-0.719135,0.661187,0.213721],[-0.692167,-0.708720,-0.136460],[0.061243,-0.246064,0.967317]]2H&`r(?7[?:&խw>[?ϿB?i2$l@I2_;2KCYBAyBGPbDNVDNM9yV=%ZJ=ٔZl Q-Z>9XI\=^Fy^E^~H<Eb>`Q 5fJ4b㽉?Q 9jJ4bA )bWAYhyjpQ Ij?b BIbd:ib:bFJ4ynBɮrBroE*j|Bj|i|i|zi|Jii k^k^k^h k_k_=k_h2f:fBfJf͢@}3Aɢ <) i)3项iY2Acoustic response timeoutI!*:<II)O]>!  2Acoustic response timeoutBE >BE ȏCBE EGBE ABE =BA BE DBE ;BE ^Eňя,rR#F?A2l@2|z@2sٱ2< :AHRS rotation from veh to nav: [[-0.714815,0.663908,0.219696],[-0.696295,-0.704855,-0.135473],[0.064912,-0.249811,0.966116]]2H@>?`? H`,0W ? 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?*t 4?y п?iBzp@IB^;BJCYRAyRGbDZVDZ8y~`=%~X=ٔ6"Q->9I=FyE <E >iI%2Acoustic response timeoutQ 55J4P?Q 9=J41 )_AY9y="Q I=?BI;i;%J4yAɮMBI*jYBjYiaiaziaJiaia k_k_k_hy krkrkrh2f:fBfJf]>颽6Aɢdb) R i)FeiIFʻI@R=@=^A.=)AIIO-,>ET ELEE"E9*E|9VEZEa@a@a@a@Y2Acoustic response timeoutԁ s,я,O#F?A02p@2Y~@25aȽٱ2 >AHRS rotation from veh to nav: [[-0.666577,0.703277,0.247136],[-0.739008,-0.666901,-0.095452],[0.097686,-0.246262,0.964268]]2HT@??%??Wo?@ϿH?i2p@I2^;2ICYFAyFеG N;LbDRVDR8yVT&=%ZP=ٔZQ-Z>9\I\=^Fy^Eb{<Eb>dQ 5fJ4f]8?Q 9jJ4f )f_AYhyj!Q Ij?fBIf$:if:fJ4yrBɮrBp*jxBjxi|i|zi|Ji|i| kCZkCZkCZh kwkwkwh2f:fBfJfu>y7AɢX) i)jliDI!nManaging dock network, ignoring radio surface power off^A=ԑ52Acoustic response timeoutI)I9Bp>BCBGBABBBڻDB;BEO>>ԹEV EDEHE"E=:*Ea99VE-5ZEBE:a2E:aJEpH:a:ErH:a  2Acoustic response timeoutVя,+#F?A`Y~Ay~G!! !))I)bD5vVD5e8yE.<%EA=ٔMQ-M>9III=UFyUEUEU>YQ 5eJ4] ?Q 9eJ4]P )]^_AYiyiQ Im?]kBI]:i]I:]J4yuBɮuB*jBjiiziJii ksksksh92fQ:fQBfQJfQ} 8AɢZ) Ti)Ǎt顉i>I^Au=IYIqOB>=2Acoustic response timeoutA E U E BE CE "E :*E (9VE 5ZE a @a @a @a @e>я,$F?A!YuAyGbDMVD?8yM=%U;=ٔYQ-e>9iIq=}Fy}EE>2Acoustic response timeoutQ 5J4X?Q 9J4` ) _AYyQ I?8BI ;i`;EJ4yBɮBE*jBjiiziJii k3[k3[k3[h kSjkSjkSjh2f:fBfJf-8Aɢ-[)1 5i1)5Lu|11i=(9IA@UqA@UpAIq^A#=IIO>M 2Acoustic response timeoutԡ B d>B CB GB AB =B DB ٻDB ;B EBECBECBE˗CBE˷=BE˵=CE}$6hя,$F?A.p@.~@.Vٱ. :AHRS rotation from veh to nav: [[-0.671854,0.693458,0.260247],[-0.732032,-0.675214,-0.090632],[0.112873,-0.251400,0.961279]].H0?@?@l`[`3>?п?i.p@I.p^;.JCYBAyBѶGyyʡE?S?-r?>L 9MbX?+?(\ҿY?y=zBB vB)BYuB@AAAbDVD8y=%U=ٔ#Q->9I=FyE*E>Q 5J4꼉?Q 9J4z )]AY?Q E<:yQ I?BI:i:gJ4y&BɮBE*jBjiiziJii kQkQkQh k3lk3lk3lh!E]X E]DE]VEY"E]~ :*E]a99VE]FA5ZEYBE]:ae2E]:amJE]oH:am:EYam2f>:f>Bf}@JfQR@ %9Aɢ я,4$F?A2O,o@2!"}@2ITٱ2 :AHRS rotation from veh to nav: [[-0.681791,0.677974,0.274794],[-0.721396,-0.685453,-0.098700],[0.121442,-0.265528,0.956424]]2H <?9? `;iD`? jп ?i2O,o@I2Z _;2LCYB AyBeG2Acoustic response timeoutbDMVDM8y=%J=ٔQ->9I=FyErE>Q 5J47м?Q 9J4' )\AYy!Q I?BI;iL;J4yɮB*jBjiizi!Ji!i! kSkSkSh9 kmkmkmhI2fY:fYBfYJf]4P@}9Aɢ}Sh)y }"iy)D顁i&捻IEmW EmMEmJEi"Em :*Em9VEm5ZEiau@au@au@au@^A#=IaIqIO>12Acoustic response timeoutY szя,іN$F?A2n@2 |@2Wٱ2S :AHRS rotation from veh to nav: [[-0.693140,0.659142,0.291698],[-0.708788,-0.696862,-0.109559],[0.131059,-0.282692,0.950215]]2H4.?.?cL ?ҿ)h?i2n@I2"_;2KCYBAyBGbDvvVDvy8yE=%ER=ٔE̼Q-E>9III=MFyM EMw5EU>QQ 5J4UĶ?Q 9J4U) )U[AYyQ I?UBIU@->2Acoustic response timeoutB-W>B-CB-'GB-AB-=B)B-ػDB-;B-%Ea^AE}Y E}=E}LEy"E}:*E}8VE}!5ZEyBE}#;a2E}%;aJE} 9a:E}9aԙA) I1 IA O >Թ  2Acoustic response timeoutя,oh$F?A:m@:{@:_ٱ:ğ FAHRS rotation from veh to nav: [[-0.703005,0.638915,0.312364],[-0.697116,-0.706004,-0.124852],[0.140760,-0.305526,0.941722]]:H q?@?@NTm?ӿ"?i:m@I:'_;8YNAyNuG V9dId=fFyf Ejc"Ej>hQ 5rK4j?Q 9rK4j )j [AYpyrQ Ir?jBIj#;ij/;j K4yz!BɮzaBx*jBj i i zi Ji i  kSkSkSh)2fA:fABfAJfE[M@m:Aɢm-u)q uiq)uЌqyi}TuIԑ^A=%2Acoustic response timeoutAI)I9Om> E S E AE GE "E 9*E  9VE 5ZE a @a @a @a @ я,Z$F?A7l@m-z@nٱ AHRS rotation from veh to nav: [[-0.711528,0.619118,0.332296],[-0.686407,-0.713553,-0.140311],[0.150242,-0.327926,0.932680]]H ?@VD?@ @m ;?`Կ?i7l@IS_;Y5rAy5Gu2Acoustic response timeouty|?5^?Zd;O?Mbr?j<= 9?HzG?Zd;OY?y=>jBB B)BYBbDVD 8y@t=%+=ٔ#Q->9 I = Fy E E>Q 5K4?Q 9%K4) )[AY%?Q E%7:y%( Q I%?BIe ;i ;kK4y50Bɮ5bB5E*jABjIiIiQziQJiQiQ ksVksVksVhi ksVksVksVhy2f>:f>Bfg?Jfė@%O;Aɢ-r_)) -qi))-eU)1i5_d1I9^AA - 2Acoustic response timeout G A I B% =>B% CB% GB% AB% =B! 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Kؿ j?4׿?iNP>8@INd_;NMCY^OAy^AGbDjVDj8yr|P>%rL=ٔr+9vK?IvK?=vFyvEz`ԼEz>|Q 5M4~T?Q 9M4~ )~bAYyG@Q I?~BI~;i~;~M4yoBɮ~BӶE*j!Bj)i)i)zi)Ji)i) kSQkSQkSQhA kSQkSQkSQhQ2fa:faBfaJfe@2Acoustic response timeout颍$QAɢŚ) ʽi) 顙i1IEmQ EmCEmAEi"Em29*Em09VEmA4ZEiau@au@au@au@^AAII OE>- 2Acoustic response timeout1 1Vя,HY)F?A >7@>E@> Qٱ>l JAHRS rotation from veh to nav: [[-0.977733,-0.125455,0.168226],[0.054199,-0.925394,-0.375112],[0.202735,-0.357641,0.911587]]>HIm??@Ӝ ؿ 9?ֿ+?i>7@I>_;>ICYRPAyRaHbD#VDt8yU:>%]B=ٔ]9aIa=eFyeEeмEe>iQ 5uM4m'u?Q 9}M4mS )m$AYyy}F@Q I}?mBIm:im:mnM4ylBɮSB*jBjiiziJii kPkPkPh kPkPkPh2f:fBfJfZ@QAɢS) Gi)X#i s5 IBn>BLCBHBQAB=BBDB;BE!}2Acoustic response timeout^AM#=QIIEmW EmAEiEi"Em :*Em 9VEiZEiBEm!:a}2Em&:a}JEm:a:Em:aIIO >y E 2Acoustic response timeoutX\я,s)F?A,66@6iD@6Mٱ6=Y BAHRS rotation from veh to nav: [[-0.977701,-0.134620,0.161180],[0.065527,-0.924752,-0.374887],[0.199519,-0.355965,0.912952]]6HRI;;?@cư?@%׿`։?`#ֿ6?i66@I68N_;6KCYZQAyZ HbD]VD])8y)>%F=ٔ9I=FyEE>Q 5M4V?Q 9M4 )߅AYy!F@Q I?gBI:i:M4yiBɮ-B*jBjiiziJii kNkNkNh kNkNkNh2f!:f!Bf!Jf% @=QAɢE)A E@ȻiA)E%IIiM9QIQԁ^A=ԱA[?AY?2Acoustic response timeoutIIO> E} T E} EEy Ey "E} 9*E} A9VEy ZEy a @a @a @a @%-B=ٔ5>;Q-5>91I9==Fy=E=E=>AQ 5MM4E6?Q 9MM4E) )EAYUg?Q EUj:yU=@Q IU?E*BIE ;iE ;EM4y]fBɮ]BeҶE*jqBjqiqiyziyJiyiy kRkRkRh kRkRkRh2fu >:fu >Bfn?JfW@cRAɢN) @)=i)i>I2Acoustic response timeoutnGM۲9IYUA^A1IIO>Bc>BKCBHBVTAB=BBDB;BEA  2Acoustic response timeout1fiя,Ll)F?A6#5@6C@6|Gٱ62 BAHRS rotation from veh to nav: [[-0.976912,-0.155915,0.146060],[0.091261,-0.922700,-0.374562],[0.193169,-0.352585,0.915625]]6HB`ÿ?`\? ׿Ĺ? ֿ`L?i6#5@I6_;6KCYF@TAyFHJ=J=bDRdVDR8yZ\X>%Zf=ٔ^9`I`=bFybEbEf>dQ 5jM4fQ?Q 9nM4f )fAYlyn=@Q In?fBIf;if;fM4yrdBɮvܛBt*j|Bj|iiziJii kCRkCRkCRh!2f1:f1Bf1Jf5$KW@MRAɢUE)Q U=iQ)UQYi]TAaIaE=R E=DE=?E9"E=s9*E=a99VE=^4ZE9BE=q:aM2E=v:aUJE=gH:a]:E=iH:a]I^A#=2Acoustic response timeoutIAIQO[>qԡ Npя,(G)F?A2$4@2pB@2+Cٱ2c :AHRS rotation from veh to nav: [[-0.976010,-0.168880,0.137419],[0.106541,-0.920879,-0.375007],[0.189877,-0.351370,0.916780]]2Hy;ٝſ?@BF? wؿM?`|ֿ`CV?i2$4@I2^;0YBTAyBHbDN;VDN8yn=%rH=ٔrE9tIt=vFyvEvEv>xQ 5~M4z?Q 9M4z )zAYy$<@Q I?zBIz;iz;zKM4y aBɮ B*j!Bj!i!i)zi)Ji)i) k6k6k6hA k3Sk3Sk3ShQe2Acoustic response timeout2fi:fiBfiJfm΍V@y颕#SAɢaR) 5=i)2顙i=EIԡEeV EaEaEa"Ee=:*EaVEaZEaam@am@am@am@^A=IiIyOa> 2Acoustic response timeout xvя,%)F?A2_ 3@21@@2@ٱ2׺ :AHRS rotation from veh to nav: [[-0.974672,-0.183423,0.127944],[0.123480,-0.918379,-0.375944],[0.186458,-0.350623,0.917767]]2H@0hzǿw`?`\?[cuؿ?pֿY^?i2_ 3@I2^;2MCYBXVAyBHbDNVDNz8yV(Y>%VN=ٔV9XIX=ZFyZE^-2E^>`Q 5fN4b)ඉ?Q 9fN4b )bAYdyf ;@Q Ij?bEBIb:ib:b1N4yn^BɮnBnѶE*jxBjxixixzixJi|i| kCQkCQkCQh  kSQkSQkSQh2f:fBfJfU@SAɢ/߽) 3>i)qi=JI!B\>BB:HB WAB=BBDBq;BDEm2Acoustic response timeout^A]#=IIOj>1bE^4jEM4rE0E]R E]BE]=EY"E]s9*E](9VE]|4ZEYBEYau2EYauJE]H+:au:E]K+:a}Y  = <% 2Acoustic response timeout|я,z)F?A21@2þ?@2<ٱ2/ :AHRS rotation from veh to nav: [[-0.972674,-0.200129,0.117702],[0.142605,-0.915025,-0.377351],[0.183219,-0.350255,0.918560]]2H % ֝ɿ!?@?G&ؿ@s? jֿ d?i21@I2^;2KCY^@WAy^\H`b@Att t)tItbD~VD~K8y P >% D=ٔ 9I=FyE@E>!Q 5-N4%U?Q 9-N4%> )%AY)y-9@Q I-?%BI%$:i%=:%N4y=IBɮ=aB=ǶE*jIBjQiQiQziQJiQiY kOkOkOhi kOkOkOh2f :f Bf Jf ’T@1MSAɢUڽ)Q US>iY)]YYYi]uNaIaa^Ay2Acoustic response timeoutԉAIIO >i I De =De < я,*F?AEU ECE@E"E:*E09VE4ZEa"@a"@a&@a&@R=u0@Rk>@Rb9ٱR ZAHRS rotation from veh to nav: [[-0.970085,-0.218045,0.106733],[0.162837,-0.910510,-0.380074],[0.180054,-0.351324,0.918778]]RH@ @˿R??`"` Sؿ ?|ֿ@f?iR=u0@IR9^;ROCYbXAyb5HyMMI I9M&1?> ףp=?-ӿYMP?yMQ>M5M%BMsoB M%uD=ٔ}-;Q-}>9yIy=FyEKE>Q 5N4?Q 9N4 )KAYte?Q El:ybD@Q I?BIm ;i ;V#N4yFBɮ2B*jBjiiziJii k\k\k\hY2fmXF>:fmXF>Bfm~@ԑJfm%?2Acoustic response timeout颭VTAɢѽ) >i)iRIԹ^A=BR>BJCBHBYABBBB3;BEAA II Ia O > 2Acoustic response timeout Fя,̳(*F?Aɰ2 /@2Z=@206ٱ2[ :AHRS rotation from veh to nav: [[-0.966817,-0.237121,0.095074],[0.184381,-0.905255,-0.382777],[0.176831,-0.352545,0.918936]]2H)Yο`V?`ə?iؿd?ֿg?i2 /@I2^;0YjNYAyjHbDMEVDM8y5=%I=ٔ9I=FyE^E>Q 5N4섶?Q 9N4 )AYyB@Q I?vBI)K;iWL;1N4yDBɮB*jBji i zi Jii! k[k[k[h2f:fBfJf?E-W E-@E)E)"E- :*E-9VE)ZE)BE-!:a=2E-&:a=JE-*:a=:E-,:a=mTAɢmjϽ)q u>iq)u1#qqiu3VyI2Acoustic response timeout^A#=I A I I O5 >я,ҎB*F?A6-@6;@6H2ٱ6;ڻ >AHRS rotation from veh to nav: [[-0.962837,-0.256905,0.083339],[0.206715,-0.899559,-0.384790],[0.173823,-0.353262,0.919234]]6H`"qпU?u? /dؿ??@؛ֿ]j?i6-@I6R^;6MCYF{ZAyFXHJ=Ja=E2Acoustic response timeoutbDMVDMZ8y~:>%K=ٔ];Q->9I=FyEjE>Q 5N4g?Q 9N4 )AYytA@Q I?)BIB:i[:?N4yABɮBƶE*jBjiiziJii ksBksBksBh k3bk3bk3bh2f :f Bf Jf ?q/^\Aggregate::initialize marl:SendObservationDataq0/%-_-6data element is not active._-pGot test_good : n/a str and temp var is nan n/a str /-/-EUAɢE]Ľ)A E>iA)MIIiMZIIQQE[ EEEBE"Ea:*EA9VE5ZEa@a@a@a@y^A=a rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=1pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutA I I! O] >ԩ MƖя,/j\*F?A2,@2:@2 /ٱ2 :AHRS rotation from veh to nav: [[-0.958218,-0.277131,0.070829],[0.229463,-0.892591,-0.388109],[0.170778,-0.355641,0.918888]]2Hѿ !? _?ؿ?ֿ g?i2,@I2E^;0@Y^[Ay^ HbD%VD% 8ye7>%eL=ٔm6;Q-m>9iIi=uFyuEu3qEu>Q 5N4I?Q 9N48 )2AYy?@Q I?BI;i;MN4y>BɮʚB*jBjii zi Ji i  kLkLkLh! k3^k3^k3^B=D>B=HCB=AHB=[AB==B9B=~DB=;B=EBKCBJCBCB=B=C @5h12fi:fiBfiJfm?Y}.Ă@/}10}颕zUAɢͿ) >i)顙i _IԩMzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYU2Acoustic response timeout^AE\ E@E?E"E:*E9VE^4ZEBE;a2E;aJEa:E-:aA) I1 IA e Failed to create a data reader. azimuth_vehicleFrame is unknown.e bFailed to request data from azimuth_vehicleFrame.Ii O >  2Acoustic response timeoutrя,gEv*F?A2*@2}8@2e,ٱ2 :AHRS rotation from veh to nav: [[-0.952943,-0.297426,0.058626],[0.252398,-0.885550,-0.389995],[0.167911,-0.356846,0.918949]]2H~ ӿD?K'?mVؿ~?ֿ h?i2*@I2T^;2KCYb\AybHbDjnVDj8pyv/E>%vR=ٔv;Q-z>9xIx=zFyzE~{E~>Q 5 N4.?Q 9 N4 )AY yV>@Q I?BI$:i:0[N4y;BɮB*j1Bj1i1i9zi9Ji9i9 kEkEkEhQ kS`kS`kS`ha2fq:fqBfqJfu?Y100额UAɢAG) >i)N顡ibI ^A!9iqIuA2Acoustic response timeoutAIIO>a E R E BE E "E s9*E (9VE ZE a @a @a @a @Aأя,C *F?A2(@26@2E)ٱ2 :AHRS rotation from veh to nav: [[-0.947037,-0.317773,0.046279],[0.275359,-0.877737,-0.392115],[0.165225,-0.358604,0.918751]]2HN`fVԿ? z?l`kٿ&?@_ֿhf?i2(@I2^;2JCYB]AyB5HDF?A9yMZd;O?A`"?Cl绿MjM;߽I I9M +?n?V-ͿYM6?yMV>MmMBI MB)MBIYMBbDe0VDe8yu=%uB=ٔu;Q-}>9yIy=FyE|iE>Q 5N4?Q 9N4 )AY!Z?Q Ey:yCQ I?8BI? ;i ;iN4yɮB*jBjiiziJii kGkGkGh k_k_k_h2fi>:fi>Bf?Jf@aSendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 10.008714 min 0^DCompleted marl:SendObservationDataq/^`Aggregate::uninitialize marl:SendObservationDataq0-6VAɢ-)) 5}>i1)=|99i= JgAIA2Acoustic response timeouti^AԑB=7>B=GCB=HB=^AB9B9B=|DB=';B=uEAII O= >m 2Acoustic response timeout bя,j*F?A2w'@2m5@2,'ٱ271 >AHRS rotation from veh to nav: [[-0.940634,-0.337705,0.034098],[0.297977,-0.869706,-0.393473],[0.162533,-0.359953,0.918704]]2Hտ@Eu?@? `.ٿ?y ׿f?i2w'@I2^;2ICYJ^AyJHdd d)dIdbDrVDr~8yz3<>%zS=ٔ~0;Q-~>9I=Fy E zE >Q 5-N4?Q 9-N4 )AY1y5kEԙQ I=?BIO5 > lя,*F?Aɰp;2 %@23@2I$ٱ2 :AHRS rotation from veh to nav: [[-0.933787,-0.357135,0.022287],[0.320054,-0.861440,-0.394319],[0.160023,-0.361077,0.918704]]2H`JֿJҖ? {?@@<ٿ{?׿f?i2 %@I2^;2NCYB_AyBo HbDNVDNF8yV >%VO=ٔVE;Q-V>9XIX=ZFyZE^sE^>`Q 5bN4b۵?Q 9fN4bE )b3AYdyfFQ If?b@CIb:ib:bEN4yn5BɮnEBl*jxBjxixi|zi|Ji|i| kCakCakCah2Acoustic response timeout kSakSakSah)2f9:f9Bf9Jf=C[@19E rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9M9M7MoMXAggregate::initialize marl:UpdateCommandMode18M]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnULAggregate::initialize marl:UpdateSpeed7U]Q7UnU4Completed marl:UpdateSpeedq7Un]PAggregate::uninitialize marl:UpdateSpeedmVAɢu)q u? ?iq)}yyi}/oIET E?E@E"E9*E?9VE4ZEa @a@a@a@^A1IAaIqIO>2Acoustic response timeout M Wj>M C G = 99 YE qAq Yя,*F?AYA`Ay H%a=!bD?VD8y{=%:=ٔQ->9I=FyEE>B/>BFCB/ HB`AB=BBBd;B EIQ 5UN4M?QQ 9UN4M )M~AYYyYQ I]?MCIM+;iM,;MN4ye2Bɮm*Bi*jyBjyiyiziJii k3_k3_k3_h kC_kC_kC_h2f:fBfJfsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderVWAɢ؊) ?i)xi2tI52Acoustic response timeoutԁ^A9ER ECEBE"Es9*E09VE5ZEBEp:a%2Eu:a%JE9:a-:E9:a-ԩA $AI I O > 2Acoustic response timeout }>я,*F?A2$#@21@2Mkٱ2 :AHRS rotation from veh to nav: [[-0.919495,-0.393102,0.000706],[0.361231,-0.845651,-0.392921],[0.155055,-0.361034,0.919572]]2Hl`(ٿ@G?@i?`%ٿ?,׿"m?i2$#@I2^;0YNwaAyR HbD-VD-8yeE>%eP=ٔmHR9mH?IuH?=uFyuEuEu>yQ 5N4}?Q 9N4} )}!}AYyiH@Q I?}CI}[:i}R:}UN4y0BɮBĶE*jBjiiziJii k]k]k]h k]k]k]h2f:fBfJf+@ WAɢ y)  ?i)i,AxIԱ^A#=M2Acoustic response timeoutAAII O= >E% Z E% BE% ?E! "E% :*E% (9VE% ^4ZE! a- @a- @a- @a5 @9 &Ċя,nh+F?AY~9bAy~ HyGz?e;O?Dl?p?t>O= 9 +?T㥛 ??Yy>=OBmB )ՄBYBbDVDz8yq=%A=ٔ Q- >9 K?I K?= FyEE>Q 5%N4򅵉?Q 9%N4 )}AY-GP?Q E-:y-"AQ I-?ECI:i:)N4y5-Bɮ5B9*jIBjIiIiIziQJiQiQ k#^k#^k#^hi k^k^k^hy2f0>:f0>Bfwr?Jf׋m@ߕ=ߑ2Acoustic response timeoutXAɢ) "?i) iM|QIQ9^A=B*>BECB HBbABB%DB{DB;BEi A $AI I M 2Acoustic response timeoutO >1Yʊя,g++F?AR= @R.@R1sٱRZ bAHRS rotation from veh to nav: [[-0.905687,-0.423603,-0.017091],[0.396427,-0.831916,-0.388281],[0.150259,-0.358436,0.921383]]RH`bPۿG_? ؿ@;?`ֿ`{?iR= @IR>^;RKCYr>cAyr HttbDVD?8y%,>%%Y=ٔ-R95H?I5H?==Fy=E=νE=>AQ 5MN4E,l?Q 9UN4ER )E}AYQyUCQ IU?ECIE+;iE:EcN4y]*Bɮ]™Ba*jBjbE4jE4rE/EU E?E<E"E:*E?9VE 4ZEBE :a2E:aJE59a:E:9ai!i!zi!Ji)i) kc^kc^kc^h9 k^k^k^hi2f:fBfJf2$k@颽jXAɢ>) =-?i)KiIYhDAT read: Forwarding Delay UpTx time:18:36:28.4498 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԉ^AAAI I OE >Ա M8ъя,E+F?A2*@2-@2ٱ2+ :AHRS rotation from veh to nav: [[-0.898862,-0.437496,-0.025369],[0.412553,-0.825249,-0.385700],[0.147807,-0.357157,0.922275]]2Hz`ۿXCg?@ph@Oؿ`S?@ֿG?i2*@I2S^;0PYfdAyf@ HbDn6VDn8yv>%vO=ٔz;Q-z>9zK?IzK?=~Fy~E2Acoustic response timeout7E >Q 5N4=Q?Q 9N4 )^~AYyDQ I?CI;i";1N4y)ɮ-B)*j9BjAiAiAziAJiAiA kC\kC\kC\hY2fi:fiBfiJfmj@颍XAɢʂ) 5?i)X顑i啂IE EEE@E"E*EA9VE4ZEa@a@a@a@^A#=A$AII OE>2Acoustic response timeout! = PExceeded connect timeout, disconnecting.d׊я,\_+F?Aɰ;2@2w,@2;ٱ2 :AHRS rotation from veh to nav: [[-0.892275,-0.450247,-0.033509],[0.427500,-0.818658,-0.383462],[0.145220,-0.356479,0.922948]]2Hܿ((\?q2ؿ?ֿ ˈ?i2@I2 ^;2MCYBdAyB HTT T)XIXbD^VD^8yf=%fL=ٔj;Q-j>|9jH?I=H?==Fy=E=M$E=>AQ 5MN4E$5?Q 9MN4EX )E~AYQyUEQ IU?E;CIE;iE;EN4ye'BɮeBeöEB}<A}<B&>BB HB+eAB=BBB;BE*jBjiiziJii kCkCkCh kYkYkYh2f:fBfJfh@YAɢ!) Py ߽ N>߽ R= 2Acoustic response timeout݊я,x+F?A2}@2Nu+@2\ٱ2H :AHRS rotation from veh to nav: [[-0.885732,-0.462373,-0.041109],[0.441660,-0.812159,-0.381228],[0.142882,-0.355822,0.923567]]2H`W@ݿB )D?4@fؿ`I?@ֿ܍?i2}@I2^;0Y^eAy^? HbDjVDj8yr>%rI=ٔv|;Q-v>9tIt=zFyzEz#Ez>|Q 5N4~6?Q 9N4~ )~'AY y FQ I ?~CI~:i~:~YN4y$BɮmB*j)Bj)i)i1zi1Ji1i1Y kYkYkYh2f:fBfJfg@sYAɢ˒|) D?i) iS!I!ԑ^Ay2Acoustic response timeoutԹAIIOU > D D E T E CE @E "E 9*E 09VE 4ZE a @a @a @a @я,+F?A:@:Ԁ*@:vٱ:>% FAHRS rotation from veh to nav: [[-0.879332,-0.473728,-0.048548],[0.454977,-0.805648,-0.379379],[0.140610,-0.355688,0.923967]]:H@}#`Q޿8ۨ V?@Gؿ ?ֿ@#?i:@I:^;:KCYJfAyJ Hԙygfffff?kt? 9l?Pn?y&1?YW?y>`>BnoB B)BYBbDVDs8y=%:=ٔ+;Q->9I=FyÝE E>Q 5N4?Q 9N4 )AY7i?Q Ei:y<@Q I?CI;i6;N4y !Bɮ PB *j!Bj!i!i!zi)Ji)i) kSAkSAkSAhA kSZkSZkSZhQ]2Acoustic response timeout2fmP=>:fmP=>Bfmߘ?Jfm@颍YAɢu) K?i)顑i%:InManaging dock network, ignoring radio surface power off^ABe$>BaBeIHBedgABe=BaBaBe;BeEB%ECB%ECB!B!B!C%pr5A) I1 IA O > 2Acoustic response timeout! я,O+F?A R7@R)@RX ٱRh ZAHRS rotation from veh to nav: [[-0.873219,-0.484143,-0.055627],[0.467317,-0.799516,-0.377345],[0.138214,-0.355500,0.924401]]RHi2޿!{?@j&ؿ?ֿఔ?iR7@IR^;PYbgAybtHbDEyVDE=8y:>%R=ٔ;Q->9I=FyŝEeE>Q 5O45ᴉ?Q 9O4 )AYy<@Q I?>CI:i:MO4yBEW E@EE"E :*E9VEZEBE!:a2E&:aJE*:a:E,:aɮ)B¶E*jBjiiziJii kAkAkAh k^k^k^h2f:fBfJfU@+ZAɢ #d)! %W?i!)%R:!!i%ZIIQA2Acoustic response timeout^Au#=iA AI I O5 >ԙ vя,e+F?A2@2(@2 ٱ2귻 :AHRS rotation from veh to nav: [[-0.867561,-0.493496,-0.061634],[0.478286,-0.793941,-0.375367],[0.136308,-0.355133,0.924825]]2Hq߿@=?g`ؿ`r? ~ֿ@*?i2@I2^;2LCYBahAyBHDDr2Acoustic response timeout 15bD5MVD58ye=%eL=ٔm;Q-m>9mK?IuK?=uFyuȝEuEu>yQ 5O4}Ŵ?Q 9O4}: )}5AYy4;@Q I?}CI}:i}:}IO4yBɮB*jBjiiziJii k#Fk#Fk#Fh k_k_k_h2f:fBfJf{ه@ {ZAɢ [J) p? ]^?i )iBIES ECEAE"E9*E09VEA4ZEa@a@a@a@^A}=2Acoustic response timeoutAIIO >) 4я,pC+F?A2@@2(@2 ٱ2M :AHRS rotation from veh to nav: [[-0.861854,-0.502534,-0.068317],[0.489012,-0.787735,-0.374621],[0.134444,-0.356277,0.924658]]2HN@@=}`K?@ 5 ׿ u5?<ֿ˖?i2@@I2{^;2ICYB%iAyB]HbDN VDN8yV>%VW=ٔZ ;Q-Z>9XIX=^Fy^ʝE^E^>`Q 5fO4b?Q 9fO4bV )bRAYhyjm:@Q Ij?bCIbg:ib:b O4ynBɮnBp*jxBjxixixzi|Ji|i| k`k`k`hB%#>B!B%uHB%LiAB!B!B!B% ;B%JE kwkwkwh2f:fBfJf\@ ZAɢ K)  7e?i))o11i5ޏ9I912Acoustic response timeouta^A#=EZ EBE@E"E:*E(9VE4ZEBE_;a2Ea;aJEI+:a:EK+:aA I I! ԙ O > 2Acoustic response timeoutя,8+F?Aɰ(6K@6@'@6l-ٱ6ļ >AHRS rotation from veh to nav: [[-0.856060,-0.511433,-0.074824],[0.499581,-0.781562,-0.373605],[0.132594,-0.357209,0.924565]]6Hd]@'!?$׿@?ֿ ?i6K@I6P^;6KCYFiAyFHbDRVDR8yZ>%ZI=ٔZ;Q-^>9\I\=^Fy^͝EbHEb>dQ 5jO4f?Q 9jO4f5 )fAYhyj9@Q In?f;CIf;if ;f.O4yrBɮr՘Bp*jxBj|i|i|zi|Ji|i k#_k#_k#_h kxkxkxh!2f9:f9Bf9Jf=@U#[AɢU 8)Y ]em?iY)]PYYieaIiiIIIԁ^A=ԩiIA2Acoustic response timeoutI1AI I!O}>ԑ E S E CE E "E 9*E 09VE ZE a @a @a @a @я,@,F?A6@6v&@6`ٱ6_ BAHRS rotation from veh to nav: [[-0.850084,-0.520142,-0.082521],[0.510247,-0.774639,-0.373607],[0.130404,-0.359703,0.923909]]6H3@ @S?+׿? `׿ ?i6@I6Y^;6NCY^jAybrHyEMb?/$ƿ~jtx?Ec?E&1E;A A9ES?nףp= ?YE/}?yEVE>EBA E)AAYEBbDekVDeE8ym >%u@=ٔué;Q-u>y9yIy=FyϝEgE>Q 5O4s?Q 9O4 )AY]?Q ER:y!@Q I?CI;i;=O4yɮB*jBjiiziJii k_k_k_h ktktkth]2Acoustic response timeout2f&<>:f&<>Bf}>Jf%Y@%G1Q-[Aɢ]}?)y }jv?׿9YAi)7顑iIԡB->B-DCB-HB-]kAB)B)B)B-;B-E&ּ 2Acoustic response timeout ^A5 #=E U E GE BE "E :*E R9VE 5ZE BE :a2E :aJE t:a:E t:a)AiIqIO>w- я,3,F?AFɮ@F%@FٱFؾ NAHRS rotation from veh to nav: [[-0.843694,-0.529275,-0.089712],[0.521253,-0.767744,-0.372646],[0.128356,-0.361162,0.923627]]FH]?@[l׿m?`E׿`Z?iFɮ@IF^;FKCYVkAyZHll l)lIlbDv*VDv 8y~=%~-=ٔ~;Q-~>9I=FyҝE ߼E >Q 5O4 U?Q 9O4 )χAYy @Q I?CI:i:$NO4y-Bɮ-B-E*j9BjAiAiAziAJiAiI k3Yk3Yk3YhY krkrkrh2f:fBfJfGX@=[Aɢ=7<)9 =|?i9)e0RaaieuiIiԉ2Acoustic response timeout][Ա^A=A I I) O] > 2Acoustic response timeout я,L,F?ABq@BB$@BٱBݟ JAHRS rotation from veh to nav: [[-0.836758,-0.538887,-0.097141],[0.532791,-0.760315,-0.371557],[0.126370,-0.362659,0.923314]]BH> 8޸` ?T׿,?`5׿ ʋ?iBq@IBy^;BJCYRlAyRHbD^VD^8yf>%fN=ٔf;Q-j>9hIh=jFyj՝EnP En>pQ 5vO4r;?Q 9vO4r )rшAYtyz@Q Iz?ryCIr:ir|:r[O4y~Bɮ~zB|*jBjiiziJii k#Zk#Zk#Zh) ktktkthA2fQ:fQBfQJfU_W@m3\Aɢmp )q ug?iq)u{޽yyi}6\yIE=W E9E=@E9"E= :*E9VE=4ZE9aM@aM@aM@aM@E 2Acoustic response timeout!I ^Ae #=B >B B HB mmAB =B B zDB F;B сEA I I O- >17я,*f,F?A2l@2=#@2|ٱ2 >AHRS rotation from veh to nav: [[-0.829377,-0.548737,-0.104978],[0.544823,-0.752784,-0.369439],[0.123699,-0.363598,0.923306]]2HBAߺ/o?@׿ ?1E׿๋?i2l@I2^;2ICYBmAyFHbD VD 8y%>%F=ٔ;Q-%>9!I!=%Fy%؝E- E->1Q 5=O45 ?Q 9=O45 )5݉AY9y=@Q IE?5CI5H;i5;5qjO4yMBɮMEBMEiYI]Ae2Acoustic response timeout*jyBjyiiziJii k[k[k[h kqkqkqh2f:fBfJf\V@\AɢvA) ?i)&ܽiΛIQbEjE4rE(/EMS EMEEM>EI"EM9*EMA9VEM4ZEIBEM:a]2EM:a]JEMV:a]:EMV:a]@>@>y= 2Acoustic response timeoutԩ ^A =A I I OM >  я,i,F?AB@B"@BwٱBWD NAHRS rotation from veh to nav: [[-0.821630,-0.558727,-0.112910],[0.557082,-0.745103,-0.366717],[0.120765,-0.364205,0.923456]]BHJ缿?Hx׿q?#O׿?iB@IBĸ^;@YV nAyV`HbDVDq8y8x=%<=ٔE;Q-M>9QIY=FyڝErE>Q 5O4c?Q 9O4 )AYy@Q I?MCIi;i;6zO4yBɮ4B*j)Bj)i)i)zi)Ji1i1 kCYkCYkCYha2fq:fqBfqJfuLU@颵\AԹɢ#) &?i)8ڽiZI}2Acoustic response timeout^AYEU EFE@E"E:*E;J9VE4ZEa@a@a@a@ A I I O >% 4=% C=- 2Acoustic response timeout9&я,,F?Aɰ2@2!@2ٱ2Ċ :AHRS rotation from veh to nav: [[-0.813235,-0.569234,-0.120923],[0.569860,-0.736866,-0.363714],[0.117934,-0.364695,0.923628]]2H`)7K%O=ٔ;Q->9I=FyݝEL%E>Q 5O4?Q 9O4 )AYʅ?Q E K:y @Q I ?CI:i:tO4yBɮBE*jBjiiziJii k[k[k[h k[k[k[h2fV]>:fV]>Bf=Jf @ 5]Aɢ Xؼ) Í?i)'ٽiʢI!)Bm>BmCCBmDHBm~oABm=BiBiBm;BmE^AQY2Acoustic response timeout>Aa Iq I O >ԁ E T E DE ;E "E 9*E a99VE 4ZE BE :a 2E :a JE gH:a :E jH:a c,я,j,F?A2=@2 @2` ٱ2  :AHRS rotation from veh to nav: [[-0.804372,-0.579944,-0.129035],[0.582794,-0.727981,-0.361103],[0.115484,-0.365662,0.923555]]2H@j;@?K@N׿`_?`g׿@č?i2=@I2^;0YBoAyBbHDDbDNVDN8yV>%V`=ٔZ;Q-Z>9XIX=ZFy^ߝE^1E^>`Q 5fO4bڳ?Q 9fO4b )b)AYhyj@Q Ij?bCIbB:ib[:b.O4yBɮB*j1Bj1i9YiYziaJiaia kcZkcZkcZh2f:fBfJf]@]Aɢ )  ?i )q׽iO䢼I2Acoustic response timeoutԁ^A=#=A)I9IIO> 2Acoustic response timeout K3я,,F?A2@2@2ٱ2 :AHRS rotation from veh to nav: [[-0.794504,-0.591508,-0.137412],[0.596572,-0.718009,-0.358559],[0.113427,-0.366853,0.923338]]2H`l@?@ֿ ?z׿@?i2@I2y^;2MCY^qpAy^HbDjVDj8yr=%rG=ٔv ;Q-v>9tIt=vFyvEz)Ez>|Q 5O4~jó?Q 9O4~) )~=AYy @Q I ?~CI~:i~g:~O4y޵BɮϗBE*j)Bj)i)i1zi1Ji1i1Թ kAkAkAh kMkMkMh2f :f Bf Jf @D1zD5?AE=X E9E=?E9"E=~ :*E9VE=^4ZE9aE@aM@aM@aM@e]Aɢe3ɼ)a m?ii)mrսiiimUqIy2Acoustic response timeout^A=A I I! Om >Aa Ae @ABm >Bm @CBm WHBm =qABm =Bi Bm xDBm ;Bm hEBMDCBMCCBMʕCBM=BM=CMʬ`59 u9я,X,F?A:@:W@:S[ٱ:7¾ BAHRS rotation from veh to nav: [[-0.783929,-0.603426,-0.146056],[0.610797,-0.707428,-0.355629],[0.111271,-0.367999,0.923144]]:HCO`¿ঋ?@@ֿH|? K׿f?i:@I:U^;:LCYJpAyJ-H\\ \)\I\bDfVDf8yn,=%nK=ٔr];Q-r>9pIp=vFyvEv65Ev>xQ 5~O4z?Q 9~O4zh )zPAYy@Q I?zCIz;iz+;zO4y ۵Bɮ B *j!Bj)i)i)zi)Ji)i) k3Ck3Ck3ChA kZkZkZm2Acoustic response timeouthq2f:fBfJf@e"^Aɢe8ح)i m?ii)mQӽqiIAEMW EMEEM@EI"EM :*EMA9VEM4ZEIBEM!:a]2EM&:a]JEMV:a]:EMV:a]^Aq %= < 2Acoustic response timeoutAI IQ Ia O >ԙ ^@я,L-F?Aru@rk@rNk޽ٱrw%¾ -AHRS rotation from veh to nav: [[-0.771802,-0.616648,-0.155134],[0.626557,-0.695937,-0.350853],[0.108390,-0.367989,0.923491]]rHjÿ@ ?E`tֿ n?"׿=?iru@Ir_;rICY]qAyeHyybD_VDc8y=%:=ٔS;Q- >q9I=FyE2E>Q 5O4?Q 9O4K )cAYyz @Q I?iCI:i:O4yɮB*jBjiiziJii kBkBkBh kcXkcXkcXh2f :f Bf Jf ma@^B*** querying acoustic contact ***XY5w^Aɢ5ش)1 5?i1)5]ѽ99i=49IA@U>@U>u2Acoustic response timeoutԙ^AqDIDM%=EU[ EUJEQEQ"EUa:*EUk9VEQZEQae@ae@ae@ae@A I I O% >  2Acoustic response timeoutFя,wd-F?A2 @2}@2׽ٱ2B¾ >AHRS rotation from veh to nav: [[-0.757948,-0.631028,-0.165280],[0.643773,-0.682746,-0.345563],[0.105216,-0.368322,0.923725]]2H Ab1'ſʙ?ֿ`r?׿(?i2 @I2\Z_;2MCYFrrAyFHy"~j?S㥛?㥛 ¿S#?/< 9V-?~jt?Zd;׿Y|??y= BhB #B)BYBbDVD8yh=%N=ٔ9I=FyEpE>Q 5O4?Q 9O4w )AY2V?Q E}:y@Q I?CIU:i:O4yصBɮB*j BjiiziJii kcZkcZkcZh) kcZkcZkcZh92fUF>:fUF>BfU=JfUe?m^AɢmpQ)) -?i1)5tϽ11i5灬9I9B>BEa  Ee KEe >Ea "Ea *Ee ]t9VEe 4ZEa BEe ;am 2Ee ;au JEe ):au :Ee *:au lLя,=5-F?A4<ɰ6؋ @6@6Bнٱ6¾ >AHRS rotation from veh to nav: [[-0.743009,-0.645876,-0.175444],[0.661500,-0.668833,-0.339234],[0.101760,-0.368111,0.924197]]6H` tƿ+? gտ ? ׿?i6؋ @I6l^;6LCYF sAyFsHbD VD 8yH=%N=ٔ9I=FyEpE>Q 5O4us?Q 9O4C )AYy"@Q I? CIp:ig:O4yƵBɮdBE*jBjiiziJii k#Zk#Zk#Zh ksksksh2f:fBfJf|?- _Aɢ5J)1 5?i1)=mͽ99i=ԮAIA2Acoustic response timeoutQ^AyԁIqIO>ԩ  2Acoustic response timeoutəSя,?O-F?A6 @6@6IȽٱ6zL >AHRS rotation from veh to nav: [[-0.727598,-0.660544,-0.185153],[0.679019,-0.655048,-0.331430],[0.097640,-0.366870,0.925134]]@6H|H-#ǿ@?`&%6տ?`z׿`?i6 @I6_;6ICYJ}sAyJHLLbD \VD u8yE=%MN=ٔM:+9IIQ=UFyUEURrEU>aQ 5eO4eb?Q 9mO4e )eAYiym@Q Im?eU CIeB:ie:eO4yuõBɮ}SBy*jBjiiziJii k#[k#[k#[h kukukuh2f:fBfJfa?E] EFE@E"E:*E;J9VE4ZEa%@a%@a%@a%@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed^_Aɢpe) ?i)v;˽i,IԱ 5Wi>5C2Acoustic response timeout9Y«A^AII I! OM >B >B :CB KHB jtAB =B B sDB ;B E! Yя,^h-F?ApYvsAyvHE2Acoustic response timeoutbD,VDH8ymm=%mH=ٔmQ-u>9qIy=}Fy}EE>Q 5O4yQ?Q 9O4f )͇AYyQ I? CI-;i8;O4yɮEB*jBjiiziJii kS\kS\kS\h2f:fBfJfsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder_Aɢ) !?i)?ɽiSoI E-[ E)E->E)"E-a:*E)VE-4ZE)BE- ;a52E- ;a5JE-e:a=:E-e:a=^A19IIO>2Acoustic response timeouta <`я,ނ-F?A<<9@@ٱX AHRS rotation from veh to nav: [[-0.695147,-0.688384,-0.207121],[0.713482,-0.625478,-0.315785],[0.087832,-0.367294,0.925948]]H>=ʿ?@ 5Կ)|?׿^?i@I#^;KCYtAyZHyU)\(?RQ?Mb`?UG!?UB>U;Q Q9U㥛 ?RQ?y&1̿YU?yU>U`eQQ UB)UQYUBbDmVDm8y}̬=%}9=ٔ49I=FyEֽE> Q 5P4 =?Q 9P4 }| ) AY,?Q E:y%@Q I?  CI :i U: P4y%Bɮ%/B%E*j9Bj9i9i9zi9Ji9iA kYkYkYhQ kZkZkZhq2f^u>:f^u>BfW @Jf @_AɢuS) 7?i);ƽiQIiAIEAU2Acoustic response timeoutaԉE5V E1E1E1"E5=:*E1VE1ZE1aE@aE@aE@aE@^AaIIO5 >Թ  2Acoustic response timeoutfя,ݶ-F?A2U@2%~@2sٱ2w꿾 :AHRS rotation from veh to nav: [[-0.678871,-0.701876,-0.215646],[0.729591,-0.611753,-0.305704],[0.082645,-0.364867,0.927384]]2HPuH˿X?zӿ`4(?Y׿"?i2U@I2^;2NCYBtAyBHDDTX X)XIXbDbVDb 8yf=%jj=ٔjtB9CBHBuAB=BBrDB;B߀E^A1IIO k>]2Acoustic response timeout bEʗ4jE^4rEʼ 0EE X EE EEE BEA "EE ~ :*EE A9VEE 5ZEA BEE :aM 2EE :aU JEE V:aU :EE V:aU mя,ۆ-F?A:&@:@:Yٱ: VAHRS rotation from veh to nav: [[-0.663236,-0.713673,-0.225362],[0.744363,-0.597758,-0.297673],[0.077729,-0.365179,0.927687]]:H`;9@i̿?  ӿ?_׿?i:&@I:t^;:LCY^uAy^HbDVD8y=%F=ٔ%D9I=%Fy%E%VE%>)Q 55P4-,?Q 95P4-u )-`AY1y=+#@Q I=?-h CI-L;i-j;-!P4yAɮE BA*jYBjYiYiYziaJiaia kVkVkVhq kXkXkXh2f:fBfJf@颵`Aɢ`=-) F?i)V½i!I)In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout!^AIIOEs>Qm rmodem://6: set _.others_observations nan n/a str none_strm #Outgoing data=1m pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITu 2Acoustic response timeouty sя,a-F?A;ɰ4<2@2@2ٱ2ՠ :AHRS rotation from veh to nav: [[-0.648110,-0.724338,-0.235132],[0.758039,-0.584004,-0.290374],[0.073011,-0.366433,0.927575]]2HQ`-ο A?){ҿӰ?@s׿`?i2@I2]^;2MCYnvAynDHbDEcVDE8yN=%C=ٔ499I=FyE2HE>Q 5P4* ?Q 9P4q )AYy!@Q I? CI:i:t0P4yBɮB*jBjiiziJii kcekcekceh kceEU E?E@E"E:*E?9VE4ZEa @a @a @a @kcekcehY2f:fBfJf@`Aɢ˻) F?i)~iwI ԁzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout^AU#=ԩA I I A A B >B 7CB HB vAB =B &DB pDB ;B ̀EO > Azя,=-F?ANב@N@NOٱNl> ^AHRS rotation from veh to nav: [[-0.633099,-0.734970,-0.242909],[0.771024,-0.570939,-0.282046],[0.068609,-0.365852,0.928141]]NH`XB`Ͽ`;?"E` ҿ`?j׿`T?iNב@IN`^;LYfovAyfHh%2Acoustic response timeouthbDOVD}8y=%B=ٔ,9 I = Fy EAE>Q 5%P4]?Q 9%P4m )AY!y- @Q I-? CIg:i:#?P4y5Bɮ5ږB5E*jIBjIiIiIziIJiIiQ kakakahiԱ kakakah2f:fBfJfi@%"aAɢ%f)) -o?i))-A)1i5I1I9E-Y E-GE-<E)"E-:*E-R9VE- 4ZE)BE-;a=2E-;a=JE-t:a=:E-t:a=^AU=A]pAzA]qA2Acoustic response timeout AA IQ Ia O >im oAIm oA9 я,}.F?AQ@G@1ٱF0 -AHRS rotation from veh to nav: [[-0.618090,-0.745563,-0.249201],[0.783457,-0.558223,-0.273099],[0.064503,-0.364038,0.929148]]Hc@Ͽ ?@szѿ`@?dL׿?iQ@I~^;NCYmwAymHyUS??:v?U/?UU̼UȿBU5gB U8B)UBQYUBbDu.VDu_8y}=%}B=ٔ~ 9I=FyEg>E>Q 5P4h沉?Q 9P4j )ZAYH?Q E:y)@Q I?+ CI;iL;MP4 yMBɮU–BQ*jBjiiziJii kekekeh2f{>:f{>BfV?Jf@%paA-2Acoustic response timeoutɢ%e)A E ?iI)McֻIIiMQIQ9E] EEAE"E:*EVEA4ZEa%@a%@a%@a%@^Aa A $AI I O > =  2Acoustic response timeout 3я,D2.F?A2@2@2Byٱ2Ԓ >AHRS rotation from veh to nav: [[-0.603484,-0.755381,-0.255356],[0.795043,-0.545554,-0.265100],[0.060940,-0.363003,0.929793]]2HO,`Wп`p?.udп3?p;׿?i2@I2Q^;2KCYFKwAyFHJ=HbDRVDR&8yV=%Vk=ٔZ(B=5CB=XHB=wAB==B9B=oDB=;B=EB9CB9CQB–CB=B=Chz6^AAy%2Acoustic response timeoutAMAIYIiO>ԩ E V E DE ;E "E =:*E a99VE 4ZE BE :a 2E :a JE eH:a :E gH:a Mя,7.F?APZ?Z @Z>kٱZ섽 fAHRS rotation from veh to nav: [[-0.588504,-0.765338,-0.260615],[0.806446,-0.532748,-0.256564],[0.057516,-0.361161,0.930728]]ZH } пg?D kп r?`B׿@?iZ?IZ^;ZNCYjwAynjHpp v9 K?I K?= Fy E<E>Q 5%P4Ʋ?Q 9%P4e )ԂAY!y%'@Q I-? CIn;i:ThP4y5Bɮ5B5E*jIBjIiIiIziIJiIiQ kLkLkLha ksbksbksbhq2f:fBfJf@颥aAɢk;) i?i)ɷ顩i_¼I2Acoustic response timeout^A#=A)I9IIO>! M 2Acoustic response timeout 6я,Q.F?A2ql?2 @2+^ٱ2˼ :AHRS rotation from veh to nav: [[-0.573316,-0.774929,-0.266070],[0.817538,-0.519569,-0.248353],[0.054214,-0.359907,0.931412]]2H@X8IѿF)?N@Ͽ?׿ ?i2ql?I2}^;2LCYB%xAyBHbDNuVDN8yVB4=%VP=ٔV 9XIX=ZFyZE^oDE^>|Q 5%P4嵲?Q 9%P4a )AY!y%U&@Q I-? CI:i:tvP4y1ɮ5B1*jABjIiIiIziIJiIiI k`k`k`ha k`k`k`hq2f:fBfJfBV@颭7bAɢU;) j?i)顱iüIEX EGE>E"E~ :*ER9VE4ZEa@a@a@a@)2Acoustic response timeout^A=QAIIYIiO>BI AM 4=BU >BU 6CBU HBU xABU =BQ BU pDBU ;BU lEԁ eaя,k.F?AB?BTw @BOٱB) NAHRS rotation from veh to nav: [[-0.557914,-0.784286,-0.271345],[0.828347,-0.506277,-0.239844],[0.050731,-0.358580,0.932119]]BH n@]ѿ@с? k3@9ο d?ֿ?iB?IBE^;BMCYZxAyZHpp p)pIptvA2Acoustic response timeoutbDzTVDz8y =%D=ٔY9yIy=}Fy} E}3E>Q 5P4Ϥ?Q 9P4^ )>AYy(%@Q I? CIO;i;P4yBɮB*jBjiiziJii k]k]k]h12fA:fABfAJfEeȄ@}bAɢ};)y }?iy) 顁iżIԑEZ EPE@E"E:*E?9VE4ZEBE];a2E_;aJE:a:E:a^A2Acoustic response timeoutA I! I1 Om > eKя,m.F?AV?VZJ @VLAٱV bAHRS rotation from veh to nav: [[-0.542695,-0.792950,-0.276969],[0.838597,-0.492963,-0.231823],[0.047289,-0.358075,0.932495]]VH]_ ܹѿ ? ߿`aͿ96?ֿ?iV?IV^;VKCYjyAyj%HlnR=y]HzG?kt?ˡE?]=*?] 0=]'=Y Y9]'1Z?~jt?Dl?Y]"?y]D>]O=] B]eB ]B)]vBYY]=BԱbD$VDj8yU=%]7=ٔ];Q-]>9aIa=mFymEu,Eu>yQ 5P4}ّ?Q 9P4}Y )}UAY*?Q E:y*@Q I?}] CI}j;i}ew;}MP4yɮ}B*jBjiiziJii k3_k3_k3_h kC_kC_kC_h2f>:f>BfŪ?JfŐy@颥bAɢp.;) ?i)m顩i*ǼI@@ 2Acoustic response timeoutE[ EHEAE"Ea:*E[9VEA4ZEa@a@a@a@ ^AAE $AII IY O > 9 Y AQ  2Acoustic response timeout$rя,:.F?A2[?2#@2E3ٱ2l :AHRS rotation from veh to nav: [[-0.527613,-0.801728,-0.280814],[0.848358,-0.480264,-0.222792],[0.043754,-0.355779,0.933545]]2H3 §`ѿ%? ޿ s̿f? ֿ`?i2[?I2y^;2MCYnyAyrlHbDEVDE48y|=%W=ٔ9H?IH?=FyEBE>Q 5P4?Q 9P4|U )hAYy@Q I? CI:i:P4yBɮkB*jBjiiziJii k_k_k_h k_k_k_h2f:fBfJfAux@cAB>B5CBHByAB=BBoDB;B5Eɢ <) ?i)Xi1ȼI!IiIA-hDAT read: Forwarding Delay UpTx time:18:36:42.3497 -pIn parseResponses, set commsState_ = SENDING_ACK_WAITING52Acoustic response timeoutII^AQAa Iq I O >E V E JE ?E "E =:*E k9VE ^4ZE BE :a 2E :a JE :a :E :a я,.F?A2?2-@2Yk#ٱ2ڹ :AHRS rotation from veh to nav: [[-0.512517,-0.809761,-0.285680],[0.857750,-0.467345,-0.214135],[0.039887,-0.354790,0.934095]]2Hf Hҿr? ݿ h˿l?ֿ?i2?I2^;0YB zAyBH=bD%VD%8y}=%L=ٔ9I=FyE>6E>Q 5P4p?Q 9P4P )zAYy@Q I? CI/;iR:|P4yɮZB*jBjiiziJii k`k`k`h k`k`k`h2f:fBfJf_]w@%NcAɢ%<)! %?i))-%))i--ʼ1I1}2Acoustic response timeout^A}#=AAIIO >) - 2Acoustic response timeoutя,.F?A2Y?2|@2nWٱ2& :AHRS rotation from veh to nav: [[-0.498188,-0.817217,-0.289767],[0.866313,-0.455180,-0.205703],[0.036208,-0.353507,0.934731]]2H`O߿& ҿո?`!ݿ zTʿ 䉢?ܟֿP?i2Y?I2j}^;2LCYBIzAyBHDF@A 4<bD aVD 8y=%J=ٔ9K?IK?=FyE(E>Q 5P4_?Q 9P4L )AYy@Q I?' 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CIy:i-:Q4yɮѕB*j Bj iiziJii kBkBkBh) k#[k#[k#[h92fI:fIBfIJfM@ eAɢ <)  ?i )4<i+ӼIEa ECE>E"E%.:*E09VE4ZEBE?3;a2EA3;aJE9:a:E9:a^A#=A%V?A%Z?2Acoustic response timeout9 A AI I O >Q gя,/F?AF!?F ?FٱFݡ VAHRS rotation from veh to nav: [[-0.402192,-0.857493,-0.320853],[0.915355,-0.369267,-0.160523],[0.019167,-0.358256,0.933427]]FH ٿp ܈ԿJ?׿Ŀ p?ֿ?iF!?IFQt^;FLCYb|AybhHyp= ף?EԸMb?E?ƽ= 9Q?i|?5?#~j?Y(\?yq==mB0gB )BYBbDVDW8y%F=ٔu;Q->9K?IK?=Fy'E !"E >Q 5Q4:f ?>Bf?Jf?C@颥XeAɢl<) ?i))m㘽iiiueԼqIy2Acoustic response timeoutY^AE\ EGE@E"E:*ER9VE4ZEa@a@a@a@ԁ A I I OU >ߝ >ߝ %= 2Acoustic response timeout,я,͡/F?A,2#?2?2ٱ2 >AHRS rotation from veh to nav: [[-0.386540,-0.863207,-0.324746],[0.922112,-0.355146,-0.153562],[0.017224,-0.358810,0.933252]]2Hؿ@e Կ?ֿÿ !?ֿ2?i2#?I2q^;2MCYF$}AyFHHJAbDRVDR/8yV=%Vb=ٔZi;Q-Z>9XI\=^Fy^)E^^AEb>`Q 5fQ4b㱉?Q 9fQ4b, )bjAYhyj/@Q Ij?bCIb:ib:b-Q4ynhBɮrÕBp*jxBj|i|i|zi|Jii kGkGkGh k_k_k_h!2f9:f9Bf9Jf=d)B@UeAɢ]=)Y ]?iY)]aaie[ռaIiB=w>B=1CB=HB=&}AB9B9B9B=;B=Eԉ^A]=Թ2Acoustic response timeoutAM$AIQIiO> E Z E FE =E "E :*E ;J9VE |4ZE BE ];a 2E _;a JE e:a :E e:a 8я,¥/F?A6 ?6?6uwٱ6>ü >AHRS rotation from veh to nav: [[-0.370651,-0.868362,-0.329493],[0.928650,-0.340737,-0.146654],[0.015079,-0.360341,0.932699]]6H׿gտ@?տ¿?׿`?i6 ?I6=k^;4YFD}AyFHHHR@APbDVVDV8yZc<%^J=\ٔ^;Q-b>9bH?IbH?=fFyf,Ef-Ef>hQ 5nQ4j8ֱ?Q 9nQ4j )jAYpyr@Q Ir?jCIj;ij;j;Q4yvKBɮvBvwE*jBji i zi Ji i  k#Gk#Gk#Gh! kbkbkbh12fA:fABfAJfEDA@eeAɢe+<)a m?ii)mTFiiimּqIq]2Acoustic response timeout^AA AII)Ou> 2Acoustic response timeoutA я,0/F?A2{?20g?2Iٱ2|y :AHRS rotation from veh to nav: [[-0.354156,-0.873446,-0.334164],[0.935105,-0.326038,-0.138844],[0.012322,-0.361651,0.932232]]2H ~ֿ Ebտa?Կ`m9ZK?IZK?=ZFyZ/E^4E^>Q 5%Q4ȱ?Q 9%Q4 )؄AY!y-@Q I-?mCIh-;id.;8JQ4y5GBɮ5B1*jIBjIiIiQziQJiQiQ k^k^k^hi k^k^DyzD}@AEU EEEE"E:*EA9VEZEa@a@a@a@k^h2f:fBfJf(?@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed fAɢ\<) ?i)i׼I Wh>CEnGYq9Y,Ay?AI2Acoustic response timeout^AyA1A1B=r>B9B=HB=}AB9B9B9B= ;B=EAm$AIyIO>ԡ Jя,d\/F?Ab2Acoustic response timeoutY~}Ay~H!! !))I)bD5)VD58yuE<%u>=yٔ}Q-}>9H?IH?=Fy1EE>Q 5Q4Y?Q 9Q4 )AYyQ I?CI;i;XQ4yɮB*jBjiiziJii k]k]k]h k]k]k]h2f:fBfJfsNUpdating rudder angle 6.875493 arcdeg 9r 6Completed marl:UpdateRudder19  r RAggregate::uninitialize marl:UpdateRudder%IfAɢ%p<)! -Ǻ?i))-G))i-ټ1I1E\ EE<E"E:*EVE 4ZEBE;a2E;aJEV:a:EV:aԩ^A}%=y2Acoustic response timeoutIA- AIi I Ou > 9я,7U 0F?AB4?Bq ?BaӻٱB JAHRS rotation from veh to nav: [[-0.322741,-0.882129,-0.343055],[0.946465,-0.298317,-0.123332],[0.006456,-0.364494,0.931183]]BH ʧԿ`f:տqI?@ӿ qz? S׿ A?iB4?IB\e^;BLCYR}AyRHy-1Zd?/$:v?-"[?--T=) )9-x&1?Mb?~jtx?Y-a?y-<-;-B-hB -wB)-B)Y-BbDEVDEi8yU=%UK=ٔUo9]K?I]K?=]Fy]4EeEe>iQ 5uQ4mo?Q 9uQ4mM )mAYua?Q Euq:y}?Q I}?m$CIm:imj:mfQ4yɮB*jBjiiziJii k]k]k]hQ2f=:f=Bft?Jf`jG@额fAɢ<) ?i)dÌi-&ڼI@@>2Acoustic response timeout^AE#=DD=EY EGE@E"E:*ER9VE4ZEa@a@a@a@1A] $AIa Iq O >I u 2Acoustic response timeout\я,0#0F?A2=?2V)?2ueٱ2E :AHRS rotation from veh to nav: [[-0.308177,-0.885428,-0.347914],[0.951323,-0.285480,-0.116129],[0.003501,-0.366766,0.930306]]2H*ӿmU 8Dֿ`9mH?ImH?=uFyu6EumEu>yQ 5Q4}ݧ?Q 9Q4}i )}AYy?Q I?}CI} :i}E:} uQ4y1BɮxBmE*jBjiiziJii kCEkCEkCEh kc_Bp>BBYHBC~AB=BBkDB;BEkc_kc_h2f :f Bf Jf F@1fAɢ =)  0?i )5gR11i5ۼAIAa2Acoustic response timeout^A=ԉA% AI) I9 Om >bE-^4jE-4rE-W0E U E NE AE "E :*E ҆9VE A4ZE BE :a 2E :a JE :a :E :a я,<0F?Aɰp<2b?2M?2@8ٱ2 :AHRS rotation from veh to nav: [[-0.294337,-0.888979,-0.350829],[0.955701,-0.273518,-0.108733],[0.000703,-0.367292,0.930105]]2H@lҿ rsֿ?@Rѿ@ջ G?׿l?i2b?I29K?IK?=Fy9EE>Q 5Q4?Q 9Q4h )AYy?Q I?CI:i:NQ4yɮkB*jBjiiziJii kakakah kakakah2f :f Bf Jf `E@-fAɢ-=)) -?i))5g11=2Acoustic response timeouti=ܼAIIԱ^A#=AII O= > 2Acoustic response timeout9 nя,V0F?A2!?2?2L:ٱ21 :AHRS rotation from veh to nav: [[-0.281128,-0.892232,-0.353397],[0.959669,-0.261984,-0.101981],[-0.001594,-0.367813,0.929898]]2Hѿ* ֿ?@WпhZA׿?i2!?I2 ^;0YB~AyB;HbD dVD 8y%H=ٔb;Q->9I=FyQ 5Q4?Q 9Q4B )AYy?Q I?8CI|:i1:Q4yɮoB*j BjiiziJii kc[kc[kc[h) k`k`k`h92fI:fIBfIJfM1 E@颕4gAɢ=) ?i)顙iܼI@qA@qAM2Acoustic response timeoutA^A=AzApABA<Bn>B0CBHB~ABBBBԿ;BYEAI IQ Ii i O >я,~p0F?A2?2?2Bp;ٱ2: >AHRS rotation from veh to nav: [[-0.268213,-0.895456,-0.355274],[0.963353,-0.250713,-0.095367],[-0.003675,-0.367833,0.929885]]2Hg*ѿϼֿ? п@in@׿`?i2?I2m^;2OCYF:~AyFTHR2Acoustic response timeoutbDVFVDV8y^<%^Z=ٔ^1;Q-b>9`I`=bFyb>EfEf>hQ 5nQ4j ?Q 9nQ4j )hYlyr8?Q Ir?jCIj ;ijK ;jQ4yv.BɮvgBt*jBjiiziJi i  k^k^k^h k^k^k^h)2fA:fABfAJfEPD@]ggAɢe"=)a e?ia)eiiim&ݼiIqiEV ECECE"E=:*E09VE5ZEBE:a2E:aJE9:a:E9:a^AԙA II)e2Acoustic response timeoutO> "я,~0F?A:99YIY=]Fy]AEeEe>iQ 5uQ4mP?Q 9uQ4m )mAYun?Q Euc:y}?Q I}?mCImC ;im ;mnQ4yBɮUBcE*jBjiiziJii k_k_k_h k_k_k_h2fP >:fP >Bfd?Jfs@ugAɢuf=)y }ô?iy)}3yyi}r޼I2Acoustic response timeout^AEW ELE=E"E :*E|9VE|4ZEa@a@a@a@AII O= >) i I e 2Acoustic response timeout(я,Y0F?A2٘?2v?2;ٱ2 :AHRS rotation from veh to nav: [[-0.243275,-0.900743,-0.359831],[0.969938,-0.228267,-0.084350],[-0.006160,-0.369534,0.929197]]2H@#Ͽ y׿ ?7Ϳ:yr׿?i2٘?I2)q^;2NCYBl~AyBrHDDTT X)XIX|bDVD8yq<%<ٔu;Q->91I1=5Fy5CE=E=>AQ 5MQ4EM?Q 9MQ4Ex )EAYIyM?Q IU?EMCIE :iE|:E_Q4yYɮ]OBY*jqBjqBl>BBHB~ABBBB;B3EBE1CBE0CBECBE=BE=CET5iiziJii k]k]k]h2f :f Bf Jf ~@gAɢ =) ?i)N}iNW߼I@@>)2Acoustic response timeout^A5#=YAa Iq I O >ԁ E  E GE E "E *E R9VE ZE BE :a 2E #:a JE t:a :E t:a .я,v40F?A2k?2?2O;ٱ2 :AHRS rotation from veh to nav: [[-0.230841,-0.903713,-0.360577],[0.972972,-0.216778,-0.079585],[-0.006243,-0.369203,0.929328]]2H.Ϳ6׿@"?`˿_y׿ ?i2k?I2^^;2KCYBE~AyBZHbDNVDN8yVǼ%VQ=ٔVa9Q-V>9XIX=ZFyZFEZUE^>`Q 5fQ4b~?Q 9fQ4b8 )bAYdyfM?Q If?bCIb:ib:bQ4yhɮnSBl*jtBjtixixzixJixix kEkEkEh  kC`kC`kC`Yhy2f:fBfJf9@hAɢn=) ?i),xi&༉-2Acoustic response timeoutI1ԉ^A]=ԱAIIO> 2Acoustic response timeout 5я,V0F?Aɰ;2C?2y/?2{;ٱ2a :AHRS rotation from veh to nav: [[-0.217948,-0.906500,-0.361603],[0.975943,-0.204677,-0.075122],[-0.005914,-0.369277,0.929301]]2H˿ $׿:?2ʿ7; 8x;׿Լ?i2C?I2p^;2MCYB@~AyBWHAbD VD g8yETH%MA=ٔMKQ-M>9IIQ=UFyUHEUsEU>YQ 5eQ4]Sz?Q 9mQ4] )] AYiym?Q Im?] CI]:i]]:]Q4E] EE@E"E:*EVE4ZEa@a@a@a@Թyu BɮBBYE*j)Bj)i)i)zi)Ji1iQ k#_k#_k#_hi ksvksvksvh2f:fBfJf]6@JhAɢ=) ?i)s i༉I-2Acoustic response timeout^AyAABk>BBHB~ABBBB;BE1A I I! O] >9 ;я,0F?A6qo?6[?6};ٱ6.B2Acoustic response timeout FAHRS rotation from veh to nav: [[-0.203975,-0.909297,-0.362731],[0.978961,-0.191516,-0.070408],[-0.005447,-0.369461,0.929230]]6Hʿ`6׿S?ȿ@`Ov>׿`A?i6qo?I6 Y^;4YN~AyNHPRR=bD%VD%I8ye:=%eH=ٔm畺Q-m>9iIq=uFyuKEuEu>yQ 5Q4}vv?Q 9Q4}J )}AYy?Q I?}lCI}:i}:}Q4yɮ8B*jBjiiziJii k]k]k]hY2fi:fiBfiJfmC@颭~hAɢJv=) n?i)}oiIἉIEV ECEAE"E=:*E09VEA4ZEBE:a2E:aJE9:a:E9:aA^AAzAM2Acoustic response timeoutԡA$AI I9 O >Թ Bя, 1F?A2{?2jg?2>;ٱ2]' :AHRS rotation from veh to nav: [[-0.189026,-0.912572,-0.362603],[0.981960,-0.177538,-0.065084],[-0.004982,-0.368364,0.929668]]2H1ȿ 34׿6l?ƿVgt F׿׿?i2{?I2(t^;2PCYB~AyBHymv?lV-m8?mmi i9mtV?I +V-ͿYm2?ym94mmmCBmeB m[B)m[BiYmBbD[VD8y <%G=ٔ|Q->9H?IH?=FyMEQE>Q 5Q4#u?Q 9Q4 )ӁAYR:fE [>BfE?JfEA@ԑhAɢS=) 4?i)jiS⼉I2Acoustic response timeout^AEW EHE=E"E :*E[9VE|4ZEa@a@a@a@G!Q9YkAAM AIQ Ia O >A E 4=M 2Acoustic response timeout Hя,ˡ%1F?A2[?2lG?2+z;ٱ2M :AHRS rotation from veh to nav: [[-0.172699,-0.916019,-0.362057],[0.984964,-0.162332,-0.059115],[-0.004623,-0.366822,0.930280]]2Hƿ P+׿ӄ?IĿZDAr`z׿?i2[?I2dS^;2KCYB~AyB~HF=Fa=bDN0VDN8yZ%ZZ=ٔ^9{Q-b>9bK?IfK?=fFyfPEj6Ej>pQ 5zR4rNt?Q 9zR4r )r.AYxy~?Q I~?rCIrNN;irO;rR4y ɮ :BB-i>B)B-HB-AB-=B)B)B-{;B-~E*jBjiiziJii k`k`k`h2f:fBfJffs@MhAɢUC#=)q uԬ?iq)}fyyi}㼉I!In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout^AAI Q IY Ii O E X E DE >E "E ~ :*E a99VE 4ZE BE :a 2E :a JE fH:a :E hH:a "Oя,g|?1F?A:!?: ?: ;ٱ: BAHRS rotation from veh to nav: [[-0.155544,-0.918935,-0.362443],[0.987817,-0.146470,-0.052569],[-0.004780,-0.366204,0.930522]]:HÿgD2׿ 3?`¿@H꪿ ߓso׿@?i:!?I:^;:LCYJZ~AyJgHLN@A Vp9`Id=fFyfREf0Ef>hQ 5nR4js?Q 9nR4jI )j}AYpyr?Q Ir?jBCIj;ij;jR4yvBɮv,BzOE*j Bj i i zi Jii kHkHkHh! kCakCakCah12fI:fIBfIJfM@eiAɢmǎ'=)y .?i)]b顙ig伉Irmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=2pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutQ^A#=ԁAI!I1IIOu> zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout Vя,OWY1F?A2ž?2?2F;ٱ2aI :AHRS rotation from veh to nav: [[-0.137310,-0.921937,-0.362185],[0.990514,-0.129725,-0.045305],[-0.005216,-0.364971,0.931004]]2H \ .׿`K? ӚC2`"]u`[׿?i2ž?I25W^;2NCLYj,~AyjKHbDv VDv8yz߼%~G=ٔ~:Q-~>9I=FyUE z7E > Q 5R4 s?Q 9R4  ) AYy]?Q I? CI @;i n; R4y)ɮ-2B)*jABjAiAiAziAJiAiIEY EFE@E"E:*E;J9VE4ZEa@a@a@a@ kHkHkHh2f:fBfJfHج@IiAɢ=) ?i)$^iC:弉I 2Acoustic response timeout^A=B-<A-<BEh>BABABABE=BABABEo;BE~EA)I9IIO>) 4\я,a2s1F?A22Acoustic response timeout6f?6tR?6;ٱ6뾾 >AHRS rotation from veh to nav: [[-0.118936,-0.924404,-0.362398],[0.992883,-0.112960,-0.037717],[-0.006071,-0.364305,0.931260]]6H r 1׿?꼿O xP׿?i6f?I6^;6LCY^g~AyboHpt t)tItxzAIbD~VD~u8yY =%B=ٔ;Q->9I=FyXE3E>Q 5R4)t?Q 9R4y )~AYy?Q I?CI6:i-:,R4yɮ+B*jBjiiziJii k3Ek3Ek3Eh k3Ek3Ek3Eh2f :f Bf Jf z@-|iAɢ-=)) -U?i))5Y11i5]漉9I9ibEjEM4rEA0E[ ECE>E"Ea:*E09VE4ZEBE ;a2E ;aJE9:a:E9:a^A#=-2Acoustic response timeoutA I) I9 O > cя, 1F?A2?2>?2Z;ٱ21T :AHRS rotation from veh to nav: [[-0.100243,-0.926738,-0.362089],[0.994936,-0.096050,-0.029613],[-0.007335,-0.363224,0.931673]]2H֧v,׿?R. ~?׿ D?i2?I2K^;2MCYBQ~AyBbHDFp=y Cl?Zd;OZd;? d? j y=  9 `"? ףp= ?KY >y Q8= ^ B eB B) XB Y .BAE@AbDMVDMK8ԹyXM%F=ٔ-H;Q->9I=FyZE :E>Q 5R4*r?Q 9R4t )h}AY3>Q E:yC?Q I? CI ;i ;1;R4yɮ-B*jBjiiziJi!i! kDkDkDh9 kDkDkDhI2f]{t>:f]{t>Bf]Z@Jf]-#@uiAɢ}K=)y }?iy)}iBU顁i9漉Iu2Acoustic response timeout^A=D=DET EVE;E"E9*E9VE4ZEa@a@a@a@A I I! 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A% @Aя,rP3F?AB">B"5CB B B"=B B B";B")~E:b?:KN?:l<ٱ:u FAHRS rotation from veh to nav: [[0.275600,-0.896407,-0.347131],[0.960797,0.245514,0.128813],[-0.030243,-0.369023,0.928928]]:H l?@]d7ֿؾ?l? |? ׿ǹ?i:b?I:&^;8YJ}AyNHl9=AAAbDMQVDMK8y?μ%F=ٔjQ->9I=FyE)E>Q 5S4ޜ?Q 9S4T )d}AYy?Q I?/CIr;iF:bEU4jEU4rEU0E ] E EE @E "E :*E A9VE 4ZE BE -;a 2E /;a JE V:a :E V:a i dя,*4F?A2?2?2d<ٱ2Z :AHRS rotation from veh to nav: [[0.293339,-0.891306,-0.345726],[0.955577,0.262494,0.134052],[-0.028731,-0.369691,0.928711]]2H ?` ֿ??`(?k׿`?i2?I2D^;2LCYN}AyR H2Acoustic response timeout9yuV?ˡEĿ:v?r(?'T= 9Mb?(\µMbX9Y ?yʡB^B ߈B)YBbD%VD#8y%E=ٔnQ->9I=Fy%E%6E%>)Q 55S4-馱?Q 95S4-& )-|AY=<#?Q E=:y=?Q I=?-rCI-P ;i- ;-S4yEBɮEǔBEE*jYBjYiYiaziaJiaia kkkhy kSkSkSh2f>:f>Bf/?Jf,s@颽mAɢ#=) z?i)7iIi^A#=IyIԑO>2Acoustic response timeout xя,}!4F?A6ʀ?6dl?6}3<ٱ66¾ >AHRS rotation from veh to nav: [[0.312063,-0.885444,-0.344391],[0.949660,0.280181,0.140157],[-0.027609,-0.370792,0.928305]]ED EF?EDED"ED*EF?9VEDZEDaJ@aJ@aJ@aJ@6H@?`U ֿ c?|?@? E@׿?i6ʀ?I6!%^;6OCYR}}AyRHbDZVDZ8ybC%fb=ٔfzKQ-f>9hIh=jFyjEj^Ej>pQ 5vS4r?Q 9vS4r )r|AYtyz~?Q Iz?rCIrF:ir:rfS4y~Bɮ~ӔB|*jBjiiziJii1 k#k#k#hI k5k5k5ha2fq:fqBfqJfu*q@颕mAɢd1=ԙ) |?i)J顡iI2Acoustic response timeoutB>B4CBHB}ABBBnDB;B~E^A=IIOMs>  2Acoustic response timeout я,:4F?A2?2Ν?2<ٱ2>þ :AHRS rotation from veh to nav: [[0.331425,-0.878663,-0.343669],[0.943089,0.298023,0.147530],[-0.027208,-0.373005,0.927430]]2H6?տ`-? ?@? Vܛ Q׿@?i2?I2O^;2MCYZf}Ay^HbDfVDf8yn-b%nI=ٔrJQ-r>9pIt=vFyvEvMEv>xQ 5~S4z?Q 9~S4z )zE|AYyۇ?Q I?zCIz;iz;zS4y ɮ ֔B *j1Bj1i9i9zi9Ji9iA k3:k3:k3:hQ kC:kC:kC:ha2fq:fqBfqJfuq@颕mAɢD"=) Ky?i)顙iE)I@>@>EY EFE=E"E:*E;J9VE|4ZEBE;a2E;aJEe:a:Ee:a)^AAU?A\?I!I1OmV>2Acoustic response timeoutQy hя,T4F?A25B~?2 ?2& <ٱ2zľ :AHRS rotation from veh to nav: [[0.351648,-0.871850,-0.340912],[0.935733,0.316719,0.155220],[-0.027356,-0.373585,0.927192]]2Hd?2տ? E?C?׿ ?i25B~?I28^;2LCYBX}AyBHbDNVDN8yV_%VM=ٔV9Q-Z>9XIX=ZFyZE^y]E^>`Q 5fS4beű?Q 9fS4b' )b{AYdyj?Q Ij?b0CIbW:ib:bS4yYɮ]ؔBY*jqBjqiiziJii k7k7k7h k7k7k7h2f:fBfJfo@mAɢW=) mv?i)_L߼i$)IQiߙIߝA2Acoustic response timeoutԁ^AU#=D?AzD?AE EE@E"E*EVE4ZEa@a@a@a@AIIԩO>E 2Acoustic response timeoutB >B 5CB HB w}AB =B B oDB ;B 8~EB4CB4CB˔CB=B=C!5 я,Nn4F?A2x?2W?2r<ٱ2ľ :AHRS rotation from veh to nav: [[0.371343,-0.864749,-0.338103],[0.928064,0.334583,0.163558],[-0.028313,-0.374518,0.926787]]2H?|տ@?i?x?@`׿>?i2x?I2^;2MCYB-}AyBHTT X)XIXbD^}VD^8yf9м%fH=ٔj;Q-j>9hIl=nFynEn@TEr>pQ 5vS4rб?Q 9vS4rZ )r{AYxyza?Q Iz?rrCIr:ir:rS4y~BɮB*jBji)i)zi)Ji)i) k8k8k8h2f:fBfJf>n@nAɢ =) q?i) *ؼ  i )I1Ա2Acoustic response timeout^A}=AII O >E  E E E "E *E VE ZE BE a 2E a JE a :E a 9 "я,4F?A4<ɰ4<2Ts?2ߕ?2L<ٱ2Kľ >AHRS rotation from veh to nav: [[0.391232,-0.857371,-0.334445],[0.919805,0.352467,0.172411],[-0.029939,-0.375077,0.926510]]2H ?ogտ o?ю??fBؿ?i2Ts?I2՛^;0YZ|Ay^H~2Acoustic response timeouty]/$?/$?(\?]L?]=].>Y Y9]RQ?Qrh|?Y]"?y]u]=]iB]0bB ]B)]BYY]ǐBbDm]VDmk8y}s%?=ٔiy;Q->9I=FyENE>Q 5S4ٱ?Q 9S4Z )9|AY%%?Q E%:y% ?Q I%?CI:i<:DS4yIɮMBI*jaBjaiiiziJii kkkh kS7kS7kS7h2fGH>:fGH>BfJ+l@Jfg@ ^B*** querying acoustic contact ***XY%0nAɢU=)Y ]l?iY)]LҼYYieK 𼉨iIi@y@y>>1^AAzAoA2Acoustic response timeouta A I I OM >-(я, M4F?A E6X E6CE6=E4"E6~ :*E609VE6|4ZE4a:@a:@a:@a:@V*m?V?VU=ٱV˪ľ ^AHRS rotation from veh to nav: [[0.410379,-0.850309,-0.329491],[0.911351,0.369716,0.180966],[-0.032059,-0.374547,0.926654]]VHC?5aտ`)?`m?)?i׿%?iV*m?IVg^;VNCY=}AyEHIMR=bDVD28y<%C=ٔw;Q- >9 I = Fy E@LE>AQ 5MS4E᱉?Q 9MS4E )E|AYIyMZ?Q IM?ECIE:iE:ES4y]tBɮ]ӔB] E*jqBjqiqiyziyJiyiy kkkh kc5kc5kc5h2f:fBfJf@@KnAɢg$=) k?i)b̼ih@𼉨Iq In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutB>B4CBHB&}AB=BBnDB;B=~Eԙ^AA) I1 IA O} >  rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=3 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutW.я,(4F?A2h?2\?2n =ٱ2^ľ :AHRS rotation from veh to nav: [[0.428370,-0.843269,-0.324649],[0.902944,0.385749,0.189448],[-0.034522,-0.374294,0.926667]]2Hjj?@ Կ??@??m׿@B?i2h?I2T^;2MCYB|AyBLHPbD=VD=8y%Q=ٔU;Q->9I=FyEOE>Q 5S4鱉?Q 9S4 )z}AYy̖?Q I?=CIR:iI:S4yɮB*jBjiiziJii kc5kc5kc5h  kc5kc5kc5h2f):f)Bf)Jf-@EfnAɢM=)I Mxb?iI)MpƼQQiU[𼉨YIYE}[ E}UE}>Ey"E}a:*E}P9VE}4ZEyBE} ;a2E} ;aJE}:a:E}:a^AyzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutAIIO% >! :@5я,4F?A2d?2?2a=ٱ2ľ :AHRS rotation from veh to nav: [[0.445048,-0.836261,-0.320312],[0.894731,0.400356,0.197919],[-0.037273,-0.374676,0.926406]]2H {?Կ?n? eU?`j׿?i2d?I2^;0YB|AyBmH|bD VD 8y}=%}L=ٔ;Q->9I=FyE>E>Q 5T4?Q 9T4Ȟ )~AYym?Q I?~CI:i[:T4ywBɮޔB*jBjiiziJii k#4k#4k#4h k7k7k7h2f!:f!Bf!Jf%k@MnAɢUm=)Q Ud?iY)]-YYi]{c𼉨aIa}2Acoustic response timeout@}>@}> g>*CG9YҫA)EZ EEE<E"E:*EA9VE 4ZEa@a@a@a@^AAY?AV?QAII O= >- =- 4=5 2Acoustic response timeoutAa Aa ԁ B >B 5CB _HB |AB =B B oDB ;B U~E~x;я,4F?AY 2|Ay H@AbD%VD%8y5N%5M=ٔ5Q-=>99AIA=EFyEEMEM>QQ 5UT4UF?Q 9]T4U )U~AYYyYQ I]?UCIU;iUH;UT4yiɮmBi*jBjiiziJii k9k9k9h  k9k9k9h2f):f)Bf)Jf)195 r5NAggregate::initialize marl:UpdateRudderq95J]=q9=9=7=o=XAggregate::initialize marl:UpdateCommandMode18=]918=oE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnELAggregate::initialize marl:UpdateSpeed7E]A7EnE4Completed marl:UpdateSpeedq7EnMPAggregate::uninitialize marl:UpdateSpeedenAɢe=)a eLY?ia)mj+iiimY𼉨qIqim2Acoustic response timeout^A#=ԑAII! Em W Em KEm =Ei "Em :*Em ]t9VEm |4ZEi BEm :a 2Em %:a JEm (:a :Em *:a I O > QBя, 5F?A2[?2鬉?2/w-=ٱ2ž :AHRS rotation from veh to nav: [[0.474788,-0.822758,-0.312483],[0.879081,0.426260,0.213351],[-0.042337,-0.375995,0.925654]]2H b?Tӿ`o!?G?O? = Lؿ`?i2[?I2A]^;2PCYB{AyBH2Acoustic response timeoutyU@5^I ?Mbp+?Ub?UU=Q Q9Un?i|?5?S㥛?YUVN?yU=U$>UBUgB UB)QQYUǓBbDmVDm8y}9%}G=ٔJ9I=FyEE>Q 5T4?Q 9T4+ )~AY7S?Q E:yx?Q I?CI5;i;A"T4yɮBԹ*jBjiiziJii k7k7k7h k7k7k7h2fK>:fK>Bf8%@Jf_rd@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder-nAɢ-?=)1 5R?i1)5۵19i=K/𼉨=IA^A}=AII2Acoustic response timeoutO% >9 {Hя,#5F?A&;ɰ&;ZW?Z?Z&6=ٱZ߯ž jAHRS rotation from veh to nav: [[0.487060,-0.816986,-0.308718],[0.872237,0.437033,0.219557],[-0.044455,-0.376213,0.925466]]ZH+?`$ ӿ\?Y?u?¦ؿ k?iZW?IZ*5^;XYv{AyzH11 1)1I1EY E]GEYEY"EY*E]R9VEYZEYae@ae@ae@ae@bDVD8y%F=ٔ;Q->9I=FyE1 E>Q 5T4 ?Q 9T4 )AAYy?Q I?mCI:i:0T4ydBɮBE*j Bj iiziJii kCkCkCh1 kCkCkChA2fQ:fQBfQJfUUc@mnAɢu.=)q uP?iq)}Wyyi})I@@^A=AzApA52Acoustic response timeoutB>B6CBHB2|AB=BBpDB;Bf~EAAIIIO5O>iԙ  2Acoustic response timeout,Nя,=5F?A2:T?2L?2qJ<=ٱ2N?ƾ :AHRS rotation from veh to nav: [[0.497725,-0.811491,-0.306189],[0.866117,0.446320,0.225032],[-0.045953,-0.377200,0.924991]]2H ?@ӿ:???. $ؿ?i2:T?I2;^;2NCYB{AyBHDFa=bDNRVDNu8yV?%V]=ٔZ;Q-Z>9XIX=ZFy^E^lE^>`Q 5fT4b?Q 9fT4b )b}AYhyj?Q Ij?bCIb;ibL;b=T4yngBɮnBnE*jxBjxixixzixJi|i| kSGkSGkSGh2f):f)Bf)Jf-øb@MnAɢM=)Q U K?iQ)U܌QQiU)YIYa^Am=bE´4jE4rE/EX EFE>E"E~ :*E;J9VE4ZEBE:a 2E:a JEe:a :Ee:aAIIO'>ԑ-2Acoustic response timeoutԹ Uя,0KW5F?A6OQ?6?6[?=ٱ6ƾ BAHRS rotation from veh to nav: [[0.507138,-0.806376,-0.304252],[0.860597,0.454645,0.229502],[-0.046738,-0.378227,0.924532]]6Hx:?`xӿ`??Q`?4ؿ@ĕ?i6OQ?I6$^;6MCYF{AyJHbDVDye<%e@=ٔe3:Q-m>9iIi=mFymEutҼEu>yQ 5T4}?Q 9T4}\w )}AYy?Q I?} CI}:i}$:}LT4yɮB*jBjiiziJii kLkLkLh kbkbkbh2f:fBfJf9b@颅oAɢ{=)  L?i)ƥ顉iXL-2Acoustic response timeoutI^A<AIIOmV>EY EJEAE"E:*Ek9VEA4ZEa@a%@a%@a%@) B A 4=M 2Acoustic response timeoutB >B 7CB HB {AB =B %DB B ;B Z~Eb[я,S$q5F?A2!O?2ǃ?2hB=ٱ2@ž :AHRS rotation from veh to nav: [[0.514643,-0.803407,-0.299465],[0.856095,0.462199,0.231243],[-0.047370,-0.375378,0.925660]]2Hw?@p*ӿ!e?@?]?@@2ؿ?i2!O?I2i;^;2OCYB}{AyFH==bD (VD N8ye+%eJ=ٔe]:Q-e>9iIi=mFymEmرEu>qQ 5}T4u='?Q 9T4u$o )uAYy?Q I?uj CIu;iu:uZT4yTBɮBE*jBjiiziJii k[k[k[h kcxkcxkcxh2f:fBfJfva@oAɢt]=) RF?i ) !ݠ  i I@%>@%=^Ayb]QAAIIIYO;>2Acoustic response timeoutyԩ E W E HE >E "E :*E [9VE 4ZE BE !:a 2E &:a JE R:a :E S:a bя,.5F?A2Y]N?2F?2m*G=ٱ2 s :AHRS rotation from veh to nav: [[0.519135,-0.803949,-0.290113],[0.853309,0.468220,0.229420],[-0.048605,-0.366656,0.929086]]2H ?5ҿ@ON?P?]?⨿Iw׿?i2Y]N?I2&^;2QC@Y^e{AybH`b?A2Acoustic response timeouty x&?/$MbX 7i? , ʽ  9 {Gz? ףp= ?K7Y c?y Q= I iB hB B) jB Y 8BbD%VD%=8y5e%5>=ٔ=;;Q-=>99I9=EFyEEEHEE>IQ 5UT4M6?Q 9UT4Mgf )M~AY]g?Q E]j:y]?Q I]?M CIM; ;iM;MiT4yeXBɮeBi*jyBjyiyiziJii k_k_k_h2fuJ>:fuJ>BfuA?JfuO4@ԩ颵2oAɢ0<) ,C?i) .项i=yI@@@@hDAT read: Forwarding Delay UpTx time:18:37:10.0495 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutA $AI I O > hя,5F?AD=D<ENX ENFEN=EL"EN~ :*EN;J9VEN|4ZELaR@aR@aR@aR@lYo{AyHbD-VD-,8y=;%=[=ٔEQ-E>9EH?IEH?=MFyMžEMEM>QQ 5T4UVD?Q 9T4U^ )Ub}AYyQ I?U!CIUM:iU:UvT4y)ɮ-B)*j9BjAiAiAziAJiAiA k[k[k[h2f:fBfJfGoAɢ=)  B?i )_项i&IB >B 6CB HB {AB B B B ;B ?~EB-6CB-6CB)B-=B-=C-n5M2Acoustic response timeoutQA9IAIQO[>qԙ  2Acoustic response timeout nя,5F?A4<ɰ4<>N?>}P?>*X=ٱ>G JAHRS rotation from veh to nav: [[0.517613,-0.816828,-0.254693],[0.853988,0.474862,0.212629],[-0.052738,-0.327564,0.943356]]>HJ?`t# Lп S?"d?`p7?pԿ/?i>N?I>#^;>PCYNzAyR:HbDZVDZ8ybKͽ%bS=ٔf.9dId=fFyfŞEj;Ej>lQ 5rT4n#R?Q 9rT4nV )n|AYpyv#?Q Iv?nw!CIn|:in:nBT4yz[BɮzBzE*j Bj i i zi Jii kBkBkBh! k3\k3\k3\h12fI:fIBfIJfMK4@y\oAɢp=) E7?i) ґiΥIE5W E5IE59E1"E5 :*E5c9VE54ZE1BE1aE2E1aEJE5:aE:E5:aEԡAyIIOB>]2Acoustic response timeout uя,h5F?A2O?2 Ã?2a=ٱ2 :AHRS rotation from veh to nav: [[0.514559,-0.824858,-0.234176],[0.855683,0.476429,0.202044],[-0.055089,-0.304344,0.950968]]2HDw?@9tIt=vFyvǞEzk <Ez>|Q 5T4~n`?Q 9T4~N )~zAYy&?Q I ?~!CI~;i~:~T4yHBɮBE*j)Bj)i)i)zi)Ji)i1 kCkCkChA kC[kC[kC[hQ2fq:fqBfqJfuN4@颍ooAɢQ=) ;?i)Y顙iE.Ii߱I߱2Acoustic response timeoutAIIO5 > D=@AzD=AAEE[ EEEEE=EA"EEa:*EEA9VEE|4ZEAaM@aM@aM@aU@1B >B B eHB {AB B B B ;B '~Em 2Acoustic response timeoutY |я, n5F?A2P?2 6?28k=ٱ2v摾 :AHRS rotation from veh to nav: [[0.511486,-0.832422,-0.213203],[0.857372,0.477813,0.191330],[-0.057396,-0.280657,0.958090]]2H^?3>J˿o?~?|}?bHѿ`?i2P?I2w(^;0YB?{AyB~HTT T)TITbD^VD^8yfS<%fL=ٔfü;Q-j>9hIh=jFyjʞEnj<En>pQ 5vT4rFn?Q 9vT4rfF )rlyAYtyv+?Q Iz?r-"CIry:ir:rT4y|ɮ}By*jBjiiziJii kBkBkBh kYkYkYh2f :f Bf Jf ]R4@9颅oAɢz=) ;?i)顉ix켉IAI IOU2>a2Acoustic response timeoutԑEe W Ee KEe >Ea "Ee :*Ee ]t9VEe 4ZEa BEa a 2Ea a JEe ):a :Ee *:a Թ 킍я,AI 6F?A28Q?2?2 v=ٱ2u% :AHRS rotation from veh to nav: [[0.509262,-0.838648,-0.193189],[0.858515,0.479397,0.182017],[-0.060034,-0.258550,0.964131]]2HK? 4@lȿx?q?SL?@`п(?i28Q?I2^;2OCYBzAyBHy oʡ?xƿQ M? K7   9 Cl?QɿY /?y u L dB hB B)  B Y BbD%fVD%8y5~ɽ%5D=ٔ5;Q-=>E2Acoustic response timeout9AII=MFyM̞EM;EM>QQ 5T4U}?Q 9 T4U@ )UwAY 7?Q E:y_?Q I%?Uw"CIUe:frr>Bf[l@Jfjj@颵oAɢ>=) /?i) i뼉IAAd?AAIIO5.>G5MrAIuƿ9}MrAY}A2Acoustic response timeout E] X EY E] <EY "E] ~ :*EY VE] 4ZEY ae @ae @ae @am @"я,&Q&6F?AJQ?J ?J>=ٱJ8Uy RAHRS rotation from veh to nav: [[0.508167,-0.843014,-0.176332],[0.858947,0.481075,0.175436],[-0.063066,-0.240610,0.968571]]JHB?` ƿ`}|??t?`%@Rο ?iJQ?IJ0^;JNCYZIzAyZHbD5CVD5|8yu;%uE=ٔu;Q-u>9}K?I}K?=}Fy}ϞE}8;E>Q 5ET4(?Q 9MT4: )wvAYIyMGa?Q IM?"CI9;i9;ڽT4yYɮ]Ba*jyBjyiyiziJii kEkEkEh2f:fBfJf9i@oAɢ <) )?i)y ~i꼉IBM>BIBMHBM"zABIBIBIBM;BM1~E=2Acoustic response timeoutA)I1IIO}7> 1  2Acoustic response timeout'Bя,?6F?A2.Q?2?2^=ٱ2j :AHRS rotation from veh to nav: [[0.509189,-0.845326,-0.161710],[0.858072,0.484073,0.171425],[-0.066630,-0.226047,0.971835]]2HGK?@ ĿRu?@ ?@@?̿E?i2.Q?I2+^;2PCYB[zAyFHF@AF@AbD=VDv8y5<%R=ٔ-9!I!=%Fy%ўE%._E->)Q 55T4-?Q 9=T4-5 )-uAY9y=a?Q I=?-#CI- ;i-q ;-:T4yENBɮMBME*jiBjiiqiqziqJiyi k#Fk#Fk#Fh2f:fBfJf1h@oAɢ%s=)! -)?i))-u)1i5鼉IE%W E%CE!E!"E% :*E%09VE!ZE!BE!a=2E!a=JE%9:a=:E%9:aEQA%$AI)I9Om6>y]2Acoustic response timeoutԩ )я,0Y6F?A2oaP?2P?28=ٱ2RZ^ :AHRS rotation from veh to nav: [[0.511734,-0.846005,-0.149681],[0.856258,0.487946,0.169501],[-0.070362,-0.214905,0.974097]]2H`?x@(ÿ wf?:?@6?D˿`+?i2oaP?I27^;2OC@Y^+zAybH15A=@A=AAbDEPVDE8ym%mE=ٔm9uH?IuH?=uFyuԞEuE}>Q 5T47?Q 9T4/ )sAYya?Q I?K#CI:i/:T4y;BɮBE*jBjiiziJii kHkHkHh kHkHkHh2f!:f!Bf!Jf%Vg@EoAɢE\<)A E%?iA)M.mIIiM載QIQ2Acoustic response timeoutԱAmAIyIO">E% E%GE%?E!"E%1:*E%R9VE%^4ZE!a-@a-@a-@a-@BM <AM <BU >BU 7CBU 9HBU .yABU =BQ BU qDBU ;BU 0~E m 2Acoustic response timeout > >$Tя,еs6F?A2,7O?2/?2r=ٱ2յV :AHRS rotation from veh to nav: [[0.515475,-0.845294,-0.140581],[0.853671,0.492334,0.169860],[-0.074369,-0.207569,0.975389]]2H~? @FQ?g?? `ʿc6?i2,7O?I2$^;2MCYByAyBHbDNAVDNz8yV9i%VW=ٔVo-9ZK?IZK?=ZFyZ֞EZ~DE^>`Q 5fT4b?Q 9fT4b* )b!rAYdyfa?Q If?b#CIb:ib|:bT4yj>BɮnBll*jxBjxixixzixJi|i| kGkGkGh kGkGkGh!2f1:f1Bf1Jf5f@UoAɢU<)Q UV?iQ)5e1QiUN缉YIY 2Acoustic response timeoutI_9III bE|4jE|4rEȃA0E5 Z E5 KE5 ;E1 "E5 :*E5 ]t9VE5 4ZE1 BE5 _;aE 2E5 a;aE JE5 ):aE :E5 *:aE O >a ;я,6F?A6ӱM?6Ă?6=ٱ6R >AHRS rotation from veh to nav: [[0.520369,-0.843365,-0.133982],[0.850319,0.497308,0.172170],[-0.078572,-0.203519,0.975913]]6Hݦ?N&5?@? ?`K@ ʿ :?i6ӱM?I6D^;6OCYFRyAyFOHJ=J=yJ +?S㥛q= ףp?H?$=%2Acoustic response timeout 9-?L7A` rh?Y5?y+C =BlB B)BYDžB9bD=VD=W8yM%M@=ٔU"9QIQ=UFy]ٞE]dE]>aQ 5mT4ehDz?Q 9mT4e\% )e5rAYu"?Q Eu:yuS?Q Iu?e#CIe:ieA:eT4yyɮB*jBjiiziJii kCFkCFkCFh kSFkSFkSFh2f$=>:f$=>BfrI@Jfy@%oAɢ%<)! -?i))-\))iM+5漉QIQ-~MiI!I1OeV>ԑ2Acoustic response timeout D= =D= <EE S EE DEE =EA "EE 9*EE a99VEE |4ZEA aM @aM @aM @aM @jfя,;m6F?A2L?2s?2ש=ٱ2zP :AHRS rotation from veh to nav: [[0.525576,-0.840856,-0.129346],[0.846704,0.502194,0.175765],[-0.082836,-0.201896,0.975898]]2H?Kl3??t?4ɿ:?i2L?I2&^;2NCYBxAyBHTT T)TIT ^;^4<bD-VD-C8y5`%=L=ٔ=.9AIA=EFyEܞEMEM>QQ 5UU4Uղ?Q 9]U4Uy )UCrAYYy]R?Q I]?U$CIUj;iU;UU4yABɮ"B*jBjiiziJiiB>B8CBHB:xAB=BBBm;B~E ksFksFksFh2f):f)Bf)Jf->@upAɢ}<)y }z?iy)} U顁i伉I-2Acoustic response timeoutAU֣A`?AQ?qIyIO>ԙ  2Acoustic response timeoutMя,$G6F?A2rJ?2$?29G=ٱ27Q :AHRS rotation from veh to nav: [[0.530718,-0.838041,-0.126589],[0.843027,0.506559,0.180840],[-0.087426,-0.202694,0.975332]]2H@?;`4?5?%? aɿ5?i2rJ?I2!^;2MCYBvxAyBHbDZVDZ8yf%jQ=ٔjeA9lIp=rFyrޞEviEv>xQ 5U4zY䲉?Q 9U4z )zMrAY y ~P?Q I ?zR$CIz<;izK;zU4yɮ3B*jBjiiziJii k*k*k*h kSGkSGkSGh!2fQ:fQBfQJfU @m pAqɢ<) ?i)N顙i%㼉IEg EHE<E"EC:*E[9VE 4ZEBEX;a2EX;aJER:a:ES:a ԡIIOb>9=<E2Acoustic response timeout 0xя,"6F?AY~wAy~mHbDeVDe8y %9=ٔQ->9I=FyE E >Q 5U4w?Q 9U4e )WrAYyQ I?$CI;i; U4y-DBɮ-HB-E*jABjAiAiIziIJiIiI k#-k#-k#-ha kSFkSFkSFhq2f:fBfJf2Acoustic response timeout颭pAɢ<)3 >i)H项i[ἉIIIO>E X E EE >E "E ~ :*E A9VE 4ZE a@a@a@a@B>B9CBHBvAB=BBrDBO;B ~EB7CB7CBB=B=C5) M 2Acoustic response timeoutQ Ѥя,16F?A2vG?2M?29=ٱ29W :AHRS rotation from veh to nav: [[0.540047,-0.832473,-0.123842],[0.836068,0.513740,0.192513],[-0.096639,-0.207506,0.973449]]2H`H?@@?`p?C?Xʿ}&?i2vG?I25^;0YfwAyf;H9=AEAAE@AbDMVDM8yQ%R=ٔ9I=FyERE >Q 5U4y?Q 9U4 )YrAY!y%M?Q I%?$CI:i:/U4y)ɮ-RB*jBjiiziJii k*k*k*h k#@k#@k#@h2f:fBfJfR@)pAɢئ<)  >i) uA  i [D߼I)IIO5 >2Acoustic response timeoutYE U E GE BE "E :*E R9VE 5ZE BE :a 2E :a JE t:a :E t:a ԁ Íя,f7F?A02>oF?2qF~?2z=ٱ2$Z >AHRS rotation from veh to nav: [[0.543170,-0.830457,-0.123724],[0.833531,0.515625,0.198387],[-0.100956,-0.210886,0.972283]]2H`a?`h@I??d?DعOʿ?i2>oF?I2M^;2PCY^vAybHE2Acoustic response timeoutyMbX?Q?ˡE?J?<'= 9&1?l񲿜 rh?Y0?yC >BnB ~B)BY.BbDVD8y U% 4=ٔ 91I1=5Fy5E=E=>AQ 5MU4E?Q 9MU4E )ErAYmH5?Q Em:ymrn?Q Iu?E+%CIE;iEu;E>U4y}5Bɮ}XB}ߵEԉ*jBjiiziJii k$k$k$h k3;k3;k3;h2f|1>:f|1>BfC|@Jf@7pAɢ J<)  >i );i%ܼIԹAI!I1Ouz>2Acoustic response timeout iY I] pAD% <D% =E- W E- EE- >E) "E- :*E- A9VE- 4ZE) a5 @a5 @a5 @a5 @ɍя,(7F?A2 F?2}?2=ٱ2εZ :AHRS rotation from veh to nav: [[0.544197,-0.830128,-0.121394],[0.832392,0.516189,0.201674],[-0.104753,-0.210798,0.971901]]2Hj?h??@w?Ѻ lʿ?i2 F?I23,^;0YBvAyBHbDNVDN8yV%V{=ٔV?i)bO7顁iڼIB>B;CBHB^uAB=BBsDB=;B~EM2Acoustic response timeout!AI IQ Ia O >A  2Acoustic response timeoutЍя,B7F?A^E?^}?^nc=ٱ^o\ zAHRS rotation from veh to nav: [[0.544212,-0.830182,-0.120962],[0.831918,0.515388,0.205638],[-0.108375,-0.212541,0.971124]]^H/j?`ِW?~?YR?s4˿ r?i^E?I^[O^;^NCYuAyCHbDVD8y-%-B=ٔ- 91I1=5Fy5E=)E=>AQ 5MU4Ev-?Q 9MU4E )EsAYIyMn?Q IU?E%CIAiE:EXU4yYɮ]uBY*jqBjqiyiyziyJiyiy k#%k#%k#%h k3<k3<k3<hY2fi:fiBfiJfmV"@颥MpAɢ^<)N >i)|2项iHؼIES EBEE"E9*E(9VEZEBE:a2E:aJEI+:a:EL+:ajZXIAIIOER>]2Acoustic response timeoutqԡ V֍я,Uj\7F?A  CH^rAp fп9rAYAyYCuAyHYY Y)YIYbDmVDm8y}ѽ%}7=ٔ}Q->9I=FyEE>Q 5U4Q=?Q 9U4P )MtAYyQ I?&CIYW;i߹I߽A2Acoustic response timeoutimb;!hU4y4BɮBE*jBji!i!zi)Ji)i1 k#k#k#hQ2fq:fqBfqJfq颥YpAɢu#<) 9>i)|.顩ivxռIԡDzD@AEV EE@E"E=:*EVE4ZEa@a@a@a@[1B>B?CBHBtAB=BBvDB;;B#~EAA II IY m 2Acoustic response timeoutO > ܍я,Gv7F?AYtAyH ?A ?AbDVD8y-~%-b=ٔ)Q-5>91I1=5Fy5E9E=>AQ 5MU4E!J?Q 9MU4E )EtAYIyIQ IU?EC&CIE:iEN:EtU4yYɮ]BY*jqBjqiyiyziyJiyiy k,k,=k,h k#Ak#Ak#Ah2f:fBfJf19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedbpAɢ-<) >i)*iF3Ӽ!I!踻AYIiIy2Acoustic response timeoutOmW>1EY EJEE"E:*Ek9VEZEBE;a2E;aJE:a :E:a Y [я, 7F?A;ɰ;2H?2?2=ٱ2_ NAHRS rotation from veh to nav: [[0.537060,-0.834639,-0.122246],[0.835833,0.506983,0.210600],[-0.113798,-0.215281,0.969899]]2H/? ]{K@$?39??!W˿`i ?i2H?I2R^;2MCYVztAyVUH%2Acoustic response timeoutysh|??Cl绿#~ji?;߽㥽 9+?9)I1=5F9y5EEG<EE>IQ 5UU4M1Z?Q 9UU4M )MsAYU@?Q EU:y]q?Q I]?M&CIM;iMy;M U4ye%BɮeBeֵE*jyBj}=iyiyziyJiyi k<k<k<h k<k<k<h2fG@>:fG@>BfTg.@Jfj@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderlpAɢ;) ݁>i)VB'i.м=Ia5 AAzAAԑ2Acoustic response timeoutA I I O >Թ E Q E DE ;E "E 29*E a99VE 4ZE a @a @a @a @mя,7F?AnI?njۀ?n{=ٱn:_ zAHRS rotation from veh to nav: [[0.531332,-0.837943,-0.124651],[0.839816,0.501654,0.207490],[-0.111333,-0.214930,0.970263]]nH?n鿿`?` ??T@҂˿d ?inI?Ina];nNCY  tAy HbDVD8y % L=ٔʻQ->9I=FyEȏ<E%>!Q 5-U4%h?Q 95U4% )%QsAB=>B=BCB=8HB=rAB==B9B=xDB=0;B=/~EY1yUps?Q IU?%&CI%;i%L;%U4yYɮ]Ba*jqBjqiqiyziyJiyiy k6k6k6ԑh2f:fBfJfvk@tpAɢX;) e>i)/P$ifͼI52Acoustic response timeout9Aa Iq I O > 2Acoustic response timeout }я,7F?ABJ?B8?B=ٱB j` JAHRS rotation from veh to nav: [[0.529125,-0.838861,-0.127824],[0.841614,0.499601,0.205148],[-0.108229,-0.216127,0.970348]]BH ?@@\?u?HB?촻˿` ?iBJ?IB_];BMCYnCsAynHra=rR=bDEVDE8y\%P=ٔQ->9I=FyE;E>Q 5U4v?Q 9U4g )rAYy*t?Q I?-'CI3;i/;U4y'BɮB׵E*jBjiiziJii k k k h k;k;k;h)bE=4jE=4rE='0EZ EAE?E"E:*E 9VE^4ZEBEa;a2Ed;aJE:a:E:a2f:fBfJf:k@|pAɢ;) 1>i)!i ʼ)I19999E2Acoustic response timeoutIII O- >I _я,7F?A F^%K?FH~?FX=ٱFa NAHRS rotation from veh to nav: [[0.527546,-0.839298,-0.131429],[0.843078,0.498213,0.202491],[-0.104471,-0.217628,0.970425]]FH???:?`;˿ ?iF^%K?IF|];DYVrAyVXH^=^= b49pIp=rFyrEr;Er>tQ 5zU4v?Q 9zU4vh )vrAY|y~t?Q Im?vt'CIviA)E3& AIiMǼQIQ2Acoustic response timeoutiEn ECEAE"EO]:*E09VEA4ZEa@a@a@a@^A2;ԡB=>B=CCB=pHB=eqAB==B=$DB=zDB=#;B=,~EIIO >  2Acoustic response timeoutCя,7F?A:K?:?:p6=ٱ:c FAHRS rotation from veh to nav: [[0.526311,-0.839511,-0.134973],[0.844388,0.497354,0.199120],[-0.100034,-0.218768,0.970636]]:H`?G`F9??|?@қ̿r?i:K?I:W];:OCHYNgrAyNHbDZ<VDZ8yb]%bK=ٔb]5Q-b>9dId=fFyfEj;Ej>lQ 5rU4n?Q 9rU4n )nzqAYpyr(u?Q Ir?n'CIn :in:nU4yz*BɮzݕBx*j Bj i i zi Jii k"k"k"h! k#<k#<k#<h92fI:fIBfIJfM'k@pAɢ() =i)isTżI^A &<I)I9Om= 2Acoustic response timeoutEV E?E?E"E=:*E?9VE^4ZEBE:a2E:aJE;9a:E@9a *я,6w8F?A6K?6?6Q=ٱ6td >AHRS rotation from veh to nav: [[0.526747,-0.838622,-0.138748],[0.844629,0.498028,0.196394],[-0.095599,-0.220641,0.970659]]6H ? 3??@n#?5y=̿?i6K?I6:];6PCYFqAyFHxyjt?T㥛 ~jt@?ļ 9x&1?ʡEy&1YA ?y`əBpB }B)BYLJBbD5@VD58yE%EC=ٔE-Q-E>9III=MFyMEUX]2Acoustic response timeoutE]>aQ 5mU4e?Q 9mU4e Q =mtI)etpAYu#?Q Eu:yuZ?Q Iu?e(CIel;ie;eU4y}Bɮ}ڕB͵E*jBjiiziJii k;k;k;h kCVkCVkCVh2f%>:f%>Bf~1@Jf|@颅pAɢ8|) =i)u顩iۏ¼I@rA@qA^Au \=I I!OU>Ii I A In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 8Ack receipt timeout failure. 2Acoustic response timeouty E U E AE =E "E :*E  9VE |4ZE a @a @a @a @Q я,4H+8F?ABKK?B>l?BOL=ٱBf NAHRS rotation from veh to nav: [[0.528720,-0.836763,-0.142417],[0.843921,0.500274,0.193708],[-0.090840,-0.222606,0.970667]]BH G?@:¿f???p?RA^~̿@?iBKK?IB.];BQCYVgqAyZpHAA A)AIAIMAYbDUVDUm8ym{%mH=ٔm?Q-m>9qIq=uFyuE}夻E}>Q 5U4?Q 9U4 )}oAYyY?Q I?E(CIS:i:U4yɮB*jBjiiziJiiB>BDCBHB pAB=BBB.;B=~EBBCB@CBCB=B=C6 k:k:k:h2f:fBfJf;|@-pAɢ5lû)1 5 Q=i1)=99i= AIA^Amu=IIO% >mIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERm2Acoustic response timeoutԁԱ % pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT- 2Acoustic response timeouty8я,E8F?A2wI?2?2@=ٱ2p :AHRS rotation from veh to nav: [[0.534010,-0.831721,-0.151903],[0.841098,0.504333,0.195456],[-0.085955,-0.232141,0.968877]]2H ?t@qÿ F?@~#?`?@ ʶͿ ?i2wI?I2:];2PCYBpAyBHbDNVDNH8yV%VX=ٔVTQ-V>9XIX=ZFyZEZ؁E^>`Q 5fU4b?Q 9fU4b )bnAYdyfW?Q If?b(CIb:ib:bU4yjBɮn BnεE*jtBjtixixzixJixix kSFkSFkSFh  kcFkcFkcFhԹ2f:fBfJf7|@pAɢ0$) Hͻi)iҒ!I!ET EEE<E"E9*EA9VE 4ZEBE:a2E:aJEV:a:EV:a^AI=IqIO=}%=y}zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout9 bя,^8F?A2F?2b~?2+v=ٱ2肾 :AHRS rotation from veh to nav: [[0.543848,-0.821867,-0.169602],[0.835341,0.510867,0.203027],[-0.080217,-0.252091,0.964373]]2H2g?Lſ?`Y?? C"п$?i2F?I2];2NCYn?pAynHbDMVDM"8yV%==ٔYQ->9I=FyEּE>Q 5U4̳?Q 9U4ο )mAYyT?Q I?(CI`;ib;lU4yɮB*j BjiyiyziyJiyi k@k@k@h k@k@k@h2f:fBfJf|@2Acoustic response timeoutpAɢ6) i)B7i~I@=@>ԙE ECE@E"E*E09VE4ZEa@a@a@a@^AQB>BBHBnABBBB9;BJ~EA I I O > 2Acoustic response timeout] >] > я,x8F?A2%B?2U\z?2=ٱ2 :AHRS rotation from veh to nav: [[0.557157,-0.808068,-0.191319],[0.827066,0.519338,0.215060],[-0.074425,-0.278055,0.957677]]2H@:? }ȿ Rw?j??`| ѿ@K?i2%B?I2];2QCYB?oAyBH==bD%VD% 8ye %eM=ٔmnQ-m>9iIq=uFyu Eu#Eu>yQ 5V4}ڳ?Q 9V4} )}lAYy2O?Q I?})CI}:i} :}3V4yBɮ6B*jBjiiziJii kEkEkEh kCZkCZkCZh2f:fBfJf |@pAɢ8) i)%K!!i%׺)I)2Acoustic response timeout^A}]=AEU EBEAE"E:*E(9VEA4ZEBE:a2E:aJEK+:a:EN+:aI I 1 OU >Q v$я,8F?A2]=?2u?2,=ٱ2(N :AHRS rotation from veh to nav: [[0.572663,-0.791551,-0.213316],[0.816933,0.529301,0.229044],[-0.068391,-0.305430,0.949755]]2H`BS?@bTM˿ P$? ?PQ?`+ӿed?i2]=?I2{];2MCYBnAyBH=2Acoustic response timeouty{Gz?ktL7A`?C? 0+> 9?S㥫Zd;O?Y ?y/]j=nB zB)uBYǁBbDVD8yv%A=ٔjQ->9I=Fy E 3E >Q 5V4 糉?Q 9V4. )@mAYl?Q E:yj?Q I%?C)CI:i:V4y)ɮ-CB)*jABjAiAiAziAJiIiI kAkAkAhY kTkTkThq2f8`>:f8`>Bf`UL@Jfb@额pAɢ) Vi)F顡iZI)IaqA9Y*AY^AAII2Acoustic response timeoutO >ԉ D %=D a=E V E @E @E "E =:*E 9VE 4ZE a @a @a @a @b*я,Ѭ8F?A :y8?:p?:~=ٱ:d: RAHRS rotation from veh to nav: [[0.588994,-0.773712,-0.233357],[0.805743,0.540024,0.243212],[-0.062158,-0.331276,0.941484]]:H ?@@Ϳ@?G?`!?2ӯ3տ` ?i:y8?I:];:PCYZ:nAyZ}H\\bDfVDf 8y~~Ͻ%~Z=ٔQQ->9I= Fy E kXE >Q 5=V4?Q 9=V4 )mAYAyE!g?Q IE?x)CI;iK;V4yM!BɮMYBIBe>BeECBeJHBemABaBaBe{DBeD;Be^~E*jBjiiziJii k8k8k8h k#Tk#Tk#Th2f :f Bf Jf @=pAɢ=H)A EiA)E!AAiE6IIqi-2Acoustic response timeout^AI=ԙAzAAII O= >  2Acoustic response timeout1я,f8F?A2)y3?2YPk?2e=ٱ2 ߹ :AHRS rotation from veh to nav: [[0.605506,-0.755368,-0.250561],[0.793863,0.551102,0.257038],[-0.056073,-0.354549,0.933354]]2H O`?+2 п`Rg?`? Os?@ֿ ?i2)y3?I2M^;2OCYBmAyBOHlbDNVDN8yv.;%vN=ٔvy{Q-v>9xIx=zFyzEz(RE~>Q 5 V4?Q 9 V4` )%nAY y c?Q I ?)CI:i:+V4yBɮPBŵE*j)Bj)i1i1zi1Ji1i1 k8k8k8hI ks[ks[ks[hY2fi:fiBfiJfmr@颍pAɢ9Z)  .i)%#顑ilFIE}U EyE}AEy"E}:*EyVE}A4ZEyBEya2EyaJE}-:a:E}/:a^ALc=!e2Acoustic response timeoutA II)Oe>A 7я,@8F?AFk<.?Ff?FM=ٱF?ež VAHRS rotation from veh to nav: [[0.621814,-0.736855,-0.265316],[0.781554,0.562123,0.270538],[-0.050207,-0.375583,0.925428]]FH ?Pп}??P?` ؿ`?iFk<.?IF^;FQCY^dmAybH9IQ Q)QIQbDewVDe8yu%uB=ٔupdQ-u>9yIy=}Fy}EFE>Q 5V4\ ?Q 9V4 )nAYy^?Q I?)CIo;iq;:V4yɮaB*jBjiiziJii kBkBkBh k_k_k_h2f:fBfJfs@%pAɢ%=ż)! -2Qi))-&))i-61I9i߹I߽A2Acoustic response timeoutiEP EAE;E"E9*E 9VE4ZEa@a@a@a@^A]=B>BBHBlAB=BBBR;ԱBq~EAIIO>m 2Acoustic response timeout =я, 8F?A2(?2`?26=ٱ2Ͼ :AHRS rotation from veh to nav: [[0.638214,-0.718002,-0.277770],[0.768566,0.573328,0.283903],[-0.044589,-0.394675,0.917738]]2H@l?ѿ@?@X?v+?nԦ \Bٿ ^?i2(?I2^;2PCYBlAyB{HDFa=bDNfVDN8yR%VX=ٔVsQ-V>9XIX=ZFyZEZbE^>`Q 5bV4b?Q 9fV4b )b)oAYdyfZ?Q If?b"*CIb:ibB:bGV4yjBɮn~Bl*jtBjtixixzixJixix kCYkCYkCYh  ksYksYksYh2f):f)Bf)Jf-o@IɢMj)I MGiQ)U)QQiUgԹI2Acoustic response timeout^A9AEb?AEi?AbEȗ4jEȹ4rEȭ<0ER E[E?E"Es9*E9VE^4ZEBEx:a2E|:aJE;a:E;aIIO>A Dя,9F?A> #?><{[?>O =ٱ>׾ FAHRS rotation from veh to nav: [[0.653940,-0.700351,-0.286130],[0.755528,0.584937,0.295001],[-0.039237,-0.409092,0.911649]]>H?@Gi@Oҿ`I-?ͷ?M?.ڿ:,?i> #?I>'4^;>RCY^)lAyb7H%2Acoustic response timeouta@a a@a a@a a@a y{Gz?X9v?J +?c?}== )Mb@Mb@Mb@Ii‰jB B)Y~BbDMVD8ymm%m1=ٔ=Q->9I=FyE3E>Q 5V4$?Q 9V4z )oAQ A+:YQ E:yV?Q I?e*CI;i>#UV4yɮB*jBjiiziJii kakakahQ颥pAɢd) 叾i)R.项iCIA^AqhDAT read: Forwarding Delay UpTx time:18:37:24.1995 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutA I I! IA O] >ԙ E T E ?E >E "E 9*E ?9VE 4ZE a @a @a @a @Jя,-9F?A2*?2ZV?2; =ٱ2\ݾ :AHRS rotation from veh to nav: [[0.668511,-0.684253,-0.291359],[0.742914,0.596390,0.303971],[-0.034230,-0.419663,0.907035]]2Hqd?`g ҿ ??Ct?ڿ@m?i2*?I2=^;2NCYBkAyBHbD )VD 8y%c=B%>B%FCB%PHB%QlAB!B!B!B%b;B%~Eٔ=FaQ-=>9AIA=EFyEEET[EM>IQ 5UV4M0?Q 9UV4M )MKpAQ A] :YYQ E]x:y]Q?Q I]?M*CIM& ;iM T?Me]V4yeBɮmBi*jyBjiiziJii k3Xk3Xk3XhpAɢ, ) 'i)1iζIq-2Acoustic response timeoutԩ^A9Am$AIyIO> 2Acoustic response timeout Qя,dG9F?A2O?2&R?2<ٱ21 :AHRS rotation from veh to nav: [[0.681281,-0.670105,-0.294645],[0.731461,0.607418,0.309851],[-0.028660,-0.426617,0.903978]]2H@ ?quҿ h?o? ?Y`Mۿd?i2O?I2xi^;2OCYBjAyBjHDDbDEVDE`8E]X E]EEYEY"E]~ :*E]A9VEYZEYBE]:ae2E]:amJE]V:am:E]V:amy%0=ٔFQ->9H?IH?=FyEsE> Q 55V4 >?Q 95V4 Җ ) pAQ A=9Y9Q E=I:y=M?Q I=? *CI ;i ? eV4yAɮEBI*jaBjaiaiaziaJiaii ks@ks@ks@h ks`ks`ks`hpAɢ ) Ji)U7iǨI=2Acoustic response timeout^A1) Ae AIi Iy O >XWя,/a9F?A ɰ FD?FN?F<ٱF NAHRS rotation from veh to nav: [[0.692842,-0.657719,-0.295593],[0.720714,0.618403,0.313288],[-0.023260,-0.430097,0.902483]]FH@+?` ҿ?? ?rї`ۿ`$?iFD?IFr^;FPCYVkAyVHbDbVDb18yj<%ju=ٔjQ-j?9nK?InK?=nFyn!ErAEr?tQ 5zV4vI?Q 9zV4v` )vvqAQ Az9YxQ Ez#:yzI?Q I~?v+CIv;iv?vjV4yɮB*jBji!i!zi!Ji!i! kGkGkGh9}pAɢ}k) Zi) {;顁inY2Acoustic response timeoutIIEm\ Em?EmCEi"Em:*Em?9VEm5ZEia}@a}@a}@a}@y^AB%<A%4=B->B)B-HB-kAB)B)B-|DB-j;B-~EBECBECBƓCB=B=C~5AM $AIQ Ia  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I i pAI ԩ O >E ?E Z?M 2Acoustic response timeout(^я,c{9F?A61?6bJ?6R<ٱ6OG >AHRS rotation from veh to nav: [[0.702672,-0.647250,-0.295500],[0.711292,0.628623,0.314479],[-0.017789,-0.431163,0.902099]]@6H`I|?E`yҿ??@n ?@+7+ۿ?i61?I6^;6NCYJjAyJeHbDRVDR 8yZݼ%ZL=ٔ^_Q-^>9bH?IbH?=bFyb#EbW Ef>dQ 5jV4f1W?Q 9jV4fO )frAQ An9YlQ En:ynlF?Q In?fA+CIf ;if@foV4yrBɮvBvE*jBjiiziJi i  kGkGkGh!MpAɢM)I MiI)U?QQiUQIYԱ^A2Acoustic response timeoutAAI!I1O]>EuQ EuAEu?Eq"Eu29*Eu 9VEu^4ZEqBEu:a2Eu:aJEu:a:Eu:a aeя,A9F?A2?2ɫG?2K<ٱ23 :AHRS rotation from veh to nav: [[0.710883,-0.639046,-0.293710],[0.703200,0.638433,0.312910],[-0.012450,-0.428979,0.903229]]2H?s@$ҿ`? n?? .dtۿ??i2?I2kj^;2OCYVjAyVSHXZp=l2Acoustic response timeoutaMaM aMaM aMaM aMaM yM)\(?Zd;?MG?My>M̼I I9M{Gz?A`"?!rh?YMc?yM=Ml=IMejB MB)MBMYMBbDeVDe8yub%}?=ٔ}KQ-}>9K?IK?=Fy&EFܼE>Q 5V4gj?Q 9V4 )drAQ AT:YDg?Q Ek:yp?Q I?+CI;i;~V4yɮB*jBjiiziJii kCFkCFkCFh kSFkSFkSFh 2fj>:fj>Bf @Jfպ@颽pAɢ[) i)CEiI ^A=12Acoustic response timeoutA) I1 IA O} >a E W E >E AE "E :*E 9VE A4ZE a @a @a @a @:kя,9F?A2} ?2D?27;ٱ2 :AHRS rotation from veh to nav: [[0.718391,-0.631785,-0.291140],[0.695601,0.648039,0.310137],[-0.007270,-0.425317,0.905015]]2H?7`ҿ^B?`? G?}b8ۿ?i2} ?I2:^;2NCYBjAyBLHTT X)XIX ^p<Bb>BbGCBbHBb]kABb=B`B`Bb^;Bb~E^4<9bDjVD8yu{һ%uK=ٔ}pRQ-}>9yIy=Fy)EؼE>Q 5V4|?Q 9V4k )rAYym?Q I?,CI}  2Acoustic response timeout"rя,^9F?A2 ?2IyB?2A;ٱ2޾ :AHRS rotation from veh to nav: [[0.725066,-0.625228,-0.288738],[0.688676,0.656893,0.306948],[-0.002243,-0.421405,0.906870]]2H 3? `zҿ@ ?D?@ ? G_b`Kڿ ?i2 ?I29^;0YBjAyBFHbDNIVDN8yV%VX=ٔVYQ-V>9XIX=ZFyZ+EZмE^>`Q 5fV4b(?Q 9fV4bIx )bsAYdyfvk?Q If?bX,CIbd:ib:b)V4ylɮnBl*jxBjxixixzixJi|i| k8k8k8h k#8k#8k#8h!2f1:f1Bf1Jf5L.@ԡpAɢ) 3i)8NiXIE9 E=FE=;E9"E9*E=;J9VE=4ZE9BE=(:aM2E=-:aMJE=e:aM:E=e:aM^Ay2Acoustic response timeoutAIIO > g> C nG) I 9 Y A! Pxя,9F?A2s?2%K@?2m1ٱ2۾ :AHRS rotation from veh to nav: [[0.730904,-0.619631,-0.286071],[0.682475,0.665253,0.302765],[0.002707,-0.416528,0.909119]]2Hc?Nҿ`?I?~`?-f?`eڿ?i2s?I2&!^;2OCYBwjAyB-HDDbD+VD8yE%EA=ٔE1?Q-E>9III=MFyM.EMwEU>YQ 5eV4]衴?Q 9eV4]Wp )]xsAYaye4i?Q Ie?],CI]f:i]:]V4yu BɮuBq*jBjiizi9Ji9i9 k9k9k9hQ k9k9k9hau2Acoustic response timeout2fy:fyBfyJf}@额pAɢ) ~¾i)aT顡iRUI@pA@oAEA EEEEEBEA"EA*EEA9VEE5ZEAaM@aM@aM@aM@AAB >BBBBBBBH;Bt~E^AIA! I) I9 Ou >= 2Acoustic response timeoutq w~я,9F?A6l?6C>?6wٱ6پ BAHRS rotation from veh to nav: [[0.736269,-0.614436,-0.283506],[0.676646,0.673207,0.298233],[0.007613,-0.411413,0.911417]]6H?u$ҿ????.?@TڿT*?i6l?I6(^;6NCYF}jAyJ0HAAbD VD 8yER;%MJ=ٔMFQ-M>9IIQ=UFyU0EUEU>YQ 5eV4]贴?Q 9mV4]h )]sAYiymg?Q Im?]-CI]:i] :]V4yBɮBE*jBjiiziJiiY kc9kc9kc9hq2f:fBfJfڌ@19 rNAggregate::initialize marl:UpdateRudderq9-J]1q959=7=o=XAggregate::initialize marl:UpdateCommandMode18E]i18mou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedpAɢc) i)YigI2Acoustic response timeoutԑE]S E]?E]>EY"E]9*E]?9VE]4ZEYBE]:ae2E]:aeJE]=9am:E]B9amԱM !9 = 2Acoustic response timeout^Aq AIIO?-я,G:F?A>0z?>`QeRٱ>+־ JAHRS rotation from veh to nav: [[0.741356,-0.608954,-0.282076],[0.670989,0.680627,0.294145],[0.012868,-0.407336,0.913188]]>H/?| ҿx?`?F?]Z?@ڿ`8?i>0z?I>@^;>MCYN{jAyN/HPPy/$?I +?Q&q?94< 9Gz?ˡE?'1ZĿYp?y="jB B)VBYuBAbDEVDEu8yUTK%U=ٔ]Q-]>9YIY=eFye4Ee_Ee>iQ 5uV4maմ?Q 9uV4mt_ )mjrAY}t?Q E}]:y}??Q I}?m-CIm<:im;mV4yBɮB*jBjiiziJii kc1kc1kc1h kc1kc1kc1h2f=:f=Bf?Jf#@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder{pAɢ) i ) _  i {I2Acoustic response timeouti^A=DD%=ET EAECE"E9*E 9VE5ZEa@a@a@a@ԙB! B! B! B! B% =B! B! B% ';B% R~EI I O= > Nя,7:F?A22Acoustic response timeout6 w?69!I!=%Fy%6E-^E->1Q 55V45괉?Q 9=V45lY )5{qAY9y=@=?Q I=?5-CI5;i5+;50V4yIɮMBI*jYBjaiaiaziaJiaii k@k@k@hy kAkAkAh2f:fBfJf)@颽spAɢ,) *ľi)|'di,IԱ2Acoustic response timeout ^A- =bEm&4jEmʨ4rEm 0E  E DE ;E "E *E a99VE 4ZE BE :a 2E :a JE jH:a :E mH:a I! I1 9 Om >.Bя,Q:F?A2La?2|88?2ȼٱ2Ҿ :AHRS rotation from veh to nav: [[0.751836,-0.596716,-0.280488],[0.658895,0.695756,0.285975],[0.024505,-0.399818,0.916267]]2H ?Kѿ? C?jM??@ٿR?i2La?I2^;2PCYBjAyB]HbDNVDN 8yVZ=%VP=ٔV{Q-Z>9XIX=ZFyZ9E^٩E^>`Q 5fV4b?Q 9fV4bR )bpAYdyf[;?Q Ij?bT.CIba;ib];bV4ynBɮnBnE*jtBjxixixzixJixi| ks<ks<ks<h  k<k<k<h2f:fBfJf#@kpAɢ|) i)hi I9]2Acoustic response timeout)^AaIIO-p>Q i I A 2Acoustic response timeoutaя,ik:F?A Y]jAy]BHaa )IEV EAE=E"E=:*E 9VE|4ZEa@a@a@a@bDVD8y¼%;=ٔQ->9I=FyQ 5V4?Q 9V4K )loAYyQ I?.CI:i9:)V4yBɮBE*jyBjyiiziJii kS<kS<kS<h2fB<A<BBBHBkAB=BBB;BF~E:fBfJfE`pAɢEƌ)A EiI)Me1nIIiMJQIQq}2Acoustic response timeoutԡ^A1III>O> Lя, q:F?ALz>z%2?zٱzϾ  AHRS rotation from veh to nav: [[0.765557,-0.579525,-0.279416],[0.642346,0.712964,0.281201],[0.036250,-0.394757,0.918070]]zHq?x@ѿ?@?3?g?Cٿ``?iz>Iz~&^;zOCY=jAy=gH2Acoustic response timeouty ˡE? rhMb G? C @  9 (\?X9v5^I ˿Y G?y  X  iB B) B Y (BbD%VD%#8y50=%5B=ٔ= Q-=>99I9=EFyE>EEQEE>Q 5W4U6?Q 9W4G )nAYQ?Q E:y,>Q I?/CI:i]:lW4yBɮBE*jBjiiziJi!i! k#k#k#hQ k<k<k<hi2f}/>:f}/>Bf}I+@Jf}4@UpAɢ)C ̯i)ri<IER EBE:E"Es9*E(9VE(4ZEBEx:a2E}:aJEL+:a:EN+:a^AIIIaO> 2Acoustic response timeout sя,B:F?A ɰ"p;Rr>R /?R)ٱRRϾ bAHRS rotation from veh to nav: [[0.774324,-0.568202,-0.278513],[0.631429,0.722644,0.281217],[0.041478,-0.393614,0.918340]]RHB?.`)ѿ4? ?`t?@IRq ^;RMCYnjAynVH|bDedVDe8yu%uX=ٔ}pbQ-}>9yIy=}Fy}AEE>Q 5W4L?Q 9W4BD )mAYy2>Q I?b/CI;i;W4yɮB*jBjiiziJii k#$k#$k#$h k:k:k:h2f:fBfJf@LpAɢ() ,i)%v!!i%>)I)!2Acoustic response timeout^AII O=r>QEU EIE>E"E:*Ec9VE4ZEa@a@a@a@B!>BBHBkABBBB;B:~EBGCBGCBB=B=CN4y Zя,n:F?A"2Acoustic response timeout6X$>6[*?6)u=ٱ6VϾ >AHRS rotation from veh to nav: [[0.784455,-0.554741,-0.277295],[0.618459,0.733059,0.283079],[0.046238,-0.393558,0.918136]]6H`B?o1ѿj? 7u??{? 0ٿ@_a?i6X$>I6&^;6NCYFjAyFmHHJa=bD RVD 8yE<%MM=ٔM6DQ-M>9IIQ=UFyUCEU)EU>YaQ 5mW4e\e?Q 9mW4e@ )e9mAYiyu>Q Iu?e/CIe:ie:eW4yBɮB*j Bj iizi1Ji1i1 k3"k3"k3"hI k/k/k/hY2fi:fiBfiJfmD@颍BpAɢ,) 7i){顑iuIԁ^AԱ2Acoustic response timeoutA $AI I! O] >E  E DE CE "E *E a99VE 5ZE BE :a 2E :a JE jH:a :E mH:a я,$:F?A6)>6(l&?6&Pٱ6@Ͼ >AHRS rotation from veh to nav: [[0.795003,-0.540278,-0.275808],[0.604475,0.743663,0.285615],[0.050796,-0.393784,0.917798]]6H p? IզѿW?`?@G?@? 3ٿ^?i6)>I6i];6OCYFjAyF_HbD nVD 8yEc%MJ=ٔM9Q-M>9MH?IUH?=UFyUFEU1EU>aQ 5eW4e~?Q 9mW4eQ= )elAYiym>Q Im?e 0CIeu:ieK:e,W4yuBɮ}By*jBjiiziJii k##k##k##h k<k<k<h2f:fBfJf6@Q颥8pAɢ ) 签i)顩i5ŞI]2Acoustic response timeoutԁQϻԩ^A A Z?A Z? 2Acoustic response timeout PExceeded connect timeout, disconnecting. A AI! I1 Om >8я,=:F?AE6Q E6EE6?E4"E629*E6A9VE6^4ZE4a:@a:@a:@a:@2>2!?2.bٱ2Ͼ FAHRS rotation from veh to nav: [[0.805620,-0.525189,-0.274141],[0.589856,0.754182,0.288582],[0.055192,-0.394192,0.917369]]2H`?`Xѿ ?A"?!x? %B?o:ٿ@[?i2>I2E^;2NCYNkAyNHV>V=bDZCVDZ8yb<=%bB=ٔb*Q-f>9fK?IfK?=fFyfHEjo/Ej>lQ 5rW4n>?Q 9rW4n9 )nkAYpyr>Q Iv?n`0CIn;in;n:W4yzBɮzBzE*jBj i i zi Ji iBm >BiBmiHBmylABiBiBiBm;Bm<~Eԙ kC!kC!kC!h2f:fBfJfP̬@/pAɢ[) =Ѣi9)=299i=?AIA M2Acoustic response timeout^A==A I I! O >! Žя,6;F?A:C>:?:rٱ:Ͼ BAHRS rotation from veh to nav: [[0.816387,-0.509686,-0.271536],[0.574456,0.764959,0.291268],[0.059259,-0.393774,0.917295]]:H`?XO`ѿ@a?z?$?`-W? 3ٿ{Z?i:C>I:T^;8YJAkAyJHLLb2Acoustic response timeouty-ʡE?NbX9ȿA`"?-/?-E-=) )9-!rh?A`"ӿL7A`堿Y-l'?y--+)-BhB -EB)-֊B)Y-BbDE;VDE8yUF<%UC=ٔUVQ-]>9YIY=]Fy]KEe7Ee>iQ 5uW4mͱ?Q 9uW4m^8 )mlAYuI8?Q Eu:y}G>Q I}?m0CIm ;im ;mIW4yBɮB*jBjiiziJii k#$k#$k#$h12fE5>:fE5>BfEj@JfEԤ@颅'pAɢf) i) L顉i۟IET EDE@E"E9*Ea99VE4ZEBE:a2E:aJEa:EaA짼@qA@qAu2Acoustic response timeoutyU _Gq d9 Y A^A =ԙ AU $AIY Ii O >PȎя,K%;F?A2Xa>2?2ʀٱ2Ͼ :AHRS rotation from veh to nav: [[0.827143,-0.493914,-0.268111],[0.558466,0.775736,0.293853],[0.062845,-0.392790,0.917479]]2Hw?H߿(ѿ??|??v#ٿ[?i2Xa>I2/^;2MCYBEkAyBHTT X)XIXbD\VD\y >;%:=ٔ%Q-%>!9-H?I-H?=-Fy-NE5q3E5>9Q 5EW4=˵?Q 9EW4=6 )=mAYIyM3>Q IM?=0CI=l;i=$;=XW4yQɮQQ*jiBjiiiiqziqJiqiq kckckch k;k;k;h2f:fBfJfF@pAɢ) Gi)ei-I2Acoustic response timeoutnManaging dock network, ignoring radio surface power offQEU[ EQEQEQ"EUa:*EQVEQZEQa]@a]@a]@a]@B5>B1B5HB5lAB1B1B1B50;B5X~Ey^A = 2Acoustic response timeoutԩ A AI I! O >!)ώя,?;F?AJ|C>J?J!ٱJ+ξ VAHRS rotation from veh to nav: [[0.837875,-0.477878,-0.263814],[0.541924,0.786177,0.297059],[0.065447,-0.391865,0.917692]]JH?޿Tп@qW?](??@?Qٿ]?iJ|C>IJ^;JNCY^kAy^H`bAbDfFVDf8yn!=%nJ=ٔrԻQ-r>9rK?IrK?=vFyvPEv`IIEv>YQ 5eW4])䵉?Q 9eW4]5 )]qnAYaye>Q Ie?]G1CI]B:i]:]igW4yuBɮuBq*jBjiiziJii k!k!k!h kS8kS8kS8h2f:fBfJf@pAɢ)  ֎я,WY;F?A2>2 ?2쩋ٱ2 ; :AHRS rotation from veh to nav: [[0.848340,-0.461696,-0.259145],[0.525049,0.796617,0.299541],[0.068142,-0.390176,0.918215]]2H%?oݿӕп3?}?+?q?@ؿ b?i2>I2^;0YBkAyB HDDb2Acoustic response timeoutbD PVD 8yEY=%MD=ٔMԻQ-M>9IIQ=UFyUSEUDEU>ԹQ 5W4?Q 9W44 )QoAYyK >Q I?1CIL;i7;uW4yBɮBE*jBjiiziJii k5k5k5h kSkSkSh)2f9:f9Bf9Jf=@UpAɢ])Y ].iY)] aaieGaIi^A=}2Acoustic response timeoutA) I9 II O >9 EM T EI EM @EI "EM 9*EI VEM 4ZEI aU @aU @aU @aU @B >B FCB HB mmAB =B B B I;B m~E4܎я,2s;F?ABd0>Bb?B_ٱBV̾ JAHRS rotation from veh to nav: [[0.858152,-0.445722,-0.254769],[0.508474,0.806444,0.301832],[0.070924,-0.388561,0.918689]]BHu?ආܿ"NпjE? d?@5Q?`(?@-ؿe?iBd0>IB^;BQCYblAyb.HbDECVDE8yz =%F=ٔݻQ->9I=FyVE?E>Q 5W4c?Q 9W43 )(pAYyE=Q I?1CIS:iK:W4yBɮB*jBjiiziJii k#8k#8k#8hY2fi:fiBfiJfm@颥 pAɢV ) |i)ɋ项ibEI2Acoustic response timeoutA^A=ԉA I I O >i߁ I߁  2Acoustic response timeoutԙ я, ;F?A2W>2 ?2ٱ2U˾ :AHRS rotation from veh to nav: [[0.866645,-0.431474,-0.250515],[0.493479,0.815288,0.302957],[0.073524,-0.386180,0.919488]]2H@?Cۿ@qп)??c?xҲ?@.ؿsl?i2W>I2C^;2PCYBklAyB`Hr=r=yeGz?S㥫?ʡE?eP?e/]=e-=a a9eS㥛?B`"ɿK7?Ye$&?yeNeI >aedB eB)eԇBaYe„BbD}]VD}8y;I=%J=ٔӻQ->9I=FyXE.E>Q 5W4^)?Q 9W41 )qAY1?Q E:y>Q I?2CI:i8: W4yɮ{B*jBjiiziJii k7k7k7hbE^4jE4rE x0ES EGE?E"E9*ER9VE^4ZEBE:a 2E:aJEt:a:Et:a k7k7k7h!y2fL>:fL>Bf;c@Jf|@pAɢ_) Pgi)SQi6`Iԡ2Acoustic response timeout^AAI IQ Ia O > Fя,;F?A2>2c?2ٱ20 ˾ :AHRS rotation from veh to nav: [[0.874319,-0.417726,-0.247125],[0.479372,0.822904,0.305010],[0.075949,-0.385141,0.919727]]2H`l?ڿǡϿ@?;U?I?@fq?@&ؿgn?i2>I2<^;2OCYBlAyBzHDDbDNAVDN8yVN<%VZ=ٔZ7ԻQ-Z>9XIX=ZFyZ[E^/E^>`Q 5fW4bQ Ij?b\2CIb):ib:b)W4ynBɮneBnE*jxBjxixixzixJi|i| kc7kc7kc7h ks7ks7ks7h2f:fBfJfw@%pAɢ-}z)) -[i))5!EIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERE2Acoustic response timeoutAIiM_syIyD=DR=E ] E HE @E "E :*E [9VE 4ZE a@a@a@a@B>BECB|HB8nAB=BB{DB3;BR~E^A) AI IQ Ia O  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeouti oAI Q 0я,>;F?A2>2w>29kٱ2!˾ :AHRS rotation from veh to nav: [[0.881577,-0.403970,-0.244193],[0.465509,0.829766,0.307879],[0.078249,-0.385093,0.919555]]2H@5?ٿAϿ?q?H?'?\ؿl?i2>I2Io^;2NCYBlAyBHbDJ2VDJ8yRc=%VJ=ٔV(Q-V>9TIX=ZFyZ]EZ!EZ>\Q 5bW4^ R?Q 9fW4^. )^tAYdyf>Q If?^2CI^:i^y:^GW4yjBɮn]Bl*jtBjtitixzixJixix k8k8k8h  k#8k#8k#8h2f):f)Bf)Jf-r@MpAɢMH)I UCiQ)U^׏iTI)MzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYM2Acoustic response timeout-YEZ E@E>E"E:*E9VE4ZEBEb;a%2Ed;a%JE-:a%:E/:a%ԑ ^AA Aq Iy I I Ա O >я,#;F?A2Acoustic response timeout6#,>6>6Bٱ6˾ BAHRS rotation from veh to nav: [[0.888486,-0.390379,-0.241241],[0.451787,0.836317,0.310584],[0.080508,-0.384939,0.919424]]6Hyn?ؿο??@?0?`עؿk?i6#,>I6u^;6QCYJ4mAyJHLNAbDVVDV8yZX=%^@=ٔ^̮Q-^>9`I`=bFyb`EftEf>hQ 5nW4jSh?Q 9nW4j(, )jvAYlyn>Q In?j2CIj:ijY;j!W4ytɮvTBt*j|BjiiziJii  kFkFkFh)2fQ:fQBfQJfU7@oAɢ)  o2i )i 9IY5?!^A]=2Acoustic response timeoutQ IY Ii O >D zD AAE  E E ;E "E *E VE 4ZE a @a @a @a @B- >B) B- HB- oAB) B) B) B- ;B- ;~EBFCBFCBB=B=C(o5zя,g;F?A :Zs>:>:Oٱ:Sf˾ FAHRS rotation from veh to nav: [[0.894631,-0.377857,-0.238452],[0.439200,0.841750,0.313944],[0.082091,-0.385592,0.919010]]:HѠ?.ؿο?@?? ?ؿ@h?i:Zs>I:^;:PCY^mAyb9H``tt t)tItbD~VD~8y =% G=ٔ |Q->9I=FybE E>!Q 5-W4%}?Q 9-W4%s* )%cxAY)y-}>Q I5?%)3CI%:i%d:%W4yEBɮEDBQ*jBjiiziJii kBkBkBh kBkBkBh2f:fBfJft@颍oAɢtݼ)  i), 顱i"I=2Acoustic response timeoutqԡ  2Acoustic response timeout^A] =Ae Y?Ae `? I9 II O >?я,E "E" :*E"(9VE"4ZE BE"':a22E",:a6JE"K+:a6:E"N+:a6Z~V>Z>ZKٱZ0'̾ bAHRS rotation from veh to nav: [[0.906712,-0.352786,-0.231116],[0.413392,0.851970,0.321332],[0.083543,-0.386897,0.918331]]ZH? ֿ8Ϳu?VC??c?ؿ b?iZ~V>IZQ^;ZQCYjmAyjEHy(\?V-?Mb?G?h=< 9NbX9?&1(\?Y%?yPz>ShB B)7BYaBbDVD~8y%<%-=ٔEJQ->9I=FyeE"xE> Q 5W4 ?Q 9W4 ' ) yAY=*?Q E:y>Q I? u3CI 8:i : W4y%Bɮ!%E*j9Bj9i9iAziAJiAiA kDkDkDhY kDkDkDhi2f}*c>:f}*c>Bf}x@Jf}3~@^B*** querying acoustic contact ***XYԡ颥oAɢ}ڼ) i)顩iJI99992Acoustic response timeout^A) I I O >) _ я,+n>nٱne̾ zAHRS rotation from veh to nav: [[0.912365,-0.340858,-0.226730],[0.400781,0.856613,0.324944],[0.083460,-0.387336,0.918153]]nH2?տyͿc? `i??]?ؿa?inxH>InK^;nOCYnAyH]=]=bDmVDm|8y[=%Q=ٔ_9Q->9I=FyhEE>Q 5%W4@?Q 9-W4L$ )I{AY)y->Q I-?3CIp:iF:W4y1ɮ=0B9*jQBjQiQiQziYJiYiY k7k7k7hq k7k7k7h2f:fBfJf:I}@颵oAɢ)cȼ) di)H项iڬIB>BBHBoABBBB;B7~EET EDE;E"E9*Ea99VE4ZEBE:2E:JEjH::EmH:A^AI9IQO{>52Acoustic response timeouti Hя,_EJ>JٱJ̾ VAHRS rotation from veh to nav: [[0.917930,-0.328812,-0.222008],[0.387980,0.860915,0.329084],[0.082923,-0.388211,0.917832]]JH`_?@A տj̿?@? ?v:?qؿ^?iJ!:>IJN^;HYZoAy^H``bD-VD-l8yeD=%eN=ٔm#:Q-m>9iIq=uFyujEuEu>yQ 5W4}󺶉?Q 9W4}! )}|AYys>Q I?}3CI}:i}:}W4yBɮ!B*jBjiiziJii k8k8k8h kUkUkUh2f:fBfJf/X|@ɢ5`) ii)&顙ibIq2Acoustic response timeoutԩEW EEE<E"E :*EA9VE 4ZEa@a@a@a@^AAoAzAoAI9IIO|> E 2Acoustic response timeout g> C= Gvя,N_9@YBAHYuoAyuVHbDVDi8y5,=%5>=ٔ5Q-5>99I9==Fy=mE=EE>AQ 5UX4E϶?Q 9UX4E )E}AYQyQQ IU?E:4CIED;iEk:EX4yYɮeBa*jBjiiziJii kC:kC:kC:h k#Sk#Sk#Sh2f:fBfJf5oAɢ5 )1 =i9)=#99i=L9AIA2Acoustic response timeout^AI)IAOm>B A <B >B DCB >HB qAB =B B B -;B A~EE Q E @E AE "E 29*E 9VE A4ZE BE :a 2E :a JE -:a :E /:a  я,y.>.'ٱ. ̾ :AHRS rotation from veh to nav: [[0.929049,-0.303940,-0.210924],[0.360752,0.870662,0.334372],[0.082015,-0.386739,0.918535]].H`ĺ?sӿʿ ?`w?Zf??Vؿ d?i.>I.2^;,YB%pAyBHDDbDJVDJR8yV=%Vh=ٔVW);Q-V>9XIX=ZFyZoEZHE^>`Q 5bX4bdᶉ?Q 9fX4b )b$AYdyf">Q If?bs4CIb:ib:bX4yjBɮnBl*jxBjxixix|zixJi|i k7k7k7h>> kcWkcWkcWh)2f:fBfJfvz@2Acoustic response timeout oAɢ ")    2Acoustic response timeoutԁ ޅ$я,r2<>2ٱ2˾ :AHRS rotation from veh to nav: [[0.934591,-0.290682,-0.205043],[0.346277,0.875383,0.337338],[0.081433,-0.386275,0.918782]]2H ,?ҿ>ʿf)?`#??ش?ؿf?i2 >I2>^;2NCEBV EBFEB=E@"EB=:*EB;J9VEB|4ZE@aF@aF@aF@aF@YNxpAyNHPPyEGz?w/Ŀp= ףEp]?E&EA A9Ei|?5?MbMb`?YE1?yEE;AA EB)AAYEDžBYbDeVDeP8yuA=%u>=ٔuױ:Q-u>9}H?I}H?=}Fy}rE'E>Q 5X4?Q 9X4 )AYI3?Q E:yJl>Q I?4CI:fH>Bf$0@Jf@];>ԁ hDAT read: Forwarding Delay UpTx time:18:37:38.0494 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout^AAU?AU?ԹA AI I O5 > U*я,R(ٱR˾ ZAHRS rotation from veh to nav: [[0.939892,-0.277461,-0.199041],[0.331726,0.880170,0.339496],[0.080993,-0.385117,0.919307]]RH`? ѿ,zɿ`;?@[*?O??¥ؿj?iR %=IR];PYb qAyb8Htt t)tItbD~VD~88y u=% Q=ٔ ړ:Q->9K?IK?=FyuEf"E>!Q 5-X4%>?Q 9-X4%P )%1AY1y5Q\>Q I5?%5CI%;i%;%.X4y= Bɮ=B9*jQBjQiQiQziQJiYiY kFkFkFhq kFkFkFh2f:fBfJf|A@@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderԩ颽pAɢrRX) E=i)zi!BIBM >BIBMHBMYrABIBIBMzDBIBM>~EEU ECE>E"E:*E09VE4ZEBE:a2E:aJE9:a:E9:a^A12Acoustic response timeout)A$AIIO>Q "1я,r2nΤٱ2ʾ :AHRS rotation from veh to nav: [[0.945356,-0.263047,-0.192635],[0.315975,0.884833,0.342389],[0.080385,-0.384547,0.919599]]2H@[@?`п`?ȿ 8?P?? ?jؿZm?i2=I2^;2OCY^5qAybRHf=f=bDjxVDj8y%<%-I=ٔ-:Q-->95H?I5H?=5Fy5wE5(E5>AQ 5EX4E'?Q 9MX4E )EAYIyM*K>Q IM?EM5CIE):iEB:EEE"E=:*E9VEZEa@a@a@a@AiIyIԉO>% 2Acoustic response timeout V7я,2>`ٱ2dɾ :AHRS rotation from veh to nav: [[0.950688,-0.248598,-0.185446],[0.299735,0.890072,0.343412],[0.079689,-0.382062,0.920694]]2H@ l?Ͽǿ.?@w{?t?|f?sؿ Tv?i2Ų=I2];2QCYB/rAyBHbDvLVDv8y%n>%-J=ٔ-:Q-->91I1=5Fy5zE5-E5>Q 5X4d??Q 9X4} )΀AYyx9>Q I?5CI ;i ;SKX4yBɮȕB*jBjiiziJii kbkbkbh k3bk3bk3bh2f:fBfJf3>@!ɢ- )) -_ >i))- ))i51I9ԑ2Acoustic response timeoutqڼ@@pAAI AM ?ABU >BU CCBU HBU sABU =BQ BQ BU P;BU \~EE W E BE AE "E :*E (9VE A4ZE BE ':a 2E ,:a JE K+:a :E N+:a ^AA AM pAzAM rA Aq Iy I O >#>я,8K2ӡٱ2D Ⱦ :AHRS rotation from veh to nav: [[0.955838,-0.233759,-0.178130],[0.283096,0.895113,0.344426],[0.078934,-0.379644,0.921759]]2H9?Ϳ@ƿ@=?@Ĥ?@ ?`5?`Lؿ ?i2"=I2^;2OCYBRrAyBHu2Acoustic response timeoutbD~9VD~8yy<%9=ٔo:Q->9I=Fy}E!E>Q 5X4XX?Q 9 X44 ) AY y r'>Q I ?5CI;i;oZX4yBɮǕBE*j)Bj)i)i1zi1Ji1i1 k3Zk3Zk3ZhI k3Zk3Zk3ZhY2fi:fiBfiJfm =@ԁ颉ɢ') [>i)z顙iI+ԩ^Ai I - 2Acoustic response timeoutA- AI9 II Ou > /Eя,=F?AEV EAE;E"E=:*E 9VE4ZEa@a"@a"@a"@BMV=B x>BɊٱBNƾ NAHRS rotation from veh to nav: [[0.960692,-0.218869,-0.170783],[0.266342,0.900171,0.344608],[0.078309,-0.376549,0.923081]]BH?̿4ſ ?2?? 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Gs{??Z?0ؿF?iF @DN=DN=ERX ERGER>EP"ER~ :*ERR9VER4ZEPBER:aZ2ER:aZJERt:aZ:ERt:aZIF^;FPCYbzAyb:H==9 AE<bDMVDM18y<%H=ٔ;Q->9I=FyEE>Q 5Y4?Q 9Y4 )gAYyPQ I?ԙ eԏя,qR?F?A27~@2y@27wٱ2 ɾ :AHRS rotation from veh to nav: [[0.998221,0.058491,-0.011521],[-0.049603,0.922122,0.383707],[0.033067,-0.382453,0.923383]]2Hn??@e?ॎ??zؿZ?i27~@I2^;2QCB2Acoustic response timeoutYF8{AyFzHbDaVD8yV=%R=ٔ%;Q-%>9%H?I%H?=%Fy-E-8E->1Q 5=Y45?Q 9=Y45M )5AYAyEFQ IE?5=CI5;i5;5Y4yM1BɮMʔBME*jaBjaiaiaziiJiiii kykykyh kykykyh2f:fBfJfS@ɢ$1=)yA 3?i) i載IqbE=ô4jE=74rE=ç0EY ECE<E"E:*E09VE 4ZEa@a@a@a@ԡ^A==52Acoustic response timeoutAmAIqIO> ڏя,Kl?F?AB@B@BٱB Ⱦ JAHRS rotation from veh to nav: [[0.997226,0.074398,-0.002438],[-0.067797,0.921293,0.382914],[0.030734,-0.381687,0.923781]]BHE? ? c )[:{?ઁ?x?mؿ?iB@IB{N^;BSCYR7{AyRyHbDZVDZ;8yb܏%bP=ٔf;Q-f>9fK?IfK?=jFyjEj>Ej>lQ 5rY4nֽ?Q 9rY4n@ )nrAYtyvQ Iv?nS=CIn):in:nnY4yz3Bɮz̔Bx*jiBjiiiiiziiJiqiq ksksksh2f:fBfJf;R@ ɢ6%=) q3?i))i꼉!I!2Acoustic response timeoutBA<B>BB-HB[|ABBBBBQ~E^A==E^ EFE>E"EC#:*E;J9VE4ZEBEr ;a2Et ;aJEe:a:Ee:aAIIO>) U 2Acoustic response timeoutyя,D1?F?A 6Q@6L@6Wٱ6ƾ BAHRS rotation from veh to nav: [[0.995884,0.090383,0.006715],[-0.086161,0.921173,0.379496],[0.028114,-0.378512,0.925169]]6H I?Q#?{??z?I?ɜ?9ؿ`?i6Q@I6e\^;6OCYJ|{AyJHy1Zd?L7A`пl?"?+= 9?^I +߿S㥫Yff?yX/]dB B)YLBbD-VD-t8y=9$=%EB=ٔE\;Q-E>9III=MFyMEM3EU>Q 5Y4ܹ?Q 9Y4w )AY*?Q EO:y Q I?=CI:i:Y4yIBɮڔBE*jBjii zi Ji i  kc[kc[kc[hA kCskCskCshq2fȢ>:fȢ>Bf^w@Jf͹@颹ɢ'=) 7?i)<i켉I@C>@G>Iy2Acoustic response timeout^A1Aa Ii Iy ԡ O >E \ E CE E "E :*E 09VE ZE a @a @a @a @я,?F?A6@6@66мٱ6wľ@ BAHRS rotation from veh to nav: [[0.994156,0.106779,0.015855],[-0.104916,0.921156,0.374786],[0.025414,-0.374259,0.926976]]6H ?U?b9I=FyEBE>!Q 5-Y4%?Q 9-Y4%' )%yAY)y-Q I-?%'>CI%B:i%:%Y4y5LBɮ=ٔB9*jIBjIiQiQziQJiQiQ kZkZkZhi kwkwkwhy2f:fBfJf }~@颩ɢS;=) 9?i)顱irI2Acoustic response timeoutԩiߩ I߭ A 2Acoustic response timeout^A B >B 4CB _HB |AB =B B nDB ;B E~EB5CB5CBʔCB=B=C/5I I OM >я,+ù?F?A2w@2^@2Cٱ2O :AHRS rotation from veh to nav: [[0.992089,0.123082,0.024710],[-0.123491,0.921421,0.368420],[0.022578,-0.368556,0.929331]]2H1?`O? 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'? ;ؿ*y?i:?@I:Z^;:OCYJM}AyJHbDVVDVa8y^g%^d=ٔbr9`I`=bFyfEf ڽEf>hQ 5nZ4j?Q 9nZ4j%` )jEAYpyr6Q Ir?jECIj;ij;jZ4ytɮvBt*jBji i zi Ji i  kekekeh! kukukuh12fA:fABfAJfE1>0@19M rMNAggregate::initialize marl:UpdateRudderq9MJ]Iq9M9M7UoUXAggregate::initialize marl:UpdateCommandMode18U]Q18UoU@Completed marl:UpdateCommandMode7UoU\Aggregate::uninitialize marl:UpdateCommandModeq7Un]LAggregate::initialize marl:UpdateSpeed7]]Y7]n]4Completed marl:UpdateSpeedq7]n]PAggregate::uninitialize marl:UpdateSpeedqɢ}=)y }T?iy);顁iI2Acoustic response timeout@qA@^A=IIO>M 2Acoustic response timeoutB Y>B B 'HB }AB =B B B ;B L~E9 y } >nя,AF?AET EGE>E"E9*ER9VE4ZEBE:a2E:aJEt:a:Et:a>@>@>Ѹ=ٱ>dʾ JAHRS rotation from veh to nav: [[0.902951,0.384508,0.191916],[-0.428538,0.839057,0.335169],[-0.032153,-0.384885,0.922404]]>H?ɛ??`*mۿ?js? `vؿU?i>@I> N^;>TCYRF}AyRHbDZVDZU8yb%bI=ٔf߸;Q-f>9dIh=jFyjEjKEj>9Q 5EZ4=?Q 9EZ4=/f )=AYIyM;Q IM?=_ECI= :i=:=qZ4yUBɮUBQ*jiBjiiiiiziiJiiiq k#]k#]k#]h2f:fBfJf.@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ% =)! %hT?i!)%h;!)i-n)I12Acoustic response timeoutA^A==IIOg>qԙ ] 2Acoustic response timeout]uя,AF?A>?@>9@> =ٱ>zWȾ NAHRS rotation from veh to nav: [[0.893918,0.401681,0.198904],[-0.446916,0.832688,0.326949],[-0.034296,-0.381159,0.923873]]>H?$? u?Gܿ@b??:dؿ`^?i>?@I>k^;>RCY^(}Ay^HbDnVDnH8yzC%~G=ٔ~|;Q->9I= Fy ESKE>Q 5-[4-?Q 95[4l )AY1y=@Q I=?ECI~;i(n;z[4yIɮB*jBjiiziJii kZkZkZh k3Zk3Zk3ZhA2fQ:fQBfQJfUa-@iqɢu=)y }R?iy)} . &|я,nAF?A6@6@6(=ٱ6+ƾ BAHRS rotation from veh to nav: [[0.884531,0.418587,0.205887],[-0.465058,0.825742,0.319173],[-0.036408,-0.378067,0.925062]]6HN?#?Z?`ݿzl?Rm? A2ؿ`?i6@I6=Q^;6QCYJ|AyJ~H\\ \)\I\bDfVDf?8yn5%nM=ٔr;Q-r>9pIp=rFyrEvQREv>xQ 5~[4zsA?Q 9~[4zr )zAY|yEQ I?zFCIz;iz;zY[4y Bɮ B еE*j!Bj!i!i!zi!Ji)i) kSWkSWkSWhA k_k_k_hI2fa:faBfaJfe+@yɢBj=) M?i) <顁iVI@@;>iI2Acoustic response timeoutA1A5AAB=]>B9B=HB=w}AB9B9B9B=ɾ;B=7~E^AI IEE] EEGEE@EA"EE:*EER9VEE4ZEABEE-;aU2EE/;aUJEAaU:EAaUOeV>1  2Acoustic response timeout{я,K BF?A2@2@2%=ٱ2ľ >AHRS rotation from veh to nav: [[0.875466,0.434338,0.211917],[-0.481735,0.819320,0.310880],[-0.038600,-0.374253,0.926523]]2H ?2? ?޿ 7?v?qã׿@?i2@I2^;0YF|AyFHDDyM/$?MbI +?M1?MM94=I I9M rh?|?5^ɿ rh?YMl?yMMMC9yIy=}Fy}E7E>Q 5[4V[?Q 9[4x )NAYr?Q E`:y1Q I?nFCIz ;i7 ;'[4yBɮBѵE*jBjiiziJii k^k^k^h k^k^k^h2fu>:fu>Bf嶂@Jfre@ɢy=) N?i)/EU V EU BEU <EQ "EU =:*EU (9VEU 4ZEQ a] @a] @a] @a] @ԉ я,&&BF?A02m@2h@2'=ٱ2¾ >AHRS rotation from veh to nav: [[0.866892,0.448414,0.217768],[-0.496811,0.813048,0.303531],[-0.040948,-0.371318,0.927602]]2H?в??߿ ~?`m?׿ ?i2m@I2d`^;0YF|AyFHbD%VD%T8y];%eL=ٔe;Q-e>9eK?ImK?=mFymEm+1Em>}=}%=2Acoustic response timeoutqQ 5[4us?Q 9[4u[ )uzAYyf6Q I?uFCIu;iu6);u-,[4yBɮB*jBjiiziJii kc]kc]kc]h ks]ks]ks]h2f:fBfJfc@ɢ%`ׇ=)! %RO?i!)%#<))i-)I1ԑ^A]=ԹAIIO >= 2Acoustic response timeoutBU ^>BU 0CBU HBU |ABU =BQ BQ BU ;BU ~EB/CB/CBȓCB=B=CȆD5 Aя,"?BF?AD"=D E&W E&IE&AE$"E& :*E&c9VE&A4ZE$BE&!:a*2E&&:a.JE&:a.:E&:a.By@B`@BK2=ٱB% JAHRS rotation from veh to nav: [[0.858719,0.461128,0.223522],[-0.510590,0.807021,0.296675],[-0.043582,-0.368888,0.928451]]BHz??^?`V??ZPݛ׿ߵ?iBy@IBk^;BRCYR|AyRoH` %4<%4<bD-VD-p8yܼ%C=ٔ;Q->9I=FyEE>Q 5[4X?Q 9[4G )AYy:Q I?4GCI8;i;:[4yɮB*jBjiiziJii k_k_k_h1 k3_k3_k3_hA2fQ:fQBfQJfUb@qɢucV=)} }qL?iy)}M.9I=FyEJE>Q 5[4?Q 9[4 )ʒAYy@>Q I?GCI:iB:H[4yBɮ#B*jBjiiziJiIiQ k^k^k^ha kxkxkxh2f:fBfJftb@ɢ(=) K?i)@9<iȘIEZ EQE@E"E:*Ev9VE4ZEa@a@a@a@A^A=q2Acoustic response timeoutAIIIO5 >ԙ 5Tя,sBF?A2@2@2H=ٱ2Y :AHRS rotation from veh to nav: [[0.843602,0.482831,0.234967],[-0.534724,0.795346,0.285472],[-0.049046,-0.366467,0.929137]]2H?`?f? v`zs?*E?1t׿~?i2@I2^;0YB^|AyB/HbDNVDNX8yn0q%nV=ٔr\;Q-r>9pIp=rFyvEvzEv>xQ 5~[4z?Q 9~[4zp )zAYyAQ I?zGCIz;iz;zU[4y дBɮ DB ۵E*j!Bj!i!i!zi!Ji)i) k3`k3`k3`hA kykykyhQ2fa:faBfaJfe8B/CBFHB|ABBBB;B}E 2Acoustic response timeoutԡ^AEW EGE=E"E :*ER9VE|4ZEBEa2EaJEt:a:Et:aAIIO> 2Acoustic response timeout <я,dBF?AY~0|Ay~HyS㥛?~jt??$?D=L= 9zG?+ηp= ף?Y w?yv>gB B)BYBbDVDP8yԼ%==ٔQ->9I=Fy EE>Q 5[4ּ?Q 9[4 )LAYgz?Q EY:yQ I?[HCI1;i:e[4yҴBɮLBܵE*jBj i i zi Ji i  k3ak3ak3ah! kvkvkvh12fE:>:fE:>BfExŅ@JfE\`@aɢe힂=)i m C?ii)mBM@?>1 9 Y WAEu Y Eu FEu ?Eq "Eu :*Eu ;J9VEu ^4ZEq a} @a} @a} @a} @^A A \?A Y?a A) I9 II O >я,BF?A2@2@2\=ٱ2k:pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT:2Acoustic response timeout FAHRS rotation from veh to nav: [[0.827761,0.503870,0.246832],[-0.558488,0.782169,0.276231],[-0.053880,-0.366506,0.928854]]2H}??4?!?@í?@/@t׿,?i2@I2e^;2SCYv{AyvH 11 1)1I1bDMVDMX8yeŽ%m>=ٔm79qIq=uFyu E}}E}>Q 5[4\?Q 9[4J )AYy("Q I?HCI;i;5t[4yմBɮdB*jBjiiziJii k[k[k[h2f:fBfJft^@颩ɢSx=) k8?i)CX<i# I1UPExceeded connect timeout, disconnecting.;aBY>BBHB{AB=BBB`;B}Ei!I!%zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY-2Acoustic response timeoutԉ ^A EU W EQ EU @EQ "EU :*EQ VEU 4ZEQ BEU :ae 2EU %:am JEU e:am :EU e:am A9 II IY O >я,QBF?A6՜@6@6d=ٱ6. RAHRS rotation from veh to nav: [[0.819275,0.514580,0.252975],[-0.570674,0.774714,0.272306],[-0.055860,-0.367459,0.928361]]6H7?@pw?`0? Bt?tm? s׿`!?i6՜@I6^;6RCYZv{AyZHbDfVDfG8yng%n@=ٔn;Q-n>9pIp=rFyrEv(Ev>xQ 5~[4z?Q 9~[4z٦ )zAY|y~%Q I~?z1ICIz:iz:z [4y ɮ fB *jBji!i!zi!Ji!i) kZkZkZh9 kZkZkZh2f:fBfJfŤ]@AɢE=)I Ml7?iI)MSFbܷя,@BF?A$$E4 E6EE6=E4"E4*E6A9VE6|4ZE4a>@a>@a>@a>@R@R蝴@Rs=ٱRľ ZAHRS rotation from veh to nav: [[0.801324,0.535028,0.267627],[-0.595264,0.757605,0.267761],[-0.059496,-0.373872,0.925570]]RHs?@? ?`g K>?"?@7v׿ E?iR@IR1^;RUCYbF{AybH%>! )-p;bD5VD5M8yIҼ%4=ٔ@9 I = Fy ErE>Q 5%[4&,?Q 9%[4# )ZAY!y-p-Q I-?ICI6:i:[4y5״Bɮ5nB1*jIBjIiIiIziIJiQiQ kXkXkXhi kXkXkXhq2f:fBfJf:[@颡ɢHJ}=) o4?i)Fl<顩iUC IQ2Acoustic response timeoutԉ^AnManaging dock network, ignoring radio surface power offA= $AII IY O >ԩ A A @AB a>B 0CB ~HB >{AB =B B kDB F;B }Eя,̳BF?A>2Acoustic response timeoutHV@V@Vy=ٱVƾ ^AHRS rotation from veh to nav: [[0.790949,0.546432,0.275340],[-0.608835,0.747678,0.265136],[-0.060987,-0.377346,0.924062]]VHsO?^|?@+?{ ?`?@9o&ؿ?iV@IVa^;VQCYf{AyfbHhhbD=VD=58y} %}T=ٔ}s~;Q->9H?IH?=FyE=6E>Q 5[4kD?Q 9[4q )AYy1Q I?JCI>:iW:a[4yBɮBE*jYBjYiYiaziaJiaia ksXksXksXhy kXkXkXh2f:fBfJf {Z@颹ɢJ=) 1?i)su<i|J IEU EFE<E"E:*E;J9VE 4ZEBE :a2E:aJEa:Ee:a^Am=-2Acoustic response timeoutioAIpAA AI I O > [Đя,CF?A2ڇ@2‚@2O:=ٱ2c0Ⱦ >AHRS rotation from veh to nav: [[0.780128,0.557995,0.282916],[-0.622483,0.737541,0.261816],[-0.062570,-0.380361,0.922719]]2H??`M? a`??Wؿ ?i2ڇ@I2u^;2OCYBzAyFH|y}\(\?ʡEV-?}z?}-}9K?IK?=FyE/E>Q 5[4[?Q 9[4E )הAYn?Q Ec:y?Q I?dJCI;i;[4yBɮBE*jBji!i!zi)Ji)i kYkYkYh kCskCskCsh12fU=:fU=BfU`@JfU @2Acoustic response timeout颙ɢ= w=) B*?i)$~<i$B I!bEƗ4jE4rE0Ec EIE@E"Eg5:*Ec9VE4ZEa@a@a@a@Q^AA I) I9 Om >y = 2Acoustic response timeoutC ːя,V.CF?Aɰ2@2@2_=ٱ2ɾ :AHRS rotation from veh to nav: [[0.769234,0.569342,0.290048],[-0.635743,0.727497,0.258030],[-0.064102,-0.382882,0.921571]]2H? 8?`'?XG??`h"ؿ}?i2@I2^;2QCYBzAyBHbDJVDJ?8yRQ%V\=ٔV^;Q-V>9XIX=ZFyZEZ=EZ>`Q 5b[4bp?Q 9f[4b )bAYdyfCQ If?bJCIb:ib:b[4yjBɮnBl*jtBjtixixzixJixixY kZkZkZh krkrkrh2f:fBfJfR@ɢ(=)  )?i)$B<i%bE !I)@9@=;>ԁBc>BBHBzAB=BBBR;B}E2Acoustic response timeout^AԱAII O= >E V E FE <E "E =:*E ;J9VE 4ZE BE :a 2E :a JE a :E a ѐя,0HCF?A2e@2`@2e0=ٱ2k˾ :AHRS rotation from veh to nav: [[0.757469,0.581275,0.297254],[-0.649579,0.716664,0.253849],[-0.065475,-0.385373,0.920435]]2H 0=?͙? 6?Z@???@°@ؿ4t?i2e@I2di^;0YBFzAyBHbDNVDNF8yV7%VJ=ٔV#_;Q-V>9XIX=ZFyZE^x8E^>`Q 5f[4bh?Q 9f[4b )b3AYdyfkHQ If?bKCIb:ibl:b[4ylɮnBl*jtBjtixixzixJixix kCZkCZkCZh  kokokoh2f):f)Bf)Jf-{@IɢM}=)I Ue$?iQ)U< 2Acoustic response timeout9 ؐя,A bCF?AE2W E2EE2AE0"E2 :*E2A9VE2A4ZE0a:@a:@a:@a:@Bͪ@Bȱ@B=ٱB; JAHRS rotation from veh to nav: [[0.745229,0.592866,0.305196],[-0.663455,0.705106,0.250307],[-0.066797,-0.389020,0.918804]]BH? ?U?;9?? ؿf?iBͪ@IBz^;BRCYRyAyRHdd h)hIhbDnVDn68yv4%vF=ٔzYR;Q-z>9xIx=~Fy~E~7E>Q 5 [4?Q 9 [4 )bAYy MQ I?KCIl:id:.[4yBɮ%B!*j1Bj9i9i9zi9JiAiA kSWkSWkSWhQ kmkmkmha2fq:fqBfqJfu@频ɢT'r=) ?i)`<顙i! 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P`? 4?߂ؿet?i27 @I2J^;2SCYFwtAyJSH )IbDVD\8yQK%@=ٔ":Q->9I=FyFE(E>Q 5\4D?Q 9\4 E )uAQ A8YQ E9yQ I?PCI ;iin@Cb\4yɮÖB*jBjiiziJii k[k[k[h kfkfkfh)QɢU O)=)Q ]>iY)]B6CBKHBjtAB=BBoDB;Bz}EIiIoAOE >I  2Acoustic response timeoutS@я,EF?A@ɰB4<E%Z E%BE%=E!"E%:*E%(9VE%|4ZE!BE%_;a52E%b;a5JE%I+:a5:E%K+:a5S@;@)=ٱȾ AHRS rotation from veh to nav: [[0.550498,0.753782,0.358838],[-0.831139,0.535260,0.150682],[-0.078491,-0.381194,0.921157]]H?@?`5?@ ?I?@`}eؿz?iS@Iyk^;RCY[tAyAHaa aa aa aa a@a a@a a@a a@a yS?:v?Mb?/}?<= )Mb@Mb@Mb@IiiB B)YbDVDu8y{%9=ٔ]:Q->9I=FyIEE>AQ 5\4 ?Q 9\4+N )AQ A8YQ E8y%Q I?TQCIδiQ)Uҹ@u,>2Acoustic response timeoutq^AAY?Aԡ I I O >cGя,EF?A69 @6!@6m=ٱ6mȾ@ >AHRS rotation from veh to nav: [[0.537628,0.762205,0.360553],[-0.839497,0.523805,0.144474],[-0.078741,-0.380356,0.921482]]6H@4?c?`M? ) ?~?``(Wؿ|?i69 @I6O^;4YJsAyJHM2Acoustic response timeoutQbD]rAVD]o89rAYpAy_ %W=ٔ,:Q-%>9!I!=%Fy%KE-%E->1Q 5=\45m?Q 9=\45V )5AQ A=8Y9Q EE8yE!Q IE?5QCI5L ;i5{@5qe\4yMgBɮMBME*jaBjaiaiaziaJiiii kZkZkZhy kZkZkZh颱ɢ*.!=) b>i)<项i߈IԩE5W E5GE5@E1"E5 :*E5R9VE54ZE1a=@a=@a=@a=@^AIaIqO>%==2Acoustic response timeout ?Mя,\7EF?AN.@lN@Nk|=ٱNZɾ %AHRS rotation from veh to nav: [[0.525351,0.768976,0.364256],[-0.847186,0.512589,0.139742],[-0.079256,-0.382006,0.920755]]NH?r?O?@&!g?`?`J@rؿ`v?iN.@IN B^;NQCY5?sAy5HbDVD8y5%L=ٔŨ:Q->9 I = Fy NExE>B]>B]5CB]HB]vsAB]=BYB]nDB]&;B]}EQ 5\4˾?Q 9\4^ )ϗAQ A8YQ E8yQ I? RCI:i@f\4yɮB*jBjii zi Ji i ks[ks[ks[h) kwkwkwh9aɢer=)a eO>ii)mҁa  2Acoustic response timeouth&Tя,hQEF?A2@2@2:=ٱ2t˾ :AHRS rotation from veh to nav: [[0.513128,0.774619,0.369683],[-0.854612,0.501049,0.136340],[-0.079617,-0.385895,0.919101]]2Hk???`X?s?aؿFi?i2@I2 X^;2RCYBrAyB=H5=5a= 54<5<9bDEVDE8yUt%UV=ٔUy:Q-U>9YIY=]Fy]PEeEe>iQ 5u\4m־?Q 9u\4mf )mAQ Au[8YqQ Eux8yuQ I}?m[RCIm;im@mng\4yiBɮB*jBjiiziJii ks^ks^ks^h ktktkthɢ =) ->i)~<ilIi^A9IIOf>]2Acoustic response timeoutԑEM [ EM GEI EI "EM a:*EM R9VEI ZEI aU @aU @aU @aU @ QZя,HkEF?AB@B{@B3[=ٱB߰̾ NAHRS rotation from veh to nav: [[0.500841,0.780745,0.373626],[-0.861819,0.489814,0.131722],[-0.080166,-0.387969,0.918179]]BH?? |? Y?A?}ؿa?iB@IBI^;BQCYrAyHbD-VD-8yu%}H=ٔ}7:Q-}>9I=FySEE>ԙQ 5\4⾉?Q 9\4Po )AQ A18YQ EI8yQ I?RCI0;i@.h\4yɮB*jBjiiziJii k\k\k\h kwkwkwhɢ¢ =)= . >i)銾BU<AU<BU>BQBUHBUrABU=BQBQBU4;BU}Eu 2Acoustic response timeout! .Haя,|`EF?AErX ErNEr@Ep"Er~ :*Er҆9VEr4ZEpBEr:az2Er:azJEr:az:Er:az,@'@|=ٱ; %AHRS rotation from veh to nav: [[0.487616,0.787104,0.377754],[-0.869319,0.477728,0.126728],[-0.080716,-0.390184,0.917192]]H5?`/? !-?`v?8?ϩؿY?i,@Id^;RCY5&rAy5H9=?Aa-a- a-a- a-a- a-a- a-@a- a-@a- a-@a- a-@a5 y-uV? rhI +-rh?-C -94) ))-Mb@Mb@Mb@I)i)))) -B)))Y-f}BbDM$VDM8y]N%];=ٔ]:Q-]>9aIa=eFyeUEe#Em>iQ 5u\4mkノ?Q 9}\4mx )m%AQ A}8YyQ E}#8y}qQ I}?mSCIm;im@mh\4y}Bɮ8B%E*jBjiiziJii kS^kS^kS^h krkrkrhɢI=)  >i)<ioI2Acoustic response timeout1^AQII IY O >Y xbgя,3EF?A%2Acoustic response timeoutY-qAy-HQQ Q)QIU/Y]AbDeVDe8yuw%u\=ٔ}Q-}>9yI=FyXEE>Q 5\4 ?Q 9\4 )@AQ A7YQ E8yQ I?nSCI ;iq@Ei\4yBɮGB*jBjiiziJii kSZkSZkSZh kskskshQ颩ɢ/<) =i)3<izI@@bEjE&4rENU0EY EFE=E"E:*E;J9VE|4ZEa@a@a%@a%@ԁ^AԱI2Acoustic response timeoutIO > mя,|ԸEF?A2F@2. @2琧=ٱ2qOѾ :AHRS rotation from veh to nav: [[0.457224,0.800435,0.387622],[-0.885588,0.449822,0.115728],[-0.081728,-0.396187,0.914525]]2H(C?)??V@?`^?!촿`![ٿ`C?i2F@I2Oz^;0YBBqAyBZHbDNVDN8y~ʡ%~R=ٔC+;Q->9I= Fy ZE UE >Q 5\4F?Q 9\4 )[AQ A%7Y!Q E%7y%ĚQ I%?SCIG ;i@i\4y)ɮ-WB)*jABjAiAiIziIJiIiI k[k[k[ha k#k#k#hq颙ɢa<)  =i)<顡iIB>BBpHBeqAB=BBB1;B}EԱ-2Acoustic response timeoutEE-V E-DE-?E)"E-=:*E-a99VE-^4ZE)BE-:a52E-:a5JE-hH:a=:E-jH:a= ^A! I I O > 2Acoustic response timeout9 ttя,EF?A2@2{@2V=ٱ2DҾ :AHRS rotation from veh to nav: [[0.441544,0.807436,0.391263],[-0.893475,0.435587,0.109389],[-0.082105,-0.397884,0.913754]]2H`@B? ?t ?`Y@?@? vٿy=?i2@I2 ^;2QCYB9qAyBTHbDvVDv8ymj%mC=ٔm m:Q-m>9qIq=uFyu]E},E}>Q 5\4?Q 9\4- )xAQ A7YQ E7yQ I?$TCI:i?@i\4yBɮkB/E*jBjiiziJii kekekeh Qɢ]<)Y ]=ia)e6i E- Z E- IE) E) "E- :*E- c9VE) ZE) a5 @a5 @a5 @a5 @՟zя,͏EF?A B@Bm@BX]=ٱBUAҾ JAHRS rotation from veh to nav: [[0.425057,0.815308,0.393191],[-0.901434,0.420689,0.102163],[-0.082117,-0.397861,0.913763]]BH@#4?? *? ?b'?vٿ`=?iB@IBw^;BTCY^kpAybH====bDEVDE}8y%D=ٔ$7Q->9I=Fy_E4E>Q 5\4?Q 9\4S )AQ Aw7YQ E7yXQ I?TCIH:i@>j\4yBɮB*j Bj i i ziJii kcVkcVkcVh) kckckch9aɢe^<)a eB6CBHBrpAB=BBoDB";B}EBB5CBǓCB=BC5 e 2Acoustic response timeout^A #=I I OM >я,QFF?ATEv[ EvGEv=Et"Eva:*EvR9VEv|4ZEtBEv ;a~2Ev ;a~JEvt:a~:Evt:a~YoAyvHaa aa aa% a%a% a%@a% a%@a% a%@a% a%@a% a%@a% y%`"?Cl绿L7A`堿%w?%;߽%+! !)%Mb@Mb@Mb@I!i!!!% %)!!I%bD=VD=u8yM%MC=ٔUQ-U>9QIQ=UFy]bE]E]>aQ 5m\4e"?Q 9m\4e )eAQ AuH7YqQ Euc7yqQ Iu?eTCIe]:ieAevj\4yyɮ}B*jBjiiziJii kdkdkdh kdkdkdhɢź<) l?i)N<i% I    In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout 1 ^A A I I e In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERe 2Acoustic response timeouti Ou >9я,"FF?A2n@2V@2=ٱ2ξ :AHRS rotation from veh to nav: [[0.391586,0.833088,0.390672],[-0.916612,0.390330,0.086398],[-0.080513,-0.391927,0.916467]]2H?ਨ??`T(?@0? TٿS?i2n@I2fW^;2SCYBoAyBfHbDNVDN8yVQ%VS=ٔVLQ-V>9XIX=ZFyZeE^FýE^>`Q 5f\4b*?Q 9f\4b( )bϘAQ Af"7YdQ Ef87yf*Q Ij?b8UCIb ;ib/ Abj\4ylɮnBl*jxBjxixi|zi|Ji|i| k]k]k]h k]k]k]hɢͶ<) Дi)?0<iIEY EHE>E"E:*E[9VE4ZEa@a@a@a@^AIpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutA1IAIQO>q :Wя,>&9tIt=vFyvgEv+Ez>xQ 5~\4z2?Q 9\4zG )zAQ A7YQ E7ydQ I?zUCIz ;izAzj\4yBɮB9E*j)Bj)i)i)zi1Ji1i1 k_k_k_hI k_k_k_hY颁ɢ<) ɼi)<顉i? IzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԑ^AD=D<E W E EE ?E "E  :*E A9VE ^4ZE BE #:a2E (:aJE V:a%:E V:a%ԹA5$AI9IIIiO>  2Acoustic response timeout5@я,VFF?AV@Vߩ@VkǞ=ٱV;` jAHRS rotation from veh to nav: [[0.361317,0.846736,0.390497],[-0.929221,0.361757,0.075365],[-0.077451,-0.390088,0.917514]]VH`?w?`?-'?@K?ӳ@5ؿF\?iV@IV,O^;TYrnAyrHbDzVDz88y% H=ٔ vQ- >9H?IH?=FyjEE>!Q 5%\4%:?Q 9-\4%z )% AQ A-6Y)Q E-6y-iQ I-?%UCI%7:i%BA%j\4y9ɮ=͗B9*jQBjQiQiYziYJiYiY kYkYkYhq kYkYkYh颩ɢ!<) i)(<顱itI CG)9۵9YA%2Acoustic response timeout^A9AuAIyIO>E V E >E <E "E =:*E 9VE 4ZE a @a @a @a @A iя,oFF?A2m3@2V.@2,q=ٱ2;; :AHRS rotation from veh to nav: [[0.347307,0.852458,0.390761],[-0.934681,0.348378,0.070743],[-0.075827,-0.389806,0.917770]]2HF:?@UG? 9?K?@=?@_iؿ^^?i2m3@I2"l^;0YNlnAyRHR=Pdd d)dIdbDnVDn98y5Ő%5H=ٔ=ZQ-=>9=K?IEK?=EFyElEEEE>IQ 5U\4MA?Q 9U\4M )M-AQ A]6YYQ E]6y]YQ I]?MMVCIM ;iMAMj\4yaɮmܗBi2Acoustic response timeout*jBjiiziJii ks[ks[ks[h kpkpkphɢ(<) ɽi)=<iII^AyB<A<B>B7CBHBanABBBpDB;B}EqAII! E 2Acoustic response timeoutO >Ա D! zD% ?AE- [ E- FE- >E) "E- a:*E- ;J9VE- 4ZE) BE- ;a5 2E- ;a5 JE- e:a= :E- e:a= 1Qя,FF?A2@2满@2Ⳙ=ٱ2:ξ :AHRS rotation from veh to nav: [[0.334250,0.856966,0.392283],[-0.939536,0.335868,0.066820],[-0.074493,-0.390899,0.917414]]2HZd?@Dl?*?~??{ٿ`u[?i2@I2eR^;2TCYBmAyBMHa a  a a  a a  a a  a @a  a@a a@a a@a y  r?Dl?8y=f%=J=ٔEXQ-E>9AIA=EFyMoEMh EM>QyQ 5\4UH?Q 9\4U )UNAQ A6YQ E6yQ I?UVCIU  = 2Acoustic response timeout|я,%FF?A:M@:H@:4=ٱ:_ξ FAHRS rotation from veh to nav: [[0.321020,0.861916,0.392488],[-0.944233,0.323345,0.062224],[-0.073277,-0.390575,0.917650]]:H ? є??(7?ۯ?@N²-ؿc]?i:M@I:jx^;:VCYNmAyN3HbD VD 98yEѼ%EJ=ٔMEQ-M>9IIQ=UFyUqEU9EU>YQ 5e\4]N?Q 9e\4] )]pAQ Amb6YiQ Em6ymQ Im?]WCI]:i])A]k\4yyɮ}By*jBjiiziJii k]k]k]h k]k]k]hi频ɢ[<) ei) <顙i񼉨IEV EHE?E"E=:*E[9VE^4ZEa@a@a@a@^Aߝ=ߝ%=2Acoustic response timeout1A $AI I1 O >Y 㥮я,*pFF?AB&>B&8CB&HB&mmAB&=B$B&qDB&;B&}ER@Rݠ@R-=ٱR; ZAHRS rotation from veh to nav: [[0.308695,0.866283,0.392761],[-0.948396,0.311795,0.057700],[-0.072477,-0.390305,0.917829]]RH??#?BYt?ʊ?ڍ ؿ ^?iR@IRZ^;RSCYb8mAybHdf@AbDEVDE88y%F=ٔKQ->9H?IH?=FytEE>Q 5\4U?Q 9\4o )AQ A76YQ EP6yQ I?aWCI<:i^0A%k\4yBɮB*jBjiiziJii k`k`k`h krkrkrh19  r NAggregate::initialize marl:UpdateRudderq9J]q9197oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeoutɢ5<)  1i ) v< )i5)1I9iD=D<E^ EFE<E"EC#:*E;J9VE 4ZEBEs ;a2Ev ;aJEe:a:Ea^Au#=ԑA AI I O > 2Acoustic response timeoutԹ я,ILFF?Aɰ;2Ft@2/o@2W=ٱ2; :AHRS rotation from veh to nav: [[0.295887,0.870435,0.393440],[-0.952528,0.299780,0.053125],[-0.071703,-0.390481,0.917814]]2H??.? {/?C3?![ؿ^?i2Ft@I2&K^;2QCYBlAyBHbD%]VD%8ym#%mL=ٔmQ-m>9uK?IuK?=uFyuwE} E}>Q 5\4Z?Q 9\4 )AQ A6YQ E(6yTQ I?WCI:i6A/k\4yɮB*jBjiiziJii kSZkSZkSZh k#tk#tk#thsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder ɢ [<) IBi)\<iaI!ԑ2Acoustic response timeout^AAIbEu&4jEuȒ4rEuȧ/ES EGE@E"E9*ER9VE4ZEa @a @a @a @ I O= >i pAI  緻я,&FF?A2@2@2w:=ٱ2ξ :AHRS rotation from veh to nav: [[0.282896,0.873901,0.395306],[-0.956494,0.287693,0.048503],[-0.071340,-0.391829,0.917268]]2H??L?@i?Yը?@UC ٿBZ?i2@I2]^;0YBelAyB\HbDNfVDN8yVQ%VW=ٔV{Q-V>9XIX=ZFyZyEZ)E^>`Q 5b\4bU_?Q 9f\4b= )bؙAQ Af5YdQ Ef6yf Q If?bXCIb:ibA9A9BE>BE9CBEiHBEylABABABErDBE;BE}E% 2Acoustic response timeoutQ E W E E <E "E :*E VE 4ZE BE $:a 2E ):a JE t:a :E t:a y ‘я,Ui GF?A2@2@2~=ٱ2Ͼ NAHRS rotation from veh to nav: [[0.269671,0.876817,0.398082],[-0.960316,0.275445,0.043846],[-0.071205,-0.394109,0.916301]]2H@JB?`?.z?`@?@s?|:9ٿVR?i2@I2K^;2RCYVlAyV HZa=Zp=a5a5 a5a5 a5a= a=a= a=a= y=m?V-?9H?IH?=Fy|EE>Q 5\4h?Q 9\4 )AQ AT:Ym?Q Ed:y5Q I?{XCI;i;z\4yɮPB*j Bj i i ziJii ksXksXksXhI2f]2>:f]2>Bf]=@Jf]4\@频ɢlv;) ~i)z<顡i꼉I^A=EhDAT read: Forwarding Delay UpTx time:18:38:19.8992 EpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGM2Acoustic response timeoutA AII!IOmW>q  2Acoustic response timeoutȑя,6%GF?A0B @B@B=ٱBC~о JAHRS rotation from veh to nav: [[0.256095,0.880175,0.399634],[-0.964003,0.263129,0.038226],[-0.071510,-0.395038,0.915877]]BHc?d*???O?NMHٿN?iB @IBg^;BQCYRkAyRHdd h)hIh n9~K?I~K?=~Fy~~EeE> Q 5\4 p?Q 9\4  ) AYyQ I? XCI [:i t: \4y%ӵBɮ%YB!*j1Bj1i9i9zi9JiAiA kCYkCYkCYhQ kSYkSYkSYha2fy:fyBfyJf}1\@频ɢQ;)9 Pi)<顡i/鼉I^AuD%<ES EFE>E"E9*E;J9VE4ZEa@a@a@a@ԙA$AIIO%,>Թ]2Acoustic response timeout B% >B% GF?A2'@2@22 =ٱ26<ξ :AHRS rotation from veh to nav: [[0.243474,0.885223,0.396360],[-0.967215,0.252030,0.031256],[-0.072226,-0.390975,0.917563]]2H@$*?S?]?lA!??@f}ٿ`\?i2'@I2U^;0YBjAyBcHlbDNVDN78y <% H=ٔ:Q->9H?IH?=FyE)E%>!Q 5-\4%x?Q 9-\4%2 )%AY1y5Q I5?%6YCI%$:i%:%*\4y=BɮEBEWE*jQBjQiQiYziYJiYiY k#`k#`k#`hq k3`k3`k3`h2f:fBfJf,L[@颱ɢ@_ڹ) i)ĺ<项i>缉IiߵAIߵA2Acoustic response timeout^Av AI IOM0>ET EE<E"E9*EVE 4ZEBE:a2E:aJEe:a:Ee:a9u 2Acoustic response timeoutԉ Ցя,XGF?A2:`@2#[@2͗=ٱ2`Ⱦ :AHRS rotation from veh to nav: [[0.233402,0.892104,0.386877],[-0.969556,0.243813,0.022721],[-0.074056,-0.380402,0.921851]]2H????5?JD? MXؿ?i2:`@I2l^;2PCYbjAybHHdf?AYbDEVDE48ywѼ%A=ٔB;Q->9I=FyE!ɼE>Q 5\4?Q 9\45 )AYy/Q I?YCI:i:\4yɮB*jBjiiziJii k\k\k\h k\k\k\h2f!:f!Bf!Jf%Z@AɢE@>)A E}iA)MiE[ EIECE"Ea:*Ec9VE5ZEa@a@a@a@ ܑя,drGF?Aɰp;2#@2z@2$g=ٱ2İ :AHRS rotation from veh to nav: [[0.226170,0.900097,0.372387],[-0.971057,0.238474,0.013358],[-0.076781,-0.364630,0.927981]]2H`!??@1?`N?S[?`麟V׿?i2#@I2}^;0YnTjAyrH-2Acoustic response timeoutiiԹbDuVDu_8y%A=%%B=ٔ%;Q-%>9-K?I-K?=-Fy-E5%E5>9Q 5E\4=(?Q 9E\4=8' )=AYAyETQ IE?=YCI=:i=g:=\4yQɮB*jBjiiziJii kc`kc`kc`h ks`ks`ks`h92fI:fIBfIJfM^[Z@iɢm' ) ri)fد<顑ic⼉IBA<B>BB=HBjAB=BBsDB;B}E2Acoustic response timeoutAE $AII IY O >9 E W E JE ;E "E :*E k9VE 4ZE BE &:a 2E +:a JE :a :E :a я,GF?Aby@bb@b8=ٱb< jAHRS rotation from veh to nav: [[0.220413,0.908810,0.354236],[-0.972138,0.234381,0.003570],[-0.079782,-0.345153,0.935149]]bH@}6?? 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`? #@0?O`zп ?iRh@IRW^;RTCYbfAyb H Ep9I=FyEh;E>Q 5]4?Q 9]4S ):AYyUQ I?]CId:i[:%2]4yɮuEBq*jBjiiziJii k_k_k_h kCykCykCyh2f:fBfJfSw@ɢpW) `i)h<ih˼IA2Acoustic response timeoutu9E}S E}EE}=Ey"E}9*E}A9VE}|4ZEya@a@a@a@ԉA $AI I O5 >ԙ я,HuHF?AB}Ȗ@BfÝ@Bu>=ٱBم JAHRS rotation from veh to nav: [[0.215095,0.938123,0.271403],[-0.972316,0.231699,-0.030291],[-0.091300,-0.257374,0.961989]]BH>??^?@6L?@v_xп?iB}Ȗ@IBm^;BRCYfUfAyf Hr2Acoustic response timeoutbDzVDz)8yѿ%S=ٔ4Q->9 H?I H?= Fy E *<E>Q 5%]4;?Q 9%]4 )AY!y%ѻQ I%?]CI:i:?]4y)ɮ5WB1*jIBjIiIiIziIJiQiQ k`k`k`hi kwkwkwhy2f:fBfJfw@颡ɢD%ڼ) i)&<顱iCȼIiB<A4=B >B @CB O HB eAB =B $DB vDB ;B ~EB>CB=CBĔCB=B=CĂ5ԡIQIqFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO->2Acoustic response timeoutE} V E} GE} ;Ey "E} =:*E} R9VE} 4ZEy BE} :a 2E} :a JE} t:a :E} t:a #я,HF?A2@2@2Aո=ٱ2 a :AHRS rotation from veh to nav: [[0.219318,0.936364,0.274084],[-0.971482,0.235537,-0.027309],[-0.090128,-0.260278,0.961318]]2H???` &?`fп?i2@I2Ƅ^;0YNeAyR% HTTye?+y&1efF?ee`a a9e-?RQȿB`"۹Ye5^?yeBeνe\BeoB eB)eѕBaYeBbDuVDu(8y%B=ٔk7Q->9I=FyEN(<E>Q 5]4?Q 9]4ԕ )AYd?Q Em:yC˿Q I?A^CI:i#:?N]4y4BɮB~E*jBjiiziJii k3_k3_k3_h kpkpkph2f5>:f5>Bfv@Jf|}@)ɢ-)1 5d'i1)=Ѥ<99i=żAII2Acoustic response timeoutIqIO>)  2Acoustic response timeout)я,HF?A:q@:Z @:G=ٱ: BAHRS rotation from veh to nav: [[0.223676,0.934995,0.275232],[-0.970602,0.239432,-0.024586],[-0.088887,-0.261641,0.961063]]:Hk?{?f?+?-K຾п ?i:q@I:l^;:UCYJeAyJ H`` `)`I`f@AdbDjVDj8yr%rU=ٔv UQ-v>9xIx=zFyzE~r><E~>Q 5 ]4S?Q 9]4Ȟ )LAYyʿQ I?^CI;i4;[]4y%5Bɮ-B)*jIBjIiIiQziQJiQiQ k#Xk#Xk#Xhq2f :f Bf Jf D}@E=T E=BE=?E9"E=9*E=(9VE=^4ZE9aE@aE@aE@aE@Yɢe)a e.ia)e<B BCB HB dAB =B B xDB ;B }E0я,=HF?A@b2@b-@b=ٱbl jAHRS rotation from veh to nav: [[0.227769,0.933886,0.275642],[-0.969772,0.243018,-0.022009],[-0.087540,-0.262297,0.961008]]bH@'?`d??_3?uhyп?ib2@Ib؎^;bVCYrdAyr HbD~VD~38y%%-F=ٔ-VQ-->91I1=5Fy5E5&<E=>YQ 5e]4]?Q 9m]4]u )]AYiym(ʿQ Im?]^CI]:i]:]4j]4yqɮB*jBjiiziJii kYkYkYhiYI]A]2Acoustic response timeout kokokoh2f:fBfJf~@1ɢ5Ӕ)1 56i1)=)<99i=AIAԩIIO>EMS EMDEM<EI"EM9*EMa99VEM 4ZEIBEM:aU2EM:aUJEMjH:a]:EMmH:a] 2Acoustic response timeout 6я,HF?A2M@2H@2ү=ٱ2 :AHRS rotation from veh to nav: [[0.230920,0.933595,0.273999],[-0.969187,0.245529,-0.019784],[-0.085745,-0.260988,0.961526]]2H@Ŏ??@4?m?SBh п?i2M@I2u^;2SCYBcAyB+ HDFa=lbD VD C8yE뾽%MH=ٔMQ-M>9QIQ=UFyUEU<EU>YQ 5e]4]繿?Q 9m]4]߱ )]AYiymɿQ Im?]R_CI]:i]{:]Rx]4yuGBɮ}əB}E*jBjiiziJii k3Wk3Wk3Wh h>C kckkckkckh%nG=rAvǿ9rAYJA2f1:f1Bf1Jf5n2~@qɢuQ)q u@iq)}{e2Acoustic response timeout1EU[ EUBEU=EQ"EUa:*EU(9VEU|4ZEQae@ae@ae@ae@a *=я,UHF?A2[@2V@20=ٱ2Ѕ :AHRS rotation from veh to nav: [[0.232714,0.934274,0.270141],[-0.968933,0.246643,-0.018317],[-0.083742,-0.257486,0.962646]]2H??@I?@?@p@zп?i2[@I2 ^;2UCYBcAyB Hb2Acoustic response timeout YbD VD ;8ys%E=ٔQ->9I=FyE;E>Q 5]4ι?Q 9]4 )AYywɿQ I?_CI;i:ц]4yKBɮٙB*jBjiiziJii kWkWkWh kcvkcvkcvh2f!:f!Bf!Jf%/<~@AɢES+)I MGiI)MrBACB HBcABBBBƽ;B}Eԑu2Acoustic response timeout Ee V Ee >Ee ?Ea "Ee =:*Ee 9VEe ^4ZEa BEe :am 2Ee :au JEe 9au :Ee #9au sCя,_IF?A2Q]@2;X@2A=ٱ2 :AHRS rotation from veh to nav: [[0.232921,0.935991,0.263949],[-0.969068,0.246155,-0.017741],[-0.081577,-0.251653,0.964373]]2H`[????*Aⴿ@п%?i2Q]@I2x^;2SCYnbAyng HԙyM?y&1n?̼`e 9sh|??xƿnY?yK7V1BpB σB)]BYBbD5VD548yM%M@=ٔUQ-U>9YIY=]Fy]Ee]9Ee>iQ 5}]4m?Q 9}]4m )m}AY}?Q E}@:y}ÿQ I?m'`CIm ;im ;mŕ]4yɮB*jBjiiziJii k]k]k]h kzkzkzh2f =>:f =>Bf @Jf Tl@颡ɢ6') Ti)Vf<顱i[2Acoustic response timeoutIAAI!I9OY>! i߁ I߅ A 2Acoustic response timeoutJя,:=*IF?AJfQ@JPL@J=ٱJ~ VAHRS rotation from veh to nav: [[0.231554,0.938122,0.257508],[-0.969587,0.244121,-0.017488],[-0.079269,-0.245627,0.966118]]JH??{?`\??~葿JpϿ@p?iJfQ@IJl^;JTCYb;bAyb Hdf@AbDrVDr%8yzw%zc=ٔ~һQ-~>9K?IK?=FyE vE >Q 5%]4㼿?Q 9%]4 )AY!y-ÿQ I-?`CI6;i88;Y]4y5]Bɮ=B=E*jYBjaiaiaziaJiiii k#bk#bk#bh kCrkCrkCrh2f:fBfJfFl@ɢHS)G0< F\i)W\<iIER EDE>E"Es9*Ea99VE4ZEa%@a%@a%@a%@)AIIO5->A2Acoustic response timeoutiB B B HB aAB =B B wDB ׽;B }Eԙ Pя,&DIF?A2:@2}5@29=ٱ2}'x :AHRS rotation from veh to nav: [[0.228892,0.940608,0.250729],[-0.970400,0.240855,-0.017682],[-0.077021,-0.239260,0.967896]]2H`XL?u? ?@ @Y?( ο?i2:@I2^;0YBaAyB HHHJAAJAAbDNVDN58yv%vK=ٔvQ-v>9xIx=zFyzE~ZE~>Q 5 ]4\?Q 9 ]4 )lAY y ÿQ I ?`CIB:i9:a]4yɮ-B*j1Bj1i1i1zi9Ji9i9 kYkYkYhQ ksuksuksuha2fq:fqBfqJfu"l@19} r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颡ɢ_lO) hi)]P<顩i4Iy2Acoustic response timeoutA)I1IAOm>E-V E->E-=E)"E-=:*E-9VE-|4ZE)BE-:a52E-:a5JE-9a=:E-!9a=ԡM 2Acoustic response timeout $Wя,0]IF?A2,@2@2R=ٱ2Zr :AHRS rotation from veh to nav: [[0.225443,0.942980,0.244875],[-0.971368,0.236898,-0.017974],[-0.074960,-0.233812,0.969388]]2H Q?,?X?s`R?g0Ϳ:?i2,@I2Xs^;0YB"aAyBo HTT T)TITbD^VD^A8yfwj%fL=ٔjNQ-j>9hIh=jFyjEnEn>pQ 5v]4r?Q 9v]4r )rݔAYtyzTĿQ Iz?rjaCIr:ir:r\]4y9ɮ=9B9*jIBjQiQiQziQJiQiY k\k\k\hi krkrkrh2f:fBfJfk@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢT) mi)`2D<iê!I!IiIO>2Acoustic response timeoutbEǴ4jErE"/E5X E5?E5?E1"E5~ :*E5?9VE5^4ZE1aE@aE@aE@aE@) N]я,wIF?A23@2@2-=ٱ2al :AHRS rotation from veh to nav: [[0.221449,0.945479,0.238809],[-0.972455,0.232375,-0.018243],[-0.072741,-0.228191,0.970895]]2HsX?@]A?@I?Zy?<.\5Ϳ?i23@I2^;0YB%aAyBq HDDbDNVDN:8yV ;%VL=ٔV1Q-Z>9XIX=ZFyZE^)E^>`Q 5f]4b?Q 9f]4bf )bPAYdyjĿQ Ij?baCI`ibN:bW]4ynoBɮnKBnE*jxBjxixixzixJi|2Acoustic response timeouti  kSZkSZkSZh! kkkkkkh)2fA:fABfAJfETk@ɢ{%a) mi){8<iI)BIAM<BU>BUBCBU HBU`ABU=BQBUxDBU ;BU~Ee iI1IIO}>2Acoustic response timeoutԉ D9 zD= AAEE V EE =EE =EA "EE =:*EE 8VEE |4ZEA BEE :aU 2EE :aU JEE 9aU :EE 9aU 6dя,IF?A0>ז@>ҝ@>2=ٱ>^f JAHRS rotation from veh to nav: [[0.217284,0.947975,0.232659],[-0.973570,0.227652,-0.018340],[-0.070351,-0.222525,0.972385]]>H@?U?? |'#?@ǒ@{̿ ?i>ז@I>{|^;9YIY=]Fy]EeEe>iQ 5m]4mȿ?Q 9u]4m )maAYu?Q Eu/:yu̳Q I}?mhbCIm;imp;mU]4yɮ`B*jBjiiziJii kRkRkRh kmkmkmh2f>:f>Bf@Jf2@ɢuY)  xi)U*<iXأI ԉ In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout8<IIO >Թ  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutuajя,/IF?AV@V@V]=ٱV?b` jAHRS rotation from veh to nav: [[0.213269,0.949816,0.228836],[-0.974624,0.223135,-0.017829],[-0.067996,-0.219227,0.973302]]VH@hL?@d?`J?0?A1h̿I%?iV@IV*^;VWCYr*`Ayr HbDeVDe38y:^%V=ٔZʻQ->9I=FyEa2E>Q 5]4ο?Q 9]4 )qAYy]Q I?bCI :i$:]4yɮjB*jBjiiEUQ EUCEU?EQ"EU29*EU09VEU^4ZEQa]@a]@a]@a]@ziJii kTkTkTh kmkmkmh2f:fBfJf֊@AɢEzo)A MZ}iI)m8A BM >BI BM g HBM s_ABI BI BI BM <;BM I~EB BCB BCB ʓCB =B =C ʘ5Hqя,_IF?A2ӝ@2@2=ٱ2wTb :AHRS rotation from veh to nav: [[0.210448,0.950667,0.227910],[-0.975365,0.219954,-0.016849],[-0.066147,-0.218750,0.973536]]2H ? k? +,?06x'?@ﰿ˿5'?i2ӝ@I26^;2PCYB_AyB HDF?AbD%VD%.8ye頽%mN=ٔmKQ-m>9iIq=uFyuEuEu>yQ 5]4}Oտ?Q 9]4}6 )}AYyQ I?}YcCI}N:i}g:}]4yBɮBE*jBjiiziJii kTkTkTh kcwkcwkcwh2f:fBfJfT@)ɢ5Qu)1 5i9)=><99i=9AIAIIII}2Acoustic response timeoutIE X E HE <E "E ~ :*E [9VE  4ZE BE :a2E :aJE S:a:E U:aIIIYO`>q- 2Acoustic response timeoutԡ rwя,:IF?Aɰ2;@2%@2y=ٱ2c :AHRS rotation from veh to nav: [[0.207804,0.951115,0.228468],[-0.976160,0.216610,-0.013881],[-0.062691,-0.220137,0.973452]]2H O?o?r>?<@޹?m@~ s-̿&?i2;@I2^;2SCYB^_AyBZ HbDNVDN48yVRH%VW=ٔVbQ-Z>9XIX=ZFyZàE^E^>`Q 5f^4bTۿ?Q 9f^4b&' )bAYdyfQ Ij?bcCIbp:i`b^4ylɮnBl*jxBjxixixzixJixi| ksqksqksqh  kqkqkqh2f):f)Bf)Jf-;@yɢt)  i)  <  i 䙼IIIO=ԡi߁I߅A2Acoustic response timeoutEU ECE>E"E:*E09VE4ZEa%@a%@a%@a%@ d}я,-#IF?A2v@2p@2vo=ٱ2e :AHRS rotation from veh to nav: [[0.205805,0.951451,0.228880],[-0.976843,0.213719,-0.010065],[-0.058492,-0.221509,0.973403]]2H W?Hr?K?MB"[?ڜeZ̿ &?i2v@I2^;2RCYB^AyBHbDRVDRF8yVֽ%VJ=ٔZ *Q-Z>9\I\=^Fy^ƠEbEb>`Q 5j^4bΈ?Q 9j^4b3 )bAn2Acoustic response timeoutYpyrWQ Ir?bLdCIb~;ib~;b^4yvBɮzBzE*jBji i zi Ji i  kzkzkzh! kzkzkzh12fA:fABfAJfE@aɢeU)a euii)m ;iiimjqIqAIIB>BCCBHB^ABBByDBO;B^~EO>)2Acoustic response timeoutD zD @AE% W E! E% @E! "E% :*E! VE% 4ZE! BE% (:a5 2E% -:a5 JE% 9:a5 :E% 9:a5 Q я,JF?AVh@Vc@Vv.]=ٱVj ~AHRS rotation from veh to nav: [[0.204265,0.950710,0.233296],[-0.977426,0.211218,-0.004940],[-0.053973,-0.227020,0.972393]]VH _%?6l??G1 ?d< 9m?{Gz??Y?y#<L>uB ̃B)BYpBbDVDL8y-%-5=1ٔ5#Q-5>99I9==Fy=ȠEEkEE>IQ 5U^4M쿉?Q 9U^4M@ )M.AYU?Q E];:y]gQ I]?MdCIM%;iM;M"^4yaɮeĚBa*jyBjyiyiyziyJii kCukCukCuh kukukuh2f>:f>Bf@Jf@ɢY) fi)&;iI2Acoustic response timeoutAYaIiIyO?>G M9IYM Aԉ>> 2Acoustic response timeoutԹ eя,,JF?A65_@6Z@6^I=ٱ6Mo BAHRS rotation from veh to nav: [[0.203185,0.950154,0.236481],[-0.977900,0.209073,0.000181],[-0.049270,-0.231292,0.971636]]6H?@g?E?J?'? 9@Ϳ?i65_@I6!^;6QCYF1^AyJH\| )I==bDVDS8y%%%]=ٔ%PQ-%>9)I)=-Fy-ˠE5HME5>9Q 5E^4=O?Q 9E^4=iK )=AYAyEsQ IE?=8eCI=:i==:=/^4yUBɮUҚBQ*jyBjiiziJii kokokoh kokokoh2f:fBfJft@EY EAE?E"E:*E 9VE^4ZEa@a@a@a@ɢ|) qi ) o;  i v IԑAAIIIaIyO>Թ2Acoustic response timeoutB B B mHB ]AB B B B ^;B o~E ŗя,OFJF?A2\@2W@2׈6=ٱ2u :AHRS rotation from veh to nav: [[0.202954,0.948914,0.241603],[-0.978174,0.207701,0.005935],[-0.044549,-0.237534,0.970357]]2He?]?? 4M@?ROx?,Ϧgο@* ?i2\@I2[^;2UCYB]AyB\HbDLVDLyR%VR=ٔVKGQ-V>9XIX=ZFyZ͠EZx>E^>`Q 5b^4b?Q 9f^4bV )bAYdyfXQ If?beCIb-:ib$:bI=^4yjBɮnBnE*jtBjtixixzixJixix klklklh  kSkSkSh2f:fBfJf"@ɢE) 푿i)+;i挼IA)zA-pA]2Acoustic response timeoutAaIiIyO>ER ECEBE"Es9*E09VE5ZEBEw:a2E|:aJEa:EaI  2Acoustic response timeoutLя,`JF?A 2`@2{[@2\="=ٱ2| :AHRS rotation from veh to nav: [[0.203435,0.947469,0.246814],[-0.978287,0.206899,0.012102],[-0.039599,-0.243917,0.968987]]2H' ? 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Ϳ>#?i6mf@I6(>^;6UCYFZAyFdHYy`"?Zd;O+?·?j= 9y&1?(\¿9AIA=MFyMEM,UEM>QQ 5]_4UU?Q 9]_4U)UEAYe?Q Ee4:yeQ Ie?UmCIU:iU:U_4ym2BɮmBmE*jBjiiziJii k:k:k:h ksWksWksWh2f>:f>Bf9@Jf@ɢ ) i)mikBIAqAzAII2Acoustic response timeoutO% >ԉ9=>Ա  2Acoustic response timeout я,1LF?Afp<@f[7@fEٱfHk rAHRS rotation from veh to nav: [[0.229528,0.950043,0.211507],[-0.972102,0.212981,0.098265],[0.048309,-0.228161,0.972424]]fH@+a?f? ?vB?'?`뻨?_4Ϳ?ifp<@If1o^;fTCYzZAyzHbDVD8yYY=%_=ٔƝQ->9!I!=%Fy%E%dE%>)Q 55_4-Y?Q 9=_4-U )-AY9y=eQ I=?-tmCI-;i-;-*_4yAɮE֛BIEeb EeBEeGEa"Ee1:*EeZ;VEe5ZEaam@am@am@am@*jqBjqiqiyziyJiyiy k;k;k;h kcXkcXkcXh2fԱ:fBfJfӌ@ɢI)  i)S}iqY?I^A= ;2Acoustic response timeoutBu>BuDCBuHBu{[ABu=BqBqBu׽;Bu}EB1B1B1B1B1C5ˀ5AAIIO >9 5я,aKLF?A64<ɰ4rH&@r3!@rpJbٱren zAHRS rotation from veh to nav: [[0.226816,0.950370,0.212957],[-0.972371,0.208575,0.104839],[0.055219,-0.230852,0.971421]]rHR?ni?*B?@? ֺ? E?Ϳ?irH&@Ir}^;pYEZAyEHU@AQbD]VD]|8yp%C=ٔQ->9K?IK?=FyE ԻE>Q 5_4^?Q 9_47-)AYyQ I?mCIN:i:_9_4yɮڛB*jBjiiziJii k3@k3@k3@h kWkWkWh2f):f)Bf)Jf-@AɢM%ܽ)MO?: M奔iI)MyIQiUi|<e2Acoustic response timeoutiIq^AjZX<EuR EuNEu;Eq"Eus9*Eu҆9VEu4ZEqBEux:a}2Eu}:a}JEu:a:Eu:aIA$AI IOUT>q = = 2Acoustic response timeoutԙ dя,eLF?A2(@2#@2m9zٱ23s :AHRS rotation from veh to nav: [[0.227021,0.949723,0.215610],[-0.971974,0.207073,0.111295],[0.061052,-0.234834,0.970116]]2H ?@!d?@?ib?@}?2B? ο`1 ?i2(@I2^;2SCYB[AyBHTT T)TITbD^VD^j8yfTm=%fW=ٔj{Q-j>9jH?IjH?=nFynEnG:En>pQ 5v_4rb?Q 9v_4r8)rWAYxyzQ Iz?rcnCIr:ir:rF_4y~DBɮ~BE*jBjiiziJii k<k<k<h1 kSkSkShA2fQ:fQBfQJfU@iɢu)q uiq)i9Iq^AgW=A%AI)IAu2Acoustic response timeoutԡO@>E}W E}JE}=Ey"E} :*E}k9VE}|4ZEya@a@a@a@) #я,}LF?A6h-@6S(@6vٱ6w8v BAHRS rotation from veh to nav: [[0.227503,0.949265,0.217112],[-0.971495,0.206002,0.117304],[0.066627,-0.237610,0.969073]]6H?a`?@T?`}E^?? r?jο ?i6h-@I6k^;6VCYJE[AyJHLLbDRVDRm8yZ<j2Acoustic response timeout%^L=ٔr3aQ-r>9vK?IvK?=vFyvEv:Ez>xQ 5_4z9g?Q 9_4z*E)zÚAYyQ I?znCIzo;izj;zT_4y ɮܛB*j!Bj!i)i)zi)Ji)i1 kSkSkSh2f:fBfJfŒ@B5>B5CCB5AHB5[AB5=B1B1B5;B5}EIɢMҽ)U UץiQ)U㙼QQi]7YIa@uqA@urA^AM =!AyIIOe>}2Acoustic response timeoutI E  E BE E "E *E (9VE ZE BE (:a 2E -:a JE L+:a :E N+:a &я,WLF?A2"@2@2 ٱ2sJ~ :AHRS rotation from veh to nav: [[0.226061,0.948148,0.223407],[-0.971393,0.202295,0.124387],[0.072743,-0.245135,0.966756]]2H@?;W?@?@`?׿?J?@`Ͽ ?i2"@I2}^;2SCYBh[AyBHy}\(\??}ڧB}sB }B)}ByY} BbDVDn8y<%<=ٔBjQ->9I=FyESE>Q 5_4m?Q 9_4]P)AY?Q EL:ynQ I?KoCI:is:c_4yVBɮBE*jBjiiziJii k#8k#8k#8h  kCRkCRkCRh2f-^>:f-^>Bf-@Jf-&@IɢM)I MiI)UķQi5IQ2Acoustic response timeout5_GIa9YܤAyh%<ԩ ^A = 2Acoustic response timeout AI IY Ii E V E DE >E "E =:*E a99VE 4ZE a @a @a @a @O >,я,;LF?A2M@28@2ijٱ2u :AHRS rotation from veh to nav: [[0.221590,0.945195,0.239801],[-0.971917,0.194097,0.133058],[0.079221,-0.262551,0.961661]]2H]? ??ɱ?@+?` ?G?п?i2M@I2!o^;2UCYB[AyBHbD VD d8y^k<%5=ٔkQ->9I=Fy E"E>Q 5_4 s?Q 9_4\)AYyQ I?oCIz;ie;s_4yXBɮBE*jBjiiziJii k3k3k3h kWkWkWh2f!:f!Bf!Jf%]@9IɢM׽)I M磿iI)UJ0QQiU|E4YIY]q:m2Acoustic response timeoutqB>BBHB\AB=BBxDBѽ;B}E^A}=ԙA I I I O > 3я,LF?AR7@R"@R@ٱR~3 bAHRS rotation from veh to nav: [[0.214098,0.940769,0.262897],[-0.973023,0.181715,0.142147],[0.085955,-0.286238,0.954295]]RH`g??N?`#pB?@1?"?Qҿ ?iR7@IR^;RTCv2Acoustic response timeoutYv[Ayz6H@AbDeVDey8yr=%L=ٔQ->9I=FyEǚE>Q 5%_4x?Q 9%_4f)mAY)y-Q I-?)pCI:i:_4y1ɮ=ܛB9*jIBjIiIiQziQJiQiY kWkWkWhi kWkWkWhy2f:fBfJfƂ@颩ɢ+޽Ա) ܠi)Ų项i3IET EEE"E9*EVEZEBE:a2E:aJEjH:a :ElH:a ጹ@=@4>2Acoustic response timeout ^A 9 A $AI! I9 O >^:я,)>LF?AF3t@Fo@F꼽ٱFgע NAHRS rotation from veh to nav: [[0.205065,0.935419,0.287993],[-0.974404,0.167424,0.150019],[0.092114,-0.311385,0.945809]]FH??`?yn?Q.`*n?3?Ô?ӿD?iF3t@IF̚^;DYV\AyVQHbD^VD^r8yf<%jD=ٔjsQ-j>9jH?InH?=nFynEnbEn>AQ 5M_4E}?Q 9M_4Eq)EVAYQyUQ IU?EpCIEL:iE":E|_4y]jBɮ]B]E*jqBjqiqiqziqJiyiy kRkRkRh kRkRkRh2f:fBfJfs@ɢhb޽) zi)+i*2I  iI2Acoustic response timeoutEU EFE=E"E:*E;J9VE|4ZEa@a@a@a@ Q^A- = 2Acoustic response timeoutq B >B B ;HB ]AB =B B yDB ;B }EA= AIy I O >Aя,3MF?A2U@2@@2e|Ƚٱ2 4 :AHRS rotation from veh to nav: [[0.194497,0.930265,0.311090],[-0.976022,0.151938,0.155874],[0.097737,-0.333948,0.937511]]2HK?? ?;r??N?g_տ@?i2U@I2^;2VCYB\AyBHy tV?X9v?X9v R? }=   9 A`"?ˡE!rh?Y y?y ' l= B pB YB)  Y ǑBbDmVDmv8y}=%}8=ٔPQ->9K?IK?=FyEƼE>Q 5_4?Q 9_4U|)AYz?Q EX:yQ I?pCI3:i:_4yɮٛBԱ*jBjiiziJii kQkQkQh kQkQkQh2fm>:fm>Bfε@JfRԑ@!ɢ%{ٽ)-, -śi))-ļ)1i511I9EIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERE2Acoustic response timeout^AQDQzDQE]V E]BE]AEY"E]=:*E](9VE]A4ZEYBE]:ae2E]:aeJE]K+:am:E]N+:am AIIO >9 Gя,!MF?A2^@2I@2_ӽٱ2 :AHRS rotation from veh to nav: [[0.182595,0.924497,0.334612],[-0.977775,0.135086,0.160334],[0.103026,-0.356452,0.928616]]2HB_?y?Ij?IJ?Ѕ? _?ֿ8?i2^@I2^;2RCYB\AyBHDDRpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITR2Acoustic response timeout\\ \)\I\bDfVDf8ynB=%nV=ٔncQ-n>9pIp=rFyrEv[Ev>xQ 5z_4z]?Q 9~_4zŅ)zAY|y~"Q I~?z[qCIz+;izH;z_4y ɮ ЛB *jBj!i!i!zi!Ji!i) kCPkCPkCPh9 kSPkSPkSPhI2fY:fYBfYJf]A@ɢz) si)I̼iT1 I A^AYAeoAzAeoAUzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYU2Acoustic response timeoutyAII O- >bE4jErE0Em Y Em DEm @Ei "Em :*Em a99VEm 4ZEi au @au @a} @a} @ԙ Nя,i:MF?A:SD@:>?@:Nݽٱ:|ƾ FAHRS rotation from veh to nav: [[0.168515,0.919197,0.355921],[-0.979750,0.116586,0.162779],[0.108130,-0.376144,0.920230]]:H`?j?i?`Zؽ??g?@ؿ r?i:SD@I: ^;:TCYJ\AyJHbDVVDV8y^%^L=ٔbRQ-b>9`I`=fFyfEf9Ef>hQ 5n_4j?Q 9n_4j)jxAYpyrQ Ir?jqCIjQ;ij];j_4ytɮvћBt*jBjiiziJi i  kPkPkPh! kjkjkjh12fA:fABfAJfEz@aɢe0-)i mii)m)Լiiim|>1qIyq2Acoustic response timeoutB>BDCBHB^AB=BBzDB;B~Eԡ^AA1I9IIO>ia Ie Ae 2Acoustic response timeout Tя,rTMF?A2Ô@2Ӿ@2 rٱ2dϾ :AHRS rotation from veh to nav: [[0.153048,0.914984,0.373337],[-0.981707,0.097476,0.163551],[0.113255,-0.391539,0.913165]]2H ?G? ?%j,?=?L?@ٿ8?i2Ô@I2M_;2XCYBT]AyBHET EEE<E"E9*EA9VE 4ZEBE:a-2E:a-JEV:a-:EV:a-bDVD8y}=%}>=ٔ}EQ->9I=FyEE>Q 5_4?Q 9_4F)BAYyXQ I?%rCI;i:_4yBɮԛBE*jBjiiziJii k3ik3ik3ih kCikCikCih2f:fBfJf@!ɢ%ؽ)! %[i!)-_ܼ))i-`11I1u"5;2Acoustic response timeout) ^A Q A I I O] >C[я,pMF?AV$9@V4@VٱVվ ^AHRS rotation from veh to nav: [[0.136316,0.912165,0.386487],[-0.983570,0.078008,0.162800],[0.118351,-0.402329,0.907813]]VHr?u0?@3?hyY??CL?@ÿٿ ?iV$9@IV21_;VVCYf]AyfHHhh 2Acoustic response timeoutbDMVDM8y0=%9=ٔ>Q->9I=FyEaE>ioAInA Q 5_4 ؚ?Q 9_4 ) AYyQQ I? rC!I |:i 5L; _4y)ɮ5ʛB1*jABjAiIiIziIJiIiI kscksckscha kckckchq2f:fBfJf@颡ɢƈӽ) 쒿i)'顩i2IE%W E%JE%CE!"E% :*E%k9VE%5ZE!a-@a5@a5@a5@I^Alw=ԁ2Acoustic response timeoutB A <B >B BCB HB _AB =B B xDB ;B *~EBqBqBqBqBqCu5AI IY Ii O >ԡ obя,,~MF?A;ɰp;2@2v@2aٱ2~ؾ :AHRS rotation from veh to nav: [[0.118620,0.911443,0.393955],[-0.985241,0.058730,0.160781],[0.123406,-0.407212,0.904958]]2H]?@*?@6? ?@z??ڿj?i2@I2_;2UCYn^AyrHyX9v?X9v?X9v??<< 9RQ?T㥛 l?Y?y=BoB B)BYBbDVDq8y\">%G=ٔJQ->9I=Fy E2E>Q 5_4?Q 9_4R)AYے?Q E9:yQ I?sCI:i:_4yBɮB%Eԙ*j!Bj!i)i)ziQJiQiY kCgkCgkCgh2f=:f=Bfs@JfxE@ɢν) i)i 3 I=2Acoustic response timeoutEEV EEEEE<EA"EE=:*EEA9VEE 4ZEABEE:aM2EE:aUJEEV:aU:EAaU5 2Acoustic response timeout ^AU =AIIO>;iя,̩MF?A,2 @2@2xٱ2Tپ >AHRS rotation from veh to nav: [[0.100158,0.911922,0.397953],[-0.986699,0.039566,0.157668],[0.128035,-0.408452,0.903756]]2H ?w.?x?@ B?v.?`vc? $ڿ?i2 @I2^;2VCYJ_AyJ0 HbDZVDZ8yfq=%f4=ٔj(Q-j>9lIl=nFyn#Er(Er>tQ 5~_4v?Q 9~_4v̾)vAYyQ I?vsCIv<;iv/;v_4yɮB*j9Bj9iAiAziAJiAiI ksIksIksIha2f:fBfJfnD@1ɢ5Tν)=0 =#i9)=G99i=|5AIIqqqqԉ2Acoustic response timeoutEX EBE>E"E~ :*E(9VE4ZEa@a@a@a@ ^A9 U 2Acoustic response timeoutAi Iq I O >qя,MF?AB>BB HBaAB=BBBV;B]~E(Bv@Bp@B ٱBؾ NAHRS rotation from veh to nav: [[0.081827,0.913242,0.399116],[-0.987805,0.021092,0.154260],[0.132459,-0.406871,0.903831]]BH?@G9?? ? ˾?h?- ڿ/?iBv@IB'^;@YR_AyV HTTbD\VD\yf=%fB=ٔj-Q-j>9lIl=nFyn&En4En>pQ 5v`4r?Q 9z`4r:)r4AYxyzGÿQ Iz?rtCIr/;irL;rD`4y|ɮB*jBjiiziJii! k3Jk3Jk3Jh1 k3Jk3Jk3JhA2f:fBfJfC@ɢ<ν) i) i87Ia^AUlw=ԑ52Acoustic response timeoutAIIO>EU U EU CEU BEQ "EU :*EU 09VEU 5ZEQ BEU :ae 2EU :ae JEU 9:ae :EU 9:ae Թ FCwя,\vMF?A6ߑ@6٘@6u ٱ6s־ >AHRS rotation from veh to nav: [[0.063566,0.915243,0.397857],[-0.988566,0.003124,0.150756],[0.136735,-0.402891,0.904976]]6HE?I?~v?@Ui? K??ٿ ?i6ߑ@I6T_;6WCYF`AyF1 HP\\ \)\I\ fp%nJ=ٔr.Q-r>9pIp=vFyv(Ev:Ev>xQ 5~`4z?Q 9~`4z5)zAYyſQ I?zxtCIzY;izU;ze`4y Bɮ B /E*j!Bj)i)i)zi)Ji)i) k#Gk#Gk#GhA k#Gk#Gk#GhQ m'i>mC)]9YY]#A2fy:fy2Acoustic response timeoutBfyy?WAJf}A@ ɢ ý)  -+ti1)5/11i599I9^A=A I I! ) M 2Acoustic response timeoutOe >E] W E] GE] =EY "E] :*E] R9VE] |4ZEY ae @ae @am @am @ox}я,MF?ApYvjaAyv HbDVDs8y5=%5D=ٔ5Q-5>99IA=MFyM+E]E]>aQ 5m`4e?Q 9m`4e)eAYiyiQ Iu?etCIe :ie:e#`4yyɮ}uBy*jBjiiziJii kPkPkPh kPkPkPh2f:fBfJfɢܙɽ) Sii)iт;IhDAT read: Forwarding Delay UpTx time:18:38:47.6991 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutAIAM@ABu>BuACBu HBulcABqBqBqBuz;Bu~E^AAAU $AIY Ii I O >i QUя,,NF?A2@2@2aٱ2,Ѿ :AHRS rotation from veh to nav: [[0.022776,0.918795,0.394078],[-0.988974,-0.036989,0.143398],[0.146330,-0.392999,0.907821]]2H }R?f?8? ?@Z?`?&ٿ ?i2@I2_;2VCYBbAyBK HDF?A2Acoustic response timeoutYy`"?I +V-?w?94m= 9rh|?X9vJ +?Y?y=B oB ))BYuBbDVDK8y(>%A=ٔӻQ->9H?IH?=Fy.EȽE>Q 5`4?Q 9`4)AYu?Q E-:yĿQ I?quCI`;i;1`4y Bɮ cB 8E*j!Bj!i!i)zi)Ji)i) kKkKkKhA kKkKkKhQ2fe>:fe>Bfe@Jfe4@ ɢ Ҷ) EX EAE?E"E~ :*E 9VE^4ZEBE:a%2E:a%JE:a%:E:a- -Wi1)511i5>9I9ԉu&tԱ2Acoustic response timeout ^A A AII!O>8я,0NF?AN"@N@N"ٱN~`; fAHRS rotation from veh to nav: [[-0.021080,0.919092,0.393478],[-0.987169,-0.081441,0.137345],[0.158278,-0.385534,0.909017]]NH 4i?.?``Uٴ?vB? ؿ@?iN"@INu^;NXCYjbAyjl HAEBAbDMVDM48yG<%0=ٔԼQ->9K?IK?=Fy0EYýE>Q 5`4T?Q 9`4R)AYyʿQ I?uCI:iL:B`4yɮ\B*jBjii2Acoustic response timeoutziJii kEkEkEh kEkEkEh 2f:fBfJf@Աɢ ) 2Ti) iBI]ES EEEE"E9*EA9VEZEa@a@a@a@^A ߍ >ߍ C@ 2Acoustic response timeoutA $AB >B B  HB |eAB =B B B ;B ~EIY Iq O >9 я,JNF?A>z@>t@>(ٱ>п; FAHRS rotation from veh to nav: [[-0.041284,0.916846,0.397100],[-0.985594,-0.102610,0.134446],[0.164013,-0.385829,0.907874]]>H.#@V?j?`D5?]?`kؿN ?i>z@I>^;>TCYN9dAyNV HbD5VD5"8y}k>%}J=ٔkQ->9H?IH?=Fy3EOE>Q 5`4?Q 9`4 Q =tI)AYy\ͿQ I?yvCI;i;&P`4yɮ-B*jBjiiziJii kHkHkHh ksnksnksnh2f:fBfJfh@19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeedYɢ])a eiя,ZhNF?A2\@2G@2,ٱ2Ͼ :AHRS rotation from veh to nav: [[-0.058162,0.913825,0.401922],[-0.984072,-0.120228,0.130950],[0.167988,-0.387904,0.906262]]2H@mǭ` >??} EǾ?@?kؿ?i2\@I2^;2UCYB8eAyB HDDbDNVDN&8yVG>%V:=ٔVQ-Z>9XIX=ZFyZ6E^_ E^>`Q 5f`4bá?Q 9f`4b)bAYdyjϿQ Ij?bvCIb ;ib ;bw_`4ynƷBɮnBnBE*jxBjxixixzixJixi| kRkRkRh  kCfkCfkCfhԡ2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 r%RAggregate::uninitialize marl:UpdateRudderaɢeL)i mz,ii)miiim±LqIym 2Acoustic response timeout^A!bE^4jE^4rE[0E%[ E!E!E!"E%a:*E!VE!ZE!a5@a5@a5@a5@A AI I O >) ~я,NF?ATV@m:z@2Acoustic response timeoutBAB>BBCB{HBgAB=BBBh;Bm~E1m%u@m|/ٱmdѾ AHRS rotation from veh to nav: [[-0.071954,0.910129,0.408029],[-0.982720,-0.134638,0.127017],[0.170537,-0.391839,0.904090]]mH`k?`&?@rr@;B?+?ٿN?im:z@Im^;iY fAys HyS?X9vBvhB ܧB)BYB U49K?IK?=Fy9EټE>Q 5`4h?Q 9`4%)AYVm?Q Ee:yпQ I?uwCIv:i:q`4y!Bɮ`B*jBjiiziJii kMkMkMh kmkmkmh2f>:f>Bf@JfT@1ɢ5D)9 =li9Y)biBSIԉ- 2Acoustic response timeout% @M pA@M pAEE ] EE LEE =EA "EE :*EE |9VEE |4ZEA BEE 0;aM 2EE 3;aM JEE r:aU :EE s:aU ^Aelw=AII?N?2Acoustic response timeoutO?я,NF?A25@2 @2 0ٱ2gӾ :AHRS rotation from veh to nav: [[-0.084170,0.906270,0.414235],[-0.981555,-0.147021,0.122208],[0.171654,-0.396308,0.901928]]2H@/)?҂? h¿H??]ٿ ?i25@I2}^;0YB[gAyBCHTT T)TITbD^VD^8yfB>%f<=ٔj+Q-j>9hIl=nFynpQ 5v`4r?Q 9v`4r/)r AYxyzGҿQ Iz?1rwCIrBa2Acoustic response timeoutԙE X E DE AE "E ~ :*E a99VE A4ZE a @a @a @a @^A Թ A I! I9 Oe >Q0я,ȴNF?A2@2@2o0ٱ2-־ :AHRS rotation from veh to nav: [[-0.095500,0.902768,0.419393],[-0.980494,-0.158020,0.116879],[0.171787,-0.400051,0.900249]]2Hrx?U?5`@9Ŀ?@?mٿ?i2@I2^;0YBhAyBHDDbDNbVDN8yV9>%VK=ٔVQ-Z>9XIX=ZFyZ>E^wE^>`Q 5f`4b?Q 9f`4b8)bAYdyfӿQ If?b0xCIb:ib:b+`4yn4Bɮn#BnLE*jtBjxixixzixJixix ks5ks5ks5h  k#Lk#Lk#Lh2f):f)Bf)Jf-@yɢ?) 2i)ij^I2Acoustic response timeoutB>BACBHBjAB=BBwDBQ;BM~EBACBACBB=B=C5ԩ^A%=AQIYIiO>i߉ I߉  2Acoustic response timeout я,TWNF?AE4 E6KE6>E4"E4*E6]t9VE64ZE4BE6:a>2E6:a>JE6*:aB:E6+:aBV^@VY@V/ٱV׾ bAHRS rotation from veh to nav: [[-0.105885,0.899862,0.423127],[-0.979569,-0.167558,0.111212],[0.170973,-0.402707,0.899219]]VHK?? Xrſ``x?`u? ٿg?iV^@IV^;TYnNiAynvH9=AEAAEAAbDMfVDM8yZ=%?=ٔ:Q->9I=FyAEEʼE>Q 5`4?Q 9`4B) AYyԿQ I?xCI:iv:&`4yɮ5 B1*jIBjIiIiIziIJiQiq kEkEkEh kEkEkEh2f:fBfJfCԜ@ɢ3U) & 1־i ) l iΜd1I1!2Acoustic response timeout^AYAI I I O >y 4я,Y2NF?A2 @2@2.ٱ24׾ :AHRS rotation from veh to nav: [[-0.115940,0.898175,0.424076],[-0.978739,-0.176038,0.105260],[0.169195,-0.402856,0.899489]]2H=ؽ?`$?@QlƿN?@1?dٿ?i2 @I2^;2TCYfijAyf$He2Acoustic response timeoutbDElVDE8y->%I=ٔ;;Q->9I=FyDEͼE>Q 5`4?Q 9`4L)AYyDֿQ I?xCI;iw:^`4yɮB*jBjiiziJii kFkFkFh k#Fk#Fk#Fh2f!:f!Bf!Jf%z@qɢH{) ʲi)iJNjIE}Y E}JE}CEy"E}:*E}k9VE}5ZEya@a@a@a@ԡ^A% %=% <% 2Acoustic response timeoutA) A) B5 >B1 B5 PHB5 QlAB5 =B1 B1 B5 1;B5 )~EAi Iq I O > Óя, OF?A2@2@2\+ٱ2xW־ :AHRS rotation from veh to nav: [[-0.125547,0.897587,0.422583],[-0.978005,-0.183491,0.099185],[0.166567,-0.400836,0.900881]]2H`? ?K|ǿ*d? R?Kٿ?i2@I2v^;2WCYBkAyBHy)\(?nZd;OGA?Vj< 9|?5^?~jt?YM?yD=BoB )BYBbDnVD 8y%=%%B=ٔ%;Q-%>9)I)=-Fy-FE5 E5>9Q 5E`4=ō?Q 9E`4=xT)=̯AYEP?Q EE:yEQ IM?=@yCI=:i=:=`4yUDBɮUBUUE*jaBjiiiiiziiJiiiq kDkDkDh kDkDkDh2f=:f=BfM}>Jf@aɢe-m)a m8ii)mv顉iQpIm2Acoustic response timeoutEU EAE@E"E:*E 9VE4ZEBE:a2E:aJE:a:E:a^Alw=1 A) 1 I Ia Iq y 9 Y PAO >- 2Acoustic response timeoutY Iɓя,&OF?A@2+h@2c@2X'ٱ2վ :AHRS rotation from veh to nav: [[-0.135518,0.896375,0.422074],[-0.977253,-0.191074,0.092017],[0.163129,-0.400003,0.901879]]2H`X?`C?`E uȿt?k?ٿ1?i2+h@I2^;2XCYBkAyBHJ=J= LN4<bDNrVDN 8yVp=%Ve=ٔZ9\I\=^Fy^IE^E^>`Q 5f`4b?Q 9j`4b[)bpAYhyj9Q Ij?byCIbX ;ib ;b`4ypɮr˛Bp*jxBjxi|i|zi|Ji|i| kNkNkNh kCNkCNkCNh!2f1:f1Bf1Jf5E@Qɢ k) 3i)YiuI)5߼Yu2Acoustic response timeoutE X E BE BE "E ~ :*E (9VE 5ZE a @a @a @a @ԙ ^A] =A I I Ա O >yГя,AOF?A2@2 @2t#ٱ2!Ծ :AHRS rotation from veh to nav: [[-0.146241,0.895377,0.420611],[-0.976396,-0.198960,0.084058],[0.158948,-0.398390,0.903339]]2H¿@?`H?>wɿ̄?gX?8ٿ'?i2@I2s^;2TCYBlAyBHbDNqVDN 8yV>%VB=ٔV|$9XIX=ZFyZKE^HӼE^>`Q 5f`4bJ?Q 9f`4bc)b/AYdyfQ Ij?byCIb ;ib. ;bN`4ylɮnBl*jxBjxixixzixJixi| kIkIkIh  kIkIkIh2f:fBfJf@ɢQ) Qi)iI{IM2Acoustic response timeoutBe>Be?CBeHBeanABe=Be%DBevDBe";Be~E0B !^AQ Ai Iy I I O > 2Acoustic response timeoutD =D 4=E  E DE >E "E *E a99VE 4ZE BE :a 2E :a JE iH:a :E lH:a ֓я,[OF?A Rj@RU@RDٱRE(Ӿ ZAHRS rotation from veh to nav: [[-0.159161,0.894184,0.418453],[-0.975024,-0.208878,0.075491],[0.154909,-0.395986,0.905096]]RHg_Ŀ'?`?d3ʿeS? ?Wٿ@?iRj@IRe^;RXCYbxmAybHbDnoVDn 8yv=%vH=ٔv#9xIx=zFyzNE~E~>Q 5 `4x?Q 9 `4l)AY yVQ I?/zCI:i:`4yɮB*j1Bj1i1i1zi1Ji1i9 kcRkcRkcRhI k#lk#lk#lha2fi:fiBfiJfm@颉ɢ.H) !i)顑ix\Iim2Acoustic response timeoutK'ԙ ^A =A I I  2Acoustic response timeoutO% >(ݓя,2wOF?Aɰ;2)@2$@2@ٱ2i.Ѿ :AHRS rotation from veh to nav: [[-0.173813,0.892865,0.415429],[-0.973164,-0.220331,0.066382],[0.150802,-0.392742,0.907200]]2H ?ƿY?`c?`($@3̿`k?{M?"ٿ?i2)@I2{^;2VCYBJnAyBHTX X)XIXbD^mVD^8yf=%j?=ٔjo9hIl=nFynQEn:En>pQ 5v`4rdp?Q 9z`4rt)rAYxyzIQ Iz?rzCIr;ir;r`4y~WBɮ~B_E*jBjiiziJii kckckch1 kckckchA2f:fBfJfa@ɢ8) ڽi)isE [ E E @E "E a:*E VE 4ZE a@a@a@a@I!!!!)B<AB>B>CBHBIpABBBB;B}E2Acoustic response timeouta ^A =A I I OU >=я,EOF?A6@6v@6Ϣٱ6Uξ >AHRS rotation from veh to nav: [[-0.190132,0.891689,0.410781],[-0.970755,-0.233222,0.056939],[0.146575,-0.387942,0.909954]]6HAVȿ`?=J?m@9Ϳ@''?? ؿ@X?i6@I6g^;6UCYVoAyVHyUd;O?Zd;O?v/U?Uj=UxiQ Q9U~jt?RQ333333YU{?yU½UU BU`mB UB)UBQYUkBbDmlVDm8y}=%}@=ٔ}e$9I=FySEE>Q 5a4e?Q 9a4 )AY}?Q EV:y Q I?zCI ;i ;pa4yTBɮqB^E*j!Bj!i!i)zi)Ji)i) kfkfkfh2f)H>:f)H>Bf̍@Jfo'@颩ɢV+) }ki).顱i*iI2Acoustic response timeoutyET E@ECE"E9*E9VE5ZEBE:a%2E:a%JE,:a%:E/:a%Թ^AAIIO >  2Acoustic response timeoutF1я,OF?AdYHpAyHbD\VD8y t7>% C=ٔQ->9I=FyVE%E->9Q 5Ea4=Z?Q 9Ea4=o)=dAYIyIQ IM?=Z{CI=~C;i=D;=1a4yBɮB*jBjiiziJii kNkNkNh kseksekseh2f:fBfJfYɢ]0)Y ]q я,OF?A2t@2o@2j ٱ2zȾ :AHRS rotation from veh to nav: [[-0.225810,0.887997,0.400587],[-0.964395,-0.261880,0.036891],[0.137665,-0.377994,0.915516]]2H@Y̿yj?8?`Sп@e?? 1ؿK?i2t@I2T^;0YB;qAyBUH== p<<BE>BE?CBEHBE1rABABABABEս;BE}EQ}2Acoustic response timeoutbD ZVD 8y9>%M=ٔU9I=FyYEE>Q 5a4O?Q 9a4 )AYyQ I?{CI;i;a4y Bɮ tB hE*j!Bj!i!i!zi!Ji)i) kLkLkLh9 knknknhI2fa:faBfaJfed%@yɢ}]") =i)w顁iIi^AԑA$AII 5 2Acoustic response timeoutO= > EE T EE CEE ?EA "EE 9*EE 09VEE ^4ZEA BEA aU 2EA aU JEE 9:aU :EE 9:aU LCя,uvOF?AJڇ@JՎ@Jk ٱJh2ƾ VAHRS rotation from veh to nav: [[-0.244037,0.885092,0.396305],[-0.960545,-0.276832,0.026782],[0.133415,-0.374133,0.917728]]JH<Ͽ@R? ]?ȼ ѿl?`?׿^?iJڇ@IJn^;JWCYnqAynHbDEQVDE8ԙy=%N=ٔ09H?IH?=Fy[EAE > Q 5a4 iC?Q 9a4 )  AYy Q I? %|CI ;i ; >-a4y!ɮ-_B)*j9Bj9iAiAziAJiAiA k3Vk3Vk3VhY kikikihi2fy:fyBfyJf}P$@颙ɢϷ) y=i)E}顡iގI2Acoustic response timeout^AAM AIQ Ia O > = 2Acoustic response timeoutmя,zROF?A2:@25@2ٱ2¾ :AHRS rotation from veh to nav: [[-0.262914,0.882403,0.390181],[-0.956077,-0.292593,0.017476],[0.129585,-0.368448,0.920572]]2Hп?׿@Tu?i2:@I21S^;2VCiPIRoAYbrAyf_HbDn.VDn8yvD,>%vW=ٔvz&9zK?IzK?=zFyz^E~RE~>Q 5 a47?Q 9 a4ͥ)PAY yQ I?|CIy:i:+:a4yɮ>B*j1Bj1i1i1zi1Ji9i9 kRkRkRhQ krkrkrha2fq:fqBfqJfuP4#@频ɢ*Ǽ) :>i)顙inIEV EEE@E"E=:*EA9VE4ZEa @a @a @a @1^AA-U?A-U?A9A=AABE>BEy /Uя,A,PF?A2@2@2w1ٱ2` :AHRS rotation from veh to nav: [[-0.282012,0.878732,0.385096],[-0.951123,-0.308710,0.007907],[0.125831,-0.364044,0.922843]]2H} ҿ`?g?`oӿz1?`9?}L׿?i2@I2R^;2WCYBsAyBHyEy&1?Zd;O?X9vE`?Ej9uH?IuH?=uFyu`E}AE}>Q 5a4+?Q 9a4*)AY ?Q E5:y`Q I?}CI:i:Ha4yBɮ:BqE*jBjiiziJii k3Zk3Zk3Zh kmkmkmh2f>:f>BfS@Jf,@ɢ.) qc>i)+!!i%L!I)Y2Acoustic response timeoutE i E YE 9E "E ,K:*E *9VE 4ZE BE ie;a2E ke;aJE :a:E :aԁ^AyԩAAIIO% >ߥ =ߡ  2Acoustic response timeout  я,,PF?AB@B@B+ٱB̰ NAHRS rotation from veh to nav: [[-0.301473,0.873909,0.381310],[-0.945594,-0.325342,-0.001971],[0.122334,-0.361158,0.924445]]BHUKӿ ?`g?NBhԿ%`AQ?8׿@?iB@IBj^;@YVytAyVTHtt x)xIxbD VD 8y%>%-O=ٔ595K?IK?=FycEIE>Q 5a4m?Q 9a4I)AYyQ I?|}CIw;ia;SWa4yɮB*jBjii zi Ji i  kSUkSUkSUh! k{k{k{h12fA:fABfAJfEV@aɢeH̒)a e&>ia)m 9iiim"qIqԹ2Acoustic response timeout^AEUc EUJEU>EQ"EUg5:*EUk9VEU4ZEQa]@ae@ae@ae@AII O% >1 Zjя,EPF?A2G@2~B@2Yٱ2 :AHRS rotation from veh to nav: [[-0.321056,0.868180,0.378400],[-0.939551,-0.342198,-0.012047],[0.119029,-0.359394,0.925564]]2H@-Կ!?7?տ쫈 x?N׿8?i2G@I2rY^;2UCYB-uAyBHDDbDNVDN8yVF=%VR=ٔV 9XIX=ZFyZeE^dE^>`Q 5fa4b?Q 9fa4b )b/AYdyfQ If?b}CIbp:ibg:b@da4Br>Br:CBrEHBrvABr=BpBrrDBr;Br}Ey|ɮ~B|*jBjiiziJii kCckCckCch) k#|k#|k#|hA2fQ]2Acoustic response timeout:fQBfQJfUT@yɢ}V])y }>i)}:顁iI 9^AYAepAzAaAII 2Acoustic response timeoutO a E= Y E= IE= BE9 "E= :*E= c9VE= 5ZE9 BE= ;aM 2E= ;aM JE= :aM :E= :aM gя,_PF?A R@R@R՛ٱRjb ZAHRS rotation from veh to nav: [[-0.340149,0.861660,0.376616],[-0.933219,-0.358608,-0.022396],[0.115760,-0.359084,0.926099]]RHտ?{?pֿn?:ֿ`?iR@IRt^;PYbvAyfOH Wi> mGbDVDu9YAy>%8=ٔY;Q->9I=FyhE1;E>qQ 5a4u?Q 9a4uH)u}AYy/Q I?ut~CIuA;iuU9;uJta4yBɮBzE*jBjiiziJii ktktkth ktktkth2f:fBfJf<@ɢzh?) C>i)+iٜ!I!@5qA@5rAim2Acoustic response timeoutԙ^A A I I O= > 2Acoustic response timeoutя,xyPF?A2@2@2Ռٱ2I伾 :AHRS rotation from veh to nav: [[-0.358514,0.855274,0.374131],[-0.926741,-0.374303,-0.032390],[0.112336,-0.358334,0.926810]]2H@ֿg^? ?ۧ׿r¼?ֿm?i2@I2^^;2XCYBvAyBHPbD VD 8y=%X=ٔ79!I!=%Fy%jE-)TE->1Q 55a45?Q 9=a45)5AY9y=Q I=?5~CI5;i5 ;5a4yIɮMBI*jaBjaiaiiziiJiiii kwkwkwh kwkwkwh2f:fBfJfJ@ɢ() >i)ibIE W E CE <E "E  :*E 09VE  4ZE a@a@a@a@^AB<AB>B9CBqHBwABBBB ;B}E}In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutAI1IIO}>! R$я,sPF?A2d@2_@2X߽ٱ2Ux :AHRS rotation from veh to nav: [[-0.376282,0.848013,0.373210],[-0.920076,-0.389386,-0.042882],[0.108959,-0.359517,0.926755]]2Hؿ "? ?Bqؿ@?S׿?i2d@I2^;2UCYBwAyBEHDDyCl?kt?~jtx?;_? 0=; 9zG?Zd;O?ˡE?Y ?yj==BjB B)BYBbD VD8y>%>=ٔp9I=FymE5E>Q 5a4꿉?Q 9a4g)NAY ܗ?Q E 2:y %Q I ?bCI:i:a4yBɮŚB*jYBjYiYiYziYJiYia kSvkSvkSvhq kvkvkvh2fZ>:fZ>Bf!>Jf @pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutQɢUP|)Q UD>iQ)]YYi]daIa)E Y E FE @E "E :*E ;J9VE 4ZE BE a2E aJE e:a:E e:aQ^AAT?AR?A I I I! OE > zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutԙ *я,TPF?AJ$т@J̉@J'ؽٱJ ZAHRS rotation from veh to nav: [[-0.392935,0.840417,0.373232],[-0.913472,-0.403385,-0.053380],[0.105695,-0.361912,0.926201]]JH%ٿ?@?);@ٿT? )׿p?iJ$т@IJP^;JYCYfxAyfHbDvVDv8y~1>%Z=ٔ9I = Fy oE DE >Q 5a4߿?Q 9%a4m)ζAY!y%rQ I%?CI;i;a4y-̹Bɮ-B5E*jABjIiIiIziIJiIiQY kxkxkxhi2f):f)Bf)Jf-r@IɢMP?;)q u ?iq)u"qqiu'.yI@G>@?>ԁiIA2Acoustic response timeout^AԱE-h E-JE-<E)"E-G:*E-k9VE- 4ZE)a=@a=@a=@a=@A I I! OU > U1я,N*PF?A6H@6kC@6cѽٱ6V|BF>BF7CBFHBFyABF=BDBFpDBF;BF}E NAHRS rotation from veh to nav: [[-0.408267,0.832084,0.375439],[-0.907127,-0.415834,-0.064835],[0.102172,-0.367040,0.924577]]6H` !ڿ`n?/?@.@ڿ'?}׿ "?i6H@I6^;6VCYV yAyV"HbDbVD`yjk=%jM=ٔj9lIl=nFynrEr+Er>tQ 5za4vҿ?Q 9za4v)vSAYxyzQ Iz?v%CIv:ivp:va4yɮB*jBjii!zi!Ji!i! kc`kc`kc`h9E2Acoustic response timeout kkkhQ2fi:fiBfiJfms@颁ɢ;;) ?i)b顉iۧI^AAI)I9O}>2Acoustic response timeoutD =D =E- W E- GE- >E) "E- :*E- R9VE- 4ZE) BE- #:a5 2E- (:a5 JE- t:a5 :E- t:a5 9 y7я,PF?A2 ʁ@2Ĉ@2Twʽٱ2Iþ :AHRS rotation from veh to nav: [[-0.422370,0.824307,0.376989],[-0.901034,-0.427110,-0.075599],[0.098699,-0.371610,0.923127]]2H`ۿ`? ?DUۿlZ ^D? w׿`B?i2 ʁ@I2(_;2XCYByAyBHDFR=TX X)XIXbD~VD~8y =% F=ٔ 9I=FyuE=!E=>AQ 5Ma4EEſ?Q 9Ma4E6)EٷAYQyUQ IU?EcCIE:iE:Ea4y]ܹBɮ]B]E*jqBjqiiziJii kdkdkdh kxkxkxh!2fY:fYBfYJf]hu@19] r]NAggregate::initialize marl:UpdateRudderq9eJ]aq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]a18eom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7mnm4Completed marl:UpdateSpeedq7mnuPAggregate::uninitialize marl:UpdateSpeed颉ɢP;) ?i)m4 顑iުIM2Acoustic response timeoutA^Alw=qAII O= >ԙ  2Acoustic response timeout >я,PF?A2wP@2bK@2&½ٱ2Jƾ :AHRS rotation from veh to nav: [[-0.435860,0.816787,0.378001],[-0.895005,-0.437606,-0.086416],[0.094832,-0.375978,0.921763]]2H ۿ #? +1?@ܿ[`F?ؿ?i2wP@I2+_;2UCYBzAyB HbDNVDN8yV>%VQ=ٔV"9XIX=ZFyZwE^E^>`Q 5fa4b񷿉?Q 9fa4bt)bSAYdyfiQ Ij?bCIb:ib:ba4ylɮnBl*jtBjxixixzixJixix kc_kc_kc_h  kSkSkSh2f:fBfbEm&4jEm74rEmu0EY ELE@E"E:*E|9VE4ZEa@a@a@a@Jf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder9ɢ=d$P<)9 =`(?i9)=\ AAiEOAIIyԡ^AyAAB>B6CBHB{AB=BBB;B}E]2Acoustic response timeoutAIIO] > _Dя,QF?A2Ӏ@2·@2ຽٱ2mǾ :AHRS rotation from veh to nav: [[-0.449663,0.809701,0.377077],[-0.888538,-0.448570,-0.096360],[0.091123,-0.378377,0.921155]]2HGܿ@?@ "?@n^ܿS? U7ؿz?i2Ӏ@I2^;2XCYB*{AyBqHy/$?Q?Zd;O1h?<j 9~jt?{Gz?MbX9?Y?yף=ʡ= BcB ?B)BYBbDVD8y=%7=ٔm9I=FyzE E >Q 5a4񩿉?Q 9a4&)иAYb?Q EK:yQ I?ـCI:i<:a4y-ٹBɮ-tB)*j9BjAiAiAziAJiAiA kekekeha2fu0>:fu0>BfuMR>JfuT@频ɢPj<) 2?i)顙iIi߱I߱2Acoustic response timeoutEU EFE>E"E:*E;J9VE4ZEBE:a2E:aJEe:a:Ee:a^A5=! Aa Iq I O >e 2Acoustic response timeoutzKя,h.QF?A>W@>R@>T ٱ>0ɾ JAHRS rotation from veh to nav: [[-0.463161,0.802321,0.376514],[-0.881962,-0.459102,-0.106620],[0.087315,-0.381454,0.920255]]>Hnݿ? ?` 9`aݿ {K>Z?iؿ@r?i>W@I>ӿ^;>ZCYR{AyRHTTbD%VD%8ye=%eU=ٔm"9iIq=uFyu|Eu Eu>Q 5a4W?Q 9a40):AYy Q I? CI ;iv;?a4yBɮxBE*jBjiiziJiYiY kekekehi kekekeh2f:fBfJf7ؚ@ɢ윍<) 9?i)YCigXIQ2Acoustic response timeoutԁ^AAAEY EE<E"E:*EVE 4ZEa@a@a@a@Ae $AIq I ԩ O >|Rя,rHQF?A>B>BBHB|AB=BBoDB;B}EBu7CBu8CBuCBu=Bu=Cu5(ɰ(%D=ٔ9H?IH?=FyES E>Q 5a4\?Q 9a4:)AYy Q I?CCIN:i:a4yBɮUB*jBji!i!zi!Ji)i) kS_kS_kS_h2f!:f!Bf!Jf%I@Yɢ]L<)a eI?ia)eaaiecBI@C>@J>Ա^A=2Acoustic response timeoutA A I I! Om >E  E E >E "E *E VE 4ZE BE ;a 2E ;a JE a :E e:a -Xя,nMbQF?A2~@2a=@2ٱ2ɾ :AHRS rotation from veh to nav: [[-0.493039,0.787829,0.369104],[-0.866333,-0.483532,-0.125155],[0.079873,-0.381473,0.920923]]2H@߿ 5?e?``/޿r?jؿ2x?i2~@I2"^;2VCYB}AyBHbDNVDNR8yV-=%V^=ٔV($9ZK?IZK?=ZFyZE^`CE^>`Q 5fa4bb?Q 9fa4bD)bAYdyfaQ Ij?btCIb:ib:ba4yllɮnFBp*jxBjxixi|ziYJiaii kakakah2f:fBfJf4@ɢ`<) OQ?i)U$ikϸI! 52Acoustic response timeout^A]=1AIIO>a  hDAT read: Forwarding Delay UpTx time:18:39:01.5491  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutW^я,Z)|QF?AJR}@J7@JٱJ8Ǿ RAHRS rotation from veh to nav: [[-0.509289,0.780234,0.363125],[-0.857199,-0.497362,-0.133572],[0.076387,-0.379297,0.922117]]JHL?o=?`,n@߿@@?eFؿ?iJR}@IJI^;HYZ}AyZH\^a=bDfVDfB8ynw=%nG=ٔr 9pIp=rFyvEv:Ev>xQ 5~b4zJs?Q 9~b4z4N)zkAYyeQ I?zCIz;iz#;z b4y ɮ 6B *j!Bj)i1AiQziQJiQiQ kIkIkIhi k_k_EV EDE:E"E=:*Ea99VE(4ZEa@a@a@a@k_h2f :f Bf Jf @AɢEv<)I McY?iQ)m顱iIiBA<B%>B%4CB%HB%~AB%=B%&DB%nDB% ;B%}E^A+O=AzAE2Acoustic response timeoutԑAm $AIq I O > 4@eя,QF?A6&|@6@6ٱ6;ƾ >AHRS rotation from veh to nav: [[-0.525775,0.772299,0.356532],[-0.847476,-0.511623,-0.141517],[0.073117,-0.376558,0.923503]]6H%?`l? 7_ 7¿ ˷?`ؿ`V?i6&|@I6^;4YF~AyF3H LLy=w/?S㥛?=t<9 99=Q?Mb?S㥫?Y=u?y===/]=9=vhB =nB)=&B9Y=BbDUVDUe8ye%=%eB=ٔm;Q-m>9mH?IuH?=uFyuEuk:E}>yQ 5b4}c?Q 9b4}W)}AYv?Q E\:yQ I?}ށCI}:i}:}b4ԙyBɮ8BE*jBjiiziJii kFkFkFh kC`kC`kC`hy2Acoustic response timeout2f=:f=Bf@JfZ@ɢS3<) [`?i)uizI@1@5qAEX EEE@E"E~ :*EA9VE4ZEBE:a2E:aJEV:a:EV:a%nG=MrAQ9MrAY A^A5=Ae AIq I O >I M R=U 2Acoustic response timeout! ikя,ޯQF?A2kz@2!d@2ٱ2eľ :AHRS rotation from veh to nav: [[-0.542635,0.763844,0.349414],[-0.837036,-0.526468,-0.149008],[0.070136,-0.373329,0.925044]]2H`C]hq?\?ÿw?@׿?i2kz@I2^;2XCYB~AyBH!! !)!I!bD5VD58ymj=%mJ=ٔm?;Q-m>9uK?IuK?=uFyuE}xIE}>Q 5b4YT?Q 9b4`) AYyQ I?CI:i9:*b4yɮ'B*jBjiiziJii kGkGkGh k_k_k_h2f:fBfJf^Y@ɢ)=)EK h?i)i!I!!2Acoustic response timeout^AEW EIE=E"E :*Ec9VE|4ZEa@a@a@a@QA $AI I! O] >y B% }>B% 3CB% SHB% AB% =B! B% mDB% ;B% }EQrя,AQF?AYr~AyvH52Acoustic response timeoutAE@AbDeVDe8y}=%}I=ٔQ->9H?IH?=FyEE>Q 5b4D?Q 9b4i)YAYyQ I?ACIL;i=N;9b4yBɮB*jBjiiziJii ksFksFksFh!2f9:f9Bf9Jf9Yaɢe=)a eo?ii)m'viiimKüqIqԁ^AAN?AJ?ԩiI2Acoustic response timeoutAAI I OE >E _ E HE ?E "E &:*E [9VE ^4ZE BE &;a 2E &;a JE R:a :E S:a {xя,[QF?A2Mx@2!@2ڃٱ2kl¾ :AHRS rotation from veh to nav: [[-0.575361,0.745104,0.337313],[-0.815365,-0.554969,-0.164891],[0.064338,-0.369905,0.926839]]2H[i??xN#ſmx?׿ન?i2Mx@I2/^;2TCYBbAyB HppbDzVDzx8y=у=%EN=ٔEdp9MK?IMK?=MFyMEM˽EU>QQ 5b4U4?Q 9b4URr)UAYyQ I?UrCIU]@e8>Ա=2Acoustic response timeout^Alw=AIII O > 2Acoustic response timeout9 ~я,vpQF?A>&w@>@>V|ٱ>D¾ FAHRS rotation from veh to nav: [[-0.590820,0.735135,0.332429],[-0.804444,-0.568250,-0.173094],[0.061655,-0.369688,0.927108]]>H9?F? /'ƿI? ׿@ު?i>&w@I>^;>WCYNAyR]HbDEVDEt8y=%F=ٔM;Q->9I=FyE,<E>E[ EEE;E"Ea:*EA9VE4ZEa@a@a@a@iQ 5b4m!?Q 9b4m{)mAYyQ I?mCIm0B2CBHB{AB=BBB;B}E9E2Acoustic response timeout [i ԑ ^Am =Au oAzAq 2Acoustic response timeoutAIIO?^я,RF?A@Jt@J]y@JeٱJ}ľ VAHRS rotation from veh to nav: [[-0.617131,0.715905,0.326542],[-0.784865,-0.589592,-0.190702],[0.056002,-0.373980,0.925745]]JH@? 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&`h ̿; ?@ؿx?i2Qq@I2\t^;2WCYBAyBHPyE?`"J +F?H B<A<B%h>B!B%GHB%AB!B!B!B%1;B%}EB2CB2CBB=B=C859zG?ʡEÿ~jtY W?yD6BjB B)BYzBbDU=VDU8y-r<%-6=ٔ5)99IA=EFyEEMڿEM>YQ 5eb4]껾?Q 9eb4]%)]ֽAYmZ?Q Emx:ym^Q Im?]CI]b;i]Y;]b4yBɮҙB*jBjiiziJii k$2Acoustic response timeoutk$k$h2f]|=:f]|=Bf]ӹ@Jf]2c@频ɢV=) n?i)Ċ顙i׼IiInA^AIIO>!  2Acoustic response timeoutя,RF?AE&^ E&FE$E$"E&C#:*E&;J9VE$ZE$BE&r ;a*2E&t ;a*JE&e:a.:E&e:a.FWCq@F.9@FwٱFa{˾ NAHRS rotation from veh to nav: [[-0.662344,0.681157,0.311972],[-0.748323,-0.621625,-0.231505],[0.036238,-0.386792,0.921455]]FH`1?@Y?`C`ZͿ؍? 2ؿ|?iFWCq@IF^;DYVAyVH|bD%5VD%8ye|R=%eX=ٔmY9iIq=uFyuEu#ؼEu>yQ 5b4}|?Q 9b4}N)}AYyQ I?}CI}:i}:}b4y BɮřB*jBjiiziJii1 kskskshI k9k9k9hy2f:fBfJfb@^B*** querying acoustic contact ***XYɢ̸v=) ?i)giټI)2Acoustic response timeout^AApAzAI9IQQO|>ԁ (я,cRF?A2|p@2S~@2/ٱ2ʾ :AHRS rotation from veh to nav: [[-0.669915,0.676813,0.305185],[-0.741795,-0.627280,-0.237192],[0.030902,-0.385283,0.922281]]2Hot?'?ȼ`Q\ο? |ؿR?i2|p@I2x^;2XCYVBAyZH==E2Acoustic response timeoutbD-VD-8Yye]/=%eJ=ٔmX9iIi=mFyuEuʼEu>yQ 5b4}M?Q 9b4}ƫ)}AYyQ I?}CI}9:i}R:}ϼb4y BɮBE*jBjiiziJii kS!kS!kS!h kc;kc;kc;h2f:fBfJfQMb@ɢ `=)  "?i ) 7iOܼIE]b E]CEYEY"E]1:*E]09VEYZEYae@am@am@am@ԉB%d>B%0CB%HB%AB%=B!B%kDB%H;B%}E^AQԹIIOU>2Acoustic response timeout я,DRF?A2o@2}@2wlѼٱ2|Ⱦ :AHRS rotation from veh to nav: [[-0.677972,0.672643,0.296489],[-0.734643,-0.634029,-0.241467],[0.025562,-0.381522,0.924006]]2H J?@?2`I fο,?jؿu?i2o@I2^;2WCYBSAyB HbDVD8ye,<%eJ=ٔm~X9iIi=mFymEu]ڼEu>yQ 5b4}w?Q 9b4}-)}9AYyU Q I?}CI}[:i}:}b4yBɮǙBE*jBjiiԱziJii k"k"k"h kS;kS;kS;h2f:fBfJfua@ ɢ9{=) =?i)Jyiџ޼!I!M2Acoustic response timeout^A Mi>IDe=De4=EmZ EmFEm<Ei"Em:*Em;J9VEm 4ZEiBEm_;au2Ema;auJEia}:Eia}II_GrA}9}rAY}AO~> 9  2Acoustic response timeout:я,RF?A2]o@25}@2⠧ٱ2Až :AHRS rotation from veh to nav: [[-0.687349,0.667531,0.286277],[-0.726039,-0.642560,-0.244916],[0.020461,-0.376191,0.926316]]2Hi\?\R?;`ُ`iYϿ`?ؿa?i2]o@I2_v^;2XCY^tAy^4HbDj VDj8yr*)=%rS=ٔrW9tIt=vFyvEzEz>|Q 5b4~Da?Q 9b4~A)~QAYy&!Q I ?~DCI~;i~:~tb4yBɮB*j)Bj)i)i1zi1Ji1i1 k"k"k"h2f:fBfJfz`@!ɢ%T=)) -I?i))-e))i-༉QIYA^A}lw=]2Acoustic response timeoutiIIO>E  E IE >E "E *E c9VE 4ZE a @a @a @a @ԙ &”я, SF?Aɰ23#n@2 |@2ٱ2{ :AHRS rotation from veh to nav: [[-0.698456,0.660831,0.274703],[-0.715477,-0.653310,-0.247545],[0.015881,-0.369443,0.929118]]2HY %?`? 0Ͽ#C?׿T?i23#n@I2ס^;2WCYBAyB}HA\A^@ABbb>B`BbHBbAB`B`B`BbR;Bb}EyMX9v?zG?rh|MS?M =MI I9MZd;?1Zd˿YMy?yMLM"[M BMvhB MB)MBIYMzBbDuVDu8y=%@=ٔ-'91I1=5Fy5E= E=>AQ 5Mb4E!D?Q 9Mb4iEu)EAYu?Q EuT:yu0Q Iu?E|CIEe;iE ;Eb4y}BɮBE2Acoustic response timeout*jBjiiziJii kkkh kS<kS<kS<h12fEo>:fEo>BfE5L@JfEQD@颁ɢj=) ?i)|顩i^*㼉Iԙ^A)I I IY e 2Acoustic response timeoutOu > LȔя,N"SF?ADzDEV EE?E"E=:*EVE^4ZEBE:a2E:aJE:a:E:a^m@^z@^g:ٱ^p fAHRS rotation from veh to nav: [[-0.711026,0.652569,0.261910],[-0.703074,-0.665803,-0.249787],[0.011377,-0.361747,0.932207]]^H`?`!?ANϿ@L? &׿?i^m@I^t{^;^XCYnAyrH )IbDVD8y%<%%R=ٔ-G9)I)=-Fy-E5CE5>9Q 5Eb4=+?Q 9Eb4=H)=9AYAyM:Q IM?=CI=:i=_:=b4yUBɮUBQ*jiBjiiqiqziqJiqiq k#k#k#h k@k@k@h2f:fBfJf5C@ɢpT=) ?i)i 弉I@C>@;>=<2Acoustic response timeout^A=IIOg>) uvΔя,;AHRS rotation from veh to nav: [[-0.724351,0.642391,0.250298],[-0.689397,-0.678505,-0.253699],[0.006854,-0.356322,0.934338]]2H-w??@@O`<п4|?ֿ?i2k@I2k^;2WCYFÁAyFHbDNVDN8yV;%VR=ٔZ>9XIX=ZFyZE^QIE^>%2Acoustic response timeoutQ 5-c4?Q 95c4l)AY1y5c Q I5?݄CIvw;iPx;c4y=BɮEBA*jYBjYiYiYziYJiaia k:k:k:hq kXkXkXh2f:fBfJfxA@颱ɢ1=) 5?i)项i.#缉IE9 E=EE9E9"E9*E=A9VE9ZE9aE@aE@aE@aE@Q^AI!I1IQyOY>B_>BB HB%AB=BBBN;B}E2Acoustic response timeoutԩ ^Քя,VSF?A2wj@2|mx@2vٱ2#! :AHRS rotation from veh to nav: [[-0.738406,0.630611,0.238927],[-0.674352,-0.691721,-0.258400],[0.002320,-0.351925,0.936025]]2H-?`%?K"ࠉпmc? ֿ?i2wj@I2^;2YC@YFځAyFHHH==bD VD 8y<%==ٔ+9I=FyE6CE>Q 5c4?Q 9c4)AYy!Q I?CI:i:c4yBɮB*jBjiiziJii ks<ks<ks<h kXkXkXh2f:fBfJf@@1ɢ5C=)1 5?i1)=p99i=鼉AIAԩ-2Acoustic response timeoutD9D==EMY EMIEM<EI"EM:*EMc9VEM 4ZEIBEM;a]2EM;a]JEIa]:EIa]^AaIIOUt>  2Acoustic response timeoutя۔я,_~pSF?A2Hi@2 w@2~;ٱ2ڵ :AHRS rotation from veh to nav: [[-0.752777,0.617798,0.227270],[-0.658271,-0.705256,-0.263235],[-0.002342,-0.347763,0.937580]]2H@?`0?uпn0cAֿ?i2Hi@I2G^;2VCYBAyBHhbD~VD~8y=[=%=N=ٔ=@9AIA=EFyEEM_EM>QQ 5]c4Ueٽ?Q 9]c4Uu)UwAYYy]"Q I]?UDCIUN:iU:Uc4ym$BɮmBm·E*jBjiiziJi i  kS<kS<kS<h k#Wk#Wk#WhQ2fa:faBfaJfeI?@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颩ɢ=) [?i)4_项i]뼉I)52Acoustic response timeout^AaIIO->bE|4jE!4rE/E] \ E] CE] =EY "E] :*E] 09VE] |4ZEY a @a @a @a @a SF?AB2<A2<B:[>B:/CB:( HB::AB8B8B:jDB:3;B:}EZZg@Z2u@Za;ٱZ m jAHRS rotation from veh to nav: [[-0.767391,0.603629,0.216203],[-0.641141,-0.718688,-0.269121],[-0.007067,-0.345137,0.938526]]ZHvP??9}G9ѿ`<|ֿf?iZZg@IZ^;ZUCYAyH9y=S㥛?gfffff? ףp= =$?=33>=Q89 99=?uV?I +ƿY=?y=rh>=949=cB =B)=ɌB9Y=BbDUVDU8ye%e:=ٔe/9iIi=mFymEu}QEu>yQ 5c4} ?Q 9c4}&)}AY?Q E6:yQ I?}CI}:i}:}.c42Acoustic response timeouty!BɮB*jBjiiziJii k;k;k;h kVkVkVh2fu$>:fu$>Bf?Jfx@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ!;=) ??i)%#N!!i%켉)I)a^AqA}Y?AyԙA I I O >M 2Acoustic response timeout E] V E] DE] @EY "E] =:*E] a99VE] 4ZEY BE] :am 2E] :am JE] gH:am :E] iH:am rя,rPSF?A2(f@2_t@2g><ٱ2أ :AHRS rotation from veh to nav: [[-0.782051,0.587905,0.206792],[-0.623106,-0.731428,-0.277043],[-0.011621,-0.345515,0.938341]]2H`?,x?{@g@ѿֿ̇ ?i2(f@I2^;2XCYBAyB HHHbDNVDLyV=%Vi=ٔZaT9XIX=ZFyZE^{E^>`Q 5fc4bݥ?Q 9fc4b)bܹAYhyj`Q Ij?bCIb:ib:b,;c4ynBɮnBnE*j1Bj1i1i1zi1Ji1i9 kSVkSVkSVhiԁ2f:fBfJfw@ɢ$=) ڡ?i)b?i~Iԩ2Acoustic response timeout^A%lw=AU$AIYIiO> #я,=SF?A2d@2r@2c <ٱ2/뵾 :AHRS rotation from veh to nav: [[-0.796850,0.570716,0.198275],[-0.603968,-0.743837,-0.286234],[-0.015874,-0.347837,0.937421]]2H NC? a? S@Qҿ?ABֿY?i2d@I2^;2WCYBAyBHbDNVDN8yV6Ի%VL=ٔV.9ZH?IZH?=ZFyZE^wE^>`Q 5fc4bҊ?Q 9fc4b)bAYdyfQ If?bCIb:ibk:b)Ic4ynBɮnBl*jtBjxixixzixJixix2Acoustic response timeout k:k:k:h kdkdkdh)2f9:f9Bf9Jf=nJu@Qɢס=) ?i)n/i𼉨I@?>@ES ECE=E"E9*E09VE|4ZEa%@a%@a%@a%@!^A==BuY>BqBuA HBuNABqBqBqBu;Buy}EB%0CB%0CB%ƓCB!B%=C%ƥ4QIYIiO2Acoustic response timeouty я,lSF?AY2Ay% HbD5VD5g8yE<%EA=ٔMQ-M>9III=MFyMEUEU>YQ 5ec4]1n?Q 9ec4])]"AYayiQ Im?].CI]:i]:]Wc4yu*BɮuBuʷE*jBjiiziJii kKkKkKh kCbkCbkCbh92fI:fIBfIJfIQiɢm=)q u.?iq)uPyyi}񼉨yI 2Acoustic response timeoutԁE%U E%FE!E!"E%:*E%;J9VE!ZE!BE% :a-2E%:a5JE%e:a5:E%e:a5^A5=ԩI1 IA O} > 2Acoustic response timeout я,HSF?A2a@2uo@2z<ٱ2ϭ :AHRS rotation from veh to nav: [[-0.825126,0.535094,0.181222],[-0.564465,-0.767582,-0.303639],[-0.023372,-0.352834,0.935394]]2Hng@}?L2? nӿ`Ԕֿ?i2a@I2^;2XCY^WAy^K Hll l)lIpr=r= v9 I = Fy ¡E E>Q 5%c4BR?Q 9%c4)GAY!y%Q I%?gCI ;i ;ec4y1ɮ5B1*jABjIiIiIziIJiIiI kIkIkIha kCPkCPkCPhq2f:fBfJfq@颡ɢ=) r?i)9 顩i{U󼉨IԱ^A=IAIQO]>In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout! EM V EM KEM @EI "EM =:*EM ]t9VEM 4ZEI am @am @au @au @9 AY A] AABm [>Bi Bi Bi Bm =Bi Bi Bm ;Bm S}ESя, TF?A>`@>n@>;3<ٱ>Q FAHRS rotation from veh to nav: [[-0.837426,0.518282,0.173496],[-0.545883,-0.777464,-0.312349],[-0.026999,-0.356278,0.933990]]>H`2@ĕ?5?@w`ӿ Aֿ>?i>`@I>^;>WCYviAyvb Hy-?Zd;?X9v??5?=}= 9RQ?)\(?:v?Y?yGa><fB &B)BYBbDVD.8y<%<=ٔ 9I=FyšERE>Q 5c4^7?Q 9c4A)AY?Q EK:yQ I?CI:ij:tc4y'BɮB*jBjiiziJii kLkLkLh kSdkSdkSdh)2f=s>:f=s>Bf=қ>Jf=)}@In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutɢ=) ?i)iI ^A%=IIO>1 5 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT5 2Acoustic response timeout5 GI a d9 Y 0AE Z E CE E "E :*E 09VE ZE BE _;a 2E a;a JE 9:a :E 9:a я,%TF?A 2^@2¿l@2<ٱ2伾 :AHRS rotation from veh to nav: [[-0.848124,0.502919,0.166606],[-0.528913,-0.785587,-0.321099],[-0.030603,-0.360452,0.932276]]2H#?@ZS? `#Կ V ׿3?i2^@I2q^;2XCY^RAy^F HbDyVD(8y\%I=ٔL9I=FyȡEAJE>Q 5c4?Q 9c4)AYyQ I?׆CI;ig:$c4y $Bɮ B *j!Bj!i!i!zi)Ji)i) kKkKkKhI2fi:fiBfiJfm|@颡ɢŐ=) 5+?i1)5 ѻ99i= ?AIAqzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԡ^A}lw=AT?AV?II O=> "я,||?TF?A2۞]@2k@2H =ٱ2# :AHRS rotation from veh to nav: [[-0.857540,0.488874,0.160084],[-0.513287,-0.792556,-0.329230],[-0.034076,-0.364497,0.930581]]2H pI?}?l`\տkr S׿Q?i2۞]@I2^;0YBVAyBJ HF?ADP2Acoustic response timeout  AbDVD48yM;%MT=ٔM9QIQ=UFyUʡEU6BE]>aQ 5mc4e?Q 9mc4e)eoAYiymAQ Im?e CIe$:ie:ec4y4BɮB ӷE*jBji!i!zi!Ji!i! k3Ek3Ek3Eh9 k^k^k^hI2fY:fYBfYJf]h{@yɢ}z=)y d?i)0㯻顁i2IEV EDE:E"E=:*Ea99VE(4ZEa@a@a@a@B\>BBZ HBbAB=BBkDB̽;B+}E^AIYIqO>2Acoustic response timeout) я,WYTF?A6\@6}j@6+=ٱ67 BAHRS rotation from veh to nav: [[-0.866040,0.476011,0.152933],[-0.498556,-0.799170,-0.335811],[-0.037630,-0.367071,0.929431]]6Hv?L?X߿̒}տHD ~׿?i6\@I6>^;4Y^bAybY H|bD-]VD-8ye"s<%eH=ٔm9iIq=uFyu͡Eu*Eu>yQ 5c4}H꼉?Q 9c4})} AYyYQ I?}ACI}:i}:}ܞc4y1BɮB*jBjiiziJii k[k[k[h k[k[k[hY2fi:fiBfiJfm4Kz@颡ɢ=) *?i)O顩iI 2Acoustic response timeout)DDR=EU EE>E"E:*EVE4ZEBE :a2E:aJEgH:a:EiH:a^A5=YAe AIq I O >ԁ  2Acoustic response timeout6я,:sTF?A2y[@2Pvi@2pR'=ٱ2¾ :AHRS rotation from veh to nav: [[-0.873838,0.463547,0.146737],[-0.484500,-0.804801,-0.342862],[-0.040839,-0.370700,0.927854]]2Hz?`G? ߿`uտ褿@׿?i2y[@I2^;2WCYBgAyB` HbDJ_VDJ8yr ;%rS=ٔr9vK?IvK?=vFyvϡEz*Ez>|Q 5c4~м?Q 9c4~|%)~ѵAYycQ I ?~tCI~:i~:~gc4yɮB*j)Bj)i)i)zi)Ji)i1 kC]kC]kC]hA ks]ks]ks]YhY2fi:fiBfiJfmY9y@颉ɢ@=) ?i)N[顑iQIԁ^AE2Acoustic response timeoutԱA)IQIyE \ E KE =E "E :*E ]t9VE |4ZE a @a @a @a @O= >i pAI pA B <A p<B _>B 0CB B B B B B ;B }E#я,$TF?A@2ԍZ@2h@23=ٱ2Aľ :AHRS rotation from veh to nav: [[-0.880804,0.452112,0.140634],[-0.471445,-0.809932,-0.348927],[-0.043850,-0.373638,0.926538]]2H/`h?O?`),޿Tֿ ~s ׿ 2?i2ԍZ@I2^;2XCY^;Ay^) HyʡE?y&1|sh|??-2?`= 9S㥛?A`"?X9v?Y$f?yY==vhB )YBԹbD]VD8y:L%==ٔ;Q->9I=FyҡE E>Q 5c46?Q 9c4F+)AYh?Q Ei:y"Q I?CI:in:c4y.BɮBҷE*jBjiiziJii kC[kC[kC[h) ks[ks[ks[hA2fU[>:fU[>BfU $>JfU|}@i}2Acoustic response timeoutɢu鲫=)}% ?i)顁i9I^A=A I I) II Ou >- 2Acoustic response timeout9 D zD AAE Z E LE E "E :*E |9VE ZE BE _;a 2E a;a JE p:a :E r:a }F)я,STF?A>ثY@>g@>p>=ٱ>hž FAHRS rotation from veh to nav: [[-0.887113,0.441509,0.134541],[-0.459195,-0.814825,-0.353836],[-0.046594,-0.375673,0.925580]]>H@:c A?8?scݿ >ֿ7ۧ ؿZ?i>ثY@I>^;9tIt=vFyzԡEzEz>|Q 5c4~N?Q 9c4~-0)~#AY y #Q I ?~҇CI~:i~:~c4y=BɮBܷE*j)Bj)i)i)zi)Ji1i1 k^k^k^hA kCzkCzkCzhQ2fi:fiBfiJfm|@AɢEͶ=)I M?iI)U7QQiuRyIy@qA@A2Acoustic response timeout^Alw=qA I I! O] >ԙ .0я,TF?A6X@6f@6}J=ٱ6}ƾ BAHRS rotation from veh to nav: [[-0.892777,0.431827,0.128352],[-0.447789,-0.819434,-0.357789],[-0.049326,-0.376900,0.924939]]6Hࡑ ?m?@ܿ@8ֿOA@#ؿ?i6X@I6"@_;6YCYJ`AyJV HbDRVDRK8yZ$=%ZM=ٔ^*;Q-^>9`I`=bFybסEbEb>dQ 5jc4f?Q 9jc4fK5)fIAYlyn$r2Acoustic response timeoutQ Ir?fCIfX_;ife`;fc4yz:BɮzBx*jBj i i zi Ji i kakakah! kqkqkqh12fA:fABfAJfE{@aɢe=)i m?ii)m!iiim.hqIqqbE=´4jE=H4rE=²0E\ EKE?E"E:*E]t9VE^4ZEa@a@a@a@ԩB`>BBA HBNABBBB;B}E^A=A1I9IIO>2Acoustic response timeout X6я,TF?AYb'Ayb H9=AbDMVDM38y%>=ٔQ->9I=FyڡEE>Q 5c4g?Q 9c4:)qAYyQ I?2CI:is:c4y7BɮB۷E*jBjiiziJii ksZksZksZh ksrksrksrh2f :f Bf Jf )ɢ-pd=)) -v?i))5]:1itI2Acoustic response timeoutE E@EE"E*E9VEZEBE;a2E;aJE*:a:E,:a_>) ^A  2Acoustic response timeoutY AU $AIa Iq O >',=я,?TF?A>QW@>rGe@>q^=ٱ>?+Ǿ FAHRS rotation from veh to nav: [[-0.903033,0.413515,0.116348],[-0.426116,-0.828003,-0.364467],[-0.054376,-0.378704,0.923919]]>H``w?`ɽ?{Eۿ~nS׿)׫`<ؿྐ?i>QW@I>^;>XCYN+AyN HPPbD pVD  8y;%6=ٔ89H?IH?=FyܡEk[E>Q 5c4J?Q 9c4_@)AYy0&Q I?fCIF:i_:Ac4y4BɮB*jBjiiziJii k#Wk#Wk#Wh kCqkCqkCqh!2f1:f1Bf1Jf5JEz@QɢUq=)Q U?iY)]P;YYi]aaIa hDAT read: Forwarding Delay UpTx time:18:39:15.6490 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutm$EV EFE@E"E=:*E;J9VE4ZEa@a@a@a@9A9 A= ?ABU d>BQ BU  HBU %ABQ BQ BQ BU ;BU }EBBBBBCԴ4^A a A I! I1 e 2Acoustic response timeoutOu >Dя,J{UF?A2:V@2d@2;h=ٱ27Ǿ :AHRS rotation from veh to nav: [[-0.907776,0.404738,0.110138],[-0.415594,-0.832312,-0.366794],[-0.056786,-0.378740,0.923759]]2H 8? 2?`ڿ@M@y׿E=ؿp?i2:V@I2^;2YCYbAyfHyPn?{GzS㥫D?#/] 9gfffff?MbP rhY3S?yCB UB)BY\BbDVD;8y/%4=ٔ;Q->9I=FyߡEмE>Q 5 d4-?Q 9 d4`D)]AY >S?Q E :y(.Q I?CIJfq%{@ɢ=) ??i)IO;i%!I)1111Aq2Acoustic response timeoutEm [ Em CEm ;Ei "Em a:*Em 09VEm 4ZEi BEm ;a} 2Em ;a} JEm 9:a} :Em 9:a} ԡ ^A A zA I I O >3Kя,.UF?A:OU@:&c@:L r=ٱ:~ƾ FAHRS rotation from veh to nav: [[-0.912585,0.395637,0.103251],[-0.404600,-0.837279,-0.367781],[-0.059057,-0.377406,0.924163]]:H3`R?`n?ٿ@෉׿<`m'ؿ?i:OU@I:^;8YJAyNqHTbDZVDZH8yb%bQ=ٔbe;Q-b>9dIl=nFynEnTEr>pQ 5vd4r?Q 9zd4rG)r)AYxyz.Q Iz?rCIr3;irQ;rd4y|ɮșB*jBjiiziJii kVkVkVh1 kWkWkWhA2fQ:fQBfQJfUPz@qɢuڬ=)q ub?iy)}];yyi}I@@-2Acoustic response timeout^AIIO>e>ai I  2Acoustic response timeout1 E W E IE >E "E :*E c9VE 4ZE a @a @a @a @Rя,gHUF?A:U@:b@:bz=ٱ:qž AHRS rotation from veh to nav: [[-0.917463,0.386055,0.096035],[-0.393089,-0.842618,-0.368071],[-0.061175,-0.375442,0.924825]]:H[!?@Õ?`(ٿx׿IR <ؿ*?i:U@I:^;:XCY-ǁAy-H11bDUVDUC8ye=%eA=ٔed;Q-m>9iIi=mFymEuEu>yQ 5d4}?Q 9d4}DK)}AYy/Q I?}CI}F:i}=:}!d4y/BɮBڷE*jBjiiziJii kZkZkZhBh>B1CBHBABBBlDB;B}E2f:fBfJf oy@ɢT3=) |?i)A;iIIM2Acoustic response timeout^AIYIiqO>ԡ T=Xя,*bUF?A JGVMrAZ2Acoustic response timeout`=#9=MrAY=AmT@mq b@m f=ٱmþy AHRS rotation from veh to nav: [[-0.922882,0.374937,0.087812],[-0.379871,-0.849015,-0.367249],[-0.063141,-0.372285,0.925968]]mH @?z?Oؿ!+׿*׿`?imT@Im^;mZCYAyyH )IbDVDW8y%A=ٔ};Q->9I=FyE { E >Q 5d4޻?Q 9d4N)AYy%0Q I%?CI;i;V0d4y-,Bɮ-B)*jABjAiAiIziIJiIiI kAkAkAha kXkXkXE}Y E}NE}AEy"E}:*E}҆9VE}A4ZEyBE};a2E};aJE}:a:E}:ah2f:fBfJffx@Iɢmc=)q uŚ?iy)}O;yyi}9Iԩ^AAR?AY?UC?U?]2Acoustic response timeoutIqIO> g^я,j|UF?A2S@2_ a@2딅=ٱ2&S :AHRS rotation from veh to nav: [[-0.928629,0.362597,0.078560],[-0.365240,-0.856257,-0.365272],[-0.065179,-0.367895,0.927580]]2H T4?|?@`׿uf`׿׿?i2S@I2R^;0YBAyBHDFAbDNVDN;8yVG;%Vc=ٔV;Q-V>9XIX=ZFyZE^2E^>`Q 5fd4bbǻ?Q 9fd4bxQ)bAYdyf1Q If?b>CIb9:ibR:bBBHBAB=BBB;B}E1^AI I I O >e 2Acoustic response timeouta bOeя,EUF?A>RR@>*_@>n=ٱ> FAHRS rotation from veh to nav: [[-0.934443,0.349393,0.068857],[-0.349649,-0.863494,-0.363488],[-0.067543,-0.363735,0.929051]]>Ht\??`ֿeC׿|JnG׿ Ⱥ?i>RR@I>g^;>YCYNcAyN HPR?A1y]~jt?B`"?Mb];?]N>]Y Y9]MbX9?Cl?/$ÿY]a?y];=]Y]jB ]&B)YYY]•BbDunVDu8y%0=ٔ;Q->9I=FyEE>Q 5d42?Q 9d4U)AYf?Q Ek:y.Q I?rCI:i:1Md4y8BɮߙB*jBjiiziJii ks[ks[ks[h k[k[k[h2f =>:f =>Bf 4@Jf q7@)ɢ-rU=)1 5E"E*E9VE4ZEBE_;a2Ea;aJE:a:E:aԱA AI I O= >Թ ]ykя,2 UF?A2P@2^@2=ٱ2@G :AHRS rotation from veh to nav: [[-0.940535,0.334723,0.057916],[-0.332342,-0.871412,-0.360818],[-0.070305,-0.358610,0.930836]]2H@l?3?@Eտ@׿`uֿ@i?i2P@I2 ^;0YBAyBDHbD~VD,8y*=%\=ٔ;Q->9K?IK?=FyEJE>Q 5d4?Q 9d4X)AYy/Q I?CI:i:.Zd4y5BɮՙB*jBjiiziJii kSkSkSh kSkSkSh2f :f Bf Jf E6@2Acoustic response timeout9ɢ==)9 E?iA)E/- 2Acoustic response timeoutE W E EE BE "E :*E A9VE 5ZE a @a @a @a @ `rя,UF?A46@YeB2CB.HBoABBBB;B|E=a=bDkVD8y%Ƞ%%A=ٔ%Q-->9-H?I-H?=-Fy-E5E5>9Q 5Ed4=mr?Q 9Ed4=\)=AYAyAQ IM?=ˉCI=N:i=:=hd4yQɮUBQ*jiBjiiiiqziqJiqiq kVkVkVh kVkVkVh2f:fBfJfɢv=) ͓?i)'#<i mI-2Acoustic response timeout^AI I! Q O] >\xя,sUF?A:HDN@::\@:=ٱ:ȑB2Acoustic response timeout JAHRS rotation from veh to nav: [[-0.952692,0.301845,0.035594],[-0.294133,-0.886115,-0.358169],[-0.076571,-0.351695,0.932978]]:H`t|@oQ?b9?`ҿ[`?ֿ- *ֿ?i:HDN@I:~^;:VCYR(AyRHTTbD^iVD^8yf3%fc=ٔf9hIh=jFyjEjEn>Q 5-d4SY?Q 95d4_)VAYAyEY2Q IM?CI;iU;ud4yU2BɮUBUE*jiBjiiqiqziqJiqiq kCWkCWkCWh knknknh2f:fBfJf3@ɢ2p=) ?i)1<E]V E]FE]:EY"E]=:*E];J9VE](4ZEYBE]:au2E]:auJE]e:a}:E]e:a}iIQԁ^AM2Acoustic response timeoutIII O- >ԩ s~я,pUF?A2L@2\Z@2W=ٱ2 :AHRS rotation from veh to nav: [[-0.958470,0.284116,0.024765],[-0.273839,-0.892574,-0.358223],[-0.079673,-0.350128,0.933307]]2H@ɫ .?[?ѿ!ֿke ~hֿ?i2L@I2^;2XC@YB AyFHbDNVDN28yV%VL=ٔV;Q-Z>9XIX=ZFyZE^XE^>IQ 5Ud4MBBHB AB=BBmDB;B}EO> E 2Acoustic response timeoutxя,.VF?Aɰp;2}K@2TY@2 =ٱ2,h :AHRS rotation from veh to nav: [[-0.963885,0.265927,0.014437],[-0.253244,-0.898440,-0.358711],[-0.082420,-0.349412,0.933337]]2H`%@??&5пֿ \ֿ?i2}K@I2G^;2WCYBAyBHyMbX9??a?L> 9Cl?RQ?{GzYd{?yB># BqhB B)BYzBbDiVD8y%;=ٔ;Q->9I=FyE\HE>Q 5d4U?Q 9d4g)AY!?Q ET:y-Q I?VCI:i]:ϒd4y,BɮB*jBjiiziJii kCZkCZkCZh  kSZkSZkSZh!2f5=:f5=Bf5^@Jf5WWJ@s=NUpdating rudder angle 6.875493 arcdeg 9=r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderYɢ]=)Y ]?iY)e2}OE- S E- DE- ;E) "E- 9*E- a99VE- 4ZE) BE- :a= 2E- :a= JE- gH:a= :E- jH:aE a ȋя,m1VF?A2c/J@2:%X@28=ٱ2{ :AHRS rotation from veh to nav: [[-0.968861,0.247561,0.004760],[-0.232664,-0.903646,-0.359572],[-0.084715,-0.349482,0.933105]]2H?@s?Ϳ@9׿ݯ]ֿ?i2c/J@I2m^;2YCYBAyB9HPP T)TITbDZ~VDZ,8yf޹%jY=ٔ59;Q-5>999I9==Fy=EE_EE>IQ 5Ud4M?Q 9Ud4Mk)MOAYQy]C/Q I]?MCIM;iM;Mhd4ye)BɮeBeE*jyBjyiyiyziyJii kXkX4=R=2Acoustic response timeoutkXh12fA:fABfAJfEH@颁ɢ=) ?i)X^<顉iIa^A=I9IIO}{>ԑ 2Acoustic response timeoutԹ E5 V E5 KE5 =E1 "E5 =:*E5 ]t9VE5 |4ZE1 a= @a= @a= @a= @я,CKVF?AFaH@F8V@FĂ=ٱFŸ NAHRS rotation from veh to nav: [[-0.973155,0.230122,-0.003531],[-0.213248,-0.907357,-0.362255],[-0.086567,-0.351777,0.932072]]FH$t?dl@K˿ @//׿`<)ֿ`?iFaH@IF^;DY-Ay-1HBEy>BE3CBE4HBEABABABABE;BE1}EB2CB2CBCB=B=CP5bDelVDe8yu%u@=ٔ}i;Q-}>9I=FyEBFE>Q 5d4ԙߺ?Q 9d4 o)AYy0Q I?CI+;i-;Ѯd4y&BɮB*jBjiiziJii k@k@k@h kYkYkYh2fy:fyBfyJf}&G@颹ɢ=) ?i)gl<iI 2Acoustic response timeout^A=AzApAI9IIO! v٘я,eVF?A@22Acoustic response timeout6_G@66U@6[w=ٱ6 BAHRS rotation from veh to nav: [[-0.976791,0.213910,-0.011068],[-0.195062,-0.909696,-0.366612],[-0.088491,-0.355944,0.930308]]6HAea?ȿ@:v׿Rֿ?i6_G@I6ܼ^;6XCYJdAyJH bD-}VD-,8E] ELEE"E:*E|9VEZEBE.;a2E0;aJEp:a:Er:ayW%8=ٔe;Q->9I=FyEX+E>Q 5d41?Q 9d4.s)AYy1Q I?CIK(;i4;d4y55Bɮ5B=E*jqBjqiyiyziyJiyi kAkAkAh2f:fBfJfRF@颩ɢ$=) N?i)|<顱iI@@!52Acoustic response timeoutQ^A=A AI I OM >y я,'~VF?A2)F@2T@2=ٱ2S :AHRS rotation from veh to nav: [[-0.979747,0.199456,-0.017717],[-0.178842,-0.911406,-0.370615],[-0.090069,-0.359940,0.928618]]2H`Zɇ?R$`Iƿ<*(׿ C ׿ 9K?IK?=FyE^3E>Q 55d4򟺉?Q 9=d4{v)iAYAyE2Q IM?"CYI;iS<d4y}2Bɮ'B}2Acoustic response timeout*jBjiiziJii k@k@k@h k@k@k@h2f:fBfJf)E@AɢE\=)A MÂ?iI)MلBABEHBE>ABABABABEŽ;BEB}E^A=ԱI I O >% 2Acoustic response timeouti] oAI] oA 륕я,՘VF?AYAygHyu$C?S㥛ĿL7A`?u:?u$u+=q q9uGz?/$?{Gz?Yup?yu,=u#=uBujB q)u BqYu(BbDXVD 8yOY%==ٔQ->9I=FyEE>ԱQ 5d4G?Q 9d4x)3AYq?Q Ea:y9Q I?UCIC:i:d4y/Bɮ/B*jBjiiziJii k3<k3<k3<h kC<kC<kC<h2f=>:f=>BfB?Jf|@ɢ=) ?i)@<ig I M_GerAy9rAY9A2Acoustic response timeoutE]_ E]CE]?EY"E]&:*E]09VE]^4ZEYBE]&;ae2E]&;amJE]9:am:E]9:am^AqAuS?AuF? 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" \/ؿ`2͐׿`?iF[C@IFk^;FYCYV4AyVHXXbDb.VDb8yj%jK=ٔj ;Q-n>B>B4CB!HBAB=BBnDBս;BW}E9I=Fy EE>Q 5 d46B?Q 9 d4|)ǭAYyp=Q I?CI~;i%;d4y=)Bɮ=BBA*jBjiiziJii kKkKkKh2f:fBfJfP@Yɢ]ܨ=)Y ]Fs?ia)eڣ 'я,eVF?AB2Acoustic response timeoutPN?B@N5P@Nq=ٱNN¾ ZAHRS rotation from veh to nav: [[-0.989285,0.138461,-0.046292],[-0.110957,-0.919142,-0.377978],[-0.094884,-0.368791,0.924657]]NH:? gi0ؿOJF׿ɖ?iN?B@IN۠^;NWCYb~AybH )IbDYVD 8yx%<=ٔ_:Q->9I=Fy EEU EBEE"E:*E(9VEZEBE:a-2E:a5JEI+:a5:EK+:a5E>Q 5e4$!?Q 9e4T~)AYy>>Q I?CI;;i=;e4y&BɮPB*jBjiiziJii k0k0k0h92f:fBfJf݁~@ɢШ=) k?i)ߝ<ihI@@pA=2Acoustic response timeout! ^A= p=AA zAE oAI I ԑ O >я,WF?AurA@uhO@uD=ٱuf¾ AHRS rotation from veh to nav: [[-0.990521,0.127244,-0.051742],[-0.098550,-0.920706,-0.377610],[-0.095687,-0.368931,0.924518]]uH Y@I?`}`:kv`*ؿ ~׿?iurA@Iuض^;uYCY9~AyRH2Acoustic response timeoutyM&1?+ǿQ롿M0?Mv>M\I I9MʡE?EԸ#~jYM]?yMƽM㥽M BMcB I)MIYMєBbDWVD 8ypq%$=ٔ3:Q->9!I!=%Fy%E%@ؼE%>)Q 55e4-?Q 9=e4-})-AY= `?Q E=r:y=F@Q I=?-CI- ;i- ;-Pe4yE#BɮM\BME*jYBjYiaiaziaJiaia k.k.k.hy kAkAkAhEX EHE@E"E~ :*E[9VE4ZEa@a@a@a@2f|N>:f|N>Bf>Jf_g@ɢ=) c?i)<i#IiiiiB>BBrHBk~ABBBB;Bo}E)  2Acoustic response timeout^A9 a Am$AIqIO><7ȕя,u"WF?A>@@>N@>=ٱ>,?¾ FAHRS rotation from veh to nav: [[-0.991638,0.115880,-0.056801],[-0.086204,-0.922321,-0.376687],[-0.096039,-0.368640,0.924598]]>H `S?@o@ؿ͗׿M?i>@@I>^;9]H?I]H?=]Fy]EeEe>iQ 5ue4m߹?Q 9ue4md})mAYqy}E@Q I}?mJCIm:im:m,$e4y BɮdB*jBjiiziJii kC!kC!kC!h k8k8k8h2f:fBfJff@2Acoustic response timeout颙ɢ==) ^?i)lݪ<iID9zD9EEW EEFEE>EA"EE :*EE;J9VEE4ZEABEE":aU2EE':aUJEEe:a]:EEe:a]^A=)A5 AI I I O >U 2Acoustic response timeoutY _XΕя, +9K?IK?=FyEE>Q 5e4;?Q 9e4|)CAYyQ I?yCI:i:2e4yBɮpB*j Bj i i zi Ji i k:k:k:h! k#;k#;k#;h12fA:fABfAJfAɢ=) JV?i)<inI @8>@0>i2Acoustic response timeout^AQbE|4jE!4rEַ/EeY EeGEe=Ea"Ee:*EeR9VEe|4ZEaam@am@am@am@Au\?Au]?ԙB >B B HB O}AB B B B ;B ~}EA I I O > ?Օя,VWF?A2X>@2/L@2=ٱ2 :AHRS rotation from veh to nav: [[-0.993510,0.091692,-0.067305],[-0.060248,-0.926129,-0.372364],[-0.096475,-0.365892,0.925643]]2H@y?`:خ ڢ׿@j׿ޞ?i2X>@I2|^;2ZCYB|AyBH%=%=%2Acoustic response timeoutbDvVDvQ8y5%N=ٔ:Q->9I=FyE(ԙE>Q 5e4Y?Q 9e40|)߫AYy D@Q I?CI :i:@e4yBɮ{BE*jBjiiziJii k@k@k@h k@k@k@h)2fI:fIBfIJfMd@iɢml=)q uO?iq)uEm [ Em HEm @Ei "Em a:*Em [9VEm 4ZEi BEm ;a} 2Em ;a JEm R:a :Em S:a  @mەя,coWF?A2>@2L@2L=ٱ2; :AHRS rotation from veh to nav: [[-0.994231,0.078506,-0.073088],[-0.046074,-0.927909,-0.369948],[-0.096862,-0.364446,0.926173]]2H@?൲ o8׿˸S׿@6?i2>@I2^;2[CYBD|AyBHDF@AbDNVDN\8yV?%VY=ٔV:Q-Z>9ZH?IZH?=ZFy^E^E^>`Q 5fe4b?Q 9fe4be{)bAYdyj#C@Q Ij?bΌCIbp:ib$:bMe4ynBɮnBl*jxBjxixixzi|Ji|i| k7k7k7h  k@k@k@h!2f1:f1Bf1Jf5d@IɢM#=)Q UAD?iQ)UCJy  In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutQя,WF?A2=@2K@2`p=ٱ2G :AHRS rotation from veh to nav: [[-0.994773,0.064651,-0.079037],[-0.031197,-0.929451,-0.367624],[-0.097228,-0.363237,0.926610]]2H@.@?; %׿㸿`D?׿ɦ?i2=@I2˲^;2XCYb{AybHE%] E%VE%<E!"E%:*E%9VE% 4ZE!a-@a-@a-@a-@ye?+MbefF?eea a9e:v?y&1?V-ͿYeT?ye`9K?IK?=FyEE>Q 5e4k?Q 9e4{)rAY;]?Q Eu:ylF@Q I?CI:i:\e4yBɮB*jBjiiziJii k<k<k<h k<k<k<h2f '>:f '>Bf ]?Jf V\@Q颩ɢO=) =?i)丿<顱iIB=>B9B=HB=2|AB==B9B9B=;B=n}EB4CB4CB“CB=B=CP5ԁ^AEpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITM2Acoustic response timeoutԩAI Ii I  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I > O > {я,┣WF?A2B<@2J@2=ٱ2 :AHRS rotation from veh to nav: [[-0.995107,0.050398,-0.084980],[-0.015868,-0.930475,-0.366012],[-0.097518,-0.362873,0.926722]]2H ͩ?=?@sl׿`N9׿?i2B<@I2^;0YBX{AyBHTT T)TITbD^VD^c8yfG%fW=ٔfI:Q-f>9hIh=jFyj EjL&En>9Q 5Ee4= Q?Q 9Ee4=z)=|AYIyMqE@Q IM?=#CI=:i=:={je4yQɮUBy*jBjiiziJii ks<ks<ks<h ks<ks<ks<h2fA:fABfAJfE\@zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԹ频ɢ}=) 5?i)_<iIE5X E5IE5AE1"E5~ :*E5c9VE5A4ZE1BE5:aE2E5:aEJE5:aM:E5:aM^AO= A I I! OU >u =u <} 2Acoustic response timeout9 я,pWF?A2;@2I@2j=ٱ2r :AHRS rotation from veh to nav: [[-0.995216,0.035628,-0.090977],[-0.000126,-0.931609,-0.363462],[-0.097704,-0.361711,0.927156]]2H@ =?`=J`x B׿"G&׿C?i2;@I2^;2YCYBzAyB*HbDNVDN8yVy˽%VL=ٔV9Q-V>9XIX=ZFyZ"E^!E^>`Q 5fe4b6?Q 9fe4by)bAYdyftD@Q If?bLCIbd:ib:b xe4ynBɮnBnE*jtBjxixixzixJixix k<k<k<h  k<k<k<h2f):f)Bf)Jf-`V[@ɢ=) ]+?i)ڇ<if9I2Acoustic response timeout^A9AEA EEHEE>EA"EA*EE[9VEE4ZEAaM@aU@aU@aU@I9IIO}>B= >B= 5CB= LHB= zAB9 B= %DB= oDB= Ľ;B= S}Ei я,4LWF?A ::@:G@:N=ٱ:$ BAHRS rotation from veh to nav: [[-0.995034,0.019825,-0.097545],[0.016653,-0.932999,-0.359494],[-0.098136,-0.359333,0.928035]]:HPL? ? ׿`tNֿv?i::@I:^;:ZCYJPzAyJH=2Acoustic response timeoutbDVD8yU4m%U@=ٔU˅:Q-U>9YIY=eFye%Ee"Ee>iQ 5ue4m?Q 9ue4m(y)m}AYyy}kC@Q I}?mxCIm;im;me4y BɮÚB*jBjiiziJii k8k8k8h12fA:fABfAJfEZ@颁ɢ=) %?i)C <顉i Ii C)AYԙ˻9Y7A^A5p=2Acoustic response timeoutI I! Oe > EM \ EM DEM @EI "EM :*EM a99VEM 4ZEI BEM ;a] 2EM ;ae JEM hH:ae :EM jH:ae я,l&WF?Aɰ;2o8@2FF@2d=ٱ2컾 :AHRS rotation from veh to nav: [[-0.994534,0.003341,-0.104358],[0.034163,-0.934061,-0.355477],[-0.098665,-0.357099,0.928841]]2H@9^k?`9}?!ֿBֿ?i2o8@I2^;2YCPY^yAy^HbDEVDEl8y%G=ٔs:Q->9I=Fy(E/E>Q 5e4 ?Q 9e4>x)zAYyUB@Q I?CI-:ig:Ce4y BɮϚB*jBjiiziJii k8k8k8h k8k8k8h2f :f Bf Jf @Z@颹ɢU=) ?i)2<iIM2Acoustic response timeout^AO=I9IiO>!  2Acoustic response timeout̟я, XF?A2N7@2%E@2%=ٱ2 :AHRS rotation from veh to nav: [[-0.993746,-0.013152,-0.110883],[0.051584,-0.934795,-0.351423],[-0.099031,-0.354945,0.929627]]2H@b:i?@ }ֿZ lֿ?i2N7@I2 ^;2VCY^qyAybbHEW EBEAE"E :*E(9VEA4ZEa @a @a @a @ytV?+?~jtR?v>>D 9i|?5? +?%C̿YQ?yv>ZdBjB  B)jBY̔BbDVDd8yt%C=ٔe:Q->9 I = Fy *E +E>Q 5%e4⸉?Q 9%e4fy)9AY%a?Q E%p:y%@Q I-?͍CI":i:e4y5Bɮ5ٚB5E*jIBjIiIiQziQJiQiQ k#.k#.k#.hiB>B6CBHByAB=BBB;BL}E kcTkcTkcTh2f ;>:f ;>Bf Z?Jf Ն>IɢM@=)i m?iq)unGԁ я,$XF?A26@2כD@2.=ٱ25| :AHRS rotation from veh to nav: [[-0.992637,-0.029859,-0.117391],[0.069180,-0.935280,-0.347081],[-0.099430,-0.352647,0.930459]]2H@d V ̵? @6ֿ9XIX=ZFyZ,EZIE^>`Q 5be4bɸ?Q 9fe4bCz)b%AYdyfAQ If?bCIb :ib:be4yjBɮnBl*jxBjxixixzixJi|i| k8k8k8h!y2f:fBfJf]_>ɢ=) ?i)<iD !I!2Acoustic response timeoutEZ ECEE"E:*E09VEZEBE_;a2Eb;aJE9:a%:E9:a%ԩ^AyAzArAIIOMt>m 2Acoustic response timeout 1я,.>XF?A2s5@2hiC@2n=ٱ2U :AHRS rotation from veh to nav: [[-0.991098,-0.047374,-0.124418],[0.087726,-0.935353,-0.342665],[-0.100141,-0.350529,0.931183]]2H`uA@ٿ;u?i8տآ`oֿ`??i2s5@I2^;2YCYBxAyBHbDNVDN8yR%VJ=ٔVq:Q-V>9XIX=ZFyZ/E^&=E^>`Q 5be4bˮ?Q 9fe4b{)bAYdyfBQ If?bCI`ib:be4ynBɮnBl*jxBjxixixzi|Ji|i| kSCkSCkSCh  kC[kC[kC[h!2f1:f1Bf1Jf5-ڭ>IɢUE=)Q Ud ?iQ)]qEV EDE<E"E=:*Ea99VE 4ZEa%@a%@a%@a%@)B>B8CBHBbxAB=BBqDB;BF}EQ я,XXF?A6G4@6=B@6=ٱ69ѷ BAHRS rotation from veh to nav: [[-0.989248,-0.064326,-0.131340],[0.105829,-0.934703,-0.339309],[-0.100938,-0.349561,0.931461]]6H@w ? `>տ׹3_ֿ?i6G4@I6_;4YbZxAybHfa=fR=bDnVDn8yv_%vG=ٔv:Q-v>9xIx=zFyz2Ez(6E~>Q 5 e4.?Q 9 e4{)AY y DQ I ?ECIB:i: e4y%2Acoustic response timeoutɮB)*jABjAiAiAziAJiIiI kBkBkBhY kZkZkZhi2f:fBfJfŷ>颙ɢ=)ܬ ?i)d<顩i:I1i^AA)I9IIO>ԑ2Acoustic response timeoutE)  E) E- =E) "E) *E) VE- |4ZE) BE- :a5 2E- :a5 JE- hH:a= :E- kH:a= Թ wя,krXF?AY~wAy~[H11 1)9I9bDMVDM8y]%]C=ٔ]Q-e>9aIa=eFye4EmEm>qQ 5}e4uw?Q 9}e4uu|)usAYyyyQ I?upCIuf;iu;ue4yBɮBE*jBjiiziJii ksAksAksAh kcYkcYkcYh2f:fBfJfɢy=) >i) Q<  i !Iԑ5hDAT read: Forwarding Delay UpTx time:18:39:29.5490 5pIn parseResponses, set commsState_ = SENDING_ACK_WAITING=2Acoustic response timeout^AAY?AA$AI I! Iy i pAI O > 2Acoustic response timeout "я,EIXF?A21@2a?@2^=ٱ2Jz :AHRS rotation from veh to nav: [[-0.984318,-0.099829,-0.145436],[0.143538,-0.932513,-0.331386],[-0.102539,-0.347065,0.932218]]2H@b¿ v_?$n5տ`@@Q6ֿ?i21@I2C^;2XCY^&wAybHbEm4jEm4rEm30ErZ ErCErAEp"Er:*Er09VErA4ZEpaz@az@az@az@y/$?Zd;?I +,?=94 9tV?Q? ףp= YR?y>Q8 B );BYBbDVD8y%A=ٔ$y;Q->9H?IH?=Fy7EݸE> Q 5e4 AY?Q 9e4 g~) AYIc?Q Eo:y;Q I? CI ` ;i  ; ue4y%Bɮ%B!*j9Bj9iAiAziAJiAiA kSDkSDkSDhY k#Xk#Xk#XhiBqAup<B}>B}:CB} HB}FwAB}=ByB}sDB};B}[}E2f>:f>Bf'_q?Jf$z@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o5\Aggregate::uninitialize marl:UpdateCommandModeq75n5LAggregate::initialize marl:UpdateSpeed75]175n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeedQɢUAl=)Q U>iY)] )я,y$XF?AJ0@J]>@J=ٱJl ZAHRS rotation from veh to nav: [[-0.981185,-0.117531,-0.153177],[0.162897,-0.929818,-0.330006],[-0.103641,-0.348749,0.931468]]JH e}Qÿ ? տ<Qֿ?iJ0@IJ^;JZCYfvAyfWHn@An?AbDMVDM8y%%N=ٔ6;Q->9K?IK?=Fy:EWKE>Q 5e4*=?Q 9e4)ݞAYy(=Q I?ʎCI ;i:Ve4yBɮ4B*jBjiizi Ji i  k_k_k_h! kkkh12fA:fABfAJfEBey@sUNUpdating rudder angle 6.875493 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudder颁ɢFe=) >i)y<顉i2Acoustic response timeoutIQDzDEV EHE>E"E=:*E[9VE4ZEBEa2E:aJER:a:ET:aԁ;ԩ M 2Acoustic response timeout^A A $AI I O= >s0я,OXF?A2aT/@28J=@2k=ٱ2@i :AHRS rotation from veh to nav: [[-0.977697,-0.134787,-0.161060],[0.181891,-0.926816,-0.328524],[-0.104992,-0.350493,0.930662]]2H LI@Ŀ7H?@yտ຿ynֿ`?i2aT/@I2q^;2WCYFvAyFNHbD=VD=8y}N%}@=ٔ}sQ;Q-}>9H?IH?=FyQ 5f4?Q 9f4)AYyj>Q I?CI|:it:1f4yBɮ2B*jBjiiziJii k3dk3dk3dh kwkwkwh2f:fBfJf)x@ɢ a_=) % >i!)%(B=CB^HB)vAB=BBuDB;Bm}EBU8CBU8CBUǖCBU=BU=CU݇6^A#=AzAmA! 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B% yDB% ;B% }EBBCBACB˔CB=B=C˅6*я,pZF?A2#@2}1@2I=ٱ2ZB :AHRS rotation from veh to nav: [[-0.929353,-0.300752,-0.214130],[0.356896,-0.880298,-0.312571],[-0.094492,-0.366911,0.925445]]2HB ?ӿh˿a?g+(Կ`0`w{׿=?i2#@I2^;2ZCLYROpAyRH%=%=ym?L7A`堿y&1N?+` 9HzG?{GzQY=j?y#B[mB )BY̗BbDKVD8y]%<=ٔ:~Q->9I=Fy^EE>Q 5f4l?Q 9f4n)zAYaj?Q Eg:y)0@Q I?YCI? ;i ;f4yBɮBַE*jBjii!zi!Ji!i! kZkZkZh9 kZkZkZhI2f.=:f.=Bf:V>JfH=@ɢ =)-qD 0! ݊я,-ZF?A2թ"@20@2Ԕ=ٱ2h :AHRS rotation from veh to nav: [[-0.923963,-0.314983,-0.216976],[0.371023,-0.875927,-0.308372],[-0.092923,-0.365428,0.926190]]2H``(Կ ˿׾?`_ӿ ɷ*c׿@Y?i2թ"@I2^;2YCB2Acoustic response timeoutYFCpAyFHHH|bD 0VD 8y%O=ٔ;Q->9I=Fy`EE>Q 5f4}?Q 9f4 k)"AYy1/@Q I?CI,:iE:f4yBɮB*jBjiiziJiiDzD?AEW EEE>E"E :*EA9VE4ZEBE(:a2E-:aJEV:a:EV:a k\k\k\h kC]kC]kC]h2f!:f!Bf!Jf%<@^5B*** querying acoustic contact ***X1Y1AɢMH=)I MhQ52Acoustic response timeoutԁ Sőя,amGZF?A2!@2¨/@2=ٱ2< :AHRS rotation from veh to nav: [[-0.918394,-0.328727,-0.220206],[0.384958,-0.870971,-0.305313],[-0.091428,-0.365168,0.926441]]2H|c տ/̿'? ?ӿg^׿`h?i2!@I2:^;2WCYBoAyBFHbD=VD8yEj%EN=ٔMAxQ-M>9IIQ=UFyUcEUEU>YaQ 5mf4ea?Q 9mf4e.g)eʙAYiyu:.@Q Iu?eCIe:ie:ef4nManaging dock network, ignoring radio surface power offy Bɮ ƛBշE*j!Bj!i!i)zi)Ji)i) k^k^k^hA k^k^k^hQ2fa:faBfaJfe;@颁ɢ<) zi)3z<顉i-ݼIAU?AU?2Acoustic response timeoutIQIaԉO>ER EAE?E"Es9*E 9VE^4ZEa@a@a@a@B>BCCBDHB~oABBBB;B}EԱ E 2Acoustic response timeoutя,GaZF?Aɰp;> @>.@>:=ٱ> FAHRS rotation from veh to nav: [[-0.912331,-0.342459,-0.224440],[0.399366,-0.865176,-0.303276],[-0.090320,-0.366322,0.926094]]>H1տ@p̿7?@hӿ >q׿?i> @I>^;>ZCYRoAyRHbDZ`VDZ8yb\%bS=ٔf(9dId=jFyjeEj%Ej>lQ 5rf4n G?Q 9rf4nIc)nuAYtyv9-@Q Iv?nCIn:inF:n6f4yzBɮzЛBx*j Bj iiziJii kSdkSdkSdh) kcdkcdkcd Mwi>MݑChAEu9AYENA2fy:fyBfyJf}:@颩ɢA<) ii)e<i ۼIA2Acoustic response timeout5EX E@EAE"E~ :*E9VEA4ZEBE:a2E:aJE-:a :E0:a I1IIioAIpAԙO>Թ 3я,"{ZF?A2@2-@2=ٱ2qp :AHRS rotation from veh to nav: [[-0.906049,-0.356091,-0.228633],[0.413662,-0.859188,-0.301130],[-0.089209,-0.367416,0.925768]]2H[@3ֿCͿoy?`x~ Eӿkֶ ׿@?i2@I2^;2YCYvnAyvHxz?AbD{VD8y!<%E=ٔ0Q->9I=%Fy%hE%E%>)Q 55f4-z*?Q 95f4-^)-AY1y=7,@Q I=?-CI-7;i-;-f4yEBɮEכBA*jYBjaiaiaziaJiaia ks`ks`ks`hy ks`ks`ks`h2f:fBfJf9@ɢS<) ͛i)<iiڼI2Acoustic response timeoutԑoMIIO}> 2Acoustic response timeoutE Y E CE <E "E :*E 09VE 4ZE a @a @a @a @B <A B >B B HB nAB =B B B ;B }E9 я,ZF?A2b@28,@2>ƴ=ٱ2%¾ :AHRS rotation from veh to nav: [[-0.899312,-0.369997,-0.233109],[0.428330,-0.852726,-0.298987],[-0.088154,-0.368730,0.925347]]2H*׿Ϳ`i?I"ӿEE׿`q?i2b@I2˟^;2XCYN%nAyRpHy%NbX9?i|?5T㥛 %E?%q%! !9% r?~jt?(\µY%c?y%=%%4B%kB !)%ZB!Y%#BbDVD$8y1%A=ٔ#Q->9I=FykEzE>Q 5g4?Q 9g4Z)AYd?Q Em:y,@Q I?BCI$;i;g4yBɮBԷE*jBjiiziJii kekekeh kekekeh)2f=?>:f=?>Bf=41?Jf=)U@Yɢ]W<)Y e:ia)ei ,я,ޮZF?A 22Acoustic response timeout:@:`+@:?=ٱ:þ BAHRS rotation from veh to nav: [[-0.892784,-0.383180,-0.236875],[0.442114,-0.846181,-0.297510],[-0.086439,-0.370338,0.924866]]:H`ؿQοK?@i ӿ ׿@?i:@I:^;:YCY^mAy^'Hll p)pIpbDvgVDv8y~9%~V=ٔQ->9I = Fy mE }$E >Q 5g4?Q 9%g4V)AY!y%+@Q I%?mCI;i ;g4y)ɮ5B1*jIBjIiIiIziIJiQiQ kfkfkfha kSwkSwkSwhy2f:fBfJfT@EX EDE@E"E~ :*Ea99VE4ZEBEa2EaJEkH:a:EmH:aaɢe_<)a eCia)m я,ZF?A2@2t*@2l=ٱ2Iþ :AHRS rotation from veh to nav: [[-0.886091,-0.396276,-0.240435],[0.455760,-0.839358,-0.296244],[-0.084417,-0.372080,0.924354]]2HZ \ٿο,+?ҿV`'׿O?i2@I2^;0TYZTmAyZH\\bDfdVDf8ynEb%nM=ٔrQ-r>9pIp=rFyrpEvEv>xQ 5~g4zwڵ?Q 9~g4zR)zzAYy*@Q I?zCIz ;izX;z!g4y Bɮ B *j!Bj!i)i)zi)Ji)i) k^k^k^hA kCnkCnkCnhQ2fi:fiBfiJfmwS@颉ɢb(<) *i)<顑i1ռIu2Acoustic response timeoutIIO>ET EGE=E"E9*ER9VE|4ZEa@a@a@a@BiBiBmHBmmmABm=BiBiBm;Bm}E! % 2Acoustic response timeout=я,yZF?A2@2)@2v=ٱ2;Nľ :AHRS rotation from veh to nav: [[-0.879332,-0.409571,-0.242954],[0.469145,-0.832614,-0.294374],[-0.081720,-0.372833,0.924293]]2H|# k6ڿϿy?Ƥҿ 봿׿Γ?i2@I2^;0YBlAyBH bD-`VD-8ymv%mA=ٔuѻQ-u>9yIy=}FyrESE>Q 5g4?Q 9g4*N)AYy)@Q I?ʒCIa;ia;0g4yBɮBʷE*jBjiiziJii kokokoh2f):f)Bf)Jf- R@IɢMPr<)I MEiI)Mxz9I=FyuEhE>Q 5g4W?Q 9g4I)cAYy(@Q I?CI:i:>g4yBɮBIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout*jBjiiziJii ksVksVksVh k3ok3ok3oh2f!:f!Bf!Jf%Q@yɢk<) fi)n<顁i!ѼIIqIԑO!>Ա pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutbEmʗ4jEmʹ4rEmʷ0E X E BE CE "E ~ :*E (9VE 5ZE a @a @a @a @ Aa Aa Be >Ba Be iHBe ylABa Ba Be zDBe %;Be 2~E\OŖя,E[F?AB@B'@B5 =ٱBiž JAHRS rotation from veh to nav: [[-0.865313,-0.436105,-0.247074],[0.495561,-0.818303,-0.291205],[-0.075186,-0.374423,0.924205]]BH&ۿ`!Ͽ E? /`ҿ _?׿?iB@IBܞ^;BXCYnkAynHppԹyx&1?MbX9?+A@?ʡ= 97A`?Mb?㥛 ¿YV?y=B[mB B) BYaBbD iVD 8y%A=ٔ%Q-%>9!I!=-Fy-wE=xEE>YQ 5eg4]?Q 9eg4]^E)]AYe[?Q Emx:ymI*@Q Im?]$CI]:i]:]Mg4yuBɮuBuɷE*jBjiiziJii kVkVkVh k#mk#mk#mh2f >:f >Bf:.>Jf2@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢL<) i) 9<  i 7ϼIIIIOE>zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout9 y˖я,!0[F?A"2Acoustic response timeout6s@6H&@6j=ٱ6Xž >AHRS rotation from veh to nav: [[-0.857695,-0.449725,-0.249211],[0.509104,-0.810632,-0.289290],[-0.071917,-0.374997,0.924232]]6H`=r Kܿ&ϿJ? ҿ .i ׿O?i6s@I6d^;6[CYNFkAyRHbDZfVDZ8y%%%\=ٔ-OQ-->9)I)=-Fy-zE5N,E5>9Q 5Eg4=s?Q 9Eg4=A)=AYIyMG)@Q IM?=KCI=:i=:=Zg4yQɮU%BQ*jiBjiiiiiziiJiiiq ksTksTksTh knknknES E@E?E"E9*E9VE^4ZEBE:a2E:aJE-:a:E0:ah2f:fBfJf@?@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢm<) !i) q<i\μIA9zA=pAIIO%=A2Acoustic response timeoutiԙ :aҖя,HI[F?A2)@2%@2L8=ٱ2bž :AHRS rotation from veh to nav: [[-0.850219,-0.462866,-0.250764],[0.521964,-0.803126,-0.287301],[-0.068413,-0.375158,0.924433]]2H`4ݿ п?5"cҿ@ؿ?i2)@I26^;2XCYNjAyRqHV=V=bDZnVDZ 8ybs%fP=ٔfQ-f>9dIh=jFyj|EjEj>lQ 5rg4n[?Q 9vg4ni=)n2AYtyvR(@Q Iv?nuCIn:in:nIhg4yzBɮz-B|*jBjiiziJii kCVkCVkCVh) kckkckkckh2f:fBfJfza@9ɢ=;)9 =iA)EJQBDCBHB]kABBBB,;B;~EBCCBCCBēCB=B=CM4OE/>ԡ 2Acoustic response timeout Qؖя,wc[F?ANC@N$@NH̅=ٱNɰž ^AHRS rotation from veh to nav: [[-0.841814,-0.476680,-0.253232],[0.535806,-0.794707,-0.285224],[-0.065285,-0.375788,0.924403]]NH #`޿4пQ%?=nAҿ} ؿ?iNC@IN-^;NZCYhyhll  ) I bD%^VD%8ٔEQ-E>9AIA=EFyEEMEM>QQ 5]g4UB?Q 9]g4U8)UqAYayeF'@Q Ie?UCIU;iU ;Uvg4ymBɮm*Bi*jBjiiziJii kRkRkRh2f):f)Bf)Jf-?a@iɢm,;)i ii)P$<顑i"˼IAIIO-,>u2Acoustic response timeoutEU EBE>E"E:*E(9VE4ZEBE:a2E:aJEL+:a:EN+:a) ޖя,y}[F?A:@:#@:=ٱ: ž BAHRS rotation from veh to nav: [[-0.833281,-0.490321,-0.255396],[0.549320,-0.786434,-0.282435],[-0.062369,-0.375642,0.924664]]:H=la߿@iXп@?w*@hҿ@ ؿٖ?i:@I::^;:[CYJ/jAyJHbDVsVDV8y^`d%^<ٔ^~Q-b>9`I`=bFybEft)Ef>hQ 5ng4j+?Q 9ng4jy4)jAYlyn@&@Q Ir?jʓCIj;ij;jvg4yvBɮv>Bt*jBjiiziJii  kSkSkSh kTkTkTh)2fA:fABfAJfEr@Yɢ]X;)a eia)ey 2Acoustic response timeoutԩ E W E FE BE "E :*E ;J9VE 5ZE a @a @a @a @B A <B >B B =HB jAB =B B B ;B -~Eя,.[F?A2@2b"@2@t=ٱ2 dž :AHRS rotation from veh to nav: [[-0.824000,-0.504488,-0.257909],[0.563438,-0.777549,-0.279203],[-0.059682,-0.375379,0.924948]]2H@4^$п?@wѿ@`5ؿ,?i2@I2&^;2ZC@YNjAyRHAy} rh?333333?MbX}C+?}>}ʽy y9}Cl?bX9?v/Y}d;?y}E6>}xyy }B)}ǕByY}BbDiVD8y7%:=ٔȻQ->9I=FyEE>Q 5g4?Q 9g40)AY C?Q E:yk-@Q I?CI;i;ӓg4yɮCB*jBjiiziJii! kcWkcWkcWh1 kcnkcnkcnhA2f=:f=Bf}!>Jf~7@ɢ8~;) i)N(<iȼ!I!Ա2Acoustic response timeoutAaIiIyOA>yQ9YA tя,g[F?A"2Acoustic response timeout6S@6)!@6%i=ٱ6v ƾ BAHRS rotation from veh to nav: [[-0.814827,-0.517585,-0.261079],[0.576892,-0.768290,-0.277356],[-0.057028,-0.376612,0.924614]]6Hпu?ԕ`4ѿ2 gؿp?i6S@I64^;6YCYFziAyJHHHlbD [VD 8DyzD}@AET E@EWE"E9*E9VE~D5ZEBE:a2E:aJE-:a:E0:ay%K=ٔ.ػQ->9I=FyE%E>Q 5g4?Q 9g4-)NAYyY,@Q I?CIe:i:g4yoBɮ?BE*j Bj i iziJii kVkVkVh) kqkqkqh92fI:fIBfIJfM6@iɢmM)i uоiq)u$>12Acoustic response timeouta jя,9C[F?A2ߜ@2 @2qv_=ٱ2ƾ :AHRS rotation from veh to nav: [[-0.805270,-0.530981,-0.263816],[0.590395,-0.759028,-0.274426],[-0.054529,-0.376743,0.924712]]2H ]п@?I1ѿ B뫿ؿ91I1=5Fy5E50E=>9AQ 5Mg4Ek紉?Q 9Mg4EA*)EAYQyUG+@Q IU?E=CIE$:iE=:EWg4y]kBɮ]JBeE*jBjiiziJii  kXkXkXh92fI:fIBfIJfM4@颉ɢ) (޾i)ڬ<顱i'żIAzAqAU2Acoustic response timeoutiES EPE<E"E9*E?9VE 4ZEa@a@a@a@B>BBHBiABBBB;B(~EA!I)I9Ou6>ԑ  %= %= 2Acoustic response timeoutя,y"[F?AF_@F4@FUU=ٱF߰ƾ RAHRS rotation from veh to nav: [[-0.795623,-0.543684,-0.267193],[0.603538,-0.749407,-0.272269],[-0.052208,-0.377885,0.924379]]FHu@e ѿ/P?$ lѿ D/ؿ?iF_@IF^;F\CYZhAyZ7Hb=ba=bDf[VDf8yjż%nO=ٔn)Q-n>9pIp=rFyrEv)Ev>xQ 5zg4zѴ?Q 9~g4z&)zAY|y~5*@Q I~?zaCIza;iz;zg4y ɮ NB *jBj!i!i!zi!Ji!i! kVkVkVh9 kVkVkVha2f:fBfԙJf3@颹ɢx痻) i)<ixüIA$AIIO5 >ehDAT read: Forwarding Delay UpTx time:18:39:43.3989 epIn parseResponses, set commsState_ = SENDING_ACK_WAITINGm2Acoustic response timeoutEQ EBE?E"E29*E(9VE^4ZEBE:a2E:aJEL+:a:EN+:a я,@[F?A2@2{@2_M=ٱ2ƾ :AHRS rotation from veh to nav: [[-0.785753,-0.556476,-0.270048],[0.616506,-0.739963,-0.269027],[-0.050118,-0.377875,0.924499]]2H $`wHѿ k?@ƭ7ѿ@/ؿ`?i2@I2^;2XCYvhhAyvHbD%UVD%8yU"%UC=ٔ](Q-e>9eH?IeH?=eFyeEmEu>Q 5g4򺴉?Q 9g4")GAY2Acoustic response timeouty()@Q I?CIwQm 2Acoustic response timeoutA A AAB >B B CHB hAB =B B B ;B ~EE T E @E @E "E 9*E 9VE 4ZE BE :2E :JE -::E 0:y я,\F?A2'@2z@2C=ٱ2ƾ :AHRS rotation from veh to nav: [[-0.776081,-0.568570,-0.272812],[0.628822,-0.730458,-0.266485],[-0.047763,-0.378364,0.924424]]2H 1`uѿN?_ѿ]t@7ؿ?i2'@I2^;0YNgAyRmHyV-? rh?{Gz|??C =ף 9-?K7?~jtY?5?yI>ĽBTmB fB)BYBbDtVD8yj%D=ٔQ->9I=FyEE>Q 5g4뤴?Q 9g4N)AY=?Q E:y*@Q I?CI0;i)0;Fg4yeBɮqB*jBjiiziJii k:k:k:h k^k^k^h)2f=,>:f=,>Bf=B?Jf= ^@QYɢ]L)a eia)e62Acoustic response timeoutԱ  я,2\F?A2Acoustic response timeout6@6|y@6>:=ٱ6[ƾ BAHRS rotation from veh to nav: [[-0.766180,-0.580901,-0.274814],[0.641005,-0.721193,-0.262664],[-0.045612,-0.377406,0.924924]]6Hѿ?~пtZi'ؿ?i6@I6v^;6ZCYFgAyFbHXX X)XIX\\bDbdVDb8yj1<%jY=ٔjQ-n>9lIl=rFyrEr#+Er>tQ 5zg4v?Q 9zg4v)v AYy)@Q I ?vєCIv;iv;vkg4y)ɮ-sB)*jABjAiAiAziAJiIiI k#Fk#Fk#Fhi2f:fBfJfNӉ@QɢU|2)Q ]iY)]d2Acoustic response timeout 9 я,L\F?A: @:^x@:>2=ٱ:už BAHRS rotation from veh to nav: [[-0.756098,-0.593235,-0.276385],[0.653011,-0.711922,-0.258348],[-0.043503,-0.375819,0.925671]]:H1Jѿw?LjпF`k ؿ?i: @I:p^;8YJbgAyJGHLLbDVVDV(8y^ܼ%^L=ٔbZQ-b>9bK?IbK?=fFyfEfP Ef>hQ 5rg4j{?Q 9vg4jP)jkAYxy~(@Q I?jCIj;ij;jng4yaBɮuBE*j!Bj)i)i)zi)Ji)i) k9k9k9hA k#:k#:k#:hQ2fa:faBfaJfeG@颁ɢrS)  i)^d<顉iI5>1=2Acoustic response timeoutA$AIIO>BU >BUECBUHBU/hABU=BQBU{DBU;BU~EEmZ EmEEiEi"Em:*EmA9VEiZEiBEmb;2Eme;JEmV::EmV:9i  2Acoustic response timeout'я,ff\F?A 27 @2 w@2*=ٱ2ľ :AHRS rotation from veh to nav: [[-0.745809,-0.605252,-0.278278],[0.664859,-0.702393,-0.254179],[-0.041618,-0.374584,0.926258]]2H`:^ MѿF?zxDпN0׿?i27 @I2mz^;0YNgAy;HbDVD8y1%;=ٔWQ->9H?IH?=FyEE>Q 5h4d?Q 9h45)AYy'@Q I?CI:i:h4y^BɮtB*j Bj i i zi Jii kcBkcBkcBh)2fA:fABfAJfE@ɢ%P*)! % i!)-U<))i-QIQAazAeoAqAIIIOH>E2Acoustic response timeoutԙbE%4jE%5rE%2E}R E}@E}BEy"E}s9*E}9VE}5ZEya@a@a@a@  я,>\F?A>Q @>&{@>#=ٱ>Bľ JAHRS rotation from veh to nav: [[-0.735554,-0.616888,-0.280019],[0.676296,-0.692909,-0.250001],[-0.039805,-0.373265,0.926870]]>H@ѿ7?O,п\a׿@?i>Q @I>Wm^;>[CPYVfAyZ H!>2Acoustic response timeout,?bDVD 8ykd%<=ٔ4Q->9I=FyE9E>Q 5h4M?Q 9h4)AY!y%&@Q I%?GCIF:i:=h4y-IBɮ-lB-E*jaBjaiaiaziaJiiii k&k&k&h k3Ek3Ek3Eh2f:fBfJf6@ɢ%&&Z)! %Ci!)%7EU 2Acoustic response timeout! BM >BM FCBM bHBM gABI BI BI BM ;BM ~EBDCBECBʔCB=B=C4E Q E BE @E "E 29*E (9VE 4ZE BE :a 2E :a JE L+:a :E O+:a ;&я,2"\F?A2 @2|@2=ٱ2þ :AHRS rotation from veh to nav: [[-0.725007,-0.628147,-0.282482],[0.687673,-0.683025,-0.246134],[-0.038334,-0.372705,0.927158]]2HB30ҿk? WSϿ@e׿F?i2 @I2φ^;2ZCYBgAyBHPP|yK?)\(?:v?^Z?Ga=< 9x&1?&1?A`"YA?yP>Y\BcB 7B)OBY(BbDVD8y7<%V=ٔYQ->9K?IK?=FyE 6)E >Q 5h4-9?Q 9h4 )AYH?Q E%:y!Q I%?kCI*:iv::!h4y)ɮ-fB)*jABjAiAiAziAJiIiI k*k*k*ha k9k9k9hq2f8G>:f8G>Bfv @Jf@颡ɢ ) ci)<顩iHI)2Acoustic response timeoutA9IIIaO;>Qԁ ] 2Acoustic response timeoutQi,я,\F?AF@Fx@Fp=ٱF7%þ ZAHRS rotation from veh to nav: [[-0.703034,-0.650148,-0.288185],[0.710220,-0.662662,-0.237627],[-0.036476,-0.371734,0.927622]]FH@qҿ?`4jο@׿?iF@IFއ^;DYzfAyz HbDjVD8yy%Y=ٔQ->9!I!=%Fy%E%E->E=X E=DE=?E9"E=~ :*E=a99VE=^4ZE9aE@aE@aE@aE@AQQ 5Uh4Ex$?Q 9Uh4E)E&AYYy]$@Q I]?ECIE>+;iE),;Ev.h4yeFBɮeoBa*jyBjyiyiyziyJii k k k h k9k9k9h2f:fBfJf@ɢ I) xi)m<is﷼IAY?AY?AI IOM>y2Acoustic response timeoutA K3я,\F?AB߅@B{@B݋=ٱB<þ JAHRS rotation from veh to nav: [[-0.692012,-0.660491,-0.291325],[0.721011,-0.652252,-0.233903],[-0.035526,-0.371912,0.927588]]BH`$"`ҿ ??Ϳ0i׿̮?iB߅@IBn^;@YRfAyR HXZAbD^VD^#8yf'%fP=ٔjQ-j>9hIh=nFynEn En>pQ 5vh4rW?Q 9vh4r)rAYxyz#@Q Iz?rCIr$:ir_:rBBHBgAB=BB|DB;B~EEeT EeBEaEa"Ee9*Ee(9VEaZEaBEe:a2Ee:aJEaa:EaaAIIOg> 2Acoustic response timeout i> 9 ] Gq 9 Y Ay ? Au9я,\F?AF@F@F =ٱFľ fAHRS rotation from veh to nav: [[-0.681136,-0.670014,-0.295186],[0.731347,-0.641587,-0.231295],[-0.034417,-0.373428,0.927021]]FH@pUҿ@2g? Ϳ`<׿`'?iF@IFe^;FXCYn~fAyn Hpp )IbDVD!8y%%%E=ٔ-V/Q-->9)I)=-Fy-E5CE5>9Q 5Eh4=?Q 9Eh4=)=,AYAyM"@Q IM?=CI=F:i=:=Jh4yQɮUsBQ*jiBjiiiiiziiJiqiq k#:k#:k#:h2f:fBfJf䋔@ɢ ) i)<iU#YIaAIIO$>A%2Acoustic response timeoutDU=DU<E]U E]DE]=EY"E]:*E]a99VE]|4ZEYam@am@am@am@iԙ ]@я,]F?A2Acoustic response timeoutYfAy Hyy}?5^I?{Gz~jth?MB?#D; 9B`"?|?5^? rhYN?yR>CB%eB  B)YBbDeVD8y<%0=ٔQ->9 I = Fy EE>Q 5h4S޳?Q 9%h43)AY%U?Q E%~:y%"@Q I%?CIn:i':Zh4y5?Bɮ5kB1*jIBjIiIiQziQJiQiQ ks!ks!ks!ha k7k7k7hy2fc>:fc>Bf?Jf5j@颡ɢn) !i)0-<顱i3IԩAIIOn>i5pAI5nA5 2Acoustic response timeoutB >B GCB HB fAB =B B B ;B ~EEm T Em AEm DEi "Em 9*Em  9VEm J5ZEi BEi au 2Ei au JEm :a} :Em :a} ÌFя,x]F?A >n@>B@> =ٱ> ž FAHRS rotation from veh to nav: [[-0.658780,-0.688854,-0.302470],[0.751686,-0.619375,-0.226591],[-0.031254,-0.376636,0.925834]]>H` [ӿ@ ?@Ϳ `ؿn?i>n@I>V^;9I=FyEBE>Q 5h4Fʳ?Q 9h4)cAYy!@Q I?7CIp:i$:Hgh4y! 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"E% :*E% 9VE% |4ZE! BE% ):a- 2E% .:a5 JE% 9a5 :E% $9a5 #я,^F?A 6n?6-@6W;ٱ6N,Ǿ >AHRS rotation from veh to nav: [[-0.528599,-0.784607,-0.323998],[0.848861,-0.490455,-0.197201],[-0.004181,-0.379269,0.925277]]6HH``Կ)? c߿=ɿg qEؿ`ޛ?i6n?I6a^;6ZCYF;eAyF HHHbDn(VDn8yv%vm=ٔvQ-z?9xIx=zFyzĢE~LE~?Q 5 h4; ?Q 9 h4)UAY y @Q I?CI:i:h4yBɮE*j)Bj1i1i1zi1Ji1i9 k9k9k9hI k#Yk#Yk#YhY2fi:fiBfiJfmlXp@颉ɢ ) B,i)<顑iIqnGAIIȡ9YAU2Acoustic response timeoutO]>ԙ  2Acoustic response timeout)Nя,y7^F?A2LT?2@2Ɂ;ٱ2ƾ :AHRS rotation from veh to nav: [[-0.514587,-0.792933,-0.326279],[0.857429,-0.477627,-0.191541],[-0.003961,-0.378326,0.925664]]2H~w`_Կ@p? p޿@hȿ99p }6ؿ@ ?i2LT?I24L^;2[C\YbdAyb HErT Er?EpEp"Er9*Er?9VEpZEpav@az@az@az@bDj%VDj8y~i2%I=ٔQ->9 I = Fy ǢE a%E >Q 5i4?Q 9i4)1AYy@Q I?CI]2Acoustic response timeoutA 6я,vQ^F?A2_?2b%@2i;ٱ2ƾ :AHRS rotation from veh to nav: [[-0.501413,-0.800242,-0.328934],[0.865200,-0.465323,-0.186823],[-0.003557,-0.378270,0.925689]]2H@ B տฯ?`ݿǿ`"m5ؿ=?i2_?I2>b^;0YBReAyB HJ=J=bDN,VDN8yV,s=%VP=ٔVʆQ-Z>9XIX=ZFyZɢE^`E^>`Q 5fi4b'貉?Q 9fi4b)bAYdyf@Q Ij?bCIb:ibp:bi4ynBɮnWBl*jxBjxixixzixJixi| kXkXkXh  kXkXkXh!2f1:f1Bf1Jf5Hn@QɢU)Q U*iY)]"-BBBBBBB;B2~EES EHE?E"E9*E[9VE^4ZEBE:a2E:aJET:a:EU:aA!I1IAIOu>>qia Ia m 2Acoustic response timeoutԡ bя,vk^F?AF?Fa@@FYQ;ٱFǾ RAHRS rotation from veh to nav: [[-0.489272,-0.806480,-0.331968],[0.872125,-0.453837,-0.182838],[-0.003204,-0.378976,0.925401]]FHտ s?@ ݿ @gǿ >j"Aؿ?iF?IFG^;F\CYZdAy^ H``pp p)pIpbDz6VDz8y烽%D=ٔ S^Q- >9 I = Fy̢E E>Q 5%i4ֲ?Q 9%i4p)AY)y-@Q I-?6CIN:i:Di4y5Bɮ5SB=E*jIBjIiIiIziQJiQiQ kUkUkUhi kUqkUkUhy2f:fBfJf,`m@颩ɢ"j) 1i)?v<顱iYӤIAI I!OM>ԡIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutD=D<ET EDE@E"E9*Ea99VE4ZEa@a@a@a @ Iя,wg^F?AR[?Rf@R5;ٱRƾ ZAHRS rotation from veh to nav: [[-0.477632,-0.813126,-0.332705],[0.878555,-0.443253,-0.177953],[-0.002774,-0.377296,0.926088]]RH޿! Kտ ?@^ܿ-ƿ@1f%ؿ@?iR[?IRf^;RZCYbeAyb HpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutyK7?{GzZd;O?Il?#j< 9T㥛 ?kt?kt?Ya?y = 0=1B%eB )ڐBYpBbDAVD8y<%@=ٔ+Q->9I=FyϢEE>Q 5i4IJ?Q 9i4K)AY]b?Q Ep:yZ @Q I?fCI0;iJ0;(-i4yBɮJB*jBjiiziJii k[k[k[h k#[k#[k#[h)2f=0 >:f=0 >Bf=?Jf=~@Yɢ]k)Y ].ia)eXm)zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutB %>B HCB O HB eAB =B B }DB ;B ~EE S E BE >E "E 9*E (9VE 4ZE BE a 2E a JE L+:a :E O+:a Y qя,:^F?A4<ɰ2@?2@2 ;ٱ2dž :AHRS rotation from veh to nav: [[-0.466420,-0.819082,-0.334001],[0.884561,-0.432789,-0.173912],[-0.002104,-0.376560,0.926390]]2H@ݿ5D`տRN?Ѳۿ Bƿp9I=FyѢEE>Q 5i4?Q 9i4n)AYy @Q I?CIY;i\;k;i4yɮIB1*j9Bj9i9i9ziAJiAiA k3Wk3Wk3WhY ktktkthi2fy:fyBfyJf}}@颙ɢ) .i)o'd<顡iP袼I52Acoustic response timeoutAIIO*>aԉԹ  2Acoustic response timeoutSя,Q^F?A:P?:{@:$A:ٱ:ž FAHRS rotation from veh to nav: [[-0.454957,-0.825118,-0.334956],[0.890513,-0.422069,-0.169838],[-0.001238,-0.375551,0.926801]]:Hݿ`]g`oտ?,ۿ@ſ $HT ؿ@Z?i:P?I:g@^;:ZCYN&eAyN HPPD\zD^AAEbU Eb@Eb@E`"Eb:*Eb9VEb4ZE`aj@aj@aj@aj@bD +VD 8yE6<%MS=ٔMQ-M>9IIQ=UFyUԢEUEU>YQ 5ei4]?Q 9ei4])]AYiym @Q Im?]CI]d:i]:]Hi4yuBɮuDBy*jBjiiziJii kc[kc[kc[h kokokoh92fI:fIBfIJfM5}@颁ԑɢ! ) -i)8[<顙iIAII O=.>=2Acoustic response timeout !я,(^F?A2'?2g@2zٱ2&ž :AHRS rotation from veh to nav: [[-0.443502,-0.830686,-0.336551],[0.896274,-0.410942,-0.166793],[0.000250,-0.375615,0.926776]]2H Tbܿ տE?Lڿ|Yſ@oc0? ؿ%?i2'?I28R^;2YCYVdAyZ HbD-"VD-8ye#%eH=ٔmnQ-m>9iIq=uFyu֢EuEu>yQ 5i4}?Q 9i4})}AYy@Q I?}CI}-:i}:}*Wi4y׸Bɮ8BE*jBjiiziJii k#Wk#Wk#Wh kSpkSpkSph2f:fBfJf2>|@ ɢ )  0i )oR<ByByByByByByByB}׽;B}~E2Acoustic response timeoutihIET E?EE"E9*E?9VEZEBE:a2E:aJE=9a:EB9aAIIO*>I M 2Acoustic response timeout[я,^F?A:@?:+@:Y4ٱ: 2ž BAHRS rotation from veh to nav: [[-0.431523,-0.836338,-0.338121],[0.902100,-0.399239,-0.163783],[0.001987,-0.375695,0.926741]]:H ۿ`Hǣտ?` ٿĿ`F`?`c ؿ ݧ?i:@?I: @^;:XCYJ4eAyJ HbDVCVDV8yZ0=%^V=ٔ^ߔQ-b>9`I`=bFyb٢EfEf>hQ 5ni4j?Q 95i4ja)jAY1y= @Q I=?jCIj ]ߵ%=ߵ<2Acoustic response timeoutybEe&4jEe4rEeϚ/EW ECE>E"E :*E09VE4ZEa@a@a@a@ԩ "я,r_F?A2N}?2z4@2Ƃٱ2ƾ :AHRS rotation from veh to nav: [[-0.419054,-0.841536,-0.340897],[0.907953,-0.386742,-0.161407],[0.003991,-0.377156,0.926141]]2Hڿ@տ ? cؿ Ŀ`Xp?T#ؿ`?i2N}?I2T^;2[C@Y^FeAyb H``%2Acoustic response timeoutyCl?Zd;O?A`";??j<Y 9rh|? ףp= ?+Y[?yQ8=B ) BYBbD7VD8y~!<%:=ٔ╻Q->9I=FyۢEE>Q 5i4v?Q 9i4q|)AY]?Q Eu:y@Q I?JCI:iU:si4yɮ*B*j Bj iiziJii kXkXkXh) kSpkSpkSph92fML=:fML=BfM:F>JfMn@iɢm )i u+iq)u[@AqAqB}$>ByByByByByByB}ν;B}}EB}HCB}GCByB}=B}=C}Ȉ42Acoustic response timeoutE P E E @E "E 9*E VE 4ZE BE e:a 2E j:a JE 9:a :E 9:a  Ǘя, _F?A6Z?6?6XŻٱ6Hƾ FAHRS rotation from veh to nav: [[-0.405734,-0.847223,-0.342918],[0.913971,-0.373615,-0.158331],[0.006022,-0.377657,0.925926]]6H@ٿs@\տ@??N׿ /DĿ x?@+ؿ/?i6Z?I6;^;6ZCYRTeAyR Hlpp p)pItbD~VVD~8y<%W=ٔSQ->9!I!=%Fy%ޢE-E->9Q 5Ei4=Ek?Q 9Mi4=t)=wAYIyU-@Q IU?=tCI=W;i=+Z;=1a  2Acoustic response timeoute͗я,]:_F?A:ä?:i?:ٱ:Ǿ FAHRS rotation from veh to nav: [[-0.391579,-0.852647,-0.345918],[0.920110,-0.359601,-0.155191],[0.007931,-0.379052,0.925341]]:HٿH@#ֿq?׿Lÿ=?`cBؿe?i:ä?I:VW^;:XCYJ[eAyJ HERU EROER?EP"ER:*ER9VER^4ZEPaZ@aZ@aZ@aZ@bDb^VDb8yj6;%jO=ٔjpQ-j>9nH?InH?=nFynEr_ Er>tQ 5zi4v_?Q 9zi4vql)v4AYxyz\?Q Iz?vCIv6:ivN:vi4yBɮB~E*jBjiiziJi!i! kokokoh19 kokokohI2fY:fYBfYJf]w@yɢ})y D*i)Xf/<顁iIAIIOE>i=2Acoustic response timeoutԑ 1ԗя,8T_F?A2?2b?2 ٱ2ݑǾ >AHRS rotation from veh to nav: [[-0.376753,-0.858223,-0.348583],[0.926262,-0.345072,-0.151537],[0.009767,-0.379971,0.924947]]2Hؿv`.Oֿ?ֿ`eÿ?rQؿ*?i2?I2<^;2[CYBeAyF HDDbD [VD 8yEݹ<%MC=ٔMQ-M>9QIQ=UFyUEUEU>YQ 5ei4]S?Q 9mi4]c)]AYiymK?Q Im?]ΙCI]{:i]:]i4yqɮ} By*jBjiiԙziJii kkkkkkh klklklh2f:fBfJfBGCBh HBeABBB|DB;B~E2Acoustic response timeoutET EEE<E"E9*EA9VE 4ZEBE:a2E:aJEV:a:EV:aAEAIQIaO> i>ґC]_Gqb9Y AU hDAT read: Forwarding Delay UpTx time:18:39:57.2492 U pIn parseResponses, set commsState_ = SENDING_ACK_WAITINGU 2Acoustic response timeout! ڗя,n_F?A2?2%l?2{/=ٱ2<Ⱦ :AHRS rotation from veh to nav: [[-0.361595,-0.863523,-0.351536],[0.932264,-0.330212,-0.147799],[0.011547,-0.381168,0.924434]]2H_$׿`ֿ?/"տ¿̥? eؿ ?i2?I2ob^;2ZCY^8eAy^ HbDU+VDU8yc1%C=ٔ1Q->9K?IK?=FyEVE>Q 5i4H?Q 9i4Z)AYy0?Q I?CI;i:Ai4yBɮB*j Bj i iziJii klklklh) klklklh92fI:fIBfIJfMpY@iɢmxx)i mz,ii)uw"!2Acoustic response timeoutEU ECE?E"E:*E09VE^4ZEa@a@a@a@Qԁ fя,_F?A2n?2%Z?2PhUٱ26ɾ :AHRS rotation from veh to nav: [[-0.346463,-0.868355,-0.354856],[0.937973,-0.315434,-0.143903],[0.013025,-0.382703,0.923780]]2Ht,ֿֿ ?`0Կ@hk¿ج?4~ؿ`?i2n?I2KA^;2[CYBeAyB Hi|I|2Acoustic response timeout=y&1?Zd;O ףp= P?jQ8 9ףp= ?S㥫?EȿY>?y/]=F OB)YBbDVD8y % E=ٔ jQ->9H?IH?=FyEE>!Q 5-i4%O@?Q 9-i4%2S)% AY-E?Q E5:y5.?Q I5?%#CI%P;i%;%i4y9ɮ=B9Q*jYBjYiYiaziaJiaia kmkmkmhy kmkmkmh2f:>:f:>Bf 4@Jfӥ@颹ɢ) /i)<iқIAIIO5.>ԁB>BB HBfAB=BBB׽;B}E2Acoustic response timeoutԹE  E BE >E "E *E (9VE 4ZE BE :a 2E :a JE L+:a :E O+:a xя,Ρ_F?ANtV?NB?NZdٱNwhɾ VAHRS rotation from veh to nav: [[-0.331070,-0.873295,-0.357420],[0.943503,-0.300766,-0.139075],[0.013953,-0.383271,0.923531]]NH@>0տֿ-1??ӿ2?ؿ@?iNtV?INf2^;NYCY^TeAy^ H``bDjVDj8yr c=%r_=ٔr &Q-v>9tIt=vFyvEz6Ez>|Q 5i4~a9?Q 9i4~RL)~{AYy ?Q I ?~FCI~9:i~:~i4yBɮBtE*j)Bj)i)i1zi1Ji1i1 kskskshI kCkCkChY2fi:fiBfiJfm(@颉ɢ$) *i) <顑iS1IԱAIIO> 2Acoustic response timeouti1I5pA  2Acoustic response timeout1 8я,_F?A2W?2B?2$wٱ2 ʾ :AHRS rotation from veh to nav: [[-0.316301,-0.877589,-0.360265],[0.948539,-0.286521,-0.134835],[0.015106,-0.384374,0.923054]]2H@G>Կ`5׿mZ? 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2ؿN?i2?I2)^;2ZCYB.fAyB HbDvVDv8y%=%-q=ٔ-Q--?91I1=5Fy5E5NE=?AQ 5Ej4E?Q 9Mj4E)E~AYIyM:?Q IM?EFCIE:iE:E*j4Be >BaBe HBefABaBaBaBe;Be}EB%GCB!B!B%=B%=C%5yUBɮɛB*j)Bj)i)i)zi)Ji1]2Acoustic response timeouti1 kspkspksph2f:fBfJfD@Աɢ{,) i)? ;iIEuR Eu>Eu>Eq"Eus9*Eu9VEu4ZEqBEux:a2Eu}:aJEu9a:Eu#9aA%$AI1IIIqO<>  2Acoustic response timeout9 Ęя,p`F?A;ɰ;:G?:2?:-+ռٱ:3ƾ FAHRS rotation from veh to nav: [[-0.210345,-0.907338,-0.363995],[0.977281,-0.185244,-0.102990],[0.026019,-0.377389,0.925689]]:H@ʿ K׿E?ǿ]?@"'ؿ`??i:G?I:=^;8YJfAyNv HbDVVDV8y^G%bQ=ٔbYQ-b>9fH?IfH?=fFyfEfM6Ef>hQ 5nj4jz ?Q 9rj4j)j}AYpyr?Q Ir?jgCIj;ij;jO8j4ytɮv͛Bx*jBjii zi Ji i  kWkWkWh! k#pk#pk#ph12fA:fABfAJfEB@aɢe*)a eii)mt;iiim+qIqAAIIO>e2Acoustic response timeout9EY E@E@E"E:*E9VE4ZEa@a@a@a@i j"я,~`F?A 2?2&?2&ܼٱ2ež >AHRS rotation from veh to nav: [[-0.192485,-0.911208,-0.364212],[0.980930,-0.168478,-0.096909],[0.026943,-0.375920,0.926260]]2HYȿ(@>O׿@c?ſϸ閛?ؿ?i2?I23^;2[CYFfAyF~ HHHb2Acoustic response timeoutyesh|??)\(?p= ף?e)?eG=e=a a9e +?l?/$Ye?ye>eeBa eOB)eÌBaYeBbD}VD}8y;%>=ٔ Q->9K?IK?=FyEn-E>Q 5j4?Q 9j4u )}AY?Q E:ym?Q I?CI;i;\Gj4y}BɮB`E*jBjiiziJii kWkWkWh k#ok#ok#oh2fP=:fP=BfN +@Jfٺ@1ɢ:) Qi)Hy;项iܖIiA!I)I9O8>ԙB]!>BYB] HB]fAB]=BYBYB];BYu2Acoustic response timeoutE X E EE >E "E ~ :*E A9VE 4ZE BE :a 2E :a JE V:a :E V:a (я,Z`F?A6Q?6?6@Tٱ6 ždp|-i9)Y-A ]AHRS rotation from veh to nav: [[-0.175175,-0.914313,-0.365165],[0.984155,-0.152276,-0.090840],[0.027450,-0.375292,0.926500]]6H#lƿ@ B^׿1~?}ÿEA? 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Fix? ؿN?i2%?I2^;0\YbhAybHdfR=bDnVDn8yvF=%vy=ٔvvQ-v?9xIx=zFyzE~*E~?Q 5 j4Rñ?Q 9 j4B)*|AY y  ?Q I ?CI:i:j4yɮcB*j)Bj1i1i1zi1Ji1i1 k9k9k9h k9k9k9h2f :f Bf Jf P@IɢM)I M iI)UeQQiUYIYAiIqIO>-2Acoustic response timeoutbEjE4rE61E^ EDELE"EC#:*Ea99VE!5ZEa @a @a @a @A cя,MaF?A2r?2^?2ٱ2ɾ :AHRS rotation from veh to nav: [[-0.033629,-0.923370,-0.382436],[0.998957,-0.019227,-0.041419],[0.030892,-0.383430,0.923053]]2H7? yؿt?64 ,?ؿ?i2r?I2 7^;2\CB2Acoustic response timeoutY^hAy^Hy?Mb?9 I = Fy EE>Q 5%j4?Q 9%j4Q =-tI){AY-&?Q E-:y-?Q I-?œCI;i;j4y=RBɮ=NB=LE*jIBjIiQiQziQJiQiQ k:k:k:hi k:k:k:hy2fA>:fA>Bf$@Jf@颱ɢ ) ?i)^.项igIIAI IOM1>BA<BBBHBhAB=BBBz;B}EBaBaBaBe=BaCe[4y15%==2Acoustic response timeoutE V E CE @E "E =:*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a ԙ Fiя,aF?A2h?2 ?2Wrٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.019678,-0.924111,-0.381618],[0.999284,-0.005836,-0.037395],[0.032330,-0.382080,0.923563]]2H&Pmlؿ!?ws%?tؿԍ?i2h?I2Y^;0YnfhAynHY]AybDeVDe8y7=%O=ٔnQ->9I=FyEE>Q 5j4?Q 9j46){AYy?Q I?CI&;i0;j4yɮEB*jBjiiziJii k;k;k;h2f:fBfJf6@ ɢ  ) -i)튺iW^I2Acoustic response timeoutԩAe$AIiIyIO?> E 2Acoustic response timeoutDY zD] @A,9pя,aF?AE6R E6BE6?E4"E6s9*E6(9VE6^4ZE4a:@a:@a:@a:@>έ?>?>n ٱ>BȾ FAHRS rotation from veh to nav: [[-0.005206,-0.924531,-0.381072],[0.999421,0.008006,-0.033076],[0.033631,-0.381023,0.923954]]>H`nRuycؿ A? e?@e8? bؿ`?i>έ?I>s@^;>ZCYNThAyNHPR@AbD5VD58y=65%EQ=ٔEoZQ-E>9MH?IMH?=MFyM EUEU>YQ 5]j4]k?Q 9ej4])]_{AYaye?Q Im?]CI]7 ;i]T ;]j4yqɮuGBq*jBjiiziJii k"k"k"h k:k:k:h2f:fBfJf @^B*** querying acoustic contact ***XYɢ') ci)YiMIAUAIYIiO> 2Acoustic response timeout9}PExceeded connect timeout, disconnecting.i Xvя,ZaF?AB&!>B$B&\HB&#iAB&=B$B$B&;B&}EB۫?Bx?BfٱBǾ JAHRS rotation from veh to nav: [[0.010015,-0.924606,-0.380792],[0.999346,0.022492,-0.028330],[0.034759,-0.380260,0.924226]]BH悄?_^ؿ?`A?ˡ? ,Vؿ`C?iB۫?IB"^;B[CYRhAyRHbDZVDZ8yb=%fT=ٔf?Q-f>9fK?IjK?=jFyj#Ej!Ej>lQ 5rj4n?Q 9vj4n)n"{AYtyv"?Q Iv?n#CIn-:in:nj4yxɮz@B|*j Bj i iziJii kC"kC"kC"h) k@k@k@h2f:fBfJf~@2Acoustic response timeoutɢ" ) Oi!)%G!!i-9R9IAYEV E@E>E"E=:*E9VE4ZEBEa-2Ea-JE.:a-:E0:a-A$AIIO%> 57j>1ԁ9YTAԱ In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 8Ack receipt timeout failure. 2Acoustic response timeout |я,ΉaF?A2?2R?2Hٱ2Ǿ :AHRS rotation from veh to nav: [[0.025327,-0.924042,-0.381450],[0.999031,0.037138,-0.023632],[0.036003,-0.380482,0.924087]]2H`@?`iؿ ?`?3o?Yؿ?i2?I2^;2ZCYBiAyBRHbDNVDN8yV=%VL=ٔVaKQ-V>9ZH?IZH?=ZFyZ%E^^E^>`Q 5fk4b?Q 9fk4bE)bzAYdyf+?Q If?bDCIb>:ib:b k4ylɮn/Bl*jtBjxixixzixJixi| k3;k3;k3;h  kS;kS;kS;h2f):f)Bf)Jf-K@IɢM)Q U~ݾiQ)U QYi]+dYIaԱAAIIO>=4=In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutE EAEAE"E*E 9VEA4ZEa%@a-@a-@a-@ 1 kя,VbF?Aa 222Acoustic response timeoutBۧ?B@?BٱBC Ⱦ NAHRS rotation from veh to nav: [[0.041238,-0.923260,-0.381956],[0.998456,0.052323,-0.018676],[0.037228,-0.380596,0.923992]]BH`!?Xqؿ Y?ʪ? ? [ؿ@W?iBۧ?IBc%^;B[CYn~iAynHppymCl?~jt?m/?mLm=i i9mNbX9?I +?Mb?Ym%?ym94=m9K?IK?=Fy(EE>Q 5k4g?Q 9k4)zAY&?Q E:yk?Q I?hCI7 ;i ;%k4y@BɮBBE*jBjiiziJii kDkD5nManaging dock network, ignoring radio surface power offkDhq2f =:f =Bf?Jfc@ɢ#) 7оi)#iHI1AE$AIIIYO:>A9A=@ABABABEHBEiABE=BABABE;BE ~EY2Acoustic response timeoutE5 Q E5 EE5 ;E1 "E5 29*E5 A9VE5 4ZE1 BE5 :a= 2E5 :a= JE5 V:aE :E5 V:aE ԉ я,0(bF?A02?2A?2Pnٱ2RȾ :AHRS rotation from veh to nav: [[0.058262,-0.922171,-0.382370],[0.997580,0.068336,-0.012805],[0.037938,-0.380699,0.923920]]2Hԭ?k@xؿ`-?y~?f9l?@_]ؿ?i2?I2^;2\CYviAyvH   )IbDVD8y-=%-Q=ٔ5Q-5>95H?I5H?==Fy=+E=n2EE>IQ 5Uk4M5?Q 9Uk4M8)M{AYQy];?Q I]?MCIM(;iMX);M(k4yiɮm Bi*jBjiiziJii k)k)k)h2f:fBfJfb@ɢ) #ɾi) 6i ˔ IiqIq}2Acoustic response timeoutIioAIԩA AII!OU> % 2Acoustic response timeoutE= Z E= @E= @E9 "E= :*E= 9VE= 4ZE9 aM @aM @aM @aM @2}я, BbF?A2}?2,i?2mٱ2Ǿ :AHRS rotation from veh to nav: [[0.075272,-0.921128,-0.381913],[0.996418,0.084287,-0.006904],[0.038550,-0.380026,0.924172]]2HE?y@Eqؿ ?@ғ?sG|ͼ?WRؿђ?i2}?I2+^;0YBjAyBHbDJVDJd8yRR=%RS=ٔVϺQ-V>9VK?IZK?=ZFyZ-EZ4EZ>\Q 5bk4^`?Q 9bk4^)^/{AYdyf ?Q If?^CI^B:i^:^X6k4yhɮjBhl*jxBjxixi|zi|Ji|i| k#$k#$k#$h k9k9k9h2f:fBfJfa@ ɢ A) i)jJi: 1I9 A$AIIO!>}2Acoustic response timeout1a BE >BA BE =HBE jABE =BA BA BE ;BE 6~Eя,)[bF?A2C?2h/?2Nٱ20Ⱦ :AHRS rotation from veh to nav: [[0.092584,-0.919182,-0.382797],[0.994945,0.100417,-0.000484],[0.038884,-0.380817,0.923832]]2H?`iؿ?费???O_ؿ ?i2C?I2)^;2[CYBjAyBHDF?A9bD VD W8yU;%U@=ٔ]xMQ-]>9eH?ImH?=mFym0Euy&Eu>2Acoustic response timeoutQ 5-k4?Q 9-k4)L{AY)y5?Q I5?ΝCIH;iJ;Fk4yAɮEBI*jBjiiziJii kS!kS!kS!hEX EBE<E"E~ :*E(9VE 4ZEBE:a2E:aJEL+:a:EO+:a 2f:fBfJf`@AɢMN)Mv miii)u_qqiux^qIyiAAIIO J>ԑ 2Acoustic response timeout "ќя,ubF?A6?6n?6I ٱ6Ⱦ >AHRS rotation from veh to nav: [[0.109420,-0.916802,-0.384059],[0.993225,0.116051,0.005943],[0.039122,-0.382107,0.923289]]6H@? qV`lؿ??vWx??rtؿ@?i6?I654^;6]CYFjAyF:HbDVD_8yEs=%MK=ٔMQ-M>9MK?IUK?=UFyU2EU#-EU>YQ 5ek4]߳?Q 9mk4])]e{AYiym?Q Im?]CI]:i]B:]MSk4yqɮuBy*jBjiiziԙJii k#k#k#h k$k$k$h2f:fBfJfo_@颉ɢ]) ]i)p顱iI2Acoustic response timeoutA$AI1IAO:>EU E>E>E"E:*E9VE4ZEa5@a=@a=@a=@ я,,bF?A"2Acoustic response timeout6`?6޸?6ٱ6Ⱦ BAHRS rotation from veh to nav: [[0.126088,-0.915019,-0.383200],[0.991250,0.131414,0.012365],[0.039044,-0.381406,0.923583]]6H@#? GWؿR?+?R?? hؿ?i6`?I6^;6[CYFjAyFpH==y}&1?)\(+?}0?}Ga}=y y9} +?i|?5?Zd;O?Y}6?y}q=}j<=y}TmB }ÕB)} ByY}BbDpVD 8yT=%D=ٔE9Q->9H?IH?=Fy5E_%E>Q 5k4?Q 9k4){AY7?Q E:y?Q I?CI:i:ak4y-BɮКB8E*jBjiiziJii k#k#k#h k#k#k#h)2f=:f=BfV?Jf2@ɢ5kӼ) Mi).i%l!I)!IIIYO<>B<AB>BBHB4kAB=BBB;B7~E2Acoustic response timeoutQE X E EE <E "E ~ :*E A9VE 4ZE BE a 2E a JE V:a% :E V:a% y 㩘я,-xbF?A2ݚ?2Bɶ?2Iٱ2Ⱦ :AHRS rotation from veh to nav: [[0.142187,-0.912568,-0.383409],[0.989073,0.146234,0.018739],[0.038967,-0.381884,0.923388]]2H,3?3`ljؿ{? ˷?@@0?~?pؿe?i2ݚ?I2^;2\CYBjAyBmHbDNZVDN 8yVd%V\=ٔZX9Q-Z>9XI\=^Fy^7Eb2Eb>dQ 5jk4fv?Q 9nk4f)f{AYpyr?Q Ir?f6CIfp3;if,;fnk4yxɮzњBx*jqBjqiqiziJii k#k#k#h2f:fBfJf1@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeedQaɢe޼)a eia)m*iiimLqIU2Acoustic response timeoutԁ cAW?AH?IqIԱO> %= %= 2Acoustic response timeout bE4jE˒4rE}0E% R E% CE% >E! "E% s9*E% 09VE% 4ZE! a- @a- @a- @a- @&˰я,TbF?A2ܘ?2cȴ?2E ٱ2_ɾ :AHRS rotation from veh to nav: [[0.157648,-0.909925,-0.383645],[0.986720,0.160541,0.024696],[0.039119,-0.382443,0.923150]]2H-?@ ؿ@6??@J?a? yؿr?i2ܘ?I2^;2ZCYBkAyBHbDJ`VDJ8yR<%VJ=ٔV`ŹQ-V>9TIX=ZFyZ:EZEEZ>\Q 5bk4^ܶ?Q 9bk4^|)^N|AYdyf?Q If?^[CI^:i^N:^|k4yhɮj˚Bl*jtBjtitixzixJixix k#k#k#h  k;k;k;h2f):f)Bf)Jf-g0@s5NUpdating rudder angle 6.875493 arcdeg 95r56Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderɢ}׼) i) iIԱU֣IQIaO=e2Acoustic response timeout B >B FCB HB kAB B B B ;B 2~EBBBBB=C`49 Fя,4/bF?A ɰ"49I=FyQ 5k4ø?Q 9k4s)|AYy?Q I?CI :i: k4yɮB2Acoustic response timeout*jBjiiziJii k#k#k#h1 ks9ks9ks9ha2f:fBfJf/@ES EME<E"E9*E9VE 4ZEBE:a2E:aJE:a:E:a颩ɢ) ~i)@i!I!9U𕭼AazAenAIIO5>i  2Acoustic response timeoutFя, bF?A 2?2?2p_!ٱ2[Ⱦ >AHRS rotation from veh to nav: [[0.187221,-0.904771,-0.382541],[0.981528,0.187917,0.035919],[0.039387,-0.382200,0.923240]]2H`?@{ؿ@h? ?c?*?`uؿ`.?i2?I2%^;0YZkAyZHbDftVDf#8yj=%nV=ٔn Q-n>9pIp=rFyr?ErEv>tQ 5zk4vǺ?Q 9~k4vl)v|AY|y~ؽ?Q I~?vCIv;ivD;vdk4y Bɮ B /E*jBji!i!zi!Ji!i! k k k h9 k7k7k7hI2fY:fYBfYJf]&.@yɢ}^ɼ)y i)y顁i:mIq 2Acoustic response timeoutIER ECE@E"Es9*E09VE4ZEa%@a%@a%@a-@I1IԡOEs> Ęя,cF?A22Acoustic response timeout64?6f ?6 ٱ60Ⱦ >AHRS rotation from veh to nav: [[0.201081,-0.902604,-0.380620],[0.978787,0.200713,0.041120],[0.039280,-0.380814,0.923817]]6H?"@\ؿ8R??@ ? ?@C_ؿ@?i64?I6m ^;6ZCPYR5lAyR?Hyq= ףp?~jt?MbK?>@ 9K7A?ʡE?/$Y B?y-=B B)NBYѕBbDVDA8y=%<=ٔt9Q->9I=FyBEE>Q 5k4ɽ?Q 9k4d)|AYeC?Q E:yL?Q I?ОCI ;iT ;k4yɮB*jBjiiziJii kkkh1 k38k38k38hA2fU*=:fU*=BfU<@JfUs{@ɢ˪) ri)=iL󗼉IIqIO=B>BBiHBylAB=BBB;B~E=2Acoustic response timeoutEW EE?E"E :*EZ:VE^4ZEBE(:a2E-:a JE*;a :E+;a 9 Q i /9 Y AI1ʘя,#*cF?A>o?>Z?>B!ٱ>uƾ JAHRS rotation from veh to nav: [[0.214613,-0.900672,-0.377798],[0.975906,0.213334,0.045785],[0.039360,-0.378521,0.924755]]>Hlx?`N-ؿ:?N?q?'?9ؿ?i>o?I>C^;9I=FyDE}E>Q 5k4?Q 9k4-\)|AYy?Q I?CI:i-:k4yɮB*jBjiiziJii kkkh kCkCkCh2f!:f!Bf!Jf%@AɢE)A E:iiA)M;-IIiM=lQIQu2Acoustic response timeout)AIIO">Qԁ % 2Acoustic response timeoutD zD ?AE S E ?E <E "E 9*E ?9VE 4ZE a @a @a @a @(јя,DcF?ABUΏ?B?B!ٱBž JAHRS rotation from veh to nav: [[0.227005,-0.898834,-0.374923],[0.973093,0.224941,0.049912],[0.039473,-0.376165,0.925712]]BH`?> ׿#? ? ? 5?ؿm?iBUΏ?IB_^;B[CYRlAyR|HTVa=9bD-gVD-8ye=%eL=ٔeؓQ-e>9iIi=mFymGEm>Eu>Q 5k4fı?Q 9k4T){|AYy?Q I?CI;iv;k4yɮB*jBjiiziJii k:k:k:h k;k;k;h)2f9:f9Bf9Jf=4@Yɢ]Bͤ)Y ]YiY)e汻aaie񘼉aIiiIIO#>iYIYe2Acoustic response timeoutԡ Be >Ba Be HBe DmABa Ba Ba Be ؽ;Be }EYDטя,z^cF?A^( ?^ ?^G"ٱ^ľ fAHRS rotation from veh to nav: [[0.239759,-0.896493,-0.372581],[0.970024,0.236873,0.054262],[0.039609,-0.374422,0.926412]]^H l?@\׿p ?Q? 7ȫ?G?`׿*?i^( ?I^:m^;^\CYnlAyrHbDziVDz8yc=%R=ٔ ηQ- >9 I = Fy IEs E>Q 5%k4DZ?Q 9%k4L)Y|AY)y-F?Q I-?DCI:i:k4y5Bɮ5jB5%E*jIBjIiIiIziIJiQiQ kc<kc<kc<hi ks<ks<ks<hy2f:fBfJfP@颡ɢ^) Ci)顱iKrԱI52Acoustic response timeoutEW E>E=E"E :*E9VE|4ZEBEa2EaJE9a:E#9aIIO>  2Acoustic response timeout9 Tmݘя,3QxcF?A4<ɰ;2s?2#_?2{"ٱ2Pľ :AHRS rotation from veh to nav: [[0.252427,-0.893558,-0.371261],[0.966803,0.248637,0.058922],[0.039658,-0.373809,0.926657]]2H@'?`׿ ?`U? +?@N? ~׿ -?i2s?I26^;2]CY^lAybHdfAj@AjAAbDjeVDj8yv%vL=ٔvQ-v>9xIx=zFyzLEzE~>Q 5k4 ̱?Q 9 k4D)5|AY y ?Q I ?kCI:i|:k4yɮkB*jBjiiziJii k#@k#@k#@h kVkVkVh2f :f Bf Jf @AɢMY)I MbEiI)MIIiUxQIYIIO5=2Acoustic response timeoutIER EEE@E"Es9*EA9VE4ZEa@a@a@a@iԙ Wя,i7cF?A"2Acoustic response timeout6]Ȋ?6?6v"ٱ6 ľ BAHRS rotation from veh to nav: [[0.265008,-0.890443,-0.369975],[0.963431,0.260296,0.063620],[0.039653,-0.373305,0.926861]]6H?~`׿l?? fI?eM?;׿ר?i6]Ȋ?I6p ^;6\CY^(mAy^H`b@AyMX9v?l?:vM=?M=MԼI I9MGz?kt?bX9ȶYMp=?yM 0=MEIM%eB M B)M BIYMaBbDm8VDm8y}j=%}A=ٔ}%Z7Q-}>9I=FyNE[E>Q 5k4ұ?Q 9k4<){AY??Q E:yا?Q I?CI ?Jf2@ɢu) 5i)   i bIIIO>B!A!B->B)B-JHB-mAB)B)B)B-;B-}Eԙ2Acoustic response timeoutEX EBE>E"E~ :*E(9VE4ZEBE:a2E:aJEL+:a:EN+:a я,( cF?A>?>?>r"ٱ>3mþ JAHRS rotation from veh to nav: [[0.277729,-0.887362,-0.368042],[0.959841,0.272132,0.068187],[0.039650,-0.372199,0.927306]]>H`N?Fe@׿`?j?@t?L?׿}?i>?I>$,^;>[CY~mAy~H!! !)!I!bD55VD58yEz=%EN=ٔEj7Q-E>9III=MFyMQEMEU>QQ 5ek4Uٱ?Q 9ek4U"5)UM{AYaye,?Q Ie?UCIU(:iU:Uk4yiɮuZBq*jBjiiziJii k;k;k;h k;k;k;h2f:fBfJfd@ɢ䞌) i)Ļi-IIIO=U2Acoustic response timeoutI  2Acoustic response timeoutE V E AE @E "E =:*E  9VE 4ZE a @a @a @a @Ggя,cF?A02ZM?28?26!ٱ2'¾ >AHRS rotation from veh to nav: [[0.291107,-0.883923,-0.365974],[0.955881,0.284471,0.073265],[0.039349,-0.371156,0.927737]]2H?Il׿?`4?@y?`%?`׿?i2ZM?I2^;2ZCYFmAyFH HHJ=J=bDRVDR8yZ<%ZT=ٔZL:Q-Z>9\I\=^Fy^SEbKEb>dQ 5jl4fZ౉?Q 9jl4f-)fzAYhyjg?Q Ij?fޟCIf:if:f, l4yrBɮrFBrE*jxBjxi|iyziyJiyiy k9k9k9h k9k9k9h2f:fBfJfM@ ɢ*) 5i1)=kȻ99i='ʛ9IAԑAAIIO%>e2Acoustic response timeoutԹ B! 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`VͿ@'?6?@_? ׿?i2=c9XIX=ZFy^E^]E^>`Q 5fo4bPF?Q 9fo4b ,)bAYhyj]>Q Ij?bCIb:ib:bo4AAAA@AB%>B%3CB%eHB%{AB%=B!B%mDB%.;B%}Ey]Bɮ}LBy*jBjiiziJii k<k<k<h k<k<k<h2f:fBfJfj m@)ɢ-#.n=)1 5%?iQ)U<8EEX EEGEE<EA"EE~ :*EER9VEE 4ZEABEE:aM2EE:aUJEEt:aU:EEt:aU}2Acoustic response timeout  wя,2<ٱ2/ :AHRS rotation from veh to nav: [[0.973119,-0.217285,-0.076332],[0.230101,0.903447,0.361715],[-0.009633,-0.369556,0.929159]]2H#?`˿ @s? ? 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G־@bR`ҿ?c? ?@uؿ?i2@I2|^;2^CY^zAyb$HyuV?T㥛 rh?̼ 9?K7PnY@?yI [B )7BYBbDeVD>8yn%@=ٔQ->9K?IK?=Fy E/E>Q 5p4S8?Q 9p4")AYE?Q E:y'ؽQ I?CI:i:p4yBɮ\B*jBjiiziJii k7k7k7h  k7k7k7h2f-O>:f-O>Bf-?e@Jf-)w@IɢU{=)Q U*?iQ)]C!I  2Acoustic response timeout@Țя,B`%kF?AA0A2AAB6y>B4B4B4B4B4B4B6*;B6}EB@B=Bsp<ٱBƾ NAHRS rotation from veh to nav: [[0.994079,-0.105191,-0.027231],[0.107660,0.919624,0.377757],[-0.014694,-0.378452,0.925504]]BH ?⛿@?m?+-?` 8ؿ ?iB@IB^;B[CYRzAyVHdf d)dIdbDn,VDn 8yvEr%vW=ٔv:Q-z>9zH?IzH?=zFyzE~4E~>Q 5 p4P?Q 9 p4#)rAY yQ I?;CI:iy:p4yBɮbB*j1Bj1i1i1zi1Ji9i9 k9k9k9hI k#9k#9k#9h2f:fBfJfv@ ɢ k=) _)?i)5%2<11i=Xj9IAQAEAIQIiO>yE[ ECE@E"Ea:*E09VE4ZEBE ;a 2E ;a JE9:a :E9:a ]2Acoustic response timeoutԩ =Ϛя,:?kF?A6o@6@߸=6 u<ٱ6UǾ@ BAHRS rotation from veh to nav: [[0.995817,-0.089054,-0.020436],[0.090137,0.920886,0.379267],[-0.014956,-0.379523,0.925061]]6H?F̶ B픿6?w?E?8Jؿ`?i6o@I6@^;4YJzAyJHN=Na=bDVVDV8yZ3:%^N=ٔ^,:Q-^>9bK?IbK?=bFybEfn5Ef>dQ 5jp4fDj?Q 9np4f$)f2AYlynQ In?fbCIf;if+;fp4ytɮvaBt*j|Bj|iiziJii k7k7k7h kTkTkTh)2fA:fABfAJfEu@Yɢ]*K=)a e|)?ia)eT E W E IE ?E "E :*E c9VE ^4ZE a @a @a @a @m 2Acoustic response timeoutS՚я,YkF?A6g@6@=6d}<ٱ6Ǿ >AHRS rotation from veh to nav: [[0.997246,-0.072955,-0.013311],[0.072529,0.922050,0.380214],[-0.015465,-0.380132,0.924803]]6H@q?5BH?o? mU?F Tؿ?i6g@I6 ^;6\CYFzAyFHlbD VD 8yӇ%D=ٔ%%:Q-%>9%H?I%H?=%Fy%E--E->1Q 5=p45?Q 9=p45#&)5AYAyE!Q IE?5CI5;i5 ;5-p4yMBɮMeBMݶE*jaBjaiaiaziiJiiii k#Vk#Vk#Vh k3Vk3Vk3Vh2f:fBfJf,s@ɢ=Հ=)  )?i)9ڐ<iyI A%AI1IAO}>2Acoustic response timeoutBex>BaBeeHBe{ABe=BaBaBe;Be}E1QU>a F%ܚя,=rkF?A2@2Hc=2<ٱ2pǾ :AHRS rotation from veh to nav: [[0.998332,-0.057395,-0.006244],[0.055453,0.923178,0.380352],[-0.016066,-0.380064,0.924821]]2HV?b@ydd?૊?W?sRؿ`!?i2@I2-6^;2^CYBMzAyBHEbY EbEEblE`"Eb:*EbA9VEb5ZE`BEb;aj2Eb;ajJEbV:aj:EbV:aj=<%2Acoustic response timeout9bDM VDM8yf%@=ٔf:Q->9K?IK?=FyE %E>Q 5p4 ?Q 9p4')AYy >3Q I ?CI7;iF;fԙ2Acoustic response timeout } я,͌kF?A2Q@2\=2_<ٱ2MǾ :AHRS rotation from veh to nav: [[0.999114,-0.042074,0.000687],[0.038647,0.923949,0.380557],[-0.016647,-0.380194,0.924757]]2H?@F? ɣ?`?` [?@ Uؿ ?i2Q@I2#^;0YNzAyRHPPԙyM?y&1)\(?nR?`eG= 9S㥛?ףp= ÿMbYD?yBkhB NB)fBY=BbDVD8y&6%H=ٔ:Q->9I=FyE(E>Q 5p4?Q 9p4()ʌAYH?Q E:yQ I?ݪCIM;is;Jp4y Bɮ B*j!Bj!i)i)zi)Ji)i) k;k;k;hA kWkWkWhQ2feC>:feC>BfezJ@Jfe{@颁ɢ|=) 1 ?i)<顉irIAA`?bE]4jE]5rE]3E\ EBE=E"E:*E(9VE|4ZEa@a@a@a@52Acoustic response timeoutAII)O}7> i I  2Acoustic response timeout6я,㥦kF?AB A"<B&}>B$B&LHB&zAB&=B$B$B&;B&}EBU3CBU3CBUCBQBQCU,4V2@V@9xI|=~Fy~E~T5E>Q 5 p4ӷ?Q 9p4'*)AYy)Q I?CI:i:Wp4y%·Bɮ%sB%޶E*j1Bj1i9i9zi9Ji9i9 kXkXkXhQ kqkqkqha2fq:fqBfqJfu@频ɢ =) '?i)焝<顙i6SIAaIqIO>!EV EEE>E"E=:*EA9VE4ZEBE:a2E:aJEa:Ea=2Acoustic response timeoutqԙ я,kF?A2F@2;27Ӗ<ٱ2ƾ :AHRS rotation from veh to nav: [[0.999812,-0.012580,0.014745],[0.006061,0.925511,0.378672],[-0.018410,-0.378511,0.925414]]2H v?É{2?@bx?ɝ?@(9|I|=~Fy~E"E> Q 5p4 I?Q 9p4 +) AYyZ:Q I? ,CI S:i : ep4y!ɮ%B!*j1Bj9i9i9zi9Ji9iA kXkXkXhQ kcpkcpkcpha2fq:fqBfqJfu2k@频ɢJE=) L!?i)L<顙i~Iq2Acoustic response timeoutAIIO= >ԡD ?AzD AAE X E HE ;E "E ~ :*E [9VE 4ZE a @a @a @a @M 2Acoustic response timeout UIя,^kF?A2@2ϼ@2<ٱ2ƾ :AHRS rotation from veh to nav: [[0.999763,0.002127,0.021644],[-0.010135,0.926103,0.377135],[-0.019242,-0.377265,0.925905]]2H?^ma?)?`?"?M%ؿ?i2@I2@^;0YBDzAyBHFa=Fp=bDNVDN8yV<%VO=ٔV! ;Q-Z>9XIX=ZFyZ E^(E^>`Q 5fp4b?Q 9fp4bD-)b#AYdyjKQ Ij?bSCIb):ibd:bsp4ynŷBɮn}Bl*jxBjxixixzixJi|i| kWkWkWhi kokokoh2f:fBfJf\@ɢf==) H$?i)(<iوIAzApAAaIqIO>2Acoustic response timeoutB%|>B!B%3HB%zAB%=B!B!B%;B%q}E IIGb9YAyu5?uA) Q uя,>BkF?Aɰ4<2M=@268@2Q<ٱ2ž :AHRS rotation from veh to nav: [[0.999450,0.016818,0.028580],[-0.026315,0.926677,0.374936],[-0.020179,-0.375482,0.926610]]2H~?8?/D?` W??֩ؿ`ʦ?i2M=@I2%^;0ER[ ERGER@EP"ERa:*ERR9VER4ZEPBER ;aV2ER ;aVJERt:aZ:ERt:aZYZzAy^Hll l)lIl~2Acoustic response timeoutbDvyVDve8y 4% D=ٔ;Q->9I=Fy#EE%>!Q 55p4%!?Q 9=p4%/)%BAYAyE[Q IE?%}CI%d;i%>e;%=p4yUȷBɮB*jBji!i!zi!Ji)i) k3Wk3Wk3Wha k#pk#pk#ph2f:fBfJfZ@ɢ`=)  ?i)s<i% I1A]$AIaIyO=>YiߩI߭A2Acoustic response timeoutԁ C[я,lF?A46[@6D@6.<ٱ6ľ BAHRS rotation from veh to nav: [[0.998868,0.031874,0.035314],[-0.042774,0.926647,0.373491],[-0.020819,-0.374579,0.926961]]6H?Q??|楿?G?Q׿?i6[@I6!^;4YJ zAyJHy-?V-p= ף??u?= 9{Gz?X9vHzG?YC?y= >BfhB yB)bBYBbD5jVD5W8yEO;%EG=ٔE:Q-E>9MH?IMH?=MFyM%EM$EU>QQ 5ep4U1:fe>Bfd@JfX@ɢ+=)  ?i)_]<qiukyIyԑD=D<E EE?E"E*EVE^4ZEa@a@a@a@2Acoustic response timeoutAAIIIO)>Թ  2Acoustic response timeoutB% w>B! 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Կ@?=?Ѡ ؿp?i>@I>@^;>[CY^xAy^H``bDjVDj8yr'%rF=ٔvD:Q-v>9tIt=vFyzVEzMEz>2Acoustic response timeoutQ 5 q4%?Q 9q4n])ҏAYyNQ I?CIp:i$:tq4y%Bɮ%B%E*j1Bj1i1i9zi9Ji9i9 kpkpkphQ kkkha2fq:fqԹBfqJfu*v@ɢ,=) ?i)%<i*O !I!AIIO>>>2Acoustic response timeout9 ̓я,2nF?A6kֶ@6Uѽ@6| =ٱ6T; BAHRS rotation from veh to nav: [[0.938372,0.304621,0.163291],[-0.344003,0.868899,0.355916],[-0.033464,-0.390155,0.920141]]6H$?~?`?%ֿ?T?="Jؿq?i6kֶ@I6,^;4YFLxAyJHyE!rh?L7A`/$?El?AE=A A9E(\?oʡտ rh?YEzt?yEEC=EBEfB EB)EzBAYEBbDmoVDmp8y6%@=ٔ:Q->9I=FyYEHE>Q 5q4B?Q 9q4d)_AY?Q EQ:y#Q I?CI`;iJO;Nq4y"BɮUBQ*jiBjiiiiiziiJiiiq kSpkSpkSph ksksksh2fil>:fil>Bf@Jfx@!ɢ%L`=)! -?i))-<bE&4jEH4rE}0E5W E1E5?E1"E5 :*E1VE5^4ZE1aE@aE@aE@aE@)IiM QIY2Acoustic response timeoutAAe$AIiIyOiA @AA @AB b>B B HB xAB =B B kDB h;B |EBm0CBm0CBmʓCBm=Bm=Cm 4ԡ  2Acoustic response timeoutsя,j-nF?A2#*@2 %@2 =ٱ2y˾ :AHRS rotation from veh to nav: [[0.930910,0.323041,0.170443],[-0.363652,0.863324,0.349900],[-0.034116,-0.387707,0.921151]]2H???@F׿X?d?`w1ؿz?i2#*@I2BN^;0YN]xAyNHxx x)xIxbDlVDn8yE2<%EN=ٔM:Q-M>9MH?IMH?=MFyM[EUQZEU>YQ 5eq4]\?Q 9eq4]~j)]AYaym-)Q Im?]#CI]):i] :]q4yu%BɮuBq*jBjiiziJii knknknh kkkh2f:fBfJfcw@ɢ6ҍ=) ?i)<i/ IqA%AI1IQO>ԙEA EEHEE>EA"EA*EE[9VEE4ZEABEE!:aM2EE&:aMJEER:aU:EES:aU2Acoustic response timeout я,FnF?A2@2u|@2 =ٱ2˾ :AHRS rotation from veh to nav: [[0.923215,0.340877,0.177419],[-0.382726,0.857151,0.344694],[-0.034576,-0.386129,0.921797]]2H?@?`?@~ؿm?v?Vؿ`[?i2@I2N2^;2]CY^xxAybHbDj^VDja8yrLJ<%rQ=ٔre:Q-r>9vK?IvK?=vFyv^EzWEz>|Q 5q4~uv?Q 9q4~p)~aAYy.Q I?~VCI~;i~;~q4y;Bɮ,BE*jBjiiziJii klklklh2f:fBfJfv@ ɢ 8=)  ?i)4=ib IA)zA-oAiyIy2Acoustic response timeoutAIIO!>1 EU i EU GEU :EQ "EU ,K:*EU R9VEU (4ZEQ a] @a] @a] @a] @- 2Acoustic response timeoutQ җя,6`nF?A28ٴ@2"Ի@2ں=ٱ2ʾ :AHRS rotation from veh to nav: [[0.915148,0.358682,0.183987],[-0.401610,0.850669,0.339222],[-0.034839,-0.384329,0.922539]]2HH?@??ٿ8?ϵ?n֡`ؘؿo?i28ٴ@I2&^;2^CYBxAyBH|~AbDNVDR8yE9III=MFyM`EUIEU>YQ 5eq4][?Q 9eq4]x)]AYaye3Q Im?]CI]:i]:]Rq4yu>BɮBe1CBeHBexABe=BaBelDBaBe|EIIOE0>2Acoustic response timeoutYԉ }я,znF?AET EJECE"E9*Ek9VE5ZEBE:a2E:aJE:a:E:a8Z2@Z-@Z=ٱZȾ fAHRS rotation from veh to nav: [[0.906792,0.376437,0.189799],[-0.420136,0.844135,0.333049],[-0.034844,-0.381747,0.923610]]ZH@p?@?SK?@ڿ'?P?@ סnؿ5?iZ2@IZ>^;Z\CYjfxAynHr4=r4=v2Acoustic response timeoutbDe>VDeC8y:L=%D=ٔ2;7Q->9I=FycEQ 5q4?Q 9q4\)qAYy69Q I?CI:i|:q4yɮe1Ba*jyBjyiyiyziJii kmkmkmh kmkmkmh2f:fBfJfs@ɢ =) j?i)ҷ=iփIԑII OC>Թ2Acoustic response timeout ᤛя,FznF?ANϓ@N@N=ٱN,^Ⱦ ^AHRS rotation from veh to nav: [[0.898476,0.392836,0.196013],[-0.437635,0.836880,0.328797],[-0.034876,-0.381199,0.923835]]`NHQ?7$?@?6ܿ@? 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HI?T?`kխ?k?@ۮÿ̿4?iC@IK^;ZCY%HnAy%Ha@a a@a a@a a@a y5^I ?Q?L7A`?X?u<+= )Mb@Mb@Mb@Ii‰wB |B)Y(zBbDNVDf8y%,%%A=ٔ-݀91I1=5Fy5ʤE5OrE=>9Q 5Et4=?Q 9Et4= )=3AQ AM+:YIQ EM:yM_Q IM?=fCI= ;i=>=t4yUqBɮ]B]bE*jiBjiiqiqziqJiqiq k39k39k39h kC9kC9kC9hɢB =) ۽i)+=iIAI)I9Ou6>2Acoustic response timeout9 ٱ2Qh :AHRS rotation from veh to nav: [[0.727766,0.633199,0.263469],[-0.668048,0.741405,0.063481],[-0.155142,-0.222209,0.962577]]2H@I?`*C?? `?D@?ÿYq̿m?i29Q@I2X^;2^CY^mAy^Hpp p)pIptvAbDzvVDz8y%b=ٔyz;Q- >9 I = Fy ̤E<;E>Q 5%t42?Q 9%t4%){AQ A% :Y!Q E-9y-^Q I-?CIX:iI?t4y5sBɮ5B19*jqBjqiqiziJii kS9kS9kS9h D5=D5<E=Q E=CE=>E9"E=29*E=09VE=4ZE9aE@aM@aM@aM@ k9k9k9hq颹ɢ5=) i)P+=iIu2Acoustic response timeoutiI II9Oe4>B]>B]>CB]HB]kAB]=BYB]uDB]M;B]&}Eԑ % 2Acoustic response timeout}я,rF?A6g@6b@6{ >ٱ6(h BAHRS rotation from veh to nav: [[0.729555,0.631008,0.263776],[-0.665972,0.743226,0.063998],[-0.155662,-0.222358,0.962458]]6HX? 81??`O?`2b?ÿ9v̿u?i6g@I6^;6\CY^/mAybHbDjVDj8yr5%rL=ٔv:Q-v>9tIt=vFyvΤEz:;Ez>|Q 5t4~J?Q 9t4~)~ɗAQ A9Y Q E 9y ^Q I ?~ҷCI~:i~?~D&t4yɮ͛B*jIBjQiQiQziQJiQiQ k9k9k9hi k[k[k[hyԙ颩ɢF<)t8 4i)H*=顱i,IIqIO=EMU EMGEM=EI"EM:*EMR9VEM|4ZEIBEM:aU2EM:aUJEMt:a]:EMt:a]2Acoustic response timeout)9 Vfя,2trF?A>͂@>}@>-g>ٱ>h FAHRS rotation from veh to nav: [[0.731807,0.628794,0.262822],[-0.663642,0.745228,0.064923],[-0.155039,-0.221931,0.962657]]>H@j?`??<`?Ϟ? 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BAHRS rotation from veh to nav: [[-0.995506,0.033297,-0.088658],[-0.006406,-0.957686,-0.287743],[-0.094487,-0.285882,0.953595]]6H`.O ? 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%rJ=ٔv:Q-v>9tIt=vFyz̦Ezm;Ez>E2Acoustic response timeoutyQ 5}}4}a6?Q 9}4}v)})AQ A9YQ E9yAQ I?}CI} :i}?}h}4yĻBɮ˞Bԙ*jBjiiziJii k%k%k%hIɢM()I M6iQ)u2Acoustic response timeout څя,F?A2:@2H@2`V=ٱ2 :r :AHRS rotation from veh to nav: [[-0.993454,0.023015,-0.111895],[0.003823,-0.972248,-0.233921],[-0.114173,-0.232817,0.965795]]2H _ I?@Qo?Ϳq: Ϳ?i2:@I2];2\CYNfAyR H`` `)`I`bDjJVDj8y % H=ٔ ڻQ- >9H?IH?=FyΦE^;E>Q 5%}4 ?Q 9-}4)AQ A-9Y)Q E-9y-AQ I-?CIn:i@1}4y5Bɮ=B9*jIBjIiQiQziQJiQiQ kC1kC1kC1hqAɢE ax)A MCiI)M$BZ>BXBZ HBZfABZ=BXBXBZ_;BZd}E5";@5I@5=ٱ5zs EAHRS rotation from veh to nav: [[-0.993814,0.025750,-0.108028],[0.000417,-0.971877,-0.235491],[-0.111054,-0.234079,0.965854]]5HS`&^?` O;?$ο nNͿF?i5";@I5L];5WCIY]CfAye Hm=m=aa aa aa aa y7A`?|?5^MbV?ҽ 9E?L7A`堿J +Yf?y+HMwB B)BYBbDLVD8y0%-=ٔٻQ->9K?IK?=FyѦE%;E%>)Q 55~4-?Q 95~4- )-'AQ A=T:Y=&g?Q E=k:y=E@Q I=?-CI-;i-M;-~4yEBɮEBM˸E*jYBjYiYiYziaJiaia kS&kS&kS&h kc&kc&kc&h!2f5^=:f5^=Bf5V?Jf5|@qɢuNx)q }iy)}wcE"E9*E(9VE4ZEBE:a2E:aJEL+:a:EN+:aAIIOm>U2Acoustic response timeoutԩ [ơя,HF?A2Q;@2GI@2=ٱ2}r :AHRS rotation from veh to nav: [[-0.994183,0.028580,-0.103843],[-0.003391,-0.971979,-0.235044],[-0.107651,-0.233325,0.966422]]2HXD?{`EW EFE=E"E :*E;J9VE|4ZEa@a@a@a@ m 2Acoustic response timeout9 ̡я,45F?A2;@2I@2=ٱ2Tq :AHRS rotation from veh to nav: [[-0.994531,0.031719,-0.099505],[-0.007567,-0.972144,-0.234264],[-0.104164,-0.232230,0.967067]]2H`3=?(yn~[Ϳ{Ϳ 7?i2;@I29^;2[CYF$eAyF HbD=WVD=8y#D%E=ٔi Q->9H?IH?=Fy֦E%<E>Q 5~4?Q 9~4F)UAYymF@Q I?2Acoustic response timeout9AAB>BDCB HBdABBBzDBC;BI}EB}CCB}CCB}ƔCB}=B}=C}ƀ5i bE4jEH4rE5/E Z E IE AE "E :*E c9VE A4ZE BE b;a 2E e;a JE :a :E :a ӡя,ZOF?A 2;@2^I@2%=ٱ2Tfn >AHRS rotation from veh to nav: [[-0.994870,0.034615,-0.095059],[-0.011690,-0.972682,-0.231848],[-0.100488,-0.229547,0.968096]]2H?U`!5 /ͿaͿ?i2;@I2^];2\CYVdAyVB H%2Acoustic response timeout))bD5XVD58y%%K=ٔQ->9K?IK?=FyئE)(<E>Q 5~42?Q 9~4)AYyF@Q I?jCI#;i@;O,~4yBɮ1B*jBjiiziJii k#)k#)k#)h k3)k3)k3)h 2f:fBfJft}@9ɢ=g)A Eg>iA)E_hԙ2Acoustic response timeout z١я,6iF?A66<@6J@6=ٱ6>Rl >AHRS rotation from veh to nav: [[-0.995171,0.036873,-0.090968],[-0.015017,-0.973042,-0.230138],[-0.097002,-0.227661,0.968897]]6Hp?I@)#)uͿո#Ϳ`4?i66<@I6];6YCYJcAyJ HPbDV[VDV8y^諽%^Y=ٔbQ-b>9dId=fFyfۦEjS<Ej>lQ 5v~4n?Q 9v~4n)nAYtyzF@Q Iz?nCIn;in~$;n}9~4yBɮ>BʸE*j!Bj!i!i)zi)Ji)i) k%k%k%hI2fa:faBfaJfe֬}@颉ɢ- ) zFi)V<顙i涼I aiET EFE@E"E9*E;J9VE4ZEa@a@a@a@=99Y=A52Acoustic response timeouteAIIO%>! %= 2Acoustic response timeoutя,#F?AB*>B(B* HB*bAB(B(B(B(B*M}E@<@h6J@1¾=ٱLi AHRS rotation from veh to nav: [[-0.995504,0.038517,-0.086531],[-0.017899,-0.973623,-0.227458],[-0.093009,-0.224887,0.969936]]H,x?@&+T 'YͿsϷ̿ ?i@<@Ih];[CYcAy HyK7?Q?Cl绿i?<;߽ 9Gz?Dl?X9vοYp]?yO=swB (B)BYBbDVD 8y%-=ٔW Q->9I=FyަE;E>Q 5~4^?Q 9~4)LAYXf?Q Ek:yFQ I?CI~ ;i ;I~4yBɮLB*j Bj i iziJii k#k#k#h) k#k#k#h92fM~>:fM~>BfMd@JfM@^]B*** querying acoustic contact ***XYYYiɢm)q uNiq)u+aE"E*E?9VE4ZEBE:a2E:aJE<9a:EA9aA$AIIOn>52Acoustic response timeoutIy ~я,휇F?A2]<@2SJ@2%=ٱ2Εd :AHRS rotation from veh to nav: [[-0.995853,0.038941,-0.082224],[-0.019694,-0.974608,-0.223048],[-0.088822,-0.220503,0.971334]]2H ? * /Ԍ̿`t9̿*?i2]<@I2];2ZCY^rbAyb> H``pp p)pIpv=v=bDxVDxyUݽ%Uf=ٔUAQ-U>Y9eH?IeH?=eFyeEe#;Em>qQ 5~4ueE?Q 9~4uF)u`AYyFQ I?uCIu;iu0;ubV~4yBɮ\B*jBjiiziJii k#k#k#h2f:fBfJf@IɢM+)Q UXiQ)]O 2Acoustic response timeout я,ȶF?A2m<@2icJ@2=ٱ2|` :AHRS rotation from veh to nav: [[-0.996232,0.038571,-0.077684],[-0.020650,-0.975398,-0.219484],[-0.084238,-0.217053,0.972518]]2H !@?㳿`7%u6 ̿ `˿?i2m<@I2];2\CYFaAyF HbDPVDPyV%VU=ٔZDQ-Z>9ZK?I^K?=^Fy^E^#;Eb>`Q 5f~4bQ*?Q 9j~4b)bfAYhyjFQ Ij?bCIb :ib:bc~4yrBɮrqBrɸE*jxBjxi|i|zi|Ji|i| k3 k3 k3 h kc$kc$kc$h!2f1:f1Bf1Jf5b@QɢU8)Q UdԹi)٠<i̬I   AzApA=2Acoustic response timeoutBAAE<BM>BMECBM HBMaABM=BIBM{DBMF;BMY}EII O=>9 D =D <E  E E ;E "E *E VE 4ZE BE :a 2E :a JE -:a :E 0:a я,ЇF?A:i<@:^J@:6=ٱ:] VAHRS rotation from veh to nav: [[-0.996695,0.036808,-0.072417],[-0.020382,-0.976250,-0.215685],[-0.078636,-0.213496,0.973774]]:Hآ?퉲ߔ q=˿!`S˿()?i:i<@I:];:[CYvaAyvc H}2Acoustic response timeoutbDeVDe)8y %9=ٔ#PQ->9I=FyE$E>Q 5~4 ?Q 9~4)IAYyFQ I?GCI(;i);1s~4y Bɮ B*j)Bj)i)i)zi)Ji1i1 k3#k3#k3#hI kcBkcBkcBhY2fi:fiBfiJfm @颁ɢ8<1) oi)%<顑i@IIIO5.>Ai- 2Acoustic response timeoutԙ !я,A~F?A:O<@:EJ@:;=ٱ:Z VAHRS rotation from veh to nav: [[-0.997168,0.033899,-0.067132],[-0.018855,-0.976831,-0.213181],[-0.072804,-0.211311,0.974704]]:H&[?@/N2BI˿A= ˿0?i:O<@I: ^;:ZCYf`Ayf$ HbDMVDM+8y%P=ٔsQ->9I=FyEgE>Q 5~4?Q 9~4V)PAYyFQ I?rCI:i1:~4yBɮB*jBjiiziJii k<k<k<h k<k<k<h2f :f Bf Jf @qES E?EEE"E9*E?9VE 5ZEa@a@a@a@ɢ-E) ui)<i}IIqIO=2Acoustic response timeoutԡ M 2Acoustic response timeout я,bF?AB*>B*FCB* HB*?`AB*=B(B(B*B;B*[}E\$<@6J@=ٱY ]AHRS rotation from veh to nav: [[-0.997635,0.029974,-0.061853],[-0.016220,-0.977155,-0.211908],[-0.066791,-0.210403,0.975330]]Hg?$D˿:ʿ5?i\$<@I];]CYm`Aym HyUS?jt?UtQ Q9US㥛?K7?ʡEͿYU$f?yU>UoQQ UΆB)UxBQYUBbDmVDm,8y}%}<=ٔ}bQ-}>9I=FyEGǻE>Q 5~4ζ?Q 9~4)AYw?Q E[:y8Q I?CI:i@:*~4yBɮBҸE*jYBjYiYiaziaJiaia k:k:k:h k:k:k:h2f{>:f{>BfJ?Jf(@ɢG) <~i ) Z<  i IA%^?A%\?IIO#>DzD@AEU E@E>E"E:*E9VE4ZEBE:a2E:aJE.:a:Ea2Acoustic response timeout! 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k3<k3<k3<h9 kWkWkWhIqɢu$)y }iy)}BQiɧ9Y:AaEmR EmCEm>Ei"Ems9*Em09VEm4ZEia}@a}@a}@a}@] 2Acoustic response timeoutԑ -я,F?A6O:@6)yH@66<ٱ6l BAHRS rotation from veh to nav: [[-0.999626,-0.003057,-0.027171],[0.009194,-0.973439,-0.228762],[-0.025750,-0.228926,0.973103]]6H i@қԂ?i&HͿ'^sMͿ@#?i6O:@I6^;6ZCY^]AybHPExceeded connect timeout, disconnecting.bDEVDEK8y:h%J=ٔgXQ->9K?IK?=FyEE>Q 5~4?Q 9~4)֖AQ A9YQ E9y:Q I?CI:i?~4yBɮB*jBjiiziJii k[k[k[hq k[k[k[h19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q99 7 o XAggregate::initialize marl:UpdateCommandMode18-]1185o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7=]97=nE4Completed marl:UpdateSpeedq7EnEPAggregate::uninitialize marl:UpdateSpeed颁ɢz) 旿i)~1<i*Iԡ2Acoustic response timeoutBAB(>BHCB HB:]AB=BB}DB;B"|EA$AI!I1OuW>E Y E ME <E "E :*E 9VE 4ZE BE ;a 2E ;a JE :a :E :a T4я,tӈF?A2v:@2xlH@2,ܥ<ٱ2n :AHRS rotation from veh to nav: [[-0.999745,-0.005027,-0.022000],[0.009970,-0.972959,-0.230762],[-0.020245,-0.230922,0.972762]]2HҖt@/+k?`{"@Ϳ(@ݎͿ ?i2v:@I26^;2[CYF\AyFHHH%2Acoustic response timeout%>%=bD-VD-O8yew%eL=ٔmaQ-m>9mH?IuH?=uFyuEuEu>yQ 5~4}ߵ?Q 9~4})}ڕAQ A9YQ E9y;Q I?}CI}:i}:?}~4yBɮ*jBj=iiziJii kVkVkVh kVkVkVhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder ɢ Ԡ)  i)1#<iʌ=IAAIQIaO>2Acoustic response timeout) :я,PF?A2s:@2iH@2)n<ٱ2

AHRS rotation from veh to nav: [[-0.999843,-0.006470,-0.016495],[0.010132,-0.972491,-0.232719],[-0.014536,-0.232850,0.972404]]2H z䐿` ?Ϳ`č`Ϳ`?i2s:@I2+^;0YF\AyFHbDRVDRQ8yZPZ%ZV=ٔZuQ-^>9\I\=^FybEbMݹEb>dQ 5j~4fµ?Q 9j~4f)fAQ Aj9YhQ En9yn&;Q In?fFCIf ;if@f~4yrBɮrBrϸE*j|Bj|i|iziJii kWkWkWh kWkWkWh)ɢ/5) Fi)3<inIE=T E=AE9E9"E=9*E= 9VE9ZE9aE@aE@aE@aE@1-2Acoustic response timeoutAAIIIO#>YnManaging dock network, ignoring radio surface power offԉ  2Acoustic response timeoutB +>B ICB HB \AB =B B B ;B {EAя,(F?A0J |:@JqH@JB<ٱJudt VAHRS rotation from veh to nav: [[-0.999913,-0.007251,-0.010982],[0.009641,-0.971630,-0.236310],[-0.008957,-0.236396,0.971616]]JH`J}}`? j?ο X6Bοy?iJ |:@IJO^;JXCY^w\AybHaEaE aEaE aMaM aMaM yM?K?Zd;O?M`?M^:>Mj<=I I9M?@5^I ?Dl?YMl?yMb>MO=IMuB MB)MDBMYMBbDeVDe;8yuܔ%u?=ٔuUQ-u>9}K?I}K?=}Fy}E:E>Q 5~4Y?Q 9~4ɨ)AQ AT:Y0x?Q E[:y66Q I?|CI ;i;~4yBɮB*j1Bj1i9i9zi9Ji9i9 kXkXkXhQ2f=:f=Bf ?Jf!@ɢ5z) Ei)<iIԑEMV EM@EMAEI"EM=:*EM9VEMA4ZEIBEM:aU2EM:aUJEM.:a]:EM0:a]Ae$AIiIyO>>====E2Acoustic response timeout Gя,!F?A;ɰ2:@2H@2ii;ٱ2t :AHRS rotation from veh to nav: [[-0.999960,-0.007101,-0.005397],[0.008177,-0.971536,-0.236753],[-0.003562,-0.236787,0.971555]]2H m}@v A? Mο9-m` Oο?i2:@I20^;2YCYF\AyFH\tt t)xIxxzAbDVD!8y <%Q=ٔaQ->9H?IH?=FyE%t;E%>)Q 5-4-?Q 954-)-AY1y56Q I5?-CI-:i-:-6 4yEBɮEBA*jQBjQiYiYziYJiYia k<k<k<hq k]k]k]h2f:fBfJf@颱ɢ) pi),;项i<I2Acoustic response timeout^A="5;EUR EUBEU?EQ"EUs9*EU(9VEU^4ZEQae@ae@ae@ae@AmAIyIO>M 2Acoustic response timeoutI I Nя,:F?A2V:@20H@2ٱ2|:u :AHRS rotation from veh to nav: [[-0.999967,-0.008129,-0.000072],[0.007914,-0.971427,-0.237205],[0.001859,-0.237198,0.971460]]2H`@G5?\ο~s^?\ο`2?i2V:@I2^;2ZCYFP\AyFxHbDR|VDR 8yV2'%ZQ=ٔZbQ-Z>9ZK?I^K?=^Fyb Eb/:Eb>dQ 5j4fd?Q 9j4f)fAYlyn6Q In?fCIf;if;f4yrBɮvBt9*jYBjYiYiaziaJiaia k[k[k[h2f:fBfJf5@ɢv) |i)%];!!i%)I1^A5ONBiBmHBm\ABiBiBm~DBm&;Bm<{EII2Acoustic response timeoutOI>ԑ Ee X Ee \Ee =Ea "Ee ~ :*Ee 9VEe |4ZEa BEe :am 2Ee :am JEe v ;au :Ee w ;au Tя,TF?A2Ө:@2H@2]ٱ2#v :AHRS rotation from veh to nav: [[-0.999949,-0.008455,0.005480],[0.006908,-0.971215,-0.238106],[0.007335,-0.238056,0.971224]]2HQqv?'K|?0 Bzο ~?@xοC?i2Ө:@I2L2^;2YCYF'\AyF_H~2Acoustic response timeoutbD VD 8yEc%EA=ٔESQ-M>9III=MFyM EU5;EU>ԑQ 54B?Q 94߱)AYy 6Q I?CIg:i:$(4yBɮBظE*jBjiiziJii kCkCkCh  kc`kc`kc`h2f):f)Bf)Jf-@IɢM)Q UžiQ)U#;QQi]󁼉YIa^AMH\=AyIIOC>2Acoustic response timeout [я,>nF?A6<:@6H@6!Pٱ6v BAHRS rotation from veh to nav: [[-0.999891,-0.010308,0.010547],[0.007492,-0.971052,-0.238749],[0.012703,-0.238644,0.971024]]6Hyř?`s~?`Vο`?ο?i6<:@I6$^;6ZCYJ[AyJ>HbD}VD 8yE%MJ=ٔMYQ-M>9IIQ=UFyUEU罺EU>YQ 5e4]#?Q 9m4]ɴ)]AYiym6Q Im?]CCI]:i]:]54yuBɮuBy*jBjiiziJii k3^k3^k3^h kC^EW EDE>E"E :*Ea99VE4ZEa%@a-@a-@a-@kC^kC^hY2fi:fiBfiJfm @颡ɢ9C)ڋ: yi) ;顩iI^AS-=AzAqA%=4=%2Acoustic response timeout)A$AI!I9OmV>QBe 3>Ba Ba Ba Be =Ba Ba Be ;Be {Ey  2Acoustic response timeoutbя,qrF?A2]:@2SH@2ٱ2x :AHRS rotation from veh to nav: [[-0.999764,-0.015576,0.015124],[0.011483,-0.970578,-0.240512],[0.018425,-0.240282,0.970528]]2Hd揿c?l?οޒ?ο ?i2]:@I2\^;2YCYj\AynPHyq= ףp?&1?+?k?P>= 9 rh?gfffff?Zd;?Yl?y33>y=tB B)BYBbDyVD 8y<%A=ٔR]Q->9H?IH?=FyE_E>Q 54t?Q 94)AYAq?Q Ea:y,=Q I?vCI:i :D4yBɮ BQ׸E*jBjiiziJii k#Xk#Xk#Xh2f=:f=Bf.@Jf?Qɢ])] ]iY)]J^@;aaie|aIiD!zD%?AE-R E-BE-<E)"E-s9*E-(9VE- 4ZE)BE-z:a52E-~:a=JE-M+:a=:E-O+:a=ԁ2Acoustic response timeout^AU=ԩA I I >O > -hя,MF?A29@2G@2˼ٱ2ˁ :AHRS rotation from veh to nav: [[-0.999482,-0.026034,0.018934],[0.020447,-0.967708,-0.251242],[0.024863,-0.250725,0.967739]]2H @Pc? 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I I O >B )>B HCB B HB xbAB B B B ^;B `zEQҢя,IF?A2 *@28@2jٱ2 xվ :AHRS rotation from veh to nav: [[-0.956340,-0.292110,0.009222],[0.261069,-0.868050,-0.422293],[0.131361,-0.401448,0.906412]]2H@W`ҿ9)I)=-Fy-=E-E5>1Q 5E45ײ?Q 9E45Y)1YAyE2@Q IE?5CI5;i5 ;5h 4yUTBɮU=BQ*jiBjiiiiiziiJiqiq kXkXkXh kmkmkmh2f:fBfJfc@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢsܡ) ti)Ui,|I EeR EaEe=Ea"Ees9*EaVEe|4ZEaBEey:au2Ee~:auJEaau:Eaau^A=I19IAOuy>2Acoustic response timeouta {آя,cF?A2`)@297@2G[ ٱ2޹Ӿ :AHRS rotation from veh to nav: [[-0.951775,-0.306725,0.006696],[0.275645,-0.864507,-0.420294],[0.134703,-0.398180,0.907363]]2H t@aӿl{?*?` ڿ=?{ٿ ?i2`)@I2!:^;2WCYFEaAyF HTT T)TIXbD^-VD^8yf=%fP=ٔjq Q-j>9hIh=nFyn@EnT En>pQ 5v4rպ?Q 9v4r)rpAYxyz1@Q Iz?rCIr:ir(:rI4y~GBɮBȸE*jBjiiziYJii kCUkCUkCUh kxkxkxh2f:fBfJfub@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderqɢuǝ)}W }kiy)}Jbyyi}I2Acoustic response timeoutԉ@?>@?>ԱEu W Eu DEu <Eq "Eu :*Eu a99VEu 4ZEq a} @a} @a} @a} @^A =  2Acoustic response timeoutI I I! 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0@̿ Ho?d-??` *ٿ?i?i2>I2.^;2SCYFfAyF HJ=Ja=bDAVD8yw%E=ٔQ->9I=FyE E>Q 54 ?Q 94)#AYy^ ?Q I?CI";i;4y%QBɮ-zB)*jyBjiiziJii k^k^k^h2f:fBfJfu@)ɢ-Oд)) -i))5z<11i54[9I9^AE8=m2Acoustic response timeoutnManaging dock network, ignoring radio surface power offAIIO>ԁ E R E EE <E "E s9*E A9VE 4ZE a @a @a @a @B >B B {HB gAB B B B D;B -zEl%я,IF?A2C>2#?2:<ٱ2; >AHRS rotation from veh to nav: [[0.801971,-0.556621,-0.216830],[0.596930,0.732921,0.326345],[-0.022731,-0.391151,0.920046]]2H?@˿ ?`t?@?`Fٿq?i2C>I2^;0YFzfAyF HV2Acoustic response timeouty r?Pn?Mb?c?>< 9Cl?I +?S㥛?Y;??y94<B 4B)BYBbDjVD$8y] %D=ٔQ->9I=FyEE>Q 5414?Q 94)AY C?Q E :y :fmu>Bfmou@Jfm@颉ɢ̠) Xi)s<顑ic#IQ^AuB=AIIOG>y]2Acoustic response timeoutԩ :+я,0F?A((Pj>j ?j<ٱjSS̾ ~AHRS rotation from veh to nav: [[0.808998,-0.547852,-0.213026],[0.587453,0.740905,0.325514],[-0.020501,-0.388483,0.921228]]jHP?@oD˿j?`}?7?T`ؿz?ij>Ij4^;hY fAy HbD%EVD%8y5ձ<%5X=E=S E=FE=AE9"E=9*E=;J9VE=A4ZE9BE=:aE2E=:aEJE=e:aM:E=e:aMٔMQ-U>9QIQ=UFy]E]lE]>aQ 5m4eOF?Q 9m4e)eAYiym9?Q Iu?eCIe`:ieW:e4yyɮ}pBy*jBjiiziJii k<k<k<h k3Uk3Uk3Uh2f:fBfJf@ɢ)q u>iq)uzl! iy I} A 2Acoustic response timeout2я,m˘F?A2,1>2o?2MP<ٱ2Eɾ :AHRS rotation from veh to nav: [[0.814375,-0.541761,-0.208056],[0.580033,0.748204,0.322106],[-0.018836,-0.382995,0.923558]]2H\?Vʿ?J?c?Iؿ@ʍ?i2,1>I2^;0YFsfAyF HHJ@AbDVJVDV8yZ Ҽ%^S=ٔ^Q-^>9bH?IbH?=bFybEf#üEf>hQ 5j4jX?Q 9n4j|)jZAY9y=6?Q I=?jCIjyeE"E~ :*EA9VE4ZEa@a@a@a@)AEAIIIYBe<Ae<Bm>BiBm0HBm2Acoustic response timeoutQԁ 8я,EF?A2>2N;?2}<ٱ2U¾ :AHRS rotation from veh to nav: [[0.817107,-0.540805,-0.199667],[0.576198,0.755179,0.312571],[-0.018256,-0.370451,0.928672]]2H%?`FNɿ5p?m*?)?x׿`?i2>I2 8^;0YFjfAyF HTT T)TITbD^GVD^8yf9%fI=ٔfQ-j>9jK?IjK?=jFyjEn=En>pQ 5v4r[l?Q 9v4rF)rȂAYtyz5?Q Iz?r"CIrl:ir :rmÃ4y|ɮ~zB|*jBjiiziJii kC;kC;kC;h) kC;ykC;kC;h2f:fBfJf6ۃ@ɢ) Wi)\<iyIM2Acoustic response timeoutԡ _G^A9A\?AY?bEŴ4jErEۋ0E ECE<E"E*E09VE 4ZEBE:a2E:aJE9:a:E9:a-A9)Y-Ayn?ҲAIIO> 2Acoustic response timeout "?я,|F?A4<ɰ6o>6-?6ⵚ<ٱ6AT BAHRS rotation from veh to nav: [[0.817485,-0.544272,-0.188378],[0.575640,0.761382,0.298219],[-0.018884,-0.352228,0.935724]]6H(?`j@ȿk?>]??pVֿr?i6o>I6"^;6VCY%ofAy% HbDm@VDm8yE;%>=ٔ:Q->9QIY=]Fy]EmE>Q 54?Q 94[)EAYy3?Q I%?NCI2E "E :*E ;J9VE 4ZE a @a @a @a @I I O] >Be >Ba Be HBe fABa Ba Ba Be R;Be 2?2d<ٱ2Y" :AHRS rotation from veh to nav: [[0.816468,-0.549580,-0.177035],[0.577039,0.765981,0.283371],[-0.020130,-0.333519,0.942528]]2H ?@)ƿ@w? 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?\? 7Ԙҿ2?i6q)>I6$I^;4\YbfAyb Hdf?AbDntVDn-8yv<%vP=ٔvi;Q-z>9xIx=zFyzE~;E~>Q 5 4ǰ?Q 9 4)‚AY y  F?Q I?CI:i:4yɮpB*j1Bj1i1i1zi1Ji1i9 kAkAkAhI kZkZkZha2fq:fqBfqJfu%@颉ɢ?) i)B5<顙i-I%2Acoustic response timeoutIaIO=EET EECEE?EA"EE9*EE09VEE^4ZEABEE:aM2EE:aUJEE9:aU:EE9:aU 2Acoustic response timeoutA 3`я,9րF?AFx>FΓ ?FhO<ٱF| 5AHRS rotation from veh to nav: [[0.809372,-0.570897,-0.137817],[0.586730,0.775707,0.232436],[-0.025792,-0.268989,0.962798]]FH``?D}? ?y?-i7ѿ=?iFx>IF P^;FSCYuSfAyu HbDVDW8y4ʼ%;=ٔf;Q->9 I=FyE%c;E%>9Q 54='۰?Q 94=)=AYyF?Q I?= CI=iEM S EM AEM <EI "EM 9*EM  9VEM 4ZEI aU @aU @aU @aU @ԙ B >B B HB pfAB B B B r;B `zEXfя,bF?A;ɰ2O>2 ?2@}<ٱ2 >AHRS rotation from veh to nav: [[0.808386,-0.573934,-0.130811],[0.588032,0.777136,0.224227],[-0.027034,-0.258183,0.965718]]2HL?]@h (?L?z?ˮ п(?i2O>I28O^;2UCB2Acoustic response timeoutYNeAyNW HyeA`"?"~jQ?e9?eSeu9I=FyE;E>Q 54d?Q 94`)iAY4?Q E:y#?Q I?,CI;i;G4yɮB*jBjiiziJii k#@k#@k#@h k3Vk3Vk3Vh2fz>:fz>BfZ?Jf@9ɢ=l.)9 =M"i9)=x$=2Acoustic response timeout EY  E] ?E] ?EY "EY *E] ?9VE] ^4ZEY BE] :am 2E] :am JE] =9am :E] B9am lя,)F?A2>2K!?2p<ٱ2> :AHRS rotation from veh to nav: [[0.807671,-0.576312,-0.124626],[0.588950,0.778340,0.217542],[-0.028370,-0.249101,0.968062]]2Hq?@%q翿?)?k? `Ͽ\?i2>I2f.^;2SCYFeAyFl HHHXX X)XIXbDbVDb8yj<%jU=ٔjd;Q-n>9lIl=nFynErF;Er>tQ 5z4v?Q 9z4v$)v5AYxyz$?Q I~?vNCIv):iv:v4yIBɮB*jBjiizi!Ji!i! ks:ks:ks:h1 kcXkcXkcXhI2fY:fYBfYԹJf]@ɢ )  i9)=X7<99i=꨼AIAu2Acoustic response timeoutA$AIIIO )>- 2Acoustic response timeoutA ksя,TVΙF?A> i>>ً!?>ם<ٱ>z FAHRS rotation from veh to nav: [[0.807069,-0.578114,-0.120101],[0.589733,0.779153,0.212454],[-0.029246,-0.242292,0.969762]]>H ?꾾??1?oϿ K?i> i>I>Q^;>UCYReAyR_ HbDZVDZ8ybT%fM=ٔf;Q-f>9fH?IjH?=jFyjEjG";Ej>lQ 5r4n?Q 9v4n)nAYtyv`$?Q Iv?nrCIn:in:n4yz;Bɮz~B~ҷE*jBjiiziJii kSXkSXkSXh) kcXkcXkcXhA2fa:faBfaJfen@频ɢz) j!i) I<顡iFI1E%V E%@E%<E!"E%=:*E%9VE% 4ZE!a-@a-@a-@a-@AIIO= >B<AB>BBh HBeABBBB;BzEa2Acoustic response timeoutԉԹ yя,0F?A2!>2d!?28 <ٱ2u :AHRS rotation from veh to nav: [[0.806832,-0.579084,-0.116976],[0.590023,0.779820,0.209174],[-0.029909,-0.237787,0.970857]]2H?ۇ'@x?H?8?{oοB?i2!>I2$^;2SCYFeAyFK HbD VD 8yE%MB=ٔM:Q-U>9QIQ=UFy]E]h:Ee>iQ 5u4m{&?Q 9u4m)mAYyy$?Q I?mCImTE;imF;mR 4yɮB*jBjiiziJii kYkYkYhiI 2Acoustic response timeout2f:fBfJfu @ԑɢ ) #i) <ihIAaIiIO=>E%r E!E%?E!"E%k:*E!VE%^4ZE!BE%;a52E%;a5JE%-:a5:E%0:a5 2Acoustic response timeout ̀я,;F?A];>]q!?]<ٱ]yr AHRS rotation from veh to nav: [[0.806583,-0.579903,-0.114614],[0.590333,0.780214,0.206816],[-0.030510,-0.234474,0.971643]]]H? SW@??`x?=@ο?i];>I]Z ^;]UCYeAy5 Hy-? rh rh?5^?C C< 9 +?/$:vY6?yԼsB B)BYׄBbDVD8y-%-/=ٔ-ۨ:Q-5>91I1=5Fy5E=_:E=>AQ 5M4E??Q 9M4EĄ)EAYM*8?Q EM:yUj?Q IU?ECIE ;iE ;Es4y]?Bɮ]BY*jqBjqiqiyziyJiyiy k#Ak#Ak#Ah kVkVkVh2f+,>:f+,>Bf84@Jf6a@ɢI) %i) <iޅI 2Acoustic response timeoutAAIIOMS>E- V E) E- :E) "E- =:*E) VE- (4ZE) a5 @a5 @a5 @a5 @A B >B B 6 HB eAB B B |DB ;B zEBeFCBeFCBaBaBaCe94я,F?A22Acoustic response timeout: >:X!?:b<ٱ:d[p BAHRS rotation from veh to nav: [[0.806748,-0.579966,-0.113124],[0.590093,0.780768,0.205405],[-0.030804,-0.232464,0.972117]]:H`? ? ?@J? _Ϳ@?i: >I:^;:TCY AeAy  HbDVD8yB%b=ٔU:Q->9K?IK?=FyESE>Q 544R?Q 94o)AY y X?Q I ?CI-:i:4yBBɮB*j)Bj)i1i1zi1Ji1i9 k;k;k;hI kCSkCSkCShY2fi:fiBfiJfm;'a@颉ɢA?,) +i)@x;顑i̡IIAIIO*>y2Acoustic response timeoutԩ  1 I u 9q Y} AbE|4jE4rEuf0E= W E= CE= ;E9 "E= :*E= 09VE= 4ZE9 BE= ):aM 2E= -:aM JE= 9:aU :E= 9:aU ья,5F?A"4<ɰ"4<>^3><>q!?>d<ٱ>php fAHRS rotation from veh to nav: [[0.807272,-0.579266,-0.112970],[0.589374,0.781274,0.205545],[-0.030805,-0.232512,0.972106]]>H -?X@뼿'?`2?`LO?XͿ}?i>^3>I>];>UCjCjffAihIlnPJnLC rvArurq\Fpr@CrtAIr!)vsFit)tIvvAtt xzCzuAxixxitA) 4dFI %C)%{A!!!Y!Y5eAy5 HbDmVDm8y%O=ٔ-6Q->9I=FyEE>Q 54g?Q 94})}AYy?Q I? 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L?  ;  9 gfffff?jtĿ rh?Y 33?y  C = B ^tB B) B Y aBbD%$VD%8y5%5A=ٔ5:Q-5>99I9==Fy=EEͧEE>IQ 5U4M;?Q 9U4Ms)MxAYU7?Q E]:y]>Q I]?MzCIM;iM;M054yaɮeBa*jyBjyiyiziJii kAkAkAh kYkYkYh2f=:f=Bf:N@Jfq@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18E]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]Q7UnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeed颉ɢ-0) 48i)s,;顑i♼I2Acoustic response timeoutAQIiIyOc>E W E CE <E "E :*E 09VE 4ZE a @a @a @a @BE >BA BE HBE dABA BA BA BE ;BE zE Gя,;F?A2Acoustic response timeout6>6?6Q=ٱ6Smw BAHRS rotation from veh to nav: [[0.811405,-0.573169,-0.114452],[0.583605,0.783760,0.212429],[-0.032054,-0.239161,0.970451]]6H?fWL??0?ji ќο ?i6>I6C];6UCYJEdAyJ] HLN@AbDVD8yE%E[=ٔEY:Q-E>9III=MFyM¨EM0ƻEU>YQ 5e4]ν?Q 9e4]=p)]AYayen>Q Ie?]CI]A:i]:];4yuMBɮuĜBq*jBjiiziJii k_k_k_hA k_k_k_hq2f:fBfJfʬq@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颡ɢN+E) ;i);顱i<䗼IIIO)>2Acoustic response timeoutIq D zD @AE V E @E =E "E =:*E 9VE |4ZE BE :a% 2E :a% JE -:a- :E 0:a- Zя,$ F?ARzY>R?Ra=ٱROx ZAHRS rotation from veh to nav: [[0.812775,-0.571306,-0.114043],[0.581667,0.784864,0.213663],[-0.032558,-0.239995,0.970228]]RH@A?#H1??MY?}`(ο ?iRzY>IRD,];RTCYf)dAyfL HbDEVDE8yt%F=ٔv:Q->9I=FyŨE߼E>Q 54Ա?Q 94m)ƁAYyC>Q I?CI:i|:B4y?BɮBʷE*jBjiiziJii kbkbkbh kbQkbkbh2f:fBfJfq@ɢA) h=i) ;i񾕼IU2Acoustic response timeoutԁ)ԱI I! 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Ͽ?i2 >I2 ];2TCY\y`y} ףp= ?jtĿZd;O?}QX?} }j<=y y9}ˡE?QQ?Y}'?y}}u9K?IK?=FyEkHE>Q 54Y?Q 94,))AY*?Q E:yX>Q I?hCI:i#: „4yDBɮFB*jBjiiziJii kXkXkXh  kXkXkXh2f-G>:f-G>Bf-v<@Jf-g@IɢMx)Q QiQ)U\ZQYi]TYIaԱIqI2Acoustic response timeoutO>EY EBE=E"E:*E(9VE|4ZEa@a@a@a@B >B GCB HB g`AB =B B B ^;B TzEBBBBBCa84 ] 2Acoustic response timeout2(я,cF?A4<ɰ4<2K>2% ?2/;ٱ2' :AHRS rotation from veh to nav: [[0.808679,-0.570940,-0.141652],[0.588213,0.782135,0.205597],[-0.006593,-0.249583,0.968331]]2H?#E !¿ ?A?P?{XϿ?i2K>I2+];2QCYZ_AyZ Hhll l)lIlbDvVDv8y~ %~<ٔ~EQ->9I=FyE TĺE >Q 54l?Q 941&)AYy%>Q I%?CI:iB:Ȅ4y)ɮ-IB)*jABjAiAiIziIJiIiI k#^k#^k#^h k3^k3^k3^h2f!:f!Bf!Jf%g@Yɢe')a e*ia)e&iiim4PIIIO%>)2Acoustic response timeout1IYc9YAY bE&4jE<4rE 1E U E CE @E "E :*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a W.я,(F?A>[>>O!?>\=@;ٱ> $ ^AHRS rotation from veh to nav: [[0.808620,-0.570019,-0.145641],[0.588324,0.782208,0.205001],[-0.002933,-0.251452,0.967865]]>H7?@=Z¿ ??@{=?@h@п?i>[>I>];>RCYf_Ayf Hhja=bDrVDr8yzӼ%zK=ٔ~BQ-~>9|I=FyEu9E> Q 54 ?Q 94 #) քAYy2>Q I? CI v;i ; τ4y%HBɮ%RB-E9*jABjAiIiIziIJiIiI k\k\k\ha k#lk#lk#lhq2f:fBfJfg@颡ɢ@) ~i)*}+顩iKI1AIzAMrAIIO=R=2Acoustic response timeoutiԙ 2Acoustic response timeout N@5я,l֜F?A2ݠ>2'!?2t>ٱ2 :AHRS rotation from veh to nav: [[0.808314,-0.569472,-0.149433],[0.588751,0.782158,0.203965],[0.000727,-0.252847,0.967506]]2H?9 ÿ@ ?`o??`G?@.п`?i2ݠ>I2/'];0Yn_Aynv HbDEVDE8ԙy%@=ٔ Q->9I=FyE:E>Q 54?Q 94)AYy~>Q I?CI:iW::ׄ4yKBɮZB*jBjiiziJii kSkSkSh EY E]GE]=EY"EY*E]R9VE]|4ZEYae@ae@ae@ae@ kSokSokSoh2f:fB<A<B!>BB HB`AB=BBBb;B\zEBfJf#g@ɢ!)  i)6:i)GIIIO>%2Acoustic response timeout Oj;я, F?A@>S>>|[!?>]rٱ>&0 FAHRS rotation from veh to nav: [[0.807842,-0.568995,-0.153736],[0.589384,0.781701,0.203888],[0.004164,-0.255319,0.966848]]>H?65ÿ;???`Hq?@%Wп k?i>S>I>];>QCYR _AyR4 HiyI}A2Acoustic response timeoutbD]VD]8y<%G=ٔQ->9I=FyE:E>Q 54+?Q 94)&AYy>Q I?CI6);iB:hބ4y ɮ gB*j)Bj)i)i)zi)Ji)i1 kVkVkVhA kpkpkphY2fi:fiBfiJfmh@颁ɢ^ӱ) i)fH顑iBII1IIOu=!EeT EeAEaEa"Ee9*Ee 9VEaZEaBEe:au2Ee:auJEe:au:Ee:auIE 2Acoustic response timeoutq q y RBя,ܻ F?A29>2p!?2bٱ2o :AHRS rotation from veh to nav: [[0.807178,-0.569051,-0.156986],[0.590258,0.781509,0.202087],[0.007688,-0.255783,0.966704]]2Hg?5`Ŀd???w}?@^пI2A];2TCYN_AyR* HPPyV-?kty&1?hQ? `e< 99I=FyE1;E>Q 54?Q 94)XAY95?Q E:y?Q I?CI:iZ:{4y OBɮlB*j)Bj)i)i1zi1Ji9i9Y kXkXkXhi2f-=:f-=BfL@Jfhr@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ) xi)1_Vi >I2Acoustic response timeoutԁAI!I1O}X>EuY EuCEu@Eq"Eu:*Eu09VEu4ZEqa}@a}@a}@a@ԩB">BB HB_AB=BBBm;BhzE = 2Acoustic response timeout |Hя,1#F?A2=\>2q"?2P3ٱ2k :AHRS rotation from veh to nav: [[0.806270,-0.569552,-0.159809],[0.591447,0.781156,0.199966],[0.010944,-0.255745,0.966682]]2H?9@tĿ@!?:?`}?i? ^п?i2=\>I2t*];2QCYn^Ayn HbDzVDz8y%Y=ٔ  Q- >9 I =FyES;E>Q 5%4ӳ?Q 9%4j)AY)y-`?Q I-?9CI:i: 4y5RBɮ5sB5E*jIBjM=iIiIziIJiQiQ kXkXkXhi krkrkrhy2f:fBfJfڛr@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颩ɢ黽) [i)+c项i:=IԱA $AII)Ou>2Acoustic response timeout E V E DE >E "E =:*E a99VE 4ZE BE :a 2E :a JE kH:a :E mH:a 9 Nя,p=F?A;ɰ2[/>2o"?2*gٱ2ǃ :AHRS rotation from veh to nav: [[0.805284,-0.570361,-0.161880],[0.592721,0.780965,0.196917],[0.014109,-0.254524,0.966964]]2H?`f@|Ŀ?`?@4?@? Jп]?i2[/>I2];2SCYF_AyF1 HbDR VDR8yZ<%ZP=ٔZQ-Z>9^H?I^H?=^Fy^Eb,;Eb>dQ 5j4f糉?Q 9j4f)fAYhyj?Q Ij?f\CIf:if:f4y9ɮEnBA*jQBjQiQiyziyJii kcZkcZkcZh kokokoh2f:fBfJfr@ɢN) i)ShqiU6I2Acoustic response timeoutAEAIQIaO>9ԑ  2Acoustic response timeoutUя,LWF?A02/G>2"?2⎼ٱ2s. >AHRS rotation from veh to nav: [[0.803975,-0.571537,-0.164224],[0.594408,0.780476,0.193744],[0.017441,-0.253381,0.967209]]2H`)?JLſc?@??ܑ?e7п`?i2/G>I2'];2QCYF^AyJHLLbDV.VDV8yZZ%^J=ٔ^Q-^>9bK?IbK?=bFybEfĬ;Ef>dQ 5j4f?Q 9n4f)fAYlynD?Q Ir?fCIf ;if ;f4yvCBɮvkBvE*j|BjiiziJii  k3Wk3Wk3Wh k#qk#qk#qh)2f:fBfJfr@ɢ) ىi)i:2 I EI EM@EMAEI"EIAYA]@ABe#>BaBe HBe_ABe=BaBaBeu;BeszE*EM9VEMA4ZEIBEI2EIJEM.::EM0:ԉII!O> 2Acoustic response timeoutԹ K[я,V,qF?A2>2Q#?2_ٱ2 :AHRS rotation from veh to nav: [[0.802485,-0.573148,-0.165890],[0.596311,0.780053,0.189552],[0.020761,-0.251035,0.967755]]2H?:W;ſ ?1?@@C?gB?п@?i2>I2];2RC\]2Acoustic response timeoutY]^Ay]H )IbDVD8yr;%/=ٔQ->9I=Fy E;E>Q 54?Q 94 )9AYy?Q I?CI:i:(4yGBɮmBE*jBjiiziJii ksXksXksXh kkkh2f!:f!Bf!Jf% s@ɢ)) i)i.IEET EEDEE<EA"EE9*EEa99VEE 4ZEABEE:2EE:JEEkH::EEmH:^A  ;  4=5 2Acoustic response timeoutI) I9 A Ou >bя,;F?A2W>24$?2 Ǽٱ2 :AHRS rotation from veh to nav: [[0.800288,-0.575835,-0.167194],[0.599124,0.779216,0.184050],[0.024298,-0.247463,0.968593]]2H@?I2k=];2TCBCBts@i@I@BJFYC FvADDDDJ tAIJ')HiH)J&CIJvAHL LL||ii) I  )    Y Y%_Ay%, H5=1yuV?+S㥛rh?/ݼ 9y&1? rh~jt?Y`E?yC<qB 7B)BY BbDVD8y;=%%S=ٔ%Q-->9)I)=5Fy5 E<E>Q 54*?Q 94^)fAY3F?Q E:y6?Q I?CIQ:i:7 4yɮdB*jBjiiziJii kzkzkzh  kzkzkzh92fM>:fM>BfMiV@JfMy@颁ɢY׼) \i)Ꮌ顱i^t+IIu2Acoustic response timeout^A*:<I I!OM1>qB] >BYBYBYBYBYBYB];B]zEEuQ EuCEuBEq"Eu29*Eu09VEu5ZEqBEu:2Eu:JEu9::Eu9:ԡ  2Acoustic response timeouthя,ܤF?A2C>>2uv%?2ٱ2| :AHRS rotation from veh to nav: [[0.797988,-0.578608,-0.168609],[0.602036,0.778174,0.178878],[0.027707,-0.244251,0.969316]]2H?@ſC??z?#_? CϿ ?i2C>>I2T/];0Y5^Ay5 H99ybDVD8y %N=ٔ Q->9I=FyE^ <E>Q 54??Q 94;)AYy ?Q I ?CI:i:4yJBɮnB*j)Bj)i)i)zi)Ji1i1 kSskSskSshA kSskSskSshY2fi:fiBfiJfmX2z@颁ɢkĽ) ڈi)lb))i5"(9I9^AMdO=ԡIII OU2>}2Acoustic response timeout DY zDY Ee V Ee AEe ;Ea "Ee =:*Ee  9VEe 4ZEa am @am @am @au @+nя,F?A2>2&?2ٱ2Cx :AHRS rotation from veh to nav: [[0.795087,-0.582328,-0.169502],[0.605697,0.776733,0.172676],[0.031104,-0.239959,0.970285]]2HZq?m@=ſa??>?@ٟ?ο@ ?i2>I27[];2QCY^Ay HbD2VD8y;%J=ٔ Q->9I=FyE=<E>Q 54U?Q 9 4)†AY y B?Q I ?DI`:i:4yMBɮoB*j)Bj)i)i1zi1Ji1i1 ksyksyksyhI kykykyhY2fi:fiBfiJfmz@颉ɢ+) wi)r顑iU$I2Acoustic response timeout^Ae=II)O]>1 2Acoustic response timeoutY uя,Œ؝F?Aɰ:Z>:'?:[ٱ:[w BAHRS rotation from veh to nav: [[0.792754,-0.584523,-0.172841],[0.608519,0.775358,0.168895],[0.035290,-0.239069,0.970361]]:H@>^?hƿ`x??X??@ϙο2 ?i:Z>I:=];:RCYN^_AyNZ HbD 'VD 8y5=%5V=ٔ=3Q-=>9AIA=EFyEEEQ<EE>IQ 5U4Mj?Q 9U4M)MAYYy].?Q I]?M#DIMm ;iMX ;M4yaɮmbBi*jyBjyiiziJii kwkwkwh kwkwkwhB<AB>BB HB_AB=BBB;BzEBGCBGCBB=BC$5E ECE?E"E*E09VE^4ZEBE:a52E:1a5JEa=:Ea=2fy:fyBfyJf}z@颱ɢmݼ)  i)Y项i@!I^A=II!OYa2Acoustic response timeoutԉԹ |я, nF?A ((X`l 륿9 Y uAE2Acoustic response timeoutY_Ay2 HbD !VD 8y=%=;=ٔ=Q-E>9AIA=EFyEEMEM>QQ 5]4U?Q 9]4U)U*AYYyYQ Ie?U8DIU&;iU:U6%4ymQBɮmmBmE*jyBjiiziJiiԑ krkrkrh2f:fBfJfɢȶ) i)viIbEjE4rEĩ]0E-P E)E-AE)"E-9*E)VE-A4ZE)a=@a=@a=@a=@^A]lw=AizAmpA 2Acoustic response timeout! Aa Iq I O >9 я,L F?A2K>2&?2Aٱ2W :AHRS rotation from veh to nav: [[0.794525,-0.574949,-0.195355],[0.605391,0.775034,0.181175],[0.047240,-0.262214,0.963853]]2Hl?@eeɿ\_??`0?@/? п?i2K>I2^];2TCYF~_AyFm HyZd;?V-?yQ8<uB ԍB)NBYBbDVD8yut=%Q=ٔpQ->9I=FyE8E>Q 54̖?Q 94y)VAY>?Q E:ym?Q I?KDIa;ie; ,4yBBɮRBE*jBjii!zi!Ji!i! kZkZkZh9 kokokohI2f]>:f]>Bf]#@Jf]IO@ɢy)  i) ip< I)@==@=;>M2Acoustic response timeout9^AU=BBB HB_ABBBBֺ;BzEE5U E5HE5<E1"E5:*E5[9VE5 4ZE1BE5:aE2E5:aEJE5T:aE:E5U:aEi A I I O > 2Acoustic response timeout'я,$&F?A@ 6.L>6j}$?6A]ٱ6; >AHRS rotation from veh to nav: [[0.799405,-0.561925,-0.212584],[0.598352,0.776513,0.197489],[0.054101,-0.285074,0.956978]]6H ?J5˿%?`2?@QG?`?>ҿ?i6.L>I6Y];4YFn_AyJc HXX X)XIX \\^=^=bDbVDb8yj+%j\=ٔnQ-n>9pIp=rFyrErEr>tQ 5z4v?Q 9z4vu)vAY|y~c?Q I~?v\DIv/;iv<;v24yɮ TB *jBji!i!zi!Ji!i! kVkVkVh2f:fBfJfN@^B*** querying acoustic contact ***XY ɢ YĽ) ؟8 i )𶷼i1I9i^Ayԡ]2Acoustic response timeoutAIIO> EE O EE AEA EA "EE 9*EE  9VEA ZEA aM @aM @aM @aM @Aя,?F?AFhz>F!?F7({ٱFP RAHRS rotation from veh to nav: [[0.806968,-0.544070,-0.229762],[0.587408,0.779750,0.216659],[0.061279,-0.309801,0.948825]]FH? ihͿ ?@?}?_?ӿ`\?iFhz>IFW];FQCYZ_Ay^v HbDfVDf8yn<%nJ=ٔr{Q-r>9pIp=vFyvEvEv>xQ 5~4zV?Q 9~4z+Q =tI)zAYy(?Q I?zpDIz ;iz ;z94y EBɮ E*j!Bj!i!i)zi)Ji)i) kWkWkWhA kWkWkWhQ2fa:faBfaJfe[N@颁ɢŽ) i)8顉iNSI2Acoustic response timeout^A=iIAI!I9Om>! m 2Acoustic response timeout *я,YF?A2r>2#?2ٱ2ʫ :AHRS rotation from veh to nav: [[0.815512,-0.524452,-0.244726],[0.574631,0.784068,0.234598],[0.068846,-0.331944,0.940783]]2H?N+SϿ_c?? P?`蟱? >տ@?i2r>I2];2RCYZ_AyZ H|bD%VD%8ye=%eB=ٔmYQ-m>9iIq=uFyu!EuEu>yQ 54}մ?Q 94})}AYyb?Q I?}DI}:i}M:}@4AAAAB>BB HB`ABBBB;BzEyIBɮPB*jBjiiziJii kXkXkXhEV EEEAE"E=:*EA9VEA4ZEBE:a 2E:a JEV:a :EV:a k#Xk#Xk#Xh2f:fBfJfM@ɢ) ⁿi)#żiI@-qA@-qA)2Acoustic response timeout^AQYIy I I O5 >ԁ &Tя,ٵsF?A2%>2f?2ٱ2E :AHRS rotation from veh to nav: [[0.824868,-0.502958,-0.258121],[0.560116,0.788950,0.252643],[0.076575,-0.352975,0.932494]]2HPe? < пw??? O+?@o?#ֿ?i2%>I2v^;0YF_AyF HJJGPS failed to acquire within timeout. JJData Fault J J J J bDRVDRw8yZ<%ZW=ٔZQ-Z>9\I\=^Fy^$Eb9Eb>dQ 5j4f鴉?Q 9j4f)f9AYhyj ?Q Ij?fDIf:if:fG4ypɮrNBp*jxBjxi|i!I!%2Acoustic response timeoutYiziJii k3Tk3Tk3Th kCTkCTkCTh2f:fBfJfL@1= c=HAggregate::initialize marl:NeedComms12E dE@Initialize GoToSurfaceComponent.dEHReceived depth rate setting nan m/s.dERReceived pitch setting 19.999999 degrees.dMHReceived speed setting 1.000000 m/s.dMjReceived surface timeout setting 1000.000000 seconds. dMNo altitude timeout specified. Using default value of 600.000000 seconds.dUnReceived pitch timeout configuration 60.000000 seconds.1u[qZqZyZ}ZyZ}c}Xcaught uninitialized data element exception.ctlast time_fix was: nan second since 1970/01/01T00:00:00Z 1iɢ¸>I>vپI))i-IԉE S E AE <E "E 9*E  9VE  4ZE a@a@a@a@<2Acoustic response timeout ^A] =IY &m @Data Fault in component: NAL9602Ii O >jᣧя,FF?A4R>R?RٱRrcľ ZAHRS rotation from veh to nav: [[0.834866,-0.479846,-0.269716],[0.543976,0.794160,0.270926],[0.084195,-0.372906,0.924041]]RH@9?`ʵ޿`Cѿ?h?`i?V?ˍ? ׿@?iR>IRC^;PYb`Ayb HfPowering downjjjjy]m?y&1S㥻?]N?]`]/=Y Y9]n?ˡEMb?Y]V.?y]什]>Y]:nB ]3B)]%BYY]zBbDuVDu8y=%-=ٔKQ->9I=Fy'E$E>Q 54?Q 94)AYE2?Q EE:yE ?Q IE?DI:f >Bfb@Jf:@2Acoustic response timeout[ZZZZZiɢI>nݾ)9)9AAiEFGAIIԙ5SBU>BUFCBUz HBU3aABQBQBQBU;BU{EET EE=E"E9*EVE|4ZEBE:a2E:aJE:a:E:a^AyIIO% >  2Acoustic response timeoutfя,zF?A2jo>2?27^ٱ2; >AHRS rotation from veh to nav: [[0.845325,-0.456276,-0.277916],[0.526298,0.800629,0.286364],[0.091847,-0.388337,0.916929]]2H ?@3ݿaѿ n?`? S? H?ؿzW?i2jo>I2^;0Yfq`Ayf HlbDvVDv8yw=%T=ٔ "Q- >9I=Fy)E%5ZE%>)Q 554-?Q 9=4-a)-AYAyE?Q IE?-DI-I;i-J;-V4yUOBɮUABQ*jqBjyiiziJiƷ<i k7k7k7h2f:fBfJfP))i]I > 2Acoustic response timeout9^AQ=IIO>E R E DE >E "E s9*E a99VE 4ZE a @a @a @a @a 1갧я,EÞF?A28آ>2oC ?2lʽٱ2 Ӿ :AHRS rotation from veh to nav: [[0.855468,-0.434081,-0.282396],[0.508367,0.807851,0.298227],[0.098679,-0.398685,0.911763]]2H`_?ۿҿD?? (? C? ٿ*-?i28آ>I2 c^;0YF`AyF- HbDNVDNv8yV/=%VP=ٔVrQ-Z>9XIX=ZFyZ,E^XE^>`Q 5f4b&?Q 9f4b)bVAYdyf?Q If?bDIby:ibN:b]4ylɮn9B9A*jQBjQiQiUziQJiUƷ<e2Acoustic response timeoutiy k37k37k37h k37k37k37h2f:fBfJf;@[Z Z Z Z Z i9ɢ9IE>ES)E )AAAiMXtIIQ-hq^AU=Ae]?AeY?ԑI&VClearing failed state for component NAL9602 IO->i I  2Acoustic response timeout B] <A] <Ba Ba Be  HBe 'bABe =Ba Ba Be ;Be {E#я,0ݞF?A2Y>2 ?2ѽٱ2<־ :AHRS rotation from veh to nav: [[0.865402,-0.414478,-0.281580],[0.490553,0.815371,0.307454],[0.102160,-0.404201,0.908947]]2H_?͆ڿ@iҿ:e??@R?"'?nٿ@?i2Y>I2q8^;2SCEFW EDEFAED"EF :*EDVEFA4ZEDBEF(:aJ2EF-:aJJEFjH:aJ:EFmH:aNYRaAyRl HbDZVDZY8yfEy=%fF=ٔf% Q-f>9hIh=jFyj.EnKEn>pQ 5v4r:;?Q 9v4r)rAYtyvQ>Q Iv?rDIr:ir:rd4yzSBɮ~/B~E*j Bj i iziJiƷ<iԁ k<k<k<h2f:fBfJf }@[ZZZZZiɢI>%n)!)!!!i%-)I1M2Acoustic response timeoutԡ@@@@I I I  O% > 2Acoustic response timeout>я,ŠF?AF">F/>F˽ٱF7־ NAHRS rotation from veh to nav: [[0.876201,-0.397310,-0.272793],[0.471622,0.823382,0.315618],[0.099215,-0.405201,0.908828]]FH ? mٿ@ruѿ /?$Y?3? %f?ٿ?iF">IF^;FQCYZ|aAyZ HbDbVDb`8yjn=%jL=ٔn;Q-n>9lIp=rFyr1ErZ_Er>tQ 5z4vUO?Q 9z4v)v‹AY|y~;>Q I~?vDIv:iv;vk4yABɮBE*jBjii%zi!Ji%Ʒ<i! k8k8k8h9 k9k9k9hI2fY:fYBfYJf]b|@[ZZZZZiɢIK>z))顱i1I9D=D4=E E@E=E"E*E9VE|4ZEa@a@a@a@)%7}2Acoustic response timeoutQ@ ԁ A I I OE >Nħя,^F?Aɰ;Jk>J>J`㘽ٱJо VAHRS rotation from veh to nav: [[0.898651,-0.371347,-0.233512],[0.432277,0.840175,0.327478],[0.074583,-0.395230,0.915549]]JH?%׿Ϳ`n??d??rKٿ .L?iJk>IJ];JPCYbbAyb HaytV?I +?{Gz?R?9=#= 9-?{GzʡE?Y?5?y#-2>qB }B)BYBbDVDv8y=%0=ٔ(Z=Q->9I=Fy4EfȽE>Q 547g?Q 94)AY:?2Acoustic response timeoutQ E:y\>Q I?DIc;ib;s4yDBɮB*j Bj iiziJiƷ<i k7k7k7h) k7k7k7h92fMT_>:fMT_>BfM~~@JfMDՁ@[YZYZYZeZaZeiqɢqIu>uؾ)y)yyyi}mZI}ԑ@<AzAB>BB HBCcABBBB;BzEBFCBBB=BCM 5E EBEE"E*E(9VEZEBEa2EaJEL+:a:EN+:aAxAIIOh>Թ 2Acoustic response timeout gʧя,j-F?AfV>f>ffٱfc˾ nAHRS rotation from veh to nav: [[0.908378,-0.362791,-0.207924],[0.414364,0.847744,0.331108],[0.056144,-0.386927,0.920399]]fH`n?7׿Aʿ?@ ?0?پ?iؿs?ifV>If=];fQCYzbAyz_ HbDVDa8y=%W=ٔF=Q->9;N?I;N?=Fy%6E%[E%>)Q 554-#{?Q 954-~)-BAY1y=>Q I=?-DI-;i-;-wz4yEGBɮEBEE*jYBjYiYi]ziaJieƷ<ia k7k7k7hy k37k37k37h2f:fBfJfgՁ@[ZZZZZiɢI>{{Ͼ))ijIQYYYYYq9Y=A2Acoustic response timeout @x<)DzD?AbEu|4jEu4rEu- 0ES E@E>E"E9*E9VE4ZEa @a @a @a @A AI I O >Y ѧя,>FF?A22Acoustic response timeoutJB>J>JٱJƾ RAHRS rotation from veh to nav: [[0.917220,-0.355421,-0.179956],[0.396858,0.854645,0.334793],[0.034806,-0.378495,0.924949]]JH`Y? 6ֿǿf??Y?>m? ҡ?D9ؿ-?iJB>IJ];JPCY^8cAy^ HbDVDq8y=%J=ٔX=Q->9%K?I%K?=%Fy%9E%FE%>)Q 554-?Q 954-@)-AY9y=$>Q I=?-%DI-;i-;-4yEJBɮEBI*jYBjYiaieziaJieƷ<ia kCDkCDkCDhy kSFkSFkSFh2f:fBfJf@[ZZZZZiɢI>ċľ))i8IB@pA:@qA1@<A%xAI)I9aOm5>2Acoustic response timeoutԉA A ?AB% >B% GCB% n HB% `dAB% =B! 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B% ֺ;B% zEԹ E R E AE ?E "E s9*E  9VE ^4ZE BE x:a 2E }:a JE :a :E :a קя,`F?AB w/>B.j>BDٱBq¾ NAHRS rotation from veh to nav: [[0.925039,-0.348540,-0.151070],[0.379682,0.860879,0.338718],[0.011996,-0.370686,0.928681]]BH?zNֿ CVÿ@L?`Q?@??P׿ ?iB w/>IBV];BQCYVcAyV1 HbDbVDbx8yf=%fO=ٔjl=Q-j>9j;N?In;N?=nFyn;EnCEr>pQ 5v4r?Q 9v4r5)r~AYxyz?>Q Iz?r7DIr:ir6:rl4y|ɮ~˜B*jBjiiziJiƷ<i k#9k#9k#9h k39k39k39h2f:fBfJf@[ZZZZZiɢI>/ݸ))   i RI1ԙqq}2Acoustic response timeout@<AAIIO}X>% 2Acoustic response timeout ݧя,)zF?AYdAy HbD%VD%l8y5O=%5C=ٔ=Q-=>9=K?I=K?=EFyE>EEEE>IQ 5U4M?Q 9U4M)MAYYyYQ I]?MJDIM;iM];M4yeNBɮeBa*jBjiiziJiƷ<i k8k8k8h k9k9k9h 2f:fBfJf[!Z)Z)Z-Z)Z-i9ɢ9IE>A)A)AAIiM ƼQIQDD=EV E?E:E"E=:*E?9VE(4ZEa@a@a@a@@t<AIIO-N>u2Acoustic response timeoutA aя, F?A>0 >>ƴ>>/=ٱ>s FAHRS rotation from veh to nav: [[0.937748,-0.334611,-0.093086],[0.345582,0.872169,0.346258],[-0.034675,-0.356871,0.933510]]>H`?BjտԷ`??)?@ֿP?i>0 >I>];>RCYR?eAyR Hy%5^I ?+?Q%x?%=%\! !9%MbX?{GzˡEY%J?y%ף%什!! %B)%B!Y%fBbD=VD=f8yM=%MI=ٔU=Q-U>9YIY=]Fy]AE]#E]>aQ 5m4eֵ?Q 9m4e)eˎAYuK?Q Eu:yu>Q Iu?e_DIe ;iee ;eז4y}QBɮBE*jBjiiziJiƷ<i k#7k#7k#7h kC7kC7kC7h2Acoustic response timeout2fH>:fH>Bfj]@Jfw!l@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZi ɢ I > )Ƚ)i"μIIB>BFCB HB+eABBB{DB;BzEE[ E@E?E"Ea:*E9VE^4ZEBE ;a2E ;aJE-:a:E0:aqR@=J@=@m<ԡ  2Acoustic response timeoutA I I O >< я,zVF?A2/=2>2 k=ٱ2C :AHRS rotation from veh to nav: [[0.942712,-0.327200,-0.065072],[0.328609,0.877111,0.350275],[-0.057535,-0.351591,0.934384]]2H@*?@Կ?K?j?6uxֿ y?i2/=I2^;0@YFeAyF7 HHHbDnVDnw8yv=%vQ=ٔv,p=Q-z>9xIx=zFyzCE~9E~>Q 5 4﵉?Q 9 4X)oAY y Ɍ>Q I?rDI:i$:4yɮB*j)Bj)i)i5zi1Ji5Ʒ<i1 k#7k#7k#7hI k37k37k37hY2fi:fiBfiJfm5Fk@suNUpdating rudder angle 6.875493 arcdeg 9ur}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢIT>`?))顡iվռIe@1<Թ-2Acoustic response timeoutAIIOEQ>DzDEU ECE<E"E:*E09VE 4ZEa@a@a@a@ я,0ȟF?AB2Acoustic response timeoutlYreAyr[ HbDzVDz\8yEs =%MD=ٔMQ-M>9QIQ=UFyUFEUEU>YQ 5e4]. ?Q 9m4])] AYiyiQ Im?]DI]:i]:]4yuTBɮuBy*jBjiiziJiƷ<i kDkDkDh k]k]k]h2f:fBfJf[ZZZZZi ɢI>)!)!!!i% ݼ)I9Maɽ @ey<AIIOf>152Acoustic response timeouta B >B B 6 HB eAB =B B B ;B yzEE  E @E =E "E *E 9VE |4ZE BE :a 2E :a JE a :E a я, F?AFA=F>F=ٱFk RAHRS rotation from veh to nav: [[0.951014,-0.308911,-0.012121],[0.292446,0.886226,0.359275],[-0.100242,-0.345220,0.933153]]FHn?`1ӿӈ`m?@[?\?`o@ֿc?iFA=IF];FOCYZ0fAy^ HbDfVDfN8ynG=%nR=ٔn=Q-r>9pIp=rFyrHEv½Ev>xQ 5~4z'#?Q 9~4z)zAY|y~s>Q I?zDIz;iz;z4y WBɮ B *jBji!i%zi!Ji%Ʒ<i! k3Ek3Ek3E9hA2fQ:fQBfQJfUTi@[aZaZaZeZaZeiqɢqIY>~)%)i 伉I2Acoustic response timeouti@}_<AY?Aa?ԙAIIO > E 2Acoustic response timeout.Hя,!F?A@>s=>'>>o=ٱ>1 JAHRS rotation from veh to nav: [[0.954749,-0.297114,0.013299],[0.272111,0.890704,0.364146],[-0.120039,-0.344050,0.931247]]>H`N?ӿs=I>];9hIh=jFyjKEjREn>lQ 5r4nQ Iv?nDInS:in:nIJ4yz[BɮzB~E*j Bj i i ziJiƷ<i ksCksCksCh) kZkZkZh92fI:fIBfIJfM)h@[QZYZYZ]ZYZ]iiɢqIul>u9j)q)yyyi}U꼉Iԡ@}<ER EE>E"Es9*EVE4ZEa@a@a@a@IIO-,>2Acoustic response timeout  PExceeded connect timeout, disconnecting.0я,F?A2==2>25>ٱ2/ :AHRS rotation from veh to nav: [[0.958641,-0.281866,0.039497],[0.248146,0.895672,0.369046],[-0.139397,-0.343981,0.928572]]2H /? ҿ8?@A?X?r?ֿ۶?i2==I2];2PCYF>fAyF Hye\(\?"~ҿ~jtx?eZ?ee;a a9eS?Zd;OͿPnYe:?ye~jeaa eeB)eBaYeBbD}VD}o8y1=%?=ٔ:=Q->9I=FyMEhE>Q 54QX?Q 94&)AYbF?Q E:ybQ I?DI8:i:A4y^BɮB*jBjiiziJiƷ<i kSBkSBkSBh k]2Acoustic response timeoutk]k]h 2fF>:fF>Bf},@Jf'U@[)Z)Z)Z-Z)Z-iɢI>;V))i5/𼉨I@E<ByByB} HB}|eAB}=ByByB}k;B}XzE!ET EAEAE"E9*E 9VEA4ZEBE:a2E:aJE:a:E:aIAIQOZ>Q 2Acoustic response timeouty Z я,,/F?A2<2Zh>2M">ٱ2x :AHRS rotation from veh to nav: [[0.962070,-0.264668,0.066126],[0.222127,0.900711,0.373334],[-0.158370,-0.344485,0.925337]]2HF?Pп?`n??@?xEĿ ֿ\?i29tIt=vFyvPEv6Ez>xQ 5U4zp?Q 9U4z)zAYYy]*Q I]?zDIz8V7B)j_)iIQioAI@R<AzAIQIiIO= 2Acoustic response timeoutԁEU EBE<E"E:*E(9VE 4ZEa@a@a@a@ Bя,uxIF?A22Acoustic response timeout6r@6K>6?6>ٱ6} >AHRS rotation from veh to nav: [[0.964794,-0.246053,0.092903],[0.194501,0.905265,0.377709],[-0.177038,-0.346341,0.921252]]6H?~Ͽ`ȷ?h? ?a,?2ƿ@t*ֿ`z?i6r@I6];6PCY^eAyba HbDjVDjj8yrS ;%rJ=ٔr@=Q-r>9tIt=vFyvREvԍEz>xQ 5~4z ?Q 94zK)zAYyAQ I ?zDIz6;izI;zDž4y!ɮ!!*jIBjIiQiUziQJiUƷ<i kLkLkLh2f):f)Bf)Jf-R@[YZYZYZ]ZYZ]iiɢiI`>2/))顙i#IԹmnManaging dock network, ignoring radio surface power offlͽ@Ė<2Acoustic response timeoutIYIiO> Bi Bi Bm HBm dABm =Bi Bi Bm s;Bm azEB)B-FCB)B-=B-=C-u#5E R E :E ?E "E s9*E ;8VE ^4ZE BE x:a 2E }:a JE G[9a :E Q[9a 9 lя,&UcF?AN@NE.>N%I>ٱN8 VAHRS rotation from veh to nav: [[0.966526,-0.226613,0.120311],[0.166095,0.910042,0.379783],[-0.195552,-0.347087,0.917219]]NH`?Ϳ̾? 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Կ3׿@?i6o@I6y];6PCYZZAyZlHbDfoVDf8yj3%nI=ٔn9pIp=rFyrqEv!Ev>tQ 5~4v?Q 94v$)vAQ A 8Y Q E 9yQ I?vDIv;ivC@v4y=BɮE:BMEa*jBjiiziJiƷ<iEUT EUBEU;EQ"EU9*EU(9VEU4ZEQau@au@au@a}@ k3Bk3Bk3Bh[IZQZQZUZQZUiaɢaIm9>m))顑i IqApA-|,ԙ@-p<E2Acoustic response timeoutIIԱO> Sfя,ݘF?A2)@2$@2H@>ٱ2zYȾ :AHRS rotation from veh to nav: [[0.939374,-0.041907,0.340323],[-0.085895,0.932100,0.351870],[-0.331960,-0.359770,0.871991]]2H[?t?@>?` ?>տw׿`Y?i2)@I2];2OCYFYAyFyHaEaE aEaM aMaM aMaM aM@aM aM@aM aM@aM aM@aM yM9I=FytEE>Q 54پ?Q 942Acoustic response timeout)AQ A8YQ E8yQ I?DIT`;i@4yBɮnBԹ*jBjiiziJiƷ<i k&k&k&h ksCksCksCh[ZZZZZi)ɢ)I-8>-@/)1)if= IB]C>B]KCB]4HB]XAB]=BYB]DB]e;B]zEBGCBGCBÕCBBCR4EMQ EM?EIEI"EM29*EM?9VEIZEIBEM:aU2EM:aUJEM=9a]:EMB9a]b(@i<IAIYO>U 2Acoustic response timeout9 Dlя,2tF?AFGP\t9tYt5@5j@5԰>ٱ5Ǿ EAHRS rotation from veh to nav: [[0.935632,-0.029828,0.351714],[-0.099907,0.933298,0.344924],[-0.338543,-0.357861,0.870244]]5H?P{?~?=?տ1ֿ ?i5@I51];5RCY]`WAy]oHbDm;VDm8y}J%}J=ٔa9I=FyvEE>Q 54Է?Q 94@)܀AQ A8YQ E8yCQ I?DI ;i@44yBɮB*jBjiiziJiƷ<i k(k(k(h kGkGkGh[ Z Z Z Z Z i!ɢ!I-{>-]r))))))i5I 1I9EEAA2Acoustic response timeoutA@Ae<AAR?II1O}z>bE4jE4rE 0EUV EUCEUAEQ"EU=:*EU09VEUA4ZEQae@ae@ae@ae@qԡ ] 2Acoustic response timeout1sя,d͡F?A21@2,@2[>ٱ2Ǿ :AHRS rotation from veh to nav: [[0.931930,-0.017649,0.362208],[-0.113849,0.934076,0.338438],[-0.344303,-0.356637,0.868484]]2H_? l.?;%?? ֿ`%ֿ?i21@I2V];2PCYFVAyFHbDNFVDN8yVZ%VX=ٔV9XIX=ZFyZyE^J$E^>`Q 5f4b鷉?Q 9f4b)bAQ Af[8YdQ Ef8yfyQ Ij?bDIb;ibħ@b4ylɮnўBl*jxBjxixizzi|Ji~Ʒ<i| k<k<k<h k<k<k<h![9Z9Z9Z=Z9Z=iIɢQIUm>UL;IUQһ)Us)YY][i]5B aIaiԑ@ua<IIOn>iߩI߭A2Acoustic response timeoutBM W>BM MCBM HBM !UABM =BM #DBM DBM J;BM yzEE] U EY E] =EY "E] :*EY VE] |4ZEY BE] :ae 2E] :ae JE] 9:am :E] 9:am Vyя,*F?AN֮@N@N1>ٱNȾ VAHRS rotation from veh to nav: [[0.928292,-0.005279,0.371815],[-0.128416,0.933832,0.333867],[-0.348975,-0.357673,0.866191]]NH ? u?o`?^?Uֿ ֿ@շ?iN֮@INs];NMCYbTAybHbDjhVDj 8yrG%rG=ٔvF9tIx=zFyz{EzEz>|Q 54~?Q 94~m)~&~AQ A 18Y Q E e8y Q I ?~DI~:i~@~4yBɮBE*j)Bj)i1i5zi1Ji5Ʒ<i1 kBkBkBhI kBkBkBhY[qZqZqZuZyZ}iɢI>;I*))顱ͼi( I2Acoustic response timeout@_<AII 1 OE > 2Acoustic response timeoutY Dя,iF?Ab\0@bG+@b߸>ٱb"Lʾ AHRS rotation from veh to nav: [[0.924602,0.006177,0.380884],[-0.142486,0.932897,0.330759],[-0.353282,-0.360091,0.863438]]bHW?Ly?`f`?<¿J?(+? -ֿ` ׿I?ib\0@Ib&];bQCYMSAyUHbDVD$8y4%==ٔM-9I=Fy~EE>E%V E%?E!E!"E%=:*E%?9VE!ZE!au@au@au@au@Q 54J?Q 94)|AQ A8YQ E98yQ I?0DI/:i@Y4yBɮ8B*jBjiiziJiƷ<i k9k9k9h! k9k9k9h1[IZIZIZMZIZMiYɢYIe>eDiU pAIQ iя,aF?A02{@2f@2x>ٱ2RP̾ >AHRS rotation from veh to nav: [[0.920712,0.018562,0.389801],[-0.157447,0.931632,0.327525],[-0.357072,-0.362929,0.860687]]2Hxv???6'Ŀ`? -?Cֿ<:׿@?i2{@I2];2OCYFQAyJHLLaUaU aUaU aUaU aUaU aU@aU aU@aU aU@a] a]@a] yUM?Zd;9H?IH?=FyE,E>Q 54@*?Q 94a)WzAQ A7YQ E8yv Q I?@DI:im@4yɮeB*jBjiiziJiƷ<i kFkFkFh kWkWkWh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed[)Z)Z1Z5Z1Z5iAɢAIMԻ>M`BOCBHBQQABBBDB';BhzEԉE-O E-@E-?E)"E-9*E-9VE-^4ZE)BE-݄:a52E-:a5JE-.:a=:E-1:a=}=%2Թ- 2Acoustic response timeout @e TZ<A AI I O >ꌨя,-6F?A2@2@2˼>ٱ2I; >AHRS rotation from veh to nav: [[0.916626,0.032368,0.398433],[-0.172852,0.930813,0.322041],[-0.360443,-0.364061,0.858802]]2HU???ƿ7?P?׿@L׿N{?i2@I2z];2MCYEOAyEGbDUVDUF8yeM%eB=ٔmZ 9mK?ImK?=uFyuEuo%Eu>yQ 54}??Q 94})}bxAQ A7YQ E7yQ I?}TDI}& ;i}@}4yBɮB*jBjiiziJiƷ<i k:k:k:h kakakahsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZi ɢ I > 1E"E9*E(9VE4ZEa@a@a@a@ԙ A $AI I O > 2Acoustic response timeoutȓя,OF?A2w@2b@2ri>ٱ2Wξ :AHRS rotation from veh to nav: [[0.912291,0.046944,0.406844],[-0.188884,0.929674,0.316275],[-0.363385,-0.365381,0.857000]]2H|1? ? ?`Z-ȿ?@=?@A׿gb׿l?i2w@I2];2OC@ BfC)BvABxiB}FDFCF/wAiFIFXFDIJ@CiJvA JmJ~F)HN3C NvAN+N7FLRُCPIP)PiP)VYCIVvAV`eV΄F TTZvAZ`eiZyFXiZ̏CX)X \I\Y\YbNAyfxGbDnVDn]8yv3%vT=ٔv9zH?IzH?=zFyzE~<E~>Q 54uS?Q 9 4)vAQ A 7Y Q E 7y Q I ?eDI:iA@4yBɮ}B}E*jBjiiziJiƷ<i kSIkSIkSIh[9Z9Z9Z=Z9Z=iIɢQIU>u B]UCB]GB]YMAB]=BYB]DB];B]dzE @ %V<E T E IE E "E 9*E c9VE ZE BE :a 2E :a JE :a :E :a A Q?A S?A AI I 1 Ou >wя,lF?AR@R@R>ٱRoξ ZAHRS rotation from veh to nav: [[0.907897,0.062563,0.414498],[-0.205104,0.928656,0.309081],[-0.365589,-0.365629,0.855956]]RH`~ ?$?"?@ʿ@?`?e׿ vf׿c?iR@IR];RQC52Acoustic response timeoutY=bLAy=ZGbDMVDIy}o%}2=ٔ};Q->9K?IK?=FyE{ E>Q 54{j?Q 94o)ltAQ Aw7YQ E7yPQ I?{DI]:i@4yɮ%B*jBjiiziJiƷ<i k<k<k<h k=k=k=hi[ZZZZZiɢI>Po<))iя,텢F?AE"R E"AE"=E "E"s9*E" 9VE"|4ZE a&@a&@a&@a&@Bm@Bnh@Bʇ>ٱB; JAHRS rotation from veh to nav: [[0.903648,0.078475,0.421026],[-0.220360,0.928151,0.299961],[-0.367236,-0.363836,0.856015]]BH???4̿j?2?̀׿I׿xd?iBm@IB0];BPCYJAycGaa aa aa aa a@a a@a a@a a@a a@a y +?QQ6? )Mb@Mb@Mb@Ii )IbDVDx8yw%F=ٔz;Q->9H?IH?=FyEl(E>Q 54~?Q 94)xrAQ AH7YQ E7yQ I ?DI;iA.4yBɮ%\B%E*j9Bj9iAiEziAJiMƷ<iI k#Ek#Ek#Eh kcakcakcahI[QZQZQZUZQZUiaɢyI}>}<)y)yyԡ  2Acoustic response timeoutiя,F?A2@2@2D>ٱ2; :AHRS rotation from veh to nav: [[0.899213,0.094018,0.427290],[-0.235725,0.926872,0.292132],[-0.368578,-0.363412,0.855618]]2HZ??`X?@,ο@?J?@Ɩ׿$B׿ 9a?i2@I2];0@YFHAyF"GbDN VDN8yV%V^=ٔZ;Q-Z>9XIX=^Fy^E^?Eb>`Q 5f4bԐ?Q 9f4b)bpAQ Aj"7YhQ EjQ7yj2!Q Ij?bDIb#:ibzAbA4Br>BrZCBrvGBr8IABr=Br"DBrDBr;Br}zEy~Bɮ~B*jBjiiziJiƷ<i kHkHkHh kCWkCWkCWh[ZZZZZi ɢ I > `<) )i59I9@-b<A1zA1EeW EeaEaEa"Ee :*Ee9VEaZEaBEe-:au2Ee2:auJEe;a}:Ee;a}ԩII Oe4>]2Acoustic response timeout 󻭨я,F?Aɰ4<2_@2Z@2$>ٱ2f8; :AHRS rotation from veh to nav: [[0.895056,0.108638,0.432518],[-0.249769,0.925603,0.284385],[-0.369445,-0.362571,0.855601]]2H@M?ϻ?_?nϿ?^3?׿ [4׿a?i2_@I2c];0YRGAyRlGlbDZVDZ8yvW%vF=ٔz[;Q-z>9xIx=~Fy~E~E~>Q 5 4?Q 9 4)nAQ A7YQ E*7yD%Q I?DI:iAS4yɮƠB!*j1Bj1i1i5zi1Ji5Ʒ<i9 kS\kS\kS\hI kc\kc\kc\ha[qZ1Z1Z=Z9Z=iIɢIIM(>M f<)Q)QQQiUCYIY2Acoustic response timeout@Mg< I)I9IQOu6>Ee[ EeBEeAEa"Eea:*Ee(9VEeA4ZEaam@am@am@am@1a e =m 2Acoustic response timeouty  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I [я,!tӢF?A6@6߿@6>ٱ6̾ >AHRS rotation from veh to nav: [[0.890988,0.122717,0.437128],[-0.263101,0.924202,0.276817],[-0.370025,-0.361650,0.855740]]6H?cj??п?^?|׿D%׿ 9b?i6@I6];6OCYREAyR2GbDZVDZ8ybG%fM=ٔf:Q-f>9hIh=jFyjEjEj>lQ 5r4n?Q 9r4nB)nlAQ Av6YtQ Ev 7yv")Q Iv?nDIn:intAna4yzBɮzB|*j Bj i i ziJiƷ<i kXkXkXh) kCvkCvkCvh99[QZQZQZUZYZ]iiɢiIm,>mp<)q)qqqiuZyI@Ul<IIO=i2Acoustic response timeoutB>B]CB0GBDAB=BBDB;BzEBUCBUCBƙCB=B=Cɲ6ԑEu U Eq Eu @Eq "Eu :*Eq VEu 4ZEq BEu :a} 2Eu :a} JEu O+:a} :Eu Q+:a κя,vQF?A2p|@2[w@2M>ٱ2c|˾ :AHRS rotation from veh to nav: [[0.887401,0.135381,0.440671],[-0.274375,0.923267,0.268881],[-0.370455,-0.359514,0.856453]]2He?`'T?3?Zѿf?X5?׿@H׿h?i2p|@I2O];2NCYrCAyvnGbD~VD~8y M% F=ٔ H:Q- >9I=FyE%2Acoustic response timeoutE%>)Q 554-.˸?Q 954- )-jAQ A56Y1Q E=6y=k,Q I=?-DI- ;i-A-m4yAɮEKBA*jYBjYiYi]ziYJi]Ʒ<ia k]k]k]hq k#qk#qk#qhԙ[ZZZZZiɢI>O<))i6I@q<AM?AJ?II) 9=C_Gʰ9YƧAO>2Acoustic response timeout! я,<-F?AbE-4jE-4rE->/E^ E@E=E"EC#:*E9VE|4ZEa@a@a@a@ B@B@Bz>ٱBɫʾ JAHRS rotation from veh to nav: [[0.883784,0.147498,0.444037],[-0.285403,0.921958,0.261798],[-0.370769,-0.358103,0.856909]]BH`G?9? 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SJ?㫿tcпҶؿ[?i2 @I2Q^;2LCYF@yF@xGEb EJE~E"E1:*Ek9VE5ZEBE9;a%2E9;a%JE:a%:E:a%bD)VD8y=D%=2=ٔ=;Q-=>9AIA=EFyE'EE6-EM>QQ 5U4Uܼ?Q 9]4U )UAYYy]iQ I]?UDIU:iU:U 4yaɮmhBi*jyBjyiyi}ziJiƷ<i k3k3k3h k,k,k,h2f:fBfJfla@[ZZZZZiɢI>())iiiimI@e<2Acoustic response timeoutI9IIO{>1Y "2я,wȨF?A2Zk@2Gf@2_>ٱ2C̾ :AHRS rotation from veh to nav: [[0.370602,0.811658,0.451514],[-0.891819,0.446768,-0.071122],[-0.259448,-0.376311,0.889425]]2H???@lj֗? 5`͚пxؿ+v?i2Zk@I2,G^;2JCYVJ@yVuGe2Acoustic response timeoutbDUVDUB8yi%h=ٔ"9I=Fy)EcE>Q 54⼉?Q 94U);AYy㯿Q I? DIA:i:34yBɮBQE*jBjiiziJiƷ<i k%k%k%h k#%k#%k#%h2f):f)Bf)Jf-Z`@1[9Z9Z9Z=ZAZEiQɢQIU>U c)Y)YYYi]_aIa@m<IIO>Ea ENEjE"E%.:*E҆9VEـ5ZEa@a@a@a@aԉ 2Acoustic response timeoutԹ L8я,F?AF@F @F"D>ٱFII RAHRS rotation from veh to nav: [[0.331977,0.838821,0.431475],[-0.904776,0.412525,-0.105847],[-0.266781,-0.355250,0.895894]]FH@?? ?I?f? ѿiֿ)?iF@IFH[^;FPCYZ@yZ*sGb&NAL9602 initializedbDf VDf8yn%rX=ٔrr9pIt=vFyv,Ev,Ev>xQ 5~4z缉?Q 9~4z?)z-AYy5Q I?z+ DIz;iz;zϔ4y ɮ B*j!Bj!i)i-zi)Ji5Ʒ<i1 kS(kS(kS(ha2f:fBfJf]@[)Z)Z)Z5Z1Z5iaɢaIe>eҡ)i)iiiimԑIBA<B>BCBsGB4@B=BBB;B̋E@[<II O]>u2Acoustic response timeoutE EEsE"E*EVEX5ZEBER3;a2ET3;aJE:a:E :a  % 2Acoustic response timeoutw>я,F?AR|l@Rig@R>ٱR ZAHRS rotation from veh to nav: [[0.313367,0.850077,0.423285],[-0.910464,0.395639,-0.120519],[-0.269919,-0.347619,0.897945]]RH5?3??"&R?ZھXFѿb?ֿ@?iR|l@IRh^;RKCYbR@yf4pGbDnVDn:8yv=%vJ=ٔv9xIx=zFyz.E~KE~>Q 5 4t켉?Q 9 4) AY y ÷Q I?E DIW:i :曇4yɮB*j)Bj)i1i5zi1Ji5Ʒ<i1 ks'ks'ks'hI kc@kc@kc@hY2fi:fiBfiJfm-\@[yZyZyZ}ZyZiɢI>&))顙iMI@}<I!IAO- >iyIy}2Acoustic response timeoutI E j E KE tE "E N:*E ]t9VE 5ZE a @a @a @a @^Eя,F?A@Fٙ@FԠ@F-7>ٱFNI NAHRS rotation from veh to nav: [[0.296823,0.858248,0.418696],[-0.915278,0.380731,-0.131567],[-0.272328,-0.344171,0.898545]]FH$?v?? 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DI:i:z4yBBɮB*j9Bj9iAi]ziYJieƷ<ii k+k+k+h2fq:fqBfqJfuT@[ZZZZZi1ɢ1I5>=)9)AAAiEiIi!@Ec<]2Acoustic response timeoutAIIO>QE h E QE sE "E G:*E v9VE X5ZE a @a @a @a @y eя,̗F?A:BǗ@:/ž@:뚐>ٱ:Ӿ BAHRS rotation from veh to nav: [[0.236499,0.859986,0.452208],[-0.930806,0.334022,-0.148426],[-0.278692,-0.385815,0.879476]]:H`E?@??(`?¿ ѿ@2ؿ$?i:BǗ@I::r^;:KCY@y9]Gy%333333?I +?RQ%9?%9<%½! !9%K7A`?{Gz|?5^?Y%K?y%ף%=%\B%B %OB)%B!Y%BbDEVDEA8yM%U6=Qٔ]*#9YIY=eFye>EeEe>iQ 5u4m :fZ>BfD[@JfD@[ZZZZZiɢI>\w))in I @<ԁAI)I9Ouy>B}>B}CB}|]GB}@B}=ByB}$DB};B}Eԩm 2Acoustic response timeout #kя,F?A:O@:J@:M>ٱ:5p׾ FAHRS rotation from veh to nav: [[0.222693,0.861121,0.457033],[-0.933249,0.323852,-0.155454],[-0.281875,-0.391908,0.875759]]:H1?L?@?-@?ÿ> ҿٿ8?i:O@I:d^;:OCY=N@y=XGEc EWEE"Eg5:*E9VE5ZEBE?;a2E?;aJE:a:E:abDVDw8y}%}H=ٔ}9I=FyAEE>Q 54%C?Q 94q):AYy8Q I? DI;i;3·4ySBɮNBoEԱ*jBjiiziJiƷ<i ks ks ks h k'k'k'h2f:fBfJf@19  r NAggregate::initialize marl:UpdateRudderq9 J] q9 9 7 oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[!Z!Z!Z%Z)Z-i9ɢ9I=>=)A)AAAiEIIIQR@]=J@]=@Mg<AQzAQ2Acoustic response timeoutAyIIOb> 9 qrя,r˩F?A2k@2X@2T<>ٱ2ؾ :AHRS rotation from veh to nav: [[0.205978,0.865990,0.455669],[-0.936553,0.309424,-0.164699],[-0.283623,-0.392834,0.874780]]2H@]? 0? )?=?ſ&ҿ1$ٿ 2?i2k@I2Zk^;2KCYN@yRUGiI%2Acoustic response timeoutbD=VD=8yeK`%e^=ٔmġ;Q-m>9iIi=uFyuCEuEEu>yQ 54}&I?Q 94})}zAYyxQ I?} DI}:i}:}ԇ4yɮxB*jBjiiziJiƷ<i kckckch k%k%k%h2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢI>p{))i%!I)@<Ed EMEsE"E9:*E9VEX5ZEa@a@a@a@AAIIIYO:>92Acoustic response timeouti Xxя,dF?A0Nh'@NU"@N˓>ٱN+վ VAHRS rotation from veh to nav: [[0.188619,0.873468,0.448861],[-0.939886,0.293052,-0.175313],[-0.284670,-0.388811,0.876236]]NH$?@s?$? ]?pƿ` 8ҿHؿ  ?iNh'@IN ^;NLCYb@ybhRGbDVDK8yNF%A=ٔ(;Q->9 I = Fy FE 2BA%=B>B CBTGB@BBBB;B;EE5>9Q 5=4=O?Q 9E4=")=AYAyE櫿Q IE?=( DI=:i=:="܇4yIɮUBQ*jaBjaiaimziiJimƷ<ii k%k%k%h k&k&k&h2f:fBfJf§@[ZZZZZiYɢYI]->eiw)a)aiԉiiI52Acoustic response timeout@%<ԹAIIOn>Ef ENExE"EI@:*E҆9VEe5ZEBER;a2ER;aJE:a:E :ai1I1  2Acoustic response timeoutя,qWF?A2p@2]@2>ٱ2Ҿ >AHRS rotation from veh to nav: [[0.172045,0.881091,0.440545],[-0.942906,0.276761,-0.185290],[-0.285183,-0.383514,0.878401]]2H?1?`1?`H,r?ǿq@ҿ}ؿ?i2p@I27^;2JCYF@yF]OGbDRVDR8\yjW%j_=ٔn:Q-n>9lIp=rFyrHEr DEr>tQ 5z4vT?Q 9z4v))vAY|y~@Q I~?v: DIv:ivp:vy4yVBɮ̰B*jBjiiziJiƷ<i! k k k ha2f:fBfJf@[iZiZqZuZyZ}i!ɢ)I5>5p8u)9)9aaieiIqB@:@pA@}<AS?AM?IyIOa> -2Acoustic response timeout9 E i E OE wE "E ,K:*E 9VE ɕ5ZE a @a @a @a @8я,fF?A2@2 @2G0>ٱ2SϾ :AHRS rotation from veh to nav: [[0.156535,0.888129,0.432115],[-0.945537,0.261180,-0.194282],[-0.285407,-0.378169,0.880643]]2HR ?@k?`ŧ?`A@*?8ȿDҿ3ؿ`9.?i2@I2^;2MCYZ@yZKGyCl?1ZdCl绿d[?"۽;߽ 9@5^I ?w/Ŀףp= ÿYbP?y&B ÕB)pBYBbDVD/8y_%==ٔ# :Q->9I=FyKEE>Q 54Q?Q 942)AY1X?Q E{:yֿQ I?P DI:i: 4ygBɮByE*j Bj i izi2Acoustic response timeoutJiƷ<i k$k$k$h2f=:f=Bfׁ@Jf-@[ZZZZZi!ɢ)I-j>-Ct)I)QQQiU|zYIY@MqB>BBLLGB@B=BBB;BяEM 2Acoustic response timeoutԡ %я,2F?A26@2$@2>ٱ2̾ :AHRS rotation from veh to nav: [[0.141620,0.894386,0.424284],[-0.947649,0.246401,-0.203098],[-0.286192,-0.373310,0.882459]]2H@ ?Ϟ?y'?@#S?`ɿ`PҿN׿=?i26@I2$^;2ICYFȢ@yF/HGbDhVD8yee%eQ=ٔec ;Q-e>9iIi=mFymMEm$Eu>yE^ EREuE"EC#:*E9VE5ZEBE ;a2E ;aJE&:a:E':aqQ 54u[N?Q 94u:)u@YyؿQ I?ud DIu:iu$:u4ydBɮ8BxE*jBjiiziJiƷ<i k# k# k# h kS.kS.kS.h2f:fBfJfr,@[ZZZZZi)ɢ)I-#>-p)))111i519I9@<IqIO=ԡ2Acoustic response timeout я,GLF?A2O@2< @2T>ٱ2 ;ʾ :AHRS rotation from veh to nav: [[0.126703,0.900177,0.416686],[-0.948964,0.232308,-0.213306],[-0.288813,-0.368394,0.883670]]2H7?@??]E?`M˿{ҿ“׿ G?i2O@I2E^;2LCY^_@yb:EGb?Ab?A2Acoustic response timeoutbD%VD%&8y+9%D=ٔ;Q->9I=FyPEE>Q 54J?Q 94XC)r@YyڿQ I?y DIK,;i:#4yɮ^B*jBjii zi Ji Ʒ<i  k'k'k'h! k'k'k'h12fA:fABfAJfER+@[QZQZQZUZQZ]iiɢiIm>mpe)i)qqqiuyIy@U<IIO>Ed ELEtE"E9:*E|9VE5ZEa@a@a@a@12Acoustic response timeouta :я,fF?A2@2@2w>ٱ25Ǿ :AHRS rotation from veh to nav: [[0.110501,0.906246,0.408054],[-0.949470,0.217609,-0.226170],[-0.293762,-0.362443,0.884499]]2HI???b? %̿ҿ`E2׿M?i2@I2b^;2JCY^@y^)AGbDjVDj8yrR%rY=ٔr`9tIt=vFyvREz^7Ez>|Q 54~F?Q 94~K)~@YyܿQ I ?~ DI~:i~t:~4yɮB*j!Bj!i)i-zi)Ji-Ʒ<i) k-k-k-hA k-k-k-hQ2fa:faBfaJfe*@[qZqZqZ}ZyZ}iɢI>XPA@AAB>B!CBCGB"@B=BB%DB;BpEB} CB}CByB}=B}=C} 51)9)999i=]AII@Mz<IIO 2Acoustic response timeoutY 7l>C}_GDzDEj EREuE"EN:*E9VE5ZEBEk;a2Ek;aJEa:Ea-9)Y-Aԉ 2Acoustic response timeoutԹ я,bF?AVY@VF@V[>ٱVu+þ zAHRS rotation from veh to nav: [[0.092455,0.913007,0.397328],[-0.949239,0.201309,-0.241702],[-0.300662,-0.354813,0.885274]]VH?@[7?m?*`? ο >ӿAֿ*T?iVY@IV'^;VMCY=@yE3>GbD)VD;8y83%>=ٔE9I=FyUEJ0E>ԙQ 54A?Q 94BT)@Yy[߿Q I? DI;it;4yvBɮ˱BE*jBjiiziJiƷ<i k-k-k-hq2f:fBfJfz(@[ZZZZZiɢI>X2))i]AI@ u<IQIaO;>2Acoustic response timeoutbE-ʐ5jE-ʈ5rE-1E k E TE wE "E mR:*E 9VE ɕ5ZE a @a @a @a @ >Iя,]F?A2eT@2RO@2>ٱ2a :AHRS rotation from veh to nav: [[0.074629,0.919437,0.386091],[-0.948204,0.185308,-0.258012],[-0.308771,-0.346838,0.885643]]2H ?@l??W/?Cп ӿ`2ֿ`0W?i2eT@I2w^;2NCYF@yF:Gy/$?l?9I=FyXE>E>Q 54@?Q 94\)@Ypg?Q Ej:y˿Q I? 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DI ;i;[4y)ɮ-B)*jABjAiAiMziIJiMƷ<iI k=k=k=ha kWkWkWhq2f:fBfJf@[ZZZZZiɢI5>% 2Acoustic response timeout 6я,իF?A29ό@2'ʓ@2Ͼ>ٱ24Ⱦ :AHRS rotation from veh to nav: [[-0.087384,0.933462,0.347869],[-0.927248,0.051420,-0.370901],[-0.364110,-0.354971,0.861057]]2H ^?`{C?S?ټ׿M׿ٷֿǍ?i29ό@I2^;2KCYF_@yF GbDNVDNe8yV%VJ=ٔZ=9XIX=ZFyZwE^E^>`Q 5f4b?Q 9f4b)bø@Ydyj%Q Ij?b DIb:ibp:bb4ylɮn۴Bl*jxBjxixizzixJi~Ʒ<i| kWkWkWh kcjkcjkcjh2f:fBfJfBA@[ZZZZZiɢI>0lI B A <B >B B FB L@B =B B B @;B ˒E*я,F?AYY@yG%=!bD=VD=8yMk%MA=ٔMQ-M>9QIQ=UFyUyE]E]>aQ 5m4e?Q 9m4eR)e@YiyiQ Im?e DIe:ie:ej4yuBɮBE2Acoustic response timeout*jBjiiziJiƷ<i kQkQkQh  kjkjkjh!2f1:f1Bf1Jf1[9ZAZAZEZAZEiQɢQI]>Y)Y)YYe# 2Acoustic response timeoutԩ я,F?A6@6@6 8>ٱ6 >AHRS rotation from veh to nav: [[-0.118077,0.940116,0.319748],[-0.917686,0.019704,-0.396818],[-0.379355,-0.340284,0.860405]]@6HQ:n? v?]@-?@weٿ[Gؿ4տo?i6@I6^;6JCYJPP@yNGy% ףp= ?Zd;O?&1%Q?%j<=%P! !9%S㥛?X9vL7A`Y%$?y%}%+%]C%ǕB !)%B!Y%BbD5|VD58yE굾%MJ=ٔM&=Q-M>9QIQ=UFyU|EUrEU>YQ 5e4]?Q 9m4]6)]@YmL?Q Em3:ym`Q Im?] DI]:i]:]q4yuBɮ}dBy*jBjiiziJiƷ<i kSRkSRkSRh kjkjkjh2f1>:f1>Bf@Jf^f@[YZYZYZeZaZeiɢI>H#=))顙E=g E=SE=~E9"E=C:*E=9VE=5ZE9aE@aM@aM@aM@ @=я,֎"F?A"2Acoustic response timeoutFC@F1@F+>ٱFp zAHRS rotation from veh to nav: [[-0.135811,0.943237,0.303083],[-0.912241,0.000283,-0.409653],[-0.386486,-0.332121,0.860421]]FH?b@.? e?1@2? 7ڿ-ؿvAտ@?iFC@IFS^;DYI@y8F yy=bD|VD8yv%C=ٔ9I=FyE[AE>Q 54?Q 94n)V@YyQ I? 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I% A- 2Acoustic response timeoutA= $AII Ia O > 85я,f٬F?A2~@2y@2>ٱ2 :AHRS rotation from veh to nav: [[-0.262964,0.934237,0.240938],[-0.877139,-0.127484,-0.463007],[-0.401842,-0.333091,0.852979]]2H hпD? ?@cQݿȷٿ[QտK?i2~@I2^;2HCYF@yFĹFHHE%r E%QE%E!"E%k:*E%v9VE%5ZE!a-@a-@a-@a-@bD }VD 8y#%A=ٔ;Q->9H?IH?=FyEͷE>Q 54ż?Q 949)m@YyQ I? DI;i; ;74yBɮ[BĸE*jBjiiziJiƷ<i k3sk3sk3sh kCskCskCsh)2f9:f9Bf9Jf=1@[IZIZIZMZQZUiaɢaIe>e=)i)iiiim qIy5Ѽ9@ l<^Aw=2Acoustic response timeoutYA5AI9IQO{>ԉ B ?>B (CB (FB ;@B =B B *DB ;B EB&CB&CBɕCBɗ=Bɗ=C)4&<я,UF?A,2@2@2>ٱ2 :AHRS rotation from veh to nav: [[-0.274238,0.932195,0.236231],[-0.874229,-0.139324,-0.465095],[-0.400647,-0.334067,0.853160]]2Hѿ?^;2ICr2Acoustic response timeout wm>C%G9Q}B9yY}AYI@y5FԉD%?AzD%?AE-a E-TE-E)"E-%.:*E-9VE-*5ZE)BE-O3;a=2E-R3;a=JE-:a=:E-:a=bDVD8y7z%$=ٔ=,Q->9K?IK?=FyElѼE>Q 54z?Q 94E)^@YyBQ I? DI;ij;岈4yɮB*jYBjYiYieziaJieƷ<ii kikikih2f:fBfJfʃ@[ZZZZZiɢIu?4X=))iIԹ2Acoustic response timeout  @ t<^A ] ;A `?A b? A I IO=>Dя,hF?A&4<ɰ&;B݅@B~،@Bqy>ٱB JAHRS rotation from veh to nav: [[-0.280722,0.930613,0.234853],[-0.873465,-0.146288,-0.464390],[-0.397811,-0.335500,0.853924]]BHWѿ??m¿ݿ uٿ@xտ`XS?iB݅@IBx^;BJC L)RvAPPPPPiRITTITiT ZyX)XX ZvAZ\\\\^ApAI\)\i\)`IbvAbubDŽF `f&CfvAfyiddihh)h hIhYhYr@yrZF 2Acoustic response timeout ym(\?333333?Qmz?m=mi i9mzG?:v?oʡ?Ym 7?ym=m->mCm~B mB)mLCiYmBbDVD 8y;%I=ٔ[Q->9I=FyEsE>Q 54@?Q 94RM)DZ@Y=?Q E:y{ԿQ I? DI;i;4y)ɮ-B)*jYBjYiYieziaJimƷ<iq ksMksMksMh kcrkcrkcrh2fx>:fx>BfzX>Jf(@[ZZZZZi)ɢ1I5>=xv=)9)999i=*QIYaaaa1bE5jEo5rE(2EUg EUbEU~EQ"EUC:*EU9VEU5ZEQae@ae@ae@ae@Y@z< 2Acoustic response timeoutԉ ^A B @>B B FB ?B B B B ;B =EԱII OE>VKя,>0F?AYY?yFa=a=bDVDG8y+%/=ٔQ->9I=FyEE>Q 54?Q 94 V)U@YyQ I?" DI6:id:%ˆ4y$BɮFBθE*jBjiiziJiƷ<i kSkSkSh  ktktkth%2Acoustic response timeout2f1:f1Bf1Jf1ԙ[ZZZZZ^B*** querying acoustic contact ***XYiɢI> ) )   i _AI@h~<@ @ @ @ Dm=Dm%=Eui EuTEuEq"Eu,K:*Eu9VEuDz5ZEqBEuve;a2Euxe;aJEqa:EqaI I I  2Acoustic response timeoutO >! DRя,JF?AF#@F@F>ٱF NAHRS rotation from veh to nav: [[-0.274295,0.936120,0.220095],[-0.879301,-0.151485,-0.451534],[-0.389349,-0.317383,0.864682]]FH ѿ?,? ;#cÿܿؿPԿ z?iF#@IFc^;DYM?yM FbDeVDe78yþ%L=ٔNQ->9I=FyE<E>Q 54?Q 94])P@YyӿQ I?5 DI:i:$Ɉ4yɮB*jBjiiziJiƷ<i kS\kS\kS\h klklklh2f!:f!Bf!Jf%ٛ@[1Z1Z1Z5Z1Z=iIɢIIMB>MQP=)I)QQQiUVYIY@m<AqzAqIIO >E2Acoustic response timeout9Ej EZEE"EN:*Ea9VEH5ZEa@a@a@a@i Xя,(cdF?A R2Acoustic response timeoutJP@J>~@JX>ٱJD ZAHRS rotation from veh to nav: [[-0.263744,0.942605,0.204782],[-0.881477,-0.149311,-0.448001],[-0.391712,-0.298668,0.870264]]JH,п)?J6?5ÿ ܿ`ٿ_ӿ4?iJP@IJ^;JHCYfX?yfFbDr=VDrc8yz%zV=ٔ~9;Q-~>9|I|=~FyE<E> Q 54 ఼?Q 94 d) L@YyҿQ I? 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DIQ< 0я,"UF?A;ɰ4<2M@2;@2|>ٱ2vN :AHRS rotation from veh to nav: [[-0.289739,0.949603,0.119602],[-0.925407,-0.246053,-0.288236],[-0.244282,-0.194194,0.950061]]2H`ҿ&c?>?~Ͽvrҿ`DϿ Xȿ`f?i2M@I2^;0@Br@i@I@@D DDDDHJtAIJ 0)JVsFiH)HILLL LPRuAPiPPiPT)T TIT T)TTXXYXYb>yb-Er2Acoustic response timeoutbDekVDe9yu%ut=ٔYǾQ-?9I=FyfE?Q 54]?Q 94)?YyQ I?DI;i;%4yLBɮhBE*jBji?i%zi!Ji%Ʒ<i! kCIkCIkCIhY2fi:fiBfiJfmƴ@ZZZZi)Ա)iIbEH5jEÂ5rE÷1E5j E5ZE5E1"E5N:*E5a9VE5U5ZE1aE@aE@aE@aE@E9yyyy2Acoustic response timeout A A @AB W>B B DB =B =B B B ;B _E@ H<I I 9 Om >gя,AoF?AB:@B5@B>ٱBWK JAHRS rotation from veh to nav: [[-0.291557,0.945692,0.143744],[-0.943967,-0.260156,-0.203089],[-0.154663,-0.194901,0.968552]]BHݨҿC?2f?4dп@ɿÿȿ``?iB:@IB^;BICYe>yelzEbD}MVD}9yi%G=ٔfQ->9I=Fy*<E>Q 54hP?Q 94);?YyfQ I?.DI:i:,4yɮB*jBji?iziJiƷ<i k3Nk3Nk3Nh k3Nk3Nk3Nh2f:fBfJfo@Z%Z%Z!Z%i1)1)199i9AIAU92Acoustic response timeout@MB<IYIyO>!EEi EEgEEzEA"EE,K:*EE&9VEE5ZEABEEve;aM2EExe;aUJEE1;aU:EE1;aUQ ߁ ߅ %= 2Acoustic response timeoutI Bя,xF?A >.@>~@>>ٱ>4. NAHRS rotation from veh to nav: [[-0.284109,0.950585,0.125183],[-0.949487,-0.260798,-0.174525],[-0.133253,-0.168444,0.976663]]>H .ҿ`0k??2b`пVƿ o@ſ@?i>.@I>^;>HCY=I>y=^EyZd;O? ףp= /$ƿ~>Q&1 9ˡE?x&1̿kt޿Y'?yA` BB qB)BYBbD  VD 9ySս%C=ٔySQ-%>9!I!=%Fy!-z<E->1Q 5=45i@?Q 9=45W)5?Y=U?Q E=~:y=Q IE?5@DI5 ;i5C ;5~ 4yMIBɮMBI*jaBjaie?ieziaJimƷ<ii kSQkSQkSQhy kRkRkRh2f>:f>Bfx@Jf:ye@ZZZZi))iIi9@<IIO (>ԙ2Acoustic response timeout EM k EM [EM oEI "EM mR:*EM 9VEM 5ZEI aU @aU @aU @aU @nя,]F?ABώ@B@B>ٱB JAHRS rotation from veh to nav: [[-0.282533,0.954464,0.095777],[-0.949122,-0.263675,-0.172171],[-0.139077,-0.139548,0.980400]]LBHҿ?@ڄ?@5_ п ƿ H`o_?iBώ@IB^;@Y~ū>y~=SEbDVDi9y%7L%%[=ٔ%49)I)=-Fy)5y;E5>9Q 5E4=2?Q 9E4=)=?YAyEQ IE?=PDI=:i=g:='4yQɮUBQ*jiBjiim?imziiJimƷ<iq kKkKkKh kKkKkKh2f:fBfJf5f@ZZZZi))iI pAqA]2Acoustic response timeout9@mF<IyIO>BeR>Be+CBaBaBe=BaBaBe;BeEi I  2Acoustic response timeout! Aя,.F?A2o@2i@2`^>ٱ2 :AHRS rotation from veh to nav: [[-0.286642,0.953353,0.094630],[-0.949457,-0.269495,-0.160948],[-0.127938,-0.135982,0.982416]]2H XXҿ݁?@9? ag?ѿĿF`g o?i2o@I2^;2JCY^A>ybGEfAfAbDjVDjS9yrS@%rN=ٔvQ-v>9tIx=zFyxzf Ez>|E n E ZE vE "E O]:*E a9VE -5ZE BE g;a2E h;aJE 1;a:E 2;aQ 5%4#?Q 9%4:)Ä?Y)y-Q I-?aDI-:i:-4y5FBɮ5B5E*jBji?iziJiƷ<i k#Yk#Yk#Yh kwkwkwh92fy:fyBfyJf}'g@ZZZZi))iI   91@+<IIO=.>e2Acoustic response timeoutQԁ Dя,׮F?A2_@2Z@2?=ٱ2$ :AHRS rotation from veh to nav: [[-0.289469,0.953389,0.085187],[-0.952393,-0.277981,-0.125194],[-0.095678,-0.117371,0.988468]]2Hҿ)?ε?z`oѿZ]~ @?i2_@I2J^;2HCYFu>yFLE^2Acoustic response timeoutbDP!VD9yE<%ED=ٔEQ-M>9III=MFyIUⒻEU>YYQ 5e4]y?Q 9m4])]T?YiymJQ Im?]rDI]:i]E:]654y}VBɮ}B}E*jBji?iziJiƷ<i k_k_k_h) krkrkrhY2f:fBfJfi@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iIm9E k E PE qE "E mR:*E ?9VE 5ZE a@a@a@a@@<IIԩO">u2Acoustic response timeout B] <A] 4=Be W>Be *CBe DBe w>Be =Ba Ba Be u;Be HEя,TF?Aɰ;2@2z@2ց=ٱ26ν :AHRS rotation from veh to nav: [[-0.279271,0.956968,0.078865],[-0.958120,-0.272302,-0.088644],[-0.063354,-0.100318,0.992936]]2Hѿ{?@0?`cmѿZ7t"?i2@I2^;2FCYv >yzDEbDe"VDe9y%D=ٔQ->9I=Fyh<E>Q 54n?Q 94y)!?YyKQ I?DI:i:x<4ySBɮB*jBji?iziJiƷ<i kZkZkZh  kgkgkgh2f):f)Bf)Jf-)Fm@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iII >) r?2Acoustic response timeout9@T< II!OU2>Ea ESEyE"E%.:*E9VE5ZEBEO3;a-2EQ3;a-JEm:a-:En:a-9Y  2Acoustic response timeout'«я, F?A2A@2/@2ID<ٱ2oȽ :AHRS rotation from veh to nav: [[-0.282114,0.955480,0.086429],[-0.959028,-0.278420,-0.052428],[-0.026031,-0.097679,0.994878]]2H)ҿ J?; ?Z@ѿ@תç@|` ?i2A@I2/^;2HCY^>yb+!Ey9v?+Gzǿ?p= 9(\?GzǿʡEY?yp=-~BB [B)~BYBbD$VD9yc %G=ٔxQ->9I=FyŻE>Q 54s?Q 94)>YL?Q E:yQ I?DI ;i ;C4yɮлB *jBji?iziJi%Ʒ<i! kcNkcN1kcNh92fM>:fM>BfMR@JfM@Z]Z]ZYZ]ii)q)qqqiyyIm9@Ԫ<IIO#>aiI2Acoustic response timeoutԉE- c E) E- E) "E- g5:*E) VE- c5ZE) a5 @a5 @a5 @a5 @Թ `ȫя,$F?A6.@6)@6H<ٱ6* >AHRS rotation from veh to nav: [[-0.296397,0.952010,0.076330],[-0.954676,-0.293051,-0.052100],[-0.027231,-0.088312,0.995721]]6H -ҿv?T?Wҿʬ g⛿ `?i6.@I6ź^;4YFv>yJER)bDZQ'VDZ9yb(%b^=ٔbU;Q-b>9dId=fFydf&Ej>hQ 5n4j컉?Q 9r4j*)j|A>Ypyr-Q Ir?jDIj;ij;jJ4yvPBɮvԻBx*jBji?i zi Ji Ʒ<i  ksNksNksNh! kNkNkNh12fA:fABfAJfE'@ZUZUZQZUi))i  I=2Acoustic response timeoutԑP9@Z<IIOM>B ]>B +CB DB =B B B +DB ;B ՔE 2Acoustic response timeout YΫя,%v>F?A:U@:xP@:&=ٱ:`抽 BAHRS rotation from veh to nav: [[-0.261756,0.963580,0.054753],[-0.964274,-0.258706,-0.056987],[-0.040747,-0.067714,0.996872]]:Hп@??Tпo-`ܤU`?i:U@I:x^;:ICYJ|>yNtEbDV(VDV9y^u<%^K=ٔbC =Q-b>9`I`=fFydf=Ef>hQ 5n4Erf ErOErvEp"ErI@:*Er9VEr-5ZEpBErR;az2ErR;azJErN:az:ErO:azj້?Q 9~4j)j5Y|y~ Q I~?jDIj׼;ijL;j Q4y ɮ ѻB *jBji%?i%zi!Ji%Ʒ<i! kQkQkQh9 kQkQkQhI2fY:fYBfYJf]i@ZmZmZiZmi))顑iI 9=pA9@<II OE>E%=AM2Acoustic response timeoutI >իя,]QXF?A63@6.@6Y<ٱ6  >AHRS rotation from veh to nav: [[-0.235761,0.969655,0.064701],[-0.971720,-0.234305,-0.029348],[-0.013297,-0.069790,0.997473]]6H@i-οi?9?TͿG @;@ݱL?i63@Z2Acoustic response timeoutI60^;6HCYf>yf,EbDE\*VDEE 9y$<%>=ٔソQ->9I=Fy=E>Q 54Ի?Q 94)ђYy Q I?DI:i:X4yɮϻB*jBji?iziJiƷ<i kcPkcPkcPh kcPkcPkcPh2f :f Bf Jf  @ZZZZi))顩iIQ9Eg EUEtE"EC:*EP9VE5ZEa@a@a@a@@<IIO)>XChecking local IP, expecting subnet 10.89.11TFound local IP address 10.89.11.2 for eth0yU2Acoustic response timeoutԩ B _>B B DB #>B B B B ;B EB+CB+CBBʛ=Bʙ=C06۫я,/rF?A2@@2;@25sj<ٱ25 :AHRS rotation from veh to nav: [[-0.264401,0.961519,0.074649],[-0.964307,-0.262431,-0.035256],[-0.014309,-0.081306,0.996586]]2Hп`?,?`п %Nwд@ ?i2@@I2^;2ICy^EbDE+VDE 9yF2%I=ٔ";Q->9I=FyՔE>Q 54-Ȼ?Q 94)YyMQ I?DIn;i;_4y]BɮBE*jBji?iziJiƷ<i kQkQkQh kQkQkQh  %'n>%ȑC2fa:faBfaGJfe@%Q9!Y%KAZUZUZYZ]ii)q)qqqiqI2Acoustic response timeoutԹeS9@Eh<IQIaO:>E c E VE E "E g5:*E 9VE 5ZE BE ?;a2E ?;a%JE D:a%:E E:a% e 2Acoustic response timeoutrя,}F?A4<ɰ4<2X@2S@2=ٱ2 :AHRS rotation from veh to nav: [[-0.291436,0.955117,0.053064],[-0.955854,-0.288587,-0.055325],[-0.037528,-0.066845,0.997057]]2HҿR?,+?Z@5xҿ S6?i2X@I2^;0Y^b>y^e Ely#~j?Zd;??e?>L= 9Q?333333?Y?y>̼[B B)BYBbDc-VD 9yK%D=ٔd=Q->9I=Fy yE >Q 54>ǻ?Q 94) YG?Q E?:y%#̿Q I%?DI. ;i ;g4y)ɮ-B)*j9BjAiE?iEziAJiEƷ<iA kQkQkQhY kQkQkQhi2f},N>:f},N>Bf}7@Jf}@ZZZZi))顡iIIY?)5?9 @η<IIO*>2Acoustic response timeout1bE-5jEe5rEɹ-2E d E RE qE "E 9:*E 9VE 5ZE a @a @a @a @a  PExceeded connect timeout, disconnecting.{я,?㥯F?AF'@F@FP/X=ٱFp NAHRS rotation from veh to nav: [[-0.279489,0.958499,0.056263],[-0.958698,-0.275368,-0.071203],[-0.052755,-0.073839,0.995874]]FH&ѿ?rά?@ѿ@Z:@!粿2?iF'@IF^;FKCYZz>yZEb+bDj.VDjg 9yr=%r^=ٔr)=Q-r>9tIt=vFytz=Ez>xQ 54zƻ?Q 94zr)zYyʿQ I?zDIz;iz;zrm4yɮ߻B*j!Bj!i%?i-zi)Ji-Ʒ<i)9 kWkWkWhA2fQ:fQBfQJfU@ZeZeZiZmiy)y)y顁iI=<%2Acoustic response timeout=:B@M:@MR@MJ@MiBb>BBDB,>BBBB:;B-EII)O]U>ԑ 2Acoustic response timeout 2я,F?A2Hr@26m@2a=ٱ2 :AHRS rotation from veh to nav: [[-0.258412,0.959793,0.109640],[-0.965341,-0.252257,-0.066955],[-0.036606,-0.123142,0.991714]]2H`Ӊп?[?$п#`:?i2Hr@I2 ^;2ICYFr>yF1EDb=DbR=bD~0VD 9y-&%-F=ٔ5Q-5>9AIA=EFyAMY=EU>QQ 5e4U&ǻ?Q 9m4U)Ux!YiymȿQ Im?U"DIU(;iU%;Ut4ymBɮBEԡ*jBji?iziJiƷ<i ks;ks;ks;h kgkgkgh2fEi E\EE"E,K:*E9VE5ZEBEue;a2Exe;aJEy ;a :Ey ;a :fBfJf'@ZZZZi))))11iIm:IIO= > >-2Acoustic response timeoutI4>),> iя,9ٯF?A2@2 @2W|.<ٱ2$ >AHRS rotation from veh to nav: [[-0.271302,0.953504,0.131246],[-0.962435,-0.267243,-0.047954],[-0.010650,-0.139325,0.990189]]2H]ѿ? ?@Eѿ`aoυh?i2@I2^;B2Acoustic response timeout2JCYNc>yN EbDM1VDM 9y%E=ٔQ->9I=FyE>Q 54ƻ?Q 94))YyɿQ I?@DI':i:{4yɮB*jBji?iziJiƷ<i kYkYkYh kYkYkYh2f :f Bf Jf M6@ZZ%Z!Z%i1)1)199i99IA:I!I1IYOu=Eg EZEmE"EC:*Ea9VE5ZEa@a@a@a@!2Radio surface powered ON.nManaging dock network, ignoring radio surface power off52Acoustic response timeoutQB A <B d>B B DB ">B =B B B ;B Ey Dя,tF?A2.@2@2#9;ٱ2k :AHRS rotation from veh to nav: [[-0.309850,0.945113,0.103707],[-0.950781,-0.307675,-0.036756],[-0.002830,-0.109992,0.993928]]2Hӿ\>??l`ӿ Ѣ`/gh( C?i2.@I2r_;2KCY^?f>y^ EbDE33VDEW 9y;%G=ٔӛQ->9I=FyȽE>Q 54"Ż?Q 94+)0YyοQ I?]DI/;i;4yɮB*jBji?iziJiƷ<i  kckckch kckckch)2f9:f9Bf9Jf=iK}@ZMZMZIZUQia)i)iiiiiqIyml:I2Acoustic response timeoutIO>ԁEj EOEhE"EN:*E9VEA{5ZEBEk;a2Ek;aJEN:a:EO:aԱE %=E %=M 2Acoustic response timeout p,я,O F?A>έ@>@>gv <ٱ>\ FAHRS rotation from veh to nav: [[-0.311508,0.946594,0.083208],[-0.950204,-0.309503,-0.036327],[-0.008634,-0.090381,0.995870]]>H`ӿ~J?`M?hӿ }1#*?i>έ@I>^;>JCYnV>yn EyZd;?i|?5+??q= 9S㥛?K7?V-?YD?yI >=BCB )ABYBbD4VD 9y%H=ٔh9I=FyE>qQ 5}4u?Q 9}4uE4)u%Y(J?Q E:yyٿQ I?urDIu:iu~:u4y}BɮBE*jBji?iziJiƷ<iԱ kcgkcgkcgh2f>:f>Bf/\?Jfq@ZZZZi))iI:II)Oe> @A@A2Acoustic response timeout E h E QE E "E G:*E v9VE 5ZE a @a @a @a @9 V я,+'F?A;ɰ2k*@2Y%@2H<ٱ2 :AHRS rotation from veh to nav: [[-0.297019,0.951928,0.074918],[-0.954836,-0.295419,-0.031860],[-0.008196,-0.080997,0.996681]]2H@]ӿ1v?-?&ҿOɀ;?i2k*@I2^;2ICYzX>yz#EbDS6VD9y;%X=ٔQ->9I!=%Fy!%$=E%>)Q 554-Ӿ?Q 954-;)-Y9y=׿Q I=?-DI-<;i-Y;-ݐ4yAɮAI*jYBjYi]?i]ziaJieƷ<ia kXkXkXhy k#Xk#Xk#Xh2f:fBfJf@ZZZZi))iI2Acoustic response timeout:IIOu=BQBQBUDBU,>BU=BQBQBU;BU'E9i  2Acoustic response timeoutg@я,AF?A,J=g@J+b@Jܢ<ٱJH bAHRS rotation from veh to nav: [[-0.289875,0.954385,0.071564],[-0.956858,-0.287448,-0.042384],[-0.019879,-0.080762,0.996535]]JH Nҿ S?R?`eҿ K B[׬?iJ=g@IJE^;JLCYniY>yrEE~f E~RE~zE|"E~I@:*E~9VE~5ZE|BE~R;a2E~R;a JE~%:a :E~&:a bD7VD9y&;%C=ٔd9I=Fy"<E>Q 54ݻ?Q 94HD)YyֿQ I?DIy:i:/4yɮB*jBji?iziJiƷ<i ksXksXksXh ksXksXksXh2f :f Bf Jf %!@ZZZZi))))111i19I9M] :IYIqԉO=2Acoustic response timeoutԱ hя,ZF?A22Acoustic response timeout6a@6\@6l=ٱ6w >AHRS rotation from veh to nav: [[-0.290355,0.953844,0.076657],[-0.956190,-0.286073,-0.062157],[-0.037359,-0.091346,0.995118]]6H+ҿ`?Ÿ?Oҿ ӯ `nb 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E d E ME nE "E 9:*E 9VE J5ZE BE F;a 2E F;a JE :a :E :a s瓭я,_PF?A:/z@:@:Rٱ:0( FAHRS rotation from veh to nav: [[-0.553163,0.825094,0.115023],[-0.832616,-0.552136,-0.043548],[0.027577,-0.119859,0.992408]]:H@+g? "r?ʤK=? ?i:/z@I:!1_;:FCYNA>yNDbDZrVDZ*9ybC<%bL=ٔbtQ-b>9dId=fFydjEj>hQ 5n4j`?Q 9r4j7)j?Q Ar9YpQ Er:yr)(Q Ir?jbDIj ;ijd?je44yxɮzBx*j Bj i ?i zi Ji Ʒ<i kIkIkIh! kIkIkIh1ZMZMZQZUia)a)aiiiiiIq\:@C>@8>2Acoustic response timeout!^AII!IQO}z>QE 2Acoustic response timeouty я,ybDbDUIsVDU*9y;%==ٔ9I=FyXPE>Q 54BV?Q 94H9)?Q A9YQ E^:y)Q I?kDI:ic@74yɮQ*jiBjiim?imziiE}f EyE}}Ey"E}I@:*EyVE}s5ZEya@a@a@a@JiuƷ<i kFkFkFh kGkGkGh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI l^:ԁBBBDB">B=BBB+;BpEI0>),>2Acoustic response timeout^A=IIOE>ԩ Zя,p"F?A<<~x@.q@Zʼٱ+ý %AHRS rotation from veh to nav: [[-0.568443,0.817512,0.092445],[-0.822352,-0.567962,-0.034014],[0.024699,-0.095357,0.995137]]H0)?~?P ,BjJ?`Xi(?i~x@I_;Y50%>y=%D2Acoustic response timeoutaua} a}a} a}a} a}a} a}a} y}p= ף?X9v?(\?}>}<}z>y y9}Zd;O?K7?E?Y}~>y}I>}F>}B}*B }zB)}ĩB}Y} BbDsVD+9yw =%;=ٔUbQ->ԩ9I=Fy3<E>Q 54U?Q 94?)?Q AT:Y_?Q E:yoͿQ I?{DI;i[;>4yɮB*jBji?iziJiƷ<i kDkDkDh  kEkEkEh2f-o>:f-o>Bf-#c?Jf-@s5NUpdating rudder angle 6.875493 arcdeg 95r56Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderZEZEZAZEiQ)Y)YYYiYaIa iiE_:E EQEE"E*Ev9VEH5ZEBER;a2ER;aJE:a:E:a^A =II)Oe>  2Acoustic response timeout1 %я,UF?AFDmx@F1@F?_ٱF7 VAHRS rotation from veh to nav: [[-0.574129,0.814182,0.086508],[-0.816941,-0.576692,0.005808],[0.054618,-0.067338,0.996234]]FH`C_ ?i%?b$Btcw?? =&?iFDmx@IF1_;FDCYft>yf,DbDEQtVDEL+9yҼ%]=ٔQ->9I=FyRE>Q 54T?Q 94D)?YyοQ I?DI;i;%E4yɮB*jBji?iziJiƷ<i kCEkCEkCEh kSEkSEkSEh 2f:fBfJf@Z-Z-Z)Z-i9)A)AAAiAIII M`:@Q@QiI 2Acoustic response timeout9^AqIyIO>Ee EWEkE"E<:*E9VEu5ZEa@a@a@a@a B B B DB w>B B B B ;B MEGNя,ηF?A 22Acoustic response timeout:Bw@:@:(\ٱ:C BAHRS rotation from veh to nav: [[-0.591422,0.802030,0.083475],[-0.804558,-0.593850,0.005416],[0.053915,-0.063957,0.996495]]:H `:?^?`.v?`? _I?i:Bw@I:_;:ACY^>y^/DbDjtVDj+9yrL%rW=ٔv:Q-v>9tIt=zFyxzfeEz>|Q 54~S?Q 94~I)~L?Y y {ѿQ I ?~DI~k:i~w:~K4yɮB*j!Bj)i-?i-zi)Ji-Ʒ<i1 k3Jk3Jk3JhA2fQ:fQBfQJfU;@ZZZZi))i!I! ]b:q ԡ^A1IAIQO|>2Acoustic response timeout D D E g E OE iE "E C:*E 9VE z~5ZE BE X;a 2E X;a JE N:a :E O:a 6я,ѶF?A ɰ >bv@P> i@>]ٱ> bAHRS rotation from veh to nav: [[-0.594599,0.799387,0.086214],[-0.803535,-0.594545,-0.029102],[0.027995,-0.086580,0.995851]]>H?&?` @̝?@*?i>bv@I>>_;>ECYj">yjVDbDvuVDv+9y~^<%~I=ٔ=Q->9I=Fy E >Q 54}R?Q 94O)ʲ?Y!y%ѿQ I%?DI;i;R4y)ɮ-B)*jABjAiE?iEziAJiEƷ<iI k.k.k.hY kIkIkIhi2f:fBfJf@ZZZZi))顩iIc:u2Acoustic response timeout^A1IAIYO! % 2Acoustic response timeoutqaя,F?AJJ'w@J@JRٱJmb˽ ZAHRS rotation from veh to nav: [[-0.590926,0.800974,0.096162],[-0.806256,-0.590439,-0.036514],[0.027531,-0.099108,0.994696]]JH@? ?1?%_ ?iJJ'w@IJ$ _;JDCYf>yjD|$'" )%bDvVD,9y%a%%G=ٔ-:Q-->9)I)=-Fy)56<E5>9Q 5E4=]Q?Q 9E4=U)=%?YAyMпQ IM?=DI=:i=:=Z4yUBɮUBUcE*jaBjiim?imziiJimƷ<ii kc.kc.kc.h kGkGkGh2f:fBfJf<@ZZZZi))iIE]k E]NE]rEY"E]mR:*E]҆9VE]5ZEYam@am@am@am@.e:@@J>!BA<Bj>BBDBM>BBB,DB;B&EBIBIBIBMŠ=BMŠ=CMŎ4 7o> C2Acoustic response timeoutlG u9 Y A^AI!I1QOy?Aԁ i I Kя,oF?AF v@F@FJٱFŠ RAHRS rotation from veh to nav: [[-0.604587,0.791943,0.085448],[-0.795625,-0.605546,-0.017167],[0.038147,-0.078364,0.996195]]FHX W?ߵ?u`V ??iF v@IF _;DY\y\Qy}#~j?㥛 ¿~jt?}=}}Dy}P}>}ֵB}qB }B)}0ByY}aBbDvVDX,9ٔϼQ->9I=Fy(E>Q 54F?Q 94V)p?Y?Q E:y1Q I?DIa:iH:ha4iI2Acoustic response timeoutyBɮBbE*jBji?iziJiƷ<i k3Fk3Fk3Fh k]k]k]h)2f=>:f=>Bf=Up@Jf=o{@ZMZMZQZUia)a)aaaiiIXf:ԁEec EePEeEa"Eeg5:*Ee?9VEec5ZEaBEe?;am2Ee?;amJEe:au:Ee:auI))>^A=ԱIIO> 2Acoustic response timeout ^sǭя,@F?A2t@23C@20ټٱ2OY :AHRS rotation from veh to nav: [[-0.623065,0.780017,0.057995],[-0.781719,-0.623509,-0.012319],[0.026552,-0.053011,0.998241]]2H%??`@:T0?G$?i2t@I2_;2ECYF=yFCDbDwVD,9y_5%<ٔ9I=Fy6mE>Q 54 bE5jE5rEǫ2Euh EuWEuxEq"EuG:*Eu9VEue5ZEqa@a@a@a@9 B B B DB w>B B B +DB q;B EЫͭя,GW9F?A2Acoustic response timeout6t@6Vb@6ek*ٱ6mz+ BAHRS rotation from veh to nav: [[-0.620274,0.783401,0.039274],[-0.784316,-0.620106,-0.017810],[0.010401,-0.041850,0.999070]]6H@I?@?`<SM?`gm a?i6t@I6&_;6CCYJ1 >yJDbD wVD ,9yE (=%ML=ٔMG%=Q-M>9QIQ=UFyQU<EU>YQ 5e4]'1?Q 9m4]Y)]@Yiym54Q Im?]DI]:i]:]bo4yqɮB*jIBjIiM?iMziIJiMƷ<iq kc`kc`kc`h2f:fBfJfIv@ZZZZi))   i 9IA i:@@!2Acoustic response timeout^AU=QIaIqO>Ee k Ee QEe }Ea "Ee mR:*Ee v9VEe s5ZEa BEe q;am 2Ee r;au JEe :au :Ee :au y .ԭя,^RF?ANLu@NO@NٱNU VAHRS rotation from veh to nav: [[-0.614096,0.787292,0.055291],[-0.788893,-0.614375,-0.013827],[0.023084,-0.052109,0.998375]]NH~1?O?`>.Q5? @?iNLu@INB_;NBCYb>ybDbDMwVDM,9ya<%H=ٔQ->9I=FyX<E>Q 54L&?Q 947Z)S @Yy3Q I?DIg:i=:v4yBɮB*jBji?iziJiƷ<i kHkHkHh k_k_qk_hy2f:fBfJf]w@ZZZZi))顱iI]2Acoustic response timeoutj:ԡ AA^AIIO%> 2Acoustic response timeout yڭя,glF?Aɰ;:{u@:̸@:d9ٱ:󆼽BPExceeded connect timeout, disconnecting. FAHRS rotation from veh to nav: [[-0.611368,0.784968,0.100273],[-0.790052,-0.612693,-0.020625],[0.045246,-0.091830,0.994746]]:H Tt?y?`H.*?.?i:{u@I:,_;:ECYR>yRDbDZkxVDZ/-9y%=%%Q=ٔ%gQ-->9)I)=-Fy)5;E5>9Q 5E4=?Q 9E4=c[)=@YAyE1Q IM?=DI=t:i=:=[}4yQɮUBQ*jaBjaim?imziiJimƷ<ii k3Gk3Gk3Gh k`k`k`h2f:fBfJf|@ZZZZi))iIE=i E=ME=sE9"E=,K:*E=9VE=X5ZE9aE@aE@aE@aE@k:A%AAA!B)B)B-DB-#>B-=B)B)B-:;B-E]2Acoustic response timeout^AIIOUu>) я,F?A6յt@6U@6t>aٱ6,t >AHRS rotation from veh to nav: [[-0.620563,0.771928,0.137943],[-0.782228,-0.621714,-0.039897],[0.054963,-0.132661,0.989636]]6H??``Rm,$??i6յt@I6^_;4YJ>yJDy/$ƿ ףp= ׿MbX9&1Qʡ 9y&1"~jԿY`ySBCB ĩB)5BYBbDm)yVDm-9yus%uE=ٔ}RQ-}>9I=FyE>Q 54?Q 94[)V@Y>Q E%;y{@Q I?DI ;i* ;4yɮB2Acoustic response timeout*jBji?iziJiƷ<i kGkGkGh k3^k3^k3^h2f>:f>Bf ?Jf@ZZZZi)))))))i)1I95m:@9@=;>YEMd EMVEMEI"EM9:*EM9VEM5ZEIBEMF;aU2EMF;aUJEMC:a]:EMD:a]ԉ^AI!I9Omx>m =m %=u 2Acoustic response timeoutԱ Jя,F?A2)t@2@2'@ٱ2 :AHRS rotation from veh to nav: [[-0.627479,0.769144,0.121192],[-0.777220,-0.628081,-0.037994],[0.046896,-0.118033,0.991902]]2HOӜ?@u?= s?n7?i2)t@I26_;0@YbF>ybDbDnyVDn-9yvM<%vT=ٔvk9xIx=zFyx~@E~>Q 5 4?Q 9 4Z)|@Y y *@Q I?DI=:i:X4yɮB*j)Bj)i5?i5zi1Ji5Ʒ<i1 kEkEkEhI k]k]k]hY2fi:fiBfiJfm@ZZZZi ) )i19I9n:ԩ2Acoustic response timeoutI,>),>nManaging dock network, ignoring radio surface power off^A5=IAIQIyO|>EQ EUSEUuEQ"EQ*EU9VEU5ZEQae@ae@ae@ae@ B! B! B% DB% =B% =B! B! B% #;B% Etя,^F?A"2Acoustic response timeoutNCu@Nˁ@N@aٱNޗ VAHRS rotation from veh to nav: [[-0.609308,0.788518,0.083571],[-0.791027,-0.611762,0.004869],[0.054965,-0.063140,0.996490]]NHr`;?d? Ps?a$?)>?iNCu@INV _;NCClY>y=D=#=)=! =&)9bDMzVDM9.9y]%])=ٔ]ÈQ-e>9aIa=eFyam`A=E>Q 54?Q 94fZ)?Yyq@Q I?DI;iB:듋4yɮB*jBji?iziJiƷ<i k`k`k`h k`k`k`h 2f:fBfJfG1@Z%Z-Z)Z-i9)9)9AAiAIII|p:12Acoustic response timeout^A I I O >a Da Da Em b Ei Em dEi "Em 1:*Ei VEm ^n5ZEi BEm 9;a} 2Em 9;a} JEm l:a} :Em n:a Cя,8ԷF?A2u@2~@2[eٱ2s >AHRS rotation from veh to nav: [[-0.616172,0.786363,0.044322],[-0.784753,-0.617753,0.050431],[0.067038,-0.003708,0.997744]]2H`)?m?ҩ?@_)?_n?i2u@I2H_;2FC @)FvAFyDDDDiJIHHIJLCiJvA J}Jk~F)LL L%O!))-EpAI)))i))1I5vA5q1 19E3CAEuiExyFAiAMXA)I IIIYIYU>y]DaabDm,{VDmt.9y}=%n=ٔ`Q-?9I=FyݼE?Q 54?Q 94XZ)"?YyŊ?Q I?I;ip:ʙ4yɮB*jBji?iziJiƷ<i k]k]k]h k]k]k]h2f:fBfJfI@ZZZZi!))))))i)1I]2Acoustic response timeoutmq:iԑ^A=IIO >  2Acoustic response timeoutя,F?A6s@6ـ@6PVٱ6^= >AHRS rotation from veh to nav: [[-0.632411,0.774608,0.006205],[-0.772866,-0.631489,0.062458],[0.052299,0.034704,0.998028]]6H<`?jy?P'5?ƪ?@ġ? ?i6s@I6__;6ECY%V>y%BDԙbD{VD.9y%D=ٔ=Q->9I=FyEE>Q 54.?Q 94TZ)?Yy=Q I ?IL:i:4Ea EREE"E%.:*E9VE5ZEa%@a%@a%@a%@yɮ))*j9Bj9iE?iEziAJiEƷ<iA k^k^k^hY kvkvkvhi2fy:fyBfyJf}N=@ZZZZi)!)!!!i!)II-Ds:BABi>BBBB=BBB;BEYYe2Acoustic response timeout^A)I9IIO>A `я,F?A2is@2؀@2*ٱ2R :AHRS rotation from veh to nav: [[-0.632854,0.773420,0.036302],[-0.773150,-0.633765,0.024109],[0.041654,-0.012810,0.999050]]2H W@ڿ?y~%D2Acoustic response timeouty/$?Mbkt?&> = 91Zd?V-?Cl׿Y">yh>d5BB 5B)BYBbD5a|VD5/9yE<%ED=ٔE9III=MFyIUd͹EU>YQ 5e4]?Q 9e4]_)]n?Ye?Q Ee:ymcQ Im?]DI]<:i]E:]Z4yqɮuBq*jBji?iziJiƷ<i k]k]k]h kwkwkwh2f>:f>Bf?JfЧ@ZZZZi))iiiiqIqI}(?)} ?Mvt:E-c E-PE-{E)"E-g5:*E-?9VE-:5ZE)BE-?;a=2E-?;a=JE-:a=:E-:a=A^A)I9IIqOm 2Acoustic response timeoutԙ lя,m!F?A6vt@6T6@6ٱ6 BAHRS rotation from veh to nav: [[-0.624369,0.776997,0.080240],[-0.780835,-0.623651,-0.036816],[0.021436,-0.085641,0.996095]]6H)??٢ 1?쵿?i6vt@I6\_;6ECYJg'>yJDN=Np===bD R|VD .9y]޼;%eZ=ٔe\=Q-e>9iIi=mFyim<Em>qQ 5}4u/?Q 94uc)uη?YyQ I?uDIu+;iu8:u残4yBɮB*jBji?iziJiƷ<i k3_k3_k3_hA2fQ:fQBfQJfUK,@ZeZeZaZeqi))顁iIv:2Acoustic response timeoutԡ^AIIO>E=h E=OE=E9"E=G:*E=9VE=5ZE9aE@aE@aE@aE@- @GA B f>B B zDY B J=B =B B B ;B cEBBBBBCO4 9 Y tA 8я,;F?A2Acoustic response timeout:~u@:@@:k>ٱ:Խ JAHRS rotation from veh to nav: [[-0.611695,0.785259,0.095902],[-0.790764,-0.610432,-0.045446],[0.022855,-0.103635,0.994353]]:H@ ?` ?`M`DGg?@Ї?i:~u@I:a_;:DCYo>yDbD{|VD/9y&%4=ٔLQ->9I=Fy=E>Q 5 4?Q 9 4g)S?YyQ I?DI;i;ٶ4yɮB*j1Bj1i5?i=zi9Ji=Ʒ<i9 kc_kc_kc_hQ k_k_k_ha2fq:fqBfqJfu@ZZZZi))顙iI>w:I))>2Acoustic response timeout^AII ) OE > >D= <D= <EA  EE UEE EA "EA *EE P9VEE q5ZEA BEE /_;aU 2EE 2_;aU JEE :aU :EE :aU Q "я,UF?A2's@2ގ@2Rٱ2BĽ :AHRS rotation from veh to nav: [[-0.639504,0.761390,0.106397],[-0.767076,-0.641170,-0.022253],[0.051275,-0.095845,0.994075]]2H v N]?ybDbDj|VDj/9yr/%rr=ٔrtQ-v?9tIt=vFytzݽEz?|Q 54~@?Q 94~k)~?Yy Q I ?~ DI~:i~R:~4yɮB*j)Bj)i-?i-zi)Ji5Ʒ<i1 kYkYkYh k3^k3^k3^h2f:fBfJfqz@Z5Z5Z9Z=iI)I)iiqiqqIy52Acoustic response timeout9MUx:a^A=I!I1Omx>ԁ  2Acoustic response timeoutKSя,oF?A(2rp@2h~@2Cٱ2 >AHRS rotation from veh to nav: [[-0.671482,0.735795,0.087849],[-0.739481,-0.673000,-0.015458],[0.047748,-0.075343,0.996014]]2H|? H}?@ө 8 ur?IX?i2rp@I2R_;2ACY- >y-DU$U*Q Q)U$bDe|VDe./9yu<%uA=ٔu9yIy=}FyyY̽E>bEuA5jEuΞ5rEu@2Ef EE~E"EI@:*EVE5ZEa@a@a@a@!Q 5-4%5?Q 9-4%Zp)%}?Y1y5Q I5?%DI%4:i%:%ċ4y=Bɮ=B=kE*jQBjQiU?i]ziYJi]Ʒ<iY k]k]k]h kCvkCvkCvh2f:fBfJf5@ZZZZi))i9IAyz:A]@AA]AABaBaBeDBe">BaBaBaBe;BeDE=2Acoustic response timeoutԩ^A]=IiIyO > c2"я,6F?A6P*q@6. @620ٱ6n BAHRS rotation from veh to nav: [[-0.663580,0.744373,0.074629],[-0.747419,-0.663935,-0.023544],[0.032023,-0.071402,0.996933]]6H < ?? >Ne?lG?i6P*q@I63)_;6BC\Y>yDiߙIߙ2Acoustic response timeouty\(\??X9v?>=< 9d;O?x&?"~jԿY4?y7 >SB\B )BYLBbD|VDB/9yЩ%D=ٔ=Q->9I=Fy}2<E}>Q 54칉?Q 94v)B]?YFI?Q E:y+ Q I?-DI ;i ;ˋ4yBɮB*jBji?iziJiƷ<i k]k]k]h kSvkSvkSvh2fK>:fK>Bf>Jf?р@ZZZZi))i!I!{:E h E QE E "E G:*E v9VE 5ZE BE a2E aJE :a:E :a ^A=II1O}>] 2Acoustic response timeoutA \(я,'F?A4<ɰ4<2klr@2%1@2ٱ2a :AHRS rotation from veh to nav: [[-0.648646,0.758241,0.065791],[-0.760188,-0.649660,-0.007504],[0.037052,-0.054881,0.997805]]2H@C?@װ?uS~?@N@?i2klr@I2_;2FCYF>yFDbD !}VD Z/9y]*%eS=ٔeYUQ-e>9iIi=mFyimZ=Eu>qQ 5}4u้?Q 94u})u@?YyuQ I?u>DIu;iu:u2ҋ4yɮB*jBji?iziJiƷ<i k]k]k]h kcwkcwkcwh2f:fBfJf?@ZZZZi ) )  iI|:I2Acoustic response timeoutq^A}=IIO>E` ETErE"E*:*E9VE5ZEa%@a%@a%@a%@Bm e>Bi Bm DBm 6>Bm =Bi Bi Bm g;Bm Eԡ e 2Acoustic response timeout.я,F?AJq@J @J"%4ٱJQ RAHRS rotation from veh to nav: [[-0.664154,0.746225,0.045239],[-0.746301,-0.665349,0.018583],[0.043967,-0.021420,0.998803]]JH@ ?)?@JT?Ȃ?,`2?iJq@IJc2_;JBCY^>y^DԁbD5g}VD5{/9y%D=ٔQ->9I=FyLE>Q 54Cӹ?Q 94܃)!?YyQ I?QDI:iN:ً4yɮ*jBji?iziJi Ʒ<i  k^k^k^h kvkvkvh)2fA:fABfAJfE,@ZMZUZQZUia)a)aiiiiiIq][~:@m?>@mG>ԑ^AI2Acoustic response timeoutIO> E o E vE E "E `:*E :VE 5ZE BE ;a 2E ;a JE h;a% :E h;a% o5я,ָF?ANo@N}@N=ٱN VAHRS rotation from veh to nav: [[-0.678170,0.733374,0.047422],[-0.732067,-0.679808,0.044027],[0.064526,-0.004858,0.997904]]NH@w?G?m?@̈́? s?iNo@IN*_;NCCY^F>ybDbD%}VD%/9ye>%eQ=ٔmWQ-m>9iIi=uFyquhQEu>yQ 54}:ƹ?Q 94}A)}{?YyQ I?}dDI}:i} :}V4yBɮB*jBji?iziJiƷ<i k]k]k]h1 kxkxkxh2f:fBfJf3@ZZZZi))iI%2Acoustic response timeout :aI)>)>^Am=IyIԑO> 2Acoustic response timeoutԹ ;я,F?A2o@2گ}@2b ٱ22Q :AHRS rotation from veh to nav: [[-0.677817,0.728599,0.098531],[-0.729733,-0.683038,0.030802],[0.089743,-0.051023,0.994657]]2H@P?U9?`Y`r@?_?@@;?i2o@I2|R_;2BCYF%>yFDbDj}VDj/9yr;%vS=ٔvQ-v>9tIx=zFyxzMaEz>|Q 54~¸?Q 94~)~7>Y y A Q I ?~vDI~ :i~:~4yBɮBuE*j)Bj)i5?i5zi1Ji5Ʒ<i1 kwkwkwhI kwkwkwhY2fi:fiBfiJfmh@19u ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9u9u7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18}o}@Completed marl:UpdateCommandMode7}o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))顩iIEf EYEwE"EI@:*E*9VEɕ5ZEa@a@a@a@ԑh:B <A <BBBDBJK>B=BBBG;BE=2Acoustic response timeout^A=IIqIO> Bя,~ F?A2]n@2;|@2)Sٱ2ؖڽ :AHRS rotation from veh to nav: [[-0.690939,0.710315,0.134370],[-0.718068,-0.695832,-0.013997],[0.083557,-0.106158,0.990832]]2H`,? 3?@i`BDSd?*-?i2]n@I2tX_;2ACYFh >yFDy> ףp=?w/?Mb?Q>>@= 9oʡ?Fx?RQ?Y>y ?=B2B B)BYBbD-}VD-/9y5s%=E=ٔ=lu9AIA=EFyAE.EM>IQ 5U4M?Q 9U4MV)M>Y].&?Q E]:y]Q I]?MDIM ;iM ;MX4yiɮmBi}2Acoustic response timeout*jBji?iziJiƷ<i kukukuh12fE>:fE>BfEv?JfȨ@sMNUpdating rudder angle 6.875493 arcdeg 9Uru6Completed marl:UpdateRudder19u ruRAggregate::uninitialize marl:UpdateRudderZ}Z}ZZi))顱iI<:@@Eh EJExE"EG:*Ek9VEe5ZEBE/_;a2E2_;aJE:a:E:a^AIIOU>1 5 C=E 2Acoustic response timeoutY Hя,GY$F?A2Gm@2={@2ٱ2 :AHRS rotation from veh to nav: [[-0.706361,0.694777,0.135421],[-0.704469,-0.708681,-0.038652],[0.069116,-0.122702,0.990034]]2H;?{U?$ʣ?fi[?i2Gm@I23t_;2DCYjE,>yjD~#~;| ~!)|I+bD ~VD /9y=%L=ٔ%=Q-%>9!I)=-Fy)-RE->1Q 5=45ù?Q 9=45)58>YAyEkQ IE?5DI5;i5;5X4yIɮMBI*jaBjaie?ieziaJieƷ<ii k#]k#]k#]hy k#vk#vk#vh2f:fBfJfu@ZZZZi))iIс:Q2Acoustic response timeout @Ay^AIIYO|>Eg EEE"EC:*E3:VE 5ZEa@a@a@a@ԩ B B B @EB tU>B B B B h;B EE 2Acoustic response timeout6Nя,6>F?A;ɰ;2l@2z@23ٱ2@ :AHRS rotation from veh to nav: [[-0.709134,0.689722,0.146333],[-0.700621,-0.712601,-0.036477],[0.079118,-0.128391,0.988563]]2H@9@3? ?|k, A? oN?i2l@I2>_;0@YFo>yJDbDR~VDR/9yZ%ZQ=ٔZ{ҼQ-^>9\I\=^Fy`b EEb>dQ 5j4fȹ?Q 9j4fm)fT>YhyjQ In?fDIfy:ifT:f,4ypɮrBp*jxBjxi~?i~zi|Ji~Ʒ<i| k]k]k]h ksvksvksvh!2f1:f1Bf1Jf5Lў@ZEZEZAZEiQ))项iIa:ԩ^AIIQO2Acoustic response timeout E d E PE E "E 9:*E ?9VE 5ZE BE F;a 2E F;a JE :a :E :a Uя,XF?ANl@Ny@N?!ٱNy VAHRS rotation from veh to nav: [[-0.719533,0.680601,0.138040],[-0.690161,-0.722890,-0.033283],[0.077135,-0.119218,0.989867]]NHj {?@H?!@q !? `?iNl@IN:_;NFCYb(>ybDlbD%~VD%09ye%m?=ٔm;Q-m>9qIq=uFyqu E}>yQ 54}͹?Q 94})}?YyӬQ I?}DI}:i}:}4yɮB*jBji?iziJiƷ<i k]k]k]h k{k{k{ha2f:fBfJfW@ZZZZi)2Acoustic response timeout)iI5:@C>@C>Y^A=IIO%>ԁ  2Acoustic response timeout[я,qF?A2>k@2c4y@2mٱ2 :AHRS rotation from veh to nav: [[-0.728664,0.676100,0.109260],[-0.681862,-0.731110,-0.023296],[0.064131,-0.091475,0.993740]]2H@7Q?s? @eڗj?j ?i2>k@I2._;2CCYF>yFDbD ~VD .09yMm;%ML=ٔM=Q-M>9QIQ=UFyQUYE]>aQ 5m4eSҹ?Q 9m4e,)ev ?YqyuuQ Iu?eDIe:ieF:e 4y}Bɮ}ϼB}E*jBji?iziJiƷ<i kbkbkbhEj EWEE"EN:*E9VE5ZEa@a@a@a@ kcwkcwkcwh2f:fBfJf@ZZZZi ) )   i I =Wo>=CAABd>BB EB_>BBBB;B"EByByByB}á=B}á=C}í5%B9!Y%Aԁ2Acoustic response timeoutI %>) 0>Ń:Թ^AE =IQ Ii O > bя,ŋF?A20Nk@2Dy@2K5ٱ2d :AHRS rotation from veh to nav: [[-0.727552,0.679072,0.097620],[-0.682128,-0.731228,0.002791],[0.073278,-0.064559,0.995220]]2H@H`?@?7ff?Z²?솰@?i20Nk@I2!_;2BCYF>yFDe2Acoustic response timeoutԹy~jtMbX?Cl?ļ=ߏ> 9|?5^?V-?q= ףp?Y=y|?> ?ݺBB B)BYѨBbDNVD[09y<%@=ٔ>Q->9I=Fy ;E> Q 54 ֹ?Q 94 y) E?Y?Q E:yxQ I? DI  ;i ; 4y!ɮ%˼B!*j9Bj9i=?i=zi9Ji=Ʒ<iA k^k^k^hQ kstkstkstha2f}>:f}>Bf}?Jf}U@ZZZZi))顙iI Eh EXEE"EG:*E9VEc5ZEBE/_;a2E2_;aJE:a:E:a : 2Acoustic response timeouti I ^A I) I9 A Ou >8iя,ĥF?A2Xhj@26^x@2rͽٱ2Lڼ :AHRS rotation from veh to nav: [[-0.735305,0.671450,0.092096],[-0.670264,-0.740575,0.047896],[0.100364,-0.026510,0.994598]]2H|?`?r@˲?v?~%@?i2Xhj@I2C_;2CCYF#>yFDbDNVDN09yV®<%Z`=ٔZʘQ-Z>9\I\=^Fy\^E^>`Q 5f4b+ٹ?Q 9j4b6)bx?YhyjQ Ij?bDIbL;ib;bo4ylɮnǼBp*jxBjxiz?i~zi|Ji~Ʒ<i| k_k_k_h k3xk3xk3xh!2f1:f1Bf1Jf5z@ZEZEZAZEiQ)Q)YYYiYaIa@A@AiYIYe2Acoustic response timeout1^AiIqIO`>bEe5jEe.5rEe/k2E EZEE"E:*Ea9VE5ZEa@a@a@a@YB c>B B DB JK>B B B B (;B jEԉ  2Acoustic response timeout"oя,|F?A>h@>u@>ٱ>ݍ FAHRS rotation from veh to nav: [[-0.760221,0.644333,0.083057],[-0.642807,-0.764551,0.047551],[0.094140,-0.017240,0.995410]]>HS`?`4C?@ 3wX??@U`e?i>h@I>&_;yRDbDZVDZ09ybt%fJ=ٔf }9hIh=jFyhjjEj>pQ 5r4r(ܹ?Q 9v4r*)r?YtyvQ Iv?rDIr:ir:r4yxɮ~ʼB|*j Bj i ?i ziJiƷ<i k_k_k_h) kswkswkswh92fI:fIBfIJfM~@ZUZ]ZYZ]ii)i)qqqiqyIyqԡ^A= II!OUT>}2Acoustic response timeoutE a E OE tE "E %.:*E 9VE 5ZE BE N3;a 2E P3;a JE N:a :E O:a vя,WٹF?Aɰ4<2ȗg@2u@2Wٱ2 ɼ >AHRS rotation from veh to nav: [[-0.766875,0.639333,0.056179],[-0.639634,-0.768537,0.014821],[0.052652,-0.024568,0.998311]]2H<ku?ì?wڗZ?%?h(@)?i2ȗg@I2I_;2DCYFF>yFDbDRVDR09yZ%ZL=ٔZe=Q-Z>9\I\=~Fy|E> Q 54 ޹?Q 9=4 U) ?YAyEQ IE? DI )  2Acoustic response timeout5|я,5F?A2xg@2Vu@2yNٱ2I, >AHRS rotation from veh to nav: [[-0.765176,0.640468,0.065620],[-0.641844,-0.766836,0.000159],[0.050422,-0.041996,0.997845]]2HR|@~?~̰?$?`Щ?`X?i2xg@I28_;2@CYF>yF3DZ"X\ \)^"I^*bDfVDf19yj:%nH=ٔn;Q-r>9pIp=rFypv;Ev>xQ 5~4z4ṉ?Q 9~4z)z?Y|y~Q I?zDIz3;iz@;z-4y ɮ мB Ec ERE|E"Eg5:*E9VEם5ZEa@a@a@a@*jBji?iziJiƷ<i k#ak#ak#ah k#vk#vk#vh2f):f)Bf)Jf-pʑ@Z]Z]ZYZ]ii))顑iI@@1BQAQBYBYB]DB] A>BYBYBYB]<;B]vE2Acoustic response timeoutY^AIIAO->ԁ я, F?A02_'g@2=u@2uιٱ2yt >AHRS rotation from veh to nav: [[-0.769140,0.626921,0.124071],[-0.632626,-0.774408,-0.008742],[0.090601,-0.085215,0.992235]]2H ˜? &ÿ? x> ^灿`1?`е c?i2_'g@I21_;2CCYF=yFϕDyK7A`ſV-߿ʡE?+|= 9Q?x&1пZd;O?Yu=y~*?BB B)QBY3BbD-}VD-\19E2Acoustic response timeoutyMnd%MC=ٔMZŽQ-M>9QIQ=UFyQ]E]>aQ 5m4eܹ?Q 9m4e޺)e?Ym7?Q Em:ym@Q Iu?eDIef:ie:e44yɮܼB*j Bj i ?i ziJiƷ<i k]k]k]hI kxkxkxhy2fn-?:fn-?BfVS?Jfy@ZZZZi))iI I)ԉDzDAAEk EQEE"EmR:*Ev9VE5ZEBEq;a2Er;aJE:a:E:aI8>)G>Թ2Acoustic response timeout ^A9 II IY O >Fя,&F?A>Ig@>'~u@>ʽٱ>>4 JAHRS rotation from veh to nav: [[-0.764788,0.627387,0.146578],[-0.636667,-0.770805,-0.022663],[0.098764,-0.110654,0.988940]]>H$y?@?`_ p4`H?Sd?i>Ig@I>O_;>BCYR=yR-D`bD%VD%19yetP%eH=ٔmǤQ-m>9iIq=uFyqum<Eu>yQ 54}9ٹ?Q 94}Y)} @Yy @Q I?}DI}:i}s:}<4yɮݼB*jBji?iziJiƷ<i kC`kC`kC`h k#xk#xk#xhY2fi:fiBfiJfm@ZZZZi))iIM2Acoustic response timeout^AII!)OUu>Eb EMEyE"E1:*E9VE5ZEa@a@a@a@BU e>BQ BU DBU 6>BQ BQ BQ BU ;BU WEA %= 2Acoustic response timeout.я,@F?A2#=h@23v@2 1cٱ2 :AHRS rotation from veh to nav: [[-0.760265,0.642760,0.094108],[-0.647243,-0.761864,-0.025296],[0.055438,-0.080142,0.995241]]2HT}?s?60a 癿@gb?0?i2#=h@I2Z(_;2CCYn-=ynDbDEoVDE19y;%H=ٔ'=Q->9I=Fy<E>Q 548Թ?Q 94)@Yy@Q I?DI:i9:]2Acoustic response timeoutqԡ E  E LE pE "E *E |9VE 5ZE BE 9;a 2E 9;a JE w:a :E x:a Xя,ZF?A:{g@:Yu@:5/>ٱ:Q NAHRS rotation from veh to nav: [[-0.764265,0.642509,0.055507],[-0.643229,-0.765649,0.006095],[0.046415,-0.031045,0.998440]]:Ht@n?@ek?U 3[x?ç?`Rʟ7?i:{g@I:T_;:@CYZ=yZDybDU;VDU)29y;%J=ٔ9I=FydE>Q 54`ι?Q 94/)R0@Yy+@Q I?DI:iy:MJ4yBɮ׼B~E*jBji?iziJiƷ<i kS^kS^kS^h k3wk3wk3wh2f :f Bf Jf w@ZZZZi))1)111i19I92Acoustic response timeoutԡ ^AIIO 2Acoustic response timeout -я,{tF?Aɰ2f@2t@2wٱ2[< >AHRS rotation from veh to nav: [[-0.773749,0.632330,0.038359],[-0.630603,-0.774583,0.048583],[0.060433,0.013402,0.998082]]2H @ yF&DbDRVDR29yZ<<%ZY=ٔZQ-Z>9\I\=^Fy\b+Eb>dQ 5j4fȹ?Q 9j4fL)fV@@Yhyj#@Q Ij?fDIfK:if:fP4ypɮrռBp*jxBjxiz?i~zi|Ji~Ʒ<i| k^k^k^h kxkxkxh!2f1:f1Bf1Jf5*@ZEZEZAZEiQ)Y)YYYiYaIaEf EQE{E"EI@:*Ev9VE:5ZEa@a@a@a@BBBDB,>B=BBBBXE2Acoustic response timeout^AU=IIO{>1Y jя,TUF?A:g@:su@:p3ٱ:3o< BAHRS rotation from veh to nav: [[-0.763409,0.645330,0.027502],[-0.644429,-0.763848,0.035311],[0.043795,0.009234,0.998998]]:H`m?)?*qq`S?`Hl?.?`?i:g@I:i_;:CCYJ>yNDa%@a% a%@a% a%@a% a%@a% a%@a% y%rh|?ˡEԿ㥛 ҿ%=%茶%! !)%Mb@Mb@Mb@I%i%‰%%% %)%%I%bD=̈́VD=29yMD<%MA=ٔU!=Q-U>9QIQ=UFe2Acoustic response timeoutyQef&=Em>iQ 5u4m?Q 9u4mO)mrR@Q A}+:YyQ E}p:y}@Q I}?m DIm ;im>mV4yɮμB*jBji?iziJiƷ<i kC`kC`kC`h kvkvkvh1ZUZUZZi))顩iI@@Ev ENE~E"EVz:*E҆9VE5ZEBEy;a2E{;aJE:a:E:aa^A5=IAIQO|>ԉ 4=  2Acoustic response timeoutԹ я,'3F?A2i@2ww@2<ٱ2zj :AHRS rotation from veh to nav: [[-0.748149,0.663128,0.023110],[-0.662952,-0.748497,0.015690],[0.027702,-0.003582,0.999610]]2HX8??6` ?]?Xm?i2i@I2U_;2DCYFS>yFDv#tv z)z!Iz iz'bDɅVDV39yiļ%N=ٔS&=Q->9I=Fy%x=E%>)Q 5-4-)?>^AAIiIyO_>E-k E)E-rE)]G"E-mR:*E)VE-5ZE)usAau@a}@a@a@9sAYֆABf>BBDB#>B=BBB;BMEBBBBBCx5!  2Acoustic response timeout9 }я, ºF?A2zh@2Xv@2Kٱ2{ :AHRS rotation from veh to nav: [[-0.755987,0.653409,0.039247],[-0.653641,-0.756758,0.008361],[0.035164,-0.019333,0.999195]]2H 1?`2?@]7@u? ?@̓f?i2zh@I29J_;2ACYF>yFcDbDRۆVDR39yV<%ZQ=ٔZDQ-Z>9XI\=^Fy\^Eb>`Q 5f4b&?Q 9f4b)b2t@Q Aj9YhQ Ej:yj@Q Ij?bDIb:ibW?b_4yrBɮrBruE*jxBj|i~?i=zi9Ji=Ʒ<iA k^k^k^hQ ksvksvksvhaZZZZi))顱iI^A=IIQIaO\>}2Acoustic response timeouti E g E VE gE "E C:*E 9VE x5ZE BE X;a 2E X;a JE C:a :E D:a /я,ۺF?A Vg@Vu@VٱV) ^AHRS rotation from veh to nav: [[-0.772601,0.633525,0.041633],[-0.634579,-0.772615,-0.019347],[0.019910,-0.041367,0.998946]]VH &E?P?yN D ϓ@yjD99bDEVDEZ49y5=%:=ٔ=Q->9I=FyYlE>Q 54?Q 94Z)@Q A9YQ E9y@Q I?DI? ;iz?\b4yBɮBtE*jBji?izi Ji Ʒ<i  k]k]k]h! kcvkcvkcvh1ZMZMZIZMiY)a)aaaiaiIi@}rA@y2Acoustic response timeoutiԙ^AI I!Omx>- >- >  2Acoustic response timeoutGѼя,F?A6hAHRS rotation from veh to nav: [[-0.761454,0.647637,0.027457],[-0.648196,-0.760386,-0.040688],[-0.005474,-0.048780,0.998795]]6H`] r?? Uդkv ?i6hyJlDPZParsing RMC sentence: $GPRMC,184600.00,A,3646.38707,N,12152.07956,W,0.544,144.98,251025,,,A*77 )XZF?AZTH?Zb9ZqbB@ 1w^bhGPS fix at 20251025T184600: (36.773118, -121.867993)ZI>Z!@bDj!VDj49yr:%rY=ٔv2=Q-v>9tIt=vFytz?=Ez>|Q Q?٫~!DQ M?~~CQ U ?~i@Q Y ?~$?Q ] ~<9~Ag;4y%SBɮ%B%E-IFix residual: 1.2 %DT, over the last 592.5 m. Residual distance 7.0 m at bearing 80.6 degrees. Fix at (36.7731, -121.8680) with 154.5 m made good.*j9Bj9iE?iEziAJiEƷ<iA k]k]k]hY kwkwkwhiq213ZZZZ\Received valid gps time fix: 1761417984.00. Resetting abort timer.i))顡iIbEE5jEE5rEE12EY E]PE]~EY"EY*E]?9VE]5ZEYam@am@am@am@Bh>BBDB=BBBB;BE  AA2Acoustic response timeout^A=IIO%>! îя,F?Aɰ;2i@2w@2/~ƻٱ2j :AHRS rotation from veh to nav: [[-0.744737,0.665990,0.042701],[-0.667330,-0.743761,-0.038591],[0.006057,-0.057236,0.998342]]2HO?ܥ?Z C£x?Nk?i2i@I2M_;2ACY^A>ybD|E2Acoustic response timeoutaa aa aa aa aa yRQ?$C?ʡEֿ>Z>- 9Zd;O?y&1|?!rhY~>y`;lGJB B) BYkBbDMVDj59y%<=ٔټQ->9I=Fy}o=E>Q 5;43>?Q 9;4Wd)Q AT:YX?Q Ez:ye!Q I?8>It;i;nv;4yɮ B*jBji?iziJiƷ<i k^k^k^h 2f>:f>Bfa@Jf(@Z-Z-Z1Z5iA)A)AAAiAIIQ)El EfE|E"EV:*E9VEם5ZEBECx;a2EEx;aJE-;a:E-;aY^AII2Acoustic response timeoutԁ Ա O5>,Qˮя,w/F?A2uPi@2TFw@2ٱ2Re :AHRS rotation from veh to nav: [[-0.749877,0.658278,0.065983],[-0.660451,-0.750685,-0.016637],[0.038581,-0.056055,0.997682]]2H?G?@j"@d ?@4?i2uPi@I20<_;2BCYF">yFlDN=N=bDRҊVDR59yZ<%Z1=ٔ^[Q-^>9\I`=bFy`bEb>dQ 5j;4f2?Q 9j;4ff)f0YlynM!Q In?f>If;if:f;4ypɮrBt*j|Bj|i?iziJiƷ<i kC^kC^kC^h!u2Acoustic response timeoutԩ2f:fBfJf+@ZZZZi))iIBg>BBDB=B=BBBt;B E^Aͳ=I IaO\>Ef ERE{E"EI@:*E9VE:5ZEBER;2ER;JE%::E&:% 2Acoustic response timeout1 u2Үя,7IF?A6h@6v@6{Vٱ6{< BAHRS rotation from veh to nav: [[-0.753963,0.651110,0.087152],[-0.654828,-0.755493,-0.020738],[0.052340,-0.072705,0.995979]]6Hx ?O?Y-@< X̪?˜?i6h@I6wZ_;4Y>ypDbDVD59y&%.=ٔQ->9I=FyoE>Q 5;4&?Q 9;4i)[Yy #Q I ?>I:i=:;4yPBɮB*j)Bj)I5J>)5R>i5?i=zi9Ji=Ʒ<i9 kEkEkEhQ k_k_k_ha2f:fBfJf+@ZZZZi))iI!2Acoustic response timeoutAq^A- =IA IQ Eu c Eu PEu Eq "Eu g5:*Eu ?9VEu 5ZEq BEu ?;2Eu ?;JEu ::Eu :O >ԙ = %== 4=E 2Acoustic response timeout]خя,cF?A2'i@2w@2iPٱ2^j :AHRS rotation from veh to nav: [[-0.751100,0.655804,0.075963],[-0.658227,-0.752758,-0.009640],[0.050860,-0.057241,0.997064]]2H  X?Hr?1 C ?@N?i2'i@I29_;0 @)BvAB94@@DF/wAiFqIDDIJ@CiJvA J 0H)HL NvANHLLPPIP)PiP)TIVvAV'VF TTVvAZ'iXXiXZZA)X \I\Y\Y%5!>y%?Dqqq q)qIqiqbDVD59y<%]=ٔ;Q->9I=FyuE<E>Q 5;4?Q 9;4k)GYyv!Q I?!?I ;ih;;4y!ɮ%B!*jYBjYi]?ieziaJieƷ<iaq kSGkSGkSGh2f:fBfJfܚ,@ZZZZi))i!I)ԡ^AU=IaIq2Acoustic response timeoutO>B h>B B DB w>B B B B ;B E ޮя,J|F?AEd EREE"E9:*E9VEH5ZEBEF;2EF;JE%::E&::j@:ڄx@:8ٱ:h FAHRS rotation from veh to nav: [[-0.736958,0.673954,0.051758],[-0.674960,-0.737849,-0.002710],[0.036363,-0.036932,0.998656]]:H`(??E@v3f:?@袿`?i:j@I:`k_;8Y]o>y]DbD%VD%369y}%>=ٔ' =Q->2Acoustic response timeout9Iq=uFyqD=E>Q 5;4?Q 9;4]n)e׿Y yvQ I?L?Iqiߡ Iߡ  2Acoustic response timeoutQ tя,ߖF?A2 i@2w@2dnٱ2[ :AHRS rotation from veh to nav: [[-0.745343,0.664549,0.053277],[-0.666263,-0.745324,-0.024224],[0.023610,-0.053552,0.998286]]2H@C?G?RKΘ@9-?@#k`?i2 i@I2ie_;2CCEg ETEtE"EC:*E9VE5ZEa @a @a @a @ !%@AYY0%>y%Da @a  a @a  a @a  a @a  a@a y V-?Zd;O?kt? > ~ ?  =  ) Mb@Mb@Mb@I i ‰    )  I bD]WVD]Z69ym]D<%m.=ٔu9qIq=}Fyy}E}>Q 5;4O?Q 9;4p)Q A+:YQ EK:y Q I?s?I:i$>e;4y[Bɮ BE*jBji?iziJiƷ<i1 k:k:k:hI k:k:k:hsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi)2Acoustic response timeout)iI qԡ ^Ay I I O >я,MF?A6wh@6Vv@6Pٱ6/7f@ BAHRS rotation from veh to nav: [[-0.758374,0.650350,0.043731],[-0.651751,-0.757554,-0.036487],[0.009400,-0.056173,0.998377]]6H`D?c?%=n`@?¬?i6wh@I6T_;6?CHJnr@iJD;IHHH NvALLLLR$tAIRҽ)R9sFiP)PIPVDT TTTTiTXiXZtA)X XIX \)b{A```Y`YjE,>yjDbDvVDvu69yz<%~=ٔ~@I=Q-~?9I=Fy (E ? Q 5;4 p?Q 9;4 7r) uQ A :YQ E$:y"Q I? ?I 2;i 9? ;4y)ɮ-B)*j9Bj9iE?iEziAJiEƷ<iA k<k<e2Acoustic response timeoutk<haZ}ZZZi))顙iIԩBg>BBDB">BBBB;BEEe EREE"E<:*E9VE5ZEBEaL;a2EcL;aJEa:Ea^A9IIIYO[> 2Acoustic response timeout! rя,9~ʻF?A2^h@2=v@2F3Lٱ2V :AHRS rotation from veh to nav: [[-0.756794,0.647303,0.090895],[-0.651751,-0.757861,-0.029434],[0.049833,-0.081516,0.995425]]2H@7`? D?% f@@#ೃ? 9޴?i2^h@I2N[_;2BC|Y >yDbDˌVD69yE3/%ME=ٔMȽQ-M>9QIQ=UFyQUO#;EU>YQ 5e;4]S?Q 9m;4]ct)]#Q Am9YiQ Em:ym>%Q Im?]w?I]:i]ԑ?];4yqɮ}By*jBji?iziJiƷ<i k<k<k<h kC@kC@kC@hZZZZi))iI@?>@G>)m2Acoustic response timeout^AI)I9OmV>QEp EWEE"Ed:*E9VEU5ZEa@a@a@a@ԁ  2Acoustic response timeoutя,ZF?A2ڇf@2}t@2ٱ2> :AHRS rotation from veh to nav: [[-0.775754,0.616221,0.135931],[-0.625504,-0.779361,-0.036625],[0.083370,-0.113437,0.990041]]2H`?-f? ``W?@: j?i2ڇf@I2`B_;2CCYM2>yUDYbDmVDm69y}h=%}G=ٔ}Q->9I=FywE>Q 5;4踉?Q 9;4cv)$7Q A9YQ E9y*Q I??I ;ic?;4yXBɮB*jBji?iziJiƷ<i kGkGkGh kGkGkGhZZZ Z i)!)))1i9IIQI5Y>)5e>ԁ^A9IIIYO[>}2Acoustic response timeoutԱ o> CU OGi g9 Y O\ABa Ae <Bm h>Bi Bm DBm A>Bm =Bi Bi Bm O;Bm EB)B)B)B)B)C-˦4E ` E ME E "E *:*E 9VE H5ZE BE -;a 2E -;a JE :a :E :a я,:wF?ARe@Rs@RZٱR~ ZAHRS rotation from veh to nav: [[-0.783738,0.606367,0.134440],[-0.618807,-0.780892,-0.085358],[0.053225,-0.150090,0.987239]]RHa[g?Q5?C@ڵF@?'6ÿ`u?iRe@IRi_;RBCYr>yvDbD~UVD~69y Nn% P=ٔ=Q-=>99IA=EFyAEҼEE>IQ 5U;4Mܸ?Q 9U;4Mw)M^JQ A}9YyQ E}9y}0Q I}?M?IM};iM?M;4yɮ Bԡ*jBj!i-?i5ziQJi]Ʒ<ia2Acoustic response timeout k;k;k;hQZZZZi))iYIY ^AIIO>m 2Acoustic response timeout) Aя,iQF?A6 g@6u@6Gٱ6V9 BAHRS rotation from veh to nav: [[-0.772386,0.621451,0.131220],[-0.634772,-0.762427,-0.125578],[0.022005,-0.180290,0.983367]]6Hb ?? Pe j?ǿw?i6 g@I6Y_;6DCYJ>yJmDa=a= a=a= aEaE aEaE aEaE yEm?i|?5?V-?En>Eq=Eh>A A9E@5^I ?@5^I ?"~j?YEb>yEb0?ES?EBEB EԭB)EBEYEBBbDm{VDm69ye}%C=ٔ=Q->9I=FyA=E>Q 5;4q渉?Q 9;4P)@Q AT:Ysg?Q Ej:yQ I??Ic;iQ;H;4yɮBE}h E}UE}Ey"E}G:*E}P9VE}5ZEya@a@a@a@ԉ*jBji?iziJiƷ<i kS#kS#kS#h2f,?:f,?BfZ ?Jf@Z%Z%Z!Z%iQ)Y)YYYiYaIa@uqA@qԡ2Acoustic response timeout^Alw=IIO> U я,Z,2F?A2s8g@2R.u@2^ٱ2 >AHRS rotation from veh to nav: [[-0.770511,0.621811,0.140226],[-0.635102,-0.767666,-0.085646],[0.054392,-0.155049,0.986408]]2H `??R`쵿4٫?ÿ ?i2s8g@I2_;2ACYFh >yFDbDR׍VDR 79yZF=%ZX=ٔ^Q-^>9I=Fy Bv;E >Q 5;4%2Acoustic response timeout︉?Q 9-;4)5Y)y-Q I-?X @Ir;iws;;4y1ɮ=B9*jIBjIiM?iUziQJiUƷ<iQ k3"k3"k3"hi k"k"k"hy2f:fBfJfѪ@ZZZZi))iI iIBj>BBDBJK>B=BBB[;BEbE H5jE Y5rE ŀ1Ec EbExE"Eg5:*E9VEe5ZEBE?;a2E?;aJEO;a:EP;a^A=II!Od>2Acoustic response timeout) я,B LF?Aɰ2e@2vs@2bٱ2! >AHRS rotation from veh to nav: [[-0.783136,0.609532,0.123164],[-0.615736,-0.787781,-0.016461],[0.086993,-0.088728,0.992250]]2HrH??5Cې&E?䶶?i2e@I2?_;2BCYFc>yFDbDRVDR79yZ<%ZJ=ٔZΥQ-Z>9\I\=^Fy\bCoEb>dQ 5f<4fY?Q 9j<4fs)f)YhyjQ Ij?f@If:if):f<4yrqBɮr)Bp*jxBjxiz?izzi|Ji~Ʒ<i| k"k"k"h k"k"k"h2f:fBfJfr@ZZZZ^B*** querying acoustic contact ***XYi))))111i9QIY)52Acoustic response timeoutY^AyIIOe>Eb EPEyE"E1:*E?9VE5ZEa@a@a@a@ԁ  2Acoustic response timeoutя,eF?A06Sd@62|r@6䒽ٱ6d >AHRS rotation from veh to nav: [[-0.795701,0.601130,0.074177],[-0.601435,-0.798655,0.020664],[0.071663,-0.028170,0.997031]]6Hbvt? >@(?`X?؜?i6Sd@I62_;6@CYF>yFDN>N=bDRlVDRO79yZJ<%ZJ=ٔ^=Q-^>9`I`=bFy`b@Eb>dQ 5j<4f?Q 9j<4f)fYlynFQ In?f2@If3;if@;f<4yrBɮr3BvE*j|Bj|i~?i~zi|JiƷ<i k"k"k"h k"k"k"h!2f1:f1Bf1Jf5ϩ@ZMZMZIZMiY)Y)aaaiaiIiԉ^AIIO5O>Թ=2Acoustic response timeout B B B B B B B B ;B ɘEE  E VE E "E *E 9VE 5ZE BE 9;a 2E 9;a JE C:a :E D:a 2я,F?A\^-d@^#r@^}xٱ^ L jAHRS rotation from veh to nav: [[-0.799516,0.598020,0.056091],[-0.597567,-0.801385,0.026375],[0.060724,-0.012431,0.998077]]^H@"?? 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timeout+I.y112Acoustic response timeoutԡ4E]6c E]6OE]6{EY6"E]6g5:*E]69VE]6:5ZEY6am6@am6@am6@am6@7M9=M94=U92Acoustic response timeout:)>YAYAyAZd;B`"?X9vAAَ>AA A9A~jt?ʡE?QӿYA>yAo>A(ABAB AƩB)ATBAYABbDA3VDAE<9yA;%B<ٔB:Q-B=9 BI B= BFy B BUE B=BQ 5B=4Bx?Q 9%B=4B^)BQ E%B:y%BHQ I%B?BAIB:iB:B=4y-BBuB2Acoustic response timeoutɮ5B6BBѹE*jBBjBiB?iBziBJiBƷ<iBB kkkhB kkkhC2f%C>:f%C>Bf%C@Jf%C^^@ZUCZUCZQCZUCiaC)iC)C顉CCiCCIC@C@CBIDAMD<BUDk>BQDBQDBQDBUD=BQDBUD,DBUD;BUD&EFbEX5jE5rE2EEG` EEGSEEGpEAG"EEG*:*EEG9VEEG5ZEAGBEEG -;a]G2EEG -;a]GJEEGl:a]G:EEGm:a]G^AGIGIGO%H@oя,aF?An&V@nc@nA<ٱnW vAHRS rotation from veh to nav: [[-0.912907,0.406406,0.037870],[-0.408073,-0.906774,-0.106010],[-0.008744,-0.112231,0.993644]]nH6?`c?ڿIz# &聿.?in&V@In z_;n>CY >y gD@AyV-?|?5^?Kh=ҍ>^ 9L7A`?E?~jtȿY+>y?D:fc>BfSi?Jfh@ZZZZi))999i9AIA1)->^Alw=I)I9aO{>i I  2Acoustic response timeoutԉ я, "F?A6U@6c@6:ٱ6  >AHRS rotation from veh to nav: [[-0.913466,0.402004,0.063030],[-0.406755,-0.906427,-0.113753],[0.011403,-0.129547,0.991508]]6H@;`m?@"?Fڿt  2Z?`@n?i6U@I6Б_;6@CYJ>yJPDbDVKVDVP<9yZ%Z^=ٔ^K`Q-^>9`I`=bFy`b~Ef>dQ 5j>4fm?Q 9j>4f)fhUYlynҿQ In?f AIf ;if;f>4ypɮtt*j|Bj|i~?iziJiƷ<i kBkBkBhy kBkBkBh2f:fBfJf@ZZZZi))i!I!E=b E=WE=tE9"E=1:*E=9VE=5ZE9aE@aE@aE@aE@I{>)>ԡu2Acoustic response timeout^A]=IiIyO_> ;Hя,X;F?A28U@2c@2Ӽٱ2cw :AHRS rotation from veh to nav: [[-0.914197,0.401072,0.058174],[-0.404444,-0.912044,-0.067836],[0.025850,-0.085544,0.995999]]2HA+?@ȭ?iٿu/]@ax?.浿9?i28U@I2_;0b2Acoustic response timeoutYft>yf,Dj=j=bDrnVDr`<9yv4=%zG=ٔzQ-z>9xI|=~Fy|~E>Q 5 >4?Q 9 >4)r[YyRҿQ I?sAI:i:Q>4yɮ%6B!*j1Bj1i5?i5zi1Ji=Ʒ<i9 kPkPkPhI kkkha2fq:fqBfqJfu*@ZZZZi))1B=l>B9B9B9B==B9B=+DB=z;B=E)QQQiQYIYEMd EMeEMuEI"EM9:*EM9VEM5ZEIBEMF;aU2EMF;aUJEM;*;a]:EM;*;a]^AIIO l>1u2Acoustic response timeoutY 0я,UF?Aɰ: T@:a@:6Rٱ:>| FAHRS rotation from veh to nav: [[-0.923977,0.375824,0.070872],[-0.378969,-0.924653,-0.037414],[0.051471,-0.061428,0.996783]]:H7 ?$?Aؿ@'@kZ?`s?i: T@I:$_;:>CYN#>yNDbDZVDZm<9yb¨<%bM=ٔfQ-f>9dId=fFydjREj>lQ 5r>4n?Q 9r>4n)n`Ytyv=ֿQ Iv?n*AInG);in8;n=">4yɮ2B*j)Bj1i5?i5zi1Ji5Ʒ<i1 k#k#k#hY2fq:fqBfqJfuE@ZZZZi))顱iI12Acoustic response timeouta^A=IIOg>EUc EUPEUvEQ"EUg5:*EU?9VEU-5ZEQa]@a]@ae@ae@ԉ 2Acoustic response timeoutԹ Zя,oF?A2 T@2b@2#zKٱ2Ai :AHRS rotation from veh to nav: [[-0.923877,0.376694,0.067483],[-0.379455,-0.924592,-0.033814],[0.049657,-0.056847,0.997147]]2He ?F?HؿAPl??i2 T@I2q_;0YFI(>yFDbDnVDny<9yv,-<%vH=ٔv;Q-v>9xIx=zFyx~:E~>Q 5 >4?Q 9 >4%)AfY y տQ I ?AI:i:0>4yɮ0B*j1Bj1i5?i5zi1Ji=Ʒ<i9 kkkhI kkkha2fq:fqBfqJfueW@Z}ZZZi))顙iIԑ AA^A=IIO5O>2Acoustic response timeoutA9A9BIBIBMDBMM>BIBIBM,DBM<;BMEEe a Ee NEe Ea "Ee %.:*Ee ҆9VEe 5ZEa BEe M3;am 2Ee P3;am JEe :au :Ee :au  B"я,xF?A2[T@2;vb@2)Nٱ2îZ :AHRS rotation from veh to nav: [[-0.921106,0.383510,0.066962],[-0.386047,-0.921998,-0.029797],[0.050311,-0.053296,0.997311]]2H ym?k$?ؿ  l©?I?i2[T@I2>_;0Y^x>y^FDy}On?NbX9?E?}>}>}F>y y9}ˡE?y&1?333333?Y}'>y}`>}>y}B }ZB)yyY}BbDVD<9yf%?=ٔɺQ->9I=Fy<<E>Q 5>4l?Q 9>4)^YE?Q E:yPQ I?OAI:iE:y?>4yBɮFB۹E*jBji?iziJiƷ<i k3k3k3h kkkh2f->:f->Bf-R @Jf-z@19- r-NAggregate::initialize marl:UpdateRudderq9-J]5q9595=2Acoustic response timeout7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnMLAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeedZ]Z]ZYZ]q/]^]\Aggregate::initialize marl:SendObservationDataq0]/e-_m6data element is not active._mpGot test_good : n/a str and temp var is nan n/a str /m/mi))顁iI^AaIqIO>I  2Acoustic response timeout(l(я,SF?A2LQ@2,_@2דٱ2{~ >AHRS rotation from veh to nav: [[-0.937567,0.344366,0.048795],[-0.346585,-0.936781,-0.048179],[0.029119,-0.062082,0.997646]]2H ?`?q.ֿ@ݪfѝ?=ɯ?i2LQ@I2|_;2@CYF>yFDHJ?AbDR͚VDR=9yZ%Z[=ٔ^h=Q-^>9\I\=bFy`biEb>dQ 5j>4f?Q 9j>4fm)fWYhynſQ In?f?AIfy:if;fL>4ypɮrJBp*jxBjzi~?i~zi|Ji~Ʒ<i k3k3k3h kSkSkSh!2f1:f1Bf1Jf5*Ե@s=PUpdating rudder angle -0.000000 arcdeg 9=rE6Completed marl:UpdateRudder19E rERAggregate::uninitialize marl:UpdateRudderZMZMZIZMYUł@/U10UEm EJEE"EY:*Ek9VEq5ZEa%@a%@a%@a%@ia)a)aaiiimIQM2Acoustic response timeoutԁ^AIIIOj>ԩ N.я,.F?A2!Q@2_@2u<ٱ2&3 :AHRS rotation from veh to nav: [[-0.941635,0.336546,0.007769],[-0.336301,-0.939422,-0.066239],[-0.014994,-0.064986,0.997774]]2H!?U?տ D颰?i2!Q@I2$\_;2?CR2Acoustic response timeout\Yf0%>yf%DbDrVDr'=9yzRN=%zF=ٔzc=Q-z>9|I|=~Fy|ۼE> Q 5>4 ?Q 9>4 ) PYygɿQ I?  AI :i ; Z>4y!ɮ%?B!*j1Bj1i5?i=zi9Ji=Ʒ<i9 kkkhQ kkkha2fq:fqBfqJfu@ZZZZY100i))顡iIBk>BBDBw>B=BB+DB;BڗE^A=IIO=ԱE-g E-QE-rE)"E-C:*E-v9VE-5ZE)BE-X;a52E-X;a5JE-:a=:E-:a=U2Acoustic response timeout (~5я, F?AFVS@FKa@F蔙ٱF񃝽 RAHRS rotation from veh to nav: [[-0.928996,0.367248,0.045772],[-0.369615,-0.926945,-0.064483],[0.018747,-0.076823,0.996869]]FHU ?`ho? ħ׿@@S2?࣪X?iFVS@IFo_;F@CYb>ybDn=n=bD-3VD-0=9y]%]D=ٔ]Q-e>9aIa=eFyam=Em>qQ 5}>4u?Q 9}>4u;)uIYy_¿Q I?u#AIu;iu;ui>4yɮHB*jBji?iziJiƷ<i kkkh kkkh2f:fBfJff@ZZZZaSendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 10.011625 min 0^DCompleted marl:SendObservationDataq/^`Aggregate::uninitialize marl:SendObservationDataq0i))iI!^A5~4=IAIQuFailed to create a data reader. azimuth_vehicleFrame is unknown.}bFailed to request data from azimuth_vehicleFrame.IyO=2Acoustic response timeout 9D5=D1E=i E=NE=wE9"E=,K:*E=҆9VE=ɕ5ZE9aE@aE@aE@aE@i e 2Acoustic response timeoutN;я,F?A2P@2y^@2G6ٱ20ؽ :AHRS rotation from veh to nav: [[-0.940389,0.326711,0.094487],[-0.334205,-0.939214,-0.078644],[0.063050,-0.105534,0.992415]]2H ?Q0?cտ @! $?@A?i2P@I2_;0Y^->ybخDb=`bDjVDj]=9yr~%vR=ٔvlQ-v>9tIx=zFyxzýEz>|Q 5>4~o?Q 9>4~W)~1CY y ÿQ I ?~&AI~-:i~|:~w>4yɮKB*j)Bj)i-?i-zi)Ji5Ʒ<i1y kkkh2f:fBfJflc@ZZZZi1)9)999i9AIA^A5 <IIIYO= ԩ@G=r9AYEfA2Acoustic response timeoutB<ABm>BBDB">B=BB,DB;BٗEBBBBBC5 EE g EE XEE rEA "EE C:*EE 9VEE 5ZEA BEA aU 2EA aU JEE :aU :EE :aU Bя, F?A>;N@>1\@>U$ٱ> FAHRS rotation from veh to nav: [[-0.954884,0.286408,0.078527],[-0.294266,-0.948144,-0.120130],[0.040049,-0.137818,0.989648]]>H@iT? W?@ҿ1W C?1?i>;N@I>7_;>=CYR>yRDy-333333?(\пMbX?-=-->) )9-Q?NbX9?Zd;?Y-u=y->->--QB -B)-B)Y-BbDEVDE=9yMu<%UB=ٔU_=Q-U>9YIY=]FyYeνEe>aQ 5m>4e?Q 9u>4e )e$:Yu>Q Eu:yu浿Q Iu?e )AԹ2Acoustic response timeoutIe:ie{4y ɮ EB *j9Bj9i=?iEziAJiEƷ<iA kkkhy2f7 ?:f7 ?Bf ?JfS@ZZZZi))iI^A?BɹIIO > 2Acoustic response timeout9 GHя,=$F?A2إM@2[@2سٱ2& :AHRS rotation from veh to nav: [[-0.958265,0.280554,0.054936],[-0.285736,-0.946067,-0.152686],[0.009137,-0.162011,0.986747]]2H`? ?`Iҿ`-F 5ÿi?ļĿm?i2إM@I22s_;2?CYZ >yZD``bDf-VDf=9ynz%nT=ٔrP=Q-r>9pIp=vFytv¼Ev>xQ 5~>4zE?Q 9~>4z)z2YyQ I?z +AIz8;iz;zL>4y ɮ LB *jBj!i%?i%zi!Ji%Ʒ<i) kkkh9 kkkhI2fY:fYBfYJf]X@ZmZmZiZmi))顁iI@@@@Ej ENEE"EN:*E҆9VEc5ZEa@a @a @a @1-2Acoustic response timeoutI9IIaO;>ԑԹ \Nя,2v>F?A2L@2ÄZ@2K3ٱ2 :AHRS rotation from veh to nav: [[-0.962973,0.265365,0.047579],[-0.269375,-0.954241,-0.129855],[0.010943,-0.137863,0.990391]]2H ?O\?o=ѿ`#@Zi? 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HѿQ?ઔ?4?@?i>L@I>_;>ACYR >yR6DXZ@AbDZBVDZ#>9ybj;%fK=ٔf Q-f>9hIh=jFyhjJ]Ej>lQ 5r>4n?Q 9v>4n,)nYtyvQ Iv?n0AIn:in:n>4yxɮzZB|*j Bj i ?i ziJiƷ<i k#k#k#h) k3k3k3h92fI:fIBfIJfMŠ@Z]Z]ZYZ]ii)i)qqqiqyIyIIO=q2Acoustic response timeoutԩAABl>BBBBBBB;BJE E% _ E% LE% mE! "E% &:*E% |9VE% 5ZE! BE% &;a5 2E% &;a5 JE% w:a5 :E% x:a5 bя,[ F?Aɰ4<23J@2)X@2{0ٱ2K= :AHRS rotation from veh to nav: [[-0.971387,0.235559,0.030336],[-0.233543,-0.970593,0.058370],[0.043193,0.049615,0.997834]]2H`&?@Z? Ϳ ?`l? g?A?i23J@I2U_;2@C`Yb>ybDymx&?n{Gz?m7 >mVmף=i i9mMbX9?K7῅Q?Ymʡ=ym m(>mBmB mB)m~BiYm8BbD۝VDi>9y=%>=ٔ ;Q->9I=FyE>Q 5>4?Q 9>42)e Yx1?Q E:yM?Q I?~4AI2 ;i7 ;>4yɮQB*jBji?iziJiƷ<i kkkh2Acoustic response timeout kkkh 2f%>:f%>Bf%4@Jf%h>Z-Z5Z1Zi))iIIIO=iߩ Iߩ  2Acoustic response timeoutA riя,F?A2MJ@2-X@2}Bٱ2G= :AHRS rotation from veh to nav: [[-0.970932,0.239339,0.002645],[-0.239059,-0.970224,0.038930],[0.011884,0.037167,0.999238]]2H?je?zο ? jV???i2MJ@I2ʼn_;2?CYFK=yFqDbDRZVDR>9yV%ZZ=ٔZ=Q-Z>9XI\=^Fy\^n<Eb>`Q 5f>4b?Q 9j>4b )bYhyj?Q Ij?b7AIb:ib9:b>4ynBɮrTBr۹E*jxBjxiz?izzixJi~Ʒ<9iY kgkgkghi kgkgkgh2f:fBfJf=!>Ee EVElE"E<:*E9VE5ZEa@a@a@a@ZZZZi!))))))i)QIQIyIO%= i 2Acoustic response timeoutԑ 2oя,UF?A22Acoustic response timeout6K@6Y@6+&ٱ6uU?= >AHRS rotation from veh to nav: [[-0.966832,0.255245,0.009238],[-0.254474,-0.965749,0.050717],[0.021867,0.046684,0.998670]]6H@J@U?@s?MIпj`?`Pd??`?i6K@I6_;6=CY^>ybcDddbDjʞVDj>9yr==%rG=ٔvǼQ-v>9tIt=zFyxz=Ez>|Q 5>4~a ?Q 9>4~o)~Y y ?Q I ?~;AI~d:i~:~>4yBɮGBB!B!B%zDB%J=B%=B!B!B%;B%EE*jABjAiM?iMziIJiMƷ<iI k]k]k]ha k]k]k]hqԙ2f!:f!Bf!Jf%*l>Z5Z5Z1ZUia)a)iiiiiqIIIO=E ETEnE"E*E9VEJ5ZEBEaL;a2EcL;aJE:a:E:a2Acoustic response timeout! lvя,FF?A:~I@:^W@:ٱ:{e=< FAHRS rotation from veh to nav: [[-0.973724,0.225462,0.032076],[-0.224933,-0.974183,0.019274],[0.035593,0.011552,0.999300]]:H(??l?̿,w?@G9?? 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(?v?@|?y? ?i:Nt7@I:N_;:@CHJ5tAiJIHHINCiL LL)PP Rr@PPPTVsAIT)TiT)XIXXX X\\\i\\i`buA)` `I`Y`Yj>yjDln?AbDvVDvA9y~$(=%~d=ٔ9I=Fy  CE >Q 5@4?Q 9@4#E)lYy%K˿Q I%?xAI;i;@4y)ɮ-UB)*jABjAiE?iMziIJiMƷ<iI kRkRkRha kkkkkkhq2f:fBfJfu@ZZZZi))顩iIIIYO=BBBDBM>BBBB;B8E2Acoustic response timeoutI E5 g E5 gE1 E1 "E5 C:*E5 &9VE1 ZE1 BE5 X;a= 2E5 X;a= JE5 1;aE :E5 1;aE Peя,JF?A,:}5@:]C@:!<ٱ:< FAHRS rotation from veh to nav: [[-0.996419,-0.084149,-0.008216],[0.083972,-0.996269,0.019937],[-0.009863,0.019176,0.999767]]:H@Њ@Ӏ4?n[j?` 3ɢ?`?i:}5@I:7_;:>C2Acoustic response timeoutYMU7>yMuDyp= ף?/$ѿMb?>1< 9$C?5^I ˿V-?YZ>yX<BB B)uBYBbDVD B9ylb=%;=ٔY=Q->9 I = Fy  }E>Q 5@4}?Q 9%@4B)^kY%8>Q E%0;y%@Q I%?AI<:i:@4y)ɮ5IB1*jABjIiM?iMziIJiMƷ<iQ kSkSkSha kkkkkkhq2fg=:fg=Bf?Jfh@ZZZZi!))))11i1IIQԉIIO5 >Ա=2Acoustic response timeout vykя, F?A26@2D@2Y;<ٱ2\ :AHRS rotation from veh to nav: [[-0.997726,-0.066184,-0.012712],[0.066413,-0.997620,-0.018527],[-0.011456,-0.019329,0.999748]]2H`np?@@ vʓ?i26@I2V_;0\Evm EvNEvEt"EvY:*Ev҆9VEv5ZEtaz@az@az@az@Yo>yD ))-=-=bD5ץVD5B9yE{%EW=ٔMc;Q-M>9IIQ=UFyQU==EU>YQ 5e@4]?Q 9e@4]D@)]jYiym@Q Im?]oAI](:i]:]@4yuBɮuQB*j Bj i ?i ziJiƷ<i kSkSkShy2f:fBfJfdj@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n 4Completed marl:UpdateSpeedq7 n PAggregate::uninitialize marl:UpdateSpeedZ5Z5Z1Z5iI)I)iiiiqqIyII52Acoustic response timeoutOE>A B B B DB #>B B B B a;B E 2Acoustic response timeout?arя,]F?A:7@:E@: /3ٱ: FAHRS rotation from veh to nav: [[-0.997108,-0.063852,0.041219],[0.062157,-0.997217,-0.041159],[0.043732,-0.038478,0.998302]]:HN@X?ӯ?`4 d? h ?i:7@I:8_;:=CYN=>yNsDR>R=bDZVDZB9yb%bS=ٔfQ-f>9dId=jFyhj1<Ej>lQ 5r@4n?Q 9r@4n=)nyiYtyv@Q Iv?n[AIn:ink:n@4yxɮzTBx*j Bj =i ?i zi Ji Ʒ<i kVkVkVh)2f9:f9Bf9Jf=3Dk@sENUpdating rudder angle 6.875493 arcdeg 9ErM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderZUZUZQZUia)i)iiiiiu=IqIIOo=Ec EgEtE"Eg5:*E&9VE5ZEBE?;a2E?;a JEa :Ea Ii9I9E2Acoustic response timeoutqԡ Ƌxя,0F?A24@2ՅB@2>ٱ2] :AHRS rotation from veh to nav: [[-0.993703,-0.104720,0.039838],[0.101886,-0.992501,-0.067541],[0.046612,-0.063057,0.996921]]2H@k`κ`e?-?XJݧ?x$?i24@I2n_;2yRDbDZ<VDZDB9y~9%~G=ٔQ->9I= Fy  ƽE >Q 5A4$?Q 9A4;)hY!y%@Q I%?UAI;i; A4y)ɮ-UB)*jABjAiE?iEziAJiEƷ<iI k3;k3;k3;hY kSkSkShiy2f:fBfJfJh@ZZZZi))顩iIIIIO-=2Acoustic response timeout ԡEj ELEpE"EN:*E|9VE5ZEa@a @a @a @M 2Acoustic response timeout - gn>) OG J9 Y @AyM S}?M pAR~я,{F?A24@2B@2?6<ٱ23 :AHRS rotation from veh to nav: [[-0.993976,-0.107594,-0.020857],[0.109028,-0.990115,-0.088234],[-0.011157,-0.089976,0.995881]]2HJ[yFPDHHbDbaVDbUB9yj%jM=ٔjY>Q-z>9|I|=~Fy|ˏE> Q 5 A4 ?Q 9A4 9) fY1y5@Q I5? 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Λ?iB7?IBH_;B:C2Acoustic response timeoutIY*>y"DAa@a a@a a@a a@a a@a y^I +ǿ`"y&1X9` )Mb@Mb@Mb@Ii‰ )IbDVDNF9y<%=ٔaL=Q->9I=Fy:E> Q 5@4 C?Q 9@4 U) ?Q A+:YQ E:y?Q I? lAI :i  ? =@4y!ɮ%B)*j9Bj9i=?iEziAJiMƷ<iI kgkgkghY kxkxkxhqZZZZi))顡iIԁE5c E5OE5oE1"E5g5:*E59VE55ZE1aE@aE@aE@aE@Aa Aa Bu m>Bq Bu DBu M>Bq Bq Bu ,DBu ;Bu gEB+CB+Cԡ BBBɥ=C:6^A I I! M 2Acoustic response timeoutOe >O:я,F?A:X?:@:.<ٱ:I׽@ FAHRS rotation from veh to nav: [[-0.480790,-0.871443,-0.097096],[0.876771,-0.479143,-0.041163],[-0.010651,-0.104922,0.994423]]:HC޿I۸ ?G޿_ZЅ*ܺQ?i:X?I:B_;:yjDbDvƮVDv2F9y~g޽%~=ٔt=Q-"?9I=Fy LZE "?Q 5@4JB?Q 9@4R)?Q A :YQ E%:y%,?Q I%?nAI ;i.P?C@4y)ɮ-(B)*jABjAiE?iMziIJiMƷ<iI k`k`k`ha ktktkthqZZZZi))顡iIԩ II2Acoustic response timeout^AI)I9OmV> EE f EE TEE vEA "EE I@:*EE 9VEE -5ZEA BEE R;aM 2EE R;aM JEE :aU :EE :aU cя,F?A2~?24@2ٱ2&ў :AHRS rotation from veh to nav: [[-0.502169,-0.862772,-0.058734],[0.864612,-0.499624,-0.053123],[0.016488,-0.077459,0.996859]]2H`ԛi?߿ 2@G?`\Գ@E?i2~?I2J_;29Cpi|I|2Acoustic response timeoutY=y-D-bSBD MO Status=0, MOMSN=2768, MT Status=0, MTMSN=0YbD]߮VD]=F9y%'=ٔcQ->9I=FyM=E>Q 5@4>?Q 9@4_M)|>Q A9YQ Ee:y?Q I?qAI:i?L@4y`Bɮ$B E*jaBjaim?imziiJimƷ<ii k\k\k\h kvkvkvh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed133ZZZZi))iI92Acoustic response timeout^A) I1 II O} >a _Lя,F?AJc?JC@J<ٱJkENc ENOENhEL"ENg5:*EN9VENA{5ZELaR@aV@aV@aV@ ZAHRS rotation from veh to nav: [[-0.489062,-0.872249,-0.000560],[0.871415,-0.488566,-0.044033],[0.038134,-0.022023,0.999030]]JH`L߿vT]B ?D߿ ~ J?A ?iJc?IJ?!_;J:CYY}#>y}D>==bDڮVD;F9y(=%n=ٔ逽Q-?9I=Fy/E?Q 5@48Q A9YQ E9:yd?Q I?GtAI<:i?R@4yɮB*jBji ?i zi Ji Ʒ<i  k#^k#^k#^h! k3vk3vk3vh1sENUpdating rudder angle 6.875493 arcdeg 9ErM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderZUZUZQZUia)i)iiiiiqIqBr>B,CBDBw>B=BBB ;BaE 2Acoustic response timeoutԁ^AIIO-p>Ա  2Acoustic response timeoutuя,uF?Aɰp;2X?2O"@2ٱ2ӻ :AHRS rotation from veh to nav: [[-0.473710,-0.880623,0.010096],[0.880050,-0.473774,-0.032404],[0.033319,-0.006465,0.999424]]2HDQ޿ .M?@_)?NR޿4@$?@zzG?i2X?I2"_;29CYF&>yFRDbD VD AF9yE;%ES=ٔMzK9IIQ=UFyQU:EU>YQ 5e@4]`9?Q 9e@4]EE)]:s>Q Am9YiQ Em:ym+?Q Im?]vAI];i]:@]V@4Թyqɮ B*j Bji5?i=zi9Ji=Ʒ<i9 k]k]k]hyZZZZi) ))11i19IAbE:5jE5rE3Ef EWEwE"EI@:*E9VEɕ5ZEBEa2EaJE:a:E:a2Acoustic response timeout^AQIaIqO>9 ]я,׈F?AM}?M@M ƼٱM5MF AHRS rotation from veh to nav: [[-0.481681,-0.875808,-0.030726],[0.876010,-0.480230,-0.044561],[0.024272,-0.048380,0.998534]]MH@޿vF?޿@Ц@ژ?MŨ?iM}?IM_;M:CY>yDUParsing RMC sentence: $GPRMC,184739.00,A,3646.38332,N,12152.09040,W,1.691,248.60,251025,,,D*79 )QUF?AU?UN 9U U'zbB@C{&w^ehGPS fix at 20251025T184739: (36.773055, -121.868173)U^?U-؊@}2Acoustic response timeoutaa aa aa aa aa yL7A`ؿ`"?/$?+Ǿ=&1> 9MbXˡE?V-ϿY y>| B)B ~B)Y=BbD VD /F9yռ%0=ٔ%9!I!=%Fy)-<E->1Q 5=;45?Q 9=;45N )5Q AET:YE.?Q EE:yE̿Q IE?5I5;i5;5>g;4yMBɮUBU%E*jaBjaie?ieziaJimƷ<ii kc\kc\kc\h ks\ks\ks\hI2f]6>:f]6>Bf]zD @Jf]s@3ZZZZc0Completed marl:NeedComms1 cLAggregate::uninitialize marl:NeedComms12 dDUninitialize GoToSurfaceComponent.^B*** querying acoustic contact ***XY\Received valid gps time fix: 1761418112.00. Resetting abort timer.i))iI@-qA@-rAIEea EetEeEa"Ee%.:*Eev:VEeq5ZEaam@am@am@am@qB<A<Bs>BBDBM>B=BBBU;BE^A I! I1 IQ O >i! I! - 2Acoustic response timeoutԙ ȇƴя,cF?A2?2@2̼ٱ2ӽ :AHRS rotation from veh to nav: [[-0.470362,-0.878925,-0.079060],[0.882119,-0.465744,-0.070345],[0.025006,-0.102828,0.994385]]2Hj޿& C=Q:?ݿ '?@R ?i2?I2S_;29CYBt>yF,DbD VD F9yE$;%Mn=ٔM Q-M?9IIQ=UFyQU8EU?YQ 5e;4]K?Q 9m;4])]UνYiym˿Q Im?]&X>I]B:i]:]Cs;4yqɮyy*jBji?iziJiƷ<i k[k[k[h k[k[k[h2f:fBfJfp*@ɢ )> miK9)iQ:ISAq2Acoustic response timeoutԡ^AyIIOm>Eu b Eu SEu Eq "Eu 1:*Eu 9VEu S5ZEq BEu 9;a} 2Eu 9;a} JEu l:a} :Eu m:a ۱̴я,>5F?A2 ?2c|@2w,aٱ2 :AHRS rotation from veh to nav: [[-0.464329,-0.881405,-0.086739],[0.883956,-0.455131,-0.107129],[0.054946,-0.126417,0.990454]]2Hݿw44 _I? ݿ@l!?o. ͱ?i2 ?I2(_;2:CYBx>yFFDbDNɮVDN3F9yV%%VU=ٔZQ-Z>9XIX=^Fy\^E^>`Q 5f;4b?Q 9f;4b)bcYhyjw̿Q Ij?b>Ib:ibp:b;4r2Acoustic response timeoutyvBɮvBv/E*jBjiiziJii k[k[k[h k[k[k[h2f:fBfJf;q@ @ɢ.@)Q< Bi)KպiĢ: I  AA^A9IIIYO[>2Acoustic response timeout) hӴя,OF?AEf EJE]E"EI@:*Ek9VEW5ZEa@a@a@a@:?:EZ@: &<ٱ:[7 FAHRS rotation from veh to nav: [[-0.474988,-0.878223,-0.055769],[0.875248,-0.464906,-0.133430],[0.091254,-0.112189,0.989488]]:H 4f޿h@?@ݿ:l\?h?i:?I:B_;:9CYR,)>yR DbDZVDZOF9yb-=%bI=ٔf#Q-f>9dId=fFyhj@=Ej>lQ 5r;4n3?Q 9r;4nL)nYpyv̿Q Iv?n//?In:in:n;4yxɮzBx*j Bj i i zi Jii k#\k#\k#\h! k3\k3\k3\h92fI:fIBfIJfM(@| @ɢ2)V < i)Rij:I@!@!Be>B+CBDB#>B=BB+DB;B,EA2Acoustic response timeoutY^AyIIO-p>ԁ  2Acoustic response timeoutٴя,AhF?A0>H?>'@>Gٱ> FAHRS rotation from veh to nav: [[-0.472174,-0.880770,-0.035983],[0.878245,-0.466528,-0.105061],[0.075748,-0.081209,0.993815]]>H 8޿E/`Ol`?`ݿE庿2d?@ʴ@T?i>H?I>&G_;>:CYR2>yRDn+n%l r&)pIr%ir"r pv/bD~/VD~bF9y<%E=ٔ=Q->9!I!=-Fy)-oE5>9Q 5E;4=[?Q 9M;4=!)=NYIyM+οQ IU?=lo?I=9;i=1;=s;4yaɮeBa*jBjiiziJii k]k]k]hQ2f:fBfJfN@ @ɢm);< i)ái:IE=e E=YE=iE9"E=<:*E=*9VE=z~5ZE9BE=aL;aE2E=cL;aEJE=:aM:E=:aMԑԹiI 2Acoustic response timeout0:: ^AA Iq I O >я,݂F?A\f?@e#ٱߍ^ AHRS rotation from veh to nav: [[-0.468873,-0.882025,-0.046803],[0.883262,-0.468063,-0.027658],[0.002488,-0.054308,0.998521]]H޿ 9 C?@ݿfR@Kbd?`5Ϋ?if?IT _;9CY2>yDU2Acoustic response timeoutyMbZd;O7A`?@j<> 9 rhѿ"~?E?YCyS>F>BB )kBY̤BbD<VDhF9y:%2=ٔ{#>Q->9I=Fy<E>Q 5;4?Q 9;4&)ξY:>Q E;yQ I ?"?I;iG;s;4yɮB*j)Bj)i1i1zi1Ji1i1 kDkDkDhI k[k[k[hY2fm>:fm>BfmA @JfmG@颍, @ɢN)|8= i)Uڻ顑i;IIE>)E>D1D5<E=^ E=NE=lE9"E=C#:*E=҆9VE=5ZE9aM@aM@aM@aM@ 2:AAAAAABk>BBDBw>B=BBB;BEe< 2Acoustic response timeout9 ^A I I O% >Z?я,eF?A$>?>s@>ǷNٱ>d*V JAHRS rotation from veh to nav: [[-0.464537,-0.884631,-0.040427],[0.885464,-0.463355,-0.035437],[0.012617,-0.052259,0.998554]]>HݿN ڲU?ݿ$։?`'?i>?I>_;>:CYR>yRcDbDۯVDF9yM%UU=ٔUؼQ-U>9QIY=]FyY]"PE]>aQ 5m;4e?Q 9u;4ez))e}YqyuQ Iu?eF?Ie':iev:eֺ;4yyɮB*jBjiiziJii kYkYkYh kYkYkYhA2fQ:fQBfQJfU(&@颕< @ɢ) = Ri)޼项iџ9;Iy;:2Acoustic response timeoutԩ}<@@qAEb EfEsE"E1:*E9VEX5ZEBE9;a2E9;aJE-;a:E-;a i I ^A I) I9 E 2Acoustic response timeoutO} >|я,\F?A@B@R?B@Be&aٱB JAHRS rotation from veh to nav: [[-0.431358,-0.901165,-0.042792],[0.900506,-0.427184,-0.081251],[0.054941,-0.073583,0.995775]]BH@_ۿX西?Vۿ`̴,!? Sֲb?iB@R?IB^;B9CYVl>yVŧDbParsing RMC sentence: $GPRMC,184742.00,A,3646.38336,N,12152.09124,W,0.233,264.11,251025,,,D*77 )dfF?Af?f*9fbB@ݚaw^jhGPS fix at 20251025T184742: (36.773056, -121.868187)f|=f@bDrկVDrF9yzy%zN=ٔ~NڽQ-~>9|I|=FyE> Q 5;4 ?Q 9;4 *) YyQ I? I ;i  ; >g;4y!ɮ%B)*j9Bj9i9iAziAJiAiA k^k^k^hY ktktkthi2fy:fyBfyJf}@\Received valid gps time fix: 1761418112.00. Resetting abort timer.额@ɢ})8< ri)% 顡iNM;II=)=2:OGqAqA1]>9YY]~Aԩ-<}2Acoustic response timeout^AT=IIO% > Ee f Ee OEe iEa "Ee I@:*Ee 9VEe z~5ZEa am @am @am @am @dя, nF?A2?26@2(ٱ2Yؽ :AHRS rotation from veh to nav: [[-0.432948,-0.898099,-0.077291],[0.900478,-0.426988,-0.082586],[0.041168,-0.105354,0.993582]]2H`mۿ:Zɳ?@SۿZ$`?l?i2?I2 A_;0YB >yF}DxbD VD F9y=;%H=ٔ% =Q-%>9!I)=-Fy)-g;E->1BEq>BE,CBEDBEM>BE=BABE,DBE;BEEB ,CB B B =B =C 5Q 5e;45?Q 9e;45-)5=YiymQ Im?5>I56;i5;5u;4yqɮuBq*jBjiiziJii k3\k3\k3\h2f:fBfJf@@ɢ@8)>= i);id; I iIA2Acoustic response timeout :  IMAA=9a  2Acoustic response timeout^A= =AE =AA I I O% >vя,SF?AZ?Z^7@ZjٱZt jAHRS rotation from veh to nav: [[-0.433160,-0.896159,-0.096285],[0.900827,-0.426926,-0.079022],[0.029709,-0.120965,0.992212]]ZHۿ`V%?@Rۿ`:l?`3?iZ?IZ_;XYz >yz6DbDVDF99y]|;%]F=ٔ]9aIa=eFyam&8Em>qQ 5;4u?Q 9;4u1)u:>Yy"Q I?u>Iu;iuh;u;4yBɮB9E*jBjiiziJii kZkZkZh kZkZkZh2f:fBfJf@Eh EEE"EG:*EVE5ZEBE/_;a%2E1_;a%JEM:a-:EO:a-E@ɢEQ)A EiI)M[VIIiM;QIQ-:a2Acoustic response timeout59=@=@=@=@=ԑ Iy I OM >sя,jF?A2Z?2@2Nٱ2Y :AHRS rotation from veh to nav: [[-0.428162,-0.899842,-0.083434],[0.902294,-0.420517,-0.095033],[0.050429,-0.115971,0.991972]]2H gۿ[ ?ڿ@Tѩ?`L ;?i2Z?I2H#_;2:CYF">yFVDyMb? rhͿB`"?@>lَ> 9{GzQ?v/?Yףy=x>ܸBB WB)yBYkBbD-VD-F9y=4U=%=M=ٔ=*UM2Acoustic response timeoutQ-M>9IIQ=UFyQUREU>YQ 5e;4]q?Q 9m;4]2)]>ԡY}>Q E:yYQ I?]_>I]a:f>Bf@Jf@@ɢ%)! %i!)-\r))i5{;9IA UpAUpA5::5511E5a E5RE5tE1"E5%.:*E59VE55ZE1a=@a=@a=@a=@BABABEDBE#>BE=BABABES;BEpEI9IQO}>2Acoustic response timeout! я,F?A27?2@2L6ٱ2Uѽ :AHRS rotation from veh to nav: [[-0.416718,-0.906002,-0.074207],[0.907938,-0.410817,-0.082932],[0.044651,-0.101935,0.993788]]2Hڿ@A ?Jڿ;@wܦ?h?i27?I2_;2;CYF2>yFDbDjVDjF9yri#=%rR=ٔvs9tIt=vFyxzEz>|Q 5;4~ ?Q 9;4~3)~=>Y y ~Q I ?~O>I~:i~$:~;4yɮB*j)Bj)i)i)zi1Ji1i1 kcCkcCkcChI k\k\k\hY2f:fBfJf*0@颵9 @ɢ&) 1i)b项i ;I:I1IIOu=m2Acoustic response timeoutIu>)u>AbEǵ5jE5rE`3EUl EULEUaEQ"EUV:*EU|9VEUd5ZEQBEUBx;ae2EUEx;aeJEUw:am:EUx:amqԙ  2Acoustic response timeout я,|9F?A2 ?2`?2.ٱ2!ٽ :AHRS rotation from veh to nav: [[-0.401331,-0.912214,-0.082462],[0.915223,-0.395848,-0.075303],[0.036050,-0.105692,0.993745]]2Hgٿ07I?`Uٿ Gu? ?i2 ?I2^;2yFDf)f#d d)f(If(if%dddbDnVDnF9yv%vJ=ٔz*9xIx=zFyx]X,Ee>yQ 5;4} ?Q 9;4}5)}i)?Yy!Q I?}?Iyi}:}1;4yɮB*jBjiiziJii kCkCkCh2f1:f1Bf1Jf5ы@U? @ɢ]E)Y ]iY)eaaieڢ;qyIyM:AuAԡIIOK>}2Acoustic response timeoutEe } Ee REe kEa "Ee ݉:*Ee 9VEe u5ZEa am @am @am @am @ ޲я,1SF?A:3?:?:ݼٱ:) FAHRS rotation from veh to nav: [[-0.402603,-0.913809,-0.053512],[0.914975,-0.400012,-0.053017],[0.027042,-0.070307,0.997159]]:H ?ٿ=@ezG?̙ٿ %??i:3?I:*>_;:8CYNg'>yNDTVAbD^RVD^rF9yfR%fK=ٔf9j>Ij>=jFyjEn{M;En>Brr>BpBrDBrM>BpBpBpBr;BrE|Q 5;4~춉?Q 9 ;4~5)~*V?Y y 5!Q I?~?I~I;i~j;~;4y=Bɮ=BA*jQBjQiQiQziYJiYiY k#Ik#Ik#Ihq k3Ik3Ik3Ih2f:fBfJf@M @ɢU"Q")Q ]5iY)]TYYi];aIaIm>)m>2Acoustic response timeoutԹM\:A0AIIIO5P> m 2Acoustic response timeoutя,QmF?AJ*?J?J=_<ٱJȹ RAHRS rotation from veh to nav: [[-0.388110,-0.921240,-0.026198],[0.921512,-0.388332,0.003781],[-0.013657,-0.022674,0.999650]]JHؿ@zӚ }?oؿ9n?N7 !?iJ*?IJ1&_;J7CY^R >y^(DbDEFVDEmF9y%A=ٔ=Q->9?I?=FyEE>Q 5;4趉?Q 9;46){?Yy(Q I??Ip:i:;4yɮB*jBjiiziJii kAkAkAh kAEj ELE~E"EN:*E|9VE5ZEBEk;a-2Ek;a-JEa-:Ea-kAkAh2f:fBfJf@ @ɢa")w\= i) o$ i;II: im@A2Acoustic response timeoutA]AIaIqyO|>ԡ z!я,*F?A2Y?2?2<ٱ2d :AHRS rotation from veh to nav: [[-0.379876,-0.924755,-0.022873],[0.924893,-0.380138,0.008297],[-0.016367,-0.018004,0.999704]]2HOؿl?-Tؿ? `o ?i2Y?I22_;2:C@E2Acoustic response timeoutԩE-a E-XE-eE)"E-%.:*E-9VE-q5ZE)a5@a5@a5@a5@Yk#>yDParsing RMC sentence: $GPRMC,184745.00,A,3646.38344,N,12152.09105,W,0.778,170.73,251025,,,D*7E )A@AABq>BBDB">BBBB&;BE@F?Ao?"9LbB@ARTw^hGPS fix at 20251025T184745: (36.773057, -121.868184)> >@y&1?ʡE?Sտ=-= 9(\?Qſ~jt?Y>y(=2Acoustic response timeout¤B B)BYBbDA VDA y] ;%] <ٔ] k;Q-e >9e c?I c?= Fy E 9[E > Q 5 ;4 o?Q 9 ;4 ") Y G>Q E :y ??Q I ? I ;i ; >g;4y Bɮ B /E *j Bj i i zi Ji i  kGkGkGhQ 2f ?:f ?Bf 3@Jf 2Z?\ Received valid gps time fix: 1761418112.00. Resetting abort timer.E G @ɢE )E bh4= E iA )M (:ļI I iM ;Q IQ a a = !:9 A؟AIIO5>Q)я,F?AVC?V/?VvZٱVe½ ^AHRS rotation from veh to nav: [[-0.381120,-0.922057,-0.067517],[0.922987,-0.375259,-0.085295],[0.053311,-0.094825,0.994066]]VH@Edؿ}H?=ؿյK?oFb?iVC?IV0_;T t)vvAvttxzvAiz@IxxI|i~wA ~O|)|| vA`e))-vAI-`e)-QFi))5LCI5vA5P1 19=lA9i99iAA)Am2Acoustic response timeout AIiYqY}J >y}DbDVDFF9ym3%u=ٔuLjQ-u?9"?I"?=FyE2;E?Q 5;4e?Q 9;4])n =Yy?Q I?M>I;i\;q;4yɮB*jBjiiziJi!i! kS&QkS&kS&hY2fi:fiBfiJfmܤ?颭T @ɢ*E) 1< i)ͼiy;IE]f E]OE]tEY"E]I@:*E]9VE]5ZEYBE]R;am2E]R;amJE]N:au:E]O:au~:ԁIIO > 2Acoustic response timeoutԩ >/0я,&F?A2?2z?2~ٱ2 :AHRS rotation from veh to nav: [[-0.363598,-0.925812,-0.103291],[0.929483,-0.353159,-0.106494],[0.062115,-0.134729,0.988934]]2H 1E׿?LqR? &ֿ`3C`ͯ? >`X?i2?I2<_;2y~DbD®VD0F9ye %et=ٔm׼Q-m?9iIi=uFyuEuhEu?yQ 5;4}{?Q 9;4})} =Yy?Q I?}~>I}:i}:}k};4yԙɮB*jBjiiziJii k!k!k!h I>)> k!k!k!h2f:fBfJf|? @ɢ z5)I MiQ)Uf9ټQQiU;YIYe|:2Acoustic response timeoutm?=A}pAzA}pAEe EVElE"E<:*E9VE5ZEa@a@a@a@Iy B r>B B DB w>B B B B ;B 'EI O > = 2Acoustic response timeoutY6я,F?A2GF?2 2?2ٱ2 :AHRS rotation from veh to nav: [[-0.352494,-0.927691,-0.123034],[0.935294,-0.344858,-0.079360],[0.031193,-0.143047,0.989224]]2HBֿ -?@&ֿP`?_O¿?i2GF?I2o:_;2:CY]=y]-DbDmVDmF9y%G=ٔ=Q->9I=FyE4E>Q 5;4?Q 9;4<)g=Yy#?Q I?>If:i:;4yɮB*j Bj i i ziJi1i1 k"k"k"hI kAkAkAhy2f:fBfJf让?R@ɢJ)#)72= i){i3G<II ?)?!{:2Acoustic response timeoutQ <II IY O >E u E aE iE "E v:*E 9VE z~5ZE BE W;a 2E X;a JE ;a :E ;a ԑ <я,t|F?AN?N?N3ռٱNph VAHRS rotation from veh to nav: [[-0.364581,-0.921335,-0.134989],[0.930808,-0.356538,-0.080483],[0.026023,-0.154991,0.987573]]NH@KU׿{RG-?ֿ@?ÿ2?iN?IN_;N;CY=yD*& !)'Ii$bDVDF9y-q%5A=Qٔ]IF9YIY=eFyeEe4<Ee>iQ 5;4m?Q 9;4m)m7+>Yy1?Q I?m|?Im;im*;m;4yɮB*jBjiiziJii2Acoustic response timeout kS&kS&kS&h 2f:fBfJfƐ?]@ɢ]y1)Y ] iY)erPaaie<I *CUz:e@G}MrAԁϿ9MrAYAy=[?=yA>$=IIO>Ա 2Acoustic response timeout kkCя,WF?A2?2?2 ٱ22 :AHRS rotation from veh to nav: [[-0.371917,-0.920320,-0.121197],[0.927553,-0.363333,-0.087379],[0.036382,-0.144915,0.988775]]2H}׿Bs  ?@׿}^?¿ ?i2?I2^;2=CYv=yvDa@a a@a a@a a@a a@a yV-?㥛 ¿&1|>P )Mb@Mb@Mb@Ii‰ )IbD E=f E=ME=nE9"E=I@:*E=9VE=J5ZE9aE@aE@aE@aE@VD F9Աy562<%5;=ٔ5aļQ-=>99I9==Fy=EE <EE>IQ 5u;4M?Q 9u;4M )MZ]>Q Au+:YqQ E}:y}?Q I}?MlJ?IM;iM>M;4yBɮB&E*jBjiiziJiiB)A-<B5s>B1B5DB5">B5=B1B1B5;B5fEBB,CBBã=Bã=Cu4 k!k!k!h k#!k#!k#!he@ɢeU))i mii)miiim$9 OIя,1(F?A2Q?2?2쟻ٱ2 :AHRS rotation from veh to nav: [[-0.363433,-0.925027,-0.110638],[0.931608,-0.360234,-0.048362],[0.004880,-0.120647,0.992683]]2H`|B׿ ә`R?׿¨{s?⾿?i2Q?I2^;2:CYF >yFgDbD 0e2Acoustic response timeoutVD E9y=%i=ٔ=Q->9I=FyEQټE>Q 5;4?Q 9;4 )\>Q A :YQ E:yM?Q I?p?Is;izK?;4y1ɮ=B9*jBjiiziJii) k k k hy k k k h@ɢ7)Tk= i) iO<I ))>w:    EMd EMPEMlEI"EM9:*EM?9VEM5ZEIBEMF;aU2EMF;aUJEM:a]:EM:a]9II  2Acoustic response timeoutO] >i s}Pя,,BF?A 2@?2},?2Hٱ2ًݽ >AHRS rotation from veh to nav: [[-0.359780,-0.928047,-0.096367],[0.932957,-0.356474,-0.050175],[0.012213,-0.107958,0.994080]]2H׿z?`wֿ?`"?i2@?I28^;28CYN=yRϕDZParsing RMC sentence: $GPRMC,184748.00,A,3646.38325,N,12152.09062,W,0.428,127.85,251025,,,D*79 )\^F?A^?^9^X]pbB@C6w^bhGPS fix at 20251025T184748: (36.773054, -121.868177)^wa>^P@bDn,VDnE9y%B=ٔƎQ-%>9!I!=%Fy%ªE-pE->1Q 5];45?Q 9];45)5Q A]9YYQ E]:y]b?Q Ie?5I5;i5?5>g;4ymBɮmBm/E*jBjiiziJii k!k!k!h k!k!k!h19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18 ] 18 o @Completed marl:UpdateCommandMode7 io \Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed\Received valid gps time fix: 1761418112.00. Resetting abort timer.-@ɢ-2)1 58i1)5E11i5 <9I9u2Acoustic response timeoutEv:ԡA&AIIO>EUf EUUEUyEQ"EUI@:*EUP9VEU5ZEQa]@ae@ae@ae@ B) B) B) B) B- =B) B) B- +;B- sE 2Acoustic response timeoutVя,[F?A4<ɰ;2_?2!?2?7ٱ2U :AHRS rotation from veh to nav: [[-0.343696,-0.933844,-0.099042],[0.938492,-0.337830,-0.071435],[0.033250,-0.117502,0.992516]]2Hտ Z ?`տI@??i2_?I2$_;2;CLYn>yn=DbDEЭVDEE9y<%S=ٔ5^Q->9@?I@?=FyŪE3E>Q 5;4,?Q 9;4 )>+=Q A9YQ ET:y7?Q I?o%>I;i?m;4yBɮB%EIU>)U>*jBjiiziJii k!k!k!h kSIkSIkSIhs NUpdating rudder angle 6.875493 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudder颕@ɢY5)I2= Ki)顡ih(<IaEmt:II2Acoustic response timeoutO>! bEʮ5jEʬ5rEz2Ee j Ee REe wEa "Ee N:*Ee 9VEe ɕ5ZEa BEe k;au 2Ee k;au JEe $:au :Ee &:au \я,uF?A2#?2?2޷ٱ2* :AHRS rotation from veh to nav: [[-0.336419,-0.936599,-0.098004],[0.941445,-0.332017,-0.058704],[0.022443,-0.112014,0.993453]]2H տ@Q ??տi@B?`@^?i2#?I2^;0YNp>yRߢDR@AR@AbDZVDZE9yfpa;%fY=ٔf9hIh=jFyjǪEnEn>|yQ 5;4}?Q 9;4}I )}2=Q A9YQ E,:y1?Q I?}>I}:i}?}q;4yɮB*jBjiiziJii k-k-k-h  kIkIkIh9l@ɢ9) %i)iWW0<2Acoustic response timeoutII%?)%>)Ms:IIYO>ԁ =  2Acoustic response timeoutcя,wF?A2O?2F;?2E ٱ2Ký :AHRS rotation from veh to nav: [[-0.330719,-0.940419,-0.078976],[0.943134,-0.326380,-0.063040],[0.033508,-0.095333,0.994881]]2H@*տ@@7'.?iԿ]#@'?g`?i2O?I2&_;29CYN =yRaDYaa aa aa aa aa yMbX?y&1|jtĿ=`  9l?{GzZd;ϿY=Ec EOE~E"Eg5:*E9VE5ZEa%@a%@a%@a%@yף~BB B)BYBbD=VD=E9yE/%M4=ٔM3ȼQ-M>9QIq=uFy}ʪE}TE}>Q 5;4?Q 9;4g)LQ AT:Y=>Q EH;y~??Q I?>I;i;5;4yɮBAAAA@ABBBBBBBB};BE*j)Bj)i)i1zi1Ji1i1 k.k.k.hi2f}>:f}>Bf}C@Jf}F¿@ԁ@ɢl.) i)"!i%8<)I)q:-2Acoustic response timeoutԱ .=I I I O > iя,lzF?AY=yD2Acoustic response timeout)% %))I)iԹbDѭVDE9y<%M=ٔ%Q-%>9!I)=-Fy-̪E-E-> QQYQ 5e;4]?Q 9e;4])]YayaQ Im?]>I]:i]2:]&;4yɮB*jBjiiziJii k'k'k'h k'k'k'h2f!:f!Bf!Jf!eD@ɢe0cA)a mii)%3(!!i%@<)I)sp:E-i E-LE-wE)"E-,K:*E-|9VE-ɕ5ZE)BE-te;a52E-ve;a5JE-v:a=:E-x:a= 31=M 2Acoustic response timeoutI I O >9 pя,UF?A2L?2R8?2/<ٱ2u; :AHRS rotation from veh to nav: [[-0.301100,-0.946300,-0.117706],[0.953339,-0.301562,-0.014298],[-0.021966,-0.116519,0.992946]]2H:Eӿ@H!? Lӿ@!H@/~1Խ5?i2L?I2^;2:CYf>yfDbDnkVDnE9yE<%EY=ٔM>Q-M>9IIQ=UFyUΪEUEU>YQ 5e;4]x?Q 9e;4])]RYiym=?Q Im?]x>I]:i]:]!;4yqɮuB*jBjiiziJii ksksksh kHkHkHh2f):f)Bf)Jf-@@ɢ<)= Oi ).iOJ<I !%oA Io:2Acoustic response timeoutAII)E5l E5RE5}E1"E5V:*E59VE5s5ZE1a=@aE@aE@aE@iO}>B B B DB w>B B B B ;B ֘Eԙ = 2Acoustic response timeoutvя,1F?A2?2q?2dٱ2H$ :AHRS rotation from veh to nav: [[-0.289832,-0.944923,-0.152044],[0.957065,-0.285349,-0.051009],[0.004814,-0.160300,0.987057]]2Hҿ<.vÿG? 'Cҿ gs?Ŀ?i2?I2 _;2;CqY=yCDbD?VD~E9y;̼%=ٔRQ->9I=FyѪEﺼE>Q 5 ;4?Q 9;4)ڧYy?Q I?{?I:i:r;4yɮEBA*jQBjQiYiYziYJiYiY k-k-k-hԡ kBkBkBhY2fi:fiBfiJfm@@ɢv+)Q= 5i)27i?U<I2Acoustic response timeoutm:A% |AI) I9 Om >EE j EE [EE EA "EE N:*EE 9VEE 5ZEA BEE k;aM 2EE k;aU JEE ;aU :EE ;aU `}я,= F?Aɰ2?2d?2! ٱ240 :AHRS rotation from veh to nav: [[-0.275608,-0.949932,-0.147203],[0.959173,-0.261654,-0.107350],[0.063459,-0.170780,0.983264]]2Hѿ`e`¿?@пJ{@>? ſ v?i2?I2^;29C@BsAiBlI@@IFCiD DD)DH J=r@HHHHNsAIL)LiL)LIPPP PPPTiTViTV"uA)T TIXYXY^=y^ZDjParsing RMC sentence: $GPRMC,184751.00,A,3646.38316,N,12152.09061,W,0.311,127.85,251025,,,D*7F )hjF?Aj嶉?j9jcbB@5w^rhGPS fix at 20251025T184751: (36.773053, -121.868177)j#>hbDzLVDzE9yJ;%=ٔ VQ- ?9 =?I =?=FyӪEPE?Q 5%;4嶉?Q 9-;4)Y)y-.?Q I-?I;iQ;>g;4y5Bɮ=B=/E*jIBjIiQiQziQJiQiQ k4k4k4h k4k4k4h2f :f Bf Jf Ŗ@\eReceived valid gps time fix: 1761418112.00. Resetting abort timer.颕@ɢKF_) *= #i)L;顙i)[<I2Acoustic response timeoutk:A1IQIO5q>)  2Acoustic response timeoutя,F?A:?:ɩ?:;ٱ:̘ BAHRS rotation from veh to nav: [[-0.273919,-0.954528,-0.117664],[0.959316,-0.262469,-0.104033],[0.068420,-0.141374,0.987589]]:Hѿ}@; ?`Lп? ¿T?i:?I:_;:i i9mX9vϿ&1`"Ym}ymнmmFBm'B m`B)mҫBiYmBbDVDlE9yAy;%4=ٔ3Q->9I=Fy֪E*pE>Q 5;4춉?Q 9;4)+cY>Q E4;yUQ I?=I;i; w;4yɮB*jBjiiziJii k9k9k9h kVkVkVh 2fj>:fj>Bfm@Jf|@QBu<AqByByB}DB}#>ByByByB};B}E5@ɢ5f;)1 57i1)=B99i=ʚa 4я,*F?ALf ?f?f+ٱf zAHRS rotation from veh to nav: [[-0.245405,-0.967277,-0.064436],[0.967369,-0.240023,-0.081152],[0.063030,-0.082249,0.994617]]fHpiϿ@@~?οZƴ"?>`?if ?If_;f:C]2Acoustic response timeoutY=y-DbDˬVDHE9y%V=ٔ6h9K?IK?=FyتEE>Q 5;4?Q 9;4):սYy@cQ I?d>I:i[:s;4y Bɮ B *jBjiiziJii ks:ks:ks:h kVkVkVh2f:fBfJft@%@ɢ%*A) i)CIiDh<I i:E i E VE E "E ,K:*E 9VE 5ZE BE te;a2E ve;aJE C:a:E D:a.= 2Acoustic response timeout 1 9 m i9i Ym qAA zAI I O >я,DF?A2?2?2zػٱ2wy :AHRS rotation from veh to nav: [[-0.221133,-0.974016,-0.048912],[0.970933,-0.215168,-0.104841],[0.091593,-0.070674,0.993285]]2HN̿@$+ @?˿ֺr??i2?I2{_;2;CYF >yF DbDNVDN7E9yVK=%V`=ٔZߠQ-Z>9ZF?IZF?=ZFy^ڪE^E^>`Q 5f;4b?Q 9f;4b)bLYhyjiQ Ij?bɢ>Ib:ib9:b3;4ylɮnBl*jxBjxixixzixJi|i| k3;k3;k3;h kgkgkgh2f:fBfJf@ @ɢ pH)  Ei)CO11i5%Gm<9I9 Y]AA~h:1m2Acoustic response timeoutioAIoAU)=YEj E[EE"EN:*E9VEDz5ZEa%@a%@a%@a%@Bu r>Bq Bu DBu w>Bq Bq Bq Bu ;Bu ӘEB1B1B1B5ɤ=B5ɤ=C5DQ4A I I O >Թ  2Acoustic response timeout[Cя,v^F?AY~|>y~`DbDVD0E9y%<%%C=ٔ%Q-%>9)I)=-Fy-ݪE5E5>9Q 5E;4=?Q 9E;4=0)=~WYAyAQ IE?=>I=:i=o:=֟;4yQɮUBQy*jBjiiziJii kS_kS_kS_h ksksksh2f :f Bf Jf - @ɢ-?C)1 5i1)5|BV19i=r<9IA IMpAUf:QQQQԡ}2Acoustic response timeout `setting available, lastComms_.elapsed()=0.002590    I I I) O > E!  E% RE% E! "E! *E% 9VE% 5ZE! BE% k;a5 2E% k;a5 JE% $:a5 :E% &:a5 mя,&SxF?A:R?:?:пٱ:A! ZAHRS rotation from veh to nav: [[-0.239531,-0.959739,-0.146716],[0.970606,-0.233067,-0.060024],[0.023413,-0.156782,0.987356]]:Hο/¿@5?@$Ϳ@?@kĿ k?i:R?I:}7_;::CYf=yfZD&  ") (I i &   bD1VDE9y-x%-J=ٔ-,>Q-5>91I1=5Fy5ߪE=5=E=>AQ 5M;4E?Q 9M;4Em)EpYIyU `Q IU?E ?IE:iE7:E;4yYɮ]BY*jqBjqiqiqziyJiyiy kdkdkdh k|k|k|h2f:fBfJfA@颕 @ɢE)= i)U4]顡ij{<iIA2Acoustic response timeoutI7e: IIAO_>1 2Acoustic response timeoutY AUя,,F?A;ɰ4<2f.?2(?2Hٱ2viY :AHRS rotation from veh to nav: [[-0.217056,-0.956425,-0.195290],[0.974931,-0.202368,-0.092501],[0.048950,-0.210472,0.976374]]2H`}˿`Cȿ2?4ɿ@#?ʿs>?i2f.?I21_;29CY^_=y^˛DyEK7A?:vl?E >EԼE>A A9EMbX?Mb?S?YE=yE>E/]>EhBEoB EKB)E-BAYEѭBbDe VDeD9ym+<%uF=ٔu}Q-u>9qIy=}Fy}E}:cE>Q 5;4?Q 9;4()@YԲ>Q E;yC@Q I?k*?I;i;l;4yɮB*jBjiiziJii kCdkCdkCdhD=D<Ee ELEzE"E<:*E|9VE5ZEa@a@a@a@ kxkxkxh2f l>:f l>Bf @Jf @1IU>)U>@ɢ=F)H= i)hciԁ<IB%p>B%+CB%DB%">B!B!B!B%p;B%Ed:IIO!>a2Acoustic response timeoutԉԹ я, F?AJ?J?Jr{ٱJ~i RAHRS rotation from veh to nav: [[-0.208082,-0.955603,-0.208625],[0.976185,-0.189515,-0.105575],[0.061350,-0.225625,0.972281]]JHnʿM=ʿ@9III=MFyMEM)EU>YQ 5e;4]_?Q 9e;4])]YayeC@Q Ie?],J?I]q:i]:]Y;4yuBɮuBq*jBjiiziJii kkkh kkkh2f:fBfJf'̃@B@ɢbO) ,i)#jidP<II?)>nManaging dock network, ignoring radio surface power offԙb:IQIaO=bEuz5jEụ5rEu1Ef EPEE"EI@:*E?9VEU5ZEBER;a2ER;aJE:a:E:aԹ2Acoustic response timeout gя,TF?A2-??2*?2΄ٱ2+ :AHRS rotation from veh to nav: [[-0.194474,-0.969164,-0.151333],[0.978765,-0.181534,-0.095209],[0.064801,-0.166635,0.983887]]2H@ȿ`c`^ÿ R?<ǿ_ǖ?`OTſ`|?i2-??I2r6_;0Y^Y=y^~DjParsing RMC sentence: $GPRMC,184754.00,A,3646.38302,N,12152.09059,W,0.603,156.03,251025,,,D*7A )lnF?An϶?n9n5PbB@*4w^rhGPS fix at 20251025T184754: (36.773050, -121.868177)nӞ>nI.@bDzVDzD9yü% M=ٔ Q- >9 I=FyEgE>Q 5%;4϶?Q 9-;4)Y)y-B@Q I-?I;iU;>g;4y5BɮB*jBjiiziJii kszkszkszh)2f:fBfJfs@\Received valid gps time fix: 1761418112.00. Resetting abort timer.@ɢ3F) i)Zq!!i%B B DB w>B B B B ;B CEi Iq I O > 2Acoustic response timeout)я,fF?A6?6?6bٱ6 >AHRS rotation from veh to nav: [[-0.178013,-0.979037,-0.098985],[0.981398,-0.169287,-0.090558],[0.071903,-0.113264,0.990960]]6H"ƿ ETWg?.ſ.>h?@ ?i6?I6 _;6;CYF}=yF@DbD~iVD~D9y=[=%=F=ٔ=Q-=>9AIA=EFyEEM%EM>QQ 5];4UŶ?Q 9];4UZ)U:=YYy]A@Q Ie?U7=IU :iU:Uu;4yiɮmBi*jBjiiziJii  kakakah kswkswkswh12fA:fABfAJfE@额@ɢL) i)w项iU<Ia`:]<H=IIIO]3>ԉM2Acoustic response timeoutԹ E f E VE {E "E I@:*E 9VE :5ZE BE a 2E a JE C:a :E D:a я,FF?A6l?6X?6/yٱ6~ɜ >AHRS rotation from veh to nav: [[-0.165208,-0.984088,-0.065393],[0.984383,-0.160444,-0.072444],[0.060799,-0.076340,0.995227]]6H%ſ}?lĿ !?@?i6l?I6,A_;69CYJ_=yJ˛DN=Np=PR=R=bDVVDVnD9ybk:%bS=ٔb9dId=fFyfEfS Ej>hQ 5r;4j?Q 9r;4j)j >Ypyr?@Q Ir?jl>Ij ;ij~ ;j(;4yzܽBɮzBz%E*j Bj i i ziJii k^k^k^h) kwkwkwh92fI:fIBfIJfMF@m?@ɢmYWV)i mTii)u}qqiuݏ! m 2Acoustic response timeoutmĵя,mtF?A2R?2v?2 ٱ2z :AHRS rotation from veh to nav: [[-0.150545,-0.987023,-0.055876],[0.985704,-0.145538,-0.084895],[0.075661,-0.067857,0.994822]]2H Eÿ`?¿`^?_?i2R?I2q7_;0YB=yBZD|yMRQ?!rh?V-M"?Ml=MmI I9MˡE?/$? rh?YM>yM9};N?I;N?=FyE( E>Q 5;4?Q 9;4[ )x2>Y>Q E!;y!?Q I?v>I ;i ;;4yɮBD=DEg ETEE"EC:*E9VEH5ZEa@a@a@a@*jBjiiziJii k3_k3_k3_h kvkvkvh2f>:f>Bf0[@JfO@5Z@ɢ=7L)9 =i9)=kAAiEeZBBBB;B֗E)mL]:2Acoustic response timeoutA$AIIO k>Yԁ ʵя,HP-F?Aɰ;2{ ?2yٱ2/ :AHRS rotation from veh to nav: [[-0.131494,-0.988161,-0.079032],[0.989450,-0.125938,-0.071614],[0.060813,-0.087615,0.994296]]2H@w;?LU"?mF?i2{ ?I2C_;2;CYF>yFD`f%d f$)dIf'ifdddbDnjVDn0D9yv=%vT=ٔv=Q-z>9zH?IzH?=zFyzE~&NE~>Q 5 ;4緶?Q 9 ;4 )T@>Y y?Q I?9>I:i:;4%2Acoustic response timeoutYyɮB*jBjiiziJii k]k]k]h kckckch!2f1:f1Bf1Jf58@M@ɢUoJ)Q U3iQ)U4煽QYi]<Թ2Acoustic response timeout ѵя,<-GF?A22ڼ?2?2$ٱ2 :AHRS rotation from veh to nav: [[-0.122435,-0.984322,-0.126962],[0.992464,-0.120794,-0.020576],[0.004918,-0.128524,0.991694]]2HWG@D?X쾿$t?{s?i22ڼ?I2;_;28CYN=>yRsDbDZAVDZD9yfф%fL=ٔf<>Q-f>9hIh=jFyjEnEn>Q 5 ;4µ?Q 9 ;4)F>Y y ?Q I ?!?I:i:;4y9ɮ=B9*jQBjQiQԱiziJii kc{kc{kc{ha2f:fBfJf@k @ɢ/T)n= i)2iD<II%?)%>-2Acoustic response timeout5{Z:I!I1OeU>DzDAAEe EPE{E"E<:*E?9VE:5ZEa@a@a@a@9Bq>B,CBBB=BBBk;B|EY  2Acoustic response timeout׵я,aF?A2,?2^?2rٱ2; :AHRS rotation from veh to nav: [[-0.093869,-0.979137,-0.180218],[0.995558,-0.091004,-0.024119],[0.007216,-0.181681,0.983331]]2HU aǿ@?LƲF}?VAǿ`rw?i2,?I2 _;2;CYn>ynDbDM7VDMD9ya%?=ٔQ->9I=FyEE>Q 5;4ѳ?Q 9;4)zM>YyX?Q I?D?I:i3:;4yɮB*jBji1iziJii kbkbkbh2f:fBfJf)@  @ɢ T)a eia)eiiimJ<ImX:I1aIiO>>=2Acoustic response timeoutԉE b E KE E "E 1:*E ]t9VE ZE BE 9;a 2E 9;a JE /:a :E 0:a Թ  ޵я,zF?A2a%?2"?2╽ٱ2\ :AHRS rotation from veh to nav: [[-0.085641,-0.974544,-0.207197],[0.993639,-0.068280,-0.089548],[0.073121,-0.213548,0.974192]]2H쵿u/nʿ?z춿 ?U˿`,?i2a%?I2_;29CYNJ >yRDZParsing RMC sentence: $GPRMC,184757.00,A,3646.38266,N,12152.08988,W,0.875,113.06,251025,,,D*75 )\^@F?A^?^9^,bB@w^fhGPS fix at 20251025T184757: (36.773044, -121.868165)^x>^?bDjVDjC9ye%mL=ٔm(Q-m>9iIq=uFyuEuoE>Q 5;4?Q 9;4)Yy?Q I?I:i:>g;4yٽBɮB 7m>EGY2Acoustic response timeoutԙW9YA*jBjiiziJi i  k`k`k`h)2f:fBfJfk@\MReceived valid gps time fix: 1761418112.00. Resetting abort timer.] @ɢ]9L)w2= i)顩i<IԹ"W:}>}>IIO=>M 2Acoustic response timeout я,?ƔF?A2?2P?2սٱ2ϊA :AHRS rotation from veh to nav: [[-0.084139,-0.980325,-0.178558],[0.990999,-0.063600,-0.117795],[0.104121,-0.186862,0.976853]]2H%@^ ƿC?H'?@ǿ`B?i2?I2_;2;CYN >yNDE EUExE"E*EP9VEe5ZEa@a@a@a@a@a a@a a@a a@a a@a% yQ?(\ſQ(>.\ )Mb@Mb@Mb@Ii‰ )AU@AAQBYBYBYBYB]=BYBYB];B]EB+CBBBBC4IbD}vVD}C9y @%9=ٔ Q->9I=FyE=E>Q 5;4?Q 9;4L)#I;i>s;4yɮB*jBjiiziJii ksGksGksGhuC @ɢ}e^)y }iy)}⛓i<I iߙIߙ2Acoustic response timeoutU:A IQ Ii O >я,F?A:ϻ?:?:Oٽٱ:s BAHRS rotation from veh to nav: [[-0.058949,-0.992939,-0.102944],[0.992627,-0.047363,-0.111573],[0.105909,-0.108762,0.988410]]:H.'Z?? ?׻ ?i:ϻ?I:4I_;::CYN$=yNDbDj1VDjC92Acoustic response timeouty  %g=ٔTQ->9I==Fy=E=EE>AQ 5M;4Ew?Q 9M;4EA)Ee=Q AU :YQQ EU:yU?Q IU?Eф>IE:iEqL?E{;4y}˽BɮBE*jBjiiziJii kcKkcKkcKh' @ɢf) .i)xiA`<IIT:B4=AoAzAnAEc EOEwE"Eg5:*E9VEɕ5ZEBE?;a2E?;aJEM:a:EO:aIAIQO9>y2Acoustic response timeoutԩ я,CtF?Aɰ2G?2?2ٱ2os :AHRS rotation from veh to nav: [[-0.013707,-0.998214,-0.058154],[0.995482,-0.008159,-0.094598],[0.093955,-0.059188,0.993816]]2H]Vƭ`?7 h ?M@V?i2G?I23_;2;CyDbD%VD%}C9y=%B=ٔ9I=FyEݽE>Q 5;4?Q 9;4)xl=Q A9YQ E:yv?Q I?>I;i?;4yɮtB*jBjiiziJii k/k/k/h19 rNAggregate::initialize marl:UpdateRudderԩq9J]q997 = <2Acoustic response timeoutoeXAggregate::initialize marl:UpdateCommandMode18e]i18mom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]q7unu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed@ɢaO) @i)3iӮ<I1S:Ef EWEtE"EI@:*E9VE5ZEa@a@a@a@B]r>BYB] EB]_>BYBYBYB];B]BE IA IQ O > 2Acoustic response timeout.я,NF?A2.ӭ?2?2c:ٱ2=k :AHRS rotation from veh to nav: [[-0.005324,-0.997105,-0.075851],[0.996411,0.001119,-0.084643],[0.084483,-0.076029,0.993520]]2H]uH j?TR?@0ఠ?v?i2.ӭ?I2T_;29CYF2>yFDLNAbDbVDb^C9yjm:<%jW=ٔjl9pIp=rFyrEvhEv>xQ 5z;4zĒ?Q 9~;4zp)za=Q A9YQ E:yy?Q I?z?Izq2Acoustic response timeout1a bEM:5jEM5rEM01E  E TE E "E *E 9VE 5ZE BE R;a 2E R;a JE :a :E :a 4tя,ǟF?AYr(>yrD%(-&) -)-'I-(i-))))bD={VD=LC9yi%;=ٔQ->9I=FyEE>Q 5;4ᑶ?Q 9;4)$=Q A 9Y Q E `:yQ I?)?I 2Acoustic response timeoutԉ Oя,VGF?AY~w2>y~yDEej EeXEeEa"EeN:*Ee9VEeH5ZEaam@am@am@am@yBABq>BB@EB~>BBBB;B̗Eaa aa aa aa aa y"~j? rhl?S?C > 9Zd;O?y&1?Yj>y`=BB B)BYܪBbDiVDDC9yz<%9=ٔQ->9I=FyEE> Q 5;4 w?Q 9;4 ) -$>Q AT:Yl?Q E:y?Q I? #`?I ;i 0; !;4y!ɮ-rB)*j9Bj9iAiAziAJiAiA kSkSkShY2fZ=:fZ=Bf@Jfh@ԡ颵 @ɢc) i)>项i6O<Im2Acoustic response timeoutN:IaIOe> y я,"0F?A2?2l?2& ٱ23j :AHRS rotation from veh to nav: [[0.047970,-0.989251,-0.138136],[0.986936,0.068238,-0.145949],[0.153807,-0.129330,0.979601]]2H?r?x?`w¿?@@X?i2?I2(_;0b2Acoustic response timeoutEmf EmOEmyEi"EmI@:*Em9VEm5ZEiBEia}2Eia}JEmM:a}:EmO:a}Yeb+>yeD==bDVDC9y59O%U=ٔ]Q-]>9YIY=eFye Ee^ȽEe>iQ 5;4mב?Q 9;4mQ)m >Yy?Q I?m?Im.;im;m=;4yɮvB*jBjiiziJii kkkh2f!:f!Bf!Jf%8b@1e @ɢeR)e< m!iiu2Acoustic response timeout)m唨顉i<I oA L:Y 8=IQIaIԉO>Vя,NF?ABL?B8?Bu(ٱB̽ ^AHRS rotation from veh to nav: [[0.068079,-0.991500,-0.110872],[0.984073,0.085026,-0.156110],[0.164210,-0.098478,0.981497]]BH@m?^ b}?@>ĵ?gÿ?5`mh?iBL?IBYY_;B;C d)fvAfʽfFdhjvAijIjFhI|i~vA ~ʽ|)|| vAʡrFvAI ) i ) I vA   lA1i19i99)9 9I9YAYM3>yMD}2Acoustic response timeoutParsing RMC sentence: $GPRMC,184800.00,A,3646.38250,N,12152.08886,W,1.166,110.75,251025,,,D*7F )F?A~?.9cbB@;w^hGPS fix at 20251025T184800: (36.773042, -121.868148)?j?bDVDB9y}e<%}{=ٔ-Q- ?9I=FyEE ?Q 5;4~?Q 9;4.)YyG?Q I?IZ:i/:>g;4 y-Bɮ-aB5E*jABjAiIiIziIJiIiQ kkkha kkkh2f:fBfJf$_@\Received valid gps time fix: 1761418112.00. Resetting abort timer.-+ @ɢ5p)57= 5i1)5b19i=<9IAD!zD%?AE) E-VE-xE)"E)*E-9VE-e5ZE)a=@a=@a=@a=@eK:Bm>B+CB"EB#>B=BBB;BHE#'=AAmxAIqIO>- 2Acoustic response timeouta я,̵hF?A4<ɰp; IB>)B>Y4<>yrDbDEEVDEB9y}<%}K=ٔ}Q-}>9;N?I;N?=FyEE>Q 5;4W?Q 9;4T),=YyQ I?=>I;i:u;4yɮ\Bi*jqBjqiyiyziyJiyiy kkkh kkkh2f:fBfJf @ɢg) i)[i9< I 2Acoustic response timeoutJ:ԙE5o E5WE5E1"E5`:*E59VE55ZE1BE5;aE2E5;aEJE5:aE:E5:aE ( < I I OM >m 2Acoustic response timeout я,y!F?A0YP>y=Eye`"?MbMb?e?eeeBa e7B)e+BaYeBbDVDB9y%Y.=%%/=ٔ!Q-%>9)I)=-Fy-E1E5>1Q 5E;45{?Q 9E;45 )5\@>YE?Q EE:yEM?Q IE?5 >I5);i5;5Z;4yQɮURBQ*jaBjiiiiiziiJiiiq kkkh kkkh2f\Y>:f\Y>BfS|?Jfhd@` @ɢ6`) i)y6iCο<II?)?I:=AM?A?Թu2Acoustic response timeoutIIO> E d E TE oE "E 9:*E 9VE 5ZE a @a @a @a @A9 A9 BA BA BE HEBE >BE =BA BE +DBE ;BE gEz&я,F?A2P?2ι?2Rٱ2{L >AHRS rotation from veh to nav: [[0.116406,-0.987032,-0.110531],[0.971969,0.136098,-0.191710],[0.204267,-0.085117,0.975208]]2H`̽?ĕ K_?k?@ȿn%?4ʵ4?i2P?I2"_;28CYFX>yFEbDRMVDRLB9yZ<%Z=ٔ^Q-^?`9`I`=bFybEf/Ef?hQ 5n;4jy?Q 9n;4j))jt>Yy?Q I?j?Ij7 =ijC =j;4yɮNB*j9Bj9i9i9zi9Ji9iA kCkCkCh2f:fBfJf@c@2Acoustic response timeout @ɢ^u)< i)iL<I! kH:  I9IIO}>A  2Acoustic response timeout-я,ɶF?A "@A6(?6k?6jUٱ6Pν >AHRS rotation from veh to nav: [[0.152101,-0.979551,-0.131698],[0.966387,0.175336,-0.188024],[0.207270,-0.098673,0.973295]]6H x? |X z?jq?(ȿԇ?`B ;%?i6(?I6Q_;6:CYJ\>yJEf)f$d j$)j&Ij$ij$hhhbDrΥVDrB9yz=<%zF=ٔzQ-z>9|I|=~FyE˷E> Q 5;4 6x?Q 9;4 ) ƾ>Yy?Q I?ԙEe EUEE"E<:*EP9VE5ZEBE`L;a2EcL;aJE:a:E:a II?I =i = ;4y9ɮ=LB9*jQBjqiqiqziqJiyiy kkkh kkkh2f:fBfJfXa@U@ɢ]i)a eIia)egiiim <ImF:uGII%G9)Y-AO=.>2Acoustic response timeout 3я,ۥF?A:?:?:Xٱ: ǽ BAHRS rotation from veh to nav: [[0.175117,-0.975537,-0.132895],[0.961883,0.198315,-0.188288],[0.210037,-0.094857,0.973081]]:H8j?@7?fb?ȿ?Hz#?i:?I:^;8YNLZ>yN:EPRa=TV@AbDZ$VDZA9ybhջ%bM=ٔbQ-f>9dId=fFyfEjvEj>lQ 5r;4nv?Q 9r;4n])n>Ypyv?Q Iv?n}?In:in:nӫ;4yxɮzMBx*j Bj i i zi Ji i k3k3E2Acoustic response timeoutk3hA2fQ:fQBfQJfUt_@uQ@ɢub7x)y }iy)}Dyi<I E:ApAzAqAIIIYO=Ed ETEnE"E9:*E9VEJ5ZEa@a@a@a@Bq>B,CBaEB>B=BB,DB1;BtEB,CB+CBBBC35!I2Acoustic response timeouty #:я,MF?ANg?N'ۭ?N0UeٱNd fAHRS rotation from veh to nav: [[0.205681,-0.970347,-0.126975],[0.953085,0.228067,-0.199034],[0.222090,-0.080080,0.971732]]NHS? @?H1?@yɿ`tm?`!m?iNg?IN~ _;N;CYr>yr+!EbDeVDeA9y=%==ٔQ->9I=FyEE>Q 5;4.v?Q 9;4)?YyyEh EaEwE"EG:*E9VEɕ5ZEBE/_;a2E1_;aJE;a:E;aԹ  2Acoustic response timeout Aя,fF?AI>)>J;ɰJ;r{4?r; ?rgpzٱrTڽ EAHRS rotation from veh to nav: [[0.232219,-0.959257,-0.160938],[0.942042,0.262999,-0.208299],[0.242139,-0.103239,0.964733]]rH \?;Ŀ@5%?@? ʿe? m?ir{4?IrI^;r9CYUt>yU-EmParsing RMC sentence: $GPRMC,184803.00,A,3646.38247,N,12152.08763,W,1.225,91.57,251025,,,D*42 )imF?Amy?m(9måPbB@f?ew^}hGPS fix at 20251025T184803: (36.773041, -121.868127)mT!?m?yGz?/$ÿ{Gz?p]?#< 9㥛 ?I +?~jt?Y?y94=<B˦B B)BYܯBbDVD91I1=5Fy5 E5E=>9Q 5U;4=y?Q 9U;4=()=Y] ?Q E]:y]?Q Ie?=I=;i=H;=>g;4yyɮ} ByԱ*j9BjAiAiaziiJiiii kkkh kkkh2fگ>:fگ>Bf!@Jfu@\Received valid gps time fix: 1761418112.00. Resetting abort timer.% @ɢ%+i)! -i))-½))i-_F<1I1=BB:U2Acoustic response timeout e ;=Am ?Am _?B <A <B B B EB >B B B B ;B EE f E WE zE "E I@:*E 9VE 5ZE BE R;2E R;JE ::E :A zAI I Q OU >m8Gя,HF?AF6?Fm"?F_~ٱFol NAHRS rotation from veh to nav: [[0.246608,-0.946518,-0.208057],[0.937408,0.287444,-0.196574],[0.245866,-0.146558,0.958160]]FHې?I`ʿ??|e?X)ɿ@x?e¿??iF6?IF/_;F:CY>ytCE2Acoustic response timeout!bD'VD@9ymל=%m7=ٔm> Q-m>9uF?IuF?=uFyu#E}E}>yQ 5;4}}?Q 9;4})}=Yyز?Q I?}>I};i}#:}v;4yɮB*jBjiiziJii kCkCkCh kkkh2f:fBfJft@ N@ɢ o)  i)Ži<II%.?)%?A:Gy ] 2Acoustic response timeout]Mя,8F?A0:E?:e1?: wٱ:aM BAHRS rotation from veh to nav: [[0.253951,-0.933473,-0.253254],[0.937245,0.302174,-0.173962],[0.238916,-0.193183,0.951630]]:H`@?@O5п@?V?eDƿɔ?8ȿs?i:E?I:^;:9CHJsAiJzIJlhFHINُCiL LL)LP R-r@PPPTTIT)TiT)Z3CIXXX XX^ uA\i\^i\`)` `I`Y`Yjo>yjTEbDrHVDrr@9yzl=%z~=ٔ~I ETя, QF?A 64?6?6Kٱ6Y >AHRS rotation from veh to nav: [[0.272389,-0.922872,-0.272236],[0.928156,0.326601,-0.178490],[0.253636,-0.204059,0.945531]]6Hn?)@Plѿs? ? ƿ@;? ʿ`A?i64?I6,_;6;C\%2Acoustic response timeoutY>y]mEbD cVD  @9yeǶ=%e5=ٔe! Q-e>9iIi=mFym(Em=Eu>Q 5;4?Q 9;4J)G>Yyu?Q I?0?I:i:;4yBɮ߼BE*jBjii!zi!Ji!i! kkkhY2fi:fiBfiJfmr@额D@ɢk)y+y< Hi)2̽顡iWA<IIQBp>B+CBEB8 ?B=BBB;BEE ESEE"E*E9VEDz5ZEBE`L;a2EcL;aJEl:a:Em:a%%>>:--))AoAzA2Acoustic response timeoutI A I I) O >pZя,;kF?AԙYT>yRE%(%!! % )%I%*i%))))bD=VD=?9yEJ>%EL=ٔMQ-M>9IIQ=UFy]*E]Ee>aQ 5m;4ee?Q 9u;4e)e>YyQ I?ei?IeƒEg EEvE"EC:*EVE-5ZEa%@a%@a%@a%@! i I  2Acoustic response timeout[aя,ٱF?AF,ڀ?FŜ?FٱFP RAHRS rotation from veh to nav: [[0.322702,-0.900159,-0.292537],[0.895127,0.390684,-0.214738],[0.307588,-0.192561,0.931831]]FH$?ҿ@? ?|˿`?`ڥȿ?iF,ڀ?IFq_;F:CYZ>yZEy`"?q= ףp?Zd;?7?=y= 9x&1?/$sh|?ſYA>y,){BΛB CB)BYBbDџVDP?9y>%Q=ٔQ->9I=Fy,EE> Q 5;4 񏶉?Q 9;4 L) ,>Y%>Q E%:y%W?Q I%? ?I V;i D; ;4y9ɮ=B9*jBjiiziJii kSkSkSh kckckch2fL>:fL>Bfi@Jf7@@ɢw)"Ӻ i)e_{ҽiiimE>e;:AIIIOk>52Acoustic response timeoutIB r>B ,CB EB V/?B =B B B ;B ؘEE d E TE E "E 9:*E 9VE 5ZE BE F;a- 2E F;a- JE :a- :E :a- q gя,|F?AI">)">R^u{?Ro?RٱRPv ^AHRS rotation from veh to nav: [[0.342205,-0.877222,-0.336716],[0.881226,0.423986,-0.208990],[0.326093,-0.225205,0.918121]]RH ?3տ`3?@"?,ʿ? ̿?a?iR^u{?IR_;PYf?yfFEbDE۞VDE>9y=%Q=ٔ;LQ->9I=Fy/EuE>Q 5;4䗶?Q 9;4.})%>Yy?Q I? ?I:i:4;4yBɮ5B=Ea*jqBjqiyiyziyJiyiy kka rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=1pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutkh2f:fBfJf2@@ɢ2y) vi) սi㩻<I::ԁA9IIIaOa>ԩM zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYM 2Acoustic response timeout mя,WF?A6v?6U?6Fٱ6 >AHRS rotation from veh to nav: [[0.358564,-0.851472,-0.382658],[0.876049,0.448514,-0.177124],[0.322444,-0.271717,0.906752]]6H?B?@x}ؿ@?t?ƿ?cѿ?i6v?I6_;69CY^?y^ޱEb?Ab?AjParsing RMC sentence: $GPRMC,184806.00,A,3646.38275,N,12152.08680,W,0.797,73.47,251025,,,D*4A )lnF?An?n|9nn1"?bDzVDzv>9yY$>% S=ٔ "9 I=Fy1E?E>QQ 5];4U?Q 9];4U|)UYaye~?Q Ie?UIU;iU;U>g;4yiɮmBi*jBjiiziJii kkkh kkkh2f:fBfJf@E EREE"E*E9VEc5ZEa@a@a@a@\Received valid gps time fix: 1761418112.00. Resetting abort timer. @ɢ6q|) Ni)`ؽij< I ԱI?)"?8:2Acoustic response timeout< A I I! Om >9 ؓtя,3F?A23s?2ٯ?2dٱ2\ >AHRS rotation from veh to nav: [[0.371191,-0.834498,-0.407223],[0.874613,0.461512,-0.148525],[0.311882,-0.301031,0.901171]]2H? 5 ڿ`?i?@ÿ?Dӿ`e?i23s?I2._;28CYF ?yFE2Acoustic response timeoutbDEVDE>9y>%B=ٔ9I=Fy4EE>Q 5;4쮶?Q 9;4x)nYyx?Q I?.G>IB:i:u;4yɮbB*jBjiiziJii kSkSkSh k!k!k!h2f1:f1Bf1Jf5@M$@ɢUw)Q UZiQ)]QܽYYi]!B5+CB5FB5R?B5=B1B1B5;B5EDzD@AEa EQEyE"E%.:*Ev9VE5ZEBEM3;a2EP3;aJE:a:E:a9A$AIIOg>2Acoustic response timeouti 4zя,bF?A "AA :>Qp?:_?:ۢٱ:= BAHRS rotation from veh to nav: [[0.382030,-0.820226,-0.425773],[0.869622,0.474977,-0.134736],[0.312747,-0.318789,0.894742]]:H ,s? J? ?ۿ?f? ? ?gԿ๡?i:>Qp?I:bU_;::CYN}2?yNEbDVVDV=9y^:>%bX=ٔb|Q-b>9bH?IfH?=fFyf6EfEf>hQ 5n;4j?Q 9n;4jt)j:Ypyrs?Q Ir?j>IjL;ij;j;4yvBɮvBBx*jBj i i zi Ji i k$k$k$h2f:fBfJfM@U(@ɢUDz)Q UiQ)]mB߽YYi]y 2Acoustic response timeoutя,cF?A>Nn?><?>Ymٱ> FAHRS rotation from veh to nav: [[0.387426,-0.807597,-0.444621],[0.863443,0.486876,-0.131975],[0.323058,-0.332774,0.885943]]>H`?``tܿS?(??-LտY?i>Nn?I>Pb_;>9CLYnD?yrEyףp= ?#~j~jtÿ>?㥽 9/$?I +?S㥫Y?y94</]BB B)BYܿBbD VD =9y>%*=ٔ%Q-%>9!I!=%Fy%9E-EM>QQ 5];4U?Q 9];4Um)U=Y]N?Q Ee:ye6?Q Ie?U)?IU:iU:U;4y Bɮ B E*j!Bj!i!iAziIJiIiI kC#kC#kC#hY kNkNkNh2fA>:fA>BfU"@Jf6f@颽}-@ɢ\o) i))"i+<I oA64:2Acoustic response timeoutB! A% <B- e>B- *CB- FB- {?B- =B) B- +DB- (;B- EB+CBBBBCs5I E p E SE E "E d:*E 9VE q5ZE BE ;a 2E ;a JE l:a% :E m:a% A I I O% >χя, F?A2n?25?2Kʭٱ2g >AHRS rotation from veh to nav: [[0.385133,-0.799807,-0.460414],[0.860706,0.491294,-0.133476],[0.332953,-0.344875,0.877612]]2H?`@kwݿ?`\q?@O?mֿ`f?i2n?I2A_;0YF\?yFTFbDrƙVDr<9yz>%zv=ٔzQ-z?9|I|=~Fy~;EJ;E? Q 5;4 ȶ?Q 9;4 $i) @=Yy)?Q I? [?I <:i : b;4yɮB*jBj i i zi Ji i kGkGkGh! kGkG}2Acoustic response timeoutkGh2f:fBfJfe@1@ɢz) i)iNİ<I3:IA=zAIAIQOZ>q- 2Acoustic response timeoutԡ я,:F?AI">)">6So?6?6 ٱ6 >AHRS rotation from veh to nav: [[0.381994,-0.799839,-0.462967],[0.860494,0.490553,-0.137503],[0.337090,-0.345856,0.875645]]6Hr?GBݿ+?8e??@"ֿH?i6So?i@I@I6$_;4YJh?yJ'Ff f f)f Ijij j.bDrVDr;9yv=%vJ=ٔz)2Q-z>9zF?I~F?=~Fyy~>E ;E>Q 5;4Ѷ?Q 9;4-cEe EEE"E<:*EVEc5ZEa@a@a@a@)o?>Yy?Q I?Ѝ?Im ᔶя,BzTF?A6Lo?6̑?6Nٱ6R} >AHRS rotation from veh to nav: [[0.381757,-0.803127,-0.457437],[0.859682,0.490298,-0.143368],[0.339423,-0.338519,0.877609]]6Hn? 7Fݿ`?` a?`Y¿ ? Lտ^?i6Lo?I6_;4YJz?yJ-FLLbDVVDV;9yZ4>%^N=ٔ^̻Q-^>9bH?IbH?=bFyb@EfEf>dQ 5j;4fٶ?Q 9n;4f])fn|>r2Acoustic response timeoutYlyv?Q Iv?f?Ifa;ifa;f^;4yxɮzBx*j Bj iiziJii k1k1k1hA k3Hk3Hk3HhQ2f:fBfJfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed]:@ɢ]ꁾ)Y evia)ezaaieBB_8FB?B=BBBX;B EEk EUEtE"EmR:*EP9VE5ZEBEq;a2Er;aJE:a:E:aIIOB>12Acoustic response timeoutY я,mUnF?A:om?:L?:!µٱ:c⵾ BAHRS rotation from veh to nav: [[0.386772,-0.804214,-0.451274],[0.854161,0.496869,-0.153396],[0.347587,-0.326131,0.879103]]:H? ܿHU?@? |ÿ>?SԿ@!?i:om?I:z_;::CYN?yN+F 9RbD iVD :9y>%==ٔ)Q->9I=FyCEE>Q 5;4ⶉ?Q 9;4W)>Yyϐ?Q I??I>dbE]LJ5jE]%5rE]u2Ee EOE}E"E<:*E9VEs5ZEa@a@a@a@ԉ hDAT read: Forwarding Delay UpTx time:18:48:09.6960  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutԹ я,0F?A "@A=>i?=ː?=yWٱ=ڙ uAHRS rotation from veh to nav: [[0.396485,-0.800244,-0.449899],[0.843116,0.511315,-0.166470],[0.363257,-0.313314,0.877427]]=H`?$ܿ@?\? Nſ??W Կ?i=>i?I=_;=9CYݘ?y;FParsing RMC sentence: $GPRMC,184809.00,A,3646.38228,N,12152.08520,W,2.683,73.47,251025,,,A*47 )@F?AG\?I>9ZHbB@T`w^hGPS fix at 20251025T184809: (36.773038, -121.868087)?ԑy?Zd;Ͽ(\µ?>~= 9K?/$տv/Y^>yxiBYB B)BYBbDNVDz:9yl>%8=ٔ<Q->9I=FyFEE>Q 5;4G\?Q 9;4I>)YM>Q E:y>Q I?I;i;>g;4yBɮBE*jBjiiziJii k@k@k@h1 k@k@k@hA2fUw.>:fUw.>BfU=@JfUN@^eB*** querying acoustic contact ***XaYa\mReceived valid gps time fix: 1761418112.00. Resetting abort timer.}J@@ɢ}8v)}n }iy)ߐ顁iPX<Ims-:IIO=/>2Acoustic response timeoutA A B ]>B )CB 0YFB ?B =B B B y;B EE f E SE E "E I@:*E 9VE 5ZE BE R;a 2E R;a JE l:a :E m:a  Uя,( F?A2f?26Q?2žٱ2G+ >AHRS rotation from veh to nav: [[0.403946,-0.791869,-0.458007],[0.833824,0.524652,-0.171692],[0.376252,-0.312543,0.872211]]2H@?VOݿ`??ſ?@Կ&?i2f?I2_;0YN?yREFbD ,VD 99y+>%a=ٔQ->9I=FyHEE>Q 5;4i?Q 9;4<)?=YyҚ>Q I?g+>I{;iw;s;4yɮB*jBjiiziJii k:k:k:h kYkYkYh2f:fBfJfA@5@@ɢ5#)9 =Oi9)=-99i=I  2Acoustic response timeoutHя,F?A61d?6?6ʾٱ6î >AHRS rotation from veh to nav: [[0.410643,-0.786346,-0.461554],[0.826170,0.535053,-0.176527],[0.385767,-0.308832,0.869371]]6H`G?)@ݿ o?`(?lƿ h?ӿ?i61d?I6?_;4YJ?yJ%QFbDV1VDV99yZH>%^Y=ٔ^:Q-^>9`I`=bFybJEb$ݼEf>dQ 5j;4fw?Q 9n;4f;)f>Ylyn+>Q In?f>If~ ;if;f;4yvBɮvܺBt*j|BjiiziJii Ed EYEE"E9:*E*9VEH5ZEa@a@a@a@ ks@ks@ks@h k3gk3gk3gh2f):f)Bf)Jf-$@eA@ɢeKt)i mٿii)miiimݝ<IQ*:II!OQe2Acoustic response timeoutyԩ 0я,F?AɰI">)">: `?:?:lξٱ: @ FAHRS rotation from veh to nav: [[0.422868,-0.781286,-0.459102],[0.817207,0.547718,-0.179381],[0.391607,-0.299327,0.870085]]:HC?Kaݿ&??ƿ? ,(ӿ?i: `?I:4&_;:;CYRv?yR(_FbDZ+b2Acoustic response timeoutVDZ99yj_>%jH=ٔj~Q-n>9lIl=nFyrMEr#Er>xQ 5;4z놶?Q 9;4zZ:)z~c>Yy|>Q I?z?Iz5BB }FB?B=BBBU;BEԩ-y):Ek EEsE"EmR:*EVEX5ZEBEq;a2Er;aJE:a:E:a2;Ag?Ai?u2Acoustic response timeout I I) II O >Zя,F?A6âY?6 ?6ξٱ6 >AHRS rotation from veh to nav: [[0.442870,-0.769564,-0.460040],[0.805826,0.566600,-0.172069],[0.393077,-0.294508,0.871066]]6HW?EJqݿT?!?_ƿ-(?6ҿ@?i6âY?I6_;69CYFk?yFgkFt  )I i0bDVDv89y5>%:=ٔnQ->9I=FyPEiE> Q 5;4 r?Q 9;4  9) >Yy}>Q I? :?I  ;i  ; ;4y%Bɮ%B!*j9Bj9i9i9zi9JiAiA kCGkCGkCGh2f:fBfJfH/@pC@ɢm)  uǿi ) oi&<II%?)%?2Acoustic response timeout  ':[RӻIIO%o>1Eh EXExE"EG:*E9VEe5ZEa@a@a@a@i iy Iy  2Acoustic response timeoutLB¶я,y F?ABQ?B?BeоٱBZ; JAHRS rotation from veh to nav: [[0.467487,-0.752374,-0.464101],[0.790404,0.590860,-0.161697],[0.395875,-0.291236,0.870898]]BHM?qֳݿJ?R?~Ŀ V?ҿ@f?iBQ?IB._;@Yr2?yrX|F9yHzG? 9&1?ףp= ÿV-?Y>y|>BrB B)ɒBY8BbDϏVD79y>%J=ٔ%Q->9I=FyREsE>Q 5 ;4?Q 9;4<7)?Y$?Q E:yg?Q I?FQ?I~ ;i* ;ڬ;4y!ɮ%SB!*j1Bj9i9i9zi9Ji9i9 k+k+k+hQ ksJksJksJha2fu=>:fu=>Bfuhh@Jfu@颕;D@ɢ-j) Di)顙i? <I&:oAmAi2Acoustic response timeoutԙǼIIO>Bu X>Bq Bu FBu ?Bu =Bq Bu *DBu H;Bu E D =D E l E SE |E "E V:*E 9VE ם5ZE BE Bx;a 2E Dx;a JE l:a :E m:a kȶя,Q#F?A "AAJwI?J?JվٱJ fAHRS rotation from veh to nav: [[0.490228,-0.731479,-0.473936],[0.772139,0.616718,-0.153170],[0.404325,-0.290856,0.867135]]JH_?Fh@T޿[?'?ÿv?cҿ?iJwI?IJ_;J:CYn\?yrDFԙbDeVDeZ79y>%K=ٔQ->9I=FyUE E>Q 5;4?Q 9;45)| 2Acoustic response timeout! ?ζя,.=F?A:hzB?:Qz?:Eھٱ: VAHRS rotation from veh to nav: [[0.508560,-0.707488,-0.490742],[0.754667,0.640657,-0.141549],[0.414541,-0.298360,0.859730]]:H F?Oh߿;&?@C?H¿ه?Uӿ?i:hzB?I:mF_;8Yb?yb=FEg EEE"EC:*EVEH5ZEa@a@a@a@OGbD.VD699Y4By%K>%%7=ٔ%ͼQ-%>9)I)=-Fy-XE5zE5>9Q 5E;4=?Q 9E;4=3)=y?YAyE\?Q IM?=s~?I=:i=:=v;4yQɮUBQ*jiBjiiiiiziqJiqiq k1k1k1h kDkDkDh2f!:f!Bf!Jf%@eF@ɢeTY)mV m[ii)mYAqqiuZ<I nAoAU2Acoustic response timeoutYe#:IIOEQ>iԙ ~նя, WF?AJ=g8?J>p?J^ھٱJR2Acoustic response timeout ZAHRS rotation from veh to nav: [[0.537899,-0.661393,-0.522708],[0.734129,0.672301,-0.095211],[0.414389,-0.332521,0.847178]]JH@x6?!*@}?}?_ [?Hտ?iJ=g8?IJ"`;J8CY?y3FbDVD 69y)>%d=ٔ9Q->9I=FyZEE>Q 5;4t?Q 9;412)?Yyf?Q I??IB:i:;4yɮB*j Bj i i zi Jii k(k(k(h) kDkDkDh92fI:fIBfIJfM@qF@ɢ^) 욿i)$i ~<BBBFB@B=BB+DBu;BEB)CB)CBBB¥=C5 I9-":E ETEE"E*E9VE5ZEBEX;a2EX;aJE:a:E:aIIO&>ԡ]2Acoustic response timeout ۶я,pF?AI">)">Ja4?J߂l?JӾٱJKþ RAHRS rotation from veh to nav: [[0.551819,-0.649925,-0.522583],[0.730535,0.678961,-0.073005],[0.402261,-0.341480,0.849457]]JH`? 0``?@ ?@pॾ?տ.?iJa4?IJ`;HY^'?y^FFbDfXVDfo59yrt>%vY=ٔv=Q-v>9tIx=zFyz\EzEz>|Q 5;4~?Q 9 ;4~0)~Q?Y y Dg?Q I ?~?I~:i~=:~&;4yɮB*jBjiiziJii k(k(k(h kCkCkCh2f:fBfJf!'@G@ɢ&W) %i!)%r!!i%t<)I)!:2Acoustic response timeoutAyIIOA>DzDEj EsEE"EN:*EZ:VEc5ZEa@a@a@a@Q e 2Acoustic response timeout я,ÊF?A$&>J2?JEi?JD(̾ٱJIAľ RAHRS rotation from veh to nav: [[0.562878,-0.645637,-0.516062],[0.729672,0.681445,-0.056679],[0.388262,-0.344653,0.854674]]JH? @xY? e? H?ֿ|Y?iJ2?IJ`;J:CYn~@yn+FyʡE?l?bX9ȶ-?>E 9 r?%C?Cl?YC?yZd>;=$BB C)?BYBbD&VD49yh>%9=ٔ  =Q- >9 I=Fy_ETE>Q 5%;4?Q 9-;4f()?Y-M?Q E-:y-?Q I-?|?I:i:;4y=~Bɮ=RB=E*jIBjIiQiQziQJiQiY k3Kk3Kk3Khi k3Kk3Kk3Khy2f>:f>Bf&6@Jf:lf@颭H@ɢM) i)顱ii<II:y2Acoustic response timeoutoEAzAqAA! 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C??r?տ ?i2P'?I2on_;29CY~&@y~F߽%=߽%=2Acoustic response timeoutbD܄VD29y*>%J=ٔٻQ-%>9!I!=%Fy%jE-..E->1Q 5=<45ٶ?Q 9=<45p )5@Y9y=?Q IE?5%.@I5a;i5A:54.<4yMrBɮM=BMعE*jaBjaiaiaziaJiaii k/k/k/hy k=k=k=h2f:fBfJfvd@颽=L@ɢ.n2) i)0i<=<I:ԱEf EREE"EI@:*E9VE5ZEa@a@a@a@AI!IO|>m 2Acoustic response timeout I >) >я,F?A6w!?6OY?6/ľٱ6 >AHRS rotation from veh to nav: [[0.612700,-0.611879,-0.500202],[0.695859,0.717722,-0.025602],[0.374671,-0.332384,0.865530]]6H=?zD?@?n7`?Eտ`l?i6w!?I6t|_;4`YD-@yFy}Ay-|?5^?S㥛y&1-M?-$-`) )9-x&1?MbP?Zd;OͿY-A`?y-:-~j-B-B -B)-B)Y-BbDEVDE29y]Q>%]F=ٔeo:Q-e>9aIa=eFymlEmbEm>qQ 5}<4uﶉ?Q 9}<4u)ur@Yg?Q Ej:yB?Q I?uE@Iu:iu:u<<4yqBɮB*jBjiiziJii kS$kS$kS$h k#<k#<k#<h2f>:f>BfC%?Jf?/M@ɢA0+) Ti)  i #22<I:2Acoustic response timeoutAI!I9OeU>B<ABT>BBoFB5@B=BBB;BcEEl E^EE"EV:*E;9VE5ZEBEBx;a2EEx;aJE;a:E;aA  я,E)F?A2Acoustic response timeout61?6S?60¾ٱ6_ >AHRS rotation from veh to nav: [[0.628753,-0.596324,-0.499067],[0.683401,0.729957,-0.011223],[0.370990,-0.334006,0.866491]]6H ? ߿j?[?,@M?@Z`տ K?i61?I6_;6:CY%4@y%FbDeVDe29y}q>%}Z=ٔ}5-9I=FyoEmE>Q 5<4 ?Q 9<4)@Yyo&q2Acoustic response timeoutԡ E  E RE yE "E 1:*E 9VE 5ZE a @a @a @a @я,)CF?A2?2_{N?2HDٱ2 :AHRS rotation from veh to nav: [[0.644746,-0.582690,-0.494748],[0.672641,0.739951,0.005095],[0.363120,-0.336072,0.869022]]2H?e߿`G?୭? t?@]=?6տ?i2?I2_;28CYF;@yF-FHHbDRVDR19yVG>%VX=ٔZ9ZH?I^H?=^Fy^qE^^Eb>`Q 5f<4bQ?Q 9f<4b)bZ @Yhyj(7?Q Ij?b q@Ib:ib:bV<4ynwBɮrBp*jxBj|i|i|zi|Jii k;k;k;hy k;k;k;h2f:fBfJfE?}O@ɢ}Э)y }Fiy)顁iɴ<I52Acoustic response timeout:ԡAAIIOMS>  2Acoustic response timeout я,Cq]F?A2&]?24J?2sٱ24 :AHRS rotation from veh to nav: [[0.658265,-0.574123,-0.486898],[0.664174,0.747393,0.016651],[0.354345,-0.334346,0.873300]]2H?@6_V)߿@?? ??`eտ?i2&]?I2_;0BFM>BF(CBFFBFH@BDBDBF*DBF;BFUEEe ENEE"E<:*E҆9VE5ZEBE`L;a2EcL;aJE:a:E:aYA@yIF )IibDƀVD19y@>%*=ٔ9K?I K?= Fy tE} E}>Q 5<46?Q 9<4r) @Yy3?Q I?@I;i ;/h<4ylBɮ^BϹE*jBjiiziJii kC:kC:kC:h kS:kS:kS:h2f:fBfJf7?P@ɢ) ei)i1Y .я,0KwF?A:?:!F?:xٱ:uη BAHRS rotation from veh to nav: [[0.669327,-0.568788,-0.477998],[0.656927,0.753599,0.023139],[0.347058,-0.329498,0.878056]]:Hk? 3޿?@|?౗?16?}տ?i:?I:)h_;:9CFCJ tAiJȽIJ^hFHIHiH LL)LNsC Rr@PPPPPIT)TiT)TITTT XXZuAXiXXi^fC\)\ \I\Y`Yf@K@yfFbDrVDr|09yzp>%zs=ٔzV%CGAAiIqDzDAAEc EREuE"Eg5:*E9VE5ZEa@a@a@a@ 9 Y AI!Oi>ԑM 2Acoustic response timeout $я,W&F?A2 ?2 B?2ٱ2x} :AHRS rotation from veh to nav: [[0.681310,-0.561785,-0.469271],[0.648159,0.760910,0.030108],[0.340158,-0.324675,0.882541]]2HI?$@޿?@_Y?Ԟ? 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@I L;i z; <4y%wBɮ%5B!*j9Bj9iAiAziAJiAiA k\k\k\hY kpkpkphi2fy:fyBfyJf}A@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颭T@ɢd) >i)Q项iZ;IE}g E}QE}tEy"E}C:*E}v9VE}5ZEyBE}X;a2E}X;aJE}:a:E}:aX :ԩII O=/>-2Acoustic response timeout }=я,dF?A2#>282?2姾ٱ2ֵ :AHRS rotation from veh to nav: [[0.726413,-0.515330,-0.454707],[0.607115,0.791238,0.073162],[0.322079,-0.329205,0.887631]]2H>?@}ݿ }m?@Q???տ yg?i2#>I2jt_;28CY^Co@y^GbDjVxVDj&-9y%>%%G=ٔ-19)I)=-Fy5E57+E5>9Q 5E<4=[?Q 9E<4=s)=,@YIyM?Q IM?=@I= :i=|:=M<4yUzBɮUBQ*jiBjiiiiiziiJiqiq2Acoustic response timeout kXkXkXh2f:fBfJfQ@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderU@ɢf׽) >i)Tib;I7 :Ac?A`?1II bE%l5jE%ſ5rE%a1Ee ENE~E"E<:*E҆9VE5ZEa@a@a@a@OMR>Q= In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER= 2Acoustic response timeoutԁ dDя,PnF?A2ym>2:-?2/ٱ2N :AHRS rotation from veh to nav: [[0.738674,-0.499340,-0.452793],[0.594838,0.798856,0.089425],[0.317063,-0.335394,0.887120]]2H6?`.߿ܿ@? 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E? ,=   9 /$?~jtY %=I=ٔEU9AIA=EFyMEM]7EM>QYQ 5e<4Uͷ?Q 9e<4U)U3@Yew??Q Ee:yeT>Q Ie?U@IUJ0;iU_/;U<4yulBɮuBuǹE*jBjii!zi!Ji!i! kcUkcUkcUhY2fm 0>:fm 0>Bfm@JfmU@颥W@ɢTȽ) v?i)̉ig?|;I :rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=1pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutԙB!A%<B-2>B)B-GB-{@B-=B)B-(DB-;B-EԱII O=>Ej E^EyE"EN:*E;9VE5ZEBEk;a2Ek;aJE;a:E;a E zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYE 2Acoustic response timeoutޓJя,],F?Af>f4(?fʡٱf nAHRS rotation from veh to nav: [[0.752588,-0.480752,-0.449989],[0.580548,0.806916,0.108863],[0.310767,-0.343169,0.886374]]fH2?@޿ܿٓ?A?q޻??zտ`-]?if>Ifj__;f;CYz\@yzG~=~=!! !)!I!i!!bD5iuVD5+9yE>%EI=ٔEʅ9III=MFyUEUREU>YQ 5e<4]ⷉ?Q 9e<4]b)]:@Yaym>Q Im?]@I]W:i]:]<4yuoBɮutBq*jBjiiziJii k9k9k9hԱ kWkWkWh2fI:fIBfIJfMᛣ@颍X@ɢ) X?i) 顱iL;IT :]6IIO%,>2Acoustic response timeoutI >) >1 E  E NE {E "E *E ҆9VE :5ZE a @a @a @a @vQя,p$FF?ABB"?B᝾ٱBK ~AHRS rotation from veh to nav: [[0.767195,-0.461842,-0.445100],[0.565066,0.815007,0.128312],[0.303500,-0.349952,0.886240]]BH@܌?юݿ|ܿ ?? l?@l?`eֿ\?iBIBN_;B9CYUǂ@yU GaeAbDm8tVDmA+9y}q>%}G=ٔ9I=FyE)^E>Q 5<4?Q 9<4)@@Yy>Q I?D@I;i; <4yrBɮFB*jBjiiziJii k;k;k;h k_k_k_h2f:fBfJfLܢ@% Y@ɢ%c)! % 2?i))-wz))i-M;1I2Acoustic response timeout:ACApAzApAI9IIyO> 2Acoustic response timeoutԙ B% 6>B! B% $GB% @B% =B! B% )DB% k;B% EWя,_F?A2H>2?2ƙٱ2¾ :AHRS rotation from veh to nav: [[0.781191,-0.444384,-0.438478],[0.549742,0.822506,0.145835],[0.295844,-0.354974,0.886831]]2H ? pܿܿ`|? Q???ֿ`?i2H>I2k)_;27CYB@yFQ$GbDM sVDM*9y3^>%H=ٔ9I=FyEXE>Q 5<4?Q 9<4)F@Yy>Q I?@IB:i :P<4yɮB*jBjiiziJii kSGkSGkSGh kS[kS[kS[h2f!:f!Bf!Jf%(@EZ@ɢE*ܞ)A EkD?iA)M IIiM"!:E]c E]QE]EY"E]g5:*E]v9VE]H5ZEYBE]?;am2E]?;amJE]:am:E]:amQqIyu:yyyyԡ 2Acoustic response timeoutAe $AIq I O > ]я,wyF?A2fY>2/?2㿕ٱ2wXþ :AHRS rotation from veh to nav: [[0.794660,-0.428693,-0.429812],[0.534213,0.830125,0.159718],[0.288327,-0.356532,0.888680]]2Hm?oۿ ۿE?a?q?s?lֿp?i2fY>I2"_;28CYBy@yB)GDDbDqVD *9yE%>%MP=ٔM9MH?IUH?=UFyUEU^EU>]=Ye2Acoustic response timeoutIyQ 5=4r%?Q 9=4)M@Yyn>Q I?@I;i;=4y uBɮ ޴B *jBji!i!zi!Ji!i! kBkBkBh9 khkhkhhI2fY:fYBfYJf]@}7[@ɢ}) ^?i)5顁ir0z:Im:Ej EXEsE"EN:*E9VEX5ZEa@a@a@a@AAIIOK> 2Acoustic response timeout) dя,F?A,:D>:7?:$ٱ:H=¾ BAHRS rotation from veh to nav: [[0.807240,-0.414438,-0.420243],[0.518730,0.837833,0.170163],[0.281572,-0.355355,0.891314]]:H?(ڿDڿp???`E?#ֿ`?i:D>I:o^;:7CY^u@y^,G=yw/?l¿:v?F?T= 9HzG?7A`ҿ%C=ٔ9K?IK?=FyEJE>Q 5=4:?Q 9=4)4V@Y ;?Q E:y2>Q I?@I<:i:=4yyBɮBȹE*jBjiiziJii kdkdkdh kukukuh2f=>:f=>BfJہ@Jf@Z\@ɢ) Fr?i)EHiY9!I!) :m2Acoustic response timeoutB0>BB.GB@BBB(DB;BEAYYIiIyO^>Ec ESEE"Eg5:*E9VE5ZEBEa2EaJEl:a:Em:aԉ i I % 2Acoustic response timeoutljя,!F?A06>6 ?6ٱ6B >AHRS rotation from veh to nav: [[0.819063,-0.400853,-0.410430],[0.503532,0.845137,0.179443],[0.274939,-0.353639,0.894062]]6H5?ٿ{Dڿ?[ ??@?@ֿ(?i6>I6 _;69CYF*@yFK1GbDR%Z]=ٔZ'9|I|=~Fy~EVXE> Q 5=4 N?Q 9=4 ) ^@YyW>Q I? fAI |;i w; =4y9ɮ=vBA*jQBjQiQiyziyJiyiy k]k]k]h ktktkth2f:fBfJfh@Y]@ɢtU) ?i) }  i 񹉨 I1 n:ԉI IOM1>Թ}2Acoustic response timeout5 nGM rAa 9 rAY A E e E PE qE "E <:*E ?9VE 5ZE a @a @a @a @kqя,qF?AF@C>F?Fg ٱFB̿ RAHRS rotation from veh to nav: [[0.830628,-0.386765,-0.400588],[0.487957,0.852150,0.189044],[0.268246,-0.352495,0.896544]]FH`?ؿ;ٿ:?D?2?`*?Gֿ}?iF@C>IF^;DYZ@yZ_4G\b=bR=bDjnVDjh(9yraC>%rG=ٔr9tIt=vFyvEvLEz>xQ 5~=4zgd?Q 9=4z)zg@Yy >Q I?zAIz;iz:z*=4y |BɮQB*jBjiiziJii k\k\k\h kukukuh2f:fBfJfӎ@=z^@ɢ=LzQ)A E?iA)EyAAiMpIIQ2Acoustic response timeoutM:IAIYO:>A  2Acoustic response timeoutI >) >B .>B $CB 7GB @B B B B V;B ޘEB%CB%CB˓CB˥=BC˥5wя,gEF?A ɰ"p;>h>>0?>A,ٱ>ӱ JAHRS rotation from veh to nav: [[0.842276,-0.372248,-0.389875],[0.471672,0.859085,0.198744],[0.260953,-0.351290,0.899165]]>H@? ׿ؿ/?@}?sp? u?{ֿ?i>h>I>^;%zI=ٔ~9|I|=FyE@PE> Q 5=4 ^z?Q 9=4 ջ) zp@Yy=Q I%?  AI R2;i _3; &9=4y-Bɮ-!B)*jABjAiAiAziAJiIiI k]k]k]hY kstkstksthi2f:fBfJf;@E=j E=ME=E9"E=N:*E=9VE=5ZE9BE=k;aM2E=k;aMJE=:aM:E=:aM]_@ɢ]HK2)Y ]U?iY)eaaieiIqu9IIO5 >I2Acoustic response timeoutqԩ F~я,d"F?A6ꄊ>63>6(ٱ6*9 >AHRS rotation from veh to nav: [[0.854142,-0.356948,-0.378194],[0.454139,0.866305,0.208023],[0.253378,-0.349433,0.902051]]6H U?;ֿ`S4ؿ`?Ÿ?@}?W7? ]ֿ ?i6ꄊ>I6_^;4YJȘ@yJ;GbDVkVDVW'9yZj>%^N=ٔ^ 9`I`=bFybEblaEf>dQ 5j=4f?Q 9j=4f/)fy@Ylyn=Q In?f AIf;if;fF=4ypɮvBt*j|Bj|iiziJii k[k[k[h kswkswkswh)EhDAT read: Forwarding Delay UpTx time:18:48:23.5959 MpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGM2Acoustic response timeout2fQ:fQBfQJfUۜ@m`@ɢu8 )u8fi uء?iqy)uTyyir](IE9IIIOE>ԩDAzDE@AEMa EMQEMpEI"EM%.:*EMv9VEM5ZEIa]@a]@a]@a]@2Acoustic response timeout я,F?A2Ј}>2bs>2~ٱ2 :AHRS rotation from veh to nav: [[0.865983,-0.340345,-0.366385],[0.435242,0.873751,0.217081],[0.246247,-0.347454,0.904786]]2H"?@8տr׿@?`?L??@<ֿ`?i2Ј}>I2^;0Yf>@yf>Ghhy!rh?Pn:vlG?T 9NbX9?QӿA`"?Y%?y(=}BB 0B)YBbDgjVD&9y1>%8=ٔ;9I=FyEKTE>Q 5=4D?Q 9=4)@Y 9?Q E :y ey=Q I ?IAIM:i:yV=4yBɮγBɹE*j)Bj)i)i1zi1Jii k^k^k^h ktktkth2f>:f>BfT4@Jf.<@Ea@ɢEh)A M?iI)eiiim[qIqM9U2Acoustic response timeoutIIO)>ByA}<B,>BB@GB@B=BBBN;BؘE>1E e E LE |E "E <:*E |9VE ם5ZE BE `L;a 2E bL;a JE v:a :E x:a Y  2Acoustic response timeoutU+я,.F?A@Y@y*BGbD:iVD2&9yS>%L=ٔQ->9I=FyEE>Q 5=4R?Q 9=4W)=@YyQ I?JAIS:i:pd=4yBɮB*j Bj i i zi Ji i kS\kS\kS\h! ksuksu1ksuh92fI:fIBfIJfImc@ɢm˽)i m?ii)uqqiuyIy pApAm9IIOE>a]2Acoustic response timeoutԉ bE5jEʜ5rE]2E ^ E PE E "E C#:*E ?9VE *5ZE a- @a- @a- @a- @"я,HF?A>tI>>8>>pٱ>U3 FAHRS rotation from veh to nav: [[0.889860,-0.301803,-0.342147],[0.392251,0.889090,0.235920],[0.232998,-0.344143,0.909548]]>H`y?Pӿտ?`ls?2??qֿ?i>tI>I>^;%MS=ٔM=Q-M>9IIQ=UFyUEUbEU>aQ 5m=4eи?Q 9m=4eC)e@YiymEm 2Acoustic response timeoutBe )>Ba Be IGBe @Be =Ba Ba Be h;Be E9 =я,;bF?AF]H.>F,>FiٱFs NAHRS rotation from veh to nav: [[0.901508,-0.280077,-0.329908],[0.368811,0.896058,0.247101],[0.226410,-0.344437,0.911099]]FH (?ѿ7տ??? ?B ֿ`'?iF]H.>IF^;DYvn@yvHGz=za=bD gVD0%9y8>%N=ٔ99IA=EFyEEEֈEE>IQ 5U=4Mk渉?Q 9U=4MZ)M@Yyy}V[Q I}?MHAIM;iMC;M =4yɮRB*jBjiiziJii kS]Ed ESEpE"E9:*E9VE5ZEBEF;a2EF;aJEl:a:Em:akS]kS]h2f):f)Bf)Jf-#@ene@ɢm)i ?i)oc顑i@ͲI9ec2Acoustic response timeoutAAIIO%>- nManaging dock network, ignoring radio surface power offi fя,g|F?A $ɰ&;F>Fѻ>FFbٱF ^AHRS rotation from veh to nav: [[0.912188,-0.259519,-0.317116],[0.346229,0.902059,0.257712],[0.219177,-0.344877,0.912700]]FH@0?пKԿ@(?? [~? ?vֿ4?iF>IF _;DYjl@yjoKGbDreVDr$9yzS>%zL=ٔ~9I=FyEME> Q 5=4 ?Q 9=4 ) p@Y%2Acoustic response timeoutyFQ I-? P"AI m;i 4o; ލ=4y5Bɮ55B5ʹE*jIBjIiIiIziIJiQiQ k[k[k[ha k[k[k[hq2f:fBfJfj@颥pf@ɢ@ߺ) ?i))顩iԶƻI9qEb EKEE"E1:*E]t9VE 5ZEa@a@a@a@ԙ8kA%oAzA%nA2Acoustic response timeoutAi Iq I O > GOя,9EF?A2ߑ=2u>2YYٱ2 :AHRS rotation from veh to nav: [[0.921870,-0.240954,-0.303476],[0.325079,0.907142,0.267240],[0.210903,-0.345014,0.914596]]2H?ο&lӿ?N?v??ֿ^D?i2ߑ=I2_._;28CYFp@yF$OGPyM/$?(\?Q?MM\>I I9MK7A`?Mb`T㥛 ?YM+?yMM>M*BMݍB M(B)MmBIYMBbDmdVDm $9yuRe>%}B=ٔ}ޤ9I=FyE.gE>Q 5=4?Q 9=4y)r@Y6?Q E:y>Q I?j&AI ;i ;=4yɮB*jBjiiziJii kYkYkYh kYkYkYh2fe>:fe>Bf/@JfJ@g@ɢD»)! %h?i!)%W!!i-iݻ)I1_9-K?-V?52Acoustic response timeoutAAB %>B #CB PGB @B B B B &;B EEg EMEpE"EC:*E9VE5ZEBEX;a2EX;aJE:a:E:aA) I1 IA O} >)  2Acoustic response timeoutyя,>!F?A2[=2E>2Oٱ2 :AHRS rotation from veh to nav: [[0.930677,-0.224374,-0.288959],[0.305257,0.911601,0.275322],[0.201640,-0.344442,0.916897]]2H?@F̿N~ҿU?`+?ߞ?@Y?`X ֿ9W?i2[=I2^;27CY^@y^RG``xx x)xIxixx|bDcVD#9y{>%Q=ٔ9!I!=%Fy%E%fE->)Q 55=4- ?Q 95=4-)- @Y9y=>Q I=?-A*AI-r;i-;-B=4yEBɮMײBI*jaBjaiaiaziiJiiii kZkZkZh2f :f Bf Jf cБ@Mh@ɢM;;)I MO?iQ)urqqiu=v󻉨yIy) 9U2Acoustic response timeoutYA I I! IA Oe >ԁ E l E rE E "E V:*E ?:VE q5ZE a @a @a @a @Oaя,F?A@Y=X@y=.UGbDUbbVDU #9Yye >%mE=ٔmQ-m>9iIq=uFyuEuEu>Q 5=44?Q 9=4)@YyQ I?Q.AI`:i6:=4yBɮB*jBjiiziJii k_k_k_h krkrkrhY2fi:fiBfiJfi颍j@ɢ;) &?i2Acoustic response timeout){顙iIԁ9A[?AU?ԱAa Iq I O >M 2Acoustic response timeout B $>B B hXGB @B =B B B ;B {Evя,F?A2l=2bK>2{:ٱ2!ú :AHRS rotation from veh to nav: [[0.946331,-0.192541,-0.259586],[0.267993,0.916418,0.297251],[0.180657,-0.350865,0.918835]]2HXH?@/ȿ@п@&?KS?'??tֿg?i2l=I2|^;2;CYF}@yFWGbDSaVD"9y=(>%H=ٔV=Q->9I=FyE̽E>ԹQ 5=4G?Q 9=4)@Yy)>Q I?b2AI͎;i;=4yBɮBEE` ESEzE"E*:*E9VE5ZEBE-;a 2E -;a JEl:a :Em:a *j!Bj!i!i!zi!Ji!i) kcYkcYkcYh2f:fBfJf`@ ck@ɢ <)  /?i))- _11i51I9IqI2Acoustic response timeoutFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IioAIOC>9 я, F?A29"=2>2.ٱ2t :AHRS rotation from veh to nav: [[0.952953,-0.177838,-0.245467],[0.251198,0.916554,0.311171],[0.169646,-0.358192,0.918106]]2H`~?`cƿykϿ`?jT?`8??@ֿa?i29"=I2b^;29CY^H@yb@[Gb=`2Acoustic response timeout IM/CG= 99YEKBbD"`VD"9yD>%%3=ٔ-=9QIY=]Fy]Ef!E>Q 5 =4^?Q 9=4)ī@Yy>Q I?7AIi2Acoustic response timeoutԙ ŷя,PF?Aɰ4<27<2w>2#ٱ24¾ >AHRS rotation from veh to nav: [[0.958758,-0.164900,-0.231496],[0.235874,0.916051,0.324367],[0.158574,-0.365593,0.917167]]2H&?@pſͿ 1? JP?m?)L?@e׿oY?i27^;28CYF@yF ^Gonly read 0 of 1 data item for BIT error. Device response is::TS,00050122364520,35.0, +1.0,1506.0, 0 a@a a@a% a%@a% a%@a% bD-#_VD-!9yG>%a=ٔ9I=FyE:>E>Q 5=4}o?Q 9=4ϩ){@Q A+:YQ Ep:y7>Q I?:AI:ir>Z=4yɮ>B*j)Bj)i)i)zi)Ji1i1 kGkGkGhI kbkbkbhYq颅m@ɢ(=) ?i)<顉i"IAzApAIqIO= 2Acoustic response timeoutB<A<B >BB^GB @B=BBB;BhEBu#CBu#CBqBqBqCu 4ԡEb EPEE"E1:*E?9VE5ZEBE9;a%2E9;a%JE:a-:E:a-i߹ I߹  2Acoustic response timeout ˷я,^i1F?A2<26g>2ٱ2ž :AHRS rotation from veh to nav: [[0.963837,-0.153882,-0.217574],[0.221840,0.915694,0.335098],[0.147665,-0.371247,0.916717]]2H?@kÿu˿Be?@^M?`?r?@?@׿U?i2% Y=ٔ 9I=FyE #E>!Q 5-=4%4?Q 9-=4%)%w@Q A- :Y1Q E5C:y5>Q I5?%f>AI%;i%8?%=4y=Bɮ=BA*jQBjYiYiYziYJiYia kJkJkJhq kC[kC[kC[h颭n@ɢ@( =) ?i)z-顱i+IIYIiO=2Acoustic response timeout) D D E% _ E% VE% E! "E% &:*E% 9VE% H5ZE! a5 @a5 @a5 @a5 @ҷя,_AKF?A 2@2XY>2, ٱ2ƾ >AHRS rotation from veh to nav: [[0.968362,-0.144431,-0.203507],[0.208681,0.915870,0.342979],[0.136849,-0.374596,0.917033]]2H?|¿ ʿ@? N?_?G?a׿@VX?i2@I2_;29CY[@ybGAAbDM\VDM 9y}U=%C=ٔ9I=FyEE>Q 5=46?Q 9=4)˷@Q A9YQ E:y>Q I?BAIq;io?=4yBɮB¹E*jBj i i zi Ji i  kBkBkBhAmNp@ɢmd<)i mg@ii)u[ܽ2Acoustic response timeoutqi5.5I I%)%iԡA%Y?A%J?IIO> m 2Acoustic response timeoutB >B "CB dGB "@B B B 'DB ;B jE|طя,!eF?AFs@FK>F:ٱFƾP ZAHRS rotation from veh to nav: [[0.972391,-0.136164,-0.189514],[0.196156,0.916850,0.347721],[0.126409,-0.375295,0.918245]]FH?`mBȿ? V? A?*.?`ؿ`Db?iFs@IFd^;F;CEh ELEvE"EG:*E|9VE-5ZEBE/_;a2E1_;aJEv:a:Ex:aYu5@yudG )IibD[VD 9y=%)=ٔ9I=FyE߼E>Q 5=4?Q 9 =4M)@Q A 9Y Q E :y >Q I ?GAI6;i?=4yɮB*j1Bj1i1i9zi9Ji9i9 kCkCkChQ kDkDkDha19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed=q@ɢ=<)<)='D =@i9)eؽaaie>iIi2Acoustic response timeoutIIOuX>! ߷я,~F?A2@2@2ٱ2Yž :AHRS rotation from veh to nav: [[0.975884,-0.128966,-0.176121],[0.184398,0.918828,0.348930],[0.116825,-0.372992,0.920450]]2Hp:?@@ ƿ\? g?@T?8?׿Tt?i2@I2^;29C @)BvABGὩ@@DDiDIDDIDiH J= H)HJ3C JzvAJƽLLLNvAIN)RJFiP)PIPRP PTTTiTTiXZ9A)X XIXYXYb˼@yf-hG|bD~ZVD~9y  >% =ٔQ I]?-JAI-;i-F?-=4y}BɮıB*jaBjiiiziJii k#Ak#Ak#AhQsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颽r@ɢfU=) @i)uսi[FI!DzDbEm35jEm)5rEmĝ2E\ EZEwE"E:*Ea9VEɕ5ZEa@a@a@a@AqIIOc>Q2Acoustic response timeoutԁ я,4՘F?A6ͳ@6@3>6h޽ٱ6ǯ >AHRS rotation from veh to nav: [[0.978814,-0.122974,-0.163711],[0.173714,0.921993,0.346053],[0.108385,-0.367160,0.923822]]6H@qR?@3{yĿ`@9I=FyǫEvE>Q 5 >4⹉?Q 9 >4)@Q A T:Ya?Q Eq:y`>Q I?QAI6;i: ;,>4yBɮB52Acoustic response timeout*j9Bj9iAiAziAAIAIBU>BU!CBU`jGBU@BU=BQBQBUy;BUREJiAii k%k%k%hyԉ kAkAkAh2fk>:fk>BfB~?Jf@ft@ɢe=) @i)Rѽi5OIAI!I1O]v>ԱE` EPE}E"E*:*E?9VEs5ZEBE-;a2E -;aJE:a:E:a   2Acoustic response timeoutя,:F?AɰRb@R)>RPϽٱRW ZAHRS rotation from veh to nav: [[0.981232,-0.117640,-0.152787],[0.164062,0.925670,0.340909],[0.101326,-0.359577,0.927597]]RH@Af?@ ÿ??s??P׿?iRb@IRw^;R:C|~sAiIPhFI!i! !!)!) - r@)))))I1)1i1)1I119 9Y] uAYiYaiaa)a aIaԹYiY@ylGbDYVD9y=B>%=V=ٔEZ9AIA=MFyMɫEM*ּEM>QQ 5]>4U?Q 9]>4U)U/@Yayeh >Q Ie?UVAIUS:iU:U>4ymBɮmBuùE*jBjiiziJii k&k&k&h k<k<k<h2f:fBfJfp@u@ɢăc=) e @i)ZνAIiMVIIQ===<E2Acoustic response timeoutm^Ii Iy O >E e E IE jE "E <:*E c9VE ـ5ZE a @a @a @a @9 я,ʊF?A6@6`u>6Cٱ6 BAHRS rotation from veh to nav: [[0.984247,-0.107159,-0.140626],[0.149598,0.928677,0.339382],[0.094228,-0.355073,0.930078]]6H~?n@¿ &?෷? o? R?ֿ2?i6@I6^;6;CYE3@yEnGbD9XVD_9yuA>%a=ٔ9 I = Fy ˫E&E>!Q 5%>4%?Q 9->4%)%T@Y)y-S=Q I-?%[AI%6:i%:%A(>4y=Bɮ=xB9*jIBjIiQiQziQJiQiY kc#kc#kc#hi k;k;k;hy2f:fBfJfH @2Acoustic response timeoutUv@ɢU=)Q ] @iY)]v ˽YYi]w^aIa-zGAI)IAOuX>iM 2Acoustic response timeoutBU >BQ BU oGBU d@BU =BQ BQ BU );BU %Eԙ 9(я,bhF?ARpB@R>R˱ٱRm ZAHRS rotation from veh to nav: [[0.987756,-0.091035,-0.126694],[0.129696,0.930505,0.342548],[0.086705,-0.354786,0.930919]]RH?N7ޙ??O?@N2?δֿ?iRpB@IR9^;R:CY]@y]oGaabDuWVDu9Ea EWE~E"E%.:*E9VE5ZEBEM3;a2EO3;aJE:a:E:ay4=%M=ٔ9I=FyΫEBPE>Q 5>43?Q 9>4)!@Yy=Q I?aAI;i;*6>4y Bɮ mB *j!Bj!i!i)zi)Ji)i) k3#k3#k3#hI2fa:faBfaJfe҂@q额x@ɢGn=) @i)gǽ顡ifI2Acoustic response timeoutԩIIOk>A я,AF?AF@Fg=FKٱF ں ZAHRS rotation from veh to nav: [[0.990925,-0.073562,-0.112498],[0.108525,0.931672,0.346712],[0.079307,-0.355774,0.931201]]FH?@Բ@̼SȻ?`B?0?rM?ֿe?iF@IFI^;F9CYv @yzqG2Acoustic response timeoutbDe$VVDej9y=%O=ٔ9I=FyЫE \E>iQ 5>4m;Q?Q 9>4mI)m@YyX=Q I?mfAIm^4yBɮaBĹE*j Bj i i!zi!Ji!i) k%k%k%hy k#%k#%k#%h2f:fBfJf @y@ɢS=) |@i)Lýitm I IIIEh EE|E"EG:*EV:VEם5ZEa@a@a@a@>>O%>92Acoustic response timeouti 9я,F?A 6@62=6⑽ٱ6tƻ >AHRS rotation from veh to nav: [[0.993605,-0.056607,-0.097693],[0.087651,0.932130,0.351357],[0.071173,-0.357673,0.931131]]6H?@h@Mp?? |?f8?ֿ?i6@I6^;4YF@yFosGyMT㥛 ?~jtÿZd;OMa?MMj%uL=ٔ}~9yIy=}FyӫEZE>Q 5>4Rj?Q 9>4&)@YQ?Q E:ynQ I?kAI ;i ;Q>4yɮCB*jBjiiziJii kS#kS#kS#h kc#kc#kc#h2fF>:fF>Bfb@Jfv@z@ɢ=) )@i)%J!!i%wt)I)II)Oe=iB<A<B>B CBrGB@B=BB&DB ;B E  4=2Acoustic response timeoutԙE EUEE"ET;*EP9VE5ZEBEG99IA=EFyEիEEdUEE>IQ 5U>4M?Q 9U>4MH)M.@Yyy}XQ I}?MpAIM;iM;M_>4yBɮDB*jBjiiziJii k#/k#/k#/h2f :f Bf Jf ,"~@M|@ɢMZP=)I M@iI)UnVqqiu@{yIyII O==e}Gyƿ9YwA2Acoustic response timeout! E ` E IE qE "E *:*E c9VE 5ZE a @a @a @a @Kя,MF?Aɰ;2ږ@2@=2[ٱ2' :AHRS rotation from veh to nav: [[0.997462,-0.024507,-0.066857],[0.047026,0.931744,0.360058],[0.053469,-0.362288,0.930531]]2H4?@q??@/ ?Y`?/׿?i2ږ@I2^;2:CY^\@y^,uGbDj9SVDj9yro=%rK=ٔv`9tIt=vFyvثEzREz>|Q 5>4?Q 9 >4)L@Y y Q I ?uAI:iW:m>4yBɮ3B*j)Bj)i1i1zi1Ji1i1 kskskshI k#+k#+k#+h2f:fBfJf|@%v}@ɢ-=)) -B@i))-z)1i5Ӏ1I9iyIy2Acoustic response timeout)AIIO!>QB >B CB vGB @B =B B %DB ;B EB!CB!CBɔCBBCɤ15- 2Acoustic response timeoutԁ uя,gF?A6C@6X<66ٱ6Ҿ >AHRS rotation from veh to nav: [[0.998648,-0.008569,-0.051271],[0.026624,0.931450,0.362895],[0.044647,-0.363769,0.930419]]6H?@@@4C?o?9?@ۦ?`G׿`?i6C@I6^;4YF@yJvGbD :RVD 9yEҸ=%MD=ٔM9IIQ=UFyU۫EU"IEU>YaQ 5m>4e񹺉?Q 9m>4e.)eH@YiyuQ Iu?e@{AIe:ied:e|>4y}Bɮ}#BŹEEc E[EuE"Eg5:*E9VE5ZEBE?;a2E?;aJE;a:E;a*jBjiiziJii kc.kc.kc.hi2f:fBfJfz@~@ɢN(=) 5@i)Ji.񃼉 IԉAa2Acoustic response timeoutIIOC>Թ ` я,F?Ar=r=~In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutԹ%M@;ٱV  AHRS rotation from veh to nav: [[0.999316,0.006875,-0.036333],[0.006859,0.931050,0.364828],[0.036336,-0.364828,0.930366]]He?)|?D0|?`(? YY??WY׿ ?i%M@I^_;9CY-@y-wG@Ayy&1?}?5^IԿ~jt`e?Mļ 9? rhٿ{GzYff?yC˾ףBNB B)DBYpBbDMQVD09yy=%)=ٔ9I=FyޫE'E>Q 5%>4޺?Q 9%>4))@Y%|?Q E%W:y%ҾQ I-?jAI* ;i ;>4y5Bɮ5B1*jIBjIiIiIziIJiIiQ kkkha k#k#k#hq2f(=:f(=Bf&e@Jf@E EMEE"E*E9VEZEa@a@a@a@颽A@ɢр=) @i)Hi󆼉IAAX?AIIYIiO> rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=2pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout 9 Ї&я,dF?A2?@2/@2ٱ2& :AHRS rotation from veh to nav: [[0.999468,0.024279,-0.021775],[-0.014601,0.930144,0.366905],[0.029162,-0.366392,0.930003]]2H`?ܘ?ML`獿?`{?ܝ?@r׿?i2?@I2b_;27CYB@yF yGbD {PVD 9y}=%v=ٔ34s?Q 9>4)@YyݾQ I?AI;i:>4yBɮ B*jBjiiziJii k3k3k3h k-k-k-h2f:fBfJf"@%π@ɢ% =)) -h@i))-X@))i-1I9B>BCBxGBU@BBBB;B EzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutAIIO(>IEf EOEqE"EI@:*E9VE5ZEBER;a2ER;aJEM:a:EO:aq 2Acoustic response timeoutԡ !,я,@F?A2@2@2lٱ2 ¾ :AHRS rotation from veh to nav: [[0.999042,0.043180,-0.007148],[-0.037462,0.928076,0.370501],[0.022633,-0.369878,0.928805]]2H`&??@G}1.̲?`J?-? ׿@ĸ?i2@I2@_;2:CYF@yF"yGbDROVDR\9yV;%ZY=ٔZȍ9XI\=^Fy^E^xEb>`Q 5f>4b?Q 9j>4b )b@YhyjQ Ij?bAIb:ibl:bȥ>4ynĽBɮrBrϹE*jxBjxixi|zi|Ji|i| kc.kc.kc.h kc.kc.kc.h!2f1:f1Bf1Jf5@Uw@ɢU.=)Q U;@iQ)e2aaie'iIiqA!I1IAO}>ԡ2Acoustic response timeoutbEIjEM5rEMʬ2E d E JE E "E 9:*E k9VE H5ZE a @a @a @a @ 3я,F?A6d&@6T!@6gٱ6¾ BAHRS rotation from veh to nav: [[0.998048,0.062005,0.007441],[-0.060322,0.926343,0.371819],[0.016162,-0.371542,0.928275]]6H??sz~?⮿??@?`X׿n?i6d&@I6^;68CYJ@yJzGLLbDVNVDV9yZA=%^J=ٔ^9`I`=bFybEfggEf>hQ 5j>4jW1?Q 9n>4j۵)j+@YlynQ In?j-AIjj;ij;j>4yvǽBɮvBvйE*j|Bj|iiziJii kc&kc&kc&h kcEkcEkcEh)2f9:f9Bf9Jf=T@]-@ɢ]٢=)Y e@ia)e好aaie챎iIiA}pAzAy]2Acoustic response timeoutAIIO>) B >B B ,{GB =@B =B DB B ;B E 2Acoustic response timeoutI >) a9я,(F?A2t@2n@2dٱ2(¾ >AHRS rotation from veh to nav: [[0.996583,0.079731,0.021564],[-0.082045,0.925534,0.369669],[0.009516,-0.370175,0.928913]]2H`?8i????@|?׿`?i2t@I2K^;0YF@yF{Gxx x)xIxix|bD MVD 9y%z=%%D=ٔ-M91I1=5Fy5E=GUE=>AQ 5M>4EO?Q 9U>4E )EA@YQyUQ I]?ExAIE9;iE2*;E>4yaɮmBiE] ENEvE"E:*E҆9VE-5ZEBE9;a2E<;aJE:a:E:a*jBjiiziJii k;k;k;h2f:fBfJfޕ@@ɢhR=)I6 @i)١!i%!!I)QAII O=/>u2Acoustic response timeoutyԩ @я,QF?A@z2Acoustic response timeouttʾ@d@>#ٱ AHRS rotation from veh to nav: [[0.994714,0.096494,0.035125],[-0.102658,0.926118,0.362997],[0.002497,-0.364684,0.931128]]H?ܳ? ? G?X;?`ud?@V׿?itʾ@IF^;;CYK@yw|Gy]333333?Onÿ!rh?]y?]]l=Y Y9]|?5^?Pn࿽tV?Y]m?y]]r>]B]|B ]B)]5BYY]ܫBbDuLVDu,9y}=%6=ٔ9I=FyE77E>Q 5 >41r?Q 9 >4)V@Y]?Q EC:yQ I?2AI;i;>4yͽBɮB*j1Bj1i1i1zi9Ji9i9 ks"ks"ks"hQ k8k8k8ha2fu>:fu>BfumΒ@Jfuƃ@颕@ɢ=) @i) 顙iPhIԡE_ EJEkE"E&:*Ek9VEu5ZEa@a@a@a@AI!I1OeV>i߉IߍA2Acoustic response timeout Fя,XF?A2,'@2"@2;ٱ2_ :AHRS rotation from veh to nav: [[0.992462,0.112700,0.048148],[-0.122462,0.927236,0.353888],[-0.004762,-0.357117,0.934048]]2H ??ټ?妨?`Y@??`׀sֿ?i2,'@I2J^;2:CYB4@yB}GlbD LVD 9yEؠ=%Ma=ٔM9IIQ=UFyUEUiEU>Q 5>4Ԍ?Q 9>4)@YyQ I?AI:ig:Y>4yɮB*jBjiiziJii kc kc kc h kcFkcFkcFh2f):f)Bf)Jf-1@Ec@ɢMl=)I M@iI)M*IQiU QIYAmM?AmJ?B5>B1B5|GB5@B1B1B5$DB5;B5E2Acoustic response timeoutA$AIIO )>1Ea ENEE"E%.:*E҆9VE5ZEBEM3;a2EO3;aJEa:Eaa  2Acoustic response timeoutMя,6F?A:ن@:Ɂ@:&><ٱ:L FAHRS rotation from veh to nav: [[0.989819,0.129029,0.060075],[-0.141853,0.928811,0.342328],[-0.011628,-0.347365,0.937658]]:H?@?$®?:(¿@Ѹ??Ї 9;ֿK?i:ن@I:Ԗ^;:6CYN@yN~G==9bD KVD X9yM=%MJ=ٔM 9UH?IUH?=UFyUE]FE]>aQ 5m>4e?Q 9m>4eE)e@Yiyuk Q Iu?eQAIe:ie-:e>4y}нBɮ}By*jBjiiziJii k3Ck3Ck3Ch kCCkCCkCCh92fI:fIBfIJfMU@颍"@ɢk=) @i)H顱iuIiB 2Acoustic response timeoutԙI I! O] >ii Ii D D =E ` E RE pE "E *:*E 9VE 5ZE a @a @a @a @ Sя,aPF?A2:@2*@2騏<ٱ2p :AHRS rotation from veh to nav: [[0.986724,0.146203,0.070719],[-0.161459,0.930089,0.329948],[-0.017536,-0.336986,0.941346]]2H=?@Ķ??ĿI?`?,տ?i2:@I2 ~^;2:CYZ@yZFGbD-fJVD-9ye=%eI=ٔmm9iIi=uFyuEuGEu>Q 5>4ǻ?Q 9>4/)@YyKQ I?AI:ig:R>4ԙyBɮBڹE*jBjiiziJii k#Dk#Dk#Dh k^k^k^h2f:fBfJfy;@]2Acoustic response timeoutօ@ɢ%=) x@i)项iJjIܪ&IIIOL>B5 >B1 B5 ~GB5 @B5 =B1 B1 B5 ;B5 ƗE 2Acoustic response timeout Zя,s:@>c5@><ٱ>H JAHRS rotation from veh to nav: [[0.983077,0.164711,0.080188],[-0.181856,0.930236,0.318731],[-0.022095,-0.327919,0.944447]]>H]u?@=?-? Gǿ~?f?Կ8?i>s:@I>^;>9CYV@yVG\\bDfIVDf9yr<%rS=ٔv@9xIx=zFyzEEec EeIEe~Ea"Eeg5:*Eec9VEe5ZEaBEe?;au2Ee?;auJEe:a}:Ee:a}ZE>Q 5?4&仉?Q 9?4W)@YyNQ I?AI:i: ?4yBɮB۹E*j!Bj)i)i)zi)Ji)i) ksEksEksEha k^k^k^h2f:fBfJf5@@ɢ=) @i)~i0I!mhDAT read: Forwarding Delay UpTx time:18:48:37.4459 mpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGu2Acoustic response timeout5dAAzAEoAIIO>Q m> U Gԉ = 9A YE #Ax`я,/F?Af2Acoustic response timeout ɰ Ei@EY@Ek<ٱE ]AHRS rotation from veh to nav: [[0.978774,0.184565,0.089095],[-0.203401,0.928058,0.311987],[-0.025104,-0.323486,0.945900]]EH R?ӟ?@ζ?` ʿ?@?``ԿD?iEi@IE^;AY@@y Gonly read 0 of 1 data item for BIT error. Device response is::TS,00050122365520,35.0, +14.7,506.0, 0 a@a a@a a@a a@a bDHVD99yDZ<%:=ٔ+;Q->9I=FyEME>Q 5?4?Q 9?4)@Q A +:Y Q E :y >Q I ?gAI~ ;i>e?4yBɮB*j1Bj1i1i1zi1Ji1i9I kKkKkKhQ}Z@ɢ}=)y }@i)ꊽ顁i𜼉IEeb EeMEeEa"Ee1:*Ee9VEeF5ZEaam@am@am@am@qIIOj>m2Acoustic response timeoutԡ $gя,RF?A6˺@6@6C<ٱ6x秾 BAHRS rotation from veh to nav: [[0.973837,0.205164,0.097718],[-0.225621,0.924252,0.307983],[-0.027129,-0.321973,0.946360]]6H)?B??`&̿x?@?Ǜ@4ԿH?i6˺@I6|^;68CYJ@yJGbDVGVDV9y^%^`=ٔb;Q-b>9`I`=bFyfEfEf>hQ 5n?4j?Q 9n?4j)j@Q Ar :YpQ Er9yr$$Q Ir?jeAIj ;ijH?j?4yvBɮvBt*jBj i i zi Ji i kCkCkCh! kCkCkCh1]@ɢe =)a e@ia)epaiimiIqIYIiO=ԱB>BBxGB@BBB%DB.;BEBCBCB“CBBCX42Acoustic response timeoutE}a E}QE}eEy"E}%.:*E}v9VE}q5ZEyBE}M3;a2E}O3;aJE}:a:E}:a  2Acoustic response timeout9 CNmя,ηF?A2^'@2N"@2Y<ٱ2 :AHRS rotation from veh to nav: [[0.969039,0.222626,0.106772],[-0.245113,0.919422,0.307545],[-0.029701,-0.324194,0.945524]]2H_?`~?@mU?_Ͽk?Ϯ? jԿA?i2^'@I24^;29CYB@yBZGDF?Axx x)xIxix|bD9III=UFyUEUCEU>YQ 5e?4]7?Q 9e?4])]@Q Am9YiQ Em9ym(Q Im?]ۧAI]Q:i]H?]%?4yuBɮuB}ܹE*jBjiiziJii kDkDkDh kXkXkXhш@ɢy*=) @i)󪃽iGIA T?A Q?IyIO=A2Acoustic response timeouti E g E KE E "E C:*E ]t9VE 5ZE a @a @a @a @5tя,mF?A 6@6@6~=ٱ6< >AHRS rotation from veh to nav: [[0.964698,0.236439,0.115990],[-0.261303,0.914242,0.309647],[-0.032830,-0.329025,0.943750]]6H?@C?~? 1п@yA?C?Ϡտ43?i6@I6Ѓ^;6:CYF9@yF GbDRFVDRB9yZ**%ZT=ٔZ<9\I\=^Fy^EbZ2Eb>dQ 5j?4fQ?Q 9j?4f5)fD@Q Aj9YhQ Ej9yj,Q Ij?fAIf :if?f`+?4yrBɮrBrE*j9Bj9i9iAziAJiAiA kS@kS@kS@hY kVkVkVhi颵@ɢ=) P @i)oi֡IE2Acoustic response timeoutiAIIQIaO>ԙBBB GB^@B=BBB;BSE  2Acoustic response timeout_zя,F?APz@z@z-=ٱzﯾ -AHRS rotation from veh to nav: [[0.960349,0.248861,0.125689],[-0.276479,0.908135,0.314404],[-0.035900,-0.336688,0.940932]]zH@.???`Աѿq?@0?a`Jտ?iz@Iz^;xEEd EENEEEA"EE9:*EE҆9VEEDz5ZEABEEF;aM2EEF;aUJEE:aU:EE:aUY]+@y]GbD%FVD%9yev%e2=ٔe5;Q-e>9iIi=mFymEu Eu>Q 5?4kp?Q 9?4)@Q A9YQ E9y/Q I?ήAI ;iP@0?4yBɮB*jBjiiziJii ks:ks:ks:h kUkUkUh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o @Completed marl:UpdateCommandMode7 o \Aggregate::uninitialize marl:UpdateCommandModeq7 n LAggregate::initialize marl:UpdateSpeed7 ] 7 n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed-m@ɢ-ة=)1 5} @i1)5<x11i5:9I9M2Acoustic response timeoutAAI!I9OmW>5>1) Kя,nF?AN2Acoustic response timeoutx-c@-S@- =ٱ-3 EAHRS rotation from veh to nav: [[0.955712,0.260785,0.136401],[-0.291669,0.901147,0.320722],[-0.039278,-0.346302,0.937300]]-H 2??u?ҿ2??@H)ֿ`]?i-c@I-D^;-;CYUV@yUGYYaa aa aa aa yoʡ?|?5^?V--?>h 9-?&1?S?Y5?y>>XBB B)uBYBbD9K?IK?=FyEE>Q 5?4(?Q 9?4)0@Q AT:YL?Q E:y3>Q I?lAIu:i:u??4yɮB*jBjiiziJii kTkTkTh kXkXkXh)2f=K>:f=K>Bf=vB@Jf=?sENUpdating rudder angle 6.875493 arcdeg 9ErM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRuddere6@ɢe=)a e? @ii)mpiiimqIqAoAzA!bEs5jE5rEë2EMj EIEM|EI"EMN:*EIVEMם5ZEIaU@aU@aU@a]@AIIO%N>QM2Acoustic response timeouty 6rя,:;F?A2(@2@2os/=ٱ2 :AHRS rotation from veh to nav: [[0.950817,0.272370,0.147521],[-0.306781,0.893873,0.326920],[-0.042822,-0.356098,0.933467]]2Hm?n?@?Jӿ? 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I) I9 Ou >Qȸя,!F?AN@Nx@N"~=ٱN;ʾ ^AHRS rotation from veh to nav: [[0.887236,0.387524,0.250277],[-0.452069,0.838458,0.304339],[-0.091908,-0.383163,0.919097]]NH;d?`0??ܿ`?Kz? Aؿ=i?iN@INմ^;N:C h)hhjFhprvAirQIr#FtItivwA z\x)xx ~vA~T| vAI /]) i )IvA/] %lA!i!!i)-7A)) )I)Y)YE@yEEyG )IibD=VD.9B<A4=B>BBdzGB@BBBBBy]c%]`=ٔ]F9iIi=Fy E1eE>Q 5?4 ?Q 9?4)@YyfQ I?AI:i:?4yBɮnB*jBji iziJii kS_kS_kS_h) kukukuhY2fiqu%=}2Acoustic response timeout:fiBfiJfmLQ@@ɢ:.=) ?i)*iI  !Ef EOEtE"EI@:*E9VE5ZEBER;a-2ER;a-JEM:a-:EO:a-QA I I O >% 2Acoustic response timeouty ^8θя,Ϥ;F?A>CV@>4Q@>{0=ٱ>;jƾ fAHRS rotation from veh to nav: [[0.877338,0.405520,0.256576],[-0.470244,0.833097,0.291240],[-0.095649,-0.376169,0.921601]]>H@'? ?k?`y޿`?@?`v|(ؿ}?i>CV@I>^;>9CY]@y]*xGe=abDu=VDu9yɘ%Y=ٔ#9I=Fy"EeE>Q 5?4?Q 9?4c)a@YykQ I?AI|:i:?4y+BɮBE*jBjiiziJiiY k3mk3mk3mh2f:fBfJfO@ٔ@ɢŠ=)  ?i)%iꐩIAaIiIyԁO=>2Acoustic response timeoutԩbE5jE5rEɠ2E- ^ E- RE- E) "E- C#:*E- 9VE- 5ZE) a= @a= @a= @a= @I >) > )!ոя,˃UF?Ai I"pA6-@6@6 =ٱ6¾ >AHRS rotation from veh to nav: [[0.867039,0.424054,0.261573],[-0.488440,0.827037,0.278272],[-0.098329,-0.369035,0.924199]]6Hɾ?#?`?`B߿@w?`3?,F׿` ?i6-@I6^;4Y5]@y5wGI=)4<2Acoustic response timeoutbDd<VD9yW%D=ٔ';Q->9I=Fy%EME>Q 5 ?4?Q 9 ?4).@YyqQ I?AI&;iD;?4yɮB!*jYBjYiaiaziaJiaiaԱ kTkTkTh2f :f Bf Jf M@E@ɢEt=)I M?ia)e< aiim]֨iIqAIIOK>BBCB xGB@B=BBB#;BE  2Acoustic response timeoutQ pJ۸я,`[oF?A2@2@2Ɵ=ٱ2 :AHRS rotation from veh to nav: [[0.856354,0.443047,0.265268],[-0.506759,0.819770,0.266781],[-0.099262,-0.362886,0.926532]]2H@Ag?Z?@%?]7 ;?@?=i9׿%?i2@I2^;0YF@yFvGEre ErPErnEp"Er<:*Er?9VErJ5ZEpBEr`L;az2ErcL;azJEr:az:Er:azbD <VD d9yP%O=ٔ;Q->9I=Fy'ER]E>Q 5@4?Q 9@4;!)#@Yy9vQ I?AI :i:@4y.BɮB*jBjiiziJii kCUkCUkCUh  kSUkSUkSUh92fI:fIBfIJfMQK@m@ɢm=)q u3?iq)uIqqi}U9q 4я,=F?A"2Acoustic response timeout$:G@:B@:=ٱ:﻾ BAHRS rotation from veh to nav: [[0.845147,0.463035,0.267068],[-0.525500,0.811197,0.256535],[-0.097860,-0.357154,0.928905]]:Hq ?]?? R?k?Z ֿ`?i:G@I:_;8YJ@yJuGPR@AyuX9v?I +?EԸ?u]?u949AIA=EFyE*EEJTEM>QQ 5]@4Uս?Q 9]@4U))U@Y]ل?Q E]L:y]WQ I]?UAIU<:iU:U@4ym1BɮmBi*jyBjiiziJii ksXksXksXh ksXksXksXh2f>:f>Bf@JfA>@a@ɢp=) !?i)i(cIiEc EMEyE"Eg5:*E9VE5ZEa@a@a@a@A9IIIYO9>ԑ2Acoustic response timeout {^я,7F?ALV@Vч@VI=ٱV bAHRS rotation from veh to nav: [[0.833227,0.483777,0.267754],[-0.544840,0.800883,0.248464],[-0.094238,-0.352911,0.930899]]VH̩?@2?"?@Uo@֠?? @ֿ ?iV@IV^;V:CYr@yruG ttz=z=bD~:VD~9y 6% `=ٔ#Q->9I=Fy,E^E%>!Q 5-@4%v꽉?Q 9-@4%x1)%@Y1y5]Q I5?%AI%j;i%Q;%s@4y=?BɮEıBEE*jQBjQiYiYziYJiYiY k\k\k\hq k#\k#\k#\hAAAAB>BBuGB@B=BBB;BE2f:fBfJf"@)@ɢީ=) m+?iq)u۔qqiuۦyIyU2Acoustic response timeoutAIIO5.>E` EPEsE"E*:*E?9VEX5ZEBE-;a 2E -;a JEa :Ea! i I A 2Acoustic response timeoutя,5F?A2 @2@2_=ٱ2` :AHRS rotation from veh to nav: [[0.823382,0.499934,0.268530],[-0.560164,0.791782,0.243511],[-0.090878,-0.350923,0.931984]]2H$Y??/?`GV?[+?`Cuֿ@?i2 @I2^;2=CYB@yFVtGbDN:VDN9yVm%VQ=ٔZ] Q-Z>9XIX=^Fy^/E|^?E>Q 5%@4?Q 9%@49)@Y!y%bQ I-?AI:i:~-@4y5BBɮ5ױB1*jIBjIiIiQziQJiQiQ k[k[k[hi k[k[k[hy2f:fBfJf@颭@ɢ=) ?i) 顱i3IA))I1IIO}>e2Acoustic response timeoutQD D <E k E YE E "E mR:*E *9VE 5ZE a @a @a @a @ԁ nя,!F?A2⑮@2ӌ@2D=ٱ2h :AHRS rotation from veh to nav: [[0.816539,0.510719,0.269127],[-0.570385,0.785629,0.239684],[-0.089022,-0.349218,0.932803]]2H!?@W?``9?@@ #??,ʶYֿ@?i2⑮@I2^;0YB@yFrGDFp=bDN9VDNB9yV'%VJ=ٔZ Q-Z>9XIX=^Fy^1E^0E^>`Q 5f@4b.?Q 9j@4bYB)b*@YhyjeQ Ij?b7AIbs:ib:b>;@4ynEBɮrBrE*j|Bj|i|i|zi|Jii kZkZkZhY kZkZkZh2Acoustic response timeout2f:fBfJfւ@ @ɢMv=) 5i?i1)5#E99i=h9IAԁAIIO%>B>BB\sGB@B=BBBg;BEԱm 2Acoustic response timeout Ƙя,F?A4<ɰ2S;@2D6@2=ٱ2m4 :AHRS rotation from veh to nav: [[0.810570,0.518979,0.271360],[-0.579054,0.779527,0.238817],[-0.087591,-0.350710,0.932379]]2H1?z?]???`bl` rֿ ?i2S;@I28^;2;CYF@yFqGX\ \)\I\Eb\ EbMEbwE`"Eb:*Eb9VEbɕ5ZE`BEb;aj2Eb;ajJEb:aj:Eb:aji\lIn=)n=bDv8VDv9y~g%~F=ٔvcQ->9I=Fy4E -ѼE >Q 5@4s,?Q 9@4@K)<@Yy%dhQ I%?AI;ir;I@4y)ɮ-B)*jABjAiIiIziIJiIiI kXkXkXha kXkXkXhqԹ2f:fBfJf-@5Ț@ɢ5^[p=)1 5?i9)=99i=>AIAAQAU_?AIIIIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutO'> wm>! U Tǿ9Y Y] *AyM *?M A9 я,~ F?Armodem://6: set _.others_observations nan n/a str none_str #Outgoing data=3pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutf@fr@f7o=ٱf? rAHRS rotation from veh to nav: [[0.804715,0.525699,0.275815],[-0.587249,0.772995,0.240037],[-0.087016,-0.355134,0.930757]]fH:?`??@_??@F@ֿ?if@If._;f9CYz@yzpG5only read 3 of 4 data items for beam range. Device response is::RA, 0.00,1067.00, 680.84, 0.00 a5@a5 a5@a5 a5@a5 a5@a5 bDE58VDE9yM{%UE=ٔUQ-U>9QIY=]Fy]7E]ǼEe>iQ 5@4mB?Q 9@4mBT)mU@Q A+:YQ E%:yjQ I?mAIm;im>mwU@4yVBɮBE*jBjiiziJii kCWkCWkCWh kCWkCWkCWh@ɢ4`=)=C ?i)i˼IDzD?AEe EZEoE"E<:*Ea9VE5ZEa@a@a@a@AAAIQIaO;>zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutqԙ 8я,F`$F?A6%@6@6n=ٱ6 >AHRS rotation from veh to nav: [[0.798510,0.531962,0.281777],[-0.595570,0.766251,0.241156],[-0.087626,-0.360383,0.928679]]6Hd??@? ?`1?n ׿ཷ?i6%@I6^;6;CYF(@yFpGHJ?AbDr7VDK9yS~%N=ٔQ:Q->9I=%Fy%9E%&׼E%>)Q 55@4-SW?Q 95@4-\BE>BABEhqGBEL@BABABABEV;BEEBCBCBB=BCY4)-p@Q A :YQ E:yemQ I?-cAI-BԙEp ESEvE"Ed:*E9VE-5ZEBE;a2E;aJEl:a:Em:a 2Acoustic response timeout я,4>F?A2;@26@2,=ٱ2 ! :AHRS rotation from veh to nav: [[0.791991,0.537497,0.289565],[-0.603925,0.759291,0.242386],[-0.089583,-0.366843,0.925960]]2HW?,3?;?[SL?~? Zz׿ v?i2;@I2"^;0YF@yF*nGbD6VD9y߽%?=ٔ;Q->9I=FyQ 5@4sm?Q 9@4Nf)@Q A9YQ E9yoQ I?AI;iڞ?{f@4yɮ?B*j1Bj1i9i9ziAJiAiA k[k[k[hi颭u@ɢC=) ΐ?i)iiDǡIAQzAUnAAyIIOB>E2Acoustic response timeout) E  E WE E "E ҝ:*E 9VE 5ZE a @a @a @a @Q я,vXF?A2Bά@23ɳ@2̻=ٱ2pľ :AHRS rotation from veh to nav: [[0.783688,0.544925,0.298145],[-0.614369,0.750758,0.242720],[-0.091570,-0.373388,0.923145]]2H? p??@@6?`v?%q׿@g?i2Bά@I2^;29CYB@yF2mGbDW6VD9yM%MS=ٔM;Q-M>9QIQ=UFyU>E] E]>aQ 5m@4e-?Q 9m@4en)e@Q Am9YiQ Em9ym1sQ Im?e(AIe':2Acoustic response timeoutieu?eQl@4y \Bɮ NB *j!Bj!i!i)zi)Ji)i) kCkCkChA kckckchQ}W@ɢ}XkA=)y !?i)顁idI)Y@B=>B= CB=nGB=@B==B9B9B=f;B=EA $AI I) U 2Acoustic response timeoutԁ O >я,qF?A0:;@:6@: ^=ٱ:RǾ BAHRS rotation from veh to nav: [[0.772553,0.556570,0.305601],[-0.628272,0.739685,0.241123],[-0.091847,-0.378281,0.921123]]:H`? k?@? ??B@5ؿy?i:;@I:^;:9vH?IvH?=vFyvAEz;Ez>Q 5%@4?Q 9%@4w)ɽ@Q A-9Y)Q E-9y-wQ I-?hAIڍ;i}@q@4y5mBɮ5cB5E*jIBjQiQiQziQJiQiQ kcKkcKkcKhi kc\kc\kc\hy19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颽.@ɢB=) ƅ?i) #iI+wԉ2Acoustic response timeoutII!O]2>Թ I >) >] 2Acoustic response timeout"я,ۋF?A;ɰp;XY~@y~kGaa aa aa aa yS㥛?RQ?X9v$f?=} 9ʡE?GzοJ +?Yo?ypH=FBB vB)BYBbD{5VDc9y%==ٔQ->9I=FyDEE>Q 5@4?Q 9@45)r@Q AT:Y^w?Q E[:ycQ I?AI;i;!@4yɮuB*jBjiiziJii kCkCkCh kdkdkdh)2fD>:fD>Bf^@Jf݇@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder-@ɢ'=) z?i)%^ڼ!!i%𝼉)I)bE-5jE-ؘ5rE-qj2Eg EREtE"EC:*E9VE5ZEa@a@a@a@ m/CAuW?AuR?2Acoustic response timeoutIa Iy O >9  > >(я,wF?A2@2@2I=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.747567,0.584275,0.315859],[-0.657924,0.716573,0.231644],[-0.090992,-0.380981,0.920094]]2H?`?` 7?@ *?@?FKaؿiq?i2@I2^;2:CYB"@yFiGXX X)\I\i\\Bz>BxBzkGBz@BxBxBz&DBz;BzEbD 4VD 9y%%%U=ٔ%qQ-%>9)I)=-Fy-FE-ϽE5>1Q 5@45V?Q 9@45)5@YymQ I?5AI5qԡ  2Acoustic response timeout"/я,|F?A6_@6Z@6f-=ٱ66Ǿ >AHRS rotation from veh to nav: [[0.734867,0.598952,0.318162],[-0.672174,0.705667,0.224092],[-0.090295,-0.378538,0.921171]]6H?*?\?@rҔ?@?9ؿ`;z?i6_@I6^;69CYFg@yFhGbDV4VDV 9yj8m%nO=ٔnEQ-n>9pIp=rFyrHEvFEv>xQ 5z@4zо?Q 9~@4z()z@Y|y~rQ I~?z_BIz;iz;zY@4y Bɮ B E*jBj!i!i!zi!Ji!i! kBkBkBh9 k#fk#fk#fhQ2fqy:fqBfqJfu @颭@ɢi=)  \?i) ϼiGIIIO5=ԩ%2Acoustic response timeoutE i E PE mE "E ,K:*E ?9VE 5ZE a @a @a @a @ AA 6я,iWF?A2ɩ@2İ@2'=ٱ25ƾ :AHRS rotation from veh to nav: [[0.722492,0.612857,0.320018],[-0.685555,0.694997,0.216781],[-0.089556,-0.376013,0.922277]]2H?@?.{?@i=? y? %ؿJ?i2ɩ@I2^;28CYFҼ@yJ6hG====2Acoustic response timeoutbDM3VDM 9y-%?=ٔQ->9I=FyKE?/E>Q 5@4㾉?Q 9@4)\@YywQ I?BI;i;M@4yɮB*jBjiiziJii kMkMkMh kVkVkVh 2f:fBfJf.W@颽ۢ@ɢu<) O?i)_JʼiIIQIiO=B>BB3iGB@B=BBB;B˖E1= hDAT read: Forwarding Delay UpTx time:18:48:51.2958 = pIn parseResponses, set commsState_ = SENDING_ACK_WAITINGE 2Acoustic response timeoutY 4<я,2F?A2:@25@2=ٱ2.ľENm ENTENpEL"ENY:*EN9VEN5ZELBEN~;aR2EN~;aVJEN:aV:EN:aV ZAHRS rotation from veh to nav: [[0.710457,0.626098,0.321328],[-0.698117,0.684630,0.209557],[-0.088788,-0.373206,0.923490]]2H??? V ~??Ϻ׿`;?i2:@I2Z^;29CYfV@yfgGbDe3VDe 9yh%I=ٔQ->9I=FyNE0E>Q 5@4?Q 9@4Q =tI)@Yy"|Q I?BI:i\:@4yBɮB*jBjiiziJii kJkJkJh  kZkZkZh2f):f)Bf)Jf-g@1Mɣ@ɢMcV<)Q UjD?iQ)U.żYYi] YIaII)O]=2Acoustic response timeoutaԑԹ = 2Acoustic response timeoutCя, F?AFg@FX@F=ٱF7ľ RAHRS rotation from veh to nav: [[0.685923,0.650702,0.325725],[-0.722647,0.661655,0.199986],[-0.085386,-0.372559,0.924072]]FH?@??  G,? ?۵׿?iFg@IFv^;F:CYZ@yZ^dG^a=\yDl?MbZd;OOm?j 9 ףp= ?V-?YQ?yL=TBB rB)BYBbDC3VD^ 9yAK%D=ٔQ->9 I = Fy PE E>Q 5%@4 ?Q 9%@4֪)@Y%F?Q E%E:y%dQ I%?`BIU:i: @4y1ɮ5B1*jABjIiIiIziIJiIiI kc[kc[kc[ha k3rk3rk3rhq2f5>:f5>Bf@Jfj@ԑ颭@ɢt<)3 '?i)N顱iNIEf EPElE"EI@:*E?9VE5ZEa@a@a@a@A!I)I9Om5>Թ2Acoustic response timeout FIя,&F?AB@AB<BF >BF!CBFfGBF@BDBDBDBF;BFEZ@Z@ZD;=ٱZ4ľ bAHRS rotation from veh to nav: [[0.672819,0.663656,0.326918],[-0.735297,0.648604,0.196600],[-0.081565,-0.372658,0.924377]]ZH?9 I = Fy SE IE>Q 5%@4"?Q 9%@4)@Y!y%iQ I-?BIu;i>;@4y5Bɮ5B5'E*jABjIiIiIziIJiIiQ kYkYkYha kskskshq2f:fBfJfuΣ@颥@ɢM<) t"?i)v޼顩i┼I92Acoustic response timeoutIIO >En ENEE"EO]:*E҆9VE5ZEBEf;a2Eg;aJE:a:E:aI iߡ Iߡ  2Acoustic response timeoutI .Pя, @F?A rnGMrA!UV߿9UMrAYUcA@@Mݝ=ٱľ AHRS rotation from veh to nav: [[0.658755,0.676933,0.328333],[-0.748406,0.634270,0.193883],[-0.077006,-0.373448,0.924449]]H`?o? j?K?*?`׿?i@I^;8CYܹ@ydGbD~2VD 9yC%<=ٔ+Q->9I=FyUEJ5E > Q 5U@4 9?Q 9]@4 )  @YYy]nQ I]? BI "$2Acoustic response timeoutԙD =D E f E JE E "E I@:*E k9VE c5ZE a @a @a @a @ ]Vя,ZF?A>G@>|B@>EJ=ٱ>8ľ FAHRS rotation from veh to nav: [[0.644014,0.690387,0.329564],[-0.761539,0.619563,0.190262],[-0.072831,-0.373507,0.924764]]>H@›???^`u?@Z? ׿ ?i>G@I>^;>9I=FyXE6XE>!Q 5-@4%CM?Q 9-@4%)%E@Y)y5sQ I5?%r BI%;i%;%U@4U2Acoustic response timeoutyYɮ] Ba*jBjiiziJii kYkYkYh2f:fBfJf @@ɢ%H<)! % ?i!)%")IiM`IIQu cB}>ByB}dGB}ѹ@ByByB}'DB}J;B} EB= CB= CB9B9B=Ƥ=C=Ƌ4II!O}{> 2Acoustic response timeout \я,YtF?AE2k E2cE2xE0"E2mR:*E2L9VE2e5ZE0BE2q;a62E2r;a6JE2";a6:E2";a:r@r@r+=ٱrþ zAHRS rotation from veh to nav: [[0.629368,0.703662,0.329782],[-0.774006,0.605489,0.185197],[-0.069363,-0.371810,0.925714]]xrH#?e?%?*`??׿`r?ir@IrRu^;r:CY%"@y%rbG )IibD d1VD  9y=$%=5=ٔ=Q-E>9AIA=EFyE[EM{2Em>qQ 5}@4u d?Q 9}@4u)u~@Yyy}xQ I?u\ BIu[:iu:u@4yBɮB(E*jBjiiziJii kAkAkAhI2fY:fYBfYJf]֡@}@ɢ}+<)y }>iy)^顁iI fsetting unavailable, lastComms_.elapsed()=60.183994    I!y2Acoustic response timeoutIIOM1>Qy E 2Acoustic response timeoutjcя,.TF?Ab@b @b.7=ٱb¾ jAHRS rotation from veh to nav: [[0.614759,0.716130,0.330499],[-0.785909,0.591509,0.180177],[-0.066462,-0.370508,0.926448]]bH??&?`+&?` ?@f׿ w?ib@Ib^;b9CY @yXbGYy/$?B DB)BYBbD0VDE 9y%}Ի%%L=ٔ%EQ-->9)I)=-Fy-]E5|AE5>9Q 5EA4=w?Q 9EA4=J)=@YE?Q EMU:yMsQ IM?= BI=:i=:= A4yUBɮU+BU2E*jiBjiiiiiziiJiqiq k<k<k<h k<k<k<h2f>:f>Bf@JfH@x@ɢޟ:<) M>i)ẮiIDqzDu@AE}e E}UE}~Ey"E}<:*E}P9VE}5ZEya@a@a@a@ԉU 72Acoustic response timeoutԱIIO> (iя,H1F?AB>B"CBbGB@BBBBb;B.ERez@RVu@R=ٱRm¾ ZAHRS rotation from veh to nav: [[0.600533,0.727642,0.331506],[-0.797080,0.577655,0.176007],[-0.063426,-0.369935,0.926890]]RH7?H?c7? %|? e? <`׿?iRez@IR.x^;R:CYfm@yfaGhjp=bDE0VDE 9y6O%U=ٔQ->9I=Fy_E@E>ԹQ 5A4&?Q 9A4{)@YywQ I?mBI};i~;EA4yɮ5B*jBjiiziJii k@k@k@h2f:fBfJf;@p@ɢ`;2Acoustic response timeout) >i)7iI!!!!Ec EPEmE"Eg5:*E?9VE5ZEBE?;a2E?;aJE:a:E:aA AI I! O] > nManaging dock network, ignoring radio surface power off 2Acoustic response timeout9 ~pя,F?Aɰ;JP@JA@Jgv=ٱJ- VAHRS rotation from veh to nav: [[0.587232,0.738392,0.331566],[-0.807183,0.564649,0.172128],[-0.060121,-0.368713,0.927597]]JH`??_8?p?G? 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B! B% 7`GB% R@B! B! B! B% w;B% ;EM㉹я, y)F?A2}@2w@2},=ٱ2Tƾ :AHRS rotation from veh to nav: [[0.550463,0.763942,0.336723],[-0.833798,0.523402,0.175591],[-0.042100,-0.377416,0.925086]]2H@d?`7r?? xി?@y? 'ؿO?i2}@I27^;29C@YF@yJ^G)1 1)1I1i11bDM.VDM1 9yeۮ%eJ=ٔeRQ-m>9iIi=mFyulEu7żEu>Q 5A4忉?Q 9A4)@YyGEQ I?BI,7;if9;aA4yɮqB*jBjiiziJii ksIksIksIh kIkIkIh2f:fBfJfc@%A@ɢ%d)! -:>i))-N/))i-11I12Acoustic response timeoutԩAAIQIaO>Eee EeMEeqEa"Ee<:*Ee9VEe5ZEaBEe`L;am2EecL;amJEe:au:Ee:au  2Acoustic response timeout̐я,WCF?A:-@:(@:*f=ٱ:aɾ BAHRS rotation from veh to nav: [[0.542479,0.767713,0.341076],[-0.839234,0.513358,0.179302],[-0.037442,-0.383510,0.922777]]:H[??1?  nm?@Z?+nؿ@d?i:-@I:-^;8YJ@yNS]GbDV.VDV 9y^%^U=ٔbKGQ-b>9`I`=fFyfoEfμEf>hlQ 5rA4jo?Q 9rA4j{ )j@YpyrWGQ Ir?jBIj);ijd*;joA4yzƾBɮzBz=E*jBji i zi Ji i  kSAkSAkSAh2f:fBfJfd@:@ɢH1>) =i)liꄼIA \?A Y? AaIiIO>2Acoustic response timeout1Em f Em UEm vEi "Em I@:*Em P9VEm -5ZEi a} @a} @a} @a} @a я,o,]F?ARۡ@R֨@R =ٱRB̾ ZAHRS rotation from veh to nav: [[0.534047,0.771864,0.344992],[-0.844778,0.503494,0.181228],[-0.033818,-0.388226,0.920944]]RH??Y?@l?@w2? 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Device response is::RA, 0.00,1126.76, 695.49, 980.01 a5@a5 a5@a5 a5@a5 a5@a5 bD=-VD= 9yM%MP=ٔUQ-U>9QIQ=]Fy]wE]tEe>aQ 5mA4e0?Q 9uA4e)e~@Q Au+:YqQ EuX:yuNQ Iu?eBIe ;ie >ejA4yBɮóB*jBjiiziJii k9k9k9h k:k:k:h;@ɢ) i)-;i߀ I ApAzAoAE=` E=ME=sE9"E=*:*E=9VE=X5ZE9aM@aM@aM@aM@A!I1IAO}>!]2Acoustic response timeoutQy A A B B B ]GB ȳ@B =B B B ;B EB"CB"CBBBCǼ4$1я,F?ARǠ@R§@R<ٱRKѾ ^AHRS rotation from veh to nav: [[0.505461,0.786032,0.355898],[-0.862421,0.473229,0.179677],[-0.027189,-0.397754,0.917089]]RH`,?,'?@?cI??{כ`tٿX?iRǠ@IR^;R9CQ2Acoustic response timeoutY5@y5xZG AAE=E=bDU,VDUV 9y]%e-=ٔe>Q-e>9iIi=mFymzEuZϼEu>qQ 5}A4uXE?Q 9A4u$)u@Q A :YQ E/:yQQ I?u.BIu:iu]?u:A4yӾBɮB*jBjiiziJii k:k:k:h k:k:k:hj@ɢм)  i)墼  i '~IԁAI!I9EEe EE[EEEA"EE<:*EE9VEE5ZEABEE`L;aU2EEcL;aUJEE;aU:EE;aUO[>ԩm 2Acoustic response timeout я,cF?AJW@JR@J<ٱJ0Ҿ vAHRS rotation from veh to nav: [[0.493670,0.792577,0.357926],[-0.869317,0.461128,0.177903],[-0.024048,-0.398977,0.916646]]JHK?\?`C?q?@?Ոٿ@)U?iJW@IJٚ^;J;C x)zvAzx|vAi/]I!I!i%wA %t%RF)!) ))-~rF)11I5T)1i1)9I=vA]TY Ye CemAeiaaiaa)i iIiYiYu@yu$YGbDo,VD: 9yuѸ%[=ٔ=Q->9I=Fy|E+E>ԱQ 5A4V?Q 9A4e*)@Q A9YQ E :yTQ I?\BI1;iI?>A4y־BɮͳB*jBjiiziJii ks:ks:ks:h k:k:k:h=]@ɢ==)9 =i9)EӣAAiET{III2Acoustic response timeoutAIIO-N> EU t EU OEU qEQ "EU s:*EU 9VEU 5ZEQ a] @a] @a] @a] @I Dя,yF?A2P֟@2BѦ@2!<ٱ2PҾ :AHRS rotation from veh to nav: [[0.479914,0.800415,0.359191],[-0.877110,0.446616,0.176670],[-0.019011,-0.399837,0.916389]]2H?? ?H@\? #?@wٿS?i2P֟@I2^;02Acoustic response timeoutY]C@y]XG )IibD,VD 9yʼ%U=ٔYQ->9I=Fy~E*E>Q 5A4f?Q 9A4D0)@Q A 9Y Q E 9yXQ I?BI9=2Acoustic response timeouti mя,PF?AEb ETEvE"E1:*E9VE-5ZEBE9;a2E9;aJE:a:E:a B[@BV@BBY<ٱB_Ӿ JAHRS rotation from veh to nav: [[0.466767,0.807406,0.360865],[-0.884281,0.432211,0.176751],[-0.013260,-0.401608,0.915716]]BH`?E?i?`L@Y?ş?$(ٿ`M?iB[@IB ^;@YV<@yVXGIX)Z=\^AbDb+VDb 9yj%j\=ٔj~Q-j>9lIl==Fy=EE EE>IQ 5MA4Mw?Q 9UA4M16)Mr@Q AU9YQQ EU9yU\Q IU?M BIM;iM@MA4yBɮB*jBjiiziJii k&k&k&h19 r NAggregate::initialize marl:UpdateRudderq9 J] q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed=U@ɢES)A EciA)ErAIiM4vIIQԉI!=2Acoustic response timeoutIQO5->ԙ  2Acoustic response timeout{UĹя,-F?A2c@2U@2[;ٱ2 վ :AHRS rotation from veh to nav: [[0.454744,0.813259,0.363067],[-0.890590,0.418670,0.177664],[-0.007518,-0.404136,0.914668]]2H? 7?}9iIi=mFymEuEu>yQ 5A4}}?Q 9A4}>)}@Q AT:YIB?Q E:yQ I?}"BI};i}:}A4yBɮB*jBjiiziD-?AzD-?AbE‘5jE$5rE2E5d E1E5E1"E59:*E1VE5U5ZE1aE@aE@aE@aE@JiIiI k$k$k$hy k$k$k$h2f(>:f(>Bf@Jf-@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder-@ɢ-)) -ϋi))511i5s9I9IIO*>E2Acoustic response timeout! B] <A] <Ba Ba Be ZGBe @Be =Ba Ba Be ;Be CE > ~ʹя,,F?AN@N@Nw;ٱN־ VAHRS rotation from veh to nav: [[0.443593,0.818153,0.365857],[-0.896226,0.405948,0.178846],[-0.002195,-0.407225,0.913325]]NH c?N.?3j? ?m? aڿ9?iN@IN^;N=CYb@yb8WG|bDE+VDE 9y؁%V=ٔQdQ->9I=FyEE>Q 5A4?Q 9A4 F)@YyQ I?4#BIv;i;uA4yɮB*jBjiiziJii k3&k3&k3&h kEkEkEh)2f9:f9Bf9Jf=ڋ@]j@ɢ]L9)Y ]ia)e_aaieqiIiAyzA}rA2Acoustic response timeoutIIO=)EMh EMREMzEI"EMG:*EM9VEM5ZEIBEM/_;aU2EM1_;aUJEM$:aU:EM%:a]Qe 2Acoustic response timeoutԁ gѹя,mEF?A6!@6@6( ٱ6V@پ >AHRS rotation from veh to nav: [[0.432568,0.822019,0.370364],[-0.901599,0.393431,0.179808],[0.002093,-0.411699,0.911317]]6H1?M? ? -?@?`%a?@HYڿ)?i6!@I61^;67CYF̮@yJVG ||bD *VD m 9yE,%ER=ٔMA4Q-M>9IIQ=UFyUEUEU>YaQ 5mA4e?Q 9mA4eM)e]@Yiyu\Q Iu?e`$BIe:ie:eA4yyɮ}By*jBjiiziJii kCAkCAkCAh kc_kc_kc_h2f:fBfJfq@mv@ɢm>)i miq)sͬ顑iDoII1IIO=ԁߥ4=ߡ2Acoustic response timeoutԱEU c EU TEU qEQ "EU g5:*EU 9VEU 5ZEQ a] @a] @a] @a] @ i׹я,_F?A2;@2-@2ٱ2܍ھ BAHRS rotation from veh to nav: [[0.421268,0.826485,0.373439],[-0.906921,0.381467,0.178823],[0.005340,-0.414012,0.910256]]2H ?r?@l?`~@i?@?iu?+ڿ ?i2;@I2^^;29iIq=uFyuEuEu>Q 5A4Z?Q 9A4U)@YyQ I?%BI:i:}A4ԹyBɮB[E*jBjiiziJii kFkFkFh kbkbkbh2f:fBfJf@-~@ɢ5H)q uɾiq)u^Zyyi}$lyIII O==B >B B YGB @B =B B B ;B kEIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout9 E] u E] SE] }EY "E] v:*E] 9VE] s5ZEY BE] V;am 2E] X;am JE] l:am :E] m:am ݹя,tyF?A2&R@2M@2Ƅٱ2ھ :AHRS rotation from veh to nav: [[0.409593,0.831743,0.374750],[-0.912234,0.369865,0.176151],[0.007905,-0.414010,0.910238]]2H@6???1ܫ??0?@#ڿ ?i2&R@I2^;2;CYF@yFVGHJa=bDN)VDN 9yV%VR=ٔZhڻQ-Z>9XIX=^Fy^E^E^>`Q 5fA4bY?Q 9fA4b\)bC@YhyjQ Ij?b&BIbd:ib:bA4ylɮnB9*jQBjQiQiQziQJiYiY kCZkCZkCZh kSZkSZkSZh2f:fBfJfP@E@ɢEݶT)A E8޾iA)MQԁ  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutя,>uF?A2{@2mܣ@2Y'ٱ20پ :AHRS rotation from veh to nav: [[0.397000,0.838131,0.374068],[-0.917762,0.357973,0.171954],[0.010214,-0.411571,0.911321]]2H`rh? ??N^@ ?@?`#?-Wڿ)?i2{@I2\^;0YFB@yFMVGy+?J +Sſv~?H/ 9On?Zd;OͿoʡտYx?y~jBljB B)YBbD-)VD-9y=%=C=ٔEQ-E>9AII=MFyMEMwEM>QQ 5]B4U?Q 9eB4UKh)U@Yeӆ?Q EeI:yeQ Ie?Uz(BIU ;iUK ;UfB4ymBɮmBq*jBjiiziJi i  kYkYkYh92fU|>:fU|>BfUǺ@JfU]@q颅@ɢEb) i)}顉i7hIEe EREnE"E<:*E9VEJ5ZEa%@a%@a%@a%@AI IOU2>ԡ%zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY%2Acoustic response timeoutA A @AB >B B 0YGB @B =B B B ;B |E я,@PF?AFc@F^@F^JٱF־ RAHRS rotation from veh to nav: [[0.382788,0.846152,0.370811],[-0.923754,0.345209,0.165859],[0.012335,-0.406027,0.913778]]FH??\?`d?`:?C?Wٿ`=?iFc@IF˧^;DYZ@yZVGpp p)pIpippbDz?)VDz9yy%N=ٔ -Q- >9 I =FyEBE>Q 5%B4z?Q 9%B4s)@Y)y-¿Q I-?*BI-:i$:EB4y5 Bɮ5,B5eE*jIBjIiIiIziQJiQiQ kc@kc@kc@hi kc]kc]kc]hy2f:fBfJf'\@颥@ɢbVu) ri)顱ieI}2Acoustic response timeoutAIIO>E% E!E%~E!"E%a:*E!VE%5ZE!BE%};a52E%~;a5JE%$:a5:E%&:a5) - 2Acoustic response timeoutm G 9 Y ܳAQ @я,6F?A20ٛ@2"Ԣ@2Z^ٱ2'Ҿ :AHRS rotation from veh to nav: [[0.367175,0.854914,0.366476],[-0.930053,0.331690,0.158060],[0.013571,-0.398878,0.916904]]2H@?t[?Xt?@j:?`N;?ˋ?7ٿ@FW?i20ٛ@I2o^;2:CYB@yBUGbDN(VDN9yV(F%VP=ٔVNQ-Z>9XIX=ZFyzE~+E~>Q 5 B4?Q 9 B4})M@Y y }ĿQ I?+BI:i:K$B4y9ɮ=.B9*jIBjQiqiqziqJiqiy kDkDkDh kZkZkZh2f:fBfJf[@ @ɢ }z) i)d{ilEcI!A1zA5qA)AaIiIyIO>2Acoustic response timeoutQE- f E- QE- zE) "E- I@:*E- v9VE- 5ZE) a5 @a5 @a5 @a5 @ԁ я,$ F?A0JVH@JHC@J|RٱJϓ; ZAHRS rotation from veh to nav: [[0.350676,0.863771,0.361837],[-0.936408,0.318100,0.148161],[0.012877,-0.390784,0.920392]]JH zq?? W(?[???_?ٿs?iJVH@IJn^;J9CYb@ybVGilInAr2Acoustic response timeout]>]=bDe(VDes9yqC<%<=ٔ::Q->9I=FyE)E>Q 5B4u?Q 9B4)r@YyƿQ I?-BI:i:43B4yɮ+B*jBjiiziJii ksAksAksAh2f:fBfJfY@5@ɢ5")9 =i9)=f99i=`AIAԑAIIO%+>B>BBXGBI@B=BBB;BBiBiBiBiBiCmď5Թ2Acoustic response timeout EE b EE KEE EA "EE 1:*EE ]t9VEE 5ZEA BEE 9;aM 2EE 9;aM JEE /:aM :EE 0:aU я,&F?A2@2@2!ٱ2MNɾ :AHRS rotation from veh to nav: [[0.333914,0.871939,0.358084],[-0.942552,0.304883,0.136537],[0.009878,-0.383105,0.923652]]2H`^??@?b) 3? z?` ;? ʄؿ?i2@I2^;2;C\Yb7@yb@VGbDE)(VDEB9y+<%F=ٔ0;Q->9I=FyED1E>Q 5B4?Q 9B4)@Yy ȿQ I ?=/BI:i:AB4yBɮ6BoE*j)Bj)i)i)zi)Ji1i1 k<k<k<hA k<k<k<hY2fi:fiBfiJfmXX@颍@ɢʇ) i)ļ顙iu]I2Acoustic response timeoutA$AI I1Om5>1a  2Acoustic response timeoutqя, F?A:"@:@:aٱ:hľ FAHRS rotation from veh to nav: [[0.316905,0.880113,0.353514],[-0.948444,0.292106,0.122995],[0.004986,-0.374266,0.927308]]:H.H?`)??@Yޱ?|?8lt?`׿`?i:"@I:5^;::CYN@yN"WG9y}J +?:vMb?}?}Լ}9H?IH?=FyE":E>Q 5B4?Q 9B4)b@Yݺ?Q E:yYQ I?1BI:i:xOB4yQɮU+BQ*jaBjiiiiiziiJii k#@k#@k#@h k\k\k\h2f>:f>Bf@Jfcy@E` ErEE"E*:*E?:VE5ZEa@a@a@a@%@ɢ%hӉ)! % i))MȼIIiMYQIQAX?AY?aAAIIO]U>2Acoustic response timeoutԑB <A < B >B B YGB @B =B B B ;B E я,S.F?A2@2떠@2.9:ٱ2' :AHRS rotation from veh to nav: [[0.301279,0.887856,0.347768],[-0.953536,0.280798,0.109188],[-0.000709,-0.364505,0.931201]]2H'H?`Qi?A?]? ?e?G T׿@f?i2@I2^;29CYB@yBRWGHJAbDv^'VDv9y~K<%~V=ٔs9K?I K?= Fy E /E >Q 5B4`?Q 9%B4)@Y!y%]Q I%?3BI ;i ;\B4y-&Bɮ-5B5xE*jABjAiAiIziIJiIiI kDkDkDha k#^k#^k#^hq2f:fBfJf @ԙ颥@ɢYؖ) i'i)ɿ̼顱iVI]2Acoustic response timeoutAIIO5 >Ep EVExE"Ed:*E9VEe5ZEBE;a2E;aJEC:a:ED:ai I  2Acoustic response timeout я,2rHF?A2@2@2 ;ٱ2g淾 :AHRS rotation from veh to nav: [[0.285390,0.896751,0.338217],[-0.958399,0.268858,0.095852],[-0.004977,-0.351502,0.936174]]2H@C?@.?Y?`3@4??btֿ"?i2@I2^;0YB@yFeXGbDN$'VDN9yV=%VP=ٔZ19XIX=ZFyZE^,E^>`Q 5fB4bD?Q 9fB4b)b@Yhyj]Q Ij?b6BIb:ib=:bjB4yn)Bɮn*BryE*jxBjxixixzixJi|iY kEkEkEhi kCXkCXkCXh2f:fBfJf_@#@ɢw) h)i);ѼilRI!e2Acoustic response timeout=yQAIIO>D 4=D %=bEȞ5jEȧ5rEȂ1E5 z E1 E5 sE1 "E5 l:*E1 VE5 X5ZE1 aE @aE @aE @aE @ԁ -я,UNbF?A2f@2X@24;ٱ2 :AHRS rotation from veh to nav: [[0.268681,0.904743,0.330531],[-0.963212,0.254430,0.086535],[-0.005805,-0.341621,0.939820]]2H2??i'?``H?@/'?@wտ?i2f@I2^;2;CYB@yB>YGDDXX \)\I\i\b2Acoustic response timeout\bDj&VDj9yrRW=%rG=ٔr;Q-v>9tIt=vFyvEzD-Ez>|Q 5B4~?Q 9B4~6)~@Yy}Q I ?~u8BI~g:i~:~xB4y6Bɮ+BE*j)Bj)i)i)zi)Ji)i1 k<k<k<hA kc\kc\kc\hQ2f:fBfJf<@<@ɢ귕) ,i)ְռi@NIQBaBaBe$[GBe1@Be=BaBaBe;BeEԉ]"}hDAT read: Forwarding Delay UpTx time:18:49:05.4458 }pIn parseResponses, set commsState_ = SENDING_ACK_WAITING}2Acoustic response timeoutAԱIIO% >i! I! E% k E% SE% xE! "E% mR:*E% 9VE% e5ZE! BE% q;a- 2E% r;a- JE% l:a- :E% m:a5 Wя,(|F?A >X@>J@>;ٱ>r VAHRS rotation from veh to nav: [[0.250288,0.911691,0.325845],[-0.968169,0.236476,0.082026],[-0.002272,-0.336003,0.941858]]>H?@,?? =D??@b@տ#?i>X@I>{^;>=CY^@ybYGbDj&VDj9yr<%rJ=ٔv1Q-v>9tIt=zFyzEzAEz>9Q 5EB4=E?Q 9EB4=)=@YAyM޵Q IM?=:BI=R:i=:=[B4yQɮU'BQ*jiBjiiiiiziiJiqiq kCkCkCh2f:fBfJf0@]^@ɢe8V)a eI3ii)moڼiiimJԹI  2Acoustic response timeoutA$AI I  OU > 2Acoustic response timeout9 ?%я,F?A2=@28@2դٱ2( :AHRS rotation from veh to nav: [[0.229938,0.916558,0.327185],[-0.973192,0.214813,0.082170],[0.005030,-0.337308,0.941381]]2H n?@qT? ?`d$~? ?@t?@vտ?i2=@I2^;2;CY^@y^ZGy/$?@5^I ?Cl?l?b>d;> 9Zd;O?Zd;?\(\?Yj?yy=>B#B )BYBbD4&VD\9y#=%==ٔOQ->9H?IH?=FyEFE>Q 5B4?Q 9B4)@YͲ?Q E:yIQ I?*=BI:i<:2B4y9BɮBE*j Bj i iziJii k#Ck#Ck#ChD@AzD@AE^ EJE{E"EC#:*Ek9VE:5ZEa@a@a@a@ k#Ck#Ck#Ch2f%;>:f%;>Bf%@Jf%+@e@ɢe)a e5ii)mT߼ii FIAAIIOG>92Acoustic response timeouti AM AAAI BY BY B] ]GB] ȳ@BY BY BY B] ;B] oEi+я,ޯF?A 2@2{}@2Fmٱ2Gڵ >AHRS rotation from veh to nav: [[0.207635,0.918192,0.337360],[-0.978099,0.189769,0.085496],[0.014482,-0.347724,0.937485]]2Hē?a?N?LXJ???`Aֿ ?i2@I2^;27CYFH@yF@[GHJR=bD%%VD%>9y}=%O=ٔüQ->9K?IK?=FyElE>Q 5B4?Q 9B48)`@Yy֜Q I?M?BI;i4:B4yEBɮ!BE*jBjiiziJii kCBkCBkCBh ksXksXksXh2f:fBfJf.@%@ɢ%铦)! %p:i))-"))i-WB1I1m2Acoustic response timeoutyA$AIIO >Eg ETEsE"EC:*E9VEX5ZEBEX;a2EX;aJE:a:E:aԙ  2Acoustic response timeoutQ2я,F?A2@2@2LǼٱ2-˼ :AHRS rotation from veh to nav: [[0.183444,0.918552,0.350159],[-0.982730,0.162555,0.088420],[0.024298,-0.360332,0.932508]]2H@{?@d?`i?r ?`??׿?i2@I2^;2;CYB@yB[GPbD %VD #9y}=%}J=ٔEǼQ->9H?IH?=FyEyE>Q 5B4?Q 9B4)@YyQ I?|ABIz ;i ;B4yHBɮBE*jBjiiziJii kYkYkYh kYkYkYh2f:fBfJf@%@ɢ% )! -?i))-))i-?1I1AIIO&>m2Acoustic response timeoutD=D4=Ed EIEE"E9:*Ec9VE5ZEa@a@a@a@! >}8я,=F?A2@2@2 ٱ2~ľ :AHRS rotation from veh to nav: [[0.158878,0.917468,0.364705],[-0.986724,0.134962,0.090335],[0.033658,-0.374216,0.926731]]2HV?@[?TW??lF?@+ ?;?@&׿ ǧ?i2@I2s^;2:CYBk@yF\GbDNy%VDN9yVe=%VX=ٔZʼQ-Z>9XIX=^Fb2Acoustic response timeouty^EfXEf>hQ 5jB4jq?Q 9nB4j)jK@Ylyn)BBBo_GB@BBBB];B0EQ2Acoustic response timeoutԁ E f E RE E "E I@:*E 9VE ~5ZE BE R;a 2E R;a JE $:a :E &:a ̥>я,oF?Af4@fu/@f9(ٱf˾ AHRS rotation from veh to nav: [[0.136609,0.915316,0.378859],[-0.989774,0.110264,0.090497],[0.041059,-0.387347,0.921019]]fHh|?EJ?7??:B:?@*?`?Jؿ`x?if4@If]^;f9CY@yK]GYbD}*%VD}9y)=%:=ٔQ->9K?IK?=FyE u7m>y nG=MrAi9MrAYA2Acoustic response timeoutcAE>IQ 5UB4M?Q 9UB4MI')Mb@YQyUQ I]?MSFBIM:iM:MsB4yaɮeBa*jyBjyiiԉziJii kSVkSVkSVh kSVkSVkSVh)2f9:f9Bf9Jf=@}F@ɢ}X)y }Ji)iz:IԱA II)O>  2Acoustic response timeoutAEя,,IF?Abᨓ@bԣ@bp<ٱb=Ѿ jAHRS rotation from veh to nav: [[0.119694,0.913227,0.389473],[-0.991745,0.091809,0.089515],[0.045990,-0.396973,0.916677]]bHF? (9?!? `@̀?m?`?@hٿlU?ibᨓ@IbF^;`Yr@yvv]Gz=z=yu?A`"?X9v?uf&?u=uuBuB uCB)uCBqYu.BbD$VD9y1<%M=ٔJQ->9I=FyEAE>9Q 5=B4n?Q 9EB4Z-)@YE*\?Q EEv:yEPQ IE?UGBI:f>Bf@Jfaj@Ed EZEE"E9:*Ea9VE5ZEa@a@a@a@,@ɢw-) Pi)i8IAAAIQIaIyO<>2Acoustic response timeoutqB B B daGB F@B =B B B ;B EBBBBBCx4ԙ Kя,c&1F?A2E1@28,@2!Mٱ2m־ :AHRS rotation from veh to nav: [[0.105180,0.910647,0.399573],[-0.993185,0.075907,0.088441],[0.050208,-0.406152,0.912425]]2H?$?@?+ n??ߴ?eٿ@2?i2E1@I2^;2;CY^@y^G^Gtt t)tItittbD~$VD~9y K\=% T=ٔd3Q->9I=FyEE>!Q 5-B4%w!?Q 9-B4%4)%@Y)y5Q I5?%HBI%-:i%:%B4y=dBɮ=B=E*jQBjQiYiYziYJiYiY kXkXkXhq kZkZkZh2f:fBfJf_@颵5@ɢyq) Si)项i86I=2Acoustic response timeoutqAIIO5 >ԡEl EKEtE"EV:*E]t9VE5ZEBEBx;a2EDx;aJE/:a:E0:a 2Acoustic response timeout ȟRя,KF?A2c’@2V@2\ٱ2aھ :AHRS rotation from veh to nav: [[0.091710,0.908413,0.407890],[-0.994326,0.061369,0.086889],[0.053899,-0.413544,0.908887]]2HPz???k?Z>? ? wڿ?i2c’@I2$^;0YB@yB^GbDN<$VDNt9yV!k<%VQ=ٔVQ-V>9XIX=ZFyZE^ E^>`Q 5fB4be+?Q 9fB4b;<)ba@YdyfQ Ij?bIBIb4:ib:bB4ylɮnB9*jQBjQiQiQziQJiyi kZkZkZh2f:fBfJf/@]@ɢٓ) [i)i4IA!I1IAO}>M2Acoustic response timeoutE EQEnE"E:*Ev9VEJ5ZEa@a@a@a@) I >) >pXя,dF?A6Y@6T@6Mjٱ6ݾ >AHRS rotation from veh to nav: [[0.078964,0.906551,0.414644],[-0.995237,0.047836,0.084945],[0.057172,-0.419376,0.906011]]6H@7?w??~??E? ڿ ?i6Y@I6p^;69CYFw@yF)_GR2Acoustic response timeoutAbD #VD R9y=%:=ٔQ->9I=FyE'E>Q 5C4I6?Q 9C4D)9@Yy7Q I?,KBIs:i':%C4ygBɮBE*jBjiiziJii kWkWkWh) kWkWkWhA2fQ:fQBfQJfU@m@ɢmQǼ)q u`iq)uoyyi}2yIQBM>BIBMbGBM:@BM=BIBIBM ;BMEAIIO5.>yU2Acoustic response timeoutԩ E g E VE pE "E C:*E 9VE 5ZE BE X;a 2E X;a JE C:a :E D:a _я,3~F?A0Z*@Z@ZvxٱZ߾ vAHRS rotation from veh to nav: [[0.066870,0.905594,0.418841],[-0.995913,0.035041,0.083238],[0.060704,-0.422695,0.904237]]ZH d??I??O??p ۿ?iZ*@IZگ^;Z:CY@y ?_GbD%#VD%$9y];%e?=ٔm&Q-}>9I=FyEE>Q 55C4@?Q 9=C4EM)!@YAyEQ IM?LBIB-  Powering down I ) E 2Acoustic response timeouteя,-F?A2@2x@2ߡٱ2u :AHRS rotation from veh to nav: [[0.055830,0.905429,0.420810],[-0.996309,0.022997,0.082703],[0.065204,-0.423874,0.903371]]2HΕ?F?? ?+?@3?@ ۿ`j?i2@I2^;2;CYF@yF`GHHly}"~j?J +Mb?}SC?}H}@=y y9}uV?ktDl?Y}r?y} }O >}:By }B)}LByY}pBbD6#VD9y =%Y=ٔEQ->9I=FyĬEE>Q 5C4GA?Q 9C44R)b@Y?Q E:yƿQ I?RMBIe:i:;#C4ysBɮBE*jBjiiziJii k3@k3@k3@h kYkYkYh2f- >:f- >Bf-'ES@Jf-m?s5NUpdating rudder angle 6.875493 arcdeg bEЙ5jEJ5rEh2Ea EUEE"E%.:*EP9VEc5ZEa@a@a@a@9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@ɢhϽ) gi) i=/I I IIYe>e>O}7>2Acoustic response timeout1B >B B dGB ѹ@B B B B H;B "Ea nlя,oF?A2I@2C@2ٱ2 :AHRS rotation from veh to nav: [[0.045777,0.905430,0.422019],[-0.996452,0.011520,0.083372],[0.070626,-0.424339,0.902745]]2H`p?I?]?@?W?? ](ۿI?i2I@I2X^;2=CYF@yF`GJ=J=bDR"VDR9yV^%Z[=ٔZnQ-Z>9\I\=^Fy^ƬEbܼEb>dQ 5jC4fmA?Q 9jC4fPW)f@YhyjǿQ Ij?fNBIf :if:fE0C4ypɮrBp*jxBjx9i|iyziyJiyiy k3Zk3Zk3Zh kCZkCZkCZh2f:fBfJf?^B*** querying acoustic contact ***XY@2Acoustic response timeoutɢҽ)! %Yri!)%v !!i%-)I)IIOE=aEw EEuE"E}:*EVE5ZEBE;a2E;aJE:a:E:aԙ 2Acoustic response timeout rя,IF?A2@2@2#ٱ2Zs :AHRS rotation from veh to nav: [[0.036963,0.906009,0.421641],[-0.996447,0.001462,0.084211],[0.075680,-0.423256,0.902844]]2H`??@,?W?ߎ?_? ۿ?i2@I2[^;2:CY^_@y^aGbDj"VDj9yr>F=%rG=ٔv&JQ-v>9tIt=zFyzɬEz@Ez>|Q 5C4~mA?Q 9C4~\)~g@Y y ɿQ I ?~NBI~:i~:~>C4yɮB*j)Bj)i)i)zi1Ji1i1 k[k[k[hI k\k\k\hY2fi:fiBfiJfm ?颍'@ɢfԽ) =vi)顑i49,ԙIA-U?A-`?IIO=-2Acoustic response timeoutD%=DR=Eb EVE|E"E1:*E9VEם5ZEa@a@a@a@! yя,$F?AB2Acoustic response timeoutf@f@fYٱfFV߾ nAHRS rotation from veh to nav: [[0.029181,0.906952,0.420221],[-0.996432,-0.006911,0.084110],[0.079188,-0.421176,0.903515]]fH`? ? ?`1O|B?E?ڿ?if@If^;dYM@ymaGii i)iIiiiibD8"VD9y%>=ٔYQ->9I=FyˬEoE>Q 5C4CA?Q 9C4b)8@Yy)ʿQ I?OBI:i:MC4yɮB*jBjiiziJi!i! kWkWkWhyB>BBxfGBg@B=BBB*;BE2f:fBfJf;(?@ɢν) i)Mi*IIqIO>Q52Acoustic response timeoutyԙ E d E SE zE "E 9:*E 9VE 5ZE BE F;a 2E F;a JE l:a :E m:a я,FF?AɰRʃ@R~@RvٱR|޾ ZAHRS rotation from veh to nav: [[0.021760,0.907582,0.419310],[-0.996540,-0.013962,0.081935],[0.080217,-0.419642,0.904138]]RH7H? ???? lڿ?iRʃ@IR^;R;CY@yibGAqbDE!VDEe9yi=%:=ٔQ->9I=FyάEuE>Q 5C4@?Q 9C4h)@Yy .˿Q I ?PBI&;i2;(]C4y1ɮ5B1*jIBjiiiiiziiJiqiq k3<k3<k3<h2Acoustic response timeout kakakah2f:fBfJfJ?%@ɢ%Bܽ)) -i))-:T))i5e)1I9ԡAqIIOc>E 2Acoustic response timeout)я,@F?ABK<@B>7@BUٱBIzܾ JAHRS rotation from veh to nav: [[0.013063,0.909062,0.416456],[-0.996775,-0.021143,0.077417],[0.079182,-0.416124,0.905854]]BH?@ ?6? rѳ?@EE?ơڿ?iBK<@IBօ^;B:CYV޸@yVYcGy7A`?S㥛ĿMbX9ĿV?$! 9kt?EпV-ͿY 0?ymB uB)BYBbD!VDL9yր=%X=ٔ4;Q->9I=FyЬEE> Q 5C4 6?Q 9C4 o) @YE?Q E:yQ I? QBI  ;i . ; ,jC4y%Bɮ%B!*j9Bj9i9i9zi9JiAiA kHkHkHhY kSakSakSahiDyzD}AA2fH>:fH>BfGo@JfY@@ɢ) ԃi)'dig'IEf EMEE"EI@:*E9VE5ZEa@a@a@a@AI IOU2>92Acoustic response timeoutB1 A5 <B= >B= #CB= hGB= @B= =B9 B= (DB= ;B= ̖Ei Tя,3F?A J@Jܖ@JٱJ}پ RAHRS rotation from veh to nav: [[0.002052,0.911191,0.411980],[-0.997023,-0.029892,0.071081],[0.077083,-0.410899,0.908416]]JH`?y(?@]?"@^2??@,Lڿ?iJ@IJ5^;HY^@y^cGbD%^!VD%"9ye<%eS=ٔm};Q-m>9iIq=uFyuӬEuVEu>yQ 5C4}+?Q 9C4}v)}@Yy3Q I?}SBI} :i}$:}wC4yBɮBE*jBjiiziJii kHkHkHh kbkbkbh2f:fBfJf<@=2Acoustic response timeout@ɢ() i)`i#%IqAAIIIYO>>Eg EOEqE"EC:*E9VE5ZEBEX;a2EX;aJEM:a:EO:aԩ_GrA9rAYA  2Acoustic response timeout;я,mMF?A>w@>r@P>&ᙽٱ>_Ӿ ~AHRS rotation from veh to nav: [[-0.010873,0.915376,0.402452],[-0.997119,-0.040139,0.064358],[0.075066,-0.400593,0.913176]]>HD`J?`?f"`y?7?Qٿ8?i>w@I>φ^;>;CYe@ye*dG==bD!VD9y-t<%5%=ٔ5;Q-5>99I9==Fy=֬E=gּE=>AQ 5MC4E?Q 9UC4E)E@YQyUQ IU?ETBIE:iEg:EC4yYɮ]Ba*jqBjqiqiyziyJiyiy kS[kS[kS[h kc[kc[kc[h2f:fBfJfV@k@ɢ>) i)L#iŹ#IM2Acoustic response timeout AQIYIqO>EM c EM REM oEI "EM g5:*EM 9VEM 5ZEI aU @aU @aU @aU @! =fя,lgF?A2 @2@2ٱ2É̾ :AHRS rotation from veh to nav: [[-0.025306,0.920231,0.390556],[-0.996925,-0.052213,0.058430],[0.074161,-0.387876,0.918723]]2H陿@r?@??:?ؿ .f?i2 @I2^;0 @)BvAB^@@DFvAiFTIDDIHiJwA J\H)HH LNPLLR2Acoustic response timeoutTVvAIVL)TiT)XIZvAZHZeF X^C^lA^i\\i``)` `I`Y`Yj;@yjAfGbDv VDv9yzC6>%~=|ٔF;Q-?9I = Fy جE EE ?Q 5C4?Q 9C4")z@YyQ I?UBITB"CBiGBC@BBBB=;BEBBBBBC¾-5j@ɢ) i)&i(! I )AyIIIiIpAOG>QU2Acoustic response timeoutԁ Mя,EF?AEf EPE|E"EI@:*E?9VEם5ZEBER;a&2ER;a&JE:a*:E:a.aE|@Ew@EaٱE8ž mAHRS rotation from veh to nav: [[-0.041415,0.924753,0.378306],[-0.996324,-0.066642,0.053832],[0.074992,-0.374686,0.924114]]EH`L4?`,6?`pӏ?2?`׿@W?iE|@IEǎ^;AY@y5gGyCl?91I1=5Fy5۬E5wE=>9Q 5EC4=?Q 9MC4= )=_@YMF?Q EM6:yMQ IM?=WBI= ;i=C ;=-C4y]Bɮ]ֳB]E*jiBjqiqiqziqJiqiqԉ ks@ks@ks@h2f>:f>Bf@Jfxj@@ɢ ) Ji)0;*i+ZIA5$AIAIQO|>Ա  2Acoustic response timeout*xя,u"F?Aɰ2?@22@2Wٱ2徾 >AHRS rotation from veh to nav: [[-0.059563,0.927951,0.367913],[-0.995232,-0.083722,0.050042],[0.077239,-0.363178,0.928513]]2H`ű? ? n ?@ų?`O>׿@`?i2?@I2^;0Y=V@y=gGIMAbDU VDU9ye^=%e=ٔmsQ-m?9mH?ImH?=mFyuݬEu5nEu?yQ 5C4}E?Q 9C4}:)}r@YyQ I?}UYBI}:i}:}$C4yBɮسB*jBjiiziJiiԹ k@k@k@h2f:fBfJf\j@5@ɢ=<$)9 =ύi9)=u!-9AiE/IIQEg EZEuE"EC:*Ea9VE5ZEa%@a%@a%@a%@A%AI)I9Ou6>2Acoustic response timeoutAAAAB>BBTlGB+@BBB'DB<;BE9 fя, F?A2=@28@2#ٱ2$K :AHRS rotation from veh to nav: [[-0.080125,0.928511,0.362556],[-0.993564,-0.103610,0.045768],[0.080060,-0.356555,0.930838]]2H `]?`4?G (n?~?ֿk?i2=@I2^;29CY^@y^UiGtv< t)tIxixxbDVDV9y v=%P=ٔQ->9K?IK?=FyEWE%>!Q 5-C4%?Q 95C4%)%@Y1y5NQ I5?%$[BI%:i%:%C4yɮ³B*jBjiiziJii k%k%k%h  k;k;k;h!2f1:f1Bf1Jf5{i@M@ɢU]2Acoustic response timeout)Y e(ia)ey0aaieiiIiA}pAzAyAIIO%>AE EPEmE"E*E?9VE5ZEBEX;a2EX;aJEa:Eai 2Acoustic response timeoutԙ xя,F?A2I@29yVS=%VP=ٔZ1Q-Z>9\I\=^Fy^E^rEb>`Q 5fC4b?Q 9fC4b)b@Yhyj+Q Ij?b\BIbL;ibY;bC4ynBɮrBrƺE*jxBjxi|i|zi|Ji|i| k"k"k"h kcGkcGkcGh!2f1:f1Bf1Jf5lUh@U'@ɢUn)Y ]iY)];4YYi]aIaiAIIO>e2Acoustic response timeoutԙDm=DibE5jEȆ5rE2Ek EQExE"EmR:*Ev9VEe5ZEa@a@a@a@ я,F?A6@6@6ɻٱ6?r BAHRS rotation from veh to nav: [[-0.128310,0.923422,0.361702],[-0.988024,-0.150542,0.033842],[0.085702,-0.353028,0.931679]]6Htlૌ?"&? Dÿ`S? ?ֿP?i6@I6^;4YJ@yJkGb2Acoustic response timeout~=~=bD +VD 9yMб=%MA=ٔM6ۻQ-U>9QIY=]Fy]EeuEe>iQ 5uC4m?Q 9}C4m9)m1@Yyy}gQ I?m^BIm+;imY<;mnC4yɮB*jBjiiziJii k+k+k+h2f:fBfJfzf@B}>ByB}oGB}d@ByByB}(DB}n;B}E@ɢl) ߏi)b8i IA9IIIYO:>uIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERu2Acoustic response timeout) E q E SE zE "E 2h:*E 9VE 5ZE BE ͋;a 2E ΋;a JE l:a :E m:a я,xF?Aي@ԑ@Ⱥٱ~ AHRS rotation from veh to nav: [[-0.153971,0.918308,0.364695],[-0.984137,-0.175451,0.026294],[0.088132,-0.354861,0.930756]]H Sÿ@b?*W? ~,uƿ@? ؏? ֿ?iي@I^;Y$@yKlGy )\(?kt?Mb? G?  0= <  9 Gz?S㥛?I +Y ?y $> 94 B  ) B Y BbD%VD%9y5=%5/=ٔ5#Q-=>99I9==Fy=EEdEE>IQQ 5UC4U?Q 9]C4U)U@Y]?Q E](:y]пQ I]?UAaBIU:iU:UC4yiɮmBi*jyBjyiiziJii kC&kC&kC&h kS&kS&kS&h2f>:f>Bf!?Jf@pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoute@ɢe)i mii)mԡ } zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY} 2Acoustic response timeoutoƺя,jF?A2 @2@2 0ٱ2d :AHRS rotation from veh to nav: [[-0.179057,0.911866,0.369376],[-0.979686,-0.199717,0.018127],[0.090301,-0.358627,0.929103]]2HXƿ.?ܣ? YWɿ? ?`ֿ`6?i2 @I2^;0@YF@yFDnGbDjVD9y<>%f=ٔ@ȻQ->9I=FyEE>Q 5C4Z?Q 9C4t)@Yy-ԿQ I?cBI+V;iYW;5C4y Bɮ B кE*jBj!i!i!zi!Ji!i!D1zD5@AE=d E=NE=lE9"E=9:*E=҆9VE=5ZE9aM@aM@aM@aM@ k#k#k#hQ2fa:faBfaJfewء@颅@ɢ) i)w?顉i?.IԩIIO!>2Acoustic response timeoutBqAu<B}>ByB}rGB}@@ByByByB};B}ۖE ̺я,E6F?A2;@26@2~ٱ2D :AHRS rotation from veh to nav: [[-0.203378,0.904470,0.374929],[-0.974674,-0.223396,0.010209],[0.092991,-0.363357,0.926998]]2HKʿk?`?@0`<̿4?>η?>A׿?i2;@I2V^;0YF@yFcoGbDNVDN9yVh=%V^=ٔZ>Q-Z>9XIX=^Fy^E^犽Eb>`Q 5fD4b?Q 9fD4b)bU@Yhyje׿Q Ij?bdBIb:ib:b D4lypɮrBp*jxBj|i|i|zi|Jii k k k h k$k$k$h!2f1:f1Bf1Jf5@U@ɢUA)Y ]ˑiY)]CCaaie\aIi=2Acoustic response timeoutIYIiO= EMh EMKEMzEI"EMG:*EM]t9VEM5ZEIBEM/_;aU2EM1_;aUJEM/:a]:EM0:a]1i AI  2Acoustic response timeouta MӺя,u PF?A6z@6u@6!Žٱ6$¾ >AHRS rotation from veh to nav: [[-0.226195,0.896047,0.382016],[-0.969329,-0.245753,0.002483],[0.096107,-0.369738,0.924152]]6H̿i?`r?tϿWd?s? ɩ׿৒?i6z@I6^;69`I`=bFybEbmEf>dQ 5jD4f*?Q 9nD4f)f"@YlynsڿQ In?ffBIfe;ifP;f2D4yvBɮv{BvٺE*j|BjiiziJii k%k%k%h k%k%k%h)92fA:fABfAJfE@e\@ɢe)a eia)m GiiimdqIqAzAqAIAIQO=iM2Acoustic response timeoutԑDQDU=E]e E]QE]EY"E]<:*E]v9VE]5ZEYae@ae@ae@ae@ jںя,iF?A2pˇ@2cƎ@2<˽ٱ2_'ƾ >AHRS rotation from veh to nav: [[-0.246835,0.887820,0.388392],[-0.963980,-0.265933,-0.004744],[0.099074,-0.375573,0.921482]]2HEϿi?h? ѿ|ns \?`b ؿ@|?i2pˇ@I2^;2;CYJ7@yJrGr2Acoustic response timeout11 1)1I1i11bDM\VDMJ9ye!=%e@=ٔebQ-m>9iIi=mFyuEuMEu>Q 5D4?Q 9D4)@Yy;ݿQ I?iBI;i;ԙ!D4yɮgB*jBjiiziJii k3)k3)k3)h kcAkcAkcAh2f:fBfJfW@B>BBvGB@BBBB;BE颵@ɢJ) 摿i)K项i&II1IIO=2Acoustic response timeout Eq  Eu bEu Eq "Eq *Eu 9VEu 5ZEq BEu `L;a 2Eu cL;a JEu O;a :Eu P;a ! ! %я,vރF?AH\xs9YA))2@-@Ͻٱ6ʾ AHRS rotation from veh to nav: [[-0.264719,0.879362,0.395786],[-0.958981,-0.283207,-0.012175],[0.101383,-0.382774,0.918262]]H 'п#? T? ҿB? ^ؿgb?i2@I^;Y@y!sGbDVD9y G=% @=ٔlQ->9I=FyE{3E>!Q 5-D4%?Q 9-D4%)%@Y1y5߿Q I5?%>kBI%n;i%H;%/D4y=ƿBɮ=kBEE*jYBjYiYiYziYJiaia k%k%k%hq kS:kS:kS:h2f:fBfJf@5@ɢ5)9 =Fi9)=?O99i= AIA2Acoustic response timeout!IIOF>Iy  2Acoustic response timeoutя,F?AB!@B@B:ӽٱB; NAHRS rotation from veh to nav: [[-0.281541,0.871181,0.402216],[-0.954022,-0.299068,-0.020024],[0.102846,-0.389360,0.915326]]BHҿ`??`X#ӿ$T?@Hؿ@YJ?iB!@IBȮ^;B9CY^n@y^AuGbDMVDM9y >%P=ٔ8uQ->9I=FyE7E>Q 5D4?Q 9D4w)@YyQ I?9mBIU;ir;=D4yɮPB*jBjiizi Ji i E} EIEE"E݉:*Ec9VE5ZEa%@a-@a-@a-@ k!k!k!h92fI:fIBfIJfM}@QmA@ɢmD)q uOiq)uRqyi}# yIA]?AY?IIO#>ԉiAIA2Acoustic response timeoutA@AA?AB>BBzGBI@B=BB'DB;BEBBBBBC 5ԩe >e > >я,F?A6?@62 @6PԽٱ62о BAHRS rotation from veh to nav: [[-0.298349,0.863886,0.405819],[-0.948830,-0.314545,-0.027972],[0.103484,-0.393398,0.913526]]6H@'ӿ@?@?`\!Կ }?@p-ٿ;?i6?@I6=^;4Y I@y OvGbD4VD9yU=%J=ٔ`ϺQ->9I=FyE2E>)Q 55D4-?Q 95D4-*)-@Y1y5BQ I=?-QoBI-7;i-3;-8LD4yEÿBɮE?BA]2Acoustic response timeout*jiBjiiiiiziiJiqiq k k k h k k k h2f:fBfJfZ@Ա@ɢ+)  i)kVi | IIYIIOe>E-b E-JE-rE)"E-1:*E-k9VE-5ZE)BE-9;a52E-9;a=JE-:a=:E-:a=  2Acoustic response timeout9 |&я,bhF?Aɰ2=p@20k@2Խٱ2Ͼ :AHRS rotation from veh to nav: [[-0.316928,0.857833,0.404572],[-0.942752,-0.331612,-0.035389],[0.103803,-0.392626,0.913821]]2HHԿ _s??@+9տ|Ӓ?@ ٿ`>?i2=p@I2^;2;C BC)BvABj9I=FyEIE>Q 5D4B?Q 9D4w7)@YyQ I?GqBI;i;YD4yϿBɮ7BE*jBjiiziJii k$k$k$h kCDkCDkCDh2f!:f!Bf!Jf%@颅@ɢ ) Ni)̌Z顉iIIQIiO=m=m<u2Acoustic response timeout9E5] E5NE5vE1"E5:*E5҆9VE5-5ZE1aE@aE@aE@aE@i Qя,GF?A BeDŽ@BX‹@B(ֽٱB ; RAHRS rotation from veh to nav: [[-0.336270,0.852173,0.400903],[-0.935963,-0.349586,-0.041978],[0.104378,-0.389347,0.915158]]BHsտ`E?f?i_ֿ@~?`ؿH?iBeDŽ@IB^;@fhDAT read: Forwarding Delay UpTx time:18:49:19.2958 fpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGj2Acoustic response timeoutY@yyGbDVD<9yq=B>B CB}GB%@B=BB&DB;BE%H=ٔ6Q->9I=FyE0ME>Q 5D4X?Q 9D4D)y@YybQ I?YsBI;i ;/hD4yɮB*jBji!i!zi!Ji!i! k(k(k(h9 kSAkSAkSAhI2fY:fYBfYJf]@}@ɢ}Z )y }fi){a^顁i<I iIIO>ԙu2Acoustic response timeout EU a EU KEU wEQ "EU %.:*EU ]t9VEU ɕ5ZEQ BEU M3;a} 2EU P3;a} JEU /:a :EU 0:a :я,k'F?ALj%@j @jdؽٱj*̾ vAHRS rotation from veh to nav: [[-0.354702,0.846295,0.397457],[-0.928994,-0.367025,-0.047565],[0.105623,-0.386106,0.916387]]jHpֿ@?o?QW}׿`Z ?@ؿ` S?ij%@Ij^;j:CY@yzGEonly read 0 of 1 data item for water mass range. Device response is::WD, -24.6.00 aE@aE aE@aE aE@aE aE@aE bDMVDM 9y]_d=%]@=ٔedBQ-e>9aIi=mFymEmU@Eu>qQ 5}D4uK?Q 9}D4u$R)ur@Q A+:YQ E:yQ I?uzuBIu:iu)>u#tD4y׿BɮBE*jBjiiziJii k%k%k%h kBkBkBh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颕@ɢG ) i)b顙iěI2Acoustic response timeoutAIIO]U>! } 2Acoustic response timeoutcя,XF?A,,RX@RK@RI]޽ٱR߻˾ ZAHRS rotation from veh to nav: [[-0.371961,0.839196,0.396730],[-0.921901,-0.383872,-0.052348],[0.108363,-0.385218,0.916441]]RH7׿`?d?@7Zؿbͪ ?`hؿ|S?iRX@IR_;R;CYb@yb|Gxx x)xIx|i||bD VD 9y*>%a=ٔ% Q-%>9!I!=%Fy-E-SE->1Q 5=D45D?Q 9=D45])5R@Q AE :YAQ EE9yEKQ IE?5NwBI5 ;i5hI?5r|D4yIɮMBI*jaBjaiaiaziiJiiii kc&kc&kc&h kEkEkEhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@ɢ7)d i)iՔbE}Й5jE}Й5rE}z2E\ ELEyE"E:*E|9VE5ZEa @a @a @a @Iq)A$AIIOM0>2Acoustic response timeoutQBA4=B>BCBGBR@B=BB%DB;BƖEԁ я,8F?A2@2@2%[ٱ2Pξ :AHRS rotation from veh to nav: [[-0.388204,0.829522,0.401485],[-0.914653,-0.400093,-0.057750],[0.112727,-0.389639,0.914043]]2H@Vؿr??D !ٿj ۼ? ؿ??i2@I2^;29CYFm@yF}GbDfVDf9ynm=%rN=ٔr5Q-r>9vH?IvH?=vFyvEv9Ev>xQ 5~D4z~u?Q 9D4z!j)zV@Q A9YQ E9yQ I?zLyBIzi ;iz^?z̃D4y ɮB*j!Bj!i)i)zi)Ji)i) ks*ks*ks*hA kcBkcBkcBhQY颅@ɢè) ɕi)顉i5*IAX?AI?2Acoustic response timeoutA II!OU>ԉE i E ME pE "E ,K:*E 9VE 5ZE BE te;a2E ve;aJE :a:E :aԱM 2Acoustic response timeout tя,RF?A2 s@2n@2Ùٱ2QҾ :AHRS rotation from veh to nav: [[-0.402842,0.818919,0.408766],[-0.907671,-0.414872,-0.063364],[0.117696,-0.396550,0.910437]]2H@)ٿ4?7)? Cڿ 8L!?@aٿM"?i2 s@I2^;2;CYB@yFGbD=&VD=Z9y=%?=ٔK?Q->9I=Fy EE>ԹQ 5D4f?Q 9D4w)@Q A9YQ E9yQ I?t{BI4;iI?>D4y߿BɮBE*jBjiiziJii kEkEkEh  kSZkSZkSZhEB@ɢE)A EiA)IIIiMY QIQAaIqIO!>2Acoustic response timeoutipAIEf EKE|E"EI@:*E]t9VEם5ZEa%@a%@a%@a%@!9 ˟я,lF?A:@:@: ٱ:Z־ FAHRS rotation from veh to nav: [[-0.414925,0.808772,0.416804],[-0.901602,-0.427045,-0.068893],[0.122275,-0.404377,0.906382]]:H@ ڿ v??@TۿgM?Nٿ?i:@I:^;::CYNn@yN*GPRa=2Acoustic response timeoutbD%VD%9Be>BeCBeGBe@BaBeDBe$DBe;BeEy==%F=ٔf7Q->9I=Fy EEE>Q 5D4cX?Q 9D4n)@Q A9YQ Ej9yQ I?}BI:iz@DD4y ɮ زB *j!Bj!i)i)zi)Ji)i) k3Yk3Yk3YhA kCYkCYkCYhQ}@ɢ}})y i)顁i IA"5AoAzAmAi2Acoustic response timeoutAAII OM >E5 e E5 XE5 sE1 "E5 <:*E5 9VE5 X5ZE1 BE5 `L;ae 2E5 cL;ae JE5 :am :E5 :au Ա !я,fF?AN}@Np@NJ/ٱNھ VAHRS rotation from veh to nav: [[-0.424304,0.800251,0.423750],[-0.896736,-0.436364,-0.073835],[0.125823,-0.411320,0.902765]]NH'ۿ??@bۿ`沿@?Sڿr?iN}@IN1_;LYb@ybGaa aa aa aa y\(\?Cl绿~jt?:?;߽< 9oʡ?K7333333?Y-?yI >BljB B)kBY8BbD VD9yM+=%MC=ٔU Q-U>9]K?I]K?=]Fy]E]!мEe>aQ 5mD4eL?Q 9uD4qe)e5AQ A}T:Y}4?Q E}:y}Q I}?e~BIeB;ieA;eD4yܿBɮB*jBjiiziJii kcWkcWkcWh kcWkcWkcWh2f>:f>Bf.g@Jfw 2Acoustic response timeout/'я,)?F?A05b@5]@5a ٱ5=ݾ eAHRS rotation from veh to nav: [[-0.432244,0.793739,0.427954],[-0.892680,-0.443805,-0.078489],[0.127628,-0.415952,0.900386]]5HۿNf?c?ԐLgܿ V?ڿ?i5b@I54^;5=CYu$@yuԁGbDVD9y=%T=ٔQ->9I=FyEUE>Eg EVEeE"EC:*E9VEq5ZEa@a@a@a@Q 5D4A?Q 9D4.)AYyvQ I?BIH;iߣ;XD4yBɮB E*jBjiiziJii! kZkZkZh12f:fBfJf#8?H@ɢj쩽) i) i b I1ԉ%2Acoustic response timeoutUcAYA]@ABe>BeCBelGBe[@Be=BaBaBaBeEA I I OM >-я,LF?A>Y+@>L&@>ٱ>N ݾ ZAHRS rotation from veh to nav: [[-0.438294,0.791115,0.426656],[-0.889747,-0.449189,-0.081120],[0.127474,-0.415171,0.900769]]>H ܿP?VN?@x@ܿIĴQ?`'ڿ?i>Y+@I>^;>:C`Yf*@yfuGbDrMVDr9yz=%zX=ٔ~9Q-~>9AII=MFyMEMEM>QQ 5]D4U6?Q 9eD4Uѕ)UAYayeQ Ie?UOBIUU;iUr;UD4yiɮmBq*jBjiiziJii k3]k3]k3]h2f:fBfJfl7?@ɢ[t) Qi)   i[I!))112Acoustic response timeoutGEc EnE~E"Eg5:*E:VE5ZEBE?;a2E?;aJEJ;a:EJ;a 5UԿ99Y=AAII)Oe>i) I- A- 2Acoustic response timeoutA 4я,F?A2N@2A@2ٱ2 ۾ >AHRS rotation from veh to nav: [[-0.443187,0.790729,0.422296],[-0.887609,-0.453003,-0.083292],[0.125440,-0.411748,0.902623]]2H`+]ܿ`M??KgܿRh?Zڿ J?i2N@I2^;2;CYF@yFGbDRVDRT9yZ=%ZO=ٔZ;Q-Z>9\I\=^FybEbcEb>dQ 5jD4f\+?Q 9jD4fi)f\AYhyjSQ In?fЀBIf:if:fjD4yrBɮrBrE*j|Bj|i|i|zi|Jii kDkDkDh kYkYkYh)2f9:f9Bf9Jf=U7?@ɢް) i)i|WIAIQIaIqO>2Acoustic response timeoutqDD<E^ ELEuE"EC#:*E|9VE5ZEa@a@a@a@ԡ :я,F?A6 ؀@6҇@6ٱ6V׾ >AHRS rotation from veh to nav: [[-0.447594,0.791990,0.415226],[-0.885789,-0.456344,-0.084422],[0.122625,-0.405589,0.905793]]6H`ܿ`W?? cX4ݿ@ Sd?,ٿA?i6 ؀@I6f^;4YJ@yJG`` `)`I`i``bDjwVDj9r2Acoustic response timeoutyvhy=%vF=ٔz;Q-z>9xIx=~Fy~EB>BBGB@BBBB;BEBCBCBCBBC5%<E%>)Q 55D4- ?Q 95D4-l)-/AY1y5Q I=?-ZBI-G ;i-e ;-D4yAɮEBA*jYBjYiYiYziaJiaia kTkTkTyhy2f:fBfJf8?颭!@ɢ[) i)顱ioIA)I9IQO>ԡ2Acoustic response timeoutE ` E ME yE "E *:*E 9VE 5ZE BE -;aM 2E -;aU JE :a] :E :ae y Aя,F?Aɰ4<2S@2F@2ٱ20Ҿ :AHRS rotation from veh to nav: [[-0.452449,0.793657,0.406693],[-0.883649,-0.460468,-0.084467],[0.120231,-0.397590,0.909652]]2Hܿe?`@?`FNxݿ`@yǾ?rٿ`?i2S@I2^;29I=FyE>QE>Q 5D4?Q 9D4)AYr?Q E`:yQ I?%BI:i:D4yBɮtB*jBjiiziJii k9k9k9h kTkTkTh2fc1>:fc1>Bf:N@Jf?%@ɢ%)! -i)))))i-9gQI2Acoustic response timeoutAIIIOE/>ԁԩ 2Acoustic response timeout Gя,!F?A2c@2]@2:ٱ2ξ :AHRS rotation from veh to nav: [[-0.460391,0.793181,0.398628],[-0.879664,-0.467976,-0.084792],[0.119293,-0.389696,0.913185]]2H wݿa?`?5&`Pݿ鴵?`ؿ8?i2c@I2 _;0YF@yF(GbD=VD=8y>%J=ٔ;Q->9I=FyE)E>Q 5D4?Q 9D4{)AYyWQ I?BI:i:D4DzDEb EEE"E1:*EVE5ZEa@a@a@a@yBɮcBE*jBjiiziJii kS9kS9kS9h kcVkcVkcVh2f!:f!Bf!Jf%ӱ?E@ɢEq)I MRiI)IIIiME>QIYԱAaIqIO >2Acoustic response timeoutB<A<B >B B GB @B B B B ;B ǖE 9 (Nя,9d;F?A2@2@2 ٱ2K#ʾ :AHRS rotation from veh to nav: [[-0.471313,0.790677,0.390761],[-0.873873,-0.478536,-0.085731],[0.119208,-0.381881,0.916491]]2H)޿@9M?9?@V޿{ b?pؿ`S?i2@I2VU_;2;CYB @yFGbDmVDH8yM,=%MN=ٔUc9Q-U>9I=Fy EE>Q 5E4*ܿ?Q 9E4)AYyQ I?BIw;iP;'E4yBɮHBE*jBjiiziJii k:k:k:h1 kS[kS[kS[hA]2Acoustic response timeout2fY:fYBfYJf]r?}Aɢ};) ٜi)顁i IAEj EEE"EN:*EVEU5ZEBEk;a2Ek;aJEa:EaPExceeded connect timeout, disconnecting.IIO=.>9i  2Acoustic response timeoutUя,?UF?A$:@:4@:ٱ:&ƾ BAHRS rotation from veh to nav: [[-0.483716,0.786775,0.383412],[-0.867061,-0.490470,-0.087430],[0.119264,-0.374733,0.919430]]:H3޿A-?щ?`c߿a`?@׿@k?i:@I:^;8YJ4@yJʆGbD VD 8yE<=%MJ=ٔM Q-M>9IIQ=UFyU"EUEU>YQ 5eE4]ƿ?Q 9mE4]վ)]`AYiymQ Im?]lBI] :i]|:] E4yuBɮ}3By*jBjiiziJii kBkBkBh k#Yk#Yk#Yh2f:fBfJf9?mMAɢmj%)i miq)顑i IqIIO%>ae=m2Acoustic response timeoutԩbE]Ǟ5jE]<5rE]K2Ea ENE{E"E%.:*E҆9VE:5ZEa@a@a@a@ ;[я,oF?A2)~@2@2ٱ29þ :AHRS rotation from veh to nav: [[-0.496673,0.781599,0.377386],[-0.859768,-0.502574,-0.090656],[0.118808,-0.369490,0.921608]]2H{߿`?'?`855/j?@׿}?i2)~@I2^;2=CYF@yFGBPBPBRGBR@BPBPBPBR ;BRE\f2Acoustic response timeoutbD~VD~8y ->% N=ٔ:Q->9I=Fy%E= E=>AQ 5ME4E"?Q 9ME4E)E%AYQyUQ IU?E-BIE:iEF:EE4yYɮ]Ba*jqBjqiqiziJii kWkWkWh kSXkSXkSXh2f:fBfJf?-Aɢ5e*)Q UiQ)YYYi]mYIaI1IAOu>}2Acoustic response timeout)  XRadio surface powered OFF, will not connect. nManaging dock network, ignoring radio surface power offE ` E LE rE "E *:*E |9VE 5ZE BE -;a 2E -;a JE v:a :E x:a "bя,F?A|}@N}@b!ٱ7! -AHRS rotation from veh to nav: [[-0.511265,0.775364,0.370701],[-0.851291,-0.516093,-0.094619],[0.117953,-0.363950,0.923920]]HG\??=ԃ8"2? J׿@?i}@IM^;Y@yiGy;On?)\(?EԸt?Ga=ƽ 9V-?ѿY?y̌|B#B )BYuBbDwVDf8yMf=%1=ٔ :Q-%>9)I)=-Fy-(E5E5>9Q 5=E4=앿?Q 9EE4=)=6AYEA?Q EE;:yE Q IE?=:fEM>Bf՛@JfP@Aɢc)  i ) ia!I)A5pAzA5oAIIO-->Qԁ  2Acoustic response timeoutShя,F?A2f{@2@2ٱ2Ͼ :AHRS rotation from veh to nav: [[-0.527524,0.767293,0.364663],[-0.841479,-0.530924,-0.100163],[0.116754,-0.359694,0.925737]]2Hzઍ?@V?e@UJ@?;׿?i2f{@I2"^;2;CYFe@yF]GX\ \)\I\i\\``bDfVDf8yn>%no=ٔrtl;Q-r?9pIp=rFyr*EvnlEv?xQ 5~E4z悿?Q 9~E4z)zAY|yQ I?zBIz:iz:z7E4y Bɮ B *j!Bj!i!i!zi!Ji)i) kWkWkWhA kWIkWkWhQ2fa:faBfaJfe$O@颅NAɢvLýE EEE"E1:*Ee:VE5ZEa@a@a@a@) %ܜi)))))i-"1I1IIO=yB>BBGB@BBBB7;BE2Acoustic response timeoutm>m>ԡ *wnя,2F?ARuz@R5@RٱR ^AHRS rotation from veh to nav: [[-0.545038,0.757738,0.358841],[-0.830416,-0.546865,-0.106532],[0.115514,-0.356051,0.927299]]RHpc??`??Ò@E@R?@ֿo?iRuz@IR>^;R:CYn@ynHGbDVD8y[=%G=ٔdG;Q-%>9!I!=%Fy%-E-*PE->1Q 5=E45j?Q 9=E45w)5AY9y=NQ IE?5BI5;i5;5EE4yMBɮMBI*jaBjaiaiaziaJiaii k\k\k\hy k\k\k\h2f:fBfJfT~N@ԹAɢ;) wi)i$I=2Acoustic response timeoutIyIO=Ef ENEoE"EI@:*E҆9VE5ZEBER;a2ER;aJE:a:E:a 2Acoustic response timeout9 ^uя,F?A>Cy@>~@>Kٱ>=i JAHRS rotation from veh to nav: [[-0.563580,0.746358,0.354015],[-0.818068,-0.563749,-0.113804],[0.114637,-0.353746,0.928290]]>H@+?-?-; E"X?ƣֿ?i>Cy@I>I^;>9!I!=%Fy%/E%cE->)Q 55E4-TR?Q 9=E4-)-AY9y=Q I=?-шBI-;i-;- TE4yIɮMBI*jaBjaiaiaziiJiiii kYkYkYh kZkZkZh2f:fBfJf M@AɢZ) hi)i &IAV?AP?IIOU=M2Acoustic response timeoutIE` EOEhE"E*:*E9VEA{5ZEa@a@a@a@qԙ Ո{я,aF?AB&>B$B&̍GB&@B$B$B$B&&;B&EBgw@B'@BcIٱB3 JAHRS rotation from veh to nav: [[-0.582590,0.733091,0.350949],[-0.804641,-0.581128,-0.121831],[0.114634,-0.353366,0.928435]]BH |u?@u? J0 X?ֿ?iBgw@IB^;B=CR2Acoustic response timeoutYb@yfG]=]=bDmVDm%8yf >%B=ٔ 7Q->9I=Fy2EjcE>Q 5E47?Q 9E4@)AYy2Q I?ljBI :i:bE4yBɮʱB#E*j)Bj)i1i1zi1JiQiQ k#Xk#Xk#Xhiq k3Xk3Xk3Xh2f:fBfJfK@EyAɢECN)I MJiI)iqqiu"(qIyAԡIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO-N>m2Acoustic response timeout ! % C G1 I } R9y Y} AE l E E qE "E V:*E R:VE 5ZE BE Bx;a 2E Dx;a JE ;a :E ;a я, F?A2u@2@24ٱ2+O :AHRS rotation from veh to nav: [[-0.601976,0.717613,0.350224],[-0.790036,-0.598985,-0.130613],[0.116049,-0.355315,0.927515]]2HcC?j?G* f?`|ֿ`3?i2u@I2^;29CYj@yjGyʡE?i|?5?l?o?== 9ʡE?|?5^?{GztY?yR>ףRBQB B).BYBbDVD8y?=%D=ٔ `Q->9I=Fy5EoE>Q 5 E4%?Q 9 E4)SAY !?Q E <:y NQ I?BIj:iT;`qE4yBɮB*j1Bj1i9i9zi9Ji9i9 kXkXkXhQ kXkXkXha2fuT>:fuT>Bfu=W>Jfu,@颕#Aɢ7) 坿i)顙i)IԱ2Acoustic response timeoutAI IOU2> 9 = 4=E 2Acoustic response timeout1 я,!Z$F?ABKt@B @BٱBb JAHRS rotation from veh to nav: [[-0.622103,0.699665,0.351364],[-0.773815,-0.617761,-0.139931],[0.119154,-0.358942,0.925723]]BH`Dc?|??倾? ֿ?iBKt@IB^;B;CYR@yRGbD^VD^8yf{>%f_=ٔf Q-f>9hIh=jFyj7EnPEn>pQ 5vE4r?Q 9vE4r )rAYtyvQ Iv?rBIrd:ir:r4~E4y~Bɮ~B|*jBjiiziJii kakakah1 kakakahA2fQ:fQBfQJfU%B@uAɢu)q uiq)yyyi}+IAzAEd ELEE"E9:*E|9VEn5ZEa@a@a@a@A$AIIO >B%>B!B%GB%@B!B!B!B%;B%ޖEBCBCBœC9Bť=Bť=Cŀ42Acoustic response timeouti f׎я,?>F?A,:pr@:K@:|ٱ:_ FAHRS rotation from veh to nav: [[-0.641694,0.680347,0.354058],[-0.756991,-0.636019,-0.149814],[0.123262,-0.364154,0.923146]]:Hg??@E9DZ-ÿ? KN׿i?i:pr@I:^;:=CYf@yfGhhlnAbDvVDv68y~-=%~G=ٔ~%Q-~>9H?IH?=Fy9EE > Q 5E4  ?Q 9E4 ) AYyQ I? tBI ;i ; E4y-Bɮ-B-,E*jABjAiAiAziIJiIiI kC\kC\kC\ha kC\kC\kC\hq2f:fBfJfN@额|Aɢ) i)顩i#-I2Acoustic response timeoutԉAAII!OU>E^ EKEE"EC#:*E]t9VE5ZEBE~ ;a2E ;aJE/:a:E0:aԱiߡ Iߥ A 2Acoustic response timeoutI i oAI ͼя,XF?A21q@2&@2ٱ2þ :AHRS rotation from veh to nav: [[-0.658272,0.662612,0.357243],[-0.742061,-0.650973,-0.159935],[0.126581,-0.370377,0.920216]]2H 4??xĿ@3?B׿@ir?i21q@I2”^;2;CYFE@yFpGbDRVDR8yVt=%ZO=ٔZ( Q-Z>9ZK?I^K?=^Fy^dQ 5jE4fH?Q 9jE4f)fcAYhyn&Q In?fXBIf:if;fWE4yr BɮrxBp*jYBjYiYiaziaJiaia kckckch2f:fBfJft@4Aɢ) i)i q/IAAIQIaO> 2Acoustic response timeoutD%=D<Eb EREpE"E1:*E9VE5ZEa@a@a@a@A B% >B! B% JGB% @B! B! B! B% ;B% ǖE盻я,%qF?A2In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER22Acoustic response timeout65o@6}@6 ~ٱ6Ⱦ BAHRS rotation from veh to nav: [[-0.671841,0.646415,0.361630],[-0.729370,-0.662410,-0.170975],[0.129027,-0.378631,0.916510]]6Hn?$?Wu2ſ ?{;ؿ@ T?i65o@I6E^;6=CYJ@yJ9tIt=zFyz?Ez:Ez>|Q 5E4~ؾ?Q 9E4~()~AY y d Q I ?~DBI~[:i~R:~E4yɮcB*j1Bj1i1i9zi9Ji9i9 k_k_k_hQ k#qk#qk#qha2fq:fqBfqJfuͯ@ Aɢ ) i1)199i=19IAIAIIO&>y%pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT-2Acoustic response timeoutԡ E  E OE wE "E *E 9VE ɕ5ZE BE 9;a 2E 9;a JE M:a :E O:a ΢я,TƋF?A6Pn@67|@6ٱ6s; >AHRS rotation from veh to nav: [[-0.683067,0.632069,0.365935],[-0.718612,-0.671127,-0.182167],[0.130447,-0.387398,0.912637]]6H9?|k? y@?Qǿ}?@ ؿR4?i6Pn@I6^;6:CYJl@yJ`GyCl?Mb?|?5^?;_?<= 9!rh?|?5^?V-?Ylg?y=m>B FB)қBYBbD5VD518yE>%EE=ٔEaQ-M>9III=MFyMAEUpEU>YQ 5eE4]Ǿ?Q 9eE4]q0)]AYe_p?Q Emb:ymQ Im?]BI]:i]':]7E4yuBɮuMBu5Ey*jBjiiziJii kXkXkXh kpkpkph2fJ'>:fJ'>Bf]y?Jf@19] r]NAggregate::initialize marl:UpdateRudderq9]J]Yq9]9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]a18eoe@Completed marl:UpdateCommandMode7eoe\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7mnm4Completed marl:UpdateSpeedq7mnmPAggregate::uninitialize marl:UpdateSpeed颥 AɢEk)4( i)顩i}4IuzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY}2Acoustic response timeoutԩAI I!OU2> % 2Acoustic response timeoutя,F?A2/n@2 |@24ٱ2^Ѿ :AHRS rotation from veh to nav: [[-0.693122,0.619585,0.368371],[-0.708805,-0.678767,-0.192019],[0.131066,-0.394196,0.909633]]2H .@?b?uȿ ? :ٿ ?i2/n@I2^;29I=FyDEt E>Q 5E4?Q 9E48)AYyQ I?BIp:i:E4yɮ=B*jBjiiziJii kSrkSrkSrh  kSrkSrkSrhA2fQ:fQBfQJfUo@s]NUpdating rudder angle 6.875493 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudder}] Aɢ})y }Oi)顁i,6IQAAB>BBpGBg@BBBB;BĖEAIIOMS>2Acoustic response timeout1a #я,1}F?A2QDm@29:{@20*ٱ2>Ӿ :AHRS rotation from veh to nav: [[-0.702141,0.609274,0.368489],[-0.699950,-0.685559,-0.200197],[0.130646,-0.398490,0.907820]]2H`w,? R? eɿ ?ހٿ ?i2QDm@I2^;2:CY^@y^GbDE!VDEh8y=%I=ٔN:Q->9I=FyFE9E>2Acoustic response timeoutQ 5E4L?Q 9E4@) AYy] Q I?{BIa;i%c;E4yBɮ'B *j1Bj11i9i9zi9Ji9i9 kSqkSqkSqhQ ksqksqksqha2fy:fyBfyJf} @颕 Aɢ&) Si)顙iD9IE` ELEE"E*:*E|9VEZEBE-;a2E -;aJEv:a:Ex:aA!I)I9aOu7>ԉ 2Acoustic response timeoutԹ я,WF?A:l@:фz@:fٱ:(վ BAHRS rotation from veh to nav: [[-0.709969,0.601032,0.367021],[-0.692252,-0.691343,-0.206958],[0.129349,-0.401005,0.906898]]:H;?@F}?&{}ʿ?`ٿN?i:l@I:N^;:%uO=ٔ}X;Q-}>9I=FyIEE>Q 5E4?Q 9E4H)T AYy Q I?1BIN;iM;E4yɮ B*jiBjiiiԑiziJii kSrkSrkSrh2f:fBfJf*@ Aɢ4ϫ)! %ti!)!!!i%;)IQ2Acoustic response timeoutuNJND=DR=Eo E`ElE"E`:*E9VE5ZEa@a@a@a@A $AI I O5 >B >B CB GB @B B B B ;B E 4я,2F?A&2Acoustic response timeout6yk@6ay@6 ٱ6)վ BAHRS rotation from veh to nav: [[-0.717169,0.594438,0.363748],[-0.685115,-0.696964,-0.211799],[0.127618,-0.401105,0.907099]]6H` `?G?wM@8˿@U?ٿ?i6yk@I6^;6>CYJ@yJGbDv<VDv8y~=%R=ٔ%Ƒ;Q-%>9%H?I%H?=%Fy%KE-ּE->1Q 5=E452?Q 9=E45P)5 AYAyE Q IE?5BI53;i5a;5E4yMBɮMBM>E*jaBjaiaiaziaJiiii kYkYkYh kqkqkqh2f:fBfJfE@z Aɢh)  i)i+=I7ƙAII)Ou6> 2Acoustic response timeoutI E b E KE uE "E 1:*E ]t9VE 5ZE BE 9;a 2E 9;a JE /:a :E 0:a ûя, F?A 2'k@2y@2ٱ2cԾ >AHRS rotation from veh to nav: [[-0.725246,0.587146,0.359553],[-0.676784,-0.703866,-0.215720],[0.126418,-0.399790,0.907847]]2H65`??@7@˿z.?)ٿ@ ?i2'k@I2^;2;CYe@yeYGyCl?QT㥛 O? 9?kty&1?Y`?y 0`=VB#B B)vBYB  bDVD$8y%j=%%,=ٔ%(;Q-%>9)I)=-Fy-NE5˼E5>9Q 5EE4=l?Q 9EE4=^W)=AYEb?Q EEp:yEQ IE?=BI=X:i=n:=E4U2Acoustic response timeouty]Bɮ]BYi*jqBjyiyiyziyJiyi k3Yk3Yk3Yh kpkpkph2f>>:f>>Bf׌@Jf @R Aɢ̣) i)it@Iԙ5ᾼA=\?A=]? A AI I O > 2Acoustic response timeoutFɻя,:&F?A2Pj@2oFx@2 ٱ2Ҿ :AHRS rotation from veh to nav: [[-0.734097,0.579167,0.354496],[-0.667215,-0.712234,-0.218051],[0.126196,-0.396596,0.909278]]2H}@??Y@@˿`3'?`aٿ?i2Pj@I2^;2>C @)BvABQ8@@DFvAiFQ8IDDIFُCiFts@ HH)HH HJ94LLPLPIRy)PiP)TIVvAV'T TXXXiXXYXYb@ybGtx x)xIxixxbDVD8y?>%s=ٔC.:Q-?9K?IK?=%Fy%QE%E%?)Q 55F4-Z?Q 95F4-|\)-AY1y=rQ I=?-DBI-L;i-;- F4yAɮEưBAEn ENElE"EO]:*E҆9VE5ZEa@a@a@a@*jBjiiziJii k3Xk3Xk3XhA2fy:fyBfyJf}}@ Aɢi) ;i)i{CBI    Bm>BiBmGBmd@BiBiBm#DBm#;Bm\Ee2Acoustic response timeoutA I I! Om >) .ля,@F?A6,li@6bw@6Oٱ6vо >AHRS rotation from veh to nav: [[-0.743313,0.570519,0.349276],[-0.656909,-0.721137,-0.220075],[0.126318,-0.393027,0.910809]]6H8@A?Z?ek+̿3+? Z'ٿY%?i6,li@I6^;6=C|Y@y1GbD1VD8yE=%MG=ٔMQ-M>9IIQ=UFyUSEU EU>2Acoustic response timeoutAQ 5MF4YRD?Q 9eF4bq)AYyy}_Q I?Bt9YAIQm 2Acoustic response timeoutԁ 7\ֻя,:ZF?AYYm`@yuGbD VDF8yM==%M;=ٔUQ-U>9UH?IUH?=UFyUVE]E]>aQ 5mF4e[-?Q 9mF4e,i)e.AYqyqQ Iu?eBIe+;iez;ea)F4y}Bɮ}By*jBjiiziJii k@k@k@h ksUksUksUh2f:fBfJflAɢ) 㝿i)iFIAzApAԁhDAT read: Forwarding Delay UpTx time:18:49:33.1957 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutAAIIOM>ԩEd ELEE"E9:*E|9VE~5ZEa@a@a@a@ B] >B] CB] GB] @BY BY BY B] ;B] PEB%CB%CB!B!B!C%3ܻя,_ztF?AiIA2Acoustic response timeout>%g@> u@>ٱ>p̾ FAHRS rotation from veh to nav: [[-0.759959,0.554107,0.339746],[-0.637366,-0.737752,-0.222455],[0.127384,-0.385600,0.913830]]>HQ>?@g?@Me`ky̿!N?ؿ`>?i>%g@I>^;>%T=ٔ6Q->9K?IK?=FyXExE>Q 5F44?Q 9F4n)AYyQ I?_BI:ik:6F4yɮB*j Bj i i zi Ji i k9k9k9h! kTkTkTh92fI:fIBfIJfMΘ@eAɢeS )i mii)iiiiu]HqIyA$AIIO">2Acoustic response timeoutE p E PE oE "E d:*E ?9VE 5ZE BE ;a 2E ;a JE :a :E :a 9 kя,VF?A2f@2t@2@}ٱ2*-ʾ :AHRS rotation from veh to nav: [[-0.767624,0.546335,0.335071],[-0.627978,-0.745625,-0.222908],[0.128055,-0.381526,0.915445]]2H_{?q?d@(>̿`d?jؿ`SK?i2f@I2^;0YB2@yFؙGy rh?{Gz:vl?#T 9I +?)\(~jtY9t?yGὙĽBބB DB)֛BYaBbD@ VD8y=%G=ٔ׺Q->9H?IH?=Fy[EE > >>Q 5%F4 ?Q 9%F4 t) AY%w?Q E-\:y-l&Q I-? )BI h;i 1h; 6EF4y5Bɮ5sB5FE*jIBjIiIiIziIJiQiQ k#9k#9k#9hi ksUksUksUhy2f=:f=Bf@JfQ!@颭AɢY) ٝi)顱iKI=2Acoustic response timeoutAIIIAOE0>i 2Acoustic response timeoutԙ я,0F?A6G0f@6.&t@6ٱ6+Ǿ BAHRS rotation from veh to nav: [[-0.775329,0.538844,0.329411],[-0.618354,-0.753774,-0.222401],[0.128462,-0.376126,0.917620]]6H`6>?`?w̿sq?tؿ$]?i6G0f@I6~^;6=CYJ@yJȚGbDR VDRZ8yZ7>%Za=ٔ^kQ-^>9`I`=bFyb]EbG Ef>dQ 5jF4fD⽉?Q 9nF4fx)fAYlyn2'Q In?fܖBIf ;if ;fQF4yvBɮvXBt*jBji!i!zi)Ji)i) k9k9k9hA2fQ:fQBfQJfU @E\ EXEnE"E:*E9VEJ5ZEa@a@a@a@颥xAɢ2̷) 㜿i)顩iqL1I9AUZ?AUR?yIQIaO>AA?AB >B B :GB @B B B B -;B ]EԡE2Acoustic response timeout |я, F?A2Xe@2Ms@2ٱ2Uľ :AHRS rotation from veh to nav: [[-0.783440,0.530897,0.323064],[-0.608081,-0.762163,-0.222139],[0.128294,-0.370481,0.919937]]2H`??euc@ o̿k?׿p?i2Xe@I2#^;2;CYZA@yZGb4>b=bDfv VDf8ynt=%nH=ٔv9Q-z>9I = Fy `EE>Q 5%F4Ž?Q 9%F4}) AY!y%(Q I-?BI:i:Y`F4y5Bɮ5E` EQEtE"E*:*Ev9VE5ZEBE-;a2E -;aJE:a:E:a) U 2Acoustic response timeout0я,EF?A9III=MFyMbEUEU>YQ 5eF4]?Q 9eF4])]AYaye)Q Im?]sBI]:i]1:]nF4yu Bɮu&BuEE*jBjiiziJii ksAksAksAh ksAksAksAh2f:fBfJf@AɢȬ) Wi)iQIII)O==2Acoustic response timeoutQbE%5jE%p5rE%ǩ2Ef EEE"EI@:*EVEZEa@a@a@a@ԁ B >B B `GB AB B B B ;B ?Eя,F?A"2Acoustic response timeout0:c@:p@:=Eٱ:D\ BAHRS rotation from veh to nav: [[-0.805129,0.506951,0.307845],[-0.579158,-0.783885,-0.223832],[0.127843,-0.358504,0.924733]]:H8??u̿(]?ֿ@i?i:c@I:^;8YJ-AyJGtt t)tItittbD~ VD~y8y >% N=ٔ J:Q- >9I=FyeEVE>!Q 5-F4%5?Q 9-F4%)%AY1y5O*Q I5?%7BI%:i%:%|F4y} Bɮ}By*jBjiiziJii k;k;k;h k<k<k<h2f :f Bf Jf I@MAɢMҪ)I Miq)qqqiulTyIyAoAzAII1O=ԉԹ2Acoustic response timeout E b E WE lE "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE :a :E :a jя,F?Aɰ;2a@2o@2cٱ2* :AHRS rotation from veh to nav: [[-0.818132,0.490023,0.300895],[-0.560834,-0.795530,-0.229341],[0.126989,-0.356383,0.925670]]2H@".\?`A?Yt[Ϳ,A? ֿ?i2a@I2^;2%eE=ٔm;Q-m>9iIi=mFyugEu(_Eu>yQ 5F4}p?Q 9F4})}(AYI?Q ER:y7Q I?} BI}:i}:})F4yɮB*j)Bj)i)i)zi)Ji)iQ k<k<k<ha k<k<k<h2f>:f>Bf>Jf؍@[AɢN) wi2Acoustic response timeout)iVI!IIO>A  2Acoustic response timeout я,v)F?AEa EeREe{Ea"Ea*Ee9VEe:5ZEaau@au@au@au@.^@l@ٱ AHRS rotation from veh to nav: [[-0.842554,0.452920,0.291489],[-0.523750,-0.815208,-0.247228],[0.125650,-0.360970,0.924074]]H4 ??@/*Ͽ`I?@#׿`?i.^@Ie^;YAyΟGbDeY VDe8yuf>%u;=ٔuI;Q-}>9yIy=}Fy}jE@ѽE>Q 5F4S?Q 9F4)`AYyQ I?BI&;i3;wF4yBɮӯBNE*jBjiiziJii k@k@k@h kcYkcYkcYh2f:fBfJf@Aɢ2) 蘿i)!i%`X!I)QBAB>BBGBABBBBR;BEAaIiIyO>>%2Acoustic response timeoutqi pAI nAԩ ~я,PQCF?AVR]@VHk@VٱVc¾ ^AHRS rotation from veh to nav: [[-0.853606,0.433277,0.289185],[-0.505566,-0.822851,-0.259459],[0.125538,-0.367678,0.921441]]VHP@Ѻ?@?- Tп`? ׿ q|?iVR]@IV(^;V:CYrAyrGy2Acoustic response timeoutbDe$ VDe8y=%V=ٔ̚9Q->9I=FymEfE>Q 5F49?Q 9F4})nAYyk Q I?BIi:ǧF4yBɮB*jBjii zi Ji i  k@k@k@h! k#Zk#Zk#Zh12fA:fABfAJfE~@Aɢ) i)i{[IA%V?A%`?Eui EuOEupEq"Eu,K:*Eu9VEu5ZEqBEuse;a2Euve;aJEuM:a:EuO:aԩAeAIiIyOB>5 2Acoustic response timeout _я,/]F?AF.\@Fj@FٱFƾ RAHRS rotation from veh to nav: [[-0.863397,0.414436,0.287729],[-0.488665,-0.828801,-0.272570],[0.125507,-0.375940,0.918105]]FH@?`(j?@IF߿qѿ?eؿ a?iF.\@IF^;F=CYZOAyZ{G\\bD] VD]8y=%L=ٔJ8Q->9K?IK?=FyoE.IE>Q 5F4S?Q 9F4)AYy!Q I?xBI:i.:˵F4y BɮB*jBjiiziJii ksAksAksAh k\k\k\h!2f1:f1Bf1Jf5R}@UfAɢUu)Q UiY)YYYi]*]aIa2Acoustic response timeoutAIIO$>DyD}%=E` EWEjE"E*:*E9VEـ5ZEa@a@a@a@1B >B B GB hAB B B B ;B EY = 2Acoustic response timeout(я,.wF?AF [@Fh@F}ٱFz˾ NAHRS rotation from veh to nav: [[-0.871172,0.398646,0.286602],[-0.474760,-0.832769,-0.284777],[0.125148,-0.384157,0.914747]]FH`i?W?xb޿ 9ҿ?@ؿE?iF [@IF̘^;DYfAyfoGbDr VDr8yzG>%zU=ٔzw:Q-~>9|I|=~Fy~rE+E> Q 5F4 ?Q 9F4 8) AYy"Q I? ;BI 9:i : 1F4y%Bɮ%B%ME*j9Bj9i9iAziAJiAiA kSCkSCkSChY k3Zk3Zk3Zhi2fy:fyBfyJf}+|@)EAɢM9C)I UiQ)QQQiUb_IAII9YOE> )) G!9mxۿ9iYmFA2Acoustic response timeoutyE} ] E} LE} hEy "E} :*E} |9VE} A{5ZEy BE} 9;a 2E} <;a JE} v:a :E} x:a ԩ $я,4F?AB?Z@B5h@BٱB Ͼ NAHRS rotation from veh to nav: [[-0.877012,0.386363,0.285612],[-0.464058,-0.835184,-0.295158],[0.124500,-0.391398,0.911761]]BH {@+?vG? !ݿ ӹҿ`<߿? ٿ%-?iB?Z@IB^;B9aIa=eFyetEmEm>qQ 5}F4u>鼉?Q 9}F4ux)uAY`i?Q Eh:y$Q I?uBIu:iu@:uF4yBɮnB*jBjiiziJii kAkAkAh kckckch2fu>:fu>Bf3?Jf}@颅Aԉɢ u) i)顩iܻaIApAzAqA2Acoustic response timeoutAI I1O}8>Թ 2Acoustic response timeout Y6*я,^ժF?A>;Y@>"g@>ٱ>TҾ NAHRS rotation from veh to nav: [[-0.881835,0.376250,0.284259],[-0.455061,-0.837042,-0.303777],[0.123641,-0.397236,0.909349]]>H@7|?N1?ݿ qӿ@?Plٿd?i>;Y@I>^;9qIq=uFyuwE}ϼE}>Q 5F4:ϼ?Q 9F4)AYy%Q I?BI;i;F4y Bɮ`BWE*jBjiiziJii k3Zk3Zk3Zh kSZkSZkSZh2f:fBfJfS@pAɢ) Ui)i,c!I!A=$AIAIYO>B>BB6GB'AB=BBBR;BUEBCBCBBBCI42Acoustic response timeoutA \1я,F?A 6yX@6`f@6ٱ6vӾ >AHRS rotation from veh to nav: [[-0.886330,0.367658,0.281507],[-0.446424,-0.839922,-0.308605],[0.122983,-0.399198,0.908579]]6H\? 7?5ܿ@0ӿ`{?`tٿ?i6yX@I6A^;4YF&AyFGbDR VDR8yZ4=%ZW=ٔZ:Q-Z>9^H?I^H?=^Fy^yEbӼEb>dQ 5jF4f?Q 9jF4f%)fAYhyj(&Q In?fbBIf:if:f0F4ypɮrGBp*j|Bj|iiziJii k3ek3ek3ee2Acoustic response timeouthy2f:fBfJf@Aɢ+) i)ieIiAIE]b E]NE]rEY"E]1:*E]҆9VE]5ZEYBE]9;ae2E]9;aeJE]:am:E]:amIqIO>ԙ 2Acoustic response timeout SC7я,vF?A20TX@2Jf@2sٱ2Ӿ :AHRS rotation from veh to nav: [[-0.890765,0.359550,0.277959],[-0.437651,-0.843481,-0.311451],[0.122471,-0.399079,0.908701]]2H & ??`xܿ` ӿ>Z? ٿ@?i20TX@I2;^;2;CYBAyFGPbD  VD |8yE=%MA=ٔMߟ:Q-M>9IIQ=UFyU|EUEU>YQ 5eF4]G?Q 9mF4]:)]!AYiym&Q Im?]$BI]:i]Q:]F4yu Bɮ-BVE*j BjiiziJii kLkLkLh) k3bk3bk3bh92fI:fIBfIJfM@mAɢma)q uPiq)qqyi}(*hyIAX?AY?m2Acoustic response timeoutAAIIIO5.>E]_ E]ME]zEY"E]&:*E]9VE]5ZEYae@ae@ae@ae@! B >B CB GB  AB =B B "DB t;B eE= 2Acoustic response timeoutMm=я,QF?A>ԟW@>e@>:ٱ>ֈҾ FAHRS rotation from veh to nav: [[-0.895607,0.351215,0.273012],[-0.427856,-0.848086,-0.312554],[0.121764,-0.396736,0.909821]]>HШ@Mz?y?aۿ@#Կ@+?dٿA?i>ԟW@I>ƒ^;>=CYNAyNG|%=!bD-t VD-D8ym>%uH=ٔ}:Q-}>9K?IK?=Fy~EۼE>Q 5G4d?Q 9G4)"AYy'Q I?BI:;i;;Y G4yBɮB*jYBjaiaiaziaJiaia kZkZkZh2f:fBfJf\[@Aɢ() *i )ixjI)AIIOuX>Q2Acoustic response timeoutEm ^ Em PEm rEi "Em C#:*Em ?9VEm 5ZEi BEm ~ ;au 2Em ;au JEm :a} :Em :a} ԁ $UDя,,F?A>KV@>2d@> ٱ>piо vAHRS rotation from veh to nav: [[-0.901083,0.341566,0.267176],[-0.416336,-0.853755,-0.312677],[0.121303,-0.392983,0.911510]]>H 7?h?@ڿQԿ ?&ٿ+?i>KV@I>^;>;CY|AyڧGYyush|??S㥛@5^I ¿uI?u$ubq q9uZd;O?Q?&1ʿYuj\?yu9I=FyEE>Q 5G4b?Q 9G4)w!AYb?Q Eo:y;1Q I?BI:i:G4yBɮB*jBjiiziJii2Acoustic response timeout k[k[k[h  k[k[k[h2f-?>:f-?>Bf-Աߡ ߥ %= 2Acoustic response timeout Jя,,F?A>U@>zc@>ٱ>$@; JAHRS rotation from veh to nav: [[-0.907210,0.330685,0.260031],[-0.402968,-0.860575,-0.311491],[0.120771,-0.387372,0.913979]]>H@ )?Z?;ٿ@Չxӿ?ؿ P??i>U@I>^;>=CYVAyVpGbD^VD^8yf=%fm=ٔjq:Q-j?9hIh=jFynEn/En?pQ 5vG4rJ?Q 9vG4r)r AYxyz2Q Iz?rCBIr:ir1:r%G4bE5jEՊ5rE1E! E%KE%lE!"E!*E%]t9VE%5ZE!a5@a5@a5@a5@y=Bɮ=B=UE*jQBjQiQiQziQJiyiy k#Yk#Yk#YhԹ k3Yk3Yk3Yh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder=Aɢ=t)9 =i9)AAAiEHdnIIIAYzA]oAB5>B1B5GB5 AB1B1B1B5;B5EAIIO&>2Acoustic response timeout9 *gQя,qEF?A6T@6gb@64ٱ6,Rɾ BAHRS rotation from veh to nav: [[-0.913959,0.318104,0.251970],[-0.387531,-0.868409,-0.309332],[0.120413,-0.380363,0.916965]]6H&?@[?F ?Mؿ@ӿcӾ?WؿW?i6T@I6^;6:CYJ AyJ|GLLPPbDV~VDVa8y^>%^L=ٔb4k:Q-b>9`I`=bFyfEf-Ef>hQ 5nG4j-?Q 9nG4j)jV AYpyr3Q Ir?jBIj;ij;j3G4yvBɮvîBt*jBjiiziJi i  kYkYkYh! kYkYkYh12fA:fABfAJfE]O@^UB*** querying acoustic contact ***XQYQe2Acoustic response timeoutmoAɢm=)q uiq)qqqiu>pyIAIIO>E5` E5FE5pE1"E5*:*E5;J9VE55ZE1BE5-;a=2E5 -;a=JE5e:a=:E5e:aEAqi I A 2Acoustic response timeoutԡ UWя,½_F?AFpS@FWa@F32ٱFtfƾ RAHRS rotation from veh to nav: [[-0.921174,0.302907,0.244305],[-0.370054,-0.876086,-0.309084],[0.120408,-0.375126,0.919120]]FHBz b?aE? ׿ӿӾ?ؿoi?iFpS@IFp^;F>CYZG AyZGpp p)pIpittbDz.VDz8yQ=%E=ٔ ?7Q- >9 I=FyE<E>Q 5%G4?Q 9-G4)AY)y-34Q I-?BI:i:FBG4y5Bɮ5ɮB9*jIBjIiIiQziQJiQiQ kXkXkXhi kSpkSpkSphy2f:fBfJf ̏@颭Aɢ|) i)顱idrIqA$AIIO >m2Acoustic response timeoutԡD54=D5<E=] E=JE=~E9"E=:*E=k9VE=5ZE9aM@aM@aM@aM@B- >B- CB- GB- d AB- =B) B) B- g;B- E]я,tyF?A"2Acoustic response timeout0EZ5R@EA+`@E޲ٱE1þ }AHRS rotation from veh to nav: [[-0.928693,0.285895,0.236205],[-0.350674,-0.884218,-0.308523],[0.120652,-0.369354,0.921423]]EHڷL?;?@pqֿK`վӿ@ ? ~׿L|?iEZ5R@IEĎ^;AYP AyTG@AbDVD8y >%>=ٔGQ->9H?IH?=FyEGE>Q 5G4p?Q 9G4) AYys5Q I?tBI;i?;TQG4y-Bɮ-B)*jBjiiziJii kWkWkWh knknknh2f:fBfJf:@5Aɢ=[ۛ)9 =Qi9)9AAiEuAIIԑAIIOK>Թ2Acoustic response timeout- >- > EM ^ EM LEM nEI "EM C#:*EM |9VEM J5ZEI BEM ~ ;a] 2EM ;a] JEM v:a] :EM x:a] dя,>wF?A2P@2^@2bٱ2_7 :AHRS rotation from veh to nav: [[-0.936007,0.267514,0.228750],[-0.330535,-0.891428,-0.310003],[0.120984,-0.365775,0.922806]]2H?G?`{'տӿ?h׿?i2P@I2R^;233BބB B)_BYBbD{VDs8y=%J=ٔXQ->9I=FyEZE>Q 5G4h׻?Q 9G4)AYOl?Q Ef:y%(Q I?1BI!;ih;s_G4y Bɮ B ^E*jBj!i!i!zi!Ji!i) kUkUkUh9 kokokohI2f]0T>:f]0T>Bf]?Jf]@}yAɢ}I) ˕i)顁ixvIU2Acoustic response timeoutAAIIO%>A  2Acoustic response timeout&jя,MF?ABAtO@B(j]@BmeٱB\ JAHRS rotation from veh to nav: [[-0.942881,0.248267,0.222123],[-0.310382,-0.896874,-0.315088],[0.120990,-0.366033,0.922703]]BH, :?`n?Jӿ0`g*Կ@4?m׿Ȇ?iBAtO@IBU^;@YV AyVجGD|zD|E] EJElE"E:*Ek9VE5ZEa @a@a@a@!bD-)VD-(8ye>%mR=ٔmuQ-m>9uK?IuK?=uFyuEuaEu>yQ 5G4} ?Q 9G4})}:AYy)Q I?}BI}:i}:}mG4yBɮB*jBjiiziJii ksVksVksVhI k#pk#pk#phy2f:fBfJfA@&AɢD) єi)i .yI AAAAB>BCBήGB$ABBB DB;B EIAaIiIyO>>iaIeAu2Acoustic response timeoutqԡ ] ŁGq 9 Y -Auqя,/F?AY~@ Ay~GybDeVDe82Acoustic response timeouty=%D=ٔQ->9I=FyEE>Q 5G4Ҡ?Q 9G4)EAYyQ I?BI :i:{G4y]Bɮ]gB]]E*jiBjqiqiqziqJiqiy kWkWkWh ksksksh2f:fBfJfAɢ) bi)iP{IAzApAE b E PE rE "E 1:*E ?9VE 5ZE BE 9;a2E 9;aJE :a:E :aԡAU$AIYIiO<>m 2Acoustic response timeout wя,F?A2WL@2>Z@2ٱ2ľ :AHRS rotation from veh to nav: [[-0.954936,0.210299,0.209456],[-0.271561,-0.903865,-0.330579],[0.119800,-0.372561,0.920242]]2HՎ ?@u?Baѿv3(տ3? ׿r?i2WL@I2F^;2=CYFy AyFGHJ=HJAbDRVDR8yZ=%Z^=ٔZfU;Q-Z>9^H?I H?= Fy E ݽE>Q 5%G4?Q 9%G4)cAY!y%D,Q I%?ZBI;i;ֈG4y- Bɮ5]B1*jABjAiIiIziIJiIiI kZkZkZha kskskshq2f:fBfJfK@颥c Aɢ&.) Si)顩i|IA AII!OU>In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutD=D4=E! E%UE%xE!"E!*E%P9VE%e5ZE!a-@a-@a-@a-@1B >B CB °GB AB =B B B ;B EBCBCBɔCBBCD25Y ~я,uF?A"pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT&2Acoustic response timeoutRK@RjY@ReٱRǾ ZAHRS rotation from veh to nav: [[-0.959669,0.193961,0.203504],[-0.255024,-0.905254,-0.339821],[0.118310,-0.378014,0.918209]]RH``?i ?QRп@տI?`b1ؿa?iRK@IR-^;PYfbAyfGbDrVDr)8yz >%zF=ٔzZn;Q-z>9~K?I~K?=~Fy~E:0E> Q 5G4 j?Q 9G4 ) oAYyUy-Q IU? BI 7&YzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԉE- _ E- TE- lE) "E- &:*E- 9VE- 5ZE) BE- &;a5 2E- &;a5 JE- :a5 :E- :a5 Ա я,F?A2J@2X@2ٱ2~Dʾ :AHRS rotation from veh to nav: [[-0.963571,0.179848,0.197955],[-0.240517,-0.906403,-0.347255],[0.116974,-0.382216,0.916640]]2H@?V?Bο@@ k9ֿ?@9vؿU?i2J@I2^;2D 9Pn?%C?t<BB HB)Y=B!%AAbD-VD-8y=f=%=F=ٔ=EU;Q-E>9AIA=EFyEEMEM>QQ 5]G4U5N?Q 9]G4UI)UAYe-k?Q Eeg:yep*Q Ie?UبBIUG;iU:UZG4ymBɮm!Bm\E*jBjiiziJii  kcYkcYkcYh92fM=:fM=BfM?JfMj@ԑ颍!AɢK) i)00~项iIA5W?A5X?]2Acoustic response timeoutI!I9Om5>Թ 2Acoustic response timeout я,.F?A6sI@6ZW@6ٱ6C˾ BAHRS rotation from veh to nav: [[-0.966980,0.167208,0.192331],[-0.226983,-0.908204,-0.351631],[0.115881,-0.383676,0.916168]]6Hg?@P? Ϳ@ֿ [?`%ؿ@@Q?i6sI@I6^;4YJAyJG`` `)`I`i`` ddf=fp=Er\ ErLErkEp"Er:*Er|9VEru5ZEpav@av@av@az@bDn]VDn8yI=%N=ٔ*6;Q->9 I = Fy E `E>Q 5%G42?Q 9%G4)AY!y%X+Q I%?BI";ia;0G4y1ɮ5B1*jABjAiIiIziIJiIiI k@k@k@ha kZkZkZhq2f:fBfJf@颥R"Aɢ`@) ┿i)@顩iFIIqIIO=BA<B>BCBGBQAB=BBDB;BE!e2Acoustic response timeoutI я,GrHF?A 2 I@2W@2eٱ2˾ >AHRS rotation from veh to nav: [[-0.969859,0.155786,0.187359],[-0.214728,-0.909878,-0.354984],[0.115173,-0.384516,0.915905]]2H ?d?4|˿ֿ {?`ؿO?i2 I@I2S^;0YF{AyFGbDRVDRD8yZs=%ZP=ٔZ6:Q-Z>9\I\=~Fy~EE> Q 5G4 ?Q 9G4 ) AYy),Q I? OBI B:i : ?G4y% Bɮ-B-fE*jYBjYiaiaziaJiaia kSBkSBkSBh2f:fBfJf@2Acoustic response timeout"Aɢܨ) i)7i+IIyIO=iE EMEiE"E*E9VEz~5ZEBE;a 2E;a JE:a:E:aԙm 2Acoustic response timeout -я,JbF?A2$%H@2 V@2lٱ2ɾ :AHRS rotation from veh to nav: [[-0.972840,0.143697,0.181478],[-0.201064,-0.913035,-0.354880],[0.114701,-0.381730,0.917129]]2H!@d?:?@xɿ7@[ֿ]?Dnؿ Y?i2$%H@I2ؖ^;2;CPYU:AyUGbDVD8y2=%)=ٔ&:Q->9I!=%Fy%E%GE%>)Q 55G4-?Q 9=G4-)-[AY9y= -Q I=?-.BI-R:i-R:-G4yE BɮEBMeE*jYBjYiYiaziaJiaia kAkAkAhy kAkAkAh2f:fBfJf@颽#Aɢ,) דi)D}iBIAzA2Acoustic response timeoutII!O]3>bEƮ5jE05rE/1E^ EHElE"EC#:*E[9VE5ZEa @a @a @a @B v>B CB ܴGB AB =B DB DB ;B E! Xя,)|F?A2Acoustic response timeout6KG@6AU@6<ٱ6ɾ >AHRS rotation from veh to nav: [[-0.975430,0.131716,0.176600],[-0.188152,-0.915057,-0.356747],[0.114609,-0.381210,0.917357]]6H6?К?@`ȿ`&HֿW?eؿ@Z?i6KG@I6i^;4 D)FvADFQFDHHiHIHHIN̏CiNs@ LL)LP RvAR 0PPTTIVu)TiT)TIXZ#X XXX\i\\Y\YbAybG|9=AbDMVDM8y+ >%^=ٔ9Q->9 I = Fy E<E=>AQ 5MG4E:ۺ?Q 9MG4E`)EAYIyU-Q IU?EޫBIE;iE;EG4y}Bɮ}ƭBy*jBjiiziJi i1 k=k=k=h)2fq:fqBfqJfuȲ@颽e$AɢV) ꒿i)`i6IIIOB>Q2Acoustic response timeoutE j E ME aE "E N:*E 9VE d5ZE BE k;a 2E k;a JE a :E a ԁ ?я,F?A6xF@6_vT@6ٱ6Ⱦ >AHRS rotation from veh to nav: [[-0.977699,0.120677,0.171878],[-0.176025,-0.917263,-0.357273],[0.114543,-0.379560,0.918049]]6HNI ??@ƿ7Z ֿR? Jؿ``?i6xF@I6^;6:CYpAyGYye"~j?9I=FyEE>Q 5G4?Q 9G4)AYRl?Q Ef:y9Q I?BI ;i ;G4yBɮB*jBjiiziJii kc$kc$kc$h kS@kS@kS@h)52Acoustic response timeout2fEXE>:fEXE>BfEKQ?JfE"v@e$Aɢe)i m'ii)mrӺiqiu ńqIyԉAyIIOԱ 4= R= 2Acoustic response timeout iя,ޯF?A2fE@2MS@2ٱ2RǾ :AHRS rotation from veh to nav: [[-0.979690,0.110448,0.167357],[-0.164613,-0.919585,-0.356742],[0.114497,-0.377046,0.919090]]2H`Y@NF?k? ſ`>m@ֿO? !ؿ/i?i2fE@I2ο^;2@CEz_ EzKEz|Ex"Ez&:*Ez]t9VEzם5ZExa~@a~@a~@a~@YAyGbD5VD5Q8yeK=%ea=ٔm#9Q-m>9iIq=uFyuEuEu>yQ 5G4}?Q 9G4})}AYy9Q I?}JBI}:i}:}?G4yBɮBdE*jBjiiziJiiԹ kSAkSAkSAh kSAkSAkSAh2f:fBfJfqu@ %Aɢfn) (i)1VֻiKI!A1A5S?AqAqB}V>B}CB}жGB}AB}=ByB}DB};B}ޕEAaIqIO>E2Acoustic response timeout9 Qя,F?A2 E@2S@2ٱ2Jƾ :AHRS rotation from veh to nav: [[-0.981466,0.100517,0.163162],[-0.153804,-0.921063,-0.357753],[0.114322,-0.376218,0.919451]]2H`*hu?@{?ݯÿXy`nֿ`4D?ؿ@%l?i2 E@I2^;2%ZW=ٔZ9Q-Z>9\I\=^FybEbEf>dQ 5jH4f?Q 9nH4f)fAYlyn|:Q In?fBIfP;ifm ;fH4yrBɮvBt*j|Bj|iiziJii kCkCkC2Acoustic response timeouth2f:fBfJfQt@#&Aɢ δ) i)yisIEb ERE_E"E1:*E9VEC^5ZEBE9;a2E9;aJE$:a:E%:aA%$AI1IAO>AiIoAqiI IM A] hDAT read: Forwarding Delay UpTx time:18:49:47.0469 ] pIn parseResponses, set commsState_ = SENDING_ACK_WAITING] 2Acoustic response timeoutԙ {я,hF?A2`D@2~VR@2Aٱ23ƾ :AHRS rotation from veh to nav: [[-0.983030,0.090806,0.159393],[-0.143483,-0.921988,-0.359654],[0.114300,-0.376421,0.919371]]2Ht ??f?]¿ @׿B?Iؿ |k?i2`D@I2-^;0YB5AyFDGXX X)\I\i\\bDfgVDf8yjM=%nH=ٔn e8Q-n>9rH?IrH?=rFyrEvҼEv>tQ 5zH4vf?Q 9~H4v)vAY|y~(;Q I~?vBIv+;iv;vH4y Bɮ tB *jBj!i!i!zi!Ji!i! kBkBkBh9 kCkCkChI2fY:fYBfYJf] t@&Aɢ;) Ai) iG I qAIIQIi2Acoustic response timeoutO>ԡD%=D<E[ EIEaE"Ea:*Ec9VEd5ZEa @a @a @a @Bu 7>Bu CBu ĸGBu =ABq Bq Bu DBu ;Bu E ] 2Acoustic response timeoutя,F?A>#Q@>"Oٱ>dǾ FAHRS rotation from veh to nav: [[-0.984444,0.081420,0.155694],[-0.133557,-0.922550,-0.362027],[0.114159,-0.377189,0.919073]]>H@״?`?c@@s+׿9?#ؿ i?i>^;>>CYNAyNGbDZVDZV8yb_=%bK=ٔbI9Q-b>9dId=fFyfEfͼEj>lQ 5rH4nG?Q 9rH4n)n AYpyr;Q Ir?nuBIn:in:n#H4yzBɮzaBzcE*j Bj i iziJii k@k@k@h) k@k@k@h92fI:fIBfIJfMks@e\'Aɢmʜ)i u:iy)}o顁i9I ml>uCAII=GMqAa뤿9qAYAy?vAO&>2Acoustic response timeout! E b E TE ZE "E 1:*E 9VE (N5ZE BE a 2E a JE :a :E :a żя,JF?Aɰ4<(:C@:Q@:ٱ:Ǿ FAHRS rotation from veh to nav: [[-0.985735,0.072330,0.151968],[-0.123925,-0.922890,-0.364577],[0.113880,-0.378209,0.918689]]:H$;?s? P ;U׿='?4ؿ e?i:C@I:^;8YNAyNGonly read 2 of 4 data items for bottom velocity. Device response is::BS,+1001, -1,A a@a a@a a@a a@a bDVD82Acoustic response timeoutyy=%%=ٔ%:Q-%>9)I)=-Fy-E5E5>9Q 5=H4=d!?Q 9EH4=w)="AQ AE+:YAQ EE::yEl  2Acoustic response timeout˼я,&1F?A2zB@2pP@2"ٱ23rȾ :AHRS rotation from veh to nav: [[-0.986879,0.063079,0.148632],[-0.114269,-0.923211,-0.366911],[0.114075,-0.379081,0.918305]]2H %?c?@@y{׿`4? Bؿb?i2zB@I2^;2=CYBAyF.GD\zD^@AEbZ EbGEb\E`"Eb:*EbR9VEbT5ZE`aj@aj@aj@aj@bD 6VD 8y=P>%==ٔE&Q-E?9EK?IEK?=MFyMEMEM?QQ 5]H4U ?Q 9eH4U )U"AQ Ae :YaQ Ee:ye =Q Ie?UBIUo;iU#S?U9H4ymBɮuBq*jBjiiziJii k#k#k#h k<k<k<h(Aɢ!ν) Ii)~Y7iIBA<B%>B%CB%GB%AB%=B!B%DB%;B%EBCB CB˜CB¦=B¦=C5A I)I9O>%2Acoustic response timeoutQԁ ɟҼя,KF?A6A@6O@6kbٱ6eȾ >AHRS rotation from veh to nav: [[-0.987963,0.053737,0.145059],[-0.104350,-0.923752,-0.368502],[0.114196,-0.379203,0.918240]]6Hd m?`G?౶_׿;?Dؿ`8b?i6A@I6^;4YFAyFcGbD5VD5I8Yye<%eH=ٔmQ-m>9iIi=mFyuEu4ɼEu>2Acoustic response timeoutQ 5H4(빉?Q 9H4 )#AQ A9YQ E9y=Q I?BI;i ?(AH4yBɮB*jBjiiziJii ks#ks#ks#h kCkCkCh=)Aɢe) i)Fi+!I!A1A5J?Eo EHEgE"E`:*E[9VEx5ZEBE;a2E;aJEX:a:EY:aԁAIIO&>Ա5 2Acoustic response timeout ؼя,dF?A26$A@2O@2ٱ2ѮȾ :AHRS rotation from veh to nav: [[-0.989020,0.043604,0.141202],[-0.093618,-0.924166,-0.370341],[0.114346,-0.379494,0.918101]]2H` ?S?@? [Ē׿E?`Iؿ@a?i26$A@I2L_;2;CYBAyB]GDDbDRVDR 8yV>%ZW=ٔZϹQ-Z>9XI\=^Fy^E^iEb>`Q 5fH4bι?Q 9jH4b )b$AQ Aj9YhQ Ej9yja>Q Ij?bcBIb3:ib?bFH4yrBɮrBrbE*j|Bj|i|i|ziJii kc'kc'kc'h k@k@k@h)U)AɢU+½)Q U-iQԹ)"UiاIAe$AIqI2Acoustic response timeoutO!>D=D%=E^ ENE^E"EC#:*E҆9VE [5ZEa@a@a@a@B >B CB ޼GB AB B DB DB ;B E9 = 2Acoustic response timeoutC޼я,~F?A:nW@@:UMN@:fٱ:-CȾ FAHRS rotation from veh to nav: [[-0.990074,0.032032,0.136852],[-0.081246,-0.924955,-0.371292],[0.114689,-0.378725,0.918376]]:H tf?`\? ̴;=׿=\?@=ؿUc?i:nW@@I:^;:9 H?I H?= Fy EE>Q 5%H4?Q 9%H4)%AQ A%9Y!Q E-9y-/?Q I-?$BI:i@KH4y5Bɮ5ެB1*jIBjIiQiQziQJiYia k3%k3%k3%h}*Aɢ k) si)-e)1i5jYIaAAAIIIOH>2Acoustic response timeoutiE \ E HE `E "E :*E [9VE |a5ZE BE ;a 2E ;a JE a :E a ԩ я,F?ABr?@BzhM@BGٱBǾ NAHRS rotation from veh to nav: [[-0.991072,0.019100,0.131956],[-0.067406,-0.925669,-0.372281],[0.115037,-0.377852,0.918692]]BH۶ݎ? ? Au׿s?@.ؿe?iBr?@IB^;B>CY^LAy^Gaa aa aa aa yV-?+?Mbȿ\?=@ 9jt?X9v?-˿YĀ?y<5^BŀB )BYBbD2VD8y>%==ٔUQ->9K?IK?=FyEE>Q 5H4剹?Q 9H4)E%AQ AT:Yʃ?Q EN:yHQ I?BIW;i;ZH4y Bɮ B *j!Bj!i!i)zi)Ji)i) k&k&k&hA k&k&k&ԑhQ2f>:f>Bf F@Jf#NE@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode182Acoustic response timeout]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedU+AɢUu)Q UiQ)]*uYYi]aIaAuoAzAqIiIyO?> 2Acoustic response timeoutя,vmF?ANp>@NfL@bE-c5jE-.j5rE-c2ER[ ERJERcEP"ERa:*ERk9VER&k5ZEPaZ@aZ@aZ@aZ@NٱN 3Ǿ vAHRS rotation from veh to nav: [[-0.991964,0.004518,0.126440],[-0.051793,-0.926290,-0.373235],[0.115434,-0.376784,0.919080]]NH@+"r?//?+׿?;ؿ i?iNp>@IN^;N;CYuAyuJG )IibDVDX8y=%%F=ٔ%}Q-%>9)I)=-Fy-ĭE- E->QQ 5]H4Ue?Q 9]H4U)U$AYYy] I@Q Ie?UBIU8;iU:UiH4ymBɮmBmaE*jyBjiiziJii ks&ks&ks&h k&k&k&hAAB>BCBGBRAB=BB DB;BEQ2fi:fiBfiJfmIOD@s}NUpdating rudder angle 6.875493 arcdeg 9}r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder +AɢZ<) i)GciË!I!2Acoustic response timeoutIAIQԁO[>ԩ я,QF?A9 I = Fy ƭE LE >Q 5H4pF?Q 9%H4)$AY!y%G@Q I%?BIN:iF:EvH4y-޿Bɮ5B1*jABjAiAiIziIJiIiI])>]%=e2Acoustic response timeout k#k#k#hy2f:fBfJf#(C@颭@,AɢBjϽ) 䌿i1)5]11i59I9IIO=ԩEX ELEZE"E~ :*E|9VE(N5ZEBE:a2E:aJEv:a:Ew:a 2Acoustic response timeout я,S$F?A2<@2J@2Wٱ2ž :AHRS rotation from veh to nav: [[-0.993098,-0.029900,0.113416],[-0.014915,-0.926917,-0.374969],[0.116339,-0.374072,0.920074]]2Ht-`?ҋN|׿\Ƚ?׿@>q?i2<@I2^;2=CYZHAyZGlbD%IVD%8ye=%eD=ٔmQ-m>9iIq=uFyuɭEud8Eu>yQ 5H4}v"?Q 9H4}2)}u#AYyF@Q I?}{BI}:i}:}ԄH4yۿBɮrB*jBjiiziJii kS kS kS h k%k%k%h2f:fBfJfA@ ,Aɢ )  i)ُ顑iѺIA\?Aa?I9IQO= m2Acoustic response timeoutEW ECETE"E :*E09VE:5ZEa@a@a@a@1B>BCB*GBAB=BBDB;BEa i I % 2Acoustic response timeoutя,;F?ABG:@B.H@BٱBž JAHRS rotation from veh to nav: [[-0.993132,-0.049466,0.106025],[0.005799,-0.925923,-0.377669],[0.116853,-0.374460,0.919851]]BH` Sv$?,w?(`+ؿ@?'׿`jo?iBG:@IB^;B>CYR,AyRGAbD]9VD]8y v>% @=ٔ?Q->9)I)=5FyU˭EeDEm>Q 5H4_?Q 9H4 )"AYy_E@Q I?cBI;i;CH4yؿBɮSB`E*jBjiizi!Ji!i! k&k&k&hY2fi:fiBfiJfm@@额-Aɢ6ٷ) ㊿i)顡iII1IAiO}>}2Acoustic response timeoutԑE a E FE WE "E %.:*E ;J9VE ~D5ZE BE L3;a 2E O3;a JE e:a :E e:a Q+я,"F?ABNP9@B4FG@B,ٱBƾ JAHRS rotation from veh to nav: [[-0.992694,-0.070152,0.098174],[0.027736,-0.924504,-0.380162],[0.117431,-0.374662,0.919695]]BH`% s!?@f? 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BI  ;i  ; H4y%տBɮ%;B)*j9Bj9i9iAziAJiAiA k"k"k"hY k"k"k"hi2f}>:f}>Bf}z`>Jf}xK@@额.Aɢ/Ƚ) 8i)Ӄ顡iIU2Acoustic response timeoutIYIO=11 =  2Acoustic response timeout 8_ я,G3F?A27@2E@E:\ E:CE:KE8"E::*E:09VE:5ZE8a>@a>@a>@a>@2ٱ2Ǿ FAHRS rotation from veh to nav: [[-0.991775,-0.091181,0.089826],[0.049985,-0.921978,-0.384003],[0.117832,-0.376354,0.918952]]2H@W??؀@ؿ6*?0ؿ`h?i27@I2^;2;CYNtAyNGbDZVDZ38yb=%b_=ٔfߏQ-f>9dId=fFyfЭEj zEj>lQ 5rH4nwø?Q 9rH4n$)nC AYpyvg@Q Iv?nBIn ;in&;nH4yzܿBɮz-BziE*j Bj i i zi Jii k k k h) ksAksAksAh92fI:fIBfIJfM<>@e.Aɢmɽ)i mOii)mqqiuqIyA-pAzA)BA<B>BCBGBAB=BDBDB6;BvEAIIO%> U2Acoustic response timeoutQrAS9rAYAa <я,MF?Aɰ:r6@:hD@:ٱ:Ǿ FAHRS rotation from veh to nav: [[-0.990416,-0.111882,0.080986],[0.072126,-0.919017,-0.387565],[0.117789,-0.378009,0.918278]]:H|Lx?v?hؿ@d'?M1ؿ@b?i:r6@I:^;:=CYNAyNfGPRp=bDZWVDZ8ybc=%bL=ٔf_8Q-f>9dId=fFyjӭEjdEj>lQ 5rH4n?Q 9rH4n7)nAYtyvAQ Iv?n{BIn:in:nH4yzٿBɮzBx*j Bj i i zi Jii k&k&k&h) ksBksBksBh92fI:fIBfIJfM>=@e3/Aɢm1Ľ)i mii)miqiu}qIy2Acoustic response timeoutQEW EHEOE"E :*E[9VE*5ZEBE::a2E?:aJEX:a:EY:aAIIO= >ԁԩii Im Au 2Acoustic response timeout eя,CYvAyv,G )Ii!!bD- VD-8y==%EC=ٔEO:Q-E>9AII=MFyM֭EMKTEM>QQ 5]H4U?Q 9eH4U)U~AYayeYCQ Ie?U>BIUD;iU?;U=H4ymֿBɮmBq*jBjiiziJii kBkBkBh2f:fBfJfĥ;@/AɢL½) ҈i)hXiIԱA-$AI1IAOm>2Acoustic response timeoutEU EEEJE"E:*EA9VE5ZEa@a@a@a@B>BCBDGBg AB=BBDBU;BCEBeCBeCBeȠCBeȧ=Beȧ=CeF6 9 M я,VEF?A2Acoustic response timeout 3@A@<ٱ˾ AHRS rotation from veh to nav: [[-0.986535,-0.151079,0.062638],[0.114361,-0.911027,-0.396171],[0.116918,-0.383673,0.916038]]H@`Vÿ  ?F?"'ZٿV?ؿ`.P?i 3@Ih^;=CYUAy%GyCl?/$?ˡE?;??<= 9m?On? ףp= ?YN?y>Q8=B:B )ƞBYB@AbDVD8yET=%E.=ٔEЗ:Q-M>9MH?IMH?=UFyUحEU6EU>YQ 5eH4]c?Q 9eH4])]AYm\?Q Emv:ymI:Q Im?] BI]a:i] ;]H4yuҿBɮuB}hE*jBjiiziJii k&k&k&h kS@kS@kS@h2fX>:fX>Bf­?Jf$S@|0Aɢ튼) 7i)ɝi }I9A]AIaIqO_>2Acoustic response timeouti E X E AE KE "E ~ :*E  9VE 5ZE BE :a 2E :a JE :a :E :a x&я,!F?A ((V8u2@Vk@@V#ٱVʶ˾ rAHRS rotation from veh to nav: [[-0.984146,-0.168856,0.054254],[0.133727,-0.907412,-0.398397],[0.116502,-0.384825,0.915607]]VH ~ſ&ǫ? ? Tٿӽ?ؿL?iV8u2@IV^;V>CYz= AyzGbDVDs8yP#>%f=ٔ:Q->9K?IK?=FyۭEbE>9Q 5EH4=I?Q 9EH4=I)=AYAyE;Q IM?=BI=[:i=:=H4yUϿBɮmȫBq*jBjiiziJii k$k$k$h kC@kC@kC@h2f:fBfJf"@1Aɢ̽) 8i)ni吼I=2Acoustic response timeoutAAIIIYO:>!  2Acoustic response timeoutC,я,zF?AE6T E6GE6HE4"E69*E6R9VE6-5ZE4a:@a:@a:@a:@>G1@>=?@>ٱ>B̾ FAHRS rotation from veh to nav: [[-0.981596,-0.185361,0.045935],[0.151833,-0.903414,-0.400987],[0.115826,-0.386633,0.914931]]>HG1@I>ۃ^;>;C|Y AyGbDvVD&8y=%J=ٔt:Q->9I=FyݭE9E>Q 5H4-?Q 9H4)AYyBяCBjGB&"AB=BDBDBP;BE*jBjiiziJii k3@k3@k3@h  k3@k3@k3@h2f):f)Bf)Jf-@M1AɢU@Gƽ)Q UiQ)U0ɼQYi]lYIa)AIIOG>i9I=AE2Acoustic response timeoutQԁ L3я,IF?A2,0@2">@2>ٱ2; :AHRS rotation from veh to nav: [[-0.978912,-0.200717,0.038003],[0.168772,-0.899443,-0.403135],[0.115098,-0.388220,0.914351]]2H?Sɿ0u?Q?=ٿw?`ؿ]B?i2,0@I2^;2=CYFL!AyF]GYbD5LVD582Acoustic response timeouty=%L=ٔ:Q->9I=FyE:1E>Q 5I4,?Q 9I4)AYy=Q I? BIp:i:7I4yȿBɮB*jBjiiziJii k<k<k<h k<k<k<h!2f1:f1Bf1Jf5@U$2AɢUnн)Q UiQ)]ϼYYi]CaIaAqzAurAEu] EuIEuGEq"Eu:*Euc9VEu5ZEqBEu8;a2Eu:;aJEu:a:Eu:aԉAIIIO5->ԹU 2Acoustic response timeout 79я,F?AF&/@F=@Fh~ٱFs; RAHRS rotation from veh to nav: [[-0.976183,-0.214773,0.030631],[0.184426,-0.895894,-0.404179],[0.114249,-0.388904,0.914167]]FH <}˿]? F?`*ٿ`j??ؿ@?iF&/@IF^;DYZ!AyZG\^R=`bAbDfVDf8yn$=%rX=ٔr@;Q-r>9tIt=vFyvEv-Ev>xQ 5~I4z?Q 9I4z)zAYy>Q I?zBIzG;izS;zhI4yſBɮBgE*j1Bj1i1i1zi9Ji9i9 k#Ek#Ek#EhY2fq:fqBfqJfu @额2Aɢ̱Ͻ) 1i)r"ּ顩iIq2Acoustic response timeoutAII!O-,>D=D4=bE5jEƉ&5rE%1EZ ECEFE"E:*E09VE 5ZEa@a@a@a@QBu>BuȏCBu^GBu#ABu=BuDBuDBu3;BuEԁ @я,RF?A2Acoustic response timeout03.@)<@ٱ; AHRS rotation from veh to nav: [[-0.973423,-0.227756,0.023987],[0.198929,-0.892788,-0.404175],[0.113469,-0.388661,0.914367]]HG&'Ϳ? v? ٿH ?`ؿ~B?i03.@Iv^;Y%"Ay-GQymkt?V-Q?m P?mhmu9I=FyEE>!Q 5-I4%ҷ?Q 95I4%)%nAY57V?Q E5}:y53G@Q I5?%BI%@:i%H:%4#I4y=¿BɮEqBA*jQBjQiQiYziYJiYiY k<k<k<hq k<k<k<h2fBO>:fBO>Bfwr?Jf g@颵d3Aɢ) 놿i)T޼项iƒIEPExceeded connect timeout, disconnecting.yA5$AI9IIO>2Acoustic response timeoutԩE [ E DE JE "E a:*E a99VE 5ZE BE ;a 2E ;a JE oH:a :E rH:a tFя,jF?A2zR-@2`H;@2ٱ2 ; :AHRS rotation from veh to nav: [[-0.970673,-0.239712,0.018225],[0.212276,-0.890221,-0.403046],[0.112839,-0.387357,0.914998]]2Hο?`+?|@ٿ ? vؿ@G?i2zR-@I2^;2>CYR"AyRtGbDZVDZ\8yb=%b=ٔf;Q-f?9fH?IfH?=jFyjEj6Ej?lQ 5rI4nq?Q 9rI4nS)n1 AYtyvPF@Q Iv?nBIn:in:n-I4yzƿBɮzfB|*jiBjiiiiiziqJiqiq k@k@k@h k@k@k@h2f:fBfJfF@%3Aɢ-W)) -i))-f)1i5Ւ1I9AMW?AMU?ԱU2Acoustic response timeoutAEAIQIaO>  2Acoustic response timeout,Lя,AD6F?AE&V E&RE&OE$"E&=:*E&9VE&*5ZE$a*@a*@a*@a*@Fb},@FHs:@F-ٱF>K̾ RAHRS rotation from veh to nav: [[-0.967911,-0.250971,0.012685],[0.224902,-0.887678,-0.401805],[0.112101,-0.386059,0.915637]]FH!пa??g`,ٿ?`0ؿL?iFb},@IFiz^;F@CYb#Ayb|G   )IibD-jVD-08yE=%EB=ٔM:Q-M>9UK?IUK?=UFyUE]Ee>iQ 5uI4mO?Q 9}I4m)mF!AYyy}yE@Q I?mBImY;imW;mGB%CB%RGB%S%AB%=B%DB%޻DB%;B%sE*jaBjaiaiiziiJiiii k@k@k@h2f:fBfJf+@q4Aɢ>ʽ) لi)δi6!I)A$AIIOF>E2Acoustic response timeoutIi E nManaging dock network, ignoring radio surface power offhSя, PF?A >+@>9@>/ٱ>B˾ JAHRS rotation from veh to nav: [[-0.965056,-0.261936,0.007522],[0.237169,-0.885296,-0.400002],[0.111434,-0.384240,0.916483]]>H `п~?[?`XTٿ?@dؿS?i>+@I>^;>>CYR$AyVUGbD^+VD^8yf=%fR=ٔjd:Q-j>9jH?IjH?=jFyjEnEn>pQ 5vI4r?Q 9vI4r=)rD"AYxyzD@Q Iz?rZBIrN:ir:rII4y~ÿBɮ~2B~fE*jBjiiziJii k%k%k%h1 kBkBkBhA2fQ:fQBfQJfUV&@u4Aɢusؽ)q uDiq)}:yyi}fZIߵ=ߵ=2Acoustic response timeoutE]S E]EE]PEY"E]9*E]A9VE]-5ZEYBE] :ae2E]:aeJE]V:ae:E]W:amqAAIIO- >ԙM In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIEDM 8Ack receipt timeout failure.U 2Acoustic response timeout kZя,iF?A2z*@2`8@2+ٱ2ɾ >AHRS rotation from veh to nav: [[-0.962052,-0.272849,0.003072],[0.249188,-0.883101,-0.397540],[0.111181,-0.381689,0.917580]]2H`!Zvѿ*i? d?\B@Lqٿ`v?mؿ \?i2z*@I2~^;2=CYJ>%AyJ8GPbDVD8y-=%-D=ٔ5: :Q-5>95K?I=K?==Fy=EEEE>IQ 5]I4Mi?Q 9]I4M)MV#AYayeC@Q Ie?M BIM=;iM<;MfXI4yuBɮuBq*jBjiiziJii kSBkSBkSBh kcBkcBkcBh2f:fBfJf^@5Aɢji̽) )i)2i,IAzApAAAIQIaO>In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutEea EeHEeMEa"Ee%.:*Ee[9VEeH$5ZEaam@am@am@au@i9I=pABy>BCBxGB'AB=BBۻDB-;BE! ia Ia } pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout4aя,;F?A CP\hp ɥ9YTA*@8@`ٱٸȾ AHRS rotation from veh to nav: [[-0.958770,-0.284181,-0.001083],[0.261394,-0.880385,-0.395720],[0.111503,-0.379688,0.918371]]H>0ҿQ௺? ,ySٿq?LؿJc?i*@I^;>CY&Ay.G11yK7A`?I +?+K?94= 9Fx?~jtxL7A`?Yk?yĻ+=B:B xB)Y8BbDVDb8y=%+=ٔ 1Q- >9 I =FyEڼE>Q 5%I4kF?Q 9%I4)^$AY-k?Q E-f:y-8@Q I-?BI ;i. ; iI4y5Bɮ5B9*jQBjQiQiQziQJiQiY k3Ck3Ck3Chi k3Ck3Ck3Ch2f>:f>Bf*%@Jf-@颵+6AɢĽ) "i)B项i;(IA$AIIO%N>UzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYU2Acoustic response timeout EE V EE DEE JEA "EE =:*EE a99VEE 5ZEA BEE :aM 2EE :aM JEE nH:aM :EE qH:aU H4gя,z7F?A2\>)@2B47@2wLٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.955199,-0.295919,-0.005143],[0.273667,-0.876487,-0.396076],[0.112699,-0.379739,0.918203]]2HVҿu? / PYٿ`ټ?@Mؿa?i2\>)@I2^;2=CYE&AyE1G2Acoustic response timeoutbD&VD8y">%K=ٔDQ->9H?IH?=%Fy%E%SE%>)Q 55I4-(?Q 95I4-)->%AY9y=7@Q I=?-BI-:i-:-wI4yEBɮEުBEeE*jYBjaiaiaziaJiaia k6k6k6hy kVkVkVh2f:fBfJf-@颽6AɢϽ) }i)iquIIA=AIIIYOb>q߅ %=߅ = 2Acoustic response timeoutԡ l`mя,F?AENZ ENBENLEL"EN:*EN(9VEN!5ZELaR@aR@aR@aR@JQ(@JF6@JٱJԲȾ ^AHRS rotation from veh to nav: [[-0.950948,-0.309209,-0.009313],[0.287414,-0.871983,-0.396280],[0.114413,-0.379519,0.918082]]JH`+nӿ`d?I\ٿ%J? Jؿ`?iJQ(@IJt^;J?C `)ddddddihIhhIjُCil ll)ll nvArQ8ppppIp)rFit)tItv't txxxixxY|Yc'AyGbDVD8y-8=%-o=ٔ-Q--?95K?I5K?=5Fy5E=-E=?AQ 5MI4E?Q 9MI4E)E%AYIyM6@Q IM?EBBIEb:iE:EI4y]Bɮ]ʪBYqAyAyB]>BCBlGB(AB=BBػDB/;BgEBECBEďCBECBE=BE=CE6*j)Bj1i1i1zi1Ji1i9 k:k:k:hi2fy:fyBfyJf}),@颽97Aɢֽ) Y}i)Vi?IAX?AR?ԡAI!I9Om5>2Acoustic response timeout Etя,_F?A6;'@615@6ٱ6ɾ >AHRS rotation from veh to nav: [[-0.945790,-0.324429,-0.015030],[0.303419,-0.866139,-0.397166],[0.115834,-0.380196,0.917624]]6H`C@sԿNȎ5k?h)kٿG? "Uؿ,]?i6;'@I6^^;6=CY1(AyG-=-=bD5VD5o8E2Acoustic response timeoutyMx=%UH=ٔUeQ-U>9QIY=]FyeEe)Ee>iQ 5uI4m?Q 9uI4m )m&AYyy}5@Q I}?mBIm3;im?;mII4yBɮB[E*jBjiiziJii kc<kc<kc<h kVkVkVh2f:fBfJf+@颅7Aɢ ѽ) yi) 顱i@IET EECE"E9*EVE5ZEBE:a2E:aJEP+:a:ER+:aAAIIIYO:>1iI2Acoustic response timeoutY pzя,hF?A> &@>3@> ٱ>Dʾ JAHRS rotation from veh to nav: [[-0.939859,-0.340800,-0.022796],[0.320981,-0.858444,-0.400057],[0.116770,-0.383314,0.916207]]>HTտW?_x@ٿ`?@8ؿ Q?i> &@I>t^;>>CY(AyG11 1)1I1i99bDE_VDEN8yUZ=%]J=ٔ]eQ-]>9aIa=eFyeEe<Em>iQ 5uI4m"Զ?Q 9}I4m )m'AYyy}4@Q I}?mBIm+;im7;mmI4yBɮB*jBjiiziJii k:k:k:h kYkYkYh2f:fBfJf7*@H8Aɢӽ) Oxi)*  i i I9M2Acoustic response timeoutAe$AIiIO>aD=D<E}U E}EE}MEy"E}:*E}A9VE}H$5ZEya@a@a@a@B}:>B}CB}GB}*AB}=ByB}ֻDB}K;B}ܒEԉ  2Acoustic response timeoutZя, F?A6$@6Ʒ2@6rٱ6n"̾ BAHRS rotation from veh to nav: [[-0.933145,-0.358168,-0.030914],[0.339701,-0.850345,-0.401891],[0.117657,-0.385524,0.915165]]6HS`8ֿק ?6ٿ`? nؿ I?i6$@I61^;69H?IH?=FyEEE>Q 5I4m?Q 9I41)'AYZ?Q Ex:yr7@Q I?sBIz ;i ;I4yBɮyB*jBjiiziJii kc@kc@kc@h ksWksWksWh!2f5t=:f5t=Bf5y?Jf5 X@U8AɢU.н)Q UwiY)] YYi]ڕaIaAqzAurAQIiIyO>qU2Acoustic response timeoutE X E KE GE "E ~ :*E ]t9VE 5ZE BE :a 2E :a JE -:a :E .:a ԡ Ɂя,|F?A2p#@2f1@2Sٱ2; :AHRS rotation from veh to nav: [[-0.925897,-0.375674,-0.039797],[0.358796,-0.841516,-0.403877],[0.118236,-0.388227,0.913947]]2H ؿ6` ?ٿ D?ؿ??i2p#@I2^;2=C@YF2*AyFOGAbD VD 8yE>%MQ=ٔMúQ-M>9IIQ=UFyUEUWEU>YQ 5eI4]?Q 9mI4])]G'AYiym6@Q Im?]BI]:i]j:]I4yuBɮ\BZE*jBjiiziJii! k;k;k;h1 kXkXkXhA2fY:fYBfYJf]V@19] r]NAggregate::initialize marl:UpdateRudderq9eJ]aq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]a18eom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7mnu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed颍d9Aɢ$Ͻ) si)>顑iOI2Acoustic response timeoutԩIqIIO> m 2Acoustic response timeoutD zD bEYjE]:5rE])1E- V E- CE- FE) "E- =:*E- 09VE- 5ZE) a5 @a5 @a= @a= @^я,Y9F?A2%"@20@2ٱ2Ͼ :AHRS rotation from veh to nav: [[-0.918450,-0.392451,-0.049310],[0.377422,-0.832256,-0.406082],[0.118329,-0.391576,0.912506]]2Hc`ٿ!?@'?ס`=ٿJ?ٿ>3?i2%"@I2~^;2B%CB%GB%P,AB%=B!B%һDB%p;B%PEbDEVDE8yUo=%UI=ٔ]oQ-]>9YIa=eFyeEeKEe>iQ 5uI4mҀ?Q 9}I4m)m'AYyy}4@Q I}?mBImL;imz;mI4yBɮLB*jBjiiziJii kc\kc\kc\h2f:fBfJfgU@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder9Aɢ:׽) 9ui)Bi릖IIIO= 2Acoustic response timeout1a я,2SF?A2 @2.@2Aٱ2eо :AHRS rotation from veh to nav: [[-0.910769,-0.408759,-0.058447],[0.395642,-0.823366,-0.406861],[0.118185,-0.393681,0.911618]]2H%)ڿ쭿1R?Y ڿcA?2ٿ+?i2 @I2d^;2>CYb+AybG%2Acoustic response timeout9bDU?VDUE8y>%D=ٔ39Q->9I=FyEBBE>Q 5I4Fd?Q 9I4)&AYyw3@Q I?BIK,;i ;zI4yBɮ)B*jABjAiAiIziIJiIiI kCkCkChi2f:fBfEY EDEGE"E:*Ea99VE5ZEBE";a2E$;aJEoH:a:EqH:aJfS@%}:Aɢ-P˽)) -niQ)UMQQiU)4YIYAmS?AmS?IIO% >iԑhDAT read: Forwarding Delay UpTx time:18:50:01.1956 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout я,mF?A2@2r-@2ٱ2Ѿ >AHRS rotation from veh to nav: [[-0.903080,-0.424129,-0.067540],[0.412990,-0.814464,-0.407539],[0.117840,-0.395934,0.910687]]2H@`$ۿUJnn? ڿ*?VٿX$?i2@I2d^;0YFs,AyFGbDRVDR8yV9>%Z]=ٔZTw:Q-Z>9\I\=^Fy^ Eb(UEb>dQ 5jI4fK?Q 9jI4f)fz&AYhyj72@Q Ij?f&BIfp:ifF:fGI4yrBɮr BrYE*jxBjxi|i|zi|Ji|i kAkAkAh kAkAkAh!2f9:f9Bf9Jf=R@U:Aԑɢڽ) gi)4iwIIYIiO=-=-4=52Acoustic response timeoutEU EBEIE"E:*E(9VEe5ZEa@a@a@a@B>BCBGB-AB=BDBϻDB;BőE!  2Acoustic response timeout¥я,F?A>׀@>v,@>:ٱ>DӾ FAHRS rotation from veh to nav: [[-0.895566,-0.438353,-0.076209],[0.429129,-0.805759,-0.408167],[0.117515,-0.398244,0.909721]]>H`z ܿk@v?hڿ|?@|ٿn?i>׀@I>S^;>=CYNI,AyRGa%@a- a-@a- a-@a- a-@a- a-@a- y%^I +?MbX9Zd;O%XY?%ʡ%j! !)%Mb@Mb@Mb@I%i%‰%%% %)%%I%bDEVDE8yU&ȼ%U@=ٔUI:Q-]>9YIY=eFye Ee,Ee>iQ 5uI4m5/?Q 9uI4mN)m0&AQ Au+:YqQ E}I:y} 1@Q I}?mBIm ;imu>mLI4yBɮ B*jBjiiziJii kCBkCBkCBhQ额;Aɢѽ) si)o顡i闼II1IIO=!=2Acoustic response timeoutQEQ EEEAE"E29*EA9VEA4ZEBE:a2E:a JEV:a :EW:a y ϧя,&ĠF?A2c@2Y+@2ٱ2IӾ :AHRS rotation from veh to nav: [[-0.887988,-0.452257,-0.083311],[0.444651,-0.798184,-0.406434],[0.117315,-0.397953,0.909874]]2H`fjܿ`S'u? @ڿV?xٿ`?i2c@I2o^;2@CYZt-Ay^PGpt t)tItittbD~LVD~f8y =>% O=ٔ G:Q- >9I=FyE4E>!Q 5%I4%?Q 9-I4%)%%AQ A- :Y)Q E-#:y-/@Q I-?%BI%:i%%R?%WI4y9ɮ=B9*jIBjQiQiQziQJiQiQ k&k&k&hi k@k@k@h颥ԉԩM 2Acoustic response timeout E U E E FE "E :*E VE 5ZE a @a @a @a @я,F?Aɰ;2W@2L*@2Tٱ2Ҿ :AHRS rotation from veh to nav: [[-0.880631,-0.465134,-0.090214],[0.459188,-0.790930,-0.404445],[0.116769,-0.397592,0.910102]]2H". ݿ= Uc?MOmٿ? &rٿ@?i2W@I2P^;2=CYF-AyFGbDR VDR=8yV=%VP=ٔZ:Q-Z>9XI\=^Fy^EBb>BbCBbGBb}/ABb=B`BbͻDBb;Bb]E])E]>aQ 5mJ4e?Q 9mJ4e=)e%AQ Am9YiQ Em:ym.@Q Iu?e@BIe:ie۝?eJ4y}Bɮ}ҩBy*jBjiiziJii k$k$k$h k@k@k@hE>> 9 ⴽя,${F?A2Acoustic response timeoutY.AyGbDVD8yV=%8=ٔQ->9K?IK?=FyEE>Q 5 J4ݵ?Q 9 J4s)V%AQ A 9Y Q E 9yQ I?BI:i9?cJ4yBɮBOE*j1Bj1i1i1zi9Ji9i9 ksEksEksEhI kEkEkEha颍=AɢԽ) hi)(顑ilIER E@EJE"Es9*E9VE5ZEBE:a2E:aJE1:a:E3:aA$AI IOu6>92Acoustic response timeouti  я,UF?A :U@:K(@:Tٱ:Kо BAHRS rotation from veh to nav: [[-0.865833,-0.490012,-0.101100],[0.486558,-0.777538,-0.398366],[0.116595,-0.394109,0.911638]]:H@ ]\߿@ṿ#?~ٿ@2ٽ?9ٿ#,?i:U@I:^;:>CYJ`/AyJGbDjVD8yE >%MU=ٔM9Q-M>9MH?IUH?=UFyUEUEU>YQ 5eJ4]ĵ?Q 9mJ4])]%AQ Am9YiQ Em9ym,@Q Im?]BI]:i]@] J4yuBɮ}B}NE*jBjiiziJii k<k<k<h k<k<k<h9颅=Aɢ0Խ) ci)+顉iwQIAU?AQ?i2Acoustic response timeoutAAI I1Om5>ET ECEBE"E9*E09VE5ZEa@a@a@a@ԩB>BCBGB=1AB=BB̻DB];BEBưCBƱCBƘCBƽ=Bƽ=C6  2Acoustic response timeoutя,0F?A2P@2F'@2qQٱ2Ͼ :AHRS rotation from veh to nav: [[-0.857975,-0.502565,-0.106334],[0.500286,-0.770506,-0.395013],[0.116589,-0.392108,0.912501]]2H`t8W?@Gٿ`ؽ?Lٿ53?i2P@I2%A=ٔ7Q->9K?IK?=FyEE>Q 5J4?Q 9 J4$)$AQ A T:Y M?Q E :y X%@Q I ?LBI;i;J4yu~BɮusBy*jBjiiziJii kCBkCBkCBh kRkRkRh2f%k>:f%k>Bf%(?Jf%@E*>AɢE"Ͻ)A M]iI)MC.iiim™qIqAyIIOB>%2Acoustic response timeoutEU EEE"E:*EVEZEBE:a2E!:aJE9:a:E9:a! 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Jfؿ`?ؿ !C?i2e@I2o^;2=CYB3AyBGyMq= ףp?~jt1ZdM+?MDM"۽I I9MMb?/$?"~j̿YM#?yM>MScMBMA~B I)MВBIYMBBe@AeAAbDe VDeR8yu=%uZ=ٔ}gQ-}>9I=Fy%E8E>Q 5J4A?Q 9J4)AY1?Q E:y('@Q I?]BI ;i ;aJ4yiBɮBDE*jBjiiziJii kZkZkZh kZkZkZh2fo>:fo>Bf?JfRɅ@@Aɢ0ֽ)! %yOi!)%]2Acoustic response timeoutES ENECE"E9*E҆9VE5ZEBE :a2E:aJE:a:E:a 9 8lя,SF?A2g@2L @2Fٱ2W̾ :AHRS rotation from veh to nav: [[-0.803153,-0.578714,-0.141545],[0.584063,-0.717951,-0.378703],[0.117539,-0.386827,0.914631]]2Hn Ԅ"¿?@u@<ؿ?ؿD?i2g@I2J^;2>CYB4AyBGbD VD 8y}>%}J=ٔQ->9I=Fy'E 0E>Q 5J4).?Q 9J4)AYy&@Q I?BI;i;pJ4yfBɮԨBCE*jBjiiziJii kYkYkYh kYkYkYh2f:fBfJf4@%*AAɢ%bϽ)! %Ii))->))i- 1I12Acoustic response timeoutIQIO!>9i m 2Acoustic response timeoutE U E @E BE "E :*E 9VE 5ZE a @a @a @a @ɕя,,F?AA A"@AB&>B&CB&7GB&R6AB&=B& DB&DB&;B&яE0j̱@j@j@ٱj̾ rAHRS rotation from veh to nav: [[-0.792331,-0.591854,-0.148059],[0.598569,-0.707184,-0.376305],[0.118012,-0.386781,0.914589]]jHZw¿{'?A_ؿ@6?ؿPD?ij̱@Ij}^;hY~F5Ay~GbDeVDe8y=%H=ؘٔQ->9I=Fy*E}6E> Q 5J4 N?Q 9J4 +) AYy$@Q I? vBI T;i P; ~J4y!ɮ%B!*j9Bj9i9i9zi9Ji9iA kYkYkYhQ kYkYkYha2fy:fyBfyJf}g@颕AAɢeͽ) Fi)5]A顙i׈IqIIO5.>2Acoustic response timeoutԙ 7я,IF?A>@>@>mٱ><; JAHRS rotation from veh to nav: [[-0.781946,-0.603798,-0.154883],[0.611919,-0.696179,-0.375352],[0.118811,-0.388281,0.913850]]>H@PR7ÿ@ה?G ؿ^j?ؿ@B>?i>@I> _;%eN=ٔmQ-m>9iIi=mFym-Eu*0Eu>yQ 5J4}.?Q 9J4}p)}iAYy#@Q I?}BI}:i}:}GJ4ycBɮB*jBjiiziJii kYkYkYh kYkYkYh2f:fBfJf@ (BAɢ tϽ)  n@iE}R E}DE}@Ey"E}s9*E}a99VE}4ZEyBE}}:a2E}:aJE}mH:a:E}pH:a)C顱iSIAqAzApAIQIaO=2Acoustic response timeout! ?я,F?A2(y@2 o@2ٱ2WJξ :AHRS rotation from veh to nav: [[-0.770932,-0.616076,-0.161602],[0.625580,-0.684771,-0.373816],[0.119639,-0.389282,0.913316]]2H@y \Ŀ? ׿?@ؿ9?i2(y@I2^;0YF6AyFGHJa=LNAbDRVDRE8yZ=%ZW=ٔZQ-Z>9\I\=^Fy^/Eb=Eb>dQ 5jJ4f?Q 9jJ4f)fGAYhyj"@Q In?f|BIfN:if$:fJ4yaɮeBa*jBjiiziJii kSUkSUkSUh kpkpkph2f:fBfJfk@BAɢKϽ) *Ai)7FiyIIIO5=52Acoustic response timeoutIET EBEBE"E9*E(9VE5ZEa@a@a@a@B%>B%CB%GB%:8AB%=B!B%DB%7;B%AEy l> CI } rA ԩ Ŀ9 rAY A 2Acoustic response timeout0я,@ F?A2Y@2O@2IWٱ2Zkξ :AHRS rotation from veh to nav: [[-0.759766,-0.628198,-0.167699],[0.638937,-0.673557,-0.371592],[0.120479,-0.389472,0.913125]]2H@P@2&wſ+r?Ǎ )׿׾?ؿ@Q8?i2Y@I2w^;2=CYF97AyFTGa@a a@a a@a a@a a@a yM?q= ףp?Zd;On?=j< )Mb@Mb@Mb@Ii‰ )IbD-VD- 8y==%EB=ٔEGQ-E>9III=MFyM2EM=*EM>yQQ 5J4UB㴉?Q 9J4Ua)UAQ A+:YQ Ex:yw!@Q I?U BIU_g>UJ4y^BɮwB*jBj i i zi Ji i  kmkmkmhA kmkmkmhq额*CAɢ<̽)  ?i)9H顡i#IIqIO=ԡ=2Acoustic response timeoutioAIEX EEEE"E~ :*EA9VEZEBE:a2E:aJEV:a:EV:a я,=$F?A^6 @^,@^ٱ^ξ jAHRS rotation from veh to nav: [[-0.748219,-0.640143,-0.174315],[0.652277,-0.661752,-0.369620],[0.121256,-0.390258,0.912686]]^H i` |Oƿs?-ڧ׿ ? ؿ4?i^6 @I^^;^>CY8AykGQQ Q)QIQiQQbDe[VDe8yu >%uG=ٔQ->9I=Fy4Ev/E>Q 5J4д?Q 9J4)AQ AM :YIQ EMI:yMN @Q IM?BIǬAiM 2Acoustic response timeoutE P E ?E AE "E 9*E ?9VE A4ZE a @a @a @a @Ա B <A <B% f>B% CB% GB% 9AB% =B! B% DB% _;B% EB̏CB̒CB̠CB=B=Ci 7я,w>F?A2 @2@2ٱ2l]ξ :AHRS rotation from veh to nav: [[-0.736167,-0.652396,-0.180102],[0.665778,-0.650238,-0.365964],[0.121644,-0.389319,0.913035]]2H n ǿ N?k׿$?ؿ7?i2 @I2o^;2ACYF8AyFZGbD~IVD~8y =% Q=ٔQ->9I=Fy7E=?E=>AQ 5MJ4E?Q 9MJ4E)EAQ AM9YQQ EU#:yU*@Q IU?EBIE:iEc?EKJ4y}[Bɮ}?B}BE*jBjiiziJii kpkpkphDAɢ%ͽ)! %3i!)%sM))i-1)IQyAIIO%>2Acoustic response timeoutԩ Tя,QXF?A2 @2@2@5ٱ20ξ :AHRS rotation from veh to nav: [[-0.723835,-0.664221,-0.186744],[0.679212,-0.638336,-0.362212],[0.121384,-0.389020,0.913197]]2H)MA@9ǿ@?@@m@{.׿?ؿ`8?i2 @I20^;2?CYFs9AyFG%= 2Acoustic response timeoutbDMVDM8y==%=9=ٔE{:Q-E>9AII=MFyM:EMm+EM>E]S E]@EYEY"E]9*E]9VEYZEYBE]:am2E] :amJE]/:am:E]1:amiQ 5uJ4m>?Q 9}J4m)m<AQ A}9YyQ E}:y}@Q I}?mBIm7:im1?mpJ4yMBɮB8E*jBjiiziJii kSXkSXkSXh krkrkrhDAɢ%Ľ)! %3i!)%r&P))i-1I1AYIaIqO_>2Acoustic response timeoutI я,/rF?A2b @2G@2o1ٱ2p; >AHRS rotation from veh to nav: [[-0.711214,-0.675834,-0.193450],[0.692587,-0.626515,-0.357494],[0.120407,-0.388235,0.913660]]2HCnȿ@)? j ,ֿҾ?ؿ9III=UFyUaQ 5mJ4e?Q 9uJ4e)e<AQ A9YQ E9y@Q I?e4BIeBCBGB;AB=B!DBDB;B:EOF>yԡ i߹ I߹  2Acoustic response timeoutu"я,F?A@>@>u@>6ٱ> ̾ fAHRS rotation from veh to nav: [[-0.698379,-0.687311,-0.199675],[0.705772,-0.614953,-0.351737],[0.118962,-0.386571,0.914555]]>HY@sɿ@? ֿ݂Pt? ؿD?i>@I>^;>>CY~:AyGY]Aa-a- a-a- a-a- a-a- a-a- y--?Zd;O?+?-5?-j<=-=) )9-x?Gz?kt?Y-K?y-p=>- 0>-B-€B ))-̒B-Y-̥BbDEiVDE8yUS >%]:=ٔ]FY;Q-]>9YIa=eFye?Ee,Ee>iQ 5}J4mw?Q 9}J4m")mTAQ AT:Y$?Q E:yt/@Q I?mBIm@;im@;mJ4yKBɮB*jBjiiziJii kCZkCZkCZh kCZkCZkCZh2f .>:f .>Bf?Jfc@EAɢ Jɽ)  +i )TiJ󠼉IԩAE$AIIIYO9>2Acoustic response timeoutEuT EuBEuAEq"Eu9*Eu(9VEuA4ZEqBEu:a2Eu:aJEuM+:a:EuP+:a v)я,*F?A2\@2R@2ٱ2e̾ :AHRS rotation from veh to nav: [[-0.685901,-0.697729,-0.206674],[0.718233,-0.603456,-0.346385],[0.116964,-0.386026,0.915043]]2HS@Itʿ?@O,+ֿ `?@ؿH?i2\@I2Re^;2=CYF-;AyF1GbDjVDj8lyr)i=%ve=ٔvĸ;Q-v>9vH?IzH?=zFyzAEzKEz>|Q 5J4~Pu?Q 9 J4~)~7AY y M.@Q I ?~1BI~:i~:~UJ4yɮB*j1Bj1i1i1zi1Ji1i9 kZkZkZhI kZkZkZha2fq:fqBfqJfu7Ђ@19u r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颥FAɢtѽ) h-i)V顩iLI}2Acoustic response timeoutA II!)IaOu>Y- 2Acoustic response timeoutԁ bEz4jE4rE˟/E S E @E ?E "E 9*E 9VE ^4ZE a @a @a @a @A A ?AB >B xCB GB &=AB =B B DB ;B ͍ED3/я,'F?A2uQ@2ZG@2'Uٱ2e̾ :AHRS rotation from veh to nav: [[-0.674235,-0.707161,-0.212908],[0.729486,-0.592767,-0.341288],[0.115141,-0.385422,0.915529]]2H V@@˿@W?տy?@ؿL?i2uQ@I2J^;0YN;AyRGbDZVDZE8y==%EE=ٔEɐ;Q-E>9III=MFyMDEM EM>YQQ 5}J4Ua?Q 9J4U)U=AYy=-@Q I?UBIU=:iUt:UJ4yDBɮ˧B*jBjiiziJii k3[k3[k3[h2f:fBfJfH@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderFAɢ%ʽ)! %k+i!)%X!)i-)I1AeY?Ae\?ԁAIIIO(>2Acoustic response timeoutԱ 6я,*F?A2f@2\@2ٱ26̾ :AHRS rotation from veh to nav: [[-0.663845,-0.715166,-0.218739],[0.739194,-0.583030,-0.337147],[0.113585,-0.385504,0.915688]]2H8>@˿@z?.ѓտ@?ؿQM?i2f@I2+X^;2>Cn2Acoustic response timeoutԱE5T E5>E1E1"E59*E59VE1ZE1BE5:aE2E5:aEJE5 9aE:E5%9aEY=bDwVD8y-=%4=ٔtb;Q->9I=FyFE?E>Q 5J4L?Q 9J4)ZAYyP,@Q I?GBI9:i1:J4yABɮB7E*jBj ii!ziJii kBkBkBh kXkXkXh2f:fBfJfaс@^-B*** querying acoustic contact ***X)Y)=GAɢ=ný)y }&i)BU[顁iJTIAAIIO%n> In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout1 D<я,tF?A6I@6.@6Duٱ6˾ BAHRS rotation from veh to nav: [[-0.654018,-0.722747,-0.223379],[0.748099,-0.574099,-0.332804],[0.112291,-0.384769,0.916157]]6H@ @̿l? _Lտ?@ؿ'Q?i6I@I6CE^;4 D)HHHHLRvAiPIRxFPITiVr@ TX)X\ \^94^lF``fvAIf})did)hIjvAhh lllpippYpYz=AyzG9A A)AIAiAAbD]=VD]8yuV>%ub=ٔ}k;Q-}>9K?IK?=FyIEE>Q 5K4:?Q 9K4)=AYyr+@Q I?BI:i:`K4yɮB*jBjiiziJii kC@kC@kC@h k[k[k[h2f:fBfJf9c@yGAɢ̽) ni))]ijIpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutAEI EMEEM>EI"EI*EMA9VEM4ZEIaU@aU@a]@a]@Bm>BmsCBmGBm>ABm=BiBmDBm ;Bm&EA}$AIIOB>q zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutԱ g,Cя,vO F?A2{@2`@2Aٱ2U˾ :AHRS rotation from veh to nav: [[-0.645073,-0.729518,-0.227340],[0.755911,-0.565751,-0.329430],[0.111708,-0.384356,0.916402]]2Hp6X|Ϳl0?cտ? Iؿ)S?i2{@I2e^;0Y==Ay=Gy"~?)\(?㥛 ?s?Ga== 9ʡE?X9v?Q?Y]?y}=(\>B ճB)BYaBbDVD8yݓ=%C=ٔѷ:Q->9H?IH?=FyKE]E>Q 5 K4#?Q 9 K4) AY d?Q E m:y R@Q I?qBIv:i:K4y%=Bɮ%~B!*j1Bj9i9i9zi9Ji9i9 k3Ck3Ck3Cqh2f*>:f*>BfoC@Jf@]GAɢ]Cƽ)Y ]fiY)e)M_aaieiIԡAIIO=Q>2Acoustic response timeoutEQ EUAEU@EQ"EQ*EU 9VEU4ZEQBEU:ae2EU:aeJEU:ae:EU:ae VIя,*'F?Aɰ4<2 @2@2E.ٱ2<˾ :AHRS rotation from veh to nav: [[-0.636373,-0.736049,-0.230785],[0.763255,-0.557516,-0.326524],[0.111671,-0.383939,0.916581]]2H+] \Ϳ@l?*Կ|?@tؿ`T?i2 @I2P^;2?CYM>AyMGbDVDj8y=% H=ٔ 8Q- >9I=FyNEE%>)Q 55K4- ?Q 9=K4-)-AY9y=@Q IE?-$BI-G;i-H;-D%K4yM:BɮMaB]2Acoustic response timeoutI*jyBjyiiziJii kAkAkAh2fY:fYBfYJf]w@颕lHAɢ=ƽ) i)YOa顙ioIAAI!I9OZ>)  2Acoustic response timeoutB] <A] <Be >Be pCBe GBe |@ABe =Be "DBe DBe ;Be EE Q E E AE "E 29*E VE A4ZE BE :2E :JE ::E =Pя,AF?AJES@J*I@JRٱJ˾ RAHRS rotation from veh to nav: [[-0.627668,-0.742080,-0.235268],[0.770382,-0.548614,-0.324860],[0.112001,-0.385150,0.916032]]JH@ ?ο?@>Կ`?Lؿ"P?iJES@IJpm^;J>CYZ?Ay^G`bp=bD-VD-&8ye=%mU=ٔmcQ-m>9mK?IuK?=uFyuPEuEu>Q 5K4?Q 9K4+)AYy@Q I?BI;i;2K4y/Bɮ?B-E*jBjiiziJii  k&k&k&h kBkBkBh)2f:fBfJf%@Im뢿9yY}A颕HAɢhĽ)  i)aEc顡iPޣIm2Acoustic response timeoutAI!I9ԁOԩ hVя,/ZF?A@b2Acoustic response timeoutY~O@Ay~GbDebVDe 8y5=%F=ٔQ->9I=FySEE>Q 5K4ⳉ?Q 9K47Q =tI)= AYyQ I?BI]:iU:AK4E EECE"E*EVE5ZEa%@a%@a%@a-@y,BɮU"BQ*jiBjiiiiiziiJiiiq kC'kC'kC'h2f:fBfJf%SIAɢ-bĽ)) -DiA)EeAAiE2IIIQAeW?AeY?ԩAIIOF>=>=>}2Acoustic response timeout ͓\я,tF?AFp@FT@FTٱF'̾ fAHRS rotation from veh to nav: [[-0.609892,-0.754480,-0.242468],[0.784358,-0.530987,-0.320679],[0.113198,-0.385762,0.915628]]FH@=$@4 Ͽu? Կ ?Rؿ`L?iFp@IFl^;DlYr@AyrGbD~*VD~8y &=% T=ٔ DMQ->9I=FyUE/rE>!Q 5-K4%γ?Q 9-K4%`)%!AY)y5o@Q I5?%&BI%:i%:%uNK4y=(Bɮ=B=,E*jQBjQiQiQziYJiYiY k$k$k$hi k$k$k$h2f:fBfJfj@颭IAɢ ɽ) ^i) f项iwI2Acoustic response timeout AE$AIIIaO>B >B nCB GB ;BAB B B DB ;B EBsCBuCE-R E-@E->E)"E-s9*E-9VE-4ZE)BE-w:a52E-|:a5JE--:a5:E-/:a=BęCB=B=C69a  2Acoustic response timeoutzcя,WF?A2y @2]@2ٱ2̾ :AHRS rotation from veh to nav: [[-0.600734,-0.760725,-0.245797],[0.791346,-0.522176,-0.317968],[0.113537,-0.385525,0.915686]]2H69 WBvϿR?@YԿ?oؿKM?i2y @I2'I^;2?CY^AAy^G``9yMbX9?!rhV-?ʁ?l< 9Gz?Mb9H?IH?=FyXEv߼E>Q 5K4񹳉?Q 9K4v)"AY}?Q EV:y @Q I?BI;i;O]K4yɮB*jBjiiziJii k$k$k$h k%k%k%h)2f=z=:f=z=Bf=?Jf=́@}5JAɢL)  i)h顉i7I1iAAIIOH>2Acoustic response timeoutԑE=U E=CE9E9"E=:*E=09VE9ZE9aE@aE@aE@aE@ &iя,*pF?A2ٿ?2U @2Dٱ2˾ :AHRS rotation from veh to nav: [[-0.591395,-0.767062,-0.248734],[0.798353,-0.513535,-0.314506],[0.113511,-0.384574,0.916088]]2H@@ŋϿ?n Կ?@ޜؿ@P?i2ٿ?I26^;2>CYFBAyFGXX \)\I\i\\bDfVDf8yjצ=%nY=ٔn8Q-n>9rK?IrK?=rFyrZEv Ev>xQ 5zK4z?Q 9~K4zn)z#AY|y~ @Q I~?zBIz;iz];zsjK4y Bɮ ٦B "E*jBj!i!i!zi!Ji)i) k%k%k%hIԙ2f:fBfJfl@%JAɢ%lý)) - ]2Acoustic response timeoutiq)uVjqyi}yIAIIO&> 2Acoustic response timeoutA A @AB >B mCB GB CAB B B DB ;B jE! EE T EE =EE EEA "EE 9*EE 8VEE 5ZEA BEE :aU 2EE :aU JEE 9aU :EE 9aU pя,bMF?A ɰ";>3B?> @>mٱ>˾ fAHRS rotation from veh to nav: [[-0.582106,-0.773007,-0.252215],[0.805256,-0.505031,-0.310655],[0.112762,-0.383932,0.916450]]>H@yI$п?@7)ӿ ݼ?UؿS?i>3B?I>UK^;>BCYnBAyrGbDzVDz8y%=%%E=ٔ-:Q-->9)I)=5Fy5]E5E5>YQ 5}K4]p?Q 9}K4]e)]$AYy @Q I?]BI];i]s;]yK4yɮB*jBjiiziJii k# k# k# h2fA:fABfAJfE@]KAɢ])a eYia)elaaim8iIqAII!O=/>M2Acoustic response timeoutQy vя,$&F?A2?2 @2Dٱ2Nhʾ :AHRS rotation from veh to nav: [[-0.573156,-0.778668,-0.255283],[0.811832,-0.497202,-0.306136],[0.111451,-0.382711,0.917121]]2HJW Vп?`&߿ ӿ?@U~ؿ`Y?i2?I29^;2@CYBCAyF~GDFa=VhDAT read: Forwarding Delay UpTx time:18:50:15.0455 VpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGV2Acoustic response timeoutbDEVDEl8yU=%UH=ٔU)S;Q-U>9YIY=]Fy]`Ee߼Ee>iQ 5uK4m?Q 9uK4m])m%AYqyuf @Q Iu?mVBIm):imC ;m:K4yBɮB*jBjiiziJii k k k h k k k h2f:fBfJf4@EU EDE?E"E:*Ea99VE^4ZEa-@a-@a-@a-@5KAɢ5\()9 =3i9)=@m99i=AIIQAIIO5.>ԑU2Acoustic response timeoutԹ |я,F?A2l?2+ @2Vٱ2ɾ :AHRS rotation from veh to nav: [[-0.564307,-0.784147,-0.258208],[0.818230,-0.489634,-0.301262],[0.109807,-0.381278,0.917916]]2H@yп.?'V߿GӿH?@fؿ_?i2l?I2V^;2>CYBDAyF%GbDVDH8y=%E=ٔ;Q->9I=FybEvټE>Q 5K4n?Q 9K4T)x&AYy @Q I?&BI ;i:K4yBɮB*jBj i i zi Ji i  kkkh! k k k h12fA:fABfAJfEhg@eKAɢeF漽)i mii)mvcoiiim-qIy12Acoustic response timeoutA$AIIB>BlCBGBEAB=BBDB;BEO$>bE^4jEĆ4rES}0ER EE=E"Es9*EVE|4ZEBEw:a52E|:a5JEjH:a=:EmH:a=aԉ iY IY e 2Acoustic response timeoutIy +Ƀя,F?A2 ?2{ @2ݽٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.555589,-0.789335,-0.261289],[0.824400,-0.482109,-0.296538],[0.108098,-0.380160,0.918582]]2H`b:Bп|a?`޿@|ҿ@W?Tؿe?i2 ?I2K=^;0@YNEAyRZGy{Gz?~jtȿ rhc?DC 9M?"~jZd;ϿYnr?yS㽙~}BB ήB)(BYפBbDwVD18y>%B=ٔ%;Q-%>9%H?I-H?=-Fy-eE5мE5>AQ 5MK4Ea?Q 9UK4EJ)E%AY]G|?Q E]W:y]?Q I]?EBIE3;iE;EoK4ymBɮueBuE*jBjiiziJii k# k# k# h2fGS>:fGS>Bf$u?Jf@qLAɢø)  i)spie ԩI AAIIO]T>2Acoustic response timeoutEW E=EAE"E :*E8VEA4ZEa%@a%@a%@a%@ я,ع)F?A6AHRS rotation from veh to nav: [[-0.546741,-0.794722,-0.263613],[0.830478,-0.474594,-0.291663],[0.106682,-0.378389,0.919479]]6H~@\nп F?_޿@ҿO?`7ؿ`^l?i6%jb=ٔjG;Q-j>9nK?pIrK?=rFyrgEv=Ev>xQ 5K4zV?Q 9K4zVA)zg%AY y ?Q I ?zBIzN3;iz*;zK4yɮMB*j1Bj9i9iAziAJiAiA kkkha2fy:fyBfyJf}@颽LAɢh3) ߾i)Eri 2Acoustic response timeoutQIq AIIOe4>9 2Acoustic response timeouta B y>B kCB GB PGAB =B B DB ;B ^ED zD E% Q E% @E% <E! "E% 29*E% 9VE% 4ZE! 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MؿaE?iZw?IZ^;ZACYnLAyn GppbDEVDE8y=%D=ٔ:Q->9K?IK?=FyEŽE>EU EAEE"E:*E 9VEZEa@a@a@a@Q 5L4$?Q 9L4Z) AYyG@Q I?BIj;i8:Z[L4yɮHB*jBjiiziJii k$k$k$h kBkBkBh2f!:f!Bf!Jf%Ԥ@qQAɢc) Ӟi)^  i ߲)I1ԡUbި2Acoustic response timeoutA $AI I O% > ݾя,yF?AF?F?FIٱFnʾ NAHRS rotation from veh to nav: [[-0.332781,-0.886097,-0.322627],[0.934268,-0.263340,-0.240406],[0.128063,-0.381423,0.915487]]FHJLտZ@Կ?пοZd?CYVMAyVGbD=VD=x8y^=%J=ٔn;Q->9H?IH?=FyEGE>Q 5L4S?Q 9L4r)AYy@Q I?(BI|:iR:^iL4yɮ4B*jBjiiziJii kc'kc'kc'h k@k@k@h2f :f Bf Jf @-GRAɢ-O)) -i))5Ҁ11i59I9M伍]2Acoustic response timeoutB4>BcCBGBOABBBDB;BEET EDEE"E9*Ea99VEZEBE:a2E:aJEjH:a:ElH:aAEAIiIOH>) i I  2Acoustic response timeout^я,{F?A0V;ɰVp> 9K7A? rh?S㥛?Y >yl>$>[BzB B)BYBbD-PVD-J8y=g=%=?=ٔ=(;Q-E>9EK?IEK?=EFyEEMd>EM>QQ 5]L4U?Q 9]L4U)UAY]>Q Ee:ye5"@Q Ie?UBIUu:iU~:UOxL4ym۾BɮmBmE*jBjiiziJii kAkAkAh kZkZkZh2fu>:fu>Bf 6@JfV@RAɢ*) -i)Sԉi)/Ie2Acoustic response timeoutԹEW EBEE"E :*E(9VEZEa@a@a@a@@o A! I) I9 Ou >qя,˞F?A\jv?jCYNAyG!!bDUVDU8yeՅ=%eY=ٔe9iIi=mFymESE>Q 5L4䲉?Q 9L4)0AYy @Q I?BI:i1:L42Acoustic response timeoutyU׾BɮUBY*jBjiiziJii  kcAkcAkcAhY2f:fBfJft@ SAɢө) i):ցiNIm 2Acoustic response timeoutB #>B bCB 9HB PAB =B B DB \;B 'EA I I A OM >D zD AAE S E CE DE "E 9*E 09VE J5ZE BE :a 2E :a JE 9:a :E 9:a ! я,oF?A,Fe9DYFA^]?^H?^ٱ^ɾ fAHRS rotation from veh to nav: [[-0.277265,-0.899743,-0.337027],[0.953476,-0.214459,-0.211875],[0.118354,-0.380093,0.917345]]^H`ѿّտ߂? hs˿˿wL? pSؿZ?i^]?I^ S^;^ACYnTOAynGbDzVDz8yZ>%P=ٔ.9 I =FyENE>!Q 5%L4%ز?Q 9-L4%)%AY)y-@Q I5?%BBI%;i%;%7L4y9ɮ=B9*jIBjQiQiQziQJiQiY k@k@k@hi k@k@k@hy2f:fBfJf@颭uSAɢW) i) 2顱iIAIIAOU>2Acoustic response timeoutiԑ я,EF?A"2Acoustic response timeout88VP?V?VhٱV;|Ⱦ bAHRS rotation from veh to nav: [[-0.259851,-0.903487,-0.340865],[0.958929,-0.199860,-0.201274],[0.113723,-0.379167,0.918314]]VH dп@]տ? ɿVɿ ?DDؿb?iVP?IV9^;V=CYjOAyjdGAA A)AIAiAAbDUVDU8yeQ=%eE=ٔm89iIi=uFyuEu5Eu>yEX EAE>E"E~ :*E 9VE4ZEa@a@a@a@Q 5L4˲?Q 9L4)AYyf@Q I?BIf:i:ҡL4yԾBɮߤB*jBjiiziJii kCkCkCh kYkYkYh2f :f Bf Jf @%SAɢ%i)) ->i))-))i51I9AMpAzAMoAAIԩIO&>>iI2Acoustic response timeout я, F?AZ?Z?ZNٱZȾ fAHRS rotation from veh to nav: [[-0.244845,-0.906100,-0.345014],[0.963337,-0.187090,-0.192300],[0.109694,-0.379448,0.918687]]ZHWϿֿ@?ǿFȿ?Hؿe?iZ?IZJ^;Z?CYnQPAynHppbDzVDz8y^=%Q=ٔ )9 I =FyE}$E>Q 5%L4F?Q 9%L4)*AY)y-[@Q I-?BI:i{:cL4y5Bɮ19*jIBjIiIiQziQJiQiQ kXkXkXh2f:fBfJfP@U@TAɢU0 )Q U{iY)] YYi]aIa2Acoustic response timeoutBU >BU_CBUHBUQABU=BU#DBUDBU;BUEBcCBcCBB=B=Ci@5EV E@EAE"E=:*E9VEA4ZEBE:a2E:a JE-:a:E/:aAIIOB>1- 2Acoustic response timeouta >я,F?A^O?^;?^hKڽٱ^wȾ jAHRS rotation from veh to nav: [[-0.232206,-0.908220,-0.348162],[0.966831,-0.176369,-0.184749],[0.106387,-0.379513,0.919049]]^H`Ϳ`#HHֿ`G?@ƿץǿ4M|>MBI MyB)MBIYM#BbDe3VDeD8yu=%u=ٔu0;Q-u>9yIy=}Fy}E?ѼE>Q 5L4E?Q 9L4)AYP?Q E:y @Q I?BI:i":nL4yBɮäBE*jBjiiziJii k=k=k=h kYkYkYh2f>:f>Bf.@Jfj@TAɢ̜) gi)5a!iI2Acoustic response timeoutAEZ EDE<E"E:*Ea99VE 4ZEa@a@a@a@IIO>ԉԹ * я,9.F?Aɰ4<:?:?:Խٱ:Ⱦ FAHRS rotation from veh to nav: [[-0.220989,-0.910256,-0.350138],[0.969751,-0.166928,-0.178095],[0.103665,-0.378904,0.919611]]:H@bI̿ hֿ3?]ſ@ƿÉ??ؿum?i:?I:P^;:@C H)JvAJj%|=ٔ W B) A- <B5 >B5 \CB5 HB5 bSAB5 =B1 B5 DB5 ;B5 !E 2Acoustic response timeoutE W E ?E E "E :*E ?9VE ZE BE &:a 2E +:a JE :9a :E ?9a %я,HF?A2l?2W?2|jϽٱ27zȾ >AHRS rotation from veh to nav: [[-0.210442,-0.911562,-0.353226],[0.972364,-0.157805,-0.172062],[0.101104,-0.379673,0.919579]]2H ʿ+@?ֿ?2Ŀ ƿ@?Lؿ1m?i2l?I2 6^;2BCY5@RAy5IH9=p=bDVD8y!f=% H=ٔ ;Q- >9I=FyENܼE>Q 5%L4?Q 9-L4s)AY)y- @Q I-?BI:ig:L4y5پBɮ=B=E*jIBjIiIiQziQJiQiQ k#[k#[k#[hi k3[k3[k3[hy2f:fBfJfFB@%oUAɢ%ɠ)) -Ki))-))i5mӺ19IY2Acoustic response timeoutAIIOK>aԑ <я,bF?A"In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER&2Acoustic response timeout@F?Fl?FoʽٱFlȾ NAHRS rotation from veh to nav: [[-0.200164,-0.913051,-0.355347],[0.974759,-0.148974,-0.166291],[0.098895,-0.379663,0.919824]]FH`ɿ`7@ֿ81?ÿIſ`1Q? gLؿ2o?iF?IF#\^;F?CY=6SAy=HbDUVDU8ye!>%eW=ٔei;Q-e>9iIi=mFymEuEu>EU E@E>E"E:*E9VE4ZEa@a@a@a@qQ 5L4u?Q 9L4u)u,AYyZ@Q I?uBIuQ;iu;uDL4y־BɮoBE*j9Bj9i9iAziAJiAiA kYkYkYhy2f:fBfJf_@UAɢ ߛ) z%i)ai:iIA zA nAԩAII!O]3>pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout 8gя,Qi|F?AR?R?R(ǽٱRlɾ ZAHRS rotation from veh to nav: [[-0.190316,-0.913979,-0.358362],[0.976910,-0.140212,-0.161207],[0.097093,-0.380767,0.919559]]RHD\ȿ P?@eֿB?ykĿ۸?}^ؿm?iR?IR:^;R@CYbSAyb5HlbDnrVDn8yvT=%vR=ٔzr;Q-z>9xI|=~Fy~E~ԼE>Q 5 L4Tx?Q 9L4)AYy@Q I?(BI :i:L4yɮ%^B!*j1Bj1i1i9zi9Ji9i9 kc\kc\kc\hQ kc\kc\kc\ha2fq:fqBfqJfu@颕#VAɢv) i)顙i!IB>B[CBHBTABBBDB;BEmzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY}2Acoustic response timeoutA$AI!IAbE54jE54rE5Ĉt0ER EGEAE"Es9*ER9VEA4ZEBEu:a2Ez:aJEt:a:Et:aO$>1i  2Acoustic response timeoutLO%я,NEF?A2?2r?2LqĽٱ2uQɾ :AHRS rotation from veh to nav: [[-0.180853,-0.914981,-0.360696],[0.978836,-0.131739,-0.156604],[0.095772,-0.381385,0.919442]]2H 0&ǿG׿R? Ŀ?hؿl?i2?I2(^;2?CY^cTAybH``9yoʡ?~jt ףp= ĽQ8 9> ףp=?L7A`?Q?Yq?y+=u=BPyB )WBYܝBbD,VDR8y˽=%>=ٔJ;Q->9H?IH?=FyE7E>Q 5M4/o?Q 9M4)i AYr?Q E_:y?Q I?BI* ;i ;M4yҾBɮFB*jBjiiziJii kCkCkCh k[k[k[h)2f=F>:f=F>Bf=,?Jf=҄O@]VAɢ]f)Y ]Y iY)eׄaaieaIiiAeAIiIyIOC>e2Acoustic response timeoutE E=EBE"E*E8VE5ZEa@a@a@a@ԩ qy+я, F?A2C?2.?2½ٱ2pɾ :AHRS rotation from veh to nav: [[-0.171183,-0.916104,-0.362560],[0.980644,-0.122929,-0.152399],[0.095044,-0.381630,0.919416]]2HTſP.4׿oa?Lx΁ÿ@T? lؿ k?i2C?I2z@^;2>CYBBUAyB"H\` `)`I`i`dbDrVDr8y~>%~W=ٔ~:Q->9 K?I K?= Fy E6ԼE>!Q 5-M4%Sg?Q 9-M4%)%$!AY1y5?Q I5?%BI%&;ԙ2Acoustic response timeouti%m(;%;M4yƾBɮBE*jBjiiziJii kcBkcBkcBh92fI:fIBfIJfMON@颍VAɢs) eӽi)顱i*IIIO*>A@AA?AB>BZCBHBVABBBDB;BEm 2Acoustic response timeoutE l E GE AE "E V:*E R9VE A4ZE BE 8x;a 2E :x;a JE a :E a ! Oa2я,F?Aɰ:?:g?:}]½ٱ:Ⱦ BAHRS rotation from veh to nav: [[-0.161080,-0.917684,-0.363192],[0.982381,-0.113751,-0.148282],[0.094762,-0.380678,0.919839]]:H`FĿ]`>׿ o?¿ZB?@ ]ؿ`Ro?i:?I:+^;8YNVAyNHbDVVDV8y^ >%bN=ٔb;:Q-b>9`Id=fFyfEfsռEf>hQ 5nM4j_?Q 9rM4j%)j!AYpyrI?Q Ir?jmBIj;ij;j M4ytɮvBx*jBjii zi Ji i  k<k<k<h! k=k=k=h12fA:fABfAJfE8N@e?WAɢe$ᏽ)a eii)miiim½qIqIQIaO=2Acoustic response timeout)PExceeded connect timeout, disconnecting.Qy q8я,F?A "R=&2Acoustic response timeout>?>js?>ٱ>rȾ FAHRS rotation from veh to nav: [[-0.150222,-0.918991,-0.364540],[0.984124,-0.103747,-0.144002],[0.094517,-0.380385,0.919986]]>Hw:ÿ@_h T׿}?@& n¿;2?9Xؿ p?i>?I>1H^;>?CYnVAynHr=pEe\ EeBEeBEa"Ee:*Ee(9VEe5ZEaam@am@am@am@bDE`VDE8y=%==ٔ:Q->9I=FyE0ѼE>Q 5M4XW?Q 9M4)"AYy?Q I?>BI$:i$:#/M4yɮB*jBjiiziJii k#Ck#Ck#Ch k3Ck3Ck3Ch2f!:f!Bf!Jf%M@QWAɢ*) Gqi);iIIIO>ԁ2Acoustic response timeoutԩ >я,F?A2k?20?2Eٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.138345,-0.920326,-0.365869],[0.985891,-0.092827,-0.139290],[0.094230,-0.379977,0.920184]]2HIPsfj׿k?@÷Bs?Qؿ$r?i2k?I2/^;2>CYB;WAyBXHbD=$VD=_8y_=%L=ٔ<:Q->9I=FyEE>Q 5M4P?Q 9M4)}#AYyS?Q I?BIB:i:+=M4yBɮңBܺE*jBjiiziJii kAkAkAhAԹB>BWCBHBNXABBBDB;e2Acoustic response timeoutBE2f:fBfJfǼL@ XAɢQ) vRi)Ri%F!I) =k>=/CDm=Dm=EuT Eu@Eu>Eq"Eu9*Eu9VEu4ZEqBEu:a}2Eu:a}JEu,:a:Eu/:aG@9YƝAIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IioAIOI>  2Acoustic response timeout} nManaging dock network, ignoring radio surface power off9 zEя,7F?A>>B?>.?>2ٱ>dǾ JAHRS rotation from veh to nav: [[-0.125036,-0.922261,-0.365787],[0.987726,-0.080923,-0.133602],[0.093615,-0.378003,0.921059]]>H0)i׿r?Y '?`21ؿ@Qy?i>>B?I>]R^;>@CYRWAyRHy(\?)\(zGếN?G ׽ 9S㥛?9I=FyEE>Q 5M4N?Q 9M42)#AYTj?Q Eg:y?Q I?BI:i:KM4yBɮBۺE*jBjiiziJii k@k@k@h k@k@k@h2f>:f>Bfk?R?Jf@EcXAɢE:9)A M!iI)Mbiiim'鿼qIqIIO5 >9e2Acoustic response timeoutE}Q E}?E}DEy"E}29*E}?9VE}J5ZEya@a@a@a@i mKя,p1F?A Jm?JY?JٱJƾ ZAHRS rotation from veh to nav: [[-0.110909,-0.923851,-0.366331],[0.989471,-0.068162,-0.127672],[0.092980,-0.376634,0.921684]]JH`d`0q׿ ?sW ͷ?ؿp~?iJm?IJ4^;JACY~rXAyH  bDVD8y%=%-T=ٔ-N:Q-->91I1=5Fy5E=E=>AQ 5EM4EM?Q 9MM4E{)E"AYIyM ?Q IM?EsBIE:iE:EXM4yYɮ]BY*jqBjqiqiqziyJiyiy k3Kk3Kk3Kh kCKkCKkCKh2f2Acoustic response timeout:fBfJf@XAɢڇ) ,i)hiIIIO=iԑBiAm4=Bu>BuVCBuHBuYABu=BqBuDBu ;Bu-EB5ZCB5YCB1B5=B5=C5 5m 2Acoustic response timeout Dy zD} @AE T E CE >E "E 9*E 09VE 4ZE BE a 2E a JE 9:a :E 9:a Rя,EKF?A2?2Uy?2Cٱ2}ƾ :AHRS rotation from veh to nav: [[-0.096404,-0.924692,-0.368308],[0.991055,-0.054868,-0.121651],[0.092282,-0.376741,0.921710]]2H``\׿`?$ş?ؿ~?i2?I2E"^;2@CLYRXAyRXHbD^VD^8yfK=%fQ=ٔf:Q-j>9hIh=jFyjEnLEn>pQ 5vM4rGM?Q 9vM4rr)r!"AYtyv*?Q Iz?r*BIr:iprfM4y|ɮ~B|*jBjiiziJii kBkBkBh kBkBkBh2f:fBfJf/@-YAɢ-Q)1 U[iQ)U|nQQi]#AYIaAhDAT read: Forwarding Delay UpTx time:18:50:28.9454 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutIIO5->! Xя,eF?A2Acoustic response timeoutɰbf?b+?b ٱbMǾ jAHRS rotation from veh to nav: [[-0.081240,-0.924944,-0.371321],[0.992466,-0.040790,-0.115531],[0.091714,-0.377910,0.921289]]bH%̴ #׿H?u⤿@v z?/ؿ2{?ibf?IbT5^;b>CYrxYAyrH| )IibD-<VD-8EEU EEBEE@EA"EE:*EE(9VEE4ZEAaM@aM@aM@aM@yU=%UB=ٔUy:Q-]>9YIY=]Fy]EeEe>iQ 5uM4m@M?Q 9uM4muh)m!AYqy.?Q I?mBImQiI2Acoustic response timeoutԉ _я,~F?A6 ?6ψ?6H!ٱ69PǾ BAHRS rotation from veh to nav: [[-0.065867,-0.925446,-0.373111],[0.993648,-0.026640,-0.109336],[0.091245,-0.377943,0.921322]]6Hܰ@@׿`?Gu[?70ؿw{?i6 ?I6"^;6@CYJYAyJHN=N=bDV!VDVq8y^==%bU=ٔfȟ:Q-j>9rH?IrH?=rFyrEr\#Ev>tQ 5zM4vM?Q 9~M4v$_)v0!AY|y~2?Q I~?vBIv;iv ;vM4y ɮ nB *j!Bj!i!i!zi)Ji)i) kC0akC0kC0hy2f:fBfJf/@B5>B5TCB5HB5R[AB5=B1B5DB5;B5EYAɢ%WńE2Acoustic response timeout)) Mؕ;iI)k顉i0¼IEUS EUDEUCEQ"EU9*EUa99VEU5ZEQBEU:a]2EU:a]JEUiH:a]:EUkH:aeԉIIOF>Ա 2Acoustic response timeout eя,ԘF?A2?2͂?2bٱ22Ǿ :AHRS rotation from veh to nav: [[-0.050153,-0.925829,-0.374600],[0.994598,-0.012168,-0.103087],[0.090883,-0.377747,0.921438]]2H c@t׿?눿c D?-ؿk|?i2?I2@^;2ACYByZAyFWHa}@a} a}@a} a}@a} a}@a} a}@a} y}E?%C̿ ףp= }&?}Zd}Qy y)}Mb@Mb@Mb@I}i}‰}}} })}}I}bDVD8yZ=%<=ٔi\:Q->9I=FyE}ԹE>Q 5M4N?Q 9M4T) AQ A+:YQ E;:y-?Q I?nBI:i>+M4yɮZB*jBjiiziJii k0k0k0h k<k<k<h!MZAɢM1.)Q UE2Acoustic response timeoutE]T E]@E]>EY"E]9*E]9VE]4ZEYae@ae@ae@ae@9 blя,F?A6Ѕ?6q?6Zٱ65AǾ >AHRS rotation from veh to nav: [[-0.034084,-0.925862,-0.376320],[0.995280,0.002790,-0.097009],[0.090867,-0.377850,0.921397]]6H zs`ؿT?f?ո C?`.ؿ|?i6Ѕ?I6r'^;6>CYFZAyFHbDxVD8y}(=%}M=ٔ})8Q->9I=FyE%E>2Acoustic response timeoutQ 5M4P?Q 9M4BK)7 AQ A :YQ E:y?Q I?(BI e;i+U?LM4yBɮIBȺE*jBjiiziJii k$k$k$h k@k@k@h19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n-PAggregate::uninitialize marl:UpdateSpeedEwZAɢE)A E8AAAAAAAB>BRCBHB\ABB$DBDBp;BEiM 2Acoustic response timeoutbE4jEc4rET0Em S Em ?Ei Ei "Em 9*Em ?9VEi ZEi BEi a} 2Ei a} JEm 99a} :Em >9a} ԙ rя,vF?A6b?6fN?6fٱ6ebǾ BAHRS rotation from veh to nav: [[-0.017460,-0.925591,-0.378122],[0.995708,0.018281,-0.090728],[0.090889,-0.378083,0.921299]]6Hᑿq`%3ؿ?K?9`D?2ؿH{?i6b?I6UK^;6@CY^Q[Ay^H``bD%PVD%8yew=%eL=ٔmoQ-m>9iIi=uFyuĮEu*Eu>yQ 5M4}R?Q 9M4}A)}AQ A9YQ E9y?Q I?}BI}:i}?}M4yɮ6B*jBjiiziJii kC%kC%kC%h kBkBkBhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderq颽ZAɢ怽)  =i)Ni~ļIIyIO>2Acoustic response timeoutԡ ] 2Acoustic response timeout-yя,F?A2?2 ?2׹ٱ2ƾ :AHRS rotation from veh to nav: [[0.000160,-0.925734,-0.378176],[0.995886,0.034417,-0.083828],[0.090618,-0.376607,0.921930]]2Hg$?` 4ؿK??u`2?Sؿ`t?i2?I2!+^;0YJ[AyJHbDVHVDV8y^=%^U=ٔ^Y::Q-b>9`I`=bFybƮEf<Ef>hQ 5nM4jpT?Q 9nM4jz8)jJAQ An9YpQ Er9yr?Q Ir?jBIj ;ij?jM4ytɮv)BEU EE?E"E:*EVE^4ZEa%@a%@a%@a%@I*jaBjaiaiaziaJiiii k#Gk#Gk#Gh k3Gk3Gk3Gh%[Aɢ6) ]=i)%>!!i%Uż)I1III>OM=2Acoustic response timeout я,?F?A$ɰ&;Fƪ?F?F"ٱFƾ VAHRS rotation from veh to nav: [[0.018416,-0.925271,-0.378858],[0.995747,0.051187,-0.076607],[0.090275,-0.375836,0.922279]]FH@ے?қ6?ؿ'? 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AAII2Acoustic response timeoutO#>9i ùя,oF?A2Acoustic response timeout :*?:?:=7ٱ:ZȾ BAHRS rotation from veh to nav: [[0.173757,-0.905551,-0.387021],[0.981948,0.189143,-0.001701],[0.074743,-0.379739,0.922069]]:H=?Fؿl?5?[ U"?Mؿ?i:*?I:C^;8YN`AyN( Hdd d)dIdiddErU ErCEr=Ep"Er:*Er09VEr|4ZEpaz@az@az@az@bDnVDn$8y =% K=ٔq;Q->9K?IK?=FyE%~E%>)Q 5=N4-6c?Q 9=N4-)-["AYAyE?Q IE?-BI-9;i-;;-i(N4yQɮUqBQ*jiBjqiqiqziJii k'k'k'h) k<k<k<hY2fi:fiBfiJfme+@颭h^Aɢw_) >i)-项i!̼IqA!I)I9Ou6>ԙiIA2Acoustic response timeout 0я,F?APB_>BB HB'bAB=BBDB;B;E?Sް?a:ٱɾ AHRS rotation from veh to nav: [[0.187390,-0.901655,-0.389748],[0.979584,0.200941,0.006117],[0.072801,-0.382938,0.920901]]Ha?@[ؿX?@q?xy?? ؿx?i?IB^;ACY`AyV HyZd;O?p= ף?~jtx?~j?=; 9X9v?)\(?S㥛?Y=?yGa=$>BwB B)ڍBYBbDVD8ys =%0=ٔ;Q->9I=FyEE>Q 5N4d?Q 9N4)~#AYgA?Q E:yj?Q I?JBI:i:8N4yzBɮ [B E*jBji!i!zi!Ji!i!52Acoustic response timeout k#k#k#hI kC:kC:kC:hY2fm[>:fm[>BfmnL@Jfm @bEu&4jEu&4rEuð/EX EAE>E"E~ :*E 9VE4ZEBE:a2E:aJE:a:E:aE^AɢMZ`)I M>iI)MhIIiU ͼQIYAIIO-p>!  2Acoustic response timeoutuƿя,F?A:j@?:-,?:^ٱ:uʾ BAHRS rotation from veh to nav: [[0.200374,-0.898278,-0.391083],[0.977127,0.212254,0.013111],[0.071231,-0.384765,0.920262]]:H`ܥ?`ٿD?@$+?$ڊ?6%%l=ٔ%;Q-%?9)I)=-Fy-E-aE5?1Q 5=N45f?Q 9EN45H)5V$AYAyE?Q IE?5BI5;i5;5DN4yIɮUBBQ*jaBjaiiiiziiJiiii k!k!k!h kcAkcAkcAh2f:fBfJfz@_Aɢ1P) 0>i)5*iͼIA))I9IIOu>E2Acoustic response timeoutEW EBEE"E :*E(9VEZEa@a@a@a@YiIoAԁ ̿я,6F?ADɰDrA?r?riٱr(˾ zAHRS rotation from veh to nav: [[0.213054,-0.894813,-0.392323],[0.974532,0.223378,0.019744],[0.069969,-0.386538,0.919616]]rH`[E? Oٿ`]/?@?7? }?` ؿ}m?irA?Ire@^;r@CYUaAyU HY2Acoustic response timeoutbD@VD8y%=%%;=ٔ%=;Q-->9)I)=-Fy-E5-E5>9Q 5EN4=;h?Q 9EN4=)=e%AYAyE?Q IM?=sBI=y:i=p:=SN4yQɮu:Bq*jBjiiziJii k%k%k%h kBkBkBhA2fQ:fQBfQJfU4@uY_AɢujY)q uh)>iq)}ڂyyi}mμIԉAIIIOEQ>BA<BP>BJCB HBCcAB=BBDBU;BEԱU 2Acoustic response timeoutE V E DE AE "E =:*E a99VE A4ZE BE :a 2E :a JE hH:a :E kH:a ӿя,fPF?AF?Fmګ?F+čٱF(̾ NAHRS rotation from veh to nav: [[0.225676,-0.891162,-0.393574],[0.971744,0.234602,0.025996],[0.069167,-0.388320,0.918925]]FH@?@fQ0ٿ?@l?? 洱?<ؿg?iF?IF ^;F?CYZbAyZh H\^p=bD%VD%8ye8=%eW=ٔm ;Q-m>9iIi=mFyuEu Eu>ԱQ 5N4pj?Q 9N40)V&AYy{?Q I?BI:i:aN4yɮ#B*j Bj i i zi Ji i kBkBkBh) kYkYkYh92fI:fIBfIJfMe@m_AɢmK)q uE>iq)uqqiu{μyI2Acoustic response timeoutAIIO5.> 9 ڿя,O;jF?A"2Acoustic response timeoutEfS EdEdEd"Ef9*EdVEdZEdaj@aj@aj@aj@^UD?^0?^ٱ^n̾ zAHRS rotation from veh to nav: [[0.238305,-0.888276,-0.392654],[0.968748,0.246069,0.031275],[0.068839,-0.387836,0.919154]]^Hƀ?l@?!ٿ?0?I?p?Mؿ@i?i^UD?I^#B^;^@CYUbAy] H}AAybDVD8yۣ<%,=ٔ5:Q->9I=FyEDE>Q 5N4mm?Q 9N49)s'AYyλ?Q I?BI :i :qN4ymBɮBE*jBjiiziJii kSAkSAkSAh kWkWkWh2f:fBfJf?@@5_Aɢ5$T)9 =k9>i9)=799i=rϼAIIAAIIO-o>2Acoustic response timeoutqԡ я,F?ABbG>BbICBbn HBb`dABb=B`Bb~DBb;BbEAA ej>aG%b9!Y%AE?E{?E֌ٱEcX̾ ]AHRS rotation from veh to nav: [[0.251182,-0.885001,-0.392023],[0.965498,0.257831,0.036566],[0.068715,-0.387682,0.919229]]EH ]?Qٿ[?O?Ƹ?J?ؿ Rj?iE?IEc^;EBC a)ae@aiimvAim@ԱIIir@ ) Q8I)i)I~F iYYcAy HU2Acoustic response timeoutyX9v?ˡEMbS?' 9 r?y&1YC?y`弙LmB )~BYBbDVD8y=%H=ٔ9Q->9I=FEV E|EE"E=:*EP$:VEZEBEa2EaJE};a:E};ayEE>Q 5N4u?Q 9N4M)'AY"D?Q E:y?Q I?YBIi:i~:KN4yqBɮB*jBjiiziJii k<k<k<h kCWkCWkCWh 2f=͈=:f=͈=Bf= <@Jf=@颍L`AɢM) IM>i)ځ顙i|ϼIA9IAIYO>  2Acoustic response timeout1 3$я,F?A2Ί?2?2pٱ2V˾ :AHRS rotation from veh to nav: [[0.264389,-0.882120,-0.389823],[0.961944,0.270131,0.041146],[0.069008,-0.385866,0.919970]]2H?T:ؿ>?I?`?z?ؿ@ep?i2Ί?I2^;2@CYEdAy] H!%@A )#IibDVDc8yD>%s=ٔeQ-?9I=FyE!)E?Q 5N4|?Q 9N4)'AYy-?Q I?BIy:i:N4yɮB*jBjiiziJii k;k;k;h kUkUkUh!2f1:f1Bf1Jf5 @M`AɢU5)Q UDp>iQ)]YYi]мaIaA$AIIO$>9e2Acoustic response timeoutEW EAE:E"E :*E 9VE(4ZEa@a@a@a@i Mя,̷F?A ~>?~?~&ٱ~ʾ  AHRS rotation from veh to nav: [[0.277791,-0.879170,-0.387160],[0.958135,0.282664,0.045591],[0.069354,-0.383616,0.920885]]~H@R?("`:ؿ ? +?W?+? +ؿ@w?i~>?I~&^;|YdAy H p<bD2Acoustic response timeoutVD#8y%# =%%C=ٔ-XQ-->9-H?I-H?=5Fy5E5SE5>9Q 5EN4=?Q 9EN4=)='AYIyMg?Q IM?=BI= :i=F:=N4yQɮUBY*jiBjqiqiqziqJiyiy k:k:k:h k\k\k\h2f:fBfJf@`AɢA) nk>i)*iмIAAIIIYO9>AA@ABA>BB HB|eABBBBy;B{EBeJCBeJCBeƔCBe=Be=Ceƅ5u 2Acoustic response timeoutE U E BE ?E "E :*E (9VE ^4ZE BE :a 2E :a JE J+:a :E L+:a ! y5я,?F?A;ɰ;:,?:?:?ٱ:K)ɾ FAHRS rotation from veh to nav: [[0.292026,-0.875542,-0.384899],[0.953878,0.295891,0.050644],[0.069547,-0.381936,0.921568]]:H?`p-ؿ+???@ͱ?qؿ}}?i:,?I:F^;:?CYNdAyN H|bDMyVDM8y /=%U=ٔQQ->9I=FyEE>Q 5N4@?Q 9N4)'AYy?Q I? CI:i:N4yɮءB*jBjiiziJii kSZkSZkSZh kqkqkqh2f:fBfJfJ@颵aAɢ>) j>i)΀项i8ѼI)In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutA%AI)I9O;>Qqqԁ _я,F?ApIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutEVR EV@EVBET"EVs9*EV9VEV5ZETa^@a^@a^@a^@nZ?n?nٱnǾ vAHRS rotation from veh to nav: [[0.307091,-0.871886,-0.381458],[0.949132,0.309900,0.055767],[0.069592,-0.379179,0.922703]]nHa?@}iؿJ_? g?s? б?`yDؿdž?inZ?In1^;n@CYYereAye Hima=bDtVD8y%=%-A=ٔ-۸Q-5>95K?I=K?==Fy=EEtEE>IQ 5]N4Mia)mzYiiimUѼqIqԉAIIO-N>zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout tJя,jG?AB"=>B"HCB" HB"fAB"=B B B";B"GEr?r?r荽ٱrƾ zAHRS rotation from veh to nav: [[0.322455,-0.867285,-0.379261],[0.944049,0.323956,0.061835],[0.069235,-0.377980,0.923221]]rH`?@Eؿ5??`ਯ?_? 0ؿ?ir?Ir^;rACYeAyD HԱy%tV?sh|?~jt?%R?%%=! !9%/$?~jt{GzY%1(?y%D%ף%B%uB %oB)%B!Y%BB9=@AbD=WVD=8yM5=%MH=ٔU e:Q-U>9QIY=]Fy]E]"E]>aQ 5mN4e?Q 9mN4eQ)e'AYu)?Q Eu:yu{?Q Iu?eCIe ;ie ;eN4yyɮ}B*jBjiiziJii ksksksh kSkSkSh2fS>:fS>BfC;@JfĎ@-2Acoustic response timeout颕aAɢ3v8) 2>i)顙iҼIDDEV EDE<E"E=:*Ea99VE 4ZEBE:a2E:aJEhH:a:EkH:aAI)I9OmW>  2Acoustic response timeout9 >rя,\;G?A >؀?>Ĝ?>Iٱ>4Wƾ FAHRS rotation from veh to nav: [[0.338383,-0.862245,-0.376870],[0.938516,0.338369,0.068513],[0.068446,-0.376882,0.923729]]>H ?ؿR?ק?@??`ؿ@0?i>؀?I>8^;>DCYNCfAyR HbDZEVDZ8yba=%bg=ٔf;Q-f>9dId=fFyjEjDEj>lQ 5rN4n?Q 9rN4nʜ)n'AYtyvU?Q Iv?nCIn[:in:nxN4yxɮzBx*j Bj iiziJii kvkvkvh) kkkh92fI:fIBfIJfM1@maAɢm*)q u>iq)ulqqiuP'ӼyIAIIO=AE2Acoustic response timeoutES E@E>E"E9*E9VE4ZEa@a@a@a@qԙ N я,<9G?A2F}?2?2 ٱ2-ƾ :AHRS rotation from veh to nav: [[0.354561,-0.856543,-0.374994],[0.932604,0.352841,0.075845],[0.067349,-0.376613,0.923919]]2H?h׿ ??j?=?`mؿ ?i2F}?I2^;2@CYZvfAyZ H\\bDf"VDf8yn^<%nI=ٔr1;Q-r>9pIp=vFyvEv-Ev>xQ 5~N4z'?Q 9~N4z{)z'AYy ?Q I?z%CIz#;iz;zN4y hBɮ B E*j!Bj!i)i)zi)Ji)i) kSrkSrkSrhA kkkhQ2fa:faBfaJfe㡍@19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uo}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7}nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeout颥7bAɢN2) >i)n8~顩i&ӼIqAIIO= >ԡB=<A9BE5>BEGCBEbHBEgABE=BABE}DBE;BE*EM 2Acoustic response timeoutD zD @AbEQjEUp4rEU)0E V E BE =E "E =:*E (9VE |4ZE BE a 2E a JE J+:a :E L+:a я,RG?A2x?2"R?2yٱ21ƾ :AHRS rotation from veh to nav: [[0.370841,-0.850406,-0.373212],[0.926341,0.367321,0.083474],[0.066101,-0.376677,0.923983]]2Hܻ?6׿?.? ^?? zؿ@E?i2x?I2n^;0YNfAyR HbDZ-VDZ8y%DŽ=%%F=ٔ%kF;Q-->9)I)=-Fy-E5c-E5>9Q 5EN4=?Q 9EN4=!)='AYAyE?Q IM?=kCI=|:i=:=!N4yQɮUBQ*jaBjiiiiiziiJiiii kcqkcqkcqh kkkh2f:fBfJf;@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderbAɢD/) >i)K}ijԼIAAIQIaO>2Acoustic response timeout) Үя,lG?A2Acoustic response timeout ɰ"p;EBU E@EB?E@"EB:*E@VEB^4ZE@aJ@aJ@aJ@aJ@J\t?J ?J քٱJ:ƾ VAHRS rotation from veh to nav: [[0.386877,-0.843830,-0.371856],[0.919851,0.381495,0.091304],[0.064816,-0.377375,0.923789]]JH ?``|׿jo?ij?_? ɗ?@&ؿ?iJ\t?IJ#^;HY^ggAy^JH ) I i  bD%#VD%8y=%I=ٔ.G;Q->9I=FyEL'E>Q 5N4˲?Q 9N4)'AYy?Q I?CI:iF:N4y[BɮnBE*j!Bj)i)i)zi)Ji)i1 krkrkrha kkkh2f:fBfJf@^B*** querying acoustic contact ***XYbAɢ-) u>i) A| iռIQA!I)I9Ou6>yiIA2Acoustic response timeoutԩ B= ->B9 B= HB= hAB= =B9 B9 B= ;B= E~!я,G?A:o?:?:Z@ٱ:aǾ VAHRS rotation from veh to nav: [[0.402607,-0.836765,-0.371123],[0.913161,0.395315,0.099317],[0.063605,-0.378880,0.923257]]:H N?y׿8?`L?l? oH??ؿR?i:o?I:r ^;:CCY^gAy^aH``yE7A`?/$~jt?EV?E,E9qIy=}Fy} E}Z2E}>Q 5O4ղ?Q 9O4̓)'AYi%?Q E:y?Q I?CI;i; O4y_BɮmB*jBj9i9i9zi9Ji9iA kCskCskCshY2f/L>:f/L>Bf2 J@Jf@颵cAɢ*) >i)5X{项iDռI=2Acoustic response timeoutE ECE@E"E*E09VE4ZEBE:a2E:aJE9:a:E9:aԩA!I)I9IYO}7>  2Acoustic response timeout'я,ZG?A2k?2Ѷ?29~ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.418240,-0.829597,-0.369924],[0.906195,0.409033,0.107251],[0.062336,-0.380080,0.922851]]2Hs? Ԭ׿`?-?t? z?@:Sؿ`?i2k?I2Q%^;2BCYVgAyZHlbD-VD-8ye8W=%mK=ٔmN;Q-m>9iIq=uFyu Eup.Eu>yQ 5O4}ಉ?Q 9O4}})} (AYyi?Q I?}7CI}:i}v:}O4yɮbB*jBjiiziJii kvkvkvh kvkvkvh2f:fBfJfX@ QcAɢ )&)  D>i)8sziX.ּI AIIO%>E2Acoustic response timeout9EV EE?E"E=:*EVE^4ZEa@a@a@a@i -я,5^G?A2Uwg?2m?2.8{ٱ22Ǿ :AHRS rotation from veh to nav: [[0.432799,-0.823116,-0.367648],[0.899404,0.421986,0.114015],[0.061294,-0.380010,0.922949]]2H? V@׿?@?0?a?Rؿ@͈?i2Uwg?I2 ^;2ACYF_hAyFH9bD%VD%8y})=%}I=ٔ';Q->9I=FyE!E>2Acoustic response timeoutQ 5O4벉?Q 9O4w)A(AYyY?Q I?zCI];i:'O4yɮSB*jBjiiziJii kSqkSqkSqh kcqkcqkcqh2f :f Bf Jf 9ԋ@-cAɢ-$)) 5%>i1)5sy11i5Dּ9IAiAIIO">AAAAB!>BECBuHBLiAB=BB{DB;BEŁG/9YܚAԑU hDAT read: Forwarding Delay UpTx time:18:50:42.7954 U pIn parseResponses, set commsState_ = SENDING_ACK_WAITING] 2Acoustic response timeoutE  E @E E "E *E 9VE ZE BE :a 2E :a JE +:a :E -:a J4я,8G?A2pqc?2z?2`wٱ2;XȾ :AHRS rotation from veh to nav: [[0.446904,-0.816281,-0.366009],[0.892543,0.434463,0.120864],[0.060358,-0.380693,0.922729]]2H?`l׿ඏ? ???M?G]ؿ?i2pqc?I2x*^;0YFhAyFHHJ?AbD VD q8y}<%J=ٔ;Q->9I=FyEPE>ԙQ 5O4-?Q 9O4r)t(AYyV?Q I?CIN3;i: 5O4ybBɮQBE*jBjiiziJii ktktkth ktktkth2f :f Bf Jf T@%cAɢ-$)) -ϕ>i))-{x)1i5{G׼9I9A$A2Acoustic response timeoutIIO(> e 2Acoustic response timeout, ;я,hZG?Ab_?b?bsٱbǾ nAHRS rotation from veh to nav: [[0.460140,-0.810456,-0.362536],[0.885850,0.446451,0.126294],[0.059498,-0.379265,0.923373]]bHr?A3׿ X?৒?i*?v?@EؿE?ib_?Ib^;b@CYvhAyvHE~T E~|E~<E|"E~9*E~P$:VE~ 4ZE|a@a@a@a@bDVDB8y%JV%%N=ٔ-W;Q-->9-H?I-H?=-Fy-E5oE5>9Q 5EO4=?Q 9EO4=Nl)=(AYIyMp?Q IM?=CI=-:i=[:=BO4yUUBɮUEBUE*jiBjiiiiiziiJiqiq krkrkrh krkrkrh2f!:f!Bf!Jf%׊@edAɢe4\*)a e>ii)mwiiim׼qIqAZ?Ah?AAIIO*>2Acoustic response timeout)Y B >B DCB HB @jAB =B %DB B 2;B EBGCBFCBBBC 5MAя,NG?A2a[?2rԉ?2pٱ2,2Ǿ :AHRS rotation from veh to nav: [[0.473338,-0.804113,-0.359656],[0.878932,0.458275,0.132145],[0.058562,-0.378663,0.923680]]2H ,K?K׿6 ?aT?!??@<ؿɎ?i2a[?I2^;0Y~7iAy~hH  Aykt?I +MbP? 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CI;i;BP4yIBɮhB*jBjiiziJii k\k\k\h kqkqkqh2f:fBfJf,c@19 rNAggregate::initialize marl:UpdateRudderq9%J]!q9%9%7%o%XAggregate::initialize marl:UpdateCommandMode18%]!18%o-@Completed marl:UpdateCommandMode7-o-\Aggregate::uninitialize marl:UpdateCommandModeq7-n-LAggregate::initialize marl:UpdateSpeed7-])7-n54Completed marl:UpdateSpeedq75n5PAggregate::uninitialize marl:UpdateSpeedMahAɢM:߼ԩ) >i)ai2%ἉIAm@AAmAAB} >B}CCB}vHB}oAB}=B}%DB}zDB}d;B}u~EAI!I9O`>bE&4jEȁ4rEp/EU V EU [EQ EQ "EU =:*EU 9VEQ ZEQ BEU :ae 2EU :ae JEU ;ae :EU ;ae  2Acoustic response timeout N я,UG?A$ɰ$lrs?rVKN?r}@ٱrbɾ ~AHRS rotation from veh to nav: [[0.691741,-0.653838,-0.306579],[0.720612,0.652632,0.234073],[0.047037,-0.382843,0.922615]]rH@"?<ӿA?[?`?I?}ؿ?irs?Iry^;rBC )))-Q8))11i5j9I=FyDEE>Q 5P4?Q 9P4),AYyf??Q I?TCIo:i:QP4y ɮ YB *jBj!i!i!zi!Ji!i) k#Yk#Yk#Yh9 kqkqkqhI2fY:fYBfYJf]>b@seNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder颅hAɢ"[ͼ) >i)k`顉iἉI 2Acoustic response timeoutA$AIIO5O>9i Y4я,w0G?AE EHEE"E*E[9VEZEa@a@a@a@"="%=&2Acoustic response timeoutJ)?JaJ?JXBٱJɾ RAHRS rotation from veh to nav: [[0.702663,-0.643549,-0.303497],[0.709944,0.662523,0.238836],[0.047371,-0.383287,0.922414]]JH6|?@ }lӿ`ݷ?b3?@/?@?`Ƈؿi?iJ)?IJ4^;H9Y]oAy]mHaeR=bDfVD8y%p5=%%W=ٔ%eQ-->9-H?I-H?=-Fy-FE5$E5>9Q 5EP4=Z ?Q 9EP4=)=,AYAyE};?Q IM?=CI=:i=:=\^P4yULBɮUTBUlE*jiBjiiiiiziiJiiiq k#Yk#Yk#Yh kCskCskCsh 2f:fBfJf)Da@=hAɢ=ü)9 E>iA)E _AAiE!Y⼉IIIqAAIIOK>ԙ 2Acoustic response timeoutBm >Bm BCBm HBm pABm =Bi Bm yDBm ;Bm $~E я,k G?AjY?j#1F?j1Cٱjxɾ rAHRS rotation from veh to nav: [[0.714171,-0.632592,-0.299645],[0.698335,0.673165,0.243263],[0.047824,-0.382984,0.922516]]jH}?0>a-ӿ X??A#?a|?Ђؿ@@?ijY?Ij^;jDCԑYoAyHy/$?MbX{Gz9K?IK?=FyIE:E>Q 5P4"5?Q 9P4)-AY4?Q E:y?Q I?CI:i:*mP4y5Bɮ7B*jBjiiziJii  kZkZkZh ktktD)D-R=E=W E=@E=>E9"E= :*E=9VE=4ZE9BE=$:aE2E=):aEJE=+:aE:E=.:aMU2Acoustic response timeoutkthY2fm'=:fm'=BfmS{@Jfm@%iAɢ%ͼ)) ->i))-{]))i5⼉1I9A$AIIOk> 2Acoustic response timeout kFя,&G?A00Z ?ZA?ZFٱZ=Ⱦ bAHRS rotation from veh to nav: [[0.725989,-0.621519,-0.294371],[0.685996,0.684649,0.246301],[0.048460,-0.380749,0.923408]]ZHM;? {ҿ??̆?Ϩ? 2^ؿ ?iZ ?IZC^;XYjqpAyjHbDvUVDv8y~=%~l=ٔtQ-?9H?I H?= Fy KE IE ?Q 5P4VF?Q 9P4)4.AY!y%s?Q I%?" 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CIS:iK:sP4y!Bɮ B!*j1Bj1i1i1zi1Ji9i9 kcpkcpkcphQ kspkspkspha2fq:fqBfqJfu@颍iAɢ$Ь) >i)^Y顙in弉IԱAII)Oe>In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout EY  E] BE] ?EY "EY *E] (9VE] ^4ZEY am @am @am @am @Sя,tG?ApIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout*4<ɰ*4j33?j~Kٱj ƾ rAHRS rotation from veh to nav: [[0.763892,-0.582299,-0.278202],[0.643430,0.720396,0.258895],[0.049661,-0.376771,0.924974]]jHq?@2ѿ ?| ??*m?ؿ@c?ij>Ij&^;hY~)qAy~JH!) )))I)i))bD=VD=8yM3=%MC=ٔM߸Q-M>9QIQ=UFyUSE]?E]>aQ 5mP4e}?Q 9mP4e)e"0AYiym?Q Iu?e CIe;ie;eP4y}Bɮ}By*jBjiiziJii ktktkth ktktkth2f:fBfJfG@iAɢB.) >i)Wi弉IYAII)OaԑiI zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԱ B >B ACB HB rAB =B B xDB n;B a}EBBCBCCBɔCB=B=C\5jя,SG?A>Zk>>1 .?>wJٱ>ž FAHRS rotation from veh to nav: [[0.776693,-0.567927,-0.272409],[0.627939,0.732068,0.264138],[0.049411,-0.376211,0.925216]]>H?v,&oѿ?m??YL?ؿ]?i>Zk>I>^;>DCPYR'qAyRIHVp=Va=ymOn??Q?m8?mmBi mؖB)mBiYmBbDVD8y%G=ٔ* :Q->9I=FyVEHE>Q 5P4J?Q 9P4)e1AYs7?Q E:y/*?Q I?F CI;i;kP4y BɮB*jBjiiziJii kCukCukCuh kkkh2f=:f=Bfp@JfҢ@5iAɢ=Oۮ)9 =>i9)=GVAAiEj漉AIIEV EE>E"E=:*EVE4ZEBE:a%2E:a%JEJ+:a-:EL+:a-U2Acoustic response timeoutAAIIO&>!  2Acoustic response timeout/я,f1G?A2>2c)?2pHٱ2|ž :AHRS rotation from veh to nav: [[0.788667,-0.553992,-0.266641],[0.612872,0.742890,0.269262],[0.048916,-0.375775,0.925419]]2HI2:-^;2BCY^qAy^H|!%AAbD-VD-8y0=%H=ٔb:Q->9K?IK?=FyXE?E>Q 5P4w?Q 9P4)2AYy9%?Q I? CIq;ig;P4yɮB*jABjAiAiIziIJiIiQ kStkStkSthq2f:fBfJf7@颽.jAɢ\V) =>i)Tia缉I)AIIO-,>E5T E1E1E1"E59*E1VE1ZE1a=@a=@a=@a=@e2Acoustic response timeoutQԁ |я, G?A6 >6 I$?66Eٱ6kƾ BAHRS rotation from veh to nav: [[0.800127,-0.539430,-0.262320],[0.597896,0.752328,0.276628],[0.048129,-0.378178,0.924481]]6H?Cп!??@F?j?4ؿY?i6 >I6^;6DCYJqAyJHbD VD 8yE~=%MR=ٔM;Q-M>9QIQ=UFyU[EUGEU>YaQ 5mP4e?Q 9mP4e|)e3AYqyu ?Q Iu?e CIe:ie:e[P4y}$Bɮ}BdE*jBjiiziJii kqkqkqh=2Acoustic response timeout kqkqkqhy2f:fBfJf@颥]jAɢ\0) >i)h!S顩i)載IAA@AB>B@CB8HBrABBBB;B|EԉA$AII)O8>ioAIoAԱE5 X E5 AE5 ;E1 "E5 ~ :*E5  9VE5 4ZE1 BE5 :a= 2E5 :a= JE5 :aE :E5 :aE  2Acoustic response timeout я,G?A2E>2&?2DAٱ2duȾ >AHRS rotation from veh to nav: [[0.810434,-0.525741,-0.258445],[0.583929,0.760464,0.284115],[0.047167,-0.381170,0.923301]]2H`?]п ?`U?@.?Q&?eؿ?i2E>I2?^;2CCYZ rAyZH\\bD%VD%8ye s<%eH=ٔm;Q-m>9mH?ImH?=uFyu]Eut.Eu>yQ 5P4}"д?Q 9P4}=)}5AYyH?Q I?} CI}:i}U:}P4y'BɮB*jBjiiziJiԹi krkrkrh krkrkrh2f:fBfJf! @ jAɢ ) >i)%Q顑i載IAAI IM2Acoustic response timeoutO}7>9 E= V E= PE= ?E9 "E= =:*E= ?9VE= ^4ZE9 aM @aM @aM @aM @uя,nG?A2d>26?2V<ٱ29ʾ :AHRS rotation from veh to nav: [[0.819774,-0.512694,-0.255177],[0.570840,0.767292,0.292241],[0.045965,-0.385237,0.921672]]2H ;?@g Tп@RD?্???ؿV~?i2d>I2z-^;0YB6rAyBH J49bK?IbK?=bFyb`Ef,Ef>dQ 5jP4fⴉ?Q 9nP4fZ)f=6AYlynk?Q Ir?f_ CIfC ;if ;fP4yvBɮvԟBvZE*jBjiiziJii k3sk3sk3sh2f:fBfJf@-jAɢ- u)) 5>i1)M3PIIiM鼉QIQAeZ?Ae`?AIIO%>AU2Acoustic response timeoutiB >B B HB MsAB =B B wDB ;B |Eԙ я,G?A;ɰ;2 i>2 ?2A7ٱ2]q˾ :AHRS rotation from veh to nav: [[0.827916,-0.501681,-0.250740],[0.559065,0.773864,0.297625],[0.044726,-0.386588,0.921167]]2HJ~?  п?~?`H ?J?ܽؿ3z?i2 i>I2/^;2BCY^rAy^2HyEMbX9?~jtJ +Ea?EDEHA A9EtV?T㥛 ?{Gz?YE2?yE=Eף9I=FybElE>Q 5P4?Q 9P44)k6AY|3?Q E:y"0?Q I? CIu ;i ;NP4yBɮʟB[E*jBjiiziJi!i! kZkZkZh1 k#qk#qk#qhA2f]bW>:f]bW>Bf]tJ0@Jf]gP@y}jAɢ) >i)tN顁i"d꼉IbE}4jE}Y4rE}A/EeW EeYEe<Ea"Ee :*Ee*9VEe 4ZEaBEe#:au2Ee(:auJEe:au:Ee:auߵ%=ߵ<2Acoustic response timeoutAIIO)>ԡe 2Acoustic response timeout % я,dx)G?A:h>:?:02ٱ:̾ FAHRS rotation from veh to nav: [[0.834941,-0.491703,-0.247187],[0.548609,0.779224,0.303046],[0.043606,-0.388635,0.920359]]:Hշ?x߿ԣϿ5?g?e?uS?dؿs?i:h>I:/^;:DCYNdrAyN HRa=Pll l)pIpippbD~VD~~8y#%W=ٔ%@;Q-%>9)I)=-Fy-eE5DE=>AQ 5UQ4E=?Q 9UQ4E)E6AYQy],?Q I]?E CIEVo;iE3\;EQ4yiɮmҟBq*jBjiiziJii kXkXkXhY2fi:fiBfiJfm O@颭kAɢި) >i)L项i)IAIIO-->EeS EeAEe=Ea"Ee9*Ee 9VEe|4ZEaam@am@am@am@2Acoustic response timeout) я,QCG?A2>2Z?2/ٱ2a̾ >AHRS rotation from veh to nav: [[0.841266,-0.482738,-0.243383],[0.538914,0.784570,0.306630],[0.042929,-0.389120,0.920186]]2H? /޿*'Ͽ>? 2? ҟ?@?Uؿ*r?i2>I2/(^;2BCYZ5sAyZHdf@AbDfVDfK8yn>%rN=ٔr":Q-r>9pIt=vFyvgEveEv>xQ 5~Q4z?Q 9~Q4zR)z6AYy)?Q I?z9 CIz;iz;zrQ4y "Bɮ B*j!Bj!i!i)zi)Ji)i) k#\k#\k#\hA k3\k3\k3\hQ2fa:faBfaJfeTN@颅@kAɢhY) >i)snK顉iJ뼉I=2Acoustic response timeoutQBU<AU4=B]>BYB]HB]sAB]=BYB]xDB] ;B]|EA$AIIOe>yEu W Eu BEu AEq "Eu :*Eu (9VEu A4ZEq BEu $:a} 2Eq a} JEu J+:a :Eu L+:a ԩ  hDAT read: Forwarding Delay UpTx time:18:50:56.9453  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutя,,]G?A6E>6&.?6w.ٱ6,˾ >AHRS rotation from veh to nav: [[0.846863,-0.475254,-0.238656],[0.530113,0.790220,0.307462],[0.042468,-0.386892,0.921147]]6H?j޿Cο? |I?s? b?ؿ`z?i6E>I68^;@6CCYJhsAyJHbD%[VD%!8ye<%mB=ٔmk:Q-m>9uH?IuH?=uFyujEuʼEu>Q 5Q4T.?Q 9Q4)6AYyD'?Q I? CI9:i:/#Q4yɮB*jBjiiziJii kZkZkZh k#Zk#Zk#Zh2f:fBfJfMN@ nkAɢ < z)  O>i)&Ii켉I!ԩAIIO">M2Acoustic response timeout Rя, wG?AEV EEE=E"E=:*EA9VE|4ZEa@a@a@a@>J>>| ?>ͬ,ٱ>}ʾ FAHRS rotation from veh to nav: [[0.852403,-0.467742,-0.233722],[0.521184,0.796056,0.307672],[0.042144,-0.384073,0.922341]]>HF?@|ݿͿ ?Ky???@ؿ@Ѓ?i>J>I>#^;>DCR=PV2Acoustic response timeoutYNrAyZaHI`ddlbD/VD8yS%A=ٔH:Q->9I=FymE ˼E >Q 5Q4OB?Q 9Q4) 7AYy%$?Q I%? CI;i:1Q4y-&Bɮ-ȟB)*jABjAiAiAziAJiIiI k\k\k\ha k\k\k\hq2f:fBfJfDM@额kAɢM) \>i)H顡i5I AIIO_>1 h>%C]2Acoustic response timeout_GMrAs9MrAY™ABU >BQ BU dHBU tABU =BQ BU wDBU ;BU |Ei $я,G?A2>2E ?2^x,ٱ2Ǿ :AHRS rotation from veh to nav: [[0.857991,-0.460074,-0.228439],[0.511938,0.802334,0.306886],[0.042095,-0.380252,0.923925]]2Ht? qݿ@=Ϳa?`??@j? Vؿ ʐ?i2>I2a^;2CCY^sAy^H9yGz?V-L7A`P?h+ 9/$?Zd;O"~ʿY9I = Fy oE ڼE >Q 5Q4Y?Q 9%Q4Ǵ)6AY%D?Q E%:y%>Q I%? CI:i:@Q4y-)Bɮ-B1*jIBjIiIiIziQJiQiQ k#\k#\k#\hi k3\k3\k3\hy2fo=:fo=Bf%@Jf3 ^@kAɢl) >i)|FiI2Acoustic response timeoutD=D<ET EJE9E"E9*Ek9VE4ZEBE:a2E:aJE:a:E:aaIIO5->=PExceeded connect timeout, disconnecting.ԑԹ e 2Acoustic response timeoutT1*я,QG?AZ|u>ZB?Z-ٱZƾ jAHRS rotation from veh to nav: [[0.863228,-0.452050,-0.224695],[0.503027,0.807690,0.307573],[0.042446,-0.378533,0.924614]]ZH@?dܿ̿`?? E?@r?`9ؿ@p?iZ|u>IZi\^;ZACYzsAyzHbDVD8y- t=%5Y=ٔ5LtQ-5>99I9==Fy=rEEEE>IQ 5MQ4Mo?Q 9UQ4M)M$5AYQyU>Q IU?Mg CIM:iM;MLMQ4yaɮeBa*jyBjyiyiyziJii k[k[k[ԙh2f:fBfJf <]@kAɢ8X>) ?i)DiIIIO>2Acoustic response timeoutES EFE=E"E9*E;J9VE|4ZEa@a@a@a@ .1я,ZG?A2K>2?2B 1ٱ2wƾ :AHRS rotation from veh to nav: [[0.869377,-0.441940,-0.221073],[0.492255,0.813679,0.309211],[0.043230,-0.377645,0.924941]]2H`?Hܿ`!L̿? ??D"?@W+ؿ@?i2K>I2-9^;2BCYBBtAyB2HbDNVDN8yV6=%VS=ٔVQ-Z>9XIX=ZFyZtE^{E^>Q 5Q48?Q 9Q4)/4AY!y%>Q I%? CI;ia;.[Q4y- Bɮ-B-RE*jABjIiIiIziIJiIiI kCCkCCkCCha k]k]k]hq2f:fBfJf[\@颥lAɢ4B) ?i)FC顩i߅)I2Acoustic response timeoutI9IIO=AAB>B?CBHB5uAB=BBB;B|EB@CB@CB“CB=B=C¶M5!Q ? G? 2Acoustic response timeoutE V E E CE "E =:*E VE 5ZE BE :a 2E :a JE e:a :E e:a y = nManaging dock network, ignoring radio surface power offC7я,)yG?A2sΐ>2>?23ٱ2ƾ :AHRS rotation from veh to nav: [[0.876281,-0.430052,-0.217226],[0.479804,0.819925,0.312267],[0.043818,-0.377859,0.924826]]2H} ?ۿ˿?I2d^;0YNtAyRiHdd d)dIhihhbDrVDr8yu R=%u>=ٔ}Q-}>9yIy=}Fy}wEE>Q 5Q4?Q 9Q4),3AYyd>Q I?CIU;iQ;iQ4y$BɮB*jBjiiziJii k3Ek3Ek3Eh kYkYkYh2f:fBfJfvt[@@lAɢ<) %?i!)%'{A!!i%.i𼉨)I)A=oAzA=qAYII O}=-2Acoustic response timeoutԁԩ m=я,QG?A@2v>2%>24ٱ2ƾ :AHRS rotation from veh to nav: [[0.883969,-0.416404,-0.212618],[0.465458,0.826689,0.316122],[0.044134,-0.378407,0.924587]]2H`yI?^ڿ@ 7˿?=t?Y;??7ؿ6?i2v>I2,^;2FCEBW EB@EB=E@"EB :*EB9VEB|4ZE@aJ@aJ@aJ@aJ@N2Acoustic response timeoutYnuAynHtv=bDzyVDzQ8y=%R=ٔ gTQ- >9 I =FyyEF+E>Q 5%Q4%?Q 9%Q4\)=2AY)y->Q I-?OCIB:i:vwQ4y5'Bɮ5B5SE*jIBjIiQiQziQJiQiQ kc@kc@kc@hi ksZksZksZh2f :f Bf Jf BsZ@颅jlAɢ8) ; ?i)w?顉i[񼉨ԱII1IIO}=iQIQ]2Acoustic response timeoutB>B@CB,HBuAB=BBB";B}E 9 aUDя,-G?A6%~>6>6@4ٱ6ΡǾ >AHRS rotation from veh to nav: [[0.892358,-0.400868,-0.207372],[0.449165,0.833732,0.321157],[0.044151,-0.379731,0.924043]]6H`1?Чٿ,ʿ?@?@֍?@?Mؿ‘?i6%~>I6^;6BCY^uAy^H``yHzG?i|?5 rh=J?qC 9S?Zd;ϿZd;Y/?y~BmB .B)BYBbDVDY8y%?=ٔ,Q->9I=Fy|E=/E>Q 5Q4ѵ?Q 9Q4)R2AY:fe`w>Bfe@JfeR>@EV EFE;E"E=:*E;J9VE4ZEBE:a2E:aJEe:a:Ea2Acoustic response timeout5lAɢ54)1 5f?i1)=׫=99i=3T򼉨AI>9AAIIO%o>i e 2Acoustic response timeoutJя,,G?A J}}k>Jm>J}"5ٱJ;Ǿ RAHRS rotation from veh to nav: [[0.900389,-0.385573,-0.201574],[0.432833,0.840872,0.324945],[0.044208,-0.379825,0.924002]]JH`?<ؿ-ɿ? m??l? Oؿk?iJ}}k>IJ^;JDCYZuAy^HbDexVDeP8yv=%K=ٔQ->9K?IK?=Fy~EE9E>Q 5Q4굉?Q 9Q4.)f2AYy=Q I?CI ;iC:Q4yɮ{B*j)Bj)i1i1zi1Ji1i1 k<k<k<hI k<k<k<h2f:fBfJf$@lAɢ@ϻ) W ?i);iC󼉨 I iAIIOmW>EZ EVE?E"E:*E9VE^4ZEa@a@a@a@ԩ2Acoustic response timeout @gQя,EG?Aɰ2UW>2Y>2 5ٱ2iǾ :AHRS rotation from veh to nav: [[0.908735,-0.369061,-0.194924],[0.415029,0.848471,0.328404],[0.044186,-0.379331,0.924205]]2H[?׿Cȿӏ?&??@? Fؿ@?i2UW>I2×^;2BCPYRuAyRHbDeTVDe/8ye<%L=ٔd8Q->9I=FyEIE>Q 5Q4?Q 9Q4֧)y2AYy4=Q I?8CI>:i:Q4y.Bɮ|B2Acoustic response timeout*j!Bj!i!i)zi)Ji)i) k@k@k@hQ2fq:fqBfqJfu@19} r}NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandModeBA<B>BBHBzvABBBBC;B#}E7om\Aggregate::uninitialize marl:UpdateCommandModeq7mnuLAggregate::initialize marl:UpdateSpeed7u]q7unu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed颭lAɢE ) K ?i):顱iAIIIO-N>bEM|4jEM4rEMg0E R E GE ;E "E s9*E R9VE 4ZE BE s:a 2E x:a  2Acoustic response timeoutJE t:a :E t:a ! Wя,_G?A6B>6$>6<4ٱ6IǾ >AHRS rotation from veh to nav: [[0.916834,-0.352162,-0.188142],[0.396831,0.855719,0.332069],[0.044054,-0.379113,0.924301]]6HV?@ԉֿ ȿe? b? @?H?cCؿߓ?i6B>I6[^;6CCY^vAy^IH``bDj"VDj8yr8=%rW=ٔv?9Q-v>9tIt=zFyzEz+WEz>|Q 5 Q4B?Q 9 Q4)2AY y )52Acoustic response timeoutQԁ ]я,WyG?AE6T E6BE6>E4"E69*E6(9VE64ZE4a:@a:@a:@a:@B2Acoustic response timeoutv->vڮ>v3ٱv!Ǿ AHRS rotation from veh to nav: [[0.924756,-0.334729,-0.181058],[0.378022,0.862811,0.335643],[0.043869,-0.378832,0.924425]]vH?3lտ,ǿ1? &?+{?v? >ؿ@?iv->Ivic^;vBCYY}^vAy}~HbDVD8yG=%<=ٔ~9Q->9I=FyE>E> Q 5Q4 {6?Q 9Q4 ) 2AYyv;Q I? CI Ա=2Acoustic response timeoutB>B?CBHBwABBBB^;B>}E dя,6rG?A$&@jt>jF >ji3ٱjԖƾ rAHRS rotation from veh to nav: [[0.932360,-0.317109,-0.173626],[0.358878,0.869866,0.338436],[0.043711,-0.377856,0.924832]]jH@?KԿ@d9ƿ?`??9a?.ؿ9?ijt>IjH4^;jCCYzvAy~H ԹyX9v?J +/$?=?H1> 9ʡE?p= ףпK7A`?Y-2?y+>ljB \B)͍BYBbD VD 8y'I=%%F=ٔ%b9Q-%>9)I)=-Fy-E-ONE->1Q 5=Q45N?Q 9EQ45æ)5{4AYEB?Q EE:yE=Q IE?5CI5;i5:5oQ4yQɮU_BQ*jaBjiiiiiziiJiiii k%k%k%h kAkAkAh2f_>:f_>Bfx@Jfܙ@MmAɢ) C?i)4iYIEuV EuHEu?Eq"Eu=:*Eu[9VEu^4ZEqBEu:a2Eu:aJEuR:a:EuT:a2Acoustic response timeoutIIO>M 2Acoustic response timeoutQ jя,PG?A:E>:.>:1ٱ:ҕƾ FAHRS rotation from veh to nav: [[0.939499,-0.299396,-0.166445],[0.339787,0.876122,0.341988],[0.043437,-0.377853,0.924846]]:H_?@N)ӿNſ?@0 ??W=?.ؿV?i:E>I:^;:DCYNwAyRHPR@Adh h)hIhihhbDrVDr8yz=%z`=ٔzoD:Q-~>9|I|=~FyE[dE> Q 5Q4 kd?Q 9Q4 !) #6AYy=Q I? ^CI &;i v; 7Q4y%9Bɮ%VB!*j9Bj9i9i9zi9JiAiA kc&kc&kc&hQ kAkAkAhi2f:fBfJf6@颽mmAɢː9) n?i)2ijiIIIO=AEW EBE@E"E :*E(9VE4ZEa@a@a@a@2Acoustic response timeoutiԙ {qя,*G?A2a=2$d>2=b0ٱ21"ƾ :AHRS rotation from veh to nav: [[0.946153,-0.282009,-0.158951],[0.320845,0.882218,0.344600],[0.043049,-0.377043,0.925195]]2H`F?q ҿ XĿ?!;?` ? ?z!ؿ1?i2a=I21^;2ECtrAY~NwAyHM9MrAYMA p;bDrVD_8yz=%==ٔk:Q->2Acoustic response timeout9I=FyE$;E>)A9A=AABIBIBMqHBMwABIBIBIBMs;BMS}EQ 5mQ4-~?Q 9mQ4-)-!8AYiym7=Q Im?-CI- E V E E >E "E =:*E VE 4ZE BE a 2E a JE J+:a :E L+:a  2Acoustic response timeout wя,G?Aɰ2ی=2Bҝ>2!/ٱ2"Až :AHRS rotation from veh to nav: [[0.951997,-0.265848,-0.151742],[0.303110,0.887894,0.346077],[0.042727,-0.375459,0.925854]]2H@v?@ѿJlÿ%f?i?!&?O?`ؿ?i2ی=I2^;2BCYRwAyR9HbD \VD J8yj=%L=ٔmS:Q->9I=FyECE>Q 5Q4ؕ?Q 9Q4%)9AYy[=Q I?CI:i:BQ4y@BɮNB*jBjiiziJii k3<k3<k3<h  kSAkSAkSAh2f):f)Bf)Jf-~@MmAɢM`;)M1a+ U?iQ)U .QQiUaYIaAII2Acoustic response timeoutO'>9i $ ~я,G?AE"U E"FE"AE "E":*E";J9VE"A4ZE a&@a*@a*@a*@(22Acoustic response timeoutFx5=Fj>F-ٱF+ľ NAHRS rotation from veh to nav: [[0.957237,-0.250459,-0.144799],[0.286173,0.893177,0.346900],[0.042447,-0.373503,0.926657]]FH ?п ʈ¿ P? ?3?`?@z׿,?iFx5=IFP8^;FCCYZwAyZCH\\bDEOVDE>8yt<%L=ٔ7:Q->9I=FyE5E>Q 5R4?Q 9%R4ߤ);AY!y%=Q I%?@CIl:i:R4y)ɮULBQ*jaBjaiaiiziiJiiii kAkAkAh kXkXkXh2f:fBfJfs@q颕mAɢ@}) n?i)6],项iIԙAIIOk>2Acoustic response timeoutB5>B1B5HB5xAB5=B1B1B5;B5p}EB?CB?CBB=B=Cb64 я,G?A6fag=69>6+ٱ6¾ >AHRS rotation from veh to nav: [[0.961682,-0.236783,-0.138212],[0.270944,0.897864,0.347030],[0.041925,-0.371180,0.927614]]6H`?Nο 'W?M?`5?4w?h׿?i6fag=I6 ^;6ACLY}3xAy}HDM=DIEUS EUGEU?EQ"EU9*EUR9VEU^4ZEQBEU:a]2EU:a]JEUt:ae:EUt:aem2Acoustic response timeoutyT= 9x?QOn?YK7?yu>mB B)BYBAAbD)VD8y l=% '=ٔp:Q->9I=FyEWE>!Q 5-R4%ȶ?Q 9-R4%ڡ)%>>AY5!G?Q E5:y5>Q I5?%CI%:i%:%ER4y=DBɮ==B9*jQBjQiQiYziYJiYiY k<k<k<hq kcYkcYkcYh2fS>:fS>Bf$r@Jf˟@颵mAɢ>9) o#?i))项i!IAIIOEs>! % 2Acoustic response timeout)я,.G?A2v)=2݄>2)ٱ2(¾ >AHRS rotation from veh to nav: [[0.965694,-0.223400,-0.132390],[0.256384,0.901209,0.349412],[0.041253,-0.371368,0.927569]]2H?`^̿'@h? ?`\? ?}׿ ?i2v)=I2G^;2CC @)BvABCFCFDDDiDIDHIHiJr@ HH)HL LN94LLPPIRy)PiP)TIVvAV'T TZCXXiXXYXY}xAy}HbDVD8yϘ=%x=ٔ;Q-?9I=FyEi;E?Q 5R4l۶?Q 9R4ҟ)?AYy>Q I?CI;i;!R4yGBɮ4BVE*jBjiiziJi!i! k@k@k@h9 k\k\k\hA2f:fBfJfv)@颽nAɢ<) (?i))(i>I)2Acoustic response timeoutET EFE=E"E9*E;J9VE|4ZEa@a@a@a@YAI IQ Ia O >ԁ я,pHG?A:)<:^z>:&ٱ:¾ BAHRS rotation from veh to nav: [[0.969338,-0.210466,-0.126840],[0.242329,0.904333,0.351365],[0.040755,-0.371329,0.927607]]:H?ʿ@N<?L? |?ݤ?׿?i:)9I=FyE-E>Q 5R4?Q 9R4y)BAYyl>Q I?CIS:i):/R42Acoustic response timeoutB<A<B>BBRHBVyABBBB;B{}EyLBɮ2B *jBjii!zi!Ji!i! kCkCkCh9 k3Zk3Zk3ZhI2fY:fYBfYJf]ݷ@}5nAɢ};)y })?iy)&顁iuIU3ԑA$AIIOH>ԱDi zDm AAEu W Eu EEq Eq "Eu :*Eu A9VEq ZEq BEu $:a} 2Eu ):a} JEu V:a :Eu V:a  2Acoustic response timeout <-я,KbG?A~{ @~ ^>~x "ٱ~Юþ -AHRS rotation from veh to nav: [[0.975655,-0.185905,-0.116350],[0.215716,0.909154,0.356239],[0.039553,-0.372664,0.927123]]~H 8?ǿɽ ???T@?׿?i~{ @I~*0^;~DCԹY3yAy<HQQ q)qIqiqq };}<bDVD8yd=%<=ٔ5;Q->9H?IH?=FyENE>Q 5R4 ?Q 9R4)VDAYy>Q I?gCI3;iQ;>R4yɮ&B*jBjiiziJii kAkAkAh kXkXkXh 2f:fBfJfي@5VnAɢ=2;)9 =-?i9)=ɢ#AAiE^AII2Acoustic response timeoutp*AY?Ad?iQIQA AI I O5 >9 Wя,g(|G?AEV ECE>E"E=:*E09VE4ZEa@a@a@a@"2Acoustic response timeout$ɰ$YxAyHbD%VD%8y5%5d=ٔ=Q-=>9EK?IEK?=EFyEEEEE>IQ 5UR4M?Q 9UR4M-)M8FAYYyYQ I]?MCIM;iM;MvKR4yePBɮe0Bi*jyBjyiyiziJii kUkUkUh kUkUkUh2f:fBfJfqnAɢX<) (?i)F!iIAB>BBHByAB=BBvDB;Bc}EAiI2Acoustic response timeoutII)O]>qԙ 7?я,G?AV`1@VC>VʮٱV ž bAHRS rotation from veh to nav: [[0.981182,-0.162481,-0.104319],[0.189692,0.912003,0.363687],[0.036048,-0.376631,0.925662]]VHe? +ĿG?@ /?@F? t?ؿ ?iV`1@IV}9^;VECYjpyAyjaHllyzG?K7A?t 9Q?rh|?M?Y(BmB XB)BYBbD9VD?8y=%@=ٔ9I=FyEE>Q 5R47?Q 9%R4ĕ)FAY%AB?Q E%:y%B>Q I5?CI;iw;bZR4yEIBɮEBAq*jBjiiziJii kSVkSVkSVh! kcVbE&4jEp4rE/E=U E=DE=@E9"E=:*E=a99VE=4ZE9BE=:aE2E=:aMJE=hH:aM:E=kH:aMU2Acoustic response timeoutkcVkcVhq2fD>:fD>BfK@Jf 6@nAɢȢ;) -?i)iIԡA5$AIAIQO}> 2Acoustic response timeout Piя,ܯG?An&@n6>n ٱneǾ vAHRS rotation from veh to nav: [[0.983684,-0.151064,-0.097703],[0.176728,0.913018,0.367649],[0.033666,-0.378917,0.924818]]nHVz?Vÿ? q7??9H?IH?=FyEDE>)Q 55R4-O?Q 9=R4-)-GAY9y=>Q I=?-ICI-;i-L;-hR4yEGBɮEBI*jYBjYiYiaziaJiaia kVkVkVhy kVkVkVh2f:fBfJf 5@颽nAɢ0J<) a1?i);i IAEAIIIYO9>EEX EECEEBEA"EE~ :*EE09VEE5ZEAaM@aM@aM@aM@e2Acoustic response timeout) Rя,G?A$@@>Q@'>MٱǾ AHRS rotation from veh to nav: [[0.986161,-0.138867,-0.090567],[0.162805,0.914339,0.370781],[0.031319,-0.380395,0.924294]]H? ha/`?CB??@ ?cXؿ`Г?i>Q@IfF^;ECYEzAyMHA}AAA}@AB>BBHBzABBBBg;B@}E2Acoustic response timeoutbDVD 8yZA=%F=ٔ;Q->9 K?I K?= Fy E  E>Q 5R4+h?Q 9R4o)pHAYye>Q I?CIm;i:ewR4y>BɮBME*jBjiiziJi!i! k^k^k^h92fQ:fQBfQJfUJ4@iunAɢu2$<)q u4?iy)}6yyi}4IAIIOF>ԙEM W EM KEM @EI "EM :*EM ]t9VEM 4ZEI BEM $:a] 2EM (:a] JEM ):a] :EM +:a] m In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERm 2Acoustic response timeout 5{я,G?AJ@J>JZٱJ%ɾP VAHRS rotation from veh to nav: [[0.988620,-0.125429,-0.083052],[0.147606,0.915328,0.374682],[0.029024,-0.382677,0.923426]]JHƢ? B`?@^J? ?Y?@}ؿ?iJ@IJ$6^;JDCYbzAybHbDjVDj8yv%v^=ٔv;Q-v>9xIx=zFyzEz+E~>QQ 5]R4UX}?Q 9]R4U׌)U IAYaye>Q Ie?UCIU;iU;UR4ymABɮmBi*jBjiiziJii k[k[k[h k[k[k[h2f:fBfJfZ3@nAɢo<) !2?i)ʅi[6IAe$AIyIiIApIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutO#>! Ey  E} DE} >Ey "Ey *E} a99VE} 4ZEy a @a @a @a @ zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutSþя,G?A`nK@n@>nA ܼٱnɾ vAHRS rotation from veh to nav: [[0.990980,-0.111084,-0.074960],[0.131291,0.916887,0.376937],[0.026858,-0.383378,0.923201]]nH?o@0`"? #W? ?`?Eؿ܊?inK@InA^;nBCYzAyH 4<<bDVD8y8=%;=ٔ;Q->9H?IH?=FyEE>)Q 5eR4-c?Q 9mR4-͉)-IAYy+>Q I?-4CI-CG%먿9)Y-NAIIO%o>BE>BABE~HBE>{ABE=BABEwDBEF;BE}E2Acoustic response timeoutI pя, G?A"4<ɰ F @FM=Fm(ɼٱF ɾ NAHRS rotation from veh to nav: [[0.993107,-0.096572,-0.066418],[0.114607,0.918817,0.377679],[0.024553,-0.382688,0.923551]]FH@?򸸿@V?f?`+?h$?}ؿ?iF @IFZO^;FCCYVzAyV1Hy5V-?~jtʡE95\?551 195jt?EԸY5@?y55ƽ15pB 5*B)5?B1Y5BbDUVDU8ye =%eQ=ٔm;Q-m>9iIi=mFyuEu2Eu>yQ 5R4}r?Q 9R4}N)}[IAY\B?Q E:y=Q I?}}CI}:i}:}R4yɮB*jBjiiziJii kCWkCWkCWh kSWkSWkSWhY2fm=:fm=Bfm73@Jfm@@额oAɢ<) :?i)/顡iGIE P E HE ?E "E 9*E [9VE ^4ZE BE `:a2E e:aJE R:a:E T:a=2Acoustic response timeoutiIIIO5.>ԑ  2Acoustic response timeoutя,h1G?A26@2L=2ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.994970,-0.081706,-0.057957],[0.097622,0.920619,0.378063],[0.022467,-0.381819,0.923964]]2H ?괿?u?@.2?|?oؿ?i26@I2Z^;2BCYFzAyF*Htt t)tItittbD~VD~8y b% P=ٔ *;Q->9I=FyE62E>!Q 5-R4%lȷ?Q 9-R4%)%HAY)y5G=Q I5?%CI%:i%):%?R4y=IBɮ=B9*jQBjQiQiYziYJiYiY kYkYkYhq kpkpkph2f:fԙBfJf ?@颽0oAɢ8<) P8?i)YiIIIO=EU EAE;E"E:*E 9VE4ZEa @a @a @a @E2Acoustic response timeout _я,=GKG?A2q@2a=2nٱ2ݫǾ :AHRS rotation from veh to nav: [[0.996572,-0.066407,-0.049339],[0.080162,0.922561,0.377432],[0.020454,-0.380093,0.924722]]2H?`B y? ?'??rSؿR?i2q@I2t^;2CCY^{Ay^bHddbDjVDj8yrf=%rM=ٔrW;Q-v>9tIt=vFyvEz4Ez>BE>BABEHBE{ABABABABE3;BE }EBBBB=B=CT52Acoustic response timeoutQ 5R4+㷉?Q 9R4)fHAYy=Q I?CI>:il:R4yLBɮB*jBjiiziJii kcWkcWkcWh12fA:fABfAJfEf>@颅KoAɢr<) l9iIi=uFyuEuk)Eu>Q 5R4?Q 9R4)GAYyi2Acoustic response timeoutԁԩ E% U E% DE% @E! "E% :*E% a99VE% 4ZE! a- @a- @a- @a- @hя,~G?A"%="<&2Acoustic response timeoutf@f <=faٱfž vAHRS rotation from veh to nav: [[0.998808,-0.036249,-0.032693],[0.045888,0.925648,0.375594],[0.016647,-0.376646,0.926208]]fH;? =#~??` ?` ?ؿ~?if@If _;dY~{AyHbDVD8ye{=%e;=Թٔa;Q->9I=FyEE>1Q 5=R45?Q 9=R45)5XGAYAyE #Q IE?5CI5;i5:5R4ymSBɮmݞBq*jBjiiziJii k:k:k:h k[k[k[h2f:fBfJf '<@E}oAɢE<)Y e8C?ia)ek aaim;iIqAAIIO%o>B=>B9B=-HB=[|AB9B9B=vDB=;B=|E2Acoustic response timeout 1 я,՘G?A2 @2<23rٱ2٨ľ :AHRS rotation from veh to nav: [[0.999493,-0.020617,-0.024271],[0.028206,0.926923,0.374190],[0.014782,-0.374685,0.927035]]2H`? `ژ?Z??7F?׿`D?i2 @I2͞^;2BCYB{AyBHa}@a} a}@a} a}@a} a}@a} a}@a} y}X9v?SſMb}s?}/}y y)}Mb@Mb@Mb@I}i}‰}}} })}}I} p<p<bDVD8y<%W=ٔJ;Q->9K?IK?=FyE$GE>Q 5R40?Q 9R4)FAQ A+:YQ Eb:y[Q I?CI8:i(> R4yWBɮ*jBjiiziJii kSCkSCkSCh  kSYkSYkSYh!EoAɢM<)I MC?iI)MKQQDDEV ENECE"E=:*E҆9VE5ZEBE:a2E:aJE:a:E:aiyI-2Acoustic response timeout1AAIIIYO<>Yԉ  2Acoustic response timeoutя,ͯG?Aɰ06:j@6*<6&Tٱ6#þ >AHRS rotation from veh to nav: [[0.999861,-0.004810,-0.015946],[0.010413,0.927737,0.373089],[0.012999,-0.373203,0.927659]]6H ?s@ TpS????׿ a?i6:j@I6^;6DCYF{AyFHbDRVDR8yZ<%Z[=ٔZ؜;Q-^>9\I\=^FybEb|CEb>dQ 5jR4f:H?Q 9jR4f)fkFAQ Aj :YhQ En7:ynQ In?fMCIf:if ;?fR4ypɮrٞBp*j|BjiiziJii k@k@k@hoAɢx<) D?i)TiIԑAAIYIiI>>O>Eo EDEE"E`:*Ea99VEZEa@a@a@a@%2Acoustic response timeoutԹ я,G?A20@2!@2e;ٱ2Dþ :AHRS rotation from veh to nav: [[0.999909,0.010910,-0.007947],[-0.007168,0.928098,0.372267],[0.011438,-0.372176,0.928092]]2HA?`:X?FB\}?`7?@l?@׿?i20@I2[^;0YB{AyBHDFp=bDRbVDRy8yVA%ZK=ٔZ};Q-Z>9XI\=^Fy^E\b?2Eb>dQ 5jR4fa?Q 9jR4fn)fEAQ Aj9YhQ En:ynXaQ In?fCAr@AApBv>Bv>CBvxHBv|ABtBtBtBv;Bv|EIf;if?fR4yZBɮߞBPE*jBji!i!zi!Ji!i! kDkDkDh9 kEkEkEhI19] r]NAggregate::initialize marl:UpdateRudderq9]J]Yq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]a18eoe@Completed marl:UpdateCommandMode7eoe\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7mnm4Completed marl:UpdateSpeedq7mnmPAggregate::uninitialize marl:UpdateSpeedhDAT read: Forwarding Delay UpTx time:18:51:10.8452 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutoAɢ~`<) B?i ) L  i :IAaIqIO>DzD@AbE}ȗ4jE}Ȇ4rE}ȼk0EZ EFE?E"E:*E;J9VE^4ZEBE`;a 2Ec;a JEe:a :Ee:a 5 2Acoustic response timeoutI 'я,^gG?A2@J@21E@2"ٱ2<¾ :AHRS rotation from veh to nav: [[0.999645,0.026656,-0.000065],[-0.024735,0.928523,0.370449],[0.009935,-0.370315,0.928853]]2H?K?09Tv?n? X??׿)?i2@J@I2:^;0Y^Y|Ayb,Hxx x)xIxi||  AA!bD6VDP8y=ƒ=%=B=ٔEBi;Q-E>9III=MFyMïEU_*EU>aQ 5mR4e|?Q 9mR4e )eUEAQ Au9YqQ Eu9yu.Q I}?eCIe_N;ie?exR4y^BɮӞB*jBjiiziJii kEkEkEhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderoAɢ<) H?i)c顙iEII2Acoustic response timeoutA%$AI)I9O9>qԡ E U E E :E "E :*E VE (4ZE a @a @a @a @= 2Acoustic response timeoutя,[BG?A$&@BM@B>@B:2 ٱB" RAHRS rotation from veh to nav: [[0.999064,0.042564,0.007733],[-0.042419,0.928725,0.368335],[0.008496,-0.368318,0.929661]]BHT?˥? ?뷥?˒?9f?`׿ȿ?iBM@IBF^;BFCԁYn{AyHbD%VD%,8yMe%u:=ٔT;Q->9H?IH?=FyƯE!E>Q 5S4.?Q 9S4֊)DAQ A9YQ E9y跽Q I?DCI;i@S4yaBɮB*j1Bj1i1i1zi1Ji9i9 k)k)k)hi^B*** querying acoustic contact ***XY颵oAɢ <) @?i)Q项igIԩA=AIAIQO[>B>B?CBHB|ABBBBK;B|EiߑIߕA2Acoustic response timeout 9я,G?A:Z,@:K'@:oٱ:J8 BAHRS rotation from veh to nav: [[0.998198,0.057973,0.015459],[-0.059602,0.928546,0.366402],[0.006887,-0.366663,0.930328]]:H=?? ?(?!s?@_5|?iw׿??i:Z,@I:*^;:DCYJ`|AyJ0HPR@Aa}a} a}a} a}a} a}a aa y\(\?9K?IK?=FyɯE=E>Q 5S4?Q 9S4U)EAQ AT:Y[?Q Ex:y蛾Q I?CI2:i: S4yueBɮ}ٞB}QE*jBjiiziJii k.k.k.hET EAE@E"E9*E 9VE4ZEBE:a2E:aJE:a:E:a2Acoustic response timeout k.k.k.h2f5_+>:f5_+>Bf5r@Jf5Џ@uoAɢu <)q }lF?iy)}yyi}IAIIOF>q 2Acoustic response timeoutԙ c я,w3G?A2@2@2 ٱ2 :AHRS rotation from veh to nav: [[0.997019,0.073526,0.023399],[-0.076989,0.927814,0.365013],[0.005128,-0.365726,0.930708]]2H?Ҳ?@?@?@_\?{u?h׿\?i2@I2SJ^;2CCYB>|AyBH 4<<bD VD 8yE̫%MQ=ٔM,;Q-M>9IIQ=UFyU˯EUp6EU>aQ 5eS4ef͸?Q 9mS4e)eMEAYiymؤQ Im?eCIe:ie:eS4yurBɮ}B}ZE*jBjiiziJii k#'k#'k#'h k3'k3'k3'h2f:fBfJf;>@ pAɢ4<) IC?i)Li0 IqIIO>ԡER EBE:E"Es9*E(9VE(4ZEa@a@a@a@2Acoustic response timeout} nG MrA 3Կ9 MrAY A Kя,pMG?A;ɰB@AB<BDBDBFHBFO}ABF=BDBDBF;BF{EY-|Ay-LHe2Acoustic response timeoutI>)l>bDVD8y;=%A=ٔQ->9I=FyίEE>Q 5S4^급?Q 9S4")EAY y Q I ?GCIK:iB:k*S4yuBɮB[E*j)Bj)i)i)zi1Ji1i1 k/k/k/hI k/k/k/hY2fi:fiBfiJfi颅pAɢ 8<) G?i)w顉i ՘ 1I1IIO>EW ECEE"E :*E09VEԺ5ZEBE$:a2E):aJE9:a:E9:a 2Acoustic response timeout) Q wя,gG?AF@F@FݙwٱFya VAHRS rotation from veh to nav: [[0.993931,0.102750,0.039293],[-0.110002,0.925262,0.363028],[0.000945,-0.365147,0.930950]]FH H?M?8?)? ;?`;N?@^׿V?iF@IFO^;FFCYb|AyfHbDvVDv8yX=%Z=ٔ69 I =FyЯE'E>!Q 5-S4%?Q 9-S4%)%EAY)y5ϵQ I5?%CI%>:i%:%7S4y=yBɮ=ڞB9*jQBjQiQiziJii k+k+k+h2f):f)Bf)Jf-&@颕.pAɢ<) PL?i)顡ij II1IAIaO=ԉm2Acoustic response timeoutԑ E V E E =E "E =:*E VE |4ZE a @a @a @a @ 2Acoustic response timeout.a я,G?AP @@k/:ٱ %AHRS rotation from veh to nav: [[0.992070,0.116580,0.046977],[-0.125684,0.923453,0.362544],[-0.001115,-0.365574,0.930782]]H ? 1ؽ?`T ?@j?3? ERe׿?i @I,^;Y5|Ay5H9=a=y'1Z?Q?Mb?b?<@= 9Fx?/$333333?YK?y1>iB B)YBBAbDVD8y%/=ٔ;Q->9I=FyӯE E>Q 5S4w"?Q 9S4$)CGAY#R?Q E:y%YQ I%?CI/];it;GS4y5|Bɮ=ޞB9*jYBjYiYiaziaJiaii kSkSkSh2fY>:fY>Bf@Jfz@UApAɢU<)Q ]J?iY)] ߼YYi]MS IIIOM1>B}>ByB}HB}w}AByByByB};B}{EB9B9B9B9B9C="5u2Acoustic response timeout9 Ӈ&я,$dG?A2%@2@2u4M;ٱ2 :AHRS rotation from veh to nav: [[0.989921,0.130539,0.054912],[-0.141583,0.920826,0.363365],[-0.003131,-0.367478,0.930027]]2Ho? ~?m?`h¿@gw?`A?i׿@?i2%@I2^;0Y^}AybHbDjVDj8yr(=%rr=ٔv;Q-v?9tIt=zFyzկEzBEz?YQ 5eS4]Y9?Q 9eS4]̙)]MHAYaymgiQ Im?]@CI]A:i]:] TS4yuBɮuܞBu\E*jBjiiziJii kkkh2f:fBfJfqy@NpAɢ;=) L?i)_ۼi' IIYIiEW EDE@E"E :*Ea99VE4ZEBEa2EaJEiH:a:EkH:a2Acoustic response timeoutO=Iq 2Acoustic response timeoutԡ ,я,?G?A25@2&@2FX;ٱ2x :AHRS rotation from veh to nav: [[0.987466,0.144738,0.062944],[-0.157748,0.918116,0.363564],[-0.005168,-0.368936,0.929440]]2H@R?Ɔ?@? 1Ŀ4a?D?+u׿?i25@I245^;2ECY^}Ay^Htt t)tItixxbDVD8y O% H=ٔ;Q->9I=FyدE#E%>!Q 5-S4%VS?Q 9-S4%ћ)%yIAY1y5yQ I5?%CI%:i%1:%aS4y=BɮEBA*jQBjQiQiYziYJiYiY kkkhqԹ k k k h2f:fBfJfx@M^pAɢUY<)q uK?iq)u ռyyi}T yIAI IOU2>EU EE?E"E:*EVE^4ZEa@a@a@a@2Acoustic response timeout9 ͙3я,PG?AB>B>CBHB}ABBBB ;B{ER@R|@RC;ٱRk ZAHRS rotation from veh to nav: [[0.984836,0.158411,0.070739],[-0.173334,0.915645,0.362697],[-0.007317,-0.369458,0.929219]]RHƃ?F?`?/ƿL?k6?V}3׿(?iR@IR"^;PYfF}AyfHhj?A ln;bDrXVDr8yz<%zL=ٔz;Q-z>9|I|=~Fy~گE!E> Q 5S4 km?Q 9S4 ) JAYy݄Q I? CI :i ; oS4y!ɮ%ڞB!*j1Bj1E2Acoustic response timeoutiAiIziIJiIiI k3k3k3ha kskskshq2f:fBfJfw@颥kpAɢn=) M?i)м顩iK IAIIO >AiE EEEKE"E*EA9VE5ZEBE:a2E:aJEV:a:EV:a2Acoustic response timeoutԙ k9я,G?Aɰp;>v@>g@>{}<ٱ>5¾ FAHRS rotation from veh to nav: [[0.982123,0.171161,0.078349],[-0.188008,0.912618,0.363017],[-0.009368,-0.371257,0.928483]]>Hm?@??ȿ*4?;?/׿!?i>v@I>?^;>FCYj[}AyjHbDMfVDM8y}H<%A=ٔ;Q->9I=FyݯEE>Q 5S4 ?Q 9S4f)KAYy@Q I?;CI~(;i8;~S4yBɮ۞B*jBjiiziJii k# k# k# h2f):f)Bf)Jf-v@q{pAɢFK<) N?i) ˼i IU2Acoustic response timeoutA!I)I9O9>ԡ,@я, G?AET E@E:E"E9*E9VE(4ZEa*@a>@a>@a>@Z2Acoustic response timeoutd@@-6<ٱ ľ -AHRS rotation from veh to nav: [[0.979159,0.183962,0.086059],[-0.202790,0.908822,0.364581],[-0.011144,-0.374435,0.927186]]HDU??? ɿ? LU?҆׿?i@I&^;Y_}AyHy(\?Cl?Zd;OG?;=j 9S㥛?QL7A`?Y$F?y+>BGoB 8B)BYܗBIMAAbDU\VDU8ye :%e$=ٔmi;Q-m>9iIi=mFymEuEu>yQ 5S4}K?Q 9S4}>)}"MAYVK?Q E:yIQ I?}CI}L ;i};} S4yBɮޞB]E*jBjiiziJii kkkh kSkSkSh2f>:f>BfM@Jf0@pAɢ 9=<)  HM?i ) ļi IipAIpABBBBBBBB:;B{EAIIO>M2Acoustic response timeout9 Fя, G?AJ/@J @Jl`M<ٱJ'ƾ bAHRS rotation from veh to nav: [[0.975994,0.196753,0.093404],[-0.217437,0.904907,0.365876],[-0.012535,-0.377402,0.925965]]JHW;?0/?R?`˿?j?᫉`Z'ؿ?iJ/@IJSK^;JDCYj}AyjHllbDMLVDMy8y,v%=ٔy;Q-?9I=FyEFE?Q 5S4?Q 9S4)MAYyQ I?CI :i:S4yBɮ5B1*jIBjIiIiIziIJiQiQ k k k ha k k k hy2f:fBfJf!@D=D<bE%4jE%5rE%}3E^ EAE=E"EC#:*E 9VE|4ZEBEt ;a2Ev ;aJE:a:E:apAɢX=) G?i)i^ I2Acoustic response timeoutIA!I1IIO<>qԡ e 2Acoustic response timeoutMя,6 G?A@2!@2@2Ib<ٱ2ZǾ :AHRS rotation from veh to nav: [[0.972545,0.209839,0.100619],[-0.232306,0.901055,0.366244],[-0.013811,-0.379563,0.925063]]2H ?`?0¹?4Ϳp?p?I@Jؿ`?i2!@I2r>^;2ECYb8}AybHbDnNVDn{8yv<%vU=ٔvY;Q-v>9xIx=zFyzEz"E~>Q 5 S4ӹ?Q 9 S4)NAY y $Q I ?(CI:i:[S4yBɮB*j1Bj1i1i1zi1Ji1i9 kkkhI kkkhY2fq:fqBfqJfu?@y颕pAɢ=) I?i)ۻ顙iW IA II!OU>ԡEW EDE>E"E :*Ea99VE4ZEa@a@a@a@2Acoustic response timeout B! B! B! B! B! B! B! B% ^;B% $|E Sя,tbP G?A2*@2@2q<ٱ2iɾ :AHRS rotation from veh to nav: [[0.968845,0.222851,0.108063],[-0.247229,0.896212,0.368350],[-0.014760,-0.383590,0.923386]]2H?`?? 3Ͽ ŭ? ?x:ؿ_?i2*@I2g<^;2DCYF1}AyFH LNbDR9VDRh8yZˎ%ZN=ٔZ;Q-Z>9\I\=^Fy^EbEb>dQ 5jS4fR칉?Q 9jS4f#)fOAYhyjQ Ij?fwCIf:if:f9S4y9ɮEBA*jQBjQiQiYziYJiYiY k k k hq kC#kC#kC#h2f:fBfJfA@pAɢ=) [H?i)wiّ 2Acoustic response timeout!I!AIIO">1DzD?AEZ EhE;E"E:*E]9VE4ZEBE`;a2Ec;aJE#5;a:E$5;a 2Acoustic response timeoutY Zя,=j G?A6@6@6[~<ٱ68ʾ BAHRS rotation from veh to nav: [[0.964580,0.237180,0.115464],[-0.263333,0.891573,0.368447],[-0.015556,-0.385802,0.922450]]6H ?[??rп@ć?? ۏ`ؿ඄?i6@I6=N^;6EC1Y}AyH@A@A )IibD;VDi8y]-=%*=ٔr:Q->9 I = Fy E6E>Q 5%S4 ?Q 9%S4r)QAY!y%ɯQ I%?CI:i9:S4y5Bɮ5B1*jABjIiIiIziIJiQiQ k)k)k)ha k)k)k)hq2f:fBfJf@颥pAɢ<) L?i)Y顩i I-2Acoustic response timeoutaAyIIOc>ԉE V E HE <E "E =:*E [9VE 4ZE a @a @a @a @) } aя,a G?A:2Acoustic response timeoutdɰf4<%@%@%o5<ٱ%˾ =AHRS rotation from veh to nav: [[0.959934,0.251857,0.122859],[-0.279746,0.886911,0.367601],[-0.016382,-0.387242,0.921833]]%H ȷ?@l?s?[ѿa?Ɔ?|Ɛؿ?i%@I%4^;%FC A)IMIIQ]vAi]\I]qFYIaia aa)ii quj<ܵlFܱݹI)i)I, iYYx}Ay H E7h>E CGrA19 rAY ٭AyK7?~jtS㥫I?/] 9n?sh|?ſMbpYVN?y)lB )YuBbD1VD`8y%9=ٔP:Q- >9 I = Fy E]E>Q 5%S4,%?Q 9%S4ɱ)hQAY%R?Q E-:y-Q I-?3CI ;i ;jS4y5Bɮ5B5gE*jIBjIiIiIziIJiQiQ ks&ks&ks&ha ks&ks&ks&hq2f =:f =Bf@Jf(@颥pAɢq=) [K?i)顩i@ IB>BBHB}ABBBBq;B7|EA1I9IIO|>iI2Acoustic response timeout! $gя,= G?A2o@2j@2^<ٱ2D̾ >AHRS rotation from veh to nav: [[0.954772,0.267165,0.130512],[-0.296838,0.881909,0.366228],[-0.017256,-0.388405,0.921327]]2H~?:?`?cҿ8?Hp?@ؿ{?i2o@I2J^;2BCYz1}AyzHbDe6VDee8y[%~=ٔ1;Q- ?9I=FyEBcE ?Q 5S48?Q 9S4)QAYy2Q I?wCI:i:S4yBɮBhE*jBjiiziJii k$k$k$h  k@k@k@h2f):f)Bf)Jf-Ģ@MpAɢM(W$=)I MwF?iI)U E}S E}AE}BEy"E}9*E} 9VE}5ZEyBE}:a2E}:aJE}:a:E}:ai D IQ2Acoustic response timeoutA!I1IIO}7>yԩ E 2Acoustic response timeoutANmя,η G?A2ط@2Ӿ@2}<ٱ2˾ :AHRS rotation from veh to nav: [[0.949121,0.283098,0.137929],[-0.314382,0.877184,0.362922],[-0.018247,-0.387819,0.921555]]2H`3_?G??Կ ?:?^@ؿ`}?i2ط@I2-^;2EC@YE}AyMHU=U=bD VD;8yP=%D=ٔ!;Q->9 I = Fy E5E>Q 5%S4Q?Q 9%S4r)QAY!y%SQ I-?CIy:i :6S4y5Bɮ5B1*jIBjIiIiQziQJiQiQ k%k%k%hi kCBkCBkCBhy2f:fBfJfA@颭pAɢ=) UK?i)-r>)1i5} 1I9ԩAE$AIIIYIyEX EDE?E"E~ :*Ea99VE^4ZEa@a@a@a@O>>2Acoustic response timeout A A B B B 'HB }AB =B B B A;B |EB>CB>CBB=B=C45tя, G?AJ=@J8@Jϙ<ٱJ$k˾ VAHRS rotation from veh to nav: [[0.942990,0.299321,0.145526],[-0.332252,0.872209,0.358972],[-0.019481,-0.386858,0.921933]]JH`,?`(?`?Cտ!?`f? @Iؿ`z?iJ=@IJI^;JDCY^R}Ay^Hl bD-VD-8yeI %mU=ٔmR;Q-m>9mH?IuH?=uFyuEuIEu>Q 5S4i?Q 9S4)=RAYy.Q I?"CI:i:S4yɮB2Acoustic response timeout*jBjiiziJii kCDkCDkCDh1 k[k[k[hA2fQ:fQBfQJfU@upAɢuG=)q }G?iy)}O-yyi} I AIIO-->9E ECE>E"E*E09VE4ZEBE:a2E:aJE9:a:E9:a 2Acoustic response timeouti 9III=MFyUEURFEU>YQ 5eT4]?Q 9eT4] )]RAYiym1 Q Im?]tCI]:i]s:] T4yuBɮB*jBjiiziQJiQiQ k#Ck#Ck#Chi kXkXkXh2f:fBfJf4@pAɢ" =)  D?i )MזIIiM QIYq 2Acoustic response timeoutAyIIOB>ԑ E  E E E "E *E VE ZE a @a @a @a @)Kя,l G?A22Acoustic response timeoutF-@F@F<ٱF Ǿ  AHRS rotation from veh to nav: [[0.929304,0.333133,0.159425],[-0.368650,0.862665,0.346275],[-0.022175,-0.380567,0.924487]]FHۼ?`R? h?׿?`)?6[ؿf?iF-@IFp^;FFCY-i}Ay-H=?A=?Aԑym?(\¿y&1?n?z`e< 9/$?> ףp=ʿMb?Y1h?yQ<GoB B)#BYܗBbDVD8y =%>=ٔdU;Q- >9 I =FyEd:E>Q 5%T4?Q 9%T4)SAY-n?Q E-d:y-Q I-?CI/:iՓ<T4yBɮBiE*jBjiiziJii ks<ks<ks<h2f-.=:f-.=Bf-)@Jf-z@MpAɢM=)I MH?iQ)UZQQiUYIYBm>BiBmHBm}ABiBiBiBm;Bm{EIIO2Acoustic response timeout Erя,y; G?A4<ɰ2d@2_@2-<ٱ2ƾ :AHRS rotation from veh to nav: [[0.922161,0.349499,0.165740],[-0.386095,0.857669,0.339608],[-0.023457,-0.377165,0.925849]]2H W? 3^?6?ȵؿr? %?/x#ؿ?i2d@I2`4^;2ECYF}AyFH\\ \)\I\i\\Ib<)ba=bDfVDf8yn:P=%n`=ٔre;Q-r>9pIp=vFyvEvjSEv>xQ 5=T4zV?Q 9=T4z)zkSAY9yEQ IE?z0CIz#!Q% 2Acoustic response timeouty я,r9 G?A̴@ǻ@<ٱľ AHRS rotation from veh to nav: [[0.914819,0.365371,0.172076],[-0.403113,0.852066,0.333891],[-0.024626,-0.374816,0.926772]]H@2F?>b??ٿ D?y^?@7`׿?i̴@IO*^;FCY}AyHbDgVD8y-%-7=ٔ-+;Q-->91I1=5Fy5E=)E=>AQ 5MT4Eк?Q 9MT4E)ESAYIyMeQ IM?ECIEl:QiEB:E6T4y]Bɮe BesE*jyBjyiyiyziyJii k#k#k#h k3;k3;k3;h2f:fBfJfEBx@pAɢ=)  J?i)?iuIIQIiOU>EmS EiEm?Ei"Em9*EiVEm^4ZEiau@au@au@au@ԁ2Acoustic response timeoutԱBi Bi Bm 'HBm }ABi Bi Bi Bm ;Bm {E я,|R G?AB:@B5@BZ1<ٱBþ JAHRS rotation from veh to nav: [[0.907425,0.380572,0.178169],[-0.419422,0.846284,0.328463],[-0.025778,-0.372784,0.927560]]BH ?@J[?@;? ڿ ??ke@׿?iB:@IBND^;@Y=}Ay=HE=E=In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutbD<VD8y,%=%N=ٔ_>;Q->9I=FyEV7E>!Q 5-T4%꺉?Q 9-T4%)%ZTAY1y5"Q I5?%CI%p>>bEjE4rEǼ 0E}X E}DE}=Ey"E}~ :*E}a99VE}|4ZEyBE}:a2E}:aJE}iH:a:E}kH:a  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutя,Jl G?A0:Ǯ@:@:M<ٱ:z¾ BAHRS rotation from veh to nav: [[0.900136,0.394926,0.183819],[-0.434779,0.840559,0.323152],[-0.026889,-0.370801,0.928323]]:H?vF?]?@jۿ? ?`ڈ5׿@Ҵ?i:Ǯ@I:0^;:BCYR~AyR1HbDe;VDe~8yN<%O=ٔ8;Q->9I=FyE[2E>Q 5T4d?Q 9T4)TAYyn&Q I?VCI:iN:RT4yBɮB*jBjiiziJii kZkZkZh kZkZkZh2f!:f!Bf!Jf%:v@s5NUpdating rudder angle 6.875493 arcdeg 95r56Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderMpAɢM42=)Q U^P?iQ)UyQYi]YIaI1IIO=ԉzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԹ E  E <E E "E *E 8VE ZE a @a @a @a @я, G?A@@J2Acoustic response timeout`&@!@=<ٱ$¾ %AHRS rotation from veh to nav: [[0.892758,0.408684,0.189630],[-0.449670,0.834355,0.318823],[-0.027921,-0.369903,0.928651]]H@z?'?E?bܿ ? g? 4}׿?i&@I@X^;CCY=}Ay=(HyE-?Q?Q?E5^?E=E\=A A9E!rh?Qn?YElg?yE\EV>EBEAoB EB)E BAYEBbD]8VD]{8ym%m>=ٔml;Q-u>9qIq=uFy}E}rE}>Q 5T4|?Q 9T4)UAYl?Q Ee:y Q I?CIX ;i ;aT4yľBɮBtE*jBjiiziJii kXkXkXh k#Xk#Xk#Xh2f>:f>Bf3@JfL@pAɢ$=) EO?i))ni!I!B B B B B B B B *;B {EA9IIIYO:>52Acoustic response timeoutA aя, G?A2Ǣ@2@2<ٱ2q¾ :AHRS rotation from veh to nav: [[0.885386,0.421755,0.195485],[-0.463964,0.827803,0.315404],[-0.028800,-0.369953,0.928604]]2HU?` ??ݿ\}?/?}M׿ ?i2Ǣ@I2A^;2DCYB}AyFHDDbDj6VDjy8yr3%rg=ٔv";Q-v>9tIt=zFyzEzI:Ez>|Q 5T4~i5?Q 9T4~)~VAY y Q I ?~ CI~:i~:~nT4yȾBɮB*j)Bj1i1i1zi1Ji1i1 kZkZkZhI kxkxkxhY2fi:fiBfiJfm΍@颍qAɢ}8=) $K?i);d顑i 6IDD<EW E@E>E"E :*E9VE4ZEBE%:a2E*:aJE,:a:E.:a2Acoustic response timeoutA AII!IO]>qԡ E 2Acoustic response timeouthя,] G?A;ɰ;2a"@2S@2<ٱ2¾ :AHRS rotation from veh to nav: [[0.877985,0.434151,0.201631],[-0.477772,0.820819,0.313032],[-0.029599,-0.371172,0.928092]]2Hs?"?@?ғ޿&D? ?OOF׿?i2a"@I2b^;2CCYF}AyFHbDRVDRA8yV<%VN=ٔZ ;Q-Z>9ZK?I^K?=^Fy^ E^!Eb>`Q 5fT4bN?Q 9jT4b)bWAYhyjQ Ij?bj CIb:ib:b{T4ylɮr Bp*jxBjxixi|yzi|Jiyi k_k_k_h ksksksh2f:fBfJfV@ qAɢ Fx*=)  M?i )Yi^`IA)I1IAOu>ԡ2Acoustic response timeoutE EFE;E"E*E;J9VE4ZEa@a@a@a@Gڢ9YAB >B B B B B B B a;B %|E Ҵя,; G?A2@2@2&<ٱ2_þ :AHRS rotation from veh to nav: [[0.870465,0.446303,0.207617],[-0.491290,0.813796,0.310435],[-0.030409,-0.372223,0.927645]]2H@?9?-?Lq߿ ? ,?#׿D?i2@I2=^;2HCY^}Ay^HddbDjVDj8yr,%rG=ٔv';Q-v>9tIt=vFyz EzDEz>|Q 5T4~h?Q 9T4~y)~XAY y Q I ?~ CI~K:i~:~>T4yؾBɮ#B~E*j)Bj)i)i)zi1Ji1i1 k[k[k[hI kCqkCqkCqh2f:fBfJf@2Acoustic response timeout-qAɢ-B,=)) -`J?i))5JPO1QiUvYIYAaIiIO>1DzD@AEm Y Em >Ei Ei "Em :*Em 9VEi ZEi BEm ;au 2Em ;au JEm 9a} :Em 9a}  2Acoustic response timeoutY я, G?A61$@6"@62!<ٱ6Bxľ >AHRS rotation from veh to nav: [[0.862699,0.458214,0.213986],[-0.504758,0.806235,0.308554],[-0.031139,-0.374200,0.926825]]6H;?`S?c?&`?Y?`⟿׿?i61$@I6g2^;6FCY^}Ay^Hb=ba=tt x)xIxixxbDVD8y%H=ٔ:Q->9I=FyE%}E%>)Q 55T4-?Q 95T4-$)-YAY1y5^Q I5?-)!CI-:i-;-T4yE۾BɮE(BA*jQBjQiYiYziYJiYia kXkXkXhq kCrkCrkCrh2f:fBfJfi@颵qAɢa3=) WI?i)JE项iI1AIIO= > 2Acoustic response timeoutaԉ я,J G?AET EDE>E"E9*Ea99VE4ZEa@a@a@a@22Acoustic response timeout>a@>S@>E=ٱ>}ž JAHRS rotation from veh to nav: [[0.854645,0.470263,0.220079],[-0.518253,0.798401,0.306545],[-0.031555,-0.376043,0.926065]]>H@Y?? +??@m? 'ؿ@R?i>a@I>m^;>DCYRd}AyRH TTym?S㥻?J +?N?/=H= 9y&1?333333K7A?Y`E?y >mB )BYkBbDVD8y%@=ٔ:Q->9I=FyE5E>Q 5T4?Q 9T4)ZAYH?Q E:yQ I?~!CI^;iX:pT4y޾Bɮ2BE*jBjii zi Ji i  kYkYkYh! kvkvkvh12fEO>:fEO>BfE@JfE|@ԑqAɢ=$=) E?i):ikIB>BBHB}ABBBBo;B4|EBqBqBqBu=Bu=Cu!G4AAIIIYIyO?>iI2Acoustic response timeout [я,%! G?A2)@2#@2D=ٱ2$ƾ :AHRS rotation from veh to nav: [[0.846792,0.481410,0.226247],[-0.530950,0.790702,0.304767],[-0.032176,-0.378200,0.925165]]2H?@j??@`nM?K? ny m4ؿ?i2)@I2M^;2GCY^_}AybHbD]~VD]8yS%L=ٔk:Q->9I=FyEE>Q 5T4쯻?Q 9T4e)P[AYylQ I?!CI:iZ:{T4yɮ*j Bj i iziJii k]k]k]h92fY:fYBfYJf]{@频ɢF3=) E?i)#0顡iE-W E-EE-?E)"E- :*E-A9VE-^4ZE)BE-$:a=2E-):a=JE-V:a=:E-V:a=I2Acoustic response timeoutA$AIIOH>I % 2Acoustic response timeout8я,z; G?A2곯@2ܮ@2=ٱ29tǾ >AHRS rotation from veh to nav: [[0.839098,0.492107,0.231829],[-0.542988,0.783424,0.302342],[-0.032836,-0.379575,0.924578]]2H?~?`?`(` ?Y?Ϡ@Jؿ$?i2곯@I2^;2ECYF}AyFHHHbD @VD 8yE<%EP=ٔM:Q-M>9MH?IUH?=UFyUEUaEU>YQ 5eT4]Ż?Q 9eT4])]\AYiymQ Im?]"CI]K:i]W:]'T4yuBɮu0B*j Bj i i zi Jii k3_k3_k3_hA k3_k3_k3_hQ2fa:faBfaJfeuz@颅qAɢ 6=) _H?i)%顉iIIAAIIO=.>EU EAE=E"E:*E 9VE|4ZEa@a@a@a@hDAT read: Forwarding Delay UpTx time:18:51:24.7451 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԉԡ B A <B B B HB }AB B B B X;B |Ep я,ÀU G?Aɰ4<:E@:?@:k =ٱ:\Ⱦ@ FAHRS rotation from veh to nav: [[0.831652,0.501741,0.237932],[-0.554284,0.775952,0.301112],[-0.033544,-0.382303,0.923428]]:H?B?t? ?lE?, wؿ@?i:E@I:^;:GCYN}AyNHbDVDs8yE%MJ=ٔM:Q-M>9MK?IUK?=UFyUEU9 EU>aQ 5eT4eڻ?Q 9mT4e )e\AYiymUQ Im?el"CIet:ie:eGT4yuBɮ}BBy*jBjiiziJii kZkZkZh kZkZkZh2f:fBfJfy@2Acoustic response timeoutuqAɢu5=)y }@?iy)}Eyyi}WAIԩAIIOE0>ER EEAE"Es9*EVEA4ZEBEt:a2Ey:aJE:a:E:a 2Acoustic response timeout Jя,[o G?A2̮@2ǵ@2 =ٱ2-ʾ :AHRS rotation from veh to nav: [[0.823415,0.512233,0.244142],[-0.566399,0.767985,0.298984],[-0.034348,-0.384470,0.922498]]2HjY?5d? @?@U? "?`&ؿ?i2̮@I2B^;2DCYBu|AyB=HbDNVDN&8yVʽ%VU=ٔZL ;Q-Z>9XIX=ZFyZE^PlE>Q 5%T4yﻉ?Q 9%T4h)]AY!y% Q I-?"CIN:i9:T4y5Bɮ5bB5E*jIBjIiIiIziIJiIiQ k[k[k[ha k#[k#[k#[hq2f:fBfJfx@颥pAɢI*=) f7?i)顩i/YI A)I1IAO}>2Acoustic response timeout1a E [ E @E BE "E a:*E 9VE 5ZE a @a @a @a @g2я,6 G?A"2Acoustic response timeout6V@6sQ@6=ٱ6E˾ >AHRS rotation from veh to nav: [[0.815119,0.522511,0.250126],[-0.578228,0.760035,0.296645],[-0.035104,-0.386431,0.921650]]6H@u?`h??؀`5R?9I=Fy E# E>Q 5T4?Q 9T4f)]AY5?Q E:yW0Q I?#CI<:iE:T4yBɮWB*jBjiiziJii kCZkCZkCZh kSZkSZkSZh2f ==:f ==Bf ٙ@Jf g@-pAɢ-.=)) ->?i))511i57s9I9AIzAMoABQBQBUHBUw}ABQBQiBQBU;BU{EAIIO%>ԑ2Acoustic response timeout \я, G?A2}߭@2oڴ@2=ٱ2˾ :AHRS rotation from veh to nav: [[0.806607,0.532924,0.255690],[-0.589990,0.752246,0.293321],[-0.036024,-0.387449,0.921187]]2H?` ?9]?2g??qؿ\z?i2}߭@I2jS^;2ECY^|Ay^WHtt t)tIxixxbD~aVD~8y6%R=ٔ;Q->9!I!=-Fy-"E5/E5>AQ 5MT4E?Q 9UT4E!)E]AYQy] 4Q Ie?EN#CIEe;iE;ET4yuBɮucBuEԹ*j!Bj!i)i)zi)Ji)i)bE´4jE£4rE$Z0E]U E]DE]<EY"E]:*E]a99VE] 4ZEYBE]:am2E]:amJE]iH:am:E]kH:au k[k[k[h2f:fBfJf@pAɢ*=) :?i)2iI]2Acoustic response timeoutAYIiIyO>>iI 2Acoustic response timeout9 я, G?A6fh@6Xc@65=ٱ6M̾ BAHRS rotation from veh to nav: [[0.797919,0.543297,0.261063],[-0.601634,0.744367,0.289748],[-0.036908,-0.388260,0.920810]]6H?b? C?@@?;?墿@ؿGw?i6fh@I6x^;6ICYJc|AyJ2HbDVDVDV8y^E%^P=ٔ^;Q-b>9`I`=bFyb%EfPEf>hQ 5nU4jT&?Q 9nU4j)j]AYlyn7Q Ir?j#CIj;ij;j U4ytɮvkBt*jBjiiziJii  kBkBkBh k[k[k[h)2fA:fABfAJfE@]pAɢ];=)a e 7?ia)eaaim-iIqAIIO5 >AEmT Em?EmCEi"Em9*Em?9VEm5ZEiau@au@au@au@e2Acoustic response timeoutqAA AE AABI BI BM HBM |ABI BI BI BM ٻ;BM {Eԙ nя,K G?A2@2u@2_=ٱ2z>̾ :AHRS rotation from veh to nav: [[0.789295,0.553452,0.265904],[-0.612834,0.736913,0.285295],[-0.038051,-0.388137,0.920816]]2HA???Wʔ?`DB?w{@;ؿSw?i2@I2c^;2FCYf)|AyfHhhbDE7VDE8y%>=ٔ@.;Q->9I=Fy'EE>Q 5U4z9?Q 9U4H$)]AYyb;Q I?#CI:i:'U42Acoustic response timeoutyBɮuB*jBjiiziJii kXkXkXh kCqkCqkCqh 2f:fBfJf@q颵pAɢ&=) 3?i)GػiIAQ?AU?AAIIIYԡO;>Eu EuCEu@Eq"Eu,:*Eu09VEu4ZEqBEu)5>15AbDEVDE8y%J=ٔD;Q->9I=Fy*EE>Q 5U44K?Q 9U4e))]AYy>Q I?,$CI:i:D&U4yɮ|B*jBjiiziJii kXkXkXh kqkqkqh2f :f Bf Jf @-pAɢ-+,=)) -0?i))5eƻ11i59I9AaIqIO>2Acoustic response timeout1 E T E AE CE "E 9*E  9VE 5ZE a @a @a @a @ h> Ci } @?} 4= 2Acoustic response timeout Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I nGhя,: G?A$:z98Y:)AV@V@V$=ٱV̾ ^AHRS rotation from veh to nav: [[0.771117,0.573590,0.276357],[-0.635422,0.720724,0.277119],[-0.040225,-0.389295,0.920235]]VH?Z?֯?`U,?R?P5ؿr?iV@IV[^;VECYj"|Ayj Hy-X9v?Q?T㥛 -]?-<-) )9-K7A?:vJ +Y- B?y-Խ-Ƚ-BB) -B)))Y-B99bDE VDE{8yU_<%U9=ٔ];Q-]>9YIY=]Fy]-EeH Ee>iQ 5uU4m]?Q 9uU4m-0)m1]AY}wE?Q E}:y}_]Q I}?m$CIm ;im. ;m5U4y BɮBE*jBjiiziJii k#Xk#Xk#Xh2f-y4>:f-y4>Bf-@Jf-V@]pAɢ] '=)a e*4?ia)ekaaieiB>BBFHB|ABBBB;B{EIA$AI)I9Oa>}2Acoustic response timeout) я,Y$ G?A0J@J@J[)=ٱJ; VAHRS rotation from veh to nav: [[0.761476,0.583890,0.281474],[-0.646874,0.712229,0.272550],[-0.041335,-0.389618,0.920049]]JH^?9?? 1`?sq?)ؿ q?iJ@IJa{^;JDCYf{AyfHllbDzVDz~8y{%h=ٔ%{N;Q-%>9%H?I-H?=-Fy-/E--E5>AQ 5MU4ETl?Q 9MU4E5)E\AYIyM8aQ IM?E$CIE:iEg:EBU4yQɮ]BY*jqBjqiqiqziyJiyiy kVkVkVh kVkVkVh2f:fD5=D54=E=U E9E=@E9"E=:*E9VE=4ZE9BE=:aM2E=:aMJE=:aM:E=:aMBfJfU@}pAɢ}ac9=)  /?i)_顁iI=2Acoustic response timeoutԉIIO%+>Թ  2Acoustic response timeoutя,4> G?A2@2@2r-=ٱ2K-; :AHRS rotation from veh to nav: [[0.750831,0.595050,0.286650],[-0.659136,0.702861,0.267444],[-0.042333,-0.389747,0.919949]]2H? ?`zX? }? ?ؿ 8p?i2@I2^;0Y^{Ay^H`bDjVDjV8yr1%rM=ٔv$;Q-v>9tIt=vFyv1Ez'Ez>|Q 5U4~G|?Q 9U4~;)~7\AYy ceQ I ?~%CI~:i~:~OU4y BɮB*j)Bj)i)i1zi1Ji1i1 k[k[k[hI k[k[k[hY2fi:fiBfiJfmhT@颍pAɢ1\4=) +?i)Ɛ顑iIIIO>EUT EUDEU>EQ"EU9*EUa99VEU4ZEQa]@ae@ae@ae@E2Acoustic response timeoutB A B >B B HB |AB B B B %;B {EBBBBBCbS4A я,kX G?A2@2~@23a1=ٱ2J|; :AHRS rotation from veh to nav: [[0.740171,0.605753,0.291907],[-0.671023,0.693355,0.262653],[-0.043292,-0.390285,0.919676]]2H{?Tb??y/?`P?@`*mؿm?i2@I2e^;2FCYN<{AyR|HbDZVDZ78yv.%vJ=ٔvs;Q-v>9xIx=zFyz4Ez!E~>aQ 5eU4eȌ?Q 9mU4eB)e[AYiym~iQ Im?eh%CIe:iet:ex^U4yyɮ}By*jBji2Acoustic response timeoutiziJii kXkXkXh kXkXkXh2f:fBfJfS@pAɢ@'=) :'?i)0}i% III I)->)OU=IPExceeded connect timeout, disconnecting.ԙDQzDU?AE]U E]AE]BEY"E]:*E] 9VE]5ZEYBEYae2EYaeJEYae:EYamU 2Acoustic response timeoutԡ я,q G?A2@2@24=ٱ20; :AHRS rotation from veh to nav: [[0.728458,0.617631,0.296445],[-0.683671,0.683208,0.256557],[-0.044076,-0.389562,0.919945]]2HO? ??@?nk? ؿ0p?i2@I2s^;2DCYN/{AyRuHPPdd h)hIhihhbDrVDr8y % H=ٔ :Q- >9I=Fy6E0-E>!Q 5-U4%?Q 9-U4%H)%$[AY)y-mQ I5?%%CI%g:i%:%PlU4y=Bɮ=B=E*jQBjQԙiQiziJii kXkXkXh kXkXkXh2f:fBfJf+R@=pAɢE{*=)A E'?iA)ElZAIiMIIqII OE=2Acoustic response timeout Ee b Ee CEe @Ea "Ee 1:*Ee 09VEe 4ZEa am @am @am @am @"я,ŋ G?A"2Acoustic response timeout0ɰ2;Nf@Na@N8=ٱNS'̾ -AHRS rotation from veh to nav: [[0.716318,0.629803,0.300395],[-0.696318,0.672988,0.249457],[-0.045053,-0.387861,0.920616]]NH?W'?9?`BhB `B)BYzBbD{VD8yh<%3=ٔ ;Q->9I=Fy9EE>Q 5U4?Q 9U4R)ZAY}?Q EV:y}Q I?)&CI;i%;L|U4y BɮBE*jBjiiziJii kcYkcYkcYh ksYksYksYh)2f=(>:f=(>Bf=;@Jf=hw@UpAɢ])=)Y ]g)?iY)] H4aaie=aB>BBHB{AB=BBB?;B|EIiIqIO>!iIA2Acoustic response timeoutQy (я, G?ARnManaging dock network, ignoring radio surface power offb˨@bƯ@b;=ٱbn˾ jAHRS rotation from veh to nav: [[0.702964,0.642667,0.304665],[-0.709748,0.661481,0.242283],[-0.045823,-0.386551,0.921129]]bH~? ??A*??v Bؿ y?ib˨@Ibj^;`EP EE<E"E9*EVE 4ZEBEa:a%2Ef:a-JE9:a-:E9:a-Q]2Acoustic response timeoutY}zAy}=HbDNVD8y5%54=ٔ5n:Q-=>99I9==Fy=IQ 5UU4Mż?Q 9UU4M\)MZAYQy]YQ I]?M&CIM:iM:M,U4yaɮeşBa*jyBjyiiziJii kSXkSXkSXh kSXkSXkSXh2f:fBfJfv@pAɢW"=) "?i)oiIԁAUAIYIiO>ԩ 2Acoustic response timeout "/я,c| G?A2+@2&@2m>=ٱ2ɾ :AHRS rotation from veh to nav: [[0.688978,0.656161,0.307833],[-0.723290,0.649698,0.233973],[-0.046474,-0.383855,0.922223]]2H ? F?`?1% T??@~˧ؿڂ?i2+@I2a^;2EC <)BvAB什@@@BvAiFʡIDDIDiF~r@ DH)HH JvAJLHHLLIN})LiL)PIPR'P PTTTiTTYTY^zAy^3H`bp=bDedVDe8yD%|=ٔ;Q- ?9K?IK?=Fy>EqvE ?Q 5U4Ҽ?Q 9U4"d)YAYyՃQ I?&CI :i:~U4y#BɮʟB*j Bj i iziJii k[k[k[h) k#[k#[k#[h92fI:fIBfIJfMMu@颅pAɢB=) r"?i)顉Աi_IE-V E-DE-=E)"E-=:*E-a99VE-|4ZE)a5@a5@a5@a5@Ae$AIiIyO>>e2Acoustic response timeout A A @AB >B B eHB {AB B B B N;B |E9 6я,W G?A2@2の@25?=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.674261,0.669845,0.310934],[-0.737007,0.637047,0.225811],[-0.046821,-0.381416,0.923217]]2H?_o?V?b?b?iؿ ?i2@I2"o^;2FCYzAy H 2Acoustic response timeoutbDTVD8y%G=ٔ]:Q->9H?IH?=FyAE HE >Q 5U4㼉?Q 9U4fm)YAY!y%fQ I%?V'CI:i:ۥU4y)ɮ-ΟB)*jABjAiIiIziIJiIiI k[k[k[ha krkrkrhq2f:fBfJft@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颵pAɢ,=) 9!?i)iDIIIO (>9bE4jE<4rEl0E5W E5BE1E1"E5 :*E5(9VE1ZE1BE5%:aE2E5*:aMJE5J+:aM:E5M+:aMu 2Acoustic response timeouty 95<я,"4 G?A02@2ۭ@2\@=ٱ2OǾ >AHRS rotation from veh to nav: [[0.659153,0.683355,0.313916],[-0.750533,0.623944,0.217701],[-0.047099,-0.379102,0.924155]]2H? ?3?]`Z? ?b7Cؿ ?i2@I2P^;0Y=~zAy=HbDUHVDU8yeʼ%eU=ٔe >:Q-e>9iIi=mFymCEmyXEu>yQ 5}U4}S?Q 9U4}(v)}XAYyQ I?}'CI}:i}9:}HU4y2BɮBE*jBjiiziJii kSZkSZkSZh krkrkrh2f:fBfJfPr@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder pAɢ 3=)  ?i )bHizIԙIQIaO>2Acoustic response timeoutԹ EA  EE @EE >EA "EA *EE 9VEE 4ZEA aM @aM @aM @aM @Cя, G?A2Acoustic response timeout6[6@6M1@6A=ٱ6ž BAHRS rotation from veh to nav: [[0.643407,0.696979,0.316620],[-0.764066,0.610196,0.209436],[-0.047228,-0.376671,0.925142]]6H@ɖ?M?C?;sๆ??P. bؿĚ?i6[6@I66>^;6HCYJbzAyJHLL\ye䥛 ?bX9ȶMbPeu?eEea a9e`"?ʡEͿ{Gz?Ye·?yeoeף9I=FyFEOE>Q 5U4}?Q 9U4dQ =tI)XAY?Q EC:yNQ I?)(CI5;iF;U4yɮB*jBjiiziJii kcZkcZkcZh kqkqkqh2f6>:f6>Bfi@Jfp+@5xpAɢ5ϗ.=)9 =?i9)=F99i=kAIAII B=>B9B=HB=zAB9B9B9B=O;B9O]=2Acoustic response timeoutI FIя,& G?Aɰ6@6@6gA=ٱ6eľ >AHRS rotation from veh to nav: [[0.627810,0.710078,0.318817],[-0.776927,0.596573,0.201212],[-0.047321,-0.374020,0.926213]]6H??`}g? `? O?{: ׿?i6@I6QN^;6ICYFHzAyJH\\ `)`I`i``Ib<)`bDjVDj8yr%rV=ٔr 9Q-v>9tIt=vFyvHEzYEz>|Q 5U4~?Q 9U4~)~GYAYyQ I ?~(CI~r;i~:~U4y5BɮB*j)Bj)i)i1zi1Ji1i1 kXkXkXh krkrkrh2f:fBfJf~@Ef EBE=E"EI@:*E(9VE|4ZEBER;a2ER;aJEa:EaukpAɢ}/=)y }?iy)d9顁i\I5=5<=2Acoustic response timeoutIQIaO=Iqԡ  2Acoustic response timeout5Pя,@ G?A2@2@2B=ٱ2þ :AHRS rotation from veh to nav: [[0.612369,0.722085,0.321865],[-0.789139,0.582808,0.193893],[-0.047578,-0.372730,0.926719]]2H?R?n?@@\??@\׿?i2@I2A^;2DCYFvzAyFHbDNVDNt8yV<%ZM=ٔZ(:Q-Z>9\I\=^Fy^KE^%JEb>`Q 5fU4b.&?Q 9jU4b8)bYAYhyjxQ Ij?b)CIb;ib;bU4ynBBɮrBrE*jxBjxi|i|zi|Ji|i| kYkYkYh ksksksh!2f1:f1Bf1Jf5&ڏ@U`pAɢU*>=)Q ]X!?iY)]k;:YYi]LXaIaiII)O=ԙGEV ECE@E"E=:*E09VE4ZEa@a@a @a @R9YnA52Acoustic response timeoutB% >B! B% HB% JzAB% =B! B! B% ?;B% |E iYVя,wZ G?A6Q@6L@6HD=ٱ6Yþ >AHRS rotation from veh to nav: [[0.597083,0.733322,0.325162],[-0.800739,0.569131,0.186834],[-0.048051,-0.371925,0.927018]]6HN?_w?`u? S6? +?׿ "?i6Q@I6NX^;6FCY^]zAy^H`ba=bD%VD%e8yeh%e@=ٔm:Q-m>9iIi=uFyuMEu8Eu>yQ 5U4}6?Q 9U4}.)}ZAYyQ I?}y)CI}{:i}:}U42Acoustic response timeoutyEBɮB*jBjiiziJii kpkpkph2f:fBfJf;@颥TpAɢّ/=)  ?i)}:顩iDIIQIaO=E[ EDEE"Ea:*Ea99VEZEBE ;a-2E ;a-JEiH:a-:EkH:a51M 2Acoustic response timeoutY \я,zt G?A2l@2^@2MH=ٱ2ľ :AHRS rotation from veh to nav: [[0.581871,0.743251,0.330157],[-0.811810,0.555207,0.180857],[-0.048883,-0.373261,0.926438]]2H??`J!?Y@?V&?)׿`?i2l@I2C^;2HCYF"zAyFH ||bD VD #8yE%ML=ٔMx;Q-M>9IIQ=UFyUPEU@EU>YQ 5eU4]'F?Q 9mU4])]YZAYiymUQ Im?])CI]:i]:]U4yqɮuBy*jBjiiziJii kCXkCXkCXh ksksksh2f:fBfJfl@IpAɢ:<=) ?i)N:ip;I1AEAIQIaO>2Acoustic response timeoutaԉE% T E% AE% ?E! "E% 9*E%  9VE% ^4ZE! a- @a- @a- @a5 @Թ ycя, G?A &2Acoustic response timeout#@@K=ٱþ -AHRS rotation from veh to nav: [[0.567116,0.753137,0.333412],[-0.822134,0.542077,0.173919],[-0.049751,-0.372742,0.926601]]H%??V?@N@X?B?@x׿ ?i#@IO^^;GCYE9zAyEHy=p= ף?Mb`?=B=pB =B)=9Y=3BbD]VD]8yeN<%e8=ٔm;Q-m>9mK?IuK?=uFyuSEq}%E}>Q 5V4lZ?Q 9V4)[AY?Q EF:B>BBHB"zAB=BBB;B{EBBBB=B=C~4y胿Q I5?`*CIo:f>BfLm@JfBS@>pAɢ -=)  ?i )6 ;iIԡAYIaIyO_>ioAI2Acoustic response timeout iя,r G?A2@2 @2LO=ٱ2Fþ :AHRS rotation from veh to nav: [[0.552692,0.762285,0.336828],[-0.831843,0.529186,0.167332],[-0.050690,-0.372671,0.926578]]2H ?d?`?`t?!k?@ ׿ ?i2@I2D^;0YBzAyFHDF@AbDNjVDN8yV%Vk=ٔZB1;Q-Z?9XIX=^Fy^UE^qME^?`Q 5fV4bi?Q 9fV4bm)b\AYhyj#Q Ij?b*CIb:ibg:bvV4ylɮrBp*jxBjxixi|zi|Ji|i| kYkYkYh kYkYkYh!2f9:f9Bf9Jf=|ș@e6pAɢe+P=)i m?ii)m2;iqiuLD=Da=ER E@E=E"Es9*E9VE|4ZEBEu:a2Ez:aJE,:a:E.:aI]2Acoustic response timeoutAAIQIaIO>)  2Acoustic response timeout pя,^K G?Aɰ>}@>p@>R=ٱ>þ FAHRS rotation from veh to nav: [[0.538314,0.770985,0.340294],[-0.841176,0.516185,0.161172],[-0.051394,-0.373008,0.926404]]>H9??a??`G?DP@^׿?i>}@I>m^;>HCYVyAyVHbDjJVDj8yv%vG=ٔz>:Q-z>9|I|=~Fy~XEY*E>Q 5V4{?Q 9%V4l)^AY!y-RQ I-?,+CI!I;iJ;#V4y5zBɮ=AB=E*jYBjYiaiaziaJiaii kC]kC]kC]h2f:fBfJfB@-pAɢA5=) v?i)fS;iIQAIEW ECE@E"E :*E09VE4ZEa@a@a@a@IO]3>eIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe2Acoustic response timeoutyAABBBHByABBBB߻;B{Eԩ svя,+ G?A2H@2;}@2U=ٱ2}ľ :AHRS rotation from veh to nav: [[0.524441,0.778589,0.344616],[-0.849849,0.503450,0.155869],[-0.052139,-0.374616,0.925713]]2H9?3?@1?1 C? ?׿p?i2H@I2PP^;2FC9xIx=zFyzZEz&Ez>Q 5V4>?Q 9 V49)T_AY y ]Q I ?+CIp:i:1V4yBɮLBǺE*j)Bj)i1i1zi1Ji1i1 kYkYkYhI kYkYkYhY2fi:fiBfiJfmϘ@颍%pAɢ<=) ?i)r;顑iWIpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutA$AԱIIO5 >DzDAAES EZE?E"E9*Ea9VE^4ZEBE:a2E:aJE.;a:E/;am zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYm 2Acoustic response timeout F|я, G?A^@^@^3X=ٱ^ /ž jAHRS rotation from veh to nav: [[0.510590,0.786317,0.347855],[-0.858204,0.490884,0.150063],[-0.052759,-0.375151,0.925461]]^HV?@)?@AC?hvj?E5?@>zؿ``?i^@I^?^;\pYyAyH )IibD-VD-8yE@%E6=ٔE:Q-E>9MH?IMH?=MFyM]EUEu>yQ 5V4}?Q 9V4}Z)}`AYykQ I?},CI}|:i}t:}AV4yBɮSBȺE*j!Bj!i)i)zi)Ji)iQ  kWkWkWh2f!:f!2Acoustic response timeoutBf!Jf%S@pAɢ!%=) ?i)b; i 8AIIIAIIO >a E  E ?E @E "E *E ?9VE 4ZE a @a @a @a @TɃя,G?A2Acoustic response timeout6@6~@6Z=ٱ6ž BAHRS rotation from veh to nav: [[0.497749,0.793124,0.350999],[-0.865678,0.479204,0.144791],[-0.053363,-0.375922,0.925114]]6H? Fa?v?ࢳH? ?dRؿ?i6@I67U^;6GCYJUyAyJQHyףp= ?~jth rh?>?DC = 9rh|?)\(Zd;O?Y[?yGa~j>B|rB B)BYBbD59VD58yEh%M[=ٔM:Q-M>9QIQ=UFyU_EU#E]>aQ 5mV4eꬽ?Q 9mV4ez)eaAYmd?Q Emn:ymQ Im?ed,CIe@:ie:eNV4yɮ^B*j Bj i iziJi1i1 k<k<k<hIBe>BaBeHBeyABaBaBaBeϻ;Be{E k3Vk3Vk3Vh2fYm>:fYm>Bf^@Jf@pAɢH^M=) ?i )d;iIyA}AIIOB>ԑiIA2Acoustic response timeout я,Z)G?A6@6 @6K\=ٱ6ž >AHRS rotation from veh to nav: [[0.485571,0.799437,0.353725],[-0.872543,0.468088,0.139869],[-0.053757,-0.376556,0.924833]]6H?? l?`%?9UK?I]K?=]Fy]bEec Ee>iQ 5}V4mp?Q 9}V4mh)mcAYyڂQ I?m,CIm=;im+;m\V4yBɮkBbE%^4jE%4rE%A0EV EGE9E"E=:*ER9VE4ZEBE:a2E:aJEt:a:Et:a*jBjiiziJii k:k:k:hq2f:fBfJfy@pAɢˀ:=) f?i)q;iI=2Acoustic response timeoutAAIIIYO:> 2Acoustic response timeout9 3ܐя,CG?AJ@J|@JӨ\=ٱJ/ƾ ZAHRS rotation from veh to nav: [[0.473973,0.805400,0.355923],[-0.878892,0.457433,0.135293],[-0.053846,-0.376943,0.924670]]JHU??o?`F?HQ? ؿ?iJ@IJ:[^;JHCY~YyAy~SHbDVD}8y(<%C=ٔ]9Q->9I=FydEE>Q 5V4̽?Q 9V4)EdAYyQ I?-CI :i:kkV4yBɮuBҺE*jBji i zi Ji i  k:k:k:h) k:k:k:h92fI:fIBfIJfMV@ pAɢ;=) ?i ) N ;izIEU EDE=E"E:*Ea99VE|4ZEa@a@a@a@A=2Acoustic response timeout>%ȿBaAaBu>BqBuRHBuVyAԉBqBqBqBu;Bu{EA! I1 IA Ou >Թ я,?p]G?Aɰ2=@28@2S\=ٱ2Ǿ :AHRS rotation from veh to nav: [[0.462835,0.810504,0.358979],[-0.884812,0.446968,0.131631],[-0.053765,-0.378553,0.924017]]2H??`?bP?H?@@5:ؿ?i2=@I2pE^;2GCYF yAyF"HbDVDW8y}I%O=ٔOWQ->9I=FygEE>2Acoustic response timeoutQ 5V4ڽ?Q 9V4{)reAYyQ I?t-CIz_;i1:8yV4yBɮB*jBjiiziJii ks@ks@ks@h k@k@k@h2f :f Bf Jf @-pAɢ->=)1 5%?i1)5+ ;11i=hc9IAԑ5AyIIOB>ET EEEE"E9*EA9VEZEBE:a2E:aJEV:a:EV:aM 2Acoustic response timeout .я,KwG?A2 ٞ@2ԥ@2Z=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.452018,0.814905,0.362780],[-0.890413,0.436522,0.128892],[-0.053327,-0.381285,0.922918]]2H`??7?C~?@? M fؿ`?i2 ٞ@I2g^;0YBxAyFHbDNVDN?8yV;%VY=ٔZQ-Z>9XIX=ZFy^iE^E^>`Q 5fV4b#轉?Q 9fV4b)bfAYhyjQ Ij?b-CIb:ib:bhV4ylɮnBp*jxBjxixixzi|Ji|i| kSFkSFkSFh kcFkcFkcFh!2f1:f1Bf1Jf5@UpAɢU&@=)Q UF?iQ)]Z;YYi]OaIa2Acoustic response timeout7J!A II)O]> CI ] G 9 Y AE  E CE ?E "E *E 09VE ^4ZE a @a @a @a @] 2Acoustic response timeout.я,)=G?A Bx@Bs@BX=ٱBʾ JAHRS rotation from veh to nav: [[0.441501,0.818344,0.367954],[-0.895699,0.426157,0.126943],[-0.052923,-0.385622,0.921138]]BHA? /?? `&F? ??@ؿ y?iBx@IBJ^;BFCYRxAyRHTTy5kt?+~jth?5 0?55D;1 195MbX?y&1+?Y5*?y5`弙5=5B5 tB 5B)5xB1Y5BbDE|VDE 8yU%%]?=ٔ]wQ-]>9aIa=eFyelEeEe>qQ 5uV4u?Q 9}V4u)ufAY},?Q E}:y}Q I}?u.CIuv:iu<:uVV4yBɮB*jBjiiziJii kSBkSBkSBh2f=:f=Bf[.*@Jf{"a?B5>B1B5 HB5yAB1B1B1B5;B5{E颍oAɢ3=)  ?i);顑i.IAy2Acoustic response timeoutAIIO >ԙ Aя,-G?A9aIa=eFyeoEeݼEe>iE}U E}FE}>Ey"E}:*E};J9VE}4ZEyBE}:a2E}:aJE}e:a:E}e:aQ 5uV4m?Q 9V4m")m4gAYyQ I?mV.CImU;im;mhV4yɮB*jBjiiziJii k&k&k&h k#Ak#Ak#Ah2f:fBfJfw]?oAɢ 1=) c?i);!i%!I)2Acoustic response timeoutԩAIIO!>  hDAT read: Forwarding Delay UpTx time:18:51:38.6451  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutw)я,G?A:@:D@: U=ٱ:ξ FAHRS rotation from veh to nav: [[0.421451,0.824928,0.376660],[-0.905360,0.406555,0.122620],[-0.051980,-0.392692,0.918200]]:H ? e?3? ?@ d? /!ٿ a?i:@I:AV^;:HCYNwAyNuHbDZVDZ$8ybX%bT=ٔbݍQ-f>9dId=fFyfqEj Ej>llQ 5rV4n>?Q 9vV4nC)ngAYtyvZQ Iv?n.CInp:in:nܰV4yzBɮzB~ܺE*jBjiiziJiiy k%k%k%h k3@k3@k3@h2f:fBfJf/Z? oAɢ .=)  >i)L;11i59I9 IQIaEV E@E@E"E=:*E9VE4ZEa@a@a@a@O>%2Acoustic response timeout1A5AAA1B=>B9B=HB=xAB9B9B9B=;B={EBBBBBChl4a Rя,طG?A2d@2_@2V=ٱ2о :AHRS rotation from veh to nav: [[0.411100,0.827979,0.381375],[-0.910085,0.396807,0.119538],[-0.052357,-0.396226,0.916659]]2H@wO?~?qh?@k Ge?@?Ϊ[ٿEU?i2d@I2OK^;0YBnwAyB&HDF?A9bD VD yMY%MB=ٔMj:Q-U>9QIQ=UFyUtE]kݼE]>aQ 5mV4e7?Q 9mV4e)egAYqyuQ Iu?e.CIe:ie :eV42Acoustic response timeoutyBɮǠB*jIBjIiqiqziyJiyiy k$k$k$h2f:fBfJf# W?%oAɢ% M!=)) ->i))-&<)1i541I9AMY?AIqIIIYO9>E] EDE;E"E:*Ea99VE4ZEBE/;a2E2;aJEiH:a:EkH:aԩm 2Acoustic response timeout |я,G?A6@6@6X[=ٱ6 Ҿ >AHRS rotation from veh to nav: [[0.401429,0.831075,0.384928],[-0.914325,0.388194,0.115394],[-0.053525,-0.398272,0.915705]]6H ?`*? ? &B*?`|?gH}ٿsM?i6@I6`^;6ECYJYwAyJHbD VD yER%MK=ٔM>;Q-M>9IIQ=UFyUvEUּEU>YQ 5eV4]?Q 9mV4]")]hAYiymQ Im?]&/CI][:i]R:]V4yqɮuʠBy*jBjiiziԙJii k!k!k!h k!k!k!h2f:fBfJfSS?moAɢu*=)q u>iy)}W B?CBXHBwABBBB;B{EbDoVD8y x%?=ٔ T];Q- >9 I = Fy yEԼE>!Q 5-V4%W?Q 9-V4%1+)%5gAY-K?Q E-:y-:f=K>Bf=(@Jf=D@颉ɢ=) >i)`6<顑iYIII!OU>A2Acoustic response timeoutqԙ я,K,G?A>=<@>07@>Lf=ٱ>3Ӿ FAHRS rotation from veh to nav: [[0.377830,0.839023,0.391516],[-0.924168,0.367422,0.104474],[-0.056196,-0.401300,0.914221]]>H_.?F?@?Ȓ׃?@˾?ŬٿLA?i>=<@I>^;>HCYRzvAyRHTTbD^zVD^8yf%fa=ٔfW];Q-f>9hIh=jFyj{Ej#En>pQ 5rV4r"?Q 9vV4r2)rmfAYtyvQ Iv?r/CIr-:ir:r^V4yzBD]<D]=EeU EeEEaEa"Ee:*EeA9VEaZEaBEe:am2Ee:amJEeV:au:EeV:auɮ~BE*jBjiiziJii k k k h kC kC kC h2f :f Bf Jf D@MoAɢM =)I U >qiq)}*AHRS rotation from veh to nav: [[0.362349,0.845834,0.391496],[-0.930277,0.354056,0.096073],[-0.057349,-0.399011,0.915151]]2H@0??@D?ب?B?\gٿ`H?i2@I2fz^;0YF vAyFKHbDRyVDR8yZ%ZL=ٔZ<;Q-Z>9\I\=^Fy^~Eb*Eb>dQ 5jV4f%?Q 9jV4f:)feAYhyj7Q Ij?f0CIf :if:fbV4ypɮrBp*j|Bj|iiziJii kkkh k"k"k"h)2f9:f9Bf9Jf=B@oAɢv=)  >i)¯<i IIyIO=Ei EmBEm=Ei"Ei*Em(9VEm|4ZEia}@a}@a}@a}@E2Acoustic response timeoutB<A<B>BBHBvABBBwDB;B{E) я,v_G?A6@6@6o=ٱ6!)о BAHRS rotation from veh to nav: [[0.345153,0.853840,0.389649],[-0.936720,0.339275,0.086297],[-0.058515,-0.394778,0.916911]]6H@? R?? `??@ Dٿ`VW?i6@I6_^;6GCYJWvAyJzH`` `)`Ididd jp9xIx=zFyzE~z7E~>Q 5 W4)?Q 9 W4C)dAY y Q I?g0CI~ ;i;W4y!ɮ%B)*jQBjQiYiaziaJiaia k$k$k$h2Acoustic response timeout2f:fBfJfrA@19= r=NAggregate::initialize marl:UpdateRudderq9=J]9q9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18EoE@Completed marl:UpdateCommandMode7EoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeed颅oAɢš=) I>i)[q!<顉i IQAI IOm5>ԉDqzDqbEƴ4jEƣ4rE0E}V E}EE};Ey"E}=:*E}A9VE}4ZEyBE}:a2E}:aJEya:EyaU 2Acoustic response timeoutԩ "я,yG?A2*~@2y@2"u=ٱ2#|; :AHRS rotation from veh to nav: [[0.326901,0.862109,0.387174],[-0.943157,0.323587,0.075810],[-0.059928,-0.389948,0.918885]]2H?e?u?V.?Ah?ؿg?i2*~@I2f^;2HC@YnuAyn8HppbDzcVDz 8yJ%H=ٔ c;Q- >9 I = FyEBE>Q 5%W4+?Q 9%W4oK)cAY)y-Q I-?0CIp:i:W4y1ɮ5B1*jIBjIiIiIziIJiQiQ k k k hi k(k(k(hy2f:fBfJf@@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颭oAɢ=) >i)_&<项iI IԱA)IYI2Acoustic response timeoutOu6> E Q E E ?E "E 29*E VE ^4ZE a @a @a @a @] 2Acoustic response timeout"я,G˓G?A4<ɰ4<2ڙ@2ՠ@2#|=ٱ2 Cʾ >AHRS rotation from veh to nav: [[0.308021,0.870623,0.383587],[-0.949388,0.307357,0.064757],[-0.061519,-0.384119,0.921232]]2H?$??ca@??`iؿz?i2ڙ@I2XP^;0YZuAyZHhI]>)]=B}>B}ACB}wHB}RvAB}=ByB}xDB};B}{EyMb?S㥻??/= 9+?V-ǿ/$ſYv?y|?,BpB )]BYBbD eVD  8y<%9=ٔ%l;Q-%>9!I)=-Fy-E-8E5>1Q 5=W45 0?Q 9EW45X)5bAYE ?Q EE::yEQ IE?581CI5:i5Z:5j#W4yUϿBɮUBUE*jaBjaiiiiziiJiiii k$k$k$h k$k$k$h2f%>:f%>Bf%@Jf%Y@^5B*** querying acoustic contact ***X1Y1epAɢe=)i m >ii)m?@+)iߩI߭A2Acoustic response timeoutY я,5G?A2e2@2X-@2A0=ٱ20ƾ :AHRS rotation from veh to nav: [[0.288391,0.879633,0.378256],[-0.955435,0.290367,0.053198],[-0.063038,-0.376741,0.924171]]2Ht?@%?W5?`@`?E9"E=:*E=;J9VE=4ZE9BE=;aM2E=;aMJE=e:aM:E=e:aMQy]g%]X=ٔe܃;Q-e>9eH?IeH?=mFymEm^Em>qQ 5}W4u3?Q 9}W4uc)uaAYyQ I?u1CIu:iu:u0W4yɮ B*jBj!i!i!zi!Ji!i! k%k%k%hY2fi:fiBfiJfmBX@pAɢ(=) >i)Ü/<i 2Acoustic response timeoutIaAyIIOB>ԑ 2Acoustic response timeout я,nG?A6@6}@6h?=ٱ6E¾ >AHRS rotation from veh to nav: [[0.267852,0.888555,0.372459],[-0.961329,0.272178,0.042016],[-0.064042,-0.369310,0.927097]]6H ~$? o?^?`5]k?@?@ eŢ׿`Ǫ?i6@I6$S^;6HCYJMuAyJHLLbD VD 8yEܼ%EL=ٔMm$;Q-M>9III=UFyUEUZEU>qԙQ 5W4u_5?Q 9W4Guo)u`AYy2Q I?]G9aYeAu2CIufW4yyɮ}%By*jBjiiziJii k#k#k#h2f :f Bf Jf V@EpAɢMY =)i mQ>ii)m#4%2Acoustic response timeoutAu@AAqB}>ByB}HB}uAB}=ByByB};B}{E %я,=GG?A@>Η@>ɞ@>L=ٱ>" NAHRS rotation from veh to nav: [[0.246549,0.896443,0.368244],[-0.966978,0.252861,0.031859],[-0.064555,-0.363939,0.929183]]>H?@? 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ףp= &1$F?QP 9x?V-i|?5?YKW?ymq=B VB)BYBbDVD\8y`<%,=ٔ9Q->9I=FyELE>Q 5 W4_?Q 9 W4)cAY UX?Q E{:yȿQ I?7CI` ;i ;W4yɮB*j1Bj1i1i1zi1Ji9i9 k k k hQ k"k"k"ha2fu>:fu>Bfu">JfufG@颉ɢ<) ^A>i)_<顙i0 IԩAIIOK>]2Acoustic response timeout Kя,h1G?A2ǐ@2—@2mp=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.030098,0.922914,0.383827],[-0.997824,0.050280,-0.042654],[-0.058665,-0.381708,0.922419]]2Hў???`,G?֥Q mؿu?i2ǐ@I2]^;0YBPrAyFHlEvS Ev?Ev;Et"Ev9*Ev?9VEv4ZEtBEv:az2Ev:azJEv;9a~:Ev@9a~bDmVDma8y %^=ٔcD:Q->9I=FyEt!E>Q 5X4_?Q 9X4 )cAYyɿQ I?&8CIw;i;X4yɮB*jBjiiziJi!i! k3 k3 k3 h1 k#!k#!k#!hA2fY:fYBfYJf]ZȰ@qɢ}M<)y };>iy)}Pa1e In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIEDm 8Ack receipt timeout failure.m 2Acoustic response timeouti Rя,CKG?A2J@2E@2 q=ٱ2 8Ⱦ :AHRS rotation from veh to nav: [[0.014846,0.924073,0.381928],[-0.998159,0.036163,-0.048698],[-0.058813,-0.380502,0.922908]]2Hqg? ?q?`@?``$Zؿv?i2J@I2)v^;2JCYBrAyBH9bDVDW8yM"%MS=ٔM9Q-U>9QIQ=UFyUE]!E]>aQ 5mX4e8_?Q 9mX4e)e%dAYqyu˿Q Iu?ez8CIe:ie:etX4yBɮСB*E*j BjiiziJii kkkh) kS&kS&kS&h92fI:fIBfIJfMuC@iɢmj<)q u>iq)uAcIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutB]<A]<Be>BeCCBeHBeYrABaBaBaBe;Be{EB%BCB%BCB%ƓCB%=B%=C%æ4ԑ Xя,eG?A;ɰp;:Ώ@:ɖ@:xq=ٱ:.Ⱦ BAHRS rotation from veh to nav: [[-0.000250,0.924541,0.381083],[-0.998261,0.022236,-0.054602],[-0.058956,-0.380434,0.922927]]:Hii0֕?@c? Ŗ?@s/Yؿ?i:Ώ@I:^^;:ICYJqAyNHbDVVDV;8y^`%bT=ٔb9Q-f>9pIp=vFyvEzEz>|Q 5X4~0^?Q 9 X4~>)~PdAY y ͿQ I ?~8CI~;i~ ;~ X4yɮۡBa %%2Acoustic response timeout*j9Bj9iAiAziAJiAiA k%k%k%hY k#&k#&k#&hi2fy:fyBfyJf}Ư@ԙ颙ɢ*<) Q=i)Rd<顩iVIAIIO>EQ ECE>E"E29*E09VE4ZEBE:a 2E:a JE9:a :E9:a 2Acoustic response timeout w_я,~G?ARS@RN@Rbr=ٱRtǾ %AHRS rotation from veh to nav: [[-0.015262,0.924940,0.379806],[-0.998138,0.008339,-0.060416],[-0.059048,-0.380021,0.923091]]RHyA?N??  ;`BRؿ?iRS@IR{^;RHCYqAyHbDVD@8yE8%E(=ٔEPG9Q-M>9IIi=mFymEuEu>yQ 5X4}b\?Q 9X4}*)}dAYyϿQ I?}79CI}`:i}6:}1X4yɮB*jBjiiziJii k'k'k'h k'k'k'h-2Acoustic response timeout2fQ:fQBfQJfUxH@频ɢX<)E =i)#;f<顩iI!AIIOUu>QE W E EE ?E "E :*E A9VE ^4ZE a @a @a @a @y  2Acoustic response timeoutB] >BY B] HB] qAB] =BY B] zDB] ̻;B] {Eeя,G?AY%lqAy%tH)-p=yS?+Mb?/?< 9K7?X9vX9vYIL?y 'B)Y(BbDVD;8y[%b=ٔQ->9I=FyEE>Q 5X47X?Q 9X4{1)\dAYN?Q E:y$߿Q I?9CI%;iO;=X4yBɮB 4E*j!Bj!i!i!zi!Ji!i)1 k'k'k'hA2fU>:fU>BfUV@JfUF@qɢu<)q }J=iy)}7g2Acoustic response timeoutԑ lя,2G?A2f@2`@2)r=ٱ21ɾ NAHRS rotation from veh to nav: [[-0.044210,0.923634,0.380717],[-0.997262,-0.018192,-0.071671],[-0.059272,-0.382843,0.921910]]2Hi? ]?֠YXؿ`I?i2f@I2N^;2ICYVpAyVHEbZ EbDEb=E`"Eb:*Eba99VEb|4ZE`BEbb;aj2Ebd;ajJEbjH:aj:EblH:aj|| |)|I|i| bD }VD 58ym%%Y=ٔ%:Q-%>9)I)=-Fy-E-E5>1Q 5=X45S?Q 9EX45S9)50dAYAyEQ IE?59CI5;i5;5JX4yM"BɮU BQ*jiBjiiiiiziiJiqiq k'k'k'h!2fQ:fQBfQJfU~@qɢu(<)y }S&=iy)}gI M 2Acoustic response timeoutrя,&G?AR @R@R r=ٱR)H˾ ZAHRS rotation from veh to nav: [[-0.070716,0.921518,0.381843],[-0.995735,-0.042477,-0.081896],[-0.059250,-0.386006,0.920591]]RH`t}?p?@@`)USؿ@|u?iR @IRZ^;RHCYbpAyfH n49xIx=~Fy~E~E~>Q 5 X4L?Q 9 X4A)dAYy=Q I?!:CI:iB:XX4y Bɮ B!*j1Bj9i9i9zi9Ji9iA ks&ks&ks&hQ ksAksAksAha2fq:fqBfqJfu4|@频ɢ<) 2=i)xIh<顙iIIEX EBE@E"E~ :*E(9VE4ZEa@a@a@a@2Acoustic response timeoutB>BB>HBqAB=BByDB׻;B{EԁIIOg>ԩ 'yя,ZfG?A@F @F@F:r=ٱF˾ NAHRS rotation from veh to nav: [[-0.083958,0.920384,0.381895],[-0.994705,-0.054618,-0.087051],[-0.059262,-0.387182,0.920097]]FHK~s?`p?HW`ؿ oq?iF @IFT^;D2Acoustic response timeoutY8pAy H  bDKVD8yA%:=ٔZ7Q->9I=FyE E >Q 5X4E?Q 9X4J)cAY!y%Q I%?|:CI/;is;gX4y1ɮB*jBjiiziJii k%k%k%hA2fi:fiBfiJfm\%|@19u ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颙ɢw<) PbbEajEe&4rEeM1EU EE<E"E:*EVE 4ZEBE:a2E:aJEK+:a:EN+:a2Acoustic response timeout я,IG?A0ɰ2;p ˶@ @ r=ٱ n˾ UAHRS rotation from veh to nav: [[-0.096621,0.919895,0.380076],[-0.993567,-0.066477,-0.091685],[-0.059074,-0.386490,0.920400]] H" o?`+S?`L x>?ؿs?i ˶@I ^; GCYUoAy]tHI<)49I=FyİEE>Q 5X4;?Q 9X4aU)bAY@p?Q Eb:yQ I?:CI` ;iu ;xX4y*Bɮ1B=E*jBjiiziJii 2Acoustic response timeout kC'kC'kC'h2f-h >:f-h >Bf-S@Jf-/61@s=NUpdating rudder angle 6.875493 arcdeg 9=r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderQɢUhZ<)Y ]MiY)]ShE X E @E AE "E ~ :*E 9VE A4ZE a @a @a @a @Y  2Acoustic response timeoutB >B B HB IpAB B B zDB ;B {EKя,hG?AVG@VA@V8$q=ٱVʾ bAHRS rotation from veh to nav: [[-0.110171,0.919353,0.377692],[-0.992170,-0.079232,-0.096550],[-0.058838,-0.385372,0.920884]]VH-4Wk? 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[?@ٿI(˿ Eؿ`?i2 ɀ@I2p^;2ICYf6jAyfHhhbDErVDE+8y%L=ٔ\"Q->9I=FyEE>Q 5Y44?Q 9Y42)]AYyQ I?CCI:i|:EY4yXBɮBE*jBjiiziJii k3Ek3Ek3Eh kCEkCEkCEh2f :f Bf Jf @)ɢ-)1 55i1)/0.<顱i⼉IE5X E5KE1E1"E5~ :*E5]t9VE1ZE1aE@aE@aE@aE@B5>B5ECB5=HB5jAB5=B1B5{DB5;B5{E 2Acoustic response timeout9IqIO>i Zя,lG?Aɰ; 22Acoustic response timeoutBW@BR@BB=ٱBľ JAHRS rotation from veh to nav: [[-0.464403,0.829062,0.311425],[-0.884345,-0.415225,-0.213358],[-0.047576,-0.374491,0.926009]]BHȸݿ?b?L ڿ@RO˿[`׿ݡ?iBW@IB^;BKCYniAynHbDzZVDz8=nManaging dock network, ignoring radio surface power offye%eL=ٔmTQ-m>9iIi=mFymEu Eu>yQ 5Y4}^!?Q 9Y4}9)}]AYyhQ I?}SDCI}:i}:}?Y4yUBɮB~E*jBjiiziJii k@k@k@h k@k@k@h2f:fBfJfG@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ%lM)! %yȾi!)%)<))i-_༉)I1iI1IAOm>bE&4jE4rEż 0EES EECEE<EA"EE9*EE09VEE 4ZEABEE:aU2EE:aUJEE9:aU:EE9:aUԙ2Acoustic response timeout ̖!я,;G?A2@2ӆ@2<=ٱ2 M :AHRS rotation from veh to nav: [[-0.478069,0.824343,0.303164],[-0.877111,-0.429947,-0.214061],[-0.046115,-0.368244,0.928585]]2H@޿a?g?J@AۿYf˿ mO׿`?i2@I2^;2HC\YbiAybHyM'1Z?L7A`RQMb?M+M½I I9MtV?l㥛 ¿YM?yMMMBM tB MB)M6BIYM#BbDeAVDe8yuoQ%uI=ٔu7lQ->9I=FyEE>Q 5Y4c ?Q 9Y4B)\AY[?Q EM:y) Q I?DCI:i':Y4y RBɮ*j!Bj!i!i)zi)Ji)i) kAkAkAhA kAkAkAhQ2feC>:feC>Bfe>Jfe*@smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder颉ɢ팼) !˾i)#<顑i<߼Iu2Acoustic response timeoutIyIO=EU Z EU DEQ EQ "EU :*EU a99VEQ ZEQ a] @a] @a] @a] @B5 >B1 B5 HB5 jAB1 B1 B1 B5 ;B5 {EA - 2Acoustic response timeoutz'я,G?AV~@V8F@Vw_7=ٱV ^AHRS rotation from veh to nav: [[-0.493186,0.818442,0.294821],[-0.868772,-0.445950,-0.215323],[-0.044754,-0.362327,0.930976]]VH\߿0?`Z?rܿ@˿ 馿\0׿@?iV~@IV^;TY%uiAy%H)-a=iq q)qIqiqqbD)VD8y%H=ٔZQ->9I=FyE1E>Q 5Y4?Q 9Y4K)[AYQyU9 Q IU?)ECIΓI2Acoustic response timeoutqԡ -я,[G?AEU EFE=E"E:*E;J9VE|4ZEBE:a2E:aJEe:a:Ee:a "@B+^}@B @B2=ٱBӿ JAHRS rotation from veh to nav: [[-0.509685,0.811429,0.286015],[-0.859256,-0.463230,-0.217019],[-0.043604,-0.356372,0.933326]]BHVO9?N?ݿF˿`NSֿ ?iB+^}@IBP^;BJCYiAyHbDVD8y%p<%-Q=ٔ-KAQ-->9)I1=5Fy5E5`JE5>9Q 5EY4=㼉?Q 9MY4=S)=ZAYIyMfQ IM?=ECI=:i=g:=PY4yUXBɮU&B]E*jiBjiiiiqziqJiqiqy k3&k3&k3&h k<k<k<h2f:fBfJfn0@==2Acoustic response timeoutɢ%á)! %;i!)%3<))i-kۼII9IIO}=ԡ}G맿9Y[A 2Acoustic response timeout Y4я,;9G?A2\|@2"@2$/=ٱ2 :AHRS rotation from veh to nav: [[-0.526894,0.802939,0.278696],[-0.848850,-0.480600,-0.220174],[-0.042845,-0.352580,0.934800]]2HQ?'?)(޿.̿@勵ֿ?i2\|@I2|^;0Y^9iAy^iH 5p<5<bD=VD=8yca%D=ٔGQ->9I=Fy EFE>Q 5Z4eͼ?Q 9Z4\)YAYyQ I?ECId:i[:Z4y[Bɮ4B*jBjiiziJii kCkCkCh kCkCkCh2f :f Bf Jf @)ɢ-)1 5ؾi1)5l<99i=CDڼ9IAII E=R E=DE=BE9"E=s9*E=a99VE=5ZE9aE@aE@aE@aE@OU=B>BBHBuiABBBBw;Bn{E2Acoustic response timeout1Y :я,G?Ai I"oA&2Acoustic response timeout:~z@:3]@:,=ٱ:y붾 JAHRS rotation from veh to nav: [[-0.544199,0.793718,0.271769],[-0.837896,-0.497925,-0.223610],[-0.042163,-0.349402,0.936024]]:Hj#f?d? ߿@̿\@\ֿ?i:~z@I:^;:ICYRiAyROHTV@AbD%VD%8yeiԼ%eL=ٔmߺQ-m>9iIi=uFyu EuQEu>1Q 5%Z4n?Q 9%Z4e)XAY)y-Q I-?rFCI:i=:Z4yXBɮ6B *jBjii!zi!Ji!i! kAkAkAh9 kAkAkAhQ2fi:fiBfiJfm)@颁ɢp) (޾i)ו <顉iUؼIaEMT EIEM<EI"EM9*EIVEM 4ZEIBEM:aU2EM:aUJEMjH:a]:EMmH:a]AqII2Acoustic response timeoutOM>ԉԹ &Aя,G?A4<ɰ4< 9ʡE?+?/$Y?y>:BuB !B)ƚBYBbDMVDM8y]»%]<=ٔeQ-e>9aIa=mFymEmKEm>qQ 5}Z4u٣?Q 9}Z4uo)uWAY?Q E;:yQ I?uFCIu':ius:uZ4yUBɮ4Bԑ*jBjiiziJii kAkAkAh kAkAkAh2f@>:f@>Bfi=Jf4Q@ɢ ż)  |߾i )_<iJּI]2Acoustic response timeoutA}$AIIOB>EQ  EU CEU @EQ "EQ *EU 09VEU 4ZEQ a] @a] @a] @a] @B >B B CHB hAB B B B Y;B Q{EBECBECBB=B=C5 2Acoustic response timeout iHя,`!G?A2 w@2@2R&=ٱ2ɶ :AHRS rotation from veh to nav: [[-0.581237,0.770366,0.262107],[-0.812719,-0.533487,-0.234264],[-0.040639,-0.349182,0.936173]]2H ~֦?[?@S@]ͿΤXֿ!?i2 w@I2 ^;2HCYv iAyvKH~@A|bDVD8yk;%b=ٔ Q->9H?IH?=%Fy%E%E%>)Q 55Z4-v?Q 95Z4-fy)-LWAY1y=[Q I=?-HGCI-@;i-L;-*Z4yE^BɮE=BEE*jYBjYiYiYziaJiaia kc<kc<kc<hq ks<ks<ks<h2f:fBfJf푂@颱ɢ*ż) ޾i)\<i$GռIAY?A_?A%AI1IAO>e2Acoustic response timeoutI DQ DU 4=E] X EY E] AEY "E] ~ :*EY VE] A4ZEY BE] :am 2E] :am JE] 9:am :E] 9:am hGNя,;G?A2nvv@2+6@2!=ٱ2A >AHRS rotation from veh to nav: [[-0.599353,0.757214,0.259621],[-0.799511,-0.550276,-0.240786],[-0.039463,-0.351885,0.935211]]2H-;?@?ܛο4`Jֿ@??i2nvv@I2^;2JCYF{hAyFHHHbDR'VDR8yZ %ZO=ٔ^BQ-^>9bK?IfK?=fFyfEj^gEj>pQ 5zZ4r?Q 9zZ4r)rVAY|y~Q I}?rGCIryU 2Acoustic response timeoutԩ Uя,~UG?A@6u@6]~@6ɭ=ٱ6~ BAHRS rotation from veh to nav: [[-0.617175,0.743147,0.258510],[-0.785908,-0.566367,-0.248147],[-0.037998,-0.356316,0.933593]]6H?n?)&@JϿ tֿ?i6u@I6_;4YJhAyJHPbDV@VDV8y^#<%^L=ٔboQ-b>9`Id=fFyfEffEf>hQ 5nZ4j!m?Q 9rZ4j)jUAYpyrCQ Ir?j.HCIj;ija;jFZ4yv[BɮvFBx*jBjii zi Ji i  ks'ks'ks'h! kDkDkDh12fA:fABfAJfE@aɢeJּ)a eii)mx;iiimiѼqIqER E@E<E"Es9*E9VE 4ZEa%@a%@a%@a%@BqAu<B}>ByB}HB}hAByByByB}b;B}[{EAIIO >2Acoustic response timeout) J[я,[oG?A"2Acoustic response timeout6ǰs@6XӀ@6 =ٱ6I RAHRS rotation from veh to nav: [[-0.633484,0.729377,0.258276],[-0.772900,-0.580797,-0.255539],[-0.036378,-0.361502,0.931662]]6H`E@W?? 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ѿ ]Tؿ ?if0xp@If^;fICYhAyH2Acoustic response timeoutbDeVD8yč%@=ٔQ->9I= Fy "E E >Q 5Z4?Q 9Z4)UAY!y%Q I%?ICI:i:Z4y-hBɮ-fB-E*jABjAiAiIziIJiIiI kc:kc:kc:ha kakakahq2f:fBfJfb@颡ɢƕ) i) ;顩iH˼IAI I!OM1>YM 2Acoustic response timeouty nuя,;G?A6o@6}@6J<ٱ6ɾ BAHRS rotation from veh to nav: [[-0.681405,0.683100,0.262797],[-0.731336,-0.621291,-0.281326],[-0.028901,-0.383890,0.922927]]6H?? g?ҿ  ؿ@?i6o@I6D^;6JCYJrgAyJQHLNp=bD UVD 8y]Ͻ%eW=ٔeרQ-e>9iIi=mFym$Em Em>qQ 5}Z4u ?Q 9Z4uξ)uUAYyQ I?u^JCIu;iuF:uߍZ4yeBɮvB*jBjiiziJii kC\kC\kC\h kC\kC\kC\h2f:fBfJfDB@q颁ɢ) i)Y7;顉iɼIB%!>B%GCB%HB%/hAB%=B!B!B%;B%{EE-X E-AE-=E)"E-~ :*E- 9VE-|4ZE)BE-:2E-:JE-::E-:A2Acoustic response timeoutIIO+>ԡ {я,nG?A2Acoustic response timeout:n@:|@:/<ٱ:/ʾ BAHRS rotation from veh to nav: [[-0.690050,0.674816,0.261638],[-0.723259,-0.629475,-0.284003],[-0.026955,-0.385209,0.922436]]:H`??$ $-ҿ Aؿ ?i:n@I:,^;8YNgAyNjHbDZnVDZ'8y B<% P=ٔ RQ- >9I=Fy'EE>!Q 5-Z4%?Q 9-Z4%)%-VAY)y- Q I-?%JCI%F:i%:%Z4y9ɮ=qB9*jIBjQiQiQziQJiQiY kdkdkdhi kCzkCzkCzhy2f:fBfJf@颩ɢ;) Oi)hF;顱i5ȼIA!I1IAOm> ES ECEGE"E9*E09VE5ZEBE:2E:JE9::E9:2Acoustic response timeout1 Q я, G?A2 0n@2%|@2]<ٱ2˾ :AHRS rotation from veh to nav: [[-0.697759,0.667287,0.260499],[-0.715891,-0.636828,-0.286269],[-0.025131,-0.386235,0.922058]]2H T kZ? 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E  E @E <E "E *E 9VE 4ZE BE :a 2E :a JE ,:a :E .:a я,zz#G?A2?2a?2-/ٱ2{Ⱦ :AHRS rotation from veh to nav: [[-0.176144,-0.912986,-0.368008],[0.983437,-0.146994,-0.106040],[0.042718,-0.380591,0.923756]]2H@ƿ.7r׿Px?¿@u%@1ߥ?[ؿi?i2?I2^;2OCYB0yAyB:HbDN=VDN8yV,=%VL=ٔZ3 Q-Z>9XIX=Z FyZ}E^/E^>`Q 5fa4b?Q 9fa4bX))b>AYdyjA?Q Ij?bzCIbB:ib[:ba4ynBɮnBnSE*jxBjxi||i|ziJii kc<kc<kc<h ksWksWksWh)2f9:f9Bf9Jf=Ĕ?ɢV<) ?i)iUI2Acoustic response timeoutI )I9O*>Q 2Acoustic response timeoutԁ я,#G?A6?6Uy?6wE1ٱ6 ƾ BAHRS rotation from veh to nav: [[-0.158645,-0.916502,-0.367227],[0.986387,-0.130824,-0.099626],[0.043266,-0.378034,0.924780]]6H`|NĿS׿|?@Ծ`&?@1ؿ̗?i6?I6d`^;6QCYJRyAyJOHIR%=)R=PRAy%Cl?V-¿l񢿙%/?%h%! !9%T㥛 ?X9vlҿY%!?y%%%_B%pB %)%B!Y%=BbD=BVD=8yM<%MA=ٔMKQ-M>9QIQ=U FyUEU+YE]>aQ 5ma4eϊ?Q 9ma4e!)eAYu4?Q Eu:yu?Q Iu?e{CIe;ieG:ea4yyɮݟB*jBjiiziJii k;k;k;h12fEf>:fEf>BfEf0@JfE@19M rMNAggregate::initialize marl:UpdateRudderq9MJ]Qq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedbE%´4jE%4rE%T0ET ECE=E"E9*E09VE|4ZEa@a@a@a@颹ɢ<)  ?i)iPIԉ 2Acoustic response timeout𕭼AAQ?ԱII O= > B1 B1 B5 HB5 zAB5 =B1 B1 B5 7;B5 zEя,9ӭ#G?A22Acoustic response timeout68?6z$?6!3ٱ6ž ZAHRS rotation from veh to nav: [[-0.140650,-0.919293,-0.367583],[0.989094,-0.114075,-0.093171],[0.043720,-0.376679,0.925312]]6H¿j`{׿?@4ڷgb?ؿ@'?i68?I6zl^;6RCYfiyAyf]H|| |)|I|i|bD >VD 8yf<%M=ٔ%fQ-%>9!I!=- Fy-E-*;E->1Q 5=a45(?Q 9=a45)5AYAyEV?Q IE?5F{CI5;i5;5|a4yIɮMڟBI*jaBjaiaiaziiJiiii kBkBkBh kBkBkBh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderԹɢj<) ?i)FiI II!OM>DzDEV EFE>E"E=:*E;J9VE4ZEBE:a2E:aJEe:a:Ee:a2Acoustic response timeoutPExceeded connect timeout, disconnecting.9 <я,#G?A2mؼ?23?25ٱ2ľ :AHRS rotation from veh to nav: [[-0.122264,-0.922073,-0.367196],[0.991514,-0.097009,-0.086541],[0.044176,-0.374661,0.926109]]2HL@%׿{?ո'@?s׿?i2mؼ?I2_J^;2QCYByAyFwHbDN/VDN8yV*<%VR=ٔVՙQ-Z>9XIX=Z FyZE^BCE^>`Q 5fb4bΓ?Q 9fb4b3)bUAYdyf?Q Ij?b{CIb6:ib:b b4y= Bɮ=ٟB9*jIBjIiQiQziQJiQiq ksDksDksDh2f:fBfJf>@ɢb<) 8?i)iuIu2Acoustic response timeoutG!Mb9IYMAIyIIOc>iEU EEE"E:*EVEZEa@a@a@a@% 2Acoustic response timeoutԡ я,#G?A2c?2dO?26ٱ2M ľ :AHRS rotation from veh to nav: [[-0.103215,-0.924343,-0.367338],[0.993666,-0.079320,-0.079604],[0.044444,-0.373228,0.926675]]2H@Gl@7w׿?VN``h?׿Q?i2c?I2k^;2PCYByAyFHbD<VD8yu<%}>=ٔ}#Q-}>9I= FyE6E>Q 5b4`?Q 9b4 )AYy?Q I?{CI#;ir;!b4yBɮɟBIE*jBjiiziJii k3Ck3Ck3Ch kc[kc[kc[h2f:fBfJf쓺@!ɢ%4<)! %o?i!)-))i-Lw1I19999qAA@AԡApAzABBBeHB{AB=BBB3;BzEIAIQIq2Acoustic response timeoutO^>E [ E E :E "E a:*E VE (4ZE BE ;a 2E ;a JE a :E a f8я,#G?A2 ?2?296ٱ2þ :AHRS rotation from veh to nav: [[-0.083682,-0.925947,-0.368267],[0.995493,-0.061127,-0.072513],[0.044632,-0.372675,0.926888]]2H+lZ׿@?@L/٦?@׿@?i2 ?I2tH^;2QCYnyAyrHbDe*VDe82Acoustic response timeoutyj-=%C=ٔQ->9I= FyE<@E>Q 5b4@?Q 9b4)AYy/?Q I?|CI:i:'b4nManaging dock network, ignoring radio surface power offyɮB*jBjiizi!Ji!i! kBkBkBh9 kCXkCXkCXhY2fy:fyBfyJf}@颙ɢm<) ?i)ϩ顡iXIԱIIO > m 2Acoustic response timeoutя,}>$G?A 2bD?2'0?2z6ٱ2þ >AHRS rotation from veh to nav: [[-0.063380,-0.927131,-0.369339],[0.996991,-0.042271,-0.064975],[0.044628,-0.372346,0.927020]]2H9 A׿Z?@8}٦?׿`&?i2bD?I2x6^;2SCYF zAyFHy}q= ףp?zGếMb?}+?} ׽}=y y9}?Mby}}t}B} oB }qB)}͌ByY}fBbDVD8y;%O=ٔ7Q->9I= FyEQSE>Q 5b4o?Q 9b4)PAY]>Q E:y?Q I?J|CI:i:5b4yɮB*jBjiiziJii k<k<k<h  kXkXkXh2f-n>:f-n>Bf-|.@Jf-P@E}R E}GE}>Ey"E}s9*E}R9VE}4ZEya@a@a@a@!ɢ%6<)) - ?i)i)z\iZ;I2Acoustic response timeoutIIOMS>ԙ By By B} HB} g{AB} =By By B} ;B} zEB@CB@CBB=B=C~a4l; я,e/$G?Aɰ"2Acoustic response timeout6E?6 ?6b5ٱ6iþ BAHRS rotation from veh to nav: [[-0.042553,-0.927726,-0.370827],[0.998110,-0.023005,-0.056983],[0.044334,-0.372551,0.926952]]6Hɥ@׿?@,䲦?׿@?i6E?I6!H^;6RCPYRVzAyRHbD^@VD^8yvrC=%vW=ٔzJ:Q-z>9|I|= FyE _E >Q 5%b4꟯?Q 9-b4E) AY)y5?Q I5?w|CIE EDE?E"E*Ea99VE^4ZEBEu:a2Ez:aJEiH:a:ElH:a%=%=2Acoustic response timeout! 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KXя,p`e%G?A ɰ NV?N?NQؼٱN7Ǿ fAHRS rotation from veh to nav: [[0.174779,-0.909037,-0.378291],[0.984254,0.171609,0.042369],[0.026403,-0.379739,0.924717]]NH '_?5ؿ? H?`d?i ?`Mؿ@G?iNV?IN,^;NQCY~|AyHbDeVDe8yk=%;=ٔ);Q->9I= FyEE>Q 5b4?Q 9%b4*)=AY!y%?Q I%?`CI:i_:b4y)ɮ5GB1*jIBjIiIiIziIJiQiQ kXkXkXhi kvkvkvhy2f:fBfJft@颩ɢ2=) O?i)9项iIAV?AS?B<A<BBB'HB}AB=BBB;BV{EB?CB?CBBB=CE4I !I)O8>e2Acoustic response timeoutQE  E EE ;E "E *E A9VE 4ZE BE %:a 2E a JE V:a :E V:a L_я,;%G?A2?2lݰ?27ϼٱ2Wƾ :AHRS rotation from veh to nav: [[0.187855,-0.907484,-0.375744],[0.981870,0.183375,0.048010],[0.025334,-0.377951,0.925479]]2H ?@ 2 ؿzk?x??1?@Y0ؿ?i2?I2-^;2RCY }Ay H2Acoustic response timeoutYbD%VD8y=%:=ٔ;Q->9I= FyEE>Q 5b4֊?Q 9b4T)AY!y%?Q I%?CI:i:b4y5۾Bɮ=+BE,E*jiBjiiqiqziqJiqiq kvkvkvh kvkvkvh2f):f)Bf)Jf-5@AɢMU7=)I MX?iI)M-IQiU2QIYIIO)>ԁԱii Ii u 2Acoustic response timeout $eя,%G?A233?2?2Ǽٱ2ľ :AHRS rotation from veh to nav: [[0.201220,-0.906129,-0.372076],[0.979245,0.195505,0.053458],[0.024303,-0.375111,0.926661]]2H ?@`׿U? 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pG?@?@5? $׿;?i6"?I6.v^;6QCYJAyJHbD ,VD 8yEy=%Mu=ٔMz:Q-M?9MH?IUH?=U FyUEUEU?YQ 5ec4]Λ?Q 9mc4]Yo)](AYiymp?Q Im?]CI]Z:i]:]Oc4yuȾBɮ}B}E*jBjiiziJii kskskshbEjE&4rE^0ET EFE?E"E9*E;J9VE^4ZEa-@a-@a-@a-@ k#sk#sk#shY2fi:fiBfiJfm5@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢql=) p?i)%huϻ!!i%ż!I)2Acoustic response timeoutU%)1BU >BQ BU :HBU ABQ BQ BQ BU ;BU `{EA I I O5 >Y ] 2Acoustic response timeoutxя,O4&G?A2?2ߤ?2 ٱ2vľ JAHRS rotation from veh to nav: [[0.278904,-0.888192,-0.365141],[0.960100,0.266023,0.086259],[0.020522,-0.374630,0.926947]]2H@?ly^׿"??@ ??׿?i2?I2r^;2SCYV~AyVHbDVD8y]<%]H=ٔ]ٿ:Q-e>9aIa=e FyeòEmEm>qQ 5}c4u?Q 9}c4ue)uAYyy?Q I?uCIu:iu=:u]c4yɮB*jBjiiziJii kpkpkph kpkpkph2f:fBfJfD=@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ,+}=)) n?i)ҕ顩iKǼIE%W E%BE%:E!"E% :*E%(9VE%(4ZE!BE%&:a-2E%+:a-JE%K+:a-:E%M+:a5QAYzA]qA2Acoustic response timeoutIyԁIO>ԩ W[я,UN&G?AB&?BH?B~CٱB~ž JAHRS rotation from veh to nav: [[0.292405,-0.883835,-0.365150],[0.956089,0.278100,0.092485],[0.019806,-0.376159,0.926343]]BHĶ?aH@^׿H? c??H?`ؿ?iB&?IB?^;@%GYy9YAYKAyH 11bDE!VDE8y\=%9=ٔ:Q->ԑ9I= FyƲEE>Q 5c4Ȫ?Q 9c4L[)AYyߪ?Q I?RCiI2Acoustic response timeoutI:iד<Xmc4yQɮUޞBY*jiBjiiziJii ktktkth2f:fBfJfR @^B*** querying acoustic contact ***XYɢfCk=) t?i)iɼIIIOF>E5T E5AE5<E1"E59*E5 9VE5 4ZE1aE@aE@aE@aE@ 2Acoustic response timeout я,Yg&G?A2I?2N5?2uٱ2ƾ :AHRS rotation from veh to nav: [[0.306296,-0.879421,-0.364419],[0.951750,0.290490,0.098936],[0.018854,-0.377139,0.925965]]2H[?7$`R׿`t?d?`S?sN? #ؿ?i2I?I2j%^;0YBAyF+HbDN'VDN8yVMb=%Vn=ٔZe5;Q-Z?9\I\=^ Fy^ȲE^R/E^?`Q 5fc4bM?Q 9fc4bYS)bvAYhyj?Q Ij?byCIb;ib;b:yc4yn̾Bɮr؞Bp*jxBjxi|i|zi|Ji|i| k[k[k[h kokokoh!2f1:f1Bf1Jf5e @QɢUt=)Q Uy?iY)] YYi]=˼aIiIIAO=B<A<B>BBHB)ABBBB;Bw{E 2Acoustic response timeout1a E= i E= HE= @E9 "E= ,K:*E= [9VE= 4ZE9 BE= je;aM 2E= le;aM JE= S:aM :E= T:aM pя,<ف&G?A$2Acoustic response timeout PO? ;? =ٱ PWž EAHRS rotation from veh to nav: [[0.320968,-0.875423,-0.361407],[0.946920,0.303868,0.104917],[0.017973,-0.375899,0.926487]] H`?@v K!׿@*M?r?@ۺ? yg?ؿ ǥ?i PO?I $2^; PCYUAy]HybX9?Q뱿J +EV?\H 9Pn?Zd;Oףp= ÿYD?yj< B oB +B)BYBbD(VD8y0% *=ٔ  :Q- >9I= Fy˲EE>Q 5%c4+?Q 9-c4J)AY-jH?Q E-:y-?Q I-?CIz ;i ;c4y5Bɮ=ɞB=E*jIBjIiQiQziQJiQiQ kYikYkYhq2f>:f>Bf*34@JfFT@ɢl=) EAx?iA)EOAAiEPμIIIAY?AU?IIIOM1>ԑ- 2Acoustic response timeout sя,&G?A2@?2h,?2ُٱ2ľ :AHRS rotation from veh to nav: [[0.336150,-0.871025,-0.358216],[0.941652,0.317764,0.110984],[0.017158,-0.374622,0.927019]]2H{? 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ZY}Ͽ@:?@·?e?{3׿>?iB0?IBj(^;BSCYnAynJH99 A)AIAiAAbDUZAYA]AABe>Be9CBaBaBe=BaBerDBe;Be,{EVDU8yo%B=ٔȧ;Q->9I= FyE E>Q 5d4?Q 9d4)AYyee?Q I?ɄCI:i:d4yBɮBE*jBjiiziJii kVkVkVh knknknh2f:fBfJf Y@!ɢ%L=)! %e?i))-<))i-1I1II!O]=2Acoustic response timeout) E W E HE =E "E :*E [9VE |4ZE BE :a 2E %:a JE Q:a :E S:a Aя,1)G?A4<ɰ 6?6F?6<ٱ62ӿ >AHRS rotation from veh to nav: [[0.713735,-0.659308,-0.236424],[0.699784,0.656893,0.280702],[-0.029764,-0.365792,0.930220]]6H? `!Cοd?E?? vz $i׿]?i6?I6C^;4YFAyFQHIJ<)HE2Acoustic response timeouty?y==oB )BYBbD5QVD5 8yE;%E>=ٔMac;Q-M>9IIQ=m Fyu E} E}>Q 5d4?Q 9d4)AYiB?Q E:yw?Q I?CIK;iJ;Nd4yBɮB*jBjiiziJiii kcUkcUkcUhy2fh>:fh>Bf3@Jfћ`@ɢ (=)  ?i )Г<iEII)I9OmW>ԙ2Acoustic response timeout Hя, ")G?A6\& ?6B?6#<ٱ6 >AHRS rotation from veh to nav: [[0.723322,-0.650868,-0.230600],[0.689808,0.666041,0.283820],[-0.031140,-0.364363,0.930736]]6H`t%? NͿ?5P?*?㟿Q׿?i6\& ?I64^;6QCYJAyJ HLLPbD :VD 8yEH%M\=ٔMr;Q-M>9IIQ=U FyU EUEU>Ea EeBEe>Ea"Ea*Ee(9VEe4ZEaam@am@am@am@qQ 5}d4u$?Q 9d4uƽ)u AYyXt?Q I?uCIu;iu;u1d4yɮB*jBjiiziJii kWkWkWh ksuksuksuh2fa:faBfaJfe|_@颙ɢ=) ?i),<顡iIU2Acoustic response timeoutIII Ou6>B]>B]?CB]fHB]̀AB]=BYB]wDB];B]P{EB:CB;CBǖCB=B=CP6!  2Acoustic response timeout,HNя,;)G?A2{?2|??2M=ٱ2G& :AHRS rotation from veh to nav: [[0.732684,-0.641437,-0.227450],[0.679814,0.674049,0.288981],[-0.032050,-0.366356,0.929923]]2H$r?@Ϳ ?ϑ?~?h@`r׿ ?i2{?I2^;2SCYzAyz<H|bDYVD8yF=%C=ٔ);Q->9I= FyEE>Q 5e474?Q 9e4 )DAYyp?Q I?@CI:i:e4yBɮB*j Bj i i zi Jii k]k]k]h! k#tk#tk#th92fI:fIBfIJfM^@ɢ<=) ?i)6<ilIIqIO=)Eu[ EuGEu:Eq"Eua:*EuR9VEu(4ZEqBEu ;a}2Eu ;aJEut:a:Eut:a]2Acoustic response timeoutaԁ /Uя,U)G?A2<?2;?2 =ٱ2!¾ :AHRS rotation from veh to nav: [[0.742396,-0.630960,-0.225248],[0.669162,0.681933,0.295278],[-0.032704,-0.369941,0.928480]]2H ?0̿i?f?@?׿?i2<?I2 ^;2TCYFAyFHbD VD =8Yye%eQ=ٔm:Q-m>9iIi=m FyuEuEu>yQ 5e4}EC?Q 9e4}ʰ)}dAYy9XI\=^ Fy^E^Eb>`Q 5fe4b*R?Q 9fe4bƪ)bAYhyji?Q Ij?bCIbN:ib:b e4ynBɮrBrE*jxBjxixi|zi|B<AB>B>CBLHBAB=BBvDB;Bg{EJii kC[kC[kC[h1 kqkqkqhA2fQ:fQBfQJfU7\@qɢu=)q uڇ?Թiq)ʮ<项iIIYIiO=2Acoustic response timeoutD D E W E DE =E "E :*E a99VE |4ZE BE &:a 2E +:a JE iH:a :E lH:a A Bbя,`x)G?A6t;>6@u4?6Ż =ٱ6Cþ >AHRS rotation from veh to nav: [[0.761230,-0.610719,-0.218060],[0.647597,0.698365,0.304804],[-0.033864,-0.373241,0.927116]]6H[? d˿?Y??`V,׿?i6t;>I6 ^;6SCYFAyJ Hy/$?~jt? ףp= 1h?D<Q8 9?Q?~jtYL?y< >B)BYBbD-VD-98y=;%EA=ٔE:Q-E>9III=M FyMEM EM>e2Acoustic response timeoutQQ 5me4U{g?Q 9me4U)UAYm,M?Q Em:ym8?Q Iu?UCIU_;iU^;U/e4yyɮ}By*jBjiiziJii kSYkSYkSYh2fm=:fm=Bfm@Jfm+j@颩ɢXJ=) !?i)<i]IIQIiO=Aq 2Acoustic response timeoutԙ $lhя,S)G?Aɰ;2K>2T}0?2> =ٱ2tľ :AHRS rotation from veh to nav: [[0.771165,-0.599600,-0.213971],[0.635709,0.707133,0.309575],[-0.034315,-0.374757,0.926488]]2H@c?/`dc˿W?ՠ??ő׿ ʥ?i2K>I2"^;0YFsAyFHXX \)\I\i\\bDfjVDf$8yn%nQ=ٔ57:Q-5>EEU EEBEAEA"EE:*EE(9VEAZEAaM@aM@aM@aM@9QIQ=U FyUEUE]>aQ 5ee4e7|?Q 9me4ee)eAYiym4?Q Im?e߅CIe:ie :e=e4yuBɮ}By*jBjiiziJii kZkZkZh ksksksh2f:fBfJf?i).<i+IԱA%AI1IIu2Acoustic response timeoutO>B>B=CB4HBAB=BBuDBĻ;Bu{E i I % 2Acoustic response timeout9 pnя,^/)G?A2 >2t\,?2'=ٱ2ž :AHRS rotation from veh to nav: [[0.781307,-0.588143,-0.208920],[0.623183,0.716500,0.313481],[-0.034680,-0.375120,0.926327]]2Hw? `ʿ`? ?@?ؿy?i2 >I2k ^;0YBdAyFHDDbDRYVDR8yVڟ%VM=ٔZw:Q-Z>9ZK?I^K?=^ Fy^E^+Eb>`Q 5fe4b&?Q 9je4bB)bAYhyj0?Q Ij?bCIb:ib:b Ke4ynBɮrBp*jxBjxixi|zi|Ji|i| kZkZkZh kokokoh!2f1:f1Bf1Jf5h@ɢG=) @?i)<i!I!EMT EMAEIEI"EM9*EM 9VEIZEIBEM:a]2EM:a]JEM:a]:EM:a]AIIO">9]>]>2Acoustic response timeouti uя,)G?A,2>2(?2hJ=ٱ2Mľ :AHRS rotation from veh to nav: [[0.791524,-0.576280,-0.203449],[0.610137,0.726101,0.317034],[-0.034976,-0.375072,0.926336]]2H)T?p@ ʿ=?7I2(^;2RCYFgAyFHbDcVD8yEޅ;%EA=ٔM*7:Q-M>9III=M FyMEUx EU>YQ 5ee4]g?Q 9ee4])]AYiymv,?Q Im?]2CI]:i]:]Ye4yqɮ}By*jBjiiziJi)i) kVkVkVhA kokokohQ2fa:faBfaJfePg@颁ɢO=) x?i)U<顉ioI2Acoustic response timeoutԉAIIO-,>ԱbE|4jE4rE7/E]W E]BE];EY"E] :*E](9VE]4ZEYae@ae@am@am@  2Acoustic response timeoutZ{я,G)G?AB>B#?B=ٱBGľ JAHRS rotation from veh to nav: [[0.801691,-0.564240,-0.197294],[0.596694,0.735927,0.319951],[-0.035335,-0.374226,0.926664]]BH`s?@A`@ɿ`? ?@z?l@Q׿;?iB>IB^;BUCAPAR@ABV>BTBVHBV{ABV=BTBTBVֻ;BV{E\Yf\AyfH YYbDebVDe8yoM%F=ٔc:Q->9I= Fy!E&E>Q 5e4m?Q 9e4i)AYy((?Q I?\CI;i;ahe4yBɮBںE*jBjiiziJii kSVkSVkSVhq2f:fBfJff@ɢ8=) ΅?i)d<iLIAAIIIYO:>2Acoustic response timeoutA Em V Ei Em ?Ei "Em =:*Ei VEm ^4ZEi BEm :a} 2Em :a} JEm J+:a} :Em M+:a} я, *G?A2>2~2?2=ٱ2þ :AHRS rotation from veh to nav: [[0.812270,-0.551287,-0.190527],[0.582176,0.746152,0.322999],[-0.035904,-0.373283,0.927023]]2H@?$,cȿ /?z??a ׿`+?i2>I25^;2SCYB"AyFHFp=F=M2Acoustic response timeouty(\?~jt?y&1|zT?D=` 9!rh?Mbx&YlG?y7`mB )YBbDFVD8y%B=ٔ:Q->9I!=% Fy%$E%.E%>)Q 55e4-(ձ?Q 9=e4-h)-AY=I?Q E=:y=>Q I=?-CI- ;i- ;-we4yEBɮEBI CG1]s9YY]A*jqBjqiqiyziyJiyiy kVkVkVh2fE&>:fE&>Bf;Ë@Jfu@ɢ=) (?i)<i%<)I1QA}$AIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IOf>q2Acoustic response timeoutԩ =я,$*G?A2!z>2?2=ٱ2W.þ :AHRS rotation from veh to nav: [[0.822623,-0.538174,-0.183468],[0.567424,0.756395,0.325418],[-0.036357,-0.371801,0.927600]]2H R?8{ǿV(?c4? ?o׿?i2!z>I2^;2TCYB AyBHbDN>VDN8yVp%Ve=ٔV:Q-Z>9ZH?IZH?=Z FyZ&E^NE^>`Q 5fe4b^걉?Q 9fe4b )bcAYdyj>Q Ij?bCIbK:ib :be4ynBɮnBl*jxBjxixixzixJi|i| kC;kC;kC;h  kWE%T E!E%@E!"E%9*E!VE%4ZE!a-@a-@a-@a-@kWkWh1y2f:fBfJfU@!ɢ%"=)! % ?i!)-<<))i-L 1I1AEV?AER?U2Acoustic response timeoutAAIԩIO#>B>BBHBRAB=BBBȻ;B{{E  2Acoustic response timeoutя,g>*G?Aɰ4<2>2?2+=ٱ2r þ >AHRS rotation from veh to nav: [[0.833077,-0.524148,-0.176782],[0.551925,0.766311,0.328855],[-0.036899,-0.371532,0.927687]]2H?`̠ƿ^?@?@ ?@\䢿.׿?i2>I2^;2SCYFAyFHIN=)NbDR<VDR8yZm%ZI=ٔ^J:Q-^>9^K?I^K?=^ Fy^)Eb-<Eb>dQ 5je4f?Q 9je4f)fAYhyn7>Q In?fӆCIfB:if:fΑe4yrBɮrBrۺE*j|Bj|i|i|zi|Jii k<k<k<h k[k[k[h!2f9:f9Bf9Jf=G@Qɢ]H=)Y ]7?iY)]rE!"E%=:*E%;J9VE%4ZE!BE!a-2E!a-JE%e:a-:E%e:a-M=M<U2Acoustic response timeout!I z̕я,YRX*G?AR,>R?R'=ٱRcþ ZAHRS rotation from veh to nav: [[0.843385,-0.509612,-0.170285],[0.535991,0.775753,0.333049],[-0.037627,-0.372160,0.927406]]RH`?N`ſ&?@?P?@C`w׿N?iR,>IRa'^;PYrAyv`Hxx  bD:VD8y%%%D=ٔ-Y:Q-->9)I1=5 Fy5+E5:E5>9Q 5Ee4=?Q 9Me4=)=AYIyMz>Q IM?=CI=:i=:=`e4yUBɮUBY*jiBjiiqiqziqJiqiy kCkCkCh kXkXkXh2f:fBfJf@ɢ=) ?i)<iF I12Acoustic response timeoutAIIO= >aE=_ E9E=CE9"E=&:*E9VE=5ZE9aE@aE@aE@aM@ԉm 2Acoustic response timeout ]я,|,r*G?AB&>B&>CB&HB&AB&=B$B&vDB&;B&l{EB =CB =CB CB =B =C v5Bը>BZB ?Bu=ٱBTGľ JAHRS rotation from veh to nav: [[0.852992,-0.495384,-0.164313],[0.520498,0.784156,0.337908],[-0.038547,-0.373758,0.926725]]BHK?`^߿`7ſ@??H? n ׿`?iBը>IB^;BTCYAy[HAA A)IIIbDU%VDU8ye%eF=ٔmj;Q-m>9iIq=u Fyu.EuR5Eu>yQ 5e4}4?Q 9e4}})}EAYy>Q I?}'CI}N:i}:}Ǯe4yBɮB*jBjiiziJii k#@k#@k#@h kUkUkUh2f:fBfJf@ ɢ /=) s~?i)]O<i I!ԱAaIqIIiIO >2Acoustic response timeout EU V EU ?EU >EQ "EU =:*EU ?9VEU 4ZEQ BEU :a] 2EQ a] JEU :9ae :EU ?9ae 9 cя,*G?A J>J?J!=ٱJľ VAHRS rotation from veh to nav: [[0.861845,-0.481902,-0.158097],[0.505637,0.792179,0.341737],[-0.039442,-0.374464,0.926402]]JH;?`z޿<Ŀ,.?Y??16׿`?iJ>IJ4^;HYfAyfH pp]2Acoustic response timeoutyK?L7A`?y&1^Z?+=` 9tV?RQV-Y2?y½pB B)'BYBbD@VD8y6q%C=ٔK ;Q->9I= Fy1Em)E>Q 5e4K?Q 9e4z)%AY|4?Q E:y>Q I?LCI ;iL ;ee4yBɮƞB*jBji!i!zi!Ji!i! k:k:k:h9 kUkUkUhI2f]d>:f]d>Bf]ފ|@Jf]U@yɢ}X=)y }$x?iy)<顁i% I AIIO%>9 2Acoustic response timeouta vя,**G?A02?>2?2$=ٱ2Aľ >AHRS rotation from veh to nav: [[0.869584,-0.469808,-0.152000],[0.492144,0.799538,0.344287],[-0.040219,-0.374192,0.926479]]2H?V޿@tÿ K?Е?@?׿?i2?>I2w8^;2SCYFWAyFHJ=J=ET ECE=E"E9*E09VE|4ZEa @a@a@a@bD%:VD%8yeټ%mR=ٔm;Q-m>9iIq=u Fyu3Eu#Eu>Q 5e4^b?Q 9e4w)AYy >Q I ?qCIp:iF:e4y5Bɮ5ϞB5ܺE*jIBjIiQiqziqJiyi k:k:k:h2f:fBfJf-؍@ɢw=) }u?i)A=iE IQԑm2Acoustic response timeoutAIIOF>BU>BU?CBU:HBUABU=BQBQBU;BUG{EԹ  2Acoustic response timeout2я,j*G?A:\Z>:?::'=ٱ:jľ FAHRS rotation from veh to nav: [[0.875874,-0.459668,-0.146801],[0.480798,0.805513,0.346386],[-0.040972,-0.373972,0.926534]]:H(?1kݿc¿ c?@?/+?`F(׿+?i:\Z>I:7{^;:TCYNuAyNH\bD%AVD%8ye<%eJ=ٔm[:Q-m>9iIq=u Fyu6EuEu>yQ 5e4}w?Q 9e4}iu)}AYy>Q I?}CI}K:i} :}"e4yBɮΞB*jBjiiziJii ks;ks;ks;h k;k;k;h2f:fBfJfwo@颉ɢ=) ^w?i)}\=顱ij IDzDAAEZ EDE;E"E:*Ea99VE4ZEBEa;a-2Ed;a-JEiH:a5:ElH:a5AI IO:>}2Acoustic response timeoutA |я,*G?Aɰ;2؊>2&>2k*=ٱ2 þ :AHRS rotation from veh to nav: [[0.881892,-0.449724,-0.141473],[0.469612,0.811494,0.347767],[-0.041595,-0.373130,0.926846]]2H`v8?Eܿ¿ ?`?A?@K`]׿@?i2؊>I29^;0Yv~AyzHI]C=)]<bDm<VDm8y~ý%F=ٔM:Q->9I= Fy8EE>Q 5e4뎲?Q 9e4r)AYye>Q I?CI:i=:e4yɮB*jBjiiziJii kDkDkDh  kZkZkZh2f):f)Bf)Jf- @IɢM=)I UMm?iQ2Acoustic response timeout)O^=iIIAAIIIYO;>E%W E%CE%<E!"E% :*E%09VE% 4ZE!a-@a-@a-@a-@q 2Acoustic response timeoutԡ BE >BE >CBE HBE 6ABA BA BA BE k;BE "{EDя,u*G?A2\Ą>2js>2",=ٱ2¾ :AHRS rotation from veh to nav: [[0.887384,-0.440494,-0.136066],[0.459102,0.817341,0.348109],[-0.042128,-0.371375,0.927527]]2Hse?1ܿj@a?`'?kG?׿L?i2\Ą>I2^;0Y^ AybH``bDj9VDj8yr=%vW=ٔv :Q-v>9xIx=z Fyz;EzEz>Q 5e45?Q 9 e4zp)AY y N>Q I ?ۇCI :i:e4yBɮߞBy*jBjiiziJii kAkAkAh kWkWkWh2f!:f!Bf!Jf%)@AɢE=)I Mp?iI)My =IIiMQIYAaIqIԩO>2Acoustic response timeoutD! D% C=E- U E- BE- BE) "E- :*E- (9VE- 5ZE) BE- :a= 2E- :a= JE- K+:a= :E- M+:a= a.я,W +G?A2}>2a>2.=ٱ2¾ :AHRS rotation from veh to nav: [[0.892640,-0.431249,-0.131216],[0.448742,0.822561,0.349320],[-0.042710,-0.370699,0.927770]]2H`?ۿ/?@kR?A[?ޥ׿K?i2}>I2$^;0YF~AyFHy%C?i|?5?㥛 Zd?q= 9V-?EԸA`"Yh1?yƽٽvhB )YBbD-6VD-8=2Acoustic response timeoutyMm%MD=ٔM`:Q-M>9QIQ=U FyU=E]dE]>aQ 5mf4e廲?Q 9mf4eYn)eAYm.5?Q Em:ym>Q Im?eCIeu:ie:e`f4yBɮBӺE*jQBjQiQiQziQJiQiY k#<k#<k#<hi2f>:f>Bfs@Jf@ɢ>=) j?i) =iEIA$AI)I9Ou6>)2Acoustic response timeoutY Vя,*'+G?A:p>:^*>:A0=ٱ:X¾ FAHRS rotation from veh to nav: [[0.898110,-0.421215,-0.126401],[0.437662,0.827972,0.350591],[-0.043018,-0.370190,0.927959]]:HP?@.ڿ-?~? p?u 3׿ױ?i:p>I:(^;:UCbEm4jEm4rEm80Ep ErAEr<Ep"Ep*Er 9VEr 4ZEpaz@az@az@az@9Y%~Ay%HII I)III QQbD]4VD]8ym%-=ٔ(:Q->9H?IH?= Fy@EӼE>Q 5f4'ײ?Q 9f4l)PAYy9>Q I?,CI;i;f4yBɮB*jBjiiziJii ks;ks;ks;h k;k;k;h2f:fBfJfو@19 rNAggregate::initialize marl:UpdateRudderq9%J]!q9%9%7%o%XAggregate::initialize marl:UpdateCommandMode18%]!18-o-@Completed marl:UpdateCommandMode7-o-\Aggregate::uninitialize marl:UpdateCommandModeq7-n-LAggregate::initialize marl:UpdateSpeed7-])75n54Completed marl:UpdateSpeedq75n5PAggregate::uninitialize marl:UpdateSpeedM2Acoustic response timeoutQɢUV=)Y ]j?iY)]=YYi] aIiaB>B?CBHB~ABBBBY;B{EAAIIO-o>ԉԹ i I A 2Acoustic response timeout|>я,A+G?A2bc>2>21=ٱ2¾ :AHRS rotation from veh to nav: [[0.903589,-0.410662,-0.121997],[0.426201,0.832916,0.352992],[-0.043347,-0.370955,0.927638]]2H3?IHڿ`6;F? ??l?1׿6?i2bc>I2JU^;2TCBsCBxy@iBuQ I?JCI):i:f4yɮB*jBjiiziJii k:k:k:h! k:k:k:h92fI:fIBfIJfMw @ԑsUNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢB=) g?i)j=iIET E@EE"E9*E9VEZEBE:a 2E:aJE,:a:E/:aII Oe4>]2Acoustic response timeout_G% 9!Y%A uhя,Z+G?A2ڮT>2z>2<2=ٱ2ݗþ :AHRS rotation from veh to nav: [[0.909828,-0.398119,-0.117107],[0.412684,0.838326,0.356233],[-0.043649,-0.372438,0.927030]]2HO?zٿii???6Y ׿:?i2ڮT>I2M]^;2WCYMP~AyMaHbD+VD8yX%A=ٔ;:Q- >9 I =  Fy EEE>Q 5%f4?Q 9%f4h)2AY!y-u>Q I-?pCI&:i0;.f4y5Bɮ5B1*jIBjIiIiIziIJiQiQ k;k;k;hi kSYkSYkSYhy2f:fBfJf@颩ɢ<=) e?i2Acoustic response timeout)ܗ=)1i5w1I9IIO-,>ES EDE;E"E9*Ea99VE4ZEa @a @a @a @I m 2Acoustic response timeoutB A B >B B rHB k~AB =B B wDB .;B zE8я,0t+G?A;ɰ6B>6+>6&4=ٱ64ľ BAHRS rotation from veh to nav: [[0.916818,-0.383419,-0.111512],[0.396878,0.844239,0.360206],[-0.043967,-0.374500,0.926184]]6H@V?ؿ`@rf?? ?悦׿L?i6B>I60P^;6SCY9~AyRHbD5VD8yc%J=ٔN:Q- >9 I =  Fy HEa/E>Q 5%f4?Q 9%f4f) AY!y%d>Q I-?CI:i:2Acoustic response timeoutԁPExceeded connect timeout, disconnecting.ԩ E T E @E E "E 9*E 9VE ZE BE a 2E a JE a :E a n{я,횎+G?A6 .>6.>6I5=ٱ6ž< BAHRS rotation from veh to nav: [[0.924369,-0.366764,-0.105006],[0.378916,0.850661,0.364416],[-0.044331,-0.376643,0.925297]]6Hn?y׿ế@'@? 8?@R?`ؿ?i6 .>I6^;6UCYR}AyR#HTT2Acoustic response timeouty-?sh|?Mbp5^? 9y&1?uVͿ{Gzt?Y`%?yrhף;oB B)ʕBYQBbD$VD8y9D%N=ٔp:Q->9I= FyJEIE>Q 5f40?Q 9f4df) AYK/?Q E:yՠ=Q I?CI/:i<Jf4yžBɮB*jBjiiziJii kcAkcAkcAh2f>:f>Bfm@Jf@!ɢ%pi=)! %^?i))-R=))i-1I1ԩIIO- >2Acoustic response timeout @я,p+G?A2>2>2 p6=ٱ2=ƾ :AHRS rotation from veh to nav: [[0.932016,-0.348934,-0.097931],[0.359671,0.857348,0.368227],[-0.044526,-0.378416,0.924564]]2H?`Tֿ?eo??`̦7ؿ@?i2>I2^;2VCYF}AyF"HbDN5VDN8yVҙ%V_=ٔZ] :Q-Z>9XIX=^ Fy^MEE` EbDEb<E`"E`*Eba99VEb 4ZE`aj@aj@aj@aj@|^WgE>!Q 55f4%aF?Q 95f4%e)%]AY9y]m=Q I]?%؈CI%;i%T;%Wf4yqɮqq*jBjiiziJii kBkBkBh!2fY:fYBfYJf]q@频ɢ=) ^?i)>=顙i IAzAI9IIO}=-2Acoustic response timeout1B>BB'HB}ABBBB;BzEBU?CBU?CBQBU=BU=CU8k4QM >I ԁ  2Acoustic response timeoutя,M+G?A2I>2S>27=ٱ2<Ⱦ :AHRS rotation from veh to nav: [[0.939676,-0.329894,-0.090438],[0.339119,0.863801,0.372620],[-0.044805,-0.380811,0.923567]]2H?տ &!?B? ? 5_ؿۍ?i2I>I2}^;0Y^%~Ay^GHbDj=VDj8yrl=%rG=ٔr/2:Q-v>9tIt=v FyvOEzZEz>|Q 5f4~D]?Q 9f4~e)~AYyM=Q I ?~CI~:i~:~ef4yɾBɮB*j)Bj)i)i)zi)Ji)i1y k&k&k&h2f:fBfJf-@ɢ^=)P Yb?i) !=i\!I!nManaging dock network, ignoring radio surface power offIIIO=ES E>E?E"E9*E9VE^4ZEBE:a2E:aJE9a:E!9aԩ===R=E2Acoustic response timeout я,6+G?A2P=2ҥ>2=9=ٱ2A6ɾ :AHRS rotation from veh to nav: [[0.947041,-0.310393,-0.082279],[0.317915,0.870231,0.376335],[-0.045210,-0.382563,0.922823]]2H(N?zӿD@X???%{ؿÇ?i2P=I2^;2UCY^}Ay^Hba=ba=pp p)pIpbDzLVDz8y-%H=ٔ ց:Q- >9 I =  Fy RE`E>Q 5%f4t?Q 9%f4e)*AY)y-\iEW EEEAE"E :*EA9VEA4ZEa@a@a@a@)E 2Acoustic response timeoutQ B B B HB }AB B B B 7;B zEя,+G?ABr=Bi_>B,!;=ٱBɾ NAHRS rotation from veh to nav: [[0.953893,-0.290956,-0.073705],[0.296652,0.876554,0.379013],[-0.045670,-0.383402,0.922452]]BHJ?ҿP޲W? ?`A?@b@ؿ ?iBr=IBD)^;BTCYV}AyVHbDb3VDb8yjjD%jN=ٔjX:Q-j>9lIl=n!FynTErfEr>tQ 5vf4v?Q 9zf4ve)vAYxyzQ Iz?vACIvC:iv:vf4yɮB*jBj1iiziJii ksAksAksAh2f!:f!Bf!Jf%~@AɢE\o=)A EY?iI)M'=IIiMQIQaA2Acoustic response timeoutII O`>ԙE  E GE >E "E *E R9VE 4ZE BE &:a- 2E +:a- JE t:a- :E t:a- Թ я,,G?Aɰ2qny=2܎>2==ٱ2?ʾ :AHRS rotation from veh to nav: [[0.960294,-0.271284,-0.065115],[0.275127,0.882142,0.382270],[-0.046263,-0.385007,0.921754]]2H?`\ѿe ?:?w?`ǯ@ؿ`?i2qny=I2 ^;2SCYRq}AyRH2Acoustic response timeoutI-<)-p=yS㥛?A`" ףp= ?$F?YQ= 9MbX?X9vϿʡE?Y*?y}o> )YbD=VD8y%;=ٔȱ:Q->9I=!FyWERE>Q 5f4?Q 9f4e)AY??Q E:y=Q I?hCI] ;i;-f4yоBɮ!B *jBji!i!zi!Ji!i! k%k%k%h9 k<k<k<hI2fe>:fe>Bfe@Jfe~@ԑɢRt=)! %W?i!)%)=!!i%)IQud2Acoustic response timeoutA $AI I O > я,),G?A6^=6:>6@=ٱ6t˾ JAHRS rotation from veh to nav: [[0.966261,-0.251373,-0.056138],[0.253231,0.887343,0.385351],[-0.047053,-0.386566,0.921061]]6H?~п+4?e??@R`ؿ@Ty?i6^=I6-^;6UCYb}AybHhj@AEX E@E?E"E~ :*E9VE^4ZEa@a@a@a@bDVD8y|H%I=ٔi:Q->9H?IH?=!FyZENeE>Q 5f4ּ?Q 9f4d)WAY y !f=Q I ?CI:i:^f4yӾBɮ/B*j)Bj)i)i)zi1Ji1i1 k#k#k#hI k#@k#@k#@hY2fi:fiBfiJfm@颉ɢ@=) Q?i)o\,=顑i9IOo82Acoustic response timeoutB->B)B-HB-w}AB)B)B)B-M;B- {EAIIO5O>I  2Acoustic response timeoutя,C,G?A2 |<2)o>24E=ٱ2˾ >AHRS rotation from veh to nav: [[0.971724,-0.231461,-0.046671],[0.231170,0.892330,0.387696],[-0.048091,-0.387522,0.920605]]2H ]?`Ϳ7姿`?`??W(ؿ u?i2 |9AIA=E!FyE\EMrEM>QQ 5]f4ULӳ?Q 9]f4Uid)UAYYy]0 =Q Ie?UCIUZ:iU:UǬf4ym־Bɮm5BmֺE*jyBjiiziJii ks$ks$ks$h kAkAkAhI2fY:fYBfYJf]z@颙ɢC=) P?i)n/=顡iIaEy E}qE}<Ey"Ey*E}$ :VE} 4ZEyBE}:a2E}:aJE}U;a:E}U;aԉO2Acoustic response timeoutA AI! 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A?. {ؿ?i2@I2c^^;2TCYB-|AyFHbD2VD8yeb%e<ٔma;Q-m>9iIi=u!FyulEuEu>yQ 5g4}f?Q 9g4}Z)}AYy>Q I?}CI}:i}:}g4yBɮ^B*jBjiiziJii kBkBkBh k^k^k^h2f:fBfJf?r@ ɢ J$=) B?i)}>=iRI!]2Acoustic response timeoutԑAAIQIaO>EZ EBE=E"E:*E(9VE|4ZEa@a@a@a@ 2Acoustic response timeoutA A AAB >B B HB {AB =B B B ;B zEBBBB=B=Cʊ$6) }=я,,G?A2@2>2`=ٱ2 Dʾ :AHRS rotation from veh to nav: [[0.989936,-0.140984,0.012215],[0.125150,0.912500,0.389462],[-0.066054,-0.384014,0.920961]]2H@? ¿???33??谿 ؿx?i2@I2:^;2SCYF{AyFH ||bD -VD 8y%H=ٔ;Q->9I=!FynE$E>Q 5g4?Q 9g4X)AYy>Q I?CIK:i:g4yBɮpB*jBjiiziJii kFkFkFh kZkZkZh2f:fBfJfpq@)ɢ5f=)1 5;?i1)=-@=99i=Ⱦ9IAAII2Acoustic response timeoutOA>!I E V E NE ;E "E =:*E ҆9VE 4ZE BE :a 2E :a JE :a :E :a VfDя,2t-G?A2Ǵ@2@=2AU=ٱ2l˾ >AHRS rotation from veh to nav: [[0.991227,-0.130729,0.019443],[0.112754,0.913179,0.391651],[-0.068956,-0.386023,0.919908]]2H"?? jݼ? 8?@?``ؿ`o?i2Ǵ@I2U^;2VCYF{AyFHHHb2Acoustic response timeouty}~jt?M? rh}d?}n>}Cy y9}p= ף?V-?~jt?Y}E?y}m>}=} B}IrB }ɌB)}0ByY}LBbDAVD8y<%A=ٔz;Q->9I=%!Fy%qE%#E%>)Q 55g4-?Q 95g4-!U)-AY=N?Q E=:y=>Q I=?-CI- ;i- ;-g4yEBɮEoBA*jYBjaiaiaziaJiaia kcBkcBkcBhy kZkZkZh2f=>:f=>BfT @Jf@颹ɢ =) =?i)C=iF&IIAI II9Oe3>yu2Acoustic response timeoutԡ vJя,#K,-G?AE6T E6BE6=E4"E69*E6(9VE6|4ZE4a:@a:@a:@a:@L^P@^=^e=ٱ^x; nAHRS rotation from veh to nav: [[0.992322,-0.120798,0.026551],[0.100629,0.913357,0.394529],[-0.071909,-0.388828,0.918500]]^H?쾿@N0?@¹?7:?`??h`ؿ@Yd?i^P@I^5^;^TCYvV{AyvHbD+VD8y3%]=ٔ9I=!FysE%E%>)Q 55g4- ?Q 95g4-*R)-vAY1y5>Q I5?-CI-e ;i- ;-+g4yEBɮEBEغE*jYBjYiaiaziaJiaia k#Bk#Bk#Bhy k#Xk#Xk#Xh2f:fBfJf@颹ɢne=) n5?i)E=i|I2Acoustic response timeoutIIO% >Bm>Bm@CBmHBmg{ABm=BiBiBmɺ;BmzE!  2Acoustic response timeoutvQя,d$F-G?A4<ɰ2@2=2=ٱ2Oξ :AHRS rotation from veh to nav: [[0.993243,-0.111110,0.033507],[0.088823,0.913642,0.396698],[-0.074690,-0.391041,0.917337]]2H?q '??9XI\=^!Fy^vE^Eb>`Q 5fg4bɴ?Q 9jg4bO)bAYhyji>Q Ij?b6CIb`:ib:bI9g4ynBɮrBrκE*j|Bj|iYiYziYJiYia k<k<k<hq kXkXkXh2f:fBfJf@Qɢu=)y }0?iy)kH=顁iIEuW EqEu;Eq"Eu :*EqVEu4ZEqBEu&:a2Eu+:aJEuK+:a:EuM+:aIIIO$>%=%=2Acoustic response timeoutqԡ rWя,`-G?A2@2=2؞=ٱ2Ͼ :AHRS rotation from veh to nav: [[0.993970,-0.101978,0.040307],[0.077591,0.913827,0.398622],[-0.077484,-0.393091,0.916229]]2H?@<`?ݳ?>??ֳ h(ٿ`Q?i2@I2N^;0YBzAyFEHDF?AXZ= X)XIXbDbHVDb8yjϼ%jH=ٔj;Q-n>9lIl=r!FyrxErEr>tQ 5zg4v(㴉?Q 9zg4v L)vAYxy~>Q I~?v`CIvy;iv;vGg4yBɮB *j!Bj!i!i!zi!Ji!i) kcWkcWkcWh9 kCokCokCohI2fa:faBfaJfe?@y颁ɢ=) !.?i)'J=顉im I=2Acoustic response timeoutIIO=ԡE}R E}AE}=Ey"E}s9*E} 9VE}|4ZEya@a@a@a@ 2Acoustic response timeoutBm >Bi Bm HBm zABi Bi Bm xDBm ;Bm fzE 4]я,y-G?A66@6=6=ٱ6>о >AHRS rotation from veh to nav: [[0.994580,-0.092756,0.046981],[0.066389,0.914272,0.399624],[-0.080021,-0.394339,0.915474]]6H ?ھ ??A?@q?;|@<ٿK?i66@I6>^;6VCYFzAyJ&HbDblVDb%8yjn%jJ=ٔns;Q-n>9|I|=!Fy{E E> Q 5g4 ?Q 9g4  I) 8AYyݶ>Q I=? CI ;i *; Ug4yEBɮEBEϺE*jyBjyiyiziJii kssksskssh2f:fBfJfu@ɢl=) +?i)qL=i?III9Ou= U2Acoustic response timeout1E W E CE >E "E :*E 09VE 4ZE BE a 2E a JE 9:a :E 9:a Y dя,-G?A@2@2[=2=ٱ2Mо :AHRS rotation from veh to nav: [[0.995216,-0.081485,0.053903],[0.053280,0.915114,0.399660],[-0.081894,-0.394876,0.915077]]2H?`0ܴ3?@G?H??`@Eٿ`PH?i2@I2WW^;0R2Acoustic response timeoutYV-zAyVH y$C?B`"۹y&1Z?ν` 9Gz?x&?KǿYP?y7=^:aBoB B)BYBBbDYVD8y%<=ٔ;Q->9I=!Fy~EE>Q 5g4?Q 9g4H)nAYwV?Q E}:y$=Q I?CI:i:dg4yBɮB*jBjiiziJii kZkZkZh)1 kukukuhA2f.>>:f.>>Bf7?Jf?1ɢ5,=)5( ="?i9)= N=99i=>hAIAIIO% >aU2Acoustic response timeoutԉ *jя, -G?AbEU|4jEU|4rEUJv/E&T E&NE&?E$"E&9*E&҆9VE&^4ZE$a*@a*@a*@a*@>TL@>=>KC=ٱ>Ѿ FAHRS rotation from veh to nav: [[0.995786,-0.068026,0.061510],[0.037872,0.915843,0.399748],[-0.083527,-0.395733,0.914559]]>Hy?@,jC~?`d?N?@w?b@Sٿ`D?i>TL@I>9^;>TCYR zAyRHTTbDLVD8y%I=ٔ;Q->9I=!FyEE>Q 5g44?Q 9g4{H)AYyjBACBHByAB=BBB;BlzEIiIyO>>I e 2Acoustic response timeoutAHRS rotation from veh to nav: [[0.996165,-0.052441,0.070039],[0.020274,0.917044,0.398272],[-0.085115,-0.395324,0.914590]]2H@?٪`?”?kX?H}?ʵLٿQD?i2@I2RV^;0YFyAyFHbD"VD8yeZ%mR=ٔm4;Q-m>9qIq=!FyE2E>Q 5g4P?Q 9g4lH)AYy;Q I?CI:i:=g4y Bɮ B кE*j!Bj!i!i!zi)Ji)i) k3uk3uk3uhA k3uk3uk3uhQ2fa:faBfaJfe?smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder颁ɢh@=) ?i)@R=顑iqIDM?AzDIE]W E]CE]=EY"E] :*E]09VE]|4ZEYBE]':ae2E],:amJEYamQ:EYamIIO (>AYqڧ9YKAԉ2Acoustic response timeoutԩ 9wя,G-G?A;ɰ;2!@2:2g>=ٱ2о :AHRS rotation from veh to nav: [[0.996256,-0.035745,0.078715],[0.001564,0.917820,0.396994],[-0.086437,-0.395384,0.914440]]2HT?(M@&?[Y?@^?Wh? Mٿ@C?i2!@I27^;2UC@Yv^yAyzVHbD$VD8y@e%P=ٔ];Q-=>99IA=E!FyEEEIEE>IQ 5Ug4Mi?Q 9Ug4MH)MlAYyy}eCQ I}?M/CIMX;iM;Mg4yɮB*jBjiiziJii k|k|k|h k|k|k|h2f:fBfJf?^B*** querying acoustic contact ***XYɢ ᘿ=)  ?i ) T=  i82Acoustic response timeout!I!ԩe$?ER EEAE"Es9*EVEA4ZEa@a@a@a@IIOuy> 2Acoustic response timeoutB >B CCB HB yAB =B $DB yDB ;B [zE! ~я,%-G?A2~@2y@2iy=ٱ2о :AHRS rotation from veh to nav: [[0.995996,-0.017922,0.087585],[-0.018230,0.918403,0.395225],[-0.087522,-0.395239,0.914399]]2H2?`Zk? Ǫ`c? _K?g KٿB?i2~@I2 %^;2TCYFxAyFHHJ@AbDR!VDR8yZ%ZQ=ٔZX6;Q-Z>9\I\=^!FybEbREb>dQ 5jg4f?Q 9jg4fH)fAYhyj$Q In?fVClIf:if);f$g4yvBɮvȟBt*j|Bj|iiziJii kcnkcnkcnh2f:fBfJfp?ɢ=) b ?i)dV=i I)IQIy O>%2Acoustic response timeout9Dm =Dm %=Eu T Eu EEu BEq "Eu 9*Eu A9VEu 5ZEq BEu :a} 2Eu :a} JEu V:a} :Eu V:a a jя,.G?A2$@2@2}=ٱ2$о :AHRS rotation from veh to nav: [[0.995315,0.000773,0.096677],[-0.038872,0.918780,0.392851],[-0.088521,-0.394769,0.914506]]2H? QI?@ѿ?棿f?x$? U@CٿC?i2$@I2f3^;0B2Acoustic response timeoutY^xAy^H9yMV-?"~j̿v/Mm?MScMxiI I9Mx?&1ҿNbX9ȿYMKW?yM吾MEMBMIrB MɌB)M˞BIYM\BbDe0VDe8yu%u?=ٔ#;Q->9I=!FyET?E>Q 5 g4@?Q 9 g4M)AY xh?Q Ei:yؾQ I?CI;i ;g4yBɮџB*j1Bj1i1i9zi9Ji9i9 ks`ks`ks`hQ ksrksrksrha2fu0>:fu0>Bfu2p@JfuSI}@频ɢ(S=) J ?i) HX=顙ioIaAYzA]oAIIOk>ԑ52Acoustic response timeout 5+я,b..G?AE EDE>E"E*Ea99VE4ZEa@a@a@a@8:@V(@V #@VV<=ٱV<о ^AHRS rotation from veh to nav: [[0.994198,0.019934,0.105698],[-0.059881,0.918890,0.389942],[-0.089351,-0.394009,0.914753]]VH@y?@i??೨g?`?߶q7ٿ@E?iV(@IV ^;VVCYjwAyjH|| |)|I|bD DVD 8y%P=ٔ;Q-%>9!I!=%!Fy%E-neE->1Q 5=g45?Q 9=g45P)5AY9yEQ IE?5CI5;i5;5ոg4yMBɮMBMںE*jaBjaiaiaziaJiiii kYkYkYh k#vk#vk#vhԙ2f:fBfJf{@ɢΫ=) >i))Y=iIQIIO%=2Acoustic response timeoutBBBHBxABBBBz;BHzEBuACBuACBuÔCBu=Bu=Cub5 iA IA M 2Acoustic response timeoutя,۾H.G?AJx@Js@J=ٱJyVϾ AHRS rotation from veh to nav: [[0.992625,0.039507,0.114611],[-0.081135,0.918956,0.385925],[-0.090076,-0.392377,0.915383]]JH?@6:?+W?<Ŵ`h??@;ٿJ?iJx@IJV;^;HYwAy%qH!!bD= VD=8yE?`%MG=ٔM:Q-M>9IIQ=U!FyUEUUE]>YQ 5eg4]׵?Q 9mg4]@U)]AYiymmQ Im?]CI]):i]:]-g4yuBɮ}B}ۺE*jBjiiziJii k]k]k]h k#tk#tk#th2f:fBfJf:oz@ɢPͳ=) >i)|[=iMIE5U E1E5?E1"E5:*E1VE5^4ZE1BE5:a=2E5:a=JE5jH:aE:E5mH:aEAaIiIyO>2Acoustic response timeoutIԉ j=я,b.G?A23Ǿ@2$@2=ٱ2Aξ :AHRS rotation from veh to nav: [[0.990579,0.059327,0.123422],[-0.102629,0.918337,0.382262],[-0.090664,-0.391328,0.915774]]2H@Ӳ?%`??E c?v?5@ ٿN?i23Ǿ@I27^;0YB{wAyF-HbD-IVD-8y}%}G=ٔ:Q->9I=!FyEgXE>Q 5g4?Q 9g4Y)AYyQ I?CIp:i:g4yBɮ B*jBjiiziJii k[k[k[h kCqkCqkCq2Acoustic response timeouth2f:fBfJfx@)ɢ5O=)1 5f>i1)=]=99i=|AIAQAaIqIIO">ԁEA EE@EE>EA"EA*EE9VEE4ZEAaM@aM@aM@aM@ԩ 2Acoustic response timeoutB <A <B >B B HB vAB =B B zDB j;B 9I=!Fy E E >Q 5g4w?Q 9g4`)AY%Eb?Q E%p:y%Q I%?TCIj:i:g4y-Bɮ-B)*jABjAiAiAziIJiIiI kXkXkXha kCrkCrkCrhq2fs>:fs>Bf@Jf0@颙ɢy=) >i)z&_=顩i"I1 EQ  EU BEU =EQ "EQ *EU (9VEU |4ZEQ BEQ ae 2EQ ae JEU K+:ae :EU N+:ae A} $AI I O >1 eOя,E.G?A22Acoustic response timeout> d@>^@>=ٱ>G̾ FAHRS rotation from veh to nav: [[0.985125,0.099428,0.140155],[-0.145453,0.916767,0.371997],[-0.091503,-0.386849,0.917592]]>H`$?@t?`?2¿ (V??l!ؿ\?i> d@I>C^;>XCJCJts@iNILLNfC PPPPPR tAIVԽ)TiT)V3CITTT XZCXXiXXi\\)\ \I\ `)````Y`YjvAyjHbDEVDET8y%=ٔu ;Q-F?9H?IH?=!FyEhĽEF?Q 5g4&?Q 9g4_c)AYy Q I?nCI:id:g4yɮ5,B1*jIBjIiIiIziIJiIiQ kYkYkYh ksksksh2f:fBfJfW9@ɢ`=)  O>i ) ]_=))i5~1I9AEAIIIYO9>92Acoustic response timeouti E] X E] ?E] >EY "E] ~ :*E] ?9VE] 4ZEY ae @ae @am @am @Dя,M.G?A2@2@2u=ٱ2˾ >AHRS rotation from veh to nav: [[0.981816,0.118217,0.148531],[-0.165785,0.915124,0.367511],[-0.092478,-0.385453,0.918082]]2H k?@{C?@?`n8ſ H?M?@Aؿ`?i2@I2 d^;2SCYz5vAyzeHbDVDd8yX%P=ٔ#;Q->9K?IK?=%!Fy%E%WE%>)Q 55g4-??Q 95g4-Nh)-AY9y=Q I=?-CI-:i-B:-g4yEBɮE:BMܺE*jYBjYiYiYziaJiaia k[k[k[hy ksksksh2f:fBfJfՒ@颹ɢ6=) >i)'a=ibIAzABE>BEDCBEEHBEvABE=BABABEA;]2Acoustic response timeoutaBEzEIIO- >ԁԱ  2Acoustic response timeoutaя,.G?A>:@>+@>ɿ=ٱ>%ʾ FAHRS rotation from veh to nav: [[0.978198,0.136361,0.156633],[-0.185430,0.913110,0.363107],[-0.093509,-0.384235,0.918488]]>H`fM?Gt? ?(ǿ28? #=?;`Lؿ@d?i>:@I>I^;>UCLY]vAy]RHbDmVDmb8y}%E=ٔ#;Q->9I=!FyE-FE>Q 5h4X?Q 9h4m)AYy)Q I?ɍCI :ip: h4yBɮAB*jBjiiziJii k#[k#[k#[h kcqkcqkcqh2f:fBfJf@!ɢ%Ԧ=)! %>i!)-rb=))i-7)I1ER EAEAE"Es9*E 9VEA4ZEBEw:a%2E|:a%JE:a%:E:a%IQIaO>y}<2Acoustic response timeout! Vя,Z.G?A2R{@2Cv@2ɹ=ٱ2ɾ :AHRS rotation from veh to nav: [[0.974385,0.153345,0.164497],[-0.203865,0.911097,0.358246],[-0.094938,-0.382605,0.919021]]2H@).?Ϡ?@??>ʿ'?`?M@|ؿ@h?i2R{@I26^;2VCYFuAyF*HXX X)XIXbDbVDbk8yj+%jV=ٔj=v;Q-n>9lIl=n!FyrErJEr>tQ 5zh4vo?Q 9zh4vr)vAYxy~Q I~?vC|IvO+;iv-;vYh4y Bɮ UB E*jBj!i!i!zi!Ji!i! kXkXkXh9 krkrkrhI2Acoustic response timeout2f:fBfJfZ@1ɢ]ƥ=)Y e>ia)eèc=aaieiIqII1O]=)bE4jE4rE 0E%W E%@E%=E!"E% :*E%9VE%|4ZE!a5@a5@a5@a5@QAI AM @ABU >BU ECBU HBU tABU =BQ BU {DBU %;BU zE 2Acoustic response timeoutԁ я,ȱ.G?A6%@6@6=ٱ6aɾ >AHRS rotation from veh to nav: [[0.970347,0.169674,0.172155],[-0.221660,0.908675,0.353802],[-0.096402,-0.381471,0.919340]]6H@ ??, ?@]_̿`??`̭@jؿ9\I\=^!FybEb;Eb>dQ 5jh4f?Q 9jh4fAx)fAYhyj!Q In?f!CIf:if:fR)h4yrBɮroBp*j|Bj|i|i|zi|Jii kCZkCZkCZh knknknh!2f1:f1Bf1Jf5ȃ@ayɢ}5=) >i)=d=顁iIAZ?Aa?IYIO=ԉiI2Acoustic response timeoutiIpAԱE5 V E5 ?E5 ;E1 "E5 =:*E5 ?9VE5 4ZE1 BE5 :a= 2E5 :a= JE5 <9aE :E5 A9aE Y ] C E 9A YE Ay ? A я,./G?A"2Acoustic response timeout6KS@6=N@65=ٱ6Ⱦ BAHRS rotation from veh to nav: [[0.966087,0.185353,0.179778],[-0.238861,0.905970,0.349519],[-0.098089,-0.380607,0.919520]]6H /? ?? ο@?^?^ [ؿl?i6KS@I6<^;6UCY^tAybHAy/$?~jtxx&?1H?Ļ7= 9^I +?6BIrB )BYBԹbDVDk8y9%:=ٔ|;Q->9I=!FyE%E>Q 5h4?Q 9h4|)AYm?Q Ed:yHQ I?SCI:i:8h4yBɮxB*j BjiiziJii k3Vk3Vk3Vh) kpkpkph2f>:f>BfB@JfX@ɢ =) j>i))e=i,|I!IIO>2Acoustic response timeout9 E= U E= FE= CE9 "E= :*E= ;J9VE= 5ZE9 aE @aM @aM @aM @я,Qi1/G?A2Ĺ@2@2=ٱ2nȾ :AHRS rotation from veh to nav: [[0.961618,0.200478,0.187349],[-0.255583,0.902862,0.345712],[-0.099843,-0.380326,0.919447]]2H?F??z[п@?? & ?MDWؿl?i2Ĺ@I2Z^;2WCYB[tAyFAHbDMVDM8y%M=ٔ;Q->9I=!FyE2E>Q 5h4?Q 9h4Ā)UAYy/Q I?CI;iN:Fh4yBɮB*jBjiiziJii kqkqkqh kqkqkqh2f):f)Bf)Jf-؜@AɢE;=)M{ Mc>iI)Mf=IIiUw.QIYB>BBHBsABBBB3;BzEII!U=U4=]2Acoustic response timeoutO=Ai 2Acoustic response timeoutԙ я, AK/G?A23:@2%5@2=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.956962,0.214967,0.194967],[-0.271761,0.899501,0.342116],[-0.101830,-0.380377,0.919208]]2Ho? ??dѿ?^;2VCYFtAyF HbD VD n8yEKa%MP=ٔM;Q-M>9QIQ=U!FyUEUc0E]>Q 5h4۶?Q 9h4)AYyQ I?CIa;iL;Th4yBɮBE*jBjiiziJii kstkstksth ktktkth2f!:f!Bf!Jf%`@9ɢE=)A ES>iA)Ed{g=IIiMIIQAizAiyE]Y E]DE]AEY"E]:*E]a99VE]A4ZEYBE];ae2E] ;aeJE]jH:am:E]mH:amAIIO5.>ԡe2Acoustic response timeout wя, e/G?A6@6@6)=ٱ6ɾ BAHRS rotation from veh to nav: [[0.952026,0.229117,0.202860],[-0.287841,0.895512,0.339421],[-0.103896,-0.381529,0.918499]]6H v?S?@M?kҿ??똺jؿXd?i6@I6_^;6TCYJsAyJHR=R=bDVVDVk8y^r%^T=ٔbE;Q-b>9`I`=b!FybEf]3Ef>hQ 5nh4j?Q 9nh4j=)j`AYlyrQ Ir?jڎCIjD;ij/;jah4yv BɮvBt*jBji i zi Ji i  k#sk#sk#sh! k#sk#sk#sh12fA:fABfAJfE@颁ɢx=) g>i)/h=顑imI2Acoustic response timeoutAIIO'>Eek EeCEeBEa"EemR:*Ee09VEe5ZEaam@am@am@am@BA4=B>BBQHBrABBBB~;BczEBECBDCBB=B=Cʊ5)  2Acoustic response timeoutQ я,/G?A2 )@2#@2c=ٱ2C;ʾ :AHRS rotation from veh to nav: [[0.946961,0.242783,0.210526],[-0.303382,0.891433,0.336611],[-0.105947,-0.382627,0.917808]]2HM?`??jӿ`?@?R|ؿ ^?i2 )@I2{;^;2VCYnrAyndHbDzVDz8yϽ%F=ٔt;Q->9 I = !Fy E "E>Q 5-h4=?Q 95h4)AY9y=Q IE? CI;iz;Iph4ye#BɮeŠBi*jBjiiziJii kwkwkwh2f):fBfJf#@iɢm-=)q u<>iq)uh=qqiuyIy 2Acoustic response timeoutYt'AW?AQ?Eu Z Eu @Eu 9Eq "Eu :*Eu 9VEu 4ZEq BEu b;a 2Eu e;a JEu -:a :Eu 0:a ԉ A1 I9 II O >xя,VԘ/G?A22Acoustic response timeout4:@:w@:=ٱ:ʾ BAHRS rotation from veh to nav: [[0.941628,0.256636,0.217887],[-0.318943,0.887212,0.333363],[-0.107759,-0.383398,0.917275]]:H@!?l?@?iԿ d?U?ؿRZ?i:@I:+^;:TCYJrAyJ>Hy]~jt?X9v?/$?]d?]<]]B]pB ]QB)]BYY]BbDuVDu]8yc%B=ٔ;Q->9I=!FyE,!E>Q 5h4-?Q 9h4ݐ)KAYsf?Q Ek:yQ I?9CI:i:~h4y/BɮؠBE*jBjiiziJii kc_kc_kc_h kpkpkph2ft>:ft>Bf@Jfiv@1ɢ52 =)1 5t->i9)=Mei=99i=dAIAKԉI IOM1>Թ2Acoustic response timeout я,/G?AEW ECE=E"E :*E09VE|4ZEa@a@a@a@:5@:'@:]=ٱ:̾ FAHRS rotation from veh to nav: [[0.936134,0.269801,0.225523],[-0.334159,0.882257,0.331602],[-0.109503,-0.385785,0.916067]]:H?@lD?@?bտs;?`8? `ؿ`lP?i:5@I:jD^;:VCYN"rAyNHPP\dd d)dIdhhbDrVDrX8yv꾽%zT=ٔzm;Q-z>9xI|=~!Fy~E~(-E>Q 5 h4H?Q 9h4)~AYyգQ I?dCIy:iN:lh4y2Bɮ%B!*j9BjiiziJii k#wk#wk#wh k3wk3wk3wh!2fQ:fQBfQJfUpu@iɢLJ=B>BFCBHBqABBB|DBź;BzE) >i)i=顱iIu2Acoustic response timeoutXIII O- >A % 2Acoustic response timeoutWя,n/G?A2ᗶ@2Ӓ@2=ٱ2|̾ :AHRS rotation from veh to nav: [[0.930459,0.283288,0.232367],[-0.349179,0.877728,0.328129],[-0.110999,-0.386448,0.915608]]2H`Q?e!?@0?`XֿX? ?@tjؿ L?i2ᗶ@I2u1^;2WCYFrAyFHbDNVDNI8yVn%ZN=ٔZ*x;Q-Z>9\I\=^!Fy^E^}&E^>`Q 5fh4bd?Q 9jh4b)bAYhyjQ Ij?bCIb;ib;bOh4yn6BɮnBrE*j|Bj|i|i|zi|Ji|i k3ok3ok3oh2f):f)Bf)Jf-]u@IɢMZ=)I M>iQ)Ug=j=QQiU5EYIYaaaaD%@AzD%@AE-T E)E-@E)"E-9*E)VE-4ZE)BE-:a=2E-:a=JE-9:a=:E-9:a=AIyIO@>u2Acoustic response timeoutiԑ 'я,e/G?A6y@6k@6=ٱ62; BAHRS rotation from veh to nav: [[0.924580,0.296713,0.238982],[-0.364127,0.872737,0.325180],[-0.112084,-0.387675,0.914956]]6H)?V?@?M׿u?`?@ؿRG?i6y@I6M^;6XCYRqAyRAHbD-VD-\8ym8%u?=yٔuo';Q->9I=!FyEzE>Q 5h4?Q 9h4) AYyQ I?CI;i;Ih4y9BɮB*jBjiiziJii2Acoustic response timeout kVkVkVh2f:fBfJfԙt@ɢ }=) =i)c~j=iIIIO>ԡEES EE@EE=EA"EE9*EE9VEE|4ZEAaM@aM@aM@aM@AAAAAAB$>BGCBHBpAB=BB}DB;BzE 2Acoustic response timeout я,:A0G?AB@B@BZ=ٱBg; ZAHRS rotation from veh to nav: [[0.918454,0.310260,0.245318],[-0.379103,0.867416,0.322291],[-0.112799,-0.389010,0.914302]]BH`c? M?f?7Cؿ`?h?g༿ؿA?iB@IB4^;BVCYepAymHbDEVDEc8y%9=ٔ:Q->9I=!FyEE>Q 5h4?Q 9h4Ý)eAYyQ I?CI;i;h4y2Acoustic response timeout1DI DM <EQ  EU AEU ?EQ "EQ *EU  9VEU ^4ZEQ BEU :a] 2EU :a] JEU :ae :EU :ae Y 5<я,&0G?A"2Acoustic response timeoutb4 @b&@b)J=ٱb8; jAHRS rotation from veh to nav: [[0.912145,0.324304,0.250636],[-0.393932,0.862523,0.317603],[-0.113180,-0.388434,0.914500]]bH J0?`g?m ?`.6ٿə?S?WؿC?ib4 @IbT^;bWCY qpAy H1y]V-?Mb`~jt]\?]]Y Y9]Cl?{GzB`"۹?Y];_?y]#]=]aB]uB ]&B)]BYY]BbD}RVD}8y߇%J=ٔ`y:Q->9I=!FyE$E>Q 5h4Ǽ?Q 9h4')aAY`?Q Eq:yQ I? CI ;i7 ;h4y?Bɮ1BE*jQBjQiQiQziQJiQiY kYkYkYhq2f=:f=Bf3ϱ@Jf(?ɢ{r=) tYiI2Acoustic response timeoutԉ Dc я,A30G?AbEjE4rE0E&T E&DE&<E$"E&9*E&a99VE& 4ZE$a*@a.@a.@a.@B@B@B 0=ٱB; NAHRS rotation from veh to nav: [[0.905802,0.337903,0.255627],[-0.408320,0.857240,0.313710],[-0.113130,-0.388536,0.914462]]BHS?`3?0\?!ڿ`n??`ؿ FC?iB@IB9^;BVCYVoAyVHbDbQVDb 8yf8%jl=ٔjQ-j?9lIl=n!FynEr:Er?tQ 5vh4vԷ?Q 9zh4v1)v]AYxyz)ǾQ Iz?vGCIv):iv:vh4yBBɮBB*jBjii!zi!Ji!i! kcAkcAkcAh9 kfkfkfhI2fY:fYBfYJf]$?19e reNAggregate::initialize marl:UpdateRudderq9eJ]aq9e9e7eoeXAggregate::initialize marl:UpdateCommandMode18e]i18mom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7m]i7unu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed颉ɢj=)3) pi)j=顑isIB='>B=HCB=DHB=~oAB9B9B9B=;B=zEԱU2Acoustic response timeoutAIIO= >  2Acoustic response timeout9 Kя,M0G?A2!@2@2=ٱ2̾ :AHRS rotation from veh to nav: [[0.899364,0.351749,0.259648],[-0.422371,0.852407,0.308230],[-0.112907,-0.386878,0.915192]]2H`?@??ۿF? ? r缿ؿAI?i2!@I2(^;2WCYZoAyZyH\\bDf8VDf8ynѼ%nJ=ٔr_Q-r>9pIp=r!FyvóEvEv>xQ 5~h4z?Q 9~h4z)zZAYy;ϾQ I?ztCIz;iz;z h4y FBɮ KB *j!Bj!i!i!zi!Ji)i) ksMksMksMh9 k[k[k[hI2fa:faBfaJfe[ ?smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder颁ɢg=) ,*i)j=顉iLIDQzDQE]S EYE]?EY"E]9*EYVE]^4ZEYBEYam2EYamJE]kH:am:E]mH:amu9qYuAAIIO5 >9e2Acoustic response timeouti ] >] >wя,-g0G?A@R@R@R=ٱR˾ ZAHRS rotation from veh to nav: [[0.892727,0.365735,0.263206],[-0.436337,0.847455,0.302373],[-0.112467,-0.384783,0.916130]]RH7?1h?\?ۿZ?@Z?ʼ`GؿP?iR@IR@@^;RVCYf@oAyfH)) )))I)bD=9VD=8yMg%MC=ٔUQ-U>9QIQ=]!Fy]ųE]*E]>aQ 5mh4ef ?Q 9mh4eԫ)eWAYiyuT׾Q Iu?eCIe:ie;eh4yyɮ}^B*jBjiiziJii2Acoustic response timeout kBkBkBh2f:fBfJf?ɢi]=)! %EY E]=E]BEY"EY*E]8VE]5ZEYam@am@am@am@ԑB-<A-<B5,>B1B5HB5anAB1B1B5~DB5;B5zEm 2Acoustic response timeout ` я,ђ0G?AP]@] @]=ٱ] ʾ AHRS rotation from veh to nav: [[0.886355,0.378727,0.266347],[-0.449267,0.842598,0.296964],[-0.111955,-0.382876,0.916991]]]H ]?=? ?@ܿ?s?@@ ؿ W?i]@I]-^;YYhnAyHyu(\?{GzZd;Ouz4?uףujq q9uPn?l~jtYuD?yuuuBusB uƌB)uqYuBbD>VD8y%6=ٔ6Q->9I=!FyȳEEm>qQ 5i4um&?Q 9i4u)uAYD?Q E:yQ I?uѐCIu 9&я,i0G?A2Acoustic response timeout|Y~)nAyrH yybD(VD8y$'%V=ٔQ->9I=!Fy˳E E > Q 5i4 0:?Q 9i4 D) AYyQ I? CI ;i @:  i4y-XBɮ-B-E*j9Bj9iAiAziAJiAiA k$k$k$hY k@k@k@hi2fy:fyBfyJfy颙ɢ F=) ui)i=顡i4IU)IAIYO;>Q2Acoustic response timeoutԁ ڱ,я,>0G?AEX EDE>E"E~ :*Ea99VE4ZEa@a@a@a@R-@R(@RU=ٱRaɾ ZAHRS rotation from veh to nav: [[0.873645,0.402964,0.272699],[-0.473846,0.831929,0.288728],[-0.110519,-0.381463,0.917753]]RH ?@)?s?~S޿`)?z? J`iؿ`<^?iR-@IRE8^;RYCYnmAyr-HYbDmVDm8y%P=ٔqQ->9I=!FyͳE(E>Q 5i4O?Q 9i4s)DAYyQ I?CI:i:li4yB:>BJCBHBDmAB=BBDBp;B|zEBHCBHCBB=B=C5ɮB*jBjiiziJii kc%kc%kc%h k;k;k;h 2f:fBfJfk#@15<=2Acoustic response timeoutqɢ}RA=)y }iy)M^i=顁iQIԉԱAzAqAIIO> 2Acoustic response timeout 3я,0G?A2+Ʊ@2@2=ٱ2ɾ :AHRS rotation from veh to nav: [[0.867686,0.413761,0.275542],[-0.484906,0.826546,0.285813],[-0.109490,-0.381608,0.917817]]2H? {?|?@߿s?J? Blؿ ^?i2+Ʊ@I2Y^;2VCYF mAyFHbD VD 8yEAݽ%MP=ٔM-Q-M>9IIQ=U!FyUгEU EU>aQ 5ei4ed?Q 9mi4e)eAYiymQ Im?eACIel:iey:e (i4yu[Bɮ}By*jBjiiziJii k#k#k#h k:Թk:k:h2f:fBfJfl@ɢ0=) A 9я,0G?A2\@2W@2vC=ٱ2ʾ :AHRS rotation from veh to nav: [[0.861486,0.424312,0.278930],[-0.496096,0.820478,0.284087],[-0.108314,-0.383112,0.917329]]2H J?'??߿[A?y.?z ؿZ?i2\@I2"=^;0YFlAyFHbDR'VDR8yVx%VU=ٔZIQ-Z>9XI\=^!Fy^ҳE^ Eb>`Q 5fi4b&y?Q 9fi4b)bAYhyj.Q Ij?bfCIb:ib:b5i4yn`BɮrʡBp*j|Bj|iiziJii  k"k"k"h!iߡIߥA2Acoustic response timeout2f:fBfJfyR@9ɢ= <-=)A ETiA)E h=AAiEIIIII O]=AEES EEDEE?EA"EE9*EEa99VEE^4ZEAaM@aM@aM@aM@A@AABB>BKCBHBkAB=BBDBBzEiM 2Acoustic response timeout Z@я,z1G?A@@e=ٱ֜˾ AHRS rotation from veh to nav: [[0.854942,0.435064,0.282476],[-0.507583,0.813909,0.282687],[-0.106923,-0.385061,0.916676]]H@[???> ??`L_פؿiU?i@I;c^;XCY kAy5HԉyZd;O?tVο+η~*?rv 9V-?T㥛 K7Yh1?yI BoB ɌB)YfBbDAVD8y %=ٔ{2Q->9 I = !Fy ճEԼE>Q 5i4?Q 9%i4)AY%7?Q E%:y%GQ I-?CI~ ;i;Gi4y1ɮ5B1*jABjIiIiIziIJiIiQ k#$k#$k#$ha k#$k#$k#$hq2f=:f=Bf?Jf[S?2Acoustic response timeout颩ɢ%=) Ȁi)mg=顱iGIAV?AR?ԹA$AIII O5q>EM Q EM EEM >EI "EM 29*EM A9VEM 4ZEI BEM :aU 2EM :aU JEM V:a] :EM V:a]  Q U %=] 2Acoustic response timeout Fя,1G?A2|@2w@2_(=ٱ2?>; :AHRS rotation from veh to nav: [[0.847816,0.445919,0.286992],[-0.519621,0.806594,0.281779],[-0.105835,-0.388024,0.915552]]2HO!??^?@?`?@aؿ4L?i2|@I2S^;0YbzkAybHtx x)xIxbD~HVD~8y ͽ%=ٔQgQ-?9H?IH?=!Fy׳E9E%?!Q 5-i4%?Q 95i4%)%AY1y53KQ I5?%CI%K:i%:%YRi4yEcBɮEBEE*jQBjQiQiYziYJiYiY k#k#k#hq kc#kc#kc#h2f:fBfJfP?颱ɢu[ =) i)gf=项iYIA AII)O]>2Acoustic response timeout1 xLя,j61G?AET E@E?E"E9*E9VE^4ZEa@a@a@a@>@>@>a=ٱ>hξ JAHRS rotation from veh to nav: [[0.840003,0.457589,0.291558],[-0.532330,0.798999,0.279689],[-0.104972,-0.390145,0.914750]]>HO?$I??e?@m?`pߺ"ؿE?i>@I>L^;>WCYRjAyRmHZ=Z=bD^jVD^$8yfĽ%fQ=ٔf<Q-j>9jK?IjK?=j!FyjڳEnEn>pQ 5vi4r?Q 9vi4r)r AYtyzOQ Iz?rӑCIrl:ir :r `i4y~nBɮ~B~E*jBjiiziJiiBJ>BLCBVHBjAB=BBB;BzE k&k&k&h k&k&k&h2f:fBfJfK?)ɢ-/A =)) -i))5ePe=11i5YIY2Acoustic response timeoutQAIIO&>yԩ  2Acoustic response timeoutSя,geP1G?A2@2{@2=ٱ2Ͼ :AHRS rotation from veh to nav: [[0.831596,0.469570,0.296566],[-0.545503,0.790863,0.277420],[-0.104275,-0.392480,0.913831]]2H@p?m ??t`N?A?Ʊcٿ>?i2@I2r^;09III=U!FyUܳEUBEU>YQ 5ei4]w?Q 9ei4])]AYiym*SQ Im?]CI]:i] :]ni4yuoBɮ!B E*j Bj i i ziJii k%k%k%h) k%k%k%h92fI:fIBfIJfMG?iɢmS=)q uviq)uE$d=qqi} yID)zD-AAE5W E5?E5CE1"E5 :*E5?9VE55ZE1BE5*:aE2E5/:aEJE5>9aE:E5C9aEԩAIIO5.>%2Acoustic response timeout 8Zя,=j1G?A>d@>V@>=ٱ>Ͼ ZAHRS rotation from veh to nav: [[0.822441,0.482911,0.300647],[-0.559325,0.782813,0.272687],[-0.103667,-0.392429,0.913922]]>HoQ?@?=? ?@s?㉺ٿ>?i>d@I>^;l>YCYziAyzH}2Acoustic response timeoutbDuVD.8y5(ܽ%5<=ٔ=Q-=>9QIQ=U!FyU߳E] E]>aQ 5mi4e͸?Q 9mi4e)eAYiyulWQ Iu?e CIe;ie;e~i4yyɮ}9By*jBjiiziJii k31k31k31h ksBksBksBh2f:fBfJf:C?ɢ<) [ɾi)rb=i%9 !I) AAIIIYO9>bE^4jE4rE_0EES EEAEE=EA"EE9*EE 9VEE|4ZEAaU@aU@aU@aU@1Bu<AqB}Q>B}MCB}uHB}LiAByByB}DB};B}zE) - <5 2Acoustic response timeouta `я,%1G?AzY@zT@zU=ٱzYϾ AHRS rotation from veh to nav: [[0.811489,0.497987,0.305768],[-0.575177,0.773093,0.267392],[-0.103229,-0.392856,0.913787]]zH???g-??7m`$ٿ@=?izY@Iz^;zVC9YEIiAyEsHyl?|?5^ɿX9vw?M 9}?5^I?333333ӿS㥻YMb?y/ݽ BuB B)BYܠBbDVDO8y4~%@=ٔЇQ->9I=!FyEA<E>Q 5i4ฉ?Q 9i4/)AYp?Q Ea:yvQ I?SCIT ;i ;i4yuBɮKB*jBjiiziJii k&k&k&h1 kIkIkIhA2fU>:fU>BfU=x@JfUּ^@qɢuO<)q }־iy)}Va=yyi}N Ia2Acoustic response timeoutAIIOF>  !Uɦ9QYUGAԉDE =DE <EI  EM BEM >EI "EI *EM (9VEM 4ZEI BEM :a] 2EM :a] JEM M+:a] :EM O+:a] Թ 5 2Acoustic response timeoutF$gя,V1G?A2ָ@2ȳ@2_=ٱ2ξ :AHRS rotation from veh to nav: [[0.800056,0.513753,0.309788],[-0.591013,0.763636,0.259930],[-0.103026,-0.391048,0.914586]]2H?p?@? o?`?_`ٿID?i2ָ@I2T^;0Y^hAy^HbDjVDjz8yrp%rp=ٔvqQ-v?9tIt=v!FyzEz:lEz?|Q 5i4~︉?Q 9i4~+)~$AY y {Q I ?~|CI~d:i~p:~i4ywBɮeBԙ*jBjiiziJii ks.ks.ks.h kcCkcCkcCh 2f:fBfJfEu]@9ɢ=<)EEY EiA)Eg_=AAiEj IIIA$AIIO+>2Acoustic response timeouti I oA Mmя,}̷1G?AEQ E<E=E"E29*E8VE|4ZEa@a@a@a@:@:@:)8=ٱ:; FAHRS rotation from veh to nav: [[0.788123,0.529981,0.313020],[-0.606846,0.754101,0.251135],[-0.102952,-0.387880,0.915942]]:HN8?@??Hk@!??@ [ؿeO?i:@I:?^;:WCYNDhAyRHbDZVDZ8yb :%bM=ٔfBQ-f>9fH?IfH?=f!FyfEjMLEj>lQ 5ri4n?Q 9ri4nw)nAYtyv^Q Iv?nCIn;in:ni4yzBɮz}BzE*j Bj i i zi JiiB%^>B%NCB%HB%gAB%=B!B%DB%;B%zE k<k<k<hA2fQ:fQBfQJfU#\@qɢu<) ai)t^=i I 2Acoustic response timeoutAIIO&>!Q 2Acoustic response timeoutԡ 6tя,z1G?A6%l@6g@6.2=ٱ6T˾ BAHRS rotation from veh to nav: [[0.775408,0.546560,0.316251],[-0.623014,0.743819,0.242047],[-0.102940,-0.384714,0.917278]]6H#? l}?v=?]?`g?LZ(ؿVZ?i6%l@I6|^;4QYgAyH==bDVD8yjH%/=ٔd̷Q->9I=!FyE4E>Q 5i4?Q 9i4Q)AYyQ I?CIF:i:i4yBɮB*jBjiiziJii kSAkSAkSAh kSAkSAkSAh)E5W E5EE1E1"E5 :*E5A9VE1ZE1BE5*:aE2E5/:aEJE5V:aE:E5V:aM2fY:fYBfYJf] Z@1ɢ=쿳<)9 =i9)=8h\=9AiE\uAIIԉ 2Acoustic response timeoutAIIOi>ԩ qazя,1G?Azī@z@z}<=ٱz9,Ⱦ AHRS rotation from veh to nav: [[0.762500,0.563623,0.317683],[-0.638743,0.733926,0.230997],[-0.102960,-0.379053,0.919629]]zHff?4 ?@T?p@R|?R?[ hBؿ`m?izī@Iz^^;zVC  Ss@iI `etAI%S)%arFi!)!I!!) ))))i))i5C1)1 1I1 9)9999Y9YM"gAyM H]2Acoustic response timeout )IbDVD8y+%^=ٔ_8Q->9I=!FyE5cE>Q 5i4r"?Q 9i4-)AYyQ I?CI:i4:i4yɮB*jBjiiziJii ksAksAksAh)Ա2f:fBfJfbY@ɢsQ<)  i)Z= i a IEEV EEBEE?EA"EE=:*EE(9VEE^4ZEAaM@aM@aM@aM@AA@AB%t>B%QCB% HB%fAB%=B%#DB%DB%ۺ;B%&{EBMCBMCBƕCB=B=Cc~5EF˼ 2Acoustic response timeout A AI I O >9 PKя,m2G?AR@R@R~=ٱR{ľ bAHRS rotation from veh to nav: [[0.749206,0.580902,0.318188],[-0.654342,0.723575,0.219716],[-0.102600,-0.372816,0.922216]]RH ?@?@/]?^'??C6׿`ʂ?iR@IR8^;RTCYugAyuHy> ףp=?~jth?~jt??D;= 9n?nѿi|?5?YV?yV=B ƌB)BY=BbD=VD=o8yEy%M@=ٔM3_Q-M>9UK?IUK?=U!FyUE] FE]>aQ 5mi4e;?Q 9mi4eI)eTAYm}?Q Em8:yugQ Iu?eOCIeG;ie;ei4y}Bɮ}B}E*jBjiiziJii k3@ k3@k3@hI2f]>:f]>Bf]n@Jf]@颙ɢr<) ~i)X=顡i(IiaIeAm2Acoustic response timeoutp9AIIOm>EM P EM XEM >EI "EM 9*EM 9VEM 4ZEI BEM g:aU 2EM l:aU JEM :a] :EM :a] a  2Acoustic response timeoutorя,)<2G?A 2;t@2-o@2S=ٱ2 >AHRS rotation from veh to nav: [[0.735748,0.598247,0.317452],[-0.669600,0.712849,0.208524],[-0.101547,-0.365987,0.925063]]2H>? $?@"Q? \m??Sl׿`?i2;t@I2^;2VCYFJfAyF HHJ?AAbD VD g8yE%E]=ٔM9;Q-M>9IIQ=U!FyUEUkbEU>YQ 5ei4]eQ?Q 9mi4]9)]AYiymDmQ Im?]CI]8:i]:]i4yuBɮѢB*jBj1i1i9zi9Ji9i9 k$k$k$hQ2f:fBfJfIڍ@颹ɢi <) Ui)TV=iIqԙlX}2Acoustic response timeoutAm $AIq I O > ޛя,f92G?AEU EHE=E"E:*E[9VE|4ZEa@a@a@a@PR˩@Rư@R=ٱRX ^AHRS rotation from veh to nav: [[0.721931,0.614971,0.317216],[-0.684720,0.701048,0.199223],[-0.099867,-0.361030,0.927192]]RH ?׭?@EM?:n?"?@鐹׿?iR˩@Bf>BfRCBfO HBfeABf=BdBfDBf;BfP{EIR^;RWCY} fAy}t HbD5VD5t8y%7=ٔiwQ->9H?IH?=!FyE<E>Q 5i4j?Q 9i40$)AYyrQ I?ǓCIY;i:Ii4yɮ٢B2Acoustic response timeout*jBjiiziJii k$k$k$h  k$k$k$h2f):f)Bf)Jf-@IɢM<)I UPiQ)U'T=QQiUYIYaaaaA S?A Q?AM AIQ Ia O >!  2Acoustic response timeoutEя,R2G?A2 %@2@2~=ٱ2˻ :AHRS rotation from veh to nav: [[0.708042,0.631192,0.316660],[-0.699432,0.688627,0.191281],[-0.097325,-0.356917,0.929052]]2HG? 2? 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CI K:i d: %j4y%Bɮ%B!*j9BjAiIiQziYJiaii k-k-k-h kSDkSDkSDh2f:fBfJf@AɢE )I M85iI)UL=Qqiu;IIIO )>A]2Acoustic response timeoutiԙ bE˴4jE!4rE0E] V E] @E] ?EY "E] =:*E] 9VE] ^4ZEY am @am @am @am @я,2G?AB*>B*TCB*# HB*cAB(B(B*DB*';B*{Ef6@f(@f,=ٱf rAHRS rotation from veh to nav: [[0.662207,0.678115,0.318813],[-0.744322,0.644343,0.175518],[-0.086403,-0.353529,0.931425]]fH0??`mg?}t?aw?`7ֿ:?if6@If@T^;fUCYzdAyz5 H||bD-VD-8yE=ɽ%ED=ٔEۻQ-M>9III=M!FyMEUPEU>YQ 5ej4]ڹ?Q 9ej4].N)]&AYayeRQ Im?]єCI]M;i]I;]w4j4yuBɮu2Bq*jBjiiziJii k(k(k(h kC8kC8kC8h2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedY2Acoustic response timeout颡ɢ) ?i)&I=顩i3IIIO&>ԉԱM 2Acoustic response timeout  @9 Y AGҴя,82G?A2-@2@2E=ٱ2Ⱥ >AHRS rotation from veh to nav: [[0.653322,0.685866,0.320559],[-0.752458,0.634970,0.174984],[-0.083530,-0.355528,0.930926]]2H?? ?#@Q?@e?>b@ֿ$?i2-@I2=C^;2TCYFcAyF HbDUVDUr8yD$%H=ٔQ->9I=!FyEE>Q 5j4?Q 9j4V)AYyxUQ I?CI:i:Bj4yBɮHB2E*jBjiiziJii k3Fk3Fk3Fh k3Fk3Fk3Fh2f :f Bf Jf P@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder1ɢ5)1 =Ci9)=8F=99i=vAIAAUY?AU`?Ej EBEE"EN:*E(9VEZEBEk;a%2Ek;a%JEN+:a%:EP+:a%IIO=/>2Acoustic response timeout) 5я,@2G?A:R@:M@:=ٱ: BAHRS rotation from veh to nav: [[0.644690,0.693132,0.322402],[-0.760215,0.625614,0.175157],[-0.080292,-0.358017,0.930256]]:HM?`".? ;?@S ?k? ֿ@?i:R@I:[^;:WCYJcAyN H%2Acoustic response timeoutbD-xVD-18ye{߽%mL=ٔmQ-m>9qIq=u!FyuEufE}>Q 5j4@?Q 9j4])AYy=XQ I?8CI`:i6:Pj4yɮ^B*jBjiiziJii k@k@k@h k@k@k@h2f:fBfJf @颁ɢ) Oi)%>D=顉iII1IIQOu=E%T E%AE%=E!"E%9*E% 9VE%|4ZE!a-@a-@a-@a-@Be>BeUCBe HBebABaBaBaBe";Be{Eyqu>2Acoustic response timeoutԱ Hя,93G?A2@2@2c=ٱ2[ :AHRS rotation from veh to nav: [[0.636176,0.699583,0.325367],[-0.767715,0.615941,0.176723],[-0.076774,-0.362216,0.928927]]2H[?b??`ɵ?ޞ?@~.׿Ĺ?i2@I2@H^;2UC@YbAyu Hy5^I ?kt?~jt8? 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ؿl?iNv@INQW^;NZCY^uaAyb H``dfAbDjXVDj8yrJȼ%vI=ٔvQ-v>9xIx=z!FyzEzZEz>Q 5 j4N?Q 9 j4Wr)!AY y ZCQ I ?˕CI):i:҈j4yѿBɮB=E*j)Bj1i1i1zi1Ji1i1 k#'k#'k#'hI ksCksCksChY2fi:fiBfiJfm)T?y频ɢN) hi)8=顙iIDzD@AE EUECE"E:*EP9VE5ZEBE5;a2E6;aJE:a:E:aAaIqIԩO>2Acoustic response timeout Yя,o3G?AF:@F5@F*v=ٱFϾ RAHRS rotation from veh to nav: [[0.594442,0.724038,0.349869],[-0.801885,0.566277,0.190552],[-0.060156,-0.393827,0.917214]]FH?@Q+??d?` `?d?̮t4ٿY?iF:@IFI^;FVCYZ`AyZ( Hr2Acoustic response timeouttt t)tItbD~IVD~8y % H=ٔϻQ->9I=!FyE ͼE>!Q 5-j4%Y`?Q 9-j4%w)%"AY)y5EQ I5?%CI%:i%|:%j4y=տBɮ=B9*jQBjQiQiQziQJiYiY k'k'k'hi kAkAkAh2f:fBfJfrS?颩ɢ}) ui)5=项i뼉IA]?AZ?AIIO5 >EV E@E?E"E=:*E9VE^4ZEa@a@a@a@BA<B>BBa HB aABBBBE;B{E12Acoustic response timeoutԉ Aя,x3G?AB@B@Bo=ٱBѾ JAHRS rotation from veh to nav: [[0.586531,0.728403,0.354133],[-0.807811,0.557701,0.190817],[-0.058508,-0.397993,0.915521]]BH?@O???l? xٿ`K?iB@IBZd^;BXCYV]`AyV Hye +?/$ClǿeV?e1ed;a a9e|?5^?p= ףxƿYe-?yeeK7eBe-wB eB)eBaYeBbDRVD8yA%B=ٔQ->9I=!FyEE>Q 5j4j?Q 9j4~)!AY4?Q E:yeQ I?CI ;i ;ʥj4yɮɣB*jBjiiziJii k3&k3&k3&h ksAksAksAh2f2>:f2>BfW/@Jf?1ɢ5⥽)1 =$zi9)=SP2=99i=鼉AIAQnManaging dock network, ignoring radio surface power off2Acoustic response timeoutAIIO">ԁԩE E?EE"E*E?9VEZEBE:a2E:a JEA9a :EF9a  2Acoustic response timeout Flя,T3G?A%@%@%ok=ٱ%BӾ uAHRS rotation from veh to nav: [[0.578157,0.733252,0.357877],[-0.813901,0.549168,0.189685],[-0.057447,-0.400944,0.914300]]%HB?v?s?y Ȓ?@G?i`ٿ`A?i%@I%Pc^;!Y_Ay H =a=bDVD?8yE%E?=ٔE'#Q-E>9III=M!FyMEM%ǼEU>YQ 5ej4]t?Q 9ej4])]K AYaye˒Q Ie?];CI]{:i]/:]j4yuؿBɮuBq*jBjiiziJii kEkEkEh kEԱkEkEh2f:fBfJf?aɢm^@̼)i i).=顑iF缉IAI II9OeU>2Acoustic response timeout B >B WCB HB `AB =B B DB q;B {EE Y E CE >E "E :*E 09VE 4ZE BE ;2E ";JE 9::E 9:9 Nя,޽3G?A2+@2&@2lf=ٱ2abԾ :AHRS rotation from veh to nav: [[0.567726,0.739948,0.360782],[-0.821295,0.539041,0.186838],[-0.056226,-0.402381,0.913744]]2H*?? 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H??Q? ɬٿc=?i2+@I2^;0YF_AyF| HbDVDm8y%Q=ٔ\MQ->9I=!FyEUE>Q 5j4}?Q 9j4)2AYywQ I?]CI;i;Yj4yɮB*jBjiiziJii kJkJkJh kXkXkXh2f :f Bf Jf -?%2Acoustic response timeout)ɢ5)1 5Di1)5{+=99i=弉AIAAQzAQԹAIIO'>  2Acoustic response timeoutя,Š3G?A:s@:f@:_=ٱ:Ӿ BAHRS rotation from veh to nav: [[0.554743,0.749129,0.362030],[-0.830227,0.526963,0.181752],[-0.054621,-0.401393,0.914276]]:Ht?@?+?8?C? 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CI f;i ; j4y!ɮ%1B!q*jBjiiziJii krkrkrh krkrkrh2f:fBfJf=@)ɢU'+)Um UiQ)]_=YYi]?ۼYIaAԡIIO&>2Acoustic response timeout BE >BE YCBE HBE W^ABA BA BA BE ;BE G|EE Q E =E @E "E 29*E 8VE 4ZE BE :a 2E :a JE 9a :E 9a 5я,:?4G?ANA@N<@NVN=ٱN)1ž VAHRS rotation from veh to nav: [[0.490862,0.797792,0.350118],[-0.869781,0.471957,0.144005],[-0.050355,-0.375213,0.925570]]NHIj?`?@Vh?>`4?n?ȩ }ؿD?iNA@INg^;NWCY^v]Ayb-H`bp=f=f>bDjVDjx8yr Ѽ%vI=ٔv1Q-v>9xIx=z!Fyz'EzAGEz>|Q 5k4~?Q 9 k4~)~AY y hQ I ?~DCI~:i~N:~Lk4yBɮABQE*j)Bj)i)i1zi1Ji1i1 krkrkrhI k#rk#rk#rhY2fi:fiBfiJfmv%<@Թ2Acoustic response timeoutɢ1) Ni)y=ir$ټ!I!AIIO'>i1I5pA 2Acoustic response timeouta я,X4G?A6f@6Y@6I=ٱ6 BAHRS rotation from veh to nav: [[0.472999,0.811033,0.344236],[-0.879689,0.456534,0.133131],[-0.049182,-0.365791,0.929397]]6HE??`?@j& 7?k ?f.i׿?i6f@I6Y^;6UCYJm]AyJ(HbD VD 8yE%MF=ٔM:Q-M>9IIQ=U!FyU)EU5KEU>YQ 5ek4]?Q 9mk4]5)]AYiymзQ Im?]{CI]:i]Q:]k4yqɮ}BBy*jBjiiziJii krkrkrh krkrkrh2f:fBfJfz:@ɢ>a9) QEeS EeAEe=Ea"Ee9*Ee 9VEe|4ZEaam@am@am@am@i)Y=顑iּIAzAAI I-2Acoustic response timeoutԁO?>Ա я,r4G?A2/@2"@2}B=ٱ2z :AHRS rotation from veh to nav: [[0.454006,0.823944,0.339108],[-0.889733,0.439517,0.123283],[-0.047465,-0.357687,0.932634]]2Hn?]??@x !?@?[MXֿ $?i2/@I2~v^;2XCB2Acoustic response timeoutYJk]AyJ'HbD%VD%{8yeʊ%eH=ٔmQ-m>9iIq=u!Fyu,EuWEu>yQ 5k4}?Q 9k4}\)}AYy_Q I?}CI}]:i}U:}$k4yBɮLB[E*jBjiiziJii krkrkrh krkrkrh2f:fBfJf8@ ɢ Z)8) i)w=i8ԼI!ԱB>BB;HB]AB=BBB;B|EBXCBXCBB=B=Cj5EuW EuCEqEq"Eu :*Eu09VEqZEqBEu-:a}2Eu2:aJEu9:a:Eu9:a]+wAE<e2Acoustic response timeout A $AI! I1 Oe >9 "я,4G?A20@2+@2L8=ٱ2a :AHRS rotation from veh to nav: [[0.433800,0.836132,0.335710],[-0.899886,0.420662,0.115102],[-0.044980,-0.352032,0.934907]]2H_??`E|?!?Vw?ֿ@?i20@I2q^;2VCYF-]AyFHy?~jtL7A`?f?+= 9MbX?mͿ{Gz?Y?yn#=BCrB ސB)YBbDVDb8y%C=ٔ»Q->9H?IH?=!Fy/EF]E>Q 5k41?Q 9k4_)AY?Q E,:y⤿Q I?CIB;i:3k4y Bɮ WB *j!Bj!i)i)zi)Ji)i) ksoksoksohA kokokohQ2fe>:fe>Bfe@JfeJ?@颁ɢ;) i)pm =顉iXѼI U仍2Acoustic response timeoutAIIOE>9EuQ EqEu?Eq"Eu29*EqVEu^4ZEqa@a@a@a@i E 2Acoustic response timeout.)я,4G?A6t@6n@6*=ٱ6{" >AHRS rotation from veh to nav: [[0.413016,0.847550,0.333281],[-0.909769,0.400716,0.108385],[-0.041690,-0.347974,0.936577]]6Hn?!?{T?@U?? bX`3Eֿ p?i6t@I6W^;6XCYe\AyeHbDVDs8y %>=ٔQ->9I=!Fy1EZE>Q 5k4?Q 9k4)AYy䧿Q I?8CI?;i@;Bk4yɮ_B*jBji i zi Ji iY kCqkCqkCqh2f:fBfJfz@ɢz9) i) =i)ϼI2Acoustic response timeoutԑ_AAN?Թ A5 AI9 IQ O >B >B B HB :]AB B B DB ;B |EEu V Eq Eu <Eq "Eu =:*Eq VEu 4ZEq BEu :a 2Eu :a JEq a :Eq a 0я, A4G?A2@2z@27=ٱ2 :AHRS rotation from veh to nav: [[0.392038,0.857844,0.332279],[-0.919179,0.380044,0.103327],[-0.037642,-0.345932,0.937504]]2H$? vs?D?i R?s?E#ֿ?i2@I23^;0 BC)BvABBCF@DFwAiFIFFDIHiJvA JTJ~F)HJ3C JvAN`eNLFLPPRApAIP)PiP)TIVvAVHVF TXZvAZLiZyFXYXYb]AybHbDjVDjy8yEJ=%Ed=ٔE+9Q-M>9MK?IMK?=M!FyM4EUɃEU>yQ 5k4}gʺ?Q 9k4}:)}AYyުQ I?}qCI}?;i}I;}MOk4yBɮcBeE2Acoustic response timeout*j9Bj9iAiAziIJiIiI kXkXkXh2f:fBfJfӷ@ɢX) Ji) k=i̼ I 1111A- $AI1 IA I O > 2Acoustic response timeout! :6я,d 4G?A2\@2O @2% =ٱ2~ :AHRS rotation from veh to nav: [[0.373253,0.865561,0.333895],[-0.927118,0.361075,0.100382],[-0.033675,-0.347028,0.937250]]2Ha?`?^??@?=@5ֿ?i2\@I2M^;2VC|Y ]AyHbDVD`8y}%}G=ٔ}-Q-}>9H?IH?=!Fy6EHKE>Q 5k4kӺ?Q 9k4)lAYyyQ I?CI;i;]k4yɮdB*jBjiiziJii kVkVkVh krkrkrh2f:fBfJf@!ɢ%\\)! %i))-=))i-ʼE=Q E=?E==E9"E=29*E=?9VE=|4ZE9aE@aE@aE@aE@III)AAII %= %=2Acoustic response timeoutOe4>Qԁ se<я,i4G?A22Acoustic response timeout6~@6y@65<ٱ6O BAHRS rotation from veh to nav: [[0.356773,0.871588,0.336225],[-0.933708,0.344260,0.098353],[-0.030025,-0.349026,0.936632]]6H@^? ?? \?-?pVֿ?i6~@I6^;4Y=\Ay=HYaa i)iIibD}VD}d8yC%I=ٔZQ->9K?IK?=!Fy9E-E>Q 5 k4ۺ?Q 9 k4\)AY yQ I?CI;i";*lk4yBɮuBoE*j9Bj9i9i9zi9Ji9iA k#Zk#Zk#ZhQ krkrkrha2fy:fyBfyJf}Y{@频ɢvR) i)K<顙iNjȼIԁAAAAB>BZCBHB]ABBBBܻ;BA$AIII!%>!EMS EMBEM9EI"EM9*EM(9VEM4ZEIBEM:aU2EM :aUJEMN+:aU:EMQ+:a]O]3>Թ%2Acoustic response timeout LCя,k 5G?A2@2@2P`<ٱ2 :AHRS rotation from veh to nav: [[0.341565,0.876226,0.339943],[-0.939487,0.328478,0.097297],[-0.026410,-0.352606,0.935399]]2H`4? ??F?n?; ֿ?i2@I2&^;2UCYn\AynHye?ʡE?rh|?el?e>e=a a9eQ?ˡERQ?Ye(?ye'e>eBe-wB e B)eZBaYeBbD}VD}j8ym%J=ٔQ->9H?IH?=!Fy;EX*E>Q 5k4\뺉?Q 9k4)AYs?Q E7:y]Q I?*CI:i:Թyk4yBɮzB*jBjiiziJii ksYksYksYh k#qk#qk#qh 2f>:f>Bf@JfY@ɢ\) ci)l<<i*fƼIu2Acoustic response timeoutI IOe4>EUT EUAEU?EQ"EU9*EU 9VEU^4ZEQa]@a]@ae@ae@- 2Acoustic response timeoutԁ uIя,'5G?A2}@2x@2)<ٱ2r :AHRS rotation from veh to nav: [[0.327285,0.880235,0.343615],[-0.944659,0.313431,0.096854],[-0.022445,-0.356298,0.934103]]2H@>?@*?@?:??q˸?ֿ+?i2}@I2]^;2XCYF\AyFHI=)p<bD%VD%F8ye{f%eM=ٔm"Q-m>9iIq=u!Fyu>EuEu>Q 5k4?Q 9k4R%)QAYy!Q I?cCI ;i;͇k4yBɮB*jBjiiziJii kXkXkXh2f :f Bf Jf R@1ɢ=0lk)9 =i9)Eԁ2Acoustic response timeoutԩB >B B B B B B B ;B |EbE|4jE4rE60Ee S Ee REe ;Ea "Ee 9*Ee 9VEe 4ZEa BEa au 2Ea au JEe !:au :Ee ":au ^Pя,DA5G?A2g@2Z @2<<ٱ2O :AHRS rotation from veh to nav: [[0.314517,0.883013,0.348379],[-0.949077,0.299559,0.097556],[-0.018216,-0.361322,0.932263]]2H !?A?`K?^+?t?U׿?i2g@I2H^;2VC2Acoustic response timeoutYu\AyHԱbDqVD*8y]r%]/=ٔ]Q-]>9aIa=e!FyeAEmEm>qQ 5}k4u ?Q 9}k4u1)uAYyy}Q I}?uCIu:iu :u&k4y#BɮByE*jBjiiziJii kYkYkYh kYkYkYh2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢpFS) Si)p9<iQ=¼!I)IIOU1>}G몿9Y4A  2Acoustic response timeout9 Vя,q[5G?A2@2@2M[<ٱ2 :AHRS rotation from veh to nav: [[0.302315,0.885418,0.353045],[-0.953114,0.285988,0.098916],[-0.013385,-0.366396,0.930363]]2H!Y? XU?`H?M? R?|i@s׿?i2@I2'^;2XC>̏C>"s@i@I@@@ BvABuDDDFtAIF)DiD)HIHHH HLNuALiLLiPP)P PIP T)TTTTYTY^<\Ay^mHbD%RVD%8y]&%ep=ٔehQ-e?9iIi=m!FymCEmEu?yQ 5k4}C?Q 9k4}:)} AYyQ I?}ՙCI}':i}L:} k4EU E?E=E"E:*E?9VE|4ZEa%@a%@a%@a%@y%&Bɮ%B)*jYBjiiiiqziqJiqiq k\k\k\h k\k\k\h2f:fBfJf‘@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder ɢ. ) i)<ic!I)IIOE>2Acoustic response timeout1a \я,>u5G?Ai I &2Acoustic response timeout,N@=@N38@NQ<ٱNGþ VAHRS rotation from veh to nav: [[0.290224,0.887047,0.359050],[-0.956924,0.272213,0.100979],[-0.008165,-0.372890,0.927839]]NH?b?@?`k?ٹ?o׿`ܰ?iN@=@IN|^;LY]l\Ay]H aabDucVDu8y<%H=ٔQQ->9I=!FyFEE>Q 5k4&?Q 9k4E)2#AYyRQ I?CI :i:Fk4yɮB*jBjiiziJii kZkZkZh kZkZkZh2f:fBfJf@^B*** querying acoustic contact ***XY颡ɢHx) i)<顩ikIIQIiiO=B-<A-<B5>B5YCB5HB5\AB5=B1B1B5d;B5}EE-P E->E)E)"E-9*E-9VE)ZE)BE-i:a52E-n:a5JE-#9a=:E-(9a=ԡ2Acoustic response timeout ʙcя,C5G?A2ۘ@2՟@2HC;ٱ2.Ǿ :AHRS rotation from veh to nav: [[0.278737,0.888292,0.365025],[-0.960363,0.258995,0.103077],[-0.002977,-0.379288,0.925274]]2H?l?@\?J_? Hc?bh`AFؿ؛?i2ۘ@I2^;2YCYB\AyFQHPyS? r?Mb`?:?C>; 9n?I +?HzG?YVN?y94==>BrzB RB)BYBBbDbVD8y0a%H=ٔOQ->9I=!FyHEPE>Q 5k43?Q 9k4M)$AYY?Q Ey:ymQ I?9CI:i:k4y)BɮB*jBjiiziJii k[k[k[h k[k[k[h!2f5d>:f5d>Bf5<@Jf5@QɢUe)Y ]ziY)]2D1D5%=E=R E=@E=AE9"E=s9*E=9VE=A4ZE9aE@aE@aE@aE@!  2Acoustic response timeoutiя,5G?A2|~@2oy@2eٱ2˾ :AHRS rotation from veh to nav: [[0.267872,0.888257,0.373154],[-0.963453,0.246215,0.105533],[0.001865,-0.387785,0.921748]]2H$?l?@?? 8?ೌ^?xؿ~?i2|~@I2}^;0|Y\AyLH1 )IbDrVD+8yڮ%J=ٔCQ->9I=!FyKEE>Q 5k4H??Q 9k4U)9&AYyQ I?dCI;iV;k4y3BɮBE*jBjiiziJii kXkXkXh1 kYkYkYhA2fQ:fQBfQJfU@qɢuߊ)q uiy)}e2Acoustic response timeoutQB- >B) B- HB- \AB- =B) B- DB- ;B- e}EBYCBYCBɓCB=B=C 5ԁ EE T EE EEE <EA "EE 9*EE A9VEE 4ZEA BEE :aU 2EE :aU JEE V:aU :EE V:aU xpя,5G?A;ɰ;j'@j"@j4pٱjо vAHRS rotation from veh to nav: [[0.257669,0.888085,0.380673],[-0.966217,0.234530,0.106868],[0.005629,-0.395349,0.918514]]jH}?@1k?\???`[? w? eMٿ wd?ij'@Ij!k^;jZCY~[Ay~HI R=) p;bDgVD!8y%t%%Q=ٔ-Q-->9-K?I-K?=-!Fy5ME5޼E5>9AQ 5Mk4EJ?Q 9Mk4E4])E'AYIyMQ IM?ECIE:iE :Ebk4yYɮ]BY*jiBjiiqiqziq2Acoustic response timeoutJii kc[kc[kc[h kc[kc[kc[h2f):f)Bf)Jf-OX@iɢm()i mii) <顑iIaIIO&>ԑM 2Acoustic response timeoutԹ vя,ū5G?A6 ח@6ў@6}ٱ6eNӾ >AHRS rotation from veh to nav: [[0.248117,0.888215,0.386668],[-0.968695,0.224080,0.106859],[0.008270,-0.401077,0.916007]]6H@P? Al?,? ?#[???ٿO?i6 ח@I6^;6XCYJ[AyJHbD VD d8yE%MJ=ٔM(ֻQ-M>9IIQ=U!FyUPEUȼEU>YQ 5ek4]oV?Q 9mk4]e)]7)AYiymQ Im?]CI]H:i]:]|k4y}6Bɮ}ƤBy*jBjiiziJii kZkZkZhԹ kZkZkZh2f:fBfJf@DqzDqE}U E}IE}CEy"E}:*E}c9VE}5ZEya@a@a@a@ɢ) 磿i){<项i"I2Acoustic response timeoutIIOU2>9 |я,{5G?A2Acoustic response timeout6U@6H@6ZUٱ6Qվ >AHRS rotation from veh to nav: [[0.238914,0.888604,0.391539],[-0.970994,0.214684,0.105264],[0.009481,-0.405331,0.914121]]6H? ro??b@z?? j?ٿ`z@?i6U@I6j^;4YJ[AyJ HbD-VD-R8yw<%?=ٔ 79Q- >9I=!FyuRE쩼E>Q 5k4nc?Q 9 k4n)*AY y Q I ?CI ;i3;vk4yɮ¤B*j)Bj)i1i1zi1Ji1i1 kZkZkZhI kZkZkZhY2fi:fiBfiJfmГ@颉ɢM) i)Wu<顑i~IAA?AB>BWCBHB\AB=BBDB ;B}EIQIaO>IEX EAE=E"E~ :*E 9VE|4ZEBE:a2E:a JE:a :E:a2Acoustic response timeoutiԙ 7я,5c6G?A2&1@2,@2j,ٱ2վ :AHRS rotation from veh to nav: [[0.228446,0.890820,0.392750],[-0.973500,0.204649,0.102066],[0.010547,-0.405658,0.913964]]2H=??`"?&1?!??Nٿ`1??i2&1@I2^;2VCYN[AyRH ||yZd;O?Zd;Qj9I=!FyUEE>Q 5l4c?Q 9l4ru)*AY HC?Q E :y ǿQ I ? CI8:ib:pl4y@BɮФBE*j1Bj1i1i1zi1Ji9i9 k[k[k[hI k[k[k[hYq2ful=:ful=BfuA@Jfu7S]@频ɢ) 磿i)<顙iwI52Acoustic response timeoutIIO>ԡD=D<E O E <E HE "E 9*E 8VE -5ZE a @a @a @a @ 2Acoustic response timeout <я,=*6G?A6Ö@6@6YSJٱ6 9վ BAHRS rotation from veh to nav: [[0.215427,0.894130,0.392585],[-0.976442,0.192151,0.098178],[0.012349,-0.404486,0.914461]]6H??@ ?@?h? 8"?AJ?ٿCC?i6Ö@I6p^;6YCY=3[AyEHbDeVDeR8yuL%uR=ٔuQ->9I=!FyWE E>Q 5l4c?Q 9l4_}) *AYyȿQ I?2CI;i;Nl4yɮڤB*jBjiiziJii kakakah kCckCckCch!2f1:f1Bf1Jf5v\@QɢUa)Q UdiY)]8B B HB o\AB =B B B <;B }Eя,D6G?AE&T E&AE&@E$"E&9*E& 9VE&4ZE$BE&:a*2E&:a.JE&:a.:E$a.0FC@F>@FEwٱF{Ӿ RAHRS rotation from veh to nav: [[0.200122,0.898266,0.391240],[-0.979655,0.177309,0.094010],[0.015076,-0.402094,0.915474]]FH??@ ?@UY ? ??ٿK?iFC@IF6^;FWC VsC)VvAVTVh}FTXZwAiZCIXXI\i^vA ^H\)\b@C `bm``ddId)did)ffCIjvAj@h hhjvAn@illilnXA)p pIpYpYtytbDVDb8ٔQQ->9I=!FyZE%&E%>)Q 55l4-c?Q 95l4- )-)AY1y5ʿQ I5?-WCI-:i-;-"l4yAɮAA*jQBjYiYiYziaJiaia kc\kc\kc\hq ks\ks\ks\h2Acoustic response timeout2f:fBfJf*t[@ɢÙ) i)<i$뱼IQIIIO5=iԙ] 2Acoustic response timeout $я,^]6G?A2 @2@2ٱ2Ѿ :AHRS rotation from veh to nav: [[0.183636,0.902859,0.388745],[-0.982824,0.161267,0.089726],[0.018318,-0.398545,0.916966]]2H`?@9?3?Jsb?`E??`ٿW?i2 @I2jq^;0\Y<[AyH!!AI I)IIIbDUVDU]8ye/;%m<ٔmQ-m>9iIq=u!Fyu]Eu%Eu>Q 5l4b?Q 9l4T)()AYy̿Q I?CIl:i::1l4yɮ٤B*jBjiiziJii kekekeh k3|k3|k3|h2f:fBfJf^Z@ɢ)! %i!)-m2<))i-pIER EBE<E"Es9*E(9VE 4ZEa5@a5@a5@a5@2Acoustic response timeoutA!I)I9O:>A ] 2Acoustic response timeout_Sя,Tw6G?A2*@2%@2ٱ2ξ :AHRS rotation from veh to nav: [[0.166413,0.908197,0.384039],[-0.985814,0.144604,0.085209],[0.021853,-0.392771,0.919377]]2HM? ??ɋ `?Aе?`?'#ٿk?i2*@I2d^;2XCY1y1bDEVDEJ8ٔ}Q-}>9I=!Fy_E/E>Q 5l4a?Q 9l4w)(AYyοQ I?CI:i:y?l4yJBɮBE*jBjiiziJii kcskcskcsh kssksskssh2f:fBfJf>Y@ɢ瘽) !i!)%}BBsHBF\AB=BBB{;B&~E9AIIO<>bE1jE5^4rE5ƺ"1EU EE;E"E:*EVE4ZEBE:a 2E:aUJEN+:a]:EP+:aei2Acoustic response timeoutԑ 6я,v6G?A2@2@2`ϼٱ2=˾ :AHRS rotation from veh to nav: [[0.148777,0.913086,0.379656],[-0.988545,0.127477,0.080796],[0.025376,-0.387328,0.921593]]2H ?8?JL?`)-Q?@ ? 5?ؿ}?i2@I22y^;2ZC DDY^5[Ay^HvGM9IYM̚Ayy-ʡE?333333+--r?--) )9-x&1?uVͿS㥛пY-A?y-rh-$-=B--wB -B)- B)Y-עBbDEVDEQ8yU%]<ٔ]Q-]>9aIa=e!FyebEe)Ee>iQ 5ul4m[?Q 9}l4mA)m'AY}?Q E}H:y}OܿQ I}?mCIm. ;imu ;mNl4yɮB*jBjiiziJii ksksksh ksksksh2f{>:f{>Bf@Jf"c@2Acoustic response timeout频ɢ%)) Vi)si<顡i`IԩA!I)I9OuX>EY EDEE"E:*Ea99VEZEa@a@a@a@ 2Acoustic response timeout Daя,a6G?AJ@J@J{ٱJ8Pɾ VAHRS rotation from veh to nav: [[0.131400,0.917111,0.376352],[-0.990920,0.110598,0.076459],[0.028498,-0.382981,0.923316]]JH?X?@'?`)P?Ғ?@|.?Ăؿ΋?iJ@IJg^;JXCYbH[AybH 99====bDMVDMa8yN<%Y=ٔQ->9I=!FydE>E>Q 5l4GV?Q 9l4)'AYyt޿Q I?CIp:i:[l4yɮB*jBjiiziJii ksksksha ksksksh2f:fBfJfc@ɢ?) i)ʸY<i e IAAYIiIyO>>%2Acoustic response timeoutiBm >Bi Bm HBm o\ABm =Bi Bi Bm ;Bm h~Eԙ E V E EE <E "E =:*E A9VE 4ZE BE :a 2E :a JE V:a :E V:a Gя,_6G?A2lz@2`u@2Չٱ2ƾ :AHRS rotation from veh to nav: [[0.114133,0.920971,0.372541],[-0.992970,0.093909,0.072056],[0.031376,-0.378146,0.925214]]2H7?x??he ?9!I!=%!Fy%gE-t6E->1Q 5=l45O?Q 9=l45/)5J&AY9yEQ IE?5HCI5;i5;5Zil4yMQBɮMBME*jaBjaiaiaziaJiiii2Acoustic response timeout kqkqkqh2f:fBfJfb@颹ɢ5) i)/J<i+IqA II!O]>ԡ5 2Acoustic response timeout rя,:6G?A23@2'@2k ٱ2\þ :AHRS rotation from veh to nav: [[0.096385,0.924692,0.368313],[-0.994774,0.076965,0.067094],[0.033694,-0.372854,0.927278]]2H?`?n?/? 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?ֿ`u?i2rJ@I2^;2YCYB]AyB_HbDNVDN8yV=%V\=ٔZzQ-Z>9XIX=Z!Fy^~E^ڄE^>`Q 5fl4b4?Q 9fl4b')b>&AYhyjĿQ Ij?bqCIb:ibN:bl4ylɮnBp*jxBjxi|iyziyJiyiy kYkYkYh k#qk#qk#qh2f:fBfJf{@ ɢ 𷠽)  ‘i )\;i꡼IA)I9IIO}>2Acoustic response timeoutB>BBHB^AB=BBDB ;B~E) bEC4jEʴ4rEʤ0EE U EE EEE ?EA "EE :*EE A9VEE ^4ZEA BEE :aU 2EE :aU JEE V:a] :EE V:a] Y я,7G?A2@2 @2Nٱ2. :AHRS rotation from veh to nav: [[-0.101967,0.925064,0.365868],[-0.993509,-0.113339,0.009675],[0.050417,-0.362507,0.930616]]2H? bj?Ѓ?FЩ?P3׿ ?i2@I2^;2VCYB]AyBHbDNVDN8yV<%VJ=ٔVQ-V>9XIX=Z!FyZE^lE^>`Q 5fl4bw4?Q 9fl4bf4)bw'AYdyfǿQ Ij?bCIb:ib:bl4ynxBɮnBnǻE*jxBjxi|i|zi|Ji|i| kXkXkXh kcokcokcoh!=2Acoustic response timeout2f1:f1Bf1Jf59΍@19E rENAggregate::initialize marl:UpdateRudderq9MJ]Iq9M9M7MoMXAggregate::initialize marl:UpdateCommandMode18M]I18UoU@Completed marl:UpdateCommandMode7UoU\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ&)-` (i)j!;i_(G 9YAY2Acoustic response timeoutԁ я,7G?A,VV؋@VJӒ@VM^ٱV ^AHRS rotation from veh to nav: [[-0.123596,0.920853,0.369801],[-0.990849,-0.134894,0.004738],[0.054247,-0.365831,0.929099]]VH@w?Ҫ?3D hs?<ƫ?@i׿-?iVV؋@IV$^;VXCYfH^AyfHx| |)|I|bDVD8yz:=%D=ٔQQ->9!I!=%!Fy%E%UE->)Q 5=m4-3?Q 9=m4-6B)-(AY9y=ʿQ I=?-CI-Y;i-f;-m4yAɮMBI*jYBjYiaiaziaJiaia kVkVkVhy ksoksoksoh2f:fBfJf+@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢS꛽) i)v[:izE EBEAE"E*E(9VEA4ZEa%@a%@a%@a%@IQԑM=M<U2Acoustic response timeoutIIO%>Ա  2Acoustic response timeout8я,7G?A27@22@2mٱ2Sþ :AHRS rotation from veh to nav: [[-0.142973,0.915447,0.376185],[-0.988024,-0.154299,-0.000023],[0.058024,-0.371684,0.926544]]2H@L¿WK?k?ÿ=`K?׿@?i27@I2^;0YB^AyFHlbDnVDnr8yv=%vM=ٔvQ-z>9xIx=z!FyzE~IE~>Q 5 m42?Q 9 m4]O)*AY y̿Q I?6CI:iI:m4yɮB*j1Bj1i1i1zi1Ji9i9 kVkVkVhI ktktktha2fq:fqBfqJfu @颉ɢy) ىi)>:顙i:IAqAzArAAaAe@ABm{>BmQCBm HBm_ABm=BiBmDBm ;Bm~EII9O >E-S E-AE-;E)"E-9*E- 9VE-4ZE)BE-:a52E- :a=JE-:a=:E-:a=u2Acoustic response timeoutA я, 8G?A2@2@2}ٱ2Ǿ >AHRS rotation from veh to nav: [[-0.160053,0.909082,0.384647],[-0.985166,-0.171546,-0.004496],[0.061898,-0.379661,0.923053]]2H|Ŀ2??z7ſir?`\Lؿ?i2@I2v^;2YCYNM_AyRO Hy|?5^?Mb`?)\(?-?;G= 9B`"? 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aۿ@XL?+׿?iXB@I^;YeAy& HAy]T㥛 ?w/ĿMb]a?]&]Y Y9]x&?EԸ?Mbp?Y]7?y]=];]BY ]$B)]BYY]BbDuVDu98y;S=%+=ٔ:Q->9I=!FyEg2E>Q 5n4rz?Q 9n4 )8AY?Q E0:yzQ I?CI. ;ie ;/n4yɮ B*jQBjQiQiQziQJiYiY k^k^k^h2f>:f>Bfu/?Jf@ɢ2e) G'i)jI_i*IE]V E]AE]@EY"E]=:*E] 9VE]4ZEYBE]:a2E]:aJE]:a:E]:a2Acoustic response timeoutA1I9IQO|>) Y [я,P:G?A6D@68@6٧ٱ6 BAHRS rotation from veh to nav: [[-0.455421,0.813201,0.362347],[-0.886504,-0.451658,-0.100578],[0.081866,-0.367027,0.926601]]6H %ݿ`?0?=^ܿ~2? `}׿?i6D@I6_;4YJ^fAyJ HbDVVDVO8y^W(>%^=ٔ^;Q-b?9`I`=b!FybEf؀Ef?hQ 5nn4j4n?Q 9nn4j))je8AYlynQ Ir?j1CIjw;ij;j:n4yvBɮvBvE*jaBjaiaiaziaJiiii kFkFkFh2f:fBfJf @ɢ/|) i)Unei!=2Acoustic response timeoutII)AaIiIyO>YEQ EUHEU;EQ"EQ*EU[9VEU4ZEQae@ae@ae@ae@ԁ  2Acoustic response timeoutя,hz4:G?A02@2}@2ٱ2¾ >AHRS rotation from veh to nav: [[-0.473321,0.802837,0.362518],[-0.877219,-0.467116,-0.110857],[0.080338,-0.370479,0.925360]]2H@J޿ ذ?3?- ;ݿ@a?׿?i2@I2^;2ZCYFfAyF HXX X)XIXbDbVDbc8yjY=%jI=ٔj7w;Q-n>9lIl=n!FynErKEr>tQ 5zn4v]?Q 9zn4v)v8AYxyzQ I~?voCIv:iv;vIn4yɮB *jBj!i!i!zi!Ji!i) k:k:k:h9 k:k:k:hI2f:fBfJfa@ɢ`) i)%!m!!i%CA)I)A9zA9ԉI1IAIaiaIaO>M2Acoustic response timeoutԹBBBHBgABBBB;B~E bE4jEY4rEʳ0Ee X Ee AEe >Ea "Ee ~ :*Ee  9VEe 4ZEa BEe :au 2Ee :au JEa au :Ea a} Ckя,WN:G?A:%~@:S@:N꡽R2Acoustic response timeout\ٱ:?þ jAHRS rotation from veh to nav: [[-0.490783,0.793583,0.359665],[-0.867695,-0.482594,-0.119199],[0.078978,-0.370580,0.925437]]:Hh߿e??(޿у`7?׿ -?i:%~@I:D^;:WCYvgAyvH~=~p=bDVDB8yT}=%F=ٔX;Q->9I=!Fy%E%5FE%>)Q 55n4-K?Q 95n4-))-99AY1y5Q I=?-CI-;i-];-|Wn4yEBɮEڣBA*jYBjYiaiaziaJiaia kcFkcFkcFhy k\k\k\h2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedIɢMpY)I MiQ)utyi_GI=@9AYEAIIIYO:>]2Acoustic response timeoutA я,0h:G?A2be}@2@2aٱ2> þ :AHRS rotation from veh to nav: [[-0.508245,0.783882,0.356672],[-0.857691,-0.498133,-0.127398],[0.077805,-0.370664,0.925502]]2HC??`3ri߿N? ׿@?i2be}@I2^;2YCYZgAyZHbD-xVD-18ym)=%mE=ٔu9;Q-u>9qIy=}!Fy}ôEFE>Q 5n4.9?Q 9n4q5)9AYyQ I?CIQ>;in?; fn4yBɮΣBE*jBjiiziJii ksCksCksCh2f :f Bf Jf 5@DYzDYEeQ EeJEaEa"Ee29*Eek9VEaZEaam@am@am@am@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢN) i)Q{iJIII2Acoustic response timeoutO>Iqԡ m 2Acoustic response timeoutÀя,:G?ABB<AB<BR>BPBRCHBRhABR=BPBPBRĽ;BR}Ey#|@ @Gٱ6/þ AHRS rotation from veh to nav: [[-0.524999,0.773976,0.354030],[-0.847594,-0.513189,-0.134988],[0.077207,-0.370942,0.925441]]H@h?m?|@ l@IGó?`׿@6?i#|@I^;ZCYhAyHyB`"?+?Mb?n?=< 9ףp= ?"~j?~jt?Y?yS=<BpB )YkBbD-VD-78y=F=%=0=ٔE,:Q-E>9AIA=M!FyMƴEM=-EM>QQ 5]n4U&?Q 9]n4UA)U :AYeu?Q Ee=:yeQ Ie?U1CIU;iUL ;U:vn4ymBɮmBuE*jBjiiziJii kCCkCCkCCh kCCkCCkCCh2f>>:f>>Bf7>Jfjl@ɢrG) @i)Qpi6IAT?AP?ԡIIO=/>Ea Ee?Ee9Ea"Ea*Ee?9VEe4ZEaBEe:am2Ee:amJEe;9au:Ee@9au߱ߵ<2Acoustic response timeout #я,y:G?A2z@2xi@2cٱ2 ¾ :AHRS rotation from veh to nav: [[-0.541818,0.763889,0.350580],[-0.836971,-0.528527,-0.141909],[0.076888,-0.370315,0.925719]]2HV q?@o?x*¿?`<׿}?i2z@I2d^;2XCY^hAyb#H!%AbD-nVD-'8ym=%un=ٔh:Q->9I=!FyɴEbE>%2Acoustic response timeoutQ 55n4s?Q 9=n4'K):AY9y=Q IE?eCI[K;i V;݂n4yIɮMBQ*jaBjaiaiiziiJiiii kJkJkJh k#Jk#Jk#Jh2f:fBfJfȊ@ɢEI) i)^%i-5IIqIO>1Dm%=Dm4=E}R E}BE}=Ey"E}s9*E}(9VE}|4ZEya@a@a@a@ 2Acoustic response timeouty 7Ѭя,jµ:G?A6y@6΃@6Tvٱ6¾ BAHRS rotation from veh to nav: [[-0.557508,0.753916,0.347557],[-0.826611,-0.542861,-0.148379],[0.076810,-0.370017,0.925844]]6H  ?a>?`s_@¿ԩ?[׿ ?i6y@I6^;4YJ"iAyJ[HbDVaVDV8y^m=%^W=ٔj_9Q-j>9hIh=j!Fyj˴EnREn>pQ 5vn4r"?Q 9vn4rT)r:AYxyzQ Iz?rCIr :ir9:rn4y~Bɮ~B~E*jBjiiziJii kBkBkBh1 kBkBkBhA2fQ:fQBfQJfUW.@iɢuD)q u۾iq)}خyyi}㫼IQIaIqO=-2Acoustic response timeoutԁB >BDCBHBjABBBzDB;B}EBEECBEECBEƓCBE=BE=CE;5ԩE T E HE ?E "E 9*E [9VE ^4ZE BE :a 2E :a JE S:a :E T:a Lя,k:G?A26x@2@@2Mٱ2Oþ :AHRS rotation from veh to nav: [[-0.571869,0.744017,0.345549],[-0.816794,-0.555565,-0.155546],[0.076246,-0.371195,0.925419]]2HL`?`z?`-#0ÿ ڄ?`׿ ?i26x@I2^;2ZCB2Acoustic response timeoutYRiAyRHbDZDVDZ8y%=%%D=ٔ-:Q-->9)I)=-!Fy5δE5 ,E5>9Q 5En4=?Q 9En4=K_)=W;AYIyM5Q IM?=ԤCI9i=:=)n4yQɮUBQ*jiBjiiiiiziqJiqiq kJkJkJh k_k_k_h2f:fBfJfq@ɢ"O5) ̾i)gi¬IAzAԱAIIyIO>52Acoustic response timeout 1 6я,x:G?A2gw@2@2 ٱ2KUž :AHRS rotation from veh to nav: [[-0.586316,0.732796,0.345316],[-0.806540,-0.567877,-0.164341],[0.075668,-0.374867,0.923985]]2Hs??- ,! ſ_?׿I?i2gw@I2^;0YFjAyFHXX X)\I\b=b=bDjIVDj8yr=%rO=ٔv:Q-v>9xIx=z!FyzдE~7E~>Q 5n4้?Q 9n4bi);AYyYQ I? 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o Zѿ:v? ֿ?i2b]@I2^;2ZC @)@@@@DDiFOIFFDIHiH JLH)HH HNqLLPPPIP)PiP)VfCITTT TXZvAZHiXXi\\)\ \I\Y\YfsAyfHD@AzDES EE?E"E9*EVE^4ZEa@a@a@a@bDVD8y==%=b=ٔ=W;Q-E>9AIA=E"FyEEM$EM>QQ 5}p4U/?Q 9}p4U )UAHAYyy},+Q I?UCIUs:iUf:Up4yBɮJBEE*jBjiiziJii ks@ks@ks@h2f2Acoustic response timeout:fBfJf X@IɢM9)I Uw>iQ)UĐQQiU*мYIYAY?AAIIOUS>) B B B HB uAB B B B ;B {E 2Acoustic response timeoutgbя,=G?A2/h\@2^j@2߁ٱ2$ :AHRS rotation from veh to nav: [[-0.865876,0.444308,0.229889],[-0.496228,-0.821052,-0.282192],[0.063371,-0.358420,0.931407]]2H Bo?m?3߿ F mҿ`9?\ֿ?i2/h\@I2^;2XCtYztAyzHyn?Mb?y&1V?=` 9E?(\?ktƿY?y> 09QIQ=U"FyUEU pE]>YQ 5mp4]?Q 9mp4] )]GAYm?Q EmA:ymQ Im?]CI]K ;i] ;]p4y}Bɮ}ABy*jBjiiziJii k$k$k$h kAkAkAh2f(>:f(>Bfwm+?JfS@ɢ.:) >i)덼i(ѼI!EP EAEAE"E9*E 9VEA4ZEBEa:a2Ef:aJE:a:E:aA5$AI9IQO8>2Acoustic response timeoutIq khя,֣=G?A6Z@6h@6ٱ6dF >AHRS rotation from veh to nav: [[-0.877832,0.423904,0.222972],[-0.474907,-0.830821,-0.290173],[0.062244,-0.360614,0.930636]]6H3 >!?X?d޿2ҿwޯ?M׿?i6Z@I6^;6YCY%tAy%eHIMAYbD]VD]8ym=%mZ=ٔuE;Q-u>9uH?2Acoustic response timeoutIuH?="FyErE>Q 5p4j?Q 9p4% )EAYyTQ I?$CI;i;)p4yBɮ5BNE*jBjiiziJii k%k%k%h k#Bk#Bk#Bh2fy:fyBfyJf}<@颹ɢ`O;)&, >i) i_ӼIԉAEAIIIYO9>DD<EV E?E>E"E=:*E?9VE4ZEa@a@a@a@Ա- 2Acoustic response timeout nя,=G?A:GY@:=g@:Wzٱ: BAHRS rotation from veh to nav: [[-0.889197,0.403382,0.215897],[-0.453429,-0.839951,-0.298135],[0.061080,-0.362995,0.929787]]:HMt??ݿӿE?N;׿?i:GY@I:=^;:ZCYJuAyNHbDVVDV8y~H=%~R=ٔ D;Q- >9%K?I-K?=-"Fy-E5}E5>9Q 5Ep4=N?Q 9Ep4= )=DAYAyMQ IM?=ZCI=F:i=:=7p4yUBɮU$BQ*jiBjiiiiiziiJiiiq k&k&k&h kLkLkLh2f:fBfJfᬁ@Թɢ %;) >i)?$i&ռIAzAB5>B1B5,HB5uAB1B1B1B5;B5L{EAAIQIa2Acoustic response timeoutO>E  E HE @E "E *E [9VE 4ZE BE :a 2E :a JE S:a :E T:a 9 = 2Acoustic response timeoutuя,"=G?A2W@2e@2[vٱ2' :AHRS rotation from veh to nav: [[-0.899482,0.383554,0.209330],[-0.432804,-0.847944,-0.306058],[0.060110,-0.365893,0.928714]]2H'?@Q?@ۿ["uӿ@Ʈ?j׿@?i2W@I2^;2YCYB8uAyBHbDNVDN8yVN=%VO=ٔV!;Q-V>9XIX=Z"FyZE^dsE^>`Q 5fp4b-1?Q 9fp4bB# )byCAYdyfq!Q If?bCIb:ib:bPEp4ylɮnBl*jBjiiziJii ks0ks0ks0h k3Hk3Hk3Hh2f!:f!Bf!Jf%߀@颁ɢ Z;)  >i)Vއ顑iּIAAAIQIaO;>2Acoustic response timeoutiԙ {я,bh=G?A2`tV@2Jjd@2qٱ2̂¾ :AHRS rotation from veh to nav: [[-0.908474,0.365101,0.203412],[-0.413784,-0.854202,-0.314837],[0.058808,-0.370190,0.927093]]2H7 ]?@i ?o{ڿU`I&Կ ?0׿?i2`tV@I2^;2ZCYB[uAyBHTX X)XIX^=^a=bDb VDb8yz<%~E=ٔ~mN;Q-~>9I="FyE jPE >Q 5p4?Q 9p4) )-BAYy"Q I%?ɪCI";i?;Sp4y-Bɮ-B)*jABjAiAiAziAJiAiI k,Ea EeKEeCEa"Ea*Ee]t9VEe5ZEaam@am@am@am@k,k,hq2f:fBfJfc@AɢEt;)A Ey>iA)M^IIiM{ؼIIQy2Acoustic response timeoutԡ}HAII! 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o@ ā=ٱ 0Ⱦ MAHRS rotation from veh to nav: [[-0.463404,-0.807612,-0.364717],[0.883882,-0.450666,-0.125115],[-0.063321,-0.380346,0.922674]] H kݿ W׿@H?@ܿ 5Wؿ ?i :?I X^; \CY]@rAy]HbDuCVDu8yyte%==ٔ:7;Q->9I="FyEE>Q 5u4-?Q 9u4 )AYyh@Q I?OCI :i:/u4yϿBɮ*jBjiiziJii ksVksVksVh k#sk#sk#sh2f:fBfJfw+p@1ɢ5=i9I9E2Acoustic response timeout)1 M?>iI)U\ƼbE|4jEǍ4rEǞ/E=d E=>E=;E9"E=9:*E=9VE=4ZE9BE=F;aM2E=F;aMJE=9aM:E=!9aM 2Acoustic response timeout lя,1FG?A2h?2@@26^=ٱ2ɾ :AHRS rotation from veh to nav: [[-0.452721,-0.811985,-0.368408],[0.889380,-0.440698,-0.121607],[-0.063613,-0.382709,0.921676]]2H`ܿ׿u?c4ܿ@!HM~ؿ_~?i2h?I2^;2[CYBrAyBHTT X)XIX ^<^<bDb$VDb8yj~׼%jX=ٔjTK:Q-j>9lIl=n"FynErlEr>tQ 5zu4v?Q 9zu4vN)vAYxyz@Q I~?vCIvr;iv;vi1)5<99i=l AIIAIIOe2Acoustic response timeoutIE] S E] AE] ?EY "E] 9*E]  9VE] ^4ZEY ae @ae @ae @am @q Qя,4 GG?AJ ?Jk@J=ٱJ˾ VAHRS rotation from veh to nav: [[-0.442553,-0.815263,-0.373487],[0.894492,-0.430820,-0.119490],[-0.063490,-0.386962,0.919907]]JHRܿ@6׿? ۿ䖾@`ؿo?iJ ?IJy^;JYCY^rAb%=b=f2Acoustic response timeouty^Hyeffffff?@5^I ¿V-e3?ebema a9ei|?5?X9v:vYe?yeeTe]BesB a)e~BaYeBbD}#VD}8y1G%?=ٔQ->9I="FyEۼE>Q 5u4>?Q 9u4~)AYޑ?Q E::y^?Q I?CI:i:Ku4yBɮ}B*jBjiiziJii kcrkcrkcrhQ krkrkrh2f!>:f!>BfCE?JfZ32@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 r RAggregate::uninitialize marl:UpdateRudder!ɢ-=)) ->A1A1B=>B9B=HB=rAB==B9B9B=;B={Ei))m܎u2Acoustic response timeoutԩ {я,#GG?A2]?2:@2q=ٱ2x!ξ :AHRS rotation from veh to nav: [[-0.432673,-0.818427,-0.378115],[0.899363,-0.421030,-0.117816],[-0.062774,-0.391038,0.918231]]2H@ۿ 0 3ؿ`?&ڿ()@ ٿ`&b?i2]?I2c^;2[CYBqAyFHbD  VD 8yMlͼ%MN=ٔU4Q-U>9QIQ=U"Fy]E]E]>aQ 5mu4eL?Q 9mu4esQ =utI)eEAYqyu?Q Iu?eCIe':ie:eYu4y}BɮB*jBjiiziJii kukukuh kukukuh2f:fBfJfHq1@ɢؔ=) "=i)E<i IEV ECE@E"E=:*E09VE4ZEBE:a-2E:a-JE9:a-:E9:a-Ա2Acoustic response timeoutAaIqIIO!>  2Acoustic response timeout9 я,p=GG?A2:?2:@2z=ٱ2?Ͼ :AHRS rotation from veh to nav: [[-0.423507,-0.821920,-0.380906],[0.903828,-0.411746,-0.116448],[-0.061125,-0.393591,0.917251]]2H ۿ`*M`ؿ(?@ Zڿ@ϽK@0ٿZ?i2:?I2^;0YB|qAyF}HbD VD 8yd%E=ٔQ->9I="Fy E ʼE>Q 5u4等?Q 9u4bh)AYy?Q I?7CI;i:$hu4yBɮBE*jBjiiziJii ksksksh k#sk#sk#sh2f!:f!Bf!Jf%0@AɢE D<)A EB=iA)M<92Acoustic response timeoutB5 >B5 @CB5 HB5 qAB5 =B1 B5 wDB5 ;B5 U{EB?CB?CBB=BCP5i я,KWGG?Aɰ; 6?6R?691p=ٱ6о >AHRS rotation from veh to nav: [[-0.414914,-0.825173,-0.383322],[0.907971,-0.402651,-0.116021],[-0.058607,-0.396184,0.916299]]6H`ڿ@gYؿ?ٿ[ٿ`QR?i6?I6"^;4YFqAyFHbD VD 8yE7;%MP=ٔMnһQ-M>9IIQ=U"FyU EU>ǼEU>aQ 5mu4eح?Q 9mu4e])eAYiymc?Q Im?epCIed:ie:euu4yɮB*jBjiiziJii ksksksh)=2Acoustic response timeout kskskshi2f:fBfJf0@颡ɢ)<) =i)k<顩i; IiAIIO)>ԙE5X E5BE5=E1"E5~ :*E5(9VE5|4ZE1BE5:aE2E5:aEJE5K+:aE:E5N+:aE  2Acoustic response timeoutя,&qGG?A6j?66?6Ha=ٱ6̾ >AHRS rotation from veh to nav: [[-0.406108,-0.832695,-0.376425],[0.912170,-0.394164,-0.112166],[-0.054973,-0.388915,0.919632]]6Hٿo Yؿ~0?9ٿⶼy%ؿ@m?i6j?I6{^;4YJwqAyJzHPbDVVDV8y^e%^T=ٔbbQ-b>9`I`=b"FyfEf/ϼEf>hQ 5nu4j_˭?Q 9nu4jR)jSAYpyr,?Q Ir?jCIjn;ij;j_u4yvBɮvBt*jBjiizi Ji i  kctkctkcth! kkkh12fA:fABfAJfE&z/@aɢeQ?<)i m=ii)uM2Acoustic response timeout! 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JAHRS rotation from veh to nav: [[-0.033188,-0.932769,-0.358944],[0.998052,-0.049913,0.037426],[-0.052826,-0.357003,0.932608]]>H = ֿ ?;)?@ #ֿ`?i>Ne?I>H^;9I="FyFEټE>Q 5v4u2?Q 9v4)?AYy?Q I?̾CIU;ir;v4yɮB*jyBjyiyiyziJii kC#kC#kC#h2f:fBfJf'K`@ɢf;)  zi)O<iI  U2Acoustic response timeoutIIO%o>>>)  2Acoustic response timeoutpя,oIG?A2b?2N?2\=ٱ2 :AHRS rotation from veh to nav: [[-0.025310,-0.892046,-0.451236],[0.998236,-0.046800,0.036527],[-0.053702,-0.449515,0.891657]]2H ꙿ@ ܿ?9?~@ܿt?i2b?I2^;2[CYFkAyFHHJ@AbDn'VDn8yv톽%vS=ٔv;Q-z>9xIx=z"FyzIE~SE~>Q 5 v4-?Q 9 v4~)AY y ?Q I?CI:i|:Sv4ydBɮBE*j1Bj1i1i1zi1Ji1i9 k k k hI k#k#k#hY2fi:fiBfiJfm|`@颉ɢpy:) i) <顙iIII)IO=)EV EDE;E"E=:*Ea99VE4ZEa@a@a@a@]2Acoustic response timeoutaBe>BeDCBeHBekABaBaBaBe5;Be!{EB-CCB-CCB-ǔCB)B-=C-Dž6ԁ wя,IG?A02 S?2>?2ue=ٱ2 :AHRS rotation from veh to nav: [[-0.017031,-0.864152,-0.502943],[0.998291,-0.042817,0.039763],[-0.055896,-0.501406,0.863405]]2Hp!?쥿[?\@ ?i2 S?I2^;0YN|kAyRHdd d)hIh n9|I|=]"Fy]KE]E]>aQ 5mv4e)?Q 9mv4e()eAYqyu?Q Iu?e-CIe:ie:ev4yyɮB*jBjiiziJii k#k#k#h2Acoustic response timeout k$k$k$h2f:fBfJfj`@ɢPs;) ~i)<i X III O}=ԉԹES EGEE"E9*ER9VEZEBE:a2E:aJEt:a:Et:am 2Acoustic response timeout >}я,ΌIG?AJWk?JW?JQ`=ٱJ^U RAHRS rotation from veh to nav: [[-0.009972,-0.886179,-0.463235],[0.998445,-0.034236,0.044001],[-0.054852,-0.462076,0.885143]]JHMl[ݿ@B?f`D?॒ݿS?iJWk?IJA^;HY^VDj8yrT%rK=ٔv7*Q-v>9tIt=v"FyzNEzqEz>|Q 5v4~$?Q 9v4~u)~WAY y {?Q I ?~]CI~ :i~:~v4yɮB*j)Bj)i)i)zi)Ji1i1 k*k*k*hA kBkBkBhQ2f:fBfJfD_@!ɢ% H:)) -ui))- <))i- QIYIIO-=2Acoustic response timeoutA E U E E <E "E :*E :VE 4ZE a @a @a @a @\&я,gJG?A"%="R=*2Acoustic response timeoutjv?ja?jLV=ٱj߾ vAHRS rotation from veh to nav: [[-0.002499,-0.906125,-0.423003],[0.998628,-0.024382,0.046331],[-0.052295,-0.422307,0.904943]]jH wd``{ۿ?``?xƪۿK?ijv?Ij^;j]C!B  >B ECB HB kAB B B B 2;B {EYEokAyEHIIa@a a@a a@a a@a a@a yQ?^I +ǿl񢿙5?X9 )Mb@Mb@Mb@Ii‰ )IbDoVD(8y<%0=ٔQ->9I="FyQENE>Q 5v4?Q 9v4)T@Q A+:YQ E3:y?Q I?CIK ;iR>v4yRBɮBE*jBjiiziJii kBkBkBh kBkBkBh)QɢUX ;)Q U iQ)] q2Acoustic response timeoutԡ Qя,sG+JG?AB?BY?BYL=ٱBJӾ NAHRS rotation from veh to nav: [[0.008824,-0.916191,-0.400645],[0.998713,-0.011939,0.049298],[-0.049950,-0.400564,0.914906]]BHB?oQ)ٿ`t?s=?`֢ٿF?iB?IBVg^;B[CYZjAyZsHEa EeGEeDEa"Ea*EeR9VEeJ5ZEaBEe:am2Ee:amJEaam:EaamyAAAAbDVDY8y䱽%[=ٔ8λQ->9I="FySEE>Q 5v4e?Q 9v4)M@Q A :YQ E:yr?Q I?ÿCI:iV?5v4yɮB*j Bj i i zi Jii k:k:k:h! k;k;k;h9ɢ01ٺ) i)<ixI A%pAzA%pA]2Acoustic response timeoutԡAI)I9Ou6> 2Acoustic response timeout 8я,EJG?A2+?2{?2^C=ٱ2ʾ :AHRS rotation from veh to nav: [[0.023176,-0.922645,-0.384954],[0.998594,0.003001,0.052929],[-0.047679,-0.385639,0.921417]]2H?N`ؿz?ɔh??@riOؿ`?|?i2+?I2p^;0YBjAyByHbD VD V8y}F;%O=ٔQ->9I="FyVEE>Q 5w4?Q 9w4y)E@Q A9YQ E9y?Q I?CIz ;i?w4yɮB*jBjiiziJii k;k;k;h k;k;k;hɢ%0.)! %i!)%<))i-;)I1Eq EuDEu;Eq"Eq*Eua99VEu4ZEqa}@a}@a}@a}@AIIO*>!e2Acoustic response timeoutB>BDCBBB=BBB';B{EQԁ bя,^JG?A2?2M?2#:=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.040004,-0.924238,-0.379715],[0.998167,0.019694,0.057223],[-0.045410,-0.381308,0.923332]]2He{?\?Mؿ ?*?cL?@?Zgؿ?i2?I2O^;2\CYBjAyFKHDF?AbDRVDR8yVE%ZY=ٔZGŻQ-Z>9XI\=^"Fy^XE^6Eb>`Q 5fw4bK?Q 9fw4bMp)bQ@Q Aj9YhQ Ej9yj?Q Ij?b"CIb:ib8?b8w4ypɮrBp*jxBjxi|i|zi|Ji|i| kcAkcAkcAh ksAksAksAh!IɢMp)I UӪiQ)UB9mH?IuH?=u"Fyu[E}'E}>Q 5w4?Q 9w4d)/@Q A9YQ E9y#?Q I?ZCI ;i@ w4yBBɮBEԱ*jBjiiziJii ks<ks<ks<h kZkZkZh ɢ )  ըi)y<isIA-W?A-Z?2Acoustic response timeoutAeAIIO5O> E T E DE E "E 9*E a99VE ZE a @a @a @a @9 uя,[JG?A2Acoustic response timeoutJ?J?J'=ٱJdȾBPAPBTBTBVoHBVjABTBTBTBV ;BVzE bAHRS rotation from veh to nav: [[0.078624,-0.922741,-0.377315],[0.996063,0.057168,0.067751],[-0.040946,-0.381156,0.923604]]JH ? %ؿ?!E?X? dؿ)?iJ?IJK^;J[CYj)jAyjHaa aa aa aa a@a a@a a@a a@a aa y"~j?-ƿ{Gzt?S#??5ף; )Mb@Mb@Mb@IiYuB kB)YBbDVD8yj%P= ٔ޶Q-%>9EK?IMK?=]"Fe(Gy]^Ey9YA#CE>Q 5w4?Q 9w4:Z).@Q Ao9YQ Ez9y?Q I?CI:im@w4 y)ɮ5B1*jABjAiAiIziiJiiii kSAkSAkSAh kZkZkZhɢǚ) i)3<i/_ I 9AYIaIqO_>iI2Acoustic response timeouta  PExceeded connect timeout, disconnecting.я,&JG?A Fj?FiV?FK!=ٱF)ʾ RAHRS rotation from veh to nav: [[0.099169,-0.920000,-0.379164],[0.994294,0.076563,0.074283],[-0.039310,-0.384367,0.922343]]FH"c?p;Dؿ@A??/?`u yؿ@Ճ?iFj?IF=^;DYZ&jAyZH\\lp p)pIpbDzVDz8y%\=ٔQ->9 I = "Fy `E0uE?Q 5%w4?Q 9%w4Q)`@Q A%B9Y!Q E%J9y%?Q I%?CI :i^5@w4y1ɮ5B1bE 4jE4rE:0EEV EEAEE<EA"EE=:*EE 9VEE 4ZEABEE:aU2EE:aUJEAaU:EAaU*jiBjiiiiiziiJiqiq kBkBkBh kZkZkZh1颁ɢ0) 2i)ȟ<顱iFI=2Acoustic response timeoutiAI)I9Om5>ԙ  2Acoustic response timeoutя,fJG?A6]?6$?6=ٱ6d:˾ >AHRS rotation from veh to nav: [[0.120036,-0.917342,-0.379572],[0.992039,0.096172,0.081296],[-0.038072,-0.386308,0.921584]]6H? 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Ix'ؿd?E?`@?Izؿ+?i2?I2>B^;0Yv:iAyvjH|Y]AbDm'VDm82Acoustic response timeouty%<=ٔqQ->9I="FyeEFE>Q 5w4=?Q 9w4<)s@Q A8YQ E9y?Q I?CI3:iqj@w4yɮB*jBjiiziJii kSEkSEkSEh  kZkZkZh!IɢM)I MؾiI)Mk>QEeU EeBEe:Ea"Ee:*Ee(9VEe(4ZEaBEe:am2Ee:amJEeL+:au:EeN+:auM 2Acoustic response timeoutԁ ڽя,&JG?A2y_?2@K?2ہ=ٱ2mgʾ :AHRS rotation from veh to nav: [[0.161423,-0.913114,-0.374387],[0.986155,0.134655,0.096778],[-0.037957,-0.384826,0.922208]]2H`~?:8׿`?^9I="FyhERE>Q 5w4M?Q 9w42)@Q A8YQ E8y?Q I?NCI:i!@Cw4yɮB*jBjiiziJii k3Zk3Zk3Zh  kkkhAɢE;)A E۾iA)M3|QIQԉAI2Acoustic response timeoutI O9>ԱDa zDa Ei  Em [Em ;Ei "Ei *Em 9VEm 4ZEi au @au @au @au @ я,sKG?AB&>B$B&HB&iAB&=B$B$B&;B&zEB DCB DCB CB =B =C a562Acoustic response timeoutJ?J?J=ٱJeɾ VAHRS rotation from veh to nav: [[0.181561,-0.910845,-0.370670],[0.982613,0.153160,0.104943],[-0.038815,-0.383279,0.922817]]JH@d=?%׿q? ? ݺ?ߣؿ?iJ?IJ[C^;J\CY^hAy^HԹa a  a a  a a  a a  y Q?V-?+? (9AIA=E"FyEjEEEFEE>IQ 5Uw4MP?Q 9]w4M,)M@Q A]T:Y]?Q E]:y]f?Q I]?MkCIM;iMX;M)w4ym.BɮmBmE*jBjiiziJii khkhkhh k#wk#wk#wh2fh>:fh>Bf(y^@Jf%@ɢ R) qi)i<i0 󼉨IAI II9Oe4>2Acoustic response timeoutA я,_-KG?A637?6"?6#=ٱ6arɾ BAHRS rotation from veh to nav: [[0.200999,-0.907792,-0.368121],[0.978777,0.170791,0.113252],[-0.039938,-0.383072,0.922855]]6HU? `K׿@$R?z?? r @ؿ?i637?I6O`^;6ZCYJhAyJHbDVVDV8y^~%^f=ٔ^sO;Q-^>9`I`=b"FybmEfdEf>hQ 5nw4j&?Q 9nw4j()j@Ylynܱ?Q Ir?jCIj;ij;jp5w4ytɮvBt*jBjii zi Ji i E%R E%DE%<E!"E%s9*E%a99VE% 4ZE!BE%x:a52E%}:a5JE%jH:a5:E%mH:a5 k^k^k^hA2fQ:fQBfQJfU@iɢu3)q uiq)urAq% 2Acoustic response timeoutԙ я,GKG?A2Ð?2_?20(=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.219696,-0.904780,-0.364838],[0.974698,0.187780,0.121255],[-0.041200,-0.382246,0.923142]]2H@?@`Y׿0?( ? ?vؿ`?i2Ð?I2yB^;2\CYFdhAyFHHJR=bDnVDn8yvM%vG=ٔvI;Q-v>9xIx=z"FyzoE~K?E~>Q 5 w4?Q 9 w4v")@Y y f?Q I?CI[:it:Cw4yɮ!B*j1Bj1i1i9zi9Ji9i9 kgkgkghQ kwkwkwha2fq:fqBfqJfu@频ɢN`~) fi)<顙i4𼉨IqA II!E5W E5UE5?E1"E5 :*E5P9VE5^4ZE1a=@a=@a=@a=@O>ԡBM>BMCCBMCHBMhABM=BIBMyDBM;BMzE2Acoustic response timeout я,aKG?A2?2k?2jg-=ٱ2XȾ :AHRS rotation from veh to nav: [[0.236897,-0.901881,-0.361235],[0.970612,0.203507,0.128438],[-0.042322,-0.381045,0.923587]]2H R?`5w׿A? ?p?E cؿ?i2?I2*f^;2ZCY^hAybHtt t)tItxxbDEVDE8yU G%UD=ٔ])0;Q-]>9aIa=e"FyerEe]-Ee>iQ 5uw4m?Q 9uw4m)m@Yyy} ?Q I}?mCIm;im;maRw4yɮ,B*jBjiiziJii kSokSokSoh kSokSokSoh2Acoustic response timeout2f:fBfJfS@ ɢ b)  i ),<iIAaIqIO>E=X E=GE=>E9"E=~ :*E=R9VE=4ZE9BE=:aU2E=:aUJE=t:a]:E=t:a])  2Acoustic response timeout)я,of{KG?A2g?2S?2N1=ٱ2:ʾ :AHRS rotation from veh to nav: [[0.252725,-0.897196,-0.362172],[0.966570,0.217375,0.135980],[-0.043274,-0.384430,0.922139]]2H,?@յ-׿#? ?g?'ؿ@*?i2g?I2B^;0YFgAyFHbDRVDR8yV+%ZU=ٔZ##;Q-Z>9XI\=^"Fy^tEb.Eb>dQ 5jw4f#?Q 9jw4f)f0@Yhyj?Q Ij?fCIf:if:f_w4ypɮr4Bp*j|Bj|i|iziJii kokokoh kpkpkph)2f9:f9Bf9Jf=Ϛ@ɢ)]T i)<i켉I9A!IIIi2Acoustic response timeoutO(>Yԁ E} U E} ?E} ?Ey "E} :*E} ?9VE} ^4ZEy a @a @a @a @BE >BE BCBE HBE /hABE =BA BA BE $;BE {Eя,}@KG?A"2Acoustic response timeout@^~u?^Ea?^3=ٱ^Zξ fAHRS rotation from veh to nav: [[0.267392,-0.890923,-0.367094],[0.962587,0.229611,0.143892],[-0.043908,-0.391836,0.918987]]^H`?p`x~׿@?`c?`k?%{ٿ Wh?i^~u?I^Y4^;\YrWgAyrAHtv?AyzG?Zd;O?Q W?j<u 9HzG?Mb?K?Y=*?y=^=uB ȓB)BYBbDVD8y{%7=ٔ :Q- >9 I = "Fy wEU E>Q 5%w4'?Q 9%w4)@Y-,?Q E-:y-h?Q I-?CI:i:gow4y5$Bɮ59B=E*jIBjQiQiQziQJiYiY kokokohi kokokohy2fU>:fU>BfSU:@Jf,@@颩ɢV)  i)<项i 뼉IԩAE$AIIIYO:>2Acoustic response timeout :я,KG?A2x?2>?2j5=ٱ2/Ͼ :AHRS rotation from veh to nav: [[0.280787,-0.886825,-0.367015],[0.958752,0.241559,0.149814],[-0.044203,-0.393942,0.918072]]2H j?`,}׿?k?-?ɡX6ٿ`?i2x?I2D^;2[CpEP EAEAE"E9*E 9VEA4ZEBEc:a2Eh:aJE:a:E:aY=;gAy=/HU2Acoustic response timeout <4< bDVDk8yo%-=ٔ#:Q->9%H?I%H?=%"Fy%zE-E->1Q 5=w45*?Q 9=w45)5 @Y9y=?Q I=?5#CI5:i5:5w4yIɮM>a i I A 2Acoustic response timeout"я,VKG?A2?2L?2$5=ٱ2kо :AHRS rotation from veh to nav: [[0.292466,-0.883131,-0.366802],[0.955249,0.252030,0.154858],[-0.044314,-0.395678,0.917320]]2Hķ?By׿`e?`D!?a?`] RٿZ?i2?I2.^;2ZC @)BvABP@@DFwAiF7IFFDIHiJvA HH)HH JvANqN>FLLPIP)PiP)PIPRHT TTTVHiTXiXZVA)X XIXYXYb'gAyb#H9bDeVDeb8yo%|=ٔ9Q- ?9I="Fy|EE ?Q 5w4-?Q 9w4)X@Yy?Q I??CI;i;Cw4yɮ?B*jBjiiziJii kctkctkcth kstkstksth)2f9:f9Bf9Jf=B~@Yɢ]`)Y ] iY)eyE"E=:*Ea99VE4ZEa@a@a@a@B>BB{HBgAB=BBBW;B6{Ee2Acoustic response timeout¼)qԑڣ9Y~AAe AIq I O > Lя,KG?A2?2懡?23=ٱ25Ѿ :AHRS rotation from veh to nav: [[0.303657,-0.879069,-0.367464],[0.951768,0.262087,0.159522],[-0.043924,-0.398180,0.916255]]2H o?U!׿t?`?9k?(}{ٿQ?i2?I2 G^;2\CYfAy H!%a=bD5VD5}8yEE#%EQ=ٔMYQ-M>9MK?IMK?=M"FyMEUwEU>ԙ2Acoustic response timeoutQ 5w41?Q 9w4)@Yy?Q I?bCI;i;^w4y(BɮKB*jBjiiziJii ksksksh ksksksh!2f9:f9Bf9Jf=X}@QɢUf˼)Y ]|iY)]rbE4jE4rEL0ER EBE;E"Es9*E(9VE4ZEBEv:a2E{:aJEK+:a:EN+:am 2Acoustic response timeout 'wя,&KG?A6&?6?6l0=ٱ6&Ѿ BAHRS rotation from veh to nav: [[0.314514,-0.876160,-0.365274],[0.948275,0.272534,0.162788],[-0.043079,-0.397579,0.916556]]6H` ?@ `׿DX?1q?@=?n qٿmT?i6&?I6,^;6[CYfAy H))bD5VD5q8yEy%EJ=ٔE9 Q-M>9III=M#FyMEUEU>YQ 5ew4]|5?Q 9ew4])]@Yaye+?Q Im?]CI]-:i]9:]w4yqɮuQBq*jBjiiziJii kpkpkph kqkqkqhI2f:fBfJf=4}@19 rNAggregate::initialize marl:UpdateRudderq9 J]1q959=7=o=XAggregate::initialize marl:UpdateCommandMode18E]A18Mom@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7un}LAggregate::initialize marl:UpdateSpeed7}]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedAɢE)A eii)mDiԁ A A B >B ECB 0HB 9I=#FyEE>Q 5w49?Q 9w4)y@Q A+:YQ E:yQ I?CI;i5>ٲw4yBɮMBE*jBjiiziJii kcukcukcuh kukukuh)QsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder^B*** querying acoustic contact ***XYɢ3) i)Lb u я,l0LG?AJ?J?Jl"=ٱJu̾ VAHRS rotation from veh to nav: [[0.337251,-0.872403,-0.353801],[0.940580,0.296425,0.165657],[-0.039644,-0.388646,0.920534]]JH? ֿ`:?`?@@4? 9I=#FyE(uE>Q 5w4Q>?Q 9w4)@Q A :YQ EN:y?Q I?CIU:i[R? w4yɮKB*jBjiiziJii kvkvkvh kvkvkvh 1ɢ==)9 =i9)=Z<99iEQS༉AIIԱ52Acoustic response timeoutAaIiIyO>  2Acoustic response timeout1 -qя,->JLG?A2)~?2O?2V=ٱ2ޏ˾ :AHRS rotation from veh to nav: [[0.349615,-0.868801,-0.350647],[0.936146,0.308995,0.167790],[-0.037428,-0.386919,0.921354]]2H`?8qֿ?@?"z?)Gؿ@{?i2)~?I2"^;0YB,fAyF H Np9XI\=^#Fy^E^+Eb>`Q 5fw4bB?Q 9fw4bE)bL@Q Aj9YhQ Ej':yjI?Q Ij?bCIb:ib?bw4ypɮrXBp*jxBjxixi|zi|Ji|i| kctkctkcth kstkstksth!IɢMd)I M6iQ)UmCSE"E9*E 9VE4ZEa@a@a@a@A!I1IAOu>B>BFCB HBfAB=BBBj;Bf{EBMCCBIBMŔCBM=BM=CMŪ6E2Acoustic response timeoutAi Yя,dLG?A$6ez?6ya?6=ٱ6I̾ BAHRS rotation from veh to nav: [[0.363726,-0.863257,-0.349987],[0.930834,0.322561,0.171764],[-0.035384,-0.388255,0.920872]]6HHG?̟1fֿd?`֤?_?@,ؿ@w?i6ez?I6NB^;6]CYJhfAyJ HbD VD 8yE=%MA=ٔM.Q-M>9IIQ=U#FyUEUEU>YQ 5ew4]gH?Q 9mw4])]@Q Am9YiQ Em:ym_?Q Im?]CI]:i]-?]\w4yyɮ}PBy*jBjiizi2Acoustic response timeoutJii kqkqkqh kqkqkqhiɢmr) si)J<顙iܼIqA$AII!IAO]3>ԱET EIE<E"E9*Ec9VE 4ZEBE:a 2E:a JE:a :E:a M 2Acoustic response timeout Rя,}LG?A2w?2n?2 =ٱ2̾ :AHRS rotation from veh to nav: [[0.377876,-0.857500,-0.349147],[0.925252,0.336125,0.175866],[-0.033448,-0.389504,0.920417]]2H/?p`kXֿਜ਼?@?`Â?@ ؿt?i2w?I2̀^;2YCdYj9H?IH?=#FyEE>Q 5-w4UN?Q 9w4)G@Q A9YQ E9yp?Q I?4CI D zD AAE V E >E >E "E =:*E 9VE 4ZE a @a @a @a @A B >B DCB HB pfAB =B B zDB };B n{E] 2Acoustic response timeoutq%я,&LG?A2}r?2=?24=ٱ2|{Ͼ :AHRS rotation from veh to nav: [[0.393690,-0.849625,-0.350922],[0.918699,0.350527,0.181995],[-0.031620,-0.394041,0.918549]]2H62? 0 uֿ@e? o?@K?u07ٿ d?i2}r?I2p^;2ZCYZJfAyZ H)aa aa aa aa yDl?y&1~jt?OM?`e< 9V-?X9v?Y9K?IK?=#FyE-E>Q 5w4X?Q 9w4)n@Q AT:Y3=?Q E:y?Q I?ZCI;i0;w4y Bɮ NB~E*j!Bj!i!i!zi!Ji)i) k[k[k[hA k3tk3tk3thQ2fe=:fe=Bfez:1@Jfe[}@颁ɢLc ) Ui)\g:<  i Bsټ I9AqIyIOC>i2Acoustic response timeoutԑ +я,ްLG?A2k'n?2|?2<ٱ2о >AHRS rotation from veh to nav: [[0.409743,-0.842237,-0.350353],[0.911707,0.365471,0.187673],[-0.030022,-0.396317,0.917623]]2H99?-lֿ@,?c?`?` A]ٿ*]?i2k'n?I2Y^;2]CYFeAyFY HbDRVDR8yZ̓%Z`=EbR EbDE`E`"Ebs9*Eba99VE`ZE`BEbx:af2Eb}:ajJEbkH:aj:EbmH:ajٔ^jQ-j>9lIl=n#FynEr@BEr>tQ 5zw4vb?Q 9zw4v)v@Yxyzȏ?Q I~?v}CIv;iv;vzw4yɮ[B*jBjiiziJi!i! k[k[k[h1 k3tk3tk3thAԑ2f:fBfJfD@|@ɢz ) "i)k2<i׼!I!=4=2Acoustic response timeoutAe$AIiIyO!> 2Acoustic response timeout 2я,LG?A6qi?6?6o<ٱ6gо BAHRS rotation from veh to nav: [[0.426464,-0.835246,-0.347121],[0.904058,0.381554,0.192605],[-0.028427,-0.395956,0.917829]]6H1K? U`97ֿ ?ak?D?WWٿ^?i6qi?I6a`^;6[CYeAyZ H?AbDVD8y3o:%-=ٔ\Q->9H?IH?=#FyE+ E>Q 5w4o?Q 9w4)@Yym?Q I ?CI :i:w4yɮ*j)Bj)i)i)zi)Ji1i1 k[k[k[hAET EFE=E"E9*E;J9VE|4ZEa@a@a@a@ ksqksqksqh2f:fBfJf{@ɢ) !i)%(Qy 8я,_LG?A29d?2bA?2<ٱ2о :AHRS rotation from veh to nav: [[0.443274,-0.827619,-0.344319],[0.895984,0.397584,0.197837],[-0.026838,-0.396200,0.917772]]2H^?`{P ֿ`?r?R?[{V[ٿ`c^?i29d?I27^;2YCTVnr@iTITXX XXXX\^tAI^x)`i`)`I``` ddfuAdiddihj uA)h hIh l)llllYlYveAyvB H )I %4<%bD%VD%8y5޼%5i=ٔ=Q-=>9EK?IEK?=E#FyEEEmZEE>IQ 5Ux4My?Q 9Ux4M)M@YYy] ?Q I]?MCIM;iMz ;M%x4yeBɮmdBi2Acoustic response timeout*jBjiiziJii kcrkcrkcrh ksrksrksrh2f:fBfJfy@ɢ[!) g$i)!<iԼIQA $AII)OU>ԁEV E?E:E"E=:*E?9VE(4ZEBE:a2E:aJE<9a:EA9aԩ5 2Acoustic response timeout ;?я,:LG?A2B`?2g?2X<ٱ2&Ҿ :AHRS rotation from veh to nav: [[0.459181,-0.819287,-0.343396],[0.887963,0.412012,0.204370],[-0.025955,-0.398766,0.916685]]2H`:c?73տ2j?g^?(?`瓚bٿ@|U?i2B`?I2Q^;0Y]eAye+ H==bDVD8y%@=ٔ|Q->9H?IH?= #Fy E%)E%>9Q 5Ux4=?Q 9]x4=~)=2@Yaymƈ?Q Im?=CԹI=;i=<=Wx4yBɮ^BtE*j!Bj!i!i)zi)Ji)i) ksksksha ksksksh2f:fBfJfIx@ɢS) &i ) <  i ҼI2Acoustic response timeoutA}AIIOc>iIpA E T E CE E "E 9*E 09VE ZE a @a @a @a @B% >B% ECB% h HB% eAB% =B! B% {DB% V;B% J{E j> G 1 = 2Acoustic response timeoutA Eя,!MG?A"릿9 Y"hAyN?NAv[?vΉ?v^<ٱv'gҾ AHRS rotation from veh to nav: [[0.474175,-0.811797,-0.340800],[0.880075,0.426036,0.209669],[-0.025016,-0.399349,0.916458]]vH X?=տ)?+D?@o?ٿS?iv[?Iv*^;vZCY}deAy} Ha=au@au au@au au@au au@au yuQ?RQMb`u(\?u½uq q)uMb@Mb@Mb@Iuiu‰uquirB uB)uuYuuBbD!VD8y߼%?=ٔQ->9K?IK?=#FyEX$E>Q 5x4?Q 9x4i)l@Q A+:YQ Eh:y?Q I?CI:i>9!x4 yMBɮMhBMuE*jYBjaiaiaziaJii kcskcskcsh kskskshɢ) )i)<iѼ!I!1AqIyIOb>2Acoustic response timeouta &Lя,2MG?A2بW?22?2`d<ٱ2MҾ >AHRS rotation from veh to nav: [[0.488247,-0.804420,-0.338413],[0.872370,0.439110,0.214833],[-0.024215,-0.400113,0.916146]]2H@n?? 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I1ٿ~C?i>H?I>x^;>ZCYXyXa=a= a=a= a=a= a=a= y=x&1?I +T㥛 =A`?=94=9 99=A`"?Q롿Y=9?y=\=9=@qB =ȖB)=qB=Y=BbDUVDU8ٔmQ-m>9iIi=m#FyuEu)Eu>yQ 5x4}֭?Q 9x4}")yQ AT:YN9?Q E:yPu?Q I?}CI}Y;i}o;}pIx4yBɮUBlE*jBjiiziJii k\k\k\h k\k\k\h2f5+>:f5+>BfS@Jfރ@ɢ51) i)$;iȼIIIO>iyIy2Acoustic response timeout1Y }slя,K9MG?A2z#E?2|?2o<ٱ2(N־ :AHRS rotation from veh to nav: [[0.550100,-0.766978,-0.330355],[0.834905,0.496585,0.237355],[-0.017996,-0.406384,0.913525]]2Hk?`$տ?@ ?a?@m1ڿ ;?i2z#E?I2aG^;0ERU EPER>EP"ER:*EPVER4ZEPBER:aZ2ER:aZJERkH:aZ:ERnH:aZYdAy H!!AA A)IIIbDU VDU8yej%e<ٔmQ-m>9iIi=u#FyuEuEu>yQ 5x4}䭉?Q 9x4})}d@Yyq?Q I?}CI}t:i}I:}Wx4yɮ[B*jBjiiziJii ksgksgksgh kgkgkgh2f:fBfJf`@ ɢ 9)  U4i);i}EǼI!12Acoustic response timeoutIIIO==aԉ 2Acoustic response timeoutԹ B[sя,MG?A6bA?6 :y?6<ٱ6U׾ FAHRS rotation from veh to nav: [[0.562299,-0.758256,-0.329950],[0.826774,0.507666,0.242321],[-0.016237,-0.409051,0.912367]]6HZ?Cտt?>?\?`S -ڿ@2?i6bA?I6^;6]CYVdAyV HbDfVDf8yr?ۻ%rS=ٔvQ-v>9xIx=z#FyzE~E> Q 5x4 ?Q 9x4 y) l@Yyy}m?Q I}? 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Xҿ? z?x?%ڿ;?i:}q?I:!A^;8YZdAyZ@ H\\bDjVDj<8%2Acoustic response timeoutyMr=%MN=ٔMSĺQ-U>9QIQ=U#FyU̶E<E>Q 5x4 ?Q 9x4g;)@Q A8YQ E9yiQ)]m޺YYi]f!aIiII)OU=ԩET EBE>E"E9*E(9VE4ZEBE:a2E:aJEL+:a:EN+:a2Acoustic response timeout я,MfOG?A^ ?^|C?^woٱ^־ jAHRS rotation from veh to nav: [[0.722338,-0.631490,-0.281865],[0.691540,0.659749,0.294116],[0.000229,-0.407372,0.913262]]^H@e?@*5 ҿ !? ??-?dڿq9?i^ ?I^+^;l^[CYvcAyv Haa aa aa aa a@a a@a a@a a@a y?Q?{Gz?L?\>#= )Mb@Mb@Mb@IivB )YvBAAAAbDvVD/8y % >=ٔ mQ->9I=#FyζE 5E>!Q 5-x4%}?Q 9-x4%6)%@Q A-8Y)Q E58y5-8?Q I5?%CI%L ;i% @%Xx4y=Bɮ=B9*jQBjQiQiQziQJiYiY k#*k#*k#*hq k#*k#*k#*h颡ɢb) Ei)顱iIAIzAMnA-2Acoustic response timeoutAyIIIOD>1E Y E AE AE "E :*E  9VE A4ZE a @a @a @a @A AAA B 3>B ICB HB dAB B B ~DB {;B {EY  2Acoustic response timeoutt:я,]QOG?A2R?2.*??2 2ٱ2,־ :AHRS rotation from veh to nav: [[0.733909,-0.620066,-0.277302],[0.679248,0.670372,0.298704],[0.000679,-0.407579,0.913170]]2H .|?Rѿe?@s?`?@TAF?@ڿ8?i2R?I2D^;2ZCYFcAyF$ HXX X)XIXbDb|VDb48yjA=%j`=ٔnQ-n>9lIl=r#FyrѶErQ=Er>tQ 5zx4v|ή?Q 9zx4v1)v&@Q A~8Y|Q E~8y~3?Q I~?vCIva;iv@v]x4yɮ|B*jBjiizi!Ji!i!) kS'kS'kS'h9aɢe!o)i mAii)m=iqiu?qIyA9IAIQYO>i)I-A52Acoustic response timeoutԉԱ ]я,8OG?AE&R E$E&=E$"E&s9*E$VE&|4ZE$BE&x:a*2E&}:a*JE&:a*:E&:a.Z.9?Z;?ZlVٱZM׾ bAHRS rotation from veh to nav: [[0.744691,-0.609016,-0.273010],[0.667409,0.680037,0.303504],[0.000818,-0.408225,0.912881]]ZH?}xѿi[??l? J?] ڿQ6?iZ.9?IZ'^;Z[Cԙ2Acoustic response timeoutYcAy H?AbDVDZ8y:o%,=ٔQ- >9 I =#FyԶEb E>Q 5%x4䮉?Q 9%x4+)`@Q A%[8Y!Q E-8y-/?Q I-?1CI#:i@ox4y5Bɮ5vB5QE*jIBjIiIiQziQJiQiQ k'k'k'hi k;k;k;hy!ɢ%R)! %Ai!)M`]nIIiMQIQIaIqO_>M 2Acoustic response timeout! Eя,%QOG?A25>2&c7?2bٱ2A־ :AHRS rotation from veh to nav: [[0.754203,-0.599382,-0.268179],[0.656641,0.689146,0.306433],[0.001145,-0.407210,0.913334]]2Hm"?@".)ѿ3?`{ ? ?lR?ڿ:?i25>I2J^;2ZC @)@BL@DDFwAiF+IDDIHiH JHH)HL LLLLPPIP)PiP)TIVvAVLVF TTXZLiXXiXZXA)X \I\Y\Y}cAy} HbDVD~8y=%=X=ٔ=CbQ-E>9AIA=E#FyEֶEMEM>QQ 5x4U?Q 9x4Ud')U@Q A18YQ Eu8y,?Q I?UTCIU ;iU0@U x4yBɮB*jBjiiziJii kC#kC#kC#h k3Ak3Ak3Ahɢ &w)  Di )ͼi-0IA-Y?A-Y?E]S E]BEYEY"E]9*E](9VEYZEYam@am@am@B}H>B}KCByByB}=ByB}DB}K;B}s{Eam@I !I!O]3>2Acoustic response timeoutQy qя,kOG?A>[>>N4?> ٱ>0V־ JAHRS rotation from veh to nav: [[0.762772,-0.590411,-0.263805],[0.646666,0.697257,0.309282],[0.001336,-0.406505,0.913647]]>H`h?@`-п|?O?G? U?@/ڿ`[>I>*^;>\C 2Acoustic response timeoutY}cAy} HbDVDf8y=Ѯ%=J=ٔEQ-E>9AIA=M#FyMٶEM EM>QYQ 5ex4]r ?Q 9ex4]")]@Q Ae8YaQ EeF8ym(?Q Im?]zCI]Q:i]@]x4yqɮuBq*jBjiiziJii k%k%k%h k<k<k<hAaɢm\in)i m$Gii)ucqqiuqIyIIO- >yE]W EYE]<EY"E] :*EYVE] 4ZEYBE]):am2E].:amJE]L+:am:E]O+:amԩ 2Acoustic response timeout Wя,UOG?A2)>20?2޺ٱ2վ :AHRS rotation from veh to nav: [[0.770543,-0.582183,-0.259472],[0.637386,0.704887,0.311244],[0.001698,-0.405211,0.914222]]2HI? ?2пve? p?m?[?ٿMA?i2)>I2^;0YcAy H!!a-a- a-a5 a5a5 a5a5 a5@a5 a5@a5 a5@a5 a5@a5 y5K?Mb?:v5^Z?5<5T1 1)5Mb@Mb@Mb@I1i1115vB 5B)11Y5BbDMVDMN8y]'%]H=ٔeihQ-e>9aIa=m#Fym۶Em4Em>qQ 5}x4uB?Q 9}x4u)u@Q A7YQ E!8y%?Q I?uCIu]:iu@u7x4yBɮBRE*jBjiiziJiiԱ kc$kc$kc$h k;k;k;hɢ,x) Gi ) \  i^IIQu2Acoustic response timeoutIyO"> C G) 1 I Bu X>Bu MCBu HBu dABu =Bq Bu DBu ';Bu ^{ED ?AzD ?AE V E AE =E "E =:*E  9VE |4ZE BE :2E :JE ::E : 9 Y QA 2Acoustic response timeout9 я,$}OG?A2rU>2D.?2`ٱ2`Ծ :AHRS rotation from veh to nav: [[0.777746,-0.574628,-0.254782],[0.628576,0.712311,0.312260],[0.002050,-0.403008,0.915194]]2H@K? 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U߿a̿??`)?? ٿ@m?i23>I21^;2ZCYF4dAyFR HaMaM aMaM aMaM aMaM aMaM yMT㥛 ?ktƿ|?5^?MA?M 0M=I I9ME?X9vϿlYM&?yM}MMBMpB MB)MÕBMYMWB ep9I=#FyE5E>Q 5x4쯉?Q 9x4W)AQ AT:Y2?Q E:yR>Q I?CI;i%;x4yɮB*jBjiiziJii kSXkSXkSXh kcXkcXkcXh2f?B>:f?B>Bfq@Jf@)ɢ-')1 5ԙB<ABj>BPCB HBeAB=BBB;B{EE5 T E5 ?E1 E1 "E5 9*E5 ?9VE1 ZE1 BE5 :a= 2E5 :a= JE5 ?9aE :E5 D9aE  2Acoustic response timeout(я,1 PG?A2L>2/T ?2铼ٱ2lξ :AHRS rotation from veh to nav: [[0.855375,-0.470204,-0.217352],[0.517695,0.790588,0.327052],[0.018055,-0.392274,0.919671]]2H:_? ޿1˿ ?~L?@j?@|?ٿ`m?i2L>I2^;2]CYBYdAyBi HPXX X)XIX \\bDbVDb8yj<%jU=ٔnZͻQ-n>9pIp=r#FyrErFEr>tQ 5zx4v?Q 9zx4v )vAY|y~Y?>Q I~?v4CIv;iv;vex4y BɮB *j!Bj!i!i!zi!Ji)i) kWkWkWh2f:fBfJfj@ ɢ s)  k:i)gE1i59I9AAIQIiO#>i9I9E2Acoustic response timeout! 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CI < x4yBɮBKE*jBjiiziJiiD=DET EIEAE"E9*Ec9VEA4ZEBEa2EaJE:a :E:a  k#Zk#Zk#Zh2f!:f!Bf!Jf%@7@aɢefv)a em8ii)mY顉inIԑIIIY2Acoustic response timeoutO;>Ա Y;я,PG?A2뾈>2n>2_ٱ2Kξ :AHRS rotation from veh to nav: [[0.884341,-0.420948,-0.201850],[0.466275,0.817733,0.337493],[0.022993,-0.392576,0.919432]]2HL?ڿ9ɿq?*?z?[?ٿk?i2뾈>I2^;2[CYFdAyF H2Acoustic response timeoutbDMIVDM8y<%P=ٔUQ->9I=#FyELE>ԹQ 5x4I?Q 9x4)AYy>Q I?CI(;i):x4yɮB*jBjiiziJii kC^kC^kC^h  kS^kS^kS^h2f):f)Bf)Jf-M@IɢM)I M6iI)UВbQQiUeYIYII O==bE|4jE|4rEŷ80EX EEE<E"E~ :*EA9VE 4ZEa@a@a@a@>2Acoustic response timeout9 BBя,Ox QG?A2>|>26>2#¼ٱ2ξ :AHRS rotation from veh to nav: [[0.893647,-0.404170,-0.195044],[0.448145,0.826658,0.340298],[0.023696,-0.391514,0.919867]]2H?ٿ2ȿh?s?o?C?ٿo?i2>|>I2gS^;2]CY^dAyb H``y-K7?Mb? ףp= ?-Il?-<-Q=) )9-MbX9?p= ףп(\?Y-!?y--z>-1B-uB -fB)- B)Y-BbDUTVDU8ye<%e?=ٔe6׺Q-e>9iIi=m#FymEmBEu>yQ 5}y4}`?Q 9y4}d)}8AY2?Q E:y9>Q I?}CI}n:i}:}y4y BɮuB*jBjiiziJii k[k[k[h k[k[k[h2f>:f>Bfx@JfG@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颹ɢPy) 94i)liqLI-2Acoustic response timeoutIqIO!>ABUb>BUOCBU6 HBUeABU=BQBUDBU;BU8|EqD @AzD @AE O E DE ?E "E 9*E a99VE ^4ZE BE ݄:a 2E :a% JE lH:a% :E nH:a% ԙ  2Acoustic response timeoutylHя,T#QG?A:g>:x>:üٱ:; FAHRS rotation from veh to nav: [[0.902664,-0.387214,-0.187785],[0.429687,0.835090,0.343502],[0.023808,-0.390755,0.920187]]:H ?ؿU ȿ???>a?"ٿ +r?i:g>I:=^;:ZCY^dAy^ H dfbDj>VDj8yr;%rf=ٔvQ-v>9tIt=z#FyzEzlEz>|Q 5y4~t?Q 9y4~k)~AY y Y$>Q I ?~CI~:i~K:~y4yBɮlBBE*j)Bj)i)i)zi1Ji1i1 kSYkSYkSYhI kcYkcYkcYhY2fi:fiBfiJfm@suNUpdating rudder angle 6.875493 arcdeg 9uru6Completed marl:UpdateRudder19u r}RAggregate::uninitialize marl:UpdateRudder频ɢ) 3i)Ct顙iOQIqIIO=ԡ2Acoustic response timeout E S E HE E "E 9*E [9VE ZE a- @a- @a- @a- @–Nя,0=QG?A2ST>2>27ٱ2; :AHRS rotation from veh to nav: [[0.910681,-0.371335,-0.181028],[0.412445,0.842139,0.347405],[0.023447,-0.391039,0.920075]]2H@L$?`׿ +ǿ~e?`?;?v?ٿAq?i2ST>I2#^;2XCYNdAyR HbDZHVDZ8y%:%%F=ٔ-f:Q-->9)I)=-#Fy5E5 =E5>IQ 5Uy4M?Q 9]y4Mj)MMAYYy]>Q I]?MCIM';iM;M y4yiɮii*jyBjyiiziJii kcZkcZkcZh ksZksZksZh2f:fBfJf@ɢ) s3i)#~i9I}2Acoustic response timeoutIIO=) - 2Acoustic response timeout~Uя, WQG?A2eB>2>2aٱ29; >AHRS rotation from veh to nav: [[0.917684,-0.356896,-0.174589],[0.396646,0.848385,0.350592],[0.022994,-0.390983,0.920111]]2H`]?cֿXƿ b?%?p?෋?@ٿq?i2eB>I2i^;2ZCYFeAyF HHJa=bDRzVDR28yZo=%ZR=ٔ^i:Q-^>9\I`=b#Fyb Eb5Eb>dQ 5jy4fğ?Q 9jy4f)f AYlyn=Q In?f&CIf;if;f.y4yr BɮvhBt*j|Bj|iiziJii k#Vk#Vk#Vh2f:fBfJf%y@ɢx) /i)i$BS>BMCBO HBeAB=B$DBDB;BS|EBOCBOCBCB=B=CI75I!EW EAEE"E :*E 9VEZEBE*:a2E/:aJE:a:E:a)AaIiIO>2Acoustic response timeoutYԉ F[я,pQG?A06Z1>6D>6*ٱ6O; >AHRS rotation from veh to nav: [[0.924005,-0.343354,-0.168293],[0.381723,0.854062,0.353362],[0.022405,-0.390750,0.920224]]6H s?`տſ'n?zT?{?`G? ٿ zr?i6Z1>I6gb^;4YJdAyJ H\\ \)`I`dfAAbDfVDfZ8r2Acoustic response timeoutyvI%vG=ٔv :Q-v>9xIx=z#Fyz E~!E~>Q 5 y48?Q 9 y4)| AY y p=Q I ?HCI:i:oER EBE@E"Es9*E(9VE4ZEa@a@a@a@Թ2Acoustic response timeout bя,QG?A6_">6J>6Wȴٱ6E; BAHRS rotation from veh to nav: [[0.929762,-0.330254,-0.162709],[0.367498,0.859023,0.356405],[0.022066,-0.391167,0.920055]]6H@?"տ Ŀ?@}?@U??ٿq?i6_">I6p9^;6\CYR:eAyR H`yuy&1?Cl?Q?u`E?u;=uuBq u)uOBqYuBbDVDW8yL:=%?=ٔO:Q->9I=#FyEE>Q 5y4`Ͱ?Q 9y4") AY6?Q E:y>Q I?nCIH:i:`Ky4yɮdB*jBjiiziJii k;k;k;h kZkZkZh2f |>:f |>Bfy@Jfe@ɢՏ) ^,i)   i -ܒ1I12Acoustic response timeoutAIIIOH>BM>BLCBh HBeAB=BBDB;B5|EES EAE<E"E9*E 9VE 4ZEBE:a2E:a JE:a :Ea A  2Acoustic response timeoutChя,,QG?A2$d>2,a>2ٱ2Sl; :AHRS rotation from veh to nav: [[0.934948,-0.318207,-0.156895],[0.354128,0.863883,0.358188],[0.021561,-0.390448,0.920372]]2H?]ԿĿ`??@??ؿs?i2$d>I2J^;2YCYFoeAyF HHHbD VD \8y]E=%eO=ٔe:Q-e>9iIi=m#FymEmEu>qQ 5}y4uⰉ?Q 9y4u)uAYyG>Q I?uCIu:iu:u1Yy4yBɮaB*jBjiiziJii kAkAkAh kc[kc[kc[h2f:fBfJfO@ɢ(z)   )i )   i 'ɑIA!I9IIYO>2Acoustic response timeoutqԡ E T E >E @E "E 9*E 9VE 4ZE a @a @a @a @hnя,dvQG?A2K>2>2]ٱ2 ; :AHRS rotation from veh to nav: [[0.939887,-0.306248,-0.151081],[0.340841,0.868503,0.359904],[0.020995,-0.389763,0.920676]]2H ?ӿVÿ@U?`?? ?ؿ -v?i2K>I2I%^;2\CYFeAyFB H <<bD VD b8yy2=%D=ٔ]:Q->9I=#FyE E>Q 5y4?Q 9y4R)\AYy>Q I?CI/;i:gy4yBɮ\BCE*jBjiizi Ji i  kC\kC\kC\h! kS\kS\kS\h12fA:fABfAJfEL@]2Acoustic response timeoutiɢm)i mg$ii)uzqqiubyIyԡAIIO*>i I A 2Acoustic response timeout luя,RQG?A2\=2pO>2SYٱ2̾ :AHRS rotation from veh to nav: [[0.944345,-0.294931,-0.145697],[0.328313,0.872683,0.361434],[0.020549,-0.389153,0.920944]]2H8?@%ҿ0¿? ?!?@ ?ؿ@_x?i2\=I2Z^;2XCY^eAy^A HbD-VD-q8BJ>BB HBpfAB=BBB;B0|Eylj%G=ٔ:Q->9I=#FyEzE> Q 5y4 K?Q 9y4 ) AYy>Q I? 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V?ޔ?^ؿs?i6\=I6l/^;6YCYJfAyJ} HLNR=bDVVDV8b2Acoustic response timeoutyb=%f`=ٔf9Q-f>9hIh=j#FyjEjEn>pQ 5ry4r{$?Q 9vy4r)rAYtyvn>Q Iv?rCIrg:ir:ry4yxɮ~SB|*j Bj iiziJii kc\kc\kc\h) kc\kc\kc\h92fI:fIBfIJfM @iɢm*)q umiq)uqqiutyI1A$AIIO>aEU EAE<E"E:*E 9VE 4ZEa@a@a@a@2Acoustic response timeoutԑԹ я, RG?AFI=F쩝>FUٱF-; bAHRS rotation from veh to nav: [[0.952764,-0.271533,-0.136051],[0.303031,0.879861,0.366083],[0.020303,-0.390018,0.920583]]FH }?`ѿ jd?'?`m?Bʔ?ؿ@ku?iFI=IF^;F[CYj fAyns Hy]Zd;O?~jt~jt]j\?]D]Y Y9]x&?:vV-?Y]7I?y]T]<]\B]pB ]B)] BYY]uBqqbD}VD}c8y%>=ٔ99Q->9H?IH?=#FyEE>Q 5y4??Q 9y4b)AYaI?Q E:y<>Q I?$CI] ;i] ;y4yBɮYB*jBjiiziJii kC\kC\kC\h kC\kC\kC\h2f=:f=Bf(-@JfC2@ԉɢ @}) li)⡼iHIAzAqA2Acoustic response timeoutAeAIqIԹO@> j>/CEGYq9YKAA@AA@ABN>BB HBfAB=BBBB4|EES EVE>E"E9*E9VE4ZEBE:a2E:aJE?:a:E@:a} 2Acoustic response timeout я,%RG?A2Z=20>2*ٱ2; :AHRS rotation from veh to nav: [[0.956516,-0.260219,-0.131768],[0.290960,0.882954,0.368422],[0.020475,-0.390741,0.920273]]2HǛ?lп@?(A?9?@e?ٿ`r?i2Z=I28^;2\CY^LfAy^ Hpt t)tItbD|VD|yM)=%UN=ٔUQ-U>9]K?I]K?=]#Fy]EeEe>iQ 5my4mX?Q 9uy4m)miAYqyuǖ>Q Iu?mLCIm):im;my4yBɮTBDE*jBjiiziJii k[k[k[h k[k[k[h2f:fBfJf2@ɢlӀ) 8i)ѥi /I AIIO!>iIA2Acoustic response timeouti1I1I bEe^4jEe&4rEe˺/E [ E AE ?E "E a:*E  9VE ^4ZE a @a @a @a @2я,?RG?A2X=2qϐ>2Gٱ2; >AHRS rotation from veh to nav: [[0.960060,-0.249013,-0.127580],[0.279016,0.886032,0.370267],[0.020839,-0.391076,0.920122]]2H@и?@ϿT g?_Z?v?V?cٿq?i2X=I2#^;0YFfAyF HHHbDRVDR8yZ*=%ZU=ٔZfxQ-^>9\I\=b#Fyb EbEb>dQ 5jy4f q?Q 9jy4f)fAYhyng>Q In?fsCIf:if;f%y4yr!BɮrOBp*j|Bj|i|i|zi|Jii kcZkcZkcZh kcZkcZkcZh)2f9:f9Bf9Jf=61@Qɢʀ)  i)i[ IE2Acoustic response timeoutQAAIQIaO>yԩ  2Acoustic response timeoutxя,xYRG?A6%U=6Q>6iٱ6;@ BAHRS rotation from veh to nav: [[0.963505,-0.237509,-0.123485],[0.266818,0.889310,0.371396],[0.021606,-0.390790,0.920226]]6H?fο? ;u??@?ٿ~r?i6%U=I6D^;6ZCYNfAyN H p<p;BEE>BEKCBE0HBE9iIi=m#Fyu#EuEu>yQ 5y4}A?Q 9y4}u)} AYy>Q I?}CI}:i}W:}y4yɮKB*jBjiiziJii kZkZkZha krD=D4=ET EHE<E"E9*E[9VE 4ZEBE:a2E:aJET:a:EU:akrkrh2f:fBfJfl0@)ɢ-q)I UiQ)UQQiUYIYA[?Aa?ԱM2Acoustic response timeoutA$AIIOK>  PExceeded connect timeout, disconnecting.Dя,tsRG?A2+=2`>2 ӹٱ2ξ :AHRS rotation from veh to nav: [[0.966879,-0.225386,-0.119773],[0.254225,0.892132,0.373457],[0.022682,-0.391537,0.919883]]2H?@t̿v7E?Y?? 9?ٿ@o?i2+=I2i.^;2]Cb2Acoustic response timeoutlYzfAy~ HbDeVDe8y+<%F=ٔ*Q->9H?IH?=#Fy&EE>Q 5y4?Q 9y4M)]AYy?>Q I?CI`:i:vy4y%BɮLB*jBjiiziJii kYkYkYh  ktktkth2f:fBfJf/@ɢ0 ) i)ϳiI AeAIiIyES EBE>E"E9*E(9VE4ZEa@a@a@a@O@>92Acoustic response timeouta |,я,ORG?A.><.9y>. ٱ.ξ :AHRS rotation from veh to nav: [[0.970257,-0.212587,-0.115796],[0.240921,0.894700,0.376123],[0.023643,-0.392834,0.919306]].HW ?6˿Ǥ?b?`g?5?0$ٿ`j?i.>9K?IK?=#Fy(EE>Q 5y4d?Q 9y4!)sAYzG?Q E:y>Q I?CI:i@:y4y(BɮDBEE*j!Bj)i)i)zi)Ji)i1 k#pk#pk#phA k3pk3pk3phY2f}=:f}=Bf}D?Jf}Se@!ɢ-Lw)) - i))5Bn11i5;QIQ2Acoustic response timeoutiIiIyO>>B9B9B={HB=gAB==B9B9B=%;B=U|EBLCBLCBǓCB=B=Cǣ5ԑD?AzDE E=E<E"E*E8VE 4ZEBE:a2E:aJE9a:E9a  2Acoustic response timeoutVя,*RG?A2U4<2j>2ʼٱ2Iξ :AHRS rotation from veh to nav: [[0.973566,-0.199445,-0.111316],[0.227071,0.897786,0.377386],[0.024670,-0.392687,0.919341]]2H`s'?kɿ8??'?,C? !ٿ>k?i2U49\I\=^#Fy^*EbEb>dQ 5jy4f/ٱ?Q 9jy4f1)fAYhyjQ>Q Ij?fCIf6:if:fy4yr,BɮrFBp*jxBj|i|i|zi|Jii ksksksh ksksksh!2f1:f1Bf1Jf5o@QԙɢUA)  i)%iIA1zA5oAII!O]>enManaging dock network, ignoring radio surface power off2Acoustic response timeout E V E CE :E "E =:*E 09VE (4ZE a @a @a @a @>я,>RG?A:@: [>:Ҽٱ:w/ξ VAHRS rotation from veh to nav: [[0.976894,-0.185408,-0.106313],[0.212171,0.901184,0.377956],[0.025732,-0.391779,0.919699]]:HB?`pǿ[7@i(? ? n0?Y?ٿ -n?i:@I:2^;:WCM%=Ie2Acoustic response timeoutY^gAyEHbD VD Y8y<%)=ٔ%Q-%>9!I!=-#Fy-.E-qE5>1Q 5=y45?Q 9=y45)5AYAyE_=Q IE?5ECI5:i5S:5y4y0BɮDB*jBjiiziJii k#ok#ok#oh k3ok3ok3oh2f :f Bf Jf e@)ɢ-Ai)) - i1)5p켼11i59I9II!O@>Q 2Acoustic response timeouty hя,RG?A2a@2I>2Cڼٱ2fξ :AHRS rotation from veh to nav: [[0.980335,-0.169642,-0.100819],[0.195525,0.904123,0.379910],[0.026704,-0.392152,0.919513]]2H^? ׶ſJϹ? ?sP?`SX?ٿl?i2a@I2lL^;2[C X)XZPZK}FXX^wAi^7I\\I`ibzvA bL`)`` `fmddddId)hih)hIhjHh hBrM>BrLCBrHBr/hABr=BpBpBr4;Brm|E|~vA|i||iZA) IYY`gAyFH@A@AbD-VD-Q8y=:%=o=ٔE:Q-E?9AIA=M#FyM0EM]KEM?QQ 5]z4U?Q 9ez4Ut)UAYaye=Q Ie?UgCIU;iU;Uwz4yiɮuCBq*jBjiiziJii kokokoh kokokoh2f:fBfJfE@ɢ)  i)ֿi=IQE}T E}DE}@Ey"E}9*E}a99VE}4ZEyBE}:a2E}:aJE}kH:a:E}mH:aIIIO=IqM2Acoustic response timeoutԁԱ я,RG?A2@26>2ٱ2T0ξ :AHRS rotation from veh to nav: [[0.983717,-0.152698,-0.094783],[0.177561,0.907306,0.381140],[0.027797,-0.391764,0.919646]]2Hz?ÿC O??d?v?ٿ m?i2@I2;^;2YCR2Acoustic response timeoutY5gAy5tHYY a)aIa im<bDuVDuL8y,4=%F=ٔ-Q->9I=#Fy2E5E>Q 5z4*?Q 9z4)AYy=Q I?CI:i :z4y3Bɮ>BFE*jBjiiziJii ksksksh kckckch2f1:f1Bf1Jf5 @IɢMXs)Q UPiQ)UeüYYi]^YIaԱIqIO=E ECE>E"E*E09VE4ZEa@a@a@a@U2Acoustic response timeout 9 zя,}SG?A22@2#>26ٱ2̾ :AHRS rotation from veh to nav: [[0.986857,-0.135568,-0.087950],[0.159057,0.910998,0.380504],[0.028538,-0.389492,0.920587]]2HT?FZ@܃`[? 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(@?@c=?`h?Tڝ?ؿw?iB#@IBK^;BZCYn&hAynHr=r=bDUVDU;8y}=%U=ٔѺQ->9I=#Fy8ELE>Q 5z4]?Q 9Uz4b)ZAYQy]2Acoustic response timeout E T E @E AE "E 9*E 9VE A4ZE a @a @a @a @я,jMBSG?A2@2=2uٱ2K̾ :AHRS rotation from veh to nav: [[0.992257,-0.099758,-0.073995],[0.120616,0.916101,0.382375],[0.029642,-0.388339,0.921040]]2H? 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K?̿?@?`?ؿv?i6̺@I6 S^;4YFkAyF HHH p<;bD eVD 8yM=%MD=ٔM+g9Q-M>9QIQ=U#FyUpEUo3E]>aQ 5m{4e?Q 9m{4e)e"#AYiymZ Q Im?e~CIe:ieA;ec{4D=D4=EU ECE:E"E:*E09VE(4ZEBE:a2E:aJE9:a:E9:ayBɮBUE*jBjii1zi1Ji9i9 kCkCkChI k[k[k[hy2f:fBfJf| @ɢ ]I) pi)=idlIAAq 2Acoustic response timeoutAAIQIiO=>ԙ U^я,"{UG?A2h8@2Z3@28ٱ2̾ :AHRS rotation from veh to nav: [[0.969267,0.238462,0.060483],[-0.243025,0.889913,0.385997],[0.038221,-0.388833,0.920515]]2H`;?@??@uϿ*z?`+??@ؿ`t?i2h8@I2q^;0B2Acoustic response timeout\YfkAyfHbDAVDAy %H=ٔ]9Q->9I=#FysE5E>Q 5{4J?Q 9{4)O$AYyQ I?CI:i:q{4yBɮ BVE*jBjiiziJii kCkCkCh kZkZkZh2f:fBfJfv@ɢL) 5i)^i*kIET EAE>E"E9*E 9VE4ZEa@a@a@a@A}$AIIIOD>52Acoustic response timeoutA eя,UG?A2姹@2ע@2qٱ2}; :AHRS rotation from veh to nav: [[0.964839,0.253969,0.067714],[-0.260088,0.885319,0.385442],[0.037941,-0.389501,0.920244]]2H?A?U?HпT?? m? ؿ r?i2姹@I2S^;2[CYBIlAyFKHy}?5^I?i|?5:v?Mb?< 9㥛 ?!rhԿ-?YU?yl?5>1BTmB B)BYGBbD9VD8y==%G=ٔ2:Q->9H?IH?=#FyuE>0E>Q 5{4ش?Q 9{4)k&AYi?Q Eh:y Q I?CI;i ;<{4yBɮB*jBjii zi Ji i  kBkBkBh! k[k[k[h12fEy>:fEy>BfE=H@JfE2@aɢeZE)a emia)miiim>>kI2Acoustic response timeoutIB >B DCB HB lAB =B B zDB ;B |EI)I9Oe3>qDzD@AEV EQE?E"E=:*Ev9VE^4ZEBE:a2E:aJE:a :E:a ԡ E 2Acoustic response timeouth+kя,8ٮUG?A20@2"@2ٱ2|-; :AHRS rotation from veh to nav: [[0.960142,0.269289,0.074900],[-0.276977,0.880637,0.384398],[0.037555,-0.389822,0.920124]]2H|?9xIx=z#FyzwEz>Ez>Q 5{4ﴉ?Q 9 {4O)\(AY y JQ I ?CI:iM:k{4yɮB*j1Bj1i1i1zi1yJi9i kCkCkCh ks]ks]ks]h2f :f Bf Jf @IɢM@)I MiXiI)UqiqiujyIyIqIԡO>2Acoustic response timeoutE W E >E ;E "E :*E 9VE 4ZE a @a @a @a @ #rя,UG?AZo@Za@ZٱZW; bAHRS rotation from veh to nav: [[0.955260,0.284168,0.082021],[-0.293437,0.875814,0.383204],[0.037059,-0.390127,0.920015]]ZH|?/?@Z?ҿ@?@h?`\?ؿ@p?iZo@IZU^;ZVCYnlAynHbDzcVDz8y;%G=ٔ :Q->9 I = #Fy zE +E>Q 5%{4?Q 9%{4R)z*AY!y%Q I%?1CIf:i:͛{4y5Bɮ5B1*jIBjIiIiIziQJiQiQ kDkDkDhi kc[Ա2Acoustic response timeoutkc[kc[h2f!:f!Bf!Jf%@AɢE'?)I MViI)M:IIiuo;jqIyII OE=G)Au9qYu1A 2Acoustic response timeoutB >B BCB HB mmAB =B B yDB };B j|E9 9xIx=z#Fyz}Ezj%Ez>|Q 5{4~Z ?Q 9 {4~G )~,AY y Q I ?~\CI~:i~ :~{4yBɮBWE*j1Bj1i1i1zi1Ji9i9 kCkCkChQ k3[k3[k3[ha2fq:fqBfqJfue@颉ɢ<) IBi)d顙i=iIES EDEE"E9*Ea99VEZEBE:a2E:aJEiH:a:ElH:a9IyIO= 2Acoustic response timeoutaԑԹ ^g~я,iUG?A2׈@2Ƀ@2oٱ2+!ʾ :AHRS rotation from veh to nav: [[0.945571,0.311743,0.093341],[-0.323457,0.868954,0.374560],[0.035657,-0.384365,0.922493]]2HB?@?.?Կx??@A?mؿ ?i2׈@I2;\^;2[CB2Acoustic response timeoutYJymAyJHLLbDVOVDV 8yZ=%^M=ٔ^@:Q- >9I=#FyEE>!Q 5-{4%8?Q 9-{4%)%.AY)y-6Q I-?%CI%:i%:%{4y=Bɮ=B=aE*jQBjQiQiQziYJiYiY k3Yk3Yk3Yhq k3Yk3Yk3Yh2f:fBfJf~@颱ɢ2) !i)}W项iSiIAZ?AY?ԙIIO=bEYjE]Ĵ4rE]NU0EU EFE@E"E:*E;J9VE4ZEa@a@a@a@52Acoustic response timeout Oя,FVG?A2[@2M @2ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.940770,0.324467,0.098346],[-0.337220,0.865433,0.370552],[0.035120,-0.381769,0.923590]]2H??8-? տ? ?=?@nؿ@ ?i2[@I2?C^;0YRmAyR+Hy$C?(\µ?Mb?Z?=@= 9Cl?bX9ƿv/?Yd[?yE6xi>B>rB )BY.BbD\VD8ym=%9=ٔŸ:Q->9I=#FyE E>Q 5{4T?Q 9{4)0AYg?Q Ej:y޾Q I?CI ;i ;{4y Bɮ B *j!Bj!i!i)zi)Ji)i) kYkYkYhA kZkZkZhQ2fe{>:fe{>Bfeg@Jfe@19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颙ɢj>-) }i)顡ihI2Acoustic response timeoutAA@AB>BBcHBnAB=BBxDB;Bn|EAyIIOB>ET EOE?E"E9*E9VE^4ZEBE:a2E:aJEI:a:EJ:aI > >E %=E %=M 2Acoustic response timeoutyя,`!0VG?A 2 @2@2ٱ2mǾ :AHRS rotation from veh to nav: [[0.935856,0.336966,0.103092],[-0.350661,0.861645,0.366886],[0.034799,-0.379503,0.924536]]2H`?ې? Ad?@9IIQ=U#FyUEUOEU>YQ 5e{4]dm?Q 9e{4]T)]2AYiymQ Im?]CI]l:i]:]p{4yqɮuB*j Bj i i zi Jii kS\kS\kS\h! k\k\k\h92fI:fIBfIJfM@sUNUpdating rudder angle 6.875493 arcdeg 9UrU6Completed marl:UpdateRudder19U rURAggregate::uninitialize marl:UpdateRudderiɢu_*)q uiq)}Ayyi}.hyIiAIIO5.>2Acoustic response timeoutԡ E S E DE ;E "E 9*E a99VE 4ZE a @a @a @a @aя,IVG?A2(@2#@2ҝٱ2AǾ :AHRS rotation from veh to nav: [[0.930791,0.349253,0.107935],[-0.363866,0.856878,0.365186],[0.035055,-0.379186,0.924656]]2H ?'Z?? I׿ k?6_?@?DؿȖ?i2(@I2H^;2YCPYRnAyRjHTTbD%5VD%8y52<%5K=ٔ='Q-=>99IA=E#FyEEE#EE>IQ 5U{4M"?Q 9U{4M\)M4AYYy]Q I]?MCIM;iM&;M{{4yeBɮai*jyBjyiiziJii k[k[k[h2f:fBfJf@ɢ+1)) i)}i@hIAzAqA2Acoustic response timeoutA%AI1IAOu> 2Acoustic response timeout! B >B ACB HB nAB =B %DB B |;B c|EBmBCBmCCBiBm=Bm=Cm36|я,cVG?A2r@2d@26ٱ2;7Ǿ :AHRS rotation from veh to nav: [[0.925641,0.361246,0.112651],[-0.376741,0.851925,0.363717],[0.035421,-0.379112,0.924673]]2H ڞ??ּ? ؿ B?#G? "?]Cؿ`?i2r@I2O=^;2[C|EV EBE?E"E=:*E(9VE^4ZEBE:a2E:aJEK+:a:EM+:aY%enAy%H15AbD=0VD=8yM=%M-=ٔMKQ-U>9UK?IUK?=]#Fy]E]E]>iQ 5u{4m3?Q 9u{4m:")m6AYyy}Q I}?mACIm,7;imk8;m{4yBɮۡBbE*jBjiiziJii kCkCkCh2f:fBfJf䛉@ɢCR!) ]ͽi)!!i%ph)1I9 2Acoustic response timeoutA]$AIaIqO^>Qԉ я,}VG?A22Acoustic response timeout6G@6B@6ٱ6IǾ BAHRS rotation from veh to nav: [[0.920423,0.372915,0.117290],[-0.389280,0.846825,0.362420],[0.035827,-0.379238,0.924605]]6Ht?@??ؿ`1?1?@W?oEؿ]?i6G@I6S^;4 D)FvAFTDHHJwAiHIJFHILiL LL)PP PPPPTTIT)TiT)XIXXX X\\^Di\\i``)` `I`Y`YjnAyjHbDrVDr8yz=%zy=ٔ~Q-~?9H?IH?=#FyE)E? Q 5{4 ܹ?Q 9{4 %) 8AYyQ I? eCI ;i  ; q{4y%Bɮ-ӡB)a*jQBjaiaiiziiJiiii kBkBkBh2f:fBfJfa'@颱ɢ) 9i)>ig1IAԁEY ECE@E"E:*E09VE4ZEa@a@a@a@AAIIO-N>Ա2Acoustic response timeout я,VG?A2Ѵ@2~̻@2Cٱ2HȾ :AHRS rotation from veh to nav: [[0.914721,0.384838,0.123227],[-0.402440,0.840107,0.363679],[0.036433,-0.382256,0.923338]]2HeE?`0?ԋ? ٿ(?`F?b?vؿ?i2Ѵ@I2TB^;0ԹYnAyHu2Acoustic response timeouty ףp= ?S㥫? rhQX?/]=C 9?l/$?YL?y,>pB ÕB)YǛB <p<bD#VD8y<%"=ٔ Q- >9 K?IK?=#FyEQE>Q 5%|45ٵ?Q 9%|4))&:AY-{Q?Q E-:y-Q I-?CIi ;i ; |4y5Bɮ5ϡB9BIAM4=BU>BQBU+HBUUoABU=BU$DBQBUk;BUO|E*jiBjiiqiqziqJiqiq k#'k#'k#'h kS@kS@kS@h2fX>:fX>Bf@Jf5q>@ɢ_) 烽i)igIAV?AQ?A1I9IQO}z>ES EDE=E"E9*Ea99VE|4ZEBE:a2E:aJEjH:a:ElH:a% 2Acoustic response timeout9 ǫя,hVG?A2`@2[@2dٱ28ʾ :AHRS rotation from veh to nav: [[0.909081,0.396155,0.128967],[-0.414977,0.833564,0.364643],[0.036953,-0.385008,0.922173]]2H1?`Z?`?@ڿ`?OV? ?`ؿ q?i2`@I2xY^;0@@iBнI@@I@iFUA DD)DD Fr@HHHHHIH)HiL)LILLP PPPPiPTiTV3uA)T TITYXY^boAy^3Haa a)aIabDu4VDu8yˢ=%{=ٔ*ѺQ- ?9I=#FyE,E ?Q 5|4?Q 9|4,,)3;AYyǾQ I?CI:iB:|4yɮ¡B*j)Bj)i1i1ziQJiQiQ kc;kc;kc;hi kCVkCVkCVh2f:fBfJf(<@ɢ|) i)@iagIAAAIQIaO;>iyI}A2Acoustic response timeoutiE} R E} AE} CEy "E} s9*E}  9VE} 5ZEy a @a @a @a @ԙ ɱя,+MVG?A2@2@2^ٱ26̾ :AHRS rotation from veh to nav: [[0.903099,0.407633,0.135082],[-0.427798,0.826571,0.365744],[0.037435,-0.388091,0.920860]]2H/??_J? aۿEs?[h?`*?|ؿ@w?i2@I2F^;2YCY;oAyHbDSVD8y.%I=ٔQ->9I=#FyE\E>2Acoustic response timeoutQ 5|4o?Q 9|4y/){ԙa   rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=1 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutBM >BM BCBM HBM oABM =BI BI BM a;BM G|E ܸя,b,VG?A2jv@2]q@2ԃٱ2E; :AHRS rotation from veh to nav: [[0.896809,0.419152,0.141580],[-0.440807,0.819276,0.366710],[0.037714,-0.391278,0.919499]]2H? b?G?-6ܿ 7?-x?@NO? ٿl?i2jv@I2be^;2ZCY~~oAy~DHYYDu%=DuR=bDmKVDm8y!=%E=ٔ0Q->9I=#FyE%E%>)E-[ E-CE-=E)"E-a:*E-09VE-|4ZE)BE- ;a=2E- ;a=JE-9:a=:E-9:aEQ 5E|4-?Q 9M|4-2)-=AYIyMmվQ IM?- CI-X;i-;-38|4y]Bɮ]СB]lE*jiBjqiqiqziqJiqiq k#<k#<k#<h kcZkcZkcZh2f:fBfJfTT9@YQł@/10ɢW) Gi)8i hIzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutAIIIYO:>) rя,VG?A"2Acoustic response timeout$:x@:k@:c2ٱ:]Ͼ bAHRS rotation from veh to nav: [[0.890245,0.430849,0.147756],[-0.453883,0.811994,0.366954],[0.038125,-0.393743,0.918430]]:H|? ??j ݿ?,|?@? 3ٿc?i:x@I:J^;:YCYjoAynuHbD7VD8yH=%N=ٔQ->9I =#FyE,E>Q 5|49?Q 9|46)*?AY!y%ܾQ I%?8CIEa"Ee:*EaVEe4ZEaam@am@am@am@ԙAIIOMt>2Acoustic response timeout qя,9WG?Aɰ; *7k>(ZGX`l%9!Y%QA=#@=@==ٱ=RϾ MAHRS rotation from veh to nav: [[0.883754,0.442257,0.152932],[-0.466364,0.805489,0.365638],[0.038521,-0.394456,0.918107]]=H G?M?`D?ݿ?f??>ٿ"a?i=#@I=9o^;=[CY]oAyeHyU?rB U8B)QQYUBbDmVDm8y!<%;=ٔynQ->9I=#FyE E>Q 5|4P?Q 9 |4:)?AY E?Q E :y Q I ?`CI;i;]U|4yƿBɮʡB*j)Bj)i1i1zi1Ji1i1 k\k\k\hIU2Acoustic response timeout k\k\k\ha2f}t>:f}t>Bf}bD@Jf} T@aSendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 10.011083 min 0^DCompleted marl:SendObservationDataq/^`Aggregate::uninitialize marl:SendObservationDataq0颡ɢ: ) `i)顩ihIA@AAB>BBHBpAB=BBBK;B/|EAIIO%M>EV EE=E"E=:*EVE|4ZEBE:a2E:aJE9:a:Ea!  2Acoustic response timeoutя,2WG?A2!@2 @2Pgٱ2о :AHRS rotation from veh to nav: [[0.876756,0.453962,0.158801],[-0.479360,0.798158,0.364909],[0.038907,-0.396059,0.917400]]2Hb? ?S? ԭ޿?Z?`?Yٿ@X[?i2!@I2P^;2ZCYBHpAyBHbDNVDN8yVÝ=%Vw=ٔZQ-Z?9XIX=Z#FyZE^6E^?`Q 5f|4bc?Q 9f|4b=)b@AYdyjQ Ij?bCIb:ibp:b`|4ylɮnBl*jxBjxixixzixJi||i| k\k\k\h k\k\k\h!2f1:f1Bf1Jf5U@ɢi) e2Acoustic response timeoutQԁ bEjE74rE?0E  E BE E "E *E (9VE ZE a @a @a @a @я, LWG?A2@2@2iٱ2zо :AHRS rotation from veh to nav: [[0.869690,0.465615,0.163838],[-0.492055,0.791586,0.362318],[0.039009,-0.395721,0.917542]]2H??@?@}߿@T?`80?? Sٿ\?i2@I2L^;2YCY^_pAy^Hf%>f=bDjVDj8yr_<%rG=ٔvQ-v>9tIt=v#FyzEzEz>|Q 5|4~z?Q 9|4~ B)~@AY y DQ I ?~CI~:i~y:~Qo|4yɿBɮB*j)Bj)i)i)zi)Ji1i1 k[k[k[hA k#]k#]k#]YhY2fi:fiBfiJfmqj@颉ɢp)  Աm 2Acoustic response timeoutB >B @CB >HB qAB =B %DB wDB L;B "|E 'я,efWG?AN @N@Nƛ ٱN8Ͼ ^AHRS rotation from veh to nav: [[0.862247,0.477739,0.168212],[-0.504969,0.785160,0.358511],[0.039201,-0.394067,0.918245]]NH?H??`(` ?`?'? c8ٿ`Db?iN @INhb^;NXCYjJpAyjH )IbD- VD-8yENL%ED=ٔMQ-M>9III=M#FyMEUEU>EeX EeCEe>Ea"Ee~ :*Ee09VEe4ZEaBEe:am2Ee:amJEe9:au:Ee9:auyQ 5|4}?Q 9|4}cF)}3AAYy Q I?}CI}:i}:}}|4yͿBɮáBnE*jBjiiziJii ksZksZksZh kZkZkZh2f:fBfJfƃ@颩ɢ ) 1Y я,OWG?A2Acoustic response timeoutVj@V]@V"ٱV*Ͼ 5AHRS rotation from veh to nav: [[0.854273,0.490190,0.173008],[-0.518307,0.777805,0.355495],[0.039693,-0.393361,0.918527]]VH4V?C_? %?@@?n?@R?@,ٿ`d?iVj@IVF^;VYCYmpAyuHbDVD8y|=%?=ٔQ- >9I=#FyE1=PEE>Q 5|4?Q 9|4(K)AAYyQ I?CIW:i:|4yɮB*jBjiiziJii kWkWkWh kWkWkWh12fQ:fQBfQJfU@颁ɢJc) 8=i)U顑i2jIAzAoAEi EmFEmBEi"Ei*Em;J9VEm5ZEiau@au@au@au@YAIIOMR>2Acoustic response timeoutԉԱ 9я,WG?A2@2@2J#ٱ2Iξ :AHRS rotation from veh to nav: [[0.845763,0.502860,0.178372],[-0.532068,0.769903,0.352354],[0.039856,-0.392915,0.918711]]2H}?m?? ??g?%ٿ`f?i2@I2'^;2[CYBpAyF HAy+?MbP?Zd;O?_?:j< 9/$?~jtYL?yĽB .B)Y̝BbDVD8yk <%L=ٔEչQ->9I=#FyE'E>Q 5|4j?Q 9|4P)4BAYM?Q E:y,Q I?%CI@:i:Ú|4y ۿBɮ ¡BxE*j!Bj!i!i)zi)Ji)i) kVkVkVhA kVkVkVhQ2fe>:fe>BfegS@Jfer^@颁ɢ) 0F=i)p顉ijjԑI52Acoustic response timeoutBA<B>BBHBqAB=BBBX;B/|EB]ACB]ACBYB]=B]=C]5A$AIIO (>DyzD}?AEW EGEDE"E :*ER9VEJ5ZEBE%:a2E*:aJEt:a:Et:a 2Acoustic response timeout cя,HWG?Aɰ2)@2@2#ٱ2ξ :AHRS rotation from veh to nav: [[0.837170,0.515101,0.183896],[-0.545481,0.761755,0.349541],[0.039965,-0.392937,0.918696]]2H@? {?`?tL`?^? Rv?`%ٿe?i2)@I2p^;2ZCY^pAy^HbDEVDE8ywd<%K=ٔQ->9H?IH?=#FyE!E>Q 5|4gӶ?Q 9|4vU)BAYy%0Q I?NCI7;i8;ڨ|4y ޿Bɮ  *j)Bj)i)i1zi1Ji1i1 kWkWkWhI kCXkCXkCXhY2fi:fiBfiJfm ]@颉ɢ5) 4]=i)B顑iCkIAAIIO5->]hDAT read: Forwarding Delay UpTx time:18:56:30.6433 ]pIn parseResponses, set commsState_ = SENDING_ACK_WAITINGe2Acoustic response timeoutI E  E DE =E "E *E a99VE |4ZE a @a @a @a @Kя,=WG?A06L@6?@6#ٱ6,1ξ >AHRS rotation from veh to nav: [[0.828757,0.526940,0.188403],[-0.558176,0.754306,0.345632],[0.040014,-0.391607,0.919262]]6H@-??`?`F#??@|?ٿ@j?i6L@I6:^;6YCYZ$qAyZGHbD%*VD%8ye5=%eR=ٔm[Q-m>9mK?IuK?=u#FyuEu6 Eu>yQ 5|4}q綉?Q 9|4}Z)}CAYy4Q I?}vCI}:i}:}{|4y߿BɮB*jBjiiziJii2Acoustic response timeout k\k\k\h k\k\k\h2f:fBfJf\@ɢ) =i)顙ikIAW?AU?ԑA$AI IOe4>Թii Ii u 2Acoustic response timeoutB >B B HB rAB =B B B +;B |E wя,WG?AR@R@R8%ٱRd̾ ZAHRS rotation from veh to nav: [[0.819874,0.539294,0.192272],[-0.571122,0.746690,0.340990],[0.040326,-0.389380,0.920194]]RH@hEEU EECEE?EA"EE:*EE09VEE^4ZEABEE:aM2EE:aMJEE9:aM:EE9:aU9UH?IUH?=]#Fy]E]] E]>aQ 5m|4e?Q 9m|4eS`)eCAYqyu8Q Iu?eCIe:ie;e|4y}Bɮ}ġB*jBjiiziJii kc[kc[kc[h2f:fBfJf0[@ ɢ ) qr=i)iD~l!I)AEAIIIYO>2Acoustic response timeoutA q`я,XG?A.2Acoustic response timeout@@0&ٱW̾ AHRS rotation from veh to nav: [[0.811072,0.550818,0.196880],[-0.583538,0.738573,0.337630],[0.040563,-0.388729,0.920459]]HM?@L? ]3?Wb??`Ĥ?ؿet?i@Id^;ZCYWqAygHyw/?/$:vf?Լ 9:v?lYT?y\BsB 8B) BYBbD]TVD]8ym,S=%m+=ٔuQ-u>9uK?IuK?=}#Fy}E}E}>Q 5|4?Q 9|4g)CAYW?Q E|:yCGQ I?CIz:i8:|4yBɮByE*jBjiiziJii kBkBkBh kYkYkYh2f>:f>Bfփ@Jf^@ɢ) =i)̓iNm!I)IEY E?EE"E:*E?9VEZEa@a@a@a@I9IQO}Y>q2Acoustic response timeoutԙ Zя,jXG?A2@2{@2X&ٱ2˾ :AHRS rotation from veh to nav: [[0.802417,0.561944,0.200863],[-0.595381,0.730948,0.333523],[0.040601,-0.387214,0.921095]]2Hf?q?ߵ? \ c? oX?ɤ?ؿ y?i2@I2{^;0YBqAyFHDDLLbDR]VDR8yZz4=%Z=ٔZQ-Z?9\I\=^#Fy^Ebo?Eb?dQ 5j|4fL#?Q 9j|4fl)f$DAYhyjKQ Ij?fCIf:if* ;f |4yrBɮrBp*j|Bj|i|iziJii ks^ks^ks^h kvkvkvh)2f9:f9Bf9Jf=1]@Yɢ]aUͼ)Y ]=ia)ezCaaiemiIiqI1IAU2Acoustic response timeoutIO=AAB>BBHBrAB=BBB;B{EԡE]T E]HEYEY"E]9*E][9VEYZEYBE]:am2E]:amJE]S:am:E]T:am 2Acoustic response timeout L я,@5XG?A2.@2)@2'ٱ2ʾ :AHRS rotation from veh to nav: [[0.793533,0.573187,0.204358],[-0.607150,0.723177,0.329216],[0.040915,-0.385320,0.921876]]2Hd?W?f(?m E$??@?ؿ@?i2.@I2V^;0YfqAyfHxx x)xIxI~ >)~>bD=VD8yE˯<%EA=ٔM CQ-M>9IIQ=U#FyUEUEU>aQ 5m|4e 8?Q 9m|4efs)ewDAYiymNQ Iu?e!CIe):ie :e|4y}ݿBɮ}B}E*jBjiiziJii kxkxkxh kxkxkxh2f:fBfJfD\@ɢTм) =i)iFnI IIO=iYIYe2Acoustic response timeout1Em S Em CEm <Ei "Em 9*Em 09VEm 4ZEi au @au @au @au @Y ؙя,~OXG?A2@2@2I)ٱ2/ʾ :AHRS rotation from veh to nav: [[0.784613,0.583718,0.208939],[-0.618597,0.714522,0.326795],[0.041465,-0.385657,0.921710]]2H?Э?`?@@^?@7? :?@ؿ~?i2@I2lz^;0YRqAyRHbD^%VD^8yfk%fS=ٔfɹQ-f>9hIh=j#FyjEn[En>pQ 5v|4rJ?Q 9v|4ry)rDAYtyvRQ Iv?rKCIr :ir:r_|4y|ɮ~Bq*jBjiiziJii ktktkth kt2Acoustic response timeoutktkth2f:fBfJfT[@ɢԼ) =i)i:o I 1IyIO%=auG9Y^Aԑm 2Acoustic response timeoutB >B B QHB rAB =B B B ;B {EԹ я,whXG?A2A@2<@2[+ٱ2 ˾ :AHRS rotation from veh to nav: [[0.775606,0.593727,0.214298],[-0.629822,0.705366,0.325243],[0.041947,-0.387230,0.921028]]2H@??n?'`\??@z?``ؿy?i2A@I2)^;2YCY^rAybH``D%=D%<E-T E)E-@E)"E-9*E)VE-4ZE)BE-:a=2E)a=JE-9:aE:E-9:aE Up9!I)=-#Fy-E-E->1Q 5=}45_?Q 9E}45)5EAYAyE6VQ IE?5{CI5:i5:5 }4yMBɮMBQ*jaBjiiiiiziiJiiiq k#tk#tk#th k3tԑk3tk3th2f:fBfJfaZ@ɢļ) 4>i)"ipIIIO>2Acoustic response timeout  я,]ނXG?AB2Acoustic response timeoutUƫ@U@U#Q-ٱU*; eAHRS rotation from veh to nav: [[0.766066,0.603742,0.220543],[-0.641369,0.695418,0.324097],[0.042301,-0.389729,0.919957]]UH?@Q?@:?@@@?`?|?SؿJp?iUƫ@IU^;UZCY}1rAy}H 11yp= ף?Zd;A`"e?yY 9x&?/$ſ rhY7i?y,C ^BsB 4B)zBY=BbD;VD8y<%==ٔVQ->9I=#FyE E >Q 5}4t?Q 9}4)DAYo?Q Eb:ykQ I?CIj:i:#}4y-Bɮ-B)*jABjAiAiIziIJiIiI ktktktha ktktkth 2f >bE ^4jE M4rE ċS0E-S E-HE-?E)"E-9*E-[9VE-^4ZE)a=@a=@a=@a=@:f >Bfڋ@Jf@Yɢ]) D >i)顁iqIAII OEs>2Acoustic response timeoutA &я,qXG?A 2/I@2"D@2/-ٱ2ξ >AHRS rotation from veh to nav: [[0.756133,0.613681,0.227283],[-0.653038,0.685036,0.322902],[0.042462,-0.392581,0.918736]]2H>2?@G?@?? n?`? ٿJf?i2/I@I2y^;2[CYFrAyF+HbD #VD 8yE=%Mk=ٔMQ-M?9IIQ=U#FyU·EU4EU?aQ 5e}4eބ?Q 9m}4eg)eDAYiymoQ Im?eCIe:ieF:eK'}4yuBɮ}B}E*jBjiiziJii kCxkCxkCxh kCxkCxkCxh2f:fBfJfh<@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ) }%>i ) f0  i ZrIB=>U2Acoustic response timeoutB9B=HB=MsAB==B9B9B=;B=G{EqA)I1IAO}>ԙEEU EEDEE>EA"EE:*EEa99VEE4ZEABEE:aM2EE:aUJEEiH:aU:EElH:aU  2Acoustic response timeout-я,XG?A2aê@2T@2?-ٱ2Zо :AHRS rotation from veh to nav: [[0.745372,0.623741,0.235304],[-0.665306,0.673605,0.321907],[0.042285,-0.396489,0.917065]]2H? ?n?@0J@,?@?R?``ٿX?i2aê@I2R^;0PYRRrAyRHTVp=XXbD^VD^8yf*-%fR=ٔj9Q-j>9hIh=n#FynķEn3,En>pQ 5v}4r?Q 9v}4r2)rDAYxyzsQ Iz?rCIr:ir-:r4}4yBɮB*jBjiyiyziyJiyiy kvkvkvh kvkvkvh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder9ɢ=ش)9 =>i9)EAAiEVsIIIAyzA}qAAIIO)>e2Acoustic response timeout! EM S EI EM AEI "EM 9*EI VEM A4ZEI aU @aU @aU @aU @3я,bXG?A2{-@2n(@2L+ٱ2=Ҿ :AHRS rotation from veh to nav: [[0.733089,0.635059,0.243477],[-0.678847,0.661205,0.319335],[0.041808,-0.399384,0.915830]]2Hvu?gR?@=*? (?o?g?@ٿzN?i2{-@I2X^;2ZCYBrAyB:HIJ>)J=bDNVDN8yV!f=%VL=ٔZ):Q-Z>9XIX=^#Fy^ǷE^{;E^>`Q 5f}4bh?Q 9f}4bS)bDAYhyjxQ Ij?b7CIb:ibN:bB}4ylɮnBp*jxBjxixixzi||Ji|i ksksksh ksksksh!2f1:f1Bf1Jf5@QɢU)Y ]+>iY)]F/aaie:taIi2Acoustic response timeoutA))I9IIO}>QB5 >B1 B5 HB5 sAB1 B1 B1 B5 ;B5 T{EB@CB@CBȓCB=BCC5i m R=u 2Acoustic response timeoutԁ :я,E"E:*E 9VE4ZEBEa;a2Ed;aJE:a:E:abD-VD-8yE{<%EA=ٔM0;Q-M>9IIQ=U#FyUɷEYU8Ee>iQ 5u}4mʺ?Q 9u}4m)mzDAYyy}}Q I}?mjCImL ;im ;mQ}4yBɮE*jBjiiziJii krkrkrh krkrkrh2f:fBfJfg|@ɢ=H) R2>i) iJv I ԉII2Acoustic response timeoutO$>Ա @я,'YG?A2Acoustic response timeout@@!ٱ?Ҿ =AHRS rotation from veh to nav: [[0.706268,0.659552,0.257250],[-0.706847,0.636734,0.308119],[0.039421,-0.399451,0.915907]]H`? ?v?| `?:?@/?`ٿ`O?i@I^;WCY] sAy]He@Ae@Ay㥛 ?ʡEL7A`??+= 9I +?|?5^ѿS㥫Y9?yҍ/]B>rB 8B)}BYkB ;bDVD8y-OG=%5<=ٔ5Z;Q-5>91I9==#Fy=̷E=^:E=>AQ 5M}4E<η?Q 9U}4E)E/EAYU?Q EUF:yU Q IU?ECIEq ;iE ;E`}4y]BɮeBeE*jBjiiziJii kcukcukcuh12fE:>:fE:>BfE̔@JfEw@yɢ}n) H>i)顡iJwIE S E @E @E "E 9*E 9VE 4ZE a@a@a@a@IIOF>2Acoustic response timeout)Q $Gя,VYG?A2}I@2pD@2ٱ2о :AHRS rotation from veh to nav: [[0.691839,0.672799,0.262108],[-0.721066,0.624807,0.299466],[0.037713,-0.396179,0.917398]]2H#?`? `?k?q*?&O?ZٿS[?i2}I@I2=^;2ZCYF?sAyFH ||bD CVD 8y}m<%W=ٔ';Q->9I=#FyϷE1ZE>Q 5}4޷?Q 9}4)EAYyQ I?CI;i: n}4yBɮBE*jBjiiziJii k\k\k\h kCvkCvkCvh2f:fBfJf v@!ɢ%)) -O>i))-@))i-Ix19I9II52Acoustic response timeoutAqAqB}>ByB}2HB}AtAB}=ByB}xDB}Ļ;B}{EO>aE%X E%CE!E!"E%~ :*E%09VE!ZE!BE%:a52E%:a5JE%9:a5:E%9:a=ԉ 2Acoustic response timeoutԹ VMя,7YG?A2c@2V@2 ٱ2 ̾ :AHRS rotation from veh to nav: [[0.677218,0.686655,0.264348],[-0.734918,0.613852,0.288239],[0.035650,-0.389474,0.920347]]2Hƫ?`??`rତ?r?@?&ؿ{s?i2c@I2^;0YJsAyJHbD,VD8yU=%UL=ٔ]ɨ;Q-]>9YIY=]#FyeѷEeMEe>iQ 5u}4mu﷉?Q 9u}4m)mfFAYyy}GQ I}?mCImN:im:m$|}4yɮB*jBjiiziJii k]k]k]h1 kskskshA2fQ:fQBfQJfUgiu@qɢupo)y }y>iy)}#lyyi}oyԁIIIO=ԩ52Acoustic response timeoutE W E E ?E "E :*E VE ^4ZE a% @a% @a% @a% @ 5Tя,TQYG?A6@6@6n ٱ6ɾ BAHRS rotation from veh to nav: [[0.662427,0.700455,0.265620],[-0.748352,0.602622,0.277159],[0.034069,-0.382374,0.923379]]6H2?j? ?H?`?pq?xؿR?i6@I6d^;6[CYJ-tAyJ%HLNa=@A@AbD VD 8yE1=%ML=ٔM;Q-M>9IIQ=U#FyUԷEULEU>aQ 5e}4e?Q 9m}4e)eFAYiym፿Q Im?eFCIe:ie,:e }4y}Bɮ}BE*jBji2Acoustic response timeoutiziJii kC[kC[kC[h ktktkth2f:fBfJf"t@yɢ}M)y }>i)B1顁izII1IIO}=i5oAI5pAM 2Acoustic response timeoutY B} >By B} }HB} tAB} =By B} wDB} ;B} {ENaZя,kYG?ABi\@B]W@B[ٱBž NAHRS rotation from veh to nav: [[0.647319,0.714197,0.266274],[-0.761503,0.590822,0.266538],[0.033040,-0.375303,0.926313]]BHն??@ ?;^???`ؿ@[?iBi\@IB$^;BZCY^tADn%=Dn4=ErY ErGEr<Ep"Er:*ErR9VEr 4ZEpBEr;az2Er;azJErt:az:Ert:azy^sHI%<)%=bD5 VD58y}=%}G=ٔ$;Q->9I=#FyַEGE>Q 5}4N?Q 9}4`)GAYy}Q I?CIj;i:{}4yɮ|B*jBjiiziJii ks[ks[ks[h kStkStkSth2f:fBfJf r@!ɢ%/)! %>i!)%B<))i-O{)I1IIIO =i2Acoustic response timeoutԙ Maя,xYG?A2Acoustic response timeout$ɰ&4 9x&1?> ףp=ʿDl?YA?yQO>BTmB ÕB)YBbDVD8y<%D=ٔmQ->9I=#FyٷE]8E>Q 5}4%?Q 9}4|)JAYі?Q E4:yvQ I?CI\ ;i\ ;}4yBɮzB*j)Bj)i)i)zi)Ji1i1 k[k[k[hA krkrkrhQ2fm>:fm>Bfm@Jfm @颁ɢn$) 6>i)+顑i |IEV ECE=E"E=:*E09VE|4ZEa@a@a@a@AU$AIYIqO=>2Acoustic response timeout % (G) 9 I } Dٿ9y Y} 0A(rgя,;YG?A2)@2$@2 ٱ2 :AHRS rotation from veh to nav: [[0.618327,0.739357,0.266503],[-0.785169,0.566306,0.250614],[0.034371,-0.364211,0.930682]]2H U?@Ϩ?b?  ,? ??9nH?InH?=n#Fyn۷Er`OEr>tQ 5z}4v8?Q 9z}4v)v6LAYxyz |Q Iz?vCIvd:|iv[:v}4y Bɮ rB *jBj!i!i!zi!Ji!i! kvkvkvh9 kvkvkvhI2fa:faBfaJfeR@ɢ_޻)J츼 >i)6iBT~ I A%]?A%Y?2Acoustic response timeoutB)A)B5>B5ACB5HB5^uAB5=B1B5xDB1B5{E)AeAIqIO$>EU EE>E"E:*EVE4ZEBE:a-2E:a5JE9:a5:E9:a5Yԁ = < 2Acoustic response timeout`mя,YG?A:4@:(@:2ٱ:Қ BAHRS rotation from veh to nav: [[0.604053,0.750603,0.267796],[-0.796112,0.552979,0.245806],[0.036417,-0.361675,0.931593]]:HgT??@#?y?@v?B?`%׿ ?i:4@I:|^;8YN(uAyNH PPbDZ VDZ8yb댻%bK=ٔbަQ-b>9fK?IfK?=f#Fyf޷Ejy7Ej>lQ 5r}4nMM?Q 9r}4nw)nNAYpyroQ Iv?n)CInv;in;n}4yz!Bɮz|BzE*j Bj i i zi Ji i kpkpkph! kpkpkph12fI:fIBfIJfM@Yiɢm)i m>iq)uqqiu?yIyAIIO>ԁ-2Acoustic response timeoutԱbE&4jE4rEp/E [ E EE ?E "E a:*E A9VE ^4ZE a @a @a @a @ tя,YG?A2 @2@2|ٱ2\ :AHRS rotation from veh to nav: [[0.590677,0.760201,0.270547],[-0.805969,0.539662,0.243267],[0.038927,-0.361744,0.931464]]2H?S?P?@D?]#?M?@&׿ ?i2 @I2`^;2XC2Acoustic response timeoutԹY}uAy}<HbD2VD8y= =%=(=ٔ=Q-E>9AIA=E#FyEEMp EM>QQ 5]}4U4e?Q 9]}4U)UQAYYyeQ Ie?UnCIU:iU:U}4ym$BɮufBq*jBjiiziJii kokokoh kokokoh2f:fBfJf{@Yɢe=ֻ)a eG>ia)1 顉iHIAIIOMt>B >= 2Acoustic response timeoutB B wHB RvAB =B B B ǻ;B {E9 zя,YG?A6@6@6*ٱ6h BAHRS rotation from veh to nav: [[0.578025,0.768654,0.273966],[-0.814957,0.526645,0.241847],[0.041614,-0.363064,0.930834]]6H.? ј?? 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S y??=?`׿Y?i6@I6U^;4qYAvAymHImp<)m;ET ECE<E"E9*E09VE 4ZEa@a@a@a@y!rh?ʡE?Mb?lG?=< 9^I +?y&1|ˡE?YXY?y`廙>BsB B)OBYzBbD6VD8y-;%-*=ٔ-yQ-5>91I1=5#Fy5E=E=>AQ 5M}4EZ?Q 9M}4E)EWVAYMi?Q EMi:yMUQ IU?ECIE ;iEE:ED}4y]1Bɮ]iB]E*jqBjqiqiqziqJiqiy kcqkcqkcqh 2f>:f>AABf=@JfS@yɢ) <>i)ѫ顁in4Iԙuߕ%=ߕR=2Acoustic response timeoutAIIO > Cя, ZG?A6$@6@6;ٱ6¾ BAHRS rotation from veh to nav: [[0.556578,0.780502,0.284671],[-0.829528,0.503166,0.242297],[0.045876,-0.371000,0.927499]]6H@|??@ 8? ~ ?@?@}?@u׿?i6$@I6Xv^;6XC p)rvArCrxFppvvAivPIvFtItivvA zOzF)xx zvAzH~(rF||~vAI|)~Fi)IvA:F   C  i  iC) IYY%vAy%HbD5/VD58yEJ>%M=ٔM]»Q-M?9IIQ=U#FyUEU"EU?YQ 5e}4]?Q 9m}4])] XAYiymWQ Im?]CI]:i]:]}4y}4Bɮ}VBy*jBjiiziJii kXkXkXh k3xk3xk3xhA2fy:fyBfyJf}$@AAAAB>BBHBwABBBB;Bv{E2Acoustic response timeoutBACBACBB=B=Cڜ59ɢ=;)9 =]>iA)ELAAiE NIIiqqqqEV EAEE"E=:*E 9VEZEBE:a2E:aJE:a:E:a) Aa Iq I O > 2Acoustic response timeout= PExceeded connect timeout, disconnecting.Q я,h:ZG?A2OY@2CT@2Aٱ2ž :AHRS rotation from veh to nav: [[0.546699,0.784987,0.291402],[-0.835995,0.492068,0.242860],[0.047252,-0.376382,0.925259]]2H`~??`V?x ~?`?`i1?@ؿ ?i2OY@I2^Y^;2[CYuwAyuH}?Ay 4<<bDYVD8y.<%E=ٔ YQ->9I=#FyEE>Q 5~4_?Q 9~4!)ZZAYy!ZQ I?#CI:i: ~4yɮTB*jBjiiziJii k_k_k_h krkrkrh2f:fBfJfi@ɢ;) ">i)1|i:I)AAIQIiO>>In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutaԁ E R E ?E CE "E s9*E ?9VE 5ZE a @a @a @a @5Ҕя,8TZG?A06@6}@6x|Eٱ6'ɾ >AHRS rotation from veh to nav: [[0.536967,0.788398,0.300159],[-0.842226,0.480680,0.244136],[0.048196,-0.383895,0.922118]]6H`.?:?@5?`v?@??@? ؿ ?i6@I6KN^;6ZCYbwAyH ))-=-=ermodem://6: set _.others_observations nan n/a str none_stre #Outgoing data=1epIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITm2Acoustic response timeoutbD54VD58y}t=%}M=ٔ}6Q->9I=#FyEE>Q 5~4?Q 9~4F()\AYyT\Q I?NCIY;ie;~4y7BɮKBE*jBjiiziJii kZkZkZh ksksksh2f:fBfJf/@!ɢ%ˣ;)! -M>i))-))i-i膼1I1ԑAAIQIaO>ԹB>B@CBqHBwAB=BBwDB;Bk{E zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout bя,nZG?A2B@26@2 Hٱ2; :AHRS rotation from veh to nav: [[0.527119,0.791898,0.308291],[-0.848388,0.469554,0.244452],[0.048822,-0.390406,0.919348]]2H@(?:W? ?%@, ?5J?`3?gؿKk?i2B@I23a^;0ERW ER>ER>EP"ER :*ER9VER4ZEPBER&:aZ2ER+:aZJER9aZ:ER!9aZY^ewA\y^ Htt t)tItbD~.VD~8y ;% R=ٔ  ӺQ- >9I=#FyEE>!Q 5-~4%Ӹ?Q 9-~4%.)%^AY)y-^Q I-?%xCI%:i%:%'%~4y:BɮMB*jBjiiziJii kC[kC[kC[h krkrkrh2f):f)Bf)Jf-:@Yɢe;)a e>ia)ei~aiimHViIm2Acoustic response timeoutAIIO5.>nManaging dock network, ignoring radio surface power offI  2Acoustic response timeoutFя, ZG?A2w=@2k8@2/RHٱ2^Ѿ JAHRS rotation from veh to nav: [[0.517369,0.794929,0.316887],[-0.854365,0.458652,0.244334],[0.048887,-0.397147,0.916452]]2H J?p?`G?VZ?`RF??jٿS?i2w=@I2uN^;2YCYRwAyVoH yME?y&1|ˡEM&?M`M什I I9M(\?y&1|?~jtx?YM'?yM`;M;MBI M.B)IIYMBbDe"VDe8yu=%uC=ٔu"Q-}>9yIy=}#Fy}E߼E> Q 5~4 [ฉ?Q 9~4 95) ^AY'?Q E:yQ I? 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[?1?9?@? 2?@^)ٿ@Ng?iFof@IF_^;FVCi`I`f2Acoustic response timeoutIlY}AyH )IbDVDye%E=ٔ\ºQ->9I= $Fy :E 6ɼE >Q 54B?Q 947)lAY!y%Q I%?CI$:i:4y-Bɮ-B-E*jABjAiIiIziIJiIiI kckckcha kykykyhq2f:fBfJft*@颡ɢB=) ^?i)9KE顩i=ǹI[!AI IO]U>B>BBHB~AB=BBtDB;BH{EQu2Acoustic response timeouty E= V E= @E= >E9 "E= =:*E= 9VE= 4ZE9 BE= :aM 2E= :aM JE= ,:aM :E= .:aM \я, u]G?A>@>@> ٱ>Ѿ ZAHRS rotation from veh to nav: [[0.071510,0.916358,0.393921],[-0.996875,0.052370,0.059141],[0.033564,-0.396919,0.917240]]>H@N?R?6?@fIЪ?`G?\/?gٿZ?i>@I>z^;>YCYb}AybHbDnVDn8yvK%v]=ٔv8Q-z>9xIx=z$Fyz=E~ʼE~>Q 5 4?Q 9 4?)mAY y Q I?CI:ip:4yɮB*j1Bj1i1i9zi9Ji9i9 kc`kc`kc`hQ kCrkCrkCrha2fq:fqBfqJfu;@频ɢP=) Z?i):顙isһIQ2Acoustic response timeoutԁt'I1IIO}>ԩ 2Acoustic response timeout cя,(]G?A2/֑@2$ј@2K4ٱ27VҾ :AHRS rotation from veh to nav: [[0.063066,0.915782,0.396693],[-0.997487,0.044987,0.054726],[0.032271,-0.399148,0.916319]]2H %?N?kc?j@?@?`ͅ?ٿ@{R?i2/֑@I2Eh^;2WCYb}AybHdfR=y$C?Dl~jtZ?O 9L7A`?V-Zd;OY+G?yhj<B8rB 4B)BYLBbDVD8y<%==ٔD;Q->9I=$Fy?EРE>Q 54s?Q 94H)mAYWH?Q E:yοQ I?CI:i:4yɮB*j Bj iiziJii kYkYkYhԱ ksskssbE}4jE}4rE}0E EBEE"E*E(9VEZEa@a@a @a @kssh2f%=:f%=Bf%J@Jf%?aɢex4;=)a e]?ia)m/-iiimP0I2Acoustic response timeout I9 IY O >9 Fiя,x]G?AB<AB>BBHBAB=BBB};B{EBO@BD@B ٱBҾ JAHRS rotation from veh to nav: [[0.054072,0.916271,0.396893],[-0.998089,0.037690,0.048966],[0.029907,-0.398783,0.916558]]BH\?R?`f?`X#L? ? ?ٿpT?iBO@IB^;BZC=2Acoustic response timeoutY=h~Ay=pHI%=)=bDVD8y=%+=ٔ;Q->9I=$FyBEE>AQ 5M4EŔ?Q 9M4ErRQ =MtI)EmAYQyUϿQ IU?E0CIEi ;iEC ;E4y]Bɮ]B]E*jqBjqiyiyziyJiyiy kZkZkZh ksksksh2f:fBfJf+?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢUJ=) f?i)l iIIiIyEW ECE=E"E :*E09VE|4ZEBE$:a2E):aJE9:a:E9:a9OEQ>i i I  In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutpя,W]G?A0:2@:-@:ٱ:AҾ FAHRS rotation from veh to nav: [[0.043138,0.916598,0.397476],[-0.998695,0.028674,0.042265],[0.027343,-0.398780,0.916639]]:H`??T?=p?N\?Σ?@? ٿU?i:2@I:Pl^;:XC H)JvAJ7LLLNvAiLIPPIPiP PP)TT TTTTXZvAIZP)ZFiX)\I\^T\ \```i``if Cd)d dIdYdYj)~AynIHbDVD8y-8%-m=ٔ-;Q--?91I1=5$Fy5EE=E=?AQ 5M4EY?Q 9M4EfY)EmAYIyM6ѿQ IM?ERCIE:iE;E^4yYɮ]BY*jiBjiiqiqziqJiqiq k[k[k[h2f:fBfJfV?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19  r RAggregate::uninitialize marl:UpdateRudder!ɢ%j=)) -b?i1)5.\11i5y¼IIQԉIIO >Mrmodem://6: set _.others_observations nan n/a str none_strM #Outgoing data=2MpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITM2Acoustic response timeoutԹE Y E DE >E "E :*E a99VE 4ZE a @a @a @a @ 7vя,X7]G?A2Ð@2@2}'˼ٱ2Ѿ :AHRS rotation from veh to nav: [[0.029624,0.917298,0.397097],[-0.999253,0.017323,0.034531],[0.024797,-0.397823,0.917127]]2H`U?`Z?@ j?``?@?Ed?uٿ`Y?i2Ð@I2^;0RzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYR2Acoustic response timeout`Y~AyH!! -<-4<bD5VD58yE>=%EZ=ٔE;Q-E>9III=M$FyMGEUEU>YQ 5e4]r?Q 9e4]a)]mAYayeҿQ Ie?]wCI] :i]:]4yqɮuBq*jBjiiziJii ksVksVksVhQ2fi:fiBfiJfm?ɢld=) i?i)+x i%ļ!IIIIOB%>B%;CB%HB%6AB!B!B!B%S;B%zEB9AIA=E$FyMJEM!EM>QQ 5]4U?Q 9]4UWi)UmAYayeԿQ Ie?UCIU;iU;U 4ymBɮmBi*jBjiiziJii kCkCkCh k\k\k\h2f:fBfJfڹ?ɢul=) qf?i)60i1ƼIIIO=2Acoustic response timeoutIioAIoAqԡ e 2Acoustic response timeout-я,^G?A2j@2_@2ٱ2˾ :AHRS rotation from veh to nav: [[-0.004213,0.921929,0.387337],[-0.999783,-0.011778,0.017159],[0.020381,-0.387181,0.921779]]2H`Aqp? ?9$?`ޔ?ؿ5?i2j@I2 ^;2WCY^~Ay^Hyy}Mb?~jth?}?}D;}̽y y9}#~j?RQx&1ȿY}?y}½}A}B}>rB }8B)} ByY}BbDVD8y:=%D=ٔy;Q->9I=$FyLER0E>Q 54+?Q 94t)#mAY?Q EF:yݿQ I?CI:ij:4yBɮB#E*jBjiiziJii kSZkSZkSZh  kSZkSZkSZh2f->:f->Bf-BO@Jf-#@ET EEE>E"E9*EA9VE4ZEa@a@a@a@ ɢc=) Ok?i)i"ȼI!ԡAyIIOE>2Acoustic response timeout A A AAB% >B% :CB% !HB% AB% =B! B% sDB% P;B% zE|1я,*^G?A>@> @>ٱ>γǾ JAHRS rotation from veh to nav: [[-0.023448,0.924479,0.380512],[-0.999565,-0.028491,0.007626],[0.017891,-0.380168,0.924744]]>HT?@PZ?o,d<?`R?Tؿ?i>@I>!w^;9!I!=-$Fy-OE-KE5>1Q 545)?Q 945y)5elAYyk߿Q I?%2Acoustic response timeout5 CI5%=i5%=54yyɮ}By*jBjiiziJii k[k[k[h k[k[k[h)2f9:f9Bf9Jf=h7"@Yɢ]OKg=)Y ]n?iY)e7˻aaieʼiIiAEX E@E:E"E~ :*E9VE(4ZEBE:a2E:aJE+:a:E.:aI!I1OmV>1 2Acoustic response timeouta я,D^G?A2i@2d@2fyٱ2iž :AHRS rotation from veh to nav: [[-0.043827,0.925672,0.375780],[-0.998923,-0.046344,-0.002343],[0.015247,-0.375478,0.926706]]2H op? ?-\0c9?ؿ@?i2i@I2`^;2YCYB7AyBHIJ<)J<bDNVDN8yV G=%VQ=ٔZ;Q-Z>9\I\=^$Fy^QE^UEb>`Q 5f4bl|?Q 9f4b')bkAYhyjQ Ij?bBCIb;ib<;b4ylɮrޠBp*jxBjxi|i|zi|Ji|i| k[k[k[h krkrkrh!2f1:f1Bf1Jf5 @QɢU=)Q Us?iY)]["YYi]̼aIa1AIIO>%2Acoustic response timeoutYԉEW EE=E"E :*EVE|4ZEa@a@a@a@Ա :Cя,)v^^G?A4<ɰ;:@:@:ELٱ:{$þB2Acoustic response timeout JAHRS rotation from veh to nav: [[-0.064885,0.925985,0.371944],[-0.997815,-0.064861,-0.012589],[0.012467,-0.371948,0.928170]]:HF?@?Cȉ?`׿`?i:@I:p^;8YRAyV"HbD-VD-8ymiB=%u?=ٔ};Q-}>9I=$FyTEIE>Q 549t?Q 94ޕ)jAYyQ I?|CI7;i8;*&4yBɮ۠B-E*jBjiqiqziyJiyiy k#Zk#Zk#Zhԑ kstkstksth2f:fBfJf^a@ ɢ-,p=)1 5x?i1)5ؘ11i=μ9IAAUZ?AU\?A$AIIB>BBSHBABBBBU;BzEOH>52Acoustic response timeoutE U E EE 8E "E :*E A9VE F4ZE BE :a 2E :a JE V:a :E V:a  hmя,Qx^G?A2@2@2"ٱ2ih :AHRS rotation from veh to nav: [[-0.087040,0.926368,0.366424],[-0.996155,-0.084599,-0.022748],[0.009926,-0.366996,0.930170]]2H@>HΤ? s? H@6K ;T?|׿@?i2@I2`^;0YAy=H?A <bDVD8yR<%B=ٔ;Q->9H?IH?=$FyWE XE >Q 54rk?Q 949)iAY!y%YQ I%?CI;i:~-4y-Bɮ-ӠB)*jABjAiAiAziAJiIiI k[k[k[h2f:fBfJf@ɢ=) Z{?i)"}idм!I!2Acoustic response timeoutAaII!O]U>I E 2Acoustic response timeoutZUя,,^G?A2KM@2@H@2Yٱ2 >AHRS rotation from veh to nav: [[-0.109596,0.925554,0.362407],[-0.993946,-0.104890,-0.032700],[0.007747,-0.363797,0.931446]]2H`t #?1?h`ں`?@rH׿ h?i2KM@I2]^;2WCYF AyFxH |~A==yS㥛?9I=$FyYE%8dE%>)Q 5-4-"h?Q 954-h)-iAY5\?Q E=+:y=ӿQ I=?-CI-;i- ;-44yAɮEǠBA*jYBjYiYiYziYJiaia k3^k3^k3^hy k3^k3^k3^h2fF>:fF>BfE@Jf@EX EIE=E"E~ :*Ec9VE|4ZEa@a@a@a@IɢUr:=)Q U?iQ)]IYYi]ҼaIa 9=*C 9YAA}AIIIOD>y2Acoustic response timeoutԩ B A <yя,p%^G?A8FR@BJ>BJ;CBJHBJfABJ=BHBJtDBJh;BJ{EFG@F.:ѻٱF ZAHRS rotation from veh to nav: [[-0.133099,0.924064,0.358316],[-0.991082,-0.126423,-0.042112],[0.006385,-0.360726,0.932650]]FH@b ??@.ಏ :'z? ׿ E?iFR@IF^;FYCYbAybHbDnVDn8yv4<%v^=ٔz)r;Q-z>9zK?IzK?=~$Fy~[E~E~>Q 5 4;d?Q 9 4R)5iAYyֿQ I?/CI;i; ;4yBɮʠB6E*j1Bj1i1i1zi9Ji9i9 k[k[k[hQ k[k[k[ha2fq:fqBfqJfuZ@hDAT read: Forwarding Delay UpTx time:18:56:58.3432 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout1ɢ5=)9 =Ӂ?i9)=@.99i=ɎԼaIiԩAIIO )>ES EHE:E"E9*E[9VE(4ZEBE:a2E:aJES:a:ET:a 2Acoustic response timeout Agя,^G?A2Ŋ@2@2ٱ2aӼ :AHRS rotation from veh to nav: [[-0.156932,0.920869,0.356892],[-0.987592,-0.148481,-0.051147],[0.005892,-0.360490,0.932744]]2H\Ŀw?R? Zjÿ/`k"x?E׿ ?i2Ŋ@I2^;2[CYZ4AyZHbDfVDf8yjn<%jM=lٔnӡ:Q-r>9pIp=v$Fyv^EvvEv>xQ 5~4z_?Q 9~4z9)zhAYy,ٿQ I?zoCIz{;izw;zB4y ɮ ĠB *j!Bj!i!i!zi!Ji)i) k3_k3_k3_hA kC_kC_kC_hQ2fa:faBfaJfe@颡ɢÓ=) C?i)?ƺ顩i%ּIA $A II)O]> 2Acoustic response timeout9bEU4jEU-4rEUEC0EX EBEE"E~ :*E(9VEZEa@a@a@a@a lя,#^G?A22Acoustic response timeout6)@6@6~Kϻٱ6a BAHRS rotation from veh to nav: [[-0.180853,0.916580,0.356614],[-0.983490,-0.170874,-0.059580],[0.006326,-0.361502,0.932350]]6H /&ǿ T? ?x3ſ`M`dy?"׿?i6)@I6݆^;6WCYVOAyVHAaa i)iIqI4=)<AbDVD8y<%>=ٔ-Q->9H?IH?=$FyaEgE>Q 54NX?Q 94)zhAYyJܿQ I?CI:i|:I4yBɮŠB@E*jBjiiziJii k3^k3^k3^h  kC^kC^kC^h2f):f)Bf)Jf- ͋@AɢM=)I M?iI)M_"QQiU|ؼYIYAeAiIqIO>B}>ByB}4HB}AByByB}sDB}o;B} {Eԑ2Acoustic response timeout E U E GE ;E "E :*E R9VE 4ZE BE :a 2E :a JE t:a :E t:a я,^G?Aɰ4<2=@28@2Fٱ2ٽ :AHRS rotation from veh to nav: [[-0.204009,0.911920,0.356064],[-0.978944,-0.192619,-0.067575],[0.006962,-0.362353,0.932015]]2Hʿs.?`?S๧ȿL|? 0׿@?i2=@I2~^;2XCY^bAy^HbDjVDj8yr<%rW=ٔv{ۺQ-v>9vK?IvK?=v$FyvcEz~Ez>|Q 54~wQ?Q 94~.)~'hAYy P߿Q I ?~CI~ :i~p:~*P4yɮB*j)Bj)i)i)zi)Ji)i1ԙ kckckch2f:fBfJf< @)ɢ-=)) -#?i1)UX+d9QQiU9ڼYIY}2Acoustic response timeoutII O>>% :?% l?- 2Acoustic response timeoutQ Rя,s_G?A2ӛ@2Ȗ@2ٱ2 * :AHRS rotation from veh to nav: [[-0.223328,0.906314,0.358774],[-0.974718,-0.210301,-0.075488],[0.007034,-0.366562,0.930367]]2H̿@? &?0#ʿ3S|?u׿@?i2ӛ@I2^;2YCYZAyZ HyA`"?l?(\µ?Y?== 9|?5^?+?> ףp=?Y?y=Q>\B>rB }B)BY=BbD VD8y =%;=ٔs.Q->9I=$FyfEj9E>Q 54]N?Q 94)ViAY ?Q E J:y ӿQ I ?)CI;i;W4EZ EfE:E"E:*E9VE(4ZEa@a@a@a@yBɮB*jBjiiziJii kKkKkKh2fEM]>:fEM]>BfEzk>JfE@aɢe=)a m?ii)m(B:iiiun ݼqIyAIiIyO=>2Acoustic response timeoutqԡ я,rP-_G?AB">B":CB"HB"AB B B B";B"{EB:CB:CBB=B=C5>@> @>) ٻٱ>3þ JAHRS rotation from veh to nav: [[-0.240087,0.900110,0.363539],[-0.970729,-0.225166,-0.083582],[0.006623,-0.372965,0.927822]]>H*ο?9D?5;̿e 8!{?@׿`?i>@I>@^;>VCYRAyR5H-=-=bDu!VDu8y4=%Q=ٔi:Q->9I=$FyhE4E>Q 54 K?Q 94)cjAYyտQ I?\CI:iB:^4yBɮBIE*jBjiiziJii2Acoustic response timeout k3Ek3Ek3Eh k3Ek3Ek3Eh2f:fBfJf9@1ɢ5=)9 =I?i9)=}:99i=#߼AIIIIO==ET EGE<E"E9*ER9VE 4ZEBE:a2E:aJEa:Ea>>)  2Acoustic response timeoutQ я,4G_G?A2E@2:@20ٱ2G>ƾ :AHRS rotation from veh to nav: [[-0.255394,0.894695,0.366462],[-0.966819,-0.238642,-0.091164],[0.005889,-0.377585,0.925956]]2H@`XпX?@t?.ыο`V\x? Z*ؿo?i2E@I2p^;2XCYRɀAyVbHbD%7VD%8y4=%G=ٔ:Q->9I=$FykEmE>Q 54G?Q 94 ){kAYy׿Q I?CI/;i+;e4yɮB*jBjiiziJii kcIkcIkcIh kIkIkIh)2f9:f9Bf9Jf=ɜ@Yɢ]v=)Y ]?ia)e:;aaiejἉiIiA}oAzAy)I1IIO=2Acoustic response timeoutYEV EKE?E"E=:*E]t9VE^4ZEa@a@a@a@ԁ iя,a_G?A22Acoustic response timeout9I=$Fy%mE!E%>)Q 554-B?Q 954- )-}lAY9y=DٿQ I=?-CI-;i-;-l4yAɮEBA*jYBjYiYiYziaJiaia kKkKkKhy kKkKkKh2f1:f1Bf1Jf5vg@qɢuYl=)q }?iy)}t;yyi}㼉III!O]=ԡB>B8CBHBAB=BBqDB;B {E2Acoustic response timeout D =D <E Z E FE E "E :*E ;J9VE ZE BE `;a 2E b;a JE e:a :E e:a я,z_G?A2ã@2@2jٱ2; :AHRS rotation from veh to nav: [[-0.282848,0.882830,0.374977],[-0.959158,-0.261797,-0.107136],[0.003585,-0.389965,0.920823]]2H`/ҿ%@??l@IпFm1^m?1ؿ`w?i2ã@I2^;2ZCpYЀAykHbD2VD8y-<%-I=ٔ5=;Q-5>91I1=5$Fy5pE]r E]>aQ 5m4e=?Q 9m4e )emAYqyuڿQ Iu?eCIeR:ie:es4yBɮBSE*jBjiiziJii kCkCkCh kCkCkCh!2f1:f1Bf1Jf5 @iɢmJ1=)  ?i)ɗ;顡i弉IIQ2Acoustic response timeoutIO&>1a % 2Acoustic response timeoutя,PĔ_G?A;ɰp;2;@2y6@2ٱ2Lо :AHRS rotation from veh to nav: [[-0.295032,0.877407,0.378303],[-0.955485,-0.271742,-0.114909],[0.001979,-0.395365,0.918522]]2Hҿ?6?U9dѿj6`?`Mٿ`d?i2;@I2~^;2WCYFAyFH9au@au a}@a} a}@a} a}@a} a}@a} yuA`"?X9v rh?u?uuC =q q)uMb@Mb@Mb@Iuiu‰uuu u)uuIubD6VD8y<%C=ٔz;Q->9I=$FysEE>Q 54^8?Q 94?# )nAQ A+:YQ E$:ylܿQ I?3CI* ;i>y4yɮB*jBjiiziJii k@k@k@h kSYkSYkSYh!AɢM =)MJ Mo?iI)U2;QQiUE(載YIYE` EE;E"E*:*EVE4ZEa@a@a@a@A T?A I?aA9IIIYOB>iyIy2Acoustic response timeoutԑԹ B >B 7CB HB FAB =B B pDB ;B +{Eя,__G?A2؅@2ӌ@2kٱ2Ҿ :AHRS rotation from veh to nav: [[-0.306551,0.872825,0.379741],[-0.951854,-0.281194,-0.122082],[0.000225,-0.398882,0.917002]]2Hӿ .?M?u ѿ@tq-?IٿX?i2؅@I2^;2XCYV̀AyVgH`dbDj<VDj8yr_%rX=ٔv;Q-v>9tIt=z$FyzuEz{Ez>|Q 54~3?Q 94~l- )~oAQ A  :Y Q E :y ݿQ I ?~eCI~:i~K?~}4yɮB*j)Bj1i1i1zi1Ji1i1ԙ2Acoustic response timeout kVkVkVh9ɢ=샪=)9 EՌ?iA)Eo;AAiEZ꼉IIIAIIO >Ej EE@E"EN:*EVE4ZEBEk;a2Ek;aJEe:a:Ea 2Acoustic response timeout ^я,q_G?AN\(@NQ#@N%=O;ٱN}վ VAHRS rotation from veh to nav: [[-0.326952,0.864804,0.381072],[-0.945036,-0.297842,-0.134899],[-0.003162,-0.404232,0.914651]]NHԿ@z?{c?=ӿ_DiٿD?iN\(@IN"^;NVCYbAybHf>f=bDnVDn8yvt=%vJ=ٔv9 9xIx=z$FyzxEzYE~>Q 5 4,?Q 9 4@8 )pAQ A 9Y Q E 9y Q I ?CIj:i?4yBɮB\E*j1Bj1i1i1zi9Ji9i9 kS;kS;kS;hQ k\k\k\ha颉ɢ{=) ?i);顑iNt켉IAIIO>2Acoustic response timeout!QE% ` E% JE% ?E! ] G"E% *:*E% k9VE% ^4q ZE! a} @a @a @a @ ̿9 Y Ay -я,M_G?A22Acoustic response timeoutVۄ@V֋@VRU;ٱVվ bAHRS rotation from veh to nav: [[-0.335786,0.861677,0.380475],[-0.941926,-0.305085,-0.140354],[-0.004862,-0.405508,0.914079]]VH}տ ے?`Y?A$@ӿ s`ٿ!@?iVۄ@IV^;TYjAyjSHbDE5VDE8yT%A=ٔ];Q->9I=$FyzE봼E>Q 54|%?Q 94C )qAQ A9YQ E9yQ I?CI;i?4yɮȠB*jBjiiziJii kCDkCDkCDh k]k]k]hQ颡ɢF=) ֋?i)<顩iIBe>Be6CBaBaBaBaBaBeֻ;BeT{Eԁ3A pAzA 2Acoustic response timeoutԱAI IQ Ii I O > E W E HE >E "E :*E [9VE 4ZE BE ":a 2E ':a JE R:a :E S:a Wя,(_G?ABÌ@B@BE);ٱBM־ NAHRS rotation from veh to nav: [[-0.344837,0.858492,0.379577],[-0.938643,-0.312733,-0.145424],[-0.006139,-0.406435,0.913659]]BH@ֿx?J? \ Կ ?¿@%yڿ`9I=$Fy}EüE>Q 54l?Q 94VN )rAQ A9YQ E9yQ I?CI:i@T4yɮ B*jBjiiziJii  kSEkSEkSEh9Թ1ɢ=s=)A Eb?iAe2Acoustic response timeout)v <顩i𼉨I_>A5$AI9IQO|>  2Acoustic response timeout9 ?я,>`G?AB*3@B.@B5a;ٱBվ JAHRS rotation from veh to nav: [[-0.355080,0.855662,0.376513],[-0.934808,-0.321902,-0.150040],[-0.007183,-0.405243,0.914181]]BHֿ@a??`@ Կ4ÿl}@ٿ@?iB*3@IB^^;BYCYV؀AyVuHaa aa aa aa aa ytV?sh|?ſ:vR?)Խ 9rh|? ףp= ǿI +Y;?yQ894BsB ÕB)ۙBYןBbD8VD8yJ;%B=ٔ";Q->9 H?I H?= $Fy EռE>Q 5%4!?Q 9%48U )rAQ A%T:Y%A?Q E%:y-X Q I-?1CI;i:4y5Bɮ5ƠB5fE*jIBjIiQiQziQJiQiY ks@ks@ks@hi k@k@k@hy2f=:f=Bf* S@Jf ?颩ɢ ް=bE=|4jE=!4rE=30EU EBE<E"E:*E(9VE 4ZEa@a@a@a@) ?i)#<i򼉨I9e2Acoustic response timeout5BJi A AI I O >A A B >B B HB 2AB =B &DB B ;B u{Etn я,o/`G?Aɰ;NЃ@Nˊ@N <ٱNYԾ VAHRS rotation from veh to nav: [[-0.366265,0.852665,0.372576],[-0.930469,-0.331823,-0.155308],[-0.008797,-0.403555,0.914913]]NH p׿I?I?@g`<տ`$ÿ ٿ@F?iNЃ@IN\|^;NXCY^πAybjHbDj1VDj8yr?%r^=ٔvi;Q-v>9vK?IvK?=v$FyzEz4Ez>|Q 54~?Q 94~2[ )~rAY y  Q I ?~UCI~:i~:~ 4yɮȠB*j)Bj1i1i1zi1Ji1i9 kDkDkDhI kDkDkDha2fq:fqBfqJfuM?颉ɢ묺=) ?i)=1<顙iI2Acoustic response timeoutiAeV?Ae\?EZ EGE?E"E:*ER9VE^4ZEBE_;a2Eb;aJEt:a:Et:aԱII!OUv>e 2Acoustic response timeout Qя,I`G?A2`@2Z@2+<ٱ2[Ѿ :AHRS rotation from veh to nav: [[-0.379044,0.850210,0.365334],[-0.925320,-0.343777,-0.160002],[-0.010442,-0.398698,0.917023]]2HBBؿ`4?a?8`rֿzĿb Fٿ?X?i2`@I2T^;0dY]ԀAy]oHbDuAVDu8y/;%3=ٔl;Q->9I=$FyEE>Q 54P?Q 94b ) sAYy Q I?CI6:i-:4yɮǠB*jBjiiziJii kDkDkDh k\k\k\h2f :f Bf Jf S?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed9ɢER =)A EF?iA)E@AԑE EUE=E"E*EP9VE|4ZEa@a@a@a@ H|я,5c`G?AiI2Acoustic response timeout>@>߉@>UQ<ٱ>Xξ FAHRS rotation from veh to nav: [[-0.392923,0.847731,0.356320],[-0.919483,-0.356807,-0.165045],[-0.012776,-0.392480,0.919672]]>H%ٿ ?`?@gl@ֿ3 ſ@*cٿm?i>@I>E^;9I=$FyED!E>Q 554ḉ?Q 9=4h ).sAY9y= Q I=?CI BBBBB=BBoDB ;B{EB6CB6CBĔCB=B=CĹ52Acoustic response timeout D %=D %=E U E KE ?E "E :*E ]t9VE ^4ZE BE :a 2E :a JE ):a :E *:a я,n}`G?ABS^@BHY@B<{<ٱBʾ JAHRS rotation from veh to nav: [[-0.407932,0.844696,0.346526],[-0.912884,-0.370981,-0.170343],[-0.015334,-0.385827,0.922444]]BHڿ`?|-?W6&׿ſDgbؿ?iBS^@IB^;BYCYeAyeHHbDRVD8y@%L=ٔ;Q->9I =$FyE#E%>9Q 5U4=XѸ?Q 9]4=o )=LsAYaymQ Im?=CI=;i=E;=4yɮ̠B*jBjiiziJi M2Acoustic response timeouti  kBkBkBh2f:fBfJf5u?1ɢ5Tׯ=)9 =H?i9)=+_<99i=$AIiII!O5.>Q 2Acoustic response timeouty i I ԍ%я,K`G?A:oƁ@:d@:<ٱ:WZǾ BAHRS rotation from veh to nav: [[-0.424767,0.840437,0.336511],[-0.905121,-0.386807,-0.176455],[-0.018135,-0.379535,0.925000]]:Ha/ۿ@?c?`qؿƿߑ MJؿ?i:oƁ@I:u^;:XCY=̀Ay=fHyEe;O?B`"۹ktƿEt?EνE 0A A9E rh?rB EB)EQAYEBBbDefVDe 8ym<%u@=ٔu;Q-u>9yIy=}$Fy}E86E>Q 54E[ EAEBE"Ea:*E 9VE5ZEa@a@a@a@?Q 94w )3rAYt?Q E^:yzQ I?CIm;i\;:4yBɮʠBoE*jBjiiziJii k3'k3'k3'h kCAkCAkCAh2f/=:f/=Bf)@Jf>@)ɢ-2=)1 5nj?i1)5:m<19i=9IAIIOm>ԁE2Acoustic response timeoutԩBM <AI B >B B HB AB =B %DB pDB ;B p{E +я,&`G?A2 @2@2<ٱ2þ :AHRS rotation from veh to nav: [[-0.443040,0.835078,0.326129],[-0.896253,-0.404005,-0.183056],[-0.021108,-0.373395,0.927432]]2HZܿ?L?9ٿ_nǿS׿?i2 @I2_;2WCYf܀AyfyHI=<)=49I=$FyE^E>2Acoustic response timeoutQ 54?Q 94=~ ).qAYyQ I?-CI;i;ȸ4yBɮàBnE*jBjiiziJii k%k%k%h kAkAkAh2f:fBfJf,@1ԱɢM=) ō?i)zz<项iII1IIOu=DzDAAEX EJE>E"E~ :*Ek9VE4ZEBE:a2E:aJE:a:E:a M 2Acoustic response timeout9 ٟ2я,`G?A4<ɰ4<2ej@2Ze@2S<ٱ2V :AHRS rotation from veh to nav: [[-0.462768,0.828691,0.314829],[-0.886151,-0.422778,-0.189722],[-0.024118,-0.366783,0.929994]]2H@ݿ?`(&?Z[ۿHȿ`M `y׿@?i2ej@I2,_;2VCYRˀAyReHbDE^VDE8y%J=ٔ%;Q->9I=$FyE`E>Q 54%?Q 94Dž )pAYyQ I?]CI:i[:ҿ4yɮǠB*jBjiiziJii kS&kS&kS&h k#Ck#Ck#Ch2f :f Bf Jf /@)ɢ-5=)) -?i))5<11i5P9I9 A$AII2Acoustic response timeoutO#>9ER EHE<E"Es9*E[9VE 4ZEa@a@a@a@i ] 2Acoustic response timeout8я,E`G?A6*T@6 @6;<ٱ6 >AHRS rotation from veh to nav: [[-0.483405,0.820663,0.304683],[-0.874979,-0.442210,-0.197136],[-0.027048,-0.361888,0.931829]]6H`޿B?`?`*Mܿ;ɿ@+)׿?i6*T@I6<_;6UCYFՀAyJqHLL R;RbDV;VDV8y^jM<%^W=ٔ^P;Q-^>9bH?IbH?=b$FybEf}Ef>hQ 5n4j ?Q 9n4j )jnAYlynQ In?jCIj :ij:jqƀ4yvBɮv Bt*j|BjiiziJii  kCkCkCh kcWkcWkcWh)2f9:f9Bf9Jf=@ɢ0=) T?i)ċ<iC1IaB>B7CBHB AB=BBB;B3{EA9IAIYO>ԑ2Acoustic response timeoutԹ D <D <E ^ E DE ;E "E C#:*E a99VE 4ZE BE s ;a 2E u ;a JE hH:a :E jH:a >я,A`G?APva}@v߅@vF<ٱvQ AHRS rotation from veh to nav: [[-0.504310,0.811142,0.296177],[-0.863016,-0.461695,-0.205037],[-0.029570,-0.359008,0.932866]]vH`N#@??`ԝjݿ>ʿG`ֿ ?iva}@Iv1_;vXCYMAyUYHbDVD8yUX%4=ٔ;Q->9I=$FyE-2Acoustic response timeout 5OEM>QQ 5]4Uf?Q 9e4Um )UmAYayeQ Ie?UCIU:iUw:U΀4yBɮˠBwE*jBjiiziJii k;k;k;h2f!:f!Bf!Jf%@9ɢ=n4=)A E?iA)EVe!  2Acoustic response timeoutEя,aG?A2C|@2@2=ٱ2- :AHRS rotation from veh to nav: [[-0.524640,0.800644,0.289347],[-0.850726,-0.480321,-0.213440],[-0.031910,-0.358134,0.933125]]2H??%9޿Q˿Vֿ`(?i2C|@I28_;2WCYFЀAyFkH|yU\(\?Fx?p= ף?U:?UK>U=Q Q9UV-?V-?~jt mj>m/CYU|?yUm=UĽU1BUTmB UڐB)UBQYUBGbD3VD8%9!Y%DAy55<%5L=ٔ=;Q-=>99I9=E$FyEEEqEE>IE}V E}HE}>Ey"E}=:*E}[9VE}4ZEya@a@a@a@Q 54MT?Q 94Mƞ )MlAY4?Q E<:yQ I?MCIMտ:f7>Bf@Jf%m@颹ɢgd=)  ?i)c<iI)A9zA=qAi!I!-2Acoustic response timeoutA}AIIOc>QA A B >B 6CB HB AB B B B r;B zEԁ Lя, n2aG?A2ѻz@2X@2 =ٱ2 :AHRS rotation from veh to nav: [[-0.544814,0.788802,0.284550],[-0.837872,-0.498361,-0.222726],[-0.033878,-0.359761,0.932429]]2H`o =?6? $߿H̿}XQ׿@v?i2ѻz@I2!_;2VCY}In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutYAyQHa=R= )IbD VD 8y,ļ%==ٔ;Q->9%K?I%K?=%$Fy%E-[bE->1Q 5=45B??Q 9=45 )5kAY9y=OQ IE?58CI5g:i5:5܀4yMBɮMʠBI*jaBjaiaiaziaJiaii kc$kc$kc$hy kS<kS<kS<h2f:fBfJfk@颹ɢ#O=) ?i)˞<iIԁEW EAE=E"E :*E 9VE|4ZEBE#:a2E':aJE:a:E:aAYIiIyIOg>Ա5 rmodem://6: set _.others_observations nan n/a str none_str5 #Outgoing data=35 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT= 2Acoustic response timeout }Rя,KLaG?A2ZMy@2@2p=ٱ2ξ :AHRS rotation from veh to nav: [[-0.563385,0.776551,0.282074],[-0.825430,-0.514358,-0.232597],[-0.035536,-0.363874,0.930770]]2H @`? ?iu Ϳ1 I׿?i2ZMy@I2^;2XC @)@BCBpF@DFvAiFTIDDIDiFvA HH)HH HHLLLLIL)PiP)PIRvARPP TTTTiTTiXX)X XIXYXYbրAybrHdfAbDnVDn8yv=%vv=ٔv;Q-v?9xIx=z$FyzE~E~?Q 5 4.?Q 9 4 )jAY y  Q I?hCI:i:4yBɮǠBE*j1Bj1i1i1zi1Ji1i9 k#k#k#hI kCAkCAkCAha2fq:fqBfqJfuj@Ա ɢF=) b?i)*<iP!I!AaIqzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutIO+>bE4jEH4rEȲ0ER E?E>E"Es9*E?9VE4ZEa@a@a@a@9 = 2Acoustic response timeoutJYя,%faG?Aɰ;>w@>@>H=ٱ>Q¾ JAHRS rotation from veh to nav: [[-0.580345,0.764276,0.281214],[-0.813522,-0.528317,-0.243028],[-0.037170,-0.369814,0.928362]]>H/t?i?_Ͽ׿ $?i>w@I>5^;9I=%$Fy%E%@E%>)Q 554-{?Q 954-i )-iAY9y=" Q I=?-CI- ;i- ;-4yIɮMBI*jaBjiiiiiziiJiqiq k&k&k&h2f:fBfJfwh@ɢ=) ?i)LŰ<iaIAX?A_?BBBHBAB=BBB=;BzEAA}$AIIOB>2Acoustic response timeoutiE V E KE E "E =:*E ]t9VE ZE BE :a 2E :a JE ):a :E *:a 0`я,aG?Am v@me@mƭ=ٱm'ƾ -AHRS rotation from veh to nav: [[-0.594739,0.752853,0.281955],[-0.802985,-0.539417,-0.253464],[-0.038730,-0.377150,0.925342]]mH^?@ ?B8пsԣ;#ؿf?im v@Imo _;mYCԑ2Acoustic response timeoutYȀAy`H  y/$?Mb?~jt?,?=D= 9"~?/$?x&?Ys?y=7=jB  B)YBY(BbD&VD8y]j"%]*=ٔ]YU;Q-e>9eH?IeH?=e$FymEmEm>qQ 5}4u?Q 9}4u )uiAY}u?Q E]:ypQ I?uCIuX ;iu ;u4yBɮȠBE*jBjiiziJii k'k'k'h k(k(k(h2f>:f>Bf_;>Jf@ɢ=) ?i) XU<  i : IԹAAIIO> 2Acoustic response timeout *fя,ڙaG?A2?u@2@2%=ٱ2k/ʾ :AHRS rotation from veh to nav: [[-0.606684,0.742827,0.283094],[-0.793921,-0.548130,-0.263140],[-0.040295,-0.384397,0.922288]]2H@i@=?5?gHHпؿ@b?i2?u@I25_;2XCY^AybMHbD%VD%8yʼ%=ٔm;Q-?9K?IK?=$FyECE?Q 54?Q 94 )iAYybQ I?CI+;iR:X4yɮ̠B*jBjiiziJii k&k&k&h ks@ks@ks@h2f!:f!Bf!Jf%l$@IɢM( =)Q U?ii)mW2Acoustic response timeoutI B <A <B >B B B B =B B B @;B zEBQBQBUɓCBU=BQCU5Ulя,aG?A2 u@2ف@2,=ٱ2 ξ :AHRS rotation from veh to nav: [[-0.616742,0.734038,0.284285],[-0.786045,-0.555034,-0.272159],[-0.041987,-0.391312,0.919300]]2HY`=}?1?G' kѿXB ٿj?i2 u@I2_;2UCYFAyF=HbDRVDR8yV%Z[=ٔZo;Q-Z>9\I\=^$Fy^Eb Eb>dQ 5j4f巉?Q 9j4f )fiAYhyj/Q Ij?f6CIf;if;f4yrBɮrӠBrE*j|Bj|i|i|zi|Jii k$k$k$h kKkKkKh!2f9:f9Bf9Jf=Z@]=]4=e2Acoustic response timeoutiɢm=)q }?iy)}hEX EDE=E"E~ :*Ea99VE|4ZEBE:a%2E:a%JEhH:a-:EjH:a-ԙ 2Acoustic response timeout 9dId=f$FyfEfOEf>hQ 5n4j,Է?Q 9r4j; )jiAYpyrQ Ir?jhCIj;ij;j4ytɮv͠Bx*jBjii zi Ji i  k30k30k30h! kdkdkdh12fA:fABfAJfE^@aɢe=)a e?ia)mm2Acoustic response timeoutE- Z E) E- >E) "E- :*E) VE- 4ZE) a5 @a5 @a5 @a5 @! a e >i I A% 2Acoustic response timeoutIA Vfyя,laG?A2s@2π@2-==ٱ22Ҿ :AHRS rotation from veh to nav: [[-0.633570,0.720574,0.281712],[-0.772307,-0.567297,-0.285861],[-0.046170,-0.398681,0.915927]]2H@4F ??K'@Kҿٿ`EO?i2s@I2]^;2VCYBAyF<HXX X)XIX|bDVD8y-Ӽ%-D=ٔ-;Q-->91I1=5$Fy5E5̼E=>AQ 5M4E?Q 9M4E )EsiAYIyM Q IM?ECIEB:iE:ED 4y]Bɮ]РB]E*jiBjiiqiqziqJiqiy k3Lk3Lk3Lh kSLkSLkSLh2f:fBfJf@ɢ=) ?i)KK<iV. 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U?V`ݪXֿ@@(ؿ?i26Nb@I2^;2VCYFAyFXHHHbDR>VDR8yZ ;%ZJ=ٔZw;Q-^>9\I\=^$FybѸEbG<Eb>dQ 5j4f?Q 9j4fQM!)f]AYhynQ In?fTCIf :ifs;fo4yrBɮrBrE*j|Bj|i|i|ziJii kc[kc[kc[h kmkmkmh)2f9:f9Bf9Jf= @Qɢ]=) ~?i)D=i!Iԑ2Acoustic response timeoutAAIQIaO>ԹET EE=E"E9*EVE|4ZEa%@a%@a%@a%@  2Acoustic response timeoutQя,GkcG?ANrBa@N]8o@N9=ٱN\ɾ ZAHRS rotation from veh to nav: [[-0.824646,0.544793,0.152181],[-0.559609,-0.746550,-0.359862],[-0.082440,-0.381921,0.920511]]NHcn?z?R@׿@cqؿ@t?iNrBa@IN^;NXC\YjAyj"H ) I bDVD8y%N%-C=ٔ-Vm;Q-->9)I1=5$Fy5ԸE5E=>9Q 5E4=e?Q 9M4=dU!)=]AYIyMQ IM?=CI= :i=$:=(w4yUBɮ]B]E*jiBjiiiiqziqJiqiq kcZkcZkcZh k#rk#rk#rh2f:fBfJf@ɢ=))& x?i)/=B>B;CBHBAB=BBtDBH;BzEQiU3pQIYAaIiIO2Acoustic response timeout!A E1  E5 >E5 @E1 "E1 *E5 9VE5 4ZE1 BE5 :a] 2E5 :ae JE5 9am :E5 9am t<я,M/cG?AJRW`@J=Mn@J׫=ٱJD˾ RAHRS rotation from veh to nav: [[-0.832496,0.533916,0.147933],[-0.547655,-0.752648,-0.365507],[-0.083809,-0.385300,0.918978]]JH ϣ@?@t?c@`yd׿ tؿ@Dh?iJRW`@IJ _;JVCu2Acoustic response timeoutYGAyHy Mb?RQkt?  ? ½  =  9 (\?V-M?Y g?y m n> 3B }uB B) ܧB Y uBbD%VD%8y5%5-=ٔ=>;Q-=>99I9==$Fy=׸EEEE>IQ 5U4MF?Q 9U4M[!)M]AY]k?Q E]g:y]#Q I]?MCIM:iM:Mg4yeBɮeBmE*jyBjyiyiyziyJii kcYkcYkcYh k3sk3sk3sh2f>:f>Bf}>Jfz@ɢx=) ~t?i) =Ayyi(IIIOj>q% 2Acoustic response timeoutԙ 7k> %Cm G rA vʿ9 rAY #Abя,cG?A2_@2~m@2)l=ٱ2s̾ :AHRS rotation from veh to nav: [[-0.839237,0.524373,0.143928],[-0.537072,-0.757934,-0.370256],[-0.085064,-0.388032,0.917712]]2H?@9!I!=%$Fy%ٸE- E->1Q 5]45.?Q 9]45m`!)5^AYYy]x$Q Ie?5CI5:i5:5Ѕ4ymBɮmBi*jBjiiziJii kZkZkZh2f:fBfJf.z@ɢh=) n?i)%#=!!i%)IIԱIIIY2Acoustic response timeoutO<>BAB>B9)I)=5$Fy5ܸE=E=>AQ 5]4Eb?Q 9]4Ee!)E^AYYye7%Q Ie?ECIEN;iEN;E댁4yqɮuBq*jBjiiziJii k^k^k^h2f:fBfJfny@ɢ=) p?i ) K&=  i <IDzD@AEU E@E?E"E:*E9VE^4ZEBE:a2E:aJE,:a:E.:a=II)1O>2Acoustic response timeout- >- >Y tя,cG?Aɰ>^@>l@>x=ٱ>wk; FAHRS rotation from veh to nav: [[-0.851225,0.507402,0.134012],[-0.517451,-0.768893,-0.375564],[-0.087521,-0.389034,0.917056]]>H<=^@I>^;>YCY=e~Ay=nHbDVD8y ̽%K=ٔ[U;Q->9I=$Fy߸E%E%>!Q 5-4%?Q 954%j!1)%_AY9y=%Q I=?%NCI%/;i%/;%铁4yEBɮE,BI*jYBjYiYiaziaJiaia ksEksEksEhy k]k]k]h2f:fBfJfx@颹ɢ=) Uf?i)v)=iuIt'2Acoustic response timeoutIQIaIO>abE}^4jE}<4rE}Ǯ10E[ EDEE"Ea:*Ea99VEZEa@a@a@a@ԉ 2Acoustic response timeoutԹ я,cG?A:[]@:Qk@:%=ٱ:y˾ FAHRS rotation from veh to nav: [[-0.856736,0.499803,0.127284],[-0.508050,-0.775330,-0.375165],[-0.088822,-0.386084,0.918177]]:H`j?J?Aؿ ؿ`a?i:[]@I:^;:VCY^ ~Ay^6HbDj VDj8ys%]=ٔ g;Q- >9 I=$FyE E>!Q 5%4%ᵉ?Q 9-4%7o!)%_AY)y-&Q I-?%zCI%t:i%(:%c4y=Bɮ=4B=E*jIBjIiQiQziQJiYiY k\k\k\hi k\k\k\hy2f:fBfJfw@颩ɢ =) `?B>B=CBHB}ABBBBa;B {Ei)m,=iIԑԹIIO-N>2Acoustic response timeoutEU X EU YEU <EQ "EU ~ :*EU *9VEU 4ZEQ BEU :a} 2EU :a} JEU :a :EU :a  я,edG?A2 \@2j@2θ=ٱ2wʾ :AHRS rotation from veh to nav: [[-0.862123,0.492071,0.120876],[-0.498622,-0.781459,-0.375099],[-0.090116,-0.383652,0.919070]]2H~??@j߿`ؿ Íؿi?i2 \@I2^;0Y^}Ayb H ddyE?|?5^ɿDlF?MO 9n?^I +ǿZd;YV?yX9yBpB אB)BYBbD!VD8y&%@=ٔvH;Q->9I=$FyEҼE>Q 54Eĵ?Q 94 r!)_AY[?Q Ew:y5Q I?CI:i ;ϡ4yBɮ@BE*jBjiiziJii kc[kc[kc[h ks[ks[ks[h!2f5=:f5=Bf5}>Jf5b@Q]2Acoustic response timeoutɢUq=)a eC\?ia)ek/=aaieiIqII)O}=I  2Acoustic response timeoutя,@ dG?A 6[@6i@6$J=ٱ6aȾ >AHRS rotation from veh to nav: [[-0.867486,0.484138,0.114362],[-0.489008,-0.787701,-0.374698],[-0.091323,-0.380969,0.920067]]6Hq?F?@K߿4 ׿`aؿ0q?i6[@I6Τ^;6XCYFZ}AyFHX\ \)\I\bDf4VDf8yj%nY=ٔnR;Q-n>9pIp=r$FyrEv\Ev>tQ 5z4v>?Q 9~4vrt!)v^AY|y~6Q I?vCIvu;iv;vd4y Bɮ KB E*j!Bj!i!i!zi!Ji!i) k3Zk3Zk3Zh9 kskskshIEV E>E:E"E=:*E9VE(4ZEa@a@a@a@2f:fBfJfR@)ɢ5D=)Q UU?iQ)]'2=YYi]aIaiA$AIIO&>m2Acoustic response timeoutԙAAAA@AB>BBHB|AB=BBBt;B${EB}AHRS rotation from veh to nav: [[-0.873324,0.475272,0.106875],[-0.478256,-0.794797,-0.373588],[-0.092612,-0.377377,0.921417]]6H Dj?$\?޿n׿@o &ؿ @|?i6*[@I6^;6YCYJ(}AyJHPbDV+VDV8y^%^L=b2Acoustic response timeoutٔf9S;Q-f>9fH?IjH?=j$FyjEjEj>pQ 5r4r`?Q 9v4rv!)rH^AYtyvb7Q Iv?rCIrF:irt:rj4yzBɮ~NB|*j BjiiziJi!i! ksZksZksZhI2fa:faBfaJfeG@频ɢ=) R?i)4=顡iIAIIO >EW EIE>E"E :*Ec9VE4ZEBE&:a2E+:aJE:a:E:au2Acoustic response timeout! я,SdG?A2AZ@26h@2=ٱ2Tž :AHRS rotation from veh to nav: [[-0.879939,0.464684,0.098875],[-0.465697,-0.802489,-0.373011],[-0.093986,-0.374272,0.922544]]2H v(`?O? ݿ@h׿y@׿`z?i2AZ@I2c^;2XCYF|AyFHI=)R=bDVDyE%MB=ٔMW;Q-M>9QIQ=U$FyUEU EU>aQ 5m4eq?Q 9m4e\y!)e]AYiymM8Q Im?e+CIe:ie:eö4yyɮ}VBy*jBjiiziJii kWkWkWh kXkXkXh2f:fBfJf.^~@ɢ=&=) N?i)|7=i*IAW?AY?%=%=2Acoustic response timeout)AAIYIiO>QES E?E@E"E9*E?9VE4ZEa@a@a@a@ԁ  2Acoustic response timeoutя,(mdG?A2b8Y@2M.g@2\=ٱ2kþ :AHRS rotation from veh to nav: [[-0.887240,0.452421,0.090110],[-0.451367,-0.811068,-0.372071],[-0.095247,-0.370789,0.923820]]2H Fd@v?@s? 3ܿ@D׿ !b׿?i2b8Y@I2^;2WCYBn|AyF9HbD-?VD-8Be>Be>CBeHBe |ABe=BaBevDBe;Be@{Eqyy%G=ٔI;Q->9I=$FyE E>Q 54bT?Q 94{!)a]AYyW9Q I?XCIt:ik:4yBɮbB*jBjiiziJii kVkVkVh kVkVkVh2f:fBfJfU}@!ɢ%=)) -F?i))-:=))i-71I9ԁAIIO">ioAI2Acoustic response timeoutԹ EE R EE EA EA "EE s9*EE :VEA ZEA BEE v:aU 2EE {:aU JEE ];a] :EE ^;a] !я,ڭdG?A2NX@29 f@2<"=ٱ2h&¾ :AHRS rotation from veh to nav: [[-0.894991,0.438533,0.081724],[-0.435607,-0.819709,-0.371918],[-0.096108,-0.368463,0.924661]]2H ţ?`?ۿ ;׿׿Җ?i2NX@I2^;2VCYF{AyFHyˡE?kt`"G? 0 9MbX?y&1ʡEͿYj?Թy`弙oB8rB bB)YBbDCVD8yɿ%E=ٔt;Q->9I=$FyE.E>Q 546?Q 94~!)m[AYar?Q E`:y4Q I?CI ;iu ;4Ł4y Bɮ sB E*j!Bj!i!i!zi!Ji!i)i9I9E2Acoustic response timeout kWkWkWhY2fm5>:fm5>Bfm=JfmW@颉ɢ;=)  2Acoustic response timeout9 'я,dG?A6XV@6Cd@6=ٱ6ԍ BAHRS rotation from veh to nav: [[-0.903061,0.423314,0.072712],[-0.418459,-0.828961,-0.371101],[-0.096817,-0.365554,0.925741]]6H@???ڿ؆׿ȸ;e׿ ?i6XV@I6^;6XCYJ{AyJHLLbDVIVDV8y^g%^^=ٔb:Q-b>9bK?IfK?=f$FyfEf TEf>hQ 5n4j?Q 9r4jj!)jYAYpyrG5Q Ir?jCIj/;ij;jˁ4yvBɮvwBx*j Bj i i zi Ji i kc<kc<kc<h! k[k[k[h12fA:fABfAJfETV@aɢe=)i m9?ii)m>=iiimAqIyE ECE:E"E*E09VE(4ZEa@a@a@a@AIIO>MIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIEDM8Ack receipt timeout failure.M2Acoustic response timeoutQBYA]<Bu>BqBuLHBuzABu=BqBqBu;BuV{Eiԙ (.я,cdG?APR4=VIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERZ2Acoustic response timeoutNU@Nrc@N3=ٱN rAHRS rotation from veh to nav: [[-0.911182,0.406981,0.064137],[-0.400277,-0.837578,-0.371809],[-0.097599,-0.364458,0.926091]]NH g( ? Hk?$ٿp׿G@GS׿?iNU@IN^;LYL{AyHbD-\VD-8yE9%EB=ٔE:Q-M>9III=M$FyMEUBEU>YQ 5e4]m?Q 9e4]B!)]WAYaym6Q Im?]CI]:i]:]ҁ4yuBɮu~Bq*jBjiiziJii kCCkCCkCCh k^k^k^h2f:fBfJfU@ɢT=) 4?i)EU E>EAE"E:*E9VEA4ZEBE:a2E:aJE9a:E"9aԡUpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITU2Acoustic response timeout c5я,AdG?A2GT@2=b@2d]=ٱ2Ȱ :AHRS rotation from veh to nav: [[-0.919138,0.390069,0.055053],[-0.381508,-0.846584,-0.371142],[-0.098164,-0.362134,0.926943]]2Hi?/?jؿ7׿L!@4-׿?i2GT@I2^;0YzAy:HbD,VD8yӉ%6=ٔ~:Q->9H?IH?=$FyE:E>Q 54ܴ?Q 94!)UAYy7Q I?CI:i/;ځ4yBɮB*jBjiiziJii ksEksEksEh k#Zk#Zk#Zh)2fI:fIBfIJfMT@zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutG/9YœAɢrO=) -?i)jD=i~!I)A=P?A=B?AMAIYIiO>E EGE<E"E*ER9VE 4ZEa@a@a@a@) ia Ia m 2Acoustic response timeouti:;я,&dG?A6R@6`@6&=ٱ6 >AHRS rotation from veh to nav: [[-0.926903,0.372435,0.046287],[-0.362157,-0.855261,-0.370637],[-0.098450,-0.360308,0.927624]]6H@1??-׿K^`׿ 4H׿?i6R@I6^;6UC @)DDDDDFvAiHIJFHIHiH J\JF)LL NvANLPPPPIRL)PiT)TITVLT TXZlAXiXXi\\)\ \I\Y\YfkzAyfHxx x)xIxI~%=)~p=BB=CBHByAB=BBuDB;Br{EbD%VD%8y5%5e=ٔ=sS:Q-=>9K?IK?=$FyEgfE>Q 54@?Q 94A!)SAYy"9Q I?BCIG;i;Z4yBɮBE*j9Bj9i9iAziAJiAiA kAkAkAhy2f:fBfJflBS@ɢvX=) &?i)%E=iIQA$AI I!OU1>y2Acoustic response timeoutԩ E5 T E5 DE5 ?E1 "E5 9*E5 a99VE5 ^4ZE1 BE5 :aE 2E5 :aE JE5 iH:aE :E5 kH:aE 2Bя,8 eG?A0>tQ@>__@>fs=ٱ> FAHRS rotation from veh to nav: [[-0.933966,0.355288,0.038447],[-0.343324,-0.862211,-0.372452],[-0.099178,-0.361057,0.927255]]>H ?_?`տ<`@׿c׿@?i>tQ@I>=^;>VCY= zAy=H2Acoustic response timeouty/$?y&1?{GzL?`e=ף 9I +?Q?#~jĿY9t?y\>%BuB ÌB)BYBbD0VD8y%]%%:=ٔ-B:Q-->9-H?I-H?=-$Fy-E5CE5>9Q 5E4= ?Q 9E4=!)=QAYMLz?Q EMY:yM-Q IM?=tCI=*:i=v:=4yUBɮUBY*jiBjiiqiqziqJiqiy k3Bk3Bk3Bh kCBkCBkCBh2f6i>:f6i>Bf>Jfk@ɢ=)  ?i)SG=iPIԉA%AI)I9Ou6>Թ 2Acoustic response timeout MHя,c"eG?A2AoP@2,e^@2F=ٱ2' :AHRS rotation from veh to nav: [[-0.940214,0.339142,0.031297],[-0.325552,-0.867918,-0.375146],[-0.100065,-0.362906,0.926437]]2H<??Կdؿ ٝ9׿_?i2AoP@I2=^;2TClY~yAy~pHbDeVDe8ym%U=ٔJ;Q->9K?IK?=$FyEDJE>Q 54m?Q 94Q!)OAYy.Q I?CI:i:r4bEE4jEE4rEE}x0EX ECE=E"E~ :*E09VE|4ZEa@a@a@a@yBɮBE*j Bj i i zi Jii kAkAkAh! kAkAkAh92fI:fIBfIJfMVj@ɢ =) ?i)I=iI1A9zA9 -2Acoustic response timeoutA$AIIIOF>A@AAB>BACB HByAB=BBxDB;Bu{EIa *xNя,d9H?IH?=$FyE&1E>Q 54j?Q 94!) NAYy/Q I?CI:it:4yBɮB*jBjiiziJii kAkAkAh  kBkBkBh2f):f)Bf)Jf-i@IɢM=)I M?iI)UQK=QQiUkYIYaAAIIO >EU EE>E"E:*EVE4ZEBE:a2E:aJE9:a:E9:aԑi1I1=2Acoustic response timeoutԹ _Uя,DVeG?A2=N@23\@2Ĩ=ٱ2? :AHRS rotation from veh to nav: [[-0.950612,0.309888,0.017493],[-0.293075,-0.877624,-0.379319],[-0.102194,-0.365712,0.925101]]2Hjk5??ҿFؿ b)g׿l?i2=N@I2u^;2VCYByAyB%HbD KVD 8yE %MP=ٔM5@;Q-M>9MK?IUK?=U$FyUEU/EU>YQ 5e4]M?Q 9m4]!)],LAYiym1Q Im?]CI]F:i]:][4ԙyuBɮB*j Bj iizi)Ji1i1 kFkFkFhI kFkFkFha2f:fBfJf%g@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ=) ?i)M=iI2Acoustic response timeoutA%$AI)I9Om5>E EDE;E"E*Ea99VE4ZEa @a @a @a @! E 2Acoustic response timeout [я,apeG?A>C0M@>.&[@>0=ٱ>CL FAHRS rotation from veh to nav: [[-0.955200,0.295771,0.010646],[-0.277376,-0.882088,-0.380766],[-0.103229,-0.366661,0.924610]]>H?ͅ?ѿ@:y^ؿ@3m^w׿g?i>C0M@I>w^;<BR>BRCCBRHBRxABR=BR$DBRyDBR;BRn{EBm>CBm?CBmCBm=Bm=CmN6YbxAybHbDnTVDn8yv %vQ=ٔv-;Q-v>9zH?IzH?=z$FyzEz+E~>Q 540?Q 9 4!)LJAY y  2Q I ?/CI:i:34yɮB*j)Bj)i)i1zi1Ji1i1 kCkCkChI kbkbkbhY2fi:fiBfiJfmf@suNUpdating rudder angle 6.875493 arcdeg 9ur}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudder频ɢ=) ~ ?i)RLO=顙icgIAW?A]?YAAIIO >ԁ2Acoustic response timeoutԱE S E BE >E "E 9*E (9VE 4ZE BE :a 2E :a JE L+:a :E N+:a pbя,uuBupB uB)uBqYuBbD4VD8y%?=ٔS;Q->9K?IK?=$Fy EwE>Q 54`?Q 94u!)HAYz?Q EX:y-Q I?dCI;:i: 4yBɮϡBE*jBjiiziJii2Acoustic response timeout ksZksZksZh 2f%v>:f%v>Bf%nR?Jf% 6@9ɢE$=)E E?iA)E Q=AIiM!%IIQԱAAIIIYO<>  2Acoustic response timeout9 hя,eG?A;ɰ;:K@:Y@:ck=ٱ:@ FAHRS rotation from veh to nav: [[-0.963373,0.268134,-0.004130],[-0.246343,-0.890956,-0.381462],[-0.105963,-0.366472,0.924375]]:H)?p@,Ͽiؿ\ Ht׿{?i:K@I:1^;:VCYNwAyNeH`` d)dIdbDj6VDj8yr/%vW=ٔvk;Q-v>9xIx=z$Fyz Ez.Ez>|Q 54~>?Q 9 4~P!)~GAY y .Q I ?~CI~:i~k:~Q4yBɮۡB*jBjiiziJiiEX EGE;E"E~ :*ER9VE4ZEa@a@a@a@ kAkAkAh k]k]k]h12fA:fABfAJfE@颁ɢr=) >i)GR=顉iiI hDAT read: Forwarding Delay UpTx time:18:57:26.3430 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutA!I)I9Ou6>9BABBBHBwABBBB;B{Ei *nя,ZeG?A 22Acoustic response timeout: J@:nX@:+u=ٱ: BAHRS rotation from veh to nav: [[-0.967219,0.253660,-0.012034],[-0.230099,-0.895456,-0.381069],[-0.107438,-0.365809,0.924468]]:Ht;?sͿ@qcؿhi׿ >?i: J@I: ^;8YNwAyNOHbDV(VDV8y^%^M=ٔbs;Q-b>9`I`=f$FyfEf,Ef>hQ 5n4j׳?Q 9n4j0!)jbFAYpyr/Q Ir?jCIj;ij<;jG4yvBɮvݡBt*jBjiizi Ji i  kDkDkDh! kXkXkXh12fA:fABfAJfE2@aɢe ,=)a eB>ia)m5T=iiimiIqAzAqAe$AIqIO>EW E>EAE"E :*E9VEA4ZEBE(:a2E-:aJE9a:E#9aԙ>2Acoustic response timeout uя,teG?A6kH@6UV@6;=ٱ6X >AHRS rotation from veh to nav: [[-0.971020,0.238097,-0.020757],[-0.212663,-0.900384,-0.379582],[-0.109066,-0.364168,0.924925]]6Hy?NA@8˿@Kؿ뻿N׿?i6kH@I6^;6WCYFvAyFHP ||bD VD 8yM%MB=ٔM~;Q-M>9UH?IUH?=U$FyUEUG.E]>aQ 5m4e?Q 9m4e!)eDAYiym0Q Im?eCIe:iej:e 4y}Bɮ}B}E*jBjiiziJii kc<kc<kc<hy2f:fBfJf"@ɢ.=)  >i)U=i/Iu>u:?}2Acoustic response timeout5l"Eb ECE;E"E1:*E09VE4ZEa@a@a@a@A AI I O >! % 2Acoustic response timeout*{я,eG?AB&>B&BCB&^HB&)vAB&=B$B$B&;B&{EBоG@BU@B6=ٱBj3 JAHRS rotation from veh to nav: [[-0.974500,0.222479,-0.029199],[-0.195070,-0.904286,-0.379756],[-0.110892,-0.364376,0.924626]]BH / -z?o板` ȿ@MؿlcQ׿?iBоG@IBX^;BTCYVvAyVH|bD-'VD-8y5ʼ%=K=ٔ=;Q-=>9EK?IEK?=E$FyEEE7EM>IQ 5U4M?Q 9]4M!)MCAYYy]1Q I]?M(CIM~ ;iMX ;M'4ymBɮmBi*jyBjiiziJii kBkBkBh kBkBkBh2f:fBfJf @ɢɌ=) >i)#W=iIC )A!I1IIO:>2Acoustic response timeoutQԁ E Q E GE ?E "E 29*E R9VE ^4ZE BE :a 2E :a JE t:a :E t:a -я,U fG?A2F@2tT@2==ٱ2 :AHRS rotation from veh to nav: [[-0.977715,0.206505,-0.037812],[-0.177143,-0.908152,-0.379315],[-0.112670,-0.364164,0.924494]]2H`pIn?!\@ƿ  Fؿ`׼vN׿`u?i2F@I2 ^;2WCYRvAyVHYyB`"?K?N?^:>2Acoustic response timeout 9 rh? r?Mb?YCk?yC><BuB fB)YWBbDDVD8yU%>=ٔ >;Q- >9 I =$FyE.E>Q 5%4z?Q 9%4!)BAY-Lp?Q E-b:y-0Q I-?[CI:iv:2/4y=Bɮ=B=üE*jIBjIiIiQziQJiQiQ k@k@k@hi kCYkCYkCYhy2f=:f=Bf=Jf [@颩ɢN9=) ->i))5mX=11i5b9I9ԉI_A%[?A%Y?Ա !!}GMrA3ٿ9MrAYA 2Acoustic response timeoutA $AI I O > Uя,`%fG?A2\E@2QS@2>=ٱ2 :AHRS rotation from veh to nav: [[-0.980732,0.189824,-0.046172],[-0.158555,-0.911494,-0.379526],[-0.114128,-0.364892,0.924028]]2H'b`(L?@ΣKĿ*@&Jؿ7dZ׿࣑?i2\E@I2^;2UCYB vAyFJHIJ>)J>bDR<VDR8yVƽ%Zc=ٔZ;Q-Z>9^H?I^H?=^$Fy^EbFWEb>dQ 5f4f=`?Q 9j4f!)fAAYhyj52Q Ij?fCIf:if:f~54yrBɮr Br¼E*jxBjxi|i|zi|Ji|i kAkAkAh kZkZkZh!2f1:f1Bf1Jf5EY@QɢUԥ=)Q U(>iY)]4Y=YYi]aIaiiqqES EEE=E"E9*EA9VE|4ZEa@a@a@a@Թ2Acoustic response timeoutBe>BeCCBeHBe5uABe=BaBaBe;Be{EA1I9IQO|>Y 4я,:?fG?A"2Acoustic response timeoutB0D@B&R@Bp=ٱBA JAHRS rotation from veh to nav: [[-0.983343,0.173559,-0.053979],[-0.140595,-0.914538,-0.379280],[-0.115193,-0.365373,0.923706]]BHw -7? '@`CFؿ@O}Eb׿@?iB0D@IB^;@YnuAyn,HbDz[VDz8y%E=ٔ n);Q- >9 I = $Fy E4E>Q 5%4A?Q 9%4!)r@AY)y-a3Q I-?CIb:i:<4y5Bɮ5 B1*jIBjIiIiIziIJiQiQ kSBkSBkSBha k#Vk#Vk#Vhq2f:fBfJfoX@颡ɢ=) .>i)$Z=顩i}I9AAII Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I O% >DzDAAEY ENE<E"E:*E҆9VE 4ZEBE;a2E ;aJE:a:E:aa2Acoustic response timeoutԉԹ я,YfG?A24C@2P@2=ٱ2:P :AHRS rotation from veh to nav: [[-0.985609,0.157253,-0.062016],[-0.122702,-0.917888,-0.377394],[-0.116270,-0.364354,0.923974]]2H@ ?@liU_;'ؿý@Q׿`1?i24C@I2^;2VCYrFuAyrHbDPVD 8yK%%I=ٔ%T.;Q-%>9-K?I-K?=5$Fy5E=5E=>AQ 5U4E#?Q 9U4E!)EV?AYQy]4Q I]?ECIEZ;iE[;EC4ymBɮm>Bi*jBjiiziJii kXkXkXh2f:fBfJfnW@ɢ€=) Ѩ>i)[=it IAoAzAԑ]2Acoustic response timeoutAE$AIQIaO>bE=C4jE=4rE=+0Eu E@E;E"Ev:*E9VE4ZEa@a@a@a@i I  2Acoustic response timeoutI!  BA BA BE 2HBE AtABA BA BA BE ;BE v{E7я,W?sfG?ABA@BO@B~l=ٱB JAHRS rotation from veh to nav: [[-0.987497,0.141613,-0.069248],[-0.105504,-0.920125,-0.377146],[-0.117125,-0.365125,0.923562]]BH[ ?5Mq@(#ؿ3^׿Ѝ?iBA@IB^;@Yf8uAyfHIQ Q)QIq qqbDAVD8y%A=ٔ,;Q->9H?IH?=$Fy!E(E>Q 54H?Q 94!!)1>AYy5Q I?CI;i;BK4yBɮi9)E]=AAiExb IIIAeAIqIO>M2Acoustic response timeout) E U E BE >E "E :*E (9VE 4ZE BE :a 2E :a JE L+:a :E N+:a ; я,̌fG?A2@@2N@2~=ٱ2S >AHRS rotation from veh to nav: [[-0.989082,0.125965,-0.076483],[-0.088443,-0.922537,-0.375637],[-0.117875,-0.364771,0.923606]]2H?]2`lo ؿ@-jX׿@-?i2@@I2^;2WCYFtAyFHym?B`"۹{Gzt?N?νף; 9@5^I ?ʡE?Mb?Ybp?y==BsB B)BYBbD-VVD-8y=#%ER=ٔE:Q-E>9EK?IMK?=M$FyM#EM5EM>2Acoustic response timeoutQQ 54UH沉?Q 94U4!)Ul=AYar?Q E`:y;Q I?UGCIUz|:f6>Bf_?Jf@ɢ=) >i)U,^=i IQA!I)I9O;>ym 2Acoustic response timeoutԩ f7я, fG?A6?@6M@6e=ٱ6@ BAHRS rotation from veh to nav: [[-0.990303,0.111273,-0.083176],[-0.072400,-0.924354,-0.374603],[-0.118567,-0.364948,0.923447]]6H _|?@KƈO}׿kZ`P[׿?i6?@I6F^;6VCYJ^tAyNCHbDqVD*8yE%MJ=ٔM:Q-M>9IIQ=U$FyU&EU#EU>YQ 5e4]Ʋ?Q 9m4]5!)]i)_=i4 IA%_?A%V?ԩ2Acoustic response timeoutAaIiIyO>>B<A4=B>BBCBHBMsABBBB;Bb{EBCCBCCBœCB=B=C;F5 я,fG?A2Acoustic response timeout6g>@6QL@6ؗ=ٱ6)" >AHRS rotation from veh to nav: [[-0.991231,0.097319,-0.089388],[-0.057143,-0.925628,-0.374096],[-0.119147,-0.365708,0.923072]]6H*?⶿@A 0׿cg׿`Ή?i6g>@I6Η^;6TClYutAyu HI>)p<bDJVD8yU?%U-=ٔUT:Q-]>9YIY=]$Fy])EeEe>iQ 5u4mJ?Q 9u4m]!)m;AYqy}!=Q I}?mCIm;imj:mZa4yBɮ[BE*jBjiiziJii kS\kS\kS\h ks\ks\ks\h 2fQ:fQBfQJfU@EU EEE?E"E:*EA9VE^4ZEBEa2EaJEV:a:EV:a颩ɢX==)[ >i)`=顱iu IA19IAIQO|>iI2Acoustic response timeouta dJя,xbfG?AJ=@JK@J)=ٱJ VAHRS rotation from veh to nav: [[-0.991943,0.083661,-0.095129],[-0.042272,-0.926468,-0.373993],[-0.119423,-0.366958,0.922540]]JHj?gZ ׿@>|׿`r?iJ=@IJ^;JSC`bsAib/]IbxgF`IdifUA dd)jJh hlllppIt)tit)tIvuAtt xxxxixxi||)| |IYY sAy H9bDPVD 8y%e=ٔL:Q->9I=$Fy+E,E>Q 54v?Q 94!):AYy>Q I?CI1:i:g4yBɮcB*j!Bj!i)i)zi)Ji)i) k]k]k]hA k]k]k]hQ2fa:faBfaJfe5@颁ɢ<7=) j>i)`=顉if I52Acoustic response timeoutiAIIO-->E[ EBE;E"Ea:*E(9VE4ZEa@a@a@a@ԩԹ  2Acoustic response timeoutB >B B HB YrAB =B B xDB {;B S{E+sя,7fG?A:.<@:J@:<=ٱ:z¾ BAHRS rotation from veh to nav: [[-0.992448,0.070411,-0.100449],[-0.027886,-0.926919,-0.374223],[-0.119457,-0.368596,0.921882]]:H!{? )RE׿@Ĕ׿`?i:.<@I:^;:WCY=sAy=}HbDU@VDU8ye%eS=ٔeh8Q-e>9iIi=m$Fym.Em^Eu>ԙqQ 54u=h?Q 94u[!)u-:AYy?Q I?u CIuWia)eKa=aaieF iIiA}pAzAyA$AI IOU2>U2Acoustic response timeoutE U E hE <E "E :*E ]9VE 4ZE BE :a 2E :a JE $5;a :E $5;a 9 7[я,gG?A6<@6I@6!=ٱ6þ >AHRS rotation from veh to nav: [[-0.992764,0.057777,-0.105270],[-0.014178,-0.926907,-0.375022],[-0.119244,-0.370816,0.921019]]6H?@H 9`]ؿ s׿`x?i6<@I6^;6UCY%rAy%3H ))2Acoustic response timeouty!rh?~jtп rhlG?C 9Q?{GztQYh?yףu8rB B)YBbDVD8y"%B=ٔJQ->9H?IH?=$Fy0EE>9Q 54qF?Q 94c!)Q9AYh?Q Ei:yHQ I?=CI:iv: v4yBɮ}B*jBjiiziJii k\k\k\h kC\kC\kC\h2f%T>:f%T>Bf%?Jf%T@AɢEب=)A E)>iI)M:a=IIiM QIQaԑU 2Acoustic response timeoutA% AI) I9 Ou >Թ Mя,'gG?A2K%;@25I@2c=ٱ2u;ž :AHRS rotation from veh to nav: [[-0.992946,0.045194,-0.109614],[-0.000688,-0.926685,-0.375838],[-0.118563,-0.373112,0.920179]]2H@7#? CF@g` ؿ`+Z׿@r?i2K%;@I2Ũ^;2TCYBqAyBHXX X)XIXbDVD8y2%Y=ٔQ->9K?IK?=$Fy3E%YE%>)Q 554-+?Q 954-L!)-8AY1y5`H@Q I5?-fCI-:i-;-M|4yEBɮEBEEEeS EeAEeAEa"Ee9*Ee 9VEeA4ZEaau@au@au@au@*jyBjyiiziJii ksYksYksYh2f:fBfJf @ɢFh=) =i) ] 2Acoustic response timeoutrя, AgG?A2B:@2|8H@22=ٱ2ƾ :AHRS rotation from veh to nav: [[-0.992962,0.032244,-0.113961],[0.013053,-0.926570,-0.375897],[-0.117713,-0.374739,0.919627]]2HWF?,? uؿx"׿ m?i2B:@I2^;0YBrAyFHbDN,VDN8yVF<%VP=ٔVQ-Z>9XIX=Z$Fy^5E^xE^>`Q 5f4b ?Q 9f4b!)b7AYdyf}G@Q Ij?bCIb;ib;b(4ynBɮnBl*jxBjxi|i|zi|Ji|i| k@k@k@h kS\kS\kS\h!2f:fBfJfCm@ɢtN=) >i)b=i*IEmT EmEEm@Ei"Em9*EmA9VEm4ZEiBEm:au2Em:auJEmV:a:EmV:a5A=Z?A=`?I2Acoustic response timeoutA$AIIO>Y я,6[gG?A:>d9@:(ZG@:=ٱ:߮ƾ ^AHRS rotation from veh to nav: [[-0.992815,0.019410,-0.118077],[0.026529,-0.926497,-0.375367],[-0.116684,-0.375802,0.919325]]:H# B?I:*?`ܥ@ؿ ޽@$ ؿ`k?i:>d9@I:^;rG:VC~rAE˿9ErAYEwAYM)qAyMJHI=)=bD=VD8y%5=ٔ%Q-%>9%H?I%H?=-$Fy-8E-E->1Q 5=45뱉?Q 9=45!)5 7AYAyEF@Q IE?5CI5:i5:54yMBɮUBQ*jaBjiiiiiziiJiqiq k#\k#\k#\h k3\k3\k3\h2f:fBfJf^@ɢVv=) =i)b=iD[I2Acoustic response timeoutiԙE}Q E}@E}=Ey"E}29*E}9VE}|4ZEya@a@a@a@AAIIO>  2Acoustic response timeoutB >B B HB IpAB =B B yDB ;B _{Eя,~ugG?ABu8@BkF@B7w=ٱBtƾ NAHRS rotation from veh to nav: [[-0.992496,0.005427,-0.122159],[0.040988,-0.926454,-0.374170],[-0.115205,-0.376369,0.919279]]BH`:v? E Y?`@h׿~pؿj?iBu8@IB;^;@PYZpAyZ%HbD-"VD-8y}%U=ٔ~Q->9K?IK?=$Fy:EE>Q 54jα?Q 94/!)S6AYyE@Q I?CI<;i:4yBɮBE*jBjiiziJii kZkZkZh kZkZkZhq2f:fBfJfO~@ɢΗs=) "m=i)c=i  IAaIiIyOD>52Acoustic response timeout! D %=D =E [ E BE <E "E a:*E (9VE 4ZE BE ;a 2E ;a JE L+:a :E N+:a ]я,[gG?A2|7@2rE@2=ٱ2lǾ :AHRS rotation from veh to nav: [[-0.991955,-0.009269,-0.126254],[0.056082,-0.926285,-0.372628],[-0.113493,-0.376711,0.919352]]2H)׶?@"׿ `ؿ`Uk?i2|7@I2^;2UCYF9I=$Fy=EE>Q 54?Q 940!)}4AYS?Q E:ypA@Q I?CI ;i ;瘂4yɮB*jBjiiziJii  kXkXkXh kukukuh)2f=>:f=>Bf=2[>Jf=>@ɢ kg=) pQ5 2Acoustic response timeoutԁ }я,6gG?A2x6@2nD@2*f=ٱ2ž :AHRS rotation from veh to nav: [[-0.991135,-0.024920,-0.130503],[0.071819,-0.926868,-0.368454],[-0.111777,-0.374560,0.920440]]2H` Sb?ྔ׿ n׿?t?i2x6@I25^;2TCYFoAyFuH HHbDRVDR8yV%Z\=ٔZQ-Z>9^H?I^H?=^$Fy^?Eb//Eb>dQ 5j4f?Q 9j4f,!)f2AYlynv@@Q In?fBCIfM;;ifu*;fc4yvBɮvƢBt*jBjiibE4jE4rES)0EMR EMDEM;EI"EMs9*EMa99VEM4ZEIa]@a]@a]@a]@aziJii ks\ks\ks\h2f!:f!Bf!Jf%>@aɢeȧ_=)a e|Fii)mc=iiimfIm>m>2Acoustic response timeoutԑAAIIIB->B-CCB-HB-,oAB)B)B)B-u;B-Y{EOe4>Ա = %== %=E 2Acoustic response timeout[я,gG?A>`5@>UC@>=ٱ>ľ FAHRS rotation from veh to nav: [[-0.989953,-0.041743,-0.135097],[0.088810,-0.927020,-0.364345],[-0.110029,-0.372682,0.921413]]>H` H_JF?%@nQ׿*׿6|?i>`5@I>^;>UCYRBoAyRHbD\VD\yf%fI=ٔfQ-f>9jK?IjK?=j$FyjBEj,En>pQ 5v4rX?Q 9v4r!)r1AYtyvf?@Q Iv?rjCIr:ir:r4y~Bɮ~ԢB|*jBjiiziJii kekekeh1 kekekehA2fQ:fQBfQJfU=@qɢu\2Acoustic response timeout9 я,cgG?A:ZC4@:D9B@:=ٱ:@ľ BAHRS rotation from veh to nav: [[-0.988422,-0.058541,-0.139982],[0.106014,-0.926474,-0.361119],[-0.108550,-0.371778,0.921953]]:H ' `#? ׿ɻ@5׿?i:ZC4@I:s^;:TCYJnAyNH`` `)`I`bDj/VDj8yr %%rI=ٔv>oQ-v>9vH?IvH?=v$FyzDEz.Ez>|Q 54~ g?Q 94~!)~@Q I ?~CI~F:i~_:~4yBɮ٢BE*j)Bj)i1i1zi1Ji1i1 kS`kS`kS`hI kc`kc`kc`hY2fi:fiBfiJfmx <@19u ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18}o}@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颡ɢ3Q=) ]i)b=顩iI2Acoustic response timeoutAIIO=>AEa Ee@Ee?Ea"Ea*Ee9VEe^4ZEaam@am@am@am@q 2Acoustic response timeoutB% >B! B% JHB% mAB% =B! B% zDB% y;B% `{EBBCBBCBB=B=C5ԙ я,gG?A23@2lA@24=ٱ2T?þ :AHRS rotation from veh to nav: [[-0.986526,-0.075832,-0.144971],[0.123622,-0.925922,-0.356911],[-0.107166,-0.370024,0.922821]]2H@i`f¿?'@ֿ Cow׿ ?i23@I2o^;2UCYRNnAyRHIV%=)Vp=bD^$VD^8y%ֽ%-F=ٔ-]Q-->91I1=5$Fy5GE=U0EE>IQ 5]4M\L?Q 9e4M!)Mj-AYaye3=@Q Im?MCIMg;iMw;Mܴ4y}Bɮ}By*jBjiiziJii kYkYkYh2f:fBfJf;@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder!ɢ-D=)) -ؽi1)5db=11i5U9IAqAeAIqIO!>ԡ2Acoustic response timeoutEi  Em EEm =Ei "Ei *Em A9VEm |4ZEi BEi au 2Ei au JEm V:a} :Ei a} ~я,HhG?A21@2?@2=ٱ27¾ :AHRS rotation from veh to nav: [[-0.984111,-0.093685,-0.150828],[0.142064,-0.925017,-0.352366],[-0.106507,-0.368194,0.923628]]2H}@XNÿ */?)ֿD׿\?i21@I2^;0YFmAyF)He2Acoustic response timeouty9v?EԸ?{Gzt?4?=ף; 9ʡE?zG?`"YO?y W>BxB )BYBbDVD8y%?=ٔʺQ->9K?IK?=$FyJE3E>Q 54/?Q 9 4`!)+AY X?Q E z:y &FQ I ?CIb;iG:Q4yBɮB*j)Bj)i1i1zi1Ji1i9 k@k@k@hI ksZksZksZhY2fmjK>:fmjK>BfmcS?Jfme@颉ɢ29=) `i)a=顑i!IAyIIOB> 2Acoustic response timeout) T" я,g*hG?A>i0@>S>@>A=ٱ> JAHRS rotation from veh to nav: [[-0.981480,-0.110375,-0.156570],[0.159318,-0.924149,-0.347227],[-0.106369,-0.365740,0.924619]]>H Ih A`| Ŀ`d?8ֿ@;Jh׿y?i>i0@I>_;>TCYVmAyZ HE-Z E-@E->E)"E-:*E-9VE-4ZE)a5@a5@a5@a5@bDMVDM8y%K=ٔ Q->9I=$FyLEz2E>Q 54}?Q 94!))AYyBDCBHBlAB=BBB;Bn{EA!I)I9Om5>Yԉ  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout я,-ZDhG?A0Bڪ/@BĠ=@B&=ٱBy JAHRS rotation from veh to nav: [[-0.978506,-0.127036,-0.162443],[0.176699,-0.922619,-0.342859],[-0.106317,-0.364193,0.925235]]BHO@BĿ?eտ`7N׿?iBڪ/@IBe^;BSCYVlAyVH bD-VD-8ye%eR=ٔm Q-m>9iIi=u$FyuOEu:Eu>yQ 54}7?Q 94}!)} (AYyXHQ I?}9CI}:i}:}&ʂ4yBɮBE*jBjiiziJii kC\kC\kC\h k\k\k\hy2f:fBfJfc@ɢ&=) Ri)+`=iSCIԑE5R E5CE5;E1"E5s9*E509VE54ZE1BE5w:aE2E5|:aEJE59:aM:E59:aMA1I9IIO8>ԹiyIy}zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout i pAI d3я,3^hG?A:.@:x<@:i=ٱ:Ͽ BAHRS rotation from veh to nav: [[-0.975142,-0.143693,-0.168672],[0.194338,-0.920307,-0.339510],[-0.106445,-0.363850,0.925355]]:H`]4@d¿ſ`?(sտ ?PI׿ ?i:.@I:^;:UCdY^lAyXHbDVD8y@%6=2Acoustic response timeoutٔi9Q->9I=$FyRE#E>Q 54۰?Q 94!)&AYyH@Q I?gCI:i: ҂4y Bɮ B *j!Bj!i!i!zi!Ji)i) k\k\k\hA k\k\k\hQ2f:fBfJf:b@颡ɢU!=) Xhi)F_=顱icIA$AIIO l>E=X E=BE=<E9"E=~ :*E=(9VE= 4ZE9aM@aM@aM@aM@A  2Acoustic response timeoutB >B B HB ]kAB =B B B ;B {EW^я,UxhG?A2\-@2Q;@25=ٱ2t* FAHRS rotation from veh to nav: [[-0.971466,-0.160382,-0.174733],[0.211852,-0.918011,-0.335224],[-0.106643,-0.362676,0.925793]]2H?fĿ@]ƿ@?X`MtտL@6׿?i2\-@I2^;2TC P)PR\PPTTiV/]ITXIXiZvA Zt\)\` `bD``dfvAId)dih)hIlnPn3F ppppippitt)x xIxYxYekAyeHbD+VD8yR%_=ٔJ:Q->9H?IH?=$FyTEGE>Q 54°?Q 94u!)r$AYy~G@Q I?CI:i:}؂4yBɮ7B*j)Bj)i1iQziQJiQiY kS`kS`kS`hi kS`kS`kS`h2f:fBfJfca@ɢL =)V+P ci)_=i IAeY?AeY?QAeAII2Acoustic response timeoutO[>qEM U EM CEI EI "EM :*EM 09VEI ZEI BEM :aU 2EM :aU JEI a] :EM 9:a] Ա E$я,hG?A20,@2&:@2x=ٱ2Ι :AHRS rotation from veh to nav: [[-0.967371,-0.176770,-0.181512],[0.229556,-0.914694,-0.332626],[-0.107230,-0.363439,0.925426]]2H@`cƿ@;ǿ`b?+EIտesB׿?i20,@I2^;2RCY1kAyHI%<)%%=))E2Acoustic response timeoutԙyHzG?+?q= ףp?=j?== 9/$?`"?L7A`?Y\?yw>+=BsB B)YBbD\VD8y-E%-B=ٔ5:Q-5>9=K?I=K?==$Fy=WE=3EE>AQ 5M4E?Q 9M4E!)E#AYUe?Q EUl:yUEQ IU?ECIEq ;iEu;E߂4yeBɮe>Ba*jqBjyiyiyziyJiyiy ks[ks[ks[h ks[ks[ks[h2f{7>:f{7>Bf\?Jf@ɢ=) əi)s^=iI QY(G@9YƝAA1IAIQOY>2Acoustic response timeouty p*я,`ǫhG?AR*@Rr8@RL=ٱRPj ^AHRS rotation from veh to nav: [[-0.962807,-0.193275,-0.188807],[0.247624,-0.910774,-0.330412],[-0.108100,-0.364876,0.924759]]RH P@=ȿ*ȿ$?@%@z%տj"Z׿?iR*@IR ^;RVCEW EBE=E"E :*E(9VE|4ZEa @a @a @a @Y]jAy][H )IbDlVD%8y%S=ٔl;Q->9I=$FyYEFE>Q 54?Q 94?!)"AYyFQ I?CI:i_:4QyBɮ]HB]E*jiBjiiiiziJii k[k[k[h k[k[k[h2f:fBfJfy@Yɢ]y=)Y ]iY)e\=aaieiIM2Acoustic response timeoutBiAiBu>BqBu HBu@jABu=BqBqBu;Bu{EԁAIIOG>ԩ  2Acoustic response timeoutW1я,ZhG?A2)@27@2=ٱ2z :AHRS rotation from veh to nav: [[-0.958111,-0.209026,-0.195783],[0.265017,-0.906240,-0.329386],[-0.108577,-0.367474,0.923674]]2Hب \ʿnɿ ? տ@˻׿༎?i2)@I24^;2TCYz_jAyzHbD IVD 8y%T=ٔ٢:Q->9!I!=%$Fy%\E-7@E->1Q 5545i?Q 9=45`!)5'"AY9y='HQ I=?5CI5;i5;5D4yMBɮMRBI*jYBjaiaiaziaJiaia k#fk#fk#fhy k3fk3fk3fh2f:fBfJfo@ɢ<) i)[=iIԱEn EEE?E"EO]:*EA9VE^4ZEBEa;a2Eb;aJEV:a%:EV:a%¼A)zA)}2Acoustic response timeoutAiIyIO> 9 ܁7я,|hG?A2*(@26@2K=ٱ2,Lž :AHRS rotation from veh to nav: [[-0.953512,-0.223076,-0.202613],[0.281211,-0.900338,-0.332132],[-0.108330,-0.373668,0.921215]]2H+@̿7ɿZ?`Aտ } /׿`z?i2*(@I2L_;2VCYBiAyBH ||bD LVD 8yo%B=ٔQ->9I=$Fy^E$E>Q 547J?Q 94X!)S!AYyH@Q I?DCI$:i9:4yBɮgB*jBjiiziJii kc\kc\kc\h k{k{k{h2f!:f!Bf!Jf%x@AɢE<)A E;iI)MZ=IIiMQIQ߱ߵ=2Acoustic response timeoutM+wAIIOK>9bE|4jE!4rEƧ/ES EFE>E"E9*E;J9VE4ZEa-@a-@a-@a-@i m 2Acoustic response timeoutB} >B} ACB} CHB} hAB} =By B} xDB} ;B} |{Ei=я,jhG?AN'@N5@N=ٱNɾ VAHRS rotation from veh to nav: [[-0.949205,-0.235466,-0.208726],[0.295705,-0.894269,-0.335918],[-0.107560,-0.380576,0.918473]]NH _#ο@ʿ`?ڝ տZ[ؿ!d?iN'@IN^;NXCY^IiAybsHbD=fVD= 8y}JB%}L=ٔQ->9I=$FyaEoE>Q 54C+?Q 94+!) AYyG@Q I?sCI:ik:4y Bɮ mB E*j!Bj!i!i!zi!Ji)i) kbkbkbhA k{k{k{hQ2fa:faBfaJfe@颁ɢva<) ־i)Y=顉i!T򼉨Ia2Acoustic response timeoutԑNJNA I) I9 IY O >Թ E% X E% @E% =E! "E% ~ :*E% 9VE% |4ZE! BE% :a- 2E% :a- JE% -:a5 :E% 0:a5 Dя,2iG?A2X&@2B4@29=ٱ2; :AHRS rotation from veh to nav: [[-0.945042,-0.246738,-0.214516],[0.309258,-0.887501,-0.341616],[-0.106093,-0.389182,0.915031]]2H= Ͽ?u˿ ? hf տ([ؿG?i2X&@I2^;2UCPYbhAyb&H%2Acoustic response timeouty9I=$FycEn E>Q 54 ?Q 94!)eAYh?Q E i:y 9@Q I ?CI:i:4yBɮyB*jBjiiziJii kckckchA2f}d;>:f}d;>Bf}/x?Jf}}@颹ɢչ<) Xi)rW=iNIhDAT read: Forwarding Delay UpTx time:18:57:40.1929 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutA $AI I Y O >Jя,U-iG?A2%@23@2=ٱ2}Ͼ :AHRS rotation from veh to nav: [[-0.941065,-0.258991,-0.217532],[0.322042,-0.882693,-0.342261],[-0.103372,-0.392144,0.914077]]2H`4Nп˿T?@?տvٿ @?i2%@I2>^;2VCYFJhAyFHIJ=)JR=bDR9VDR8yZ<%Z`=ٔZeQ-^>9^H?I^H?=^$FybfEbEb>dQ 5j4f?Q 9j4f־!)fhAYhyn9@|EW ECEE"E :*E09VEZEa@a@a@a@Q I=?fCIffBBHBgAB=BB-2Acoustic response timeout1Bh;BA{EBDCBCCBÔCBBCú26AIIO%>Qԁ  2Acoustic response timeoutߥQя,uFiG?A20-%@2#3@2=ٱ2Vξ :AHRS rotation from veh to nav: [[-0.937234,-0.272186,-0.217961],[0.334252,-0.879331,-0.339195],[-0.099336,-0.390759,0.915117]]2H`}kѿ)˿cd?z#]տn2ٿ H?i20-%@I2^;2UCY^gAy^yHbDjXVDj8yrt%rG=ٔv"Q-v>9tIt=v$FyvhEzEz>|Q 54~@կ?Q 94~V!)~QAY y H8@Q I ?~CI~,:i~:~s4yBɮB*j)Bj)i)i)zi)Ji1i1y kDkDkDh2f:fBfJf |@ɢi<)1 5i9)=^ZT=99i=v뼉AIAE[ E@EE"Ea:*E9VEZEBE ;a%2E ;a-JE,:a-:E/:a-ԡAIIO5.>=2Acoustic response timeout9 3Wя,`iG?A2+Y$@2O2@2=ٱ2+̾ :AHRS rotation from veh to nav: [[-0.933274,-0.286194,-0.217007],[0.346517,-0.876402,-0.334434],[-0.094472,-0.387315,0.917094]]2Ha@Qҿ ˿V-?@{ ^gտX/ؿX?i2+Y$@I2^;2VCYBngAyFOHXX X)XIXbDbqVDb*8yf+%jK=ٔjGQ-j>9lIl=n$FynkErEr>tQ 5z4v?Q 9z4vŹ!)vHAYxyzx7@Q I~?v(CIv";iv;v{4yBɮBE*jBjiiziJii! kCDkCDkCDh1 kcDkcDkcDhA2fQ:fQBfQJfU:{@qɢuh`X<)y } iy)}R=yyi1鼉I2Acoustic response timeoutA}AIIO">E` EWEE"E*:*E9VEZEa%@a%@a%@a%@)B >B ECB HB gAB =B B {DB $;B {EiA IA M 2Acoustic response timeouty ]я,ZziG?A23#@2u1@2Gr=ٱ2 ˾ :AHRS rotation from veh to nav: [[-0.929055,-0.300484,-0.215793],[0.359085,-0.872755,-0.330690],[-0.088967,-0.384717,0.918737]]2Hк";ӿ˿A?*տƶ`3ؿ@Kf?i23#@I2%^;2UCYffAyf H hhbDrkVDr%8yzF%zI=ٔzU^Q-z>9~K?I~K?=~$Fy~mEE> Q 54 ?Q 94  !) DAYy6@Q I? 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AYy&@Q I?1CI;i;[C4ytBɮʣBEQ*jBjiiziJii k(k(k(h 2f:fBfJf<@Qɢ]h;)Y ]*iY)]E=qqiur޼yIy2Acoustic response timeoutIIOMR>nManaging dock network, ignoring radio surface power offqE  E CE ?E "E *E 09VE ^4ZE BE :a 2E :a JE 9:a :E 9:a ԡ 0я,DjG?A2se@2\[+@2kށ=ٱ2]iʾ :AHRS rotation from veh to nav: [[-0.892409,-0.391304,-0.224695],[0.446756,-0.836159,-0.318195],[-0.063370,-0.384343,0.921013]]2H  ٿ̿?@L]Կ9 ؿx?i2se@I2Y^;2UC@BsAiBI@@IDiD DD)FJD Fr@HHHHJsAIH)HiL)LINuALP PPPPiPTiTT)T TITYXY^dAy^ H ddf=f=E2Acoustic response timeoutԁyE(\?+?V-E'?E=EA A9EtV?rh|?KǿYE2?yE=E^:EBE wB EB)ElBAYEBbD}/VD}8y%V=ٔ^Q->9I=$Fy}E@E>Q 54?Q 94!)|AYS;?Q E:yk/@Q I?RCIF;i;I4yqBɮԣB*j9Bj9i9i9zi9JiAiA k(k(k(h2f#)>:f#)>BfN?Jf4 @ɢ(ց) 1i)C=iܼIIiIԩO >2Acoustic response timeouta Zя,/jG?A6:=@6#3*@6Lw=ٱ6wʾ BAHRS rotation from veh to nav: [[-0.884350,-0.407348,-0.228019],[0.462902,-0.828381,-0.315447],[-0.060390,-0.384516,0.921141]]6H Lڿ/Ϳ 0?H0Կw뮿ؿ@y?i6:=@I6.^;6VCbEIjEMk4rEM x/EbQ EbAEb;E`"Eb29*Eb 9VEb4ZE`aj@aj@aj@aj@Y~dAy H!) )))I)bD=9VD=8yMӛ%Ma=ٔMQ-M>9QIQ=U$FyUEUNE]>iQ 54m?Q 94m!)mAYyA.@Q I?mrCIm;im؛;m;P4ynBɮңB*jQBjQiYiYziYJiYiY kSkSkSh2f:fBfJfzg @ɢE=) 1i)WA=iڼIAU@AAU?AB]>BYB] HB]dABYBYBYB];B]zEIIO>U2Acoustic response timeout1Y  2Acoustic response timeout Bя,}xIjG?A2@2s)@28j=ٱ2ɴʾ :AHRS rotation from veh to nav: [[-0.875895,-0.423369,-0.231445],[0.479087,-0.820075,-0.312974],[-0.057299,-0.385015,0.921130]]2H U@xۿͿ]?` >`Կ`IV`ؿy?i2@I2^;2TCYvdAyv HbD~RVD~8y kV% N=ٔ  Q->9I=$FyE<E>!Q 5-4%Lᮉ?Q 9-4%!)%e AY)y5-@Q I5?%CI%:i%t:%"W4y=kBɮ=٣B9*jyBjyiiziJii kSkSkSh kckckch2f:fBfJf߂ @ɢe) 6i)t?=itټI1IIIO=ES E?E<E"E9*E?9VE 4ZEBE:a2E:aJE=9a:EB9aae2Acoustic response timeoutԉԹ >lя,ScjG?A2|@2e'@2w_=ٱ2ʾ :AHRS rotation from veh to nav: [[-0.867562,-0.438537,-0.234565],[0.494330,-0.812107,-0.310034],[-0.054530,-0.384926,0.921335]]2H ܿ8ο?@ӿh뫿@ؿ{?i2|@I2)^;2WCY^dAyb@ HI=)%=!%AbDE_VDE8ye2%eE=ٔeڻQ-e>9iIi=m$FymEm+Eu>qQ 54uˮ?Q 94u!)u AYy+@Q I?uCIuz:iu:ua^4ygBɮBE*jBjiiziJii kCkCkCh kSkSkSh2f:fBfJf @19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed^ B*** querying acoustic contact ***XY!ɢ%ͩ)! %>i!)-<=))i-׼1I1ԑ2Acoustic response timeoutAiIyIO >EV EEE?E"E=:*EA9VE^4ZEa@a@a@a@BU #>BU GCBU < HBU dABU =BQ BQ BU ;BU {EBFCBFCBɓCB=B=Cۦ5m 2Acoustic response timeout я,0}jG?Aɰ2@2&@2B7U=ٱ2ɾ :AHRS rotation from veh to nav: [[-0.858828,-0.453930,-0.237405],[0.509614,-0.804167,-0.305956],[-0.052031,-0.383749,0.921971]]2H{`0 ݿMcο@N?`ǔӿӣVؿȀ?i2@I2^;2TCYRcAyR HbD=[VD=8y3p%C=ٔ=ûQ->9I=$FyE*E>!Q 5E4%ɵ?Q 9E4%"!)% AYQy]*@Q I]?%CI%+ԉ E S E BE =E "E 9*E (9VE |4ZE BE a 2E a JE L+:a :E O+:a ~я,o jG?A0Zǰ@Z%@ZbM=ٱZ)ʾ jAHRS rotation from veh to nav: [[-0.849732,-0.468725,-0.241355],[0.524834,-0.795506,-0.302852],[-0.050044,-0.384015,0.921970]]ZH1ݿ@οp?t@aӿn౓ؿƀ?iZǰ@IZ^;ZWCYzcAyz H%2Acoustic response timeouty-i|?5?#~j?Mb`?-1?-%>-;) )9-ʡE?e;O?Zd;O?Y--2?y-t>-j<-B-xB -B)-dB)Y-BbDEvVDE/8yUnl%UC=ٔ]rQ-]>9YIY=]$FyeEe.Ee>iQ 5u4m?Q 9u4mM!)mNAY}zԹ2Acoustic response timeout <я,jG?A2@2m$@2F=ٱ2#ʾ :AHRS rotation from veh to nav: [[-0.840269,-0.483373,-0.245559],[0.540001,-0.786615,-0.299391],[-0.048443,-0.384171,0.921990]]2H{`޿vnϿ G?+ 9)ӿ@xͨAؿ?i2@I2R^;2UCYFQcAyF H HHJ=J=ERR ER?ER>EP"ERs9*ER?9VER4ZEPaZ@aZ@aZ@aZ@tbD%jVD%$8yu<%uZ=ٔu3Q-}>9yIy=}$FyEpCE>Q 54†?Q 94!)AYy9@Q I?(CIn;i;s4yYBɮBE*jBjiiziJii kkkh kCkCkCh2f:fBfJf>@ɢ+V) Ji)p85=!i%Ӽ!I)B*>BHCB HBlcAB=BB}DB*;B7{E -2Acoustic response timeoutAIIO%>1a  2Acoustic response timeoutя,jG?A6i@6_#@6C=ٱ64ɾ BAHRS rotation from veh to nav: [[-0.830612,-0.497685,-0.249785],[0.554798,-0.778108,-0.294530],[-0.047777,-0.383220,0.922421]]6H_@߿Ͽ?Aҿ .v@ؿx?i6i@I6^;6TCYJcAyJ HbDV^VDV8yb"%fV=ٔjQ-n>9pIp=v$FyvEvO<Ev>xQ 5~4zo?Q 9~4z!)z AYy7@Q I?zLCIzj;izv;zSz4y VBɮ B Y*jBjiiziJii kkkh2f:fBfJf;W@!ɢ-L)) -Ni))- 2=))i5Ѽ1I9AM^?AMh?EU EE?E"E:*EVE^4ZEBE:a2E:aJE>9a:EC9aAaIqIԁO>=2Acoustic response timeoutԱ [я,jG?A2%P@2F"@2YA=ٱ2!&Ⱦ :AHRS rotation from veh to nav: [[-0.820976,-0.511863,-0.252972],[0.569003,-0.770151,-0.288276],[-0.047269,-0.380609,0.923527]]2HoE.a0пD5?@sҿ3[ؿ?i2%P@I2&^;2UCYFbAyFe Hhh h)hIlr@Ar@AbDv[VDv8yzl%~G=ٔ~墺Q-~>9I=$FyE,E > Q 54 W?Q 94 \!) `AYy6@Q I? rCI 3;i a; q4y)ɮ-B)*j9Bj9iAiAziAJiAiA kCkCkChY kCkCkChiԹ2f:fBfJfȂ@9ɢ=x)9 =Ti9)E7/=AAiEϼAII2Acoustic response timeoutIiIO>ET E>EAE"E9*E9VEA4ZEa@a@a@a@B/>BICBt HBbABBB~DB-;B@{EiE oAIE oAiI II U 2Acoustic response timeout9 Pя,ujG?A6D@69!@6@=ٱ6uƾ BAHRS rotation from veh to nav: [[-0.811568,-0.525218,-0.255937],[0.582365,-0.762426,-0.282059],[-0.046990,-0.377959,0.924629]]6H@]Daп?eA ҿ`z0ؿ?i6D@I6H^;6VCYZbAy^H HIb=)b4=ddbDjeVDj8y%J=ٔk4Q->9 I = $Fy Ep%E>Q 5%4/@?Q 9%4 !)AY!y%5@Q I%?CIa;i] ;4y5RBɮ5B1*jABjIiIiQziQJiYia kkkh2fi:fiBfiJfmA@Yɢ]i)a eWia)e,=aaimμIAII2Acoustic response timeoutOC>qE S E BE CE "E 9*E (9VE 5ZE BE :a 2E :a JE L+:a :E O+:a ԡ я,XkG?AVDZ@V-P@VKw>=ٱVKľ bAHRS rotation from veh to nav: [[-0.793816,-0.548933,-0.261780],[0.606379,-0.747316,-0.271706],[-0.046484,-0.374423,0.926092]]VH fېпtg?@@cѿ ̧׿?iVDZ@IV#^;VTCYj]bAyj1 H~2Acoustic response timeouty+?X9v?x&?_?=7= 9$C?{Gz?333333?YZ?y#>>fBgzB B)9BYBbDVDT8y*%<=ٔQ->9I=$FyEጽE>Q 5 4"?Q 9 4!)AY 8a?Q Eq:yX.@Q I?CI\ ;i ;4yOBɮBEq yC *jBji1=99Y=AiIziIJiYyt?Ai kkkh kkkh2f=:f=Bf\@Jfi@9ɢ=8|)9 =+ZiA)E|)=aaie+P̼iIiIIO5->ԙ2Acoustic response timeout я,Q/2kG?AEBQ EB@EB?E@"EB29*EB9VEB^4ZE@aJ@aJ@aJ@aJ@Nw@Nl@N3;==ٱNBľ ZAHRS rotation from veh to nav: [[-0.785342,-0.559568,-0.264805],[0.617337,-0.739801,-0.267564],[-0.046183,-0.373603,0.926438]]NH! п@9?@r`ѿ?@׿@b?iNw@INz^;LYbaAyb HbD]VD]i8y%O=ٔBHQ->9I=$FyE E>Q 547?Q 94*!)=AYyt-@Q I?CI:i:4yKBɮ B*jBjiiziJii kkkh kkkh2f9:f9Bf9Jf=@iɢm& м)i mz`iq)}9'=yyi}eʼIAA@AB4>BB) HBObAB=BBB;B/{EII2Acoustic response timeoutO% >)  2Acoustic response timeoutLя,ALkG?A F۠@FĖ@F;=ٱFvľ NAHRS rotation from veh to nav: [[-0.777218,-0.569198,-0.268227],[0.627563,-0.732225,-0.264598],[-0.045794,-0.373980,0.926306]]FH`6*ѿ?@bn`,пCrG׿K?iF۠@IF l^;FRCYZaAyZ H ==bD-VD-V8y%J=ٔ|Q->9I=$FyEE>Q 545?Q 94'|!)AYy,@Q I?"CI:i:4yHBɮB*jBjiiziJii kkkh kkkh2f!:f!Bf!Jf%C@AɢE)A MbiI)MQ$=IIiMȼQIYIIIET EBE=E"E9*E(9VE|4ZEBE:a2E:aJEM+:a:EaO>q2Acoustic response timeoutԡ я,iekG?A@J@J@J d:=ٱJž RAHRS rotation from veh to nav: [[-0.768882,-0.578261,-0.272827],[0.637770,-0.723968,-0.262905],[-0.045490,-0.376144,0.925444]]JHசuѿh?`*qп@rJؿ`9tIt=v$FyvEzEz>|Q 54~ԭ?Q 94~Ix!)~AYy+@Q I ?~MCI~;i~4:~4yɮB*j!Bj)i)i)zi)Ji)i1 kkkhA k#k#k#hQ2fa:faBfaJfeՉ@颁ɢ6ϼ) fi)!=顉iR*ǼII9IQ}2Acoustic response timeoutO=ԩbE%&4jE%p4rE%Ɛ'0ES EE>E"E9*EVE4ZEa@a@a@a@B/>BB HBaAB=BBB;B!{E - 2Acoustic response timeout8я,kG?AF @F@F6=ٱFfǾ RAHRS rotation from veh to nav: [[-0.760680,-0.586860,-0.277419],[0.647605,-0.715348,-0.262460],[-0.044424,-0.379306,0.924204]]FH}W`:ѿ/? $пFؿ?iF @xIFHq^;DYmuaAyu HbDlVD%8yM%U5=ٔ]^Q-]>9iIq=u$FyuE}E>Q 54?Q 94rs!) AYy*@Q I?CI3;i4;Ĭ4yDBɮBE*jBjiiziJii kC kC kC h!2f1:f1Bf1Jf5mn@qɢuJJ)q uhiy)}H=yyi}.żI!}4=}R=}2Acoustic response timeoutAIIOER>YE T E <E ;E "E 9*E 8VE 4ZE BE a 2E a JE 9a :E 9a ԑ я,kG?A2& @2@2/=ٱ2ɾ :AHRS rotation from veh to nav: [[-0.752424,-0.595176,-0.282177],[0.657281,-0.706340,-0.262804],[-0.042898,-0.383209,0.922665]]2H` @/ҿq?Vпؿx?i2& @I2^;0YFgaAyF HIJ<)J9I=$FyEME>Q 54?Q 94l!),AY?Q E%E:y%@Q I%?CIa;i;Z4y-:Bɮ- B-E*jABjAiAiIziIJiIiI kkkha kskskshq2f=:f=Bf ?Jf6`A@颡ɢv) ii)#8=顩inüIAI II9O]3>In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout Dя,`ukG?AE2W E2CE2<E0"E2 :*E209VE2 4ZE0a:@a:@a:@a:@BW @BM@BS%=ٱB>4˾ JAHRS rotation from veh to nav: [[-0.744161,-0.603802,-0.285740],[0.666774,-0.697317,-0.262987],[-0.040459,-0.386229,0.921515]]BH`+XRIҿ5V?`kP@пؿ }?iBW @IBw^;BWCYV aAyV` Hhh h)hIlbDrpVDr)8yzgo%zQ=ٔ~ԻQ-~>9I=$FyEN E> Q 54 ?Q 94 @f!) SAYy@Q I? CI %;i !; 깃4y-6Bɮ-B)*j9BjAiAiAziAJiAiA kkkhi2f:fBfJf@@1ɢ=L)9 =ioi9)EF]=AAiEIB}+>B}HCB} HB}aAB}=ByB}}DB};B}.{EBMICBMICBIBM=BM=CM5IpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutAIIO*>!Qy  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutm,я,OkG?A2; @2#@2=ٱ2k; :AHRS rotation from veh to nav: [[-0.735870,-0.612273,-0.289167],[0.676091,-0.687949,-0.263871],[-0.037371,-0.389677,0.920193]]2H ?@ҿ@?  Aп@L"xؿ`8r?i2; @I2^;2SCYf`AyfL HbDnVDn;8yv=%vK=ٔzyQ-z>9xIx=z$Fy~E~E~>Q 5 4c?Q 9 4_!)AYy @Q I? CI:i:4y3Bɮ!*j1Bj1i1i1zi9Ji9i9 kkkhQ k3k3k3ha2fq:fqBfqJfuS?@颉ɢ) gqi)NG=顙i'񿼉IQEuZ EqEu=Eq"Eu:*EqVEu|4ZEqBEuc;a2Eue;aJEu9:a:Eu9:aAIIOE>ԁ2Acoustic response timeoutԩ }Vя,o*kG?A2ȹ @2@2S =ٱ2ξ :AHRS rotation from veh to nav: [[-0.727254,-0.620933,-0.292478],[0.685525,-0.678227,-0.264696],[-0.034008,-0.393003,0.918908]]2H E `ҿ? пi&ٿ@g?i2ȹ @I2}^;2TCYF`AyFI H ==bD%sVD%,8yeJ%eC=ٔmbQ-m>9iIq=u$FyuEuEu>yQ 54}F?Q 94}bW!)}AYy<@Q I?}YCI}R:i}(:}Iȃ4y/BɮBE*jBjiiziJii k k k h2f:fBfJf?@ɢA) qi).=!!i% 6)I)m=Աm%=2Acoustic response timeoutAaIqIO>EV EBE<E"E=:*E(9VE 4ZEa@a@a@a@Bu'>BqBu HBu[aABu=BqBqBu7;BuD{E  2Acoustic response timeout9 |>я,lG?A  @ @ i<ٱ Ͼ AHRS rotation from veh to nav: [[-0.717897,-0.630770,-0.294538],[0.695497,-0.668180,-0.264235],[-0.030133,-0.394544,0.918383]] H@E/@ҿA?a8п;۞4@ٿdc?i  @I ^; VCY`Ay4 Hy+?T㥛 |?5^?ҽ 95^I ? rhˡEĿYx?yC 'BxB )BYB AA bD VD ?8y%=ٔ%Q-%>9)I)=-%Fy-E-ռE->1Q 5=45+?Q 9=45&M!)5RAYE{?Q EEW:yEv@Q IE?5CI56;i5 ;5yу4yM$BɮU BUEm2Acoustic response timeout*jqBjqiqiqziqJiqiy kkkh k&k&k&h2fE=:fE=Bfh?Jf @ɢǿ) si)b =i\IAY?A]?9A)I9IIO>i D %=D R=E U E AE AE "E :*E  9VE A4ZE BE :a 2E :a JE :a :E :a iя,lG?A2@2@2(<ٱ2|Ѿ :AHRS rotation from veh to nav: [[-0.707716,-0.640319,-0.298545],[0.705996,-0.656873,-0.264740],[-0.026588,-0.398132,0.916943]]2H~}\ӿ ?п9`{ٿW?i2@I2^;2TC @)@BCBiFDDFvAiFTIDDIHiJvA J\H)HL LNLNrFLPRvAIRT)RFiP)TIVvAVYT TXZlAXiXXiXXb2Acoustic response timeout)\ `I`Y`Yj`Ayj8 HbDEVDEO8y1;%=ٔJQ-?9I=%FyEQE?9Q 5=4=>?Q 9E4=G!)=AYAyE~@Q IE?=CI=:i=9:=փ4yIɮU BQ*jaBjaiiiiziiJiiii k$k$k$h2f:fBfJf@ɢ') si!)%t =!!i%)IIqAIIOF>ԙu2Acoustic response timeout ˒ я,4lG?AE$ E&DE&@E$"E$*E&a99VE&4ZE$a*@a*@a*@a*@:@:@:F<ٱ:_Ӿ JAHRS rotation from veh to nav: [[-0.696867,-0.650111,-0.302873],[0.716828,-0.644956,-0.264934],[-0.023103,-0.401731,0.915466]]:HL@`Cbӿ@?@z п`RٿK?i:@I:o^;:SCPYe`Aye% HIu<)u=y}AbDVDe8y1%I=ٔ Q->9I=%FyEE>Q 54?Q 94e?!)AYy{@Q I?CI;i<;݃4y!Bɮ B*jBjiiziJii k"k"k"h k"k"k"h B%>BBz HB3aAB=BBB];Bj{E2f9:f9Bf9Jf=@ɢ) cui){=iI2Acoustic response timeoutIIO5->>!  2Acoustic response timeoutzя,NlG?A2@2@2`<ٱ2Ծ :AHRS rotation from veh to nav: [[-0.685291,-0.661213,-0.305243],[0.728006,-0.633234,-0.262721],[-0.019576,-0.402259,0.915317]]2H (@ӿK?tC`jп ٿEJ?i2@I2^;2RC|Y}`Ay HbDVDR8y]#߼%]N=ٔeQ-e>9aIa=m%FymEmN&Em>qQ 5}4u?Q 9}4u]7!)uAYys@Q I?u"CIur;iu;u4y BɮB*jBjiiziJii k&k&k&h k&k&k&h2f:fBfJf ^@ɢ8) 'xi)]=  i  IDQzDU@AE]S E]CE]:EY"E]9*E]09VE](4ZEYBE]:ae2E]:amJE]9:am:E]9:au)IQIaO>2Acoustic response timeouta 9 Y ̚Aԁ я,qrhlG?A6d@6L@6 ܃<ٱ6xӾ >AHRS rotation from veh to nav: [[-0.672676,-0.673226,-0.307040],[0.739762,-0.620911,-0.259272],[-0.016095,-0.401543,0.915699]]6H ӿ ?пR{߲ٿgM?i6d@I6nq^;6VCY^`Ayb Hpt t)tItbDzVDzA8yX<% P=ٔ Q- >9I=%FyE3E>!Q 5-4%ଉ?Q 9-4%J/!)%AY)y5[ @Q I5?%SCI%s;i%;%_4yEBɮEBEEY*jiBjiiqiqziqJiqiy k+k+k+h2f:fBfJf@E2Acoustic response timeoutqɢud)y }viy)}7=yyi}긶III)OU=ԁEU EBEAE"E:*E(9VEA4ZEa@a@a@a@ԱB<>BJCBa HB aAB=BB~DBc;B{Ei I A 2Acoustic response timeout я,[lG?AU$@U @U1M<ٱUӾ AHRS rotation from veh to nav: [[-0.659500,-0.684849,-0.309905],[0.751600,-0.607630,-0.256676],[-0.012524,-0.402203,0.915465]]UHH`}ӿ ? q `mпٿ@}K?iU$@IU^;QY=`Ay H =Աy-ʡE?Q? rh-=?-u<-C) )9-V-?uVտY-9I=%FyEE>Q 54Ѭ?Q 94'!)WAYN?Q E:y6@Q I?~CI ;i ;P4yɮB*jBjiiziJii k#(k#(k#(h k3(k3(k3(h2f܅>:f܅>Bfz@Jfߠ+?1ɢ5 )9 ="|i9)=+<99i=XAIIIIIYO>E2Acoustic response timeout E% R E% @E% ;E! "E% s9*E% 9VE% 4ZE! BE% x:aE 2E% |:aE JE% -:aM :E% 0:aM 9 &я,(lG?A2@2w@2<ٱ2վ :AHRS rotation from veh to nav: [[-0.645820,-0.695624,-0.314680],[0.763436,-0.593251,-0.255381],[-0.009035,-0.405168,0.914198]]2H B #Կn?)XпπEٿ`A?i2@I2q^;2TCVhDAT read: Forwarding Delay UpTx time:18:57:54.0929 VpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGV2Acoustic response timeoutYZ<`AyZ HbDmVDmO8yi%Y=ٔQ->9I=%FyEDE>Q 54Ƭ?Q 94=!!)@Yy@Q I?CI:i$:4yBɮ B*j Bj i i zi Jii k&k&k&h) k'k'k'h92fI:fIBfIJfMw(?iɢmcN')q u>|iq)u.BOCBH HB`AB=B#DBDB;BY{EbDVDT8y%%%D=ٔ%%Q-%>9)I)=-%Fy-E50E5>9Q 5E4=_?Q 9E4=!)=@YAyE@Q IM?=CI=*:i=:=.4yQɮUBQ*jiBjiiiqiqziyJiyiy k&k&k&h kBkBkBh2f:fBfJf{&?ɢ ) Xi)D<i1沼I2Acoustic response timeoutAԡIIOG>e 2Acoustic response timeout 3я,lG?A:<@:2@:;ٱ:p׾ FAHRS rotation from veh to nav: [[-0.618372,-0.716807,-0.322186],[0.785883,-0.565098,-0.251102],[-0.002075,-0.408475,0.912767]]:HಞԿ`%? Iп`u$ڿ@c5?i:<@I:^;:SCYNn_AyNc HI~R=)~p=AbD VD 78yE*Ͻ%MY=ٔMQ-M>9IIQ=U%FyU¹EU,?EU>aQ 5e4eE?Q 9m4e!)eG@Yiym@Q Im?eCIed:ie9:e4yuBɮ}!By*jBjiiziJii k&k&k&h kcDkcDkcDhY2fi:fiBfiJfmB#?颉ɢ}5) i).<项i챱IEW EBEEE"E :*E(9VE 5ZEBE*:a2E.:aJEM+:a:EO+:aA!I)I9Ou6>2Acoustic response timeout) 99я,lG?A2)@2@2ٱ23پ >AHRS rotation from veh to nav: [[-0.605103,-0.725841,-0.327117],[0.796147,-0.551116,-0.249843],[0.001066,-0.411614,0.911358]]2H`]`:}Կz?Ͽ@wQ?Wڿ)?i2)@I2d^;0Yf_Ayf HbDvVDvO8y=%O=ٔ 6Q- >9 I =%FyŹE-E>!Q 5-4%󢬉?Q 954% !)%|@Y1y5@Q I5?%CI%g;i%;;%4yEBɮEBMxE*jiBjiiiiqziqJiqiq kCkCkCh2f:fBfJf ?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ^L4) +i)L<i󞰼I2Acoustic response timeoutQA II!IAO]>yE[ E@E?E"Ea:*E9VE^4ZEa@a@a@a@Bn>BPCBBB=BBB;B0{EB}JCB}KCB}ǗCB}=ByC}j6ԩ M 2Acoustic response timeout@я,mG?A< (? { @ U㋻ٱ =پ AHRS rotation from veh to nav: [[-0.590994,-0.736181,-0.329792],[0.806665,-0.537176,-0.246442],[0.004269,-0.411677,0.911320]] Hk̎Rտ2?0 fϿ g|q?Xڿ)?i (?I j^; RCY-`Ay- Hy+??t= 9B`"?Pn?nʿY?y>V wB B)BYBbDVDe8yd<%<=ٔ$Q->9I=%FyȹEi&E>Q 54?Q 94!)&@Y?Q E:y@Q I?3CIv:i:;4yɮB*j!Bj!i)i)zi)Ji)i1 ks'ks'ks'hA k@k@k@hQ2fe:>:fe:>Bfetc+@Jfe<@sNUpdating rudder angle 6.875493 arcdeg 9r 6Completed marl:UpdateRudder19  r RAggregate::uninitialize marl:UpdateRudder!ɢ%  )! -~i))-<))i-&1I1ԡAu$AII2Acoustic response timeoutOF>EM \ EM >EM >EI "EM :*EM 9VEM 4ZEI BEM ;a] 2EM ;a] JEM !9ae :EM &9ae Gя,pmG?A2e?2 @2$ٱ2{־ :AHRS rotation from veh to nav: [[-0.576022,-0.748659,-0.328188],[0.817404,-0.524074,-0.239160],[0.007054,-0.406024,0.913835]]2H`n@ տ+(?7Ȝο|?Jٿ#>?i2e?I2^;2UCY^&`Ayb Hltt t)tIx xx~=|2Acoustic response timeoutbD VD x8yN<%X=ٔ%]Q-%>9%H?I%H?=-%Fy-ʹE-GE->1Q 545݊?Q 945?!)5A@Yy@Q I?5NCI53:)9 E}iA)Ei92Acoustic response timeouta E] T E] ?EY EY "E] 9*E] ?9VEY ZEY ae @ae @am @am @>Mя,7mG?AB.?BI @B ٱBGӾ JAHRS rotation from veh to nav: [[-0.559724,-0.761127,-0.327711],[0.828636,-0.510053,-0.230668],[0.008418,-0.400664,0.916187]]BH C`'[5Կ0?[RͿ=?xٿfQ?iB.?IB^;@BE|>BERCBEa HBE aABE=BABEDBEǺ;BE{EY*`Ay HbDVD8yI:%0=ٔ@Q->9K?IK?=%Fy͹E.E>Q 54}}?Q 94 )@Yy{@Q I?pCI;i;$4yɮ*jBjiiziJi!i! k$k$k$h2f:fBfJfi@ɢ=!) Z}i)U~<iXI2Acoustic response timeoutIA9IAIQO\>qԡ  2Acoustic response timeoutTя,|&QmG?A2?2DD @2kٱ2;о :AHRS rotation from veh to nav: [[-0.542968,-0.773212,-0.327611],[0.839703,-0.495649,-0.221881],[0.009181,-0.395570,0.918390]]2H`_&Կ?߿f̿h͂?Qٿ@sc?i2?I2o^;2QC@BsAiBԽIBigF@I@iD DD)DD F r@HHHHHIH)HiL)LI||| | uAii  )  I Y YO`Ay= HԹbDVDv8yo<%[=ٔ Q- >9I=%FyϹE[E%>)Q 5}4-r?Q 9}4-] )-@YyY @Q I?-CI->2Acoustic response timeoutY AZя,kmG?A>. ?>@>[N"ٱ>BϾ JAHRS rotation from veh to nav: [[-0.525981,-0.783386,-0.331136],[0.850439,-0.479909,-0.215502],[0.009906,-0.394961,0.918645]]>H@S1տ6? Զ޿˿I?Gٿe?i>. ?I>^;>RCY]`Ay]" HI>)<AbDVD8yP=%%H=ٔ%-Q-%>9)I)=-%Fy-ҹE-~JE->19Q 5E4=g?Q 9E4=x )=@YIyM @Q IM?=CI=:i=[:=24yQɮUB]wE*jiBjiii}2Acoustic response timeoutiiziyJiyiy ks(ks(ks(h2f!:f!Bf!Jf%@aɢe/)a euia)eE%X E%KE%>E!"E%~ :*E%]t9VE%4ZE!a-@a-@a-@a-@B}l>B}PCB}z HB}3aAB}=ByB}DB}ݺ;B}${EԉE 2Acoustic response timeoutԹ ,aя,mG?AF~v?F&@Fw.ٱFJ4Ҿ RAHRS rotation from veh to nav: [[-0.508750,-0.791518,-0.338632],[0.860848,-0.462840,-0.211469],[0.010648,-0.399096,0.916847]]FHG@T`'տ?`-ݿ`f˿΅? Ɋٿ`V?iF~v?IF/f^;FSCY5Q`Ay5 HyeQ?+η?y&1|?e(?ev=e`;a a9eQ?%C?~jt?Ye>yeZd>e9I=%FyչEDE>Q 54X?Q 94 )@Y?Q E:yG!@Q I?CIG ;i~ ;94yɮB*jBjiiziJii k'k'k'hi2f}<>:f}<>Bf}@Jf}}r@颹ɢR5) zi)B<iI2Acoustic response timeoutԹAQIYIiO^>iIIMnAE- R E- BE- AE) "E- s9*E- (9VE- A4ZE) BE- {:a5 2E- :a5 JE- M+:a= :E- P+:a= wk>  nRgя,mG?A099I9==%Fy=׹EEdEE>IQ 5U4ML?Q 9U4M# )M@YQyU@Q I]?MCIM;iM;M-@4yeBɮeܣBemE*jyBjyiyiyziyJii k#k#k#h k&k&k&h2f:fBfJfD֎@ɢu,1S)y }xiy)}յ!2Acoustic response timeoutI EE V EE @EE <EA "EE =:*EE 9VEE 4ZEA aM @aM @aM @aM @O}mя,:mG?A2p?21.@2Z@ٱ2׾ :AHRS rotation from veh to nav: [[-0.474579,-0.805494,-0.354900],[0.880134,-0.428869,-0.203556],[0.011758,-0.408963,0.912475]]2H_޿`ֿ*?rۿ ʿf?t,ڿ2?i2p?I2Cg^;2TCYFz`AyF H HHN=LbDRVDR8yZk;%ZS=ٔ^Q-^>B%L>B%MCB% HB%[aAB%=B!B%DB%&;B%X{E99I9==%Fy=ٹEEeCEE>IQ 5U4M=?Q 9U4M )M9@YQyU@Q IU?MCIM;iM;M=G4yBɮ٣B*jBjiiziJii k%k%k%h2f:fBfJf=@1ɢ5<9)1 5_xi9)=9<99i=1AIAI2Acoustic response timeoutAIIO%>yԡ  2Acoustic response timeoutdtя,vnmG?A2?28@2Uٱ2;n־ :AHRS rotation from veh to nav: [[-0.458162,-0.814451,-0.356029],[0.888774,-0.413901,-0.196896],[0.013001,-0.406639,0.913496]]2H Rݿ,ֿ`p?X}ڿ 3ɿ ?_ڿ\;?i2?I2T^;2VC@Y^`Ayb HbDjVDjh8yrc<%rG=ٔvFQ-v>9tIt=v%FyzܹEz@Ez>Q 54P0?Q 94E )_@Yy@Q I?CIE "E a:*E (9VE 4ZE BE  ;a2E  ;aJE N+:a%:E a%ԱA%$AI)I9Ou6>2Acoustic response timeout wzя,'KmG?A>ݷ?>@>lٱ>6Ӿ FAHRS rotation from veh to nav: [[-0.441783,-0.823864,-0.355073],[0.897006,-0.399298,-0.189581],[0.014409,-0.402257,0.915414]]>H`*Fܿ]@ֿF? ٿ 1Dȿ}?ٿ`K?i>ݷ?I>9~H?I~H?=~%Fy~޹E9E> Q 5 4 "?Q 94  ) @Yy]@Q I? -CI |:i 1: 6U4y%Bɮ%ͣB!*j1Bj1i9i9zi9Ji9iA k.k.k.hQ k.k.k.ha2fq:fqBfqJfuK@ ɢE)1 5ti1)= <99i=rAIA]2Acoustic response timeoutAAIIO*>bE4jE&4rE0ET EAE=E"E9*E 9VE|4ZEa@a@a@a@B->BICB HBaAB=B$DB}DBM;Ba{E1i I - 2Acoustic response timeouti vя,$nG?A6Ml?6 @6v|ٱ6dо >AHRS rotation from veh to nav: [[-0.425622,-0.833146,-0.353149],[0.904770,-0.385159,-0.181781],[0.015432,-0.396888,0.917737]]6Hb=ۿ!ֿ`? rؿDǿܚ?fٿ`^?i6Ml?I6S^;6RCYF`AyJ+ HIN=)N=LLy(\?Mb`?q= ףp?N?;= 9jt?-?Cl?Y ?y5^>d;>B B)YBbD5}VD5589yE%ME=ٔM!Q-M>9UK?IUK?=U%FyUEU 1EU>YQ 5e4]?Q 9m4] )]@Ymm0?Q Em:ym@Q Im?]QCI]:i]E:]w\4yqɮ}ΣBy*jBjiiziJii k(k(k(h kCkCkCh2fƒ>:fƒ>Bf@Jf@iɢm?)i mtii)u<顑iIiAIIO&>m2Acoustic response timeoutԙE S E E ?E "E 9*E VE ^4ZE BE :a 2E :a JE :a% :E :a% я,7nG?A2{?2I?2dٱ2V1; :AHRS rotation from veh to nav: [[-0.409096,-0.842748,-0.349881],[0.912348,-0.370970,-0.173212],[0.016179,-0.390074,0.920641]]2H`.ڿsdֿ 1?`׿`+ƿ =?ؿ u?i2{?I2pn^;2TCYB`AyFW Hb2Acoustic response timeoutbD dVD 8y`6=%M=ٔQ->9!I!=%%Fy%E-;E->1Q 5545?Q 9=45 )5@Y9y=@Q IE?5tCI5 ;i5;5kc4yMBɮMBI*jYBjaiaiaziaJiaii k'k'k'hy kAkAkAhԙ2f:fBfJf4Z@ɢJ H) Lpi)<,<iƥIAIIO= >u2Acoustic response timeout E ` E JE E "E *:*E k9VE ZE a- @a- @a- @a- @ˍя,9nG?AR?R?Rk(ٱR|̾ ZAHRS rotation from veh to nav: [[-0.392672,-0.849854,-0.351507],[0.919524,-0.355789,-0.167001],[0.016864,-0.388796,0.921170]]RH !ٿ2ֿl?@AֿL`ſD?ؿ8z?iR?IRZU^;A`A`Bf0>BfHCBf HBfaABf=BdBdBfD;BfS{EBMCBMCBB=B=CV6RPCY%aAyq HbDVD88y-<%--=ٔ55Q-5>99I9==%Fy=EEfEE>IQ 54M쫉?Q 94M )M_@Yy@Q I?MCIM>dQ 2Acoustic response timeoutԁ я,ǸSnG?AFW?F$u?F~ٱF71; VAHRS rotation from veh to nav: [[-0.376339,-0.855602,-0.355406],[0.926319,-0.340285,-0.161678],[0.017393,-0.390065,0.920623]]FHؿ@a@ֿf? ;տ@Ŀϑ?ؿu?iFW?IFTy^;FTCYf.aAyfw H 99E=E=bDMiVDM#8y;%b=ٔBQ->9I=%FyEIE>Q 54@ݫ?Q 94 )w@Yy`@Q I?CI;i:q4y տBɮ B cE*j!Bj!i!i!zi!Ji!i) k#k#k#h9 kAkAkAhIQ2fa:faBfaJfe5@颁ɢ_) mi)1<顉i1IER E@E>E"Es9*E9VE4ZEBEw:a2E|:aJE-:aM:E/:aMA$AI IOU2>ԁ2Acoustic response timeoutԩ ݚя,mnG?A6h?6S?6\ٱ6:ξ BAHRS rotation from veh to nav: [[-0.360869,-0.860480,-0.359649],[0.932446,-0.325529,-0.156763],[0.017815,-0.391925,0.919825]]6H@{׿@ ~׿?xԿĿ@,>?@Kٿ`4o?i6h?I6Z^;6RCYJLaAyJ HbDV^VDV8y^<%^_=ٔ^ĖQ-^>9bH?IbH?=b%FybEf9Ef>hQ 5n4jnΫ?Q 9n4j )j@YlynS@Q Ir?jCIj ;ij;jbx4yvѿBɮvBvbE*j|BjiiziJii  kC&kC&kC&h k3@k3@k3@h)2f9:f9Bf9Jf=ƭ@Yɢ]OQ)a e5kia)eES EE<E"E9*EVE 4ZEa@a@a@a@B>BQCB HBaAB=B#DBDB;Bj{E  2Acoustic response timeout9 /šя,lnG?A2?2j?2ٱ2 Ѿ :AHRS rotation from veh to nav: [[-0.346917,-0.863251,-0.366669],[0.937725,-0.311793,-0.153156],[0.017887,-0.396967,0.917659]]2H3ֿw׿@?@jӿÿP?`gٿ`u]?i2?I2?J^;2QCYR'aAyRr HaE@aE aE@aE aE@aE aM@aM aM@aM yEV-?~jtB`"۹?Ehq?EDE=A A)EMb@Mb@Mb@IEiE‰EEE E)EEIEbDeJVDe8yuﭼ%u?=ٔuJ0Q-u>9}K?I}K?=}%Fy}EE>Q 54j?Q 94Q )@Q A+:YQ Ey:yi@Q I?CI~ ;i>o~4yɮB*jBjiiziJii k$k$k$h kDkDkDh ɢ dB) mi) {<顑iIAIIO5.>E%=E4=M2Acoustic response timeout9E X E E AE "E ~ :*E VE A4ZE BE :a% 2E :a% JE a% :E 0:a% i =я,GnG?A 2?2̶?2͒ٱ2Ҿ >AHRS rotation from veh to nav: [[-0.334406,-0.866263,-0.371162],[0.942259,-0.299836,-0.149155],[0.017919,-0.399609,0.916510]]2Hfտ`l׿&?0ӿÿ@|Y?2ٿ T?i2?I2]^;2RCYFxaAyF HR2Acoustic response timeout`` `)`I`If<)f=dfAbDn;VDn8yvR=%vS=ٔvQ-v>9xIx=z%FyzEz E~>AQ 5E4E쭫?Q 9M4E" )E@Q AM :YIQ EMJ:yM@Q IM?E%CIE:iER?E4y}ͿBɮ}By*jBjiiziJii k)k)k)h kCkCkChAɢEԙU2Acoustic response timeout E U E ?E ?E "E :*E ?9VE ^4ZE a @a @a @a @|я,F#nG?AɰB6>B6TCB6B HB6xbAB6=B4B6DB6;B4BE?B0?B*ڎٱBiҾ JAHRS rotation from veh to nav: [[-0.323174,-0.869780,-0.372882],[0.946179,-0.289718,-0.144252],[0.017437,-0.399432,0.916597]]BHԿ=L׿ G?ཊҿv¿ ۑ?`IٿT?iBE?IBH^;@PYVaAyV HbDbRVDb8yjne<%jL=ٔj:Q-j>9lIl=n%FynErEr>tQ 5z4v?Q 9z4v )v+@Q Az9YxQ Ez#:y~@Q I~?vGCIv/;ivқ?v4yɮB *jBjii!zi!Ji!i! k(k(k(h1 kcAkcAkcAhIɢ/(L) gi)2c<i꠼I!2Acoustic response timeoutA%$AI1IAOu>! e 2Acoustic response timeoutя, nG?AFH?F?FEٱFwϾ RAHRS rotation from veh to nav: [[-0.313147,-0.875141,-0.368873],[0.949562,-0.281777,-0.137602],[0.016481,-0.393357,0.919238]]FH Կ'׿`b?ҿv? ,ٿej?iFH?IFc^;FVCYZbAyZ HxbD%bVD%8y]=%eA=ٔe&;Q-e>9mH?ImH?=m%FymEm+ͼEm>qQ 5}4u?Q 94u> )un@Q A9YQ E:y@Q I?ulCIu:iu?uʉ4yɿBɮB*jBjiiziJii kDkDkDh kDkDkDhQ颙ɢH;) ^i)"W<顡iEQ EAE=E"E29*E 9VE|4ZEBE:a2E:aJE:a:E:aI! AA=ڢ99YEAIAIYO9>2Acoustic response timeoutI >y D+я,nG?A2I?2x?2,yٱ2oʾ :AHRS rotation from veh to nav: [[-0.302993,-0.881233,-0.362800],[0.952871,-0.274067,-0.130090],[0.015208,-0.385118,0.922742]]2H`9MK?IUK?=U%FyUEUڼEU>YaQ 5m4eb?Q 9m4eЯ )e@Q Am9YqQ Eu9yuV@Q Iu?eCIe:ie@e;4y}Bɮ}{BXE*jBjiiziJii kBkBkBh kBkBkBhɢ_J) \i)AL<iP=I52Acoustic response timeoutAAIQIaԉO>ET EBE>E"E9*E(9VE4ZEa@a@a@a@Ben>BeQCBe HBecABaBaBeDBe;Be/{EԱ 2Acoustic response timeout 5я, oG?A2)?2u?2cٱ2ɾ :AHRS rotation from veh to nav: [[-0.292669,-0.884458,-0.363428],[0.956113,-0.265152,-0.124670],[0.013902,-0.383965,0.923243]]2HҿzM@gB׿ z??п^꿿yx?`ؿ4?i2)?I2k^;2PCY^mbAyb; Haa aa aa aԹa aa yzG?ʡE:v ?-T 9NbX9?Mbp:vY?yTBgzB IB)cBYBbDEVD8y=%A=ٔI;Q->9I=%FyEѼE>Q 54s?Q 94I )=@Q AT:Y Ǖ?Q E 5:y ~?Q I ?CIQ;i2:4yɮtB*j)Bj)i1i1zi1Ji1i9 k#Fk#Fk#FhI kC]kC]kC]hY2fmf>:fmf>Bfm!?JfmO@颉ɢ<) ,Yi)u@<isYI-2Acoustic response timeoutAaIiIOI>EQ E?EE"E29*E?9VEZEBEa2EaJEB9a:EG9a9 ==я,Ɏ"oG?ABIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERB2Acoustic response timeoutY~bAy~` HbD<VD8y%=%%X=ٔ%Q-%>9)I)=-%Fy-E5E5>9Q 5E4=i?Q 9E4= )=@YAyAQ IE?=CI=:i=:=@4yUBɮUhBQ*jBjiiziJii kDkDkDh k]k]k]h 2f!:f!Bf!Jf!9ɢ=&iC)A EjUiA)Ey5A=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITE2Acoustic response timeoutqԙ bEe&4jEe4rEe/E X E CE AE "E ~ :*E 09VE A4ZE a @a @a @a @fя,gB2KCB2 HB2cAB2=B2$DB2DB2;B2{E^3T?^??^@ٱ^ ˾ fAHRS rotation from veh to nav: [[-0.271438,-0.888931,-0.368949],[0.962384,-0.245994,-0.115345],[0.011775,-0.386380,0.922265]]^H>_ѿrݜ׿@?|ϿCN? sؿ0?i^3T?I^?^;^RCYn5cAyr HppIv=)v=xzAbD~=VD~8y ~=% L=ٔ ;Q- >9I=%FyEPbE>!Q 5-4%_?Q 9-4%" )%t@Y)y-?Q I-?%CCI%:i%:%B4y=Bɮ=OB=NE*jQBjQiQiYziYJiYiY k^k^k^hq k#tk#tk#th2f:fBfJf8@颱ɢ>) Li1)5+<99i=!9IAyzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutAIIO">ԡE 2Acoustic response timeout KOя,JEVoG?A2?2?2TPٱ2Nʾ :AHRS rotation from veh to nav: [[-0.261079,-0.892007,-0.369000],[0.965233,-0.236183,-0.111992],[0.012746,-0.385410,0.922658]]2HпR@׿0? @;ο ?ؿ i?i2?I2~X^;2TCYZ3cAy^ HbDfDVDf8yn%rM=ٔrQ-r>9tIt=v%FyvEvܼEv>xQ 5~4zTV?Q 94z< )z @YyG?Q I?zCIzT;iz;z94y ɮ*j)Bj)i)i)zi)Ji1i1 k[k[k[hA kskskshQ2fi:fiBfiJfm1@颁ɢt=) Li)~#!<顉iIDzDER E@E?E"Es9*E9VE^4ZEBEz:a2E:aJE.:a:E1:aAIIO >2Acoustic response timeout) xя,poG?A2?2w?2Y{ٱ2qʾ >AHRS rotation from veh to nav: [[-0.251323,-0.894969,-0.368602],[0.967781,-0.226309,-0.110378],[0.015367,-0.384467,0.923011]]2Hп .׿?̿Ax?ؿN?i2?I2G^;2RCYFcAyF HXX X)\I\bDbCVDb8yjN=%jK=ٔnYջQ-n>91I1=5%Fy5E5ǼE=>AQ 5E4EL?Q 9M4Es )E@YIyM?Q IM?ECIE:iE:Er4yUBɮ]ABY*jqBjyiyiziJii ktktkth2f:fBfJfZ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeout)ɢ-Y3)1 =Gi9)=I<99i=}AIIQAiIqIO>EV E?E>E"E=:*E?9VE4ZEa@a@a@a@B%=>B%JCB%U HB%7dAB%=B!B!B%!;B%<{EBQCBOCBB=B=C6yi߹ I߽ A 2Acoustic response timeout kaя,oG?A29aIa=m%FymEmEm>qQ 5}4uK?Q 94ug )u@Yp?Q EQ:y?Q I?uCIu;iu;uƷ4yBɮ3BDE*jBjiiziJii kS\kS\kS\h kCtkCtkCth2f*>:f*>Bf ]>>Jf?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ`P)) Di) <iEI! 2Acoustic response timeoutA9IAIYIqO\>ES ECEAE"E9*E09VEA4ZEBE:a2E:aJE9:a:E9:aA я, ݣoG?A22Acoustic response timeout6?6[?6μٱ6OǾ >AHRS rotation from veh to nav: [[-0.230841,-0.902175,-0.364407],[0.972665,-0.204265,-0.110449],[0.025208,-0.379942,0.924667]]6H/Ϳ`sR׿@ ?W%ʿ@[F>Й? Pؿޖ?i6?I6R^;6RC D)FvAF7DHHJvAiJPIHHILiNvA NON F)LP PPPPTTIVP)TiT)XIXZPX XXZlA\i\\i\\)` `I`Y`YfcAyf HbDENVDE 8yF<%n=ٔ`Q-?9I=%Fy EE?Q 5%4K?Q 9%4H^ )$@Y!y%?Q I%?&CI;i;4yQɮU1BQ*jaBjiiiiiziiJiii k[k[k[h ksksksh2f:fBfJf?!ɢ%nvB)! %Ci))M,q2Acoustic response timeoutԙ E U E AE @E "E :*E  9VE 4ZE a @a @a @a @B A <B% G>B% KCB% HB% dAB% =B! B% DB% J;B% q{Eя,loG?A2Z?2E?2Sٱ2Pƾ :AHRS rotation from veh to nav: [[-0.218512,-0.906101,-0.362262],[0.975334,-0.190908,-0.110803],[0.031239,-0.377538,0.925467]]2H/˿@ N/׿ 5?`oȿ]@5?)ؿl?i2Z?I2w^;2TCYMcAyM- HybDLVD8y<%C=ٔ]kQ- >9 I = %Fy  E"E>Q 5%4K?Q 9%4S )@Y!y-G?Q I-?YCI@:iX:ń4y1ɮ5+B1*jIBjIiIiIziIJiIiQ kS[kS[kS[h krkrkrh2f:fBfJfn?ɢW9) @i);i[!I!u2Acoustic response timeoutԩIIIYO;> 2Acoustic response timeoutԁ |я,?oG?A2[O?2';?2 ٱ2ž :AHRS rotation from veh to nav: [[-0.202889,-0.909703,-0.362320],[0.978517,-0.174518,-0.109767],[0.036624,-0.376807,0.925568]]2H@Cɿ@J@0׿P?Vƿ p?`ؿ??i2[O?I2b^;2RCYM'dAyMK HI)<AbDAVD8y<%I=ٔXQ-%>9!I!=%%Fy%E-v E->1Q 5=45K?Q 9=45MI )5@YAyEL?Q IE?5CI5&:i5*:5:̄4yMBɮMBM;E*jaBjaiaiaziaJiiiiE}V E}CE}:Ey"E}=:*E}09VE}(4ZEyBE}:a2E}:aJEya:Eya kYkYkYh2f:fBfJfW?IɢM!6)I m=ii)uߠ;qqiu%yIyIIOB>2Acoustic response timeout1Y я,fhoG?A2?2?2'ٱ2Cľ :AHRS rotation from veh to nav: [[-0.185200,-0.913745,-0.361624],[0.981847,-0.156722,-0.106836],[0.040947,-0.374845,0.926183]]2H`ǿe=`$׿@Kk?tĿY`?v׿I?i2?I2^;2SCYBdAyFD HbDR;VDR8y^%bd=ٔb EQ-f>9dIh=j%FyjEnnLEr>tQ 5z4vL?Q 9~4v? )vq@Yy?Q I?vCIvcQ;ivR;v҄4yɮB*j1Bj1i9i9zi9JiAiA k`k`k`hi2f:fBfJf]?=2Acoustic response timeoutAAɢUxE)Q ].>iY)]i;YYi]aIaIIO%=aET EBE<E"E9*E(9VE 4ZEa@a@a@a@B9>BJCB HBTeAB=BBDB;B{Eԑ 2Acoustic response timeoutԹ я,D pG?A6j?6V?63ٱ6ƾ BAHRS rotation from veh to nav: [[-0.165298,-0.916119,-0.365243],[0.985267,-0.136917,-0.102480],[0.043876,-0.376802,0.925254]]6Hx(ſP &`׿`O?@<v?ؿ?i6j?I6ߎ^;6QCYJ7dAyJU Hy+?)\(Mbv?Ga 9ʡE?y&1MҿY-?y`en^B B)zBYpBbD56VD58yE{<%EB=ٔM.Q-M>9III=M%FyUEUGEEU>YQ 5m4]O?Q 9m4]Q9 )]@Yu$?Q E}:y}?Q I?]CI];i]֥;]ل4yɮB*jBjiiziJii k\k\k\h k\k\k\h2fq>:fq>Bf#eJ@Jf@颁ɢB 8)  |)|I| =a=bD *VD 8y%;<%%M=ٔ%IQ-->9)I)=-%Fy-E5pSE5>9Q 5E4=Q?Q 9E4=3 )=@YAyM'?Q IM?=CI=:i=:=4yUBɮUBQ*jiBjiiiiiziiJiqiq ksYksYksYh kYkYkYh2f:fBfJfD@ɢ@) 9i)ަ;ia蘼IIIO5=U2Acoustic response timeoutiIpAI E P E DE >E "E 9*E a99VE 4ZE a @a @a @a @B F>B KCB O HB eAB =B B B ƻ;B {Eя,M>pG?A02.?2x?2>ٱ2Uʾ :AHRS rotation from veh to nav: [[-0.124861,-0.917711,-0.377115],[0.991083,-0.097541,-0.090777],[0.046523,-0.385087,0.921707]]2H]"ؿ?`m!=`ѧ? Dؿ`~?i2.?I2:o^;0Y^ydAyb} HbDj.VDj8yr2<%rN=ٔvRQ-v>9tIt=v%FyzEzQEz>|Q 54~T?Q 94~, )~@Y y Y?Q I ?~ DI~N:i~$:~4yBɮ B1E*jiBjiiiiiziiJiqiq k[k[k[h k[k[k[h2f:fBfJf@ɢ9)  m8i ) 1;  i𘼉1I9IIO=ԉ2Acoustic response timeoutԹ e 2Acoustic response timeoutя,XpG?A2ï?2?2w>ٱ2'˾ :AHRS rotation from veh to nav: [[-0.105514,-0.919048,-0.379760],[0.993328,-0.079532,-0.083515],[0.046552,-0.386038,0.921308]]2H`hMؿ W?`;\ Ea է?ٴؿZ{?i2ï?I2rW^;2SCYFdAyF H\bDVD8yE<%MD=ٔM.Q-M>9QIQ=U%FyUEU?E]>aQ 5m4e X?Q 9m4eG& )e$@Yiymͳ?Q Im?eDIeX:ieP:e4yɮB*j Bj i iziJii kc[kc[kc[h) k[k[k[h92fI:fIBfIJfM-@E]Z E]:E]@EY"E]:*E];8VE]4ZEYBE]b;ae2E]e;amJE]G[9am:E]Q[9am颁ɢ #7) 5i)HDw;顉iIA$AIIO*>2Acoustic response timeoutA я,WrpG?AR4?R?R;ٱR9ʾ bAHRS rotation from veh to nav: [[-0.086226,-0.921249,-0.379297],[0.995220,-0.062130,-0.075340],[0.045841,-0.383980,0.922203]]RHz`eFؿ?ϯzIvx? ؿ`?iR4?IRj^;RRC2Acoustic response timeoutYdAy HI =) p<bDVD8yU<%]-=ٔ]:Q-]>9eH?IeH?=e%FyeEeo(Ee>Q 54\?Q 94 )@Yyl?Q I?.DId:i9:q4yɮB*jBjiiziJii kSZkSZkSZh kcZkcZkcZh 2f:fBfJfAu@9ɢ=e/)9 =4iA)EԳL;IAIiMQIQbE4jEĒ4rE+0EeX Ee?Ee>Ea"Ee~ :*Ee?9VEe4ZEaau@au@au@au@BI>BLCB HBfAB=BBDB;BD|EAI9IayO> 2Acoustic response timeoutԡ "я,pG?A4<ɰ4<2ص?2?237ٱ2%Ⱦ :AHRS rotation from veh to nav: [[-0.067873,-0.923583,-0.377342],[0.996692,-0.045819,-0.067132],[0.044712,-0.380650,0.923637]]2H&```&ؿ?`u/ ?\ؿp?i2ص?I2I^;2SC@BtAiBнI@@IDiD DD)DH Jq@HHHHLIL)LiL)I    uA i i/uA) IYY%dAy% Hyy rh?I +&1?L?94P= 9I +?V-?x&Y9>y<7B}uB zB)אBY=BbD-3VD-8y=%V=ٔB;Q->9I=%Fy!EEE>Q 54t[?Q 94 )4@Y>Q E:y?Q I?:DIz;il;4yɮB*j!Bj!i!i)zi)Ji1i1 k\k\k\hQ2fmư>:fmư>Bfm&A@JfmǙ@颙ɢbE@) <1i));顩iHIԡ-2Acoustic response timeoutAAIIOm>EuQ Eu>EuAEq"Eu29*Eu9VEuA4ZEqBEu:a2Eu:aJEu 9a:Eu%9ay ')я,,fpG?A2?2Ӝ?2I3ٱ2Yž :AHRS rotation from veh to nav: [[-0.051106,-0.925915,-0.374258],[0.997731,-0.030887,-0.059827],[0.043835,-0.376467,0.925393]]2H*׿i?נq?ؿМ?i2?I2d^;2RCB2Acoustic response timeoutY-BeAy5 HbDE,VDE8yl=%_=ٔ;Q->9K?IK?=%Fy$E<E>Q 54Z?Q 94y )@Yy ?Q I?EDI6:ip:_4yɮB*jBjiiziJii kCkCkCh kZkZkZh2f :f Bf Jf +/@1ɢ5B)9 =+i9)=w ;AAiE 𘼉IIIAaIqIO>52Acoustic response timeout9Be G>Ba Be HBe fABa Ba Ba Be B;Be y|EB%KCB%KCB%˓CE R E ?E @E "E s9*E ?9VE 4ZE BE z:2E :JE >9:E C9B%=B%=C%'6ԙ 0я,?pG?A>?>nn?>0ٱ>þ FAHRS rotation from veh to nav: [[-0.034098,-0.927734,-0.371680],[0.998494,-0.015628,-0.052593],[0.042984,-0.372914,0.926870]]>HLu׿ ?` }?@׿?i>?I> C^;>PCY=eAy=B HE@AE@A IIM=M=bDU7VDU8yj=%H=ٔ;Q->9I=%Fy&E,+E>Q 54Z?Q 94U )@Yy?Q I?QDI:i: 4yɮB*jBjiiziJii kAkAkAh k\k\k\h2f):f)Bf)Jf-@AɢE0)I Mg$iI)M~y:IIiMQYIY2Acoustic response timeoutAIIO*>ԁԱE 2Acoustic response timeout ;6я,!pG?A>X?>aD?>6<-ٱ>3þ FAHRS rotation from veh to nav: [[-0.017212,-0.928421,-0.371130],[0.998957,-0.000271,-0.045649],[0.042281,-0.371529,0.927458]]>H׿u?1Z_ߥ?@!׿?i>X?I>.^;>RCYNeAyRX HbDZVVDZ8yb8<%fY=ٔf:Q-f>9dIh=j%Fyj)Ej 8Ej>lQ 5r4nY?Q 9r4n )nG@Ytyv?Q Iv?n]DIn:in:n4yzBɮzآB~'E*j Bj i iziJii kcDkcDkcDh) k[k[k[h92fI:fIBfIJfM@iɢm׵6)i m0"iq)u:qqiuxᘼyIyD1zD1E=U E=DE9E9"E=:*E=a99VE9ZE9aE@aE@aE@aE@ԱAIIIO% >2Acoustic response timeout 1 nd<я,"pG?A2)?2?2!+ٱ2_ľ :AHRS rotation from veh to nav: [[-0.000151,-0.927349,-0.374197],[0.999127,0.015490,-0.038790],[0.041768,-0.373877,0.926537]]2H #ج׿?@ ? Mܣb?׿1?i2)?I2?^;2QCYfsfAyf Hxx x)xIxbD\VD8yص=%F=ٔ:Q->9I=%%Fy%+E%(E%>)Q 554-Y?Q 954-^ )-@Y9y=?Q I=?-jDI-;i-;-L4yAɮEƢBA*jYBjYiYiYziaJiaia kCkCkChy k[k[k[h2f:fBfJf@颹ɢ%) i)":i꘼I2Acoustic response timeoutA!I1IAIq}>}>O>B ,>B ICB 0HB AHRS rotation from veh to nav: [[0.017388,-0.925340,-0.378739],[0.998995,0.031730,-0.031659],[0.041313,-0.377808,0.924962]]6H %Α? cB=ؿ@?>?5&?.ؿI?i6?I6x+^;6RCYRfAyV HIZN>)Z4=XZAyu r?p= ף?QuC?u=uq q9uV-?HzG? rh?Yu>yu= >uC=u^BupB uB)uBqYuךBbDHVD8y<%B=ٔ:Q->9I=%Fy.E*E>Q 54T?Q 94 )@Y@?Q E:y?Q I?xDI ;i* ; 4yɮ¢B*jBjiiziJii ksBksBksBh!2f=^>:f=^>Bf=8@Jf=,ʊ@iɢmSS#)q uiq)} 8yyi}Iq 2Acoustic response timeoutA}$AIIOE>ԙEUT EUAEQEQ"EU9*EU 9VEQZEQa]@ae@ae@ae@ uIя,C'qG?A22Acoustic response timeout6쳨?6?6 (ٱ6Ⱦ BAHRS rotation from veh to nav: [[0.034636,-0.923123,-0.382941],[0.998558,0.047691,-0.024647],[0.041015,-0.381535,0.923444]]6Hһ?9@ؿ0?j?@<@?kؿڌ?i6쳨?I6D^;6OCPYRfAyR HVJGPS failed to acquire within timeout. VVData Fault Z Z Z Z bDbpVDb)8yf<%jX=ٔjN:Q-j>9nH?InH?=n%Fyn0Er:Er>tQ 5v4vVP?Q 9z4v)ve@Yxyz?Q Iz?vDIv:ivy:vC'4yɮB*jBjiiziJii kAkAkAh1 kAkAkAhA2fQ:fQBfQJfU5@1 cHAggregate::initialize marl:NeedComms12 d@Initialize GoToSurfaceComponent.dHReceived depth rate setting nan m/s.dRReceived pitch setting 19.999999 degrees.dHReceived speed setting 1.000000 m/s.djReceived surface timeout setting 1000.000000 seconds. dNo altitude timeout specified. Using default value of 600.000000 seconds.dnReceived pitch timeout configuration 60.000000 seconds.1%[!Z!Z!Z-Z)Z-c-Xcaught uninitialized data element exception.cUtlast time_fix was: nan second since 1970/01/01T00:00:00Z 1Uiiɢm¸>Iu>%ǾI)ex)顝iKII&@Data Fault in component: NAL9602IOE0>2Acoustic response timeout! A A B />B HCB HB gAB =B B B B |EEe P Ee EEe >Ea "Ee 9*Ee A9VEe 4ZEa BEe d:am 2Ee i:au JEe V:au :Ee V:au ]Pя,AqG?A6?6r?6(ٱ6ʾ BAHRS rotation from veh to nav: [[0.051610,-0.920718,-0.386800],[0.997824,0.063454,-0.017905],[0.041030,-0.385034,0.921990]]6H`l?@vTؿ,?>?@U ?fؿ?i6?I6+^;6RCY^MgAy^:HbPowering downffffbDnPVDn 8yv=%vI=ٔvhQ-v>9xIx=z%Fyz3Ez+E~>|Q 5 4 L?Q 9 4)@Yym?Q I?DI:i:c.4yBɮB!*j1Bj1i1i5zi1Ji5Ʒ<i9 k#Bk#Bk#BhI k^k^k^hY2fi:fiBfiJfmţ@[yZyZZZZiɢI> Ǿ))顙i쬼Iu2Acoustic response timeoutIIO>)Qԁ E 2Acoustic response timeoutŇVя,c[qG?A28L?28?2)ٱ26˾ :AHRS rotation from veh to nav: [[0.068973,-0.918962,-0.388266],[0.996765,0.079578,-0.011279],[0.041262,-0.386232,0.921478]]2H;?#h`[ؿ`?@;_?\`V ? ؿ|?i28L?I2M^;0YvgAyvsH xzAbDcVD8y a=%H=ٔ-Q->9I=%Fy6E%?.E%>)Q 5-4-H?Q 954-*Q =5tI)-3@Y1y53?Q I5?-DI-Q:i- ;-54yAɮEBAY*jYBjYiaieziaJieƷ<ia kEkEkEhy kC]kC]kC]h2f:fBfJf@GE-Z E-BE-@E)"E-:*E-(9VE-4ZE)a5@a5@a5@a5@A[Iy9YAZZZZZi!ɢ!I% >-Ǿ)))))1i5ّ1I9IIO>ԁiߙIߙ2Acoustic response timeoutԱ ۱\я,>uqG?A24"?2 ?2K,ٱ2_˾ :AHRS rotation from veh to nav: [[0.085812,-0.917611,-0.388106],[0.995423,0.095405,-0.005476],[0.042052,-0.385860,0.921598]]2H ?]ؿ@?@xl?mv؇?ؿ}?i24"?I2T0^;0YF3hAyFHbDNpVDN)8yV=%VQ=ٔVzQ-Z>9XIX=Z%FyZ8E^;1E^>`Q 5f4bzD?Q 9f4b)b@Ydyf ?Q Ij?bDIbd:ib:b[<4ynBɮnzBnE*jxBjxixizzixJi~Ʒ<i| kDkDkDh k\k\k\h2f:fBfJf@Թ[ZZZZZiɢ2Acoustic response timeoutIǺ>;BȾ))i!I!B8>BJCBHBhAB=BB~DBb;BE-e E-@E-AE)"E-<:*E-9VE-A4ZE)BE-XL;a=2E-ZL;a=JE-.:aM:E-0:aMzl 2Acoustic response timeoutA A U?Ii &} VClearing failed state for component NAL9602 } Iy O >9 Ӛcя,qG?A2V?2!?21ٱ2!ʾ :AHRS rotation from veh to nav: [[0.102528,-0.915926,-0.388031],[0.993783,0.111334,-0.000214],[0.043397,-0.385597,0.921646]]2H@??@CO ؿ?]?,)8?ؿ ~?i2V?I2"^;2PCYBahAyBHZonly read 0 of 1 data item for BIT error. Device response is::TS,00050122463120,3.3, 0.0,1501.4, 0 aZ@aZ aZ@aZ aZ@aZ aZ@aZ bD^VD^Q8yfO<%fH=ٔjWQ-j>9hIh=j%Fyn;Enm(En>pQ 5v4rA?Q 9v4r)r@Q Av+:YxQ Ez:yz?Q Iz?rDIr:ir+>r$B4y|ɮ~tB*jBjii%zi!Ji%Ʒ<i) kCkCkChQPExceeded connect timeout, disconnecting.[9Z9Z9Z=Z9Z=iIɢIIu>uȾ)q)qyyi}̼yIM*2Acoustic response timeoutA@II E5U E1E5?E1"E5:*E1VE5^4ZE1a=@aE@aE@aE@OM>iԙ riя,qG?A22Acoustic response timeout>x՝?>C?>)7ٱ>65ɾ FAHRS rotation from veh to nav: [[0.119182,-0.915131,-0.385138],[0.991866,0.127203,0.004687],[0.044702,-0.382564,0.922847]]>H?@Hؿ]?0H?92s? ,?`{ؿ`?i>x՝?I>:^;>QCY^hAy^&HIb4=)b4<bDjVDje8yr҄=%rI=ٔrpRQ-v>9tIt=z%Fyz=Ez(E~>Q 5 4=?Q 94)r@Q A :YQ E:y?Q I?DIL;iQ?F4y)ɮ-gB)*jIBjIiQiUziQJi]Ʒ<iY kSDkSDkSDhy[ZZZZZiɢI(>ɾ))iּqyIyM@-#<ԩAyIIOe>2Acoustic response timeoutB *>B HCB HB uiAB =B B }DB e;B |EbEʗ4jE^4rE/EE T EE AEE =EA "EE 9*EE  9VEE |4ZEA BEE :aU 2EE :aU JEE :aU :EE :a] ֫pя,qG?A2?2Z?25ٱ2iȾ :AHRS rotation from veh to nav: [[0.135721,-0.913378,-0.383824],[0.989755,0.142326,0.011291],[0.044315,-0.381424,0.923337]]2HR_? d:ؿ?7??`k?@iؿ?i2?I2E$^;2TCYfhAyfBHbDrVDrc8yv0<%zI=ٔzz:Q-z>9xI|=~%Fy~@E~(E>Q 5 4 ;?Q 9 4)@Q A9YQ EZ:y?Q I?DIE:i}?J4yɮ%aB!*j1Bj1i9i=zi9Ji=Ʒ<iA k<k<k<hQ kcXkcXkcXha[yZyZZZZiɢI5>kɾ))顙iO༉IKٽu2Acoustic response timeout@}<AAIIOK>nManaging dock network, ignoring radio surface power off) % 2Acoustic response timeoutvя,qG?A:)?:~?:N&ٱ:Ⱦ BAHRS rotation from veh to nav: [[0.152139,-0.911517,-0.382087],[0.987525,0.156069,0.020889],[0.040591,-0.380499,0.923890]]:H@Ny?%+`tؿ`Ι??@ d? ZȤ?@Zؿ@?i:)?I:<^;:RCYJ`iAyJHbDVVDVx8yZC=%^N=ٔ^9bK?IbK?=b%FybBEf +Ef>dQ 5j4f8?Q 9n4f\)fF@Q An9YlQ En0:ynv?Q In?fDIf ;ifZ?fM4ytɮvTBt*jBjiiziJi Ʒ<i  k<k<k<h k#Wk#Wk#Wh)[AZIZIZMZIZMiYɢYIeZ>eǾ)a)aiiim꼉iIqE}S E}@E}>Ey"E}9*E}9VE}4ZEya@a@a@a@)}R@=J@)>@]ԁ |я,qG?A02F?22?2#ٱ2ž >AHRS rotation from veh to nav: [[0.169903,-0.911017,-0.375741],[0.984971,0.169012,0.035601],[0.031072,-0.376142,0.926041]]2H@b? '" ؿ?0?@?:?Tџ? ؿ@ ?i2F?I2#^;0YFBiAyFnH HJAbDRVDRt8yV%VK=ٔZ9XI\=^%Fy^EE~!3E~>Q 5 4k6?Q 9 4)@Q A9YQ E:y"?Q I?DI#:i@P4y9ɮ=XBA*jQBjQiQi}ziyJi}Ʒ<iy k;k;k;h ksWksWksWh19 rNAggregate::initialize marl:UpdateRudderq9=<2Acoustic response timeoutJ]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7 n PAggregate::uninitialize marl:UpdateSpeed[ZZ1Z5Z1Z5^=B*** querying acoustic contact ***X9Y9iIɢIIMd>M¾)Q)qqqi}yIԉBU(>BUGCBU$HBUijABU=BQBQBUq;BU|EBHCBHCBĔCB=B=C+6ER E?E<E"Es9*E?9VE 4ZEBEw:a2E|:aJE<9a:EA9a@<II O= > 2Acoustic response timeout я,arG?A>?>R?>@ٱ>(b¾ NAHRS rotation from veh to nav: [[0.189392,-0.910837,-0.366753],[0.981767,0.181848,0.055364],[0.016266,-0.370551,0.928670]]>H =?%`x׿`j? F?X?? ׿@?i>?I>C^;>B8rB B)Y3BbDVDa8y >%8=ٔ=Q->9I=%FyHE:E>Q 54{4?Q 94)@Q AT:Y;?Q E:y]?Q I?DI:i :W4yxBɮ0BE*j!Bj)i)i-zi)Ji-Ʒ<i) k;k;k;hA k[k[k[hQ2feA'>:feA'>BfeN#@Jfe+t@suNUpdating rudder angle 6.875493 arcdeg 9uru6Completed marl:UpdateRudder19u ruRAggregate::uninitialize marl:UpdateRudder[yZyZZZZiɢI> ))顙iI@<II!OU>2Acoustic response timeoutE ENE:E"E*E҆9VE(4ZEa@a@a@a@A я,[C*rG?A62Acoustic response timeout>?>Z?>!;ٱ>/ JAHRS rotation from veh to nav: [[0.209779,-0.911926,-0.352680],[0.977746,0.194832,0.077801],[-0.002235,-0.361152,0.932504]]>H ?@. MֿI?@=?? Pb׿ ?i>?I>(^;>OCYVjAyZ}HbDfuVDf.8yr>%r\=ٔrK=Q-v>9tIt=z%FyzJEzdEz>Q 5 4U3?Q 9 4c)@Yyz?Q I?DI,;ix;-^4y)ɮ-B)*jABjAiIiMziIJiUƷ<iQ kBkBkBhq2f:fBfJfD#s@[ZZZZ1Z5iAɢAIE>E“)I)IIIiM(TqIyB@pA:@qA@m\<II I1i9I=oAAOe>q2Acoustic response timeoutAA AA BM />BM HCBM HBM kABM =BI BM ~DBM ;BM |Eԙ D <D <E  E FE ;E "E *E ;J9VE 4ZE BE x:a 2E }:a JE e:a :E e:a я,;DrG?ANh?NT?N|j<ٱN VAHRS rotation from veh to nav: [[0.230132,-0.911444,-0.341042],[0.972891,0.207240,0.102643],[-0.022876,-0.355418,0.934427]]NH t?*`տ!?Ԇ?F?l,ֿ@?iNh?INZ^;NQCYbkAybHIf<)f;bDjgVDj!8yr$R;%rJ=ٔv-Q=Q-v>9tIt=z%FyzMEzaTEz>|Q 54~2?Q 94~)~@Y y ?Q I ?~'DI~(:i~:~7e4yɮ*j)Bj)i)i-zi)Ji-Ʒ<i1 kCHkCHkCHhA kHkHkHhQ2fa:faBfaJfe~q@[qZqyZqZ}ZZiɢI>))顙iYfI@<II)O]=u2Acoustic response timeoutԡ % 2Acoustic response timeout$я,|]rG?A2?2Г?25=ٱ2I :AHRS rotation from veh to nav: [[0.250823,-0.908954,-0.333001],[0.967017,0.219509,0.129207],[-0.044347,-0.354426,0.934032]]2H{ ?'Oտ?`?`܉? ֿ@?i2?I2F^;2PCYFtkAyFHbDNQVDN 8yVT=%VN=ٔV]=Q-Z>9XIX=Z%FyZOE^<^E^>Q 54~2?Q 94ұ)@Yy%?Q I%?:DI;i;Sl4y)ɮ- B)*j9BjAiAiEziAJiEƷ<iA kFkFkFhY kZkZkZhi2fy:fyBfyJf}p@[ZZZZZiɢI>?)ܽ)顩i`t I@\<EU EBE<E"E:*E(9VE 4ZEa@a@a@a@I1IIO}=2Acoustic response timeout1Y Nя,!wrG?A2?2?2i=ٱ2Bo :AHRS rotation from veh to nav: [[0.270549,-0.907660,-0.320868],[0.960470,0.231782,0.154192],[-0.065583,-0.349900,0.934488]]2HP?@ Կ*? ?? ʰ`dֿ@T?i2?I2^;2QCY^kAybHbDjAVDj8yrF,=%rG=ٔrS=Q-r>9tIt=v%FyvREz"OEz>xQ 54z2?Q 94z)zF@Yy?Q I?zMDIz;iz;zSs4y oBɮB E*jBjiiziJiƷ<i k3Bk3Bk3Bh2f:fBf2Acoustic response timeoutJf%zn@[ZZZZZiɢI%>) )   i /RIR@-=J@-=9@<B*>BBHB]kAB=BB}DBt;B|EAAiIqIET EDE>E"E9*Ea99VE4ZEBE:a2E:a JEkH:a:EmH:aO\>ԉ 2Acoustic response timeoutԹ '8я,}rG?AR$b?RM?R=ٱR ZAHRS rotation from veh to nav: [[0.289629,-0.905675,-0.309626],[0.953214,0.243669,0.178907],[-0.086586,-0.346957,0.933876]]RHJ?`Iӿ?0?n?w*@4ֿO?iR$b?IR^;RRCYb"lAyb3H ddyUNbX9?U^=UBUpB UB)U1BQYUBbDm,VDm8y}q=%}@=ٔ)K=Q->9I=%FyTEDE>Q 54J6?Q 94:)~@Yz?Q EX:y?Q I?hDI:i':z4yɮB*jBjiiziJiƷ<iԑ kBkBkBh2fX>:fX>Bf?Jf "@[ZZZZZiɢIv>U))iI@֞<In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeoutԹA1IAIQ aa(G-A9)Y-QAOEs>EV E@E<E"E=:*E9VE 4ZEa@a@a@a@ aя,ҊrG?A"In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER&2Acoustic response timeoutN?Ԅ?N ?N=ٱN3 vAHRS rotation from veh to nav: [[0.307978,-0.903661,-0.297567],[0.945360,0.255502,0.202518],[-0.106978,-0.343679,0.932974]]NH?@W ӿ c@?%Z? ?@bտ ?iN?Ԅ?INـ^;NQCY~-lAy~:HbD VD 8y;%%Q=ٔ%JV=Q-%>9)I)=-%Fy-WE-PE->1Q 5=45 :?Q 9=45@)5@YAyE?Q IE?5DI5;i5d:54yIɮMBQ*jaBjaiaieziaJimƷ<ii kS'kS'kS'hy k@k@k@h2f:fBfJfB!@[ZZZZZiɢIe>w))iwI!@<pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutA $AI I! I O] >B <A B B B HB 4kAB B B B 0;B F|EE T E DE E "E 9*E a99VE ZE BE a 2E a JE jH:a :E a Hя,_rG?A2"P?2;?2r>ٱ2 :AHRS rotation from veh to nav: [[0.325723,-0.900506,-0.288085],[0.936890,0.266477,0.226333],[-0.127046,-0.343626,0.930473]]2H@? @oҿ`? ?y?@ Cտo?i2"P?I2W^;0YFlAyF/HbDNVDN8yV 6%VR=ٔZT=Q-Z>9ZH?IZH?=Z%Fy^YE^NE^>`Q 5f4be>?Q 9f4b])bV@Yhyj?Q Ij?bDIb-:ib:bc4ynfBɮnBnE*jtBjxixizzixJizƷ<ix ks%ks%ks%h kAkAkAh2f:fBfJfd @[ZZZZZiɢI>5b)1)999i=AIA-ֽB@1:@5pA]zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY]2Acoustic response timeouti@ <A=AIAIYԁO\>ԩ  2Acoustic response timeout4rя,2;rG?A2?2?2]>ٱ2+. :AHRS rotation from veh to nav: [[0.342959,-0.896949,-0.279035],[0.927805,0.277025,0.249868],[-0.146819,-0.344585,0.927203]]2H ?@ϳѿ ?`Ⱥ??`¿ ֿ?i2?I2t^;2NC@YFkAyF HIJ=)JC=bDRVDR8yZ/%ZJ=ٔZ&J=Q-Z>9^K?I^K?=^%Fy^\EbEEb>dQ 5f4fC?Q 9j4f$)f@Yhyj-?Q Ij?fDIf6:if:fu4ypɮrBp*jxBjxixizzi|Ji~Ʒ<i| k#&k#&k#&h kcDkcDkcDh!2f1:f1Bf1Jf53@[AZAZAZEZAZEiQɢI>'N))ixIES EAE=E"E9*E 9VE|4ZEa@a@a@a@ԩG)iaIeAm2Acoustic response timeout@h<AI IQ Ia O > Hя,#rG?A6fz?6|=?6*>ٱ6Ŷ >AHRS rotation from veh to nav: [[0.359913,-0.893492,-0.268577],[0.918102,0.287965,0.272332],[-0.165986,-0.344598,0.923960]]6H? }_0ѿ a?n?m??ſ ֿ?i6fz?I6Ȑ^;6SCYJlkAyJHbDR6VDR8yZ%ZJ=ٔ^vD=Q-^>9\I`=b%Fyb^EbEEb>dQ 5j4fCI?Q 9j4fv)f@Ylyn?Q In?lfDIf);if*;f4ytɮvBt*j|Bj|iiziJiƷ<i kCkCkCh kCCkCCkCCh)2f9:f9Bf9Jf=N@[IZIZIZMZIZUiaɢaIeq>e:)m2৽)iiiim qIq2Acoustic response timeoutB(>BB$HBijAB=BBB ;B|EDzDbE= 4jE=4rE=7/EU EDE@E"E:*Ea99VE4ZEBE:a2E:aJEkH:a:Ea@<9A1IAIQO>m 2Acoustic response timeouta я, sG?Abu?b?bd=>ٱbڷ zAHRS rotation from veh to nav: [[0.376694,-0.889544,-0.258483],[0.907832,0.299007,0.294001],[-0.184238,-0.345407,0.920190]]bH ?$w@п ?@"??ǿ'ֿ2r?ibu?Ibp^;bRCY9I=%FyaE8E>Q 54S?Q 94l)@Yx?Q EZ:y7?Q I?DI:;iO;*4yaBɮBE*jBjiiziJiƷ<i k@k@k@h k@k@k@h)2f >:f >Bf$?JfM?[ZZZZZiɢI> '))  i W!)I1@בԑE^ EHECE"EC#:*E[9VE5ZEa@a@a@a@ >я,>,sG?A2Acoustic response timeoutԙY-jAy-{H 11bDE3VDE8yMh%U3=ٔUQ-U>9YIY=]%Fy]dE]E]>aQ 5m4e!_?Q 9m4eRb)e@YqyqQ Iu?eDIe^;ie;e"4yyɮ}B*jBjiiziJiƷ<i k@k@k@h k@k@k@h2f:fBfJf[ZZZZZiɢI>)!)!!!i%##I@ߎ<A[?AN?2Acoustic response timeoutA$AII)Oe>A A B $>B GCB CHB hAB =B B |DB ;B |EBQBQBUɓCBU=BQCU֐59 E Z E EE :E "E :*E A9VE (4ZE BE b;a 2E e;a JE V:a :E V:a Mя,&FsG?A2Ek?2l?2a>ٱ2c :AHRS rotation from veh to nav: [[0.409184,-0.880363,-0.239852],[0.885904,0.320360,0.335475],[-0.218501,-0.349757,0.911003]]2H0?+zο`SY?ŀ?nx?˿kbֿ&?i2Ek?I2a^;2OC L)RvARPPPVvAiV/]ITTITiT VhX)XX XZPX\lnvAInY)lil)pIpr/]p ptttittixx)x xIxYxYPjAyHbD>VD8y-6%-u=ٔ-=Q-5?95H?I5H?=5%Fy5fE=ZE=?AQ 5M4E,h?Q 9M4EZ)E7@YIyU*?Q IU?EDIE:iE:E4yɮB*j Bj i i zi Ji Ʒ<i k3Nk3Nk3Nh) kCNkCNkCNhY2fi:fiBfiJfm~M?[ZZZZZiɢIg>)yЉ)i=6%IiQIQ]2Acoustic response timeout@i 2Acoustic response timeoutԙ ;я,w`sG?A:f?:<1?:+q>ٱ: FAHRS rotation from veh to nav: [[0.424719,-0.875525,-0.230370],[0.874527,0.330957,0.354501],[-0.234131,-0.352028,0.906233]]:H.?L|Ϳ?g.?#?Ϳ`ֿ@?i:f?I:BJ^;:QCY=iAy=HbDMVDM8y]׽%]G=ٔe- =Q-e>9eK?IeK?=m%FymiEmAEm>qQ 5}4us?Q 9}4uQ)u@Yy?Q I?u+DIu;iu;u#4ydBɮ0B*jBjiiziJiƷ<i kCIkCIkCIh k#_k#_k#_h2fY:fYBfYJf]?[iZiZiZmZiZmqER ECE>E"Es9*E09VE4ZEa@a@a@a@iɢI>))顩i&Iԡ}2Acoustic response timeoutǽB@!:@!@A<>>AA II IY Iy O > Wя,]zsG?A2ra?2%?2%>ٱ2鿾 :AHRS rotation from veh to nav: [[0.440331,-0.870301,-0.220647],[0.862561,0.341849,0.372999],[-0.249194,-0.354564,0.901214]]2H b.?` %>̿ ??6?Ͽ@-ֿ?i2ra?I2c^;2PCYhAy:HI%<)%)-AbD5,VD58yE4߽%EL=ٔE=Q-E>9III=M%FyMkEUKEU>QQ 5e4U?Q 9e4UH)U-@Yaye?Q Ie?UBDIU:iU9:U"4yu[Bɮu>BuE*jBjiiziJiƷ<i k]k]k]h k]k]k]h߽%=߽=2Acoustic response timeout2f:fBfJf#?[ZZZZZiɢI>tǽ) )   i 'ItBABABEHBEgABABABE}DBE;BE(|E@-y<EP EAEAE"E9*E 9VEA4ZEBEe:a2Ei:aJE:a:E:aAyIIOc>) m 2Acoustic response timeoutя,?sG?A YhAyHyQ?S˿i|?5U?/] 9㥛 ?~jt/$ѿY5?y1}B B)BYBbD^VD8y|%?=ٔQ->9I=%FynEE> Q 54 '?Q 94 GC) @YB?Q E:yc?Q I? TDI T ;i m ; 4y!ɮ%YB!*j1Bj9i9i=zi9Ji=Ʒ<iA kbkbkbhQ kbkbkbha2fu>:fu>Bfu: @Jfuvj@[ZZZZZiɢI>))顡i[E)I)@Ą<hDAT read: Forwarding Delay UpTx time:18:58:22.0927 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutYA$AII)O]v>ES ECEBE"E9*E09VE5ZEa@a@a@a@ԁ iя,sG?A2Acoustic response timeout0B7V?B^?B^>ٱBwž NAHRS rotation from veh to nav: [[0.471814,-0.858222,-0.202107],[0.837167,0.364129,0.408121],[-0.276665,-0.361754,0.890276]]BH42? vɿ?M??ѿ &׿ #}?iB7V?IBf^;BRCYVgAyV HbDbpVDb)8yr6%r^=ٔv=Q-z>9zH?I~H?=%FypE E >Q 5%4U?Q 9%4>)@Y)y-xW?Q I-?cDIc;iv;ȅ4y=_BɮEBA*jaBjaiiimziiJiuƷ<iq kUkUkUh2f:fBfJfui@[9ZAZAZEZAZEiqɢqI}>}Ɍ)}`)yyyi(*IԉԹ@U<A]S?A]U?2Acoustic response timeoutB- <A) B5 +>B5 HCB5 HB5 dAB5 =B1 B1 B5 ;B5 &|EAa Iq I O >E V E AE :E "E =:*E  9VE (4ZE BE :a 2E :a JE :a :E a я,sG?A2٨Q?25?2i>ٱ2^)Ǿ :AHRS rotation from veh to nav: [[0.487198,-0.852127,-0.191094],[0.824541,0.376765,0.422113],[-0.287697,-0.363218,0.886173]]2HA.?Duȿ`b???iҿ>׿[?i2٨Q?I2&E^;0\YreAyrK HbDzaVDz8y?% H=ٔ 9 I=%FysENE>Q 5%4?Q 9%49)&@Y)y-Q?Q I-?sDIu:i:0υ4y1ɮ5B1*jIBjIiIiUziQJiUƷ<iQ k3Kk3Kk3Khi k#Zk#Zk#Zhy2f:fBfJfh@[ZZZZZiɢI)>Hyj))项i*I@<52Acoustic response timeoutAAIIO*>A > %= 2Acoustic response timeout G MrA 9 MrAY !Auя,sG?A2QL?2?2>ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.502739,-0.845464,-0.180122],[0.811696,0.390034,0.434768],[-0.297327,-0.364779,0.882345]]2H`o?`  ;ǿi?P?=?hӿX׿+9ZK?IZK?=Z%FyZuE^YE^>`Q 5f4bk?Q 9f4b25)b@YdyfK?Q Ij?bDIb:ib:b օ4yncBɮnʢBY*jiBjqiqiuziqJiuƷ<iy kAkAkAh kZkZkZh2f:fBfJfg@[ZZZZZiɢI5>5X9A)9)999i=+AIAE]S E]>E]=EY"E]9*E]9VE]|4ZEYae@ae@ae@ae@@mgzE2Acoustic response timeoutyԡ 8я,]sG?A2ڸF?2l~?2T>ٱ2ɾ :AHRS rotation from veh to nav: [[0.518836,-0.838257,-0.167735],[0.798156,0.404719,0.446261],[-0.306195,-0.365415,0.879043]]2H`M?Zxſ?@??ӿb׿@!?i2ڸF?I2D^;2PCY^acAyb HbDjfVDj 8ynX%rG=ٔr9vH?IvH?=v%FyvxEv ZEz>xQ 5~4zǫ?Q 94z0)z@YygE?Q I?zDIza;izL;z6݅4y ɮ B*j!Bj!i)i-zi)Ji-Ʒ<i)y2Acoustic response timeout k3Xk3Xk3Xh2f:fBfJf2f@[Z!Z!Z%Z!Z%iaɢaIe>e)a)iiiim ,qIqB5>BICB HBaAB=BB~DB;B|E@UGu<AzAqAԩEmV Em=Em@Ei"Em=:*Em8VEm4ZEiBEm:au2Em:auJEm9au:Em9a}IIOF>U 2Acoustic response timeoutI я,tG?AY~aAy~ HyA`"?bX9ƿy&1?9?E6`e< 9V-?zGʿ&1ʿY>y WPByB bB)CBY¨BbDwVD08y:U%>=ٔQ->9I=%Fy{EE>Q 54ث?Q 94.)@Y?Q E:y>Q I?DI:i:4y^BɮBE*jBjiiziJiƷ<i k<k<k<h  ksXksXksXh2f>:f>BfQ@Jf|А@[ZZZZZiɢI&>!)!)!!!i%<,IIQ2Acoustic response timeoutiIQ5@n<Eb EGE?E"E1:*ER9VE^4ZEa@a@a@a@ԡI) I9 O >ԙ e 2Acoustic response timeoutY я,/tG?AN/:?Nnr?N>ٱN^ξ vAHRS rotation from veh to nav: [[0.553817,-0.820174,-0.143532],[0.767008,0.435446,0.471259],[-0.324014,-0.371081,0.870238]]NH޸?>A_¿@U?@X?@)?Կ ̿׿?iN/:?INQ^;NSCY%v`Ay% HbD5VD5U8yUro%UN=ٔ]uA=Q-]>9aIa=e%Fye}EeSEe>iQ 5u4m諉?Q 9u4m,)m3@Yyy}>Q I}?mDImD;im;m4yɮOB*jBjiiziJiƷ<i k<k<k<h k3^k3^k3^h2f:fBfJfJY@[ZZZZZiɢI^>pp) 6)   i ,ID@ j<IqIO>2Acoustic response timeoutAABm>BOCBHB^AB=BBDB;B) bE^4jEp4rE0Ee R Ee BEa Ea "Ee s9*Ee (9VEa ZEa BEe x:au 2Ee }:au JEe L+:au :Ee N+:a} u2я,7ItG?A2J3?2!"k?2 >ٱ2,о >AHRS rotation from veh to nav: [[0.572282,-0.809973,-0.128209],[0.749207,0.452841,0.483347],[-0.333440,-0.372666,0.865990]]2H"P?K$i?V? )?@Wտ׿/?i2J3?I2c:^;2OCYFM_AyFO HbDNVDNA8yV|D%VX=ٔZ.9XIX=Z%FyZE^䑽E^>`Q 5f4b?Q 9f4bO*)b@Ydyj>Q Ij?bDIbZ:ib:bG4ynbBɮnxBl*jxBjxixizzi|Ji~Ʒ<i| k^k^k^h k|k|k|h!2f1:f1Bf1Jf5@[ZZZZZiɢI>Z))i,I2Acoustic response timeoutI(ay@ԡ  2Acoustic response timeout^я,nctG?A2+?2c?2y>ٱ2Ҿ :AHRS rotation from veh to nav: [[0.591364,-0.798443,-0.113040],[0.729632,0.470086,0.496645],[-0.343404,-0.376176,0.860561]]2H t?׌@5$Y?`??Sտ`Cؿ෉?i2+?I2W^;2QC9XIX=Z%FyZE^ƑE^>`Q 5f4bS?Q 9f4b()b@Ydyj5>Q Ij?bDIb:ib:bX4ylɮnBl*jxBjxixizzi|Ji~Ʒ<i| k3dk3dk3dh k#wk#wk#wh!2f1:f1Bf1Jf5E@[AZAZAZEZAZEiQɢYI]>] :I]C)Y)aaeie,iIiuoAupAE=V E=CE=JE9"E==:*E=09VE=5ZE9aE@aE@aE@aE@MK@ԩ-2Acoustic response timeout@`<I9IIO{> я, |tG?A2U$?2-\?2O>ٱ2eվ :AHRS rotation from veh to nav: [[0.610388,-0.786163,-0.096819],[0.709090,0.487848,0.509112],[-0.353012,-0.379409,0.855237]]2HL??( ɸݰ?@8?J? ֿ`>Hؿ^?i2U$?I28^;2OCYB,\AyBcHbDN~VDN68yVLd%VK=ٔVB9XIX=Z%FyZEZE^>|Q 5%4O?Q 9%4 ')@Y!y%\>Q I%?DIM;iB:4y5fBɮ5B1*jIBjIiIiMziIJiMƷ<iQ k^k^k^ha kSwkSwkSwhq2Acoustic response timeout2f:fBfJf Ȍ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢI>@BUCBHB ZAB=B#DBDB;B1|EB]ICB]LCB]™CB]=BYC]o6)EMR EMAEM>EI"EMs9*EM 9VEM4ZEIBEMz:aU2EM:aUJEM:a]:EM:a]I6Y5 2Acoustic response timeoutԁ @ ^<A AI I O% >%я,ztG?ADY mZAy OHyp= ף? ףp= ʡE?E?Q> 9K?T㥛 пV-?Y^>yh>BB B)3BYBbDvVD/8yn%.=ٔ-Q-->9-K?I5K?=5%Fy5E5E5>9Q 5E4=X,?Q 9E4=d#)=@YMq?Q EM:yM ?Q IM?=DI=;i=;=4yQɮUBQ*jiBjiiiimziiJimƷ<iq kckckch kykykyh2f.>:f.>Bf3j@Jf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢI>I;))څi,I2Acoustic response timeoutE EE=E"E*EVE|4ZEa@a@a@a@ @ [<u 2Acoustic response timeoutA I I O >N^,я,rtG?A>?>L?>ov>ٱ>bھ FAHRS rotation from veh to nav: [[0.647256,-0.759790,-0.061468],[0.666039,0.524482,0.530387],[-0.370744,-0.384236,0.845524]]>HR?3Px1P?@??`D׿ Tؿ?i>?I>-M^;>QCYRXAyR HbDZVDZU8yr%vN=ٔv I=Q-v>9xIx=z%FyzEzE~>|Q 54~Q I ?~DI~;i~;~4yiBɮZBE*j)Bj)i)i5zi1Ji5Ʒ<i1 ks_ks_ks_hI kStkStkSthY2fi:fiBfiJfm?8@[yZyZyZ}ZyZ}iɢI>BYCBrHBUAB=BBDB;B+|EIIIAOU>Ա E T E @E >E "E 9*E 9VE 4ZE BE :a 2E :a JE 0:a :E 2:a <3я,tG?A2Q ?2 )E?2G>ٱ2ܾ :AHRS rotation from veh to nav: [[0.664323,-0.746212,-0.042922],[0.644378,0.542674,0.538778],[-0.378750,-0.385581,0.841354]]2H #B??@]?@=?o=ؿ@[ؿ^?i2Q ?I2?^;2OCPYrVAyrHbD VD K82Acoustic response timeouty%?=ٔ9I=%FyEˍE>Q 54N?Q 94)@Yy>Q I?DIi:i;4yeBɮB*jBjiiziJiƷ<i k[k[k[h  kwkwkwh!2f1:f1Bf1Jf5Y@[yZyZyZZZiɢI>(L!=I=))项5 2Acoustic response timeout1 f9я,ktG?A2,?2\>?2 >ٱ2"ܾ :AHRS rotation from veh to nav: [[0.679750,-0.733064,-0.023604],[0.623488,0.560595,0.544974],[-0.386269,-0.385163,0.838121]]2H`?@Cu+`?d?mp?`ؿؿ ?i2,?I2T^;2PCYBTAyBHEbS Eb?Eb<E`"Eb9*Eb?9VEb 4ZE`af@af@af@af@bDjVDjO8yr%rX=ٔv/9tIt=v%FyvEz&Ez>|Q 5}4~=_?Q 9}4~e)~݉@Yy>Q I?~DI~;i~;~4yiBɮѤB*jBjiiziJiƷ<i kS_kS_kS_h2f:fBfJf@[ZZZZZiɢI%>%8B=)!)))-)2Acoustic response timeoutYԁ = 4== =E 2Acoustic response timeoutQ@я,3TuG?AB^>B^^CB^HB^QQAB^=B^"DB^DB^M;B^|Eԙ5uM>5N~1?5.>ٱ5޾ EAHRS rotation from veh to nav: [[0.704981,-0.709150,0.010429],[0.585808,0.590527,0.555074],[-0.399789,-0.385207,0.831736]]5H3?[[? ?@?*? %ٿ`:ؿ`?i5uM>I5S^;5QCYUSAyUH YYyףp= ?Q?~jth^?<D 9ˡE?v/$C?Y'?yx齙>BB 3B)BYBbD=VD=v8yMd%M)=ٔU9QIQ=U%FyUE],ϽE]>aQ 5m4eu?Q 9m4e=)e\@Ym;?Q Eu:yu9?Q Iu?e(DIei ;ie] ;e &4y}nBɮ} By*jBjiiziJiƷ<iE E=E;E"E*E8VE4ZEBE:a2E :aJE9a:E 9a kUkUkUh2f >:f >Bf(n@Jfsx@[ZZZZZiɢIW>`~=) )   i  *I2Acoustic response timeout-_>@ i<Ii Iy O > xFя,:"uG?AJ >J`^,?J>ٱJwt߾ RAHRS rotation from veh to nav: [[0.714510,-0.699218,0.023882],[0.569939,0.601522,0.559768],[-0.405765,-0.386349,0.828305]]JHC?_ft?IJO6^;JPCYZPAy^mHbDfVDfn8yn վ%n}=ٔrf̌=)$)顉iR)I )-C]S,GrA2Acoustic response timeoutȿ9rAYA@l<I1IAOm>!EU EAE>E"E:*E 9VE4ZEa@a@a@a@Q 2Acoustic response timeouty 2Lя,34uG?AJ>J`'?J>ٱJۅ߾ RAHRS rotation from veh to nav: [[0.722849,-0.690005,0.037192],[0.555822,0.612570,0.561979],[-0.410551,-0.385554,0.826315]]JH!? ?J?+??@wFڿ ؿ+q?iJ>IJ0T^;JSCY^OAy^NGbDfVDf8ynEG%nJ=ٔrT9pIp=r%FyvEv4Ev>xQ 5~4zڗ?Q 9~4zG )z@Y|y60?Q I?zJDIz;ixz24y hBɮ uB ݻE*jBji!i%zi!Ji%Ʒ<i! kKkKkKh9 kcRkcRkcRhI2fY:fYBfYJf]4u@[iZiZiZmZiZuiɢI>D=))顉iW(IQԁ 2Acoustic response timeoutAAAAB>BcCBGBLAB=BBDB:;B(|E@$s<AT?AI?ԱA $AI I! E Failed to create a data reader. azimuth_vehicleFrame is unknown.E bFailed to request data from azimuth_vehicleFrame.II M >M >Ou >E P E EE @E "E 9*E A9VE 4ZE BE m:a 2E r:a JE V:a :E W:a Sя,NuG?AZ*>Z#?ZY>ٱZr߾ fAHRS rotation from veh to nav: [[0.729968,-0.681782,0.048160],[0.543866,0.622089,0.563218],[-0.413952,-0.384939,0.824904]]ZH [?@)j? Zg?'??/~ڿբؿe?iZ*>IZ5^;ZPCY MAy GI<);bD%VD%8y5ݑ%5E=ٔ5)9=H?I=H?==%Fy=EEEE>IQ 5U4M۫?Q 9U4MM]2Acoustic response timeout)M7@YayeT,?Q Ie?M^DIM];iML^;M:4yiɮmBi*jBjiiziJiƷ<i kcCkcCkcCh kS]kS]kS]h2f:fBfJfvFt@[ZZZZZiɢI>\.=))iG'IpAqAԱu˼@w<IIOG> = %= 2Acoustic response timeout! 1 aYя,>huG?AEBO EB@EB?E@"EB9*EB9VEB^4ZE@aJ@aJ@aJ@aJ@N>NdR ?N>ٱN߾ VAHRS rotation from veh to nav: [[0.736901,-0.673567,0.057308],[0.533072,0.631137,0.563471],[-0.415705,-0.384673,0.824146]]NH ?ݍW??@F2??`ڿ{ؿf_?iN>IN*^;LYbKAybGbDjVDj8yr܏%rP=ٔvt;Q-v>9tIt=z%FyzEzzEz>|Q 54~?Q 94~)~u@Y y (?Q I ?~pDI~;i~;~@4ylBɮB!*j9BjiiziJiƷ<i kDkDkDh2f9:f9Bf9Jf=_s@[AZIZIZMZIZMiyɢI> =))顙i-&Iu2Acoustic response timeoutA5@~<ApAzAoAq I I OU >- 2Acoustic response timeoutB .>B fCB GB GAB =B B DB =;B E|E `я,{uG?Aj>j?j>ٱjl AHRS rotation from veh to nav: [[0.744083,-0.665019,0.063959],[0.522947,0.639336,0.563716],[-0.415773,-0.386004,0.823489]]jH?G@_?@?@qu? ?ڿ JؿZ?ij>IjJ^;hY-JAy-GyM?L7A`尿MbP?n2?+: 9$C? rh?Cl?Y:?yC<O>ByB ׇB)BYBbDVDz8y|%2=ٔg*9Q->9I=%FyEE>Q 54Ӭ?Q 94)a@YGA?Q E:y??Q I?DI;i;H4y pBɮ ,B ޻E*jBjii%zi!Ji%Ʒ<i! kGkGkGh9 k3Wk3Wk3WhI2f]a>:f]a>Bf]Ī?Jf]?[iZiZiZmZiZmbE]4jEYrE];21EW EE<E"E :*EVE 4ZEBE0:a2E5:aJE1:a:E3:ai9ɢ9I=>EG=)A)AAAiE$IIq}}yy92Acoustic response timeout@<IyIO>i fя,uG?A6[>67?6>ٱ6 BAHRS rotation from veh to nav: [[0.751916,-0.655728,0.068142],[0.512767,0.646668,0.564704],[-0.414357,-0.389669,0.822476]]6H?@@q?h? ? ?҄ڿ VؿQ?i6[>I6E^;4Y^ HAybG ``bDjVDj8lyr%vg=ٔveQ-v>9xIx=z%FyzEz#Ez>|Q 54~[䬉?Q 9 4~)~ɇ@Y y =))顑i&$I@}<2Acoustic response timeoutIIO= EP EFEFE"E9*E;J9VE 5ZEa@a@a@a@1m 2Acoustic response timeouti mя,膶uG?A2>2J?2 k>ٱ2%O :AHRS rotation from veh to nav: [[0.760584,-0.645148,0.072776],[0.501767,0.655249,0.564694],[-0.411997,-0.392980,0.822086]]2HV? s?y?`?@? )^ڿ&ٿN?i2>I2EW^;2OCYjFAyjGbDzVDz8y%H=ٔ AлQ- >9 I = %FyEE>Q 5%4}?Q 9%4)@Y)y-8?Q I-?DI:i9:8V4y5tBɮ5B19*jIBjIiIiUziQJiUƷ<iQ kAkAkAhi k#Zk#Zk#Zhy2f:fBfJf6?[ZZZZZiɢI->ɚ=))项i##I@<II)O]=i2Acoustic response timeoutB%<A%<B%r>B%nCB% GB%/CAB%=B%!DB%DB%;B%b|EBcCBcCBśCBſ=B=Cg6ԑE g E @E BE "E C:*E 9VE 5ZE BE X;a 2E X;a JE 2:a :E 4:a sя,auG?A2 >2$'?2מ>ٱ2a :AHRS rotation from veh to nav: [[0.769813,-0.633404,0.078662],[0.490178,0.665627,0.562731],[-0.408795,-0.394639,0.822889]]2HO?D.#?_?@L?? )ڿAٿU?i2 >I2nW^;2PCY^GDAybbGbDjVDj8yr#%rM=ٔrQ-r>9tIt=v%FyvEv%Ez>x%2Acoustic response timeoutQ 5]4z| ?Q 9]4z)z8@Yaye4?Q Ie?zDIze=T=)A)AAAiE%"III@-f<IIO>2Acoustic response timeout zя,=uG?AE&Q E&FE&CE$"E&29*E&;J9VE&5ZE$a*@a*@a.@a.@F3>F ?F>ٱF RAHRS rotation from veh to nav: [[0.779463,-0.620537,0.085861],[0.477498,0.677242,0.559767],[-0.405504,-0.395319,0.824190]]FH[?o? S???ٿ`Lٿ_?iF3>IFjy^;DYb@BAybGIf<)fbDnVDn8yz%zI=ٔ~FQ-~>9I=%FyE .E >Q 5%44?Q 9%4)w@Y!y-Z0?Q I-?DI;;i<;Rd4y5nBɮ=&B9*jQBjQiQiziJiƷ<i kJkJkJh)2fa:faBfaJfe?[ZZZZZiɢIr>7=))ip3!I@ <52Acoustic response timeout)A%AI)I9OuX>Qԁ  2Acoustic response timeoutя,% vG?ABe>BeuCBe.GBek>ABe=BaBeDBe;Be~|Ehɰh>sH?V>ٱ -AHRS rotation from veh to nav: [[0.788833,-0.607175,0.095291],[0.464690,0.690680,0.554098],[-0.402250,-0.392810,0.826980]]H>?m@e?{? ?`+?@xٿ#ٿv?i>IQ^;OCYE@AyEGyx?NbX9ȿI +?Kw?E94= 9?{Gz@5^I ?Y@?yףb>BKB yB)BYQBbDAVD8y-l%58=ٔ5Q-5>9=K?I=K?==%Fy=E=XEE>AQ 5M4QE6?Q 9U4E7)EI@YUoD?Q E]:y]F?Q I]?EDIE 2;iE0;El4yerBɮe_BeջE*jyBjyiyi}ziyJi}Ʒ<i kC<kC<kC<h kS<kS<kS<h2fT>:fT>Bf6*@Jf]@@[ZZZZZiɢIG>P=))iT IEUR EUCEUAEQ"EUs9*EU09VEUA4ZEQBEU:a]2EU:aeJEU9:ae:EU9:ae@<ԁAI!I1IQiYI]pAOy=2Acoustic response timeoutԩ $я,EvG?A2ф>2?2;>ٱ2r :AHRS rotation from veh to nav: [[0.797489,-0.594140,0.104926],[0.452408,0.703943,0.547532],[-0.399172,-0.389181,0.830180]]2H@?1@iܺ?@A?@?a? ٿXؿ`֐?i2ф>I2_^;2QCYFF>AyFGbDNVDN8ynξ%rc=ٔrQ-r>9pIt=v%FyvEv9Ev>xQ 5~4zJ?Q 9~4z)z}@Yy>Q I?zDIz;iz;z^r4y ɮ B*j!Bj!i!i%zi!Ji-Ʒ<i) kcDkcDkcDh9 ksDksDksDhI2fa:faBfaJfea?@[iZqZqZuZqZuiɢI+>|=))顉i+IIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout@ <ԹAIIO-,>EeZ Ee?EeDEa"Ee:*Ee?9VEeJ5ZEaau@au@au@au@ E pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITM 2Acoustic response timeout9 CNя,7vG?A2$>2j?2-m>ٱ2ܾ :AHRS rotation from veh to nav: [[0.805153,-0.581779,0.115160],[0.441550,0.717675,0.538494],[-0.395932,-0.382721,0.834723]]2H?&{?`YB? 2?X;?Vٿ~ؿ` ?i2$>I2B _;2OCYB9XIX=Z%FyZE^E^>`Q 5f4ba?Q 9f4b%)bNy@YdyfV>Q Ij?b DIb:ib:bQy4ynvBɮnBl*jtBjtixizzixJizƷ<ix kDkDkDh kDkDkDh2f:fBfJf>@[ZZZZZi ɢI>Xm=)1)199i=9IA@Œ<AYIiIyzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutB;>BCBGB9AB=B DBDB;B|EYOeV>Dm =Di Eu W Eu AEu PEq "Eu :*Eu  9VEu -5ZEq BEu 4:a} 2Eu 9:a} JEu :a :Eu :a ԉ P6я,ŪQvG?A02Z>2 >2 _>ٱ2־ >AHRS rotation from veh to nav: [[0.812335,-0.569587,0.125234],[0.431576,0.731552,0.527801],[-0.392243,-0.374703,0.840085]]2H ?:`?? h?@?ٿ "׿ ?i2Z>I2^;0Yn:AynGbDz8VDz82Acoustic response timeouty Y% D=ٔ Q->9I=%FyEE>!Q 5-4%x?Q 9-4%m)%lu@Y)y-j>Q I5?%DI!i%:%4y=zBɮ=$B9*jIBjIiQiUziQJiUƷ<iQ kOkOkOhi kOkOkOh2f:fBfJf=@[ZZZZZiɢI>P2]=))i-I@F<ԉAIIO5.>Թ%G9Q}9YܩA2Acoustic response timeout aя,kvG?AET EBEHE"E9*E(9VE-5ZEa@a@a@a@R3>RU>R3>ٱRgѾ\ bAHRS rotation from veh to nav: [[0.819201,-0.557483,0.134624],[0.422020,0.744922,0.516711],[-0.388341,-0.366476,0.845510]]RH@6?Y;?b?`f?`?ؿWt׿j?iR3>IRͧ^;RPCY]8Ay]&GbD'VD8yޕ%@=ٔ#Q->9I=%FyEE>Q 54?Q 94)q@Yy>Q I?3DI:i:4y~BɮgBֻE*j Bj iiziJiƷ<i kcQkcQkcQh) kcQkcQkcQh92fQ:fQBfQJfUI =@[YZYZYZeZaZeiɢIb>K=))项iLiI@<2Acoustic response timeoutAIIOMR>A B >B CB GB 55AB =B DB DB g;B |E) - =E 2Acoustic response timeoutIKя,mvG?ANz>No>N>ٱN˾ VAHRS rotation from veh to nav: [[0.826082,-0.544938,0.143636],[0.412295,0.758161,0.505178],[-0.384190,-0.358098,0.850978]]NHCo?`!p`b?c?B?j*?ؿֿ7;?iNz>INn^;NMCYb6AybGIf<)f9I=%FyEE>Q 54\?Q 94)k@YU?Q E~:y>Q I?HDI ;i ;4yɮB*jBjiiziJiƷ<i kcIkcIkcIh kcIkcIkcIh)2f==:f==Bf=A@Jf=e@[IZIZIZMZQZUiaɢaIe>ef9=)a)iiiimqIqE5W E5@E5ME1"E5 :*E59VE5H$5ZE1BE53:aE2E58:aEJE53:aM:E55:aM@Mu2Acoustic response timeoutyԙ 'rя,:vG?A6r n>6ܳ>6D>ٱ66Ǿ BAHRS rotation from veh to nav: [[0.832868,-0.532711,0.150166],[0.402928,0.769594,0.495352],[-0.379447,-0.352057,0.855615]]6Hڦ? 8???ٳ?Hؿֿ1a?i6r n>I6N}^;6OCYJ5AyJGbDR{VDR8yZ%Z]=ٔ^ cQ-^>9\I`=b%FybEbPEb>dQ 5j4f?Q 9j4f)ff@Ylyn>Q In?f[DIf;if;f4yrxBɮrبBv̻E*j|Bj|iiziJiƷ<i kcDkcDkcDh ksDksDksDh)2f9:f9Bf9Jf=/@[IZIZIZMZIZMiaɢaIe>ea$=)i)iiiimSqIqy@u<2Acoustic response timeoutIQIaO>ԡEI EMCEMOEI"EI*EM09VEM*5ZEIaU@aU@aU@aU@ 2Acoustic response timeout ᜭя,vG?A26a>25J>2>ٱ2cľ :AHRS rotation from veh to nav: [[0.839652,-0.520430,0.155362],[0.393310,0.779905,0.486883],[-0.374556,-0.347706,0.859539]]2H m?`]?+?`?)?`׿ @ֿX?i26a>I2zS^;2QCY#3AyMGbDVDB8y~~%.=ٔ@8Q->9I=%FyEڼE>Q 54߭?Q 94?)`@Yy%>Q I?sDI;i;Ɲ4y|BɮBͻE*jBjiiziJiƷ<i ks@ks@ks@h kdkdkdh)2f9:f9Bf9Jf=E@[AZIZIZMZIZMiYɢaIef>ep=)a)aaiimiIq@e<IIO*>BaAe<Bm>BmCBm0GBm0ABm=BmDBmɻDBm2;BmN}E2Acoustic response timeout1bE5jE-5rE!1EM U EM ?EM LEI "EM :*EM ?9VEM !5ZEI BEM ':a] 2EM ,:ae JEM O9ae :EM T9ae Y я,vG?A2S>2>2T>ٱ2þ :AHRS rotation from veh to nav: [[0.846379,-0.508347,0.158825],[0.383207,0.788385,0.481250],[-0.369857,-0.346457,0.862075]]2H?`aD_T?x?r:??׿Z,ֿ?i2S>I2^^;0 @)BvABh@@@DiFYIFFDIDiD JtH)HH JvAHHLLNvAIL)N FiP)PIRvARYR,F PTTTiTTiXX)X XIXYXE2Acoustic response timeoutY}0Ay}G ==bDVD]8yC%[=ٔ>^Q->9I=%FyE E>Q 54?Q 94)Z@Yyq>Q I ?DI:i :_4yB1ɮ=dB9*jIBjIiQi}ziyJi}Ʒ<iy k#Zk#Zk#Zh2f:fBfJf@[ZZZZZiɢI> <))iiI@}<IQIaO>aԉ2Acoustic response timeoutԹ Ee Y Ee GEe QEa "Ee :*Ee R9VEe *15ZEa au @au @au @au @&úя,#vG?AN%MF>N>N>ٱNþ ^AHRS rotation from veh to nav: [[0.852903,-0.496331,0.161902],[0.372512,0.795843,0.477357],[-0.365775,-0.346829,0.863666]]NHJ?߿ 2?:? w?@?h׿@q2ֿ &?iN%MF>IN^;NNCY./AypGbDVD8yDž%I=ٔ0Q->9I=%FyúEE>Q 54?Q 94)~U@Yy>Q I?DIf;i/;h4yBɮB*jBjiiziJiƷ<i k3Ak3Ak3Ah kckckch!2f1:f1Bf1Jf5 @[AZAZAZMZIZMiYɢYI]>e<)ezI)aaaiie.qIq@M<IIO>%2Acoustic response timeoutԑBU >BU CBU GBU +ABU =BQ BU ϻDBU ;BU ~EB˒CB˔CBˬCB˴=Bˬ=Cd7 2Acoustic response timeout cя,mwG?ABk8>B>Bi۽>ٱBRþ JAHRS rotation from veh to nav: [[0.859100,-0.484265,0.165632],[0.361430,0.803168,0.473592],[-0.362375,-0.346999,0.865030]]BH}?`4޿o3?!??UO?&1׿@95ֿR?iBk8>IB=l^;@Y=@-Ay=GyZd;O?Q뱿Mb`?j\?\; 9(\? rhy&1|Yg?yC`BB yB)BYaBbDVD8y-%-D=ٔ-#Q-->91I1=5%Fy5źE=E=>AQ 5M4EU.?Q 9M4E)E/M@YMWh?Q EMi:yMf>Q IM?EDIE:iEA:E4yYɮ]ܩBY*jqBjqiqiuziqJi}Ʒ<iy k#Kk#Kk#Kh k\k\k\h2f#8=:f#8=Bf :=Jf5>19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢI4>p*<))imIE-[ E-EE-OE)"E-a:*E-A9VE-*5ZE)BE- ;a52E- ;a5JE-W:a=:E-W:a=@ <i9I9EhDAT read: Forwarding Delay UpTx time:18:58:35.9426 MpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGM2Acoustic response timeoutAU$AIaIqO>) \я, wG?A:NE+>:Q>:Xe>ٱ:4þ BAHRS rotation from veh to nav: [[0.864625,-0.472957,0.169517],[0.350757,0.809798,0.470315],[-0.359713,-0.347186,0.866065]]:H ?`D޿༲?r? ?@?@׿ M8ֿ Ͷ?i:NE+>I:m^;8YJ+AyNrGIR=)Rp;PPbDVEVDV8y^%be=ٔbQ-b>9bH?IfH?=f%FyfȺEf,Ef>hQ 5n4jF?Q 9n4jd)j$F@Ypyrݝ>Q Ir?jDIj;ij;j4yvBɮv$Bx*jBjiiziJiƷ<i  kSDkSDkSDh kekekeh)2fA:fABfAJfE>sMNUpdating rudder angle 6.875493 arcdeg 9MrM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudder[QZQZQZ]ZYZ]iiɢiIm>u`ɚ<)q)qqqiuyI@U<2Acoustic response timeoutQAIIO!>ԁEU ECEPE"E:*E09VE-5ZEa@a@a@a@ԩ ] 2Acoustic response timeoutя,:wG?A2_>2_>2/>ٱ2¾ :AHRS rotation from veh to nav: [[0.869430,-0.462523,0.173680],[0.340998,0.816159,0.466481],[-0.357509,-0.346348,0.867312]]2H@^?ݿ %;???@?kֿ*ֿ?i2_>I2T^;2PC@YFh)AyFVGbDjmVDj8yr%rH=ٔv=Q-v>9tIt=v%FyzʺEzEz>|Q 54~c?Q 94~)~ >@Yy >Q I ?~DI~):i~:~4yBɮ_BλE*j!Bj!i)i-zi)Ji-Ʒ<i) kckckchA kckckchQ2fa:faBfaJfeY>[qZqZqZuZqZ}iɢI> p<))顑ilXIԩAAB<>BCBGB'AB=BDBٻDB ;B~E2Acoustic response timeoutTмE d E LE eE "E 9:*E |9VE q5ZE BE F;a 2E !F;a JE x:a :E y:a @ < > >Aq I I I O >X$я,%UwG?A,2>2x>2uR>ٱ2¾>2Acoustic response timeout ZAHRS rotation from veh to nav: [[0.873866,-0.452635,0.177426],[0.331166,0.821388,0.464382],[-0.355931,-0.347051,0.867680]]2H?ܿ@?1?H?@q?ֿ6ֿ ?i2>I2n^;2NCYb'AybfGbDnwVDn8yr|o%vB=ٔvRQ-v>9xIx=z%FyzͺE~E~>|Q 54~"?Q 9 4~ )~5@Y y >Q I ?~DI~:i~d:~xdž4yBɮB*j)Bj)i)i-zi)Ji5Ʒ<i1 ksVksVksVhI ksVksVksVhY2fi:fiBfiJfmf>[yZyZyZZZiɢI>`6s<))顙i#Iԁ@<AIIO=P>Ա-2Acoustic response timeout E W E FE QE "E :*E ;J9VE *15ZE a @a @a @a @Jя,[owG?A2 >2운>2|>ٱ2¾ :AHRS rotation from veh to nav: [[0.877516,-0.444253,0.180568],[0.323050,0.825916,0.462062],[-0.354406,-0.347134,0.868271]]2H?nܿ`?`۬?m?k?@ֿ@r7ֿ?i2 >I2^;0YB%AyBG DDbDNvVDN8yVV%VO=ٔVFQ-V>9XIX=Z%FyZϺE^ żE^>``Q 5f4b?Q 9f4b)b<.@Yhyj8>Q Ij?b DIb2:ib`:bbΆ4yEBɮEݪBA*jBjiiziJiƷ<i kWkWkWh2f:fBfJf>[ZZZZZi1ɢ1IM>M{X<)Q)YYYi][aIaiiiiiߑIߑ2Acoustic response timeout@<A- AIQ I I B |>B ŏCB dGB "AB =B DB ޻DB ;B EO >E 2Acoustic response timeout2я,T8wG?A2tx>2e>2܇>ٱ2þ :AHRS rotation from veh to nav: [[0.881058,-0.436384,0.182501],[0.315229,0.829362,0.461291],[-0.352659,-0.348894,0.868277]]2H1?ۿ1\?,?#?ȅ?ֿ`GTֿ@?i2tx>I2^;2MCYB#AyBGy +?~jt?Mb` v~? <   9 "~?+η?QY s?y v= u nB B B) B Y zBbD-VD-*8y5ň%=B=ٔ=֐Q-=>9EK?IEK?=E%FyEҺEMqEM>IQ 5U4M෮?Q 9]4M)M#@Y](u?Q E]]:y]>Q I]?M DIM* ;iM/;MՆ4ymBɮmBmϻE*jBjiiziJi Ʒ<i  kc;kc;kc;hIDYzDY2f=:f=Bf%@E[ EESE"Ea:*EVE75ZEBE ;a2E ;aJEe:a:Ee:aJfx(@[ZZZZZiɢI > @9<) ))11i51I9@-yԡ k> CU Gm MrA 9 MrAY A\я,wG?A>=>>>H>ٱ>þ FAHRS rotation from veh to nav: [[0.884455,-0.428796,0.184046],[0.308176,0.832935,0.459617],[-0.350380,-0.349792,0.868838]]>H`uM?@cqۿӎ? (?f?[j?`lֿbֿ?i>=I>6s^;>QCYR!AyRGbDZVDZ=8yb%bR=ٔb?ͻQ-f>9dId=f%FyfԺEj/Ej>lQ 5r4nҮ?Q 9r4nDZ)n@Ypyr>Q Iv?n6DIn ;inX ;n܆4yzBɮz^Bx*jBji i zi Ji Ʒ<i  kc<kc<kc<h! k#]k#]k#]h12fA:fABfAJfEN'@[QZQZQZUZQZ]iiɢiIm>u`<)q)qqqyiuI2Acoustic response timeout@=<ԩAIIOU2>Eu\ EuGEubEq"Eu:*EuR9VEug5ZEqa}@a}@a}@a}@ 2Acoustic response timeout я,wG?A2q=2)>2i>ٱ2ľ :AHRS rotation from veh to nav: [[0.887749,-0.422235,0.183357],[0.302528,0.835367,0.458954],[-0.346956,-0.351966,0.869334]]2Hph?ۿ ;x?\?S?_?`4ֿ`ֿ?i2q=I2Y^;2PCYB! AyBGbDJVDJ(8yn%rH=ٔrQ-r>9tIt=v%Fyv׺EvEv>xQ 5~4z?Q 94z)z@Yy>Q I?zMDIz;iz* ;z4y Bɮ BŻE*j!Bj!i!i%zi)Ji-Ʒ<i) k3]k3]k3]hA2fQ:fQBfQJfU'@[aZaZaZeZaZeiqɢyI}>}K;)y)顁iΟIB@oA:@oA@u۶<A}nAzA}nABAB>BΏCBGBAB=BBDB5;BTEAII 2Acoustic response timeoutO%,>1EuZ EuHEufEq"Eu:*Eu[9VEut5ZEqBEun;a2Eup;aJEuY:a:Eu[:aa }nя,!wG?Ai0I2A62Acoustic response timeout:=:L >:>ٱ:hľ FAHRS rotation from veh to nav: [[0.891141,-0.415429,0.182448],[0.297801,0.838901,0.455588],[-0.342320,-0.351660,0.871294]]:H@9?`cڿ sZ? ,? F?Z(?տֿ?i:=I:L^;:MCY^AybGbDjVDjM8yr}%rJ=ٔr/HQ-r>9tIt=v%FyvںEv3pEz>xQ 5m4z9 ?Q 9m4z')z @Yqyu>Q Iu?zdDIzL9))iI 9@<A%$AI)I9aO}7>2Acoustic response timeoutԉE \ E EE ^E "E :*E A9VE [5ZE a @a @a @a @Թ я,wG?A22=2ts>2>ٱ2+þ :AHRS rotation from veh to nav: [[0.894537,-0.408965,0.180419],[0.293749,0.842079,0.452343],[-0.336920,-0.351640,0.873404]]2H` ?`{,ڿ??P?0?տ`Cֿ@?i22=I22'^;2QCYBAyBGbDJVDJl8yR%VN=ٔV,mQ-V>9ZH?IZH?=Z%FyZܺEZWEZ>\Q 5b4^_$?Q 9b4^|)^x?Ydyf5>Q If?^zDI^:i^:^4yjBɮjBl*jtBjtitivzitJizƷ<ix kBkBkBh  k[k[k[h2f):f)Bf)Jf-+&@[1Z9Z9Z=Z9Z=iIɢQIU>U@)Q)Q项iInAY B >B ߏCB ؽGB ^AB =B DB DB ۼ;B E% Y>% 4=- 2Acoustic response timeoutя,~ xG?AB=B^0>B_l>ٱBpþ JAHRS rotation from veh to nav: [[0.898010,-0.402753,0.177109],[0.290501,0.845088,0.448816],[-0.330435,-0.351591,0.875898]]BH?ٿ?@?` ?d?`%տuֿZ?iB=IBFO^;BMCYr1AyrھGz=z=yGz?S㥛p=?̽$ 9E?Mb?̿YF?y<ffBB B)BYѶBbDVDz8yu%8=ٔ_}Q->9K?IK?=%FyߺEbE5SI5jE5O5rE5š2E=e E=TE=hE9"E=<:*E=9VE=A{5ZE9BE=bL;aM2E=dL;aMJE=:aM:E=:aME>Q 54=?Q 94)Q?YN?Q E:yJ>Q I?DI:iA:4yBɮ0B*jBjiiziJiƷ<i kCkCkCh! kZQkZkZhY2fm->:fm->Bfm?Jfm@[ZZZZZiɢI|>`I)U))ޣԩ я,Y$xG?A2}=2>2⃨>ٱ2O¾ :AHRS rotation from veh to nav: [[0.901799,-0.395865,0.173346],[0.286856,0.848338,0.445013],[-0.323221,-0.351587,0.878587]]2H?Uٿ`10?[?%? {?Կfֿ b?i2}=I2Y7^;2KC@Yv(AyvZGbDVD8y ٬%Y=ٔ%Q->9I=%FyEaE%>!Q 5-4%Q?Q 954%)%?Y1y5F>Q I5?%DI%f:i%:%4y=BɮEtBA*jQBjQiQiUziQJi]Ʒ<iY kBkBkBhq k\k\k\h2f:fBfJfZ?[ZZZZZiɢI>N))= 2Acoustic response timeout я,r4>xG?A2=2f>24y>ٱ2 \þ :AHRS rotation from veh to nav: [[0.905939,-0.388186,0.169073],[0.282102,0.851161,0.442654],[-0.315741,-0.353322,0.880609]]2Ht? ؿ1?@ ?9dId=f%FyfEj}Ej>llQ 5r4ng?Q 9v4n])n=?Ytyv@>Q Iv?nDIn0;in1;n4yxɮzB|*j Bj i i zi JiƷ<i kCDkCDkCDh2f:fBfJfo?[ZZZZZiɢI+>I<)!)!!%68i%z)I)AA@AB>BCBĸGB=AB=BDBDB;BEB}ΏCB}ӏCB}çCB}Õ=B}Ô=C}É6 2Acoustic response timeout@]<AepAzAeoA9EY E]XE]oEY"EY*E]9VE]5ZEYBE]Q3;ae2E]T3;aeJE]:am:E]:amAIIOM >a Ӽя,XxG?A"2Acoustic response timeout6=6>6Rj>ٱ6þ BAHRS rotation from veh to nav: [[0.910482,-0.379044,0.165375],[0.275735,0.854444,0.440335],[-0.308210,-0.355317,0.882472]]6H@"?ABؿ+?ࣥ?W?`s.?ӿֿ5=?i6=I61^;6MCYJAyJLGIN=)N=bDRVDR58yZ~%ZK=ٔ^cQ-^>9`I`=b%FybEfEf>hQ 5n4jX~?Q 9n4j)j?Ylyr 9>Q Ir?jDIj{;ijU;j 4yvBɮvBvǻE*jBjiiziJiƷ<i  kBkBkBh kBkBkBh)92fA:fABfAJfE?[QZQZQZUZQZ]iiɢiIm>msIu;)q)qquGiuIiI_B@%pA:@%pAԑ%=%=2Acoustic response timeout@e < Ee ^ Ee IEe bEa "Ee C#:*Ee c9VEe g5ZEa am @am @am @am @A I I O >>я,%\sxG?A2$=2Px>2B>ٱ2rž JAHRS rotation from veh to nav: [[0.916069,-0.366547,0.162668],[0.265571,0.858444,0.438800],[-0.300482,-0.358771,0.883739]]2H pP?@u׿@L? ?`x?`L?;ӿֿ G?i2$=I2^;2NCYRQAyRgGbD^VD^8yb-f%f?=ٔfQ-f>9hIh=j%FyjEjEn>lQ 5r4tn?Q 9v4nɟ)n?Yxyz,>Q Iz?nDIn);ind*;nm4y~Bɮ~B|*j BjiiziJiƷ<i ks<ks<ks<hi2fy:fyBfyJf})?[ZZZZZiɢI>Ȯ3I))iI2Acoustic response timeoutC"@<AII OUS>IB >B CB GB AB =B DB DB K;B =EU 2Acoustic response timeouti 9#я,xG?AFMH=Fẗ>F>ٱF)ƾ RAHRS rotation from veh to nav: [[0.922316,-0.351153,0.161325],[0.252465,0.863602,0.436410],[-0.292567,-0.361778,0.885167]]FH?IyֿI?c(?@?@"?jҿ`'׿`JS?iFMH=IFb1^;FPCYZuAyZGy=V-?mտA`"=M?==Y9 99=ʡE?X9v׿e;OοY=-?y=󽾙=t=B=B =4B)=LB9Y=BbDU4YVDU8ye%eB=ٔmᠼQ-m>9iIq=u%FyuEE}b E}FE}oEy"E}1:*E};J9VE}5ZEyBE}9;a2E}9;aJE}e:a:E}e:alE>Q 54?Q 94)r?Y8?Q E:yھQ I?DI:iE:4yɮUB*jBjiiziJiƷ<i k$k$k$h k@k@k@h2f>:f>BfJQ@Jfp@[ZZZZZiɢI>hU)WU)i[LIԁ2Acoustic response timeout%)R@=J@=Թ@0<AZ?Aa?I I I! OM > F)я,xG?A2,;=2>2Vϓ>ٱ2/Ⱦ :AHRS rotation from veh to nav: [[0.928775,-0.334120,0.160438],[0.237326,0.868590,0.435003],[-0.284698,-0.365944,0.886021]]2H ?`7bտ9XIX=Z%FyZEZ7EZ>\Q 5b4^@?Q 9f4^ͥ)^[?YdyfQ If?^DI^:i^:^n#4yjBɮjBl%2Acoustic response timeout*jaBjaiiimziiJimƷ<ii k%k%k%h2fԹ:fBfJf,o@[ZZZZZi!ɢ)I->-`Kw)))1QYi] aIip==MBJ@-d<E] EQEsE"E:*Ev9VEX5ZEa@a@a@a@I IOUS>2Acoustic response timeout9 .0я,vxG?A2*W<23l>2@Ǐ>ٱ2ɾ :AHRS rotation from veh to nav: [[0.935250,-0.315189,0.161133],[0.220229,0.874452,0.432243],[-0.277141,-0.368769,0.887244]]2H ?,Կ`?u0??@ݩ?ѿ׿@Nd?i2*WAyB)GbDJVDJ8yRd%VJ=ٔVQ-V>9XIX=Z%FyZEZ?E^>\Q 5b4^կ?Q 9f4^)^C?YdyfQ If?^DI^2:i^`:^~*4yjBɮjĭBnȻE*jtBjtitivzitJizƷ<ix k#k#k#h  k;k;k;h2f):f)Bf)Jf-Ĕn@[1Z1Z9Z=Z9Z=iIɢIIU>UƋ)Q)QQQi]YIaB>BCBGBLAB=BDBDB;B&E-2Acoustic response timeoutAgW@]T<IIOj>D=D4=Ea EFElE"E%.:*E;J9VE5ZEBES3;a2EU3;aJEe:a:Ee:aiԙ  2Acoustic response timeoutX6я,wxG?A>@>X>>mE>ٱ>˳Ⱦ FAHRS rotation from veh to nav: [[0.941192,-0.295327,0.164131],[0.202382,0.881768,0.426059],[-0.270553,-0.367786,0.889682]]>H>?ҿA? ?q7?D?Pѿ`Љ׿Fx?i>@I>y'^;>OCYN AyNGR&Powering up NAL9602bDZVDZ,8yb%fH=ٔfQ-f>9hIh=j%FyjEjUCEj>lQ 5r4nꯉ?Q 9v4n_)n+?YtyvQ Iv?nDIn:in/:n14yxɮ~B|*j Bj i i ziJiƷ<i k#k#k#h) kEkEkEh92fI:fIBfIJfMPm@[QZYZYZ]ZYZ]iiɢiIu>uT͙)q)qqyi}yIq(G5rAI}˾9}rAY}Aԡ@Ը<AzApAIaIqO_>U2Acoustic response timeoutE  E LE pE "E *E |9VE 5ZE a @a @a @a @ <я,%zxG?A2K6@2`,D>2N|>ٱ2gƾ :AHRS rotation from veh to nav: [[0.946524,-0.274884,0.168911],[0.183582,0.889396,0.418656],[-0.265311,-0.365259,0.892298]]2HI?೗ѿ?`?u?C? пg`׿?i2K6@I2H^;2MCYB AyBGbDJ,VDJ8yR~%VL=ٔV^Q-V>9XIX=Z%FyZEZ2OEZ>\Q 5b4^J?Q 9f4^˯)^ ?YdyfQ If?^+DI^:i^:^84yjBɮj2Bl*j)Bj)i1i5zi1Ji5Ʒ<i1 kS*kS*kS*hi kS@kS@kS@h2f:fBfJfk@[ZZZZZiɢI>)!)!!!i% )I)2Acoustic response timeout@-Զ<IIO>B>B CBPGB} AB=BBDB;BEE) M 2Acoustic response timeoutTjCя,3SyG?A2r@2@/>2\r>ٱ2;=ž >AHRS rotation from veh to nav: [[0.951140,-0.254485,0.174843],[0.164214,0.896484,0.411521],[-0.261470,-0.362702,0.894472]]2H`o?`{Iп=a??@?@[V?п6׿`?i2r@I21^;2PCYF| AyFOGyw/?B`"ɿ#~j?f?N%> 9NbX9?K`"?Y%?y^=BB B)BYBbD-WVD-8y5X%=A=DYzD]AAEe] EeJEeEa"Ee:*Eek9VEe5ZEaBEe@;au2EeB;auJEe:au:Ee:auٔwQ->9I=%FyE>E>Q 54?Q 94D)%?Yd?Q Em:yQ I?DDIs;i;V@4yBɮmBһE*j1Bj1iQi]ziYJi]Ʒ<iY k$k$k$hq kCPkCPkCPh2f6>:f6>Bf䫄@Jf@[ZZZZZiɢI%>%)%y)!!)i->!QQIQ@-<IIO!>2Acoustic response timeoutyԩ gIя,6(yG?A2 @2 $>27>ٱ2 :AHRS rotation from veh to nav: [[0.955056,-0.233202,0.182988],[0.143905,0.904452,0.401570],[-0.259151,-0.357189,0.897361]]2Hя?`Ϳ)l?yk?`D?T?п0ֿ.?i2 @I2^;2RC9XIX=Z%FyZE^6oE^>`Q 5f4b3?Q 9f4b))b4?YdyjWQ Ij?bXDIbu:ib:bF4ynBɮnBl*jxBjxix2Acoustic response timeoutizziJiƷ<i k4k4k4h k3Dk3Dk3Dh)2fA:fABfAJfE}5@[QZQZQZ]ZYZ]iqɢqI}ʲ>})y)顁i="I@-<A5Y?A5\?ԩEu{ EuKEuwEq"Eu=:*Eu]t9VEuɕ5ZEqa@a@a@a@AYIiIyO>>2Acoustic response timeout |Pя, ByG?A6`-@6>6 ҅>ٱ6 BAHRS rotation from veh to nav: [[0.958136,-0.212296,0.192109],[0.123303,0.911521,0.392334],[-0.258402,-0.352221,0.899538]]6H ? ,˿@ ?Ɛ?`.+??`п@ˊֿ?i6`-@I6M^;6MCYJ|AyJG LLbDRVDR18yZM%ZJ=ٔ^Q-^>9\I`=b%FybEb:ZEb>dQ 5j4f(N?Q 9j4f)fD?YlynHQ In?foDlIf/;ifW1;fM4ytɮvѮBt*jBjiizi Ji Ʒ<i  k(k(k(h! k3<k3<k3<h12fA:fABfAJfE-@[IZQZQZUZQZUiaɢaIm#>m)i)iiqiue#qIyAYA]AABe4>BeCBeҥGBeABe=BaBeDBe;BedE@7<2Acoustic response timeout>AIIYO:>1bEǵ5jEr5rEţ2E}_ E}ZE}Ey"E}&:*E}a9VE}5ZEyBE}&;a2E}&;aJE}2;a:E}2;aa i߹ I߽ A 2Acoustic response timeout PExceeded connect timeout, disconnecting.Vя,X[yG?A2x@2=2/>ٱ2 :AHRS rotation from veh to nav: [[0.960440,-0.191158,0.202519],[0.102121,0.918303,0.382481],[-0.259088,-0.346669,0.901496]]2H@?wȿ %?$?b?z? п@/ֿ@ ?i2x@I2Mf^;2NCYFdAyFFGbDN.VDNr8yV-%VK=ٔV:Q-Z>9XIX=Z%FyZE^i`E^>!Q 5-4%h?Q 9-4%y)%T?Y)y-Q I-?%DI%:i%1:%U49y=ĿBɮEBEӻE*jQBjQiyi}ziyJi}Ʒ<iy kDkDkDh kZkZkZh2f:fBfJfuȉ@[ZZZZZ i9ɢ9I=>=&)9)AAAiE.$IIIi}BJ%2Acoustic response timeout@]<AizAiԙA I I O >E ] E OE pE "E :*E 9VE 5ZE a @a @a @a @ 0\я,LuyG?A2@2 =2+>ٱ2n& :AHRS rotation from veh to nav: [[0.961988,-0.170440,0.213375],[0.080529,0.923633,0.374723],[-0.260949,-0.343296,0.902249]]2H ?ſ@O??f?v?aп@տ9?i2@I2k^;2MCYFAyF>GbDNdVDN8yV%VJ=ٔVZ;Q-V>9XIX=Z%FyZE^XcE^>`Q 5f4b?Q 9f4b5)bNc?Ydyf Q If?bDI`ib:b[4ynȿBɮn0Bl*jxBjxixizzixJizƷ<i| kCBkCBkCBh  ksZksZksZh!2f1:f1Bf1Jf5@[ZZZZZԙiɢIU>4))i%I}2Acoustic response timeout`k@ <AyIIO|>B]b>B]CB]GB]WAB]=BYB]DB];B]UEB CB CBțCBȅ=Bȅ=C= 6! ! 5 2Acoustic response timeout! Icя,yG?A2@2 z=2٬>ٱ2w :AHRS rotation from veh to nav: [[0.962785,-0.150351,0.224588],[0.058846,0.927662,0.368754],[-0.263785,-0.341815,0.901987]]2H@"?>ÿP?@ !?h? ?пKտ?i2@I2g^;2OCYFAyFCGIJ<)J&1> 9ˡE?(\ҿV-?Yg?yz>BNB 7B)BY\BbD-VD-8E=b E=LE=uE9"E=1:*E=|9VE=5ZE9BE=9;aM2E=9;aMJE=y:aM:E={:aMyU%U?=ٔ];Q-]>9YIY=e%FyeEeWEe>iQ 5u4mw?Q 9u4m)mW?Y}4?Q E}F:y}Q I}?mDIme;imY;m]c4y˿BɮMB*j9Bj9i9i=zi9Ji=Ʒ<iA k#[k#[k#[hy2f?:f?Bfӝ@JfXx@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZ^B*** querying acoustic contact ***XYiɢ I ^>/))i&)I)]nManaging dock network, ignoring radio surface power offIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutMPz@-5q iя,%xyG?A6(P@6=64>ٱ6 BAHRS rotation from veh to nav: [[0.962793,-0.130834,0.236457],[0.037069,0.930658,0.364007],[-0.267685,-0.341699,0.900881]]6H@3?`.@:D???K? !ѿcտ`?i6(P@I6Jc^;6PCYJAyJ՟GbDV+VDV[8yfQ%fT=ٔj+vpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITz2Acoustic response timeout9|I=%FyE kE >Q 5-4|Ȱ?Q 9-4*)?Y1y5 aQ I5?DIYv;if;;j4yEϿBɮMBI*jiBjqiqiuziqJi}Ʒ<i kBkBkBh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiQɢI]>8柽))项i'IEU` EUKEUsEQ"EU*:*EU]t9VEUX5ZEQa]@a]@a]@a]@ԁ@Uң<zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԱA I I O > pя,3SyG?A2@2<2 >ٱ2J :AHRS rotation from veh to nav: [[0.962168,-0.112080,0.248337],[0.015749,0.932824,0.359987],[-0.272002,-0.342457,0.899299]]2H ?F?m ?? ? {hѿ@տ?i2@I2>^;2MCYB-AyFݞGbDNqVDN8yV/%VL=ٔV79XIX=Z%FyZ E^,fE^>Q 54]밉?Q 9%4)ؠ?Y!y%Q I%?DI<;i;Fq4y-ӿBɮ-B5ԻE*jABjAiAiEziIJiMƷ<iI kBkBkBha2fq:fqBfqJfur@[ZZZZZiɢI>跖))顡i(IBA<B>BCB:GB@BBDBDB;BEԱ@5<2Acoustic response timeoutAIIO-->E]] E]LE]wEY"E]:*E]|9VE]ɕ5ZEYBE]?;am2E]B;amJEYam:EYam  2Acoustic response timeout9 fvя,/yG?A27@2*@2)>ٱ2 :AHRS rotation from veh to nav: [[0.961155,-0.095057,0.259124],[-0.003601,0.934426,0.356140],[-0.275986,-0.343239,0.897786]]2H ?U}?@zm??`ѿտ਺?i27@I2T[^;2NCYB@yBdG DDJ>J=bDNVDN8yVe=%VJ=ٔV'9XIX=Z%FyZ E^KE^>`Q 5f4bg ?Q 9f4b)b?YdyfýQ Ij?bDIb):ib6:b'x4yn׿BɮnׯBl*jtBjtixizzixJizƷ<ix ks&ks&ks&h  kFkFkFh2f):f)Bf)Jf-@[ZZZZZiɢI>$<))i{)I@<A$AI II9Oe4>A2Acoustic response timeouti Em ^ Em NEm nEi "Em C#:*Em ҆9VEm J5ZEi au @au @au @au @H}я, yG?A8:jt@:]o@:q>ٱ: FAHRS rotation from veh to nav: [[0.959989,-0.082040,0.267752],[-0.018810,0.935075,0.353950],[-0.279407,-0.344824,0.896119]]:H:?@ "? B#??ѿֿ?i:jt@I:<^;:MCYN(@yNGbDZVDZ8yb\%bI=ٔby9fH?IfH?=f%FyfEfEj>hQ 5n4j0?Q 9r4j:)j?YpyrhQ Ir?j"DIj;ij;jA4yv޿Bɮz BzջE*jBjii zi Ji Ʒ<i  kc+kc+kc+h!2f1:f1Bf1Jf5@[AZAZAZEZAZEiQɢYI]>]D)Y)aaaieX*iIi]2Acoustic response timeout@e<ԡAIIO:>B>BCBRGBW@B=BB DB;BE  2Acoustic response timeout&я,zG?A2@2 @2<>ٱ2 t :AHRS rotation from veh to nav: [[0.958842,-0.072205,0.274604],[-0.030689,0.935106,0.353036],[-0.282275,-0.346933,0.894404]]2H@֮? |?`l d?#?ҿ&4ֿ?i2@I2o,^;2QCYB@yFmףi i9mx&1?M??YmA?ymn>mf>mBmB i)mZBiYmѱBbD5VDO8y,%>=ٔh;Q->9I=%FyEE>Q 54LV?Q 94)\?Y?Q EG:y^S>Q I??DI ;i7 ;Ɇ4yBɮ4B*jBjiiziJiƷ<i k'k'k'h k#'k#'k#'h 2f>:f>Bf@Jf@[)Z)Z)Z-Z)Z-iAɢAIE+>EҀ)A)IIIiMNw+QI@!<m2Acoustic response timeoutAAII)OeV> k> =ʴ99Y=Ayz?yAA u2я, *zG?AV}@Vp@Vؓ>ٱV b2Acoustic response timeout nAHRS rotation from veh to nav: [[0.957705,-0.063553,0.280645],[-0.041343,0.934797,0.352769],[-0.284765,-0.349451,0.892632]]VH?D?`*?ē?9ҿh]ֿq?iV}@IV?^;VNCY~@yhGI ) p;YbDmVDm8y}l%}K=ٔ;Q->9K?IK?=%FyE\E>Q 54y?Q 94) ?YyH>Q I?ZDI:i:΍4yBɮhB*jBjiiziJiƷ<i k3.k3.k3.h kHkHkHh2f:fBfJfX@[ ZZZZZi!ɢ!I-<>-hw)))))1i5B,1I9R@E=J@E=@ <E5e E1E5pE1"E5<:*E1VE55ZE1a=@aE@aE@aE@iIIO)>ԑu2Acoustic response timeoutԹ 3я,oDzG?A2W@2R@2>ٱ2 :AHRS rotation from veh to nav: [[0.956506,-0.055294,0.286423],[-0.052039,0.933778,0.354050],[-0.287032,-0.353556,0.890287]]2H?OT? ٤??^ҿֿ;}?i2W@I2<^;2MCB>BBjGB@B=BB!DB;B%EԱY@yGbDVD8yQN%6=ٔ;Q->9I=%FyE˼E> Q 5e4 K?Q 9m4 =) 7?Yqyu>>Q Iu? yDI  N;i N; 4yBɮBֻE*jBjiiziJiƷ<i2Acoustic response timeout k6k6k6h2f:fBfJfII@[Z Z Z Z Z iɢ!I%>%`Qm)!))))i-%-1I1@%<IID=%=D9EEa EEOEEmEA"EE%.:*EE9VEE5ZEABEER3;aM2EEU3;aMJEEP:aU:EEQ:aUO]v>  2Acoustic response timeoutHCя,dv^zG?A:@:@: T>ٱ:yþ FAHRS rotation from veh to nav: [[0.955142,-0.046699,0.292443],[-0.062814,0.933075,0.354154],[-0.289410,-0.356637,0.888286]]:H@?觿 b?`?v?௅ҿ%ֿl?i:@I:b^;:LC H)JvANNbFLPRvAiR`eIPPIPiVvA VVF)TT V~vAZGaZ rFXXZvAIZxi)Xi\)\I\^`e` ``blA`i``idd)d dIdYdYn"@ynGbDvVDv8y~V%~n=ٔ;Q-?9I=%Fy E :E ?Q 54-?Q 94)?Yy%3>Q I%?DI;iY;4y-Bɮ-˰B)*j9BjAiAiEziAJiEƷ<iI k)k)k)hY kcMkcMkcMhi2f:fBfJf"'@[ZZZZZiɢI=>%c))顩iܻ-I@<II OE=!2Acoustic response timeoutԩEM c EM SEM sEI "EM g5:*EM 9VEM X5ZEI aU @aU @aU @aU @ mя,RxzG?A2ݝ@2И@2?ʗ>ٱ2gľ :AHRS rotation from veh to nav: [[0.953539,-0.037650,0.298907],[-0.073598,0.932988,0.352302],[-0.292141,-0.357933,0.886870]]2Hd?@F`L!?Sײ ??pҿ^ֿ9III=M%FyMEMEU>QQ 5]4U㱉?Q 9e4U)U?Yaye(>Q Ie?UDIU;iU:U֢4ymBɮmBq*jBjiiziJiƷ<i k1k1k1h kEkEkEh2f:fBfJf@[ZZZZZiɢI6>tW))iq.IB@:@=2Acoustic response timeoutԱ@<AzAqAIQIiO=iIoAB>BCBPGBR@B=BB"DBy;B E  hDAT read: Forwarding Delay UpTx time:18:58:49.7925  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout9 dUя,-zG?A2>@29@2K(>ٱ2ž :AHRS rotation from veh to nav: [[0.951839,-0.028565,0.305266],[-0.084607,0.932519,0.351070],[-0.294694,-0.359990,0.885191]]2Hvu? @@y?Ө1?w?@Eҿ ׿{S?i2>@I2We^;2NCbE5jE܎5rE1Ea EOEE"E%.:*E9VEH5ZEBEa2ET3;aJEa:EaY}@y}&Gy/$?ˡE?Zd;OHsBNB ڐB)BYBbD-mVD-o8y=<%=;=ٔ=;Q-=>9AIA=E%FyEEE{ڼEM>IQ 5]4Mu?Q 9]4MC)M?Y]h?Q E]i:y]>Q I]?MDIM2 ;iMG ;Mt4ymBɮmBi*jyBjyiyiziJiƷ<i kFkFkFh kGkGkGh2fV>:fV>BfQ?JfoI?[)ZIZIZMZQZUiaɢaIe>eL)i)iiio//I@ <IIO5->M2Acoustic response timeout9i я,zG?A J@J@Jy>ٱJRƾR2Acoustic response timeout ZAHRS rotation from veh to nav: [[0.950047,-0.019120,0.311521],[-0.095454,0.932496,0.348339],[-0.297152,-0.360674,0.884090]]JHf?2 ?o?@/K?ӿ I׿vJ?iJ@IJG^;HYb@ybUGbDjVDj8yrʾ%vc=ٔv;Q-v>9xIx=z%Fyz"EzWEz>|Q 54~5?Q 9 4~*)~?Y y ~>Q I ?~DI~:i~:~ð4yBɮfB׻E*j)Bj)i)i-zi1Ji5Ʒ<i1 k3Fk3Fk3FhI kCFkCFkCFhY2fi:fiBfiJfm9G?[ZZZZZi ɢ I i> A))11QiU/YIY@5ٱ6ƾ BAHRS rotation from veh to nav: [[0.948175,-0.009003,0.317622],[-0.106802,0.932411,0.345258],[-0.299263,-0.361288,0.883127]]6H@rW?pS?@fWO??`'ӿ@V׿ B?i6~@I6>^;4YJ@yJGPbDVVDV8yZ%^M=ٔ^;Q-^>9`I`=b%Fyb$EfEf>dQ 5j4f5?Q 9n4f)fm?YlynJ>Q In?fDIf ;if ;f4yvBɮv}Bt*j|Bj|iiziJiƷ<i k@k@k@h k@k@k@h)BE>BECBE6GBE@BE=BABABEn;BEEBCBCBCB=B=C-62fa:faBfaJfeCMD?[iZqZqZuZqZuiɢI>8))顉i Q0IR@=J@@K<AU?A`?2Acoustic response timeoutA$AIIOu6>E%j E%LE%xE!"E%N:*E%|9VE%e5ZE!BE%k;a-2E%k;a-JE%y:a5:E%z:a5! iY IY e 2Acoustic response timeoutя,zG?A2@2 @2a˜>ٱ2݇Ǿ :AHRS rotation from veh to nav: [[0.946005,0.001918,0.324147],[-0.119112,0.932082,0.342105],[-0.301475,-0.362243,0.881983]]2H E?(n_?`Ѿ?~@? ?`]Kӿ.׿`39?i2@I2Q^;2MCYv@yvG|bDRVDA8y %E=ٔ;Q->9H?IH?=%Fy'E%E%>!Q 5-4%R?Q 954%)%C?Y1y5=Q I5?%DI%b:i%;%4yEBɮEBA*jQBjQiQi]ziYJi]Ʒ<iY kBkBkBhq kBkBkBh2f:fBfJf A?[ZZZZZiɢI >k/))i{0I@<)AAIIO}7>2Acoustic response timeoutQE- ` E- GE- sE) "E- *:*E- R9VE- X5ZE) a5 @a5 @a5 @a5 @ԁ я,gzG?A2q@2d@2 >ٱ2lȾ :AHRS rotation from veh to nav: [[0.943308,0.014562,0.331599],[-0.133354,0.931487,0.338449],[-0.303952,-0.363482,0.880621]]2H`/?ҍ?8? ?'?@sӿIC׿ .?i2q@I2|D^;2NCYB@yBGbDNVDN8yVNO%VQ=ٔV;Q-V>9ZK?IZK?=Z%FyZ)EZWE^>`Q 5b4bl?Q 9f4b+)bu?Ydyf=Q If?bDIb:ib`:bŇ4yhɮjBl*jtBjtitivzixJizƷ<ix k3Dk3Dk3Dh  kCDkCDkCDhY2f:fBfJfsr=?[ZZZZZiɢI%>$))in1I-2Acoustic response timeout@ <ԉA!IIIiOA>B=>B9B=GB=@B==B9B9B=r;B=$EԱ t? Y? 2Acoustic response timeout я,t{G?A2$@2@2>ٱ2ɾ :AHRS rotation from veh to nav: [[0.939811,0.029524,0.340417],[-0.150377,0.930332,0.334468],[-0.306826,-0.365528,0.878776]]2H@?;?d?@?ÿG?@g? ӿ@d׿?i2$@I2^^;2PCYB@yBGF=F=Eri ErNErlEp"Er,K:*Er҆9VEr5ZEpBErxe;az2Er{e;azJEr:az:Er :azy-n? rȿDl-6?-C-O) )9-ʡE?Zd;?~jtȿY--2?y-y=-D-B-7B - B)-B)Y-QBbDEVDE8yUd`%U@=ٔ]1;Q-]>9YIa=e%Fye,Ee /Ee>iQ 5u4m?Q 9u4mmԹ)m>Y}9?Q E:y$@Q I?m&DIms͇4y%Bɮ%B%ػE*j1Bj1i9i=zi9Ji=Ʒ<i9 kDkDkDhq2fǏ>:fǏ>Bf?JfG2?[ZZZZZiɢIC>h))i1I@7<52Acoustic response timeoutAI!I1OZ>A я,aP-{G?A6v\@6iW@6J>ٱ6{˾B2Acoustic response timeout FAHRS rotation from veh to nav: [[0.935475,0.045752,0.350417],[-0.169035,0.928725,0.329997],[-0.310343,-0.367937,0.876533]]6H@j?l? =m? ſ??`ӿ F׿ ?i6v\@I6E^;6LCYR@yRJGbDZRVDZ-8ybu%bT=ٔb-9dId=f%Fyf.EjUEj>lQ 5r4n ?Q 9r4n)nw>YpyrUQ Iv?n4DIn; ;in ;nӇ4yzBɮzFBx*jBji i zi Ji Ʒ<i  ks(ks(ks(h! kLkLkLh12fA:fABfAJfE^S?[QZQZQZUZQZUiiɢiIm>mC )uR)qqqiuZ2yIy@U{<Ee EIEqE"E<:*Ec9VE5ZEa@a@a@a@IQIaIyO>A52Acoustic response timeoutiԙ я,4-G{G?A2@2@2M£>ٱ2; :AHRS rotation from veh to nav: [[0.930282,0.062545,0.361473],[-0.188989,0.926247,0.326112],[-0.314416,-0.371691,0.873492]]2H??@^"?0ȿѣ??eԿ׿?i2@I2a^;2MCYB@yB|GbDJVDJ8yR/j%VL=ٔV[/9XIX=Z%FyZ1EZt]EZ>\Q 5b4^?Q 9f4^#)^=YdyfmQ If?^DDI^l:i^:^ڇ4yhɮjuBlAlAlBr>BrCBrlGBr[@BpBpBr#DBr;BrڌE*jyBjyiiziJiƷ<i k31k31k31h2f :f Bf Jf x?[AZAZAZEZIZMqiɢIj>Pg))顉i2I2Acoustic response timeout@v<ԡIIO J>Eb EQEE"E1:*Ev9VE*5ZEBE9;a 2E9;a JE:a :E:a E 2Acoustic response timeout я,,a{G?AB9@B,@Bl}>ٱB+vϾ JAHRS rotation from veh to nav: [[0.924313,0.079624,0.373237],[-0.208762,0.924189,0.319833],[-0.319475,-0.373543,0.870862]]BH??b?? ʿ@?"x?@HrԿ` ׿?iB9@IBF^;BLC^ԁGhtY~@yG9Y%AI%>)%<bD5DVD5 8yE(r%EA=ٔEN9III=M%FyM4EMQEU>Q 54?Q 94޿)YyQ I?TDIn;i&;4y BɮB*jBjiiziJiƷ<i k+k+k+h  k+k+k+h2f1:f1Bf1Jf5]?[9Z9ZAZEZAZEiQɢQIU>]`ü)Y)YYYi]3aIaR@u=J@u=@!q<AY?AR?IIO5 >ߝ>ߝa=2Acoustic response timeout! E c E PE wE "E g5:*E ?9VE ɕ5ZE a @a @a @a @ я,z{G?A 6O@6J@6>ٱ61о BAHRS rotation from veh to nav: [[0.917936,0.096120,0.384908],[-0.227457,0.922420,0.312095],[-0.325048,-0.374034,0.868586]]6H`_?V?U?`SͿw?`_?Կ,׿u?i6O@I6xg^;6MCYJ@yJGbD VD V8yEs%MJ=ٔMn9QIQ=U%FyU6EUfRE]>aQ 5e4eв?Q 9m4e)e4fYiymQ Im?ecDIe$:ie1:et4yu Bɮ}߲B}ٻE*jBjiiziJiƷ<i k2k2k2h kLkL2Acoustic response timeoutkLh92fI:fIBfIJfM?[qZyZZZZiɢIl>z))iU3IqԙB>BBGBj@B=BBBM;BE&lm@i<IIO> 2Acoustic response timeout kя,Ô{G?A2̴@2@2F>ٱ2ξ :AHRS rotation from veh to nav: [[0.911777,0.112560,0.394959],[-0.244244,0.921766,0.301151],[-0.330163,-0.371049,0.867937]]2H G-?@м?G?@cCϿ?F?b!տ`D׿$?i2̴@I2aH^;2NCPEbd EbOEb}E`"Eb9:*Eb9VEbs5ZE`BEb F;af2Eb"F;afJEbP:af:EbQ:ajYjL@yj~Gr&NAL9602 initializedyeZd;O?Mb`Qej\?eea a9e+?/$V-¿Ye??yeeheBeڐB eOB)enBaYeGBbD} VD}8y-%F=ٔV9I=%Fy9E:E>Q 54:沉?Q 94)κYWD?Q E:yQ I?uDIs:i:4y BɮB*jBjiiziJiƷ<i kCCkCCkCCh k3\k3\k3\h2f 6>:f 6>Bf q@Jf xh@[ZZZZZiɢIR>FN))i"3IS@) я,F{G?A22Acoustic response timeout64@6/@6>ٱ6}̾ >AHRS rotation from veh to nav: [[0.906150,0.126934,0.403460],[-0.257997,0.921769,0.289446],[-0.335157,-0.366373,0.868010]]6H@.?_??`J?п`"?@I?4sտr׿@?i64@I6;3^;6MCY^@y^zG ddf=fa=bDj`VDj8yr%rU=ٔvb9tIx=z%Fyz;Ezt'Ez>|iQ 5u4m?Q 9u4m)mTYyy}Q I}?mDIm;imz;m4y BɮQB*jBjiiziJiƷ<i kCkCkCh ks[ks[ks[h2f:fBfJfTf@[ZZZZZiɢI?>) )   i x3I!!Ef EIEE"EI@:*Ec9VE5ZEa@a@a@a@Q@&`ԡ uя,q{G?A2~@2q@2>ٱ2*ʾ :AHRS rotation from veh to nav: [[0.900588,0.140005,0.411509],[-0.270632,0.921432,0.278784],[-0.340147,-0.362437,0.867721]]2H??@*V?`Rѿ`|? ?@տ+2׿^?i2~@I2wH^;2NCBF>BDBFtGBF(@BF=BDBDBF;BF~EYZ!@yZYwGb=bR=ybD5VD5q8y??%<=ٔG9H?IH?=%Fy>EE>Q 54?Q 94)%YyQ I?DI;i;4y Bɮ ~B *j!Bj!i!i%zi!Ji%Ʒ<i) kC^kC^kC^hA2fI:fIBfIJfMle@[YZaZaZeZaZeiqɢqI}@>})y)yyyiw3Iu2Acoustic response timeout@}J\<ԱAAIIO J>>>D=D=bEe5jEe}5rEe &2E_ EPEzE"E&:*E?9VE5ZEBE&;a2E&;aJE:a:E:a% 2Acoustic response timeout) -я,M{G?AY@yrGbD]VD8y]%I=ٔQ->9K?IK?=%FyAEE> Q 54 $?Q 94  ) JYyQ I? DI w;i r; 4y!ɮ%B!*j9Bj9i9iEziAJiEƷ<iA kEkEkEhY k[k[k[hi2fy:fyBfyJfy[ZZZZZiɢI>))顩iP3I@W<)A9IAIQ2Acoustic response timeoutO`>YE a E TE E "E %.:*E 9VE *5ZE a @a @a @a @ԁ Xя,){G?A2ҷ@2;@2q>ٱ2abƾ :AHRS rotation from veh to nav: [[0.888587,0.165791,0.427698],[-0.295028,0.920521,0.256124],[-0.351242,-0.353772,0.866876]]2HNo?8?i_?ҿ`t?Xd?`zֿ2ֿs?i2ҷ@I2S^;2OCYB @yBnGI~C=)~;bD VD w8yE钾%EV=ٔM39IIQ=U&FyUCEUEU>YQ 5e4]7?Q 9m4]g)]lYiymQ Im?]DI]l:i] :] 4yuBɮ}B}E*jBjiiziJiƷ<i k#Ck#Ck#Ch k#`k#`k#`h2f:fBfJf®c@2Acoustic response timeout[ZZZZ Z i!ɢ!I%>%!BCBiGBC@B=BB$DB;BNEBMCBMCBIBMƍ=BMƎ=CMu6@uQ<A}]?A}P?ԱIq I  2Acoustic response timeoutO > ?я,|G?A2TL@2GG@2J>ٱ2%ž :AHRS rotation from veh to nav: [[0.881313,0.179632,0.437057],[-0.308766,0.919076,0.244873],[-0.357702,-0.350758,0.865458]]2H3?`2??`ӿ i?X?@ֿ`rֿ`ձ?i2TL@I2<^;2MCYB%@yFkGF?AF@AERh ERMEREP"ERG:*ER9VERDz5ZEPBER2_;aZ2ER5_;aZJER:aZ:ER:aZy+?333333ÿQ?v^?\= 9/$?MbX9 rhY\?yʡCJB7B ڐB)JBY(BbD=VD8y]%C=ٔ9I=&FyFEa E>Q 54Q?Q 94/)FY]?Q Eu:y޾Q I?DI]:i:4y!Bɮ.BE*jBj i i zi Ji Ʒ<i kXkXkXh! k#Xk#Xk#Xh12fEl=:fEl=BfE?JfEH @19M rMNAggregate::initialize marl:UpdateRudderq9MJ]Qq9U9U7UoUXAggregate::initialize marl:UpdateCommandMode18U]Q18]o]@Completed marl:UpdateCommandMode7]o]\Aggregate::uninitialize marl:UpdateCommandModeq7]n]LAggregate::initialize marl:UpdateSpeed7]]Y7]ne4Completed marl:UpdateSpeedq7enePAggregate::uninitialize marl:UpdateSpeed[iZiZiZmZiZmiɢI> "9 i я,+/|G?A"2Acoustic response timeout6د@6˪@6>ٱ6ľ BAHRS rotation from veh to nav: [[0.872831,0.195151,0.447305],[-0.324642,0.916534,0.233609],[-0.364381,-0.349116,0.863333]]6H ;? ??Կ>T??R׿Wֿm?i6د@I6g^;6LCYJ@yJfGbDVVDV%8yZ%^]=ٔ^}9`I`=b&FybHEb1SEf>dQ 5j4fh?Q 9n4f)fYlynQ In?fDIf ;ifu ;f4ytɮvpBt*j|Bj|i|iziJiƷ<i kXkXkXh kXkXkXh)2f9:f9Bf9Jf= @sENUpdating rudder angle 6.875493 arcdeg 9ErE6Completed marl:UpdateRudder19E rERAggregate::uninitialize marl:UpdateRudder[IZQZQZUZQZUiɢI>2Acoustic response timeouti Tя,I|G?AAAB>B!CBo_GB@B=BB&DBd;BE0 h@ [@ i>ٱ ž AHRS rotation from veh to nav: [[0.863544,0.210748,0.458122],[-0.341680,0.912683,0.224197],[-0.370871,-0.350136,0.860151]] H(?`?Q?տ4??Z׿ hֿ[?i h@I R^; NCY-p@y5bG bD5VD8y-6%54=ٔ5x|99I9==&Fy=KE=!;EE>AQ 5U4E*?Q 9U4E)ETYQyUOQ IU?EDIE;iE;Eu"4y]$BɮeBa*jqBjqiqi}ziyJi}Ʒ<iy k[k[k[h k\k\k\h2f:fBfJf-] @[ZZZZZiɢI>p{я,c|G?A2[@2V@2e>ٱ2UHƾ :AHRS rotation from veh to nav: [[0.854047,0.227348,0.467885],[-0.358679,0.908807,0.213116],[-0.376766,-0.349832,0.857709]]2H[T???ֿ?@eG?ؿ cֿZr?i2[@I2{^;2LCYFF@yF]GJa=Ja=9bD VD 8yMⱾ%MZ=ٔU$9QIQ=U&FyUME] dE]>aQ 5m4e?Q 9m4e)eCYiyuQ Iu?e DIe:ied:e(4y}'Bɮ}By*jBjiiziJiƷ<i kCYkCYkCYh kSYkSYkSYh2f:fBfJf@[ZZZZZiɢI>=))@@M<I1IIiO>e2Acoustic response timeoutԑE k E SE E "E mR:*E 9VE 5ZE a @a @a @a @ ٥я,p}|G?A2Ը@2dz@2>ٱ2Sƾ :AHRS rotation from veh to nav: [[0.844741,0.243090,0.476780],[-0.374698,0.904744,0.202584],[-0.382117,-0.349780,0.855360]]2H??? ׿?I?tؿ bֿ_?i2Ը@I2^;2KCYB@yBKYGbD VD a8y%G=ٔf9I=&FyPEgFE>ԙQ 54β?Q 94%)ſYy0Q I?% DI:i:+04y+Bɮ B2Acoustic response timeout*jBji iziJiƷ<i! k#\k#\k#\hi2f:fBfJfk@[ZZZZZiɢI>060=))B-"CB-TGB-ˬ@B)B)B)B-p;B-EMC"@- TӍ%я,K|G?AEBc EBUEBE@"EBg5:*EBP9VEB5ZE@BEB?;aJ2EB?;aJJEB:aJ:EB:aJY~*@y~TGI %=) R=Aysh|??~jt?MbI?= 9ʡE? rh{GztY-R?yC ףBB RB)BY\BbDVD8y%B=ٔ Q- >9 I = &FySEE>Q 5%4+ʳ?Q 9%4)vԿY- U?Q E-:y-Q I-?: DI:i:74y1ɮ5XB9*jABjIiIiMziIJiMƷ<iQ kCkCkCha kS\kS\kS\hq2f>>:f>>Bfѝ@Jfg@[ZZZZZiɢI7>))顱i0I l>2Acoustic response timeout!- G9Q 9YA@5Yy ַ+я,9&|G?A2Acoustic response timeoutBjɳ@B]ĺ@BL>ٱB]/ƾ JAHRS rotation from veh to nav: [[0.830672,0.267462,0.488312],[-0.397900,0.898654,0.184653],[-0.389436,-0.347685,0.852910]]BHܔ??@?2wٿ??ؿx@ֿ K?iBjɳ@IBt^;@YVO@yV6PGXXbDbVDbc8yfi%j`=ٔjS9lIl=n&FynUErEr>tQ 5v4vݳ?Q 9z4v>)v_Yxyz=Q Iz?vL DIv:ivW:v=4y.BɮBE*jBjiiziJiƷ<i kCkCkCh1 k]k]k]hA2fQ:fQBfQJfUە@[aZaZaZeZaZmiyɢyI}>}PP=)[)顁i-P0IQ@]?\<Ep EOE~E"Ed:*E9VE5ZEa@a@a@a@AIIO%>ԁ2Acoustic response timeoutԩ B A <B% >B% #CB% ,IGB% @B! B! B% 'DB% G;B% E"2я,!|G?A6t@6o@6D>ٱ6{ž >AHRS rotation from veh to nav: [[0.825651,0.276650,0.491697],[-0.406047,0.896460,0.177441],[-0.391697,-0.346156,0.852496]]6Hk?`?w?ٿ@ͯ? e? ٿ`l'ֿ`G?i6t@I6 Q^;6NCYF,@yJ KGbD VD 8y%F=ٔ;Q-%>9!I!=%&Fy%WE-̼E->1Q 5=45$?Q 9=453)5Y9y=Q IE?5a DI5;i5;5E4yM;BɮMBME*jYBjYiaieziaJieƷ<ia kDkDkDhy kc^kc^kc^h2f:fBfJfD@[ZZZZZiɢI>Z=))iږ/IԱ@a<AzAoA=2Acoustic response timeoutA$AI IOM1>Ed EaE|E"E9:*E9VEם5ZEBEF;a2E"F;aJE;a:E;a  2Acoustic response timeout1 8я,3|G?AY i@y FG yybD:VDs8yG%@=ٔQ->9H?IH?=&FyZEE>Q 54 ?Q 94O)QYyQ I?v DIl:iB:L4yɮ$B*jBjii%zi!Ji-Ʒ<i) kZkZkZhQ2fi:fiBfiJfi[ZZZZZi)ɢ)IM >Q)Q)QQYi].aIa@pg<9=%=E2Acoustic response timeoutQAAIIO k>i E a E PE uE "E %.:*E ?9VE 5ZE a @a @a @a @>я,з|G?A 2̲@2ǹ@27r>ٱ2Pƾ >AHRS rotation from veh to nav: [[0.815496,0.292284,0.499536],[-0.422108,0.890873,0.167836],[-0.395968,-0.347728,0.849879]]2H?ƴ?e?@ۿ ?@{?Wٿ,Aֿ 62?i2̲@I2Q^;2MCYF_@yFAGHJp=bD VD 82Acoustic response timeoutyX%H=ٔ99-K?I-K?=U&Fy]]EejGEm>Q 54!?Q 9 4){YIyU<$Q IU? DIhBɮ]hBYi*jqBjqiqi}ziyJi}Ʒ<iy k#Bk#Bk#Bh2f:fBfJf"@[ZZZZZiɢ)I->-m=)))111i5-1I9B >B$CBt=GB @B=BBB;BEԙM%)@- n<] In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER] 2Acoustic response timeout I) IA Om >Eя,}G?AD0zD2?AbEmz5jEm5rEm2E6h E6XE6E4"E6G:*E69VE65ZE4BE62_;a>2E65_;a>JE6:a>:E6:a>LY}_@y}=GyQ?DlA`"(9iIi=m&Fym_EuEu>yQ 54}1?Q 94})}$YD?Q E:yXMQ I?} DI}:i} :} [4yABɮB*jBjiiziJiƷ<i kEkEkEh kZkZkZh2f=:f=Bf˖@Jf\B@[!Z!Z!Z%Z!Z%i9ɢ9I=X>9)9)AAAiEB-III KpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout@r<IIOn>! i I ] zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY] 2Acoustic response timeoutLя,2}G?AZz@Zn @Z>ٱZ̾x ~AHRS rotation from veh to nav: [[0.804077,0.305832,0.509831],[-0.440088,0.882749,0.164547],[-0.399729,-0.356679,0.844391]]ZH?@’?P?`g*ܿ{??@?@)ٿֿ A?iZz@IZW^;XY @y%8GI=)p<bD-,VD->8y=Ⱦ%=^=ٔ=69AIA=E&FyEbEMEM>QQ 5]4U^@?Q 9]4U)U<YYy]SQ I]?U DIU:iUr;U|a4yiɮmBi*jyBjyiyiziJiƷ<i kCAkCAkCAh kSckSckSch2f:fBfJf@[ZZZZZiɢI۹>~=))i,IE]e E]QEYEY"E]<:*E]v9VEYZEYae@ae@ae@am@@x2Acoustic response timeouti A A @AB >B B 0GB @B =B DB B ;B EBu#CBu#CBqBuː=Buˑ=CufY5Rя,bIL}G?A2-@2 @2>ٱ2<Ҿ :AHRS rotation from veh to nav: [[0.797323,0.312478,0.516366],[-0.451347,0.876698,0.166394],[-0.400703,-0.365730,0.840047]]2H???ܿ` ?@fL?ٿh׿ ?i2-@I2E^;2KCYFv@yF4GbDRVDR8yVψ%ZU=ٔZ5;Q-Z>9XI\=^&Fy^dE^Eb>`Q 5f4b5O?Q 9f4b )b YhyjUWQ Ij?b DIbK:ib:b.h4ylɮrBp*jxBjxixizzixJi~Ʒ<i| kJkJkJh  kC\kC\kC\h!2f1:f1Bf1Jf5*_@Y[ZZZZZiɢI^>\x=))i+I  2Acoustic response timeoutԉ@}}<DD%=Ef EUE~E"EI@:*EP9VE5ZEBER;a2ER;aJE:a:E:aIIOEs> 2Acoustic response timeout ) Yя,Ff}G?A2@2@2SE>ٱ2ؾ :AHRS rotation from veh to nav: [[0.788665,0.322741,0.523302],[-0.466030,0.868977,0.166418],[-0.401028,-0.375123,0.835739]]2H9\I\=b&FybgEb_;Eb>dQ 5j4f^?Q 9j4f{)fq)Ylyn0\Q In?f DIf:if:fJo4yrNBɮrtBrE*j|Bj|i|i~zi|Ji~Ʒ<i kCkCkCh kdkdkdh!2fA:fABfAJfE@[aZaZaZmZiZmԩi!ɢ)I->5D2=)1)111i=*iIq@}~<IIO% >2Acoustic response timeoutE  E VE E "E *E 9VE c5ZE a @a @a @a @1 B_я,P}G?ANJ\@N>W@N>ٱN۾ rAHRS rotation from veh to nav: [[0.778581,0.335749,0.530174],[-0.481417,0.861502,0.161408],[-0.402553,-0.380904,0.832384]]NH@#?|?.?@޿l??mٿ@`ؿ ?iNJ\@INP^;NKCY%@y%)G IIi߉I߉2Acoustic response timeoutbDulVDuP8yEw%0=ٔ>k;Q->9I=&FyjE/1E>Q 54o?Q 94 )3YyqaQ I? DI:i:yw4yɮB*jBji!i%zi!Ji%Ʒ<i! kKkKkKhq2f:fBfJfUc@[ZZZZZiɢI>=))项ia)I@S<I)II9Bm>BiBm#GBm@Bm=BiBm(DBm;BmkEO<>q5 2Acoustic response timeoutԙ )fя,ڙ}G?AE&d E&UE&tE$"E&9:*E&P9VE&5ZE$BE&F;a*2E&!F;a*JE$a.:E$a.R౯@RԬ@R>ٱR۾ ZAHRS rotation from veh to nav: [[0.767075,0.352511,0.536033],[-0.496651,0.855182,0.148326],[-0.406119,-0.379999,0.831064]]RH??@.'?"߿@]?[?ٿQؿ`?iR౯@IRn^;RJCYf$@yf#Ghja=yd;O?(\¿:v??z= 9-?Mڿ/$Y5~?ynҾPC B B)KCYBbDVD8y˾%U=ٔ&9I=&FylE^E> Q 54 M?Q 94 z") :Y?Q E%E:y%VsQ I-?  DI ;i m; ~4yMQBɮMBME*jYBjaiaieziaJieƷ<iaq kEkEkEh2f(>:f(>Bf@Jf@[ZZZZZiQɢQIU>Uܗ=)Q)YYYi](aIa@m߅<2Acoustic response timeoutԹAIIOg> = 2Acoustic response timeoutUlя,k}G?A2D@28@2>ٱ2<׾ :AHRS rotation from veh to nav: [[0.754631,0.373838,0.539237],[-0.511879,0.849563,0.127368],[-0.410501,-0.372140,0.832467]]2H%??@nA?Pa/?@M?@Eڿ#׿ ?i2D@I2$V^;0YF@yFGbDVDv8yƥ%R=ٔI9I=&FyoEnaE>Q 54~?Q 94K+)@YyZyQ I? DI:i$:儈4yTBɮCB*jBjiiziJiƷ<i kFkFkFh kFkFkFh2f):f)Bf)Jf-wF~@[9Z9Z9Z=Z9ZEiQɢQIU\>Ul=)Y)YYYi](aIa@5;<Eef EeMEeEa"EeI@:*Ee9VEe5ZEaau@au@au@au@AAyIIOB>Y2Acoustic response timeoutԁ B] <A] <Be >Ba Be ,GBe u@Be =Ba Ba Be 6;Be ɒEٱFf3Ѿ RAHRS rotation from veh to nav: [[0.741741,0.397698,0.540052],[-0.527474,0.843244,0.103494],[-0.414236,-0.361629,0.835244]]FHW?@s?H??@~?قڿ $׿Q?iFL@IF^;FMCYy@yjG2Acoustic response timeoutIE<)E=bDUYVDU8y}%}.=ٔK9I=&FyrEԉAE>Q 54?Q 946)7IYyQ I?8 DI;i;4y]BɮBE*jBjiiziJiƷ<i kcLkcLkcLh kLkLkLh2f:fBfJfȏ|@[ZZZZZi)ɢ)I->-\ҟ=)1)111i5&9I9@4<Eey EeaEe|Ea"Ee:*Ee9VEeם5ZEaBEe;au2Ee;auJEe;au:Ee;auԹA$AIIIO> (G  5 91 Y5 gA 2Acoustic response timeout.fyя,@l}G?A6(@6@67>ٱ6.}˾ BAHRS rotation from veh to nav: [[0.728471,0.422431,0.539335],[-0.543882,0.835305,0.080365],[-0.416560,-0.351878,0.838248]]6H`O? ?;B?zg Ѻ?͒?@ڿ+ֿ?i6(@I6ix^;6LC L)NvARPPTVvAiVxiIXXI\`i\ dd)dd hj`ehhlnvAIrt)rPFip)tIvfvAvLv~F txxxix|Y|Y q@y G?AbD5VD58yM%Uv=ٔU;Q-]?9eH?IeH?=e&FymtEmXEm?yQ 54}ݻ?Q 94}=)}WOYyQ I?}N DI};i}u ;}4y`BɮӸB*jBjiiziJiƷ<i kCMkCMkCMhy2f:fBfJf'z@[ZZZZZiɢI4> =)?)  i %)I1@ <2Acoustic response timeoutA=AIAIYOZ>Eu g Eu WEu Eq "Eu C:*Eu 9VEu 5ZEq a} @a} @a} @a} @A Qя,U~G?A}hDAT read: Forwarding Delay UpTx time:18:59:03.6925 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout*'@"@>ٱǾ AHRS rotation from veh to nav: [[0.702837,0.461942,0.540952],[-0.574510,0.817046,0.048727],[-0.419474,-0.345030,0.839640]]H}?v?@{O? cb=%?? ڿ ֿU?i*'@I^;KCYj@yCGy]RQ?/$? ףp= ?]?],>]Q8=Y Y9]S? ףp= 㥛 ?Y]/?y]Q]>]C]SB ]jB)]CYY]BbDVD8yh%*=ٔ';Q->9K?IK?=&FywE'E>Q 54㴉?Q 94G)VY?Q E':Ay)Q Ie?t DI@:f>BfA@Jf@B>B%CB GBa@B=BBB;B#E[!Z!Z!Z%Z!Z%i1ɢ9I]>] =)Y)aaaie$iIi@ԙ xя,-"~G?AEf E_EuE"EI@:*Er9VE5ZEBER;a2ER;aJEd;a:Ee;ayY}`@y G ==bDVDg8y%n=ٔQ-?9H?IH?=&FyyEE?Q 54?Q 94bN)[YyQ I? DI;i;N4ygBɮfBE*jBjiiziJi%Ʒ<i! kS+kS+kS+h9 kc+kc+kc+hI2fY:fYBfYJfY[iZiZiZmZiZuiɢI>))顉i#I@<m2Acoustic response timeoutԱAIIO%M>  2Acoustic response timeout{я,e4~G?A2<@20@2in>ٱ2oǾ :AHRS rotation from veh to nav: [[0.692041,0.477510,0.541354],[-0.587718,0.808151,0.038468],[-0.419126,-0.344785,0.839915]]2H@2%??R?^??ڿֿ`?i2<@I2R^;0YBV@yBGF=F=bDNVDN98yVN˾%V_=ٔZQ-Z>9XIX=^&Fy^{E^QEb>`Q 5f4b?Q 9f4bU)baYhyj.Q Ij?b DIb:ib:b4ynsBɮnBrE*jxBjxixi~zi|Ji~Ʒ<i| k3k3k3h k#4k#4k#4h!2f1:f1Bf1Jf5k#@[AZAZAZEZIZMiYɢYI]m>]֪=)a)aaaieҽ"iIiE5g E5XE5E1"E5C:*E59VE5H5ZE1a=@aE@aE@aE@Wg@<}2Acoustic response timeoutAA I I! O >A A B ">B B FB M@B B B B &;B SEY "я,N~G?A6=@61@6K0>ٱ6>;ƾ >AHRS rotation from veh to nav: [[0.683269,0.493654,0.538005],[-0.600665,0.798947,0.029762],[-0.415146,-0.343496,0.842416]]6HV??W7?`8?y?ڿտ?i6=@I6;^;4Y^Q@ybGbD%VD%8yB%==ٔ)&Q->9I=&Fy~E'"E>Q 549@?Q 94 _)gYy3Q I? DI:i6:C4yvBɮB*jBjiiziJiƷ<i kS&kS&kS&h1 kc&kc&kc&h2f:fBfJfT}@2Acoustic response timeout[ZZZZZiɢI">$ޡ=))i! I  @#ԉ 2Acoustic response timeoutԹ sя,h~G?AJ~@Jy@JM>ٱJiž ZAHRS rotation from veh to nav: [[0.676362,0.509253,0.532162],[-0.613983,0.788910,0.025406],[-0.406890,-0.343922,0.846262]]JH?K?w?`>??| ڿֿ?iJ~@IJU^;JJCYvH@yvFIe=)e=imAbDuwVDu8y%F=ٔQ->9I=&FyEE>Q 54a?Q 94g)mYy<7Q I? DIP;iP;~4yzBɮ3B*j1Bj1i1i=zi9Ji=Ʒ<i9 k0k0ԉk0h2f:fBfJfߣ@[ Z ZZZZi!ɢ!I%>%,R=)I)IIIiM QIQԹ2Acoustic response timeoutFΞ@}w<EM m EM bEM EI "EM Y:*EM 9VEM 5ZEI a] @a] @a] @a] @e >e >A I I O > я,횂~G?A<ɰ>;U2Acoustic response timeoutY5A@y5&F9=@Ay}9v?J +?I +?}?}H>}94=y y9}-?MbX?MbX?Y}?U?y}>}J>}C}B };B)} CyY}BbDRVD8yt%/=ٔQ->9I=&FyEE>Q 54?Q 94k)uYe?Q El:y%Q I? DIU:i:4y}BɮpB*jBjii zi Ji Ʒ<i  k0k0k0h! k1k1k1h1B/>B&CBxFBh;@B=BB)DB^;BxEBm%CBm%CBiBmĖ=Bmĕ=Cma52f>:f>Bf >JfS@[ Z Z Z ZZiAɢYI]j>Y)a)aaaiemiIiqqyy2Acoustic response timeoutI @ g<A5 AI9 E] c E] pE] zEY "E] g5:*E]  :VE] 5ZEY BE] ?;ae 2E] ?;ae JE] ER;am :E] FR;am Ii q O >я,!~G?AYc8@yFbDYVD8y}پ%}p=ٔQ-?9K?IK?=&FyEE?Q 54藵?Q 94&n)~{YyQ I? DI1;i2;Ĉ4yBɮBE*jBjiiziJiƷ<i k&k&k&h k&k&k&h2f :f Bf Jf 19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed[)Z)Z)Z-Z)Z5iAɢAIE>A)I)IIIiMQIQ@u<2Acoustic response timeoutAII)O=P>Q  2Acoustic response timeout{я,Ƕ~G?A8>@>剰@>v>ٱ>ž FAHRS rotation from veh to nav: [[0.663758,0.537004,0.520627],[-0.638944,0.768953,0.021462],[-0.388812,-0.346897,0.853515]]>H=?"/??;r@D?&?`Mؿ3ֿ O?i>@I>^;>KCYR1@yRlF ``j=j=bDrBVDr]8yv%zU=ٔzRQ-z>9xI|=~&Fy~EyE>Q 5 4Ʊ?Q 94^q)̀YyD¾Q I?1 DId:ip:Lˈ4yBɮ%B%E*j1Bj1i1i5zi1Ji=Ʒ<i9 k'k'k'hQ k'k'k'ha2fq:fqBfqJfue@s}NUpdating rudder angle 6.875493 arcdeg 9}r}6Completed marl:UpdateRudder19} rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢI>M=))顩iB.I@<Eg EQE{E"EC:*Ev9VE:5ZEa@a@a@a@ԉAIIOE0>2Acoustic response timeout Bm 9>Bm (CBm FBm (@Bm =Bi Bi Bm ;Bm Eя,~G?A2Y@2S@2S>ٱ2Ǿ :AHRS rotation from veh to nav: [[0.660153,0.541172,0.520894],[-0.643902,0.764806,0.021467],[-0.386766,-0.349576,0.853352]]2H`?HQ?)? ٚ`Ky?l?ؿt_ֿN?i2Y@I22^;0YB+@yFeFV=V=\AAbDGVDM8yi%H=ٔQ->9I!=%&Fy%E%샼E%>)Q 554-T͵?Q 954-t)- Y9y=žQ I=?-H DI- ;i- ;-q҈4yEBɮE;BI*jYBjYiYi]ziYJieƷ<ia k)k)k)hy ksOksOksOh2f:fBfJf8@[ZZZZZiɢI.>8D=))iI}2Acoustic response timeout@<IIO$>D=D=Ed ESE~E"E9:*E9VE5ZEBEF;a2E F;aJEm:a:En:a1- 2Acoustic response timeoutQ !я,~~G?AR@R@R>ٱR4ξ bAHRS rotation from veh to nav: [[0.651847,0.552944,0.518988],[-0.661184,0.749547,0.031857],[-0.371391,-0.363912,0.854188]]RH???@k(`J?O?@׿@VJ׿U?iR@IR7^;PYn "@ynEFbDPVDA8y%J=Yٔu#Q-u>9yIy=}&Fy}E@E>Q 546鵉?Q 94x)8YyϾQ I?_ DI;i";و4ytBɮdB*jBjiiziJiƷ<i kFkFkFh kFkFkFh2f:fBfJfiȽ@[ZZZ Z Z iɢI>%=)%)!!!i%)I)@_2Acoustic response timeoutyEg EUE{E"EC:*EP9VE:5ZEa@a@a@a@ԡ я,nG?AZ@Z @Zd&>ٱZؾ fAHRS rotation from veh to nav: [[0.643411,0.560472,0.521434],[-0.677908,0.733579,0.047988],[-0.355617,-0.384361,0.851941]]ZH Җ?@c??l`zy?푨?mֿ ]ؿC?iZ@IZ^;ZMCn2Acoustic response timeoutYvE@yv}FIzC>)z=qyʡE?l¿/?̽ 9 ףp= ?Zd;?L7A`?YQ?y~>+=VC˞B B)CYBbD NVD *8y%%%:=ٔ-!Q-->91I1==&Fy=E=B5E=>IQ 5]4M?Q 9]4M{)MY]V%?Q Ee:ye}žQ Ie?Mo DIMC;iM!d;M:4yuwBɮuBy*jBjiiziJiƷ<i kGkGkGh kGkGkGh2f_>:f_>Bf[?Jf ~?[ZZZZZiɢI>@m<))顉i IB@:@B B B FB J@B =B B B ;B ۓE@}F<AoAzAnAԙIIO-->2Acoustic response timeout E d E QE yE "E 9:*E v9VE 5ZE BE a 2E a JE :a :E :a 3я,5G?AV]]@VQX@V>ٱV rAHRS rotation from veh to nav: [[0.631249,0.564847,0.531482],[-0.697062,0.713637,0.069474],[-0.340043,-0.414331,0.844216]]VH03?:? ?UN? ɱ?`Cտgڿ?iV]]@IV^;VJCYz*@yzF|~?AbDm Wm>/CVDmE8AyE%MJ=Yٔe%iQ-}> 9Y'B9I=&FyEIfE>Q 54t?Q 94})Yy%ԾQ I?~ DI;i_:{4yɮB*jBjiiziJiƷ<i kGkGkGh kGkGkGh 2f:fBfJf{?[)Z)Z)Z-Z)Z5iAɢAIE->E )A)IIM1Y  2Acoustic response timeout]я,8G?ABӟ@Bǚ@B>ٱBX4 NAHRS rotation from veh to nav: [[0.616646,0.564774,0.548432],[-0.713438,0.695416,0.086037],[-0.332797,-0.444327,0.831757]]BH@???|@??Lտoܿ?iBӟ@IB{^;BKCYM @yM|FbDVD_8yh%N=ٔӠQ- >9 I = &Fy ELvE>Q 5%4 ?Q 9%4()7Y!y%Q I%? DIK:i:54y5zBɮ52B1=E*jIBjIiIiMziIJiUƷ<El EbEE"EV:*E9VE5ZEa@a@a@a@i k@k@k@h k@k@k@h)2fA:fABfAJfE#x?[IZQZQZUZQZUiaɢaIe,>m )m+)iiuJ@} >ԑ@M x<AU \?AU R?I I O >A A B B>B B FB @B =B B *DB r;B EԹ :Jя,LQG?A>@>@>%>ٱ>΅ FAHRS rotation from veh to nav: [[0.600669,0.565788,0.564872],[-0.725719,0.682301,0.088303],[-0.335452,-0.462979,0.820440]]>H 8?@?@o?9 h?? xտ@tݿ A?i>@I>^;< L)NrvAN^N~FLPRjvAiRȽIRFFPIV̏CiV(t@ TT)TVLC ZvvAZ̽ZlFX\^vAI^什)\i\)\IbjvA`` `b C``iddYdYj?yj FbD}VD}8yx%R=ٔ;Q->9I=&FyE]E>Q 541?Q 94ׂ)ؕYyQ I? DI;iS;4y~BɮB*j)Bj1i1i5zi1Ji5Ʒ<i9 ksCksCU2Acoustic response timeoutksChi2fy:fyBfyJf}#Fu?ԉ[ZZZZZiɢI>@))si I  2Acoustic response timeout uя,kG?ABQ@BwL@Br@>ٱB RAHRS rotation from veh to nav: [[0.585163,0.578490,0.568272],[-0.735660,0.673525,0.071891],[-0.341157,-0.460123,0.819694]]BH ??I/??kg?տ@rݿ:?iBQ@IB^;BICYU?yUF]=]p=bDm9VDm8yǗ%G=ٔt9H?IH?=&FyEDE>Q 54$C?Q 94)Yy Q I? DIp:i:/4yɮB*jBjiiziJiƷ<i k3Fk3Fk3Fh k\k\k\h)2f9:f9Bf9Jf=ep)a)iimŤWя,G?A:+@:@:W>ٱ:6 BAHRS rotation from veh to nav: [[0.568531,0.606817,0.555469],[-0.747027,0.663610,0.039640],[-0.344561,-0.437487,0.830592]]:Hh1? k?f?LA A9E~jt?ClӿQYE{?yE;E\ECEB EB)EoCAYEfBbD]jVD]8ym5%m@=ٔmo 9uK?IuK?=}&Fy}E}ME}>Q 54M?Q 94J)Y.?Q EL:yQ I? DI ;i ;4yBɮ B%E*jBjiiziJiƷ<i k#Dk#Dk#Dh k#ak#ak#ah2fr>:fr>Bf@Jfb@[ZZZZZiɢI >J1;))%B)CB`FB?B=BBB;BZEy@<ApAzAoA2Acoustic response timeoutI I ԩ O >bEes5jEeq5rEeG2E b E [E E "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE ;a :E ;a ؁я,|G?A2@2ު@2ٵ>ٱ226 :AHRS rotation from veh to nav: [[0.550304,0.641492,0.534466],[-0.759099,0.650975,0.000262],[-0.347756,-0.405857,0.845190]]2H??@X? J?*1? Aֿٿ ?i2@I2Z^;2IC@YF?yFFbDVD8y%%-a=ٔ-91I1=5&Fy5E5E=>9Q 5E4=U?Q 9M4=V)=֡YIyMQ IM?= DI=-:i=:= 4yUBɮU>BY*jiBjiiiimziqJiuƷ<iq kHkHkHh k3^k3^k3^h2f:fBfJfL`@[ZZZZZiɢI|><;))<  2Acoustic response timeoutdя,UG?Al]e@Q`@;[>ٱ־ AHRS rotation from veh to nav: [[0.537957,0.666353,0.516310],[-0.766644,0.641416,-0.029028],[-0.350512,-0.380210,0.855910]]H6?R??Yy?nֿ [Uؿ@c?i]e@I<^;JCY*?ytFbD VD 8y~U%<=ٔ%h;Q-%>9!I!=-&Fy-E-E->1Q 5=45^?Q 9=452)5YAyE.Q IE?5 DI5:i5 :54yIɮMlBI*jaBjaiaieziaJimƷ<ii kckckchy kvkvkvhEf EUEE"EI@:*EP9VE 5ZEa@a@a@a@2f1:f1Bf1Jf5^@[AZAZAZEZAZEiyɢyI}>} O<)y)顁2Acoustic response timeout9iIB <A <B K>B B aFB ?B B B B u;B EBu(CBu(CBuɓCBuɘ=Buɘ=Cu/5a Гя,2G?A2A@2<@2H>ٱ2o; :AHRS rotation from veh to nav: [[0.536036,0.679660,0.500726],[-0.771154,0.635564,-0.037150],[-0.343493,-0.366223,0.864808]]2H@5'?@ǿ?? J@V?Kտ4p׿?i2A@I2_;2HCYF?yFlbF9bD VD 08yM%MY=ٔU~Q-U>9QIQ=U&FyUE]R@E]>aQ 5m4ef?Q 9m4e)eҪYqyuQ Iu?e DIe:ie:e)4yɮB*j Bj iizi=2Acoustic response timeoutJi5Ʒ<iA k]k]k]hQ k|k|k|ha2fy:fyBfyJf}]@[ZZZZZiɢIx>:))顡iE EEE"E*E H:VE5ZEBER;a2ER;aJE;a:E;aԑ 2Acoustic response timeout 4я,bG?A:]@:X@:h>ٱ:ʾ BAHRS rotation from veh to nav: [[0.542440,0.683856,0.487956],[-0.774577,0.631998,-0.024663],[-0.325253,-0.364581,0.872520]]:H@[?%?:?@VT9?-A ԿLU׿?i:]@I:^;:MCYJ?yJUFbDrVDk8yEvP%EK=ٔMDQ-M>9III=M&FyUEU<EU>YQ 5e4]Lo?Q 9e4]·)]YiymQ Im?]) DIYiY]4 4yuBɮuڽBu/E*jBjiiziJiƷ<iԙ kdkdkdh2f:fBfJfT?^@[ZZZZZiYɢYIe>e)a)aaeE=E<M2Acoustic response timeoutE EYEE"E*E*9VE*5ZEa@a@a@a@! я,G?AF6@Fx1@FΚ>ٱF̾f2Acoustic response timeout rAHRS rotation from veh to nav: [[0.543864,0.690972,0.476203],[-0.784566,0.620034,-0.003631],[-0.297771,-0.371638,0.879328]]FH@Ug? r?z? +Q?mӿ@׿@t#?iF6@IF^;FKCYb?yvFF a= a=yn?:vʿV?̼T 9 rh?X9vB`"ɿYL?yNCB B)VCYBbDVD8y%8b%%==ٔ-Q-->9)I)=-&Fy5E'5E>Q 54B{?Q 94\)ڴY S?Q E:yQ I?= DI :i:(4yBɮB*jBjiiziJiƷ<i ks`ks`ks`h k`k`k`h2f%x>:f%x>Bf%E@Jf%@[1Z1Z1Z5Z1Z5iAɢIIM>MQ?B]P>B]*CB]9FB]2?BYBYBYB];B]EIm<)m"R[)qqu'iukyIy!@+ԁ D zD AAE o E WE yE "E `:*E 9VE 5ZE BE ;a 2E ;a JE :a :E :a я,H G?A2C@27@2ᖊ>ٱ2ξ :AHRS rotation from veh to nav: [[0.535814,0.705863,0.463315],[-0.800878,0.598660,0.014138],[-0.267389,-0.378634,0.886081]]2Hd%? m?@?ˠ@9(?J?ѿ;ؿZ?i2C@I2^;2JCYF?yF1FbDR VDRV8yZ%Ze=ٔZߵQ-^>9\I\=^&FybEbu=Eb>dQ 5j4f??Q 9j4fK)fYhyjQ In?fM DIf:if :f-4ypɮrRBp*jxBjxi|i~ziyJi}Ʒ<iy kCgkCgkCgh k#k#k#h2f:fBfJf<@[ZZZZZi1ɢ9I=ݺ>=I=)=)9AEiEfAIIQ2Acoustic response timeoutԁ@<IQIiO>ԩ 2Acoustic response timeout я,D:G?A2@2 @2%>ٱ2̾ :AHRS rotation from veh to nav: [[0.522395,0.722046,0.453601],[-0.814196,0.580428,0.013747],[-0.253356,-0.376501,0.891099]]2Ht? ??@ @ݒ?'?6пؿ?i2@I2^;0YBH?yB"FIJ4<)J<bDN VDN8yVs%VK=ٔZQ-Z>9XIX=Z&Fy^E^BE^>`Q 5f4b?Q 9f4bk)b̽YhyjQ Ij?b` DIb9:ib:b 54ylɮnBl*jxBjxixi~zi|Ji~Ʒ<i| kjkjkjh kvkvkvh!2f1:f1Bf1Jf5@[AZAZAZEZAZMiɢI>K))iIE}h EyE}Ey"E}G:*EyVE}H5ZEya@a@a@a@Ա@<I1IAO}=2Acoustic response timeout AU AAAU ?AB] U>BY B] FB] n?BY BY B] +DB] ;B] \E9 я,){TG?A:P@:K@:v>ٱ:lѾ BAHRS rotation from veh to nav: [[0.501871,0.729609,0.464538],[-0.824428,0.565964,0.001774],[-0.261618,-0.383869,0.885551]]:HS?X? ?@a`?]?WпNؿoV?i:P@I:^;:LCYJh?yJF 9R 9R bDZ VDZ8yb%bI=ٔf$9dId=f&FyjEjmEj>lQ 5r4nO?Q 9r4n)nYpyvQ Iv?ns DIn:iln%<4yzBɮz;Bz9E*j Bj i i ziJiƷ<i k#^k#^k#^h) ktktkth92fI:fIBfIJfMߧ@ZUZUZYZ]q2]im+:ImƷ<)m)qquiuyI}=2Acoustic response timeoutD=D4=Ek ERE}E"EmR:*E9VEs5ZEBEq;a2Er;aJE%:a:E':aC"9GM 9IYMɭAi @ (< 2Acoustic response timeoutI) I9 IY O > я,UnG?A 2@2᳧@2+p>ٱ2ˀݾ >AHRS rotation from veh to nav: [[0.484701,0.726048,0.487770],[-0.830449,0.557080,-0.003991],[-0.274625,-0.403134,0.872963]]2HV? ;?7? ?(Yp tѿٿO?i2@I2ճ^;2MCYZ$P?yZEbDfSVDf8ynq%nI=ٔr=Q-r>9pIp=r&FyrEvJ:Ev>xQ 5~4zp?Q 9~4z)zY|yKQ I?z DIzr;izL;zBC4y ɮ B *j!Bj!i%?i%zi)Ji-Ʒ<i) k\k\k\hA k3tk3tk3thQ2fa:faBfaJfe N@ZuZuZqZui))顉iI:WiE2Acoustic response timeoutԙPowering up@[<AzAAAEh EVEtE"EG:*E9VE5ZEa@a@a@a@ A I I OU >!я,~7G?AF@F@FWO>ٱF?澍RIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIEDR8Ack receipt timeout failure.R2Acoustic response timeoutT ZAHRS rotation from veh to nav: [[0.480784,0.717544,0.503962],[-0.830293,0.557326,-0.001418],[-0.281888,-0.417754,0.863725]]FH+??t ??p:Wt ҿzڿ?iF@IF^;FJCYb%5?ybE IIyV-?T㥛 Pn|? 9M?@5^I ¿ʡEÿYnr?ybCB ѥB)hBY#BbDVD&8yu%:=ٔی9I=&FyCE>Q 5 4?Q 94){YAx?Q EZ:yqQ I? DIB;iG;J4y!ɮ%4B!*j9Bj9i=?i=zi9JiEƷ<iA k[k[k[hQ ktktkthaBZ>B+CBEB1?B=BBB;BE2f5N=:f5N=Bf5._@Jf54&@ZEZEZAZEiq)q)yyyiyI@]O<IiIO@>UIn sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERU2Acoustic response timeout! E g E TE zE "E C:*E 9VE 5ZE BE X;a 2E X;a JE :a :E :a (я, G?A2p@2d@2Cڊ>ٱ2p >AHRS rotation from veh to nav: [[0.467518,0.734221,0.492288],[-0.842416,0.538815,-0.003585],[-0.267884,-0.413035,0.870425]]2H?`~?@?=?@^m`%ѿ*oڿ?i2p@I2v^;0YF?yFUE|bD fVD 8y}m%}R=ٔoQ->9I=&Fy?E>Q 54Q?Q 94)YyQ I? DI;i;Q4yBɮeB*jBji?iziJiƷ<i k\k\k\h ktktkth2f:fBfJfBR%@ZZZZi!))))))i)1I19999pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout)@v<IIOh>Qԁ e zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe 2Acoustic response timeoutmS.я,LG?A2}X@2rS@2E{>ٱ2߾ :AHRS rotation from veh to nav: [[0.452498,0.753419,0.477080],[-0.858040,0.513576,0.002773],[-0.242927,-0.410609,0.878855]]2H`?`?{?u7o?f? ?ϿiGڿ`?i2}X@I2P^;2KCYF<?yFEJ=Jp=bDzdVDzT8y5o%5N=ٔ5"Q-5>99I9==&Fy9=>\EE>AIQ 5U4M?Q 9U4M!)MYYy]Q I]?M DIM:iM:MX4yeBɮeBmCE*jyBjyi}?iziJiƷ<i k[k[k[hEEi EEVEExEA"EE,K:*EE9VEEe5ZEAaM@aM@aU@aU@ kstkstksthy2f:fBfJf#@ZZZZi))iIq2Acoustic response timeout%9ԡ@<II!O]>BA<Bb>BBEB>BBBB;B /5я,ՀG?A6ɞ@6ĥ@6!6c>ٱ6؇ܾ BAHRS rotation from veh to nav: [[0.439937,0.769567,0.462841],[-0.870646,0.491812,0.009824],[-0.220070,-0.407293,0.886387]]6H'?K?.? Uy??@+̿ڿ@H]?i6ɞ@I6^;4YJ>yJEIR<)R=bDV)VDV8y^ N%bS=ٔbxQ-b>9dId=f&Fydf8Ef>hQ 5n4j\Ķ?Q 9r4j6 )j YpyrQ Ir?j DIj;ij;jn_4ytɮvĿBx*jBji ?i zi Ji Ʒ<i  k\k\k\h! k3k3k3h12fA:fABfAJfE""@ZUZUZQZUii)i)iiiiiqIqԹa 2Acoustic response timeoutU9B@e:@eR@eJ@ebE5jEċ5rE72Emk EmWEiEi"EmmR:*Em9VEiZEiBEmq;a}2Emr;a}JEm:a}:Em:a}I IO]U> 2Acoustic response timeout9 Z;я,G?A;ɰ4<2V@2Q@2f4>ٱ2,Ǿ :AHRS rotation from veh to nav: [[0.431627,0.802175,0.412570],[-0.884862,0.465385,0.020869],[-0.175263,-0.374075,0.910687]]2H@ş?j?g?P ?^?oƿ׿X$?i2V@I2^;2ICYF>>yF/kEbDRjVDR9yV:%ZK=ٔZQ-Z>9\I\=^&Fy\r E>Q 5%4o̶?Q 9%4 )dY!y%Q I-? DI:i$:f4y1ɮ5B1*jIBjIiM?iMziIJiUƷ<iQ kekekeha kcykcykcyhq2f:fBfJf.!@ZZZZi))顩iI9IIO=-2Acoustic response timeoutAEg EEE"EC:*EVEF5ZEa@a@a@a@ԙ TBBя,y G?A2;@20@2=ٱ2 >AHRS rotation from veh to nav: [[0.425450,0.839708,0.337466],[-0.897219,0.440116,0.036012],[-0.118285,-0.318102,0.940649]]2H:?? ?*?"p?G@[Կ ?i2;@I25_;B2Acoustic response timeout2JCY^C>y^EEyGz?{GzJ +?#H 9jt?xƿT㥛 YĐ?yK7CB B)BYBbDVD;9y %7=ٔQ->9I= &Fy  oϼE >Q 54׶?Q 9%4 )KY%ʒ?Q E%9:y%ХQ I%? DI :i3:En4y-Bɮ-B5ME*jABjAiM?iMziIJiMƷ<iI kkkha kkqkhy2f->:f->Bf]@Jfgg@Bf>B,CBEBs>B=BB,DBM;BŕEB]+CB]+CB]”CB]š=B]š=C]‹Y5Z5Z=Z9Z=iI)i)iqqiqqIye9IyIO>ԡ5=5==2Acoustic response timeoutE  E ZE wE "E *E a9VE ɕ5ZE BE X;a 2E X;a JE 1;a :E 2;a kHя,Q#G?APExceeded connect timeout, disconnecting.R1L@R&G@R=ٱR|R ZAHRS rotation from veh to nav: [[0.406924,0.872937,0.269061],[-0.908053,0.418575,0.015311],[-0.099256,-0.250553,0.963001]]RH ?@?L8??[?`h п ?iR1L@IR_;RKCYf>yfk*E 99E=E=bDMnVDM9yؽ%L=ٔCQ->9I=&Fy[E>Q 54ᶉ?Q 94G" )YyyQ I?; DI];iO;Iu4y)ɮ-)B1*jQBjQiU?i]ziYJieƷ<ia kkkh2f:fBfJf/e@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZ^B*** querying acoustic contact ***XYi))iI2Acoustic response timeout9IIOM>) E 2Acoustic response timeoutY ǘNя,.9=G?A2@2@2:=ٱ20 :AHRS rotation from veh to nav: [[0.389328,0.901588,0.188579],[-0.917736,0.397170,-0.004154],[-0.078643,-0.171448,0.982049]]2H`??@X#?`^:k?q!ſl?i2@I2$g`;0Y~>y~/EbDemVDeR9y<%N=ٔUQ->9I=&FyOE>Q 54l궉?Q 94- )uYyΪQ I?X DI-:i|:0|4yɮ$B*jBji?iziJiƷ<i kcekcekceh kCtkCtE5 E5YE5yE1"E5:*E5*9VE55ZE1aE@aE@aE@aE@kCth2f:fBfJfc@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZ)iI)I)IIIiQQIYE_9IYIiO>Q2Acoustic response timeoutA@AA@ABi>BBDB#>BBBB;BEԁ ~Uя, WG?A02[@2uV@2=ٱ2) >AHRS rotation from veh to nav: [[0.380693,0.914535,0.136745],[-0.921118,0.388055,-0.030905],[-0.081329,-0.114193,0.990124]]2HH]?C?ڀ?@y?@Ѵ`;?i2[@I2`;2JCYF>yF 3EbDR VDR9yVd<%Z[=ٔZ;Q-Z>9\I\=^&Fy\bN̼Eb>dQ 5j4f?Q 9j4f8 )fYhyjȫQ Ij?fs DIf:ifU:f4y=BɮE,BEWE*jQBjQiU?iUziQJi}Ʒ<iy k[k[k[h ktktkth2f:fBfJf7b@2Acoustic response timeoutZZZZi))i!I!9I!I1Oe=ԉEMg EMZEMtEI"EMC:*EMa9VEM5ZEIBEIaU2EIaUJEIa]:EM1;a]nManaging dock network, ignoring radio surface power offԹ 2Acoustic response timeout 1[я,pG?A2՛@2Т@21=ٱ2 :AHRS rotation from veh to nav: [[0.364939,0.923104,0.121237],[-0.925484,0.373870,-0.060834],[-0.101483,-0.090002,0.990758]]2H)[??f ?z?%`g `I?i2՛@I2f`;2KCYBW>yB /EIJ<)J;HJAbDR$!VDR9yV}%ZJ=ٔZ?M=Q-Z>9XI\=^&Fy\`b>%Eb>dQ 5j4f?Q 9j4fzD )f#YhynЭQ In?f DIfl:ify:fĉ4ypɮr/Bp*jxBj|i~?i~zi|JiƷ<i k\k\k\h krkrkrh!2f1:f1Bf1Jf5 a@ZZZZi))iI9IIOM= 2Acoustic response timeoutEeh EeUEeEa"EeG:*EeP9VEe5ZEaa@a@a@a@A bя,ƊG?A6hDAT read: Forwarding Delay UpTx time:18:59:17.7924 6pIn parseResponses, set commsState_ = SENDING_ACK_WAITING62Acoustic response timeout:.8@:#3@:;=ٱ: Sƽ BAHRS rotation from veh to nav: [[0.347128,0.929428,0.125163],[-0.932524,0.356241,-0.059086],[-0.099504,-0.096207,0.990375]]:HV7? ?T?=?|@@y`'?i:.8@I:B`;8Y^>y^1EyMQ? rh?~jtM(>MCMBMB MB)MBIYMBbDeD#VDe9yu$<%u>=ٔ}Q-}>9yIy=}&Fy7E>Q 54?Q 94B=k>B9B=DB=6>B9B9B9B=;B=9EVN )UYuw?Q Eu[:yuQ Iu? DIq2Acoustic response timeoutԡ 5 m>1 DY zD] ?AEe f Ee SEe |Ea "Ee I@:*Ee 9VEe ם5ZEa BEe R;au 2Ee R;au JEe m:au :Ee n:au G qA ?9 qAY AIhя,EG?AZѾ@Zƹ@Z=ٱZl fAHRS rotation from veh to nav: [[0.334027,0.932399,0.138048],[-0.939681,0.340860,-0.028531],[-0.073657,-0.120191,0.990014]]ZH`? 7???.7@4۲ľ2?iZѾ@IZi_;ZICYn>yr%EttbD %VD9y-I%5O=ٔ5uQ-=>9AIA=E&FyAMEM>QQ 5e4U?Q 9m4UjW )UYiymDQ Iu?U DIU:;iU;;U34yyBɮ>BaE*jBji?iziJiƷ<i kYkYkYh2f:fBfJfJ@ZuZ}ZyZ}i))顉iIu2Acoustic response timeout9IIIO- >ԡ % 2Acoustic response timeout^nя,:vG?A27@22@24=ٱ2 :AHRS rotation from veh to nav: [[0.319056,0.934693,0.156694],[-0.946710,0.322017,0.006808],[-0.044095,-0.150515,0.987624]]2Hjk???qK?{?Dÿ@?i27@I2 g_;2LCYBF>yFDbDN&VDN9yV5%VS=ٔZƜQ-Z>9XIX=Z&FyX^/E >Q 54?Q 94^` )XY!y%ϞQ I%? DI;iH;4y-Bɮ-dB)*jABjAiE?iEziIJiMƷ<iI kcfkcfkcfha ksfksfksfhq2f:fBfJfq@ZZZZi))顩iIEa EREsE"E%.:*E9VEX5ZEa-@a-@a-@a-@9IIOM=2Acoustic response timeoutXChecking local IP, expecting subnet 10.89.11TFound local IP address 10.89.11.2 for eth0B5<A1B=h>B9B=DB=,>B==B9B9B=;B=xEQY ;uя,PQ؁G?A2(@2#@2=ٱ2 :AHRS rotation from veh to nav: [[0.317406,0.938403,0.136577],[-0.947622,0.319278,0.008561],[-0.035572,-0.132141,0.990592]]2H `P?e?]{?@R@ o??`6?i2(@I2)_;2ICY^@K>ybDbD](VD]t9yu"<%;=ٔOQ->9I=&FyE>Q 54$?Q 94j )YyQ I? DIQ:i:4y>2Acoustic response timeoutɮbB*jBji?i zi Ji Ʒ<i  kbkbkbh! kbkbkb1h12fI:fIBfIJfM@Z]Z]ZYZ]ii)i)qqqiqyIy pAmAmE9IIO=E-n E-[E-mE)"E-O]:*E-9VE-5ZE)BE-g;a52E-h;a5JE-;a=:E-;a=aԉ 2Acoustic response timeoutԹ {я,Z-G?A2@2@2*<ٱ2U@ :AHRS rotation from veh to nav: [[0.303519,0.944844,0.123068],[-0.952469,0.304398,0.012058],[-0.026069,-0.120879,0.992325]]2H`l?)y^D`ba=bDE*VDEg 9yL%I=ٔJQ->9I=&FyE>Q 54C-?Q 94@s )DYy~Q I?DIL;i:4yBɮxBkE*jBji?iziJiƷ<i  kXkXkXh kXkXkXh)2fA:fABfAJfE=1@ZMZMZIZUia)a)aaiiiiIqԙm9IIO>2Acoustic response timeoutԹEE EEXEEoEA"EE:*EE9VEE5ZEAae@am@am@am@ ނя, G?Ai0I2A62Acoustic response timeout>@>原@>dm;ٱ>`i FAHRS rotation from veh to nav: [[0.270394,0.952514,0.140016],[-0.962743,0.268065,0.035601],[-0.003622,-0.144425,0.989509]]>H"N?`z??@ '?Z:?`m |¿?i>@I>O_;>ICYn%>yrDyCl?:vMbпd>T 9J +?I +? +?Y>y9=ȶ>B^B 6B)ٷBY¯BBf>BBDBM>B=BBB ;BEbD-VD 9y%F=ٔ^Q->9 I = &Fy  +E>Q 54n4?Q 9%4u )Y%>Q E%:y%QQ I%?DIs:i:޴4y-Bɮ5B*jBji?iziJiƷ<i kfkfkfh kfkfkfh2f%"?:f%"?Bf%W @Jf% T-?ZMZUZQZUia)a)aaiiiiIqM:IYIqO>2Acoustic response timeoutQ bEe5jEʧ5rE2EM m EM WEM {EI "EM Y:*EM 9VEM :5ZEI BEM ~;aU 2EM ~;a] JEM :a] :EM :a] я,%G?AJV@JQ@J.ٱJ9 ZAHRS rotation from veh to nav: [[0.263062,0.956735,0.124322],[-0.964547,0.257983,0.055618],[0.021139,-0.134546,0.990682]]JH?? ӿ? ɂ?y?@l?8?iJV@IJI1_;JLCY5)>y=DbDM.VDMX 9y]=&<%eU=ٔeKQ-e>9aIi=m&FyimLEm>qQ 5}4u:?Q 94uw )uYySQ I?uDIu;iu:u4yɮ~B*jBji?iziJiƷ<i kChkChkChh2f:fBfJfg;?ZZZZi))iI\:II!Qu2Acoustic response timeoutO=yI0>))>ԡ % 2Acoustic response timeout2я,?G?A2s@2h@2jٱ2Oߠ :AHRS rotation from veh to nav: [[0.274819,0.959640,0.059718],[-0.959788,0.270101,0.076504],[0.057286,-0.078341,0.995279]]2H?`^?@[? SI??T?-T?i2s@I2_;2IC@YR{.>yRDTTbDZ&0VDZ 9ybJ<%fT=ٔfQ-f>9hIh=j&Fyhj_=Ej>lQ 5r4n@?Q 9v4ny )n YtyvaZQ Iv?nDIn:inW:nJ‰4yxɮz|B|*j Bj i ?i zi JiƷ<i kOkOkOh) k#]k#]k#]h12fI:fIBfIJfMke?ZUEh ESEsE"EG:*E9VEX5ZEa@a @a @a @ZZ Z i)!)!!!i!)I):I9IIO=Ա2Acoustic response timeoutAABj>BBHDB=B=BBB9;BՖEB,CB,CBǓCBǛ=BǛ=CǧI5 = >= >]я,YG?A:Z@:U@:cƉٱ:2O FAHRS rotation from veh to nav: [[0.263055,0.964663,0.015088],[-0.962436,0.261294,0.073772],[0.067222,-0.033928,0.997161]]:H???F` ??@y5?@^ ?i:Z@I:T`;:JCYNZ3>yNDV% XXbD^1VD^ 9yf@<%fJ=ٔjɼQ-j>9hIh=j&FyhlnZEr>tQ 5z4v#F?Q 9z4v| )v;YxyziQ Iz?v%DIv:iv :v^ɉ4yɮyB*jBji?iziJiƷ<i ksDksDksDh1 k_k_k_hA2fQ:fQBfQJfUOd{?ZeZeZaZeiq)y)yyyiyI2Acoustic response timeout:IIO= E l E WE xE "E V:*E 9VE e5ZE BE Dx;a2E Fx;aJE a:E :a1 2Acoustic response timeouta Dя,usG?A2ӗ@2Ξ@2p넽ٱ2ܼ :AHRS rotation from veh to nav: [[0.247212,0.968909,0.010032],[-0.966788,0.245952,0.069484],[0.064857,-0.026876,0.997533]]2H@?`N?? 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BE% k;a5 2E% k;a5 JE% N:a5 :E% O:a5 9 [Wя,.G?AJ@J@Jvb ٱJ̮ RAHRS rotation from veh to nav: [[0.240465,0.969363,0.050122],[-0.961262,0.230652,0.150915],[0.134730,-0.084470,0.987275]]JH`??@?@?+Q?@>?ٟ—?iJ@IJ6_;JIC X)ZvAZTXX\^nvAi^9I\\I`ibds@ ``)`fsC fbvAf½dddfvAIj`)jIFih)hIjZvAjOl lnCllippYpYv*>yvDI=)R=bD5VD9yM֬%Ug=ٔ]ѽQ-]>9YIa=e&FyamtEm>qQ 5}4uI?Q 94uL )uYyҿQ I?uDDIuS*;iu+;un߉4yɮ~B*jBji?iziJiƷ<i kEkEkEhU2Acoustic response timeout2f:fBfJf2@ZeZeZiZmi))顙iIf :IIO#>!I 2Acoustic response timeouty [>я,G?A> /@>*@> ٱ>3 FAHRS rotation from veh to nav: [[0.195854,0.977186,0.082152],[-0.971173,0.181674,0.154330],[0.135884,-0.110010,0.984598]]>H?E??@A??d?`)Ӂ?i> /@I>U__;>JCY=>y=ѺDEo EPE|E"E`:*E?9VEם5ZEa@a@a@a@bD6VD9yM28%UJ=Yٔe9iIi=m&Fyi}E}>Q 54G?Q 94 )YyٿQ I?PDII;iJ;4yBɮB*jBji?iziJiƷ<i k#<k#<k#<h2f:fBfJf&@Z5Z5Z9Z=iQ)Q)QQQiYYIa- :I9IQO>ԁe2Acoustic response timeoutI,>),>B}m>ByB}DB}JK>B}=ByByB};B}/EԱ hя,ڂG?A2q@2f@2<ʽٱ2ex :AHRS rotation from veh to nav: [[0.177314,0.979701,0.093523],[-0.979204,0.166105,0.116487],[0.098588,-0.112233,0.988779]]2H=?Y?? 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X@ʁ?i21@I2o_;2HCY~uh>yEbD%=AVD%9y5<%5T=ٔ=¼Q-=>9AIA=E&FyAMq̽EM>QQ 5]4UVT?Q 9e4U )UYayeQ Im?UDIU,7;iU7;Ua%4yqɮuvBy*jBji?iziJiƷ<i k@k@k@h2f:fBfJfK@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi) )   i Iԑi:I!I1U2Acoustic response timeoutOu= @A 2Acoustic response timeout я,ÃG?A2땑@2@2Rٱ2sn :AHRS rotation from veh to nav: [[0.054816,0.991279,0.119839],[-0.990304,0.038630,0.133436],[0.127643,-0.125991,0.983785]]2H???Yǣ?@m? V?{ `+{?i2땑@I2m_;2ICY^s>ybEf=f4>bDvBVDv39y.<% M=ٔ iQ- >9I=&Fy?;E>Q 54U?Q 94 )Yy&ÿQ I?DI;i] ;,4yBɮwBE*jEg EOEE"EC:*E9VE(5ZEa@a@a@a@Bji?i zi Ji Ʒ<i  k@k@k@h! k@k@k@h12fA:fABfAJfEXJ@sMNUpdating rudder angle 6.875493 arcdeg 9MrM6Completed marl:UpdateRudder19U rURAggregate::uninitialize marl:UpdateRudderZ]Z]ZYZ]ii)q)qqqiqyIyM:IaIqO=e2Acoustic response timeoutB<Ap<Bf>BBHEB>B=BBBM;BEI %я,q݃G?A2ޑ@2٘@2ٱ2̽ :AHRS rotation from veh to nav: [[0.063608,0.993773,0.091489],[-0.989663,0.051005,0.134035],[0.128534,-0.099069,0.986744]]2H H? ?k? RS? (?s?\h?i2ޑ@I28_;0@Y^)z>y^EIf=)dbDjRCVDj9yrw<%rL=ٔv^Q-v>9tIt=z&Fyxz&<Ez>|Q 54~W?Q 94~W )~Y y Q I ?~DI~:i~:~N34yɮtB*j)Bj)i-?i-zi)Ji5Ʒ<i1 kCBkCBkCBhA kcBkcBkcBhQ2fi:fiBfiJfmU@2Acoustic response timeoutZZZZi ) )   i 1I9 L:I!IAOm=ԱEj EUEE"EN:*EP9VE5ZEBEk;a2Ek;aJE:a:E:am 2Acoustic response timeout .я,AHRS rotation from veh to nav: [[0.044340,0.996734,0.067491],[-0.990595,0.035112,0.132246],[0.129444,-0.072720,0.988917]]6H???G?`=?k??@4?i6^?@I6T_;4YJ>yJEV#V"bD^gDVD^A9yf¹<%fL=ٔfOQ-f>9hIh=j&FyhjGEn>lpQ 5v4rX?Q 9v4rH )rYxyz¿Q Iz?r%DIr :ir:rO:4y|ɮ~oB*jBji?iziJiƷ<i k<k<k<h) kXkXkXh92fI:fIBfIJfMuQ@Z]ZeZaZeiq)q)qqyiyyIUm:IiIyO= 2Acoustic response timeoutI,>)9Ef ENEE"EI@:*E҆9VEH5ZEa@a@a@a@a я,'G?AB2e>B2+CB2aEB2>B2=B0B2+DB2m;B2EB2Acoustic response timeoutB@B@B`ٱB NAHRS rotation from veh to nav: [[0.008557,0.998057,0.061712],[-0.992645,0.001025,0.121061],[0.120763,-0.062294,0.990725]]BH`X???P??N?@寿?iB@IBE3_;BKCY-ӄ>y-X#E15?A9ybX9?L7A`?RQ?E>+== 9rh|?|?5^Mb?Y;?yҽ<B4B B)YBbD8EVD9y a<%9=ٔ9I=&Fy⧽E>Q 54T?Q 94 )Y =?Q E :y ٿQ I ?:DI:i:A4yɮlB*j)Bj)i-?i-zi)Ji5Ʒ<i1 k#@k#@k#@hA kWkWkWhY2fm>:fm>BfmHG@Jfm /@ZZZZi ) ) ))i)1I9  :I!I1Oe>iԑ5=5<=2Acoustic response timeout ]Gn>]CG 5 /91 Y5 ܚAE i E SE E "E ,K:*E 9VE 5ZE BE ue;a 2E we;a JE m:a :E n:a A я,+G?A>@>ޖ@>Sڽٱ>0 JAHRS rotation from veh to nav: [[0.002267,0.997854,0.065438],[-0.994320,-0.004714,0.106323],[0.106403,-0.065307,0.992176]]>H`Ñb?k?`?yNs@7?`B=??i>@I>V+_;>HCYVψ>yV>(E %=%=bD-:FVD-9ԑy(<%O=ٔ=Q->9I=&FyYE>Q 54Q?Q 94H )oYyڿQ I?LDI:i:H4yBɮoBE*jBji?iziJiƷ<i k;k;k;h kWkWkWh2f!:f!Bf!Jf%@Z5Z5Z1Z=iI)I)IIIiIQIYM5:IaIq2Acoustic response timeoutO= E 2Acoustic response timeout9я,)#EG?AF-@F"@FٱF#R VAHRS rotation from veh to nav: [[0.008036,0.996822,0.079252],[-0.993792,-0.000833,0.111253],[0.110965,-0.079654,0.990627]]FH?u??@I?`$OK{? yf;EE]j E]_E]EY"E]N:*E]r9VE]Dz5ZEYam@am@am@am@bDEGVDE9yؒ=%D=ٔ4Q->9I=&Fyd<E>Q 54;N?Q 94? )#YyٿQ I?`DI|:i:,P4y Bɮ ]B *j!Bj!i%?i%zi!Ji-Ʒ<i) k;k;k;h9 k^k^k^hI2fa:faBfaJfe@ZmZmZqZui))顁iIm:IIIO >Failed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IBeb>BaBe@gEBe >BaBaBaBes;BeE2Acoustic response timeout )Y JSя,^G?A2u@2p@2-=ٱ2bؽ :AHRS rotation from veh to nav: [[-0.011062,0.994209,0.106888],[-0.992660,-0.023793,0.118573],[0.120429,-0.104792,0.987175]]2Hࡧ`?]?]Z?qԾ?Ӻ?i2u@I2K_;0Ynr>ynh0Er=r=bDE HVDE9y1%R=ٔɼQ->9I=&FyJE>Q 54J?Q 94!)οYyEܿQ I?rDI :i-:V4yɮeB*jBji?iziJiƷ<i kCFkCFkCFh ks[ks[2Acoustic response timeoutks[hQ2f:fBfJf4@ZZZZi))iI!:IIO=>D%=D<Ee EVEE"E<:*E9VEH5ZEBEbL;a2EdL;aJEC:a:EE:aԁԩ 2Acoustic response timeout }я,)xG?A2F׎@2;ҕ@2 *ٱ2U :AHRS rotation from veh to nav: [[-0.030278,0.992948,0.114620],[-0.993175,-0.042808,0.108492],[0.112634,-0.110553,0.987467]]2H:? W?`@꥿#ƻ? ռ?5M U?i2F׎@I2H,_;2GCYBZ>yFYKEbDNHVDNV9yV=%VY=ٔZ9XIX=Z&FyX^RE^>`Q 5f4bF?Q 9f4b !)bYdyj޿Q Ij?bDIbW:ib:b]4ylɮnOBl*jtBjtiz?izzixJizƷ<ix kZkZkZhy2f:fBfJf@ZZZZi))iI/":ԹIIO=2Acoustic response timeoutEy EWEyE"E:*E9VE5ZEa@a@a@a@ 9 B] a>BY B] zEB] J>B] =BY BY B] t;BY vs$я,?G?A;ɰ&2Acoustic response timeout6z@6yu@6ٱ6H׽ BAHRS rotation from veh to nav: [[-0.041517,0.993090,0.109767],[-0.992682,-0.053468,0.108277],[0.113398,-0.104469,0.988042]]6HA`d?? 4`@? ? s` ?i6z@I6 _;6HCYJɧ>yJWNEy%ʡE?y&1?q= ףp?%o>%`=%=! !9%`"?I +n?Y%>y%9%V>%B%OB %ԵB)%B!Y%BbD=IVD=9yw-<%6=ٔQ->9I=&FyrμE>Q 5 4F?Q 94!) 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(k|Q?Դ?'3?i6o@I6G_;6GCYJ[>yJjEN=Na=bD'MVDG9YyeZc=%eN=ٔm=Q-m>9iIi=m&FyiuBz:Eu>yQ 54}E?Q 94}E"!)}ޠYy˿Q I?}DI}|:i}:}=4yɮ=B*jBji?iziJiƷ<i kXkXkXh k3rk3rk3rh=>=>2f:fBfJf݆@ZZZZi))iIy):IIAԉ2Acoustic response timeoutOe4>E}j E}TE}Ey"E}N:*E}9VE}Ժ5ZEya@a@a@a@Ա B d>B B EB >B B B B ;B EDя,G?Ai I"A&2Acoustic response timeout> @>@>ǿٱ>( JAHRS rotation from veh to nav: [[-0.084715,0.987662,0.131710],[-0.992008,-0.096005,0.081871],[0.093506,-0.123722,0.987902]]>H@گ ?@?͓ ?@?`9?i> @I> _;>FCY>y[EyyԹyA`"?MbpPn?>> 9K7A?|?5^?/$?Y >y=>BzB 3B)BYBbDMVD9y%Z%%>=ٔ-w8Q-->9)I1=5&Fy16ɼE>Q 54*I?Q 94s&!)IY>Q E:y5Q I?DI':i:4yɮHB*jBji?iziJiƷ<i kYkYkYh kcrkcrkcrh2fc>:fc>BfSm?Jfk@ZZZZi!))))))i)1I9-*:I9IQO>2Acoustic response timeoutYE d E LE E "E 9:*E |9VE 5ZE BE a 2E a JE w:a :E x:a y Jя,-G?A2a@2W@2d˽ٱ26 :AHRS rotation from veh to nav: [[-0.099020,0.987112,0.125717],[-0.990120,-0.110342,0.086529],[0.099286,-0.115907,0.988285]]2H_Y@l?`~?^?@&?j?@?i2a@I2_;2HCYN)>yRzbEbDZNVDZ9yvx<%va=ٔvۂQ-v>9xIx=z&Fyx~(EU>YQ 5e4]NL?Q 9e4])!)]yYayeQ Ie?]DI]:i],:]I4yqɮuCBq*jBji?iziJiƷ<i kYkYkYh ksksksh2f:fBfJf @ZZZZi))iIQJ,:IIU2Acoustic response timeoutO=ԁI>)ԩ 2Acoustic response timeout -Qя,lGG?A2PE@2F@@2mνٱ2RH :AHRS rotation from veh to nav: [[-0.110005,0.988448,0.104252],[-0.988824,-0.119455,0.089202],[0.100625,-0.093274,0.990543]]2H Q)^?A?rࠔն?¹?෿`?i2PE@I2 _;2GCY^>yb,qEddbDjfOVDjP9yrl=%vJ=ٔvtZQ-v>9tIx=z&FyxzEz>|Q 54~YO?Q 9 4~-!)~OY y Q I ?~DI~:i~:~$4yɮ7B*j)Bj)i-?i-zi)Ji5Ʒ<i1EEa EEWEEwEA"EE%.:*EE9VEEɕ5ZEAaM@aM@aM@aM@ kC[kC[kC[h2f:fBfJfh@ZZZZi))1)1QQiQYIYԱ-s-:IAIQO=AA@ABf>BBBB=BBB?;BEe2Acoustic response timeout 9 Wя,EaG?A6"&@6!@6ٱ6½ BAHRS rotation from veh to nav: [[-0.113604,0.987710,0.107343],[-0.986974,-0.124582,0.101792],[0.113914,-0.094381,0.988997]]6H +R?`z?`J俿@?})? R)ݥ?i6"&@I6I2_;6FCYJj>yJ'zEV&Z XXZ=Z=bDfPVDf9-GAyM =Y%]E=뢿9YAٔudQ->9I=&FyE>2Acoustic response timeoutQ 5-4R?Q 9-41!)Y)y5ԨQ I5?DI;i;؝4yeBɮe9BeE*jBji?iziJiƷ<i kXkXkXh2f:fBfJfɶ@Z%Z%Z!Z%iQ)Y)YYYiYaIaM/:EUg EUYEUEQ"EUC:*EU*9VEU5ZEQBEUX;ae2EUX;aeJEU:ae:EU:aeIyIO">9i  2Acoustic response timeout5^я,"{G?A 2@2@2<ٱ2X_ѽ >AHRS rotation from veh to nav: [[-0.120668,0.985816,0.116647],[-0.984556,-0.133864,0.112827],[0.126842,-0.101230,0.986744]]2H 便͋?ܽ?`{x">?XyJxEbDnQVDn9yv׻%vP=ٔvU Q-v>9xIx=z&Fyx~EE~>Q 5 4U?Q 9 4!5!)Y y Q I ?DI:i:C4yɮ:B*j1Bj1i5?i5zi1Ji5Ʒ<i9 kYkYkYhI kYkYkYhY2fi:fiBfiJfm@Z}ZZZi))顙iI;0:IIOM=q 2Acoustic response timeoutԙ @AE]c E]OE]EY"E]g5:*E]9VE]U5ZEYae@ae@ae@ae@ B h>B B EB >B B B ,DB ;B ͗E3eя,G?A22Acoustic response timeout6u@6p@6~˽ٱ6dԽ BAHRS rotation from veh to nav: [[-0.135052,0.983995,0.116253],[-0.985841,-0.145211,0.083851],[0.099391,-0.103282,0.989674]]6H ^I`|?½?@I¿Jw? q?p`h?i6u@I6^;6HC\Yb>yb]mEf=dym?nL7A`尿n>V+ 9#~j?v/A`"?Y%>yxiY=wBB B)BYQBbDQVDa9yv&%;=ٔÁ=Q->9I=&FyIE>Q 54R?Q 946!)Y 8>Q E;yQ I ?DI.:i:⫊4yɮCB*j)Bj)i-?i-zi)Ji5Ʒ<i1 kXkXkXhI kXkXkXhY2fm$>:fm$>Bfm3@Jfm_;?Z}Z}ZyZ}i))))11i11I9-1:IAIQIqO>%=R=%2Acoustic response timeoutA Em g Em SEm Ei "Em C:*Em 9VEm Ժ5ZEi BEi a} 2Ei a} JEm l:a} :Em n:a +kя,ٮG?A2 @2@20pٱ2aܽ :AHRS rotation from veh to nav: [[-0.148120,0.982257,0.115025],[-0.987222,-0.153765,0.041811],[0.058756,-0.107362,0.992482]]2H@¿ n?Er?Sÿ@3h?5?`|@j?i2 @I2_;2ICYR>yRzEI%<)%!%AbD-LRVD-9y_=%N=ٔ=Q->9I=&FyAE>Q 54zP?Q 94^8!)YyQ I?DI:i:Ͳ4yɮ8B*jBji?iziJiƷ<i kWkWkWh  k#Wk#Wk#Wh2f):f)Bf)Jf- ?Z=Z=Z9Z=iI)I)QQQiQYIYM3:Iau2Acoustic response timeoutIO>Iqԡ % 2Acoustic response timeout#rя,ȅG?A:@:@:ٱ:= FAHRS rotation from veh to nav: [[-0.146240,0.980718,0.129639],[-0.986049,-0.155042,0.060577],[0.079509,-0.118972,0.989709]]:H¿ b??`kÿ?Z?t`?i:@I:^;:FCE%d E%RE%E!"E%9:*E%9VE%Dz5ZE!a-@a-@a-@a-@yYC>yEbDQSVD9y==%=3=ٔ=:Q-E>9AIA=E&FyAMr;EM>QQ 5]4UM?Q 9]4U$:!)UYayeQ Ie?UDIU:iU:Uƺ4ymBɮ-B*jBji?iziJiƷ<i kZkZkZh kZkZkZh2f:fBfJf ?Z%Z%Z!Z%i1)9)999i9AIAԡBmi>Bm,CBmEBm>Bm=BiBiBm;BmؗE4:IIOH>2Acoustic response timeoutI)> ==xя,ɎG?A2@2 @2;Vٱ2% :AHRS rotation from veh to nav: [[-0.145981,0.977394,0.152942],[-0.977974,-0.165890,0.126676],[0.149184,-0.131081,0.980083]]2H ¿F??K;ſ 6?@v?F \?i2@I2V_;2IC @)BvABP@@DFvAiFLIDDIDiJ"s@ HH)HH JzvAJLLLLNvAINO)PiP)PIRjvARQ8P TV CTTiTXYXY%3>y%nwE11bDmSVDmc9y|%i=ٔ9LQ->9I=&Fy2Acoustic response timeout*E>Q 54K?Q 9 4};!)Y y ?Q I ?DI:i-:4y5 Bɮ=BB9*jIBjIiU?iuziqJiuƷ<iy kYkYkYh kYkYkYh2f:fBfJf;?ZZZZi1)1)999i9AIA 5:D-=D-<bE15jEl5rEO2E5m E5XE5E1"E5Y:*E59VE5Ժ5ZE1BE5~;aM2E5~;aMJE5:aU:E5:aUIQIiO>1 2Acoustic response timeoutY Zg~я,iG?A2@2@2Eٱ2~ :AHRS rotation from veh to nav: [[-0.146910,0.979517,0.137706],[-0.970317,-0.169747,0.172253],[0.192100,-0.108313,0.975380]]2H ¿4X?X? @Cſa ? ?`P6?i2@I2V_;2HCY~g>y~|EbD\TVD9y]J<%]O=ٔ]Q-e>9aIa=e&FyamqEm>qQ 5u4u+I?Q 9}4u2Acoustic response timeoutaE=` E=TE=E9"E=*:*E=9VE=5ZE9aE@aE@aE@aM@ԉBE g>BE +CBE @EBE >BE =BA BA BE $;BE ޗEB B B B ˟=B ˟=C u 5Թ Oя,FG?A"2Acoustic response timeout6F@6<@6Cٱ6ᄓ jAHRS rotation from veh to nav: [[-0.143505,0.984699,0.098863],[-0.971282,-0.159294,0.176739],[0.189783,-0.070661,0.979280]]6H]^¿ূ?O?cĿ`a?J?@CV?i6F@I6ZH_;6GCY}r>y}[pEy]Cl?ˡE?~jt]ߏ>]=]Y Y9]QQ˿x&1ܿY]y](\]A]B]ƚB ]sB)]ΨBYY]BbDmUVDm9y}B4%9=ٔ;Q->9I=&Fy<ԑE>Q 54M@?Q 94 Թ 2Acoustic response timeoutDA zDE @AEU j EQ EU zEQ "EU N:*EQ VEU 5ZEQ BEU k;ae 2EU k;ae JEU :ae :EU :ae  zя,#0G?A2K @2A@2&ٱ2> :AHRS rotation from veh to nav: [[-0.146726,0.986693,0.070062],[-0.975795,-0.155989,0.153272],[0.162161,-0.045878,0.985697]]2H@¿??9`rÿh??D}Ԋ?i2K @I27_;0Y^p>y^rEb=`n$n(*bD%UVD%Y9y5)0<%5b=ٔ==Q-=>9AIA=E&FyAEEM>IQ 5U4Mq9?Q 9]4M>;!)MבYYy]V2@Q I]?MDIM;iM;MՊ4yaɮeBBi*jyBjyi?iziJiƷ<i kWkWkWh ksrksrksrh2f:fBfJfi{ @19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI9:I IU2Acoustic response timeoutOu=ipAII  2Acoustic response timeout[aя,IG?A02Ҋ@2̑@2!ٱ2P :AHRS rotation from veh to nav: [[-0.153947,0.985440,0.072166],[-0.978069,-0.162351,0.130474],[0.140290,-0.050497,0.988822]]2Hÿ?@qy?@WLĿ^??کm?i2Ҋ@I2_;2ECY^>ybuEbDjVVDj9yr3<%rP=ٔvf=Q-v>9tIt=v&Fytz0Ez>Eo EUE~E"E`:*EP9VE5ZEa @a @a @a @|Q 54~1?Q 94~C:!)~]Yyv/@Q I%?~DI~z;i~;~܊4y- Bɮ-DB)*jBji?iziJiƷ<i kYkYkYh2f!:f!Bf!Jf%F @s-NUpdating rudder angle 6.875493 arcdeg 95r56Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderZEZEZAZEiQ)Q)YYYiYaIaM;:IaIqԉO=AAAABh>BBEB#?BBBBr;B Ee2Acoustic response timeoutԹ fя,dcG?AF)H@FC@FLQ ٱFw VAHRS rotation from veh to nav: [[-0.170517,0.981730,0.084443],[-0.976109,-0.180008,0.121688],[0.134665,-0.061676,0.988970]]FHſ`Tj??`I< ǿ&?yj={EbD=WVD=9y}<%}@=ٔ [9I=&FyA"ߵ=ߵ=2Acoustic response timeoutE>Q 54)?Q 9%49!)Y!y%-@Q I%?DI:i:p4y-Bɮ5I)e 2Acoustic response timeout9 я,}G?A61@6,@6Ӣ ٱ6CC >AHRS rotation from veh to nav: [[-0.173202,0.978950,0.107971],[-0.975727,-0.185473,0.116431],[0.134006,-0.085184,0.987313]]6Hw+ƿ`S??`(9`ǿ lν?'?ε?i61@I6_;6FCY^>ybqE``bDU:XVDU`9y%J=ٔ:Q->9I=&FyݻE>Q 54!?Q 947!)Yy&.@Q I?"DI;i>;=4yyɮ}DB*j Bj i?i%zi!Ji-Ʒ<i kSXkSXkSXh2f:fBfJf @Z-Z-Z)Z-i9)A)AAAiAIiIi2Acoustic response timeoutEP>:IQIiO:>Ef EUEE"EI@:*EP9VEc5ZEa%@a-@a-@a-@qԡ B i>B ,CB EB >B B B B ;B GEjя,􌗆G?AiAIA2Acoustic response timeout>⥊@>ؠ@>Oٱ>'޽ FAHRS rotation from veh to nav: [[-0.159467,0.978946,0.127418],[-0.978784,-0.173606,0.108827],[0.128657,-0.107361,0.985861]]>HkiĿS?>O?`2R8ƿܻ? w?{+?i>⥊@I>_;>GCYR>yR.nEyy9v? rh?~jt?4?C>> 9tV?x?V-տYR?yK7>jBB B)ޞBYBbDXVD9yr%H=ٔWX9I=&Fy =E>Q 54!?Q 94UA!)Ylh?Q Ei:yȿQ I?8DI:i:Y4yɮGB*jBji?iziJiƷ<i k<k<k<h  kSYkSYkSYh2f-U?:f-U?Bf-o@Jf-w@Z=Z=ZAZEiQ))iIz?:IIO5 >ԡ n>G1Iٜ9YٔA2Acoustic response timeoutE)  E- VE- }E) "E) *E- 9VE- s5ZE) BE- R;a= 2E- R;aE JE- C:aE :E- E:aE  uǫя,gG?A2@2 @2_ ٱ2: :AHRS rotation from veh to nav: [[-0.157513,0.978726,0.131472],[-0.978227,-0.172861,0.114851],[0.135134,-0.110519,0.984644]]2H`b)Ŀ@Q??ML ƿ`f? L?@J4?i2@I2^;2FCY^>ybjEbDjYVDj9yrT`%rX=ٔvSQ-v>9tIt=z&Fyxz;Ez>|Q 54~!?Q 94~ J!)~ Y y ȿQ I ?~NDI~:i~:~4yɮIB*jBji?iziJiƷ<i k@k@k@h2f:fBfJf'jw@ZZZZi))i I @:II52Acoustic response timeoutOe= 1 2Acoustic response timeoutY я, DˆG?A2%@2 @2~1ٱ2ӨŽ :AHRS rotation from veh to nav: [[-0.174429,0.977353,0.119812],[-0.974336,-0.188899,0.122423],[0.142282,-0.095383,0.985220]]2HSƿ`zF??--ȿ`W?O6? k@?i2%@I2R_;0YB>>yF/kEF=F=bDNYVDN,9yVÎ:%VN=ٔZQ-Z>9XIX=^&Fy\^y4E^>`Q 5f4b!?Q 9f4b5S!)bYhyjhʿQ Ij?bdDIby:ib:b4Erk ErUErEp"ErmR:*ErP9VErU5ZEpav@av@av@av@yzBɮzOBzE*jBj i ?i zi Ji Ʒ<i kCBkCBkCBh! kBkBkBh12fA:fABfAJfEx@ZUZUZQZ]ii)i)iiqiqqI1BB:IIO==B<ABBB@EB>BBBB;BEaM2Acoustic response timeoutԉԹ ٸя,2G?ABY@BT@B)ٱBȝ JAHRS rotation from veh to nav: [[-0.198721,0.973954,0.109191],[-0.970237,-0.211237,0.118402],[0.138383,-0.082412,0.986944]]BHoɿ*??. ˿ O?@? ?iBY@IB _;BHCYR7>yRrE^(b#b)Ib<)b<bDj_ZVDj\9yr<%rG=ٔr69tIt=v&FytvSxEz>xQ 5~4z ?Q 94z\!)zYy̿Q I?z{DIz ;iz;z4y ɮIB*j!Bj!i%?i%zi)Ji-Ʒ<i) kBkBkBhA k#Bk#Bk#BhQ2fa:faBfaJfedx@ZuZuZqZui))顉iI2Acoustic response timeoutԑkC:IIIO =Ee EREuE"E<:*E9VE5ZEBEaL;a2EdL;aJE%:a:E&:aԹM 2Acoustic response timeout я,G?A2X@2N@2emٱ2:⠽ :AHRS rotation from veh to nav: [[-0.206473,0.973126,0.101953],[-0.970881,-0.216698,0.102142],[0.121490,-0.077894,0.989532]]2Hmʿ@#??t ü˿%??>?i2X@I2^;2ICYvl>yvwEbD [VD 9y=<%EE=ٔMR'=Q-U>9YIa=e&Fyiu{E}>Q 54?Q 94bf!)|YyͿQ I?DI;i;y4yɮEB*j)Bj1i=?iMziIJiUƷ<i k<k<k<h!2fQ:fQBfQJfUv@ZeZeZaZei))顱iI%E:I2Acoustic response timeoutIO$>E ENEE"E*E҆9VE5ZEa @a @a @a @I B k>B B EB #?B =B B B ;B E] 2Acoustic response timeout4я,2G?A2e@2[@2aܽٱ2 >AHRS rotation from veh to nav: [[-0.210365,0.971050,0.113175],[-0.971706,-0.220404,0.084915],[0.107401,-0.092110,0.989940]]2H;ʿ? ?@6/6̿ ?`~?`@?i2e@I2_;2HCYFr>yF[pEyp= ף?V-?y&1??<`e> 9A`"?Cl?Mb?YY?yO>>4B 4B)BYBbD[VD9y%@=ٔ =Q->9I=&FyE>Q 54 ?Q 94o!)ӯYa?Q Ep:yĿQ I?DI:i:4y ɮ KB *jBji?i%zi!Ji%Ʒ<i! k$k$k$h9 k@k@k@hI2f]Z>:f]Z>Bf]>Jf]t@ZmZmZiZmi))顁iIAF:IIO>q߭%=߭R=2Acoustic response timeoutԡ bE5jEɐ5rEz2E c E UE E "E g5:*E P9VE 5ZE BE ?;a 2E ?;a JE :a :E :a я,ɯ2G?A2SZ@2IU@2ٱ2 :AHRS rotation from veh to nav: [[-0.229495,0.962585,0.144091],[-0.966087,-0.243284,0.086536],[0.118353,-0.119345,0.985774]]2H`Ϳ?q?/#Ͽ5'?bL?@at?i2SZ@I2^;2GC@Y^>ybsE 99E=E=bDM.\VDM1 9y0<%L=ٔQ->9I=&FyLE>Q 54T!?Q 94x!);Yy0ƿQ I?DI6:id:4yBɮNBE*j Bj i ?i zi Ji Ʒ<i kBkBkBh! kWkWkWh92fI:fIBfIJfMD@Z]Z]ZYZ]ii)i)iiqiqyIy2Acoustic response timeoutmG:IIԱO  2Acoustic response timeoutя,ҊLG?A6Sχ@6Iʎ@6ٱ6  >AHRS rotation from veh to nav: [[-0.245085,0.953175,0.177176],[-0.959048,-0.265124,0.099680],[0.141986,-0.145490,0.979118]]6H^Ͽg?@?``п? ,?m¿T?i6Sχ@I6_;4Ebd EbPEbE`"Eb9:*Eb?9VEbU5ZE`af@af@af@af@Yj>yjsElbDE\VDEp 9y;%N=ٔvQ->9I=&Fyz/E>Q 54!?Q 94!)~YyǿQ I?DI:i:#4yɮ*jBji?iziJiƷ<i k<k<k<h kZkZkZhq2f:fBfJf@ZZZZi))iI I:II B5m>B1B5EB5?B1B1B1B5*;B5EB,CB,CBBBC5OU>%2Acoustic response timeout 1a 'я,efG?A2%@2@2>3ٱ2o- :AHRS rotation from veh to nav: [[-0.241186,0.949743,0.199543],[-0.958814,-0.264980,0.102283],[0.150018,-0.166656,0.974536]]2H2ο@Kd??@nп9/?3?Tſ`f/?i2%@I2c^;2FCYB>yBsnEF=DbDN]VDN 9yVȲ%VY=ٔZQ-Z>9XIX=^&Fy\^#<E~>Q 5 4"?Q 9 4\!)ЧY yƿQ I?DI :ip:f*49yAɮERBA*jQBjQiU?iUziYJi]Ʒ<iY k3Bk3Bk3Bhq2Acoustic response timeout k#Yk#Yk#Yh2f:fBfJf@Z Z Z Z iA)A)AAIiIQIqMmJ:IaIqO=D=D<Ee EXEE"E<:*E9VEDz5ZEBEaL;a2EdL;aJE:a:E:aiԑ5 2Acoustic response timeout я,VJG?AB^@BT܎@BٱB_ bAHRS rotation from veh to nav: [[-0.242545,0.955325,0.168899],[-0.957898,-0.263398,0.114252],[0.153635,-0.134077,0.978989]]BH` Ͽ?}?@п?? Q?o)S?iB^@IB_;@Y7>yrEԙI4=)=AbD5]VD5 9yc<%/=ٔQ->9I=&Fy/[E>Q 54p"?Q 94!)wYyǿQ I?DI|;i;g24yBɮUB¼E*jBji?iziJiƷ<i k@k@k@h k]k]k]h)2f9:f9Bf9Jf=b͜@ZEZMZIZMiY)Y)YaaiaI߁߅4=2Acoustic response timeoutK:IIO5.>E>E>E ETE|E"E*E9VEם5ZEa@a@a@a@B) B) B- EB- ?B) B) B) B- ;B- ӘE = 2Acoustic response timeout9я,TG?A2@2@2l*ٱ2 :AHRS rotation from veh to nav: [[-0.250315,0.960552,0.121170],[-0.953886,-0.266100,0.138900],[0.165664,-0.080814,0.982866]]2H)п`׼?@? ;ѿy?z4?:`s?i2@I2v$_;2GCY^>y^EyEI +?`"?E9EL=E=A A9Ed;O?@5^I ¿ףp= ?YE>yEbE>EBEB EdB)EBAYEBbD].^VD]!9ym•=%m_=ٔu6Q-u>9qI=&FyE>Q 5 4?Q 9 4!)`Y ?Q E :y R Q I? DI:i:94yɮGB*j)Bj)i5?i5zi1Ji5Ʒ<i9 k#Ek#Ek#EhI k[k[k[hY2fmk?:fmk?Bfm@Jfma~@Z}Z}ZZi))顑iIM:IIO >!I>)>2Acoustic response timeoutQD zD E b E UE {E "E 1:*E P9VE :5ZE BE 9;a 2E 9;a JE :a :E :a y cя,G?A6m@6yh@6 Fٱ6n BAHRS rotation from veh to nav: [[-0.254309,0.961294,0.106021],[-0.947816,-0.269525,0.170294],[0.192278,-0.057182,0.979673]]6HFп ? 8$?@T?ѿ4?`?F@{Y?i6m@I6e_;6FCYJ>yJvELN@AV'Z"Z(bD^^VD^W!9yfeT%fU=ٔjQ-j>9hIh=n&FylnuEn>pQ 5v4r_?Q 9v4r*!)rxYxyzQ Iz?rDIr:ir:r?4y|ɮ~QB*jBji?iziJiƷ<i ksBksBksBh) kZkZkZhA2fQ:fQBfQJfU:{@ZeZeZaZeiq)q)yyyiyIQ]N:IiIO=2Acoustic response timeoutԁԩ 2Acoustic response timeout Kя,[͇G?A2f+@2\&@2 Rٱ2 k :AHRS rotation from veh to nav: [[-0.261335,0.958996,0.109685],[-0.943513,-0.277774,0.180623],[0.203684,-0.056286,0.977417]]2H п?I?`B1 ѿ?P? ѬG?i2f+@I2__;2HCEP ERTERtEP"EP*ER9VER5ZEPaV@aZ@aZ@aZ@Y~F>y~KE  bD^VD}!9yE5=%EC=ٔMSQ-M>9III=U&FyQUEU>YQ 5e4]?Q 9e4]!)]Yiym Q Im?]DI]k:i]b:]F4yqɮuHBq*jBji?iziJiƷ<i kAkAkAh kZkZkZh2f:fBfJfSz@ZZZZi))iIԱO:II)Ou=B<ABBB@EBb?BBBBz;BE2Acoustic response timeout @G  5 91 Y5 QA9 uя,)G?A2?@2:@29ٱ2)S :AHRS rotation from veh to nav: [[-0.260170,0.958284,0.118336],[-0.948544,-0.276566,0.154192],[0.180488,-0.072131,0.980929]]2H п@C? BK?yZBѿ`?`:?%wc?i2?@I2d>_;2FCYB>yF{EbD S_VD !9]2Acoustic response timeoutym/%mH=ٔml=Q-u>9qIq=u&Fyq};E}>Q 54 ?Q 94!)$YyhQ I? DI@x;i~y;M4yBɮJB*jBji?iziJiƷ<i k#Bk#Bk#Bh2f :f Bf Jf |@ZZ%Z!Z%i9)9)AAAiAIII%wQ:IYIEj EXEE"EN:*E9VE*5ZEBEk;a2Ek;aJE:a:E:aO>9  2Acoustic response timeouti iaя,G?A0MQ@ML@M#w0ٱMԽ AHRS rotation from veh to nav: [[-0.258536,0.955070,0.144914],[-0.950660,-0.278180,0.137336],[0.171478,-0.102258,0.979867]]MH`ًп`??kѿ@9??@-@[?iMQ@IM5_;IY>ymE=p=y5/$l?v/5,5=5xi1 195oʡ?bX9ȶףp= ?Y5->y5E5>5B5cB 5B)5B1Y5BbDM_VDM!9y]5H%].=ٔ]9aIi=m&Fyim;Em>qQ 5}4u?Q 9}4ui!)uKY{>Q EW;y^Q I?ԁu%DIu90;iu.;u+V4yɮVB*jBji?iziJiƷ<i k<k<k<h k<k<k<h2f->:f->Bfշ@Jfy@ZZZZi ) )  iIe2Acoustic response timeout1S:II!O]3>ԱEi EREvE"E,K:*E9VE-5ZEa@a@a@a@B B B B B =B B B u;B E i AI A 2Acoustic response timeoutя,dG?A2> @24@2Tٱ2^ݽ :AHRS rotation from veh to nav: [[-0.264773,0.951053,0.159354],[-0.941985,-0.290440,0.168255],[0.206302,-0.105560,0.972778]]2H пo?e?$ҿ@]? h? ?i2> @I2O _;0`Yb>ybzEI==)=p;bDM`VDM!9yx=%n=ٔӽQ-?9I=&FyʼE?Q 54?Q 94a!)'YyQ I?(DI:iN:(\4yɮFB*jBji?iziJiƷ<i ks@ks@ks@h kZkZkZh2f :f Bf Jf ew@ZZZZi))i IQT: II)O}>1}2Acoustic response timeoutE g E bE E "E C:*E 9VE 5ZE BE X;a 2E X;a JE O;a :E P;a a я,B?5G?A23†@2)@2Lwٱ2Hķ :AHRS rotation from veh to nav: [[-0.271156,0.950352,0.152662],[-0.932264,-0.298767,0.204013],[0.239495,-0.087002,0.966992]]2HZѿHi? k?ӿ?§?@E?i23†@I2~_;2HCYF>yFlzEbDRw`VDR*"9yV%ZY=ٔZ"Q-Z>9\I\=^&Fy\bwļEb>`Q 5f4b]?Q 9j4b]!)băYhyjQ Ij?b,DIb:ib:bb49yYɮ]KBa*jqBjqi}?i}ziyJi}Ʒ<iy kAkAkAh k\k\k\h2f:fBfJfGHt@ZZZZi))iIrU:2Acoustic response timeoutI!I1IQOu=iI),>ԑ 2Acoustic response timeout $я,OG?A2J@2@@2|{ٱ2Ơ :AHRS rotation from veh to nav: [[-0.263257,0.954321,0.141302],[-0.933550,-0.288937,0.212130],[0.243268,-0.076068,0.966972]]2H`5п͉?`1? }ҿ '?@d#?1yn?i2J@I2_;2GCEBf EBMEBE@"EBI@:*EB9VEBq5ZE@aJ@aJ@aJ@aJ@YN7>yRrETV?AbDZ`VDZZ"9yv%vG=ٔvQ-v>9xIx=z&Fyxz4<E~>Q 54?Q 9 4o!)*Y y aQ I ?0DI:i9:i4yɮRB*j)Bj1i5?i5zi1Ji5Ʒ<ԙi kZkZkZh k3Zk3Zk3Zh2f):f)Bf)Jf-ts@Z]Z]ZYZ]ii)i)顙iIAqAu@AB}o>ByB}EB}?B}=ByByB};B}ȘEW:IIO>2Acoustic response timeout я,%iG?A26@21@2ogvٱ2J :AHRS rotation from veh to nav: [[-0.257929,0.955202,0.145126],[-0.936312,-0.284174,0.206315],[0.238313,-0.082669,0.967663]]2H`п??C@/ҿ@h??)@?i26@I2,(_;2FCYF>yFzER(RR# TTbDZaVDZp"9yb- =%bL=ٔf Q9dId=f&Fyhjw<Ej>lQ 5r4n?Q 9v4n!)nE}YtyvbQ Iv?n3DInI;in;np4y|ɮ~KB*j!Bj!i%?i%zi)Ji-Ʒ<i)=2Acoustic response timeout kSXkSXkSXha2fy:fyBfyJf}t@ZZZZi9)A)AAAiAIIqmX:IybEA5jEP5rEv[2Eo EOEuE"E`:*E9VE5ZEBE;a2E;aJEN:a:EO:aIO>IiI2Acoustic response timeouty я,傈G?AE@E@EHmٱEK齽 UAHRS rotation from veh to nav: [[-0.266266,0.951886,0.151711],[-0.936066,-0.292904,0.194902],[0.229961,-0.090116,0.969019]]EH ѿu?@Bk?Aҿ? ]o?`3?iE@IE_^;EDCYeN>ymxEyCl?lkt;>  9Mb?~jt?)\(Y>y<GayBB B)&BY BbDTaVD"9y%6=ٔ"9I!=%&Fy!%IE%>)Q 554-?Q 9=4-u!)-1}Y=>Q E=N;y=Q I=?-;DI-:i-z:-x4QyaɮMB*jBji?i%zi!Ji%Ʒ<iA kXkXkXhY kXkXkXh2fuH>:fuH>Bf@6@Jf{|?ZZZZi))iIM2Acoustic response timeoutY:IIO%>qEd ERE~E"E9:*E9VE5ZEa@a@a@a@ ԡBm p>Bi Bm EBm ?Bi Bi Bi Bm ;Bm EB)B)B)B-ɠ=B-ɠ=C-4  2Acoustic response timeout&я,G?A2L@2 G@2_?lٱ2 :AHRS rotation from veh to nav: [[-0.285333,0.945678,0.155814],[-0.930750,-0.312195,0.190366],[0.228669,-0.090706,0.969269]]2HBҿB??`ӿ`]?E?8@?i2L@I2^;2HCYF>yFlzEJ=J=bD eaVD "9y};%U=ٔb;Q->9I=&FyHYE>Q 54?Q 94!)"}YyHQ I?ADI ;i:p4yɮKB*jBji?iziJiƷ<i kWkWkWh kWkWkWh2f :f Bf Jf w?ZZZZi))))))1i1IIYԱ5\[:IQIiO>]=]<e2Acoustic response timeout E j E QE E "E N:*E v9VE U5ZE BE k;a 2E k;a JE :a :E :a 9 -я,G?A2@2@2mٱ2̽ :AHRS rotation from veh to nav: [[-0.295576,0.941006,0.164751],[-0.927187,-0.324117,0.187808],[0.230127,-0.097243,0.968290]]2H ҿ@??VԿ  ?t?丿 ;?i2@I2^;2FCYB>yFsnEIz4=)z;|~AbDaVD"9y=UD%EN=ٔEowQ-E>9III=M&FyIMEM>QQ 5]4U?Q 9e4U!)U}YayeQ Ie?UHDIU:iU :U`4yiɮmUBq*jBji?iziJiƷ<i k[k[k[hY2fi:fiBfiJfmt?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeoutZZZZ^B*** querying acoustic contact ***XYi))iI \:IIO% >1a e 2Acoustic response timeoutj3я, dЈG?AE2e E2UE2|E0"E2<:*E2P9VE2ם5ZE0a:@a:@a:@a:@>΅@>Ɍ@T>nٱ>Ný ^AHRS rotation from veh to nav: [[-0.299409,0.940380,0.161367],[-0.925890,-0.327203,0.188856],[0.230397,-0.092863,0.968656]]>H@)ӿ?@? Կp,?`}? ŷ@:?i>΅@I>^;y~vEbDe bVDe"9y=%D=ٔt.Q->9I=&Fy#E>Q 54d?Q 94M!)|YyMQ I?NDI:i3:4yɮNB*jBji?iziJiƷ<i kYkYkYh2f:fBfJfos?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZBn>BBEB ?BBBB\;BEi1)1)999i99IAMc^:IYIiO>iIoA2Acoustic response timeoutI0>)A :я,%=G?A6߅@6ڌ@6hٱ6 BAHRS rotation from veh to nav: [[-0.297884,0.941858,0.155461],[-0.927779,-0.323983,0.185098],[0.224703,-0.089096,0.970346]]6Hӿ#?&?]$ԿK? ?ζ  ?i6߅@I6^;6ECYN>yRETTbDbNbVDb#9yj=%jY=rPExceeded connect timeout, disconnecting.-2Acoustic response timeoutٔn}9AIA=E&FyAM;EM>QQ 5}4U=?Q 94Uݰ!)U|YyQ I?UUDIUq;iU;Uy4yBɮJB˼E*jBji?iziJiƷ<i k@k@k@h12fA:fABfAJfEzt?ZuZuZqZui))顉iIDiDiE}h E}\EyEy"E}G:*E}9VEyZEyBE}/_;a2E}2_;aJE}x ;a:E}y ;a_:IIO>Iq2Acoustic response timeoutԡ z@я,('G?Ab0@b&ތ@bdٱbo|н nAHRS rotation from veh to nav: [[-0.297722,0.940443,0.164099],[-0.928561,-0.325187,0.178961],[0.221665,-0.099096,0.970074]]bH ӿ ?5?ƶ@Կ .? _?Z^ ?ib0@Ib^;bGCyY>y(wE yuZd;O??> ףp=?uj=uq q9ubX9?~jt?%CԿYuE>yquZu{BuB u?B)uBqYṵBbDbVD"#9y^%%=ٔ;Q->9I=&Fy[[:E>Q 54趉?Q 94޵!)Y>Q E:yQ I?bDI~ ;i ;蜋4yɮQB*jBji?iziJiƷ<i k@k@k@h k@k@k@h%%=%%=-2Acoustic response timeout2f=9)?:f=9)?Bf=U@Jf=hd@ZMZMZIZUia)a)aaiiiiIqԡ}=a:IIOF>E}f E}[E}wEy"E}I@:*E}9VE}ɕ5ZEya@a@a@a@B r>B B EB ,%?B =B B B v;B (E  2Acoustic response timeout$Gя,RG?A:?@: :@:wtٱ:$ӽ FAHRS rotation from veh to nav: [[-0.315132,0.933031,0.173625],[-0.919115,-0.345627,0.189131],[0.236474,-0.099980,0.966480]]:H+Կc?W9?@ci`ֿn5?D?`Lh?i:?@I: _;8 H)JvAJHLLLLiPIPPIRُCiRs@ PT)TT V~vAVHTTXZvAIX)XiX)\I^nvA\\ \bC``i``Y`Yj@>yjhEbDvbVDv2#9yzZ%z=ٔ~EQ-~ ?9I=&FyE  ? 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B% >;B% EEvя,0/ݍG?A.q@.g@.!ٱ.e 2 :AHRS rotation from veh to nav: [[-0.389252,0.920087,0.043851],[-0.921079,-0.389297,-0.007866],[0.009834,-0.043452,0.999007]].Hؿ Zq?s?@zy@=ؿ#?Z??i.q@I.n_;.CCY^#1>y^DbDMuVDM+9y<%<=ٔQ->9I='Fy2E>Q 54C?Q 94+")YyQ I?DIJ;i[;4yɮB*j)Bj)i-?i5zi1JiUƷ<iQ k;k;k;hiԑ k<k<k<h2f:fBfJf`@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iI IAIqO=2Acoustic response timeout =}я, G?A2@2@23zٱ2S :AHRS rotation from veh to nav: [[-0.398854,0.909863,0.114298],[-0.916887,-0.397765,-0.033184],[0.015271,-0.118034,0.992892]]2HԆٿ?@B?#W@tٿ)F? |7?i2@I2xa_;0Yb>ybIDr=pv2Acoustic response timeoutbDvVD],9yٕ%H=ٔZQ->9I='FyԼE>Q 54AHRS rotation from veh to nav: [[-0.407210,0.898907,0.161697],[-0.913294,-0.402419,-0.062868],[0.008558,-0.173277,0.984836]]2Hڿ?}?@9:ٿ@`?-ƿƃ?i2e@I2kY_;0YF>yFDJ=J4>au@a} a}@a} a}@a} a}@a} a}@a} yuMbpw/Ŀn?uu&uV>q q)uMb@Mb@Mb@Iuiu‰uuu u)uuIubDFwVD,9y%%%D=ٔ%'9)I)=-'Fy)- EU>QQ 5]4U4?Q 9e4U14")U&Q Ae+:YaQ Ee:ye<Q Ie?UDIUj:iU>U4yBBɮBE*jBji?iziJiƷ<i kcBkcBkcBh kcBkcBkcBhZ Z5Z1Z=iI)I)IIQiQQIYiIqIO=2Acoustic response timeoutipAIpAEh ESE{E"EG:*E9VE:5ZEa@a@a@a@B`>BBDB=BBB*DB;B'Eԙ u Gn>u ȑC 5 !G91 Y5 x=Aiߙ Iߙ  2Acoustic response timeout[1я,n*G?APR$!@R@RZ ٱRߡ' bAHRS rotation from veh to nav: [[-0.414548,0.895459,0.162185],[-0.909394,-0.414275,-0.037124],[0.033947,-0.162879,0.986062]]RHڿ?w?@}ڿ`pa?:Ŀэ?iR$!@IRg_;RECYj>yjDIr<)r;tvAbD~wVD~,9y  -% ^=ٔ!Q->9I='Fy%E%>)Q 554-,?Q 954-7")- Q A= :Y9Q E=:y=Q I=?-DI-";i-I?-4yM?BɮMBI*jYBjYi]?ieziaJieƷ<ia k@k@k@hy kckckchZZZZi))项iIIIO=2Acoustic response timeoutE EfEhE"E*E9VEA{5ZEBE/_;a2E2_;aJE-;a:E-;a! я,DG?A2@2@2aB+ٱ2[Hս :AHRS rotation from veh to nav: [[-0.420102,0.900564,0.111798],[-0.906514,-0.422133,-0.005990],[0.041799,-0.103863,0.993713]]2Hڿl?@˞?`);ۿx`f?–~?i2@I2!V_;0Yz>y~SD|bD-xVD-@-9yE;%EG=ٔMQ-M>9III=U'FyQUyEU>YQ 5e4]$?Q 9e4];")]Q Am9YiQ Emj:ymQ Im?]DI]:i]O?]4yqɮuBy*jBji?iziJiƷ<i k#Kk#Kk#Kh kCZkCZkCZhZZZZi))iII IOM=2Acoustic response timeout)IY>)a>Q 2Acoustic response timeoutԉ A A B B B DB #>B =B B B ;B MEE f E QE oE "E I@:*E v9VE 5ZE BE R;2E R;JE ::E : Cя,u^G?A:%@:@: ٱ:5 JAHRS rotation from veh to nav: [[-0.400180,0.915393,0.043712],[-0.915818,-0.401207,0.017609],[0.033656,-0.032985,0.998889]]:HٿJ?@da?aN_ٿ ?`j;?@u㠿?i:%@I:֝_;:FCYV >yV D\\bDjxVDjp-9yr<%vQ=ٔvH9xIx=z'Fy|4e=E> Q 54 ?Q 94 ?"Y) pQ A}9YyQ E}>:y}Q I}? 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Df?i6W@I6>_;6BCYJ>yJ/Daa aa aa aa% a%a% y%S㥛/$?{Gz%$%,=%#! !9%X9v|?5^?S?Y%y%=%>%uB%wB %B)%B%Y%BbD=yVD=-9yML(<%MB=ٔU;Q-U>9QIQ=U'FyY]E]>aQ 5m4e~?Q 9m4eC")eGQ AmT:Yu=>Q Eu;yuQ Iu?eDIeX:ie@:en4yyɮ}B*jBji?iziJiƷ<i k:k:k:h k:k:k:h2fK>:fK>Bf8 ?Jfa)@Z]Z]ZYZ]ii))顱iIIIO=M2Acoustic response timeoutABmb>BiBmDBm,>Bm=BiBm+DBm;BmeEEh ESExE"EG:*E9VEe5ZEBE/_;a2E2_;aJEl:a:Em:a iԙ  2Acoustic response timeoutя, G?A>e@>[@>ðٱ>[ JAHRS rotation from veh to nav: [[-0.397040,0.914710,0.075264],[-0.917547,-0.397522,-0.009121],[0.021576,-0.072679,0.997122]]>HiٿME?@yD?\ pٿ@㭂 ?@l?i>e@I>jG_;>CCYzJ >yzD~a=~a=bDeRzVDe.9y%E=ٔY=Q->9I='Fy<E>Q 54?Q 94D")YyQ I?DI :i:4yɮB*jBji?iziJiƷ<i k;k;k;h k;k;k;h2f):f)Bf)Jf-V@qZZZZi))iII)IQO=ԙU%=U<]2Acoustic response timeoutIqbE55jE55rE5ȏ22E EWEtE"E*E9VE5ZEa@a@a@a@ Cgя,ŎG?A2RV@2HQ@2u ٱ2u۽ :AHRS rotation from veh to nav: [[-0.379937,0.918205,0.112016],[-0.924384,-0.381348,-0.009386],[0.034099,-0.107112,0.993662]]2HPؿ`a??@@hؿ8pu?k@?i2RV@I2%_;2BCYFB=yFWDI5<)54<15AbDE&{VDEq.9y %L=ٔFQ->9I='Fy<=E>Q 54 ?Q 94=D")YyhǽQ I? DI:i:4yɮB*jBji?iziJiƷ<i kC:kC:kC:h kS:kS:kS:h2f :f Bf Jf RX@ZZZZi)))))11i19I9IQIa2Acoustic response timeoutO=) m 2Acoustic response timeoutBe a>Ba Be DBe w>Be =Ba Ba Be ;Be ^EB)B)B)B)B)C-95E f E SE E "E I@:*E 9VE 5ZE BE R;a 2E R;a JE a :E a я,jߎG?AVC@V9߉@VnٱV< ^AHRS rotation from veh to nav: [[-0.392330,0.910474,0.130822],[-0.917974,-0.396577,0.007066],[0.058314,-0.117319,0.991381]]VH ٿ`"?Ⱦ? `aٿ|?Yۭ? d?iVC@IVg6_;TYvF>yvDbDm{VDm.9y1=%H=ٔcsQ->9I='Fy E>Q 54%?Q 94\D")ܿYyQ I?DIi:%4yɮB*jBji?iziJiƷ<i k<k<k<h k<k<k<h2f!:f!Bf!Jf%ܠ@Z5Z5Z1Z=iI)I)IIIiIQIYIiIO=I2Acoustic response timeoutyIa>)e>ԡ uя,G?A6ӻ@6ɶ@6#ٱ6vR@ >AHRS rotation from veh to nav: [[-0.397446,0.909434,0.122339],[-0.917388,-0.396831,-0.030412],[0.020890,-0.124319,0.992022]]6H oٿ ?Q?=[`eٿq$d?aӿ?i6ӻ@I6R_;6DCYJ>yJIDLN@AbDV|VDV.9y^c;%^Z=ٔb=Q-b>9`Id=f'FydfWEf>hQ 5n4j)?Q 9n4jD")jֿYpyr7 Q Ir?jDIj;ij+;jX,4ytɮtt*jBji?iziJiƷ<i  k;k;%2Acoustic response timeoutk;h)2f9:f9Bf9Jf=@ZMZMZIZMiY)a)aaaiaiIiIIOk=DqDu4=E EQE}E"E*Ev9VEs5ZEa@a@a@a@2Acoustic response timeout я,uG?A2@2@2r<ٱ2 :AHRS rotation from veh to nav: [[-0.389492,0.914443,0.109956],[-0.920542,-0.382617,-0.078784],[-0.029973,-0.131905,0.990809]]2Hqؿ C?@&? u|ؿ5+!`E@?i2@I2g&_;2@CY^S>ybDlyen?:vV-?e>eTeeC eBeB e)eBaYeׯBbD}|VD} /9y%>=ٔ=Q->9I='Fy<E>Q 54+?Q 94E")޿Y>O>Q E;ynQ I?DI:i;34yɮB*jBji?iziJiƷ<i ks<ks<ks<h kXkXkXh2f>:f>Bf@JfK?Z%Z%Z!Z%i))顱iIIIO== -2Acoustic response timeoutB d>B +CB DB #>B =B B B L;B  EEh EgE{E"EG:*E&9VE:5ZEBE/_;a2E2_;aJE1;a:E1;a1a  2Acoustic response timeoutя,P-G?A2@2މ@28<ٱ2 :AHRS rotation from veh to nav: [[-0.392875,0.913632,0.104522],[-0.919153,-0.386632,-0.075324],[-0.028407,-0.125664,0.991666]]2H$ٿ zy^Dn'n(n# n%bDv}VDv/99yU<%]T=ٔ]$Q-]>9aIa=e'FyamEm>iQ 5}4m{.?Q 9}4mF")mUYyy}oQ I}?mDIm;im;m:4yɮB*jBji?iziJiƷ<i ksVksVksVh kVkVkVh2f:fBfJfN ?ZZZZi))i I I!I9Iy>>O=a =2Acoustic response timeoutԑEM l EM [EM EI "EM V:*EM 9VEM ~5ZEI aU @aU @aU @aU @ jя,*GG?A2P@2F@2F\ٱ2D :AHRS rotation from veh to nav: [[-0.368556,0.922387,0.115625],[-0.929438,-0.367986,-0.027025],[0.017621,-0.117426,0.992925]]2H l׿ 1??`׿YK ? ?i2P@I29^;0Y^J >ybDb=`bDj9~VDj/9yrS;%rL=ٔvHQ-v>9tIt=z'Fyxz=Ez>|Q 54~1?Q 94~G")~Y y VrQ I ?~DI~:i~:~A4yBBɮB*j)Bj)i-?i-zi)Ji-Ʒ<i1 kcWkcWkcWhA kcWkcWkcWhQԙ2f:fBfJf? ?ZZZZ5iA)A)IIIiIQIqI2Acoustic response timeoutIO=M 2Acoustic response timeoutA A B e>B B DB =B B B B ;B ĘE! 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Ė?` ׿@΍g@?i2@I2J_;0Y^k>ybEI=)C=!%AbD- VD-o99yi =%F=ٔL9I='FyLE>Q 54|?Q 94M")]Q A9YQ E:y4@Q I?DI2:i?ۍ4yɮB*jBji?iziJiƷ<i2Acoustic response timeout k"k"k"hZ-Z-Z)Z-iA)A)AAAiIIIQIiIyO=AqB5 ]>B1 B5 DB5 ">B5 =B1 B1 B5 ;B5 ĘE 2Acoustic response timeoutEE f EE TEE tEA "EE I@:*EE 9VEE 5ZEA BEE R;aU 2EE R;aU JEE :aU :EE :aU ԙ lG % 2L9! Y% KBA5fyя,]lG?AVp@Vf@V=ٱV- ^AHRS rotation from veh to nav: [[-0.371884,0.928133,0.016489],[-0.927613,-0.370885,-0.044485],[-0.035172,-0.031838,0.998874]]VH ׿C?e?`׿`Ʀ@ `M?iVp@IV\_;V>CYfh>yfEbDrVDr99yz%zV=ٔ~<]=Q-~>9|I='FyE> Q 54 s?Q 94 L") `Q A9YQ E:y3@Q I? DI ;i ? ލ4y!ɮ-B)*j9Bj9i=?iEziAJiEƷ<iA k'k'k'hY k<k<k<hiZZZZi))顙iIIIYyO= 2Acoustic response timeoutԡiIqAI>)> Qя,TG?A62Acoustic response timeout}@}@};̖<ٱ}dD AHRS rotation from veh to nav: [[-0.363132,0.930961,0.038042],[-0.931556,-0.361951,-0.034562],[-0.018407,-0.047988,0.998678]]}H =׿n?-z?N6*׿@#Aْ𑨿 ,?i}@I}6_;}BCE_ EWEE"E&:*E9VEU5ZEa@a@a@a@YCb>y Eaa aa aa aa aa ysh|??ʡE?Zd;O?)>-2>j< 9}?5^I?333333? r?YMb>y=C>BB )BYBbDVD*:9y mB% -=ٔQ->9I='Fy<E>!Q 5-4%rs?Q 9-4%O")%ZQ A5T:Y5g>Q E50;y5ʿQ I5?%DI%;i%;%!4y9ɮ=B9*jQBjQiU?iUziQJi]Ʒ<iY k<k<k<hi k=k=k=hy2fxO>:fxO>Bf @JfۺU@ZZZZi))项iIAIIO&>2Acoustic response timeout! wя, G?A2kA@2a<@2Ԧ9ٱ2e >AHRS rotation from veh to nav: [[-0.353439,0.933763,0.056291],[-0.935389,-0.353501,-0.009176],[0.011331,-0.055897,0.998372]]2Hֿb?2Ҭ?@Ÿֿʂ4?`?i2kA@I2#M_;2ACYFp>yFEHHN=LbDV&VDVg:9yZ2=%^z=ٔ^Q-^?9`I`=b'Fy`f=Ef?dQ 5j4fs?Q 9n4fQ")fWYlynǿQ In?fDIf ;if ;f4yv4BɮzBzE*jBji?iziJiƷ<i ks@ks@ks@h2f :f Bf Jf 0T@Z=Z=Z9Z=iI)I)IQQiQYIYIIBc>BBDBw>B=BB+DB`;BEO=Qu2Acoustic response timeoutE c E VE vE "E g5:*E 9VE -5ZE BE ?;a2E ?;aJE C:a:E D:ayԩ % 2Acoustic response timeoutUя,4G?A2@@2;@2 :ٱ23 :AHRS rotation from veh to nav: [[-0.353541,0.934527,0.040836],[-0.935419,-0.353179,-0.016004],[-0.000534,-0.043857,0.999038]]2Hhֿ ? ? zֿxc#A xt?i2@@I2/_;2@C@Ybk>ybEv(vv' t)tbD~VD~:9y L% E=ٔ09I='FyvVE>!Q 5-4%s?Q 9-4%~T")%RY)y51ɿQ I5?%DI%y:i%:%4y9ɮ=B9*jQBjQiU?iUziJiƷ<i k$k$k$h k;k;k;h2f):f)Bf)Jf-T@Z]Z]ZYZeiq))顑iIIIO=ԩ2Acoustic response timeout @ADzDAAEk E\EE"EmR:*E9VE5ZEa%@a%@a%@a%@ 1я,NG?A6R@6H@6u<ٱ6, >AHRS rotation from veh to nav: [[-0.343506,0.938785,0.026206],[-0.938758,-0.342422,-0.038482],[-0.027152,-0.037820,0.998916]]6Hտ` ?՚?N =տೣ@͛`"]?i6R@I6%_;6ACYJk>yJEbDR VDR:9yZ%:%ZP=ٔ^=Q-^>9`I`=b'Fy`b]<Ef>dQ 5j4f~s?Q 9j4fV")ftMYlynTɿlQ In?f DIf*;if*;f4ytɮtt*jBji?izi Ji Ʒ<i  kS#kS#kS#h! kAkAkAh12fA:fABfAJfE=W@ZUZUZQZUia)a)iiiiiqIqII2Acoustic response timeoutOm=9AA@AB_>BBDB">B=BB*DB;BEE 2Acoustic response timeouta E% b E% bE% oE! "E% 1:*E% 9VE% 5ZE! BE% 9;a5 2E% 9;a5 JE% O;a5 :E% P;a5 Aя,hG?A.@.w@. =ٱ.D :AHRS rotation from veh to nav: [[-0.339908,0.939920,0.031813],[-0.939639,-0.338005,-0.053211],[-0.039261,-0.047980,0.998076]].H` տ ? I? տu>`ɐ>?i.@I.7_;.@CYfh>yfEAIMAbDUVDU;9y%>=ٔ 9I='Fy <E>Q 54s?Q 94Y")HYyLȿQ I?DI06;iM7;4yɮB*jBji?iziJiƷ<i kc&kc&kc&h2f:fBfJf!Y@ZZZZi))iIIIOE=i2Acoustic response timeoutԑ я,G?A*2Acoustic response timeout]@]@]C=ٱ]O mAHRS rotation from veh to nav: [[-0.328387,0.943993,0.032230],[-0.943333,-0.326048,-0.061772],[-0.047804,-0.050689,0.997570]]]HIտ15?|?/Կy@?i]@I]|"_;YYq>yEԑParsing RMC sentence: $GPRMC,190022.00,A,3646.38599,N,12152.15711,W,0.778,80.99,251025,,,A*4A )G?A?5#9ZrbB@n@^w^hGPS fix at 20251025T190022: (36.773100, -121.869285)>?DD=bE]z5jE]?5rE]+2Ed E[EE"E9:*E9VE5ZEa@a@a@a@yUʡE?Q?y&1U=UuyU->U;_>U9BUB U\B)U!BQYUBbDmVDmJ;9y<%3=ٔי9I=%'Fy!%'<E%>IQ QU?٫M DQ M]?MBQ U]?MIAQ Y]?Mh@Q ]]<9MQ E:yһQ I?MIM;g;4yBɮBCEQFix residual: 2.1 %DT, over the last 592.5 m. Residual distance 12.6 m at bearing 139.6 degrees. Fix at (36.7731, -121.8693) with 107.0 m made good.*j Bj i ?iziJiƷ<i k"k"k"ha2f}>:f}>Bf}>Jf}9@q213ZZZZ\Received valid gps time fix: 1761418880.00. Resetting abort timer.i))iII IAO<>I>)>2Acoustic response timeout PƦя,ybEbDeVDe;9yF%f=ٔ0Q->9I='Fy(=E>Q 5;4O?Q 9;49#)׍=Yy6Q I?>I:i:s;4yɮB*jBji?iziJiƷ<i kc kc kc h kC#kC#kC#h!2f1:f1Bf1Jf5la@ZEZEZAZEiQ)Q)YYYiYaIaByByB}DB}w>B}=ByByB};B}nEB=*CB=*CB9B9B9C=ˆ5II1IQ]2Acoustic response timeoutEg ETEE"EC:*E9VE(5ZEBEX;a2EX;aJE:a:E:a!Qi I  2Acoustic response timeouty O5 >p`я,"G?A2t@2k@2 <ٱ2\ܽ :AHRS rotation from veh to nav: [[-0.313168,0.944472,0.099486],[-0.949660,-0.310493,-0.041723],[-0.008517,-0.107544,0.994164]]2H Կ@9?w?`cӿ\@*q0?i2t@I2)_;0qY]Y>yeE quA}=ybDVD;9yE%0=ٔQ->9I='Fy&y;E>Q 5;4٣?Q 9;4>#)$>YyQ I?J>I<;i/;;4yɮ'B*j)Bj)i-?i-zi)Ji5Ʒ<i1 kskskshA kkkhQ2fi:fiBfiJfmb@ZuZuZyZ}i))顑iIIIAO>ԡ2Acoustic response timeoutEc ESEmE"Eg5:*E9VE5ZEa%@a%@a%@a%@ Eя,NђG?A2 @2@2<ٱ2Uѽ :AHRS rotation from veh to nav: [[-0.310712,0.946227,0.090065],[-0.950233,-0.306962,-0.053221],[-0.022712,-0.102119,0.994513]]2Hӿ~G?? Nh Cӿ?A`~$ ?i2 @I2 H_;0 <)@@@@@@iDIDDIFُCiFr@ DD)HH HHJylFHLLIL)LiP)PIPRP PV CTTiTTYTr2Acoustic response timeoutYrP>yvDbD]VD;9yѼ%[=ٔJ=Q->9I='Fy;E>Q 5;4ϥ?Q 9;4B#)l>YyٵQ I?y?I:i:ː;4yɮ,B*jBji?iziJiƷ<i k#!k#!k#!h k3!k3!k3!h!2f9:f9Bf9Jf=|R@19= r=NAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18EoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnUPAggregate::uninitialize marl:UpdateSpeedZ]Z]ZYZ]ii)q)qqqiyyIIIO== B`>BBBB=BBBi;BE12Acoustic response timeoutE- p E- RE- tE) "E- d:*E- 9VE- 5ZE) BE- ;a5 2E- ;a= JE- $:a= :E- %:a= Y pя,XG?AF~@Fy@F<ٱF} RAHRS rotation from veh to nav: [[-0.316833,0.947200,0.049284],[-0.948015,-0.314620,-0.047767],[-0.029739,-0.061856,0.997642]]FH@FԿvO?;?#V@"Կts`?iF~@IFP3_;FACY]W>y]E%$ )I,i(bDVD<9yK<%K=ٔ׎9I='Fy_E>Q 5;4?Q 9;4PG#)̞>Yy Q I?+?Id:i:;4yɮ(B*jBji?iziJiƷ<i1 kS%kS%kS%h2f:fBfJfa@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi1)1)999i9AIAIyI2Acoustic response timeoutO >aԉ 2Acoustic response timeout Wя,'G?A2V@2M@2zB<ٱ2Wp :AHRS rotation from veh to nav: [[-0.309747,0.950759,0.010689],[-0.950541,-0.309366,-0.027647],[-0.022979,-0.018724,0.999561]]2Hӿl?H?@jӿ OLJu,f?i2V@I2 z_;2?CEra EpErvEp"Er%.:*EpVEr-5ZEpav@av@av@av@YM*_>yM8 EI=)=Aԑy)\(~jt~jtGa 91Zd? rh?:vY"[>yC=T BB eB)BYBbD4VDE<9y%<%6=ٔvQ- >9 I ='FyD<E>Q 5%;4?Q 9%;4I#)o>Y%l>Q E-f;y-QʿQ I-?E?I:i:;4y1ɮ5%B1*jABjIiM?iMziIJiUƷ<iQ k"k"k"ha k8k8k8hq2f5>:f5>BfE0>Jfw@ZZZZi))顩iIIIO>2Acoustic response timeout я,c|G?A2>@25@2Ѵ=ٱ2 :AHRS rotation from veh to nav: [[-0.298837,0.954235,0.011507],[-0.953641,-0.298159,-0.040866],[-0.035565,-0.023185,0.999098]]2H& ӿ ??`: ӿ`o줿`5w ?i2>@I2Z_;2BCY^Q>ybEbDjVDj{<9yr%rt=ٔv0=Q-v?9tIt=v'Fyxz =Ez?|Q 5;4~?Q 9;4~K#)~>Yy ȿQ I ?~X?I~:i~:~>;4yɮ+BBE[>BABABABE=BABABE;BEE*jBji?iziJiƷ<i kC kC kC h2f:fBfJf@ZMZMm2Acoustic response timeoutZQZui))顉iII ݑCIIeۀGqJ9Y'AAO>Ed EYE}E"E9:*E*9VEs5ZEBEF;a2EF;aJE:a:E:aI>)t>I  2Acoustic response timeoutя,W9G?A 2@2@2<ٱ2!a >AHRS rotation from veh to nav: [[-0.298552,0.953228,0.047152],[-0.954229,-0.297220,-0.033271],[-0.017700,-0.054927,0.998333]]2Hzӿ׀?]$? `ӿnY?i2@I2y4_;2@CYFM?>yFADbDRVDR<9yV1;%ZN=ٔZN8Q-Z>9XI\=^'Fy\^Փ:Eb>`Q 5f;4bv?Q 9f;4b:N#)bu>YhyjɿQ Ij?b@o?Ib:ib:b";4ylɮr5Bp*jxBjxiz?izzixJi~Ʒ<i| k!k!k!h  k!k!k!h!2f1:f1Bf1Jf5n@ZEZEZAZEiQ)Q)QYYiYaIaI9IqO=i>e%=e=m2Acoustic response timeoutԙEo EUEwE"E`:*EP9VEɕ5ZEa @a @a @a @ דя, 3SG?A6 [@6V@6rٱ6`R >AHRS rotation from veh to nav: [[-0.291311,0.952747,0.086090],[-0.956514,-0.291486,-0.010802],[0.014803,-0.085492,0.996229]]6Hդҿ |? ?@ÛҿP?@⵿`?i6 [@I6>_;6ACYFM>yJ7D LLPR=PbDVKVDV<9f2Acoustic response timeouty^=%fI=ٔj)Q-j>9hIl=n'Fylnz<Er>pQ 5v;4rd?Q 9v;4rP#)r_>Yxyz8ʿQ Iz?rR?Ir>:ir:rd;4y~Bɮ~0BME*jBji?iziJiƷ<i kS!kS!kS!h) k!k!k!hA2fQ:fQBfQJfU ,@Z]ZeZaZeiq)q)qyyiyyIIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO=B=V>B=)CB=DB=M>B==B9B9B=Z;B=Eu2Acoustic response timeoutE t E SE rE "E s:*E 9VE 5ZE BE 4;a 2E 6;a JE l:a :E n:a ! Nя,mG?A2s@2jݍ@2hٱ2j :AHRS rotation from veh to nav: [[-0.275312,0.953368,0.123662],[-0.960640,-0.277781,0.002849],[0.037067,-0.118010,0.992320]]2H@ѿ@? O?@*ѿdVg?p?5?i2s@I25_;2@CY^ .>y^DbDjVDj<9|y~R%F=ٔ-^Q->9I = 'Fy  $=E >Q 5;4_?Q 9;4 S#)II>Y!y%[ɿQ I%??I;i;;4y)ɮ-@B)*jABjAiE?iEziAJiMƷ<iI k%k%k%hY k%k%k%hi2f:fBfJf@ZZZZi))顩iIIIOu=2Acoustic response timeout! ԑԡ  2Acoustic response timeoutťя,醓G?A2c@2Z@2]Rٱ2 :AHRS rotation from veh to nav: [[-0.283104,0.952646,0.110985],[-0.959003,-0.282728,-0.019439],[0.012860,-0.111938,0.993632]]2H`_ҿ|?i?@' 8ҿ@瓿\V?@?i2c@I2$S_;0YB->yB|DEbd EbXE`E`"Eb9:*Eb9VE`ZE`af@af@af@aj@yyuS㥛?9I='Fy$E>Q 5;4,?Q 9;4.S#)+J>Yh=Q E;yqܽQ I??I:i:;4yɮAB*j Bj i?iziJiƷ<i kC$kC$kC$h) kC$kC$kC$h92fMO=:fMO=BfM'@JfMz=l>Z]Z]ZYZ]iq)q)qqqiyyIII!O=ԡ2Acoustic response timeout я,ѠG?A2`@2[@2<ٱ2Ľ :AHRS rotation from veh to nav: [[-0.290668,0.952674,0.089015],[-0.956778,-0.288485,-0.036764],[-0.009345,-0.095854,0.995351]]2HOҿN|?ɶ?`vҿ`Ңf#≸`?i2`@I2(_;2BCYB>yBDF=F=IJ<)J49\I\=^'Fy\bӬEb>dQ 5f<4f?Q 9j<4fMS#)fK>YhBrN>Br(CBrDBr#>Br=BpBr)DBpBrEyjQ Iz?f?Ify;if;f<4yBɮNB*jBji?iziJiƷ<i k k k h1 k9k9k9hA2fQ:fQBfQJfU l>ZeZeZaZeiy)y)yyyiyII52Acoustic response timeoutI9Oe=Eh EMEzE"EG:*E%;VE5ZEBE/_;a2E1_;aJE}ynDbD VD >9y<%D=ٔQ-%>9)I)=-'Fy)5(;E5>9Q 5E<4=;?Q 9M<4=oS#)=M>YIyMQ IU?=?I=;i=';=C<4yeBɮeKBa*jyBji?iziJiƷ<i k9k9k9h2f:fBfJfzd>ZZZZi))i I QIIO=E2Acoustic response timeoutԁbEe5jEeT5rEeo2Ea ETEyE"E%.:*E9VE5ZEa@a@a@a@ԩ я,1zԓG?A2;z@22u@2G?ٱ2U >AHRS rotation from veh to nav: [[-0.287707,0.954829,0.074340],[-0.957714,-0.287074,-0.019294],[0.002919,-0.076748,0.997046]]2H`iҿ`?? l_ҿ@g?@?i2;z@I23+_;2@CYF>yF#DR2Acoustic response timeoutbDVɝVDVa>9y^fx%^P=ٔbQ-b>9`I`=b'Fy`fzA;Ef>hQ 5n<4j?Q 9n<4jS#)jUP>Y9y=Q I=?j ?IjgZ%Z%Z!Z%i9)9)999i9AIAIaԱIO=BABK>BBDB=B=BBB;BEB)CB)CBƔCBƣ=Bƣ=CƑ5U2Acoustic response timeout E e E PE E "E <:*E ?9VE 5ZE BE aL;a 2E cL;a JE :a :E :a 9 я,VG?A2i†@2`@25߼ٱ2 :AHRS rotation from veh to nav: [[-0.279154,0.955771,0.092603],[-0.959857,-0.280485,0.001413],[0.027324,-0.088491,0.995702]]2H`ѿ@?@Ѵ?&vѿ$W?`?`[?i2i†@I2_;2ACYB>yBmD HHJ>Ja=bDRVDR>9yV%ZK=ٔZsxQ-Z>9XI\=^'Fy\^I<Eb>`Q 5f<4bO?Q 9f<4bS#)bR>YhyjҽQ Ij?b?Ib~:ib:b*<4ynBɮrYBp*jxBjxiz?izzixJi~Ʒ<i| k%k%k%h  kS:kS:kS:h!2f1:f1Bf1Jf5_>ZZZZi))iIII IIiIIMpAOu=2Acoustic response timeout9q e 2Acoustic response timeoutя,4G?A,23@2.@2{ٱ2VĽ :AHRS rotation from veh to nav: [[-0.295357,0.949081,0.109589],[-0.953422,-0.300157,0.029868],[0.061241,-0.095663,0.993528]]2H ҿ^?@?@o5ӿ?Z?X}?i23@I2ie_;DN=DN<ERm ERUERsEP"ERY:*ERP9VERX5ZEPaV@aV@aV@aZ@2BCY~>y~Dy-?V-?V-5^>= 9J +?J +? ףp= Y=yH=Q&BB B)aBYǭBbDVD,?9y=%7=ٔQ->9I='FyE> Q 5<4 ?Q 9<4 T#) )>Y1>Q E;y/Q I? ݰ?I G ;i * ; :<4y!ɮ%PB!*j1Bj1i=?i=zi9Ji=Ʒ<i9 k:k:k:hQ k:k:k:ha2fuZ>:fuZ>Bfuai@Jfu(?ZZZZi))顙iIIIO=ԉ AA2Acoustic response timeout я, "G?A6@6핌@6/ٱ6- >AHRS rotation from veh to nav: [[-0.313414,0.944268,0.100651],[-0.948655,-0.316103,0.011567],[0.042738,-0.091858,0.994855]]BFN>BDBDBDBDBDBDBF;BFƙE6H@Կp7?DĹ?`[;Կh? ?@?i6@I6m=_;6@CYV>yV3D`bDbsVDb%?9yj.;%j^=ٔnN=Q-n>9pIp=r'FypvPEv>tQ 5z<4v̹?Q 9~<4vV#)v >Y|y~zQ I~?v?Iv#;iv;vbG<4y ɮ  *jBji?i%zi!Ji%Ʒ<i! k38k38k38hY2fi:fiBfiJfmt?Z}ZZZi))顙iIII2Acoustic response timeoutO=Eq EXEE"E2h:*E9VE5ZEBE͋;a2E΋;aJE:a:E:ai I A 2Acoustic response timeoutA Iя,;G?AB@B@BgٱB4 RAHRS rotation from veh to nav: [[-0.302100,0.948779,0.092485],[-0.952788,-0.303624,0.002541],[0.030491,-0.087351,0.995711]]BHUӿ`f\??@>}nӿDd?9?@\?iB@IB_D_;BACY~b+>y~DI<)?9yMt=%MC=ٔUU9QIY=]'FyY]Q<E]>aQ 5m<4e?Q 9m<4e:W#)e =YiyuQ Iu?eݻ?Ie:ie:e V<4yyɮ}CBy*jBji?iziJiƷ<i kkkh k#;k#;k#;h2f:fBfJf?ZZZZi))iIII)O=A-2Acoustic response timeoutEg E]EE"EC:*E9VE5ZEa@a@a@a@Ա 0я,/UG?A2=@24@2/ٱ2 :AHRS rotation from veh to nav: [[-0.312571,0.947497,0.067445],[-0.949712,-0.313113,-0.002641],[0.018615,-0.064879,0.997719]]2H (Կ`Q?D? d@ Կne?蛰`Q?i2=@I2Q-_;2?CB2Acoustic response timeoutYb>ybpDifbDeVDea?9y%E=ٔ9I='Fy׼E>ԹQ 5<4q?Q 9<4iX#)h=YyQ I??I:i:d<4yBɮKB*jBji?iziJiƷ<i kBkBkBh  kWkWkWh2f):f)Bf)Jf-@?Z=Z=Z9Z=iI)Q)QQQiQYIYIyIOu=Ie>)a>AyAyBU>B)CBBB=BBB;BEG!52Acoustic response timeout9Q}O9yYEAE i E ZE nE "E ,K:*E a9VE J5ZE BE te;a 2E ve;a JE 0;a :E 1;a 9 ]я,PoG?A2> @25@2ٱ2*f :AHRS rotation from veh to nav: [[-0.330229,0.941974,0.060282],[-0.943643,-0.330957,0.002226],[0.022047,-0.056150,0.998179]]2H@y"տ`$?Mݮ?`S2`e.տ;b? ??i2> @I2EU_;2BCYNQ>yNE2Acoustic response timeout9 bDiVD?9y `=%=ٔ嶻Q->9I='FyE>!Q 5-<4%ຸ?Q 95<4%+Z#)%0:Y1y5>Q I5?%:?I%] ;i% ;%z<4y9ɮ=1BAi*jaBjyi}?iziJiƷ<i kc;kc;kc;h2f :f Bf Jf _ ?Z5 Z= Z9 ZE iy ) )  i ! 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U,8 ܳ?ιq?i2A_@I2'_;2>CY^A>y^DaE@aE aE@aM aM@aM aM@aM aM@aM yE&1?Zd;Oi|?5?E=EjE=A A)EMb@Mb@Mb@IEiE‰EEE E)EEIEbDeVDeAG9yu5)>Թ%?=ٔ&Q->9!I!=%(Fy)-g;E5>YQ 5eA4]?Q 9mA4]#)] Q A+:YQ E:yr4@Q I?]y&AI]+]vA4yɮB*jBj!i%?i%zi!Ji%Ʒ<i! k9k9k9h9 k9k9k9hIZZZZi))iIII)O]>-2Acoustic response timeoutD=D<Ei EQEfE"E,K:*Ev9VEt5ZEa@a@a@a@A oя,+G?AR2Acoustic response timeout>s_@>im@>ٱ> ^AHRS rotation from veh to nav: [[-0.841135,0.535528,0.075516],[-0.536742,-0.843732,0.004890],[0.066334,-0.036420,0.997133]]>H` #?U?@,`\t?@F??i>s_@I>_;>=CYf=yfDhhbDrVDrDG9yz%zS=ٔz9|I|=(Fy <E> Q 5A4 ?Q 9A4 #) Q A :YQ E:B%l>B%+CB%DB%,>B%=B!B%+DB% ;B%Ey5@@Q I5? &AI ;i nR? I~A4yAɮEBA*jQBjQi]?i]ziYJi]Ʒ<ia kS:kS:kS:hq kc:kc:kc:hZZZZi))项iIII9O==a52Acoustic response timeoutԉE b E WE wE "E 1:*E 9VE ɕ5ZE BE 9;a 2E 9;a JE :a% :E :a% Թ Wя,EG?A2<`@2* n@2"ٱ2[F :AHRS rotation from veh to nav: [[-0.837052,0.546010,0.034904],[-0.545682,-0.837774,0.019141],[0.039693,-0.003024,0.999207]]2H` x?ޡ?:v` ę?R?qh?i2<`@I2_;0YNA>yRDIV<)V<bDZ9VDZRG9y%q=%%G=ٔ%D=Q-%>9)I)=-(Fy)5<E5>9Q 5EA4=}?Q 9EA4=#)=1Q AE9YAQ EM:yMD@Q IM?=Q'AI=:i=0?=A4yUBɮUBQ*jaBjiim?imziiJimƷ<ii k#<k#<k#<h kC@kC@kC@hZZZZi))iIIIO5=ԑߍ%=ߍC=2Acoustic response timeoutԹE 2Acoustic response timeoutE% q E% ZE% sE! "E% 2h:*E% a9VE% X5ZE! a- @a- @a- @a- @) ׁя,|_G?A2`@2wn@2凼ٱ2; :AHRS rotation from veh to nav: [[-0.833887,0.551814,0.011546],[-0.551685,-0.833957,0.012612],[0.016588,0.004147,0.999854]]2H4u? Z?gƯ@Rԉ??p??i2`@I2Oz_;0YBW>yBDbDNVDNG9yVL%VR=ٔVs=Q-Z>9XIX=Z(FyX^p<E^>`Q 5fA4b ?Q 9fA4b#)b)Q Af9YdQ EfR:yf@@Q Ij?b'AIb<:ib?bA4ylɮnBl*jtBjtiz?izzixJizƷ<ix k<k<k<h  k<k<k<hZ5Z5Z1Z5 i))iII IAIYO=uG#]9YiRA2Acoustic response timeoutBq>B,CBDBw>BBB,DBY;BEI ᫝я,WyG?Aɰp;(:M`@:Cn@:;ٱ:m FAHRS rotation from veh to nav: [[-0.835753,0.548767,0.019284],[-0.549102,-0.835100,-0.033091],[-0.002055,-0.038245,0.999266]]:H|@?N?>#`C`Ҕ`?i:M`@I:V_;::CYN>yNDR=PbDXVDXyb6=%bI=ٔb;=Q-f>9dId=f(Fydj%Ej>lQ 5rA4n ?Q 9rA4n{#)n$5Q Ar9YpQ Er*:yr+@Q Iv?n(AIn ;in@nA4yxɮzBx*jBj i ?i zi Ji Ʒ<i  ksEksEksEh! kEkEkEh1ZMZMZIZMia)a)aaaiiiIqIIOn=2Acoustic response timeoutEf ETEE"EI@:*E9VE5ZEBER;a2ER;aJE:a:E:aqԙ 2Acoustic response timeout я,v2G?A2^@2l@2ٱ2  :AHRS rotation from veh to nav: [[-0.847454,0.528584,0.049199],[-0.530793,-0.845251,-0.061713],[0.008965,-0.078413,0.996881]]2HW*?0?BL `˘@'\?`@r?i2^@I2eZ_;2>CLYj>yjD ppr=paa aa aa aa aa yA`"?Q?FxɿY=\=K 97A`?oʡ?(\ȿY>y->GmBB mB)BYaBbDVDG9y;%;=ٔ@μQ->9I=(FyJE>Q 5A4?Q 9A4#):Q AT:Y>Q E:yQ I?++AIwX;id; A4yɮB*j1Bj1iU?iUziQJi]Ʒ<i kSPkSPkSPh2f>:f>Bfm>Jf@ZMZMZIZMiY)Y)aaaiaiIiII 2Acoustic response timeoutOE0>Ea EQEE"E%.:*Ev9VE5ZEa@a@a@a@A я,8G?A22Acoustic response timeout6^@6l@64ٱ6 BAHRS rotation from veh to nav: [[-0.849182,0.522998,0.073237],[-0.528080,-0.842178,-0.108935],[0.004706,-0.131181,0.991347]]6H~,@f??@ /㻿`~Fs? ?i6^@I6<_;6=CBbs>B`BbDBbM>Bb=B`B`Bbl;BbɚEYn1>ynbDbDzQVDzG99ye=%eQ=ٔet29iIi=m(Fyiu,Eu>yQ 5A4}?Q 9A4}#)}2@YyQ I?}-AI}:i}:}A4y BɮBI>)>rE*jBji?iziJiƷ<i k@k@k@h k@k@k@h2f:fBfJf@ZZZZi ) )iII1IAO}=iԑ2Acoustic response timeoutE c E ME jE "E g5:*E 9VE ـ5ZE BE ?;a 2E ?;a JE :a :E :a Թ я,ƞG?A29`@2 /n@2N<ٱ2I :AHRS rotation from veh to nav: [[-0.836296,0.545529,0.054835],[-0.547949,-0.828135,-0.118090],[-0.019010,-0.128805,0.991488]]2Ht?@\?ˈ@!;|w|`D?i29`@I2X_;2>CYF0%>yF%DHHbDR²VDRH9yV!%ZW=ٔZ=Q-Z>9\I\=^(Fy\b~=Eb>dQ 5fA4f﷉?Q 9jA4f#)fEYhyjQ Ij?f0AIf6:if:fA4yrBɮrBp*jxBjxiz?izzi|Ji~Ʒ<i| k;k;k;h k;k;k;h!2f1:f1Bf1Jf5I@ZEZEZAZEiQ)Qԙ)顡iIIIOm=u2Acoustic response timeout% 2Acoustic response timeout) E r E UE ~E "E k:*E P9VE 5ZE a @a @a @a @Ϸя,"G?AB`@Bn@B<ٱB2 JAHRS rotation from veh to nav: [[-0.831116,0.555250,0.030722],[-0.555682,-0.827082,-0.084580],[-0.021554,-0.087367,0.995943]]BH ? u?%tw` @]?iB`@IBAE_;B=CYnA0>ynDIv<)v<bDz8VDz=H9y5<%5B=ٔ56;Q-5>99I9==(Fy9E_<EE>IQ 5MA4M淉?Q 9UA4M{#)MKYQyU Q IU?M3AIMy:iM;MA4yaɮeBa*jqBjqiu?i}ziyJi}Ʒ<iy k<k<k<h k<k<k<h2f:fBfJfx@ZZZZi9)9)999i9AIIIaIqO=!2Acoustic response timeoutBA<Bq>BBDB#>BBBB;BEQy я,G?A2`@2n@2Oٱ2e9; :AHRS rotation from veh to nav: [[-0.837532,0.545806,0.025195],[-0.546388,-0.836664,-0.038120],[0.000273,-0.045693,0.998955]]2H ?w?̙?| @1?eq?i2`@I2s_;0Yf2>yjDbDr=VDr@H9yz;%zN=ٔ~aQ-~>9|I=(FytE> Q 5A4 ݷ?Q 9A4 C#) PYy Q I? k6AI j;i ; A4y!ɮ%B)*j9Bj9iE?iEziAJiEƷ<iA k3@k3@k3@hY ksVksVksVhi2fy:fyBfyJf}4C@ZZZZ i))顩iII2Acoustic response timeoutIO=QEf EWE}E"EI@:*E9VEs5ZEBER;a2ER;aJE:a:E:a>ԁԩ 2Acoustic response timeout Dя,{G?Aɰ;2^@2ql@20e;ٱ2z BAHRS rotation from veh to nav: [[-0.849750,0.526934,0.016322],[-0.527171,-0.849078,-0.034026],[-0.004071,-0.037517,0.999288]]2H@&1?? +kp`}5 *?i2^@I2L_;0YVn:>yVEDZ=Xy"~?ʡE?Mbp>> 9Mb?7A`?e;OοY>y>t>BB ϫB)BYBbD)VD6H9y <%<=ٔ $9I=(FyWE>Q 5A4z۷?Q 9A4#)WY>Q E:yr߿Q I?9AI;i:A4y ɮ B *j!Bj!i%?i-zi)Ji-Ʒ<i) kCYkCYkCYhA kCYkCYkCYhQ2fe>:fe>BfeT@Jfe@ZuZuZqZui))顉iIIIIYO=2Acoustic response timeoutbEMŐ5jEMړ5rEM<2Eg ESEoE"EC:*E9VE5ZEa@a@a@a@1 я,OX.G?A&2Acoustic response timeoutB6s>B4B6DB6=B6=B4B4B6Y;B6KEB)B)B)B-=B)C-y 5N_@Nm@N`<ٱN34 VAHRS rotation from veh to nav: [[-0.841751,0.539862,0.002144],[-0.539453,-0.840944,-0.042461],[-0.021120,-0.036898,0.999096]]NH`F?a?2C`yX䢿?iN_@INB_;LY^#1>ybD ddbDjVVDjKH9yr{Ǽ%v[=ٔvb;=Q-v>9xIx=z(Fyxz!=Ez>|Q 5A4~ٷ?Q 9 A4~<#)~]Y y tܿQ I ?~V;AI~:i~:~A4yɮB*j)Bj1i5?i5zi1Ji5Ʒ<i9 k3Vk3Vk3VhI k3Vk3Vk3Vh2f:fBfJf@ZZZZi ))111i19IAIyIO=)Y2Acoustic response timeoutEc E[EtE"Eg5:*E9VE5ZEBE?;a% 2E?;a% JE;a% :E;a% ԡ я,0HG?A0:__@:Um@:-ͼٱ:i& BAHRS rotation from veh to nav: [[-0.843401,0.535568,0.042917],[-0.536701,-0.843515,-0.020833],[0.025044,-0.040604,0.998861]]:H@#``#?6? ,@EU`?ʤ ?i:__@I:V_;8YJ>yNDbDV׳VDVH9y^b%^M=ٔbDQ-b>9`Id=f(FydfEf>hQ 5nB4j_׷?Q 9nB4j8#)jcYpyr߿Q Ir?j=AIj{;ijU;jB4ytɮvBt*jBji?i zi Ji Ʒ<i  kYkYkYh! kZkZkZh12fA:fABfAJfEȁ@ZUZUZQZUia)i)iiiiiqIqII>)>IOU=U2Acoustic response timeoutԉԹ  2Acoustic response timeoutE f E NE yE "E I@:*E ҆9VE 5ZE a @a @a @a @я, bG?A2]@2j@2lٱ2]5 :AHRS rotation from veh to nav: [[-0.861505,0.502583,0.072244],[-0.504448,-0.863394,-0.009093],[0.057805,-0.044278,0.997346]]2Hr)?`~?@p$ࡘ?@A?i2]@I28_;2yrDzbSBD MO Status=0, MOMSN=2772, MT Status=0, MTMSN=0YqbDVDH9yxܼ%*=ٔ%vQ-%>9!I!=%(Fy!-]E->1Q 5=B45ӷ?Q 9=B45 #)55kY9yEQ IE?5@AI5:i5:5yB4yIɮMBQ*jaBjaie?imziiJimƷ<ii kcXkcXkcXh kcnkcnkcnh2f:fBfJf@133ZZZZ^B*** querying acoustic contact ***XY iI)I)QQQiQYIYIIO=.>Y]4=e2Acoustic response timeoutAyA}?ABn>BBDBM>B=BBB_;BLE1a ;Hя,X{G?A2^\@2Tj@2Q+ٱ2%?p :AHRS rotation from veh to nav: [[-0.867141,0.493749,0.065412],[-0.496299,-0.867630,-0.030105],[0.041889,-0.058569,0.997404]]2H@?@Ͼ? [߿`Ӟnr??i2^\@I2J_;2>CYFg'>yFDIJ<)Jpԑm 2Acoustic response timeout 2я,-ΕG?AJ,]@Jk@JeٱJ)ֽ VAHRS rotation from veh to nav: [[-0.861627,0.500947,0.081557],[-0.506449,-0.859139,-0.073411],[0.033293,-0.104557,0.993961]]JHr`?`?4~@˲ ?Fĺ ?iJ,]@IJ&_;J;CYb>ybD AAԙa@a9 a@a a@a a@a iMb@Mb@Mb@© 9MbX"~jmտY*yScBB lB)Y\BbDEBVDEH9yUA%U2=ٔU֙9YYY=](FyYe<Ee>iQ 5uB4m?Q 9uB4m~#)mzY}G5@Q E}9y}9]?Q I}?mmWAIm6;im:m-B4y BɮBsE*jBji?iziJiƷ<i kVkVkVh kpkpkph2fG5@:fG5@Bf ]@Jf9]?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n 4Completed marl:UpdateSpeedq7 n PAggregate::uninitialize marl:UpdateSpeedZZZZi)))))))i11I9IQIaO- >2Acoustic response timeoutD=D=E  EfEjE"E\%=*E;VEـ5ZEa@a@a@a@ m>C5 OGI a a9 Y VA B] r>BY BY BY B] =BY BY B] ;B] *Eu 2Acoustic response timeoutCnя,G?Aɰ2nX\@2\Nj@2Ȝ@ٱ23> ^AHRS rotation from veh to nav: [[-0.867138,0.488398,0.097669],[-0.495845,-0.865014,-0.076737],[0.047007,-0.114970,0.992256]]2H`A??߿@1S?n?i2nX\@I2K_;2=CYf>yfzDj=hrParsing RMC sentence: $GPRMC,190115.00,A,3646.38331,N,12152.16193,W,0.175,253.94,251025,,,A*7E )tvG?Av"?v#9v(kxbB@S1w^zhGPS fix at 20251025T190115: (36.773055, -121.869366)v`=vӍ@bDJVDH9y3=%^=ٔQ->9Y!=%(Fy!% E%>)Q 55;4-"?Q 95;4-#Q ==tI)-Y9y=Z?Q I=?-I-l;i-h;->g;4yEBɮEBMyE*jYBjYi]?i]ziYJieƷ<ia k#Wk#Wk#Why2f:fBfJfZ?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder3ZZZZc0Completed marl:NeedComms1 cLAggregate::uninitialize marl:NeedComms12 dDUninitialize GoToSurfaceComponent.\Received valid gps time fix: 1761418880.00. Resetting abort timer.i))iIIIIO=2Acoustic response timeout)au@a@E" E EE"E*E<VE5ZEJEK$>a:EK$>aQ Bя,xɟG?A2/Z@2u%h@2kٱ2O :AHRS rotation from veh to nav: [[-0.883774,0.459677,0.087414],[-0.466517,-0.880050,-0.088731],[0.036141,-0.119198,0.992212]]2HG`Yk?`?iݿ`_)@?ǃ`4?i2/Z@I2t]_;0YFo>yFD bD-}VD-H9y]=%eH=ٔe49iYi=m(FyimCEu>qQ 5;4u4??Q 9;4u#)u YyQ?Q I?u?Iu:iu:uu;4yBɮBpE*jBji?iziJiƷ<i kZkZkZh kZkZkZh2f:fBfJfQ? ɢ  )  = mi K9)i2m:ISAI9IQQO=5=5%==2Acoustic response timeoutԁԩ 2Acoustic response timeoutE  E E |E "E *E 5<VE ם5ZE a @a @ Rlя,CTG?A2Y@2{g@2x9ٱ2U :AHRS rotation from veh to nav: [[-0.887661,0.454979,0.071075],[-0.460358,-0.880553,-0.112677],[0.011320,-0.132739,0.991086]]2H@g a?2? vݿ`~- dؼ.??i2Y@I2?_;2yb9tYt=z(Fyxz1Ez>|Q 5;4~~?Q 9;4~#)~#mY y P?Q I ?~@I~:i~:~;4yBɮBgE*j)Bj)i)i1zi1Ji1i1 kcVkcVkcVhI kcVkcVkcVI>)h2f:fBfJfGP? @ɢʥ)'`= 0i)Ӻi;!I!IԱIO>B{>B+CBDB#>B=BDBDB;BEE2Acoustic response timeout 9 Yя,.G?A2Z@2h@2j%ٱ2 :AHRS rotation from veh to nav: [[-0.878832,0.472658,0.065175],[-0.477024,-0.873290,-0.099057],[0.010096,-0.118145,0.992945]]2H@e@?`J?޿[F?>4?i2Z@I2d_;02Acoustic response timeoutE EE{E"E*EZ:VE:5ZEiJE8;a}:E8;a}Y>y3D@Aamam amam amam auau au@au au@au au@au au@au au@au ymGzǿԿ+?mp=mfm>m i)mMb@Mb@Mb@Imim‰mmm m)imImbDVDI9y%=ٔ;Q->9I=(FyJ =E>Q 5;4Aط?Q 9;4i#)Q A=+:Y9Q E=r9y=T?Q IE?{t@I"M 2Acoustic response timeoutԩ 6я,EG?A6VZ@6Eh@64 ٱ6s< BAHRS rotation from veh to nav: [[-0.884950,0.464350,0.035262],[-0.465606,-0.883664,-0.048461],[0.008657,-0.059303,0.998202]]6HQ? ?~ݿFϨ? ]@F?i6VZ@I65~_;6?C H)HJHHLLiNILLIPiR^r@ PP)PT TVTTXZvAIZY)Z;FiX)XI^vvA^\ \bC``i``Y`Yf>yjDbDr?VDr,I9yz/%~=ٔ~;Q-~1?9I=(Fy ZRE 1? Q 5;4 k?Q 9;4 ښ#) 6Q A :YQ ED9yO?Q I%? @I %;i P? ;4y-Bɮ-B)*jABjAiAiAziAJiIiI k:k:k:h% @ɢ%=)%A= %i!)-R))i-l;;QIQԩ2Acoustic response timeoutDD%=E EEE"E*E;VEZEa@a@qIIOi> B }>B ,CB B B =B DB &DB r;B E] 2Acoustic response timeout я,0G?A6qX@6_f@6 -<ٱ6d VAHRS rotation from veh to nav: [[-0.893350,0.449330,0.005269],[-0.449276,-0.892892,-0.029919],[-0.008739,-0.029096,0.999538]]6H@S?=u? ܿ `偿<˝8?i6qX@I6_;6yUzD}$! ) Ii' @AbDVDI9ys<%?=ٔ&=Q->9I=(Fy/E>Q 5;4H?Q 9;4U#)Q AM9YIQ EU9yUJJ?Q IU?@IE PExceeded connect timeout, disconnecting.Y 5я,UJG?Aɰ2;Y@2)g@2HVٱ2v :AHRS rotation from veh to nav: [[-0.886863,0.461203,0.027683],[-0.461847,-0.886613,-0.024791],[0.013110,-0.034771,0.999309]]2H-aY?X?ݿ`"_bي?͡W?i2;Y@I2d_;2=CYr>yvmDxz=bD~VD~I9y !% V=ٔjQ->9I=(Fys=E>!Q 5-;4%?Q 9-;4%o#)%U6Q A-9Y1Q E59y5CN?Q I5?%@I%E:i%?%b;49yE BɮEBEME*jQBjYiYiYziYJiaia k"k"k"hq k#:k#:k#:h颵 @ɢ\#)+= i)>项ix;I7:2Acoustic response timeout5/=I1IAiOu>iIԑ 2Acoustic response timeout D zD @AbEE:5jEEu5rEE͜2E  E E E "E *E cH<VE Dz5ZE a @a @Uя,xdG?A2dY@2Zg@2$Kٱ2Q :AHRS rotation from veh to nav: [[-0.888961,0.454171,0.058957],[-0.455291,-0.890320,-0.006419],[0.049575,-0.032549,0.998240]]2H _r %?/? }#ݿ`}Kz a?G?i2dY@I2di_;2>CYBl>yFŧDbD-VD-J9ԙyƞ<%A=ٔ\Q->9I=(FyfE>Q 5;4>͸?Q 9;4Y#)wfQ A9YQ E8yL?Q I?@I+;i@;4yBɮB*jBjiiziJii k!k!k!h  kCkCkChE@ɢE4)M(< MiI)MʸIIiU;;QIYU2:AA@ABR>BBaDB=B=BDB+DB;BEBiBiBiBmō=Bm=CmWg9%2Acoustic response timeoutu-B=IYIqO> ]я,6v~G?A2X@2}f@2/Aٱ2 :AHRS rotation from veh to nav: [[-0.893281,0.447106,0.046318],[-0.448020,-0.893954,-0.011128],[0.036431,-0.030692,0.998865]]2H@c??\ܿE@!ʆ@?`m@?i2X@I2;_;0YB>yBSDNParsing RMC sentence: $GPRMC,190118.00,A,3646.38338,N,12152.16179,W,0.680,253.94,251025,,,A*73 )PRG?AR?R#9RЊbB@Khw^VhGPS fix at 20251025T190118: (36.773056, -121.869363)R>PbD^VD^SJ9yv@:%vW=ٔz =Q-z>9xIx=~(Fy|~⵼E~>Q 5 ;4?Q 9 ;4#)Q Ao9YQ E8yJ?Q I?I:iQ@>g;4yBɮ%B%pE*j1Bj1i1i9zi9JiAiA2Acoustic response timeout ks;ks;ks;hE EEtE"E*E><VE5ZEJE=a:E=a\eReceived valid gps time fix: 1761418880.00. Resetting abort timer.颕@ɢ{).= [i)p<顙i;InManaging dock network, ignoring radio surface power offI=)>:!e#=IIO=Q>Qm 2Acoustic response timeoutԁ G%я,QG?A2#Y@2g@2šٱ2G :AHRS rotation from veh to nav: [[-0.891648,0.450795,0.041804],[-0.452186,-0.891295,-0.033473],[0.022170,-0.048750,0.998565]]2Ha?Sg?@ܿ} k#?@>?i2#Y@I2(_;2qr )Mb@Mb@Mb@Ii )IbDVDkJ9y%%>=ٔ;=Q->9I=(Fy!*<E>Q 5;4O?Q 9;4#)Q AB9YQ E8yK?Q I?\?IP ;i6@j;4yBɮB*jBjiiziJii k"k"k"h k;k;k;h!QT@ɢH)9 9iA)E5VAAiE(;III-:2Acoustic response timeoutԁE EEE"E*Ev=<VEZEa@a@e<IIԱO>B h>B B zDB J=B =B DB ,DB ;B mE \+я,w,G?A2Acoustic response timeout64W@6*e@6ٱ6[ >AHRS rotation from veh to nav: [[-0.904753,0.423181,0.048382],[-0.424997,-0.904456,-0.036556],[0.028290,-0.053636,0.998160]]6H d?Ũ? &3ۿN`k?/v?i64W@I6.7_;6@CYJ>yJcDbDVVDVcJ9yZ!=%^\=ٔ^†Q-^>9`I`=b(Fy`f<Ef>dQ 5j;4fx?Q 9j;4f#)fnQ An9YlQ En^8ynjD?Q In?f @If" ;ifN@fm;4yvBɮvBvgE*jYBjYiYiaziaJiaia ks"ks"ks"h]@ɢe[ )a eKia)mniiim;yIԱ5:mG<IIO-,>2Acoustic response timeoutauaE{ E[EE"E]=*Eq<VE5ZEBE>a2E>aJE=a:E=a 9 Z2я,̠G?A2U@2c@2ٱ27S :AHRS rotation from veh to nav: [[-0.914049,0.402504,0.050048],[-0.404346,-0.913962,-0.034336],[0.031922,-0.051621,0.998156]]2H?@?`ݟ?ٿ`,?m X?`n?i2U@I2L-_;2=CYB&>yB9XIX=Z(FyXZfE^>`Q 5b;4bnԷ?Q 9f;4b#)bQ Af8YdQ Ef48yf>?Q If?bIX@Ib:ibRh@b1o;4ynBɮnBn_E*jtBjtixixzixJixix k##k##k##h  k3#k3#k3#hE @ɢELB#)I MBiI)MKIIiM~;QIY epAepA5:52Acoustic response timeoutԉ=G=IԹIOh>  2Acoustic response timeoutE   E E sE "E =*E y<VE X5ZE a @a @a @a @j9я,G?A2VT@2Lb@2[ܼٱ2 :AHRS rotation from veh to nav: [[-0.922911,0.381622,0.050985],[-0.384068,-0.921808,-0.052546],[0.026945,-0.068077,0.997316]]2H}|l?`?ؿ t`W窿?m?i2VT@I2W_;2>CYB>yBDF=FR=l$% ()%%I%i%!%$ !!bD5VD5sJ9ym]%u?=ٔ<@G9MrAI=(FyLE> 9 MrAY KAQ 5;4#?Q 9;4#)Q A%8Y!Q E%8y%G9?Q I%?j@I:i~@q;4y-Bɮ5B1*jBjiiziJii k"k"k"h} @ɢV~) i)+M顉i:|;I  :BM'>BIBMDBMw>BMk=BMDBM*DBM ;BMEE2Acoustic response timeoutAa A 0AI I I O >|2?я,G?ABm*S@B\ a@BٱB)ݽ JAHRS rotation from veh to nav: [[-0.929688,0.361937,0.068431],[-0.367032,-0.925933,-0.089080],[0.031121,-0.107933,0.993671]]BH@`)??`s}׿>Ͷ`Iޟ?'?iBm*S@IBtg_;B=CYfk#>yjDa2Acoustic response timeoutbD!VDJ9yE.v<%M==ٔuhQ-}>9?I?=(FE' EErE"E <*E^;VE5ZEBE,>a2E,>aJE =a:E =ayE-E>Q 5;4(q?Q 9;4#)o=Q A8YQ E7y5?Q I?@I:i:@r;4yU BɮUBUVE*jiBjiiiziJii ks ks ks h k$k$k$h @ɢF)! %oi!)%/!!iMM;IIQԉ%<:AuAIyIԱO>m 2Acoustic response timeout nFя,NG?A6> S@6,a@6l-ٱ6cq BAHRS rotation from veh to nav: [[-0.930004,0.356716,0.088576],[-0.365112,-0.924314,-0.111067],[0.042253,-0.135633,0.989858]]6Hp?쬶?]׿n@'?@l\@?i6> S@I6_;4YJ>yJDa}a} a}a} a}a} a}a} a}a} y}V-?~jt?"~ҿ}h>}>}y y9}-?On?}?5^IԿY}5^>y}>}M}B}B }B)}B}Y}uBbDVDpJ9yJ%U=ٔ,Q->9c?Ic?=(FyMEMfEM>QQ 5];4U!m?Q 9];4UQ#)U_Q AeT:Ye>Q Ee:yeOQ Ie?UN@IU;iU;U;4ym Bɮiq*jBjiiziJii kc kc kc h k#k#k#h2f*>:f*>BfQ?JfĒ@V @ɢTk,) mi)'iV;II>)>:2Acoustic response timeout)E EEwE"E<*E4q;VEɕ5ZEa@a@a@a@A.AI!I1OmW>QBM V>BI BM DBM ,>BM =BM DBM +DBM ;BM Ey wDLя,t3G?A2Acoustic response timeout6=R@63`@61ٱ6t ^AHRS rotation from veh to nav: [[-0.934458,0.346546,0.081815],[-0.353412,-0.930696,-0.094364],[0.043443,-0.117094,0.992170]]6H@-??Nֿ C@(2>? ۿ?i6=R@I6I_;6yfDzParsing RMC sentence: $GPRMC,190121.00,A,3646.38319,N,12152.16215,W,0.661,249.89,251025,,,A*7B )|~@G?A~e궉?~#9~sgbB@w^hGPS fix at 20251025T190121: (36.773053, -121.869369)~>~@I%=)%<)-AbD=ٷVD=^J9yU%UP=ٔ]FQ-]>9e ?Ie ?=e(FyeEmEm>yQ 5;4}e궉?Q 9;4}#)}YySQ I?}I}T;i}U;}>g;4yBɮByE*jBjiiziJii kC kC kC h k!k!k!h Q2f:fBfJfu@\Received valid gps time fix: 1761418880.00. Resetting abort timer. @ɢy() i)؇i;I  :ԁA=؟AIAIQO\>2Acoustic response timeoutԩE E E|E"En<*E{;VEם5ZEBE >a2E >aJEyFvDbDVDgJ9ye6=%mI=ٔm:wQ-m>9m"?Iu"?=u(FyuEuEu>yQ 5;4}嶉?Q 9;4} #)}YyIQ I?}>I}:i}9:}bu;4yɮB*jBjiiziJii k k k h k'k'k'h2f:fBfJff(@ B@ɢ +) i)bƼi;!I!Ա:=2Acoustic response timeoutAE*AIIIYO:>  2Acoustic response timeoutE  E E tE "E <*E ^~;VE 5ZE a @a @a @a @9 VYя,A+gG?A2M@2z[@2Gٱ2 :AHRS rotation from veh to nav: [[-0.955585,0.286324,0.069824],[-0.290647,-0.954792,-0.062417],[0.048795,-0.079939,0.995605]]2H' S?@߱?`ҿ!`? v?i2M@I28_;2yBDbDNVDNrJ9yVQ<%VW=ٔVY;Q-V>9Zb0?IZb0?=Z(FyZE^F\E^>`Q 5f;4bᶉ?Q 9f;4bf$)b߃YdyfQ If?b >Ib:ib:b;4ylɮnBl*jtBjtixixzixJixix kckckch  k%k%k%h2f):f)Bf)Jf-A~@o @ɢ *) i)Ӽi<I  11p}:B g>B B DB  A>B =B DB ,DB Z;B /EA֧AI!I9E2Acoustic response timeoutOuX>! D`я, G?Ax]]ZM@]LP[@]-ٱ]{2iߙIߝA2Acoustic response timeout -AHRS rotation from veh to nav: [[-0.959140,0.276160,0.061526],[-0.281196,-0.954494,-0.099353],[0.031288,-0.112594,0.993148]]]HG?@G?ѿ67o@?Ҽ?i]]ZM@I]_;]>CY=9>y=YD IIM=M=Em Em Em|Ei"Em<*Em(z;VEmם5ZEiBEm>a}2Em>a}JEm`D< W> 9n?bX9?~jt?YV>yE>D>ABB B)BYBbD'VDJ9yG%=ٔ =Q->9=*?I=*?==(Fy=EE\EE>IQ 5U;4M8ڶ?Q 9U;4Me$)M2YUJ>Q EU:yUQ I]?M?IM%g;iMe;M;4yiɮmBq*jBjiiziJii k%k%k%h k&k&k&h2f)>:f)>Bf?Jf_@7 @ɢF) di) fi <I{:IIIO5>E 2Acoustic response timeouty ,hfя,aߚG?AYS>L@B4Z@s ٱՐ AHRS rotation from veh to nav: [[-0.963792,0.256816,0.071765],[-0.264505,-0.954856,-0.135234],[0.033795,-0.149320,0.988211]]Hb o?5_?п -@YO@M?ÿ`m?iS>L@I 6_;=CY=yDbD%VD%}J9y-%5p=ٔ5YQ-5?99I9==(Fy=»EESEE?AQ 5M;4Eն?Q 9U;4EH $)EhYyuQ I?EW.?IE j>2fA:fABfAJfE-@e @ɢe\59)e9= e!ia)m&iiimԱB l>B B DB 6>B =B B B ?;B "EBBBBʝ=Bʑ=Cʆ7 ] 2Acoustic response timeoutlя,ѴG?AFI@FڧW@FHٱFd0 VAHRS rotation from veh to nav: [[-0.972946,0.214520,0.085780],[-0.225785,-0.961568,-0.156233],[0.048968,-0.171374,0.983988]]FH^"`u??̿@)uÿK?`ſ|?iFI@IFB!_;Fyb3D  ) $ U%)UIU&iUU$QbDe VDeuJ9yN=%T=ٔq!Q->9I=(FyĻEӽE>Q 5;4϶?Q 9;4$)5YyQ I?\?I;i;;4yBɮB*jBjiiziJii  k"k"k"h9 kC<kC<kC<hi2fy:fyBfyJf}1r@颽 @ɢģ0) i)ig <II?)?vy:IIIYO>2Acoustic response timeout!E6 EEE"E<*Ey;VEH5ZEBE.>a2E.>aJEwyBmDIJ<)JHHbDRзVDRZJ9yV=%Z[=ٔZ=Q-Z>9XI\=^(Fy^ƻE^qEb>`Q 5f;4b ʶ?Q 9f;4b$)bYhyjgQ Ij?b?Ib:ib_:b(;4ynBɮrBrE*jxBj|i|i|zi|Jii k#k#k#h kHkHkHh)2f1:f1Bf1Jf55-@UJ @ɢUW[:)Y ]JiY)]9aaieybDbDMʷVDMXJ9yD<%==ٔIQ->9I=(FyɻEΏE>Q 5;4Xö?Q 9;4$)iD=YyQ I??IdE;i6;S;4yIɮMBQ*jiBjiiiiiziiJiqiq kSGkSGkSGhԑ kdkdkdh2f:fBfJf.@?@ɢ)) i) i&<Iv:BABm>BBDB A>B=BBB';BE=2Acoustic response timeouty=IYIiO> bя,]G?AU(G@UU@U^dٱU+׽}2Acoustic response timeout AHRS rotation from veh to nav: [[-0.978659,0.191277,0.075094],[-0.197790,-0.975935,-0.091813],[0.055725,-0.104706,0.992941]]UH`-Q {?@W9?,Qɿ:`? κ+?iU(G@IUl_;U;CY>yzDParsing RMC sentence: $GPRMC,190124.00,A,3646.38301,N,12152.16288,W,0.194,265.08,251025,,,A*79 )G?AHζ?$9NbB@ۚw^hGPS fix at 20251025T190124: (36.773050, -121.869381)e=q @EUf EUEUEQ"EU.<*EU;VEU5ZEQBEU2>ae2EU2>aeJEUaJd;> 9zG?On?%C?Y =y>Z>BB B)BBYaBbDVDSJ9yM<%U0=ٔU:Q-U>9QIY=](Fy]˻E]E]>Q 5;4Hζ?Q 9;4$)Y>Q E;y.Q I?I;i:>g;4yɮB*jBjiiziJii k[k[k[h k[k[k[h 2f>:f>Bf?Jf8@\mReceived valid gps time fix: 1761418880.00. Resetting abort timer.}@ɢ *) Ai)$顡ia-<I oAt:u31=A|AII- %=) = 2Acoustic response timeoutY O >я, (G?A2(oF@2eT@2Qٱ2ˆ >AHRS rotation from veh to nav: [[-0.983074,0.172401,0.061996],[-0.175923,-0.982770,-0.056694],[0.051154,-0.066641,0.996465]]2H`Wu=?ッ?ƿ r@`0?`^` ?i2(oF@I2N_;2=CYF >yFD 115=5=bDEVDEoJ9yR7%k=ٔWB p>B B DB ">B =B B B ;B E= 2Acoustic response timeoutя,:6G?A@^D@^R@^Ŷٱ^#& jAHRS rotation from veh to nav: [[-0.988533,0.146615,0.036139],[-0.147895,-0.988357,-0.035744],[0.030478,-0.040679,0.998707]]^HE?܀?`<¿`M5?Ӥi?i^D@I^9_;\Yrl>yrŧDbD~'VD~J9y % T=ٔ  \=Q->9I=(FyлE㗽E>!Q 5-;4%Tʶ?Q 9-;4%$)%Ml>Y)y-,Q I5?% >I%g:i%:%;4y9ɮ=B9*jQBjQiQiQziQJii ks^ks^ks^h k|k|k|h2f :f Bf Jf s@s5NUpdating rudder angle 6.875493 arcdeg 9=r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderu@ɢu=7)q }qiy)}?yyi}T;<Imr:qqqqԩ2Acoustic response timeoutE}> E}2E}tEy"E}<*E};VE}5ZEyBE}>a2E}>aJE} ȓя,OG?A6D@6R@60ٱ6 h >AHRS rotation from veh to nav: [[-0.990111,0.139942,0.009830],[-0.140274,-0.988533,-0.055907],[0.001894,-0.056733,0.998388]]6H ?!?@ڟ_?@ ?i6D@I6C_;6yF DbDRGVDRJ9yZa%ZP=ٔZ'=Q-Z>9\I\=^(Fy^һEb Eb>dQ 5j;4fǶ?Q 9j;4f`$)f>YhyjQ Ij?f\>If:if:lfp;4ypɮvBt*j|Bj|iiziJii kckckch2f):f)Bf)Jf- ݠ@M@ɢMW>)M5|= M`iQ)UT%QQiUGD9a  2Acoustic response timeoutE Q E +E mE "E Ʊ<*E ;VE 5ZE a @a @a @a @я,ZiG?A2Z C@2JQ@2[ٱ2Iս :AHRS rotation from veh to nav: [[-0.992130,0.121377,0.030744],[-0.123894,-0.987158,-0.100842],[0.018109,-0.103857,0.994427]]2H ?V{?`|̖й`=? ^`Y?i2Z C@I2(_;2:CYR=yRD--'-% -#)5!I5'i55#5#9IE<)Ep;IIbDU?VDUJ9ymb%m?=ٔu/Q-u>9yIy=}(Fy}ԻEE>Q 5;4Ķ?Q 9;4$)>YySQ I?>I>;i?;o;4yɮB*jBjiiziJii k\k\k\h kxkxkxh2f:fBfJfe@-@ɢ-@6)-HO= --i))5{,11i5WM<9I9do:B5q>B1B5DB5M>B5=B1B1B5p;B5>EIQIaiO> 2Acoustic response timeoutԑ ޠя,G?AvA@vO@v/ǝٱv: ~AHRS rotation from veh to nav: [[-0.991910,0.088532,0.090981],[-0.100956,-0.984628,-0.142532],[0.076964,-0.150564,0.985600]]vH ?J?`;ع~>¿糳?@Eÿ?ivA@Iv`_;v 9l?Zd;?&1ʿY>yy=PBB ڭB)ڭBYBbD-VDJ9y%A=ٔ]Q->9 I =(Fy׻Ez\E>Q 5%;4?Q 9%;49$)n>Y->Q E-;E= E=E=oE9"E=<*E=X;VE=5ZE9BE=$>aE2E=$>aEJE=yI0;i;:;4yYɮ]BY*jiBjiiqiqziqJiqiq k`k`k`h kckckch2f>:f>Bf"@Jf('@m@ɢmle8)m= mii)ur|3qqiuS= 2Acoustic response timeout я,}G?A2AS@@20IN@26ٱ2>9 :AHRS rotation from veh to nav: [[-0.993991,0.067011,0.086554],[-0.081315,-0.981378,-0.174024],[0.073281,-0.180016,0.980930]]2H'?h(?ѴsglFƿ²? ǿc?i2AS@@I2@_;2=CYB;=yB DbDVDoJ9yE%EX=ٔE9III=M(FyMٻEMdVEU>YQ 5e;4]*?Q 9e;4]$)]>Yaye?Q Ie?] ?I]]:i]:]u;4yqɮuBq*jBjiiziJii kCzkCzkCzhA kczkczkczhi2fy:fyBfyJf}n@额@ɢ?)o,= i) :顡iY<I pAl:i߁I߁2Acoustic response timeoutEe: EeEewEa"Ee1<*Ee;VEeɕ5ZEaau@au@au@au@r5=II!QO]>B% o>B! B% DB% w>B% =B! B! B% ;B% Ey = 2Acoustic response timeoutL/я,MG?AB@@BN@BJϼٱBK NAHRS rotation from veh to nav: [[-0.995465,0.087317,0.037743],[-0.091699,-0.986374,-0.136595],[0.025301,-0.139436,0.989908]]BH oZ?`R?y_ {? S?iB@@IB_;@YZm=yZكDfParsing RMC sentence: $GPRMC,190127.00,A,3646.38263,N,12152.16311,W,0.855,201.40,251025,,,A*74 )dfG?Af𒶉?f $9fDEbB@}w^nhGPS fix at 20251025T190127: (36.773044, -121.869385)f4>fI`@ ppr=r=bDvVDvnJ9y~;%~O=ٔ5=Q->9I = (Fy ۻE R<E >Q 5;4𒶉?Q 9;4 $)Y!y%kg;4y-Bɮ-B5E*jABjAiAiIziIJiIiI kwkwkwha kwkwkwhq2f:fBfJfɨ@\Received valid gps time fix: 1761418880.00. Resetting abort timer.颥@ɢD)|= i)f&@顩i'a<IQak:ԁh*=2Acoustic response timeoutEu EuEuzEq"Eu˽<*Eu;VEu5ZEqBEu">a2Eu">aJEu я,&ѢG?A2r3@@2a)N@2G*ٱ2t :AHRS rotation from veh to nav: [[-0.996773,0.078526,0.016643],[-0.079594,-0.993750,-0.078267],[0.010393,-0.079339,0.996794]]2H`C? ? L`J H?O?i2r3@@I2c_;2;CYF>yFDbD VD eJ9yE=%MF=ٔM=Q-M>9MF?IUF?=U(FyU޻EUSEU>YQ 5e;4]?Q 9m;4] $)]Yiymt:Q Im?]T=I]$:i]:]u;4yuBɮ}By*jBjiiziJii kwkwkwh kwkwkwh2f:fBfJfz@@ɢf<)  i )F!!i%j<)I1Ա2Acoustic response timeout-.j:-tY=A9IAIQOY>  2Acoustic response timeoutbE5jE5rE 2Ee  Ee Ee Ea "Ee 7<*Ee };VEe 5ZEa au @au @au @au @9 #Bя,G?AB=@BӬK@BN6ٱBwj RAHRS rotation from veh to nav: [[-0.999153,0.040457,0.007487],[-0.040819,-0.997542,-0.056954],[0.005164,-0.057211,0.998349]]BH Զ?/~? 6椿@ )&u?`Jy?iB=@IB.G_;@Y^&>y^DbDn޷VDnaJ9yz\=%zP=ٔ~Y9I=(FyE ɽE >Q 5;4~?Q 9;4t!$))Y!y%;Q I%?Vy>I;iH;|;4y)ɮ-B)*jBjiiziJii kukukuh kukukuh2f :f Bf Jf D@-a @ɢ-?)1 5i1)5M11i=bt<9IAIM?)M? h:pAoAB<A<Bk>BBDB6>B=BBB;BzEBBBBà=Bà=CJ52Acoustic response timeoutA|=ApAzAoAioAInAA- &AI9 II i O >1я,G?A>?<@>.I@>Rٱ>} JAHRS rotation from veh to nav: [[-0.998574,0.009987,0.052447],[-0.014283,-0.996515,-0.082177],[0.051444,-0.082809,0.995237]]>HP)t?`ڪ? E@@t@ @V?2?i>?<@I>pU_;>:CYR>yRcDIZ=)Z-">-<) ))-Mb@Mb@Mb@I-i-‰--- -)--I-U2Acoustic response timeoutbDU۷VDU_J9yeHc%eB=ٔmQ-m>9m@?Iu@?=u(FyuEu~Eu>yQ 5;4}t?Q 9;4Em EErE"E<*E;VE5ZEBEn>a2En>aJEt=a:Et=a%}!$)}|Q AM+:YQQ EU:yU ?Q Ie?}>I} =i}>}Z;4yɮB*jBjiiziJii kwkwYkwh9颅 @ɢ9)-= i)U顉iך|<If:ԉ 2Acoustic response timeoutԹ A zAI I O >Rя,G?A29@2sG@2uٱ2ѽ :AHRS rotation from veh to nav: [[-0.995680,-0.028107,0.088498],[0.018866,-0.994443,-0.103576],[0.090918,-0.101459,0.990677]]2HȜԧ?Q?@ybF?;`?i29@I2I_;2yRDbD^·VD^TJ9yf'<%fV=ٔf7ԽQ-j>9jF?IjF?=j(FyjEnKEn>pQ 5v;4ri?Q 9v;4rS"$)rڡQ Av :YtQ Ev:yv.BQ Iz?r>Irv:irM?r;4y~Bɮ~B|*jBjiiziJii k#_k#_k#_h kC{kC{kC{h%0 @ɢ-*U)) -i))-Z11i5̀<9I9-e:2Acoustic response timeoutD%=D%<E-3 E-)E-sE)"E-f<*E-;VE-X5ZE)a=@a=@a=@a=@AyIIOC>B q>B B B B =B B B ;B E!  2Acoustic response timeoutG}я,8G?A28@2F@2Bwٱ2 :AHRS rotation from veh to nav: [[-0.997054,-0.054381,0.054093],[0.047369,-0.991227,-0.123394],[0.060329,-0.120468,0.990882]]2H׫@?`@? r?@׾N?i28@I2@y_;2>CYB>yFcD^^#\ ^$)^$Ibibb)b$b%bDfVDfBJ9yn%rI=ٔrp=Q-r>9tIt=v(FyvEvEz>x|Q 5;4z`_?Q 9;4z"$)zɾQ A 9Y Q E :y DQ I ?z?Izo7;iz?z;4yɮB*j)Bj)i)i)zi1Ji1i1 kbkbkbhI k#wk#wk#whY @ɢ#L)_= i)'ai G< I d:AQ?AY?1AExAIIIYO9>Q}2Acoustic response timeoutE5 E5EE5xE1"E5{<*E5;VE5e5ZE1BE5'>aE2E5'>aEJE5yND PPbDVVDVAJ9y^:%bL=ٔbj9f;N?If;N?=f(FyfEf<Ej>hQ 5n;4jU?Q 9r;4j"$)jQ Ar9YpQ Erz:yr?Ij ;ij?j;4ytɮxx*jBji i zi Ji i  k^k^k^h!amF @ɢuI)q }Uiy)g顁i%<Ic:2Acoustic response timeoutԑAI IO]3>Աi߁ I߁  2Acoustic response timeout - GDA zDA EM j EM rEM uEI "EM <*EM ;VEM 5ZEI aU @aU @aU @aU @Y q X9 Y Aя,LlG?AB5@BC@B㏽ٱBeh JAHRS rotation from veh to nav: [[-0.993829,-0.095404,0.056585],[0.085883,-0.984675,-0.151790],[0.070200,-0.145994,0.986792]]BHrdl?h? tmÿ?¿ ̓?iB5@IB4y_;B=CYR}=yV@DbD%VD%;J9y5m %5C=ٔ=LQ-=>9AIA=E(FyEEE4EE>IQ 5U;4MJ?Q 9U;4M"$)ME Q A]9YYQ E]K:y]NHQ I]?M_?IM. ;iM@M˪;4yeBɮmBmE*jyBjyiiziJii kS[kS[kS[h kc[kc[kc[hԹU @ɢJH) qi)Rni<Ia:AqAqB}t>ByB}DB}JK>B}=ByByB};B}ښE2Acoustic response timeout| u=AzApAA% $AI1 IA O >A vя,1$G?A2#2@2@@2皑ٱ24 :AHRS rotation from veh to nav: [[-0.988667,-0.141750,0.049444],[0.132256,-0.978230,-0.159919],[0.071036,-0.151567,0.985891]]2H($¿@P?`?M`:xĿ@p/?fÿ`k?i2#2@I2O_;0YBu>yFDNParsing RMC sentence: $GPRMC,190130.00,A,3646.38195,N,12152.16364,W,0.933,205.25,251025,,,A*7C )PRG?AR(?R4$9R`bB@U&w^VhGPS fix at 20251025T190130: (36.773032, -121.869394)R>R6De@E2Acoustic response timeoutaa aa aa aa aa ytV?sh|?L7A`?>+= 9x&1?S㥛?Mb?YA>y$>>BB tB)BYpBbDDVDJ9Eb E4E~E"E<*Ef;VE5ZEBEm2>a 2Em2>a JE9}H?I}H?=(FyE׽E>Q 5;4(?Q 9;44$)Q AT:Y?Q E:yR*Q I?I;i5;>g;4yɮBE*jBjiiziJii kXkXkXh2f->:f->Bf-?Jf-@\mReceived valid gps time fix: 1761418880.00. Resetting abort timer.额U@ɢeC) Mi)@v顡i]=<I`:Aq|^=2Acoustic response timeoutA AI I I OM >ԙ я,G?A2}2@2s@@2ٱ2 :AHRS rotation from veh to nav: [[-0.987095,-0.145370,0.067168],[0.133594,-0.978817,-0.155144],[0.088298,-0.144168,0.985606]]2HG z¿ 1??xRÿ ?`t¿`?i2}2@I2-A_;29MK?IMK?=U(FyUEU3EU>YQ 5e;4]?Q 9e;4] 7$)]=YiymB*Q Im?]?>I]:i]:]t;4yqɮB*jBj i i zi Ji i k<k<k<h) kcckcckcch92fI:fIBfIJfM8@mc@ɢmV)m`;= mEiiq)} L|yyi}#Bq Bu @EBu tU>Bq Bq Bq Bu ~;Bu ӚEO > 2Acoustic response timeout 6я,ڹG?A>0@>>@>[ٱ>ScϽ FAHRS rotation from veh to nav: [[-0.980344,-0.170154,0.099869],[0.158073,-0.980291,-0.118499],[0.118063,-0.100384,0.987919]]>H^ſ?;?^U`h9?`?i>0@I> ]_;>>CY^=y^ϕDbDj VDjJ9yrʢ<%rQ=ٔvQ-v>9tIt=z(FyzEzEz>|Q 5;4~ ?Q 9;4~H9$)~{J>Y y 4,Q I ?~>I~:i~=:~;4yBɮBE*j)Bj)i)i)zi)Ji1i1 kJkJkJhI kcdkcdkcdhQ2fi:fiBfiJfm@颅~@ɢT)= i)k7顑iU<I]]:IQIaO>]2Acoustic response timeoutE ENE}E"E <*E?;VEs5ZEBE>a%2E>a%JEy\DbD=۶VD=I9yMM=%UD=ٔ]:Q-]>9aIa=e(FyeEm Em>qQ 5;4u?Q 9;4uR;$)u>Yy0Q I?u?Iui_;iuP;u[;4yɮB*jBjiiziJii kKkKkKh kSfkSfkSfh2f:fBfJf@% @ɢ%,L)! %i!)-))i-j<)I1 992Acoustic response timeout5+\:ԩIIO!> m 2Acoustic response timeoutE-  E- E- sE) "E- <*E- ;VE- X5ZE) a= @a= @a= @a= @2я,.G?A2U+@2K9@2VLٱ2 :AHRS rotation from veh to nav: [[-0.962635,-0.251333,0.100823],[0.242052,-0.965521,-0.095811],[0.121427,-0.067827,0.990280]]2HпϹ???`] `?i2U+@I2Li_;2>CYB>yFD^!^%^" \)^Ib%ibb b#b"bDjVDjI9lyrvY<%rQ=ٔv')Q-v>9tIx=z(FyzEzPEz>|Q 5;4~쵉?Q 9;4~=$)~A>Y y a2Q I ?~G?I~=:i~(:~;4yBɮB*j)Bj1i1i1zi1Ji1i9 kMkMkMh kcekcekceh2f :f Bf Jf n3@M @ɢMQ)I MiI)UiQqiuӘB!B%EB%s>B%=B!B!B%;B%EUZ: II)O>=4=2Acoustic response timeout1i 4я,qG?A2(@26@2{aٱ2l :AHRS rotation from veh to nav: [[-0.953096,-0.285883,0.099391],[0.277647,-0.956558,-0.088933],[0.120498,-0.057166,0.991066]]2HKҿq?@?@KĶؾ?Dж?i2(@I2.E_;2yFD2Acoustic response timeout9E  E7EzE"E<*E ;VE5ZEBEP=a2EP=aJEiI I)MMb@Mb@Mb@IMiM‰MMM M)MMIMabDVDI9yU=%=ٔ:Q->9I=(FyEE>Q 5;4ֵ?Q 9;4K?$)#?Q A+:YQ E:y5Q I?#?I=i?ĭ;4yɮBԑ*jBj)iiiiziiJiqiq kLkLkLh2Acoustic response timeout k[k[k[h u @ɢu v4)q u iy )} uy y Թ i} D< I I ?) > :X: Im>)m>2Acoustic response timeoutSf=A oAzA nAbE5jEn5rEb1EEX EEwEE}EA"EE<*EE:VEEs5ZEAaU@aU@aU@aU@AM$AIQIaO$? я, 0G?A6!$@6t2@66rٱ6$ >AHRS rotation from veh to nav: [[-0.929994,-0.361082,0.068779],[0.348897,-0.926035,-0.143981],[0.115681,-0.109905,0.987187]]6H`׿?`ST?m¿C?" ?i6!$@I6Z%_;6;CYJ(>yJDLLTbDU`VDUI9y>%=ٔ9H?IH?=(FyEE>BBB@EB~>BBBB;BEBBBB=B=C45Q 5;4?Q 9;4@$)~9?Q A :YQ Et:y8Q I??I;i?;4yBɮB*jBjii!zi!Ji)i) kLkLkLhY @ɢ= N\)9 =iA)EoAAiEcĝ1 m >i xpя,6;JG?A2Acoustic response timeoutBB|#@B1r1@BٱB NAHRS rotation from veh to nav: [[-0.926248,-0.371315,0.064734],[0.358190,-0.920612,-0.155477],[0.117326,-0.120823,0.985716]]BHѣ׿ n??uÿ ?=?iBB|#@IB_;ByVDEb EbEbE`"Eb*<*Eba9:VEb5ZE`BEbz=aj2Ebz=ajJEb,;aj:Eb,;ajnParsing RMC sentence: $GPRMC,190133.00,A,3646.38117,N,12152.16378,W,1.225,183.77,251025,,,A*7F )pr@G?Ar?r<:$9rՏMbB@t0w^zhGPS fix at 20251025T190133: (36.773019, -121.869396)rT!?rEM@bD_VDyn9<%V=ٔ&Q->9;N?I;N?=%(Fy%E%׼E%>)Q 55;4-?Q 95;4-<:$)-Q A=9Y9Q E=F:y=-9Q I=?-I-t;i-a?->g;4yEBɮMBME*jaBjaiaiiziiJiiii kc1kc1kc1h k3Nk3Nk3Nh\Received valid gps time fix: 1761418880.00. Resetting abort timer.= @ɢ=^^)9 ='i9)EⵓAAiEs4q2Acoustic response timeoutԡ я, dG?A2"@2r0@2ٱ2ǽ :AHRS rotation from veh to nav: [[-0.920217,-0.383651,0.077539],[0.371426,-0.918420,-0.136191],[0.123463,-0.096525,0.987644]]2Hjr@ؿٳ?r?cnF?⵸ƚ?i2"@I28_;2:CYB >yFDbD VD |I9yM %MG=ٔMAvQ-M>9UH?IUH?=U(FyUEUE]>aQ 5m;4e,?Q 9m;4er;$)e=Q Am9YiQ Em :ym~:Q Im?eQ>Ie:ie?elm;4yyyɮB*jBjiiziJii k2k2k2h kCMkCMkCMhN @ɢpZ) Bi)iM<I  oAQT:52Acoustic response timeoutE EEE"E<*E:VE5ZEa@a@a@a@ԡA$?A?AAAABn>BB/EBM>B=BBB;BEIYI OE > 2Acoustic response timeout .я,k}G?AY~5>yDbDEaVDE9YIa=e(FyeEeEe>iQ 5u;4m?Q 9u;4m<$)m?g>Q A9YQ E:yQ I?m>Im#;im@m]r;4yBɮB*j!Bj)i1i9zi9JiAiA k8k8k8h @ɢW>Q) i)뚽i <IR:!iAIAM2Acoustic response timeoutIIE EEoE"EO:*E:VE5ZEBEѺ;a2EҺ;aJE;a:E;aO%o>Qԁ %я,ЗG?A2;3@2*)+@2Y˽ٱ2' :AHRS rotation from veh to nav: [[-0.888411,-0.453649,0.070204],[0.448163,-0.890248,-0.081292],[0.099377,-0.040758,0.994215]]2Hm@ݿ?മ? |ϴp?Dޤ?i2;3@I2o_;2;CYN2>yRDa-a- a-a- a-a- a-a- a-a- y-RQ?Zd;OͿ`"-B?-~j-) )9-V-?FxѿS㥛?Y-hQ?y-Ƌ-$>-B-ٟB -B)-٥B-Y-GBbDE/VDE%I9yU%%]J=ٔ]Wu=Q-]>9aIa=e(Fye EeSEm>iQ 5u;42Acoustic response timeoutmzy?Q 9;4mL6$)m>Q AT:Y`?Q Er:y@Q I?m>?Im :f>BfHK@Jf? @ɢe)}_= i)mi<IQ:IiIO>ԁ aiԹ G = 699 Y= AU 2Acoustic response timeoutE t E jE rE "E s:*E 9VE 5ZE a @a @a @a @ +я,LG?A6?@6.*@6QEٱ6N8D BAHRS rotation from veh to nav: [[-0.882273,-0.463247,0.083646],[0.455451,-0.884953,-0.097071],[0.118990,-0.047547,0.991756]]6H;եݿi? &?Qٸ%v?@ Xw?i6?@I6F_;6yJNDb$f"f' f))f'If iff&df%bDnVDnI9yve=%vQ=ٔz/OQ-z>9xIx=z(Fyz E~ļE~>Q 5 ;4Xf?Q 9 ;4'0$)>Y y@Q I??I:ig:";4yBɮuB*j1Bj1i9i9zi9Ji9iA k!k!k!hQ kC5kC5kC5ha2fq:fqBm>B+CBHEB>B=BBB;BEBfqJfu ?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颅 @ɢݰb)3= Yi)`顉i'<ԱII?)?WP:I1IAO}>2Acoustic response timeoutI1)5> 9 ] 2Acoustic response timeout2я,(ˤG?A@2@2(@2ٱ2:@ :AHRS rotation from veh to nav: [[-0.868385,-0.490157,0.075185],[0.479433,-0.868596,-0.125237],[0.126691,-0.072708,0.989274]]2H@ ^߿M??`?` j7?`!?i2@I2R_;2=CENn ENYENhEL"ENO]:*EN*9VENA{5ZELBENf;aR2ENg;aRJEN:aV:EN:aVYVSm>yZE\^?AbDfVDfH9y~ѕ=%~H=ٔQ->9I= (Fy E 6E >Q 5;4R?Q 9;4)$)n ?Y!y%[@Q I%?m?I:i:a;4y-Bɮ-cBE*jBjiiziJii kkkh k;k;k;h)2f9:f9Bf9Jf=.?sENUpdating rudder angle 6.875493 arcdeg 9ErM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderuv @ɢujo\)q uCiy)}lyyi} <IN:IIOM>12Acoustic response timeoutY 8я,eG?A 2@2~%@2-ٱ2 >AHRS rotation from veh to nav: [[-0.842487,-0.533927,0.071671],[0.516616,-0.838458,-0.173483],[0.152721,-0.109131,0.982225]]2H Y?@?4ƿ\? dn?i2@I2J_;0YF>yFEbDOVDH9yEV=%EF=ٔMQ-M>9III=M(FyMEUEU>YQ 5e;4]}@?Q 9e;4]"$)]m-?Yiym@Q Im?]?I]E:i]:]Ǫ;4yuBɮ}UBy*jBjiiziJii k"k"k"h) ksCksCksChY2fi:fiBfiJfmh?颵^@ɢy`) = Oi)çiJЮ<IiIA2Acoustic response timeoutI9iEm ETEvE"EY:*E9VE-5ZEa@a@a@a@M:ԙByA}4=B9>BBmEB >B|=BDB*DBi;BEȿ= A! I) I9 Ou > 2Acoustic response timeout?я,8G?APY%D>y-#EmParsing RMC sentence: $GPRMC,190136.00,A,3646.38004,N,12152.16331,W,1.302,173.45,251025,,,A*7E )y}G?A}u?}'$9}MbB@0w^hGPS fix at 20251025T190136: (36.773001, -121.869388)}x+?}پA@bDֳVDH9y~<%7=ٔQ->9I=(FyEE>1Q 5=;45u?Q 9=;45'$)5YAyAQ IE?5I5H:i5a:5>g;4ymBɮmMBu~E*jBjiiziJii k3k3k3h k3k3k3h2f:fBfJf\5Received valid gps time fix: 1761418880.00. Resetting abort timer.E@ɢE!N\)A E*iy)}yis<IeK:%2Acoustic response timeoutEe EnE|E"E<:*E:VEם5ZEBEhL;a2EjL;aJEJ;a:EJ;a 99 #=! A AI I O= >Eя,+G?A2va@2eW%@2Rhٱ2N :AHRS rotation from veh to nav: [[-0.826507,-0.557097,0.080801],[0.516032,-0.807166,-0.286696],[0.224937,-0.195260,0.954608]]2H`r@e?@U?`M9Yҿ ?Hȿ@&?i2va@I2?_;2yFEFp=Fp=2Acoustic response timeouty%C?Mb?A`"Zd>@=Y 9X9v?V-?#~jԿY>y|?>㥾BB B)BYBbD@VDAH9yؼ%Y=ٔbKQ->9K?IK?=(FyE_E>Q 5;4?Q 9;4&$)Y?Q E:y 3@Q I?K>I ;i ;s;4yBɮOB*jBjiiziJii! k3k3k3h1 k3k3k3hA2f]>:f]>Bf]#c?Jf]5@@ɢ\s)Tl< i)Qi<IJ:AqI1 U 2Acoustic response timeoutIY O >E i E UE E "E ,K:*E P9VE U5ZE a @a @a @a @ԙ Lя,2G?A21@2 #@2 ٱ2S/ :AHRS rotation from veh to nav: [[-0.808007,-0.578096,0.113711],[0.532488,-0.799137,-0.278992],[0.252154,-0.164878,0.953537]]2H0$? $ ?@ѿ@L#?ſ`?i21@I2I:_;2;CYF>yF''EbDRVDRG9yV(=%Z_=ٔZQ-Z>9\I\=^(Fy^Eb&Eb>`Q 5f;4bN޴?Q 9j;4b>$$)b)Yhyj2@Q Ij?b>Ibg:ib=:b;4ypɮrHBp*j Bj iiziJii! k#3yBo>B,CBEB>B=BDB,DB8;BEk#3k#3h2f:fBfJfG5@5@ɢ5ʒh)Q U(iY)]YYi]/ iY I] Ae 2Acoustic response timeout Sя, LG?A2̜@2"@EFd EFVEFED"EF9:*EF9VEF5ZEDBEFF;aN2EFF;aNJEFC:aN:EFD:aN2!#ٱ2$ VAHRS rotation from veh to nav: [[-0.795575,-0.589369,0.140370],[0.545904,-0.797834,-0.255831],[0.262771,-0.126905,0.956476]]2HZu@?` x?ۇ_п=?i>s?i2̜@I2rI_;0Y^>yb6EbDjVDjG9yrs=%rE=ٔvOټQ-v>9tIt=v(FyzEz 9Ez>|Q 5;4~˴?Q 9;4~#"$)~/Y y 2@Q I ?~"$?I~;i~;~;4yBɮ8B*j)Bj)i)i)zi)Ji1i1 k#;k#;k#;hI k3;k3;k3;hQ2fi:fiBfiJfm#6@颅@ɢ+k) i)8顑i9E<ԹII!)%>#H:IyIO>I9)=?2Acoustic response timeoutA 'Yя,efG?A2 @2 @2ڠٱ2Ac :AHRS rotation from veh to nav: [[-0.779579,-0.608297,0.149105],[0.563624,-0.785199,-0.256497],[0.273104,-0.115920,0.954975]]2HO@*w?@4 ? Z rjпz?@'?i2 @I2^$_;0YZ>yZEE\\v&tv% v)vIzizzz%z&|~AbDfVDgG9ys=%I=ٔ,ؼQ->9I=%(Fy%E%wE%>)Q 55;4-d?Q 95;4-$)-Y1y=1@Q I=?-_?I-;i-;->;4yAɮE,BA*jYBjYiYiYziaJiaia kAkAkAhq kWkWkWh2f:fBfJf,q5@颽&@ɢi) i)i<I9F:2Acoustic response timeoutIQIiO=bE=5jE= 5rE=Ál2Ej E_EqE"EN:*Er9VE5ZEa@a@a@a@aBBB EB?BBBB0;BEBB+CBBǣ=BǛ=Co7ԩ 2Acoustic response timeoutԹ `я,VG?AFt@Fb@Fn ٱF3 5AHRS rotation from veh to nav: [[-0.755624,-0.641434,0.132649],[0.590595,-0.754776,-0.285501],[0.283250,-0.137390,0.949154]]FH. @?@'? '`Eҿ ?``x_?iFt@IF._;DYmM>ym ZEbD԰VD$G9yn=%==ٔ-ǼQ->9I=(Fy"E%뮽E5>AQ 5];4E󥴉?Q 9e;4E@$)E׾YayeF.@Q Ie?ԉE?IEmi! I! 9fя,G?AY~>y~mE}2Acoustic response timeoutym?i|?5y$>\)BըB FB)BYBbDޯVDF9y /=% I=ٔ Q- >9I=(Fy$EE>!Q 5-;4%N?Q 9-;4%$)%ؾY->Q E-:y-mE@Q I-?%g?I%a:i%/:%;4y9ɮ= B9*jQBjQiQiQziQJiYiY k1k1k1hi k1k1k1hy2f>:f>Bf) @Jfgȑ@颭@ɢo) Fi)ɾ项i۬<I pAmC:Ei) I) 5 2Acoustic response timeouta E  E E wE "E :*E H:VE ɕ5ZE a @a @a @a @clя,sG?AZk@ZYw@Z|ٱZIw jAHRS rotation from veh to nav: [[-0.730902,-0.678678,0.071967],[0.611653,-0.698173,-0.372069],[0.302760,-0.227927,0.925411]]ZHcgl?਒?oW@׿k`?@,Ϳ?iZk@IZZ_;XYzj>yz'zEParsing RMC sentence: $GPRMC,190139.00,A,3646.37936,N,12152.16329,W,0.778,168.98,251025,,,A*7D B-m>B-+CB-@EB-'?B)B)B)B-C;B-E)AEG?AED?E'$9EiiPbB@7Cw^UhGPS fix at 20251025T190139: (36.772989, -121.869388)E>E<@ YY]=]=bDm VDmPF9yu\=%}T=ٔ}XQ-}>9H?IH?=(Fy'EE>Q 5;4D?Q 9;4'$)YyIA@Q I?I ;i ;>g;4yɮB*jYBjYiYiaziaJiaia k2k2k2h2f:fBfJf`J@\Received valid gps time fix: 1761418880.00. Resetting abort timer.@ɢm)  i)$½i<IQ BB:2Acoustic response timeoutr;ԁAUzAIaIyO>ԩ = 2Acoustic response timeoutKsя,ͥG?A2@2@28ٱ28 :AHRS rotation from veh to nav: [[-0.725175,-0.686407,0.054463],[0.615475,-0.681633,-0.395685],[0.308725,-0.253421,0.916770]]2H4 ?? `Rٿ%?@ 8п-V?i2@I2)_;2>CEBv EBbEB|E@"EBVz:*EB9VEBם5ZE@BEBy;aJ2EBz;aJJEBO;aJ:EBP;aJ\Yr>yr*EbDe0VDeE9y&>%F=ٔxQ->9F?IF?=(Fy)EۉE>Q 5;4:?Q 9;4s&$)&Yy4@@Q I?8>I+;i;u;4yBɮB*jBjiiziJi i  ksksksh k#1k#1k#1h)2f:fBfJf!@ @ɢm) i)WŽiz<IԩA:2Acoustic response timeout-qZ;A9zA=pA A $AI I O >uyя,G?A2H @26@2ٱ23 :AHRS rotation from veh to nav: [[-0.710915,-0.702199,0.038931],[0.626919,-0.657842,-0.417392],[0.318703,-0.272324,0.907892]]2Hѿjx?`? ڿ`e?@mѿ@t ?i2H @I2^;2;CYB_?yBޝEbDN5VDNyE9yVq=%V^=ٔVxQ-V>9ZH?IZH?=Z(FyZ,E^iRE^>`Q 5f;4bw?Q 9f;4b%$)bƠYdyfx>@Q If?b>Ib:ib:b;4ylɮnBpllG69YA*j Bj iizi1Ji9i9 kkkhy2f:fBfJf @X@ɢq) i)ݚȽi<Ia In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutI$?)Q?Ee E[EvE"E<:*E9VE-5ZEa@a@a@a@q?: B%q>B%,CB% EB%M?B!B!B!B%o;B%ƚE959Ae zAIi Iy  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutO > `я,G?AU[ @UQ@U<ٱU0 AHRS rotation from veh to nav: [[-0.690857,-0.722385,0.029599],[0.638434,-0.628760,-0.443917],[0.339290,-0.287786,0.895579]]UHJO? n?!iܿ?kҿ`?iU[ @IU_;U 9bX9?-? rh?YE?y?5>C =BcB B)BYLBbDVDD9yF=%-=ٔs=Q->9F?IF?=(Fy/E[JE>Q 5;4b?Q 9;4"$)0=Y2?Q E:y-@Q I?4?I ;iX:;4yBɮB*jBjiiziJii k6k6k6h k6k6k6h!2f5%>:f5%>Bf5_(@Jf5@ @ɢn3m)fD9 i)9 ̽iL٠<I=:iIzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutEl EXEyE"EV:*E9VE5ZEBEBx;a2EEx;aJE:a:E:a)AQ Y Ia Iq O >я,cG?A2 @2 @2ٱ2Q :AHRS rotation from veh to nav: [[-0.675215,-0.737593,0.006385],[0.649270,-0.598425,-0.469398],[0.350046,-0.312799,0.882963]]2H ]\ 'z?? M& ޿&g?Կ%vm=ٔv/Q-v?9xIx=z(Fyz1EzkE~?Q 5 ;4dS?Q 9 ;4R $)>Y y +@Q I ? R?I[:i:;4yɮB*j)Bj)i1i1zi1Ji1i1 k-k-k-hI kFkFkFhY2fi:fiBfiJfm@2Acoustic response timeout额H#@ɢ) i)ν顡i <I9<:A_?Aj?A$AIIO-->aԩ5 2Acoustic response timeoutE j E WE ~E "E N:*E 9VE 5ZE a @a @a @a @Թ я,C5G?AFz @Fh@F긾ٱF6 RAHRS rotation from veh to nav: [[-0.671763,-0.740754,0.004217],[0.651051,-0.593111,-0.473658],[0.353365,-0.315440,0.880699]]FHABb+CBbFBb}v?B`B`B`Bbr;B`M MM M)UIUiUUUbDeVDeC9ym=%uB=ٔu Q-u>9}H?I}H?=}(Fy}3EE>Q 5;4@?Q 9;4m$)P>Yy+@Q I??I;i;Э;4yBɮnB|E*jBjiiziJii kC+kC+kC+h kSLkSLkSLh2f:fBfJf:@(@ɢ֯r) i)ҽia = 2Acoustic response timeoutя,COG?AE2f E2[E2{E0"E2I@:*E29VE2:5ZE0BE2R;a:2E2R;a:JE2;a::E2;a:> @>@>=nٱ> JAHRS rotation from veh to nav: [[-0.673451,-0.739217,0.004583],[0.653706,-0.598419,-0.463209],[0.345155,-0.308953,0.886237]]>H 0r?(? @&8ݿ?ӿ \?i> @I>>_;>=CYR>?yRE TTbD^VD^C9yf.W>%fV=ٔf9hIh=j(Fyj6EnEn>pQ 5v;4r/?Q 9v;4r$)r>Ytyv{+@Q Iv?rs?Ir|:ir:r.;4y~Bɮ~BB|*j Bj iiziJii k0k0k0h) kFkFkFh2f:fBfJf@-H+@ɢ-s)) -i))5Uս11iUE 2Acoustic response timeoutI Rřя,LhG?A29g@2']@2*ٱ2,C :AHRS rotation from veh to nav: [[-0.660683,-0.750628,0.007421],[0.669675,-0.593840,-0.445969],[0.339164,-0.289675,0.895018]]2HQ$%e~? m?Šܿ@ݴ?ҿ?i29g@I2R(_;0YF{N?yFEbD VD C9yMU>%MB=ٔM3x9YIY=](Fy]9EeREe>iQ 5};4mB?Q 9};4m$)mu>Yy(*@Q I?m6?ImF;imG;m;4yɮ5#B1*jABjAiIiIziIJiIiI k#Ck#Ck#Ch kS[kS[kS[h2f:fBfJf=@y0@ɢs) i)lؽi<2Acoustic response timeoutIIDizDiE}i E}oE}xEy"E},K:*E}:VE}e5ZEya@a@a@a@8:ԁAABi>BB@5FBb?BBBBW;BE2;ԡ I) I9 Ou > 2Acoustic response timeoutя,f܂G?A@=@=|@=ٱ= MAHRS rotation from veh to nav: [[-0.644002,-0.764996,-0.006502],[0.684510,-0.572410,-0.451435],[0.341624,-0.295176,0.892280]]=H `zz ?-QPܿ@,?)ҿ`?i=@I=^;=9CYek?yeF}Parsing RMC sentence: $GPRMC,190142.00,A,3646.37720,N,12152.16253,W,4.160,160.01,251025,,,A*77 )y}G?A}B?}n $9}"bB@f#٣w^hGPS fix at 20251025T190142: (36.772953, -121.869376)}@}2@y> ףp=?x&?A`"˿1?7=Y 9V-?gfffff?jt?YM?y33> >BB 8B)BYBbDԦVDB9yO>%6=ٔQ->9I=(Fy;EXE>Q 5;4B?Q 9;4n $)Y2V?Q E}:yd'@Q I?I ;i;>g;4yBɮԿBpE*jBjiiziJii kBkBkBh k[k[k[h!2f5y>:f5y>Bf5I?Jf5N{@\MReceived valid gps time fix: 1761418880.00. Resetting abort timer.]X4@ɢ]ir)Y ]iY)eܽaaiev զя,mG?A2@2@2ٱ2* :AHRS rotation from veh to nav: [[-0.632775,-0.773326,-0.039517],[0.696192,-0.545835,-0.466242],[0.338987,-0.322538,0.883774]]2H`?;3G?@zwݿ ?wԿG?i2@I2^;2;CY^K?yb; F 9b f I)a=bD-VD-A9y=>%=f=ٔ=%9AIA=E(FyE>EMFEM>Qe2Acoustic response timeoutQ 5e;4Uu/?Q 9e;4U$)U0>Yiymo&@Q Im?U>IUZ;iU[;Us;4yuBɮuBq*jBjiiziJii kBkBkBh kYkYkYh2f:fBfJf=7y@;@ɢD) i)>޽i<I5:)0aIqIO> 2Acoustic response timeoutD =D R=bEЙ5jE}5rE8H1E  E cE E "E :*E L9VE H5ZE a @a @a @a @ԙ я,†G?AB6j>B4B6WFB6V?B4B4B4B6A;B6EB-+CB)B)B)B-=C-4Fuf@Fb\@FٱF¸ NAHRS rotation from veh to nav: [[-0.619707,-0.782237,-0.063786],[0.712162,-0.526310,-0.464568],[0.329831,-0.333322,0.883237]]FH@@GT@?}ݿ?@'Uտ zC?iFuf@IF^;F=CYV?yV-FbDb7VDbVA9yjU>%jQ=ٔj9lIl=r(Fyr@ErbEr>tQ 5z;4v8?Q 9z;4v$)v>Yxy~%@Q I~?vX?Iv;iv<;vX;4yɮvB*jBji!i!zi!Ji!i! kNkNykNh2f:fBfJf:v@;<@ɢHot) i)niV%<I64:}2Acoustic response timeoutԩIIOEs>  2Acoustic response timeoutя,dЦG?AE" E"RE"E "E"a;*E"M;VE"5ZE BE"=a*2E"=a*JE";@>1@>%]ٱ>w fAHRS rotation from veh to nav: [[-0.606087,-0.792388,-0.069131],[0.722719,-0.512326,-0.463896],[0.332168,-0.331124,0.883188]]>He>[@ ?d yݿ>B?`"1տC?i>;@I>^;%G=ٔ ŻQ- >9 I =(FyCE 6E>Q 5%;43?Q 9%;4#)>Y)y-#@Q I-?^a?IR:i:;4y5Bɮ5=B9*jIBjQiQiQziQJiQiY kRkRkRhi k#Rk#Rk#Rh2f:fBfJfDu@e<@ɢePm)i m߿ii)mbiiimn=<I pA 3:II!OU>}hDAT read: Forwarding Delay UpTx time:19:01:47.0916 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout1>Y я,J@>@@>a;ٱ>7 JAHRS rotation from veh to nav: [[-0.590806,-0.804784,-0.057187],[0.725923,-0.499302,-0.473005],[0.352113,-0.320968,0.879202]]>H`G:?߿E޿ ?ཊԿk"?i>J@I>8^;>>CYV1?yZMFvv v v )z Iz ixz ||==bD VD #@9y%z>%%H=ٔ-=UQ-->91I1=5(Fy5EE=E=>AQ 5U;4E?Q 9U;4E#)E ?YQy]#@Q I]?E?IEK;iEWL;E;4ymBɮmBmoE*jBjiiziJii kLkLkLh kLkLkLh2f:fBfJfw@^B*** querying acoustic contact ***XY=@ɢ k) 4Կi),}i<1I2Acoustic response timeoutE]j E]E]EY"E]N:*E]1]:VE]H5ZEYae@ae@ae@ae@me1:IIzJI O= >aBek>BaBe{FBe?BaBaBaBe;BeEԩ 2Acoustic response timeout Mя,l&G?AfFF@f4<@fٱfL rAHRS rotation from veh to nav: [[-0.575979,-0.814120,-0.073870],[0.731129,-0.472620,-0.492017],[0.365648,-0.337400,0.867446]]fHjnF +鲿`ie?g?޿`3}߿`f?տ`?ifFF@If^;f9CYzp?yzVF~=|y+?(\?S?>G>> 9A`"?tV?MbY>yr>BJB B)YBbD|VD?9ye >%B=ٔ Q->9I=(FyHE]E>Q 5;4E߲?Q 9;4/#)?Y=>Q E:y+@Q I?3?IK ;i ;;4yɮB*jBjiiziJii kDkDkDh kYkYkYh!2f5@>:f5@>Bf5{?Jf5s?ԉx>@ɢj.f)) οi)4Aiʂ<I;0:AzAnA2Acoustic response timeoutAII1Een EeEetEa"EeO]:*EeA:VEe5ZEaBEef;am2Eeg;amJEet;am:Eet;auO}Y> #я,,G?A2)[@2Q@2¾ٱ2þ :AHRS rotation from veh to nav: [[-0.564105,-0.821110,-0.086969],[0.737590,-0.453762,-0.500061],[0.371142,-0.346235,0.861612]]2H & F@CV?n ݿ@? (ֿ@S?i2)[@I2$_;2;CY^?ybaFE2Acoustic response timeoutbDuWVDu?9y8>%K=ٔpQ->9I=(FyJE"E>Q 5;4в?Q 9;4#)?Yy*@Q I?(?I:i:º;4yɮžB*jBjiiziJii kSAkSAkSAh  ksYksYksYh!2f1:f1Bf1Jf5V?M:?@ɢMYe)Q UƿiQ)]eYYi]W}9qAYAym^?mޞA2Acoustic response timeoutI Eq  Eu Eu Eq "Eq *Eu ,:VEu U5ZEq a} @a} @a} @a} @Mя,B7G?AB&c>B&*CB&hFB&?B&=B$B&+DB&;B&mEBl(?B$ @B&}þٱBrѽ JAHRS rotation from veh to nav: [[-0.554757,-0.827879,-0.082826],[0.743916,-0.448972,-0.494989],[0.372605,-0.336214,0.864943]]BH}@4(?ܿ߿ ?տ?iBl(?IB^;B>CYV?yVpF^Parsing RMC sentence: $GPRMC,190145.00,A,3646.37123,N,12152.16026,W,7.425,160.01,251025,,,A*72 )`b@G?Ab?bΰ#9b`bB@s:w^jhGPS fix at 20251025T190145: (36.772854, -121.869338)bvt@`Ij=)jI?bDr0VDr>9yz{>%zW=ٔzQ-z>9~F?I~F?=~(Fy~MEtE> Q 5;4 ?Q 9;4 ΰ#) Yy&*@Q I? I  ;i * ; >g;4y%XBɮ%IB%TE*j9BjAiAiAziAJiAiA k@k@k@hY kdkdkdhi2f9:f9Bf9Jf=tO?19E rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7MnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeed\Received valid gps time fix: 1761418880.00. Resetting abort timer.颍@@ɢ_) Wi)+L顱i,t<IQs-:U2Acoustic response timeoutA$AI IOmW>yԩ  2Acoustic response timeout6я,QG?AEj EErE"EN:*E&p:VE5ZEBEk;a2Ek;aJE~;a:E~;aPb?b` @b7ٱb} jAHRS rotation from veh to nav: [[-0.547599,-0.832693,-0.082211],[0.751477,-0.446209,-0.485984],[0.367991,-0.327904,0.870093]]bH j  ?ܿZ߿,?`Կ?ib?Ib^;b9CY?y|F))bDVD=9yK9>%==ٔ<9H?IH?=(FyOE@мE>Q 5;4׎?Q 9;4,#)7IR:i:v;4y-QBɮ-B-JE*jaBjaiaiaziiJiiii kbkbkbh2f:fBfJf?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@@ɢ[) ﳿi)رiצk<I/,:u2Acoustic response timeoutAb?Aq?I I ) O= >aя,kG?AF3?F @F.xٱF RAHRS rotation from veh to nav: [[-0.540748,-0.836611,-0.087599],[0.761190,-0.442341,-0.474262],[0.358024,-0.323136,0.876015]]FH@M@@l[?@POܿ@PZ޿?AԿO?iF3?IF^;F:CYz?yzF|bD ƛVD t=9y=T>%V=ٔ9!I!=%(Fy%RE-"E->1Q 5=;45j?Q 9=;45߫#)5#=Y9yE(@Q IE?5>I5;i5;5;4yIɮMBI*jaBjaiaiaziaJiaii kcIkcIkcIhy kakakah2f:fBfJf3?颽A@ɢ0^) =i)RiNd<I oAnA2Acoustic response timeout*:E5 E5E5}E1"E5:*E5T:VE5s5ZE1a=@a=@a=@a=@+w)IYIqO?>BEl>BE+CBEFBEa?BE=BABE,DBE;BE) )9-uV?Mb`?T㥛 ?Y-rH?y-;->-iC-}B -|C)-B)Y-BbDE}VDE<9yM>%UG=ٔUY9YIY=e(FyeTEeoټEe>iQ 5u;4mq?Q 9u;4m?#)mœ>Yy^?Q Et:y@Q I?m&?ImY:fm&>Bfm$@JfmÔ@eB@ɢ)P) Bi)'i[<Iy):ԉiI2Acoustic response timeoutIE]a E]dE]EY"E]%.:*E]9VE]5ZEYBE]M3;ae2E]O3;aeJE]&;am:E]&;ameԱII)O]> =rя,X;G?A6@?6 @6䴾ٱ6 BAHRS rotation from veh to nav: [[-0.528098,-0.843815,-0.095333],[0.775497,-0.433482,-0.459019],[0.346002,-0.316337,0.883297]]6H- g@?*ۿ`ݿ`$?`>ԿC?i6@?I6>]_;6;CYJ4?yJFNa=L^>^ ^ ^)^ I^ i\bDfVDf;<9yn&>%nR=ٔr$;Q-r>9pIp=v(FyvWEvлEv>xQ 5~;4zb?Q 9~;4zѢ#)z?Yy@Q I?zd?IzI;izw;z;4y NBɮ B *j!Bj!i!i)zi)Ji)i)E2Acoustic response timeout k3Ok3Ok3OhI2fa:faBfaJfe}@}C@ɢ}S)  i)A顁iRT<IԹ':IIOj>2Acoustic response timeoutDM =DM %=EU w EU tEU EQ "EU }:*EU v:VEU *5ZEQ a] @a] @a] @a] @9 BE o>BA BE 8FBE @BE =BA BE -DBE ~;BE ;Eя,jG?A2?2X @2WUٱ2 :AHRS rotation from veh to nav: [[-0.521751,-0.848286,-0.090481],[0.777783,-0.429433,-0.458956],[0.350470,-0.309835,0.883840]]2H . )%@) ?{ۿ_ݿn?Wӿ`jH?i2?I2_;0YB?yF)FbDNƗVDN;9yv>%vI=ٔv|@Q-z>9xIx=z(FyzYE~ߌE~>!Q 5-;4%S?Q 9-;4%!#)%E?Y)y-w@Q I-?%?I%:i%:%;4y1ɮ]PBY*jiBjiiqiqziqJiqiq kNkNkNh k^k^k^h2f:fBfJff@C@ɢF) _i)%:}!!i%K<)I)-&:IIO>M2Acoustic response timeoutAiԙ  2Acoustic response timeoutя,ҧG?AEl EnEE"EV:*E:VEc5ZEBEBx;a2EEx;a"JEJ;a":EJ;a&02@^-s?^ @^~ٱ^ nAHRS rotation from veh to nav: [[-0.512109,-0.853997,-0.091827],[0.780724,-0.418250,-0.464260],[0.358070,-0.309444,0.880926]]^H@3c`S? ڿ nݿ?ӿ0?i^-s?I^_;^=CY}=@y}FbDxVD;9y%]h>%%8=ٔ%Q-->9)I)=-(Fy-\E5E5>9Q 5E;4=VC?Q 9E;4=#)=;?YAyM@Q IM?=?I=:i=:=Q;4yUKBɮUBQ*jiBjiiiiiziiJiqqiq kQkQkQh k\k\k\h2f):f)Bf)Jf-@MD@ɢMH@)Ug! UziQ)UcDQQiU_LAm2Acoustic response timeout lя,1G?A6ٰ?6XN@6ٱ6 BAHRS rotation from veh to nav: [[-0.494557,-0.862816,-0.104700],[0.790612,-0.396556,-0.466557],[0.361034,-0.313516,0.878272]]6HӦ߿/ͺ@L?+aٿݿ,?Կ?i6ٰ?I6^;4YJ @yJFVParsing RMC sentence: $GPRMC,190148.00,A,3646.36402,N,12152.15606,W,9.078,159.18,251025,,,A*7F )TVG?AV8?V #9VlbB@ow^^hGPS fix at 20251025T190148: (36.772734, -121.869268)Vq@VF1@bDn:VDnq:9yvl>%v`=ٔzQ-z>9xIx=z(Fy~^E~qE~>Q 5 ;48?Q 9;4 #)Yy@Q I?I:i]:>g;4yBɮ%zB%E*j1Bj1i9i9zi9Ji9i9 kDkDkDhQ k\k\k\h2f:fBfJfU@\-Received valid gps time fix: 1761418880.00. Resetting abort timer.=E@ɢ=A)A E hiA)EWAAiE48BBFB@BBB,DB;BSEBBBBBŤ=CJ75O]U>1 } 2Acoustic response timeout`я,G?A:Ш?:Q@:.ٱ:H貾 FAHRS rotation from veh to nav: [[-0.476070,-0.870856,-0.122345],[0.802732,-0.373520,-0.464869],[0.359136,-0.319520,0.876886]]:H w޿ @Q?׿jݿ?sԿr?i:Ш?I:_;:;CYN@yNFyuV-?MbL7A`?u?uu+=q q9u"~?Yus?yuuuaBu5B u[B)uBqYuBBIbDVD99y6]>%?=ٔ;Q->9I=(FyaEbE>Q 5;40,?Q 9;4#)'>Yv?Q E\:y{?Q I?G>Is:i:4v;4y]Bɮ]GB]E*jiBjiiiziJii kEkEkEh k^k^k^h2fN1>:fN1>Bf!b@Jf R@F@ɢ,+8) %Ti!)%!!i%A-<)1I1":IIO%>2Acoustic response timeoutYEU EUyEUEQ"EU:*EU:VEUq5ZEQBEU[;a]2EU\;a]JEUs;ae:EUs;ae qqԁ Kя, G?A4<ɰ;06O?6V@6oĹٱ6\ >AHRS rotation from veh to nav: [[-0.458525,-0.878115,-0.136633],[0.814731,-0.353968,-0.459259],[0.354918,-0.321902,0.877731]]6H {Xݿ` 4}G?@kֿdݿ? Կ `?i6O?I6^;6%vW=ٔzB9xIx=~(Fy~dE~tE>Q 5 ;4!?Q 9 ;4~")W>Yy?Q I?6?Iy:i:y;4%2Acoustic response timeouty)ɮ-B)*jABjAiAiAziAJiAiI ksEksEksEhY k#gk#gk#ghi2fy:fyBfyJf}퍹@额VG@ɢ57) ;i)+顡ic%<I!:ԉD-AzAԹII1Oew>iUnAIQ2Acoustic response timeout E j E kE |E "E N:*E :VE ם5ZE a @a @a @a @B B B FB .@B =B B -DB ;B `E я,x_:G?AlYr@yrFv=v=bD-nVD-89yeu>%eC=ٔmQ-m>9iIi=u(FyufEuEu>yQ 5;4}'?Q 9;4}q")}>YyQ I?}?I}6:i} :} ;4yɮۻB*jBjiiziJii ksNksNksNh k`k`k`h2f:fBfJf=H@ɢ L-)  $i ) " i)<I g: -2Acoustic response timeoutIIO">1 nManaging dock network, ignoring radio surface power offa  2Acoustic response timeoutя,}]TG?AE:~ E:rE:}E8"E::*E:?:VE:s5ZE8BE:;a>2E:;a>JE:Y;a>:E:Y;aBRh?R)@REٱRJ ^AHRS rotation from veh to nav: [[-0.431111,-0.885880,-0.171348],[0.830849,-0.315688,-0.458291],[0.351898,-0.339939,0.872129]]RHTۿ@ Y@ſ@Q?:4ԿTݿ@?տ@{?iRh?IR>^;R;CYf%@yfFbDr?VDr&89yzX>%zQ=ٔz39|I|=~(Fy~iE~ٱE>Q 5;4D ?Q 9;4")?Yyi?Q I??I:iN:ʟ;4y%Bɮ%B%E)*j9Bj9i9i9ziAJiAiA kIkIkIhY kakakah2f:fBfJfE@5#I@ɢ5')1 5i1)=99i=2<Ա MrA! ] 9] MrAY] 6Bfя,nG?AY/-@yFEEE E )E IE iE IM=)M;bDUVDU79ye>%eD=ٔmQ-m>9mK?ImK?=u(FyukEuEu>yQ 5;4}?Q 9;4}")}qE?YyQ I?}?I}:i}:}\;4yɮaBԙ*jBjiiziJii k`k`k`h k`k`k`hY2Acoustic response timeout2f:fBfJfEJ@ɢE )M. MOiI)UQQiUMB*CB(FB7?@B=BB,DB;BcEAA a e %=} 2Acoustic response timeoutI I ! OE >F!я,1G?A2$?2{@2jٱ2ƾ :AHRS rotation from veh to nav: [[-0.402767,-0.892819,-0.201628],[0.844723,-0.277755,-0.457487],[0.352450,-0.354580,0.866055]]2H@ٿ ɿ ?@ѿyGݿ?qֿ?i2$?I2^;0YB3@yB?F)DDDyM+?#~jĿ1Zd?M?M%M"=I I9ME?Zd;YMf?yMLMyMBMxB MB)MԖBIYMBbDeVDe79yu>%uI=ٔuqQ-}>9yIy=(FynEE>Q 5;4C?Q 9;46")b?Yg?Q Ej:y?Q I?Y @I ;i ;;4yɮ+B*jBjiiziJii kZkZkZh kZkZkZh2fe>:fe>Bf=@JfՂ@J@ɢV)! %(i!)%wG!!i-@;)I15m:!AI2Acoustic response timeoutIOK>Ef E]EE"EI@:*E9VE5ZEBER;a2ER;aJE ;a:E ;aQy W(я,ʡG?A2?2Vk?2)6ٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.386200,-0.896810,-0.215828],[0.854081,-0.259284,-0.450907],[0.348417,-0.358474,0.866084]]2H@ؿ`<˿T?`пܿwL??ֿ?i2?I2X^;2=CY^;@ybF2Acoustic response timeoutbD%VD%|69yK>%F=ٔ*9I=(FypEHE>Q 5;4)?Q 9;4h")'?Yy?Q I? @Ig:i:;4yBɮBE*jBjii zi Ji i  kZkZkZh! kZkZkZh12fA:fABfAJfE@QeK@ɢma)i mꁾii)mz~iqiuF;yIy pApAU1:ԁIIOB> qq2Acoustic response timeoutDA DE =EM h EI EM vEI "EM G:*EI VEM -5ZEI aU @aU @aU @aU @B _>B B GB ^P@B =B B B ;B WE G.я,廨G?Aɰ4<2uT?2F@?2貾ٱ2Kvɾ :AHRS rotation from veh to nav: [[-0.372561,-0.899919,-0.226594],[0.862545,-0.245718,-0.442311],[0.342366,-0.360235,0.867765]]2H` ׿@"@Ϳ@?sϿ@Nܿ Q?׿?i2uT?I2M^;0YF=A@yFFNParsing RMC sentence: $GPRMC,190151.00,A,3646.35238,N,12152.15405,W,13.063,161.27,251025,,,A*4C )PRG?AR?RZ"9RmbB@Ww^ZhGPS fix at 20251025T190151: (36.772540, -121.869234)R @R#4@\^AAbDbYVDb59yjm>%jX=ٔj݋9lIl=n(FynsEr7Er>tQ 5z;4v?Q 9z;4vZ")vYxyz?Q I~?vIv/:iv':v>g;4yBɮ BE*jBjiiziJi!i! k^k^k^h1 k^k^k^hA2fQ:fQBfQJfU _@\mReceived valid gps time fix: 1761418880.00. Resetting abort timer.L@ɢ) 7i)!i%;!I)ԑ:2Acoustic response timeoutIIOE/> 2Acoustic response timeoutE%  E% E% xE! "E% :*E% 3:VE% e5ZE! BE% ;a- 2E% ;a- JE% ;a5 :E% ;a5 @ 5я,ըG?A2s?2^?276ٱ2-Ǿ :AHRS rotation from veh to nav: [[-0.360788,-0.903304,-0.232108],[0.870186,-0.236490,-0.432259],[0.335570,-0.357931,0.871365]]2H`'׿`Ϳ@?@MEο"ۿy? Xֿ9?i2s?I2^;29CYvI@yv3FbDeVDeH59y>%?=ٔ9I=(FyvE E>Q 5;4??Q 9;4")=Yy?Q I?>I:i:,v;4yɮ˹B*jBjiiziJii ks_ks_ks_h  k_k_k_h2f:fBfJfQ@M@ɢY) ȗi)8i ;Ir:92Acoustic response timeoutAf?Aa?IIIO >i rJ;я,h[G?A YvP@yvrGbDVD49y >%T=ٔQ->9I=(FyxEE%>!Q 5-;4% ?Q 95;4%ˬ")%^>Y1y1Q I5?%3?I%:i%:%;4y=!BɮEBEE*jQBjQiQiYziYJiYiY k^k^k^hq k^k^k^h2f:fBfJfN@ɢ ) =i)Xi;II?)?2Acoustic response timeoutEl EbEE"EV:*E9VEDz5ZEa@a@a@a@:i IqIO>B%<A%<B-[>B-)CB- GB-@`@B)B)B)B-i;B-Eԙ u 2Acoustic response timeout2Bя,X8 G?A2Wf?2%R?2ٱ2-þ :AHRS rotation from veh to nav: [[-0.334950,-0.910396,-0.242873],[0.886111,-0.216720,-0.409683],[0.320338,-0.352436,0.879302]]2Hoտ@!xϿ[?}˿@?8ڿ`l?Nֿ@>#?i2Wf?I2^;2;CLYRHW@yR`GIV<)Ty-gfffff?V-ǿMbȿ-3s?-|?-@) )9-MbX?bX9ƿnѿY-J?y-E6-V-B) -B)-JB)Y-BbDEVDE!49yUw>%UF=ٔ]=Q-]>9YIY=e(Fye{EeEe>iQ 5u;4mc ?Q 9u;4m")m|>Y[?Q Ew:yh?Q I?m?Im:fm:>BfkE@Jfި@O@ɢ) =i)i ;I:iIA2Acoustic response timeoutEo EWEuE"E`:*E9VE5ZEBE;a2E;aJE:a:E:a4/II)Oe>! \Hя,#G?A6 ?6?6ٱ6^¾ >AHRS rotation from veh to nav: [[-0.319517,-0.913628,-0.251382],[0.894596,-0.203376,-0.397915],[0.312422,-0.352026,0.882310]]6H`rԿp<п@?8ʿrwٿ?`ֿ;?i6 ?I62^;4YF `@yJ GHJ@AZ Z Z Z)^ I^i^bDfVDf39yj>%nS=ٔn9pIp=r(Fyr}EvAEv>tQ 5z;4v ?Q 9~;4vʚ"|)v >Yy"?Q I?v|?Iv-;iv.;v;4y ɮ !BۼE%2Acoustic response timeout*j1Bj1i9i9zi9Ji9iA k]k]k]hQ k]k]k]ha2fq:fqBfqJfu'1@颕P@ɢ5V޽) Wx>i)b顙i'`;Iu:yyyy)YAiIyI2Acoustic response timeoutO>D %=D <bEA5jEȋ5rE#2E d E bE ~E "E 9:*E 9VE 5ZE a% @a% @a% @a% @ԁ B% Y>B! B% pGB% gq@B! B% DB! B% ;B% EB*CB*CBʔCBʤ=BC 5Nя,%vI=ٔz9xIx=~(Fy~E~IE>Q 5 ;4 ?Q 9 ;4")T>Yy?Q I??I:iB:ԭ;4yɮ%B!*j1Bj9i9i9zi9JiAiA ks^ks^ks^hQY kxkxkxhi2fy:fyBfyJf}@u@额Q@ɢ<ս) >i)顡i"N4;I:52Acoustic response timeoutԉAIIO5.>Ա  2Acoustic response timeoutE% g E% dE% |E! "E% C:*E% 9VE% ם5ZE! BE% X;a- 2E% X;a- JE% &;a- :E% &;a5 nUя,VG?A;ɰp;2?2?2[圾ٱ2ǿ :AHRS rotation from veh to nav: [[-0.284019,-0.921290,-0.265629],[0.910127,-0.171882,-0.376994],[0.301664,-0.348830,0.887309]]2H^-ҿ 4{`ѿ?:ƿ ؿvN?9Sֿ d?i2?I2^;2;CYFk@yFGbDEVDE29y5i>%?=ٔ@%9I=(FyEEE>ԹQ 5;4 ?Q 9;4"):>Yy"?Q I?x@IW:i:Ƽ;4yBɮBѼE*jBjiiziJii krkrkrh  krkrkrh!2f1:f1Bf1Jf5y@MR@ɢU^ʽ)Q U >iQ)]YYi]J;aIa52:Ae`?Ae\?AIIOH>=In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER=2Acoustic response timeout9 [я,+pG?A2>?2)?2ٱ2`콾 :AHRS rotation from veh to nav: [[-0.265506,-0.925422,-0.270372],[0.916267,-0.154960,-0.369381],[0.299937,-0.345806,0.889076]]2H п@MѿR?@ÿ@׿(2?!ֿOs?i2>?I2^;0YBt@yFGNParsing RMC sentence: $GPRMC,190154.00,A,3646.33705,N,12152.14635,W,17.592,155.90,251025,,,A*40 )PRG?ARĚ?R!9R#5bB@}nw^ZhGPS fix at 20251025T190154: (36.772284, -121.869106)RARX$.@bDbVDba29yfa>%jY=ٔjj;Q-j>9lIl=n(FynEr]Er>tQ 5~;4vĚ?Q 9;4v!)vYy ?Q I ?vIv;iv;v>g;4yؾBɮ%2B%IE*jIBjIiQiQziQJiQiY kCxkCxkCxh2f :f Bf Jf \@\]Received valid gps time fix: 1761418880.00. Resetting abort timer.mS@ɢmӶ)m V m ?ii)uWqiߙIߙpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutqi$:IEi E^EE"E,K:*E;9VEH5ZEa@a@a@a@:AA@ABW>BB4GB@B=BB+DB;BEAAIIOuX>yM zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYM 2Acoustic response timeoutA E >ԙ wbя,N~G?A:s?:d_?:Qٱ:i FAHRS rotation from veh to nav: [[-0.245511,-0.930417,-0.272120],[0.922009,-0.137431,-0.361955],[0.299371,-0.339761,0.891594]]:HlϿ ijѿ?X@F*׿(?`տ`?i:s?I:C^;8YNo{@yNGy}?A`"?p= ף?}f?}=}=y y9}ʡE?ˡE?"~j̿Y}>y}'=}Sc}B}B }B)}ByY}LBbDVD19y`u>%>=ٔ:Q->9I=(FyEOOE>1Q 5=;45?Q 9E;45(!)5mYE>Q EE:yE?Q IE?5\>I5:i5:5v;4yMϾBɮMBU@E*jiBjiiiiiziiJiiyiq k_k_k_h kpkpkph2f۝>:f۝>Bf{mp@JfJ0>T@ɢ~) S?i)i!:IX :2Acoustic response timeoutԱEg EhE}E"EC:*E]9VEs5ZEBEa2EaJE&5;a:E'5;aAIIOg> hя,YG?A2/?2P?2ٱ2d :AHRS rotation from veh to nav: [[-0.221991,-0.935169,-0.276005],[0.928316,-0.116123,-0.353193],[0.298244,-0.334625,0.893911]]2H@0j̿ ѿô?`;ֿo?@jտ?i2/?I2m^;2=CYn@ynGbDzہVDz192Acoustic response timeouty ]>% T=ٔI;Q->9I=(FyE%E%>!Q 5-;4%L?Q 95;4%!)%Y1y5?Q I5?% >I%:i%:%ƒ;4yAɮEBA*jYBjYiYiaziaJiaia k]k]k]hy ktktkth2f:fBfJf>颽U@ɢ2) 2?i)^iAI7 :AzAoA CuG9YAAAIIO$>2Acoustic response timeoutEf E[EE"EI@:*E9VE5ZEa@a@a@a@I B R>B (CB 0'GB @B =B B B I;B yEBnя,6G?AY~q@y~!G?AbDxVD09y%6>%%I=ٔ-Q-->9)I)=-(Fy-E5E5>9Q 5E;4=ɼ?Q 9E;4=s!)=6ϽYIyIQ IM?=?I=:i=:=;4yQɮUBQ*jiBjiiqiqziqJiqi k3\k3\k3\h kykykyh2f!:f!Bf!Jf!19- r-NAggregate::initialize marl:UpdateRudderq9-J])q9-9-7-o-XAggregate::initialize marl:UpdateCommandMode185]1185o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq75n=LAggregate::initialize marl:UpdateSpeed7=]97=n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeedUV@ɢUK)Y ]A?iY)]HYYieb`aIiIU :2Acoustic response timeoutyuC"ԩ A! I1 II O > 2Acoustic response timeoutE g E ]E |E "E C:*E 9VE ם5ZE BE a 2E a JE  ;a :E  ;a uя,,ةG?A@R?Rߎ?RٱR亾 ^AHRS rotation from veh to nav: [[-0.174478,-0.937567,-0.300875],[0.939805,-0.067390,-0.334999],[0.293808,-0.341214,0.892888]]RH`NUƿ@Aӿ?z@pտ?`tտ?iR?IR^;R;CYfn@yfR%GbDrGVDrW09yzp>%zN=ٔzz?9|I=(FyEE> Q 5;4 4?Q 9;4 q}!) 9 Yy?Q I? G?I G;i ; ;4y!ɮ-hB)*j9Bj9iAiAziAJiAiA kakakahY ktktkthi2fy:fyBfyJf}=sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颥W@ɢ) U?i)N顩iͺIf :&t@ԱA$AIIO J>2Acoustic response timeout {я,G?AJ?J̗?JٱJ޿ jAHRS rotation from veh to nav: [[-0.152941,-0.935498,-0.318515],[0.945312,-0.044533,-0.323113],[0.288087,-0.350513,0.891149]]JH ÿ@bԿ@??̦Կp?nֿJ?piJ?IJN^;J%eC=ٔeaj9mH?ImH?=m(FymEm`cEm>qQ 5};4u?Q 9;4u/x!)u/Yy?Q I?uz?Iu ;iu&;uv;4yɮ@B*jBjiiziJii k\k\k\h kkkh2f:fBfJfU=X@ɢz) d?i) v  i cI}2Acoustic response timeoutE EYEE"E*E*9VEZEa@a@a@a@4: BuM>BqBuc/GBu@BqBqBqBu;BuXE&V9I) IA O} >5 2Acoustic response timeouta ΂я,P G?A2?2K?2됾ٱ2 :AHRS rotation from veh to nav: [[-0.131434,-0.934502,-0.330803],[0.951170,-0.024869,-0.307664],[0.279286,-0.355087,0.892139]]2H@q+տ o?=w`İӿ`? ֿg?i2?I2^;2:CYB֋@yB+GF=F=9yM+?/$?`"?M?M=M=I I9Mףp= ?$C?$C?YM>yMZ>MZ>MBMB M~B)IIYMBbDm|VDm/9yuf>%}I=ٔ}9I=(FyE2hE>Q 5;4ͮ?Q 9;4t!)tYt?Q E:y>@Q I?)?I] ;i;;4y˾BɮB?E*jBjiiziJii ksfksfksfh kCkCkCh2f|>:f|>BfK"@Jf@%Y@ɢ%^)! %w?i!)-z))i-5J1I1:!!i2Acoustic response timeoutEo EWEuE"E`:*E9VE5ZEBE;a2E;aJE:a:E:aԑIIO% > я,%G?A2?2s?2Ɗٱ2 :AHRS rotation from veh to nav: [[-0.108842,-0.934577,-0.338701],[0.957324,-0.006776,-0.288939],[0.267741,-0.355695,0.895430]]2H`ݻ@Hտe?l{}ҿ"?ֿ]?i2?I2^;2=CYB@yB@/Gr2Acoustic response timeoutbD %{VD q.9yMQV>%MM=ٔU9QIQ=U(FԙyUEpE>Q 5;4ȣ?Q 9;4p!)wu :III!O= >iߑIߕA2Acoustic response timeoutEi E[E{E"E,K:*E9VE:5ZEa@a@a@a@Bm I>Bm 'CBm 6GBm @Bi Bi Bi Bm ;Bm 7E "я,|?G?A6y?6e?6Sٱ6 >AHRS rotation from veh to nav: [[-0.085519,-0.935729,-0.342196],[0.963172,0.010233,-0.268692],[0.254924,-0.352572,0.900393]]6H`䵿`}տN??=2ѿ P? ֿ?i6y?I6y^;4YR)@yR2GZParsing RMC sentence: $GPRMC,190157.00,A,3646.32198,N,12152.13945,W,18.058,154.36,251025,,,A*4E )\^@G?A^C?^U 9^e73bB@/lw^fhGPS fix at 20251025T190157: (36.772033, -121.868991)^A^k,@If<)f=hhbDnyVDn-9yvX>%vQ=ٔz =Q-z>9xIx=z(FyzE~E~>Q 5 ;4C?Q 9 ;4U )Yy@Q I?I:i:>g;4y%<=ٔ9I=(FyE`SE>Q 5;4A?Q 9;4 )=Yy@Q I?.U>I;i:nv;4y 7Bɮ B EQ*jBjiiziJii k^k^k^h kukukuh2f:fBfJfi@]@ɢ/) "?i)jF i ` I :IIO!>ԁ2Acoustic response timeout 6я,;sG?AF?F;?F sٱF"{ NAHRS rotation from veh to nav: [[-0.044992,-0.937277,-0.345669],[0.970922,0.040414,-0.235958],[0.235128,-0.346234,0.908205]]FH@< ,qֿ?.?@3ο?(ֿ ?iF?IF^;DYV'@yV8GbDbvVDbz,9yju>%j]=ٔj$9lIl=n(FynEr[Er>tQ 5z;4v?Q 9z;4v\| )v#8>Yxyz~@Q Ie?v>Iv}B B <>GB @B =B B *DB ;B !EB(CB(CBÓCBBC4!  2Acoustic response timeoutя, G?A2\?2?2Ojٱ2e :AHRS rotation from veh to nav: [[-0.026662,-0.936593,-0.349404],[0.973468,0.055138,-0.222081],[0.227265,-0.346055,0.910273]]2H@8M@\ֿ@&?;?@(m̿@?`%ֿ ?i2\?I2^;0PYR@yR:G XXy-J +?y&1?w/?-h?-`<-&>) )9-ʡE?7A`?S㥛?Y--R?y->-ݤ>-B) -{B)-xB)Y-#BbDEuVDE+9yU>%UB=ٔ]a9aIa=e(FyeEeZ8Em>iQ 5u;4mxu?Q 9;4m9t )mb>Yd?Q E m:y e?Q I?mL7?Im:f o^>Bf YH @Jf o@uQ_@ɢuD@ )y }?iy)})yyi}ջIm9Auf?Au]?iaIam2Acoustic response timeoutEc EnE~E"Eg5:*E:VE5ZEBE?;a2E?;aJEJ;a:EJ;aAIIOj>! Fя,親G?A6x5?64!?6aٱ6 BAHRS rotation from veh to nav: [[-0.008140,-0.934665,-0.355437],[0.975768,0.070300,-0.207208],[0.218657,-0.348511,0.911443]]6H{ֿ }9?+? ͅʿ?`Nֿ@*?i6x5?I6E^;67CYJ_@yJ=GN=Na=ZZ ^ ^ )^I^b2Acoustic response timeouti^ bDnhtVDnW+9yvG>%vR=ٔv9xIx=z(FyzEzHE~>|Q 5 ;4l?Q 9 ;4l )]?Yy?Q I??I:i:;4y(BɮB%E*j1Bj1i1i1zi9Ji9i9 k[k[k[hQ k[k[k[ha2fq:fqBfqJfu[tn@颕H`@ɢ ) ?i)Z<顙i\軉IW9)AAIIO=/>Qu2Acoustic response timeoutD=D4=Ea E[EzE"E%.:*E9VE5ZEa@a@a@a@B ?>B &CB EGB @B B B B ;B Eԁ ..я,G?A2{ ?27?2Xٱ2ϻ :AHRS rotation from veh to nav: [[0.008345,-0.932798,-0.360303],[0.977787,0.083077,-0.192435],[0.209436,-0.350693,0.912771]]2H@?{`3׿J?`D? ȿ? qֿ@k5?i2{ ?I2.^;2;CYF@yFAGbDN@sVDN*9ynR>%rK=ٔr9vK?IvK?=v(FyvEv+Ev>xQ 5~;4zd?Q 9;4zd )z0?Yy?Q I?zЫ?Iz;iz;zĭ;4y ɮ WB*j!Bj!i)i)zi)Ji)i) k3^k3^k3^hA k|k|k|hQY2fi:fiBfiJfmvm@颅ia@ɢ) I?i)顉iJI92Acoustic response timeoutԉAIIO5.>Թi oAI oA  2Acoustic response timeoutE b E UE sE "E 1:*E P9VE X5ZE BE 9;a 2E 9;a JE :a :E :a Yя,'ڪG?A2g?2#?2Nٱ2 :AHRS rotation from veh to nav: [[0.023279,-0.931557,-0.362851],[0.979363,0.094137,-0.178849],[0.200766,-0.351199,0.914523]]2H`R֗?O8׿@V? Y?ƿ? zֿC?i2g?I2^;29CYF@yFSDGI=>)=>bDMrVDM?*9Թy@>%<=ٔ9I=(FyEE>Q 5;4\?Q 9;4[ )V^?Yya?Q I??I:i:;4yɮ-B*j BjiiziJii kdkdkdh) kCukCukCuhA2fQ:fQBfQJfUk@mb@ɢu)q uH?iq)} ayyi}Im9A}nAzA}nAAIIOK>2Acoustic response timeout G5qAI}9}qAY}AA я,zG?A2F?21?2cEٱ2Ʃ :AHRS rotation from veh to nav: [[0.037310,-0.931000,-0.363107],[0.980733,0.103840,-0.165470],[0.191758,-0.349937,0.916937]]2HS? `#=׿)b?:?` .ſ`?]eֿW?i2F?I2^;2;CYB@yF~HGDDRParsing RMC sentence: $GPRMC,190200.00,A,3646.31094,N,12152.12946,W,18.719,144.47,251025,,,A*46 )PRG?AR'׊?RM9R9bB@h`њw^ZhGPS fix at 20251025T190200: (36.771849, -121.868824)RAR_!@bDbpVDb)9yj>%j\=ٔj29lIl=n(FynErEr>tQ 5z;4v'׊?Q 9z;4vM)vYxy~K?Q I~?vIv;iv ;v>g;4yBɮiBE*jBjiizi!Ji!i! k\k\k\h9 kvkvkvhI2f:fBfJfuj@\Received valid gps time fix: 1761418880.00. Resetting abort timer.c@ɢ%`R)! %?i!)%))i-])=2Acoustic response timeoutI1DzDAAEu E[E}E"Ev:*E9VEs5ZEa@a@a@a@5b9B<>BBLGBq@BBBB;BEAAIIO]T>i 2Acoustic response timeoutԙ jя,UG?A:Zk?:W?::ٱ:ĸ BAHRS rotation from veh to nav: [[0.051618,-0.930934,-0.361520],[0.982020,0.113137,-0.151121],[0.181585,-0.347219,0.920036]]:Hm?6%#׿@l??Wÿ0>?`8ֿp?i:Zk?I:|^;8YJӤ@yJJGy J +?Q?Mb ? \=   9 kt?9YIY=](Fy]EeEe>yqQ 5;4u֊?Q 9;4u4)uH=Y?Q E;:y?Q I?u>Iulf;iuCd;uw;4yɮLB*jBjiiziJii kC^kC^kC^h2f=:f=BfVH@Jf@e@ɢ/)  E?i ) iqI9M2Acoustic response timeoutԡEf EYEE"EI@:*E*9VEU5ZEBER;a2ER;aJE:a:E:aA9IAIQO^> я,0(G?Aɰ2Do?2Z?2Þ/ٱ2v :AHRS rotation from veh to nav: [[0.066971,-0.930801,-0.359339],[0.983051,0.123158,-0.135807],[0.170665,-0.344153,0.923273]]2H@$?@hֿ&u?P?@bU?ֿs?i2Do?I2#^;0R2Acoustic response timeoutY~@y~NG  bDnVD(9y%Ӎ>%%_=ٔ-9)I)=5(Fy5E5-E5>9Q 5e;4=K׊?Q 9m;4=)=9]>Yiyu?Q Iu?=)f?I=;i=;=ك;4y}Bɮ BE*jBjiiziJii kWkWkWh2f:fBfJf+@ f@ɢ 8.<) ?i)9顑i~%I9AZ?A\?AIIO-N>U2Acoustic response timeoutEj EEE"EN:*EVE5ZEa@a@a@a@) B ;>B B TGB z@B B B B e;B EQ mя,vBG?A2 c?2N?2$ٱ2K :AHRS rotation from veh to nav: [[0.082845,-0.929310,-0.359888],[0.983715,0.134058,-0.119719],[0.159502,-0.344109,0.925283]]2HX5? f׿z?(?奾 j? ֿ?i2 c?I2"u^;0YN'@yN@QGR=Rp=bDZomVDZ"(9y]&!>%]F=ٔe9aIq=}(Fy}EE>Q 5;4S؊?Q 9;4)>Yy?Q I??I;i/;V;4yɮB*jBjiiziJii k`k`k`h k`k`k`h2f:fBfJfT@Kg@ɢ$<) ?i)tݽ!!i%:.!I))-792Acoustic response timeoutIAIQO9>Qԁ ] 2Acoustic response timeoutE d E `E E "E 9:*E 9VE 5ZE BE F;a 2E F;a JE ;a :E ;a 7я,[G?A2bV?2B?2pEٱ2l :AHRS rotation from veh to nav: [[0.098746,-0.926609,-0.362830],[0.983876,0.145549,-0.103940],[0.149121,-0.346716,0.926040]]2H qG? Ǧ8׿{? V?Ǜb? 0ֿ?i2bV?I2^;2=C%bU=ٔf.9dId=j(FyjEj,Ej>lQ 5r;4nي?Q 9r;4n)n!>Ytyv?Q Iv?n?Ino:in#:n;4yzBɮzB~E*j!Bj)i1i1zi1Ji9i9 k3\k3\k3\hQ k3\k3\k3\h2f:fBfJfz߆@-h@ɢ-x<)1 5?iQ)UڽQQi]|7YIaԉ 92Acoustic response timeoutIIIO > #я,uG?A6[?6G?6Rٱ6q >AHRS rotation from veh to nav: [[0.114081,-0.923853,-0.365350],[0.983427,0.157176,-0.090372],[0.140915,-0.348985,0.926473]]6Hf4?5 a׿;x?W?"~ ?Uֿથ?i6[?I6Fy^;6)^=bDfkVDf '9ynl2>%nI=ٔr9pIt=v(FyvEz$E>Q 5%;4܊?Q 9%;4)_>Y)y-?Q I-?@I:i:;4y1ɮ5B1*jIBjIiIiIziQJiQiQ kSgkSgkSghi ksgksgksghy2f:fBfJf$:@颭i@ɢd$<) ?i)9׽顱i|?2Acoustic response timeoutQIYEa EYEmE"E%.:*E*9VE5ZEa@a@a@a@B]8>B]%CB]ZGB]@BYBYBYB]D;B]֘E]9!IAIiO> 2Acoustic response timeoutA я,,G?A2d?2}?2ہ ٱ2[๾ :AHRS rotation from veh to nav: [[0.127921,-0.920769,-0.368538],[0.982441,0.168529,-0.080050],[0.135816,-0.351827,0.926160]]2H@_?v!׿'p?`[? ~`ob?Uֿ`?i2d?I2`^;2=CYZm@yZ2ZG\\y +?M¿V?n 9|?5^?MbbX9ƿY?yE6B-B B)cBYBbDjVD&9y D>%;=ٔ@9I=(FyECE>Q 5;4S䊉?Q 9;4 )>Y ?Q E L:y ?Q I ?+@I:is:/;4yɮjB*jBjiiziJii kc^kc^kc^h kc^kc^kc^h2fB>:fB>BfD@Jf?k@ɢ%^<)! %?i!)%:~Խ!!i-nI)I1IIIO]>-2Acoustic response timeoutEf EUEwE"EI@:*EP9VEɕ5ZEBER;a2ER;aJE:a:E:aqԡ я,OxG?A2?2??2Q ٱ2 :AHRS rotation from veh to nav: [[0.140299,-0.916635,-0.374294],[0.981041,0.179746,-0.072462],[0.133699,-0.357032,0.924474]]2H`R?@U@p׿`d?@?܌ ? ֿK?i2?I2{^;2%eS=ٔm;Q-m>9qIq=u(FyuEyE>Q 5;41슉?Q 9;4)>YyH?Q I?E@ID=;ig1;;4yuBɮ:BE*jBjiiziJii kCekCekCeh kCekCekCeh2f:fBfJf!?5'l@ɢ==)9 =x?i9)=ѽ9AiEvQAIIAYAYII OE=ԩi1I1=2Acoustic response timeoutbE55jE5Ȝ5rE5ȶ2Ee E\ExE"E<:*E9VEe5ZEa@a@a@a@BU 7>BQ BU aGBU @BQ BQ BQ BU S;BU ݘEB&CB&CBBɥ=Bɥ=C+{4 я,TSëG?A2&?2?2=ٱ2s4 :AHRS rotation from veh to nav: [[0.155575,-0.911997,-0.379549],[0.979007,0.193572,-0.063835],[0.131687,-0.361650,0.922967]]2H@?@/JؿT??yW@ ?E%׿?i2&?I2 ^;0Yb@yb^G iibD}gVD}%9y=%D=ٔ;Q->9I=(FyEE>Q 5;4!?Q 9;4) >Yy3?Q I?6a@I:i:K;4yzBɮ)BE*jBjiiziJii kcdkcdkcdh1 kdkdkdhA2fQ:fQBfQJfU?ujm@ɢu, =)q uk?iy)}Aνyyi}|iZIIYIi2Acoustic response timeoutO=1E 2Acoustic response timeoutY E f E ZE E "E I@:*E a9VE Ժ5ZE BE a 2E a JE 0;a :E 1;a я,pݫG?AZ%I=ٔ9I=(Fy¼E7ԽE>Q 5;4]?Q 9;4)>Yy?Q I?/|@I;i;z;4yɮB*jBjii zi Ji i  kZkZkZh!2f9:f9Bf9Jf=u?Un@ɢ]F~"=)Y ])?iY)]AʽYaiecaIiAIIO5.>A2Acoustic response timeoutԩԙ 9я, G?AY~/@y~cGbDeVD$9y%=->%%W=ٔ%Q-%>9)I)=-)Fy-żE5E5>9Q 5E;4=?Q 9E;4=#)=>YAyAQ IE?=@I=:i=:=;4yUmBɮUگBUE*jiBjiiiiiziqJiqiq k#Bk#Bk#Bh kYkYkYh2f:fBfJfo@ɢF=) @i)ǽiҵkI I)2Acoustic response timeoutE}g E}RE}Ey"E}C:*E}9VE}5ZEya@a@a@a@ԑB<A<B3>BBxfGBg@BBB)DBw;BEAoAzAoAAQIYIiO> 2Acoustic response timeoutA A  #я,G?Aj؍?jfĩ?jٱjIl zAHRS rotation from veh to nav: [[0.240540,-0.891850,-0.383073],[0.964163,0.265054,-0.011663],[0.111936,-0.366539,0.923645]]jH? Bؿl? ?⇿֧?`u׿ ?ij؍?Ijd^;j:CY*@ydGI%=)%49I=)FyȼE׽E>Q 5<4P?Q 9<4)>YAA?Q E:y+?Q I?@I:i:<4yqBɮίBE*jBjiiziJii kc@kc@kc@h1 k[k[k[hA2f-:>:f-:>BfF@Jf@?q@ɢz&=) @i)GĽit!I!iI 2Acoustic response timeoutIIIYEa EYEE"E%.:*E*9VE5ZEBEM3;a2EO3;aJE:a:E:aOA>I a a 9 я>2Acoustic response timeoutFnG,*G?ARrA\3ֿ9rAYGAY%@y%fG))EEM& M)M bD]cVD]#9ym?=%m?=ٔmQ-m>9qIq=u)FyuʼEuE}>yQ 5<4}#?Q 9<4})}>YyQ I?}@I}:i}:}<4yRBɮB*jBjiiziJii k3Ck3Ck3Ch kYkYAkYh2f:fBfJfr@ɢ\5=) @i ) M  i }I1I1IAiO}[>2Acoustic response timeoutDyD}<Ee EVEE"E<:*E9VE*5ZEa@a@a@a@B2>B$CBjGB@B=BBB`;BEԑ я,DG?A@Jh?J\T?JĽٱJ[ RAHRS rotation from veh to nav: [[0.289194,-0.882092,-0.371862],[0.952452,0.304070,0.019431],[0.095932,-0.359800,0.928085]]JH%?@:׿{z?u???׿޲?iJh?IJg^;J=CYZ@y^hGbDfbVDf@#9yn=%ni=ٔr;=Q-r>9pIp=v)Fyv̼EvEv>xQ 5~<4z/?Q 9~<4zy)z>Yy?Q I?zk@Iz;iz;z<4y Bɮ B *j!Bj!i)i)zi)Ji)i) k#Ak#Ak#AhA k]k]k]hQ2fa:faBfaJfeR@19m rmNAggregate::initialize marl:UpdateRudderq9uJ]qq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed额s@ɢN=) @i)顡iTIAY?A`?IYIiO=u2Acoustic response timeoutԩ % 2Acoustic response timeoutE h E ]E xE "E G:*E 9VE e5ZE BE ._;a 2E 1_;a JE  ;a :E  ;a (Iя,^G?A6E?6t1?6"ٱ6$ >AHRS rotation from veh to nav: [[0.312676,-0.876882,-0.365118],[0.945789,0.322965,0.034301],[0.087842,-0.356050,0.930329]]6H?`k^׿C?@t?ꏡ?`|?@ֿA?i6E?I6^;6;CxY@yIjG qqbD}aVD}"9y>%<=ٔ9I=)FyϼEgE>Q 5<4>?Q 9<4r))>Yyy?Q I?@I:i:-<4yBɮήBE*jBjiiziJii k\k\k\h k\k\k\h)2f9:f9Bf9Jf=2/@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderu@ɢ[L=) @i)ciJ_I IIO>u2Acoustic response timeoutIq Loя,uYxG?A2?2G?2Z¤ٱ2Q :AHRS rotation from veh to nav: [[0.332708,-0.871861,-0.359394],[0.939599,0.338957,0.047550],[0.080362,-0.353507,0.931974]]2HK?`H@O׿2?y?{X??@ڟֿ?i2?I2fo^;29qIq=u)FyҼE{UE>2Acoustic response timeoutQ 5<4cM?Q 9<4pl)MD>Yyst?Q I?Q@I:i:"<<4yBɮBE*j Bj i iziJii k\k\k\h) k\k\k\h92fIDQzDU@AE]n E]ZE]rEY"E]O]:*E]a9VE]5ZEYae@ae@ae@ae@:fIBfIJfM,@颅dv@ɢ{=) @i)h?B1>B%CBHnGB@B=BBB7;BɘE顉iIIIOԉԱ 2Acoustic response timeout V$я,U3G?ABOg~?BZ?B:ٱBT JAHRS rotation from veh to nav: [[0.350327,-0.866409,-0.355819],[0.933832,0.352426,0.061271],[0.072314,-0.353739,0.932544]]BH@k? @ֿ ?@&?@^?@0?ֿ@g?iBOg~?IBh^;@Yr#@yrmGԱyM?Gz?+?nR?p>= 9Gz?{Gz?{GztY0?yף<ףB-B B)5BYBbD_VD!9yG>%A=ٔ9 I = )Fy ԼEB8E>Q 5%<4;U?Q 9%<4de)bT>Y%0?Q E-:y-D?Q I-?e@In:i:J<4y5Bɮ5B5E*jIBjIiIiIziIJii ks^ks^ks^h ks^ks^ks^h2f%>:f%>Bf%>-@Jf%aԫ@ew@ɢe4o=)a ew @ii)m2Acoustic response timeoutEeb Ee^EeEa"Ee1:*Ee;9VEe5ZEaBEe9;au2Ee9;auJEe;au:Ee;au 9 *я,G?A&2Acoustic response timeoutFy?F:?F΂ٱFX RAHRS rotation from veh to nav: [[0.366677,-0.861060,-0.352313],[0.928156,0.364548,0.075034],[0.063826,-0.354514,0.932870]]FHw?@͍Iֿ u?T?o5?V? ]ֿ`?iFy?IFs^;F;CYZ@yZnGI`)b;bDf^VDfr!9ynq=%n`=ٔrr9pIp=r)Fyv׼Ev BEv>xQ 5~<4z\?Q 9~<4z*_)zz`>Yy ?Q I?zw@Iza;iz;zMW<4y Bɮ mB *j!Bj!i!i)zi)Ji)i) k#^k#^k#^hA2fQ:fQBfQJfUK@x@ɢj(=) 9 @i)H=!!i%!I)A$AIIIO'>A2Acoustic response timeoutiE}q E}cE}pEy"E}2h:*E}L9VE}5ZEya@a@a@a@B2>BBqGB@BBBB;BEԙ Fg1я,ŬG?A66u?6NԖ?6aٱ6 BAHRS rotation from veh to nav: [[0.381869,-0.855794,-0.348988],[0.922583,0.375416,0.088906],[0.054931,-0.355921,0.932900]]6Hp? bUֿ@̅? ?¶??`iֿQ?i66u?I6d^;69CYJe@yJoGLN@AbDV]VDV 9y^<%^L=ٔb9bH?IbH?=b)FybټEf%Ef>hQ 5n<4jd?Q 9n<4jeX)j+k>Ypyr?Q Ir?jJ@Ij;ij;jEe<4yvBɮvfBt*jBjiizi Ji i  kEkEkEh! kc_kc_kc_h12fA:fABfAJfE̪@eCz@ɢe[=)a e @ia)mҫiiim%qIqqU2Acoustic response timeoutAAIIO >ԡ In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutE g E bE uE "E C:*E 9VE 5ZE BE X;a 2E X;a JE O;a :E P;a `7я,߬G?A2q?2ޔ?2=ٱ2ꌻ :AHRS rotation from veh to nav: [[0.396119,-0.850530,-0.345961],[0.917030,0.385470,0.102321],[0.046331,-0.357788,0.932653]]2HZ?@79$ֿNX??@1??ֿK?i2q?I2R^;0YBy@yBdpGPTT T)TbDZ]VDZ 9y5a=%=C=ٔ=9EK?IEK?=E)FyEܼEMGEM>IQ 5U<4M n?Q 9]<4MTQ)Ms>YYy]?Q I]?M@IM<;iMH;Ms<4ymBɮmTBi*jyBjiiziJii k^k^k^h kvkvkvh2f:fBfJfST@{@ɢqk=) G @i)iYAIA II!O]>epIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITe2Acoustic response timeout) =я,G?Aɰ4<6fon?6f#?60jٱ6 >AHRS rotation from veh to nav: [[0.408618,-0.845643,-0.343394],[0.911876,0.394289,0.114099],[0.038910,-0.359755,0.932235]]6H&? `)տ .?` %ZS=ٔ^P9\I\=b)Fyb޼Eb-Eb>dQ 5j<4fv?Q 9j<4fJ)fy>YlynC?Q In?f@If:if:fz<4yrBɮr?BvܺE*j|Bj|i|iziJii ks]ks]ks]h k}k}k}hzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout2f:fBfJf@bE5jEo5rEF3E=s E=^E=E9"E=so:*E=;9VE=5ZE9aM@aM@aM@aM@BYBYB]sGB]4@BYBYBYB];B]EB%CB%CBBBC25额}@ɢ=) T @i)P顱iCIQAI I1O>>ym =m R=u 2Acoustic response timeoutԩ Dя,uG?A2k k?2gp?2 jٱ2 :AHRS rotation from veh to nav: [[0.420779,-0.840329,-0.341750],[0.906570,0.403149,0.124910],[0.032810,-0.362380,0.931453]]2H` ?:տ?`/?!?{̠?:1׿@v?i2k k?I2~^;2;C@YF^@yFrGHJa=y$C?y&1|l񢿙Z?` 9~jt?I +? ףp= ?YD?y94<Q8= BB )̦BYzBbD1[VD9y @<%9=ٔb9I=)FyEE>Q 5<4?Q 9<4B)0>YD?Q E:yߕ?Q I?@I:iH:<4y ɮ Jя,YP-G?A"2Acoustic response timeout>E^g?>Ԛ?>;]ٱ>' JAHRS rotation from veh to nav: [[0.433793,-0.834541,-0.339653],[0.900585,0.413210,0.134921],[0.027751,-0.364415,0.930823]]>H D?տ? r?E?@j?R׿M?i>E^g?I>u]^;>:CYRC@yR uGlbD%\ZVD%[9ye >%eR=ٔmpU9iIi=u)FyuEuEu>Q 5<4?Q 9<4q;)>Yy ?Q I?@Ig;i/x;<4yɮB*jBjQiYiYziYJiYia kakakah2f:fBfJfq@@ɢ*=) @i)̜iIAIzAMoA AyIIOB>1iIA2Acoustic response timeoutB9B9B=uGB=@B9B9B9B=%;B=EEU EUEUEQ"EU:*EU0:VEU5ZEQBEU;2EU;JEU;:EU;a &Qя,-GG?A2,c?2?2x>ٱ2 :AHRS rotation from veh to nav: [[0.448539,-0.827329,-0.338142],[0.893455,0.424988,0.145337],[0.023465,-0.367304,0.929805]]2Hܴ?yy`տ@/?3?f?>?`׿?i2,c?I2VM^;0Yr@yvuG9IY)]49I=)FyE"E>Q 5<4?Q 9<43)>Yy?Q I?AI:iN:<4yBɮBݺE*jBjiiziJii k[k[k[h  k#\k#\k#\h2f):f)Bf)Jf-Jo@M@ɢM=)I M,@iI)UmOiΧI]2Acoustic response timeoutiAII O]3>ԑi nAI  2Acoustic response timeoutEe c Ee VEe oEa "Ee g5:*Ee 9VEe 5ZEa am @am @am @am @Wя,aG?A2G`^?2?2Lٱ2 :AHRS rotation from veh to nav: [[0.465237,-0.819202,-0.335354],[0.884957,0.439066,0.155153],[0.020141,-0.368957,0.929228]]2Hr?6rvտQ?? 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Wi¿ ??@M?S ׿`?iU>Id5^;9CY@ywG  y\(\?p= ף?+Z?> 9S?K7A?K7AY/]?y > KB0B B)BYBbD7EVD9Աy%.=ٔ9I=)Fy,EE>Q 5>4Uw?Q 9>4)JB>Ya?Q Ep:y,?Q I?AI:i:>>4yBɮwBE*jyBjyiiziJii k)k)k)h k)k)k)h2fnL=:fnL=Bfľ@Jfб@=@ɢ==)=l =?iA)EAAiEȼIIIAIIOm>2Acoustic response timeout  nManaging dock network, ignoring radio surface power offя,G?A:k>:L ?:=ٱ: jž BAHRS rotation from veh to nav: [[0.834461,-0.532755,-0.140879],[0.544721,0.758756,0.357167],[-0.083389,-0.374782,0.923355]]:H@?`S @U¿ Zn?G??Xl׿@ ?i:k>I:Z^;:9QIQ=U)FyU.EUEU>aQ 5e>4eB?Q 9m>4e)e=Yiym!)?Q Im?eAIe:ie8:e!>4yuBɮ}By*jBjiiziJii k/k/k/h k/k/k/h2f:fBfJf.@mO@ɢm8l=)i me?iq)\.顱iYȼIQE=d E=TE=yE9"E=9:*E=9VE=5ZE9aM@aM@aM@aM@U2Acoustic response timeoutA1I9IIO7>yԩ  2Acoustic response timeout я,5G?A2C>2_?2˲=ٱ2NǾ :AHRS rotation from veh to nav: [[0.840675,-0.524303,-0.135543],[0.534474,0.763000,0.363550],[-0.087191,-0.378072,0.921661]]2H?uYi? ~j?hD?`.RT2ؿ?~?i2C>I2<^;2;C@YF{@yFvGbD DVD 9yEc%MJ=ٔM9QIQ=U)FyU1EUE]>aQ 5e>4eN?Q 9m>4e=})e4yuBɮ}B}E*jBjiiziJii k(k(k(h k)k)k)h2f:fBfJf|n@ @ɢF=) j?i)/biȼIԩAAIQIaO>B+>BBPuGBy@B=BBB;BE2Acoustic response timeoutD=%=D=<EEj EEZEExEA"EEN:*EEa9VEEe5ZEABEEk;aM2EEk;aMJEE0;aM:EE1;aU 3я,eOG?A@J>J'?Jz=ٱJɾ RAHRS rotation from veh to nav: [[0.846300,-0.516309,-0.131150],[0.525056,0.766897,0.369032],[-0.089956,-0.381173,0.920117]]JH?A?l?9? ^$eؿq?iJ>IJ5/^;HY^@y^zuGlbDEeCVDE9ye%eH=ٔe;Q-m>9iIi=m)Fym3Eu ݼEu>yQ 5>4}Ź?Q 9>4}w)}YYy"?Q I?}AI}u:i};}=>4y BɮBE*jBjiiziJii kS,kS,kS,h kS,kS,kS,h2f:fBfJfܯ@@ɢ ?=)  z?i ) mi@DȼIuIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIEDu8Ack receipt timeout failure.u2Acoustic response timeoutUK1IIO>% In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER% 2Acoustic response timeoutEE o EE UEE EA "EE `:*EE P9VEE 5ZEA aU @aU @aU @aU @a 'я,lxiG?A2:>2 ?2=ٱ2 ʾ :AHRS rotation from veh to nav: [[0.852637,-0.507112,-0.125885],[0.514345,0.772192,0.373053],[-0.091972,-0.382827,0.919230]]2HH?@C:@ u?̵??{>ؿUj?i2:>I2*K^;29`I`=b)Fyb6EfEf>hQ 5r>4jύ?Q 9r>4jr)j4y|ɮ~B|*jBjii!zi!Ji!i!9 k)k)k)hI2fa:faBfaJfeP@٘@ɢ{=)  ո?i ) 0ּ  i Ǽ1I9g׼qI IOU1>a 2Acoustic response timeoutԙ A A B *>B B sGB 4@B B B B ;B E я,`G?Av2Acoustic response timeoutE~g E~VE~E|"E~C:*E~9VE~Dz5ZE|BE~X;a 2E~X;a JE~C:a :E~D:a eww>e?e=ٱe˾ԑ AHRS rotation from veh to nav: [[0.859224,-0.497173,-0.120637],[0.502959,0.777737,0.377038],[-0.093629,-0.384635,0.918308]]eH ~?߿ ⾿=?@8?c!?ݝؿb?ieww>IeL^;e;CY]@ysGymS㥛?QſbX9ƿmd?m(mE6i i9mtV?ʡEtVֿYmR?ym-mm}Bm^B m`B)mBiYm=BbDTBVDM9y=%/=ٔi;Q->9I=)Fy9EE>Q 5>4?Q 9>48p)ôYe?Q El:yr>Q I?GAI:i:[>4y&BɮBE*jBjiiziJii kC$kC$kC$h kS$kS$kS$h 2fM>:fM>Bf@Jff@=̙@ɢ=)=)A EB?iA)E̼AIiMǼIIQ AP?AN?II!2Acoustic response timeoutO> $&я,.G?A2 >25?2g=ٱ2fʾ :AHRS rotation from veh to nav: [[0.865704,-0.487288,-0.114484],[0.491594,0.784583,0.377842],[-0.094296,-0.383379,0.918765]]2H`ٳ?@/߿N@Fv?N?.?@#Fؿf?i2 >I2p^;2:CYB@yBDsGPTT T)T TTZ=Zp=bD^AVD^9yG%g=ٔI:Q-%>9!I!=%)Fy%;E-E->1Q 5=>45?Q 9=>45Pn)5Y9y=>Q IE?5AI5I;i5f;5g>4yMBɮM­BME*jaBjaiaiaziaJiaii k%k%k%hy k%k%k%h2f:fBfJfae@颽@ɢ=) ?i)ļiGƼI2Acoustic response timeoutEb EXEE"E1:*E9VE5ZEa@a@a@a@!I!I1IQOuW>Qy  2Acoustic response timeoutF-я, G?A2>2&?2*ÿ=ٱ2Ǿ :AHRS rotation from veh to nav: [[0.872174,-0.477209,-0.107632],[0.480178,0.793068,0.374797],[-0.093497,-0.378571,0.920838]]2H`?޿`@I2O^;0YB@yBYrGDFp=bDNKAVDN9yVt%VQ=ٔZQ-Z>9XIX=^)Fy^=E^U E^>`Q 5f>4b ?Q 9f>4bOl)bYhyj7v>Q Ij?b*AIbd:ib:bu>4yn%BɮrԭBrE*jxBjxixi|zi|Ji|i| kS-kS-kS-h kc-kc-kc-h2f:fBfJf4d@s@ɢR =) s?i)*iXżI!QIIO=BIBIBMqGBM@BM=BIBIBM;BMEB $CB $CB B Ť=B C (;5ԁ2Acoustic response timeoutbEA5jEƋ5rE[2E=f E=TE=pE9"E=I@:*E=9VE=5ZE9BE=R;a]2E=R;a]JE=:a]:E=:a]ԩ 74я,;аG?A2Ɗ>2t>2Ii=ٱ2!~ľ :AHRS rotation from veh to nav: [[0.879028,-0.465917,-0.101143],[0.467930,0.802433,0.370328],[-0.091382,-0.372857,0.923378]]2H@!?ݿ 乿 ? ?@t?@d`׿`P?i2Ɗ>I2^;2;CY^@y^(qGbD%@VD%9ye吽%e?=ٔmТQ-m>9iIi=u)Fyu@EuEu>Q 5>4z>?Q 9>4*j)HYy0j>Q I? 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c[?M J[׿u?i2G[>I2^;2;CYB)@yBnGPbDN?VDN9yV%Za=ٔZ9\I\=^)Fy^HEbB~Eb>`Q 5f>4b,?Q 9j>4bg)btYhyjT=Q Ij?bAIbh:ib`:b>4ylɮrBp*j|Bj|i|i|ziJii kBkBkBh k[k[k[h)2f9:f9Bf9Jf=e-@@ɢ}=) ?i)i+üIA5W?A5j?2Acoustic response timeoutE5k E5SE5wE1"E5mR:*E59VE5ɕ5ZE1a=@a=@a=@a=@AIIO"> mm>mC!Mv9IYUA! } %=} %= 2Acoustic response timeout&wMя,cz8G?AtYv@yvnG ||~=~=bD ?VD 9yU)%U?=ٔUQ-]>9YIY=])Fy]JEeEe>iQ 5u>4m?Q 9u>4mf)mxYqyqQ Iu?mJAIm:imW:m>4y;Bɮ"B*j Bj i i ziJii kBkBkBh) kS`kS`kS`h92fI:fIBfIJfIm@ɢmzY=)i m?ii)m0qqiuCT¼qIyB2>BBmGB@B=BB*DB;BEAII O5.>2Acoustic response timeoutE-h E-\E-qE)"E-G:*E-9VE-5ZE)BE-/_;a52E-1_;a5JE-x ;a=:E-y ;a=A>q :UTя,o,RG?A6)>6x>6ᡭ=ٱ6þ BAHRS rotation from veh to nav: [[0.923945,-0.376626,-0.066926],[0.373036,0.848393,0.375597],[-0.084680,-0.371996,0.924364]]6H ?ؿ@"`? &?@ ?`׿c?i6)>I6y^;69CYJ*@yJmGLNa=bDV>VDV9y^%^V=ٔ^S|;Q-b>9`I`=b)FybMEfEf>hQ 5n>4jÎ?Q 9n>4j]f)j|Ylynz4yvABɮv.BvE*jBjii zi Ji i  kHkHkHh! k3[k3[k3[h12fI:fIBfIJfMԶ@19M rMNAggregate::initialize marl:UpdateRudderq9MJ]Qq9U9U7UoUXAggregate::initialize marl:UpdateCommandMode18U]Q18UoU@Completed marl:UpdateCommandModeY7]oe\Aggregate::uninitialize marl:UpdateCommandModeq7eneLAggregate::initialize marl:UpdateSpeed7e]a7ene4Completed marl:UpdateSpeedq7enePAggregate::uninitialize marl:UpdateSpeed}Ƞ@ɢ.e=) ?i)顉iqI=2Acoustic response timeoutAIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO5 >ԉԱ 2Acoustic response timeoutEM g EM XEM }EI "EM C:*EM 9VEM s5ZEI aU @aU @aU @aU @ Zя, lG?A>>>>>=ٱ>ž JAHRS rotation from veh to nav: [[0.932162,-0.357411,-0.057721],[0.351492,0.855215,0.380868],[-0.086762,-0.375319,0.922826]]>H E?ֿ`~?]?"`? 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E 2Acoustic response timeoutAY Ii Iy O >\8я,!EG?AlYr.@yrIQGBQBQBQBQBU=BQBQBU};BUiEbDu0VDu 9y"%f=ٔQ->9I=)FyɽEE>Q 5A4?Q 9A4[x)=YyQ I?BI:i ::A4y*BɮBE*jBjiiziJii kAkAkAh  kAkAkAh2f):f)Bf)Jf)@ɢ) )i)wpif!I AyII2Acoustic response timeoutOB>EA EEVEEqEA"EA*EE9VEE5ZEABEE/_;aU2EE1_;aUJEEC:aU:EED:aU9a cя,^G?A2K@28}@2$<ٱ2 :AHRS rotation from veh to nav: [[0.993723,0.109067,0.024864],[-0.111412,0.984917,0.132385],[-0.010050,-0.134325,0.990886]]2H ??u?p? ?`!1W?i2K@I2!_;2:CY^ܩ@y^PGId)f49xIx=z)Fyz̽EzވEz> 2Acoustic response timeoutYQ 5A4ړ?Q 9A4B|)XGYy¾Q I?RBId:i:4A4y/BɮBE*jBjiiziJii kFkFkFh kFkFkFh2f :f Bf Jf y@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n-PAggregate::uninitialize marl:UpdateSpeedE@ɢE1)A E諿iA)MOIIiMQIQAaIqIԁO>Ա2Acoustic response timeoutEU j EU PEU |EQ "EU N:*EU ?9VEU ם5ZEQ a] @a] @a] @a] @ Ɍя,$xG?A2{u@2hp@2~;ٱ2 :AHRS rotation from veh to nav: [[0.993591,0.111508,0.018534],[-0.112971,0.985206,0.128864],[-0.003890,-0.130132,0.991489]]2H~?ы??뼿`φ?~?@o , G?i2{u@I2l _;29CY^@y^PGbDj0VDj 9yr.%vK=ٔzOyQ-~>9 I=)FyνE{E>!Q 5-A4%?Q 9-A4%)%Y)y-žQ I5?%BI%:i%y:%ƚA4y=5Bɮ=B=E*jIBjQiQiQziQJiQiQ ksAksAksAhi kAԹkAkAh2f :f Bf Jf Κ@s5PUpdating rudder angle -0.000000 arcdeg 95r56Completed marl:UpdateRudder195 r=RAggregate::uninitialize marl:UpdateRudderU@ɢU)q uiq)}{-yyi}IAzA-2Acoustic response timeoutAII9OI>i9I=oAA9A=@ABABABEPGBE@BABABABE(;BE;E9  2Acoustic response timeout[tя,G?AE< E>YE>zE<"E<*E>*9VE>5ZE<BE>k;aF2E>k;aFJE>:aF:E>:aFJp@Jk@J2ٱJ RAHRS rotation from veh to nav: [[0.993520,0.112959,0.012594],[-0.113626,0.984460,0.133891],[0.002726,-0.134455,0.990916]]JH ?`? ˉ? ?X#?Sf?5?iJp@IJ ^;J;CYrm@yvQGyjt?RQ? rh?@?"?C< 9w/?l?Zd;?Y&?y>>B B)BYBbD/VD 9yDo=%>=ٔj}Q->9I=)FyѽEZ˺E>Q 5A4'?Q 9A4{);Yl?Q Ef:y?Q I?>BI:i:A4y:BɮBE*jBjiiziJii kGkGkGh kGkGkGh2f; ?:f; ?Bf}@Jf+s@-G@ɢ-)I MdiQ)U֋QQiUO YIYAAIIOG>2Acoustic response timeoutqԡ $я,猬G?A>~@>y@>,ٱ>H_ FAHRS rotation from veh to nav: [[0.993677,0.112085,0.006556],[-0.111862,0.983295,0.143590],[0.009648,-0.143415,0.989616]]>H3??Kz? 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Hҿ ?i>@I>^;@yRNGI|)~9YIY=])FyeEeD<Ee>iQ 5uB4m?Q 9uB4mDV)m7Y}z?Q E}X:y}|Q I}?m&BIm;im;m7B4y`BɮܰBE*jBjiiziJiiԱ kCkCkCh2f>:f>Bf @Jf@T@ɢZ,) Vi)pi8iI-PExceeded connect timeout, disconnecting.AIIOG>=2Acoustic response timeout 9 ;я,G?A6~@6k@6Tٱ6Ó BAHRS rotation from veh to nav: [[0.995010,0.085028,-0.052202],[-0.066469,0.955100,0.288733],[0.074408,-0.283823,0.955985]]6H?`bĵ?*`#,? z?g ?&*ҿn?i6~@I6^;6:CYJڨ@yJOGbD -VD  9yER=%M]=ٔMQ-M>9IIQ=U)FyUEUX;EU>YQ 5eB4]a?Q 9mB4]@Y)]`YiymĶQ Im?]a'BI]:i]:]xDB4yueBɮ}ذB}E*jBjiiziJii kdkdkdh kxkxkxh2f:fBfJf@=2Acoustic response timeout颅@ɢ6) i)\c>顑iDIAzAE=e E9E=E9"E=<:*E9VE=5ZE9aE@aE@aE@aM@IIO+>9i  2Acoustic response timeout"я,ȷG?AB:>BBRGB@B=BBBQ;BTE B@B@BٱB- JAHRS rotation from veh to nav: [[0.994713,0.086186,-0.055832],[-0.066769,0.955894,0.286022],[0.078021,-0.280782,0.956595]]BH ?P? `஖?1N?.? Wѿm?iB@IB^;B;CYy!)-@AbD-VD 9ٔ Q->9I=)FyEEE>Q 5B4-?Q 9B4\)Yy˵Q I?(BI:i:HSB4yɮ*j!Bj)i)i)zi)Ji)i) kS`kS`kS`h ksksksh2f:fBfJf@@ɢ6) i):DipIqI)I9M2Acoustic response timeoutO9>EEm EEXEEyEA"EEY:*EE9VEE5ZEABEE~;aU2EE~;aUJEE:aU:EE:aU>ԡ - XRadio surface powered OFF, will not connect.- nManaging dock network, ignoring radio surface power offLя,G?Aɰ4<2@2@2ٱ2 :AHRS rotation from veh to nav: [[0.994337,0.088131,-0.059387],[-0.067948,0.956894,0.282378],[0.081713,-0.276743,0.957463]]2H? Ə?g@e?y?%?)ѿ ?i2@I2^;29CR2Acoustic response timeoutTYV@yVPG \\bDb-VDb 9yjR<%j<ٔn$Q-n>9pIp=r)FyrErzUEv>tQ 5zB4vG?Q 9~B4v_)vY9y=Q I=?v,*BIv(9XIX=Z)FyZE^{JE^>`Q 5fB4bJc?Q 9fB4bb)bYhyj⳾Q Ij?b+BIb:ib:b"nB4ynpBɮnǰBrE*jxBjxixixzixJi||i k3^k3^k3^h ktktkth!2f1:f1Bf1Jf5v0@U$@ɢU]A) [i)dPi^MvIA]?A`?IqI2Acoustic response timeoutO>)B!A!B!B!B%TGB%ˬ@B%=B!B!B%;B%sEYԁ e 2Acoustic response timeoutE] h E] PE] xEY "E] G:*E] ?9VE] e5ZEY BE] /_;am 2E] 1_;am JE] :am :E] :am mя,G?ABڿ@B@B[ٱBk: JAHRS rotation from veh to nav: [[0.993657,0.090587,-0.066632],[-0.069261,0.959801,0.272001],[0.088593,-0.265660,0.959987]]BH ?0?@ ?vh? ?ѿ7?iBڿ@IB\^;B=CYRЪ@yRRG9yFx?MbXٿI +?Ƌ?ʾ94= 9q= ףp?俠/$ѿY?yf&1B B B)BYBbD-VD 9y^<%8=ٔoQ->9I=)FyE%E%>)Q 55B4-?Q 95B4-l)-Y=?Q E=#:y=3#Q I=?--BI-* ;i-` ;-}B4yEuBɮEȰBEE*jyBjiiziJii k[k[k[h2f2>:f2>Bfc@Jfz_@@ɢE8) i)AX!!i%`!I)IIO>i2Acoustic response timeoutԑ я,a0G?A2y@2f@2Tۺٱ2=! :AHRS rotation from veh to nav: [[0.993519,0.089179,-0.070474],[-0.067956,0.963045,0.260628],[0.091112,-0.254150,0.962864]]2H?kԶ?@ eC?@ ?S?Cп?i2y@I2+^;29CYF@yFSGTT T)TXZAbD^,VD^b 9y=%Y=ٔ/ܻQ->9I=)FyE%g;E%>)Q 55B4-k?Q 95B4-ns)-MY1y5"Q I5?-/BI-y:i-b;-ҊB4yEBɮEưBEE*jYBjYiYiaziaJiaia k^k^k^hy k#^k#^k#^h2f:fBfJf@Թ颽@ɢ\L) i)f]iKI2Acoustic response timeoutI9IIO=E EfEzE"Es:*E9VE5ZEa%@a%@a%@a%@ 2Acoustic response timeout9 B! 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n? 1 xĿ Q?dϿ?i2@I2~y^;2?CYB9H?IH?=*FyƿE<E>Q 5L4?Q 9L4>c!)@)AYyʿQ I?$BI:i :?L4yɮ^B*jBjiiziJii kcHkcHkcHh k3ak3ak3ah2f :f Bf Jf S՝@- ZAɢ-)) -$#?i1)5Ѕ11i5Ӷ9I92Acoustic response timeoutB>BCB< HBdAB=BBλDB;;BREEMW EMGEMKEI"EM :*EMR9VEM5ZEIBEM0:aU2EM5:aUJEMt:a]:EMt:a]AeAIiIO#>!  2Acoustic response timeoutя,ٗnG?A2Iފ@2;ّ@2Oٱ2yւ :AHRS rotation from veh to nav: [[-0.153985,0.955339,0.252220],[-0.987935,-0.153138,-0.023109],[0.016548,-0.252736,0.967394]]2H`ɵÿ $?@a$?)@ÿ 婗@?,п?i2Iފ@I2g^;2>CYF2dAyFQ H|bD VD :8yEֻ%MN=ٔM5Y9MK?IUK?=U*FyUɿEUf<EU>Q 5L4?Q 9L4k!)}*AYyɿQ I?BI:i:EML4yɮ_B*jBjiiziJii kHkHkHh  kSckSckSch2f):f)Bf)Jf-/@McZAɢM)MF M?iQ)UɄQQiU8YIY)AIIO (>52Acoustic response timeoutE=T E=DE=GE9"E=9*E=a99VE=5ZE9aE@aE@aE@aE@Qԉ я,rG?A6f@6X @6-B)ٱ6Y BAHRS rotation from veh to nav: [[-0.147951,0.955140,0.256549],[-0.988941,-0.145588,-0.028289],[0.010331,-0.257897,0.966117]]6H`¿`?@Lk?g¿-(?bпn?i6f@I6^;4YJwdAyJ| HY}2Acoustic response timeoutyV-?{Gz(\µ-?ף 9 rh?Q#~jY,?y㥽B  B)BYBbDjVD%8yY%=%D=ٔs9I=*Fy˿Eo<E>Q 5L4?Q 9L4r!)*AY-?Q E:yQ I?UBI;i ;q[L4yBɮyE*jBjiiziJii kJkJkJh2f5N=:f5N=Bf5G?Jf5@UZAɢU)Q ]e?iY)]YYYi]5-aIaA}]?A}Z?ԁAIIOK>Ա5 2Acoustic response timeoutB >B CB HB dAB =B B ͻDB ;B E E W E E JE "E :*E VE 5ZE BE 1:a 2E 6:a JE oH:a :E qH:a -я,MG?A2C@2>@2Bhٱ2b :AHRS rotation from veh to nav: [[-0.141840,0.955034,0.260369],[-0.989883,-0.137788,-0.033846],[0.003551,-0.262536,0.964916]]2H'¿࢏??` RT@m?@bп?i2C@I2p^;0Y%dAyJ H bD-WVD-8y=Q%=R=ٔ=ˎ9AIA=E*FyEοEMS<EM>QQ 5]L4U?Q 9]L4U|y!)U)AYYy]Q Ie?UBIU;iU;UiL4yiɮmiBi*jBjiiziJii kCMkCMkCMh kSMkSMkSMhԹ2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed [Aɢ"ӳ) ?i)܂i I A-$AI9II2Acoustic response timeoutO>9 = 2Acoustic response timeoutSXя,*G?A2't@2o@26;ٱ2㜉 :AHRS rotation from veh to nav: [[-0.135904,0.955301,0.262546],[-0.990713,-0.129940,-0.040031],[-0.004126,-0.265548,0.964089]]2HOeґ??~ pп?i2't@I2c^;2?CYNdAyRC HbDZ%VDZ8yzֻ%zO=DzDٔ 9H?IH?=*FyпE% v<E%>1Q 5L45$ ?Q 9L45o!)5/)AYyQ I?5fBI5Z >ԙ ?я,)G?A2@2@2:H<ٱ2$ :AHRS rotation from veh to nav: [[-0.131233,0.955913,0.262696],[-0.991276,-0.123257,-0.046688],[-0.012250,-0.266531,0.963748]]2H`<Ֆ? 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CI:i:FQ4y ɮ B*j!Bj!i!i!zi)Ji)i) kkkhA k k k hQ2fa:faBfaJfeC@pAɢ5=) ?i)`=i%!I)ԁԱm 2Acoustic response timeout tEBU >BU \CBU 5"HBU ABQ BQ BU DBU I;BU ^E ^A =AAIQIiO ?ۼя,G?Aɰ4<*2Acoustic response timeoutJDn@J.|@JzrٱJžEX EZFEZ;EX"EX*EZ;J9VEZ4ZEXBEZ:a^2EZ:a^JEZe:ab:EZe:ab bAHRS rotation from veh to nav: [[-0.688057,0.655793,0.310665],[-0.723240,-0.654648,-0.219906],[0.059164,-0.375994,0.924731]]JHA?? $@%̿J?Hؿ`f?iJDn@IJ"_;J@Chjr@ijD;Ihhl nvAllllrsAIr$)pip)pIttt tttxixxixx)x |I| |)|||YiYƒAy "H?A )bDiVDB8yB=%)=ٔŔ9I=+FyE;E>YQ 5eQ4]?Q 9mQ4]2r&)]FAYiymQ Im?]~ CI]1:i]=:]WQ4yuBɮuB}ҽE*jBjiiziJii kkkh kkkh2f):f)Bf)Jf-ȼ@mpAɢms:=)i mط?iq)u7qqiuNIԑnManaging dock network, ignoring radio surface power off 2Acoustic response timeout ^Aa A AI I O >я,h!G?A>m@>{@>`ٱ>ľ NAHRS rotation from veh to nav: [[-0.699684,0.647434,0.302112],[-0.712349,-0.664611,-0.225503],[0.054789,-0.372990,0.926216]]>H@cȷ?@U?@~D`F̿`> ?׿?i>m@I>#^;>BCY=Ay=@"H2Acoustic response timeoutyZd;O?L7A`堿S㥛~J?+/ݼ 9Mb?kt?A`"Y?y 0=YWBStB B)BYBbDVD8yQ?=%1=ٔ9K?I K?= +Fy  E ' E >E%R E%>E%>E!"E%s9*E%9VE%4ZE!a-@a5@a5@a5@Q 55Q4ߞ?Q 95Q4z&)FAY5΀?Q E=S:y=Q I=? 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S\Ϳ ?i2 &?I2U^;0YElAyEHԙbDbVD8y<%N=ٔQ- >9 I = -Fy $E1E>Q 5%[4XV?Q 9%[4 $)̛@Y!y-W@Q I-?cCIy:i:p[4y5Bɮ5B5E*jIBjIiIiIziIJiIiQ kCLkCLkCLha kSLkSLkSLhy2f:fBfJfW@颡ɢY*) +Ci)顩i-g1I1^A->2Acoustic response timeoutAAIIO%o>A я, 'fG?A==2Acoustic response timeoutE&Z E&BE&<E$"E&:*E&(9VE& 4ZE$a*@a*@a*@a*@jc?j(?j"Zٱjڀ rAHRS rotation from veh to nav: [[-0.400821,-0.894391,-0.198513],[0.913017,-0.372034,-0.167305],[0.075783,-0.248305,0.965713]]jH ٿٞhɿn7?h׿Cjſ f?wϿ?ijc?Ij^;hYmAyHI=)AbDcVD8y=%L=ٔ Q->9K?IK?=-Fy'EݨE>Q 5[4H?Q 9[4>$)J@Y y @Q I ?+dCI-:i:o[4yBɮBE*j1Bj1i1i1zi9Ji9i9 kFkFkFhY2fq:fqBfqJfuu @颙ɢ) i)顩i]K򻉨I^AׁF>AAIIO-N>2Acoustic response timeoutiԙ  я,G?ABNb>BNjCBN|HBN8nABN=BLBNDBNJ;BNEmEy?m e?mўٱm %AHRS rotation from veh to nav: [[-0.389200,-0.892861,-0.226547],[0.917890,-0.355226,-0.176899],[0.077471,-0.276794,0.957801]]mHؿ@Pz̿@Z_?ֿƿ` ճ?ѿO?imEy?Im ^;mMCYenAyeeHq52Acoustic response timeouty%p= ף?y&1X9v?%e?%`%}=! !9%v?S㥻?:v?Y%X?y%/=%T>!%B %^B)%يB!Y%pBDIzDIEUU EU?EQEQ"EU:*EU?9VEQZEQBEU:a]2EU:aeJEU@9ae:EUE9aebDmpVDm)8yuk=%}3=ٔ}rsQ-}>9I=-Fy*EHE>Q 5[4^6?Q 9[4#)@Y`?Q Eq:yz @Q I?dCI:i:\[4yɮB*jBjiiziJii kS+kS+kS+h kcFkcFkcFh2f%R>:f%R>Bf}?Jfv@ɢ])X i)!!i%=!I)ԙ^Ahp>A)I1IIIaO> 2Acoustic response timeout *&я,ڙG?A2 N?29?2 ٱ2 :AHRS rotation from veh to nav: [[-0.373502,-0.890493,-0.259842],[0.924130,-0.332889,-0.187535],[0.080500,-0.310172,0.947266]]2Hu׿~?пx? 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Y7ؿy?i6?I6&^;6HCY^nAybHbDjAVDj8yrG.=%rI=ٔvxQ-v>9tIt=z-Fyz1EzWZEz>|Q 5[4~ ?Q 9[4~#)~@Y y  @Q I ?~eCI~B:i~:~[4yBɮBE*j)Bj)i)i)zi1Ji1i1 kc*kc*kc*hI k3Dk3Dk3DhQ2fi:fiBfiJfmq@颁ɢ ) ᢽi)N顉iIԩ2Acoustic response timeout^Am Fs> A I I O >] 2Acoustic response timeout@k9я,G?AEQ E>E>E"E29*E9VE4ZEa@a@a@a@>?>?>ʽٱ>uپ FAHRS rotation from veh to nav: [[-0.312802,-0.877419,-0.363717],[0.944672,-0.247582,-0.215171],[0.098745,-0.410899,0.906317]]>H`Կ%G׿:?ŰϿ ˿ `G? -Lڿ ?i>?I>1^;>MCYNFoAyN!HxbD5#VD58yE=%ED=ٔE~Q-E>9III=M-FyM3EU_EU>YQ 5e[4]?Q 9e[4]#)] @Yaye@Q Im?]eCI]):i]:]V[4yqɮuBq*jBjiiziJii k(k(k(h2f:fBfJf6p@ɢ) 9i)6  i vI!!^A' s>I2Acoustic response timeoutA I) I9 Om >y LQ@я,TG?ABE>BfCB HBpABBBDB;B_EBjCBjCBCB=B=C5Y!? ?#۽ٱf -AHRS rotation from veh to nav: [[-0.290774,-0.871438,-0.395027],[0.950813,-0.217095,-0.220964],[0.106798,-0.439847,0.891700]]H` ҿ @Hٿm?`˿H̿ W?s&ܿΈ?i!?IJ^;YEoAyEOHI);A 2Acoustic response timeoutE5R E5AE5<E1"E5s9*E5 9VE5 4ZE1BE5z:a=2E5:a=JE5:a=:E5:aEa@a a@a a@a a@a y&1?~jtp?D )Mb@Mb@Mb@Ii‰{B )BYBBbD9VD8y!=%&=ٔцQ->9I=-Fy7E ?E>ԁQ 5\4鏉?Q 9\4#)İ@Q A+:YQ EC:y@Q I?KfCI ;i? \4yBɮBE*jBjiiziJii k#,k#,k#,hq/^\Aggregate::initialize marl:SendObservationDataq0/=-_E6data element is not active._EpGot test_good : n/a str and temp var is nan n/a str /E/EQɢ}, )} }&߼iy)E顁i Iԩ ma   rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=1 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeout ^A6s> AQIqIO ?Hя,z$G?A 4F?F?F=ٱFB NAHRS rotation from veh to nav: [[-0.244000,-0.863868,-0.440676],[0.961698,-0.157014,-0.224687],[0.124908,-0.478621,0.869091]]FH b;Ͽ Ϥ 4ܿ9? Ŀ`̿?޿?iF?IF];FKCYV{pAyVHbD-<VD-8ym=%m/=ٔuQ-u>9qIq=}-Fy}9E}ԽE}>Q 5\4ڏ?Q 9\4#)'@Q A :YQ E:yL@Q I?fCI:iv?\4zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutyzBɮjBEEQ EEBEE>EA"EE29*EE(9VEE4ZEAaM@aM@aM@aM@}E*jBjiiziJii k k k h ks ks ks hY`ZĂ@/10Yɢ]4ڼ)Y ]  Y Ai Iy I MrA 춿9 MrAY #AO >kNя,7>G?AlYv9qAyvTHbDVD8y>=%R=ٔQ->9I=-Fy)Q 55\4-͏?Q 95\4-4#)-@Q A59Y1Q E5:y1Q I=?-gCI-6;i-?-L\4yEuBɮEMBEE*jYBjYiYiYziYJiYia ks&ks&ks&hq k;k;k;hB<A<B?>BB8HBrAB=BBB;BEY100ɢ%) =i!)%v!)i-7 1I9 2Acoustic response timeoutEeS EeDEeAEa"Ee9*Eea99VEeA4ZEaBEe:au2Ee :auJEelH:au:EenH:au}Aa ^A } 2Acoustic response timeoutA I I O > Vя,cYG?A2?2cp?2ٱ2P ZAHRS rotation from veh to nav: [[-0.194965,-0.865566,-0.461286],[0.970468,-0.102122,-0.218549],[0.142061,-0.490272,0.859914]]2Hȿ ݿ@?$`h˿ /?`߿j?i2?I2];2JCYbqAybHj=j=bDn VDn8yv=%z@=ٔz&Q-z>9|I|=~-Fy~?E~ E~>Q 5 \4/?Q 9\4#)m@Q A9YQ E9yJ@Q I?]gCI ;iG?"\4y=Bɮ%B!*j1Bj1i1i9zi9Ji9i9 k!k!k!hQ kGkGkGhaa}SendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 10.009069 min 0^DCompleted marl:SendObservationDataq/^`Aggregate::uninitialize marl:SendObservationDataq0颙ɢA)., Z=i)M顡i@Iԡ 2Acoustic response timeoutbE4jE&4rE}x0EW EAE>E"E :*E 9VE4ZEa@a@a@a@^A} ' s>A Y?A S? A I I O >aD\я,ssG?Aɰ;22?2?2iٱ2 :AHRS rotation from veh to nav: [[-0.169544,-0.869595,-0.463744],[0.974100,-0.076432,-0.212807],[0.149611,-0.487814,0.860032]]2Hſݿ`+? B=˿`s&?V8߿ a?i22?I2;];2MCYFvrAyFHTT T)TbD^VD^8yf=%fM=ٔf/Q-j>9hIh=j-FyjAEnlEM>QQ 5]\4U?Q 9]\4UD#)Uý@Q Ae9YaQ Ee9yeJ?Q Ie?UgCIU2 ;iU @U'\4ym BɮuBq*jBjiiziJii kC8kC8kC8h kC8kC8kC8hɢBȐ) >i)%iX$I2Acoustic response timeout ^AyB-9>B-eCB-dHԉB-tAB-=B)B-DB-v;B-EIIO>} %=} 4= 2Acoustic response timeoutԡ E S E BE E "E 9*E (9VE ZE BE a 2E a JE M+:a :E O+:a '.cя,VG?A2M?2?2XB ٱ2Do :AHRS rotation from veh to nav: [[-0.143080,-0.872974,-0.466310],[0.977361,-0.050428,-0.205482],[0.155865,-0.485153,0.860426]]2H@rP¿fݿ F?ѩ@:Mʿ@b? ߿@?i2M?I2^;2KCYF3sAyFHa a aa aa aa a@a a@a a@a a@a yjt?A`"bX9ȶ`?YE )Mb@Mb@Mb@IiazB )BYBbD-VD-8y==%EC=ٔELwQ-E>9AII=M-FyMDEMEM>QQ 5]\4U몏?Q 9]\4U#)U@Q Aeo9YaQ Ee9ye?Q Ie?U hCIU:iU%@U+\4ymBɮuBuEq*jBjiizi1Ji1i1 kS5kS5kS5hI kc5kc5kc5hy颹ɢPp) L>i)di~,Iԡ2Acoustic response timeout^AI I  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I OE > Viя,*G?A6E?6H1?65%ٱ69 >AHRS rotation from veh to nav: [[-0.116393,-0.877735,-0.464795],[0.980060,-0.025620,-0.197043],[0.161043,-0.478461,0.863215]]6H˽ g`3ݿ\?+<8ɿ?޿`t?i6E?I6^;6MCY^ tAybH``%2Acoustic response timeout))bD5VD58ye#>%eH=ٔmPRQ-m>9iIq=u-FyuFEuEu>ET EFEAE"E9*E;J9VEA4ZEa@a@a@a@Q 5\4ݠ?Q 9\4u#)@Q AB9YQ E]9yK?Q I?fhCI ;iE@@/\4yɮyB*jBjiiziJii k6k6k6hɢ)) n>i)'i4 I ^A56s>IIO>12Acoustic response timeouti _>pя,G?A$$APAPBZ0>BZdCBZHBZvABZ=BXBXBZ;BZWE%Į?%?%)ٱ%; 5AHRS rotation from veh to nav: [[-0.088810,-0.884544,-0.457924],[0.982248,-0.001510,-0.187579],[0.165230,-0.466454,0.868976]]%H:`/N`Nݿn?XȿE&?`bݿ?i%Į?I%yM^;%LC1YtAyHbD}VD}8y=%*=ٔQ->9I=-FyJEGoE>Q 5\4+?Q 9\4#)@Q A9YQ E39y?Q I?hCI:i^@2\4yɮbB*j-2Acoustic response timeoutD<D<ES EAE?E"E9*E 9VE^4ZEBEa2EaJE:a:E:aBjiiziJii k3k3k3h kBkBkBhɢ{ )R 9>i)afiO> I aԑM cռԹ  2Acoustic response timeout^Am ' s>I I I  >O->Uwя,G?A2&?2?2-ٱ2V :AHRS rotation from veh to nav: [[-0.060512,-0.889944,-0.452038],[0.983761,0.023490,-0.177937],[0.168972,-0.455464,0.874071]]2Hrkz.ܿ`z? ?ƿ ?`T&ݿ d?i2&?I2/H^;2KC@BsAiB1IBfF@I@iD DD)DD F~r@HHHHHIH)LiL)LILLP PPRuAPiPPiTV;uA)T TITYT\YbvAybPHbDmVDm8yWO>%H=ٔeQ->9 I)=5-Fy5LE5`E5>9Q 5E\4=Í?Q 9E\4=Ւ#)=]@Q AM8YIQ EM9yM?Q IM?=$iCI=;i=y@=A4\4yBɮ3BE*jBjiiziJii k0k0k0h kSUkSUkSUh)qɢu)q u|>iq)}F߼yyi}GyIeKe2Acoustic response timeoutEU E@E>E"E:*E9VE4ZEa@a@a@a@^AI I! OU >9 |}я,ŒG?A2_J?2"6?21ٱ2 :AHRS rotation from veh to nav: [[-0.031926,-0.893691,-0.447546],[0.984474,0.049210,-0.168493],[0.172604,-0.445977,0.878244]]2HX@`ܿπ?1?.ſ?ܿ?i2_J?I2j^;2MCfhDAT read: Forwarding Delay UpTx time:19:06:31.4899 fpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGf2Acoustic response timeoutY%vAy%H ))5=5=bD=VD=8yM=%MW=ٔMQ-M>9QIQ=U-FyUOErE>Q 5\4?Q 9 \4x#)@Q A 8Y Q E 8y ?Q I ?xiCIv:iD@5\4yBɮB~E*j1Bj9i9i9zi9Ji9i9 k9k9k9hQ kSkSkSha颉ɢ8G;) >i)Fݼ顑iPI`TQB&>BcCBHBxAB=B#DBDB#;BEq^A6s>2Acoustic response timeoutDzD@AET EAEE"E9*E 9VEZEBE:a2E:aJEa:EaA $AI I O >ԡ dя,mG?A6?6Wl?63ٱ61k >AHRS rotation from veh to nav: [[-0.002779,-0.898081,-0.439822],[0.984587,0.074456,-0.158255],[0.174873,-0.433483,0.884032]]6Hf &ܿ??AĿ=b?.ۿI?i6?I6pF^;6JCY%2wAy%Hyaa aa aa aa a@a a@a a@a a @a  y/$?x&~jt&1?7D )Mb@Mb@Mb@IixB )BYBbD-VD-8y==%=<=ٔ=Q-=>9EH?IEH?=E-FyEQEMiEM>QQ 5]\4U?Q 9]\4U#)U@Q A]8YYQ E]8ye?Q Ie?UiCIU ;iU@U\7\4yiɮmBi*jBjiiziJii k8k8k8h kSkSkSh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18PExceeded connect timeout, disconnecting.o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ;) T>i)!2ڼiD\Z I 2Acoustic response timeoutԩ^A ' s>  2Acoustic response timeoutE Q E CE E "E 29*E 09VE ZE a @a @a @a @A AI I OU >Xя,R_.G?A2>?2y?23ٱ2 :AHRS rotation from veh to nav: [[0.027608,-0.900963,-0.433018],[0.984279,0.100099,-0.145519],[0.174452,-0.422193,0.889562]]2H*E?`ۿ5??\¿pT?4ۿJw?i2>?I2"^;2LCYB\xAyBHPP P)TbDZVDZ8yb-?>%bR=ٔf9:Q-f>9fK?IfK?=f-FyjTEjEj>lpQ 5v\4rz?Q 9v\4rOy#)rG@Q Av8YtQ Ev8yv?Q Iz?r#jCIr:ir@rs8\4y|ɮ~B|*j BjiiziJiYiY k#6k#6k#6hq kOkOkOhsPUpdating rudder angle 13.750987 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢn'<)v ?i)ּi'dI!2Acoustic response timeout^AU6s>9A$AIIO >B <A B >B aCB LHB zAB =B B DB ;B EBdCBdCBɔCBBCJ5Y я,1HG?A2{?2f?2o0ٱ2c'ܾ :AHRS rotation from veh to nav: [[0.058923,-0.903066,-0.425441],[0.983408,0.125758,-0.130740],[0.171569,-0.410679,0.895493]]2H *+?` m:ۿx? ??Hڿ ?i2{?I2$S^;2NCYB7yAyB>HIJ%=)Jp>bDNVDN8yV >%VL=ٔZ;Q-Z>9ZH?IZH?=Z-FyZVE^E^>`Q 5f\4bu?Q 9f\4bp#)b@Q Af[8YhQ Ejy8yj"?Q Ij?bxjCIb:ibɯ@bZ9\4ylɮnŝBp*jxBjxixixzixJi|i| kcTkcTkcTh ksTksTksTh!E2Acoustic response timeoutAQɢ] |<)a ex?ia)eӼaaimmiIqE EFEAE"E*E;J9VEA4ZEBE:a2E:aJEe:a:Ee:a@]pA@]nAi^AyԙnManaging dock network, ignoring radio surface power offAII2Acoustic response timeoutO 4я, bG?AF^?FCJ?F+ٱF־ NAHRS rotation from veh to nav: [[0.090548,-0.903220,-0.419516],[0.981791,0.151596,-0.114477],[0.166995,-0.401512,0.900500]]FH-.?`.Zڿ j?~g?\N`?]ٿ`?iF^?IFj{^;FLCYVyAyVHbD-VD-8ye=%e?=ٔe19iIi=m-FymYEu陽Eu>yQ 5\4}r?Q 9\4}ng#)}@Q A18YQ EJ8y?Q I?}jCI}:i}w@}":\4yBɮBԙuE*jBjiiziJii kUkUkUh kUkUkUhY颡ɢ z<) n?i)μ顩iIQxIU2Acoustic response timeoutER E=E=E"Es9*E8VE|4ZEa@a@a@a@^AAII O= > G qA п9 qAY A 2Acoustic response timeout*Hя,{G?A2(&?2?2'ٱ2Ծ :AHRS rotation from veh to nav: [[0.122958,-0.900125,-0.417919],[0.979036,0.178929,-0.097333],[0.162390,-0.397190,0.903255]]2H2z?0ڿBT? !?긿 /?kٿ w?i2(&?I2ţ^;2KCYBzAyBTHbDVD8y_C>%O=ٔA9!I!=%-Fy%[E-"E->1Q 55\45\o?Q 9=\45^#)5l@Q AE8YAQ EE#8yEb?Q IE?5'kCI57;i5@5:\4yMݼBɮU}BUtE*jiBjiiiiiziiJiqiq kcUkcUkcUh ksUksUksUh颹ɢ'<) /?i)dqʼiƀIB>B]CBHB|AB=BBDB;B?E)<H]2Acoustic response timeoutEW EFE?E"E :*E;J9VE^4ZEBE*:a2E/:aJEe:a:Ee:aQ^A ' s>ԁ A1 IA IQ O >Iя,-G?A2f?2(?2!ٱ2AӾ :AHRS rotation from veh to nav: [[0.154739,-0.894672,-0.419068],[0.975345,0.205895,-0.079425],[0.157344,-0.396446,0.904474]]2H ?&ڿ6?Z?6U#?^_ٿs?i2f?I2i^;0YB{AyBHJ@AH5=5=aa aa aa aa a@a a@a a@a a@a ysh|??Q?/$?I?\== )Mb@Mb@Mb@Ii )BYfBbDVD8yk=%;=ٔ?9I=-Fy^E旽E>Q 5\4km?Q 9 \4IU#)Q@Q A 7Y Q E 8y *?Q I ?kCI;i@=;\4yɮgB!*j1Bj1i1i9zi9Ji9i9 kZkZkZhQ kZkZkZha2Acoustic response timeoutɢ j<)  :?i ) ż  i,I9npQ^A= 2Acoustic response timeoutAM AIY bE1jE5ʁ4rE5/E T E =E ;E "E 9*E 8VE 4ZE a @a @a @a @I O5 > iя,]߯G?A4<ɰ4<2比?2?2@Rٱ2=˾ :AHRS rotation from veh to nav: [[0.187678,-0.894300,-0.406207],[0.970388,0.232842,-0.064278],[0.152065,-0.382115,0.911518]]2H@?Jٿk ?@?tv?`tؿ '+?i2比?I2Y^;2LCYF|AyFvHbDRVDR8yZI>%Zb=ٔZq9^K?I^K?=^-Fy^`EbEb>dQ 5j\4fl?Q 9j\4fXM#)f@Q Aj7YhQ Ej7yjt?Q In?fkCIf:if@f;\4yrӼBɮr9BrkE*j|Bj|i|i|ziJii k#Vk#Vk#Vh ksksksh)QɢU =)Q UM?i)}iwI2Acoustic response timeout-w1AI AM AABU >BU YCBU HBU ABQ BQ BU DBU ;BU Eԩ ^A! 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I ۿ A?@?7?U?Lܿ {k?i6SgW?I6t^;4 (GYVArAy J HEܻ9ErAYMGAQbD]VD]8ym,=%m'=ٔu;Q-u>9qIy=}-Fy}{E}wE}>Q 5\4`?Q 9\4")HAYyr?Q I?oCI;i;]j\4yɮ4B*jBjiiziJii ksksksh k3k3k3h2f:fBfJf4@ɢtR=) d?i)Eli%=䷼!I)2Acoustic response timeoutyAAB~>BOCB !HBAB=BBDB;BE^AAV?AU?ԩ A $AI I O] > > 2Acoustic response timeoutjя,UG?AEc EBEAE"Eg5:*E(9VEA4ZEBE?;a2E?;aJEa:EaPbrO?b?bٱb jAHRS rotation from veh to nav: [[0.514040,-0.751500,-0.413533],[0.853931,0.493883,0.163956],[0.081025,-0.437409,0.895605]]bHs?J `TwڿfS?ɛ?@??`ۿ`̨?ibrO?Ib(O^;` 3C) vA "۽ 7F@CvAi㥽ICFICivA 什F)!%3C %fvA%m%qF!)-vvAI-m))i))1I5nvA5q5F 19=lA9i99iECA)A AIAYAYMAyU H bDVD8y}=%[=ٔo;Q->9H?IH?=-Fy}E姽E>Q 5\42?Q 9\4")AYy\?Q I?@oCI:i/:pw\4yɮB*jBjiiziJii k{k{k{h kSkSkSh2f :f Bf Jf ~@)ɢ5=)1 53?i1)5&C\99i=9IA}2Acoustic response timeout^AA% A) I1 IA O} >я,0G?A;ɰ;6H?6I?6Aٱ6Wپ >AHRS rotation from veh to nav: [[0.536680,-0.749724,-0.387154],[0.839985,0.518208,0.160893],[0.080001,-0.411552,0.907868]]6H`|,?@!ؿ@'?(?&?@z?Vڿ B ?i6H?I6f^;6OC|Y Ay'!HbDVDa8y=%W=ٔ0;Q->9K?IK?=-FyEE>Q 5\4?Q 9\4")tAYy?Q I?{oCI?;i@;Ȅ\4yмBɮ B[E*j1Bj9i9i9zi9JiAiA k{k{2Acoustic response timeoutk{h2f:fBfJf~@ ɢ !=) ?i)0JiK;I!bE^4jErE50E5S E5AE5?E1"E59*E5 9VE5^4ZE1aE@aE@aE@aE@)^A1YAa Iq I O > 2Acoustic response timeoutԉ iя,G?ABMp>BMNCBM"HBMABM=BIBMDBM;BMwEyEA?(y?^ٱ־ AHRS rotation from veh to nav: [[0.561057,-0.737190,-0.376518],[0.824165,0.539927,0.170974],[0.077252,-0.406239,0.910496]]H-?@ؿ@_?`G?w?@Ƴ?@ٿ"?iEA?IY^;KCYMGAyMs!HyuMb?Mb?X9v?uC?u=u9I=-FyEŀE>Q 5\48?Q 9\4")PAY(?Q E:y?Q I?oCI ;i~ ;\4yƼBɮBRE*jBjiiziJii k#|k#|k#|h k3|k3|k3|h9ԡ2fd=:fd=Bf_@Jf&:@)ɢ-=)) -~?i1)5F411i5Yż9I92Acoustic response timeoutE9 E=EE=@E9"E9*E=A9VE=4ZE9BE=:aM2E=:aMJE=V:aM:E=V:aM^Ae s>Aa zAe nA A $AI I O >я,OG?A2U9?2,q?2qٱ2~Ӿ :AHRS rotation from veh to nav: [[0.586516,-0.723128,-0.364808],[0.806606,0.562313,0.182185],[0.073393,-0.401111,0.913085]]2H?@#@Y׿? x?Q?ɲ?ͫٿ@7?i2U9?I2^;0YF؃AyF%"HIJ%=)Jp<bDRYVDR(8yZwj>%Z=ٔZN1AAIIO> = < 2Acoustic response timeoutEU O EU =EU >EQ "EU 9*EU 8VEU 4ZEQ a] @a] @a] @a] @Y + я,75G?A@>I1?>oi?>r荽ٱ>Ѿ FAHRS rotation from veh to nav: [[0.610805,-0.708379,-0.353718],[0.788748,0.583437,0.193593],[0.069236,-0.397242,0.915099]]>H? @Rֿ@l=? ??@l?`ilٿ|H?i>I1?I>[^;>OCY}Ay}7"HbD6VD8y]<%<=ٔ 9K?IK?=-FyEuE>Q 5\4ُ?Q 9\4")AYyr?Q I?DpCId:i:\4y˼BɮћBSE*jBjiiziJi1iq kkkh kkkh2f:fBfJfm@ɢ(=)  s?i ) gk ivEͼIu2Acoustic response timeouti^A1B=<A=<BE`>BELCBE"HBEsABE=BABEDBE;BE-EԡAa Iq I O >Թ  2Acoustic response timeoutE] S E] @E] @EY "E] 9*E] 9VE] 4ZEY BE] :am 2E] :am JE] ,:am :E] /:am }я,OG?A2)?2?a?2ٱ2bҾ >AHRS rotation from veh to nav: [[0.634193,-0.691334,-0.346203],[0.770448,0.602639,0.207933],[0.064884,-0.398601,0.914826]]2HNK?h`2(ֿ?H?? B?ٿAF?i2)?I2V^;2LCYF.AyF"HbDRVDR8yj=%Q=ٔ%69!I)=--Fy-E- E->1Q 5=\45揉?Q 9E\45O")5QAYAyEj?Q IE?5pCI53;i5a;5\4yIɮMBQ*jiBjiiiiiziiJiqiq kkkh kkkh2f:fBfJfw@ɢ#)=) ?i)=iRѼI@4>@yԡ^A6s>A a?A d?m2Acoustic response timeoutA1IAIQO> *я,yxiG?A2}\"?23Z?2Vwٱ2Ӿ >AHRS rotation from veh to nav: [[0.657007,-0.673517,-0.338699],[0.751455,0.621113,0.222562],[0.060471,-0.400742,0.914193]]2H`3?r?տ ?'?|? ?¥ٿA?i2}\"?I2 z^;2KCYFyAyF"HTX X)X XXbDfVDf8yr=%rP=ٔr89tIt=z-FyzEzᚽE~>Q 5\4O?Q 9\4")AYyb?Q I?pCI0ԉ B= M>B= JCB= #HB= AB= =B9 B= DB= ;B= ΂EA I I I O>!!я,G?Aɰ4<2y?2R?2?yeٱ2 Ӿ :AHRS rotation from veh to nav: [[0.679116,-0.655818,-0.329704],[0.731892,0.639250,0.235994],[0.055995,-0.401575,0.914113]]2H@Q? u`տ@k?t?@ 5?P?iٿ i@?i2y?I2^;2MCYFʄAyFO#Hygfffff?MbX9?:v?3s?!>T< 9Cl?I +?333333?Yd;?y9==vB eB)YBbD-"VD-8y==%=-=ٔ=19AIA=E-FyEEMEM>QQ 5]\4U?Q 9]\4U")UAY]=?Q Ee:ye9y?Q Ie?U qCIU':iUs:U\4ԉy ǼBɮ B KE*j!Bj!iAiAziIJiIiI kzkzkzhY kzkzkzh2fr>:fr>Bfb\@Jfo@ɢ)=) ?i)5iڼIT%rmodem://6: set _.others_observations nan n/a str none_str% #Outgoing data=1%pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT-2Acoustic response timeoutEa EeAEe>Ea"Ea*Ee 9VEe4ZEaBEe:a}2Ee:a}JEe:a}:Ee:a}Թ^AA1 I9 II O >  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout'я,ؠG?AF~}?FUK?FSٱFԾ NAHRS rotation from veh to nav: [[0.699874,-0.637973,-0.321196],[0.712397,0.655994,0.249322],[0.051642,-0.403313,0.913604]]FH`]e?FjzԿ???@p?ٿ=9aIa=e-FymEmDEm>qQ 5}\4u?Q 9}\4u")uAYyq?Q I?umqCIu:iu:u\4y̼BɮBLE*jBjiiziJiii kÁkÁkÁhy kkkh2f:fBfJf~@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ`=) ^?i)gi޼I-H=2Acoustic response timeoutEuU Eu@EqEq"Eu:*Eu9VEqZEqa}@a}@a}@a}@Q^AQ AY zA] pAy Ii I O >/.я,ZG?ARM2?R =?R)ٱR׾t AHRS rotation from veh to nav: [[0.738890,-0.601652,-0.303407],[0.672550,0.686195,0.277151],[0.041448,-0.408840,0.911664]]RH?@@kӿ?O?ּ?8?@q*ڿ@Z,?iRM2?IR^;RMC52Acoustic response timeoutYMXAyM#HbDVD8y =% -=ٔ9I=-FyECE>!Q 5-\4%&&?Q 9-\4%")%zAY1y5c?Q I5?%qCI%[:i%:%\4y9ɮ=vBA*jQBjQiQiQziQJiYiY kSxkSxkSxh kSxkSxkSxh2f):f)Bf)Jf-@s5PUpdating rudder angle 13.750987 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudderqɢuL7=) ?i)顙i+^㼉IAAB@>BICBt$HBAB=BBDBh;BxEBLCBLCBÕCB=B=C5I2Acoustic response timeoutE T E ?E ?E "E 9*E ?9VE ^4ZE BE :a- 2E :a- JE 99a- :E >9a- ԉ ^Aa IA IQ O >36я,6G?A "@>c>>f 6?>~hٱ>ؾ NAHRS rotation from veh to nav: [[0.757166,-0.583779,-0.293090],[0.652231,0.700360,0.289986],[0.035981,-0.410730,0.911047]]>H:?Pҿ?`Xi?!? l?eIڿK'?i>c>I>~^;>KCYVAyV=$HbDVD8yUx=%UC=ٔUqU9YIY=]-Fy]EeUEe>iQ 5u]4m-7?Q 9u]4mȺ")mAYqy}\?Q I}?mrCIm:im-:m@]4yѼBɮnBME*jBjiiziJii kCtkCtkCthI2f:fBfJfyȀ@ɢ=) ?i) i>缍 2Acoustic response timeout IYԑ^AAIIO>Ա ߵ %=ߵ = 2Acoustic response timeoutE V E GE @E "E =:*E R9VE 4ZE a @a @a @a @:T<я,,G?A2>2CT/?2ٱ2پ :AHRS rotation from veh to nav: [[0.774142,-0.566950,-0.281554],[0.632291,0.713787,0.301191],[0.030209,-0.411189,0.911050]]2H ?s$ҿ@;?W?F?"?@Pڿ`Q'?i2>I2r^;2NCPYbAyb$HbDjVDj8yrr=%rS=ٔv1t9tIt=v-FyzEzEz>|Q 5]4~ZG?Q 9]4~2")~5 AY y U?Q I ?~^rCI~t:i~I:~]4yɮXB*j)Bj)i)i)zi1Ji1i1 k[k[k[hI kskskshY2fi:fiBfiJfm@颉ɢ/>) P?i)x8:顑iK뼉I@8>@;>]Gʵ9YA^A%2Acoustic response timeoutIQIO>B6>BHCB %HB2ABB%DBB;B@E! 2}(?2ʼٱ2ؾ :AHRS rotation from veh to nav: [[0.790409,-0.550107,-0.269511],[0.612083,0.726941,0.311304],[0.024668,-0.411021,0.911292]]2HK?z?ѿ@/?C?h? B?)Nڿ@N)?i2>I2c^;0}2Acoustic response timeoutEW ECE>E"E :*E09VE4ZEBE%:a2E*:aJE9:a:E9:aYޅAy$H==yEK7A?Mb?HzGE B?E?yEu=EEBA EB)EBAYE BY]@AbDeVDe8yʻ%'=ٔ99I=-FyEYE>Q 5]4_?Q 9]4")AY??Q E:y)1?Q I?rCI:i:&]4y̼BɮUBDE*jBjiiziJii kZkZkZh kokokoh)2f=:f=Bf?Jf@ɢmJ=) ?i)#!;i4)IQ5 2Acoustic response timeout^AM 6s>I I O >ԁ i I fIя,k'G?Aɰ;2sn>2"?2ٱ2|ؾ :AHRS rotation from veh to nav: [[0.806080,-0.532829,-0.257542],[0.591483,0.739724,0.320867],[0.019543,-0.410976,0.911437]]2H@i? {п@n?ҫ?? &?nMڿ }*?i2sn>I2^;2KC@@iBI@@IDiD DD)DH Jnr@HHHHLIL)LiL)LIPPP PRfCPTiTTiTT)T TIXYXY^%~=ٔdAY!y%*?Q I%?rCI;i;#2]4y)ɮ5=B1y*jBjiiziJii kVkVkVh2f):f)Bf)Jf-@颙ɢy>) ?i)n;顡i4@󼉨I2Acoustic response timeoutԩbEUė4jEUė4rEUā/ES EBECE"E9*E(9VE5ZEa@a@a@a@^AU' s>IIO> = 2Acoustic response timeoutwVPя,jAG?A2>2I?2Unٱ2Tپ :AHRS rotation from veh to nav: [[0.821507,-0.514284,-0.246250],[0.570014,0.751724,0.331657],[0.014546,-0.412824,0.910695]]2HI?u Ͽ@=??9?uʍ?`kڿh$?i2>I2R^;2NCY [Ay <%HbDVD8yU=%UD=ٔ]ZD9YIY=e-FyeEeہEe>iQ 5u]4m냐?Q 9u]4mM")mAYyy}#?Q I}?mIsCIm:imy:m@]4yҼBɮ;BEE*jBjiiziJii!B)A-<B-4>B-GCB-%HB-AB-=B)B-~DB-;B-E k^k^k^hQ k#^k#^k#^h2f:fBfJf<@ɢ1>) ?i);i)I@pA@qA^AAAIzAMqA2Acoustic response timeoutET E;E>E"E9*E8VE4ZEBE:a2E:aJE9a:EÊ9a!A $AI I O >I *xVя,u"[G?A6A3>6"q?6!%ٱ6ھ >AHRS rotation from veh to nav: [[0.836502,-0.495444,-0.234094],[0.547872,0.764056,0.340669],[0.010079,-0.413223,0.910574]]6H ?[߿Ϳ@*?`%s?@? ?@rڿk#?i6A3>I6o^;6MCY=Ay=z%HI=)=bDVD8y mm=% @=9ٔ ,9eH?ImH?=m-FymEm.{Eu>yQ 5]4}L?Q 9]4}d")}AYy?Q I?}sCI}:i}{:}O]4y׼Bɮ3BFE*jBjiiziJii kXkXkXh kXkXkXh2f:fBfJf]@2Acoustic response timeoutɢ7>) ?i)[;i!I!a^AYԙA I I O  hDAT read: Forwarding Delay UpTx time:19:06:45.3899  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutE R E >E @E "E s9*E 9VE 4ZE a @a @a @a @ D\я,~tG?A2/>2Mo ?2[Żٱ2ؾ :AHRS rotation from veh to nav: [[0.851210,-0.476349,-0.220301],[0.524790,0.777354,0.346866],[0.006023,-0.410868,0.911675]]2H=?`|޿2̿`??`3?@nx?Kڿp,?i2/>I2^;2OCY^Ay^%HbDEVDE8y}K7<%T=ٔ?,9I=-FyEmE>Q 5]4⭐?Q 9]4V")AYy?Q I?sCI:i:]]4yɮ1B*jBjiiziJii kakakah kakakah2f:fBfJf@~@!ɢ%w>)! %n?i!)-<))i-r1I1ԑ2Acoustic response timeout^ABE+>BEFCBE&HBEABE=BABABE;BEEAII O= > 0cя,؎G?A2>2*?2Oٱ2oZ׾ :AHRS rotation from veh to nav: [[0.865777,-0.455974,-0.206198],[0.500425,0.790800,0.352436],[0.002360,-0.408318,0.912837]]2Hq? .ݿ dʿ`z?:N?Q?HTc?`!ڿ`5?i2>I2*w^;2NCYBAyB%He2Acoustic response timeoutEW EAE<E"E :*E 9VE 4ZEBE$:a2E):aJE:a:E:ay(\?&1v/N?Pxi 9gfffff?xƿY33?yK7BtB \B)BYѝBbDVDq8y f0=% B=ٔ g9I=-FyẺE>!Q 5-]4%Ɛ?Q 9-]4%?")%AY-;?Q E-:y5>Q I5?%2tCI%;i%;%k]4y=ܼBɮ=-B=GE*jQBjQiQiQziYJiYiY k_k_k_hi k_k_k_h2fh5>:fh5>Bf) ?i)z<项i.I@}4>@}0>^AAY?AQ? 2Acoustic response timeoutQ A I I O5 >õiя, G?A2|>2+>2a̐:ٱ2(־ :AHRS rotation from veh to nav: [[0.880217,-0.434052,-0.191877],[0.474570,0.804120,0.358014],[-0.001105,-0.406189,0.913788]]2H@*?`ۿkȿ Z_?@Z??R`ٿ=?i2|>I2%[^;2KCYF݆AyF%H HHbDRVDR{8yZ:=%Zc=ٔZt9\I\=^-Fy^EbLEb>dQ 5j]4f,ܐ?Q 9j]4f")f2AYhyjo>Q In?fttCIf ;if ;fgx]4yrBɮr*BrHE*j|Bj|i|i|ziJii k3^k3^k3^h!2f9:f9Bf9Jf=9@aɢeYP>)i m?ii)mpy2ԡ  2Acoustic response timeout=pя,PG?Aɰ4<@>h'{>>B>>;ٱ>̻վ JAHRS rotation from veh to nav: [[0.894528,-0.410301,-0.177404],[0.446987,0.816874,0.364581],[-0.004671,-0.405425,0.914116]]>H?`_Bڿ ,ƿo?#?IU?`!s@{ٿ q@?i>h'{>I>w^;>MCYRAyR%HbD^VD^e8yf;%fI=ٔj9jK?IjK?=n-FynEn]En>pQ 5v]4r?Q 9v]4r")rqAYxyzQ Iz?rtCIr:ir:r]4y~Bɮ~.BIE*jBjiiziJii kbkbkbh1 kbkbkbhA2fQ:fQBfQJfU-@iɢu!>)q u0?iq)u7KBB6&HB&AB=BB}DB};BiEԩ^A}2Acoustic response timeoutEV EDE<E"E=:*Ea99VE 4ZEBE:a2E:aJEiH:a:EkH:aA$AIII O5> ivя,jG?A2LZ>2J>2U;ٱ2~վ :AHRS rotation from veh to nav: [[0.908390,-0.385221,-0.162579],[0.418053,0.829628,0.370067],[-0.007677,-0.404132,0.914669]]2H ?wؿ`eĿ@b?O?+?`6rJٿ@D?i2LZ>I2B^;2OCY%Ay% &HQQ Q)YbDmfVDmI8y=%?=ٔ;Q->9H?IH?=-FyEE>Q 5]4P?Q 9]4")AYyw.>Q I?uCI;i-;]4yɮ&B*jBjiiziJii k\k\k\h k\k\k\h 2f:fBfJf=@9ɢ=#>)9 =AoAzAnAYAAIIO > 2Acoustic response timeoutԉ E S E JE :E "E 9*E k9VE (4ZE a @a @a @a @k|я,JEG?A2C8>2>2*C<ٱ2cԾ :AHRS rotation from veh to nav: [[0.921742,-0.359195,-0.146184],[0.387620,0.841766,0.375740],[-0.011912,-0.403000,0.915123]]2H~? ֿ %¿?@?! ? 9eٿ@H?i2C8>I2>M^;0YBAyB&HIJ=)Je>bDNWVDN;8yV;%VZ=ٔZ89ZK?IZK?=Z-FyZE^E^>`Q 5f]4b$?Q 9f]4b")bAYhyjo >Q Ij?bUuCIb:ib:b]4ynBɮn*BrJE*jxBjxixixzixJi|i| k3^k3^k3^hY k3^k3^k3^h2f:fBfJfD@ɢ>) t?i)M}<i_Iԉ2Acoustic response timeout^A' s>ԱB">BBh&HBOABBBB;B(EBFCBGCBǔCB=B=Co5AII OU > Mۃя, -G?A2&>2>2<ٱ2.zԾ :AHRS rotation from veh to nav: [[0.933901,-0.333027,-0.130087],[0.357161,0.852396,0.381914],[-0.016302,-0.403131,0.914997]]2H?OPտ?F?Gq?ٿ`G?i2&>I2+^;2LCYB0AyBA&H=2Acoustic response timeoutDqzDqE}V E}DE}<Ey"E}=:*E}a99VE} 4ZEyBEya2EyaJEya:EyayQ?zGʿZd;?\O? Wy= 9MbX?(\пI +?Y*?y94<mBmB B)BYQBbD5yVD5Z8yE.2=%E3=ٔMj9IIQ=U-FyUEU撽EU>YQ 5e]4]<@?Q 9e]4]")]AYm7?Q Em:ym:f%>Bf`@Jf}@ɢX>) ?i)`<i4 I^A1)2Acoustic response timeoutA I I O >Q Zя,H)G?A:r=:˩>:<ٱ:KԾ FAHRS rotation from veh to nav: [[0.945316,-0.305654,-0.113813],[0.325519,0.862358,0.387783],[-0.020380,-0.403626,0.914697]]:H@?׏ӿ" N?`p?n?aޔ`ٿ@3E?i:r=I:.^;:MCYV5AyVH&HbD-DVD-*8ym ;%mZ=ٔu19yIy=}-Fy}EE>Q 5]4V?Q 9]4")LAYy$Q I?uCI;i;޿]4yBɮ)BLE*jBjiiziJii kfkfkfh kfkfkfh12fy:fyBfyJf}̅{@颹ɢ>) U?i)ɘ<i IM2Acoustic response timeoutEQ E>EE"E29*E9VEZEa@a@a@a@a^AAAd? j>͑C5G]MrAԑϿ9MrAYAA I I) y= g?= !AO >Թ  2Acoustic response timeoutDя,CG?A2D=2m>2<ٱ22վ :AHRS rotation from veh to nav: [[0.955720,-0.277811,-0.097057],[0.293244,0.871464,0.393140],[-0.024637,-0.404193,0.914342]]2HB?ѿظ ??@4)?U:MٿIB?i2D=I2^;0YBFAyB\&H bD-/VD-8ByA}4=B>BECB&HBcAB=BBB;BEy<%G=ٔ*9I=-FyEԩE>Q 5]4Ao?Q 9]4")AYy2Q I?7vCI;i:']4yɮ%B*jBjiiziJii kSckSckSch kSckSckSch2f!:f!Bf!Jf%Wy@AɢE>)A Eb?iA)M я,]G?AJ:=J>J<ٱJ־ ZAHRS rotation from veh to nav: [[0.965029,-0.249569,-0.080215],[0.260530,0.879194,0.398926],[-0.029035,-0.405873,0.913468]]JH?Ͽ?["??Pٿ`!;?iJ:=IJ;^;JOCYjPAyji&HbDvkVDvM8y~]<%~U=ٔ~;9I=-FyE E >Q 5]4)?Q 9]4")AYy%Q I%?|vCI ;i ;]4y-Bɮ-'B-ME*jBjiiziJii kikikih kikikih2f!:f!Bf!Jf%x*w@Yɢ]'>)Y ] ?ia)eݱAIIO >A a e >m 2Acoustic response timeoutbE-|4jE-ʣ4rE-?0E U E E >E "E :*E VE 4ZE a @a @a @a @>я,mwG?A:"P<:fl>:=ٱ:o־ BAHRS rotation from veh to nav: [[0.972927,-0.222254,-0.063369],[0.228688,0.886226,0.402872],[-0.033381,-0.406457,0.913060]]:H8"?@r̿ 8E? 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R? ^I??  ~ٿ:?i62@I61^;6OCBb(>BbGCBbO&HBb:AB`B`Bb~DBb;BbEBBFCBCB=B=C65YUAyo&HbD VD i8y*<%+=ٔ%X;Q-%>9%K?I%K?=%-Fy%E-xE->1Q 5=^45Ve?Q 9=^45")5AY9yE Q IE?5%yCI5:i5y:5]^4yM9BQɮMcBUSE*jaBjaiaiiziiJi1i1 kgkgkghI kgkgkghY2fi:fiBfiJfmu @suPUpdating rudder angle 13.750987 arcdeg 9ur}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudder频ɢr>)${ S?i)A%=顙iIy2Acoustic response timeoutE]T EYEYEY"E]9*EYVEYZEYBE]:am2E]:amJEYam:EYam^A) ԩ A] $AIi I O >я,@`G?A2"@2@2/=ٱ2k^վ :AHRS rotation from veh to nav: [[0.997418,0.000540,0.071810],[-0.029498,0.914799,0.402831],[-0.065474,-0.403909,0.912453]]2H?`A?@&b?4@F??°ٿ2?i2"@I2D^;2MC@ B&C)BvAFнDDDFvAiFmIJ4FHIHiH JH)HL LNxiLPPRrvAIP)R׀FiP)TIVjvAVmT TXXXiXXi^ C\)\ \I\Y\YfIAyfa&Htt t)tbD~VD~k8y%h=ٔ9H?IH?=-FyEE>Q 5^45z?Q 9^4!")AYy,Q I?eyCI:i:\i^4y>BɮkBTE*jBjiiziJii k\k\k\h!2fQ:fQBfQJfU2@}2Acoustic response timeout频ɢU;>) ?i)l`=顙i~4Iԩ^A1A=V?A=N?Ae AIq I O > - 2Acoustic response timeoutEm V Em =Em EEi "Em =:*Em 8VEm 5ZEi au @au @au @au @я,"zG?AJGRrA\tv9vrAYvZA%@%@%Y)=ٱ%u־ UAHRS rotation from veh to nav: [[0.995792,0.028162,0.087203],[-0.061000,0.913846,0.401453],[-0.068385,-0.405083,0.911719]]%H?`g֜?R?f; :>?@g?ٿ,?i%@I%/^;%OCYU*AyU;&H aae%>e=bDmVDmj8y}%;=ٔH;Q->9K?IK?=-FyEE>Q 5^4铒?Q 9^4")AYyLQ I?yCI;i;x^4yCBɮxBUE*jBjiizi)Ji1i1 kckckchA2fq:fqBfqJfu$@2Acoustic response timeout颩ɢk >) ?i)?L =顱iIB1>BB&HBABBBBl;BE1^AA i Au $AI I O >я, G?A.2Acoustic response timeout6@6@6=ٱ6}վ BAHRS rotation from veh to nav: [[0.993146,0.056250,0.102455],[-0.092688,0.913042,0.397194],[-0.071203,-0.403968,0.911998]]6H?̬?z:?k@7? k?b:@ٿ@/?i6@I6G^;6PCDLzDN?AERU ER@ER?EP"ER:*ER9VER^4ZEPBER:aV2ER:aVJEPaZ:EPaZ\Y5;Ay5O&H99yM"~j?I +?9}H?I}H?=}-Fy}EE>Q 5^4:f<>Bf',@Jf/@iɢm6>)q u?iq)u &=yyi} I2Acoustic response timeout:9 ^A s>A zA oAi A=AII2Acoustic response timeoutbE^4jE4rE0EV ECEE"E=:*E09VEZEa@a@a@a@O%?aя,PG?A8Y6AyI&HbD]VDA8yߦ% =ٔQ->9K?IK?=-FyEE>Q 5^4ɒ?Q 9^4H")AYyQ I?^zCI):iB: ^4y HBɮ zB VE*jBji!i!zi!Ji!i! kSDkSDkSDh9 k#]k#]k#]hI2fY:fYBfYJfYyɢ}(>) c?i)v-=顁idp"IԡPzU2Acoustic response timeoutBm@>BmICBm%HBmABm=Bm$DBmDBm;BmWEi! 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AE $AII Ia O >я,SYG?A2S @2D@2\=ٱ2Ӿ NAHRS rotation from veh to nav: [[0.984722,0.112839,0.132628],[-0.156062,0.909750,0.384707],[-0.077248,-0.399528,0.913460]]2Hׂ? ??ÿ? ?Ƴ@ޑٿ;?i2S @I2WG^;2NCYZ*AyZ;&Hm2Acoustic response timeoutbD5aVD5D8y}xT%==ٔ2e9H?IH?=-FyEpE>Q 5^4w⒉?Q 9^4")AEN E>E=E"Em9*E9VE|4ZEBEp:a2Ep:aJE9a:E!9aYyQ I?zCIӹ;i;-^4yNBɮBWE*jBjiiziJii kBkBkBh k\k\k\h2f:fBfJf$ԅ@ɢ7+>)A E?iA)E4=AAiE#IIIQQYY@ 8>@ ;> 2Acoustic response timeout! ^A- s>Q A] AIa Iy O >rя,yG?A2f@2W @2N=ٱ2;о :AHRS rotation from veh to nav: [[0.979188,0.140699,0.146270],[-0.186463,0.908243,0.374602],[-0.080143,-0.394079,0.915576]]2HU?n??ǿ@S?y?`; 8ٿeL?i2f@I2\)^;2OCYBцAyF%HJp=HbDNFVDN+8yZԽ%ZB=ٔZ;Q-Z>9^K?I^K?=^-Fy^E^Eb>`Q 5j^4b/?Q 9j^4b")bQAYhyjⷾQ Ij?bzCIb@;ib;b^4yrSBɮrBrXE*jxBjxi|iziJii k@k@k@h kcXkcXkcXh2f :f Bf Jf N@AɢEc0>)I M?iI)M;=IIiM%QIY%In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER%2Acoustic response timeoutEeV EeBEe@Ea"Ee=:*Ee(9VEe4ZEaau@au@au@au@^A' s>AY?Aa?!A5 $AIY Iy O > rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=2 pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutI B I>B JCB %HB AB =B B DB ;B UE+Qя, G?Aj!@j@jj=ٱj̾ vAHRS rotation from veh to nav: [[0.973129,0.166938,0.158593],[-0.214736,0.906564,0.363360],[-0.083116,-0.387652,0.918051]]jH#?9^?L?z|˿?KA?GJؿ`?ij!@Ij!^;jNCY%Ay%%H ))5=5=y?Mb`:v?@?T< 9tV?V-Mb?Yym=wrB B)BYzBbD VD 8y<%%6=ٔ%;Q-%>9-H?I-H?=--Fy-E-sE->99Q 5E^4=?Q 9E^4=˩")=|AYM 4?Q EM:yMQ IM?=K{CI=s:i=:=^4yUXBɮQ]YE*jiBjiiiiiziqJiqiq k@k@k@h k3Xk3Xk3Xh2f(=:f(=Bf[}@JfNa@ɢp22>) Z?i)tA=i)T&IaEzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYE2Acoustic response timeoutES E@EE"E9*E9VEZEBE:a2E:aJE-:a:E/:a^A9ԑAm AIy I O >Թ {я,#G?A2C@2>@2A=ٱ2ɾ :AHRS rotation from veh to nav: [[0.966710,0.191277,0.169958],[-0.240957,0.904006,0.353146],[-0.086094,-0.382342,0.920001]]2HH?{?/?ο??I Kxؿ@p?i2C@I2;^;2OCYZdžAyZ%Hpt t)xbD VD 8yJ"%\=ٔ%9%K?I%K?=%-Fy-E-E->1Q 5=^45(?Q 9=^45")5AYAyE1Q IE?5{CI5;i5;5^4yIɮMBI*jaBjaiaiaziaJiiii k<k<k<h2f:f2Acoustic response timeoutBfJfɅ`@颹ɢj;>) y?i)@ G=i'Iԑ^AAIIYIiO>U 2Acoustic response timeoutE Q E AE ?E "E 29*E  9VE ^4ZE a @a @a @a @ +я,Xq=G?Aɰ4<:2w@:#r@:œ=ٱ:Fɾ FAHRS rotation from veh to nav: [[0.960142,0.212844,0.181176],[-0.264955,0.899512,0.347387],[-0.089031,-0.381545,0.920053]]:H{?y>?0?`п?;?@ʶ9kؿq?i:2w@I:+^;:MCYNAyN%HbDZVDZ8y%%%%J=ٔ-N;Q-->9)I1=5-Fy5E5b|E5>9Q 5E^4=??Q 9E^4=")=AYIyMQ IM?={CI=):i=:=^4yU]BɮUB]ZE*jiBjiiiiqziqJiqiq kS<k[<kS<h kS<kS<kS<h2f:fBfJf_@ɢJ5>) _?i)$M=i(I2Acoustic response timeoutBA<BX>BLCBU%HBoAB=BBDB;BfE^A=6s>AAzAEnAAm$AIqIO>I ] 2Acoustic response timeoutя,aWG?AE, E.CE.<E,"E,*E.09VE. 4ZE,BE.:a62E.:a6JE.9:a6:E.9:a6BK@B<@B9=ٱBuȾ ZAHRS rotation from veh to nav: [[0.953188,0.233918,0.191613],[-0.288114,0.894928,0.340725],[-0.091778,-0.379982,0.920430]]BH?@?Æ?wpҿ@@?q?`~Qؿ)t?iBK@IBC^;@Y%Ay%%HAIR=)p=bDVD8yiɻ%&=ٔ;Q->9H?IH?=-FyEJE>Q 5^4a[?Q 9^4")AYyQ I?0|CII:i:^4ylBɮěBdE*jBjiiziJii k;k;k;h1 k;k;k;hA2fQ:fQBfQJfU]@ ɢ 2)>)  ?i )=T=i)Iq2Acoustic response timeout^Ae ' s>ԡ IY Ii I O >Qя,EqG?A2S@2D@2=ٱ2ɾ< NAHRS rotation from veh to nav: [[0.945890,0.253742,0.202256],[-0.310532,0.888685,0.337356],[-0.094141,-0.381909,0.919393]]2H`D?O=??ӿp???3qؿ@k?i2S@I25^;2OCTVsAiV IVtfFTIXiX XX)X\ \\\\`bsAI`)`i`)`I`dd ddhhihhihj7uA)h lIlYlYrqAyrW%HbD]VD]8y%n%%i=ٔ-;Q-->9)I)=5-Fy5E5bE5>9Q 5E^4=n?Q 9E^4=G")=AYIyMQ IM?=o|CI=o;i={;=&^4yQɮUϛBQ*jiBjiiiiiziqJiqiq k<k<k<h k@k@k@h2f:fBfJfGA\@ɢD>) ?i)6Y=i}*I 2Acoustic response timeoutEmT EiEmBEi"Em9*EiVEm5ZEiau@au@au@au@ԙ^AAIq I O >  2Acoustic response timeoutBu d>Bu NCBu %HBu 2ABu =Bq Bu DBu ޾;Bu >EB5JCB5KCB5˕CB5=B5=C5˺%6ʟ"я,G?A@fX@f S@f!=ٱf+Ӿl rAHRS rotation from veh to nav: [[0.929008,0.292019,0.227308],[-0.356911,0.869330,0.341878],[-0.097771,-0.398736,0.911839]]fHn?q?q?ֿ@?U?ٿ-?ifX@If:>^;dY9Ay%Ha=y9I=-FyEE>Q 5_4P?Q 9_4&")WAY/?Q E:yƾQ I?|CI;i/; _4yqBɮBeE*jBjiiziJii k;k;k;h1 k;k;k;hA2fU&>:fU&>BfU8@JfUE@qɢuO3>)q }?iy)}_=yyi} ,I %2Acoustic response timeoutES EBEE"E9*E(9VEZEBE:a2E:aJEL+:a:EN+:a9^AFs>Ac?A`?I9IQO>a (я,rܤG?AF{@Fyv@F=ٱFGؾ NAHRS rotation from veh to nav: [[0.918911,0.312264,0.241026],[-0.381729,0.857949,0.343813],[-0.099428,-0.407940,0.907579]]FHg?"??=nؿPt??tڿ` ?iF{@IFs[^;FPC9YAyAbDUVDU8ٔm;Q-m>9iIi=u-FyuEu5Eu>2Acoustic response timeoutQ 5_4.?Q 9_4")AYyԾQ I?|CI;i";_4yvBɮBfE*jBjiiziJii k;k;k;h k;k;k;h2f:fBfJf*U@ɢÿ?>) i)/e=!!i%-!I)@=qA@9i^A}' s>IIOn>ԑ- %=- C=5 2Acoustic response timeoutE R E @E =E "E s9*E 9VE |4ZE a @a @a @a @ j> C _G) 9 m 9i Ym A.я,G?ABw@Bh@BM=ٱBdݾ JAHRS rotation from veh to nav: [[0.907165,0.334364,0.255444],[-0.408548,0.845204,0.344555],[-0.100696,-0.416930,0.903344]]BH? 7f?3Y?%ڿ ?@2 ?5ǹ`ڿ0?iBw@IB=^;BNCYnAyn$HbDzVDz8y%<ٔ ]U;Q- >9 I = -Fy EE>Q 5%_4X?Q 9%_4")>AY!y-Q I-?;}CI:i:%(_4y1ɮ5B1ԙ*jBjiiziJii k<k<k<h k=k=k=h2f:fBfJf>@1ɢ5 7>)9 =#?i9)=j=99iEf.AII2Acoustic response timeoutB-q>B-OCB-$HB-ͅAB-=B)B-DB-;B-~E^AyIIO%o> = 2Acoustic response timeout15я,%G?AD D ET EDE;E"E9*Ea99VE4ZEBE:a2E:aJEkH:a:EmH:aFE@F6~@Fx=ٱF! bAHRS rotation from veh to nav: [[0.893516,0.359211,0.269439],[-0.437449,0.831755,0.341792],[-0.101332,-0.423262,0.900323]]FHୗ? P?~>?`+ۿ??ۿ@q?iFE@IF_/^;FOCYrAyr$HttbD~VD~8y j% G=ٔ5:Q->9I=-FyE>E%>)Q 5E_4-M?Q 9E_4-"")-AYIyMyQ IM?-}CI-7;i-z;-6_4ym{BɮmB gE*j)BjIiIiQziYJiYia k#@k#@k#@h k[k[k[h2f:fBfJfe @ɢ%03>)! Ez?iA)M.5q=IIiM/,/IIQ}hDAT read: Forwarding Delay UpTx time:19:06:59.2398 }pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout^As>AzAoAII!)Ou>Q <я,8G?A>k@>f@>{&=ٱ> JAHRS rotation from veh to nav: [[0.878010,0.385532,0.283660],[-0.467659,0.817211,0.336841],[-0.101947,-0.428406,0.897817]]>H@??z'?`ݿ&?͎?.jۿ?i>k@I>_^;>NCYRAyR_$H`` `)`bDjVDj8yr\%rO=ٔv :Q-v>9tIt=v-FyzEzEz>|Q 5_4~ԓ?Q 9_4~")~AY y Q I ?~}CI~:i~:~LD_4yBɮBhE*j)Bj1i1i1zi1Ji9i9 ksWksWksWhI kWkWkWhY2fq:fqBfqJfu @频ɢ\@>) ?i)v=顙i'0I@@I2Acoustic response timeoutbE4jE&4rE±o0EMU EM@EM=EI"EM:*EM9VEM|4ZEIa]@a]@a]@a]@y^AA!IIIԩO > 2Acoustic response timeoutB >B QCB )$HB {AB =B B DB J;B ~E Bя,~Q G?A2M@2H@2R=ٱ2 :AHRS rotation from veh to nav: [[0.861078,0.413369,0.296091],[-0.497951,0.803387,0.326519],[-0.102903,-0.428598,0.897616]]2H@?t?(? m߿W??W %nۿE?i2M@I2%Z^;2OCYBFAyB#HyE/$?MbMbpEL?EEA A9Ev/?jtĿX9vYExI?yE EEBE+oB E'B)EާBAYEWBbD]VD]8ym%mB=ٔm;Q-u>9yIy=}-Fy}EE>Q 5_4e꓉?Q 9_4n") AYM?Q E:y8Q I?~CI ;i& ;S_4yɮ.B*jBjiiziJii k]k]k]h k#]k#]k#]h2fZ>:fZ>Bf=@JfB>@ɢ%2>) i?i)%{=!!i%{$1)I)Ա!%>2Acoustic response timeoutDYzDYEeT EeAEe<Ea"Ee9*Ee 9VEe 4ZEaBEe:au2Ee:auJEe:a}:Ee:a}^AyAI I OM >9 JIя,%&G?A2/@2*@2 =ٱ2Kc :AHRS rotation from veh to nav: [[0.843081,0.443041,0.304842],[-0.527666,0.790932,0.309832],[-0.103841,-0.422068,0.900597]]2H?Z?? `PO?I? V`*ۿ?i2/@I2jb^;0YBCAyB#HF=F=e2Acoustic response timeoutbD VD8yT%G=ٔ;Q->9I=-FyEܮE>Q 5_4?Q 9_4V")} AYyAQ I?r~CI;i;Ma_4yBɮ4BiE*jBjiiziJii k#Yk#Yk#Yh kwkwkwh2f!:f!Bf!Jf%@AɢM5>)I M0?iI)U=QQi] 2YIaA^A' s>Ab?AS?II 2Acoustic response timeoutOA i Eu V Eu :Eu ?Eq "Eu =:*Eu ;8VEu ^4ZEq a} @a} @a} @a} @YPя,@G?A2@2@2l=ٱ2Lھ >AHRS rotation from veh to nav: [[0.824616,0.472908,0.310429],[-0.555863,0.779236,0.289495],[-0.104993,-0.411278,0.905443]]2H Bc?D???@?຿@bRڿ c?i2@I2Hx^;0YFAyF#HbDVD8yEO%EP=ٔMA;Q-M>9III=M-FyMEUEU>YQ 5e_4]E?Q 9e_4]8")]3 AYiymIQ Im?]~CI] ;i];] o_4y}Bɮ}MB}sE*jBjiiziJii k3k3k3h) kCkCkChY2f:fBfJfC@颙ɢB4>) ?i)x=顡i-3I@pA@qAim2Acoustic response timeoutB<A<B>BSCB#HBAB=BBDB;B~Eԑ^AIIO% >  2Acoustic response timeout*Vя,YG?AEU EFE@E"E:*E;J9VE4ZEBE:a2E:aJEe:a:Ee:aP  @ w@ >]=ٱ Ҿ -AHRS rotation from veh to nav: [[0.805690,0.502992,0.312828],[-0.582698,0.767917,0.266018],[-0.106421,-0.396613,0.911797]] H`7?? a? w`ǒ?p?@l>`bٿo-?i  @I s^; MCYEAyM#HbDVD8y-%5<=ٔ5X;Q-5>99I9==-Fy= EEӛEE>AQ 5M_4E5%?Q 9U_4E")E AYQyURQ IU?ECIE;iE;E4~_4yaɮeUBa*jyBjyiyiyziJii k#k#k#h k#k#k#h2f:fBfJf@ɢ5>) ?i)3=i4I^AQ}2Acoustic response timeoutIIO>! 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nƿ` п.v?i2L@I2ڀ^;2OC9YMŁAyMHy^I +?PnV-Xy?m 9/$?1Zd˿QY&?y"[\BzB %B) BYBbDVD8y 㕽% F=ٔ 9I=-Fy5E`E>!Q 5-`4%5?Q 9-`4%FU#)%"AY-)1 5R?i1)5{=99i=2H>9IAi2Acoustic response timeoutEQ ECE>E"E29*E09VE4ZEBE:a2E:aJE9:a:E9:aLzԑIIO> Vя,]+G?AB@B@BK=>ٱBfu RAHRS rotation from veh to nav: [[0.557626,0.775178,0.296905],[-0.809429,0.587084,-0.012582],[-0.184061,-0.233307,0.954824]]BH`?A?~?`c?ĉSǿͿ@?iB@IBo^;BQCn2Acoustic response timeoutYMAyMcHii i)qbD}VD}8ԩy|S%K=ٔڨ9I=-Fy8EaE>Q 5 `4A?Q 9 `44_#)gAY yؚQ I?CI:i:|`4yɮ~B*j1Bj1i1i1zi9Ji9i9 kS1kS1kS1hQ kJkJkJha2fq:fqBfqJfu5!~@频ɢ .>)*n* ?i)>u=顙ir>Iu \A$AIIOL> i>C  G%rA9eR9erAYenA2Acoustic response timeoutEU EEEAE"E:*EA9VEA4ZEa@a@a@a@1 U8я,EG?Aɰ:r@:c@:veE>ٱ:Jve FAHRS rotation from veh to nav: [[0.552234,0.782070,0.288799],[-0.811379,0.583781,-0.029387],[-0.191578,-0.218097,0.956939]]:H@??{?V?@ȿ˿=?i:r@I:]^;:PCYNRAyN HPR?AbDZVDZ8ybVǽ%b`=ٔb39fH?IfH?=f-Fyf:EjW~Ej>hQ 5r`4jIL?Q 9r`4j3h#)jAYpyr|Q Ir?j͂CIjr;ij;jЈ`4yxɮzBx*jBj i i zi Ji i  k3/k3/k3/h! kJkJkJh12fA:fABfAJfEj}@aɢen0>)i m!?ii)m1=iiim=qIyBU<AU<B]>B]aCB]4HB]ABYBYB]DB]d;B][E2Acoustic response timeoutAOAAII O=>q 2Acoustic response timeoutԡ E T E >E @E "E 9*E 9VE 4ZE BE :a 2E :a JE #9a :E (9a bя,^G?A2Ģ@2@2{KL>ٱ20X :AHRS rotation from veh to nav: [[0.547161,0.787989,0.282293],[-0.813227,0.580310,-0.043615],[-0.198186,-0.205703,0.958336]]2HW?47? ??@T@'^ɿ{Tʿ?i2Ģ@I2^;2QCYFAyFHbD VD 8ye޽%e@=ٔmہ9mK?ImK?=u-Fyu=EuMEu>yQ 5`4}X?Q 9`4}r#)}@YyQ I?}CI}p:i}g:}`4yBɮBE*jBjiiziJii kIkIkIh kIkIkIh2f:fBfJf|@ɢ'>) 6?i)%=iX=!I!-pA-pAq--|,A$AIԡIOG>In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout я,9xG?AJo@Ja@JRwR>ٱJKVM ZAHRS rotation from veh to nav: [[0.542684,0.793070,0.276647],[-0.814765,0.577077,-0.056039],[-0.204089,-0.194991,0.959336]]JH]?`??jw?@ʿwȿ?iJo@IJg^;JPCYjAyjTHbDmVDm8yՀ%F=ٔo9H?IH?=-Fy?E9E>Q 5`4gd?Q 9`4|#)@YyQ I?8CI:iF:`4yɮÝB*jBjiiziJii k:k:k:h  kHkHkHh2f):f)Bf)Jf-(|@IɢM3;(>)Q U?]rmodem://6: set _.others_observations nan n/a str none_stre #Outgoing data=3epIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITe2Acoustic response timeoutia)mo=iiimE9"E= :*E=(9VE=4ZE9aE@aE@aE@aE@AiIyIO>) BU >BU bCBU HBU _ABQ BQ BU DBU _;BU bE zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout6uя,G?A6@6@6FX>ٱ6}D >AHRS rotation from veh to nav: [[0.539671,0.796515,0.272616],[-0.815356,0.575145,-0.066349],[-0.209642,-0.186473,0.959832]]6H D? }?@r?f@g?9ʿXǿ?i6@I6>^;6QCYFAyFHHJR=yS㥛?/$? ףp= ?$f?<Q8= 9ףp= ?n rh?Y~?yVC=5BiB B)YfBbDVD8y愽%F=ٔ5a9I=-FyBEE>Q 5 `4s?Q 9 `4#)@Y ?Q E R:y Q I ?mCI:i/:`4yBɮȝBE*j)Bj1i1i1zi1Ji1i9 k3Lk3Lk3LhI kgkgkghY2fm@>:fm@>Bfm@Jfm@颉ɢ$'>) v?i)ʷ=顙i#<IAY?Aa?)AAIIO-,>e2Acoustic response timeoutYEeR Ee>EeEEa"Ees9*Ee9VEe 5ZEaBEe~:am2Ee:amJEaau:Eaauԉ |я,XG?A0B@B|@B2]>ٱB= JAHRS rotation from veh to nav: [[0.538479,0.798324,0.269664],[-0.814766,0.574914,-0.075030],[-0.214932,-0.179311,0.960027]]BH8;?`ߋ? +B? e?@15˿ƿ?iB@IB9^;BOCb2Acoustic response timeoutYAyH==AAbDVD8y%>=ٔN9K?IK?=-FyDEdкE>Q 5`4샕?Q 9`4#)e@Yy@Q I?CI:i:`4yBɮBE*jBjiiziJii ksNksNksNh kSbkSbkSbh)2f9:f9Bf9Jf=.s@Yɢ]">)eH e?ia)e=aaie+S;ԉ I AYIaIyԹOh>u2Acoustic response timeoutEm S Em AEm >Ei "Em 9*Em  9VEm 4ZEi au @au @au @au @ uя,eG?A2؊@2ʅ@2Jc>ٱ27 :AHRS rotation from veh to nav: [[0.538809,0.798472,0.268565],[-0.813155,0.576259,-0.081886],[-0.220146,-0.174264,0.959775]]2H =??)0?] p?t-̿GNƿy?i2؊@I28^;2QC@@iBSI@@IDiD DD)DD J=r@HHHHJsAIL)LiL`)|I~&uA| YCi i  ;uA)  I Y YAy HbD5VD58yX%`=ٔ^p9I=-FyGEV;E>Q 5`4?Q 9`4K#)@Yy,Q I?ӃCI:i9:E`4yBɮBE*jBjiiziJii kIkIkIh k`k`k`h2f :f Bf Jf v@)ɢ-b&>)) -yx?i1)5=顑i@:IB >BdCBHBw}AB=B"DBDBG;BXE2Acoustic response timeoutIIO*>A  2Acoustic response timeoutE] O E] DEY EY "E] 9*E] a99VEY ZEY BE] :am 2E] :am JE] nH:am :E] pH:am я,yG?Aɰ;YE~AyEHaa a)abDmVDm8y}y%I=ٔQ->9I=-FyIEE>Q 5`4?Q 9`4#)3@YyQ I?CI&;i(;`4yɮ$B*jBjiiziJii k#^k#^k#^h kvkvkvh2f :f Bf Jf )ɢ- $>)) -i?i))5=11i599I9AMpAzAMrAII 1OM>2Acoustic response timeoutYԁ я, G?A>-@>@>$]m>ٱ>1 JAHRS rotation from veh to nav: [[0.541772,0.796132,0.269549],[-0.808522,0.581269,-0.091756],[-0.229730,-0.168226,0.958605]]>H`2V?y?@L@?h?K}gͿmſ?i>-@I>f^;IMAybDU VDU8y%I=ٔ9I=-FyLE+P<E>Q 5`4?Q 9`4i#)`@YyQ I?:CI;i;`4y5BɮBE*jBjiiziJii kS^kS^kS^h kswkswkswh!=2Acoustic response timeout2fA:fABfAJfE@Yɢe>)a eFZ?ia)e(=iiimz8iIqEU EEHE"E:*EVE-5ZEa%@a%@a%@a-@ԩ<1II)Oew>B 1>B fCB HB g{AB B B DB P;B qE 2Acoustic response timeout я,#G?A:Ϣ@:ʩ@:r>ٱ:H"4 BAHRS rotation from veh to nav: [[0.543727,0.793257,0.274051],[-0.805916,0.584633,-0.093291],[-0.234223,-0.170138,0.957179]]:H 5f?@]b?@?P?᷿@Ϳſ6?i:Ϣ@I:}^;:NCYR}AyRHy}Gz?|?5^? rh?}p=?}=}C=y y9}Zd;? rhCl?Y}^?y}C}d;>} B}B }E|B)yyY}8BbDVD8y%K=ٔ;9I=-FyOE<E>Q 5`4f?Q 9`4$#) @Yc?Q En:yuQ I?hCI:i:`4YyrBɮОBE*jBjiiziJii k^k^k^h92fMX>:fMX>BfMT@JfM@颁ɢ}>) 3Q?i)Ts=顱i`7I`IIM2Acoustic response timeoutOU2>ԁE%W E%AE%>E!"E% :*E% 9VE%4ZE!BE%/:a52E%4:a5JE%:a5:E%:a5ԩ я,V-G?A2@2@2+lv>ٱ2,8 :AHRS rotation from veh to nav: [[0.545720,0.789896,0.279738],[-0.803360,0.588116,-0.093446],[-0.238331,-0.173735,0.955518]]2Hv?@F?`:?` @?@췿ο<ƿ@?i2@I2^;2MCR2Acoustic response timeoutYv{AyvHbDe.VDe8y9I=-FyQE<E>Q 5a4ҕ?Q 9a4޻#)@YytQ I?CI:iR:a4ywBɮBE*jBjiiziJii kbkbkbh k3k3k3h!2f1:f1Bf1Jf5)Q@Աɢ>)i =?i)2=i56I4==5I_AEZ?AEY?IIO>U2Acoustic response timeoutiI E= V E= BE9 E9 "E= =:*E= (9VE9 ZE9 aM @aM @aM @aM @9 я,GG?A2@2@29z>ٱ2*< :AHRS rotation from veh to nav: [[0.547926,0.786461,0.285055],[-0.800813,0.591644,-0.093030],[-0.241816,-0.177302,0.953986]]2H?@*?V>?C ?зο ձƿ` ?i2@I2P|^;2OCYFzAyFH 115=5p=bDEYVDE(8yF>%L=ٔ9I=-FyTEi <E>Q 5a4>䕉?Q 9a4{#)<@YysQ I?ĄCI:i:a4yɮ#B*jBjiiziJii kgkgkgh k|k|k|h2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997o%XAggregate::initialize marl:UpdateCommandMode18%]!18%o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%])7-n-4Completed marl:UpdateSpeedq7-n-PAggregate::uninitialize marl:UpdateSpeedAɢERF>)I M *?iI)M==IIiM14QIY *B%E>B%hCB% HB%yAB%=B!B%DB%[;B%EBmdCBmdCBm–CBm=Bm=Cm5i߱I߱2Acoustic response timeoutIIiIyO=>Ai e hDAT read: Forwarding Delay UpTx time:19:07:13.0897 m pIn parseResponses, set commsState_ = SENDING_ACK_WAITINGm 2Acoustic response timeoutEA  EE CEE AEA "EA *EE 09VEE A4ZEA BEE :aM 2EE :aM JEE 9:aM :EE 9:aU Iя,aG?A0Rq%@Rc @Rf}>ٱR]@ ZAHRS rotation from veh to nav: [[0.550690,0.782418,0.290796],[-0.797962,0.595697,-0.091658],[-0.244942,-0.181569,0.952384]]RH@?` ?h?`?v?ZϿ=ǿy?iRq%@IR^;RRCY~yyAy~gHbDVDR8y%<%%Q=ٔ%9)I)=--Fy-VE5'<E5>YQ 5ea4]?Q 9ea4]#)]@YayelrQ Im?]CI]:i]=:]$a4yu|BɮuMBu¼E*jBjiiziJii k#dk#dk#dh2f:fBfJf̘@sPUpdating rudder angle -0.000000 arcdeg 9r%6Completed marl:UpdateRudder19% r%RAggregate::uninitialize marl:UpdateRudderYɢ] >)Y ]?ia)e*=aaier3iIiԉ2Acoustic response timeout&IIO> b(я,a{G?A0ɰ0NGZMrAdhz9zMrAY~A-lJ@-^E@-;>ٱ-3E =AHRS rotation from veh to nav: [[0.553936,0.778229,0.295829],[-0.794965,0.599976,-0.089776],[-0.247357,-0.185444,0.951013]]-Hع????Zp3?@bϿ`ǿ@n?i-lJ@I-n^;)YM1xAyMHQQbDeVDeM8yuE%uE=ٔuK;Q-u>9yIy=}-Fy}YE2<E>Q 5a4?Q 9a4#)G@Yy qQ I? CI;i; 3a4yBɮ~B˼E52Acoustic response timeout*jBjiiziJii k]EO E?E?E"E9*E?9VE^4ZEa=@a=@aE@aE@k]k]h2f:fBfJf@ɢ~7>) ?i)=i"1IB R>B jCB wHB RvAB =B B DB v;B EI9 IQ O > 2Acoustic response timeoutA g%я,AG?A2r@2m@2>ٱ2H :AHRS rotation from veh to nav: [[0.557608,0.774068,0.299820],[-0.791852,0.604385,-0.087693],[-0.249087,-0.188514,0.949957]]2H?*? ?0?@VW?s Ͽ;!ȿ f?i2r@I2l^;2QCYZvAyZHyE+?~jt rhEv>?EDECA A9Eףp= ?~jt~jt?YE>?yEE=E_BEPB E@|B)EBAYEBbD]rVD]?8ym>%uJ=ٔ};Q-}>9I=-Fy[EG<E>Q 5a4?Q 9a46#)`@Y??Q E:yxQ I?FCI$P;iO;AAa4yBɮB̼E*jBjiiziJii kDkDkDh2f=:f=BfPV@Jfqk@ɢ>) >i)B=i 0I IIO>I%2Acoustic response timeoutEN EKE9E"Em9*E]t9VE4ZEBEp:a 2Ep:aJE,:a:E.:aqԡ :+я, G?A2 @2@2H>ٱ2@K :AHRS rotation from veh to nav: [[0.560978,0.770534,0.302623],[-0.789232,0.608129,-0.085393],[-0.249832,-0.190936,0.949277]]2H?7?,^?cAu?Lܵ|Ͽ`pȿz`?i2 @I2*|^;2PCi@IBAF2Acoustic response timeoutYRuAyR'H`` `)`bDjYVDj(8y5=%5N=ٔ=:Q-=>99IA=E-FyE^EE6<EE>IQ 5Ua4M#?Q 9Ua4Mr#)M@YYy]wQ I]?MkCIM;iM;MOa4yaɮeϟBiy*jBjiiziJii kDkDkDh kDkDkDh2f:fBfJf*ȹ@ɢ=)$ >i)g=iӋ.IIIO==ԩU2Acoustic response timeoutbEjEȆ4rE+1E Q E >E @E "E 29*E 9VE 4ZE a% @a% @a% @a% @ "2я,0G?A2@2@2>ٱ2L :AHRS rotation from veh to nav: [[0.562605,0.769045,0.303390],[-0.788316,0.609595,-0.083376],[-0.249065,-0.192259,0.949212]]2H?? j?`9́?XYϿ ȿ`_?i2@I2Nh^;0YFktAyFKHHJa=bDNRVDN"8yVg%VS=ٔZ7Q-Z>9XIX=^-Fy^`E^;E^>`Q 5fa4b1?Q 9fa4b#)b@YhyjQwQ Ij?bCIby:ib-:b\a4ynBɮrBrͼE*jxBjxixixzi|Ji|i| kCkCkCh kCckCckCch!2f1:f1Bf1Jf5"@颉ɢ!$=) a>i)B=项iu,IIyIAA@ABe>BkCBHBMsAB=BBDB;BEO=2Acoustic response timeout9E 2Acoustic response timeoutY E T E BE AE "E 9*E (9VE A4ZE BE :a- 2E :a- JE P+:a- :E R+:a- \8я,wG?AF@F@FU>ٱFKL RAHRS rotation from veh to nav: [[0.563037,0.768850,0.303083],[-0.788332,0.609728,-0.082253],[-0.248038,-0.192618,0.949408]]FHf?k?e?:?Ͽȿa?iF@IFr^;FQCYZrAyZkHbD%fVD%48ye5S%e==ٔm Q-m>9iIi=u-FyucEuV:Eu>Q 5a4@?Q 9a4#)@Yy8wQ I?CI,;i-;ka4yɮ.B*jBjiiziJii  kcJkcJkcJh!2f1:f1Bf1Jf5@QɢU a=)Q U?>iY)]o=YYi]k*aIaAIIO5.>A>2Acoustic response timeoutiԙ v>я,\G?A6M@6?@6_>ٱ6uM BAHRS rotation from veh to nav: [[0.562512,0.769392,0.302680],[-0.789090,0.608880,-0.081255],[-0.246812,-0.193135,0.949622]]6H?`ܞ?_?@:@{?`ʹ@Ͽȿ Nc?i6M@I6>^;6PCY^"rAybHbDEjVDE88y%H=ٔ,KQ->9I=-FyfEE>Q 5a4N?Q 9a4#)@YyqwQ I?݅CId:i|:ya4yBɮRBּE*jBjiizi2Acoustic response timeoutԑEQ EAE=E"E29*E 9VE|4ZEa @a@a@a@Jii! k#Gk#Gk#Gh2f):f)Bf)Jf-1@iɢm=)i u>iq)u=qqiu(yIy5A=oAzA=nAB>BsCBHBIpAB=B!DBDB;;B4E 2Acoustic response timeoutA I I O > ^Eя,G?Aɰ21@2#@29}>ٱ2^ O :AHRS rotation from veh to nav: [[0.561065,0.770355,0.302917],[-0.790548,0.607172,-0.079853],[-0.245438,-0.194667,0.949666]]2H?? ?b?@+L m?FqjϿȿ@c?i21@I2R1^;2RCYFpAyFHHJ@AyM?K?Qnr?^= 9V-?K7AZd;OǿY\?y j<BB 8B)YzBbD ~VD J8ye%%C=ٔ%r]Q-%>9!I)=--Fy-hE-E->1Q 5=a456Z?Q 9Ea45#)5@YE8d?Q EEn:yEQ IE?5 CI5:i5:5a4yMBɮUBU׼E*jaBjaiiiiziiJiiii k+k+k+h kCKkCKkCKh2f x>:f x>Bf@Jf$PY@AɢE=)I M!=iI)m=iqiu&qIye 2Acoustic response timeoutEU EBEBE"E:*E(9VE5ZEBE:a2E!:aJEO+:a:EaAyIIOc>I Kя,Ad0G?A22Acoustic response timeout:*{@:v@:@|>ٱ:O BAHRS rotation from veh to nav: [[0.559167,0.771912,0.302463],[-0.792380,0.604906,-0.078889],[-0.243857,-0.195553,0.949891]]:H ??[?,[ c[?@26Ͽɿe?i:*{@I:];:PCYJuoAyJ?HIRY>)R=bDVVDV8y^>P%bd=ٔb˔Q-b>9dId=f-FyfkEfSEf>hQ 5na4j(d?Q 9ra4j"$)j@Ypyr쓿Q Ir?j/CIj;ij;ja4ytɮzBx*jBji i zi Ji i  k/k/k/h! ksFksFksFh12fA:fABfAJfE5'Y@aɢe=)a e ii)m=iiim%qIqI` y><2Acoustic response timeoutAiIqIO>Eq EAEIE"E2h:*E 9VEe5ZEa@a@a@a@ԡ >qRя,u>JG?A2a@2\@2Lz>ٱ2Q :AHRS rotation from veh to nav: [[0.556990,0.773513,0.302389],[-0.794478,0.602341,-0.077393],[-0.242006,-0.197134,0.950038]]2H?`?VZ? ]l`aF?@ г@ ο;ɿ@f?i2a@I2g@^;2OC@YfQnAyfHbDrVDr8yz1%zG=ٔz]Q-z>9|I|=~-Fy~mEE> Q 5a4 wo?Q 9a4 5 $) "@YyTQ I? 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B?`p ?@G?䬿 Ϳz̿@CV?i2@I2Y7_;0YFgAyFHAbD @VD 8yE:-%MN=ٔMOQ-M>9IIQ=U-FyUzEUXEU>Q 5a4g?Q 9a49$)=@YyBCBHBgAB=BDBDBѾ;B̀E k(k(k(h!2f1:f1Bf1Jf5I@IɢMNv=Q)Q ]iY)]=YYie aIiU2Acoustic response timeout] 7ԁAIIOK>ԩ 2Acoustic response timeoutE V E BE UE "E =:*E (9VE >5ZE BE :a 2E :a JE T+:a :E V+:a xя,]G?AV9@V+@Vg>ٱV%o bAHRS rotation from veh to nav: [[0.538429,0.781996,0.313971],[-0.812284,0.580796,-0.053582],[-0.224254,-0.226183,0.947919]]VH:??`?:? oW̿̿@[U?iV9@IV3_;VRCYjfAyj HbDvIVDv8y~j%~O=ٔKQ->9I= -Fy }E Z|E >Q 5a4^?Q 9a4pC$)ɽ@Y!y%Q I%?CI;i+;*a4y)ɮ-B)*jABjAiAiAziIJiIiI k.k.k.ha k.k.k.hq2f:fBfJf;%@颡ɢU=) i)=顩i^IԱe2Acoustic response timeoute8Au`?AqAII O >9 Yя,G;G?AFX@FS@F1c>ٱF_s RAHRS rotation from veh to nav: [[0.533745,0.785004,0.314461],[-0.816326,0.575360,-0.050720],[-0.220744,-0.229631,0.947914]]FHp? ? ?XXi?TA̿dͿPU?iFX@IF(q_;FPCYZpeAyZ HbDz<VDz8y'%%H=ٔ-Q-5>9AIA=M-FyMEUvyE]>qQ 5b4uF˖?Q 9b4u+N$)u@YyۗQ I?uCIu;iu;=4=2Acoustic response timeoutub4bEE5jEE5rEE°1EW EEEGE"E :*EA9VE5ZEa@a@a@a@yɮ B*jBjiiziJii k)k)k)hQ2fa:faBfaJfe!@颙ɢ׫R=) (i)=顩i.I9B>BCBU HB7dAB=BDBDB0;BEm 2Acoustic response timeoutԁ A I I OU >aя,G?A 6I"@6;@66`>ٱ6`w >AHRS rotation from veh to nav: [[0.528742,0.788030,0.315342],[-0.820518,0.569628,-0.047697],[-0.217214,-0.233524,0.947779]]6H`u? 7?.?`Ac:?k@˿Ϳ4T?i6I"@I6I_;6SCY^ldAy^u H ddf=f=y ףp= ?{Gztv/?Qx?ףxi= 9Q? ףp= :v?Y?yQT=BB ۃB)BYBbDJVD8y^%A=ٔ% Q->9I=-FyEE>Q 5b4ߖ?Q 9b4{Y$)|@Y?Q E1:y凿Q I?CI;i ;Cb4yƾBɮ9BE*jBjiizi Ji i  k3/k3/k3/h! k3/k3/k3/h12fEXv>:fEXv>BfE߀@JfE@aɢel%=)eZ2< e39ia)m=iiimqIq2Acoustic response timeoutAYIiIyES ECEFE"E9*E09VE 5ZEBE:a2E:aJE9:a:E9:aOI>ԙ %я,2G?A2Acoustic response timeout6}@6o@6ZB]>ٱ6{ >AHRS rotation from veh to nav: [[0.523979,0.790540,0.317007],[-0.824306,0.564361,-0.044893],[-0.214396,-0.237788,0.947360]]6Hn?L?I?`??) Tq˿oοP?i6}@I6Z`_;6QCLYRcAyR H`` `)`bDjtVDj-8yc% W=ٔ 5Q- >9I=-FyEPE>Q 5%b4?Q 9-b4c$)8@Y)y-Q I-?9CI:i=:"b4y5˾Bɮ=iB=E*jIBjIiQiQziQJiQiQ k'k'k'h2f):f)Bf)Jf-@p@^eB*** querying acoustic contact ***XaYa颡ɢ=) Ni)50=顩iII)I9Om5>2Acoustic response timeouti1I1EX EEEE"E~ :*EA9VEZEa@a@a@a@! " я,OLG?Aɰ:`š@:R@:oZ>ٱ: | BAHRS rotation from veh to nav: [[0.520027,0.791537,0.321000],[-0.827456,0.560066,-0.040539],[-0.211869,-0.244532,0.946211]]:H?DT?D?@z@?@˿`LϿ\G?i:`š@I:d_;8YNaAyN HbDZVDZZ8yb7%bO=ٔbֻQ-b>9dId=f-FyfEf]UEj>hQ 5rb4j?Q 9rb4jn$)j@Ypyr@Q Ir?juCIj;ij;j_0b4ytɮzBx|*j BjiiziJii kkkh) k1k1k1h92fI:fIBfIJfMCL@iɢm<)q uaiq)u߼=qqi}l yIB>BCB HBaAB=BBϻDBF;BjEM2Acoustic response timeoutIIO>)Qԁ = < 2Acoustic response timeoutE [ E HE HE "E a:*E [9VE -5ZE BE ;a 2E ;a JE W:a :E Y:a `7я,fG?A2@2@2*X>ٱ2ű :AHRS rotation from veh to nav: [[0.517597,0.791025,0.326150],[-0.829589,0.557275,-0.035033],[-0.209467,-0.252437,0.944669]]2H '?P??`2?@ʿ 'п:?i2@I2YQ_;2TCYFaAyF\ HI~<)~bD VD e8y%E=ٔ%Q-%>9!I!=%-Fy-E-E->1Q 5=b45~?Q 9=b45z$)5@YAyEQ IE?5CI5;i5;5>b4yMؾBɮMBMEY*jiBjiiiiqziqJiqiq k32k32k32h kBkBkBh2f:fBfJf8@ɢI<) oi)F=i= Iԁ=qE2Acoustic response timeoutIIO=r>Թ /я,˂G?A-K@->@-U>ٱ-m mAHRS rotation from veh to nav: [[0.517323,0.789320,0.330683],[-0.830352,0.556471,-0.029255],[-0.207107,-0.259449,0.943288]]-H?B?)?=?{ʿКпj/?i-K@I-}k_;-SC2Acoustic response timeoutԹE}T E}DE}JEy"E}9*E}a99VE}5ZEya@a@a@a@Y]_Ay]r HaayM333333?/$?l?M9?M,=M=I I9MZd;?~jtoʡ?YM~?yMDM->M8BM~B MPB)MBIYMGBbDeVDe8ym=.%u=ٔuߐQ-u>9qIy=}-Fy}E}=E>Q 5b4T2?Q 9b4&$)Ȯ@YQ?Q ER:y {Q I?CI:iQ:Qb4y۾BɮBE*jBjiiAziIJiQiY k@k@k@h k@k@k@h2f>:f>Bf@Jf@ɢ <)  ҃i ) [ٸ=iIB(>BCB HB^AB=BDBٻDB;BǁEiI II U 2Acoustic response timeout MIя,]G?A2)@2@2GqR>ٱ2 :AHRS rotation from veh to nav: [[0.518560,0.787426,0.333250],[-0.830333,0.556771,-0.023523],[-0.204067,-0.264511,0.942545]]2H` ?2?S?`?`ʿпS)?i2)@I2p_;2QC B3C)@BB0FDDDiFxiIDDIHiJvA JJF)HL LLNqFLPPIRxi)PiP)TITVxiT TXZlAXiXXiX\)\ \I\Y\Yb^AyfHbDEVDE8y%%=ٔ%:,Q-%?9)I)=--Fy-E-p;E-?9Q 5=b4=\@?Q 9Eb4=$)=f@YAyEzQ IE?=!CI= :i=:=P\b4yIɮUBQ*jiBjiiiiiziiJiqiq kS@kS@kS@h kS@kS@kS@h2f:fBfJf@ɢ)nǥ< i)y=iI2Acoustic response timeoutAEZ EEOE"E:*EVE*5ZEBEn;a2Ep;aJEvH:a:ExH:aIIOEs>qԙ ] 2Acoustic response timeoutxя,NG?A>ǡ@>¨@>hM>ٱ> FAHRS rotation from veh to nav: [[0.521639,0.784631,0.335034],[-0.829449,0.558348,-0.016192],[-0.199771,-0.269447,0.942067]]>H`C??3q?׊?ɿ>ѿ`i%?i>ǡ@I>_;>TCY5]Ay5HQU@AbD]VD]o8yu`'%uU=ٔ};;Q-}>9I=-FyE<E>Q 5b4R?Q 9b4$)@YyyQ I?SCIW;irY;ib4yBɮGB Ei*jiBjqiqiqziqJiqiq kcEkcEkcEh2f:fBfJf@ɢP;) i)= i - II!I1Oe4>ԑ2Acoustic response timeoutEU EFEPE"E:*E;J9VE-5ZEa@a@a@a@ 5[я,G?A2@2@2omH>ٱ2\ :AHRS rotation from veh to nav: [[0.526374,0.780703,0.336798],[-0.827712,0.561109,-0.007048],[-0.194483,-0.275062,0.941550]]2H ???|`?|`ȿ`ѿ`.!?i2@I2{_;2QCYN\AywHbD5AAAABMV>BMCBMsHBMF\ABIBIBMݻDBM ;BM*EBCBCBCB=B=CD$7VD5\8ymt޽%mK=ٔu.\Q-u>9qIy=}-Fy}E}rM<E>Q 5b4f?Q 9b4$)@YyxQ I?CI4:iK ;wb4yBɮdB*jBjiiziJii ksPksPksPh kakakah2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997o XAggregate::initialize marl:UpdateCommandMode18 ] 18 o @Completed marl:UpdateCommandMode7 o \Aggregate::uninitialize marl:UpdateCommandModeq7 n LAggregate::initialize marl:UpdateSpeed7 ]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed)ɢ-@슺)1 5i1)5ຳ=99i=O9IA2Acoustic response timeoutIYIqO> y  In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 8Ack receipt timeout failure. 2Acoustic response timeoutD 4=D =E Y E DE LE "E :*E a99VE !5ZE BE );a 2E ,;a JE a :E a Y я,G?A2%@2 @22B>ٱ2a :AHRS rotation from veh to nav: [[0.532314,0.776448,0.337300],[-0.825291,0.564702,0.002528],[-0.188511,-0.279716,0.941394]]2H??`Q?h` ?ȴd?`"!ȿѿ ?i2%@I2X_;2RCYZAyH )bDVD8yF%5=ٔ\Q->9I=-FyEi<E>Q 5b4 |?Q 9b4$).@Yy/vQ I?CIB:i9:b4yBɮBE*j!Bj!i!)i)zi1Ji1i1 kSHkSHkSHhA kdkdkdhY2fi:fiBfiJfmS_@suPUpdating rudder angle -0.000000 arcdeg 9uru6Completed marl:UpdateRudder19u ruRAggregate::uninitialize marl:UpdateRudder颉ɢ) Ũi)M=顙i4II II9O5.>In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutYԁ (G! 9 e ڬ9a Ye Apя,G?A8=Ne@=A`@=j;>ٱ=㔾pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout AHRS rotation from veh to nav: [[0.539373,0.772398,0.335377],[-0.822163,0.569137,0.011485],[-0.182004,-0.281929,0.942014]]=HB?`|?v?'O^6??@Kǿ@! ҿ`$?i=Ne@I=|_;=PCǹǹiǽIǽffFIi ) sAI)i)I"uA fCii) IYYzYAyHEUU EUNEUUEQ"EU:*EU҆9VEU >5ZEQa]@a]@a]@ae@yx&1?A`"?i|?5A?Y= 9B`"?{Gzt?)\(YN?yף;GaBB B)BYuBbDVD8yc%L=ٔQ->9I=-FyE<E>Q 5b4C?Q 9b4$)@YTO?Q E:yQ I?CIh;iG;b4yBɮģBԁ*jBjiiziJii k3Lk3Lk3Lh2f =:f =Bfa5@Jf"S@ɢ,) *i)Eޮ=AAiEZIIIԱB=>B=ƏCB=HB=YAB9B9B=DB=;B=Eer;IIO >M zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYM 2Acoustic response timeout ^я,UG?A6|@6o@6z4>ٱ6? >AHRS rotation from veh to nav: [[0.546370,0.768302,0.333456],[-0.818985,0.573442,0.020669],[-0.175338,-0.284388,0.942539]]6H{??WW? 5Y?;*?`vqƿk3ҿG)?i6|@I6z_;6TC`Y}XAyHbDVD8y*%\=ٔQ->9I=-FyE<E>Q 5b4?Q 9b4"$)M@Yy Q I?CI:i<:b4yBɮuBuE*jBjiiziJii kJkJkJh kJkJkJh2f:fBfJf@ɢL) i)鬬=i)Ia<IiI߭%=߭4=2Acoustic response timeoutO >DazDe@AEm\ EmEEmYEi"Em:*EmA9VEmJ5ZEiBEm;au2Em;auJEmW:a}:EmW:a}A ] 2Acoustic response timeoutя,5G?AB%ڢ@Bթ@Bad->ٱBі RAHRS rotation from veh to nav: [[0.552389,0.765128,0.330826],[-0.816374,0.576787,0.029140],[-0.168520,-0.286174,0.943242]]BH,?@{?@,?@ u?֝? ſPҿ /?iB%ڢ@IB!_;BQCY9WAyWHbD5VD58y;%>=ٔ|Q->9I=-FyEx<E>Q 5b4E?Q 9b4$)@Yyx}Q I?:CI;i:b4yɮB*jBjiiziJii kcDkcDkcDh ksDksDksDh2f:fBfJf(@1ɢ5)1 53ƿi1)=G =99i=X꼉AIA9i`=<2Acoustic response timeoutbE%5jE)5rEǓ 2Em^ EmFEmZEi"EmC#:*Em;J9VEm(N5ZEiau@au@au@a}@A I! I1 Ou >ԑ Zя,[OG?A2@2@2O%>ٱ2t :AHRS rotation from veh to nav: [[0.556725,0.763351,0.327646],[-0.814923,0.578376,0.037188],[-0.161115,-0.287710,0.944068]]2H?@_m?'?` ?A ?@mĿ@iҿ5?i2@I2V_;0Y^UAybuHBr<Ar<Bv>BvЏCBvHBvVABv=BvDBvDBv;Bv=EybD}VD}8y8t%Y=ٔ.Q->9I=-FyEB<E>Q 5b4?Q 9b4$)y@YyX|Q I?`CI:i:b4yBɮKBE*j Bj i i zi Jii k#Gk#Gk#Gh) k3Gk3Gk3Gh92fI:fIBfIJfM#֜@aɢm)i mѿii)mb=qqiuCt弉yIy2Acoustic response timeoutԡAIIYIiO> 2Acoustic response timeout E Y E DE cE "E :*E a99VE &k5ZE BE );a 2E +;a JE vH:a :E xH:a Bя,5iG?AB@B @B >ٱB JAHRS rotation from veh to nav: [[0.559183,0.763145,0.323920],[-0.814838,0.577935,0.045058],[-0.152819,-0.289138,0.945011]]BH?k?@?&q~??ÿ=ҿ=?iB@IB_;@YVTAyVHXZ?AbDbVDb8ynu%n[=ٔr㷼Q-r>9pIt=v-FyvEv;Ez>|Q 5b4~—?Q 9 b4~$)~Z@Y y {Q I ?~CI~v";i~(;~b4yɮhB!*j9Bj9iAiAziAJiAiI kFkFkFha2f:fBfJfp֜@!ɢ%R)! %ٿi!)- Ƥ=))i-%y༉1I1A$AIIO#>-2Acoustic response timeout1a я,G?A @  @ {>ٱ ^{ %AHRS rotation from veh to nav: [[0.559973,0.764752,0.318724],[-0.815774,0.576129,0.050877],[-0.144717,-0.288496,0.946481]] HL?x?e?o? ?¿vҿ I?i @I GD_; Y5SAy5TH}2Acoustic response timeoutyp= ף?:v/$?Լ 9)\(?@5^I ¿RQпYG?ybB8B ތB)Y\B1E9 E=HE=\E9"E9*E=[9VE=T5ZE9aE@aM@aM@aM@bDMVDM8y]%]4=ٔeQ-e>9eH?IeH?=e-FymEmc9Em>qQ 5}b4uQї?Q 9}b4u$)uS@Y?Q EI:y@Q I?uCIuU:iu:ub4yBɮB$E*jBjiiziJii k*k*k*h kLkLkLh2f>U>:f>U>Bfp@Jfk\@ɢ])  ]i )=i{=ۼIAEAIIaIaO;>>>Bd>B܏CB_HBTABBBDB";BEԉ5 2Acoustic response timeoutԹ vя,G?A2; @2.@2 >ٱ2󓕾 :AHRS rotation from veh to nav: [[0.559934,0.767677,0.311681],[-0.817150,0.573828,0.054658],[-0.136892,-0.285295,0.948613]]2H?ϐ??&\?? `FBҿ@ [?i2; @I2/_;2TCYFuRAyFiHpp p)pbDz(VDz8y%d=ٔMQ->9 K?I K?= -Fy E RE>Q 5%b4ܗ?Q 9%b4:$)l@Y!y%1Q I%?CI;i?;5b4y1ɮ5B1*jABjAiIiIziIJiIiI k1k1k1ha kFkFkFhq2f:fBfJfC\@颡ɢyq) Pi)=顩iּIԑA II!OU>2Acoustic response timeoutEM^ EIEM^EI"EMC#:*EIVEM [5ZEIBEM ;aU2EM ;aUJEMY:a]:EMZ:a] iA IA M 2Acoustic response timeoutя,v޶G?AB@B@B>ٱBl NAHRS rotation from veh to nav: [[0.560073,0.771309,0.302326],[-0.818264,0.572071,0.056376],[-0.129468,-0.278957,0.951536]]BH? ?NY?8/gN?^ݬ?`j pѿr?iB@IB._;BPCYVQAyVHXZa=bDb.VDb8yjM%jL=ٔnQ-n>9lIl=n-FyrErEr>tQ 5]b4v闉?Q 9]b4v$)v&@YayeQ Ie?v CIv~2Acoustic response timeoutEM_ EMGEMkEI"EM&:*EMR9VEMu5ZEIaU@aU@aU@aU@A qя,G?A 6I@6<@6=ٱ6 >AHRS rotation from veh to nav: [[0.560119,0.775315,0.291809],[-0.819337,0.570472,0.056992],[-0.122282,-0.271012,0.954777]]6H? b??8 OA? .?M CXѿ?A@A@BF>BFCBFHBFQABF=BFDBFDBF;BFAEi6I@I6x_;6RCYVPAyVaHbD%TVD%8y+%==ٔ'Q->9I=-FyE*E>Q 5c4y?Q 9c4k$)@YyϖQ I?XCIF:i=:Oc4yBɮB.E*j Bj i i zi Jii kcOkcOkcOh) k^k^k^h92fI:fIBfIJfM7]@yɢ}p)y i)6c=顁iݥ̼IApAzAoA2Acoustic response timeoutiAIIO=.>ԙ  hDAT read: Forwarding Delay UpTx time:19:07:27.2397  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutEa  Ee FEe mEa "Ea *Ee ;J9VEe 5ZEa BEe &;au 2Ee &;au JEe e:au :Ee e:au !я,~G?AJ@J@PJ`=ٱJ ܈ fAHRS rotation from veh to nav: [[0.559978,0.779574,0.280516],[-0.820532,0.568697,0.057532],[-0.114678,-0.262389,0.958124]]JHW?D??A2?@t?@[п?iJ@IJ9_;HY OAy G bDCVD8y@ %G=ٔQ->9I=-FyEE>Q 5 c4?Q 9 c4`$)[@YyQ I?CI;i;c4yɮB!*j1Bj1i1i9zi9Ji9i9 kCFkCFkCFhQ kS^kS^kS^ha2fq:fqBfqJfuV]@频ɢ7) ri)=顙iMǼIAE$AIQIiO@>%2Acoustic response timeout! я,fG?ARi@R\@R=ٱRb ZAHRS rotation from veh to nav: [[0.559572,0.784389,0.267606],[-0.821951,0.566606,0.057925],[-0.106191,-0.252372,0.961786]]RH@?@?u ?@kM@!?X?\/&п?iRi@IRD_;PYbOAyfTGddx}2Acoustic response timeouty@5^I ?y&1|?K7?b?`;I > 9 r?HzGJ +?Y?y= H=B B B)BYBbD]VD8y*%J=ٔQ->9H?IH?=.FyE9E>Q 5 c4?Q 9 c4<%E\ ENEgE"E:*E҆9VEx5ZEa%@a%@a%@a%@)Ҋ@Y%?Q E%6:y%Q I-?ȋCI;i;!c4y Bɮ,B/E*jBjiiziJii k[k[k[h k[k[k[h12fEe>:fEe>BfEAΰ@JfE!@颁ɢ) i)k=顩ia¼I!AAI!I1OmV>B}@>B}CB}FGB}OAB}=B}DB}DB};B}EB=܏CB=ݏCB9B=ƕ=B=Ɣ=C=eU6Q- 2Acoustic response timeouty 3я,r4G?Aɰ4<2@2 ݩ@2=ٱ2i{ :AHRS rotation from veh to nav: [[0.558592,0.789704,0.253657],[-0.823820,0.563771,0.059007],[-0.096407,-0.241928,0.965493]]2H`?AE?@;?\j ?6?ο@Q?i2@I2s_;2SCYFNAyFTGbDNiVDN8yV%Va=ٔZ޼Q-Z>9ZK?I^K?=^.Fy^E^Eb>`Q 5fc4b`(?Q 9jc4b%)bu@YhyjQ Ij?bCIb1:ib(:bq.c4ylɮrGBp*jxBjxixi|zi|YJii kakakah kbkbkbh2f:fBfJf-@ɢ) i)n=i߸IA^?AAAIQIa2Acoustic response timeoutԩO >E-Z E-JE)E)"E-:*E-k9VE)ZE)BE-o;a52E-r;a5JE-:a=:E-:a= = 2Acoustic response timeout^ я,8G?A2X͢@2Kȩ@2Kˮ=ٱ2$$r :AHRS rotation from veh to nav: [[0.557074,0.794856,0.240566],[-0.826076,0.560107,0.062272],[-0.085245,-0.233416,0.968633]]2H?vo?@?`7o`f?@#?ҵͿ ?i2X͢@I26^_;2RCY^#NAy^GIf=)fd?bDj~VDj"8yrν%rG=ٔvL߼Q-v>9tIt=v.FyvEzɻEz>|Q 5c4~Q;?Q 9c4~%)~4@Y y VQ I ?~;CI~:i~:~!}GMrAڨ9MrAYҟAɢR) qi)Ċ=i=IAyIIIOD>ߕ?ߕj?2Acoustic response timeoutE5_ E5HE5fE1"E5&:*E5[9VE5t5ZE1a=@a=@aE@aE@AY "Eя,QG?AB>BCBRGBMAB=BB DB;BERs@Rf@Rg=ٱRi ZAHRS rotation from veh to nav: [[0.555612,0.799703,0.227530],[-0.828241,0.556335,0.067145],[-0.072887,-0.225756,0.971453]]RH@?@+??? h0?` ̿%?iRs@IRB_;PYfMAyfGhjp=bDrVDr28yz%zJ=ٔzQ-z>9|I|=~.Fy~E<ĻE> Q 5c4 M?Q 9c4 &%) !@YyQ I? wCI :i p: Jc4y!ɮ%xB!*j1Bj1i9i9zi9Ji9iA kbkbkbhQ k#bk#bk#bhi2fy:fyBfyJf}@@颙ɢ )  i)+y=顱iBI92Acoustic response timeoutA$AIIO!>aԉ 2Acoustic response timeoutEE ` EE REE dEA "EE *:*EE 9VEE ^n5ZEA BEE -;aU 2EE -;aU JEE ':aU :EE (:aU Թ pя,kG?AB@B@Bex=ٱB~d NAHRS rotation from veh to nav: [[0.555590,0.802701,0.216775],[-0.829245,0.553952,0.074095],[-0.060607,-0.220926,0.973406]]BHc? ?G?,??@`KG̿#&?iB@IBM_;BQCYn MAyn+G|| |)|bD VD R8y%G=ٔQ-%>9%H?I%H?=%.Fy%E-bE->1Q 5=c45`?Q 9=c451%)5:@Y9yE֊Q IE?5CI5;i5;5IYc4yM8BɮMBMCE*jaBjaiaiaziaJiiii kc^kc^kc^hy kcukcukcuh2f:fBfJfW@颹ɢر)  i)σ=iDNIAoAzAnAԑAAII1O>Թ2Acoustic response timeout W!я,EG?A2#Ԣ@2ϩ@2"M=ٱ2R` :AHRS rotation from veh to nav: [[0.559095,0.802693,0.207599],[-0.827592,0.555412,0.081295],[-0.050048,-0.217259,0.974830]]2H???{@?ϴ?`柩(˿1?i2#Ԣ@I2I_;2SCYB|LAyFzG HHyMw/?ʡE?l?MF?M-2>M=I I9MA`"?~jt-?YMy?yMļM5^>MBMB Ie2Acoustic response timeout)MIYMBbDmVDm]8y}%D=ٔϼQ->9K?IK?=.FyE<E>Q 5c4t?Q 9c49%)x@YH?Q ET:ysQ I?CI:i:gc4y:f%ө>Bf%Jį@Jf%O@AɢE<6)A M iI)M=IIiMlxQIYAIIO%>B->B-CB-GB-LAB-=B-DB-DB-;B-}E 2Acoustic response timeoutI 'я,p|G?A2@2@2$=ٱ2` >AHRS rotation from veh to nav: [[0.564039,0.800684,0.201903],[-0.824766,0.558189,0.090474],[-0.040259,-0.217554,0.975218]]2H ?4??`|d ?Q)?˜˿4?i2@I2R_;2QCYFKAyFGJ@AHbD VD 8yEN%MN=ٔMTʼQ-M>9IIQ=U.FyUEUj<EU>Q 5c4a?Q 9c4mB%)ˎ@YyZrQ I?CIR:iI:!vc4yɮB*jBjiiziJii kC\kC\kC\h  kSkSkSh2f):f)Bf)Jf-wW@IɢMĽ)I M iQ)Ux=QQiUڪYIYIu2Acoustic response timeoutAIIFailed to create a data reader. azimuth_vehicleFrame is unknown.DzD?AE _ E [E eE "E &:*E 9VE q5ZE BE &;a2E &;aJE ;a:E ;abFailed to request data from azimuth_vehicleFrame.I!i!I%nAOE/>yԩ  2Acoustic response timeout-я,WG?Aɰ;@>%7@>2@>X<ٱ>c JAHRS rotation from veh to nav: [[0.569495,0.797698,0.198375],[-0.821408,0.561382,0.100691],[-0.031043,-0.220290,0.974940]]>HN9?@?Xd?H?ƹ?ɟs2̿@2?i>%7@I>=_;>RCYnKAynYGbDeVDe8yv%D=ٔQ->9I=.FyE.|<E>Q 5c4?Q 9c4J%)5@YypQ I?OCI :i:Bc4yABɮΥBEE*jBjiiziJiqiq kukukuh kukukuh2f:fBfJfu@ɢ;iĽ)O3'< i)fp=iYQIԩAaIiIyO>>}2Acoustic response timeoutEY ENEdE"E:*E҆9VE^n5ZEa%@a%@a%@a%@ A A AAB% >B% CB% GB% KAB% =B! B% DB% ;B% uE94я,4G?A2nf@2aa@2v<ٱ2i :AHRS rotation from veh to nav: [[0.574363,0.794403,0.197561],[-0.818301,0.563711,0.112308],[-0.022150,-0.226170,0.973836]]2H.a?`k?I?`/` ?@;?@_@&̿)?i2nf@I2M_;2SCYNKAyRGpbD5VD58y?%L=ٔ>Q->9I=.FyEk<E>Q 5c4ɯ?Q 9c4 S%)@YynQ I?CII;i`J;Jc4yGBɮBNE*jBjiiziJii kkkh  k#k#k#h2f):f)Bf)Jf-$@AɢMݽ)I MiI)M_Vi=Q2Acoustic response timeouti I AaIiIyO@>1a  2Acoustic response timeoutE% ` E% ME% jE! "E% *:*E% 9VE% ـ5ZE! BE% -;a5 2E% -;a5 JE% :a5 :E% ¥:a5 ":я,G?A2@2@2 \<ٱ25q :AHRS rotation from veh to nav: [[0.577667,0.791884,0.198041],[-0.816162,0.564324,0.124171],[-0.013430,-0.233363,0.972297]]2H?|?W?hY?`?ɿ? M@Ϳ?i2@I2/_;2QCYFtJAyFGHJR=bDRVDR8yZҽ%ZX=ٔZMQ-^>9\I\=^.FybEb +<Eb>dQ 5jc4fX˜?Q 9jc4fZ%)f)@YhyjHmQ In?fCIf;if;flc4yrLBɮrBrOE*j|Bj|iiziJii kckcYkch2f:fBfJfǕ@ɢR) /i)a=iޠIAM$AIYIqԉO >2Acoustic response timeoutԱ ޥAя,pG?A@2D@27@2Ǩ;ٱ2ly :AHRS rotation from veh to nav: [[0.579167,0.790380,0.199663],[-0.815193,0.563063,0.135722],[-0.005151,-0.241369,0.970420]]2H@?J??? V_?u/ο ?i2D@I2k5_;2TCYFTJAyFGyw/?I +?I +?f?94<94= 9{Gz?li|?5?Yc?yq= 9EH?IEH?=E.FyEEM;EM>IQ 5Uc4e2Acoustic response timeoutMӘ?Q 9ec4Mc%)M@Ymd?Q Emm:ym7zQ Im?MCIM`e;iMd;M c4yuPBɮuBԹEi EIEgE"E,K:*Ec9VEx5ZEa@a@a@a@uPE*j Bj i iziJii kdkdkdh) kukukuhy2fS=:fS=Bf@JfwY_@ɢ*ֽ) i) sY=  i ⹝IB>BCBjGBJAB=BBDB*;BĈE5}< 2Acoustic response timeoutA AI I O >9 Gя,/ G?A6˒@6@6E?ٱ6- BAHRS rotation from veh to nav: [[0.578926,0.790168,0.201195],[-0.815375,0.560138,0.146318],[0.002919,-0.248757,0.968562]]6H?I??@??g?BϿt?i6˒@I6 _;6QCYJIAyJ.GXX X)X^=\bDbVDb8yjѫ%jQ=ٔnQ-n>9rK?IrK?=r.FyrErIEr>tQ 5zc4vl䘉?Q 9~c4vj%)vۗ@Y|y~'zQ I~?v CIv. ;iv: ;vλc4yɮ B *j!Bj!i!i!zi!Ji)i) kcwkcwkcwhA kcwkcwkcwhQ2fa:faBfaJfe^@yɢ) i){cR=顉i-ٚIUhW<IQIam2Acoustic response timeoutO>E\ ENEqE"E:*E҆9VE5ZEBE;a2E;aJE:a :E :a Aiԙ  2Acoustic response timeout,Mя,:G?A2ɂ@2}@2]2ٱ2@ :AHRS rotation from veh to nav: [[0.577300,0.790902,0.202975],[-0.816460,0.555815,0.156407],[0.010886,-0.256015,0.966612]]2H=y?O??o 9!I!=-.Fy-E-E->1Q 5=c45?Q 9=c45r%)5ݘ@YAyEzQ IE?5B <A <B >B CB GB ,JAB B B DB ;B EBCBCB˖CBˈ=Bˈ=C˔5 Tя,zTG?A(ɰ(Vn@Vi@VٱV fAHRS rotation from veh to nav: [[0.575236,0.792457,0.202769],[-0.817777,0.551512,0.164545],[0.018565,-0.260472,0.965303]]VH Uh?@[?T?`:+`??@?`п?iVn@IV(_;VSCYvPIAyvGbDeVDej8y;%B=ٔLQ->9I=.FyE4E>Q 5c4G?Q 9c4z%)@Yy {Q I?lCI:i:c4yɮ2B*jBjiiziJii kukukuh kukukuh!2f1:f1Bf1Jf5\]@19= r=NAggregate::initialize marl:UpdateRudderq9=J]9q9=9=7=oEXAggregate::initialize marl:UpdateCommandMode18E]A18EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnELAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeedaɢeX{)i mii)mA=iqiuCyIy2Acoustic response timeoutIIOb>)  2Acoustic response timeoutE  E E oE "E *E VE 5ZE BE &;a 2E &;a JE W:a :E W:a% Q [я, nG?ABy[@BlV@BӓּٱBS JAHRS rotation from veh to nav: [[0.573212,0.794742,0.199534],[-0.818988,0.547890,0.170512],[0.026191,-0.261155,0.964941]]BHW?n?P? '5Q?V?`њ?Ķп?iBy[@IB _;BRCYRjIAyRGI<)4<bD-VD-q8ye<%eL=ٔm8Q-m>9iIq=u.FyuEuEu>Q 5c4N?Q 9c4ʂ%)*@Yy{Q I?CIj;ie;Qc4y`Bɮ3B[E*jBjiiziJii  kSvkSvkSvh kcvkcvkcvh)2fA:fABfAJfE]@sMPUpdating rudder angle -0.000000 arcdeg 9MrM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudderaɢenm)i mUii)m9=iiiuʹqIyQIIO>2Acoustic response timeouty%_G=rAI}9}rAY}Aԩ aя,0G?A2P@2K@2 ٱ2e :AHRS rotation from veh to nav: [[0.571998,0.797152,0.193305],[-0.819547,0.545616,0.175061],[0.034080,-0.258557,0.965395]]2HM?@E?6?9u?gh?r?`2п`?i2P@I2B7_;2SCTYn"IAynZGpra=e2Acoustic response timeoutE^ EHEbE"EC#:*E[9VEg5ZEa@a@a@a@y9 I = .FyE%ME>Q 5c4'?Q 9c4y%),@Yy?Q EY:y⍿Q I?ώCI;iZ;:c4yɮ:f-e>Bf-^ @Jf-5@IɢM0)I UwiQ)U?1=QQiUCYIYII!IAM>M>Om>Bm>BiBmpGBmJABm=BiBmDBm;BmE 2Acoustic response timeout! hя, G?A@2=R@21M@2+ٱ2& :AHRS rotation from veh to nav: [[0.571981,0.798707,0.186827],[-0.819193,0.544566,0.179921],[0.041964,-0.255958,0.965777]]2HM???6 m?@?Y|?aп ?i2=R@I2*_;2UCY^jIAybGbDjVDju8y%'A=%-Z=ٔ-Q-->91I1=5.Fy5E5:E=>AQ 5Ed4E4?Q 9Md4E%)E@YIyM덿Q IM?ECIE:iE:Ed4yUkBɮ]>B]eE*jiBjqiqiqziqJiqiy k^k^k^h kykykyh2f:fBfJfՌ@ɢo ) Ui)9*=i IIYIiO==PExceeded connect timeout, disconnecting.)u2Acoustic response timeoutE_ ENE`E"E&:*E҆9VE|a5ZEBEa2E&;aJE:a:E :aQԁ  2Acoustic response timeoutHnя,G?A2^@2Y@2Kٱ2 :AHRS rotation from veh to nav: [[0.573009,0.799412,0.180559],[-0.818037,0.544522,0.185235],[0.049761,-0.253845,0.965964]]2HV?ǔ??[-l? ȵ?Dz? >п-?i2^@I2"G_;2TCYNZIAyRG TTbDZVDZ}8yv %vN=ٔvxQ-v>9xIx=z.FyzEzcy;E~>Q 5 d4C?Q 9 d4%)@Y y ȍQ I ?,CId:i[:d4yɮ@B*j)Bj)i1i1zi1Ji1i1Y kc`kc`kc`h kSukSukSuh2f):f)Bf)Jf-ό@AɢEԞ)MHh: MiI)M!=IIiU􋼉QIYAiIqԁIO>u=u=}2Acoustic response timeoutԱbE]t5jE]cw5rE]1E^ EVE_E"EC#:*E9VEC^5ZEa@a@a@a@ AY AY Be >Ba Be GBe ,JABe =Ba Ba Be ;Be E@uя,G?ABv@Bq@BiٱB NAHRS rotation from veh to nav: [[0.575189,0.799510,0.173034],[-0.816026,0.546042,0.189577],[0.057084,-0.250243,0.966499]]BHg??%?@,y? D?-:?п?iBv@IB%E_;BSCYVoIAyVGXXbDfVDfl8yjPQ<%nI=ٔnQ-n>9pIp=r.FyrEry;Ev>tQ 5zd4vQ?Q 9~d4v%)v*@Y|y~|Q I?v^CIv;iv;vd4y pBɮ BB fE*j!Bj!i!i!zi!Ji)i) k]k]k]h9 kwkwkwhI2fa:faBfaJfeԌ@ԙɢ ) @i)x`=  i  I12Acoustic response timeoutAIIO5->m nManaging dock network, ignoring radio surface power offm 2Acoustic response timeoutE ` E ^E lE "E *:*E ;9VE 5ZE BE -;a 2E -;a JE ;a :E ;a 9 Y{я, G?A4<ɰ4<6@6}@6-?ٱ6  >AHRS rotation from veh to nav: [[0.577814,0.799227,0.165431],[-0.813652,0.548171,0.193594],[0.064041,-0.246465,0.967034]]6Hs}?D?,?@p ??e?'Ͽ@?i6@I6eI_;6TCY^@IAy^Gll l)lbDvVDvs8yz%~J=ٔ~RQ->9I=.FyE <E >Q 5d4`?Q 9d4ԯ%)i@Yy%Q I%?CI;i&;,d4y-zBɮ-RB)*jABjAiAiAziAJiIiI k3_k3_k3_ha kukukuhq2f:fBfJf_ߌ@颡ɢ-) i)^]=顩i/I9AIIO= >a2Acoustic response timeoutԑԹ Bя,Ox G?A2`@2T@2Dٱ2L~ :AHRS rotation from veh to nav: [[0.580723,0.798198,0.160129],[-0.811053,0.550241,0.198566],[0.070385,-0.245185,0.966918]]2HH?Պ?@?%?j?`?8bϿ?i2`@I2<_;2QCE2Acoustic response timeoutEa EEEyE"E%.:*EA9VE5ZEa@a@a@a@ԑYIAyGI %=) p=AyK?{GzI +^Z?ף94 9V-?sh|?ſ~jtYm?yD8B )9I=.FyE<E>Q 5d4'q?Q 9d4%)Z@Yq?Q E`:yQ I?ˏCI:i.:)>d4yBɮNBqE*jBjiiziJii kC]kC]kC]h k#uk#uk#uh2f (>:f (>Bf`@Jf|@BBBGB}JAB=BBB;B E颩ɢ.) i)G=顱i I2Acoustic response timeout l;< A I I O >Ĉя,.$G?A2Sɣ@2GĪ@2cٱ2} :AHRS rotation from veh to nav: [[0.582640,0.797616,0.156006],[-0.809142,0.551263,0.203467],[0.076288,-0.244780,0.966573]]2H???}@?8 ??TϿ *?i2Sɣ@I2E^;2SCA ֍&C)֕vAՕՑՑ֑֑i֝GaI֙֙IיiץvA ס֡)סס ءשששةةIة)ةiر)ٱIٱص/]صF ٱٹٹٹiٹٹi5A) IYYIAyGbDIVDIyʟ<%B=ٔ%fQ->2Acoustic response timeout9I=.FyE;E>DzD@AE\ EFEuE"E:*E;J9VE5ZEBE;a 2E;aJEe:a:Ee:aQ 5d4p?Q 9d4 %)K@YyɐQ I?CI:i:Md4yɮJB*jBjiiziJii k#[k#[k#[h ktktkth12fA:fABfAJfEL@i颁ɢ) i)h<顩iR2IqZ;ԙAI I OM >M 2Acoustic response timeout я,x>G?A2ң@2ͪ@2ާٱ2~ :AHRS rotation from veh to nav: [[0.583331,0.797678,0.153084],[-0.808097,0.550960,0.208379],[0.081876,-0.245260,0.965994]]2H?`?@>?v?'??dϿk?i2ң@I2^;0@BsAiBI@@IDiD DD)DH HHHHHLIL)LiL)LIPPP PPPTiTTiTT)T XIXYXY-JAyGbDVD8yeW=%ea=ٔe|Q-m>9iIi=m.FymEuEU;Eu>yQ 5d4}?Q 9d4}~%)} @YyQ I?}*CI}6:i}:}Yd4ԱyɮB} CB} GB} JAB} =By B} DB} ;B} E ጹA V?A R?I Am $AIy I O >я,[[G?AV2Acoustic response timeoutԱYJAyGbDe VDe8y%2=ٔQ->9H?IH?=.FyEE>Q 5d4>?Q 9d4%)@YyQ I?aCIy:i:id4yBɮMB{E*jBjiiziJii kYkYkYh kYkYkYh2f):f)Bf)Jf)ɢX ) i)J<iZJI]In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER]2Acoustic response timeoutE\ EIE`E"E:*Ec9VE|a5ZEBE;a2EaJE:a:E:aA AI I! O] >1 列я,uG?ANã@N@N>ٱN=8 VAHRS rotation from veh to nav: [[0.581223,0.800313,0.147239],[-0.808328,0.546983,0.217752],[0.093732,-0.245580,0.964834]]NH@a?@)??@`?H? ?&oϿ?iNã@IN^;NUCYUJAyU9GYYbDmVDm8y}H=%}a=ٔ}Q->9K?IK?=.FyEЦE>Q 5d4|?Q 9d4%)@Yy萿Q I?CI|:i:^vd4yɮ} zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY} 2Acoustic response timeoutE Z E JE fE "E :*E k9VE t5ZE a @a @a @a @ я,yG?A;ɰ2 @2@2Žٱ2:} :AHRS rotation from veh to nav: [[0.578942,0.802306,0.145365],[-0.809661,0.544622,0.218714],[0.096307,-0.244319,0.964901]]2H?}?R?` m??`?EϿ@w?i2 @I2`^;2SCYZJAyZGy}%C?y&1?{Gz}Z?}`e=}#y y9}L7A`?&1zGếY}+?y}н} ׽yy }B)}ByY}BbD/VD8y8-=%H=ٔMϻQ->9I=.FyEӻE>Q 5d44?Q 9d4%)[@Yu?Q EG:yQ I?ĐCI:i:d4yBɮ8B|E*jBjiiziJii k[k[k[h k[k[k[h2f-d0>:f-d0>Bf-C9@Jf-y@IɢU)Q ]FiY)]tBCBdGBKAB=BBDB;BEB}CB}CB}”CB}Ž=B}=C}A6)I)AMpAzAMpAAqIIOC>2Acoustic response timeoutA vя,G?A2@2@2Qʽٱ2PG} >AHRS rotation from veh to nav: [[0.576186,0.804489,0.144245],[-0.811346,0.541701,0.219723],[0.098627,-0.243634,0.964839]]2Hp?_?v?@ U????`i/Ͽ?i2@I2Ng^;0YF1KAyFGTT X)XbD^1VD^8yf2=%fY=ٔj8˻Q-j>9hIl=n.FynEr Er>tQ 5zd4vnə?Q 9zd4v;%)v@Y|y~Q I?vCIvY<;iv=;vґd4y Bɮ 6BE*j)Bj)i)i1zi1Ji1i1 kXkXkXh2f:fBfJfy@)ɢ5h=2Acoustic response timeout)Q U9iQ)]3dyԩ j> i I  2Acoustic response timeout- GA Y 9 Y Aя,G?A2t@2o@2*Ͻٱ2y :AHRS rotation from veh to nav: [[0.572997,0.807337,0.141001],[-0.813312,0.538953,0.219210],[0.100984,-0.240284,0.965436]]2H@U?`?O ??? ?ڹ?ο?i2t@I2y7^;09\I\=b.FybEbEb>dQ 5jd4fڙ?Q 9jd4f%)f@YhyjxQ In?f.CIf@;if<;f͟d4yrBɮr8BrE*j|BjiiziJii kcckcckcch ksckscksch)2f9:f9Bf9Jf=y@Yɢ])a eia)eL/E2Acoustic response timeoutE~ EGEbE"E:*ER9VEg5ZEa@a@a@a@iIoAAAB>BCBGBLAB=BBDB;B Gƶя,jG?A:LT@:@O@:Խٱ:px BAHRS rotation from veh to nav: [[0.569604,0.810076,0.139029],[-0.815351,0.535567,0.219932],[0.103702,-0.238631,0.965557]]:H`1:?$??[ ^#?@&?8?`wο?i:LT@I:E^;:QCYNKAyNGR2Acoustic response timeoutlbD%6VD%8y}=%>=ٔiлQ->9I=.FyErE>Q 5d4왉?Q 9d4&)@YyQ I?iCI ;iw:Юd4yɮ#B*jBjiiziJii kXkXkXh kXkXkXh2f:fBfJf My@颹ɢ)0 gi)8<iyIAY?AU?A!I1IAIaO9>9U2Acoustic response timeoutE^ ELEE"EC#:*E|9VEZEBE ;a2E ;aJEx:a:Ez:aa [я,EG?A2R4@2F/@29۽ٱ2t :AHRS rotation from veh to nav: [[0.566227,0.813010,0.135648],[-0.817295,0.532463,0.220252],[0.106839,-0.235577,0.965965]]2H ?`.?\?H' ?@51?@Y? f'ο/?i2R4@I29^;2TCYBLAyBG bD DVD 89yEN>%EN=ٔMNQ-M>9III=U.FyUEUD!EU>YQ 5ed4]?Q 9ed4]&)]@YiymoQ Im?]CI]:i][:]d4yuBɮuBuE*jBjiiziJii kc`kc`kc`h ks`ks`ks`h2f:fBfJfBy@ɢ) 9 i) <i>xI2Acoustic response timeoutAE$AIQIaiO>ԑ e 2Acoustic response timeoutbEU|5jEU˧5rEUȉ2E ] E EE _E "E :*E A9VE C^5ZE a @a @a @a @Sя, G?A2=@21@2Hٱ2q :AHRS rotation from veh to nav: [[0.563597,0.815472,0.131770],[-0.818629,0.530049,0.221121],[0.110473,-0.232494,0.966303]]2H?Y?@?62(?M? G?[Ϳ?i2=@I2i^;0Y^LAy^G``ԙy Dl?Cl?V-? Om? ;= h>  9 Zd;O?:v333333?Y ~?y T > B  B) $B Y BbD=cVD=8Be>BeCBeGBeMABe=BeDBeDBe;BeEy|<%7=ٔQ->9H?IH?=.FyE6ػE>Q 5d4?Q 9d4&)@Y?Q EB:y{Q I?ۑCI` ;i ;>d4yBɮBE*jBjIiIiQziQJiQiQ k3]k3]k3]hi kC]kC]kC]h2fd>:fd>BfYR@Jf[]@ɢ7) ] i) 1n<  i B;wIAyII2Acoustic response timeoutOe> я,*G?A4<ɰ2(@2 @2ٱ2iso BAHRS rotation from veh to nav: [[0.562143,0.817055,0.128124],[-0.819101,0.528613,0.222805],[0.114316,-0.230194,0.966407]]2H?Q%?`\f?6 e?ۄ?C?wͿ@?i2(@I2^^;2SCYRMAyRGbDbXVDb8yn=%nj=ٔn 5Q-r>9pIp=v.FyvEv퉻Ez>Q 5 d4$?Q 9 d4"&)@Yy{Q I? CI5L;iM;d4y!ɮ-B)*jIBjIiQiQziQJiYiY kWkWkWhy2f:f2Acoustic response timeoutBfJfI@IɢM"Eu_ EuHEuXEq"Eu&:*Eu[9VEuG5ZEqBEu&;a2Eu&;aJEuY:a:Eu[:a)  i)1hU<顩iuI!] ;AzAIAA II IY O > 2Acoustic response timeoutԁ Rя,CG?A6@6@69$ٱ6wl BAHRS rotation from veh to nav: [[0.562244,0.817655,0.123780],[-0.818515,0.528876,0.224327],[0.117958,-0.227442,0.966621]]6H?@;*?@? G1 ??|2? Ϳ@?i6@I6 ^;6TCYJ%NAyJGbDVpVDV8yZ=%^M=ٔ^Q-b>9`I`=b.FybEff:Ef>hQ 5nd4jz8?Q 9nd4j%,&)j@YlypQ Ir?jACIjj;ijv;jid4yvBɮvBvE*j Bj i i zi Jii k#<k#<k#<h! kcXkcXkcXh12fI:fIBfIJfM7D@aɢeZ)i mjii)mt;-2Acoustic response timeoutE] EEEYE"E:*EA9VEJ5ZEa@a@a@a@ԑBQAU<B]z>B]CB]~GB]NAB]=BYB] DB];B]ҏEԩ `я,]G?A2#@2@2۹ٱ2;l :AHRS rotation from veh to nav: [[0.563616,0.817155,0.120812],[-0.817033,0.529941,0.227200],[0.121635,-0.226761,0.966325]]2H# ?!&??!%@G? ?q#?Ϳ#?i2#@I2{^;2SCFhDAT read: Forwarding Delay UpTx time:19:07:41.0896 FpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGJ2Acoustic response timeoutYRNAyR9yIy=.FyE;E>Q 5d4M?Q 9d46&)@Yy{Q I?zCI;i;\d4yBɮBE*jBjiiziJii k#Vk#Vk#Vh k3Vk3Vk3Vh2f:fBfJfM@ɢ^)! %i!)%j[9 >я,wG?A2>@29@2|ٱ2-j :AHRS rotation from veh to nav: [[0.566109,0.815888,0.117677],[-0.814886,0.532344,0.229285],[0.124426,-0.225694,0.966220]]2H?@? ?? 8Y?`hڿ?̿E?i2>@I2w^;2TCY^NAy^GbDjVDj88yr =%rT=ٔrQ-v>9tIt=v.Fyv Ez5 <Ez>|Q 5e4~`?Q 9 e4~>&)~8@Y y zQ I ?~CI~=:i~:~e4yBɮޥBE*jBjiiziJii kYkYkYh k#Yk#Yk#Yh2f :f Bf Jf c@!ɢ- )) -i))-<)1i5ws1I9AAAA2Acoustic response timeoutA>>A-AI9IIOu>i M 2Acoustic response timeoutE V E @E SE "E =:*E 9VE 75ZE a @a @a @a @-&я,gG?A >jb@>^]@>ٱ>i FAHRS rotation from veh to nav: [[0.569481,0.814012,0.114348],[-0.812191,0.535779,0.230840],[0.126641,-0.224331,0.966249]]>H/9?c ?E?@w%?(?5?̿?i>jb@I>҃^;>RCYR0OAyRGB2>BCB9HBPAB=BBDB;BEyB`"?)\(? B)Y\BbD-VD->8y=<%=6=ٔ=RQ-E>9EK?IEK?=E.FyE EM<EM>QQ 5]e4Ut?Q 9]e4UF&)UG@Y]^?Q E]t:ye]Q Ie?UܒCIU ;iU:U{e4ymBɮmۥBmE*jBjiiziJii kCZkCZkCZh kSZkSZkSZh2fj>:fj>Bf/@Jf?ɢ) =i)P;i'sIqA$AI IOU2>2Acoustic response timeoutԡ Qя,GG?AJ@J@JOPٱJk ZAHRS rotation from veh to nav: [[0.573961,0.810901,0.114050],[-0.808835,0.539644,0.233603],[0.127883,-0.226327,0.965620]]JH]?@?`]2? D??v^?`E̿@\?iJ@IJU}^;JTCYfvPAyf/Hn@AlbDEVDE-8yU>%W=ٔdWQ->9H?IH?=.FyEr<E>Q 5e4?Q 9e4L&)@YyH\Q I?CI:i:e4yɮB*jBjii2Acoustic response timeoutDQzDQE][ E]?E]LEY"E]a:*E]?9VE]!5ZEYBE] ;ae2E] ;amJE]T9am:E]Y9amziJii kXkXkXh kXkXkXh2f:fBfJf;?ɢ)  Li))-䂗;)1i50r1I9AIIOF> 2Acoustic response timeout! \8я,!G?A;ɰ2£@2@2}ٱ28p :AHRS rotation from veh to nav: [[0.578787,0.807225,0.115732],[-0.805291,0.543408,0.237094],[0.128498,-0.230425,0.964569]]2H`k?? ?c?Y?r?`~Ϳ?i2£@I2^;0YFPAyFeHbDVDO8y%0b=%%Q=ٔ%ϺQ-->9)I)=-.Fy-E5|<E5>9Q 5Ee4=?Q 9Ee4=8R&)=@YAyEcZQ IM?=+CI=:i=p:=w-e4yU˿BɮUBUE*jiBjiiiiqziqJiqiq kikikih kikikih2f:fBfJf5?ɢ_) i):R;i9nrIA-A)I1IIOu> 2Acoustic response timeoutET EGEPE"E9*ER9VE-5ZEa@a@a@a@YAAB>BCBHBQAB=BDBDB;BEBCBCBǞCBǓ=BǓ=C6ԁ cя,G?A22Acoustic response timeout6@6@6ٱ6؀u BAHRS rotation from veh to nav: [[0.583354,0.803521,0.118544],[-0.801972,0.546718,0.240709],[0.128605,-0.235487,0.963331]]6H֪?p?@X?~??v?@r$ο?i6@I6b^;6UCYJQAyJHINN>)N>bDVVDV<8yZ>%^Q=ٔ^ԏQ-b>9bK?IbK?=b.FybEfn<Ef>hQ 5ne4jQ?Q 9ne4jUX&)js@YlynXQ Ir?jRCIj;ij;j ;e4ytɮvBtY*jaBjaiiiiziiJiiii kckckch2f:fBfJf;h?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed!ɢ%)) -i))-q:))i-dqrQIYԁAIIO%>Ա2Acoustic response timeoutEuV EuCEuGEq"Eu=:*Eu09VEu5ZEqBEu:a2Eu:aJEu9:a:Eu9:a я,G?A2 @2@2eٱ2| :AHRS rotation from veh to nav: [[0.588085,0.799330,0.123399],[-0.798720,0.549946,0.244142],[0.127287,-0.242138,0.961856]]2H?@?? '? @? J?`ο`?i2 @I2/z^;2SCYBQAyBHDDbDRVDRL8yVR=%ZK=ٔZGX;Q-Z>9\I\=^.Fy^Ebak<Eb>`Q 5fe4b`?Q 9je4b^&)b@YhyjVQ Ij?b{CIb:ib:b3Ie4yrϿBɮrBrE*jxBjxi|i|ziJii kJkJkJh kclkclkclh)2f9:f9Bf9Jf=9҆?sEPUpdating rudder angle -0.000000 arcdeg 9ErE6Completed marl:UpdateRudder19E rMRAggregate::uninitialize marl:UpdateRudderԹɢ' )! -hi9)EHW9Iy(Gi}rſ9YAI}2Acoustic response timeoutIAIaOE>% 2Acoustic response timeout9 E T E DE OE "E 9*E a99VE *5ZE a @a @a @a @uҏ,H?A@@zsD@zg?@zٱz-Z AHRS rotation from veh to nav: [[0.591707,0.795965,0.127758],[-0.796218,0.552225,0.247152],[0.126173,-0.247964,0.960518]]zH@C?x?\Z?`z ԫ? ?s&?LϿ@?izsD@Iz^;zTCY%RAy%HBh>B܏CBHBbSAB=BDBDB>;B6EyL7A`?{GzK+G?#^ 9bX9?V-QYE6?ym B~B )BYBbDVD_8yq=%.=ٔR;Q->9I=.FyER<E>Q 5e4@Ț?Q 9e4-f&)"@Y 7?Q E:yQ I?CI:i':Ye4y)ɮ-uB1*jIBjiiziJii kshkshkshh2f=:f=Bf!Z@JfU@ɢ) i)tкi%sr)I)AIAIQ2Acoustic response timeoutO[>iԙ ҏ,i,H?A:Z@:U@:ٱ:AG BAHRS rotation from veh to nav: [[0.593932,0.793582,0.132182],[-0.794711,0.553150,0.249918],[0.125214,-0.253481,0.959202]]:H}?`e?@V?Fng?`P??9пȱ?i:Z@I: ^;8YNRAyNHtt t)x xxbDVDS8yƫ<%i=ٔ4;Q->9I!=%.Fy%E%8;E%>)Q 55e4-Ӛ?Q 95e4-k&)-@Y9y=fQ I=?-ƓCI-;i-;-ee4yEӿBɮEvBME*jYBjYiYiaziaJiaia kOkOkOhy k^k^k^h2f:fBfJf0@颹ɢ[#) i)=6iqI2Acoustic response timeoutqEU EHELE"E:*E[9VE!5ZEBE*:a2E/:aJEY:a:EZ:aIII1Ou=ԙ 2Acoustic response timeout xҏ,eFH?A2Mj@2Ae@2ٱ2] :AHRS rotation from veh to nav: [[0.595535,0.791725,0.136051],[-0.793683,0.553718,0.251918],[0.124116,-0.258008,0.958137]]2H?U?"j?@e?n? ƿ? 4п?i2Mj@I2^;2VCY^SAybH`b@AbDjVDjH8yrG=%rM=ٔvG6;Q-v>9tIx=z.FyzEzǝ;Ez>YQ 5ee4]?Q 9ee4]3r&)]@Yiym*Q Im?]CI]:i]g:]8te4yuBɮu9BuE*jBjiiziJii kSFkSFkSFh kC_kC_kC_h2f:fBfJf @ɢ1) vi) ׊iqIIyIO=2Acoustic response timeoutbEU,5jE/5rEġ1ET EKEKE"E9*E]t9VE5ZEa@a@a@a@B*>BԏCBHBTAB=BDBDB;BEE) ҏ,E`H?Aɰp;22Acoustic response timeout6q@6l@6,ٱ6P> BAHRS rotation from veh to nav: [[0.596334,0.790611,0.139000],[-0.793285,0.553917,0.252734],[0.122820,-0.260980,0.957499]]6H *?L??b?@,? q?п@գ?i6q@I6Jk^;6RCLYRsTAyRHbD%VD%F8y>%>=ٔgG;Q->9I=.Fy!E;E>Q 5e43횉?Q 9e4x&)@YyQ I?CI:i:͂e4yɮB*jBjiiziJii kFkFkFh  k3^k3^k3^h!2f1:f1Bf1Jf5H@IɢMi/)Q UaܿiQ)]YYi]qYIaII)O=Y2Acoustic response timeoutԉ E V E BE GE "E =:*E (9VE 5ZE BE :a 2E :a JE T+:a :E W+:a ҏ,TzH?A46|t@6qo@69ٱ6g~ BAHRS rotation from veh to nav: [[0.596724,0.790117,0.140123],[-0.793211,0.554378,0.251954],[0.121392,-0.261495,0.957541]]6H]? H? ?a@w? ??Sп,?i6|t@I6~^;6UCY^TAybHI==)=4<bDMVDM@8yۍ=%M=ٔ"l;Q->9I=.Fy$E4l:E>Q 5e4?Q 9e4.&)@YyQ I?6CI:i:e4yBɮBE*jBjiiziJii kS[kS[kS[h kc[kc[kc[h2f:fBfJf@ɢ o)  ؿi ) i9qI2Acoustic response timeoutII!O=.>)  2Acoustic response timeout$ҏ,TH?AEZ ELELE"E:*E|9VE!5ZEa@a@a@a@>s@>n@>rٱ> FAHRS rotation from veh to nav: [[0.596775,0.790135,0.139804],[-0.793451,0.555127,0.249540],[0.119561,-0.259847,0.958220]]>H?H? ?c@?? ?Uп?i>s@I>p^;>QCYR;UAyRHTVp=|BE >BEЏCBEHBEVABE=BABEDBE;BE@EyzG?Q롿Q w?\ 9e;O?%C̿QſYt?yZd(8B B B)BY3BbDVDC8y%RL=%%@=ٔ-d;Q-->9)I)=-.Fy-&E5GE5>9Q 5Ee4=?Q 9Ee4=&)= @YM~?Q EMU:yM"Q IM?=lCI=:i=:=e4yQɮ]BY*jiBjiiiziJii k^k^k^h2f*F>:f*F>BfD@Jf%o@!ɢ%)! %!ֿi!)- IIiM؂qiIq)AIIOI>2Acoustic response timeoutQԁ *ҏ,ҭH?A2o@2wj@2ٱ2g :AHRS rotation from veh to nav: [[0.596527,0.790526,0.138650],[-0.793952,0.555950,0.246089],[0.117457,-0.256880,0.959279]]2H ? K?@I?h X?@?`?`pп@j?i2o@I2^;2UCYFUAyFoHbDRVDR&8yVu=%Zf=ٔZ;Q-Z>9\I\=^.Fy^)EblEb>dQ 5fe4f:?Q 9je4f$&)f.@Yhyj(Q Ij?fCIf :if:fe4yrBɮrBrE*jxBjxi|i|ziJii kEkEkEh k\k\k\h)y2f:fBfJfy$o@ɢ') ѿi){  i 8pE2Acoustic response timeoutIIIE-U E-DE-EE)"E-:*E-a99VE- 5ZE)BE-%:a=2E-*:a=JE-rH:a=:E-uH:a=ԡAIIO5.> 2Acoustic response timeout 1ҏ,H?A2i@2d@2+ٱ2 :AHRS rotation from veh to nav: [[0.596135,0.791196,0.136501],[-0.794557,0.556940,0.241863],[0.115338,-0.252641,0.960661]]2H?`yQ?x?ms?^?@Ɇ?E+п ?i2i@I2^;0YB^VAyFH HHLNAAbDRpVDR8yZ{=%ZJ=ٔZ;Q-^>9\I\=^.Fy^+EbbܺEb>dQ 5je4f?Q 9je4f&)fI@Yhyj.Q In?f͔CIfr;ife;f/e4ypɮrBp*j|Bj|i|iziJii k#Dk#Dk#Dh kakakah)2f9:f9Bf9Jf="o@Yɢ]S)Y eͿia)e,2aaieqpiIiA$AIIO=E2Acoustic response timeoutEY ECEIE"E:*E09VEe5ZEa@a@a@a@i9I9B=>B=̏CB=HB=WAB==B9B=DB=~;B=E)Q 7ҏ,ˆH?A6b@6]@6Uٱ6 BAHRS rotation from veh to nav: [[0.595567,0.792313,0.132436],[-0.795289,0.558323,0.236199],[0.113202,-0.245997,0.962638]]6H?Z??s?@;?@?|Ͽ@?i6b@I6^;6VCYJVAyJ-HR2Acoustic response timeoutV?AT`` `)`bDjVDj8yr=%rG=ٔv;Q-v>9vH?IvH?=z.Fyz.EzEz>Q 5 e4+?Q 9 e4&)W@Y y 3Q I ?CI:i:e4yɮԧB*j)Bj1i1i1zi1Ji1i1 kHkHkHhI kfkfkfhY2fi:fiBfiJfmr!o@颉ɢF) [ȿi)3G顑iVpI1AAIIO= >iU2Acoustic response timeoutD%=D4=ԡE V E BE FE "E =:*E (9VE 5ZE BE :a 2E :a JE U+:a :E W+:a Թ (>ҏ,cH?Aɰ;2Z@2U@2]wٱ2ry :AHRS rotation from veh to nav: [[0.594917,0.793445,0.128529],[-0.796041,0.559455,0.230931],[0.111325,-0.239699,0.964443]]2H ?c?@s?*y@?`&? ?xο`?i2Z@I2^;2TCYFnWAyFxHbDRVDR8yVә=%VN=ٔZ;Q-Z>9ZK?I^K?=^.Fy^0EE>!Q 5-e4%t8?Q 9-e4%ޯ&)%Y@Y)y-;Q I-?%5CI%:i!%e4y=Bɮ=ȧB=E*jIBjQiQiQziQJiQiQ k]k]k]hi k]k]k]hy2f:fBfJfo@颩ɢZ{) Ŀi)p\项ioIԡ2Acoustic response timeoutA I1IQO>m 2Acoustic response timeoutE Q E @E KE "E 29*E 9VE 5ZE a @a @a @a @ Eҏ,d?H?A2P@2J@2 ٱ2Cr :AHRS rotation from veh to nav: [[0.593969,0.794888,0.123912],[-0.796906,0.560253,0.225958],[0.110189,-0.232958,0.966224]]2H ?o?@? A ?2?@^5?@ͿN?i2P@I2^;2VCYFFXAyFHBr>BrǏCBrfHBrXABr=BpBrDBr=;BrԏEBЏCBяCBCB=B=C6I =) ;yA`"?L7A`?bX9ȶ?y?+=E= 9|?5^?RQп~jth?Y?yD;B;B B)BYBbD VD 8ym=%5=ٔ%%;Q-%>9!I!=-.Fy-3E-?E->1Q 5=e455J?Q 9=e45&)5@YE?Q EE4:yEQ IE?5vCI5*:i5:5$e4yIɮMBUȽE*jaBjaiaiiziiJiiii kekekeh kekekeh2f>:f>BfD@Jf@ɢ%'e)! %ʽi!)%_r))i-oIIQAIIOG>2Acoustic response timeoutI :Kҏ,P/H?A6+C@6 >@6| ٱ6i BAHRS rotation from veh to nav: [[0.592752,0.796683,0.118078],[-0.797884,0.560921,0.220791],[0.109668,-0.225087,0.968147]]6H ?l~?W:?`C`?B?@3?̿?i6+C@I6^;6SCYJNYAyNHPRa=bD VD 8yU.>%UX=ٔ]µ:Q-]>9aIa=m.Fym6EmrEu>yQ 5e4}Y?Q 9e4}&)}E@Yy˒Q I?}CI}o7;i}cM;}pe4yBɮBɽE%2Acoustic response timeoutDQzDQE]\ E]BE]NEY"E]:*E](9VE]'5ZEYBE];am2E];amJE]T+:am:E]V+:am*jBjiiziJii kdkdkdh kdkdkdh2f:fBfJf#@IQɢU)Q ]iY)]YYi] AoaIaIIOB>ԁ wk>ȑCEG)9Y-Ay?^AԹ  2Acoustic response timeout<#Rҏ,DHH?A22@2-@2Hٱ2c :AHRS rotation from veh to nav: [[0.591137,0.798605,0.113080],[-0.799065,0.560770,0.216868],[0.109780,-0.218557,0.969629]]2H ?+???W??`˿ 4?i22@I2^;2TCdYjYAyjHbDEtVDE8yJ=%G=ٔQ->9I=.Fy8EAE>Q 5f4i?Q 9f4 &)@YyQ I?CI[:i:f4yɮBҽE*jBjiiziJii k#^k#^k#^h k3^k3^k3^h2f :f Bf Jf @)ɢ-$)) -i))5顱inIIqIO >52Acoustic response timeoutEX E@ETE"E~ :*E9VE:5ZEa@a@a@a@B<A<B>BďCBGHB^ZAB=BBDB;BE1a LXҏ,bH?A2!@2@27/ٱ2T=\ :AHRS rotation from veh to nav: [[0.589412,0.800621,0.107700],[-0.800212,0.560370,0.213652],[0.110703,-0.212112,0.970955]]2Hu?ఞ?7?U ?X?@W?x&˿@?i2!@I2^;0i@I@F2Acoustic response timeout9YuZAyuH yybDOVD8y7>%8=ٔ< Q->9I=.Fy;E E>Q 5f4{?Q 9f4e&)J@YyeQ I?-CI;i;-f4yBɮ`BӽE*jBjiiziJii ks_ks_ks_h k_k_k_h)2f9:f9Bf9Jf=މ@Yɢ] ؽ)Y ]ŨiY)eaaie oiIiII aO$>ԑ52Acoustic response timeoutEu[ EuDEuOEq"Eua:*Eua99VEu*5ZEqBEu ;a2Eu ;aJEurH:a:EuuH:a Ow^ҏ,ͬ|H?A2V@2K@29ٱ2UV :AHRS rotation from veh to nav: [[0.588113,0.802252,0.102543],[-0.800962,0.560142,0.211426],[0.112178,-0.206475,0.972000]]2H? ?E@?z??@?mʿ?i2V@I2Ɛ^;2SC9I=.Fy=EE>!Q 5-f4%b?Q 9-f4%)&)%Z@Y)y5Q I5?%aCI%:i%#:%ef4y=Bɮ=wB9*jQBjQiQԡiQziJii! k\k\k\h2f:fBfJf3؉@2Acoustic response timeout ɢ ޽)  奿i)qiipToIIIIO (> E 2Acoustic response timeoutbE ˞5jE 25rE ˪R1E V E FE IE "E =:*E ;J9VE e5ZE a @a @a @a @^eҏ,ƆH?AɰBFt>BFCBFAHBF[ABDBFDBFݻDBF;BFEb@b@bIٱbR jAHRS rotation from veh to nav: [[0.587863,0.802916,0.098708],[-0.800911,0.560493,0.210688],[0.113839,-0.202912,0.972557]]bH?|?D?@??$? ɿ 0?ib@IbX^;bVCY%[Ay%4HAE A)Iy/$?n?ʡE?L?V>-= 9oʡ?y&1T㥛 ?Y?y`e>B B mB)ތBY—BbD/VD8y Ϝ=% #=ٔ (ZQ->9I=.FyAEE>!Q 5-f4%𣛉?Q 9-f4%&)%}@Y-ߐ?Q E5;:y5pQ I5?%CI% ;i% ;%.f4y=Bɮ=fB=ݽE*jQBjQiQiQziYJiYiY kCkCkChq k]k]k]h2f>:f>Bf۶@Jfz@颱ɢkս) i)}项iroI!IiIyOF>2Acoustic response timeoutQy Fkҏ,bH?A2<@21@2Fgٱ2|P BAHRS rotation from veh to nav: [[0.588779,0.802572,0.096008],[-0.800046,0.561721,0.210704],[0.115175,-0.200869,0.972824]]2H G?`?`?`?`X?|?`ɿ_!?i2<@I2^;2TC )vAt   iYI&FIi! %)))) 15Y1199IE/])EЀFiA)AIAEGaI IQQQiQQiY]7A)a aIaYaYm\AymHI}<)}=bD%VD8y,>%}=ٔ:Q- ?9I=.FyCE~;E ?Q 5f4?Q 9f4&)t@YypQ I?ҖCI;i ;>:f4yBɮNB޽E*jBjiiziJii2Acoustic response timeout k^k^k^h 2f:fBfJf@qE}X E}CE}DEy"E}~ :*E}09VE}J5ZEyBE}:a2E}:aJE}9:a:E}9:aɢ() i)۬ioIIQIiO=ԡ 2Acoustic response timeout prҏ,<H?A271@2,,@2ٱ2 'Q :AHRS rotation from veh to nav: [[0.590560,0.801332,0.095427],[-0.798584,0.563278,0.212091],[0.116203,-0.201459,0.972580]]2H??m? ^?@%??@jɿ@_?i271@I2^;2SCYM/]AyMHQQbD VD8y[=%C=ٔS"Q- >9 I = .Fy EE;E>Q 5%f4B˛?Q 9%f4G')@Y!y-pQ I-? CIQ:i':Hf4y1ɮ5@B1*jIBjIiQiQziQJiQiQ kFkFkFhi k`k`k`hy2f:fBfJf@^B*** querying acoustic contact ***XY颩ɢѽ)U UiQ)]|YYi]paIq 2Acoustic response timeoutEY EBE_E"E:*E(9VEC^5ZEa@a@a@a@IIO%M>BW>BCBTHB]AB=BBۻDB;BvE) xҏ,H?A2In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER22Acoustic response timeout:H@:tC@:MYٱ:,S BAHRS rotation from veh to nav: [[0.592765,0.799663,0.095753],[-0.796819,0.565022,0.214079],[0.117089,-0.203197,0.972112]]:H@?֖?H??f? ?Yʿ ?i:H@I:^;:TCY%]Ay%xH@AbDVD8y=%J=ٔQ->9 I = .Fy HE};E>Q 5%f4?Q 9%f4_ ')@Y!y%+oQ I%?BCI:iw:Vf4y5Bɮ5+B5߽E*jIBjIiIiIziQJiQiQ k#Zk#Zk#Zhi ksZksZksZhy2f:fBfJfޚ@颡ɢ7>н) |i)`d顱iqI1IIO">Y%=4=pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutEX E?EHE"E~ :*E?9VE-5ZEBE:a2E:aJEK9a:EP9aԡ ~ҏ,H?A6f@6a@6s@ٱ6X >AHRS rotation from veh to nav: [[0.595658,0.797102,0.099099],[-0.794594,0.566693,0.217896],[0.117526,-0.208535,0.970928]]@6H`?ہ?^?Pm`Z"??6?Iʿ?i6f@I6^;6UCYJ^AyJH  bDVD8ym>%mU=ٔ}핺Q->9I=.FyJEj<E>Q 5f4?Q 9f4,')m@YymQ Iu?wCI % 2Acoustic response timeoutE V E FE ME "E =:*E ;J9VE H$5ZE a @a @a @a @ҏ,H?ABD>BCBg HBs_AB=BBٻDB;BMEBՆ@Bʁ@BٱB` JAHRS rotation from veh to nav: [[0.598771,0.794144,0.103967],[-0.792232,0.568196,0.222534],[0.117650,-0.215613,0.969366]]BH!)?i? ?Y.?{?W?2˿ ?iBՆ@IBʨ^;BTCYR_AyRv HTT!yZd;O?|?5^?~jth?~J?=D; 9Q?I +?gfffff?Yh?y94<33>B~B ) BYBbDVD8y=%D=ٔQ->9I=.FyMEL<E>Q 5f4 ?Q 9f4s')AY>m?Q Ee:yV^Q I?CIG ;i ;sf4yɮB *j!Bj!i!i!zi!Ji!i) k[k[k[h9 k#[k#[k#[hI2f]i>:f]i>Bf]y@Jf]K@ɢѽ) i)~ʼi%sI I2Acoustic response timeout=>9UcջyII OE>ԡ (ًҏ,1H?AɰJ@J@J sٱJ i RAHRS rotation from veh to nav: [[0.602075,0.790835,0.109934],[-0.789728,0.569551,0.227905],[0.117622,-0.224033,0.967457]]JH`2D?N? $?tE@9?+?`~? ̿`i?iJ@IJu^;HYZ_Ay^ HbDfVDfs8yn=%n[=ٔr8Q-r>9pIp=v.FyvOEv}7<Ev>xQ 5~f4z?Q 9f4z $')z%AYy\Q I?zЗCIz;iz;zf4y Bɮ BE*j)Bj)i)i1zi1Ji1qi k\k\k\h2Acoustic response timeout k3]k3]k3]h2f :f Bf Jf @AɢEWƽ)I MdiIDQzDU?AE]S E]@E]HEY"E]9*E]9VE]-5ZEYBE]:ae2E]:aeJE]4:am:E]7:am)M мiqiutqIyMesIIO>ԡ 2Acoustic response timeout "’ҏ,KH?A2 Ƥ@2@2ٱ2Iq :AHRS rotation from veh to nav: [[0.604881,0.787847,0.115828],[-0.787609,0.570455,0.232922],[0.117432,-0.232118,0.965573]]2H/[? 6?@?4*A?@d?? Ϳ ?i2 Ƥ@I2'^;0YB`AyB HbDNVDNr8yV=%VM=ٔVq9Q-Z>9XIX=^.Fy^RE^<E^>`Q 5ff4b/?Q 9ff4b+')bAYdyj[Q Ij?bCIb:ib:bf4ylɮnަBp*jxBj|i|i|zi|Ji|i k_k_k_h2f):f)Bf)Jf-d@AɢM^?Ž)I M(wiI)MiּQQiUuYIY2Acoustic response timeoutEeV EaEeGEa"Ee=:*EaVEe5ZEaau@au@au@au@mBA<B%1>B%CB%H HB%`AB!B!B%ػDB%P;B%EBŽCBžCBŗCBŬ=BŬ=CŁ5AII 1Oe>Q ҏ,_eH?A&2Acoustic response timeoutBߤ@Bګ@BPٱB8y JAHRS rotation from veh to nav: [[0.607422,0.785039,0.121457],[-0.785777,0.571340,0.236907],[0.116588,-0.239341,0.963910]]BHo? ??%`jH?R? ؽ?`οZ?iBߤ@IB^;@YbaAybj Hddpp p)pbDzVDzG8y=%E=ٔz;Q->9 I = .Fy TEy;E>Q 5%f4oC?Q 9%f4R2')AY)y-`ZQ I-?,CI';i:if4y5Bɮ5ϦB=E*jIBjQiQiQziQJiQiY k^k^k^hi k^k^k^hy2f:fBfJfg@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢŹ) jni)ݼi=@wI1aA\?AS?AII 2Acoustic response timeoutOM>EuU EuBEuFEq"Eu:*Eu(9VEu 5ZEqBEu#:a2Eu(:aJEuS+:a:EuU+:aԉ  G 1 ҏ,IH?A9 Y'AFZ@FO@F5ٱF } NAHRS rotation from veh to nav: [[0.609497,0.782843,0.125182],[-0.784399,0.572573,0.238489],[0.115023,-0.243551,0.963043]]FH? ??R?φ?-r?,Ͽ@@?iFZ@IFv^;DYZaAy5 HbD}VD}}8y=%@=ٔq;Q->9I=.FyWE;E>9Q 5uf4=;Y?Q 9}f4=:')=AYyYԑQ I?=^CI=u 2Acoustic response timeoutE} Y E} @E} GEy "E} :*E} 9VE} 5ZEy a @a @a @a @B= >B= CB= [ HB= bAB= =B9 B= ջDB= ;B= EI >ҏ,H?AN@N@NM1ٱN  VAHRS rotation from veh to nav: [[0.611115,0.781236,0.127315],[-0.783415,0.573977,0.238351],[0.113133,-0.245401,0.962798]]NH`A??K?^?K?@A?KiϿ@=?iN@IN#^;LY^RbAyb* H !!%=%=y`"?:vW?T 9V-?:v~jth?YM?yTD;B B)BY̕BbDVDy8yP=%E=ٔ;Q- >9 I = .Fy ZEs;E>Q 5%f4ch?Q 9%f4@')H AY%N?Q E-:y-zxQ I-?CIU:i:Ϲf4y1ɮ5B9*jIBjIiIiIziIJiQiQ k\k\k\hi k\k\k\hy2fL$=:fL$=BfI@Jf߾ @颡ɢLc) Zi)I顩i0zIiA$AI IOU2>e2Acoustic response timeoutԙ J%ҏ,NH?A6@6 @61ٱ6~ >AHRS rotation from veh to nav: [[0.612421,0.779999,0.128613],[-0.782719,0.575474,0.237022],[0.110864,-0.245826,0.962953]]6H@?`?`fv? `Ij?`V?a?`6wϿ?i6@I6x^;6UCYJbAyJ HPbD VD u8y]=%eU=ٔeM;Q-e>9mH?ImH?=m.Fym\Emz;Em>qQ 5}f4uv?Q 9f4uG')u AYyxQ I?uCIu/;iu:u/f4yBɮBE*jBjiiziJii2Acoustic response timeout k\k\k\hE=V E=EE=HE9"E==:*E=A9VE=-5ZE9BE=:aM2E=:aMJE=W:aM:E=W:aM2fy:fyBfyJf}| @颹ɢ) Qi)zik~{IA%AI)I9Ou6>m 2Acoustic response timeout!  ҏ,H?A2@2@2=a޽ٱ2ʲ :AHRS rotation from veh to nav: [[0.613821,0.778744,0.129546],[-0.781972,0.577242,0.235186],[0.108371,-0.245663,0.963279]]2Hl?w??@x??-? qϿ-?i2@I2ߛ^;2TCYncAyn Hpp|bDEVDE8yU=%UK=ٔ];Q-]>9]K?IeK?=e.Fye_Ee;Ee>iQ 5uf4mS?Q 9uf4mN')m AYyy}wQ I}?mטCIm;im;mDf4yɮB*jBjiiziJii ksDksDksDh2f:fBfJf @ɢ%)! % Fi!)%Vc!)i-2|I)hDAT read: Forwarding Delay UpTx time:19:07:54.9396 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutAI II9bEĐ5jEħ5rE2EMU EM@EMEEI"EM:*EM9VEM 5ZEIa]@a]@a]@a]@AAB>BCB< HBdAB=BDBѻDB;BEO%M>Qԁ 87ҏ,HH?A2Acoustic response timeout6t'@6j"@6dٽٱ6 BAHRS rotation from veh to nav: [[0.615003,0.777629,0.130630],[-0.781375,0.578746,0.233467],[0.105950,-0.245654,0.963550]]6H`?W?@x?  ?B??qϿ g?i6t'@I6^;4YJ9`I`=f.FyfaEf^;Ef>hQ 5nf4j?Q 9nf4j2U')j4 AYpyrYwQ Ir?jCIj;ij;jf4yvBɮvtBvEY*jyBjiiziJii kFkFkFh2f:fBfJf@ɢ 2)  0Ա2Acoustic response timeoutE]V EYE]TEY"E]=:*EYVE]:5ZEYBE]:ae2E]:aeJE]4:am:E]6:am ҏ,<H?Av<0@v1+@vpӽٱvҙ~ MAHRS rotation from veh to nav: [[0.616023,0.776709,0.131297],[-0.780948,0.580355,0.230886],[0.103132,-0.244768,0.964081]]vH v?`?@Y?@E??f? TϿ?iv<0@ԹIvS^;vWCY-)dAy-L Hykt?Zd;?Zd;O p?y=j 9n?/$9I=.FydEC;E>52Acoustic response timeoutaQ 5uf4e0?Q 9uf4e_')e AYup?Q Eua:yuxQ Iu?e9CIe ;ie7 ;ef4yɮvB*jBjiiziJii k3+k3+k3+h kFkFkFh2f;G>:f;G>Bfn@Jf]Dp@ɢ򐡽) h=i)i ~IA9IAIQOZ> 2Acoustic response timeout9 Ee T Ee HEe GEa "Ee 9*Ee [9VEe 5ZEa am @am @am @am @B >B CB  HB |eAB =B B ϻDB &;B EjIҏ,_^H?A >8@>3@>̽ٱ>Y7~ bAHRS rotation from veh to nav: [[0.617051,0.775633,0.132823],[-0.780581,0.581908,0.228202],[0.099710,-0.244491,0.964511]]>H?? W?@?5?? }KϿF?i>8@I>p^;>TCYj6eAyj Hllxx |)|bDVD8yB>%l=ٔ#AE2Acoustic response timeoutiԙ ksҏ,94H?A2V9@2K4@2pŽٱ2} :AHRS rotation from veh to nav: [[0.617315,0.775146,0.134424],[-0.780800,0.582750,0.225284],[0.096293,-0.244030,0.964975]]2H` ??4? Q`?@?ࢦ? a<Ͽ?i2V9@I2^;0YZeAyZ[ H ``bDfVDf8yn=%nN=ٔr 9pIp=v.FyviEv>9Ev>xQ 5~g4zĜ?Q 9~g4z.o')z AYyQQ I?zCIz;iz;z2 g4y ɮ BB *j!Bj!i)i)zi)Ji)i) k)k)k)hA kDkDkDhQ2fa:faBfaJfeQlp@颁ɢ,u) !i)顉iI2Acoustic response timeoutqE[ EEJE"Ea:*EVE5ZEBE ;a2E ;aJEW:a:EX:aA $AII!O]>ԡM 2Acoustic response timeout @[ҏ,NH?A21@2,@2ٱ2'| :AHRS rotation from veh to nav: [[0.616803,0.775262,0.136101],[-0.781610,0.582843,0.222213],[0.092947,-0.243440,0.965452]]2Hټ?`?k?`?@yq?@f˷?` )Ͽ?i21@I2^;2UCYBfAyB HbDU,VDU8y=%>=ٔ89H?IH?=.FylE8 E>Q 5g4՜?Q 9g4hx') AYymQ I?ęCI*(;i6);Eg4yBɮ/B E*jBjiiziJii kS)kS)kS)h kDkDkDh)2f9:f9Bf9Jf=ehp@Yɢ]퓽)a e ia)e{aaie7iIi2Acoustic response timeoutAaBm<Am<Bm>BmCBm HBmfABiBiBmλDBm;EU EBEGE"E:*E(9VE5ZEBE!:2E&:JER+::ET+:BmYEIIOER>) ܄ҏ,gH?A2Acoustic response timeoutɰ4<:%@: @:Iٱ:{ BAHRS rotation from veh to nav: [[0.615868,0.775676,0.137961],[-0.782819,0.582723,0.218240],[0.088890,-0.242406,0.966094]]:H 0?W?@?@ `?G??`%Ͽ>?i:%@I:$l^;:TCYJfAyNHbD 5VD 8yz=%K=ٔ%9I=.FynErE>Q 5g4圉?Q 9g4')AYyQ I?CII;i;T*g4yɮ#B*jBjiiziJii  kSFkSFkSFh!2fA:fABfAJfE]p@aɢmh)i mii)uqqi}VyIIAAIIO )>yiIpA??2Acoustic response timeoutET EEEE"E9*EA9VEZEa@a@a@a@ԩ uҏ,H?A8M@M @MʭٱM{ AHRS rotation from veh to nav: [[0.614198,0.776558,0.140423],[-0.784587,0.581789,0.214347],[0.084756,-0.241826,0.966611]]MH??a?V?@o??$ο z?iM@IM^;IYgAyuHI>)>AE2Acoustic response timeoutymy&1?/$:v?m`?mm9K?IK?=.FyqEէE>Q 5g4?Q 9g4')AY?Q EB:yQ I?6CI2 ;iz ;:g4yBɮB E*jBjiiziJii k*k*k*h kBkBkBh2f%>:f%>Bf%K@Jf%;@AɢEl)A E4iA)MIIiM{4QIQAIIOex>  2Acoustic response timeoutBU >BU CBU HBU hABQ BQ BQ BU ;BU EBˮCB˯CB˖CB˳=B˱=Ce46E  E BE HE "E *E (9VE -5ZE BE :a 2E :a JE a :E a ܖҏ,3H?Ab@b@b6ٱbx jAHRS rotation from veh to nav: [[0.611912,0.778129,0.141699],[-0.786810,0.580626,0.209294],[0.080584,-0.239560,0.967532]]bHȔ? o?0#?-|?`$?`!?@ο?ib@Ibw^;bVCpYvkhAyvHbDVD8y >%=ٔWiaIae2Acoustic response timeout9a ҏ,H?A2פ@2ҫ@2Mٱ2rt :AHRS rotation from veh to nav: [[0.609019,0.780411,0.141615],[-0.789425,0.579117,0.203547],[0.076839,-0.235759,0.968769]]2H}??r ?B`!? ??W-ο@(?i2פ@I2؉^;2TCYBhAyFHDDN@ANAAbDRVDR8yV<%ZQ=ٔZ 9\I\=^.Fy^vEE%>!Q 5-g4%?Q 9-g4%ž')%AY1y5Q I5?%CI%N:i%|:%Tg49yEBɮEBEE*jYBjYiYiYziYJiaia kDkDkDhq kDkDkDh2f:fBfJf6@颱2Acoustic response timeoutɢ ) i)ۏ iIEX EEDE"E~ :*EVEJ5ZEa@a@a@a@A  gl>I1iԁGI̿9YAO(>ԑm 2Acoustic response timeout ܨҏ,yYH?AJ޶@Jӱ@J9ٱJ q ZAHRS rotation from veh to nav: [[0.605992,0.782706,0.141933],[-0.792088,0.577293,0.198317],[0.073287,-0.232602,0.969807]]JHId?@ ?*? X/y?@tb? ²?`Ϳ@?iJ޶@IJo^;JXCYjYiAyj|HbDzVDz8y =% E=ٔ o 9I=.FyxE#Eu>qQ 5}g4uj-?Q 9g4u"')uLAYyQ I?uԚCIu;iu:u~bg4yɮۥBԙ*jBjiiziJii kFkFkFh kFkFkFh2f:fBfJf@ɢ )  Ծi )   iIAII2Acoustic response timeoutO">A A B >B CB uHB LiAB =B B ͻDB K;B EEW EIEJE"E :*Ec9VE5ZEBE5:a2E9:aJE:a:E:a! sҏ,:H?A2Acoustic response timeout6Q@6F@6ޗٱ6 ,n >AHRS rotation from veh to nav: [[0.602571,0.785290,0.142224],[-0.794941,0.574852,0.193943],[0.070544,-0.229924,0.970648]]6HCH?!?`h4?@(p0e? ?#?*nͿ@?i6Q@I6ӱ^;6VCYniAynH )bD%VD%8yeG=%mD=ٔmu;Q-m>9qIy=}.Fy}{E}/E>Q 5g4L??Q 9g4[')AYyQ I? CI]Y!2Acoustic response timeoutIE EEEFE"E*EA9VE 5ZEa@a@a@a@ԁ #ҏ,~H?A ri@ hd@ 9Ɍٱ j %AHRS rotation from veh to nav: [[0.598676,0.788390,0.141522],[-0.798041,0.571935,0.189792],[0.068689,-0.226564,0.971571]] H`Z(?}:?`?@KM?K?? Ϳ?i ri@I z^; Y=jAy=HAAybX9?p= ף?y&1?Ev?=`e= 9&1?EԸp= ף?Y?yƽ=iB CB)BY=BbDVD8ys=%B=ٔ;Q->Q9aIa=m.Fym~Em;Em>qQ 5}g4uU?Q 9}g4u-')uAY?Q E::y}Q I?uKCIu:iu<:ug4y BɮɥB"E*jBjiiziJii kCkCkCh k#Ck#Ck#Ch2fp>:fp>Bf;@JfS@ɢv) i) T  i qIM2Acoustic response timeoutIiyIO?>ԩ 2Acoustic response timeoutB >B CB =HB jAB =B B ˻DB ;B \EbE5jE$5rEQ1E  E BE DE "E *E (9VE J5ZE BE 6:a 2E ;:a JE S+:a :E U+:a ҏ, H?A27D@2-?@2;ٱ2g :AHRS rotation from veh to nav: [[0.595093,0.791182,0.141049],[-0.800821,0.569060,0.186697],[0.067446,-0.224057,0.972239]]2H` ? ]Q? ? T5??`"D?̿?i27D@I2B^;0YBkAyFHI~<)~=bD  VD 8y}k>%R=ٔQ;Q->9I=.FyEFE>Q 5g4h?Q 9g4')AYyYQ I?CIn;is:g4yɮB*jBjiiziJii kKkKkKh kCdkCdkCdh2f:fBfJf-@!ɢ%ul)) -i))-_))i-{1I9ԱIII O-=M2Acoustic response timeout 9  ҏ,6H?A2-@2(@2ٱ2Gd :AHRS rotation from veh to nav: [[0.592921,0.793142,0.139175],[-0.802518,0.567756,0.183354],[0.066408,-0.220405,0.973145]]2H5? la??`9+?%x?!?<6̿`$?i2-@I2)^;2WCYV7kAyVHbD]VD]82Acoustic response timeouty<%H=ٔo&;Q->9I=.FyEܻE>Q 5g4}?Q 9g4')AYyQ I?CI:i:Pg4y BɮB,E*jBjiiziJii kKkKkKh k`k`k`h!2f1:f1Bf1Jf5@QɢUKf)Q ]iY)][YYi]􃼉aIaE}Y E}DEyEy"E}:*E}a99VEyZEya@a@a@a@ II)O=9M 2Acoustic response timeouti Sҏ,)PH?A,:%*@:%@:ͽٱ:a BAHRS rotation from veh to nav: [[0.592647,0.793455,0.138558],[-0.802854,0.568089,0.180833],[0.064770,-0.218412,0.973705]]:H ? c?B? -?`%?`?˿ (?i:%*@I:j_;8YNkAyNHPRR=bDVDyEm=%EQ=ٔE;Q-E>9III=M.FyMEUEU>YQ 5eg4]?Q 9eg4]')]AYayeπQ Im?]CI] :i]:]g4yuBɮ}B}-E*jBj!i!i!zi!Ji!i) kCHkCHkCHh9 k3^k3^k3^hI2fa:faBfaJfe@yɢ}Z) Ƃi)-n顁ihCIII!ԉO=2Acoustic response timeoutB\>BCBHBkAB=BDBƻDB;BEE[ EBEBE"Ea:*E(9VE5ZEBE ;a2E ;aJER+:a:ET+:aԱ U 2Acoustic response timeout&ҏ,͔jH?AN4@N/@NpٱN@na ZAHRS rotation from veh to nav: [[0.593738,0.792566,0.138974],[-0.802191,0.569509,0.179298],[0.062959,-0.217940,0.973929]]XNH@?\??k9?@?? u˿m*?iN4@IN_;NVCYjlAyj0HbDzVDzy8yA=% N=ٔ ;Q->9I=.FyEQ;E>)Q 55g4-ȥ?Q 95g4-')-AY9y=Q I=?-.CI-X);i-!*;-g4yIɮMBI*jaBjaiiiiziiJiiiq kEkEkEh kc^kc^kc^h2f:fBfJfJ@ɢ|Z) xi)0i6IIIOU= 2Acoustic response timeoutEU E;E@E"E:*E8VE4ZEa@a@a@a@A  !ҏ,hH?ANE@N@@N|ٱN]` VAHRS rotation from veh to nav: [[0.595485,0.791270,0.138887],[-0.800998,0.571525,0.178219],[0.061642,-0.217375,0.974140]]NH`7?R?@ ?ơ I??@?˿@',?iNE@IN^;NUCYvklAyv`Hy'1Z?"~j?{Gz?B?Sc>#= 9`"?y&1l?Yw?y`弙>B :B)BY̍BbDVDo8y7=%A=ٔK;Q->9I=.FyE;E>Q 5g4H?Q 9g4')XAYz?Q EX:y'mQ I?bCI ;i ;g4yBɮB.E*jBjiiziJii kC^kC^kC^h kCvkCvkCvh!2f5$>:f5$>Bf5U@Jf5M@ɢ R) >ei)+iɄI 2Acoustic response timeoutAzAqAIAYIiIOI>ԉB >B CB HB lAB =B B DB D;B ŋE 2Acoustic response timeout E Q E FE CE "E 29*E ;J9VE 5ZE BE :a 2E :a JE e:a :E e:a 3'ҏ,?5H?A2]@2X@2vٱ2Ԡa :AHRS rotation from veh to nav: [[0.597857,0.789296,0.139925],[-0.799350,0.573947,0.177831],[0.060052,-0.218167,0.974062]]2H !? A??F`]?,??˿@+?i2]@I2ُ^;2XCY^lAy^H`b@App p)pbDvVDv^8y~I=%V=ٔ;Q->9 I = .Fy E ;E >Q 5g4̝?Q 9g4')AYyblQ I?CԙI%2Acoustic response timeout ]-ҏ,H?A6{@6v@6nٱ6Sa BAHRS rotation from veh to nav: [[0.600861,0.786903,0.140534],[-0.797230,0.577127,0.177055],[0.058219,-0.218423,0.974116]]6H`A:?N.??@w??έ?I˿@+?i6{@I6^;6VCYJmAyJ-HPRAbDVVDV]8y^=%^O=ٔb$;Q-b>9bH?IbH?=b.FyfEf<Ef>hQ 5ng4j)?Q 9ng4j')jAYpyrnkQ Ir?jCIj;ij;jg4yvBɮv^Bv8E*jBj i i zi Ji i kvkvkvh! kvkvkvh12fA:fABfAJfEc@aɢe>)i mii)m2iiimZq2Acoustic response timeoutIE]U E]>E]AEY"E]:*E]9VE]A4ZEYae@ae@ae@ae@AIIO>!99Q5 2Acoustic response timeoutԁ E4ҏ,JH?A.@.@.:hٱ.7e :AHRS rotation from veh to nav: [[0.603627,0.784259,0.143429],[-0.795253,0.579499,0.178194],[0.056633,-0.221625,0.973486]].H@P??@[?`r`B???8^̿&?i.@I.K^;.SCYnmAyr3HbDEVDEQ8y;%>=ٔfr;Q->9I=.FyE<E>Q 5g4L?Q 9g4;()UAYymjQ I?CI:i:g4yBɮ`B9E*jBjiiziJii ktktkth kukukuh2f :f Bf Jf ü@Q颩ɢۑ;) ei) i̫IBU>BUCBU1HBUmABU=BU DBUDBU;BUqEBĢCBĠCBĞCBIJ=Bij=Cv62Acoustic response timeoutIIO-,>ԁEZ EAE?E"E:*E 9VE^4ZEBEg;a2Ej;aJE:a:E:aԩ = 2Acoustic response timeout2q:ҏ,2H?A>@> @>`ٱ>Jj JAHRS rotation from veh to nav: [[0.606738,0.781045,0.147774],[-0.793019,0.581962,0.180114],[0.054678,-0.226470,0.972482]]>H`ej?R?F?i` n?` ?? ̿?i>@I>];>UCYZEnAyZHbD-VD-78y==%=O=ٔ=;Q-=>9AIA=E.FyEEM<EM>YQ 5mg4]?Q 9mg4]()]AYqyu?iQ Iu?]'CI];i]+;]g4y,BɮdB*jBjiiziJii kxkxkxh2f:fBfJf@19  rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18%o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7-])7-n-4Completed marl:UpdateSpeedq7-n-PAggregate::uninitialize marl:UpdateSpeedQɢUS 5)Q ]KݽiY)] YYi]aIaԱIIO)>ߕ%=ߕC=2Acoustic response timeoutEuS Eu>EuCEq"Eu9*Eu9VEu5ZEqa}@a}@a}@a}@ U Gi s9 Y *A1 WAҏ,ܡH?A2դ@2Ы@2Vٱ2n :AHRS rotation from veh to nav: [[0.609794,0.777981,0.151316],[-0.790822,0.584627,0.181142],[0.052462,-0.230123,0.971746]]2Ho?8?`R^? iNC?/?Hܪ?tͿ?i2դ@I2];2VCY^mAybXH %>%=a@a a@a a@a a@a yJ +?&1h?Lн )Mb@Mb@Mb@Ii‰ B B)YŒBbDVDH8y Q$% >=ٔΨ;Q->9I=.FyEI<E>!Q 5-h4%J?Q 9-h4%()%AQ A5+:Y1Q E5/:y5"hQ I5?%[CI%;i%>% h4y=BɮEBEDE*jQBjQiYiYziYJiYiY k3`k3`k3`hq ksvksvksvhsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颱ɢW9) Yi)vM项i#I2Acoustic response timeoutIIOM>9i BM >BM CBM HBM nABM =BI BM DBM ;BM "E 2Acoustic response timeoutE P E HE ?E "E 9*E [9VE ^4ZE BE l:a 2E q:a JE U:a :E W:a 8Gҏ,_~H?A24@2*@2Mٱ2q :AHRS rotation from veh to nav: [[0.612204,0.775414,0.154725],[-0.789103,0.586725,0.181852],[0.050230,-0.233424,0.971077]]2H,?@1?? U@@s?`F??`Ϳ?i24@I2'];0\Y~nAy~HbDVD*8y%=%%Z=ٔ%;Q-->9)I)=-.Fy-E5<E5>9Q 5Eh4=1?Q 9Eh4=()=1AQ AM :YIQ EM:yM>gQ IM?=CI=;i==N?=nh4yUBɮUBY*jiBjiiiiqziqJiqiq kzkzkzh kzkzkzhɢp/) ci)<iQIIYIiO=ԩ2Acoustic response timeout ΫMҏ,?W9H?A2r@2h@2Dٱ2}t :AHRS rotation from veh to nav: [[0.613354,0.773834,0.158043],[-0.788350,0.587689,0.182006],[0.047962,-0.236227,0.970513]]2H`?`??@:?@*:@X?K? ?<ο@r?i2r@I2Q];2XCe2Acoustic response timeoutD1zD1E=T E=@E=AE9"E=9*E=9VE=A4ZE9aE@aM@aM@aM@YnAyHbDVD)8ys;%0=ٔߟ;Q- >9 I = .FyE0A;E>Q 5%h4[H?Q 9%h4E'() AQ A%9Y!Q E-9y-fQ I-?CI:i?h4y1ɮ5B1*jIBjIiIiIziQJiQiQ kukukuha kukukuhy颙ɢ-) تi)~顩i}I)IqII!O5->Q 2Acoustic response timeoutԁ Tҏ,2SH?A2@2@2l;ٱ2Cy :AHRS rotation from veh to nav: [[0.612896,0.773153,0.163075],[-0.788837,0.586739,0.182956],[0.045770,-0.240773,0.969502]]2H ל?@??`'>?@k?4o?ο(?i2@I2];0 @)BvA@B(F@DDiDIDDIHiH HJF)HH HNTLLLLIRY)PiP)PIPRYP TTVlATiTTiXX)X XIXYXY~nAy~HbDVD08y% =%%o=ٔ-;Q--?9)I)=-.Fy-E5JE5?yQ 5h4]Z?Q 9h4_.()!AQ A9YQ E9yfQ I?CI:i?x h4yBɮBEE*jBji i zi Ji i  k3vk3vk3vhA颉ɢ,) hi)i&IIqIO=B<ABq>BCBHB,oAB=BBDB%;BڊEIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutԩbEA4jEĜ4rEĭ<0EMS EIEM=EI"EM9*EIVEM|4ZEIBEM:a]2EM :a]JEM0:a]:EM3:a] E pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITE 2Acoustic response timeout*Zҏ,8mH?AFeߤ@F[ګ@F!2ٱF| VAHRS rotation from veh to nav: [[0.610970,0.773762,0.167355],[-0.790460,0.584657,0.182618],[0.043458,-0.243862,0.968836]]FH?@?k?@rK? `?@?6Ͽ?iFeߤ@IFG];FWCY]-oAy]H )bDVDe8y4=%B=ٔ;Q->9I=.FyEûE>Q 5h4n?Q 9h4k6()#AQ A9YQ E9yGgQ I? CI:iP@i%h4y]BɮeBeOEuPExceeded connect timeout, disconnecting.*jyBjyiiziJii k]k]k]h kukukuhɢ>%) Ri)7Di󩆼IAAi?AAI I!IAIOe4>zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutEUU EUAEUAEQ"EU:*EU 9VEUA4ZEQa]@a]@a]@a]@iԙ aҏ,H?A2@2@2Z(ٱ2_A} :AHRS rotation from veh to nav: [[0.607714,0.775729,0.170086],[-0.793093,0.581735,0.180522],[0.041091,-0.244599,0.968753]]2Hcr? ?@`?a?U? ?OϿ?i2@I2J];0Y|oAyCH!%p=aa aa aa aa y|?5^?/$(\µ? 9d;O?MbȿktƿY?y@ 0B B)BYpBbDVD}8yB=%H=ٔ;Q->9K?IK?=.FyE'E>Q 5h4_~?Q 9h4@()"AQ AT:Y?Q EF:yQ I?XCIy;i ;3h4yBɮ B PE*jBji!i!zi!Ji!i!q kc]kc]kc]h2f >:f >Bf@Jf&t{@2Acoustic response timeout1ɢ5j )1 5 i1)=_99i=UAIAIiIyԡO?>B _>B CB ]HB oAB =B !DB DB ;B E 2Acoustic response timeoutEe T Ee BEe ?Ea "Ee 9*Ee (9VEe ^4ZEa BEe :au 2Ee :au JEe O+:au :Ee Q+:au gҏ, ĠH?A2@2@2Tٱ2} :AHRS rotation from veh to nav: [[0.604197,0.777802,0.173117],[-0.795924,0.578708,0.177768],[0.038085,-0.245195,0.968725]]2HU??(?6x@Ƅ?@?`?bϿ`?i2@I2>];2XCYBoAyFwH5=1bD=VD=U8yzW=%O=ٔ+;Q->9I=.FyE;E>Q 5h4X?Q 9h4J()!AYy#Q I?CId:i[:~Ah4yɮޤB*jBjiiziJii k]k]k]h k]k]k]h2f :f Bf Jf {@)ɢ-)1 5X8i1)5h99i=Q9IAII!Oe>2Acoustic response timeout unManaging dock network, ignoring radio surface power off) *mҏ,H?A2}n@2ti@2\ ٱ2Dz :AHRS rotation from veh to nav: [[0.600228,0.780813,0.173367],[-0.799084,0.576062,0.172097],[0.034506,-0.241833,0.969704]]2H5?l?0? o?H??aο ?i2}n@I2T];2TCYF?pAyFHbDVD^8yE=%EO=ٔM`9III=M.FyUEU_REU>]2Acoustic response timeoutQ 5h4?Q 9h44U()p!AYyQ I?ƞCI;i;Oh4yɮФBZE*jBjiiziJiiE EE>E"E*EVE4ZEa%@a%@a%@a%@ k_k_k_h12fA:fABfAJfEz@Yɢed)a e~Y 2Acoustic response timeoutԁ tҏ,zH?A4:D@:?@:ٱ:u BAHRS rotation from veh to nav: [[0.596215,0.784005,0.172811],[-0.802235,0.573561,0.165671],[0.030769,-0.237410,0.970922]]:H`2?@??Z?@4? ?wcο?i:D@I:];:RCYNjpAyNHbDVDd8yEO<%MJ=ٔM9IIQ=U.FyUEUNEU>YQ 5eh4]:?Q 9mh4]!_()] AYiymVQ Im?]CI]:i]:]o]h4yqɮ}ʤBy*jBjiiziJii ksFksFksFh kYkYkYh2f:fBfJfI?z@ɢܽ) LBCBHBIpAB=BBDBG;BNEu2Acoustic response timeoutEMV EMAEMBEI"EM=:*EM 9VEM5ZEIBEM:aU2EM:aUJEM:a]:EM:a]Թ i! I! - 2Acoustic response timeouta{ҏ,x_H?AF-@F#@Fzh޼ٱFo VAHRS rotation from veh to nav: [[0.592008,0.787622,0.170817],[-0.805475,0.571091,0.158323],[0.027146,-0.231317,0.972500]]FH? 24?W?r_F?C?`/̛?͛Ϳ`?iF-@IF];FUCtY~pAyUHIe%=)e<bD}VD}s8yE^=%E;=ٔE9III=M.FyMEmEEu>qQ 5}h4uk?Q 9}h4u\j()u3 AYyQ I?u7CIup:iuF:ulh4yBɮB[E*jBjiiziJii kCAkCAkCAh kSZkSZkSZh2f:fBfJfy@ɢ ) K=i) P  i NdIIIO]>1u2Acoustic response timeoutEeP EeDEeCEa"Ee9*Eea99VEe5ZEaa}@a}@a}@a}@a 2ҏ,1H?AY~qAy~5H9yˡE?J +?"~j??=S= 9Q? ףp= ǿp= ף?Y•?yQ8=J~B B)BYBbDVD|8y=%S=ٔQ->9I=.FyEE>Q 5h4͞?Q 9h4t() !AY?Q E3:ybQ I?qCI:i:>zh4yBɮBdE*j Bj i iziJii kAkAkAh) kZkZkZh92fM>:fM>BfMc@JfM~@iɢm.)i m=iq)uqqiuNCyIy2Acoustic response timeoutIIQO=iԙB >B zCB %HB pAB =B B DB ;B EBUɅCBUɄCBUəCBU=BU=CUɧG6 2Acoustic response timeout Ee Q Ee @Ee ?Ea "Ee 29*Ee 9VEe ^4ZEa BEe :am 2Ee :au JEe 0:au :Ee 3:au ҏ, "H?A2l@2b@2 ٱ2` :AHRS rotation from veh to nav: [[0.583012,0.795798,0.163711],[-0.812142,0.565166,0.144954],[0.022830,-0.217467,0.975801]]2H ? .w?~?? ؍?`?˿`9?i2l@I2^;2SCYr`qAyrlHtt ) AA bD VD8y%k=%%U=ٔ-89)I)=-.Fy-E5E5>9Q 5Eh4=Xߞ?Q 9Eh4=P()=!AYIyMQ IM?=CI=p:i=F:=h4yUBɮUBUeE*jiBjiiiiiziiJiqiqԙ k3Bk3Bk3Bh2f:fBfJf5%@ ɢ Gj) =i))11i59I9AIIQIiO>2Acoustic response timeout! Hҏ,;H?A6爣@6݃@6Qٱ64Y BAHRS rotation from veh to nav: [[0.577793,0.800479,0.159338],[-0.815862,0.560972,0.140283],[0.022910,-0.211053,0.977206]]6H@G}?? 0e? |??u?˿FE?i6爣@I6+^;6VCYJqAyJH LLbDVVDV8y^<%^Q=ٔ^VQ-b>9`I`=b.FybEfkEf>hQ 5nh4j0?Q 9nh4j()j"AYlyr܋Q Ir?jCIj;ij;jFh4yvBɮvBvfE*jBjiiziJi i  kcAkcAkcAh ksAksAksAh)E2Acoustic response timeout2fI:fIBfIJfM@ mm>m͑CnGDzD@AEU EBE>E"E:*E(9VE4ZEa-@a-@a-@a-@)aaɢmdyb9YA) W=i)PiⅼIAIIAOE/>qhDAT read: Forwarding Delay UpTx time:19:08:08.8409  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutԙ 0ҏ,UH?A2R@2M@2g Ǽٱ2WT :AHRS rotation from veh to nav: [[0.572362,0.805110,0.155562],[-0.819641,0.556098,0.137637],[0.024305,-0.206283,0.978190]]2H P?v?w? : ?@?@l?~gʿVM?i2R@I2^^;2XCYfqAyfHbDEVDE8y<%>=ٔTQ->9I=.FyEG|E>Q 5h4?Q 9h4()#AYyÌQ I?&CI:i:Sh4yBɮBoE*jBjiiziJii kFkFkFh kGkGkGh2f :f Bf Jf 9@)ɢ-Zq) w=i)Mi̾IB=>B=yCB=HB=qAB==B9B9B=#;B=EU2Acoustic response timeoutA%$AE-S E-AE)E)"E-9*E- 9VE)ZE)BE-:a=2E- :a=JE-:a=:E-:a=IAIYԙOB> 2Acoustic response timeout 7Zҏ,oH?Aɰ2]&@2T!@2ռٱ23Q :AHRS rotation from veh to nav: [[0.567893,0.808862,0.152445],[-0.822688,0.551915,0.136288],[0.026102,-0.202812,0.978870]]2H.,?`2?@T? vSH?q?@j?ɿR?i2]&@I2A^;2WCY^qAy^HbDM-VDM8y%J=ٔQ->9H?IH?=.FyEZE>Q 5h4?Q 9h4(()^$AYyQ I?cCI-:i$:uh4yBɮBpE*jBjiiziJii kcDkcDkcDh ksDksDksDh2f:fBfJfy@1ɢ=BM)9 ==i9)=AAiEAIIAaIqIO>]2Acoustic response timeoutEMY EM@EMAEI"EM:*EM9VEMA4ZEIam@am@au@au@1 Q Dҏ,H?A2@2 @2޼ٱ2rN :AHRS rotation from veh to nav: [[0.565900,0.810701,0.150072],[-0.824025,0.550137,0.135395],[0.027205,-0.200283,0.979360]]2H`? C?`5?@j^?T?ۛ?@ɿ`V?i2@I2^;2VCY^IrAy^HIC=)p;yjt?`"?+?@?== 9Q?~jtx?rh|?Y(|?y;{> B B)BY3BbD8VD8y5=%5@=ٔ=Q)Q-=>9AIA=E.FyEEMYEU>YQ 5eh4]4,?Q 9mh4]ߩ()]1&AYu?Q EuQ:yuiQ Iu?]CI]VP;i]SM;]fh4yɮB*jBji2Acoustic response timeoutiziJii kBkBkBh kBkBkBh)2f} >:f} >Bf}U@Jf}S@ɢSݼ) v>i)Wi0IA5AIAIQYO[>B- >B) B- HB- 1rAB- =B) B) B- Z;B- Eԁ e 2Acoustic response timeoutbE4jE4rE0EE T EE AEA EA "EE 9*EE  9VEA ZEA BEE :aU 2EE :aU JEE :aU :EA aU *lҏ,SH?A0>t@>j@>dzܼٱ>vM JAHRS rotation from veh to nav: [[0.566684,0.810264,0.149474],[-0.823495,0.551051,0.134902],[0.026938,-0.199538,0.979520]]>HF"??!? Z6?tD? ?`sɿ:X?i>t@I>\];9 K?I K?= .FyE*;E>Q 5%h4>?Q 9%h4D()'AY)y-siQ I-?ƠCI:iF:h4y5Bɮ5B5zE*jBjiiziJii kcEkcEkcEh2f:fBfJfrW@ɢ5o_)9 =->i9)=99i=AIAԙAIIOE/>2Acoustic response timeoutԹ > > Aҏ,.H?A@2%@2 @2޼ٱ2=N :AHRS rotation from veh to nav: [[0.567749,0.809506,0.149537],[-0.822754,0.552005,0.135522],[0.027161,-0.199975,0.979425]]2H@*?y?$?S`?X?Л?Øɿ rW?i2%@I2>];2XCYZrAy^<H`bp=b=df@AbDjVDj8yr%rL=ٔv-Q-v>9tIt=z.FyzEzT;Ez>|Q 5h4~R?Q 9h4~h()~q)AY y iQ I ?~CI~:i~:~h4yBɮB{E%2Acoustic response timeout*j1Bj1i9i9zi9Ji9iA k)k)k)hQ k#Ek#Ek#Eha2fq:fqBfqJfuId@频ɢż) ,>i)顡i+ͅIDzDE\ E<E=E"E:*E8VE|4ZEa@aU@aU@aU@A II!IAOm>2Acoustic response timeoutA (~ҏ, H?A24@2/@2;7ۼٱ2P :AHRS rotation from veh to nav: [[0.569341,0.808005,0.151585],[-0.821666,0.553282,0.136912],[0.026757,-0.202501,0.978916]]2H 8?@.?`g?K{?`S?f?ɿHS?i24@I2];0YB sAyFHbDRVDR{8yVA=%VN=ٔZ:Q-Z>9XI\=^.Fy^E^7;Eb>`Q 5fh4bf?Q 9fh4bx()b"+AYhyjohQ Ij?b*CIb:ib-:bh4yYɮ]xBY*jqBjqiyiyziyJii ksCksCksCh2f:fBfJf@ɢX) H>i)jiꅼIB>BBQHBrAB=BBDB;BE-2Acoustic response timeoutAM$AIIQIiO>E U E PE ;E "E :*E ?9VE 4ZE BE :a2E :aJE :a:E :aqԡ  2Acoustic response timeoutIҏ,H?A2F@2A@2mvּٱ2T :AHRS rotation from veh to nav: [[0.571148,0.806118,0.154802],[-0.820430,0.554600,0.138974],[0.026177,-0.206379,0.978122]]2H`F? ??@@I??Κ? jʿL?i2F@I2];2WCY^osAybHll p)pbDvVDv\8y~G@=%~E=ٔ:Q->9H?I H?= .Fy E P;E >Q 5h4|?Q 9h4(),AY!y%gQ I%?^CI;i;gh4y-Bɮ-pB-|Ey*jBjiiziJii k'k'k'h kC@kC@kC@h2f!:f!Bf!Jf%@AɢE~)I M[>iI)MIIiMQIYAmoAzAmnAAAIIԩO">E2Acoustic response timeoutE-X E-EE-@E)"E-~ :*E-A9VE-4ZE)aE@aM@aM@aM@ 7ҏ, H?A.mZ@.dU@.pмٱ.[ :AHRS rotation from veh to nav: [[0.573120,0.803666,0.160171],[-0.819076,0.555721,0.142440],[0.025463,-0.212827,0.976758]].H V??}?5w?v;?@?=˿A?i.mZ@I.g];.TCYNlsAyNHPR?AaE@aE aE@aE aM@aM aM@aM yEFx?A`"?QEK?E=EuA A)EMb@Mb@Mb@IEiE‰EAA EAB)EEYE#BbDmVDmW8y%B=ٔG:Q- >9K?IK?=.FyE;E>!Q 5-i4%?Q 9-i4%()%.AQ A-+:Y)Q E5):y5fQ I5?%CI% ;i%>%i4y=Bɮ=oB=E*jqBjqiyiyziyJiyiy2Acoustic response timeout k$k$k$h9ɢ=f)A E [>iA)EAAie,iIiAyIIOA>)B>BBHBvsAB=BBB;B\EE 2Acoustic response timeoutE5 U E5 AE5 BE1 "E5 :*E5  9VE5 5ZE1 BE5 :a= 2E5 ":a= JE5 :aE :E5 :aE Y 6ҏ,$H?AN.o@N%j@NͼǼٱNa VAHRS rotation from veh to nav: [[0.575209,0.801127,0.165318],[-0.817643,0.557066,0.145386],[0.024380,-0.218798,0.975465]]NHh?֢?`#)?"*`{???̿`7?iN.o@IN];NUCY^sAybHbD-VD-j8ye/<%eM=ٔm12;Q-m>9iIq=u.FyuEu?;Eu>yQ 5i4}[?Q 9i4}r()}Z0AQ A :YQ E :yeQ I?}šCI};i}R?} i4yɮjB*jBjiiziJii kS)kS)kS)h kS)kS)kS)h1颉ɢt) d>i)|7顱iSLIAI IaOe3>2Acoustic response timeoutԉԹ ҏ,s>H?A2F@2=|@2Qٱ2< 2Acoustic response timeoutbD%VD%_8ym%mJ=ٔm;Q-m>9qIq=u.FyuEu;E}>Q 5i4N?Q 9i4() 2AQ A9YQ E9ydQ I?CI:i!?i4yBɮoBE*jBjiiziJii k&k&k&hE[ ECEAE"Ea:*E09VEA4ZEa@a@a@a@ kEkEkEh!ɢ%')! -`>i))-))i-D_1I1ԑAiIqIO>2Acoustic response timeout ҏ, SXH?A@2@2@2ٱ2@l :AHRS rotation from veh to nav: [[0.578000,0.796988,0.175289],[-0.815771,0.558838,0.149056],[0.020837,-0.229150,0.973168]]2H~??o?`@?`@?KV?TͿ@1$?i2@I2];2UCYNsAyRHRa=Ra=bDVDu8ymD=%uJ=ٔ;Q->9I=.FyE'9;E>Q 5i4П?Q 9i4()3AQ A9YQ E9ydQ I?+CIU:iX??i4yBɮgBE*jBjiiziJii k#*k#*k#*h kSFkSFkSFh)ɢ-G)) -t>i1)511i5co9I9B}>B}mCB}HB}sAB}=B}"DB}DB};B}EB=yCB=wCB=˜CB==B==C=62Acoustic response timeoutAIIES EEE>E"E9*EA9VE4ZEBE:a2E :aJEV:a:EV:aO5->iInAI  2Acoustic response timeoutdҏ,,rH?A>H@>?@>g™ٱ>p FAHRS rotation from veh to nav: [[0.578478,0.795675,0.179621],[-0.815482,0.559062,0.149795],[0.018768,-0.233131,0.972264]]>H?+v? ?m?y,?8? =Ϳ?i>H@I>];9xIx=z.FyzE~F:E~>Q 5 i4䟉?Q 9 i4z()M5AQ A9YQ E9ycQ I?\CI@:iJ@i4y%Bɮ%dB%E*j9Bj9i9iAziAJiAiA kCkCkChY kCkCkChi19} r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颡ɢ) )q>i)顩itsI1QAIIO >ԁ_G 52Acoustic response timeout9YEAE V E KE BE "E =:*E ]t9VE 5ZE a-@a-@aM@aU@ԩ ҏ,H?AB_@BV@BٱBks bAHRS rotation from veh to nav: [[0.577512,0.795560,0.183205],[-0.816210,0.558049,0.149608],[0.016785,-0.235934,0.971624]]BHz?:u?Cs? d?^&?@!0?3ο@?iB_@IB];BVCYsAy Haa aa aa aa y(\?:v?(\µn?= 9v/?{Gzt?i|?5Yxi?yף;B >B)xBYpBbDVDs8y<%==ٔP;Q->9I=.FyE7E>Q 5i4?Q 9i4()4AQ AT:Ykk?Q Ef:yzQ I?CI ;i; /i4yBɮbBE*jBjiiziJii kBkBkBh12Acoustic response timeout ksZksZksZh2f =:f =Bf  @Jf de@s5PUpdating rudder angle -0.000000 arcdeg 95r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderQɢUn)Q U{>iY)] YYi]oeaIaApAzAoAAIIO5O>Bu>BuvCBuHButABu=BqBuDBu;BuE- 2Acoustic response timeoutA E U E EE =E "E :*E A9VE |4ZE BE :a 2E :a JE V:a :E V:a Vҏ,H?Aɰ2o@2}j@2&oٱ2Tu :AHRS rotation from veh to nav: [[0.575352,0.796429,0.186200],[-0.817775,0.556080,0.148391],[0.014640,-0.237647,0.971241]]2HIi?X|?h?5+g?u??4kοh?i2o@I2_];2WCYFtAyFHHHTT T)TbD^VD^v8yf<%f\=ٔf4;Q-f>9hIh=j.FyjEnEn>pQ 5vi4r?Q 9vi4r))r3AYtyv{Q Iv?rCIr:ir:riQ)eJI aiim]IIAI IOU2>2Acoustic response timeoutԉԡ 2ҏ,H?A2P@2K@2VMٱ2sv :AHRS rotation from veh to nav: [[0.572315,0.798081,0.188474],[-0.819938,0.553408,0.146427],[0.012558,-0.238340,0.971101]]2HfP?`??<`?`"?޷? οA?i2P@I2];2TCYBPtAyF;HHJAbDRVDRx8yV=%VL=ٔZg;Q-Z>9XI\=^.Fy^E^yEb>`Q 5fi4b?Q 9fi4b ))bT3AYhyj|Q Ij?bCIb:ib :bJi4r2Acoustic response timeoutyvBɮvXBt*jBjiiziJi i  kCkCkCh! kZkZkZh12fA:fABfAJfE(e@ԙET E@E?E"E9*E9VE^4ZEa@a@a@a@ɢ~us) >i)s i6O I AIIO&>2Acoustic response timeout kҏ,BH?A6(@6#@6)ٱ6yu BAHRS rotation from veh to nav: [[0.568320,0.800596,0.189887],[-0.822742,0.550027,0.143409],[0.010370,-0.237730,0.971276]]6H`/?|?8N?Sҙ?`8[?9IIQ=U.FyUEU<EU>YQ 5ei4])?Q 9mi4]))]2AYiym}Q Im?]CI]8:i]:]Xi4yuBɮ}RB}E*jBjiiziJii k3Bk3Bk3BhBE>BExCBE2HBEAtABE=BE!DBEDBE;BE\E k]k]k]h2f:fBfJfd@ɢ>僼) ԋ>i)o i#)I12Acoustic response timeoutbEU^4jEU^4rEUS0Ez ELEE"El:*E|9VEZEBE;a2E;aJEt:a:Eu:a!AyIIOB>Qy  2Acoustic response timeout~Dҏ,.tH?A2@2@2ٱ2&t :AHRS rotation from veh to nav: [[0.563615,0.803636,0.191070],[-0.825997,0.546002,0.140040],[0.008216,-0.236752,0.971535]]2H! ?b?@t? nx??@Ӏ?`Mο?i2@I2];0YfUtAyf>HbDEVDE`8yȫ%F=ٔA;Q->9I=.FyEcE>Q 5i4;?Q 9i4c))1AYyNQ I?JCI-:i$:4gi4yBɮUBE*jBjiiziJii k#^k#^k#^h k3^k3^Qk3^h2f:fBfJf?ud@ɢXBv) >i) (  i 􅼉IAaIiIyԁO>>%=4=%2Acoustic response timeoutER E?E@E"Es9*E?9VE4ZEa @a @a @a @ԩ j-ҏ,S H?A>Ƣ@>@>лٱ>pr FAHRS rotation from veh to nav: [[0.558427,0.807239,0.191114],[-0.829529,0.541620,0.136120],[0.006370,-0.234548,0.972084]]>H?`?@pv?`T?bl?@jz?ο O?i>Ƣ@I>^;=ٔM;Q-M>]2Acoustic response timeout9aIa=e.FyeEernEm>ԱiQ 5i4mL?Q 9i4m&))m1AY(?Q E;:ypQ I?mCIm ;im ;mDvi4yɮTB*jBjiiziJii kS_kS_kS_h1 kS_kS_kS_hA2fUa">:fUa">BfU@JfU&y@qɢu u)q uc>iq)ub yyi}yIAIIIO%M>B>B|CBKHBjtAB=BBDBi;BE  2Acoustic response timeoutE S E AE E "E 9*E  9VE ZE BE :a 2E :a JE :a :E :a 1 V ҏ,0+'H?A2@2@2ٱ28n :AHRS rotation from veh to nav: [[0.553085,0.811197,0.189886],[-0.833111,0.537178,0.131782],[0.004898,-0.231083,0.972922]]2H@߲?S?@0N?`ר`0?;?mt?Ϳ,"?i2@I2];2UCYFBtAyF2HbDRVDR>8yV'%Vi=ٔZN;Q-Z>9XI\=^.Fy^E^–Eb>`Q 5fi4bZ?Q 9ji4bX0))by0AYhyj7Q Ij?bCIb:ib:b{i4ynBɮrUBrE*jxBjxixi|zi|Ji|i| k#]k+]=k#]h k#]k#]k#]h!2f1:f1Bf1Jf59wx@ ɢ Y`)  J>i)11i5AIAAIIO*>e2Acoustic response timeout9i >ҏ,AH?Aɰ;2[@2V@2p ٱ2o :AHRS rotation from veh to nav: [[0.547553,0.814444,0.192009],[-0.836761,0.531831,0.130330],[0.004030,-0.232028,0.972701]]2H@?`? ??? p?`Ϳ] ?i2[@I2];2YCTb2Acoustic response timeoutYftAyfuHbDrVDrJ8yv=%vF=ٔz ;Q-z>9xI|=~.Fy~E~E>Q 5 i4j?Q 9i4x;))/AYyQ I?CI:i9:i4yɮ%HB!*j1Bj1i1i9zi9Ji9i9 k`k`k`hQ k`k`k`ha2fq:fqBfqJfuw@频E] EGE=E"E:*ER9VE|4ZEa@a@a@a@ɢ| K) >i)piOMIԱA!I1IAOu>u2Acoustic response timeout hҏ,mZH?A2a)@2X$@2]ٱ2jw :AHRS rotation from veh to nav: [[0.542402,0.816114,0.199395],[-0.840112,0.525944,0.132644],[0.003382,-0.239460,0.970900]]2H[[?`? ƅ?2?@x?k? ο`?i2a)@I2^;2WCYFtAyFHTT T)TIZ<)XbDbVDb28yf; =%jL=ٔjj:Q-j>9hIl=n.FynEE3tEE>IQ 5Ui4Mz?Q 9Ui4MF))M.AYQyUQ IU?M2CIM;iM;MLi4yeBɮeTBeE*jqBjyiyiyziyJiyi k]BA<B >BCBdHBtAB=B DBDB;BEk]k]h2f:fBfJfi)iI!R=2Acoustic response timeout!AIIEP EAE?E"E9*E 9VE^4ZEBEq:a2Ev:aJE:a:E:aO%>1a  2Acoustic response timeoutҏ,0tH?A65@6,@6:Xٱ6v >AHRS rotation from veh to nav: [[0.537865,0.819241,0.198862],[-0.843025,0.521756,0.130688],[0.003308,-0.237938,0.971275]]6H/6?87?Ot? @:?f?k?@tο?i65@I6l];6VCYFtAyF}HbDRVDRJ8yZ2Լ%ZL=ٔZA9Q-^>9\I\=b.FybEbcEb>dQ 5ji4f񉠉?Q 9ji4f&Q))f<.AYhynQ In?fjCIf;if;fܬi4yrBɮrGBrE*j|Bj|i|iziJii kc\kc\kc\h ks\ks\ks\h)ԁ2f:fBfJf_v@ɢzD) >i!)%!!i%Pք)I)IQIaO>ԡ2Acoustic response timeoutD=D<EQ E@E@E"E29*E9VE4ZEa@a@a@a@! z#ҏ,pH?A2ա@2wШ@2ٱ2+i :AHRS rotation from veh to nav: [[0.533770,0.824170,0.189295],[-0.845619,0.519114,0.124293],[0.004173,-0.226415,0.974022]]2H`?`_?:? P?ѿ?tq?.̿0+?i2ա@I2)^;0Yn;uAynHr=r=yGz?J +?{Gz?p?H=#< 9V-?MbYh?yB B)3BYBbDVD`8y  =%6==2Acoustic response timeoutٔ}VQ-}>9I=.FyE+E>Q 5i4y?Q 9i4]))l.AYJ?Q E9:y܎Q I?CI3:i:i4yBɮ9BE*jBjiiziJii k\k\k\h kvkvkvh2f>:f>BfdԱ@Jfr@!ɢ%-)! %}>i))-d))i-1I1I I!Oe5>B>BzCBHBtAB=B!DBDB<;BhEB}zCB}zCB}ǗCB}=B}=C}ǻ:7I 2Acoustic response timeoutE S E HE >E "E 9*E [9VE 4ZE BE :a 2E :a JE U:a :E V:a y )ҏ,rH?A2@2@2ٱ2Qa :AHRS rotation from veh to nav: [[0.530893,0.827563,0.182459],[-0.847425,0.517204,0.119881],[0.004841,-0.218264,0.975878]]2H ?f{?Z??`? s?˿c:?i2@I2^;2WCY^kuAybH IIbDmVDmg8y<%Q=ٔ(Q->9I=.FyEE>Q 5i4?Q 9i4g)).AYyPQ I?CIpN;i Z;Vi4y ɮ 3B *j)Bj)i1i9zi9Ji9i9Q ks]ks]ks]hi2f1:f1Bf1Jf5P}@Yɢe)a ev>ia)eiiimEqIqIIOe>M2Acoustic response timeoutԁQU>ԩ l> I a y ڢ9 Y A 0ҏ,QMH?A2ֱ@2ά@2ٱ2] :AHRS rotation from veh to nav: [[0.530083,0.828683,0.179715],[-0.847932,0.516830,0.117888],[0.004809,-0.214876,0.976629]]2Ho?`??B"߉?@-?`s?˿`@?i2ֱ@I2R?^;2XCR2Acoustic response timeoutEU EDEBE"E:*Ea99VE5ZEa@a@a@a@ԱY JuAyHbD}VD}l8y䎼%.=ٔ8Q->9I=.FyEE>Q 5i4?Q 9i4t)).AYyqQ I?*CI:i$:i4yBɮ4BE*jBjiiziJii kS_kS_kS_h kwkwkwh)2f9:f9Bf9Jf=s@ɢ) B>i)Xig!I)IIO%M>UIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIEDU8Ack receipt timeout failure.U2Acoustic response timeout 9 06ҏ,&H?Aɰ:[@:S@:Aٱ:Q Z BAHRS rotation from veh to nav: [[0.530759,0.828865,0.176856],[-0.847512,0.518003,0.115743],[0.004323,-0.211319,0.977408]]:H@? ?7?z?M?q?` ˿`F?i:[@I:#,^;:WC H)HJHHHNvAiN/]ILLIPiP RP)PP RbvATVqFTTTIT)XiX)XIZfvAZ/]X X\^lA\i\`i``)` `IdYdYjuAyjHllbDvVDvS8y~=%~=ٔ :Q- ?9!I)=-.Fy-E5f#;E5 ?9Q 5Ei4=vΠ?Q 9Ei4=7}))=.AYAyMYQ IM?=YCI=:i=:=i4yQɮU'BQA]AAAYBe>Be|CBeHBe5uABe=BaBeDBe;Be)E*jBjiiziJii ks^ks^ks^h kukukuhQ2fa:faBfaJfe y@颡ɢ|m) >i)U顩i?eII9IIO}=In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutET EAE?E"E9*E 9VE^4ZEBE:a2E:aJE:a:E:a9i e pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITe 2Acoustic response timeout<ҏ,H?A 2ǡ@2¨@2pٱ2cU >AHRS rotation from veh to nav: [[0.532342,0.828618,0.173220],[-0.846522,0.520185,0.113174],[0.003671,-0.206882,0.978359]]2H ?` ?,?[?@?n?`{ʿN?i2ǡ@I2[^;0YuAyHI%<)%;bD5VD5s8yE;%EF=ٔED:Q-E>9III=M.FyMEUܕ;EU>YQ 5ei4]ߠ?Q 9ei4]A))]/AYayeQ Im?]CI]:i]L:]i4yuBɮu)BuE*jBjiiziJii k#]k#]k#]h kvkvkvh2f:fBfJf@ɢ8) k>i)7iXIIIO%=iԡzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutES ECE>E"E9*E09VE4ZEa@a@a@a@ Cҏ, H?A.ޡ@.٨@.;ٱ.wR :AHRS rotation from veh to nav: [[0.534657,0.827506,0.171395],[-0.845065,0.522856,0.111746],[0.002855,-0.204586,0.978845]].H?z?@G? `=?@^?`cg?/ʿR?i.ޡ@I.!^;.XCLY~uAyHa@a a@a a@a a@a yB`"?A`"?V-n?= )Mb@Mb@Mb@Ii‰ B B)Y܉BbDVDq8yG%@=ٔ:Q->9I=.FyE;E>Q 5 j4?Q 9 j4))*/AQ A +:Y Q E :yŎQ I?ӥCI:2Acoustic response timeouti>#j4y%Bɮ%&B-ȾE*j9Bj9i9iAziAJiAiA k^k^k^hY颁ɢOܻ) >i)顉i~=IAIIO%>B]8>B]CB]HB]uAB]=BYB]DB]&;B]E 2Acoustic response timeout! bE)jE)rE-ʃ/E V E AE =E "E =:*E  9VE |4ZE BE :a 2E :a JE :a :E :a %Iҏ,) H?A2)@2!@2oٱ2T :AHRS rotation from veh to nav: [[0.536833,0.825723,0.173181],[-0.843687,0.524965,0.112268],[0.001789,-0.206380,0.978470]]2H-?Sl?@*?{??M]? jʿ O?i2)@I2 ^;2YCYb*vAyf^Hr=r=| )bD-VD-c8yE{=%EU=ٔM06;Q-M>9QIQ=].Fy]Ee;Ee>iQ 5}j4m?Q 9}j4m))mJ/AQ A :YQ E9ypQ I?m CImb;imeP?mj4yɮB*j)Bj)i)i)zi)Ji)iQ kS]kS]kS]ha kc]kc]kc]hɢp) \>i)Ui,I)%2Acoustic response timeoutA=$AIAIYO9>qԙ Pҏ,C H?A6@6x@6ٱ6[ >AHRS rotation from veh to nav: [[0.539029,0.823143,0.178560],[-0.842287,0.526668,0.114775],[0.000435,-0.212266,0.977212]]B2Acoustic response timeout6H??@/W?` ?w?a?|H ddbDjVDjz8yr%vQ=ٔvb;Q-v>9zH?IzH?=z.FyzEz;Ez>|Q 5j4~?Q 9 j4~))~h/AQ A 9Y Q E 9y Q I ?~DCI~U:i~ؙ?~4j4yBɮ BɾE*j1Bj1i1i1zi1Ji9i9 k`k`k`hQDYzDYEeT Ee>Ee?Ea"Ee9*Ee9VEe^4ZEaam@au@au@au@ k`k`yk`h颡ɢJ) >i)顱iIA AII1O>ԩ52Acoustic response timeout Wҏ,?p] H?A2@2 @2:ٱ26` BAHRS rotation from veh to nav: [[0.540111,0.821382,0.183334],[-0.841593,0.527455,0.116244],[-0.001220,-0.217077,0.976154]]2HH?@H? w?@T`?`#½?S/˿^;2YCYVuAyVHB<AB>BCBHBuAB=B DBDB;BEbD-VD-8y5V"%=E=ٔ=ɂ;Q-=>9EK?IEK?=E.FyEEEK;EM>IQ 5Uj4M$?Q 9]j4M))M/AQ A]9YYQ E]9y]덿Q I]?MCIM ;iM?Mpj4ymBɮm$BmӾE*jBjiiziJii kC^kC^kC^h kS^kS^kS^h^B*** querying acoustic contact ***XYɢ6) P>i)i탼I2Acoustic response timeoutA!I1IAIaEmS EmAEm@Ei"Em9*Em 9VEm4ZEiBEm:a}2Em:a}JEm:a}:Em:a}O>1E 2Acoustic response timeoutY .]ҏ,oKw H?Aɰ49I=.FyE\λE>Q 5j4g6?Q 9j4))/AQ A9YQ E9y:Q I?CI:i4@j4yBɮ!BԾE*jBjiiziJii k]k]k]h k]k]k]h!1QɢU)Q U>iQ)] 7YYi]/aIaA$AIIiO;>ߝ=ߝ%=2Acoustic response timeoutE}U E}?E}?Ey"E}:*E}?9VE}^4ZEya@a@a@a@ԑԹ dҏ,& H?ABxߡ@Bpڨ@Br;ٱBn NAHRS rotation from veh to nav: [[0.534795,0.821421,0.198145],[-0.844963,0.521431,0.118943],[-0.005616,-0.231035,0.972929]]BH` ?I?\? ?s?`wͿ`<"?iBxߡ@IBJ^;BUCYVuAyVCHI=)9-H?I-H?=-.Fy- E5E5>9Q 5Ej4=I?Q 9Ej4=))=/AQ AET:YE?Q EEK:yMQ IM?=CI=0;i=:=5*j4yQɮUBQ*jiBjiiqiqziqJiqiy kS_kS_kS_hԑ kS_kS_kS_h2f7>:f7>Bfu@Jf8@ɢc) Կ>i)1ihIA!I)I9Ou6>B>BtCBBB=B!DBDB;BE 2Acoustic response timeoutE T E E BE "E 9*E VE 5ZE BE :a 2E :a JE D9a :E I9a  Ajҏ, H?Afk@fc@fq;ٱfRs rAHRS rotation from veh to nav: [[0.530860,0.822815,0.202886],[-0.847430,0.517401,0.118989],[-0.007068,-0.235098,0.971946]]fH`?T?@'?%@? v?`|@ο.?ifk@If^;fYCY~uAy~2HbDVDy8y%>%%\=ٔ-;Q-->9)I1=5.Fy5 E5LE5>9Q 5Ej4=Z?Q 9Ej4=))=0AYIyM1Q IM?=(CI=p:i=g:=57j4yUBɮY]޾E*jiBjqiqiqziqJiyiy k#_k#_k#_h k#_k#_k#_h2f:fBfJfK"@ɢh#) J>iq)ueqqiu`-yIyAII 2Acoustic response timeoutOU2>I +qҏ,W H?A$$22Acoustic response timeoutJR@JJ@J`<ٱJjr fAHRS rotation from veh to nav: [[0.526697,0.825205,0.204028],[-0.850004,0.513846,0.115998],[-0.009117,-0.234520,0.972069]]JH?h??<3lq? ? 輸ο/?iJR@IJb ^;JXCYn*vAyn^HbDzVDz8yP5=%L=ٔ ŧ;Q- >9 I =.FyEWHE>Q 5%j4l?Q 9%j4))L0AY)y-҃Q I-?]CI:i:3Ej4E=Q E=CE=@E9"E=29*E=09VE=4ZE9aE@aE@aE@aM@yIɮMBI*jaBjaiiiiziiJiiii k_k_k_h k_k_k_h2f:fBfJf@ɢy) \>i)iႼIiAIIO5 >ԑhDAT read: Forwarding Delay UpTx time:19:08:22.9394 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeout Wwҏ,C H?A6bf@6Za@69<ٱ6l >AHRS rotation from veh to nav: [[0.522223,0.828779,0.201018],[-0.852734,0.510596,0.110167],[-0.011334,-0.228946,0.973373]]6H ?`\?@?@I`V?3?q6@NͿ@%?i6bf@I6#^;4YFvAyFOHAN@AALBR>BRvCBPBPBR=BPBRDBR;BREBe|CBe{CBeCBe=Be=Ce7\ll l)l ppr=r=bDvVDv8y}l%}C=ٔ}V;Q-}>9I=.FyELE>Q 5j4?Q 9j4))0AYyQ I?CI[:i1:Sj4yBɮB߾E*jBjiiziJii k]k]k]h k]k]k]h2f:fBfJfrւ@!ɢ%H.))) -C>i))-wB11i51I9m2Acoustic response timeoutIAIYO>EU E>E;E"E:*E9VE4ZEBE:a2E:aJE#9a:E(9a 9  2Acoustic response timeout|}ҏ, H?A2:@25@21n[<ٱ2b :AHRS rotation from veh to nav: [[0.517677,0.833112,0.194769],[-0.855471,0.507586,0.102591],[-0.013393,-0.219729,0.975469]]2Hΐ?ڨ? 4?`@%>?dC?`m ̿ 7?i2:@I2. ^;0Y^vAybMHbDjVDjy8yr%rU=ٔvį;Q-v>9tIt=v.FyvEzbEz>|Q 5j4~א?Q 9j4~ ))~0AYy ?Q I ?~ɧCI~:i~:~@aj4yBɮBE*j1Bj1i1i1zi1Ji9i9 k\k\k\hQ k\k\k\h2f:fBfJf)@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997%o%XAggregate::initialize marl:UpdateCommandMode18%]!18%o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n-LAggregate::initialize marl:UpdateSpeed7-])7-n-4Completed marl:UpdateSpeedq7-n-PAggregate::uninitialize marl:UpdateSpeedaɢe` )i m>ii)m˵iiiunIAzArA =qAIqS9qAY2Acoustic response timeoutiIpAqES EAEBE"E9*E 9VE5ZEa@a@a@a@ԡ dҏ,n H?A2@2 @2uC{<ٱ2\ :AHRS rotation from veh to nav: [[0.513367,0.836631,0.191055],[-0.858032,0.504381,0.096852],[-0.015335,-0.213652,0.976789]]2Hm?@?@t?t`#?@L˸?hX˿A?i2@I24:^;0YvUvAyvyHxz@Ay2Acoustic response timeouty ףp= ?i|?5?ʡE?Q?== 9i|?5?Q?bX9?Y?y<E6>B B)BYBbDVDt8y  =%9=ٔԏ;Q->9I=.FyE%9E%>)Q 55j4-ר?Q 95j4- ))-1AY5|?Q E58:y=xQ I=?- CI- ;i-C ;-pj4yEBɮE BEE*jBj=iiziJii k[k[k[h2f%>:f%>Bf%@Jf%1@sMNUpdating rudder angle 6.875493 arcdeg 9MrU6Completed marl:UpdateRudder19U rURAggregate::uninitialize marl:UpdateRudderiɢmP) >i)ik =IԡIIOG>B>B}CBEHBvAB=BBDB;BE 2Acoustic response timeoutE N E CE :E "E m9*E 09VE (4ZE BE p:a 2E p:a JE 9:a :E 9:a  ҏ,'L, H?AFx@Fp@F<ٱFoV RAHRS rotation from veh to nav: [[0.510380,0.839332,0.187171],[-0.859784,0.502312,0.091947],[-0.016844,-0.207855,0.978015]]FH U??6?@Y? ۉ?? ʿK?iFx@IF1^;DYZvAyZHI4=);bD-VD-d8y =%R=ٔ};Q->9I=.FyEE>Q 5j4н?Q 9j4*)2AYyzQ I?BCI9:i$:S~j4yBɮBE*jBjiiziJii k\k\k\h  k]k]k]h2f):f)Bf)Jf-@IɢM;)I M>iI)UgiQQiU@YIYIqIO=2Acoustic response timeout)Y zҏ,1F H?A4??"2Acoustic response timeout>G֠@>?ѧ@>><ٱ>3 S FAHRS rotation from veh to nav: [[0.507110,0.841943,0.184316],[-0.861732,0.499268,0.090270],[-0.016020,-0.204608,0.978713]]>H>:?1? ?P??@g 0ʿQ?i>G֠@I>@_^;9I=.FyEE>Q 5j47ӡ?Q 9j4 *)3AY!y%4{Q I%?}CIiA)E߼aaimɀiIqIIO% >Y2Acoustic response timeoutԉԹ ҏ,_ H?AB& >B&CB&wHB&RvAB&=B$B&DB&X;B&~ER}Ǡ@Ru§@RZt<ٱR\WQ ZAHRS rotation from veh to nav: [[0.505562,0.843262,0.182525],[-0.862662,0.497698,0.090066],[-0.014893,-0.202991,0.979067]]RH-??\?G?`?` ɿT?iR}Ǡ@IR #^;RUCYfvAyfHja=ja=bDrVDrx8yz{7<%zT=ٔz?Q-z>9|I|=~.Fy~E=E> Q 5j4 硉?Q 9j4 _*) 4AYy{Q I? CI :i : ˙j4y%Bɮ%B%E*j1Bj1i9i9zi9Ji9iA kEkEkEhQ ks\ks\ks\hi2fy:fyBfyJf}@频ɢl;) >i)0ݼ顡iهIԑU2Acoustic response timeoutbE4jEu4rE1EuR EuJEqEq"Eus9*Euk9VEqZEqBEu:a2Eu:aJEu:a:Eu:a^AqZ;AMAIYIiO> 2Acoustic response timeout ˝ҏ,y H?A2xʠ@2pŧ@2Y`<ٱ2 R :AHRS rotation from veh to nav: [[0.505885,0.843078,0.182482],[-0.862492,0.497731,0.091491],[-0.013693,-0.203673,0.978943]]2H50?`?[?? k?` ʿS?i2xʠ@I2];2XCYBvAyFH HHbDRVDR[8yV:[=%ZO=ٔZFQ-Z>9^K?I^K?=^.Fy^!E^q:Eb>`Q 5fj4b?Q 9jj4bC *)b5AYhyj{Q Ij?bCIb:ib1:bj4yBɮ=B=E*jQBjYiYiYziYJiaia k_k_k_hq k_k_k_h2f:fBfJf@ɢ 9;) >i!)%Bڼ!!i%;)I)^AhW<AE$AIYIiO;>e2Acoustic response timeoutE}V E}DE}AEy"E}=:*E}a99VE}A4ZEya@a@a@a@I ҏ, H?A2pܠ@2hק@2OG<ٱ2U >AHRS rotation from veh to nav: [[0.507785,0.841499,0.184481],[-0.861398,0.498980,0.094935],[-0.012165,-0.207118,0.978240]]2H???@? J?M?鈿`ԂʿM?i2pܠ@I2^;2WCYFvAyJHyI +?Q?J +?9T?(>H= 9NbX9?I +?K7A`?Ye?y9=+>|B B)BYBbD5VD5]82Acoustic response timeouty %9=ٔNbQ->9H?IH?=.Fy$Ex;E>Q 5j4?Q 9j4(*)z6AYj?Q Eg:ygQ I?"CI. ;i3:j4y Bɮ B E*j!Bj!i!i!zi)Ji)i) kZkZkZhA kZkZkZhQ2fe4 >:fe4 >Bfe@Jfe+@颁ɢ 1;) >i)5R׼顉iIQ^Aзe=AIIOL>BE>BECBEHBEzvABE=BABEDBE;BEHEym 2Acoustic response timeoutԩ E Q E EE @E "E 29*E A9VE 4ZE BE :a 2E :a JE V:a :E W:a ܪҏ,ڎ H?A&4<ɰ$@R@R@RB<ٱR͙\ ZAHRS rotation from veh to nav: [[0.509102,0.839746,0.188793],[-0.860652,0.499134,0.100713],[-0.009659,-0.213758,0.976839]]RH J?@2?`Z*? v?Xȹ?<ȃk\˿CB?iR@IRl];RXCYvvAyvHxz?A!! !)!bD5VD5Q8yE;%EU=ٔEջQ-E>9III=M.FyM&EM+;EU>QQ 5]j4U#?Q 9ej4U/*)UO7AYayefQ Ie?UOCIU;iUe;U}j4yiɮuBq*jBjiiziJii kYkYkYh kZkZkZh2f!:f!Bf!Jf%W@AɢE;)A E>iI)M"ԼIIiMQIQ@epA@eqA^A5L=ԩ2Acoustic response timeoutAeAIiIyIO?> Yűҏ,zm H?A2Acoustic response timeout6֠@6 ѧ@6u;ٱ6-m BAHRS rotation from veh to nav: [[0.507145,0.838038,0.201237],[-0.861841,0.494691,0.111854],[-0.005812,-0.230161,0.973135]]6H:?@4?%?`3`?x? wuͿ#?i6֠@I6^;4YjvAynHpIv%>)v<bDzVDzB8y%N=ٔ Q- >9 K?I K?=.Fy)E꼻E>)Q 5Ej4-6?Q 9Mj4-07*Q =MtI)-/8AYQyUfQ IU?-}CI-f;i-q;-mj4yeBɮamE*jBjiiziJii k]k]k]h2f:fBfJfBc@ɢ%>w;)! %>i!)%Ѽ!)i-5)EuO EuBEu>Eq"Eu9*Eu(9VEu4ZEqa}@a}@a}@a}@I1 ^A=9iIA2Acoustic response timeoutA I I! O] >a B= 8>B= CB9 B9 B9 B9 B= DB= k;B= Eyҏ,H H?A2@2@2߰:ٱ2- :AHRS rotation from veh to nav: [[0.501736,0.835747,0.223131],[-0.865020,0.485158,0.127915],[-0.001349,-0.257192,0.966359]]2H8?q??@> ? _?Vuпj?i2@I2];2ZCYFovAyFH9bD]VD]S8y&%A=ٔ[,Q->9I=.Fy+ErE>Q 5j4J?Q 9j4?*)9AYyKgQ I?CI:i:1j4yɮB*jBjiiziJii k^k^k^h  k^k^k^h!2f1:f1Bf1Jf5A@IɢU&;)Q U>iQ)]ϼYYi]aIa=2Acoustic response timeoutiES EAEEE"E9*E 9VE 5ZEBE :a2E:aJE:a:E:a^AYԙAIIO>  2Acoustic response timeoutOҏ," H?A2U@2P@2Dٱ2$ۖ :AHRS rotation from veh to nav: [[0.493582,0.832650,0.251141],[-0.869694,0.471557,0.145830],[0.002998,-0.290395,0.956902]]2H ٖ?? ?@-??1h?ӕҿ?i2U@I2 ^;2XCYF vAyFKHHHbDVDz8yE%MP=ٔM5Q-M>9IIQ=U.FyU.EUjļEU>ԙQ 5j4]?Q 9j4F*)9AYy[hQ I?ݩCI:iR:Pj4yBɮBE*jBjiiziJii k\k\k\h  k\k\k\h!2f9:f9Bf9Jf=l@iɢmY:)q u`>iq)uo̼yyi}yIM2Acoustic response timeout^A=EW E@E@E"E :*E9VE4ZEa@a@a@a@ A$AII O= > ҏ, H?A6@6@6ϻٱ6 BAHRS rotation from veh to nav: [[0.484023,0.829033,0.280046],[-0.875032,0.456238,0.161756],[0.006334,-0.323343,0.946260]]6H`:?p?@G? D 3?o?ry?ԿG?i6@I6H];6ZCYJvAyJMH ||y}T㥛 ?S㥫V-ǿ}A?}/]}|?y y9}ףp= ?~jtx?mͿY}>?y};}ny}B }ϒB)}FByY}fB2Acoustic response timeoutbDVDi8y;%D=ٔQ->9=H?I=H?=E.FyE1EERμEE>IQ 5Uj4Mh?Q 9Uj4MRN*)M8AY]G?Q E]:y]MQ I]?MCIM\ ;iM ;Mj4yaɮai*jyBjyiyiziJii k\k\k\h k\k\k\h2f=:f=Bf?Jf,5?ɢ:) >i)ɼi I!BQ>BCBwHBRvAB=B DBDB;B؄EBŀCBŁCBŖCBŻ=Bż=Cŭ6^AU=AzAnAQM 2Acoustic response timeoutA AI I O= >E Z E <E JE "E :*E 8VE 5ZE BE g;a 2E j;a JE 9a :E 9a y ;+ҏ,{. H?A2]@2U@2pٱ2 A :AHRS rotation from veh to nav: [[0.473124,0.825315,0.308235],[-0.880958,0.439956,0.174219],[0.008176,-0.353969,0.935221]]2H G?h??@0@<(?L??nֿ U?i2]@I2];2XCYnuAynHbDzVDz[8yY%V=ٔ Q- >9 K?I K?= .Fy 3E\ E>Q 5%k4Sq?Q 9%k4T*)G7AY!y-Q I-?)CI:i: k4y5Bɮ5B5 E*jIBjIiIiIziIJiIiQ k3^k3^k3^ha kC^kC^kC^hy2f:fBfJf3?颡ɢ :) k>i)Ǽ顩iJ^IQ2Acoustic response timeoutԁ^AAII  %l>!GMrA69MrAY AO > ] 2Acoustic response timeoutҏ,`H H?AB@B@B ٱBƾ RAHRS rotation from veh to nav: [[0.460031,0.823209,0.332713],[-0.887863,0.422946,0.181153],[0.008407,-0.378739,0.925465]]BH'q?W? *K?`_i ?0?7?C=ؿ@i?iB@IB^;BUCYbRuAybHD1zD1EET EEFEE@EA"EE9*EE;J9VEE4ZEAaM@aM@aM@aM@ddbD}VD}#8y_t%?=ٔ Q->9I=.Fy6E E>Q 5k4 {?Q 9k4\*)5AYyQ I?RCI(;i);k4yɮ)B*jBjiiziJii k^k^k^h k^k^k^h!2f9:f9Bf9Jf=K?2?Qɢ]jк)Y ]]>iY)]ЂżYaie;aI^A2Acoustic response timeout>! A9 II IY O >B A <B ^>B CB ^HB )vAB =B B DB (;B E<ҏ,b H?A6Ҙ@6˓@6{ٱ6TZѾ >AHRS rotation from veh to nav: [[0.445634,0.822972,0.352317],[-0.895172,0.405770,0.184441],[0.008830,-0.397578,0.917526]]6HE? U?@]?>"? ƛ??qٿ_\?i6Ҙ@I6g^;6WCYFFuAyJHXX X)ZbDbvVDb8yj%j[=ٔjGQ-j>9lIl=n.Fyn8Er0Er>tQ 5zk4v?Q 9zk4vc*)v4AYxyz͜Q Iz?vvCIv:iv:v&k4yɮ+B*jBjiiziJii! kc^kc^kc^h1 kc^kc^kc^h2f:fBfJf/?ɢ)1 5Ѩ>i9)=bü99i=ŀAIA2Acoustic response timeoutQEUR EUAEU=EQ"EUs9*EU 9VEU|4ZEQBEU:ae2EU:amJEU:am:EU:am^AyԁA_?AY?AIIO >ԩ  2Acoustic response timeoutnҏ,| H?A20 @2)@2:8ٱ2Rؾ8 >AHRS rotation from veh to nav: [[0.430089,0.825083,0.366417],[-0.902736,0.388734,0.184266],[0.009596,-0.410029,0.912022]]2H?`g?`bs?5? ??=ڿH/?i20 @I2+^;0YF*uAyJHbDRKVDR8yZnj%ZK=ٔ^iQ-^>9\I\=^.Fy^;Eb)0Eb>dQ 5jk4f8?Q 9jk4f]k*)f=3AYhynQ In?fCIfH;ifv;f4k4ypɮr.Bp*j|Bj|i|i|zi|Jii k\k\k\h k\k\k\h!2f9:f9Bf9Jf=Ou,?Qɢ]@)Y ]G>iY)]\aaieaIiԡ^A%2Acoustic response timeoutEQ EUEEUEEQ"EQ*EUA9VEU 5ZEQa]@a]@a]@a]@AII!O]> Oҏ,F H?A6U}@6Nx@6&ٱ6wھ BAHRS rotation from veh to nav: [[0.414391,0.830061,0.373202],[-0.910042,0.373334,0.180125],[0.010186,-0.414271,0.910096]]6H_?ۏ??@?T?`8܄? lڿ?i6U}@I6^;6VCYJtAyJHLLl}2Acoustic response timeouta@a a@a a@a a@a yK7?Zd;OͿMbI?~j )Mb@Mb@Mb@Ii‰~B )Y ~BbD?VD8ynC%<=ٔQ->9I=.Fy=E#E>Q 5k4?Q 9k4s*)1AQ A+:YQ E\:y䡿Q I?ƪCIc2;i&>2Ak4yBɮ4BE*jyBjyiiziJii k\k\k\hɢ-h) >i ) 1  i 31I1 Bn>BCBEHBvABBBDB;;B E1^A= 2Acoustic response timeoutA I I! bEM4jEM45rEM1E} W E} DE} BEy "E} :*E} a99VE} 5ZEy BE} 3:a 2E} 8:a JE} pH:a :E} rH:a  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I ԩ O >qyҏ, H?A2 @2@2x(ٱ2ތپ :AHRS rotation from veh to nav: [[0.398634,0.837242,0.374322],[-0.917052,0.359317,0.172935],[0.010288,-0.412210,0.911031]]2H8?? ?`~X ?`"??aڿ)'?i2 @I2&^;2XCYFtAyFHbD /VD 8yEG%MQ=ٔM{Q-M>9IIQ=U.FyU@EU(5EU>YQ 5ek4]?Q 9ek4]z*)]0AQ Am :YiQ Em2:ymQ Im?]CI]:i]S?]%Jk4yyqɮ}7B*jBjiiziJii kCDkCDkCDh k^k^k^hɢκ) 9>i)NiiI2Acoustic response timeoutԩ^A=A!zA%oAAIIYIiO> E %=E <M 2Acoustic response timeoutgdҏ, H?AJb@J]@Jy)ٱJ Ծ RAHRS rotation from veh to nav: [[0.382743,0.846981,0.368960],[-0.923797,0.346392,0.163132],[0.010364,-0.403282,0.915017]]JH@~?w?@ ?I+?@?@9?^ٿ@G?iJb@IJ^;JZCY^tAy^HE]V EYE]EEY"E]=:*EYVE] 5ZEYam@am@am@am@bDFVD8y<%B=ٔ>Q->9I=.FyCE;(E>Q 5k4١?Q 9k4*)/AQ A9YQ E:yߥQ I?CI ;iڟ?Qk4yɮ2B*jBjiiziJii kcFkcFkcFh1 k_k_k_hAiɢm)q uO>iq)u:0qqiuyI^A=2Acoustic response timeout)AII O5 >Y B} |>B} CBy By B} =By B} DB} ;B} Esҏ, H?ABԛ@BϢ@B#1ٱB_ξ NAHRS rotation from veh to nav: [[0.366668,0.857231,0.361538],[-0.930289,0.333312,0.153185],[0.010810,-0.392503,0.919687]]BH}w?@on?@q#?`T?? #?ٿn?iBԛ@IB];BXCYV+uAyVHXXbDbVDb8yj/=%j[=ٔjQ-n>9lIl=r.FyrEErM>Er>tQ 5zk4v?Q 9zk4v*)v-AQ Az9Y|Q E~9y~Q I~?v8CIv ;ivs?vWk4yɮ*B *j!Bj!i!i!zi!Ji!i) k3[k3[k3[h9 kC[kC[kC[hIqɢ}na:)y }>iy)}/8顁i}I92Acoustic response timeoutEuW EuCEu>Eq"Eu :*Eu09VEu4ZEqBEu4:a2EqaJEu9:a:Eu9:aa^A=A-$AI9IIO>ԉ 2Acoustic response timeoutԹ ҏ,ȱ H?A2bD@2[?@25'Iٱ2WzȾ :AHRS rotation from veh to nav: [[0.350230,0.867405,0.353480],[-0.936583,0.319359,0.144297],[0.012277,-0.381601,0.924246]]2H+j?`? j?} `p?`Tx?@$?$lؿl?i2bD@I2^;0YZmuAyZHbDfVDf8yn!=%nJ=ٔr8mQ-r>9rH?IrH?=v/FyvHEv2Ev>xQ 5 k4z4?Q 9k4z*)z,AQ A%9Y!Q E%9y%yQ I%?z_CIz%;iz@z\k4y-Bɮ5B5E*jIBjIiIiIziIJiQiQ kkkhi kkkhԙɢP@:) >i)5tܶ99i=KqIy 2Acoustic response timeoutE}S E}BE}DEy"E}9*E}(9VE}J5ZEya@a@a@a@^A=AW?A`?A% AI) I9 IY ia Ie oAO > {ҏ,; H?A2#@2@23uٱ2sQþ :AHRS rotation from veh to nav: [[0.332637,0.877104,0.346469],[-0.942936,0.303506,0.136952],[0.014965,-0.372254,0.928010]]2HI?<?@,?,l??@.?`׿B?i2#@I2];2WCYFuAyFHaMaM aMaM aMaM aMaM aM@aM aM@aM aM@aU aU@aU yML7A`?{Gz?/$?M+?M#>M=I Ie2Acoustic response timeout)MMb@Mb@Mb@IIiIIIM[zB M#B)IIYM(BbDuVDu8y<%@=ٔϻQ->9K?IK?=/FyJE&4E>Q 5k4b?Q 9k4*)+AQ Ao9YQ E9y|Q I?CI<:i@`k4yBɮB E*jBjiiziJii k3ek3ek3eh kwkwkwh)ɢ-;)1 5>i1)519i=~9IAB->B-CB-^HB-)vAB-=B)B-DB-;B-E!^A}=AII 2Acoustic response timeoutOE >I E R E <E FE "E s9*E 8VE 5ZE BE :a 2E :a JE 9a :E 9a ҏ,'h1 H?A28 @20@2ٱ2Ͽ >AHRS rotation from veh to nav: [[0.313913,0.885779,0.341838],[-0.949259,0.285556,0.131773],[0.019108,-0.365858,0.930474]]2H`'?MX??@U`F???9j׿r?i28 @I2V^;0YFvAyFVHHJp=TT X)XbD^VD^8yfl=%fW=ٔjZ2Q-j>9hIh=n/FynMEnTEn>pQ 5vk4r?Q 9vk4rs*)r)AQ AzB9YxQ Ezx9yzQ Iz?rCIrq:ir95@rck4y|ɮB*jBjiiziJi!i! k_k_k_h1 ksxksxksxh ɢ  Y;)  >i)11i5Ob9IAIm2Acoustic response timeout^AyԁIqIO>Ա  2Acoustic response timeoutҏ,CK H?A:N[@:FV@:ۼȼٱ:G@ FAHRS rotation from veh to nav: [[0.293657,0.893242,0.340418],[-0.955597,0.265187,0.128494],[0.024502,-0.363036,0.931453]]:H F? p?`i???@|r??;׿v?i:N[@I:3^;:ZCYRLvAyRsHbDZVDZ8yb<%fK=ٔf+[Q-f>9hIh=j/FyjOEjWEj>pQ 5rk4rl?Q 9vk4rM*)r(AQ Av9YtQ EvI9yvUQ Iv?rԫCIr/:irO@r[fk4yzBɮ~B|*jBjiiziJii k_k_k_h1EEQ EE>EE?EA"EE29*EE9VEE^4ZEAaM@aM@aM@aM@ kwkwkwhQyɢ09;) >i)Ӊ顉i+Iԩ^A=AzAqAiyI}A}In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutIIO5> B! A% <B- >B- CB- HB- vAB- =B) B) B- ;B- EBʊCBʊCBʕCBʵ=Bʵ=Cι5tҏ,e H?A2@2@2ٱ2½ :AHRS rotation from veh to nav: [[0.271534,0.900106,0.340703],[-0.961926,0.242379,0.126294],[0.031099,-0.362024,0.931650]]2H `??@?C?g*?j؟?@f+׿?i2@I2,^;2WClpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutY vAy HbD}VD}8yb=%!=ٔUQ->9I=/FyRE(:E>Q 5k4â? Q 9 k47*)&AQ A8YQ E#9y8Q I?CI3;i}o@ik4yBɮB%)E*j9Bj9i9i9zi9Ji9iAEU\ EU@EU>EQ"EU:*EU9VEU4ZEQBEU;a]2EU;a]JEU3:ae:EU6:ae k#_k#_k#_hq颙ɢ;) >i)@顡ibI1^AI I! OU >a  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutҏ,~ H?A;ɰ:@:@:<7ٱ: 5nGai 9Y5A uAHRS rotation from veh to nav: [[0.249916,0.905367,0.343297],[-0.967526,0.219629,0.125124],[0.037885,-0.363420,0.930855]]:H;??`?`??@e?DB׿ ?i:@I:L^;:XC 3C)vAʡ3CvAiqIIivA ף) ^vAm  nvAI q) i )1IMbvAMuMF QQQQiQQiYY)Y YIYYYYwAyH@A5only read 0 of 1 data item for BIT error. Device response is::TS2565120,35.0, +14.0, 0.0,1503.6, 0 abD9VD9y"=%A=ٔ킼Q->9I=/FyUE}VE>Q 5k4Ǣ?Q 9k4*)%AQ A8YQ E9yQ I?.CIU;ir@jk4yɮB*jBjiiziJii kckckchA19] r]NAggregate::initialize marl:UpdateRudderq9eJ]aq9e9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18mom@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7unu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed频ɢ"<)6y >i),ڨ顙iI2Acoustic response timeoutE]N E]HE]CEY"E]m9*E][9VE]5ZEYae@ae@am@am@ԑ^A I) I9 O} > %ҏ, H?A2@@2;@2e2ٱ2 :AHRS rotation from veh to nav: [[0.230123,0.908785,0.348069],[-0.972187,0.198683,0.124007],[0.043540,-0.366925,0.929231]]2H@t?@?F?'`on?@쾿? J?{׿B?i2@@I2G^;2YCYwAy`H=2Acoustic response timeoutIup<)u;ԱbD&VD8y>%{=ٔQ- ?9I=/FyWE%YE% ?)Q 55k4-ʢ?Q 95k4-*)-$AQ A58Y9Q E=8y=׸Q I=?-NCI- ;i-@-kk4yAɮEϣBA*jYBjYiYiYziYJiaia kcekcekcehq ksekseksehsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颱ɢC<) >i)\iuIB>BCB&HBnwAB=BBB;BE^AAY?AQ?I!IAOu>2Acoustic response timeoutEe R Ee DEe MEa "Ee s9*Ee a99VEe H$5ZEa BEe :am 2Ee :au JEe pH:au :Ee sH:au 1 ,ҏ,? 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[ڿ?i2o@I28^;2VCYF{zAyFH HHN!>N=aUaU aUaU aUaU aUaU aU@aU aU@aU aU@aU Ya]@a] a]@ae yU㥛 ?Q뱿㥛 ¿U5?U\UQ Q)UMb@Mb@Mb@IQiQQQU Q)QQIUbDuVDu8y=%A=ٔ&Q->9K?IK?=/FyoEE>Q 5k4բ?Q 9k4 +)BAQ AH7YQ E7yɿQ I?CIiAqk42Acoustic response timeoutyɮnB*jBjiiziJii k]k]k]h k]k]k]h )ɢ5<)1 5'?i1)=V99i=JAIAER EDEEE"Es9*Ea99VE 5ZEa @a @a @a @ԉF˼Աm 2Acoustic response timeout^A! BE m>BE CBE HBE g{ABE =BA BA BE ;BE nEBBB̔CB̴=B̴=C̟*5Aq Iy I O >:hҏ, H?A2@2@2mٱ2Eپ :AHRS rotation from veh to nav: [[0.102860,0.909097,0.403687],[-0.992738,0.068371,0.098980],[0.062382,-0.410936,0.909527]]2H U?Q??`ˀ?`V?}?@Lڿ?i2@I2G^;2XCYBzAyBHPP T)TbDZVDZ8yb<%fO=ٔfQ-f>9hIh=j/FyjqEj̼Ej>lQ 5rk4InԢ?Q 9k4n+)n3AQ A"7YQ EP7y˿Q I?nCIn׿7}顱iI]2Acoustic response timeoutqE[ E<EBE"Ea:*E8VE5ZEBE ;a2E ;aJE9a:E9aԙ^AA $AI I) Oe >  2Acoustic response timeoutnҏ,J H?Aɰ4<2wȒ@2pÙ@2ٱ2`ؾ :AHRS rotation from veh to nav: [[0.092399,0.910511,0.403029],[-0.993700,0.058536,0.095574],[0.063430,-0.409320,0.910183]]2Hs?@"?8?`ch?w?9ZH?IZH?=Z/FyZtE^ؼEb> fk>dpQ 5%k4-_Gr Ԣ?Q 9=k4EqAr+)rAQ AU7iԹѿ9qAYAYQQ E(7yZ̿Q I?r CIr@%Y>}2Acoustic response timeoutEY EBEE"E:*E(9VEZEa@a@a@a@^A =9 I I OE >Svҏ,/ H?A2?k@28f@2Հٱ2־ :AHRS rotation from veh to nav: [[0.081088,0.912231,0.401572],[-0.994722,0.048655,0.090334],[0.062867,-0.406777,0.911362]]2H6´?`0?Y?`]? ??ڿ)?i2?k@I2CS^;2XCYBV{AyBH!bD5VD5T8yuPD=%u2=ٔu٠:Q-u>9yIy=}/Fy}wE}ʼE>Q 5k4Ң?Q 9k4&+)AQ A6YQ E7yͿQ I?5CI~:iAqk4yɮKB*jBjiiziJii k#Ek#Ek#Eh2Acoustic response timeout kC[kC[kC[h)ɢ-h =)) -n5?i1)5uj11i5Ǣ9IAAAIIQAAAABb>BCB-HB[|ABBBDBN;BEԁ 2Acoustic response timeout^A Ա E V E EE ?E "E =:*E A9VE ^4ZE BE :a 2E :a JE V:a :E W:a I I O5 >s|ҏ,X: H?A>@>@> {ٱ>Ӿ FAHRS rotation from veh to nav: [[0.068746,0.915161,0.397183],[-0.995751,0.038492,0.083658],[0.061272,-0.401246,0.913918]]>HX?H?@rk?0@?j?_?ٿ>?i>@I>rH^;>VCYR{AyRHbD%VD%q8y<%I=ԙٔ;Q->9I=/FyyEE>Q 5k4Ѣ?Q 9k46.+)AQ A6YQ E6yϿQ I?]CI ;imAqk4yɮEB*jBjiiziJii kBkBkBh 1ɢ5Ƭ=)9 =k8?i9)=`99i=\AIA 2Acoustic response timeout^A=IQIqO>i I kA >[ҏ,H?A22Acoustic response timeout>땑@>䐘@>qо FAHRS rotation from veh to nav: [[0.055173,0.918152,0.392367],[-0.996733,0.027432,0.075966],[0.058985,-0.395277,0.916666]]>H?? a??<?`r?J3? 6LٿTU?i>땑@I>g^;>ZCYN{AyNHPRa=a}a} a}a} a}a} a}a} aa y}Fx?x&?Q}k?}7=}\y y9}X9v?(\µEпY}S?y}}}B}bwB y)}\B}Y}BAADD<ER EBE@E"Es9*E(9VE4ZEa@a@a@a@bDVDg8y=K=%E@=ٔE;Q-E>9III=U/Fyu|E}E}>Q 5k4̢?Q 9k47+)AQ AT:Y9_?Q Es:ydݿQ I?CI;i;k4yBɮ1BNE*jBjiiziJii kAkAkAhA2f})^>:f})^>Bf}@Jf}/@颱ɢ&=) =?i) V项i (I!2Acoustic response timeout^A)A-U?A-Y?QIIO>B V>B CB HB &}AB B B DB ;B Ey ҏ,'H?AR@R@R}fٱR"; ZAHRS rotation from veh to nav: [[0.039844,0.920947,0.387646],[-0.997622,0.014828,0.067312],[0.056242,-0.389406,0.919347]]RH`cf? ex?2?'^?T;?ˬ?ؿKk?iR@IR(E^;RVCYbz|Ayb@HbDnVDnj8yvl=%vc=ٔz;Q-z>9xIx=z/Fyz~E~~1E~>Q 5 k4nȢ?Q 9 k4?+)AYy,߿Q I?CI:iN:k4yɮB*j1Bj1i1i1zi1Ji9i9 k3&k3&k3&hQ k<k<k<ha2fy:fyBfyJf}.@颡ɢ@?=) G?i)^[M顱iWsIYu2Acoustic response timeoutbE55jE5u5rE5ĂL0EU EDECE"E:*Ea99VE5ZEBE :a2E%:aJEpH:a:ErH:aԉ^AIIOc>ԩi! I! - 2Acoustic response timeout 9mҏ,AH?A2@2@2_$[ٱ2!6ɾ :AHRS rotation from veh to nav: [[0.022439,0.923995,0.381746],[-0.998317,0.000284,0.057992],[0.053476,-0.382405,0.922446]]2H`0?@]?n?62?'?3a?Syؿ`?i2@I2r^;2ZCYB|AyBzHbDNVDNe8yV'm=%VO=ٔVz;Q-Z>9XIX=Z/FyZE^4E^>`Q 5fk4bâ?Q 9fk4boH+)bAYdyj/Q Ij?bޮCIb:ib[:bk4ylɮ]BY*jiBjiiqiqziqJiqiq k$k$k$h kCkCkCh2f:fBfJf{-@ɢ2=) M?i) BiTIԱ^A92Acoustic response timeoutIIOf>ER E?EAE"Es9*E?9VEA4ZEa@a@a@a@ 9 ҏ, [H?A2@2@2Oٱ2#ž :AHRS rotation from veh to nav: [[0.003493,0.926275,0.376831],[-0.998717,-0.015806,0.048110],[0.050519,-0.376516,0.925032]]2H`l?@ ??@}/@ա? ݩ?ؿ@ܙ?i2@I2XT^;2[CYBF}AyBHDDTT T)TbDZVDZ_8yb=%fH=ٔf;Q-f>9hIh=j/FyjEj>Ej>lQ 5rk4n?Q 9vk4niQ+)nAYtyvmQ Iv?n CIn:in:n%k4yzBɮzB~WE*j Bj iiziJii kCEkCEkCEh) kZkZkZh2f:fBfJfP,@2Acoustic response timeout颁ɢOd8=) iT?i)6顉iIBUE>BUCBUHBU}ABU=BQBUDBU;BUE9^A1i A A 2Acoustic response timeoutI I O >E \ E FE FE "E :*E ;J9VE 5ZE BE ;a 2E ;a JE e:a :E e:a Rќҏ,uH?ABG@BB@B1CٱB¾ JAHRS rotation from veh to nav: [[-0.016712,0.928215,0.371670],[-0.998726,-0.033199,0.038006],[0.047617,-0.370561,0.927587]]BH`?@o?`u?Ia?E׿ʮ?iBG@IBB^;BWCYR}AyRHbD^VD^j8yf.a=%fH=ٔj;Q-j>9jK?IjK?=n/FynEnJEn>pQ 5vk4r?Q 9vk4r^Z+)r~AYxyzQ Iz?r8CIr :ir:rnk4y|ɮ~B*jBjiiziJii! k3Ak3Ak3Ah1 kQkQkQhA2fQ:fQBfQJfU'*@qɢuQ=)1 5)Z?i1)=,99i='IIIQ2Acoustic response timeoutԁ^AA) I1 IA O >ԩ ҏ,H?A2Acoustic response timeout@B@B @B{7ٱBd JAHRS rotation from veh to nav: [[-0.037654,0.929440,0.367047],[-0.998287,-0.051447,0.027864],[0.044781,-0.365369,0.929785]]BH aG ?}?9qIy=}/Fy}E};E>Q 5k4.?Q 9k4Zh+)AYp?Q E4:yfտQ I?|CI. ;ie ;ik4yɮB*jBjiiziJii k9k9k9h kckckch2fn>:fn>Bf@JfM q@ɢ ?=) B]?i)%U!!i%洼)I)ԩ^Au=2Acoustic response timeoutA I I O% >B- 0>B- CB- HB- ~AB- =B- !DB- DB- ;B- Eҏ,:xH?A2@2@2+ٱ2t :AHRS rotation from veh to nav: [[-0.059021,0.929792,0.363322],[-0.997376,-0.070213,0.017663],[0.041933,-0.361326,0.931496]]2H`7@?`@?@{`R? Cx?׿?i2@I2G^;0pYr<~AyvUHxxbDmVDmI8y=%V=ٔr;Q->9I=/FyEeE>Q 5k4ʭ?Q 9k4t+)AYyؿQ I?CI :i:k4yBɮբB_E*j Bj i iziJii ksJksJksJh k`k`k`h2f:fBfJfEi"Em9*Em(9VEm4ZEiBEm:a}2Em:a}JEmQ+:a}:EmS+:a}9^A=A I I I O5 >a  2Acoustic response timeout ˰ҏ,SH?A2%9@24@2E!ٱ2Mº :AHRS rotation from veh to nav: [[-0.080876,0.930007,0.358534],[-0.995947,-0.089609,0.007780],[0.039363,-0.356452,0.933484]]2H@E?:??h'? ֿ?i2%9@I2Zd^;2WCY^~AybH9bDEsVDE,8y{=%L=ٔ,;Q->9I=/FyE^E>Q 5k4O?Q 9k4K+) AYyڿQ I?CIa;ia;k4yɮȢB *jABjIiIiIziQJiYiY kshkshkshhy2f:fBfJf<[n@!ɢ%qb=)! -j?i))-))i5z1I9iAE<M2Acoustic response timeout^Ae=EY EFECE"E:*E;J9VE5ZEa@a@a@a@ԩA I I O > ҏ,.H?A2H@2A@2ٱ2mq :AHRS rotation from veh to nav: [[-0.102853,0.928813,0.355989],[-0.994015,-0.109225,-0.002213],[0.036827,-0.354086,0.934487]]2H Tո??$!bڢ?Xֿ@R?i2H@I2 ]^;2XCY^&AybHbDjgVDj!8yr=%rW=ٔvl;Q-v>9tIt=v/FyvEzoEz>|Q 5k4~o?Q 9k4~+)~ AYy ݿQ I ?~*CI~:i~1:~k4yɮB*j)Bj)i1i1zi1Ji1i1 kOkOkOhQ2Acoustic response timeoutԡ2f:fBfJfl@)ɢ5aFz=)1 Udr?iQ)U )YYi]RYIaB >BCBHB6AB=BBDB;BEBÄCBÄCBÖCBö=Bö=C 5^A=ͳ=AiIyIO>e 2Acoustic response timeoutE S E CE @E "E 9*E 09VE 4ZE BE :a 2E :a JE 9:a :E 9:a  <ҏ, H?A6΋@6ɒ@6u ٱ6昸 BAHRS rotation from veh to nav: [[-0.124856,0.926864,0.354025],[-0.991582,-0.128897,-0.012243],[0.034285,-0.352574,0.935156]]6H ߨ?X? `э?ֿ?i6΋@I6φ^;6YCYJAyJ,HLLbDVJVDV8y^=%^M=ٔ^;Q-b>9`I`=b/FybEfcEf>hQ 5nk4jX?Q 9nk4j+)j AYlyrVQ Ir?jeCIjj;ije;jk4yvBɮvBviE*jBji i zi Ji i  k#Qk#Qk#Qh! k3Qk3Qk3QhA2fi:fiBfiJfm}k@颁ɢ=) y?i)߻顑iþI2Acoustic response timeout)MrA^AE=AQzAUpAe9mMrAYuAQAIIO>y &ҏ,H?A2Acoustic response timeout6L@6E@6Bٱ6Y$ BAHRS rotation from veh to nav: [[-0.146444,0.924269,0.352535],[-0.988702,-0.148276,-0.021963],[0.031972,-0.351769,0.935541]]6H@¿@??r¿}`^?aֿ ?i6L@I6i^;4YJAyJ]Honly read 0 of 1 data item for BIT error. Device response is::TS,00050122570120,35.0, +14.,1503.6, 0 a@a a @a  a @a  a @a  bD[VD8EMV EM@EM=EI"EM=:*EM9VEM|4ZEIaU@aU@aU@aU@y]z;=%]@=ٔe;Q-e>9aIa=e/FymEm1REm>qQ 5}l4u钢?Q 9}l4ur+)u AQ A+:YQ E:yQ I?uCIue ;iu>u l4yɮB*jBjiiziJii kHkHkHh kJkJkJh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedQ颱ɢ}=) ~?i)5+Ļ项io[Iԁ^A=2Acoustic response timeoutԱAI IQ Ia O >B >B ~CB HB AB =B B DB ;B E 1ҏ,*H?A>k@>f@>xuٱ>] JAHRS rotation from veh to nav: [[-0.167737,0.921026,0.351534],[-0.985384,-0.167387,-0.031625],[0.029715,-0.351701,0.935641]]>Hfxſ y??C`lſ+1`m?Cֿ?i>k@I>f^;>ZCYZ8AyZHpp p)pbD]rVD]+8ym=%mI=ٔma;Q-m>9qIq=u/FyuE\WE>Q 5l4뉢?Q 9l4+) AQ A :YQ E9yQ I?CI:i1V?\l4yBɮ}BqE*jBjiiziJii kKkKkKh kKkKkKhԱsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ+=) ?i)Yinü%I!15==2Acoustic response timeoutEUU EUBEU?EQ"EU:*EU(9VEU^4ZEQBEU:a]2EU#:a]JEUP+:a]:EUS+:ae^A= A I I O5 > 2Acoustic response timeoutA ^ҏ,$DH?A2@2x@2}]ٱ2t :AHRS rotation from veh to nav: [[-0.188301,0.917066,0.351472],[-0.981723,-0.185828,-0.041092],[0.027629,-0.352786,0.935296]]2H`;ȿ X?~?Ej2ǿ@ J? ֿ?i2@I2z~^;2XCYBKAyFHDFp=bDN}VDN58yZ:<%^W=ٔb!;Q-b>9dId=f/FyjEjaEn>|Q 5 l4~Ā?Q 9l4~+)~+ AQ A9YQ E9yQ I%?~CI~;i~y?~vl4y)ɮ-yB1*jQBjQiYiYziYJiaia kKkKkKh!aɢm|=)m9E m?ii)m_ьqiyƼI)^A]=AIIOI>IU2Acoustic response timeoutDQzDQE]S E]>E]@EY"E]9*E]9VE]4ZEYae@am@am@am@i 9 = >Cҏ,uw^H?A(:@:@::)ϼٱ:E: FAHRS rotation from veh to nav: [[-0.208106,0.912918,0.351102],[-0.977779,-0.203451,-0.050548],[0.025286,-0.353820,0.934972]]:H8ʿ6?sx?I ʿ{᩿`r?ֿ J?i:@I: h^;8YNAyN HbD fVD  8yEy=%EA=ٔM*;Q-M>9IIQ=U/FyUEUDEU>YQ 5el4]u?Q 9el4]e+)]$AQ Am9YiQ Em9ym.Q Im?]YCI]:i]j?] l4yyɮ}kBy*jBjiiziJii ks0ks0ks0h2Acoustic response timeout kQkQkQh颩ɢ=) ?i)6%`i ɼIiBqAu<B>B|CBHB{ABBBDB;BE^A=IIO-N>ԩm 2Acoustic response timeout bEɗ4jE+4rE0Em W Em ?Em <Ei "Em :*Em ?9VEm 4ZEi BEm 2:a} 2Em 6:a} JEm F9a} :Em K9a} ymҏ,QxH?A2Qy@2Jt@2ٱ2 :AHRS rotation from veh to nav: [[-0.227375,0.907892,0.352183],[-0.973535,-0.220481,-0.060152],[0.023038,-0.356539,0.933996]]2HͿ@s ?*? 2'8̿C̮L?`ֿ L?i2Qy@I2^;2ZCYFAyF@HlbD lVD %8yW^=%M=ٔ%;Q-%>9!I!=-/Fy-E-JE->1Q 5=l45j?Q 9=l45+)5%AQ AE9YAQ EE{9yEQ IE?5CI5] ;i59@5%l4yMBɮMcBUyE*jaBjaiaiiziiJiiii kc6kc6kc6h kNkNkNh颹ɢ=) ׊?i)+iw˼I^A)<I2Acoustic response timeoutIOG>1a KUҏ,,H?A2Acoustic response timeout6@6@6꣼ٱ6KD >AHRS rotation from veh to nav: [[-0.243781,0.903235,0.353181],[-0.969624,-0.234506,-0.069544],[0.020008,-0.359406,0.932967]]6H@94ϿM??(Lοͱ@|?׿?i6@I6^^;6YCYZ€AyZZH\\D=DE%T E%CE%=E!"E%9*E%09VE%|4ZE!a-@a-@a5@a5@Aa a  a a  a a  a a  y Q?L7A`?{Gz (\? += #  9 v?J +?kt?Y Ԉ?y =  = B  B)  Y BbDRVD8y <%2=ٔO;Q->9I=/FyEE%>!Q 5ml4%Ue?Q 9ul4%7+)%AQ AuT:Yu؉?Q EuE:yuٿQ Iu?%ձCI%q&:f}m>Bf}>Jf}x@颱ɢ=) +?i)pƺ项i!TμIԑ2Acoustic response timeoutSB >B zCB HB AB =B B DB ;B E ^A 9A zA oAIY Ii O >.!ҏ,SH?A(FHN@FBI@F&ٱF, NAHRS rotation from veh to nav: [[-0.262809,0.904265,0.336506],[-0.964794,-0.249976,-0.081758],[0.010187,-0.346146,0.938125]]FH`п`?O?4Ͽ@`܄?@'ֿ?iFHN@IF^;FXCYZAyZHbDfVVDf8y-щ=%-Q=ٔ599I9==/Fy=E={QE=>AQ 5Ml4E `?Q 9Ul4E+)EAYQyUܿQ IU?E CIEa;iE;EZCl4yYɮePBa*jqBjqiyiyziyJiyiy k5k5k5h kPkPkPh2Acoustic response timeout2f1:f1Bf1Jf5@iɢu =)q u?iq)uG4qyi}мyIE] EAEE"E:*E 9VEZEBE5;a2E8;aJE:a:E:a4/@@@@ԑԱIIO>iߙ Iߝ A 2Acoustic response timeout zҏ,rH?A2U,@2N'@2*dٱ2ƪ :AHRS rotation from veh to nav: [[-0.266818,0.910327,0.316407],[-0.963741,-0.253212,-0.084186],[0.003482,-0.327397,0.944881]]2H@ѿe!?@?4п3@Pl?Կ@v9III=U/FyUEU~'EU>YQ 5el4]GZ?Q 9el4]G+)]VAYiym;ݿQ Im?]BCI]:i]F:]Ql4yuBɮu7B}E*jBjiiziJii k35k35k35h kHkHkHh2f:fBfJfX@ɢ9ʨ=) [?i)<_9i<ҼI In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutE S E BE <E "E 9*E (9VE  4ZE a@a@a@a@=tEIIOg>)A -ҏ,4MH?A2pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT22Acoustic response timeout6L@6E@6W;ٱ6P BAHRS rotation from veh to nav: [[-0.268938,0.916677,0.295594],[-0.963148,-0.254608,-0.086721],[-0.004234,-0.308023,0.951369]]6H`G6ѿjU?@?@~KпS3Xqӿ@q?i6L@I60^;4YJAyJVHLNa=XX \)\bDbAVDb8yjپ=%jR=ٔnC99yIy=/FyEE>Q 5l4BwCBHBFABBBDB;BEI*;i4<`l4y!ɮ%$B)*jiBjiiiiziJii k#Jk#Jk#Jh k^k^k^h2f:fBfJfk@ɢ/k=) ?i!)%n٦:!!i%;Լ)IIqqqqiԙzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY%2Acoustic response timeoutE- V E) E- ?E) "E- =:*E) VE- ^4ZE) BE- :a= 2E- :a= JE- P+:a= :E- S+:a= II IY O > Wҏ, )H?A2@2@2Q<ٱ2 >AHRS rotation from veh to nav: [[-0.269649,0.923089,0.274218],[-0.962874,-0.254689,-0.089480],[-0.012758,-0.288166,0.957496]]2HAѿ?@ʌ?Lп)趿 Nqҿͣ?i2@I22^;2ZCYFAyFUHbDRcVDR8yZ]%ZL=ٔZ9\I\=^/FybEbMEb>dQ 5jl4fN?Q 9jl4fS ,)fAYhynݿQ In?fCIf:ifW= 2Acoustic response timeoutI E!  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"E! *E% 09VE% 5ZE! a- @a- @a- @a- @?ҏ,H?AJ>@J7 @J<ٱJĊ VAHRS rotation from veh to nav: [[-0.270175,0.929229,0.252071],[-0.962563,-0.254743,-0.092619],[-0.021851,-0.267657,0.963266]]JH`Jѿ=?!?@QMпᵷ`L!ѿ?iJ>@IJ^;JXCYAyoHyZd;?Q뱿 rhY?\C 9|?5^?~jt?ʡE?Yr?y<-=B}B B)BYǜBbDTVD8yå<%=ٔ Y9 I=/FyEE>Q 5%l4E?Q 9%l4,)[ AY- t?Q E-^:y-Q I-?CI ;i ;l4y5Bɮ=B=E*jIBjIiQiQziQJiQiQ kSFkSFkSFhi kdkdkdhy2f&/>:f&/>BfC?Jf@颩ɢ=) F?i)Z;顱iPؼIAIiIyO>>2Acoustic response timeoutB>BvCB`HBAB=BBDB;B{EBzCBzCBBǼ=BǼ=C5qԙ i ҏ,v/H?Aɰ2V@2P @2<ٱ2 :AHRS rotation from veh to nav: [[-0.270216,0.933960,0.233885],[-0.962302,-0.254173,-0.096807],[-0.030967,-0.251227,0.967433]]2H9Kѿ??, `Dп_ȸϵ@п5?i2V@I2H^;2WC @)@@B!F@F@CDiFmIFFDIDiH JʡJF)HH HNxiLLjvAI)ȀFi) I  q  lAiiC) IYY-Ay-H11bDiVD#8y/=%v=2Acoustic response timeoutٔE?Q 5l4??Q 9l4!,) AYy Q I?CI|:it:l4y ɮ B*j!Bj!i!i)zi)Ji)i)q k3Lk3Lk3Lh2f:fBfJfP@EQ EBE@E"E29*E(9VE4ZEBE:a2E:aJEa:ER+:aɢ=)  ?i);iZ%ڼIIIO>ԡ Wk>!yrA۰9rAY֧Ay5 ?5 A 2Acoustic response timeout Qҏ,IH?A2M @2F@2N#=ٱ2l/v :AHRS rotation from veh to nav: [[-0.270369,0.937583,0.218722],[-0.961927,-0.253643,-0.101791],[-0.039960,-0.237916,0.970463]]2H`Mѿ ??@;пutο@ ?i2M @I2_;2YCYMAyMHbDeVD8y<%G=ٔg9 I = /Fy EE>Q 5%l4.8?Q 9%l4+,) AY!y-7Q I-?GCId:i|:l4y1ɮ5B1*jIBjIiIiIziIJiQiQ kKkKkKha kKkKkKhy2f:fBfJf&^@颡ɢ^=) N?i);顩IiMJۼQIQIIO>2Acoustic response timeoutE E@E=E"E*E9VE|4ZEa@a@a@a@) s|ҏ,cH?A"2Acoustic response timeout$: @:@:kEH=ٱ:eVj BAHRS rotation from veh to nav: [[-0.270563,0.940518,0.205477],[-0.961461,-0.253151,-0.107272],[-0.048875,-0.226582,0.972765]]:HPѿ ?M?I@3п@3vͿ@ ?i: @I:^;:XCY=Ay=HbDepVDe)8BBBHBABBBB;BrEyr<%T=ٔ49I=/FyEJE%>!Q 5-l4%0?Q 95l4%5,)% AY1y5aQ I5?%yCI%+;i%z;%&l4yEvBɮEBEE*jQBjQiYiYziYJiYiY kLkLkLhq kLkLkLh2f:fBfJf9@颱ɢX)=) x?i)X;项iܼI)IqIO=Y2Acoustic response timeoutEU EAEBE"E:*E 9VE5ZEBE:a2E!:aJE:a :E:a ԡ Wҏ,m}H?A:@:@:Wk=ٱ:"nb@ FAHRS rotation from veh to nav: [[-0.270672,0.942529,0.195896],[-0.960952,-0.252376,-0.113480],[-0.057519,-0.218963,0.974036]]:HRѿ 3)??&п !s̿`N+?i:@I:._;:YCYRAyRHTVp=bD^lVD^%8yf L<%fV=ٔf9hIh=j/FyjEn'0En>|Q 5l4~*?Q 9l4~>,)~> AYy~Q I ?~CI~3;i~@;~l4yuBɮBE*jABjIiIiIziIJiIiQ kLkLkLha kLkLkLhq2f:fBfJfy@aɢm.=)y }?i);顉i ݼIe2Acoustic response timeoutAAS?ԹIIOB>  2Acoustic response timeoutE \ E ME <E "E :*E 9VE 4ZE a @a @a @a @%ҏ,KH?A2a @2Z@2=ٱ2}\ :AHRS rotation from veh to nav: [[-0.270101,0.944260,0.188199],[-0.960558,-0.250841,-0.120026],[-0.066127,-0.213195,0.974769]]2H WIѿ `7? ? пI˿@O1?i2a @I2V^;0YFAyFHyV-?#~jX9v?M?㥽< 9K7A?Mb? ףp= ?Y b?y<Q8=BB +B)1BYuBbD\VD8y;%==ٔ<9I=/FyE4:E>Q 5l4 "?Q 9l4mH,)! AYYb?Q Ep:yQ I?ֳCIv:i':l4yɮB*jBjiiziJii kEkEkEh kbkbkbh!2f5=:f5=Bf5V?Jf5!@Qɢ=) w?i)P<i`x޼I e2Acoustic response timeout=9B>BBBB=BBB;BgEIQIiO>i I pAa ܷ+ҏ,R&H?A2@2 @2"=ٱ2V8X :AHRS rotation from veh to nav: [[-0.269076,0.945732,0.182181],[-0.960240,-0.248814,-0.126612],[-0.074411,-0.209006,0.975079]]2H8ѿnC?Q?@I%Ͽ`4@ ʿ`3?i2@I2\^;2[CYFAyFHTT T)TbD^^VD^8yfr%fZ=ٔfQ9hIh=j/FyjEn;En>tQ 5zl4v?Q 9~l4vP,)v AY|y~Q I~?vCIv;iv;vl4ymBɮ B EY*jBjiiziJii k#ck#c2Acoustic response timeoutk#ch2f:fBfJfL-@ɢ=)1 5P?i9)=[<99i=߼AIAbE=4jE=4rE=H1ES ECE?E"E9*E09VE^4ZEBE :a2E:aJE9:a:E9:a-$IIO>ԉԱ} hDAT read: Forwarding Delay UpTx time:19:08:50.6893  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout L2ҏ,H?A4<ɰ2D@2>@2=ٱ2zV :AHRS rotation from veh to nav: [[-0.267680,0.946863,0.178320],[-0.959987,-0.246287,-0.133294],[-0.082293,-0.206865,0.974902]]2H!ѿL?0? 7VϿ'@zʿf2?i2D@I2z^;0YNށAyRHPPbDZmVDZ&8yz%zG=ٔ~9|I=/FyEL;E> Q 5l4 h?Q 9l4 Z,)  AYyaQ I? /CI ;i ; ]l4y!ɮ%B)*jABjAiAiAziAJiAiI kJkJkJhY kdkdkdhiԱ2f:fBfJf<@9ɢ=:=)=[ =?i9)E&E"E9*E(9VE4ZEa@a@a@a@uI AzAIIO%o>9 8ҏ,?H?A2Acoustic response timeoutj+@j&@jo=ٱjHV ~AHRS rotation from veh to nav: [[-0.265817,0.947616,0.177102],[-0.959842,-0.243067,-0.140081],[-0.089695,-0.207226,0.974173]]jH 'ѿR?H?`Ͽ+D`ʿk,?ij+@Ij`^;hY Ay HA]AAA]@ABe>BaBe`HBeABe=BaBaBe;BejEbDoVD(8yU%>=ٔj9I=/FyE8;E>IQ 5Ul4M0 ?Q 9Ul4Md,)M AYYy]'Q I]?MaCIMD;iM;Ml4yekBɮeBmE*jyBjiiziJii kKkKkKh kXkXkXh2f:fBfJfN@^B*** querying acoustic contact ***XYɢPr=)  ?i)7<i|߼IpApAIiIyO>92Acoustic response timeoutiES EEE?E"E9*EA9VE^4ZEBEa2EaJEV:a:EW:aԙ 4>ҏ,H?A2>@2 9@2"o=ٱ2%W :AHRS rotation from veh to nav: [[-0.263489,0.948314,0.176847],[-0.959799,-0.239333,-0.146645],[-0.096740,-0.208377,0.973253]]2HпX?? yο@C¿øʿ$?i2>@I2W^;2WCY^AybgHbDeVDeQ8y,%K=ٔ99I=/FyE;E>Q 5-l4q?Q 9l4 m,)@ AYyQ I?CI: 2Acoustic response timeoutD %=D 4=E a E GE BE "E %.:*E R9VE 5ZE a @a @a @a @ Eҏ,`H?A2M@2H@2L=ٱ2qY :AHRS rotation from veh to nav: [[-0.261488,0.948862,0.176877],[-0.959696,-0.236039,-0.152541],[-0.102991,-0.209636,0.972340]]2H8п@]??Ե6οwÿ]Wʿi?i2M@I2޲^;2ZCYFAyF`HHJa=yl?~jthˡEW?D什 9V-?L7A`?S㥫Y\?y+=/]B;B =B)YBbDxVD18y̻%E=ٔx9H?IH?=/FyE%3;E%>)Q 55m4-?Q 95m4-u,)-JAY5]?Q E=u:y=Q I=?-CI-2 ;i- ;- m4yEcBɮEBEE*jYBjYiaiaziaJiaia kDkDkDhy k]k]k]h2fM=:fM=Bfw?JfC@9ɢ==)9 =?i9)EXE2Acoustic response timeoutBu>BuyCBuHBuFABqBqBuDBue;BubE) Lҏ,k2H?A6N\@6HW@6I=ٱ6[ >AHRS rotation from veh to nav: [[-0.259603,0.949347,0.177050],[-0.959498,-0.232788,-0.158664],[-0.109412,-0.211068,0.971329]]6H Tп a??@4Ϳ OĿfI˿?i6N\@I6^;4YFEAyFHbDRaVDR8yZ<%Zd=ٔZj9\I\=b/FybEb5;Eb>dQ 5jm4f?Q 9jm4f},)fgAYhynQ In?fCIf:ifp:fm4yxɮzBx*j Bj i iziJii kDkDkDh) k[k[k[h92fI:fIBfIJfME@2Acoustic response timeoutɢ=) [?i) e<i ߼IE[ EIE>E"Ea:*Ec9VE4ZEBE ;a2E ;aJE:a:E:aQA)I1IAO}>yiQ IU A] 2Acoustic response timeoutԩ Rҏ,IILH?A68b@62]@6=ٱ6 $_@ BAHRS rotation from veh to nav: [[-0.258746,0.949123,0.179490],[-0.959079,-0.230317,-0.164686],[-0.114968,-0.214757,0.969877]]6H Mп`6_??ư`{Ϳpſn'}˿< ?i68b@I6^;4YJAyNHbDVVDVa8y^x%^J=ٔba9`Id=f/FyfEf}:Ef>hQ 5vm4j?Q 9vm4j,)j`AYtyvQ Iz?j CIjn;ijn;j$m4y~aBɮ~B~E*jBjiiziJii kCkCkCh1 klklklhA2fQ:fQBfQJfUE@qɢua=)q u3?iy)} -t2Acoustic response timeoutDzDES EAEE"E9*E 9VEZEa@a@a@a@ VYҏ,#.fH?A2Acoustic response timeout:-\@:'W@:B=ٱ:*` BAHRS rotation from veh to nav: [[-0.259295,0.948992,0.179387],[-0.958301,-0.229707,-0.169982],[-0.120105,-0.215983,0.968982]]:HJп%^?`*?f gͿſ;R˿?i:-\@I:^;:[CpB|A~<B>B}CBHBABBBDB;BAEBvCBxCBB=B=CE4YuAyuHyy )bDVDp8yZ%;=ٔMB9I=/FyEݺE>Q 5m4衉?Q 9m4,)<AYyQ I?=CI;i;3m4yɮ(B*jBjiiziJii kckckch kckckch)2f:fBfJf5@ ɢ-4=)5ߗ 57?i1)5 e<19i=6ݼAIAAAIIO J>12Acoustic response timeoutEU EBEDE"E:*E(9VEJ5ZEBE:a2E!:aJEP+:a:ER+:aY `ҏ,H?AImGMrA"ؿ9MrAY A%M@%H@%z>ٱ%Qa eAHRS rotation from veh to nav: [[-0.260833,0.948673,0.178843],[-0.957215,-0.230101,-0.175479],[-0.125320,-0.216962,0.968102]]%H}п`[?U?sͿ@vƿ{ j˿?i%M@I%>^;%WC y)}nvA}Y}y~FځہۍfvAiۍ/]IۉۉIܕCiܕffA ܑۑ)ܝPJܙ ݥQvAܥܥ#lFܡݭCݭfvAIݭ)ݭF2Acoustic response timeoutiݩ)IIM5vAMM@~F QU CQQiQQYYYeAye6HI>)>only read 3 of 4 data items for beam range. Device response is::RA,893.60, 647.07, 688.02, 828.50 a@a a@a a@a a@a bDVD8yW%+=ٔ39 K?I K?= /Fy EsE>Q 5m4Jࡉ?Q 9%m4^,)AQ A%+:Y!Q E%F:y% Q I-?qCI ;i~>Am4y5YBɮ5/B5Ea*jBjiiziJii kakakah)ɢ-=)1 5W?i1)5ˊ<11i5ZܼYIaԑA$AIIO> 2Acoustic response timeout E W E ?E JE "E :*E ?9VE 5ZE a @a @a @a @)fҏ,ٙH?A>6@>1@>>ٱ>Ec FAHRS rotation from veh to nav: [[-0.263342,0.948060,0.178419],[-0.955841,-0.231411,-0.181156],[-0.130459,-0.218247,0.967134]]>Hп`V?q? ?@Ϳ0ǿ`޲˿?i>6@I>^;>ZCY=OAy=HԙbDVD8y%r=ٔ{%2Acoustic response timeoutB>>BCBHB>AB=BBDB;BE Tlҏ,=H?A:r@:l@:7 >ٱ:4d BAHRS rotation from veh to nav: [[-0.267256,0.947199,0.177169],[-0.954046,-0.234229,-0.186903],[-0.135536,-0.218978,0.966271]]:HѿsO?v?7Ϳnǿ>Y y̿ ?i:r@I:^;8Y=Ay=rH}2Acoustic response timeoutbDVD8y]%]E=ٔ]/J9eK?IeK?=e/FyeEeL)Em>E}Y E}CE}AEy"E}:*E}09VE}A4ZEyBE}";a2E}%;aJE}9:a:E}9:aiQ 5m4m ӡ?Q 9m4m,)mAQ A9YQ E:yQ I?mõCIm;im}?mPm4yɮWB*jBjiiziJii kSNkSNkSNh k^k^k^hsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ꾲=) c?i)%"y ٱ2Of :AHRS rotation from veh to nav: [[-0.271981,0.945844,0.177215],[-0.951972,-0.237548,-0.193184],[-0.140625,-0.221246,0.965026]]2H$hѿZD? ?vgο@Bȿ ¿Q̿}?i2+@I21^;2XCYBpAyBHbDEVDEp8yU ҽ%U\=ٔ}`9yI=/FyEyaE>Q 5m4d̡?Q 9m4,)AQ A9YQ E9yQ I?CI;i?Vm4yOBɮaBE*jBjiiziJii kCFqkCFkCFhɢ=)  w?i) y<  i ؼI2Acoustic response timeoutE EIEHE"EI:*Ec9VE-5ZEa@a@a@a@ԡA9IAIQO[> = 2Acoustic response timeoutsfyҏ,amH?A2n@2h@2ɐ>ٱ2fj :AHRS rotation from veh to nav: [[-0.277325,0.944039,0.178551],[-0.949689,-0.241198,-0.199788],[-0.145541,-0.224974,0.963434]]2Hѿ 5??c@οऒɿ@¿̿r?i2n@I2^;2YCYB~AyFHAR@AAPBVY>BVCBVHBVABV=BV DBVDBV";BVEbD^VD^x8yfٽ%fS=ٔjT9hIh=j/FynE}BmE}>Q 5m4š?Q 9m4^,)&@Q A9YQ E9ylQ I?CI:i@[m4yɮvB*jBjiiziJii kFkFkFhaɢ'O=) l?i)p<iV׼I R==5m2Acoustic response timeout>>bEz4jEm5rEsq1EX EAEJE"E~ :*E 9VE5ZEBE:a2E:aJE:a:E:aI A I I O >Qҏ,VH?AF;ɰF;څ@Ԁ@h>ٱ[n AHRS rotation from veh to nav: [[-0.283119,0.942178,0.179291],[-0.947321,-0.245527,-0.205667],[-0.149754,-0.228074,0.962058]]HҿQ&??tPomϿ@MSʿ%+ÿ1Ϳ .?iڅ@I^;WCYz~Ay{Haa aa aa aa yrh|?? ףp= [?̌>Q8 9q= ףp?On?PnY?y>B B ȈB) BYBbDVD8y%%.=ٔI9I=/FyEdE>2Acoustic response timeoutQ 5m4?Q 9m4,)@Q AT:Yȍ?Q E?:yKQ I?TCI i;ih;Bkm4AyɮB*jBjiiziJii k*k*k*h kBkBkBh 2fk>:fk>Bf5@Jfev@Yɢ]f=)] ]g?iy)h><顁i8ռIqԡ Ay I I  2Acoustic response timeoutO >E  E FE GE "E *E ;J9VE 5ZE a @a @a @a @Hxҏ,"H?A@JO@JJ@J>ٱJr RAHRS rotation from veh to nav: [[-0.289193,0.939994,0.181047],[-0.944923,-0.250033,-0.211195],[-0.153254,-0.232152,0.960530]]JH@%ҿn?,? <пm˿ӝÿ)Ϳ@?iJO@IJ%^;JXCY~}Ay~H )!%AbD-VD-n8y=#%=h=ٔE$9AIA=M/FyMEMWEM>QQ 5]m4U۷?Q 9]m4UW,)U@Yaye4Q Ie?UCIUT;iU?;Uwm4ymFBɮmBmE*jBjiiziJii kcCkcCkcCh ksCksCksCh2f:fBfJfu@Yɢ]=)a eGY?ia)ec2Acoustic response timeoutB>BCBHBw}AB=BBDB;B݄E ҏ,4H?A2@@2:@2 >ٱ2dlx :AHRS rotation from veh to nav: [[-0.295126,0.937581,0.183964],[-0.942612,-0.254244,-0.216431],[-0.156150,-0.237281,0.958809]]2HXҿ`?$?)Eп˿@ÿ =_ο@?i2@@I2^;0YBQ}AyBHbDNVDN~8xy~*%~O=ٔ;Q->9I=/Fy E E >Q 5m4?Q 9m4#,)@Y!y%Q I%?CI;iD;bm4y)ɮ-B)*jABjAiAiAziIJiIiIe2Acoustic response timeout kBkBkBhi2fy:fyBfyJf}Siu@颙ɢC=) U?i)<顡iTѼIE]U E]@E]BEY"E]:*E]9VE]5ZEYBE]:ae2E]$:amJE]2:am:E]5:am A II)O]>9 2Acoustic response timeouta ҏ,oNH?A2@2@2W#>ٱ2o0~ :AHRS rotation from veh to nav: [[-0.300890,0.935129,0.187079],[-0.940338,-0.258249,-0.221522],[-0.158839,-0.242571,0.957042]]2H@Aӿ@?1?@?'п Z̿TĿ Ͽ?i2@I2^;2ZCYF||AyFAH9bDIVDIyu%}C=ٔ};Q-}>9I=/FyEPtE>Q 5m4x?Q 9m4,)6@YyQ I?CI;i; m4yEBɮBE*jBjiiziJii k'k'k'h kFkF=kFh2f:fBfJft@ɢ|=)! %G?i!)%}EmZ EmBEmLEi"Em:*Em(9VEm!5ZEiau@au@au@au@ԑ i I % 2Acoustic response timeoutҏ,մhH?AB A B&>B&CB&HB&{AB&=B$B&DB&;B&ՄEBԻ@Bζ@BO%>ٱB? JAHRS rotation from veh to nav: [[-0.305833,0.932847,0.190428],[-0.938335,-0.261456,-0.226203],[-0.161224,-0.247866,0.955285]]BHÒӿ?_?`п`;̿ ĿϿ`?iBԻ@IB^;BYCYv{AyvH YYe=e=ԙbDuVDuz8y%v޽%%@=ٔ% ;Q-->9)I)=-/Fy-E5DOE5>9Q 5Em4=?Q 9Em4=$,)=@YIyMQ IM?=,CI=W:i=:=m4yU! qҏ,H?A]@]@]'>ٱ]P uAHRS rotation from veh to nav: [[-0.310163,0.930727,0.193766],[-0.936575,-0.264163,-0.230314],[-0.163174,-0.252912,0.953630]]]Hӿ?V?l@ п zͿ Ŀ/п"?i]@I]0^;]ZCYzAy$H2Acoustic response timeoutyʡE?J +?MbPO?= 9J +?y&1?Mb`Y?y`=BB B)bBYaBbDVDk8y%%%;=ٔ%;Q-->9)I)=-/Fy-E50E5>9Q 5Em4=8?Q 9Em4=,)=@YEt?Q EME:yMQ IM?=gCI=e ;i=X ;==m4yQɮUBQ*jBjiiziJii k0k0k0h 2fǃ>:fǃ>Bfi^=Jf=@iɢm6=)q u*?iq)unI} 2Acoustic response timeoutE} V E} CE} QEy "E} =:*E} 09VE} *15ZEy a @a @a @a @ԉ Ŧҏ,gH?A4<ɰ4<2@2z@2X*>ٱ2@t :AHRS rotation from veh to nav: [[-0.312508,0.929164,0.197465],[-0.935429,-0.264854,-0.234148],[-0.165263,-0.257888,0.951936]]2H` Կ?F?`\пͿU'ſ`<п@Bv?i2@I2վ^;0YFyAyFHbDNVDNj8yMd %Mo=ٔM;Q-M?9QIQ=U/FyUEUOE]?aQ 5em4e?Q 9mm4e<-)e@Yiym=Q Im?eCIe:ie:e2m4yqɮ}By*jBjiiziJii kC'kC'kC'h kIkIkIh2f:fBfJf'@ɢX(=) ?i)<io6ȼI    Qԁ2Acoustic response timeoutBE$>BECBEHBEyABE=BEDBE»DBE;BEEBƊCBƍCBƝCBƶ=BƵ=Cƒ6AIIIOԩ Sҏ,DH?A2_p@2Yk@2 ++>ٱ23 :AHRS rotation from veh to nav: [[-0.314190,0.928133,0.199632],[-0.934667,-0.265559,-0.236381],[-0.166379,-0.260858,0.950932]]2HԿE?? пAοKſ@п`n?i2_p@I2^;2YCYBUyAyFQHIJ%=)J=HJAbDRVDRy8yV8Ƚ%ZU=ٔZ@;Q-Z>9\I\=^/Fy^EbEb>dQ 5fm4f?Q 9jm4f-)f@Yhyj|Q Ij?fɷCIfW:if-:fm4E2Acoustic response timeouty}2Bɮ}B}ϿE*jBjiiziJii k-k-k-h kDkDkDh2f :f Bf Jf )@E=T E9E=FE9"E=9*E9VE= 5ZE9BE=:aM2E=:aMJE=9:aM:E=9:aM颉ɢ=): Y?iԱ)"<顱iZżIA!I)I9 Uk>QGrAE9MrAYMAOUS>2Acoustic response timeout 9 سҏ,W#H?A6o@6j@6{+>ٱ6 BAHRS rotation from veh to nav: [[-0.314255,0.927141,0.204090],[-0.934574,-0.264366,-0.238080],[-0.166779,-0.265555,0.949560]]6HԿ$??]пhyοYſпb?i6o@I6A^;6ZCYJcxAyJHbDVVDV8yZ%^J=ٔ^H:Q-^>9`I`=b/FybEb'nEf>dQ 5jm4f$?Q 9nm4f-)f5@YYy]Q I]?fCIf9i  2Acoustic response timeoutB= R>B= CB= HB= xAB= =B9 B= ƻDB= ;B= Eҏ, H?A ZP{@ZJv@Z{+>ٱZ jAHRS rotation from veh to nav: [[-0.312924,0.926675,0.208211],[-0.935034,-0.262095,-0.238784],[-0.166704,-0.269406,0.948488]]ZH`ԿR?? `*п{οVſ=ѿ@Z?iZP{@IZ~^;ZYCYwAyUHAA I)IbD]VD]8yu}½%u?=ٔ}:Q-}>9H?IH?=/FyE.Z;E>Q 5m4z?Q 9m4+)-)S@YyYQ I?9CI;i;m4yɮ:B*jBjiiziJii k4k4k4h kSGkSGkSGh2f:fBfJf!@颩ɢGs=) >i)<项i;IiAAI IOU2>ԙ]2Acoustic response timeoutEeV EaEeWEa"Ee=:*EaVEe~D5ZEaBEe:au2Ee:auJEe9:au:Eaau ҏ,lH?AHjS@jM@j+>ٱj EAHRS rotation from veh to nav: [[-0.310892,0.926624,0.211456],[-0.935793,-0.259512,-0.238633],[-0.166247,-0.272068,0.947808]]jHӿ?? כпο`Gſiѿ@rT?ijS@Ij^;jXCYUvAyUH YYy+?9 K?I K?=/FyEn;E>Q 5%m4jq?Q 9%m42-)@Y-?m?Q E-e:y-VQ I-?kCIu ;i ;m4y5-Bɮ5QB=ؿE2Acoustic response timeout*jBjiiziJii k+k+k+h!2f59>:f59>Bf5J >Jf5A@qɢua=)q }>iy)} m 2Acoustic response timeoutEY  E] FE] SEY "EY *E] ;J9VE] 75ZEY ae @ae @ae @ae @zҏ,H?A2@2@2{*>ٱ2& :AHRS rotation from veh to nav: [[-0.308243,0.926888,0.214162],[-0.936762,-0.256521,-0.238062],[-0.165719,-0.274000,0.947344]]2H?ӿ?@i?@jп@xο@K6ſ7ѿP?i2@I2b^;0YBuAyB2HbD}VD}8y %O=ٔQ->9I=/FyE;E>Q 5n4h?Q 9n4<-)@YyQ I?CIN:i:_n4y#BɮgB׿E*j Bj iiziJii ks(ks(ks(h) ks(ks(ks(h92fI:fIBfIJfMZ@iɢm5Y=)q }J>iy)}<顁i%Iu"5IIiIyO>>2Acoustic response timeoutBs>BCB^HB)vAB=BDBɻDB;BEqԡ ?ҏ,\7H?A;ɰ;B,@B&@B)>ٱBRu JAHRS rotation from veh to nav: [[-0.305360,0.927507,0.215605],[-0.937795,-0.253635,-0.237087],[-0.165215,-0.274590,0.947261]]BHӿ#??j`;пXο@%ſѿ O?iB,@IBN^;BYCYR uAyVH2Acoustic response timeoutybDE VDE8bE5jE5rEO1EX ECEGE"E~ :*E09VE5ZEBE:a-2E:a-JE9:a-:E9:a-y%>=ٔQ->9I=/FyE;E>Q 5n4]_?Q 9n4 F-)3@YyQ I?̸CIm;i;dn4yɮB*jBjiiziJii k'k'k'h2f:fBfJf=ْ@ɢA=) >i)J<!i%/+!I)ԩMNJ:A]]?A]e?In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutIIO% >i! I% oA H&ҏ,gQH?A6܅@6׌@6)>ٱ6l >AHRS rotation from veh to nav: [[-0.301921,0.927956,0.218499],[-0.939065,-0.249982,-0.235936],[-0.164317,-0.276419,0.946886]]6H Rӿб?@? eϿ%3ο Xſٰѿ L?i6܅@I6^;4YF)tAyJ#HbD=VD=8yY%]=ٔw!Q->9I=/FyE$<E>Q 5n4jW?Q 9n4N-)@YyQ I?CI|:iR:S!n4yɮB*jBjiiziJii k#k#k#h2f:fBfJf/@颹ɢp<=) 1>i)<i:]I5pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT52Acoustic response timeoutEEW EEEEEEEA"EE :*EEA9VEE 5ZEAaM@aM@aU@aU@IIO-o>1Y  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutB >B CB HB tAB =B B ˻DB ;B EQҏ,,HkH?A>@>@>l'>ٱ>ޑ JAHRS rotation from veh to nav: [[-0.298502,0.928557,0.220632],[-0.940426,-0.246736,-0.233923],[-0.162773,-0.277315,0.946890]]>H@ӿ ?=? Ͽ3ͿĿѿ L?i>@I>S^;>ZCYZsAyZ~HbD%VD8y[$%I=ٔ;|Q->9I=/FyE<E>Q 5n4N?Q 9n4 X-)@YyQ I?'CI;i~;/n4yBɮBE*jBjii!zi!Ji!i!1 kkkhY2fi:fiBfiJfmB@颡ɢ%=) G>i)<i8 IIQIaO=a=2Acoustic response timeoutE1 E5BE5LE1"E1*E5(9VE5!5ZE1BE59:aE2E5>:aEJE5T+:aE:E5W+:aEԉԹ 8ҏ,H?A2@2@2$>ٱ2ә :AHRS rotation from veh to nav: [[-0.295577,0.929263,0.221594],[-0.941764,-0.244500,-0.230868],[-0.160358,-0.276929,0.947415]]2Hҿ?0]?"KϿ@ͿĿ`2ѿ :Q?i2@I2^;2WCYF1rAyFHy7A`?Dli|?56?Oq 9B`"?{Gz?+ηYn?yף<voBiB B)BYaBbD3VD8y%G=ٔûQ->9I=/FyE=<E>Q 5n44E?Q 9n4Za-)@Yp?Q Eb:yQ I?VCI:i:=n4yɮңB*j Bj iiziJii ksksksh) k#k#k#h92fMu>:fMu>BfM>JfMtC@iɢmY=)i uD >iq)uٱ: BAHRS rotation from veh to nav: [[-0.293073,0.929698,0.223093],[-0.943087,-0.242754,-0.227285],[-0.157149,-0.277007,0.947930]]:Hҿ`?P? -ϿͿ`xĿ|ѿ qU?i:,@I:^;:ZCYJNqAyJaHXX X)\^=^=bDf7VDf8yj%n[=ٔnQ->9I=/Fy E};E>!Q 5-n4%cB>BCBHBqAB=BBλDB;BE2Acoustic response timeoutI ҏ, ԸH?A$6?@6:@6>ٱ6ۑ BAHRS rotation from veh to nav: [[-0.291126,0.929805,0.225184],[-0.944300,-0.241532,-0.223514],[-0.153436,-0.277713,0.948332]]6H@͡ҿ ??7ο̿ƣÿ ѿX?i6?@I6^;6[CYJpAyJHbDVVDV8y^>Խ%^L=ٔ^Q-b>9`I`=b/Fyb Ef;Ef>hQ 5nn4jM3?Q 9nn42Acoustic response timeoutjr-)j@Y y QQ I ?jCIjԙ2Acoustic response timeout tҏ,H?Aɰ2F@2 A@2 >ٱ2 呾 :AHRS rotation from veh to nav: [[-0.290524,0.929620,0.226719],[-0.945210,-0.241941,-0.219185],[-0.148906,-0.277976,0.948976]]2Hҿ s?#?)?οB̿]ÿ \ѿ^?i2F@I2^;2XCYFoAyFRHlbD VD8y%"%%D=ٔ-3Q-->9-H?I-H?=-/Fy5E5;E5>9Q 5En4=)?Q 9En4=s|-)=@YIyM5Q IM?=CI=:i=$:=wgn4yU BɮUBUE*jiBjiiqiqziqJiqiq kkkh ks3ks3ks3h2f:fBfJfe@ɢl<) b-< Լi)?<i-IAY?AX? 2Acoustic response timeoutA%AI1IAOu>E V E CE LE "E =:*E 09VE !5ZE a@a@a@a@!A Ay Ay  2Acoustic response timeoutҏ,uH?AB2>B2CB2HB2mAB2=B2DB2ԻDB2;B2$EBCBCBCB=B=C?H6NG@NB@Nw>ٱND VAHRS rotation from veh to nav: [[-0.290546,0.928955,0.229404],[-0.945890,-0.242638,-0.215450],[-0.144481,-0.279589,0.949187]]NH@Oҿ?`]?D@Ͽړ˿X~¿ѿ_?iNG@IN7^;N[CY^oAybHI]C=)]<bDmVDm8yt%C=ٔ.Q->9K?IK?=/FyE9E>Q 5n4?Q 9n4-)@Yy4Q I?CI;i:vn4yɮ)B*jBjiiziJii kC5kC5kC5h kC5kC5kC5h2f!:f!Bf!Jf%:_@AɢE><)A MbiI)M:2Acoustic response timeoutyEQ EKEHE"E29*E]t9VE-5ZEBE:a%2E:a%JE/:a%:E0:a%ԩ _G) Q c9 Y Aҏ,kfH?A2Q@@2L;@2>ٱ2XN :AHRS rotation from veh to nav: [[-0.291564,0.928089,0.231606],[-0.946232,-0.244368,-0.211964],[-0.140125,-0.280955,0.949436]]2H ҿ?G?G@uGϿ`!˿)ѿa?i2Q@@I2^;2ZCY^mAy^&Hԩy ףp= ?+?RQȿQ?=B 9v/?{Gz?QοYx?yuBB B)aBYBbDVD8yW]%D=ٔe-Q->9I=/FyE  E >Q 5n4?Q 9n4-)@Y?Q E@:y%dQ I%?HCI ;i ;n4y-Bɮ-MB-E*jABjAiAiIziIJiIiI k)k)k)ha k*k*k*}2Acoustic response timeouthy2f=:f=Bf@Jf6 :@颩ɢޱ<) i)<<顱irIAI IOU2>- 2Acoustic response timeoutE% U E% DE% LE! "E% :*E% a99VE% !5ZE! a- @a- @a- @a5 @1 7ҏ,K? H?AJ4@J/@Jm >ٱJ\ UAHRS rotation from veh to nav: [[-0.293034,0.927615,0.231648],[-0.946278,-0.246739,-0.208992],[-0.136708,-0.280445,0.950085]]JHҿ??G#ϿBʿѿg?iJ4@IJ^;JXCYuVmAyuHbDVD8y[%O=ٔQ->9I=/FyEgE>1Q 5=n45?Q 9=n45 -)5@Y9yEQ IE?5~CI5;i5a;5n4yMBɮMVBME*jaBjaiaiiziiJiiii kS(kS(kS(h kDkDkDh2f:fBfJf-:@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢqy<) c*i);<i-I!2Acoustic response timeoutB]>B]CB]HB]kABYBYB]ջDB];B]2E59AAzAAQA I I O >y ҏ,:H?A2*#@2%@2 >ٱ2T$ :AHRS rotation from veh to nav: [[-0.295176,0.927234,0.230450],[-0.945978,-0.249759,-0.206750],[-0.134148,-0.279028,0.950867]]2H+ҿ?`b?tEϿvʿ+ѿm?i2*#@I2Ѷ^;2WCYf4lAyf>H hhvhDAT read: Forwarding Delay UpTx time:19:09:04.5392 vpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGv2Acoustic response timeoutbD  VD 8y<%U=ٔ%rܻQ-%>9!I!=%/Fy-E-jE->1Q 5=n45?Q 9=n45-)57@YAyEQ IE?5CI5;i5;5n4yIɮM{BI*jaBje=iaiaziaJiiii kS)kS)kS)h kNkNkNh2f:fBfJf9@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢH<) ri)j<i %EW ELEHE"E :*E|9VE-5ZEBE;:a2E@:aJEw:a:Ex:a=IQP;A$AI IIYe>e>Om5>ԁiߑIߑ2Acoustic response timeoutԩ ҏ,SH?A2@2@2>ٱ2児 >AHRS rotation from veh to nav: [[-0.298281,0.926989,0.227419],[-0.945278,-0.253897,-0.204903],[-0.132202,-0.276093,0.951995]]2H ӿ@????пC:ʿ`ѿv?i2@I2^;2ZCYFkAyFHbDRMVDR8yZ %ZQ=ٔZĤQ-^>9^H?I^H?=b/FybEb$Eb>dQ 5jn4f?Q 9jn4f-)f@YhynQ In?fCIf0p;ifZr;fn4yxɮzBx*jBj i i zi Ji i kC3kC3kC3h! ksKksKksKh12f:fBfJf9@ɢL;) ؋i ) <  i ;ŒI1Ա2Acoustic response timeoutDzD?AEU EBEGE"E:*E(9VE5ZEa@a@a@a@}x/<AII OU > 2Acoustic response timeoutB= >B= CB= HB= jAB9 B9 B= ׻DB= ;B= REI ҏ,nH?Aɰ4<:@:݌@:N>ٱ: FAHRS rotation from veh to nav: [[-0.302798,0.926459,0.223577],[-0.944172,-0.259652,-0.202780],[-0.129815,-0.272496,0.953359]]:H aӿ?)?6"пɿ@ʝpѿ?i:@I:^;:\CYNjAyN@H\d d)dbDn'VDn8yv %vE=ٔv$Q-v>9xIx=z/FyzEz8E~>Q 5 n48䠉?Q 9 n4-)@Y y Q I ?CI:ib:n4yBɮBE*j)Bj1i1i1zi1Ji1i1 kJkJkJhI kKkKkKhY2fi:fiBfiJfm9@ ɢ p/;)   i )e<i5Z9I9AAAA!2Acoustic response timeoutbE]-5jE]w5rE]ǖ0EV EEEFE"E=:*EA9VE 5ZEBE:a2E:aJEW:a:EW:aI IOU>I !ҏ,ﮇH?A 2@2@2Y>ٱ2č >AHRS rotation from veh to nav: [[-0.308166,0.925091,0.221900],[-0.942824,-0.265859,-0.201004],[-0.126953,-0.271156,0.954127]]2H`ӿY?:g?+ѿ~ɿ?Zѿ4?i2@I2g^;2ZCYfmjAyj&HIv=)vU?ym+?L7A`?㥛 ?mv~?m+>m=i i9m/$?mt9I=/Fy EaXE>Q 5n4ܠ?Q 9n4-)9@YR?Q E1:yQ I?ZCI;i;n4yɮB*jBjiiziJii kcFkcFkcFh kFkFkFh2fO>:fO>Bfi{=Jfj@]2Acoustic response timeoutɢЉ:) Xi)C<iIqԡ^A50;I I! OU >  2Acoustic response timeoutE ] E AE NE "E :*E  9VE '5ZE a @a @a @a @'ҏ,H?APNk~@Nfy@NX=ٱN=" bAHRS rotation from veh to nav: [[-0.314621,0.923181,0.220794],[-0.941290,-0.273436,-0.198003],[-0.122420,-0.270127,0.955010]]NH`"Կ?`B? ѿ)Xɿ`VIѿq?iNk~@IN];LYiAyHbD=VD=8y}ۂ%}/=ٔ}g Q-}>9I=/Fy#EjE>Q 5n4Ҡ?Q 9n4B-)@YyQ I?CI:i:n4yBɮBE*jBjiiziJii kCGkCGkCGh k^k^k^h2f:fBfJf4@!ɢ%v:) i)^<顩iHIm2Acoustic response timeout^A<BB>BCBHBhAB=BBڻDB;BEIaIqO_>! 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O?XԿʿ3`޿G?iJ+@IJ^;JZCY^:cAy^ HbDfVDf8y~%~d=ٔ$Q->9I= /Fy Q 5o4BȅCBe< HBedABe=BaBeDBep;BeEy2Acoustic response timeout^A=IaIqOb>ԑ nҏ,H?A2&@2!@2<ٱ2 :AHRS rotation from veh to nav: [[-0.385417,0.811124,0.439922],[-0.922469,-0.327094,-0.205084],[-0.022453,-0.484858,0.874305]]2Hؿ@?@'?ބԿ`4@ʿ ߿M?i2&@I2k^;2[CYBbAyF HIJ=)Hr2Acoustic response timeoutbDnVDn8y 7% I=ٔ[Q->9I=/Fy?ECE%>!Q 5-o4%^?Q 95o4%gH.)%՛@Y1y1Q I5?%CI%:i%:%vSo4y9ɮEiBA*jYBjaiaiiziiJiiiqԙ k3Ek3Ek3Eh2f:fBfJfǹ@ɢ!)29 Pi )  < i\I!bE!5jE*5rE-2Eq EuIEuaEq"Eq*Euc9VEud5ZEqBEu;a2Eu;aJEu:a:Eu:a^A=IYIiO>iߑIߕA2Acoustic response timeout! uҏ,H?A2K@2F@2^t<ٱ2, :AHRS rotation from veh to nav: [[-0.388905,0.809250,0.440305],[-0.921157,-0.333832,-0.200065],[-0.014915,-0.483396,0.875275]]2Hؿ@_?-?z ]տɿ޿@@?i2K@I2e^;2XCYBIbAyF% HbDN2VDN8yVsԽ%VQ=ٔZQ-Z>9XIX=^/Fy^AE^E^>`Q 5fo4bzQ?Q 9fo4bN.)b@Yhyj( Q Ij?bCIb :ib9:b%ao4yɮ~B*jBjiiziJii kEkEkEh2f:fBfJf@)ɢ5C$)5 5c[i1)=<99i=YAIA2Acoustic response timeoutDzD@A)EeZ EeKEe[Ea"Ee:*Ee]t9VEeaQ5ZEaam@am@am@am@^A==IIOg>QBe &>Be ԏCBe HBe lcABe =Ba Be DBe ;Be %Ey  2Acoustic response timeout{ҏ,H?A2ʂ@2ʼn@2J;ٱ2 :AHRS rotation from veh to nav: [[-0.395838,0.809184,0.434205],[-0.918294,-0.345187,-0.193862],[-0.006988,-0.475466,0.879706]]2H@hUٿ ??b ֿ`zȿ| n޿&?i2ʂ@I2##^;2[CYFaAyF HTT T)TbD^4VD^8yf%fH=ٔfSQ-f>9hIh=j/FyjDEjǖEn>tQ 5zo4vC?Q 9zo4viU.)vC@Y|y~ Q I~?vBCIv;iv;vqoo4yBɮB "E*jBjii!zi!Ji!i! kC*kC*kC*h92fI:fIBfIJfM改@iɢmj'7)i m?bii)ul ҏ,U H?AYvaAyv H xxyuS?~jt!rhu/}?uļulq q9u@5^I ?p= ף1ZdӿYub?yuu"uBu;B uB)uBqYuBbDVD8y)%>=ٔQ->9I=/FyGEE>Q 5o4,?Q 9o4^.)Z@Y$?Q EI:yQ I?zCI ;i ;r~o4yBɮB!E*jBjiiziJii]2Acoustic response timeout kc3kc3kc3h2f@_>:f@_>ԱBf@Jf?3@ɢ~() tei)ő<i^TI!U &<  2Acoustic response timeoutE% W E% JE% ]E! "E% :*E% k9VE% W5ZE! a- @a- @a- @a- @^A9 9 Iy I O >ҏ,^(H?A2@2@2˙ٱ2 :AHRS rotation from veh to nav: [[-0.415460,0.811555,0.410818],[-0.909573,-0.374797,-0.179453],[0.008337,-0.448224,0.893882]]2H@ڿB? J?9@׿Oƿ`,?ܿ?i2@I2"^;2\CYBBaAyB HbD5VD58yu_f%u7=ٔ} Q-}>9I=/FyIEDE>ԡQ 5o4<?Q 9o4)h.)m@YyQ I?CI;i;o4yɮB*jBjiiziJii kkkh2f1:f1Bf1Jf5q2@BMu>BMݏCBM HBMbABM=BMDBMDBM;BMxEɢZI7) ki)-<i[IRI92Acoustic response timeout%?BI:^A9I I) OU >)  2Acoustic response timeout~ҏ,BH?AEV EDEQE"E=:*Ea99VE*15ZEBE:a&2E:a&JEuH:a&:ExH:a&*4<ɰ(Rۭ@R֨@RgȄٱR ZAHRS rotation from veh to nav: [[-0.427492,0.812268,0.396827],[-0.903874,-0.391913,-0.171512],[0.016208,-0.432002,0.901727]]RH`\ۿ?e?ٿ ſ@ݘ?@ۿ?iRۭ@IR];RYCYb9I=/FyLEE> Q 5o4 A?Q 9o4 p.) @Y!y%FQ I%? CI *;i : o4y-Bɮ-B-)E*jABjAiIiIziIJiIiI kkkha kkkhq2f:fBfJf 2@颡ɢC) 4li)<顩i PI92Acoustic response timeouti^A} =I I O- >ԙ ҏ,[H?AZ1@Z,@Zm˼ٱZykܾ rAHRS rotation from veh to nav: [[-0.441045,0.810949,0.384501],[-0.897140,-0.410248,-0.163819],[0.024892,-0.417203,0.908473]]ZH:ܿK??^AڿĿ A}?rڿ5?iZ1@IZ(^;ZZCY~waAy~ HbDVD8y=%K=ٔEQ->9I=/FyOE zE >Q 5-o4柉?Q 9-o4vy.)5@Y9y=Q I=?#CI ;i;Ϫo4yMBɮU}BU(E2Acoustic response timeoutԉ*jBjiiziJii kkkh2f:fBfJf2@)ɢ-M>))E=\ E=HE=VE9"E=:*E=[9VE=FA5ZE9aE@aE@aE@aE@ -hiI)M7}B]CB][ HB]bAB]=B]DB]DB];B]EBmԏCBmՏCBmȝCBmȜ=BmȜ=Cm^6IIO>- 2Acoustic response timeout ќҏ,uH?AY~9aAy~} HbDVD8y% $%%X=ٔ%Q-%>9)I)=-/Fy-QE5E5>9Q 5Eo4=џ?Q 9Eo4=S.)=ڏ@YAyAQ IE?=UCI= :i=:=o4yQɮUBQ*jiBjiiiiiziqJiqiq k#k#k#h kkkh2f:fBfJfɢZ) lli)r<iNI2Acoustic response timeoutEeV EeEEe[Ea"Ee=:*EeA9VEeaQ5ZEaBEe:a2Ee:aJEeW:a:EeW:a-G^AAYʸ9YAIIO->) = >= >ҏ,ÛH?A6@6@6 6ٱ6GҾ >AHRS rotation from veh to nav: [[-0.473518,0.798418,0.371900],[-0.879662,-0.449999,-0.153936],[0.044449,-0.400037,0.915420]]6HN޿?`4?@0&ܿ*ÿ¦?6ٿK?i6@I6U(^;6[CYFaAyF Hr2Acoustic response timeouta]@a] a]@a] a]@a] a]@a] bDeVDe8yuY=%uE=ٔ}UAQ-}>9I=/FyTE?E>Q 5o4j?Q 9o4̉.)u@Q A+:YQ E":yQ I?CI2 ;iJ>o4yBɮB'E*jBjiiziJii kkkh kkkhɢD)'$f fi)tf<!i%M!I)@=qA@=qAQy^AIII1OMs>2Acoustic response timeoutEU W EU @EU KEQ "EU :*EU 9VEU 5ZEQ a] @a] @a] @a] @ԩ ҏ,wH?A2~@2c@2_ٱ2"Ѿ :AHRS rotation from veh to nav: [[-0.489888,0.789054,0.370679],[-0.870076,-0.469144,-0.151235],[0.054570,-0.396607,0.916365]]2HSZ߿??5? u޿@[ÿ?bٿR?i2~@I2^;0@YFaAyF HTX X)X^=^=bDf*VDf8yn}J<%rT=ٔr׼Q-r>9tIt=v/FyzVEzIEz>Q 5 o4n?Q 9 o4.)V@Q A :YQ E:y4Q I?CIA6;iM?o4y%Bɮ-qB-0E*jIBjIiQiQziQJiQiY kckckcB>BB HBcAB=BBB&;B;Ehq19E rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18M]I18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]Q7UnU4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed颉ɢD) ei)2#Z<顩i  In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED 8Ack receipt timeout failure. 2Acoustic response timeoutʰҏ,SH?AE\ ECEHE"E:*E09VE-5ZEBE;a2E;aJE9:a":E9:a"l=}@=l@=-ٱ=Ҿ UAHRS rotation from veh to nav: [[-0.503309,0.778954,0.374046],[-0.861732,-0.484529,-0.150496],[0.064007,-0.398074,0.915118]]=H@`0?`?O߿qCÿb? zٿH?i=}@I=^;9Y bAy HbDVD8yh=%<=ٔQ->9I=/FyYE5E5>9Q 5Eo4=}?Q 9Eo4=h.)= @Q AM9YIQ EM9yM8Q IM?=CI=':i=?=o4yBɮcB/E*jBjiiziJii kkkh kkkh!s5NUpdating rudder angle 6.875493 arcdeg 95r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderQɢUM=)Q UB_iY)]%Ma ҏ,.H?A;ɰ2|}@2{@2ٱ2)վ :AHRS rotation from veh to nav: [[-0.513696,0.769004,0.380459],[-0.854965,-0.495911,-0.152012],[0.071776,-0.403367,0.912219]]2H2p?pY?[߿@uÿ _?ٿ0?i2|}@I28L^;2\CYF2bAyF H9bD VD 8ye1<%eQ=ٔmʢQ-u>9yIy=/Fy[E/E>Q 5o4o?Q 9o4.)0@Q A9YQ E9yQ I?.CIM;i?o4yBɮ]B.E*jBjiiziJii kkkh!]pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITe2Acoustic response timeoutɢ;\I) \i)B<i#ePI!E5] E5BE5JE1"E5:*E5(9VE55ZE1aE@aE@aE@aE@iU2;ԑAAAABV>BۏCB# HBcAB=BDBDB;BE zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeout ^AY Aa zAe nAIY Iq O >N̽ҏ,H?A u{@uB@ufٱuضܾ AHRS rotation from veh to nav: [[-0.527653,0.752002,0.395064],[-0.845257,-0.511013,-0.156227],[0.084400,-0.416364,0.905272]]uH@g?H?X 7Z<ÿ@6?ڿ?iu{@Iu9E^;uZCYibAy9 HbD VD8y]T<%]*=ٔe6ؼQ-e>9aIa=m/Fym^EmEm>qQ 5}o4uQ?Q 9}o4u".)u@Q A9YQ E9yXQ I?unCIuj:iu@uTo4yBɮ\B*jBjiiziJii kkkhq%2Acoustic response timeout颡ɢ#.)YʼbEm895jEmľ35rEm?2EV E@EEE"E=:*E9VE 5ZEBE:aE2E:aMJE::aU:E<:aU ]eYia)e5 2Acoustic response timeoutҏ,H?APY=bAy=e Ha%a- a-a- a-a- a-a- y-)\(?+?~jt-Ga?-=-D) )9-V-?M?/$?Y-h?y-n>-=-B-mB -@B)-{B)Y-kBbDEVDE8yUy4=%UK=ٔ]Q-]>9YIY=]/Fy]aEeEe>iQ 5uo4mD?Q 9uo4m.)mm@Q A}T:Y}#?Q E}O:y}Q I}?mCIm;imu;mbo4yBɮGB6E*jBjiiziJii kkkh k3k3k3h2f{E>:f{E>Bf+?JfU@ɢ7P) Ti)F+<iT I %2Acoustic response timeoutUjbD=D%=EX EGELE"E~ :*ER9VE!5ZEa @a @a @a @! ^A I I OU >ҏ,-H?AB&>B&ӏCB& HB&dAB&=B$B&DB&;B&Er@z@ru@r%½ٱrT zAHRS rotation from veh to nav: [[-0.539731,0.738248,0.404574],[-0.836461,-0.524524,-0.158772],[0.094995,-0.424104,0.900617]]rHyE?? I`RĿQ?@$ۿ`?|ir@z@Ir2^;pY bAyt HbD% VD%8y5Ȇ<%5^=ٔ=Q-=>99IA=E/FyEcEE&EE>IQ 5Uo4M 8?Q 9Uo4M.)M@YYy]Q I]?MCIM;iM;M;o4yaɮmCBi*jyBjyiiziJii kkkh kckckch2f:fBfJfå@ɢ#N) OSi) V!<iVI}2Acoustic response timeoutd)^A=A`?AI9IIQO}{>i1I5nA- 2Acoustic response timeoutԁ E  E DE NE "E *E a99VE '5ZE BE :a 2E :a JE vH:a :E xH:a ҏ,+lGH?AYQcAy HbD$VD8y-=%-K=ٔ-Q-5>91I1=5/Fy5fE=E=>AQ 5Mp4EA*?Q 9Mp4E.)E*@YIyQQ IU?ECIE:iE:EN p4YyeBɮe1Be5E*jqBjqiyiyziyJiyi kkkh kkkh2f:fBfJfɢ/<) Ji)<i[qYIԉi߁I߅A2Acoustic response timeout]mƼԱ^A = I! I9 Ou >^ҏ,PaH?A6^z@6U*@6iYʽٱ6LG RAHRS rotation from veh to nav: [[-0.547199,0.733374,0.403405],[-0.831170,-0.532910,-0.158631],[0.098643,-0.422100,0.901166]]6H`w?`a? `NĿ`@?ۿ [?i6^z@I6o^;6[CYZcAyZ Hhn2Acoustic response timeouth p)pbDzNVDz8y=%L=ٔ :Q- >9 I = /Fy hERE>Q 5%p4K?Q 9%p4.)@Y)y-Q I-?;CI :i:Fp4y5Bɮ5B=>E*jIBjIiIiIziQJiQDzDAAEW EPEJE"E :*E?9VE5ZEa@a@a@a@i kkkh kkkh2f):f)Bf)Jf->_@颁ɢ.) Ai)C <顩i\IBE>BE͏CBEh HBEeABE=BEDBEDBE;BE_E 2Acoustic response timeout^Ay 9 A I I O= >ҏ,#}H?Aɰ;6ex@6.d@6wԽٱ6پ BAHRS rotation from veh to nav: [[-0.566857,0.724018,0.393029],[-0.817281,-0.554207,-0.157816],[0.103558,-0.410674,0.905882]]6H@#&+?`c'?`+' M3Ŀ@ʂ?|Hڿ?i6ex@I6^;4YJKdAyJa HbDV:VDV8y^>v=%^A=ٔ^>Q-^>9`I`=b/FybkEbi)Ef>qQ 5}p4u ?Q 9p4u.)u_@YyQ I?uuCIu;iu.oҏ,˖H?A2ew@2@28Kؽٱ2վ :AHRS rotation from veh to nav: [[-0.578408,0.718634,0.386018],[-0.808908,-0.566427,-0.157570],[0.105416,-0.403392,0.908935]]2HP ??+ >+Ŀ?.ٿ ?i2ew@I2^;2ZCYFdAyF HԙyʡE?+?Mb-?=@ 9x&1?V-?l?YA?yh>=FB;B  B) BYBbD9VD8y=%:=ٔmQ->9I=/FynEE>Q 5p4?Q 9p4c.)x@Y?Q EQ:y Q I?CIn:i:m5p4y ɮ B *j!Bj!i!i!zi)Ji)i) k#k#k#hA k#k#k#hQ2fer=:fer=Bfe?Jfe@颁ɢW:) 3i)(;顉i~cI-2Acoustic response timeout^AEc EAEE"Eg5:*E 9VEZEa @a @a @a @Ae $AIq I O > Be >Be ǏCBe HBe gABe =Ba Be DBe ;Be EB%ӏCB%ԏCB%˞CB%˗=B%˘=C%N6ǘҏ,H?A:ov@:n@:{&ܽٱ:kҾ VAHRS rotation from veh to nav: [[-0.590855,0.711813,0.379755],[-0.799612,-0.579272,-0.158318],[0.107288,-0.397199,0.911439]]:H H +?@M?ldCĿ @w?kٿ *?i:ov@I:^;:[CYreAyrA HiyIy2Acoustic response timeoutbDeVDe8y>%J=ٔQ->9H?IH?=/FypETE>Q 5p4W랉?Q 9p4.)@YyQ I ?CIp:i:Cp4yBɮפBG  = hDAT read: Forwarding Delay UpTx time:19:09:18.6891 E pIn parseResponses, set commsState_ = SENDING_ACK_WAITINGE 2Acoustic response timeoutU 9Q YU ѲAAm AIq I O >E W E GE IE "E :*E R9VE e5ZE BE ;:a 2E @:a JE "t:a :E $t:a y ҏ,~H?A2Gu@2@2,aٱ20Ͼ :AHRS rotation from veh to nav: [[-0.603919,0.703531,0.374601],[-0.789510,-0.592498,-0.160062],[0.109341,-0.392416,0.913266]]2H`MSS?v?@C |Ŀ`?Xٿx9?i2Gu@I2^;0Yv)fAyz HbDeVDe8yˎ=%N=ٔQ->9K?IK?=/FysE+E>Q 5p4ڞ?Q 9p4 .)@YyQ I?CIilQp4yBɮBFE*jBjiiziJii kkkh  k3k3k3h2f):f)Bf)Jf-6@IɢM?)I MoiI)U&;YQijI2Acoustic response timeoutԉ^AA%Z?A%i?ԹAe $AIq I I O = 2Acoustic response timeoutҏ,ZH?A2jt@20Y@2ٱ2"Q; :AHRS rotation from veh to nav: [[-0.617316,0.694480,0.369619],[-0.778787,-0.605984,-0.162095],[0.111411,-0.387918,0.914936]]2H .9?է?8d@Ŀq?ؿ 'G?i2jt@I2*!^;0E` EbBEbME`"E`*Eb(9VEbH$5ZE`af@af@af@af@Y}~fAy} HbDVD8yB=%;=ٔgQ->9H?IH?=/FyvE"E>Q 5p4Ȟ?Q 9p4-/)@Yy.Q I?KCIa;i];`p4yBɮBEE*jBjiiziJii! k k k h92fQ:fQBfQJfU@颁ɢ> ) i)3;顉iR}oIAAB \>B CB HB hAB B DB ݻDB ;B E2Acoustic response timeout^A=1 AE AII IY O >Q ҏ,>H?A: s@:̀@:=&ٱ:D˾ NAHRS rotation from veh to nav: [[-0.630489,0.684456,0.366065],[-0.767841,-0.619003,-0.165093],[0.113597,-0.385169,0.915828]]:H ,`?m?&`!ſ?ؿ`vN?i: s@I: ^;:WC X)ZfvA^u``hn^vAinuIllIpirr@ pp)pt vQvAvuxx|~vAI~ʡ)|i|)IEvA`e 1~F iYY5=gAy=0HbDVD8yu=%}M=ٔQ->9K?IK?=/FyxE2Acoustic response timeout -E>1IQ 5Up4M?Q 9Up4M /)M3@YQyUGQ I]?MCIM:iM:Muop4yaɮeBa*jBjiiziJiiES EAE@E"E9*E 9VE4ZEBE:a2E:aJE:a:E:a kkkh k4k4k4hI2fY:fYBfYJf]<@频ɢ*V) , i);i+DtIY^Aa ԉ  2Acoustic response timeoutA $AI I O >ҏ,H?Aɰ4<06r@6YM@62ٱ6̾ >AHRS rotation from veh to nav: [[-0.642119,0.674067,0.365126],[-0.757807,-0.630082,-0.169487],[0.115814,-0.385525,0.915400]]6H<?7^?? )࿱ſ@?rؿ`J?i6r@I6 2^;6[CY]hAy]Hyw/?L7A`堿333333?F?+= 9> ףp=?l?~jt?Yq?y=D=BiB ڲB)RBYѭBbDVD8y >% R=ٔ 7Q->9H?IeH?=m/Fym{Em!Em>yQ 5}p4}?Q 9p4}J/)}@Yr?Q E_:y Q I?}CI}:i}]:}|p4yvBɮtBME*jBjiiziJii k#0k#0k#0h kCMkCMkCMh2fM>:fM>Bfg.?JfqC@ɢb) =i ) ;  i j#xIԑ2Acoustic response timeoutEW EBEGE"E :*E(9VE5ZEa@a@a@a@^AU=AYzA]nAA AI I O% >B />B CB HB jAB =B B ػDB y;B aE ҏ,1H?A2hq@2^@2ٱ27; :AHRS rotation from veh to nav: [[-0.651948,0.664486,0.365271],[-0.749124,-0.639002,-0.174615],[0.117380,-0.387473,0.914378]]2H@xC?`?@rYƿ ?Zؿ`B?i2hq@I2&^;2\C\Y=hAy=He2Acoustic response timeoutaa i)ibDuVDu8y=%S=ٔQ->9K?IK?=/Fy}EE>Q 5p46ҏ,{MH?A$29q@20@2!ٱ2CϾ JAHRS rotation from veh to nav: [[-0.660036,0.655735,0.366557],[-0.741785,-0.646029,-0.180003],[0.118772,-0.390715,0.912817]]2H`? u?@@E`X ǿ g?zٿ5?i29q@I2Co^;2[CYf2iAyfdHbDlVDlyvM=%vG=ٔzh_Q-z>9xI|=~/Fy~E~ڼE~>Q 5 p4?Q 9 p4 $/)@Yy% Q I? CIp:i: p4ytBɮNB%LE*j1Bj1i1i9zi9Ji9i9 ksEksEksEhQ kEkEkEha2fq:fqBfqJfuj@频ɢ';ͼ) پi)@;顙i΀I}y2Acoustic response timeoutԡ^Alw=IIO% > M 2Acoustic response timeoutD! zD! 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I1 IA Ou > Nҏ,J;H?A2@Hk@26>y@2W޽ٱ2; JAHRS rotation from veh to nav: [[-0.725461,0.598729,0.339456],[-0.679681,-0.700863,-0.216391],[0.108352,-0.387705,0.915393]]2H6 (??`wm˿?*ؿ J?i2@Hk@I22^;2[CYVnAyVHbD5WVD58y=%<=ٔ{;Q->9I=/FyEE>Q 5q4ĝ?Q 9q4[/)@Q A9YQ E:yyQ I?CIǀ;ip? q4yXBɮBYE*jBjiiziJiiԡ kdkdkdh19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7n PAggregate::uninitialize marl:UpdateSpeedAɢE]()A EãiA)M,;IIiMcQIQU)2Acoustic response timeoutET ELEBE"E9*E|9VE5ZEBE:a2E:aJEv:a:Ew:a^A}=A I I O >! Tҏ,RTH?Aɰp;65j@6*x@6 ڽٱ6 ˾ >AHRS rotation from veh to nav: [[-0.736922,0.588178,0.333156],[-0.667530,-0.710866,-0.221525],[0.106533,-0.385638,0.916479]]6Hݔ Z?@lR?@h\i@Z̿ E?@LؿS?i65j@I6N^;6YCYFoAyFgH%2Acoustic response timeoutbDEnVDE'8yS>%K=ٔh;Q->9I=/FyEC,E>Q 5q4U?Q 9q46a/)^@Q A9YQ E9yQ I?CI:i@?q4yVBɮ`BXE*jBjiiziJii kcakcakcah kakakahs NUpdating rudder angle 6.875493 arcdeg 9 r 6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder)ɢ-H?:)) -Di1)52+;11i59I99}=%22Acoustic response timeouti E  E EE SE "E *E A9VE 75ZE a @a @a @a @^A =A zA pAԙ A I I B9 A= <BE >BE CBE HBE qABE =BA BE λDBE ;BE ŋEOm ><[ҏ,4pH?ANi@Nv@NnսٱN;ʾ VAHRS rotation from veh to nav: [[-0.749347,0.576534,0.325711],[-0.653946,-0.721638,-0.227144],[0.104089,-0.383207,0.917779]]NH`@r?q?@Ϳ?@uؿr^?iNi@IN;^;N[CY^LpAy^HbDjqVDj*8yr=%rC=ٔvc;Q-v>9tIt=v/FyzEz%5Ez>|Q 5q4~?Q 9q4~f/)~б@Q A 9Y Q E 9y Q I ?~CI~ ;i~h@~q4yɮMB*j)Bj)i)i)zi1Ji1i1 k#_k#_k#_hI k#_k#_k#_hY颁ɢ̘;) bҏ,||H?A2g@2u@25Ͻٱ2-ɾ >AHRS rotation from veh to nav: [[-0.762220,0.564069,0.317563],[-0.639389,-0.732607,-0.233384],[0.101004,-0.380936,0.919068]]2Hd ?R?u@qͿ h۹?@@aؿi?i2g@I2P^;2\CYFpAyF0Haa aa aa aa yףp= ?E?Zd;O^?F>j 9Zd;O?ףp= ?oʡſYj|?y>-yB;B ڲB)RBYBbDVDK8y;=%?=ٔ;Q->9I=/FyE,;E>Q 5q4~?Q 9q4n/)>@Q AT:Y?Q EQ:ydQ I?$CI};i;%q4yUBɮ6BWE*jBjiiziJii kS_kS_kS_h kc_kc_kc_h)2f>:f>Bf设@Jf5U@ɢoF;) ~=i)/;i5 I1E2Acoustic response timeout^AqQ A I I O >hҏ,YH?A6wf@6mt@6ǽٱ6Ⱦ >AHRS rotation from veh to nav: [[-0.775373,0.550497,0.309434],[-0.623960,-0.743348,-0.241056],[0.097316,-0.379983,0.919860]]6H@?? {ο? Qؿ~o?i6wf@I66^;6[CYJzqAyJ|HXX X)XbDbVDbZ8yfH=%jZ=ٔj"9lIl=n/FynEr^Er>pQ 5vq4rg?Q 9zq4rlu/)rҮ@YxyzQ Iz?rTCIr:ir:r2q4y}IBɮB_E2Acoustic response timeout*jBjiiziJii kakakah k|k|k|h2f:fBfJfT@ ɢ ;<)  _=i ).k4;i¥I@-pA@-pAE}Q E}@E}EEy"E}29*E}9VE} 5ZEya@a@a@a@QB>BCBHB%sAB=BBͻDBt;BEy^AAV?A??A) I1 U 2Acoustic response timeoutIQ O >ԩ nҏ,DH?A9I=/FyEKE>!Q 5-q4%M?Q 9-q4%|/)%6@Y)y-Q I-?%CI%:i%N:%WAq4y=HBɮ=B=^E*jIBjIiQiQziQJiQiY kckckchi kcxkcxkcxhy2f:fBfJf[S@)ɢ-=><)I M>iI)U:;;QQiUYIYԡߥ4=ߥ%=2Acoustic response timeoutET EEE"E9*EVEZEBE:a2E:aJE4:a:E6:a^A=A$AIIO > i I oAU 2Acoustic response timeoutuҏ,*H?A>c@>q@>{ٱ>ŠǾ JAHRS rotation from veh to nav: [[-0.800888,0.522466,0.292587],[-0.592055,-0.764092,-0.256190],[0.089712,-0.378407,0.921282]]>H ?? qs@keп e?`7ؿ`#{?i>c@I>F<^;>ZCYRrAyR,HhbDVDr8y]s=%]C=ٔ];9eH?IeH?=e/FyeEmjJEm>qQ 5}q4u\3?Q 9}q4u/)u@Yyy}EQ I}?uCIu:iu:uOq4yɮB*jBjiiziJii k_k_k_h kvkvkvh2f:fBfJf?R@yɢmg<) %>i) D;顱iiI^A =12Acoustic response timeoutDzD@AE EAEDE"E*E 9VEJ5ZEa@a@a@a@A9 II Ia O >Q A A @AB >B CB dHB tAB =B B ̻DB @;B E{ҏ, H?Aɰ;6b@6߃p@6ٱ6Cƾ >AHRS rotation from veh to nav: [[-0.812922,0.508524,0.283831],[-0.576014,-0.773908,-0.263199],[0.085816,-0.377451,0.922045]]6HuE?J*?n@?п@? ((ؿc?i6b@I6W4^;4YF3sAyFH9bDVD8y}N=%I=ٔe9I=/FyEJE>Q 5q4?Q 9q4ϊ/)ک@YyQ I?CI;iE:^q4yGBɮB]E*jBjiiziJii k#fk#fk#fh k#xk#xk#xh2f:fBfJfP@!ɢ%eڍ<)! %L>i!)-LN;))i-1I12Acoustic response timeouti^A}=AzAqAԙAAII OE > 2Acoustic response timeout E V E FE BE "E =:*E ;J9VE 5ZE BE :a 2E :a JE e:a :E e:a ΂ҏ,C H?A2s>a@2i4o@2E짽ٱ2gǾ >AHRS rotation from veh to nav: [[-0.824818,0.493765,0.275450],[-0.559435,-0.783289,-0.271091],[0.081902,-0.377696,0.922300]]2Hd֙??Yѿ?-,ؿ{?i2s>a@I2I^;2XCYFsAyFHԙyE?zG?MbF? =@ 9I +?n?#~jY9t?yV>㥽xB}B B)\BYBbDVDz8yp=%E=ٔ9K?IK?=/FyEIE>Q 5q4g?Q 9q4ɒ/)@Y9?Q ET:y+Q I?'CIG ;i~ ;lq4y ;Bɮ B fE*jBj!i!i!zi!Ji!i! k_k_k_h9 kkkhI2f]F>:f]F>Bf][jE?Jf]@yɢ}LF<) [w>i)[w[;顁iհI%2Acoustic response timeout^A=Aa Iq I O > ҏ,ӡ%H?A2_@2m@2*ٱ28TǾ :AHRS rotation from veh to nav: [[-0.836091,0.479039,0.267347],[-0.543000,-0.792048,-0.278947],[0.078126,-0.378394,0.922342]]2H@A@?7?@A`uXBѿ ?7ؿ҃?i2_@I20^;2ZCYFTtAyF=HbDRVDRn8yZ=%Z_=ٔZ)9\I\=^/Fy^Eb_Eb>dQ 5jq4f9윉?Q 9jq4f/)fD@YhyjsQ Ij?fVCIf:if:fcyq4yr8BɮrBreE*jxBjxi|i|zi|Ji|i k3k3k3h k3k3k3h!2f1:f1Bf1Jf5u@QɢUG<)Q U>iY)]Hoh;YYi]EaIa}%=y2Acoustic response timeoutEeU EeAEeHEa"Ee:*Ee 9VEe-5ZEaam@am@am@am@!B>BCB,HBuABBBʻDB2;BlEBMŪCBMŪCBMŖCBMŰ=BMů=CM5^AIQA$AIIO>5 2Acoustic response timeoutԁ "ҏ,g|?H?A>߭^@>֣l@>(ٱ>oǾ FAHRS rotation from veh to nav: [[-0.847066,0.464039,0.259128],[-0.526250,-0.800560,-0.286643],[0.074434,-0.379171,0.922328]]>H)Ѳ?`? 0ZXҿ!?@XDؿ?i>߭^@I>b^;9fH?IfH?=f/FyfEjJEj>lQ 5rq4nEԜ?Q 9rq4n+/)n٥@YpyrQ Iv?nCIn;in;nq4yz+BɮzBx*jBj i i zi Ji i kpkpkph! kwkwkwh12fA:fABfAJfE֋@aɢez<)i m>ii)m y;iiim{qIy k>Qq9YAIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout^AaEmT EmCEmVEi"Em9*Em09VEmFA5ZEiBEm:a}2Em:a}JEm9:a}:Em9:ԁaAUAIYIqO>ԩ = pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT= 2Acoustic response timeout) ҏ,CYYH?A6w]@6mk@6Mٱ6~aȾ >AHRS rotation from veh to nav: [[-0.857111,0.449757,0.251154],[-0.510280,-0.808044,-0.294413],[0.070529,-0.380504,0.922086]]6Htm ??7T~`ҿ`2? .Zؿ ?i6w]@I66P^;6[CY~FuAyHbDVD8y%.=%%D=ٔ-9-K?I-K?=5/Fy5E59E5>9Q 5Eq4=6?Q 9Eq4=/)=V@YIyMQ IM?=CI=:i=:='q4yU*BɮUB]dE*jiBjiiiiqziqJiqiq kukukuh kukukuh2f:fBfJf`>@ɢJN<) Ѩ>i);iIԱ^AzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutE}R E}FE}EEy"E}s9*E};J9VE} 5ZEya@a@a@a@A$AI I Om >B} <A} <B n>B CB HB vAB =B DB ȻDB ,;B ^E1 5ҏ,33sH?A2C\@29j@2Cٱ2Ⱦ >AHRS rotation from veh to nav: [[-0.866799,0.435689,0.242560],[-0.494206,-0.815434,-0.301376],[0.066486,-0.381107,0.922137]]2H`м`S?6 ?`߿ Iӿ8? dؿ@&?i2C\@I2-g^;0YFvAyFQHTT T)TbD^(VD^8yf>%fP=ٔj3)9jH?IjH?=j/FyjEnSDEn>pQ 5vq4r8?Q 9vq4r/)rݢ@Yxyz(Q Iz?rCIr:ir:rޣq4y~)Bɮ~fBcE*jBjiiziJii kvkvkvh kwkwkwh2f:fBfJf5@)ɢ5^<)1 5>i1)=;99i==AIA2Acoustic response timeout9^AYAAIIIO>i  2Acoustic response timeoutE S E DE ?E "E 9*E a99VE ^4ZE BE :a 2E :a JE qH:a :E tH:a .ҏ,VH?A$ɰ&p;B[@Bi@Bq ٱB(ɾ JAHRS rotation from veh to nav: [[-0.875720,0.422213,0.234203],[-0.478755,-0.822159,-0.307974],[0.062521,-0.381824,0.922118]]BH`? Y?@޿ !O׵ӿa?@oؿ@?iB[@IBS^;@YRuAyRBHy-~jt?V-?Zd;O?-D?-<-j<=) )9-!rh?Cl?I +?Y-lg?y-O>-9<-B) -YB)-њB)Y-8BbDE;VDE8yUh%u@=ٔ9K?IK?=/FyE'$E> Q 55q4 䈜?Q 95q4 Ƕ/) ڢ@Y5Am?Q E5e:y5gQ I=? %CI F;i ; sq4yEBɮERBEkE*jyBjyiyiyziyJiyi k|k|k|h2fyc>:fyc>BfkIh?Jf`̎@ɢO<) >i )-;))i-ོ1I1@EC>@E?>I2Acoustic response timeouty^AQA I I ԡ O >Fҏ,:H?A:PZ@:Gg@:jqٱ:ɾ BAHRS rotation from veh to nav: [[-0.884069,0.408717,0.226655],[-0.463629,-0.828105,-0.315104],[0.058906,-0.383658,0.921595]]:H`KJ j(?`?ݿ*Կ(?؍ؿ@}?i:PZ@I:f^;:ZCYJvAyJHPI~4<)|bD BVD 8yE%=%MM=ٔM9IIQ=U/FyUEU;EU>e2Acoustic response timeoutiQ 5uq4m)r?Q 9uq4m/)m͢@YqyuQ I}?mRCIm;im;mq4yɮ;B*jBjiiziJii kckckch2f:fBfJfA@ɢ9=)E=_ E=@E=DE9"E=&:*E=9VE=J5ZE9aM@aM@aM@aM@ e>i)?;顙iY"IB5$>B5CB5qHB5wAB5=B1B5»DB5;B5)E^A=i AI A 2Acoustic response timeout5 Failed to create a data reader. azimuth_vehicleFrame is unknown.5 bFailed to request data from azimuth_vehicleFrame.I1 AI IQ Ia O >! .ҏ,aH?A2X@2f@2"/cٱ2ʾ >AHRS rotation from veh to nav: [[-0.891887,0.395921,0.218597],[-0.448849,-0.834144,-0.320530],[0.055436,-0.383993,0.921670]]2HU@V?? ܿN@Կ *b?`XؿR~?i2X@I2ѭ^;2\CYv$wAyvH|aabDm5VDm8y=%D=ٔ9I=/FyE$E>Q 5q4X?Q 9q4 /)@YyQ I?CIF:i=:3q4yBɮ,BjE*jBjiiziJii kckckch  kckckch2f):f)Bf)Jf-6@IɢM=)I M>iI)U;Qi¼I)m2Acoustic response timeoutbE5jE 5rE+1EMX EMBEMCEI"EM~ :*EM(9VEM5ZEIBEM:a]2EM:a]JEMS+:a]:EMV+:a]^A=QA I I! 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SۿB@-Oտ`i ?ؿ t?i:W@I:\^;:\CYNwAyN~H PRAbDZVDZ8yb=%b]=ٔbr9dId=f/FyfEj:"Ej>lQ 5rq4n(?Q 9rq4n/)nc@YpyrQ Iv?nCIn;in;nhq4yzBɮzBzhE*j Bj i iziJii k#hk#hk#hh) k#k#k#h92fI:fIBfIJfMΌ@iɢmtG.=)i m>iq)u`;qqiuQHǼԹI2Acoustic response timeout^AAIIO5> 2Acoustic response timeout9 Ea  Ee AEe GEa "Ea *Ee  9VEe 5ZEa BEe :au 2Ee :au JEe :au :Ee :au jҏ,UH?ANV@Nd@N:ٱN; ZAHRS rotation from veh to nav: [[-0.911277,0.361017,0.198093],[-0.409258,-0.847298,-0.338518],[0.045633,-0.389554,0.919872]]NH .) ?@[?G1ڿ`Eտ?]?uؿo?iNV@IN^;LYbxAybHyMK7A`?ˡEMbpMK?M什MI I9M+?{Gz? ףp= ?YM_?yMף9I=/FyE E>Q 5q4 ?Q 9q4/)e@Y`?Q Er:yh+Q I?CI ;ie ;Wq4yBɮBqE*jBjiiziJii klklklhY2fm>:fm>BfmOf?Jfmw@颩ɢA#=) T?i)G=;iɼIA2Acoustic response timeout^A=qAa Iq I O >ԙ ҏ,b0(H?A4<ɰ4<6eJU@6[@c@6ۇ.ٱ6ξ >AHRS rotation from veh to nav: [[-0.916603,0.350765,0.191843],[-0.397524,-0.850731,-0.343849],[0.042597,-0.391435,0.919219]]6HTr?`S?qٿ/9 ֿJϥ?`E ٿ>j?i6eJU@I6^;6[CE2Acoustic response timeoutE%V E%BE%>E!"E%=:*E%(9VE%4ZE!a-@a-@a5@a5@qYSxAyH )!bD-VD-8y=(=%=1=ٔE;Q-E>9AIA=M/FyMEMEM>QQ 5]r4U?Q 9]r4U/)Uq@Yaye:,Q Ie?UCCIUI:iUb:U r4ymBɮmBupE*jBjiiziJii kClkClkClh kSlkSlkSlh2fa:faBfaJfe @颁ɢ9x'=) 2?i);顩iQ̼IB>BCBHByAB=BBDBx;BE@@;>ԡhDAT read: Forwarding Delay UpTx time:19:09:32.5390 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout^A A zA pAA} $AI I O > |ҏ, BH?A2T@2y|b@2%"ٱ2 Ͼ >AHRS rotation from veh to nav: [[-0.921400,0.341277,0.185885],[-0.386583,-0.853794,-0.348698],[0.039705,-0.393150,0.918617]]2H|{??@ǽؿFRQֿ`&T?^)ٿOe?i2T@I2^;2ZC @)BjvAB`eFk~FDDDiFxiIDHIHiJr@ HH)HL NVvANGaLLPPIR)RFiP)TITVPT TXXXiXXYXYbxAybHIf=)f=bDjVDj8yr=%rz=ٔv 2Acoustic response timeoutQ Sҏ,[H?ANS@Na@NٱN о bAHRS rotation from veh to nav: [[-0.925638,0.332727,0.180241],[-0.376619,-0.856321,-0.353372],[0.036768,-0.394977,0.917955]]NH ԞdK?!?ؿ f`ֿ`;Ӣ?LGٿ`_?iNS@IND^;LYxAyHbD VD8y= ]<%=6=ٔE;Q-E>9AIA=E/FyEEMżEM>QQ 5]r4UO?Q 9]r4U/)U@Yaye-Q Ie?UCIU;iU;U$r4ymBɮuBuoE*jBjiiziJii kfkfkfh kfkfkfh2f:fBfJfO@ɢZ6;=))i m ?ii)mzB >B CB HB JzAB =B B DB (;B nEBʔCBʗCBʜCBʶ=Bʵ=C6ҏ,uH?A0:g+S@:]!a@: ٱ:5о FAHRS rotation from veh to nav: [[-0.929587,0.324918,0.174056],[-0.367058,-0.859158,-0.356534],[0.033697,-0.395318,0.917926]]:H .@u?wG?}׿`8~rֿ@?Lٿ_?i:g+S@I:^;:\CY=yAy=!HbDVD8y%1 =%%L=ٔ%;Q-%>9-K?I-K?=-/Fy-E5ӼE5>9Q 5Er4=h?Q 9Er4=/)=@YAyEW.Q IE?=CI=:i=:=2r4yUBɮUߡBUnE*jiBjiiiiiziqJiqiq k]k]k]h k#fk#fk#fh2f:fBfJf@2Acoustic response timeoutɢC=) {?i) <inҼIԑGEqAY^AAV?AY?Uѿ9qAYAA I I O m 2Acoustic response timeoutEE U EE BEE ?EA "EE :*EE (9VEE ^4ZEA BEE :aU 2EE ":aU JEA aU :EA aU ҏ,H?A2R@2 {`@2[ٱ2Lо >AHRS rotation from veh to nav: [[-0.933349,0.317176,0.168103],[-0.357635,-0.861957,-0.359342],[0.030923,-0.395511,0.917940]]2HL?@b?|ֿ'vֿ/? 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O] > l> m G MrA 3׿9 MrAY Av1ҏ,[$H?A2^D@2UR@2oٱ2 ʾ >AHRS rotation from veh to nav: [[-0.988311,0.140374,0.059467],[-0.152448,-0.912345,-0.379983],[0.000915,-0.384607,0.923080]]2H>?`ur?fÿ`1QؿM?@fؿ ߉?i2^D@I2Y^;2_CYf{AyfH hhbDrVDr8yv0<%zL=ٔzp;Q-z>9|I|=~0Fy~ERQE> Q 5 r4  2Acoustic response timeout 7ҏ,H?A2C@2Q@2 ;ٱ2˾ :AHRS rotation from veh to nav: [[-0.991100,0.123635,0.049347],[-0.133098,-0.913668,-0.384052],[-0.002396,-0.387202,0.921992]]2H`?@C?W @<@Pؿcؿ?i2C@I2}^;2YCYF{AyFHbD=VD=8y<%A=ٔ.9I=0FyE\=E>Q 5r4_!?Q 9r40)t@Yy[*Q I?I B >B CB -HB [|AB B B B ;B E!=ҏ,H?A4<ɰ4<069I=0FyE5E>Q 5r4"?Q 9r40)Ҡ@Y y +Q I ?jCI:i:qr4yBɮmBtE*j)Bj)i)i)zi1Ji1i1 kRkRkRhI]2Acoustic response timeout k\k\k\ha2fq:fqBfqJfup@频ɢp=) N9?i)^<顙i)IԑԹ^AApAzApAUnManaging dock network, ignoring radio surface power offAQ Ia Iq O >  2Acoustic response timeoutE V E E AE "E =:*E M:VE A4ZE BE :a 2E :a JE Y;a :E Y;a Dҏ,H?A :YA@:OO@:c<ٱ:; FAHRS rotation from veh to nav: [[-0.995190,0.093504,0.029208],[-0.097478,-0.915735,-0.389777],[-0.009699,-0.390750,0.920446]]:H??@XMؿ݃` ٿJt?i:YA@I:^;8YR|AyRH`y}n?} >}B}}B })}ByY}#BbD6VD8y-=%-F=ٔ5/91I1==0Fy=E=),E=>AQ 5Mr4EQꙉ?Q 9Mr4E0)E@YUa?Q EUq:yU-Q IU?ECIE ;iE ;Er4yYɮ]_BesE*jqBjqiqiyziyJiyiy kSNkSNkSNh kgkgkgh2fv>:fv>Bfbd?Jf@ɢ<+=)  @?i)Ō<i!5񼉨Ie2Acoustic response timeout^AAe $AIq I I O >A %Jҏ,-H?A2Y@@2ON@2sY<ٱ2oξ :AHRS rotation from veh to nav: [[-0.996549,0.080573,0.019960],[-0.081936,-0.916291,-0.392042],[-0.013299,-0.392324,0.919731]]2H``m?jp? BR6ٿY<ٿ`on?i2Y@@I2}^;2[CYZ{AyZH``f2Acoustic response timeoutbDv>VDv8yz%%~`=ٔ~!9H?IH?=0FyE K/E >Q 5s4љ?Q 9s4v0)@Y!y%.Q I%?CI,;iW-;s4y)ɮ-fB1*jABjAiAiIziIJiIiI kCOkCOkCOha kgkgkghqET E@E@E"E9*E9VE4ZEa@a@a@a@2f:fBfJfƈ@ɢ=) JB9B9B9B==B9B=DB=;B=EI^AqAMAIYIiu2Acoustic response timeoutO>ԡ Qҏ, lGH?A2_j?@2U`M@24Ç<ٱ2ξ :AHRS rotation from veh to nav: [[-0.997592,0.068436,0.011285],[-0.067352,-0.916921,-0.393343],[-0.016572,-0.393156,0.919322]]2H@E ?n?=kW,ٿ3w)ٿk?i2_j?@I2}^;2YCYFv{AyFHbDRVDR8yVTE%VO=ٔZ9ZK?IZK?=^0Fy^E^Eb>`Q 5fs4b?Q 9fs4b#0)b@Yhyju/Q Ij?bCIb:ib$:bhs4yUBɮUoBUrEԁ*jBjiiziJii kSOkSOkSOh kekekeh2f:fBfJfB@ɢV=) l7?i) <i󼉨 I 2Acoustic response timeoutbEz4jEċ4rE.0EY ECEAE"E:*E09VEA4ZEBE";a2E%;aJE9:a:E9:aԡ^AAII Ou >  2Acoustic response timeoutHWҏ,GaH?AY~{Ay~H )bD-VD-8y=<%=A=ٔEQ-M>9I=0FyEE>Q 5s4?Q 9s4&0)@YyQ I?CI;i];s4yBɮjBqE*jBjiiziJii kLkLkLh kfkfkfh 2f:fBfJf1ɢ=X=)9 =9?i9)=B5 CB5 HB5 2|AB1 B1 B1 B5 };B5 sEO >Y e^ҏ,'{H?AV=@VܢK@V-<ٱVξ ^AHRS rotation from veh to nav: [[-0.998952,0.045565,-0.004285],[-0.040202,-0.918392,-0.393624],[-0.021871,-0.393040,0.919261]]VHj@NT?q`^`wc@$1ٿ@Fe'ٿj?iV=@IV^;V[CYfl{AyjHbDrVDr8yz%zO=ٔ~[9~H?IH?=0FyEՐE> Q 5s4 ~?Q 9s4 '*0) @Yy21Q I? JCI ;i ; ,s4y-Bɮ5oB=pE*jaBjaiiiiziiJiiii kdkdkdh kdkdkdh2f:fBfJf^<@E2Acoustic response timeoutQaɢe=)i m6?ii)m 2Acoustic response timeoutE R E DE BE "E s9*E a99VE 5ZE BE :a 2E :a JE oH:a :E rH:a eҏ,H?A;ɰ6v<@6lJ@6N<ٱ6yξ >AHRS rotation from veh to nav: [[-0.999383,0.033079,-0.011779],[-0.025781,-0.918998,-0.393418],[-0.023839,-0.392871,0.919284]]6H?`nf@oh-ٿHi`$ٿ@j?i6v<@I6^;6ZCYZ{AyZHy|?5^?)\(+R?Ga 9V-?V-?{Gz?Y|_?ym=#=BB )2BYBbD VD8y=%==ٔ;Q->9I=0FyEtE>Q 5s4^?Q 9s42+0)@Y6`?Q Er:y\BQ I?zCI ;i::fe>Bfe?JfeV@颡ɢԅ=) :?i)<i1I@@C>e2Acoustic response timeout^A=AzA A AI I OE >1 *kҏ,b֮H?A2;@2yI@2/<ٱ2gξ >AHRS rotation from veh to nav: [[-0.999610,0.020706,-0.018721],[-0.011692,-0.919562,-0.392772],[-0.025348,-0.392400,0.919445]]2H3?@+ @ m.#ٿٿ`l?i2;@I2^;2\CYF{AyFHb2Acoustic response timeoutIE=)E=Ea Ee?Ee@Ea"Ea*Ee?9VEe4ZEaam@am@am@am@bDM!VDM8y%L=ٔcv;Q->9K?IK?=0FyEE>Q 5s4CA?Q 9s4,0)ʠ@YyCCQ I?CI:i:&Js4yBɮbB*jBjiiziJii kakakah1 kakakahA2fQ:fQBfQJfU@qɢH=) 9?i)`<项i IB>BBHB |AB=BBB;B0EA^A5=iqIqIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutAi i Iy I O >i I rҏ,5H?A :!:@:H@:iP<ٱ:f; FAHRS rotation from veh to nav: [[-0.999646,0.008573,-0.025176],[0.001938,-0.920621,-0.390452],[-0.026524,-0.390363,0.920279]]:H ?Ǚ_?u`+ؿ`<)ؿr?i:!:@I:w^;:[CYN{AyNHbD VD 8yeՇ<%eQ=ٔeME;Q-e>9iIi=m0Fym EmEu>yQ 5s4}$?Q 9s4},0)}@Yy#DQ I?}CI}:i}:}Ws4ypBɮBnE*j)Bj)i)i1zi1Ji1i1 k#Ik#Ik#IhI kekekehY2fi:fiBfiJfmm@颉ɢ-=) :?i)><顑iVIipIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutEm\ EiEmBEi"Em:*EiVEm5ZEiBEm;a}2Em;a}JEmG9a}:EmL9a}ԙ^A=A$AIIOM >  zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutL=xҏ,H?AF@:@F6H@Fe<ٱF(; NAHRS rotation from veh to nav: [[-0.999486,-0.004208,-0.031788],[0.016268,-0.920842,-0.389598],[-0.027633,-0.389914,0.920436]]PFH9 H?I H?= 0Fy  E E>Q 5s4?Q 9%s4J-0)@Y!y%EQ I%?CI;i;{es4y-nBɮ5B5mE*jIBjIiIiIziIJiQiQ kckckchi kckckchy2f:fBfJf=@颩ɢ=) 8?i)<顱iNzI^A==AEU?AER?2Acoustic response timeoutEU EAE?E"E:*E 9VE^4ZEa@a@a@a@AAIIAAB>BBHB{ABBBB;BEBȍCBBBȹ=Bȹ=Cȩ5O>! xg~ҏ,]jH?A2e9@2[G@2<ٱ2̾ >AHRS rotation from veh to nav: [[-0.999111,-0.017625,-0.038289],[0.031141,-0.920840,-0.388695],[-0.028408,-0.389542,0.920570]]2H @b `\?w`aؿAؿ@Pu?i2e9@I2^;2^CYF#{AyFmH HH|bD VD 8yC%I=ٔh:Q-%>9%K?I%K?=%0Fy%E-E->1Q 5=s45阉?Q 9=s45-0)5j@Y9y=FQ IE?5-CI5;i5;5ss4yMlBɮMBMlE*jaBjaiaiiziiJiiii kfkfkfh kfkfkfh2f:fBfJfz@ɢ<=) 92?i)_<ioIM2Acoustic response timeout%G)AQ9YNA^AaA$AIIO% > 2Acoustic response timeoutE Z E CE DE "E :*E 09VE J5ZE BE g;a 2E j;a JE 9:a :E 9:a Ա Oҏ,VFH?A2&8@2F@2~<ٱ2p; >AHRS rotation from veh to nav: [[-0.998515,-0.031045,-0.044766],[0.046044,-0.920120,-0.388921],[-0.029116,-0.390405,0.920183]]2H 3ʟ릿 ?qؿНdؿ #r?i2&8@I2S^;2ZCYZX{AyZHa=@a= a=@a= a=@a= a=@a= a=@a= y5~jt?S㥫 rh5D?5/]5C1 1)5Mb@Mb@Mb@I5i5‰555 1)55I5YbDU VDU8y#<%==ٔ:Q->9H?IH?=0FyE = E >9Q 5Es4=_ɘ?Q 9Ms4=.0)=A@Q AM+:YIQ EMD:yMFQ Im?=^CI=p;i=i>=s4ymBɮBkE*jBjiiziJii kdkdkdhaɢe=)a e5?ia)m Yyҏ,! 0H?A4<ɰR2Acoustic response timeoutZ$)6@ZD@Zj<ٱZqMξ bAHRS rotation from veh to nav: [[-0.996552,-0.058945,-0.058384],[0.077082,-0.918103,-0.388775],[-0.030686,-0.391935,0.919481]]ZH. y䭿`?a@ؿl@vٿcl?iZ$)6@IZ|^;ZYCYj{AyjiHxx |)|bDVD8y %Y=ٔ0;Q->9!I!=%0Fy%E%E%>)Q 55s4-?Q 95s4-.0EEQ EEAEE@EA"EE29*EE 9VEE4ZEAaM@aM@aM@aM@)-@Q AU :YQQ EU:yUHQ IU?-CI-';i-P?-s4y]jBɮeBejE*jyBjyiyiyziyJii kKkKkKh kfkfkfhԹIɢM"=)I U1?iQB}>B}CB}HB}{AB}=ByB}DB};B}E)<顱iI@@G>^A=AzAoA)]2Acoustic response timeoutA- AI1 IA O} >A Faҏ,zIH?AJ&5@JC@JO=ٱJzrξ VAHRS rotation from veh to nav: [[-0.995191,-0.073129,-0.065168],[0.092789,-0.916974,-0.388005],[-0.031383,-0.392186,0.919350]]JH߮?Wؿ|@ٿQk?iJ&5@IJ^;J[CY^{AybbHIf=)f=bDjVDj8yrջ%rM=ٔv:Q-v>9vK?IvK?=z0FyzEz"Ez>|Q 5s4~?Q 9s4~-0)~@Q A 9Y Q E :y )H@Q I ?~CI~:i~?~s4yɮB*j)Bj1i1i1zi1Ji1i1 kSgkSgkSghI kSkSkShY19m rmNAggregate::initialize marl:UpdateRudderq9mJ]qq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18uo}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颙ɢ=) 1?i)%<顡iIyߵ=ߵR=2Acoustic response timeoutEU[ EUFEQEQ"EUa:*EU;J9VEQZEQBEU ;a]2EU ;a]JEUe:ae:EUe:aeԩ^A==AqIIO>e 2Acoustic response timeout ]ҏ,wcH?AF 4@FB@Ft=ٱF; NAHRS rotation from veh to nav: [[-0.993451,-0.088338,-0.072467],[0.109576,-0.916309,-0.385189],[-0.032375,-0.390607,0.919988]]FHY@V*- ?hRؿpؿ p?iF 4@IFE^;F]CYmzAymEHbDVD8yȼ%+=ٔ%c;Q-%>9!I!=%0Fy-E-E->1Q 5=s45m?Q 9=s45-0)5@Q AE9YAQ EE9yEG@Q IE?5CI5;i5?5%s4yMfBɮU BUhE*jiBjiiqiqziqJiqiy kfkfkfhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢr֋=) !.?i) y<i܅I2Acoustic response timeoutDQzDQE]R E]DE]>EY"E]s9*E]a99VE]4ZEYam@am@am@am@B}>ByB}HB}g{AByByB}DB};B}zE^A) A I I I1 Om >Q ҏ,}H?A((F02@F&@@FuE =ٱFe4; NAHRS rotation from veh to nav: [[-0.991413,-0.103483,-0.079947],[0.126402,-0.915013,-0.383111],[-0.033507,-0.389927,0.920236]]FH}lw-?Gؿ 'ؿr?iF02@IF^;FXC T)VfvAVxiTTXXiZmIXXI\i^r@ \\)\` `b`e``fCdIf)did)dIjAvAjYh hhllillYlYrzAyr'H%2Acoustic response timeoutbDVD8yg%T=ٔM<;Q->9I= 0FyE,E>1YQ 5s4]jO?Q 9s4])-0)]@Q A9YQ E9yE@Q I?]CI];i]N@]"s4ydBɮBgE*jBjiiziJii kC\kC\kC\h QɢUB=)Y ]$+?iY)]ҏ,@H?A,BE1@B:?@B=ٱB̾ NAHRS rotation from veh to nav: [[-0.988976,-0.119200,-0.087856],[0.143919,-0.913383,-0.380815],[-0.034854,-0.389261,0.920468]]BH ߃@}k?n: D_ؿ`Rءؿyt?iBE1@IBյ^;BZCYUXzAyUH a}a} a}a} a}a} a}a} a}a} y}gfffff?Mb/$}33?}@},y y9}Cl? rh?㥛 ¿Y}O?y}C<}}B}zB }tB)y}Y}BbDVDs8y\%H=ٔ\;Q->9I=0Fy E9E>Q 5s45?Q 9s4+0)p@Q AT:Y@S?Q E:y<@Q I??CI;iK;s4yɮB*jBjiiziJii kCLkCLkCLh  kekekeh2f-)>:f-)>Bf-?Jf-J@ԁɢ=) %?i)<iI2Acoustic response timeoutԱ^AE= Aq I I O >ɫҏ,pH?A2M0@2B>@2=ٱ2˾ >AHRS rotation from veh to nav: [[-0.986151,-0.135334,-0.095867],[0.161811,-0.911886,-0.377202],[-0.036371,-0.387491,0.921156]]B=B<FhDAT read: Forwarding Delay UpTx time:19:09:46.3890 JpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGJ2Acoustic response timeoutl2H`R`8? +.$ؿGؿz?E! E%?E%DE!"E!*E%?9VE%J5ZE!a-@a-@a-@a-@i2M0@I2ҝ^;0YBzAyHbDVDe8y^%V=ٔ{;Q->9I=0Fy"E BE >B]>B]CB]LHB]zAB]=BYB]DB]u;B]mEQ 5s4+?Q 9s4)0)B@Yyh;@Q I?hCI3;i;s4ybBɮfE*jBjiiziJii kSMkSMkSMh kCgkCgkCgh2f :f Bf Jf LI@)ɢ-Б=)1 5,$?i1)51<11i5?9I9 1^A=52Acoustic response timeoutA $AI I OE >a /ҏ,tFH?A2 /@2x=@2R=ٱ25˾ >AHRS rotation from veh to nav: [[-0.982923,-0.151567,-0.104354],[0.180018,-0.909581,-0.374506],[-0.038155,-0.386896,0.921333]]2Htfÿ𶺿 ?J ׿``ؿ@{?i2 /@I2^;2]CYFzAyFHbDRVDRM8yVͼ%Zb=ٔZ;Q-Z>9ZH?I^H?=^0Fy^$E^QEb>`Q 5fs4br?Q 9js4b(0)b^@Yhyj::@Q Ij?bCIb-:ib:bs49ye`BɮeBeeE*jyBjyiyiyziyJii kNkNkNh kgkgkgh2f:fBfJfH@ɢA=) !?i)<i^I2Acoustic response timeoutE-W E-EE-EE)"E- :*E-A9VE- 5ZE)BE-2:a=2E-7:a=JE-V:a=:E-W:a=a^A=lw=ԑAmAIqIO>Թ E 2Acoustic response timeoutٸҏ,H?A2Y.@2O<@2;#=ٱ2̾ >AHRS rotation from veh to nav: [[-0.979439,-0.167199,-0.112889],[0.197744,-0.906486,-0.373070],[-0.039955,-0.387722,0.920910]]2HWfſF漿O?`׿`u qؿx?i2Y.@I2_^;2[CYFNyAyFMHTT T)TbD^VD^<8yf.%fI=ٔfސ;Q-j>9jK?IjK?=j0Fyj'En5En>pQ 5vs4r闉?Q 9vs4r%0)r@Ytyv9@Q Iz?rCIr:irk:rs4y~]Bɮ~4B~dE*jBjiiziJii kNkNkNh) kekekehA2fQ:fQBfQJfUUG@ԙɢ&h=) ?i)<iȼI^A]=2Acoustic response timeoutE=V E=DE=DE9"E==:*E=a99VE=J5ZE9aE@aE@aE@aE@AM$AIYIiO>B>BCBHBJzAB=BBDBe;BtE ҏ,H?AJ6-@Jx,;@JO+=ٱJ܄̾ RAHRS rotation from veh to nav: [[-0.975696,-0.182501,-0.121289],[0.215117,-0.903163,-0.371512],[-0.041743,-0.388574,0.920472]]JH8 0\ǿ ?׿R_dؿt?iJ6-@IJI^;JZCY^yAy^sHbDn|VDn48y B=%F=ٔō;Q-%>9-H?I5H?==0Fy=*EMF.EM>aQ 5}s4eΗ?Q 9s4e#0)e@Yy7@Q I?eCIe;ieq;ews4y[Bɮ*BcE 2Acoustic response timeoutY*jBjiiziJii kLkLkLh2f!:f!Bf!Jf%+'F@aɢeE=)a m?ii)8<顉iIԁ^A=ԩ 2Acoustic response timeoutA I I EM S EM HEI EI "EM 9*EM [9VEI ZEI BEM :aU 2EM :a] JEM V:a] :EM W:a] O > ҏ,H?AVH#,@V=:@V0=ٱVu̾ 5AHRS rotation from veh to nav: [[-0.971888,-0.197038,-0.128878],[0.231463,-0.899838,-0.369751],[-0.043114,-0.389187,0.920149]]VH8ɿ?y׿qؿq?iVH#,@IV^;V]C9=>YMUyAyMQHy5K7A?9aIa=m0Fym,EmEm>qQ 5}s4u?Q 9s4u"0)uْ@YA?Q E:y?=@Q I?u CIu;iu;us4yɮ1B)*jABjAiAiAziAJiIiI kMkMkMhy kNkNkNh2f3 >:f3 >BfW,@Jf @ɢ#=) Y?i)(D<it I @@oA 2Acoustic response timeout^A5=A5^?A5?) A AI I O >Q ҏ,и2H?A22Acoustic response timeout:<+@:19@:ʆ8=ٱ:Q̾ BAHRS rotation from veh to nav: [[-0.967904,-0.211101,-0.136373],[0.247251,-0.897089,-0.366194],[-0.045035,-0.388159,0.920491]]:HZ˿`t ?o׿ؿt?i:<+@I:&^;:\CYJyAyJwHEQ EEEIE"E29*EA9VEe5ZEa @a @a @a @bDVDZ8y9!=%U=ٔ;Q->9K?IK?=0Fy/E-E>Q 5s4l?Q 9s4 0)*@Yy7<@Q I?0CIn:i:B=CB=HB=yAB==B=DB=DB=4;B=fEBCBCBCB=B=Cׯ5kMhY2fi:fiBfiJfmn@颁ɢy=) 8?i)-<顑irI)a^Ai!I! EGl>EґCe2Acoustic response timeoutGqA ڿ9 qAY AAi Iy ԁ I y ? 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Device response is::BD,5.24,2 -7.61, 82.89, a@a a@a a@a a@a bDVDm8y%/=ٔ^=;Q->9I=0FyPE$E>Q 5t4d?Q 9t4?0)m@Q A+:YQ Eo:yx5@Q I?CI ;i>Ųt4yLBɮiBPE*jBjiiziJii kOkOkOh kseksekseh)QɢU_q=)UИ U>iQ)]Wm =YYi]qaIa1^AM=M 2Acoustic response timeoutE P E ?E IE "E 9*E ?9VE e5ZE BE t:a 2E y:a JE L9a :E Q9a Ay I I O >q &ҏ,P H?A4<ɰ4<6b@6X)@6)n=ٱ6-ž >AHRS rotation from veh to nav: [[-0.878219,-0.421435,-0.226104],[0.474700,-0.825679,-0.304817],[-0.058228,-0.375028,0.925183]]6H_@ڿ̿ |a?k@!ӿ`Эuؿ@?i6b@I6_;6ZCYFvAyFHbD VD 8y5h%i=ٔW;Q->9!I!=%0Fy%SE%ZE->)Q 55t4-wP?Q 9=t4-10)-i@Q A= :Y9Q E=B:y=E4@Q I=?-7CI-. ;i-Q?-Ѻt4yIɮMsBI*jaBjaiaiiziiJiiii kLkLkLh kCekCekCeh颹ɢ=) >i)K =i~I@@Y2Acoustic response timeoutԁ^A]=A$AIԩIO> ] 2Acoustic response timeout-ҏ, H?A2E@2;(@2*s=ٱ2kž >AHRS rotation from veh to nav: [[-0.869771,-0.435109,-0.232765],[0.489876,-0.818080,-0.301276],[-0.059332,-0.376067,0.924691]]2H`) ۿ;Ϳ@!Z?`-Hӿ``zؿ?i2E@I2w^;2\CYV|vAyZHB%>B%CB%HB%zvAB%=B!B%ͻDB%@;B%;EIE=)E=ER EBEDE"Es9*E(9VEJ5ZEBE:2E:JET+::EV+:bDVD8y*%<=ٔ&;Q- >9%H?I%H?=%0Fy%UE%"E->1Q 5=t4568?Q 9=t450)5d@Q A=9Y9Q E=:y=%3@Q I=?5^CI5v:i5?5t4yMJBɮM{BMOE*jaBjaiaiiziiJiiii kLkLkLhԩ kikikih1ɢ5={=)9 =>i9)=A'=99i=AII^Ai߱IߵA2Acoustic response timeout A I I O5 >) "3ҏ,b H?A21@2&'@2v=ٱ2 ƾ :AHRS rotation from veh to nav: [[-0.861321,-0.448452,-0.238782],[0.504478,-0.810624,-0.297306],[-0.060235,-0.376536,0.924442]]2H@oܿ`fο$?ӿ׮,ؿ?i21@I2^;2[CYFHvAyFqHbD VD 8yE%EX=ٔMs;Q-M>9IIQ=U0FyUXEU)8EU>Q 5t4"?Q 9t40)`@Q A9YQ E9y2@Q I?CI;i?t4yHBɮBNE*jBjiiziJii kikikih kikikih19- r-NAggregate::initialize marl:UpdateRudderq9-J])q9-9-7-o-XAggregate::initialize marl:UpdateCommandMode185]1185o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq75n=LAggregate::initialize marl:UpdateSpeed7=]97=n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeedQɢ]=)Y ]>iY)]h[=YaieaIi2Acoustic response timeout!ES EEECE"E9*EA9VE5ZEBE:2E:JEW::EW:A}$i ^A  2Acoustic response timeoutԙ A AI I Om >:ҏ,Ƈ H?AY>vAyjHbD5VD58yEj%E:=ٔEQ-M>9MK?IMK?=M0FyM[EUEU>YQ 5et4]i ?Q 9et4]>/)][@Q Ae9YaQ Em9yiQ Im?]CI]:i]@]t4yuEBɮu~BuME*jBjiiziJii kSckSckSch kekekehsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢH2}=) >i)=ipI# 2Acoustic response timeoutAAAA!B>BCBEHBvABBBλDBy;B_EEZ E=EKE"E:*E8VE5ZEBEj;2Em;JE9:E9^Ae=I I I O >vAҏ,y$!H?A 2[@2P$@2ii}=ٱ2ľ >AHRS rotation from veh to nav: [[-0.843540,-0.476012,-0.248701],[0.533495,-0.795986,-0.285989],[-0.061829,-0.373924,0.925396]]2H@H@v޿@rϿd?@xMҿ_׿@؜?i2[@I2-^;B2Acoustic response timeout2\CYJvAyNFH PPV=Ta-a- a-a- a-a- a-a- y- rh?Zd;O?Mb-,?-j<=-) )9-S?HzG?:v?Y-:?y-= >-T<-B-B -њB)- B)Y-BbDVDv8y %D=ٔz;Q->9I=0Fy]EBE>Q 5t4f?Q 9t41/)Y@Q AT:Y=?Q E:yS0@Q I?CII;i;t4yɮB*j BjiiziJii kekekeh) kekekeh92fM=:fM=BfM5?JfMg@iɢm8{=)q u~>iq)}=yyi}ϝIiԙ52Acoustic response timeoutbE]e5jE]5rE]~0E q E HE IE "E 2h:*E [9VE e5ZE BE ̋;2E ΋;JE W::E Y: ^A! 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I1 II O >Gҏ,] !H?A2s@2h#@2.=ٱ2'þ8 >AHRS rotation from veh to nav: [[-0.834777,-0.488968,-0.253096],[0.547045,-0.788643,-0.280683],[-0.062358,-0.372763,0.925829]]2H~@K߿2пe? <ѿ`WW׿`d?i2s@I2^;2]CYJuAyJHXX X)XbDbVDb~8yjć%jX=ٔj:Q-j>9lIl=n0Fyn`ErC/Er>pQ 5zt4rݕ?Q 9zt4rS/)rW@YxyzK/@Q I~?rCIr ;ir;rt4yCBɮBLE*jBjiiziJii! kbkbkbh1 kbkbkbhA2fY:fYBfYJf]e@ɢx=) >i)"=iIe2Acoustic response timeoutԡ^A-=IIOd>  In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER% 2Acoustic response timeoutB >B B HB uAB B B B ;B EE R E EE HE "E s9*E A9VE -5ZE BE :2E :JE W::E W:Mҏ,:!H?A;ɰ;2@2 "@2=ٱ2W~¾ :AHRS rotation from veh to nav: [[-0.825648,-0.502477,-0.256557],[0.560680,-0.781388,-0.273993],[-0.062796,-0.370068,0.926880]]2H kJ okп@?` ѿ_2׿?i2@I2^;2[ClYiuAyHbD-VD-b8y58%=E=ٔ=k:Q-=>9AIA=E0FyEbEE "EM>IQ 5Ut4M?ƕ?Q 9]t4M /)MsU@YYy]@.@Q I]?MCIM;iMj;MOt4ymABɮmBmKE*jyBjiiziJii kfkfkfh k3gk3gk3gh2f:fBfJfGd@ɢ^u=) >>i)>=iHI ^A=IAIQpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutO\>1a Tҏ,S!H?A6&@6!@6 =ٱ6 >AHRS rotation from veh to nav: [[-0.816125,-0.515697,-0.260763],[0.574381,-0.773456,-0.268052],[-0.063455,-0.368541,0.927443]]6HVп Ua?&'ѿ>.׿ ?i6&@I6^;4YJ1uAyJHI%=)9bDVDl8y} %F=ٔ:Q->9I=0FyeE%E>Q 5u4ᮕ?Q 9u4/)8S@Yy0-@Q I?@CI<;i;u4%=zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutyE9BɮMBUJEEX EBEEE"E~ :*E(9VE 5ZEBE:2E:JET+::EV+:*jBjiiziJii kckckch1 kckckchA2fQ:fQBfQJfUTc@qɢuÓl=)y })>iy)}t=yyi}PxIiԙ^Am=IIO > 2Acoustic response timeout Zҏ,km!H?A2@2 @2D=ٱ2 :AHRS rotation from veh to nav: [[-0.806715,-0.528164,-0.265054],[0.587433,-0.765533,-0.262453],[-0.064289,-0.367427,0.927828]]2H`п@@?? п @u׿ İ?i2@I2^;0YFuAyFHHHbD VD y}%J=ٔ;Q->9I=0FygE#E>ԙQ 5u4p?Q 9u4B/) Q@Yy),@Q I?fCIp/;i:u4yBBɮBAE*jBjiiziJii kdkdkdh kdkdkdh2f :f Bf Jf cb@)ɢ-u=)) ->i))5d=11i5*k9I92Acoustic response timeoutB>BCBHBtABBBϻDB;BEE-U E)E-GE)"E-:*E)VE-5ZE)BE-%:2E-*:JE):E)^AE=IIOg> aҏ,׽!H?A"2Acoustic response timeout6@6@6v&=ٱ6A~ BAHRS rotation from veh to nav: [[-0.797144,-0.540307,-0.269497],[0.600230,-0.757517,-0.256692],[-0.065456,-0.366381,0.928160]]6H42Jq?ѿ 5?@=@mп`r׿{?i6@I6^;4YJtAyJHyu@5^I ?Zd;O?Zd;O?ubP?uj=uj9I=0FyjE%E%>)Q 55u4-~?Q 95u4-{/)-Q@Y=U?Q E=~:y=&@Q I=?-CI-;i-@:-#u4yE?BɮEBE@E*jYBjYiYiYziYJiaia kXkXkXhy kbkbkbh2f=:f=BfĤ@Jfa@颱ɢ!l=) >i)-r=项iHOI^A 2Acoustic response timeoutIE- V E- EE- IE) "E- =:*E- A9VE- e5ZE) a5 @a5 @a5 @a5 @AA II IY O >q gҏ,a!H?A6@6@6,5=ٱ6/ BAHRS rotation from veh to nav: [[-0.787490,-0.551933,-0.274279],[0.612681,-0.749379,-0.251105],[-0.066946,-0.365788,0.928287]]6H3o ʍѿ@?п\#i׿?i6@I6^;6^CQY]itAy]JH iibDuVDuC8y׉%D=ٔmj;Q->9I=0FymEE>Q 5u4e?Q 9u4/)Q@Yy%@Q I?CI:it:F2u4y=BɮB?E*jBjiiziJii kSdkSdkSdh kkkh2f :f Bf Jf  T @!ɢ%Se=)) -(>i))-mc=11i5%)1I9U2Acoustic response timeoutԁ^A=ԱA I I O > 2Acoustic response timeoutB >B CB 2HB AtAB =B B B b;B EBmˬCBmˬCBm˔CBm˩=Bm˩=Cmu4 E= U E= @E= FE9 "E= :*E= 9VE= 5ZE9 BE9 aM 2E9 aM JE= 5:aM :E= 8:aM 5)nҏ,8e!H?A2 @2@2>=ٱ2ݿ :AHRS rotation from veh to nav: [[-0.778096,-0.562943,-0.278679],[0.624419,-0.741446,-0.245680],[-0.068322,-0.365175,0.928428]]2H)ѿ=?prϿ }_׿?i2 @I2}n^;2]C @)@BmB\~F@@DiFqIF0FDIDiFr@ HH)HH JQvAJmNlFLLLIN)PiP)PIR=vAR/]T TTTTiTTYXY=tAy=HAAbDUVDU=8ys%\=ٔcs;Q->9I=0FyoEO&E>Q 5u4O?Q 9u4B/)Q@Yy$@Q I?CI:ig:@?u4y:BɮB>E*jBjiiziJii> kgkgkgh)2fY:fYBfYJf]dO @频ɢc=) >i)r.=顡i,IԱ Ul>U͑CG= 99YE8Ae2Acoustic response timeout^A=A I I) O] >9 uҏ,%@!H?Aɰ2@2@2X =ٱ27 :AHRS rotation from veh to nav: [[-0.769089,-0.572789,-0.283577],[0.635321,-0.733568,-0.241341],[-0.069785,-0.365775,0.928083]]2H_@IT &ҿT?byEοrݱh׿۲?i2@I2^;2[CY}sAy}HbDzVD282Acoustic response timeouty%F=ٔh;Q->9I=0FyrE E>Q 5u47?Q 9u4D/)Q@Yy#@Q I?CI:i:Mu4y9BɮB*j Bj iiziJii kdkdkdh) kdkdkdh92fI:fIBfIJfM @iɢu_=)q uz>iq)}=yyi}yIER EBEKE"Es9*E(9VE5ZEa@a@a @a @A^A=AII OM >m 2Acoustic response timeoutq :{ҏ,!H?A 6@6@6=ٱ6俾 >AHRS rotation from veh to nav: [[-0.759990,-0.582890,-0.287495],[0.646036,-0.725880,-0.236084],[-0.071076,-0.365154,0.928230]]6H`Q Pfҿ@T?@h:7ο2 ^׿?i6@I6|o^;6\CYsAyH99 9)AIEC=)E<bDMVDMT8y]%eQ=ٔeY;Q-e>9aIi=m0FymtEmEm>qQ 5u4u ?Q 9u4uq/Q =tI)uQ@Yy"@Q I?u=CIutii)m=qqiuؔyIyiiI2Acoustic response timeoutAAAABM>BIBMHBMsABIBIBMлDBM;BMEE U E AE DE "E :*E  9VE J5ZE BE a2E aJE :a:E :a^AyԡAII O >"ҏ,"H?A2Acoustic response timeoutB @B@BP=ٱB JAHRS rotation from veh to nav: [[-0.750852,-0.592557,-0.291715],[0.656508,-0.717914,-0.231510],[-0.072243,-0.365343,0.928065]]BH`@:uҿ?&@!Ϳ@~`a׿ ?iB @IB^;B]CPYVsAyVHXXy5-?/$ ףp= ?5?U?515Q8=1 195 r?T㥛 V-?Y5c?y55h=5B1 5њB)51Y5¦BbDMVDMV8ye`%eJ=ٔe=;Q-e>9iIi=m0FymwEm6 Eu>qQ 5u4u ?Q 9u4u/)uQ@Yd?Q Em:y@Q I?ukCIuG:iu:uoiu4y=BɮȢB3E*jBjiiziJii kcbkcbkcbh kkkh2f(=:f(=Bfce?JfҏV@ɢ[=) i>i)T=iSI^Alw=2Acoustic response timeoutE V E GE EE "E =:*E R9VE 5ZE a @a @a @a @A! I) I9 ! O >Lҏ,_""H?A27 @2-@2Օ=ٱ2 :AHRS rotation from veh to nav: [[-0.741481,-0.602338,-0.295624],[0.666980,-0.709670,-0.226949],[-0.073096,-0.365454,0.927955]]2H`7 [F@ҿ`W? Ϳ@j c׿α?i27 @I2rs^;2\CYF/sAyFHbD VD e8yE%ML=ٔM ;Q-M>9IIQ=U0FyUyEUEU>YQ 5eu4]?Q 9mu4]a/)]CR@Yiym@Q Im?]CI]E:i]:]swu4yqɮ}עBy*jBjiiziJii kCkCkCh kckckch2f:fBfJfU@ɢ4W=) K>i),=iI=hDAT read: Forwarding Delay UpTx time:19:10:00.2389 =pIn parseResponses, set commsState_ = SENDING_ACK_WAITING=2Acoustic response timeout)^A==iAm$AIyIO>ԁ  2Acoustic response timeoutBE >BE CBE QHBE rABE =BA BA BE ";BE QEE W E DE E "E :*E a99VE ZE BE 8:a- 2E =:a- JE rH:a- :E uH:a5 wҏ,֫<"H?A2\W @2PM@2U=ٱ2} :AHRS rotation from veh to nav: [[-0.732263,-0.611531,-0.299701],[0.677061,-0.701112,-0.223675],[-0.073340,-0.366705,0.927442]]2Hn`N.ӿ|? oc̿fƲ x׿?i2\W @I2ϋ^;2]CYBrAyF;H %=%p=YbD-VD-l8y%C=ٔ:Q->9H?IH?=0Fy|EE>Q 5u4ޔ?Q 9u4o/)R@Yy@Q I?CI@;i[:u4y:BɮB2E*jBjiiziJi i  kS|kS|kS|h! kc|kc|kc|h)2fA:fABfAJfEWT@YɢeK=)a e!,>ia)e[=aiimiIqԉE2Acoustic response timeout^AԱAAII OE > aҏ,V"H?AN z @Np@N=ٱN ZAHRS rotation from veh to nav: [[-0.723070,-0.620368,-0.303832],[0.686901,-0.692244,-0.221281],[-0.073050,-0.368704,0.926672]]NH`c#@ qӿ?&R̿o@ژ׿K?iN z @IN@n^;LYjXrAynHtt2Acoustic response timeoutԱbDVD8yV%F=ٔ8Q->9K?IK?=0FyE>E> Q 5u4 ɔ?Q 9u4 /) S@Yy @Q I? CI j;i : }u4y%7Bɮ-B-1E*j9Bj9iAiAziAJiAiA kszkszkszhY kkkhi2fy:fyBfyJf}'S@颙ɢ F=) >i)>=顡i_jIbE]X5jE]5rE]²d0EY E=EJE"E:*E8VE5ZEa@a@a@a@^AA! I) IA M 2Acoustic response timeoutI O >9 ҏ,ap"H?Aɰ6 @6@6m=ٱ6jþ BAHRS rotation from veh to nav: [[-0.713352,-0.629225,-0.308553],[0.697028,-0.682695,-0.219273],[-0.072675,-0.371488,0.925589]]6H "Sӿ N? ̿ٚv׿l?i6 @I6o^;6[CYJ=rAyJHbDVVDV8y^]%^a=ٔbЇQ-b>9`I`=b0FybEfEf>hQ 5nu4j)?Q 9nu4jV/)jT@Ypyr>@Q Ir?j"CIj;ij;j-u4ytɮvBt*jBji i zi Ji i  kkkh! kCkCkCh12fA:fABfAJfES@aɢeG=)a e]>ii)m=iiimT!qIq2Acoustic response timeoutBA<B>BBHB1rABBBB];BrEI^AE EeELE"E*E9VE!5ZEBE%;a2E(;aJE:*;a:E;*;aA5$AIQqIO% >ԙ ] 2Acoustic response timeout vҏ,R"H?A2n@2b@2?c=ٱ2Iľ NAHRS rotation from veh to nav: [[-0.703142,-0.638793,-0.312305],[0.707404,-0.672867,-0.216400],[-0.071905,-0.373086,0.925006]]2H#pӿ`?@ ˿Uh@׿?i2n@I2s^;2]CYVqAyVHIZ=)Z9eH?IeH?=e0FyeEmi Em>qQ 5}u4u֥?Q 9}u4uܭ/)uAP@Y}Q?Q E:y @Q I?uNCIu:iu:uu4y=BɮB'E*jBjiiziJii kkkh kCkCkCh2f=:f=BfT@Jf.J@ɢB>=)i =i)=顩iIԑ^A 2Acoustic response timeoutEV E@EIE"E=:*E9VEe5ZEa@a@a@a@A= AII IY O > ҏ,"H?A2 @2@2V=ٱ2QTž :AHRS rotation from veh to nav: [[-0.692635,-0.648214,-0.316348],[0.717764,-0.662726,-0.213562],[-0.071218,-0.374983,0.924292]]2H *`+@ ?Կ`? 5V˿`V;׿̓?i2 @I2>}^;2[CYBqAyFHDDTT T)TbD^VD^8yfʓ%fU=ٔfQ-f>9jK?IjK?=j0FyjEnEn>AQ 5Mu4E?Q 9Mu4EӦ/)EL@YQyU @Q IU?EwCIEV:iE:Eu4yYɮ]Ba*jqBjyiyiyziyJiyi kCkCkCh kSkSkSh2f:fBfJf@ɢM@=) =i)t=iuI2Acoustic response timeout^AII)OU>)  2Acoustic response timeoutB >B CB pHB eqAB B B ѻDB s;B ED =D <E% R E! E% KE! "E% s9*E! VE% 5ZE! BE% :a- 2E% :a- JE% 5:a5 :E% 8:a5 Įҏ,"H?AF@Fݪ@Fn=ٱFkž NAHRS rotation from veh to nav: [[-0.681535,-0.658705,-0.318775],[0.728457,-0.652182,-0.209782],[-0.069715,-0.375188,0.924323]]FH" @fԿ O?`&ʿ@رؿ`?iF@IF^;DYVjqAyVsHbDbVDb8yjk%jJ=ٔjsQ-j>9lIl=n0FynEr(Er>tQ 5zu4v?Q 9zu4v˟/)v3I@Yxyz@Q I~?vCIv:iv:vu4y:Bɮ B&E*jBji!i!zi!Ji!i! kzkzkzh2f:fBfJf)b@ɢ7=) h=i)@=i IQ-2Acoustic response timeout^A==yII)Oe>ԩ ݯҏ,U"H?A6@6@6m=ٱ6pž< BAHRS rotation from veh to nav: [[-0.669808,-0.669361,-0.321425],[0.739361,-0.641202,-0.205440],[-0.068585,-0.375254,0.924381]]6Hogk8Կ`ר?KʿŎ@)ؿ?i6@I6^;6ZCYJ>qAyNWHbDVD8yE Ӽ%EC=ٔM 1Q-M>9III=M0FyMEUEU>YQ 5eu4]y?Q 9eu4]4/)]~E@Yiym@Q Im?]CI]:i]<:]Ku4}2Acoustic response timeoutyɮB*jBjiiziJii! kakakahQ2fa:faBfaJfeCܥ@颙ɢq4=) H=i),=顡iE` EEEFE"E*:*EA9VE 5ZEa@a@a@a@Iԡ^A5=IIO>- ?- =5 2Acoustic response timeout ׻ҏ,"H?A6l@6`@6/$=ٱ6Yž >AHRS rotation from veh to nav: [[-0.657792,-0.679869,-0.324172],[0.750178,-0.629882,-0.201200],[-0.067401,-0.375535,0.924354]]6H@ |`=Կt?@'ɿ,A ؿ`O?i6l@I6&^;4Y^qAy^3HlbDEVDEq8y %G=ٔ9I=0FyE>!E>Q 5u4Wk?Q 9u4/)A@Yy@Q I?CI:i|:u4y7BɮB%E*jBjiiziJii kakakah k#ak#ak#ah2f:fBfJf1W@ ɢ;1=) =i)==is1I1@A@EJ> 2Acoustic response timeoutAA@AB>BB HBpABBBB;BEB]įCB]įCB]ēCBYBYC]4EV ECEE"E=:*E09VEZEBE:a2E:aJE9:a:E9:a9^AYIIO> G 9 Y Aa = 2Acoustic response timeoutIҏ,˅ #H?A2Q@2D@2?=ٱ2Ӗž :AHRS rotation from veh to nav: [[-0.644922,-0.690816,-0.326878],[0.761373,-0.617828,-0.196467],[-0.066232,-0.375582,0.924420]]2H3)Կ@+]??%ɿ ؿ`ؔ?i2Q@I2y^;2\CYBpAyBHiPIRnA9a@a a@a a@a a@a a@a yT㥛 ?Q뱿V-A?\m )Mb@Mb@Mb@Ii‰ )IbDVDb8y%%H=ٔ;Q->9I=0FyE+E>Q 5u4]?Q 9u4/)P>@Q A+:YQ EQ:y@Q I? 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`?C?Oi@<ֿ?i2ƈ?I2,^;2ZCYFpaAyF HbDR8VDR8yZu<%Z[=ٔZ=Q-Z>9\I\=^0Fy^,EbEb>dQ 5jy4f=?Q 9jy4f-)f$?Yhyj?Q Ij?fCIft:ifI:f/y4ypɮr`Bp*jxBjxiqiyziyJiyiy kcfkcfkcfhԱ k3k3k3h2f :f Bf Jf @Qɢ]CT)Y ]hiY)ecQ B >B ďCB B B =B B DB ;B EBCBCBɕCBɥ=Bɦ=C59 l> M GQ ҏ,F)H?A2MrA8B2Acoustic response timeoutVb9VMrAYZAbn?bO?bnٱb R jAHRS rotation from veh to nav: [[0.293454,-0.896557,-0.331768],[0.955973,0.275545,0.100949],[0.000911,-0.346785,0.937944]]bH?;տ`T??׹?M?1ֿ`?ibn?Ib +^;b\CYrnaAyr HttbD~@VD~8y B% E=ٔQ->9I=0Fy/EyE>!Q 5-y4%YD?Q 9-y4%-)%?Y1y5?Q I5?%CI%:i%:%0>y4y9ɮ9A*jQBjQiQiQE^ EBEJE"EC#:*E(9VE5ZEBE~ ;a2E ;aJET+:a:EV+:aziQJii kikikih kkkh!2fQ:fQBfQJfUJ?qɢQ) ii)oE<顙iIA!I)AIIO=>52Acoustic response timeoutqԙ W ҏ,3`)H?A6?6ߠ?6ćٱ6i BAHRS rotation from veh to nav: [[0.308837,-0.891397,-0.331709],[0.951106,0.290963,0.103625],[0.004143,-0.347493,0.937673]]6H@?S`:տuo?!?2?p?T=ֿk?i6?I6c^;6]CYJ~aAyJ HXX X)XbDb:VDb8yj <%jN=ٔjQ-j>9lIl=n0Fyn1Er&Er>tQ 5zy4vK?Q 9zy4vJ-)vk?YxyzԦ?Q Iz?v)CIv :iv:v Ly4yɮ^B*jBjiiziJi!i! ksuksuksuh1 kukukuhA2fQ:fQBfQJfU?qɢu^)y }hiy)}:EU ECEPE"E:*E09VE-5ZEa@a@a@a@ԡE 2Acoustic response timeout ] ҏ,'z)H?A2?2?2ٱ2 :AHRS rotation from veh to nav: [[0.325790,-0.885508,-0.331266],[0.945416,0.307739,0.107170],[0.007043,-0.348099,0.937431]]2H?@Vt3տ@?@?o?t|??Gֿ@p?i2?I2d5^;0Y^|aAy^ HbDj VDj8yr%rI=ٔrQ-r>9tIt=v0Fyv4Ez4Ez>xQ 5y4zS?Q 9y4z-)zA?Yy?Q I?zTCIz;iz;z9Zy4yBɮhBE*j!Bj!i)i)zi)Ji)i) kukukuhA kukukuhQ2fa:faBfaJfe-?颁ɢ“V) 8hi).<顉iQIByA}<B>B͏CB HBaAB=BDBDB;BEA I1IQO%>iߙIߝA2Acoustic response timeoutEW EZEVE"E :*Ea9VEFA5ZEBE::a2E>:aJE0;a:E1;a) Pd ҏ,w)H?A64?6 ?6[Eٱ61 >AHRS rotation from veh to nav: [[0.343863,-0.878552,-0.331518],[0.938972,0.325267,0.111951],[0.009477,-0.349782,0.936783]]6H?@7տ ?-? ը?`h? bֿ@!?i64?I6 ^;4YFaAyF HHJa=yZd;O?Zd;A`"?j\?yY= 9ʡE?{Gz~jt?Y=?y#D<BB B)BYBbDVD8y=%;=ٔٶQ->9I=0Fy7E/4E>2Acoustic response timeoutQ 5 y4l^?Q 9 y4-)?Y =?Q E:ya?Q I?~CI{;i;wiy4yɮ`B!*j1Bj1i1i9zi9Ji9i9 kukukuhQ kukukuha2f}>:f}>Bf}f=@Jf}#@颙ɢK) Ydi)!<顡i(IYA$AIIOA>yii Im pA 2Acoustic response timeoutԱ E \ E HE QE "E :*E [9VE *15ZE a @a @a @a @ k ҏ,S)H?A6Q.{?6 ?6:=ٱ69 >AHRS rotation from veh to nav: [[0.362975,-0.870436,-0.332551],[0.931727,0.343485,0.117912],[0.011592,-0.352645,0.935685]]6H:?Hտ?@?t/?`d?ֿ "?@i6Q.{?I6y^;6^CYJaAyJ HbDVD8yM%%MT=ٔUQ-U>9]H?IeH?=e0Fye9EmMXEm>yQ 5y4}9h?Q 9y4}-)}?YyǓ?Q I?}CI}/:i}t:}wy4y ɮfB*j!Bj)i)i)zi)Ji)i1 ktktkthA ktktkthQ2fa:faBfaJfe섉@颁ɢR]) gi)<顉i IԹAAII 2Acoustic response timeoutO-->Bu >Bu ϏCBu ) HBu ObABu =Bq Bu DBu ;Bu ϊE q ҏ,0)H?Aɰp;22Acoustic response timeout>Tu?>Ж?>mTٱ>S칾 JAHRS rotation from veh to nav: [[0.382520,-0.861918,-0.332831],[0.923856,0.361871,0.124660],[0.012995,-0.355173,0.934710]]>H5{?@Ԕ Mտ :?@(?`?Tu?I>n];>\CYRaAyR HlI<)C=bD-VD-8ye;%mI=ٔmaQ-m>9mK?IuK?=u0FyuyQ 5y4}r?Q 9y4}-)}?Yy?Q I?}CI} :i}$:}0y4EZ EJERE"E:*Ek9VEc45ZEBEl;a2En;aJE:a:E:ayBɮiBE*jBjiiziJii kukukuh kukukuh2f:fBfJf@9ɢE0W)A EgiA)EF- 12Acoustic response timeouta x ҏ, )H?A2ip?2 ?2%sdٱ2' :AHRS rotation from veh to nav: [[0.401823,-0.852913,-0.333283],[0.915611,0.379762,0.132048],[0.013943,-0.358217,0.933534]]2H w?KTտL?N??(?ֿ?i2ip?I2 ^;2^CYBaAyB HDF@AbDjVDj8yr%;%rS=ٔvS Q-v>9tIt=z0Fyz>Ez]Ez>|Q 5y4~}?Q 9y4~-)~V?Y y k?Q I ?~CI~:i~:~y4yBɮnBE*j)Bj)i)i)zi1Ji1i19 k3xk3xk3xhI2fY:fYBfYJf]>@yɢ}u) fi)9;顁iuᙼI}2Acoustic response timeoutA!I1IIqO>bE5U,5jE5,5rE5;1EV ECENE"E=:*E09VE'5ZEa@a@a@a@ԑ % 2Acoustic response timeout#H~ ҏ,)H?A2k?2Mz?2mٱ2T :AHRS rotation from veh to nav: [[0.420687,-0.843657,-0.333564],[0.907090,0.397049,0.139785],[0.014510,-0.361378,0.932306]]2H? 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H׿?i2+?I2o^;2ZC2Acoustic response timeoutYucAyu H )I4=)C=AbDOVD8y<%U=ٔ^Q->9I=0FyjENE>Q 5z4?Q 9z49-)?Yy?Q I?CI:iB:ׄz4yɮZB*jyBjyiyiziJii ksGksGksGh kC]kC]kC]h2f:fBfJf*Æ@ɢ*lp) @Gi)2iTIIA=$AIAIQIqO]>qm 2Acoustic response timeoutԡ E= V E= DE= XE9 "E= =:*E= a99VE= G5ZE9 aE @aE @aE @aE @D ҏ,dt+H?A>'?>^?>ٱ>K fAHRS rotation from veh to nav: [[0.644055,-0.704099,-0.299060],[0.764181,0.610029,0.209502],[0.034925,-0.363467,0.930952]]>H?#ӿ,t?[??? 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ֿ ȿ?`|?`@=?Z ?8ؿؔ?i2K;>I2xA^;2[CEBV E@EBFE@"EB=:*E@VEB 5ZE@BEB:aJ2EB:aJJEBW:aJ:EBW:aJY=kAy=H AbDVDq8y=%F=ٔQ->9I=1FyEE>Q 5|4CҖ?Q 9|4,)|L@Yy >Q I ?CIW:i:;|4y BɮBcE*j)Bj)i)i)zi)Ji)i1 kHkHkHhA k#_Qk#_k#_hY2fi:fiBfiJfm#6@ ɢ )1 58i1)5R11i5-s9IAԁAIIOG>2Acoustic response timeoutԩ B ҏ,m.H?A>l+>>e>>~Lٱ><Ǿ JAHRS rotation from veh to nav: [[0.925440,-0.330128,-0.185948],[0.375594,0.863943,0.335457],[0.049905,-0.380287,0.923521]]>H4? տ@&ǿ ? l?@"x??`Vؿ|?i>l+>I>\V^;9hIh=j1FyjEn,En>pQ 5v|4r얉?Q 9v|4r,)rJ@Ytyz>Q Iz?rCIr`:ir6:r|4y|ɮ~B|*jBjiiziJii kFkFkFh) k#]k#]k#]h2f:fBfJf+@ ɢ )  i)5~ 11i5Å9I9}2Acoustic response timeoutԱET EAEJE"E9*E 9VE5ZEa@a@a@a@AIIO!> = 2Acoustic response timeoutB u>B CB PHB QlAB B B ޻DB ;B E1  ҏ,(.H?A2x>2!>2^ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.931169,-0.314292,-0.184782],[0.360522,0.869240,0.338299],[0.054295,-0.381631,0.922719]]2H`#?\Կǿ@?`? ?`̫?lؿ@?i2x>I2Y@^;2\CYFkAyFHy/$?K7ɿp= ף\?I 9Fx?:vʿ"~j̿Yk?yTSc B )1BYBbD-VD-Z8y5==%=B=ٔ=*Q-=>9AIA=E1FyEEEEM>IQ 5U|4M?Q 9]|4M,)MH@Y]Nx?Q E]Z:y]j=Q I]?MCIMK ;iM ;M|4ym BɮmBmdE*jBjiiziJii kCDkCDkCDh92f},>:f},>Bf})@Jf}@ɢ, ) i) 戼  i wSIm2Acoustic response timeoutA$AIIOA>!EV EDEWE"E=:*Ea99VE~D5ZEBEa2EaJEsH:a:EuH:aI ҏ,'.H?A;ɰ 6X >60>6pٱ6bbɾ >AHRS rotation from veh to nav: [[0.936481,-0.298800,-0.183635],[0.345766,0.874261,0.340753],[0.058728,-0.382604,0.922044]]6H?ӿ]ǿ !?@?`?@?|ؿb?i6X >I6Y^;4YbkAyb Hr=pv2Acoustic response timeout|| )IC=)bDVD;8y%g<%%N=ٔ%&7Q-%>9-H?I-H?=-1Fy-E5!E5>9Q 5E|4=/?Q 9E|4=,)=G@YAyE$=Q IM?=KCI=:i=:=*|4yUBɮQUeE*jaBjiiiiiziiJiiiq kEkEkEh k#_k#_k#_h2f:fBfJf@ɢL) ჾi)sivᆼIiAIIO= >ԙ2Acoustic response timeoutE S E GE GE "E 9*E R9VE 5ZE a @a @a @a @ ( ҏ,$d.H?A2`=2>2 ٱ2PMɾ :AHRS rotation from veh to nav: [[0.941593,-0.283672,-0.181472],[0.330905,0.879389,0.342311],[0.062480,-0.382368,0.921895]]2H !?'ҿz:ǿ -?#?m?@j?xؿ*?i2`=I2:^;2[CYFlAyFyHHJ?APbDRVDRF8yZD=%ZR=ٔZQ-^>9\I\=b1FybEbL%Eb>dQ 5j|4fN?Q 9j|4f,)fWE@Yhyn3B=Q In?f|CIfh:ifdBf>BCBHBDmAB=BBݻDB;B͌E!  2Acoustic response timeouto ҏ,A.H?AD.=D.R=E2X E0E2JE0"E2~ :*E0VE25ZE0BE2:a:2E2:a:JE2 t:a::E2#t:a:Bf=B,ɤ>BNٱBݠȾ JAHRS rotation from veh to nav: [[0.946644,-0.268778,-0.177831],[0.315650,0.884606,0.343276],[0.065046,-0.381092,0.922246]]BHJ?3ѿ@.ƿ3?`N?:?զ?cؿ@ ?iBf=IB[^;B^C|YlAyHbD]VD]M8y&=%$=ٔݨQ->9I=1FyEJE>Q 5|4w?Q 9|4),)?C@Yy&=Q I?CI,:i:I|4yBɮ~BgE*jBjiiziJii kC]kC]kC]h kC]kC]kC]h 2f:fBfJfپ@)AɢE!)EtӼ EDFiI)MiIIiMEшQIQ>2Acoustic response timeoutI IOMt>Qԁ `< ҏ,d .H?A2=2*>2aٱ2`kƾ :AHRS rotation from veh to nav: [[0.951749,-0.254166,-0.171971],[0.299648,0.890623,0.342054],[0.066223,-0.377081,0.923810]]2H`t?BDп@(ƿ@p-?@?@7??`"ؿُ?i2=I2O>^;2[C @)BbvABGaBN~F@DDiFYIDDIHiJ^r@ HH)HL LNLLLPPIP)PiP)TIVEvAV@T TTTXiXXYXY^+mAy^HYbDEVDEL8y5Y@=%5d=ٔ=iWQ-=>99I9=E1FyEEE@EE>IU2Acoustic response timeoutQ 5]|4Mǔ?Q 9e|4M,)MA@YayekzԁԱ = - 2Acoustic response timeout B a>B CB HB anAB =B B ܻDB ;B ݌E# ҏ,/H?A206=2}>24ٱ2'ʾ :AHRS rotation from veh to nav: [[0.957165,-0.235378,-0.168617],[0.281581,0.892340,0.352763],[0.067431,-0.385131,0.920395]]2H ? 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Y% Aq A A ?A 2Acoustic response timeoutB >B CB ?HB wAB B B B ;B EB]ɰCB]ɰCBYB]ɮ=B]ɯ=C]ɼK5I I Ou >k ҏ,2H?A 2@2@28ٱ2=Qþ :AHRS rotation from veh to nav: [[0.980577,0.193811,0.030094],[-0.190889,0.907808,0.373424],[0.045054,-0.371916,0.927173]]2H``??@О? oȿ ?-?T?`w׿e?i2@I2l^;2]CYMvAyMHy5/$?y&1p= ף5l?5`e51 1957A`?Eȿy&1?Y5V?y5F5`e<5B5 yB 5JB)51Y5BbDMoVDM(8y]5%]/=ٔ]:Q-]>9aIa=e1FyeEe=Em>iqQ 5}~4u&ݚ?Q 9}~4u,)u@Y;\?Q Ev:yT̾Q I?uCIu:iu:uQ ~4yYBɮBE*jBjiiziJii kC`kC`kC`h kcvkcvkcvh2f&8>:f&8>BfL@Jfq r@ ɢ d<)  >i) Xi?I!! 2Acoustic response timeoutE EEEHE"E*EA9VE-5ZEBE:a 2Ea JEW:a:EW:aԙ I I I O >! ҏ,g*2H?A62Acoustic response timeoutPRU@RP@Rǩ3ٱR.Gľ ^AHRS rotation from veh to nav: [[0.976915,0.210128,0.038512],[-0.209079,0.903445,0.374262],[0.043849,-0.373675,0.926523]]RHB?v?淣?`ʿ`??as?I׿?iRU@IRb^;R_C d)jfvAjThhllin/]In)FlIpirMr@ pt)tt vQvAzPzlFxx|I~t)~݋Fi|)IAvAH    iYY%wAy%HbDE\VDE8yUF=%Ur=ٔ[;Q->9I = 1Fy E |SE >Q 5~4?Q 9~4R,)@Y!y%վQ I%?(CI:i:~4y-\Bɮ-xB5E*jABjIiIiIziIJiIiQ k]k]k]ha kwkwkwhq2f:fBfJfNp@颡ɢs<) ;>i)R顩iII9IIO=2Acoustic response timeoutEW EREIE"E :*E9VEe5ZEa@a@a@a@! ~ ҏ,YD2H?Aɰ;:,@:%@:.ٱ:ľ BAHRS rotation from veh to nav: [[0.972708,0.227275,0.046745],[-0.228072,0.899442,0.372809],[0.042686,-0.373295,0.926730]]:Hl ?[? 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Di?@?ܿ ?i2@I2R^;2[CY^YzAybHbDeeVDe8yP=%H=ٔ(Q->9I=1Fy1EۼE>Q 5~4v?Q 9~4%-)@Yy|Q I?CIl:i:~4yqB2Acoustic response timeoutɮ&BE*jBjiiziJii kbkbkbh kxkxkxh!2f1:f1Bf1Jf5@QɢU=)Q U%?iY)]YYi]cʼaIqEQ EDEGE"E29*Ea99VE5ZEa@a@a@a@AIIOUS>B<A<Bx>BCBHB{ABBDBɻDB;BъEI  2Acoustic response timeout ҏ,tz3H?A6R@6L@6E)6ٱ6| BAHRS rotation from veh to nav: [[0.912290,0.386216,0.136253],[-0.407125,0.819122,0.404090],[0.044458,-0.424119,0.904515]]6Hz1?@÷?p?`Wڿ>6??<æ? $ۿ?i6R@I6)V^;6\CYJFzAyJHym?y&1|?MbN?`; 9&1?RQ?)\(?YP?y=Ga=BB 5B) BY¯BbDiVD#8y=%G=ٔ龻Q->9I=1Fy4EhռE>Q 5~4둜?Q 9~4-)9@YR?Q E:yQ I?CI ;iv;X~4ysBɮ *B E*jBji!i!zi!Ji!i! k_k_k_h9 kCkCkChI2f]M=:f]M=Bf]1?Jf]C?yɢ}=)y }e$?i)ӻ顁i[ͼII2Acoustic response timeoutAI IOM1>EU EEJE"E:*EVE5ZEBE#:a2E(:aJEqH:a:EtH:ayԩ ҏ,W3H?A"2Acoustic response timeout@BjT@BcO@B<ٱB۾ JAHRS rotation from veh to nav: [[0.908108,0.396217,0.135467],[-0.416197,0.818493,0.396043],[0.046040,-0.416031,0.908184]]BH9?[?V?ڿ`1?X??Aڿ ?iBjT@IB @^;B]CYVzAyVHbD^GVD^8yfs=%f]=ٔj0Q-j>9hIh=n1Fyn6En'ݼEn>pQ 5v~4ru?Q 9v~4r-)r@Yxyz—Q Iz?rCIr:iry:rJ~4y|ɮ~B*jBjiiziJii khkhkhh1 kkkhA2fQ:fQBfQJfUU?qɢu~-=)q u *?iy)}Yûyyi}8ϼIԩr2Acoustic response timeoutA II)O>ES E>EEE"E9*E9VE 5ZEa@a@a@a@ ҏ,73H?A N@N@NIٱNپl zAHRS rotation from veh to nav: [[0.902579,0.408450,0.136091],[-0.427707,0.814585,0.391814],[0.049179,-0.411850,0.909924]]NH`? $?mk?_ۿ?`{?-?@[ڿ ?iN@INS^;N\CY zAy &H bD%6VD%8y-<%5D=ٔ5 Q-5>99I9==1Fy=9EE2EE>IQ 5M~4MŜ?Q 9U~4M -)My@YQyUQQ IU?M)CIMf;iMr;M~4yevBɮe BeE*jqBjyiyiyziyJiyiy kjkjkjh kstkstksth2f:fBfJf?ɢo{%=) +?i)Li:ѼIB}d>B}CB}HB} |AB}=ByB}ǻDB};B}E$U2Acoustic response timeoutIIO-->1a  2Acoustic response timeoutE R E DE KE "E s9*E a99VE 5ZE BE :a 2E :a JE pH:a :E rH:a  ҏ,1 3H?A27@21@2mWٱ2aԾ :AHRS rotation from veh to nav: [[0.897912,0.419566,0.133112],[-0.437025,0.813628,0.383429],[0.052570,-0.402458,0.913928]]2H ?,?@ ?@9ۿ> ? ?r?ٿ>?i27@I2eH^;2]CYBzAyBMHPT T)TbDZVDZ8ybK#=%fQ=ٔfQ-f>9dIh=j1FyjlQ 5r4nߜ?Q 9v4nb#-)n(@YtyvQ Iv?nRCInd:in:n~4yzxBɮzB~E*j Bj i iziJii92f:fBfJfK`?ɢ/=) /?i)Li.ԼIi3e2Acoustic response timeoutԑII O=> 4H ҏ,:3H?A29:@225@2\ٱ2tsо :AHRS rotation from veh to nav: [[0.892884,0.430189,0.133024],[-0.447049,0.811539,0.376233],[0.053897,-0.395401,0.916926]]2H`?8??`uܿ` ? 4? s??Nٿ uW?i29:@I2Xg^;2`CYBh{AyBHbDN/VDN8yVP=%VL=ٔVYQ-Z>9XIX=Z1FyZ>E^E^>`Q 5f4b?Q 9f4b1&-)b@YdyfQ Ij?b|CIb:ib:b|4ynzBɮn BnE*jxBjxixixzixJixi| k3Ck3Ck3Ch  k\k\k\h2f):f)Bf)Jf- ?IɢM==)Q U6?iQ)U!QQiUּYIaiiiiԙ2Acoustic response timeoutbEjE5rE>1EW EBEEE"E :*E(9VE 5ZEa@a@a@a@IIIYO:>AqAu@AB}W>B}CB}FHB}|AB}=ByB}ƻDB};B}lEm 2Acoustic response timeout #0 ҏ,4H?Aɰ:Ӳ@:͹@:+Q]ٱ:ξ FAHRS rotation from veh to nav: [[0.887176,0.440887,0.136154],[-0.458260,0.807315,0.371807],[0.054006,-0.392252,0.918271]]:H@c?~7?{m?#Tݿ`?@?@?ٿyb?i:Ӳ@I:PY^;:ZCYN{AyNHI~=)~9I=1FyAEE>Q 54?Q 94*-)@Y{Q?Q E:yQ I?CI/:i:%4y}BɮBE*jBjiiziJi1i k#Dk#Dk#Dh kSZkSZkSZh2f =:f =Bf e@Jf @!ɢ%m4=)) -.2Acoustic response timeoutaE E=EFE"E*E8VE 5ZEBE4:a2E9:aJE 9a:E9a=PExceeded connect timeout, disconnecting.ԉԹ Z ҏ,/4H?A"2Acoustic response timeout6h@6c@6u[[ٱ61; >AHRS rotation from veh to nav: [[0.881167,0.451437,0.140533],[-0.469766,0.802282,0.368326],[0.053528,-0.390574,0.919014]]6H2?W??`޿`K?`?h?@+ؿh?i6h@I6k^;4YJ|AyJHN?ALbD ,VD 8yd=%S=ٔ%>:Q-%>9!I!=%1Fy-CE- E->1Q 5=45*?Q 9=45?/-)5@YAyED Q IE?5CI5;i5;5934yIɮMBI*jaBjaiaiaziaJiiii kAkAkAh k[k[k[h2f:fBfJf@颹ɢX=)^Z A?i)FJi8ܼII9IIԑO=2Acoustic response timeoutES E?EIE"E9*E?9VEe5ZEa@a@a@a@ C ҏ,I4H?A6@6@6SZYٱ6{; >AHRS rotation from veh to nav: [[0.874405,0.462713,0.145987],[-0.482289,0.795998,0.365766],[0.053040,-0.390236,0.919186]]6H ???޿x?h?(?ؿi?i6@I6a^;6\CYFG|AyJ!HbD9VD8y}j<%}D=ٔ}:Q->9I=1FyFE E>Q 54B?Q 943-)O@YyQ I?CI#;i:A4yxBɮBE*jBjiiziJii ksBksBksBh k^k^k^h2f:fBfJfNA@BP>BCBHB&}AB=BBŻDB`;BVE9ɢ=AHRS rotation from veh to nav: [[0.867921,0.462821,0.180307],[-0.493903,0.765671,0.412077],[0.052662,-0.446704,0.893131]]6H?ڞ?L? ߿`?@w_?|? ͖ܿ?i6@I6^;6]CnnManaging dock network, ignoring radio surface power offY~|Ay~HHbD6VD8y%}"=%%P=ٔ%|:Q-->9)I)=-1Fy-HE5 E5>9Q 5E4=Y?Q 9E4=8-)='@YAyMmQ IM?='CI=-:i=:=}O4yU{BɮUBUE*jiBjiiiiqziqJiqiq kcFkcFkcFh k`k`k`h2f :f Bf Jf Ĭ@aɢe|V=)i mvH?ii)u顑iἉIyA!I)I9Ou6>e2Acoustic response timeoutԙ • ҏ,,}4H?A6@6@6uWٱ6 >AHRS rotation from veh to nav: [[0.859480,0.461270,0.220282],[-0.508458,0.727140,0.461235],[0.052578,-0.508426,0.859499]]6H܀?s?@12?@JED? ބ??E ?i6@I6^;4YJ|AyJvHPbDV;VDV8y^C>=%^Q=ٔb`9Q-b>9`I`=f1FyfKEf0Ef>hQ 5n4jo?Q 9n4jS=-)j @YpyrQ Ir?jPCIjw;ij;j']4ytɮvBt*jBj i i zi Ji i kcGkcGkcGh)2fQ:fQBfQJfU@qɢuh=)y }M?iy)顁iQ伉IiIAE2Acoustic response timeoutEuP EuDEuCEq"Eu9*Eua99VEu5ZEqa@a@a@a@ GrA$AzAqAet9mrAYmϠABAB>BCB'HB}AB=BBDB;BTEBǡCBǡCBǖCBDz=BDZ=C-6AyIIO>u 2Acoustic response timeout! )~% ҏ, 4H?A2v@2p@2FRٱ2 :AHRS rotation from veh to nav: [[0.851986,0.476311,0.217366],[-0.521044,0.730669,0.441176],[0.051314,-0.489133,0.870699]]2H@xC?@{?? da?`:9I=1FyNE5 E>Q 54?Q 94+D-)@Y1f?Q El:y8Q I?CI:i:wl4y}BɮBE*jBjiiziJii kFkFkFh1 kC]kC]kC]hA2f=:f=BfxF@Jf:@ɢgU=) qL?i)Щi缉I O12Acoustic response timeoutDazDe?AEuR EuBEuAEq"Eus9*Eu(9VEuA4ZEqBEu:a2Eu:aJEuR+:a:EuU+:aAI!I9OmW>QiIԁ C+ ҏ,4H?A2Acoustic response timeout4<ɰ4<6@6@60&Kٱ6G% BAHRS rotation from veh to nav: [[0.844039,0.494231,0.208168],[-0.533986,0.738641,0.411423],[0.049577,-0.458416,0.887354]]6H]?@|?`@?i?T?b?Vݿ@4e?i6@I6Mj^;4YJH}AyJHXX X)XbDbEVDb8yj+=%j[=ٔnј;Q-n>9lIp=r1FyrPEr&Er>tQ 5z4v?Q 9z4vJ-)v@Y|y~;Q I~?vCIv;iv;vy4yBɮ֢B EY*jBjiiziJii kDkDkDh kcXkcXkcXh2f:fBfJf+8@9ɢ=u=)9 =T?i9)EC9AAiES꼉AIIԁ}u \Թ2Acoustic response timeoutEuU EuDEuBEq"Eu:*Eua99VEu5ZEqa}@a}@a@a@AII II Oe > 62 ҏ,Y4H?A2v@2}q@2 >ٱ2K :AHRS rotation from veh to nav: [[0.834557,0.512701,0.201622],[-0.548963,0.743078,0.382721],[0.046401,-0.430085,0.901595]]2H౴? h? ?`J?~~??ۿ?i2v@I2K^;0Y^}Ayb"HbDj;VDj8yr`=%rI=ٔrP9tIt=v1FyvSEz+3Ez>|Q 54~0?Q 94~P-)~[@Yy ?Q I ?~CI~ :i~:~4yzBɮBſE*j)Bj)i)i1zi1Ji1i1 kSDkSDkSDhI k[k[k[hY2fi:fiBfiJfmʴ5@B>BCBHB~AB=B DBDB;BJE!ɢ-z=)) -^?i))-`:)1i5)11I9AAAA52Acoustic response timeoutAZ?AQ?A)I9IIO>i I  2Acoustic response timeout9 E Y E EE E "E :*E A9VE ZE BE #;a 2E &;a JE V:a :E W:a L8 ҏ,R4H?AR֮@Rѵ@R,ٱR־ ZAHRS rotation from veh to nav: [[0.823868,0.530727,0.198925],[-0.565224,0.743333,0.357741],[0.041995,-0.407168,0.912387]]RH]??`_v?Q`a?8?a? ڿF2?iR֮@IRn^;R^CY~}Ay~HbDu1VDu8yŻ%>=ٔ(9I=1FyUE 9E>Q 5]4˝?Q 9]4W-)@YYy]CQ Ie?CI:i:ǖ4yiɮmBi*jBjiiziJii ksBksBksBh kZkZkZh2f:fBfJfZ3@ ɢsu=) ]?i)z:i𼉨!I)AAAIQIaO;>E2Acoustic response timeoutԙԹ m> ҏ,yv4H?A2u.@2o)@2ٱ2MW; :AHRS rotation from veh to nav: [[0.812241,0.547955,0.200024],[-0.582171,0.739962,0.336946],[0.036621,-0.390130,0.920031]]2H?و? c?& ŭ?? ?ؿp?i2u.@I2 u^;2\CYBs~AyFvHm=m=2Acoustic response timeoutbD:VD8yݲ=% E=ٔ@S9)I)EV EAEAE"E=:*E 9VEA4ԹZEa@a@a@a@=51FyEXEE9EE>QQ 5U4U㝉?Q 9]4U1_-)U@YYy]HQ I]?UBCIU:iUB:U4ye}BɮmBmƿE*jBjiiziJii ksAksAksAh k\k\k\h2f:fBfJfQ01@!ɢ-h=)) 57g?i1)5L;99i=򼉨AIAIIO5q>AAAAB>BCBHB_AB=BBDB;B&E M 2Acoustic response timeout9 _E ҏ,Q5H?A2@|@2:w@2wٱ2մž :AHRS rotation from veh to nav: [[0.799548,0.565127,0.203358],[-0.599824,0.734113,0.318261],[0.030570,-0.376444,0.925935]]2H???1}?d^?@M?ؿA?i2@|@I2^^;2]CY^~Ay^HyZd;O?QMbP~?\ 9K?Dlѿ ףp= Y^?yOQ8KBzB B)ԚBYaBbDRVD8y=%K=ٔw9I=1Fy[E !uE >Q 54[?Q 94ug-)@Y?Q E%>:y%&dQ I%?uCIC ;i ;J4y-Bɮ-B-ǿE*jABjAiAiIziIJiIiI kZkZkZha kZkZkZhq2f_>:f_>Bf@Jft@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18MoM@Completed marl:UpdateCommandMode7MoU\Aggregate::uninitialize marl:UpdateCommandModeq7UnULAggregate::initialize marl:UpdateSpeed7U]Q7UnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeed颉ɢ =) j?i)K;顙inIAzApA2Acoustic response timeoutEU EBE=E"E:*E(9VE|4ZEBE:a2E#:aJEP+:a:ES+:aIIO J>Ai ] 2Acoustic response timeoutTK ҏ,NA25H?A4>UŬ@>O@>lżٱ>e FAHRS rotation from veh to nav: [[0.786096,0.581956,0.208279],[-0.617636,0.726447,0.301332],[0.024058,-0.365516,0.930494]]>H'?@a??`??I??`d׿@?i>UŬ@I>̒^;>\CYNFAyRHbDZ\VDZ8yb=%b`=ٔf9dId=f1Fyj]EjzEj>lQ 5r4nO?Q 9r4no-)n@YtyviQ Iv?nCInW:in :n4yxɮzB|*j Bj i i zi Jii k`k`k`h) k`k`k`h92fI:fIBfIJfM6@sUNUpdating rudder angle 6.875493 arcdeg 9UrU6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudderqɢu"$=)q uat?iy)}ҙu;yyi} IIIO=2Acoustic response timeoutbE5jE5rELJ 1ES E?E;E"E9*E?9VE4ZEa@a@a@a@ R ҏ,L5H?A2 @2@2ذٱ2 :AHRS rotation from veh to nav: [[0.772089,0.598670,0.213243],[-0.635275,0.717858,0.284791],[0.017417,-0.355352,0.934570]]2H?M(?K?,T?:?Ց?@ֿ?i2 @I2Z|^;2[CYN]AyRHIV<)V=|bDZ|VDZ48y-X]<%-D=ٔ-ς91I1=51Fy5`E=]E=>AQ 5M4Es%?Q 9M4Ey-)E@YQyUoQ IU?ECIE1:iE:E4Be>BeCBeSHBeABe=BaBeDBeT;BeEy}zBɮ}B}ѿE*jBjiiziJii k_k_k_h k_k_k_h2f:fBfJf4@ɢՏ=) u?i)*;iIII 2Acoustic response timeoutOM=)Qԁ  2Acoustic response timeout E V E =E AE "E =:*E 8VE A4ZE BE :a 2E :a JE 9a :E 9a Y ҏ,e5H?A2Q@2 L@242ٱ2& BAHRS rotation from veh to nav: [[0.757402,0.614894,0.219654],[-0.652858,0.707532,0.270509],[0.010922,-0.348286,0.937325]]2H91I1=51Fy5bEaaE>Q 54;?Q 94ƒ-)@YyuQ I? CId:i9:'4y|BɮBҿE*jBjiiziJii k#ek#ek#eh k#ek#ek#ehI2f:fBfJfƕ@ɢ?=) y?i)˰;idI IIO>ԁ%2Acoustic response timeoutԱ =_ ҏ,5H?AJ:@J4@JٱJ䲾 jAHRS rotation from veh to nav: [[0.742187,0.630957,0.225944],[-0.670174,0.696205,0.257227],[0.004996,-0.342333,0.939566]]JH?0??r@OG?`hv?vt?տ?iJ:@IJd^;HYAyQH}2Acoustic response timeoutbD]VD]S8E]P E]DE]?EY"E]9*E]a99VE]^4ZEYae@ae@ae@ae@yu=%u6=ٔu X9yIy=}1FyeEBXE>Q 54R?Q 94j-Q =tI)`@Yy{Q I?^CIP;i0Q;i4yBɮBӿE*jBjiiziJii k^k^k^h k^k^k^hI2f:fBfJf ~@ɢ=) t}?i) j;  i 9I9IIO(>BAAABMt>BMCBMHBM)ABM=BIBMDBM;BME 2Acoustic response timeoutA Tf ҏ,ᘙ5H?A6:ש@64Ұ@649ٱ6fD BAHRS rotation from veh to nav: [[0.726538,0.646699,0.232214],[-0.687126,0.684008,0.244930],[-0.000440,-0.337511,0.941321]]6H@?? ?`-?`@e?Y?F<əտN?i6:ש@I6rz^;6^CYJ-AyJH ||y}NbX9?y&1?~jt?}?}`e=}=y y9}y&1?-ƿm?Y}`?y}?5}n>}XB}zB }B)}5ByY}(BbDVDf8y=%Z=ٔm9I=1FygEI|E>Q 54vk?Q 94-)@Y?Q E0:y/UQ I?CI:i:4ywBɮlBܿE*jBjiiziJi1i k#xk#xk#xh k3xk3xk3xh2f >:f >BfV@JfCV@!ɢ%=)) -҂?i))M&;IIiUNQIY2Acoustic response timeoutEmV EmAEiEi"Em=:*Em 9VEiZEiBEm:au2EiauJEm:au:Em:a}AyIIOB>ԑԹ = 2Acoustic response timeoutDl ҏ,qu5H?A2@2@2z;ٱ2ؚ :AHRS rotation from veh to nav: [[0.710859,0.661591,0.238698],[-0.703315,0.671149,0.234321],[-0.005178,-0.334449,0.942400]]2H \?@+?`?z?8? 5u gտ`#(?i2@I2s^;2ZCYBOAyBHDFa=bD sVD ,8y].=%eO=ٔezD9aIi=m1FymjEmiEm>qQ 5}4u?Q 94u#-)u)@Yy![Q I?uCIu ;iu:u4yyBɮeBݿE*jBjiiziJii kCukCukCuh kCukCukCuh2f:fBfJfG@!ɢ-S=)) -?i))-b<11i5B9I9AMoAzAIԑAaIqIO>Թ2Acoustic response timeoutEuQ EuCEuBEq"Eu29*Eu09VEu5ZEqa}@a}@a}@a}@  l> ґC} G MrA b9 MrAY A b,s ҏ,aO5H?A2r@2m@26q<ٱ2e :AHRS rotation from veh to nav: [[0.695923,0.675311,0.244224],[-0.718057,0.658765,0.224552],[-0.009243,-0.331638,0.943362]]2HE?&?B?Q? !? 9տ0?i2r@I2Q^;2\CYRpAyRHBK>BCBHB{AB=B!DBDB;B{EBCBCBCB=B=Ch6bD}VD58yG=%B=ٔ49I=1FymE JE >Q 54ǟ?Q 942-)@Yy`Q I%?CIL;iY; 4y-{Bɮ-_B-޿E*jABjAiAiAziAJiAiI krkrkrhY k#sk#sk#shi2fy:fyBfyJf} @颙ɢv=) ?i)<顡i=2Acoustic response timeoutI)AIIOH>!I  2Acoustic response timeoutE R E @E >E "E s9*E 9VE 4ZE BE :a 2E :a JE 1:a :E 4:a Vy ҏ,=+5H?A<ɰ>;bBا@b<Ӯ@b:X<ٱb jAHRS rotation from veh to nav: [[0.682235,0.687447,0.248943],[-0.731014,0.647508,0.215296],[-0.013188,-0.328863,0.944286]]bH??Y?@wdb?Ύ?S@ տ7?ibBا@Ib^;b^CYvAyv HIz=)z=||bDVDO8y<=%Y=ٔ,9I=%1Fy%oE% NE%>)Q 554-鶞?Q 954-=-)-@Y1y=eQ I=?-JCI-n;i-;-4yEvBɮEQBEE*jYBjYiYiYziaJiaia ksksksh2f :f Bf Jf ~@QɢU*=)Y ]2Acoustic response timeoutyԩ B ҏ,6H?A<m2Acoustic response timeoutQ@L@i<ٱ AHRS rotation from veh to nav: [[0.670114,0.696548,0.256450],[-0.742057,0.636713,0.209639],[-0.017262,-0.330783,0.943549]]Hq? J?@i?` _?r?@+տ1?iQ@IѪ^;YAy$H!%?AE5T E1E1E1"E59*E1VE1ZE1a=@a=@a=@aE@y +?n?V-?V?V>m= 9v?x&?"~j?Yx?y7=S>B yB)[BYBbDVD]8y-~o;%--=ٔ- 91I1=51Fy=rE= EE>IQ 5]4M֞?Q 9]4M-)M@Ye9?Q EeO:yeJ*Q Ie?MCIM`e;iMe;M4y}xBɮ}RB}Eԡ*j)Bj)i)i1zi1Ji1i1 k#[k#[k#[hi2f}>:f}>Bf}@Jf}@颱ɢ=) u?i)`-<i%IAAB">BCB4HBAB=BBDB0;BEA)I9IIIiO}> 2Acoustic response timeout h ҏ,L6H?A2צ@2ҭ@26<ٱ2Q :AHRS rotation from veh to nav: [[0.658862,0.704647,0.263388],[-0.751969,0.626721,0.204363],[-0.021067,-0.332707,0.942795]]2H f?w?`[? ?(? 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Ʊ׿?iNS@INa^;N]CYfTAyfHhhbDEVDEC8y5.%N=ٔG9K?IK?=1FyEE>Q 54ʤ?Q 94 .) @YyQ I?CI:ig:m4yɮB*jBjiiziJiiii kCkCkCh kCkCkCh2f:fBfJf#%@ɢҰ=) Du?i)3<i) IA!I)I9AOm5>}2Acoustic response timeoutET EEDE"E9*EVEJ5ZEa%@a%@a%@a%@iԙ BE >BE wCBE !HBE ABA BE !DBE DBE ;BE E+ ҏ,$(Q7H?AF@F@F9F=ٱF=k fAHRS rotation from veh to nav: [[0.503049,0.791196,0.347779],[-0.861225,0.492587,0.125096],[-0.072336,-0.362445,0.929194]]FH@?zQ?B?(?`!?@M2׿`?iF@IF^;F\CYrAyrHbDeVDe<8y %H=ٔ ;Q->9I=1FyE:E>Q 54h?Q 94.)@YyťQ I?CIi$:t4yBɮB E*jBjiiziJii kEkEkEh kEkEkEh!q2f:fBfJf#@=<2Acoustic response timeoutIɢɱ=) ,q?i)^u<i  Z )I1AyIIԡOC> 2Acoustic response timeoutD =D <E% Y E% HE% AE! "E% :*E% [9VE% A4ZE! BE% ;a5 2E% ";a5 JE% U:a5 :E% V:a5 A ҏ,k7H?AN@N@N=ٱN ZAHRS rotation from veh to nav: [[0.486265,0.801623,0.347773],[-0.870577,0.478654,0.113957],[-0.075113,-0.358176,0.930628]]NH??A? E? C,? :`[ֿ?iN@IN2o^;N]CYj~AyjHpr=bDzVDzt8yM΂%MP=ٔMr;Q-M>9QIQ=U1FyUE]IE]>aQ 5m4e:?Q 9m4e.)eC@Yiym&Q Im?eCIe:ie:e{4y}Bɮ}B} E*jBjiiziJii kSGkSGkSGh kSGkSGkSGh2f:fBfJf_*"@ɢ=) j?i)l<i# IAaIiIO>2Acoustic response timeout) + ҏ, 7H?AV}@Vx@VR=ٱV~N fAHRS rotation from veh to nav: [[0.469045,0.812214,0.346850],[-0.879705,0.464440,0.102052],[-0.078203,-0.352993,0.932352]]VH??@2?@&a?` ?``nֿ ?iV}@IVc^;V\CYrs~AyvvHi9I9E2Acoustic response timeoutES EIE@E"E9*Ec9VE4ZEa@a@a@a@y(\? rhCl绿z?C ;߽ 9Q?+ÿ~jtȿY?yDBX|B yB)YzBbDVD8y%%%==ٔ%;Q-%>9)I)=-1Fy-E5(9E5>9Q 5E4=x?Q 9E4=&.)=d@YE?Q EEA:yEꣿQ IM?=CI=:i=<:=-4yQɮUBQ*jiBjiiqiqziqJiqiq kEkEkEh k#Ek#Ek#Eh2f=:f=Bfs@Jf@ɢ#=) 7g?i)<iM IIAIIB<A<B>ByCBHB~AB=BBDB0;BkEOER>q2Acoustic response timeoutԡ qT ҏ,^7H?A6؞@6ӥ@6,=ٱ6"T< BAHRS rotation from veh to nav: [[0.451146,0.822894,0.345417],[-0.888727,0.449564,0.089753],[-0.081430,-0.347474,0.934147]]6H? %U?R?tp?@? ش=ֿ?i6؞@I6^;6]CYJ~AyJAHXX X)XbDbVDb8yjWp%jc=ٔj9lIl=r1FyrEr:dEr>tQ 5z4v:ǟ?Q 9z4v0.)v@Y|y~lQ I~?vECIvr;iv;v{4yBɮE*jBj!i!i!zi!Ji!i! kGkGkGh9 kGkGkGhI2fY:fYBfYJf]@19e reNAggregate::initialize marl:UpdateRudderq9eJ]iq9m9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18mom@Completed marl:UpdateCommandMode7mou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7unu4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed频ɢ8=) a?i):<顙i IԩAII O5 >M2Acoustic response timeoutDzD@AEQ EHEDE"E29*E[9VEJ5ZEBE:a2E:aJEa:Ea  2Acoustic response timeout} ҏ,W7H?A4<ɰ;2j8@2e3@2=ٱ2V :AHRS rotation from veh to nav: [[0.433519,0.832578,0.344783],[-0.897145,0.434764,0.078179],[-0.084809,-0.343213,0.935421]]2HǾ?y??h+?`?1տ ?i2j8@I2ܝ^;2[CxY~}Ay~HbD VD `8y%%F=ٔ%W9)I)=-1Fy-E-BBE5>1Q 5=45П?Q 9E45;.)5@YAyE㨿Q IE?5~CI5 ;i5:54yMBɮUBUE*jaBjaiaiiziiJiiii k#Fk#Fk#Fh ksckscksch2f:fBfJfq@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ=) ]?i)<i\ IAN?AN? AAIQIaO>1]2Acoustic response timeoutbE}4jE}5rE}2ES E]E>E"E9*E9VE4ZEa@a@a@a@a B >B }CB HB }AB =B B DB ;B &Ed ҏ,n7H?A2Ϗ@2ʊ@2=ٱ2K( :AHRS rotation from veh to nav: [[0.414844,0.842152,0.344505],[-0.905616,0.418822,0.066697],[-0.088118,-0.339658,0.936412]]2Hό?@?^ ?``? ?` տ?i2Ϗ@I2^;0YFd}AyFH9bD VD y%A=ٔO9I=1FyEFE>Q 54[ٟ?Q 94G.)@Yy|Q I?CI;i:4yɮB*jBjii zi Ji i  k]k]k]h! k]k]k]h12fA:fABfAJfE@aɢe=)a eJV?ia)m9f  2Acoustic response timeoutD D E T E LE E "E 9*E |9VE ZE BE :a 2E :a JE t:a :E u:a t ҏ,K7H?AZ5@Z0ޣ@Z$W=ٱZQ bAHRS rotation from veh to nav: [[0.395557,0.851349,0.344586],[-0.913887,0.402159,0.055478],[-0.091347,-0.336858,0.937114]]ZHP??>? ?>@?g? b@տ?iZ5@IZ^;ZZCYj:}AynHbDEVDEh8ԙyҼ%K=ٔ9I=1FyEUE>Q 54?Q 94R.)*@Yy(Q I?CI;i;)4yBɮBE*jBjiiziJii k]k]k]h k]k]k]h)2f9:f9Bf9Jf=@Yɢ]A=)a eS?ia)ebE2Acoustic response timeout>>! wҏ,-%8H?A((F?6@F:1@F'p=ٱFA RAHRS rotation from veh to nav: [[0.376071,0.859651,0.345790],[-0.921779,0.385075,0.045185],[-0.094312,-0.335734,0.937223]]FH? C?@k!?6?o"?$`|տ ?iF?6@IFӷ^;F]CYZ;}AyZH2Acoustic response timeoutyE?Zd;?333333??== 9/$?S㥛 rh?Y?y/ݼC =BB}B 2B) BYBEY EEE@E"E:*EA9VE4ZEa@a@a@a@bDVDq8yup:%u?=ٔu;Q-}>9}H?I}H?=}1Fy}E)JE>Q 54)?Q 94_.)%@YŜ?Q E-:yQ I?3CI ;i. ;4yBɮB E*jBjiiziJii k^k^k^h k^k^k^h2fl>:fl>Bf7@Jf\؋@ɢN=) S?i)BCBxHB|AB=BBDB;BEu#ApAzAoAQU 2Acoustic response timeoutA AI I O% >y ҏ,v8H?A2֌@2ч@2 =ٱ2ⰾ :AHRS rotation from veh to nav: [[0.356837,0.866585,0.348852],[-0.929118,0.368004,0.036225],[-0.096987,-0.337051,0.936478]]2H`l??S? V`a??`Ը>տ?i2֌@I2/^;2ZCYB|AyFjHbDjVDju8yrʱ%vg=ٔvJ;Q-v>9vK?IzK?=z1FyzEzoEz>|Q 54~?Q 9 4~8j.)~D@Y y Q I ?~kCI~ :i~:~Ь4yɮ*B*j)Bj)i1i1zi1Ji1i1 kC_kC_kC_hI kS{kS{kS{hY2fi:fiBfiJfm/@颉ɢI=) K?i)E<顑ix' IY2Acoustic response timeoutES E=EBE"E9*E8VE5ZEBE :a2E:aJE9a:E 9aԁAIIO>ԩ ] 2Acoustic response timeout ҏ,98H?A2E@2@@2+=ٱ2ף :AHRS rotation from veh to nav: [[0.338474,0.872821,0.351595],[-0.935698,0.351718,0.027651],[-0.099528,-0.338346,0.935744]]2H?&??<?}P?ztտ?i2E@I2^;0YB~|AyFBHbDNVDNf8yV. %VM=ٔZb;Q-Z>9XI\=^1Fy^E^IE^>`Q 5f4bS ?Q 9f4bJv.)b<@YhyjQ Ij?bCIb;ib;bij4ynBɮn'Br)E*jqBjqiqiqziqJiyiy kbkbkbh2f:fBfJfď@ɢ^s=) G?i)N<i IԩA!I)I9Om> =Gl>9 G2Acoustic response timeoutrAEV EEE"E=:*EVEZEa@a@a@a@9%rAY% A B B>B CB HB |AB =B B DB i;B EBE}CBE}CBE˘CBE=BE=CEљ6) 0ҏ,S8H?A;ɰ2V@2Q@2=ٱ2n :AHRS rotation from veh to nav: [[0.321265,0.877615,0.355782],[-0.941509,0.336368,0.020439],[-0.101736,-0.341539,0.934345]]2H`?k?#? ??e տ (?i2V@I2^;2]CY^ |AybHbDjVDjn8yr%rG=ٔvQ;Q-v>9tIt=z1FyzEzn6Ez>|Q 54~?Q 94~ς.)~$@Y y gQ I ?~CI~p:i~$:~4yBɮ6B*E*j)Bj)i)i1zi1Ji1i1 k#^k#^k#^hI kS^kS^kS^h2f:fBfJfa@!ɢ% S=)) -@?i))-<))i5 1I9AM[?AMY?2Acoustic response timeout!A$AIIO$>9i  2Acoustic response timeoutE U E @E CE "E :*E 9VE 5ZE BE :a 2E #:a JE 2:a :E 4:a <ҏ,Xm8H?A >dΙ@>_ɠ@>x=ٱ>jƵ ZAHRS rotation from veh to nav: [[0.305490,0.881241,0.360680],[-0.946532,0.322297,0.014235],[-0.103702,-0.345744,0.932581]]>H %? 3?a?I?>'?1@ ֿ?i>dΙ@I>&v^;>\CYb{AybHpp p)tbDzVDz8yz%H=ٔ ;Q- >9 H?I H?=1FyE 'E>Q 5%4$?Q 9%4U.)@Y)y-Q I-?)CI:i:€4y1ɮ5:B1*jIBjIiIiQziQJiQiQ k]k]k]hi k]k]k]hy2f:fBfJfw@颩ɢ*=) >?i)k<顱i8R 1I9yAAIIO!>%2Acoustic response timeoutԙ !ҏ,n8H?A2P@2K@2=ٱ2績 :AHRS rotation from veh to nav: [[0.290866,0.883706,0.366689],[-0.950957,0.309186,0.009197],[-0.105248,-0.351380,0.930298]]2H ?QG?w?=n?Ղ?``}ֿ?i2P@I2^;2ZCLY^?{Ay^~HyE%C?Q?/$?EZD?Eu=EEnBEB E`B)EAYEzBbD]VD]y8ymҽ%mD=ٔm?t;Q-u>9uK?IuK?}2Acoustic response timeout=1FyEAE>ET EBEIE"E9*E(9VEe5ZEa@a@a@a@Q 543?Q 94.)@Y6?Q EM:y1Q I?`CIť;ia;`ɀ4yBɮGB4E*jBjiiziJii kfkfkfh kfkfkfh2f >:f >Bf{@Jf| @ɢ9=)ּ 3?i)v<i& IB%<A%<B-T>B-CB-~HB->{AB)B- DB-DB-;B-hEAYIiIyO>>- 2Acoustic response timeout! %'ҏ,=G8H?A2@2۟@22=ٱ2X :AHRS rotation from veh to nav: [[0.277790,0.885207,0.373151],[-0.954684,0.297584,0.004766],[-0.106825,-0.357565,0.927759]]2H@O?S?? Ō ?Xs? X Wֿ2?i2@I2]k^;2[CY^ {Ayb_H|bD-VD-T8y5A%=N=ٔ=;Q-=>9AIA=E1FyEEMw EM>QQ 5U4U@?Q 9]4U.)U@Yaye˕Q Ie?UCIUb6;iU8;UKЀ4yqɮuMBy*jBjiiziJii kgkgkgh2f:fBfJf@ɢ=)! %0?i!)-<))i-+ 1I9AazAa)Ae$AIqIi߉IߍA2Acoustic response timeoutIE EE>E"E*EVE4ZEBE:a2E:aJEP+:a:ES+:aO-->Qԁ = 2Acoustic response timeout.ҏ,d#8H?A2v@2q@2Kk=ٱ2 :AHRS rotation from veh to nav: [[0.265367,0.886079,0.380059],[-0.958036,0.286649,0.000625],[-0.108390,-0.364276,0.924962]]2H`?Z?R?@: tX?zD?mLP׿I?i2v@I2^;2^CY^fzAy^Hba=ba=YbDVDo8y Ž%B=ٔt;Q->9H?IH?=1FyEkE>Q 54N?Q 94/.)@YyJQ I?CI:i:׀4yɮbB*j Bj i i zi Jii kSjkSjkSjh) kSvkSvkSvh92fI:fIBfIJfM }@aɢm9=)i mc&?ii)m92Acoustic response timeoutES E>ECE"E9*E9VE5ZEa@a@a@a@ B% t>B% CB% HB% "zAB! B! B% DB% ^;B% -E5ҏ,1?8H?A2@2@2a=ٱ2bľ >AHRS rotation from veh to nav: [[0.253744,0.886118,0.387825],[-0.961016,0.276477,-0.002937],[-0.109828,-0.371961,0.921728]]2HX=?`[?@!?ͱ?h`5׿@~?i2@I2k^;2]CYFzAyFHbDVDi8yE@T%MP=ٔMq;Q-M>9MK?IUK?=U1FyUEU5EU>YQ 5e4]o[?Q 9m4].)]@YiymQ Im?]CI]:i]$:]ހ4ԙyuBɮ?E*j Bj i i ziJii k_k_k_hA kwkwkwhY2fi:fiBfiJfm^F@颉ɢ>=) /!?i)y<顑idI2Acoustic response timeout+AII - Failed to create a data reader. azimuth_vehicleFrame is unknown.- bFailed to request data from azimuth_vehicleFrame.I) i1 I5 oAOU > 2Acoustic response timeoutE X E CE FE "E ~ :*E 09VE 5ZE BE :a 2E :a JE 9:a :E 9:a ! ),;ҏ,b8H?Aɰ2I@2D@2?=ٱ2Ⱦ :AHRS rotation from veh to nav: [[0.242621,0.886297,0.394477],[-0.963725,0.266813,-0.006733],[-0.111219,-0.378534,0.918881]]2H`0?`\? ?? v?N{x9ؿ yg?i2I@I2^;2ZCYNyAyRzHbDZVDZy8yr%rS=ٔvl;Q-v>9tIt=v1FyzEznEz>Q 5%4g?Q 9%4.)o@Y)y-Q I-?3CIt:i:\4y1ɮ5rBY*jiBjiiiiqziqJiqiq kc_kc_kc_h k3sk3sk3sh2f:fBfJf @)ɢ5O=)Q U?iQ)]%=YYi]!aIa5eAAyIIOB>2Acoustic response timeoutiԙ Bҏ,p9H?A2Y@2T@2=ٱ2xN˾ :AHRS rotation from veh to nav: [[0.231798,0.886598,0.400268],[-0.966234,0.257446,-0.010692],[-0.112527,-0.384274,0.916336]]2H?_??b@y?兿μؿR?i2Y@I2>m^;2[CYB$yAyF2HDDyT㥛 ?Zd;O~jtA?j<D 9X9v?{Gz?9AIA=E1FyEEMܼEM>QiYI]Ae2Acoustic response timeoutQ 5u4U=p?bEu5jE5rE1EW EEHE"E :*EVE-5ZEa@a@a@a@Q 94U.)U@Y^?Q Et:yQ I?UaCIUK:f5>BfS?Jfm@ɢQ=) @?i)%= iTIAA@AB>BCB HByAB=BBDB;BEԙcռ 2Acoustic response timeoutAA IQ Ia O > W=Hҏ,6"9H?AYz{xAyzHAA A)AbDuVDuh8yj%*=ٔUQ-U>9YIY=]1Fy]Eu2Acoustic response timeouteEu>Q 54z?Q 94.)G@YyQ I?CI>;i?;j4yBɮBIE*jDzDE EBEEE"E*E(9VE 5ZEBE3:a2E8:aJEQ+:a:ET+:aBjiiziJii k]k]k]h2f:fBfJfɢT=) ?i)N=iI) A I I O > 2Acoustic response timeoutQ iNҏ,s<9H?A2@2@2z=ٱ27о :AHRS rotation from veh to nav: [[0.208319,0.888546,0.408766],[-0.971366,0.236774,-0.019647],[-0.114242,-0.392969,0.912428]]2H.?n?`8)?n N?A`>e&ٿ2?i2@I23p^;2\CYFwAyFyHbDRVDR8yVXս%V=ٔZ;Q-Z?9I=1FyEE%?!Q 5-4%?Q 9-4%.)%@Y1y5Q I5?%CI%;i%7;%4y9ɮEBA*jQBjQiYiYziYJiYiY k#Ek#Ek#Ehq k`k`k`h2f:fBfJfƴ@颱ɢ|E=) >i)j=项ikI)A!I1IIO>Qu2Acoustic response timeoutET EERE"E9*EVEc45ZEa@a@a@a@ԁ B >B CB qHB wAB =B B DB m;B ̅EEOUҏ,1EV9H?A02@2@2C=ٱ2e Ѿ >AHRS rotation from veh to nav: [[0.194568,0.891068,0.410049],[-0.974201,0.224281,-0.025123],[-0.114353,-0.394582,0.911717]]2H??@?>?,>?湙@:F@@ٿ,?i2@I2]^;2[CYFYwAyFHHHbD VD w8yx%<=ٔ9Q->9I=1FyEG E>Q 54,?Q 94.)U@Yy騿Q I?CI:i:4yɮB*jBjiiziJii k#Hk#Hk#Hh k\k\k\h2f):f)Bf)Jf-TX@AɢE=)I M2>iI)MV=IIiMQIY2Acoustic response timeoutԑA$AIIO!>Թ  2Acoustic response timeoutD D 4=E  E ?E OE "E *E ?9VE *5ZE BE :a 2E :a JE G9a :E L9a y[ҏ,2!p9H?A>@>@>=ٱ>3Ѿ FAHRS rotation from veh to nav: [[0.179599,0.893990,0.410520],[-0.977058,0.210660,-0.031302],[-0.114463,-0.395480,0.911314]]>H??E?@D@? zM@Oٿ|)?i>@I>w^;>ZC\YbvAybHbDEVDE8y %I=ٔr9Q->9H?IH?=1FyEiE>Q 54$?Q 94.)ʿ@YyުQ I?CI;i; 4yɮâB*jBjiiziJii kCDkCDkCDh k]k]k]h)2f9:f9Bf9Jf=ݳ@Yɢ]:=)a e+>ia)e{i=aaieiIiAIIO5->2Acoustic response timeoutI bbҏ,9H?Aɰ&ԁGUQ Q9U-?{GzZd;YU?U?yU#UUBUDB UB)UQYU\BbDmVDm8y},%}>=ٔ:0Q->9I=1FyEE>Q 54𑠉?Q 944.)@YW?Q E|:yQ I?CCI:i:4yBɮТBSE*jBjiiziJii kDkDkDh kfkfkfh2f  >:f  >Bf @Jf )w@)ɢ-s=)) ->i1)5; =11i5q@9I9ABm<Am<Bu>BuCBuHBuzvABu=BqBuDBu;BuEB5ČCB5ČCB5ęCB5ķ=B5ĸ=C5{!6AAIIOE>q2Acoustic response timeoutԙ Zhҏ,ޣ9H?AFG@FC@F}=ٱFdо bAHRS rotation from veh to nav: [[0.145898,0.901737,0.406921],[-0.982737,0.179401,-0.045202],[-0.113762,-0.393302,0.912344]]FH Ǭ?? ?r?$+ٿ@1?iFG@IF^;F[CYnuAynHbDzVDz8y%f=ٔQ->9 K?I K?= 1Fy ELE>Q 5%4ғ?Q 9%4.)@Y!y%4Q I-?iCI9:iR:4y5Bɮ5ӢB1*jIBjIiIiQziQJiQiQ kNkNkNhiy ks`ks`ks`h2f:fBfJfΤv@颩ɢu=) >i); =项iIAzApAAAU2Acoustic response timeoutIaIyET EEHE"E9*EVE-5ZEBEa2EaJE9:a:E9:aԹO>  2Acoustic response timeoutnҏ,p9H?A2q@2m@2Ww=ٱ2iϾ :AHRS rotation from veh to nav: [[0.127666,0.905708,0.404221],[-0.985328,0.162363,-0.052594],[-0.113265,-0.391576,0.913148]]2H_W???χ`K? ٿ8?i2q@I2k^;2_CYNuAyRHbDZVDZ8yv﻽%vL=ٔvãQ-v>9xIx=z1FyzEz=E~>Q 54p?Q 9 4i/)@Y y Q I ?CId:i|:4yɮB*j1Bj1i1i1zi1Jii kGkGkGh2f:fBfJfceu@ɢc=) 0>i)V =iz!I!AIIO!>]2Acoustic response timeoutEW EELE"E :*EVE!5ZEa@a@a@a@1Bm +>Bm CBm HBm tABm =Bm DBm »DBm ;Bm EY uҏ,9H?A2V@2Q@2y=ٱ2BϾ :AHRS rotation from veh to nav: [[0.109082,0.908488,0.403423],[-0.987587,0.145192,-0.059932],[-0.113021,-0.391878,0.913049]]2H?V??O৕?[`ٿ7?i2V@I2^;2[CYFtAyF_HbDRVDR8yV0%ZN=ٔZ"Q-Z>9\I\=^1Fy^Eb BEb>dQ 5f4f?Q 9j4f/)f@YhyjÿQ Ij?fCIf;ifH;f$4yrzBɮrBr\E*j|Bj|i|iziJii kPkPkPh kPkPkPh)2f9:f9Bf9Jf=0t@Yɢ]Y`=)eȈ e]>ia)eu =aaieiIq12Acoustic response timeoutAIIO >Ye 2Acoustic response timeoutE V E YE KE "E =:*E *9VE 5ZE BE :a 2E :a JE :a :E :a w{ҏ,g9H?A6k@6g@6=ٱ6mо BAHRS rotation from veh to nav: [[0.090902,0.910626,0.403109],[-0.989444,0.128462,-0.067073],[-0.112863,-0.392757,0.912691]]6HbE?#? ?pq?+伿"ٿ4?i6k@I6w^;6]CYJsAyJHXX X)XbDb,VDb8yj%jH=ٔn̹Q-n>9lIl=r1FyrEr8Er>tQ 5z4v!?Q 9z4v/)v@Yxy~TƿQ I~?vCIv;iv;v+4yɮB*jBj!i!i!zi!Ji!i! kKkKkKh9 kKkKkKhI2fY:fYBfYJf]s@yɢ}F/T=) p~>i) =顁iGIAY?AX?ԱAIII>>O>2Acoustic response timeout 9 wҏ,pC :H?A2,@2'@2d=ٱ2aо :AHRS rotation from veh to nav: [[0.073151,0.912086,0.403420],[-0.990918,0.112232,-0.074064],[-0.112829,-0.394338,0.912013]]2H ?/?@?D?d⼿<ٿ5/?i2,@I2c^;2[CYvmsAyvH%2Acoustic response timeoutEU ELELE"E:*E|9VE!5ZEa@a@a@a@yT㥛 ?{GzV-a?# 9&1? rh?QY?yC =SB B)YBbD$VD8y%<=ٔaQ->9I=1FyE')E>Q 540?Q 94$/)@Y?Q EQ:yQ I?CI:i:n34yɮ B*j Bj i i ziJii kDkDkDh) k3^k3^k3^h92fM'>:fM'>BfMm>JfMU@ɢ@H=) z[>i)*[=i%UI!A A Ba>BCBHBvsAB=BBǻDB;BEAaIiIyOD>92Acoustic response timeouti وҏ,%:H?A 2@2@2!=ٱ2Ҿ >AHRS rotation from veh to nav: [[0.055424,0.912680,0.404899],[-0.992068,0.096162,-0.080959],[-0.112825,-0.397200,0.910770]]2H`?4??  ?⼿kٿ%?i2@I2*w^;2ZCYFvrAyFHI~<)~=AbD VD 8y %M=ٔ5Q->9I=1FyE97E>Q 54y?Q 94T//)@YyĿQ I?PCI:i9:i:4yɮ+B*jBjiiziJii kEkEkEh  k^k^k^h2f):f)Bf)Jf-@195 r5NAggregate::initialize marl:UpdateRudderq95J]1q95957=o=XAggregate::initialize marl:UpdateCommandMode18=]918=o=@Completed marl:UpdateCommandMode7=o=\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7E]A7EnE4Completed marl:UpdateSpeedq7EnEPAggregate::uninitialize marl:UpdateSpeedYɢ]^;=)a e>ia)e=aaieiIqi52Acoustic response timeoutEV EBEKE"E=:*E(9VE5ZEBE:a2E:aJES+:a:EU+:aԙ A $AI I) O} >  2Acoustic response timeoutҏ,Q>:H?ALY~rAy~HbDVD8y:Q%E=ٔQ->9H?IH?= 1Fy EE>!Q 5-4%қ?Q 9-4%*:/)%u@Y9y9Q I=?%CI%T;i%U;%A4yMoBɮIMeE*jiBjiiqiqziyJiyiy ksEksEksEh2f:fBfJfsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢP4=) >i)NM=i> IM7ƙAAIIOf>=2Acoustic response timeoutbE5jE25rEDz1EW EEEGE"E :*EA9VE5ZEa@a@a@a@B {>B CB HB 1rAB =B DB ɻDB ;B مE! ҏ,X:H?A6&{@6"v@62F=ٱ6־ >AHRS rotation from veh to nav: [[0.020646,0.912291,0.409022],[-0.993361,0.065028,-0.094898],[-0.113172,-0.404347,0.907577]]6H`Y$?|1? j-?@?@5Kٿ@ ?i6&{@I6^;6[CYbxqAyb{H|bD%VD%8ye]׽%eT=ٔmfm:Q-m>9mK?IuK?=u1FyuEuEu>yQ 54}雠?Q 94}D/)}@YyȿQ I?}CI}y:i} :}hH4yɮ?B*jBjiiziJii kGkGkGh k3Gk3Gk3Gh2f:fBfJfU@2Acoustic response timeoutɢ*=) }=i)Й=i3/I) YAi Iq I O >M 2Acoustic response timeoutԁ E X E YE CE "E ~ :*E *9VE 5ZE BE :a 2E :a JE :a :E :a ҏ,r:H?A2@2@2O=ٱ2ؾ :AHRS rotation from veh to nav: [[0.004126,0.911671,0.410899],[-0.993581,0.050188,-0.101376],[-0.113043,-0.407843,0.906027]]2Hp?i,?+L?`k8?` k@ڿ@,?i2@I2Ȝ^;2\CYFqAyF1HbDRVDR8yV#%ZW=ٔZ_Q-Z>9\I\=^1Fy^E~3/E>Q 5 4r?Q 941N/)@YyʿQ I?CI:iR:2O4yɮ%NB!*j1Bj1i1YiYziYJiaia kSEkSEkSEhq k^k^k^h2f:fBfJfر@ɢQ:"=) M=i)=i%Y!I)1111ԁ2Acoustic response timeoutԹAM$AIIO% > ҏ,ʊ:H?A2m@2h@2D7=ٱ2ھ :AHRS rotation from veh to nav: [[-0.012024,0.911126,0.411953],[-0.993616,0.035330,-0.107141],[-0.112174,-0.410611,0.904884]]2H`ԟ'?`n]??m@grGڿ@?i2m@I2L_;0YF}pAyFHHHiIA2Acoustic response timeoutEeV EeFEeJEa"Ee=:*Ee;J9VEe5ZEaam@am@am@am@ysh|??{GztV-I?ף 9T㥛 ?~jthY?ԹyD̽B B)BYBbDVDz8y"%9=ٔQ->9H?IH?=1FyEnE>Q 54f?Q 94Y/)Π@Y?Q EQ:yKпQ I?CIX ;i ;V4y cBɮ SB oE*jBj!i!i!zi!Ji!i) k#Gk#Gk#Gh9 k#gk#gk#ghI2fek>:fek>Bfe<Jfe>@yɢ}w=) >BCB HBpAB=BBʻDB;BEAAIIO=.>2Acoustic response timeoutA 'ҏ,#f:H?A2@2ޕ@26 =ٱ2Z۾ :AHRS rotation from veh to nav: [[-0.028763,0.910569,0.412355],[-0.993445,0.019616,-0.112613],[-0.110630,-0.412891,0.904037]]2H!tb#?d?M@1?1ԼGR lڿ?i2@I2^;2YCYFoAyFyHTT T)TbDZVDZ8yb%f]=ٔf߉Q-f>9jK?IjK?=j1FyjEj:En>pQ 5r4r ?Q 9v4rc/)ro@YtyvyҿQ Iv?rLCIry:irp:r;]4yxɮ~hB|*j Bj iiziJii kNkNkNh) k`k`k`h92fI:fIBfIJfMg@iɢm =)i u(*iq)u=qqiulI!2Acoustic response timeoutDizDmAAEuX EuKEuFEq"Eu~ :*Eu]t9VEu 5ZEqBEqa}2Eqa}JEu.:a}:Eu0:aAIIO&>Aԁԙ  2Acoustic response timeoutҏ,BA:H?Aɰp9hIh=j1FyjEn'En>pQ 5v4r?Q 9v4rm/)rݛ@YtyvԿQ Iz?rCIr:irk:rKd4y|ɮ~xB|*jBj!i!i!zi)Ji)i) kcGkcGkcGhQ2fi:fiBfiJfm$@颙ɢڷ=) -i)r=顩i]󼉨Iy ul>qAIInG 1m9iYmAO8>ԡ2Acoustic response timeoutE}U E}DE}IEy"E}:*E}a99VE}e5ZEya@a@a@a@B >B CB +HB UoAB =B B ˻DB f;B 7EBuɦCBuɤCBuɘCBuɩ=Buɫ=Cu6 9ҏ,:H?A2%ԍ@2!ϔ@2:=ٱ2Uܾ :AHRS rotation from veh to nav: [[-0.061713,0.910011,0.409966],[-0.992411,-0.012178,-0.122358],[-0.106355,-0.414406,0.903857]]2HҘ ?`9QIQ=U1FyUEU"E]>aQ 5m4eT?Q 9m4ex/)e:@YiymֿQ Im?eCIe8:ie:ek4y}WBɮ}B}xE*jBjiiziJii k#Ok#Ok#Oh klklklh2f:fBfJf @ɢj<) 1i)r=iC񼉨I}2Acoustic response timeoutA)I9IIO>) - 2Acoustic response timeoutE  E GE BE "E *E R9VE 5ZE BE %:a 2E *:a JE t:a :E #t:a cdҏ,:H?A2 G@2B@2=ٱ2۾ >AHRS rotation from veh to nav: [[-0.078817,0.910372,0.406214],[-0.991469,-0.029152,-0.127041],[-0.103812,-0.412762,0.904904]]2H]-@!? j?@ڝ@B pjڿ?i2 G@I2j^;0YFnAyFfHbD=VD=8y%E=ٔɻQ->9I=1FyE)E>Q 54 ?Q 94P/)@YyؿQ I?CIw;i[:r4yVBɮBwE*jBjiiziJii k]k]k]h k]k]k]h2f!:f!Bf!Jf%@AɢE<)A E1iA)E =IIiM))IIQ)Ae$AIqIO>2Acoustic response timeoutaԁ Kҏ,B ;H?A06ͷ@6ɲ@6iA=ٱ631ھ >AHRS rotation from veh to nav: [[-0.096169,0.910334,0.402546],[-0.990225,-0.046452,-0.131518],[-0.101026,-0.411259,0.905903]]6H@t!?Q?ȧܹRڿ`'?i6ͷ@I6^;6\CYFmAyJHr2Acoustic response timeoutEER EEDEEHEA"EEs9*EEa99VEE-5ZEAaM@aM@aM@aM@y#~j?I +:ve?94T 9"~j?I +~jtYS?y94ĽBrB cB)BYpBbDVD8y%A%%B=ٔ%ٻQ-->9-H?I-H?=-1Fy-E5*E5>9Q 5E4=Ά?Q 9E4=l/)=$@YE?Q EMN:yMۿQ IM?=!CI=3:i=:=>z4yQɮUBQ*jiBjiiiiiziiJiqiq k^k^k^h k^k^k^h2f >:f >Bf/3Jf@ɢ<) pi)=i IAYA]AABe>BeCBecHBenABe=BaBeͻDBe;BeREԉAEAIIIYO:>Թ2Acoustic response timeout uҏ,`';H?A6*@6%@6=ٱ6پ >AHRS rotation from veh to nav: [[-0.113255,0.910116,0.398576],[-0.988689,-0.063535,-0.135858],[-0.098323,-0.409454,0.907017]]6H@C ?C? W C@c +~4ڿH?i6*@I6.q^;6[CYJmAyJHbDV*VDV8yZ?%^e=`ٔ^Q-b>9bK?IbK?=f1FyfEfEEf>hQ 5n4j؁?Q 9n4jؗ/)j @YpyrݿQ Ir?jOCIjf;ij/;j4yvJBɮvBvE*jBjiizi Ji i  k^k^k^h!2f1:f1Bf1Jf5|@QɢUhm<)Q U/?iQ)] =YYi]5:뼉aIaAIIO>2Acoustic response timeoutEUX EU@EUNEQ"EU~ :*EU9VEU'5ZEQBEU:a]2EU:a]JEU5:a]:EU7:a]iIA  2Acoustic response timeout]ҏ,A;H?AN@N@N@y=ٱNؾ ^AHRS rotation from veh to nav: [[-0.130154,0.909095,0.395735],[-0.986856,-0.080220,-0.140286],[-0.095787,-0.408792,0.907587]]NHN?S?RM@)ڿ ?iN@ING^;LYnlAynHbD1VD8y!%%D=ٔ-ǻQ-->91I1=51Fy5E=4'E=>AQ 5M4Eq{?Q 9M4EԢ/)E@YQyUQ IU?ECIE:iEp:Eχ4yYɮ]BY*jqBjqiqiqziqJiyiy k3Fk3Fk3Fh kc`kc`kc`h2f:fBfJf%@ɢ<) Pi)C =i$'鼉IA!I1IAIIaO>2Acoustic response timeoutE]T EYE]GEY"E]9*EYVE]5ZEYae@ae@ae@ae@qBU >BU CBU HBU lABU =BQ BU ϻDBU ;BU uEԡ ҇ҏ,d[;H?Aɰ;2@2 @2=ٱ2׾ :AHRS rotation from veh to nav: [[-0.147162,0.907971,0.392342],[-0.984721,-0.097154,-0.144520],[-0.093102,-0.407616,0.908395]]2H7¿?#?@Ղ`߸¿`շ_ڿ?i2@I2#l^;2ZCY^.lAyb;H )bD%4VD%8y5%5H=ٔ=ٻQ-=>9AIA=E1FyEEE-EM>IQ 5U4Mt?Q 9U4Mp/)MO@YYy]FQ I]?MCIM/;iMn;M䎁4yaɮmģBiy*jBjiiziJii kGkGkGh k]k]k]h2f:fBfJfl@ɢ!<) Jti)x =i$缉I]2Acoustic response timeoutAaIqIԩO> 2Acoustic response timeoutEu V Eu IEu KEq "Eu =:*Eu c9VEu 5ZEq BEu :a 2Eu :a JEu :a :Eu :a  ҏ,>u;H?A2K@2G@2z=ٱ2t]־ :AHRS rotation from veh to nav: [[-0.163929,0.907224,0.387392],[-0.982307,-0.114073,-0.148529],[-0.090558,-0.404886,0.909872]]2H Ŀ??o@3ÿ.ٿ`?i2K@I2,^^;2\CYFkAyFHbDN2VDN8yVg%VS=ٔZػQ-Z>9XIX=^1Fy^E^a4Eb>`Q 5f4bm?Q 9j4b/)b"@YhyjjQ Ij?bCIb6:ibN:b4yn=BɮrǣBrE*jxBjxixi|zi|Ji|i| k3Ek3Ek3Eh k^k^k^h!2f1:f1Bf1Jf5@ɢx<) i) =i'弉IA!I1IAO> m2Acoustic response timeout1Y ʜҏ,&;H?A2b@2^@2=ٱ2 Sվ :AHRS rotation from veh to nav: [[-0.180116,0.905857,0.383381],[-0.979649,-0.130102,-0.152842],[-0.088575,-0.403108,0.910856]]2Hǿ? 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?U ظտʿ`S@vڿ`?i6Tǂ@I6Fi^;4YJpeAyJ HE` EbTEbKE`"E`*Eb9VEb5ZE`af@af@af@aj@Թy-?:v?Mb`5~?< 9I +?I +?MbX9Y9?y94=ʡByB MB)YBbDYVD8y% 6=ٔ QQ- >9K?IK?=2FAAB%>B%CB% HB%fAB!B!B%׻DB%H;B%Ey5%E=c6E=>AQ 5M4E?Q 9M4ES0)Eyt@YM?Q EML:yMLQ IM?E}DIE:iE:Eq4y]Bɮ]RB]E*jiBjqiqiqziqJiyiy kDkDkDh kDkDkDh2f|=:f|=BfM>Jf0;y@ɢd) (i)<iüIAIIO J>2Acoustic response timeout9 UJҏ,,=H?A"4<ɰ"p;>k@>g@>K"W=ٱ>ؾ FAHRS rotation from veh to nav: [[-0.414625,0.838386,0.353830],[-0.908477,-0.358930,-0.214101],[-0.052499,-0.410218,0.910475]]>H`8ڿ?%?=`ֿg˿ ᪿAڿ "?i>k@I>^;9iIi=m2Fyu'Eu`Eu>yQ 54}H㟉?Q 94}^\0)}p@YyQ I?}DI}:i}t:}4yBɮZBE*jBjiiziJii k3Ek3Ek3Eh kCEkCEkCEhY2fi:fiBfiJfmx@颡ɢ) ]-i)x6<i¼IAzA}2Acoustic response timeoutEU EDECE"E:*Ea99VE5ZEBE&:a2E+:aJEsH:a:EuH:a A$AIIAOu6>iIi% 2Acoustic response timeoutԙ pQҏ,F=H?A2Yt@2Uo@2TG=ٱ2ca׾ :AHRS rotation from veh to nav: [[-0.433367,0.831059,0.348617],[-0.899898,-0.378118,-0.217281],[-0.048755,-0.407882,0.911732]]2HJۿ ?O?3ؿ ˿a`ڿ,?i2Yt@I2΂^;2]CYfeAyf HhhbDElVDE8y%H=ٔQ->9H?IH?=2Fy*E.OE> k>͑CQ 54 ԟ?Q 94 sf0)Em@!Y!y-Q I-?qڣ9Y~ADI_ =i =G4y"?Ay ɮ\B*j1Bj1i1i1zi1Ji9i9 kDkDkDhQ kDkDkDha2fq:fqBfqJfuw@颉ɢ{M) #.i)a<顙i7#IԡIIOF>2Acoustic response timeoutEX E?EDE"E~ :*E?9VEJ5ZEa@a@a@a@B5>BCB HB|eAB=BBٻDB;B͈EBǵCBǶCBBǦ=BǦ=CY5 `Wҏ,D`=H?AF<р@F8̇@FD8=ٱFa־ VAHRS rotation from veh to nav: [[-0.451277,0.823189,0.344541],[-0.891246,-0.396268,-0.220571],[-0.045040,-0.406610,0.912491]]FHܿ`W? 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HPbD IVD 8y<%G=ٔ&Q->9%H?I%H?=%2Fy%E-eE->)Q 554-?Q 9=4-Ap1)-o.@Y9y=Q I=?- DI-;i-;-Q4yMzBɮMʣBME*jaBjaiaiaziaJiiii k#k#k#hy kc)kc)kc)h2f:fBfJfr1@颹ɢ:#) 'i)0;iIA)I1IAOu>B>BˏCBh HBeAB=BBDBr;B%E2Acoustic response timeoutEER EEAEEJEA"EEs9*EE 9VEE5ZEABEE:aM2EE:aUJEE:aU:EE:aU! 9ҏ,1x@H?A2`@2n@2ٱ2Ծ :AHRS rotation from veh to nav: [[-0.829548,0.503300,0.241949],[-0.558010,-0.763998,-0.323933],[0.021813,-0.403728,0.914619]]2H ?0?7rQԿ +V?`ٿ D?i2`@I2i^;2\CYbeAyb. H|E2Acoustic response timeoutbDQVD8yE<%>=ٔ9I=2FyEZ[E>Q 541✉?Q 94Iy1)d'@YyQ I?+DI;i[:4y pBɮBE*jABjAiIiIziIJiIiI k-k-k-ha k-k-k-hq2f:fBfJfO0@颡ɢu-) e&i)z;顩i1I1)A}AIIOB>QiI2Acoustic response timeoutEU Y EU BEU HEQ "EU :*EU (9VEU -5ZEQ a] @a] @a] @a] @ԁ #@ҏ,`AH?An_@nm@nOżٱn ؾ vAHRS rotation from veh to nav: [[-0.841856,0.483689,0.239425],[-0.539166,-0.773505,-0.333152],[0.024055,-0.409555,0.911968]]nH`{?z?@@ZRտ Ρ?'6ڿ.?in_@In^;n[CYeAy` H  QyU-?Cl?ʡE?U?5?U;=U>Q Q9U)\(?x&? +?YUGa?yU7>Uv>U^BUzB U)UéBQYUBbDeHVDe8yu?=%}@=ٔ} Q-}>9K?IK?=2FyE-YE>Q 54`Μ?Q 94́1)*@Yqs?Q E_:y Q I?DDI:i':= 4yɮBE*jBjiiziJii k,k,k,h kDkDkDh2f>:f>BfC??Jfe@G )M2Acoustic response timeout] 9YY]əAaɢe4})i mN!ii)mj5;iiiu1qIyԁIIOf>ԩ A} @AA} ?AB >B ȏCB HB pfAB =B B DB ;B NEBABABABEˡ=BEˠ=CE5 2Acoustic response timeoutwFҏ,0AH?A\\EU EEME"E:*EVEH$5ZEBE):a 2E-:a JEV+:a:EX+:a=/^@=%l@=ؼٱ=ھ MAHRS rotation from veh to nav: [[-0.853163,0.465021,0.236364],[-0.520974,-0.782541,-0.340903],[0.026437,-0.413986,0.909899]]=HM?-A?@ѫ` \տf?~ڿ@?i=/^@I=^;=\CYe*fAye HbDu_VDu8y+=%[=ٔѻQ->9I=2FyEkE>Q 54?Q 94'1).@YyQ I?[DI:i:4ԹyɮB*jQBjQiYiYziYJiYiY k)k)k)h2f:fBfJf @ɢg') Ri)z;iח III!OU2>]=]<e2Acoustic response timeout >9 2Mҏ,} 7AH?A2n\@2gj@2{ٱ2O ݾ :AHRS rotation from veh to nav: [[-0.863159,0.447681,0.233533],[-0.504116,-0.790338,-0.348186],[0.028694,-0.418268,0.907871]]2Hͦ?`h?!rJHֿa?`ڿF ?i2n\@I2^;2YCYFjfAyF HbDjoVDj8yrr&=%rU=ٔr4Q-r>9tIt=v2FyvEzQEz>|Q 54~?Q 94~1)~S1@YyHQ I ?~rDI~j;i~T;~n4ybBɮBE*j)Bj)i)i1zi1Ji1i1 kc)kc)kc)hI ks)ks)ks)hY2fi:fiBfiJfm k@颁ɢ)') Wi)i^;顑iII!2Acoustic response timeoutIO5=Ea ECEIE"E%.:*E09VEe5ZEa@a@a@a@Aԑm 2Acoustic response timeout #Tҏ,PAH?A2[@2i@2"ٱ2/߾ :AHRS rotation from veh to nav: [[-0.871192,0.433144,0.231110],[-0.489993,-0.796411,-0.354453],[0.030529,-0.422039,0.906064]]2H `??@ \߿ 2|`[ֿ@C?ۿ y?i2[@I2^;2[CYBfAyB HDDbDNGVDN8yVH=%VN=ٔZQ-Z>9XIX=Z2Fy^E^'E^>`Q 5f4bƕ?Q 9f4b91)b4@YhyjIQ Ij?bDIb:ibp:ba4ylɮnBp*jxBj|i|i9zi9Ji9iA k#*k#*k#*hQ k3*k3*k3*h2f:fBfJf@@ɢH)O \i)>;iNbIIIO=B->B-ÏCB-HB-gAB-=B)B-DB-*;B-eE2Acoustic response timeoutEW EMEGE"E :*E9VE5ZEBE;:a2E@:aJE:a:E:a) 1Zҏ,jAH?A;ɰ; B[@B i@BٱB/ RAHRS rotation from veh to nav: [[-0.877302,0.422011,0.228580],[-0.478872,-0.801444,-0.358285],[0.031994,-0.423785,0.905198]]BH:?`B?֥޿n`%ֿ~a?Jۿ a?iB[@IB^;BZCY^fAy^Htt t)tbD>VD8yo<%D=%2Acoustic response timeoutٔ-dQ-->91I1=52Fy5E=E=>AQ 5M4Eh?Q 9M4E41)EA8@YIyUQ IU?EDIE:iE:E&4yɮBE*jBjiiziJii k.k.k.h k.k.k.hA2fQ:fQBfQJfU@yɢf)  i)k\;顙iEIAzAnAIQIiiIO=ԙ2Acoustic response timeoutE P E GE FE "E 9*E R9VE 5ZE a @a @a @a @ aҏ,XAH?A>zZ@> ph@>Z ٱ>m FAHRS rotation from veh to nav: [[-0.881720,0.413715,0.226738],[-0.470577,-0.805449,-0.360290],[0.033568,-0.424373,0.904865]]>H 7Mz??`޿<׿/?(ۿ?i>zZ@I>1^;-/B-X|B -B)-ͫB)Y-BbDE,VDE8yUͼ%]F=ٔ]){Q-]>9iIq=}2Fy}EE>Q 54g?Q 94ӣ1)@@YX?Q E{:y"-Q I?DI:i:-4yaBɮBE*jBjiiziJiii k+k+k+h kDkDkDh2f>M>:f>M>Bf?Jf0@ɢ) i):i )IIIO>-2Acoustic response timeout B O>B CB HB gAB =B DB ۻDB ;B E 2Acoustic response timeoutBgҏ,qtAH?ABY@Bg@B5ٱB߾ JAHRS rotation from veh to nav: [[-0.885181,0.407322,0.224816],[-0.463921,-0.809206,-0.360504],[0.035082,-0.423409,0.905259]]BHhS@?`?ݿ@~׿5? ۿ?iBY@IB}^;@ENT EN?ENMEL"EN9*EN?9VENH$5ZELBEN:aV2EN:aVJENM9aV:ENR9aV|Y fAy  HbDVD8y =%D=ٔmQ->9I=2FyE E>Q 54N?Q 94Z1) I@Yy-Q I?DI:i:.54yɮBE*j BjiiziJii k3)k3)k3)h) kDkDkDh92fI:fIBfIJfM@ɢuf)  i):  i ^ I)A \?A a?=2Acoustic response timeoutYAM $AIQ Ia O >ԁ Zmmҏ,LQAH?A2 Y@2g@2ٱ2^޾ :AHRS rotation from veh to nav: [[-0.888172,0.402072,0.222460],[-0.458055,-0.813205,-0.359003],[0.036561,-0.420756,0.906437]]2Hk@? y?Pݿֿ?ڿ@?i2 Y@I2G^;0Y^/gAyb(HfJGPS failed to acquire within timeout. ffData Fault f f f f bDnVDn8yv6<%vY=ٔvQ-v>9zH?IzH?=z2FyzEzE~>Q 5 4"8?Q 9 41)P@Y y ".Q I ?DI:i:;4Yyɮ{B*jBjiiziJii k)k)k)ha2Acoustic response timeout2f:fBfJfÚ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed1% c%HAggregate::initialize marl:NeedComms12% d%@Initialize GoToSurfaceComponent.d%HReceived depth rate setting nan m/s.d-RReceived pitch setting 19.999999 degrees.E=[ E=HE=KE9"E=a:*E=[9VE=5ZE9aE@aE@aE@aE@dMHReceived speed setting 1.000000 m/s.dUjReceived surface timeout setting 1000.000000 seconds. dUNo altitude timeout specified. Using default value of 600.000000 seconds.dUnReceived pitch timeout configuration 60.000000 seconds.1][YZYZYZ]ZYZeceXcaught uninitialized data element exception.cetlast time_fix was: nan second since 1970/01/01T00:00:00Z 1eiɢ¸>I[>qžI)P)顥iޡIԉeAAI!&5@Data Fault in component: NAL9602I1Oew>ԱM 2Acoustic response timeout 7Utҏ,b,AH?A6}0Y@6v&g@6ٱ6ܾ BAHRS rotation from veh to nav: [[-0.890872,0.397560,0.219755],[-0.452678,-0.817238,-0.356658],[0.037799,-0.417215,0.908021]]6Hq? ?ܿ&{ֿ@cZ?@ڿ?i6}0Y@I6/^;6]CYJ[gAyJCHNPowering downRRRRbDZVDZr8yb<%bM=ٔbKQ-b>9fK?IfK?=f2FyfEfWwEj>hQ 5n4j ?Q 9r4jϭ1)jY@Ypyr.Q Ir?jDIj3;ij;jB4ytɮzuBzE*jBjiizi Ji Ʒ<i  ks*ks*ks*hQ2fa:faBfaJfeN@smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder[qZyZyZ}ZyZ}iɢI>Tƾ))顙i}lIB=>BCBHBXhAB=BBٻDB;BE2Acoustic response timeoutĎbE]5jE]Ƹ5rE]0EUR EUCEUHEQ"EUs9*EU09VEU-5ZEQBEU:am2EU:amJEU9:au:EU9:auAm$AIIIiIoAO>9 zҏ,AH?AFX@Ff@FٱF3'پ RAHRS rotation from veh to nav: [[-0.893389,0.393985,0.215943],[-0.447606,-0.821996,-0.352096],[0.038783,-0.411216,0.910713]]FH@ 7??ܿ`Mֿjۣ?@\Qڿ$?iFX@IFD^;FYCYZgAyZnH2Acoustic response timeoutbD-VD-@8y=(=%=C=ٔEQ-E>9EH?IEH?=E2FyEEM]EM>QQ 5]4U?Q 9]4U71)Ua@YYye"/Q Ie?UDIU#;iU;U J4ymSBɮm_BmE*jyBjyiiziJiƷ<i k.k.k.h k.k.k.h2f:fBfJfa@[ZZZZZiɢIZ>sƾ))iZICԼIIO (>Aԁ2Acoustic response timeoutE] W E] BE] IEY "E] :*E] (9VE] e5ZEY au @a} @a} @a} @ԡ 9YIY=]2Fy]E]@E]>aQ 54eᛉ?Q 94e1)e-a@Yo?Q Ec:y?Q I?e%DIe;ie;eLR4yɮ^BE*jBjiiziJiƷ<i2Acoustic response timeout k+k+k+h12fE=:fE=BfEy@JfE:;@[qZqZqZuZqZuiɢI>ƾ))顱i|rIԡI&VClearing failed state for component NAL9602 IO>B +>B CB HB hAB =B B ػDB ;B Ei I A 2Acoustic response timeout E] _ E] HE] XEY "E] &:*E] [9VE] G5ZEY BE] &;am 2E] &;am JE] W:am :E] Y:am 6ҏ,BH?A2X@2 f@2 ٱ2څѾ vAHRS rotation from veh to nav: [[-0.898472,0.387506,0.206368],[-0.437289,-0.831720,-0.342082],[0.039082,-0.397594,0.916729]]2HG@?Fj?ۿ`sտ@?-rٿU?i2X@I2G^;0Y~gAy~HbDVDQ8y%yK=%%k=ٔ%L:Q-%?9)I)=-2Fy-E5{E5?1Q 5=45Ǜ?Q 9E45 1)5`@YAyE@Q IE?59DI5;i5;5*X4yIɮUUBUE*jBjiiziJiƷ<i ks&ks&ks&h k#Fk#Fk#Fh2f:fBfJf^;@[ ZZZZZiAɢAIM>Mƾ)I)IIIiMɼQIyԹUII2Acoustic response timeoutOm> 캍ҏ,9BH?A:W@:e@:"ٱ:̾ FAHRS rotation from veh to nav: [[-0.902322,0.383226,0.197363],[-0.429563,-0.837547,-0.337626],[0.035914,-0.389427,0.920357]]:H@ņ?@3C?}ۿ.տTc?`ؿ@s?i:W@I:^;8YJgAyJHbDbVDb<8yn~:%nQ=ٔr9pIp=v2FyvEvEv>xQ 5~4z!?Q 9~4zN1)z2`@Yy@Q I?zPDIz;iz;z_4y RBɮ TB E*j!Bj!i!i%zi!Ji%Ʒ<i) k*k*k*h9 kEkEkEhQ2fy:fyBfyJf}:@[ZZZZZiɢI>ž))iÕӼ}2Acoustic response timeoutIDzDE%X E%AE%BE!"E%~ :*E% 9VE%5ZE!a5@a5@a5@a5@Qyq ]k>eґC(GMrA% t9% MrAY% cAԩ E 2Acoustic response timeout@ I! I9 O >ࣔҏ,OvSBH?A2V@2d@2\ٱ2EǾ :AHRS rotation from veh to nav: [[-0.908071,0.376972,0.182483],[-0.417872,-0.844750,-0.334337],[0.028117,-0.379856,0.924618]]2H`M ?[?jڿ`0 eտ@ʜ?Oؿy?i2V@I2^;0@YJohAyvH xxbDqVD*8y =%G=ٔ9I=2FyE%E%>!Q 5-4%?Q 954%1)%P_@Y1y5pAQ I5?%iDI%N:i%F:%1f4yAɮEDBEE*jQBjQiQi]ziYJi]Ʒ<iY ksJksJksJhq ks_ks_ks_h2f:fBfJf#:@[ZZZZZiɢI>))iݼIԩB}>B}CB}\HB}#iAByByB}ֻDB}+;B}EB5ĻCB5ļCB5ĘCB5Ĩ=B5ħ=C5ĝ62Acoustic response timeoutE-W E-@E-ME)"E- :*E-9VE-H$5ZE)BE-7:a=2E-<:a=JE-5:a=:E-7:aE@]H<IIOEs> ͚ҏ,PmBH?A2U@2c@2.ׂٱ2¾ NAHRS rotation from veh to nav: [[-0.915749,0.367370,0.162613],[-0.401433,-0.852810,-0.334015],[0.015971,-0.371152,0.928435]]2HM?? ٿ8J@`տ Z?׿?i2U@I2^;2]CYVhAyV,HbD^AVD^8yf=%fO=ٔf9hIh=j2FyjEnE<r2Acoustic response timeouttEn>xQ 5z4zi?Q 9~4z}1)z^@YaymBQ Im?zDIz~5溾))id缉I@u<IqIO= 92Acoustic response timeoutD- =D- R=E= Q E9 E= BE9 "E= 29*E9 VE= 5ZE9 a] @a] @ae @ae @i -ҏ,)BH?AF7sR@F0i`@F<ٱFTԺ RAHRS rotation from veh to nav: [[-0.934070,0.338542,0.113592],[-0.356744,-0.870674,-0.338614],[-0.015733,-0.356813,0.934043]]FH ?_?ֿ ܫտqֿ?iF7sR@IFW^;FZCYZ'iAyZ^Hy5V-?@5^I ?n5M?5b>95V1 195ʡE?&1? rؿY5-r?y5=5þ5/B5X|B 59B)5B1Y5BbDUVDU8y:=%;=͔ٔ=Q->9I=2FyEE>Q 54OI?Q 941)R@Y=?Q EO:y4Q I?DI:i/:t4yɮ-BE*j Bj i iziJiƷ<i kDkDkDh) k]k]k]h92fME>:fME>BfMG@JfM@[YZYZYZ]ZYZeiqɢqIu>ut)y)yyyi}𼉨I@u<2Acoustic response timeoutiAAIIOG>ԑBm <Am 4<Bu >Bu CBu HBu iABu =Bq Bq Bu B;Bu E  2Acoustic response timeoutE= U E= CE= FE9 "E= :*E= 09VE= 5ZE9 BE= $:aM 2E= ):aM JE= 9:aM :E= 9:aM ߧҏ,BH?A$ɰ&49%K?I%K?=%2Fy%E-E->1Q 5545,?Q 9=451)5cH@Y9y=:6Q I=?5DI5a;i5L;5c{4yMQBɮM$BME*jYBjYiYieziaJieƷ<ia kDkDkDhy k3`k3`k3`hԙ2f:fBfJf@[ZZZZZi!ɢ!I%>-e)-$ڽ))))i-sQIY@-.<AaIiIOC>%==2Acoustic response timeout! ҏ,BH?AV?N@V8\@VU=ٱVuT fAHRS rotation from veh to nav: [[-0.951567,0.301583,0.059737],[-0.302978,-0.886881,-0.348779],[-0.052206,-0.349986,0.935299]]VH;s#M?蕮?cӿSafRֿ༺ +fֿ?iV?N@IV^;VZCYriAyrHbDeVD8y=%J=ٔ%_:=Q-%>9)I)=-2Fy-E5DE5>AQ 5M4E?Q 9U4E41)E<@YQyU7Q I]?EDIEqa;iEKb;E}4yiɮmBmE*jBjiiziJiƷ<i kGkGkGh kSbkSbkSbh2f:fBfJfe@[ZZZZZiɢI>))i9I]2Acoustic response timeoutE EAEE"E*E 9VEZEa @a @a @a @@Q 2Acoustic response timeouty ҏ,BH?A2'M@2[@2J̓=ٱ2 >AHRS rotation from veh to nav: [[-0.957973,0.284976,0.032809],[-0.277648,-0.892383,-0.355758],[-0.072104,-0.349916,0.934002]]2H @ =?M̠?ѿ@g`ֿnueֿ`X?i2'M@I2o^;0YFiAyFHbDNwVDN08yVɏ%VP=ٔVO=Q-V>9XIX=Z2FyZEZE^>Q 54?Q 941) 1@Yy9Q I%?DI;i/;4y)ɮ)-E*j9Bj9iAiEziAJiEƷ<iA ksIksIksIhY k^k^k^hi2fy:fyBfyJf}@[ZZZZZiɢI>ō))顩i{I9@<B >B CB HB iAB B B ջDB P;B EAIIO%,>M2Acoustic response timeoutaEV EBE?E"E=:*E(9VE^4ZEBE:a2E:aJES+:a:EV+:aԱԹ  ҏ,BH?A2mXK@2fNY@2-d=ٱ2Լ :AHRS rotation from veh to nav: [[-0.963693,0.266994,0.003176],[-0.249994,-0.898026,-0.362011],[-0.093803,-0.349661,0.932169]]2H n?j?Ͽࡼ@.+׿x`ֿ@S?i2mXK@I2^;0YJjAyNH^2Acoustic response timeoutbDVuVDV.8yfӂ<%fI=ٔj[=Q-j>9lIl=n2FynEnEn>pQ 5v4rlҚ?Q 9v4rz1)r$@Yxyz;Q Iz?rDIr;ir;rk4y|ɮ~B*jBjiiziJiƷ<i kcZkcZkcZh) kcZkcZkcZh2f:fBfJfs@[ZZZZZi1ɢ1I5>5)=)999i=PAIAԩU@-<m2Acoustic response timeoutE \ E FE GE "E :*E ;J9VE 5ZE a5 @a= @a= @a= @ԁ A I! I O >ҏ,XsCH?A:+UI@:$KW@:=ٱ:\ BAHRS rotation from veh to nav: [[-0.968706,0.246524,-0.028875],[-0.219032,-0.903754,-0.367770],[-0.116760,-0.349936,0.929469]]:H?I`> ̿׿㽿@[eֿ4?i:+UI@I:^;:]CYJ9jAyJHyOn?㥛 ?t 9:v?/$?1Zd˿YT?y>"[B}B ) BYBbD5VD5_8yE<%ED=ٔEhb=Q-E>9III=M2FyMEMPEU>QQ 5]4U4?Q 9e4U1)U@Ye%l?Q Eef:ye(Q Ie?UDIU ;iU:U4yiɮu BuE*jBjiiziJiƷ<i kSZkSZkSZh kcZkcZkcZh2fE2N>:fE2N>BfE ~?JfE]?[IZIZQZUZqZuiɢI>m))顉i4~ IQ$Oֽ2Acoustic response timeout@eԱ A A @AB >B CB HB uiAB B DB ӻDB R;B E 2Acoustic response timeoutbE˻ 5jE5rEX1E- Y E- BE- EE) "E- :*E- (9VE- 5ZE) BE- %;a= 2E- ';a= JE) aE :E) aE -ҏ,ٱ2j :AHRS rotation from veh to nav: [[-0.972414,0.225331,-0.060316],[-0.187242,-0.908223,-0.374262],[-0.139113,-0.352643,0.925359]]2H?ᮿ ǿ)׿v ֿ?i2FG@I2^;2^C\|~>YjAyHbDVDs8yE %EJ=ٔM0d=Q-M>9III=M2FyUEUEU>YQ 5e4]?Q 9e4]1)]@Yiym)Q Im?]#DI]_:i]:]ɞ4yuPBɮuBuE*jBjiiziJiƷ<i k[k[k[h k[k[k[h2f:fBfJfrK?[ZZZZZiɢI>%V))iv! I pA pAԱ=2Acoustic response timeout@d<I I! 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[ٿ mֿ7(?i2׿c?I25_;2XCYB,?yB7FbD  VD .8y%L=ٔDQ->9H?IH?=3FyEҼE>Q 54M?Q 94&/)iwYyF?Q I?&DI:i:4yaBɮ}BE*jBjiiziJiƷ<i kNkNkNh kNkNkNh2f:fBfJf?[ ZZZZZi!ɢ!I->-xn=)-˜)))1i51I92Acoustic response timeoutԱEl EREE"EV:*E9VE5ZEBECx;a2EEx;aJE%:a:E&:a@MM<AIIO`> M 2Acoustic response timeoute _Gy 9 Y A9 ҏ,PH?A2_?20?2k>ٱ2 :AHRS rotation from veh to nav: [[0.425556,-0.898449,-0.108129],[0.818817,0.331427,0.468715],[-0.385280,-0.288003,0.876706]]2H`N=ٔ=Q-=>9AIA=E3FyEEEEM>IQ 5U4MX?Q 9U4M /)M}Q A]+:YYQ E]:y]IQ?Q I]?M:DIMT ;iMd>M%4ymdBɮm½BmE*jyBjyiyiziJiƷ<i kTkTkTh kTkTkTh[ZZZZZiɢI>H=>=))iu?I@<AX?AS?iߑIߑ2Acoustic response timeoutEh ESEvE"EG:*E9VE-5ZEa@a@a@a@A!)I1IAO\>Q ! ҏ,|*PH?A J[?JX?Jw6>ٱJz ^AHRS rotation from veh to nav: [[0.441766,-0.893207,-0.083812],[0.817966,0.362651,0.446559],[-0.368476,-0.265830,0.890820]]JHE?&t,?5?@n?׿[ѿ?iJ[?IJ ^;J[CYj?yjRFbDzZVDz82Acoustic response timeouty-q%-^=ٔ5-JQ-5>99I9==3FyE EE 1EE>QQ 5U4U"?Q 9]4B]j>BYB]@gFB] ?BYBYBYB];B]EB}+CB}+CByB}=B}=C}#W4U/)UQ A} :YyQ E}9y}T?Q I}?ULDIU;iUN?U)4yɮB*jBjiiziJiƷ<i kKkKkKh kCPkCPkCPh[ZZZZZiyɢyI}>}P<))顁iIq@<AIIIO J>ԙ2Acoustic response timeoutE  E E E "E 1:*E VE ZE BE ;a 2E ;a% JE l:a% :E n:a% m ҏ,GYDPH?A2=wY?2?2÷>ٱ2 :AHRS rotation from veh to nav: [[0.451490,-0.887176,-0.095267],[0.820229,0.370631,0.435726],[-0.351257,-0.274867,0.895023]]2H6?cfc@P??k??zֿ@jѿ?i2=wY?I2 ^;2ZCYB?yBqF DDPbDNyVDN|8yZ8%ZR=ٔZBQ-Z>9\I\=^3Fy^ E}E> Q 5 4 3?Q 94 /) vQ A9YQ E9yQ?Q I? _DI #:i ? -4yEgBɮETBEE*jQBjyiyi}ziyJi}Ʒ<i kQkQkQh kQkQkQh[ZZZZZi ɢ I > W!<))iZI! %= <2Acoustic response timeout]@=<A AI I O >!  2Acoustic response timeoutE% s E% XE% E! "E% so:*E% 9VE% 5ZE! a- @a- @a- @a- @3ҏ,L5^PH?A2V?2O?2>ٱ2c :AHRS rotation from veh to nav: [[0.461363,-0.880463,-0.109221],[0.817735,0.374244,0.437322],[-0.344171,-0.291078,0.892648]]2H?,@*???ֿ ҿ?i2V?I2B^;2XCYBz?yB|[FbDNVDN}8yV%VK=ٔVQ-V>9ZK?IZK?=Z3FyZE^ټE^>`Q 5f4bE?Q 9f4b /)bKQ Af9YdQ Ef9yfL?Q Ij?brDIb:ib?b04ylɮnBl*jxBjxixizzi||Ji~Ʒ<i kLkLkLh k#Lk#Lk#Lh[ZZZZZi ɢ I >  ;))iI!(@Ґ<)AI I!OuX>%2Acoustic response timeoutBUm>BU,CBU0FBU?BQBQBQBU);BUEiԁ aҏ,!xPH?AQ]$]Q?]x?]'G>ٱ]=u2Acoustic response timeout }AHRS rotation from veh to nav: [[0.478769,-0.869167,-0.123809],[0.808148,0.381202,0.448978],[-0.343041,-0.315012,0.884924]]]H@%?@8Y?e??`aտ))ԿKQ?i]$]Q?I]Ԗ^;]YCYV?yCFbDVD9yU%-=ٔ-'Q->9I=3FyE7E>Ev EcEyE"EVz:*EL9VE5ZEBEy;a2E{;aJE";a:E";aQ 54)\?Q 94{ /)Q A9YQ E{9yZB?Q I?DI:i6@34yrBɮBE*jBjiiziJiƷ<i kcBkcBkcBhAԁ[ZZ9ZEZAZEiɢI?e:))  i ۸1I9ԩ% 2Acoustic response timeout] 2g @5 <Aa Iy I I > O >%%ҏ,PH?A;ɰ;FIK?F?F >ٱF#3 NAHRS rotation from veh to nav: [[0.498593,-0.855580,-0.139241],[0.799314,0.391630,0.455767],[-0.335414,-0.338539,0.879141]]FH?`?v? H+?@mwտ`տ@!?iFIK?IF^;F[CYV$?yV+Fa5a5 a5a5 a5a5 a5a5 a5a5 y5w/?S㥛?V-?5f?5/<5h=1 195T㥛 ?Mb`Y5!?y555B5B 5B)5B5Y5BbDMVDM9y]%]D=ٔenQ-e>9aIa=e3FymEmaEm>qQ 5}4uj?Q 9}4u/)u=Q A}T:Y,$?Q E:ysR?Q I?uDIu:iu:u:4yɮEB*jBjiiziJiƷ<i kc#kc#kc#h k@k@k@hq2fI>:fI>Bfoi@Jf7@[ZZZZZiɢI >))6q u a=} 2Acoustic response timeoutB q>B B FB _P?B B B B 2;B EJ+ҏ,[PH?A02G?2?2=>ٱ2Tfɾ >AHRS rotation from veh to nav: [[0.510489,-0.845829,-0.154834],[0.792159,0.392552,0.467319],[-0.334492,-0.361215,0.870425]]2HU?`ÿ]Y???Qhտ $׿?i2G?I2k^;2XCYBu?yF F 9J 9J bD%VD%9ye%eJ=ٔmQ-m>9iIq=u3FyuEuhEu>yQ 54}Zy?Q 94}.)}NjYy=O?Q I?}DI}[:i}:}A4yuBɮBE*jBjiiziJiƷ<i k3@k3@k3@h2f :f Bf Jf >ٖ@Z%Z%Z!Z%q2%iE+:IEƷ<)E)IIMiMYI]ԑ2Acoustic response timeoutEEf EAEEEA"EEI@:*EAVEE5ZEABEER;aU2EER;aUJEEl:a]:EEn:a]@<A I I  O= >R22ҏ,6PH?A2CC?2{?2R~>ٱ2xϾ :AHRS rotation from veh to nav: [[0.521217,-0.839427,-0.153936],[0.782075,0.397608,0.479860],[-0.341601,-0.370500,0.863735]]2H@έ?@+ÿ ?jr??տG׿?i2CC?I2Ǩ^;2ZCYB&N?yBElbDVD9yEž%ML=ٔM9IIQ=U3FyUEUEU>Q 54_?Q 94.)WYyuK?Q I?DI :iN:H4yɮؿB*jBji?iziJiƷ<iPowering up k$k$k$h  kMkMkMh2f):f)Bf)Jf-p@=2Acoustic response timeoutZMZMZIZMiY)Y)aaaiaiIi @<AzAAA1 2Acoustic response timeoutEM d EM PEM qEI "EM 9:*EM ?9VEM 5ZEI aU @aU @aU @aU @a A I I O >\8ҏ,PH?A6>?6Αv?6յ>ٱ64ھ BAHRS rotation from veh to nav: [[0.535298,-0.829634,-0.158631],[0.769767,0.401839,0.495968],[-0.347728,-0.387599,0.853728]]6H)!?[ NĿ? ?? +Aֿmؿ@Q?i6>?I6^;4YF1?yFE ||9bD  VD 9yM%MJ=ٔU9UIU=U3FyY]HE]>aQ 5m4e?Q 9m4e.)eYqyuF?Q Iu?eDIe:ie:eO4y}xBɮ}B}E*jBji?iziJiƷ<i k1k1k1h kEkEkEhA2fQ:fQBfQJfU@19u r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI@<IIO >iBv>B-CB EB>BBB-DB;BEM2Acoustic response timeoutԙ >ҏ,PH?A22=?2u?2>ٱ2 I :AHRS rotation from veh to nav: [[0.540020,-0.824229,-0.170369],[0.769851,0.401916,0.495774],[-0.340157,-0.398887,0.851577]]2H@G?``ſ?@?`ú?#տ@[ٿ`@?i22=?I2 _;2WCR2Acoustic response timeoutYb?ybܴEfa=fp=bDnH"VDn9yv9%vQ=ٔvͨQ-v>9xIx=z3Fyxz*E~>bE-5jEu5rEN2El EEE"EV:*EVEZEBECx;a2EEx;aJE:a:E:a!Q 5-4%?Q 9-4% .)%gY)y-!F?Q I-?%DI%:i%:%V4y9ɮ=QBA*jiBjiim?iuziqJiuƷ<iq k#*k#*k#*h k3Hԙk3Hk3Hh2f:fBfJf^ɕ@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZ ZZZi1)9)AAIiQyI?弍U2Acoustic response timeout@c<II OE >! nEҏ,CQH?A2 SA?2*y?2>ٱ2.Ӿ :AHRS rotation from veh to nav: [[0.534750,-0.827453,-0.171359],[0.785874,0.412464,0.460734],[-0.310556,-0.381044,0.870839]]2H?~z@ſ@%?e?|?'ӿ cؿ?i2 SA?I21 _;2YCYB5>yBwEy=Fx?S㥛Zd;Ͽ=K?=$=~9 99=/$?(\¿Q?Y=1H?y=z=\== C=B =B)=B9Y=BbDU0%VDU9yelL%eC=ٔmQ-m>9iIi=u3Fyqu =Eu>yQ 54}`?Q 94}.)}YK?Q E:y R?Q I?}DI}:i}:}^4yBɮBE*jBji?iziJiƷ<i kMkMkMh k#Mk#Mk#Mh2f‘>:f‘>BfS{@JfԼ?ZZZZi))iI!2Acoustic response timeoutEx EaEnE"Eˀ:*E9VEJ5ZEa@a@a@a@!9lX@ɡ<IIOM>QA A ?AB y>B B EB i>B B B B ;B ɗEe 2Acoustic response timeouty ҘKҏ,#0QH?Aɰ2@?2ʸx?2>ٱ2 Ǿ :AHRS rotation from veh to nav: [[0.545932,-0.817837,-0.181937],[0.799313,0.443322,0.405666],[-0.251112,-0.366890,0.895731]]2HGx?@+@Iǿ@?@c_?n?8п!{׿`ԩ?i2@?I2^;2ZCYB>yB{EbDN(VDNk9yV9t%VW=ٔZ&Q-Z>9XIX=^3Fy\^ɕE^>`Q 5f4bɕ?Q 9f4b .)bDYhyjKQ?Q Ij?bDIb:ib):bd4ylɮnBp*jxBjxiz?izzixJizƷ<i| kNkNkNh!2fI:fIBfIJfM@ZZZZi ) )   i 9I9Y=p=@<IIO)>ԁi߹I߹2Acoustic response timeoutE EEjE"E:*ErN:VEـ5ZEBEV-?68tv?6p!>ٱ6Hƾ BAHRS rotation from veh to nav: [[0.564199,-0.793865,-0.226841],[0.810546,0.480279,0.335182],[-0.157143,-0.372975,0.914438]]6H ?`Xg` Ϳ??s??Ŀ@׿C?i6m>?I6I_;6XCYF>yFFEHJ?AbDR+VDR 9yZ3U%ZJ=ٔ^rQ-^>9\I\=b3Fy`b?Eb>dQ 5j4f_ܕ?Q 9j4f.)fcYhynVO?Q In?fDIfi:if;fk4yrBɮrBrE*jxBjxi~?i~zi|Ji~Ʒ<i k2k2k2h kcFkcFkcFh!2f1:f1Bf1Jf5dw@ZEZEZIZMiY)Y)YaaiaaIi2Acoustic response timeout-91 =m>=C1EEGԱ9YA@æ<IIOMt>  2Acoustic response timeoutE-  E- E- pE) "E- :*E- k:VE- 5ZE) a5 @a5 @a5 @a5 @9 Xҏ,ZdQH?A2!i=?2@u?2f=ٱ2Ө :AHRS rotation from veh to nav: [[0.572934,-0.795985,-0.195330],[0.814919,0.527807,0.239430],[-0.087486,-0.296356,0.951062]]2HyU?`xɿ? ??ye ~ҿ@o?i2!i=?I2`;2ZCYV >yV&EbD%.VD%3 9ye%e?=ٔmp(Q-m>9iIi=u3Fyqu4Eu>yQ 54}c?Q 94}.)}\YyK?Q I?},DI}:i}:}5s4yBɮBE*jBji?iziJiƷ<i kSNkSNkSNh kcckcckcch2f:fBfJf!@ZZZZi))顑iIm9B=z>B9B=zDB=J=B9B9B9B=;B=EBm-CBm-CBiBiBiCm4@]̨<IiIyO>-2Acoustic response timeout9i ^ҏ,4~QH?A 6>:?6r?6|X=ٱ6pB >AHRS rotation from veh to nav: [[0.584388,-0.802153,-0.122639],[0.809747,0.566591,0.152593],[-0.052916,-0.188480,0.980650]]6HO?=Le r?!?&? ȿ|a?i6>:?I6>a;B2Acoustic response timeout6YCYJOq>yJ`EE=z E=E=E9"E=l:*E=P:VE=5ZE9BE=;ae2E=;aeJE=1;am:E=1;aubD 1VDY 9y%7=ٔ9Q->9I=3Fy ݼE>IQ 5U4M?Q 9]4M.)MIYYy]1F?Q I]?MDDIM :iMp:MO{4yaɮeBii*jBji?iziJiƷ<i kC[kC[kC[h2f:fBfJf@ZZZZi))i!I!9@<IIIi!I!OER>ԡ52Acoustic response timeout eҏ,4QH?A296?2n?2d=ٱ2U :AHRS rotation from veh to nav: [[0.597430,-0.800680,-0.044599],[0.801009,0.593176,0.080782],[-0.038226,-0.083986,0.995733]]2H%?+զޡ?L?@&?S` ?i296?I2yB0EPyCl?K7A`ſ)\(?;>+Ga= 9"~j?y&1Կ&1YSc>y`нBPB &B)BYaBbD3VDB 9yq<%\=ٔ"Q->9I=3Fy1E>Q 54t?Q 94.)YZ>Q E;ycQ I?MDI;i;4yBɮE*jBji?iziJiƷ<i  kBkBkBh k#]k#]k#]h)2fE>:fE>BfE?`q@JfED@ZMZMZIZUia)a)aaiiiiIqmm9B@y:@y2Acoustic response timeoutE5v E5zE5cE1"E5Vz:*E5 :VE5&k5ZE1aE@aE@aE@aE@@M<IYIiO>! B) A- <B5 l>B1 B5 DB5 =B5 =B5 DB1 B5 ;B5 EE 2Acoustic response timeoutkҏ,[QH?A:6T1?:,i?:ό:ٱ:⊻ NAHRS rotation from veh to nav: [[0.613091,-0.790012,-0.000071],[0.790010,0.613089,0.002243],[-0.001728,-0.001431,0.999997]]:H@q?GG?m?R_b?Q\YqW?i:6T1?I:Tb;:WC|Y=^>yEEbD]4VD] 9ym{%mO=ٔmʽQ-u>9qIq=u3Fyq}FE}>Q 54s?Q 940.)׎Yy-oQ I?VDI:ih:f4yɮB*jBji?iziJiƷ<i kDkDkDh k#^k#^k#^h2f:fBfJfN֕@ZZZZi))iI!9@<II )O= >2Acoustic response timeoutE=e E=`E=eE9"E=<:*E=9VE=q5ZE9BE=cL;aM2E=fL;aMJE=;aM:E= ;aMQԁ rҏ,QH?Aɰ2'?2_?2 3ٱ2< :AHRS rotation from veh to nav: [[0.641464,-0.767086,0.010099],[0.767075,0.641156,-0.022688],[0.010928,0.022300,0.999692]]2H@? 쮄??Y?i;@|a?Ֆ? y?i2'?I2a;2XCYB"L>yB DHHbDN 7VDN9yVC%VW=ٔVQ-Z>9XIX=Z3FyX^ŽE^>`Q 5f4b+?Q 9f4b.)b*YdyjQ Ij?b`DIb:ib:b4ynBɮn Bl*jtBjxiz?izzixJizƷ<ixY kEkEkEh k]k]k]h2f:fBfJfq@2Acoustic response timeoutZZZ Z i9)9)9AAiAAII59@ "<I!I1ԉO>Ա 2Acoustic response timeoutEM i EM dEM mEI "EM ,K:*EM 9VEM 5ZEI aU @aU @aU @aU @ xҏ,¡QH?A2U ?2,X?26^Xٱ2.1U< :AHRS rotation from veh to nav: [[0.664097,-0.747646,0.000958],[0.747530,0.663970,-0.018514],[0.013206,0.013011,0.999828]]2HG@?bO?@?=??6@ ?@\??i2U ?I2T`;0YB5>yBHDDDJ*bDR9VDRP9yZ^%ZJ=ٔZ@Q-^>9\I\=b3Fy`bEb>dQ 5j4f+9?Q 9j4f.)fYlynfQ In?fjDIf;if;f4yrBɮr.Bt*jxBj|i~?i~zi|JiƷ<i kFkFkFh k]k]k]h!2f1:f1Bf1Jf5˨@ZEZMZIZMiY)Y)YaaiaaIiԹUP9R@]=J@Y@-<IAIYO=B>B.CBBB=BDBB;BPE 2Acoustic response timeout9 (ҏ,QH?A.2Acoustic response timeoutE h E \E cE "E G:*E 9VE &k5ZE BE /_;a=2E 2_;a=JE x ;aE:E y ;aEUw?UOP?UܼٱUw AHRS rotation from veh to nav: [[0.686555,-0.726481,-0.029469],[0.726580,0.687021,-0.009188],[0.026921,-0.015104,0.999523]]UH`A?T?$-$@??т ??iUw?IU/`;QYb+>yD1y=J +?~jt?v?=?=>=x>9 99=~jt?q= ףp?Y=>y=̽= ?=B=3B =B)=B9Y=BbD];VD]U9y%#=ٔCQ->9I=3FyF{E>Q 54F?Q 94S.)EY,?Q E:y?Q I?vDI;i;ܞ4yɮ3B*jBji?iziJiƷ<i kDkDkDh kYkYkYh2f%>:f%>Bf%@Jf%ᡞ@Z5Z5Z1Z5iA)I)IIIiIQIQ=9a@Ʒ<I1IIOb> 2Acoustic response timeoutԁԱ ҏ,~WRH?A:?:kJ?:"ٱ: JAHRS rotation from veh to nav: [[0.702050,-0.710750,-0.044264],[0.711488,0.702697,0.001324],[0.030163,-0.032423,0.999019]]XChecking local IP, expecting subnet 10.89.11TFound local IP address 10.89.11.2 for eth0ԑ:H@2w?`wϩ?~|?U?`?`Ù?i:?I:{_;8Y >y D QQbD]>VD]Y9u2Acoustic response timeoutym%}N=ٔ}Q-}>9I=3Fy^E>Q 54Q?Q 94 .)oYy\?Q I?DIM:i:4Ed EEbE"E9:*E:VEg5ZEa@a@a@a@yBɮNBE*jBji?iziJiƷ<i kLkLkLh k^k^k^h)2f9:f9Bf9Jf=@ZmZmZiZmiy)y)顡iI}%9B@:@R@J@A AAA @AB B B zDB J=B B B B ;B WEI I O >% =% <- 2Acoustic response timeout 5ҏ,z53RH?AN] ?N*B?N.ٱN2 VAHRS rotation from veh to nav: [[0.724535,-0.687901,-0.042906],[0.689010,0.724490,0.019465],[0.017696,-0.043666,0.998890]]NHd/?H _ ?/? ?? `[ ?iN] ?IN4_;NYCY^x>y^FD`ba=bDE:@VDEU9yg=%k=ٔ\=Q-?9I=3FyE?Q 54Z?Q 94Y.)YyE?Q I?DI;i;ݫ4yɮHB*jBji?iziJiƷ<i kEkEkEh kmkmkmh)2f9:f9Bf9Jf=ţ@ZMZMZIZMiY)a)aaaiaiIim/9IIO=}2Acoustic response timeoutbEـ5jEu5rE_2Eg E`EjE"EC:*E9VEـ5ZEBEX;a-2EX;a-JE;a5:E;a5I ҏ, MRH?A4:??: >?:Yٱ:[ BAHRS rotation from veh to nav: [[0.735367,-0.673669,-0.073520],[0.677539,0.733014,0.060267],[0.013292,-0.094131,0.995471]]:H ?;Ҳe?t?Hۮ?8?@?i:??I:^;:[CY^>ybDbD%hBVD%V9y}~%N=ٔ59I=3Fy"E>Q 54e?Q 94.)/Yy?Q I?DI#;i;˲4yɮLB*jBji?iziJiƷ<i2Acoustic response timeout kikikih2f:fBfJf6@ZZZZi))  i IԱ 9II1Oe> 2Acoustic response timeout E- h E- ZE- mE) "E- G:*E- a9VE- 5ZE) a5 @a5 @a5 @a5 @Fҏ,fRH?Aɰ2*?2=?2~`ٱ2h޽ :AHRS rotation from veh to nav: [[0.739529,-0.667971,-0.083139],[0.672985,0.736231,0.071097],[0.013719,-0.108530,0.993999]]2H@8?`H?4?k3?v?Ȼ?i2*?I2V^;2ZClYz>yzmDbD BDVD 09y%Q=ٔ%Q-%>9!I!=-3Fy)-E->1Q 5=45)o?Q 9=45.)5oYAyE!?Q IE?5DI5;i5;54yIɮMSBI*jaBjaie?ieziaJieƷ<ii ksPksPksPhy k3ik3ik3ih2f:fBfJf3@ZZZZi))iI:IIO-=Bu>BqBuDBu=BqBqBu.DBu;BuE 2Acoustic response timeout1a 1ҏ,ЀRH?A.2Acoustic response timeoutEz_ Ez[EzjEx"Ez&:*Ez9VEzـ5ZExBEz&;a2Ez&;aJEz;a%:Ez;a%9N> ,?i<ٱʽ -AHRS rotation from veh to nav: [[0.779402,-0.618924,-0.097298],[0.624835,0.779267,0.048210],[0.045983,-0.098370,0.994087]]H?8@踿?`??@?.`?iN>I*_;UCYU>y]DYY m@Am@AyMb?ʡE?y&1#?->`e 9V-?bX9?MbX9?Y?yE>!>BB lB)BYѷBbD-FVD-79y==%=,=ٔE_Q-E>9AII=M3FyIMEU>QQ 5]4Ux?Q 9]4Ui.)U݅Ye9?Q Ee:ye?Q Ie?UDIU;iU;U4ymBɮuGBuE*jBji?iziJiƷ<i kcjkcjkcjh ksjksjksjh2fmV>:fmV>BfyR@JfZ@ZZZZi))iIa:IIO=/>=GUrAaԑb9rAYA2Acoustic response timeoutԹ \ҏ,ŬRH?A2 >2&?2/W}ٱ2:ʽ :AHRS rotation from veh to nav: [[0.793432,-0.598837,-0.108901],[0.605512,0.794763,0.041312],[0.061811,-0.098719,0.993194]]2H`c?@)໿`[`?n?&?ລ?E`>?i2 >I2 -_;2YCY^>y^3DbDfOHVDf 9ynO%n{=ٔrFQ-r?9pIp=v3Fytv2Ev ?xQ 5~4z?Q 9~4z.)zsYy?Q I?zDIz;iz:zLJ4y ɮ MB *j!Bj!i%?i-zi)Ji-Ʒ<i) k\k\k\hA k\k\k\hQ2fa:faBfaJfe@ZuZuZqZui))顉i)I1 :II9U2Acoustic response timeoutOu=D%=D<Ef E^EpE"EI@:*E;9VE5ZEa@a@a@a@9iBi Bi Bm DBm #>Bi Bi Bi Bm ;Bm ƗEB-.CB-.CB)B)B-ɞ=C-ƭ6 2Acoustic response timeoutԙ ҏ,lzRH?A:,>:+?:W!ٱ:= FAHRS rotation from veh to nav: [[0.812770,-0.577367,-0.077796],[0.581252,0.812675,0.041296],[0.039380,-0.078783,0.996114]]:H5?yu곿?`n?@$?`)? '+)?i:,>I:pp_;:ZCYN>yNDV)bDZJVDZ9yfo%fL=ٔfe=Q-f>9hIh=j3FyhjEn>pQ 5r4rX?Q 9v4r.)rYtyv?Q Iv?rDIrB:ir:r·4yxɮ~NB|*j Bji?iziJiƷ<i kSgkSgkSgh) kSgkSgkSgh92fI:fIBfIJfMRI@Z]Z]ZYZeiq)q)qqqiqyI5l:IIIYyO=ԡiaIae2Acoustic response timeoutEb E[EmE"E1:*E9VE5ZEBE9;a 2E9;a JEa :Ea  > > jҏ,eURH?A2T>2?2Nٱ2n :AHRS rotation from veh to nav: [[0.819986,-0.570158,-0.050431],[0.572375,0.817269,0.066761],[0.003151,-0.083608,0.996494]]2HR=?@> ҩ@P?@'?7?i?TgF?i2T>I2&_;0YB>yBDbDJ7LVDJ9yR:f<%VL=ٔV=Q-V>9XIX=Z3FyXZEZ>|Q 54~^?Q 94~.)~Y y =?Q I ?~DI~p:i~|:~Շ4yBɮVBE*j)Bj)i5?i5zi1Ji5Ʒ<i1 kcekcekcehi kcekcekceh2f:fBfJfx@2Acoustic response timeoutZZZZi!)))))1i1YIaI}0>)},>M:IaIqIO=) m 2Acoustic response timeoutE s E E jE "E so:*E VE ـ5ZE a @a @a @a @vҏ,^.RH?A6>61?6o=ٱ6KȽ >AHRS rotation from veh to nav: [[0.836661,-0.547043,-0.027238],[0.546819,0.831395,0.098848],[-0.031428,-0.097597,0.994730]]6H`?`h䛿?ʚ?N?@`@?i6>I6^;6YCYF,)>yF DbD MVD 9y2=%<=ٔl=Q->9I=3Fy"E>Q 54?Q 94.).Yy=?Q I?DIy-;i-;@݇4yɮLB*j Bj i ?i ziJiƷ<i k_k_k_h12fI:fIBfIJfM@@Z]ZeZaZeiy)y)yyiIB>BBDB=BBBB1;BEQUF:IiIO>2Acoustic response timeoutyԩ ҏ, SH?A*2Acoustic response timeoutR ?n<ٱ:̽ AHRS rotation from veh to nav: [[0.859222,-0.510866,-0.027451],[0.510870,0.853880,0.099503],[-0.027393,-0.099519,0.994658]]H~?Y Y?R? y? z>?i>I^;ZCYQ;>y[DyzG?d;O?#~jܿ ?? 9x&1?S㥛?~jt?Ya?y$?D<lB )4BY\BbDOVDe9y!=%6=ٔQ->9I=3Fy@½E>Q 54j?Q 94a.)vY?Q EB:yc?Q I?DI:i:Y4ԡyɮCB*jBji?iziJiƷ<i kcckcckcch kcckcckcchA2f]} ?:f]} ?Bf]JRZ>Jf]CVa?ZZZZi))顙iI :IIOG>2Acoustic response timeout ҏ,SH?A6>6: ?6<ٱ6' BAHRS rotation from veh to nav: [[0.858207,-0.512986,-0.018057],[0.512439,0.854193,0.088096],[-0.029767,-0.084858,0.995948]]6Hov?`j}`e?U?m?N{ 9?i6>I6Э^;6XCYF*>yFDlbD QVD K9yEPA%Mk=ٔM;Q-M?9IIQ=U3FyQU;EU?YQ 5e4]R?Q 9m4].)]Yiym?Q Im?]0DI]:i]:]'4yuBɮ}OB}E*jBji?iziJiƷ<i k#^k#^k#^h k#^k#^k#^h2f:fBfJf+\?Z}ZZZi))顱iIiQIQ]2Acoustic response timeout :IEe E`EE"E<:*E9VEH5ZEa@a@a@a@I O% >9B >B B B B =B B B ;B ,Ea  2Acoustic response timeoutҏ,5SH?A2i;>2u?2fB=ٱ2״ :AHRS rotation from veh to nav: [[0.866179,-0.499726,-0.002834],[0.497465,0.861693,0.100069],[-0.047565,-0.088088,0.994976]]2H?`߿r7g x??!?`rZ 錶?i2i;>I2^;0YB'->yBDbDJSVDJ;9yn;%nQ=ٔr:=Q-r>9pIp=r3Fypv1Ev>xQ 5~4zɖ?Q 9~4zk.)zY|y?Q I?zKDIz;iz;z4y Bɮ UB E*j!Bj!i%?i%zi)Ji-Ʒ<i)9 k3ak3ak3ahA2fQ:fQBfQJfU_TW?ZeZeZaZeiy)y)yyyiI. :IIO=ae2Acoustic response timeoutEc EZEgE"Eg5:*Ea9VEx5ZEBE?;a2E?;aJE1;a:E1;a=PExceeded connect timeout, disconnecting.ԑ ҏ,NOSH?A2>2d?2q=ٱ2 :AHRS rotation from veh to nav: [[0.871555,-0.490267,-0.005474],[0.486757,0.863867,0.129619],[-0.058819,-0.115635,0.991549]]2H? `߿kv`'? ͤ?\?=ĺ?i2>I2^;0YNE,>yRD TTbDZUVDZ!9yb %fL=ٔf'9dIh=j3FyhjEj>lQ 5r4nٖ?Q 9r4n|.)nHYtyv?Q Iv?ngDIn:in:n4y}Bɮ}XBEԙ*jBji?iziJiƷ<=4=2Acoustic response timeouti k^k^k^h  k^k^k^h92fI:fIBfIJfMw-\?ZZZZi))iI :IIO>m 2Acoustic response timeoutE n E dE nE "E O]:*E 9VE J5ZE a @a @a @a @ %ҏ,dxiSH?A2>22V>2p=ٱ2c" :AHRS rotation from veh to nav: [[0.877615,-0.478953,-0.019899],[0.475748,0.865149,0.158684],[-0.058787,-0.148731,0.987129]]2H l?@*޿q`@r?M?@O?G@ ÿ ?i2>I2^;2ZCYB4>yB1DJ%bDRWVDR=9yZR<%^K=ٔ^Q-b>9`I`=f3FydfEj>lQ 5r4n薉?Q 9r4nq.)nYtyvP?Q Iv?nDIn2;in'8;n4y|ɮ~TB*jBji%?i%zi!Ji%Ʒ<i) kS]kS]kS]hA2f:fBfJfcc?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZ%iQ)Q)YYYiYiIiB>BBzDBJ=B=BBB;BBE5:IAIYO=2Acoustic response timeout!iIpAQԁ ҏ,c_SH?A*2Acoustic response timeoutbE55jE5Ά5rE5Y1EZb EZZEZkEX"EZ1:*EZa9VEZu5ZEXBEZ9;ab2EZ9;abJEXab:EXabn2Radio surface powered ON.nnManaging dock network, ignoring radio surface power offM<>M>MT<ٱM{+ AHRS rotation from veh to nav: [[0.885625,-0.461255,-0.053959],[0.463628,0.871466,0.159986],[-0.026771,-0.166705,0.985643]]MH W? 4ݿ@? ?jz?i`Vſd?iM<>IMy^;IYA>yDQy]q= ףp? rh)\(Կ]k>]C ]GY Y9]?Qq= ףpY]f>y]]+]B]ߧB ])]BYY]BbDYVD9yB<%.=ٔQ->9I=3FyE>Q 54A?Q 94jq.)7Y>?Q E:yR=Q I?DI8:iA::4yBɮQBE*jBji?iziJiƷ<i kDkDkDh k]k]k]h)2f=!?:f=!?Bf=?Jf==?sENUpdating rudder angle 6.875493 arcdeg 9ErE6Completed marl:UpdateRudder19E rMRAggregate::uninitialize marl:UpdateRudderZUZUZQZUia)i)iiiiiqIqm:IIO)>y2Acoustic response timeoutԩ ҏ,f.SH?A;ɰ2b|>2F>2pٱ2 :AHRS rotation from veh to nav: [[0.893796,-0.443764,-0.064827],[0.448459,0.885563,0.121091],[0.003672,-0.137303,0.990522]]2H?fܿ`?V??Pn?&[?i2b|>I2 _;2WCY^8>ybDbD-J[VD-9y¼%a=ٔQ->9I=3FyBE>Q 54?Q 94 q.)!Yy=Q I?DI:i-:4yɮUB*jBji?iziJiƷ<i k3Ek3Ek3Eh k[k[k[h2f:fBfJf ?ZZZZi)))))))i)1I9Ա:U2Acoustic response timeoutIiIyO=E E`E`E"E*E9VE|a5ZEa@a@a@a@B<A<B>BBDB=B=BBB;BKE   < 2Acoustic response timeout9 0*ҏ,7SH?A2`>2P>2,sٱ2 :AHRS rotation from veh to nav: [[0.891187,-0.451331,-0.045669],[0.453621,0.887453,0.081578],[0.003711,-0.093418,0.995620]]2H?ܿa?@f?L?en?:귿?i2`>I266_;0YB&>yBDbDz>]VDz 9y57%5N=ٔ5pʸQ-5>99I9==3Fy9= o<EE>IQ 5M4M ?Q 9U4M]p.)M;YQyUVH>Q IU?MDIM :iM :M4yYɮe^Ba*jqBjqiu?i}ziyJi}Ʒ<iy k3Ck3Ck3Ch 2f9:f9Bf9Jf=?ZMZMZIZM aai))顁iIu:IIO=!M2Acoustic response timeoutE` EWElE"E*:*E9VE5ZEBE -;a2E -;aJE:a:E:aQ m> C G MrA a ҏ,SH?A9MrAYҙAje>j =>j;;ٱji. vAHRS rotation from veh to nav: [[0.903933,-0.427500,-0.012216],[0.427623,0.903013,0.041312],[-0.006629,-0.042567,0.999072]]jH?`(\ۿ,^?z?&? r'{ e˥d?ije>Ij}F_;jXCY1>ybD2Acoustic response timeoutbD}X_VD}!9y<%B=ٔ 9I=3FyvE>Q 54<?Q 94mo.)~YQyUԅ>Q IU?DI+uԑe 2Acoustic response timeoutD zD E | E yE E "E :*E :VE ZE a @a @a @a @ 51ҏ,ϿSH?A>|N>>>>>ٱ>: JAHRS rotation from veh to nav: [[0.919367,-0.392775,-0.022170],[0.393026,0.919491,0.008209],[0.017160,-0.016260,0.999721]]>H uk?9#ٿ@ U'?xl? π?`??i>|N>>I>{_;>ZCPY y bD-aaVD-"9ٔ=}Q-=>9AIA=E3FyAMɽEM>IQ 5U4M!?Q 9]4Myn.)MYYy]>Q Ie?MDIM ;iM ;M#4yiɮii*jyBjyi?iziJiƷ<i kRkRkRh kRkRkRh2f:fBfJf̚?ZZZZi))iIB>B/CBDB#>BBBB;BgEBBBB¡=B¡=C‡4:IIO}=2Acoustic response timeout! ҏ,qTH?A22Acoustic response timeout:s$>:>EBt EBZEBE@"EBs:*EBa9VEB5ZE@BEB4;aJ2EB6;aJJEB1;aJ:EB1;aJ:Tٱ:{ڼ RAHRS rotation from veh to nav: [[0.929132,-0.369583,-0.010996],[0.369745,0.928815,0.024325],[0.001223,-0.026667,0.999644]]:Ht?@A׿@,?ٸ?? T?@N?i:s$>I:A_;:XCYZ,)>yZ Dxa@a a@a a@a a@a a@a y~jt?Sÿ&1>н )Mb@Mb@Mb@Ii‰ )IbDbVDB#9y&%<ٔz=Q->9I=3Fy&sE>Q 54C-?Q 94m.)ϒQ A+:YQ Ef:y|n>Q I?DI:i>)4y ɮ gB *jBji%?i%zi!Ji%Ʒ<i! kCkCkCh9 kCkCkChIZeZeZaZeIm,>)iiy))顁iI{:IIO>!I2Acoustic response timeouty NCҏ,}vTH?A2>2b>2%_ٱ2/ :AHRS rotation from veh to nav: [[0.939745,-0.341100,-0.023008],[0.341760,0.939045,0.037330],[0.008873,-0.042944,0.999038]]2Hd?@տ~`f? ??+??i2>I2,_;0Y^>y^DbDjdVDj $9yr ȼ%r\=ٔvQ-v>9tIt=v3Fytz뤽Ez>|Q 54~7?Q 94~m.)~ɔQ A :YQ E ::y C1>Q I ?~DI~Q:i~L?~-4yBɮoB޿E*j)Bj)i-?i-zi)Ji-Ʒ<i1 kDkDkDhA k[k[k[hQYZuZuZqZui) )   i I:II!I9O]=u2Acoustic response timeoutD=DEd E\EmE"E9:*E9VE5ZEa@a@a@a@ԁԱBBBDB=BBBBT;BE % 2Acoustic response timeout|m ҏ,Q8TH?Aɰp;2>>2>2:ٱ29r :AHRS rotation from veh to nav: [[0.940390,-0.339562,-0.019101],[0.340097,0.938725,0.055941],[-0.001065,-0.059102,0.998251]]2H?cտ` (? ?O?tQB?i2>>I2^;2WCY^">y^Dj'j$j,bDrsfVDr$9yz>;%zI=ٔ~{9|I=3FyÏE> Q 54 B?Q 94 l.) Q A9YQ E:y >Q I? DI  ;i M? 14y!ɮ%nB)*j9Bj9i=?i=zi9JiEƷ<iA kBkBkBhQ kC_kC_kC_hiZZZZi))顙iIC:IIO=2Acoustic response timeoutEg EYEpE"EC:*E*9VE5ZEBEX;a2EX;aJE:a:E:a9 oVҏ,1RTH?ABƜ=BV>Ba<ٱBhU JAHRS rotation from veh to nav: [[0.948549,-0.316492,-0.009366],[0.315365,0.941705,0.117202],[-0.028274,-0.114126,0.993064]]BHZ?`fAԿ@M. .?r"?@?@@U7.?iBƜ=IB_;BXCYR&>yR9hIh=j3Fyhj߅En>pQ 5r4rM?Q 9v4rl.)rQ Av9YtQ Ev9yvXQ Iv?rDIr:irM?r44y|ɮ}lBy*jBji?iziJiƷ<i kFkFkFh2Acoustic response timeout k[k[k[hZZZZi))i!I! qq d:I!I1Om=Ai 2Acoustic response timeoutE j E ^E fE "E N:*E ;9VE t5ZE a @a @a @a @ԙ ҏ,lTH?A>ۢ=>K؛>>aٱ> JAHRS rotation from veh to nav: [[0.954024,-0.296963,-0.040627],[0.299704,0.946902,0.116423],[0.003897,-0.123246,0.992368]]>H ^?pӿ@ͤX.?`M?ͽ?@o?`{?i>ۢ=I>t^;>YCYR#>yRDbD%MiVD%;&9ym%>=ٔQ->9I=3FyE>Q 54RZ?Q 94l.)^Q A9YQ E9yռQ I?DI;i6@D74yBɮpB߿E*jBji?iziJiƷ<i k3Ck3Ck3Ch k#Zk#Zk#Zh Z%Z%Z!Z-B9B9B9B9B9B9B9B=;B=ĘEiY)a)aaiiiyI}:IIO>2Acoustic response timeoutԡ 1g!ҏ,TH?AE2h E2_E2jE0"E2G:*E2r9VE2ـ5ZE0BE2/_;a:2E22_;a:JE2d;a::E2d;a:B2Acoustic response timeoutJt3=Jr<>JzڼٱJX bAHRS rotation from veh to nav: [[0.960240,-0.275113,-0.047465],[0.277901,0.958173,0.068381],[0.026667,-0.078853,0.996530]]JH@H?`sѿDM ?Z?p?}N? /?iJt3=IJc^;JXCYjE,>yjDaa aa aa aa aa y-?QV-?5^>|> 9"~?uVݿHzG?Y>yr辙=>BGB mB)۵BY#BbDjVD&9y <%D=ٔ q_Q- >9 I =3Fyw^E}>yQ 54}rh?Q 94}p.)}KQ AT:Y#?Q E:yF6Q I?}DI}:i}:}>4yBɮdBE*jBji?iziJiƷ<i kAkAkAh k#\k#\k#\h2f%U>:f%U>Bf%7@Jf%މ@Z5Z5Z1Z=iI)I)QYYiayIyM:IYIiO>52Acoustic response timeout) Ր'ҏ,TH?A6<6w>6@7Sٱ64 >AHRS rotation from veh to nav: [[0.970737,-0.239150,-0.021849],[0.239800,0.970201,0.034732],[0.012891,-0.038955,0.999158]]6HF?yοv_ı? ?nȡ? f??i6>yF+DbD%lVD%'9ym ==%mU=ٔm=Q-m>9qIq=u3FyquҽE}>Q 54pt?Q 94t.)mYyAQ I?DI:iB:GE4yBɮ^BE*jBji?iziJiƷ<i kCkCkCh kc\kc\kc\h2f:fBfJfQ@ZZZZi ))iII)5:YEu_ Eu]EunEq"Eu&:*Eu9VEuJ5ZEqa@a@a@a@IiߑIߑ2Acoustic response timeoutIO>yB=<A=<BE>BABEDBE">BABABABE;BEEԩ E 2Acoustic response timeout-ҏ,-TH?A2@2Z>2ٱ2E~ :AHRS rotation from veh to nav: [[0.976856,-0.211521,-0.031790],[0.211899,0.977250,0.008984],[0.029167,-0.015512,0.999454]]2H hB?@˿F`?E?f?@ݝ?ď`?i2@I28_;0@YBB>yFDbDNmVDN.(9yVa:<%VW=ٔZ/Q-Z>9XIX=Z3FyX^E^>`Q 5f4bG?Q 9f4bw.)bYdyjLQ Ij?bDIb:ib9:bK4ylɮn\Bl*jtBjtiz?izzixJizƷ<ix k`k`k`h  k`k`k`h2f):f)Bf)Jf-[@ZZZZi))顱iI!:IIO=ԩ>>bEjEƿ5rEL22Acoustic response timeoutE{ E\EbE"E=:*E9VEg5ZEBE%;a2E';aJEx ;a:Ey ;a Ф4ҏ,>zTH?Aɰ;28@2`gD>2ٱ2K :AHRS rotation from veh to nav: [[0.981051,-0.189258,-0.041479],[0.190508,0.981270,0.028570],[0.035295,-0.035931,0.998731]]2Hd?9ȿ< b?f?A?@*?e`?i28@I2h`;2YCYBU7>yBuDbDNnVDN(9yV%VJ=ٔZ_xQ-Z>9XIX=Z3Fy\^\E^>`Q 5f4b}?Q 9f4b{.)bYhyjQQ Ij?bDIb:ib:bR4lypɮrbBp*jxBjxiz?i~zi|Ji~Ʒ<i| k[k[k[h k]k]k]h!2f1:f1Bf1Jf5@ZEZEZAZEiY)Y)YYYiYaIa2Acoustic response timeout5":IIIyO=1E c E ^E pE "E g5:*E ;9VE 5ZE a @a @a @a @ 2Acoustic response timeouta :ҏ,LPTH?A29@24>2~3ٱ2#Y :AHRS rotation from veh to nav: [[0.984451,-0.174883,-0.016511],[0.175639,0.981439,0.076999],[0.002739,-0.078702,0.996894]]2H? bƿH萿W{?@g?1?of?% ?i29@I2_;2ZCY^">ybDn$n#n)bDv:pVDvk)9y%}F%%C=ٔ-=Q-->9)I)=53Fy15E5>9AQ 5M4E3?Q 9M4E.)EYIyM&NQ IM?EDIE:iEW:EQZ4y]Bɮ]oB]E*jiBjiim?iuziqJiuƷ<iq kZkZkZh kSukSukSuh2f:fBfJfH@B>BBDBM>BBBB ;BEZ ZZZ^B*** querying acoustic contact ***XYi))顩iI #:IIO>i 2Acoustic response timeoutԑ kAҏ,*UH?AE&b E&XE&oE$"E&1:*E&9VE&5ZE$BE&9;a*2E&9;a*JE&:a*:E&:a.22Acoustic response timeoutF@F@C7>F ;ٱFҭ NAHRS rotation from veh to nav: [[0.984011,-0.177867,-0.009285],[0.178011,0.980397,0.084470],[-0.005922,-0.084772,0.996383]]FH@}? Wƿ ?h_? ̟?@rAx@@^?iF@IFy_;FUCYVF>yVDy5S?333333??5>5>5>1 1ԙ95K7A?NbX9пx&1?Y5 >y55!?5B5حB 5B)51Y5BbDjqVD)9y!%?=ٔ 9I=3Fy;E>Q 54?Q 94Ӂ.)\Y:?Q E:y/Q I?&DI ;i ;a4y ɮ xB *jBj!i%?i%zi!Ji%Ʒ<i! k\k\k\h9 ktktkthI2fe{?:fe{?Bfe~@Jfe;@ZmZmZiZui))顁iI$:IIO}ԁG9Y2Acoustic response timeout Gҏ,!UH?A2{@2@,>2ط<ٱ2~ :AHRS rotation from veh to nav: [[0.985539,-0.168673,0.016224],[0.167959,0.985050,0.038296],[-0.022440,-0.035017,0.999135]]2H@?ſ 蜐? ????i2{@I2C_;2VCYhyh 99bDMrVDM*9ٔU,=Q->9I=3FyԼE>Q 54?Q 94ʃ.)^YyQ I?/DIb:iZ:h4yɮ*jBji?iziJiƷ<i kwkwkwh kwkwkwh2f:fBfJfP@ZZ%Z!Z%i))iIEQ EUWEUlEQ"EQ*EU9VEU5ZEQa]@a]@a]@a]@u2Acoustic response timeout&:II!OU>!A@AAAAB>BBDB=BBBBn;B4EB/CB/CBBBC4Q! % =- 2Acoustic response timeouty Nҏ,:UH?A22T@2>2O<ٱ2Fy :AHRS rotation from veh to nav: [[0.990909,-0.132444,0.023626],[0.132300,0.991181,0.007572],[-0.024420,-0.004377,0.999692]]2H? c1?2??@}?qz?i22T@I2u\_;2XCYR_>yRvDbD=tVD=+9yx;%<ٔ;Q->9I=3FyE>Q 54?Q 94".)XYy!Q I?9DIy:i :o4yBɮyBE*jBji?iziJiƷ<i ktktkth ktktkth2f :f Bf Jf =F@ZZZZi))1)111i19I9YI>)>':II!O=ԁEa EeXEexEa"Ea*Ee9VEee5ZEaBEaam2EaamJEaau:Eaau2Acoustic response timeoutԩ Tҏ,nTUH?A2E@2=2Œ;ٱ20m< :AHRS rotation from veh to nav: [[0.992794,-0.119707,0.005430],[0.119753,0.992762,-0.009146],[-0.004296,0.009730,0.999943]]2H? `}=v?$??*@?q@?`?i2E@I23_;2YCY^k#>y^DbD%:vVD%-,9y(=%I=ٔJQ->9I=3FyE>Q 54?Q 94.)NYym/Q I?CDI;i;v4yBɮ{B2Acoustic response timeout*jBji?iziJiƷ<i kCukCukCuh kkkh2f!:f!Bf!Jf%@Z5Z5Z1Z=iI)I)IIIiQQIYԩ-):IaIqO> Em f Em VEm dEi "Em I@:*Em 9VEm ^n5ZEi au @au @au @au @ 2Acoustic response timeout1 [ҏ,nUH?Aɰ2 8@2`e>2<ٱ2F< :AHRS rotation from veh to nav: [[0.991622,-0.128790,0.009977],[0.128929,0.991543,-0.014820],[-0.007984,0.015982,0.999840]]2H`]? 1|n?@??`YY]?@?i2 8@I2CV_;2ZCYj#>ynDIv%=)v=bD swVD ,9y%:%%R=ٔ-\91I1=53Fy15o<E=>AQ 5U4Ei˗?Q 9U4E.)EZYQy]-Q I]?ELDIE7;iEH;E}4yiɮiiB>BBzDBJ=B=BBB;BYE*jBji?iziJiƷ<i kcvkcvkcvh kÏkÏkÏh2f :f Bf Jf @ZZZZi))))11iI*+:IIIO>2Acoustic response timeout9i mbҏ,qUH?AE E]EyE"E*E9VE5ZEBER;a2ER;aJE ;a:E ;a$*2Acoustic response timeoutF9@F@'=FZ`<ٱF RAHRS rotation from veh to nav: [[0.995087,-0.098352,0.011341],[0.098052,0.994879,0.024509],[-0.013693,-0.023276,0.999635]]FH?- 9?? ?? ՗ ?iF9@IFB_;FXCYV>yVDyq= ףp?L7A`?T㥛 =+G? 9 r?> ףp=?K7?YC>y?>BMB B)MBY(BbDyVD-9yм%@=ٔ \9I=3Fy啽E>Q 54NЗ?Q 94u.)Y(?Q E:y?Q I?]DI:i:4yBɮBE*j Bji?iziJiƷ<i kCtkCtkCth) kkkha2f}T>:f}T>Bf}@Jf}/@ZZZZi))顡iI QQiJ,:II)O>ԙ2Acoustic response timeout -hҏ,rMUH?A2V@2@ݯ=2bٱ2w :AHRS rotation from veh to nav: [[0.996272,-0.084920,-0.015189],[0.085762,0.993995,0.067969],[0.009326,-0.069018,0.997572]]2Hu?N??hf? ?,?i2V@I27&_;2VCYBn:>yBEDPbDN{VDNj.9yVѶ=%Z^=ٔZQ-Z>9\I\=^3Fy\bl Eb>`Q 5f4bԗ?Q 9j4b~.)bъYhyj9?Q Ij?bkDIb:ib:bu4ylɮrrBp*jxBjxi~?i~zi|Ji~Ʒ<i kSukSukSuh kӏkӏkӏh!2f1:f1Bf1Jf5@ZEZEZIZMiY)Y)YaaiaaIiUs-:IiIyO=D1D54=E=h E=UE=eE9"E=G:*E=P9VE=q5ZE9aE@aE@aE@aE@U2Acoustic response timeoutB>BBaDB=B=BBB;BgE!  2Acoustic response timeoutWnҏ,(UH?A:C@:=:5p:ٱ:f FAHRS rotation from veh to nav: [[0.997673,-0.067744,-0.007701],[0.068155,0.987890,0.139382],[-0.001834,-0.139582,0.990209]]:H?W(r?̜?A?^`ʯ?i:C@I:_;:XCY^&>ybDn'n%n(bDv |VDv.9yz@%~F=|ٔ9I = 3Fy  .E >Q 54ٗ?Q 94w.)3Y!y%f?Q I%?|DI;i;4y)ɮ-|B)*jABjAiM?iMziIJiMƷ<iI k3tk3tk3tha kkkhq2f:fBfJfLN@ZZZZi))顩iI/:IIO =)EEb EE^EE{EA"EE1:*EE;9VEE:5ZEABEE9;aM2EE9;aUJEE;aU:EE;aUe2Acoustic response timeoutQԁ ?uҏ,qUH?A2@2@h=2S:;ٱ2wa :AHRS rotation from veh to nav: [[0.996853,-0.077924,-0.014536],[0.079217,0.972741,0.217943],[-0.002843,-0.218408,0.975853]]2H8?@ōG?` ??`Jg˿0:?i2@I2u_;0Yv>yvDbD~K}VD~n/9y *U% I=ٔ";Q->9I=3Fy<E%>!Q 5-4%ޗ?Q 9-4%?q.)%Y1y5?Q I5?%DI%=:i%4:%ʙ4y=BɮEBA*jQBjQYi]?ieziaJieƷ<ia kcskcskcshy kkkh2f:fBfJfg@ZZZZ2Acoustic response timeouti))iID0:IIO==IU>)U>ԁԱEU d EU aEU oEQ "EU 9:*EU 9VEU 5ZEQ a] @a] @a] @a] @m 2Acoustic response timeout i{ҏ,UH?AJY@J9=Jte=ٱJb VAHRS rotation from veh to nav: [[0.993226,-0.112683,0.028377],[0.101823,0.961644,0.254703],[-0.055990,-0.250088,0.966603]]JH?ؼ? ?? M?@pп@i?iJY@IJ_;JYCYb>ybDBE>BABEDBE=BABABABE;BEbEbDe~VDe09Թy %?=ٔ=Q->9I=3FyX=E>Q 54㗉?Q 9 4j.)bY y ?Q I ?DI:i:V4yBɮBE*j)Bj1i5?i5zi1Ji=Ʒ<i9 kctkctkcthI kkkha2fq:fqBfqJfuz@19} r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))顩i1I1 1:I!I1Oe>2Acoustic response timeout9 bE5jE5rEl*2E] h E] XE] gEY "E] G:*E] 9VE] x5ZEY BE] /_;am 2E] 2_;am JE] :au :E] :au } 2Acoustic response timeoutjqҏ,-? VH?A4<ɰ2S@2@Ə=2e=ٱ2p :AHRS rotation from veh to nav: [[0.995971,-0.081236,0.037984],[0.070035,0.969143,0.236343],[-0.056012,-0.232730,0.970927]]2H ?˴r?@?@7?`z@?Ϳ?i2S@I2__;2WCY^ >y^Dy rh㥛 K㿙C ^ 9㥛 ? rh?"~jԿY>y>SB ݵB)pBYWBbDPVD09y <% B=ٔp^8Q->9I=3FyE>!Q 5-4%뗉?Q 9-4%e.)%ԊY5"?Q E5:y5?Q I5?%DI% ;i%T ;%4y9ɮEBA*jQBjQiU?iUziYJi]Ʒ<iY ktktkthi kkkh2f0?:f0?Bf#?JfKɏ?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iI3:IIOE>iI2Acoustic response timeout1Y Sҏ,M#VH?A6@@6^=6!ٱ6) BAHRS rotation from veh to nav: [[0.998520,-0.053210,-0.011263],[0.054340,0.984815,0.164884],[0.002318,-0.165252,0.986249]]6H?^>@hҫ?? ?cb?&ſ@Y?i6@@I6+_;6YCYJ_>yJvDbD VD 19yE<%MZ=ٔMQ-M>9IIQ=U3FyQUI-EU>YQ 5e4]?Q 9m4]a.)]Yiym ?Q Im?]DI]z%;i]Z;]*4yBɮBE*jBji?iziJiƷ<i kvkvkvh ksksksh2f:fBfJf} ?QZZZZi))iIEf E\EwE"EI@:*E9VEɕ5ZEa@a@a@a@iIA2Acoustic response timeout4: IIOM>ԁAA?AB%>B!B%DB%=B%=B!B!B%;B%YEԩ 2Acoustic response timeout |ҏ,=VH?A2@2=2Exٱ2 :AHRS rotation from veh to nav: [[0.996155,-0.057673,-0.065954],[0.063298,0.994226,0.086655],[0.060576,-0.090496,0.994053]]2H?K ^ⰿS4??`.?? *H?i2@I2)`;2XCY@y@bDN VDN29ٔVQ-V>9XIX=Z3FyXZ5<EZ>|Q 54~?Q 94~\.)~Y y À?Q I ?~DI~9:i~:~4yɮ*jIBjIiM?iMziIJiMƷ<iQ kukukuh kkkh2f:fBfJf?ZZZZi1)1)999i9AIAԱ586:IAIQO=E EXE~E"E*E9VE5ZEBER;a2ER;aJEa:Ea%2Acoustic response timeout C M OGe rA 9 rAY ̚A9 ҏ,͏WVH?A2@2p=25ٱ2 :AHRS rotation from veh to nav: [[0.997297,-0.055736,-0.047886],[0.058705,0.996285,0.063011],[0.044196,-0.065652,0.996863]]2H?cx??!?@Ԡ?`ΰN?i2@I2`;2ZCY^>y^DbDjjVDj29yrU;%r<ٔr#=Q-v>9tIt=v3Fytzp9Ez>|Q 54~|?Q 94~X.)~&Yy?Q I ?~DI~d:i~:~4yɮB}2Acoustic response timeout*jBji?iziJiƷ<i ksksksh k3k3k3h2f!:f!Bf!Jf%-P?Z-Z5Z1ZUia)a)aiiiiiIm7:IIO=9E a E ZE uE "E %.:*E a9VE 5ZE a @a @a @a @5 2Acoustic response timeouti țҏ,;mqVH?A :9@:i=:8ٱ:Q FAHRS rotation from veh to nav: [[0.998692,-0.032144,-0.039761],[0.035713,0.995064,0.092584],[0.036588,-0.093883,0.994911]]:HI?)u[H??`?഻?O?i:9@I:`;:YCYJ>yJD^ Bb>Bb.CBbDBb=B`B`B`Bb;Bb_EBBBB=B=Cg4rr+ r(bDvVDvD39y><%H=ٔ9 I = 3Fy  pgE>Q 5=4o?Q 9E4`S.)KYIyMT}?Q IM?DI;iV;/Ĉ4yUBɮQ]E*jiBjiim?imziiJimƷ<iq krkrkrh kkkh2f!:f!Bf!Jf%?ZUZUZQZUia)i)iiiiiqIqM8:IaiIqI>)>O=2Acoustic response timeoutԙ E | E ]E sE "E :*E 9VE X5ZE BE H;a- 2E I;a- JE  ;a- :E  ;a- = 2Acoustic response timeoutҏ,1DVH?APR@RyyDy +?'1ZܿMb?ȶ>= 9rh|?/$޿ rhٿY=y&C˾B/B  B)BY\BbDVD39yQ=%>=ٔU@Q-U>9YIa=e3FyaeEe>Q 54S?Q 94nY.)vY ?Q E:yOQ I?DI 3;ieA;̈4yɮB*jBji?iziJiƷ<i k#uk#uk#uh92fm>:fm>BfmP@Jfm/b@Z}Z}ZyZ}i))项iIh::IIO'>2Acoustic response timeout! ٨ҏ,.VH?Aɰ4<2i6@2=2Γٱ2G* :AHRS rotation from veh to nav: [[0.998744,-0.030315,-0.039883],[0.035313,0.990719,0.131255],[0.035534,-0.132499,0.990546]]2H? k`?`?@?~1? ?i2i6@I2'_;2XCYB5!>yB?D bD&VDl49y}u/%P=ٔ]=Q->9I=3Fyۦ<E>Q 54+?Q 94^.)qYyQ I?DIQ;i+;҈4yɮB*jBji?iziJiƷ<i kukukuh k#uk#uk#uh2f:fBfJfb@ZZZZi!))))))i)1IEf E[EE"EI@:*E92Acoustic response timeoutVEZEa@a@a@a@;:IIO>)B<A<BBBDB">BBBB;BfEQԁ ߥ 4=ߥ %= 2Acoustic response timeoutI ҏ,vVH?A2_@2A=2<;ٱ2ٖ :AHRS rotation from veh to nav: [[0.998857,-0.047787,0.001058],[0.047282,0.991072,0.124665],[-0.007006,-0.124473,0.992198]]2H?ywUQ?@Y5?۶?? 8|qݿ?i2_@I2_;2YCYB,>yBfDYbD=VD=59y<%H=ٔ=Q->9I=3Fy<E>Q 54'!?Q 94c.)YyQ I? DI;i;و4yɮB*jBji?iziJiƷ<i kukukuh kukukuh 2f!:f!Bf!Jf%6a@Z-Z-Z1Z5iA)I)IIIiIQIQM=:IaIqO= ԁE] EYEE"E:*E*9VEZEBE:;a2E=;aJE:a:E:a2Acoustic response timeoutԱ ҏ,VH?A2A@26=2?<ٱ2DVս :AHRS rotation from veh to nav: [[0.998527,-0.047561,0.026126],[0.044565,0.993447,0.105250],[-0.030961,-0.103930,0.994103]]2H ?Y ?2Ѧ?P??;@-@?i2A@I2_;2WCYR+>yROD}2Acoustic response timeoutbD%VD%59yY %I=Թٔ`q=Q->9I=3Fy!ٻE>Q 54%?Q 94ei.)YyQ I?DI;i;4yɮ*jBji?iziJiƷ<i ksksksh kstkstksth)2f9:f9Bf9Jf=p-^@ZMZMZIZMiY)a)aaaiaiIiMP>:IaIqO=DzD?AEc EZExE"Eg5:*Ea9VEe5ZEa @a @a @a @5 2Acoustic response timeoutA ҏ,VH?AB6>B6/CB6DB6M>B6=B4B4B6;B6`EB@By-DbD=VD= 69yM9=%MQ=ٔU錽Q-U>9QIY=]3FyY]Ee>aQ 5m4eE*?Q 9m4exn.)eєYqyuQ Iu?e$DIe:ieF:e4yyɮB*jBji?iziJiƷ<i ktktkth ktktkth2f:fBfJfrZ@ZZZZi))iIQz?:IIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.I%>%>O==2Acoustic response timeoutԁԩ E d E \E mE "E 9:*E 9VE 5ZE BE F;a 2E F;a JE x ;a :E y ;a = 2Acoustic response timeoutҏ, WH?A2@22t<2Oٱ2! >AHRS rotation from veh to nav: [[0.999808,-0.014391,-0.013268],[0.014903,0.999115,0.039343],[0.012690,-0.039533,0.999138]]2H@n? x@!,T?@? $?"?=?i2@I2`;2XCYR&>yVDy5^I ? ףp= L7A`?>Q+> 9L7A`?GzMbY+>yҾBԨB (B)BYBbDڌVD69y )% ?=ٔ 1 Q->9I=3Fy% E%>)Q 5=4-8?Q 9=4-t.)-YE/?Q EE:yEsQ IM?-7DI-g;i-&_;-)4y]Bɮ]B]E*jiBjiim?iuziqJiuƷ<iq k#uk#uk#uhԱ k3uk3uk3uh2f ?:f ?Bf %@Jf m@Z=Z=Z9Z=ii)q)qqqiqyIyI)>e*A:IyIO>2Acoustic response timeout 9 'ҏ,Zf&WH?AF@F @FCٱF_  RAHRS rotation from veh to nav: [[0.999974,0.000982,-0.007088],[-0.000732,0.999381,0.035163],[0.007119,-0.035157,0.999356]]FH`?P?}`G?@?b(}?`?iF@IF_;DYZg'>yZDbDbhVDbM79yjZ;%j`=ٔn_z9pIp=r3Fypr%0Ev>tQ 5z4vD?Q 9z4v.z.)vY|y~wQ I~?vGDIv7;ivT;v4yɮ  *jBji?izi!Ji%Ʒ<i! kvkvkvh9 kvkvkvhI2f:fBfJf@ZZZZi))i!!I)DDEj EXEuE"EN:*E9VE5ZEa@a@a@a@KB:I1IIO=2Acoustic response timeout9Be>BaBeDBe#>Be=BaBaBe;BeJEi E 2Acoustic response timeoutҏ,%A@WH?A;ɰ0J0@J)@JٱJ^( bAHRS rotation from veh to nav: [[0.999979,0.006093,-0.002018],[-0.005944,0.997740,0.066935],[0.002421,-0.066921,0.997755]]JH?x?`` Xx{? "?Ac?!?iJ0@IJ{_;JWCYj>yjD~#~$~ ~#)~*bD VD 79yQc%F=ٔ%W:9!I!=%3Fy)-NE->1Q 5=45Q?Q 9=45U.)5Y9yE'yQ IE?5YDI5;i5;54yMBɮMBME*jYBjaie?ieziaJieƷ<ia krkrkrhy krkrkrh2f:fBfJfn@ZZZZi))iIC:IIOE=ybEMŐ5jEMź5rEM;1Ec EEvE"Eg5:*EVE-5ZEBE?;a2E?;aJE:a:E:aiߙIߝA2Acoustic response timeoutԹ :ҏ,G ZWH?AB@B@BٱB JAHRS rotation from veh to nav: [[0.999790,0.004176,-0.020065],[-0.002461,0.996398,0.084762],[0.020347,-0.084695,0.996199]]BHG?`q?苔 )d`~??Ք??iB@IB L_;@LYV>yV=DbDzVDzW89y%L=ٔ  7Q- >9 I = 3Fy <<E>Q 5%4_?Q 9%4J.)sY!y-bxQ I-?kDI:i:4y1ɮ5B1*jABjAiM?iMziIJiMƷ<iI kSskSskSsha kcskcskcshq2f:fBfJfל@ZZZZi))顩iI2Acoustic response timeoutE:IIO%= AAEa EWErE"E%.:*E9VE5ZEa@a@a@a@ 2Acoustic response timeout! Bq Bq Bu DBu =Bq Bq Bq Bu ;Bu =E7ҏ,stWH?A23@2-@2#ٱ2O㺽 :AHRS rotation from veh to nav: [[0.999863,0.003762,-0.016095],[-0.002280,0.995833,0.091164],[0.016371,-0.091115,0.995706]]2H?En?{ b?V?@sÐ? QS`?i23@I2 b_;2UCYN$>yND\bD%-VD% 99yUQ4=%UB=ٔ]A9YIY=e3Fyaey9Ee>iQ 5u4ml?Q 9u4m.)mHYyy}=xQ I}?m}DImV;imc;m 4yɮB*jBji?iziJiƷ<i kCskCskCsh kSskSskSsh2f:fBfJfϜ@ZZZZi))i I F:IIOM=2Acoustic response timeoutA E d E [E nE "E 9:*E 9VE J5ZE BE F;a 2E F;a JE ;a :E ;a jҏ,UWH?A"2Acoustic response timeoutBP@BK@BbٱBF RAHRS rotation from veh to nav: [[0.999582,0.025582,-0.013439],[-0.023957,0.993682,0.109645],[0.016159,-0.109277,0.993880]]BH@?/2?`(>???`?iBP@IBb_;BXCY^>y^D!@GMrAE9MMrAYMAyx&1?\(\?bX9?>>E6> 9RQ?{Gz?Zd;O?YB>yף=j>rBB WB)WBYǴBbD>VD99y}%6=ٔ9Q->9I=3FyVFE>Q 54s?Q 943.)Y>Q E:yl ?Q I?DIp3:fP>BfՏ@Jf@ZZZZi))iIItH:IIO+>q2Acoustic response timeoutԡ Xҏ,2WH?A2<5@260@2-ٱ2c :AHRS rotation from veh to nav: [[0.999625,0.027371,0.001104],[-0.027297,0.991898,0.124073],[0.002301,-0.124056,0.992272]]2H?7?uR??:ÿ?b?'¿@?i2<5@I2B_;0YLyPbD VD99ٔmc=Q-u>9qyIq=3FyE>Q 54y?Q 94 .)Yy?Q I?DI&;i.';N4yɮ*jBji?iziJiƷ<i k\k\k\h2f:fBfJf;@Z-Z-Z)Z-iI)I)IIIiQEe^ EeWEefEa"EeC#:*Ee9VEet5ZEaam@am@am@am@IiQIQe2Acoustic response timeoutIu>)u>I:II1Om>ԡB>BBDB=BBBB;BFEBBBBBC v4 2Acoustic response timeout |ҏ, WH?A2̜@2Ɨ@2 ٱ24 :AHRS rotation from veh to nav: [[0.998910,0.046617,-0.002185],[-0.045890,0.989693,0.135657],[0.008487,-0.135409,0.990754]]2H ?`=ާ?a~?@2]?fa? U@?i2̜@I2>@_;2[CYB >yBԴDbDJÔVDJ::9yR e%V<ٔVQ-V>9TIX=Z3FyXZJEZ>\Q 5b4^?Q 9b4^ۈ.)^Ydyf?Q If?^DI^`:i^:^4yhɮjBh*jtBjtiz?izzixJizƷ<ix k#]k#]k#]h  k3]k3]k3]h2f):f)Bf)Jf-f@ZZZZi))iIJ:IIO%=Emg EmbEmEi"EmC:*Em9VEm5ZEiBEmX;au2EmX;auJEmO;a}:EmP;a}e2Acoustic response timeout1Y Hҏ,WH?Aɰ2`$@2Z@2ܹٱ2 :AHRS rotation from veh to nav: [[0.999569,0.029116,0.003751],[-0.029354,0.989439,0.141949],[0.000421,-0.141998,0.989867]]2H x?@Н?n? `{?_+?@;?,¿?i2`$@I2s/_;2YCYB_>yBvDbDNlVDN:9yVQ;%VJ=ٔV$9XIX=Z3FyX^H'=E^>`Q 5b4b?Q 9f4b.)bYdyf?Q If?bDIb:ib:b&4ylɮnBl*jtBjxiz?izzixJizƷ<i| kZkZkZh  k\k\k\h!2f1:f1Bf1Jf5K@ZEZEZAZEiQ)Y)YYYiYaIa2Acoustic response timeout1MK:IaIqO=YEms Em]EmhEi"Emso:*Em9VEmA{5ZEia}@a}@a}@a}@ԉm 2Acoustic response timeoutԱ B B B DB =B B B B ;B NE/ҏ,HWH?A2֐@2Ћ@27<ٱ2 :AHRS rotation from veh to nav: [[0.998425,0.042785,0.036297],[-0.047329,0.989674,0.135300],[-0.030134,-0.136804,0.990140]]2H`???`;h?Q?T۞ ς`9?i2֐@I2B_;2WCY^l>ybŧDr*r!r' r&)pbDzVDz;9y% %%C=ٔ-K=Q-->9)I)=53Fy150E5>YQ 5e4]܍?Q 9e4]..)]Yiym?Q Im?]DI]:i]:]^.4yqɮuBq*jBji?iziJiƷ<i kc[kc[kc[h ks[ks[ks[h2f:fBfJfa@ZZZZi))iIԑM:IIO%= mAAi2Acoustic response timeoutE ` E E jE "E *:*E VE ـ5ZE BE -;a 2E -;a JE  ;a :E  ;a  qҏ,8XH?A"2Acoustic response timeoutJ@J@J,ٱJ0J VAHRS rotation from veh to nav: [[0.996797,0.079964,-0.001168],[-0.079273,0.989901,0.117523],[0.010554,-0.117053,0.993070]]JH?`x?$S>K E??w?`79?iJ@IJV_;JXCYn>ynDyQ?ktƿʡEֿ(> 0- 9K7A`?i|?5?Mb?Y+>yq=>FBըB B)BYBbDVD*<9yW<%@=ٔýQ->9I=3FyƙE>Q 54𓘉?Q 94.)&Y_>Q Er;yM>Q I?DI] ;i;54yBɮBE*jBji?iziJiƷ<i k[k[k[h1 k[k[k[hA2fUr?:fUr?BfU(?JfU?ZeZeZaZeiy))顁iI7O:II9Om>)2Acoustic response timeoutA  ҏ,Fx)XH?A6L@6F@6!_Oٱ6M̽ >AHRS rotation from veh to nav: [[0.995761,0.081547,-0.042537],[-0.076801,0.991682,0.103292],[0.050606,-0.099587,0.993741]]6HG?@F?eǥ5@ۻ?`Sq?? ~ ?i6L@I6_;4YF(>yFDbD VD <9yM;%MS=ٔUԽQ-U>9QI=3Fy;E>Q 54?Q 94.)Yy>Q I?DIb:i{:<4yɮB*j Bj i ?i zi JiƷ<i k[k[k[h) k[E=a E=ZE=qE9"E=%.:*E=a9VE=5ZE9aE@aE@aE@aM@k[k[hI2fa:faBfaJfeZ?ZmZmZqZui))顙iI]2Acoustic response timeouta`P:IIO>AeAAAe@ABm>Bm.CBmDBm=BiBiBiBm;Bm_EyiqIqԩ  %= R= 2Acoustic response timeoutҏ,SCXH?A>R$@@>L@>j \ٱ>ǽ JAHRS rotation from veh to nav: [[0.994347,0.096501,-0.044295],[-0.091603,0.990583,0.101753],[0.053697,-0.097121,0.993823]]>H@?P?˭Qs۲? ?@*~?ܸf?i>R$@I>|_;>YCYR>yRDbD%ZVD%<9ye;%eI=ٔmQ-m>9iIi=u3FyqutEu>yQ 54} ?Q 94}O.)}SYy>Q I?}DI}:i}:}C4yɮB*jBji?iziJiƷ<i kc^kc^kc^h k3uk3uk3uh2f:fBfJfߕ?Z}Z}ZyZ}i))顉iIIq)u>R:IԩIO>EMg EMXEMfEI"EMC:*EM9VEMt5ZEIBEMX;aU2EMX;aUJEM:a]:EM:a]e2Acoustic response timeout qҏ,/]XH?A2,@2&@2` ٱ2 A :AHRS rotation from veh to nav: [[0.994455,0.101693,-0.026786],[-0.097634,0.987451,0.124132],[0.039073,-0.120829,0.991904]]2H??@m@2?"ǿ? ^??i2,@I2$V_;2VCYR">yRlDlbDVD=9y}=%}I=ٔD=Q->9I=3FyeqE>Q 54Ӥ?Q 94.)Yy,>Q I?DI#;i/;J4yɮB2Acoustic response timeout*jBji?iziJiƷ<i k\k\k\h kctkctkcth2f :f Bf Jf Qc?ZZZ!Z%i1)1)119i99IAM(S:IaIyO= 1DQzDQm 2Acoustic response timeoutE f E WE E "E I@:*E 9VE U5ZE a @a @a @a @a Be >Ba Ba Ba Ba Ba Ba Be ;Be yEbҏ,F wXH?Aɰ2ɾ@2@2R ٱ2 :AHRS rotation from veh to nav: [[0.994671,0.103058,0.003092],[-0.102743,0.988230,0.113341],[0.008626,-0.113055,0.993551]]2H`W?a?`Si?UM??G?+ ,?i2ɾ@I2Y_;0Y^->y^خDbDjVDje=9yrX%rU=ٔvU=Q-v>9tIt=v3FyxzWEz>|Q 54~j?Q 94~!.)~Yy >Q I ?~DI~K:i~:~rQ4yɮB*j)Bj)i-?i-zi)Ji5Ʒ<i19 k[k[k[hI2fY:fYBfYJf]?19e reNAggregate::initialize marl:UpdateRudderq9eJ]iq9m9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18mom@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7unu4Completed marl:UpdateSpeedq7unPAggregate::uninitialize marl:UpdateSpeedZZZZi))iI!QT:I)I9Ou=i2Acoustic response timeoutԑ $ҏ,XH?A2Acoustic response timeout6#ڽ@6@6O_:ٱ69bE55jE55rE52E< E>_E>qE<"E<*E>r9VE>5ZE<BE>R;aF2E>R;aJJE>d;aJ:E>d;aJ >AHRS rotation from veh to nav: [[0.991277,0.131168,0.012827],[-0.131786,0.987594,0.085384],[-0.001468,-0.086330,0.996266]]6H?` ?D? \^?۵?@ X@h?i6#ڽ@I6-_;6WCYRc>yRDTTԙy'1Z?/$ѿy&1?Т>1`e= 9|?5^?/$ӿy&1?Y>y`<GB B)+BYbDVD=9y;%<=ٔ9I=3FyE>Q 54d?Q 94.)YYF>Q E:yqQ I?DI" ;i ; Y4y Bɮ B *jBji?i%zi!Ji%Ʒ<i! k[k[k[h9 k[k[k[hI2fl=:fl=BfӲ@Jfl|@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZ ZZZi!)!)!!)i)QIQ u@Au@A-V:I9IIO}>2Acoustic response timeout 01*ҏ,XH?A>@>@>ļٱ> JAHRS rotation from veh to nav: [[0.990093,0.139662,-0.014489],[-0.138342,0.987944,0.069488],[0.024019,-0.066795,0.997478]]>H خ? p?.`@I>O_;>YCYV1>yVbDn$n$r+ r*)r)bDz[VDz.>9y =% X=ٔ DQ->9I=3Fy}E}>Q 54Q?Q 94|.)-YyItQ I?DI;i;_4yɮB*jBji?iziJiƷ<i kZkZkZh2f :f D%=D<Bf Jf w|@Z=Z=Z9Z=iQ)Y)YYaiaiIiEp E^EE"Ed:*E;9VEZEa@a@a@a@=2Acoustic response timeoutuOW:IIO=B >B /CB DB w>B =B B B ;B |E!Q 2Acoustic response timeouty M1ҏ,ܛXH?A2a@2[@2ٱ2 :AHRS rotation from veh to nav: [[0.990897,0.131758,-0.027606],[-0.130598,0.990616,0.040303],[0.032657,-0.036330,0.998806]]2Hn?`s?Dn ?`?q?晢 8?i2a@I2T_;0Y^&>y^RDbDjVDj>9yrԼ%rM=ٔrcQ-v>9tIt=v3Fytz<Ez>|Q 54~<Ø?Q 94~.)~YyrQ I ?~DI~;i~:~f4yɮB*j!Bj!i-?i-zi)Ji-Ʒ<i) k#Bk#Bk#BhA k]k]k]hQ2fa:faBfaJfe|@ZuZuZqZui))   i I1YX:I)I9Oe=ԁ CEc EWEzE"Eg5:*E9VE5ZEBE?;a2E?;aJE:a:E:ai9I9E2Acoustic response timeoutrA=s9ErAYE*Aԩ yf_DbDEǞVDE>9y=%@=ٔsQ->9I=3FyN}E>2Acoustic response timeoutQ 54˘?Q 94Ñ.)܋YytQ I?DI;i;n4yBɮBE*jBji?iziJiƷ<i kCEkCEkCEh kc[kc[kc[h2f:fBfJfm|@Z%Z%Z)Z-Աi))iIIu%>)u0>Y:IIO >Ei E_EuE"E,K:*Er9VE5ZEa@a@a@a@ M 2Acoustic response timeoutB >B B DB 6>B B B B ;B zEBBBBBCʺ59 m=ҏ,]SXH?A2P@2K@2Uٱ2_d :AHRS rotation from veh to nav: [[0.986699,0.151863,-0.057993],[-0.148066,0.986841,0.064969],[0.067096,-0.055518,0.996201]]2H@ ?>p? J¿3?͡?@<-?l@?i2P@I2q_;2XCYR,>yRfDbD=VD=*?9y%J=ٔ]Q->9I=3FyE>Q 54Ә?Q 94c.)Yy.xQ I?DI-:i:u4yBɮBE*jBji?iziJiƷ<i kBkBkBh k[k[k[h2f:fBfJf|@ZZZZi))))))1i11I9 [:I)I9O=2Acoustic response timeout9i E b E SE xE "E 1:*E 9VE e5ZE BE 9;a 2E 9;a JE l:a :E m:a ] 2Acoustic response timeoutZDҏ,BYH?Aɰ;2@2@2ֽٱ2 >AHRS rotation from veh to nav: [[0.981604,0.168886,-0.089061],[-0.159913,0.982074,0.099791],[0.104317,-0.083713,0.991015]]2HLi??`̶ xĿ&m?ߋ??`3nd?i2@I2_;2YCYF<4>yFDyQ&1?l?u>> 9:v/$?~jt?YTy>=BB B)BY(BbD;VD?9yD<%D=ٔhQ->9I=3FyE>Q 542Ԙ?Q 94.)Y!>Q E;y?Q I ?DI ;i ;e|4yɮB*j!Bj!i-?i-zi)Ji-Ʒ<i1 kCBkCBkCBhA kZkZkZhQ2fe6>:fe6>Bfe@JfeS@ZuZuZyZ}i))顑iIam\:IIO=ԑ2Acoustic response timeoutԹ Jҏ,},YH?AF@F@FٱF#ŽP RAHRS rotation from veh to nav: [[0.981716,0.174222,-0.076682],[-0.165272,0.980014,0.110712],[0.094438,-0.096015,0.990890]]FH7j? L?l'ſF\?@W?@-?m^?iF@IFF_;FZCYXyXbDf̠VDf?9ٔn9pIp=r3FypvWkEv>tQ 5~4vԘ?Q 94v).)vYy?Q I ?vDIvmb;ivhc;vւ4yɮ!*jABjAiE?iEziAJiEƷ<iI kBkBkBhi2f:fBfJf@ZZZZi))iEk E^E}E"EmR:*E;9VEs5ZEa @a @a @a @IqiI2Acoustic response timeoutMl^:IaIO=A@AAAAB>BBDB A>BBBB;B}E)  2Acoustic response timeout@gQҏ,EYH?A2@2@2.ٱ2 :AHRS rotation from veh to nav: [[0.978973,0.199618,-0.042004],[-0.190934,0.969163,0.155779],[0.071805,-0.144484,0.986898]]2H`S??pȿ@b?`?a?s~¿?i2@I2פ_;2WCYB'>yBiDbDNsVDN@9yn/%n<ٔre=Q-r>9pIt=v3FytvƂEv>x|Q 54z՘?Q 94z~.)zvYyۻ?Q I?zDIzK(;iz);z艉4yɮB*j!Bj!i%?i-zi)Ji-Ʒ<i) kBkBkBhA kBkBkBhQ2fa:faBfaJfeÖ@ZuZuZqZui))顉iI_:III>O=)E f E ZE lE "E I@:*E a9VE 5ZE BE R;a2E R;aJE 1;a:E 1;a%2Acoustic response timeoutQԁ PWҏ,_YH?A2@2@2knٱ2 < :AHRS rotation from veh to nav: [[0.977697,0.209155,-0.019045],[-0.201777,0.960609,0.191093],[0.058263,-0.182988,0.981387]]2H@KI??~`ɿ O?u?ԭ? &lǿ g?i2@I2$_;2VCY^,)>yb D ddbDjVDjT@9yrQ;%vJ=ٔv9 =Q-v>9tIx=z3FyxzܼEz>YYQ 5e4]՘?Q 9m4]Ŏ.)]oYiym?Q Im?]DI]K:i]:]44yuB2Acoustic response timeoutɮuBE*jBji?iziJiƷ<i ksFksFksFh k\k\k\h2f:fBfJf.@ZZZZi))iI`:I IOu=ԁԱEe E[EyE"E<:*E9VE5ZEa%@a%@a%@a%@5 2Acoustic response timeoutB >B B B B =B B /DB ;B E ]ҏ,$yYH?A2V@2P@2F6ٱ2i\ :AHRS rotation from veh to nav: [[0.979095,0.203402,-0.000022],[-0.198490,0.955472,0.218344],[0.044433,-0.213775,0.975872]]2HT?@ ? hɿ;??ݿ?\˿W:?i2V@I2_;2XCYBw2>yByDV(V"V' V+)V+bD^VD^@9yf<%fL=ٔf =Q-f>9hIh=j3Fyhnz<En>pQ 5v4rX֘?Q 9v4r+.)rlYtyv$?Q Iv?rDIr:ir :r4y|ɮ~B|*j Bj i ?iziJiƷ<i kC[kC[kC[h) kS[kS[kS[h92fI:fIBfIJfM@ԹZZZZi))iI]b:I IO}=2Acoustic response timeoutE% f E% TE% pE! "E% I@:*E% 9VE% 5ZE! BE% R;a5 2E! a5 JE% :a5 :E% :a5 9 ] 2Acoustic response timeoutfdҏ,HYH?ARȌ@R‡@RhٱRPb fAHRS rotation from veh to nav: [[0.977660,0.209970,-0.009725],[-0.202372,0.952770,0.226441],[0.056811,-0.219414,0.973976]]RHH?H?ꃿOɿ}??\?`̿`*?iRȌ@IR_;RWCYjV>ynBDy]> ףp=?Mb?MbX9Կ]>]=]ʡY Y9]K7?{Gz?`"οY]>y]#>]w])B]JB ]rB)]pBYY]BbDu)VDu@9y.N%>=ٔQ->9I=3Fy:E>Q 54(ᘉ?Q 94.)MY>Q E;y>Q I?DIa;ia;|4yɮB*jBj i-?i-zi)Ji-Ʒ<i1 k3Zk3Zk3ZhA kCZkCZkCZhq2fH>:fH>Bf?Jf6?ZZZZi))iIc:IIO= >92Acoustic response timeoutaԑ jҏ,DPYH?AɰBd]@B^X@B~ٱB jAHRS rotation from veh to nav: [[0.982184,0.185018,-0.032909],[-0.177356,0.970528,0.163154],[0.062125,-0.154411,0.986052]]BH n?`?f٠@ƿ?=?ί?@ÿ?iBd]@IB_;BXCYv|>yv`DbDeVDe A9y %I=ٔaVQ->9I=3FyE=E>Q 54똉?Q 94.)Yy?c>Q I? DI:ii:4Eh E_EoE"EG:*Er9VE5ZEa@a@a@a@yɮB*jBji?iziJiƷ<i  kC[kC[kC[h kS[kS[kS[h)q2f:fBfJf?ZZZZi))i 2Acoustic response timeoutI) 7e:II1BIAIBU>BQBUDBUJK>BQBQBU.DBU';BUEO>ԡ = < 2Acoustic response timeout #qҏ,-YH?A2o@2 j@2ٱ2ɽ :AHRS rotation from veh to nav: [[0.983825,0.178221,-0.018072],[-0.175462,0.979061,0.103209],[0.036088,-0.098369,0.994496]]2H}{??|uƿ@xT?k?`z?.@?i2o@I2,_;2YCYB >yB DbD=,VD=QA9y2%L=ٔ=Q->9I=3Fy;E>Q 54?Q 94.)Yy>Q I?DI:id:4yBɮBE*jBji?iziJiƷ<i k]k]k]h k]k]k]h2f:fBfJfǨ?ZZZZi))))111i19I9f:I I imAAO}=bEm5jEm^5rEmİ1Ef EkE~E"EI@:*E:VE5ZEBER;a2EaJE@;a:E@;a%2Acoustic response timeout) wҏ,mYH?A 2.@2~)@2irٱ2 >AHRS rotation from veh to nav: [[0.975134,0.217801,-0.040956],[-0.213579,0.972898,0.088625],[0.059149,-0.077673,0.995223]]2H@K4?`?`1@V˿ !??H?`h⳿@?i2.@I2_;2ZCYF>yFDbD ʤVD A9yE<%MN=ٔMnQ-M>9QIQ=U3FyQUUʽE]>2Acoustic response timeoutQ 54#?Q 94<.)Yyz>Q I?DI;i;4yɮB*jBji?iziJiƷ<i k\k\k\h k\k\k\h)2f9:f9Bf9Jf=G?ZEZMZIZMiY)Y)YaaiaaIiU h:IaqIO>ԙDzDAAEh EZE|E"EG:*Ea9VEם5ZEa@a@a@a@5 2Acoustic response timeout BM >BI BM DBM A>BM =BI BI BM ;BM E ~ҏ,YH?A@2k@2f@2ֹٱ2 :AHRS rotation from veh to nav: [[0.974392,0.213039,-0.071941],[-0.205790,0.973826,0.096505],[0.090617,-0.079229,0.992729]]2H 7.? D?j@WWʿ )??2?[Hp?i2k@I2_;0TYn2>ynDbDzVDzA9y5=%O=ٔqQ- >9 I = 3Fy <E>Q 5%47 ?Q 9%4v.)^Y!y-v>Q I-?%DI:iH:h4y1ɮ5B1*jABjAiM?iMziIJiMƷ<iI k\k\k\ha k\k\k\hq2f:fBfJfc ?ZZZZi))顩iI)i:IIOe=2Acoustic response timeout! E d E gE lE "E 9:*E &9VE 5ZE BE F;a 2E F;a JE 1;a :E 1;a E b9A YE A= 2Acoustic response timeoutҏ,&ZH?A2@2@2fV8ٱ2s :AHRS rotation from veh to nav: [[0.979342,0.201320,-0.018979],[-0.197144,0.971462,0.131890],[0.044989,-0.125424,0.991083]]2HV??%o<ɿ8?@??@ ?i2@I2Y_;2YCYN>yND|yeMb?nҿ:v?e>eeyeE6eqeBe$B eJB)eaYeBbDDVDHB9y@%A=ٔ=Q->9I=3Fy<E>Q 54Q?Q 94/.) Yĸ>Q E;yuQ I?-DI ;i ;‰4yBɮBE*jBji?iziJiƷ<i k3\k3\k3\h kC\kC\kC\h2f$>:f$>Bfi"@JfU@Z%Z%Z!Z%i9)9)999i9AIA j:I!I1Im,>)iOu=!Q2Acoustic response timeouty ҏ,ٗ.ZH?AF@@F:@FɻٱFI8 NAHRS rotation from veh to nav: [[0.976372,0.213596,0.032769],[-0.216008,0.960384,0.176075],[0.006138,-0.178993,0.983831]]FH@q>?`W?&Ǡ?$˿@x?? #y??ƿ{?iF@@IFc_;FWCYV >yVԴDdjj) h)j*bDrVDrB9yvU%zU=ٔz=Q-z>9xI|=~3Fy|~ LE>Q 5 4]?Q 94Ǝ.)Yy&Q I?4DI:i:|ɉ4y!ɮ%B!*j1Bj1i5?i5yD=DEf EVEnE"EI@:*E9VEJ5ZEa@a@a@a@zi9JiƷ<i k[k[k[h kvkvkvh12fA:fABfAJfE"@ZuZuZqZ}i))顉iI2Acoustic response timeoutmk:IIO=BBBDB">B=BBB;BEBBBBBCÌ5ԡ 2Acoustic response timeout ҏ,HZH?A4<ɰ2)@2$@2ٱ2 2 :AHRS rotation from veh to nav: [[0.976710,0.211964,0.033310],[-0.214529,0.961842,0.169814],[0.003956,-0.173005,0.984913]]2H`4A?!? ?`u˿@i?@w?@3p?@%ƿ`h?i2)@I2;_;0YB >yB DbDNVDNB9yV%VN=ٔV;Q-V>9XIX=Z3FyX^ {;E^>`Q 5f4b?Q 9f4bp.)bLYdyfQ If?b<DIb:ib-:bfЉ4ynBɮnBnE*jxBjxiz?izzixJi~Ʒ<i| k]k]k]h  k#uk#uk#uh!2f1:f1Bf1Jf5֝"@ZEZEZAZEiQ)Q)YYYiYaIaum:IIO=Ec EYEE"Eg5:*E*9VEZEBE?;a2E?;aJE:a:E:a2Acoustic response timeout)Q -.ҏ,ObZH?A6@6@6V)ٱ6 BAHRS rotation from veh to nav: [[0.976189,0.216280,0.016671],[-0.216780,0.969897,0.110930],[0.007822,-0.111902,0.993688]]6HyJDbDqVDHC9yE7<%EA=ٔMQ-M>9III=U3FyQU鲻EU>e2Acoustic response timeoutiQ 5u4mM ?Q 9u4m).)mYqyu}Q I}?mDDIm;imv;m׉4yɮB*jBji?iziJiƷ<i kctkctkcth kstkstksth2f:fBfJf{@ZZZZ1iy)y)yyiIMRo:IaIq @AO=aEf EZEwE"EI@:*Ea9VEɕ5ZEa@a@a@a@ԉ 2Acoustic response timeoutB >B B DB w>B B B B ;B EԹ HWҏ,x&|ZH?A6J@6D@6Oܔٱ6?Mϼ BAHRS rotation from veh to nav: [[0.972113,0.234220,-0.011744],[-0.233810,0.971854,0.028849],[0.018170,-0.025299,0.999515]]6H??= xͿ@n?@?F?@癿?i6J@I6_;4YJk#>yJDbD sVD C9yC=%M=ٔ ռQ->9!I!=%3Fy!-44E->)Q 554-%?Q 9=4-.)-Y9y=sQ I=?-KDI-<;i-H;-މ4yIɮMBI*jaBjaie?ieziaJieƷ<ii kukukuhy kukukuh2f:fBfJf@ZZZZi))iIԙ|p:I IqOM>m2Acoustic response timeoutiyI}oAE e E UE `E "E <:*E P9VE |a5ZE BE aL;a 2E cL;a JE :a :E :a  2Acoustic response timeout! ?ҏ,ZH?A@2W@2R@2cٱ2< :AHRS rotation from veh to nav: [[0.970666,0.238911,-0.027012],[-0.239457,0.970719,-0.019121],[0.021652,0.025029,0.999452]]2H@?? ο ?@ ,?@?@?i2W@I2`;2XCYB'->yBDyx&?V-ϿI +7=|94 9J +?HzG~jtYH>y= D!B=B wB)ZBYLBbDsVD4D9y<%@=ٔ/Q->9I=3Fy`E>Q 54'?Q 94.)ђY?Q E:yOQ I?ZDI ;i;:-4yɮB*jBji?i zi Ji Ʒ<i  kstkstksth! kstkstksth12fE>:fE>BfEh@JfEX@ZUZUZQZUia)i)iiiiiqIq5,r:IAIYIO=}2Acoustic response timeoutI Lkҏ,2ZH?A,2@2@2#ٱ2YP< >AHRS rotation from veh to nav: [[0.975315,0.220461,-0.012573],[-0.220592,0.975312,-0.010229],[0.010008,0.012750,0.999869]]2H`5?8?]<̿5?`? ??i2@I2_;2WCY^6>y^DbDj~VDjD9yr.<%rY=ٔr9tIt=v3FytzS=Ez>|Q 54~8*?Q 94~.)~ޒYy긿Q I?~hDI~N:i~:~4yɮB*j)Bj)i-?i-zi)Ji-Ʒ<i1 k3uk3uk3uhA k3uk3uk3uhQ2fa:faBfaJfe@ZuZ}ZyZ}i))顉iEv EYEqE"EVz:*E*9VE5ZEa@a@a@a@IiI2Acoustic response timeoutDs:IIOE=ԉI))>B<A<B>BBDB=B=BB/DB+;BEԱ  2Acoustic response timeoutQҏ,ZH?A2Ӻ@2@2~4;ٱ2p :AHRS rotation from veh to nav: [[0.974409,0.224222,0.015875],[-0.224766,0.972768,0.056591],[-0.002754,-0.058711,0.998271]]2H[.?@L?A?@#̿ ?@?f``?i2Ӻ@I2s_;2VCYV>yVD\bDb1VDbwE9yjS\%jK=ٔj=Q-n>9lIl=r3Fypr.Er>tQ 5z4v,?Q 9z4v.)vΒYxyz|Q I~?vwDIv:ivY;v4yɮB*jBji?i%zi!Ji%Ʒ<i! k#tk#tk#th9 kkkhI2fa:faBfaJfe՜@ZmZmZqZui))顁iI]mt:IIO=Eb E^E`E"E1:*E;9VE|a5ZEBE9;a2E9;aJE;a:E;a2Acoustic response timeoutA {ҏ, ZH?Aɰ4<23@2-@2ٱ2 :AHRS rotation from veh to nav: [[0.967476,0.252958,0.001264],[-0.250270,0.956446,0.150251],[0.036798,-0.145681,0.988647]]2H ?`v0?LT?mп 5?m;?`:ע?¿ ?i23@I2؀_;2YCY^k#>ybDbDjcVDjF9y%<%%E=ٔ-hýQ-->9)I1=53Fy15E5>E2Acoustic response timeoutIQ 5U4Mp.?Q 9U4Mˮ.)MYQyU"Q IU?MDIM:iM;M 4yaɮeBa*jyBjyi}?i}ziyJiƷ<i kssksskssh kÏkÏkÏh2f:fBfJfk@ZZZZi))iIv:IIO-=IqEn EWEqE"EO]:*E9VE5ZEa@a@a@a@2Acoustic response timeoutB B 0CB zDB J=B =B B B j;B Eԡ )ҏ,PqZH?A2>@28@25ٱ2D :AHRS rotation from veh to nav: [[0.972134,0.234419,0.001638],[-0.230183,0.953200,0.196023],[0.044390,-0.190938,0.980598]]2H? o?@Z?`vͿ?K? Q?pȿa?i2>@I2;_;2XCYB>yBDR'R$R* P)V)bDZVDZUF9yb%bQ=ٔf㞼Q-f>9dId=j3FyhjW=Ej>lQ 5r4n0?Q 9r4n.)n?YtyvQ Iv?nDIn:in8:n4yzBɮzBz E*j)Bj)i-?i5zi1Ji5Ʒ<i1ԁ k3tk3tk3th2f:fBfJf3@19 rNAggregate::initialize marl:UpdateRudderq9J]q997o XAggregate::initialize marl:UpdateCommandMode18 ]1185o=@Completed marl:UpdateCommandMode7=oE\Aggregate::uninitialize marl:UpdateCommandModeq7EnMLAggregate::initialize marl:UpdateSpeed7M]q7un}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed ZZZZi))iIM2Acoustic response timeoutԩw:IIO%,>UPExceeded connect timeout, disconnecting.bEMJ5jEM|5rEMʦA2E u E E jE "E v:*E VE ـ5ZE BE W;a 2E X;a JE :a :E :a !  2Acoustic response timeoutҏ,[H?A2T@2N@2C<ٱ2& :AHRS rotation from veh to nav: [[0.972660,0.227025,0.048920],[-0.231928,0.960421,0.154279],[-0.011959,-0.161407,0.986816]]2H ?@%? ?@ͯͿû?h?}Ŀ ?i2T@I2c_;2WCYnu>ynDyv/? r?ףp= ?x>>> 9BDB 'B) BYBbDVDF9yN%;=ٔ>Q->9I=3FyԹlE>Q 540?Q 94.)Y?Q E:yɿQ I?DI:i; 4yɮB*jBji?iziJiƷ<i ksksksh  ktktkth!2f5?:f5?Bf5@Jf5\~|@s=NUpdating rudder angle 6.875493 arcdeg 9=r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudderZMZMZIZMiY)Y)aaaiaiIiux:IIO>=2Acoustic response timeout9 1ҏ,'1[H?A2@@2:@2%<ٱ2 :AHRS rotation from veh to nav: [[0.968176,0.248196,0.032163],[-0.250066,0.964559,0.084216],[-0.010121,-0.089579,0.995928]]2HK?@? w?п ?,?`b?i2@@I2x_;0Yj$>yjDbDEiVDEF9yQ[=%O=ٔBQ->9I=3FyAE>Q 540?Q 94Ӹ.))YyпQ I?DI:i:j4yE EZEyE"E*Ea9VE5ZEa@a@a@a@ɮB*jBji?iziJiƷ<i kvkvkvh k#vk#vk#vh 2f!:f!Bf!Jf%#{@Z-Z5i2Acoustic response timeoutZ1Zi))iIA9A=@AB=>B=/CB=DB=#>B9B9B9B=z;B=șEz:IIOE>ԁ>>ԩa e =m 2Acoustic response timeout ҏ,yK[H?A2!H@2C@23ٱ2B= :AHRS rotation from veh to nav: [[0.970409,0.241468,-0.000272],[-0.241329,0.969888,0.032827],[0.008191,-0.031790,0.999461]]2H ? m?1οR ?Π?Tƀ?F?i2!H@I2y_;2VCYB>yBDEnManaging dock network, ignoring radio surface power offbD!VDGG9y<%H=ٔB7Q->9I=3Fy׳<E>Q 54A/?Q 94].)YyֿQ I?DIJ;i[;4yBɮBE*j Bj i ?i zi Ji Ʒ<i kSvkSvkSvh! kcvkcvkcvh92fI:fIBfIJfM!|@ZUZ]ZYZ]ii)i)iiqiqqIyԱ QM{:mMrAI)@9MrAYAy ? AI)I9O>Ed EYEnE"E9:*E*9VEJ5ZEBEF;a2EF;aJE:a:E:a2Acoustic response timeout 9 ҏ,d[H?A2@2@2Hۼٱ2 ' :AHRS rotation from veh to nav: [[0.972400,0.232280,-0.022008],[-0.231780,0.972494,0.023084],[0.026765,-0.017346,0.999491]]2H`? \?^Ϳ ?C?Dh?Ñ ?i2@I2e_;2ZCY^>y^D%2Acoustic response timeoutbD5)VD5G9yI%K=ٔ=Q->9I=3Fy(<E>Q 54*.?Q 94.)IYy+ڿQ I?DI :i:4yɮB*jBji?iziJiƷ<i kStkStkSth ktktkth2f!:f!Bf!Jf%|@Z5Z5Z9Z=iI)I)IIIiIQIYU|:IiIyO>9DzDEf EZEyE"EI@:*Ea9VE5ZEa@a@a@a@2Acoustic response timeoutB5 >B5 .CB5 DB5 =B5 =B1 B5 .DB1 B5 ÙEBBBBBȣ=Ch5ԉ Qҏ,~[H?A;ɰ0N@N@NlٱN򡃽 VAHRS rotation from veh to nav: [[0.973233,0.229721,-0.006816],[-0.228753,0.971136,0.067582],[0.022145,-0.064214,0.997690]]NH$?g?{GͿ? M?@?Op?iN@INz_;NWCYr=yrCDbD-nVD-VH9y]%eO=ٔm>?9yIy=3Fy<E>Q 54R-?Q 945.)֊Yy׿Q I?DIP;i;%4y ɮ B*jBji ?iziJiƷ<i kukukuh) ksuksuksuhYԑ2fi:fiBfiJfm|@ZZZZi))项iI-2Acoustic response timeout~:IIO'>Թ E y E [E oE "E :*E 9VE 5ZE BE ;a 2E ;a JE ;a :E ;a  2Acoustic response timeoutҏ,2[H?A2@2@2ٱ2 :AHRS rotation from veh to nav: [[0.972098,0.234529,-0.004615],[-0.231746,0.963238,0.135891],[0.036316,-0.131030,0.990713]]2Hm?@ ?r۩Ϳ?d??@?i2@I2=L_;0\Yb>ybDddyl¿x&?L7A`п7 ?+ 9Mbn?~jt?YyV>>.B.B B).BYBbDVDH9ya=%E=ٔa Q->9I=3FyE>Q 54/?Q 94.)YK?Q E:yb?Q I?DI ;i ;,4yɮB*jBji?iziJiƷ<i ksksksh ksksksh!2f5?:f5?Bf5ί@Jf5AI@ZEZEZAZEiY)Y)YYYiYaIa5:IAIQ O==2Acoustic response timeoutA ҏ, n[H?A2@2@2.3ٱ2%C :AHRS rotation from veh to nav: [[0.971637,0.236466,0.002425],[-0.232400,0.952931,0.194711],[0.043732,-0.189751,0.980858]]2H? D?c?EͿj~?@F?d?Iȿ/c?i2@I21e_;0YN>yRPDbb ` `)f'bDjVDjI9yr%rX=ٔvՠQ-v>9tIt=z3FyxzEz>|Q 54~2?Q 94~.)~[Y y A?Q I ?~DI~:i~:~Z34yBɮB E*j)Bj)i-?i5zi1Ji5Ʒ<i1 kctkctkcthI kstkstD4=DEd EcEpE"E9:*EL9VE5ZEa@a@a@a@ksth2f:fBfJfҺ@ZZZZi ) )i9I92Acoustic response timeoutB>B/CBzDBJ=BBBB;BΙEq:I!I1Om=IyM 2Acoustic response timeoutԡ ҏ,AI[H?AR)L@R#G@RyMٱRY bAHRS rotation from veh to nav: [[0.969339,0.245706,0.003211],[-0.240557,0.946195,0.216444],[0.050144,-0.210580,0.976290]]RH?Ns?BMj?ο@:G? m? o? Fʿ=?iR)L@IR#]_;RVCYj >yn6DbDVDOI9y6<%G=ٔ%Q-%>9)I)=-3Fy)-èE5>1Q 5=45{5?Q 9E45=.)5YAyE[?Q IE?5DI5 ;i5;5:4yIɮUBQ*jaBjaie?imziiJimƷ<iiy k3uk3uk3uh2f:fBfJfQ@ZZZZi))iIA:IIOE=ԡEg EYEsE"EC:*E*9VEX5ZEBEX;a2EX;aJE:a:E:aiߡIߥA2Acoustic response timeout ҏ,O$[H?A2ں@2@2(ٱ203 :AHRS rotation from veh to nav: [[0.974461,0.223397,0.022770],[-0.223921,0.959085,0.173248],[0.016864,-0.173922,0.984615]]2H.?@H? Q? n̿Ӱ?,?D?Cƿ`?i2ں@I2Gv_;2UCYB >yB DbDvŵVDvjI9y~%~L=2Acoustic response timeoutٔ .=Q- >9 I=3Fy1=E>Q 5%4;8?Q 9-4.)Y)y-̱?Q I-?DI:i:A4y5Bɮ5B=E*jIBjIiM?iMziQJiUƷ<iQ k\k\k\hi ksskssksshy2f:fBfJf @ZZZZi))顱iIuс:IIIO==I!>)?>E^ EWEoE"EC#:*E9VE5ZEa@a@a@a@12Acoustic response timeoutB>BBDB#>B=BBB;BϙEY kҏ,\H?A^@^@^g;ٱ^, zAHRS rotation from veh to nav: [[0.972469,0.229757,0.038938],[-0.232929,0.963358,0.132985],[-0.006957,-0.138393,0.990353]]^Hv? h?? Ϳ?@?~|?i^@I^G_;^XCYt>y,D9y/$I +?T㥛 ؿ19= 9S㥫?On?Zd;OտY/]=y>~aBB B)BYBbDVDI9y =%%,=ٔ%gN=Q-%>9!I)=-4Fy)-ӟE5>1Q 5=45Q EE:yE?Q IE?5DI5:i5j:5I4yIɮUBQ*jaBjaie?ieziaJimƷ<ii kZkZkZh ktktkth2f>:f>BfkW?Jf_?ZZZZi))iI 2Acoustic response timeout:IIO*>aԉE q E ^E iE "E 2h:*E ;9VE z~5ZE BE ͋;a 2E ΋;a JE ;a :E ;a  2Acoustic response timeout E*ҏ,\H?A4<ɰB G@BB@B7ٱB[ JAHRS rotation from veh to nav: [[0.969985,0.243160,-0.001266],[-0.241362,0.963419,0.116480],[0.029543,-0.112679,0.993192]]BH ??T`οT?ѽ?`@?ؼ;?iB G@IB__;BVCYv->yv|DbDeVDe7J9y^J=%d=ٔpнQ->9I=4FyȼE>Q 54Q@?Q 94}.)_Yyp?Q I?DI ;i:P4yɮB*jBji?iziJiƷ<i  kC\kC\kC\h kCukCukCuh)2f9:f9Bf9Jf=?ZMZMZIZMia)a)aaaiiiIqԑm5:IIO >Թ-2Acoustic response timeout !T ҏ,ĵ3\H?A6`@6Z|@6|ٱ6'zĽ BAHRS rotation from veh to nav: [[0.970056,0.239513,-0.040318],[-0.234056,0.966176,0.108266],[0.064885,-0.095587,0.993304]]6H ?@`?@Ϳ`?N?@R?fx%?i6`@I6Z_;6XCYF>yFDbDRKVDRJ9yZ;%Z]=ٔZýQ-^>9\I\=^4Fy`b<Eb>dQ 5j4fD?Q 9j4f).)fmYhyjj?Q In?fDIfW:if:fV4ypɮrBp*jxBjxi~?i~zi|Ji~Ʒ<i k\k\k\h k#uk#uk#uh!2f1:f1Bf1Jf5?ZEZEZIZMiY)Y)YaaiaaIiEf EZEoE"EI@:*Ea9VE5ZEa@a@a@a@iqIuA}2Acoustic response timeoutAAAAB>B.CBDBM>B=BB-DB~;B™EŃ:IIOH>I - 2Acoustic response timeout=ҏ,M\H?AF@F@Fv<ٱF+޽ ZAHRS rotation from veh to nav: [[0.975213,0.220246,-0.021218],[-0.216407,0.969389,0.115985],[0.046114,-0.108519,0.993024]]FH4? 1?I=˿@<?5?I?ǻ?iF@IFM_;DYb>yb#DbDn VDnJ9yv %vG=ٔv-;=Q-v>9xIx=z4Fyx~7=E~>Q 54H?Q 9 4.)Y y "?Q I ?DIB:i:]4yɮB*j)Bj)i-?i5zi1Ji5Ʒ<i1 ks\ks\ks\hI kskskshY2fi:fiBfiJfm3"?Z}Z}ZyZ}i))顑iIIbEĵ5jEr5rEĦs1E E^EsE"E*E;9VEX5ZEBER;a2ER;aJEa:E;a2Acoustic response timeout:IIyOm>ԡ "fҏ, lg\H?A2ܺ@2@2hٱ2` :AHRS rotation from veh to nav: [[0.974037,0.226350,-0.004242],[-0.223552,0.964614,0.139804],[0.035737,-0.135226,0.990170]]2H O+? ?W`qW̿??L?@O`y?i2ܺ@I2yFIDVVT T)Z) XXbDbӹVDbGK9yj<%jL=ٔj9lIlr2Acoustic response timeout=r4Fytv|Ev>xQ 5~4z M?Q 9u4z).)z̍Yyy}?Q I}?zDIzjBqBqBqBqBqBqBu;BuE2Acoustic response timeout R ҏ,>[\H?Al=Ǻ@=@= ٱ=$ AHRS rotation from veh to nav: [[0.973362,0.229275,-0.000672],[-0.226049,0.960148,0.164370],[0.038331,-0.159839,0.986399]]=H@%?X?0F*̿? ??uĿ?i=Ǻ@I=m4_;=XCY >y}D=8>yU)\(?%CԿ ףp= UGa>UZUQ8Q Q9UQ?ktֿOnӿYU(\>yU UU+BUB UB)U'BQYUBbDmkVDmK9yu%}2=ٔ}#Q-}>9I=4Fy$E>Q 54R?Q 94Q.)Y?Q E:y$Q I?DIH:i/:l4yBɮBE*jBji?iziJiƷ<i k[k[k[h k#[k#[k#[hi2f}>:f}>Bf}N@Jf}ʼ@ZZZZ^B*** querying acoustic contact ***XYi2Acoustic response timeout))iIIIAO}>i9I9)rA!U/9UrAYUAY E b E YE tE "E 1:*E *9VE 5ZE BE 9;a 2E 9;a JE :a :E :a  2Acoustic response timeout"x&ҏ,S"\H?A:5@:0@: ;ٱ:F+ FAHRS rotation from veh to nav: [[0.977020,0.209503,0.039245],[-0.213111,0.963531,0.161837],[-0.003908,-0.166482,0.986037]]:HC??@?`9QIQ=U4FyQ]=E]>aQ 5m4eU?Q 9m4ed.)eUYiyu!Q Iu?eDIe:ie:es4yyɮ}By*jBji?iziJiƷ<i kS[kS[kS[h kS[kS[kS[h2f:fBfJf<@Z]Z]ZYZ]ii))顑iIIIO=i2Acoustic response timeoutԑ 1,ҏ,/\H?A;ɰ;2@2@2;ٱ2 :AHRS rotation from veh to nav: [[0.973345,0.225694,0.040773],[-0.229281,0.961865,0.149154],[-0.005555,-0.154527,0.987973]]2H`%?`?@7?YͿ@?z?vÿy?i2@I2A_;2YCYB>yBDbD gVD L9yE=%MK=ٔMą;Q-M>9QIQ=U4FyQUp(EU>Eed Ee\EerEa"Ee9:*Ee9VEe5ZEaam@am@am@am@qQ 5}4uZ?Q 94u.Q =tI)uYyQ I?u$DIu7 ;iu ;u7z4yɮBԙ*jBji?iziJiƷ<i k3_k3_k3_h kukukuh2f:fBfJf@ZZZZi ) )   iB<A<B%>B!B!B!B%=B!B%.DB%;B%E}2Acoustic response timeoutB.CB.CBB=BC5IIIOm=% =% =- 2Acoustic response timeout! 3ҏ,\H?A61@6,@6٫ ٱ6$ >AHRS rotation from veh to nav: [[0.969028,0.246843,-0.007278],[-0.243817,0.960996,0.130535],[0.039216,-0.124718,0.991417]]6H G??}d5Ͽ {?b?)? ?i61@I6j_;6UCYF{.>yFDbD }VD  L9y}ߘ=%G=߽ٔQ->9I=4FyE>Q 54a^?Q 94u.)YyQ I?/DI;i;X4yBɮB E*jBji?iziJiƷ<i k3]k3]k3]h kvkvkvh2f :f Bf Jf @ZZZZi))))111i19I9 AAIA)A Emf EmdEmEi"EmI@:*Em9VEm5ZEiBEmR;a}2EmR;a}JEm&;a}:Em&;a}!2Acoustic response timeoutIIOc>Qy P9ҏ,\H?A2@2 @2gѼٱ2Ց :AHRS rotation from veh to nav: [[0.968423,0.249310,-0.001556],[-0.248006,0.963959,0.096314],[0.025512,-0.092887,0.995350]]2H@Q?@a?b|YϿ@?@ ? ?`sǷ?i2@I2>h_;2WCY^N$>y^DbDjɻVDj.L9r2Acoustic response timeoutyvFӼ%vT=ٔz=Q-z>9xIx=~4Fy|~2E> Q 54 ab?Q 94 .) YyQ I? :DI :;i :,; 4y)ɮ-B)*jIBjIiM?iMziQJiUƷ<iQ k]k]k]hq2f :f Bf Jf @Z=ZEZAZEQiy))顁iIIIO%=ԁDqzDqE}b E}VE}Ey"E}1:*E}9VE}H5ZEya@a@a@a@B>B/CBBB=BBB;BE2Acoustic response timeoutԩ H@ҏ,]H?ADDf@`@<ٱiU -AHRS rotation from veh to nav: [[0.966091,0.256691,0.027889],[-0.258082,0.963284,0.074004],[-0.007869,-0.078692,0.996868]]H7?m?@?jп:? ? -%W?if@IP_;Y= >y=6DyHzG?l¿ʡE?= >o> 9}?5^I?&1ڿ rh?YMb>yоC >ҾBҨB  B)Y8BbD7VDL9yV%;=ٔUo=Q-]>9YIY=]4FyYeEe>iQ 5u4mf?Q 9u4mݼ.)mYu>Q E}:y}Q I}?mGDIm* ;im:m4yɮB*jBji?iziJiƷ<iԩ k]k]k]h2f>:f>Bf@JfY@ZZZZi))iIII)Oe=2Acoustic response timeout E f E ^E fE "E I@:*E ;9VE t5ZE BE a 2E a JE ;a :E ;a  2Acoustic response timeout1 `Fҏ,j]H?A2ι@2@2ٱ2| :AHRS rotation from veh to nav: [[0.966766,0.255173,0.015838],[-0.255662,0.964666,0.063687],[0.000973,-0.065620,0.997844]]2H?T?`7?`\п?M? O? z̰W?i2ι@I2^_;2XCYvA>yvDbD_VD_M9y <%Z=ٔQ->9I=%4Fy!%;E%>)Q 554-j?Q 954-.)-Y1y=VQ I=?-RDI-;i-;-J4yAɮEBA*jYBjYi]?ieziaJieƷ<ia kEkEkEhy ks\ks\ks\h2f:fBfJf@ZZZZi))iIIIO-=IG>)N>A2Acoustic response timeouti ULҏ,D6]H?A 2˹@2@21'ٱ2l >AHRS rotation from veh to nav: [[0.966219,0.257318,-0.014429],[-0.255936,0.964598,0.063615],[0.030287,-0.057773,0.997870]]2H@D?w? Baп ?I?@?h?i2˹@I2\[_;2TCYBk#>yFDZ%Z%Z% Z*)Z+IZ)iZ)bDbVDbM9yj=%jN=ٔjQ-n>9lIl=r4FyprEr>tQ 5z4vm?Q 9z4v.)v Yxy~Q I~?v]DIv:iv;v44yɮBD==D=<EA EEXEElEA"EA*EE9VEE5ZEAaM@aM@aM@aU@B>BBDB=B=BBB;BE*jBji?iziJiƷ<i kCkCkCh k^k^k^hA]2Acoustic response timeout2fq:fqBfqJfuИ@ZZZZi))项iIIII1OU=iԙ  2Acoustic response timeoutGSҏ,\ P]H?Aɰ2@2@2waٱ2Xg :AHRS rotation from veh to nav: [[0.967618,0.252357,0.005550],[-0.252258,0.965986,0.056891],[0.008995,-0.056449,0.998365]]2H?@&?@v?$п\? ?l?`欿?i2@I2}_;2WCYB5>yB DPbDNVDNM9yVI%ZM=ٔZpZ=Q-Z>9XI\=^4Fy\^ <Eb>`Q 5f4b_q?Q 9f4bO.)bYhyjgQ Ij?biDIb:ibW:b.4ynBɮrBr E*jxBjxi~?i~zi|Ji~Ʒ<i| kSFkSFkSFh k\k\k\h!2f1:f1Bf1Jf5*@ZEZEZAZEiQ)Y)YYYiaaIiII O]=EMi EIEMkEI"EM,K:*EIVEMu5ZEIBEMte;a]2EMve;a]JEM:a]:EM:a]e2Acoustic response timeout! SZҏ,+i]H?A6B@6=@6?'ٱ6 FAHRS rotation from veh to nav: [[0.962243,0.271197,0.023235],[-0.272190,0.958728,0.082175],[0.000009,-0.085397,0.996347]]6H?`I[?`ʗ?kѿ?`i ?>ܵ@?i6B@I69V_;6VCYNS=yNDf2Acoustic response timeoutbDVD^N9ym %m?=ٔu9yIy=4FyDE>Q 54/u?Q 94K.)Yy Q I?uDIGD;iF;4yɮB*jQBjYi]?i]ziYJi]Ʒ<iY kcCkcCkcCh2f:fBfJf@ZZZZi))iIIIOM= AA)E]` E][E]xEY"E]*:*E]9VE]e5ZEYae@ae@am@am@iB>BBDB#>BBBB;BٙEu2Acoustic response timeoutԁ `ҏ,m]H?AZ"@Z@Z[PٱZ$ bAHRS rotation from veh to nav: [[0.950850,0.309372,-0.013192],[-0.305426,0.944033,0.124566],[0.050991,-0.114414,0.992124]]ZH`\m? ?ӿ5???8J@z?iZ"@IZ4i_;ZYCYj>yjDQy!rh?M? rh?l=n>C= 9@5^I ?Zd;Oǿy&1?Yb>yj<`?B٭B )BYBBbDVDN9y=%C=ٔ Q->9I=4FyE>Q 54`|?Q 94o.)-Y?Q E:yCQ I ?}DI:i:4yBɮBE*j)Bj)i-?iziJiƷ<i kCkCkCh kCkCkCh2f,?:f,?Bfס@Jfy@19- r-NAggregate::initialize marl:UpdateRudderq95J]1q959575o5XAggregate::initialize marl:UpdateCommandMode185]118=o=@Completed marl:UpdateCommandMode7=o=\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7=]97=nE4Completed marl:UpdateSpeedq7EnEPAggregate::uninitialize marl:UpdateSpeedZmZmZiZmiy))顁iI2Acoustic response timeoutIIIԁO>ԩbEX5jE-5rE2Em e Em YEm rEi "Em <:*Em *9VEm 5ZEi BEm aL;a} 2Em cL;a} JEm :a} :Em :a} } 2Acoustic response timeoutgҏ,]H?A2@2@2L\ٱ28 :AHRS rotation from veh to nav: [[0.954302,0.298645,-0.010877],[-0.293968,0.944660,0.145601],[0.053758,-0.135750,0.989284]]2H ??F ^ҿ:? ?0??` 6?i2@I2GL_;2WCYN >yR D ||bD kVD N9yV%Q=ٔQ->9I=4Fy<E>Q 54A?Q 94K.)pYy6Q I?DIW:i:׹4yɮBԹ*jBji?iziJiƷ<i kBkBkBh k[k[k[h2f :f Bf Jf @sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZ%Z%Z!Z%i1)9)999i9AIAIYIiO=2Acoustic response timeout9 Amҏ,]H?A2ʸ@2ſ@2<ٱ2\ :AHRS rotation from veh to nav: [[0.957880,0.280316,0.062364],[-0.286172,0.949858,0.125998],[-0.023918,-0.138538,0.990068]]2H??8?PҿQ-V>9XIX=Z4FyX^͸<E^>`Q 5f4b9?Q 9f4b-.)bԉYdyf%Q If?bDIb:i`bl4ylɮnBl*jtBjtiv?izzixJizƷ<ix kSBkSBkSBh Ec EVEfE"Eg5:*E9VEt5ZEa%@a-@a-@a-@ k_k_k_h12fA:fABfAJfE' @ZUBYAYB]>BYB]DB]M>B]=BYB]/DB];B]ߙEZuZqZui))顉iIi1I5A=2Acoustic response timeoutIiIyO=I)J>Ai 2Acoustic response timeoutԑ %tҏ,e]H?A *m>*CXdl Y9 Y qNA5j@5d @52f=ٱ5s ]AHRS rotation from veh to nav: [[0.950642,0.298770,0.083760],[-0.307840,0.941975,0.133861],[-0.038906,-0.153038,0.987454]]5Hk? ?Gq?ॳӿ$?Y"?|룿–ÿ`9?i5j@I5Ѝ_;5ZCYeJ >ymDbD}VD}yO9ym=%==ٔ$=Q->9I=4FyZXE>Q 54?Q 94X.)YyY#Q I?DI;in;NJ4yBɮBE*jBji?iziJiƷ<i kFkFkFh k\k\k\hAq2fQ:fQBfQJfUH@ZZZZi))项iIII1Oe=EEa EEeEEiEA"EE%.:*EE9VEEz~5ZEABEEM3;aU2EEP3;aUJEE;*;aU:EE;*;aUU2Acoustic response timeout>>ԡ Szҏ,M]H?A"4<ɰ"4yUDy!# )Ii(I<)p;bDVDO9y3=%H=ٔQ->9I=4Fyn(E>Q 54I?Q 94R.)3YyM0Q I?DI:i:ϊ4yɮB*jBji?iziJiƷ<i kCkCkCh kCZkCZkCZh2f!:f!Bf!Jf%S@Z5Z=Z9Z=iI)I)IQQiQQIYI)IAO=E=w E=_E=E9"E=}:*E=r9VE=5ZE9aM@aM@aM@aM@B]>BYB]DB]#>BYBYBYB];B]ܙEB/CB/CBBBCǧ4U2Acoustic response timeout! 8ҏ, ^H?A,2@2@2E#ٱ2< :AHRS rotation from veh to nav: [[0.946547,0.322472,0.007766],[-0.320076,0.935982,0.146595],[0.040004,-0.141244,0.989166]]2HJ?c?O? |Կ??`b{?@L¿??i2@I2*f_;0YB9>yFYDy&1Q?н>̼ 9~jtMbX9? rпYļy!>MBkB B)BYBbD-VD-O9y5/;%R=ٔ\Q->9I=4Fy<E>Q 54-?Q 94.)Y>Q E/;y?Q I?DI:i:&֊4yɮB*jBji?iziJiƷ<i k3Hk3Hk3Hh kbkbkbh2f%*>:f%*>Bf%k@Jf%3@Z5Z=Z9Z=iI)I)IIIiQQIYIqIO=12Acoustic response timeout @AYԉ EM d EM ]EM mEI "EM 9:*EM 9VEM 5ZEI BEM F;aU 2EM F;aU JEM  ;a] :EM  ;a] e 2Acoustic response timeout~bҏ,M^H?A:8@:3@:%ٱ:+@ FAHRS rotation from veh to nav: [[0.942613,0.333545,0.015123],[-0.332745,0.934678,0.125132],[0.027602,-0.122983,0.992025]]:H)?@X??Kտ? W?C?{ા?i:8@I:`O_;:UCYN>yN3DbD VD O9yE%MI=ٔM=Q-M>9IIQ=U4FyQU EU>YQ 5e4] ?Q 9e4].)]YiymP?Q Im?]DI]:i]:]܊4yqɮuBy*jBji?iziJiƷ<i kIkIkIh kcZkcZkcZh2f:fBfJf@ZUZ]ZYZ]ii)i)iqqiyIIIO5=ԩ2Acoustic response timeout Ҍҏ,I8^H?A2g̶@2aǽ@2ίٱ2 >AHRS rotation from veh to nav: [[0.938064,0.346453,0.002507],[-0.345183,0.933955,0.092606],[0.029743,-0.087736,0.995700]]2H?K,??d?|ֿ ? ?`t?u?i2g̶@I2_;2XCYB>yBDNParsing RMC sentence: $GPRMC,191357.00,A,3646.40053,N,12152.26224,W,0.408,273.28,251025,,,A*75 l)tv@]H?Av_~?vX>39v9IbB@_w^~hGPS fix at 20251025T191357: (36.773342, -121.871037)AA?AB>BBDBM>B=BBB;B˙EE%h E%\E%eE!"E%G:*E%9VE%q5ZE!BE%/_;2E%2_;JE%x ;:E%y ;vV>v۠@ 99bDERVDEP9yU3<%UI=ٔ]ìQ-]>9YIa=e4FyaeEe>iQ Qu?٫mDQ M}?m܀CQ U}?mCQ Y}?mC3@Q ]}{<9m`Z>Q 5;4m_~?Q 9;4mX>3Q =tI)mYy?Q I?mImqa;im:b;m>g;4yBɮBEYFix residual: 21.3 %DT, over the last 602.6 m. Residual distance 128.5 m at bearing 160.5 degrees. Fix at (36.7733, -121.8710) with 257.7 m made good.*jBji?iziJiƷ<i k]k]k]h k]k]k]h2f:fBfJfȘ@q213ZZZZ\Received valid gps time fix: 1761419648.00. Resetting abort timer.2Acoustic response timeouti)!)!!!i!)I)IIO== 1 %= %= 2Acoustic response timeouta stҏ,dR^H?A26+@2:&@2#`ٱ2㮽 :AHRS rotation from veh to nav: [[0.930110,0.366750,-0.019739],[-0.363185,0.926413,0.099271],[0.054694,-0.085164,0.994865]]2H@v?x?@~6@n>׿-?`i??@O͵`?i26+@I2_;2WCY^x>ybFD9bDEVDEfP9y %G=ٔyQ->9I=4FyDE>Q 5;4?Q 9;4<3)7Yy?Q I?6d=IW:i:u;4yɮB*jBji?iziJiƷ<i k3[k3[k3[h kC[kC[kC[h2f :f Bf Jf :@ZZZZi)))))11i19I9IQIaIR>)R>E5b E5ZE5tE1"E51:*E5a9VE55ZE1a=@a=@a=@a=@a-2Acoustic response timeoutԑ O >ԟҏ,ɏl^H?AB2Acoustic response timeoutj-(@j1#@jXZٱjr %AHRS rotation from veh to nav: [[0.930042,0.367388,-0.006900],[-0.363556,0.922744,0.127944],[0.053372,-0.116484,0.991757]]jH?`I?{C|D׿`?t`?S?ѽz?ij-(@Ij_;jXCY5>y5ȡDbDmgVDmP9ԑy@%E=ٔ5Q;Q->9I=4Fy%jE>Q 5;4?Q 9;4;3)(fYyȢ?Q I?+=Iq;i;;4y%bBɮ- B)*jYBjYi]?ieziaJieƷ<ia k[k[k[h2f:fBfJfi@ZZZZi))顉iIIIO]>B>B0CBDB">B=BBBb;BED5?AzD5?AE=k E=WE=|E9"E=mR:*E=9VE=ם5ZE9BE=q;aM2E=r;aMJE=:aM:E=:aM52Acoustic response timeout! [ҏ,wi^H?A;ɰ;:S@:N@:U:ٱ:j FAHRS rotation from veh to nav: [[0.933297,0.355690,0.049418],[-0.359105,0.924837,0.125380],[-0.001107,-0.134762,0.990877]]:H ??GM?ֿ@D?o ?`#R?`D?i:S@I: }_;8YNq=yNDyktS㥛п̼ 0$ 9v/S?t$B٭B B)٭BY\BbDVDP9y%K=ٔs >Q->9I=4FyX<E>Q 5;4?Q 9;4qw83)L~Y>Q E,;y[?Q I?k>I:fe>Bfe?Jfe?2Acoustic response timeoutZZZZi1)1)999i9AIAIIIO*>ԡEM a EM _EM YEI "EM %.:*EM r9VEM J5ZEI aU @aU @aU @aU @ 2Acoustic response timeout ҏ,F^H?A2)@2-@2Ge;ٱ2C :AHRS rotation from veh to nav: [[0.924387,0.373317,0.078374],[-0.381399,0.908072,0.173033],[-0.006573,-0.189841,0.981793]]2H`?n? U?hؿ?`%? zLȿj?i2)@I2Þ_;2WCYvD=yvHvDxz@A U()]I]%i]"bDmVVDm Q9y>;%N=ٔa9I=4FywE>Q 5;4܄?Q 9;4h53)PYyį?Q I?>I6;i;;4yɮ0B1E*jBji%?i%zi!Ji%Ʒ<i! kIkIkIh2f:fBfJfX5?ZZZZ%iQ)Q)QQYiYYIaIyI AAO- >2Acoustic response timeout) ܭҏ,!^H?A2s@2w@23ٱ2p :AHRS rotation from veh to nav: [[0.916009,0.397524,0.053872],[-0.398747,0.887554,0.230757],[0.043917,-0.232857,0.971519]]2HO? q? +?ٿf?n?@=|? >Ϳ?i2s@I2N_;2UCBR>BPBRDBR#>BPBPBPBR`;BRED|D|El ETE^E"EV:*E9VE [5ZEBEBx;a 2EEx;a JE:a:E:aY] >y]D52Acoustic response timeoutbD%VD%9aIa=e4Fyae8Ee>iQ 5;4mF?Q 9;4m.23)mYy?Q I?m*>Im>;imV:m;4yɮB*jBji?iziJiƷ<i kC.kC.kC.h92fi:fiBfiJfm$?Z}Z}ZyZ}i))iI1IaIO+>Q 2Acoustic response timeoutԁ Ĵҏ,^H?A2s@2w@2-Tٱ2/e >AHRS rotation from veh to nav: [[0.912566,0.406563,0.043925],[-0.405624,0.886328,0.223364],[0.051880,-0.221652,0.973745]]2H`3??V}?@ٿ`\?3??_̿(?i2s@I2k_;2WCYN >yNDbDZ7VDZpQ9yr:%re=ٔvQ-v>9tIx=z4FyxzxE>Q 5%;4h?Q 9-;4t/3)LY)y-m?Q I-??I:i:;4Yy]vBɮ]0B]'E*jiBjqiu?iziJiƷ<i k&k&k&h) kCkCkChy2f:f>BfJfⱠ?ZZZZi))iI!IyIO>bEu5jEý5rEÑ3E%t E%E%E!"E%s:*E%E7:VE%5ZE!a=@a=@a=@a=@ԁE2Acoustic response timeoutԱ ҏ,w^H?A6`@6[@6ٱ6C/ >AHRS rotation from veh to nav: [[0.909231,0.414170,0.041971],[-0.415031,0.894019,0.168761],[0.032373,-0.170862,0.984763]]6H l?Á?<}?ݏڿ̛?? 2?`ſ`-?i6`@I6_;6YCR2Acoustic response timeoutYV>yVDbD^VD^Q9yf=%fL=ٔjG=Q-j>9hIh=n4Fyln{˼Er>pQ 5v;4rԋ?Q 9v;4rl,3)rYxyzĩ?Q Iz?rI3?Iry:ir-:rz;4y|ɮ~)B*jBji?iziJiƷ<i k@k@k@h) k@k@k@hA2fQ:fQBfQJfU?ZeZeZaZeiq)y)yyyiyIIIԱO=Ia>)a>BBBDBM>BBBBu;BəEEb EWEcE"E1:*E9VE&k5ZEBE9;a-2E9;a-JE:a-:E:a-2Acoustic response timeout9 ҏ,_H?A2I@2!D@2U9ٱ2) :AHRS rotation from veh to nav: [[0.908440,0.417264,0.025032],[-0.417861,0.904853,0.081444],[0.011334,-0.084447,0.996364]]2H?t?ۡ?:ڿ?ٴ?*6?J5?i2I@I2U_;2VCYN&>yRDyUy&1?)\(̿S㥛?U`e>UGaU$>Q Q9U/$?{GzԿV-YU,=yUףUUBUB UB)UVBQYUBbDu#VDuQ9y<%?=ٔH=Q->9I=4Fy8ݻE>Q 5;4B?Q 9;403))ԾY>Q E;yQ I?W?I:;i8;;4ybBɮB1E*jBji?iziJiƷ<i kBkBkBh)2fM8>:fM8>BfM7i@JfMWS@ZZZZi)) iII1IAO=2Acoustic response timeoutAuGD9Y:AiE- g E- XE- jE) "E- C:*E- 9VE- ـ5ZE) a5 @a5 @a5 @a5 @e 2Acoustic response timeoutԙ ҏ,!_H?A4<ɰp;2{@2v@2*<;ٱ2' :AHRS rotation from veh to nav: [[0.911064,0.412249,0.003679],[-0.412255,0.911068,0.001143],[-0.002881,-0.002558,0.999993]]2H@o'? Ib?@J#n?cbڿ`w'?R? gd`?i2{@I2`;2XCY^U>y^EbDjVDj?R9yr=%rV=ٔv=Q-v>9tIt=v4FytzK<Ez>|Q 5;4~@?Q 9;4~33)~Yy Q I ?~9w?I~ :i~N:~;4yɮB*j!Bj!i-?i-zi)Ji-Ʒ<i) kC'kC'kC'h2f:fBfJfN@ZZZZi))iI!I9IIqO=ԡ2Acoustic response timeouti=pAI=pA +ҏ,p;_H?AAA@AB">B B B B B B B";B"EB0CB0CBBBC4F{@F@FzٱFT< NAHRS rotation from veh to nav: [[0.906170,0.422687,-0.013868],[-0.422813,0.906183,-0.007859],[0.009245,0.012985,0.999873]]FHW?L ?f@^ۿ@s?<`E?旊??iF{@IF ,`;DYV/@>yVXDbDbVDbR9yfW%fK=ٔj#Q-j>Enh EniEntEl"EnG:*En9VEn5ZElBEn/_;av2En1_;avJEn8;av:En8;av9xIx=z4Fy|~E~>Q 5 ;4?Q 9 ;4_63)Y y Q I?O?I:i[:;4yɮB*j)Bj)i5?i5zi1Ji5Ʒ<i9 ks%ks%ks%hI k%k%k%hY2fi:fiBfiJfmL@Z}Z}ZyZiIA2Acoustic response timeouti!)!)IQQiQQIYIIO= @A!  2Acoustic response timeoutҏ,?U_H?A.m@.h@.WSٱ.μ :AHRS rotation from veh to nav: [[0.910246,0.414066,-0.001327],[-0.413867,0.909899,0.028235],[0.012899,-0.025152,0.999600]].H ??PU|ڿ?? j?`W?i.m@I.P_;,tYv->yz|DbD?VDR9yE1%MC=ٔMQ-M>9IIQ=U4FyQU*<EU>YQ 5e<4]~?Q 9e<4]93)]# YiymQ Im?]?I]:i]:]|<4yucBɮu By*jBji?iziJiƷ<i kC'kC'kC'h kcEkcEkcEh2f:fBfJf P@ZZZZi))iIII!OM=Ec EXEkE"Eg5:*E9VEu5ZEa@a@a@a@-2Acoustic response timeoutI -;ҏ,\o_H?A2@2@26Jٱ2Ƚ :AHRS rotation from veh to nav: [[0.906212,0.421059,0.038600],[-0.422813,0.901735,0.090019],[0.003096,-0.097897,0.995192]]2H??pã?^ۿ?x ? d\i?`?i2@I2O_;2WCB4=B<F2Acoustic response timeoutYR>yRIDbDZVDZ S9yv%vP=ٔv9xIx=z4Fyxz ͼE~>Q 5 <4Y{?Q 9 <4 =3)Y y Q I ?L?I :i:0<4yaBԙɮB*jBji?iziJiƷ<i k)k)k)h kAkAkAh2f:fBfJfrS@ZZZZi)))))))i)1I9IQIaO=BE>BABEDBE#>BABABABE;BEEEf E]EjE"EI@:*E9VEـ5ZEBER;a 2ER;a JE ;a :E ;a 52Acoustic response timeout "ҏ,_H?A2y@2t@2Fٱ2_% :AHRS rotation from veh to nav: [[0.897411,0.438143,0.051813],[-0.440671,0.884413,0.153695],[0.021516,-0.160760,0.986759]]2H? ?4?3ܿM?F?i?ǓĿ?i2y@I2|_;2XCYN >yRMDye|?5^?ʡEkteҍ>ee a a9e^I +?uVտkt?YeX>yere 0>esBeB eVB)eaYe8BbDVDS9y0%:=ٔ f+Q- >9 I = 4Fy>9E>Q 5%<4b?Q 9%<4A3)1Y-?Q E-:y-=Q I-?y?I:i:<4y5pBɮ5)B9*jIBjIiM?iUziQJiUƷ<iQ k%k%k%hi k3Ak3Ak3Ahy2fl>:fl>Bf@Jf<@ZZZZi))顱iIIIO}=2Acoustic response timeoutI)l>!QE e E VE aE "E <:*E 9VE d5ZE a @a @a @a @E 2Acoustic response timeoutԉ Lҏ,lТ_H?A23O@27J@2vS;ٱ2O/ :AHRS rotation from veh to nav: [[0.895271,0.440608,0.065990],[-0.445375,0.881303,0.157942],[0.011433,-0.170791,0.985241]]2H`?2??@ܿ3?m7?`Mj?xſ?i23O@I2_;2UCYf>yfDbDrVDrS9yz%z^=ٔz9|I|=~4Fy|OeE> Q 5<4 N?Q 9<4 F3) ˾YyQ I? l?I 6:i ; v,<4y%Bɮ%gB!*j9Bj9i=?i=ziAJiEƷ<iA k&k&k&hQ k#Ck#Ck#Chi2fy:fyBfyJf}.@ZZZZi))顡iIIIO =Qԁ2Acoustic response timeoutԩ B9 A9 BA BA BE DBE M>BA BA BA BE ;BE Ewҏ,2_H?A;ɰ;2He@2L`@2Hqٱ2z& :AHRS rotation from veh to nav: [[0.882152,0.466663,0.063512],[-0.470734,0.869445,0.149919],[0.014742,-0.162149,0.986656]]2H :??NB? ޿}?0?`0?@IĿ ?i2He@I2J_;2YCYN=yRDiTEbg Eb_EbgE`"EbC:*Ebr9VEbx5ZE`BEbX;aj2EbX;ajJEbd;aj:Ebd;ajbDpVDbS9yD%==ٔQ->9I=4FyOE>Q 5<4?Q 9<4J3)BYy7Q I?2Acoustic response timeout,?IW;iX;;<4yɮ rB *j!Bj!i%?i%zi!Ji%Ʒ<i) k'k'k'h9 kCkCkChI2fY:fYBfYJf]W~@ZmZmZiZmi))顁iԱIIIAOu= ߭ =ߩ  2Acoustic response timeoutI 1 s^ҏ,܄_H?A279@2;4@21ؼٱ2W :AHRS rotation from veh to nav: [[0.879394,0.474643,0.037148],[-0.475357,0.871017,0.123959],[0.026480,-0.126668,0.991592]]2H#?`?@?@l޿^?ɻ?`v?6?i279@I2t_;2WCYBu>yBDEb ESElE"E1:*E9VE5ZEa@a@a@a@  2Acoustic response timeout9bDVDS9y=<%==ٔEzQ-E>9AIA=M4FyIMsEM>QQ 5]<4Ux?Q 9]<4UR3)U&YayeQ Ie?U@IUd:iUp:U Q<4ymBɮmcBu;E*jBji?iziJiƷ<i k'k'k'h kAkAkAh2f:fBfJfO@ZZZZi))iII I! i O >ҏ,a_H?A 22Acoustic response timeout>Z@>U@>ٱ>L^ FAHRS rotation from veh to nav: [[0.881642,0.470391,0.037949],[-0.471915,0.878445,0.075037],[0.001961,-0.084065,0.996458]]>H i6??`n?3޿8? 5?`?@D?i>Z@I>*u_;yN1DbDZ VDZS9yb(>%b>ٔb>Q-f?9dId=f4Fydj<Ej?lQ 5r<4n™?Q 9r<4nS3)nnYpyrNQ Iv?nc@Inr;in<;nV<4yxɮzIBx*j Bj i ?i zi JiƷ<i k#&k#&k#&h! ksBksBksBh12fI:fIBfIJfM{@ZUZUZYZ]ii)i)iqqiqqIyIIOq=qB>BBDBw>BBBBk;BęEԹDzD@AEg E[EzE"EC:*E9VE5ZEBEa2EaJE;a:E;a-2Acoustic response timeout #sҏ,gF `H?AF@F@F(ѼٱFs RAHRS rotation from veh to nav: [[0.871553,0.490254,0.006825],[-0.489637,0.869561,0.064179],[0.025529,-0.059278,0.997915]]FH`?`T`?{? 6V߿ r?n?`Z$?Y?iF@IF_;DlY~.>yDm2Acoustic response timeoutbEmɧ5jEmd5rEmɷ#2E  E ^E vE "E *E ;9VE -5ZE a @a @a @a @Y % 2Acoustic response timeouti ԙ%=%=2Acoustic response timeoutA)A-AAB5>B1B5DB5M>B5=B1B1B5c;B5EEMa EMnEMfEI"EM%.:*EM:VEMt5ZEIBEMM3;aU2EMO3;aUJEMJ;a]:EMJ;a]92Acoustic response timeoutI!#2Acoustic response timeout ##U$OGi$$$I9$Y$@?A!%I(E-*] E-*QE-*^E)*"E-*:*E-*v9VE-* [5ZE)*a5*@a5*@a5*@a5*@iY+IY+e+2Acoustic response timeouty+ԡ.1 32Acoustic response timeout4 66)8BQ8BQ8BU8DBU8#>BU8=BQ8BQ8BU8;BU8ЙEBBBBBC48>8>D9@AzD9?AE9g E9`E9dE9"E9C:*E99VE9^n5ZE9BE9X;a92E9X;a9JE9;a9:E9;a9:2Acoustic response timeoutY;ԁ>A=A=yBX9v:v?+?BB=B=B B9B'1Z?i|?5/$YB">yBBBBB B)BVBBYBǴBbDB VDBS9yB%B<ٔBQ-C=9CIC=C4FyC CE C=CQ 5C<4C?Q 9C<4C_3)CYCK>Q EC;yCQ I%C?C2@IC:iC:C-<4)Cy-CBɮ5CMB1C*jACBjACiC?iCziCJiCƷ<iCCCR=C2Acoustic response timeout k&k&k&h D2fD>:fD>BfDƳ@JfD!@19D rDNAggregate::initialize marl:UpdateRudderq9%DJ]!Dq9-D9-D7-Do-DXAggregate::initialize marl:UpdateCommandMode18-D])D18-Do-D@Completed marl:UpdateCommandMode75Do5D\Aggregate::uninitialize marl:UpdateCommandModeq75Dn5DLAggregate::initialize marl:UpdateSpeed75D]1D75Dn5D4Completed marl:UpdateSpeedq75Dn5DPAggregate::uninitialize marl:UpdateSpeedZEDZEDZADZEDiQD)QD)QDYDYDiYDYDIiDIDIDOD @$ҏ,#K`H?Aԑ@@[!ٱK? 5AHRS rotation from veh to nav: [[0.859269,0.504078,0.086960],[-0.511428,0.843320,0.165082],[0.009879,-0.186324,0.982439]]H"?g!?@C?]z? k!?u;?wǿ #p?i@Iw_;VCYE|>yE`Dm=m4>bD}VD}uS9yS;% >ٔ=Q-?9I=4Fy.E?Q 5<4?Q 9<4s`3)YygQ I?4@I2;i;L<4yɮ[B*j)Bj1i5?i5zi1Ji5Ʒ<i1 kӵkӵkӵhi2fy:fyBfyJf}¡@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iII IAOm>ԹEb E_EgE"E1:*Er9VEx5ZEa@a@a@a@2Acoustic response timeout W*ҏ,`H?A6ϰ@6ʷ@6Sۼٱ6 >AHRS rotation from veh to nav: [[0.857566,0.512149,0.047802],[-0.513678,0.847861,0.131406],[0.026770,-0.137244,0.990175]]6H`-q?c?xy? p!?`?i?3?i6ϰ@I6}z_;6XCYV>yVzDbDb6VDbS9yjg:%jo=ٔjqJQ-j?9lIl=n4Fylr\Er?tQ 5v<4v?Q 9z<4vb3)v;YxyzQ Iz?v$9@Ivl:iv :v@<4yɮ]B*jBji?iziJiƷ<i kCkCkCh1 kkkhA2fQ:fQBfQJfUϡ@ZeZeZaZeiq)q)yyyiyIIIOz= =2Acoustic response timeout!BYA]<Be>BaBeDBe=Be=BaBaBe;BeڙEQDDEi EQEiE"E,K:*Ev9VEz~5ZEBEte;a2Ewe;aJE:a:E:a 2Acoustic response timeouty I l>) i>1ҏ,t`H?A4<ɰ2=ð@2A@2/;ٱ2ѽ :AHRS rotation from veh to nav: [[0.857076,0.512064,0.056660],[-0.515169,0.852827,0.085361],[-0.004611,-0.102351,0.994738]]2H`+m?b??@C|\J?;ڵ?r3@?i2=ð@I2d_;2VCYN=yRϕDbDZ6VDZ3T9yMaN%UB=ٔU՘=Q-]>9aIa=e4Fyam!nEm>qQ 5<4uS?Q 9<4u(d3)u[#Yy͗Q I?u>@Iu/;iu;u<4yɮhB*jBji?iziJiƷ<i kckckch kCkCkCh2f :f Bf Jf ѡ@ZZZZi))1)111i19I9QIYIiO=E2Acoustic response timeoutԁԱE a E VE kE "E %.:*E 9VE u5ZE a @a @a @a @ a8ҏ,>`H?A2M@2Q@20ٱ2d :AHRS rotation from veh to nav: [[0.855906,0.515976,0.034562],[-0.517020,0.852413,0.077991],[0.010780,-0.084623,0.996355]]2H c?߂?,?lF?=?@?թ@#?i2M@I2Z_;0YB >yBDDF?AR2Acoustic response timeoutbDNVDNT9yZ==%ZU=ٔZA$Q-^>9\I\=b4Fy`bJEb>dQ 5j<4f?Q 9j<4ff3)f&YhyjQ In?faC@If6:if :f\<4ypɮrXBp*jxBjxi~?i~zi|Ji~Ʒ<i kkkh kCkCkCh!2f1:f1Bf1Jf5@ZZZZi))iII I9O=ԱU=U<]2Acoustic response timeout 9 ;>ҏ,Ȳ`H?A2Ӱ@2η@2pٱ2a :AHRS rotation from veh to nav: [[0.858118,0.511800,0.041165],[-0.513451,0.855171,0.071072],[0.001172,-0.082125,0.996621]]2Hu?`??0n]? 1?m3S?R?i2Ӱ@I2s_;2XCYBt>yB,DbDJVDJT9yRR;%RK=ٔVN9TIT=Z4FyXZ*<EZ>\Q 5b<4^G?Q 9b<4^g3)^+YdyfkQ If?^H@I^:i^F:^r<4yhɮjWBl*jtBjtiv?ivzitJivƷ<ixB~>B~/CB|B|B~=B|B|B~;B| k3k3k3h! kkkh12fA:fABfAJfE:@ZUZUZQZ]ii)i)iiiiiqIyIIAEc E\EqE"Eg5:*E9VE5ZEBE?;a2E?;aJEx ;a:Ey ;a Ou=2Acoustic response timeout1a ] 2Acoustic response timeout h Eҏ,aH?A<>:د@>>Ӷ@>Qٱ> FAHRS rotation from veh to nav: [[0.841792,0.537536,0.049417],[-0.539442,0.834354,0.113386],[0.019718,-0.122105,0.992321]]>H?}3?0M?C??`0?@B?i>:د@I>[_;>WCY^=ybDf=f=yMS㥻x&?T㥛 M/ݽM7=MI I9MPn?S㥛X9v?YM>yM/ݼMs>MBM#B MB)MBIYMBbDe9VDe U9ymd%m>=ٔu1Q-u>9qIy=}4Fyy}{E>Q 5<4?Q 9<4h3)vYJ>Q EC;y8 Q I?K@I:i;o<4yɮfB*jBji?iziJiƷ<i kSkSkSh kkkh2f>:f>Bf@Jf:@ZZZZi))iIII)IiO=ԉE EbEzE"E*E9VE5ZEa@a@a@a@2Acoustic response timeout JKҏ,[/aH?A2@2@2l5ٱ2~ :AHRS rotation from veh to nav: [[0.843460,0.535378,0.044109],[-0.535364,0.830983,0.151170],[0.044279,-0.151120,0.987523]]2H? !?y?! j?Y?๫?@Wÿ@ʙ?i2@I2i_;0YB1 >yBDDF=bDNVDNJU9yV5 =%VX=ٔVބQ-V>9XIX=Z4FyX^;<E^>|Q 5 =4?Q 9 =4Ci3)B0CBBB=BBB;BED%=D<E_ EZEmE"E&:*Ea9VE5ZEBE&;a2E&;aJE1;a:E1;a 2Acoustic response timeoutA 3Rҏ,9IaH?AB6 @B:@BTSٱBؠ3 RAHRS rotation from veh to nav: [[0.842836,0.537346,0.029775],[-0.532741,0.825214,0.187640],[0.076257,-0.174012,0.981787]]BH? 1?Z}?@6 'h??@?Fƿj?iB6 @IBJ_;@Y^:>y^&DbDj,VDjU9yv`%vF=ٔzٞQ-z>9|I|=4Fy/;E > Q 5=4 ?Q 9=4 i3) >Y!y%۾Q I%? Q@I 3;i 94; $=4y)ɮ-dB)*jABjAiE?iEziAJiEƷ<iI kkkh2f:fBfJf@ZZ-Z)Z-iA)A)AAAiAIIIIaIO=A%2Acoustic response timeoutqԡ bE%A{5jE%'~5rE%w32E c E WE ^E "E g5:*E 9VE [5ZE a @a @a @a @|\Xҏ,caH?A";ɰ >㡯@B2Acoustic response timeout>眶@>܂ٱ>S6/ fAHRS rotation from veh to nav: [[0.836647,0.546275,0.040068],[-0.544007,0.820189,0.177049],[0.063854,-0.169924,0.983386]]>H@?@{??`h>?@?X?ſ@w?i>㡯@I>p_;yjߢDIr=)r%=bDvVDvU9y~W;%I=ٔ9 I = 4Fy  E >Q 5=4}?Q 9=4Jj3)9m>Y!y%Q I%?T@I;ij;I!=4y)ɮ-cB1*jABjAiE?iEziAJiMƷ<iI kkkha kkkhiy2f:fBfJf@ZZZZi))顩iI1IIIO=ԩ52Acoustic response timeout ^ҏ,|aH?A2ˮ@2Ƶ@2ٱ2 :AHRS rotation from veh to nav: [[0.823758,0.562068,0.074174],[-0.566897,0.814976,0.120177],[0.007098,-0.141046,0.989978]]2H:\?v?`?`$@H?`þ?}?` ¿?i2ˮ@I2U_;2XCBTBTBVDBVM>BTBTBTBV;BVEY>yzD  @AbDVDU9y-<%-G=ٔ5 >Q-5>91I1==4Fy9MEM>aQ 5m=4eI?Q 9m=4ek3)e>Yqyu Q Iu?eX@Ie:ie:e/=4yyɮ}]B*jBji?iziJiƷ<i kkkh kkkhDQzDQEq EuSEumEq"Eq*Eu9VEu5ZEqBEu?;a2Eu?;aJEul:a:Eum:a2f!:f!Bf!Jf%"@Z]Z]ZYZe2Acoustic response timeouti))iII!IQO>1 @G - B9) Y- 8AE 2Acoustic response timeouta ~neҏ,&ȖaH?A2@2@2)(;ٱ2i6 :AHRS rotation from veh to nav: [[0.826641,0.560434,0.050780],[-0.562725,0.823627,0.070566],[-0.002276,-0.086908,0.996214]]2Hs???&[? ? b??i2@I2K_;2VCYN>yR/Dy]sh|??+Mb])>]]Y Y9]+η?(\ſK7A`տY]v=y].]]*B]bB ]bB)])BYY]GBbDuVDuU9y<%E=ٔ%9I=4FyH<E>Q 5=4?Q 9=4Ym3)KM>Y>Q E ;yݿQ I?]@I:i:>=4yɮZB*jBji?iziJiƷ<i kCkCkCh kSkSkSh2f>:f>BfU@Jfc@ZZZZi)))))))i)19I9IQIaOU=Emg EmtEiEi"EmC:*Emv:VEiZEiau@au@au@au@y2Acoustic response timeoutԉԹ AAkҏ,yB'DbDJVDJU9yR=%VY=ٔVQ-V>9TIX=Z4FyXZA<EZ>\Q 5b=4^L?Q 9b=4^yo3)^d=Ydyfg׿Q If?^ c@I^:i^:^@K=4yhɮjCBl*jtBjtiv?ivzitJizƷ<ix kckckch ksksksh2f):f)Bf)Jf-طe@Z5Z5Z9Z=iI)I)IQQiQQII2Acoustic response timeoutI O]=ԑiIB>BBDBw>BBBBA;BEBaBaBaBaBaCe-5Dm=Dm4=Euf Eu[EutEq"EuI@:*Eu9VEu5ZEqBEuR;a2EuR;aJEu;a:Eu;a 2Acoustic response timeout ,rҏ,waH?A>$@> @>Ӳٱ>oɃ JAHRS rotation from veh to nav: [[0.829692,0.557937,0.017800],[-0.557794,0.827389,0.065519],[0.021828,-0.064289,0.997693]]>H֌? ?@6:? sy?Ű?Z?Du?i>$@I>ph_;yNDR=R=bDZVDZU9yb}%fH=ٔfb;Q-f>9dIh=j4Fyhj;Ej>lQ 5r=4n{?Q 9v=4nq3)n7OYtyv׿Q Iv?nh@Ins:in:nY=4yzBɮ~;B~EE*j Bj i ?i zi JiƷ<i k#k#k#h) kCkCkCh92fI:fIBfIJfM?e@Z]Z]ZYZ]ii)i)qqqiqyIyIIO= 2Acoustic response timeoutA E c E UE pE "E g5:*E P9VE 5ZE a @a @a @a @xҏ,hYaH?A i0I062Acoustic response timeoutB$7@B(2@B-üٱB JAHRS rotation from veh to nav: [[0.830948,0.556345,-0.002350],[-0.555840,0.830359,0.039314],[0.023823,-0.031362,0.999224]]BH@ ?`??cpM? ?%e??iB$7@IB_;BVCY~[>y\DbDUVDV9y%%%E=ٔ-iQ-->9)I)=-4Fy)53;E5>9Q 5E=4=?Q 9E=4=t3)=>YIyMMӿQ IM?=0n@I=6:i=B:=h=4yQɮUABQ*jaBjiim?imziiJimƷ<iq kkkh kkkh2f:fBfJfbQc@ZZZZi))iIIIqO}=ԙ2Acoustic response timeout I ) >~ҏ,D6aH?AB&>B$B$B$B$B$B$B& ;B&E>-@> (@>ٱ>|G JAHRS rotation from veh to nav: [[0.830155,0.557266,-0.017247],[-0.556782,0.830246,0.026194],[0.028916,-0.012142,0.999508]]>H?? +( _?Қ?+?݈`?i>-@I>ӥ_;>WC`Yb->yf|DhhbDn]VDnV9y}H=%A=ٔiDQ->9I=4Fyj;E>EI EM\EMrEI"EI*EM9VEM5ZEIBEM?;au2EM?;aJEMx ;a:EMy ;a)Q 5=4-y?Q 9 =4-Vv3)-Y)y5пQ I5?-s@I-=i-=-@w=4y9ɮ=7B9u2Acoustic response timeout*jBji?iziJiƷ<i kkkh2f:fBfJf1b@ZMZMZQZUia)a)顁iIIIO*>A % 2Acoustic response timeoutҏ,bH?A67@6;@6AHRS rotation from veh to nav: [[0.820082,0.572233,-0.003766],[-0.571906,0.819805,0.029041],[0.019705,-0.021662,0.999571]]6H>?`O?>n M;?ͼ?-?`.|?i67@I6O_;6XCYF%>yFDHHy333333$C?+?>= 9y&1 ףp= r?Y`eyQ>\BB xB)xBYzBbD50VD5V9yE%ER=ٔM9III=M4FyIUAEU>YQ 5e=4]X?Q 9e=4]v3)]mYmV>Q Em>;ym3Q Im?]Sv@I];i];]o=4yqɮu;Bq*jBji?iziJiƷ<i k3k3k3h kkkh2fi>:fi>BfY@Jfq@ZZZZi))iIIIO-=IEMb EMTEMnEI"EM1:*EM9VEMJ5ZEIaU@aU@aU@aU@2Acoustic response timeoutqԡ ҏ,1bH?A2r@2m@2ٱ25S :AHRS rotation from veh to nav: [[0.817155,0.575979,0.022486],[-0.575462,0.812934,0.089338],[0.033177,-0.085943,0.995748]]2H"&?@kn??/j?`޶? ?T)?i2r@I2_;2ZCYB >yBDbDJ+VDJV9yRJ%RU=ٔVQ-V>9TIX=Z4FyXZDEZ>|Q 5=4~P?Q 9=4~v3)~Y y BABEDBEM>BABABABE ;BEEEUf EQEUoEQ"EUI@:*EQVEU5ZEQBEUR;ae2EUR;aeJEU:ae:EU:ae 2Acoustic response timeout @AΒҏ, KbH?A2ڮ@2յ@2o ٱ2]; :AHRS rotation from veh to nav: [[0.824349,0.561006,0.075642],[-0.565085,0.807590,0.168751],[0.033583,-0.181854,0.982752]]2Ha??C]?. ?@?1?Fǿ`r?i2ڮ@I2 `;2VCYB>yBIDbDJVDJ.V9yV %VJ=ٔVQ-V>9XIX=Z4FyXZ<E^>`Q 5f=4b?Q 9f=4bv3)bYdyf!G@Q If?bz@Ib:ib:b=4ylɮnDBl*jxBjxiz?izzixJi~Ʒ<i| k^k^k^h  ksqksqksqh2f:fBfJfnp@ZZZZi))iIIQIaO=2Acoustic response timeout1Ee z Ee XEe uEa "Ee l:*Ee 9VEe 5ZEa am @am @am @au @q Vҏ,ebH?A&2Acoustic response timeoutBɥ@B͠@B@ٱBy JAHRS rotation from veh to nav: [[0.820281,0.563083,0.100386],[-0.570027,0.790396,0.224372],[0.046996,-0.241271,0.969319]]BH???޲?@=@J?9??ο?iBɥ@IB `;BUCYRS=yRDV=Vp=bD^VD^5V9yf?%jH=ٔjQ-j>9hIl=n4FylnEr>pQ 5v=4rK?Q 9z=4rv3)r=Yxyz8@Q Iz?r|@Ir:ir3:rC=4y|ɮRB*jBji?iziJiƷ<i! kXkXkXh1 kskskshA2fQ:fQBfQJfU Ѓ@ZmZmZiZmi))iII!9IYIO5=a=2Acoustic response timeoutԑԹ BA BA BE DBE #>BE =BA BA BE ;BE E&ҏ,bH?Av>E@vB@@vf/:ٱvv -AHRS rotation from veh to nav: [[0.831280,0.547634,0.095239],[-0.553993,0.802240,0.222492],[0.045440,-0.237714,0.970272]]vHٙ?7?a?P@?z?C?@mmο@w ?iv>E@Iv_;vVCYU=y]DbDVDTV9E%f E%^E%wE!"E%I@:*E%;9VE%ɕ5ZE!BE!aE2E!aMJE%;aU:E%;aUԉy 2<%;=ٔ[;Q->9I=4Fy(+=E>Q 5=4~?Q 9=4qv3)W>Yy:@Q I?~@I;id;=4yɮPB*j1Bj1i5?i5zi1Ji5Ʒ<i9M2Acoustic response timeout kC[kC[kC[hi2fy:fyBfyJf}{|@ZZZZi))iII)I9O>Թ 2Acoustic response timeoutI >) l> ҏ,WbH?A2E@2@@2Nٱ24 :AHRS rotation from veh to nav: [[0.831954,0.549172,0.079130],[-0.554393,0.817029,0.158467],[0.022375,-0.175707,0.984188]]2H^?Ғ?A?%?H?^?}ƿ`x~?i2E@I2_;0YB?=yB0DyEV-?MbMbX9E9qIq=u4Fyq}(8E}>Q 5=4D?Q 9=4u3)6\>Y>Q E;y?Q I?@I/:iZ:3=4yɮTB*jBji?iziJiƷ<i kYkYkYh kYkYkYh2f+d>:f+d>Bfܦ @Jfx?ZZZZi))i!I!IIO5=bEĵ5jEZ5rE{n1E-c E-YE-fE)"E-g5:*E-*9VE-t5ZE)a=@a=@a=@a=@e2Acoustic response timeoutI 4ҏ,2bH?A 6*@6.ݵ@6Lٱ6C >AHRS rotation from veh to nav: [[0.824954,0.564024,0.036433],[-0.564304,0.818307,0.109249],[0.031806,-0.110685,0.993346]]6Hf? | ?@T?`/??`H?U~?i6*@I6_;6XCYFp>yFߢDbDRVDRV9yV1=%ZW=ٔZc˼Q-Z>9\I\=^4Fy\^Eb>`Q 5f=4b?Q 9j=4bs3)b;c>Yhyj?Q Ij?b@Ib`:ib6:b{=4ylɮrKBp*jxBjxi~?i~zi9Ji=Ʒ<i9 kZkZkZhQ kC[kC[kC[h2f:fBf2Acoustic response timeoutJf$?ZZZZi))i I IIIO=iBA<B>BBDBw>B=BBB;BԙE=e E=eE=jE9"E=<:*E=9VE=ـ5ZE9BE=`L;aE2E=cL;aEJE=;*;aE:E=;*;aMm 2Acoustic response timeout ҏ,bH?A2uM@2yH@2 5ٱ2v :AHRS rotation from veh to nav: [[0.814184,0.580606,-0.001338],[-0.578907,0.811974,0.074601],[0.044400,-0.059964,0.997213]]2H` ? R?Ug? ?`?࠳`*?i2uM@I2`;0LYR(>yRDbDZRVDZW9yb4=%bI=ٔfQ-f>9dId=j4Fyhj6Ej>lQ 5r=4n?Q 9r=4n4r3)nl>Ytyv?Q Iv?n@In:in9:n=4yxɮz9Bx*j Bj i ?iziJiƷ<i k\k\k\h) k\k\k\h92fI:fIBfIJfM?Z]Z]ZYZ]ii)q)qqqiqyIyII!O= wm> C9QiI9Y?APExceeded connect timeout, disconnecting.2Acoustic response timeout! EM ^ EM XEM cEI "EM C#:*EM 9VEM &k5ZEI aU @aU @aU @aU @Fҏ,bH?A62Acoustic response timeout6خ@6ӵ@6Swٱ6 g bAHRS rotation from veh to nav: [[0.824233,0.566230,0.004927],[-0.565299,0.822311,0.065122],[0.032823,-0.056461,0.997865]]6H`?@?%.t?_P?ث?$Π?r謿?i6خ@I6_;4Yj>yjzD ttv=v=bD=VD=W9yUBo%UB=ٔU 9yI=4Fyt"=E>Q 5=4?Q 9=4p3),w>Yy?Q I?m@IM;iA;=4yɮFB*jBji?iziJiƷ<i kCZkCZkCZh92f:fBfJf?ZZZZiQ)Y)YYYiYaIaIyIO>)Q2Acoustic response timeoutԁ B >B /CB DB =B =B B B !;B EBBBBBCX5B2ҏ,cH?AY}3@.@d<ٱ=F½DzD@AE` EYEnE"E*:*E*9VEJ5ZEBE-;a2E -;aJE:a :E:a  AHRS rotation from veh to nav: [[0.830855,0.552771,0.064214],[-0.556314,0.827934,0.070994],[-0.013922,-0.094709,0.995408]]H^?L?Vp?`Sn~?,?傌> a?i}3@I8_;YO >y%ۨDy ~jt?:v?Clɿ > T< O  9 %C?sh|?V-ͿY Zd>y  m B B ߵB)  Y BbD%sVD%W9y5T%5/=ٔ5U=Q-=>99I9==4Fy9E<EE>IQ 5U>4Mt?Q 9U>4M.s3)MU >YU&>Q EU;y]\Q I]?M@IM:iM':M>4yam2Acoustic response timeoutɮeIBq*jBji?iziJiƷ<i kAkAkAh2f>:f>Bf~^@Jf͟[@ZZZZԁi))顑iIII>>O(>Ա nManaging dock network, ignoring radio surface power off  2Acoustic response timeouteXҏ,4cH?A2@2@2˸<ٱ2k :AHRS rotation from veh to nav: [[0.822917,0.559802,0.097111],[-0.567714,0.816954,0.101427],[-0.022556,-0.138597,0.990092]]2H UU??Aܸ? *{$?`?`@ծ?i2@I2B_;2UCYB>yBzDbDNiVDNW9yV <%V=ٔVI4b?Q 9f>4bu3)b=Ydyf"Q If?b@Ib:ib:b>4yhɮnFBl*jtBjxiz?izzixJizƷ<ix kAkAkAh  kZkZkZh2f):f)Bf)Jf-Z@195 r5NAggregate::initialize marl:UpdateRudderq95J]1q959=7=ԹoXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi) )   i I1IiIyO=E e E gE sE "E <:*E &9VE X5ZE a@a@a@a@2Acoustic response timeout9 Rҏ,{4cH?A2밮@2﫵@2w@ٱ28 :AHRS rotation from veh to nav: [[0.821906,0.562049,0.092581],[-0.569502,0.807461,0.153867],[0.011725,-0.179189,0.983745]]2HM?@M?b?[9?`?J?ƿz?i2밮@I2_;2VCYf[>yf\DlnAbDrVDr3X9yz*<%zF=ٔzQ-~>9|I|=4FyܡE> Q 5>4 ?Q 9>4 w3) ZYyQ I? @I w;i ; b>4y!ɮ%AB!*j1Bj1i=?i=zi9Ji=Ʒ<iA k#Bk#Bk#BhQ k^k^k^ha2fq:fqBfqJfu.[@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))顡iI2Acoustic response timeoutI 1I O'>ABBBzDBJ=BBBB\;BED=D%=Eh EYEfE"EG:*E*9VEt5ZEBE/_;a%2E1_;a%JEa-:Ea-i 2Acoustic response timeoutԙ jҏ,XTNcH?A2We@2[`@2,ٱ2. :AHRS rotation from veh to nav: [[0.815948,0.574554,0.064157],[-0.576587,0.800661,0.162755],[0.042143,-0.169792,0.984578]]2H>?b?l?gs?@'?ӓ?`ſ?i2We@I2_;2WCYR_>yRvDV@ATqbDVDJX9y%#=ٔ?yQ->9I=4Fy-E->1Q 5=>45?Q 9E>45z3)5YAyEhQ IE?52@I5p:i5]<5!1>4yɮCB2Acoustic response timeout*jABjAiE?iEziIJiMƷ<iI ksEksEksEhY kCZkCZkCZhԡ2f):f)Bf)Jf-FZ@Z=Z=ZZi))iII I E% d E% RE% kE! 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S?@?i6@I6_;6WCYvx>yvFDEn E\EuE"EO]:*E9VE5ZEa@a@a@a@qiIIIU2Acoustic response timeoutԙ  2Acoustic response timeout A)A)B->B)B)B)B)B)B)B-?;B-EB/CB/CBBBC4!IEmb EmVEmlEi"Em1:*Em9VEm5ZEiBEiau2Em9;auJEmC:a}:EmD:a}2Acoustic response timeoutyԡiYIYae%=m2Acoustic response timeouty!E-$c E-$\E-$iE)$"E-$g5:*E-$9VE-$z~5ZE)$a5$@a5$@a5$@a5$@I5$>)1$$2Acoustic response timeoutԩ$'+=,2Acoustic response timeout).Be/>Ba/Be/DBe/M>Ba/Ba/Ba/Be/3;Be/EY1Dq2zDu2AAE-3i E-3]E-3tE)3"E-3,K:*E-39VE-35ZE)3BE-3te;a532E-3ve;a=3JE-3 ;a=3:E-3 ;a=3i3I3A32Acoustic response timeoutԁ4Ա7:;2Acoustic response timeout > YAYAeA>eAp=yAEп㥛 ?$CӿAA=AA A9AMbA`"?MbXYAyA=AʽAuBAB AWB)AuBAYAuBbD BVD BX9yB%%B <ٔ%Bn;Q-%B=9)BI)B=-B4Fy)B-B!E-B=1BQ 5=B>45B?Q 9EB>45B]3)5Bu=YEBl>Q EEB;yEB?Q IEB?5B@I5B:i5B:5B>4yIBɮUBBBQB*jaBBjaBieB?imBziiBJimBƷ<iiB k:k:k:hB k:k:k:hB2fB=>:fB=>BfB>JfBL@ԱBZBZBZBZBiB)B)BBBiBBIBICI!CEC_ ECQECjEC"EC&:*ECv9VECـ5ZECaC@aC@aC@aC@OC@)ҏ,dH?Aj2Acoustic response timeoutm-@m1@m!Sٱm AHRS rotation from veh to nav: [[0.809910,0.585597,0.033492],[-0.584287,0.800448,0.133764],[0.051523,-0.127905,0.990447]]mH?@6? %? z D?)??a?@2_@?im-@Imތ_;mVCYB=yWDbD%VDX9yEH%(>ٔkQ-?9I=4Fy =E ?Q 5>4J?Q 9>43);=Yy)?Q IE?@I;i;Q>4yaɮeNBi*jyBjyi}?i}ziJiƷ<i kSkSkSh kckckch2f:fBfJf^ռ@ZZ Z Z i9)9)9AAiAAIIIIO> 9y}=2Acoustic response timeoutBi Ai Bu >Bq Bq Bq Bq Bq Bu .DBu /;Bu Eԉ 0ҏ,~QdH?A6u@6p@6Jٱ6 >AHRS rotation from veh to nav: [[0.816842,0.575377,0.041360],[-0.574751,0.805630,0.143601],[0.049304,-0.141071,0.988771]]6H#?~i?'-?\d?a?S>?@¿@?i6u@I6@\_;6UCYF-=yFDbDbVVDbX9yj%j^=ٔn;Q-n>9lIp=r4Fypr=Er>tQ 5z>4v?Q 9z>4vS3)vc;Yxy~*?Q I~?v@Iv:ivM;v>4yɮPB*jBji?iziJiƷ<i! kCkCkCh1 kCkCkChA2fQ:fQBfQJfU|@ZeZeZiZmi))i IQIyDD=IO=E5j E5bE5E1"E5N:*E59VE5H5ZE1BE5k;a=2E5k;a=JE5O;aE:E5P;aE2Acoustic response timeoutԁԱ 2Acoustic response timeout "6ҏ,.dH?Aɰ4yfخDIn=)n=bDrUVDpyz(6=%zH=ٔ~Q-~>9|I=4FyWE> Q 5?4 I?Q 9?4 3) e.Yy\?Q I? @I ;i ; L?4y!ɮ%GB)*j9Bj9i=?i=ziAJiEƷ<iA kkkhQ kkkhi2fy:fyBfyJf}6@ZZZZi))顡iIIIQO=ԱEd EZEpE"E9:*Ea9VE5ZEa@a@a@a@iI2Acoustic response timeout 9 \=ҏ,- dH?ABZp@B^k@B-׼ٱBf# JAHRS rotation from veh to nav: [[0.798777,0.599236,0.053595],[-0.601054,0.790954,0.114571],[0.026264,-0.123730,0.991968]]BH ?`,?p?;}O?T? ?Ŭ@4?iBZp@IBCJ_;BVCYj>yjDn?An?AbDvZVDvX9y~%~J=ٔ >Q->9I=4Fy   |E >Q 5?4?Q 9?43)ֳYy%`?Q I%?T@IQ;i<;q?4y)ɮ-MB)*j9BjAiE?iEziAJiEƷ<iA k3k3k3hY kkkhi2fy:fyBfyJf}0@ZZZZi))顡iIIIIO%=]2Acoustic response timeoutB9B9B=DB==B9B9B9B=2;B=EAIe>)a>DzDEg EYErE"EC:*E*9VE5ZEBEX;a2EX;aJE:a:E:ai  2Acoustic response timeoutDҏ,eH?A4F@F@F-<ٱF@ NAHRS rotation from veh to nav: [[0.801992,0.594901,0.053875],[-0.597270,0.799972,0.057561],[-0.008855,-0.078341,0.996887]]FH@?`m ?s?@_?@x? v" 0 ?iF@IFn_;FWCYV>yVpDym?㥛 ¿V-?mf>mm=i i9mT㥛 ?ClٿSÿYm>ymϾmmBmB mB)miYmpBbDVDX9y܅=%A=ٔ=Q->9I=4Fy?<E>Q 5?4?Q 9?423) Y>Q E:yQ I?7@I ;i7 ;<$?4yɮ?B*jBji?iziJiƷ<i k#k#k#h kkkh 2f>:f>BfrWt@Jf$M@Z-Z-Z)Z-i9)A)AAAiAIIIIaIqO=ԉe2Acoustic response timeoutԹ bE5jE˛5rE˧1E d E [E uE "E 9:*E 9VE 5ZE a @a @a @a @0Jҏ,U*eH?A((f2Acoustic response timeoutd^r@^v@^<ٱ^pY vAHRS rotation from veh to nav: [[0.811246,0.582692,0.048475],[-0.584307,0.810960,0.030477],[-0.021553,-0.053049,0.998359]]^H? i?@Ѩ? b?`Z5?1)@?i^r@I^V_;\Y~*>y~"DbDVD}Y9y-<%-Q=ٔ5=Q-5>91I1==4Fy9=&=EE>AQ 5M?4E?Q 9M?4Ec3)EBYQyUQ IU?E@IE:iE:E1?4yYɮ]9Ba*jqBjqiu?iuziqJiuƷ<i kkkh kkkh2f):f)Bf)Jf-M@Z]Z]ZYZeiq))顑iIIIO-=u2Acoustic response timeoutA A% AAA% AAB) B) B- DB- M>B) B) B) B- C;B- EAQҏ,qDeH?ARw@R{@R <ٱR@ ^AHRS rotation from veh to nav: [[0.808041,0.586880,0.051392],[-0.589066,0.806124,0.056258],[-0.008411,-0.075732,0.997093]]RH y? ?O? ?@ͬ?9/c /?iRw@IRx_;RXCYb/>yb5DbDnYVDnY9yvg<%vN=ٔzQ-z>9xI|=~4Fy|~lE~>Q 5 ?4 ?Q 9?43)sY!y%[Q I%?#@I[;i;??4y5vBɮ=B=OE*jYBjYi]?ieziaJieƷ<ii kSkSkSh2f:fBfJfN@ZZZZii)q)qqqiqyIyEe EZElE"E<:*Ea9VE5ZEBE`L;a2EcL;aJE0;a:E1;aIIO5=iIA2Acoustic response timeoutA AA C}GyF9YAHRS rotation from veh to nav: [[0.801905,0.595022,0.053828],[-0.597401,0.797401,0.085223],[0.007786,-0.100497,0.994907]]2H 4?k ?e? P?`$ѵ? ?3F?i2@I2uV_;2VCYF&>yFDbDnVDnY9yrC%vK=ٔvl$Q-v>9xIx=z4Fyx~ҼE~>|Q 5?4~?Q 9 ?4~ 3)~PY y fQ I ?~@I~p:i~F:~M?4yɮ#B*j)Bj)i5?i5zi1Ji5Ʒ<i9 kskskshI kkkhYq2fq:fqBfqJfuN@ZZZZi))顙iIIIO=ԡEf EYExE"EI@:*E*9VEe5ZEa@a@a@a@2Acoustic response timeout m]ҏ,TRxeH?Aɰ2.@22@2nIٱ2ɽ :AHRS rotation from veh to nav: [[0.804113,0.593021,0.041564],[-0.594099,0.799150,0.091678],[0.021152,-0.098413,0.994921]]2H L?`?G?@?`9tIt=v4Fytz!<Ez>xQ 5U?4z ?Q 9U?4zg3)zsYYy]wQ I]?zl@Iz4T BBDB#>B=BBBn;BEBBBBBC!51Ee EXEE"E<:*E9VE5ZEBEa2EaJE:a:E:a 2Acoustic response timeoutY Udҏ,.eH?A2έ@2ɴ@2o%ٱ2 :AHRS rotation from veh to nav: [[0.805872,0.589251,0.057906],[-0.592004,0.800224,0.095774],[0.010097,-0.111462,0.993717]]2H@?%? ѥ?`p?ࡄ?@⭄?@È?i2έ@I21X_;2UCYN|>yR`Dy%oʡ?+/$?%->%%,>! !9%K7?Կx&1?Y%>y%f%A>%RB%ߪB %MB)%B!Y%BbDEVDEzZ9yU%U<ٔUY9YIY=]4Fyae;Ee>iQ 5u?4mT?Q 9u?4mҟ3)mkYu>Q E :y Q I ?m@Im:fuۈ>Bfu@@Jfu@ZZZZi))顙iIIIO=E2Acoustic response timeoutaIa>)]>ԉA E >E h E [E E "E G:*E 9VE *5ZE a @a @a @a @ jҏ,eH?AR2Acoustic response timeoutZo@Zs@ZޔٱZr_ fAHRS rotation from veh to nav: [[0.792159,0.607211,0.061467],[-0.610269,0.786846,0.091893],[0.007433,-0.110306,0.993870]]ZH`^Y? Fn?x?S-?Q?`r~?@<@?iZo@IZkI_;ZVCYj>yjDbDvVDvdZ9y~=4%~P=ٔ*;Q->9I=4Fy  HnE >Q 5?4B B B B =B B /DB g;B E Agqҏ,eH?A6v@6q@6`ٱ6U˽ FAHRS rotation from veh to nav: [[0.799515,0.597954,0.056807],[-0.600636,0.795378,0.081301],[0.003431,-0.099121,0.995069]]6H`?p"??i8s?д? l?@`?i6v@I6^_;6TCY~>y/D  bD=rVD=Z9yU<%UE=ٔ]9aIa=e4Fyam<Em>iQ 5u?4mW?Q 9}?4mh3)mJYyy} Q I}?mK@Im;im;mφ?4yɮ+B*jBji?iziJiƷ<i k3k3k3h ksksksh2f:fBfJf @sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi) )   i II)E}b E}VE}mEy"E}1:*E}9VE}5ZEyBE}9;a2E}9;aJE}C:a:E}D:aIO=2Acoustic response timeoutI e 2Acoustic response timeout#wҏ,eH?A02i@2m@2;ٱ2? >AHRS rotation from veh to nav: [[0.803930,0.590426,0.071368],[-0.594688,0.799402,0.085460],[-0.006594,-0.111146,0.993782]]2H ˹??2E?@ ??{@ t`?i2i@I2H_;2WCY^>ybDbDjVDj [9yrU%rR=ٔv 9tIt=z4Fyxz<Ez>QQ 5]?4U?Q 9]?4U3)U3!=YYy]Q Ie?U|@IU;iUL;Uʔ?4yiɮm5Bi*jyBjyi?iziJiƷ<i kkkh kkkh2f:fBfJf!@ZZZZi))iIIIOE=ԑEh EZE^E"EG:*Ea9VE [5ZEa@a@a@a@2Acoustic response timeout @A л}ҏ,ceH?A2*@2.@2{Cٱ23 :AHRS rotation from veh to nav: [[0.807847,0.586508,0.058238],[-0.589272,0.801727,0.099959],[0.011936,-0.115070,0.993286]]2H@?`?Sѭ?P ??` r?3u ?i2*@I28g_;0YN >yR D\bDZ+VDZ[9yfY<%fL=ٔj6=Q-j>9hIh=n4Fylni<Er>pQ 5v?4r?Q 9v?4rð3)r>Yxyz Q Iz?r@Ird:ir:ro?4y~_Bɮ~BYE*jBji?iziJiƷ<i kkkh1 kckckchA2fQ:fQBfQJfU@ZZZZi)2Acoustic response timeout)!!i!!I)IAIqFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO=B>BBDB=BBB.DBV;BEEb EcEE"E1:*EL9VE5ZEBEa2EaJE";a:E";ai I A 2Acoustic response timeoutA ҏ,ufH?Aɰ28@23@2FDٱ2L  :AHRS rotation from veh to nav: [[0.813184,0.578899,0.060071],[-0.581262,0.802583,0.134149],[0.029447,-0.144005,0.989139]]2H?`V?`??`+?k'?@n¿@?i28@I2H_;0Yj >yjDIn=)n ףp=ҿ~jt?)\(?e둾e=eGa=a a9erh|?~jt?Zd;?Ye=ye=ey>e׾BeB e+B)eBaYepBbD}VD} [9y5:%?=ٔt'Q->9I=4Fy<E>Q 5?4?Q 9?4۰3)l>Y?>Q E@;y_wQ I?b@I;i;h?4yɮ*jBji?iziJiƷ<i k k k h k k k h2f >:f >Bf@Jf`@Z%Z%Z!Z%i))项iIIIO==I-2Acoustic response timeoutqԡ E  E E dE "E :*E VE ^n5ZE a @a @a @a @͊ҏ,]P-fH?A2@2@2Ƨٱ2 :AHRS rotation from veh to nav: [[0.809651,0.583681,0.061495],[-0.586004,0.798125,0.139983],[0.032625,-0.149374,0.988242]]2H??C|? >??6?@ÿ?i2@I2rs_;2VCB2Acoustic response timeoutYF>yFSDHHbDRVDR [9yZ%ZY=ٔ^l Q-^>9\I`=b4Fy`bɀEb>dQ 5j?4f ?Q 9j?4f3)fw>Yhyn/cQ In?f@If:ifz ;f?4ypɮrBt*j|Bj|i=?i=zi9Ji=Ʒ<iA kSkSkShQy kSkSkSh2f:fBfJfGE@ZZZZi))i I IAIqO=ԡI]>)Y>52Acoustic response timeoutBm >Bi Bm DBm #>Bm =Bi Bm /DBm ;Bm E öҏ,M0GfH?ABJX@BNS@B;ٱB2 NAHRS rotation from veh to nav: [[0.815585,0.575885,0.056362],[-0.578281,0.807792,0.114293],[0.020291,-0.125809,0.991847]]BHF?`m?۬?Gn? PB?ǔ?5?iBJX@IBS_;@YV >yVgDbD`VD`yfa<%jH=ٔj9lIl=n4Fylr<Er>pQ 5v?4r?Q 9z?4r3)r>YxyzqQ Iz?r@Ir~:irS:r?4y|ɮB*jBji?iziJiƷ<i kukukuh1 kukukuhA2fQ:fQBfQJfUD9@ZeZeZaZei))iI!E]d E]WE]lEY"E]9:*E]9VE]5ZEYBE]F;ae2E]F;aeJE]:am:E]:amIIIiIO-=2Acoustic response timeout)U 2Acoustic response timeoutY ~ߗҏ,afH?AB9@B=@BٱB뾽 JAHRS rotation from veh to nav: [[0.822363,0.568283,0.027834],[-0.568140,0.817556,0.093912],[0.030613,-0.093043,0.995191]]BH@P? _/?m?3. k)?` ?@Y?ѷ?iB9@IBQ_;BTCYR_>yRvD TTbDZVDZZ9yf<%fK=ٔfҼQ-f>9hIh=j4FyhjE<En>pQ 5v?4r2?Q 9v?4r;3)rQ?YtyvQ Iv?r@IrA:irM:r?4yxɮ~B|*j Bj i ?iziJiƷ<i ksksksh) ktktkth92fI:fIBfIJfM @Z]Z]ZYZ]ii)q)qqqiqyIyIIOr=1abE5jE5rENS3Eu^ Eu^EueEq"EuC#:*Eu;9VEuq5ZEqa@a@a@a@iߙIߝA2Acoustic response timeoutԉԹ ҏ,zfH?A2b@2]@2lrٱ2 :AHRS rotation from veh to nav: [[0.814796,0.579651,-0.010623],[-0.576189,0.811685,0.095776],[0.064139,-0.071917,0.995346]]2H ?`?$pS?„?`jk?@#i`?i2b@I2̛_;2XCYN>yR9DRp=Rp=bDZVDZZ9y%G=ٔQ- >9 I = 4Fy ټE>Q 5%?4W?Q 9%?4j3)n?Y!y% Q I-?@I:i:B?4y1ɮ5B1*jABjAiM?iMziIJiMƷ<iI krkrkrha krkrkrhq2f:fBfJf~f@ZZZZi))顩iIII2Acoustic response timeoutO%=ԑB%>B!B%DB%M>B%=B!B%.DB%;B%eE AADizDm@AEui EuUEuaEq"Eu,K:*EuP9VEud5ZEqBEute;a2Euve;aJEu:a:Eu:a 2Acoustic response timeout) A a ҏ,!fH?A,FG9DYFZ=ABi@Bm@BnٱB` RAHRS rotation from veh to nav: [[0.817630,0.574779,-0.033315],[-0.568981,0.815515,0.105813],[0.087988,-0.067560,0.993828]]BH*?d?@5?`?@b?Kp?iBi@IB_;BVCYZ >yZDy9vҿ> ףp=?Mbп> 9пZd;O?Dl?Yyj=O=BըB B)BYBbDVDZ9y <%>=ٔ[dQ->9I=4Fy"<E>Q 5?4?Q 9?43)"?Y>Q E@;y @Q I?@Is:i:B?4yvBɮ1BOE*jBji?iziJiƷ<i kqkqkqh  kqkqkqh2f-{>:f-{>Bf-~@Jf-@Z=ZEZAZEiQ)Q)YYYiYYIaIyIO=2Acoustic response timeout) Ee c Ee YEe fEa "Ee g5:*Ee *9VEe t5ZEa au @au @au @au @6ҏ,JfH?Aɰ; 62Acoustic response timeoutF@F@FhܽٱFZ˽ NAHRS rotation from veh to nav: [[0.814343,0.579578,-0.030576],[-0.570358,0.808913,0.142657],[0.107414,-0.098732,0.989300]]FH??@1O _@?B?t?@F@X?iF@IFV_;FXCYV >yVDbDbVDbZ9yj&:%j\=ٔjVQ-j>9lIl=n4FylrEr>tQ 5v@4v?Q 9z@4v3)v%?Yxyzb @Q Iz?v@Iv6:iv:vE@4yɮ0B*jBji?iziJiƷ<i ksksksh1 k#sk#sk#shA2fQ:fQBfQJfU$@ZeZeZaZeiq)q)iI!I9IIO}=qԙ2Acoustic response timeout B A B >B B DB w>B B B /DB };B >EBBBBBC5i4ҏ,?rfH?A6]@6X@6jýٱ6|4& >AHRS rotation from veh to nav: [[0.812436,0.582813,0.016643],[-0.575214,0.796525,0.186217],[0.095273,-0.160863,0.982368]]6Hy?@h? ?'h!}??`c?&Ŀ@o?i6]@I6K_;4LYPyPbD^VD^Z9ٔ9 I = 4Fy  KE >Q 5@4?Q 9%@4-3))?Y!y%3 @Q I%?UAIn;iz;@4y)ɮ)1*jABjAiE?iEziIJiMƷ<iI ktktktha ktktkthq2f:fBfJfWބ@ZZZZi))顩iIIE=e E=^E=dE9"E=<:*E=;9VE=^n5ZE9BE=`L;aM2E=cL;aMJE=;aM:E=;aMIyO=iqIq}2Acoustic response timeoutIV>)l> % 2Acoustic response timeout-ҏ,NfH?A2Ge@2K`@2AӼٱ2S :AHRS rotation from veh to nav: [[0.816398,0.569129,0.097914],[-0.576914,0.796204,0.182287],[0.025785,-0.205306,0.978358]]2H? N6??vz?,U? |g?zGʿN?i2Ge@I2_;2SCYf=yfDbDrVDrZ9y%%-<ٔ-@.>Q-->9)I1=54Fy15;E5>9Q 5E@4=?Q 9M@4=3)=n-?YIyM@Q IM?=AI=p:i=:=!@4yQɮU8BY*jiBjiim?imziiJiuƷ<iq ktktkth kkkh2f:fBfJf7@ԹZZZZi))iII)IO=EMa EMWEMtEI"EM%.:*EM9VEM5ZEIaU@a]@a]@a]@}2Acoustic response timeout9 BWҏ,_&fH?A2k@2f@2:ٱ2L :AHRS rotation from veh to nav: [[0.817137,0.564621,0.116149],[-0.576441,0.801039,0.161409],[-0.001905,-0.198846,0.980029]]2H%?`?@?`4r? ?5_sɿe\?i2k@I2{_;2VCYB->yBخDbDNVDN[9yV&;=%VS=ٔV?=Q-V>9XIX=Z4FyX^f ;E^>`Q 5f@4b'?Q 9f@4b]3)b_2?Ydyf@Q If?bAIbl:ib :bt/@4ylɮn/Bl*jtBjtiv?izzixJizƷ<ix kqkqkqhI2fy:fyBfyJf}d@ZZZZi))iI2Acoustic response timeoutI IIOe=BBBDBM>BBBBu;B9EAEUk EQEUjEQ"EUmR:*EQVEUـ5ZEQBEUq;ae2EUr;aeJEU:ae:EU:aeq 2Acoustic response timeoutԙ Dҏ,7gH?A2ˮ@2 Ƶ@22<ٱ2W9 :AHRS rotation from veh to nav: [[0.823725,0.560128,0.087947],[-0.566885,0.816593,0.108711],[-0.010925,-0.139403,0.990175]]2H[?@??#!?uԻ?_``?i2ˮ@I2_;0YB>yBDy Cl?w/ĿMb O> & @  9 ?PnJ +ɿY ff>y  H OB mB B) ܭB Y  BbD%VD%Z9y5w<%5A=ٔ599I9==4Fy9E<EE>IQ 5U@4M?Q 9U@4M13)M?YUq>Q EU#;y]蚿Q I]?MAIM] ;iM;M9>@4yaɮe+Ba*jqBjqi}?i}ziyJi}Ʒ<iy kSrkSrkSrh2f%>:f%>Bf%?Jf%@ZUZUZQZUia)ai)i顉iIIIO =2Acoustic response timeoutԙ @AE] f E] \EY EY "E] I@:*E] 9VEY ZEY ae @ae @ae @ae @ iҏ,Y/gH?A"2Acoustic response timeoutR@R@RXٱR"M ZAHRS rotation from veh to nav: [[0.821451,0.568877,0.039973],[-0.570213,0.818268,0.072769],[0.008688,-0.082569,0.996547]]RHSI?<4?Ww?`/??/?? ˁ?D#?iR@IRϋ_;RWCY~(>y~DbDVDZ9y%0=%%L=ٔ%HQ-%>9)I)=-4Fy)5$E5>1Q 5E@45?Q 9E@45Ϊ3)5R ?YAyEnQ IE?5[AI5;i5:59L@4yIɮU"BQ*jaBjaie?imziiJimƷ<ii kYkYkYh ksksksh2f:fBfJfb>ZZZZi))iIIIyO=2Acoustic response timeout) A @AA @AB B B DB w>B B B B ;B @E$Qҏ,зIgH?Aɰ6@6 @6ٱ6Sa >AHRS rotation from veh to nav: [[0.828562,0.559358,0.024562],[-0.559846,0.827094,0.049879],[0.007585,-0.055079,0.998453]]6H?C?&?A`w?Ɖ?@?`M3 T?i6@I6P_;4YF>yFDbDNVDN[9yV%VR=ٔZ9;Q-Z>9XIX=Z4Fy\^h=E~>Q 5 @4?Q 9 @4V3)>Y yǒQ I? AI:iZ@4yɮ)B*j)Bj1i5?i5zi1Ji5Ʒ<i1 k3[k3[k3[hi kSskSskSsh2f:fBfJfz*z>ZZZZi))Ed EcEhE"E9:*EL9VEA{5ZEBEF;a-2EF;a-JE";a-:E";a-i19I9IQIO=U2Acoustic response timeoutYyԩ  =  2Acoustic response timeout{ҏ,_cgH?A2^@2b@23<ٱ22^ :AHRS rotation from veh to nav: [[0.829244,0.557497,0.039379],[-0.558779,0.828406,0.038847],[-0.010965,-0.054218,0.998469]]2H +??{)? N? ?t@k«u?i2^@I2_;2VC@YB>yF9DbDRVDRu[9yV7%VJ=ٔZ;=Q-Z>9XI\=^4Fy\^M;Eb>`Q 5f@4bM?Q 9f@4bׯ3)b>YhyjrQ Ij?b AIb:ib9:bg@4ylɮr2Bp*j|Bj|i?iziJi Ʒ<i  kZkZkZh12f:fBfJfo>ZZZZi ))1i19I9IQIiO=ԩE-e E-SE-oE)"E-<:*E-9VE-5ZE)a5@a5@a5@a5@e2Acoustic response timeoutIN>);> Uҏ,:v}gH?A2@2 @2(ȼٱ2) :AHRS rotation from veh to nav: [[0.821168,0.570169,0.024271],[-0.570163,0.817853,0.077664],[0.024431,-0.077614,0.996684]]2H G?>? ژ?>@+??x?~޳?i2@I2h_;0Y^>y^DbDjVDj[9lyr4=%rG=ٔv1Q-v>9tIt=z4Fyx~ E>Q 5%@4?Q 9%@43)>Y!y-YQ I-? AI:it:xv@4y5_Bɮ5B5YE*jIBjIiM?iMziQJiUƷ<iQ kZkZkZhi2Acoustic response timeout2fA:fABfAJfE=ZZZZi1)9)99AiABiBiBmDBm=BiBiBiBm;BmQEIII O}>1>E5i E5ZE5hE1"E5,K:*E5a9VE5A{5ZE1BE5te;aE2E5ve;aEJE50;aE:E51;aEi߉ I߉  2Acoustic response timeoutI a эҏ,KgH?A25@20@2UQJٱ2L߽ :AHRS rotation from veh to nav: [[0.830029,0.557370,0.019737],[-0.555530,0.823120,0.117731],[0.049374,-0.108685,0.992849]]2H??5?V?@#?G?һl?i25@I2z_;2WCY^>y^Df=f=9y 9v/?HzGѿMb?Yx=y=<BuB YB)˴BYBbDyVD[9y;;%==ٔ mQ->9I=4Fy"=E>Q 5@4?Q 9@43)>YG>Q E4;yQ I?}AI ;iT ;d@4yɮB*jBji?i zi Ji Ʒ<i  kSBkSBkSBh! kYkYkYh12fE+>:fE+>BfE)@JfE(@ZUZUZQZUia)i)iiiiiII I9O=i2Acoustic response timeoutԑ bEz~5jE5rEʞ2EE q EE cEE yEA "EE 2h:*EE L9VEE 5ZEA aU @aU @aU @aU @߷ҏ,_&gH?A"2Acoustic response timeout6@6@6Dٱ6 >AHRS rotation from veh to nav: [[0.826629,0.560322,0.052182],[-0.562411,0.819373,0.111003],[0.019441,-0.121106,0.992449]]6H`s?(??E@N8?j?C?$?i6@I6X_;6VCYF>yFjDbDRVDR[9yZ9%Z]=ٔZץ=Q-^>9\I\=^4Fy`boEb>dQ 5j@4fF?Q 9j@4f3)fX>YhyjQ In?f3AIf:ifN:fT@4ypɮrBp*j|Bj|i~?iziJiƷ<i kAkAkAh ksZksZksZh)ԙ2f:fBfJfbt@ZZZZi))iI IaIO= 2Acoustic response timeoutBQ BQ BQ BQ BQ BQ BQ BU ;BU JE עҏ,|gH?A2M@2Q@2^mٱ29 :AHRS rotation from veh to nav: [[0.827150,0.559702,0.050556],[-0.561793,0.821200,0.100096],[0.014507,-0.111196,0.993693]]2H@x??n?5EG?ܟ??Uw`T?i2M@I2G_;2TCYB >yB DbDN&VDN[9yRu<%VK=ٔVsH9TIX=Z4FyXZ;E^>\Q 5b@4^_?Q 9b@4^3)^+>YdyfQ If?^AI^K:i^:^l@4yhɮjBl*jtBjtiv?izzixJizƷ<ix kAkAkAh  kS[kS[kS[h2f):f)Bf)Jf-8{@Z=Z=Z9ZEiQ)Q)QQYiYYIaIyIEi E[EbE"E,K:*E9VEg5ZEBEa 2Ea JE;a :E;a O}=M2Acoustic response timeout U7m>QOG!%2D9!Y%0:AI 2Acoustic response timeoutq ҏ,gH?Aɰ4yfDIn<)n=bDv}VDv&\9yx;%E=ٔ 2Q- >9I=4Fy˯=E>)Q 55@4-?Q 95@4-3Q ==tI)->Y9y=ݿQ I=?-AI-+;i-~$;-@4yAɮII*jaBjaie?ieziaJieƷ<ii kBkBkBhy ksZksZksZh2f:fBfJfp @ZZZZi))iIIQIO=E o E E TE "E `:*E VE :5ZE a@a@a@a@ԁiYIYe2Acoustic response timeoutԩ ҏ,gH?A6@6޶@6ļٱ6Б JAHRS rotation from veh to nav: [[0.842462,0.538450,0.018126],[-0.538221,0.839651,0.072836],[0.023999,-0.071117,0.997179]]6H`s?`:??9`k?^?7? 4`?i6@I6i_;4YN>yRIDTTbDZXVDZ\9ym~<%mD=ٔuI9I=4Fy2Acoustic response timeoutE>1Q 5M@45?Q 9}@453)5g>Yyy޿Q I?5 AI5'I0>),>DzD?AEj EE~E"EN:*EVE5ZEBEk;a%2Ek;a-JEa-:Ea- } 2Acoustic response timeout9 ҏ,ShH?A2!@2@2*0ٱ2mѽ :AHRS rotation from veh to nav: [[0.828918,0.558957,0.021498],[-0.557716,0.822901,0.108572],[0.042996,-0.101987,0.993856]]2H~? ??@3U?@b˻??@@?i2!@I2#t_;0YB>yBPDJbSBD MO Status=2, MOMSN=2774, MT Status=2, MTMSN=0JZFailed to initiate SBD session. Error code: 2y]"~j/$ſ(\ȿ]S㽹],]GY Y9]y&1?ˡEe;OοY]`=y]什]t]B]B ])]BYY]BbDu#VDu[9y6%G=ٔ=Q->9I=4FyvE>Q 5@4O?Q 9@43)>Y>Q E@;y zQ I ?AI:i<:*@4yɮB*jABjAiM?iMziIJiMƷ<iI kBkBkBh2fx>:fx>BfUt>Jf2,@ZZZZi))iII)IAOu=2Acoustic response timeoutAi E% h E% \E% }E! "E% G:*E% 9VE% s5ZE! a- @a- @a5 @a5 @- ҏ,2hH?A2Acoustic response timeoutJ@J@JTLٱJ RAHRS rotation from veh to nav: [[0.842914,0.537650,0.020681],[-0.535718,0.835070,0.125161],[0.050023,-0.116579,0.991921]]JH '?n4?u-?`$?E?? "ؽн?iJ@IJX_;HYZA>yZD \\bDf/VDf\9yj=%nV=ٔnƖQ-n>9pIp=r4Fypvۋ=Ev>tQ 5z@4v?Q 9~@4v(3)vz>Y|y~YQ I~?vAIv;iv;v<@4y ɮ B *j!Bj!i%?i%zi!Ji%Ʒ<i) k&k&k&h9 k<k<k<hI2fa:faBfaJfe@19e reNAggregate::initialize marl:UpdateRudderq9eJ]iq9m9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18mou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7un4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi1)1)999i9AIAIYIiO=QiIoAy2Acoustic response timeoutAAAAB>BBBBBB.DBp;B6Eԩ ҏ,HLhH?A2=@28@2' ٱ2U! :AHRS rotation from veh to nav: [[0.848103,0.526995,0.054747],[-0.528757,0.835276,0.150764],[0.033723,-0.156811,0.987053]]2H#?@%?? ? 8L?D?aĿ?i2=@I2zz_;2WCPYR >yRMDV=TbD-VD-)\9ye폼%eC=ٔm=Q-m>9iIq=u4Fyquة<Eu>yQ 5@4}?Q 9@4}3)}>Yy\Q I?}/AI}:i}:}@4yɮB*jBji?iziJiƷ<i k$k$k$h k@k@Ec EXEhE"Eg5:*E9VEA{5ZEBE?;a2E?;aJE:a:E:ak@h2f :f Bf Jf @sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iIII52Acoustic response timeoutOe= !  2Acoustic response timeoutҏ,,fhH?A>h<@>l7@>7tٱ>J3 JAHRS rotation from veh to nav: [[0.848146,0.525286,0.068721],[-0.528996,0.832785,0.163195],[0.028494,-0.174766,0.984198]]>H $?`%??-??-?^ƿ~?i>h<@I>Ce_;>TCYN>yRDZParsing RMC sentence: $GPRMC,191440.00,A,3646.40074,N,12152.26514,W,0.311,233.67,251025,,,A*75 )\^hH?A^*?^39^kbB@A޿w^fhGPS fix at 20251025T191440: (36.773346, -121.871086)^#>^@|bDjVDjP\9yE<%EL=ٔMV9III=U4FyQupE}>yQ 5;4}*?Q 9;4}3Q =tI)}Yy.Q I?}I};i};}>g;4yvBɮ+BNE*jBji?iziJiƷ<i k$k$k$h kBkBkBh2f):f)Bf)Jf-@Z]Z]ZaZe\mReceived valid gps time fix: 1761419648.00. Resetting abort timer.i))顡iIIIO=!Eg E_EE"EC:*Er9VEc5ZEa@a@a@a@=2Acoustic response timeoutQy  ҏ,hH?Aɰ;bH@bL@bٱb@ AHRS rotation from veh to nav: [[0.843360,0.533264,0.066135],[-0.536960,0.831653,0.141518],[0.020465,-0.154862,0.987724]]bH ?`?6?`.?@D??@ÿ`o?ibH@Ib_;bVCY-[>y-\Da2Acoustic response timeoutI]<)]=B>BBDBM>B=BBB;BGEym?&1ʿsh|?ſmL=mPm)i i9mZd;O?1Zdӿ333333?Ymj=ym"m=m/BmB mwB)miYmfBbDVDb\9y`1;%*=ٔS9I=4Fy瞼E>Q 5;4?Q 9;423)n=Y>Q E#;yQ I?l>I:i:w;4y_BɮBXE*jBji?iziJiƷ<i k#'k#'k#'h kcAkcAkcAh2f>:f>Bf¢@Jf%@Z%Z%Z)Z-i9)9)999iAAIIIaԉI O=/>ԱEe EZErE"E<:*Ea9VE5ZEBE`L;a2EcL;aJE0;a:E1;a M 2Acoustic response timeout $-&ҏ,hH?A277@2;2@2dٱ2ό :AHRS rotation from veh to nav: [[0.847568,0.529925,0.028420],[-0.529382,0.840517,0.115269],[0.037197,-0.112743,0.992928]]2HG?%?@? ? >?q ?`ܼ`?i277@I2xj_;0YB >yB6DDDbDRVDRG\9yV%Z=ٔZ8]Q-Z?9\I\=^4Fy\^<Eb?`Q 5f;4b?Q 9f;4b3)b=Yhyj,Q Ij?bxs>Ib ;ib;b;4ylɮrBp*jxBjxiz?izzi|Ji~Ʒ<i| k%k%k%h  kAkAkAh!2f1:f1Bf1Jf5B@ZEZEZAZEiQ)Y)YYYiYaIaIyԱIOe=2Acoustic response timeoutI8>)8> E a E E qE "E %.:*E VE 5ZE a @a @a @a @9 U 2Acoustic response timeoutkY,ҏ,˳hH?AN@N@NǼٱN흟 ^AHRS rotation from veh to nav: [[0.859601,0.510620,0.018828],[-0.510383,0.856276,0.079370],[0.024405,-0.077836,0.996667]]NHف?V?G?Uf?Q??@ ?iN@INx_;NWCYzh=yzDbDVDc\9y-%D=ٔ9!I!=%4Fy!%\=E%>)Q 55;4-J?Q 9=;4-3)-S >Y9y=Q I=?->I-X;i-:-D;4yAɮM!BI*jYBjYi]?i]ziaJieƷ<ia k#&k#&k#&hy kCBkCBkCBh2f:fBfJf+@ZZZZi))iII IO=9iߩIߩ2Acoustic response timeoutaB<A<BBBBBBB/DB;BXEԑ ;3ҏ,hH?A2@2@2 ٱ2ǽ :AHRS rotation from veh to nav: [[0.843617,0.536219,0.027898],[-0.536158,0.838434,0.097787],[0.029045,-0.097452,0.994816]]2H ?(? :?5(s????i2@I2}_;2UCYN:>yR&D TTV=V=bDZVDZ\9y )<% L=ٔ =Q- >9I=4FyE>!Q 5-;4%~?Q 9-;4%3)%26>Y)y-Q I-?% >I%:i%g:%H;4y9ɮ=B9*jIBjIiU?iUziQJiUƷ<iQ k&k&k&hi k@k@k@hy2f:fBfJf@ZZZZi))顱E ESEhE"E:*E9VEA{5ZEBE;a2E;aJEl:a:Em:aiIIII!OM=q2Acoustic response timeoutԡ 2Acoustic response timeout +f9ҏ,3lhH?A2ʯ@2 Ŷ@2ٱ2C' :AHRS rotation from veh to nav: [[0.840802,0.538221,0.058048],[-0.540866,0.830720,0.131792],[0.022711,-0.142207,0.989576]]2H?9?? N A?@?`A?3¿?i2ʯ@I2*c_;2XCYN[>yR\DR=Rt>j%hj' j!)j In(iln+n,n*bDvVDv]9y~5\=%~K=ٔ~ 9I=4Fy i_E >Q 5;4?Q 9;43)Vg>YyQ I??I3ycDB=>B9B=DB==B==B9B9B=;B=NE)yV-? rhkt?|>C  0= 9A`"?K7{GzY>yI ףwBKB B)rBYBbDVD<]9yH%%=ٔ=Q->9I=4Fy=E>Q 5;4{?Q 9;43)K>Y>Q E:ydQ I?U?I ;i ;;4yɮB*jBji?iziJiƷ<i  kAkAkAh kAkAkAh)2fE\>:fE\>BfE@JfEݲ@ZMZMZQZUia)a)aaiiiiIqIIOM1>QE` EVErE"E*:*E9VE5ZEBE-;a2E -;aJEC:a:ED:am 2Acoustic response timeout ۀGԁ C9 Y 9AnxFҏ,#iH?Aɰ4<65y@69t@6½<ٱ6,V >AHRS rotation from veh to nav: [[0.852166,0.507424,0.127803],[-0.522758,0.836359,0.165006],[-0.023162,-0.207423,0.977977]]6HD? yjSDIn=)np;ppbDvVDv=]9y~%~=ٔ;=Q-?9I=4Fy  f7<E ?Q 5;4?Q 9;43)7>Yy%|dQ I%?y?I;i;;4y)ɮ-B)*j9BjAiE?iEziAJiEƷ<iA kAkAkAhY k#Bk#Bk#Bhi2fy:fyBfyJf}c@ZZZZi))顡iIIIO =ԩ2Acoustic response timeout E b E mE zE "E 1:*E :VE 5ZE a @a @a @a @8Lҏ,L4iH?A&2Acoustic response timeout6bϯ@6fʶ@6rٱ6ـ( >AHRS rotation from veh to nav: [[0.841281,0.535192,0.076268],[-0.540397,0.828699,0.145706],[0.014778,-0.163795,0.986384]]6H? J ?`J?J಄?@~?C?7Ŀt?i6bϯ@I6u_;6VCYF>yFDHHiNlbD-VD-]9y<%@=ٔQ->9I=4FyGE>Q 5;4Ԯ?Q 9;43)">Yy"hQ I???I ;i;j;4yɮB*jBji?iziJiƷ<i kAkAkAh k]k]k]h 2f!:f!Bf!Jf%^@Z-Z-Z1Z5iA)A)AAIiIIIQIiIyO-= Ii>)e>12Acoustic response timeoutA1A5@ABE>BABEDBE#>BABABE.DBEz;BE;EBBBBBC4a Sҏ,{NiH?A2s~@2wy@2^ٱ2 :AHRS rotation from veh to nav: [[0.835417,0.549599,0.004408],[-0.548364,0.832946,0.074148],[0.037080,-0.064362,0.997238]]2H?P?r?2 ~? a?.?z^?i2s~@I2`;2UCYBR >yB(D9Ee EcEcE"E<:*EL9VE&k5ZEBE`L;a2EcL;aJE";a:E";aU%=Ua=]2Acoustic response timeoutiԑ  2Acoustic response timeout = =bD- wVD- ]9ye <%e <ٔe yQ-m l>9i Ii =m 4Fyi u UEu l> Q 5 ;4 ?Q 9 ;4 3) =Y y fQ I ? *?I ;i <; ;4y GBɮ B bE*j Bj i ?i zi Ji Ʒ<i  k\k\k\h 2f :f Bf Jf @Z Z Z Z i) )) )1 1 1 i1 9 I9 IQ Ii O >[cZҏ,%kiH?A@@u ٱ%< -AHRS rotation from veh to nav: [[0.836219,0.546661,-0.043593],[-0.547252,0.836965,-0.001980],[0.035403,0.025512,0.999047]]H`M?@?~?Q`k?8``V ??@2?i@I`;WCY]'>y]iDbDuVDu ]9y<=%W>ٔ >O=EMa EM]EMmEI"EM%.:*EM9VEM5ZEIa]@a]@a]@a]@i2Acoustic response timeoutԑ Iaҏ,9diH?Ai0I2A62Acoustic response timeoutBF>BDBFDBF">BF=BDBDBFj;BF1ELzׯ@zҶ@zhٱzF G=  AHRS rotation from veh to nav: [[0.841823,0.538403,-0.038149],[-0.539566,0.841286,-0.033245],[0.014195,0.048571,0.998719]]zH7?:?O D?\?Cި?`?izׯ@Iz`;zTCY >yD%=%p= aaEy E}YE}lEy"Ey*E}*9VE}5ZEyBE}M3;a2E}O3;aJE}:a:E}:a2Acoustic response timeout! Q 2Acoustic response timeoutyԩEc EQErE"Eg5:*Ev9VE5ZEa@a@a@a@u2Acoustic response timeout)B A <B >B B DB =B B B /DB >;B E 2Acoustic response timeout!%E&g E&^E&kE&"E&C:*E&;9VE&u5ZE&BE&X;a&2E&X;a&JE&;a&:E&;a&1(U(2Acoustic response timeoutY+I+G>)+R>ԁ.i0I0A 02Acoustic response timeoutԱ14E6i E6ZE6E6"E6,K:*E6a9VE6ZE6a 6@a 6@a 6@a 6@72Acoustic response timeout 89;i>B@>B@B@B@B@B@B@B@*;B@E@2Acoustic response timeoutIA)A4=AAaB@aB aB@aB aB@aB aB@aB aB@aB yB~jt?^I +?x&1?BD>BX9>B>B B)BMb@Mb@Mb@IBiB‰BBB B)BBIBbDBVDB7]9yBS%B<ٔB yVDbDbgVDb]9yfi%ja>ٔjQ-j?9lIl=n4FylnwٽEr?pQ 5v<4r‰?Q 9z<4r;3)rQ Az :YxQ Ez:yzkQ Iz?r+@Ir ;ir"@r=<4yɮB*jBji?i%zi!Ji%Ʒ<i! ksksksh9 kkkQhIZeZmZiE E\ElE"E*E9VE5ZEBEte;a2Eve;aJEx ;a:Ey ;aZmi1)1)999i9AIAIIIO=ߥ=ߥ<2Acoustic response timeoutyԡ U 2Acoustic response timeout%ҏ,dx)jH?A:,m@:0h@::Bٱ:W FAHRS rotation from veh to nav: [[0.833896,0.551070,0.030652],[-0.549885,0.824768,0.131846],[0.047375,-0.126801,0.990796]]:HE?^?Rc?d?S?A?; ?i:,m@I:$`;:XCYbh >ybDbDnVDn]9yv %vI=ٔzQ-z>9|I|=~4Fy9E> Q 5<4 y ‰?Q 9<4   3) ڽQ A-9Y)Q E-y:y-iQ I-? 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"E% %.:*E% 9VE% s5ZE! a- @a- @a- @a- @ ҏ,wjH?A:Q=@:U8@:L\ٱ:M*<B2Acoustic response timeout FAHRS rotation from veh to nav: [[0.830393,0.554875,-0.050609],[-0.554563,0.831869,0.021299],[0.053919,0.010379,0.998491]]:H??s驿 ? ϕ?;?A?@?i:Q=@I:}`;:UCYN>yN/DbDZVDZ'^9yb<%bM=ٔboQ-b>9dId=f4Fydf Ej>hQ 5n<4j!&‰?Q 9r<4j3)jL)%%> k3k3k3hIZeZeZaZeiy))i!I)IiIO=B>BBDB=BBBB;B[EBBBBǤ=BǤ=C[352Acoustic response timeout) ҏ,jH?A:e@:`@:ٱ: BAHRS rotation from veh to nav: [[0.831356,0.555347,-0.020882],[-0.549400,0.826952,0.119628],[0.083703,-0.087980,0.992599]]:Hx?@g? b @cv?蟾?m?@ㅶ`_?i:e@I:-`;:WCYJ=yJDN=N=PPaMaM aMaM aMaM aMaM aMaM yMQ{Gz?S㥛ؿMMף=M$ƾI I9Mx&ѿzG?ףp= ÿYM7yM >MMBMyB MB)MyBMYM3BbDeVDe&^9yuh%u?=ٔ}Q-}>9yI=4Fy9<E>Q 5<4$‰?Q 9<43)fQ AT:Y>Q E:y?Q I?)d@I;i ; c<4yɮB*jBji?iziJiƷ<i kEe EZEdE"E<:*Ea9VE^n5ZEBE`L;a2EcL;aJE0;a:E1;akkhy2f>:f>Bf @Jf$?ZZZZi))iII1IAQO}=2Acoustic response timeoutPExceeded connect timeout, disconnecting.yԩ E 2Acoustic response timeout1ҏ,ªjH?Aɰ@>t@>o@>g ٱ>E8 NAHRS rotation from veh to nav: [[0.833051,0.551872,0.038252],[-0.548332,0.814601,0.189099],[0.073198,-0.178504,0.981213]]>H [??? 5?e4?!?7ƿ f?i>t@I>`;>XCYVS>yVDbDVD^9yE)<%EM=ٔM9III=U4FyQU;EU>YQ 5e<4]!‰?Q 9e<4]$3)]%Yiym?Q Im?]pm@I]:i]:]p<4yqɮuB*jBji?iziJiƷ<i kkkh kkkh2f):f)Bf)Jf-?Z]Z]ZYZei))顑iIIIO=ԩEd E`EmE"E9:*E9VE5ZEa@a@a@a@2Acoustic response timeouti I pA >ҏ,ϟjH?AB(@B,@BDٱBh_ JAHRS rotation from veh to nav: [[0.828458,0.553982,0.082223],[-0.557986,0.803867,0.206030],[0.048041,-0.216567,0.975085]]BH`? 8?@ ? H?4_?Ę?x˿3?iB(@IBQ`;BVCYR:>yR&DbD^VD^#^9pyv%%zP=ٔzL=Q-z>9|I|=~4Fy|ܼE>Q 5 <4‰?Q 9<4y3)Yyw?Q I?v@I :B>BBzDBJ=B=BBB;BlEi-:~<4yBBɮBcE*jBji?2Acoustic response timeoutiziJiƷ<i kӳkӳkӳh kkkh)2f9:f9Bf9Jf=4;?19= rENAggregate::initialize marl:UpdateRudderq9EJ]Aq9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18MoM@Completed marl:UpdateCommandMode7MoM\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7MnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeedZ]Z]ZYZ]iq)q)qqqiqyIIIO]= 1Ec EWEpE"Eg5:*E9VE5ZEBE?;a2E?;aJE:a:E:a ߩ ߭ %= 2Acoustic response timeouta  nManaging dock network, ignoring radio surface power off|Cҏ,>wjH?A.,@.0޵@."ٱ. A :AHRS rotation from veh to nav: [[0.825101,0.558868,0.082910],[-0.564255,0.807661,0.171171],[0.028699,-0.188016,0.981747]].H:g???9?a[??`Nc? ȿwj?i.,@I."`;.XCYB'->yBD DDJ=J=bDNVDN!^9yn3=%nL=ٔnE=Q-n>9pIp=r4FypvEv>tQ 5z<4v2‰?Q 9~<4v3)v Y|y~%?Q I~?v@Ivf;iv;v<4y ɮ B *jBji?i%zi!Ji%Ʒ<i! kkk9h92fI:fIBfIJfMg?sUNUpdating rudder angle 6.875493 arcdeg 9]re6Completed marl:UpdateRudder19e reRAggregate::uninitialize marl:UpdateRudderZmZmZiZmi))i I I!IQO=i 2Acoustic response timeoutԑ E  E UE iE "E *E P9VE z~5ZE a @a @a @a @umҏ,QjH?AZ2Acoustic response timeoutb @b@bTٱbpu jAHRS rotation from veh to nav: [[0.828017,0.560698,-0.002350],[-0.560552,0.827885,0.019681],[0.012981,-0.014979,0.999804]]bH?y'DbD-VD-%^9y=0T=%ED=ٔEt=Q-E>9AII=M4FyIM8<EM>QQ 5e<4U9‰?Q 9e<4U[3)U{YayeK?Q Im?UI@IU(;iUG);UE<4yqɮuBq*jBji?iziJiƷ<iԙ kkkh2f:fBfJf?ZZZZi))iIIAIqOB}>ByB}DB}w>B}=ByByB};B}KEiI2Acoustic response timeout Uҏ,.kH?AY~uh>y~EI]8>)]t>yZd;O?y`e<@BB wB)˴BYBbD)VDL^9E^ EYEhE"EC#:*E*9VEA{5ZEBE~ ;a2E ;aJE:a:E:ayȯ=%A=ٔQ->9I=4FyE>Q 5<4 ‰?Q 9<4^3) +YXq>Q Ea;yQ I?@I2;i0;<4y ɮ ͽB *jBji?i%zi!Ji%Ʒ<i! k#k#k#h9 kCkCkChI2fI>:fI>Bfo@Jf@ZZZ Z i9)9)99AiAAIIu2Acoustic response timeoutIIO% >!Q% 2Acoustic response timeouty ҏ,,kH?ARC@R>@R ɼٱR@( ZAHRS rotation from veh to nav: [[0.831774,0.555115,0.000386],[-0.554568,0.830923,0.044966],[0.024640,-0.037616,0.998988]]RH??hN9?`??@Z;?^B?iRC@IR_;PYbYN>ybDhj@AbDn[VDnc^9yv%vZ=ٔv[Q-z>9xIx=z4Fyx~<E~>Q 5 <4%‰?Q 9 <4I3)9Y y  Q I?@I:i:$<4yɮ۽B*jBji?iziJiƷ<i kkkh kkkh2f :f Bf Jf C@Z=Z=Z9Z=iI)I)QQQqiqyIyIIO=E` EZE_E"E*:*Ea9VEC^5ZEa@a@a@a@ԁ}2Acoustic response timeoutԩ Wgҏ,.EkH?Aɰ;Fo@Fs@FSٱFN1ǽ RAHRS rotation from veh to nav: [[0.828511,0.559404,0.025237],[-0.558863,0.823194,0.100113],[0.035229,-0.097048,0.994656]]FH)??י?5W??{ ?+ظ8?iFo@IF_;FUCYVW>yVEbDbVDbu^9yjs<%jL=ٔjrؼQ-n>9lIl=r4Fypr\Er>tQ 5z<4v*‰?Q 9z<4v_3)vHYxyz|Q I~?v8@Iv>:iv;v'<4yɮֽB*jBjAA?AB->B)B-DB-,>B)B)B)B-V;B-,Ei?i=zi9JiEƷ<iA kӘkӘkӘhQ kkkhi2Acoustic response timeout2f:fBfJfí@Z%Z-Z)Z-iY)Y)YaaiaaIiIԱIO=D%=Da=E ESEyE"E*E9VE5ZEBE-;a2E -;aJEl:a:Em:a  2Acoustic response timeout9 ҏ,w_kH?AJJ@JE@J" nٱJ" RAHRS rotation from veh to nav: [[0.831117,0.554978,0.035265],[-0.553056,0.818285,0.156652],[0.058081,-0.149700,0.987024]]JH ?a? A?c/?* ?ڼ?Z)ÿ?iJJ@IJ_;JVCYZI>yZQDbDbVDb^9yj%jJ=ٔngQ-n>9pIp=r4Fypr~<Ev>tQ 5z<4v/‰?Q 9z<4v3)vWY|y~A#Q I~?v@Iv;iv;vI<4yɮݽB *jBji?izi!Ji%Ʒ<i! kÙkÙkÙh1 k÷k÷k÷hI YY2fa:faBfaJfe.@ZmZmZqZui))顉iIIIIyO=2Acoustic response timeout9i bEu5jEu5rEu03E [ E UE pE "E a:*E P9VE 5ZE a @a @a @a @ҏ,ūykH?A"2Acoustic response timeout B@ٮ@BDԵ@BCٱB.) ^AHRS rotation from veh to nav: [[0.823815,0.564236,0.054465],[-0.564842,0.808989,0.162760],[0.047773,-0.164848,0.985161]]BH\?8??.yfyD hhn=lbDrVDr^9yze%zH=ٔz9|I|=~4Fy| E> Q 5 <4 4‰?Q 9<4 3) (gYy3*Q I?  @I ';i ; <4y!ɮ%B!*j1Bj1i=?i=zi9Ji=Ʒ<i9 kkkhY2fi:fiBfiJfm @Z}Z}ZyZ}i))顑iIIIO=iԑBBBDB6>B=BBBD;B#E2Acoustic response timeoutԹ ҏ,kH?A2Ю@2˵@23(4ٱ29 :AHRS rotation from veh to nav: [[0.823382,0.566244,0.037541],[-0.565781,0.813983,0.131617],[0.043969,-0.129611,0.990589]]2H &Y?@?8?& ?`?*??i2Ю@I2G_;2VCTYfg'>yjD-GAYH9Y~>AD?AzD@AEu E^EE"Ev:*E;9VEH5ZEBEW;a2EX;aJE;a:E;ay%K7? rп-ƿ%>%%?5! !9%uV?V-ͿOnY%rh>y%m%%B% !)%rB!Y%8BbD=VD=}^9yM^ż%M6=ٔU2 9QIQ=]4FyY]8E]>aQ 5m<4e6‰?Q 9m<4ep3)e&Yu-?Q Eu:yu\Q Iu?e@IeL ;iea;e:<4yyɮ}By*j Bj i?iziJiƷ<i ksM2Acoustic response timeoutkskshQ2f>:f>Bf&@JfW\@ZZZZ^B*** querying acoustic contact ***XYi))iIIIIO>  2Acoustic response timeoutҏ,PkH?A2ˮ@2Ƶ@2ٱ2q :AHRS rotation from veh to nav: [[0.823606,0.566618,0.024841],[-0.566678,0.820304,0.077315],[0.023431,-0.077754,0.996697]]2H`Z?!?o?9"@??`ʳ?N?糿?i2ˮ@I2p_;2WCYB&>yBDbDJVDJ^9yRP"%Rj=ٔV=q=Q-V?9TIX=Z4FyXZ,EZ?\Q 5b<4^B7‰?Q 9b<4^3)^YdyfٺQ If?^ך@I^d:i^:^m<4yj*Bɮj׽BjmE*jtBjtiv?ivzitJizƷ<ix| k|k|k|h 2f:fBfJf4w1@Z-Z-Z)Z-iA)A)AAAiAIIIIIOE=)Ee EYEfE"E<:*E*9VEt5ZEa@a@a@a@e2Acoustic response timeoutQԁ nҏ,*kH?A6Ca@6G\@6 ٱ6- BAHRS rotation from veh to nav: [[0.815919,0.578157,-0.003186],[-0.577176,0.814832,0.054007],[0.033820,-0.042226,0.998536]]6H`?C?j9x??P??i6Ca@I6?_;6VCYF>yJDIN%=)N%=PRAbDVVDV^9yZ7%^I=B`A`BdBdBfDBf A>BdBdBdBf;BfEB0CB0CBB=BC-5ٔ^ѼQ-r>9tIt=v4FytzEz>xQ 5=4z9‰?Q 9=4z3)z˿YyQ I?z@Iz;iz;z =4yɮB*j!Bj!i%?i-zi)Ji-Ʒ<i) k#k#k#hA k3k3k3hQa2fi:fiBfiJfmD@Z}Z}ZZi))顑iIi߹I߹2Acoustic response timeoutIIaO=ԁD=D4=Ec EEgE"Eg5:*EVEx5ZEBE?;a2E?;aJE:a:E:am 2Acoustic response timeout ҏ,kH?A2V@2Z@2K,ٱ2H :AHRS rotation from veh to nav: [[0.821330,0.570053,-0.021369],[-0.568892,0.821277,0.043203],[0.042178,-0.023327,0.998838]]2HUH?=?ᕿ]4G?@?`e? 㗿z?i2V@I2 _;2TCYf&>yfRDbDvVDv^9y7=%E=ٔ uQ- >9I=4Fy%<E%>)Q 55=4-i;‰?Q 9==4-T3)-Y9y=Q IE?-&@I-B;i-D;-%=4yIɮU׽BQ*jqBjqiu?i}ziyJi}Ʒ<i kkkhԹ2f:fBfJf/?ZZZZi))iIII)O=2Acoustic response timeoutE p E VE qE "E d:*E 9VE 5ZE a @a @a @a @9 ҏ,kH?A"2Acoustic response timeout6(3@6,.@6*Ȕٱ6E >AHRS rotation from veh to nav: [[0.830776,0.556481,0.011811],[-0.556310,0.829455,0.050240],[0.018161,-0.048309,0.998667]]6H@?@?0?J??@˜?@ ?i6(3@I6_;6XCY^>yb9DbDjVDj^9yr %rM=ٔrsv=Q-r>9tIt=v5Fytz!=Ez>xQ 5e=4z+=‰?Q 9e=4z3)zYiymQ Im?z@IzrBBDB,>BBBB;BE2Acoustic response timeout5>5>iԙ ҏ,lH?A2hҮ@2l͵@2ٱ2H :AHRS rotation from veh to nav: [[0.824093,0.565794,0.027367],[-0.566044,0.820693,0.077824],[0.021573,-0.079625,0.996591]]2H@^??? @C?I?@%?`Qb?i2hҮ@I2_;0YN=yND PPV!>V=y%! !9% +?QοZd;O?Y%ȶ>y%u%~>%TB%B %TB)%!Y%BbD=VD=^9yM-%MC=ٔUQ-U>E}d E}YE}bEy"E}9:*E}*9VE}g5ZEyBE}F;a2E}F;aJEya:Eya9I=5FyܼE>Q 5=4[C‰?Q 9 =4G4)Y C ?Q E :y  Q I ?_@IU:i ;\7=4yɮB*j)Bj)qi-?iuziqJiuƷ<iy kkkh k#k#k#h2fl>:fl>Bf @JfI@ZZZZi))))))i)1I9M2Acoustic response timeoutIYIiO=ԙ 2Acoustic response timeout  ҏ,).lH?A22j@26e@2s(ٱ2Fٽ :AHRS rotation from veh to nav: [[0.816323,0.576935,0.027617],[-0.576127,0.809909,0.110117],[0.041163,-0.105802,0.993535]]2H`Q?@v?G? o@?0?H?  ?i22j@I2_;2WCYj|>yj`DbDvVDv^9y~֖=%~P=ٔ*LQ->9I=5Fy   E >Q 5=4tH‰?Q 9=44):Yy%VQ I%?@I;i;fD=4y)ɮ-B)*j9BjAiE?iEziAJiEƷ<iA kCkCkCha2fq:fqBfqJfuf@ZZZZi))顙iIIIO=E_ EOE]E"E&:*E9VEW5ZEa@a@a@a@e2Acoustic response timeout) ҏ,oHlH?A A0A2@AB4B4B6DB6w>B4B4B4B67;B6EBx@Bs@BfмٱB NAHRS rotation from veh to nav: [[0.817782,0.573458,0.048767],[-0.574965,0.810300,0.113265],[0.025437,-0.120666,0.992367]]BHF+?Y??@f`??  ? 㾿y?iBx@IB_;BUCYR=yVDbD^XVD^^9yf5%fN=ٔf-"=Q-j>9hIh=j5Fyhn;En>pQ 5v=4r+N‰?Q 9v=4r4)rxοYtyvQ Iv?r7@Ir:ir:rLR=4y|ɮ~B9*jIBjIiU?iUziQJiUƷ<iQI]>)]> kCkCkCh2f:fBfJf*@2Acoustic response timeoutZZZZi))i I IAIyO=iԙE` ESEbE"E*:*E9VEg5ZEBE-;a2E -;aJEl:a:Em:am 2Acoustic response timeout -ҏ,MblH?AF@F@F:ٱF6:P VAHRS rotation from veh to nav: [[0.825745,0.560130,0.066324],[-0.564042,0.820234,0.095248],[-0.001050,-0.116060,0.993242]]FH l??`? [??`)b?`2Q?iF@IF>_;FWCYb>yb=Df=fa=bDrVDr!_9y~=%~G=ٔ~<=Q->9I = 5Fy =E>Q 5%=4T‰?Q 9%=4 4)Y)y-Q I-?@I:ik:`=4y5+Bɮ5B1*jIBjIiM?iMziIJiMƷ<iQ kkkh2f:fBfJf0@ZZZZi1)9)999i9AIAIYIqO=2Acoustic response timeout! E g E XE iE "E C:*E 9VE z~5ZE a @a @a @a @Wҏ,c(|lH?Aɰ4<*2Acoustic response timeout>!@>@>ٱ>w JAHRS rotation from veh to nav: [[0.829716,0.553682,0.070762],[-0.558130,0.821158,0.119121],[0.007848,-0.138331,0.990355]]>H ?`·?y? 3 F?@~??մ?i>!@I>_;>XCYN>yRDbDZJVDZG_9yb=%bN=ٔfQ-f>9dId=j5FyhjE<Ej>lQ 5r=4nZ‰?Q 9r=4nO4)nYtyvHQ Iv?n@In:in$:nn=4yzBɮzĽBzwE|*j Bj i ?iziJiƷ<i kkkh) kkkh92fI:fIBfIJfMt @Z]Z]ZYZ]ii)q)qqqiqyIIIO=)Be>BaBeDBe#>BaBaBaBe;BerEQiIA2Acoustic response timeoutԁ 6@%ҏ,lH?A2]@2X@2"߻ٱ2' :AHRS rotation from veh to nav: [[0.816067,0.572742,0.077466],[-0.577917,0.807065,0.121073],[0.006823,-0.143573,0.989616]]2H8?S? Գ?`K~`y? ?{?`¿?i2]@I2x_;2WCYv=yv)DEeh Ee]EegEa"EeG:*Ee9VEex5ZEaBEe/_;am2Ee1_;amJEe ;au:Ee ;auqyK7ɿMb? I= 9+η?~jtxZd;O?Yv=yĻj>B(B )BYǷBbD{VD]_9y%;=ٔ;Q->9I=5FyaE>Q 5=4q^‰?Q 9=4x4)Y]>Q E ;yl Q I?!@I2:i:}=4yɮԽB*jBji?i zi Ji Ʒ<i  k3k3k3h! kkkh12fE6>:fE6>BfE/8?JfE:H>ZZZZi))iII)I9U2Acoustic response timeoutO=ԁԱ  2Acoustic response timeouti+ҏ,ޯlH?A2@2@2ٱ2W :AHRS rotation from veh to nav: [[0.808677,0.584897,0.062753],[-0.588240,0.803326,0.092959],[0.003960,-0.112087,0.993690]]2H? y??@ش?#̷?28p?ñO?i2@I2J_;2VCYN>yRD TTbDZVDZ_9ybӴ<%f\=ٔf8;Q-f>9hIh=j5Fyhj En>lQ 5r=4nja‰?Q 9v=4n4)n-YtyvQ Iv?nL@In:inZ:nĊ=4yxɮ~нB|*j Bj i ?i ziJiƷ<i kCkCkChԹ2f:fBfJfw(>ZZZZi))iI!I9IIIaO=bElv5jEA{5rE y2Eug EuSEuaEq"EuC:*Eu9VEud5ZEqa}@a}@a@a@]%=]R=e2Acoustic response timeout9 B] >BY B] DB] =B] =BY BY B] M;B] E`2ҏ,yB#DbDN)VDN#`9yVER;%VJ=ٔV Q-Z>9XIX=Z5FyX^YE^>`Q 5f=4b_d‰?Q 9f=4b4)bM`YdyfȾQ Ij?b@Ib:ib:b=4ylɮll*jtBjtiz?izzixJizƷ<ix kckckch  kkkh2f):f)Bf)Jf-*>Z=Z=Z9Z=iI)Q)QQQiQ2Acoustic response timeoutIII!O=) QUCG U9 Y JAE]_ E]_E]vEY"E]&:*E]r9VE]-5ZEYBE]&;am2E]&;amJE]d;am:E]d;amQU 2Acoustic response timeouty |8ҏ,5lH?AB@BÒ@Bf!xٱBM,| NAHRS rotation from veh to nav: [[0.800463,0.599267,-0.011702],[-0.596316,0.798190,0.085440],[0.060542,-0.061414,0.996275]]BHe?2-?`Ŋ?iߵ?Q?q {?iB@IB_;BWCYR>yR9DbD^VD^d`9yf" ;%fJ=ٔf= Q-f>9hIh=j5FyhnῼEn>pQ 5v=4rf‰?Q 9v=4rg4)r9Ytyv*ѾQ Iv?rs@Ir:ir`:r=4y|ɮ~ϽB|*jBji?iziJiƷ<i kkkh) kS kS kS hA2fQ:fQBfQJfU*">Z]ZeZaZeiq)q)qyyiyyII>)>IIO}=q2Acoustic response timeoutԡE f E \E oE "E I@:*E 9VE 5ZE a @a @a @a @ >ҏ,LplH?A2Acoustic response timeout6G@6B@6 ٱ6 >AHRS rotation from veh to nav: [[0.812916,0.582219,-0.013735],[-0.578825,0.810330,0.091248],[0.064256,-0.066227,0.995733]]6H`h??!`9?@\?s?B@ ?i6G@I6_;6VCYz>yzID=!!bD-VD-|`9y=<%=C=ٔEQ-E>9AIA=M5FyIMjR=EM>QQ 5]=4Ui‰?Q 9]=4U4)UYayezQ Ie?Uh@IU8;iU#;U=4yiɮmʽBq*jBji?iziJiƷ<i k k k h)2f :f Bf Jf >>ZZZZi))顡iIIIOM>B >B B B B B B B h;B ÙEBBBBBţ=CWJ42Acoustic response timeout) Eҏ,sJmH?Aɰ;06jD@6o?@6P ٱ6Jҽ >AHRS rotation from veh to nav: [[0.813866,0.580190,0.031642],[-0.580034,0.808013,0.103318],[0.034377,-0.102441,0.994145]]6H`1 ??\3?>?s?晡?9?i6jD@I67_;4YF=yFϕDy9I=5Fy4}E>Q 5=4_‰?Q 9=44)YĐ>Q E;;ym6Q I?-@I+;iǀ;~=4yɮֽB*jBji?iziJiƷ<i!54=5a==2Acoustic response timeout kCkCkChQ2feH>:feH>Bfem @Jfe[@ԉZZZZi))i IIIIYO >Թ  2Acoustic response timeoutKҏ,5'1mH?A2b@2]@2 aٱ2N :AHRS rotation from veh to nav: [[0.815243,0.577569,0.042348],[-0.576510,0.802463,0.153915],[0.054914,-0.149892,0.987176]]2H x?q{?`?rƭ?`{?@?/ÿ?i2b@I2֣_;2YCYB>yBDbDJ(VDJ`9yR=%Vq=ٔVwQ-V?9XIX=Z5FyXZP1<EZ?\`Q 5f=4bmX‰?Q 9f=4bG4)b'Ydyf5Q Ij?b@Ib:ib:b<=4ylɮnĽBl*jxBjxiz?izzixJi~Ʒ<i| kkkh k#k#k#h!2f1:f1Bf1Jf5!]@ZEZEZAZEiQ)Q)YYYiYaIa II O]=Eme EmQEmEi"Em<:*Emv9VEm5ZEia}@a}@a}@a}@E2Acoustic response timeoutA B >B B DB =B =B B B ;B ߙERҏ,KmH?A2@@2E@2Q1ٱ2, :AHRS rotation from veh to nav: [[0.822187,0.567254,0.047229],[-0.567569,0.810672,0.143788],[0.043277,-0.145027,0.988481]]2H[O?&?n.?`)`?@g?m(?@>¿`?i2@@I2ֆ_;2VCYb>ybPDdf@AbD~VD~`9yT%D=ٔ9!I!=%5Fy!-v<E->12Acoustic response timeoutQ 5=45O‰?Q 9=45/4)53Yy4Q I?5@I5yFvDbDv7VDv`9ym<%mE=ٔueSQ-u>9qyI=5FyqE>Q 5 =4F‰?Q 9=44)?Yy6Q I?@IME i E ^E nE "E ,K:*E ;9VE J5ZE a @a @a @a @ ] 2Acoustic response timeoutv^ҏ,~mH?A>n*@>r%@>}͝ٱ>Cq JAHRS rotation from veh to nav: [[0.810092,0.585629,-0.028117],[-0.581228,0.808452,0.092627],[0.076976,-0.058694,0.995304]]>H`E?@x?ʜk?b?ఴ? ! `?i>n*@I>U_;>VCYj(>ynDI>)>bD'VD`9yU;=%]<=ٔQ->9I=5Fy5<E>Q 5=4=‰?Q 9=44)MYyC6Q I ?@IK;i;=4yɮĽB*jABjAiM?iMziIJiMƷ<iI kkkh2f:fBfJf:[@ZZZZi))iIIIOE>B>B/CBDB,>B=BBBn;B™E2Acoustic response timeout!Q eҏ,0mH?A2*@2.@2Bٱ2[> :AHRS rotation from veh to nav: [[0.825802,0.563215,-0.028991],[-0.560014,0.825009,0.075793],[0.066605,-0.046354,0.996702]]2Hl??үyf?#g?` ?ཻ?i2*@I2`;2YCYB#1>yBDF >DHJAy gfffff?x&1?bX9? 33> > E6>  9 Mbpx&?}?5^I?Y y 7 > Mb> B B B)  Y =BbD%BVD%`9E=e E=lE=bE9"E=<:*E=:VE=g5ZE9BE=`L;aE2E=cL;aMJE=C;aM:E=C;aMyU<%U]=ٔU9YIY=]5FyYe=Ee>iQ 5u>4m?‰?Q 9u>4m4)mQ:YuW>Q E}M;y}?Q I}?m:@Im ;im; ;mz >4yɮB1*j1Bj9i=?i=zi9Ji=Ʒ<iA kkkhq2fw`>:fw`>Bfn@Jf'|G@ZZZZi))iI 2Acoustic response timeoutIIIO=Yԉ 2Acoustic response timeoutԱ lҏ,mmH?A2m@2q@2kYٱ2Խ :AHRS rotation from veh to nav: [[0.824570,0.565563,0.014948],[-0.563264,0.818166,0.115491],[0.053087,-0.103649,0.993196]]2Hb??ߜ?Aj.?ɐ?G.?ň@C?i2m@I2&_;2VCYf$>yfDbDrVDr`9yz%zQ=ٔz =Q-~>9|I|=5Fy E> Q 5>4 JB‰?Q 9>4 74) %Yy?Q I? 1@I ;i ; &>4y!ɮ%ͽB!*j1Bj1i=?i=zi9Ji=Ʒ<iA kkkhQ kkkha2fq:fqBfqJfuF@ZZZZi))顙iIIIO=ԑEUc EUTEUqEQ"EUg5:*EU9VEU5ZEQa]@a]@a]@a]@%2Acoustic response timeoutB A B >B 0CB DB 6>B B B B :;B E rҏ,EImH?A2q@2l@2ibٱ2ڀ* :AHRS rotation from veh to nav: [[0.816311,0.575367,0.050896],[-0.574965,0.800979,0.166875],[0.055248,-0.165486,0.984663]]2H@7? gi?@ ? f ? -\?sI?.ſ]?i2q@I2<_;0YB>yB9DbDJVDJ`9yR%VO=ٔVӳQ-V>9XIX=Z5FyXZEZ>\Q 5b>4^E‰?Q 9b>4^4)^ Ydyf?Q If?^T@I^-:i^:^%>4yhɮjԽBl*j)Bj)i-?i-zi)Ji-Ʒ<i1 kkkha2fq2Acoustic response timeout:fqBfqJfuD@ZZZZi))iIII)O=E]^ E]YE]^EY"E]C#:*E]*9VE] [5ZEYBE]~ ;am2E] ;amJE]:am:E]:am- =- %=5 2Acoustic response timeoutI yҏ,$mH?A 2]@2X@2eQIٱ2DQ: >AHRS rotation from veh to nav: [[0.815154,0.575571,0.065127],[-0.577157,0.797530,0.175601],[0.049130,-0.180730,0.982305]]2H?k?$? x^?@z?'?'"ǿ o?i2]@I2_;2TCYB=yFD HHJ=J=bDRqVDR`9yV%ZJ=ٔZw9\I\=^5Fy\bƻEb>`Q 5f>4b!H‰?Q 9j>4b4)b#Yhyj:?Q Ij?b@Ib:ibW:b4>4ylɮrڽBp*jxBjxiz?izzixJi~Ʒ<i| ksksksh kkkh!2f1:f1Bf1Jf5>D@ZZZZi))iIIIOu=i2Acoustic response timeoutԙ bE5jEQ5rEɩ>3Em d Em QEm iEi "Em 9:*Em v9VEm z~5ZEi au @a} @a} @a} @E 2Acoustic response timeoutҏ,$nH?A Hw\@{W@eٱO UAHRS rotation from veh to nav: [[0.814762,0.578226,0.042632],[-0.577074,0.801628,0.156136],[0.056107,-0.151815,0.986815]]H?Ӏ?ӥ?cw?@D??nÿ@?iw\@Iw_;VCY}=y4DyClǿ1ZdB`"۹d;"۽ν 9I +?OnÿHzGY9=y= BB B)YkBbDKVD`9yݼ%*=ٔHnQ->9I=5Fy̭E> Q 5>4 OG‰?Q 9>4 4)  Y`>Q Eq;yֿQ I? @I s:i Z: D>4yɮB*jBji?ԹiziJiƷ<i k3k3k3h2f {>:f {>Bf D$@Jf @ZZZZi))1)111i19I9IQIaIO (>B9B9B=DB=,>B9B9B9B=;B=Ei߁I߅A2Acoustic response timeout } OG a9 Y )VA)ҏ,UnH?A6@6@6Mٱ6Խ >AHRS rotation from veh to nav: [[0.807754,0.589485,0.006428],[-0.585634,0.801132,0.123368],[0.067574,-0.103415,0.992340]]6H??Tz???L? py@@?i6@I6_;6WCY^:>yb&DbDjMVDhyr i=%ru=ٔr Q-v?9tIt=v5FytzEz?||Q 5>4~F‰?Q 9>4~/4)~Y y  տQ I ?~@I~);i~*;~P>4yɮ׽BE%e E%[E%dE!"E%<:*E%9VE%^n5ZE!BE%`L;a-2E%cL;a5JE%;a5:E%;a5*jABjAiM?iMziIJiMƷ<iI kkkha kkkhq2f:fBfJfж@ZZZZi))顩iIII>)>IO=2Acoustic response timeout)Qԁ  2Acoustic response timeout Tҏ,3nH?A2@2@2wHٱ2B؇ :AHRS rotation from veh to nav: [[0.821677,0.569948,-0.002475],[-0.567849,0.819010,0.082280],[0.048922,-0.066202,0.996606]]2H`.K?=?Ed+ T5?N?Q ?2?i2@I2_;2ZCYv9>yvYD||bD@VD`9y=%G=ٔ:=Q->9I=%5Fy!%|a=E%>)Q 55>4-cF‰?Q 95>4-)4)-W!Y1y5ѿQ I=?-@I-;i-;-^>4yAɮEʽBA*jQBjQYi]?ieziaJieƷ<ia kkkhy kkkh2f:fBfJfm@ZZZZi))iIIIO%=E5` E5WE5iE1"E5*:*E59VE5z~5ZE1a=@a=@a=@a=@ԁ2Acoustic response timeoutԱ AA AA BI BI BM DBM 6>BM =BI BI BM ;BM kEB B B B ˤ=B ˤ=C r)5;ҏ,MnH?Aɰ2@2@2Լٱ2ip :AHRS rotation from veh to nav: [[0.819318,0.573205,0.012431],[-0.572752,0.817305,0.062984],[0.025942,-0.058724,0.997937]]2H 7?W?u?S@]'?`??`?i2@I2_;2UCYR >yRԴDbDZVDZ`9yvL̼%vM=ٔvPl=Q-v>9xIx=z5Fyxz+]E~>Q 5>4E‰?Q 9 >44)-Y y ӿQ I ?B@IW:i:l>4yɮϽBe2Acoustic response timeout*jBji?iziJiƷ<iԹ kkkh2f:fBfJfi@Z-Z-Z)Z-i9)9)AAAiAIIIIaIO=E=i E=SE=hE9"E=,K:*E=9VE=A{5ZE9BE=te;aM2E=ve;aMJE=l:aM:E=m:aM 2Acoustic response timeout9 7fҏ,flgnH?A2?u@2Cp@2`ٱ2 :AHRS rotation from veh to nav: [[0.816560,0.577260,0.001290],[-0.574646,0.812646,0.096900],[0.054888,-0.079866,0.995293]]2HA!?x?"U?c@1?wθ?S?r q?i2?u@I2^_;2YCYB>yBDbDJVDJ`9yR<%VO=ٔVQ-V>9XIX=Z5FyXZEZ>\Q 5b>4^hE‰?Q 9b>4^4)^9YdyfҿQ If?^@I^:i^B:^z>4yhɮjɽBl*jtBjtiv?ivzitJizƷ<ix kkkh k k k h2f):f)Bf)Jf->@Z5Z5Z9Z=iI)I)IQQiQQIYIq I)O=m2Acoustic response timeoutAiEM d EM WEM nEI "EM 9:*EM 9VEM J5ZEI aU @aU @aU @aU @ԙ - 2Acoustic response timeoutsPҏ,nQnH?A@ @ٱa? AHRS rotation from veh to nav: [[0.828241,0.557966,0.051870],[-0.559913,0.820265,0.116884],[0.022670,-0.125851,0.991790]]H ?`?Ď????6??i@I_;XCY>yD?Aqyy&1~jt?/$?`役== 9~jt ףp= ?x&1̿YyQ8=A`ϹBB B)yBYBbDVD`9yM4;%-=ٔ=Q->9I=5Fy-#=E>Q 5>4tC‰?Q 9>4O4)TYq>Q E`;y@Q I?@I ;i ;>4yɮȽB*jBji?iziJiƷ<i kC kC kC h k k k h!2f5d>:f5d>Bf56w@Jf5"@ZEZEZAZEiQ)Y)YYYiYaIaII)O}>B>BBDBw>BBBB;BTEԙu2Acoustic response timeout xҏ,$nH?A2@2@2"ٱ2C :AHRS rotation from veh to nav: [[0.821135,0.561806,0.100556],[-0.570648,0.805100,0.161786],[0.009934,-0.190230,0.981689]]2HF?`Q? ?B a?d?X?@uYȿi?i2@I2_;2WCYBB=yBWDbDNVDN`9yr%rm=ٔv\=Q-v?9tIt=v5FyxzEz?Ee ERErE"E<:*E9VE5ZEBE`L;a 2EcL;aJE$:a:E&:aQ 5>4A‰?Q 9%>44)hY!y% @Q I%?@I;i:F>4y)ɮ5ٽB1*jABjAiE?iMziIJiMƷ<iI k#k#k#ha kSkSkShq2f:fBfJfp@ZZZZi))顩iIIIO==<2Acoustic response timeout>I  2Acoustic response timeoutSҏ,nH?A02"@2&@2ٱ2F~W :AHRS rotation from veh to nav: [[0.818816,0.566027,0.095680],[-0.573266,0.797507,0.188013],[0.030115,-0.208798,0.977495]]2H3? ?|~? 2X-??p֞?ʿG?i2"@I2_;2XCY^h >y^DbDjVDj`9yr=%rJ=ٔrLQ-v>9tIt=v5Fytz Ez>|Q 5U>4~?‰?Q 9U>4~4)~ YYy]#@Q I]?~i@I~S4yaɮeҽBi*jyBjyi}?i}ziyJiƷ<i kC kC kC h k%k%k%h2f:fBfJfB@ZZZZi))iII)>I IOE=ԉEg EPEpE"EC:*E?9VE5ZEa@a@a@a@2Acoustic response timeoutԹ B >B B DB #>B =B B B ;B {E8ҏ,nH?A2Ĺ@2ȴ@2żٱ2H :AHRS rotation from veh to nav: [[0.822338,0.561627,0.091294],[-0.568488,0.804156,0.173652],[0.024113,-0.194700,0.980566]]2HP?`? _? 1`?::? ?ȿ`?i2Ĺ@I2_;2SCYB>yBDF>DbDJVDJ`9yV%VN=ٔVx9XIX=Z5FyXZ\`Q 5f>4b=‰?Q 9f>4b4)bYhyj!@Q Ij?bO@Iby:ib :b$>4ylɮnؽBp*jxBjxiz?izzixJizƷ<i| k k k h  k$k$k$h!2f):f)Bf)Jf-p@E2Acoustic response timeoutZMZMZIZMi))iII I9O=Ee ETEhE"E<:*E9VEA{5ZEBEa-2Ea-JE:a-:E:a-12Acoustic response timeoutA Iҏ,ٳnH?Aɰ:@: @:pٱ:\V BAHRS rotation from veh to nav: [[0.810307,0.583674,0.052216],[-0.584944,0.800261,0.131997],[0.035256,-0.137501,0.989874]]:H ? v? ?`ܷ?C? ?@ ?i:@I:_;:TCYJW>yJDbDVVDV`9y^:%^I=ٔ^Q-^>9`I`=b5Fy`fMEf>hQ 5j>4jB<‰?Q 9n>4j4)j5Ylyn@Q In?j6@Ij;ij;jO>4ytɮtt*j|Bj|i~?iziJiƷ<i k k k h)2fA:fABfAJfE֮@ZUZUZQZUii)q)qqqiqyIIIOm=M2Acoustic response timeoutQqE- d E- WE- fE) "E- 9:*E- 9VE- t5ZE) a5 @a5 @a5 @a5 @ԡ  2Acoustic response timeoutDҏ,foH?AZ@^@TļٱB 5AHRS rotation from veh to nav: [[0.820226,0.571647,0.021206],[-0.571539,0.817393,0.072194],[0.023936,-0.071336,0.997165]]HI??J?`? J(?`M{? ? C?iZ@IE_;XCY=5!>y=?Dqy?Mb?y&1|==` 9{Gzt?Cl绿I +?Yף;y;߽9=BDB B)BY¹BbDVDa9 yƎ=%7=ٔ9I=5Fy&=E >Q 5>4#:‰?Q 9>44)Y%>Q E%;y% Q I%?@I:i:>4yɮȽB*jBji?iziJiƷ<i ksksksh k'k'k'h92fUFy>:fUFy>BfU5ʈ@JfU i@Z]ZeZaZeiq)q)yyyiyyIIIO% >ԙB>BBBB=BBB2;BEU2Acoustic response timeout Eҏ,joH?A2<@2@@2?ٱ2x :AHRS rotation from veh to nav: [[0.826353,0.562621,0.024454],[-0.563032,0.824497,0.056563],[0.011661,-0.060509,0.998100]]2H{q??u ?[ Hb???` `n?i2<@I2_;2WCYB>yBDDDbDJVDJ`9yR @%Vc=ٔV =Q-V>9XIX=Z5FyXZ<EZ>\Q 5b>4^y8‰?Q 9f>4^Z4)^eYdyffQ If?^@I^:i^:^y>4yhɮjнBlErh Er\ErhEp"ErG:*Er9VErA{5ZEpBEr/_;az2Er1_;azJErx ;az:Ery ;az*jBji?iziJiƷ<i k%k%k%h k%k%k%h2f:fBfJf7j@ZZ5Z9Z=iY)Y)YaaiaiIi2Acoustic response timeoutIIO==1ia Ia m 2Acoustic response timeoutY cҏ,(E6oH?A2@2@2ӳٱ2, :AHRS rotation from veh to nav: [[0.829238,0.558236,0.027148],[-0.558585,0.826178,0.073568],[0.018639,-0.076170,0.996921]]2H`??̛? p?@]ղ?1? ?i2@I2R_;2VCY@y@bDN9VDNa9ٔVQ-V>9TIX=Z5FyXZV<EZ>\Q 5b>4^6‰?Q 9b>4^E4)^mYdyftQ If?^/@I^`:i^:^>4yhɮhh*jtBjtiv?ivzitJizƷ<ix k&k&k&h k&k&k&h2f):f)Bf)Jf-j@Z5Z5Z9Z=iI)I)IQQiQQIII!1OM=bEuA{5jEuð5rEuLK1Ec EUEE"Eg5:*EP9VEZEa@a@a@a@a2Acoustic response timeoutԉB >B /CB B B =B B B ;B EԹ ?ҏ,: PoH?A6v@6q@6yٱ6O BAHRS rotation from veh to nav: [[0.835134,0.548820,0.036709],[-0.549326,0.828769,0.106690],[0.028130,-0.109265,0.993615]]6Hk?`?uˢ?F?P?:Μ??i6v@I6{_;6WCYF=>yFsDbDR VDR a9yZ7<%Z<ٔZ߿Q-Z>9\I\=^5Fy\b<Eb>dQ 5j>4f4‰?Q 9j>4f*4)fCYhyjWQ Ij?fw@If>:idf>4ypɮr̽Bp*jxBj|i~?i~zi|JiƷ<i k+k+k+h%2Acoustic response timeout k#Ek#Ek#Eh12fA:fABfAJfEj@ZUZUZQZUia)i)iiiiiqIqIIIO{=Iu>)u>ԑ l>G)]g_9YY]TAE E^EiE"E*E;9VEz~5ZEBE?;a 2E?;a JE;a :E;a ==2Acoustic response timeout ҏ,ioH?A2@2@2ٱ2 :AHRS rotation from veh to nav: [[0.827666,0.559065,0.049155],[-0.560777,0.820346,0.112078],[0.022335,-0.120329,0.992483]]2H<|?@?*? F@?-?`ޖ?;@k?i2@I2_;0YR>yRDIX)Z;XXbD7VDa9yE%EA=ٔM`9III=U5FyQUbE]>aQ 5m?4e2‰?Q 9m?4e4)e{YqyuQ Iu?e@Ie;ie%-;e?4yɮνB*jBji?iziJiƷ<i kCkCkCh kCYkCYkCYh2f:fBfJfi@ZZZZi))i I I!I9O=-2Acoustic response timeoutI E e E VE mE "E <:*E 9VE 5ZE a @a @a @a @ 2Acoustic response timeoutҏ,ioH?A Rٮ@R Ե@RvٱRh ZAHRS rotation from veh to nav: [[0.824648,0.563465,0.049635],[-0.565446,0.818840,0.098854],[0.015057,-0.109585,0.993863]]RHc??i? "3?`wN?h֎?` ?iRٮ@IRkl_;RVCYb>ybDyˡE?333333 rh'=C  9L7A`? +οI +Y+=yv9BkB JB)BYBbDVDTa9y<%C=ٔK9I=5FyYE>Q 5?40‰?Q 9?44){Yn>Q ES;yQ I?%@I ;i/;*?4yɮ̽B*jBji?iziJiƷ<i k@k@k@h kcZkcZkcZh)2f=V,>:f=V,>Bf=l@Jf=VS@ZMZMZIZMiY)a)aaaiaiIqIIiOm=B->B)B-DB-=B)B)B)B-;B-EBB/CBBBã=CQ4ԑi1I1=2Acoustic response timeout gҏ,ıoH?A2<@2 7@2}ٱ2 :AHRS rotation from veh to nav: [[0.831404,0.554515,0.035778],[-0.555427,0.827423,0.082897],[0.016364,-0.088793,0.995916]]2Hܚ??@Q??z?8??#?i2<@I2d_;2WCPYR>yRDbDZEb^ EbTEblE`"EbC#:*Eb9VEb5ZE`BEb ;aj2Eb ;ajJEb:aj:Eb:ajVDZRa9yra<%rY=ٔv_cQ-v>9tIt=v5Fytzj=Ez>|Q 5?4~-‰?Q 9?4~ !4)~zYy ^Q I ?~+@I~p:i~:~T$?4yɮɽBvE*j)Bj)i-?i-zi)Ji5Ʒ<i1 kZkZkZhI kZkZkZhY2f:fBfJfʲ@Z Z Z Z iq)y)yyyiyI2Acoustic response timeoutIIO=! M 2Acoustic response timeout>ҏ,?oH?A2ί@2ɶ@2lٱ2hn :AHRS rotation from veh to nav: [[0.841179,0.540372,0.020393],[-0.540427,0.838751,0.066599],[0.018884,-0.067043,0.997571]]2H?J? ?,K ? ? BV?)?i2ί@I2_;0Yn>ynѺDv=v=bDzVDzXa9|y % H=ٔ ɻQ- >9I=5Fyd3=E>!Q 5-?4%*‰?Q 9-?4%#4)%r{Y)y-Q I-?%9AI% :i%:%2?4y9ɮ=̽B9*jQBjQiU?iUziQJiUƷ<iY k^k^k^hi krkrkrh2f:fBfJfA@ZZZZi))项iIIIO=Ea E]EnE"E%.:*E9VEJ5ZEa@a@a@a@)2Acoustic response timeoutQB- >B) B- DB- #>B- =B) B) B- ;B- xEԁ `&ҏ,goH?A2@2@2Rɼٱ2P :AHRS rotation from veh to nav: [[0.846203,0.532492,0.019813],[-0.532291,0.842996,0.077618],[0.024629,-0.076227,0.996786]]2H?@, ?I?@?@޳? C8?@?i2@I2i_;2VCYB>yB3DbDNVDNja9yV}%VQ=ٔVYpQ-Z>9XIX=Z5FyX^<E^>`Q 5f?4b(‰?Q 9f?4b&4)b{YdyfQ If?bAIby:ib-:bQ@?4ylɮnϽB2Acoustic response timeout9*jIBjQiU?iUziQJiUƷ<iQY ksZksZksZhq kCrkCrkCrh2f:fBfJf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))1)11QiQYIYIyIO=ԁEc EdEgE"Eg5:*E9VEx5ZEBE?;a2E?;aJE&;a:E&;aԹ2Acoustic response timeout 4Rҏ,4JoH?A>t@>x@>ssٱ>6 FAHRS rotation from veh to nav: [[0.837517,0.546229,0.014122],[-0.543183,0.829486,0.130024],[0.059309,-0.116568,0.991410]]>H?@z??a@%??]?n׽?i>t@I>oy_;y^ۨDjbSBD MO Status=1, MOMSN=2774, MT Status=0, MTMSN=0ԱU|Sent 332 bytes from file Logs/20251025T181502/Express0016.lzmaU.Packets left to send: 3bDVD~a9y2%+=ٔ8Q->9I=5FyEyEE>IQ 5U?4Mb%‰?Q 9U?4M&)4)M^zYYy]Q I]?MAIM:iM$:M^Q?4yaɮeԽBa*jyBjyi}?i}ziyJi}Ʒ<i kYkYkYh kcskcskcsh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iI 2Acoustic response timeoutII)O]>iyIy E j E XE pE "E N:*E 9VE 5ZE a @a @a @a @A  2Acoustic response timeout8ҏ,pH?A:Ȕ@:̏@:>Saٱ:  BAHRS rotation from veh to nav: [[0.836218,0.547781,0.025982],[-0.545634,0.826320,0.139568],[0.054983,-0.130886,0.989872]]:H@L?l??u`6q?@]?&? ?i:Ȕ@I:]_;:UCY^>y^Db=bi>B>B0CBDB=B=BBB;BjEA2Acoustic response timeoutqԙ I] <)Y y Cl?l񢿙 O> ̼  9 K?v׿~jtY ^=y Ը Ľ qB "B ) JB Y GBbD VD va9y <% <ٔ ;Q- m>9 I = 5Fy  pE l> Q 5 ?4 ‰?Q 9 ?4 404) ?Y >Q E ;y kQ I ? K AI e;i T; Pk?4y Bɮ B E*j Bj i ?i zi Ji Ʒ<i  krkrkrh krkrkrh!E-x E-QE-qE)"E-ˀ:*E-v9VE-5ZE)BE-;a52E-;a=JE-:a=:E-:a=2fMַ>:fMַ>BfM@JfMot@Z]Z]ZYZeiq)q)qqyiyyII4=%=2Acoustic response timeoutIIO? ҏ, &pH?A&4<ɰ&4yjDbDvVDvia9y~%~C>ٔ>Q-?9I = 5Fy   >E ?Q 5?4‰?Q 9?4214)؁Y!y%@Q I%? AI;ie;n?4y)ɮ-B1*jABjAiE?iEziAJiMƷ<iI kokokoha kokokohq2f:fBfJfx4u@ZZZZi))顱iIII9O==a2Acoustic response timeoutԑ Y Y Թ "ҏ,R|?pH?A6S@6N@6L;ٱ6 JAHRS rotation from veh to nav: [[0.849925,0.521486,0.075364],[-0.526854,0.843057,0.108067],[-0.007181,-0.131555,0.991283]]6H@2?? K?S?N?`i}?i6S@I6o_;6VCYR>yVpDE^ ELEhE"EC#:*E|9VEA{5ZEa@a@a@a@]2Acoustic response timeoutB>B/CBDBM>B=BBB;B[E)  2Acoustic response timeoutY ԁDD%=Ef EUEjE"EI@:*EP9VEـ5ZEBER;a2ER;aJE:a:E:a2Acoustic response timeoutԱ m2Acoustic response timeout1 bEM5jEM|5rEM|1EE!i EA!EE!}EA!"EE!,K:*EA!VEE!s5ZEA!am!@au!@au!@au!@߱"߱""2Acoustic response timeout $B&>B&B&B&B&=B&B&B&;B&BE1'm*2Acoustic response timeoutq* +OG!+9+m+#a9i+Ym+UAԑ-D%0@AzD%0?AE0o E0uE0hE0"E0`:*E0:VE0A{5ZE0BE0;a02E0;a0JE0xd;a0:E0xd;a0Թ022Acoustic response timeout3792Acoustic response timeoutA:i= 9A9AE]Af E]A[E]ArEYA"E]AI@:*E]A9VE]A5ZEYAaeA@aeA@aeA@aeA@yAʡE?K?"~j?A=A^=ASc>A A9ACl?QοK7?YAd;>yAuAI >ABAB A)A1BAYABbDAVDALa9yA=<%A<ٔAQ EB ;yBֶQ IB? BAI B94;i B 3; B?4y!Bɮ-BB)BB2Acoustic response timeout*jCBjCiC?iCziCJi CƷ<i C kkkkkkhYC kkkkkkhC2fC1>:fC1>BfCƶ@JfC@ZCZCZCZCiC)C)CCCi D!DI)DIADIqDIDDD>OD @>2ҏ,gpH?A00DjZ@jU@j,ٱjϓ vAHRS rotation from veh to nav: [[0.865689,0.500583,-0.000303],[-0.498817,0.862686,0.083400],[0.042010,-0.072047,0.996516]]jHำ??3 ߿?`Y?`?@qu?ijZ@Ijf_;hYz >yzD|~@ABAB%>B%.CB!B!B%=B!B%.DB%);B% EB/CBBBB=C5bD+VDa9yŽ%=ٔiQ-s?9I=5Fyv3>Es?Q 5?4y%‰?Q 9?4D4)YyQ I?AII;iw;3?4yɮB*jBji?iziJiƷ<i kSkSkSh1 kckckchA2fQ:fQBfQJfU @ZeZeZaZeiq)y)yyyiyIIIԱO]>2Acoustic response timeoutQ D =D <E b E E lE "E 1:*E VE 5ZE BE 9;a 2E 9;a JE ;a :E ;a \8ҏ,IpH?A:V @:[@:c׿ٱ:9 BAHRS rotation from veh to nav: [[0.876952,0.476451,0.062841],[-0.480542,0.867765,0.126741],[0.005854,-0.141344,0.989943]]:H`?+~?\?`1޿? 9?`w?`¿?i:V @I:s_;8YN>yRȡDbDZ-VDXyvƼ%vq=ٔv=Q-v?9xIx=z5Fyxz=E~?Q 5?4 '‰?Q 9 ?41G4)Y y ?Q I ?uAI :i[:?4yɮB*j)Bj)i-?i5zi1Ji5Ʒ<i1e2Acoustic response timeoutԙ kkkh2f:fBfJft@Z%Z%Z!Z%i9)9)999iAAIIIaIqO= 2Acoustic response timeout >ҏ, pH?A2@2@2wٱ2m% :AHRS rotation from veh to nav: [[0.877974,0.473555,0.070051],[-0.478644,0.866010,0.144662],[0.007841,-0.160539,0.986998]]2H\?`N??޿Y?`F??Ŀ}?i2@I2_;2WCYBv=yB}DID)F49XIX=^5Fy\^;E^>`Q 5f?4b(‰?Q 9f?4bJ4)bYdyj!Q Ij?b?AIb:i`b?4ylɮnͽBl*jtBjtiz?izzixJizƷ<i| kSkSkSh  kkkh2f9:f9Bf9Jf=@ZeZeZaZmi))顉i!IQE EYEeE"E*E*9VEq5ZEa@a@a@a@IIIO>e2Acoustic response timeoutB5>B5/CB5DB5#>B1B1B1B5;B5EIy  2Acoustic response timeoutnEҏ,qH?A;ɰp;B" @B'@B΄YٱB  JAHRS rotation from veh to nav: [[0.876820,0.477416,0.057107],[-0.480636,0.867002,0.131515],[0.013276,-0.142763,0.989668]]BH??=?޿ {?@~?`e0? F¿\?iB" @IBp_;BVCYR=yRDy-~jth?Mbl񢿙-D;--) )9-S㥛?~jt1Zd?Y-$>y-Ľ-"[>-B-B -]B)-B)Y-ѹBbDEVDE]a9yMSH=%UA=ٔUQQ-U>9YIY=]5FyYeѱEe>aQ 5m?4e+‰?Q 9u?4ecK4)eBYu>Q EuE;yuwQ Iu?e8AIe/:ie;e?4yɮ½B*jBji?iziJiƷ<i kkkh kCkCkCh2f>:f>Bf/@JfxL@ZZZZQi))顙iIIIO=E_ E[ErE"E&:*E9VE5ZEBE&;a2E&;aJEa:Eaԙ}2Acoustic response timeoutI>)>ԩ Kҏ,30qH?A2QI@2VD@2'ռٱ2ـ :AHRS rotation from veh to nav: [[0.880337,0.473975,0.018843],[-0.473633,0.876131,0.089815],[0.026062,-0.087992,0.995780]]2H +?U?`K?O޿C ?%?ޯ?૆@n?i2QI@I2h_;2XCYvS>yvDbD"VDa9y <%N=ٔRQ->9I=5Fy% <E%>)Q 5-@4-L.‰?Q 95@4-L4)-Y1y5Q I5?-&AI-:i-:-@4yAɮEBA*jQBjQiU?iUziYJi]Ʒ<iY kCkCkChq ksksksh2f:fBfJf@ZZZZi))项iIIIO%=Ա2Acoustic response timeoutEf EdEE"EI@:*E9VEZEa@a@a@a@  2Acoustic response timeout9 Rҏ,JqH?A2C@2H@2ٱ2" :AHRS rotation from veh to nav: [[0.892680,0.450563,0.010759],[-0.450621,0.891868,0.038893],[0.007928,-0.039567,0.999185]]2HՐ??? ܿ-??yRDbDZVDZma9ybR=%bO=ٔfU<=Q-f>9dId=j5Fyhj=Ej>lQ 5r@4n0‰?Q 9r@4nN4)n;YtyvQ Iv?n"AIn[:in$:nV@4yxɮzBx*jBj i ?i zi Ji Ʒ<i  kkkha2fq:fqBfqJfu^ߩ@ZZZZAABBBBBBBB0;BEi))i9I9IqIO=2Acoustic response timeout9i E g E [E E "E C:*E 9VE H5ZE BE X;a 2E X;a JE a :E a Xҏ,[dqH?A2#@2@2P<ٱ29 :AHRS rotation from veh to nav: [[0.892821,0.449252,0.032291],[-0.450080,0.892619,0.025701],[-0.017277,-0.037480,0.999148]]2H?? c?ܿT?OQ?@0`?i2#@I2q_;2TCPYR>yRDTV?AE2Acoustic response timeoutbD~(VD~a9ye1H%eA=ٔmEs=Q-m>9iIi=m5Fyiu:Eu>yQ 5@4}3‰?Q 9@4}O4)}YyÅQ I?}:AI}6:i} :}.@4yɮ*jBji?iziJiƷ<i kkkh kkkh2f:fBfJfs@ZZZZi ) )   i II)IAO= iI2Acoustic response timeout) ^ҏ,4~qH?A2^@2c@2mv;ٱ2UEg :AHRS rotation from veh to nav: [[0.898838,0.437378,0.028113],[-0.438264,0.897505,0.049076],[-0.003767,-0.056432,0.998399]]2H`H??ɜ?@ ܿ ]?} ?(n䬿 ?i2^@I2z_;0YBo>yBDbDRVDRa9yf7<%fU=ٔjQ-j>9lIl=r5Fypr =Er>t|Q 5@4v_6‰?Q 9@4vQ4)vY y Q I ?v1AIv];iv;v*@4yBɮBE*j)Bj)Emo EmTEmEi"Em`:*Em9VEm5ZEia@a@a@a@i5?iziJiƷ<i k#k#k#h!2fQ:fQBfQJfUw@ZeZeZaZei))顱iIIIO >)M2Acoustic response timeoutQB>B.CBBB=BBB;BVEԁ  2Acoustic response timeoutټeҏ,qH?A2Q@2L@2Lٱ2η :AHRS rotation from veh to nav: [[0.907794,0.419342,-0.007838],[-0.416432,0.903404,0.102206],[0.049940,-0.089518,0.994732]]2H ? ? Ѧڿ`?(*?@ʑ?궿?i2Q@I2 Y_;2YCYN>yR/DTVAy-x&ٿK7?K7ɿ-7ɾ-I>-I) )9-l񢿦 r?+?Y-y-C>->-B-B -JB)))Y- BbDEVDEa9yM#%UB=ٔUQ-U>Y9YIY=e5Fyaee=Ee>iQ 5u@4m7‰?Q 9u@4mN4)mh=YA>Q E;y?Q I?mAImzAHRS rotation from veh to nav: [[0.914866,0.402915,-0.026054],[-0.394231,0.905356,0.157837],[0.087183,-0.134129,0.987121]]6HF? \?㭚`;ٿ?4?@Q?"+?i6@I6'v_;6UCYF>yFDbDRVDRa9yZ<%ZU=ٔZDǽQ-Z>9\I\=^5Fy\b9x=Eb>dQ 5j@4f9‰?Q 9j@4f6L4)fc>YhyjI?Q Ij?f*!AIf:ifl:fF@4ypɮrBp*jxBjxiz?i~zi|Ji~Ʒ<i| kkkh kkkh!2f1:f1Bf1Jf5›@ZEZEZAZEiQ)Y)YYYiYaIiIIԹOk=2Acoustic response timeoutbE5jE5rE=2Euh EuSEuoEq"EuG:*Eu9VEu5ZEqa@a@a@a@m 2Acoustic response timeout9 rҏ,qH?A24@2/@2ӺCٱ2u3 :AHRS rotation from veh to nav: [[0.919097,0.393238,0.024993],[-0.391126,0.902792,0.178851],[0.047767,-0.174157,0.983559]]2H=i?`*?ȗ?4ٿ??@t?Jƿ Py?i24@I2bc_;2VCYB}=yB@DbDJVDJa9yn[%rG=ٔrq=Q-r>9pIt=v5FytvJ5<Ev>xQ 5~@4z:‰?Q 9~@4zI4)z٪>Yy?Q I?z"AIz;iz;z U@4y ɮ ½B *j!Bj!i%?i%zi!Ji-Ʒ<i) kCkCkChA kckckchQ2fa:faBfaJfe\@ZmZuZqZuB}<A}<B>B/CBBB=BBB;BEi))顡iIIIO = l> CIUGy_iI2Acoustic response timeout9Y#TAiE f E [E tE "E I@:*E 9VE 5ZE BE R;a 2E R;a JE ;a :E ;a ԙ xҏ,qH?A.F:@.K5@. ٱ.ψI :AHRS rotation from veh to nav: [[0.919854,0.389648,0.045203],[-0.390731,0.899991,0.193252],[0.034618,-0.195426,0.980107]].H`qo? ?$?@ٿ`?`y?k?ɿ ]?i.F:@I.Rv_;,YB=yB{D DDJ=J=bDNVDNa9yf)n%fL=ٔfO=Q-f>9hIh=j5Fyhn:En>pQ 5v@4r<‰?Q 9v@4rF4)r>Ytyv:?Q Iv?ri$AIr:ir:rc@4y|%2Acoustic response timeoutɮ~νB*jBji?iziJiƷ<i kkkh kkkh2f:fBfJfǗ@ZZZZi ))iII1IIyO=ԡ2Acoustic response timeout 'ҏ,ҍqH?Af@f@fMgٱfz0  AHRS rotation from veh to nav: [[0.925004,0.379733,0.013062],[-0.375742,0.909095,0.179902],[0.056441,-0.171318,0.983598]]fH?M?? ) ؿM? ? ?ſy?if@If }_;fWCY==y=CDEEg EETEEwEA"EEC:*EE9VEEɕ5ZEAae@ae@am@am@y%+~jt?y&1̿%%<%`e! !9%lV-?9QIQ=U5FyQ]&=E]>aQ 5m@4e7:‰?Q 9m@4ebF4)e>Yu=Q Eu:fC>Bf?@Jfi@ZZZZi))iII%2Acoustic response timeoutI1Om>iIBu>Bu.CBqBqBu=BqBqBu?;BuEB1B1B1 B1B5ǣ=C5&6!  2Acoustic response timeout> ҏ,iUrH?A>+@>&@>oٱ>* FAHRS rotation from veh to nav: [[0.929913,0.367568,-0.012486],[-0.363124,0.922996,0.127356],[0.058336,-0.113896,0.991778]]>H?@;?k=׿.?@4M? @ޭ?`M(@?i>+@I>Zu_;>VCYNl>yNŧDbDVVDVa9y^x<=%b=ٔb»Q-b ?9dId=f5Fydf-=Ef ?hQ 5n@4j8‰?Q 9r@4jE4)j>Ypyr@Q Ir?ja%AIj;ijf;jB@4ytɮvBx*jBji ?i zi Ji Ʒ<i  kkkh! kkkh12fA:fABfAJfE2@ZUZUZQZUii)i)iiiiqqIyIIIO%=QEMn EMYEMqEI"EMO]:*EM*9VEM5ZEIBEMf;aU2EMg;aUJEM:a]:EM:a]y=2Acoustic response timeoutԩ 4ҏ,{23rH?A23@28@25/ٱ2x( :AHRS rotation from veh to nav: [[0.937102,0.348766,-0.014222],[-0.346410,0.934232,0.084913],[0.042901,-0.074646,0.996287]]2H? 0R?\ +ֿ@;?߼?,??i23@I2\_;2WC@Yf>yfDllprAAbDpVDpyz5=%zG=ٔ~=Q-~>9|I=5FyI5=E> Q 5@4 6‰?Q 9@4 oE4) >Yy @Q I? %AI f;i @; @4y!ɮ%B)*j9BjAiE?iEziAJiEƷ<iA kckckchY kCkCkChi2fy:fyBfyJf}@ZZZZi))顡iIIIO =2Acoustic response timeoutԩEQ EUaEU|EQ"EQ*EU9VEUם5ZEQae@ae@ae@ae@9 M 2Acoustic response timeoutҏ, MrH?A2!~@2&y@2Ifٱ2 GS :AHRS rotation from veh to nav: [[0.945624,0.325259,0.001256],[-0.324847,0.944219,0.054084],[0.016405,-0.051552,0.998536]]2HB?@ ?WT?MԿ` 7??̐?@d?i2!~@I2}_;2VCYN>yRDbDZVDZa9ybU;%bM=ٔfk=Q-f>9dId=j5Fyhjn=Ej>lQ 5r@4n4‰?Q 9r@4nD4)n >Ytyv<@Q Iv?nb&AIn9:in:n@4yxɮzBxA!A%?AB%>B!B%DB%w>B%=B!B!B%M;B%E9*jiBjiim?imziiJiuƷ<iq kkkh2f:fBfJfTR@ZZZZi))!i!!I)IAIqO=i2Acoustic response timeoutԙ Ee  Ee ]Ee zEa "Ee ~:*Ee 9VEe 5ZEa BEe ;am 2Ee ;au JEe  ;au :Ee  ;au } PExceeded connect timeout, disconnecting.xFҏ,>frH?ANꇷ@N@NQ <ٱN5 VAHRS rotation from veh to nav: [[0.946105,0.322196,0.032788],[-0.323750,0.943568,0.069756],[-0.008463,-0.076611,0.997025]]NH}F?ܞ?@ɠ?PԿ@1?@۱?U˜@?iNꇷ@IN_;NWCY^>y^DbDjVDja9yrb<%rI=ٔrz=Q-r>9tIt=v5Fytv0@;Ez>x%= 2Acoustic response timeoutQ 5@4zy2‰?Q 9@4zeD4)z<>Y!y%M@Q I%?z&AIz;iz;zé@4y)ɮ-B)*jABjAiE?iMziIJiMƷ<iI kkkha kkkhqԙ2f:fBfJfP@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeedZ-Z5Z1Z5i))顉iIII1O}=2Acoustic response timeout! 1ҏ,ЀrH?A-N@-I@-'nٱ-`[ mAHRS rotation from veh to nav: [[0.943753,0.329843,0.023127],[-0.330333,0.937457,0.109796],[0.014535,-0.111260,0.993685]]-H83?$?`y? ,$տ ??č?{D?i-N@I-f_;-VCY>yD==Ee EYEdE"E<:*E*9VE^n5ZEa%@a%@a%@a%@IyMb?Q˿Zd;Oտ@=(\~ 9Mb?/$ƿuVͿY>y&1rhBܭB KB)YBbDVDa9yo%-=ٔtGQ->9I=5FyrE>Q 5 @4l9‰?Q 9@4G4Q =tI):>Y>Q E ;y3Q I?T)AIc;i;E@4yɮ%B!*j1Bj1i5?i5zi9Ji=Ʒ<i9 kCUkCUkCUhQ kSUkSUkSUha2fuOo>:fuOo>BfuO>Jfu@s}NUpdating rudder angle 6.875493 arcdeg 9}r}6Completed marl:UpdateRudder19} r}RAggregate::uninitialize marl:UpdateRudder 2Acoustic response timeoutZZZZiA)A)IIIiIQIQIIO*>yB>BBDB#>B=BBB|;BƙEԩi߱ Iߵ A 2Acoustic response timeout Xҏ,0rH?A6@6@6x'ٱ6W >AHRS rotation from veh to nav: [[0.945428,0.325799,0.004587],[-0.323254,0.936088,0.138730],[0.040905,-0.132642,0.990319]]6H@??r?0Կo?`?p?l?i6@I6<_;6YCYF>yFDbDRVDPyZM<%Zx=ٔZߣQ-Z?9\I\=^5Fy%E<E%?)Q 55@4->‰?Q 95@4-8J4)-GI>Y1y5}Q I5?- +AI-:i-;-<@4yAɮEBA*jQBjQi]?i]ziYJi]Ʒ<iY kDkDkDhq kDkDkDh2f:fBfJf8@ZZZZi))项iIIIO==ԱE) E)E-qE)"E)*E)VE-5ZE)BE-`L;a52E-cL;a5JE-:a=:E-:a=EnManaging dock network, ignoring radio surface power off%2Acoustic response timeout  9 ҏ,zrH?A2l@2g@2)ٱ2L :AHRS rotation from veh to nav: [[0.944255,0.329144,0.006864],[-0.326604,0.933939,0.145218],[0.041387,-0.139365,0.989376]]2HU7??|? Կ??`0??i2l@I2X_;2WCY^F>y^DbDjVDja9yrf%rG=ٔvQ-v>9tIt=v5Fytz>Ez>|Q 5@4~D‰?Q 9@4~M4)~=Yy _Q I ?~9-AI~:i~:~$@4yɮB*jBji?iziJiƷ<i kAkAkAh2f:fBfJf5@ZZZZi))i1I9}2Acoustic response timeoutIyIO=  >9E5i E5WE5zE1"E5,K:*E59VE55ZE1aE@aE@aE@aE@i - 2Acoustic response timeoutjҏ,UrH?A 2?շ@2Dо@2[~мٱ2 >AHRS rotation from veh to nav: [[0.948846,0.315313,0.016435],[-0.314714,0.940281,0.129718],[0.025448,-0.128255,0.991415]]2H@\?`.?aԐ?@D$Կ???j`?i2?շ@I2D_;0YB>yB/DbDNVDNa9yV:V<%VN=ٔV$=Q-Z>9XIX=Z5FyX^=E^>Bb<A`BdBf/CBdBdBf=BdBdBf^;BfEpQ 5v@4rJ‰?Q 9v@4rO4)r,=Ytyv(|Q Iz?rO/AIrB:ir:r)@4y|ɮ~B|*j Bj i?iziJiƷ<i kDkDkDh) kDkDkDh92fI:fIBfIJfMa@Z]Z]ZaZeiq)q)qqiII1IIO=i2Acoustic response timeoutԙ EE e EE VEE wEA "EE <:*EE 9VEE ɕ5ZEA BEA aU 2EA aU JEE C:aU :EE D:aU ҏ,0rH?AJ@J۾@J/ٱJ̽P VAHRS rotation from veh to nav: [[0.948718,0.315991,-0.009198],[-0.313208,0.943509,0.108124],[0.042845,-0.099698,0.994095]]JH[?`29?sւ Կ:1???Յ?iJ@IJ`_;JXCY^c>ybDb=bt>bDjr2Acoustic response timeoutVDja9yz p%zF=ٔz,Q-z>9|I|=~5Fy|l\;E> Q 5@4 Q‰?Q 9@4 R4) Yy_vQ I? o1AI :i p: s@4y%Bɮ%B%E*j1Bj1i5?i=zi9Ji=Ʒ<i9 kBkBkBhQ2fi:fiBfiJfm@ZZZZi))顡iIIIO=I)>2Acoustic response timeout1 ҏ,]sH?A|E@E@EwٱEq ]AHRS rotation from veh to nav: [[0.955211,0.293746,-0.035844],[-0.289680,0.952921,0.089599],[0.060476,-0.075203,0.995333]]EH?@?Zҿ@S~? ??@@?iE@IEk_;EVCYe">yeVDbE}5jE}5rE}1Ej E]EvE"EN:*E9VE-5ZEa@a@a@a@y ףp= ? ףp= ǿtV?Q8>Q8> 9y&1?~jtؿrh|?Y`e>yľ=BB :B)VBY.BbD%VD%a9y-=%57=ٔ5G"Q-5>99I9==5Fy9=`=EE>AQ 5A4ET‰?Q 9A4EW4)E)=Y*>Q E:yQ I?E4AIE:f]>Bf]"@Jf]Bk@ZZZZi))iI2Acoustic response timeoutII!Oe>B>BBDBw>BBBB:;BEQy OG % 4`9! Y- TA 2Acoustic response timeoutҏ,sH?A2L@2G@2ʤٱ2ƙ :AHRS rotation from veh to nav: [[0.962331,0.271876,-0.001421],[-0.270933,0.959406,0.078331],[0.022660,-0.074995,0.996926]]2Hk?if?HW Vѿs?`z ? 4?2@?i2L@I2_;2WCYN >yR DbDZeVDZa9yr~%vb=ٔv=Q-v>9xIx=z5Fyxzb=Ez>|Q 5A4~X‰?Q 9 A4~[4)~=Y y Q I ?~7AI~:i~:~ A4yɮB*j)Bj)i-?i-zi1Ji5Ʒ<i1 kC%kC%kC%hQY2fq:fqBfqJfu@Z Z Z Z ^ B*** querying acoustic contact ***XYiA)A)IIIiIIIqIIO=ԁD?AzD@AE i E bE iE "E ,K:*E 9VE z~5ZE BE te;a2E ve;aJE O;a:E P;a2Acoustic response timeoutԱ ҏ,5sH?A6;@66@6ٱ6Ľ >AHRS rotation from veh to nav: [[0.961839,0.273510,0.007586],[-0.272925,0.957076,0.097556],[0.019422,-0.095904,0.995201]]6Hc?`0??wѿ ^?n?a?@$?i6;@I6[_;6YCY^>ybDbDj/VDja9yr-d<%rK=ٔv9tIt=v5FyxzEz>|Q 5A4~[‰?Q 9A4~)`4)~!>Yy Q I ?~9AI~:i~:~A4yɮB*j!Bj)i-?i-zi)Ji-Ʒ<i) k k k hA k&k&k&hQ2fa:faBfaJfe@ZuZuZqZui))顉iIIԹI]2Acoustic response timeoutO= E EWEhE"E*E9VEA{5ZEa%@a%@a%@a%@! 2Acoustic response timeout9 ҏ,ROsH?AA0A2AAB4B4B6DB6,>B4B4B4B6&;B6EB)B-.CB)B-=B-=C-5Fи@F˿@FidٱFH NAHRS rotation from veh to nav: [[0.956883,0.289906,-0.018169],[-0.285078,0.949265,0.132764],[0.055736,-0.121860,0.990981]]FH Ȟ?Ӎ?@Κ>ҿ`a`?j?p?;2?iFи@IFw_;FWCYVl>yVŧDbD~VD~~a9yMJ%MD=ٔMrQ-U>9QIQ=U5FyQ];E]>aQ 5mA4ei_‰?Q 9mA4ed4)esn>Yiym[Q Iu?eyjDbDvVDvxa9y=%O=ٔ8ڻQ->9 I = 5FyE>Q 5A4b‰?Q 9A4-i4)|>YyQ I?o?AI%;i&;7A4yɮB*jBji?iziJiƷ<i k#)k#)k#)h kCCkCCkCCh2f:fBfJf@Z%Z%Z!Z%i9)9)999i9AIAIYqIqIO=ԡu2Acoustic response timeout ҏ,l_sH?A4ɰ649aIi=m5FyimlʺEu>qQ 5}A4ub‰?Q 9}A4uk4)u˨>Yb>Q Ep;yyʿQ I?u@AIu{:iu:uFA4yɮB*jBji?iziJiƷ<i k@k@k@h k#@k#@k#@h2f=:f=Bf?@Jf@ZZZZi))顉iI2Acoustic response timeoutI IO>BaBaBeDBe">Be=BaBaBe;BeEI)>! } 2Acoustic response timeoutҏ,,sH?A>@>@>KIӼٱ>Ž NAHRS rotation from veh to nav: [[0.956299,0.292371,0.003444],[-0.291252,0.951467,0.099413],[0.025789,-0.096072,0.995040]]>H?`5?5l?ߣҿjr?!s?ih?$^?i>@I>U_;>XCYZ>yZDbDjVDjOa9yvk=%vf=ٔzz9|I|=~5Fy};E> Q 5A4 b‰?Q 9A4 m4) >Y!y%ʿQ I%? !BAI @>;i >; KSA4y1ɮ5B9*jQBjQiU?iUziQJi]Ʒ<iY k@k@k@h2f:fBfJf@ZZZZi))项iIIYIiO=QEf EUEcE"EI@:*EP9VE&k5ZEBER;a2ER;aJE:a:E:ay2Acoustic response timeoutԩ ҏ, sH?A2F@2K @2 aٱ2ֽ :AHRS rotation from veh to nav: [[0.960430,0.278064,0.015967],[-0.278183,0.954855,0.104244],[0.013740,-0.104561,0.994424]]2H׻??Y?`ѿ+??#?ĺ`Q?i2F@I2B_;2WC@YBV>yFBDbDVDYa9yE[L%EE=ٔMh9IIQ=U5FyQU}=EU>YQ 5eA4]b‰?Q 9eA4]o4)]T>YiymǿQ Im?]CAI]:i]:]aA4yqɮ}By*jBji?iziJiƷ<i k#%k#%k#%h kAkAkAh2f:fBfJf}@ZZZZi))iIII!i9I=AE2Acoustic response timeoutO=ԩEc E_E{E"Eg5:*Er9VE:5ZEa@a@a@a@ 2Acoustic response timeoutQ B] <A] <Be >Be .CBe DBe w>Ba Ba Ba Be ;Be E}ҏ,J%sH?A2@2 @2Zٱ2ƽ :AHRS rotation from veh to nav: [[0.960610,0.276882,0.023760],[-0.277879,0.955997,0.094089],[0.003337,-0.096986,0.995280]]2HQ?`n? T?ѿ? <?Uk?@ ԸU?i2@I2U_;2UCYR >yRDZParsing RMC sentence: $GPRMC,191526.00,A,3646.40089,N,12152.26919,W,0.350,274.84,251025,,,D*79 )\^sH?A^?^M49^ bB@(6w^fhGPS fix at 20251025T191526: (36.773348, -121.871153)^`8>^@bDnVDn\a9yvt%%vN=ٔvL9xIx=z5Fyxzb:E~>9AQ 5M;4E?Q 9M;4EM4Q =MtI)EYQyUǿQ IU?EIE:iE:E>g;4y]Bɮ]BeE*jiBjqiu?iuziqJiuƷ<i k%k%k%h kCEkCEkCEh2f:fBfJfْ@ZZZ!Z%\-Received valid gps time fix: 1761419776.00. 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Ԃ@^^Ͽ?@]ݯ?˘?ɺ?i2'@I2O_;0YBI(>yBD2Acoustic response timeout) Ee  Ee bEe ~Ea "Ee ;*Ee 9VEe 5ZEa am @am @am @am @Y U 2Acoustic response timeoutB->B)B)B)B-=B)B)B-;B-fEԁ y}@AԱ 2Acoustic response timeout DzD?AEv EWEpE"EVz:*E9VE5ZEBEy;a2Ez;aJE:a:E:a12Acoustic response timeout $%2Acoustic response timeout1'a*E+f E+rE+iE+"E+I@:*E+?:VE+z~5ZE+a+@a+@a+@a+@ԑ--2Acoustic response timeoutAI/AI/BU/>BU/0CBU/DBU/#>BQ/BQ/BQ/BU/;BU/_EԹ03M52Acoustic response timeout7I7>)7>A:D:=D:E ;e E ;hE ;qE ;"E ;<:*E ;]9VE ;5ZE ;BE ;`L;a;2E ;cL;a;JE ;&5;a;:E ;'5;a%;<=<<<2Acoustic response timeout=Failed to create a data reader. azimuth_vehicleFrame is unknown.=bFailed to request data from azimuth_vehicleFrame.I=i= @@A=Ap=y}A"~j?(\¿oʡſ}AS=}Az}A-yA yA9}Ash|??MbP/$޿Y}A=y}A}A&}A2B}AsB }AB)}A+ByAY}ABbDAVDAIb9yA%A<ٔAUQ EA:yA" Q IA?A?IA:iA{:AK<4yABɮABA*jABjAiA?iAziAJiAƷ<iA k:k:k:h BB kSTkSTkSTh!B2f5B>:f5B>Bf5B?Jf5B?19=B r=BNAggregate::initialize marl:UpdateRudderq9=BJ]9Bq9=B9=B7=BoEBXAggregate::initialize marl:UpdateCommandMode18EB]AB18EBoEB@Completed marl:UpdateCommandMode7EBoEB\Aggregate::uninitialize marl:UpdateCommandModeq7EBnEBLAggregate::initialize marl:UpdateSpeed7EB]IB7MBnMB4Completed marl:UpdateSpeedq7MBnMBPAggregate::uninitialize marl:UpdateSpeedZUBZ]BZYBZ]BiiB)iB)iBiBqBiqBBIBI)CIACOC@]ҏ, yuH?A$$̂@}@a)ؼٱr %AHRS rotation from veh to nav: [[0.971808,0.235644,0.007883],[-0.234295,0.961422,0.144128],[0.026384,-0.141912,0.989528]]H@ ?@)?@ %?]Ϳ? r?^? +*¿5?î@IW_;YCԱY=>y=DAAbD]~VD]!b92Acoustic response timeouty"% >ٔfQ-?9I=5Fy=E?Q 5<4q?Q 9 <4D4)#Y y ZQ I ??I;i2;Q<4yɮ%B!*jBji?iziJiƷ<i k3k3k3hY2f:fBfJfۖ?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iI1IIIOc> bEQ5jE(5rE2EM` EM]EMyEI"EM*:*EM9VEM5ZEIa]@a]@a]@a]@E 2Acoustic response timeout1 B >B B DB w>B B B B ;B dҏ,uH?A2%l@2*g@2HBٱ2o* :AHRS rotation from veh to nav: [[0.970394,0.240280,-0.024510],[-0.236795,0.966459,0.099421],[0.047576,-0.090673,0.994744]]2Hw ?? LOο  9MbX?EؿI +?Y=yƾ94<~B@B B)BYѹBbD1VDa9ٔXQ->9I=5FyVE>Q 5<4?Q 9<4H4)qY>Q E;y;ȿQ I?O?I ;i. ;_<4yɮ*jBji?iziJiƷ<i k#k#k#h k#k#k#h!2f=>:f=>Bf=*@Jf=@ZEZEZAZMiY)Y)YYYiaaIiIIO=A2Acoustic response timeoutiDY zD] @AEm k Em WEm |Ei "Em mR:*Em 9VEm ם5ZEi BEm q;a} 2Em r;a} JEm :a} :Em :a} ԙ jҏ,uH?A2_@2Z@2ٱ24 :AHRS rotation from veh to nav: [[0.970398,0.239781,-0.028856],[-0.238344,0.970098,0.045845],[0.038986,-0.037610,0.998532]]2H ?&?j ο` ?x?@?@A?i2_@I2_;2XCYN >yRDbDZ'VDZa9ybXZ<%b<ٔfyBDbDNVDNa9yV%VL=ٔV|=Q-V>9XIX=Z5FyX^N=E^>`Q 5f<4b?Q 9f<4bP4)bYdyf`ſQ If?bM?Ib):ibL:bx<4yzBɮ~BE*jBji?iziJiƷ<i kSkSkSh) k#k#k#hA2fQ:fQBfQJfU C@ZeZeZaZeiq)y)yyyiyIEn EUEeE"EO]:*EP9VEq5ZEa%@a%@a%@a%@I1IIO=4= 2Acoustic response timeoutB}<A}<B>BBDBM>B=BBB;BFEBE0CBE0CBABABACEF4!  2Acoustic response timeoutwҏ,DuH?A2@2@2ٱ22: >AHRS rotation from veh to nav: [[0.979814,0.199823,-0.005895],[-0.199831,0.979830,-0.000791],[0.005618,0.001953,0.999982]]2H@Z?Γ?1%xɿZ?Iw?c_??i2@I2_;0YB0>yBKDbDNVDNa9y=%E=ٔ 9 I = 5Fy?=E>Q 5E<4?Q 9E<4T4)YIyM¿Q IM??IR:i:r<4yQɮUBQ*jBji?iziJiƷ<i kkkh kkkh2f:fBfJfј@ZZZZi9)9)99AiAAIIIaIO=QE-h E-]E-hE)"E-G:*E-9VE-A{5ZE)BE-/_;a=2E-1_;a=JE- ;aE:E- ;aEy2Acoustic response timeoutԩ 5~ҏ,"uH?A2T@2O@2 0ɼٱ2 :AHRS rotation from veh to nav: [[0.977543,0.210472,-0.010505],[-0.209298,0.975486,0.067984],[0.024557,-0.064259,0.997631]]2H H?@?σJʿ-7?jg?[%?@Ds?i2T@I23_;2ZC@YB>yBDJ>J=bDN$VDNa9yjg%jN=ٔnCQ-n>9pIp=r5FytvǼEz>YQ 5e<4]2?Q 9m<4]>Y4)]Yiym?ĿQ Im?]?I]1;i]c2;]ڕ<4yɮB*jBji?iziJiƷ<i kkkh!I=>)=>2fY:fYBfYJf]X}@ZmZmZiZm}2Acoustic response timeouti))iI!ԱIIO%>E=f E9E=lE9"E=I@:*E9VE=5ZE9aE@aE@aE@aE@i I  - 2Acoustic response timeoutB >B /CB B B =B B .DB d;B /Eҏ,>vH?A2@2 @2/ٱ2 NAHRS rotation from veh to nav: [[0.975383,0.220169,-0.012399],[-0.216311,0.966193,0.140286],[0.042867,-0.134150,0.990033]]2H@V6?.?d@˿ ???@+Z?i2@I2e_;2XCYV_=yV˛DXX\y= +ο'1Z?ˡE=v=>='9 99=㥛 ? ףp= v?Y==y=Q8=>=B=B =B)=9Y=3BbDUVDUa9ye}%e?=ٔm/Q-m>9iIi=m5FyiuEu>Q 5<40?Q 9<4$Y4)QY>Q E:y#>Q I?@I0;i&:Ѥ<4yɮB*jABjAiE?iMziIJiMƷ<iI kkkh2fH?:fH?Bf@JfU@ZZZZi))iII1IAIYO=e2Acoustic response timeoutA D% ?AzD! 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MȲl?@W?`?P`2?i2Q@I2_;2ZCYf$=yfD hhn=lbDpVDpyz%zF=ٔzX9|I|=~5Fy|۳<E> Q 5=4 P?Q 9=4 a4) %ϽYyQ I? @@I l:i ; =4y!ɮ%B!9*j9BjAiE?iEziAJiEƷ<iA k k k hY k k k hi2fy:fyBfyJf}C@ZZZZE^ EVEcE"EC#:*E9VE&k5ZEa@a@a@a@i))项iIIIO-=Iu>)u>2Acoustic response timeoutB>BBDBw>B=BBB~;B@Eiԑ  2Acoustic response timeout'ҏ,'fwH?A2;@26@2Uٱ2X :AHRS rotation from veh to nav: [[0.987210,0.156050,-0.032623],[-0.150703,0.980215,0.128328],[0.052003,-0.121770,0.991195]]2H:?p?`?Jÿ]? m?@&?R,޷?i2;@I2_;0Y^F>ybD``bDjVDja9yr/=%vK=ٔvd=Q-v>9tIx=z5Fyxz?Ez>QQ 5]=4Uù?Q 9]=4Ud4)U|ǽYaye/Q Ie?U.H@IUr;iUL;U=4yiɮmBi*jBji?iziJiƷ<iԙ k k k h2f:fBfJf)F@ZZZZi))iIIIO]=D=DEd EOErE"E9:*E9VE5ZEBEF;a2EF;aJEM:a:EO:a2Acoustic response timeout! ҏ,%AxH?Az(R@z-M@z [ٱzGQ -AHRS rotation from veh to nav: [[0.987541,0.153589,-0.034249],[-0.148004,0.980485,0.129396],[0.053454,-0.122715,0.991001]]zH?Ш? ¿"`?@ ?Z^?@yD=2Acoustic response timeoutyS㥫?mͿZd;O/]=nj 9I +?q= ףpͿMb?Y9491I1=55Fy1=;E=>9Q 5E=4=?Q 9M=4={g4)=YMn>Q EMd;yM׿Q IM?=N@I= ;i= ;=f=4yYɮ]BY*jqBjqiu?iuziqJiuƷ<iy kckckch kkkh2f=:f=BfD@JfN%2@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iIII!iIIMoAO]>!bE=ǥy5jE=Nj|5rE=W1Ek EWEE"EmR:*E9VEZEa@a@a@a@Q %= a= 2Acoustic response timeoutB >B /CB DB 6>B =B B B ;B IEm OGԁ 4^9 Y RA:ҏ,xH?A6c@6^@6S_ٱ6~ >AHRS rotation from veh to nav: [[0.987802,0.151249,-0.037017],[-0.145865,0.982003,0.119973],[0.054496,-0.113110,0.992087]]6H?`\?¿l? ?@?-?i6c@I6Sb_;6WCY^>ybѺDIj=)hlnAbDvVDv\a9y);%u=ٔ LQ- ?9I=5Fy];E?!Q 55=4% ?Q 95=4%ti4)%KY1y5_׿Q I5?%S@I%3;i%0;%=4yIɮII*jaBjeim?imziiJimƷ<iq kkkh2f:fBfJf3@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iIQ qqIIO-=E2Acoustic response timeoutԁԩE h E `E |E "E G:*E 9VE ם5ZE BE /_;a 2E 1_;a JE ;a :E ;a c ҏ,83xH?A2֙@2۔@2޾ٱ2- :AHRS rotation from veh to nav: [[0.989526,0.142162,-0.025086],[-0.139460,0.986291,0.088214],[0.037283,-0.083792,0.995786]]2H1?`Y2?& ? 3??]sy?i2֙@I2k_;2YCYB >yBDDF=R2Acoustic response timeoutbDNVDNXa9yM<%J=ٔ.=Q- >9 I = 5Fy <E>Q 5E=4H?Q 9E=4k4)PYAyEտQ IE?Y@Iw:i[:-=4yQɮUBQ*jBji?iziJiƷ<i kkkh2f:fBfJfyd5@ZZZZi))iI!IAIԱO=U2Acoustic response timeout 9 Kҏ,MxH?A2@2@2Sƚٱ2B :AHRS rotation from veh to nav: [[0.990322,0.138671,-0.005739],[-0.137498,0.985894,0.095435],[0.018892,-0.093723,0.995419]]2H??@w q?qn?X?2 y?i2@I2P_;2XCYB>yBDbDJVDJea9yRi%VP=ٔV@=Q-V>9XIX=Z5FyXZ;EZ>\Q 5b=4^?Q 9b=4^*n4)^YdyfտQ If?^<_@I^l:i^:^=4yhɮjBl*jtBjtiv?ivzitJizƷ<ix kkkh  k k k hEg EWEE"EC:*E9VE5ZEa@a@a@a@2f:fBfJf4@ZZZZi) )   i I1IIIO=2Acoustic response timeoutAAAABBBDB,>BBBB;BSEBqBqBqBqBqCu49i e 2Acoustic response timeoutuҏ,ugxH?A 2U @2Z@2tbٱ2po >AHRS rotation from veh to nav: [[0.991988,0.126240,-0.004767],[-0.125571,0.989460,0.072123],[0.013821,-0.070947,0.997384]]2H@^?(?Bs?v?@VN? )?i2U @I2b_;0YB>yB3D HHJ=J=bDRVDRZa9yV䋼%VJ=ٔZ5M9XI\=^5Fy\^<Eb>`Q 5f=4b?Q 9f=4bp4)b:A)qiE EVEuE"E*E9VE5ZEBEX;a2EX;aJEC:a:ED:a^A#=I IOMS>ԙ2Acoustic response timeout b ҏ,ZxH?AL y@t@5;ٱpS AHRS rotation from veh to nav: [[0.993634,0.112103,0.011142],[-0.112527,0.992356,0.050666],[-0.005377,-0.051597,0.998653]]H??`ц?μa??vj ?i y@IJ_;2Acoustic response timeoutY->y-D11y=ˡE?~jt?7A`?===<=>9 99=gfffff?'1ZԿbX9?Y=33>y=Т=E>=B=$B =B)=KB9Y=BbDuVDusa9y&<% =ٔ=Q->9I=5Fy<E>!Q 5-=4%1?Q 9-=4%t4)%>Y-C?Q E5:y5Q I5?%mp@I%@:i%j:%=4y9ɮ]Ba*jqBjqiu?iuziqJiuƷ<iy kkkh2f>:f>Bfi@JfLn@ZZZZi))i  I1@EqA@EqA^A =II)O]v>Eb EZEaE"E1:*Ea9VEd5ZEa@a@a@a@B >B B DB ">B B B B ;B }E 2Acoustic response timeout! Z&ҏ,nxH?AFҨ@Fף@F};ٱFX VAHRS rotation from veh to nav: [[0.990458,0.136830,0.016429],[-0.137745,0.986650,0.086875],[-0.004323,-0.088309,0.996084]]FHձ?? Ґ??u=?qp?iFҨ@IFi_;FWC|Y~>y~ȡDbDDVDa9yE9v%E=ٔMZQ-M ?9III=U5FyQUuEU ?YQ 5e>4]ҿ?Q 9e>4]:w4)]>YiymUQ Im?]v@I]:i]:]>4yɮB*jBji?iziJiƷ<i kkkh k3k3k3h2f!:f!Bf!Jf%@ZZ Z Z i))!!!i!III!^A-=I1IIIaO>i!I!-2Acoustic response timeoutQy E f E \E tE "E I@:*E 9VE 5ZE BE R;a 2E R;a JE x ;a :E y ;a d,ҏ, AxH?A2r@2m@2*ûٱ2Lǽ :AHRS rotation from veh to nav: [[0.989516,0.144194,0.008179],[-0.144302,0.984739,0.097294],[0.005975,-0.097454,0.995222]]2H?t??x¿?E?{yx??i2r@I2J_;2VCB2Acoustic response timeoutYN_=yR˛DIT)V49hIh=j5FyhnEn>Q 5 >4'?Q 9 >4;z4)* ?Y y 풿Q I ?~@I[:i:>4YyɮB*jBji?iziJiƷ<i k k k h12fA:fABfAJfEH|@Z}Z}ZyZ}i)) iI!^AM}U<IYIiԁO>Ա52Acoustic response timeout c3ҏ,xH?A23@28@2RI(ٱ22̽ :AHRS rotation from veh to nav: [[0.990100,0.140313,0.003861],[-0.139990,0.985059,0.100310],[0.010271,-0.099857,0.994949]]2H?@?o? . ?`魹? ?@?i23@I2k_;2TCYN>yRDR=RR=bDZVDZqa9yfc=%fJ=ٔf;.Q-f>9hIh=j5Fyhn0<En>Q 5 >4?Q 9 >4O}4)%U?Y y ڒQ I ?@I$:i: >4y9ɮ=B9*jIBjIiM?iUziQJiUƷ<iQEa Ee`Ee~Ea"Ea*Ee9VEe5ZEaam@am@am@am@Ա kc kc kc h2f:fBfJf+@ZZZZi))iIBU>BQBUDBUM>BU=BQBQBU^;BUE2Acoustic response timeout^A "II)O]>E 2Acoustic response timeoutA W9ҏ,/xH?A>-@>2@>pfٱ>ֽ FAHRS rotation from veh to nav: [[0.991452,0.130469,-0.000330],[-0.129706,0.985923,0.105507],[0.014090,-0.104562,0.994419]]>H`?@1?5`3?@?`oی?`ĺF?i>-@I>GG_;>VCYN>yRDbDZVDZ{a9yf@<%fJ=ٔfQ-f>9hIh=j5FyhnS<En>Q 5 >4?Q 9>4X4)/?YyQ I?@Is;i;.>4yAɮEBI*jBji?iziJiƷ<i kkkh2f:fBfJfP@ZZZZi))iI @U@U@Y@YEmg EmSEmEi"EmC:*Em9VEm*5ZEiBEmX;a}2EmX;a}JEml:a}:Emm:a}A2Acoustic response timeoutIIOMt>iԡ @ҏ,yH?A?Ͻ@D@kٱq½ AHRS rotation from veh to nav: [[0.990915,0.134327,-0.006582],[-0.133073,0.986394,0.096535],[0.019459,-0.094783,0.995308]]H? 1?Lz`??`)?C?i?Ͻ@I8_;ZCY%>y%D ))-=-=2Acoustic response timeoutqyZd;Oǿ ףp= ?{Gzj<Q>ף 9vϿe;O?Mb?Yxy>?(BB _B)_BYaBbD/VDa9yl<%+=ٔg8Q->9!I!=-5Fy)-E->1Q 5=>45?Q 9=>45iy4)57?Y==?Q EE:yEP?Q IE?5@I5;i5G;5?>4yiɮm~Bi*jyBji?iziJiƷ<i kkkh kkkh2f ?:f ?BfP@Jfl@ZeZeZaZmi))顁iIԙIIqOf>Euf EuoEuEq"EuI@:*Eu:VEu5ZEqa}@a}@a}@a}@BI BI BM DBM =BM =BI BI BM a;BM E 2Acoustic response timeout Fҏ,yH?A@: @:@:|ٱ:쫽 BAHRS rotation from veh to nav: [[0.991116,0.131424,-0.020395],[-0.129187,0.987777,0.087217],[0.031608,-0.083807,0.995981]]:H9?`?[┿3 ߛ?S?@.?`gt?i: @I:eZ_;:YCYNw2>yRyDPPbDZVDZxa9yfbk=%fw=ٔfmQ-f?9hIh=j5FyhnB<En?Q 5>4?Q 9 >4t4)˴?Y y r?Q I ?@I:i:$K>4yɮtB*jBji?iziJiƷ<i kkkh kkkh2f:fBfJfvA#@ZZZZi))   i 1I1IiIyO= 2Acoustic response timeoutI E c E dE gE "E g5:*E 9VE x5ZE BE ?;a 2E ?;a JE &;a :E &;a Mҏ,C6yH?A .=.4=22Acoustic response timeoutBOj@BTe@BS;ٱBR JAHRS rotation from veh to nav: [[0.993442,0.113756,0.011485],[-0.114315,0.990071,0.081807],[-0.002065,-0.082583,0.996582]]BHG??@p?C`?M?w`/$?iBOj@IB+J_;BVCY~<4>y~DbD VD y=;%=C=ٔE=Q-E>9AII=M5FyIM=EM>QQ 5}>4UF?Q 9}>4Un4)U?YyH?Q I?UE@IU:iU=:UY>4yBɮBE*jqBjyi}?i}ziyJi}Ʒ<i kkkh2f:fBfJfI_@IZeZeZaZei))顙iIIIO=>y>2Acoustic response timeoutԡ SSҏ,cPyH?A6@6@6<ٱ6] >AHRS rotation from veh to nav: [[0.991584,0.125829,0.030479],[-0.127800,0.988964,0.074942],[-0.020713,-0.078207,0.996722]]<6H ?@+?5?[?g/?5X%?i6@I6n_;6WCYRE,>yRDTTbDZgVDZa9yvI%vP=ٔvB=Q-v>9xIx=z5Fyxz E~>Q 5>4ʹ?Q 9 >4i4)?Y y ?Q I ?f@I:i:`g>4ybE5jE5rE3EEn EE\EE{EA"EEO]:*EE9VEE:5ZEAaU@aU@aU@aU@ɮBQ*jaBjaim?imziiJimƷ<ii kkkh2f:fBfJf%@ZZZZ qqi))iIB>B0CBBBBBB;BqEIQIiu2Acoustic response timeout gl>ԱG !Ml9QYU `AyZf?ZAO]3> % 2Acoustic response timeout}Zҏ,>jyH?Aɰ;6p@6u@6ٱ6eٽ BAHRS rotation from veh to nav: [[0.990215,0.139341,0.007633],[-0.139360,0.984531,0.106199],[0.007283,-0.106223,0.994316]]6H@ׯ??C?@F?/?}?t1o?i6p@I6_M_;6XCYRw2>yRyDV=Va=lbDbVDba9y r<% H=ٔUQ->9I=5FyGE>Q 5>4?Q 9>4b4)?Yy?Q I?W@I:ig:;v>4yɮBE*jBji?iziJiƷ<i kkkh) kkkhY2fi:fiBfiJfmMc@ZZZZi)I)QQQiQYIYIIO> Euh EuXEuEq"EuG:*Eu9VEu5ZEqBEu/_;a}2Eu1_;a}JEu:a}:Eu:a2Acoustic response timeout1a j`ҏ,+yH?AFd@F_@FUhٱFn NAHRS rotation from veh to nav: [[0.992980,0.117731,-0.011368],[-0.114946,0.983190,0.141859],[0.027878,-0.139556,0.989822]]FH~?@#?H"mKv?o(?@?`?iFd@IFzl_;FVCYZ>yZ3D1y:v}?5^I?@5^I ¿ԼMb>b 9"~j-?X9vοYSy5>sBB ʴB)B2Acoustic response timeoutY׷BbDVDa9y%;=ٔ6AQ- >9)I)=-5Fy15.m=E5>9Q 5E>4=?Q 9E>4=V^4)=r?YE?Q EE:yM?Q Im?=@I=";i=;=>4yyɮ}By*jBji?iziJiƷ<i kSkSkSh2f~>:f~>Bf?Jfi?ZZZZi))i!I!YIyIO*>Eui EuiEuqEq"Eu,K:*Eu9VEu5ZEqa}@a}@a}@a}@ԉB>BBBB=BBB;BHEB/CB/CBBBCșM5 2Acoustic response timeoutԹ #gҏ,yH?A.˾@.!@. Aٱ.S :AHRS rotation from veh to nav: [[0.994726,0.101545,0.014475],[-0.102569,0.983729,0.147502],[0.000738,-0.148209,0.988956]].H?`?(?A@z?W?`2H?¿?i.˾@I.Yg_;.XCYf?=yf0D hhn=n=bDrVDra9y%%-Z=ٔ-Y=Q-->91I1=55Fy150 =E5>9Q 5E>4=?Q 9M>4=hZ4)=:?YIyM?Q IM?=·@I=:i=:=>4yQɮUBY*jiBjiim?imziqJiuƷ<iq kkkh kkkԙh2f:fBfJf+?ZZZZi))iIII O=2Acoustic response timeoutE b E [E tE "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE ;a :E ;a  Nmҏ,ηyH?A"2Acoustic response timeout6:@65@6\żٱ62 BAHRS rotation from veh to nav: [[0.992479,0.122388,-0.002712],[-0.120024,0.977194,0.175176],[0.024089,-0.173533,0.984533]]6Hb?@T?/7f幾+E?`+l?㪘?T6ƿ L?i6:@I6E_;4YF=yFDHHbDV VDVa9yZ˵;%ZR=ٔ^uQ-^>9`I`=b5Fy`b8Ef>dQ 5j>4f?Q 9j>4fZV4)f?Ylyn/?Q I?f@If%4y!ɮ-B)*jYBjYie?ieziaJieƷ<ii kkkh2f:fBfJfV?ZZZZiY)Y)YYaiaaIiIIO=!2Acoustic response timeoutQy 5tҏ,qyH?A2@2 @2 )ٱ2kB, :AHRS rotation from veh to nav: [[0.993019,0.115896,-0.021922],[-0.110495,0.979073,0.170902],[0.041270,-0.167287,0.985044]]2H?\?@rmI T?!?Z!?iſ {?i2@I2|_;2YCYB*=yB։DbDNVDNa9yVd%VK=ٔV /Q-V>9XIX=Z5FyXZF<E^>`Q 5b>4bϦ?Q 9f>4b(R4)b?Ydyf?Q If?b@Ib :ib9:b>4yhɮnBl*jtBjtiv?izzixJizƷ<ix kkkh  kkkh2f):f)Bf)Jf-Ƹ?E EQEE"E*Ev9VEZEa@a@a@a@Z=ZZZi))顱iIII!YOm=BA<B>B/CBBB=BB.DBh;B1EU2Acoustic response timeoutԁԩ 2Acoustic response timeout &kzҏ,ղyH?A>q@>l@>ٱ> JAHRS rotation from veh to nav: [[0.992889,0.117292,-0.020334],[-0.113359,0.983740,0.139306],[0.036343,-0.136010,0.990041]]>H??pҔz?? ?hi?i>q@I>r_;>WCYR>yRDIX)Z<\\bDbVDba9yj=%jF=ٔjC9lIl=n5FylryEr>tQ 5z>4v?Q 9z>4vM4)vٰ?Yxy~?Q I~?vM@Iv:iv:v>4yBɮBE*jBji?iziJiƷ<i kkkh1 kkkhA2fQ:fQBfQJfUj?ZeZeZiZmiy)y)yyyiII9IQIiԙO=E}f E}]E}pEy"E}I@:*E}9VE}5ZEyBE}R;a2E}R;aJE} ;a:E} ;aU2Acoustic response timeout! Hҏ, `zH?A:%@:*@:+ٱ:` BAHRS rotation from veh to nav: [[0.992929,0.115098,-0.029057],[-0.111085,0.987199,0.114448],[0.041858,-0.110411,0.993004]]:H ? w? p`"?rL?Zn?C?i:%@I:)_;:UCYJ*>yJ"DN=N4>y~jt?y&1ԿCl绿=`;߽ 9bX9ȶMbzGYEy BB B)XBYbD5VD5a9yEr=%EE=ٔMYQ-M>9III=M5FyIU;EU>YQ 5e>4] ?Q 9e>4]eO4)] ?Ye?Q Em:ym|Q Im?]@I]':i]:]>4yqɮuBq*jBji?iziJiƷ<i kkkh kkk2Acoustic response timeouth2f?:f?Bf} @Jf @ZZZZiq)y)yyyiyIIIO-=9Ed EZEmE"E9:*Ea9VE5ZEa@a@a@a@B>BBBBBB/DB;B@E`setting available, lastComms_.elapsed()=0.011429   Im 2Acoustic response timeoutq rҏ,:zH?A02c߾@2h@2iٱ2䰽 >AHRS rotation from veh to nav: [[0.994465,0.102487,-0.023162],[-0.100055,0.990991,0.089033],[0.032078,-0.086222,0.995759]]2H?yF(DbDNVDNa9yVʼ%VT=ٔZn9XIX=Z5Fy\^6<E >Q 5>4;?Q 9>4P4)4y-Bɮ-B-E*jABjAiE?iMziIJiMƷ<iI kkkha kkkhq2f:fBfJf5 @ZZZZi))顩iIIIO=iiI2Acoustic response timeoutԙ E b E VE hE "E 1:*E 9VE A{5ZE BE 9;a 2E 9;a JE C:a :E D:a 4ҏ,9zH?A2Acoustic response timeout6P@6U@6ϐٱ6Hd BAHRS rotation from veh to nav: [[0.997239,0.074187,0.003105],[-0.074214,0.994506,0.073828],[0.002389,-0.073854,0.997266]]6Hb??oi??@]?c?@貿?i6P@I69r_;6VCYF#1>yJDP TTV=V=bDbVDba9yn:$=%nG=ٔr;=Q-r>9tIt=v5Fytz=Ez>|Q 5 >4~?Q 9 >4~1R4)~s-?Yy Q I?~@I~=;i~>;~p>4yaɮ}By*jBji?iziJiƷ<i k k k h2f:fBfJf @ZZZZi))1)1QQiQYIYIu>)qIyIO=2Acoustic response timeout! Äҏ,RzH?A2X@2T@2<ٱ2 :AHRS rotation from veh to nav: [[0.995874,0.082985,0.036719],[-0.085285,0.994150,0.066272],[-0.031005,-0.069130,0.997126]]2H@3?>?̢? >յ? 6?` t?i2X@I2)F_;2WCYBg'>yBDDDbDNVDNa9yVü%VM=ٔV=Q-V>9XIX=Z5FyX^E^>`Q 5f>4b?Q 9f>4bS4)bq>YdyfQ If?b@Ib6:ib:bI>4ylɮnBp*jxBjxiz?|i~ziJiƷ<i k k k h kkkh)2f9:f9Bf9Jf=@ZMZMZIZMEea EehEaEa"Ee%.:*Ee]9VEaZEaam@am@am@am@iqB=>B=0CB=DB=#>B9B9B9B={;B=˙E)q)顱iIII52Acoustic response timeoutO}=)Qԁ  2Acoustic response timeoutҏ,RlzH?A6@6$@6;ٱ6 JAHRS rotation from veh to nav: [[0.994138,0.107227,0.013854],[-0.107906,0.992032,0.065036],[-0.006770,-0.066150,0.997787]]6H? >s?e_?฾?1?{-ﰿ?i6@I63_;4Y^3>y^DbDjVDja9yr<%rF=ٔvpQ-v>9tIx=z5FyxzaEz>|Q 5?4~H?Q 9?4~T4)~\U>Y y Q I ?~@I~[:i~:~?4yɮB*j)Bj)i5?i5zi1Ji5Ʒ<i1 kkkhIY kkkha2fq:fqBfqJfu[ @ZZZZi))顙iIIIO=Emi Em`EmiEi"Em,K:*Em9VEmz~5ZEiBEmte;au2Emve;a}JEm;a}:Em;a}ԁ=2Acoustic response timeoutԱ ҏ,azH?A2ܾ@2@2"/ ٱ2 :AHRS rotation from veh to nav: [[0.994362,0.101559,-0.030505],[-0.100452,0.994295,0.035873],[0.033974,-0.032606,0.998891]]2H? ?<3C?@]?e? ñ?i2ܾ@I2l_;2VCYB]J>yBDIF%=)DHJAyM)\(~jtJ +MGaMMHI I9M:v?rh|(\пYM=yMMMBMB MB)M9yIy=}5Fyy<E>Q 5?4 ?Q 9?4[4)=Y,?Q E:y쾿2Acoustic response timeoutQ I?z@I_;i^;h?4yɮBԹ*jBji?iziJiƷ<i kCkCkCh k#*k#*k#*h2f ?:f ?Bf @Jf z@19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeedZ-Z-Z1Z5iA)A)AIIiIIIQIi IOm=iAIAbEQ5jEZ5rEǖ1E}h E}[E}qEy"E}G:*E}9VE}5ZEya@a@a@a@!OGBiBiBmDBmw>Bm=BiBiBm;BmEFi9Y`]AU 2Acoustic response timeout9 ҏ,˃zH?A;ɰ4<2O@2T@2wQٱ2OB :AHRS rotation from veh to nav: [[0.994023,0.097190,-0.049728],[-0.096467,0.995195,0.016753],[0.051117,-0.011855,0.998622]]2H?`u?u ?`'?@,?G?i2O@I2٤_;2WCYNw2>yRyDR=Ra=bDZ~VDZa9yvw%vS=ٔv5Q-v>9xIx=z5Fyxz&<E~>Q 5 ?4?Q 9 ?4b4)?@?p?1?@:?iNӾ@INk_;NYCYf>yfDnbSBD MO Status=1, MOMSN=2775, MT Status=0, MTMSN=0Q|Sent 332 bytes from file Logs/20251025T181502/Express0016.lzma.Packets left to send: 2IbDSVDa9y%$=ٔ,=Q->9I=5Fyt#E>Q 5?4?Q 9?4=j4)YyDQ I?,@I-:i:I0?4yɮB*jBji?iziJiƷ<i kckckch k)k)k)h2f!:f!Bf!Jf%F@Z-Z5Z1Z5iA)A)IIIiIIIQIiIyO>ԁ2Acoustic response timeoutԩ ;Ҵҏ,8zH?A2(ƾ@2-@2a.ٱ2穐 :AHRS rotation from veh to nav: [[0.993758,0.105908,-0.035052],[-0.103076,0.991873,0.074592],[0.042667,-0.070514,0.996598]]2H??`Z`7ck?y?`yإ?`- @!?i2(ƾ@I2Wt_;0Yf$>yfD hhn=n=bDrVDrea9yz2%z=ٔ~#Q-~?9|I=5Fy"E? Q 5?4 1?Q 9?4 to4) #6Yy^Q I? @I Q;i ; 5;?4y!ɮ%B!*j1EE] EEYEEiEA"EE:*EE*9VEEz~5ZEAaM@aM@aM@aM@Bj9iU?iUziQJiUƷ<iQ k/k/k/hi kJkJkJhy2f:fBfJfV@ZZZZi))iBBBDB,>B=BBB;BEB0CB0CBBBC 4III)I>)>O=2Acoustic response timeout)  2Acoustic response timeout5ҏ,@zH?A 2@2@2^ٱ2 >AHRS rotation from veh to nav: [[0.993092,0.103983,-0.054378],[-0.096317,0.987032,0.128414],[0.067025,-0.122290,0.990229]]2Hg??``׫@5ĕ?o?`(?aN?i2@I2_;2UCY^A>ybD``bDEVDEIa9y%A=ٔrlQ->9I=5Fy`<E>Q 5?4 ?Q 9?4v4)8YyMQ I?K@I:iZ:I?4yͽBɮBE*jBji?iziJiƷ<i k.k.k.h k#Dk#Dk#Dh2f :f Bf Jf q"@ZZZ!Z%i1)1)199i99IAIYIiO5=iDIDM<EU` EU\EUSEQ"EU*:*EU9VEU75ZEQBEU-;a]2EU -;a]JEUx ;ae:EUy ;ae%2Acoustic response timeoutԙ 6ҏ,{H?A2b@2]@2Mٱ2/ :AHRS rotation from veh to nav: [[0.995206,0.091412,-0.034755],[-0.084018,0.981062,0.174526],[0.050051,-0.170769,0.984039]]2H@?f? hˡ@6 d?V?@;?ſ?}?i2b@I21_;2YCPYRK=yRqD^Parsing RMC sentence: $GPRMC,191555.00,A,3646.40054,N,12152.27053,W,0.467,264.17,251025,,,D*73 )`bzH?Ab?b49b#bB@dVw^fhGPS fix at 20251025T191555: (36.773342, -121.871176)bv>bV@yM)\(?MbȿʡE?MG=M@M-2>I I9Mkt?Eп rh?YM =2Acoustic response timeoutyMMC =MBMGB MB)MIYMBbDVDJa9ytw%5B=ٔ=P#=Q-=>99I9=E5FyAEU<EE>IQ 5u;4M?Q 9u;4M4)MY}>Q E}>;y}ɫQ I}?MIMd;iM;M>g;4yɮB*jBji?iziJiƷ<i k(k(k(h2f{$>:f{$>Bf@Jf_@ZZZZ\Received valid gps time fix: 1761419776.00. Resetting abort timer.i1)1)119i99IAIYIiO=E]k EYE]EY"E]mR:*EYVE]5ZEYae@ae@am@am@BBBDBw>BBBB8;BEU %=U %=] 2Acoustic response timeout! ҏ,l!{H?A6a@6f@6{ںٱ6&$ >AHRS rotation from veh to nav: [[0.997187,0.074241,0.010323],[-0.074936,0.984383,0.159293],[0.001664,-0.159618,0.987177]]6H?m?`k$?/`?c?B[?^nĿ ?i6a@I6`;6XCYN=yRD|I<)p<AbD^VD'a9y]ҹ%eV=ٔe>Q-e>9aIi=m5Fyimr<Em>qQ 5;4u ?Q 9;4u4)u2Acoustic response timeoutYEm b Em ]Em Ei "Em 1:*Em 9VEm 5ZEi BEm 9;au 2Em 9;au JEm  ;a} :Em  ;a} ԁ ] 2Acoustic response timeout@ҏ,;{H?A2Mn@2Ri@2mٱ2r JAHRS rotation from veh to nav: [[0.996565,0.082481,0.007412],[-0.082734,0.987697,0.132699],[0.003624,-0.132856,0.991129]]2H?r?@[~?.7?F?۰m?oS?i2Mn@I2U_;0YV >yVgDZ=Z=bDbVDb`9y)=%N=ٔ䡻Q->9I!=%5Fy!%zE%>)Q 55;4-2?Q 95;4-R4)-d=Y9y=PQ I=?-RU>I-:i-[:-H;4yAIɮEBi*jyBjyi}?iziJiƷ<i k)k)k)h kSDkSDkSDh2f:fBfJf5@ZZZZiA)A)AAIiIQIIIIOE>q2Acoustic response timeoutԩ ҏ,U{H?A2 v@2q@2 ٱ2 :AHRS rotation from veh to nav: [[0.996636,0.081950,0.001297],[-0.081790,0.993420,0.080163],[0.005281,-0.079999,0.996781]]2H`p?`?=@U?`3??\u?z ?i2 v@I2^_;2YCYN>yRDbDZVDZ`9yf<%fP=ٔfoQ-f>9hIh=j5Fyhn!;En>E%j E%SE%tE!"E%N:*E%9VE%5ZE!a-@a-@a-@a-@AyA}@AB>BBBBBBB;BEQ 5;4r?Q 9;4:4)=YyQ I?ޤ>I:iw:Ӑ;4ԹyɮB*jQBjQi]?i]ziYJieƷ<ia k(k(k(h2Acoustic response timeout2f!:f!Bf!Jf%4@ZuZuZqZui))顁iII)I9O> 2Acoustic response timeout9 Kҏ,-^o{H?A2Ϳ@2Һ@2Bȼٱ2Ǵ :AHRS rotation from veh to nav: [[0.994319,0.104422,-0.020619],[-0.103914,0.994288,0.024341],[0.023043,-0.022060,0.999491]]2Hv?`m?"5??`??i2Ϳ@I2ƞ_;2ZCYN#>yRDj%j j# h)j!Ihij(j*n%n'~' ||bD VD `9y==%=E=ٔ=-Q-E>9AIA=E5FyAMYEM>QQ 5;4UZ?Q 9;4U4)U_=YyIUE-a E-WE-sE)"E-%.:*E-9VE-X5ZE)BE-M3;a=2E-O3;a=JE-:a=:E-:a=A=<%2Acoustic response timeoutqԙ 2ҏ,8{H?A6ٚ@6ޕ@6 ٱ6';4 BAHRS rotation from veh to nav: [[0.996770,0.077329,-0.021676],[-0.077295,0.997005,0.002370],[0.021794,-0.000687,0.999762]]6H@?˳?&2@ɳx? 2kc?@0Q?F` ?i6ٚ@I6t_;6WCYN/>yR5DPP}2Acoustic response timeouty?jtĿI +?> 94< 9l"~> ףp=?YyQ>TB&B )TBYGBbDVDna9y<%>=ٔ@;Q->9I=5Fy=E>qQ 5;4?Q 9;44)>>Y#?Q E:y=Q I?0?I*:i;6;4yBɮ^BE*jBji?i ziJiƷ<i k&k&k&h! k&k&k&hY2fm$?:fm$?Bfm@JfmP@ZZZZiA)A)AaaiaiIqIIOe4>ԡE=g E=ZE=WE9"E=C:*E=a9VE=~D5ZE9aE@aE@aE@aE@ByByB}DB}M>ByByByB};B}E- 2Acoustic response timeout \ҏ,{H?A2P@2K@2 :<ٱ2L7 :AHRS rotation from veh to nav: [[0.996204,0.086174,0.012278],[-0.086301,0.996217,0.010166],[-0.011355,-0.011187,0.999873]]2H ??%?  ?ф?|A 醿?i2P@I2Q_;2XCYNN$>yRDbDfVDa9y]k%]S=ٔe=Q-e>9aIi=m5FyimEm>qQ 5;4u?Q 9;4u.4)u7>YyQ I?uJg?Iu;iu:u;4yɮdB*jBji?iziJi Ʒ<i  k#'k#'k#'h92fI:fIBfIJfMt@ZZZZi))iI!IYIOE>i߉I߉2Acoustic response timeout) EU h EU VEU _EQ "EU G:*EU 9VEU C^5ZEQ BEU /_;a] 2EU 1_;a] JEU C:a] :EU D:ae = 2Acoustic response timeout[ҏ,{H?A22þ@27@2ٱ20` :AHRS rotation from veh to nav: [[0.994490,0.104277,-0.010759],[-0.103516,0.993035,0.056275],[0.016552,-0.054851,0.998357]]2H?豺? @? Ь??`m ?i22þ@I2b_;2ZC|Y]A>y]oDuParsing RMC sentence: $GPRMC,191558.00,A,3646.40050,N,12152.27160,W,0.758,264.13,251025,,,D*70 )qu{H?Auy?uȫ49u{bB@<ʮw^hGPS fix at 20251025T191558: (36.773342, -121.871193)u>u@IR=)p;bD0VDa9y@=%F=ٔYQ->9I=5Fy+E>Q 5;4y?Q 9;4ȫ4)YyQ I?I:i/:>g;4yɮUB*j)Bj)i-?i-zi)Ji-Ʒ<i1 k%k%k%ha k%k%k%h2f:fBfJfȄ@ZuZuZqZu\}Received valid gps time fix: 1761419776.00. Resetting abort timer.i))iI)I1IAOE0>Q2Acoustic response timeoutԁ #oҏ,{H?A2 #@2@2xٱ2 :AHRS rotation from veh to nav: [[0.995574,0.093690,-0.007438],[-0.091868,0.986805,0.133329],[0.019832,-0.132056,0.991044]]2H@? ?w~@? ?N?@4?i2 #@I2̋_;2YCYRF> TTyRDln4>bEy5jEm5rE{3Ed E]E`E"E9:*E9VE|a5ZEa@a@a@a@B->B)B-DB-=B)B)B)B-;B-dEE@GYai9Y]AbDUVDUda9ye!߽%e?=ٔmQ-m>9iIi=m5Fyq}<E>Q 5;4t?Q 9;44)9=Yy[Q I?Dt>I:iN:[v;42Acoustic response timeouty5Bɮ5VB5E*jABjAiE?iMziIJiƷ<i kS&kS&kS&h2f:fBfJf~@ZZZZi))11i1IIIԁII!O>>yyԱ 2Acoustic response timeout "ҏ,r{H?A6;@66@6ٱ6^= >AHRS rotation from veh to nav: [[0.995637,0.092601,-0.011479],[-0.088876,0.978591,0.185636],[0.028424,-0.183805,0.982552]]6H@B??@`P??`!? ǿ q?i6;@I6̨_;6XCYNu>yRDbDZVDZIa9yfq?%fi=ٔf_ȼQ-f>9hIh=j6Fyhn<En?Q 5 ;4.q?Q 9 ;44)g>Y y BQ I ?>I9:i:~;4yɮ=^B9*jIBjIiM?iUziQJiUƷ<iQ k k k h kc'Թkc'kc'h2f:fBfJfJ@Z}Z}ZyZ}i))iIII Ou=Ea EcEhE"E%.:*EL9VEA{5ZEBEM3;a2EO3;a%JE";a%:E";a%2Acoustic response timeout9 ҏ,x |H?A2{@2v@2Fٱ2m" :AHRS rotation from veh to nav: [[0.995534,0.087715,-0.034914],[-0.080996,0.983549,0.161466],[0.048503,-0.157917,0.986260]]2H@i?@~t?@Nࡿ`,`;y?`?eը? 6Ŀr?i2{@I2_;0YN=yRDV=V=]2Acoustic response timeoutyMbp-?K??>^:> 9Mbp{Gz?MbX?Yyף=J?wB B)wBYBbD%DVD%a9y5%55=ٔ=6Q-=>99I9=E6FyAE<EE>II>)>Q 5;4MAp?Q 9;4M64)M?YK?Q E:y8?Q I?M?IM>B5>B1B5DB5M>B5=B1B1B5;B5JEBBBBBCƹ4E5j E5WE5eE1"E5N:*E59VE5q5ZE1BE5k;2E5k;JE5::E5:q 2Acoustic response timeoutԙ (ҏ,[$|H?A2J@2E@2j:ٱ2lu׽ :AHRS rotation from veh to nav: [[0.997402,0.060363,-0.039304],[-0.055844,0.992649,0.107376],[0.045496,-0.104902,0.993441]]2H`??`?|?`PK?ںE?i2J@I2_;2YCYN=yRDPR@Aj&j)h j#)j%In(in,n$~*~,~,bD 9VD a9y&]%U=ٔU9I=6Fy=E>Q 5;4Fo?Q 9;44)J^?YyX?Q I??Im;i;;4yɮ`B*jBji?i%zi!Ji%Ʒ<i! k k k hY2fi:fiBfiJfm+-@qZZZZi))iiqiqyIyIIm2Acoustic response timeoutO}>ԡE f E XE kE "E I@:*E 9VE u5ZE a% @a% @a% @a% @  2Acoustic response timeout]ҏ,L7>|H?A2@2@2m{+ٱ2 >AHRS rotation from veh to nav: [[0.997942,0.064097,0.001931],[-0.064073,0.995430,0.070806],[0.002617,-0.070784,0.997488]]2H#?h?_?g ?_ ?loe?`l?i2@I2ip_;2ZCY=ytDbD5?VD5a9ye~%eN=ٔm;=Q-m>9iIi=u6Fyqu䨼Eu>Q 5;4]o?Q 9;44)?Yy?Q I?#?Ir;i;;4yɮmB*jBji?iziJiƷ<i kkkh k3k3k3h2f:fBfJf-@Z%Z%Z!Z%i1)1)999i9AIAIYIiO=}2Acoustic response timeout) Sҏ,X|H?A,6@6 @6ٱ6dh FAHRS rotation from veh to nav: [[0.994679,0.099222,-0.027724],[-0.096687,0.991988,0.081308],[0.035569,-0.078195,0.996303]]6H i?f?`c^?д?`6??i6@I6m_;4Bf>BdBfDBfw>Bf=BdBdBfc;Bf1EY-5>y- DEd EbEqE"E9:*E9VE5ZEBEF;a2EF;aJEO;a:EP;aI<);AbD`VD(a9y}؞=%:=ٔVQ->9I=6FyE>Q 5;4n?Q 9;4q4)?Yy?Q I?m3?I:id:;42Acoustic response timeout AAyBɮsBE*jBji?i zi Ji Ʒ<i) kkkhAԉ kkkh2f1:f1Bf1Jf5@Z=Z=Z9ZEiq)q)qqyiyyIIIO]3>Թ  2Acoustic response timeoutҏ,_q|H?A2Jȿ@2O@2qٱ22 :AHRS rotation from veh to nav: [[0.994429,0.078494,-0.070351],[-0.071567,0.992796,0.096090],[0.077387,-0.090520,0.992883]]2H@]?(?5R ? Y?ϳ?N,?i2Jȿ@I2J_;2WC|Y- >y-6D5=5a=EParsing RMC sentence: $GPRMC,191601.00,A,3646.40057,N,12152.27165,W,0.680,65.79,251025,,,D*46 )IM@|H?AM?M49MbB@)-w^]hGPS fix at 20251025T191601: (36.773343, -121.871194)M>M?bDmkVDm-a9yG<%X=ٔQ->9I=6Fy=E>Q 5;4?Q 9;44)YyU?Q I?IP;i; ;>g;4yɮoB*jBji?iziJiƷ<i k k k h k'k'k'h)2fy:fyBfyJf}\ޏ@ZZZZSending 1009 bytes from file Logs/20251025T181502/Express0016.lzmaD-=D-4=9Ee EVEE"E<:*E9VE65ZEa@a@a@a@\Received valid gps time fix: 1761419776.00. Resetting abort timer.i))iIII%2Acoustic response timeoutOEQ>ԙ X"ҏ,%ɋ|H?A6+@6&@68ٱ62 >AHRS rotation from veh to nav: [[0.997550,0.063606,-0.029119],[-0.059627,0.990793,0.121544],[0.036582,-0.119510,0.992159]]6H@?@|H?Qѝ x`? ? պ?9ÿ?i6+@I6"_;6XCYF>yFD}2Acoustic response timeoutyQ?S?~jt?=>< 9A`"˿5^I ?#~jYYy>㥽BPB B)BYBԙbDVDOa9y;%K=ٔe=Q-e>9iIi=m6Fyim<E>Q 5;4}?Q 9;4X4)[Y`>Q E;y@Q I?>I:i:fv;4yɮnB*jBji?iziJiƷ<i kkkh  kckckch2f-ó>:f-ó>Bf- Q@Jf-JP@Z}Z}ZyZ}i))iII1IiIO>BBBDB=BBBB:;BEEEd EEaEEsEA"EE9:*EE9VEEX5ZEABEEF;aU2EAaUJEE;aU:EE;a]1) ) 5 2Acoustic response timeoutY j(ҏ,|H?A27@2<@2/϶<ٱ2: :AHRS rotation from veh to nav: [[0.997002,0.069991,0.032983],[-0.074086,0.986496,0.146072],[-0.022314,-0.148078,0.988724]]2H q??@!?J`?`{?iٖ 4¿?i27@I2_;0YN>yND TTV=V=bDZVDZja9yEk<%EQ=ٔM>Q-M>9III=M6FyQU.!EU>YQ 5e;4]w?Q 9e;4]4)]ŽYiymv @Q Im?]>I]:i]:];4yqɮukB*jBji?iziJiƷ<i kkkh k*k*=k*h2f :f Bf Jf O@ZZZZi))1q)yyyiyIIAIyO>2Acoustic response timeoutxMoved sent file to Logs/20251025T181502/Express0016.lzma.bak$SBD MOMSN=26237066 EM f EM zEM eEI "EM I@:*EM  :VEM q5ZEI aU @aU @aU @aU @= 2Acoustic response timeoutA "/ҏ,{|H?ARVH@R[C@R<ٱRhT ZAHRS rotation from veh to nav: [[0.995829,0.082857,0.038210],[-0.087321,0.986891,0.135728],[-0.026463,-0.138498,0.990009]]RH ?6?8?Z?_?`O'?iRVH@IRz_;PYn5!>yn?Dpr?AbDzaVDza9y-<%-L=ٔ-)91I1=56Fy1=E]>aQ 5m;4eXq?Q 9m;4eV4)eYiym@Q Iu?e*>Iep:ieF:e;4yɮeB*jIBjIiM?iMziIJiUƷ<iq kCkCkCh k%k%k%h2f:fBfJfN@ZZZZi ))顁iIIIO- >92Acoustic response timeouti 6ҏ,Ic|H?AB2<A0B4B6/CB6DB6=B4B4B4B6M;B6$EvS@vN@vh<E| E~~E~vE|"E|*E~(:VE~-5ZE|BE~R;a 2E~R;a JE~;a :E~;a ٱv=ɽ AHRS rotation from veh to nav: [[0.996268,0.084754,0.016324],[-0.085944,0.991561,0.097061],[-0.007959,-0.098101,0.995145]]vHm? x??`rݺ?ظ?M+9?ivS@Iv _;vYCY54<>y5rDbDMVDMa9yȁ=%D=ٔ56Q->9I=6Fy^;E>Q 5;4j?Q 9;44)@Yy@Q I??I:i[:;4yɮXB*j Bj i ?iziJiƷ<i k3k3k3h2Acoustic response timeout kc&kc&kc&hi2fi:fiBfiJfm N@Z}Z}ZyZ}i))顑iIIIIO>ԑ  2Acoustic response timeout=5<ҏ,34|H?A2ƿ@2@2Y;ٱ22s :AHRS rotation from veh to nav: [[0.997394,0.071245,0.011351],[-0.071969,0.993527,0.087894],[-0.005016,-0.088482,0.996065]]2H`? =?4??@l`?4?@.t ?i2ƿ@I2uJ_;0PYR!>yRDn%ln n)nIn$in'prr*r*Ir=)r<bDzVDza9y]"%eM=ٔeQ-e>9aIi=m6Fyim=Em>qQ 5};4uld?Q 9};4u۝4)ukYy@Q I?u6?Iu];iuf:un;4yɮeB*jBji?iziJiƷ<i k k k h kS(kS(kS(h2f:fBfJfN@ZZZZi ) )   i II1IYO=E E[ExE"E*E9VEe5ZEa@a@a@a@== 2Acoustic response timeout! 1Cҏ,d }H?A2?ֿ@2D@2&ٱ2f :AHRS rotation from veh to nav: [[0.997277,0.071775,-0.016945],[-0.070064,0.993822,0.086071],[0.023018,-0.084649,0.996145]]2H@?`_?Zﱿd??@?`k?i2?ֿ@I2Y_;2XCh52Acoustic response timeoutY&>y#= 9q= ףpi|?5?B`"ɿYyq>N2BsB B)2BYBbDVDa9y)<%'=ٔgkQ->9I=6Fy1~;E>Q 5%;4`?Q 9%;44)Y->Q E- ;y-?Q I-?aU?I?*3Ej EUEE"EN:*EP9VE5ZEBEk;a2Ek;aJE:a :E:a )2fp>:fp>Bf6@JfT@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZ Z Z Zi!)!)顁iI2Acoustic response timeoutI) I9 O- >Y VIҏ,w,'}H?A2C߿@2H@2wٱ26 :AHRS rotation from veh to nav: [[0.997223,0.071248,-0.021683],[-0.068958,0.993321,0.092515],[0.028130,-0.090763,0.995475]]2H @?`M=?4 3@H?? ͜?@A<?i2C߿@I2hD_;0YB}=yB@D99IbD VD a9yB%v=ٔ{Q-?9I=6FyX;E?Q 5;4]?Q 9;44)8ԾYy?Q I?j?I;i; ;4yɮwB*jBj=i?iziJiƷ<i ks)ks)ks)h!2f9:f9Bf9Jf=?sENUpdating rudder angle 6.875493 arcdeg 9ErE6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudder13U3]Z]Z]ZYZ]iq)y)yyyiy=III9O >iIIMAU2Acoustic response timeoutiiIԑE e E WE E "E <:*E 9VE 5ZE a @a @a @a @  2Acoustic response timeout>Pҏ,%A}H?A:7@:<@:jɼٱ:C FAHRS rotation from veh to nav: [[0.996671,0.080152,-0.014912],[-0.077732,0.989401,0.122649],[0.024585,-0.121082,0.992338]]:H?؄??D泿,?@e?,?8;?i:7@I:\_;8Y^5>y^ DjParsing RMC sentence: $GPRMC,191604.00,A,3646.40051,N,12152.27111,W,0.525,80.15,251025,,,D*4B )hj}H?Aj?{?j49je}bB@mw^rhGPS fix at 20251025T191604: (36.773342, -121.871185)jH>j?bDzVDz$b9y<% U=ٔ G9I=6FyE>Q 5%;4?{?Q 9-;44)Y)y-?Q I-?I:i:>g;4y1ɮ5sB9*jIBjIiM?iMziQJiUƷ<iQ kkkhi k)k)k)hy2f:fBfJf@ԙ3ZZZZc0Completed marl:NeedComms1 cLAggregate::uninitialize marl:NeedComms12 dDUninitialize GoToSurfaceComponent.\Received valid gps time fix: 1761419776.00. Resetting abort timer.i))iIIIO=]2Acoustic response timeout A9 A= AABE >BE 0CBE DBE =BA BA BA BE c;BE 1E iVҏ,Z}H?AB9B9B9B9B9C=%46!@6@69żٱ6y >AHRS rotation from veh to nav: [[0.997855,0.063318,-0.016611],[-0.060848,0.990745,0.121332],[0.024140,-0.120061,0.992473]]6Hm?5?@eg'@/?? ?XV?i6!@I6k[_;4YFJ >yFDHHEb ETEnE"E1:*E9VEJ5ZEBE9;a2E9;aJE:a:E:abD%VD%Sb9y؆<%C=ٔ:Q->9I=6Fy%=E>Q 5;4w?Q 9;4<4),ɽYy?Q I?=IN:iF:v;4yɮoB*j Bj i?iziJiƷ<i k(k(k(h) k#Fk#Fk#Fhy2f2Acoustic response timeout:fBfJf@ɢ )E> miK9)i|:ISAII!OU=!Qm 2Acoustic response timeouty \ҏ,t}H?A2C@2H@2pYٱ2X :AHRS rotation from veh to nav: [[0.998620,0.042671,-0.030628],[-0.038732,0.992098,0.119334],[0.035478,-0.117983,0.992382]]2H ?إ?\ԣ E?ଌ? 4*?"4 ?i2C@I2_;0YB>yBjDbDJVDJ6b9yV%VZ=ٔVfQ-V>9XIX=Z6FyXZhq=E^>`Q 5f;4bt?Q 9f;4b#4)b=Ydyf@Q If?b@>Iby:ibN:b;4ylɮnsBl*jtBjtixixzixJixix k+k+k+h  kDkDkDh2f:fBfJfF@Y@ɢl)=< i)Ϻiڃ ;IEi EcExE"E,K:*EL9VEe5ZEa%@a%@a%@a%@ԁ2Acoustic response timeout^A=m;IaIO>ԩ ${cҏ,}H?A2@2@2;Sٱ29L :AHRS rotation from veh to nav: [[0.998963,0.036385,-0.027365],[-0.033038,0.992914,0.114150],[0.031324,-0.113128,0.993087]]2H`? ?O꠿?8?` ?``]?i2@I2&_;2WCYR6=yRDTVA%2Acoustic response timeouty)\(zGế`"Ga ׽ 9`"?kt޿Y̼y= B%B B)MBYBbDVD8b9y %5=ٔ,9I=6Fy%O<E%>)Q 55;4-kt?Q 9U;4-W4)-0;YUR>Q EU:yU?Q I]?-`>I-;i-;-ʒ;4yaɮezBa*jBjiiziJii kFԱkFkFh2f>:f>Bff+?Jfއ? @A颥T@ɢ" ) i)`[i ";I^AhW<IIB>BBDB=BBBB;BVEO]>E^ E]EcE"EC#:*E9VE&k5ZEBE ;a-2E ;a-JE ;a-:E ;a-2Acoustic response timeout 1 Liҏ,t}H?Aɰ;6 @6@6 ٱ6"䵽 BAHRS rotation from veh to nav: [[0.999005,0.042187,-0.014490],[-0.040729,0.995166,0.089362],[0.018189,-0.088683,0.995894]]6H?~?]ڤf? i?@>?糶\?i6 @I6_;6UCYN$>yRDR=Pj$j%j& j")hIlin*l~)|~)bD VD Db9y==%=Y=ٔE=Q-E>9III=M6FyQUE}>Q 5;4s?Q 9;44)~Y1y5?Q I=?>I_i)j7顱ib<;I-2Acoustic response timeout99@%qA@%qA^A =I I) O] >i E- a E- `E- tE) "E- %.:*E- 9VE- 5ZE) a5 @a5 @a5 @a5 @ 2Acoustic response timeoutpҏ,nO}H?A BHl@BMg@BfUٱBw NAHRS rotation from veh to nav: [[0.998407,0.053585,-0.017650],[-0.051789,0.994593,0.090013],[0.022378,-0.088956,0.995784]]BH?o?@?` ?`/?Ŷv?iBHl@IBR_;BXCYn9>ynYDbDzVDz4b9yE<%EJ=ٔM)Q-M>9III=U6FyQUEU>yQ 5;4}s?Q 9;4}4)}FYyh?Q I?}V>I}:i}W:}B;4yɮgB*jBjiiziJii k+k+k+h kCkCkCh2f:fBfJf?l @ɢ*)  2i )-yPԻ11i5PU;1I9iԡE2Acoustic response timeoutUz:]qA]pA5":<^AM j=IQ Ia I O > B A B B B B B B B B ;B QEvҏ,(}H?A2z@2@2G&ٱ2) :AHRS rotation from veh to nav: [[0.998178,0.047425,-0.037310],[-0.044548,0.996225,0.074506],[0.040702,-0.072709,0.996522]]2H? H?A@Φ`?@?֤??i2z@I2Qm_;2ZCLYR*>yR8DErp EpErmEp"Erd:*EpVEr5ZEpBEr;az2Er;azJEr;az:Er;az bD-=VD-b9y[=%?=ٔ/Q->9 I = 6Fy J<E>2Acoustic response timeoutQ 5;4s?Q 9;44)|Yy?Q I?>IfP~ҏ, }H?AB@B@B #ٱB:J ^AHRS rotation from veh to nav: [[0.998488,0.039871,-0.037846],[-0.037926,0.997990,0.050774],[0.039795,-0.049262,0.997993]]BH?i?``@k@??_?8?iB@IB̓_;@Yb;>ybDtt~Parsing RMC sentence: $GPRMC,191607.00,A,3646.40041,N,12152.27099,W,0.350,80.15,251025,,,D*4C )}H?Ak?4D =D <Ea EWErE"E%.:*E9VE5ZEa@a@a@a@9BbB@-j ww^5hGPS fix at 20251025T191607: (36.773340, -121.871183)`8>QbDmBVDmb9y} =%}*=ٔL:Q->9I=6Fy2Acoustic response timeout^<E>aQ 5;4ek?Q 9;4e4)eYy/?Q I?eIeng;4y!ɮ-XB)q*jBjiiziJii k;k;k;h2f:fBfJfq?\EReceived valid gps time fix: 1761419776.00. Resetting abort timer.颕 @ɢz) i))顙ib4;Iiuuqqԡu 2Acoustic response timeout ^A9IIB!B!B%DB%w>B!B!B!B%s;B%:EO}?Ĕҏ,8~H?AF%@F;F>ӼٱF}l0 ^AHRS rotation from veh to nav: [[0.999663,0.002404,-0.025836],[0.002060,0.985202,0.171385],[0.025866,-0.171380,0.984865]]FH=?c?t `?`Ɔ?? |?ſ`?iF%@IF[_;FWCYf>yfDE~e E~ZE~{E|"E~<:*E~a9VE~:5ZE|BE~`L;a2E~cL;aJE~0;a:E~1;a ԩI <) 4<2Acoustic response timeouty Mb?v/?MbX = xi> ʽ  9 jtĿn?X9vϿY  y V> }   B)  Y uBbDaVDb9yU}%U=ٔUG9YIY=]6FyY}W=E>Q 5;4e?Q 9;44)>YG>Q E#;y=%@Q I?7=I:i:uy;4yɮnB*jBjiiziJii k2k2k2h k2k2k2h2f>>:f>>Bf^@Jfd@5 @ɢ5)[)q uiq)}wKyyi} C;Iʃ: 9 9 m 2Acoustic response timeout^Aq I I O% >1 ҏ,F6~H?A2@2@2ٱ2)g :AHRS rotation from veh to nav: [[0.999867,0.005973,-0.015159],[-0.002429,0.974616,0.223871],[0.016111,-0.223804,0.974501]]2H?wx?{ c 0?ʧ?m?̿/?i2@I2`;2YCY^=y^DbDrVDr,b9yk%w=ٔ%Im'ԙ ؓҏ,W#P~H?A6c^@6hY@6Fٱ6p BAHRS rotation from veh to nav: [[0.998577,0.033601,-0.041410],[-0.022243,0.968191,0.249222],[0.048467,-0.247947,0.967561]]6HW?'4?3`Ɩ@k??Ш?෼ϿA?i6c^@I6_;6ZCYn=ynZDr=pbDzVDz'b9y%L=ٔQ- >9 I = 6Fy KE>%2Acoustic response timeoutYQ 5e;4][?Q 9e;4]*4)]Yaye|)@Q Ie?][>I]C:i]:]$;4yqɮuyBq*jBjiiziJiiq k9k9k9h2f :f Bf Jf ze@-@ɢe )e֯< e<ia)mMC|顩i ;I /C:EGy9AYElAB>BBDBM>B=BBB;BEbEX5jE5rEs 3Ec EYE|E"Eg5:*E*9VEם5ZEBE?;a-2E?;a-JE:a5:E:a5^A2Acoustic response timeoutI1 IA O} > ҏ,i~H?A2r=@2p;2zٱ2,] >AHRS rotation from veh to nav: [[0.999804,-0.000735,-0.019779],[0.004956,0.976773,0.214220],[0.019162,-0.214276,0.976585]]2H@e?H@@Mt? A?k? ?hm˿/@?i2r=@I2`_;0YR=yR-Dm%m'm% m#)m!Im!iu'uu(q(bDVDa9yń%@=ٔ_=Q->9I=6Fyg=E>Q 5;4V?Q 9;4A4)#Yyx)@Q I?:>Iu;i;;4y!ɮ%zB!*jBjiiziJii ks ks ks h)2f9:f9Bf9Jf=5e@}@ɢ})}#0= }9i)顁iƹ;I52Acoustic response timeoutmf:^AII O5 >I E- ^ E- XE- fE) "E- C#:*E- 9VE- t5ZE) a= @a= @a} @a @ < 2Acoustic response timeoutҏ,~H?Af9`@f>[@f<ٱf!$ ~AHRS rotation from veh to nav: [[0.999628,0.019202,0.019362],[-0.022043,0.986998,0.159211],[-0.016053,-0.159579,0.987055]]fH@??ӓ?]}?a?#p@mĿ?if9`@IfWi_;f[CY P=y dDy]l?@5^I ҿy&1]=]b]`eY Y9]Q?x&1ؿKǿY]u9I=6Fy}E>Q 5;4V?Q 9;4Iݔ4)Ym>Q Em:yuǿQ Iu?>I:f->Bf)@JfɆ@=@ɢ=)=tY= =iA)e♼aaie$;iIi=́:q=2Acoustic response timeoutE <ԩ B >B B DB #>B =B B B ;B ԘEBiBiBiBiBiCmp4 E= k E= ZE= rE9 "E= mR:*E= a9VE= 5ZE9 BE= q;aE 2E= r;aM JE= 0;aM :E= 1;aM ^A Q=2Acoustic response timeoutA0AIIO5?yҏ,pҥ~H?AB@B @BрٱBںн ZAHRS rotation from veh to nav: [[0.999412,0.031921,-0.012534],[-0.030476,0.994300,0.102172],[0.015724,-0.101730,0.994688]]BH.?@W?@5M?'? ? {?iB@IB_;BXCYb$>ybDtv@AbDuVDu6a9yz=%$=ٔQ->9?I?=6FyE苼E>Q 5;4V?Q 9;4 4)Yy_ǿQ I?(?I:i:;4yɮkB!*j1Bj1i1i9zi9Ji9iY kkkh2f:fBfJfG@颽@ɢD)= i)$i;I:·3=)m2Acoustic response timeoutY ^A e=A AI I OU >\.ҏ,~H?AE i E [E gE"E ,K:*E 9VE x5ZEa@a@a@a@>{@>dM<>nٱ>_ JAHRS rotation from veh to nav: [[0.999759,-0.011534,-0.018653],[0.012534,0.998439,0.054424],[0.017996,-0.054645,0.998344]]>H?`ជ`C?6?vݫ?m?@d`n?i>{@I>_;>ZCYN>yNDZParsing RMC sentence: $GPRMC,191610.00,A,3646.40035,N,12152.27148,W,0.700,305.34,251025,,,D*78 )\^~H?A^Cb?^49^MbB@kNKw^fhGPS fix at 20251025T191610: (36.773339, -121.871191)^`>^@bDnVDnPa9yv%vX=ٔvĻQ-v>9zc?Izc?=z6FyzEz=E~>|Q 5 ;4~Cb?Q 9 ;4~4)~Y y Q I ?~I~;i~;~>g;4yɮnB*j)Bj1i1i1zi1Ji1i1 kkkhI kkkhY2fi:fiBfiJfm6@2Acoustic response timeout\Received valid gps time fix: 1761419776.00. Resetting abort timer. @ɢ/)8= %i!)%嵼!!i%1;)I)h:YԁmY=u 2Acoustic response timeoutԱ ^A = A= .AIA IQ O >ҏ,4~H?AB>BBDB=B=BBB;BɘEB@B yR?DbD%VD%sa9y5=%54=ٔ5 =Q-=>9= ?I= ?==6Fy=EE-G<EE>IQ 5U;4Mc?Q 9U;4M4)MYQy]Q I]?Mn4>IM;iM ;M(w;4yaɮeeBa*jyBjyiyiyziyJii kSkSkSh kckckch2f:fBfJf@Ee EbEhE"E<:*E9VEA{5ZEBE`L;a2EbL;aJEO;a:EP;a @ɢ'c ) i))ļi;Ii :2Acoustic response timeoutl;=@@@@ԙAu1?Au ?I I O >= 2Acoustic response timeout ҏ,~H?AY>yID bDUVDUya9ym%mG=ٔuQ-}>9I=6Fy!EE>Q 5;4c?Q 9;44)YyQ I?(>IET;igo;;4yɮmB*jBjiiziJii kkkh kkkh2f:fBfJf5> @ɢ5()9 =i9)=Ѽ99iEQ ҏ,H?A2 i@2*=2Juٱ25 :AHRS rotation from veh to nav: [[0.999025,-0.038216,-0.022091],[0.041512,0.983541,0.175853],[0.015007,-0.176598,0.984169]]2H? #A?*y?W?=?ƚƿ@O~?i2 i@I2_;2YCYB=yBDy Dl?V-ҿMb O > h   9 /$?!rhܿ#~jY >y l羙 㥽 RB B ) *B Y BbD%VD%Da9y5x%5N=ٔ=Q-=>99I9=E6FyE#EEr=EE>IQ 5U;4Mi?Q 9U;4M4)MY]>Q E]:y]Q I]?M?IM ;iM? ;Mf;4yeBɮehBeE2Acoustic response timeout*jBjiizi Ji i  kCkCkCh92fu2<>:fu2<>Bfuc@Jfu@颭X @ɢN+) i)߼项i+<I)P|:IIM>)M>I9IO>B%>B!B!B!B%=B!B!B%;B%ߘEYEk E]ExE"EmR:*E9VEe5ZEBEq;a2Er;aJE ;a:E ;aԁ  2Acoustic response timeoutҏ,)H?A0:@:<::ٱ:d BAHRS rotation from veh to nav: [[0.999087,-0.016604,-0.039364],[0.024898,0.975031,0.220668],[0.034717,-0.221446,0.974554]]:H@?`~' ~?t3?>?oơ?[X̿/?i:@I:_;:XCYb=ybD& ! ) I "i )  ))bD%jVD%-a9y5=%=J=ٔEGQ-E>9AII=M6FyM%EM(EU>YQ 5m;4]6o?Q 9m;4]y4)]YiymߜQ Iu?]19?I]-;i]$;];4yɮ`B*jBjiiziJii kkkh kkkh2f:fBfJfu@颅@ɢ.+) ai)M顉iN<I/{:ԑI1IIO> 2Acoustic response timeout E g E TE sE "E C:*E 9VE X5ZE a @a @a @a @ҏ,CH?A22Acoustic response timeout6`@6<6*ٱ6(c BAHRS rotation from veh to nav: [[0.998780,-0.016589,-0.046504],[0.026407,0.975312,0.219245],[0.041719,-0.220206,0.974561]]6H@?``Tϧ@i ?`5?`8?%\?/̿/?i6`@I6_;6YCYJ=yJZDbDREVDRa9yZ?ۻ%ZS=dٔ^MQ->9I=6Fy'Ez;E>!Q 5-;4%t?Q 9-;4%74)%Y)y5Q I5?%Dj?I%:i%:%r;4y9ɮ=aB9*jQBjQiYiYziYJiYiY k3k3k3hq ksksksh2f:fBfJf@颵@ɢ 3) Yi)K项i<I oAoAz:IqIO=12Acoustic response timeouta A A B% >B! B% DB% M>B! B! B! B% ;B% Eҏ,p]H?A2/@2 =2`ڼٱ2xE :AHRS rotation from veh to nav: [[0.999050,-0.029927,-0.031677],[0.034434,0.987634,0.152947],[0.026708,-0.153892,0.987727]]2H7?@7^?@?Ó?VY?@ÿt?i2/@I2\_;2ZCY^ =y^aDYEo EXErE"E`:*E9VE5ZEBE;a2E;aJE:a:E:abD@VDa9y(%9=ٔ" =Q->9I=6Fy)E|<E>Q 5;4z?Q 9;4\4)FYykQ I?֏?I:i:;4yɮfB*j)Bj)i)i)zi)Ji1i1 kkkhI kkkhY2fi:fiBfiJfm;Қ@颍@ɢ+) i)顑i%<Iu2Acoustic response timeoutUx:II! IIOu>ԁԱ % 2Acoustic response timeout\0ҏ,zQwH?AY=>y=jDMParsing RMC sentence: $GPRMC,191613.00,A,3646.40063,N,12152.27265,W,1.089,289.82,251025,,,D*7B )QU@H?AU?U49Uo]DbB@Ew^ehGPS fix at 20251025T191613: (36.773344, -121.871211)Uk?Uݡ@bDuJԹVDua9y~I=%J=ٔQ->9I=6Fy+EE>Q 5;4?Q 9;44)YyQ I?I:i]:>g;4y Bɮ DBE*j)Bj)i)i)zi)Ji)i1 kkkhA kkkhY2fa:faBfaJfa\}Received valid gps time fix: 1761419776.00. Resetting abort timer.颍@@ɢ80) i)R 顑iV-<I5nManaging dock network, ignoring radio surface power off5w:E c E ZE xE "E g5:*E a9VE e5ZE a=@a=@a=@a=@AҷAII)}2Acoustic response timeoutOc>9 ҏ,_&H?A4<ɰ2j0@2=25Żٱ2JC :AHRS rotation from veh to nav: [[0.997814,-0.065742,-0.006790],[0.065818,0.997765,0.011513],[0.006018,-0.011935,0.999911]]2H?԰:{ mٰ?`?`?`x?@&qD?i2j0@I2_;2YCYB>yBDy]Mb?~jt?S㥛?]=]=]$>Y Y9] +?~jtؿ+?Y]v>y]ľ]v?]B]!B ]B)]YY]BbDu`VDu(a9y<%Q=ٔGX=Q->9<;?I<;?=6Fy.E*=E>Q 5;4?Q 9;4|4)z>YkD?Q E:yXqQ I?2>I:i:t;4yɮ?B*jBji2Acoustic response timeoutiziJii kkkh kkkh 2f%d)?:f%d)?Bf%҅@Jf% @颽@ɢZ1)c= 1i)iT6<II?)?u:5GUMrAi#9MrAYAABBBDB,>BBBB-;BEA}ԯAIIOh>bE]ǻ5jE]͋5rE]k 2Em E\E~E"EY:*E9VE5ZEBE~;a2E~;aJEx ;a:Ey ;aiߍ =ߍ = 2Acoustic response timeoutԙ Aҏ,H?AB @B{=BݼٱBȼ NAHRS rotation from veh to nav: [[0.997748,-0.060715,-0.028512],[0.061372,0.997855,0.022787],[0.027067,-0.024485,0.999334]]BH? ,2,l? m?wU? w?`?iB @IB_;BXCYV>yZDbDj6VDja9yrA<%rU=ٔvi`Q-v>9z3?Iz3?=z6Fyz0E~<E~> Q 5;4 ?Q 9;4 4) >YyvQ I? m>I K~2Acoustic response timeoutI)I9Ou6>ԙioAIE s E ^E pE "E so:*E ;9VE 5ZE a @a @a @a @ l)ҏ,zH?A"2Acoustic response timeout6J@6y=6ٱ6|v >AHRS rotation from veh to nav: [[0.995620,-0.065102,-0.067098],[0.068887,0.996067,0.055723],[0.063207,-0.060101,0.996189]]6H?]-??`Ň?`S.?Ů?i6J@I6m_;6ZCYn[>yr\DbDzVDza9yq;%H=ٔ ̵Q- >9 I = 6Fy 2E<E>Q 5%;4D?Q 9%;44)pA?Y!y-FzQ I-??I:i9:;4y1ɮ5:B1*jIBjIiIiIziIJiIiQ k3k3k3ha k8k8k8hq2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder- @ɢ-5)-= -i))511i5D<9I9r:I)I9Om5>2Acoustic response timeout) B <A <B B B DB ">B =B B B ;B EBBBBB˥=C#4kRҏ,H?AV<@V=V2ٱVR ^AHRS rotation from veh to nav: [[0.995157,-0.058179,-0.079235],[0.067127,0.991049,0.115399],[0.071812,-0.120159,0.990154]]VHS?ɭH6/?`?Ċ?`Db? ¾`W?iV<@IV[_;VYCYf;=yf Dhj?AbDrVDr`9yz@%zK=ٔzQ-~>9|I|=6Fy4EE> Q 5;4 {?Q 9;4 4) }?YyqQ I?  &?I :i ; ;4y!ɮ%RB!*j9Bj9i9i9zi9JiAiA kS)kS)kS)hQ k#Kk#Kk#Khi2fy:fyBfyJf}(J@颕 @Eg EWEtE"EC:*E9VE5ZEBEX;a2EX;aJE:a:E:aɢ>) Ci)&k$项iI<Iq:u2Acoustic response timeoutyԙlB=I9IQO|>  2Acoustic response timeoutM}ҏ,1H?A:@:c=:sٱ:; FAHRS rotation from veh to nav: [[0.996690,-0.043741,-0.068531],[0.055418,0.982283,0.179024],[0.059486,-0.182229,0.981455]]:H?2e@>_? n?A?t?HSǿ`h?i:@I:R_;:XCYJK=yNqDP$ $ !) #I &i  ( '  *@AbD%VD%`9y-8=%5F=ٔ591I9==6Fy=7E=EE>AQ 5M;4E?Q 9U;4Et4)E?YQyU^Q IU?EI?IEg:iE=:E ;4y]BɮeIBa*jqBjqiyiyziyJiyiy kHkHkHh kHkHkHh2f:fBfJf}O@@ɢ; 7) +i)[+iMP<I!p: QUAAm=Eb ESEoE"E1:*E9VE5ZEa@a@a@a@I!IAOG>e2Acoustic response timeout! Pe ҏ,oH?A2Q@2j=2A/ٱ2(X :AHRS rotation from veh to nav: [[0.998339,-0.028864,-0.049858],[0.038631,0.977435,0.207676],[0.042739,-0.209257,0.976926]]2He?r kǣ?%G??@?@ʿB?i2Q@I2_;0YND=yRHvD|y~jt?x?Zd;O?>K?j<= 9J +?J +?NbX9?YH=y=>2Acoustic response timeoutyBB yB)YQBbD(VD`9yV%?=ٔ=Q->9I!=%6Fy%9E-0E->AQ 5U;4E?Q 9u;4Ej4)E?Y}p>Q E};y}?Q I?E]?IEBm=BiBiBm);BmE2n:QE` EiEuE"E*:*E9VE5ZEBE-;a2E -;aJE8;a:E8;au 2Acoustic response timeout +=A .?A >I I OM >ԁ ҏ,/M,H?A;ɰJNd@J'=J\ٱJPLP RAHRS rotation from veh to nav: [[0.997192,-0.027427,-0.069688],[0.040859,0.979080,0.199330],[0.062763,-0.201618,0.977451]]JH? ױk?T? ?7?ɿGG?iJNd@IJs_;JZCYZ=yZϕD 99YbDEVDE`9yO^=%Q=ٔTQ->9I=6Fy;E;E>Q 5;4?Q 9;44)?Yy?Q I?n?I:iN:;4yɮuJBq*jBjiiziJii kEkEkEh k]k]k]h)2f9:f9Bf9Jf=`@}@ɢ}r@)y }i)N9顁i4^<Iԉ2Acoustic response timeoutm:3=ԱA $AII)Oe>E d E TE mE "E 9:*E 9VE 5ZE a @a @a @a @ gw ҏ,&FH?A2Acoustic response timeout6d@6=6Mٱ6r& >AHRS rotation from veh to nav: [[0.996130,-0.063131,-0.061145],[0.072124,0.984762,0.158247],[0.050223,-0.162044,0.985505]]6HL?@a) ^Nv?`+?lA?˶?@ݽĿA?i6d@I6yt_;6XCYN-=yRDZParsing RMC sentence: $GPRMC,191616.00,A,3646.40082,N,12152.27287,W,0.739,8.75,251025,,,D*73 )\^H?A^?^]49^غbB@DSvw^ hGPS fix at 20251025T191616: (36.773347, -121.871214)^>^a>bD%VD%`9y-#;%5P=ٔ5=Q-5>9]H?I]H?=]6Fy]>E]|=Ee>aQ 5m;4e?Q 9u;4e]4)eYqyu?Q Iu?eIeV:iei;e>g;4yBɮIBԹ*jBjiiziJii kkkkkkh k3k3k3h!2f:fBfJfC+@\5Received valid gps time fix: 1761419776.00. Resetting abort timer.E@ɢE@)A M/iI)?顉iDe<IIM>)M>mk:2Acoustic response timeoutujA=A |AI I I O5 >9 Be >Ba Be DBe 6>Be =Ba Ba Be ;Be E ҏ,`H?A2W@2k=2@ڼٱ2o :AHRS rotation from veh to nav: [[0.997987,-0.053160,-0.034572],[0.057504,0.988476,0.140031],[0.026729,-0.141737,0.989543]]2H@?7 f@4q?`??`^?@o$¿ W?i2W@I2j_;2YCYR=yR{DbD VD `9yeq%eG=ٔmPj=Q-m>9m=?Im=?=u6Fyu@EuBEu>Ef ERE~E"EI@:*E9VE5ZEBER;a2ER;aJE$:a:E%:aQ 5;4?Q 9;44)t>Yy?Q I?=IW:id:u;4yɮPB*jBjiiziJii kkkh) kkkhY2fi:fiBfiJfm@颭@ɢ//E52Acoustic response timeout)q= <i).F顑iCn<ImIj:iiiiAAoAzAoAqAe &AIi Iy O > 2Acoustic response timeoutԙ  ҏ,yH?A2/@2c =2K0ٱ2K3 :AHRS rotation from veh to nav: [[0.998479,-0.026493,-0.048356],[0.034480,0.984382,0.172634],[0.043028,-0.174039,0.983798]]2H?@ !.¨Y???? FƿF{?i2/@I2_;2[CYB:>yB&DbDNVDN`9y]=%Q=ٔ*Q->9 @?I @?= 6Fy BE JqE>Q 5=;4?Q 9E;44)>YAyEƳ?Q IE?!>I.;i:;4yIɮUEBQ*jBjiiziJi i  kkkhY2fi:fiqBfiJfm @@ɢk@)fLI= i)PLiu<I] i:Eh EZEtE"EG:*Ea9VE5ZEa@a@a@a@ԡM2Acoustic response timeoutA5zAI9IQO{> $ ҏ,ܷH?AYn=yn{DiߡIߥA2Acoustic response timeouty%#~j?J +? rȿ%>%H>%C! !9%HzG?S?tV?Y%=>y%/>%>%1B! %B)%yB!Y!bDVD`9y;%1=ٔQ->9F?IF?=6FyEEE>Q 5;4?Q 9 ;44)>Y ?Q E-:y-?Q I5?>I;i;n;4y=Bɮ=PB9*jBjiiziJii k3ik3ik3ih)2f=?:f=?Bf=?Jf=dh? IM@A@ɢ:) iB >B B B B B B B  ;B E)%T!!i%~<)I)xg:Eb EWE|E"E1:*E9VEם5ZEBE9;a2E9;aJE:a:E:aA$AIIO >) M 2Acoustic response timeoutQ * ҏ,H?A2=@2/=2ٱ2{ :AHRS rotation from veh to nav: [[0.995699,-0.049934,-0.078033],[0.067286,0.968773,0.238644],[0.063679,-0.242868,0.967967]]2H ?@됩@9?0??@KM?NϿ?i2=@I2Ff_;2ZCYN=yN gDf&f%d j )jIj#ij+j$j)j+xbDVDn`9y'%uj=ٔ}jQ-}>9}H?I}H?=6FyHE-=E>Q 5;4?Q 9;44)??Yyҕ?Q I?\?I~;i;;4yBɮoBE*jBjiiziJii k3hk3hk3hh12fA:fABfAJfE(?)U@ɢUSQ)Q U5iQ)]>nZYYi]ڈԁ E a E TE dE "E %.:*E 9VE ^n5ZE a @a @a @a @U 2Acoustic response timeout1 ҏ,ǀH?Aɰ(2@2@=22ٱ2h NAHRS rotation from veh to nav: [[0.996204,-0.062165,-0.060936],[0.075331,0.966439,0.245603],[0.043623,-0.249261,0.967453]]2H?`ԯ3H??o?U?Ͽ`?i2@I2!s_;0Yj=yj\RDbDvVDvP`9y%%I=ٔ%Q=Q-%>9-`C?I-`C?=-6Fy-JE-<EU>QQ 5];4U?Q 9e;4U4)U?Yaye?Q Ie?UAP?IU9:iU$:Uϭ;4yɮsB*jBjiiziJii kOkOkOh12fq:fqBfqJfu?颭5@ɢ؅K) i)`顱io<Iԁ=d:Ա2Acoustic response timeoutE8F= }7l>*CG ! U z9Q YU A A} zAI I O >B B B DB ">B B B B ;B EN7 ҏ,GH?AB@B:=BvмٱBVu JAHRS rotation from veh to nav: [[0.998636,-0.038300,-0.035476],[0.045609,0.970700,0.235928],[0.025401,-0.237224,0.971123]]BH@?)Z??2?`?`\]ο@p?iB@IBd_;@\Yn=ynsDbEjE5rE2Eeh EeREemEa"EeG:*Ee9VEe5ZEaBEe/_;au2Ee1_;auJEe$:au:Ee%:aubDM,VDM$`9y<%C=ٔ1=Q->9F?IF?=6FyME|E>aQ 5m;4e?Q 9m;4e4)e7?Yiyu?Q I?e߇?Ie&)>~c:  I I  2Acoustic response timeoutI O% >t> ҏ,%#H?AY~=y~4DParsing RMC sentence: $GPRMC,191619.00,A,3646.40126,N,12152.27216,W,0.914,39.87,251025,,,D*45 )H?A`?49zXFbB@^aw^EhGPS fix at 20251025T191619: (36.773354, -121.871203)>$2?bDUVDU`9y <%L=ٔQ->9I=6FyOEE>Q 5;4`?Q 9;44)YyQ I?I{:i:>g;4yɮgB*j Bji9iAziAJiAiI kEkEkEhIDiDm=Ej EZErE"EN:*Ea9VE5ZEa@a@a@a@2f:fBfJf\Received valid gps time fix: 1761419776.00. Resetting abort timer.%@ɢE!WD)A ESiA)M1oIIiMIu>%2Acoustic response timeout-a:yII)Ou>ԡ E ҏ,XH?A2@2y=2.1ٱ2 :AHRS rotation from veh to nav: [[0.998085,-0.058682,-0.019560],[0.060903,0.987571,0.144891],[0.010814,-0.145805,0.989254]]2H P?@ `{.?@/?̋? %?¿`?i2@I2k_;2XCY^}=yb@Dԁ2Acoustic response timeoutyZd;?(\?~jt>z>Ľ 9Gz?/$?-޿Y>y<?8BۢB yB)BY BbDVD_9y=%3=ٔ;=Q->9I=6Fy%RE% =E%>)Q 5U;4-‰?Q 9U;4-4)-ZYU+?Q EU:y]+Q I]?-\>I-H:i-:-w;4yaɮe_Ba*jBjiiziJii kC*kC*kC*h2f>:f>Bf @JfJ5@EJ@ɢE.OB>BBBB=BBB.;BEBiBiBiBmĥ=BiCmĜ4) i)qu  i ˔< I`:IIOi>E}_ E}TE}dEy"E}&:*E}9VE}^n5ZEyBE}&;a2E}&;aJE}:a:E}:a- %=- <5 2Acoustic response timeout +K ҏ,.H?A6@6Q=6ូٱ6 BAHRS rotation from veh to nav: [[0.998503,-0.048167,-0.025917],[0.051144,0.990175,0.130148],[0.019394,-0.131278,0.991156]]6H? b/??୨?ۓ??i6@I6t_;6WCYN=yRGDbDZVDZ_9yf%fy=ٔfռQ-f?9hIh=j6FyjTEniEn?Q 5 ;4‰?Q 9 ;4 4)߼Y y !Q I ?^>I:iN:;4yɮ=dB=E*jIBjIiQiQziQJiQiQ k(k(k(h k(k(k(h92fI:fIBfIJfM@颥;@ɢX) i)={顩i9<I_:IQIq2Acoustic response timeout !OU2>ID zD AAE d E UE mE "E 9:*E P9VE 5ZE a @a @a @a @y = 2Acoustic response timeoutR ҏ,1HH?A2@2ƴ<2ymٱ2 :AHRS rotation from veh to nav: [[0.998077,-0.013224,-0.060564],[0.022028,0.988876,0.147100],[0.057945,-0.148151,0.987266]]2H>?'`B?ߤ?@.?@?`¿ ?i2@I2 z_;2XCYN>yR3DbDZdVDZ_9yv'=%vH=ٔvQ-v>9xIx=z6FyzVEzE~>Q 5 ;4 ‰?Q 9 ;4t4) Y y Q I ??I:i:Ő;4yɮUB*j)Bj)i1i1zi1Ji1i1 k)k)k)h2f :f Bf Jf r@M@ɢMO)MQO= M"iIQ)UˀqqiuԩA A B >B B B B =B B B s;B X ҏ,XbH?Aɰ:@:<:ѝٱ:i- BAHRS rotation from veh to nav: [[0.996619,-0.015413,-0.080704],[0.028709,0.985660,0.166283],[0.076984,-0.168038,0.982770]]:HM? ̐`e??H?6?Cſr?i:@I:=_;8YJ3=yJDf!df% f)fIfidjj(j*hbDr VDr_9yvѹ%zJ=ٔz AQ-z>9|I|=~6Fy~YE<E>Q 5 ;4@2‰?Q 9;44)D:Yy9Q I?H?I:i ;;4y!ɮ%hB!*j1EEm EEZEEcEA"EEY:*EEa9VEE&k5ZEABEE~;aM2EE~;aMJEE0;aU:EE1;aUBj1iQiYziYJiYiY kCkCkChq k#.k#.k#.h2f:fBfJf ~@- @ɢ5dT)Q UiQ)]x&YYi]A^ 2Acoustic response timeout1 g^ ҏ,j|H?A6@6E=6mpxٱ6^S BAHRS rotation from veh to nav: [[0.997006,-0.034662,-0.069127],[0.048016,0.978201,0.202032],[0.060617,-0.204747,0.976936]]6H x?`BI?`lM?2?. ?"5ʿC?i6@I6_;6YCYF=yF4DbDRVDR_9yZd;%ZN=ٔ^)=Q-^>9`I`=b6Fyb[EbG=Ef>dQ 5j;4fB‰?Q 9j;4f4)fLgYlynڽQ In?f{?If;if;fƬ;4ypɮrgBt*j|Bj|i|iziJii kkkh k#/k#/k#/h)2f9:f9Bf9Jf=#f@]'@ɢ]}W)]Ht= ];iY)e(=aaie3)?2Acoustic response timeout9II OE>i :Re ҏ,QH?ARWH@R=R3xٱRR rAHRS rotation from veh to nav: [[0.997455,-0.024390,-0.066992],[0.037459,0.978798,0.201375],[0.060660,-0.203372,0.977221]]RH'?``k&@-?OR???ʿ`dE?iRWH@IRHk_;RZCYv=yz{D]2Acoustic response timeoutyV-? +οZd;?>vy= 9-?Mbx&1̿Y?>yA`[BB ĽB)uBYBbDVDt_9y%˔%-5=ٔ-~ʸQ-->91I1=56Fy5^E=ۿE=>9Q 5E;4=Q‰?Q 9M;4= 4)=3}YMI>Q E:yQ I?=R?I=:f=W>Bf= @Jf=L@]n@ɢ]J)Y e ia)eW aiiimMBIBMDBM,>BIBIBIBM{;BMBEY:III1OU2>ԑEUi EUxEQEQ"EU,K:*EU:VEQZEQBEUse;ae2EUve;aeJEUco;ae:EUdo;ae 2Acoustic response timeout Hyk ҏ,H?A2,@2 =2Eٱ2MS :AHRS rotation from veh to nav: [[0.997008,-0.019117,-0.074891],[0.033999,0.978626,0.202820],[0.069413,-0.204759,0.976348]]2H@~?\, \h?P? ?@ű?5ʿ@>>?i2,@I2;o_;2XCYB=yB‚DNParsing RMC sentence: $GPRMC,191622.00,A,3646.40184,N,12152.27185,W,0.816,14.27,251025,,,D*4A P)PRH?ARJ‰?R49RobB@ض(w^ZhGPS fix at 20251025T191622: (36.773364, -121.871197)R>R0 >bDbmVDbW_9yjT1<%jc=ٔjǼQ-j>9lIl=n6Fyn`Er:Er>tQ 5z;4vJ‰?Q 9z;4v4)vYxyzVQ Iz?vIv:ivA:v>g;4yɮiB*jBjiiziJii kkkh2f:fBfJfI@\Received valid gps time fix: 1761419776.00. Resetting abort timer.-@ɢ5])9 ='i9)=A99i=nΫm2Acoustic response timeoutQEm b Em XEm oEi "Em 1:*Em 9VEm 5ZEi au @au @au @au @ԁ  2Acoustic response timeoutyar ҏ,PɁH?A2S@2}<2vٱ2$ :AHRS rotation from veh to nav: [[0.996715,-0.008883,-0.080502],[0.021598,0.987124,0.158492],[0.078058,-0.159710,0.984073]]2H?1@˛@??yI?@? cqĿ}?i2S@I2[_;2\CY^>y^DabD%VD%c_9yubT=%u@=ٔߣQ->9I=6FycEE>Q 5;4zX‰?Q 9;44)aYyQ I?u%>I3;iQ;av;4yɮ^B*jBjiiziJii ksksksh ksksksh)2f9:f9Bf9Jf=G@]@ɢ]+3U)Y eia)eraaieNBI BI BM 0DBM ,;BM E Xx ҏ,bH?A6S@@6;6qٱ6F >AHRS rotation from veh to nav: [[0.995574,0.007683,-0.093662],[0.005285,0.990497,0.137431],[0.093828,-0.137318,0.986073]]6H?x?Bu?@'?Y?!?@?i6S@@I6`;6ZCYF=yFDbDRVDRf_9yZ%ZX=ٔZ.Q-Z>9\I\=^6Fy^eEb4Eb>dQ 5j;4f!d‰?Q 9j;4fu4)fYhyjQ Ij?f>If:ifj:fW;4ypɮreBp*j|Bj|i|iziJii kkkEEh EETEEqEA"EEG:*EE9VEE5ZEABEE/_;aU2EE1_;aUJEE:aU:EE:aUh2fi:fiBfiJfm?颅~@ɢ$_)O= `i)Ƒ顑i`<IuU:2Acoustic response timeoutjI=AM AIY Iq O > 2Acoustic response timeout9 ~ ҏ,-H?Aɰ2e@2j@2ٱ2' :AHRS rotation from veh to nav: [[0.996419,0.022833,-0.081414],[-0.010758,0.989258,0.145781],[0.083868,-0.144383,0.985961]]2H?a?״` ?`?dx?%{¿?i2e@I2 `;2XCYB>yBSDbDJVDJc_9yV4=%VK=ٔV=9ZK?IZK?=Z6FyZhEZ#E^>`Q 5b;4bp‰?Q 9f;4b4)bbYdyf Q If?b#>Ib:ib;bl;4ytɮz\BzE*jIBjIiqiyziJii kkkhi2fy:fyBfyJf}h?颽@ɢN) i)ti;< I E=j E=XE=}E9"E=N:*E=9VE=s5ZE9aE@aE@aE@aE@HT:A2Acoustic response timeoutiQO=A xAI) I9 O} >ԙ  ҏ,ҏH?AiAIEAM2Acoustic response timeoutY]=yeD}OG9YQAqyNbX9?Q?K?\=^ 9"~j?`"οx&1ȿYS?ywABB B)Y̴BbDQVDJ_9y%.=ٔQ->9;N?I;N?=6FykEE>Q 5;4Y‰?Q 9;4`4)kY?Q E:yQ I?X:?I ;i ;ۡ;4yɮdB*jBjiiziJii kkkh kCkCkCh)2f=>:f=>Bf=ߕ@Jf=@]@ɢ]V`)Y ]\iY)eֱaaie+BB@EBtU>B=BB/DB;BE-R:1111I>)>ԡbEJ5jE5rEƵ12E=g E=ZE=zE9"E=C:*E=a9VE=5ZE9BE=X;aM2E=X;aMJE=0;aM:E=1;aU2Acoustic response timeoutA! I1 IA O > Nj ҏ,g1H?AYO >yۨDU&U$U# U")U!IU!iQU(U+]+YbDeVDe_9yuU=%ua=ٔyQ-}>9I=6FymEE>Q 5;4S‰?Q 9;44)YyQ I?q?I;iY;;4yBɮZB*jBjiiziJii kkkh kkkh2f:fBfJf19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]!18%o%@Completed marl:UpdateCommandMode7%o-\Aggregate::uninitialize marl:UpdateCommandModeq7-n-LAggregate::initialize marl:UpdateSpeed7-])75n54Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeed^MB*** querying acoustic contact ***XIYI@ɢ5>^)1 5i1)50랽99i=&<9IA wQ:U2Acoustic response timeoutA]"AIaIqOa>inAI) EU f EU UEU kEQ "EU I@:*EU P9VEU u5ZEQ a] @a] @a] @a] @ 2Acoustic response timeoutQ ҏ,LKH?A@2J+@2O&@21=ٱ2~.9 :AHRS rotation from veh to nav: [[0.989650,0.082218,-0.117615],[-0.059211,0.980533,0.187216],[0.130718,-0.178314,0.975252]]2H@6?= ?P`?? [?ƿ@D5?i2J+@I2%8`;2YCYB>yBDbDN#VDN^9yZB#=%^W=ٔfQ-j>9nP?InP?=n6FynpErEr>pQ 5v;4r̥‰?Q 9z;4r 4)r(Yxyz@ Q Iz?r?IrP:ir#;r;4y|ɮRB*jBjiiziJii kkkh kkkh2f:fBfJf @s NUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder- @ɢ-֩d)5$= 5i1)511i5A<9IA)5WP:A}xAIIOI>YU2Acoustic response timeoutԁ A A B >B B EB _>B =B B B ;B EBBBBBCɴ5٘ ҏ,6eH?A06@6@6_ٱ6)* >AHRS rotation from veh to nav: [[0.990210,0.094081,-0.103118],[-0.075221,0.981945,0.173568],[0.117586,-0.164112,0.979408]]6H@̯? ?eAl? y7?@? ſ PW?i6@I6_;6XCYF'>yFiDEd EVEqE"E9:*E9VE5ZEBEF;a2EF;aJEC:a:ED:abD%VD%^9ye! =%e@=ٔm9m;N?Iu;N?=u6FyusEuEu>Q 5;4v‰?Q 9;44)EYy  Q I ??I :i[:N;4yɮKB*jABjAiIiIziIJiIiI kkkh kkkh2f:fBfJf@2Acoustic response timeout- @ɢ5&P\)5K= 5;i1)=q99i= m 2Acoustic response timeout4 ҏ,~H?A`EnManaging dock network, ignoring radio surface power offD@I@½ٱX& AHRS rotation from veh to nav: [[0.987309,0.141435,-0.072223],[-0.127315,0.976767,0.172387],[0.094927,-0.161004,0.982378]]D D <Eg EEE"EC:*EVE5ZEa@a@a@a@H ??7}KA?`?M? ʛĿo?iD@I_;YCYb+>yDParsing RMC sentence: $GPRMC,191625.00,A,3646.40274,N,12152.27222,W,1.613,332.60,251025,,,D*71 )@H?A‰?42Acoustic response timeout94DbB@Fw^hGPS fix at 20251025T191625: (36.773379, -121.871204)mT?F¹@y ˡE?@5^I ¿RQ G? b ½ 9 oʡ?w/i|?5?Y M?y  q> B cB B) ֨B Y BbD VD ^9y ;% <ٔ %=Q- >9 H?I H?= 6Fy wE E > Q 5 ;4 ‰?Q 9% ;4 4) Y% |?Q E% W:y% h0Q I- ? I ;i 6; >g;4y1 ɮ5 IB5 EA *jI BjI iI iQ ziQ JiQ iQ  kSkSkShi 2f} E?:f} E?Bf} s@Jf} @\ Received valid gps time fix: 1761419776.00. Resetting abort timer.颥 \ @ɢ R>F) i ) ު顩 i W9< I  fL:A X?A 7?} 2Acoustic response timeoutԁ AM"AIQIaO>! ҏ,ꝂH?AB->B)B-"EB-#>B-=B)B)B-;B-ߘEɰI@D@ٱ7 AHRS rotation from veh to nav: [[0.980256,0.164594,-0.109577],[-0.147951,0.978192,0.145778],[0.131182,-0.126688,0.983230]]E E[ElE"E*E9VE5ZEBEX;a2EX;aJE;a:E;a HA^?@g?D @¿XM?`ܨ??N7 v?iI@I-_;[CY/@>yXDe=e%=u2Acoustic response timeoutbDkVDj^9yYC=%@=ٔQ->9 P?I P?= 6Fy zE SE>Q 5%;4@‰?Q 9%;44)E->Y)y-d:Q I-?H>I:i :u;41y9ɮ=?B9*jQBjQiQiQziQJiYiY kkkhi kkkh2f:fBfJf7@颭H @ɢGb) i)WJ项i(<I NK:a ׿Q=2Acoustic response timeoutԑI>)>A xAII)O ?)( ҏ,rH?AY]J>yD)bD=VD=9^9yMe<%M}=ٔMQ-M ?9U;N?IU;N?=U6FyU|EUE] ?YQ 5e;4]{É?Q 9m;4]4)]&>YiyiQ Im?]*?I];i];] ;4yqɮ}:By*jBjiiziJii kkkh kckckch2f:fBfJfu @ɢ@w) i)   i <IJ:Ef EUEnE"EI@:*EP9VEJ5ZEa@a@a@a@Y52Acoustic response timeout%QO=ԁAu "AIy I O >Ա mI ҏ,l^ڂH?AJ=W@JBR@JfkR2Acoustic response timeoutٱJ뫽 vAHRS rotation from veh to nav: [[0.952102,0.227062,-0.204804],[-0.203575,0.970453,0.129532],[0.228164,-0.081635,0.970194]]JHw?Z?7ʿʿ ??|4? 洿 ?iJ=W@IJp`;JZCYz`a>yz EbD-\VD-]9y]c=%]J=ٔ]yQ-e>9eP?IeP?=e6Fye~Em2Em>qԹQ 5;4uÉ?Q 9;4u4)u:>Yy>SQ I?u?Iu_BB;EBw>B=BBB;BИEIMtH:E EEE"E*EVE5ZEBER;a2ER;aJE:a:E:a]2Acoustic response timeoutmjI=A AI I I O5 >9 yu| E$% !)I&i(#**+bDVD]9y5c;%===ٔ=\Q-=>9E[?IE[?=E6FyEEEEE>IQ 5U;4MQ*É?Q 9U;4M4)MW/?YYy]\Q I]?Mڲ?IM;iMU;MY;4yaɮeBi*jyBjyiyiziJii kkkh k$k$k$h2f:fBfJfn@@ɢj) ci)i)<I2Acoustic response timeoutTG:a==b(=AAvAI9IaO]>qE  E _E sE "E g:*E r9VE X5ZE a @a @a @a @e 2Acoustic response timeoutԙ [ ҏ,H?A22@27@2Ifxٱ2Wy :AHRS rotation from veh to nav: [[0.936595,0.281489,-0.208694],[-0.255128,0.956044,0.144534],[0.240206,-0.082126,0.967242]]2H??ʿTп???3?i22@I2"`;2XCYjOq>yj`EyV-?{GzʡE?-?ף-= 9?㥛 ڿ?Y ?yվ=BuB B)BYBbDVD5]9yX=%O=ٔZ9_V?I_V?=6FyEلE>Q 5%;4Q9É?Q 9%;44)K?Y- B?Q E-:y-aQ I-??I:i<:C;4qyɮB*jBjiiziJii k#"k#"k#"h12fE,>:fE,>BfE@JfEr?@颽@ɢh)e< i)@ieB>B/CBzEBJ>BBBB;BE ҏ,'H?AE2h E2]E2uE0"E2G:*E29VE25ZE0BE2/_;a:2E21_;a:JE2 ;a::E2 ;a:Y5>y5y:E =bDVD\9yG>%I=ٔQ->9 ;N?I ;N?= 6Fy E2Acoustic response timeout%E%>)Q 5];4-HÉ?Q 9];4-4)-;i?YayaQ Ie?-U?I-);i-%-;-v;4yɮB*j9Bj9i9i9zi9JiAiA kckckchq2f:fBfJf@ɢ'i) yi)ŇiQ<I)D:-<)  2Acoustic response timeoutA пAI! I9 Om >Q 1o ҏ,_AH?A4<ɰp<6%@6 @6yfٱ6: RAHRS rotation from veh to nav: [[0.918399,0.356463,-0.171693],[-0.326705,0.927999,0.179113],[0.223178,-0.108404,0.968731]]6H`c?I?ſԿ+?`-??d?i6%@I65`;6ZCYVQ>yV$UEXXrParsing RMC sentence: $GPRMC,191628.00,A,3646.40383,N,12152.27315,W,1.613,325.57,251025,,,D*72 )tvH?AvÉ?vL49vӨbB@ w^hGPS fix at 20251025T191628: (36.773397, -121.871219)tv%յ@bD-PVD-\9y==%=W=ٔ=)==Q-=>9E`C?IE`C?=E6FyEEMoNEM>IQ 5;4MÉ?Q 9;4ML4)MYysQ I?MIMg;4y!ɮ%ۼB%E*jYBjYiYiYziaJiaia kkkh2f:fBfJfѩ@q/^\Aggregate::initialize marl:SendObservationDataq0/-_%6data element is not active._%pGot test_good : n/a str and temp var is nan n/a str /%/-)Euf Eu^EuEq"EuI@:*Eu;9VEu5ZEqa}@a}@a}@a}@\Received valid gps time fix: 1761419776.00. Resetting abort timer.颕@ɢ>3n) i)顙ik<IB:%2Acoustic response timeout5%ԉ m gl>m C G - 9) Y- A_ ҏ,Y[H?A02:@2?|@2eٱ2# :AHRS rotation from veh to nav: [[0.901679,0.388986,-0.188853],[-0.341216,0.908349,0.241813],[0.265606,-0.153599,0.951767]]2H? $?Q,ȿ }տ1?@??ÿt?i2:@I2`;2XCB2Acoustic response timeoutY>ysnEbDOVD\9y=%B=ٔ/սQ->9I=6FyEBE>Q 5;4HÉ?Q 9;44) >YyczQ I?a>I:i:u;4y ɮ ǼB B>BB@EB>BBB.DB;BE*jBjiiziJii kc kc kc h2f :f Bf Jf Zn@Y=Ă@/=10=mE@ɢup)uh1< uiq)uĽqyi}͢. ҏ,ZuH?A\rZ"@r_@rqEٱrRi AHRS rotation from veh to nav: [[0.888621,0.418120,-0.188489],[-0.348093,0.882441,0.316433],[0.298637,-0.215578,0.929700]]rHo?{?`d ȿ%Gֿy-EI5R=)5=bDeVDe[9ym=%uO=ٔu첽Q-u>9I=6FyEE>Q 5;4É?Q 9;4o4)>Yy}Q I? ?Ie;ii;;4yqBɮBE*jBj1i1i1zi9Ji9i9 k#k#k#hI k3k3k3h2f):f)Bf)Jf-.@Y=10E0E2Acoustic response timeout额@ɢ%q) Hi)3Ƚ顡i<I @:MhW<)AuzAIyIO>E  E SE zE "E *E 9VE 5ZE a @a @a @a @A E 2Acoustic response timeouti ҏ,[H?A:l@:r@:6ٱ:1 RAHRS rotation from veh to nav: [[0.881738,0.437316,-0.176896],[-0.360623,0.866610,0.344875],[0.304119,-0.240296,0.921830]]:H37??ƿ`t׿@D?l?v?ο?i:l@I:}_;:YCYn>yrEpp~>~>ymNbX9?bX9?rh|?m?mE6>m=i i9m\(\?Q?NbX9?Ym>ym\=m>m Bm%B mB)mBiYmuBbDVDZ9y-Ù=%m1=ٔuHQ-u>9}F?IF?=6FyEE>)Q 55;4-ޫÉ?Q 95;4-&4)-E>Y5h?Q E=:y=Q I=?-??I-:i-:-ڔ;4yAɮEBIA*jBjiiziJii k k k h2fN>:fN>Bfm@JfCi@aSendData: sent send_observations : nan n/a str to nearby vehicles. Elapsed time 10.008364 min 0^=DCompleted marl:SendObservationDataq/E^E`Aggregate::uninitialize marl:SendObservationDataq0EU@ɢUd)]: ]-iy)E̽顑i<2Acoustic response timeoutqB>B.CBEB?B=BBB;BEB]/CB]/CBYB]Ȥ=BYC] -5I P>: AAԡ E ` E ^E {E "E *:*E ;9VE :5ZE BE -;a 2E -;a JE ;a :E ;a x/<U2Acoustic response timeoutIIO5? ҏ,QOH?AB@B@B4ٱBqʝd zAHRS rotation from veh to nav: [[0.880348,0.457388,-0.125635],[-0.381623,0.840291,0.385065],[0.281694,-0.291046,0.914298]]BH+?E?lؿ`?`?G? ҿ`A?iB@IB `;BXCY~ ?y~uE}}'}# %)"Ii%&("! @AAAbDVDPZ9y=%=ٔQ;=Q->9I=6FyE&E>Q 5%;40É?Q 9%;44)&?Y!y- Q I-?t?I :i :.;4y1ɮ5qB1*jBjiiziJii kkkh2f:fBfJfof@m4@ɢuЕi)ާ>< ci)н项i^@<Ia rmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=1pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout<:yb];!IIO>Q E f E VE tE "E I@:*E 9VE 5ZE a @a @a @a @Ҡ ҏ,˃H?A2^@2Y@2{ٱ2ۻ :AHRS rotation from veh to nav: [[0.872636,0.477420,-0.102842],[-0.398578,0.817908,0.414923],[0.282208,-0.321087,0.904025]]2H? ?SNٿM,??`?஌Կ?i2^@I2M`;2ZCYN?yN7EbDZ4VDZY9yf>%fv=ٔfҺQ-f?9hIh=j6FyjEjoEn?=zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYE2Acoustic response timeoutIQ 5;4É?Q 9;4i4)E?YyHQ I??I|:i:;4y ɮ DB *j!Bj!i!i!zi!Ji)i) kkkhy2f:fBfJf'b@ @ɢ:+|)) -i1)5ҽ11i5U<9I9 ;:aԑ ;IIO>2Acoustic response timeout B >B /CB EB 5F?B =B B /DB ';B E ҏ,H?A;ɰ;2@2@2ٱ2 :AHRS rotation from veh to nav: [[0.860801,0.494723,-0.119461],[-0.401761,0.804626,0.437225],[0.312427,-0.328369,0.891383]]2H??qٿ?}?@?տ5?i2@I2p_;0Yf"?yf]Ej=hbDEVDEY9ԙyA=%==ٔ,Q->9I=6FyEE>Q 5;4É?Q 9;44)n?Yy6Q I?0?Io:i:;4yrBɮ-BE*j)Bj)i)i)zi)Ji)i1 kCkCkCha kcEh EWE}E"EG:*E9VEs5ZEBE._;a2E1_;aJE:a:E:akckch2f:fBfJfr_@_&@ɢ?s)͹ i)?ֽi<I M2Acoustic response timeout9:pAoAh%<I!I1O}X>  2Acoustic response timeout ҏ,=H?AY]6?y%DEParsing RMC sentence: $GPRMC,191631.00,A,3646.40461,N,12152.27379,W,1.030,328.94,251025,,,D*7E )H?AÉ?H59bB@]:w^yhGPS fix at 20251025T191631: (36.773410, -121.871230)?@I<)4-y>-) )9-y&1?L7A`?v?Y-`>y-+>-x>-B-B -B)-KB)Y-BbD={VD=vX9y ">%#=ٔQ->9I=6FyEE>Q 5;4É?Q 9;4H5)Y.>Q E:yg>Q I?I;i:>g;4yɮB*jBjiiziJii kkkhEd E_EzE"E9:*Er9VE5ZEa@a@a@a@Ա2f>:f>Bf?@Jf@\Received valid gps time fix: 1761419776.00. Resetting abort timer.%W)@ɢ%l)% %i!)%ڽ))i-[<)I15'8:e2Acoustic response timeoutE $?<I I O >!ҏ,lH?A2\@2W@2ٱ2yd :AHRS rotation from veh to nav: [[0.841467,0.522948,-0.135862],[-0.416895,0.788358,0.452426],[0.343703,-0.324062,0.881392]]2H L?`?chڿ`;:??%m=ٔmQ-m?9qIq=u6FyuEuҞE?Q 5;47ĉ?Q 9;44)=Yy>Q I?>I:i:q;4yɮۻB*jBjiiziJii kkkh) kkkhY2fi:fiBfiJfm @2Acoustic response timeoutE$.@ɢE v)I MliI)mܽiiiu^oBqBupFBuhq?Bu=BqBqBu ;BuE0;IIOF>Eh EUEE"EG:*EP9VEc5ZEBE/_;a2EaJE:a :E:a ) } 2Acoustic response timeoutY  !ҏ,Sy2H?A2@2߹@2Cٱ2 :AHRS rotation from veh to nav: [[0.834480,0.535110,-0.131530],[-0.428780,0.780492,0.454951],[0.346107,-0.323250,0.880749]]2H?`?`#qۿ?@?&?@Կ/?i2@I25_;2[CYRS?yR:F\\bDf^VDfW9yr=%rS=ٔv=ػQ-v>9tIt=v6FyzE~E~> Q 5;4 ĉ?Q 9;4 4) )>Yy>Q I? >I E e E E kE "E <:*E VE u5ZE a @a @a @a @\!ҏ,%5F=E2Acoustic response timeoutٔ]Q-]>9]H?I]H?=e6FyeEe6'Ee>iQ 5u;4mĉ?Q 9u;4m4)m>Yy>Q I?m>Im;im;m;4yɮB*jBjiiziJii kCkCkCh2f:fBfJf6 @5@ɢ4~)X @i) i<I ԉ4:Թ2Acoustic response timeout A I I OU >Bm >Bm .CBm /FBm M?Bm =Bi Bm .DBm ;Bm E!ҏ,l$fH?AJ.@J)@JXٱJMS RAHRS rotation from veh to nav: [[0.820281,0.558687,-0.122512],[-0.444758,0.757725,0.477539],[0.359625,-0.337228,0.870027]]JH???@\vܿ H????"տC?iJ.@IJ_;JXCYZz?yZF`v vv v)vIvivzz z0bDVDU9y 4>%M=ٔ[Q->9I=6FyE%aUE%>!Q 5-;4%+ĉ?Q 95;4%N4)%Z>Y1y5>Q I5?%U!?I%:i%:%;4y9ɮE~BA*jYBjYiYiYziYJiaia kkkhq kkkh2f:fBfJfk @颽:@ɢl) Ji)~iٱ<IE}k E}ZE}Ey"E}mR:*E}a9VE}*5ZEyBE}q;a2E}q;aJE}0;a:E}1;a3:U2Acoustic response timeoutAI I=Failed to create a data reader. azimuth_vehicleFrame is unknown.EbFailed to request data from azimuth_vehicleFrame.IAiIIIO}7>A  2Acoustic response timeout-B!ҏ,H?Aɰ!Mx@M}@M{ٱMB AHRS rotation from veh to nav: [[0.816264,0.566886,-0.111147],[-0.456904,0.751279,0.476255],[0.353485,-0.337966,0.872254]]MH?@#?(t=ݿy ? z? ~?;տ?iMx@IMo}_;M[CYR?y'F 9 y`"?A`"?rh|?Y= 9!rh?S?Zd;OYl?y>jyC>B yC)>BYBbDHVD'U9y@>%/=ٔf9 I =6FyEE>Q 5%;4@ĉ?Q 9%;4l4)>Y-?Q E-:y-hQ I-?c?I+;i;;4y5sBɮ5RB=E*jQBjQiQiQziQJiQiY kkkhi k#k#k#hy2f=:f=Bfx @Jf4?颭`?@ɢOt) mi)顱i<IIe1:A nAzA pAEm EYEE"EY:*E*9VE5ZEa@a@a@a@AQ]2Acoustic response timeoutIiqIO>ԡ 40&!ҏ,H?A>nGHTn9lYnqA%4@%/@%էٱ%t5 ]AHRS rotation from veh to nav: [[0.809729,0.578669,-0.097376],[-0.471570,0.740454,0.478905],[0.349230,-0.341863,0.872449]]%HK?t?3.޿`̱?@`?Y?տ ?i%4@I%H_;!iYmR?yu7FI=)AbDVDT9y>%Z=ٔF9I=%6Fy%E%|:E%>)Q 55;4-Qĉ?Q 95;4-74)->Y9y=Q I=?-?I-:i-:-.;4yAɮMBI*jYBjaiaiaziiJiiii kkkh kkkh2f:fhDAT read: Forwarding Delay UpTx time:19:16:34.0867 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutBfJfJ?u@@ɢuFz)q uiy)}~yyi}Q&<IBBB KFB,?BBBB;BۘE}D0:ԡAIIOn>bE ם5jE Ƚ5rE u2Eb E]EE"E1:*E9VE5ZEBE9;a2E9;aJE ;a:E ;a] 2Acoustic response timeout f,!ҏ,H?ARD@RJ@R*ٱR' fAHRS rotation from veh to nav: [[0.798797,0.593174,-0.100344],[-0.482526,0.731330,0.482001],[0.359295,-0.336602,0.870406]]RH?@G?!޿g??`?տ]?iRD@IRr_;RXCYr?yr8DFParsing RMC sentence: $GPRMC,191634.00,A,3646.40255,N,12152.27597,W,3.616,328.94,251025,,,D*7C )  H?A չ‰? eV59 {׳bB@v*w^%hGPS fix at 20251025T191634: (36.773376, -121.871266) ? bD5zVD5S9yEbW>%EW=ٔEQ-E>9III=M6FyMEU,EU>YQ 5e;4]չ‰?Q 9e;4]eV5)]Yaye5Q Im?]I]:i]:]>g;4Աy (BɮBE*j)Bj)i)iIziIJiQiQ k#k#k#ha k#k#k#h2f:fBfJfP?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed\Received valid gps time fix: 1761419776.00. Resetting abort timer.@@ɢ@lw)I M&iI)MVIIiM9 E} h E} `Ey Ey "E} G:*E} 9VEy ZEy a @a @a @a @A3!ҏ,̈́H?AN%4@N*/@NƾٱN VAHRS rotation from veh to nav: [[0.784978,0.609881,-0.108881],[-0.490697,0.719355,0.491675],[0.378187,-0.332527,0.863945]]NH`?@$?߻@g߿?@w?84?Hտ`o?iN%4@IN_;NZCY^?y^QF2Acoustic response timeoutbD=VD=.S9y}Y>%}H=ٔ}LQ-}>9I=6FyE[E>Q 5;4‰?Q 9;4X5)*I:i:u;4yɮ}B*jBjiiziJii kkkh k)kkh2f:fBfJfW?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderA@ɢ%jr)-C⤼ -ؿi))519i=ԡ2Acoustic response timeoutB A <B >B -CB mFB ?B =B B B ;B EB.CB.CBBɦ=BC}5Ա df9!ҏ,"mH?A2@2@2^Ͼٱ2Ƽ :AHRS rotation from veh to nav: [[0.771365,0.626367,-0.112517],[-0.499731,0.705648,0.502324],[0.394037,-0.331247,0.857327]]2H?3 ?ͼ ߿? ?`7?&3տ:o?i2@I2|_;0Y^t?y^aF ddbDjyVDjzR9yr˅>%rU=ٔvl7Q-v>9tIx=z6FyzEz,Ez>|Q 5;4~3‰?Q 9 ;4~Z5)~r=Y y Q I ?~>I~:i~:~;4yɮJB*jBjiiziJii k#k#k#h2f:fBfJf?%WB@ɢ%p)) -9Ϳi))5b11i5 ȟ<9IAEek EeTEeEa"EemR:*Ee9VEe5ZEaBEeq;au2Eer;a}JEe:a}:Ee:a}ԑMJ,:UpAUpA-s?-\?52Acoustic response timeoutԹI I O= > 2Acoustic response timeout! R@!ҏ,[H?AYm\?ymlFyA`"?:vQ?Y?T< 9i|?5?ˡE?"~jԿY?y=S CnB C)Y8BbDEVDEQ9yM$>%U)=ٔUQ-U>9YIY=]6Fy]E]E]>iQ 5u;4m‰?Q 9u;4m|_5)mߵ:f>Bf4@JfT8@@C@ɢob) $ƿi)Ki.<I *:E]j E]vE]EY"E]N:*E]:VE]5ZEYam@am@am@am@uAzAnAE2Acoustic response timeoutIIO%>I 2xF!ҏ,"H?Aɰp;(Y?y{FbD5KVD5Q9yEy>%Et=ٔAQ-E?9III=M6FyMEQEU?QQ 5e;4UÉ?Q 9e;4Ub5)Uf_YayaQ Ie?Ux?IU:iU:U;4yiɮuBq*jBjiiziJii k3k3k3h kCkCkCh2f:fBfJfeC@ɢel)a e@ia)mǞiiim4/BBFBY?B=BBB;BEԙu`=IIOe>E` E]EE"E*:*E9VEF5ZEBE-;a2E -;aJE ;a:E ;a M 2Acoustic response timeoutL!ҏ,"5H?A\Y=?y=PFmim m )u Iuiuu uqI}>)}>bDVDOP9yj>%E=ٔQ->9I=6FyEE>Q 5;4É?Q 9;4g5)YyQ I?*?I ;i ; ;4yɮŹBE*jBjiiziJii kkkh k)k)k)h 2f:fBfJf颵D@ɢ*a) i),项i3W<I':2Acoustic response timeoutIIO>A D zD @AE r E WE E "E k:*E 9VE 5ZE a @a @a @a @!S!ҏ,NH?A2p]@2vX@2;ٱ2ž :AHRS rotation from veh to nav: [[0.751087,0.655547,-0.078272],[-0.531839,0.671030,0.516591],[0.391173,-0.346377,0.852647]]2H?>? y?@?? +ֿH?i2p]@I2_;0YN`?yRlFbDZ0VDZO9ybu>%bY=ٔfH9dId=j6FyjEjEj>lQ 5r;4n#É?Q 9r;4n5k5)nYtyv/Q Iv?n?In:inI:n;;4yxɮzBx%2Acoustic response timeout*jBjiiziJii k/k/k/h kDkDkDh2f:fBfJfu8@ E@ɢ Ð\)B i)_ix<I!&:IIO>Iq2Acoustic response timeoutB v>B ,CB FB L?B =B B -DB (;B Eԡ 9Y!ҏ,hH?A20 @26@2ɾٱ2ž :AHRS rotation from veh to nav: [[0.748237,0.659943,-0.067950],[-0.540903,0.666143,0.513495],[0.384142,-0.347461,0.855398]]2H`? @?@3eO Q?n?ȕ?<ֿ k_?i20 @I2m_;2XCYBQ?yBbFbD VD N9yMu>%MB=ٔUKy9I=6FyEkE>Q 5;45É?Q 9;4p5)MνYy1Q I?>?I)0;iB;;4y Bɮ KB E*j)Bj)i)i)zi)Ji1i1 kC)kC)kC)hIE]i E]ZE]EY"E],K:*E]a9VE]5ZEYBE]se;am2E]ve;amJE]0;am:E]1;am kUkUkUhy2f:fBfJf<7@颥nF@ɢ T) i)-顱iJ<I %:-2Acoustic response timeoutIQIaԩO> i I A 2Acoustic response timeout6`!ҏ,H?AY?yFParsing RMC sentence: $GPRMC,191637.00,A,3646.40015,N,12152.27832,W,3.635,328.94,251025,,,A*7F )@H?AC?%59~(bB@qww^hGPS fix at 20251025T191637: (36.773336, -121.871305)\? yʡE?S˿#~j?/]㥽 9ffffff?RQпNbX9ȿY3?yEC>B C)BY.BbD*VD2N9yj>%5=ٔQ->9I=6FyEE>Q 5;4C?Q 9;4%5)Yp?Q EE:ynQ I?I ;ir;>g;4yBɮBE*jBjiiziJii kNkNkNh k3gk3gk3gh)2f=>:f=>Bf=vye@Jf=HXf@\MReceived valid gps time fix: 1761419776.00. Resetting abort timer.]SG@ɢ]O)Y ]iY)e ai< I #:Emg Em\EmEi"EmC:*Em9VEm5ZEiau@au@au@a}@A-AI1IIIam>m>2Acoustic response timeoutO>)Y ;f!ҏ,iH?A2u@2{@2eľٱ2/ :AHRS rotation from veh to nav: [[0.728633,0.683392,-0.045475],[-0.573614,0.645172,0.504698],[0.374246,-0.341655,0.862097]]2H P?Y?H [@??}&??տL?i2u@I2Rc_;0YBD@yBFbD~bVD~`M9yE>%Me=ٔM9UK?IUK?=U6FyUEUGEU>YQ 5e;4]T?Q 9m;4] 5)]=YiymxQ Im?]7>I]8:i]:]s;4yqɮ}By*jBjiiziJii ksbksbksbh kbkbkbh2f:fBfJf~b@H@ɢO) i)ia{<I1":2Acoustic response timeoutB]u>BYB]pFB] @B]=BYBYB]9;B]Ea(AzAEy E}YE}Ey"Ey*E}*9VE}5ZEyBE}X;a2E}X;aJE}:a:E}:aԙA I I! O] > 2Acoustic response timeout pl!ҏ,_EH?Aɰ4<2@2@2¾ٱ2r :AHRS rotation from veh to nav: [[0.716121,0.696930,-0.038214],[-0.590988,0.634571,0.498048],[0.371354,-0.334079,0.866307]]2Hu??M?Ȑ`hN??`D?aտɸ?i2@I2w_;2YCYB @yBFbDNVDNL9yV>%VU=ٔV9XIX=Z6FyZEZvE^>`Q 5b;4bf?Q 9f;4b5)bd>Ydyf~Q If?bdC?Ib:ib$:b ;4yhɮn{Bl*jtBjtixixzixJixix kmkmkmh  k#zk#zk#zh2f):f)Bf)Jf-la@H@ɢF) pi)i>q<Iԑ!:u ܼ2Acoustic response timeoutAI!I1OeU> E l E TE E "E V:*E 9VE c5ZE a @a @a @a @9 s!ҏ,#ЅH?A.?@.:@.ٱ.Ck :AHRS rotation from veh to nav: [[0.702494,0.711018,-0.030919],[-0.608117,0.622262,0.492934],[0.369724,-0.327481,0.869517]].Hz??( u?:??qԿ?i.?@I.X_;.[CY~@y~FI=)=bDVDK9y%Z>%%C=ٔ%;Q-->9)I)=-6Fy-E5eE5>9Q 5E;4=z?Q 9E;4=5)=>YAyM큿Q IM?=3?I=:i=:=͏;4yQɮUBBUE]2Acoustic response timeout*jqBjqiqiyziyJiyiy kakakah kӇkӇkӇhq2f:fBfJfE_@I@ɢ<=) WXi)Qi_wf<I: /C=_GQi)9Y B9 +O- 2Acoustic response timeoutBm w>Bi Bm FBm @Bi Bi Bi Bm <;Bm EԱ AY Ii Iy O >Yz!ҏ,DH?A6)@6/}@6]ٱ6ҹ@ JAHRS rotation from veh to nav: [[0.689052,0.724544,-0.015589],[-0.624951,0.604954,0.493423],[0.366937,-0.330252,0.869650]]6H ?@w/?6폿 [?@=?{?@"տ,?i6)@I62|_;6YCYRm@yV$FrvA v )v+IvAiv.v/bDVD0K9y>%K=ٔ%;Q-%>9)I)=-6Fy-E5jE5>AQ 5M;4E?Q 9M;4E5)E2>YQyU愿Q IU?E?IE5;iEY!;E;4yeɼBɮeBmE*jBjiiziJii k3lk3lk3lh2f:fBfJf]@J@ɢr:) =i)ir]<IbE5jE"5rEA2E=f E=^E=zE9"E=I@:*E=;9VE=5ZE9BE=R;aM2E=R;aMJE=;aM:E=;aUU>:QQQQԩm2Acoustic response timeoutAI IQ Ia O > 5 2Acoustic response timeout!ҏ,H?A44Rԩ@Rϰ@RʽٱRael rAHRS rotation from veh to nav: [[0.676995,0.735973,0.004618],[-0.640661,0.586210,0.495893],[0.362257,-0.338676,0.868371]]RH ??r? L`%B=ٔlC9I=6FyE!NE>Q 5;4?Q 9;4.5))0?YԘ?Q E1:yQ I?@I3:i:;4yɮBE*jBjiiziJii k#jk#jk#jh kxkxkxh2f%d>:f%d>Bf%m@Jf%2@EK@ɢE 2)A M&iI)pi9R<I :EI EMmEMEI"EI*EM:VEMH5ZEIaU@aU@aU@aU@AIIOER>1}=}%=2Acoustic response timeoutY V!ҏ,}H?A2t=@2z8@2eOٱ2Q¾ :AHRS rotation from veh to nav: [[0.666299,0.745327,0.023090],[-0.654272,0.569483,0.497611],[0.357734,-0.346665,0.867093]]2H@RR?@?椗?` 49?`??/ֿ@9?i2t=@I2[_;2XCYB)@yBF llr!>r=9bDvVDvI9ymM>%mN=ٔu?H9qIq=}6Fy}E}x>E}>Q 5;4?Q 9;45)e?Yy0Q I?K@I:i:|;4yɮ{B*jBjiiziJii kC`kC`kC`h kkkh2f:fBfJf=@L@ɢ+)  i)iXGBBFB.@B=BB.DB;BEB,CB,CBBB¦=CŒz5Um:iAIIOG>ԑEUg EUiEUEQ"EUC:*EU9VEU5ZEQBEUX;ae2EUX;aeJEU8;ae:EU8;ae 2Acoustic response timeout >!ҏ,*7H?A:@:@:;ٱ:þ BAHRS rotation from veh to nav: [[0.655748,0.754201,0.034278],[-0.665900,0.556385,0.497004],[0.355769,-0.348735,0.867071]]:H ?j"?䌡? O??@?`Qֿ` ?i:@I:_;:\CY^ 2@y^FԙbDMVDMI9y#>%E=ٔ<;Q->9I=6FyE%E>Q 5;4?Q 9;4+5)Ύ?YyGQ I?;@I :ig:;4yBɮ!BE*jBjii zi Ji i  kekekeh! k|k|k|h12fA:fABfAJfE!@esM@ɢef#)e e.۾ia)m>iiim< Ee y Ee WEe Ea "Ee :*Ee 9VEe 5ZEa am @am @am @am @g&!ҏ, hQH?Aɰ;J$@J@J*TٱJgG VAHRS rotation from veh to nav: [[0.643497,0.764581,0.036430],[-0.676693,0.545993,0.493942],[0.357768,-0.342502,0.868731]]JH?rw??w x??`?`տ?iJ$@IJ1[_;JZCYZ9@yZ&FE2Acoustic response timeoutbD5JVD5FH9ymƗ>%uP=ٔuQ-}>9I=6FyE4E>Q 5;4(?Q 9;45)?YyQ I?V@IS;ifT;;4yɮB*jyBjyiiziJii kckckch kCkCkCh2f:fBfJfp@jN@ɢ_) #i)mi 1<I:)AI!I1OmW>Q2Acoustic response timeoutB{>BBFBA@BBBB;B՘Ey Q!ҏ,,HkH?ABy@Bt@BIٱBԹ bAHRS rotation from veh to nav: [[0.627798,0.777652,0.033583],[-0.688465,0.534633,0.490085],[0.363161,-0.330795,0.871027]]BH??1??@]?>?+տt?iBy@IBrx_;B\CYnS@@ynFIv=)v4% Q=ٔ rQ->9I=6FyEh[E>!Q 5-;4%?Q 9-;4%6)%?Y1y5Q I5?%q@I%;i%;%j;4y9ɮEBA*jYBjYiYiYziYJiaia klklklhq kkkh2f:fBfJf:@颵CO@ɢ,) oi)J项i\&<IEf ETEE"EI@:*E9VE*5ZEBER;a%2ER;a-JE:a-:E:a-Qr:U2Acoustic response timeoutAI IOU2>ԁ 2Acoustic response timeout! e8!ҏ,GH?A2I@2O@22ٱ2OB :AHRS rotation from veh to nav: [[0.609322,0.792103,0.036034],[-0.701577,0.517395,0.489992],[0.369481,-0.323843,0.870982]]2H? X?s?Qs ?\??ٹԿ?i2I@I2m_;2XCYB3J@yBFyM9v?RQ?7A`?M?M>M>I I9MMb?K> ףp=?YMc?yM^M>MiBMB MqB)M}BIYMBbDe)VDeF9yu>%uD=ٔu~Q-}>9yIy=}6FyEmE>Q 5;4?Q 9;4 6)?Y={?Q EX:yEQ I?@I ;i ;;4yɮ_B*jBjiiziJii k#ek#ek#eh kwkwkwh2f?:f?Bf@JfH@=P@ɢ~h )%*+T %Pi!)%!!i%i,<)I15:E-d E-XE-zE)"E-9:*E-9VE-5ZE)a5@a5@a5@a5@Ѽe2Acoustic response timeoutI IQ Ii O >b!ҏ,H?A6[@6a@6&þٱ69 >AHRS rotation from veh to nav: [[0.592212,0.804513,0.045202],[-0.714336,0.498221,0.491426],[0.372838,-0.323318,0.869745]]6H g?`?$??s??`<Կ?i6[@I6h_;6YCYFPP@yFGbDNVDNF9yV>%VX=ٔZbQ-Z>9XIX=^6Fy^E^wEb>`Q 5f<4b‰?Q 9j<4b6)b_@YhyjJQ Ij?b@Ib :ib[:b:<4ynBɮrBrE*j|Bj|i|i|zi|Jii kkkh kkkh)2f9:f9Bf9Jf=ɠ@U#Q@ɢU)Y ]@SiY)]{aaie B+CBxGB.T@BBB-DB;BΘEi߱I߱2Acoustic response timeout5 YI)I9Om5>yE5e E5lE5E1"E5<:*E5:VE55ZE1BE5`L;aE2E5cL;aEJE5C;aE:E5C;aEԩ m 2Acoustic response timeout!ҏ,ոH?A20M@26H@2þٱ2?߶ :AHRS rotation from veh to nav: [[0.577287,0.814583,0.056522],[-0.726533,0.480827,0.490872],[0.372678,-0.324439,0.869396]]2H"y??x???@rj??Կ ?i20M@I2_;2[C =bD֬VDME9y%>%%C=ٔ-*9Q-->9)I1=56Fy5E5JE5>9Q 5E<4=‰?Q 9E<4=,6)=@YIyM PQ IM?=@I=:i=:=<4yQɮUڵBY*jiBjqiqiqziqJiyiy kÁkÁkÁh kӁkӁkӁh2f:fBfJf3@$R@ɢ) =i)Ӷi6.;Io:ԩ2Acoustic response timeoutTI9IIO{> D9 zD= AAEE h EE UEE EA "EE G:*EE P9VEE 85ZEA aM @aM @aU @aU @i I pAt!ҏ,҆H?AJᦤ@J硫@JٱJs% ZAHRS rotation from veh to nav: [[0.563103,0.823406,0.070126],[-0.738999,0.463761,0.488678],[0.369858,-0.326999,0.869642]]JH@?WY??B?@~F?«? Կ?iJᦤ@IJ_;HYf`@yfO Gp52Acoustic response timeoutbDu%VDuD9y>%E=ٔq;Q->9I=6FyEHE>Q 5<4"‰?Q 9<46),@YyTQ I?՛@I:i:h<4yɮB*jBjiiziJii k3k3k3h kCkCkCh2f :f Bf Jf @-&S@ɢ-)) -\>i))-11i5L;9I9: II19IQO|>2Acoustic response timeoutBA<Bo>BB GBf@B=BBB;BԘEa !ҏ,XH?A4<ɰ4<>@>@>Mٱ> FAHRS rotation from veh to nav: [[0.549531,0.830949,0.086831],[-0.751209,0.445945,0.486639],[0.365650,-0.332651,0.869277]]>H`•?"?@:? @^?@%?f?)Jտ?i>@I>a_;%MN=ٔM:9QIQ=U6FyUE]IE]>aQ 5m<4e1‰?Q 9m<4e!6)e>@YiymYQ Iu?em@Ie:ie :eI+<4Eg EREE"EC:*E9VE5ZEBEX;a2EX;a JE$:a :E%:a y5Bɮ5NB5E*jIBjIiqiqziqJiqiq kukukuh kukukuh2f:fBfJf,@3T@ɢ]۽) Z>i);it;I ):M2Acoustic response timeoutaIIO$>ԑ i I  2Acoustic response timeout!ҏ,^fH?ABg@Bb@BIٱBW JAHRS rotation from veh to nav: [[0.535871,0.837713,0.105261],[-0.763217,0.427317,0.484664],[0.361030,-0.340055,0.868344]]BH%?@?i?`Fl*Y???tտ`x?iBg@IB_;B\CYRAq@yRXGI)<ԙyS?~jt?X9v?>D>< 9ˡE?\(\?y&1?Y'?yz>`>BOB B)OBYBbD+VD(C9y>%C=ٔA9I=6FyE=E>Q 5<4 G‰?Q 9<4#6)?M@YT?Q E:yiQ I?@I/:i:9<4yuBɮu Bq*jBjiiziJii kswkswkswh kswkswkswh2f >:f >Bf =>Jf ݜ>=9U@ɢ=8˽)=S,} ==>i9)EAAiE1;IIiM:E i E WE E "E ,K:*E 9VE 5ZE a@a@a@a@AIIO5q>]2Acoustic response timeout G) 9 m W9i Ym A !ҏ,_B H?A2@2@2vٱ20þ :AHRS rotation from veh to nav: [[0.521091,0.844286,0.125076],[-0.775623,0.407275,0.482220],[0.356192,-0.348293,0.867076]]2HȬ?e?@}????lJֿ ?i2@I2._;2ZCYv1y@yv:GbDeVDeeB9y>%L=ٔyT9I=6FyERE>Q 5<4[‰?Q 9<4%6)Z@Yy+Q I?@I>:iW:G<4yɮɴB*jBjiiziJii kCkCkCh kCkCkCh!2f1:f1Bf1Jf5>U)V@B}m>ByB}GB}y@ByByByB};B}ŘEIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutɢ·) ! ?i)KqiC;I :1A9IAIQOZ>bEO5jEm5rEǮS2Ed ESEE"E9:*E9VEH5ZEBEF;a%2EF;a-JEl:a-:Em:a-Qm rmodem://6: set _.others_observations nan n/a str none_strm #Outgoing data=1m pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITu 2Acoustic response timeouty !ҏ,.:H?AY~ @y~GbDVDA9y%w>%%S=ٔ%Q-%>9)I)=-6Fy-E-E5>1Q 5=<454o‰?Q 9E<45'6)5Dh@YAyAQ IE?5ݼ@I5#;i5;5pU<4yIɮUBQ*jBjiiziJii kkkh kkkh2f :f Bf Jf 19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed=-W@ɢEA䧽)A E+?iA)E&AIiMiY;IQIQU7 :ԁAIIzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutO}Y>E% i E% eE% E! "E% ,K:*E% 9VE% 5ZE! a- @a- @a- @a5 @ j!ҏ,TH?Afd@f _@f.ٱfJX˾ nAHRS rotation from veh to nav: [[0.490112,0.856058,0.164179],[-0.800788,0.367810,0.472710],[0.344280,-0.363153,0.865789]]fH]?d?@?`2?@??=׿?ifd@If_;f]CYvȄ@yvK#GbD~}VD~A9y >% K=ٔ=Q->2Acoustic response timeout9!I!=%6Fy%E-ֽE->1Q 5=<45Ƀ‰?Q 9=<45?*6)5u@Y9y=/Q I=?52@I5+;i5Y;5c<4yMBɮMJBI*jYBjYiaiaziaJiaia k{k{k{hy k{k{k{h2f:fBfJf>sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder+X@ɢ/]) E?i)FiM_ ;QIQ- :5<HA=oAzA9A}AAA}@AiI2Acoustic response timeoutB i>B *CB $GB @B B DB B ;B EB]+CB]+CBYBYBYC].'5! A xAI I O >5!ҏ,$mH?A62ʠ@68ŧ@6zٱ6Ͼ >AHRS rotation from veh to nav: [[0.476485,0.859698,0.184068],[-0.812418,0.350515,0.465957],[0.336064,-0.371562,0.865450]]6H~??? Tn?>?`?׿@ñ?i62ʠ@I6^i_;6YCYF:@yF'Gtt t)xIxixxbDܡVDA@9y>%J=ٔ\9;N?I;N?=6FyE%K?E%>)Q 55<4-Q‰?Q 95<4-,6)-@Y1y5Q I5?-@I-:i-N:-q<4yAɮEBA*jQBjQiYiYziYJiYia kkkhq kkkh2f:fBfJf|>颵3Y@ɢ䅉) ]?i)'项it:II?)!?Eg EYEE"EC:*E*9VE5ZEBEX;a2EX;aJE:a:E:af :Qu0f52Acoustic response timeoutAAIIOK>y >  2Acoustic response timeoutG!ҏ,KH?A;ɰ;2nB@2t=@23ٱ2fҾ :AHRS rotation from veh to nav: [[0.464634,0.862350,0.201166],[-0.823176,0.336915,0.457022],[0.326337,-0.377943,0.866408]]2H?^?п? vW????80ؿ?i2nB@I2_;2ZC@Y^@y^+GyQ?Fxɿ+ǿ(>Kv> 9X9v?Mb?ˡEY>y<什QCB B)7BYBbD)VDx?9yڂ>%A=ٔ9K?IK?=6FyEE>Q 5<4‰?Q 9<416)@YU>Q E:y!Q I? @I ;iz ;q<4yBɮóBE*jBjiiziJii kSkSkSh kckckch!2f5q>:f5q>Bf5?Jf5->UNZ@ɢUI})Y ]\t?iY)]YYi](:aIa-=:ԩEd EUEE"E9:*EP9VE5ZEa@a@a@a@|=%==<E2Acoustic response timeoutI I! O} > !ҏ,H?A2@2@2ޤٱ2UԾ :AHRS rotation from veh to nav: [[0.452559,0.865195,0.215935],[-0.833686,0.324568,0.446792],[0.316477,-0.382221,0.868187]]2H??@??9yEG>%MQ=ٔM\9IIQ=U6FyUEUw-EU>Q 5<4Ҧ‰?Q 9<466)@YyNQ I?.@I:i:<4yɮB*jBjiiziJii kzkzkzh kÕkÕBBBc/GB@B=BBBy;BEkÕh12fA:fABfAJfE,>e`[@ɢeX)i mm?ii)miiimоqqIy2Acoustic response timeoutm:qqqq AEr EVEE"Ek:*E9VE5ZEBE;a2E;a JEC:a :ED:a IA IQ O >M 2Acoustic response timeouta (!ҏ,cH?A6a*@6g%@6 ٱ6:Ծ >AHRS rotation from veh to nav: [[0.439221,0.868720,0.228935],[-0.844332,0.312115,0.435532],[0.306901,-0.384592,0.870575]]6H3??M??? F?'ؿ?i6a*@I6@_;6]CYF@yF4G9bD ȜVD =9yM>%MJ=ٔM 9QIQ=U6FyUE]2E]>aQ 5m<4eZ‰?Q 9m<4e:6)e@YqyuQ Iu?e0@Ieg:ie:e<<4yyɮ}MBy*jBjiiziJii k#zk#zk#zh kkkh2f:fBfJf]e>Mq\@ɢU~5)q u?iq)}+yyi}ŎIUu:IIO >i2Acoustic response timeoutԑ E k E QE E "E mR:*E v9VE 85ZE a @a @a @a @]!ҏ,AՇH?A6ȕ@6ΐ@6dٱ6,Ծ >AHRS rotation from veh to nav: [[0.425231,0.872836,0.239450],[-0.854968,0.300558,0.422723],[0.296999,-0.384477,0.874053]]6H 6?`E?@I?[@X?i6ȕ@I6I_;6ZCY^@y^8G2Acoustic response timeoutbD%RVD%>=9y5H>%5L=ٔ=99IA=E6FyEEE39EE>IQ 5U<4Mij‰?Q 9U<4M8?6)Mj@YYy]ܔQ I]?MU@IM;iM;MA<4yaɮe%Bi*jyBjyiiziJii kszԙkszkszh2f:fBfJfǓ>{]@ɢ) ?i)%ivI:ApAzAoAIQIaO=B<A4=Bj>BBT:GB@B=BBB;BME2Acoustic response timeout! :!ҏ,H?A2Y@2_@2 *ٱ2SѾ :AHRS rotation from veh to nav: [[0.411296,0.877480,0.246708],[-0.865681,0.291305,0.407108],[0.285362,-0.381013,0.879430]]2H@R?`P?#??? ^C? bؿ`K$?i2Y@I2#'_;2[CYB2@yBf%bR=ٔf9dId=f6FyjEjg=Ej>lQ 5r<4n‰?Q 9r<4nC6)n+@Ytyv Q Iv?nM@In9:in:n۷<4yxɮzBx*jBjiiziJii k{k{k{h2f:fBfJf>e^@ɢeN)a m?ii)m=iiiu5IEt EXEzE"Es:*E9VE5ZEBE4;a2E5;aJE:a:E:a: 2Acoustic response timeoutIIiO>!Qy  2Acoustic response timeout""ҏ,H?A2yp@2k@2uMٱ28; :AHRS rotation from veh to nav: [[0.397579,0.882157,0.252448],[-0.876755,0.284093,0.388061],[0.270612,-0.375620,0.886385]]2Hq?@:?@(?@a@.??Q?@' ؿE]?i2yp@I21_;0YB@yB?Gy E?B`"ɿMb F? N   9 S㥛?V-ϿZd;O׿Y $&?y | j C 5B B)  Y BbD%eVD%;9y5U>%5C=ٔ5i=Q-=>99I9==6FyEEER.EE>IQ 5U<4M‰?Q 9U<4M\L6)Me@YU0I?Q EU:yѿQ I?M@IMH:f>Bf^@Jf(F@颵_@ɢD) r?i)JifekI:II!OM>Es EREuE"Eso:*E9VE5ZEa@a@a@a@ԑ%hDAT read: Forwarding Delay UpTx time:19:16:47.9866 %pIn parseResponses, set commsState_ = SENDING_ACK_WAITING%2Acoustic response timeoutԹ L"ҏ,"H?Aɰ6ܜ@6ף@6ǂٱ6FǾ BAHRS rotation from veh to nav: [[0.383621,0.887392,0.255678],[-0.888257,0.278815,0.365051],[0.252656,-0.367149,0.895191]]6H??e?]? l ? \?`+?]׿@g?i6ܜ@I6 _;4YF6@yJCG\\ `)`I`i``bDfVDf:;9yn>%rP=ٔrA=Q-r>9tIt=v6FyvEv <Ez>xQ 5<4zõ‰?Q 9<4zlT6)zt@YyӿQ I?zQAIz ;iz;z8<4ygBɮtB&E*j!Bj!i)i)zi)Ji)i) kC`kC`kC`hA kC`kC`kC`hQ2fa:faBfaJfeC@颅`@ɢ[) R?i)顉i2ٌIBEf>BABEDGBEt@BE=BABABE;BE0E}2Acoustic response timeout9A[?AU?ԹA$AII I)OM1>Eg EVEE"EC:*E9VE5ZEBEX;a2EX;aJEC:a:ED:a - 2Acoustic response timeout9 w"ҏ,%~I=ٔ~ O=Q-~>9H?IH?=6FyE oDE >Q 5<4!‰?Q 9<4\6)<@YyտQ I%?gAI ;i ;u<4y)ɮ-KB)*jABjAiAiAziAJiAiI khkhkhhY khkhkhhi2f:fBfJfA@@额a@ɢ_) .?i) 顡itIS9IIO!>2Acoustic response timeout9i D zD E h E QE xE "E G:*E v9VE e5ZE a @a @a @a @zb"ҏ,VH?A2݇@2ア@2[ٱ2: >AHRS rotation from veh to nav: [[0.349744,0.900292,0.259140],[-0.912289,0.264372,0.312787],[0.213090,-0.345806,0.913789]]2H`5b?0?? y1y??F?`!ֿ=?i2݇@I2_;2ZCYB@yFIGn2Acoustic response timeoutbDE4VDE99y}C3>%}B=ٔC=Q->9I=6Fy E7VE>Q 5<4‰?Q 9<4Qe6)@YyؿQ I? AI:iZ:4<4yɮ%B*jBjiiziJii kc[kc[kc[h kc` l>kc`kc`h1eGqA-_9)Y-A2fA:fABfAJfE}<@iy(?A9c@ɢ)o1Y ?i)iI9ԑIIOk>B5e>B1B5LLGB5@B1B1B1B5;B57E2Acoustic response timeout "ҏ,apH?A2ʚ@2š@2Iٱ2, :AHRS rotation from veh to nav: [[0.329850,0.907162,0.261258],[-0.923662,0.252946,0.287866],[0.195057,-0.336267,0.921345]]2H@D?y?`r?C0?@fl??@dտ{?i2ʚ@I2$_;2]CYB@yBBNGPbDʒVDR99yM>%MN=ٔU>=Q-U>9I=6Fy ELdE>Q 5<43‰?Q 9<4bEU€5jEUĤ5rEU¤1Eg EVEE"EC:*E9VE5ZEBEa%2Ea%JEa-:Ea-m6)@Y1y5ڿQ I5?AI!  2Acoustic response timeoutp""ҏ, 9S?ʡE~jtȿY?yDBIB B)YBbDVD89yE>%D=ٔ=Q->9I=6FyE=iE=>AQ 5M=4E‰?Q 9M=4Ey6)E@YM?Q EM::yMQ IM?ETAIE:iE:E,=4y]OBɮ]B]0E*jiBjiiqiqziqJiqiy ksdksdksdh ksdksdksdh2f>:f>BfF@Jfnx@re@ɢ;) E?i)ij仉Ib9)IYIqO >E%r E%RE%E!"E%k:*E%9VE%U5ZE!a-@a-@a-@a-@2Acoustic response timeoutQԁ M("ҏ,PH?A2A@2<@2*,ٱ2 :AHRS rotation from veh to nav: [[0.286653,0.919521,0.268906],[-0.943306,0.221872,0.246872],[0.167341,-0.324428,0.930991]]2HX?l? 5?/Pf??`ok?kԿ?i2A@I2(_;2]CYfƭ@yfUGbDrdVDr789y%>%-S=ٔ-9)I1=56Fy5E5E5>9Q 5E=4=:‰?Q 9M=4=6)=@YIyMQ IM?=AI=:i=w:=$=4yQYɮ]sBY*jqBjqiqiqziyJiyiy ks_ks_ks_h k_k_k_h2f:fBfJf{Lw@f@ɢ\Ӛ<) ?Bb>BBSGB(@B=BBB;B9EB*CB*CBB=BC4i)aHi I ]2Acoustic response timeout9ԁ@pA S?A C?IIEn E[EE"EO]:*E9VE5ZEBEe;a2Eg;aJE;a:E;aO> 2Acoustic response timeout ."ҏ,H?A4<ɰ4<2p@2k@2=#ٱ2 :AHRS rotation from veh to nav: [[0.262876,0.924714,0.275319],[-0.951681,0.201564,0.231677],[0.158741,-0.322918,0.933019]]2H?`A? Ӟ?,t??Q?@ԿK?i2p@I2 9_;2[CYB @yBXGbDJHVDJ79yR<;>%VS=ٔV;9XIX=Z6FyZEZʆEZ>\Q 5b=4^ƿ‰?Q 9f=4^56)^Q@YdyfݵQ If?^!%AI^9:i^:^(=4yj8Bɮn7Bn:E*jtBjtitixzixJixix kckckchi2f:fBfJfu@颵g@ɢ<) ?i)1iuI9YI9IIO>m2Acoustic response timeouti5oAI5oA9E e E VE E "E <:*E 9VE 5ZE a @a @a @a @Y 55"ҏ,1׈H?A21@27@23ٱ2Hs :AHRS rotation from veh to nav: [[0.236785,0.929586,0.282493],[-0.959347,0.177746,0.219225],[0.153577,-0.322919,0.933883]]2H N? +?^?]??g?`Կ_?i21@I2u_;0YB@yB[GIF>)Fp<bDN$VDN.79yVsJ>%VJ=ٔVS9XIX=Z6FyZE^]E^>b2Acoustic response timeoutdQ 5j=4f‰?Q 9j=4f@6)f@YlynaQ In?f,AIfr;ifn;f6=4ypɮrBt*j|Bj|i|iziJii kSKkSKkSKh kbkbkbh)2f9:f9Bf9Jf=s@h@ɢ<) ?i)i I1m9aBc>B)CB[GB@B=BBB;B4Eu2Acoustic response timeoutIԑIO>Թ ;"ҏ,7H?ARᩖ@R礝@RٱRwm fAHRS rotation from veh to nav: [[0.209948,0.933417,0.290955],[-0.966089,0.152302,0.208512],[0.150315,-0.324865,0.933739]]RH???2~?`? =?Կ0?iRᩖ@IR!_;PYn@yr^G!! !)!I)i))bD=VD=69yED>%MA=ٔM;Q-M>9QIQ=U6FyUEU.EU>aQ 5e=4eV‰?Q 9m=4e֨6)e@YiymQ Im?e34AIeN:ie$:eE=4E_ ENE}E"E&:*E҆9VEs5ZEBE&;a2E&;aJE:a:E:ayqɮB*jBjiiziJii kJkJkJh kakakahY2fi:fiBfiJfmMq@ԑ颭*j@ɢƶ<)  ?i)9p߽i"I2Acoustic response timeout 9AMoAzAMqAIQ Ia O > 2Acoustic response timeout B"ҏ, H?A2k@2q@2dzٱ2 :AHRS rotation from veh to nav: [[0.189494,0.934857,0.300225],[-0.971192,0.133459,0.197419],[0.144491,-0.328986,0.933215]]2H YA?X?`6?2?E?~?տ?i2k@I2@_;2\CYB@yBaGyM㥛 ?Zd;O?T㥛 ?M5?M~j>M=I I9M|?5^?MMBMB MB)M6BIYMBbDeVDe59yu;v>%uG=ٔ};k9I=6FyETE>Q 5=4O‰?Q 9=4#6)@Yq?Q E`:yQ I?+:AI ;iz ;S=4y BɮBDE*jBjiiziJii kIkIkIh kgkgkgh2f>:f>BfK:@Jfݭ@%Rk@ɢ%8"=)! %,@i!)%+ܽ))i-{!)IE EQEuE"E*Ev9VE5ZEa@a@a@a@%=2Acoustic response timeout9IIO>I H"ҏ,_%H?A2i@2d@2l ٱ2а >AHRS rotation from veh to nav: [[0.172358,0.934668,0.310946],[-0.975479,0.118095,0.185728],[0.136873,-0.335333,0.932104]]2H@??@?7y;?? ?vտ@?i2i@I2?_;2ZCYB@yFdG ||==bD VD I59B]>BBbGB:@BBBB2;BREy*>%H=ٔ89I=6FyEx2E>Q 5=4‰?Q 9=4}6)7@YyQ I?!@AI;i;Ab=4yɮB*jBjiiziJii kPkPkPh kakakah2f!:f!Bf!Jf%K@=2Acoustic response timeoutUl@ɢU:%=)Q ]N@iY)]ؽYYi] +aIaI9QIYO=yEf ETEE"EI@:*E9VEU5ZEBER;a2ER;aJE:a:E:aԩ  2Acoustic response timeout:O"ҏ,:?H?A2_@2eݛ@2fٱ2@ :AHRS rotation from veh to nav: [[0.156438,0.933222,0.323457],[-0.979423,0.104297,0.172780],[0.127507,-0.343830,0.930335]]2H(???nW.?? %R?Qֿ@M?i2_@I2J^;0@Y^@ybfGbDMVDM49y>%H=ٔɽ9I=6Fy E%E>Q 5=4‰?Q 9=46)E@YyQ I?FAI;i;p=4yɮgB*jBjii zi Ji i  k#Ik#Ik#Ih! kdkdkdh12fA:fABfAJfE@em@ɢe8=)a e\ @ia)ml սiiim=4qIqII ԩO>M2Acoustic response timeout E e E SE }E "E <:*E 9VE s5ZE a @a @a @a @nU"ҏ,HYH?A;ɰ2]@2Y@2ٱ28 :AHRS rotation from veh to nav: [[0.140793,0.930992,0.336796],[-0.983231,0.091658,0.157658],[0.115908,-0.353346,0.928285]]2H? ??vv?.?? 7ֿ?i2]@I2=^;2[CR2Acoustic response timeoutlYvu@yvhGbDexVDe49y>%L=ٔ9I=6Fy"E$E>Q 5=4'‰?Q 9=466) @Yy쥿Q I?KAId:i[:~=4yɮIB*jBjiiziJii kOkOkOh  khkhkhh2f):f)Bf)Jf-6Ŋ@o@ɢB=)  @i)BPѽi1=IIqIO= 9B}U>B}(CB}hGB}O@ByByB},DB}S;B}_EU2Acoustic response timeouta &\"ҏ,rH?ABϓ@Bʚ@B8ӽٱB}۽ JAHRS rotation from veh to nav: [[0.123891,0.929421,0.347602],[-0.986941,0.079070,0.140343],[0.102953,-0.360450,0.927080]]BH@V?ѽ? ??@@=??#[?׿?iBϓ@IB}#_;@YRv@yRukGIV=)V=bDZeVDZ39yb*>%fY=ٔf =Q-f>9dIh=j6Fyj%Ej=Ej>lQ 5r=4n‰?Q 9v=4n6)n@YtyvQ Iv?nQAIn:in:n=4yz B9Ee EeUEe{Ea"Ee:*EeP9VEe:5ZEaBEe;am2Ee;amJEe:am:Ee:amɮzBNE*jBjiiziJii k#Pk#Pk#Ph k]k]k]h2f):f)Bf)Jf-w@eIp@ɢmj=)i m@ii)^ͽ顑imEIߵ=߱2Acoustic response timeoutIiIIO$>ԑԹ e 2Acoustic response timeout3 c"ҏ,̌H?A2!@2@2o{ٱ2R :AHRS rotation from veh to nav: [[0.103019,0.928424,0.356955],[-0.990470,0.062768,0.122597],[0.091416,-0.366183,0.926042]]2Ht_?@?Y??b? g?@o׿ "?i2!@I2_;0YB@yBlGy \(\?(\µMbp? :?  ;  9 kt?Qoʡ?Y  P?y u -> B ӒB B) uB Y BbD%{VD%239y5n=%5D=ٔ5q99I9=E6FyE'EE;PEE>IQ 5U=4M)‰?Q 9U=4M6ԙ)MΓ@YT?Q E:y Q I?MVAIMz:fBJ>Bf\3?Jf@q@ɢL`=) @i)%"ɽ!!i%(~M)I1 ==IE)EDm4=DmR=Eu` EuREuuEq"Eu*:*Eu9VEu5ZEqa}@a}@a}@a}@2Acoustic response timeoutQusAZA9sAY6BII O= > 17i"ҏ,*H?AB%R>B!B%mGB%p@B%=B!B!B%>;B%QEY=:@y=nGii i)iIm%iiibD}VD}29y=%E=ٔQ->9I=6Fy*EE>Q 5=4‰?Q 9=456)@YyQ I?!\AI@:i:Ũ=42Acoustic response timeoutyYɮ]BY*jyBjyiiziJii k#Dk#Dk#Dh2f:fBfJf=r@ɢ=Bt=)9 =@iA)EƽAAiEӴUIIyIIO5 >!bE z5jE ݡ5rE 1E}w EyE}Ey"E}}:*EyVE}5ZEyBE};a2E};aJE}$:a:E}%:aQ 2Acoustic response timeouty p"ҏ,sH?A2@2š@2d3ٱ2B¾ :AHRS rotation from veh to nav: [[0.056320,0.928931,0.365943],[-0.995720,0.025360,0.088871],[0.073274,-0.369382,0.926384]]2H ֬?@ι?`k??;?²? ׿@?i2@I2^;0YV.@yZBqG \\b=b=bDfVDfX29yn#>%nV=ٔn_C=Q-r>9pIp=r6Fyr,EvEv>xQ 5~=4zÉ?Q 9~=4z.6)z@Y|y Q I?zaAIz ;iz ;z=4y Bɮ B WE*j!Bj!i)i)zi)Ji)i) k3Fk3Fk3FhA kC^kC^kC^hQ2fa:faBfaJfe"@19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9m9m7mouXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed^B*** querying acoustic contact ***XY额t@ɢH=) W@i)½顡i\IQIyIO=-2Acoustic response timeoutԁԩD zD @AE f E TE wE "E I@:*E 9VE ɕ5ZE a @a @a @a @ NIv"ҏ,]ډH?A2@2@2ٱ2ٯ¾ :AHRS rotation from veh to nav: [[0.034906,0.928863,0.368775],[-0.997200,0.007951,0.074362],[0.066140,-0.370338,0.926539]]2H4ߡ???@?H?j ??׿5?i2@I2G^;2\CB2Acoustic response timeoutY^p@ybrGbD-VD-19y5=%=D=ٔ=̌9AIA=E6FyE/EMSEM>IQ 5U=4MjÉ?Q 9]=4M6)M@YYy]ʼQ Ie?M[fAIM ;iM ;M=4yiɮmBi*jyBjiiziJii k#`k#`k#`h k3`k3`k3`h2f:fBfJf#@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderWu@ɢ=) @i)icIԱIIO%=BA<B%T>B!B%0rGB%@B!B!B!B%;B%'EB(CB(CBBBƧ=C-5=2Acoustic response timeout 9 |s|"ҏ,G9H?Aɰ;2vR@2}M@2Ɓrٱ2e¾ :AHRS rotation from veh to nav: [[0.015792,0.928757,0.370352],[-0.998123,-0.007277,0.060808],[0.059171,-0.370617,0.926899]]2H+?`?ٳ?@u}E"?`K?1׿'?i2vR@I2^;2YCY^@y^tGEy E}VE}|Ey"Ey*E}9VE}ם5ZEyBE}R;a2E}R;aJE}B:a:E}D:abDVDg19y=%@=ٔW9I=6Fy2Eh8E>Q 5=4É?Q 9=47)d@Y y AQ I ?kAI:ia:=4yɮB*j)Bj)i)i)zi)Ji1i1 kC_kC_kC_hI kS_kS_kS_hY2fi:fiBfiJfmZ@颅v@ɢ=) @i)顑iikI I9IIO}=2Acoustic response timeoutAi iA IA M 2Acoustic response timeoutd"ҏ,;H?A(6Fď@6M@6CSٱ6 ¾ >AHRS rotation from veh to nav: [[-0.001535,0.928400,0.371580],[-0.998669,-0.020580,0.047294],[0.051555,-0.371013,0.927196]]6H%Y@s? ? 6?@te?`׿ ?i6Fď@I6^;6[CYFj@yF=uGIt)v9YIY=]6Fy}4EO'E>Q 5=4FÉ?Q 9=4Q 7)@YHG?Q E:yؿQ I?pAI:i:_=4yɮ{B*jBjiiziJii kckckch kckckchA2f]>:f]>Bf]k@yJf]p@颕%x@ɢ=)l!3 @i)\顡iqIE]i E]]EYEY"E],K:*E]9VEYZEYae@ae@ae@ae@AAIIO=P>2Acoustic response timeout>ԩ S"ҏ,'H?A6:=@6A8@6D3ٱ6E¾ BAHRS rotation from veh to nav: [[-0.018004,0.928102,0.371889],[-0.998880,-0.032973,0.033930],[0.043753,-0.370862,0.927657]]6H`o??@ᠿJ_?f?3׿`]?i6:=@I6^;6ZCBbU>B`BbvGBb@Bb=B`B`Bb;Bb ElYr@yrTwGbDzCVDzV09y5>% c=ٔ 9K?IK?=6Fy7EM>E>Q 5%=4‰?Q 9-=4[7)@Y)y-ڿQ I-?RuAIk:i:=4y5ڻBɮ=HB=aE*jIBjIiQiQziQJiQiQ k^k^k^hi2f:fBfJf@颭Ay@ɢB:=) @i): 项ixI2Acoustic response timeoutA!I1IAO}>E}f E}ME}Ey"E}I@:*E}9VE}5ZEyBE}R;a2EyaJE}:a:E}:a 2Acoustic response timeoutA Hm"ҏ,\AH?A2^@2e@2zٱ2y¾ :AHRS rotation from veh to nav: [[-0.033115,0.927539,0.372256],[-0.998821,-0.043946,0.020647],[0.035510,-0.371133,0.927900]]2Hhf? ?Vj$?V.?@׿ \?i2^@I2л^;0Y^C@ybxGbDj}VDj/9y%<=%%H=ٔ%̥9)I)=-6Fy-9E5E5>9Q 5E=4=‰?Q 9E=4=o7)=@YAyMܿQ IM?=KzAI=B:i=:==4yQɮU6BQ*jiBjiiiiiziiJiiiq k3Fk3Fk3Fh k^k^k^h2f:fBfJf@z@ɢԺ=) @i)^i ]~IAE$AIIQIiO> 2Acoustic response timeoutyE j E RE xE "E N:*E 9VE e5ZE a @a @a @a @  nManaging dock network, ignoring radio surface power off1"ҏ,ʨ[H?A22Acoustic response timeout6L@6G@6߼ٱ6olþ BAHRS rotation from veh to nav: [[-0.047344,0.926516,0.373265],[-0.998508,-0.054081,0.007593],[0.027221,-0.372348,0.927694]]6Hq=??`?ߛ?׿ય?i6L@I6,^;6[CY^@y^RyG`` ddbDjk|VDj/9yr=%vN=ٔvN9zH?IzH?=z6FyzQ 5>4‰?Q 9 >4I!7)}@Y y ޿Q I ?$AIi9: >4yۻBɮ/B*j)Bj)i1i1zi1Ji1i1 kSFkSFkSFhI kSekSekSehY2fi:fiBfiJfmC@ԹE{@ɢM%M=)I Mx@iI)Ms檽Iqiu$qIyu \BS>BBxGBU@BBBB;BE2Acoustic response timeout)Ae AIq I O >A "ҏ,uH?A2_ލ@2fٔ@2 ?ٱ2þ :AHRS rotation from veh to nav: [[-0.060803,0.925512,0.373806],[-0.997972,-0.063432,-0.005277],[0.018828,-0.373369,0.927492]]2H!ʝ?`q?c@=uG?G׿@?i2_ލ@I2w^;2XCYZ@yZ`zGpp r )rIrippbDz{VDzk.9y=%I=ٔ ɨ9 K?I K?= 6Fy >EoE>Q 5%>4 ‰?Q 9%>4Y)7)^@Y)y-PQ I-?AI:i(:>4y5ƻBɮ5 B1EA EESEEzEA"EA*EE9VEE5ZEABEEk;aM2EEk;aUJEEl:aU:EEm:aU*jaBjiiiiiziiJiiii kLkLkLh k^k^k^h2f:fBfJf<@K}@ɢ@P=) @i)hi䄼Iy_>u2Acoustic response timeoutAI IԡOG>% 2Acoustic response timeout "ҏ,:]H?Aɰ4<2;h@2Bc@2)*ٱ2jľ :AHRS rotation from veh to nav: [[-0.075197,0.924396,0.373949],[-0.997115,-0.073612,-0.018543],[0.010386,-0.374265,0.927264]]2H$@@??\5ز E?׿ %?i2;h@I2^;2[CYN@yRzGyDl?T㥛 y&1O-?`e 9~jt?q= ףp+Y;?y뽙BB B)BY\BbDyVD-9yt<%<=ٔ[9I=6FyAEE>Q 5 >4‰?Q 9>417)@Y4>?Q E:yQ I?AIq ;i ;J(>4y%Bɮ%B%jE*j1Bj1i9i9zi9Ji9i9 k3gk3gk3ghQ k3gk3gk3gha2fs=:fs=Bf:F>Jf@U~@ɢUɟ=)Q U@iQ)]YYi]ҀYIaEUe EU]EUEQ"EU<:*EU9VEUc5ZEQa]@a]@a]@a]@In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout3) A I I OU >Q թ"ҏ,?H?AB2Q>B0B2,{GB2=@B0B0B0B2;B0Bތ@Bړ@B#ٱB~ľ JAHRS rotation from veh to nav: [[-0.091896,0.923253,0.373040],[-0.995766,-0.086071,-0.032279],[0.002306,-0.374427,0.927254]]BH`z@J??P@߆|b?׿?iBތ@IB*^;@YR@yR|GV=V=bD-wxVD-5-9y =%M=ٔ9I=6Frmodem://6: set _.others_observations nan n/a str none_str #Outgoing data=2pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutyDE*E>Q 5>47‰?Q 9>4497)@YyQ I? 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O] > zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2Acoustic response timeoutԙ 估"ҏ,DÊH?A,2A@2=@2Q;ٱ2þ >AHRS rotation from veh to nav: [[-0.110960,0.922219,0.370406],[-0.993808,-0.100785,-0.046778],[-0.005808,-0.373303,0.927691]]2HgЂ?໴?`F ͹`@w@2׿?i2A@I2^;0YB@yF-|GbDwVD,9yE;%ES=ٔMe9III=M6FyMFEULEU>YQ 5e>4]‰?Q 9e>4]k@7)]@YiymFQ Im?]QAI]:i]n:]C>4yuBɮuBy*jBjiiziJii kckckch! kekekehQ2fa:faBfaJfel@颥€@ɢ៷=) @i)顩i+IԉAI2Acoustic response timeoutIO*>Թ Ee y Ee QEe Ea "Ee :*Ee v9VEe Ժ5ZEa au @au @au @au @ nG  = eǿ99 Y= A"ҏ,܊H?A"2Acoustic response timeoutN@N@NHa<ٱNˀ ZAHRS rotation from veh to nav: [[-0.131913,0.921975,0.364088],[-0.991166,-0.117576,-0.061373],[-0.013776,-0.368968,0.929340]]NHҀ?9M?@vAl6*׿'?iN@IN^;N\C\Y~@y~ }GbDevVDe,9yY=%D=ٔ9I=6FyIEOE>Q 5>4‰?Q 9>42H7)@YyQ I?ʋAI:i:QR>4yɮ֮B*jBjiiziJii k\k\k\h k\k\k\h2f:fBfJf@z@ɢf=) @i)N i m?IA!I1IAO}7>BYA]<BaBe'CBe|GBe@BaBaBaBe;BeE2Acoustic response timeoutA "ҏ,CH?A2ߊ@2ڑ@2A­<ٱ2ľ :AHRS rotation from veh to nav: [[-0.153794,0.921488,0.356661],[-0.987875,-0.135645,-0.075517],[-0.021209,-0.363951,0.931177]]2Hÿ|??@\U`ݷ@J׿@3?i2ߊ@I2~^;0YBT@yB}GbDJtVDJ+9yRMC=%V\=ٔV9XIX=Z6FyZKEZsEZ>|Q 5>4~‰?Q 9>4~=O7)~@Y y Q I ?~ AI~:i~R:~_>4yɮήBbEs5jE`5rE^2E%i E%RE%E!"E%,K:*E%9VE%U5ZE!BE%se;a52E%ue;a5JE%$:a5:E%%:a=9*jQBjQiQiQziQJiYiy kc]kc]kc]h ks]ks]ks]h2f:fBfJf@  @ɢ `T=) g@i)5&=11i= 19IAQQ]2Acoustic response timeoutIQIaiO>ԑ  2Acoustic response timeout"ҏ,@H?AJ=@J8@J<ٱJм ZAHRS rotation from veh to nav: [[-0.173291,0.920399,0.350479],[-0.984470,-0.151733,-0.088292],[-0.028085,-0.360336,0.932400]]JH@b.ƿ@s? ?n?ǀkÿN<œ׿7?iJ=@IJ^;JZCYf@yfH}GԙyMb?!rhl?@?l= 9gfffff?&1A`"Y3S?yнٽ@BB yB)yBYLBbDsVD +9yؼ%9=ٔ9I=6FyNE7E>Q 5>4‰?Q 9>43X7)[@YV?Q E}:yQ I?AIL:i3:n>4yBɮBtE*jBjiiziJii k]k]k]h) k#]k#]k#]hA2fU$>:fU$>BfU*&>JfUF@u܂@ɢuY=)u, }1@iy)}u;yyi}葼IE-j E-XE-E)"E-N:*E-9VE-Dz5ZE)a=@a=@a=@a=@IIO">e2Acoustic response timeout $!"ҏ,l|*H?A&4<ɰ$J@J!@JJk =ٱJ ZAHRS rotation from veh to nav: [[-0.190339,0.918892,0.345555],[-0.981120,-0.165760,-0.099636],[-0.034275,-0.357996,0.933094]]JH]ȿ@g?`?Ue 7ſ gֿ?iJ@IJR^;J[CYf@yfx}G   ) I i bD%rVD%*9y5!J<%=T=ٔ=9AIA=M6FyMPEMo8EM>QBYB](CB]}GB]%@BYBYBYB]:;B]EBQBQBQBQBQCUC4Q 5}>4UK‰?Q 9>4U%`7)U<@Yy$Q I?UAIU;iUC;U5|>4yɮB*jBjiiziJii2Acoustic response timeout k]k]k]ha2fq:fqBfqJfu~@颭@ɢHϽ=)  @i)RNi2|IAEpAzAEoAIIO>!E=e E=OE=|E9"E=<:*E=9VE=ם5ZE9BE=`L;aM2E=bL;aMJE=M:aM:E=N:aMQ 2Acoustic response timeouty y "ҏ,yYDH?A23@2.@24$=ٱ2Ƌ :AHRS rotation from veh to nav: [[-0.205038,0.916735,0.342864],[-0.977933,-0.177540,-0.110120],[-0.040079,-0.357876,0.932908]]2H>ʿU?y?@:Kƿ0,rֿb?i23@I2^;0YV@yZ~GI^<)^bDbqVDb'*9yj<'=%jQ=ٔn9pIp=r6FyrSErEv>tQ 5z>4vr‰?Q 9z>4v"h7)v @Y|y~Q I~?vAIv;iv;vމ>4yɮ B *jBji!i!zi!Ji!i! kFkFkFh9 khkhkhhI2fY:fYBfYJf]p}@}<@ɢ}=#=)y @i)=Շ顁iIIIQO= 2Acoustic response timeoutԁԩDA zDA EM g EM UEM yEI "EM C:*EM P9VEM 5ZEI aU @aU @aU @aU @ 3"ҏ,4^H?A22Acoustic response timeout6ň@6@6:=ٱ6^ >AHRS rotation from veh to nav: [[-0.218103,0.914147,0.341710],[-0.974862,-0.187731,-0.120005],[-0.045552,-0.359294,0.932112]]6H`˿@??2ȿ@Rֿ?i6ň@I6ٶ^;6ZCY^@yb8~GbD-pVD-)9y5;%=D=ٔ=^W9AIA=E6FyEUEMEM>QQ 5U>4U‰?Q 9]>4Up7)U@YYy]Q I]?UAIU/;iU<;Ul>4ymBɮmBm}E*jyBjiiziJii k^k^k^h kCtkCtkCth2f:fBfJf|@@ɢÿ=) x@i)惽iSIԱiAIEpAX;A-@AA)IIOm>BuP>Bu'CBu }GBu@BqBqBqBuY;BuїE2Acoustic response timeout 9 ]"ҏ,oxH?A2#U@2*P@2sO=ٱ2; :AHRS rotation from veh to nav: [[-0.231430,0.910762,0.341982],[-0.971531,-0.198055,-0.130007],[-0.050674,-0.362334,0.930670]]2HͿ`$? ?Yɿ@{0׿ ?i2#U@I2^;0Y^{@y^}GEp EWE{E"Ed:*E9VE:5ZEBE;a 2E;aJE:a:E:abDoVDE)9y5%>=ٔC9I=6Fy XE JE >Q 5>4‰?Q 9>4@y7)J@Y!y%Q I%?AI:i:j>4y)ɮ-B)*jABjAiIiIziIJiIiI k[k[k[ha ktktkthq2f:fBfJf$z@颥…@ɢ=) r@i)e顩ivIu2Acoustic response timeout'II9OEQ>i i! I! - hDAT read: Forwarding Delay UpTx time:19:17:01.8366 5 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING5 2Acoustic response timeoutH"ҏ,DH?AY]@y]~G =yUQ?x&y&1U\/?U7U`eQ Q9UK7A?L7A`尿EԸYU b?yU+UƽUBQ UB)U~BQYUBbDmoVDm(9y}/;%}B=ٔ}Q->9I=6Fy[EE>Q 5>4t‰?Q 9>4x7)ˡ@Yd?Q En:yQ I?AI:i:">4yɮB*jBjiiziJii k[k[k[h k3uk3uk3uh2fO>:fO>BfD;Jf @%@ɢ%s=a)  @i)j x顩iIE h E TE E "E G:*E 9VE 5ZE a@a@a@a@}2Acoustic response timeoutԑ I I O- >No"ҏ,DīH?APN?@N:@Nz|=ٱN ^AHRS rotation from veh to nav: [[-0.264040,0.904184,0.335759],[-0.962549,-0.224825,-0.151503],[-0.061499,-0.363188,0.929684]]NH п?}?3̿rdÿ@|w>׿?iN?@IN^;N\CYf1@yf}GBnQ>Bn(CBn|GBn@BlBlBlBnu;BnEbDz4nVDz|(9y%f=ٔ 9 I =6Fy]E>ýE>Q 5%>4‰?Q 9%>4#7)l@Y)y-dQ I-?9AI-:i$:>4y5Bɮ5B1*jIBjQiQiQziQJiQiQ k\k\k\hi kzkzkzhy2f:fBfJf@颭-@ɢ8=) @i)oq顱iϩI2Acoustic response timeoutIIOI>E%_ E%UE%E!"E%&:*E%P9VE%U5ZE!BE%&;a-2E%&;a-JE%:a-:E%:a- 2Acoustic response timeout! W"ҏ,4ŋH?A;ɰ23@2:@2W=ٱ2 :AHRS rotation from veh to nav: [[-0.284257,0.900521,0.329028],[-0.956403,-0.242354,-0.162964],[-0.067012,-0.361008,0.930152]]2HD1ҿ??@ۚ`qϿĿ' ׿@?i23@I2^;0YR@yR|GbDZ`mVDZ(9|yW<%J=ٔ _9 I=6Fy`EVE>Q 5%>4 |‰?Q 9->4ǒ7)̞@Y)y-Q I-?AI:i:>4y5nBɮ5B=E*jIBjQiQiQziQJiQiQ kCbkCbkCbhi kCwkCwkCwhy2f:fBfJfF@颭@ɢQ=) Z @i)y_j项i-cII9IIO=)2Acoustic response timeoutYE= d E= PE= E9 "E= 9:*E= ?9VE= Ժ5ZE9 aE @aE @aE @aM @ԁ "ҏ,t{ߋH?A"2Acoustic response timeout6Ѕ@6ˌ@6j=ٱ6/a BAHRS rotation from veh to nav: [[-0.306728,0.896469,0.319783],[-0.949054,-0.262577,-0.174211],[-0.072207,-0.356927,0.931337]]6Hnӿ@?Qw?^ пLƿ.|@ֿ@?i6Ѕ@I6r^;6[CYF$@yJH|GIN=)NU?PRAbDZilVDZ'9yb%bO=ٔfW9dId=j6FyjbEjNuEj>lQ 5r>4np‰?Q 9r>4n$7)n%@YtyvQ Iv?nݦAIn :in:n>4yxɮzBx*j BjiiziJiiY kwkwkwh kwkwkwh2f:fBfJf@ @ɢ 8=)  @i)Lc1i5蚼9I9IIOԑBBB{GB@BBBBp;BޗEԱ2Acoustic response timeout "ҏ,XH?A2@2@2 J=ٱ2 l :AHRS rotation from veh to nav: [[-0.330518,0.891272,0.310471],[-0.940676,-0.284347,-0.185137],[-0.076726,-0.353243,0.932380]]2H4'տL??@ 2ҿ@ǿOֿ`?i2@I2U^;2ZCYB@yB{GXX X)XIXiXXbDbnkVDb6'9yjȼ%jI=ٔn6Erf ErWErEp"ErI@:*Er9VEr5ZEpBErR;az2ErR;azJEr:az:Er:az9|I|=~7Fy~eE|E> Q 5>4 b‰?Q 9>4 7) `@Yy'Q I? AI ;i ; >4y%oBɮ%B!*j9Bj9iAiAziAJiAiA kkkhY2fi:fiBfiJfmF@Թ r@ɢ Z=)  @i ) ]\iV9I9II!IAU2Acoustic response timeoutO= 2Acoustic response timeoutA ȓ#ҏ,2H?A:i8@:p3@:Z=ٱ:I BAHRS rotation from veh to nav: [[-0.353313,0.885275,0.302420],[-0.931980,-0.305045,-0.195861],[-0.081139,-0.351050,0.932835]]:Hֿ,T?`Z? @څӿɿ@Ŵ`wֿ?i:i8@I:^;:]CYR@yR{Gy-w/?rh|?ʡE?-f?-=--=) )9-X9v?Q?Q?Y-?y-u<-\=-B-B -)-{B)Y-ǾBbDEvjVDE&9yUk%UB=ٔU,9YIY=e7FyegEepEe>iQ 5u>4mQW‰?Q 9u>4mf7)m@Yu?Q E}M:y}Q I}?m/AIm ;im" ;m`>4yɮB*jBjiiziJii kikikih kxkxkxh2f+>:f+>BfĂ@Jfi@额4@ɢ=) @i)GU顡iBIEh ETE|E"EG:*E9VEם5ZEa@a@a@a@GrA9rAYAII AO9>e2Acoustic response timeoutiԙ  #ҏ,-H?ABP>B'CBzGBI@BBBBf;BؗEYo@yi{GAA@A2Acoustic response timeoutbDfiVDF&9yh%@=ٔQ->9 I =7FyjEE>!Q 55?4%oK‰?Q 9=?4%i7)%@Y9y9Q I=?%AI%xL;i%\;%Y ?4qyYBɮBE*jBjiiziJii k`k`k`h kkkh2f!:f!Bf!Jf!E @ɢE`=)A E@iA)MTMIIiM ›QIQԙbEA5jE5rEx2Ee E^EwE"E<:*E;9VEɕ5ZEBE`L;a 2EbL;a JE;a :E;a AoAzApAm 2Acoustic response timeoutI I O > #ҏ,FH?A2sł@2z@2{b=ٱ2 :AHRS rotation from veh to nav: [[-0.394859,0.870175,0.294758],[-0.914380,-0.340983,-0.218268],[-0.089424,-0.355706,0.930310]]2H ]Eٿy?Q? Bտ2˿x䶿`ֿ?i2sł@I2^;2[CYB@yBzGbD hVD %9y}%S=ٔ9I=7FymEE>Q 5?4Y?‰?Q 9?4$7)X@YyeQ I?AI;i:?4yɮB*jBjiiziJii kSjkSjkSjh kӃkӃkӃh2f:fBfJfg@19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed=‹@ɢ==)9 E@iA)E7GAAiE󛼉III~E߼IIO>iI2Acoustic response timeout) E  E SE }E "E *E 9VE s5ZE a @a @a @a @#ҏ,`H?A2Acoustic response timeout6@6@6O-=ٱ6%< BAHRS rotation from veh to nav: [[-0.414116,0.861470,0.293898],[-0.905439,-0.356809,-0.229931],[-0.093213,-0.361325,0.927769]]6H`ڿ`*?:?@Z`ֿ\nͿ`ܷ`׿ I?i6@I6ʽ^;4Y^@y^zGbD%gVD%k%9y%F=ٔ%9I=7FyoESE>Q 5?41‰?Q 9?4}7)ݙ@YyQ I?LAI:i:9&?4yɮB*jBjii zi Ji i  k#hk#hk#hh! kxkxkxh12fA:fABfAJfEe@sMPUpdating rudder angle -0.000000 arcdeg 9MrM6Completed marl:UpdateRudder19M rURAggregate::uninitialize marl:UpdateRudderm@ɢm2=)i m?ii)uAqqiuܛ}Iy1B!B%(CB%pxGB%@B%=B!B!B%_;B%՗EB9B='CB9B9B9C=N4YI5>)5>IQIiO>2Acoustic response timeoutԉ #ҏ,zH?A4:nn@:ui@:{=ٱ: BAHRS rotation from veh to nav: [[-0.432507,0.852473,0.293644],[-0.896467,-0.371780,-0.241096],[-0.096357,-0.367518,0.925011]]:H3ۿuG?@?گ`<׿>ο@ߪ`j׿ ?i:nn@I:(^;8YJ@yJzGNa=Np=bDVfVDV%9y^%^]=Ebi Eb[EbE`"Eb,K:*Eb9VEbq5ZE`BEbse;aj2Ebve;ajJEb;aj:Eb;ajٔn 9pIp=r7FyrrEr`Ev>tQ 5z?4v$‰?Q 9~?4v7)vc@Y|y~Q I~?vbAIv;iv;vL3?4y BBɮ B E*jBj!i!i!zi!Ji!i! k`k`k`h9 kCykCykCyhI2fa:faBfaJfed@}E@ɢ}=) ?i);顁ijכIE2Acoustic response timeoutԑIIOF>  2Acoustic response timeout$#ҏ,zH?AdY~g@y~xGyʡE? ףp= ʡE?-R?Q8= 9S㥛?Mb?-?Yd?y<?5>KB B)BYBbD fVD$9yŽ%<=ٔQ->9I=7FytEE>Q 5?4 ‰?Q 9?4o7)`@YWi?Q Eh:yHQ I?AI;i: ;aB?4yɮB*jBjiiziJii k`k`k`h ksuksuksuh!2f=U >:f=U >Bf=22?Jf=(@@ɢ@ũ=) *?i)l4itIIQIiO=D=D%=Ed ESE}E"E9:*E9VEs5ZEa @a @a @a @E2Acoustic response timeout!A B B 'CB |vGB m@B =B B B 2;B E +#ҏ,UH?A21J@28E@2c=ٱ2wǾ :AHRS rotation from veh to nav: [[-0.464023,0.835918,0.293128],[-0.880124,-0.397589,-0.259431],[-0.100318,-0.378371,0.920202]]2H`ݿ@ֿ??@) rٿпx=7ؿJr?i21J@I2^;2]CYB@yB3xG\\ b )b+IbAi``bDr5eVDrY$9y~&C%~W=ٔ+9 I = 7FywE+E>YaQ 5u?4e ‰?Q 9}?4e7)e8@Yyy}Q I}?e^AIed;ie/Y;eP?4yCBɮBE2Acoustic response timeout*jBjiiziJii k^k^k^h kxkxkxh12fA:fABfAJfE(!@颅@ɢ=) ?i)<.顉i]IIEc EQEuE"Eg5:*Ev9VE5ZEBE?;a2E?;aJE:a:E:a^A=ԑM 2Acoustic response timeoutAm $AIq I O > 1#ҏ,H1ȌH?A2@2Ɇ@2;=ٱ2rqɾ :AHRS rotation from veh to nav: [[-0.477227,0.828953,0.291703],[-0.872972,-0.409095,-0.265633],[-0.100863,-0.381416,0.918884]]2H޿Ȇ?@D?c.ڿ ѿ%ҹ@iؿ g?i2@I2jH_;0YN@yR)wGV=TbDZcdVDZ#9yb䇽%bN=ٔf:Q-f>9fH?IjH?=j7FyjyEj,Ej>lQ 5r?4n‰?Q 9r?4n7)n @YtyvrQ Iv?n.AIn:in[:n]?4yz,BɮzBzE*j Bj i iziJii kS_kS_kS_h) kcvkcvkcvh92fI:fIBfIJfMA@m@ɢm=)i mY?ii)ut(qqiuԹI^Ap{=2Acoustic response timeoutAAI IOM1>D zD E e E E E "E <:*E VE Dz5ZE a @a @a @a @9 ] 2Acoustic response timeout?#8#ҏ,!H?A> ~@> P@>B+=ٱ>ʾ FAHRS rotation from veh to nav: [[-0.490118,0.822439,0.288751],[-0.865786,-0.420952,-0.270579],[-0.100984,-0.382612,0.918374]]>H^߿lQ?@z?ڿ)Qѿ`ڹ@|ؿPc?i> ~@I>)_;>ZCYN@yNvGbDrcVD#9y]2H%]A=ٔeږ9Q-e>9eK?IeK?=e7Fye|Em(Em>qQ 5}?4uW?Q 9}?4u7)u@YyQQ I?uDAIuT:iu;uil?4yɮB*jBjiiziJii ksksksh  kskskshq2f:fBfJf9@颥@ɢ=)5P $?i)k"顩ib I^A=9BuR>Bu(CButGBu@BqBqBqBu;BuEAII OEQ>2Acoustic response timeoutaԑ H>#ҏ,H?A4<ɰ2a}@28ׅ@2=ٱ2&ɾ :AHRS rotation from veh to nav: [[-0.502842,0.816648,0.283261],[-0.858475,-0.433598,-0.273884],[-0.100846,-0.380893,0.919103]]2H@H !? ?`x ۿ@Qѿѹ`ؿ`Ki?i2a}@I2^;2]CERo ERPEREP"ER`:*ER?9VER5ZEPBER;aZ2ER;aZJER:aZ:ER:aZYn@ynuGbDebVDe3#9yi%F=ٔ?Q->9I=7FyE,E>Q 5?4?Q 9?48)ӝ@YyQ I?KAIB:i9:z?4y-BɮB*j Bj i i ziJii kC|kC|kC|hAy-2Acoustic response timeout2fi:fiBfiJfm@-k@ɢ5XP=)1 5O?i1)5 799i=E9IA^Ae}U<AmQ?AmS?ԱAIIO> 2Acoustic response timeout 0E#ҏ,/H?A2|@2Mp@21=ٱ2ž :AHRS rotation from veh to nav: [[-0.513579,0.813023,0.274280],[-0.852077,-0.445626,-0.274557],[-0.100995,-0.374714,0.921623]]2H@>o`I?̍?8D"ܿ@Xѿڹ R׿}?i2|@I2 _;2[CYB@yB@tGyoʡ?1Zd:v?-?"۽= 9|?5^?Dl~jt?Y2?yO >B2B .B)^BYBbDaVD"9yy%I=ٔo9Q->9I=7FyEE>Q 5?4%2Acoustic response timeout9i B] S>BY B] qGB] @BY BY BY B] ;B] E(mK#ҏ,/H?Afa|@f+@f=ٱf鿾 rAHRS rotation from veh to nav: [[-0.520605,0.812553,0.262161],[-0.847649,-0.455104,-0.272713],[-0.102284,-0.364196,0.925689]]fH̨n?`=?@k ݿ"tѿ@A/N׿=?ifa|@If^;dYv@yzsGbD`VDZ"9y#D%S=ٔZ;Q->9H?I%H?=%7Fy%E%5E%>)Q 55?4-?Q 9=?4-8)-ޠ@Y9y=EQ I=?-AI-;i-Q;-?4yE.BɮEͮBME]2Acoustic response timeout*jaBjiiiiiziiJiiii kakakah kckckch2f!:f!Bf!Jf%}Qr@e@ɢe{=)a e??ia)m$iii+IiEf ELEE"EI@:*E|9VEZEBER;a2ER;aJEv:a:Ew:aԹu˼@@@@ 2Acoustic response timeout Aa zAe oAA AI I I O >R#ҏ,$KH?A26|@2"@2=ٱ2 >AHRS rotation from veh to nav: [[-0.524369,0.815303,0.245596],[-0.845012,-0.462752,-0.267982],[-0.104836,-0.348053,0.931595]]2H`?o?W `ݿ &ѿ ֺ Fֿ?i26|@I2+_;2\CYF@yF@sGbDN_VDN!9yV%VG=ٔZ;Q-Z>9ZK?IZK?=^7Fy^E^8E^>`Q 5f?4b?Q 9f?4b8)be@YhyjQ Ij?b2AIb[:ib:b?4ynBɮnBrE*jxBjxi|i|zi|Ji|i| khkhkhh kxkxkxh!2f:fBfJf]Dp@ʓ@ɢ&=) ?i)V iT!IYMxrY2Acoustic response timeoutIaIqO<>q l>]nGq9YAE  E QE E "E *E v9VE 5ZE a @a @a @a @ԡ } 2Acoustic response timeoutX#ҏ,dH?A2|@2@2=ٱ2묾8 >AHRS rotation from veh to nav: [[-0.524886,0.820261,0.227303],[-0.844218,-0.467624,-0.261961],[-0.108585,-0.329393,0.937928]]2H ??A?ݿ п2̻տ?i2|@I2_;2]CYB@yFpGHH\\ \)\I\i\\``bDf_VDf!9yn%nG=ٔr@9pIp=r7FyrEv Ev>xQ 5~?4zB?Q 9~?4z8)zߣ@Yy>Q I?zAIz:iz:zI?4y Bɮ ڮB*j!Bj!i!i!zi!Ji)i) kC`kC`kC`hA krkrkrhQ2fa:faBfaJfeiNn@}@ɢ=) ?i)&-顉i a^ IԡBR>BBtoGB@BBBB;BEmNJN2Acoustic response timeoutIIO> bEˎ5jEK5rE˺2E h E `E E "E G:*E 9VE 5ZE BE ._;a% 2E 1_;a% JE ;a% :E ;a% '^#ҏ,o~H?AB62|@B"@B<2=ٱBgף JAHRS rotation from veh to nav: [[-0.522504,0.825967,0.211587],[-0.845227,-0.469117,-0.255970],[-0.112164,-0.312584,0.943245]]BH`Z`Qn?E? ޿aп@ǶaԿ@/?iB62|@IB^;B^CpY}@yqGbDH^VD)!9M2Acoustic response timeoutyED<%.=ٔ;Q->9I=7FyE;E>Q 5?4?Q 9?4"8)~@Y y _Q I ?EAIK:i& ;?4yɮ׮B*j)Bj)i1i1zi1Ji1i1 kCZkCZkCZhI krkrkrhY2fi:fiBfiJfml@颍@ɢ}=) ͹?i)顑iDєI 1IIO> 2Acoustic response timeouta e#ҏ,ڒH?A;ɰ;Y~@y~nG9y99I9==7Fy=E=E=>AQ 5M?4E?Q 9M?4E&8)E@YUL)?Q EU:yUL#Q IU?EGAIEO;iE;E?4yeBɮeBa*jqBjyiyiyziyJiyiy kCZkCZkCZh kskskshEf ESEzE"EI@:*E9VE5ZEa@a@a@a@2fU>:fU>BfU˘?JfU[@颍g@ɢ @=) P?i)b/顑i뉓III!O]>iM2Acoustic response timeoutԑB S>B B kGB @B B B B ;B EBB(CBBBC߲4 j l#ҏ,c|H?A2}@2|@2<6=ٱ2~ :AHRS rotation from veh to nav: [[-0.510575,0.839473,0.186005],[-0.851833,-0.464405,-0.242300],[-0.117022,-0.282158,0.952204]]2H`V? ?6B`ϸݿϿ*@ҿux?i2}@I2^;2ZCN2Acoustic response timeoutYR8@yRmGI<)=bD%\VD% 9y]%eX=ٔeS9iIi=m7FymEm=Em>qQ 5}?4uv?Q 9?4uW*8)u@Yy"Q I?uGAIu#:iu:u4?4yɮ B*j!Bj!i!i)zi)Ji)i) kSwkSwkSwha kSwkSwkSwh2f:fBfJfנ@4@ɢ:U=)N! ?i)*  i %4 IIIO=Eg E^E~E"EC:*E;9VE5ZEBEX;a2EX;aJE;a:E;a)U2Acoustic response timeoutY r#ҏ,H̍H?A6}@6Vȅ@6/=ٱ6N BAHRS rotation from veh to nav: [[-0.503394,0.846341,0.174075],[-0.855849,-0.460685,-0.235143],[-0.118818,-0.267352,0.956246]]6H9?@H?c{ݿ-ο`jIѿ@?i6}@I6^;6]CYF@yJkGbD 8\VD 6 9yE%ML=ٔM!;Q-M>9IIQ=U7FyUEU<E]>aQ 5u?4e\d?Q 9}?4eR.8)e@Yy"Q I?edAIee;iev;e8?4yɮBE*jBjiiziJii9 kkkh2f:fBfJf4@@ɢk=) ?i)ܸi]I2Acoustic response timeoutIIO>aԉEe ETEyE"E<:*E9VE5ZEa@a@a@a@e 2Acoustic response timeoutԹ y#ҏ,l$H?A2p~@2?@2?=ٱ2 :AHRS rotation from veh to nav: [[-0.496949,0.852366,0.162832],[-0.859450,-0.457499,-0.228124],[-0.119950,-0.253312,0.959919]]2H@߿F??@@Gݿ *3ͿC6п?i2p~@I2#^;2\CYBE@yB8kGbDJ[VDJ9yR%VU=ٔVB;Q-V>9XIX=Z7FyZEZҞ<EZ>Q 5%?4R?Q 9%?4C28)I@Y!y%!Q I%?xAI;iz;?4y-Bɮ5 B5E*jIBjIiIiIziIJiQiQ kgkgkghi ktktkthy2f:fBfJf;@Ԙ@ɢNv=) Ù?i)ȇi!IԑiUpAIQBA<BT>BBgGB[@B=BBB;BEA)I1IIO>2Acoustic response timeoutE g E QE tE "E C:*E v9VE 5ZE BE X;a 2E a% JE :a- :E :a- 1 4B#ҏ,H?AnFx~@n*7@nY=ٱnDy AHRS rotation from veh to nav: [[-0.491670,0.857416,0.151979],[-0.862406,-0.455319,-0.221225],[-0.120483,-0.239838,0.963308]]nHw߿ o?t?Ԙ#ݿ`Q̿ ׾οj?inFx~@Inf^;n^C52Acoustic response timeoutY=@y= iG IIM=M=yV-?RQS㥻\?½/ݽ 9Q?B`"ɿԿY\O?yNfBLB B)6BYBbD=,[VD=9yE>%E'=ٔMɏ:Q-M>9QIQ=U7FyUEUK<E]>YQ 5m@4]t9?Q 9m@4]88)]@YmUe?Q Emm:ymQ Iu?]AI];i];] @4y}Bɮ}7By*jBjiiziJii k[k[k[h k3|k3|k3|h2f}>:f}>Bf_@JfM @ؙ@ɢQ6=) ?i)ۼiIUjbI  In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutA I I O >2*#ҏ,nH?A2(~@2]@2>=ٱ2m :AHRS rotation from veh to nav: [[-0.487662,0.861303,0.142629],[-0.864659,-0.453923,-0.215219],[-0.120626,-0.228279,0.966094]]2H5߿ˏ?A?I` ݿK˿[᾿ B8Ϳ@>?i2(~@I2^;2[CYB~@yBfGbDNZVDN9yVII%V=ٔZ9Q-Z ?9XIX=^7Fy^E^:n<E^ ?`Q 5f@4b(?Q 9f@4b=8)b@Yhyj Q Ij?bAIby:ib:b@4ylɮnXBrE*jxBj|i|i|zi|Jii kckckch kxkxkxh!2f9:f9Bf9Jf="( @]@ɢeĊ_=)i u݃?i)=rּi]ID=D<Ej EREE"EN:*E9VE5ZEa@a@a@a@I-rmodem://6: set _.others_observations nan n/a str none_str- #Outgoing data=3-pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT52Acoustic response timeoutAAIIIYO:>yB U>B B XcGB ݸ@B =B B B ;B yEԩ T#ҏ,3H?Aɰ:~@:s@:=ٱ:bBzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYB2Acoustic response timeoutL bAHRS rotation from veh to nav: [[-0.485245,0.864135,0.133446],[-0.865989,-0.453869,-0.209920],[-0.120832,-0.217425,0.968569]]:HB߿`??@.0 ݿʿ˿?i:~@I:T^;:]CY~Ժ@yeG)) )))I1i11bD=%ZVD=B9yuE%u>=ٔu&9Q-}>9yIy=}7FyE ;E>Q 5@4?Q 9@4C8)@YyQ I?AI];i;$@4yɮbB*jBjiiziJii k#`k#`k#`hy2f:fBfJfn @@ɢ =) z?i)8ϼiD󈼉IԱEm EXEE"EY:*E9VE5ZEBE~;a2E~;aJE:a:E:a9A%pAzA%qA52Acoustic response timeoutA I I O > ;#ҏ,MH?A2q~@2@v@26=ٱ2X :AHRS rotation from veh to nav: [[-0.484990,0.865446,0.125652],[-0.866122,-0.455485,-0.205829],[-0.120902,-0.208655,0.970487]]2H ߿?`[? F&ݿXʿ@j4ʿ;?i2q~@I2^;2_CYB@yB*dGbDJYVDJ9yV۽%ZX=ٔZFB9Q-^>9AII=]7Fy]Eeh>:Ee>iQ 5}@4mO?Q 9@4mWI8)m0@YysQ I?mAIm1M;imP];m2@4yBɮvB*jBjiiziJii ks[ks[ks[h  k[k[k[hA2fQ:fQBfQJfU @颍\@ɢ !=) ^i?i)Lɼ顩iӆI2Acoustic response timeout)QA$AIEo EUExE"E`:*EP9VEe5ZEa@a@a@a@IO >ԁ E 4=E =M 2Acoustic response timeout$f#ҏ,lgH?AY~i@y~bGYbDmYVDm9y}%}>=ٔQ->9H?IH?=7FyEE>Q 5@4X?Q 9@4,O8)T@YyQ I?AIX;i; A@4yBɮB*jBjiiziJii kgkgkgh2f:fBfJfE8@ɢE4=)A MY?iI)MüIIiUYIYB1B1B5o_GB5@B5=B1B1B5;B5xEԉAAIIO )>2Acoustic response timeoutԱ E f E SE zE "E I@:*E 9VE 5ZE BE R;a 2E R;a JE l:a :E m:a P#ҏ,QH?AԱ}@ @h=ٱLI AHRS rotation from veh to nav: [[-0.498148,0.860021,0.110508],[-0.858812,-0.471797,-0.199622],[-0.119542,-0.194347,0.973622]]H߿@K?9K?IK?=%7Fy%E%E%>Q 5@4k?Q 9@4[8)W@Yi?Q E=:yQ I?AIU:i]:Q@4yBɮBE*jBjiiziJii kOkOkOh k^k^k^h)2f=,>:f=,>Bf=ivz=Jf=Kd@}D@ɢ}<<)y }F?i)顁i񴁼IAX?AR? @AAIIIO=s>  2Acoustic response timeoutA x#ҏ,B"H?AzGY-p@y-!_G1eȿ9aYenA 1bDWVD?9yE%MY=ٔMQ-M>9IIQ=U7FyUEUE]>YQ 5e@4]?Q 9m@4]e8)]@YiyiQ Im?]"AI]:i]:]G^@4yuBɮ}By*jEj EREE"EN:*E9VE5ZEa@a@a@a@BjiiziJii kCFkCFkCFh k`k`k`h2f:fBfJf @ɢ?<) 3?i ) 5  i1I 2Acoustic response timeoutaA}$AIIOB>ԑB5 V>B1 B5 [GB5 @B5 =B1 B1 B5 ;B5 qEԹ 4#ҏ,;H?A22Acoustic response timeout6k}@6Dž@65=ٱ6J BAHRS rotation from veh to nav: [[-0.503422,0.856961,0.110383],[-0.855754,-0.476859,-0.200725],[-0.119376,-0.195510,0.973409]]6H 8l?B?`Vb ۄ޿[ɿsyɿ*&?i6k}@I6^;6_CYFQ@yF]GbDRWVDR 9yZq˽%Zh=ٔ^Q-b>9jH?InH?==7Fy=EEEE>IQ 5M@4M?Q 9U@4Mn8)M@YQyUdQ IU?MbAIM:iM:M%k@4yaɮeBa*jyBjyiyiziJii k3Hk3Hk3Hh k3dk3dk3dh2f:fBfJfJd@ݟ@ɢh<) #?i)0յiѣzIԑAEAIQIaO>bE-ם5jE-š5rE-"2E EOEE"E~:*E9VES5ZEBE;a2E;aJEM:a:EN:a2Acoustic response timeout #ҏ,ΎH?AɰJ5}@Jו@J =ٱJIL fAHRS rotation from veh to nav: [[-0.508638,0.853878,0.110361],[-0.852693,-0.481846,-0.201838],[-0.119168,-0.196767,0.973181]]JH FR?@@?CI@޿@ɿɁ/ɿ M$?iJ5}@IJ^;J[CYr@yr\GbDzVVDz9yXU%E=ٔ Q- >9 K?I K?= 7FyEAzE>Q 5%@4?Q 9%@4y8)6@Y)y-Q I-?AI:i9:y@4y5Bɮ5BuE*jBjiiziJii k`k`k`h k`k`k`h2f :f Bf Jf ֶc@195 r5NAggregate::initialize marl:UpdateRudderq95J]1q959575o=XAggregate::initialize marl:UpdateCommandMode18=]918=o=@Completed marl:UpdateCommandMode7=o=\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7E]A7EnE4Completed marl:UpdateSpeedq7EnEPAggregate::uninitialize marl:UpdateSpeed}Ѡ@ɢ}l<)V)< y?i) 顁itIAzApAu2Acoustic response timeoutA$AI IOE0>Ei ETEE"E,K:*E9VE5ZEa@a@a@a@A % 2Acoustic response timeoutB#ҏ,H?AY%@y%[GYY Y)YIaiaaIe<)ebD}~VVD}9y%B=ٔQ->9H?IH?=7FyEE>Q 5@4e?Q 9@48)}@YyQ I?AI(;i);Շ@4yɮB*jaBjaiaiaziiJiiii kCnkCnkCnh2f:fBfJfsPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderB<A<BX>BBhXGB@BBBB;BvEBBBB¦=B¦=C5-š@ɢ-f\<)1 5?i1)=o+99i=oAIIQIIOF>iyI}A2Acoustic response timeoutԑԩ E g E QE E "E C:*E v9VE 5ZE BE X;a 2E X;a JE :a :E :a 7#ҏ,̛H?A@]~|@]F@]=ٱ]mY mAHRS rotation from veh to nav: [[-0.524779,0.842944,0.118544],[-0.843176,-0.495621,-0.208361],[-0.116883,-0.209297,0.970841]]]H@@e?@X?KB߿ʿ콿>ʿ"?i]~|@I]^;]\CY}"@y}YGhDAT read: Forwarding Delay UpTx time:19:17:15.6865 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutyK7A?/$&1? b?,= 9Mb?EԸ?V-?Y?y=m>@BB šB)BYpBbDVVDg9yh%8=ٔĩQ->9I=7FyE,E>Q 5@4/?Q 9@4T8)0@Y ?Q E7:y,Q I?`BI;i;w@4y5κBɮ5B5E*jABjaiiiiziiJiiii kUkUkUhԡ kakakah2f>>:f>>BfO?Jf)@@ɢ%E<)! %&>i!)-())i-h1I1IAIYOa> 2Acoustic response timeout d#ҏ,jH?AF{@F@FMi=ٱFmm` RAHRS rotation from veh to nav: [[-0.531265,0.838028,0.124365],[-0.839538,-0.501049,-0.210060],[-0.113724,-0.216007,0.969746]]FH ?\ֿ?Bʿ ˿)?iF{@IF^;DYV֯@yV=XGlbDEUVDE#9y:%a=ٔQ->9I=7FyEƪE>Q 5@4`v?Q 9@418)v@YyQ I? BI_:i:@4yɮЯB*jBjiiziJii ksHksHksHh kcgkcgkcgh2f :f Bf Jf @-@ɢ- <)) ->i1)5Ѩ11i5c:d9I9E}h E}VE}Ey"E}G:*E}9VE}5ZEya@a@a@a@ 2Acoustic response timeoutqA [?A i?IIOc>9BW>BBHUGBn@BBBB;BxEa R#ҏ,D6H?A.2Acoustic response timeoutFX{@F3~@F=ٱFxh RAHRS rotation from veh to nav: [[-0.538080,0.832526,0.131796],[-0.835825,-0.506795,-0.211084],[-0.108939,-0.223738,0.968542]]FH7?? 7˿p㻿t̿K?iFX{@IFٺ^;F^CYbح@ybUG9 AAE0>E=bDMTVDM9y8%D=ٔ=Q->9I=7FyEsE>Q 5@4d?Q 9@48Q =tI)@Yy Q I ?BI:i:@4yϺBɮBE*j)Bj)i)i)zi)Ji1i1 kNkNkNhA ksekseksehY2fi:fiBfiJfm ٖ@颅z@ɢ@) ֕>i)Ӧ顉iC^Imz<IIO5 >iEl EWEpE"EV:*E9VE5ZEBEBx;a2EDx;aJE:a:E:aԑ2Acoustic response timeout #ҏ,%PH?AFYz@FQ@FRI=ٱFU}q RAHRS rotation from veh to nav: [[-0.542985,0.827757,0.141368],[-0.833463,-0.510685,-0.211044],[-0.102499,-0.232419,0.967200]]FH"`|?[?@@W@~˿X=@ͿL?iFYz@IFT^;DYZ~@yZVGbD%~TVD%9yeeV=%eS=ٔeQ-m>9iIi=m7FymEuGeEu>yQ 5@4}T?Q 9@4}38)}@Yy8Q I?}BI}p:i}g:}@4ԑyBɮѯBE*jBjiiziJii kLkLkLh kS^kS^kS^hy2f:fBfJf)Ȗ@m@ɢ ) >i)餼iXIU2Acoustic response timeoutܪ&<A%oAzA%oAIIO>Eh EcE~E"EG:*EL9VE5ZEa@a@a@a@ 2Acoustic response timeout #ҏ,jH?Aɰ49I=7FyE%xx;E%>)Q 5=@4-%D?Q 9=@4-8)-Ń@Y9yEQ IE?-BI-;;i-<;-@4yIɮUBQ*jqBjqiqiqziyJiyiy kEkEkEh kS]kS]kS]h2f:fBfJf@J@ɢV) GR>i)iSIAuAAAuAAByByB}RGB}4@ByByByB};B}E]2Acoustic response timeoutAIIOE>Iy E m E dE E "E Y:*E 9VE 5ZE BE ~;a 2E ~;a JE &;a :E &;a #ҏ,郏H?Af {@f@f꒱=ٱfXu nAHRS rotation from veh to nav: [[-0.538985,0.825340,0.168254],[-0.837852,-0.504788,-0.207830],[-0.086597,-0.252989,0.963586]]fH]?.i?`X?9'(ʿ@?+0п?if {@If2^;f^CYv@yvSGI~>)~>2Acoustic response timeouty rh?Gzοy&1|?C ?p`; 9w/?+ÿOn?YF?y>B×B B)rBYBbDSVD89y%>=ٔ3Q->9I=7FyE"<E>Q 5@481?Q 9@48)]@YoN?Q E:y6Q I?BIn:i:@4yɮB*j!Bj!i!i)zi)Ji)i) kDkDkDhAI k]k]k]hY2fmq>:fmq>Bfm]^>JfmKi@颍H@ɢ.)  >i)d顑iSNIAAIIO]3>yԡe 2Acoustic response timeout #ҏ,׿H?A6nl{@6>@6~=ٱ6 >AHRS rotation from veh to nav: [[-0.534427,0.826366,0.177502],[-0.841627,-0.500960,-0.201752],[-0.077799,-0.257212,0.963218]]6H@`q?@a?ɿ곿`(vп?i6nl{@I6%^;6\CYF@yFQGbDRRVDR9yZ8ɽ%Z`=ٔZƼQ-^>9^K?I^K?=^7Fy^Eb6<Eb>dQ 5j@4fJ!?Q 9j@4f8)f͆@YhynQ In?f BIf;ifH;f@4yrBɮrBrE*j|Bj|i|i|zi|Jii k^k^k^h k^k^k^h)2f9:f9Bf9Jf=䲒@U"@ɢ]k)Y ]/=iY)]Baaie IaIiDM<DM<EUf EU\EUEQ"EUI@:*EU9VEU5ZEQae@ae@ae@ae@ԱAIIO>2Acoustic response timeoutB}[>B})CB}OGB}@ByByByB}&;B}E 1 >#ҏ,aH?A2Acoustic response timeoutF{@F@F=ٱFz NAHRS rotation from veh to nav: [[-0.529038,0.828629,0.183008],[-0.845762,-0.497245,-0.193479],[-0.069322,-0.257139,0.963885]]FH!?@l?{߿ȿ@tп$?iF{@IF^;F]CYVv@yVfPGll l)lIlilpbDvRVDv9y~⠽%~F=ٔQ->9I=7Fy E <E >Q 5@4t?Q 9@4>8)@Y!y%^Q I%?j BI{;i;@4y-Bɮ-$B)*jABjAiAiAziAJiIiI kkkkkkha kkkkkkhq2f:fBfJf@额@ɢ䛼) 6Emr EmUEmEi"Emk:*EmP9VEm5ZEiBEm;au2Em;auJEm:a}:Em:a}92Acoustic response timeouti %#ҏ,eяH?A 6M|@6!@6=ٱ6ɭ >AHRS rotation from veh to nav: [[-0.523374,0.831802,0.184890],[-0.849809,-0.493618,-0.184842],[-0.062487,-0.253862,0.965220]]6H { ?@w?@1`o߿ǿMG?п?i6M|@I6x^;4YFB@yFNGHH HHN>N=bDR RVDR9yZý%ZO=ٔZCQ-^>9\I|=~7Fy~E<E> Q 5A4 .?Q 9A4 8) A@YyQ I?  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AIIO >E-l E-SE-E)"E-V:*E-9VE-H5ZE)BE-Bx;a52E-Dx;a5JE-l:a=:E-m:a=12Acoustic response timeouta 4$ҏ,ӐH?A2~@2a@2<ٱ2[ :AHRS rotation from veh to nav: [[-0.490693,0.853240,0.176640],[-0.871141,-0.476141,-0.120018],[-0.018298,-0.212771,0.976931]]2Hg߿`M?&? by޿`ּ<˿`C?i2~@I2^;0YB@yBDG9bD NVD 9yM#%ML=ٔU) Q-U>9QIQ=U7FyUELE>Q 5A4dZ?Q 9A4f9)y@Yy Q I?eBI;ir;A4yBɮBE*jBjiiziJii kSckSckSch kvkvkvh2f!:f!Bf!Jf% K@E@ɢEA[)A EiA)MaIIiMQIQAe\?Aeb?iQIUA]2Acoustic response timeoutiAIIO)>ԑD1zD5@AE=j E=]E=E9"E=N:*E=9VE=Dz5ZE9aE@aE@aE@aE@  2Acoustic response timeout:$ҏ,H?A Z6~@ZA@ZF<ٱZ\ jAHRS rotation from veh to nav: [[-0.494107,0.850883,0.178481],[-0.869261,-0.479821,-0.118983],[-0.015602,-0.213937,0.976723]]ZHt߿o:?s? d޿uFb˿`PA?iZ6~@IZ^;XYra@yrDGbDz(NVDz9y{I%O=ٔ ߻Q- >9 I =7FyE%E>Q 5%A4J?Q 9%A49)@Y)y- Q I-?BI:i:A4y5Bɮ=B=E*jQBjQiQiQBeh>BaBeCGBe"@Be=BaBaBeB;BeחEziqJiqiy k3^k3^k3^hԙ kkkh2f:fBfJfWJ@@ɢU)Q UO,iQ)]YYi]ْ YIaAIIO&>]2Acoustic response timeout yy EE n EE TEE zEA "EE O]:*EE 9VEE 5ZEA BEE e;aM 2EE g;aU JEE :aU :EE :aU A$ҏ,\H?A2G~@2@2wK<ٱ2` :AHRS rotation from veh to nav: [[-0.497804,0.847940,0.182176],[-0.867200,-0.483637,-0.118571],[-0.012434,-0.217008,0.976091]]2H ߿S"?@Q?޿Zw˿`"9iIq=u7FyuEu&Eu>yQ 5A4}:8?Q 9A4}'9)}@Y?Q EI:y:Q I?}~BI}:i}s:} A4yɮB*jBji߽%=߽=2Acoustic response timeoutiziJii kekekeh kkkh2f>:f>Bfn??JfH@5@ɢZ+) :i)żiI!AAIIIYO<>Qm 2Acoustic response timeout] Gy ɿ9 Y ϾAy G$ҏ,!H?A2}@2@2O;ٱ2Gma :AHRS rotation from veh to nav: [[-0.502583,0.844444,0.185269],[-0.864499,-0.489112,-0.115800],[-0.007169,-0.218364,0.975841]]2H(?`?M߿`Y]}Y˿:?i2}@I2^;2\CYR @yRZBGdd h)hIhihhbDrXMVDr^9yz6%zR=ٔz]Q-z>9|IQ=U7FyUEU`E]>aQ 5eA4e^&?Q 9mA4e419)eF@YiymQ Im?e)BIe:ie:eA4yulBɮ}B}E*jBjiiziJii kSfkSfkSfh kxkxkxh2f:fBfJfd@@ɢ) lGD=D<Em EWE{E"EY:*E9VE:5ZEa @a @a @a @i)ʼi|XIQAII2Acoustic response timeoutIO*>ԁBee>BaBeBGBe@Be=BaBaBeJ;BeۗEԩ A)N$ҏ,ke;H?A2Acoustic response timeoutɰ6Mv}@6.@6ٱ6Od >AHRS rotation from veh to nav: [[-0.508894,0.839465,0.190592],[-0.860828,-0.496518,-0.111556],[0.000985,-0.220837,0.975310]]6HH`? Pe?߿쎼z#P?cD̿5?i6Mv}@I6^;6^CYNP@yRBGbDZLVDZ'9yv<%vK=ٔvƥQ-v>9xIx=z7FyzEzE~>Q 5 A4?Q 9 A4r:9)@Y y Q I?BI;i;A4yɮB*j1Bj1i1i9zi9Ji9i9 kc`kc`kc`hQ kSvkSvkSvh2f:fBfJfQ@%@ɢ%)! %Mi!)-Keм))i-$)IQԱAIIbEz5jEĹ5rE 2Ed ESEE"E9:*E9VE5ZEBEF;a%2EF;a%JEl:a%:Em:a%O-->2Acoustic response timeout 9 U$ҏ,?UH?A6|@6ld@6ɍ@ٱ6>d BAHRS rotation from veh to nav: [[-0.517425,0.833085,0.195551],[-0.855648,-0.506824,-0.104861],[0.011752,-0.221580,0.975071]]6Hࢨ??xa 7#غ?\̿3?i6|@I6ܚ^;6]CYF;@yFBGJ=J=I~4=)~4<AbD LVD 9yE@̻%ED=ٔM ԼQ-M>9IIQ=U7FyUEUļEU>YQ 5eA4]u?Q 9mA4]5D9)]@YiymQ Im?]!BI]b:i]8:]WA4yumBɮ}B}E*jBjiiziJii k]k]k]h kvkvkvh2f:fBfJfs@19u ruNAggregate::initialize marl:UpdateRudderq9uJ]uQ?q9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18}o}@Completed marl:UpdateCommandMode7}o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed^B*** querying acoustic contact ***XY@ɢP]) Vi)<ּii#I52Acoustic response timeout fsetting unavailable, lastComms_.elapsed()=60.443909    I A%$AI)I9Ou6>9DzDAAEi EVEyE"E,K:*E9VE5ZEa%@a%@a%@a%@i  2Acoustic response timeout<[$ҏ,oH?A06|@6f;@6q%ٱ6!i >AHRS rotation from veh to nav: [[-0.521625,0.828556,0.203477],[-0.852919,-0.512261,-0.100588],[0.020890,-0.226019,0.973899]]6H@'? ?Kpd& Hd?.̿ .*?i6|@I6^;6\CYFI@yFBGBf>BBBGB.@B=BBB;BEB*CB*CBBBC 4bD-LVD-9y=;%=K=ٔEǹQ-E>9EH?IEH?=E7FyMEMKEM>QQ 5]A4U?Q 9]A4UM9)Uw@YayeQ Ie?U:#BIU;iU ;UjA4ymoBɮmBi*jBj=iiziJii k]k]k]h kwkwkwh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@ɢ+) 5^i)ۼi_ﻉ=IԑA%AI1IAOu>E2Acoustic response timeoutԹ E% g E% YE! E! "E% C:*E% *9VE! ZE! BE% X;a- 2E% X;a5 JE% :a5 :E% :a5 "b$ҏ,4H?A2tu|@25@2agټٱ2wn :AHRS rotation from veh to nav: [[-0.522143,0.826481,0.210467],[-0.852445,-0.513427,-0.098640],[0.026535,-0.230916,0.972612]]2Hdr?? ;Gmz@ ,? Ϳ?i2tu|@I2^;2]C\Yb@ybQBGIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeoutyOn?|?5^ɿ(\?8?M> 9"~?Cl绿x&1?Ys?y;߽A> B×B QB)IJBYBbDKVD9y磼%==ٔ%UQ-%>9-K?I-K?=-7Fy5E=кE=>AQ 5MA4Eھ?Q 9UA4E~V9)E@Y]Gz?Q E]Y:y] Q I]?E$BIEJO;iEN;EA4ymӺBɮmBuE*jBjiiziJii k3_k3_k3_hQ2fe>:fe>BfeK>JfeJ@颥@@ɢ) ii)zi 軉IA9IAIQO[>iI IM AU In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFERU 2Acoustic response timeoutA  nManaging dock network, ignoring radio surface power offMh$ҏ,cӢH?A2s|@24@2؇ٱ2s :AHRS rotation from veh to nav: [[-0.522162,0.824995,0.216170],[-0.852289,-0.513941,-0.097306],[0.030822,-0.235049,0.971495]]2H@\f?@v?E3r 鸿`?@ο |?i2s|@I2^;2^CY^;@y^BG ddbDjJVDjG9yr\<%r`=ٔv@Q-v>9tIt=v7FyzEzEz>|Q 5B4~ɾ?Q 9B4~]9)~}@Y y  Q I ?~A&BI~:i~F:~CB4yԺBɮBE*j)Bj)i1i1zi1Ji1i1 kakakahI k#ak#ak#ahY2fi:fiBfiJfm@Ej E[EE"EN:*E9VE5ZEa@a@a@a@-,@ɢ-B3Ƚ)) -oi))5QQiU9ỉYIYIAaIqIpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutO%,>Bc>BBPCGBў@BBBB;B)Eqԡ ] zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY] 2Acoustic response timeoutn$ҏ,ܼH?Abx|@bj7@bRٱbDw nAHRS rotation from veh to nav: [[-0.521839,0.823626,0.222091],[-0.852336,-0.514027,-0.096429],[0.034739,-0.239616,0.970246]]bH@%[? xm? WFrUɡ?οA ?ibx|@Ib^;`Yr@yr7BGbD~kJVD~9y % F=ٔQ->9I=7FyEx?:E>!Q 5-B4%?Q 9-B4%Df9)%@Y1y5 Q I5?%'BI%*:i%:%B4y9ɮ=B9*jQBjQiQiYziYJiYiYa kc_kc_kc_hq k_k_k_h2f:fBfJf5@颵2@ɢaɽ) *zi)6icHۻIԉEd E^E|E"E9:*E;9VEם5ZEBEF;a2EF;aJE;a:E;a^Aԅ#;2Acoustic response timeoutԹAiIIO> E >E >^u$ҏ,֑H?Aɰ4<2B|@2)B@2 ٱ2} :AHRS rotation from veh to nav: [[-0.520634,0.822433,0.229224],[-0.852879,-0.513319,-0.095396],[0.039208,-0.245167,0.968688]]2H_Q?5W?`Jmk@?aϿ}?i2B|@I2^;2`CYBW@yBBGbDNJVDN9yV=%VR=ٔV9XIX=Z7FyZE^k];E^>`Q 5fB4bG?Q 9fB4b-n9)b@Ydyf Q If?bH)BIb:ib[:b: B4ynպBɮnBa*jqBjqiqiyziyJiyiy k]k]k]h k]k]k]h2f:fBfJfa@B@ɢc[˽) Ui)iԻI^A*A<2Acoustic response timeoutA II!OM1>AEUr EU\EUEQ"EUk:*EU9VEU5ZEQa]@a]@a]@a]@ 2Acoustic response timeoutY {$ҏ, bH?A2<|@2&^@2*6ٱ2ς :AHRS rotation from veh to nav: [[-0.517603,0.821725,0.238442],[-0.854465,-0.510907,-0.094146],[0.044460,-0.252470,0.966583]]2H4K?@?WZYnæ?w(п??i2<|@I2^;2\CYBI@yBBGBR<AR<BVe>BTBVCGBV"@BV=BTBTBV;BV%Edh h)hIhihhIn=)nC=bDrIVDr9yz%zF=ٔ~9PQ-~>9|I=7FyE;<E> Q 5B4 ?Q 9B4 v9) @YyL Q I? *BI u;i ; .B4y%Bɮ-۰B-E*jBjiiziJii k[k[k[h2f:fBfJfh@1M]@ɢMϽ)Q UOiq)uqqi}ǥλyI^Am<|^=aA$AIIOF>i!I%A-2Acoustic response timeoutԑEE q EE ]EE EA "EE 2h:*EE 9VEE Dz5ZEA BEE ͋;aU 2EE ΋;aU JEE  ;aU :EE  ;aU Թ Z$ҏ,} H?A>!}@>@>ދLٱ>t FAHRS rotation from veh to nav: [[-0.512682,0.822122,0.247533],[-0.857126,-0.506845,-0.091888],[0.049917,-0.259276,0.964512]]>HgN?%?m 8@`Î?п I?i>!}@I>^;>^CYN@yNMBGy5ʡE?333333ӿ3333335/?551 195@5^I ?|?5^ɿ+η?Y5bP?y5M5v=5B1 56B)5QB1Y5Be2Acoustic response timeoutbDu IVDuc9y=<%=6=ٔEFQ-E>9EH?IEH?=E7FyMEMK<EM>QQ 5]B4UR}?Q 9]B4U}9)U@YeW?Q Ee{:yeUQ Ie?UT,BIU:iU:Uh>B4ymBɮmBiq*jBjiiziJii kBkBkBh k3\k3\k3\h2fn>:fn>Bf(?Jf@~@ɢaֽ) i)iyȻI^AS-=ԡAAI!I9OY> 2Acoustic response timeout $ҏ,U$H?A:>}@:@:c cٱ:({ FAHRS rotation from veh to nav: [[-0.507434,0.821387,0.260451],[-0.859908,-0.502132,-0.091770],[0.055402,-0.270531,0.961116]]:H<H?;?]w ;~]?@bPѿu?i:>}@I:«^;:[CYJE@yJBGbDHVD,9yE<%M^=ٔM"tQ-M>9MK?IUK?=U7FyUEU <EU>YQ 5eB4]l?Q 9mB4]9)]@YiymQ Im?]-BI]:i]:]JKB4yuBɮ}ݰB} E*jBjiiziJii kCkCkCh k\k\k\h2f:fBfJf_@y@ɢ) ΌiE}l E}RE}tEy"E}V:*E}9VE}5ZEya@a@a@a@)0顱iU»I^A=ߥ=ߥ%=2Acoustic response timeoutIIOF>Bf>BB|DGBş@B=BBB;B EQ = 2Acoustic response timeouteŎ$ҏ,Q=H?A2}@2څ@2H}ٱ2 >AHRS rotation from veh to nav: [[-0.504106,0.817816,0.277587],[-0.861432,-0.499116,-0.093907],[0.061750,-0.286462,0.956100]]2H!+??ؐ߿O ?cUҿ^?i2}@I2^;2^CYB[@yFBG ||bD 9HVD 9yEZ;%EJ=ٔM쀼Q-M>9IIQ=U7FyUEU<EU>YQ 5eB4]mY?Q 9mB4]%9)]@YiymrQ Im?].BI]:i]:]iYB4yqɮ}ܰBy*jBjiiziJii k`k`k`h kwkwkwh2f:fBfJf֡@@ɢ) ʐi)(iIIEg E^EzE"EC:*E;9VE5ZEBEX;a2EX;aJE;a:E;a^Aԁ2Acoustic response timeoutI!I9Om>ԡ $ҏ,WH?A2}@2х@2giٱ2 :AHRS rotation from veh to nav: [[-0.504814,0.811462,0.294434],[-0.860466,-0.500285,-0.096501],[0.068994,-0.302066,0.950787]]2H@p'?@?UP?@ Uӿl?i2}@I2^;2_C@YB@yF CGbD GVD 9y <%C=ٔ㍼Q->9I=7FyE7,E>Q 5B4!F?Q 9B4ڐ9)A@YyZQ I?<0BIQ;i: hB4yBɮðBE*jBjiizi Ji i  ks^ks^ks^h! kxkxkxh12fA:fABfAJfEd'@ aeC颥@2Acoustic response timeout_G)U˿9QY]7Aɢ])Y ]Mia)en aaieiԩI^A=AoAzAoAIqIEj ENEE"EN:*E҆9VE*5ZEa@a@a@a@O>  2Acoustic response timeoutUכ$ҏ,TqH?A4<ɰp;A"@AA"@AB$B$B& FGB& @B$B$B$B&;B&EBN}@Bz@BwÜٱB^T JAHRS rotation from veh to nav: [[-0.509467,0.803379,0.308260],[-0.857085,-0.505608,-0.098819],[0.076470,-0.314550,0.946156]]BHMH?`?@>m-/L@?!Կ F?iBN}@IBޜ^;@lYr@yrCGbDzxGVDz9yƔ:%W=ٔ XQ- >9 I=7Fy E&wE>Q 5%B44?Q 9%B49)۝@Y)y-Q I-?{1BI:i-:\uB4y1ɮ11*jIBjIiIiQziQJiQiQ ks_ks_ks_hi ksuksuksuh2f :f Bf Jf E@M@ɢM )I MiQ)uqqiuLRyIy 2Acoustic response timeout^AAIiIIO>i bE:5jE5rE1E r E E wE "E k:*E VE ɕ5ZE BE ;a 2E ;a JE :a :E :a $ҏ,H?A9YEA@yECGaauhDAT read: Forwarding Delay UpTx time:19:17:29.8365 }pIn parseResponses, set commsState_ = SENDING_ACK_WAITING}2Acoustic response timeoutI<)=y Cl?sh|??K7 ;? )> I  9 !rh?ʡEtVֿY lg?y   B B jB) .B Y WBbD% GVD%x9y58=%59=ٔQ->9I=7Fy EE>Q 5B4?Q 9B4k9)\@Yx?Q EZ:y^Q I?83BI:i:xB4yBɮBE*j Bj i iziJii k_k_k_h) kSxkSxkSxh92fM֫>:fM֫>BfM@JfMqH@m@ɢm)i uϚiq)uqqiuTyIyiԑ^AI9IIO}> 2Acoustic response timeout $ҏ,|bH?A2{@2Ԅ@26!ٱ2Ln :AHRS rotation from veh to nav: [[-0.530236,0.782617,0.326129],[-0.843134,-0.527232,-0.105602],[0.089300,-0.330964,0.939409]]2H@ 3 ?J?@ `Xܶ?`.տ?i2{@I2Ѫ^;2\CY^K@y^CGtt t)tItixxbDFVDR9y g;% _=ٔnQ-?9Iq=u7FyuEuE}>yQ 5B4}I?Q 9B4}9)}ϗ@YyLQ I?}4BI}:i}:} B4ԙyBɮ*jBjiiziJii k_k_k_h kykykyh2f:fBfJfW @ @ɢ) i)Ji﫻!I!DQDU4=E]c E]TE]EY"E]g5:*E]9VE]5ZEYae@ae@ae@ae@m2Acoustic response timeoutBEe>BABEGGBEP@BABABABE;BEEBBBBBCƳ4^Am=IIO%o>  2Acoustic response timeout}$ҏ,;H?A2yz@28@25ٱ2- >AHRS rotation from veh to nav: [[-0.546045,0.769070,0.332215],[-0.832443,-0.542687,-0.111938],[0.094201,-0.337673,0.936538]]2H3y7?C? _`]?oտ ?i2yz@I2^;2^CYB@yFFDGbDNKFVDN 9yV2<%VQ=ٔV8NQ-V>9XIX=Z7FyZE^NE^>`Q 5fB4b?Q 9fB4b9)b0@YdyfQ If?b6BI`ibN:bMB4ylɮnBl*jtBjxixixzixJixix kakakah  k#xk#xk#xh2f):f)Bf)Jf-@M@ɢM)Q UiQ)UKQQi]~YIa)Eml EiEmEi"EmV:*EiVEm*5ZEiBEmBx;a}2EmDx;a}JEm:a:Em:a^A=}2Acoustic response timeoutAI IQOU>y $ҏ,ْH?A:sx@:Av@:!aɽٱ:| BAHRS rotation from veh to nav: [[-0.565363,0.752435,0.337945],[-0.818980,-0.560830,-0.121417],[0.098171,-0.345414,0.933301]]:H`s?@?5@R,!?Eֿ?i:sx@I:^;8YJ@yJnEG ||bD EVD 9yE=%MA=ٔM$Q-M>9IIQ=U7FyUEU{dEU>YQ 5eB4]Wڽ?Q 9mB4]9)]U@YiymTQ Im?]7BI]:i]:]B4yuBɮ}B}E*jBjiiziJii k_k_k_h kxkxkxh2f:fBfJfK@Qm0@ɢm)gn: i)8!顑iwI2Acoustic response timeoutԁ^A=DqzDu@AE E_E}E"E*Er9VEs5ZEa@a@a@a@ԱA- $AI9 IQ O >߅ 2?߅ ? 2Acoustic response timeout B= <A= <BE f>BA BE IGBE 7@BA BA BA BE ;BE E%$ҏ,H?A2;w@2͘@2DEѽٱ2? :AHRS rotation from veh to nav: [[-0.587065,0.733053,0.343493],[-0.803087,-0.580826,-0.133011],[0.102005,-0.353941,0.929688]]2H<@,u?@??@ֿ?i2;w@I2^^;2`CYB?@yBLFGbD EVD 9yb=%M=ٔQ->9%H?I%H?=%7Fy%E-E->)Q 55B4-½?Q 9=B4-9)-@Y9y=<Q I=?-$9BI-;i-;-B4yMBɮMBI*jYBjaiaiaziaJiaia k_k_k_hy kCykCykCyh2f:fBfJf8@颽=@ɢB_) i)8%iIԱ2Acoustic response timeout^A]=AIIO> E  E XE E "E *E 9VE 5ZE BE a 2E a JE :a :E :a 9 $ҏ,( H?A ɰ"4l> 9ffffff?MbX9?`"?Y3?yʡ>=/BzB {B)BYBbD1EVD9y=%>=ٔQ->9I=7FyEE>Q 5B4?Q 9 B49)+@Y *?Q E D:y |Q I ?:BI:i;B4yɮuB*j1Bj1i1i9zi9Ji9i9 k`k`k`hQ kCwkCwkCwha2fu 6>:fu 6>Bfu?Jfu{@ p@ɢ) !i)q)iX!I!9^Au= 2Acoustic response timeouta A AI I O >i! I! K7$ҏ,&H?A 2s@2KĀ@20ٱ2MȾ >AHRS rotation from veh to nav: [[-0.631355,0.686410,0.360876],[-0.767423,-0.619976,-0.163376],[0.111591,-0.380093,0.918192]]2H@4@??@@Ŀ`B?rSؿ a?i2s@I2^;0YB@yFFIGIJ>)J>bDNDVDNi9yV=%Va=ٔZ}Q-Z>9ZK?I^K?=^7Fy^E^/Eb>`Q 5fB4bΩ?Q 9fB4b9)be@Yhyj-Q Ij?b ) %i)ʌ-iLŝIEEp EEVEExEA"EEd:*EE9VEEe5ZEAaM@aU@aU@aU@iM2Acoustic response timeout &<Bg>BBxMGB@BBBB;BEԙ ^A = 2Acoustic response timeoutA I! I1 Om >g)$ҏ,@H?AB,q@B;@BmDٱB^Ҿ NAHRS rotation from veh to nav: [[-0.651502,0.660816,0.372650],[-0.749245,-0.637547,-0.179346],[0.119067,-0.396050,0.910476]]BHf%?~?f@ƿ/{? Xٿ"?iB,q@IBS^;@YV_@yV$JGbD^9DVD^,9yf[=%jG=ٔjQ-j>9lIl=n7FynEn%En>pQ 5vB4rz?Q 9zB4rR9)r͓@YxyzQ Iz?rR>BIr:ir:r'B4y~BɮBB(E*jBjiiziJii! kwkwkwh1 kcxkcxkcxhI2fY:fYBfYJf]l@u@ɢu)} }iy)}1yi\I}2;ԱE5 E5XE5E1"E5ҝ:*E59VE55ZE1BE5;aE2E5;aEJE1aE:E1aE^AE2Acoustic response timeoutAIIO> OI$ҏ,]ZH?A2Q9pIp=r7Fyr Ev|Ev>xQ 5~B4z?Q 9~B4|z9)z9@YyQ I?z @BIz0;iz1;z9B4y Bɮ/B*j)Bj)i)i)zi)Ji1i1 k3k3k3hA kCkCkChQ2fi:fiBfiJfm:@颅@ɢ. ) bi)!6顑iʛI2Acoustic response timeout)rg:QE]e E]RE]EY"E]<:*E]9VE]c5ZEYam@am@am@am@^A m 2Acoustic response timeoutԁ A A AAB f>B B `QGB @@B =B B B a;B EA I! I1 U Failed to create a data reader. azimuth_vehicleFrame is unknown.U bFailed to request data from azimuth_vehicleFrame.IQ O} >$ҏ,tH?A2n@2|@22G ٱ2) :AHRS rotation from veh to nav: [[-0.684175,0.612313,0.396203],[-0.716233,-0.666550,-0.206691],[0.137530,-0.425186,0.894596]]2H@@?c[?a`T@tʿ ? @6ۿ@?i2n@I2^;2[CYB@yBLGXX X1)iIiiii qqbD}*CVD}9y=%==ٔQ->9I=7Fy#EOE>Q 5C4{?Q 9C49)Ж@YyQ I?ABI;i+;TC4yɮ!B*jBjiiziJii kxkxkxh kxkxkxh2f:fBfJf;@5@ɢ5 )9 =ǥi9)=:99iE^AIIpAqAY2Acoustic response timeout"ԑԹ ^A Em p Em ZEm vEi "Em d:*Em a9VEm -5ZEi BEm ;a} 2Em ;a} JEm 0;a :Em 1;a A I I O5 >8$ҏ,EH?A 2Acoustic response timeoutTbŧm@bԝ{@bdoٱb\ jAHRS rotation from veh to nav: [[-0.696423,0.593518,0.403400],[-0.702744,-0.677934,-0.215770],[0.145415,-0.433754,0.889220]]bHI?M?|W˿?ۿ}t?ibŧm@IbZ^;b_CYr@yrNGymDl?/$bX9ȶ?mO ?m1mE=i i9mV-?L7A`?p= ף?Ymm`CmLB m9B)mBiYmBbDBVD}9y=%<=ٔQQ->9I=7Fy%EG-E>Q 5C4)p?Q 9C49)@YU?Q E~:yQ I?(CBI:i:C4yetBɮeBe2E*jyBjyiiziJii k#xk#xk#xh k#k#k#h2f>:f>BfQ?JfC@E@ɢ8)R Ui)?!!i%/!I)5511Powering down I)qez 9iYmjB2Acoustic response timeout9 ^A =A zA pAA I I! i O >:$ҏ,H?A&;ɰ$Rl@Rz@RٱRVt ^AHRS rotation from veh to nav: [[-0.706014,0.579991,0.406393],[-0.691830,-0.687497,-0.220722],[0.151377,-0.436988,0.886638]]RHH?U? y#`@̿Q`?ۿ`V_?iRl@IR^;PYb6@ybPGEvj Ev]EvyEt"EvN:*Ev9VEv5ZEtaz@az@az@az@bDUBVDU09ye0=%e;=ٔeaQ-m>9iIi=m7Fym(EuI Eu>yQ 5C4}"d?Q 9C4}{9)}@YyQ I?}jDBI}u;i} ;}!C4yvBɮB1E2Acoustic response timeout*jBjiiziJii k#wk#wk#wh1 kCkCkCha2fq:fqBfqJfuۓ@颵@ɢR ) -i)(DiIBEd>BABEVGBE@BABABABE8;BE͗E)^A%=AQ Y Ia Iq  2Acoustic response timeoutO >$ҏ,@hƓH?A 2pk@2y@2E!ٱ2 >AHRS rotation from veh to nav: [[-0.714418,0.569499,0.406543],[-0.681915,-0.696900,-0.222087],[0.156842,-0.435891,0.886228]]2H V9? ?`>M@\m̿a?ۿ`[?i2pk@I2^;2]CYBq@yFQGI~=)~<bD AVD 9yE=%EM=ٔMcQ-M>9III=U7FyU+EUEU>Q 5C4X?Q 9C4U:)9@YyvQ I?EBI:it:"0C4yɮίB*jBjiiziJii kukukuh  ksksksh2f):f)Bf)Jf-k?@M@ɢM.)I UiQ)U@HQQi]ޡYIaqbE}H5jE}»5rE}<~2Ei EYEwE"E,K:*E*9VEɕ5ZEBEse;a2Eve;aJE:a:E:a 2Acoustic response timeoutԙ^A=A) I1 IA Iq u >u >O > Ͱ$ҏ,AH?A22Acoustic response timeout:Kk@:[ y@:&ٱ:|k FAHRS rotation from veh to nav: [[-0.722184,0.560674,0.405085],[-0.672579,-0.705950,-0.221973],[0.161516,-0.432757,0.886924]]:H"` ?? ą%`i̿?Iۿa?i:Kk@I:^;:\CYJū@yJ=SGPbD AVD 9yER=%MJ=ٔM@Q-M>9IIQ=U7FyU-EUEU>YQ 5eC4]bM?Q 9mC4] :)]@YiymEQ Im?]FBI]:i]:]=C4yuwBɮ}By*jBjiiziJii kzkzkzh kCkCkCh92fI:fIBfIJfM@19e reNAggregate::initialize marl:UpdateRudderq9eJ]aq9e9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18mom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnuLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed=@ɢ=o )9 =hi9)ELAAiEҤqIyEg EOEE"EC:*E9VE*5ZEa@a@a@a@2Acoustic response timeoutBM <AM <BU ^>BU )CBU \ZGBU @BQ BQ BQ BU K;BU ՗EBBBBɧ=Bɧ=Cɾ4) ^A A X?A Y?A I I) Q Oe >`$ҏ,NH?AZjj@Z`x@Zr)ٱZX fAHRS rotation from veh to nav: [[-0.728866,0.552985,0.403686],[-0.664546,-0.713257,-0.222808],[0.164723,-0.430665,0.887352]]ZHR ??@C ̿?ۿ0e?iZjj@IZ^;Z^CYjX@yj.UGbDvu@VDvp9y~d=%~?=ٔ~{Q->9I=7Fy0E  ʼE >Q 5C4@?Q 9C4:)@Yy%Q I%?GBI:i:LC4ybBɮB;E*jBji iziJii ky}2Acoustic response timeoutkykyh!2fy:fyBfyJf}@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder}C@ɢ ) i)Q顉i꨻IIEi ETEE"E,K:*E9VE5ZEBEa2EaJE:a:E:a &;y  = < 2Acoustic response timeoutԡ ^A =AII OE>%ҏ,&SH?AB/i@B>w@B%.+ٱBD NAHRS rotation from veh to nav: [[-0.734463,0.547147,0.401490],[-0.657935,-0.719121,-0.223577],[0.166391,-0.428363,0.888155]]BH:?? 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Aҿ`'տ? ٿ.?i2M@I2k^;2]CYR@yRXG ) I i  bD2VD4 9y%>%-D=ٔ-Z:Q-->91I1=57Fy5oE5E5>9Q 5ED4=?Q 9MD4=:)=<@YIyM_Q IM?=mBI=:i=:=qD4yU"Bɮ]FB]QE*jqBjqiqiqziqJiyiy kakakah kwkwkwh2f:fBfJf=@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeeds@ɢyF) 5i)iT'Iqԩ^A=i߹I߹2Acoustic response timeoutII OE> d%ҏ,nH?AE0 E2UE2wE0"E0*E2P9VE2ɕ5ZE0BE2k;a:2E2k;a:JE2:a::E2:a:B&HM@B5>[@B~HٱBrҾ JAHRS rotation from veh to nav: [[-0.941579,0.182154,0.283282],[-0.274919,-0.901566,-0.334063],[0.194547,-0.392427,0.898973]]BHj!@P?J!?@DѿKaտ?ٿc?iB&HM@IB^;BaCYRV@yRG TTy-:v?Qٿ rh?-t?-\Ͼ-C >) )9-S?"~ʿOn?Y-O?y-S->-vC-zB -%B)-]B)Y-8BbDEL2VDE 9yUK>%UG=ٔl:Q->9I=7FyrEԼE>Q 5D4?Q 9D4:)@Yb?Q Eo:y=Q I?OnBI;iB;0D4yɮB2Acoustic response timeout*j9Bj9i9i9ziAJiAiA kxkxkxhy2fR>:fR>Bf @Jf"3@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder@ɢ9) ,i)i0I^A=IyIO>)  2Acoustic response timeout%ҏ,IH?AJ L@JZ@JAHٱJsҾ VAHRS rotation from veh to nav: [[-0.944089,0.173754,0.280188],[-0.266041,-0.903447,-0.336163],[0.194725,-0.391909,0.899160]]JH5@=?? ѿ տ? ٿ?iJ L@IJ^;J^CYZ@y^G`b@AbD-1VD- 9yeN>%eI=ٔmFQ-m>9iIq=u7FyutEuüEu>yQ 5D4}Uu?Q 9D4}]:)}w@Yy=Q I?}toBI}E:i}]:}D4yɮB*jBjiiziJii k`k`k`hA k{k{k{hy2f:fBfJfw@(@ɢ$>4) !i)i#8IDiDma=E}b E}QE}xEy"E}1:*E}v9VE}e5ZEya@a@a@a@ԑBBBGB@BBBB;BE-2Acoustic response timeoutU ^Ay I I O- >v%ҏ,$ƖH?Aɰ;2L@2Z@2Hٱ2sѾ :AHRS rotation from veh to nav: [[-0.946360,0.166141,0.277128],[-0.257828,-0.905231,-0.337759],[0.194749,-0.391093,0.899510]]2H HD?@u?Aпٝտ?ٿ?i2L@I2^;2_CB2Acoustic response timeout\Yn@ynGbDe@1VDeq 9yW>%F=ٔ6vQ->9I=7FywEE>Q 5D4l\?Q 9D4:)AYyK>Q I?pBIb:i8:\D4yɮ׫B*jBjiiziJi i  k3ck3ck3ch2f:fBfJfL@@ɢ1.) %hi!)!!!i%{@)I) g׼E EMEoE"E*E9VE5ZEBE9;a2E9;aJE:a:E:a52Acoustic response timeout^A==IIO>A b%ҏ,H?A2DK@2SY@2fHٱ2о :AHRS rotation from veh to nav: [[-0.948499,0.159420,0.273742],[-0.249944,-0.907528,-0.337523],[0.194621,-0.388560,0.900635]]2HZ@g?@?@,Ͽ@w տV?,ؿ?i2DK@I2Z^;2`CY^@y^qGbD-0VD-& 9y=Gq>%=Q=ٔE 9Q-E>9AIA=E7FyEzEMEM>QQ 5]D4UD?Q 9]D4U݌:)UAYYye>Q Ie?UqBIU;iU<;UD4yiɮmBi*jBjiiziJii kbkbkbh kkkh2f:fBfJf!d@@ɢ1)) Wi)iGIQ92Acoustic response timeoutI^AQ=qA I I! OU >E j E ZE yE "E N:*E a9VE 5ZE a @a @a @a @ԡ B A 4=B I>B B GB F@B B B B 4;B EE 2Acoustic response timeout*˽%ҏ,H?A2t K@2X@2^Gٱ22; :AHRS rotation from veh to nav: [[-0.950848,0.153759,0.268786],[-0.241781,-0.910961,-0.334202],[0.193467,-0.382763,0.903362]]2H Ym@`?3?ο&cտ?0ؿW?i2t K@I20^;2_CY^@y^ɏG``bDj/VDj 9yr1>%vP=ٔvD;Q-v>9tIx=z7Fyz|EzjEz>|Q 5D4~,?Q 9 D4~:)~AY y ?Q I ?~rBI~p:i~g:~D4y#BɮBPE*j)Bj)i)i1zi1Ji1i1y kkkkkkh kCkCkCh2f :f Bf Jf u*@E@ɢE-)I M iI)IIIiM$xPqIqԩ=2Acoustic response timeout@?>@;>ia Ie nA^A e=A U?A `? E f E cE E "E I@:*E L9VE 5ZE BE R;a 2E R;a JE ";a :E ";a A5 $AI9 II O >J%ҏ,8/H?A2suJ@2kX@23CTٱ2~ɾf2Acoustic response timeout nAHRS rotation from veh to nav: [[-0.953614,0.148586,0.261807],[-0.233334,-0.914333,-0.330984],[0.190199,-0.376719,0.906591]]2H` ?q? Ϳ7B.տrX?*ؿ?i2suJ@I2Y^;0YvQ@yvGyuS㥛?sh|?ݿ{Gzud?uuףq q9u+?x&ٿ~jtYu_?yu7ɾuļquגB q)uqYuBbDW/VD 9y=%0=ٔ;Q->9H?IH?=7FyEE>Q 5D4 ?Q 9D4:) AYfu?Q E]:y=@Q I?tBIU:i ;D4yɮnB*jBjiiziJii ksckscksch kkkh2f=:f=Bf?Jf'?@@ɢO)  i)iYI }2Acoustic response timeout1 ^A Q=A= AIA IQ Y O 2%ҏ,q2H?A2I@2W@2X>ٱ2 ƾ :AHRS rotation from veh to nav: [[-0.956814,0.143190,0.252991],[-0.224134,-0.917584,-0.328336],[0.185126,-0.370860,0.910050]]2H`7T?1? l̿ \@tտ8?,׿ !?i2I@I26^;0YB?@yBGXX X)XIZ@iX\ \\^=^p=bDf.VDfQ 9yn_>%nC=ٔnI9rK?IrK?=r7FyrEvEv>Eze EzWEzmEx"Ez<:*Ez9VEz5ZExa~@a~@a~@a~@Q 5E4鹉?Q 9E4:) AYy<@Q I?.vBI;i; E4y!ɮ%?B!*jBjiiziJii kgkgkgh 2f:fBfJft@B-E>B-&CB-GB-[@B-=B)B)B-P;B-Eu@ɢ}p)y }#iy)y2Acoustic response timeoutyibI )^Aw==A1 IA IQ Y O >] 2Acoustic response timeoutc%ҏ,(GLH?A :"I@:W@:D8ٱ:R¾ BAHRS rotation from veh to nav: [[-0.960289,0.137346,0.242860],[-0.214036,-0.921017,-0.325447],[0.178980,-0.364504,0.913840]]:H ? ?`e˿@xԿ@?T׿,>?i:"I@I:^;:]CYJ@yJGLN?AbDVO.VDV 9y^ >%bM=ٔb9dId=f7FyfEf ޼Ef>hQ 5nE4j˹?Q 9rE4j':)j AYpyr;<@Q Ir?jwBIjD;ijr;jE4yv$Bɮv"BzOE*jBjii zi Ji i  kikikih! kjkjkjh12fA:fABfAJfE"̥@e9@ɢexy )a eii)iiiimiqIqiEf ESEwE"EI@:*E9VEɕ5ZEBEa%2Ea%JEl:a%:Em:a%2Acoustic response timeout^AԙII OM> egl>aGrA W9 rAY IAym 6?m xA w%ҏ,J&fH?A4<ɰ2ZH@2PV@2vc1ٱ2 :AHRS rotation from veh to nav: [[-0.963985,0.130012,0.232011],[-0.202539,-0.924261,-0.323604],[0.172366,-0.358941,0.917307]]2H%>=ٔ 9I=7FyEE>Q 5E44?Q 9E4:)AYyv;@Q I?6yBI:i:*E4yɮB*jBjiiziJii k#ek#ek#eh2f:fBfJf߅@5`Aɢ5Dm)9 =i9)AAAiE)rIIQ E%e E%RE%E!"E%<:*E%9VE%*5ZE!a-@a-@a-@a-@^AA1A5AAB9B9B=GB=@B9B9B9B=%;B=E2Acoustic response timeoutI I O >! &B%ҏ,H?ArdG@rZU@r*ٱrCA AHRS rotation from veh to nav: [[-0.968011,0.119608,0.220564],[-0.188255,-0.927377,-0.323314],[0.165875,-0.354494,0.920228]]rH@@?q;?`ȿ+Կe;?ֿ r?irdG@Irx^;pY@yGIq)qy}AyEV-?:v?333333Eh?ET=EA A9EZd;O?MbʡEͿYEj|?yEEoEBA EB)AAYEzBbD]R-VD] 9ym=%m/=ٔuDg9qIy=}7Fy}E}E}>Q 5E4^?Q 9E4:)iAY?Q EQ:yEQ I?{BI ;i;:E4y%BɮB*jBjiiziJii kLkLkLh kcakcakcah2f)K>:f)K>Bf@JfC?AɢO) i)iiy!I!au2Acoustic response timeoutԑ^A6=Iq I O >bE35jE5rE52E- d E- ME- E) "E- 9:*E- 9VE- 5ZE) BE- F;a= 2E- F;a= JE- :aE :E- :aE  2Acoustic response timeout*%ҏ,ڙH?A2[#F@2jT@2.#ٱ2 :AHRS rotation from veh to nav: [[-0.972566,0.104763,0.207700],[-0.169410,-0.930851,-0.323754],[0.159420,-0.350059,0.923062]]2HC@Ѻ??`<ſcԿ`g?@^gֿ?i2[#F@I2$^;2`CY^@y^G`bR=bD-,VD-] 9ԙyU|>%m=ٔI T%ҏ,H?A:vD@:R@:Aٱ: FAHRS rotation from veh to nav: [[-0.977349,0.085695,0.193508],[-0.146252,-0.934376,-0.324886],[0.152969,-0.345828,0.925745]]:H`qF??a¿`iԿ y? "ֿ?i:vD@I:Y^;:_CYJ@yNGbDV,VDV 9y^ J>%^Z=ٔbȎ9`I`=f7FyfEfEf>hErk ErLEr{Ep"ErmR:*Er|9VEr:5ZEpav@av@av@az@Q 5zE4jE?Q 9zE4j:)j AYxyzHQ I~?j~BIj;ij;j TE4y&BɮB*jBjiiziJi!i! kCJkCJkCJh1 k`k`k`hI2fY:fYBfYJf]?uSAɢ}p׼)y }[iy)顁iIBeD>BaBeGBe@Be=BaBaBe*;BeEB&CB&CBBBC'42Acoustic response timeout)^A=III9OUT>Q 2Acoustic response timeouty ;%ҏ,͗H?A2nB@2}P@2C[ٱ2v6 :AHRS rotation from veh to nav: [[-0.981785,0.064263,0.178797],[-0.121214,-0.936522,-0.328990],[0.146305,-0.344670,0.927252]]2H`js?`?@+տ@#?`ֿ` ?i2nB@I2^;2]CYB/@yB֙G DDJ!>J=bDN+VDN 9yv=%zG=ٔz9|I|=~7Fy~E%E> Q 5E4 "?Q 9E4 Æ:)  AYyG@Q I? BI |:i : ebE4y!ɮ%B!*j1Bj1i9i9zi9Ji9iA kHkHkHhQ kcakcakcaha2fq:fqBfqJfu?颕Aɢ$<Ҽ) i)顙iiQIQEi ETErE"E,K:*E9VE5ZEBEse;a2Eve;aJE:a:E:aԁ2Acoustic response timeout^AV)=IaIqO_>ԩ f%ҏ,nH?A2DA@2:O@2[[ٱ2F :AHRS rotation from veh to nav: [[-0.985622,0.041375,0.163824],[-0.095283,-0.936793,-0.336661],[0.139540,-0.347430,0.927265]]2H@6/?0?rd4`ڋտs?J<ֿ`(?i2DA@I2S^;2_CYB)@yB GDDXX X)XIXiXXbDb+VDb 9yj>%jL=ٔn9pIp=r7FyrErFEr>tQ 5zE4v?Q 9~E4E2Acoustic response timeoutvK:)v@ AYyy};F@Q I}?vBIv"BaBelGBeABaBaBaBeC;BeE2Acoustic response timeout I I) Oe >A Q&ҏ,3TH?AB;ɰB4<=f?@=tM@=M;ٱ=չ AHRS rotation from veh to nav: [[-0.988733,0.018448,0.148549],[-0.069368,-0.935855,-0.345491],[0.132647,-0.351903,0.926590]]=H`? ? ±` ֿ?ֿ ?i=f?@I=P^;=^CY@y$Gye/$?y&1|?e;߽eBe2B eпB)eYBaYe=BbD}*VD}\ 9y=%1=ٔ$w9I=7FyEiE>Q 5E4:۸?Q 9E4:) AY|?Q EW:y^:Q I?BI6;im ;E4y(BɮIBME*jBjiiziJii  kcFkcFkcFh2fy>:fy>Bf?JfTe@Aɢ9g) i)iی IM2Acoustic response timeout1^A`=a E d E PE E "E 9:*E ?9VE *5ZE BE F;a 2E F;a JE :a% :E :a% Ia Iq O > 2Acoustic response timeout1x&ҏ,"H?A >=@>K@>ٱ> FAHRS rotation from veh to nav: [[-0.991147,-0.004584,0.132690],[-0.043148,-0.934034,-0.354567],[0.125562,-0.357154,0.925568]]>Hzor`? ;ֿl?ֿ@?i>=@I>(_;%Mb=ٔM9IIQ=U7FyUEUEU>YQ 5eE4]н?Q 9mE4]:)] AYiym D &ҏ,~4H?A27<@2-J@2ٱ2_ :AHRS rotation from veh to nav: [[-0.992831,-0.026746,0.116495],[-0.017337,-0.932113,-0.361753],[0.118262,-0.361180,0.924967]]2HE@>c@ҽ?@ &׿ oF?׿S?i27<@I2$_;2_CTYZAyZDG\^a=D`Db<Efg EfcEfsEd"EfC:*EfL9VEfX5ZEdaj@aj@aj@aj@bDE{)VDE9yt=%F=ٔ=9I=7FyEwE>Q 5E4?Q 9E4Œ:)* AYy=Q I?BI:i:E4y)BɮB*jBjiiziJii k3+k3+k3+h kIBUF>BQBUğGBUABQBQBQBU;BUE2Acoustic response timeoutkIkIh2f:fBfJf\@%Aɢ%L)) -ei))))1i5QIQ^A#=II)O]>) m 2Acoustic response timeout6&ҏ,NH?A2#:@22H@2Hٱ2ٵ :AHRS rotation from veh to nav: [[-0.993774,-0.046629,0.101191],[0.006348,-0.930436,-0.366400],[0.111236,-0.363476,0.924939]]2Hߧ?`z?`!s׿y?1C׿?i2#:@I20 _;2`CY^Ay^aG|bD%(VD%9y56>%5P=ٔ= 9AIA=E7FyEEEwEM>IQ 5UE4M{?Q 9UE4ML:)M AYYy]a?Q I]?MރBIM;iM";MME4ye*BɮmBmLE*jBjiiziJii k-k-k-h ksFksFksFh2f:fBfJfQ@|AɢL) gi )   i xIEi EPEE"E,K:*E?9VEU5ZEBEse;a2Eve;aJEa:Ea)2Acoustic response timeout^A5t=IIQO]v>>>ԁ @&ҏ,hH?AB\9@BRG@B}0ֽٱBT_ RAHRS rotation from veh to nav: [[-0.994169,-0.063573,0.087104],[0.027027,-0.928856,-0.369453],[0.104394,-0.364944,0.925158]]BH:@RFnL?? 1 ׿?>[׿@?iB\9@IB3^;B^CYZGAy^7G ddbDn(VDnm9yz8=%zO=ٔ~T9 I = 7Fy ErVE>i!I!52Acoustic response timeoutYQ 5E4X?Q 9E4:)4 AY!y%@Q I%?BI;i;!E4y)ɮ5B1*jiBjiiiiiziiJiqi kc-kc-kc-h kHkHkHh2f:fBfJfዜ@ AAɢ ) =i)iOIԁEp EQEuE"Ed:*Ev9VE5ZEa@a@a@a@^A57=ԱAA@ABBBGBAB=BBB;BcEII)Oe>2Acoustic response timeout - &ҏ,łH?A~58@~+F@~-ɽٱ~  AHRS rotation from veh to nav: [[-0.994144,-0.078124,0.074667],[0.044935,-0.927204,-0.371853],[0.098282,-0.366320,0.925284]]~H`Y??o׿(?q׿ ?i~58@I~^;~`CYAy3G!%@Aԡy On?㥛 ʡE? x?  =  9 HzG?{Gz?kt?Y =j?y ף=  0= B B  B) vB Y ѼBbD%(VD%79y5=%56=ٔ=`9AIA=E7FyEEE$EM>IQ 5UE4M8?Q 9]E4MD:)M AY]dk?Q E]f:y]EQ I]?MyBIM ;iM ;ME4ymBɮmBmUE*jBjiiziJii kPkPkPh kPkPkPh2fn*>:fn*>Bf?Jf}@Aɢ8){ 웾i)iIIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout^A#=ApAzAA E  E ME xE "E *E 9VE e5ZE BE ;a 2E ;a JE :a :E :a I I O= >9  pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutN&&ҏ,3jH?Aɰ;Fl7@F{E@F*ٱF NAHRS rotation from veh to nav: [[-0.993772,-0.091960,0.062935],[0.061971,-0.925466,-0.373727],[0.092612,-0.367499,0.925401]]FH@?@? k`%׿o?`׿?iFl7@IF^;F_CYVAyV?GbDr'VDr9-nGAYyU>%e\=ٔ}x<9YqAQ->9I=7FyE6E>Q 5E4?Q 9E4:)v AYyFQ I?,BI;i ;3E4yBɮB*jBjiiziJii ksJksJksJh kckckch2f:fBfJf_@Aɢ#Ԩ) )i)i|oIA=zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYE2Acoustic response timeout^AYqA I I! OM >ԙ Y,&ҏ,DH?A26@2D@2`ٱ2 :AHRS rotation from veh to nav: [[-0.993101,-0.105168,0.051858],[0.078233,-0.923694,-0.375058],[0.087345,-0.368413,0.925550]]2H|F캿$??`ؿ@>\?׿?i26@I2^;2^CYBaAyB͢GERc ERNERtEP"ERg5:*ER҆9VER5ZEPaZ@aZ@aZ@aZ@!! !)!I!i!!I-=)-bD5'VD59yE=%EK=ٔMmY9III=U7FyUEUt+EU>YQ 5eE4]?Q 9eE4]ʐ:)] AYiymGQ Im?]BI]1:i]I;]E4BD>BBޣGB?AB=BBB\;B8EyɮB*jBjiiziJii kSKkSKkSKh k3lk3lk3lh2f:fBfJfǦ@5Q Aɢ5ۡ)1 =i9)999i=AIAq2Acoustic response timeoutԡ^AA) I9 IQ O >M 2Acoustic response timeout -3&ҏ,ИH?AY~ Ay~GbD&VD9yE=%EK=ٔEQ-E>9III=M7FyMEMEU>iQ 5E4mݷ?Q 9E4m:)m AYyQ I?mBImp;imV;mE4yBɮtB*jBjiiziJii kSkSkSh knknknh2f:fBfJf  Aɢ l) Di)ixǝI!bE5Й5jE5J5rE5Â2Ef ESEE"EI@:*E9VE5ZEBER;a2ER;aJEl:a:Em:a2Acoustic response timeout}2_.) ^A A Y?A ]?Y A I I e 2Acoustic response timeoutO} ><:&ҏ,kH?A((bh2@bv@@btĕٱbľ nAHRS rotation from veh to nav: [[-0.989049,-0.146351,0.019038],[0.128230,-0.916024,-0.380075],[0.073063,-0.373472,0.924760]]bHK@¿@~?i?P%Sؿ@I?׿?ibh2@Ib^;b]CYrAyr]GbDU(&VDUV9y=%4=ٔ=Q->9I=7FyEE>Q 5E4ﺷ?Q 9E4:)*AYy G@Q I?uBIU:in:E4yBɮbBTE*jBjiiziJii kSkSkSh kfkfkfh2f:fBfJfZ@^B*** querying acoustic contact ***XY Aɢn) i)i&^I1El EjEE"EV:*E9VE6ZEa@a@a@a@Bm<Am<Bu?>BqBuҥGBuABu=BqBqBuQ;Bu0EB1B1B1B1B1C5(52Acoustic response timeout[a^AU e=ԑ A I I I O=>sB&ҏ,I H?A9 I = 7Fy EE>Q 5%F4z?Q 9%F4:)\AY%Y?Q E%y:y%?@Q I-?BBIX:i:F4y,BɮJE*jBjiiziJii k3`k3`k3`h)2f=%>:f=%>Bf=?Jf=@19E rENAggregate::initialize marl:UpdateRudderq9mJ]iq9m9m7momXAggregate::initialize marl:UpdateCommandMode18m]i18mou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]q7unu4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeedԩ Aɢﭼ) i)iJ젼I Ed E^EE"E9:*E;9VE5ZEBEF;a2EF;aJE;a:E;a2Acoustic response timeout ^A Q=) A$A PExceeded connect timeout, disconnecting.II)O]>UI&ҏ,h(H?Av0@v">@vٱvoǾ -AHRS rotation from veh to nav: [[-0.984833,-0.173482,-0.002717],[0.161170,-0.908918,-0.384568],[0.064247,-0.379173,0.923093]]vH4ƿ Af`:?œؿvr? _Dؿ?iv0@Iv^;v^CY=Ay= GIM?A2Acoustic response timeout bD&%VD9yH=%"=ٔf9 H?I H?= 7Fy E %E>Q 5F4Pu?Q 9F4::)AYy>@Q I?!BI >BB0GBAB=BB+DBW;B1E^A A zA oA 2Acoustic response timeoutAA II IY ԁ O >|P&ҏ, BH?A4<ɰ4<2/@2=@2;tٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.982250,-0.187087,-0.013529],[0.177821,-0.905786,-0.384619],[0.059703,-0.380198,0.922976]]2Hn{ǿ,@?2ؿ`_?(Uؿ?i2/@I2'^;2_CYB\AyBwGbDN$VDN9yVv=%V|=ٔVfE k E UE }E "E mR:*E P9VE s5ZE BE q;a 2E q;a JE :a :E :a .V&ҏ,[H?A2~.@2<@2`ٱ2?$Ǿ :AHRS rotation from veh to nav: [[-0.979351,-0.200727,-0.024090],[0.194576,-0.903514,-0.381841],[0.054880,-0.378644,0.923914]]2HVkɿ+?pؿ3?`;ؿ೐?i2~.@I2ʷ^;2`CB=B%=F2Acoustic response timeoutYNAyR0GIV<)V<bDZM$VDZ|9ybw=%fH=ٔfB9dIh=j7FyjEj +Ej>pQ 5vF4rC?Q 9vF4r=:)rLAYtyz\<@Q Iz?rSBIpir=:r;F4y~/Bɮ~1B~IE*jBjiiziJii kZkZkZh1 kZkZkZhA2fQ:fQBfQJfUj8@ AɢiԼ) 3i)i䴣I!XRadio surface powered OFF, will not connect.nManaging dock network, ignoring radio surface power off^AQ==2Acoustic response timeoutIIO>) \&ҏ,uH?A6t-@6j;@6Lٱ6{ž BAHRS rotation from veh to nav: [[-0.976144,-0.214347,-0.034622],[0.211335,-0.901374,-0.377970],[0.049809,-0.376270,0.925170]]6H<o˿@  ?0ؿ?@ؿ ?i6t-@I6^;4YJAyJfGN=N=ll p)pIpippbDz#VDzM9y<%F=ٔ J9 I =7FyE)E>Q 5%F4k'?Q 9%F4L:)8AY)y-?;@Q I-?BI:i:JF4y50Bɮ5,B1*jIBjIiIiIziQJiQiQ kXkXkXhi kXkXkXhy2f:fBfJfX@DzD@AEc EJE|E"Eg5:*Ek9VEם5ZEa@a@a@a@B==>B=%CB=GB= AB==B9B9B=D;B=&E}Aɢ}\X) \оi)顁iNIQhDAT read: Forwarding Delay UpTx time:19:17:57.5863 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԉ^Ae=IIO >Թ M 2Acoustic response timeoutc&ҏ,AH?A2a,@2W:@26ٱ2Ufþ :AHRS rotation from veh to nav: [[-0.972710,-0.227670,-0.044740],[0.227729,-0.899848,-0.372039],[0.044443,-0.372075,0.927138]]2Hp L$Ϳ`2覿5&?~׿7?׿?i2a,@I2^;2_C\YbAybGyMGz?Mb? ףp= ?Mp?M@=MQ=I I9MRQ?y&1p= ף?YMb?yM`eM=MBMB M{B)MtBIYM#BbDe#VDe9yu=%uC=ٔ}/R9I=7FyE#E>Q 5F4 ?Q 9F44:)AY2c?Q Eo:y(;@Q I?BI ;i;XF4y1BɮB*jBjiiziJii k#Yk#Yk#Yh k#Yk#Yk#Yh2fԯ=:fԯ=Bf~@Jf3l%?颽UAɢ) bԾi)i[IE EVEE"E:*E9VE5ZEBEZ;a2E\;aJEC:a:ED:a2Acoustic response timeout! ^A Q=I I O >pi&ҏ,yH?AJ<\+@JJR9@Jl ٱJ* VAHRS rotation from veh to nav: [[-0.969167,-0.240350,-0.054287],[0.243287,-0.898463,-0.365481],[0.039068,-0.367419,0.929234]]JHj`ο@˫@ $?4 d׿?̃׿I?iJ<\+@IJ?^;J`CY^nAybȧG| AAbDU(#VDU9ym&%uK=ٔuZ9yIy=7FyE!E>Q 5F4붉?Q 9F4:)AYy:@Q I?wBIL;iM;fF4y2Bɮ$BHE*jBjiiziJii k^k^k^2Acoustic response timeouth2f:fBfipAIpAJfR!?= Aɢ=B)9 =i9)AAAiEݤAIIMm)Q^AD=D=Ee EPEsE"E<:*E?9VEX5ZEa@a@a@a@B=:>B9B=GB= AB==B9B9B=O;B=+EIYIiO> 2Acoustic response timeoutԁ p&ҏ,PSÙH?A2^*@2 U8@2u ٱ2G :AHRS rotation from veh to nav: [[-0.965481,-0.252605,-0.063543],[0.258289,-0.896920,-0.358917],[0.033671,-0.362940,0.931204]]2H8*пZD@͇?`ֿY=?`i:׿ l?i2^*@I27^;2aCYBa AyBGDF@AbD "VD 9Yy>%I=ٔY9I=7FyEE>Q 5F4ζ?Q 9F4:)0AYy9@Q I?.BI:i:uF4y3BɮB*jBjiiziJii k#ak#ak#ah ktktkth2f :f Bf Jf  Y?-Aɢ-)) 5i1)111i=褼9IAԁ 2Acoustic response timeout}tۼԹ^A =E b E bE yE "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE O;a :E P;a I I OM >w&ҏ,pݙH?A"2Acoustic response timeout&;ɰ&; 48fGrMrA-y9-MrAY5$A}c)@}Y7@}7ٱ}9t AHRS rotation from veh to nav: [[-0.961561,-0.264793,-0.072701],[0.273106,-0.894718,-0.353402],[0.028532,-0.359673,0.932642]]}H@^п z?`$ֿc7? ׿`4?i}c)@I}^;yԙY AyRGbD%L"VD%9y}\1=%}:=ٔ}?9I=7FyEE>Q 5F4?Q 9F4 :)AYy8@Q I?BI ;i.:dF4y4BɮB*jBjiiziJii k[k[k[h kukukuh2f:fBfJfGe?额Aɢ,) i)顡iˤI@@@@2Acoustic response timeout! 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 2Acoustic response timeouty &~&ҏ, H?A2@2$@2$ٱ23Jʾ >AHRS rotation from veh to nav: [[-0.837095,-0.507699,-0.203748],[0.546987,-0.770783,-0.326648],[0.008794,-0.384883,0.922923]]2H{?iʿ`?AԿ@u?ؿ?i2@I2O^;2`CYF AyFGHJ?AyZd;O? rh?~j?C= 9"~j?L7A`? rh?YSC?y+>C= B)YBbD-VD-89y=<%=J=ٔE;Q-E>9AIA=E7FyMEMPWEM>QYQ 5G4Uܴ?Q 9G4U9:)UQAYF?Q E:yH0@Q I?UIBIU:f!]>Bf@Jf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedEa EWE}E"E%.:*E9VEs5ZEa%@a%@a%@a%@U+AɢUX)Q U_iY)YYYi]YsaIaMO=ԑIII 2Acoustic response timeoutO%,>Ա E&ҏ,䰛H?A;ɰ;22Acoustic response timeout:@:"@:ٱ: ɾ RAHRS rotation from veh to nav: [[-0.825507,-0.522825,-0.212585],[0.564375,-0.761718,-0.318224],[0.004446,-0.382674,0.923873]]:Hj5˿[?_]Կ~5r?}ؿ]?i:@I:6_;:_CYr AyrKG  )IibD%VD%9y5"<%5K=ٔ5199I9==7Fy=EETEE>IQ 5UG4Mô?Q 9UG4MW6:)MkAYQyU.@Q IU?MBIM:iM;M0G4yerBɮeըBe,E*jqBjqiyiyziyJiyi kukukuh kvkvkvhԹ2f:fBfJf3ܟ@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderAɢמ) i)icIBBBGB0 AB=BBB;B@E0E-b E-OE-zE)"E-1:*E-9VE-5ZE)BE-9;a52E-9;a5JE-M:a=:E-N:a=AAAEV?2Acoustic response timeoutAIIO>9 &ҏ,ʛH?A2 }@2s!@29ٱ2Ǿ >AHRS rotation from veh to nav: [[-0.814492,-0.536520,-0.220792],[0.580174,-0.753428,-0.309426],[-0.000338,-0.380123,0.924936]]2HQ++B̿ɐ?ӿ6Sؿ?i2 }@I2<_;0YB AyB$GIJ<)Jp=bDN(VDN9yV%VS=ٔZoJ9XIX=Z7Fy^E^KE^>`Q 5fG4b?Q 9fG4b3:)bAYhyj-@Q Ij?bBI`ib:bG4y]tBɮ]ڨB]+E*jiBjiiqiqziqJiqiq ktktkth ktktkth2f:fBfJfA@hAɢ🝽) i)iIqApA"u2Acoustic response timeoutAAI IAOM0>qE5 g E5 JE5 E1 "E5 C:*E5 k9VE5 85ZE1 a= @a= @a= @a= @i! I! - 2Acoustic response timeoutԙ Ĺ&ҏ,H?A2@2{ @2&n;ٱ2Ǿ :AHRS rotation from veh to nav: [[-0.805613,-0.547124,-0.227251],[0.592431,-0.746334,-0.303333],[-0.003644,-0.378999,0.925390]]2H Ϳ1?`@iӿ`mAؿ`˜?i2@I2_;2aCYB AyB9K?IK?=7FyE E>Q 5G4?Q 9G42/:)AYy,@Q I?3BI0Q;i R;#G4y BɮB"Eq*jBjiiziJii kkkh2fA:fABfAJfEɞ@)Aɢ ) ]i)i[PI ԡ2Acoustic response timeoutA I I! OU >B #>B B B B B B B a;B (E D9 zD9 EE c EE KEE sEA "EE g5:*EE ]t9VEE X5ZEA BEE ?;aM 2EE ?;aM JEE /:aU :EE 0:aU &ҏ,#H?AR1@R>@R;ٱRMPž vAHRS rotation from veh to nav: [[-0.798503,-0.556224,-0.230232],[0.601967,-0.741155,-0.297197],[-0.005329,-0.375904,0.926643]]RH W@;xͿOC? Eӿ.u ؿ?iR1@IRK^;PY AyGIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutbD=9VD=c9ԙyQ%:=ٔy;Q->9I=8FyE$ܼE>Q 5G4x?Q 9G4=+:)AYy+@Q I?BI.;i;G4yBɮB!E*j9Bj9i9i9zi9Ji9iA ksdksdksdhq2f:fBfJfb@Aɢ撧) mi)iS񊼉I)AyIIOc>M pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITU 2Acoustic response timeout'ҏ, OH?A:@: @:ۿ;ٱ:xþ FAHRS rotation from veh to nav: [[-0.792087,-0.564716,-0.231719],[0.610380,-0.736403,-0.291799],[-0.005855,-0.372567,0.927987]]:HX'Ϳ;?Ԭҿuw`!׿?i:@I:8^;:bCYJ AyNG y}}By }yB)}YByY}ѾBbDVD9yw%_=ٔ:Q->9I=8FyEE>Q 5G4\?Q 9G4%:){AY?Q E?:yn$@Q I?BIn:i:/G4yBɮB E*jBjiiziJii k]k]k]h k]Eh EYEyE"EG:*E*9VE5ZEa@a@a@a@k]k]h 2f=>:f=>Bf=r!@Jf=\@Q}r Aɢ}M) Ti)顁iԏI zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutAIIO5O>yԩ \ 'ҏ,w,2H?A"2Acoustic response timeout:al@:nb@:];ٱ:Z¾@ FAHRS rotation from veh to nav: [[-0.785771,-0.572854,-0.233244],[0.618492,-0.731123,-0.287970],[-0.005565,-0.370537,0.928801]]:H@ %`TͿ?[enҿv׿?i:al@I:f^;8YJ AyN>GPPbDZ4VDZ9y=% U=ٔ EQ- >9I=8FyEaۼE>!Q 5%G4%>?Q 9-G4%v:)%aAY)y-#@Q I-?%BI%:i%:%G4y5Bɮ=B=E*jIBjIiQiQziQJiQiQ kZkZkZhi kikikihy2f:fBfJfҔ@颭 AɢGĽ)< i)fc顱iEIԩAAIQIaO>BM">BIBMԭGBMX ABM=BIBIBM;BMTED=D4=Ea EUEE"E%.:*EP9VE5ZEBEM3;a2EO3;aJE:a:E:a2Acoustic response timeout ia Ia 6'ҏ,LH?A2@2@2$~;ٱ2E >AHRS rotation from veh to nav: [[-0.779222,-0.581104,-0.234801],[0.626732,-0.725163,-0.285211],[-0.004532,-0.369399,0.929260]]2H b@h ο0?4@ҿ`r =׿~?i2@I2^;2`CY^ AybGbDjVDj9lyv-%vL=ٔv`)Q-v>9xIx=z8FyzEz׼E~>Q 5G4 ?Q 9 G4:)SAY y #@Q I ?gBI:i:G4yBɮBE*jBjii!zi!Ji!i! kgkgkgh2f:fBfJf@U2Acoustic response timeout颭!Aɢi) i),顱i|I AyIIOc>1 E h E PE E "E G:*E ?9VE 5ZE a% @a% @a% @a% @ _G 몿9 Y Aa  2Acoustic response timeout:'ҏ,eH?A6l@6y@6ET);ٱ6'¾ JAHRS rotation from veh to nav: [[-0.772391,-0.589284,-0.236972],[0.635142,-0.718130,-0.284402],[-0.002584,-0.370180,0.928956]]6H n`jUοS?`3ҿ *e׿?i6l@I6ߍ^;4YV- AyVGxx x)xI|i||I=);bDTVD91y5=%=D=ٔ=YQ-E>9III=M8FyUEUԼEU>aQ 5mG4e5?Q 9uG4e:)eTAYqyub"@Q Iu?eSBIe;ie,;e2G4y}BɮBE*jBjiiziJii kOkOkOh2f:fBfJf99@5]"Aɢ5sĽ)9 =i9)eMMaaieꀼiIqYAIIOH>Y]%=e2Acoustic response timeoutԁԱ A1 A1 B= #>B9 B= GB= AB9 B9 B= *DB= ;B= EE n E RE E "E O]:*E 9VE 5ZE BE e;a= 2E g;a= JE $:a= :E %:aE 2'ҏ,H?AP@F@$ ԡ2Acoustic response timeoutٱ,þ AHRS rotation from veh to nav: [[-0.764962,-0.597994,-0.239239],[0.644075,-0.709924,-0.284913],[0.000535,-0.372035,0.928218]]H@z "`bοB?`<ҿ`A?@m׿ ?iP@I^;Y AygGR=y(\?T㥛 Mb? 9I +?~jtV-?Y9?yD<BB B)Y8BbDVD`9y-b%-$=ٔ5̻Q-5>99I9=E8FyEEE׾EM>QQ 5eG4U۳?Q 9eG4U:)UAYee?Q Em7:ymh@Q Im?U{BIU!;iU ;UG4yuBɮuBuE*jBjiiziJii kEkEkEh kEkEkEh2f_=:f_=Bf(@Jf@#Aɢ) i).i/+|IM e} 2Acoustic response timeout A I I O >O&'ҏ,̘H?A6 @6@6x7ٱ6wľ >AHRS rotation from veh to nav: [[-0.757187,-0.607096,-0.241043],[0.653179,-0.700912,-0.286496],[0.004981,-0.374375,0.927264]]6H@:Um~ο? m@Uҿft?׿`%?i6 @I63^;6_CYFi AyFGbD-VD-=9ye=%m=ٔmhQ-m?9iIq=u8Fyu EuFEu?yQ 5H4}|ų?Q 9H4}:)}AYy@Q I?}3BI}#:i}<:}H4yBɮ BE*jBjiiziJii kEkEkEh kFkFkFh2f:fBfJf-@#AɢP) Oi)0Uidw!I!bE]5jE]£5rE]22Eg ENEE"EC:*E҆9VE5ZEa@a@a@a@Erg:2Acoustic response timeout!AyIIOE>Qy D,'ҏ,CtH?A2Acoustic response timeout: @:@:*ٱ:^ƾ BAHRS rotation from veh to nav: [[-0.749209,-0.616038,-0.243277],[0.662252,-0.690971,-0.289796],[0.010428,-0.378229,0.925654]]:H@@#Ͽ`+1?n ҿ ![?`4ؿ@?i: @I:^;:`CYHyH ||bD PVD  9ٔZQ->9I=8Fy EE>Q 5H4s?Q 9H49)QAYy@Q I?%BIB:i9:H4yBɮ BE*jBjiiziJii kJkJkJh kckckch2f :f Bf Jf Ӗ@%6$Aɢ%m׽)) -gi))-Tһ))i5՞rqyIyR==B >BBGB ABBB)DB;BٛEBB#CBBĥ=BCT 5ԡEc E\E}E"Eg5:*E9VEs5ZEBE?;a2E?;aJEx ;a:Ey ;aH<2Acoustic response timeoutA$AII O > a/3'ҏ,[͜H?A2 @2+@20aٱ2Lkɾ >AHRS rotation from veh to nav: [[-0.741256,-0.624641,-0.245687],[0.671009,-0.680386,-0.294655],[0.016891,-0.383273,0.923481]]2H _rϿx?@ҿ K?`ؿ '?i2 @I2^;2aCYB AyFYGDDbDVD8yE<%E<ٔEQ-E>9MH?IMH?=M8FyMEUEU>YQ 5eH4]?Q 9eH4]9)]AYaye#@Q Ie?]BI]:i]:]H4yuBɮuBuE*jBjiiziJii kKkKkKh! k3ak3ak3ahq2f:fBfJfz@$Aɢؽ) Ѹi)HimI]2Acoustic response timeoutAAIIEh EKEyE"EG:*E]t9VE5ZEa@a@a@a@) O5 > 2Acoustic response timeoutQ lY9'ҏ,6H?A"4<ɰ ^e0 @^q&@^?¼ٱ^+˾ jAHRS rotation from veh to nav: [[-0.732422,-0.634446,-0.247053],[0.680439,-0.669470,-0.298016],[0.023681,-0.386378,0.922036]]^H pbM mϿ'?Klӿ@??kؿR?i^e0 @I^x^;^bCYn Ayr2GbDzbVDz>8y砼%N=ٔxQ- >9 K?I K?= 8Fy EE>Q 5%H4q?Q 9%H4P9)0AY!y-R@Q I-?BI:i :p+H4y5ϺBɮ5B5E*jIBjIiIiIziIJiQiQ kHkHkHha kakakahy2f:fBfJf#@颽r%Aɢo) ji)KRiL%iI1A$AIIIOE/>]hDAT read: Forwarding Delay UpTx time:19:18:11.4375 epIn parseResponses, set commsState_ = SENDING_ACK_WAITINGe2Acoustic response timeoutiԁ B <A B ">B B GB LAB B B B ;B EE e E SE E "E <:*E 9VE 85ZE BE `L;a5 2E bL;a5 JE l:a= :E m:aE ӿ*?@ؿYw?ijP @I^;`CY Ay]GI%<)%p;y=+?~jtп+=_?==9 99=(\?HzG7A`¿Y=n?y== ==B=B 9)99Y=BbDeVDe8y}ߑ<%}(=ԉٔdQ->9H?IH?=8FyEE>Q 5H4yZ?Q 9H4_9)AYs?Q E_:y @Q I?BI :i:z:f1>BfÒ?Jf1P@;&Aɢ[׽) ÿi)(i*dIAzApAԱAII1Oew>e 2Acoustic response timeout {hF'ҏ,H?A2"e @2.[@2?ٱ2@Fξ >AHRS rotation from veh to nav: [[-0.712782,-0.655058,-0.250681],[0.700422,-0.646056,-0.303349],[0.036757,-0.391804,0.919314]]2H@<) п`i?}jӿѢ?Qٿ`k?i2"e @I2}^;2_CYFe AyFGHJa=bDRVDR8yZ)%Z=ٔZcQ-Z?9\`I\=b8FybEb=Ef?dQ 5jH4foL?Q 9nH4f9)fAYlyn @Q In?f~BIf;if ;fOGH4yvҺBɮv%BvE*j|BjiiziJii kDkDkDh2f:fBfJfN@&Aɢ ) oʿi)8i`IE EYEvE"E*E*9VE-5ZEa@a@a@a@AmAIqIO>2Acoustic response timeoutA L'ҏ,4H?A2Acoustic response timeout:u@:k@:3/ٱ:jϾ BAHRS rotation from veh to nav: [[-0.702268,-0.665312,-0.253336],[0.710618,-0.633661,-0.305769],[0.042902,-0.394757,0.917783]]:H`x@9K?IK?=8Fy%E%YE%>)Q 55H4-:?Q 95H4-U9)-?AY1y= @Q I=?-HBI-;i-;-UH4yEBɮE&BEE*jYBjYiYiYziaJiaia kCkCkCh2f:fBfJfL@}W'Aɢ}T|)y }zʿiy)>N顁ig[IIB%>BBGBAB=BB*DB.;BAEIIO (>Et EGEE"Es:*ER9VE5ZEBE4;a2E5;aJE!t:a:E#t:aq2Acoustic response timeoutԡ qzS'ҏ,ȖNH?A:@:$u@:Fٱ:jqо BAHRS rotation from veh to nav: [[-0.691347,-0.676038,-0.254974],[0.720895,-0.621736,-0.306195],[0.048472,-0.395497,0.917188]]:H`Qп?B@ӿ bѨ?OٿY?i:@I:đ^;8YJ AyJ|G LLbDV&VDV8yZ?Ƽ%^P=ٔ^hQ-^>9`I`=b8FybEfEf>hQ 5jH4j)?Q 9nH4j9)jAYlyn @Q Ir?jBIjn;ihjcH4yvBɮv,BvE*j|BjiiziJii  k'k'k'h kOkOkOh)2fA:fABfAJfE K@]'Aɢ])a e;пia)ee baaimWiIqyAY?AQ?52Acoustic response timeoutIqIO=ԡEd EEE"E9:*E n:VE5ZEa@a@a@a@ 2Acoustic response timeout Y'ҏ,;shH?A2@2@2\ٱ2о >AHRS rotation from veh to nav: [[-0.680867,-0.686140,-0.256189],[0.730435,-0.610487,-0.306219],[0.053709,-0.395624,0.916841]]2H`feп@_?ӿ?QٿV?i2@I2^;0YB4AyFGDDbD-VD-8y?=%<=ٔFQ->9I=8FyEE>Q 5H4?Q 9H4׽9)AYy5@Q I?۩BIu;iw;rH4yɮ"B*jBjiiziJi!i! k#4k#4k#4hQ2fa:faBfaJfe7J@颅(Aɢ4) ӿi)y顉i æSIIIO>E2Acoustic response timeout1A A @AB (>B B GB AB B B B ;B EY E  E bE E "E *E 9VE 5ZE BE F;a 2E F;a JE O;a :E P;a% r`'ҏ,YH?Af;ɰd@ǚ@-sٱAо2Acoustic response timeout AHRS rotation from veh to nav: [[-0.669791,-0.696444,-0.257577],[0.740167,-0.598422,-0.306665],[0.059435,-0.396051,0.916303]]HnEI"|пs? F&dӿMn?`XٿZR?i@Iա^;dCYAyMGAy5Mb?zGếMbp5c?5 ׽51 195 +?{Gz+ǿY56?y5ף5v>5B5B 5B)51B1Y5BbDMVDM8y];=%]1=ٔeKQ-e>9iIi=m8Fym"Em Em>qQ 5}H4u?Q 9}H4u.9)uAY=?Q E:y@Q I?uBIuz ;iu ;u؂H4yBɮBE*jBjiiziJii k+k+k+h k+k+k+h2f3>:f3>Bf?@Jfŷ@ D)Aɢ y)  տi )'di-OIIIOM1>Yԉ>M 2Acoustic response timeoutԱ f'ҏ,c(H?A:c@:o@:Cٱ:о BAHRS rotation from veh to nav: [[-0.657507,-0.707549,-0.258957],[0.750679,-0.585745,-0.305588],[0.064536,-0.395320,0.916273]]:H M `= п ?`kÎӿp?@LٿR?i:c@I:#^;:cCYJAyJGI~N>)~x>bD VD $8yEh=%Mt=ٔMzQ-M?9IIQ=U8FyU$EU:FEU?yQ 5H4}?GQ 9H4}{9)}AYy@YEj EOEsE"EN:*E9VEX5ZEa@a@a@a@ԩgۿ9YAQ I?}BI}?1=i},=}H4yɮB*jBjiiziJii kS3kS3kS3hQ2fa:faBfaJfeH@额)Aɢ2 ) ؿi)-顩iKIAoAzAnAIQIaO>2Acoustic response timeout ] 2Acoustic response timeoutl'ҏ,&H?AY:Ay$GbD-VD-8y=$q=%=J=ٔ=Q-E>9AIA=E8FyE'EMEM>QQ 5]H4UR?Q 9]H4U9)UAYYyYQ Ie?UBIU:iU:UH4ymBɮmBmE*jBjiiziJii kkkh k3,k3,k3,h2f:fBfJfa*Aɢ) 1ٿi)iܝi-HIII!OM=B%&>B!B%GB%]AB%=B!B!B%c;B%vEDDC=Ef EREE"EI@:*E9VEZEBER;a2ER;aJE$:a:E%:a2Acoustic response timeoutA s'ҏ,]ϝH?A06N@6Z@6{ٱ6 Ͼ BAHRS rotation from veh to nav: [[-0.627043,-0.733298,-0.262850],[0.775283,-0.554610,-0.302232],[0.075847,-0.393296,0.916278]]6H`-wп@?@]`Wӿj? +ٿ`&R?i6N@I60e^;6bCYFlAyJaGbDRVDR8yZ=%ZT=ٔZQ-^>9\I\=b8Fyb)EbxнEb>dQ 5jH4fG沉?Q 9jH4f 9)fyAYhyn8@Q In?f0BIfW:if;fH4yrBɮrBrE*j|Bj|iiziJii kkkhY2fi:fiBfiJfmA@颭*Aɢ4C) ^ܿi) 顱iDI52Acoustic response timeoutԑA!I1IAO>ԹbE=:5jE=Ȝ5rE=H2Ed ENEqE"E9:*E҆9VE5ZEa@a@a@a@  2Acoustic response timeout y'ҏ,H?A2d@2p@2꨽ٱ2 о >AHRS rotation from veh to nav: [[-0.610459,-0.745664,-0.267068],[0.787751,-0.536519,-0.302647],[0.082385,-0.395137,0.914920]]2HyѿB5?*+^ӿ6?Iٿ@G?i2d@I2s^;2aCYFAyFG`dd d)hIhihh llbDvVDv28y~<%F=ٔρQ->9 I = 8Fy,EME>!Q 5-H4%ڲ?Q 9-H4%9)%AY1y5@Q I5?%ͬBI%;i%;%H4yAɮEBA*jiBjqiqiqziJii kkkhI2fy:fyBfyJf}@额+Aɢ) Fi)J顡i~AIA\?AU?A!I)I9Ou6>%2Acoustic response timeoutB! A! B- ->B- $CB- GB- (AB- =B) B) B- ;B- EBBBBɦ=BCܶ4I E h E VE E "E G:*E 9VE H5ZE BE ._;a 2E 1_;a JE C:a :E D:a ހ'ҏ,*H?Ar?rf @rٱr0Ҿ zAHRS rotation from veh to nav: [[-0.593725,-0.757024,-0.272774],[0.799762,-0.517787,-0.303774],[0.088725,-0.398512,0.912861]]rH`9 uѿॗ?qӿ`?`8ٿ@)6?ir?Ir[^;r`CYAyðG  }2Acoustic response timeouty$C?I +?~jtZ?94= 9$C?Zd;O?J +Y?yj<>ȽBFB /B)Y BbD-VD-8y<%1=ٔobQ->9I=8Fy/E8E>Q 5H4Ȳ?Q 9H49)#AY#?Q E:y@Q I?aBI:i:H4yBɮ BE*jBjiiziJii kkkh k-k-k-h)2f=->:f=->Bf=d(@Jf=Eݞ@]@,Aɢ])Y ]%ia)eM ¼aaievb>iIi9AqIIOA>i% 2Acoustic response timeoutԙ R'ҏ,PnH?A$ɰ&4<M? @ٱ~Ծ -AHRS rotation from veh to nav: [[-0.577195,-0.767666,-0.278450],[0.811133,-0.499552,-0.304157],[0.094390,-0.401418,0.911018]]H`bx@` ѿ@?߿@Nwӿ`)?԰ٿ'?iM?Iu^;Y5Ay5GybDHVDx8y.>%W=ٔsuQ->9I= 8Fy 1E 3YE >Q 5H4蹲?Q 9H49)~AY!y%V@Q I%?ۭBI:i:H4y)ɮ-B)*jABjIiIiIziIJiIiI kckckcha k*k*E}b E}OE}qEy"E}1:*E}9VE}5ZEya@a@a@a@k*hi2fy:fyBfyJf}:@19} rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颭,Aɢ) i) μ项i;I2Acoustic response timeoutԩAI)I9OuX> = 2Acoustic response timeout/'ҏ,N7H?A2?2 @2ʽٱ2éվ >AHRS rotation from veh to nav: [[-0.560550,-0.777930,-0.283918],[0.822187,-0.481833,-0.303061],[0.098959,-0.403314,0.909695]]2H`+ҿZO?@[޿XeӿZU?ٿ8?i2?I2Y^;2aCYB2AyFUGI~=)~C=bD VD 68yEc%EW=ٔMwEQ-M>9III=U8FyU3EUWEU>YQ 5eH4]_?Q 9eH4]A9)]AYiym@Q Im?]VBI]:i]:]BH4yuBɮBE*j!Bj)i)i)zi)Ji)i) k3k3k3ha k3/k3/k3/h2f:fBfJf-@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderk-Aɢ@!) i)/cټi8IApAzApAB.>BB}GBAB=BB+DB;BEEl EJEuE"EV:*Ek9VE5ZEBEBx;a2EDx;aJE:a:E:aAIIIO}Y>2Acoustic response timeout)Y 'ҏ,'QH?A:+?: @:ѽٱ:־ BAHRS rotation from veh to nav: [[-0.543802,-0.787933,-0.288860],[0.832974,-0.464883,-0.300063],[0.102143,-0.403788,0.909132]]:H@f6|ҿ ?@ݿ:4ӿ &?@ٿ?i:+?I:Q}^;:`CYJAyJGLLbD VD 8yE=%EJ=ٔMQ-M>9IIQ=U8FyU6EUJEU>YQ 5eH4]@?Q 9mH4]9)]3AYiym@Q Im?]خBI]:i]:]aH4yqɮ}By*jBjiiziJii k-k-k-1hy2f:fBfJf@颽-Aɢ) i)Di{5I2Acoustic response timeoutA!I)I9aOm5>ԉEk EwEwE"EmR:*E:VEɕ5ZEa@a@a@a@ 2Acoustic response timeoutԹ >A'ҏ,kH?AFG?FF@F4սٱFվ fAHRS rotation from veh to nav: [[-0.527061,-0.797959,-0.292351],[0.843450,-0.449112,-0.294771],[0.103917,-0.401946,0.909748]]FHߵҿ@? Aܿ ҿ M? zٿ`?iFG?IF[^;DYnAynBGbD~/VD~u8y<%N=ٔQ->9I!=%8Fy%9E%pLE%>)Q 55H4-?Q 95H4-DŽ9)-AY9y=v@Q I=?-XBI-;i-;-FH4yEBɮEBME*jYBjYiYiaziaJiaia k9k9k9h2f:fBfJfuA@.Aɢr0') i)i2IԡA!I1IAOu>Թ2Acoustic response timeoutA A B +>B B GB AB =B B *DB ;B àEE f E ZE ~E "E I@:*E a9VE 5ZE BE R;a 2E R;a JE 0;a :E 1;a  T('ҏ,ڄH?A6K3?6@6!ؽٱ6{Ҿ VAHRS rotation from veh to nav: [[-0.510883,-0.808077,-0.293273],[0.853179,-0.434840,-0.288096],[0.105277,-0.397398,0.911587]]6H (Y ҿ>M?jۿ+pҿ u?nٿ@+?i6K3?I6K^;6bCYbAyb G hh2Acoustic response timeouty??i|?5??== 9X9v?`"?@5^I ?YS?yw>b>BtB B))BY.BbD VD 8yL=%;=ٔ%LQ-%>9!I!=%8Fy%;E-1E->1Q 5=I45]u?Q 9=I45W~9)5fAYE_?Q EEs:yE@Q IE?5BI5: ;i5L:5I4yIɮMBI*jaBjaiaiaziaJiiii k k k h92fMdf>:fMdf>BfM@JfM@8/AɢI5)  i )]iy%0IAm[?Am]?AIIOg> 2Acoustic response timeoutI R'ҏ,H?A6G?6/@6۽ٱ6о >AHRS rotation from veh to nav: [[-0.496634,-0.816889,-0.293338],[0.861334,-0.422164,-0.282633],[0.107043,-0.393027,0.913275]]6H`߿ # ҿ ?ۿ@ҿ'g?`['ٿ9?i6G?I6_^;4YF)AyFGHHbDR;VDR8yZp=%Zd=ٔ^wQ-^>9\I`=b8Fyb>Eb<Eb>dQ 5jI4fa?Q 9jI4fx9)fAYlyn@Q In?fBIfL ;ifT;fI4yrBɮrרBvE*j|Bj|i|iziJii kkkh kkkh)2fA:fABfAJfEa@/Aɢ2) Hi)_i;- IEeb EeWEeEa"Ee1:*Ee9VEeq5ZEaam@am@am@am@QAM$AIQm2Acoustic response timeoutIaO>yԩ  2Acoustic response timeout$}'ҏ,H?Aɰ@F[M?F@FٱFw#; NAHRS rotation from veh to nav: [[-0.484443,-0.824860,-0.291411],[0.867938,-0.411472,-0.278162],[0.109538,-0.387680,0.915263]]FH߿Aeyҿ@&?Uڿiѿ@ ? ؿI?iF[M?IFJ^;FdCYVAyV9Ghh l)lIlillbDvVDv68yz9p=%~F=ٔ~-ǻQ-~>9H?IH?=8Fy@E j E >Q 5I4qK?Q 9I4r9)AYy@Q I%?nBI@;i*b;)I4yMBɮMͨBUE*jaBjaiiiiziiJiiii kckckch ksksksh2f:fBfJf@J0Aɢ%) i) i i*IQB}(>B}#CB}GB}AB}=ByByB};B} EԱAAIIO$>Eml EmPEmqEi"EmV:*Em?9VEm5ZEiBEmBx;au2EmDx;auJEm:au:Em:a}}2Acoustic response timeout d'ҏ,7nҞH?A2?2U@2,Kٱ2Iʾ >AHRS rotation from veh to nav: [[-0.473708,-0.832001,-0.288749],[0.873442,-0.401888,-0.274929],[0.112696,-0.382442,0.917081]]2H@:Q޿zҿ 9~K?I~K?=~8Fy~CEE>1Q 5=I455?Q 9EI45al9)5AYAyEI@Q IE?5#BI5i ;i5 ;57I4yM3BɮM֨BUE*jaBjaiaiiziiJiiii kckckch kckckch2f:fBfJf;}@0Aɢ)) i)i'I2Acoustic response timeout A!I1IAOu> )-C}G3ο9Y2A1iqIqE}c E}OE}sEy"E}g5:*E}9VE}X5ZEya@a@a@a@a  2Acoustic response timeoutC'ҏ,MJH?AB>?Br@B^ٱBIȾ JAHRS rotation from veh to nav: [[-0.463230,-0.838291,-0.287552],[0.878597,-0.391874,-0.272952],[0.116129,-0.379082,0.918047]]BHݿG@gҿv?uٿ xѿ?Bؿ`?iB>?IBH^;B_CYRAyRqGTT9bDM,VDM8y=%@=ٔQ->9I=8FyEEE>Q 5I4k?Q 9I4e9)AYy@Q I?ݲBI:i:yFI4y5BɮĨBE*jBjiiziJii ksksksh ksksksh2f!:f!Bf!Jf%@Ew1AɢE͐()A MliI)MLIIiMT$QIYiAIIO!>2Acoustic response timeoutԑBm <Ai Bu ,>Bu $CBu ʷGBu rABq Bq Bu +DBu ;Bu E D zD AAE d E NE rE "E 9:*E ҆9VE 5ZE BE F;a 2E F;a JE :a :E :a [w'ҏ,[&H?AJk?J@JٱJz2Ǿ fAHRS rotation from veh to nav: [[-0.452676,-0.844180,-0.287130],[0.883615,-0.381494,-0.271452],[0.119616,-0.376593,0.918624]]JHܿ`X`ҿF?`ejؿw_ѿ@%?ؿ ^e?iJk?IJg^;JbCYLAy`GE2Acoustic response timeoutԙyʡE?{Gz?ˡE??#<'> 9HzG?J +??Y=?y=>B )YBbD VDD8y%:=%%B=ٔ%Q-%>9)I)=-8Fy-HE5E5>9Q 5EI4=?Q 9EI4=j\9)=AYEr?Q EE>:yE@Q IM?=óBI=v:i=H:=2UI4yU7BɮUBQ*jiBjiiiiiziiJiiiy kkkh kkkh2f>:f>Bf*?Jf y@2Aɢ,)) i)iq"IIiIyO=>2Acoustic response timeout 'ҏ,H?A: I?:@:Aٱ:ƾ BAHRS rotation from veh to nav: [[-0.442404,-0.849343,-0.287915],[0.888293,-0.370849,-0.270938],[0.123346,-0.375617,0.918530]]:HZPܿ-`4mҿ l? ׿@ Wѿ ?  ؿ`d?i: I?I:nL^;:`CYJAyJ>G ||bD k VD 8yE;=%MY=ٔM#Q-M>9IIQ=U8FyUKEUEU>YQ 5eI4]?Q 9mI4]S9)]AYiymN @Q Im?]BI] :i]:]UbI4yqɮ}By*jBjiiziJii ksksksh k+bE-5jE5rEY2E=h E=[E=xE9"E=G:*E=9VE=e5ZE9aM@aM@aM@aM@k+k+h2f:fBfJf ix@52Aɢ5+)9 =i9)=#99i= IIQAmY?Am_?U2Acoustic response timeout!IIOD>Qy  2Acoustic response timeout*'ҏ,9H?A2N?2a@2vٱ2ؤǾ :AHRS rotation from veh to nav: [[-0.432172,-0.853505,-0.291129],[0.892859,-0.359655,-0.271019],[0.126610,-0.377064,0.917493]]2Hനۿ`O@ܡҿ M?׿`Xѿ4?!ؿ@\?i2N?I2>^;0YBAyB=GDDbD- VD8y#=%A=ٔ/Q->9I=8FyMEټE>Q 5I4Cޱ?Q 9I4ZJ9) AY y  @Q I ?vBI(:ib:'qI4yMBɮBE*j)Bj)i)i)zi1Ji1Qi k)k)k)h k#)k#)k#)hB.>BBGBABBBB`;BxEB$CB$CBBB¥=Co(52f9:f9Bf9Jf=Uw@]93Aɢ] ,)Y eJia)e6*aaiepiIiII!O>DADE<EMo EMNEMvEI"EM`:*EM҆9VEM-5ZEIBEM;aU2EM;a]JEIa]:EIa]ԁ]2Acoustic response timeoutԩ 'ҏ,SH?A4<ɰY AAy ȸGbD% VD%I8y5=%5V=ٔ5Q-=>99I9=E8FyEPEEEE>IQ 5UI4M<ʱ?Q 9UI4MA9)M AYQyYQ I]?MFBIM;iM";Mz~I4yeOBɮeBeE*jyBjyiyiyziJii kS)kS)kS)h kGkGkGh2f:fBfJf3Aɢ 8) i)/i_IIYIi2Acoustic response timeoutOE=1 E a E OE E "E %.:*E 9VE 5ZE a @a @a @a @m 2Acoustic response timeout'ҏ,mH?A@N?N?N@ ٱN ˾ VAHRS rotation from veh to nav: [[-0.402233,-0.864033,-0.302747],[0.905589,-0.326864,-0.270313],[0.134603,-0.382893,0.913934]]NH`0ٿ@(4`ӿ?VԿLѿ:?`Rؿ >?iN?INX^;NaCY^Ay^Gtt t)tItixxbD~q VD~8y '=% M=ٔSQ->9I=8FyRE0E%>!Q 5-I4%8?Q 9-I4%|89)%3AY1y5 @Q I5?%BI% :i%g:%pI4y9ɮEqBA*jQBjQiQiYziYJiYiY kS,kS,kS,hq kcFkcFkcFh2f:fBfJfVu@=L4AɢEC.)E{Ϻ EiA)E5AAiMrsIIAzA)IqIO=In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeoutYA AAA B1 B1 B5 GB5 AB5 =B1 B1 B5 ^;B5 vEԉ 'ҏ,"nH?A0E>g E>RE>~E<"E>C:*E>9VE>5ZE<BE>X;aF2E>X;aFJE>$:aF:E>%:aFV=?V)?V ٱVX˾ rAHRS rotation from veh to nav: [[-0.392150,-0.867815,-0.305147],[0.909627,-0.316376,-0.269230],[0.137101,-0.383149,0.913455]]VHٿ$@ӿ ??Կ;ѿ?ؿ`;?iV=?IVD^;VbCYvAyvGxzR=%In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER%2Acoustic response timeouty)\(?ˡEĿMbG?' 9 ףp= ?X9vy&1?YQ?y}`e<KBB ;B)$BYBbD-< VD-8yu>%u6=ٔ}Q-}>9yI=8FyUEǼE>Q 5I4h?Q 9I4~+9)AY?Q E2:y?Q I?-BI ;i;(I4yfBɮfBE*jBjiiziJii kDkDkDh kDkDkDh2f'=:f'=Bf;É?JfdC@4Aɢ+) 1i)%P9ԹpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout 'ҏ,FH?A((F?F?FٱF˾ RAHRS rotation from veh to nav: [[-0.381882,-0.871575,-0.307448],[0.913570,-0.305651,-0.268268],[0.139844,-0.383322,0.912967]]FHpؿ@8ӿ;?ǏӿO+ѿk?Wؿ7?iF?IFh^;DYVAyVG\bDE VDE8yY>%Y=ٔ&Q->9I=8FyWEE>Q 5I4?Q 9I4 9)AYy?Q I?BIb;i.;OI4yɮKB*j Bj ii!zi!Ji!i) ksFksFksFhI2fa:faBfaJfeG(C@Eh EPEE"EG:*E?9VEԺ5ZEa@a@a@a@颕y5Aɢ-) i)V^B顙i I5zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY52Acoustic response timeoutIIOUS>A  2Acoustic response timeouta'ҏ,"H?AF&?F:x?FuٱFh ̾ RAHRS rotation from veh to nav: [[-0.372608,-0.874733,-0.309847],[0.916886,-0.295528,-0.268297],[0.143120,-0.384064,0.912147]]FH׿ӿ@!W?@ҿ@+ѿQ?ؿN0?iF&?IF^;DYVjAyVGbD- VD-'8y=%K=ٔvQ->9I=8FyZEɼE>Q 5I43?Q 9I49)1!AYy?Q I?BI;i;gI4ygBɮ9BE*jBjiiziJii k#Hk#Hk#Hh kakakah 2f!:f!Bf!Jf%BB@=5AɢEڣ8)A EmiA)EѣGAAiMdIIQB->BBnGBAB=BBBS;BnEIEa EMEwE"E%.:*E9VEɕ5ZEBEM3;a2EO3;aJE:a:E:a0;AW?AC?=2Acoustic response timeoutqIIO>ԡ 'ҏ,"՟H?A>3?>?>Rٱ>̾ FAHRS rotation from veh to nav: [[-0.362726,-0.877861,-0.312713],[0.920190,-0.284382,-0.269029],[0.147240,-0.385339,0.910952]]>H 6׿p|Կ 3r?P3ҿ`7ѿ?`dؿ&?i>3?I>^;>aCYNEAyNGPPbD) VD8y] >%]N=ٔ]+Q-]>9aIa=e8Fye]EeؼEm>iqQ 5}I4ud?Q 9}I4u= 9)u"AYy|?Q I?uBIup:iu$:uSI4yBɮBE*jBjiizi1Ji1i9 kHkHkHhI kbkbkbhY2Acoustic response timeout2f :f Bf Jf A@颥6Aɢ,) Ri)M顩iX0I ԩII)O]3>Ee ESErE"E<:*E9VE5ZEa@a@a@a@= 2Acoustic response timeout +'ҏ,H?A;ɰ6 ?6"?6_ٱ6~ ξ >AHRS rotation from veh to nav: [[-0.352143,-0.880894,-0.316260],[0.923578,-0.272300,-0.269917],[0.151651,-0.387141,0.909464]]6H ֿI0`=Կ@?^mѿTFѿLi?ؿ`S?i6 ?I6 [^;4YZ(Ay^оGbDf VDf~8yn>%nS=ٔr=Q-r>9pIp=v8Fyv_EvEv>xQ 5~I4zgs?Q 9~I4z8)z#AYy ?Q I?zػBIz\ ;izy;zI4y ɮ B*j)Bj)i)i)zi)Ji)i1 k3Jk3Jk3JhA kSbkSbkSbhQ2fi:fiBfiJfmA@颅 7Aɢ}:) ߿i)R顉iI 2Acoustic response timeout?BɺIAIQOZ>1B<AB+>BB*GBAB=BBB6;B^EY E ` E QE |E "E *:*E v9VE ם5ZE BE -;a 2E -;a JE :a :E :a (ҏ,H?A2?2 ?2D ٱ2о :AHRS rotation from veh to nav: [[-0.339822,-0.883679,-0.321921],[0.927483,-0.258149,-0.270433],[0.155872,-0.390476,0.907322]]2Hտ@G\Կ@?@пNѿ ? ؿ?i2?I2@^;2cCYNAyR׿GIV%=)V<2Acoustic response timeoutyu@5^I ?bX9ȶףp= ÿubP?uEuq q9ue;O?B`"۹q= ףpͿYut?yuνukuCBuЉB u4B)uܢBqYuǷBbD VDA8y=%?=ٔL#Q->9I=8FybEE>Q 5I4m?Q 9I48)#AY }?Q EV:y?Q I?BI? ;iU:I4yBɮBE*jBjiiziJii kIkIkIh k`k`k`h2f%$>:f%$>Bf%7]@Jf%.?1M7AɢMB-)I MܿiI)UXQQiUlYIYaaiiaAzAIaIqO_>ԉ2Acoustic response timeoutE G] rAq ɩ9 rAY AԹ L=(ҏ,"H?A2G'?2\?2-$ٱ2$Ѿ :AHRS rotation from veh to nav: [[-0.325526,-0.887304,-0.326687],[0.931958,-0.242758,-0.269300],[0.159645,-0.392123,0.905954]]2H`kԿdoԿ ?@Ͽ6<ѿBo?ٿ?i2G'?I2M^;0YBAyBGDFa=XX X)\I\i\\bDf7 VDf8yn >%nX=ٔn*%Q-r>9pIp=r8FyrdEv#Ev>xQ 5~I4zh?Q 9~I4z98)z#AY|y?Q I?zqBIz;iz;zI4yBɮ|BE*jABjIiIiIziQJiQiQ k^k^k^hE y E WE qE "E :*E 9VE 5ZE a@a@a@a@2fA:fABfAJfE*?Ա/8Aɢ4/) Eۿi)^i|I IIO>2Acoustic response timeout>>  2Acoustic response timeout9 {g(ҏ,jj?>?>~'ٱ>(|Ѿ FAHRS rotation from veh to nav: [[-0.309773,-0.891457,-0.330675],[0.936686,-0.226397,-0.267140],[0.163280,-0.392491,0.905147]]>H@PӿІ)տT?̿ѿ`_?`ٿ?i>?I>6^;>_CYNAyNWGbDZ VDZ8ybG>%bL=ٔbQ-f>9dId=f8FyfgEj+*Ej>lQ 5rI4nd?Q 9rI4n8)n#AYpyv?Q Iv?nB]#CB]GB]KABYBYB]*DB][;B]kEA$AIIO5 >E c E NE wE "E g5:*E ҆9VE ɕ5ZE BE ?;a2E ?;aJE :a:E :a92Acoustic response timeouti O(ҏ,GVH?A 6A?6V?6+ٱ6Ҿ JAHRS rotation from veh to nav: [[-0.292674,-0.895402,-0.335556],[0.941545,-0.208630,-0.264510],[0.166836,-0.393356,0.904122]]6H+ҿ!@yտ#!?eʿпZ?`,ٿ?i6A?I6O^;6cCYRAyRG %=%=bD- VD-O8yeV=%e@=ٔm Q-m>9mH?ImH?=u8FyuiEu-Eu>yQ 5J4}z`?Q 9J4}8)}#AYy?Q I?}BI}b:i}:} J4yɮCB*jBjiiziJii kC_kC_kC_h kxkxkxh2f:fBfJfp?:9A2Acoustic response timeoutɢG.) iտi)iiIqA%AI)I9O}7>ԙbEЙ5jEs5rEۛ2Ef EOEE"EI@:*E9VEF5ZEa%@a%@a%@a%@ M 2Acoustic response timeout]y(ҏ,2 pH?A>A?>-?>/ٱ>OѾ FAHRS rotation from veh to nav: [[-0.274350,-0.899858,-0.339098],[0.946364,-0.190067,-0.261286],[0.170669,-0.392594,0.903738]]>Hѿ ɳտ@H?Tȿ`пz?`C ٿ`k?i>A?I>4^;%eJ=ٔmQ-m>9mK?IuK?=u8FyulEuBEu>yQ 5J4}L]?Q 9J4}u8)}z#AYy,?Q I?}BI}:i}9:}J4y*Bɮ8BE*jBjiiziJii k_k_k_h2f:fBfJfK?^B*** querying acoustic contact ***X Y 9Aɢ50) ѿi)% o!!i%)I)Ae$AIqIO>hDAT read: Forwarding Delay UpTx time:19:18:25.5362 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutA]@AA]AABu>Bu"CBuGBu!ABu=BqBqBuW;BufEB9B=#CB=ȔCB=ȥ=B9C=ș>5! E% d E% ^E% E! "E% 9:*E% ;9VE% 5ZE! BE% F;a5 2E% F;a5 JE% ;a5 :E% ;a5 a"(ҏ,LH?Aɰ2˧?2ߓ?24ٱ2dѾ >AHRS rotation from veh to nav: [[-0.254867,-0.904267,-0.342555],[0.951016,-0.170306,-0.258002],[0.174963,-0.391531,0.903378]]2H@Oп`lտn?@ſп 2e?ٿx?i2˧?I2S^;2dCY^b Ay^=G2Acoustic response timeouty~jt?L7A`? rh?+=C 9Gz?QuVͿYp?yurhBFB  B)BYBbDVD8y[=%A=ٔ S(Q- >9 H?I H?= 8FyoE(DE>Q 5%J4j\?Q 9%J4)8)"AY-(?Q E-:y-?Q I-?nBI/:i#:(J4y1ɮ5B9*jIBjIiQiQziQJiQiY k^k^k^hi k^k^k^hy2f<>:f<>BfU3@Jf>颭R:Aɢ%.)0 Ͽi)Tt顱iI)IIO)>Q߭=߭C=2Acoustic response timeoutԁ a((ҏ,֣H?AJT?Jh?J8ٱJо VAHRS rotation from veh to nav: [[-0.234983,-0.908388,-0.345852],[0.955269,-0.150092,-0.254820],[0.179566,-0.390260,0.903024]]JH ο`o"ֿ? 66ÿ`Nп ?ؿ?iJT?IJ5^;JbCYb AybGIj<)j;llbDvVDvq8ye=%\=ٔ lNQ- >9I=8FyqEcE>)Q 55J4- \?Q 95J4-8)-"AY9y=O?Q IE?-BI-H;i-Y;-5J4yIɮMBQY*jiBjiiqiqziqJiqiq k_k_k_h k_k_k_h2f:fBfJf>19 rNAggregate::initialize marl:UpdateRudderq9Ee E_ExE"E<:*Er9VEe5ZEa@a@a@a@J]Uq9U9U7UoUXAggregate::initialize marl:UpdateCommandMode18]]Y18]o]@Completed marl:UpdateCommandMode7]o]\Aggregate::uninitialize marl:UpdateCommandModeq7]n]LAggregate::initialize marl:UpdateSpeed7]]a7ene4Completed marl:UpdateSpeedq7enePAggregate::uninitialize marl:UpdateSpeed额:AɢoY3) ѿi)-z顡i3I%2Acoustic response timeoutԉIIO%>Ա  2Acoustic response timeoutֵ.(ҏ,H?A2S_?2gK?2N=ٱ2о :AHRS rotation from veh to nav: [[-0.215033,-0.911612,-0.350321],[0.959047,-0.129396,-0.251962],[0.184361,-0.390154,0.902103]]2H2˿+kֿ?% п (?Hؿ ?i2S_?I2'^;2aCYz"Ayz?G||bD (VD 8y{L>%I=ٔnDQ-%>9!I!=%8Fy%sE-OE->1Q 55J45\?Q 9=J45ƴ8)5"AY9y=?Q I=?5rBI5;i5U;5DJ4yIɮMBI*jYBj]iaiaziaJiaia kSakSakSahy kSakSakSah2f:fBfJf>sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderԹX;Aɢ4) ʿi)~iIB>BBGB#ABBBB=;BVEIIO=D=D4=Ef EOE~E"EI@:*E9VE5ZEBER;a2ER;aJEM:a:EN:a2Acoustic response timeoutY j5(ҏ,נH?A2?2?2Bٱ2Ͼ >AHRS rotation from veh to nav: [[-0.194744,-0.915190,-0.352848],[0.962436,-0.108909,-0.248708],[0.189186,-0.388028,0.902021]]2H]ȿ9tIt=v8FyvvEzWEz>|Q 5J4~\?Q 9J4~8)~!AYy ?Q I ?~BI~:i~:~QJ4y?BɮBE*jaBjaiaiaziaJiiii}2Acoustic response timeout kakakah2f:fBfJf]L>;Aɢ S-) ʿi)SiI!A5"AEQ?AEQ?IIIE EWEyE"E:*E9VE5ZEa@a@a@a@O%>i- 2Acoustic response timeout} PExceeded connect timeout, disconnecting.ԙ _;(ҏ,bgH?AY#AyGGII I)IIIiIIbD]CVD]?8ym)>%mB=ٔuQ-u>9qIq=u8FyuyEE>Q 5J4.]?Q 9J48)?!AYyQ I?BI:i:`J4yɮɧB*jBjiiziJii kIkIkIh k^k^k^h2f!:f!Bf!Jf!Ei2Acoustic response timeoutԡBAB>BBGB%ABBB)DB;BDEE- d E- PE- xE) "E- 9:*E- ?9VE- e5ZE) BE- F;a5 2E- F;a5 JE- :a5 :E- :a= aB(ҏ,C H?ABf?BR?BppLٱB@ξ JAHRS rotation from veh to nav: [[-0.154495,-0.920402,-0.359154],[0.967884,-0.068026,-0.242020],[0.198324,-0.385010,0.901352]]BHÿsaֿ ?!j@ο`b?`ؿ@?iBf?IBM^;BcCr2Acoustic response timeoutYP$AyG!%@AyZd;?Q?/$?9?u=,> 9K7A`?/$?i|?5?Y ?y,==7BB B)]BY BbDVD8y=%D=ٔ3Q->9)I)=58Fy5{E5FɽE5>9Q 5EJ4=UW?Q 9EJ4=8)="AYM?Q EM:yMK?Q IM?=BI=:i=:=oJ4yQɮ]BY*jiBjiiiiqziqJiqiq kFkFkFh ks\ks\ks\h2f"C>:f"C>Bf:VO@Jf@lI(ҏ,)H?A4<ɰp%3=̻ٔQ->9K?IK?=8Fy~EAE>Q 5J4Q?Q 9J4<8)$AYy?Q I?oBIE5;i!;8J4yɮB2Acoustic response timeout*jBjiiziJii k@k@k@h2f:fBfJfԡ@=Aɢt() i) Ki{IEnManaging dock network, ignoring radio surface power offy^AM3W=ԩAy I I  2Acoustic response timeoutO > B B B GB (AB B B *DB K;B [EP(ҏ,BH?A2?2?28Pٱ2X; :AHRS rotation from veh to nav: [[-0.112701,-0.923601,-0.366416],[0.972891,-0.027625,-0.229608],[0.201944,-0.382360,0.901676]]2Hټ"@Zs׿`!?IcͿ M?@xؿ?i2?I2S^;2dCYBC&AyBxGbD5VD528y=%I=ٔ-Q->9I=8FyE\ԹE>Q 5J4L?Q 9J48)N%AYy?Q I?BI :i|:^J4y@BɮxBE*jBjiiziJii k#Ak#Ak#Ah  k#Ak#Ak#Ah2f):f)Bf)Jf-C!@M >AɢM 3)Q ;i)v顑i"I@=@=E EUEuE"E:*EP9VE5ZEBE9 V(ҏ,G\H?A2?2?2*Nٱ2w̾ :AHRS rotation from veh to nav: [[-0.091475,-0.924564,-0.369882],[0.975444,-0.008461,-0.220085],[0.200353,-0.380932,0.902635]]2H@j@&׿6?T+̿)? /aؿb?i2?I2 ;^;2aCB>B<F2Acoustic response timeoutYN&AyN GbD VD 8 y}=%J=ٔ;Q->nG 9I=8F!yEESEM>U׿9QYU AaQ 5eJ4eG?Q 9mJ4eL8)e&AYiym?Q Im?eLBIep:ie$:e0J4yyɮ}iBy*jBjiiziJii kBkBkBh kBkBkBh92fI:fIBfIJfMZj@颍>AɢE-) i)GW顙iI^A52Acoustic response timeoutqԙ $](ҏ,VDjd8yrb>%rX=ٔrR9tIt=v8FyvEzeEz>|Q 5J4~?Q I ?~BI~:i~:~J4yUBɮSBE*j)Bj)i)i)zi1Ji1i1 kCFkCFkCFhI kdkdkdhY2fi:fiBfiJfm@%?Aɢ%d5)) -跿i))-t))i-QIYy^A-:2Acoustic response timeoutA!IIIqԡAA@AB>B!CB.GB*AB=BB)DB>;BREOf>iqIunAE o E RE E "E `:*E 9VE A5ZE BE ;a 2E ;a JE $:a% :E %:a% E 2Acoustic response timeout c(ҏ,aH?A:?:?:Aٱ:ž FAHRS rotation from veh to nav: [[-0.058135,-0.928986,-0.365521],[0.980389,0.015935,-0.196426],[0.188301,-0.369772,0.909841]]:H í`@d׿ Y_?AQ?|$ɿB?Y׿@k?i:?I:T@^;:cCYN(AyNGy%^I +?rh|?(\µ?%X?%{>%=! !9%|?5^?sh|??/$?Y%m?y%)>%1>%B%ЉB %~B)%B!Y%3BbD=VD=8yM% >%MD=ٔM9QIQ=U8FyUE] E]>aQ 5mJ4e~9?Q 9mJ4e8)e)*AYm{?Q EmX:ym?Q Iu?enBIe:ie:eJJ4yyɮ}5By*jBjiiziJii ksKksKksKh k3]k3]k3]h2f]>:f]>Bf][@Jf].S@额?AɢM-) i)ړ顡iI@qA@rA2Acoustic response timeout^A") AI IY Iq O >bEם5jEo5rEq3E% d E% SE% {E! "E% 9:*E% 9VE% :5ZE! a- @a- @a- @a- @Q \j(ҏ,FH?A6-?6A?61e:ٱ6-w BAHRS rotation from veh to nav: [[-0.052750,-0.935847,-0.348436],[0.982063,0.014635,-0.187983],[0.181023,-0.352102,0.918289]]6Hu Lֿm?? ȿ+?؈ֿ`b?i6-?I6=^;6dCYE*AygG!%?AYY Y)YIaiaabDuHVDu8yG>%F=ٔE9I=8FyE`]E>Q 5J4//?Q 9J4x8)~,AYyi?Q I?/BIp:i:J4yVBɮ BE*jBjiiziJii kD2Acoustic response timeoutkDkDh2f:fBfJfR@颭@AɢG-) ]i)顱iI@ @ @@)QA I I! OU >ԁ ߥ =ߡ  2Acoustic response timeoutB >B B GB y,AB =B B B ;B (EB"CB"CB˓CBBC'U5p(ҏ,ġH?A;ɰ;0Nl?N?ND3ٱN ZAHRS rotation from veh to nav: [[-0.053336,-0.943580,-0.326820],[0.983306,0.007391,-0.181812],[0.173969,-0.331061,0.927434]]NHN1`Կ`=w?F~?EǿD?0տ`?iNl?IN&R^;LYf1+AyfGbDvVDv>8yz>%zT=ٔm9qIq=}8Fy}E}:E}>Q 5J4I%?Q 9J4o8).AYy?Q I?BI:i:J4ykBɮBE*jBjiiziJii kFkFkFh kFkFkFh2f:fBfJfH@@Aɢ~+)! %i!)%tA!!i-)I1Ec ELErE"Eg5:*E|9VE5ZEBE?;a2E?;aJEv:a:Ex:aԉAaIiIO> 2Acoustic response timeoutԹ #w(ҏ, ݡH?A22Acoustic response timeout6w?6c?6e+ٱ6f5 BAHRS rotation from veh to nav: [[-0.056417,-0.950459,-0.305687],[0.984409,-0.001865,-0.175884],[0.166600,-0.310844,0.935746]]6H ⬿ )j`ӿG?^Zƿ'S?ӿ`?i6w?I6E^;6bCYF|,AyFG\bD VD 8yEG>%ME=ٔM9IIQ=U8FyUEUr;EU>Q 5J4%?Q 9J4(f8)1AYy?Q I?BI3;i;J4yɮܦB*jBjiiziJii kFkFkFh kGkGkGh)2f9:f9Bf9Jf=@]AAɢ]2()Y ]iY)elaaie iIiAIIO (>Eg EUEE"EC:*EP9VE5ZEa@a@a@a@2Acoustic response timeoutA N}(ҏ,-H?A6?6?6?$ٱ6Ҙ >AHRS rotation from veh to nav: [[-0.060400,-0.956864,-0.284190],[0.985343,-0.011652,-0.170186],[0.159534,-0.290303,0.943543]]6H쮿)0ҿ@?݇ſ k?Uҿ1?i6?I6>v^;6dCYF-AyFGbD 0VD 8y]8>%eI=ٔe9iIi=m8FymEm<Em>qQ 5}J4u?Q 9J4u.]8)uJ3AYyf?Q I?udBIu;iu:uJ4yɮB*jBjiiziJii kcAkcAkcAh2f:fBfJf:A@颵AAɢz%) bi)|项ilIu2Acoustic response timeoutYAI)IIBiAiB>B CBqDzDEc ELEyE"Eg5:*E|9VE5ZEBE?;a 2Ea JEa :Ea ԡ % 2Acoustic response timeout6(ҏ,zH?A2?2?2#ٱ2J :AHRS rotation from veh to nav: [[-0.065364,-0.961894,-0.265495],[0.985934,-0.021241,-0.165777],[0.153821,-0.272597,0.949753]]2H`п`ƌ?18ſg? 9rѿ_d?i2?I2m^;2cCYZ.AyZGyy㥛 ?/$?sh|??= 9E?!rh?V-Y?yl=BB {B)VBYaBbDVD)8y@>%D=ٔb9I=8FyE,C<E>Q 5J4A ?Q 9J4fP8)4AYd?Q E3:y?Q I?`BI:i:uJ4ylBɮBE*j BjiiziJii kAkAkAh kBkBkBh2f>:f>Bf ?Z>Jf2?U$BAɢU_)Q UșiY)]ʞYYi]aIԱ2Acoustic response timeoutAIIO5q> E ` E {E oE "E *:*E 5":VE 5ZE a @a @a @a @_(ҏ,+H?ABZY?BmE?Ba:ٱB' NAHRS rotation from veh to nav: [[-0.071072,-0.965215,-0.251611],[0.986121,-0.030046,-0.163284],[0.150045,-0.259724,0.953955]]BH`1 dпN?oĞĿ4?Oп̆?iBZY?IB^;BbCYV/AyVfG \\bDfVDf8y=->%=T=ٔE#"9AII=M8FyMEMt<EM>QQ 5]K4U:?Q 9]K4UD8)U4AYayeQ?Q Ie?UIBIU;iU;U K4ymBɮmBu|E*jBjiiziJii kDkDkDh kDkDkDh2f:fBfJf?2Acoustic response timeoutBAɢ_,) i)WiIAaIqIIO>1 2Acoustic response timeoutBe >Be CBe \GBe 1ABe =Ba Ba Be s;Be ՟Eԉ 1H(ҏ,`EH?A6K%?6]?6cٱ6т >AHRS rotation from veh to nav: [[-0.077228,-0.967507,-0.240762],[0.985927,-0.038198,-0.162752],[0.148267,-0.249942,0.956842]]6H<ų Eο? Ŀ`f?Ͽ@r?i6K%?I6W^;6cCYF(1AyFGbDR%VDR8yZ/F>%ZT=ٔZ;Q-^>9\I`=b8FybEb<Ef>dQ 5jK4f?Q 9nK4f88)f5AYlyn-?Q In?f2BIf;ifT;fwK4ypɮv\Bt*j|Bj|iiziJii kCkCkCh ks\ks\ks\h)2f:fBfJf?CAɢ!) 玿i),i I QD=D<E EWE~E"E*E9VE5ZEBE-;a2E -;aJE:a:E:aAiIqIO>2Acoustic response timeoutԁԩ v(ҏ,MK_H?A"2Acoustic response timeout6(?6:?67ٱ6| BAHRS rotation from veh to nav: [[-0.083062,-0.969309,-0.231390],[0.985478,-0.045387,-0.163627],[0.148103,-0.241620,0.959002]]6H@C@,Ϳ`?<Ŀ ? kο %?i6(?I6AC^;6bCYFP2AyJJG\` `)b,I`i``bDjVDj<8yr3>%rG=ٔr9Q-r>9tIt=v8FyvEvVl<Ez>|Q 5K4~?Q 9K4~G,8)~^6AYy?Q I?~)BI~:i~:~'K4y BɮMBrE*j!Bj!i)i)zi)Ji)i) kCkCkChA k#\k#\k#\hQ2fa:faBfaJfeo?颅CAɢ{) ui)製顉i GI!ԩA$AIIO%>Ed EMErE"E9:*E9VE5ZEa@a@a@a@2Acoustic response timeout 1 d(ҏ,yH?A6?6$p?6;ٱ6=v BAHRS rotation from veh to nav: [[-0.087771,-0.970539,-0.224391],[0.984961,-0.050902,-0.165108],[0.148822,-0.235508,0.960410]]6H!x Ը̿ ̈́?`B"ſ ?%ο?i6?I6O^;4YJ?3AyJpGbDRaVDR8yZQ>%ZN=ٔ^Q-^>9^H?IbH?=b8FybEbBE<Eb>dQ 5jK4f?Q 9jK4f+ 8Q =ntI)f"7AYlyn?Q In?fBIf ;if ;f5K4ypɮv/Bt*jBjiiziJi i  kCkCkCh! kXkXkXh12fA:fABfAJfE{?]CAɢeo)a e̅ia)e4iiimiIqAT?AJ?]2Acoustic response timeoutAII1Failed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.I>AAAAB5>B1B5|GB54AB5=B1B1B5k;B5ϟEO>>9Eg EOEzE"EC:*E9VE5ZEBEX;a2EX;aJEM:a:EN:ai  2Acoustic response timeout<(ҏ,H?A02Ƹ?2ϲ?2ٱ2nr >AHRS rotation from veh to nav: [[-0.089763,-0.971348,-0.220056],[0.984654,-0.053349,-0.166161],[0.149661,-0.231594,0.961231]]2H@`I*̿I?PDſ(? Ϳ@h?i2Ƹ?I2=^;2cCYB4AyBuGDDyDl?:vV-¿OM?Th 9NbX9?K7ѿYe?yBJB 'B)BYBbDVD8y5=%:=ٔQ->9I=8FyE ;E>Q 5K4I?Q 9K4x8)C6AYo?Q Eb:y?Q I?BI;iT:EK4yɮB*j Bj iiziJii k=k=k=h) kcbkcbkcbhI2f]*>:f]*>Bf]5?Jf]g?DAɢ6) Yi)wi I ԉI)I9Om5>e2Acoustic response timeoutGԹsA 뤿9 sAYA E c E QE oE "E g5:*E v9VE 5ZE a @a @a @a @\(ҏ,ЬH?A6o?6?6ٱ6mn BAHRS rotation from veh to nav: [[-0.088310,-0.972156,-0.217056],[0.984777,-0.052456,-0.165718],[0.149718,-0.228386,0.961990]]6H@|˿@K?@۪?6ſ)?;Ϳ?i6o?I6$T^;6dCYFK5AyFG\bDVDC8y}D>%}O=ٔQ->9I=8FyEXtE>Q 5K4ﰉ?Q 9K4 8)y5AYy?Q I?BI9:i:RK4yBɮBhE2Acoustic response timeout*jBjiiziJii kZkZkZh kZkZkZh2f:fBfJf?-DAɢ51)A EziI)MO IIiM5QIQIqIO>m 2Acoustic response timeoutA B >B CB jGB z6AB B B 'DB ;B Em(ҏ,eƢH?A2?2?2eٱ2qn :AHRS rotation from veh to nav: [[-0.084043,-0.972399,-0.217661],[0.985369,-0.048598,-0.163361],[0.148274,-0.228206,0.962256]]2Hރ  P˿#?ᨿĿ@?5Ϳ`?i2?I2^;2cCYB6AyBGr=r=tvBAbDv~VDv8yEz=%EL=ٔE?o;Q-M>9III=M8FyMEUE2EU>YQ 5eK4]ﰉ?Q 9eK4]8)]4AYayeb?Q Im?]cBI];i]:]`K4yqɮuBq*j Bj i i zi JiiD}=D}<Ee EUEwE"E<:*EP9VEɕ5ZEBE`L;a2EcL;aJE:a:E:a kSnkSnkSnh2f:fBfJfG? yEAɢ-7)) 5vi1)5Ū11i5P9I9IIO>)2Acoustic response timeoutYԉ I(ҏ,H?A "%=&2Acoustic response timeoutJH?J4?JٱJm VAHRS rotation from veh to nav: [[-0.078311,-0.972836,-0.217850],[0.986043,-0.043379,-0.160740],[0.146923,-0.227397,0.962655]]JH+ x!~˿@?5`Ŀ`?`UͿ?iJH?IJ^;JdCYZ6Ay^ GbDf+VDf8ynF>%rS=ٔrg;Q-r>9tIt=v8FyvEvvEv>xQ 5~K4z?Q 9K4z7)z3AYy?Q I?zBIz;iz/;zZnK4y ɮ ͥB*j)Bj)i)i)zi)Ji)i1 kUkUkUhQ2fq:fqBfqyJfuM?颭EAɢ) Oni)项iѼIIIO=ԡbE-^5jE-V5rE-Ş1Ej ELEtE"EN:*E|9VE5ZEa@a@a@a@2Acoustic response timeout \(ҏ,]H?Aɰp;2z?2f?2tdٱ2!m :AHRS rotation from veh to nav: [[-0.072122,-0.973052,-0.219017],[0.986745,-0.037604,-0.157864],[0.145374,-0.227499,0.962866]]2Hv=#̿`i?@4Ŀ?Ϳ?i2z?I2^;0Yv7AyvGbDVD}8y=%G=ٔy;Q->9I=8Fy%E%zE%>)Q 55K4-q?Q 95K4-7)- 3AY1y5?Q I=?-BI-;i-];-|K4yE¼BɮEʥBE_E*jYBjYiaiaziaJiaia kQkQkQhy kbkbkbh2f:fBfJf8?颽]FAɢ)  ji)liII]In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERe2Acoustic response timeoutIB<A=B>BCBGB8ABBB&DB;BEBCBCBĔCBBC4 Ou6>1E` EmE~E"E*:*E:VE5ZEBE-;a2E -;aJEYG;a:EZG;a pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2Acoustic response timeoutY (ҏ,i:H?A2E?2W?2tٱ23p :AHRS rotation from veh to nav: [[-0.065987,-0.972695,-0.222509],[0.987447,-0.031586,-0.154757],[0.143504,-0.229928,0.962569]]2H䰿@Q *{̿@+?,@ÿS^?DnͿ^?i2E?I2@^;2bCYN8AyRGyU+?S㥻?~jt?Uv>?U/=U=Q Q9U?Mb`333333YU ?yUUUBUB U)UגBQYUBbDmVDm[8y}=%C=ٔ#;Q->9I=8FyEvtE>Q 5K4?Q 9K47)(3AY&!?Q E:y?Q I?eBI:i:RK4yɮB*jBjiiziJii ksIksIksIh kdkdkdh2f MJ>:f MJ>Bf 9)I)=-8Fy-E5'E5>1Q 5EK45 ?Q 9EK4537)5B3AYAyE?Q IE?5BI5;i5;5K4yQɮUBQ*jiBjiiiiiziqJiqiq2Acoustic response timeout kLkLkLh2f:fBfJfw@19  r NAggregate::initialize marl:UpdateRudderq9 J] q9 9 7 o XAggregate::initialize marl:UpdateCommandMode18 ]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeԑq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedUGAɢ`) jci)i'IIIO5.>m 2Acoustic response timeoutB >B B LGB s:AB =B B B ;B E Q(ҏ,_GH?A:?: ?: ٱ:LIt FAHRS rotation from veh to nav: [[-0.054014,-0.972003,-0.228675],[0.989047,-0.020576,-0.146158],[0.137361,-0.234065,0.962469]]:H ɧ5EͿ`F?@O¿ ?Ϳ?i:?I:];:cCYJ9AyJUGbDVVDV38y^=%^Q=ٔ^9`I`=b8FybEfwEf>hQ 5nK4j찉?Q 9nK4j7)jY3AYlyn ?Q Ir?jaBIj;ij+;jK4yvBɮvBt*j|BjiiziJii  kHkHkHh kJkJkJh)2f9:f9Bf9Jf=gJ@sMPUpdating rudder angle -0.000000 arcdeg 9MrM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRuddereGAɢeg)i mIaii)miiim~qIyE}_ EyE}{Ey"E}&:*EyVE}:5ZEyBE}&;a2E}&;aJE}:a:E}:aIIO= >2Acoustic response timeout!I O(ҏ,aH?A062Acoustic response timeout:$z?:6f?:ٱ:s FAHRS rotation from veh to nav: [[-0.049049,-0.972201,-0.228954],[0.989872,-0.016741,-0.140974],[0.133222,-0.233550,0.963175]]:HD_NͿ`?$o ¿ l ?ͿT?i:$z?I:]];:aCYRR:AyV#GbD5dVD58yU=%UA=ٔ]z!9aIa=e8FyeEmBEm>yQ 5K4}$찉?Q 9K4}7)}m3AYyh?Q I?}BI}Q:i}':}K4y̼BɮB*jBjiiziJii kPkPkPh kPkPkPh2f:fBfJfJ@ :HAɢ /)  ^i)iIA)zA-qAIQIiԑO=E` EJEmE"E*:*Ek9VE5ZEa@a@a@a@ԹiIA2Acoustic response timeout u8(ҏ,/{H?A2$?26?2ٱ2 .r :AHRS rotation from veh to nav: [[-0.045512,-0.972522,-0.228320],[0.990649,-0.014511,-0.135661],[0.128620,-0.232359,0.964088]]2HYM 9Ϳe?@ R]v?Ϳ?i2$?I2!n];2dCYNF;AyRPG`bD-NVD-8y>%E=ٔ89I=8FyEE>Q 5K4밉?Q 9K47){3AYy?Q I?nBI;iW;K4yBɮyBVE*jBji i zi Ji i  kPkPkPh! ks_ks_ks_h2Acoustic response timeout2f:fBfJfߴ@BU>BUCBUrGBU2DzD@AE_ ELEpE"E&:*E|9VE5ZEBEa2E&;aJEv:a:Ex:aA % 2Acoustic response timeout (ҏ,H?A"4<ɰ";>ײ?>?>-ٱ>p FAHRS rotation from veh to nav: [[-0.044190,-0.972790,-0.227437],[0.991191,-0.014241,-0.131669],[0.124847,-0.231252,0.964850]]>H!`Ϳ ׷?@*` ?Ϳ@ ?i>ײ?I>{w];>bCYN }B}tB }B)}ByY}BbDVD8yp=%J=ٔ9I=8FyE[E>YQ 5eK4]簉?Q 9eK4]7)]5AYmAD?Q Em:ym ?Q Im?]BI]:i]:]K4yqɮuaBy*jBjiiziJii kFkFkFh k3`k3`k3`h2f ,>:f ,>Bf A@Jf @E/IAɢEC)I M`Rii)mhliiiu qIyII!IIaOu>2Acoustic response timeoutqԡ E d E E jE "E 9:*E VE ـ5ZE a @a @a @a @J(ҏ,[H?A2۲?2?2bٱ2o :AHRS rotation from veh to nav: [[-0.044329,-0.973010,-0.226467],[0.991588,-0.015259,-0.128534],[0.121609,-0.230260,0.965501]]2H@"̿ ?@@s!?&yͿa?i2۲?I2[];2eCYf%zV=ٔ~( 9I=8FyE9E> Q 5K4 A䰉?Q 9K4 7) G6AYy?Q I? BI ;i ; iK4y!ɮ-DB)*j9Bj9iAiAziAJiAiA kGkGkGhY k#bk#bk#bhiy2f:fBfJfD @颥IAɢV) }Ji)4顩iIAZ?A`?2Acoustic response timeoutIIO==ԩ 2Acoustic response timeoutBM >BM CBM fGBM =ABM =BI BM %DBM ;BM tE ]2(ҏ,6ɣH?A2?2?2ٱ26Gp :AHRS rotation from veh to nav: [[-0.045441,-0.972842,-0.226968],[0.991878,-0.016920,-0.126060],[0.118796,-0.230853,0.965709]]2H D!I Ϳw?@xS "di?Ϳ`?i2?I2z];2bCYN9=AyRGbDZVDZ78ybC=%bM=ٔfW;Q-f>9dId=j8FyjEjO6;Ej>)Q 55K4-Nఉ?Q 95K4-7)-7AY9y=*?Q I=?-/BI-;i-;-K4yEBɮM9BI*jYBjYiaiaziaJiaia kcdkcdkcdhy2f:fBfJf @颭JAɢt) Li)⸽顱iIDU=DU=Ee_ EeNEeqEa"Ee&:*Ee҆9VEe5ZEaBEaam2Ee&;amJEe:au:Ee:auAIIO">2Acoustic response timeout1 Cm ւGi } rA b9 rAY A^](ҏ,H?A&2Acoustic response timeoutR6?R#?RyٱRgq bAHRS rotation from veh to nav: [[-0.047119,-0.972535,-0.227936],[0.992081,-0.018966,-0.124159],[0.116426,-0.231981,0.965728]]RH`-Ϳ ?kȿ ν? Ϳ=?iR6?IRJ]];RdCYf1>AyfGhh| )IibDHVD8y%>%%D=ٔ%;Q-%>9)I)=-8Fy-E53;E5>Q 5K46ܰ?Q 9K47)(9AYye?Q I?BI9:i:DK4yBɮ0BME*jBjiiziJii kKkKkKh! ks_1ks_ks_hq2f:fBfJf@JAɢ>) Ei)!FiSIAAI IOM0>Ee` EeLEelEa"Ee*:*Ee|9VEe5ZEaau@au@au@au@qhDAT read: Forwarding Delay UpTx time:19:18:39.3861 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԉԹ (ҏ,H?A2傳?2n?2kٱ2]fs :AHRS rotation from veh to nav: [[-0.049429,-0.972023,-0.229625],[0.992170,-0.021384,-0.123050],[0.114697,-0.233909,0.965469]]2H`N`ZdͿ@ۿ?啿9\?@Ϳ?i2傳?I2?T];2cCYB>AyBGbDNVDN8yR=%VR=ٔV;Q-V>9VK?IZK?=Z8FyZEZQ;E^>\Q 5bL4^tذ?Q 9fL4^7)^u:AYdyf?Q If?^[BI^-:i^:^q L4yhɮnBl*jtBjtitixzixJixix kFkFkFh  kc_kc_kc_h92fQ:fQBfQJfU+@mJAɢu)q u@iq)}cyyi}u Iԡe2Acoustic response timeoutBA<B>BBGB?ABBDBB;BLEԹzAqAzAEud EuOEutEq"Eu9:*Eu9VEu5ZEqBEuF;a2EuF;aJEuM:a:EuN:aAE $AII IY O > 2Acoustic response timeout n)ҏ,\H?A2ҳ?2?2•ٱ2s :AHRS rotation from veh to nav: [[-0.051859,-0.971865,-0.229760],[0.992204,-0.024035,-0.122286],[0.113323,-0.234310,0.965534]]2H@C@@hͿ`"?N@?Ϳ?i2ҳ?I2l];0YV?AyZGy1Zd?L7A`尿~jt"{?+ 9i|?5?9H?IH?=8FyE;E>Q 5L4Gհ?Q 9L457);AYr?Q E`:y?Q I?,BI:i/:L4yɮB*j Bj i i ziJii kFkFkFh k`k`k`h2f F >:f F >Bf |+?Jf ԍf@MjKAɢM)a eEia)eڼaaim_iIqMem2Acoustic response timeoutAIIOi>I bE5jE75rE]1E  E EE qE "E *E A9VE 5ZE a @a @a @a @ )ҏ,/0H?A;ɰ4<6q?6?6Oٱ6t >AHRS rotation from veh to nav: [[-0.053307,-0.971651,-0.230333],[0.992289,-0.025696,-0.121253],[0.111897,-0.235021,0.965528]]6HK{Ϳ?` P@o F?*ο?i6q?I6e];6bCYFY@AyFGHJ@AbD-VD-E8yeQ>%mP=ٔmo;Q-m>9iIq=u8FyuEur;Eu>yQ 5L4}eҰ?Q 9L4}7)}II)O]>u 2Acoustic response timeoutԩ B B B GB GAAB B B B a;B "EBCBCBBɦ=Bɦ=C?4w)ҏ,N~JH?A2?2?2]ٱ2{u :AHRS rotation from veh to nav: [[-0.054026,-0.971396,-0.231239],[0.992374,-0.026539,-0.120369],[0.110790,-0.235978,0.965422]]2HI`9Ϳ? -о\? 4ο ?i2?I2];2dC@YFAAyFnGbD 3VD 8y=%H=ٔ)3;Q->9I=8FyE:E>Q 5L4`ϰ?Q 9L47)>AYy,?Q I?BI:i4L4y BɮBBE*jBjiiziJii k3Gk3Gk3Gh k`k`k`h2f :f Bf Jf 7f@%@LAɢ%F)) -2i))- ))i-& E]_ E]NE]wEY"E]&:*E]҆9VE]ɕ5ZEYBE]&;ae2E]&;aeJE]:am:E]:amiIqԩIqIO>2Acoustic response timeout E)ҏ,|`dH?A2Acoustic response timeout6q/?6?6]Rٱ6v BAHRS rotation from veh to nav: [[-0.054680,-0.971235,-0.231760],[0.992395,-0.027225,-0.120047],[0.110284,-0.236562,0.965337]]6H [SͿ?`a`;?Gο ?i6q/?I6j];6fCYFAAyF%GlbDeVDe8y=%D=ٔ>:Q->9I=8FyE:E>Q 5L4Ḛ?Q 9L4~7)I?AYyC?Q I?oBI:i:LCL4y ɮ ؤB*j!Bj!i!i)zi)Ji)i) k3Hk3Hk3HhY ks_ks_ks_hi2fy:fyBfyJf}ff@额LAɢ) 0i)E顡i6w II IOE>EEb EEREE~EA"EE1:*EE9VEE5ZEAaM@aU@aU@aU@12Acoustic response timeouta )ҏ,4~H?A@:I"?:Z?:0ٱ:v NAHRS rotation from veh to nav: [[-0.054282,-0.971130,-0.232294],[0.992424,-0.026791,-0.119906],[0.110221,-0.237043,0.965227]]:Hʫ~λͿ?@n"j7?@jWο"?i:I"?I:l];8YZpBAy^GbDfVDfc8yna >%n]=ٔr49Q-r>9pIp=v8FyvEvEv>xQ 5~L4zɰ?Q 9L4zu7)z[@AY y7?Q I?z BIzK;izܷ;z>PL4Ay9ɮMBQ*jBjiiziJii kFkFkFh52Acoustic response timeout2f9:f9Bf9Jf=7f@})MAɢ}) +i)u顁i~AA@AB>BCBGBCABBBBS;BEII1IAiO}>ԑEUc EULEUwEQ"EUg5:*EU|9VEUɕ5ZEQBEU?;ae2EU?;aeJEUv:ae:EUx:ae i I A 2Acoustic response timeoutƼ%)ҏ,{H?A2?2 ?2ٱ2v :AHRS rotation from veh to nav: [[-0.052517,-0.971098,-0.232830],[0.992544,-0.025080,-0.119275],[0.109988,-0.237358,0.965175]]2H㪿<@bͿ?p͈@3(?aο`?i2?I2:];2cCYBBAyBG HHJ=J=yM(\?Mb?/$Mg?M=MI I9MʡE?{GzˡEYM-r?yMףM'M;BMB M.B)MגBIYMBbDeVDe8yu&=%}A=ٔ}w:Q-}>9I=8FyEE>ԙQ 5L4Ȱ?Q 9L4 k7)@AYur?Q E`:y?Q I?BI6;i5;_L4y"Bɮ¤B9E*jBjiiziJii kEkEkEh kC\kC\kC\h2f=:f=Bfh)@JfKx2?%MAɢ%I)% -(i))-n½))i-=AIAII)O]=E2Acoustic response timeout Ee _ Ee IEe pEa "Ee &:*Ee c9VEe 5ZEa am @am @am @am @+)ҏ,뱤H?A29?2I?2 ٱ2'v :AHRS rotation from veh to nav: [[-0.050640,-0.971332,-0.232269],[0.992516,-0.023069,-0.119919],[0.111123,-0.236603,0.965231]]2Hw' Ϳ ?Rr?Iο+?i29?I2];2fCYNCAyRGhh h)hIhihhbDrVDr8yzO=%zS=ٔ~*AQ-~>9I=8FyEYE > Q 5L4 (Ȱ?Q 9L4 ja7) CAAYy?Q I? BI f;i r; lL4y!ɮ-B)*j9Bj9iAiAziAJiAiA k_k_2Acoustic response timeoutk_h2f:fBfJfc2?%MAɢER)A E#iA)M}ýIIiM}QIQII)O]=)QU >U R=] 2Acoustic response timeoutB B CB GB DAB B B B w;B .Ey 2)ҏ, ˤH?Aɰ;:$:?:4&?:\uٱ:~s BAHRS rotation from veh to nav: [[-0.047236,-0.971990,-0.230228],[0.992497,-0.019648,-0.120680],[0.112776,-0.234201,0.965625]]:HK/ xͿ?便޼?@LͿ f?i:$:?I:s+];:dCYJ3DAyJJGLN?AbDVVDV8yZҕ=%ZN=ٔ^Q-^>9`I`=b8FybEb Ef>dQ 5jL4fǰ?Q 9nL4fW7)fAAYlyn4?Q In?fgBIf;if;fozL4ytɮvBt*j|BjiiziJii kGkGkGh k]k]k]h)2f9:f9Bf9Jf==1?]]NAɢ]i)a e"ia)eEyĽaaie!NiIiEb ELEtE"E1:*E|9VE5ZEBE9;a-2E9;a-JEa-:Ea-QAAIIIO- >2Acoustic response timeoutԁԩ c8)ҏ,H?A2Acoustic response timeout6m?6}?6.Tٱ6WEp RAHRS rotation from veh to nav: [[-0.042906,-0.972837,-0.227480],[0.992534,-0.015486,-0.120978],[0.114169,-0.230972,0.966239]]6H @{!Ϳ?@>f,:?@Ϳm?i6m?I6`];6cCYVDAyZ*GAbD-UVD-E8ye=%e@=ٔm\WQ-m>9mK?ImK?=u8FyuEuh'Eu>yQ 5L4}5ǰ?Q 9L4}L7)}7BAYy?Q I?}6BI}:i}/:}VL4y7BɮB0E*jBjiiziJii kSDkSDkSDh kS`k[`=kS`h2f:fBfJf_@0? NAɢ 8 )  Ji )ٍŽ顑i9IԱE-` E-JE-pE)"E-*:*E-k9VE-5ZE)a5@a5@a5@a5@}0AS?AY?iI2Acoustic response timeoutAII O= >1 (?)ҏ,ݔH?AN?N?N8~ٱNn EAHRS rotation from veh to nav: [[-0.038379,-0.973272,-0.226425],[0.992711,-0.011229,-0.119998],[0.114249,-0.229380,0.966608]]NH k %̿I?5d??@U\Ϳt?iN?IN:>];NdCYuEAy}Gy1Zd??y&1?"?>`e< 9x&1?㥛 ?Mb?Ya?y=<^B 2Acoustic response timeout )BYBB%<A%<B)B)B-GB-3FAB-=B)B)B-;B-EbD%VD%8yM=%U.=ٔU3Q-U>9YIY=]8Fy]E]E]>iQ 5mL4m°?Q 9uL4m?B7)mBAYuQb?Q Eup:yu?Q Iu?mBIm:im8:mL4yɮB*jBjiiziJii kc^kc^kc^h kc^kc^kc^h2fY>:fY>BfX@Jf^@JOAɢ}h )y }iy)ƽ顁iI1EEa EESEEoEA"EE%.:*EE9VEE5ZEABEEM3;aM2EEO3;aMJEEl:aU:EEm:aUY  2Acoustic response timeoutI I O > F)ҏ,WH?A 2Ħ?2Ԓ?2T ٱ2Nw >AHRS rotation from veh to nav: [[-0.035014,-0.971229,-0.235558],[0.992966,-0.007134,-0.118181],[0.113100,-0.238039,0.964648]]2HMO&οa?8}A%?@xοe?i2Ħ?I2h1];0YBSFAyFGF=FR=bDVD8y >%n=ٔ\;Q-?9I=8FyE!E?Q 5L4?Q 9L4]:7)eCAYy.?Q I?BId:i:L4yɮmB*jBjiiziJii kC]kC]kC]h kS]kS]kS]h2f :f Bf Jf ؟@%OAɢ-/)) -i))-ǽ11i5r\AIIQQQQiG5V޿91Y5A%2Acoustic response timeoutԙIIO> EE b EE LEE gEA "EE 1:*EE |9VEE x5ZEA aM @aM @aM @aM @cDL)ҏ,s3H?A:O?:;?:ٱ:@ FAHRS rotation from veh to nav: [[-0.032365,-0.968072,-0.248575],[0.993359,-0.003683,-0.114995],[0.110408,-0.250646,0.961762]]:H qMϿ`?*nIp C? п?i:O?I:V];8YNFAyNnG PPbDZVDZ8yb=%bU=ٔbo;Q-f>9dId=f8FyfEjEj>lQ 5rL4n?Q 9rL4n17)nCAYpyv?Q Iv?nPBInQ;in:nL4yxɮz_Bx*j Bj i iziJii k3ak3ak3ah) k3ak3ak3ah92fI:fIBfIJfME@e2Acoustic response timeoutu PAɢu^) i)=tȽiIA%pAzA!IIO=ԩ 2Acoustic response timeoutB >B CB GB GAB =B B B ;B E S)ҏ, MH?A63?6?6۽ٱ6 >AHRS rotation from veh to nav: [[-0.031548,-0.968469,-0.247130],[0.993741,-0.003884,-0.111640],[0.107160,-0.249106,0.962530]]6H'Ͽ@?opn?Ͽ ?i63?I6=];4YFTGAyF"GbDRaVDRe8yZ=%ZM=ٔZ9\I\=^8Fy^Eb+ Eb>dQ 5jL4f\?Q 9jL4ff(7)fvDAYhyj?Q Ij?fBIf:ifN:fL4yrMBɮrbBr'E|*jBjiiziJi i  k^k^k^h k^k^k^h)2fA:fABfAJfE@]pPAɢer )a eia)eJaɽaiimYiIqIIDADE<EMa EIEMzEI"EM%.:*EIVEM5ZEIBEIaU2EIa]JEMv:a]:EMx:a]O)2Acoustic response timeoutQԁ = 2Acoustic response timeout,GY)ҏ,1fH?Aɰ4<26?2"?20|ӽٱ2,} :AHRS rotation from veh to nav: [[-0.031658,-0.969920,-0.241356],[0.994169,-0.005653,-0.107684],[0.103081,-0.243358,0.964444]]2H |5 @ο;?'w3c? Y&Ͽ?i26?I2^c];2eCY~GAy~G)) )))I)i)1bD=5VD=<8yM=%MA=ٔU9QIQY=]8Fy]Ee.n9Ee>iQ 5uL4mõ?Q 9uL4m7)mEAYqy}?Q I}?mBIm;im;mL4yɮNB*jBjiiziJii k\k\k\h k\k\k\h2f:fBfJf@PAɢ W )  i )Yʽi=I!IIO%=ԁbE^5jEĐ5rEĔ2EMb EMNEMEI"EM1:*EM҆9VEM5ZEIaU@aU@aU@aU@i]oAIY2Acoustic response timeoutԱ 1`)ҏ,ЀH?AuYh?uiT?uV̽ٱu}Թ AHRS rotation from veh to nav: [[-0.033170,-0.969879,-0.241319],[0.994474,-0.007964,-0.104685],[0.099610,-0.243458,0.964783]]uH ? ο ?O̺@?)Ͽ?iuYh?IuC];udCYHAyGyuE?~jt?X9vu?u9I=8FyE];AAB>BCBvGB8IABBBBQ;BEBBCB“CBBC42Acoustic response timeoutEM>IQ 5UL4M?Q 9]L4MY7)MDAYe.?Q EmR:ym?Q Im?MBIMj;iMlj;M(L4yqɮu9Bq*jBjiiziJii k_k_k_h2fT>:fT>Bf!)@Jf b@WQAɢ0 )  i)E4h˽IQiU򻉨aIiAu]?Aud?IIO5.> EUc EUGEUpEQ"EUg5:*EUR9VEU5ZEQBEU?;a]2EU?;a]JEU!t:a]:EU#t:ae 2Acoustic response timeout9 Xf)ҏ,^H?A6Ṟ?6b?6|ƽٱ6 BAHRS rotation from veh to nav: [[-0.036214,-0.969119,-0.243920],[0.994640,-0.011299,-0.102779],[0.096849,-0.246335,0.964334]]6H8Ͽ`?# O˸?Ͽ@?i6Ṟ?I6@];4YF)IAyFcGbD VD 8yE߿=%Mc=ٔM;Q-M>9IIQ=U8FyUEU <EU>YQ 5eL4]?Q 9mL4]i 7)]DAYiym1?Q Im?]cBI]:i]:]L4yucBɮ}>B}E*jBjiiziJii k`k`k`h k`k`k`h2f:fBfJfԆ@颭QAɢ-) i)/̽iIAAAIQIaO;>2Acoustic response timeoutqEa  Ee OEe |Ea "Ea *Ee 9VEe ם5ZEa au @au @au @au @ԙ l)ҏ,ӄH?A@2Va?2eM?2½ٱ2ʥ :AHRS rotation from veh to nav: [[-0.040745,-0.968273,-0.246552],[0.994656,-0.015878,-0.102016],[0.094864,-0.249391,0.963745]]2H@xܤ `Ͽ8?nBI? Ͽ`?i2Va?I2?X];2fCYBIAyB9GFa=Fp=bD_VDw8y=%M=ٔ;Q->9I=%8Fy%E%;<E%>)Q 55L4-?Q 95L4-6)-DAY9y=?Q I=?-1BI-;i-;-L4yAɮE(BA]2Acoustic response timeout*jiBjiiiiiziiJiqiq k3ik3ik3ih k3ik3ik3ih2f:fBfJf+@19 rNAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedRAɢn ) i)̽iw껉IqA%$AI1IAOu>ԙBBB8GBJABBBB;BkE 2Acoustic response timeout ,ks)ҏ,VΥH?A2d?2s?2ٱ2\^ :AHRS rotation from veh to nav: [[-0.046215,-0.967809,-0.247405],[0.994532,-0.021360,-0.102220],[0.093645,-0.250777,0.963505]]2H uKϿ5?`\ߕ+? п ?i2d?I2 F];0YNJAyR$G%=%=bD-,VD-H8y=%D=ٔ3@;Q->9H?IH?=8FyEW<E>Q 5M4?Q 9M46)DAYyj?Q I? BIB:i:M4yɮB*jBj=iiziJii kckckch kckckch2f :f Bf Jf @sNUpdating rudder angle 6.875493 arcdeg 9E_ EMEqE"E&:*E9VE5ZEBE&;a-2E&;a-JE:a-:E:a-r6Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderM{RAɢM )I UiQ)UͽQQi]滉]=Iau2Acoustic response timeoutAAI IOM1>I  2Acoustic response timeouty)ҏ,0H?A2ڳ?2?2ٱ2 >AHRS rotation from veh to nav: [[-0.052208,-0.967485,-0.247482],[0.994238,-0.027124,-0.103708],[0.093623,-0.251471,0.963326]]2HϿ?Lƛ`? п@?i2ڳ?I2f];2eCYB*KAyFGbDNVDN28yV|=%VY=ٔZ+p8Q-Z>9ZK?IZK?=Z8Fy^E^-<E^>`Q 5fM4b8?Q 9fM4b6)bDAYhyj-?Q Ij?bBIb:ib:bM4ynyBɮnBrE*jxBjxixixzixJi|i| kfkfkfh kfkfkfh!2f1:f1Bf1Jf5@URAɢU ) i)νiỉIIAIIO!>E) E-LE-mE)"E)*E-|9VE-5ZE)a5@a5@a5@a5@y}2Acoustic response timeoutԩ ʀ)ҏ,.H?A@b4<ɰb;E?E ?Ea½ٱE ]AHRS rotation from veh to nav: [[-0.057971,-0.967646,-0.245564],[0.993810,-0.032586,-0.106209],[0.094770,-0.250201,0.963545]]EHhnϿ J?|0B? Iп[?iE?IEZ];EcCYeKAymGy%?MbOnÿ%ff?%%! !9%Zd;?Mb?&1ҿY%Y?y%<%吾%B%-B %)%B!Y%ܟBbD=VD=8yU=%U2=ٔU~$Q-]>9YIY=]8Fy]Ee'O<Ee>BiAm<BqBuCBu,GBu:f'>Bf+@Jfn@=LSAɢ=w+)A E=iA)E^pϽAIiMݻIIQԩAYIaIqO=>E1 E5HE5|E1"E1*E5[9VE5ם5ZE1BE1aE2E1aEJE5X:aE:E5Y:aE iy I} A 2Acoustic response timeoutI )ҏ,.H?A2,?2?2-ƽٱ2c :AHRS rotation from veh to nav: [[-0.062435,-0.968319,-0.241784],[0.993366,-0.036851,-0.108928],[0.096567,-0.246981,0.964197]]2H}x`ο ?)ޢ⻿? Ͽ?i2,?I2L|];2eCYB|LAyBzGIJ%=)J=HJAlbDnVDn8yv=%ze=ٔzvQ-z>9xI|=~8Fy~E~6N<E>Q 5 M4ힰ?Q 9M4I6)6BAYy?Q I?9BI:id:;2M4y!ɮ%B!*j1Bj1i1i9zi9Ji9i9 k^k^k^hQ k^k^k^ha2fq:fqBfqJfu@颕SAɢW ) i)н顙i>ڻI ^A;2Acoustic response timeout9A)I9IQO>a EA  EE JEA EA "EA *EE k9VEA ZEA aM @aM @aM @aM @ь)ҏ,5H?A2?2k?2Oʽٱ2ס| :AHRS rotation from veh to nav: [[-0.064945,-0.969227,-0.237446],[0.992991,-0.039224,-0.111489],[0.098745,-0.243022,0.964982]]2H4dο? @YG? \Ͽ !?i2?I2_];2cCYBMAyB3GTX X)XIXiXXbDbgVDb8yj=%jL=ٔjQ-n>9lIl=n8FyrEr;Er>tQ 5zM4v?Q 9zM4v6)v@AYxyzs?Q I~?vBE2Acoustic response timeoutAIv:ivjԑBu>BqBuGBuMABu=BqBqBuA;Bu~E2Acoustic response timeout )ҏ,OH?A2?2?2WϽٱ2Ccx :AHRS rotation from veh to nav: [[-0.065749,-0.970207,-0.233185],[0.992705,-0.039930,-0.113769],[0.101069,-0.238965,0.965754]]2H԰ Ϳ@9XIX=Z8FyZEZ;EZ>`Q 5bM4b$?Q 9fM4b6)b?AYdyf?Q If?bBIb:ib:b&NM4yhɮnܣBl*jtBjtitixzixJixix k\k\k\h  ksuksuksuh2f):f)Bf)Jf-ݠ@MeTAɢM)I MZھiQ)U|ѽQQiU =ӻԙI@R=@=E  E ME vE "E *E 9VE -5ZE BE a2E &;aJE :a:E :a^A&V=U2Acoustic response timeoutAII!OU2> AA 9! Y% Ay #? A  2Acoustic response timeout,)ҏ,xiH?A>^?>J?>qӽٱ>ku FAHRS rotation from veh to nav: [[-0.063905,-0.970985,-0.230443],[0.992595,-0.037941,-0.115393],[0.103301,-0.236111,0.966220]]>H\O%ͿV? m`q?8οE?i>^?I>o];>aCYN NAyN~G ==  AAbDVD8yM=%M@=ٔUQ-U>9QIY=]8Fy]EeEe>iQ 5}M4mA?Q 9M4m 6)m>AYy?Q I?m_BImo;im];m ]M4yɮʣB*jBjiiziJii kvkvkvhy2f:fBfJfA@TAɢ )  ־i )%rGҽ!!i%л)I)^A Vo=E ELEiE"E*E|9VEz~5ZEa@a@a@a@)A9IAIQO[>]In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER]2Acoustic response timeoutQԁ ͠)ҏ,^H?Af1?f@?fYٽٱf8Cw rAHRS rotation from veh to nav: [[-0.058242,-0.970807,-0.232684],[0.992650,-0.031548,-0.116839],[0.106088,-0.237778,0.965509]]fH ѭͿ@?@'-齿(?@oοr?if1?Ifc];fdCYzNAyzGy@5^I ?I +Mb?b0?94= 99I=8FyE ZE >AAB>BCBGBAOABBB$DB;BOEQpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout Q 5M4 V?Q 9M4 6) >AY;?Q E:y?Q I? BI ;i _3;  mM4yQɮUBQ*jBjiiziJii kC^kC^kC^h2fH>:fH>BfB@Jf@>UAɢt) %վi!)%ӽ))i-1ͻAIIyEu EJEE"Ev:*Ek9VEZEBEV;a%2EX;a%JE:a%:E:a%^A=e zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYe 2Acoustic response timeoutA I I O% > )ҏ,j.H?AY OAy G@AbDVD@8yh=%M=ٔQ->9I=8FyEE>Q 5 M45?Q 9 M4D6)=AYyQ I?XBI[;i\;yM4y-Bɮ-ãB-E*jIBjIiQiQziYJiYiY k#fk#fk#fh2f:fBfJfUUAɢUok)Q UӾiQ)UӽYYi]vʻYIa@qA@rA2Acoustic response timeout^AI A $AI I O >bEQ5jE75rEC2E% _ E% ME% mE! "E% &:*E% 9VE% 5ZE! a5 @a5 @a5 @a5 @r)ҏ, H?A2K?27?2:ٱ2 >AHRS rotation from veh to nav: [[-0.032258,-0.964403,-0.262462],[0.992999,-0.001068,-0.118120],[0.113635,-0.264435,0.957685]]2H)`c.п ?Q !=1?п[?i2K?I2;t];0YROAyR6GbDbVDb8yzX=%~Y=ٔ ĤQ- >9H?IH?=8Fy EDE2Acoustic response timeoutE>Q 5%M4?Q 9%M4v6)u=AY)y-?Q I-?BII :i <UM4yɮB*jiBjqiyiyziyJiyiy kOkOkOh2f:fBfJf 2@>VAɢ1)  Ͼi ) mԽiȻI!yB>BCB HB]PAB=BB#DB;BEBCBCBǔCBBǥ=CS 52Acoustic response timeout^AM =ԩ A} AI I O >)ҏ,ЦH?A2fۮ?2t?2= ٱ2m :AHRS rotation from veh to nav: [[-0.013322,-0.957949,-0.286629],[0.992993,0.020988,-0.116298],[0.117424,-0.286170,0.950957]]2HH!Xҿ@?}?Ž|? Pҿ9ZK?IZK?=Z8Fy^ E^GE^>`Q 5fM4b?Q 9fM4bk6)b;=AYhyj?Q Ij?b@BIb:ib:bĔM4ylɮlp*jxBjxixixzixJi|i| kSkSkSh kSkSkSh2f:fBfJfi@E EPEoE"E*E?9VE5ZEBE&;a2E&;aJE:a:E:a LVAɢ / ) Mپi)5Խ19i= ƻ9IAԩM2Acoustic response timeout^Aͳ=A $AI I) O] >  2Acoustic response timeoutx1)ҏ,H?AB!?B ?BaJٱB҂ NAHRS rotation from veh to nav: [[0.007816,-0.949723,-0.312993],[0.992688,0.045073,-0.111976],[0.120454,-0.309829,0.943131]]BH? "dԿ??`|־?=ӿ!.?iB!?IB];BeCYV*PAyZH\^a=p|| |)IibDVDy8y-!=%-B=ٔ5Q-5>95H?I5H?==8Fy=E=?OE=>AQ 5MM4EG?Q 9MM4E6)Ei I)ҏ,̛H?A6}3?6?62Xٱ6 BAHRS rotation from veh to nav: [[0.030535,-0.940706,-0.337846],[0.992009,0.069919,-0.105025],[0.122419,-0.331939,0.935323]]6HD?C`Dտ?2?⺿`V?}>տ+?i6}3?I6];6dCYFXPAyJHyMb? > 9q= ףp?ˡE?E?Y+?y'=>)BB B)YQBbD5VD5@89yE<%EI=ٔMYQ-M>9MK?IMK?=M8FyUEUfEU>YQ 5eM4]?Q 9eM4]6)]?AYm8?Q Em:ymC?Q Im?]FBI]:i]:]M4yuBɮuBy*jBjiiziJii kcCkcCkcCh ksCksCB<AB>BCBHBQABBB"DBZ;BEksChq2fi>:fi>Bf.[@Jf@2Acoustic response timeoutEWAɢEZ)A E"׾iA)MgֽIIiMvĻIiԑ^A=Eg EPEoE"EC:*E?9VE5ZEBEX;a 2EX;a JEa :EaAzApAAA II IY m 2Acoustic response timeoutO > ?C)ҏ,>vH?A20?2?2ٱ2u :AHRS rotation from veh to nav: [[0.053860,-0.931243,-0.360396],[0.990942,0.094310,-0.095598],[0.123014,-0.351982,0.927888]]2H@?׿̵?$?y}?ֿ B?i20?I2];2fCYB#QAyBHbDzVDz&8y !>%N=ٔźQ->9!I!=-8Fy-E5TqE5>9Q 5MM4=Y?Q 9MM4=Z6)=AAYIyU6?Q IU?=BI=;;i=L?;=M4yeBɮmBmE*jBjiiziԙJii k#Ck#Ck#Ch2f:fBfJf@eWAɢ U)  %Ⱦi ) ֽ iCzûI2Acoustic response timeout^A]=A$AIIO>E h E QE fE "E G:*E v9VE t5ZE a @a @a @a @ Zm)ҏ,LQ8H?Aɰ2S?2??2ٱ2Cľ :AHRS rotation from veh to nav: [[0.076015,-0.921190,-0.381616],[0.989550,0.116723,-0.084650],[0.122523,-0.371193,0.920437]]2H u?cz dlؿe??@]?`׿7t?i2S?I2S6^;0YBQAyBHDF?A%2Acoustic response timeoutbD5iVD58yf=%B=ٔ:Q->9H?IH?=8FyEZE>Q 5M4D?Q 9M4:6)CAYy??Q I?WBIQ;i:PM4yɮB*jBjiiziJii k'k'k'h2f:fBfJf*@5WAɢ5p)9 =Ǿi9)=e׽99i=v»AII@Y@]qA!^A=B>BBHBSAB=BBBX;BEQAA2Acoustic response timeoutIIO= >y CU)ҏ,,RH?A2Б?2}?2eٱ2g#; :AHRS rotation from veh to nav: [[0.097326,-0.911736,-0.399081],[0.987857,0.137289,-0.072736],[0.121105,-0.387156,0.914026]]2HV? ,@ٿ? ?Ҟ?`*ؿ??i2Б?I2z*^;0YBQAyBHI~<)~<AbD >VD 8yM=%MP=ٔMm;Q-U>9UK?IUK?=U8FyUEZE>E] EKEkE"E:*E]t9VEu5ZEBE9;a2E<;aJE/:a:E0:aQ 5M4?Q 9M4D6)EAYy7?Q I?BI:iB:M4yBɮ|B*jBjii zi Ji i  k#(k#(k#(h! k#(k#(k#(h12fA:fAYBfAJfEE@颍 XAɢA) Dži)Lؽ顑i+MI52Acoustic response timeoutԁ^A=ԹA I I I O% > hDAT read: Forwarding Delay UpTx time:19:18:53.2860  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout )ҏ,lH?AY}RAy}HbD VD8yV=%E=ٔQ->9I=8FyEE>Q 5M4?Q 9M4qy6)GAYyQ I?eBI:i :M4yɮfB*jaBjaiaiiziiJiiii k#,k#,k#,h kHkHkHh2f:fBfJfԱ~XAɢ) ຾i)ؽiZBI E^ ELEiE"EC#:*E|9VEz~5ZEa@a@a@a@E2Acoustic response timeout^Aq A $AI I O >9 Og)ҏ, ㅧH?A2kJ?2y6?2ٱ2vؾ :AHRS rotation from veh to nav: [[0.130301,-0.897587,-0.421140],[0.984152,0.168618,-0.054882],[0.120273,-0.407315,0.905334]]2Hත?ڿ -~?F? 9ʾ?qڿ`~?i2kJ?I2d];2eCYBqSAyBHyE~jt?Dl?/$E?EO >EA A9EM?bX9?~jt?YEn?yEE6>ED>EBEB EB)EBAYEBAYA]AABe>BaBeHBe~TABe=BaBe!DBes;BeEbD}VD}e8ye=%L=ٔ;Q->9H?IH?=8FyExE>Q 5M4\?Q 9M4n6)wHAY?Q EI:y?Q I?8BI<:i:M4yнBɮbBE*jBjiiziJii k-k-k-h kcFkcFkcFh2f5>:f5>Bf56}7@Jf5 u{@2Acoustic response timeoutXAɢ]) \i)]sٽ!!i%FI!I)@=C>@=J>9^AQE EPEuE"E*E?9VE5ZEBE~ ;a2E ;aJE:a:E:aAM AIQ Ia i O >iA IE AM 2Acoustic response timeout)ҏ,]H?A Rƚ?R?RJٱRھ)EMrAi9MrAYzA AHRS rotation from veh to nav: [[0.141937,-0.893362,-0.426331],[0.982400,0.179962,-0.050036],[0.121424,-0.411726,0.903182]]RH+?k Iۿo??`?Yڿ@?iRƚ?IR];RbCYSAySH )Ii ==bDVD8y-=%-@=ٔ52Q-5>9=K?I=K?==8Fy="E=E=>AQ 5MN4Eꐰ?Q 9MN4E6c6)EIAYQyU?Q IU?EBIEw;iE;ErN4yYɮ]RBa*jyBjyiyiyziyJii k*k*k*h kHkHkHh2fQ:fQBfQJfUez@i颕5YAɢM}) gi)G ڽ顙iI2Acoustic response timeoutԙ^A= A! I) I9 Om >E b E GE E "E 1:*E R9VE 5ZE a @a @a @a @])ҏ,۹H?A6.a?6;M?6ٱ6ܾ@ BAHRS rotation from veh to nav: [[0.152597,-0.889924,-0.429825],[0.980603,0.190473,-0.046227],[0.123009,-0.414434,0.901728]]6HJ?`AzBۿ@a? la?@}?ڿ@?i6.a?I6];6dCYJTAyJHbDV&VDV8yZ>%^c=ٔ^WQ-^>9`I`=b8Fyb$EfEf>dQ 5jN4fS?Q 9nN4fY6r2Acoustic response timeout)fHKAYpyv?Q Iv?fBIf\;if];fN4yzѽBɮz7BzE*j Bj iiziJii kS,kS,kS,h) kFkFkFh92fI:fIBfIJfMVy@mYAɢm)i m땾iq)utڽqqiuIԱ^ABE>BECBEHBE=VABE=BABABEA;BE֝EAII OE>2Acoustic response timeout )ҏ,ӧH?Aɰ:` ?:m?:ٱ:7ܾ FAHRS rotation from veh to nav: [[0.162832,-0.888025,-0.429998],[0.978677,0.200676,-0.043828],[0.125210,-0.413693,0.901765]]:H?`jۿRQ??p?yڿC?i:` ?I:ǫ];:fCYNUAyNGHlbDVD8yE^=%MA=ٔM Q-M>9IIQ=U8FyU'EU˼EU>YQ 5eN4]?Q 9mN4]"N6)]LAYiym`?Q Im?]BI]:i]:]"N4yuBE` EQE{E"E*:*Ev9VE:5ZEBE-;a2E -;aJE:a:E:aɮE*jBjiQiQziQJiYiY kC+kC+kC+hi kHkHkHh2f:fBfJf"y@-YAɢ-)9 =όi9)EڽAAiERIII@]pA@]pA2Acoustic response timeout 1^Au=A I I O >a  2Acoustic response timeout3)ҏ,2H?A2?2?2Q/ٱ2AY۾ :AHRS rotation from veh to nav: [[0.172971,-0.886429,-0.429331],[0.976606,0.210901,-0.041982],[0.127760,-0.412025,0.902171]]2H@#?](zۿ`Z@? ?~pZ? ^ڿ?i2?I2];2eCYBCVAyBHI~8>)~>9bD VD P8yM=%MJ=ٔM-лQ-U>9QIQ=U8FyU)E]ӼE]>aQ 5mN4e|?Q 9mN4e;C6)eONAYiyu ?Q Iu?eBIe-:ieF:e0N4yyɮB*jBjiiziJii k,k,k,h k3Nk3Nk3Nh2f:fBfJfޟx@5ZAɢ) |i)%X۽!!i%e)I)ibE5jEH5rE82E^ ELEwE"EC#:*E|9VEɕ5ZEa@a@a@a@^A=iI2Acoustic response timeoutԑAI I9 O *ҏ,kH?A2HW?2UC?2]ٱ2uپ :AHRS rotation from veh to nav: [[0.183247,-0.884961,-0.428094],[0.974191,0.221857,-0.041621],[0.131809,-0.409418,0.902775]]2H t? Q`eۿ,?e?\O? 3ڿ?i2HW?I2];2cCYBYWAyBkHBtBtBvHBvNXABtBtBtBv6;BvϝEBCBCBCB=B=C74ԙy q= ףp?V-?B`"۹ k? m= ν  9 V-?Cl?`"Y |?y ;=  B nB B) B Y BbD%VD%%8y5 >%=<=ٔ=Q-=>99IA=E8FyE,EEȼEE>I]2Acoustic response timeoutQ 5eN4Mx?Q 9eN4M76)M%NAYe+?Q EmT:ym?Q Im?MfBIMew;iMv;M@N4yqɮuBy*jBjiiziJii k2k2k2h9 kSIkSIiUpAIUoAkSIhQ2feղ=:feղ=Bfe$?Jfe$A?^B*** querying acoustic contact ***XY颥ZAɢ)e& uOi),۽iȿIDzD?AEg EKEnE"EC:*E]t9VEJ5ZEBEX;a2EX;aJE/:a:E0:a^AM= 2Acoustic response timeoutA I I O > *ҏ,N!H?A :N?:[ׯ?:l ٱ:bؾ FAHRS rotation from veh to nav: [[0.193926,-0.883391,-0.426630],[0.971444,0.233526,-0.041970],[0.136705,-0.406308,0.903452]]:H@?DMۿ?*?}`?ڿ ?i:N?I:=];:dCYJ6XAyNHPPbDVbVDV8y^<>%be=ٔb,cQ-b>9`Id=f8Fyf.EfXEf>hQ 5nN4j⒰?Q 9rN4j.6)j NAYpyr5?Q Ir?jBIj;ij;jLN4yvBɮvBzE*j Bj i i zi Ji i k-k-k-h! kGkGkGh92fa:faBfaJfe[? ZAɢ }x)1 U*iQ)U۽QQiU2`YIa@8>@>!m2Acoustic response timeout^AIAII O% >E b E ME rE "E 1:*E 9VE 5ZE a @a @a @a @y :*ҏ,2";H?A6H?64?6ٱ6I#׾ BAHRS rotation from veh to nav: [[0.206168,-0.880920,-0.425999],[0.968153,0.246834,-0.041876],[0.142041,-0.403799,0.903754]]6H`c?@~0Cۿ?C?pd.?ٿ ?i6H?I6];4YFXAyFeH LLbDRVDR8yZ=%ZK=ٔ^m[Q-^>b2Acoustic response timeout9dId=f8Fyf1EjEj>lQ 5rN4nN?Q 9rN4n!$6)nMAYpyr?Q Iv?nBIn;in:nZN4yxɮzݢBx*j Bj i iziJii k3,k3,k3,h)2fa:faBfaJfeYL?19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9m9m7mouXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7un}LAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed颕4[Aɢ) i)q0ܽ顡i;ûIYԁ^A=B>BB`HBZABBBB3;B̝EA II)u2Acoustic response timeoutO>ԩ *ҏ,UH?A2f]?2sI?2Nٱ2վ :AHRS rotation from veh to nav: [[0.220498,-0.877639,-0.425594],[0.964265,0.261844,-0.040381],[0.146879,-0.401481,0.904013]]2H@K9?<ۿ@B??Ҭ?@ݱٿ?i2f]?I2];2hCYBYAyBHbDNVDN8yr=%rG=ٔrCQ-r>9tIt=v8Fyv3Ev{Ez>xQ 5N4zF?Q 9N4z6)zMAYy?Q I?zBIz;iz;zhN4y!ɮ%ɢB)*jIBjIiIiIziQJiQiQDYD]%=Ee^ EeIEepEa"EeC#:*Eec9VEe5ZEaBEe~ ;am2Ee ;auJEe:au:Ee:au k.k.k.h ksSksSksSh2f:fBfJf9h?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[Aɢ) i)^eܽiLǻIԱ2Acoustic response timeout"9 ^A  2Acoustic response timeoutA5 $A9 IA IQ O >~G*ҏ,OoH?A;ɰ4<2{$?2?2ʄٱ2WԾ :AHRS rotation from veh to nav: [[0.237046,-0.873447,-0.425322],[0.959646,0.278700,-0.037499],[0.151291,-0.399270,0.904265]]2HW?`Gz8ۿ k?8? 3@}]?ٿ?i2{$?I2];2dCYBrZAyBSHDDXX X)XI\i\\bDMVDM8yU>%]@=ٔ]}+Q-]>9eH?IeH?=e8Fye6Em&Em>qQ 5uN4u?Q 9}N4u6)uMAYyy}?Q I}?uBIu;iun;uwN4yBɮ¢BE*jBjiiziJii kRkRkRh kmkmkmh2f:fBfJf7?[Aɢ') i)ܽi8s˻ IΒE=` E=GE=kE9"E=*:*E=R9VE=u5ZE9aE@aE@aE@aE@2Acoustic response timeout^A=A A AI I) Ou >""*ҏ,H?AA0A0B6>B6CB6HB6\AB6=B4B6 DB6;B6EB(?B4?B)ٱBGԾ JAHRS rotation from veh to nav: [[0.256107,-0.867821,-0.425789],[0.954172,0.297498,-0.032422],[0.154808,-0.397972,0.904242]]BH d?0`@ۿ ?4 ?@?_xٿ?iB(?IB];@YRd[AyRHyZd;??t`e 9T㥛 ?I +MbX9ĿYA?y9!BB мB)BYpBbDVDw8y>%D=ٔ Q->9K?IK?=8Fy9EgEE>Q 5N4쮰?Q 9N46)MAYKE?Q E:y?Q I?:fe>Bfe9@Jfe(>颅8\Aɢ) WSi)%ܽ顉iIлIQy@C>@J>Ee_ EeIEenEa"Ee&:*Eec9VEeJ5ZEaBEe&;au2Ee&;auJEaa}:Eaa}ԩ  2Acoustic response timeout^A9 AM R?AM N? A I I O >)*ҏ,0H?AY%\Ay-XHbDVD48y==%3=ٔQ->9I=8FyQ 5N4?Q 9 N45)MAY y Q I ?BIT;i:[N4yɮBE!*j1Bj1i1i1zi1Ji9i9 kfkfkfhQ2fi:fiBfiJfi额\Aɢ) Ti)ܽ顩iջI2Acoustic response timeoutI]PExceeded connect timeout, disconnecting.yEc EKEjE"Eg5:*E]t9VEـ5ZEa@a@a@a@^A u 2Acoustic response timeoutԩ A I I I! OM >Ju0*ҏ,H?A26?2"?2 &ٱ2rҾ :AHRS rotation from veh to nav: [[0.317474,-0.846874,-0.426632],[0.934345,0.356176,-0.011734],[0.161894,-0.394897,0.904349]]2H~Q?Mۿ'??? Eٿm?i26?I2 ];2fCYB\AyBHDDbDzdVDz 8ԉy =%@=ٔqQ->9I=8Fy>EE>Q 5N4XŰ?Q 9N485)MAYyA?Q I?BIN:i$:3N4yɮuB*jBjiiziJii kSLkSLkSLh kekekeh 2f:fBfJfTH=5\Aɢ5Zݽ)=s =i9)=ܽ99iEۻAIIB>BB HB^AB=BBB;BEԱ2Acoustic response timeout^AIAyIIO>E ` E IE xE "E *:*E c9VE e5ZE BE -;a 2E -;a JE a :E a 6*ҏ,ۨH?A>BE?>O1?>7Y'ٱ>Ѿ FAHRS rotation from veh to nav: [[0.338831,-0.839349,-0.425073],[0.926673,0.375853,-0.003497],[0.162700,-0.392719,0.905152]]>H`g?f4ۿM? ?lX?`O"ٿ?i>BE?I>];>eCYN]AyNnH ||=a=  %2Acoustic response timeoutbD VD 8ye&>%eO=ٔehQ-e>9iIi=m8FymAEm7nEu>qQ 5 N4uа?Q 9 N4u 5)uzMAYy^?Q I?u4BIu!=rAQDؿ9rAY=A kSMkSMkSMh2f:fBfJfT=G]AɢA׽) =i)ܽ  i ⻉I!Q^A=2Acoustic response timeoutA% $AI) I9 Ou >y o<*ҏ,9H?A>z?>V?>'ٱ> о FAHRS rotation from veh to nav: [[0.359376,-0.831498,-0.423627],[0.918803,0.394687,0.004754],[0.163247,-0.390938,0.905824]]>H?`ۿf?B?xs?@H? ٿ?i>z?I>];>dCYN^AyNHbDZVDZ8yfK>%fT=ٔjQ-j>9jH?InH?=n8FynCEnlEr>pQ 5vN4rGܰ?Q 9zN4r5)rhMAYxyz?Q Iz?rBIr:ir:r}N4y|ɮLB*jBjiinManaging dock network, ignoring radio surface power offziJi!i! kIkIkIh9 k3ck3ck3chI2fa:faBfaJfe=}]Aɢ}4н) ٞ=i)@ܽ顁i軉IEg ELErE"EC:*E|9VE5ZEa@a@a@a@Y-2Acoustic response timeoutԉ^A=AII1Ou>ԩB A <B >B CB / HB `AB =B B DB ;B }E 2Acoustic response timeout SC*ҏ,l[H?Aɰ;2u?2?2z(ٱ2Ͼ :AHRS rotation from veh to nav: [[0.378191,-0.823684,-0.422513],[0.911077,0.412056,0.012206],[0.164044,-0.389558,0.906275]]2HF4? [r ۿ'? _??`g?ؿ@4?i2u?I2t];2fCYB;_AyBD Hy]Q?~jt?Zd;?]h?]D=]y=Y Y9]~jt?Mbp~jthY];?y]]D]B]B ]'B)]PBYY]BbDuVDu8y=%?=ٔQ->9I=8FyFEEE>Q 5N4l氉?Q 9N45)8NAY;?Q E:y֕?Q I?kBI:iH:kN4yɮ=B*jBjiiziJii kdkdkdh kdkdkdh2f G>:f G>Bf Y[@Jf N@-]Aɢ-]н)) - =i))5aܽ11i5F!ﻉ9I9ԱEc EGEE"Eg5:*ER9VE5ZEBE?;a2E?;aJE t:a:E#t:a}&t@@G>=2Acoustic response timeout ^A =9 A I I O] >YJ*ҏ,i+H?AV8p?VP?VQ)ٱV$Ͼ bAHRS rotation from veh to nav: [[0.395058,-0.816365,-0.421281],[0.903790,0.427553,0.019014],[0.164598,-0.388262,0.906731]]VH`H?Fڿ? ]?jx??Gؿ?iV8p?IVB];VdCYn`Ayn H   ) IiI<);bD%VD%@8y5C>%5?=ٔ5竺Q-5>99I9==8Fy=IEEY2EE>IQ 5UN4M?Q 9UN4M05)M OAYQyUt?Q IU?M BIM:iMI:M^N4ye$BɮeBeE*jqBjyiyiyziyJiyi2Acoustic response timeout kckckch2fI:fIBfIJfM@额6^AɢMȽ) >i)ܽ顡i$I}m1bEQjEUr5rEUƪ1Eb EJEmE"E1:*Ek9VE5ZEa@a@a@a@^AE=YE 2Acoustic response timeoutA AI I O5 >ԉ 7Q*ҏ,TEH?A JQl? ? )ٱ WFξ =AHRS rotation from veh to nav: [[0.410741,-0.809418,-0.419683],[0.896690,0.441939,0.025242],[0.165043,-0.386693,0.907320]] HI? @ڿ?@H?!ٙ?  ?@ؿ?i JQl?I ]; fCYMaAyMj HbDeJVDe8ym=%uH=ٔubQ-u>9K?IK?=8FyKE,E>Q 5N4?Q 9N45)OAYy8?Q I?BI:i;N4yɮB*jBjiiziJi i qB>BB[ HBbAB=BBB;BpEB]CB]CB]”CBYBYC]Q5 kKkKkKh2f:fBfJf@$@-^Aɢ-\Ž)) M\$>iI)U[۽QQiUYIY2Acoustic response timeoutԡ𕭼D =D =E  E GE rE "E *E R9VE 5ZE BE 9;a 2E 9;a JE a :E a ^A e 2Acoustic response timeout >A $AI I O=>VX*ҏ,YbH?A21*h?2%?2*ٱ2{;; :AHRS rotation from veh to nav: [[0.425209,-0.802940,-0.417714],[0.889860,0.455191,0.030847],[0.165371,-0.384824,0.908055]]2H6?ற@Իڿy?!?u?@*?ؿ?i21*h?I2];0YBbAyB HhhtbDU>VDU8y=%-=ٔ=9Q->9H?IH?=8FyNEQE>Q 5N4?Q 9N45)PAYy%?Q I?OBIH:i:%N4y9BɮBE*jBjiiziJii kEkEkEh kEkEkEh 2f:fBfJf@颵^Aɢ) XJ>i)w۽i<I2Acoustic response timeoutAi ^A =E Z E DE fE "E :*E a99VE t5ZE a% @a% @a% @a% @A AI I O- >h^*ҏ,U~H?A62Acoustic response timeout<=/d?=?=! *ٱ=˾ AHRS rotation from veh to nav: [[0.438989,-0.797026,-0.414775],[0.883157,0.467695,0.035999],[0.165296,-0.382115,0.909212]]=Hf?<`ڿB? ?|n?j(?tؿB?i=/d?I=ν];=eCY/cAy H 99ԙyV-?Cl?V-hq?;=m 9333333? rh?~jt?YY?yC=D=QBB B)BYBbD%VD8y<>% =ٔ9Q->9K?IK?=8FyQEE>Q 5 O4?Q 9 O45)RAY Z?Q Ex:yn?Q I?*BIK ;i ;O4yɮӡB%E*j1Bj1i1i9zi9Ji9i9 ksEksEksEhQ kEkEkEha2f}`>:f}`>Bf}c@Jf}u@颕=_Aɢ) |>i)ڽ顙i3{IAA@ABk>BCB HBdAB=BBDB;BE2Acoustic response timeout^A= A) I9 II Ou >#e*ҏ,PH?A29`?2?22Z)ٱ2˾ :AHRS rotation from veh to nav: [[0.452663,-0.789656,-0.414173],[0.876352,0.479736,0.043137],[0.164630,-0.382488,0.909175]]2H`o?@D@сڿ` ?@???zؿ?i29`?I2X];2fCYZRdAy^e HlD|zD|Ec E`EuE"Eg5:*E9VE5ZEBE?;a2E?;aJE;a:E;abD- VD-8y5g>%==ٔ=5 ;Q-=?9AIA=E8FyESEMJEM?QQ 5UO4U%?Q 9]O4U(5)URAYYy]r?Q Ie?UBIU;iU;UO4yiɮmBi*jBjiiziJii ksAksAksAh kAkAkAh2f:fBfJff@x_Aɢb) @>i)ڽi I}2Acoustic response timeout ^AAAIIYIiO>a % 2Acoustic response timeouthk*ҏ,,H?Aɰ20\?2V?24(ٱ2˾ :AHRS rotation from veh to nav: [[0.466499,-0.782123,-0.413112],[0.869274,0.491729,0.050649],[0.163526,-0.382735,0.909271]]2H` ?'`npڿ ?{x??`h?~ؿ?i20\?I2 ];2eCYBeAyB HbDNVDN8yVv>%VT=ٔVU>;Q-V>9XIX=Z8FyZVE^_'E^>`Q 5fO4b'?Q 9fO4bL5)bSAYdyfn?Q If?bVBIb:ibg:bY'O4ylɮnB9Y*jyBjyiiziJii kDkDkDh kEkEkEh2f:fBfJfy@_AɢZ|) >i)ڽi&IE^ EEErE"EC#:*EA9VE5ZEa@a@a@a%@i^A92Acoustic response timeoutԑAiIyIO> B _>B CB 0HB %VJ=ٔZ:Q-Z>9XIX=Z8Fy^XE^!E^>`Q 5fO4b3?Q 9fO4b5)bTAYhyjb?Q Ij?bBIb:ib :b{5O4ynNBɮnBrE*jxBjxixixzixJi|i| ks<ks<ks<h k#Dk#Dk#Dh!2f1:f1Bf1Jf5@ԙ2Acoustic response timeout`Aɢt)@ |>i)beٽ!i%!I)^A}=D4=DR=E%h E%WE%oE!"E%G:*E%9VE%5ZE!BE%-_;a-2E%0_;a-JE%:a-:E%:a5A$AIIOe > 2Acoustic response timeout u y*ҏ,H?AYz>gAy~1H!! !)!I)i))bD=VD=8yE&>%M@=ٔMQ-M>9UH?IUH?=U8FyU[E]E]>aQ 5eO4e!??Q 9mO4e5)eUAYiyiQ Im?eBIe$:ie:eRDO4yyɮ}fBy*jBjiiziJii kGkGkGh) k#Gk#Gk#Gh92fI:fIBfIJfIu]`Aɢu w)q }7>iy)}ؽyyiKmIIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout^A=IA I I! OM >E% c E% HE% kE! "E% g5:*E% [9VE% u5ZE! a- @a- @a- @a5 @q 4*ҏ,H?A*pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT.2Acoustic response timeout\\QYMhAyUHyQ?V-l񲿙u? 9Pn?{Gzt?S㥫Yd?yף;/]BB B)hBY(BbDVD8y=%1=ٔQ->9 I = 8Fy ^EE>Q 5%O4qP?Q 9%O4:5)VAY%d?Q E%m:y%?Q I-?BI;iB;iTO4y5MBɮ5KB5E*jIBjIiIiIziQJiQiQ kcCkcCkcCha kcDkcDkcDhy2fƢ=:fƢ=Bf+@Jf l@E`Aɢm )i m1>ii)m?׽iqiuqIyByA}<BU>BBHBuiAB=BBB;BaEԙ%=4=zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutI)ԩ^A% =A5 AIA IQ O > *ҏ,H?A2*J?2:?2…%ٱ2qȾ :AHRS rotation from veh to nav: [[0.525260,-0.749605,-0.402734],[0.835584,0.543869,0.077500],[0.160940,-0.377226,0.912030]]2H? eٿ?`g?@׳? ?w$ؿY/?i2*J?I2];2fCYB%iAyB]HE\ EGEbE"E:*ER9VEg5ZEBE;a%2E;a%JE!t:a-:E#t:a- ))bD=aVD=E8yC>%f=ٔ;Q->9K?IK?=8Fy`E;E>Q 5O4^?Q 9O4K5)WAYy}?Q I?CI :i:`O4yɮ(B*jBjiiziJii kBkBkBh kbkbkbh2f :f Bf Jf nh@-`Aɢ-)1 5q?i1)5׽99i=#9IAԱU2Acoustic response timeout=nGIi9YA}m ^A = 2Acoustic response timeout9 A I I O% >*ҏ,[&5H?A2E?2}?22:%ٱ2 ʾ JAHRS rotation from veh to nav: [[0.540970,-0.738281,-0.402856],[0.825555,0.557626,0.086671],[0.160656,-0.379466,0.911151]]2HO? bٿ`j?@? 0?\?*Iؿ`%(?i2E?I2+ ^;2dCYRiAyRHbD2VD8yU=%UA=ٔU92:Q-]>9YIY=]8Fy]cEeo6Ee>iQ 5uO4mp?Q 9uO4m5)mWAYqy}x?Q I}?mwCIm:im|:moO4ybBɮ&BE*jBjiiziJii kHkHkHh k3]k3]k3]h2f:fBfJfCzg@A:aAɢ) 0 ?i)!ֽ顡i6(IEEb EEMEEkEA"EE1:*EE9VEEu5ZEAaU@aU@aU@aU@}7i2Acoustic response timeout^AԙA I I O5 >B 5>B CB HB kAB =B B DB ';B E *ҏ,ZNH?Aɰ2@?2Ȳx?2$ٱ2{ʾ :AHRS rotation from veh to nav: [[0.556791,-0.726782,-0.402208],[0.815051,0.571422,0.095755],[0.160237,-0.381136,0.910527]]2H`;?A`ƽٿ`?I?k? ?dؿ #?i2@?I2 ];2hCYBkAyBHDF@A%2Acoustic response timeoutbD5VD58ye5>%mJ=ٔm:Q-m>9iIq=u8FyufEuCEu>yQ 5O4}Y?Q 9O4}k5)}GXAYyt?Q I?}CI}:i}:}}O4yɮB*jBjiiziJii kDkDkDh k#dk#dk#dh2f:fBfJfe *ҏ,#jH?A6f;?6}s?6#ٱ6+˾ BAHRS rotation from veh to nav: [[0.572627,-0.715566,-0.400078],[0.804178,0.585139,0.104452],[0.159359,-0.381546,0.910509]]6HR?`ٿӻ?t?^?`e?Akؿ`"?i6f;?I6];6eCYvkAyvHI|)~=bDVD8y%g=%-C=ٔ-H ;Q-5>95H?I5H?==8Fy=hE=>EE>IQ 5]O4M ?Q 9]O4Mx5)MXAYYyeo?Q Ie?M2CIM;?;iM5;MnO4yu_BɮuBuE*jBjiiziJii k3Jk3Jk3Jh kdkdkdh2f:fBfJfyd@aAɢL|) F?i)\Խi_2I    a2Acoustic response timeoutԉbE%u5jE%5rE%l1Ed EMEiE"E9:*E9VEz~5ZEa@a@a@a@^A =E 2Acoustic response timeoutI I O >s*ҏ,uH?A2 6?2!hn?2=O"ٱ2W-˾ :AHRS rotation from veh to nav: [[0.589329,-0.703621,-0.397000],[0.792324,0.599382,0.113857],[0.157843,-0.381652,0.910729]]2H@? rhٿZ? $.?%?/4? lؿ`$?i2 6?I2];2fCYBlAyBHyMT㥛 ?y&1?Q?Ma?M`e=M%u@=ٔu7m;Q-}>9yIy=}8Fy}kEHE>Q 5O4"?Q 9O4r5)YAYP?Q E:yL?Q I?CI ;iC ;2O4yɮĠB*jBjiiziJii k]k]k]h k]k]k]h2fA>:fA>Bf@Jf@bAɢj) +?i!)%ҽ!!i% q8iIBu+>BqBucHBunABu=BqBuDBuU;BuEB- CB- CB-ÖCB)B)C-ëU6ԑ=2Acoustic response timeout^AIIO- >Dq zDq E} ` E} PE} dEy "E} *:*E} ?9VE} ^n5ZEy BE} -;a 2E} -;a JE} :a :E} :a ZE*ҏ,H?AJxe1?J=i?Jn ٱJRɾ ZAHRS rotation from veh to nav: [[0.605367,-0.693217,-0.391128],[0.780489,0.613369,0.120895],[0.156099,-0.378457,0.912362]]JH`+_?.`<ٿ?? ? ?8ؿ2?iJxe1?IJcN^;JgCYfmAyfRHhjp=bDriVDra8yzb:>%zS=ٔEґ;Q-E>9III=M8FyMmEMSPEU>YQ 5eO4]f?Q 9eO4] l5)]ZAYayeG?Q Ie?]CI]l:i]:]O4ymtBɮuBuE*jBjiiziJi2Acoustic response timeouti k3bk3bk3bh ktktkth2f:fBfJfW@ZbAɢR) 9?i)kѽi3=I^A9IIOk>ioAI! M 2Acoustic response timeoutl*ҏ,OH?A6 ,?6c?6Fٱ6ɾ >AHRS rotation from veh to nav: [[0.621766,-0.680999,-0.386843],[0.767957,0.627086,0.130401],[0.153781,-0.378158,0.912879]]6H@? @ؿ?@? ?`? 3ؿN6?i6 ,?I6+^;6hCYFnAyFH\\ `)`I`i`` ``f=f=bDjVDj 8yr=%rL=ٔvQ;Q-v>9tIt=z8FyzpEzzZEz>|Q 5O4~ϱ?Q 9O4~bf5)~ZAY y aB?Q I ?~-CI~:i~:~O4yɮB*j)Bj1i1i1zi1Ji1i1 k#\k#\k#\hI kCkCkCh2f:fBfJfq@-bAɢ- K)) -xA?i))5(zн11E=] E=KE=fE9"E=:*E=]t9VE=t5ZE9aM@aM@aM@aM@i5ّCYIYQ2Acoustic response timeouty^A=IIOEs>Bu >Bu CBu HBu IpABu =Bq Bu DBu );Bu `Eԩ ] 2Acoustic response timeoutWZ*ҏ,AҪH?A<>&&?>=y^?>ٱ>bȾ FAHRS rotation from veh to nav: [[0.638129,-0.668700,-0.381616],[0.754915,0.640828,0.139437],[0.151309,-0.377067,0.913743]]>H k?`eelؿC(???^?!ؿ@b=?i>&&?I>I^;%bL=ٔb;Q-b>9dId=f8FyfrEfXXEj>lQ 5rO4n 䱉?Q 9rO4n`5)n"[AYpyrhDAT read: Forwarding Delay UpTx time:19:19:07.1359  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout *ҏ,H?Aɰp;B&'!?B>X?BٱBȾ NAHRS rotation from veh to nav: [[0.654409,-0.655426,-0.377047],[0.741406,0.654151,0.149677],[0.148544,-0.377495,0.914020]]BH?@!ؿ? ?(?|?(ؿ`??iB&'!?IBR^;BeCYjpAyjHlbDEVDE8y=%>=ٔ;Q->9I=8FyuEHKE>Q 5O4:?Q 9O4Z5)[AYy7?Q I?CIW:iW:O4yɮ^BE*jBjiiziJii kckckch kßkßkßh2f!:f!Bf!Jf%>@s-NUpdating rudder angle 6.875493 arcdeg 9-r-6Completed marl:UpdateRudder19- r-RAggregate::uninitialize marl:UpdateRudder-cAɢ28) nW?i)ͽi 3O)I1u2Acoustic response timeout 9^A=E]\ E]KE]_EY"E]:*E]]t9VE]C^5ZEYam@am@am@am@AA i Iq I i) I) M 2Acoustic response timeoutO >@g*ҏ,H?A2"?2:S?2`ٱ2SȾ :AHRS rotation from veh to nav: [[0.670467,-0.642093,-0.371740],[0.727481,0.667363,0.159365],[0.145759,-0.377283,0.914556]]2H`vt?@׿G? [?f?8?@f%ؿ` D?i2"?I2!^;2hCY^iqAybqH9IE<)Ep;AEAyS㥛?:vy&1$f?T` 9Zd;O?S㥫Mb?Y~J?y/]<B B)YWBbDVD8yy=%F=ٔ;Q->9I=8FyxETE>Q 5 O4 ?Q 9 O4T5)\AY K?Q E :yE?Q I?,CI:i;IO4yɮFB*j1Bj1i1i1zi9Ji9i9 k#k#k#hI kkkha2fu*=:fu*=BfuZH`@Jfu-DŽ@B>BCB8HBrAB=BBDB;;BVEUncAɢm7')q u_?iq)u>̽qqiu_TyIyi2Acoustic response timeout^A=ԙA I I O- > Da zDe @A*ҏ,@H?AE  E"=E E "E *E"8VE ZE BE";a&2E";a&JE"9a*:E"9a*:,?:N?:ٱ:;Ⱦ FAHRS rotation from veh to nav: [[0.686150,-0.628019,-0.367138],[0.713250,0.680051,0.169722],[0.143084,-0.378316,0.914551]]:H?@0׿??t? 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B% DB% ;B% EBӏCBՏCB˟CB˱=B˱=C46WC+ҏ,wH?A2C+>2N>21gٱ2e :AHRS rotation from veh to nav: [[0.924989,-0.332855,-0.183312],[0.375784,0.872881,0.311233],[0.056414,-0.356773,0.932486]]2H?Mտ`vǿ ? ?>?O?`^ֿ`?i2C+>I2~^;2fC\Y~jAy~Hy@5^I ?)\(?i|?5?b?Ga=q= 9-?~jt?ʡE?Y?U?yD==B{B ˩B)zBYuBbDmVD8yn=%>=ٔ.9I=9FyE$%E>Q 5P4ij?Q 9P4%5)pAYW?Q E|:y >Q I?/ CI ;ii ;P4yɮBE*jBjiiziJii ksRksRksRhy2f8>:f8>BfK@Jf\@'hAɢ<) h?i)iSIM2Acoustic response timeout^A!E5 ^ E5 EE5 IE1 "E5 C#:*E5 A9VE5 e5ZE1 BE5 { ;a= 2E5 ~ ;a= JE5 V:aE :E5 W:aE Ae AIq I O >A  2Acoustic response timeout?I+ҏ,(H?A2^K>2U>2Tٱ2 :AHRS rotation from veh to nav: [[0.931146,-0.320115,-0.174624],[0.360938,0.877243,0.316494],[0.051873,-0.357730,0.932383]]2H?@|Կ Zƿ ?_?oA?`? ֿ ?i2^K>I2@^;2gCYBAyB9H A=bDnVD8yP=%L=ٔ99K?IK?=9FyE$E>Q 5Q4޳?Q 9Q45)pqAYy>Q I? 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Om >m 2Acoustic response timeout V+ҏ,4\H?A ɰ N3b=N>Nu0ٱN ZAHRS rotation from veh to nav: [[0.941581,-0.297405,-0.158035],[0.334012,0.884733,0.325090],[0.043136,-0.358884,0.932385]]NH o!? ӿ@:Ŀ`s`?O?D?`?ֿ?iN3b=INI^;NfCYb6AybHbD=VD=8y}a=%}M=ٔ}/9I=9FyEE>Q 5Q4?Q 9Q4Q4)!sAYy>Q I?3 CI:i:)Q4y ɮ cB E*j!Bj!i!i)zi)Ji)i) k9k9k9hA kcMkcMkcMhQ2fa:faBfaJfeY@19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9u9u7uouXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7}n}LAggregate::initialize marl:UpdateSpeed7}]y7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed颕hAɢ|=) O?i)k顙iIE ECEKE"E*E09VE5ZEBE:a2E:aJE9:a:E9:aIn sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED8Ack receipt timeout failure.2Acoustic response timeout^A=!AI I OU >Q O\+ҏ,DvH?A6{=6N>6RE ٱ6 BAHRS rotation from veh to nav: [[0.946151,-0.286695,-0.150346],[0.321353,0.887904,0.329179],[0.039119,-0.359767,0.932222]]6HF?`6Yҿ>ÿ ?i?E?@[?m׿`?i6{=I6/0^;6hCYFMAyJHIN=)Np=bDVVDVa8yZ<%^X=ٔ^z.9`I`=b9FybEfEf>hQ 5jQ4j(?Q 9nQ4j4)jsAYlyn!>Q In?j CIj;ij;j5Q4ytɮv]Bt*j|Bj|iiziJii k1k1k1!%%=%In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER-2Acoustic response timeouth12fI:fIBfIJfMX@sUNUpdating rudder angle 6.875493 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudderuhAɢuR2=)y }N?iy)}LyiI1i^A=E\ EJENE"E:*Ek9VE'5ZEa=@a=@a=@a=@ԑpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutAII O= >Թ B >B CB HB AB =B B DB n;B ϖEDc+ҏ,O H?A2+=2z>2ٱ2e :AHRS rotation from veh to nav: [[0.950570,-0.275655,-0.142935],[0.308466,0.891041,0.333008],[0.035565,-0.360638,0.932027]]2H@k? Vѿ K¿?h? P?@5? ׿ +?i2+=I2^;2gCYBAyBDHy rh? rh:vCk?CԽ 9rh|?S㥫?x&Y[?y/]=7)BB B)YGBbDVD(8y|j=%;=ٔ 9I=9FyEAE>Q 5Q4F?Q 9Q44)sAY]?Q Eu:y7>Q I? CI:i':)EQ4yɮPB*jBji i zi Ji i  k0k0k0h! k0k0k0h92fM=:fM=BfM[o@JfM,"@e'iAɢmQ=)i m?ii)mkԑq i!I-zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY52Acoustic response timeout^AqE X E BE PE "E ~ :*E (9VE -5ZE BE :a% 2E :a% JE P+:a% :E S+:a% A $AI I O > 2Acoustic response timeout qj+ҏ,H?A2=h=2AJ>2Oٱ2i >AHRS rotation from veh to nav: [[0.955012,-0.263712,-0.135678],[0.294786,0.894179,0.336964],[0.032459,-0.361800,0.931691]]2Ht?п]??`ϐ?j?@'׿h?i2=h=I2x6^;2fCYFAyJHLLhh h)hIhihhbDvqVDv8y=%W=ٔ9 H?I H?=9FyEE>!Q 5-Q4%`?Q 95Q4%4)%+sAY1y5ʨ>Q I5?%6 CI%;i%<%{RQ4yɮBB*jBjiiziJii k32k32k32h kC2kC2kC2hA2fq:fqBfqJfu&+!@颕YiAɢ.+=) ?i)项iIE2Acoustic response timeout^AQI A I I O >E U E QE JE "E :*E v9VE 5ZE a- @a- @a- @a- @Up+ҏ,íH?AJ*=Jz>JәٱJ佾 RAHRS rotation from veh to nav: [[0.959486,-0.251013,-0.127985],[0.280211,0.897632,0.340203],[0.029488,-0.362282,0.931602]]JH?`п a?g??2? /׿?iJ*=IJv)^;HYZՁAyZH `bAddbDfHVDf8yn=%nM=ٔr;Q-r>9pIp=v9FyvEvEv>xQ 5~Q4ze|?Q 9~Q4z 4)zrAYy>Q I?z CIzQ;iz;za`Q4y ɮ ;B E*j!Bj!i!i!zi)Ji)i) k3/k3/k3/hA2fQ:fQBfQJfU- @uiAɢu%J=)y }?iy)}9yyi:I2Acoustic response timeoutIBm>BiBm HBm%ABm=BiBiBm;BmE^AyAIIO%>ԩ M 2Acoustic response timeoutw+ҏ,ݭH?A2,M=2d>2ݼٱ2] :AHRS rotation from veh to nav: [[0.963859,-0.237717,-0.120274],[0.265042,0.901346,0.342531],[0.026984,-0.362029,0.931776]]2H?mοOʾq??@??|+׿ ?i2,M=I2Z^;2gC@YBAyBHbD VD 8ye$==%eB=ٔe;Q-m>9iIi=m9FymEuEu>yQ 5Q4}?Q 9Q4}:4)}irAYy>Q I?} CI}`:i}:}oQ4yƾBɮGBE*jBjiiziJii kkkh kC%kC%kC%h2f:fBfJf=)@iAɢ 0=)  ?i ) biI aaE] EAEKE"E:*E 9VE5ZEBE6;a2E8;aJE:a:E:aŁG !UB9QYUAԩ2Acoustic response timeout^A AY?A]?Ae AIq I I O > o>}+ҏ,H?A2 =2|>2b.˼ٱ2'5 :AHRS rotation from veh to nav: [[0.968123,-0.223816,-0.112448],[0.249245,0.905277,0.344020],[0.024800,-0.361081,0.932205]]2H?̿kɼ@B? ?m?!e? ׿?i2 =I2.^;0Y^)Ayb H`b@Al2Acoustic response timeoutbDUVDUv8ymZ=%mJ=ٔmװ;Q-m>9uK?IuK?=u9FyuE}%E}>Q 5Q4׵?Q 9Q44)rAYy>Q I?C CI:i-:A}Q4yľBɮ9B*jBjiiziJii k3k3k3h2f:fBfJf/@-iAɢ-܀A=)1 =K?i9)=8AAiEᱼIII EZ EEGE"E:*EVE5ZEa%@a-@a-@a-@^A=92Acoustic response timeoutA I I! O] >a Be >Be CBe HBe ABe =Ba Be ߻DBe ];Be Ek&+ҏ,hH?A2Ɔ<2*9p>2>>ٱ2 :AHRS rotation from veh to nav: [[0.972355,-0.208770,-0.104599],[0.232387,0.909014,0.345963],[0.022855,-0.360706,0.932399]]2H ?ʿƺ`׾? ?B$?@Bg?@׿`7?i2Ɔ9I=9FyE>+E>Q 5Q4Ҵ?Q 9Q44)&qAYkW?Q E|:y :fMK>BfM?E @JfMYU@@mjAɢmB=)i u?iq)uֆqqi}ʳyI2Acoustic response timeouti^A=ԑA$AEV EBELE"E=:*E(9VE!5ZEBE:a 2E:a JEQ+:a :ES+:a I I! OY  2Acoustic response timeoutQ+ҏ,^H+H?ABt@BS^>B&ٱB: NAHRS rotation from veh to nav: [[0.976307,-0.193645,-0.096570],[0.215366,0.912899,0.346747],[0.021013,-0.359329,0.932974]]BH=?Zȿϸ?w6?@1?k?`?ֿ?iBt@IBY^;BhCYVrAyVm HbDVD%8y-=%-U=ٔ-#;Q-->95H?I5H?=59Fy5E=O:E=>AQ 5MQ4E?Q 9MQ4E4)EVpAYIyM Q IM?E CIE:iE:E7Q4yYɮ]BY*jiBjqiqiqziyJiyiy kSkSkShԙ k2k2k2h2f:fBfJf2+?@DjAɢ]=) ?i)6i߯I@qA@qA^Alw=AqzAuoA!!-2Acoustic response timeoutAIIO > bE5jErEۋ0E ^ E HE ME "E C#:*E [9VE H$5ZE a @a @a @a @j8+ҏ,\EH?A2z@2`L>2>ٱ2f :AHRS rotation from veh to nav: [[0.979897,-0.178742,-0.088620],[0.198583,0.916519,0.347215],[0.019160,-0.357833,0.933589]]2HP[? ƿ ǯ@(k?@T?`8? ?`ֿ?i2z@I2Y3^;2gCYBnAyBg HbDJiVDJ8yR%VS=ٔV;Q-V>9XIX=Z9FyZEZ5EZ>\Q 5bQ4^?Q 9fQ4^4)^oAYdyfѼQ If?^@ CI^:i^:^Q4yjDBɮjBl*jtBjtitixzixJixix kCkCkCh  k6k6k6h2f:fBfJfN>@rjAɢ R=) M?i):xiI}2Acoustic response timeoutB >B CB  HB ȂAB =B B B ];B EBCBCBĔC!Bĸ=BĹ=Cg5^A]=AIQIYIqO>- 2Acoustic response timeouty b+ҏ,^H?A2$@2i;>2j ٱ2Ӻ :AHRS rotation from veh to nav: [[0.983151,-0.163933,-0.080874],[0.181972,0.919685,0.347945],[0.017339,-0.356799,0.934020]]2Hu?@Ŀ@)J?n?D?R?@ֿ ~?i2$@I2.^;2hCYBAyB HJ=J=bDNQVDN8yV=%VJ=ٔZv;Q-Z>9XIX=Z9FyZE^^+E^>`Q 5fQ4bA%?Q 9fQ4bB4)bnAYhyj-Q Ij?b CIbq:ib:bQ4yn@BɮrBp*j Bj i i zi Jii ks4ks4ks4h! kC5kC5kC5h12fI:fIBfIJfM<@ejAɢm7h=)i m?ii)mߤ}iqiu`rqIQEV EDEKE"E=:*Ea99VE5ZEBEa2EaJEoH:a:ErH:ahDAT read: Forwarding Delay UpTx time:19:19:21.2858 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING2Acoustic response timeoutԱ^AAIIO% > +ҏ,AxH?A2[h@2`p*>2|ٱ2 :AHRS rotation from veh to nav: [[0.986063,-0.149385,-0.073234],[0.165657,0.922305,0.349159],[0.015385,-0.356424,0.934197]]2Hԍ?@ ÿuA4??X?+? ֿ ?i2[h@I2(^;2gCYBAyB Hr2Acoustic response timeoutxx x)xIxixxbD;VD8y5 9<%5B=ٔ=;Q-E>9AIA=M9FyMEM EM>YQ 5mQ4]B?Q 9mQ4]4)]mAYqyu|qQ Iu?] CI];i];]Q4y?BɮBE*jBjiiziJii k#5k#5k#5h2f:fBfJf;@jAɢ% U=)! %?i!)%[w!)i-U)I1@@EW EGEGE"E :*ER9VE5ZEa@a@a@a@^AA%Z?A%Y?2Acoustic response timeout) A I I O >A @AA B w>B CB "!HB AB =B B ޻DB ;B )EQ v+ҏ,H?A2@2@>2]ٱ2 :AHRS rotation from veh to nav: [[0.988770,-0.134252,-0.065652],[0.148831,0.924374,0.351256],[0.013530,-0.357083,0.933975]]2H ?`)/ ΰ ?y?z?ȵ?rֿ?i2@I2G;^;0YByAyBv HyEX9v?DlѿS㥫E=?EOE/]A A9ES?/$ѿYE:?yE1EEBEwB E8B)AAYE̝BbD]TVD]8ym-%mF=ٔm;Q-u>9yIy=}9Fy}E)E>Q 5Q4@]?Q 9Q44)mAY8I?Q E:y[nQ I?CCIG ;i ;Q4yɮB*jBjiiziJii ksksksh kC0kC0kC0h2f<=:f<=Bf@Jfh@jAɢ(]=) ?i)vri%!I)>>)2Acoustic response timeout^AaI1IAOm>E E@ERE"E:*E9VEc45ZEBE :+><ٱ: FAHRS rotation from veh to nav: [[0.991238,-0.118666,-0.058014],[0.131574,0.925757,0.354489],[0.011641,-0.359016,0.933259]]:H8?`n? ͟?? Bׇ? ֿA?i:M@I:1^;:hCYNAyN HI~a=)~p>bD IVD 8yE=%EM=ٔM<;Q-M>9III=U9FyUEUg3EU>Q 5Q4w?Q 9Q44)mAYy#Q I?CI[:i:YQ4y>BɮB*jBjiiziJii kkkh k/k/k/h2f):f)Bf)Jf-W@E#kAɢM+Uc=)I M?iI)MQlQQiU쾼YIYԩ^A 2Acoustic response timeoutIqIO> E Z E CE LE "E :*E 09VE !5ZE a @a @a @a @+ҏ,eƮH?A>]@>@!=>ٱ>߼ RAHRS rotation from veh to nav: [[0.993427,-0.102987,-0.049957],[0.114067,0.927029,0.357219],[0.009522,-0.360569,0.932684]]>H@(?\]蓩 3?9?@?`m?`׿?i>]@I>F^;9iIq=u9FyuEu#1Eu>Q 5Q4吵?Q 9Q44)smAYy3Q I?CIK:i :4Q4y(BɮxBE*jBjiiziJi1i1 kkkhI]2Acoustic response timeout k.k.k.hy2f:fBfJf@OkAɢ͑b=) ?i)'PgiI Bq>BB;!HBABBDBݻDBC;BE^A1IyIO> 2Acoustic response timeouta +ҏ,:AH?A23(@2=2ٱ2ݽ :AHRS rotation from veh to nav: [[0.995357,-0.086744,-0.041715],[0.095962,0.927985,0.360050],[0.007479,-0.362381,0.932000]]2H?`4 [? ? ?`F~?`@1׿?i23(@I2M^;2jCYV˂AyV HXX9bD%VD%8ya<%H=ٔA;Q->9I=9FyE6E>Q 5Q4ê?Q 9Q4g4)[mAYyQ I?7CI:iB:oQ4yɮuB*jBjiiziJii k31k31k31h kPkPkPh2f :f Bf Jf |@EU EAEE"E:*E 9VEZEBE:a2E$:aJE:a:E:aykAɢ{Qn=) ?i)aiv¼Iim2Acoustic response timeout^AIyIԑO e۽+ҏ,H?AF@F=F﫻ٱFȾ VAHRS rotation from veh to nav: [[0.997052,-0.069392,-0.032741],[0.076549,0.928788,0.362620],[0.005247,-0.364057,0.931362]]FH? ñ}à??(5?}u?L׿?iF@IFF^;FfCb@?b?j2Acoustic response timeoutYEӂAyE H IIbD] VD]8ym<%mL=ٔmQ;Q-u>9qIq=}9Fy}EFE>Q 5R4"ĵ?Q 9R44)AmAYyԙQ I?CI*;i+;y R4y'BɮrBE*jBjiiziJii kQkQkQh khkhkhh2f:fBfJf^@kAɢRK=) B?i)%b\!!i%(ļ)I)E[ EFEIE"Ea:*E;J9VEe5ZEa@a@a@a@^AyIIO%o>u2Acoustic response timeoutB <A B j>B CB m!HB BAB B B B ;B ɓE +ҏ,H?A2@2d=2@ٱ2M˿ :AHRS rotation from veh to nav: [[0.998439,-0.050829,-0.023140],[0.055771,0.929266,0.365176],[0.002942,-0.365897,0.930651]]2H6?N` ?? _?h?`j׿ ?i2@I2?^;2hCYBAyB!Hy Q?K7AV-? h?   m=  9  r?"~jԿ rh?Y C?y S C= WB |B fB) B Y ǞBbD%VD%8y57 =%5N=ٔ;Q->9I=9FyEPE>Q 5R4޵?Q 9R4]4)rnAYT?Q E:yQ I?CIh;i;R4yɮkB*j!Bj!i!i!zi!Ji!i) kcPkcPkcPhY2fm4w>:fm4w>Bfm@JfmJO@颭kAɢ%vo=) ?i).Wi żI2Acoustic response timeout!^AAY?AIaIyG9Y@AO->QEV EEE"E=:*EVEZEBE:a2E:aJEe:a:Ee:a 2Acoustic response timeoutԉ +ҏ,-H?A4<ɰ2'1@2'=2Uйٱ2 :AHRS rotation from veh to nav: [[0.999398,-0.032125,-0.013120],[0.034699,0.929481,0.367234],[0.000398,-0.367469,0.930036]]2H?r@ފ ġ?N?ŀ?:?׿?i2'1@I2"^;0YB(AyBL!HF@ADXX X)\I\i\\bDbVDbx8yjÏ=%nO=ٔnG;Q-n>9lIp=r9FyrEr]bEr>tQ 5zR4v?Q 9~R4v4)voAY|y~.Q I~?v,CIv:iv9:v&R4yɮ]B *j!Bj!i!i!zi!Ji!i) kPkPkPh9 k#Pk#Pk#PhQ2fa:faBfaJfe@颅kAɢ&W=) ?i) 15R  i ǼIAq^A2Acoustic response timeoutԙAIII O= >E X E BE HE "E ~ :*E (9VE -5ZE a @a @a @a @ +ҏ,GH?AF@FtT)^p;bDfVDf\8yj%jK=ٔn;Q-n>9pIp=r9FyrErf]Ev>tQ 5zR4v?Q 9~R4v4)vpAY|y~*Q I~?vCIv;iv;v$4R4y ɮ `B *j!Bj!i!i!zi)Ji)i) k3@k3@k3@hA k#jk#jk#jhQ2fa:faBfaJfer@颅lAɢ!=) ?i)L顉i)ɼI=2Acoustic response timeoutԱBUm>BQBU!HBUVABU=BQBQBU;BUE^AA-AI9IIO>  2Acoustic response timeout9 +ҏ,3aH?A2u@2x@2|;ٱ2 :AHRS rotation from veh to nav: [[0.999950,0.006876,0.007303],[-0.009080,0.929838,0.367857],[-0.004261,-0.367905,0.929854]]2H?)|?`}?;?@?,tq׿`\?i2u@I2^;0YNAyR6!HbD VD M8y %F=ٔ{;Q->9%K?I%K?=%9Fy%E-[E->1Q 55R45B,?Q 9=R455)5qAY9y=_Q I=?5CI5;i5;5BR4yIɮMaBI*jaBjaiaiiziiJiiii ksQksQksQh2f:fBfJfG@颵;lAɢ=) ?i)bG项iʼIEZ EEEKE"E:*EA9VE5ZEBEh;a2Ej;aJEV:a:EW:aM2Acoustic response timeout^AAAm$AIyIO>i !++ҏ,Hm{H?A F@F@Fc;ٱFR2Acoustic response timeout RAHRS rotation from veh to nav: [[0.999504,0.026488,0.017021],[-0.030888,0.929722,0.366965],[-0.006104,-0.367309,0.930079]]FH ??m?#G?[|?@y`׿4?iF@IF>^;FgCYZ1AyZX!HbDeVDeD8y=%@=ٔ ;Q->9H?IH?=9FyEMRE>Q 5R4VG?Q 9R45)sAYyQ I?-CI;i;fQR4y&BɮZBE*j)Bj)i)i)zi1Ji1i1 k3Qk3Qk3QhI k3Qk3Qk3Qhy2f1:f1Bf1Jf54@q5glAɢ=h=)A e?i)A顁iW̼IbEjE25rEַ0E] EHEE"E:*E[9VEZEa@a@a@a@ԑiQIUA]2Acoustic response timeout^A= AA AE AABM a>BI BM !HBM kABM =BI BM ܻDBM %;BM PEB ʽCB ʽCB ʓCB ʷ=B ʶ=C 5I I O= >+ҏ,[H?A2l]@2oX@2-;ٱ2C^ :AHRS rotation from veh to nav: [[0.998544,0.047703,0.025178],[-0.053614,0.929023,0.366118],[-0.005926,-0.366935,0.930228]]2H?l?@=ș?;s?{n?Ex{׿l?i2l]@I2+^;2hCYB0AyBW!HH xxz=z=yuX9v?Zd;O?p= ף?u}?ujq q9u7A`?A`"˿K7?YuV?yuYuI>quayB uB)uqYuBbDVD;8yˆ% E=ٔ &Q- >9 I=9FyEe`E>Q 5%R4d?Q 9-R4t5)>uAY-#h?Q E-j:y-C,Q I-?CI;ia;_R4y9ɮ9A*jqBjyiyiziJii kMkMkMh2f>:f>Bf;@JfJz@^B*** querying acoustic contact ***XYlAɢ(=) ?i ) < iͼI2Acoustic response timeout^Alw=EX EcENE"E~ :*EL9VE'5ZEBE:a2E:aJE";a:E";aI I O > ] 2Acoustic response timeout:+ҏ,eH?A:֜@:ٗ@:.;ٱ:p FAHRS rotation from veh to nav: [[0.997009,0.069535,0.033721],[-0.077071,0.926703,0.367807],[-0.005674,-0.369306,0.929290]]:H`?ͱ?C??@'?=w׿`?i:֜@I:\^;:fCYJ_AyJ!HbDVVDV-8y^@=%^c=ٔb%7Q-b>9`I`=f9FyfEfEf>hQ 5nR4j}?Q 9nR4j5)j"wAYpyrSCQ Ir?jCIj;ij;jlR4ytɮvNBt|*j Bj i iziJii kPkPkPh) kQkQkQh92fI:fIBfIJfMx@mlAɢm=)i m?ii)ue7qqiuϼyI)^AI I1O]U>2Acoustic response timeoutQԁ E W E CE IE "E :*E 09VE e5ZE a @a @a @a @"+ҏ,MȯH?A;ɰ4<2a@2d@2$;ٱ2v :AHRS rotation from veh to nav: [[0.995166,0.088194,0.043211],[-0.097919,0.924889,0.367414],[-0.007561,-0.369869,0.929053]]2He?ߓ??@9௘?? ~`׿ͺ?i2a@I29^;2iCY [Ay !HbD%VD%28y5Ѩ%5C=ٔ5;Q-5>99I9==9Fy=EELEE>IQ 5UR4M暶?Q 9UR4M 5)MSyAYQYyUmXQ I]?M0CIM1;iM2;M${R4yiɮmOBmE*jBjiiziJii k3Pk3Pk3Ph khkhkhh2f:fBfJffw@lAɢ³=) F?i)1i8ѼI-2Acoustic response timeoutB^>BCB!HBAB=BBBp;BEԁ^A=IIOb>Ա 2Acoustic response timeout L+ҏ,H?A2fm@2ih@2+<ٱ2J :AHRS rotation from veh to nav: [[0.993433,0.102034,0.051769],[-0.113936,0.923619,0.365987],[-0.010471,-0.369482,0.929179]]2H3?@?o?*@I?Vl?r׿ ջ?i2fm@I2-^;2jCYBhAyB!HXX X)XIXiXXI^%=)^4<\^AbDfqVDf 8yjP<%nP=ٔn;Q-n>9pIp=r9FyrEv-(Ev>tQ 5zR4v.?Q 9~R4v 5)v\{AY|y~hQ I~?vCIv;iv;vۈR4y %Bɮ KB iIpAԹ*jBjiiziJii kCPkCPkCPh2f:fBfJfv@195 r=NAggregate::initialize marl:UpdateRudderq9=J]=q9=9=7=o=XAggregate::initialize marl:UpdateCommandMode18=]918EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnELAggregate::initialize marl:UpdateSpeed7E]A7EnM4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeedE]V E]SE]OEY"E]=:*E]9VE]*5ZEYBE]:am2E]:amJE]j:am:E]k:am}lAɢ=) ?i)6,顁i8ҼI-2Acoustic response timeout^A=II1Oew>A w+ҏ,ɫH?A2@2@2{0[<ٱ2y :AHRS rotation from veh to nav: [[0.991758,0.113899,0.058685],[-0.127429,0.924620,0.358944],[-0.013378,-0.363463,0.931513]]2H`z?(? ?O{??e@B׿`?i2@I2<^;2iCB2Acoustic response timeoutYFuAyF!HbDRJVDR8yZ/x<%ZM=ٔZx;Q-^>9\I\=b9FybEbr Eb>dQ 5jR4fѶ?Q 9jR4f 5)fi}AYhynUyQ In?fCIf:if~:fЖR4ypɮrHBp*j|Bj~i|i|zi|Jii k3Lk3Lk3Lh kOkOkOh)2f1:f1Bf1Jf5Fv@sUPUpdating rudder angle -0.000000 arcdeg 9Ur]6Completed marl:UpdateRudder19] reRAggregate::uninitialize marl:UpdateRudder=mAɢE͜=)I M?iQ)eaN'iiiuwZԼIAEmW EmFEmEEi"Em :*Em;J9VEm 5ZEiau@au@au@au@^Au=AyzA}pAIIO%>52Acoustic response timeoutiB <A <B T>B CB !HB AB =B B ۻDB ?;B ΒEԙ ^,ҏ,H?A2@2@2u<ٱ2< :AHRS rotation from veh to nav: [[0.989998,0.127065,0.061313],[-0.140286,0.932740,0.332138],[-0.014986,-0.337417,0.941236]]2H`?C?od??A?>տ?i2@I2%^;2jCY\y`y333333?{Gz?y&1Y?#>`e 9jt?Mb?x&1?Y`?y@=>BM~B ×B)ݛBYўBbD VD8ٔk;Q- >9 I =9FqyE|E>Q 5R4?Q 9R4 5)~AY9j?Q Eh:yج;Q I?ECI:i#:R4yɮE*jBjiiziJii kNkNkNh kNkNkNh2f ">:f ">Bf @Jf @%8mAɢ-`=)) -?i))5E!11i5ռ9I9ߕ=ߕ=2Acoustic response timeout^A-l9=ԡA]AIaIqO^>E}U E}HE}FEy"E}:*E}[9VE} 5ZEyBE} :a2E}%:aJE}V:a:E}X:aE 2Acoustic response timeout ,ҏ,a0H?A2.@2)@2L<ٱ2y :AHRS rotation from veh to nav: [[0.988130,0.143463,0.054926],[-0.152453,0.959763,0.235824],[-0.018884,-0.241398,0.970242]]2HÞ?\?G?@ÿ a?z/? ^V%ο9 ?i2.@I2e^;2hCYBAyB!H =bD%VD%8ye><%e<ٔm[&9mK?IuK?=u9FyuEuC Eu>yQ 5R4}+?Q 9R4}E5)}AYyQ I?}CI}:i}:}ڳR4yɮ=B*jBjiiziJii kOkOkOh kOkOkOh2f:fBfJf2D@UmAɢ=) :?i)vci.Y׼!I!^A-0B=AexAIiIyO@>2Acoustic response timeout) Dy zD} @AE Z E @E JE "E :*E 9VE 5ZE a @a @a @a @_p,ҏ,:JH?A2̼@2@2<ٱ2A >AHRS rotation from veh to nav: [[0.986068,0.156516,0.056323],[-0.164263,0.969590,0.181420],[-0.026215,-0.188145,0.981791]]2Hލ??_֬?ſ?8?ؚ@ ȿj?i2̼@I2^;0YBAyF!HbD VD 82Acoustic response timeouty5"<%5>=ٔ=9U;N?IU;N?=U9FyUE]E]>Q 5R4I2?Q 9%R45)AY!y%7sQ I%?CI:iK:R4QyYɮe;Ba*jyBjyiyiyziyJiyiB@>BCBBB=BBڻDB ;BE kCQkCQkCQh2f:fBfJfZi@zmAɢNj=) ?i)eBiؼI^A`= 2Acoustic response timeoutԱ k> CE nGC,ҏ,%dH?Aɰ;,@HZ"տ9XY^CAb~@by@bb'=ٱbrO jAHRS rotation from veh to nav: [[0.984272,0.163653,0.066537],[-0.173601,0.965804,0.192573],[-0.032747,-0.201095,0.979024]]bH'?`??@8ƿ?=?'Ġ}ɿ*T?ib~@Ib ^;`YrAyr!HbD~VD~8y A<% _=ٔ 9K?IK?=9FyEּE>!Q 5-R4%K?Q 9-R4%m5)%{AY)y-,Q I-?%NCI%:i%:%R4y9ɮ=9B9*jIBjQiQiQziQJiYiY kNkNkNhi kNkNkNh2f:fBfJf!£@颭mAɢq=) Q?i)项iټIE5V E5CE5DE1"E5=:*E509VE5J5ZE1BE5:aE2E5:aMJE59:aM:E59:aM^A9ԡAII2Acoustic response timeoutO5.> $,ҏ,A}H?A2=2%=62Acoustic response timeout>P@>K@>d=ٱ>Oj FAHRS rotation from veh to nav: [[0.983098,0.166014,0.077180],[-0.179082,0.959607,0.216987],[-0.038040,-0.227141,0.973119]]>Hu???³?,ƿ@?P@I> i^;>gC|Y Ay !HI<)R=MPExceeded connect timeout, disconnecting.bDeVDeL8y;Ҽ%B=ٔQM9I=9FyEWE>Q 5R4!l?Q 9R45)-AY!y%sQ I-?CIA;i;R4yMBɮM(BE*jQBjQiQiYziYJiYiY kNkNkNh2f:fBfJf^@mAɢx=) ?i) i.ڼ I@@@@)EMT EMBEMJEI"EM9*EM(9VEM5ZEIaU@aU@aU@aU@Q2Acoustic response timeoutB G>B B !HB AB =B B B ;B }EA I I I O% >ԁ %,ҏ,dΗH?A2j9@2n4@2]d.=ٱ2ɥ} :AHRS rotation from veh to nav: [[0.982405,0.166198,0.085201],[-0.181850,0.955183,0.233571],[-0.042563,-0.244955,0.968600]]2Ho?E?ϵ?Fǿܐ??ʥZϿ?i2j9@I2ۓ^;2iCYRAyR!HYy(\?~jt?/$N?=1 9Cl?i|?5?{GztYO?y=ףB B)BYBbDWVD8yN<%E=ٔ39I=9FyE]E> Q 5R4 ?Q 9R4 v5) AYR?Q E:y4Q I? CI ;i ; R4y!ɮ%&B!*j9Bj9i9i9zi9JiAiA kc3kc3kc3hY kMkMkMhi2f}" >:f}" >Bf}C?Jf}Μ?额mAɢ=) u?i)O顡iۼI}2Acoustic response timeoutԉI)I9Om5>ԱEUX EUDEUIEQ"EU~ :*EUa99VEUe5ZEQBEU:ae2EU:aeJEUoH:ae:EUrH:ae % 2Acoustic response timeoutk+,ҏ,H?A2(1@2,,@2>=ٱ2| :AHRS rotation from veh to nav: [[0.982046,0.165195,0.091078],[-0.182808,0.952535,0.243431],[-0.046542,-0.255710,0.965633]]2Hl?%?P?>fǿ*{?(?Kԧ]п@v?i2(1@I2^;2hCY^vAy^!H``tt t)xIxixxbDVD8y |b%Z=ٔ-9I=9FyE%0E%>)Q 5-R4-桷?Q 95R4-5)-AY1y5:Q I5?-TCI-:i-:-R4yAɮE0BEE*jQBjQiYiYziYJiYia ks1ks1ks1hqԹ kMkMkMh!2fQ:fQBfQJfUS?mmAɢB3=) ?i)5顙iܼIIIO#>2Acoustic response timeout=nManaging dock network, ignoring radio surface power off9 bE5jEʯ5rEa1Ee V Ee CEe LEa "Ee =:*Ee 09VEe !5ZEa au @au @au @au @2,ҏ,˰H?AJ)@J$@J0O=ٱJB VAHRS rotation from veh to nav: [[0.981683,0.164441,0.096220],[-0.183649,0.951157,0.248139],[-0.050716,-0.261265,0.963934]]JHi?`d ?`١?@́ǿ`o?`?kп ?iJ)@IJh^;JiCYZAy^!H ``bDfVDf8ynI<%rM=ٔr,9tIt=v9Fyv EvEv>xQ 5~S4z:?Q 9S4z:5)z~AYy;?Q I?zCIz" ;izq ;zS4y ɮ*B*j!Bj!i)i)zi)Ji)i) k1k1k1hA kKkKkKhQ2fa:faBfaJfeQ?颅 nAɢ=) ?i)顉i[ݼIAK?A2Acoustic response timeoutIaIqO=B=I>B=CB=!HB=VAB==B9B9B=;B=tEBºCBºCB”CB¶=BCš6Ai < 2Acoustic response timeoutԙ 8,ҏ,_H?A2I @2M@2H_=ٱ2 :AHRS rotation from veh to nav: [[0.981268,0.164361,0.100493],[-0.184754,0.950670,0.249183],[-0.054580,-0.263082,0.963229]]2H f? ?@㹹? ǿk?8?Tп?i2I @I2f^;2hCYNoAyR!HbD VD o8y%G=ٔ 9!I!=%9Fy% E-9E->1Q 55S45ٷ?Q 9=S455)5;AY9y=!DQ I=?5CI5{;i5;5US4yIɮM2BI*jYBjaiaiaziaJiaii kC0kC0kC0hy kMkMkMh2f:fBfJfך?颽(nAɢ0[=) ?i)iݼIE EHENE"E*E[9VE'5ZEBE:a-2E:a-JEV:a-:EW:a-I9IIqO5=-In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER-2Acoustic response timeoutԡ %?,ҏ,>H?A"4<ɰ"4<JpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITN2Acoustic response timeoutZ @Z@Zo=ٱZr6 AHRS rotation from veh to nav: [[0.980611,0.165644,0.104711],[-0.187025,0.950619,0.247681],[-0.058513,-0.262463,0.963166]]ZH@*a?3?Tκ?@pǿwk?? p0п`B?iZ @IZC^;ZjCYgAy!H?A?Ay59aIa=m9FymEmcEm>qQ 5}S4u?Q 9}S4u5)udAYV?Q E}:yBоQ I?u`CIuj:iu:u'S4yɮ4BE*jBjiiziJii kPkPkPh kPkPkPh2f:>:f:>Bf?@Jfk?@InAɢ=)  4?i )   i V޼IIIO (>E-Y E-FE-IE)"E-:*E-;J9VE-e5ZE)a5@a5@a5@a5@5zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY52Acoustic response timeoutB) A- <B5 E>B1 B5 T!HB5 .AB5 =B1 B1 B5 ";B5 -EI Q F,ҏ,1H?AF@F@F=ٱFW VAHRS rotation from veh to nav: [[0.979738,0.167907,0.109181],[-0.190197,0.950810,0.244510],[-0.062755,-0.260322,0.963480]]FHZ?}?I?@aXȿ@ m?@L? п?iF@IFc^;FhCYz-AyzS!HIM<)Mp<bD]VD]r8yä%g=ٔfD9I=9FyEE>Q 5S4 ?Q 9S45)AYyѾQ I?CI;i:q3S4yɮCB*jBjiiziJii kNkNkNh1 kNkNkNhA2fY:fYBfYJf]?@u`nAɢ}a=)y }ѿ?iy)},ڼyi޼IAzAoA!2Acoustic response timeoutIIO>IE-V E-HE)E)"E-=:*E-[9VE)ZE)BE-:a52E-:a=JE)a=:E-X:a=y 5 2Acoustic response timeout- >- >%L,ҏ,^2H?A02ϻ@2@2p=ٱ2 Z :AHRS rotation from veh to nav: [[0.978657,0.171185,0.113692],[-0.194251,0.951146,0.239975],[-0.067058,-0.256938,0.964099]]2H(Q?d??9ȿ`o?`?@*qп@?i2ϻ@I2G^;2gCYnAyn3!HbDzlVDzE8ym%Y=ٔ;9 I = 9Fy E6E>Q 5%S4%?Q 9%S45))~AY!y-ӾQ I-?CI:iH:@S4y1ɮ5JB1*jIBjIiIiIziIJiQiQ kOkOkOha kCgkCgkCghq2f:fBfJfs>@颥xnAɢ{=) s?i)Ѽ顩iR2߼IԉA%$AI1IAO}>2Acoustic response timeoutԹ D9 zD9 EE T EE ?EE NEA "EE 9*EE ?9VEE '5ZEA aM @aM @aU @aU @o S,ҏ,LH?A@2r@2v@2mi=ٱ2I :AHRS rotation from veh to nav: [[0.977442,0.174935,0.118341],[-0.198758,0.951388,0.235279],[-0.071429,-0.253493,0.964696]]2H4G?@Ed?K?pɿ`q??@0I89п ?i2r@I2f^;2lCYRAyR!HV=VR=\bDZ_VDZ98yf);%fN=ٔj49jH?InH?=n9FynE53;E5>AQ 5ES4E>?Q 9MS4Ek5)E|AYIyMվQ IM?ELCIE:iE:ENS4yUBɮ]SBY*jiBjiiqiqziqJiqiq kTkTkTh kCjkCjkCjh2f:fBfJf:>@nAɢ6k=) R?i)ȼiS߼I2Acoustic response timeoutB<>BCB !HBABBBٻDB;BEESAeX?AeQ?AAIIO% > 2Acoustic response timeoutA +7Y,ҏ,fH?A2@2}@2=ٱ2GL :AHRS rotation from veh to nav: [[0.976162,0.178859,0.122947],[-0.203317,0.951809,0.229614],[-0.075954,-0.249138,0.965485]]2H ^;2jCYBAyB HXX X)XIXiXX \\bDb7VDb8yj%jJ=ٔn79rK?IrK?=r9FyrErEEv>tQ 5zS4vV?Q 9zS4v"5)v.{AY|y~ؾQ I~?vCIv7;iv;v\S4yɮ UB E*j!Bj!i!i!zi)Ji)i) kckckch2f:fBfJfH=@EX ECEIE"E~ :*E09VEe5ZEBE:a2E:aJE9:a:E9:aunAɢ}=)y }?iy)"顁iO߼I:WIi I A2Acoustic response timeoutAIIOc>qԡ r'`,ҏ,rH?A62Acoustic response timeoutiW@R@=ٱb} AHRS rotation from veh to nav: [[0.974718,0.183261,0.127827],[-0.208345,0.952144,0.223637],[-0.080726,-0.244615,0.966254]]H`0?@u?\?` ʿ@w?$?sOϿ`?iW@I'^;YAy HyGz?`"οl񢿙p?w 9Gz?HzGѿʡEYp]?y=-BB B)>BYBbDVD8y&%/=ٔ'9I=9FyE7E>Q 5S4u?Q 9S4r(5)zAY i?Q Ei:yAQ I? CI:i:lS4yBɮ`B*jBjiiziJii kCJkCJkCJh kckckch2fN=:fN=Bf_@Jf ~Y@nAɢ =) յ?i)m!i%߼!I)1111ԑDD%=EQ EEOE"E29*EVE*5ZEa@a@a@a@ 2Acoustic response timeoutB2>BCB HBAB=BBػDBu;BǑEI I  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I O > LJf,ҏ,bH?A;ɰ;2Z'@2^"@2=ٱ24y :AHRS rotation from veh to nav: [[0.973092,0.188279,0.132829],[-0.214019,0.952128,0.218283],[-0.085372,-0.240837,0.966804]]2H`#???d˿w? ?ڵο?i2Z'@I2t_^;2iCYZAy^ H``bD%VD%8yeƘ%ed=ٔmT9iIi=m9FymEuㆼEu>yQ 5S4}D?Q 9S4},5)}yAYyQ I?}]CI}Z:i}/:}yS4yBɮPB*jBjiiziJii k#Kk#Kk#Kh kekekeh2f:fBfJfX@ nAɢ '=) ɱ?i)顑iw޼Iu2Acoustic response timeoutIGI591Y5AOu6>EX E@EJE"E~ :*E9VE5ZEBE:a-2E:a-1JE3:a5:E5:a=% 2Acoustic response timeoutY dsl,ҏ,8H?A2@2@2)g=ٱ2r/u :AHRS rotation from veh to nav: [[0.971736,0.192105,0.137206],[-0.218276,0.952527,0.212247],[-0.089919,-0.236197,0.967536]]2H@u???y˿{?`*? ;ο ?i2@I2^w^;2jCYBoAyBi HI=)=AbD%VD%8ye%eJ=ٔm99iIq=u9Fyu Eu*5Eu>yQ 5S4}?Q 9S4}15)}ZyAYy Q I?}CI}:i}B:}S4yܽBɮ@BE*jBjiiziJii ksfksfksfh kfkfkfh2f:fBfJfzX@-nAɢ-&=9)1 =Z?i9)ESAAiE޼QIYIqIO=a2Acoustic response timeoutԉE% S E% CE% OE! "E% 9*E% 09VE% *5ZE! a- @a- @a- @a5 @Թ <[s,ҏ,αH?A2@2@2s=ٱ2^q :AHRS rotation from veh to nav: [[0.970402,0.195516,0.141751],[-0.222213,0.952744,0.207121],[-0.094557,-0.232490,0.967991]]2H ?@? $?|q̿|??49Ϳ ?i2@I2^;0YBHAyB9 HbDvVDv8y%D%-N=ٔ-@91I1=59Fy5#E5+E=>Q 5S4:¸?Q 9S465)xAYy Q I?CI;i;֕S4yɮJB*jBjiiziJii2Acoustic response timeout k]k]k]h2f:fBfJfX@oAɢrʙ=)! %:?i!)%Ͱ!!i%2޼)I)B}8>ByB}HB}AB}=ByB}ٻDB}l;B}đEԑIIIOm= hDAT read: Forwarding Delay UpTx time:19:19:35.1357  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeout y,ҏ,H?A@2@2@2=ٱ2$l :AHRS rotation from veh to nav: [[0.969057,0.198828,0.146274],[-0.225922,0.953162,0.201099],[-0.099439,-0.227923,0.968588]]2H?4s??̿@N??t,Ϳ?i2@I2M^;2gCYBAyB HF=Fa=bDNVDN8yVc%VR=ٔVN9XIX=Z9Fy^%E^%E^>`Q 5fS4bڸ?Q 9fS4bj;5)bxAYdyj Q Ij?bpCIb:ibN:bS4ynBɮnYBl*jxBjxi|i|zi|Ji|i| kJkJkJh kakakah!2f1:f1Bf1Jf5W@UoAɢUڝ=)]8 ]Ԩ?iY)]dYaieݼiIiE E?EfE"E*E?9VEt5ZEBE :a2E:aJEG9a:EL9aI9IYO=2Acoustic response timeoutA dp,ҏ,gH?A4B2Acoustic response timeoutuP@uT@u =ٱu?i AHRS rotation from veh to nav: [[0.967671,0.201869,0.151202],[-0.229612,0.953150,0.196934],[-0.104363,-0.225285,0.968687]]uH(?? Z?cͿ 5? 5?!̿|?iuP@IuGf^;uhCÝAyHa@a a@a a%@a% a%@a% y~jt?9I=9Fy(E- E>Q 5S4E?Q 9S4AA5)+wAQ A+:YQ E<:y" Q I?CI* ;i^>YS4yɮmBE*jBjiiziJii kHkHkHh ksdksdksdh!M5oAɢM=)Q U'?iQ)UxQQiUTܼYIYԑbEm!5jEmx(5rEm <2EW EBEJE"E :*E(9VE5ZEa@a@a@a@A$AIIIO}Y>Ա2Acoustic response timeoutBuR>BuCBuGHBuABu=BqBuۻDBu=;BuEB5ȹCB5ȹCB1B5ȴ=B5ȴ=C5ȅ5 a,ҏ,aH?A2ч@2Ղ@2=ٱ23f :AHRS rotation from veh to nav: [[0.966487,0.204154,0.155641],[-0.232386,0.953384,0.192496],[-0.109087,-0.222214,0.968876]]2Hu?!? ?ѾͿ ??`@q̿?i2ч@I2C=^;2fC\YbAybRHbDnVDn|8yv޺%vl=ٔvIaE E>EKE"E*E9VE5ZEBE4:a 2E8:a JE)9a:E.9aA % 2Acoustic response timeout,ҏ,5H?A4<ɰ2pw@2tr@2=ٱ2E-d :AHRS rotation from veh to nav: [[0.965506,0.205455,0.159956],[-0.234193,0.953721,0.188599],[-0.113805,-0.219554,0.968940]]2H m?]L? qy? Ϳ`?@$?Q"`V̿@?i2pw@I205^;2lCYBnAyB-HDDXX X)XI\i\\bDbVDbm8yj%jL=ٔnA9pIp=r9Fyr-ErEv>tQ 5zS4v)?Q 9zS4vJ5)vuAQ A~9Y|Q E~9y~}Q I~?vCIv ;iv?vɿS4y ɮ B *j1Bj1i1i9ziAJiAiA kcjkcjkcjh=ZoAɢ=AW=)A E?iA)E}pAAiM*ZڼIIQI2Acoustic response timeoutطyAII O5 >ԡ E X E FE FE "E ~ :*E ;J9VE 5ZE a @a @a @a @,ҏ,^OH?A:qo@:uj@:c=ٱ:za RAHRS rotation from veh to nav: [[0.964664,0.205587,0.164796],[-0.234986,0.954204,0.185137],[-0.119187,-0.217320,0.968796]]:H`?`P? ?`ο`׈??$˿ a?i:qo@I:G^;:jCYZ1AyZH``bDfeVDfS8ynߖ%nJ=ٔr?[9pIp=r9Fyv/EvEv>xQ 5~S4zC?Q 9~S4zO5)ztAQ A~9YQ E9yQ I?zCIz;iz?zS4y ɮ B *j!Bj!i)i)zi)Ji)i) kakakahA k#ak#ak#ahQy颅loAɢV=) ?i)a顉i6"ټI2Acoustic response timeoutB%^>B%CB%HB%AB%=B%DB%ܻDB%0;B%E]*AAԱIIOU2> 2Acoustic response timeout ә,ҏ,6iH?A2j@2 e@2y6=ٱ2R_ :AHRS rotation from veh to nav: [[0.963902,0.205560,0.169227],[-0.235465,0.954806,0.181387],[-0.124293,-0.214686,0.968742]]2H@I?O?9}K?I}K?=}9Fy}2EɺE>Q 5S4^?Q 9S4U5)sAQ A9YQ E9yQ I?HCI2I;i@ S4yʽBɮBET EBEKE"E9*E(9VE5ZEBE:a2E:aJER+:a:EU+:aE*jBjiiziJi i  k_k_k_h19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedoAɢр=)' Ǔ?i)%QP!!i%I׼)I)2Acoustic response timeout u𕭼A`?Al?1A I I O% >a ),ҏ,eH?A*2Acoustic response timeout~k@~f@~G>ٱ~\  AHRS rotation from veh to nav: [[0.963389,0.204877,0.172935],[-0.235131,0.955559,0.177820],[-0.128818,-0.211972,0.968749]]~H? h9?"?ο?@?@}`!˿ ?i~k@I~P^;~iCYAy:Haa aa aa aa a@a a@a a@a a@a y|?5^?X9v?v/?M?=xi= )Mb@Mb@Mb@IiuB ˉB)YB1bD=VD=8yM8½%M==ٔM,9QIY=]9Fy]5E]e9E]>aQ 5mS4ez?Q 9mS4ekZ5)esAQ A o9Y Q E 9yQ I?eCIe2Acoustic response timeoutB]>BBHBRAB=BBB<;BEԉԱ ,ҏ,W휲H?A2w@2r@2>ٱ2Y :AHRS rotation from veh to nav: [[0.963207,0.203124,0.175989],[-0.233578,0.956585,0.174320],[-0.132940,-0.209013,0.968834]]2H??҆?@Ϳ W?P?@/@ʿ ?i2w@I2L@^;2hCYBrAyBHbDvVDv8y%%-_=ٔ-991I1=59Fy57E5{;E=>AQ 5ES4E2?Q 9MS4E^5)E/rAQ AMB9YIQ EMU9yMQ IM?ECIE:iE6@E:S4yYɮ]BY*jiBjiiqiqziqJiqiq kBkBkBh  kBkBkBh9uoAɢ}!=)y } ?iy)}4顁iYӼIԑU2Acoustic response timeoutK'ET ECESE"E9*E09VE75ZEBEa2EaJE9:a:E9:aAI IQ Ia I O > 2Acoustic response timeout ,ҏ,;ȶH?AF=@FA@F >ٱFtW VAHRS rotation from veh to nav: [[0.963408,0.200214,0.178210],[-0.230847,0.957655,0.172068],[-0.136213,-0.206911,0.968831]]FH=???cͿ@? T?`po@|ʿ ?iF=@IFe^;FgCYbOAybHbDvVDv8y,%M=ٔ x9I=9Fy:E;E>)Q 55S4- ?Q 9=S4-c5)-?qAQ AE9YAQ EE,9yE Q IM?-\CI-d;i-O@-S4yQɮUBY*jiBjiiiiqziqJiqiq kCkCkCh kCkCkChoAɢ$=) k?i)&&i$ҼIAnAzApA)e>am2Acoustic response timeoutAII O=>I E V E E FE "E =:*E VE 5ZE a @a @a @a @,ҏ,QвH?A2ϫ@2Ӧ@2 >ٱ2V >AHRS rotation from veh to nav: [[0.964028,0.196680,0.178791],[-0.227319,0.958672,0.171095],[-0.137751,-0.205583,0.968896]]2H R?,? ?Ϳ@q?t?ϡPʿ3?i2ϫ@I2#^;2hCYBAyBJHbDNVDN8yVT%VP=ٔV;Q-V>9XIX=Z9FyZ<E^>Q 5S4Ź?Q 9S4h5)LpAQ A%8Y!Q E% 9y% Q I%?CI ;iti@S4y)ɮ-ѝB1*jABjAiAiIziIJiIiI kGkGkGha kGkGkGhq额oAɢ{iy=) M?i)d顡iмI2Acoustic response timeoutBq>BCBHB6AB=BB޻DBz;BEQA $AII1Om>y  7k> Cu 2Acoustic response timeout nG Թ F9 Y A!,ҏ,F~H?A:\к@:`@:N>ٱ:&X@ JAHRS rotation from veh to nav: [[0.964928,0.191886,0.179149],[-0.222991,0.959231,0.173642],[-0.138526,-0.207500,0.968377]]:H@?`?Y? ̿?9?5 `ʿ?i:\к@I:E^;:iCYVAyVHXXtt t)tItittzAxbDVD8yH%C=ٔ:Q->9H?IH?=9Fy?EZ)<E>EW EDEME"E :*Ea99VEH$5ZEBE4:a2E9:aJEpH:a:EsH:aQ 5S4Uṉ?Q 9S4+n5)KoAQ A8YQ E8y Q I?CI;iN@S4yɮBE*jBjiiziJii kEkEkEh kEkEkEh=oAɢ=f=)9 =s?iA)E AAiEPͼIIIԱAAII2Acoustic response timeoutO'> [ ,ҏ,eH?A2Acoustic response timeout>@>@>]^>ٱ>XDY FAHRS rotation from veh to nav: [[0.966038,0.186813,0.178526],[-0.218094,0.960003,0.175582],[-0.138584,-0.208554,0.968142]]>H?z??}˿X?yy?!ʿ`?i>@I>];9eK?IeK?=e9FyeAEeO<Em>iQ 5S4m?Q 9S4mr5)m[nAQ A8YQ E8y Q I?muCImӓ1BA<B>BCBHB}AB=BBDBb;BE2Acoustic response timeoutY 3,ҏ,4H?A:'@: "@: >ٱ:o[ BAHRS rotation from veh to nav: [[0.967302,0.181262,0.177402],[-0.212785,0.960616,0.178717],[-0.138020,-0.210622,0.967775]]:H"?3?`?<˿@]?@4?ʿ?i:'@I:½];8YJ}AyJH9bDnVDo8yM%ML=ٔMQ-U>9QIQ=U9FyUDE]`<E]>aQ 5mS4e)?Q 9mS4ew5)eimAQ Au8YqQ Eu8yuC Q Iu?eCIe;ie՛@e7S4yyɮB*jBjiiziJii k*k*k*h kOkOkOhoAɢc=) ^?i)˖qiulɼyIy52Acoustic response timeoutiAIIIO!>ԑE\ ECEUE"E:*E09VE >5ZEBE;a2E;aJE9:a:E9:a  2Acoustic response timeout;`,ҏ,C8H?AJFO@JJJ@JԄ >ٱJs[ VAHRS rotation from veh to nav: [[0.968502,0.176730,0.175416],[-0.208066,0.961374,0.180193],[-0.136795,-0.211015,0.967864]]JH ? ? t?ʿ?? ˿?iJFO@IJ];HYZ(}AyZH QQ]=]p=ԑbDeGVDeL8yҽ%D=ٔBQ->9I=9FyGE~A<E>Q 5S4Q0?Q 9S4|5)qlAQ A[8YQ Eq8yQ I?1CI:i#@(S4yɮB*jBjiiziJii k34k34k34h  kHkHkHhEoAɢE0M=)A ER?iI)M ԻIIiM ǼIAI!I9Ou6>=2Acoustic response timeoutD zD ?AbEE5jEEʽ 5rEEV1E a E IE IE "E %.:*E c9VE e5ZE a @a @a @a @ E,ҏ,QH?A2s@2n@27 >ٱ2^] :AHRS rotation from veh to nav: [[0.969594,0.172328,0.173757],[-0.203761,0.961727,0.183200],[-0.135536,-0.213034,0.967598]]2H??=?ʿ@x?s?`=Y@D˿?i2s@I2];0YB\|AyB.HbDvVDv8Be>BeǏCBeHBe |ABe=BaBeDBeB;BeEB5CB5CB5CB5=B5=C55yG%P=ٔPQ->9I=9FyIE7<E>2Acoustic response timeoutQ 5S4J?Q 9S45)kAQ A18YQ EC8yQ I?CI;i@S4yɮ(B*jBjiiziJii kQkQkQh%pAɢ%uE=)! %{E?i!)-))i--ļ1I1AIIO&>!QU 2Acoustic response timeouty q,ҏ,kH?A;ɰY{AyHbD-VD-8y=Ͻ%=L=ٔEQ-E>9AIA=M9FyMLEMEM>QQ 5]S4UTd?Q 9]S4UB5)UjAQ Ae8YaQ Ee8yaQ Ie?UCIUi ;iU@UyS4yiɮm=BiEV EFEPE"E=:*E;J9VE-5ZEBE:a2E:aJEe:a:Ee:a*j9Bj9i9i9zi9JiAiAQ k#6k#6k#6hY颅pAɢ6=)` i X:?i)顉iB¼I2Acoustic response timeoutAIIO*>ԁԩ ] 2Acoustic response timeout\,ҏ,JH?A>@>@>>ٱ>>[ FAHRS rotation from veh to nav: [[0.971013,0.168908,0.169125],[-0.199225,0.962867,0.182198],[-0.132070,-0.210611,0.968608]]>H?Ş??3ɿ?ER?@Kʿ`?i>@I>H];>jCYNzAyN-HIR<)R=a%a% a%a% a%a% a%a- a-@a- a-@a- a-@a- a-@a- y-?V-Ϳx&1ȿ-l?-m-A) ))-Mb@Mb@Mb@I)i)))-YB -B)))Y)bDEVDE8yU%UH=ٔ]r Q-]>9YIY=]9FyeNEe?<Ee>iQ 5uS4m!?Q 9uS4m5)miAQ A}7YyQ E}8y}Q I}?mFCImz ;im@mS4yBɮ]BE*jBjiiziJii k,k,k,h k,k,k,h颕pAɢ*=) )?i)顙iݿIԩEY EEEE"E:*EA9VEZEa@a@a@a@A1IAIQO9>AIAIBU >BUЏCBUHBUJzABU=BUDBUDBUL;BU'E2Acoustic response timeout ) ,ҏ,}H?A2@2!@2x>ٱ2Sc :AHRS rotation from veh to nav: [[0.971065,0.168751,0.168987],[-0.200095,0.961180,0.189984],[-0.130367,-0.218301,0.967135]]2H?ख़?^?๜ɿ`?`iQ?`ݯ`G˿ ?i2@I2^;0YB;zAyBHpp p)pItittbD~VD~8y1% P=ٔ OQ- >9I=9FyQE E>!Q 5%S4%?Q 9-S4%5)%hAQ A-7Y)Q E-7y-Q I-?%CI%]:i%0@%XS4y9ɮ=mB9*jIBjIiQiQziQJiQiQ kc)kc)kc)hi ks)ks)ks)hy颥%pAɢ(=) g!?i))顩i𦽼I2Acoustic response timeout!A $AII!OM>9EX ELEZE"E~ :*E|9VE(N5ZEBE:a2E:aJEv:a :Ew:a i  2Acoustic response timeout,ҏ,WH?A 6x@6s@6J>ٱ6Vj >AHRS rotation from veh to nav: [[0.970586,0.171142,0.169333],[-0.203385,0.959219,0.196298],[-0.128832,-0.224964,0.965812]]6H ? ??`ʿ?M ?}̿ ?i6x@I6^;4YFuyAyFeHbDNVDN8yV%VP=ٔVXQ-Z>9ZH?IZH?=Z9FyZSE^ E^>`Q 5fS4b?Q 9fS4b_5)bgAQ Af7YdQ Ej7yjQ Ij?bCIb:ib@bS4ynBɮnpBnE*jxBjxixixzixJi|i| k'k'k'hi kBkBkBh.pAɢ>Z=) i?i)vi0$Ii%2Acoustic response timeout]2DԙiIAAIIO > E Y E pE gE "E :*E  :VE x5ZE a @a @a @a @ӓ,ҏ,2ӳH?A2T@2O@2>ٱ2`o :AHRS rotation from veh to nav: [[0.969832,0.174768,0.169948],[-0.207669,0.957430,0.200505],[-0.127671,-0.229749,0.964840]]2H?^?? ʿ@C?(?W@lhͿ@?i2T@I2^;2kCYBxAyBHFa=DP ppbDvVDv8B]>B֏CBHBxAB=BBDBb;BSEyŞ%C=ٔm7Q-%>9%K?I%K?=%9Fy%VE-+E->1Q 5=S45κ?Q 9=S45b5)5gAQ A=w7YAQ EE7yEQ IE?5[ CI5B;i5!@5S4yIɮMBI2Acoustic response timeout*jBjiiziJii k3'k3'k3'hY8pAɢx* =)  ?i)WiyI AIIOf>5 2Acoustic response timeout! ,ҏ,H?A6p$@6t@6j>ٱ6t BAHRS rotation from veh to nav: [[0.968646,0.179599,0.171664],[-0.213402,0.955271,0.204735],[-0.127216,-0.234949,0.963647]]6H&?? ?@P˿?4?H ο1?i6p$@I6 ^;6iCYFwAyJjH|bD VD 8y]&%]F=ٔeڑQ-e>9aIa=m9FymYEmWjEm>qQ 5}S4u躉?Q 9}S4ua5)u;fAQ AH7YQ E\7yJ Q I?u CIu ;iuAu"S4yBɮB*jBjiiziJiiE` EJE_E"E*:*Ek9VEC^5ZEBE-;a2E-;aJE:a:E:a k/k/k/hY颥@pAɢR<) >i)>i鵼I)2Acoustic response timeoutU9YA I I ԉ O >= 2Acoustic response timeout-ҏ,H?Aɰ49I=9Fy[EE>!Q 5-S4%?Q 9-S4%5)%WeAQ A-"7Y)Q E-27y)Q I5?%!CI%:i%{A%OS4y9ɮ=B=E*jQBjQiiziJii kSkSkSh kc+kc+kc+h颕HpAɢ<) >i)=&顱iIԁE] EEEnE"E:*EA9VEJ5ZEa@a@a@a@BAB>BCBHBvAB=BDBDB;BE2Acoustic response timeoutԱA I I O5 > -ҏ, H?A2˺@2@2>ٱ2Ns :AHRS rotation from veh to nav: [[0.966404,0.190305,0.172766],[-0.223899,0.953397,0.202244],[-0.126226,-0.234131,0.963976]]2H`?[?@/? ̿@;?@ ?/(Ϳ?i2˺@I2^;0YBvAyBHIF=)F;bDNVDN8yV:%Vd=ٔV16Q-V>9XIX=Z9FyZ^EZGE^>`Q 5fS4b?Q 9fS4b5)bdAQ Af7YdQ Ef7yf Q If?bp!CIbH:ib8AbnS4ylɮnϞBl*jxBjxixixzixJi|i| kkkh  kc4Gkc4kc4h9E09AYEhA颍NpAɢ <) ->i)Q;项iNI2Acoustic response timeoutAAIQIaO<>Ea EOE\E"E%.:*E9VET5ZEBEL3;a2EO3;aJEM:a:EN:a 2Acoustic response timeoutA  -ҏ,:H?A2@@2D@2>ٱ2l :AHRS rotation from veh to nav: [[0.965437,0.196205,0.171564],[-0.228467,0.953867,0.194784],[-0.125432,-0.227248,0.965725]]2H?;?@?j>Ϳ?@?'xͿ`8?i2@@I2^;0YBuAyBHbDNVDN8yV%VJ=ٔVQ-V>9XIX=Z9FyZ`EZ>E^>`Q 5fS4b16?Q 9fS4b5)bcAQ Af6YdQ Ef6yf8 Q Ij?b!CIbs:ibAbS4ynBɮnBl*jxBjxixixzixJixi| kS,k[,=kS,h  kS,kS,kS,h!ESpAɢEB<)I M>iI)MdjIQiU%QIYAm[?AmY?AiIqIO=A2Acoustic response timeoutiE i E HE XE "E ,K:*E [9VE G5ZE a @a @a @a @ԙ -ҏ,[zTH?A>~@>y@>7=ٱ>c FAHRS rotation from veh to nav: [[0.964496,0.202519,0.169512],[-0.233022,0.954651,0.185315],[-0.124295,-0.218236,0.967948]]>H%?(?@? Ϳ?h? ѿ@$˿o?i>~@I>*^;>lCYN]uAyNHBVB>BVCBVHBV5uABV=BVDBVDBV/;BVEbDfVDf8yv8%vF=ٔz5Q-z>9|I|=9FycE D9E >Q 5%S4P?Q 9%S4+5)bAQ A-6Y)Q E-6y-`Q I5?,"CIM;iXAS4y=BɮEݞBEEm2Acoustic response timeout*jqBjqiyiyziJii k#6k#6k#6hYpAɢw<) {>i) i;IqA$AIIOM0>ԡ In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeout [ -ҏ,VnH?A2[@2V@2i=ٱ2X :AHRS rotation from veh to nav: [[0.963637,0.208618,0.166981],[-0.237223,0.955525,0.175209],[-0.123002,-0.208450,0.970268]]2H??_?O]ο ?Bm?}{ʿn ?i2[@I2p%^;2jCYBtAyB`HDDXX X)XIXiX\  bDVD8y%%%F=ٔ-OQ-->9-H?I-H?=-9Fy5eE5,E5>9Q 5ES4=7k?Q 9ES4=P5)=aAQ AM6YIQ EM6yMlQ IM?="CI=:i=!A=S4yQɮUBQ*jiBjiiqiqziqJiqiq k1k1k1hEd ERE_E"E9:*E9VEC^5ZEBEF;a2E F;aJE%:a:E':a kPkPkPh^pAɢ$p<) Ņ>i):UȺiygIA-AI9IIIqpIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeoutO>1 = zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY= 2Acoustic response timeout!-ҏ,NH?AN9@N"4@Nk=ٱN*M VAHRS rotation from veh to nav: [[0.962814,0.214666,0.164037],[-0.241310,0.956343,0.164855],[-0.121487,-0.198309,0.972581]]NH^?+z?@)?>ο]??@ -bɿ c?iN9@IN |^;NkCY^sAy^Haa aa aa aa aa y +?x&?(\?V?7 >G> 91Zd?tVοV-?Y"{?yr>²BB B)BYBbDVD8yʽ%@=ٔkQ->9K?IK?=9FyhE!E>Q 5S42?Q 9S4ݻ5)cAQ AT:YF?Q EG:yϾQ I?"CI~:iC:S4yɮ BE*jBji i zi Ji i  k#5k#5k#5h! kJkJkJh12fEW>:fEW>BfEt~@JfE@ebpAɢe]<)a m_>ii)m-iiimhqIq!bE%aQ5jE%đU5rE%T2Ea EGEZE"E%.:*ER9VE(N5ZEa@a@a@a@AIIO (>IAAAA@AB>BCBHBvsAB=BBDB;BEB]CB]CB]ƢCB]Ƨ=B]ƥ=C]'k72Acoustic response timeouty (-ҏ, H?Aɰ;0Y~sAy~HbDeVDe8y%K=ٔQ->9I=9FykEE>Q 5S4d?Q 9S4-5)eeAYyQ I?e#CI ;i9:S4yBɮB*jBj i i zi Ji i k2k2k2h! kcFkcFkcFh12fA:fABfAJfAefpAɢeZ<)i mfU>ii)m-iiiuWqIy2Acoustic response timeoutԉAIIOE/>ԹE] EEE`E"E:*EA9VE|a5ZEBE<;a2E?;aJEW:a:EW:a  2Acoustic response timeoutH.-ҏ,滴H?A2b@2g@2=ٱ2: :AHRS rotation from veh to nav: [[0.962354,0.222571,0.156001],[-0.245411,0.958247,0.146755],[-0.116824,-0.179514,0.976794]]2H@?5}??iϿ?? 2轿RƿA?i2b@I25e^;0YVrAyZ@H`I)p<%A%AbD-VD-8yes$%eP=ٔmCQ-m>9iIq=u9FyumEu+Eu>yQ 5T4}̻?Q 9T4}5)}gAYynվQ I?}#CI}:i}:}[ T4yɮ3B*jBjiiziJii k*k*k*h kGkGkGh2f:fBfJfwV@ hpAɢ <) >i)I顡i=şIA!I)I9O}7>2Acoustic response timeoutA D zD E [ E FE XE "E a:*E ;J9VE G5ZE a @a @a @a @15-ҏ,մH?AB&->B&CB&HB&rAB&=B$B&DB&#;B&2E^@^@^=ٱ^81 jAHRS rotation from veh to nav: [[0.962885,0.223394,0.151481],[-0.244514,0.959623,0.139059],[-0.114299,-0.170937,0.978630]]^H@?/?@c?9yIy=9FypE ;E>Q 5T4/?Q 9T45)hAYy־Q I?J$CI:i-:T4yBɮLBE*jBjiiziJii k,k,k,h k3Hk3Hk3Hh2f:fBfJf<=@A额kpAɢ.W;) 8=i)Go}iJFIAII OUt>q 2Acoustic response timeoutԙ 7Z;-ҏ,H?A25@20@2UX=ٱ2+ :AHRS rotation from veh to nav: [[0.963879,0.222086,0.147024],[-0.241988,0.960831,0.135080],[-0.111266,-0.165778,0.979866]]2H?@Nm?`?sο?JJ?@{98ſ [?i25@I21U^;2jCYB$qAyBGHbDJVDJ8yR.%V=ٔV Q-V?9TIX=Z9FyZrEZ<EZ?`Q 5bT4b ?Q 9fT4b'5)bLjAYdyfD־Q If?b$CIb:ib|:b%T4yjBɮngBl*jxBjxixixzixJi|i| kSGkSGkSGh  kSGkSGkSGh!2f1:f1Bf1Jf5 :@195 r5NAggregate::initialize marl:UpdateRudderq9=E_ EIEkE"E&:*Ec9VEu5ZEBE&;a2E&;aJE:a:E:aԑJ]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedlpAɢ(;) 7=i) u  i }I1m2Acoustic response timeoutԩAIIO&>  = 4=% 2Acoustic response timeout5BB-ҏ,-y H?A>CQ@>HL@>+=ٱ>E- FAHRS rotation from veh to nav: [[0.965056,0.219158,0.143655],[-0.238851,0.961168,0.138224],[-0.107784,-0.167706,0.979927]]>H ?] ?Ic?@ο?U?`fwſ@[?i>CQ@I>}u^;>hCY^pAy^H ddyMHzG?q= ףp?+M=J?M>MI I9MOn?Q?Q?YMX?yM\>M(\>M=ٔuQ-u>9yIy=}9Fy}uE3;E>Q 5T4*?Q 9T45)jAYPb?Q Ep:y*0Q I?$CIa;i;4T4yrBɮ\B*jBj=iiziJii kHkHkHh kHkHkHh2f}p>:f}p>Bf}о@Jf}{ȟ@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颽mpAɢ9) dBE<AABM]>BMCBMHBMrpABIBIBMDBM ;BMɓE>>}2Acoustic response timeout1Y wlH-ҏ,T#H?A2l@2g@2?=ٱ2/1 :AHRS rotation from veh to nav: [[0.966256,0.216191,0.140036],[-0.235795,0.961217,0.143051],[-0.103678,-0.171243,0.979758]]2H?%??.ο@I?zO?`Lſ@.Z?i2l@I2\^;2jCYNoAyRH )IibDVD8yE%MM=ٔM)Q-M>9IIQ=U9FyUwEU<EU>YQ 5eT4]8H?Q 9mT4]5)]kAYiymKQ Im?]W%CI]|:i]t:]BT4yuqBɮ}uBy*jBjiiziJii kGkGkGh ks`ks`ks`h2f:fBfJfPΟ@ɢ"(])  i)\yinSI12Acoustic response timeoutI1IIO>aE] ELEE"E:*E|9VEZEBE9;a2E<;aJEv:a:Ex:aԉ 2Acoustic response timeoutԹ KN-ҏ,.=H?Aɰp;2'@2,@2]=ٱ228 :AHRS rotation from veh to nav: [[0.967538,0.212606,0.136636],[-0.232471,0.960783,0.151175],[-0.099137,-0.178031,0.979018]]2H?6?K}?Ϳ`?Y?@ aƿ T?i2'@I2s^;2iCY^0oAy^HbDjVDj8yr%rQ=ٔrJ?Q-r>9tIt=v9FyvzEz<Ez>|Q 5T4~e?Q 9T4~>5)~9lAYy[ Q I?~%CI~;i~;~YPT4yɮBE*jBjiiziJii kcakcakcah2f:fBfJfw@=lpAɢ=u1ϻ)9 =i9)E;焺AAiEhvAIIԙII O= >2Acoustic response timeoutE  E FE E "E *E ;J9VE ZE a @a @a @a @ ~U-ҏ,V WH?AB>BCBHBnAB=BDB DB@;BEfB@fG@f=ٱfLA nAHRS rotation from veh to nav: [[0.968766,0.208861,0.133677],[-0.229253,0.959836,0.161736],[-0.094528,-0.187330,0.977738]]fH@!??V?-XͿ?ų?`2rǿ`I?ifB@IfT^;fjCYvnAyvHxxEhDAT read: Forwarding Delay UpTx time:19:19:48.9856 EpIn parseResponses, set commsState_ = SENDING_ACK_WAITINGM2Acoustic response timeoutI]<)]<bDeQVDei8yM h%M6=ٔM(Q-M>9QIQ=U9FyU}E];E]>aQ 5mT4em?Q 9mT4e5)elAYiymmQ Im?e&CIe;ie;e`T4y}pBɮ}By*jBjiiziJii kHkHkHh k^k^k^h2f:fBfJf@kpAɢ r) ѽi)sbiI  Mj>MCG9YAyuP?}A^A2;IqIO>2Acoustic response timeoutI :[-ҏ,pH?A2ĺ@2@2Ǡ=ٱ2N :AHRS rotation from veh to nav: [[0.970040,0.204397,0.131318],[-0.225648,0.958320,0.175227],[-0.090028,-0.199609,0.975731]]2H` ?`)?@?` ̿?`m? ˌɿ@09?i2ĺ@I2C^;2kCYZmAyZBHEe_ EeIEejEa"Ee&:*Eec9VEeـ5ZEaBEe&;am2Ee&;amJEe:am:Ee:aubD-fVD-}8y%X=ٔCQ->9I=9FyEf%<E>Q 5T4i?Q 9T45)mAYy豼Q I?i&CI):iW:QmT4yɮB*jBjiiziJii kcFkcFkcFh  kChkChkChh2f:fBfJfR_@-ipAɢ-)HQ)Q U#iQ)U0YYi]ҋYIa^AMl;<U2Acoustic response timeoutIIO%>yԩ  2Acoustic response timeout'b-ҏ,H?A@Y~lAy~Hy+?nx&1̿_?VA` 9J +?~jt? +οYH?y=vB)B B)YBbDhVD~8y%%%@=ٔ%Q-%>9)I)=-9Fy-E5E5>9Q 5ET4=?Q 9ET4=\5)=okAYER?Q EE:yEFQ IM?=&CI=:i=:=%|T4yUYBɮUBUE*jiBjiiiiiziiJiqi  kOkOkOh! kdkdkdh12fEo>:fEo>BfEq?JfEcK?efpAɢe2z)e#< m)bii)m+iiiim[񈼉qIyԩ^AMjZX=Emd EiEmbEi"Em9:*EiVEmg5ZEia}@a}@a}@a}@IIO&>A@AAAAB>BCBHBmAB=BBDB;B EiYIYe2Acoustic response timeout 7h-ҏ,H?A2@@2E@2%=ٱ2j :AHRS rotation from veh to nav: [[0.972229,0.196395,0.127281],[-0.219447,0.954022,0.204170],[-0.081331,-0.226431,0.970626]]2H?{#? J?̿X? >"?Ҵ`̿`]?i2@@I26X^;0YBplAyBcHDD DDJ=J=bDLVDLyV%Ve=ٔZȼQ-Z>9XIX=^9Fy^E^Ö<E^>`Q 5fT4brӼ?Q 9fT4b5)biAYhyjhIQ Ij?b'CIb:ib :bT4lyrXBɮrʟBrE*j|Bj|i|i|zi|Jii k#kk#kk#kh kSkSkSh)2f1:f1Bf1Jf5?cpAɢBգ) |i)>кi8I2Acoustic response timeout^A5D= A}$AIIOA>1E}^ E}LE}mEy"E}C#:*E}|9VE}5ZEyBE} ;a2E} ;aJE}w:a:E}x:am 2Acoustic response timeouti n-ҏ,|H?A2p@2u@2=ٱ2Ğv :AHRS rotation from veh to nav: [[0.972835,0.194718,0.125210],[-0.218313,0.951594,0.216352],[-0.077022,-0.237810,0.968253]]2H v!? ? ?˿us? n?`pο?i2p@I2\^;2jCYBkAyBHbDNdVDN{8yVy%VJ=ٔVw/Q-V>9ZH?IZH?=Z9FyZEZI;E^>`Q 5fT4b켉?Q 9fT4b[5)bgAYdyfLQ If?bO'CIb:ibj:bT4yhɮnڟBl*jtBjtixixzixJixix kjkjkjh  kzkzkzh2f):f)Bf)Jf-}?9U`pAɢU)Q UxiY)]RYaieJI^A]=iAAI)I9IYO8>߽@?߽,?2Acoustic response timeoutԑbE ʴd5jE l5rE 2E Z E ME E "E :*E 9VE ZE a @a @a @a @ B >B CB HB kAB =B B DB l;B fEBCBCB˛CBˠ=Bˡ=COi6ju-ҏ,RصH?Aɰ49vK?IvK?=z9FyzEzn?Ez>|Q 5T4~?Q 9T4~5)~eAY y UQ I ?~'CI~:i~:~T4yɮB%2Acoustic response timeout*j1Bj9i9i9zi9JiAiA kakakahy2f:fBfJfm?ԙ颵[pAɢ%ʼ) i)项ivI!2Acoustic response timeout^A% =! AQ Ia Iq O >c|-ҏ,H?AE\ EJEjE"E:*Ek9VEـ5ZEBE;a2E;aJE:a%:E:a%Y-~jAy51HE@AE@A )IiAԩbDcVDz8yK%8=ٔQ->9I=9FyEE>Q 5T4"?Q 9T45)ecAYyQ I?'CIa)  2Acoustic response timeout-ҏ, H?A2@2@2Gu=ٱ2 :AHRS rotation from veh to nav: [[0.966048,0.222626,0.131107],[-0.251323,0.927393,0.277091],[-0.059900,-0.300633,0.951857]]2H? ??`п3?`ۻ?5@=ӿu?i2@I2}^;2jCYBiAyBHyeCl?Q뱿~jt?eo?e\e9I=9FyEE>Q 5T4=?Q 9T4s5)xbAY{?Q EW:yQ I?X(CI:i8:YT4yɮ BE*jBjiiziJii kDkDkDh k3`k3`k3`h2f>:f>Bf8@Jfa@5OpAɢ= )9 =[Ӿi9)=<29AiEi{xAIIQQYYAEE^ EEIEEhEA"EEC#:*EEc9VEEA{5ZEAaU@aU@aU@aU@B]<A]<Be#>Be CBe$HBeijABe=BaBeDBe;BeE2Acoustic response timeoutq^A ԙ A I! 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A I I Oe >-ҏ,۶H?A2Ix@2Ns@2]ٱ2Ծ :AHRS rotation from veh to nav: [[0.910869,0.380279,0.160330],[-0.412639,0.832730,0.369174],[0.006878,-0.402428,0.915426]]2H%?V??@hڿ? ?+|?`_ٿ+K?i2Ix@I2(M^;2jCYB2gAyB*HV2Acoustic response timeout ))bD5iVD58ym<%mA=ٔuoQ-u>9qIq=u9FyuE}E}>Q 5U4?Q 9U44 6)fAYyQ I?+CI:i:F3U4yɮWB*jBjiiziJii k#Hk#Hk#Hh k#Hk#Hk#Hh2f:fBfJf@pAɢLs3) %4i!)%sû!!i%])I)q: ^A9e2Acoustic response timeoutAII O= >a -ҏ,EH?AJ@J @JiٱJ(վ VAHRS rotation from veh to nav: [[0.905456,0.392991,0.160338],[-0.424201,0.825190,0.372980],[0.014269,-0.405732,0.913881]]JH}?&?`?&ۿg??8?@ٿ>?iJ@IJC^;JkCYZfAyZ HEb] EbJEbtE`"Eb:*Ebk9VEb5ZE`BEb;;af2Eb>;ajJEb:aj:Eb:ajbDE^VDE8y%C=ٔ|Q->9I=9FyEE > Q 5U4 f9?Q 9U4 6) gAYyQ I? +CI f;i [: AU4y!ɮ-hB-E*jABjAiAiAziAJiIiIQ k#Fk#Fk#Fhi2fy:fyBfyJf}@颕pAɢY?) Fi)ӻ顡i*\I2Acoustic response timeoutԁ9ԩ^A] =A] X?A] Y? 2Acoustic response timeout A $AI I I O>}-ҏ,4H?A;ɰ;2*@2/@2-ٱ2cFؾ :AHRS rotation from veh to nav: [[0.900125,0.404760,0.161070],[-0.435118,0.817420,0.377487],[0.021130,-0.409870,0.911899]]2H?`??ۿN(?(? ?O;ڿG.?i2*@I2a^;0YBgAyBHxbE 5jE5rE<3E _ E EE E "E &:*E A9VE ZE a@a@a@a@yGz?kt?p=? =L 9X9v?ˡE?RQ?YS?y=B>B:B yB)BYQBbD5CVD5q8yE0R=%E-=ٔElnQ-M>9MH?IMH?=M9FyMEUӼEU>YQ 5eU4]Y?Q 9eU4]T6)]!iAYe=Z?Q Emy:ymQ Im?]L,CI] ;i]L ;]dRU4yu&BɮuDBuE*jBjiiziJii k'k'k'h kBkBkBB<A<B@>B CBHBgABBBDB;BEB CB CB”CB™=Bš=C 5h2f>:f>Bfz@Jf]q>额 pAɢ/) i)顡iݿZI2Acoustic response timeoutAq ^A  2Acoustic response timeoutԙ I I O >9v-ҏ,0H?ABsN@BxI@BķݼٱBo ھ NAHRS rotation from veh to nav: [[0.894961,0.415704,0.161971],[-0.445323,0.810342,0.380833],[0.027062,-0.412961,0.910347]]BH`??`z? +ܿQ?_?? mڿ!?iBsN@IB]X^;@YRfAyV HIZ<)Z<bD^HVD^u8yf%jH=ٔjmQ-j>9lIl=n9FynEn En>pQ 5vU4rJu?Q 9zU4r6)r0jAYxyz.Q Iz?r,CIr6:ir:r`U4y|ɮ~JB*jBjiiziJii! kGkGkGh1 kGkGkGhI2fY:fYBfYJf]=>^mB*** querying acoustic contact ***XiYi}pAɢ}A)}p i)顁i+YIE}h E}SE}qEy"E}G:*E}9VE}5ZEyBE}0_;a2E}3_;aJE}m:a:E}n:a^A 2Acoustic response timeoutIIO>1 Q-ҏ,ԹIH?A22@27@2Aٱ2۾ :AHRS rotation from veh to nav: [[0.889748,0.426213,0.163374],[-0.455300,0.803291,0.383960],[0.032412,-0.416011,0.908782]]2H@x?G?`p?@#ݿ?@˒?I?`ڿ ?i22@I2n^;2iCYBfAyB HbDN'VDNW8yV%VN=ٔZ8]Q-Z>9XIX=^9Fy^E^E >Q 5U4?Q 9U4W6)CkAY!y%Q I%?,CII;iU;nU4y)ɮ-LB)*jABjAiIiIziIJiIiI ks@ks@ks@ha k@k@k@hq2f:fBfJf>颥pAɢD) 1i)S顩iyXI2Acoustic response timeoutI^A9AAzAAyE_ EEEiE"E&:*EA9VEz~5ZEa@a@a@a@IIOi>B=;>B9B9B9B==B9B9B=;B=E 2Acoustic response timeoutԱ {-ҏ,cH?A2H@2M@2ٱ2`ݾ :AHRS rotation from veh to nav: [[0.884481,0.436488,0.164839],[-0.465063,0.796328,0.386754],[0.037548,-0.418737,0.907331]]2H M?i?@q?ݿ {??q9?`ڿ?i2H@I2P^;2kC@YFfAyF HXX \)\I\i\\bDfVDf98ynRϻ%nH=ٔnxMQ-n>9pIp=r9FyrEvݼEv>xQ 5~U4z?Q 9~U4z6)zXlAY|y~嘾Q I?zP-CIz;iz;z|U4y ɮ MB *jBjiiziJii ks@ks@ks@h2f:fBfJfuD>-pAɢ-tC)) 5i1)M IIiMJXQIYԩ 2Acoustic response timeout^AII1O]v>E  E GE \E "E *E R9VE T5ZE BE &;a 2E &;a JE #t:a :E %t:a  -ҏ,3p}H?Ai0I062Acoustic response timeout>`1@>e,@>"/ٱ>+޾ JAHRS rotation from veh to nav: [[0.878444,0.448019,0.166180],[-0.475930,0.789201,0.388139],[0.042745,-0.420049,0.906494]]>H6?V? _E?@u޿#A?F??@ڿ?i>`1@I>Hz^;>lCYNfAyN H TTbDZVDZ8yb0%bK=ٔfKTQ-f>9dId=j9FyjEjEj>txQ 5 U4zƾ?Q 9 U4z6)zwmAY y  Q I ?z-CIz1M;iz,;zU4yɮSB E*j1Bj1i1i9zi9Ji9i9 k$k$k$hQ2f:fBfJfu>19 r%NAggregate::initialize marl:UpdateRudderq9%J])q9m9m7momXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]y7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeedoAɢC) ui)iWI 92Acoustic response timeoutUq:a ^Aq D =D =E ] E LE fE "E :*E |9VE t5ZE a @a @a @a @I I B= <>B9 B9 B9 B= =B9 B9 B= j;B= [EO] >-ҏ,)zH?ABG@BL@BWTFٱB#޾ ^AHRS rotation from veh to nav: [[0.871565,0.460956,0.167017],[-0.487886,0.781802,0.388271],[0.048401,-0.419888,0.906284]]BH?`M?@`?9߿?l? Ȩ?`rڿ H?iBG@IB Z^;BjCYbfAyf Hy)\(?ktA`"GA? ٽ 9Zd;O?Q?QY~J?y\=uBhB B)yBYBbDVD8y<%*=ٔAQ->9I=9FyE%YE%>)Q 55U4-⾉?Q 95U4-o 6)-:mAY5FK?Q E5:y5Q I=?-.CI-:i-:-U4yE%BɮEMBA*jQBjYiYiYziYJiYiam2Acoustic response timeout ks$ks$ks$h k$k$k$h2f >:f >Bf ?Jf$I?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderoAɢWeI) i)opi|WIaԉ^A==Թ  = <% 2Acoustic response timeoutAu AIy I O >4-ҏ,2H?A4<ɰJE@J@@J^PٱJoݾ bAHRS rotation from veh to nav: [[0.863902,0.474999,0.167481],[-0.500719,0.774096,0.387371],[0.054355,-0.418511,0.906584]]JH`?af?p?`e??@\ԫ?@ڿ?iJE@IJ5z^;HYjfAyj HbDe^VDe8>y<%L=ٔ tQ- >9 K?I K?= 9Fy E.E>Q 5%U4?Q 9%U4$6)mAY!y-UQ I-?Y.CI:i:U4y1ɮ5IB1*jIBjIiIiIziIJiQiQ k#k#k#ha k#E}^ E}XE}iEy"E}C#:*E}9VE}z~5ZEyBE} ;a2E} ;aJE}:a:E}:ak#k#h2f:fBfJfAE?ɢ2K) i)!i3XI2Acoustic response timeout! ^AE == 2Acoustic response timeoutQ A I I O >f-ҏ,JзH?AY%"gAy- HbD7VDz8y=%6=ٔQ->9I=9FyEE> Q 5U4 E?Q 9U4 :)6) lAԡYyQ I? .CI B] CB]HB]/hAB]=BYBYB];B]E In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeout j> - GI a ܼ9 Y :A^A ) A I I O >-ҏ,H?A::@:5@:zٱ:پ BAHRS rotation from veh to nav: [[0.846579,0.505019,0.168109],[-0.528264,0.758561,0.381473],[0.065130,-0.411753,0.908965]]:H@,?)?`?"F?j?`Y?`*Zڿ=?i::@I: ^^;:lCYJ-gAyJ'HbDVVDVU8y^v;%^I=ٔ^ڼQ-b>9`I`=b9FybEf5Ef>hQ 5nU4jF+?Q 9nU4j-6Q =ntI)jlAYlyr Q Ir?j/CIj]:ij3:jU4ytɮv?Bt*jBjiiziJi i  k#*k#*k#*h kHkHkH5pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT=2Acoustic response timeouth92fI:fIBfIJfMa w.ҏ,eH?A:@:@:⎽ٱ:pؾ BAHRS rotation from veh to nav: [[0.837163,0.520054,0.169417],[-0.542493,0.750020,0.378380],[0.069712,-0.408673,0.910015]]:H ?I?r?`\)?`7?ر?'ڿ?i:@I:Ky^;8YJFgAyJ6Hy%MbX?V-¿~jt%j?%h%ļ! !9%rh|?1Zdy&1Y%[?y%"۽%`%oB%B %gB)%!Y%#BbD=VD=B8yMk<%MB=ٔM2Q-M>9QIQ=U9FyUE]c&E]>aQ 5mU4e$B?Q 9mU4e"46)elAYms_?Q Ems:yux=Q Iu?ed/CIe;ie;eGU4y}Bɮ}%BE*jBjiiziJii k,k,k,h k#Bk#Bk#Bh2fp=:fp=1Bf$P&@Jf>f)@颉ɢITF)  i)g?9顙iZI@qA@pAM2Acoustic response timeouta^A=A%W?A!ԉEd EKEE"E9:*E]t9VEZEa@a@a@a@B5 )>B5 CB5 *HB5 hAB1 B5 DB5 DB5 >;B5 ÙEAa Iq I O >Թ  2Acoustic response timeout.ҏ,A H?A22@28@2H~ٱ2־ :AHRS rotation from veh to nav: [[0.827151,0.535134,0.171618],[-0.557099,0.740638,0.375628],[0.073904,-0.406309,0.910742]]2Hx??`?N?`H ?]?`ڿ`$?i22@I2S^;0YBgAyBHtx x)xIxixx ||==bD VD 58y=%M=ٔ%,Q-%>9!I!=%9Fy%E-6E->1Q 5=U45gW?Q 9=U45j:6)5lAYAyEAQ IE?5/CI5 ;i5T ;5/U4yIɮMBI*jaBjaiaiiziiJiiii k3Bk3Bk3Bh k3Bk3Bk3Bh2f:fBfJf(@ɢG) i)_?iw[Iԑ^A]2Acoustic response timeoutIIO>E  E IE iE "E *E c9VE z~5ZE BE F;a 2E F;a JE :a :E :a  .ҏ,7:H?A2{@2@2sݟٱ2վ :AHRS rotation from veh to nav: [[0.816857,0.550172,0.173363],[-0.571545,0.731313,0.372179],[0.077980,-0.403102,0.911827]]2H#?@?@0?J`f? ?|?jٿ`-?i2{@I2^;0YBQhAyBHbDNVDN48yVŵ=%VR=ٔV,Q-V>9XIX=Z9FyZEZ4;E^>`Q 5fU4bk?Q 9fU4b@6)blAYdyfwFQ If?b0CIb:ib:bU4ylɮnBl*jtBjtixixzixJixix k<k<k<h k<k<k<h2f:fBfJf&@ɢ 9)  i ) FiL]I2Acoustic response timeout!=#2PExceeded connect timeout, disconnecting.I ^Ae =m 2Acoustic response timeoutAq zAq Ia Iq ԁ I O >@.ҏ,wUH?A;ɰp;2@2@28ٱ2FԾ :AHRS rotation from veh to nav: [[0.806321,0.564549,0.176439],[-0.585839,0.721177,0.369724],[0.081483,-0.401482,0.912235]]2H`a??? 1`??ܴ?ٿ1?i2@I2^;0YBhAyB4HbDzVDz'8yQ=%:=ٔ)Q- >9 I = 9Fy E+&E>Q 5%V4?Q 9%V4G6)lAY!y-KQ I-?v0CI ;i ;!V4y1ɮ5B1*jIBjIiIiIziIJiQiQ k;k;k;hi k;k;k;hy2f:fBfJf4%@颩ɢ@0) wi)`*L顱i_IbEy5jEy5rE1E^ EME`E"EC#:*E9VE|a5ZEa@a@a@a@B%>B%CB%HB%iAB%=B!B%DB%K;B%EBBBB=B=C5ԙm 2Acoustic response timeout^AI)I9Ouy> :.ҏ,moH?A@BR=F2Acoustic response timeoutY~iAy~HHI}=)};bDVD8yӕ<%@=ٔQ->9I=9FyEE>Q 5V4x?Q 9V4N6)mAYyQ I?0CI:i<:V4yɮBE*jBji!i!zi)Ji)i) k9k9k9hY2fy:fyBfyJfy颩ɢ,) |߾i)ZR项iUbIE) E-DE-iE)"E)*E-a99VE-z~5ZE)BE- ;a52E- ;a5JE-tH:a=:E-wH:a=95uM2Acoustic response timeouti ^A I I O >= nManaging dock network, ignoring radio surface power off/".ҏ,+H?A6EǬ@6K³@6=xٱ6Ѿ >AHRS rotation from veh to nav: [[0.783422,0.594104,0.182456],[-0.615228,0.699782,0.363043],[0.088006,-0.396668,0.913734]]6H ??Z? d?@9I=9FyEE>Q 5V4N?Q 9V4U6)nAY^m?Q Ee:yNQ I?61CIr;i;WV4y Bɮ ɟB E*j!Bj!i!i)zi)Ji)i) k k k hA k:k:k:hQ2fe%=:fe%=Bfe6N@Jfed @颁ɢĶ+) Ӿi)W顉i dIQ}2Acoustic response timeoutԁAAAAB%>B%CB%=HB%jAB%=B!B%DB%(;B%EE=_ E=JE=E9"E=&:*E=k9VE=5ZE9BE=&;2E=&;JE=::E=:ԩ ^Ai I I - 2Acoustic response timeoutOM >L(.ҏ,ϢH?AB+@B&@BcٱBrϾ JAHRS rotation from veh to nav: [[0.771436,0.608665,0.185510],[-0.629853,0.689020,0.358521],[0.090399,-0.393420,0.914904]]BH`? .z?@̾?@'@s ??^$?-ٿ@F?iB+@IBu^;BlCPYniAynHbDzVDz8y=%[=ٔ9ӻQ- >9 I = 9Fy EPE>Q 5%V4?Q 9%V4\6)nAY!y%SQ I-?1CI:i:]+V4y5Bɮ5B5E*jIBjIiIiIziIJiIiQ kGkGkGha kGkGkGhq2f:fBfJf7}@颡ɢR') di))i\顩ifI^AIaIq2Acoustic response timeoutO_>! EA  EE KEE hEA "EA *EE ]t9VEE A{5ZEA aM @aM @aM @aM @v..ҏ,TH?A2ꔫ@2@2s鼽ٱ2X6; :AHRS rotation from veh to nav: [[0.759589,0.622767,0.187579],[-0.643848,0.679138,0.352465],[0.092111,-0.388501,0.916833]]2H@N? ?@? g?Ɏ?? 4ؿV?i2ꔫ@I2#^;2mCYB[jAyBH DDbDNqVDN8yV=%VP=ٔVQ-V>9XIX=Z9FyZE^@E^>|Q 5 V48ֿ?Q 9 V4c6)oAYyXQ I?1CI:i-:e9V4y=lBɮ= BA*jQBjQiQiQziYJiaia kCAkCAkCAhq2f:fBfJf@2Acoustic response timeoutɢ&) i ) `3a  i iI@%C>@%G>)^A9YAiIyIO>߭ %=߭ < hDAT read: Forwarding Delay UpTx time:19:20:02.8855  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutԁ _5.ҏ,ָH?A2@2@2Wٱ2̾ :AHRS rotation from veh to nav: [[0.748264,0.635317,0.190980],[-0.656739,0.668696,0.348624],[0.093779,-0.386287,0.917599]]2H@?`T?@ r?@e?O?`? ؿ@\?i2@I2Ж^;0YNjAyNtHbDZVDZ8yb=%bH=ٔfQ-f>9dId=j9FyjEj -Ej>lQ 5rV4n.꿉?Q 9rV4n k6)nqAYtyv]Q Iv?nH2CInN:ing:nXGV4yxɮzBx*j Bj i i ziJiiY k%k%k%h kJkJkJB>BCBHBkAB=BBDB;B}EDzDE\ EGE\E"E:*ER9VET5ZEBE;a 2E;a JE"t:a :E%t:a hQ2fa:faBfaJfep@ɢ) ji)ei:mIԁ 2Acoustic response timeoutԱ^A A] $AIa Iq O >;.ҏ,aH?Aɰ;22Acoustic response timeoutF~@Fy@F^ýٱF*ʾ NAHRS rotation from veh to nav: [[0.737051,0.647611,0.193279],[-0.669056,0.658770,0.344073],[0.095499,-0.382913,0.918835]]FH?9?Z? h?@I?`r?ؿ@g?iF~@IF^;FlCYVLkAyVHhl l)lIlillbDvkVDv8y~h=%~G=ٔ~≻Q-~>9H?IH?=9FyE &E >Q 5V4H?Q 9V4r6)rAYyoaQ I%?2CI;i;UV4y-TBɮ-B-)E*jIBjIiQiQziYJiYia kMkMkMh2f:fBfJf@ioAIpA9颁ɢ) wi)Ei顙i"pIE [ E EE aE "E a:*E A9VE d5ZE a@a@a@a@a^A=i!I%AE2Acoustic response timeoutԑA AI1 IY O >Թ pB.ҏ,< H?A2 @2@2Bǽٱ29Ǿ :AHRS rotation from veh to nav: [[0.726837,0.658701,0.194474],[-0.679905,0.650034,0.339389],[0.097141,-0.378904,0.920323]]2H@@B??? ??@B޸??ؿ@Js?i2 @I2 ^;2jCYBlAyB0HIFp<)FU^BUŀB U:B)UBQYU=BbDmhVDm8y}'=%}B=ٔQ->9K?IK?=9FyEE>Q 5V4?Q 9V4.y6)sAYf?Q Ek:y>Q I?3CI ;i;bdV4ySBɮОB*jBjiiziJii kc2kc2kc2h kDkDkDh2fv>:fv>Bfr>@Jf@ɢ%H)! %xi!)%ݏl))i-Hs)I1ԑu2Acoustic response timeoutB>BCBHBlAB=BBDB;B\ED=D<E EHEhE"E*E[9VEA{5ZEBE ;a%2E ;a%JEX:a-:EZ:a-^A % 2Acoustic response timeout Au $AIy I O >lH.ҏ,O%H?AGMrA(>e9>MrAY>'A~@~@~\-ʽٱ~QǾ  AHRS rotation from veh to nav: [[0.717003,0.668427,0.197766],[-0.690067,0.640520,0.336958],[0.098559,-0.378072,0.920515]]~H?c?fP?$?`?*;?U2ؿt?i~@I~n^;|YlAysHbDSVD8yx=%9=ٔSQ->9H?IH?=9FyEE>Q 5 V4,?Q 9 V4'6)*uAY ylBQ I?h3CI6:i-:sV49yTBɮžB*jBjiiziJii k'k'k'h2f :f Bf Jf @9ɢ=)A EG]iA)EoIIiMwQIYMټi2Acoustic response timeout^Au=ԙEu X Eu JEu lEq "Eu ~ :*Eu k9VEu 5ZEq a} @a} @a} @a} @A AI I O > ?O.ҏ,:?H?A2@2@2)̽ٱ2Ǿ :AHRS rotation from veh to nav: [[0.707353,0.677642,0.201132],[-0.699820,0.631295,0.334244],[0.099524,-0.377184,0.920775]]2Hࡢ?>?`?d@3?`@d?`jz?#ؿv?i2@I2*l^;2lCYBmAyBHE2Acoustic response timeoutbD,VD8ye=%O=ٔ!!Q->9K?IK?=9FyE*E>Q 5V4CA?Q 9V4w6)vAYyEQ I?3CI;i;V4ySBɮB*E*jBjiiziJii k3&k3&k3&h kS'kS'kS'h)2f9:f9Bf9Jf=@Yɢ]=)Y e?ia)eraaies{iIi鼍2Acoustic response timeout) ^A Y A1 B= >B= CB= |HB= 8nAB= =B9 B= DB= ;B= WEIY Ii E ] E GE cE "E :*E R9VE &k5ZE BE 9;a 2E <;a JE !t:a :E #t:a O >V.ҏ,֧\H?AN<@N7@NVaͽٱNƾ VAHRS rotation from veh to nav: [[0.687734,0.695365,0.208540],[-0.719026,0.612839,0.327765],[0.100115,-0.375361,0.921456]]NH ?n@? m?@C `?? (?ؿ`|?iN<@IN^^;LY^vmAy^H%=%=ybD-VD-X8y;=%2=ٔ6Q->9I=9FyE wE>Q 5V4X?Q 9V46)?xAYy"MQ I?&4CI:i:V4yɮB*jBjiiziJii k#k#k#h  kJkJkJh2f):f)Bf)Jf-#@IɢMIϼ)I Ml"iI)UπtQQiU!YIYaaaa2Acoustic response timeoutԩ^A M 2Acoustic response timeout A1 IA IQ O >"].ҏ,wH?A27ħ@2=@2#̽ٱ2 ž :AHRS rotation from veh to nav: [[0.677130,0.704311,0.213169],[-0.729104,0.602968,0.323787],[0.099513,-0.374668,0.921803]]2H ?@?I?@TK??y? ׿i?i27ħ@I2:^;2mCYB*nAyBsHbDNVDN]8yV'=%VW=ٔV|:Q-V>9XIX=Z9FyZE^E^>`Q 5fV4bk?Q 9fV4b]6)byAYdyfPQ If?b{4CIb:ib:bV4yn;BɮnvBn4E*jxBjxixi|zi|Ji|i| kFkFkFh ksGksGksGh!2f1:f1Bf1Jf5ϩ@IɢU?)Q UiQ)]uYYi]z⁼aIaԱE]e E]JE]`EY"E]<:*E]k9VE]|a5ZEYae@ae@ae@ae@2Acoustic response timeout^AY AIIO>1 )d.ҏ,吹H?Aɰ4<:E@:@@:Wbʽٱ:ž FAHRS rotation from veh to nav: [[0.665852,0.713335,0.218618],[-0.739531,0.592286,0.319828],[0.098660,-0.374633,0.921909]]:HN???=?x?A?׿ G?i:E@I:aM^;:jCYJnAyJHf2Acoustic response timeoutymPn?Mb`:vmd?mmԼi i9m?9I=9FyEwE>Q 5mV41?Q 9mV4ś6)zAYmW`?Q Eur:yudVQ Iu?4CIIAAB>BCBDHB~oAB=BBDB;B-EBCBCBĖCBĠ=Bġ=C.6AbE3s5jEcw5rE;q2Em^ EmNEiEi"EmC#:*Em҆9VEiZEiBEm ;a}2Em ;a}JEm:a}:Em:a}^A1}2Acoustic response timeoutԁAa Iq I I O >ԙ >1j.ҏ,H?AB8@B>@B]|ȽٱBK'ƾ NAHRS rotation from veh to nav: [[0.653860,0.722363,0.225074],[-0.750276,0.580602,0.316206],[0.097737,-0.375622,0.921605]]BHk??9?CK? ^;BmCYnboAyr3H! !)!I!i!!I->)-=15AbD=VD=8yM=%MQ=ٔMC;Q-U>9QIQ=U9FyUE])E]>aQ 5mV4e?Q 9mV4ew6)eg{AYiymZQ Iu?e35CIe|:ie:eѻV4y}:Bɮ}NBy*jBjiiziJii k2k2k2h kOkOkOh2f:fBfJf5?ɢa) i)uwi2I@oA@qAq2Acoustic response timeoutԩ^A=ͳ=AiE}\ E}CE}\Ey"E}:*E}09VE}T5ZEya@a@a@a@IIO> 2Acoustic response timeout q.ҏ,ĹH?A2q:@2w5@2vƽٱ2ƾ :AHRS rotation from veh to nav: [[0.641490,0.731334,0.231606],[-0.761005,0.568593,0.312366],[0.096755,-0.376633,0.921296]]2H@?`g?@?'Z`1??ĸ?ؿ`A{?i2q:@I2fY^;2kCYNoAyRjHbDZ|VDZ8ybHi=%bS=ٔf&';Q-f>9dId=j9FyjEj8.Ej>lQ 5rV4n?Q 9rV4n46)n9|AYtyv^Q Iv?n5CIn9:in:nWV4yxɮzCBx*j Bj iiziJii kJkJkJh kJkJkJh2f:fBfJf? ɢ /)  i ) wi YI^A]=2Acoustic response timeoutAIIO>) B >B CB %HB pAB =B B DB X;B EE y E FE `E "E :*E ;J9VE |a5ZE BE ;a 2E ;a JE e:a :E e:a :Cw.ҏ,)v޹H?A,,,J@J@JĽٱJbƾ VAHRS rotation from veh to nav: [[0.628645,0.740500,0.237622],[-0.771744,0.556287,0.308149],[0.095999,-0.377100,0.921184]]JH?-?@cj?!??_?f"ؿWz?iJ@IJB^;JlCYZpAyZ HbD%rVD%8yeN>%e@=ٔm:Q-m>9iIq=u9FyuEuF"Eu>Q 5V45?Q 9V46)%}AYycQ I?5CI;i:V4y#Bɮ B>E*jBj i i zi Ji i  kJkJkJh! kJkJ=2Acoustic response timeoutkJhA2fQ:fQBfQJfU.?qɢu.A)uxW ukD=iy)}$wyyi}ΧIiԙ^AA$AII O= >  2Acoustic response timeoutlm}.ҏ,QH?A6&@6!@6ýٱ6!ƾ >AHRS rotation from veh to nav: [[0.615613,0.749590,0.243177],[-0.782258,0.543927,0.303670],[0.095357,-0.377170,0.921222]]6H ?`?n ?Ag?@So?Qi?#ؿz?i6&@I6a^;6mCYFqAyF;HP |~A!>3?bD WVD 8yEJ>=%ML=ٔM<:Q-M>9MH?IUH?=U9FyUEUA,EU>YQ 5eV4]?Q 9mV4]ܷ6)]}AYiymRgQ Im?]@6CI]p:i]g:])V4yqɮ}By*jBjiiziJii kGkGkGh kGkGkGh2f:fBfJf?E=X E=HE=^E9"E=~ :*E=[9VE= [5ZE9aE@aM@aM@aM@颉ɢ(*) D=i)"v顱iG팼Ie2Acoustic response timeout^AqA AI I O >! U.ҏ,E/H?AV2Acoustic response timeoutnv@n|@n!½ٱnž| AHRS rotation from veh to nav: [[0.602643,0.758843,0.246938],[-0.792378,0.532318,0.297951],[0.094649,-0.375226,0.922088]]nH@H?qH?@? )[?@?:?ؿ?inv@In@^;nlCY qAy Hy rh?ktQ롿CK? 0\ 9X9v?/$S㥛?Y]?y,/<[BeB B)BY BbDVD8y%`=%%==ٔ%:Q-%>9-K?I-K?=-9Fy-E5E5>9Q 5EV4=?Q 9EV4=Կ6)=~AYEQ^?Q EEt:yE9tQ IM?=6CI=3:i=:=BV4y"BɮB*jBjii zi Jii kPkPkPh! k#Qk#Qk#QhQ2fe(=:fe(=Bfel`<Jfe@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颹ɢnJ ) 8=i)ܺtioI)BA<B>BCBHB1rAB=BDB DB;BƘEEM\ EMJEMpEI"EM:*EMk9VEM5ZEIBEM;aU2EM;aUJEM:a]:EM:a]Q^A=iQIQ]2Acoustic response timeoutA I I O5 >ԁ .ҏ,,H?Aɰ;F0@F6@FnqٱFľ RAHRS rotation from veh to nav: [[0.589523,0.767807,0.250868],[-0.802284,0.520501,0.292267],[0.093828,-0.373566,0.922846]]FH_?`? 8?N ???׿?iF0@IFC^;DYV;rAyVHbDbVDbo8yj=%jb=ٔj;Q-j>9lIl=n9FynEr=;Er>tQ 5zW4v?Q 9zW4v6)vAYxyzxxQ I~?v6CIv :iv@;vW4yɮ۝B*jBjYiiziJii kGkGkGh kGkGkGh2f:fBfJf+@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19% r%RAggregate::uninitialize marl:UpdateRudder9ɢ= )9 =>iA)EsAAiEIII2Acoustic response timeoutԉ}Gg̼ԱEUX EUGEUcEQ"EU~ :*EUR9VEU&k5ZEQae@ae@ae@ae@^AA e 2Acoustic response timeout > >Aq Iy I O >.ҏ,FH?A2H@2N@25ٱ2þ :AHRS rotation from veh to nav: [[0.575868,0.777063,0.254065],[-0.812210,0.508345,0.286182],[0.093229,-0.371157,0.923878]]2H m??B?@]D?`P?ݷ? ׿h?i2H@I2T^;0YBrAyBIHF?ADHJA Np9XI\=^9Fy^E^'E^>`Q 5fW4b,?Q 9jW4b`6)b)AYhyj|Q Ij?bI7CIb;ib ;bTW4ylɮnɝBr?E*jxBjxixi|zi|Ji|i|I kCOkCOkCOhq2f:fBfJf΀@颩ɢ8A') 1>i)p项i哼IC qm2Acoustic response timeout^AԱA9 IQ Ii O >B >B CB HB sAB =B B DB ;B E D zD E U E EE [E "E :*E A9VE aQ5ZE BE &:a 2E +:a JE W:a :E W:a ֿ.ҏ,Ѐ`H?AB7@B=@B3ٱBa\¾ JAHRS rotation from veh to nav: [[0.562049,0.785993,0.257518],[-0.821943,0.496054,0.279893],[0.092251,-0.368979,0.924848]]BHN? &?.{?\MW?`?`ĝ?Z׿ [?iB7@IBS^;@YRXsAyRHhh h)hIhillbDvVDvA8yz=%~G=ٔ~;Q-~>9I=9FyE3)E > Q 5W4 % ?Q 9W4 86) AYyQ I? 7CI ;i ; W4y- Bɮ-B-HE*j9Bj9iAiAziAJiAiA kNkNkNhY kNkNkNhi2Acoustic response timeout2f:fBfJf@ɢ4) +V>i)%/n!!i%b)I) Ej>ECŁGrA ſ9 rAYAu 2Acoustic response timeout^A =A A $AI I) Oe >q.ҏ,|H?A24@2:{@2U'ٱ2 >AHRS rotation from veh to nav: [[0.549033,0.794093,0.260726],[-0.830910,0.484887,0.272898],[0.090284,-0.366470,0.926039]]2H`?`6i??@Жb?*w?@?@@t׿?i24@I2}s^;2mCYBtAyB HbDNVDN8EZd EZJEZSEX"EZ9:*EZk9VEZ75ZEXa^@a^@a^@a^@yb=%b==ٔb;Q-b>9fH?IfH?=f9FyfEjEj>lQ 5nW4n?Q 9rW4n6)nAYpyr Q Ie?n8CIngi)jiQI    1aԑ m 2Acoustic response timeout^A Թ A AIIOE>R.ҏ,H?A2@2@2 ٱ2޿ :AHRS rotation from veh to nav: [[0.536256,0.801547,0.264483],[-0.839476,0.473891,0.265909],[0.087802,-0.364622,0.927007]]2H)?F?I? :T??7z?U׿ ?i2@I2sB^;0YB=tAyB/HDDBjS>BjCBjHBjtABj=BhBjDBj;BjyE 15A5>5=E[ EHEVE"Ea:*E[9VEFA5ZEBE ;a2E ;aJEX:a:EZ:ay~jt?~jt?L7A`?[?=+= 9NbX9?9-K?I-K?=-9Fy-E5E5>9Q 5EW4=j2?Q 9EW4=6)=AYEGf?Q EMl:yM~Q IM?=w8CI= ;i= ;=?W4yQɮUBQ*jiBjiiiiiziiJiqiqԡ k#k#k#h!2f5Ƌ=:f5Ƌ=Bf5JC@Jf5m@qɢubK;)q u>iq)}eyyi I2Acoustic response timeout^A= A I I) Oe >! zs.ҏ,?9H?A"2Acoustic response timeout6@6${@6p ٱ6  BAHRS rotation from veh to nav: [[0.523022,0.808899,0.268570],[-0.848033,0.462321,0.259036],[0.085369,-0.363238,0.927777]]6H??>0? #ਖ?` ?ڵ?H?׿Y?i6@I6K^;6lCYFAuAyFHbD VD yM->%MZ=ٔU;Q-U>9QIQ=U9FyUE,(E>Q 5W4A?Q 9W466)AYyRQ I?8CI:i$:-MW4yBɮJBSE*jBjiiziJii k'k'k'h kCIkCIkCIh!2f9:f9Bf9Jf=@Qɢ]1(<)Y ]'>iY)]~bYaiefaIi E\ EGERE"E:*ER9VEc45ZEa@a@a@a@9^A=2Acoustic response timeoutAII O= >i :[.ҏ,κH?Aɰ4< :@:@:r/ٱ: BAHRS rotation from veh to nav: [[0.510080,0.815510,0.273426],[-0.856112,0.450688,0.252888],[0.083003,-0.363076,0.928055]]:H R? ??Ee?@O/?@??<׿?i:@I:)^;8YJuAyJ HbDuVD8yEu=%EK=ٔM;Q-M>9III=M9FyUEUEU>YQ 5eW4]P?Q 9eW4] 6)]sAYiymIQ Im?](9CI]:i]:]ZW4yqɮu=Bq*jBjiiziJii k-k-k-h2f:fBfJfw@ɢR/<) >i)8]iLIU2Acoustic response timeoutqԙB>BCBwHBRvAB=BBDB5;BEBCBCBƚCBơ=BƢ=C*6^AbE}R5jE}ǫR5rE}Nj2EY E?EOE"E:*E?9VE*5ZEBE';a 2E);a JEO9a :ET9aAe $AIq I O > 2Acoustic response timeoutg.ҏ,5H?A2@2ł@2Sٱ2 :AHRS rotation from veh to nav: [[0.497271,0.821359,0.279446],[-0.863840,0.438796,0.247464],[0.080637,-0.364454,0.927724]]2HI?H?s?`=?@?? 6S׿@?i2@I2U^;2nCPYZuAyZ#HIb%=)bp;`bAbDf|VDf8yn<%rQ=ٔr;Q-r>9vH?IvH?=v9Fyv Ev4Ev>xQ 5W4z_?Q 9W4z6)zAYy1Q I?z9CIz ;izy;zhW4y ɮ9B*j!Bj!i)i)zi)Ji)i) ks'ks'ks'hI2fY:fYBfYJf]@颁ɢ0Y<) 0>i)8X顉i 4I^A=e2Acoustic response timeoutA AII)IIOe>! E  E GE TE "E *E R9VE :5ZE a @a @a @a @q.ҏ,bH?A|US@UY@UٱU eAHRS rotation from veh to nav: [[0.485027,0.826905,0.284563],[-0.870967,0.427559,0.242094],[0.078521,-0.365267,0.927585]]UH ?v?I6? "]???@`׿ Ǯ?iUS@IU8^;UmCYujvAyuH2Acoustic response timeouty Q?/$y&1| ? , `  9 Gz?{Gzy&1?Y P?y ף `e= B eB B) B Y #BbD%QVD%8y5=%56=ٔ5#;Q-=>9=K?I=K?==9Fy= EEEE>IQ 5UW4Ml?Q 9UW4M7)MgAYU!R?Q EU:y]Q I]?M9CIM ;iMH:M3xW4yaɮe%Ba*jBjiiziJii k/k/k/hQ2feFw>:feFw>Bfe@JfeM@频ɢS<) S>i)uR顙i I!Q^A=m 2Acoustic response timeoutA I I O- >y h.ҏ,H?A@2e@2k@2薝ٱ2% :AHRS rotation from veh to nav: [[0.473035,0.831825,0.290352],[-0.877683,0.416153,0.237674],[0.076872,-0.367266,0.926934]]2H6F?O?"?>?l?`㭳?H׿q?i2e@I2&^;0BB=A@BF>BFߏCBF&HBFnwABF=BFDBFDBF;BDYR=wAyRHbD^"VD^8yf>%fe=ٔfۗ;Q-j>9hIh=j9FyjEn7En>pQ 5vW4rv?Q 9vW4rr7)rуAYtyvNQ Iz?r(:CIr:ir:rW4y|ɮ~ B|*jBjiiziJii kCkCkCh) ks-yEU EEKE"E:*EVE5ZEBE%:a2E*:aJE t:a:E#t:aks-ks-h2f):f)Bf)Jf-@IɢM'<)I M>iI)UUMQQiUZYIYԡ2Acoustic response timeout^AAII OM > .ҏ,5H?A2Acoustic response timeout65@60@6"Rٱ6(U¾ BAHRS rotation from veh to nav: [[0.461420,0.836312,0.296099],[-0.883982,0.405074,0.233433],[0.075281,-0.369457,0.926194]]6H??H?I`?@ ?@E?-׿`?i65@I6?^;4YFrwAyF(H\\ \)`Ib?i`` ``bDjVDjf8yr2=%rH=ٔr:;Q-r>9tIt=v9FyvEzEz>|Q 5W4~?Q 9W4~a7)~HAYyQ I ?~|:CI~:i~:~W4yڻBɮB]E*j)Bj)i)i)zi)Ji)i1 k2k2k2hA k2k2k2hY2fi:fiBfiJfm{@颁ɢ<) K>i)G顉i-Vª1I1@A@E;>E EKEPE"E*E]t9VE-5ZEa@a@a@a@^AiI2Acoustic response timeout)AIIO>Q .ҏ,:ZOH?A.О@.˥@.Iٱ.wGþ :AHRS rotation from veh to nav: [[0.450517,0.840392,0.301289],[-0.889742,0.394888,0.228959],[0.073440,-0.371219,0.925636]].HE?~?QH?`x@E?N?̲?׿@О?i.О@I.8^;.kCYZwAyZ^HbDfVDf48yr[=%rK=ٔv;Q-v>9xIx=z9FyzEE>Q 5%W4?Q 9%W4R7)AY!y%Q I-?:CIU9;i%H;W4y9ɮ=B9*jaBjaiaiiziiJiiii k4k4k4h2f:fBfJf@ɢq<) [>i)@iYI15In sendingAckWaiting, hit max timeouts so set commsState_ = SENDING_VERIFIED58Ack receipt timeout failure.=2Acoustic response timeouti^A=B[>B׏CBHBxAB=BDBDB;B]EDzDEV EDEE"E=:*Ea99VEZEBE:a2E:aJEqH:a:EsH:aԉAIIO In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2Acoustic response timeoutԹ t.ҏ,6iH?Aɰ22l@29g@2撽ٱ2UBž :AHRS rotation from veh to nav: [[0.439641,0.843691,0.308061],[-0.895310,0.384288,0.225262],[0.071667,-0.374845,0.924313]]2H#??E?` .?c?X?t׿?i22l@I2Q^;2mCYBqxAyBHbD-VD-8y=%@=ٔ;;Q->9I=9FyEE>Q 5W4?Q 9W4'7)7AYy Q I?(;CIw;ix;W4yɮ̜B*jBjiiziJii ksksksh  ks-ks-ks-h2f):f)Bf)Jf-@IɢMB<)Q U?iQ)U;9QQi]YIaԑQQa ee2Acoustic response timeout^A=IIO >E W E CE QE "E :*E 09VE *15ZE a @a @a @a @ .ҏ,qH?Az@z@zٱzUƾ AHRS rotation from veh to nav: [[0.428791,0.847021,0.314155],[-0.900703,0.373959,0.221109],[0.069803,-0.377770,0.923265]]zH`Qq??@??PM?ޱ?@b-ؿb?iz@Izv8^;znCYxAyHIu=)u=2Acoustic response timeouty/$?~jtȿy&11H?D` 9MbX?7A`¿QYJ?yuB€B )ŞBYBbD%VD%8y5<%5?=ٔ5c;Q-5>99I9==9Fy=E=bEE>AQ 5UW4E?Q 9UW4Ec07)EgAYUN?Q EU:yUQ IU?E;CIE2 ;iE ;EƾW4yeûBɮeBegE*jqBjyiyiyziyJiyiy kkkh2fe=:fe=Bf?JfQƼ<ɢ<)i m?ii)mV2iiimĞqIy!^AM 2Acoustic response timeoutQ I I O >i I .ҏ,=H?AB/>BӏCBHByAB=BBDB;BE$B碝@B@BٱBȾ JAHRS rotation from veh to nav: [[0.417627,0.849966,0.321162],[-0.906093,0.363249,0.216899],[0.067695,-0.381585,0.921851]]BHh? 2??@@z??U?oT?`kؿ?iB碝@IBU^;BmCYRyAyR(HbD%YVD%8ye=%eX=ٔe|;Q-m>9iIi=m9FymEuEu>yQ 5W4}?Q 9W4}.87)}AYy)Q I?};CI}N:i}:}W4D=D4=E] EENE"E:*EVE'5ZEBE8;a 2E:;a JE9:a :E9:a yQɮUBQ*jaBjaiiiiziiJiii kCkCkCh k3-k3-k3-h2f:fBfJf/QIY}G2Acoustic response timeout 9Y Ay^AqIIO%>ԩ ] 2Acoustic response timeout.ҏ,/ᶻH?A@8B9@B4@BٱBP.˾ NAHRS rotation from veh to nav: [[0.406031,0.852775,0.328502],[-0.911513,0.352178,0.212401],[0.065439,-0.385675,0.920311]]BHj?I?,?+?/??`ؿ0s?iB9@IBJ1^;@YRyAyRwHbD^?VD^8yf=%fT=ٔf;Q-j>9hIh=j9FynEn4En>pQ 5vW4r?Q 9vW4r&@7)rAYtyzͬQ Iz?r2Acoustic response timeout .ҏ,лH?ANɜ@Nģ@NٱN; ^AHRS rotation from veh to nav: [[0.393565,0.855862,0.335569],[-0.917147,0.340604,0.206953],[0.062827,-0.389216,0.919001]]xNH@-0?@8c? y? 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Կ2ʿ ۿ@?i`@Iz^;oCY|AyaHy/$?~jt{Gz9I=:FyE&E>Q 5 Z4?Q 9Z49)AYA?Q E:yQ I?NCI;i;/yZ4yɮ%ښB!*j1Bj1i9i9zi9Ji9i9 k#Jk#Jk#JhQ k#Jk#Jk#Jha2fu5M=:fu5M=Bfu.@Jfu}A@频ɢZ=) K?i)$<顙i~IE a E KE iE "E %.:*E ]t9VE z~5ZE a@a@a@a@^A)u2Acoustic response timeoutA I I  Failed to create a data reader. azimuth_vehicleFrame is unknown. bFailed to request data from azimuth_vehicleFrame.I i% pAI! 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"E! *E% ?9VE% g5ZE! a- @a- @a- @a5 @ ]30ҏ,GH?AZr@Zn@Z?=ٱZ nAHRS rotation from veh to nav: [[-0.433555,0.790983,0.431712],[-0.899914,-0.355197,-0.252962],[-0.046746,-0.498177,0.865814]]ZH[ۿO? -?ֿ0п 刺"߿@?iZr@IZp^;ZnCYv{AyvHbDe}VDe58yeH%E=ٔ&9I=:FyE<E>Q 5Z4Xr?Q 9Z409)·AYy< Q I?|OCI@;i:%Z4y[BɮܚBE52Acoustic response timeout*jyBjyiyiyziJii knknknh2f:fBfJf >@ɢ=) c??i)Ɗ<ioI^AQA A I I B p>B CB FHB |AB =B DB DB ;B E 2Acoustic response timeoutO- >p90ҏ,[H?A"4<ɰ"4<>\@>d@>.)k=ٱ> FAHRS rotation from veh to nav: [[-0.448144,0.794081,0.410612],[-0.892118,-0.367770,-0.262431],[-0.057381,-0.483921,0.873228]]>H bܿi?vG?`;׿пa޿|?i>\@I>^;9!I!=-:Fy-E-0E->1Q 5=Z45d?Q 9=Z4569)5AYAyET Q IE?5OCI5;i5D;5Z4yM\BɮMBME*jiBjiiiiqziqJiqiy kSVkSVkSVh2f:fBfJf<@Ea EOE^E"E%.:*E9VE [5ZEBEM3;a2EP3;aJEM:a:EO:aɢ=)  ;?i ) <  iIQM2Acoustic response timeout^A]=AeY?AeU?ԁAIIO>ԩ q@0ҏ,H?A<Z2Acoustic response timeoutY 7|Ay HI<);yCl?Zd;Od{?j̼ 9+?9 I = :Fy E E>Q 5Z4O?Q 9%Z4?9)AY%lb?Q E%p:y%UQ I%?/PCI ;i ;޿Z4y1ɮ5՚B1*jIBjIiIiIziQJiQiQ kCMkCMkCMhi kCMkCMkCMhy2fE >:fE >Bfd@Jf??ԡ颩ɢŜ=) {C?i)<顱ie"IEb ECEaE"E1:*E09VEd5ZEa@a@a@a@^A M2Acoustic response timeout A9 IA IQ O >F0ҏ,H?A6@6@6=ٱ6rϾ BAHRS rotation from veh to nav: [[-0.470326,0.826401,0.309605],[-0.878166,-0.403572,-0.256816],[-0.087285,-0.392672,0.915527]]6H޿q?`? ٿoпQX!ٿK?i6@I67^;4YJY|AyJ,HlbDe<VDe8yٷ<%_=֧ٔ=Q->9I=:FyEE>Q 5Z4>?Q 9Z4F9)JAYyQ I?PCIQ;iF:Z4y ɮ њB *j!Bj!i)i)zi)Ji)i) kNkNkNhA kNkNkNhQ2fa:faBfaJfeA?颁ɢD=)2ټ E?i)c<顉iIBu>BuCBuHBu2|ABu=BqBuDBu;BuEBECBECBEàCBEã=BEæ=CE$?72Acoustic response timeout ^A9bEg5jE`5rE]2E- k E- KE- lE) "E- mR:*E- ]t9VE- 5ZE) BE- q;a= 2E- r;a= JE- /:a= :E- 1:a= A $AI I O >a e 2Acoustic response timeoutL0ҏ,5H?AFh@F_@F=ٱF RAHRS rotation from veh to nav: [[-0.480017,0.836548,0.264142],[-0.871440,-0.420082,-0.253224],[-0.100873,-0.351736,0.930648]]FH@޿??ڿ 4пҹֿׂ@?iFh@IF9 _;FoCYV{AyVHll l)lIlippbDveVDv8y~ѽ%~Z=ٔ=Q->9H?IH?= :Fy E E >Q 5Z4,?Q 9Z4L9)AY!y%Q I%?PCI ;i7;Z4y-]Bɮ-B)9*jIBjIiIiQziQJiQiQ kCNkCNkCNhi kjkjkjhy2f:fBfJfث?颩ɢ\=) ;?i)O<顱iIi^A#=AzArA2Acoustic response timeoutԑA-AI9IIO> E n E QE ]E "E O]:*E v9VE W5ZE a% @a% @a% @a% @lS0ҏ,[OH?A6]~@6b@6c=ٱ6 BAHRS rotation from veh to nav: [[-0.487571,0.840783,0.235285],[-0.865881,-0.431117,-0.253746],[-0.111910,-0.327448,0.938218]]6H`]4߿ ??Lmۿa=п '`Կ?i6]~@I6;_;4YF{AyJH LLbDR1VDR8yZ=%ZO=ٔ^X9-K?I-K?=-:Fy-E5vE5>9Q 5EZ4=~?Q 9EZ4=T9)=AYIyMIQ IM?=2QCI=:i=:=Z4yUGBɮUɚBU E*jiBjiiqiqziqJiqiq kQkQkQh kjԙkjkjh2f:fBfJf?ɢ=) c??i)i<ilIiIA%2Acoustic response timeout^A=AM$AIYIiO>Bu >Bu CBu HBu {ABu =Bu DBu DBu !;Bu E 2Acoustic response timeout Y0ҏ,6iH?A6C)~@6@67I=ٱ6]ԥ BAHRS rotation from veh to nav: [[-0.495883,0.840284,0.219140],[-0.860130,-0.440549,-0.257085],[-0.119482,-0.315973,0.941215]]6H ߿? ?/1ܿtп`f@8Կ@n?i6C)~@I6e^;4YFv{AyJHbD'VD8y%<=ٔeDzDAA9H?IH?=:FyEüE>Q 5Z4?Q 9Z4o[9)AY y Q I ?QCI7;iۅ;Z4y%HBɮ%ٚB!*jQBjQiYiYziYJiaiaEuc EuHEu^Eq"Eug5:*Eu[9VEu [5ZEqBEu?;a2Eu?;aJEuY:a:EuZ:a kQkQkQh2f:fBfJf?AɢEZ=)A El7?iI)MG7O=>]a0ҏ,H?A;ɰ;2nH}@2?@2>8ٱ2 BAHRS rotation from veh to nav: [[-0.507219,0.837606,0.202842],[-0.852537,-0.453212,-0.260345],[-0.126136,-0.304983,0.943968]]2H";`? ? Gnݿ~п`9%Մӿ 4?i2nH}@I2t^;0YJO{AyJHy}?5^I?~jty&1Mb?`e 9jt?Zd;O+ηYĀ?yj<vB4B ɒB)BY=BbDVD8yR%+=ٔf9K?IK?= :Fy E E >Q 5[4~?Q 9[4e9)UAYs?Q E%Q:y% Q I%? 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'?fտr)¿ؿ/?i6!v@I6^;6pCYFIwAyFHbDVD8y%N=ٔQ->9I=:FyEKE>Q 5[4fr?Q 9[4A9)AYy Q I?~TCI%;i4;u^[4yɮ7B*jBjiizi Ji i  k#ak#ak#ah92fY:fYBfYJf]@频ɢr=) 4>i)R=顡i򼉨IEU_ EUNEUEQ"EU&:*EU҆9VEUc5ZEQBEU&;ae2EU&;aeJEU:ae:EU:amYyE2Acoustic response timeout^Aԩ A I I OQ 8O0ҏ,DLAH?A6}t@6Fz@6:>ٱ6bԾ< BAHRS rotation from veh to nav: [[-0.611808,0.754456,0.237670],[-0.778274,-0.520454,-0.351308],[-0.141350,-0.399905,0.905591]]6H$?@k? {ֿ¿ ٿ?i6}t@I6^;6oCYFvAyJHI~<)~;bDVD8yE%EN=ٔM/Q-M>9III=M:FyUEU|7EU>YQ 5e[4]l^?Q 9e[4]g9)]2AYiymRQ Im?]TCI]:i]:]Rl[4yu"BɮuPBy*jBjiiziJii kHkHkHh! k#bk#bk#bhQ2fa:faBfaJfe1@ߕ%=ߕC=2Acoustic response timeoutɢuz=) O>i)=i E 2Acoustic response timeout9x0ҏ,"[H?A2t@2]@2O>ٱ2jھ :AHRS rotation from veh to nav: [[-0.623948,0.743093,0.241871],[-0.769089,-0.529047,-0.358624],[-0.138530,-0.409783,0.901603]]2Hbj??@``ֿY`9ڿ?i2t@I2^;2mCYVuAyV2HXXlbD-VD-8yeν%eH=ٔmQ-m>9iIq=u:FyuEuEEu>yQ 5[4}kI?Q 9[4}9)}~AYy_Q I?}IUCI}d:i}:}z[4y#BɮfB*jBjiiziJii ksIksIksIh k_k_k_h2f:fBfJf@ɢ\r=) I>i)m=ibI@@@@ BU>BUCBUwHBURvABU=BUDBU DBUM;BU+EB%CB%CB%ĕCB%Ĝ=B%ĝ=C%7962Acoustic response timeout1AIIO >Di zDm @AbE3s5jEz5rEs2Eu a Eu OEu hEq "Eu %.:*Eu 9VEu A{5ZEq BEu M3;a 2Eu P3;a JEu N:a :Eu O:a a J0ҏ,tH?A2ir@2v@2 >ٱ2M־ :AHRS rotation from veh to nav: [[-0.636688,0.735175,0.232695],[-0.759140,-0.544589,-0.356552],[-0.135405,-0.403660,0.904834]]2H_??`J EmֿT`ٿe?i2ir@I2\^;2oCY^/uAy^HbDjVDj82Acoustic response timeouty-%-N=ٔ-uQ-->91I1=5:Fy5E5(9E=>AQ 5M[4E4?Q 9M[4E9)Ej}AYQyU_Q IU?EUCIE:iEp:Er[4y] Bɮ]gBe%E*jqBjqiqiyziJii kSGkSGkSGh k[k[k[h2f:fBfJf@ɢi=) >i)L =in켉I iAIIO">ԑ2Acoustic response timeout 0ҏ,Z֎H?AEc EIErE"Eg5:*Ec9VE5ZEa@a@a@a@:zq@:@:h( >ٱ::Ծ FAHRS rotation from veh to nav: [[-0.651510,0.725085,0.223127],[-0.746794,-0.561197,-0.356870],[-0.133543,-0.399135,0.907115]]:H+3?o?@@Tֿ@`lٿ ?i:zq@I:^;8YJ9tAyN-H PPy%kt?Zd;?X9v?% P?%y=%%@%B%4B %B)%B!Y%BԙbD=VD=8y%?=ٔݏQ->9I=:FyEB:E>Q 5%[4!?Q 9%[4j9){AY-w?Q E-[:y-_ Q I-?VCI:i:[4yUBɮUBQ*jiBjiiiiiziiJiqiq kGkGkGh kSakSakSah2f7>:f7>Bf]9>Jf~e@)ɢ-R=)- M/>iI)M =IIiU 꼉QIY52Acoustic response timeoutA$AIIOG>AA AE @ABM >BM CBM dHBM tABI BI BM DBM ;BM E!  2Acoustic response timeoutp0ҏ, ֨H?A21@p@2A6~@2q>ٱ2Ծ :AHRS rotation from veh to nav: [[-0.668625,0.711414,0.216403],[-0.731786,-0.577852,-0.361354],[-0.132023,-0.399971,0.906969]]2Hae??j`}k ׿`#ٿ?i21@p@I2u^;2qCYBsAyBHDDXX X)XIXi\\bDbVDb8yj#%n\=ٔn3Q-n>9rH?IrH?=r:FyrEr }Er>xQ 5~[4z?Q 9~[4z9)zzAYy Q I?zmVCIz;iz;z_[4yBɮB*j9BjAiIiYziYJiaia k_k_k_h!2f9:f9Bf9Jf=@yɢ}N=)y }ik>iy) =顡i缉ID%=D!E-_ E-rE-lE)"E-&:*E-?:VE-5ZE)BE-&;aE2E-&;aEJE-Y;aM:E-Y;aMAI!I1Oe4>-2Acoustic response timeoutAi 0ҏ,ɎH?Aɰ4<:n@:Ϋ|@:H>ٱ:^3־ FAHRS rotation from veh to nav: [[-0.686164,0.696312,0.210545],[-0.715599,-0.594073,-0.367419],[-0.130759,-0.402775,0.905911]]:H /H? 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rhq= ףpY/}?yC BB ˛B)BYBbDVD8y l%?=ٔ Q->9H?IH?=:FyE +E>Q 5\4Ǿ?Q 9\4:)pAY ?Q EU:yu&Q I?[CI ;iP ;j\4yٹBɮrB*jBjiizi Ji i  khkhkhh! khkhkhh12fE]>:fE]>BfEh@JfE5,@aɢeFU<)a m显ii)m-=iiimt̼qIy2Acoustic response timeoutiAAIIIO$>ԑB) A- <B5 !>B1 B5 HB5 kAB5 =B1 B1 B5 h;B5 E ߅ %=߅ < 2Acoustic response timeoutl 1ҏ,,H?A:va@:lo@: =ٱ:e Ͼ FAHRS rotation from veh to nav: [[-0.823727,0.540877,0.170078],[-0.562850,-0.743889,-0.360318],[-0.068368,-0.392532,0.917194]]:H[ N??@`q׿`=ٿY?i:va@I:^;:nCYJ5kAyJHLL`d d)dIdiddbDnVDn8yv%vX=ٔv*Q-v>9zK?IzK?=z:FyzE~yWE~>Q 5 \4q?Q 9 \4:)oAY y 'Q I?[CI:i:+x\4yڹBɮtB>E*j1Bj1i1i9zi9Ji9i9 k#`k#`k#`hQԙ k3`k3`k3`h2f:fBfJf>+@1ɢUC<)Q UXiQ)]g=YYi]1˼aIaEU^ EUMEUkEQ"EUC#:*EU9VEUu5ZEQBEU ;a]2EU ;aeJEU:ae:EU:aeAIIO+>2Acoustic response timeout 1ҏ,eFH?A6`@6 n@6=ٱ6:̾ BAHRS rotation from veh to nav: [[-0.835823,0.524372,0.162581],[-0.545165,-0.757825,-0.358464],[-0.064761,-0.388246,0.919277]]6H?s? q@ֿ*ؿ`j?i6`@I6D^;6pCYFjAyFQHbDR&VDR8yZ%ZN=ٔZVQ-Z>9\I\=^:Fy^Eb]Eb>dQ 5j\4f?Q 9j\4f!:)fnAYhyj)Q Ij?fX\CIfB:if:f\4yrܹBɮrBp*j|Bj|i|iziJii kcbkcbkcbh kcbkcbkcbh)2f9:f9Bf9Jf=)@19E rENAggregate::initialize marl:UpdateRudderq9EJ]Iq9M9M7MoMXAggregate::initialize marl:UpdateCommandMode18M]I18MoM@Completed marl:UpdateCommandMode7MoU\Aggregate::uninitialize marl:UpdateCommandModeq7UnULAggregate::initialize marl:UpdateSpeed7U]Q7UnU4Completed marl:UpdateSpeedq7UnUPAggregate::uninitialize marl:UpdateSpeedqɢu<)q uiq)}=yyi}ɼI=2Acoustic response timeoutAIIO>!Ee] EeGEeuEa"Ee:*EeR9VEe5ZEaam@am@am@am@Q 2Acoustic response timeouty 1ҏ, A`H?A2_^@2ol@2΍z=ٱ2!ʾ :AHRS rotation from veh to nav: [[-0.847911,0.506730,0.155794],[-0.526603,-0.771176,-0.357739],[-0.061132,-0.385372,0.920734]]2H""7??y1ֿLؿ v?i2_^@I2^;0YnRjAynH 99bDM@VDM8y]%>=ٔ. 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E%DE%dE!"E!*E%a99VE%^n5ZE!a-@a-@a-@a-@ 2Acoustic response timeout MX1ҏ, bH?A2CU@29c@2<ٱ2׾ :AHRS rotation from veh to nav: [[-0.917198,0.373877,0.137712],[-0.397337,-0.832700,-0.385660],[-0.029517,-0.408445,0.912306]]2HY`?@?@mٿzؿ 9@#ڿ1?i2CU@I2{^;2qCYnUgAyn@Hpr@AbDzaVDz8y]%S=ٔ @Q- >9 I =:FyEE>Q 5%]4w]?Q 9%]4FY:)oAY)y--Q I-?`CI:i:!]4y5¹Bɮ5؜B1*jIBjIiIiIziQJiQiQ kCtkCtkCthi kykykyhy2f:fBfJfj@颩ɢ3)  i)<顱iIB}Z>ByB}HB}XhAB}=ByByB};B}EIIIO5 > 2Acoustic response timeoutD) zD- @AE1  E5 IE5 mE1 "E1 *E5 c9VE5 5ZE1 BE5  ;a= 2E1 a= JE5 :aE :E5 :aE I Q My^1ҏ,(|H?A22Acoustic response timeout6T@6b@6<ٱ6־ >AHRS rotation from veh to nav: [[-0.920364,0.366450,0.136543],[-0.390155,-0.836669,-0.384400],[-0.026622,-0.407061,0.913013]]6Hss?`Az?`MؿؿBK ڿf7?i6T@I6K^;6rCY^gAy^HbDfkVDf%8yn#%rM=ٔrQ-r>9pIt=v:FyvEvEv>xQ 5}]4zB?Q 9}]4z]:)zpAYyy.Q I?z`CIz:iz(:z/]4yĹBɮBNE*jBj i1i9zi9JiAiI kzkzkzh12f:fBfJfh@ɢ) i)n|<i?IIIO!>Y2Acoustic response timeoutԁ E= ] E= HE= sE9 "E= :*E= [9VE= X5ZE9 aE @aE @aE @aE @*_e1ҏ,ۇH?A023T@2)b@2d<ٱ2_վ >AHRS rotation from veh to nav: [[-0.923804,0.358518,0.134356],[-0.382123,-0.841515,-0.381883],[-0.023849,-0.404125,0.914393]]2H̏`?2?tؿpؿ@k0ٿ@B?i23T@I2w{^;2qCYFgAyFH HHyS?OnӿO?L 9rh|?(\ſL7A`尿Y[?y.+BՄB B)pBYBbD-IVD-8y=F%=E=ٔEڻQ-E>9AIA=M:FyMEMAEM>QQ 5]4U$?Q 9]4U^:)UpAY`?Q Eq:yU=Q I?UEaCIU]4yƹBɮB*j!Bj!i!i!zi!Ji!i) kcakcakcahY2fm >:fm >Bfme?Jfm%@颩ɢ[) i)k(<项iѻIIQIau2Acoustic response timeoutԉO=ԹAuAAAu@AB}\>ByB}HB}gAByByByB}.;B}E 9 Y% -A ! % R=- 2Acoustic response timeoutk1ҏ,9bH?A>S@>a@><ٱ>"Ӿ FAHRS rotation from veh to nav: [[-0.927784,0.349106,0.131687],[-0.372539,-0.847094,-0.379007],[-0.020763,-0.400695,0.915976]]>H`hW?? ׿ eAؿ@B ٿ`O?i>S@I>^;>pCYNfAyN HPP\hh h)hIhihhbDrmVDr&8yzR%zO=ٔ~3Q-~>9|I=:FyE`׼E> Q 5]4 ?Q 9]4 R`:) pAYy>Q I? aCI G;i ; K]4y%ȹBɮ-B)*j9Bj9iAiAziAJiAiA k_k_k_hY k_k_k_hi2fy:fyBfyJf}ɕ@颙ɢt) i)<顡i޹IIYIiO=E^ EJEuE"EC#:*Ek9VE5ZEBEa2EaJE:a:E:a 2Acoustic response timeoutI $rr1ҏ,9BH?AFlR@F|`@F`<ٱFqrо ZAHRS rotation from veh to nav: [[-0.932500,0.337824,0.127742],[-0.360737,-0.853893,-0.375149],[-0.017656,-0.395908,0.918121]]FH@ ?Y?P׿`S@oؿ`nVٿ>a?iFlR@IFU~^;DYbfAyb HbDjSVDj8yr%rK=ٔvQ-v>9tIt=z:FyzEzxEz>|Q 5]4~k꼉?Q 9]4~a:)~pAY y >Q I ?~aCI~:i~:~Z]4yʹBɮBME*j1Bj1i1i1zi1Ji9i9 k3`k3`k3`hI kC`kC`kC`ha2fq:fqBfqJfu]@颉ɢ@k) i)p<顙iKI2Acoustic response timeoutII)O=AE EMEnE"E*E9VEJ5ZEa @a @a @a @q 2Acoustic response timeoutԙ x1ҏ, H?A2[Q@2j_@2[q<ٱ2*v; :AHRS rotation from veh to nav: [[-0.937709,0.324964,0.122881],[-0.347109,-0.861311,-0.371024],[-0.014731,-0.390566,0.920457]]2H 6? u?7ֿ ܏ܾ׿@)+ؿbt?i2[Q@I2&^;2rCY^OfAyb HI-%=)-<bD=hVD="8yM%MD=ٔMQ-U>9QIQ=U:FyU E]\E]>aQ 5m]4e˼?Q 9m]4e2c:)epAYiyu?Q Iu?eVbCIe$:ie:eh]4yy̹BɮB*jBjiiziJii k`k`k`h k`k`k`h2f:fBfJf@ɢDw) i)ԙ<i5I BY>BCBIHBdgAB=BBB{;BEAIIԡO#>2Acoustic response timeoutE Z E E kE "E :*E VE u5ZE BE l;a 2E n;a JE :a% :E :a%  ~1ҏ,0H?A"2Acoustic response timeout6FP@6V^@6fC<ٱ68ʾ BAHRS rotation from veh to nav: [[-0.943136,0.310817,0.117842],[-0.332193,-0.868615,-0.367636],[-0.011908,-0.385878,0.922473]]6H ,. l?*?Bտ`Z׿'c7ؿ`?i6FP@I6^;6oCYFfAyFy HLN?AbDMuVDM.8y-I %-==ٔ=EջQ-=>9IIQ=}:Fy}#EE>Q 5]4𪼉?Q 9 ]4d:)pAY1y5@Q I5?bCI_2Acoustic response timeout1Y E% b E% LE% uE! "E% 1:*E% |9VE% 5ZE! a- @a- @a- @a- @1ҏ,H?AJ;O@JJ]@Jg<ٱJȾ VAHRS rotation from veh to nav: [[-0.948856,0.295033,0.112376],[-0.315570,-0.875691,-0.365486],[-0.009424,-0.382256,0.924008]]JH]?ļ?J2Կ  d׿ Lvؿy?iJ;O@IJY^;JpCYZeAyZc Hyx?{Gz?&1KW?#=н 9n?Zd;O?x&1пYVn?yj<=XBB B)YzBbDVDK8y#%Q=ٔѻQ->9I=:Fy&E=E>Q 5]4?Q 9]4f:)oAYBw?Q E[:y>8Q I?cCI:i:b]4yϹBɮB1LE*jBjiiziJii kFkFkFh kbkbkbh2f 4>:f 4>Bf T=Jf ;@AɢEk)I M!U2Acoustic response timeoutiI)mw<顁iIaAIIO-N>BAB]>BCB HBfABBBB;BEBCBCBǓCBBCe5ԡ 2Acoustic response timeoutԹ ׋1ҏ,i1H?A2uN@2,k\@23;ٱ2>Ǿ :AHRS rotation from veh to nav: [[-0.954585,0.278232,0.106561],[-0.297851,-0.882410,-0.364194],[-0.007300,-0.379393,0.925207]]2H?G?`ӿ<N׿@Q}Gؿ@K?i2uN@I2%^;2qCY^fAyb{ H ddbDjVDjV8yr9<%rY=ٔv0Q-v>9tIt=z:Fyz(EzJEz>|Q 5]4~r?Q 9]4~%i:)~umAY y a9Q I ?~mcCI~:i~:~]4yɮ B*jBjiiziJii kIkIkIh k#ak#ak#ah2f:fBfJf:@9ɢ=ụ)9 =i9)E%iYI]Ae2Acoustic response timeout 1ҏ,KH?A20M@2&[@2B;ٱ2ž :AHRS rotation from veh to nav: [[-0.960317,0.260212,0.100400],[-0.278858,-0.888872,-0.363516],[-0.005349,-0.377088,0.926162]]2HO?г?@ѿq C׿ Uu7"ؿ ?i20M@I2\^;0YB fAyBs HDFa=bDNyVDN18yV%VN=ٔVFQ-Z>9XIX=Z:FyZ+E^LE^>`Q 5f]4bS?Q 9f]4bQk:)bkAYdyf:Q Ij?bcCIb:ib:b`]4ynѹBɮnBl*jxBjxixi|zi|Ji|i| kHkHkHh kakakah!2f1:f1Bf1Jf5w9@^EB*** querying acoustic contact ***XAYAQɢ]Q)Y ]liY)e(QE` E`EuE"E*:*E9VE5ZEa@a@a@a@I u 2Acoustic response timeout1ҏ,aeH?Aɰ;2K@2Y@2\;ٱ2ž >AHRS rotation from veh to nav: [[-0.965863,0.241179,0.094558],[-0.259031,-0.894395,-0.364638],[-0.003371,-0.376684,0.926336]]2HY?@4?п `9V׿؜k@ؿ ?i2K@I2^;2rCYj8fAyj H )IibDVDG8y%<%%C=ٔ%Q-%>9-H?I-H?=-:Fy--E5IE5>9Q 5E]4=3?Q 9E]4=im:)=jAYAyE;Q IM?=0dCI=,:i=#:=]4yUӹBɮU BQ*jiBjiiiiqziqJiqiq kIkIkIh k_k_k_hB_>BB HBfABBBDB;ByE_ EPEnE"E&:*E?9VEJ5ZEBEa2E&;aJE:a :E:a ԩ 01ҏ,0GH?A2Acoustic response timeout@bJ@b}X@bt:ٱbž mAHRS rotation from veh to nav: [[-0.971080,0.221710,0.088595],[-0.238751,-0.899342,-0.366309],[-0.001537,-0.376867,0.926266]]bH@`?'?`ο iq׿.Y`ؿ?ibJ@Ib ^;bpCYfAy} HI4=)B B)=BYѩBbDmVD&8y5%5-=ٔ5~Q-5>99I9==:Fy=0E=5EE>AQ 5M]4E?Q 9U]4Er:)EkhAYU?Q EUS:yU/Q IU?EdCIE:iE :E]4yeĹBɮeBeUE*jyBjyiyiyziyJii kGkGkGh k\ԩk\k\h2fR>:fR>Bfk?Jf@ɢQ) mi)S<iF;IAAI!I1OeU>2Acoustic response timeout E \ E LE eE "E :*E |9VE q5ZE a @a @a @a @?1ҏ,H?A21I@2 (W@28Dٱ21A@AABb>BB HBfAB=BBB;BEa  2Acoustic response timeoutM%1ҏ,ZH?A>G@>U@>ŽBٱ>ƾ FAHRS rotation from veh to nav: [[-0.980206,0.182230,0.077389],[-0.197960,-0.907978,-0.369307],[0.002969,-0.377317,0.926079]]>H@] PS?ϳ?Vɿ (@׿Qh?`%ؿ`q?i>G@I>0^;>qCYNfAyN| H9bD%KVD%8y}e<%}G=ٔѰQ->9I=:Fy5EPE>Q 5]4mջ?Q 9]4x:)eAYy2Q I?ceCI;i:]4y!Bɮ_B*jBjiiziJii k]k]k]hy2f:fBfJf< @颡ɢ ) i)့<顩E` EKEuE"E*:*E]t9VE5ZEBE -;a2E -;aJE/:a:E0:ai4;IiE2Acoustic response timeoutA%T?A%Y?ԙA $AI I I O > & 1ҏ,`H?A2ōF@2ԃT@2&qٱ2ƾ :AHRS rotation from veh to nav: [[-0.984018,0.162829,0.072084],[-0.177998,-0.911034,-0.371932],[0.005110,-0.378819,0.925457]]2H}? t?@ƿ 1'@׿t? >ؿW?i2ōF@I2 ^;0YffAyfv H 99bDMfVDM 8y%J=ٔLQ->9H?IH?=:Fy7EME>ߙߝ%=2Acoustic response timeoutԱQ 5]4j?Q 9]4e|:)OdAYy3Q I?eCI:i:]4yɮ`BTE*jBjiiziJii kcEkcEkcEh  k#bk#bk#bh2f):f)Bf)Jf-U@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeediɢuL\)q uiq)u+U 2Acoustic response timeout E71ҏ,~H?A2\E@2RS@2 ٱ2ZȾ :AHRS rotation from veh to nav: [[-0.987150,0.144932,0.067296],[-0.159639,-0.912979,-0.375480],[0.007020,-0.381399,0.924384]]2H!? J:?oĿ7ؿ@i|?hؿ?i2\E@I2|^;2sCYRfA TTyR HlUnGBm\>BiBiBiBm=BiBmDBm;Bm=El9YAbD=[VD=8y<%8=ٔ"Q->9I=:Fy:E+E>Q 5]4d?Q 9 ]4:)bAY y-5Q I5?:fCI";i;]4y9ɮ=]B9*jqBjqiqiqziqJiqiy kIkIkIh2f:fBfJfC@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢe) i)<imI2Acoustic response timeout!qDzDAAE_ EGEE"E&:*ER9VEZEBE&;a2E&;aJE"t:a:E$t:aA! 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E \ E GE mE "E :*E R9VE 5ZE a @a @a @a @I2ҏ,P6H?AFx@Fn$@FٱF̾ RAHRS rotation from veh to nav: [[-0.840109,-0.510441,-0.183487],[0.541262,-0.766819,-0.344999],[0.035400,-0.389151,0.920493]]FH+ U|ǿ R?ljxֿ ?@ؿ`t?iFx@IF^;FrCYZmAyZ&Hpp p)pIpipt ttz>z=xbDVD8y =%L=ٔ:Q->9I=:FyE%'E%>)Q 5-_4-$?Q 95_4-#:)-rAY1y5!@Q I5?-wCI-;i-; ;-G_4yE|BɮEƜBA*jYBjYiYiaziaJiaia kFkFkFhy k\k\k\h2Acoustic response timeout2f:fBfJfǶ@1ɢ=})9 =i9)E=;AAiE +iIqB J>B  CB HB nAB =!B B DB ;B EAIIOM0>I 2Acoustic response timeouty /B2ҏ,H?A6em@6rc#@6Bٱ6˾ >AHRS rotation from veh to nav: [[-0.831191,-0.523102,-0.188378],[0.554902,-0.759340,-0.339833],[0.034725,-0.386998,0.921427]]6HA`ȿ@?LԿտqǡ?@ؿS|?i6em@I6^;4YFmAyFPHHHbDRVDR8yZv0=%ZQ=ٔZ:Q-^>9\I\=b:FybEb*Eb>dQ 5j`4f?Q 9j`4f:)fqrAYhyn @Q In?fxCIf:ifY;f`4yr}BɮrBr)E*j|BjiiziJii k3Dk3Dk3Dh k#fk#fk#fh)2f9:f9Bf9Jf=4@DYD]<Ee[ EeFEebEa"Eea:*Ee;J9VEeg5ZEaBEe ;au2Ee ;auJEee:au:Eee:auyyɢB) ri);顉i뽼IAIIO= >ԩ2Acoustic response timeout *2ҏ,H?Aɰ"2Acoustic response timeout:_@:U"@:O ٱ:?Wʾ BAHRS rotation from veh to nav: [[-0.821966,-0.535804,-0.193094],[0.568513,-0.751578,-0.334551],[0.034129,-0.384766,0.922383]]:HM O%MȿA1? FiտKy?ؿ)?i:_@I:^;:sCYJ.nAyJuHbD VD 8yEM=%MA=ٔM:Q-M>9IIQ=U:FyUEUqEU>YQ 5e`4]?Q 9m`4]:)]8rAYiym@Q Im?]axCI]s:i]j:]`4yqɮ}By*jBjiiziJii k^k^k^h kckckch2f:fBfJf젵@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed ɢ ))  i );i;IAaIqIEc EOExE"Eg5:*E9VEe5ZEa@a@a@a@O!> Ek>AG뢿9YAiI 2Acoustic response timeout1B B B HB oAB =B B B ;B BEY T2ҏ,H?A2'M@24C!@2ٱ2ɾ :AHRS rotation from veh to nav: [[-0.812339,-0.548301,-0.198674],[0.582227,-0.742968,-0.330166],[0.033422,-0.383880,0.922778]]2H@$nɿ@?eo!տ ?|ؿe?i2'M@I2%^;2vCYBlnAyBHI~=)~<AbD VD 8yB=%E=ٔ9:Q->9I=;FyEp%E>Q 5`4޵?Q 9`4<:)qAYy@Q I?xCI;i:9`4y~BɮB*jBjiiziJii khkhkhh kkkh2f!:f!Bf!Jf%X@s-NUpdating rudder angle 6.875493 arcdeg 9-r-6Completed marl:UpdateRudder19- r-RAggregate::uninitialize marl:UpdateRudder1IɢM$)I UɽiQ)U;QQi]YIaU2Acoustic response timeoutAIIIO&>aE^ EHEjE"EC#:*E[9VEـ5ZEBE ;a2E ;aJEX:a:EY:aԑ 2Acoustic response timeoutԹ <3ҏ,6 H?A2XB@2e8 @2=ٱ2|ɾ :AHRS rotation from veh to nav: [[-0.802761,-0.560170,-0.204411],[0.595386,-0.733987,-0.326770],[0.033012,-0.384022,0.922734]]2H8@"*ʿg ?|Կ?@ϓؿ ?i2XB@I2r^;2rCYNnAyRHPR?AyL7A`?~jt~jtx+g?DĻ 9^I +? ףp= ?9I=;FyE!E>Q 5`4Ƶ?Q 9`4 :)0qAY\?Q Ev:y/@Q I?yCI ;i ;,`4y Bɮ ĜB E*jBj!i!i!zi!Ji!i) khkhkhh9 kSzkSzkSzhI2fe">:fe">Bfe0@Jfe@yɢ}) i)ϕ;顁iyԑIAI IOU2>Թe2Acoustic response timeoutE  E JE nE "E *E k9VE J5ZE a @a @a @a @ ,f 3ҏ,7l'H?A@>c'@>p@>Yٱ>ɾ FAHRS rotation from veh to nav: [[-0.792375,-0.572600,-0.210409],[0.609173,-0.724372,-0.322790],[0.032415,-0.383946,0.922786]]>H"[@RʿW~?.Կ?`ؿw?i>c'@I> _;9dId=f;FyfEfL@Ej>hQ 5n`4j߱?Q 9r`4jx:)jwpAYpyr@Q Ir?jgyCIja;ijL;jx9`4ytɮzBx*jBji i zi Ji i  kakakah! kykykyh12fA:fABfAJfEV@aɢe4)a eii)m;iiimOIqIq2Acoustic response timeoutB<AB5>B CB]HBoAB=BBDB;BEAIIO >I m 2Acoustic response timeoutM3ҏ,GAH?A2@2@2w[ٱ2uʾ >AHRS rotation from veh to nav: [[-0.781983,-0.584332,-0.216932],[0.622487,-0.714370,-0.319664],[0.031820,-0.385009,0.922364]]2Hزm˿`j?``uԿJ?ؿ?i2@I2 ^;2tCYB oAyF H HHbDjVDj8yry=%vH=ٔv:Q-v>9xIx=z;FyzEz;)Ez>|Q 5`4~%?Q 9 `4~:Q = tI)~oAY y @Q I ?~yCI~:i~z:~G`4yBɮB*j)Bj)i1i1zi1Ji1i1 kCakCakCahI kykyEa EeFEeeEa"Ea*Ee;J9VEeq5ZEaBEaam2EaamJEee:au:Eee:aukyhy2f:fBfJf@颩ɢ:) _i)5o;顱i-¼IQA!I1IAO}>iIA2Acoustic response timeoutyԩ x3ҏ,"[H?A2Acoustic response timeout6@6@6oٱ6ʾ@ FAHRS rotation from veh to nav: [[-0.770998,-0.596487,-0.223084],[0.636077,-0.704168,-0.315521],[0.031116,-0.385165,0.922323]]6H` k̿Z? 1Կܟ?`ؿૃ?i6@I65^;4YJoAyJHLNp=bDVVDV8y^x%bM=ٔb:Q-b>9dId=f;FyfEf3Ef>hQ 5n`4jV?Q 9r`4j9)jnAYpyr@Q Ir?jzCIjD;ija;jU`4yvBɮvBzE*jBjiiziJii kSxkSxkSxh2f:fBfJff]@ ɢ S.:) wi)-ȝ;))i- ü1I1ԩEm_ EmJEiEi"Em&:*Emk9VEiZEia}@a}@a}@a}@AIIO'>2Acoustic response timeoutB 1>B B HB pAB =B B B ;B EBu CBu CBqBuɥ=Buɤ=Cu5 73ҏ,HtH?Aɰ20 @2=@2(ٱ2_ʾ :AHRS rotation from veh to nav: [[-0.758906,-0.609271,-0.229893],[0.650530,-0.693293,-0.310089],[0.029545,-0.384881,0.922493]]2H H% mͿ#?u/ӿ`$A?@ؿ?i20 @I2^;0YBBoAyBHXX X)XIXiXXbDb&VDb8yj=%jI=ٔjL};Q-n>l9pIp=r;FyrEv=Ev>xQ 5z`4zio?Q 9~`4z9)znAY|y~@Q I?zpzCIz;iz;zc`4y Bɮ B *jBj!i!i!zi!Ji!i) k_k_k_h9 k3yk3yk3yhI2f:fBfJfj@ɢ4:) w=i!)%|;!!i%Sü)I)52Acoustic response timeout IqIO>9bE |5jE +5rE LJ 2Ey E}GE}bEy"Ey*E}R9VE}g5ZEyBE}&;a2E}&;aJE}!t:a:E}#t:aa  2Acoustic response timeoutz#3ҏ, ڎH?A:| @:r@:ï޼ٱ:Fɾ BAHRS rotation from veh to nav: [[-0.746006,-0.622366,-0.236928],[0.665384,-0.682093,-0.303337],[0.027180,-0.383940,0.922958]]:HH`lSο J?`@iӿ՛?wؿ@߈?i:| @I:g^;:sCYNeoAyR5HIV%=)V4- 0=) )9-@5^I ?@5^I ?Cl绿Y-bP?y-b>-;߽-B-1B -!B)))9Y-BbDEVDE8yUb<%UB=ٔ]`;Q-]>9YIY=e;FyeEe?Ee>iQ 5u`4mW?Q 9u`4m{9)m*mAY}QU?Q E}~:y}U!@Q I}?mzCImq ;im ;mr`4yɮB*jBjiiziJii k`k`k`h kCykCykCyh2f)>:f)>Bf8@Jfe(?qɢ}s ;)y }iy)};yyiļIiIqIO>E2Acoustic response timeouti9I9ԑ E a E JE sE "E %.:*E k9VE X5ZE a @a @a @a @G)3ҏ,гH?AY moAy 9H2Acoustic response timeoutԡbDVD8y,;%B=ٔQ->9I=;FyEE>Q 5 `4??Q 9`4'9)DlAYyQ I?"{CID=;i>;h`4y%Bɮ%B-E*j9BjAiAiAziAJiAiI k`k`k`hY kykykyhi2f:fBfJfɢ3I;) i)% ;!!i%T~ż)AQAQB]6>BYB]HB]rpAB]=BYBYB];B]EI)II!O]>M 2Acoustic response timeout 03ҏ,H?A2 @2@2Hٱ28Ǿ :AHRS rotation from veh to nav: [[-0.718538,-0.648135,-0.252237],[0.695249,-0.659900,-0.284887],[0.018194,-0.380070,0.924779]]2HC $п{??;ҿ?@Sؿɗ?i2 @I20f^;2tCYBtoAyB=HbDVD8y;%N=ٔ59I=;FyEнE>Q 5`4*?Q 9`49)`kAYy@Q I?v{CIX);i9;U`4E EHEjE"E*E[9VEـ5ZEBEM3;a2EO3;aJEX:a :EY:a yBɮœB!*j1Bj1i1i9zi9Ji9i9 kc`kc`kc`hQ kykykyha2fq:fqBfqJfu˄?颹ɢ.;)  i);iƼIIIO >2Acoustic response timeout!Qy 63ҏ,zH?A<"2Acoustic response timeout>j@>`@>eٱ>ž FAHRS rotation from veh to nav: [[-0.702406,-0.663096,-0.258707],[0.711639,-0.647080,-0.273601],[0.014019,-0.376285,0.926398]]>H`z8੎п? ѿ?ؿ ?i>j@I>v^;>sCYLyL ==bD% VD%8ٔe-9aIa=e;FymEmoEm>yQ 5`4}?Q 9`4}9)}{jAYy`@Q I?}{CI}1:i}:}`4y!ɮ!!*j1Bj9i9i9zi9Ji9i9I k3ak3ak3ahq2f:fBfJf?颱ɢn;) i)R;项i2sƼIIiIyO=Eg EJEdE"EC:*Ek9VE^n5ZEa@a@a@a@y2Acoustic response timeoutԡBM 0>BI BI BI BM =BI BI BM ;BM E <3ҏ,BH?A6.@6:@6^7ٱ6Vľ BAHRS rotation from veh to nav: [[-0.685396,-0.678229,-0.265025],[0.728085,-0.632718,-0.263743],[0.011192,-0.373729,0.927470]]6H @,пxL?:?*п ?-׿@֭?i6.@I6`^;6uCYFoAyFHHHJa=bDVVDV8yZ|;%^<ٔ^;Q-^>9`I`=b;FybEb}Ef>dQ 5j`4f?Q 9n`4f09)fiAYlyn@Q In?f|CIfn;if;fb`4yvBɮvBt*j|Bj|iiziJii kakakah kakakah)2f9:f9Bf9Jf=z?Yɢ];)Y edia)e ;aaieSƼiIiIIO=Ա2Acoustic response timeoutEY EIEiE"E:*Ec9VEz~5ZEBE&;a2E);aJE:a%:E:a%  2Acoustic response timeout9 [C3ҏ, H?Aɰ2U9@2a/@23ٱ2}0þ :AHRS rotation from veh to nav: [[-0.666062,-0.695035,-0.270716],[0.745816,-0.615234,-0.255434],[0.010982,-0.372039,0.928152]]2H aP=jSѿ?`Yп}?@~׿k?i2U9@I2v^;0YvGoAyz"Hy}`"?Mbrh|?}w?}}=y y9} +?S㥛?X9v?Y}V?y}$>}}=}By }`B)yyY}­BbDVD8y%<=ٔ9Q->9I=;FyEwE>Q 5`4贉?Q 9`4&9)iAYY?Q Ey:y@Q I?w|CI:i@:`4yBɮʜBE*jBjiiziJii kbkbkbh kbkbkbh2f5Q>:f5Q>Bf5@Jf5ؖ@ɢF:) '8i);i%ǼI!AYIiIyO@>%2Acoustic response timeout9i E \ E JE cE "E :*E k9VE &k5ZE a @a @a @a @hJ3ҏ,)H?A}G ,J9LYN-AnYv@nel@nLrٱn zAHRS rotation from veh to nav: [[-0.645251,-0.714013,-0.271729],[0.763827,-0.596059,-0.247551],[0.014788,-0.367287,0.929990]]nH 1dѿEq?@ϿLI?׿z?inYv@In |^;ntCYFoAy !H2Acoustic response timeout )IiI<)p;AbDVD8y%G=ٔQ->9I=;FyE<E>Q 5`4Ҵ?Q 9`4<9)iAYyY@Q I?|CI;iD;`4yɮ˜B*j9Bj9iAiAziAJiAiA kS`kS`kS`hY kS`kS`kS`hi2fy:fyBfyJf}xՕ@颙ɢr:) 9i);顡iǼIBA<B6>BBHB pAB=BBB^;BՙEiAyIIOB>ԙ- 2Acoustic response timeout EP3ҏ,CH?AB@B@B%ٱB>F NAHRS rotation from veh to nav: [[-0.625498,-0.734899,-0.262059],[0.779925,-0.579606,-0.236167],[0.021668,-0.352108,0.935708]]PBH K п`$?`!:ο20?ֿR?iB@IBh^;@Y^PoAy^(Hf@AdbDrVDr8y~;%~Y=ٔQ->9 I = ;Fy E;E>D%=D4=1Q 5=`45?Q 9E`459)5 jAYAyE@Q IE?5#}CI5;i5;53`4yMʺBɮMBU E*jaBjaiaiiziiJiiiiE` ENEeE"E*:*E҆9VEq5ZEBE-;a2E -;aJE:a:E:a kakakah!2fQ:fQBfQJfU@qɢB:) N/i)j;顙i+ȼI2Acoustic response timeoutAIII!OE0>! = 2Acoustic response timeoutW3ҏ,ݲ]H?A>'~@>3t@>lٱ>% FAHRS rotation from veh to nav: [[-0.608932,-0.749093,-0.260884],[0.792677,-0.562471,-0.235137],[0.029400,-0.349979,0.936296]]>H_|Rп]?ο ?fֿ"?i>'~@I>^;9iIi=m;FymEm NEu>yQ 5`4}ϧ?Q 9`4}T9)}KjAYy_@Q I?}}}CI}:i}:}`4y˺BɮB*jBjiiziJii kCakCakCah kCakCakCahY2fi:fiBfiJfmsޓ@颡ɢ:) PFi)5;顩i5ȼIE5l E5GE5gE1"E5V:*E5R9VE5x5ZE1aE@aE@aE@aE@IA%$AI)I9O8>qiߑIߕA2Acoustic response timeoutBD>B CBBB=BBDB;B+Eԡ >]3ҏ,wH?A2s?2ӯ @2P ٱ2 :AHRS rotation from veh to nav: [[-0.599287,-0.751187,-0.276719],[0.799784,-0.546858,-0.247571],[0.034646,-0.369681,0.928513]]2H@\- µѿԗ?@gϿ@!?`ۨ׿_?i2s?I2^;2sCYNBoAyRH ))5=1ybD=VD=8y;%H=ٔRQ->9H?IH?=;FyEE>Q 5`4{?Q 9`4 9)jAYy@Q I?}CI6:i-:`4yɮB*jBjiiziJii k_k_k_h k_k_k_h!2f1:f1Bf1Jf5@QɢU:)Q Uw=iY)];YYi]ɼaIa2Acoustic response timeoutAԱII O:>E=e E=KE=dE9"E=<:*E=]t9VE=^n5ZE9BE=`L;aM2E=cL;aMJE=/:aM:E=0:aM 2Acoustic response timeout s&d3ҏ,jٱ2;ľ :AHRS rotation from veh to nav: [[-0.595376,-0.752661,-0.281121],[0.802641,-0.541512,-0.250063],[0.035982,-0.374521,0.926520]]2HR @@ѿ` ףp=?Mb`?Q?Y?y;\=B_B ) BYǧBbDVDh8y <% B=ٔ ]PQ->9I=;FyE<E>!Q 5-a4%Q|?Q 9-a4%<9)%8kAY-:?Q E5P:y5'@Q I5?%C~CI%7 ;i% ;%a4y=ͺBɮ=ߜBA*jQBjQiQiYziYJiYiY kC`kC`kC`hq kS`kS`kS`h2fW>:fW>BfR`%@Jf.x@颩ɢy;) i);项iʼIAA II!O]2>2Acoustic response timeoutQEM _ EM JEM tEI "EM &:*EM k9VEM 5ZEI aU @aU @aU @aU @y Qj3ҏ,GH?A"4<ɰ N_N?N< @NXWٱN(ͻ ZAHRS rotation from veh to nav: [[-0.592075,-0.759702,-0.268886],[0.805069,-0.542592,-0.239704],[0.036208,-0.358395,0.932868]]NHF{On5ѿ ?\ο`ቢ?ֿ ?iN_N?INX^;NtCYboAybHbDrVDrw8yz =%z^=ٔ~ Q-~>9K?IK?=;FyE%6E > Q 5a4 i?Q 9a4 |9) kAYy@Q I? ~CI a;i n;  a4y%Bɮ-B-E*jABjAiAiAziAJiIiI]2Acoustic response timeout k`k`k`hi2f:fBfJfI@ɢoo;) i);ΐ;i˼QIQAAB?>B CBHBpABBBBv;BtEB] CB] CBYB]¤=B]¥=C]ʎ5AIIO&>yԩ 2Acoustic response timeout W:q3ҏ,p&H?AB ?B @B#ٱB JAHRS rotation from veh to nav: [[-0.587785,-0.765084,-0.262975],[0.808262,-0.541309,-0.231726],[0.034939,-0.348758,0.936561]]BH"{`п I?fR@1Ϳ?@ RֿO?iB ?IBfm^;BuCYRpAyRHIV=)V=bD^VD^f8yf#<%fM=ٔfP;Q-j>9hIh=j;FyjEn[En>pQ 5va4rIT?Q 9va4r9)rulAYxyzo@Q Iz?r CIr6:ir-:rta4bEt5jE0}5rE<1E=g E=HE=eE9"E=C:*E=[9VE=q5ZE9BE=X;aM2E=X;aMJE=X:aU:E=Y:aUyBɮB*jBjiiziJii kGkGkGh2f!:f!Bf!Jf%@Yɢ],;)a e^:ia)eFԐ;aaiedͼiIԹiiIim2Acoustic response timeoutAIIO5.>  2Acoustic response timeout1 bw3ҏ,H?A2Ҕ?2u@ @2 ٱ2 :AHRS rotation from veh to nav: [[-0.581225,-0.777514,-0.240103],[0.813047,-0.542667,-0.210875],[0.033662,-0.317781,0.947566]]2H`d`eο`z?@]ʿ@$9!I!=%;Fy%E-E->)Q 55a4-??Q 9=a4-C9)-mAY9y= @Q I=?-uCI-;i-;-)a4yBɮBE*jBjiiziJii kHkHkHh) kHkHkHha2f:fBfJf˜@^B*** querying acoustic contact ***XY ɢ  ;) 9qu>2Acoustic response timeoutB:>BBWHB=qAB=BBB;BEi }3ҏ,(H?A 6)?6׊ @65Jٱ691 >AHRS rotation from veh to nav: [[-0.572184,-0.787321,-0.229633],[0.819450,-0.537487,-0.199020],[0.033268,-0.302048,0.952712]]6HTO1@dͿ8? 3yyɿx?Tӿ|?i6)?I6^;6sCYFpAyFHbDjVDjx8yrP<%vM=ٔv :Q-v>9xIx=z;FyzEzlEz>Q 5a4 +?Q 9 a49)mAY y  @Q I ?CI-:i:7a4yBɮޜB*jQBjYiYiYziYJiaia k3Fk3Fk3Fhq kCFkCFkCFh2f:fBfJf_@颱ɢ;)Լ =i)a~;项iϼI2Acoustic response timeoutqAIIiIO-->ԙE]^ E]JE]fEY"E]C#:*E]k9VE]t5ZEYBE] ;am2E] ;amJE]:am:E]:am  2Acoustic response timeoutt3ҏ,H?A2u?2 @2ٱ2 :AHRS rotation from veh to nav: [[-0.561255,-0.790088,-0.246483],[0.827017,-0.523800,-0.204146],[0.032185,-0.318424,0.947402]]2HgHČϿv? u!ʿz?aԿQ?i2u?I2^;0YBqAyB?HP llr=r=yʡE?ʡEƿI +-?-29 9V-?Mb1ZdYh?y@"۽BB zB)YBBbDVD8y=%;=ٔ!;Q->9I=;FyEE> Q 5a4 r?Q 9a4 9) `mAYE?Q EP:y@Q I? 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Em \ Em LEm kEi "Em :*Em |9VEm u5ZEi au @au @au @au @3ҏ,G,H?A:?: @:Mٱ:%7 FAHRS rotation from veh to nav: [[-0.548831,-0.792102,-0.267131],[0.835330,-0.507540,-0.211250],[0.031752,-0.339083,0.940220]]:HXѿ?@=? ˿A?@տ I?i:?I:^;:vCYJpAyJ-HPP=2Acoustic response timeoutbD-VD-8y^%O=ٔ׏:Q->9I=;FyEE>Q 5a4*?Q 9a4K9) mAYy@Q I?ZCI :i:Ta4yBɮB*jBjiiziJii kGkGkGh k3`k3`k3`h!B=&>B=CB=HB=qAB==B9B=DB=m;B=E2fQ:fQBfQJfUOp@iɢu<)q uy=iq)u;yyi}VѼyI)AIIO5.>Q2Acoustic response timeoutԁ ކ3ҏ,jgFH?A;ɰ6m?6@6(Uٱ6 BAHRS rotation from veh to nav: [[-0.534902,-0.796578,-0.281679],[0.844268,-0.490881,-0.215051],[0.033034,-0.352844,0.935099]]6H }ҿ??j߿@ʆ˿@?ֿT?i6m?I6h^;6uCYF9qAyFTHE%^ E%OE%lE!"E%C#:*E%9VE%5ZE!BE%~ ;a-2E% ;a-JE%M:a5:E%N:a5bD VD 8Yye\!=%eO=ٔmTQ-m>9iIi=m;FymEu+Eu>yQ 5a4}k?Q 9a4}v9)}lAYy@Q I?}CI}:i}:}ba4yɮB*jBjiiziJii1 kGkGkGhI k`k`k`hy2f:fBfJfYro@ɢ&"<) =i);iҼIM2Acoustic response timeoutԉ-¼ԱA) I1 IA O} > %= = 2Acoustic response timeoutѰ3ҏ,A`H?A6?6i@6pٱ6: >AHRS rotation from veh to nav: [[-0.519416,-0.802053,-0.294818],[0.853807,-0.473013,-0.217421],[0.034930,-0.364650,0.930489]]6H k`LҿdR?`E޿p˿_?jV׿?i6?I6b^;6sCYrqAyvHIz<)z%=xzAbDVD8y=%P=ٔQ->9I=;FyE%h=E%>)Q 55a4-O鳉?Q 95a4-m9)-nlAY1y5J@Q I5?-CI-:i-i:-tpa4yEBɮEBEE*jYBjYiYiaziaJiaia ksGksGksGhy kS_kS_kS_h2f:fBfJf3n@19 rNAggregate::initialize marl:UpdateRudderԹq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed ɢK<) =i)x;顙iӼImcE1 E1E5iE1"E1*E1VE5z~5ZE1a=@a=@a=@a=@ uk>}CG)mA9iYmAAIIOER>]2Acoustic response timeoutB=>B9B=HB=rAB==B9B=DB=];B=ߚE9 ڝ3ҏ,zH?A2?2KC@2 sٱ2ľ :AHRS rotation from veh to nav: [[-0.502647,-0.808213,-0.306818],[0.863691,-0.454212,-0.218471],[0.037211,-0.374810,0.926355]]2H ӿZ?ݿ@˿C ? ׿`?i2?I2f^;2vCYbqAyfHhhbDrVDr8yz%zL=ٔzߺQ-z>9|I|=~;Fy~EhGE> Q 5a4 ڳ?Q 9a4 c9) 'lAYy@Q I? CI :i < o~a4yɮB*jBjiiziJii kFkFkFh k^k^k^h2f:fBfJfl@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢnm9<) =i)U?;!i%Լ!I)2Acoustic response timeoutA=D1zD5@AEEb EEKEEcEA"EE1:*EE]t9VEE&k5ZEABEE9;aM2EE9;aMJEE/:aM:EE0:aMqA$AIIO> 2Acoustic response timeoutԙ Ť3ҏ,hH?A6?6\@6ٱ6bȾ BAHRS rotation from veh to nav: [[-0.484858,-0.815449,-0.316158],[0.873733,-0.435605,-0.216421],[0.038761,-0.381171,0.923692]]6H`߿ (;Կ?@ۿ˿@sأ?eؿ?i6?I6!N^;6sCYVqAyZHy= rh?y&1|?X9v=L?=`;=}9 99=$C?/$?ɿY=:?y=,==L=B=zB =B)=FB9Y=ܦBbDMVDM8y]-O=%eC=ٔerQ-e>9eH?ImH?=m;FymEmHEm>qQ 5}a4u&ϳ?Q 9a4u\9)ujAYSA?Q E:y@Q I?uCIuj:iu]:ua4yBɮB*j!Bj!i!i!zi)Ji)i) k3Fk3Fk3Fha k^ik^k^h2f^#>:f^#>Bf,@Jfb|@ɢG2O<) e=i) ; i *mּ Iԙ2Acoustic response timeoutA AI I IA OU >EE \ EE OEE fEA "EE :*EE 9VEE t5ZEA aM @aM @aM @aM @ 3ҏ,ҭH?AN?NF@NqٱN˾ VAHRS rotation from veh to nav: [[-0.447910,-0.830491,-0.331151],[0.893294,-0.400174,-0.204664],[0.037453,-0.387486,0.921115]]NH`ܿb`1տܕ?sٿj2ʿ-?ؿ y?iN?IN.Q^;NtCYnrAynH   ) I i  bD%VD%8y-<%5N=ٔ5W;Q-5>9=K?I=K?==;Fy=EE׽EE>IQ 5Ua4MMų?Q 9Ua4MU9)MiAYQyU?Q IU?MBCe2Acoustic response timeoutIM:iM_;Ma4yiɮmޜBi*jBjiiziJii k[k[k[h k[k[k[h2f:fBfJf@B->B CBHB%sAB=BBDB ;BEyɢ}q4i<)y }>i)n;顁ic׼IA$AI!IQO5> = R= 2Acoustic response timeout) :ձ3ҏ,H?AF?F@FJٱF̾ NAHRS rotation from veh to nav: [[-0.429553,-0.837927,-0.336693],[0.902370,-0.383909,-0.195811],[0.034816,-0.387933,0.921030]]FH}ۿ@M`տ8?ؿQɿ ]ӡ?ؿy?iF?IFo^;FuCYVgrAyVHXZp=bDbVDb8yjs=%jP=ٔjr;Q-n>9nH?InH?=n;FyrErUEr>tQ 5za4v ?Q 9za4vN9)vhAYxyz$?Q I~?E EBElE"E~:*E(9VE5ZEBE;a 2E;aJET+:a:EW+:avgCIv;iv;va4y5BɮBE*jBjiiziJii k#bk#bk#bh k3bk3bk3bh!2f1:f1Bf1Jf5\ܮ@Yɢ]|<)a e>ia)e;aaieټiI1m2Acoustic response timeoutAIIO5.>Yԁ  2Acoustic response timeout 3ҏ,ٖH?Aɰ4<,F?Fw?FYٱF˾ RAHRS rotation from veh to nav: [[-0.412170,-0.844639,-0.341616],[0.910590,-0.369259,-0.185668],[0.030678,-0.387599,0.921317]]FH`ڿG տ#?׿`ǿi?`mؿn{?iF?IFR^;DYVrAyVHbD%VD%8ye j<%mA=ٔm9I=;FyE3E>Q 5a41?Q 9a4F9)gAYy?Q I?CI:iQ:a4y ɮ B *jBji!i!zi!Ji!i! k3bk3bk3bh9 kCbkCbkCbhI2fY:fYBfYJf]#@yɢ}m<)y . >i)a;顁iQڼIԁE_ EIEhE"E&:*Ec9VEA{5ZEa@a@a@a@AIIO=/>Աu2Acoustic response timeoutB >BCBHBsAB=BBDB;BEBCBCBǕCBǡ=Bǣ=C 6 (3ҏ, dH?AFR?F3>?FX4ҼٱF iɾ RAHRS rotation from veh to nav: [[-0.396336,-0.851827,-0.342504],[0.917747,-0.357155,-0.173725],[0.025657,-0.383186,0.923315]]FH@]ٿ`*Bտ@/^?ֿ<ƿE?ؿˋ?iFR?IFgt^;FvCYVrAyZTH`I<)C=bD- VD-8ye[=%eK=ٔm[L9iIq=u;FyuEu=7Eu>yQ 5a4}ԩ?Q 9a4}?9)}jfAYy?Q I?}CI}p:i}:}a4y6BɮۜB*jBjiiziJii k#ak#ak#ah kczkczkczh2Acoustic response timeout2fI:fIBfIJfM1@qɢuDj<)y }N6>iy)}J;yyi}6ۼIAIIOj>bEـ5jEu5rEg1Ec EJEqE"Eg5:*Ek9VE5ZEBE?;a-2E?;a-JE:a5:E:a51a  2Acoustic response timeout3ҏ,7UH?A:a?:M?:żٱ: ž BAHRS rotation from veh to nav: [[-0.382406,-0.859257,-0.339770],[0.923680,-0.345890,-0.164853],[0.024128,-0.376880,0.925948]]:HUyؿ @˾տ`Ȏ? #ֿ ſ?@ؿ]?i:a?I:S^;8YbsAyb|Hdd1yq= ףp?Q?~jt?k?u<D= 9}?5^I?kt?y&1YM"?y =`B )BYBbD VD8y=%B=ٔgn;Q->9I=;Fy EE>Q 5a4?Q 9a4}99)fAY#?Q E:y@Q I?ׁCI:iQ:=a4y ɮ ӜB *j!Bj!i!i!zi!Jii kakakah kykykyh2fЛ>:fЛ>Bf}9@Jfg1@9ɢ= <)9 =F>iA)]&;YaieSܼaIiYAAII2Acoustic response timeoutOL>ԉE% e E! 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XCI ;i ;  b4y!ɮ%ڜB)*jYBjYiaiaziaJiaia kzkzkzhy kkkh2f:fBfJfE@ɢ,w<)  f>i )x;i%VԱ=%=2Acoustic response timeout1I!AIIO-N>E_ EJEiE"E&:*Ek9VEz~5ZEBE&;a-2E&;a-JE:a-:E:a- m 2Acoustic response timeout9 _3ҏ,fH?A2L?28?2Fٱ2rz :AHRS rotation from veh to nav: [[-0.316043,-0.886483,-0.338029],[0.948728,-0.293186,-0.118140],[0.005624,-0.358035,0.933691]]2H :Կ^Dտ [?ҿ i>`w? ֿ?i2L?I20G^;2tCYBsAyBHppa@a a@a a@a a@a a@a yv?#~j?&1?X?%>P= )Mb@Mb@Mb@Ii‰ )I 4<bDVD8yQ=%>=ٔW;Q->9I=;FyE5E>Q 5b4n?Q 9b4-9)dAQ A+:YQ E:y,@Q I?{CI:iq>b4yNBɮМB*j Bj i iziJii kSykSykSyh) kckckch9aɢeĿ<)i m|>ii)m;iiimcἉqIy AIIFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IO$>2Acoustic response timeoutPExceeded connect timeout, disconnecting.Ai G 9 Y $AE- ] E- HE- `E) "E- :*E- [9VE- |a5ZE) a= @a= @a= @a= @N3ҏ,cH?A 2?2?2T,_ٱ2о :AHRS rotation from veh to nav: [[-0.296035,-0.877098,-0.378235],[0.955171,-0.270423,-0.120498],[0.003405,-0.396951,0.917833]]2H=ҿ0@5ؿ?@Nѿ@ؾk? gٿ ^?i2?I2l^;2wCYNEtAyR4HiI%2Acoustic response timeoutA9A9BE >BECBEdHBEtABE=BABABEl;BEEbDVD8yK=%H=ٔ;Q->9I=;FyERE>Q 5b4e?Q 9b49)2dAQ A  :Y Q E Y:y *?Q I ?CI:i@W?1!b4yɮŜB*j)Bj)i1i1zi1Ji1i9 k{k{k{hI kckckchY颁ɢrB<) >i);顉il'⼉IAT?AQ?iAIIO&>ԙ2Acoustic response timeout p3ҏ,AHRS rotation from veh to nav: [[-0.275661,-0.878735,-0.389661],[0.961254,-0.251552,-0.112745],[0.001053,-0.405642,0.914031]]6H`lѿ2ؿ?nпܼQ?Q? 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H _Q w׿?i2Kɽ?I2ga^;2sCYBtAyFHFa=Fa=bDVD8y]x%]o=ٔeCQ-e?9aIa=m;Fym0EmTEm?qQ 5}b4u?Q 9}b4u~8)uPdAYyl?Q I?uCIu;iu:ub4yɮ*j!Bj!i!i!zi)Ji)i) k#ak#ak#ahY2fi:fiBfiJfm@颉ɢ%=) m>i)w<顑i缉IԉA$AIIO]2>2Acoustic response timeoutԱE _ E ZE ]E "E &:*E a9VE W5ZE a @a @a @a @ ?%,4ҏ, H?Aɰ;A0A2?AB6 >B4B6HB6tAB6=B4B4B6\;B6њEV薽?V?V<ٱVqtǾ` fAHRS rotation from veh to nav: [[-0.128155,-0.917012,-0.377712],[0.991714,-0.121931,-0.040456],[-0.008956,-0.379766,0.925039]]VH@cg(X`m,ؿ`?6श@WNؿ?iV薽?IV8G^;VuCYjtAyjzHr2Acoustic response timeoutbDz VDz8ya% P=ٔ 6Q- >9H?IH?=;Fy2EJE>Q 5%b4?Q 9-b4,8)dAY)y-Q?Q I-?+CI:i1:b4y5Bɮ=B=E*jQBjQiQiQziQJiQiY kdkdkdhi kdkdkdh2f:fBfJfH@颩ɢ <) >i)1<项i<缉IA II!IaiiImpAOu>2Acoustic response timeoutA  34ҏ, H?A2i?2 V?2~Pٱ2}Ⱦ :AHRS rotation from veh to nav: [[-0.134545,-0.915799,-0.378432],[0.990907,-0.124040,-0.052125],[0.000795,-0.382004,0.924160]]2H88N :8ؿ?% J?rؿ?i2i?I2^;0YBtAyBHIF<)F=bDNERi ERNERgEP"ER,K:*ER҆9VERx5ZEPBERse;aZ2ERve;aZJER:aZ:ER:aZVDN8yb<%bO=ٔfʼQ-f>9dId=f;Fyj5Ejk<Ej>lQ 5eb4n?Q 9eb4nѽ8)ndAYaye*?Q Ie?nYCIn:in:nob4yqɮuBq*jBjiiziJii kbkbkbh kbkbkbh2f:fBfJf֤@!ɢ-N<)) ->i))-Va<)1i5ac載QIYiIA2Acoustic response timeoutIAAIIO%>qԡ  2Acoustic response timeoutR794ҏ,H?A2t?2`?2һ+ٱ2Ϲɾ :AHRS rotation from veh to nav: [[-0.134860,-0.915489,-0.379068],[0.990809,-0.120547,-0.061363],[0.010482,-0.383860,0.923332]]2H C@KBؿ?+ܾj`w?`)ؿ ?i2t?I2V^;0YBuAyBHDDXX X)XIXiXXbDbVDb8yj=%jI=ٔnSüQ-n>9rK?IrK?=r;Fyr7ErQ:Ev>tQ 5zb4v ?Q 9zb4v38)vEeAY|y~9?Q I~?vCIvL;ivj;vb4yBɮ B E*j!Bj!i!i!zi!Ji)i) k#`k#`k#`hA k#`k#`k#`hQԙ 7l>!1mɣ9iYmnA2fy:fyBfyJf}mŤ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ^B<)  >i ) <)1i55鼉1I9Ed EIEeE"E9:*Ec9VEq5ZEa@a@a@a@AAIIIYO:>Be>BeCBeHBe^uABe=BaBeDBeU;BeǚE2Acoustic response timeout #@4ҏ,ݖH?ATT?0?fFٱ`ʾ AHRS rotation from veh to nav: [[-0.128473,-0.916233,-0.379488],[0.991510,-0.110934,-0.067832],[0.020052,-0.384980,0.922707]]HqQIؿs?'fl]r? ؿІ?i?I/^;vCY]uAyHU2Acoustic response timeoutyGz?y&1? ףp= p?`<Q 9 +?V-?sh|?YȆ?y=pBbB ʩB)DBYBbDVD8y =%-=ٔnQ->9I=;Fy:El_E>Q 5b4?Q 9b4Z8)dAY?Q EG:y?Q I?ɄCI:i:b4y Bɮ B E*jBji!i!zi!Ji!i) k_k_k_h9 k_k_k_hI2f]=:f]=Bf]4@Jf]_t@smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder颁ɢ=) >i)6 <顉i}뼉IAiIyIE\ ELE`E"E:*E|9VE|a5ZEBE;a2E;aJEv:a:Ex:aO l>A 2Acoustic response timeoutq 8IF4ҏ,]H?A2?2 ?2Wy׼ٱ21þ :AHRS rotation from veh to nav: [[-0.116734,-0.922997,-0.366673],[0.992815,-0.098672,-0.067693],[0.026300,-0.371941,0.927884]]2HE⽿1w׿#?BQT`_?׿9?i2?I2j^;2wCYBuAyB9H ==bD%VD%8ye<=%mf=ٔmQ-m>9iIq=u;Fyu=EuGEu>yQ 5b4}?Q 9b4}8)}cAYyV?Q I?}CI}*:i}:}b4yBɮB*jBjiiziJii kSakSakSah kSakSakSah2f:fBfJf2s@ ɢ =) P; ֽ>i)2$<iՀ켉I!QAAIYIiO>e2Acoustic response timeoutԁԱE c E JE wE "E g5:*E k9VE ɕ5ZE a @a @a @a @ B] >B] CB] wHB] RvAB] =BY B] DB] ;B] EL4ҏ,u4H?A2޹?24?2$Cؼٱ2^ :AHRS rotation from veh to nav: [[-0.099239,-0.935385,-0.339422],[0.994713,-0.084205,-0.058775],[0.026396,-0.343460,0.938796]]2Hgտ`?{`??տ ?i2޹?I2nb^;2uCYBuAyB@HR2Acoustic response timeoutbD VD 8y;%E=ٔsQ->9I=;Fy?E-E>Q 5b4?Q 9b4C8)ecAYy?Q I?1CI;(;i:b4y;Bɮ|B*j!Bj!i!i)zi)Ji)i) k\k\k\hA kbkbkbhQ2fa:faBfaJfe1r@颁ɢ2=) *>i))<顉i9ԑIAIIIOE0>]2Acoustic response timeout [S4ҏ,ENH?A;ɰ:?:v?:y̛ٱ:LEF] EFIEFdED"EF:*EFc9VEF^n5ZEDBEF:;aJ2EF<;aJJEF:aJ:EF:aN RAHRS rotation from veh to nav: [[-0.073375,-0.941182,-0.329838],[0.997123,-0.062927,-0.042259],[0.019017,-0.331989,0.943091]]:H Ȳ)տn?袥 By?P?տ -?i:?I:qp^;8YnvAynHbDAVDAy=%N=ٔ^9I=;FyBEE>Q 5b4?Q 9b4V8)bAYy`?Q I?gCI:i:b4yPBɮBE*jBjiiziJii ks`ks`ks`h ks`ks`ks`hy2f:fBfJfp@ɢ=) >i)~w/<i)I2Acoustic response timeoutA$AI IOm5>9i ߅ =߅ R= 2Acoustic response timeoutwY4ҏ,xgH?A 6?6?6}ٱ6ɾ >AHRS rotation from veh to nav: [[-0.051577,-0.922213,-0.383227],[0.998661,-0.046140,-0.023372],[0.003872,-0.383919,0.923359]]6H@Xhł@Ɇؿ?๟\o?"ؿ@'?i6?I6 I^;4YFwAyFHIJ<)J=LNAbDRVDR8yZ^=%ZY=ٔZ$=Q-^>9H?IH?=;FyDE%eE%>)Q 55b4-첉?Q 95b4-|8)- bAY1y5?Q I5?-CI-;i-;-b4yEQBɮEoBEE*jQBjYiYiYziYJiaia k`k`k`h2f:fBfJfo@ɢ0=) >i)4<i𼉨IiEY EErE"E:*EVE5ZEa@a@a@a@cB >B CB &HB nwAB =B B DB ;B |EBCBCBŔCBť=BCć5ԡ2Acoustic response timeoutAmAIyIO> nt`4ҏ,WH?ALYwAySH-2Acoustic response timeouty}9K?IK?=;FyGEE>Q 5 c4?Q 9 c4jp8)`AY ?Q EQ:y?Q I?ׅCI:i:c4yɮZB*j1Bj1i1i1zi1Ji9i9 kGkGkGhI ksaksaksaha2fu >:fu >Bfuv?Jfu&@颉ɢ[/=) %>i)-<<顑imX򼉨I}2bE3s5jE45rEB3E] EEZE"E:*EVE(N5ZEBE9;a2EaJEa:EaAIIOo> 2Acoustic response timeout f4ҏ,UH?A@2?2 ?29<ٱ2W :AHRS rotation from veh to nav: [[-0.015473,-0.951174,-0.308268],[0.999754,-0.019618,0.010353],[-0.015896,-0.308032,0.951243]]2Hp੺ӿ?@24?`F˶ӿp?i2?I2^;2xCY^5xAy^HbDjVDj8yr=%rs=ٔr*q=Q-v?9tIt=v;FyvIEz[ܽEz?||Q 5c4~Aﲉ?Q 9 c4~g8)~a_AY y W?Q I ?~CI~:i~:~c4ygBɮ`BE*j)Bj)i)i1zi1Ji1i1 kIkIkIhI k_k_k_hY2fi:fiBfiJfmC*@ɢ uCM=)  Q?i ) gB<i"󼉨9I9)M2Acoustic response timeout]l;YAIIO>E \ E KE [E "E :*E ]t9VE aQ5ZE a @a @a @a @ԁ B >B CB HB :xAB =B B DB ;B qEl4ҏ,~H?AB?BД?BR<ٱB" JAHRS rotation from veh to nav: [[0.003754,-0.940805,-0.338929],[0.999643,-0.005431,0.026147],[-0.026440,-0.338906,0.940449]]BHn?``տ ?>v-ƚ?տ'?iB?IBA^;BuCR2Acoustic response timeoutYVoxAyZHlp p)pIpipp ppbDzVDz8y2=%H=ٔ9 I = ;Fy LEAE>Q 5%c4?Q 9%c4&]8)]AY!y-?Q I-?5CI;i1:"c4y5fBɮ5XB5E*jIBjIiIiIziIJiIiQY kFkFkFhi2fy:fyBfyJf}t(@颙ɢYK=) ?i)H<顡iT󼉨IqApAuAzAԉAIIO-->ԱU%=Q]2Acoustic response timeout es4ҏ,[H?AE2] E2GE2YE0"E2:*E2R9VE2J5ZE0BE0a:2E0a:JE2!t:a::E2#t:a:>?>?>[=ٱ>A JAHRS rotation from veh to nav: [[0.025011,-0.932479,-0.360357],[0.999079,0.010742,0.041545],[-0.034869,-0.361064,0.931889]]>Hh?׿@t??iE? 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B?%H?`#l׿?iR*?IR^;RuCY uAy 7H?AYbDVD8yԫ%F=ٔ;Q->9I=;FyxEE>Q 5d4Y?Q 9d47)1XAYyH?Q I?CI :i[:d4yɮB*j Bj i i ziJii kPkPkPh) k`k`k`h92fI:fIBfIJfM*@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedEZ EEE]E"E:*EA9VEW5ZEa@a%@a%@a%@QɢU¨5=)Q Ue>iQ)]BCBHBuABBB DB2;BUEԡ2Acoustic response timeoutԱIIO> 4ҏ,`H?A2|?2U?2=ٱ2ѿ :AHRS rotation from veh to nav: [[0.355782,-0.880086,-0.314431],[0.930923,0.304045,0.202333],[-0.082469,-0.364698,0.927467]]2H ? )@Կ?@xu?@ ? 6W׿`έ?i2|?I2߾^;0YRuAyRH==Թy/$?y&1|EԸ1?`ƽ 9zG?kt?I +?Y 7?y 0=94<JyB B)BY\BbD VD8y %H=ٔd;Q->9I=;FyzEE>2Acoustic response timeoutQ 5 d4a?Q 9 d4Z7)WAYd7?Q E:y=?Q I?ƈCI ;i2 ;!d4yɮB!*j1Bj1i1i9zi9Ji9i9 kgkgkghQ kgkgkgha2fuʼ>:fuʼ>Bfuq?@Jfu4@s}NUpdating rudder angle 6.875493 arcdeg 9}r}6Completed marl:UpdateRudder19} rRAggregate::uninitialize marl:UpdateRudder颙ɢ?m6=) 5>i)>ѝ<顡i_IIQIiO=E%[ E!E%cE!"E%a:*E!VE%&k5ZE!BE% ;a-2E% ;a5JE%W:a5:E%W:a5Ա 2Acoustic response timeout C4ҏ,|֠H?AFy?F٘?Fp=ٱF9 NAHRS rotation from veh to nav: [[0.366553,-0.878194,-0.307268],[0.926709,0.315240,0.204532],[-0.082756,-0.359720,0.929383]]FHu?*Fӿ@?,?.?`x/`׿?iFy?IF^;FwCYjkuAyjHbDvVDv8y~$%~Z=ٔ|H:Q->9I= ;Fy }E E >Q 5d4h?Q 9d47)bWAY!y% ?Q I%?CI:iF:/d4y)ɮ-B)*jABjAiAiAziAJiIiI kikikiha kikikihq2f:fBfJf߂@ɢt2=)! %v>i!)%kB CB }HB tAB =B B B N;B aE1 4ҏ,gH?Aɰ22Acoustic response timeoutB"w?B%n?BtR=ٱB NAHRS rotation from veh to nav: [[0.376813,-0.876091,-0.300794],[0.922601,0.326022,0.206198],[-0.082583,-0.355210,0.931131]]BH?3@ӿ@? ?d?"$Ļֿ@?iB"w?IBU^;@YfuAyfHbD=VD=8yMYV%MF=ٔUYܹQ-U>9QIQ=U;FyUE]ۼE]>aQ 5md4ep?Q 9md4eT7)eVAYqyuX?Q Iu?e CIe :ieg:e~=d4y}мBɮ}.B}jE*jBjiiziJii kckckch kckckch2f:fBfJf1@ɢO,=) f>i)} AHRS rotation from veh to nav: [[0.387278,-0.873252,-0.295714],[0.918283,0.336721,0.208269],[-0.082298,-0.352207,0.932297]]2H)?@ҿb? ،?? uֿ_?i2t?@I2l^;0YFtAyFHIN<)N;bDR+VDR8yZ?*%ZT=ٔ^BQ-^>91I1=5;Fy5E=E=>AQ 5Md4Ew?Q 9Md4E@7)EVAYIyM?Q IM?E2CIE:iE:EvKd4yYɮ]6BY*jiBjqiqiqziqJiqiy kcakcakcah ksaksaksah2f:fBfJfD6@ɢ^(=) 6>i)<i;뼉IiqIuA2Acoustic response timeoutIԩA%$AI1IAO}> % 2Acoustic response timeout 4ҏ,UH?A2p?2k?2=ٱ2x= :AHRS rotation from veh to nav: [[0.398417,-0.869439,-0.292130],[0.913542,0.347726,0.211017],[-0.081886,-0.350946,0.932809]]2H ?qAҿ;?"A??xuֿ`?i2p?I2J^;2xCY^GtAy^5Hlxx x)xIxixxbDVD8yܥ%D=ٔ!Q->9uH?IuH?=};Fy}E}E}>Q 5d4z?Q 9d47)"VAYyW?Q I?XCI:i1:Yd4yɮHB*jBjiiziJii k_k_k_h k_k_k_h2f:fBfJfՁ@ɢr=) >i)|ҥ<i)꼉!I!EZ ELEXE"E:*E|9VEG5ZEa@a@a@a@ B5{>B5CB5HB5sAB5=B1B5 DB5@;B5_EBCBBÔCBë=Bê=ChH6AIIO!>2Acoustic response timeout1i 5ҏ,0H?A2km?2ɻ?2=ٱ2? :AHRS rotation from veh to nav: [[0.410443,-0.864143,-0.291193],[0.908241,0.358874,0.215191],[-0.081454,-0.352797,0.932148]]2H D?`ҿO?`?c?1ڴ@;ֿ@'?i2km?I21^;2uCYBsAyBHDDy V-?Mb?&1 |? > P  9 ^I +?i|?5?v/Y XY?y q= xi B bB B) B Y B9bD5#VD58yMl%MG=ٔMQ-U>9QIQ=U;FyUE]E]>aQ 5md4e?Q 9md4eǶ7)e8UAYm[Z?Q Eux:yu?Q Iu?eCIe]:ie/:egd42Acoustic response timeoutyɮTB*j)Bj)i1i1zi1Ji1i9 k\k\k\hI kCvkCvkCvh2f>:f>Bf f@JfG@ɢ[=) y>i)<iT載 I1qA}AIIOD>bEC^5jE`5rE1E \ E GE dE "E :*E R9VE ^n5ZE BE ;a%2E ;a%JE  t:a-:E #t:a-ԑ 2Acoustic response timeout 5ҏ,"H?A6zj?6?6e=ٱ6غ >AHRS rotation from veh to nav: [[0.423024,-0.858129,-0.290973],[0.902477,0.370248,0.220118],[-0.081158,-0.355712,0.931065]]6H`?uLҿ ?#? ,? ƴֿI?i6zj?I67G^;6wCYFsAyFH ||IQbD*VD8yEd<%EK=ٔM8AQ-M>9MK?IMK?=U;FyUEU EU>YQ 5ed4]?Q 9ed4]7)]LTAYiym@?Q Im?]CI]:i]s:]ud4yuBɮ}fB}bE*jBjiiziJiiԙ k]k]k]h ktktkth2f:fBfJf?@iɢm=) R>i)"<顙iD缉I2Acoustic response timeoutA$AI)I9O}7>E  E KE cE "E *E ]t9VE &k5ZE a @a @a @a @B! 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BE% &;a- 2E% &;a- JE! a- :E! a5 05ҏ,UH?A4<ɰ2=ra?20?2^=ٱ2-^ :AHRS rotation from veh to nav: [[0.453161,-0.841554,-0.293993],[0.887695,0.395863,0.235136],[-0.081499,-0.367530,0.926434]]2H`?@ҿ`h?`U??ݴ׿X?i2=ra?I2$Q^;2vCYB5sAyBHbD>VD8yQT%@=ٔ:Q->9I=;FyEs-E>Q 5d4?Q 9d47)hRAYyˑ?Q I?CI ;i:d4yɮB*jBjiizi Ji i  kcykcykcyh!2f1:f1Bf1Jf5!@QQɢ]~=)Y ]QM>iY)]ԁԩ =  2Acoustic response timeout Z5ҏ,oH?A2\?2H?2-=ٱ2uþ :AHRS rotation from veh to nav: [[0.469415,-0.832802,-0.293412],[0.879114,0.409750,0.243442],[-0.082513,-0.372218,0.924470]]2H ?`ODҿ!?Y9?@)?k׿B?i2\?I2^;2wCY^ sAy^sHIf=)fp9zK?IzK?=z;FyzEz|HE~>Q 5d4?Q 9 d4s7)QAY y `?Q I ?/CIB:i[:d4yBɮBcE*j)Bj)i1i1zi1Ji1i1 k`k`k`hI kzkzkzhY2fi:fiBfiJfm3@ ɢ  =)  $C>i )%<1i5 伉9I9ԱEb EKEoE"E1:*E]t9VE5ZEa@a@a@a@B>BCBHBrAB=BB DB|;BEAaIqIO!>>e2Acoustic response timeout 1 vB"5ҏ,>zH?A2xW?2h?2 S=ٱ2Ǿ :AHRS rotation from veh to nav: [[0.487313,-0.822403,-0.293564],[0.869220,0.424675,0.253193],[-0.083557,-0.378556,0.921799]]2H"0?`Q ҿ?-?O4?c@C:ؿ`?i2xW?I2^;0YfrAyf1HyU}?5^I?#~jĿV-UMb?U%UQ Q9UV-?I +ˡEYUM?yU9U'UBUB Q)UʩBQYUBbDmVDm8y}G%}A=ٔY";Q->9I=;FyEFE>Q 5d4ȳ?Q 9d47)PAYM?Q E:y?Q I?ZCI` ;i ;d4yBɮBYE2Acoustic response timeout*jBjiiziJii kakakah kwkwkwh2f &>:f &>Bf @Jf N@)ɢ-;=)1 5%(>i)><i3⼉IE` EIEZE"E*:*Ec9VE(N5ZEBE-;a2E -;aJE:a:E:a95qڼAAzAErAm 2Acoustic response timeoutq A $AI I O >l(5ҏ,HSH?A 6R?6a?6N=ٱ66Ⱦ >AHRS rotation from veh to nav: [[0.505644,-0.812661,-0.289664],[0.858639,0.441324,0.260713],[-0.084036,-0.380545,0.920936]]6H@=.?@R܉ҿy? >??]ZؿNx?i6R?I6Ye^;4YFfrAyF HX\ \)\I\i\\bDfVDf8yn%nU=ٔn`:Q-r>9rH?IrH?=r;FyrEvcEv>xQ 5~d4zֳ?Q 9~d4z+7)zJPAYqyuU~?Q Iu?zCIz؋i)l8<iTἉI U֣i9a9YA2Acoustic response timeoutI IOM0>ԙEm EJE`E"EY:*Ek9VE|a5ZEa@a@a@a@A AAA AAB >B CB HB qAB =B B DB 8;B E .5ҏ,I0H?A2Acoustic response timeout6sL?6Z?6x=ٱ6ɾ >AHRS rotation from veh to nav: [[0.522885,-0.803046,-0.285846],[0.848270,0.457237,0.267154],[-0.083837,-0.382165,0.920283]]6Hy? NKҿ %?aC? ? Zv@fuؿ@r?i6sL?I6^;6xCPYRqAyRH TTZ>Za=bD^VD^8y%G=ٔQ->9!I!=%;Fy%E-BHE5>9Q 5Md4=i泉?Q 9Md4=7)=OAYQyU&y?Q IU?=CI=.;i=h-;=d4yaɮmBi*jBjiiziJi i  kkkh92fI:fIBfIJfMfL@yɢ2<) >=i)k <顁ib߼I]2Acoustic response timeoutI I! OU >! D =D <E ] E OE dE "E :*E 9VE ^n5ZE BE 9;a 2E ;;a JE M:a :E N:a ,~55ҏ, H?ANG?Nس?N=Ū=ٱN5Ⱦ VAHRS rotation from veh to nav: [[0.539399,-0.794193,-0.279832],[0.837921,0.473378,0.271664],[-0.083287,-0.381012,0.920811]]NHB?jѿ?? K?b?SRbؿHw?iNG?INQ^;NyCY^\qAy^jH|bD-4VD-8ye%eE=ٔmQ-m>9iIi=u;FyuEuBEu>Q 5d4{?Q 9d4y7)OAYy(t?Q I?֊CI3:iL:d4yBɮΞB[E*jBjiiziJii khkhkhh kykykyhY2fi:fiBfiJfm K@ɢ<) S=i)Ǟ<iP޼I52Acoustic response timeout)IIO%o>Qԁ  2Acoustic response timeout?;5ҏ,H?Aɰ;2IB?2nz?23=ٱ2!Ⱦ :AHRS rotation from veh to nav: [[0.555497,-0.784999,-0.274225],[0.827381,0.488950,0.276350],[-0.082852,-0.380400,0.921103]]2H?`ѿy?J?? 5yXؿy?i2IB?I20^;2xCYBZqAyBiHYbDVD8ymB%mJ=ٔmQ-u>9qIq=u;FyuE}ZCE}>Q 5d4?Q 9d4s7)dNAYy8o?Q I?CIR:i:d4yɮ͞B*jBjiiziJii k#ak#ak#ah kkkh2f:fBfJf!I@ ɢ4<) p=i)&<iܼ!I!E^ ESEE"EC#:*E9VEZEa@a@a@a@II OE=Bu>BuCBu%HBupABu=BuDBu DBur;Bu EԁE2Acoustic response timeoutԹ rB5ҏ,U H?A2.>?2v?2xb=ٱ2Ǿ :AHRS rotation from veh to nav: [[0.570707,-0.776269,-0.267767],[0.816987,0.503969,0.280263],[-0.082613,-0.378711,0.921821]]2H;C?2`#ѿ$? ??!&<ؿ ?i2.>?I2?^;2wCYNpAyRHI~<)~=A2Acoustic response timeoutԹyw/? rhZd;O?f?C j<= 9K7?x&Q?YIL?y7u=MBbB YB)ӫBYBbD VD8y᩽%B=ٔQ->9I=;FyE3E> Q 5d4 ?Q 9d4  l7) ~NAYM?Q E:yi?Q I? +CI z ;i  ; d4y%Bɮ-B-SE*jABjAiAiAziAJiIiI ksiksiksiha kSkSkShq2fJ=:fJ=Bf\@Jf@颡ɢ4<) K=i))~<顩iVۼIIQIiO=Eb ELE`E"E1:*E|9VE|a5ZEBE9;a2E9;aJEw:a:Ex:aAM 2Acoustic response timeoutY `H5ҏ,;$H?A2ȟ9?2wq?2=ٱ2 nž :AHRS rotation from veh to nav: [[0.585185,-0.768178,-0.259734],[0.806723,0.519030,0.282499],[-0.082200,-0.374847,0.923435]]2H չ?zп? ?`u?  ~׿@Ȍ?i2ȟ9?I2Y'^;0Y^hpAy^HbDdVDdyn`%n^=ٔrwQ-r>9pIt=v;FyvEvEEv>xQ 5~e4z'?Q 9~e4ze7)zNAYyd?Q I?zQCIz:iz:ze4y ɮ B*j!Bj)i)i)zi)Ji)i1 kfkfkfhA kvkvkvhY2fi:fiBfiJfmć@颁ɢ<) Bm CBm HBm oABm =Bm DBm DBm ;Bm H?A b#5?bl?b5P=ٱbȿþ nAHRS rotation from veh to nav: [[0.599254,-0.759668,-0.252585],[0.796389,0.533522,0.284815],[-0.081605,-0.371832,0.924706]]bH-?2OX*п|??g:?䴿׿1?ib#5?IbH>^;`YzpAyzHbD VD 8y@%F=ٔ8Q->9!I!=%;Fy%E--E->1Q 5=e459?Q 9=e45C_7)5NAY9y=K`?Q IE?5{CI5:i5:5"e4yIɮM BMTE*jaBjaiaiiziiJiiii k]k]k]h kukukuh2f:fBfJf@ɢ<) ;i)<iNؼIԁAAI!I1Oe>ԩ2Acoustic response timeoutbEU^n5jEUo5rEU/1E ] E E gE "E :*E VE x5ZE BE 9;a 2E ;;a JE e:a :E e:a  OU5ҏ,QXH?A2 0?2,h?2I'=ٱ2 :AHRS rotation from veh to nav: [[0.613078,-0.751470,-0.243779],[0.785855,0.548431,0.285755],[-0.081041,-0.366765,0.926777]]2HU? &4Ͽ%?@? I? y׿`(?i2 0?I2$^;2{CYBoAyBnH HHbDNVDN8yV<[%VS=ٔZQ-Z>9ZK?IZK?=Z;FyZE^g8E^>`Q 5fe4bJ?Q 9fe4bY7)bNAYhyj[?Q Ij?bCIbF:ib=:be4y9ɮ=B9*jiBjiiiiiziiJiiiq k]k]k]h2f:fBfJf*y@ɢ=<) pi)Җ<i{ּ!I)A=V?A=Q?iI%2Acoustic response timeoutA$AIIO!>I  2Acoustic response timeoutq[5ҏ,,rH?A2,?2c?2S=ٱ2; >AHRS rotation from veh to nav: [[0.627126,-0.742387,-0.235743],[0.774733,0.563169,0.287453],[-0.080638,-0.362907,0.928330]]2Hi?,ο`?{?`e?9׿`?i2,?I2F^;2xCYB oAyFHXX X)\I\i\\bDf$VDf8yj%nG=ٔn%Q-n>9rH?IrH?=r;FyrEv3Ev>xQ 5ze4zK]?Q 9~e4zR7)zNAY|y~V?Q I~?z͋CIz@;iz;z,e4y  Bɮ ,B UE*j!Bj!i!i)zi)Ji)i) k]k]k]h2f:fBfJfk@^B*** querying acoustic contact ***XYɢ<)1 5vi1)=0<99i=ԼAIAE\ EWEiE"E:*E9VEz~5ZEa@a@a@a@B%>B%CB%HB%,oAB%=B!B%DB%;B%EIAAIIO=.>%2Acoustic response timeoutyԩ b5ҏ, H?Aɰ4<2ʐ'?2h_?2N=ٱ2Wм :AHRS rotation from veh to nav: [[0.640679,-0.733211,-0.227887],[0.763578,0.577323,0.289218],[-0.080493,-0.359305,0.929742]]2Hq?vv@g+Ϳ@;o?my?? 3ֿr?i2ʐ'?I2(^;<0YFnAyFHHJp=y!rh?~jtx?+?lg?;= 9^I +?MbZd;O?YXY?yj= B B)YBbD-,VD-8y=܇%=D=ٔ=Q-=>9EK?IEK?=E;FyEEM"-EM>QQ 5]e4Uo?Q 9]e4UIK7)UOAY]Z?Q E]x:y]g?Q Ie?UCIUe ;iU ;U;e4ym$BɮmFBmLE}2Acoustic response timeout*jBjiiziJii k#Ek#Ek#Eh) k#^k#^k#^hY2fm=:fm=BfmY@JfmAGy@颙ɢQ<) 7i)<顡i=ӼIԩAI)IIO9>E^ EFE_E"EC#:*E;J9VEC^5ZEBE| ;a2E ;aJEe:a:Ee:a5 2Acoustic response timeout Zi5ҏ,H?A6.#?6([?6=ٱ6} >AHRS rotation from veh to nav: [[0.653664,-0.723534,-0.221861],[0.752489,0.590204,0.292268],[-0.080523,-0.357993,0.930246]]6H`?/'e̿b??? 'Zֿ?i6.#?I6&^;6vCYFlnAyFHlbD !VD 8yEi%MJ=ٔM8Q-M>9IIQ=U;FyUEU%-EU>YQ 5ee4]T?Q 9me4]B CB cHB nAB =B DB DB ;B OEa i9 I9 M 2Acoustic response timeout,6o5ҏ,WͿH?A:?:V?:=ٱ: FAHRS rotation from veh to nav: [[0.665899,-0.714089,-0.215998],[0.741640,0.602216,0.295475],[-0.080918,-0.356949,0.930613]]:H@ O?Х˿?[E?? @ֿ?i:?I:-^;8YJ)nAyNrHbD%*VD%8y-['%5K=1ٔ=:Q-=>99IA=E;FyEEE&EE>IQ 5Ue4M?Q 9]e4MU=7)MEOAYYy]v^?Q I]?MSCIM ;iM;MWe4yaɮe^BmNE*jBjiiziJii kGkGkGh kGkGkGh2f:fBfJfLw@ɢu[<) ui)uY<iϼIA9IIIYaO>i I 2Acoustic response timeoutԙԹ D =D <E g E JE jE "E C:*E k9VE ـ5ZE BE X;a 2E X;a JE :a :E :a _v5ҏ,H?A2y2?2 S?2}/=ٱ2} >AHRS rotation from veh to nav: [[0.676751,-0.705439,-0.210628],[0.731683,0.612785,0.298555],[-0.081543,-0.356160,0.930860]]2H?ʿi?`? ?ߴRֿ?i2y2?I2 ^;2wCYBmAyFHDDbDVD8ԙy<%D=ٔ:Q->9I=;FyE(E>Q 5e4?Q 9e4D67)fOAYyZ?Q I?CIK:id:`fe4yɮoB*jBjiiziJii kIkIkIh  kIkIkIh2f1:f1Bf1Jf5gv@iɢmJ6<)u` u>iq)uhS aeCnG U 9Q YU QA 2Acoustic response timeout D|5ҏ,uH?A2?2ϤO?2=ٱ2 :AHRS rotation from veh to nav: [[0.686380,-0.697509,-0.205827],[0.722613,0.622238,0.301081],[-0.081933,-0.355389,0.931120]]2H`?`QXʿ?_?`D?@ֿ ?i2?I22^;2vCYBmAyB!HbDNVDN8yV);%V\=ٔV܉:Q-V>9XIX=Z;FyZEZE^>`Q 5fe4b?Q 9fe4b 07)bOAYdyf=W?Q If?bCIb`:ibW:base4yn"BɮnnBnOE*jxBjxixixzi|Ji|i| kIkIkIh kIkIkIh!2f1:f1Bf1Jf5u@19= r=NAggregate::initialize marl:UpdateRudderq9=J]9q9E9E7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7MnMLAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeedaɢm,<)i myii)m_nBCBHBmAB=BBDB;BEI1IAOu>) 2Acoustic response timeoutQy R,5ҏ,O H?A6#?6GL?6G=ٱ6 BAHRS rotation from veh to nav: [[0.694744,-0.690652,-0.200825],[0.714559,0.630895,0.302285],[-0.082074,-0.353512,0.931823]]6HV;?@ ɿ? K0?X?ֿ}?i6#?I6^;6xCY^!mAybHyMX9v?Q?Zd;Ms?M\=MI I9M$C?~jt?QYMZ?yM=MMBMB MB)MʩBIYMBe2Acoustic response timeoutbDmVDm8y}%}>=ٔ}9Q->9I=;FyEݼE>Q 5e4bδ?Q 9e4(7)NAY[?Q Ex:y^?Q I?،CIX ;i ;me4y9BɮBEE*jBjiiziJii kGkGkGh kGkGkGhQ2fG >:fG >Bf9E@JfX4c@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ<) 7i)<iɼ1I1I)I9Om5>DzD@AE_ ENEdE"E&:*E҆9VE^n5ZEBE&;a2E&;aJE:a:E:aԙԱ 2Acoustic response timeout V5ҏ,*'H?Aɰ;2/?2RI?2C=ٱ2 :AHRS rotation from veh to nav: [[0.702336,-0.684108,-0.196774],[0.707099,0.638599,0.303648],[-0.082068,-0.352402,0.932243]]2H`y?6 /ɿ?`go?n?`p`ֿ?i2/?I24^;2yCYBlAyBHDFa=XX X)XI\i\\bD VD 8y4%Q=ٔ=~Q-=>9AIA=E;FyEEE+ݼEM>IQ 5Ue4Mഉ?Q 9}e4M"7)MMAYyy}:\?Q I}?MCIM;iM ;MAe4y8BɮBFE*jBjiiziJii kHkHkHh2f:fBfJf?b@ɢ0G;) ^Ii ) 4<  i ȼIԹm2Acoustic response timeoutmIaIqO_>E` EJEE"E*:*Ek9VE5ZEa@a@a@a@BAB>BCB7HB(lAB=BBDB;BE  2Acoustic response timeout9 >5ҏ,1AH?A2?27}G?2=ٱ2-Ḿ :AHRS rotation from veh to nav: [[0.709058,-0.677972,-0.193885],[0.700398,0.645267,0.305079],[-0.081728,-0.352115,0.932382]]2H?`6ȿi?`?i?@촿` ֿ?i2?I2^;2vCY^lAy^qHbDjVDj8yr0Q%rN=ٔvcQ-v>9tIt=z;FyzEzZƼEz>|Q 5e4~P?Q 9e4~p7)~MAY y Y?Q I ?~-CI~:i~:~e4yɮBGE*jBjiiziJii kGkGkGh kGkGkGh2f:fBfJf%a@AɢE<5;)A M*^iI)Ml9yy2Acoustic response timeouti E b E LE hE "E 1:*E |9VE A{5ZE BE 9;a 2E 9;a JE v:a :E w:a h5ҏ,ZH?A >R ?>=*E?>[=ٱ> FAHRS rotation from veh to nav: [[0.715422,-0.672063,-0.191060],[0.693966,0.651741,0.306016],[-0.081140,-0.351519,0.932658]]>H?tȿ`4?`?`ĕ?Ŵ@KֿT?i>R ?I>V=^;>wCYNGlAyNJHbD VD 8yE%MD=ٔMcQ-M>9QIQ=U;FyUEUEU>aQ 5ue4e!?Q 9ue4e7)eALAYyzW?Q I?e[CIe  2Acoustic response timeout5ҏ,tH?A:) ?:>C?:U,=ٱ:m举 BAHRS rotation from veh to nav: [[0.721342,-0.666014,-0.189975],[0.687990,0.657557,0.307064],[-0.079590,-0.352199,0.932535]]:H <?@OQȿ? ?@?`nֿ S?i:) ?I:^;:xCYJkAyJHLLPbD%VD%8y}F׽%G=ٔwQ->9I=;FyEE>Q 5e4?Q 9e4 7)sKAYyMU?Q I?CIf;i4:e4yNBɮ۟B?E*jBjiiziJii k36k36k36h kHkHkHhEY E]PE]mEY"EY*E]?9VE]5ZEYae@ae@ae@am@B}>B}CB}HB}kAB}=ByB}DB};B}zEB-CB-CB-—CB-¥=B-¦=C-j62f:fBfJf`@ɢ:) ,i)<i IIQQYY2Acoustic response timeoutI1 IA Ou >! mz5ҏ,H?A2?2@?2t=ٱ2츾 :AHRS rotation from veh to nav: [[0.727303,-0.659691,-0.189308],[0.682005,0.663828,0.306924],[-0.076807,-0.352336,0.932716]]2HF? 0@;ȿ?>??`ֿ@?i2?I2^;2wCYBhkAyBH==E2Acoustic response timeoutyV-?(\µgfffffƿM?33 9 r?~jtx?-˿YC?y;5^BB4B B)zBY(BbD!VD8y߼%G=ٔq޻Q->9I=;FyEE>Q 5e4b/?Q 9e47)IAYSK?Q E:y(?Q I?CI;ia;Ke4yɮB*jBjiiziJii k#-k#-k#-h kPkPkPh)2f=@=:f=@=Bf=Y?Jf=8@ɢ) 풾i)6+<i߿I1I)I9bE|5jE45rET32Emc EmFEmfEi"Emg5:*Em;J9VEmt5ZEiBEm?;a}2Em?;a}JEme:a:Eme:aO@>Y2Acoustic response timeoutԁ 5ҏ,?rH?A2?2ª>?2c=ٱ2X :AHRS rotation from veh to nav: [[0.733290,-0.653023,-0.189333],[0.676033,0.670544,0.305532],[-0.072563,-0.352039,0.933168]]2Hw?<ȿ?`u?֍?}χֿ?i2?I2*^;0YbkAybHbDn0VDn8yv+%vX=ٔv8Q-v>9xIx=z;FyzEzԷE~>Q 5 e4gB?Q 9 e4F7)%HAY y j&?Q I ?ӍCI:i:e4yYɮB@E*jBjiiziJii kcLkcLkcLh2fQ:fQBfQJfU8@qɢ`) i)<顉i<⽼III)O]=]2Acoustic response timeoutԁԱEu EuMEujEq"EuO:*Eu9VEuـ5ZEqa}@a}@a@a@B>BCB=HBjABBBDB;BE  2Acoustic response timeout5ҏ,DNH?A;ɰ2QE?2t9tIt=v;FyvEzʼEz>|Q 5e4~V?Q 9e4~6)~FAYy#?Q I?~CI~;i~:~e4yɮBAE*j!Bj)i)i)zi)Ji)i) k0k0k0hA kDkDkDhQ2fa:faBfaJfe37@Թɢ܃) Di) <  i j I1IIO=]2Acoustic response timeout9 E _ E LE sE "E &:*E |9VE X5ZE BE &;a 2E &;a JE v:a :E x:a ֶ5ҏ,R)H?AV6$?VY8?VR'}=ٱV< fAHRS rotation from veh to nav: [[0.748656,-0.634821,-0.191092],[0.660075,0.686909,0.304067],[-0.061766,-0.353777,0.933288]]VH?`tP uȿ@U?@)?u?@ŸFֿ?iV6$?IV75^;TYr)jAyrHIz4=)zbD JVD 8y%Q%%F=ٔ-6bQ-->91I1=5;Fy5E=OE=>IQ 5Ue4M0l?Q 9]e4M6)MDAYaye ?Q Ie?M"CIMF;iM%H;Me4yiɮuBq*jBjiiziJii k(k(k(h kSEkSEkSEh2fQ:fQBfQJfU-6@频ɢH ) i)r<顙i3I2Acoustic response timeoutAzApAI9IIO=Aԑm 2Acoustic response timeoutԹ 5ҏ,H?A2R>215?2e=ٱ2 :AHRS rotation from veh to nav: [[0.759085,-0.622333,-0.191031],[0.648570,0.697679,0.304304],[-0.056100,-0.354890,0.933223]]2HkJ?%sȿ? 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jǿR?ࢁ?D?rФֿ?i2]>I23%^;0YjhAyj,H|bDETVDE8y-%M=ٔJQ->9I=;FyE[E>Q 5f4ŵ?Q 9f4Y6)BAYyx>Q I?CIS:iK:+f4yɮ2B7E*jBjiiziJii kHkHkHh kakakah2f :f Bf Jf  >@!ɢ-f)) -J ?J61=ٱJ> VAHRS rotation from veh to nav: [[0.808942,-0.558794,-0.182651],[0.586744,0.748038,0.310114],[-0.036660,-0.358033,0.932989]]JH`?aǿ? ?@?Ţֿ` ?iJ>IJ<^;JwCYbLhAybHhhYbDEfVDE 8y%I=ٔ Q->9I=;FyEWE>Q 5f4۵?Q 9f46)BAYyb>Q I?׎CI;id:!:f4ycBɮZB-E*jBjiiziJii kSIkSIkSIh kakakah 2f!:f!Bf!Jf%@9ɢ=UY)A EiA)EKIIQII52Acoustic response timeoutOԁ]PExceeded connect timeout, disconnecting.Ա 2Acoustic response timeout .5ҏ,{KwH?A2=>2?2h =ٱ2,: :AHRS rotation from veh to nav: [[0.821845,-0.541690,-0.176474],[0.568709,0.761677,0.310512],[-0.033785,-0.355555,0.934045]]2HL?U@ƿ2?_?l?:Liֿ`?i2=>I2.^;2xCY^hAy^H jp9tIx=z;FyzEznEz>|Q 5f4~O?Q 9 f4~d6)~BAY y 7L>Q I ?~CI~:i~:~pGf4yɮ`B*j)Bj)i)i1zi1Ji1i1 k`k`k`hI k`k`ԹB)>B CBHBhAB=BBDB;BOEE\ ESEpE"E:*E9VE5ZEBE;a-2E;a-JEl:a-:En:a-k`h12fI:fIBfIJfMW@颩ɢֈ) xi)<i6IA zA IyIO>]2Acoustic response timeout9 5ҏ,&H?A6㯺>60?6=ٱ6׸ BAHRS rotation from veh to nav: [[0.834518,-0.524277,-0.169450],[0.550054,0.774912,0.311370],[-0.031936,-0.353051,0.935059]]6H_?ſ ??}?Ybֿ?i6㯺>I6K^;4YFgAyJHy)\(?K7A?V-?GA? >h> 9d;O?(\ȿV-?Y4?yGm>BbB +B)CYBbD5VD5<8y=%EE=ٔEQ-E>9III=M;FyMEM}^EU>QQ 5]f4U?Q 9ef4U6)UYDAYeD?Q Ee:ye>Q Ie?UCIU ;iU:UUf4yqɮugBq*jBjiiziJii2Acoustic response timeout k`k`k`h2f>:f>Bf@Jfk@颙ɢ!ə) i);<顡i8௼IIAIQO=D!zD%AAE-` E-OE-oE)"E-*:*E-9VE-5ZE)a5@a5@a5@a5@AqM 2Acoustic response timeoutԙ #A5ҏ,H?AnManaging dock network, ignoring radio surface power off J0>Jֿ@c?iJ0>IJP^;JwCYygAyUHAA A)AIAiAIbDUVDU78ye${%eH=ٔm[%Q-m>9iIi=m;FyuEu~eEu>yQ 5f4}?Q 9f4}6)}FAYy>Q I?}DCI}N:i}:}=df4yɮtB.E*jBjiiziJii kHkHkHh k_k_k_h2f:fBfJf@ ɢ ;)  ii ) 6<iIqA!I1IAIYO>2Acoustic response timeoutԡB>BCBHBgAB=BBDB;BEB} CB} CB}ǔCB}ǣ=B}Ǣ=C}6E=_ E=WE=fE9"E=&:*E=9VE=t5ZE9BE=&;aE2E=&;aEJE=:aE:E=:aM ] 2Acoustic response timeout-5ҏ,H?A2{>2 ?2d=ٱ2ܷ :AHRS rotation from veh to nav: [[0.858598,-0.488748,-0.154711],[0.511691,0.798585,0.316914],[-0.031341,-0.351267,0.935751]]2H y?G߿ÿ_??SH?@ &{ֿ?i2{>I2ސ^;2xCYZegAyZIHbDfUVDf8yn#I%nS=ٔn:Q-n>9pIp=r;FyrEv mEv>tQ 5~f4v4?Q 9~f4v6)vGAY|y~C>Q I~?vhCIv:ivy:vqf4y ɮ vB *jBjiiziJii kGkGkGh kakakah2f:fBfJfP@1ɢ5W)9 = i9)=<99iE AIIA]U?A]U?AyIIO >ߩ߭4=2Acoustic response timeoutA bE5jE5rEѩ1E9  E= JE9 E9 "E9 *E= k9VE9 ZE9 aM @aM @aM @aM @T5ҏ,¿H?AFk>F ?F=ٱF9 RAHRS rotation from veh to nav: [[0.869411,-0.471778,-0.146801],[0.492997,0.808562,0.321219],[-0.032847,-0.351644,0.935557]]FH 6?1޿^¿D??@ێ?MѠUֿ ?iFk>IFj^;FwCYngAynZHbDE%VDE8yv<%>=ٔqe;Q->9I=;FyEME>Q 5f4L?Q 9f46)IAYyS>Q I?CI;i<;Ҁf4yɮsB*jBjiiziJii kIkIkIh kdkdkdh)2f9:f9Bf9Jf=M@Yɢ]^)Y ]iY)e|yԡ  2Acoustic response timeout}5ҏ,SH?A4<ɰ:Ў>:Ҁ>:ѥ =ٱ:@ FAHRS rotation from veh to nav: [[0.878455,-0.456785,-0.140229],[0.476573,0.816337,0.326300],[-0.034575,-0.353469,0.934807]]:H`M? 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FYֿ`?i2$>I2\^;2xCYBfAyB H2Acoustic response timeoutyt 9Gz?Zd;O?> ףp=?YP?yj<>Q>BB ΛB)BYBbDVD8y%F=ٔH;Q->9I=;FyEE>Q 5f4x?Q 9f46)KAY<\?Q Ev:yE?Q I?CI:i{:)f4yBɮB/E*jBjiiziJii k#Fk#Fk#Fh1 ksgksgksghA2fU>:fU>BfU~fp@JfUi@ɢjܼ) i)m<iIA1zA1)AaIqIEc EbEpE"Eg5:*E9VE5ZEa@a@a@a@OG>Y5 2Acoustic response timeoutԁ L 6ҏ,sJ,H?A>q>>>>=ٱ>j FAHRS rotation from veh to nav: [[0.891720,-0.432845,-0.132214],[0.451132,0.826677,0.336280],[-0.036259,-0.359514,0.932435]]>H?@ۿ_Z?#t?`?E׿@?i>q>I>A^;>zCY^NfAy^ HbDj#VDj8yrIƽ%rZ=ٔv:Q-v>9tIt=v;FyzEz Ez>|Q 5f4~?Q 9f4~6)~dLAY y oB?Q I ?~ CI~:i~ :~Cf4yɮB*j)Bj)i1i1zi1Ji1i1y kikikih kikikih2f:fBfJf}h@)ɢ-))) -i))5+Be<11iUnӦYIY2Acoustic response timeoutԡAIIO*>BYA]<B];>B] CB] HB]fAB]=BYB]DB];B]EE EKElE"E*E]t9VE5ZEBE?;a2E?;aJE/:a:E0:a = 2Acoustic response timeoutD6ҏ,GFH?A2(t>2^>27|=ٱ2& :AHRS rotation from veh to nav: [[0.896728,-0.422712,-0.131126],[0.441136,0.829732,0.341969],[-0.035755,-0.364497,0.930518]]2H?` ۿ;? +? ? NS׿ ?i2(t>I2i^^;0YB1fAyB HF@ADbDNVDN8yV%VM=ٔZQ-Z>9XIX=^;Fy^E^E^>`Q 5ff4b?Q 9ff4b6)bLAYhyj??Q Ij?b7CIb;ib;b2f4ynԼBɮn Bn%E*jxBjxi|i|zi|Ji|i| kakakah kakakah!2f1:f1Bf1Jf5g@QɢUE)Y ]iY)]]F¡>F2=ٱF$¾ RAHRS rotation from veh to nav: [[0.901400,-0.412765,-0.130775],[0.431593,0.832327,0.347793],[-0.034709,-0.369942,0.928406]]FHE?jڿ:8?k?;B?`mš ׿ ?iFi>IFO^;F{CYZfAyZv Hpp p)pIpippbDz*VDz8yb%F=ٔ &Q- >9 I = ;Fy EҼE>Q 5%f4?Q 9%f46)MAY!y-D=?Q I-?dCIp:i:f4y5ҼBɮ5B5&E*jIBjIiIiQziQJiQiQ k]k]k]hi ksuksuksuhy2f:fBfJfTe@颩ɢ) i)ԁ k> G)Iu9yY}$Aԩ 2Acoustic response timeout 6ҏ,yH?A2_>2ʎ>2=ٱ2<ž :AHRS rotation from veh to nav: [[0.905694,-0.403039,-0.131441],[0.422667,0.834571,0.353331],[-0.032709,-0.375566,0.926218]]2Hr?eٿ ?@ϴ? ?;@E ؿ?i2_>I2[j^;2xCY^0fAyb HbDjVDj8B'>B CB HBHfAB=BBDB;BɛEy}L<%}C=ٔHQ->9I=;FyEE>Q 5f4-ζ?Q 9f4c6)@NAYy:?Q I?CI6;iG;\f4yӼBɮ B*jBjii zi Ji i E=_ E=KE=gE9"E=&:*E=]t9VE=x5ZE9BE=&;aM2E=&;aMJE9aM:E9aU k\k\k\haԱ2f:fBfJf4d@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18 o5@Completed marl:UpdateCommandMode75o5\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7E]A7EnM4Completed marl:UpdateSpeedq7mnuPAggregate::uninitialize marl:UpdateSpeed)ɢ5^Dݼ)9 =iA)mK 9 $6ҏ,H?A;ɰ2gV>2,>2<ٱ2Ǿ :AHRS rotation from veh to nav: [[0.909593,-0.393748,-0.132677],[0.414434,0.836896,0.357562],[-0.029752,-0.380222,0.924417]]2Hb?(3ٿ? ?K?RwUؿ Ҕ?i2gV>I2J^;0YFeAyFJ HHJa=e2Acoustic response timeouty r?Mbgfffffƿc?33 9M?7A`?x&YnR?y>7 B rB)YfBbD VD8y {%B=ٔ%Q-%>9!I)=-;Fy-E-ME->1Q 5=f45f綉?Q 9Ef45ú6)5LAYEX?Q EE{:yE?Q IE?5CI5:i5:5$f4yMҼBɮUBQ*jaBjaiaiiziiJiiii k]k]k]h k]k]k]h2ff>:ff>Bfj?Jf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢX )  M#iI)ULC 2Acoustic response timeouti *6ҏ,9H?A2M>29?>2Y<ٱ2Յɾ >AHRS rotation from veh to nav: [[0.913415,-0.384314,-0.134071],[0.406210,0.839831,0.360106],[-0.025796,-0.383387,0.923227]]2H:?ؿ@?)@Z?@? ?`jjؿ ?i2M>I2%^;2zCYFveAyF HI~<)| 4<bD VD 8yEQ%EW=ٔM+Q-M>9III=U;FyUEU^żEU>YQ 5ef4]?Q 9ef4]6)]KAYiymv?Q Im?]CI]:i]y:]Mf4yuѼBɮ}#By*jBjiiziJii kC]kC]kC]h! kC]kC]kC]hY2fi:fiBfiJfmUS@颡ɢ) (i)S;<inIqm2Acoustic response timeoutA$AII O@>ԙB>BCB HBfAB=BBDBM;BEE EJExE"E*Ek9VEe5ZEBE ;a 2E ;a JE:a :E:a5  2Acoustic response timeout16ҏ,LlH?A:A>:<>:<ٱ:=ʾ FAHRS rotation from veh to nav: [[0.917999,-0.373077,-0.134503],[0.395986,0.843704,0.362434],[-0.021735,-0.385976,0.922253]]:H?`?`~׿ g7W?`? 2?Aӳؿ?i:A>I:?W^;:xCYJeAyJ4 HPbD VD 8y]w<%eI=ٔe#Q-e>9mH?ImH?=m;FymEmEm>qQ 5}f4u?Q 9f4ul6)u^JAYyj?Q I?uCIuD;iu:uf4yɮB*jBjiiziJii kakakah2fy:fyBfyJf}v@颱ɢ ) %i)2<项iIA%AI1IAOu7>}2Acoustic response timeout! 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A? \׿?if,@IfY^;dYzFeAy~ HbD VD 8y0<%%I=ٔ%˻Q-%>9-K?I5K?=5;Fy5EENEM>YEb ENEhE"E1:*E҆9VEA{5ZEBE9;a2E9;aJEa:EaYQ 5mg4]5Y?Q 9mg4]6)]HAYyyiO=Q I?]CI]=i]=]بg4yɮ;B E*j9Bj9iAiAziAJiAiA kS.kS.kS.hy kSHkSHkSHh2f:fBfJfa@ɢ:!) +i)|.;iV)I)ԁ2Acoustic response timeoutAqIIOf>ԩ p6ҏ, H?A@FE@F5>F-{ٱFAľ NAHRS rotation from veh to nav: [[0.984207,-0.157916,-0.079989],[0.176351,0.913906,0.365619],[0.015365,-0.373951,0.927321]]FH~?@6Ŀ'z`?>?Lf?w?׿?iFE@IF"<^;FuCYjTeAyj Hn@An@A=<2Acoustic response timeoutyS㥛?MbX9?{GzD?!># 9A`"?Mb?!rh?Y9?y<l=oB4B )BYkBbD3VD8y<%==ٔmQ->9 I =;Fy!E/E>!Q 55g4%r?Q 9g4Ա%6)%UIAYX;?Q E:y{>Q I?%.CI%^:fg`>BfDF@Jf4@ɢB0) *i)gu;i𝏼IE] EGEsE"E:*ER9VEX5ZEa@a@a@a@AI IOMS>2Acoustic response timeout 9 Nj6ҏ,wh1H?ABW]@B )>BٱB ƾ NAHRS rotation from veh to nav: [[0.986253,-0.145753,-0.077847],[0.164327,0.914597,0.369471],[0.017347,-0.377184,0.925976]]BH`c? ¿@@?aD?`h?dÑ?#ؿ ?iBW]@IBH[^;ByCYV}eAyV H5=5==@A9bDEVVDE8yc<%R=ٔ2Q->9I=;Fy#EE>Q 5g4z?Q 9g46) JAYyp>Q I?QCIE:i]:[g4yɮ4B*jBjiiziJii kS*kS*kS*h ksDksDksDh2f :f Bf Jf @)ɢ-;)) -*(i1)5NhW;11i5q9I9 2Acoustic response timeoutAe$AIqIO>BABb>BCB HBfAB=BBB;BEBCBCBŕCBŢ=BCŢ 69E^ EIEhE"EC#:*Ec9VEA{5ZEBE ;a2E ;aJE:a:E:ai i߹ I߹  2Acoustic response timeoutx6ҏ,tCKH?A0F@F C>F狜ٱFWǾ NAHRS rotation from veh to nav: [[0.988199,-0.133417,-0.075254],[0.151981,0.915282,0.373044],[0.019109,-0.380078,0.924757]]FH S?@Ct?I??.?4Sؿ?iF@IFHH^;FvCYVeAyV HbD-EVD-8y ;%I=ٔQ->9H?IH?=;Fy&EE>Q 5g4?Q 9g4R6)JAYyc>Q I?wCI;i;g4yɮ3B*jBjiiziJii ks+ks+ks+h ksMksMksMh2f!:f!Bf!Jf%@9ɢEF/)A E'iA)Ep4;AIiMTIIQԉAAIIIO-,>Թ%2Acoustic response timeout bE-5jE-Պ5rE-u2E  E LE pE "E *E |9VE 5ZE a @a @a @a @ߘ6ҏ,7eH?AV~@V@9 >VٱV ɾX bAHRS rotation from veh to nav: [[0.990289,-0.119028,-0.071830],[0.137447,0.915825,0.377323],[0.020872,-0.383532,0.923292]]VHs?@x@scܗ?@pN?&?@Y_?ɋؿ?iV~@IV^;V{CYzReAyz H~a=~a=bD2VD8y%R=ٔQ->9%K?I%K?=%;Fy%(E%E%>)Q 55g4-˸?Q 9=g4-˝6)-KAY9y=0U>Q I=?-CI-Q:i-:-'g4yEBɮM9BM!E*jaBjaiaiaziaJiiii kJkJkJhy kJkJkJh2f:fBfJfC@颹ɢ8) *i)cg;AiMIIQ2Acoustic response timeoutAyIIO!>  2Acoustic response timeout9 B `>B B HB HfAB B B B v;B DEa6ҏ,E H?AF@F=FUٱF*I˾ UAHRS rotation from veh to nav: [[0.992551,-0.101675,-0.067119],[0.119689,0.916629,0.381400],[0.022744,-0.386593,0.921970]]FH?c.?U?h? 9J? ؿǀ?iF@IFx^;FyCE_ EIEhE"E&:*Ec9VEA{5ZEBE&;a2E&;aJEa:EaYeAy @ HaU@aU aU@a] a]@a] a]@a] a]@a] yUy&1?&1~jtU`e?UнUQ Q)UMb@Mb@Mb@IUiU‰UUU U)UUIU m9I=;Fy,EE>Q 5g4ո?Q 9g46)lLAQ A+:YQ Ek:yZC>Q I?ȓCI] ;i]>g4yɮ-B*jBjiiziJii kHkHkHh kHkHkHh)ɢ-I!)) -$i))5|:11i5/1I9A}2Acoustic response timeoutAII O=r>yԙ 6ҏ, ՘H?A2J@2@=2ażٱ2˾ :AHRS rotation from veh to nav: [[0.994681,-0.083079,-0.060891],[0.100147,0.918284,0.383046],[0.024092,-0.387107,0.921720]]2Hm?D-`8?b?@ԃ??[ؿ ~?i2J@I2mh^;2|CY@y@bDN)VDN8ٔVQ-V?9XIX=Z;FyZ-EZ^EZ?\Q 5bg4^2踉?Q 9fg4^6)^MAQ Af :YdQ Ef>:yfP/>Q If?^CI^;i^JK?^g4yhɮlr2Acoustic response timeoutl*j|Bjii zi Ji i  k#Ik#Ik#Ih1qԹɢu7K) i)6:i!I!A$AIIEf EQEnE"EI@:*Ev9VEJ5ZEa@a@a@a@O+>2Acoustic response timeout9 6ҏ,H?A2H@2=2Jzͼٱ2ʾ :AHRS rotation from veh to nav: [[0.996497,-0.064000,-0.053829],[0.079778,0.920554,0.382381],[0.025080,-0.385336,0.922435]]2HM?PbzYl? .u?`x??`Xؿ`?i2H@I2{^;2zCY^fAyb{ Hb?Ab?A   )IibD%LVD%8y-=%5<ٔ5Q-5>9=H?I=H?==;Fy=0EEFEE>AQ 5Mg4E?Q 9Ug4Eڙ6)EMAQ AU9YQQ EU:yU>Q IU?E CIE:iE?Eg4yaɮe Ba*jyBjyiyiziJii kFkFkFh kFkFkFhɢL+) i)5:i4IԱ2Acoustic response timeoutA AII1Om>A@AA?AB^>BB HBfAB=BBBC;BEEd EKEqE"E9:*E]t9VE5ZEBEF;a2EF;aJE/:a:E0:a 2Acoustic response timeout 6ҏ,H?A2@2Vr=2Ѽٱ2ɾ :AHRS rotation from veh to nav: [[0.997922,-0.044778,-0.046323],[0.059111,0.922344,0.381822],[0.025628,-0.383767,0.923074]]2H?"@@C?փ?o?X>?ؿ҉?i2@I2`s^;0YBeAyBc HbDNMVDN 8yVeɼ%VS=ٔV繺Q-V>9ZK?IZK?=Z;FyZ3EZ[E^>`Q 5bh4b?Q 9fh4b6)bNAQ Af9YdQ Ef9yf>Q If?b/CIb:ib?bh4ylɮn%B"E*j1Bj1i1i1zi1Ji9i9 kCMkCMkCMhQ kakakahɢ93) !i)C9iIAU?AP?A-$AI1IAO}>%=4= 2Acoustic response timeoutI E b E bE dE "E 1:*E 9VE ^n5ZE a @a @a @a @'6ҏ,eH?A 2K@2=2fռٱ2˾ :AHRS rotation from veh to nav: [[0.998940,-0.024973,-0.038674],[0.037959,0.922127,0.385021],[0.026047,-0.386081,0.922097]]2HP?v ͣ`Mo?@?/??ؿс?i2K@I2F_;2|CY^NfAyb HbD-<VD-8y[=%<=ٔ|Q->9H?IH?=;Fy5ECGE>Q 5h423?Q 9h46)cOAQ A9YQ E9y=Q I?WCI;ik@h4yɮB*jBjiiziJii k#Ik#Ik#Ih  k_k_k_hI]2Acoustic response timeoutɢU*)i mii)m~iqiu8LyIy Ci_G1eb9aYeAIIO%>ԙiQIQ  2Acoustic response timeoutB ;>B CB 0HB 9I=;Fy8EP5E>Q 5h4T?Q 9h4Ϙ6)PAQ AT:YT?Q E:yQ I?CI;i;h4yɮB*jBjiiziJii! k#Fk#Fk#Fh1 k\k\k\hI2f]=:f]=Bf]p@Jf]3@@19] reNAggregate::initialize marl:UpdateRudderq9eJ]aq9e9e7momXAggregate::initialize marl:UpdateCommandMode18m]i18mom@Completed marl:UpdateCommandMode7mom\Aggregate::uninitialize marl:UpdateCommandModeq7mnmLAggregate::initialize marl:UpdateSpeed7u]q7unu4Completed marl:UpdateSpeedq7unuPAggregate::uninitialize marl:UpdateSpeed颉ɢ) ;i)-k顑i犼E2Acoustic response timeoutIIII OEs> 96ҏ,H?AF@F@Fq߼ٱFɾ VAHRS rotation from veh to nav: [[0.999620,0.014193,-0.023633],[-0.004019,0.923157,0.384402],[0.027272,-0.384161,0.922863]]FH?@?%3i}IAQzAQIIO>)E^ EHEE"EC#:*E[9VEZEa@a@a@a@Qu2Acoustic response timeoutԁ c6ҏ,M3H?A2`@2[@2qٱ2Pƾ :AHRS rotation from veh to nav: [[0.999359,0.031054,-0.017820],[-0.021998,0.925245,0.378733],[0.028249,-0.378098,0.925335]]2H?̟?@I??'=?=?2ؿ@W?i2`@I2^;2zCYBfAyB HbDNYVDN8yV<%VZ=ٔVe*Q-V>9XIX=Z;FyZ=EZ$DE^>`Q 5bh4b􃹉?Q 9fh4bt6)b{RAYdyf]Q If?bҔCIb>:ib:b!2h4yhɮnBn#E*jtBjtixixzixJixixY k3bk3bk3bh k|k|k|h2f:fBfJfaI@ ɢ 3)  wi )AiIIIO=2Acoustic response timeoutԁB-U>B- CB-bHB-gAB-=B)B-DB-;B-EEZ EFEqE"E:*E;J9VE5ZEBEj;a2Em;aJEe:a:Ee:aԱ  2Acoustic response timeoutK6ҏ,MH?A2}@2@2ٱ21þ :AHRS rotation from veh to nav: [[0.998870,0.045636,-0.013285],[-0.037371,0.926767,0.373774],[0.029370,-0.372855,0.927425]]2H? ]? 95H"??#?׿v?i2}@I2s^;0Y^/gAy^(H``bDjXVDj8yr]=%rF=ٔv2Q-v>9tIt=v;Fyz?EzEz>|Q 5h4~?Q 9h4~6)~SAY y  Q I ?~CI~F:i~:~@h4yɮB*j)Bj)i)i)zi)Ji1i1 kxkxkxhA kxkxkxԹhQ2f:fBfJfi<@AɢE{$)A E iI)MIIiMЉQIqII OE=2Acoustic response timeoutE ` E UE ^E "E *:*E P9VE [5ZE a @a @a @a @9 u6ҏ,igH?A6r@6m@6fٱ6< þ BAHRS rotation from veh to nav: [[0.998222,0.058823,-0.009582],[-0.051019,0.926516,0.372780],[0.030805,-0.371629,0.927870]]6H@p? ?$ ??@y?@׿?i6r@I6G^;6xCYF[gAyFCH\\ \)`I`i`` ``bDj0VDj8yrA<%rJ=ٔr,iQ-v>9tIt=v;FyvBEz Ez>|Q 5h4~e?Q 9h4~6)~TAYy5Q I ?~'CI~;i~ :~Nh4yɮB*j!Bj)i)i)zi)Ji)i1 kxkxkxhA kxkxkxhQ2fi:fiBfiJfm@颉ɢi)) K i) *顑iIi9I9E2Acoustic response timeoutAeV?AeC?IIO%=Aq 2Acoustic response timeoutB5 S>B5 CB5 HB5 hAB5 =B5 DB5 DB5 ;B5 ?EBB CBʔCBBCH6ԙ la6ҏ,H?AEe] EeJEepEa"Ee:*Eek9VEe5ZEaBEe:;am2Ee=;amJEe:au:Ee:auu@u @usٱu¾ AHRS rotation from veh to nav: [[0.997484,0.070609,-0.006300],[-0.063192,0.925933,0.372364],[0.032126,-0.371029,0.928066]]uHc?@p?y]-`>? ?r?׿?iu@Iuj^;u{CYgAyaHyMb?~jt?L7A`堿@?>+ 9%C?Q?B`"۹?YZD?yu=BB 5B)rBY\BbD=!VD=8yE<%E5=iٔ1@Q->9I=;FyEEԼE>Q 5h4ٹ?Q 9h4^6)\UAYF?Q E:ym=Q I?VCI;i; _h4yɮB*j!Bj!i)i)zi)Ji)i) kukukuhA kykykyhQ2fe&'>:fe&'>Bfe@Jfe6n@颁ɢ,k) 2i)CK顉ieIE2Acoustic response timeoutԙIIOF> 6ҏ,kH?A;ɰp;FL@FQ@FٱFR2Acoustic response timeout RAHRS rotation from veh to nav: [[0.996631,0.081950,-0.003248],[-0.074905,0.925645,0.370906],[0.033402,-0.369413,0.928665]]FHf? 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?3׿ ?i2ͬ@I2Wn^;2|CB2Acoustic response timeoutYFthAyJHbDVVDV8yZo<%Zd=ٔ^S9Q-^>9`I`=bdQ 5jh4fm?Q 9jh4f-6)f(WAYlyn[Q In?f7CIf ;if{;fFh4ypɮvԟBt*j|Bj|iiziJii k`k`k`h kkkh)2f9:f9Bf9Jf= @Yɢ]%)a ehia)e aaieXوiIiyI9IIOu=DazDaEmf Em]EmvEi"EmI@:*Em9VEm-5ZEiau@au@au@a}@ԡ52Acoustic response timeoutY롿9YA 7ҏ,6H?A6<@67@6ٱ6eǾ BAHRS rotation from veh to nav: [[0.987865,0.153576,0.023182],[-0.150773,0.912392,0.380538],[0.037290,-0.379415,0.924475]]6H?d? ?`LÿP2?Z?@?UHؿ@L?i6<@I6Q^^;6xCYFhAyJHHJp=`` `)`I`i``bDj7VDj8yr] <%rH=ٔrRQ-v>9tIt=v|Q 5h4~?Q 9h4~6)~VAYyQ I ?~\CI~|:i~):~h4yBɮџB*j)Bj)i)i)zi)Ji)i1 ksekseksehA kykykyhQ2fi:fiBfiJfme,@颁ɢYv) i)1顉i+ӈI2Acoustic response timeoutBiAm<Buz>BuCBuHBuiABu=BqBuDBu;BuBEII>>Oe>E}` E}KE}rEy"E}*:*E}]t9VE}5ZEyBE} -;a2E} -;aJE}/:a:E}0:a1E 2Acoustic response timeoutY 7ҏ,aPH?A2hü@2m@2Lٱ2*ʾ :AHRS rotation from veh to nav: [[0.985495,0.167262,0.028685],[-0.165304,0.907890,0.385240],[0.038393,-0.384394,0.922370]]2H,?`h?@_?(ſo ? ǧ?`C?@ؿ?i2hü@I2k^;2{CYBhAyB1HbDNVDN8yVh=%VN=ٔVe6Q-V>9XIX=ZQ 5 h4?Q 9 h4Q6)VAYyQ I?CI:i/:h4y%Bɮ-şB)*jaBjaiaiaziiJiiii kSxkSxkSxh2f:fBfJfP@ ɢ w)  !i)}ʻi!I!9 هIqIO=aߝ=ߝ=2Acoustic response timeoutԉE c E ME oE "E g5:*E 9VE 5ZE a @a @a @a @Թ 7ҏ,9I=Q 5h44?Q 9h46).VAYyʽQ I?CI[:i|:h4yBɮɟB&E*jBjiiziJii2Acoustic response timeout k`k`k`h2f!:f!Bf!Jf%5Z@9ɢE)A EqiA)E"ֻAIiM눼IIQYYYYԑIaIqOb> 2Acoustic response timeoutBm y>Bi Bm HBm jABm =Bi Bi Bm ;Bm E 7ҏ,%$H?A B»@B@Bߞ(ٱB˾ JAHRS rotation from veh to nav: [[0.979720,0.196579,0.038806],[-0.196101,0.900899,0.387202],[0.041156,-0.386959,0.921178]]BH Y? 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B% DB% W;B% `E HA7ҏ,_H?A6Gĸ@6L@6M:ٱ6'; >AHRS rotation from veh to nav: [[0.956936,0.281305,0.071700],[-0.286692,0.876949,0.385704],[0.045623,-0.389650,0.919832]]6H 8? ?Z?'Yҿ?@`?[?ؿ Do?i6Gĸ@I6e^;6{CYb(jAybHE%_ E!E%nE!"E%&:*E!VE%J5ZE!BE!a-2E!a5JE!a5:E!a5yekt?S㥛~jt?e P?e$eDԙ9I=E>Q 5i41@?Q 9i4f6)*SAYj?Q Eh:y+Q I?CIO;iS;Q1i4yƼBɮB*jYBjYiYiaziaJiaia k3Dk3Dk3Dh2fs>:fs>Bf7@Jfy@^B*** querying acoustic contact ***XYɢ4 )  i)jM iPIIIO>2Acoustic response timeout )rG7ҏ,;H?A@&2Acoustic response timeout6?#@6D@6\9ٱ6_5˾ BAHRS rotation from veh to nav: [[0.951129,0.298680,0.078389],[-0.305450,0.872739,0.380823],[0.045331,-0.386156,0.921319]]6H o??N?|ӿ{?i_? 5?Ƕؿq{?i6?#@I6 T^;6zCYFgjAyJ#HHHbD VD 8y] =%eM=ٔe@:Q-e>9iIi=mqQ 5}i4uW?Q 9i4u|6)uTSAYy0Q I?uŗCIu:iuN:u3?i4yżBɮxB1E*jBjiiziJii kDkDkDh kDkDkDh2f:fBfJfo@ ɢ V ) i)Ui!I!IIO=E5c E5GE5tE1"E5g5:*E5R9VE55ZE1a=@a=@a=@a=@!2Acoustic response timeoutQy 3M7ҏ,9H?AFG~@FLy@F8ٱF-6Ⱦ VAHRS rotation from veh to nav: [[0.944797,0.316589,0.084437],[-0.324544,0.868788,0.374004],[0.045048,-0.380762,0.923575]]FH@;?B?`? 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?`Q?`ֿC?i6@I6}^;4Y^mAybH bD-VD-8ye=%e@=ٔm3mQ-m>9iIq=uyQ 5i4 ?Q 9i46)2[AYy8Q I?CI:i:i4yBɮB*jBjiiziJii kkkh k(k(k(h2f:fBfJfU@ɢ) ԡ=%==<E2Acoustic response timeoutE- b E- SE- hE) "E- 1:*E- 9VE- A{5ZE) a5 @a5 @a5 @a5 @ z7ҏ,@H?A2X;@2]6@2eIٱ2 :AHRS rotation from veh to nav: [[0.893167,0.433852,0.118431],[-0.447032,0.827700,0.339227],[0.049149,-0.355929,0.933220]]2HҔ?9?xQ?@+ܿ|??@*?@ֿ?i2X;@I2^;2yCYN/mAyRHbD-#VD-8ye<%eJ=ٔmWQ-m>9iIi=uyQ 5i4}&?Q 9i4}T6)}]AYyTQ I?}KCI}:i}:}0i4yB2Acoustic response timeoutɮB*jBjiiziJii k3.k3.k3.h2f:fBfJfv@ɢʻ) 4i)m*i Ď!I!IIO]=Q] 2Acoustic response timeoutB 4>B B cHB nAB =B B B ;B EB- CB- CB)B-ɤ=B-ɤ=C-#6y 7ҏ,H?Aɰ2Dz@2¹@2Lٱ2 :AHRS rotation from veh to nav: [[0.886725,0.445768,0.122517],[-0.459589,0.821362,0.337848],[0.049971,-0.355886,0.933192]]2H `?v?B]?iݿH?O?`ؕ?ֿ@?i2Dz@I2^;2{CYNmAyR0HPRp=Er^ ErFErgEp"ErC#:*Er;J9VErx5ZEpBEr ;av2Er ;azJEre:az:Ere:azyCl?"~??d;?S>= 9T㥛 ?V-?Zd;?Ya?ym=>B6~B DB)ɞBYpBbD$VD8y =% @=ٔ Q->9I=!Q 5-i4%E?Q 9-i4%6)%_AY5t?Q E5]:y5UQ I5?%{CI%;i%:;% i4y9ɮ=BE=EQ*jYBjYiYiYziYJiaia kkkhy k)k)k)h2f!>:f!>Bf@Jf߯@颹ɢpͤ)ͼ i)/e,i)IIIO>2Acoustic response timeoutԁ ] 2Acoustic response timeout7ҏ,"H?A2BV@2GQ@2ʼnOٱ2 :AHRS rotation from veh to nav: [[0.880252,0.456925,0.127966],[-0.471795,0.814011,0.338813],[0.050647,-0.358615,0.932111]]2H+?D>?.a?1޿a ?@?@a?ֿ?i2BV@I2ܬ^;2zCYBmAyB@HID)F=bDNVDN8yV<%Vb=ٔZQ-Z>9XIX=Z`Q 5fi4b^?Q 9fi4b36)baAYdyj׍Q Ij?bCIb:ib:bi4ynBɮn֞BnGE*jxBjxixixzixJi|i| kkkh  k/k/k/h!2f1:f1Bf1Jf5@QɢU6V)Q U iQ)U-YYi]OaIaIIO]=ԙbE]x5jE]8|5rE]1Eg EEEbE"EC:*EA9VEg5ZEa@a@a@a@2Acoustic response timeout 87ҏ,ץ;H?A6@6@6WQٱ6? >AHRS rotation from veh to nav: [[0.873926,0.467460,0.133168],[-0.483366,0.807036,0.339191],[0.051087,-0.360797,0.931244]]6H4??@ ?`x޿=?L?@ (?`J׿?i6@I6}^;6xCY^nAy^HbDj#VDj8yr=%rH=ٔvQ-v>9tIt=v|Q 5i4~{?Q 9i4~6)~*dAYy %Q I ?~љCI~:i~:~i4yɮB*j)Bj)i)i)zi)Ji1i1 kkkhI2fY:fYBfYJf]X@qɢ}芌)y }Riy)}2:/顁i6I2Acoustic response timeoutB->B-CB-HB-oAB)B)B-DB-;B-EIA II!IAOm>YE_ EGEeE"E&:*ER9VEq5ZEBE&;a 2E&;a JE!t:a :E#t:a ԉ  2Acoustic response timeout!7ҏ,,UH?A06@6~@6Qٱ6Կ >AHRS rotation from veh to nav: [[0.867772,0.476913,0.139738],[-0.494319,0.799359,0.341577],[0.051201,-0.365486,0.929407]]6H??@?@߿X?f?`7? d׿?i6@I6^;6zCY^gnAy^H`b?AbDjEVDj8y-%-F=ٔ-ёQ-->91I1=5AQ 5Mi4EP?Q 9Mi4E6)EfAYIyMQ IU?ECIE):iEd:Efi4y]Bɮ]ÞBY*jBjiiziJii kckckch2f:fBfJfI@ɢ )  {̽i)˛0i%!I)ԉ%2Acoustic response timeout}oMAY?Ai?ԹAIIO > E ^ E LE _E "E C#:*E |9VE C^5ZE a @a @a @a @vJ7ҏ,y[oH?A2# @2)@2kwQٱ2¾ :AHRS rotation from veh to nav: [[0.861745,0.485650,0.146766],[-0.504760,0.791555,0.344468],[0.051117,-0.370925,0.927255]]2Hi? ?=? &jT? ?,?@<׿?i2# @I2 n^;2{CYBnAyBHXX X)Z-IXiXX \\\bDfVDf88ynn=%nP=ٔr(a9Q-r>9pIp=rxQ 5~i4z/?Q 9i4z6)zhAYyĞQ I?z-CIz;iz ;z'i4y Bɮ BHE*j!Bj!i!i)zi)Ji)i)iyIy2Acoustic response timeout kCkCkCh2f:fBfJfO@ ɢ ~) i)5d111i=9IA-8AIIOF>E 2Acoustic response timeoutB% >B% CB% vHB% oAB% =B! B% DB% ;B% `EA Y27ҏ,6H?A6c@6i@6YPٱ6rž >AHRS rotation from veh to nav: [[0.855795,0.494028,0.153466],[-0.514803,0.784099,0.346651],[0.050923,-0.375666,0.925355]]6Hb?&?Ĥ? DyV?/?? ؿ?i6c@I6)^;4E` EbPEb`E`"E`*Eb?9VEb|a5ZE`BEb ;aj2Eb ;ajJEb:aj:Eb:ajYnYoAyn-Hym@5^I ?ktI +mb0?m 0m9i i9mi|?5?ףp= ?B`"۹?Ym1?ym>m=m0BmB mB)mBiYmGBbDwVD08yy=%?=ٔ9Q->9I=Q 5j4ͼ?Q 9j46)liAY7?Q E:yQ I?TCI ;im ;j4yɮB*jBjiiziJii kCkCkChq2f+>:f+>Bf?Jf΃?ɢv._) s&i)2iY"II2Acoustic response timeoutTмyAe $AIq I O >ԡ = 2Acoustic response timeout\7ҏ,H?Aɰ4<2`@2[@2oMٱ2&ƾ :AHRS rotation from veh to nav: [[0.849770,0.502439,0.159519],[-0.524757,0.777416,0.346779],[0.050223,-0.378391,0.924282]]2HO1??k?@?1?ȶ? 7ؿ?i2`@I2Mn^;2|CYBoAyB_HFp=DbD5[VD58ye6L=%eM=ٔmi:Q-m>9mH?ImH?=uyQ 5j4伉?Q 9j46)iAYyQ I?xCI:i: j4yBɮB*jBjiiziJii kkkh kkkh2f:fBfJfQC? ɢIJ) i)aV2i!I!))))E\ EBEgE"E:*E(9VEx5ZEa@a@a@a@ԹG1Iu9yY}A2Acoustic response timeoutAAII }Failed to create a data reader. azimuth_vehicleFrame is unknown.}bFailed to request data from azimuth_vehicleFrame.I>O> 7ҏ,H?A2@2@2$Iٱ2Kɾ :AHRS rotation from veh to nav: [[0.843589,0.510473,0.166657],[-0.534723,0.770068,0.347946],[0.049279,-0.382639,0.922583]]2H?U?U?`sf?D?&;?'}ؿ@̅?i2@I2]^;2zCYBoAyByHI~a=)~=bD .VD 8y}<%I=ٔ;Q->9K?IK?=E>Q 5j48?Q 9j4H6)OjAYyQ I?CIQ;i :=!j4yɮB*jBjiiziJii kkkh2f:fBfJf ?ɢQ>) ,*i)y2!i%o!I)B>BCBHBpAB=BBDB;BiE2Acoustic response timeoutAIIO$> Eb EoEE"E1:*E:VEZEBE9;a2E9;aJEN;a:EN;aQiߡ Iߡ  2Acoustic response timeouty (o7ҏ,H?A2@2@2cJFٱ2M˾ :AHRS rotation from veh to nav: [[0.836759,0.519260,0.173792],[-0.545429,0.762341,0.348343],[0.048392,-0.386270,0.921115]]2H?Ɲ?>? 'te?AK?ƨ?@ؿy?i2@I2s^;0YnhpAyrHbDm'VDm8yz=%G=ٔ} ;Q->9I=Q 5j4?Q 9j47)jAYyQ I?ÚCIf;ir;/j4yBɮB*jBjiiziJii kSkSkSh kkkh)2f9:f9Bf9Jf=}?Qaɢe^)a eԁ2Acoustic response timeoutԩD D E _ E GE E "E &:*E R9VE ZE a @a @a @a @ 7ҏ,H?A:$@:@:ѨEٱ:[,; FAHRS rotation from veh to nav: [[0.828921,0.529347,0.180783],[-0.557282,0.753642,0.348512],[0.048238,-0.389636,0.919705]]:H?h?#?A?N?? ؿ9n?i:$@I:_^;:{CYJdpAyNHPR@AbDV&VDV8y^s%b\=ٔbA9Q-b>9`Id=fhQ 5nj4j(?Q 9rj4j7)j$kAYpyr8Q Ir?jCIj;ij;jB>BCBpHBeqAB=BBDB;BsE% 2Acoustic response timeout1 Q 7ҏ,b H?A2@2@25lFٱ2mξ :AHRS rotation from veh to nav: [[0.819964,0.540843,0.187478],[-0.570363,0.744254,0.347524],[0.048424,-0.391888,0.918738]]2H`%=?@N?@J?j@?@=? ˨?`ٿMf?i2@I2^;2zCERX ERHERiEP"ER~ :*ER[9VERz~5ZEPBER:aV2ER:aVJERW:aZ:ERY:aZYZpAyZH ``y!rh?S㥻1ZdlG?/ݽ"۽ 9Zd;O?Mb"~j̿Yj?y@ScyB|B )Y̦BbDVD8y =%:=ٔR޹Q->9I=Q 5j49?Q 9j4V 7) jAY&?Q E:yPQ I? CI ;i ;Kj4yBɮuBIE*jBjiiziJii kkkh1 kkkhA2fUY>:fUY>BfUl2@JfUQ@ɢZ') !=i)C1iBI)m2Acoustic response timeoutA9IAIYO9>Yԁ  2Acoustic response timeout7ҏ,Y$H?A02O@2U@22Hٱ2ξ :AHRS rotation from veh to nav: [[0.810244,0.553308,0.193274],[-0.584055,0.734787,0.344917],[0.048830,-0.392350,0.918519]]2H`??@7?_?@?:?Bٿ@d?i2O@I2$q^;0YRpAyR Hdd d)hIhihhbDr"VDr8yz۩<%zZ=ٔzQ-z>9|I|=~ Q 5j4 yF?Q 9j4  7) iAYyUQ I? 'CI :i : Yj4y!ɮ%qB!*j1Bj1iiziJii k3k3k3h kCkCkCh2f:fBfJf/@IɢU%)q u@=iq)u90qqi}WyIԑDzD?AE^ EREE"EC#:*E9VE5ZEa@a@a@a@AIIO=.>ԹPExceeded connect timeout, disconnecting.}2Acoustic response timeout 7ҏ,G:>H?Aɰ;2@2@2PHٱ2ξ :AHRS rotation from veh to nav: [[0.800123,0.565759,0.199299],[-0.597837,0.725047,0.341902],[0.048933,-0.392712,0.918359]]2H??@?{!3?? ?/"ٿ`2c?i2@I2^;2|CYB"qAyBFHFa=Fa=bDN<VDN8yV>v=%VO=ٔVQ-Z>9XIX=Z`Q 5fj4bkT?Q 9jj4b7)b hAYhyjoYQ Ij?bGCIb:ib):bfj4ynrBɮrMBrSE*jxBjxixi|zi|Ji|i| kkkh kkkh!2f1:f1Bf1Jf5ʰ@QɢU)Q ]=iY)]//YYi]eaIaBQAU<B]>B]CB]HB]qAB]=BYB]DB];B]WEB%CB%CB%–CB%¦=B%¦=C%562Acoustic response timeoutAIIO>E EMEbE"E*E9VEg5ZEBE~ ;a2E ;aJE:a:E:aA  2Acoustic response timeoutý7ҏ,XH?AR*@R0@RHٱR; bAHRS rotation from veh to nav: [[0.789577,0.578715,0.204101],[-0.611706,0.715802,0.336813],[0.048823,-0.390790,0.919184]]RH@7D?Ԅ??? Y? E?ٿi?iR*@IR o^;R{CYnpAyn,HI=<)=R=bDEVDE8yUǼ%]@=ٔ]9Q-]>9YIa=eiQ 5uj4mc?Q 9}j4mL7)mgAYyy}]Q I}?mjCIm#;im;muj4yɮSB*jBjiiziJii kkkh kkkh2f:fBfJfw@yɢ}tZ׻)y }w=iy)R.顁iFIIAI I!Oe4>=R=2Acoustic response timeoutqbEQjEU{5rEUM2E _ E E hE "E &:*E VE A{5ZE a @a @a @a @ԡ 7ҏ,qH?A2e@2`@2Fٱ2 .̾ :AHRS rotation from veh to nav: [[0.778151,0.592430,0.208584],[-0.626198,0.706118,0.330566],[0.048553,-0.387845,0.920445]]2H ?0?@ݲ? ?'?ۨ?qؿ`It?i2e@I2]^;2|CYBqAyBHRnManaging dock network, ignoring radio surface power offE2Acoustic response timeoutbD%"VD%8yy+=%G=ٔ-:Q->9I=Q 5j4p?Q 9j47) fAYy>bQ I?CI:i:j4yɮAB*jBjiiziJii kSkSkSh k.k.k.h2f :f Bf Jf ;@!ɢ-ׁ)) -t=i))-է-)1i5ŝ1I9AAIQIaO>ԡBm>BmCBmHBmrABm=BiBmDBmP;BmE2Acoustic response timeout >7ҏ,ȋH?A2ƫ@2@2WDEٱ2ʾ :AHRS rotation from veh to nav: [[0.765864,0.606789,0.212742],[-0.641198,0.695931,0.323335],[0.048142,-0.384040,0.922060]]2H`? j? ;? `E??@?ؿ?i2ƫ@I2{^;2{CEBb EBIEBfE@"EB1:*EBc9VEBt5ZE@BEB9;aJ2EB9;aJJEB:aJ:EB:aJYPyPTV?Ay=-?y&1?=5^?=̽=`e<9 99=-? +ο'1ZĿY=5^?y=v="=B=zB =B)=GB9Y=BbDU*VDU8ٔey:Q-e>9iIi=myQ 5j4}?Q 9j4}d&7)}eAY-j?Q Eh:yQ I?}CI}:i}:}7j4yɮ*jBjiiziJii kckckch k#,k#,k#,h2f-d>:f-d>Bf-˖@Jf-QQ@Qɢ] |)Y YiY)]>C,aaie aIiM2Acoustic response timeoutAIII9iEoAIEoAOZ>1Y  2Acoustic response timeout7ҏ,åH?A2-@2(@24J@ٱ2Ǿ :AHRS rotation from veh to nav: [[0.753806,0.620264,0.216909],[-0.655420,0.686159,0.315612],[0.046929,-0.380077,0.923764]]2H,?4?`?2?2??-Sؿx?i2-@I2^;2zCYBqAyBHbDNVDN8yV 5<%V<ٔVc;Q-Z>9XIX=Z`Q 5fj4b|?Q 9fj4b-7)beAYdyj탿Q Ij?bCIbr;ib;boj4ynqBɮnQM2Acoustic response timeoutԁԩ "7ҏ,_|H?A6،@6އ@6<ٱ6Mľ BAHRS rotation from veh to nav: [[0.740808,0.634778,0.219685],[-0.670133,0.675973,0.306564],[0.046100,-0.374323,0.926152]]6H ?P?@?q??[?׿?i6،@I6ӝ^;6{CYF/rAyJHbDRVDR8yZT=%ZK=ٔ^;Q-^>9\I`=bdQ 5jj4f?Q 9jj4f67)feAYlyneQ In?fCIf;if;fj4yrZBɮrBv]E*jBjiiziJii  kc*kc*kc*h ksDksDksDh)2f9:f9Bf9Jf=@Yɢ]RU)a e >ia)e~K)aaieB!B%jHB%rAB%=B!B!B%;B%Eԑ߹߽<2Acoustic response timeoutIA$AIIO>E\ EFEaE"E:*E;J9VEd5ZEBE;a2E;aJEe:a:Ee:am 2Acoustic response timeout 7ҏ,_H?Aɰ4<6@6۰@6;ٱ6] >AHRS rotation from veh to nav: [[0.726579,0.650203,0.222081],[-0.685553,0.664486,0.297448],[0.045832,-0.368368,0.928550]]6H!@?@v?#m? xC?e ?Vw?@V׿?i6@I6u^;6|CYFrAyF#HHHbDRVDR8yZJ_=%ZJ=ٔZf-:Q->9 H?I H?= Q 5j4C?Q 9%j4>7)eAY!y%Q I%?FCI:i:j4y)ɮ5 B1*jIBjIiIiIziIJiQiQ k#Fk#Fk#Fhi k3Fk3Fk3Fhy2f:fBfJf~@颩ɢ`8:) d">i)E$'顱iaIA%AI)IAOu>2Acoustic response timeoutI y } CE [ E KE \E "E a:*E ]t9VE T5ZE a @a @a @a @ nG  ] Q9a Ye A47ҏ,f2H?A6I@6O@6>ٱ6 BAHRS rotation from veh to nav: [[0.709904,0.667299,0.225274],[-0.702758,0.649995,0.289201],[0.046556,-0.363618,0.930384]]6H?Z??|@?E?`@֧?`E׿`?i6I@I6*^;4YFrAyFRH\\ \)`I`i``bDfVDf8yr:=%rH=ٔr4Q-r>9vK?IvK?=vxQ 5~j4z`?Q 9j4zKG7)zeAYyQ I?zuCIz;iz;zj4y ɮBi!I!%2Acoustic response timeout*jBjiiziJii kCkCkCh kCkCkCh2f:fBfJfU}@yɢX;) k5>i)$顉iUۣIQIIO*>ԁB5>B5CB5HB5sAB5=B5DB5 DB5 ;B5ԒE2Acoustic response timeoutԩ 8ҏ, H?AE2m E2QE2fE0"E2Y:*E2v9VE2t5ZE0BE2~;a:2E2~;a:JE2:a::E2:a:@>kP@>qK@>#Dٱ> JAHRS rotation from veh to nav: [[0.692154,0.684791,0.227999],[-0.720161,0.634314,0.281094],[0.047867,-0.358756,0.932203]]>H&??/? ML?o? ?ֿ?i>kP@I>3m^;9YIY=]iQ 5uj4mѽ?Q 9uj4mdP7Q =utI)mfAYK?Q EO:yvQ I?mCIm:fmR>Bf^@Jfk@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ{];) H>i)!iH IԱ-2Acoustic response timeoutII)O9>  2Acoustic response timeoutF 8ҏ,&H?A>@>@>Jٱ>U FAHRS rotation from veh to nav: [[0.674552,0.701517,0.229900],[-0.736567,0.618688,0.273304],[0.049491,-0.353695,0.934051]]>H?`r?``m?I?}?V?ֿ`?i>@I>^;9iIq=uyQ 5j4}佉?Q 9j4}_Y7)}hAYy~|Q I?}ߜCI}:i}:}j4yɮϝB*jBjiiziJii kPkPkPh kCZkCZkCZh2f:fBfJf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ@;)B g>i)~i/IEuZ EuMEu]Eq"Eu:*Eu9VEuW5ZEqa}@a}@a@a@II O >=2Acoustic response timeoutAa .8ҏ,@H?A2ͦ@2ȭ@2Pٱ2S :AHRS rotation from veh to nav: [[0.657292,0.716523,0.233584],[-0.751913,0.602551,0.267504],[0.050927,-0.351463,0.934815]]2H@??`?H? ??``~ֿ ?i2ͦ@I2߁^;0Y^sAybH9 AAbDMVDM8y=%H=ٔfQ->9I=Q 5j4,?Q 9j4b7)_iAYyAQ I?CId:i[:j4yBBB<A<B>BCBdHBtAB=BBB;B̒EɮƝBhE*jBjiiziJii kSjkSjkSjh  kkkh2f):f)Bf)Jf-҉@IɢM;)I M[w>iI)UQQiU9YIY2Acoustic response timeoutIIO-=iE\ ESE\E"E:*E9VET5ZEBE;a2E;aJEl:a:Em:aԑM 2Acoustic response timeout X8ҏ,bZH?A2 @2 @2Sٱ2 :AHRS rotation from veh to nav: [[0.641187,0.728635,0.240771],[-0.765644,0.586307,0.264640],[0.051660,-0.354028,0.933807]]2H@?P??'??0s?eֿ ?i2 @I2l^;2{CYBtAyB HbDvVDv8y%<%-P=ٔ-Q-->91I1=5AQ 5Mk4EF?Q 9Mk4Ekk7)EjAYIyM냿Q IM?EFCIAiE:Ek4ԙyQɮB*jBjiiziJii k#hk#hk#hh  ksyksyksyh2f):f)Bf)Jf-&@IɢMW<)I MĀ>iQ)UbQQiUϩYIYAizAmoAIIO=AE>2Acoustic response timeoutE  E IE cE "E *E c9VE &k5ZE a @a @a @a @ %8ҏ,ztH?A4<ɰ6@6@6 Fٱ62Jо BAHRS rotation from veh to nav: [[0.629631,0.724996,0.279187],[-0.775389,0.564073,0.283890],[0.048337,-0.395225,0.917312]]6H%? +3?@4? ?A+? ?\Kٿ`Z?i6@I6h^;6zCYJutAyJRHbDRVDR8yZ4=%ZR=ٔ^ 9\I`=bdQ 5jk4f?Q 9jk4fKt7)fkAYlynQ In?fxCIf#;ifa;f]k4yr+BɮrBvrE2Acoustic response timeout*jBji i zi Ji i  kszkszkszh! kzkzkzhA2fa:faBfaJfe@颙ɢ2<) >i)顩iII1)UB>BCBHB^uAB=BB DB;BEBCBCBǗCBǧ=BC1'6Qߵ%=ߵ4=2Acoustic response timeoutA) I1 IA O} >y j#8ҏ,zUH?AE&[ E&GE&bE$"E&a:*E&R9VE&g5ZE$BE& ;a*2E& ;a*JE&!t:a.:E&#t:a.ZkL@ZqG@ZZx3ٱZܾ fAHRS rotation from veh to nav: [[0.621432,0.723107,0.301559],[-0.782242,0.551139,0.290417],[0.043802,-0.416367,0.908141]]ZH@?#? L? !?@3?4m? ¥ڿ}?iZkL@IZ^;Z|CYj*uAynHIr<)pttyegfffff?:v? rhe3S?eeBeB eDB)eBaYepBbD}VD}8yP=%==ٔx,9I=Q 5k4`-?Q 9k4 |7)4mAYg?Q Ej:yUbQ I?CI:iQ:pk4yɮB*jBjiiziJii kxkxkxh kCxkCxkCxh2fYE>Q:fYE>Bf@Jf@颩ɢ~P<) F>i)CxiJ물Ir2Acoustic response timeoutԁIIOK>ԩ 2Acoustic response timeout ])8ҏ,'2H?A2`6@2f1@2y$ٱ2_ :AHRS rotation from veh to nav: [[0.619418,0.742813,0.254069],[-0.784029,0.568714,0.248724],[0.040262,-0.353261,0.934658]]2HE??B?2?-?A?՛ֿ?i2`6@I2_;0YB_uAyBHXX X)XIXiXXbDb#VDb8yj{ =%jW=ٔnw99IA=EQQ 5]k4U??Q 9ek4U97)UgnAYayefQ Ie?U֝CIU4;iU?;U3-k4yu*Bɮu~By*jBjiiziJii kzkzkzh2f:fBfJf%@ɢ}<)  >i ) "D iPI!ԱDIzDMAAbEQf5jEb5rEB1EQ EQEUWEQ"EQ*EQVEU~D5ZEQae@ae@ae@ae@}K%2Acoustic response timeoutII)Om> 1 |08ҏ,= H?A2@2 @2ٱ2 :AHRS rotation from veh to nav: [[0.617086,0.754474,0.223548],[-0.786068,0.578016,0.219074],[0.036071,-0.310911,0.949754]]2H@+?$?6? y' ?@ ?w?ӿbd?i2@I2m^;2~CYBvAyBNHbDJVDJ8yR3=%VM=ٔV,9XIX=Z`Q 5bk4bQQ?Q 9fk4bO7)boAYdyfhQ If?bCIb:ib:b:k4yhɮnhBl*jtBjtixixzixJixix kbkbkbh  kzkzkzh2f):f)Bf)Jf-]F@AYA]AABe2>BeCBewHBeRvABe=BaBeDBe;BegEɢ\<)  >i)WWiI}2Acoustic response timeoutI IAOMR>Ee] EeLEeVEa"Ee:*Ee|9VEeFA5ZEaBEe:;am2Ee<;auJEev:au:Eex:aui 5 2Acoustic response timeout68ҏ,tH?A 6@6@6ٱ6OF >AHRS rotation from veh to nav: [[0.613669,0.759622,0.215371],[-0.788906,0.578782,0.206491],[0.032202,-0.296625,0.954451]]6H-?`N?J?`>a? 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M׿#?iB l@IB.^;B~CYR`wAyRHy-%C?x&l񢿙-ZD?-7-) )9-/$?V-KY-&Q?y--^-0B-B -B)-B)Y-aBbDEVDE8yUhX=%UL=ٔ;Q->9I=Q 5k4xǾ?Q 9k47)XsAYT?Q E:yQ I?GCIu ;i ;k4y ɮ B *j9Bj9iAiAziAJiAiA kFkFkFh2f=:f=Bf@@JfP(@ ɢ<) >i)P!i%g&!I)Y2Acoustic response timeoutAaIiIyOyԩ  2Acoustic response timeoutB1j8ҏ,H?A ɰ"4<@Vˡ@V ƨ@VԥٱV fAHRS rotation from veh to nav: [[0.532674,0.788149,0.308349],[-0.846267,0.491940,0.204516],[0.009500,-0.369886,0.929029]]VH ?8? ? {?@-?`t?6׿ ?iVˡ@IVe^;V{CYn6wAyrHbDEVDE8yϼ%G=ٔWo;Q->9I=Q 5k4Ѿ?Q 9k47)!sAYyQ I?qCI#:i<:k4yBɮB*jBjiiziJii k3Gk3Gk3Ghi k3Gk3Gk3Gh2f:fBfJfw@ɢ'<) >i)i\IE=W E=FE=VE9"E= :*E=;J9VE=FA5ZE9aE@aE@aM@aM@ԩA!I1IIO<>2Acoustic response timeout q8ҏ,H?A2'@2"@2BnCBnqHBnwABn=BlBnDBn;BnʑEBmCBmCBiBm=Bm=CmӒ6|I<)=bD VD 8y9=%%Q=ٔ%%y;Q-%>9)I)=-1Q 5=k45۾?Q 9Ek457)5rAYAyEQ IE?5CI5;i5;5`k4yMBɮUBUE*jaBjaiaiiziiJiiii kcHkcHkcHh ksHksHksHh2f:fBfJfˊ@ɢ><) >i)>iI2Acoustic response timeout A $AII)Ou>EEX EAEEZEA"EE~ :*EAVEE(N5ZEABEE:aM2EE:aUJEEe:aU:EEe:aU1M 2Acoustic response timeouta FCw8ҏ,\vH?A2@2}@2лٱ2$¾ :AHRS rotation from veh to nav: [[0.498351,0.806245,0.318771],[-0.866952,0.460725,0.190071],[0.006378,-0.371081,0.928578]]2H ??f?@|?>T?`z?@̿׿ ?i2@I2^;2{CY\y`9bDEVDE8ٔ;Q->9H?IH?=Q 5k4徉?Q 9k4F7)rAYy9Q I?ƟCI:it:k4yɮ*jBjiiziJii k#Ik#Ik#Ih k^k^k^h2f :f Bf Jf }$@!ɢ-<)) )i))-5q)1i5r9I9iAIIO!>2Acoustic response timeoutԑbE~D5jE#E5rE50EU ] EU CEQ EQ "EU :*EU 09VEQ ZEQ a] @a] @a] @a] @ cm}8ҏ,rQH?A2ٟ@2Ԧ@2hJٱ2Y¾ :AHRS rotation from veh to nav: [[0.480391,0.815272,0.323351],[-0.877042,0.444617,0.181969],[0.004586,-0.371009,0.928618]]2H? ?@ȱ?@t?J?Hr?׿`=?i2ٟ@I2mk^;2}CYBwAyB5HbDNVDN8yV2;%V<ٔV;Q-V>9XIX=Z`Q 5fk4bX?Q 9fk4b 7)bqrAYdyfݞQ If?bCIb-:ib:bk4ylɮnBl*jxBjxixixzi|2Acoustic response timeoutJi|i kFkFkFh k#]k#]k#]h)2f9:f9Bf9Jf=kw@ԙɢx<) >i)ɂiȼIAiIIO>>B>BCBHBxAB=BBDB;BE2Acoustic response timeout T8ҏ,x*H?AEY EFETE"E:*E;J9VE:5ZEBE$;a2E';aJEa:Ee:aZ3@Z.@Z|AٱZ*¾ fAHRS rotation from veh to nav: [[0.462515,0.823814,0.327735],[-0.886606,0.428521,0.174067],[0.002958,-0.371080,0.928596]]ZH`ڙ? \?? _`l?G? ;h? ȿ׿?iZ3@IZ5^;Z{CYjwAynvHpp ppym{Gz?{GzˡE?mc?m#m'=i i9m9v?K7y&1|?Ym?ymI m`;mpBmB mDB)mqBiYmkBbDVD8yu=%==ٔGv;Q->9I=Q 5k4?Q 9k477)rAY%?Q EJ:y̚Q I?)CI{;i};Fk4yBɮB*jBjiiziJii kDkDkDh12fEzK>:fEzK>BfE{y@JfE'@yɢҽ<) 9>i)f顁iI-2Acoustic response timeoutIAAIIOF>ԁԙ  2Acoustic response timeout>8ҏ,,H?A>6@>=@>\ٱ>¾ JAHRS rotation from veh to nav: [[0.444606,0.832178,0.331369],[-0.895723,0.412135,0.166806],[0.002244,-0.370978,0.928639]]>H`mt?3?`$5?ĩk`?Y?*bb?@׿`i?i>6@I>Ir^;>~CYnxAynH   ) I i  bDVD8y-j<%-Q=ٔ-:Q-5>95K?I5K?==AQ 5Ml4Ek?Q 9Ml4EY7)Eԙ2Acoustic response timeout g8ҏ,EH?Aɰ;B0A0B4B4B6HB6bxAB6=B4B4B67;B6`EB7@B>@B ٱBd¾ JAHRS rotation from veh to nav: [[0.427801,0.840061,0.333593],[-0.903870,0.396716,0.160109],[0.002160,-0.370020,0.929021]]BHa??Y?c?u~? a?g׿?iB7@IB@^;B|CYnwAyn}HbDzVDz8y%M=ٔ]9Q->9 H?I H?= Q 5%l4?Q 9%l48)sAY!y%ğQ I%?CI;i;l4y1ɮ5̜B1*jBjiiziJii kPkPkPh2f1:f1Bf1Jf5@iɢmm=)i m>ii}2Acoustic response timeout)}r=4yiIAAIIO (>EA EEAEEREA"EA*EE 9VEEc45ZEABEE7:aM2EE<:aUJEE:aU:EE:aUI - 2Acoustic response timeoutے8ҏ,&_H?A 2m@2h@2Fٱ2+ :AHRS rotation from veh to nav: [[0.412612,0.847202,0.334663],[-0.910905,0.382988,0.153533],[0.001902,-0.368196,0.929746]]2H9MK?IMK?=MYQ 5el4]?Q 9el4] 8)]tAYiym졿Q Im?]ɠCI]{:i]s:]Fl4yqɮuǜBy*jBjiiziJii k5k5k5h) kcJkcJkcJhY2fi:fiBfiJfm_@颩ɢ=) n?i)FiuIiAI)I9߁߅<2Acoustic response timeoutO=>ԙ G1]9YY]NAy}?ADE %=DE %=EU ` EU CEU SEQ "EU *:*EU 09VEU 75ZEQ a] @a] @a] @a] @ 8ҏ, yH?A6l@6s@6CF˺ٱ6f >AHRS rotation from veh to nav: [[0.398703,0.852996,0.336800],[-0.917079,0.370220,0.147997],[0.001551,-0.367879,0.929872]]6H@X? K? ?X??hY?S׿?i6l@I6^;6}CPYRcxAyRHr2Acoustic response timeoutbD-VD-8ye=%eH=ٔma:Q-m>9iIq=uyQ 5l4}'?Q 9l4}U8)}ctAYyߣQ I?}CI}6:i}-:}+l4yBɮBE*jBjiiziJii k.k.k.h kOkOkOh2f:fBfJf@颉ɢ=) 1?i)iwiIA)I1IIO}7>Be>BeݏCBeHBexABe=BaBeDBe$;Be=E2Acoustic response timeout) E] U E] FE] OEY "E] :*E] ;J9VE] *5ZEY BE] %:am 2E] *:am JE] e:am :E] e:am 8ҏ,TH?A2z@2!u@2ٱ2 l¾ :AHRS rotation from veh to nav: [[0.385416,0.857188,0.341589],[-0.922742,0.357537,0.143925],[0.001240,-0.370670,0.928764]]2H৪?`n??`?!l?3PT?`׿n?i2z@I2[m^;2|CYFxAyFH!y+?#~j?y&1???=`e< 9S? rhʡE?Yz?yC -= BB ΛB)YBbD-VD-8y=)<%E<=ٔEP;:Q-E>9III=MQQ 5]l4U5?Q 9el4U!8)U uAYe{?Q EeW:yeTQ Ie?U7CIUP:iUL:U:l4ymBɮuBq*jBjiiziJii kJkJkJh kJkJkJh!2f]܈>:f]܈>Bf]9@Jf]nŘ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed2Acoustic response timeoutɢd =) ?i) J iGq¼IIAyIIOc>yԡ  2Acoustic response timeoutͪ8ҏ,PH?A2T@2[@2y#0ٱ2@ľ :AHRS rotation from veh to nav: [[0.372564,0.860886,0.346514],[-0.928006,0.345347,0.139785],[0.000672,-0.373646,0.927571]]2H?``?`G-? :)? }?oF?׿?i2T@I2_^;2~CY^xAy^H ddbDj+VDj8yrި<%re=ٔv:Q-v>9tIt=z|Q 5l4~@?Q 9l4~.*8)~uAY y Q I ?~cCI~:i~:~2Gl4yɮB*j)Bj)i)i)zi)Ji1i1ԙ kEkEkEh2f:fBfJf_@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder)ɢ-#"=)1 5 ?i1)511i=Yü9IAE[ EHE`E"Ea:*E[9VE|a5ZEa@a%@a%@a%@A$AIIO'>2Acoustic response timeout 贱8ҏ,(H?AAABz>BڏCB HByAB=BDBDBK;BFEF*@F1@Fux7ٱF.ƾ NAHRS rotation from veh to nav: [[0.359710,0.863802,0.352783],[-0.933064,0.333014,0.135988],[-0.000015,-0.378085,0.925771]]FH@{?`C?? P?h? 2ؿ?iF*@IFFq^;F}CYVxAyVHbDb<VDb8yjS%jL=ٔn,:Q-n>9nH?InH?=rtQ 5zl4vL?Q 9zl4v38)v.vAYxy~ǙQ I~?vCIv :iv;v;Ul4yBɮBE*jBjii!zi!Ji!i! k)k)k)h1 kFkFkFhI2fY:fYBfYJf]7@qɢ}=)y }?iy)6*顁iIļI]2Acoustic response timeoutAAIIO>!E%Z E%FE%QE!"E%:*E%;J9VE%*15ZE!BE%i;a52E%k;a5JE%e:a5:E%e:a5>i 2Acoustic response timeoutԙ ߷8ҏ,H?Aɰ4<28'@2?"@2"z:ٱ21Ⱦ :AHRS rotation from veh to nav: [[0.346926,0.866980,0.357754],[-0.937892,0.321083,0.131393],[-0.000954,-0.381119,0.924526]]2H4?L?s?@6 ?x?]DO ?dؿඕ?i28'@I2a^;2~CYnxAynH   ) I ibDVDy-.=%-E=ٔ5&;Q-5>95K?I5K?=5AQ 5Ml4EX?Q 9Ml4E=8)EvAYQyU|Q IU?EʡCIE|:iER:Ecl4yYɮ]Ba*jqBjqiqiyziyJiyiy kFkFkFh kFkFkFh2f:fBfJf@ɢ3=)  ?i)@JiIżIqAIIO= >m2Acoustic response timeoutԡE5 ] E5 TE5 XE1 "E5 :*E5 9VE5 G5ZE1 a= @a= @a= @a= @ 8ҏ,H?A2@2 @2;ٱ2Wʾ :AHRS rotation from veh to nav: [[0.333702,0.869508,0.364141],[-0.942676,0.308768,0.126590],[-0.002364,-0.385510,0.922700]]2H_[?@?`N? f*?@4?^c 4ؿ Æ?i2@I2u^;2|CYBxAyBHIF<)F<bDN3VDN8yV<%VS=ٔVn;Q-V>9XIX=Zi`IbAf2Acoustic response timeoutlQ 5rl4ncc?Q 9rl4nSG8)n]wAYtyv:Q Iv?nCIn:int:ngql4yxɮzBx*jiBjiiiiiziiJiiiq kJkJkJh2f:fBfJfu<@ɢ=)! %C?i))-E911i5DƼQIYIIO >B%>B%܏CB%RHB%VyAB%=B!B%DB%^;B%ZEBݏCBޏCBŖCBů=BŮ=C6u2Acoustic response timeout) E= [ E= JE= gE9 "E= a:*E= k9VE= x5ZE9 BE= ;aM 2E= ;aM JE= :aM :E= :aM 8ҏ,H?AN?9@NF4@Nplu;ٱNJ; ZAHRS rotation from veh to nav: [[0.319536,0.871675,0.371591],[-0.947567,0.295489,0.121670],[-0.003745,-0.390986,0.920389]]NHFs?@?'?wRJ? %?@n ٿs?iN?9@INq^;LYfxAyfHy-~jt?I +?-[?-94<-) )9-J +?S㥛Mb?Y-h?y-/ݼ-=-KB-|B -vB)))Y-\BbDEVDE8yU%U2=ٔ]D;Q-]>9YIY=eiQ 5ul4mn?Q 9ul4mQ8)mwAY}ai?Q E}h:y}hQ I}?m0CIm:imj:m^l4yBɮkBE*jBjiiziJii kcGkcGkcGh ksGksGksGh!2fmɸ=:fmɸ=Bfm@Jfm@颡ɢ/=) ?i)J:顩iEǼI2Acoustic response timeoutIIOI>Qy u =u = 2Acoustic response timeout8ҏ,t.H?A 0BY@B`@B;ٱBϾ JAHRS rotation from veh to nav: [[0.305515,0.874077,0.377690],[-0.952172,0.282674,0.116031],[-0.005343,-0.395076,0.918633]]BH? p?,?1xV? 4? u Hٿ qe?iBY@IB^;B}CYRxAyRHbD%VD%8ye8%e\=ٔmԌ;Q-m>9iIi=uyQ 5l4}Lw?Q 9l4}%Z8)};xAYy@Q I?}[CI} :i}:}]l4yɮlB*jBjiiziJii kFkFkFha kGkGkGhq2f:fBfJfϚ@颡ɢW)=)  ?i)l:顩i'ȼIIԑIO>bE}:5jE}‡C5rE}]2E-Z E-FE-WE)"E-:*E-;J9VE-~D5ZE)a5@a5@a5@a=@Թ2Acoustic response timeout B% >B% CB! 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B% DB% DB% ;B% PE8ҏ,rHH?A2=@28@2أ;ٱ2=Ѿ :AHRS rotation from veh to nav: [[0.290297,0.877321,0.382145],[-0.956911,0.269063,0.109211],[-0.007008,-0.397382,0.917627]]2H;?@?u?`R8?;?k|nٿ`2]?i2=@I2^;2|C\YrxAyr H]=]=eAAeBAbDmVDm8y;%F=ٔb;Q->9I=Q 5l4~?Q 9l4c8)xAYyDQ I?CI:i|:Ŝl4yɮkB*jBjiiziJii kHkHkHh ]2Acoustic response timeout k#Ik#Ik#Ih2f:fBfJfl@ɢ #=) }?i)d:ib ɼ!I!IIO>EY EDEE"E:*Ea99VEZEBE#;a%2E&;a%JEpH:a%:EsH:a%) 2Acoustic response timeoutA -8ҏ,+MbH?A2ڶ@2ᱟ@2<ٱ2;Ѿ :AHRS rotation from veh to nav: [[0.274495,0.881493,0.384217],[-0.961552,0.255091,0.101716],[-0.008348,-0.397365,0.917623]]2HT?05? ? `gS?  ?lnٿ@*]?i2ڶ@I2^;2CYByAyBHbDNVDN8yV̎<%V\=ٔV1l;Q-V>9XIX=Z`Q 5fl4bT?Q 9fl4b l8)byAYdyf`Q If?bCIb:ib1:b©l4ylɮngBY*jiBjiiiiqziqJiqiq kIkIkIh kakakah2f:fBfJf3@ɢ`N0=) &?i)Y;iɼIA zA pAIIO5=Im2Acoustic response timeoutqD =D <E X E JE YE "E ~ :*E k9VE J5ZE a @a @a @a @ԡ W8ҏ,V(|H?Aɰp;20)@27$@2<ٱ2Ͼ :AHRS rotation from veh to nav: [[0.257825,0.886873,0.383383],[-0.966147,0.240473,0.093452],[-0.009313,-0.394499,0.918849]]2H`3?Ca?@Z? ?t?w?ٿ6g?i20)@I23^;2|CYBxAyBHbDN/VDN8yV@%VJ=ٔV;Q-V>9XIX=Zb2Acoustic response timeoutdQ 5jl4fZ?Q 9jl4f}u8)fiyAYhyjQ In?fCIf:if$:fl4yrqBɮrZBrE*j|Bj|i|i|ziJii kcIkcIkcIh k_k_k_h)y2f9:f9Bf9Jf=>9@ɢ&=) H ?i) #; i5ʼIIYIQIIO% >ԡB3>BCBkHByABBBDB;B6Eu2Acoustic response timeout E8ҏ,3H?AE:] E:DE:bE8"E::*E:a99VE:g5ZE8BE:7;a>2E:9;aBJE8aB:E8aBY5yAy5,HI9)=;y%S?l%O?%!! !9%MbX?V-y&1?Y%j?y%%`<%iB%PyB !)!!Y%קBbDeVDe8yxX=%/=ٔQ->9I=Q 5l4?Q 9l4`8)yAYj?Q Eg:y۩Q I?CI ;i? ;*l4yɮMB*jBjiiziJii kFkFkFh k`k`k`h2f =:f =Bf Tm=Jf ܇@颡ɢl6&=) ?i)qE;顱i˼I2Acoustic response timeoutAII)OuW>!Q } 2Acoustic response timeout G  9 Y% GAi8ҏ,ޯH?AF@F@F<ٱF̾ NAHRS rotation from veh to nav: [[0.222598,0.897342,0.381088],[-0.974870,0.208429,0.078647],[-0.008857,-0.389018,0.921188]]FH~? ?c?"2@ѭ?7"?f#ؿ^z?iF@IFHy^;F{CYV%yAyV4Hll l)lIlillbDvVDv8y~ <%~h=ٔ⩺Q->9I=Q 5l4?Q 9l48)yAY!y%Q I%?FCI;i;zl4y)ɮ-LB)*jABjAiAiIziIJiIiI kHkHkHha ksaksaksahq2f:fBfJfT@颡ɢf<=) \?i)_;顩il}̼I1DzD@AEm^ EmKEmhEi"EmC#:*Em]t9VEmA{5ZEiau@au@a}@a}@AIIO= >a2Acoustic response timeoutԉB A>B CB B B =B DB DB ;B E Q8ҏ,H?A2q@2 l@2:<ٱ2{$˾ :AHRS rotation from veh to nav: [[0.205576,0.901921,0.379838],[-0.978602,0.192919,0.071554],[-0.008742,-0.386420,0.922282]]2HLP??CO?P?[Q?`P灿 ؿT?i2q@I2b^;2|CYByAyBHbDJ&VDJ8yR%VP=ٔVטQ-V>9XIX=Z1Q 5=l45?Q 9=l45]8)5yAYAyEǰQ IE?5uCI5;i5 ;5l4yMZBɮM:BME*jaBjaiaiaziaJiiii kIkIkIh kbkbkbh2f:fBfJfE@颹ɢΥ/=)  ?i)$};ifͼIM2Acoustic response timeoutԑA II!OU>E=\ E=BE=]E9"E=:*E=(9VE=W5ZE9BE=;aE2E=;aMJE=U+:aM:E=X+:aM 2Acoustic response timeout {8ҏ,H?A2E@2L@2<ٱ2 +̾ :AHRS rotation from veh to nav: [[0.189562,0.904185,0.382774],[-0.981830,0.178042,0.065664],[-0.008777,-0.388266,0.921505]]2HC??@_?%k? _ϰ?`[ؿ|?i2E@I2|^;2}CYByAyB)H llbDvVDv8y]36<%e?=ٔe-8Q-e>9iIi=mqQ 5}l4u?Q 9l4u+8)u+zAYyܲQ I?uCIu7 ;iu:u(l4yɮ8B*jBjiiziJii k3`k3`k3`h k3`k3`k3`h2f:fBfJf>@ɢ?1=)) -A?i))5P;11i5 Wμ9I9AIIO&>AE%=M2Acoustic response timeoutD=D4=E[ EFE\E"Ea:*E;J9VET5ZEa@a@a@a@I 8ҏ,&pH?A2t@2o@2f<ٱ20Ѿ :AHRS rotation from veh to nav: [[0.175363,0.902836,0.392601],[-0.984462,0.164478,0.061492],[-0.009058,-0.397284,0.917651]]2H`Lr?`?` ?඀ ?{?`ʌmٿ`e]?i2t@I2Qg^;2|CYBCyAyFFHR2Acoustic response timeoutbD VD 8yUI<%]K=ٔe5:Q-m>9I=QQ 5um4Uf?Q 9m4U{8)U^zAYyQ I?U٣CIUq)?i!)%?;!!i%]ϼIIIBm,>BmCBmHBmyABm=BmDBmDBm;BmEyAIIOg>U2Acoustic response timeoutԩ E X E LE nE "E ~ :*E |9VE J5ZE BE :a 2E :a JE v:a :E w:a ƍ9ҏ,ZKH?Aɰ;LR @R@R <ٱR.վ ZAHRS rotation from veh to nav: [[0.162850,0.901439,0.401107],[-0.986605,0.152703,0.057381],[-0.009524,-0.405079,0.914232]]RHE?`?@?`D@Ƌ?a?@ٿcA?iR @IR1^;R~CYb0yAyb:Hyx&1?~jt?~jt?A?<< 9Gz?Mbl?Yp]?y=cBB B)YBbDVD8ye1%e:=ٔe:Q-e>9iIi=myQ 5m4}ó?Q 9m4}8)}zAY]?Q Eu:y;Q I?}CI}:i}:}m4yɮ4B*jBjiiziJii kbkbkbh kzkzkzh2f`=:f`=Bf߹@JfM@ɢ\A=)  ?i ) ; iFмI2Acoustic response timeoutԱAaIiIyO>>i=pAI=pA e 2Acoustic response timeout 9ҏ,p&1H?A2@2@2V#<ٱ2̙Ծ :AHRS rotation from veh to nav: [[0.150794,0.903951,0.400168],[-0.988515,0.141962,0.051817],[-0.009969,-0.403386,0.914976]]2H`8M?)?Z? +??@j`ٿ {G?i2@I2s^;2|CYBxAyBHIFa=)F<bDNVDN8yV%Vk=ٔZ}:Q-Z?9XIX=Z2Acoustic response timeoutQԁ Be ;>Be CBa Ba Be =Be DBe DBe ;Be ېEB-CB-CB-˙CB-˫=B-˪=C- +7ğ9ҏ,KH?A2fI@2mD@2)<ٱ2Ѿ :AHRS rotation from veh to nav: [[0.139252,0.907690,0.395863],[-0.990203,0.131815,0.046078],[-0.010356,-0.398401,0.917153]]2H?@ ?U?Q??5 gٿQY?i2fI@I2*^;2~CY@y@bDNVDN8ٔV{:Q-V>9XIX=Z`Q 5bm4bʺ?Q 9fm4b8)b{AYdyfVQ If?bYCIb:ib :b(m4yhɮll*jtBjtixixzixJixix kdkdkdh  kdkdkdYh2f:fBfJfz@ɢ8=) i) ;  i fҼ I2Acoustic response timeoutA$AԑIIO'>Ed ELEfE"E9:*E|9VEt5ZEBEF;a2EF;aJEw:a:Ex:aԱ 2Acoustic response timeout 9ҏ,dH?A2@2@2*-<ٱ2k+о :AHRS rotation from veh to nav: [[0.128029,0.910384,0.393460],[-0.991714,0.121744,0.041007],[-0.010569,-0.395450,0.918427]]2H@?c?!? q.?` *??9 Oٿc?i2@I2z^;2}CYBxAyBHXX X)XIXi\\bDbVDb8yj\%j<ٔn,:Q-n>9nH?IrH?=rtQ 5zm4v?Q 9zm4v8)vR{AY|y~ϺQ I~?vCIv@;iv;v$7m4yɮ&B *j!Bj!i!i!zi!Ji!i) k`k`k`h9 kwkwkwhI2fa:faBfaJfe@Թɢ==) ?i)g;i [Ҽ IAAIIO$>-2Acoustic response timeoutbE]6V5jE]]5rE]8+2E[ EFEZE"Ea:*E;J9VE(N5ZEa@a@a@a@9 9ҏ,~H?AB2Acoustic response timeoutN@N@N)<ٱNϾ bAHRS rotation from veh to nav: [[0.117366,0.911901,0.393271],[-0.993035,0.111893,0.036904],[-0.010352,-0.394863,0.918682]]NH ?@J.? [+? ? ? i3pEٿe?iN@IN>d^;LYzxAyzH -=-=9=@AbDUVDU8y5%?=ٔsQ->9K?IK?=iQ 5m4mm?Q 9m4m+8)m{AYy0Q I?mCImXBCBBB=BDBDB;BEAAIIOMR>52Acoustic response timeoutqԙ E V E RE OE "E =:*E 9VE *5ZE BE :a 2E :a JE %:a :E &:a %9ҏ,H?A2h?@2o:@2'<ٱ2Ѿ :AHRS rotation from veh to nav: [[0.107033,0.911376,0.397415],[-0.994203,0.102222,0.033340],[-0.010239,-0.398679,0.917033]]2H f? )?>o?`7+??Iٿ VX?i2h?@I2z^;2|CYnxAynHa@a a@a a@a a@a a@a yw/?9I=!Q 5-m4%Ŀ?Q 9-m4%8)%{AQ A-+:Y)Q E-F:y5~Q I5?%CqI%.:i%>%#Rm4yɮB*jBjiiziJii kc_kc_kc_h^5B*** querying acoustic contact ***X9Y9IɢMT@=)I M'?iQ)U #;QQiUvԼYIY2Acoustic response timeoutA$AIIԡOC>E 2Acoustic response timeout ,9ҏ,nH?A4<ɰ4<2@2@2!I+<ٱ2־ :AHRS rotation from veh to nav: [[0.096267,0.908590,0.406443],[-0.995301,0.092159,0.029720],[-0.010454,-0.407394,0.913193]]2H? ,? +?—?n? i ڿ8?i2@I2"k^;2CYFxAyFHbDVD8yVռ%M=ٔ :Q->9H?IH?=Q 5m4Yƿ?Q 9m4&8)|AQ A :YQ E :yϾQ I?CIm ;iUK?C[m4y ɮ B *j!Bj!i)i)zi)Ji)i) kFkFkFhA k`k`k`hQyɢ}B=)y  ?i)6<顁iWռIEW EUEQE"E :*EP9VE*15ZEa@a@a@a@AAIIOI>2Acoustic response timeout) B =>B CB kHB yAB =B B DB N;B Eu29ҏ,sGH?A6݊@6䅙@6N@4<ٱ6ھ >AHRS rotation from veh to nav: [[0.085097,0.906311,0.413956],[-0.996312,0.081988,0.025309],[-0.011001,-0.414583,0.909945]]6Hȵ? ?A~?"??쇆ڿD?i6݊@I6^;6zCYFxAyFHI~R=)~=AbD-VD-8ye%mR=ٔmr:Q-m>9mK?IuK?=uQ 5m4_ȿ?Q 9m4B8)P|AQ A9YQ E:y1Q I?=CIj;i?bm42Acoustic response timeoutyɮB*jBjii!zi!Ji!i! kckckch9 k#ck#ck#chIqɢutY>=)q u ?iy)} E EHERE"E*E[9VEc45ZEBE1:a2E5:aJEV:a:EW:ay 2Acoustic response timeoutԱ 99ҏ,'H?A6 @6@67<ٱ6!dھ@ >AHRS rotation from veh to nav: [[0.072191,0.907690,0.413386],[-0.997328,0.070355,0.019684],[-0.011216,-0.413702,0.910343]]6H{? ?t??&(? zڿ@!?i6 @I6^;6}CY^xAy^HbDjVDj8yr%rS=ٔve:Q-v>9H?IH?= !Q 5-m4%ɿ?Q 9-m4%8)%|AQ A-9Y)Q E-9y-Q I5?%gCI%:i%?%ohm4y=Bɮ=B=E*jQBjQiYiYziYJiYiY k#_k#_k#_hq k#_k#_k#_h颩ɢ;A=) ?i)9<顱i ׼Iԩ k>A A=ŁGI9IQaO>@9YA 2Acoustic response timeoutEX EDEVE"E~ :*Ea99VEFA5ZEa@a@a@a@ 9B?9ҏ,H?A:2Acoustic response timeoutHHt,@'@w<<ٱ; %AHRS rotation from veh to nav: [[0.042370,0.919298,0.391275],[-0.999036,0.043500,0.005979],[-0.011524,-0.391151,0.920255]]H`v?j? ?`E?}x? @ٿr?i,@I?~^;|CY5xAy5Haa aa aa aa aa yGz?+Mb`p? 9Cl?QYo?y̽ B|B B)ʩBYBbDVD8y<%,=ٔ):Q->9K?IK?=)Q 55m4-ȿ?Q 95m4-9)-{AQ A=T:Y=[q?Q E=a:y=̿Q I=?-CI-O;i-;-xm4yAɮEBA*jYBjYiaiaziaJiaia k^k^k^hy k^k^k^h2f=:f=Bf>?Jf#C@颹ɢQm4=)  ?i)<ijؼI B>BCB9HB.yAB=BDBDBR;BiEA9IAIQO[>1<2Acoustic response timeouta E _ E EE QE "E &:*E A9VE *15ZE BE &;a 2E &;a JE W:a :E W:a *F9ҏ,QH?AYVxAyH !!->-=9bD5VD58yML%Mm=ٔMQ-M?9QIQ=UQ 5m4ȿ?Q 9m44 9)W{AYyQ I?ʥCI:i:1m4yɮ B*jBjiiziJii kc]kc]kc]h ks]ks]ks]h2f:fBfJf19  r NAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed9ɢ=@tF=)9 Ek?iA)EFԑ % 2Acoustic response timeoutSL9ҏ,3H?Aj?@jG@jGD<ٱjɾ rAHRS rotation from veh to nav: [[0.006394,0.923296,0.384037],[-0.999907,0.010519,-0.008640],[-0.012017,-0.383946,0.923277]]jH0z?`??=Ԋ?󱁿bؿ }?ij?@Iju^;j~CYzxAyzH!! !)!I!i))bD5VD58yE<%MK=ٔM:Q-M>9MH?IUH?=UYQ 5em4] ƿ?Q 9mm4]9)]zAYiymDѿQ Im?]CI] :i]:]m4yuBɮuB}E*jBjiiziJiiԙ k3_k3_k3_h k3_k3_k3_h2f:fBfJf@@s]NUpdating rudder angle 6.875493 arcdeg 9]r]6Completed marl:UpdateRudder19] r]RAggregate::uninitialize marl:UpdateRudderDqzDqE}Y EyE}VEy"E}:*EyVE}FA5ZEya@a@a@a@颱ɢ1?=) ?i)A=&<项i|ڼIA%AI)I9O}7>2Acoustic response timeoutB <A B K>B ֏CB HB yAB =B DB DB ;B eE! 9-K?I-K?=-1Q 5=m45Ŀ?Q 9Em459)5+zAYAyAQ IE?5*CI53;i5@;5m4yIɮUBQ*jaBjaiiiiziiJiiii kckckch kckckch2f:fBfJfɢ4FE=) 1?i),<i]cۼI2Acoustic response timeoutA $AII!OU>!E] EQE]E"E:*Ev9VEW5ZEBE9;a2E;;aJE:a:E:aQ 2Acoustic response timeouty !fY9ҏ, lgH?AJݎ@Jؕ@J jV<ٱJ&ʾ RAHRS rotation from veh to nav: [[-0.029700,0.922458,0.384953],[-0.999473,-0.022365,-0.023520],[-0.013086,-0.385449,0.922636]]JHiƄ? ?@`斿@͊`2ؿ9H?IH?=Q 5m4?Q 9m4 *9)yAYyտQ I?\CI;i;m4yɮB*jBjiiziJii ks_ks_ks_h2f:fBfJfo >@IɢM\1B=)I M?QiQ)]#4R=2Acoustic response timeoutԁ>>D=D<EX EKEUE"E~ :*E]t9VE >5ZEa@a@a@a@Ա OQ`9ҏ,UH?A22Acoustic response timeoutQ@L@P]<ٱɾ AHRS rotation from veh to nav: [[-0.046763,0.922473,0.383219],[-0.998814,-0.037981,-0.030455],[-0.013539,-0.384189,0.923155]]HE?આ?`I9r/2@ؿ|?iQ@Ia^;{CYxAyHԩy> ףp=?kt?{Gzt?q? =ף; 9Dl?{Gz{GzYO?yףףBbB DB)BY8BbDVD8y5<%6=ٔ=:Q->9I=iQ 5um4m?Q 9um4mw79)m\yAYu[?Q Eu@:yuҿQ Iu?mCIm:imj:mǿm4yBɮӛBE*jBjiiziJii kFkFkFh k_k_k_h2fYE>:fYE>Bf>@JfL@ɢ@=)  ?i)F[<<iXݼIBMu>BM؏CBMHBMxABM=BIBMDBM;BMEB CB CB ĝCB ĩ=B C ;7A5AI9IQOZ>2Acoustic response timeout E \ E JE ZE "E :*E k9VE (N5ZE BE ;a 2E ;a JE :a :E :a 1 Fxf9ҏ,"H?A$$f⾍@f깔@fh`<ٱfTǾ nAHRS rotation from veh to nav: [[-0.064643,0.923377,0.378413],[-0.997814,-0.054599,-0.037224],[-0.013711,-0.379992,0.924888]]fHuM?7? p`Qؿ஘?if⾍@If/~^;fCYvxAyvHbDeVDe8ye%a=ٔ9Q->9K?IK?=Q 5m4Ժ?Q 9m4A9)7yAYy^ԿQ I?ΦCI:i:m4yɮMٛBI*jaBjaiaiaziaJiaii kGkGkGhy k`k`k`h2f:fBfJfJ@颹ɢAyQ=) ?i) B<i<޼IU2Acoustic response timeoutI I!OU2>9i  2Acoustic response timeoutl9ҏ,H?A FO@FW@FV<ٱFTƾ NAHRS rotation from veh to nav: [[-0.084432,0.922672,0.376229],[-0.996344,-0.073225,-0.044018],[-0.013065,-0.378570,0.925481]]FHW?!? 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`l?ת@vп>׫ٿO?iB@IB^;BCYrsxAyrHaa aa aa aa aa y7A`?ʡE+6?- 9e;O?{Gzt~jt?YT?yףD<B|B B)_BYܫBbDmVDm8y}^v%}>=ٔw'6Q->9I=Q 5n4tY?Q 9n4T9)|AQ AT:YT?Q E:yQ I?CI;i;rn4yɮB*jBjiiziJii k,k,k,h kCIkCIkCIh2f">:f">Bf[x?JfL@!ɢ%2[=)) -0?i)B=>B=CB=9HB=.yAB==B9B=DB=I;B=E)Mkޒ2Acoustic response timeoutAEE [ EE HEE [EA "EE a:*EE [9VEE aQ5ZEA BEE ;aU 2EE ;aU JEE X:aU :EE Z:aU Y {b9ҏ,@H?Aɰ;2@2@2g1<ٱ2 \־ :AHRS rotation from veh to nav: [[-0.299031,0.873137,0.384984],[-0.954182,-0.269019,-0.131017],[-0.010828,-0.406523,0.913576]]2H T#ӿ??`7ѿ +,wڿ9IIQ=UaQ 5en4eQ?Q 9mn4e9)e|AYiymQ Im?eCIeB:ie:en4yqɮyy*jBjiiziJii k-k-k-h kGkGkGh2f:fBfJfۢ@ɢj=) ?i)<iI9=2Acoustic response timeoutA%$AI1IAO}>aԉ 2Acoustic response timeoutԹ 9ҏ,|8H?A2@2@2.<ٱ2׾ :AHRS rotation from veh to nav: [[-0.313492,0.867750,0.385660],[-0.949531,-0.281899,-0.137563],[-0.010653,-0.409321,0.912328]]2H@@Կ?८? b@ ҿ@VхO2ڿ@1?i2@I2^;2~CYBsxAyBHIF<)DHHbDNVDN8yV]%VU=ٔVKQ-Z>9ZH?IZH?=Z`Q 5fn4biI?Q 9fn4b9)b|AYdyfQ Ij?b;CIb:ib:bn4ynBɮnښBn6E*jxBjxi|i|zi|Ji|i| ks+ks+ks+hnManaging dock network, ignoring radio surface power off kHkHkHh2f:fBfJf`@EZ EFEhE"E:*E;J9VEA{5ZEa @a @a @a @1ɢ=b=)9 =0?i9)=,E2Acoustic response timeoutB5 4>B1 B1 B1 B5 =B5 DB1 B5 o;B5 E t9ҏ,6RH?AB@B@B/<ٱBھ JAHRS rotation from veh to nav: [[-0.328233,0.861196,0.388078],[-0.944536,-0.294573,-0.145186],[-0.010716,-0.414208,0.910119]]BHտ?D?@9@Gҿs¿ @cڿ ?iB@IBջ^;BCYRdxAyRHbD\VD\yf %fH=ٔf"9Q-j>9jK?IjK?=jpQ 5vn4r @?Q 9vn4rU9)r|AYtyvQ Iz?rgCIrB:ir9:rHn4y|ɮܚB*jBjiizi!Ji!i! ksKksKksKh1 kKkKkKhI2fY:fYBfYJf]z@q2Acoustic response timeoutɢ h=) M?i)<ݜ<iU񼉨IAaIqIO>E Y E DE fE "E :*E a99VE t5ZE BE $;a2E ';aJE qH:a:E tH:aI m 2Acoustic response timeout9ҏ,lH?AF@F@F?<ٱFݾ NAHRS rotation from veh to nav: [[-0.342424,0.854306,0.391034],[-0.939473,-0.306146,-0.153836],[-0.011710,-0.420043,0.907429]]FHDտ@yV? ? )ӿÿ@9ڿ ?iF@IFo^;DYVkxAyVHll l)lIlippbDvVDv8y; k> C% G=ٔ-;Q-5>9AII=]롿9YAQ 5n45?Q 9n49:)|AYyQ I?CIyE_ EIEjE"E&:*Ec9VEـ5ZEa%@a%@a%@a%@ԩ v9ҏ,eH?A"2Acoustic response timeout6-@6(@6^<ٱ6 ۾ >AHRS rotation from veh to nav: [[-0.355663,0.851934,0.384333],[-0.934515,-0.318189,-0.159490],[-0.013584,-0.415890,0.909314]]@6H0ֿ` C??4]Կ@)jĿ(ҋ`ڿ?i6-@I6^;4YJ\xAyJH llr=r=yeJ +?V-eH?eea a9ei|?5? ףp= QYeQ?yeQ8eueBebB eB)eBaYe.BqqbD}VD}8yL%B=ٔ/;Q->9H?IH?=Q 5n4)?Q 9n4 :)|AYR?Q E:yQ I?CI:i:\n4yBɮޚB*jBjiiziJii k-k-k-h kFkFkFh2f=:f=Bf(@JfהV@1ɢ "p=) ?i)<项i󼉨IB>BCB HByAB=BDB DB-;BEԩAAIYIqOB>2Acoustic response timeout E% V E% RE% dE! 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&?;`sٿ@6xƿ)q@$ؿl?i65@I6N^;4YFwAyJ0HbDRVDR8yZw%ZL=ٔ^$Q-^>9\I`=bdQ 5jo4fξ?Q 9jo4fgB:)fyAYlynWQ In?fCIf}0;ifx1;f?o4yvŹBɮv՚BvHE*jBjiiziJi i  k3^k3^k3^h! kC^kC^kC^h)2fA:fABfAJfEw@Yɢe}f=)e1 e>ia)eE2Acoustic response timeoutABqAqB}>B}CB}HB}xAB}=B}DB}DB};B}Ei h:ҏ,AUH?A4<ɰ4< 2k@2s@249k;ٱ2˾ >AHRS rotation from veh to nav: [[-0.456710,0.820864,0.342926],[-0.889608,-0.419856,-0.179773],[-0.003589,-0.387174,0.922000]]2H`:ݿ D? ?wڿǿ`"gmuؿ`?i2k@I2^;0YlylbDEVDE8ٔ(Q->9I=2Acoustic response timeoutQ 5o4þ?Q 9o4K:)yAYyQ I?CI:ij;W)o4yɮ*jBjiiziJii kC\kC\kC\h kS\kS\kS\h2f:fBfJfTv@颩ɢ2^=) i) <iIqIIE-Z E)E-bE)"E-:*E)VE-g5ZE)BE-l;a=2E-n;a=JE-9:a=:E-9:a=O8>ԙM 2Acoustic response timeout ::ҏ,*oH?A2C@2K@26J9ٱ2aо :AHRS rotation from veh to nav: [[-0.473479,0.808603,0.349255],[-0.880805,-0.434478,-0.188181],[-0.000420,-0.396725,0.917937]]2H|M޿?`1Z?/{ۿPȿF;`cٿ _?i2C@I2^;2}CPYR2wAyRHIU4=)U<bDmVDm8y%<ٔQ->9I=Q 5o4V?Q 9o4:S:)UyAYyQ I?MCI ;i7o4yBɮ̚BRE*jBjiiziJii k\k\k\h k\k\k\h!2f9:f9Bf9Jf=Du@QɢU{b=)Y ]T>iY)]d߭4=߭=2Acoustic response timeoutD1D5=EU[ EUEEUTEQ"EUa:*EUA9VEU:5ZEQam@am@au@au@) ] 2Acoustic response timeout)":ҏ,H?A27~@2$d@2 !\ٱ2tAܾ :AHRS rotation from veh to nav: [[-0.490498,0.791355,0.364924],[-0.871436,-0.447031,-0.201899],[0.003359,-0.417038,0.908883]]2H@Sd߿R?@Z?(ܿɿk?`ڿ@?i27~@I2p^;2~CYZtwAyZ)H|y?{Gz?L7A`尿f?ף=+ 9?~jt?{GzY?y<ףBB B)BYBbDVD8y=%E=ٔ^Q->9I=B>BCBqHBwAB=BBDB;BېE)Q 55o4-?Q 95o4-\:)-xAY5r?Q E5S:y5Q I=?-CI-:i-:-8Fo4yAɮEĚBA*jYBjYiYiYziYJiYia kc]kc]kc]hq kykykyh2ff=:ff=Bf:~@Jf?颱ɢd=) >i)/<项i I! rIIqI2Acoustic response timeoutO>q E= U E= CE= RE9 "E= :*E= 09VE= c45ZE9 BE= :aE 2E= $:aE JE= 9:aE :E= 9:aM L(:ҏ,ТH?AB2}@B!ȅ@B ٱBո JAHRS rotation from veh to nav: [[-0.506991,0.772631,0.382102],[-0.861914,-0.458578,-0.216358],[0.008058,-0.439030,0.898436]]BHD9d?`[t?@̔`WYݿ˿? ܿ?iB2}@IB^;BCY~FwAy~ HbD VD 8yP%%Z=ٔ%:MQ-%>9)I)=-1Q 5=o45w?Q 9Eo45e:)5\xAYAyEmQ IE?5CI5;i5;51So4yMBɮU˚BUQEY*jiBjiiiiiziiJiqiq kCakCakCah k{k{k{h2f:fBfJf+?ɢj=) >i)O<i51I9A%2Acoustic response timeoutIqIO=ԉ%G9Q륿9YuAԱ 2Acoustic response timeout w.:ҏ,H?A2VG|@2@2y!ٱ2w :AHRS rotation from veh to nav: [[-0.524700,0.761335,0.380865],[-0.851233,-0.474268,-0.224660],[0.009590,-0.442084,0.896923]]2H`X@\?`?L= iZ޿`̿`? Kܿ?i2VG|@I2^;2~CYF]wAyFH HHbDR VDR8yV0l<%ZR=ٔZڀQ-Z>9XI\=^`Q 5fo4b{?Q 9jo4bm:)bwAYhyjQ Ij?bCIbW:ibp:b`o4ylɮrɚBp*jxBjxixi|zi|Ji|i| kbkbkbh kxkxkxha2fq:fqBfqJfus?颩ɢh=) >Թi)r<iFIE Y E GE WE "E :*E R9VE ~D5ZE a@a@a@a@=<1E2Acoustic response timeoutIIIOm>B>BCBHB:xAB=BDBBU;B E)9 _5:ҏ,H?A2Tz@22g@271ٱ2Iv :AHRS rotation from veh to nav: [[-0.543635,0.754172,0.368355],[-0.839267,-0.493437,-0.228365],[0.009533,-0.433296,0.901201]]2H ve@-"? ?@Gw߿`;Ϳ?`ۿ?i2Tz@I2ա^;2|CYBwAyBBHbDNVDN8yV=%VK=ٔV9Q-V>9XIX=Z`Q 5fo4bh?Q 9fo4bv:)bowAYdyf& Q Ij?bCIb8:ibs:bno4ynBɮnBn[E*jxBjxixixzixJixi| k`k`k`h  kSykSykSyh!2f1:f1Bf1Jf5v?IɢUap=)Q U>iQ)UiM 2Acoustic response timeoutԙ ;:ҏ,hH?A*;ɰ(Rpy@Rg@RٱR{ bAHRS rotation from veh to nav: [[-0.561926,0.745806,0.357788],[-0.827139,-0.511289,-0.233290],[0.008944,-0.427032,0.904192]]RHK?@?wz\ qͿ0Q? ~Tۿ$?iRpy@IRm^;R~CYnwAyn4H   )IibD%(VD%8y-dZ%5B=ٔ5B:Q-5>99I9==AQ 5Mo4ET?Q 9Uo4E:)EvAYQyU Q IU?EMCIE;iE;E}o4yaɮeBa*jqBjqiyiyziyJiyiy k`k`k`h k#yk#yk#yh2f:fBfJfl?QɢU=k=)Q U>iQ)]FԙE) E-GE-UE)"E)*E-R9VE- >5ZE)aE@aM@aM@aM@I iQ IU A] 2Acoustic response timeout{B:ҏ,'j H?A6>x@6@6ٱ6۾ >AHRS rotation from veh to nav: [[-0.579447,0.739070,0.343535],[-0.814973,-0.529423,-0.235648],[0.007715,-0.416518,0.909095]]6H@Ԋv?{?@C)ο@?`9ڿ@N?i6>x@I6 ^;4YrwAyrBHIz<)zp;xzAau@au au@au au@au au@au au@au yuoʡ?Mb?I +um?u=u9q q)uMb@Mb@Mb@Iuiu‰uuu u)uuIubDVD8y[<%B=Bu>BڏCBHBxAB=BDBDB;B+Eٔ?;Q->9I=Q 5o4??Q 9o4:)nvAQ A+:YQ E+:y Q I?CI" ;iU>o4yBɮBZE*jBjii zi Ji i  kS`kS`kS`h! k#|k#|k#|h1 ɢ {k=) >i)=<99i=AIIYIIO% >ԁ2Acoustic response timeoutԱ E Y E EE \E "E :*E A9VE T5ZE BE %;a 2E ';a JE W:a :E W:a% H:ҏ,L$H?A2Zv@2Z@2EŻٱ2Г־ :AHRS rotation from veh to nav: [[-0.596235,0.731864,0.329967],[-0.802788,-0.546611,-0.238219],[0.006020,-0.406928,0.913440]]2H[ok?/?o@} }ο`x?` ڿ`:?i2Zv@I2^;2CYBxAyBHPbDvVDv8y%ۄ=%-T=ٔ-;Q-->91I1=5Q 5o4+?Q 9o4:)uAQ A :YQ E :yQ I?CIiQ?o4yBɮBdE*jBjiiziJii k{k{k{h k3{k3{k3{hɢF=) %8?i!)%H?A6Nnu@6/@6𸁻ٱ6[־ >AHRS rotation from veh to nav: [[-0.612628,0.721030,0.323731],[-0.790361,-0.560926,-0.246356],[0.003959,-0.406790,0.913513]]6H? ?`J@Ͽ@7p?ڿ`;?i6Nnu@I6^;4YJwAyJHtbDVD8y]p %]F=ٔ];Q-]>9aIa=eqQ 5}o4u?Q 9}o4u;:)upuAQ A}9YyQ E}9y}iQ I}?uCIu;iu;?uo4EW EDEWE"E :*Ea99VE~D5ZEa@a@a@a@yɮ  *jBjii!zi!Ji!iA k3yk3yk3yhY kCykCykCyhɢw=) >i)cO<iIIaIyO=2Acoustic response timeoutIB<A<B>BCBHBxAB=BDBDB;BEBmCBmCBmǙCBmǬ=Bmǧ=Cmo7q U:ҏ,[WH?A6-"t@6 @6YNٱ62z׾ >AHRS rotation from veh to nav: [[-0.628527,0.709419,0.318870],[-0.777785,-0.574299,-0.255402],[0.001940,-0.408539,0.912739]]6H`?_h?@ `Xп_?%ڿ'5?i6-"t@I6^;4YF%xAyFH ||==bD VD 8yMĹ<%ML=ٔMC;Q-M>9QIQ=UaQ 5mo4e?Q 9mo4e]:)etAQ Au9YqQ Eu9yuQ Iu?eC2Acoustic response timeoutIe:ie?e&o4yBɮBcE*jBjiiziJii k#zk#zk#zh k#zk#zk#zhyɢ})‚=)y }R?iy)}o<顁i_III)OU=ԁEX EGEYE"E~ :*ER9VEJ5ZEBE:a2E:aJE t:a:E"t:aԱ5 2Acoustic response timeoutiI II g[:ҏ,qH?A6r@6j@6Yٱ6վ >AHRS rotation from veh to nav: [[-0.643744,0.699373,0.310600],[-0.765241,-0.588590,-0.260707],[0.000484,-0.405512,0.914090]]6H Ba??|lп+?? ٿ8@?i6r@I6ކ^;6~CYFtxAyFHbDR'VDR8yV+O=%ZU=ٔZ(x;Q-Z>9\I\=^Q 5o4e뽉?Q 9o45:)gtAQ A9YQ E%9y%Q I%?OCI ;i@o4y-Bɮ-B)*jABjAiIiIziIJiIiI kzkzkzha kkkhq颙ɢĄ=) L?i)<顡i6IԹA%AI1IAO}>2Acoustic response timeoutD=D%=bEF5jEǮH5rEN1EZ EFEXE"E:*E;J9VEG5ZEaE@aE@aM@aM@Yy = 2Acoustic response timeoutBb:ҏ,H?Aɰ;Y~xAy~HBe>BeޏCBe HBeyABe=BaBeDBeQ;BeӐEaa aa aa aa aa y^I +? rh?y&1?XY?C=`e= 9333333?V-?x&?Yy?ym=7=XBbB 5B)BYBbD"VD8y<=%8=ٔQ->9K?IK?=Q 5%o4ֽ?Q 9%o4_:)tAQ A-T:Y-z?Q E-X:y- Q I5?CIj;i;5o4yEBɮEܚBEmEQ*jqBjyiyiyziyJiyi ksxksxksxh2f>:f>Bf@Jft~@aɢeX=)a e ?ia)ez2Acoustic response timeoutԩE \ E HE aE "E :*E [9VE d5ZE BE ;a 2E ;a JE W:a :E X:a h:ҏ,bH?A2p@2~@2$;ٱ2/о :AHRS rotation from veh to nav: [[-0.669433,0.682516,0.293311],[-0.742869,-0.613831,-0.267128],[-0.002276,-0.396716,0.917939]]2Hk,?@? ѿ`b cٿ_?i2p@I2^;0YzxAyzH!! !)!I!i!!I-=)-=bD5>VD58yEh%EV=ٔM_;Q-M>9IIQ=UYQ 5eo4]}ý?Q 9eo4]+:)]tAYiym>Q Im?]CI]p:i]g:]o4yuBɮ}By*jBjiiziJii k{k{k{h) k{k{k{h92fI:fIBfIJfMG5|@iɢmW=)i m?ii)u3  2Acoustic response timeout1 o:ҏ,8H?A6o@6}@6+;ٱ6dgҾ BAHRS rotation from veh to nav: [[-0.680144,0.673141,0.290319],[-0.733067,-0.622337,-0.274426],[-0.004051,-0.399473,0.916736]]6H`@_??Iu@.1ѿ`pٿU?i6o@I6^;6CYJxAyJHbDR;VDR8yZ;%ZT=ٔ^;Q-^>9`I`=bdQ 5jo4fܯ?Q 9jo4f:)fuAYlyn*Q In?fCIf;if/;fo4yrBɮvBvlE*jBjiiziJi i  kxkxkxh kxkxkxh)2fA:fABfAJfEM{@Yɢel=)a e?ia)em2Acoustic response timeout9AYAYBe>BeߏCBe9HBe.yABe=BaBaBeD;BeΐEi )u:ҏ,'H?A 6o@6|@6W;ٱ6[־ >AHRS rotation from veh to nav: [[-0.688778,0.664069,0.290856],[-0.724940,-0.627120,-0.284926],[-0.006809,-0.407104,0.913356]]6Hx @ @?a?2 ] :<ҿ{@ ڿ`7:?i6o@I6^;4YFxAyFHbD VD 8yEA%MA=ٔM;Q-M>9IIQ=Ue2Acoustic response timeoutiQ 5uo4m?Q 9uo4mw:)mPuAYqyuQ I}?mCImv;im;mo4yɮ*jBjiiziJii kswkswkswh kwkwkwh2f:fBfJf,z@ɢ'=) K?i) <i I qA!I1IAOe>E] EGE`E"E:*ER9VE|a5ZEBE8;a2E:;aJEt:a:E"t:aԙ 2Acoustic response timeout C FG ) e ڤ9a Ye qA=%|:ҏ,H?A2Nn@2D|@2:E><ٱ2ؾ :AHRS rotation from veh to nav: [[-0.696580,0.657430,0.287335],[-0.717385,-0.631715,-0.293760],[-0.011613,-0.410757,0.911671]]2HbJ ?c? 7ҿ@ȇ`Iڿ h,?i2Nn@I2 ^;2}CLYRxAyRH bD-VD-8y;%E=ٔ=9I=Q 5o4E?Q 9o4:)|uAYyQ I?OCI;i:Co4yBɮњBvE*jBjiiziJii k#zk#zk#zh k#zk#zk#zh2f!:f!Bf!Jf%y@AɢE #=)A M?iI)M&E\ EIEbE"E:*Ec9VEg5ZEa@a@a@a@!  2Acoustic response timeout7 :ҏ, H?AB>BCBRHBVyAB=BBDB;BېEYxAyHMonly read 2 of 4 data items for bottom velocity. Device response is::BS, -105, +838 -105, +838, +13,A aM@aM aM@aM aM@aM aM@aM bD]VD]8ymŻ%m>=ٔmQ-m>9qIq=uQ 5o4m?Q 9o4<:)uAQ A+:YQ E/:yQ I?CI:i4>po4yBɮԚBuE*jBjiiziJii kxkxkxh kxkxkxh ɢ QO=)  K?i )}~<i I)A!I)I9IYO9>Q}2Acoustic response timeoutԁ E Z E HE \E "E :*E [9VE T5ZE BE h;a 2E k;a JE V:a :E X:a E7:ҏ,~&H?Aɰ4<2l@2z@2d<ٱ2վ :AHRS rotation from veh to nav: [[-0.712697,0.648257,0.268003],[-0.701070,-0.645320,-0.303419],[-0.023746,-0.404135,0.914391]]2H@i@?&?*o@u8kӿPYٿ B?i2l@I2^;2~CYZmxAyZHbDfVDf8ynW%nh=ٔr =Q-r>9pIp=rxQ 5~p4zZ?Q 9~p4z:)zuAQ A~ :YQ E:yQ I?zCIz ;izH?zp4y ɮ ךB *j!Bj!i)i)zi)Ji)i) k3k3k3hA k3k3k3hQY19m rmNAggregate::initialize marl:UpdateRudderq9mJ]iq9m9m7momXAggregate::initialize marl:UpdateCommandMode18u]q18uou@Completed marl:UpdateCommandMode7uou\Aggregate::uninitialize marl:UpdateCommandModeq7unuLAggregate::initialize marl:UpdateSpeed7u]y7}n}4Completed marl:UpdateSpeedq7}n}PAggregate::uninitialize marl:UpdateSpeed频ɢ f=) ?i)<顙i˜ I2Acoustic response timeoutA II1ԉO>Ա 2Acoustic response timeout ":ҏ,@H?A2[l@2ly@2k <ٱ2վ :AHRS rotation from veh to nav: [[-0.721701,0.641298,0.260546],[-0.691558,-0.651732,-0.311437],[-0.029918,-0.404947,0.913850]]2H,?@ɬ?>! `ӿᢞٿ C>?i2[l@I2^;0Y^xAybHIf%=)f<bDj VDj8yrk%rJ=ٔvy9tIt=zQQ 5]p4UC?Q 9]p4U%:)UuAQ Ae9YaQ Ee9yeQ Ie?UCIU ;iU̙?UDp4ymBɮmBq*jBjiiziJiiEn EGE[E"EO]:*ER9VEaQ5ZEa@a@a@a@ k#wk#wk#wԹhsNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ=) ?i)R<i IA Z?A e?Ae$AIqIO>2Acoustic response timeoutBA<B 5>B CB 9HB .yAB =B DB DB ;B ϐEA SI:ҏ,]ZH?A2 k@2y@2y =ٱ2YԾ :AHRS rotation from veh to nav: [[-0.731756,0.633542,0.251314],[-0.680692,-0.660638,-0.316570],[-0.034533,-0.402719,0.914672]]2Hj E??9#BԿJ`&ٿD?i2 k@I2t^;2CYBJxAyBHbDNVDN8yV=%VN=ٔV>9ZH?IZH?=Z`Q 5fp4b.?Q 9fp4by:)buAQ Af9YdQ Ef9yfQ Ij?bCIbA;ib?bp4ynԹBɮn˚Bn~E*jxBjxixixzixJi|i| k^k^k^h  kÀkÀkÀh!99E2Acoustic response timeoutɢ#=) ?i)4=i IAAIQIaO>E_ EJEfE"E&:*Ek9VEt5ZEBE&;a2E&;aJE:a:E:aAi2Acoustic response timeoutԙ Ss:ҏ,8tH?A@6p j@6x@6T=ٱ6o?Ӿ BAHRS rotation from veh to nav: [[-0.742270,0.624533,0.242885],[-0.669045,-0.670370,-0.320910],[-0.037596,-0.400703,0.915436]]6H,??@h@sȉԿ ?ٿ AK?i6p j@I6^;6~CYJwAyJ^H\` `)`I`i``bDjVDj8yr%rG=ٔrQ;Q-r>9tIt=vxQ 5p4zF?Q 9p4z,:)zuAQ A9YQ E9yQ I ?zICIz;iz?zp4yɮۚB*j!Bj)i)i)zi)Ji)i1 k3ek3ek3ehA kkkhQyɢ}{=) [>i)==顁ig IqIIO>M2Acoustic response timeoutԡE^ EGEhE"EC#:*ER9VEA{5ZEa@a@a@a@ i I A 2Acoustic response timeout\[:ҏ,jH?A2hi@2yv@2=ٱ2ҾBZW>BZCBZHBZbxABZ=BXBZDBZ;BZӐEBeCBeCBeCBaBe=Ce 6 ~AHRS rotation from veh to nav: [[-0.752883,0.614357,0.236077],[-0.657015,-0.680468,-0.324492],[-0.038711,-0.399411,0.915954]]2H@Ϩ?@7?Dd`xԿѣٿO?i2hi@I2B^;0Y=wAyE<H iia%a% a%a% a%a% a%a% y%~jt?v/L7A`堿%d?%x%+! !9%Mb?y&1"~jY%c?y%`彙%S%B%6~B %B)%#B!Y%BbD=VD=8yM%M5=ٔU2";Q-U>9YIY=]aQ 5mp4eG?Q 9up4e:)e.uAQ AuT:Yuf?Q Euk:yu%Q Iu?e|CIe;ie5;e"p4yֹBɮB*jBjiiziJii kcekcekceh k#yk#yk#yh2fD=:fD=BfKx4@Jf?ɢ鑁=) >i)"=i> I AzAoAI)I9O}7>]2Acoustic response timeout) E _ E JE _E "E &:*E k9VE C^5ZE BE a 2E &;a JE a :E :a ۄ:ҏ,H?A20g@2Au@2B=ٱ2l*־ >AHRS rotation from veh to nav: [[-0.763490,0.601239,0.235785],[-0.644721,-0.688292,-0.332548],[-0.037652,-0.405913,0.913136]]2H n@Z=?4.?`}wHտ G yٿi8?i20g@I2I^;2CYF|wAyF.HbD%VD%8ys%X=ٔ7Q->9I=Q 5p4Ἁ?Q 9p4R;)tAYy&Q I?CI@;i B;0p4y׹BɮB*jBjiiziJii k`k`k`h2f):f)Bf)Jf-R}?QɢU.(=)Y ]>iY)]=aaieriIi2Acoustic response timeoutQIIO>y>ԩ m 2Acoustic response timeout5m:ҏ, H?A4<ɰ2g@2u@2٧=ٱ2Y :AHRS rotation from veh to nav: [[-0.772661,0.585635,0.245002],[-0.633850,-0.690392,-0.348702],[-0.035065,-0.424723,0.904644]]2H?8\?~H`#Qֿ .ۿ ?i2g@I2^;0@YF wAyFHbDVD8bEc5jEe5rE1E^ EGEmE"EC#:*ER9VE5ZEa@a@a@a@yۈ%I=ٔ?лQ->9I=Q 5p4 Ǽ?Q 9p4;)tAYy'Q I?װCI7;ie;D>p4yعBɮB}E*jBjiiziJii k_k_k_h k_k_k_h2f!:f!Bf!Jf%x?9ɢE>=)A E>iA)Ep=AIiMIIQIQIiO=ԩ2Acoustic response timeoutAA?AB>BCBXHBwABBB DB;BE ј:ҏ,iH?A23f@2)t@2 =ٱ2e :AHRS rotation from veh to nav: [[-0.781224,0.573512,0.246522],[-0.623346,-0.695438,-0.357499],[-0.033589,-0.432956,0.900789]]2H@5Z? ? tABֿ2`ۿC?i23f@I2 ^;2CY^vAy^H`ba=l%2Acoustic response timeoutI%<)%bD5VD58yee)%eN=ٔesQ-m>9iIi=myQ 5p4}?Q 9p4} ;)}sAYy(Q I?}CI}:i}:}*Lp4yڹBɮB*j)Bj)i)i)zi)JiQiQ k\k\k\ha k\k\k\h2f:fBfJfJq?ɢՂ~=) F>i)U=ir^IIiIyO=Ee EEaE"E<:*EVEd5ZEBE`L;a2EbL;aJE!t:a:E#t:a12Acoustic response timeouta v:ҏ,VH?A6}e@6 s@6!=ٱ6ݾ BAHRS rotation from veh to nav: [[-0.791948,0.564613,0.232445],[-0.609713,-0.710884,-0.350564],[-0.032691,-0.419353,0.907234]]6HWN??@Ăoֿ༠ڿ`?i6}e@I6^;6CYFvAyJHbDRVDR8yZ%ZV=ٔ^cQ-^>9\I`=bdQ 5jp4fX?Q 9jp4f;)fsAYlyn)Q In?f0CIf ;if ;fzYp4yrǹBɮvBvE*j|Bj|iiziJii k^k^k^h k^k^k^h)92fA:fABfAJfE+Q?aɢe:̓=)a e>ia)m =iiimqIqIIO=-2Acoustic response timeoutiԑD=DE_ EFEhE"E&:*E;J9VEA{5ZEa@a@a@a@  2Acoustic response timeout7:ҏ,)_H?A@B*>B*CB* HB*FwAB*=B(B*DB*f;B*ߐEZc@Zq@ZZ=ٱZ D׾ fAHRS rotation from veh to nav: [[-0.803299,0.553860,0.218974],[-0.594686,-0.725822,-0.345733],[-0.032552,-0.407947,0.912425]]ZH9?U?9 | ֿ`@ڿ2?iZc@IZ^;Z~CYvAyHԙy5^I ?(\?DlX?z>O 9^I +?ʡE?X9vYXy?y=hBB )BYBbDVD8yo%8=ٔQ->9I=Q 5 p4v?Q 9 p4;)qAY{?Q EW:yQ I?gCI ;i ;ip4yȹBɮ%B%E*j1Bj1i9i9zi9Ji9i9 k]k]k]hQ k]k]k]ha2f>:f>Bfѣ@JfM@ɢ y=) j>i) =i)!I)AAIIOc>M2Acoustic response timeoutE  E GE E "E *E R9VE ZE BE &;a 2E &;a JE "t:a :E $t:a  :ҏ,.8)H?A2+b@2;p@2=ٱ2Ѿ :AHRS rotation from veh to nav: [[-0.814661,0.542211,0.205754],[-0.578993,-0.740188,-0.341889],[-0.033079,-0.397654,0.916939]]2H``Y?@$V?@`տ`)sٿ`W?i2+b@I2^;0YNlvAyRHdh h)hIhihh llbDtVDtyQм%[=ٔ :Q- >9K?IK?=!Q 55p4%^?Q 95p4%;)%pAY1yQ I?%CI%Ti) =i}ԁG9Y-AIAzAnA)A9IAIQO`>IM 2Acoustic response timeouty :ҏ,CH?A2Za@2Po@2V =ٱ2O>̾ :AHRS rotation from veh to nav: [[-0.826148,0.529487,0.192675],[-0.562426,-0.754288,-0.338713],[-0.034012,-0.388192,0.920951]]2Ho??`d !#xտ`i#ؿmx?i2Za@I2^;0YBvAyBHbDNVDN8yV<%VP=ٔV;Q-V>9XIX=Z`Q 5fp4b'D?Q 9fp4b\#;)boAYdyf,!Q If?bƱCIbd:ib:bσp4yn˹BɮnBl*jtBjtixixzixJi|i| kSGkSGkSGh  kckckch2f):f)Bf)Jf-K@IɢM4=)Q U>DQzDQE]e E]HE]^EY"E]<:*E][9VE] [5ZEYam@am@am@am@ii)m+ =iiiubqIyIAIIO>y2Acoustic response timeoutB=<A=<B]>BYB]HB]vAB]=BYBYB];B]Eԩ x:ҏ,\H?Aɰ2`@2m@2 =ٱ2ɾ :AHRS rotation from veh to nav: [[-0.837774,0.514998,0.181413],[-0.544882,-0.767135,-0.338537],[-0.035178,-0.382466,0.923300]]2H@ z?@8?o _տRzؿો?i2`@I2^;0YZvAyZH2Acoustic response timeoutbD%&VD%8y5ɻ%5B=ٔ=q5;Q-=>9AIA=EIQ 5Up4M'?Q 9Up4Ms);)MnAYYy]w"Q I]?MCIM;iM;Mp4ye͹BɮmBi*jyBjyiiziJii kakakah kakakah2f:fBfJfuI@ɢ=) 3>i)h=iHIԱIII!O=>Em_ EmIEmgEi"Em&:*Emc9VEmx5ZEiBEia}2Em&;a}JEm:a}:Em:a}2Acoustic response timeout 9 :ҏ,vH?A2m^@2}l@28=ٱ2xǾ :AHRS rotation from veh to nav: [[-0.849312,0.499206,0.171645],[-0.526616,-0.778637,-0.341174],[-0.036667,-0.380154,0.924196]]2H -?t? @տƢqTؿ?i2m^@I2^;0YR7vAyRfHI<)%=bD-$VD-8y57%=J=ٔ=q;Q-=>9AIA=EQQ 5Up4UC ?Q 9]p4U/;)UomAYYy]#Q I]?U-CIU;iU;Up4ymιBɮmBmE*jyBjiiziJii kC_kC_kC_h kS_kS_kS_h2f:fBfJf=jH@ɢ ~=) >i)=iIAP?AI?I%=C=%2Acoustic response timeoutIQO">AE}\ E}PE}oEy"E}:*E}?9VE}5ZEya@a@a@a@i  2Acoustic response timeoutBE >BE CBE HBE zvABE =BE DBE DBE ;BE E:ҏ,aH?A 2l;]@2|1k@2I!=ٱ2Ǿ >AHRS rotation from veh to nav: [[-0.860499,0.482663,0.163027],[-0.508006,-0.788847,-0.345906],[-0.038352,-0.380471,0.923997]]2H5 ?@? A ;>`R#ֿ` Yؿ c?i2l;]@I2^;2CYF.vAyFaHy~jt?oʡ?t< 9(\?~jt??Yn?yD><B4B DB)BYBbDVD8y&%>=ٔ;Q->9I=Q 5p4?Q 9p4>6;)lAY/s?Q E_:y%1Q I%?aCI ;i3:p4y-Bɮ-B-E*jABjAiAiAziAJiAiI k`k`k`hY k#ak#ak#ahi2f:=:f:=BfUO>Jf0@颙ɢ+|=) >i)S7=顡i IIQIaiO=ԙ2Acoustic response timeout E ^ E JE qE "E C#:*E k9VE 5ZE BE  ;a 2E ;a JE :a :E :a !:ҏ,R~H?AF[@Fi@F*=ٱFǾP VAHRS rotation from veh to nav: [[-0.870756,0.467271,0.153108],[-0.489960,-0.798220,-0.350407],[-0.041521,-0.380135,0.923998]]FH@;@?@ ?[߿ @mֿ@B#Tؿ e?iF[@IF^;DYb)vAyb]HbDr%VDr8yz?e%z]=ٔ~M 9I=Q 5%p4eܻ?Q 9%p4H<;)RlAY)y-Q I-?CI8;i@:;p4y=Bɮ=B9*jQBjQiYiYziYJiYia kS`kS`kS`hq kakakah2f:fBfJf@颱ɢRK=) #>i)4e=iQ7I}2Acoustic response timeoutIIO%=- 2Acoustic response timeout) :ҏ,YH?A2rZ@2h@2C=ٱ2_jǾ :AHRS rotation from veh to nav: [[-0.879783,0.454038,0.140821],[-0.472963,-0.806225,-0.355398],[-0.047830,-0.379276,0.924047]]2H`/'@?n?E޿`վֿ`;}Fؿʑ?i2rZ@I2i^;2CYfuAyf,H hhbDr)VDr8yzXE%zJ=ٔz89||I|= Q 5p4 û?Q 9p4 B;) kAYyQ I? CI &;i ; p4y%Bɮ-B-EEE_ EEMEE^EA"EE&:*EE9VEE [5ZEAaM@aM@aM@aM@*jQBjQiQiQziYJiYiY kbkbkbhq kbkbkbh2f:fBfJf8@颱ɢ{=) .>i)=项ieIAzAqAIIO=)2Acoustic response timeoutAAAABBB^HB)vAB=BDBB;BEBCBCBŕCBŢ=BŢ=CY6Qԁ 3:ҏ,4H?A2QY@2bg@2}d=ٱ2QǾ :AHRS rotation from veh to nav: [[-0.886430,0.444379,0.129498],[-0.459507,-0.811226,-0.361616],[-0.055642,-0.380052,0.923290]]2H]p?b?`hݿ $׿*}`Rؿ?i2QY@I2_;2CYRuAyR+Hpr<r2Acoustic response timeoutbDZ<VDZ8y%I=ٔ 9 I =Q 5%p4?Q 9%p4I;) kAY)y-Q I-?CIt:i(:p4y5Bɮ5B1*jIBjIiIiIziQJiQiQ k_k_k_h2f!:f!Bf!Jf% ~@AɢE*z=)A E>iA)M<=IIiM:yQIQIIOU=EI EMREMrEI"EI*EM9VEM5ZEIBEM&;a]2EM&;a]JEM$:a]:EM&:ae12Acoustic response timeoutY ]:ҏ,H?Aɰ;:5X@:Ff@: =ٱ:ʾ BAHRS rotation from veh to nav: [[-0.892375,0.435191,0.119478],[-0.446665,-0.813887,-0.371589],[-0.064471,-0.384964,0.920677]]:H`V,?@"?*ܿ[ ׿# ?ؿ0v?i:5X@I:}^;:CYJTuAyJH`` `)`I`i``bDhVDhyr%rM=ٔrY9tIt=v=FyvEzGEz>xQ 5p4z?Q 9p4zO;)zXjAYyQ I?z CIz;iz;zp4yɮB*j)Bj)i)i)zi1Ji1i1 kcGkcGkcGhI k`k`k`hY2fi:fiBfiJfm}@颉ɢw=) >i)=顑iylI1A$AII2Acoustic response timeoutO>aiyI}oAbEƥy5jEJz5rE2E] E]E]gEY"E]:*E]=:VE]x5ZEYam@am@am@am@ԉiߙ Iߙ  2Acoustic response timeoutԹ B >B B HB uAB B DB B ;B 0EHF;ҏ,H?A2W@2e@2G=ٱ2; :AHRS rotation from veh to nav: [[-0.897855,0.426003,0.111260],[-0.434470,-0.816269,-0.380710],[-0.071366,-0.390162,0.917976]]2H`9C?{?`[ۿ`]ؿEhؿ `?i2W@I2^;2~CYnuAynHIv<)v=tvAygfffff?X9vˡE?3S?= 9}?5^I?~jtx?ףp= ?YMb?y;>B )YBbD>VD8y=%==ٔ܂9H?IH?==FyEE>Q 5p4Ju?Q 9p43T;)jAYe?Q El:yz'Q I?QCIX:i :p4yBɮBE*j Bj i i ziJiiq kYkYkYhԑ k3`k3`k3`h2f1$>:f1$>Bf?Jf@ɢ"t=)  >i ) 1=))i-0@1I9IiIOB>2Acoustic response timeoutEm b Em JEm ^Ei "Em 1:*Em k9VEm [5ZEi BEm 9;au 2Em 9;au JEm :a} :Em :a}  &q ;ҏ,+H?AB$W@B0e@B'0=ٱBfϾ NAHRS rotation from veh to nav: [[-0.902948,0.416929,0.104188],[-0.423030,-0.819604,-0.386387],[-0.075703,-0.392962,0.916433]]BH??ۿ2:ؿDaK&ٿkS?iB$W@IB^;BCYZtAyZHbDE'VDE8y]Ͻ%eQ=ٔe59qIq=u=FyuE}E}>Q 5q4c[?Q 9q4X;)VkAYy@(Q I?~CIPa;ib;q4yBɮB*jBjiiziJii k^k^k^h  k^k^k^h2f):f)Bf)Jf-"@^=B*** querying acoustic contact ***X9Y9I]2Acoustic response timeoutɢ]dr=)Y ]>iY)e'=aaieN iIiIIO-->A  2Acoustic response timeoutW;ҏ,ZEH?A6|5V@6+d@6=ٱ6 վ >AHRS rotation from veh to nav: [[-0.908886,0.404401,0.101913],[-0.409777,-0.820547,-0.398479],[-0.077520,-0.403933,0.911498]]6H??9ڿ`Aٿ@]س ٿ*?i6|5V@I6^;6CYFtAyFeHE%^ E%hE%fE!"E%C#:*E%]9VE%t5ZE!a-@a-@a-@a-@bDVDyR%F=ٔ';Q->9I==FyEfE>Q 5q4R@?Q 9q4]];)kAYy)Q I?CI:i:q4yBɮ B*jBjiiziJii kbkbkbh k#bk#bk#bh2f!:f!Bf!Jf%@AɢEj=)I M>iI)M=IIiMQIYIm2Acoustic response timeoutB<AB>BCBHBtAB=BDB DB`;B]E}$ԉIIO%o>ԩ 4;ҏ,_H?A2'U@2c@2 =ٱ2˾ :AHRS rotation from veh to nav: [[-0.915581,0.392221,0.088731],[-0.394798,-0.834777,-0.383774],[-0.076454,-0.386407,0.919154]]2H`qL '?@ ?^Dٿ}ؿ|ؿ i?i2'U@I2^;2C9III=M=FyUEU+EU>YQ 5eq4] &?Q 9eq4]a;)]AlAYiymO*Q Im?]ڳCI]:i]:]q4yuBɮu6B}E*jBjiiziJii k^k^k^h) kvkvkvhY2fi:fiBfiJfm|@颡ɢ=_=) |>i)@=iyIԩC E-Y E-KE-jE)"E-:*E-]t9VE-ـ5ZE)BE-&;a=2E-(;a=JE-/:a=:E-0:a=IIIYO> wk>-GAYu2Acoustic response timeout9Y$A ;ҏ,WyH?A6:T@60b@6Z=ٱ6ľ >AHRS rotation from veh to nav: [[-0.921356,0.380482,0.079605],[-0.381521,-0.845899,-0.372689],[-0.074463,-0.373750,0.924536]]6H`{Y?@a?jؿ@!׿׿˕?i6:T@I6^;6CYFsAyFHbDRVDR8yZ&;%ZT=ٔZ詻Q-^>9\I\=^=FybEb_Eb>dQ 5jq4f ?Q 9jq4fe;)flAYhyn`+Q In?fClIf:ifO+;f@-q4yvBɮv7Bt*jBjii zi Ji i  kS^kS^kS^h! k#wk#wk#wh12fA:fABfAJfE@aɢe~e=)a ep~>ia)m=iiimAqIqyyyy2Acoustic response timeout IIOI>1EEZ EEIEEiEA"EE:*EEc9VEEz~5ZEAaM@aM@aM@aM@a B >B CB HB sAB =B D 2Acoustic response timeoutB DB G;B pEѓ$;ҏ,2H?Aɰ4<2oS@2ea@2=ٱ2>ʾ :AHRS rotation from veh to nav: [[-0.926163,0.368298,0.081114],[-0.370187,-0.846783,-0.381996],[-0.072002,-0.383818,0.920597]]2H0?ô?$׿rؿ nxؿu?i2oS@I2 ^;2CYBesAyBH9ymrh|?q= ףpͿ{Gzt?m[?mkmף;i i9mK7A?~jtȿV-?Ym b?ymDm9I==FyEtE>Q 5q4뺉?Q 9q4g;)lAYrg?Q Ej:yiI)Mkn=IIiMIA%V?A%P?IIO>i=2Acoustic response timeoutԑEM e EM FEM eEI "EM <:*EM ;J9VEM q5ZEI BEM `L;aU 2EM cL;aU JEM e:a] :EM e:a] *;ҏ,H?ABR@B`@B[=ٱB}ξ RAHRS rotation from veh to nav: [[-0.930630,0.356780,0.081460],[-0.359247,-0.848194,-0.389240],[-0.069780,-0.391503,0.917527]]BH`|?@ڴ?ֿ@h$ Pؿ@ݱbٿ b\?iBR@IB^;BCY^rAy^TH )IiI=)<AԙbDVD8y%I=ٔXQ->9I==FyE)E>Q 5q4Dͺ?Q 9q4vi;)i)=顁iIAAIIIO--> 2Acoustic response timeout 01;ҏ,H?A2Q@2-_@2U=ٱ2kо :AHRS rotation from veh to nav: [[-0.934809,0.346164,0.079385],[-0.348487,-0.850971,-0.392944],[-0.068469,-0.394993,0.916129]]2H'?R?Mֿ@';&ٿ0 Gٿ@P?i2Q@I2Ƶ^;2CYNrAyR3HbDZ!VDZ8yvO %vX=ٔv|cQ-v>9zK?IzK?=z=FyzEzE~>D|zD~AAE^ ESEaE"EC#:*E9VEd5ZEa @a @a @a@Q 5%q4?Q 9%q4k;)}mAY!y%=Q I%?CIw;i:Wq4y1ɮ5eB1*jABjAiIiIziIJiIiI kckckcha k|k|k|hq2f:fBfJf)@s NUpdating rudder angle 6.875493 arcdeg 9r56Completed marl:UpdateRudder195 r5RAggregate::uninitialize marl:UpdateRudderIɢML=)Q U)>iQ)]ё=YYi]1xqIyAIIO*>!B->B-CB-jHB-rAB-=B)B-DB-0;B-iEm2Acoustic response timeoutIy 7;ҏ,~H?A:E4Q@:V*_@:΂=ٱ:Ѿ BAHRS rotation from veh to nav: [[-0.938800,0.335841,0.076583],[-0.337767,-0.853897,-0.395945],[-0.067581,-0.397580,0.915075]]:H j~?@욳?տ S@)WٿLqٿKH?i:E4Q@I:9^;:~CYJfrAyJ Hb2Acoustic response timeoutbDVD8yE%MD=ٔMA Q-M>9IIQ=U=FyUEUEU>YQ 5mq4]?Q 9mq4]l;)]mAYiym>Q Im?]ôCI];i]L ;]cfq4y}Bɮ}oB}E*jBjiiziJii kswkswkswh kwkwkwh2f:fBfJfđ@Q颉ɢwtG=) >i)B=顱i6IAoAzAnAE-` E-GE-hE)"E-*:*E-R9VE-A{5ZE)BE- -;a=2E- -;a=JE-!t:aE:E-$t:aEAIIQIiԁO@>u2Acoustic response timeoutԩ =;ҏ,H?A2[P@2Q^@2=ٱ2dѾ :AHRS rotation from veh to nav: [[-0.943230,0.324306,0.071710],[-0.325348,-0.858716,-0.395922],[-0.066822,-0.396776,0.915480]]2H@.n?@[?Կz@Vٿ`9@dٿ@K?i2[P@I2^;0YBqAyBH ||bD VD 8yEp%MJ=ٔMQ-M>9IIQ=U=FyUEUEU>YQ 5eq4]Bs?Q 9mq4]n;)]nAYiym?Q Im?]CI]$:i]:]tq4yuBɮ}MBy*jBjiiziJii k3xk3xk3xh kCxkCxkCxh2f:fBfJfX@ɢtA=) =i)w=iIԹ=%=2Acoustic response timeoutAiIIO(>E^ ENEqE"EC#:*E҆9VE5ZEa%@a-@a-@a-@ B% >B! 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[[-0.978489,0.205751,0.015000],[-0.195031,-0.898905,-0.392342],[-0.067242,-0.386828,0.919697]]5HOV?3?ȿ`!ٿ@6ؿ(n?i50G@I5^;1YU pAyUHbD.VD8y%K=ٔ;Q- >9 I = =Fy EؽE>2Acoustic response timeout!)Q 55q4-?Q 95q4-};)-dAY1y5U4Q I=?-QCI-Y;i-;-=q4yE|BɮEzBA*jYBjYiYiYziYJiYia kS{kS{kS{hq kc{kc{kc{h2f:fBfJf@QɢUz=)Q UPE;iQ)]=YYi]1 aIaAIiIyO>>i  2Acoustic response timeoutԙ Ar;ҏ,)xH?A2RVF@2bLT@2&=ٱ2˾ :AHRS rotation from veh to nav: [[-0.982355,0.186927,0.006013],[-0.174266,-0.903197,-0.392259],[-0.067893,-0.386386,0.919835]]2H`to`=?.x?WNƿٿoaؿJo?i2RVF@I2-^;2CYB=pAyBHEbZ EbIEbdE`"Eb:*Ebc9VEb^n5ZE`af@af@af@af@bDvGVDv8y-=%-Y=ٔ-:Q-->91I1=5=Fy5E=zfE=>AQ 5Mq4Ev?Q 9Mq4E~;)E(cAYIyM5Q IU?E}CIE:iE:ETq4yɮuBE*jBji!i!zi!Ji!i) k#zk#zk#zhiy2f:fBfJfhP@颹ɢ`#=) wAiAm@ABu>BuCBuHBu pABu=BqBuDBu;BuE-2Acoustic response timeoutԡ lx;ҏ,CSH?A6E@6 R@6%\=ٱ6[˾B2Acoustic response timeout FAHRS rotation from veh to nav: [[-0.985733,0.168295,-0.002780],[-0.153757,-0.907054,-0.391933],[-0.068481,-0.385914,0.919990]]6H@?fNÿ@mٿ ϲؿ 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response timeout {z;ҏ,H?AbEUC5jEU5rEUR1E&] E&UE&iE$"E&:*E&P9VE&z~5ZE$a*@a*@a*@a*@>3@>A@>=ٱ>; FAHRS rotation from veh to nav: [[-0.990061,-0.074117,-0.119525],[0.114469,-0.918426,-0.378668],[-0.081709,-0.388587,0.917782]]>HU@3M?c<ؿ`괿ؿx^?i>3@I>^;>CYNiAyNHbDZ?VDZ8y%]c%%F=ٔ-Q-->9)I)=-=Fy-FE5!E5>9Q 5Er4=?Q 9Er4=";)=VAYAyM7@Q IM?==CI=9:i=:=r4yUBɮUUBQ*jBjiiziԙJii k^k^k^h k^k^k^h2f:fBfJfӄ?ɢ<<) %Ǿi)c=inIB9>BBHBiAB=BDBB;B2EA!I1IAO}>-2Acoustic response timeout! ;ҏ,qH?A2{y2@2o@@2=ٱ2Ǿ :AHRS rotation from veh to nav: [[-0.987869,-0.094856,-0.122949],[0.133962,-0.921001,-0.365802],[-0.078538,-0.377835,0.922536]]2H`tHy %?@xLi׿  s.ؿj?i2{y2@I2^;0B2Acoustic response timeoutYFNiAyJvHbD1VD8y)%@=ٔQ->9I==FyIE0<E>Q 5s4:?Q 9s4;)TAYy5@Q I?oCIQ;iN;s4y5Bɮ5eB=E*jQBjYiYiYziYJiYia kakakahq kakakah2f:fBfJf?ɢp;) 1־i)6x=i\k!I!A1zA5oAEe_ EeLEejEa"Ee&:*Ee|9VEeـ5ZEaBEe&;au2Ee&;auJEew:au:Eex:au!I1IAO}7>52Acoustic response timeoutQԁ <ҏ,ZH?AYhAy:H 11IyMbX?B`"?Zd;OJ?N>j< 9~jt?Q?^I +ǿYD?y(\>X9}BB 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H?A2[@2Q@2ٱ2{˾ :AHRS rotation from veh to nav: [[-0.679219,-0.677216,-0.282915],[0.733934,-0.625737,-0.264187],[0.001881,-0.387081,0.922044]]2H)Eҿ b|? `pп{^?ؿa?i2[@I2^;2CYB`AyB HDFp=y M?)\(?Q? nr? 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ٿk?i2\?I29tIx=z=FyzEzEz>QQ 5]v4UY?Q 9]v4UC=:)U35AYaye@Q Ie?UCIU;iU;Uv4yiɮmBi*jBjiiziJii k#_k#_k#_h kxkxkxh2f:fBfJfyi@ɢy) ?Hi)MIi-IIyIE\ EHEoE"E:*E[9VE5ZEa@a@a@a@O=)2Acoustic response timeoutQPExceeded connect timeout, disconnecting.y "=ҏ,,H?A2=?2T?2ٱ2b˾ :AHRS rotation from veh to nav: [[-0.355723,-0.866714,-0.349669],[0.933892,-0.315172,-0.168854],[0.036143,-0.386618,0.921531]]2H+ֿ@`ֿr?`+Կ ſ K?@[ؿ /}?i2=?I2h^;0Y^cAyb Hy#~j?ktQe? u 9%C?Mb`?|?5^ɿYZd?y;M9B؄B B)BY=BbDVDm8y')=%:=ٔQ->9I==FyE E >2Acoustic response timeoutQ 5%v4P?Q 9-v43:)%4AY-j?Q E-h:y-?Q I-?CI`;i&:v4y9ɮ=B9*jQQBjYiYiYziYJiYia ks_ks_ks_hq kxkxkxh2fN*>:fN*>Bf?Jfp`@颱ɢ3{) Ci)9 项iwIB56>B5 CB5< HB5dAB5=B1B5DB5:;B5EAI IOM1>ԁE_ EEmE"E&:*EVE5ZEBE&;a2E&;aJEX:a:EZ:aԩi I  2Acoustic response timeout R=ҏ,ЬH?A>?>~?>Ƕٱ>ɾ FAHRS rotation from veh to nav: [[-0.339947,-0.873783,-0.347762],[0.939646,-0.300351,-0.163873],[0.038739,-0.382482,0.923151]]>H@տ Aֿ ?8ӿĿգ?zؿs?i>?I>V^;>CYNcAyN H 4>=bD-VD-8ye.<%eT=ٔmݻQ-m>9iIi=u=FyuEu2Eu>yQ 5v4}H?Q 9v4}*:)}63AYy?Q I?}CI}6:i}-:}v4y=BɮžBE*jBjiiziJii k_k_k_h kykykyhY2fi:fiBfiJfmr^@颩ɢD큽) BԱi),*iыIA%$A-2Acoustic response timeoutI1IIO=>E\ EEEsE"E:*EA9VEX5ZEa@a@a@a@ 1 =ҏ,H?AB2Acoustic response timeoutbdZ?b|F?b)ٱb{Ǿ rAHRS rotation from veh to nav: [[-0.323568,-0.880222,-0.347149],[0.945296,-0.284638,-0.159362],[0.041462,-0.379723,0.924171]]bH`VԿ*@7ֿ??7ҿ@eĿ:?bMؿ Β?ibdZ?Ibh^;`Y~cAy~ H?AbDVD{8y/;%E=ֻٔQ->9H?IH?==FyE*E>Q 5v4@A?Q 9v4!:)72AYy?Q I?!CIR:iI:v4yɮB*j Bj i i ziJii k`k`k`h)nManaging dock network, ignoring radio surface power off kzkzkzh2f:fBfJf_T\@ 19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeedYɢej_)a e Bia)e4顉iB;IAAIIOF>A52Acoustic response timeouta A- @AA) B5 >B5 CB5 HB5 dAB5 =B1 B5 DB5 f;B5 EE _ E IE gE "E &:*E c9VE x5ZE BE &;a 2E &;a JE :a :E :a T=ҏ,H?Aɰ 6g?6 ?63ٱ6'ɾ >AHRS rotation from veh to nav: [[-0.306987,-0.884278,-0.351869],[0.950701,-0.267882,-0.156226],[0.043888,-0.382482,0.922920]]6H ӿL ֿ%l?$ѿ7ÿ |x?zؿ?i6g?I6NS^;6CYFcAyF- HbDRVDR8yV<%V^=ٔZ׻Q-Z>9ZK?I^K?=^=Fy^E^AEb>`Q 5fv4b:?Q 9jv4b:)bY1AYhyj`?Q Ij?bLCIb:ib:bxv4ylɮrBp*jxBjxixi|zi|JiYiY kakakahq kSzkSzkSzh2f:fBfJf#=Z@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢtĉ) @i)=i%8!I)q2Acoustic response timeoutAe$AIqIO>ԙ E 2Acoustic response timeouty=ҏ,^H?A2?2?2<ٱ2}˾ :AHRS rotation from veh to nav: [[-0.290264,-0.887444,-0.358038],[0.955840,-0.250883,-0.153060],[0.046006,-0.386654,0.921076]]2H୓ҿeֿ >?wпtÿ@?`ؿ`uy?i2?I2m^;2CYB4dAyBR HIF=)F=HJAPbDNVDNp8yZ=%ZJ=ٔZૻQ-Z>9^H?I^H?=^=Fy^Ebo1Eb>dQ 5fv4fv4?f6:)fi0AYhyj?Q Ij?fzCIfP:if:fv4yrQBɮrʞBrE*jxBjxi|i|zi|Ji|i kakakah kzkzkzh!2f1:f1Bf1Jf50X@QɢUτ) 2Acoustic response timeout! 4=ҏ,8H?A6?6r?6fAٱ6#̾ BAHRS rotation from veh to nav: [[-0.272624,-0.891152,-0.362662],[0.960962,-0.233719,-0.148079],[0.047200,-0.388874,0.920081]]6HrѿQ@5׿3?Ϳ<¿*?`QؿMq?i6?I6P^;4YJdAyJ HNp=Np=|y% rh?Mb rh%CK?%%C! !9%9UK?IUK?=U=FyUEU1E]>aQ 5mv4e0?Q 9mv4eZ:)e/AYmX8?Q Em:ymZ?Q Iu?eCIeH:ies:efv4yyɮ}By*jBjiiziJii ksbksbksbh2Acoustic response timeout k|k|k|h92fM>:fM>BfM0 K@JfMuܬ@颉ɢhv) 6i)U(Q顱iՉIB=>B CB HBTeAB=BBDB$;BՔEB CBCBÖCBè=Bç=C6)A$AIII!O=/>E] EEnE"E:*EVEJ5ZEBE9;a2E<;aJE:a:E:aQ 2Acoustic response timeoutԁ b=ҏ,.H?A2z?2?2zHEٱ2̾ :AHRS rotation from veh to nav: [[-0.254426,-0.895613,-0.364889],[0.965893,-0.216545,-0.141982],[0.048146,-0.388568,0.920161]]2HHпݨ WZ׿`?˿x,¿?Jؿq?i2z?I2M{^;2CYndAyr H   )I=ibD%VD%G8y-<%5L=ٔ5Q-5>95H?I=H?===Fy=E=@EE>AQ 5Mw4E-?Q 9Uw4E9)E/AYQyU?Q IU?ECIE:iE|:YEgw4yeRBɮeBeE*jyBjyiyiyziJii kdkdkdh kykykyh2f:fBfJfB@ɢ> ) 4i)IYipIA%AI1IAOu>ԉ 2Acoustic response timeoutԱE EIEoE"E*Ec9VE5ZEa@a@a@a@ -=ҏ,+GH?A22Acoustic response timeout>?>?>Hٱ>˾ FAHRS rotation from veh to nav: [[-0.235301,-0.900388,-0.365971],[0.970696,-0.198797,-0.135014],[0.048811,-0.387016,0.920780]]>H[οl׿ ?@1rɿ&H?@ؿ@w?i>?I>:Y^;>CY^dAy^ HbDjVDj<8y%VA=%%K=ٔ%غQ-%>9-K?I-K?=-=Fy-E5HE5>9Q 5Ew4=T+?Q 9Ew4=b9)=n.AYAyEv?Q IM?=CI=:i=:={w4yQɮUBQ*jaBjiiiiiziiJiiiq ks`ks`ks`h kCzkCzkCzh2f:fBfJf@Աɢ;}) 0i)< ciIAAIIIYO>2Acoustic response timeoutB <A <B 1>B B h HB eAB =B B B ;B ͔E9 bEe|5jEe5rEezy1E \ E LE eE "E :*E |9VE q5ZE BE ;a 2E ;a JE w:a :E x:a d=ҏ,KaH?A2q,?2?2#Kٱ2ʾ :AHRS rotation from veh to nav: [[-0.217001,-0.904730,-0.366570],[0.974912,-0.181790,-0.128450],[0.049574,-0.385247,0.921481]]2H˿`@u׿ z2?@Dǿqa?`ؿ|?i2q,?I2^;2CYR=eAyR HTTbD iVD #8y}!=%E=ٔQ->9I==FyE_9E>Q 5w4.)?Q 9w49)-AYy?Q I?CI*:i:"w4yɮB*jBjiiziJii kwkwkwh kwkwkwh2f:fBfJf@1ɢ=#x)9 =%,i9)E>7lAAiE4̈IIYAuZ?Au_?iqIq}2Acoustic response timeoutAIIO-->Ai% 2Acoustic response timeoutԙ @=ҏ,{H?Aɰ2?2?2Nٱ2/]ɾ >AHRS rotation from veh to nav: [[-0.198661,-0.909039,-0.366308],[0.978771,-0.164793,-0.121864],[0.050415,-0.382741,0.922479]]2Hmɿq׿@R? 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K!?o`ެ?@J׿`?i-?I-U^;-CYlAyyHp=yjt?)\(?Zd;O`?Ga=j 9ףp= ?Mb`?ʡEY^?y;-B B)+BYǧBbDHVD8y=%.=ٔ9Eb EOExE"E1:*E9VEe5ZEa@a@a@a@Q-e>9iIi=m=Fym=Eud Eu>yQ 5}x4}ذ?Q 9x4}>9)}X1AY_?Q Er:y?Q I?}CI};i};}Mx4yɮGB*jBjiiziJii kc.kc.kc.h2fm=:fm=Bfm@Jfm@颡ɢ) [i)MP顩i7HIAoAzAoA52Acoustic response timeoutIIOk>9 qXf>ҏ,gH?A$$Ry[?RG?ReٱRľ ZAHRS rotation from veh to nav: [[0.130532,-0.916844,-0.377305],[0.989860,0.142020,-0.002655],[0.056019,-0.373133,0.926085]]RHE?`V@%ؿ`?`-?"ez?h׿`}?iRy[?IR8^;RCYb8mAybH!bD-AVD-8ye+=%mg=ٔm:Q-m>9iIq=u=Fyu?EuUEu?2Acoustic response timeoutQ 5x4=ܰ?Q 9x479)*1AYyɳ?Q I?CI;i;Yx4yɮ3B*jIBjIiIiIziIJiQiQB]K>B] CB]HB]mmAB]=B]DB]DB];B]EB!B%CB%œCB%¤=B%§=C%7 kc.kc.kc.h kc.kc.kc.h2f:fBfJf X@ɢ) 1i)LiIIIO>IEg ENEdE"EC:*E҆9VE^n5ZEBEX;a-2EX;a-JE:a-:E:a-qi) I) 5 2Acoustic response timeoutԡ l>ҏ,1zH?A2י?2õ?2bٱ24ľ :AHRS rotation from veh to nav: [[0.149979,-0.913840,-0.377362],[0.987141,0.159759,0.005449],[0.055308,-0.373327,0.926050]]2H2?->&ؿ?r?Qv?JQ?׿2?i2י?I2]^;2CYnmAynH YYe=aybDm<VDm8ys=%E=ٔ:Q->9I==FyBEBE>Q 5x4ᰉ?Q 9x4-9)0AYyD?Q I?CI ;i:hx4yBɮ;BE*jBjiizi Ji i  k5k5k5h2f:fBfJfӳ@ɢ1) i)TIiYIIQIiIO=2Acoustic response timeoutԡE _ E ZE rE "E &:*E a9VE 5ZE a @a @a @a @ = 2Acoustic response timeout"ks>ҏ,VH?A2+?2?2_ٱ2ž >AHRS rotation from veh to nav: [[0.170530,-0.909223,-0.379782],[0.983835,0.178492,0.014439],[0.054660,-0.376105,0.924963]]2H`?YWNؿ@{??:?^?@ؿM?i2+?I29^;2CYFmAyF%HHHbD-0VD-8ye)<%eP=ٔmy:Q-m>9iIi=u=FyuDEuMYEu>yQ 5x4}簉?Q 9x4}$9)}0AYy?Q I?}CI}N:i}:}ux4yɮ9B*jBjiiziJii kkkh k0k0k0h2f:fBfJf@ ɢ Q) %i)z1i>䋼I!IIO=2Acoustic response timeout1AQAQB]U>B] CB]|HB]8nAB]=BYB]DB]d;B]xEi bEـ5jE~5rEr2E g E TE pE "E C:*E 9VE 5ZE BE X;a 2E X;a JE :a :E :a y>ҏ,H3H?A4<ɰp;2j?2W?2^ٱ2WNǾ :AHRS rotation from veh to nav: [[0.191656,-0.904020,-0.382119],[0.979953,0.197848,0.023437],[0.054414,-0.378950,0.923816]]2H 3? tؿ`[?@S?@?`ܫ?@ؿ@?i2j?I2u7^;2CYnAyiHbD5ZVD58yE=%EM=ٔM!:Q-M>9IIQ=U=FyUGEU6\E]>aQ 5ux4e?Q 9ux4e9)e0AYqy}ū?Q I}?e2CIe8;ie2*;ex4yɮ+B*j!Bj!i!i)zi)Ji)i)1 kskskshQ2fi:fiBfiJfmDT@颉ɢL) i)顑iI2Acoustic response timeoutII)O=aԉ 2Acoustic response timeoutԹ >ҏ,H?A=?=ʤ?=_ٱ=Ǿ ]AHRS rotation from veh to nav: [[0.212253,-0.899419,-0.382091],[0.975685,0.216920,0.031381],[0.054659,-0.379461,0.923592]]=H@+? /tؿ8?????Iؿ?i=?I=^;=CYuGnAyuHI=)<E%w E%GE%aE!"E%}:*E%R9VE%d5ZE!a-@a-@a-@a-@ԉy/$?9I==FyJE;E> Q 5x4 ?Q 9x4 9) %0AYI?Q E:yY?Q I? `CI :i j: ɓx4y%Bɮ%$B-E*j9Bj9i9iAziAJiAiA kkkhY kS/kS/kS/hi2f}>:f}>Bf}H@Jf}w@ɢ) iܽi)Ϲ!iELJAIIԹiI2Acoustic response timeoutAUAIaIqO_> >ҏ,OH?A2?2?2c`ٱ2WȾ :AHRS rotation from veh to nav: [[0.232867,-0.893849,-0.383154],[0.970961,0.235911,0.039765],[0.054846,-0.381287,0.922828]]2H`? i`ؿ ?V2?\??gؿ χ?i2?I2g^;2CYBnAyBHDFa=bDN8VDN8yVo=%Vy=ٔZQ-Z?9ZK?I^K?=^=Fy^LEE?Q 5%x4?Q 9%x4R 9)/AY!y-?Q I-?CIp:i:x4y5Bɮ5-B5E*jIBjIiIiIziIJiQiQe2Acoustic response timeout kkkhq2f:fBfJf ӕ@颡ɢ. ) i)A顩iԍIB9>B CBHB,oAB=BBDBW;BdEA!I9IQO>D%=D%<E-c E-IE-`E)"E-g5:*E-c9VE-|a5ZE)BE-?;a52E-?;a=JE-:a=:E-:a= 2Acoustic response timeoutI - G9 Q 9 Y >Aь>ҏ,5H?A@ 6q?6]?6b`ٱ60~˾ >AHRS rotation from veh to nav: [[0.252282,-0.886779,-0.387270],[0.966102,0.253483,0.048924],[0.054782,-0.386484,0.920668]]6Hb%?`}`@ؿN?@9? ?S ?`)ؿv?i6q?I6xr^;6CY^nAybHtt t)tIxixxbD~<VD~8y *=% D=ٔ]#9Q->9I==FyNECE>Q 5x4?Q 9x499)/AYy?Q I?CI/;i];Ix4yɮ$B*jBjiiziJii kkkh k-k-k-h2f:fBfJfF@ɢA)Ƽ %7i!)%!!i%)I)qAau2Acoustic response timeoutIyIO>ԙE=` E=HE=aE9"E=*:*E=[9VE=d5ZE9aE@aE@aE@aE@  2Acoustic response timeoutû>ҏ,OH?A2?2?2.^ٱ2̾ :AHRS rotation from veh to nav: [[0.270617,-0.880918,-0.388265],[0.961159,0.269952,0.057435],[0.054217,-0.388728,0.919756]]2H`Q?z0Vؿ?F?,h? ^«?`ؿ@n?i2?I2H^;2CYBVoAyB+H DDLbDR;VDR8yV =%ZP=ٔZ:Q-Z>9\I\=^=Fy^QE^gMEb>`Q 5fx4b?Q 9jx4b8)b:/AYhyj{?Q Ij?bCIb;ib;bx4ynBɮrBrE*jxBjxi|i|zi|Ji|i| kCkCkCh kckckch!2f1:f1Bf1Jf5@QɢUvkӼ)Q ])iY)]YYi]JaIaI IOU>i9I9u2Acoustic response timeoutBA<B>B CBHBoAB=BDBDBC;BRE! 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Rؿ k?iJ?IJ_^;JCYboAybMHddbDMVVDM8yX<%==ٔs:Q->9I==FyTEXE>Q 5x4?Q 9x48).AYyp?Q I?CIL?;ii@;x4yɮB*jBjiiziJii kSkSkSh2Acoustic response timeout2f:fBfJfL6@ɢ?ʼ) Q 2Acoustic response timeoutԉ OϠ>ҏ,eH?A>;ɰ>;z?z?zZٱzq˾  AHRS rotation from veh to nav: [[0.300095,-0.872931,-0.384623],[0.952411,0.296777,0.069544],[0.053440,-0.387189,0.920451]]zH4? ؿ&z?@f?ͱ?@\?ؿTt?iz?Iz:^;zCY%ApAy%HQE\ EKEnE"E:*E]t9VEJ5ZEa@a@a@a@yK7?y&1|{Gzt?Il?`ף; 9~jt?Mbi|?5Y;?yq6~B )YBbDVD8yM=%6=ٔ]:Q->9I==FyVEE>Q 5x4'?Q 9x48).AY:fmoU>Bfm[@Jfmۈ@颁ɢK))  >ҏ,w.H?AYpAyH9==E2Acoustic response timeoutI}%=)}=B>BCB HBpAB=BDB DB;BEԹbDDVD8yT%=% Z=ٔQ-%>9)I)=-=Fy-YE5E5>9Q 5Ex4=H1?Q 9Ex4=8)=/AYAyAQ IE?=LCI=:i=9:=x4yUBɮUBUE*jaBjiiiiiziiJiiii kkkh kkkh2f!:f!Bf!Jf!频ɢ9) 2Acoustic response timeout9 >ҏ, H?A2?2?2Wٱ2ʾ :AHRS rotation from veh to nav: [[0.325835,-0.865412,-0.380649],[0.943960,0.320218,0.080007],[0.052652,-0.385386,0.921252]]2Hy?t \ؿ4? r~?@T{?%?*ؿz?i2?I2E7^;2CY^pAy^Hb=b=bDjIVDj8yr.=%r^=ٔv ;Q-v>9tIt=z=Fyz[EzǘEz>|Q 5x4~:?Q 9x4~8)~/AY y M?Q I ?~nCI~:i~:~=x4yɮB*j)Bj)i)i)zi1Ji1i1 kkkhI kkkhY2fi:fiBfiJfmp@9ɢ=)9 =C6=i9)EěAAiEXIIIM2Acoustic response timeoutA}8ƼIIOMt>E^ ELEjE"EC#:*E|9VEـ5ZEa%@a%@a%@a%@iԙ  2Acoustic response timeout.>ҏ,H?A@>Ȁ?>*?>Wٱ>EȾ JAHRS rotation from veh to nav: [[0.339182,-0.862687,-0.375136],[0.939245,0.332890,0.083688],[0.052683,-0.380729,0.923184]]>H`&?" 9ؿJ?@N?l?>?]ؿ ?i>Ȁ?I>)"^;>CY^pAybHbDj8VDj8yru<%rJ=ٔrQ-v>9tIt=v=Fyv^EzEz>|Q 5y4~F?Q 9y4~8)~/AYy ?Q I ?~CI~[:i~F:~Uy4yɮB*j)Bj)i)i)zi)Ji)i1 kCkCkChA k/k/k/hQ2fi:fiBfiJfm,@颁ɢl)  O=i)J顉iBIqԡ]2Acoustic response timeoutAu$AIyIAAAA@AB>BCBHBqAB=BB DB;BEBe CBeCBeǝCBaBeǥ=Cez*7O>E% _ E% ME% kE! 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[ؿ?i2M?I2>^;2CYB'tAyB"HIr<)pppbDvIVDv8y%?w=%-H=ٔ-:Q-->95K?I5K?=5=Fy5wE5XE5>9Q 5Ey4=m?Q 9My4=8)=4AYIyM6?Q IM?=CI=:i=:=֏y4yUEBɮ]B]E*jqBjqiqiqziJii kKkKkKh  kc`kc`kc`h92fI:fIBfIJfMF@19u ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18}o}@Completed marl:UpdateCommandMode7}o}\Aggregate::uninitialize marl:UpdateCommandModeq7}nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颹ɢPy) >i)GikIA!I)I9Ou6>B>BCBdHBtAB=BB DB?;BE=2Acoustic response timeoutI D zD E \ E DE TE "E :*E a99VE :5ZE BE ;a 2E ;a JE vH:a :E xH:a >ҏ,aPH?A :(H?:(Y?:mGٱ:qľ BAHRS rotation from veh to nav: [[0.537371,-0.771492,-0.340635],[0.841935,0.514120,0.163787],[0.048767,-0.374807,0.925820]]:H$2?տ!?s?@?`?׿@P?i:(H?I:+^;:CYN tAyRHb=ba=bDEAVDE8y%D=ٔ<:Q->9I==FyzE:E>Q 5y4?Q 9y48)5AYy?Q I?(CI:it:ay4yZBɮٝBE*jBjiiziJii k`k`k`ha k`2Acoustic response timeoutk`k`h2f:fBfJfmh@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢu) 6>i)씭iܟIԑI I!O]3>Թ ] 2Acoustic response timeout`?ҏ,|*H?A@2GWD?2m/|?2?Eٱ2ľ >AHRS rotation from veh to nav: [[0.552140,-0.762531,-0.337177],[0.832361,0.527482,0.170114],[0.048138,-0.374579,0.925944]]2H!?fMտ?!?@I??׿@V?i2GWD?I2FG^;2ChYntAynxHEa EESE"E%.:*EVE75ZEa@a@a@a@yA`"?V-?~jt?= 9~jt?~jtI +?Y[?yļ9<B4B )YBYBbD-VD8y=%C=ٔC:Q->9I=>Fy}E[,E > Q 5y4 ѱ?Q 9y4 )8) 6AY[?Q Ew:yw?Q I? 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L? !ؿ?i2/?I2>^;0YB~yAyBjHbD=VD=8yMP=%@=ٔ;Q->9I=>FyEWE>Q 5z4!IJ?Q 9z478)19AYyu?Q I?oCI:i: dz4y~BɮNBE*jBjiiziJii k-k-k-h kIkIkIh2f :f Bf Jf G@)ɢ-AB<)) 5?i1)5?11i529IAAeAIqIO>BAB>BCBHByAB=BDBDB*;BEBCBCBśCBũ=Bť=C|72Acoustic response timeout) E  E DE RE "E *E a99VE c45ZE BE 8:a 2E =:a JE rH:a :E uH:a Q [?ҏ,/qH?ABy>BU5?Bj&ٱB1ž JAHRS rotation from veh to nav: [[0.758813,-0.591048,-0.273615],[0.650037,0.713498,0.261482],[0.040675,-0.376276,0.925614]]BH2H?@ѿ`? ?` ?TӤ?`ؿ ?iBy>IB&^;BCYnyAynHbDeVDe8y{=%E=ٔ;Q->9K?IK?=>FyE[E>Q 5z4ز?Q 9z438)k9AYy?Q I?CI;i:rz4y}Bɮ @B E*jBji!i!zi!Ji!i!i1I1=2Acoustic response timeout kJkJkJhQ2fa:faBfaJfe蔁@颁ɢm<) k?i)]顉i IAT?A)AI IOU2>Yԁ  2Acoustic response timeout\b?ҏ,H?A,:>:/?:ٱ:rgþ BAHRS rotation from veh to nav: [[0.772910,-0.577501,-0.262874],[0.633417,0.726613,0.266114],[0.037326,-0.372191,0.927405]]:H? zп@D?i@?@?`q?׿M?i:>I:.D^;:CYJyAyJHE\ E@ELE"E:*E9VE!5ZEa@a@a@a@y7A`?S㥻J +?V?/ݽH= 9> ףp=?Dll?Y1?yO =BB B)ɞBYBbD'VD8y%M=ٔz 9I=>FyE_E>Q 5z4i?Q 9z4/8)":AY5?Q E:y?Q I?CI ;i;~z4yBɮWBE*jyBjyiyiyziyJii ksHksHksHh2f>:f>BfKV@Jf@ɢh<)  ?i ) x))i5ι1I9ԉE2Acoustic response timeoutAIIYIiO;> B `>B ُCB HB zAB =B DB DB ;B Eh?ҏ,ݤH?A2 2>2,q*?2;7 ٱ2 :AHRS rotation from veh to nav: [[0.785982,-0.565178,-0.250612],[0.617329,0.739562,0.268243],[0.033738,-0.365544,0.930183]]2H@&? п'? }?*?F?e׿`?i2 2>I2'^;2CYBfzAyBHbDNR2Acoustic response timeoutVDN8yZm=%Z\=ٔZ|9\I=>FyE=[E=>AQ 5Mz4Eq?Q 9Mz4E,8)E:AYQyUM?Q IU?ECIE:iE:Ez4y]Bɮ]EBeE*jqBjqiqiyziyJiyiy k-k-k-h kIkIkIh2f:fBfJf@ɢ=) c&?i)pifIA II!IAM>IOe>bE25jEĝJ5rEĊq3EZ ECETE"E:*E09VE:5ZEBEk;a2Em;aJE9:a:E9:aU2Acoustic response timeoutI n?ҏ,H?A2}>2%?2CXٱ2Ļ :AHRS rotation from veh to nav: [[0.798813,-0.552514,-0.237964],[0.600828,0.752513,0.269685],[0.030067,-0.358403,0.933083]]2H@ߏ?1uο@9??`B?@ɞ? ֿ?i2}>I2K^;2CYNzAyR+HPRp=bDZVDZ8yb9H=%fI=ٔf9hIh=j>FyjEj3[Ej>pQ 5vz4r?Q 9vz4r,)8)rv;AYtyvz>Q Iv?rCIr:irt:rz4yzBɮ~:B~E*jBjiiziJiYi k.k.k.h2f:fBfJfG@AɢE=)A Ey+?iI)M#gIQiU)yIy2Acoustic response timeoutԉAIIO)>EX EFEME"E~ :*E;J9VEH$5ZEa@a@a@a@Ա e 2Acoustic response timeout u?ҏ,H?A2w>2a6?2+Ѽٱ2 :AHRS rotation from veh to nav: [[0.812493,-0.537145,-0.226561],[0.582409,0.764959,0.275022],[0.025583,-0.355404,0.934363]]2H?J0̿?@z?`?2?ֿ@L?i2w>I23^;2CYB {AyBkHbDJVDJ8yV=%VL=ٔV79XIX=Z>FyZEZkE^>`Q 5fz4b9+?Q 9fz4b%8)bQ Ij?b#CIb:ib:bz4ylɮn-Bl*jxBjxixi|zi|Ji|i| k-k-k-h k-k-k-h!2f1:f1Bf1Jf5H@QɢUV>=)Q U2?iY)]_YYi]aIiԹA!I1IAIO">AaAaBm >BmяCBmHBmg{ABm=BiBmDBm;BmE2Acoustic response timeoutE Y E DE `E "E :*E a99VE |a5ZE BE $;a 2E &;a JE qH:a :E sH:a 9 |?ҏ,nH?A6>6??6 ٱ6Ҷ BAHRS rotation from veh to nav: [[0.825948,-0.522158,-0.212513],[0.563389,0.777964,0.278145],[0.020092,-0.349461,0.936736]]6H)n?3˿`G??`!??]ֿ?i6>I6(+^;6CYJH{AyJH` dd` h)lIlipt -G%=%=AYb9YAbD}VD}8y <%<=ٔN9I=>FyEE[E>Q 5z4B?Q 9z4"8)Q I?JCI;i;ٸz4yɮ(BE2Acoustic response timeout*jaBjaiaiiziiJiiii k.k.k.h2f:fBfJf}@ɢA=) 4?i)KTi`7I!AAaIiIyO>>q 2Acoustic response timeoutԙ ?ҏ,(I H?A2>27?2[yٱ28# :AHRS rotation from veh to nav: [[0.839058,-0.505386,-0.201414],[0.543829,0.789502,0.284493],[0.015238,-0.348241,0.937281]]2H@?,ɿ` g?C?#5?@<5?Iֿ4?i2>I2p^;2CYB{AyBHDDyEZd;?x&&1?E~?E7E=A A9E r?~jtM?YEC?yEDEn>EhBE|B EB)EBAYE=BEeX Ee@EeQEa"Ee~ :*Ee9VEe*15ZEaam@am@am@am@bDuVDu8y=%L=ٔYF9I=>FyEpE>Q 5z4X?Q 9z4#8)=AY\G?Q E:y?Q I?qCIQ:i:z4yBɮBE*jBjiiziJii k+k+k+h k3Dk3Dk3Dh2fr>:fr>Bf C@Jf;e@)ɢ5 =q) 28?i)qKisIA!-2Acoustic response timeoutI1IIO:>ԡBe G>Be ԏCBe HBe |ABe =Ba Be DBe ;Be iE ?ҏ,J$&H?Aɰ2>2" ?2%U9ٱ2v :AHRS rotation from veh to nav: [[0.851782,-0.487159,-0.192728],[0.523775,0.799809,0.293199],[0.011312,-0.350687,0.936424]]2HA?-߿Qȿ? ?`?@*?qֿ0?i2>I2A^;2CB2Acoustic response timeoutYFq{AyJHbDEVDE8y-%I=ٔ 9I=>FyEnE>Q 5z4Kn?Q 9z48)>AYy?Q I?CI:i:z4yɮ"B*jBjiiziJii k(k(k(h kDkDkDh2f):f)Bf)Jf-Fc@IɢM=)Q U7?iY)] BYYi]¼aIiEmU EmEEmNEi"Em:*EmA9VEm'5ZEiBEm:a}2Em$:a}JEmV:a}:EmW:a}AIIO!>i1I1=2Acoustic response timeoutI &B?ҏ,?H?A2>2 e?26ٱ2#7 >AHRS rotation from veh to nav: [[0.863337,-0.468901,-0.186499],[0.504554,0.808451,0.303039],[0.008680,-0.355723,0.934551]]2H`t?`x޿`/ǿM%??d?Ɓ?`*ֿ?i2>I2iR^;2CYF{AyFHI4=)4<  AbDVD8yM +=%MP=ٔU;Q-U>9YIY=]>FyeEehEm>qQ 5z4u(?Q 9z4u8)u?AYyi ?Q I?uCIu8yyi}+ļII2Acoustic response timeoutAIIO (>yE}Z E}BE}KEy"E}:*E}(9VE}5ZEya@a@a@a@m PExceeded connect timeout, disconnecting.ԩ E 2Acoustic response timeout*?ҏ,YH?A.>.%T?.ٱ.߽ :AHRS rotation from veh to nav: [[0.873163,-0.452018,-0.182388],[0.487376,0.815078,0.313230],[0.007075,-0.362392,0.931999]].H@?ܿzXǿ@,1??@ ? D|?n1׿`?i.>I.|7^;,@Yb{AybHdfa=bDEVDE8yZλ%G=ٔ;Q->9I=>FyEEE>Q 5z4?Q 9z48)@AYy?Q I?CI):i :;z4yBɮE*jBjiiziJii k)k)k)h k3Kk3Kk3Kh2f:fBfJf`@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢ\6!=) :?i)I.i~pżIIIB >B ЏCB -HB [|AB =B B DB Z;B 1EO]3>2Acoustic response timeout) E Y E FE cE "E :*E ;J9VE &k5ZE BE %;a 2E ';a JE e:a :E e:a T?ҏ,sH?A2>2N>>2Mmٱ2c :AHRS rotation from veh to nav: [[0.881976,-0.436291,-0.178236],[0.471240,0.822118,0.319459],[0.007154,-0.365748,0.930687]]2H%9?2ۿ@sƿ(? N?r?@M}?hh׿@/?i2>I2O^;2CY^{AybHbDjVDj8yr:K<%rU=ٔvmYQ-v>9tIt=v>FyvEzDEz>!|Q 5ez4~?Q 9ez4~ 8)~AAYaye.?Q Im?~ CI~:i~[:~z4yuBɮu,Bu~E*jBjiiziJii k/k/k/h kPkPkPh2f:fBfJf_@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ#0=) ;?i2Acoustic response timeout):I%iƼ I IIOE>Ii!I!y 2Acoustic response timeoutԩ 2L>2wٱ2ٕ :AHRS rotation from veh to nav: [[0.889169,-0.424359,-0.171167],[0.457496,0.831623,0.314804],[0.008757,-0.358222,0.933595]]2Ht?`(ۿ ſG??%??`ֿ`?i2>I2w^;2CYB{AyBH DDJ=J=yCl?Mb?Zd;Od{?@=j< 9~jt?Q?Zd;O?Y[?y\=j<=BB )+BY#BbD-VD-8y5<%=E=EE\ EEHEETEA"EE:*EE[9VEE:5ZEAaM@aM@aM@aM@ٔUi{Q-U>9QIY=]>Fy]E]Ee>aQ 5m{4eʳ?Q 9u{4e4 8)eBAYu%\?Q Euv:yuN?Q Iu?e;CԹIeH:ieδ:f>Bf{ 2Acoustic response timeoutB >B ̏CB FHB |AB =B DB DB O;B EBяCBҏCBʘCBʲ=Bʰ=Cʗ69 f?ҏ,lH?A>2Acoustic response timeoutR?y>RP>R19ٱRw¾ ZAHRS rotation from veh to nav: [[0.895307,-0.409698,-0.174852],[0.445307,0.833145,0.327982],[0.011303,-0.371507,0.928361]]RH@Z?8ڿ`aƿ???&?׿ #?iR?y>IRM^;RCYb{AybHddxx |)|I|i||bD VD 8y <%L=ٔѻQ-%>9!I!=%>Fy%E- E->1Q 5={45㳉?Q 9={458)5WBAY9yE?Q IE?5gCI5{;i5;5{4yMBɮM%BME*jaBjaiaiaziaJiiii k.k.k.h ksNksNksNh2f:fBfJfZ@ɢ:=) >?i)uaqyi}NnɼIAP?AS?II)OU=EMV EMDEMNEI"EM=:*EMa99VEM'5ZEIBEM:a]2EM:a]JEMpH:a]:EMsH:a]A52Acoustic response timeoutiԙ _P?ҏ,QH?A4<ɰ4F>F ^ٱFrľ jAHRS rotation from veh to nav: [[0.901073,-0.397405,-0.173601],[0.433456,0.837834,0.331887],[0.013555,-0.374303,0.927207]]FH?oٿ8ƿ?@?=?‹? ׿?iFk>IFs^;FCY{AyHbD-VD-8y=| %=H=ٔEQ-E>9AIA=E>FyEEMEM>QQ 5]{4U?Q 9]{4UF8)UBAYYye?Q Ie?UCIU3;iU:Ub){4yiɮm&BmE*jBjiiziJii k2k2k2h kKkKkKh2f:fBfJfY@ɢa0=) =?i)'i@ʼIiIIO=2Acoustic response timeoutԙE]T E]BE]LEY"E]9*E](9VE]!5ZEYae@ae@ae@ae@= 2Acoustic response timeout x?ҏ,K"H?A2ٌ^>2>2Nyٱ21¾ :AHRS rotation from veh to nav: [[0.906564,-0.386812,-0.168871],[0.421793,0.844723,0.329445],[0.015216,-0.369891,0.928950]]2H@?ؿ ſ@?@? ?`)?M׿@?i2ٌ^>I2F^;2CY^{AybHI5p<)5<15AbDEVDE8y<%F=ٔуQ->9I=>FyEE>Q 5{4?Q 9{47)BAYy>Q I?CI;i;7{4yBɮ!BE*jBjiiziJii kEkEkEh k^k^k^h2f :f Bf Jf  `Y@)ɢ-3=)1 5??i1)=q99i=f̼AIAIIO=B>BˏCBxHB|AB=BBB;BE2Acoustic response timeout) Da zDe AAbEɀ'5jEɾ35rE4?2Em W Em @Em JEi "Em :*Em 9VEm 5ZEi BEm 3:a} 2Em 8:a} JEm 3:a} :Em 5:a Q r?ҏ,H?A2P>2 >2ևٱ2z :AHRS rotation from veh to nav: [[0.912247,-0.375468,-0.163796],[0.409305,0.851647,0.327364],[0.016581,-0.365679,0.930593]]2H 1?ؿ@Ŀ 2?@? ? ?Hg׿k?i2P>I2,Q^;0Y^P|Ay^&HbDAVDAyrJ=%G=ٔYQ->9I=>FyEE>Q 5{4:2?Q 9{47)/CAYyg>Q I?CIL;iY;,F{4yBɮBE2Acoustic response timeout*jBj i i zi Ji i kcEkcEkcEh! k_k_k_h92fI:fIBfIJfMX@aɢe.<=)i mE?ii)mqqiu*=μqIy)AII I!O8>Yԉ  2Acoustic response timeout ?ҏ,H?A@8:A>:>:vٱ:达 FAHRS rotation from veh to nav: [[0.917958,-0.363323,-0.159218],[0.396299,0.857513,0.328051],[0.017343,-0.364235,0.931145]]:H_?`@׿CaĿ\?p?`?`t‘?O׿?i:A>I:(^;:CYNk|AyN6HE! E%BE%RE!"E!*E%(9VE%c45ZE!a-@a-@a-@a-@y(\?I +~jtzT?9D 9"~j?{Gz|?5^YSc?y#ҽBB )ΛBYѣBbDVD8y<%J=ٔ~Q->9I=>FyE$E>Q 5{4O?Q 9{47)BAYe?Q Em:y>Q I?CI;i ;HT{4yɮB*jyBjyiiziJii k3Gk3Gk3Gh2f̧=:f̧=Bfn@Jfb3@)ɢ5~==)1 5F?i1)5ѻ19i=)м9IAԑ 2Acoustic response timeoutA$AIIOF> B >B ЏCB HB &}AB B DB DB ;B `E9?ҏ,(H?A22Acoustic response timeout6,1>6>6aٱ6SW BAHRS rotation from veh to nav: [[0.924066,-0.349534,-0.154684],[0.381820,0.862895,0.331097],[0.017746,-0.365017,0.930832]]6H?`^ֿÿ`o?@֜?@0? +?`q\׿@_?i6,1>I6T=^;6CYF|AyFXH LLN)>N=PPbDVVDV8y^=%^\=|ٔQ-%>9%H?I%H?=->Fy-E-'E5>YQ 5e{4]j?Q 9m{4]7)]ZBAYiym>Q Im?]ICI]=;i];]a{4yɮ BE*jBjiiziJii k#Hk#Hk#Hh!2fI:fIBfIJfM@iɢm*O=)m,/ mJ?iq)u#=qqiuѼyIyD-%=D-<E=T E=DE=ME9"E=9*E=a99VE=H$5ZE9BE=:aE2E=:aEJE=pH:aE:E=rH:aMAAIIO)>G !UQ9QYU A12Acoustic response timeouta W?ҏ,BH?A2x!>2Vl>2VNٱ2͞ :AHRS rotation from veh to nav: [[0.930060,-0.335352,-0.150090],[0.366985,0.867524,0.335744],[0.017615,-0.367343,0.929919]]2H ?gvտ@'6ÿ|?? |? ?׿@?i2x!>I2P"^;2CYB|AyBoHbDNVDN8yV<%VK=ٔV9Q-V>9ZK?IZK?=Z>FyZE^(E^>`Q 5f{4b?Q 9f{4b37)bAAYdyfQ>Q If?btCIb:ib:bPo{4ynBɮnBn{E*jtBjxixixzixJixi| k,k,k,h  kCYkCkCh2f:fBfJf:!@ɢT=) qL?i)(izӼIu2Acoustic response timeoutAaIqԉIO>E=Y E=BE=FE9"E=:*E=(9VE= 5ZE9aE@aE@aE@aE@Ա % 2Acoustic response timeout~?ҏ,j\H?A;ɰ;2 >2w>2^8ٱ2¾ :AHRS rotation from veh to nav: [[0.936350,-0.320035,-0.144311],[0.350667,0.872223,0.340969],[0.016750,-0.369872,0.928932]]2H?s{Կ x¿Uq?@?o? &?׿`Ϲ?i2 >I2A^;2CYB|AyByHbDNVDN8yV<%VJ=ٔVL ;Q-Z>9XIX=Z>FyZE^N1E^>`Q 5f{4bף?Q 9f{4b7)bAAYdyf<>Q Ij?bCIb:ib:bo}{4ylɮnBn|E*jxBjxixixzixJixi| kIkIkIh  k#`k#`k#`h!2f1:f1Bf1Jf5j@QɢUV=)Q UpM?iQ)]껔YYi]=ռaIaԹA!I1IABIAIBU>BUяCBUHBUw}ABU=BQBQBU;BUEO>2Acoustic response timeoutEM X EM FEM NEI "EM ~ :*EM ;J9VEM '5ZEI BEM :aU 2EM :aU JEM e:a] :EM e:a] 9 L?ҏ,DvH?A6V=6w>6ٱ6' >AHRS rotation from veh to nav: [[0.942384,-0.305203,-0.136980],[0.334158,0.878175,0.342267],[0.015831,-0.368320,0.929564]]6H`(?rӿb???`6?`׿?i6V=I6#^;6CY^}AybH )I!i!!I%<)%=bDMVDM8yUl<%]@=ٔ]2 ;Q-]>9aIa=e>FyeEm(Em>iQ 5u{4m´?Q 9}{4m7)mAAYyy}O>Q I}?mCIm;imn;mS{4yBɮB}E*jBjiiziJii ksGksGksGh kakakah=2Acoustic response timeout2fy:fyBfyJf}c@颹ɢ&M=) P?i)yi*׼III_qAII O] > = < 2Acoustic response timeoutԙ 1?ҏ,H?A2E=2>2*nٱ2 :AHRS rotation from veh to nav: [[0.947951,-0.291091,-0.129056],[0.318085,0.884198,0.342076],[0.014536,-0.365322,0.930768]]2HU? :ҿ[?YK? ?@ō?na׿?i2E=I2^;2CYB}AyBHEW EEE"E :*EVEZEa @a @a @a @yU ףp= ?GzǿMb?UQX?Up=U9I=>FyEv*E>Q 5{4P޴?Q 9{4(7)@AYM?Q E:y'=Q I?CI ;i:{4yɮB~E*jBjiiziJii k`k`k`h k`k`k`h2f=:f=BfE'@JfH_@!ɢ%Pa=)! -Q?i))-)P))i-ؼqI$U2Acoustic response timeoutԡAIIO-N>u>u>BM >BM ʏCBM HBM }ABM =BM DBM DBM ;BM E Y?ҏ,DH?A@2=2ߜ>2Rٱ29 >AHRS rotation from veh to nav: [[0.953349,-0.276396,-0.121375],[0.301597,0.889248,0.343913],[0.012876,-0.364476,0.931124]]2Hԁ?@xѿj ]M?@t??@^? 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CI ;i ; Q5|4y!ɮ%B!*j9Bj9iAiAziAJiAiA kakakahY kakakahi2fy:fyBfyJf}tc@颙ɢ=) c?i)U;顡i꼉IApAzApAqA$AEV EEEKE"E=:*EA9VE5ZEBE:a2E:aJEW:a:EW:aIIO5 >ԙ2Acoustic response timeout 1@ҏ,eI?A2 (@2`f>2ms<ٱ2ݐ :AHRS rotation from veh to nav: [[0.991793,-0.124035,-0.031006],[0.126986,0.927485,0.351633],[-0.014857,-0.352685,0.935624]]2H@ż?`@A?`?@(?ombֿ@?i2 (@I2@m^;0YB~AyBHdbDNVDN8yrJ=%rL=ٔr~;Q-r>9vH?IvH?=v>FyvEv\EEz>xQ 5~|4zi ?Q 9|4z7)zlEAYyHQ I?zCIz;iz;zTC|4y ɮߜBE*j)Bj)i)i)zi)Ji1i1 kCckCckCchI k3zk3zk3zhY2fi:fiBfiJfm b@颉ɢ⅌=) h?i);顑ib=켉Iu2Acoustic response timeoutA I!I9Oe>EX EELE"E~ :*EVE!5ZEa@a@a@a@) % 2Acoustic response timeout{7@ҏ,DI?AB z@BM=B6~<ٱB JAHRS rotation from veh to nav: [[0.994256,-0.104354,-0.023783],[0.105894,0.926810,0.360290],[-0.015555,-0.360739,0.932537]]BH?򶺿@Z?@n? ?rۏY׿W?iB z@IBA^;BCYR~AyRHTThh l)lIlillbDvFVDv8yz:%]I=ٔ]:Q-]>9aIa=e>FyeEeQOEm>iQ 5u|4myB5ƏCB1B1B5=B1B5DB5;B5mE)AeAIqIO>i!I!}2Acoustic response timeoutaE o E CE [E "E `:*E 09VE aQ5ZE BE ;a 2E ;a JE 9:a :E 9:a ԁ =@ҏ,I?A2@2=2>e<ٱ2@ :AHRS rotation from veh to nav: [[0.996397,-0.083567,-0.014455],[0.083646,0.940244,0.330067],[-0.013992,-0.330087,0.943847]]2H|?di? {??@% տ@3?i2@I2x^;0YN~AyRHV=V=bDZOVDZ 8yv0<%vK=ٔvQ-v>9zK?IzK?=z>FyzEz kE~>Q 5 |4}V?Q 9 |4o7)GAY y Q I ?:CI:iy:_|4yɮܜBE*j)Bj)i1i1zi1Ji1i1 k3yk3yk3yhI kCyYkCykCyha2fq:fqBfq2Acoustic response timeoutJfu_@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderYɢe7=)i Qi?i)Ա 2Acoustic response timeout D@ҏ,I?A21@2@G=2hdT<ٱ2 :AHRS rotation from veh to nav: [[0.997735,-0.066777,-0.008058],[0.066000,0.948892,0.308622],[-0.012963,-0.308455,0.951151]]2Hr?`J@ e?@S]?v?@\ ӿo?i21@I2c^;2CYB~AyFHERT ERFERIEP"ER9*ER;J9VERe5ZEPaZ@aZ@aZ@aZ@yRQ?X9vMbP?b?: 9㥛 ?7A`¿ʡE?YU?y=~B YB)BYQBbD6VD8ԹyP=%==ٔQ->9I=>FyE'E>Q 5|4u?Q 9|47)HAYZ?Q Ex:y&kQ I?hCIT:i~:n|4yɮМB|E*j Bj i i ziJii kkkh) kÅkÅkÅh92fM/>:fM/>BfM@JfM>F@ɢn=) n?i);i𼉨I2Acoustic response timeoutAIIOL>B5 >B5 ďCB5 HB5 ~AB5 =B1 B5 DB5 m;B5 MEBƏCBƏCBȕCBȳ=BȲ=C 6A J@ҏ,-I?Aɰ"2Acoustic response timeout6@65=6oN<ٱ6e BAHRS rotation from veh to nav: [[0.998938,-0.045957,-0.003239],[0.044315,0.939256,0.340344],[-0.012599,-0.340126,0.940295]]6H M? jr? c?1?͉ տ?i6@I6E^;4YJ~AyJHLN?AbD'VD8y%M=ٔnQ->9I=>FyE^E>Q 5|4R?Q 9|47)IAYyBQ I?CI/;i:||4yɮԜB*jBjiiziJii kc|kc|kc|h ks|ks|ks|h2f!:f!Bf!Jf%@AɢE8=)I Ml?iI)M`5ZEBE":a2E':aJEW:a:EX:aAIIO*>A2Acoustic response timeoutqԙ Q@ҏ,qGI?A2(@2R<2L<ٱ2) :AHRS rotation from veh to nav: [[0.999664,-0.025648,0.003800],[0.022740,0.937710,0.346674],[-0.012455,-0.346471,0.937978]]2H??`fC o?FI? ?`/?́ ,ֿ@?i2(@I2jN^;0YB~AyBHbDVD8yE;%EP=ٔMaQ-M>9IIQ=U>FyUEUaEU>YQ 5e|4]?Q 9m|4]p7)]IAYiymܾQ Im?]CI]:i]:]e|4yqɮӜB*jBji i zi Ji i  kkkh! kkkh12fA:fABfAJfE0@aɢe=)a e0m?ii)mԡEX E@EHE"E~ :*E9VE-5ZEa@a@a@a@ 2Acoustic response timeout W@ҏ,aI?A68U@6<6:O<ٱ6F BAHRS rotation from veh to nav: [[0.999889,-0.011743,0.009156],[0.007859,0.938422,0.345402],[-0.012648,-0.345292,0.938410]]6H?@ *? ?@?? %牿Cֿt?i68U@I6t?^;4YJ"AyJHbDR VDR8yZN=%ZT=ٔ^x:Q-^>9`I`=b>FybEbEf>dQ 5j|4fAȶ?Q 9j|4f\7)fJAYlynݽQ In?fCIf;if;fݗ|4ypɮvɜBv}E*j|Bj|iiziJii kCkCkCh kSkSkSh)2f9:f9Bf9Jf=6@Yɢ]P=)a e+r?ia)e ;BCBHB~AB=BB߻DBT;B/EAIIO >e2Acoustic response timeout) D zD @AbEUɬ"5jEU)5rEU˶1E Z E DE JE "E :*E a99VE 5ZE BE h;a 2E j;a JE pH:a :E rH:a a(^@ҏ,a{I?A6W@6\@6QCk<ٱ6H >AHRS rotation from veh to nav: [[0.999857,0.003153,0.016634],[-0.008970,0.931918,0.362559],[-0.014359,-0.362656,0.931812]]6H`?i??@_D?`+4?'h@5׿h?i6W@I6sW^;6CYFAyFHHHbDRVDR8yVR%ZK=ٔZ$;Q-Z>9XI\=^>Fy^E&E%>)Q 55|4-~嶉?Q 95|4-y7)-KAY1y5Q I5?-CI-:i-:-a|4yEBɮEʜBA*jQBjQiYiYziYJiYia k{k{k{hq k{k{k{h2f:fBfJf[!@2Acoustic response timeoutɢ FԘ=)  q?i)~h,<iB!I)YAIIO5.>ym 2Acoustic response timeoutԩ `e@ҏ,AI?A2WF@2\A@2<ٱ2, :AHRS rotation from veh to nav: [[0.999499,0.016702,0.026895],[-0.025200,0.933956,0.356498],[-0.019165,-0.356997,0.933909]]2H?P?d?͙ ?? 染 ֿ?i2WF@I2K;^;0EBY EB@EBHE@"EB:*EB9VEB-5ZE@aJ@aJ@aJ@aJ@HYNAyRH TTV=V=yGz?Mb`Mb?P?< 9I +?L7A`堿v/?Y9T?y+x=BB B):BYBAAbD VD8y%:=ٔk39I=>Fy EE>Q 5|4X?Q 9|47)LAYcV?Q E}:y8ZQ I?ACI:ib:F|4yɮ*jBjii zi Ji i  kykykyh! kykykyh12fEs=:fEs=BfE^@JfE*>aɢe=)a meq?ii)mF9B>BÏCBHB6AB=BBDB;BE :k@ҏ,eI?A"2Acoustic response timeout6E@6J@6<ٱ6# BAHRS rotation from veh to nav: [[0.999020,0.026107,0.035745],[-0.036671,0.940420,0.338031],[-0.024790,-0.339010,0.940456]]6H?@޻?M?{Ƣ?@K?b`Wտ`7?i6E@I6nU^;6CYFiAyFH\\ \)\I`i``bDj#VDj8lyr)]=%rY=ٔvu9tIt=z>Fyz EzEz>|Q 5|4~?Q 9|4~7)~/MAY y Q I ?~iCI~:i~:~n|4yɮB~E*j)Bj)i)i)zi1Ji1i1 kykykyhI kykykyhY2fi:fiBfiJfm*zQ>ɢx;=)  v?i ) ŤE<  iB;1I9%G9YEW EIELE"E :*Ec9VE!5ZEBE6:a2E;:aJE:a:E:a 9YA A)I1IAO}>12Acoustic response timeouta "r@ҏ,ZI?Aɰ:({@:-v@:-<ٱ: BAHRS rotation from veh to nav: [[0.998285,0.036695,0.045624],[-0.049965,0.940125,0.337148],[-0.030521,-0.338849,0.940346]]:H`?ɢ?@\?`?`Փ?@യտO?i:({@I::^;:CYJ6AyJHbDV/VDV8yZ%^M=ٔ^k9`I`=b>FybEfEf>dQ 5j|4f9?Q 9n|4f.7)fMAYlynn'Q In?fCIf;if#;fX|4yvBɮvBvE*j|Bj|iiziJii kzkzkzh kkkh)92fA:fABfAJfE ;>aɢeV=)a ecs?ia)m)QiEY E?EKE"E:*E?9VE5ZEa@a@a@a@ԑ  2Acoustic response timeoutLx@ҏ,I?A2@2@2`=ٱ2) :AHRS rotation from veh to nav: [[0.997217,0.049753,0.055519],[-0.065694,0.938508,0.338949],[-0.035241,-0.341653,0.939165]]2H`4?`-y?l?`TѰB?V?@% `տ@ ?i2@I2[^;2CYvkAyvHI]R=)]=ԙbDmVDm8y%<%<=ٔ19I=>FyEE>Q 5|4X?Q 9|47)eNAYyHfQ I?CIG:i>:|4yɮB*jBjiiziJii kwkwkwh kkkh!2f1:f1Bf1Jf55>IAqAuAAB}g>B}CB}!HB}AB}=ByB}ݻDB};B}EɢU_i=) v?i)K_<iIA1zA5qAAaIiIyO@>m2Acoustic response timeoutE Z E FE TE "E :*E ;J9VE :5ZE BE i;a 2E k;a JE e:a :E e:a  hv~@ҏ,I?A2G|@2Lw@2\t=ٱ2=# :AHRS rotation from veh to nav: [[0.995966,0.062785,0.064113],[-0.080973,0.936736,0.340542],[-0.038676,-0.344360,0.938041]]2H`? ?i??`q?Gͣ` ֿ@n?i2G|@I2n>^;2CYBAyB?HbDVD82Acoustic response timeouty<=%F=ٔ:9!I!=->Fy-E=EE>YQ 5u|4]u?Q 9}|4]`7)]NAYyQ I?]CI]O;i];]W|4yɮ5B1*jBjiiziJii k{k{k{h kkkh2f!:f!Bf!Jf%Z~1>aɢe`=)a }{?iy)}'|nQu 2Acoustic response timeoutԁ $b@ҏ,WI?AE2] E0E2OE0"E2:*E0VE2*5ZE0a6@a6@a6@a6@Bi@Bn@Bձ(=ٱB" JAHRS rotation from veh to nav: [[0.994516,0.075552,0.072312],[-0.096135,0.932666,0.347695],[-0.041174,-0.352740,0.934815]]BH?dW?? Gf?`@?Lֿ ?iBi@IB.^;BCYRAyRHTTIym`"?+η?/$mW?mv=m,i i9mkt?~jt? rh?Ym P?ym9%H?I%H?=%>Fy%EE9EE>IQ 5U|4M?Q 9U|4M7)M%OAY]P?Q E]:y]8Q I]?MCIM:iM:M|4yeBɮeBmE*jyBjyiyiyziJii kzkzkzh2f0 >:f0 >Bfx@Jf{@ɢ=) $x?i)z<i B I%2Acoustic response timeoutԁAAIIOf>Bu\>BuCBqBqBu=BuDBuܻDBu;BuHEԡ A@ҏ,b0I?A2mx@2rs@2|l0=ٱ2u :AHRS rotation from veh to nav: [[0.992718,0.089508,0.080612],[-0.112499,0.928137,0.354832],[-0.043059,-0.361317,0.931448]]2HY??@?̼K?? `׿@l?i2mx@I2B^;2CB=B4=F2Acoustic response timeoutYnTAynH ppbDzVDz8y=%=o=ٔE;Q-E?9EK?IEK?=E>FyMEM=GEM?QQ 5]}4U窷?Q 9]}4U=7)UBOAYayeyQ Ie?U@CIU;iU;Uh }4yiɮmBi*jBjiiziJii kzkzkzh2f:fBfJfy@ɢ=) Du?i)O<i;IԱE}V EyE}TEy"E}=:*EyVE}:5ZEyBE}:a2E}:aJE}e:a:E}e:aAAIQIaO>52Acoustic response timeout 1 q@ҏ,q=JI?A2@2@2$7=ٱ2} :AHRS rotation from veh to nav: [[0.990505,0.104689,0.089112],[-0.130011,0.924017,0.359568],[-0.044698,-0.367739,0.928854]]2H6?̺?`ж?2?(?⦿ ׿`,?i2@I21^;2CYBAyBHbDNVDN8yV%VT=ٔV;Q-V>9XIX=Z>FyZE^;E^>`Q 5f}4bQŷ?Q 9f}4b7)bbOAYdyf Q If?bhCIb:ib:b}4ynBɮnBl*jtBjtixixzixJixix kakakah ksxksxksxh2f:fBfJfQx@ɢ`=) q?i)<ieI2Acoustic response timeoutAe$AIqIO>9Eg EIEE"EC:*Ec9VEZEa@a@a@a@i E 2Acoustic response timeout;@ҏ,dI?Aɰ; 6T@6O@6==ٱ6H¾ >AHRS rotation from veh to nav: [[0.987935,0.120341,0.097478],[-0.147770,0.920861,0.360803],[-0.046344,-0.370854,0.927534]]6H`*?`ξ?`L? "¿w?d?k`׿[?i6T@I6I^;4YF)AyFH\\ \)\I\i\\bDfVDf8yn# <%nG=ٔr;Q-r>9rH?IrH?=r>FyvEv:3Ev>xQ 5~}4ze᷉?Q 9~}4z7)zOAYy^ĽQ I?zCIz;izr;z7%}4y ɮ B *j!Bj!i!i!zi!Ji)i) k_k_k_hA kxkxkxhQ2fa:faBfaJfev@ɢD=) r?i) < i  IBA<B%{>B%CB%HB%_AB%=B%DB%޻DB%;B%׍EBCBCBB=B=Cˣ6yAAIIO$>2Acoustic response timeoutԡE [ E EE UE "E a:*E A9VE >5ZE BE ;a 2E ;a JE V:a :E W:a Ş@ҏ,}I?APb.@b3@bD=ٱb{5ž rAHRS rotation from veh to nav: [[0.984998,0.135977,0.106252],[-0.165743,0.916881,0.363123],[-0.048044,-0.375286,0.925663]]bH?g?M3?7ſW?i=?2`ؿ?ib.@Ib6^;`Yz~AyzHI %=) =bD5VD58ye%mB=ٔu̓;Q-}>9K?IK?=>Fy!E/E>Q 5}42Acoustic response timeout?Q 9}}47)OAYyQ I?CI#ߩ ߭ < 2Acoustic response timeout! @ҏ,hΗI?AE&W E&DE&GE$"E& :*E&a99VE&5ZE$a*@a*@a*@a*@>@> @>nJK=ٱ><ɾ FAHRS rotation from veh to nav: [[0.981494,0.152387,0.115960],[-0.184952,0.911290,0.367890],[-0.049611,-0.382529,0.922610]]>H gh? n?`?ǿI)?? f \{ؿ`?i>@I>X^;>CYv~AyvH|yx?9 I = >Fy #E!?E>Q 5%}4`?Q 9%}47)OAY%Y?Q E%z:y%FQ I-?CI:i:B}4y5BɮBE*jBjiiziJii k`k`k`h!2f]`<:f]`<Bf]@@Jf]@颱ɢ .=) k?i)E<项iI) 2Acoustic response timeoutA9IAIQO[>QB>BďCBHBAB=BBDB?;BEԁ ׫@ҏ,LI?A22Acoustic response timeout6(~@6-y@6jR=ٱ6n; BAHRS rotation from veh to nav: [[0.977587,0.168574,0.126119],[-0.204172,0.905235,0.372644],[-0.051349,-0.390042,0.919364]]6H@eH?@ѓ?$?N"ʿ? h?`fJ`tؿ nk?i6(~@I6Z;^;4YJ~AyJHLLYbDMVDM8yG%Q=ٔ;Q->9I=>Fy&EME>Q 5}4 6?Q 9}4|7)NAYyQ I?CI;i:oP}4yɮB*jBjiiziJii kakakah kakakah2f!:f!Bf!Jf%F@AɢEg=)I MPj?iI)MM2Acoustic response timeout @ҏ,I?A2޺@2@2?LZ=ٱ28о :AHRS rotation from veh to nav: [[0.973335,0.184592,0.136177],[-0.223116,0.899711,0.375151],[-0.053270,-0.395531,0.916906]]2H%?`?@n?@̿o?{?`9FbPٿLW?i2޺@I2_^;2CY^^~AybiH bD-VD-8y/%J=ٔߛ;Q->9I=>Fy(EDE>Q 5}4Q?Q 9}47) NAYyQ I?CCIW:i-:^}4yBɮB*jBjiiziJii kcckcckcch  kckckch!2f1:f1Bf1Jf5@IɢMѩ=)Q Ue?iQ)U^!EeV EeIEeKEa"Ee=:*Eec9VEe5ZEaam@am@am@am@Q% 2Acoustic response timeouty !@ҏ,_I?A:H@:C@:sa=ٱ:2Ͼ FAHRS rotation from veh to nav: [[0.968992,0.200735,0.144083],[-0.240885,0.897305,0.369889],[-0.055037,-0.393127,0.917836]]:H@?`?Qq?@Sο@?B?-(ٿ^?i:H@I:=^;8YNs~AyNvHbDZVDZ8ybIb<%bZ=ٔbk;Q-f>9dId=f>Fyf+EjGEj>lQ 5r}4nk?Q 9r}4n7)nMAYpyrQ Iv?nlCIn] ;in& ;nk}4yxɮzBx*j Bj i iziJii kakakah) kakakah92fI:fIBfIJfM@^]B*** querying acoustic contact ***XYYYiɢm=)q u7g?iq)u )B=CB=HB=~AB==B9B=DB==;B=EQAIIIO- >ԁ2Acoustic response timeout k>CnG E9AYEADi zDi Eu X Eu EEu PEq "Eu ~ :*Eu A9VEu -5ZEq BEu :a} 2Eu :a} JEu W:a :Eu W:a @ҏ,UMI?Aɰ4?`Oؿk?in@In-^;nCY]~Ay]8Hqu@AbDVD82Acoustic response timeoutytb%7=ٔm;Q->9I=>Fy.EE>Q 5}4)?ԩQ 9}48)LAYyQ I?CI\,;iF-;{}4yɮ'BE*jBjiiziJii kakakah12fa:faBfaJfe|x@颁ɢDΠ=) `?i)\<顩i sIA$AIIO J>  2Acoustic response timeout1 U@ҏ,I?AE\ E?ETE"E:*E?9VE:5ZEa@a@a@a@>5@>0@>qFn=ٱ>˾ FAHRS rotation from veh to nav: [[0.960186,0.230722,0.157512],[-0.273244,0.892988,0.357645],[-0.058140,-0.386445,0.920478]]>Hع?H?X)?`|ѿ`\?@?`ĭؿt?i>5@I>4B^;>CYN}AyNHy}ʡE?V-p= ף}-R?}}y y9}ףp= ?7A`¿EԸY}^?y}}ƽ} By }B)}ByY}8BbDVD8y%Q=ٔy;Q->9H?IH?=>Fy0E_6E>Q 5}4񢸉?Q 9}48)hLAY9B=>B=ȏCB=YHB=C~AB==B9B=DB=;B=Ei E%@ҏ,92I?A&2Acoustic response timeout$:泸@:쮿@:SEt=ٱ:iȾ BAHRS rotation from veh to nav: [[0.955656,0.245284,0.162964],[-0.288391,0.891516,0.349327],[-0.059601,-0.380834,0.922721]]:H໔?@xe?@?uҿM?@`[?_ؿ@?i:泸@I:1^;:CYJh}AyJH`` `)`IdiddbDjVDj8yr%vW=ٔv|;Q-v>9xIx=z>Fyz2Ez*Ez>Q 5}4仸?Q 9 }4% 8)KAY y Q I ?CI1:i(:9}4yɮ;B*j1Bj1i1i1zi1Ji9i kFkFkFh kGkGkGh2f :f Bf Jf &@IɢMɧ=)I MV?iQ)}<顁iIE=Y E=EE=LE9"E=:*E=A9VE=!5ZE9BE=#;aM2E=%;aMJE=V:aM:E=W:aUiII!Oԙ2Acoustic response timeout m@ҏ,LI?A2a3@2g.@26y=ٱ2ž :AHRS rotation from veh to nav: [[0.950945,0.259733,0.168056],[-0.303326,0.889595,0.341489],[-0.060806,-0.375713,0.924739]]2H$n?u?@ق?iӿ w??! ؿ`v?i2a3@I2-M^;2CYBV}AyFHDDLbDRVDR8yZ32%ZN=ٔZG;Q-Z>9\I\=^>Fy^5Eb!Eb>dQ 5j}4fո?Q 9j}4f8)fUKAYhyjkQ Ij?f CIf:if;f}4ypɮr=BrE*j|Bj|i|iziJii k#Ik#Ik#Ih k3Ik3Ik3Ih)2f9:f9Bf9Jf= @Yɢ]N=)Y ]gU?ia)e9IIQ=U>FyU7EU-EU>YQ 5e}4]?Q 9m}4]8)]JAYiymdQ Im?]PCI]:i]Z:]}4yuлBɮ}2B}E*jBjiiziJii kHkHkHh kIkIkIh2f:fBfB<AB>BˏCBHB}AB=BDBDB0;BEJf@19u r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedɢȟ=) nO?i)<ifI A%W?A%Y?IIO>)e2Acoustic response timeoutQEU X EU CEU JEQ "EU ~ :*EU 09VEU 5ZEQ BEU :a] 2EU :a] JEU 9:a] :EU 9:ae ԁ "@ҏ,I?AYM2@M-@M΀=ٱM+ AHRS rotation from veh to nav: [[0.940830,0.288917,0.177104],[-0.333000,0.885135,0.325034],[-0.062853,-0.364777,0.928971]]MH@G?}?Z?@Oտ S?`Z?( X׿`!?iI2Acoustic response timeoutiM2@IMU^;MCY}AyHyFx?#~jĿx&?k?%7= 9Dl?+ÿ~jth?YOm?yD;BB B)BYBbDVD8yRt<%0=ٔ;Q->9I=>Fy:E% E%>)Q 55}4-h?Q 95}4-8)-JAY5p?Q E5a:y=Q I=?-CI-:i-:-}4yAɮE.BA*jYBjYiYiYziYJiYia kGkGkGhq kGkGkGh2f8=:f8=BfI?Jf|@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颹ɢ.#=)A E3Q?iA)EiQIUnAԩe 2Acoustic response timeout H@ҏ,}[I?AE] EDEOE"E:*Ea99VE*5ZEa@a@a@a@"4<ɰ";>䭶@>꨽@>=ٱ>$C FAHRS rotation from veh to nav: [[0.935255,0.303170,0.182717],[-0.348104,0.881352,0.319441],[-0.064194,-0.362363,0.929824]]>H?"g?Hc?XGֿ4?@q?`n0׿?i>䭶@I>9^;>CYN|AyNHHPR?AbD VD 8Թy,%a=ٔq;Q->9I=>Fy=E2E>)Q 55}4-+?Q 9M}4-k8))YIyMQ IM?-CI-;i-;- }4yYɮ]?BY*jiBjiiqiqziqJiqiy kFkFkFh kFkFkFh2f:fBfJfk @ ɢ dO=)  vH?i)_x<iIIIO>2Acoustic response timeoutBM >BM CBM -HBM [|ABM =BM DBM DBM ;BM eEBďCBƏCBǗCBǮ=BǮ=Cq69 vs@ҏ,.9I?A2Acoustic response timeout6 ,@6'@6V =ٱ6t[ BAHRS rotation from veh to nav: [[0.929547,0.317391,0.187631],[-0.362855,0.877766,0.312830],[-0.065406,-0.358873,0.931092]]6Hپ? P?@G?9׿ ?g?zֿ`?i6 ,@I6(-^;6CYJ|AyJGHbDRVDR8yZК%Z_=ٔ^Y;Q-^>9`I`=b>Fyb?Eb4Ef>dQ 5j}4fC?Q 9j}4f!8)fJAYlynQ In?fCIf7;ife;f}4ypɮtt*j|Bj|iiziJii kCJkCJkCJh kCJkCJkCJh)2f9:f9Bf9Jf=o@Yɢ] e=)Y eYH?ia)e#A2Acoustic response timeoutiԙ 3[@ҏ,I?A6@6@6ۈ=ٱ6 BAHRS rotation from veh to nav: [[0.923477,0.331345,0.193393],[-0.377798,0.873128,0.308084],[-0.066774,-0.357572,0.931495]]6H`?4?`?-ؿ ?? uֿ@?i6@I6A^;6CYF{AyFHbDRVDR8yZԽ%ZJ=ٔ^}^;Q-^>9\I\=b>FybAEb$Eb>dQ 5j}4f_?Q 9j}4f '8)fJAYhyn Q In?fCIfl:if;f}4ypɮrTBp*j|Bj|i|iziJii k#Mk#Mk#Mh k3Mk3Mk3Mh)2f9:f9Bf9Jf==Ǎ@Qɢ],=)Y ]=?iY)e9I!=%>Fy%DE%E%E%>)Q 55}4-z?Q 95}4-,8)-JAY9y=7Q I=?-BCI-;i-;-A}4yEϻBɮEYBME*jYBjYiaiaziaJiaiaAAAA kLkLkLh2f:fBfJf=@ɢ=) :?i) <ivIB>BƏCBHB{AB=BBDBz;B9EIIO=E2Acoustic response timeout) bEȬ"5jE$5rE<0EU V EU BEQ EQ "EU =:*EU (9VEQ ZEQ BEU :ae 2EU :ae JEU Q+:ae :EU T+:ae a zAҏ,%I?A-W@-]@-.=ٱ-W EAHRS rotation from veh to nav: [[0.910139,0.359088,0.206646],[-0.408557,0.860684,0.303817],[-0.068759,-0.360942,0.930050]]-H?M? \s? %ڿ?q?6@׿@?i-W@I-aH^;-CYM{AyUH YY2Acoustic response timeouty`"?ˡE:v?W?'< 9S?ʡEƿ{Gz?Yo?y-2ף=B ?B)BYaBbDVD8y % :=ٔi:Q->9I=>FyGEE>!Q 5-~4%?Q 9-~4%[28)%1KAY-t?Q E5^:y5Q I5?%wCI%:i%{:%~4y=Bɮ=DBEE*jQBjQiQiYziYJiYiY kGkGkGhq k`k`k`h2f5 .>:f5 .>Bf5@Jf5U@IɢU4=)q u9?iq)uJA5 2Acoustic response timeouti Aҏ,I?AE] EGERE"E:*ER9VEc45ZEa@a@a@a@0V @V@Vfj=ٱV bAHRS rotation from veh to nav: [[0.903121,0.372800,0.213058],[-0.423728,0.854060,0.301722],[-0.069483,-0.362770,0.929285]]VH]??E?\ۿuT?`iO?ɱ7׿@?iV @IV3^;VCYnj{AynHbDU"VDU8y %U=ٔ:Q->9I=>FyIE'3E>Q 5~4i?Q 9~478)KAYy<Q I?CI:ib:~4yɮ5KB1*jIBjIiIiIziIJiQiQ kCHkCHkCHh k3ak3ak3ah2f:fBfJfנ@ɢή=)  6?i ) <  i 9IԑIIO>2Acoustic response timeoutԹB>B̏CBLHBzAB=BDBDB`;BCE  Aҏ,5I?A2Acoustic response timeout2_G9I=>FyLE$E>Q 5~4ι?Q 9~4o=8)LAYyiQ I?CI:i:$~4y ɮSB*jBjiiziJii kHkHkHh kCekCekCeh 2f:fBfJf[@D-<D-<E5X E5BE1E1"E5~ :*E5(9VE1ZE1BE5:aM2E5:aMJE5S+:aU:E5V+:aUyɢ}=) r2?i)<顉iIAUAIaIqIO`>2Acoustic response timeoutA XAҏ,[OI?A2@2@2Α=ٱ2& :AHRS rotation from veh to nav: [[0.888712,0.399229,0.225403],[-0.452913,0.840796,0.296533],[-0.071134,-0.365620,0.928042]]2HTp? ?@?`ܿ?d?5`Sf׿?i2@I2[<^;2CYBzAyB"HbD&VD8ye꡽%mS=ٔmv;Q-m>9mK?IuK?=u>FyuNEuz(Eu>yQ 5~4}x繉?Q 9~4}C8)}LAYyxQ I?}CI}:i}:}2~4yɮcB*jBjiiziJii kLkLkLh kdkdkdh2f:fBfJfߟ@ ɢ Fm=)  *?i )s<iI52Acoustic response timeoutIAaIqIO>EuY EuIEuTEq"Eu:*Euc9VEu:5ZEqa}@a}@a}@a}@ԁԡ  2Acoustic response timeoutAҏ,>9)I)=->Fy-QE5E=>AQ 5M~4E6?Q 9M~4EH8)EMAYQyU3 Q I]?E8CIEA;iEB2;E?~4yaɮejBmEy*jBjiiziJii kakakah)B5>B5͏CB5HB5JzAB5=B1B5DB5o;B5TE kakakahY2fi:fiBfiJfmm@颩ɢ2=)Vc &?i)<i IԡA9IIIaO:>=2Acoustic response timeoutDI zDI E W E EE VE "E :*E A9VE FA5ZE BE 6:a 2E ;:a JE W:a :E W:a  Aҏ,!I?AHHj8 @j>@j,=ٱjE rAHRS rotation from veh to nav: [[0.874811,0.423065,0.236055],[-0.478967,0.828464,0.290238],[-0.072774,-0.366967,0.927383]]jHs?}?7?f޿Ƃ? D?K@a|׿?ij8 @IjB^;hYzyAyzH||y}K7A`?A`"?V-}K?}Y=}hy y9}(\?|?5^~jt?Y}g?y}ҽ}=}BB}6~B }mB)}ӫByY}fB2Acoustic response timeoutbD#VD8y\%@=ٔ/:Q->9I=>FyTEE>Q 5~4?Q 9~4pN8)MAY`i?Q Eh:y<Q I?iCI2;i1;N~4yɮxB*jqBjyiyiyziyJiyiy kakakah2fb>:fb>Bfϸ@Jfu@ɢH=)! -?i))-pU<))i-91I1A$AIIOE>)E 2Acoustic response timeoutQ /&Aҏ,I?AEn\ EnJEnbEl"En:*Enk9VEng5ZElar@ar@ar@ar@YyAyH bDVD8y-7%-S=ٔ5Q-5>95H?I5H?=5>Fy5VE=E=>AQ 5M~4E4?Q 9M~4ES8)EMAYIyQQ IU?ECIE:iE:E2\~4y]Bɮ]jB]E*jqBjqiqiqziyJiyiy kHkHkHh k_k_k_h2f:fBfJfɢG=) R?i)=iIAZ?AU?1AEAIQIaO>iߩIߩ2Acoustic response timeoutaB[>B֏CBkHByAB=BBDB;BREԉԹ ] 2Acoustic response timeout-Aҏ,I?A2w@2}@2P˘=ٱ2"E :AHRS rotation from veh to nav: [[0.860308,0.447356,0.244423],[-0.504296,0.816962,0.279748],[-0.074537,-0.363930,0.928439]]2Hइ?{?@>I?0#$? b? 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CIN:i:~4yɮB*jBjiiziJii kFkFkFh k_k_k_h2f :f Bf Jf @)ɢ-Q=)1 5>i1)5=11i=F9IAAII 7k>!%G9QOu7>}s9yY}™A2Acoustic response timeoutQE= [ E= HE= eE9 "E= a:*E= [9VE= q5ZE9 BE= ;a] 2E= ;a] JE= Y:a] :E= Z:a] ԁ WaAҏ,ܡI?A2)@2$@2פ=ٱ26ʾ :AHRS rotation from veh to nav: [[0.791253,0.536842,0.292779],[-0.606180,0.751585,0.260125],[-0.080402,-0.383301,0.920117]]2HQ?-?? e ??`? ؿq?i2)@I2M^;2CY^vAy^HIf<)fyM?:v rh?MfF?MTMC9I=>FymEE>Q 5 ~4?Q 9 ~4ކ8)^LAYd?Q En:y2Q I?i)?=项i\ IAzAAI II9Oe4>ԁ = = 2Acoustic response timeoutI E= Y E= SE9 E9 "E= :*E= 9VE9 ZE9 aM @aM @aM @aM @gAҏ,}I?A.ݣ@.㞳@.=ٱ.̾ :AHRS rotation from veh to nav: [[0.781220,0.547415,0.300053],[-0.618975,0.741650,0.258505],[-0.081025,-0.387675,0.918228]].H?@m?4??W?`ؿ b?i.ݣ@I.gp^;.CYf|vAyfHbDEVDE8yYP%Q=ٔ:Q->9I=>FypE+E>Q 5~4:*?Q 9~4ߌ8)NLAYy6Q I?hCIE:if:~4yɮB*jBjiiziJii kcFkcFkcFh kcFkcFkcFh2f:fBfJf @颩ɢ=Ա) >i)=iIu2Acoustic response timeoutA!I)I9O;>B>BCBEHBvAB=BBDB;B̍E  2Acoustic response timeout9 mAҏ,?XI?A2~@2@2f=ٱ2; :AHRS rotation from veh to nav: [[0.770799,0.559351,0.304950],[-0.631887,0.732225,0.254098],[-0.081161,-0.388553,0.917845]]2Hc?4? L?j8@bn?&C?ƴ ؿ^?i2~@I2R^;2CYBuAyBCHDDbD-HVD-8y?%J=ٔ9Q->9I=>FyrE'E>Q 5~4@?Q 9~4;8)>LAYy;;Q I?CIGD;iD;~4ytBɮBE*jBjiiziJii kDkDkDh kc`kc`kc`h!2f9:f9Bf9Jf=~@Eg ELEcE"EC:*E|9VE&k5ZEBEX;a2EX;aJEx:a:Ey:aɢJ|=) %Կ>i!)%=!!i%)I)AyIIOD>9}2Acoustic response timeouti )tAҏ,40I?A 6@6@6l=ٱ6"n; >AHRS rotation from veh to nav: [[0.759812,0.571589,0.309794],[-0.645044,0.722332,0.249311],[-0.081271,-0.389260,0.917536]]6H`P?tJ??2 W?h?,δؿt\?i6@I6a^;6CYFuAyFHbD GVD 8yMq%MO=ٔMّ9Q-M>9QIQ=U>FyUuEU2E]>aQ 5m4eV?Q 9m4e8)e.LAYiym?Q Iu?eCIe$:ie:e4yuBɮB*j Bj iiziJii kGkGkGhQ2fa:faBfaJfe%@颁ɢzz=) >i)=顉iLIAS?A2Acoustic response timeoutqAIIO )>E[ EDEaE"Ea:*Ea99VEd5ZEa @a@a@a@ԙ  2Acoustic response timeoutAY AY Be >Be CBe HBe 5uABe =Ba Be DBe \;Be 8E_zAҏ,d[I?A:@:@:+=<ٱ:xξ RAHRS rotation from veh to nav: [[0.747789,0.584153,0.315558],[-0.658938,0.711188,0.244975],[-0.081318,-0.391123,0.916739]]:H ?b?2? ?`W[?@AѴ 'ٿ U?i:@I:B^;:CYZRuAyZHbDf5VDf8y~>%~M=ٔ8Q->9I=>FywE <=E >Q 5=4'l?Q 9=48)LAY9yEMDQ IE?CI;i:4yIɮMʜBI*jBjiiziJii kCFkCFkCFh2f:fBfJf_@19- r-NAggregate::initialize marl:UpdateRudderq9-J])q959575o5XAggregate::initialize marl:UpdateCommandMode185]1185o5@Completed marl:UpdateCommandMode75o=\Aggregate::uninitialize marl:UpdateCommandModeq7=n=LAggregate::initialize marl:UpdateSpeed7=]97=n=4Completed marl:UpdateSpeedq7=n=PAggregate::uninitialize marl:UpdateSpeedQɢ]t=)Y ]]>iY)]=aaieaIiԡAIIO 2Acoustic response timeoutDzDAAE a E dE E "E %.:*E 9VE ZE BE O3;a- 2E Q3;a5 JE &;a= :E &;a= ! Aҏ,s+I?Aɰ2T^@2ZY@2=ٱ2CzϾ :AHRS rotation from veh to nav: [[0.735321,0.596673,0.321380],[-0.672801,0.699712,0.240295],[-0.081496,-0.392918,0.915955]]2H??{? d?? ܴ%ٿO?i2T^@I2jw^;2CYNtAyRqHPP|%2Acoustic response timeoutyu(\?K:v?uN?u^uT9I=>FyzE4E>Q 54?Q 948)KAYs?Q E_:yONQ I?$CI:i:"4yɮB*j Bj i i zi Jii k*k*k*h) kKkKkKh92fMp>:fMp>BfMs2>JfM=@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ Xg=) >i)=iΩI!)AIIOC>Q2Acoustic response timeout PExceeded connect timeout, disconnecting.ԁ E ` E JE cE "E *:*E k9VE &k5ZE a @a @a @a @߇Aҏ,!I?A2"ǩ@2)°@2h=ٱ2S[о :AHRS rotation from veh to nav: [[0.722762,0.608841,0.326998],[-0.686241,0.688256,0.235323],[-0.081784,-0.394481,0.915257]]2H ?{??` 2?@ ?﴿.?ٿI?i2"ǩ@I2?j^;2CY^tAybiHtt t)xIxixxbD VD8y %T=ٔD:Q->9YI=>Fy|E<E>Q 54i?Q 948)jKAYySQ I?UCI;iD;04yɮBE*jBjiiziJii kC0kC0kC0h kGkGkGh)2f9:f9Bf9Jf=,@Qɢ]\Ek=)Y ]>iY)]l=aaieZaIiA}oAzAy52Acoustic response timeoutAԉIIO%>B>BCB2HBAtAB=BBDB;B[EBCBCBŗCBř=BŚ=Cş6iqIuoAԱ  2Acoustic response timeout Aҏ,:I?AJ4@J/@Jç=ٱJ0о VAHRS rotation from veh to nav: [[0.710363,0.621156,0.330982],[-0.699063,0.677336,0.229188],[-0.081825,-0.394184,0.915382]]JH L??.?^?V?uN:ٿJ?iJ4@IJbe^;JCYbEtAyf4HbDvVDv8yW%K=ٔc8Q->9 I = >Fy E =E>Q 54?Q 9%4)8)KAY!y%WQ I%?CIy:i : >4y-^Bɮ5֜B5E*jABjAiIiIziIJiIiI kc,kc,kc,ha kIkIkIhqԹ2f:fBfJf@9ɢEOd=)A E>iA)E9=AIiMIIqEX EGEhE"E~ :*ER9VEA{5ZEBE:a2E:aJE#t:a:E&t:aA$AIIO*>=2Acoustic response timeout 9 fAҏ,TI?A:.@:5@: =ٱ:Rо FAHRS rotation from veh to nav: [[0.698623,0.632219,0.335001],[-0.710781,0.666884,0.223733],[-0.081958,-0.394417,0.915269]]:H[?#;?p? 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J?? @Aؿ?i6@I6k^;6CYRgAyRH bD5%VD58yU=%]:=ٔ]sQ-]>9eH?IeH?=e>FyeEm/Em>qQ 5}4unG?Q 9}4u9)uEAYyQ I?u=CIu9:iu:u r4yɮB*jABjAiAiAziAJiIiI ksEksEksEhq2f:fBfJf@ɢZ9) %i!)% =!!i%Gڼ1IA2Acoustic response timeoutIAAIII1OEs>Ea EKEkE"E%.:*E]t9VEu5ZEBEN3;a%2EP3;a%JE/:a%:E1:a-i 3cBҏ, I?A 22Acoustic response timeout: @:@:~=ٱ:_Ǿ BAHRS rotation from veh to nav: [[0.253544,0.888137,0.383312],[-0.964884,0.260326,0.035052],[-0.068655,-0.378739,0.922954]]:H:?k? .?@U-?H?e A=ؿ ֈ?i: @I:U^;:CYzgAyziHyV-?Q뱿!rh|?\l 9Gz?|?5^1ZdYp}?yҽ"۽BB B)ABYBbD[VD8yCa%P=ٔxQ->9 K?I K?= >Fy E A6E>Q 5%4YK?Q 9%4:9)CDAY%#?Q E%T:y%Q I%?oCI:i/:x4y1ɮ5B9*jIBjIiIiQziQJii kHkHkHh kHkHkHh2f%< =:f%< =Bf%/@Jf%J@aɢe)i mliii)O=顉iCuؼIAIIO-O>ԙ2Acoustic response timeout E% Z E% GE% fE! 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I?%ؿ`?i:t|@I:4^;:CYJeAyN/ HPR@AbDyVD18yE%MP=ٔMQ-M>9QIQ=U>FyUEUVEU>YQ 5e4]VY?Q 9m4]P:)]@?AYiym?ƿQ Im?]CI] :i]p:]4yu_Bɮ}B};E*jBjiiziJii kHkHkHh k`bEE|5jEE}5rEEH1E=Z E=CE=`E9"E=:*E=09VE=|a5ZE9BE=k;aM2E=n;aMJE=9:aM:E=9:aUk`k`h2f:fBfJf@ɢg) H&i)<ic˼IAaIiIyO?>2Acoustic response timeout) $cBҏ,^ I?A2ے@2֙@2)c=ٱ2ƾ :AHRS rotation from veh to nav: [[0.094792,0.919350,0.381851],[-0.993953,0.108764,-0.015119],[-0.055431,-0.378109,0.924100]]2HKD?Pk?@?p?u׻?wa2ؿ:?i2ے@I2r^;2CY^eAy^? H !%bD-{VD-38yer<%eH=ٔmWQ-m>9iIi=u>FyuEuDEu>yQ 54}lY?Q 94}#:)}>AYyȿQ I?}CI}6:i}-:}4yɮB*jBjiiziJii kSHkSHkSHh k_k_k_h2f:fBfJfg@ ɢ ) $2Acoustic response timeouti) <i"FɼI1AEAEM\ EMGEMfEI"EM:*EMR9VEMt5ZEIa]@a]@a]@a]@IaIqOYBy Ay B >B CB  HB TeAB =B B DB ;B =Eԙ M 2Acoustic response timeout M 7k>I ŁG 5 91 Y5 AIBҏ,nx I?A,JB@J=@J^=ٱJƾ RAHRS rotation from veh to nav: [[0.076193,0.921330,0.381242],[-0.995609,0.091154,-0.021312],[-0.054387,-0.377944,0.924229]]JHZ?{?Ff?U?ҕث=0ؿI?iJB@IJ\f^;HYZbeAyZ HbDfVDf:8y@N%O=ٔ-Q-%>9%K?I%K?=%>Fy%E-BE->1Q 5=45X?Q 9=45C/:)5>AY9yE(˿Q IE?5RCI5;i5;54yIɮMBI*jiBjiiiiiziiJiiiq kekekeh kekekeh2f:fBfJf.ϙ@^B*** querying acoustic contact ***XYɢBǑ) )i)v<ifǼIAT?AJ?ԑA!IIIqO&>2Acoustic response timeoutԱDIzDM?AEU^ EUFEUlEQ"EUC#:*EU;J9VEU5ZEQBEU ;ae2EU ;aeJEUe:ae:EUe:ae qtBҏ,\ I?A2>@2F@2P[=ٱ2ž :AHRS rotation from veh to nav: [[0.058766,0.923371,0.379384],[-0.996832,0.074684,-0.027363],[-0.053600,-0.376575,0.924834]]2H@?@A?G? x?kqؿ`>?i2>@I2v^;2C\YbFeAyb Hdd2Acoustic response timeouty~jt?:v~jt?;?T= 9bX9?y&1|p= ף?YEv?y`廙>B1B B)BYkBbDwVD08yԄ%@=ٔQ->9I=>FyE'E>Q 54g\?Q 94::)>AYx?Q EZ:y廿Q I?CI ;i ;v4yKBɮBEE*jBjiizi!Ji!i! k_k_k_h9 k_k_k_hI2f]%m>:f]%m>Bf]і<Jf]:@yɢc) +i)<顉i*mżIAIIO*>2Acoustic response timeoutA Ee ] Ea Ee hEa "Ee :*Ea VEe A{5ZEa am @am @am @am @fBҏ,Ѭ I?AB*@B%@BV=ٱBľ JAHRS rotation from veh to nav: [[0.042121,0.925529,0.376327],[-0.997736,0.058731,-0.032766],[-0.052428,-0.374095,0.925907]]BH ?? ? t?Ơת+׿`?iB*@IBa^;@YR4eAyR Hhh h)hIhihh llpra=bDvVDv?8|yz9%W=ٔiIQ->9I = >Fy E (3E >Q 54_?Q 9%4C:)?AY!y%Q I%?CII;iw;!ƀ4y)ɮ-B1*jIBjIiIiIziIJiIiQ ksjksjksjha kjkjkjh2f!:f!Bf!Jf%U@aɢe$)a e,ia)mBCB HBeAB=BBDB;BJEI)iIA2Acoustic response timeout)AIIOI>Qԁ  2Acoustic response timeout~Bҏ,e I?A:A@:I@:Q=ٱ:oǾ FAHRS rotation from veh to nav: [[0.026621,0.924502,0.380247],[-0.998331,0.044088,-0.037298],[-0.051247,-0.378620,0.924132]]:HB?@? 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T@?=O;ؿ ~?i:A@I:|^;:CYJdAyJ HbDVVDVX8y^Cf%^P=ٔb FQ-b>9`I`=f>FyfEf"Ef>hQ 5n4jUa?Q 9n4jM:)ju?AYpyrQ Ir?jCIjj;ij;j̀4ytɮvBt*jBj i i zi Ji i  kjkjkjh! kjkjkjh12fA:fABfAJfE15@aɢex)m^ mX2ii)mOfԡ2Acoustic response timeout Bҏ,@ I?Aɰ62@6-@6fL=ٱ6@ʾ >AHRS rotation from veh to nav: [[0.011949,0.922692,0.385353],[-0.998684,0.030237,-0.041433],[-0.049882,-0.384351,0.921838]]6Hx??@?`7e?6@5ؿ@?i62@I6de^;6CYFdAyF HbD VD k8yE1ڼ%MB=ٔMrTQ-M>9QIQ=U>FyUEUEU>YQ 5e4]Kc?Q 9m4]hX:)]?AYiymQ Im?]CI]:i]]:]VԀ4yu7Bɮ}B}OE*jBjiiziJii kbkbkbh kykykyh2f:fBfJfAÙ@ɢzc) 85i)J<i7I }2Acoustic response timeoutA%$AI1IAOm>E-_ E-FE-rE)"E-&:*E-;J9VE-5ZE)a=@a=@a=@a=@1A A AAB >B CB HB dAB =B DB DB ;B ^E- 2Acoustic response timeouta ڽBҏ,C I?A2@2@2D=ٱ22о :AHRS rotation from veh to nav: [[-0.002091,0.918496,0.395425],[-0.998845,0.017059,-0.044908],[-0.047993,-0.395062,0.917400]]2H@"aQd?N? w?/HٿV[?i2@I2^;2CYBdAyB HI|)~a=bD VD g8y=%G=ٔQ->9H?IH?=>FyE E>Q 54d?Q 94b:)v@AYy`ÿQ I?NCI:i-:ۀ4yɮB*jBjiiziJii k`k`k`h kS{kS{kS{h2f :f Bf Jf \@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n%LAggregate::initialize marl:UpdateSpeed7%]!7%n%4Completed marl:UpdateSpeedq7%n%PAggregate::uninitialize marl:UpdateSpeed1AɢE7)I M7iI)M[a2Acoustic response timeoutD1zD5@AE=[ E=PE=nE9"E=a:*E=?9VE=J5ZE9BE= ;aE2E= ;aEJE=:aM:E=:aMԉԹ Bҏ, I?A2U@2P@29=ٱ2J־ :AHRS rotation from veh to nav: [[-0.015008,0.913391,0.406806],[-0.998856,0.004774,-0.047570],[-0.045392,-0.407055,0.912275]]2H:? ?:s?[=1 ڿ`[1?i2U@I2k^;2CY^dAy^> Hr2Acoustic response timeoutyS㥛?{GzMb?$&?#@= 9bX9?Zd;O?RQ?YE6?yj<B>BB B)nBYzBbDVDn8y5%5?=ٔ=ǻQ-E>9III=M>FyMEMCEU>aQ 5m4eg?Q 9m4ek:)e^AAYu:f,>BfI?Jf @sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderɢ:) >i)<iɿ IԹ-c2Acoustic response timeoutA AI I OU >EM ` EM GEM pEI "EM *:*EM R9VEM 5ZEI aU @aU @aU @a] @ Bҏ,k- I?AJ@J@JS/=ٱJ>ھ VAHRS rotation from veh to nav: [[-0.026572,0.910668,0.412283],[-0.998725,-0.006480,-0.050054],[-0.042911,-0.413088,0.909680]]JH`5@1$?@b?z ppڿ@?iJ@IJ\^;JCYZcAyZ0 HbDfVDfl8yn %nc=ٔrQ-r>9rK?IrK?=r>FyrEvNEv>xQ 5~4z_j?Q 9~4zq:)z BAY|yٺQ I?zCIz;iz;zF4y #Bɮ B XE*j!Bj!i!i!zi!Ji)i) k|k|k|hA k|k|k|hQ2fa:faBfaJfe`l@颁ɢ^) H@i)k <顉i]Iu*:B4>B CBU HB7dAB=BDBDB;BEB}CB}CB}˜CB}¡=B}¤=C}72Acoustic response timeoutIqIO">I ߝ =ߝ %= 2Acoustic response timeoutBҏ,SG I?A2@2@2 (=ٱ2!۾ >AHRS rotation from veh to nav: [[-0.036571,0.909431,0.414243],[-0.998489,-0.016240,-0.052498],[-0.041016,-0.415537,0.908651]]2Hu? ? 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'?&w kڿ ?i2@I2^;2CYBIbAyB% HDDbDPVD 8y!S%K=ٔ,Q->9I=>Fy ErE>Q 54b?Q 94 :)hEAYyQ I?qCI;i:4yɮƝBD=D<E[ EDEiE"Ea:*Ea99VEz~5ZEBE ;a2E ;aJEuH:a:EwH:a*jBji i zi Ji i  kzkzkzh! kCkCkCh12fA:fABfAJfE 4S?aɢe )a mc[ii)m!2Acoustic response timeoutQy LBҏ, I?A2Ud@2]_@2?<ٱ2f־ :AHRS rotation from veh to nav: [[-0.106746,0.909540,0.401674],[-0.993830,-0.085364,-0.070817],[-0.030122,-0.406755,0.913041]]2H`S??teڵ@!V؞Dڿ 7?i2Ud@I2x^;2CYR bAyR HbDZ.VDZ8yb%bY=ٔfԻQ-f>9dIh=j>FyjEjS0Ej>lQ 5r4n]?Q 9r4nw:)nEAYtyvQ Iv?nCIn:in:n4yxɮz͝Bx*j Bj i iziJii k{k{k{h) k3k3k3h92fI:fIBfIJfM+uO?iɢmM0)i m&_ii)u ɥE^ EJEqE"EC#:*Ek9VE5ZEa@a@a@a@ԁA@AA@AB>BCB[ HBbAB=BDBDB^;B-Eԩ 2Acoustic response timeout vBҏ,z I?A6ԋ@6ϒ@6K<ٱ6Ҿ BAHRS rotation from veh to nav: [[-0.124174,0.911258,0.392670],[-0.991883,-0.103075,-0.074458],[-0.027376,-0.398728,0.916661]]6H@ɿ)?!?`!c`„ٿHU?i6ԋ@I6^;6CY^aAyb HbDj VDj8yr1%rH=ٔvܻQ-v>9tIt=z?FyzEz&0Ez>|Q 54~W?Q 94~e:)~EAY y YQ I ?~CI~p:i~g:~!4yɮ֝B*jIBjIiIiIziQJiQiQ k{k{k{hi kSkSkShy2f:fBfJf#}K?Qɢ]*)a ecii)uQDzDE] EIEnE"E:*Ec9VEJ5ZEBE:;a2E<;aJE:a :E:a  9 _Cҏ, I?A;ɰF8@F3@F<ٱFI(ξn2Acoustic response timeout vAHRS rotation from veh to nav: [[-0.143027,0.911921,0.384633],[-0.989421,-0.122215,-0.078161],[-0.024269,-0.391743,0.919754]]FHN¿u.?ԝ?VyIW٘Rٿn?iF8@IF|^;DYaAy HyMb?zGế:v?`? ׽T= 9L7A`?V-ǿMbY+g?y|?BB B)YBbDVD8y4%==ٔQ->9I=?FyE4E>Q 54tK?Q 948:)EAYKm?Q Ee:yQ I?CI:i:U)4yBɮƝBkE*j Bj i i ziJii kzkzkzh) kkkh2f->:f->Bf6@JfK@ɢ!') di)D<)i-j1I9AyIII>>OE>9u2Acoustic response timeouti E  E ME pE "E *E 9VE 5ZE a @a @a @a @ Cҏ,a0 I?A 6@6@6C<ٱ6S˾ >AHRS rotation from veh to nav: [[-0.161217,0.911053,0.379463],[-0.986697,-0.140647,-0.081526],[-0.020905,-0.387559,0.921608]]6HĢĿW'?@I? ¿޴ h ؿ}?i6@I6^;6CYFYaAyF H\\ \)\I\i\\bDf-VDf8ynl%n[=ٔrGQ-r>9pIp=r?FyvEvQIEv>xQ 5~4z_@?Q 9]4z:)znEAYYy]Q Ie?zCIzdeB= CB= HB='bAB==B9B=DB=;B=E)Uԙ  2Acoustic response timeoutqCҏ,@J I?A2,@24 @2v<ٱ2!ʾ :AHRS rotation from veh to nav: [[-0.178658,0.908893,0.376822],[-0.983761,-0.158311,-0.084573],[-0.017213,-0.385812,0.922417]]2H Eƿ ??zCĿ U`$ؿ`p?i2,@I2q^;2CLYjgaAyn HbDvDVDv8y%<%-E=ٔ-5Q-->9)I1=5?Fy5E5#/E5>9Q 5E4=3?Q 9M4=:)=;EAYIyM'Q IM?=ECI=:i=:=74yQɮ]НBY*jiBjiiiiqziqJiqiq kxkxkxh kC|kC|kC|h2f:fBfJf4.I@E^ ENEsE"EC#:*E҆9VEX5ZEBE~ ;a2E ;aJE:a:E:aɢD@) ii)<i IAII!OU>2Acoustic response timeout! Cҏ,jd I?A2@2@2M]<ٱ2˾ :AHRS rotation from veh to nav: [[-0.194988,0.905080,0.377901],[-0.980712,-0.174595,-0.087868],[-0.013548,-0.387745,0.921667]]2Haȿk?/? aYƿ~~򾋿ؿK~?i2@I2r^;2CYBlaAyB HDFp=9bDMYVDM8y^L;%D=ٔgQ->9I=?FyE#E>Q 54;&?Q 94':)EAYyGQ I?vCIo:i$:^>4yBɮBuE*jBjiiziJii kxkxkxh kxkxkxh2f :f Bf Jf /GH@)ɢ-}=)) -7ii1=2Acoustic response timeout)54<9AiE0AIIIAe$AIqIO>E_ ELE}E"E&:*E|9VEs5ZEa@a@a@a@qB5<A1B=g>B=CB= HB=aAB==B=DB=DB=;B=EB CB CBǖCBBǡ=Cǣ6 2Acoustic response timeoutԡ Cҏ,} I?A2@2 @2ݜ)<ٱ2f; :AHRS rotation from veh to nav: [[-0.209231,0.900894,0.380278],[-0.977811,-0.188634,-0.091116],[-0.010352,-0.390905,0.920373]]2Hʿ` ?{V? ;J@)%ȿ\S3ٿs?i2@I2Ć^;2CY^,aAy^v HybDe]VDe8yP%8=ٔ Q->9 H?I H?=%?Fy%E-E->1Q 5=45?Q 9=458:)5DAY9yEQ IE?5CI5:i5L:5WF4yMݹBɮMBI*jaBjaiaiaziaJiiii k#yk#yk#yhy k3yk3yk3yh2f:fBfJf$yG@颹ɢ8) 3mi)<iJuIAzAnAԡE2Acoustic response timeoutAAI!I1O}X>E[ EJEgE"Ea:*Ek9VEx5ZEBE ;a2E ;aJE:a:E:a q%Cҏ,_ԗ I?AFU@F]@F\;ٱF-0оiPIPR2Acoustic response timeout ^AHRS rotation from veh to nav: [[-0.221473,0.896310,0.384158],[-0.975138,-0.200530,-0.094309],[-0.007495,-0.395494,0.918438]]FH9Y̿@?@ ? T4ɿ$X~`Oٿ c?iFU@IF^;FCY~ aAy~b Hy?+:v?@?< 95^I ?Mb rhYx?yC ;BB )BYBbDVD98yΧ%W=ٔQ- >9 K?I K?= ?Fy  E3E>Q 54 ?Q 94:)DAYay?Q EY:yQ I?CI ;iP ;M4yɮBtE*jBjiiziJii kCzkCzkCzh kSzkSzkSzh2fi>:fi>Bfj@Jf@)ɢ50S)1 51oi1)5PXu<19i=9IAAIIOG>)U2Acoustic response timeoutE  E E yE "E *E VE 5ZE a @a @a @a @Y $+Cҏ, I?Aɰ;2L@2G@2JB;ٱ2OҾ :AHRS rotation from veh to nav: [[-0.232706,0.892083,0.387344],[-0.972536,-0.211522,-0.097120],[-0.004708,-0.399306,0.916805]]2H`LͿ`?>?` *˿@ܸDHs`<ٿ`xV?i2L@I2{^;2CYB`AyBX HDDbDNeVDN8yV-1%Vc=ٔVQ-Z>9XIX=Z?FyZ#E^ E^?`Q 5f4b?Q 9f4b:)bDAYdyfAQ Ij?bCIb:ibN:bS4ylɮnB*j1Bj1i1i1zi9JiYiY kӇkӇkӇhq kkkh2f:fBfJf6@Bu>BCB HBaAB=BBDBv;BޑE)ɢ-\)) 5/pi11)Uiaԉe =a e 2Acoustic response timeoutԹ 2Cҏ,ٱ I?A2@2@2;ٱ2`Ͼ :AHRS rotation from veh to nav: [[-0.243631,0.891591,0.381720],[-0.969866,-0.223138,-0.097823],[-0.002042,-0.394050,0.919087]]2H@J/Ͽ`?n?@$ `̏̿ ߹`8ٿ(i?i2@I2ۜ^;2CYB`AyBS HbDN{VDN38yV5%VI=ٔVֻQ-V>9XIX=Z?FyZ%E^E^>`Q 5f4bH?Q 9f4b:)bDAYdyfQ If?b:CIb;ib;b)Z4ynȹBɮnBn~E*jxBjxixi|zi|Ji|i| ksyksyksyh kykykyh!2f1:f1Bf1Jf5_@QɢUՋ])Q UpiQ)]G^9tIt=v?Fyv(EzEz>xQ 54zo켉?Q 94zl:)zDAYyKQ I?zmCIz;iz;zKa4yɮB*j)Bj)i)i)zi1Ji1i1 kӃkӃkӃhI kkkhY2fi:fiBfiJfm@颉ɢu T) ni)Q<顑iɜI2Acoustic response timeoutAIIIi!I%pAO- >EEb EAEEsEA"EE1:*EAVEEX5ZEAaM@aM@aM@aU@Bs>BCBBB=BBDBl;BۑE wk>C% G9 Q Q } Q9y Y} A 2Acoustic response timeouts?Cҏ,IH I?AJ@J@J*wٱJT˾ =AHRS rotation from veh to nav: [[-0.268632,0.887816,0.373656],[-0.963233,-0.249382,-0.099957],[0.004439,-0.386770,0.922166]]JH`C1ѿh?@?`Ͽ Ζ`.r?ؿa?iJ@IJgg^;JCY`Ay> HbD%VD%`8yu8%}3=ٔ}Q-}>9I=?Fy+EE>Q 54޼?Q 94k ;)EAYyQ I?CIB:i:Zi4yɮB*jBjiiziJii) k}k}k}h9I kkkhi2fy:fyBfyJf}5@颙ɢNiI) ri)5C<顡iGfI%2Acoustic response timeoutAIIOER>qE5h E5iE5lE1"E5G:*E59VE55ZE1BE51_;a=2E53_;a=JE58;a=:E58;aEԡ ECҏ, I?A2a@2i@2 ٱ2F̾ :AHRS rotation from veh to nav: [[-0.282759,0.882757,0.375217],[-0.959154,-0.263652,-0.102525],[0.008422,-0.388881,0.921250]]2Hҿ???c@п ??? lؿz?i2a@I2^;2CB2Acoustic response timeoutDYJaAyJ\ H ||yʡE?ˡEkt-R?什 0 9kt?9I=?Fy-ExE>Q 54Ӽ?Q 9 4;)DAY ?Q E S:y >Q I ?CIA;i:p4yBɮBE*j1Bj1i9i9zi9Ji9i9 kwkwkwhQ kcwkcwkcwha2fuH>:fuH>Bfu=>Jfuؔ@频ɢEi) oi)7<顙i9IA1zA5pAԩAaIiIyO?>54=5==2Acoustic response timeout EE l EE GEE tEA "EE V:*EE R9VEE 5ZEA aM @aM @aM @aM @$LCҏ,c2 I?A6Y@6a@6Dٱ6; >AHRS rotation from veh to nav: [[-0.298402,0.877096,0.376376],[-0.954364,-0.279165,-0.106092],[0.012018,-0.390857,0.920373]]6Hӿ+?`?@'`ѿ`( ?ٿs?i6Y@I6Ey^;6CYF`AyF? HlbD VD V8yE%MU=ٔMQ-M>9QIQ=U?FyU0EU.EU>aQ 5e4eȼ?Q 9m4eb;)e>DAYiym[Q Im?eCIe:iep:ev4yuBB4>B CBBB=BDBDB;B EɮB*jaBjaiaiiziiJiiiq kxkxkxh kxkxkxh2f:fBfJf J@!ɢ%R])! -ri))-*<))i-PQIQ2Acoustic response timeout A$AIIOG>9a E 2Acoustic response timeout SCҏ,BL I?Aɰ>̓@>Ԏ@>Nkٱ>=4Ͼ FAHRS rotation from veh to nav: [[-0.314490,0.870793,0.377909],[-0.949152,-0.294484,-0.111308],[0.014362,-0.393698,0.919128]]>H Կ?/? t_@ҿ~@i?Z2ٿ@~i?i>̓@I>r^;9UH?IUH?=U?FyU2E]+E]>aQ 5m4eL?Q 9m4eV';)eCAYqyuQ Iu?eiߩIߩ2Acoustic response timeoutԑ 67YCҏ,?f I?A2U@2]@2Z[ٱ2о :AHRS rotation from veh to nav: [[-0.331056,0.864098,0.379127],[-0.943477,-0.309892,-0.117552],[0.015912,-0.396614,0.917848]]2H0տ௦?C?0@Cӿ >K?bٿ_?i2U@I2^;2CYBaAyBj HIF<)DHJAbDNVDN8yv&b=%vQ=ٔvӁQ-v>9zK?IzK?=z?Fyz5Ezs7E~>Q 5 4¯?Q 9 40;)CAY y Q I ?oCIt:i:4yBɮ|BE*j1Bj1i1i1zi9Ji9i9 kykykyhQ kzkzkzha2fq:fqBfqJfu@频ɢXNp) jniԙ)I<顙i薼I2Acoustic response timeoutAIII!O=>E \ E IE rE "E :*E c9VE 5ZE a@a@a@a@BF>B CB HBaAB=BDBDB\;BCE 2Acoustic response timeout +"`Cҏ,P I?AEq@El@Er㌼ٱE'; AHRS rotation from veh to nav: [[-0.347884,0.860367,0.372485],[-0.937380,-0.326483,-0.121358],[0.017197,-0.391379,0.920069]]EHCֿ ??@ԿT`5?Y ٿ4q?iEq@IEN^;ECYCaAy HyUv/?i|?5?{GzUxi?U=UףQ Q9U|?5^??ˡEYUҍ?yU>U'UBUB UҫB)UQYUBbDmVDmw8y}U<%}3=ٔ}8Q-}>9I=?Fy8E E> Q 54 ?Q 94 8>;) BAYю?Q E>:y(Q I? CI *:i U: ی4y!ɮ%vB)*j9BjAiAiAziAJiAiI ksyksyksyhY ksyksyksyhi2f}I>:f}I>Bf})9=Jf}"@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颱ɢ#2Q) ki)<项iZڕI%=< 2Acoustic response timeout!A5$AIAIQOZ>E EKEbE"E*E]t9VEg5ZEBE;a2E;aJE/:a%:E0:a%Iq BIfCҏ,] I?A22Acoustic response timeout:GՃ@:OЊ@:rnٱ:ɾ BAHRS rotation from veh to nav: [[-0.365711,0.856768,0.363598],[-0.930554,-0.344141,-0.125043],[0.017996,-0.384078,0.923125]]:Hg׿j?2E?@gֿkm?ؿ>?i:GՃ@I:^;:CY^ZaAyb Hbp=`bDjVDjx8yr<%ri=ٔvQ-v>9vH?IvH?=z?Fyz:Ezu^Ez>|Q 54~??Q 94~G;)~BAY y Q I ?~CI~:i~g:~4yɮsB*j)Bj)i)i)zi1Ji1i1 k{k{k{hI k{k{k{h2f:fBfJfe@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder)ɢ-x)) 5Rji1Q)];YYi]+ݔaIaAAIIO*>ԁ2Acoustic response timeoutԱE% ` E% QE% hE! "E% *:*E% v9VE% A{5ZE! a- @a- @a5 @a5 @ XslCҏ,8 I?AF&@F!@F+ٱFaž RAHRS rotation from veh to nav: [[-0.385444,0.851780,0.354828],[-0.922531,-0.363744,-0.128948],[0.019231,-0.377042,0.925996]]FH`ؿA??^@G׿ b5?u!ؿ@á?iF&@IFiu^;FCYZ~aAyZ Hxx |)|I|ibDVD8y-t<%-F=ٔ5CQ-5>9=K?I=K?=E?FyEQBm>BmCBm) HBmObABm=BmDBmDBm;BmEB- CB- CB-CB-=B-=C-$V6Q 54U?Q 94UAS;)U6BAYy-Q I?UCIU4 % 2Acoustic response timeout9 b[sCҏ, I?A2k@2f@26ٱ2| :AHRS rotation from veh to nav: [[-0.406389,0.845997,0.345163],[-0.913452,-0.384984,-0.131882],[0.021310,-0.368885,0.929231]]2HEڿh?@%?@:`ؿ`Zҕ?`ϛ׿ B?i2k@I2^;0YBaAyB HbDNVDN8y_<%L=ٔQ-%>91I1=5?Fy5?E5hE=>9Q 5E4=d?Q 9M4=e^;)=AAYIyMQ IM?=VCI=:i=t:=4yQɮ]UBY*jiBjiiqiqziqJiqiq k3zk3zk3zh kkkh2f:fBfJf2@ɢt) ei)1;Ee EHEgE"E<:*E[9VEx5ZEBEaL;a2EdL;aJEX:a:EZ:aiRIA II)O>92Acoustic response timeouti E PExceeded connect timeout, disconnecting.oyCҏ,V I?Aɰ 2j@2r@2h˼ٱ2Iۿ >AHRS rotation from veh to nav: [[-0.428121,0.837062,0.340645],[-0.903380,-0.406749,-0.135867],[0.024828,-0.365899,0.930323]]2HWfۿ6??@}@,ڿd tl?j׿`5?i2j@I2x^;0YFaAyF HHHbDMVDMk8yT1=%C=ٔ} Q->9I=?FyBEjE>Q 54u?Q 94i;)rAAYyQ I?CI9;i:;K4yɮKB2Acoustic response timeout*jBjiiziJii  kxkxkxh!2fA:fABfAJfEq@iɢm^)q uz`iq)u];yyi}~"IiEc EKEeE"Eg5:*E]t9VEq5ZEa@a@a@a@AyIIOK>ԙBm>BmCBmt HBmbABm=BiBmDBm;BmE 2Acoustic response timeout ypCҏ,I?AP=݀@=؇@=bٱ=M MAHRS rotation from veh to nav: [[-0.450176,0.825002,0.341634],[-0.892441,-0.428482,-0.141255],[0.029849,-0.368477,0.929157]]=Hܿjf? T??lۿ ¿? "׿`?i=݀@I=^;=CY+bAy HymGz?T㥛 ?V-?mp]?m=mh>i i9mrh|?S㥻?Cl?Ym{?ym/=md;>mBmB m=B)iiYmBbDVDp8y<%:=ٔ;Q->9I=?FyDEfE>Q 54#k?Q 94t;)BAYڀ?Q ER:y$Q I?CI3:i:4yvBɮ1BE*jBjiiziJii kykykyh2f>:f>Bf>Jf3@颹ɢHW) D]i)R;i$wIAAM?2Acoustic response timeoutAQIYIqu>u>O^>bEuـ5jEuǿ5rEu1E_ ELEgE"E&:*E|9VEx5ZEBE&;a2E&;aJEv:a:Ew:a VCҏ,3I?Ai I"A&2Acoustic response timeoutJA@JI@JٱJBBž RAHRS rotation from veh to nav: [[-0.470720,0.811301,0.346718],[-0.881595,-0.448027,-0.148533],[0.034834,-0.375582,0.926134]]JH@E ޿-? 0?6 zܿ!ÿա? ؿ ?iJA@IJ^;JCYZ[bAyZ0 H|bD-VD-8ye=%e`=ٔm-`Q-m>9iIq=u?FyuGEuEu>yQ 54}a?Q 94}};)}CAYyQ I?}CI}:i}k:}O4yɮ+B*jBjiiziJii kakakah kkkh2f:fBfJf@颁ɢnhp) HZi)$K;顑i吼InManaging dock network, ignoring radio surface power off)A$AIIO*>Y2Acoustic response timeoutԁ E [ E KE fE "E a:*E ]t9VE t5ZE a @a @a @a @zÌCҏ,ʈ5I?AJ`~@J8u@J_ ٱJ; VAHRS rotation from veh to nav: [[-0.488308,0.795435,0.358941],[-0.871791,-0.463114,-0.159707],[0.039194,-0.390907,0.919595]]JHo@߿`4t??@ݿFqĿ:?ٿRm?iJ`~@IJ^;JCB>BCB HBlcAB=BBDB;BޒEau}GYbA9YzAyp HbDVD}8y Au=% @=ٔ'Q->9H?IH?=?FyIEAE>!Q 5-4%U?Q 9-4%^;)%DAYQyUDQ IU?%.CI%`;i%;%4yYɮ]Ba*jBjiiziJii ksdksdksdh2f:fBfJf@ɢ%KRY)%p %Si!)%XQ;!!U2Acoustic response timeouti-YIYԁAAIIO J>Ա  2Acoustic response timeoutpCҏ,[OI?A2}@2i@20ٱ2rӾ :AHRS rotation from veh to nav: [[-0.502826,0.782791,0.366613],[-0.863320,-0.475875,-0.167994],[0.042958,-0.400976,0.915081]]2H & ?@v?P`t޿рſ?`ٿWH?i2}@I2G^;2CYBbAyB HHJAAbDNVDN8yV<%Vd=ٔVl,Q-Z>9ZK?IZK?=Z?FyZLE^@E^>`Q 5f4bbK?Q 9f4b%;)bEAYhyj;Q Ij?b\CIb:ibZ:bā4ynbBɮnBrE*jxBjxixixzixJi|i| ksckscksch kckckch2f:fBfJfv@E] EIEcE"E:*Ec9VE&k5ZEBE9;a2E;;aJE:a:E:a ɢ q`j)  Qi));1i5 +9I9A}oAzA}pAA$AIIO+>e2Acoustic response timeout9 әCҏ,7iI?A2|@2ss@2@ٱ2Yؾ :AHRS rotation from veh to nav: [[-0.515318,0.771121,0.373926],[-0.855705,-0.486948,-0.175072],[0.047080,-0.410188,0.910785]]2H{}?@e?a(*߿hƿ@?@ڿ&%?i2|@I2k^;0YB_cAyB HXX X)XIXi\\bDfVDf8yr=%rG=ٔv\$Q-v>9vH?IzH?=z?FyzNE~E~>Q 5 4 ??Q 942;)FAYyQ I?CI-;ivA;7ˁ4y)ɮ-B)*jIBjIiIiQziQJiQiQ kCbkCbkCbhq2Acoustic response timeout2f:fBfJf @AɢEDW)A EJiA)M8:IIiMiQIqEa EJEaE"E%.:*Ek9VEd5ZEa@a@a@a@AAIIAO]3>B<A4=B0>B CBn HB`dAB=BBDB;BEim 2Acoustic response timeoutԡ ྠCҏ, I?Aje,|@j;@j~Rٱj}ݾ rAHRS rotation from veh to nav: [[-0.525429,0.760465,0.381599],[-0.849286,-0.495840,-0.181263],[0.051368,-0.419328,0.906381]]jH P`U?l?X-`ٻ߿@3ǿL?`Cڿ?ije,|@Ijs^;jCYzcAyz Hy}Pn?ny y9}On?ktX9v?Y}8?y} }s>}By }pB)yyY}BbDVDk8y<%>=ٔ#Q->9K?IK?=?FyQE[E>Q 54L2?Q 94;)HAYC?Q E:yQ I?CI:i:ҁ4yIɮMBQ*jaBjaiaiiziiiJii kIkIkIh kC_kC_kC_h2f:m>:f:m>Bf͈>Jf/@ɢ%P)! %Fi!)EZm:AAiEIII2Acoustic response timeoutԙm&tE] EOEeE"E:*E9VEq5ZEBE:;a2E<;aJEM:a:EO:aIQ Ii O > vCҏ,I?A2Acoustic response timeout6#{@6@6cٱ6- BAHRS rotation from veh to nav: [[-0.534054,0.751593,0.387163],[-0.843621,-0.503846,-0.185587],[0.055585,-0.425732,0.903140]]6H` ?G?`Mǿu?2?ۿ`?i6#{@I6^;6CYFcAyJ HHJ?AI~=)~<bD VD r8y2<%T=ٔ%$3Q-%>9!I!=%?Fy%TE-ۼE->1Q 5=45&?Q 9=45F;)5{JAY9yEQ IE?5CI53;i5;5oف4yIɮMBME*jaBjaiaiaziaJiiii kFkFkFh k_k_k_h2f:fBfJf@ɢe) Ci)8=:i"I2DIIO-->2Acoustic response timeoutI E c E GE gE "E g5:*E R9VE x5ZE a @a @a @a @-Cҏ,}ʶI?A>z@>gl@>Rvٱ> FAHRS rotation from veh to nav: [[-0.542145,0.745135,0.388398],[-0.838133,-0.512584,-0.186524],[0.060101,-0.426652,0.902417]]>H?Y$??@g@ǿ@Ů? ENۿ?i>z@I>^;>CBR >BRCBR HBR+eABR=BPBRDBRo;BRIEY^cAy^ HbD]VD]8y'<%B=ٔ/Q->9I=?FyVEDE>Q 54?Q 94;)xLAYyQ I?CI:i:4yɮB*jBjiiziJii k3Gk3Gk3Gh k3dk3dk3dh2f):f)Bf)Jf-쥑@AɢM9T)I MBiI)MX8IIiUBQIY52Acoustic response timeoutQyoApAzAII)IIO|>ԡ  2Acoustic response timeoutCҏ,I?A20Sz@2$@2%vٱ2 :AHRS rotation from veh to nav: [[-0.549311,0.739814,0.388500],[-0.833115,-0.520836,-0.186144],[0.064633,-0.425916,0.902451]]2H`?0?ߨ@ ǿ@Ћ?5Bۿ ?i20Sz@I2^;2C@YFIdAyF` HbDVDyEG=%MP=ٔM=Q-M>9IIQ=U?FyUYEUEU>E` EMEnE"E*:*E9VEJ5ZEBE -;a2E -;aJE:a:E:aQ 54( ?Q 94k;)jNAYyQ I?$CI:i:4yNBɮŜBE*jaBjaiaiaziiJiiii kKkKkKh2f:fBfJfa@IɢMK)I Mj;iQ)UгQQiUYIYaaaaԩiAIEAM2Acoustic response timeoutIYIiO> ("Cҏ,I?ABy@B@B'ٱBg NAHRS rotation from veh to nav: [[-0.555296,0.733692,0.391589],[-0.828797,-0.527196,-0.187512],[0.068869,-0.428672,0.900831]]BH hz??@`bȿ]?^oۿ`?iBy@IBF^;@YZ>dAyZY H ``f=f=lbDjVDjh8yzػ%zP=ٔz0Q-~>9I=?Fy[E E >Q 5%4X?Q 9%4];)=PAY!y-Q I-?FCI>;i?;4y1ɮ=ǜB9*jQBjQiQiYziYJiYiY kSJkSJkSJhq kSJkSJkSJh2f2Acoustic response timeout:fBfJf0@9ɢ=.ud)A EBCBh HBeAB=BBDB;ByEBeCBeCBeƖCBeƨ=Beƥ=Ce61M 2Acoustic response timeouti Cҏ,ZI?A2sy@2ᴃ@2.ٱ2, :AHRS rotation from veh to nav: [[-0.560329,0.730135,0.391067],[-0.825109,-0.533265,-0.186610],[0.072292,-0.427236,0.901245]]2H7D]???@Kgǿ?Wۿ ?i2sy@I2 ^;2CYVSdAyVf Hy5 r? +ֿQ5C?5ȶ95u1 195uV?S㥛Կ9iIi=u?Fyu^Eu4uEu>yQ 54}黉?Q 94};)}QAYX?Q Ez:y!Q I?}rCI}v:i}:}4yɮĜBE*jBjiiziJii kJkJkJh kJkJkJh2fs>=:fs>=Bff?Jf@ ɢ זT)  :i )QܺiIII)Oe=i2Acoustic response timeoutԑE\ EKElE"E:*E]t9VE5ZEBE;a2E;aJE.:a:E0:a ] 2Acoustic response timeout8Cҏ,9)I)=-?Fy-`E5[E5>9Q 5E4=Aӻ?Q 9E4=;)=RAYAyE!Q IE?=CI=N:i=g:=4yQɮUBQ*jaBjiiiiiziiJiqiq kIkIkIhԑ kJkJkJh2f:fBfJfp@ɢT) 4i)iIA9IaIqO>Թ2Acoustic response timeout E  E ME pE "E *E 9VE 5ZE a @a @a @a @]Cҏ,8I?AB&7>B& CB& HB&fAB$B$B&DB&o;B&XEBwx@BD`@B:ٱB4lھ JAHRS rotation from veh to nav: [[-0.568739,0.730282,0.378451],[-0.819159,-0.544441,-0.180453],[0.074263,-0.412641,0.907861]]BH3w^?8?`6@lǿ?hڿ3 ?iBwx@IBV^;BCYRdAyR Hdh h)hIhihhIj%=)jllbDrwVDr08yzx =%zN=ٔ~SQ-~>9I=?FycENE > Q 54 ?Q 94 d;) "TAYy_"Q I? CI ;i "; 4y!ɮ-B)*jBjiiziJii ksGksGksGh2f :f Bf Jf ^@IɢMG=M)I M1iI)U 9qqiuʒyIyiI%2Acoustic response timeoutIIO%>!Q 2Acoustic response timeouty HCҏ,QI?A2fx@2l.@2%ٱ2=־ :AHRS rotation from veh to nav: [[-0.573735,0.730138,0.371115],[-0.815715,-0.550174,-0.178654],[0.073736,-0.405224,0.911239]]2H \J]?Y?V$ƿU?2ٿ`(?i2fx@I2^;2CYB;eAyB HbDNVDN98yV@=%VO=ٔVf:Q-V>9XIX=Z?FyZeE^s|E^>`Q 5f4b糧?Q 9f4b4;)b_UAYdyf"Q If?bCIb:ibI:b 4ynOBɮnBl*jtBjtixixzixJixi| k+k+k+h  kcIkcIkcIh2f):f)Bf)Jf-+@Iɢ]ZU)a eB,ii)mnYiiDyDyiUQIQbE 5jEU5rE1E_ ECEtE"E&:*E09VE5ZEBE&;a2E&;aJE9:a:E9:aI1IAOu>y2Acoustic response timeoutԩi I nA #qCҏ,kI?ANw@N@NjٱN[@Ͼ ZAHRS rotation from veh to nav: [[-0.579813,0.731203,0.359386],[-0.811482,-0.557735,-0.174437],[0.072893,-0.392776,0.916741]]NHԍf?`-?``Sƿ@?>#ٿU?iNw@IN^;NCYbeAyb` H}2Acoustic response timeoutbDEdVDE8y{=%==ٔ:Q->9I=?FyhEE>Q 54茻?Q 94i;)VAYyo#Q I?CI;ir;-4y;Bɮ~BE*jBjiiziJii kc0kc0kc0hq2f:fBfJf@Աɢ9) N!i)<i"IEEb EEIEAEA"EE1:*EEc9VEAZEAaM@aM@aM@aM@ k>C G1BM<AM<B]>B]CB]IHB]dgAB]=BYB]DB];B]E9YAjZXyU?UAIyIO> = 2Acoustic response timeout1 WCҏ,סI?A2HWw@2@2plٱ2Ǿ :AHRS rotation from veh to nav: [[-0.587230,0.731321,0.346887],[-0.806175,-0.566780,-0.169829],[0.072409,-0.379380,0.922403]]2H f?c3?/#ſe?`GؿS?i2HWw@I2^;2CYNfAyRx H %=%p=yCl?V-?Zd;o?<y 9}?5^I?ktƿ rhͿYM?y 0lBՄB (B)YBbDGVD8y<%G=ٔ:Q->9I=?FykEE>Q 54q?Q 94;)7VAYk?Q EH:yQ I?UCIa:i:Y4yɮyB*j Bj iiziJii k-k-k-h) k-k-k-h92fM>:fM>BfM@JfM6@ɢ jA)  i))5]11i5Д9I9-q歼2Acoustic response timeoutIIO!>9DzDEMc EMOEMEI"EMg5:*EM9VEM85ZEIBEM?;a]2EM?;a]JEMN:a]:EMO:a]ԉ = 2Acoustic response timeoutCҏ,}I?A02Dv@2+=@2Kٱ2¾ :AHRS rotation from veh to nav: [[-0.597545,0.727700,0.336737],[-0.798520,-0.578203,-0.167471],[0.072834,-0.368963,0.926586]]2H @RI??z@oſ ;?׿?i2Dv@I2^;2CY^fAy^ HbDe+VDe8y6=%L=ٔQ->9I=?FymEE>Q 54U?Q 94;)UAYyQ I?CI:i:W 4yɮgB*jBjiiziJii k.k.k.h  k.k.k.h2f):f)Bf)Jf-Ua5@IɢM#@)Q UiQ)UQQi]vYIaԉ*ԹI9II2Acoustic response timeoutO> E f E NE pE "E I@:*E ҆9VE 5ZE a% @a% @a- @a- @xCҏ,UI?AB/>B CBHB/hAB=BBDB;BE(ɰ(FuXu@FC@F᧗ٱFZ( NAHRS rotation from veh to nav: [[-0.612005,0.719240,0.328852],[-0.787386,-0.593045,-0.168290],[0.073983,-0.361927,0.929266]]FH? ?@D28@ſ?)׿?iFuXu@IFۣ^;FCYVfAyV H`bDb5VDb8yj5=%jY=ٔnEHQ-n>9lIl=r?FyrpErFEr>tQ 5z4v;?Q 9z4vs;)vBUAY|y~Q I~?vCIv:iv;v&4y) ^i)i% I 112Acoustic response timeout!A)I9IIO>A  2Acoustic response timeoutɓCҏ,2I?A6>s@6@6 ٱ6 >AHRS rotation from veh to nav: [[-0.628390,0.706934,0.324608],[-0.774233,-0.608836,-0.172865],[0.075429,-0.359949,0.929918]]6H`4?``?{n ƿ`NO?e ׿?i6>s@I6^;4YFBgAyF4HIRC=)R=bD^VD^8yn=%rI=ٔrDjQ-r>9tIt=z?FyzrEzZTE~>Q 54?Q 94X;)TAYy!Q I%?CI@;i^; .4y5$Bɮ5;B=E*jiBjiiqiqziqJiyiy ks/ks/ks/h2f:fBfJfo3@Ea ELE_E"E%.:*E|9VEC^5ZEBEL3;a2EO3;aJEv:a:Ew:ayɢ}*0)y  i)"顁iIIAIIOE0>2Acoustic response timeoutqԡ Cҏ,@I?A2r@2OB@2g7ٱ2h :AHRS rotation from veh to nav: [[-0.645590,0.693413,0.319989],[-0.759824,-0.625299,-0.177958],[0.076690,-0.358023,0.930558]]2H` p0?z?zP@rPƿ@?ֿ!?i2r@I2^;2CYfgAyfHx| |)|I|i||bD /VD 8y=%F=ٔ%EIQ-%>9!I!=%?Fy%uE-R`E->1Q 5=45?Q 9=45;)5ETAY9yE Q IE?5,CI5;i5;5654yIɮM&BI]2Acoustic response timeout*jiBjqiqiqyziqJiyiy k0k0k0h kIkIkIh2f:fBfJf1@ɢ( )) i)IɻiIA%$AI9IIE}^ EyE}sEy"E}C#:*EyVE}X5ZEya@a@a@a@O>ԡAAAAB%">B!B%\HB%#iAB%=B!B!B%;B%E 2Acoustic response timeout åDҏ,I?A2 q@2-@2ٱ2ʺ :AHRS rotation from veh to nav: [[-0.663315,0.678929,0.314751],[-0.744279,-0.642287,-0.183077],[0.077864,-0.355700,0.931351]]2H9 ʹ?$?`!oǿ?ֿ`?i2 q@I2^;2CYBVhAyBHyE(\?&1?{GztEN?E=EףA A9E?jt?+ÿYEf?yE >EEBA EB)E˛BAYĘBbD]OVD] 8yms=%mE=ٔm:Q-m>9uH?IuH?=u?FyuxE}jE}>Q 54;뺉?Q 94`<)zSAYZ?Q EE:y Q I?eCI:i#:r<4yɮBE*jBjiiziJii k-k-k-h kKkKkKh2f>:f>Bf b>Jf b~@19 rNAggregate::initialize marl:UpdateRudderq9J]q997o XAggregate::initialize marl:UpdateCommandMode18 ] 18 o @Completed marl:UpdateCommandMode7 o \Aggregate::uninitialize marl:UpdateCommandModeq7 n LAggregate::initialize marl:UpdateSpeed7 ]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed)ɢ-"!)1 5+i1)5Rֻ19i=9IAm2Acoustic response timeoutAAIIIO#>E}` E}ME}iEy"E}*:*E}9VE}z~5ZEyBE} -;a2E} -;aJE}:a:E}:a1Y  2Acoustic response timeoutDҏ, I?A2mo@2~z}@2Aٱ2KӺ :AHRS rotation from veh to nav: [[-0.680830,0.663207,0.310850],[-0.728206,-0.658485,-0.190035],[0.078657,-0.355744,0.931268]]2H@[8?`?vM`OSȿ"?ֿ?i2mo@I2b^;2CYF iAyJKHJa=Ja= ttbD~WVD~8y5=%5M=ٔ=rQ-=>9=K?I=K?=E?FyEzEEtEE>IQ 5U4M պ?Q 9U4M/ <)MRAYYy]-Q I]?MCIM,:iM:MmC4yaɮmBi*jyBjyiyiyziJii kHkHkHh kI!kIkIhA2fQ:fQBfQJfU|@seNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颙ɢ) ޾i)Pi ,IA)I9QIYO=>m2Acoustic response timeoutyE} f E} HE} eEy "E} I@:*E} [9VE} q5ZEy a @a @a @a @ԩ B $>B CB $HB ijAB =B B DB (;B 'EB CB CB˔CB˧=Bˤ=Cˌ6 Dҏ,:I?A2n@2{@2gٱ2eϿ :AHRS rotation from veh to nav: [[-0.697615,0.644495,0.312983],[-0.712080,-0.671984,-0.203420],[0.079217,-0.364778,0.927719]]2HR?? [ ʿ@G?X׿@߯?i2n@I2^;0YBiAyBHbD cVD 8y- =%-L=ٔ-෺Q-->91I1=5?Fy5}E5oE=>AQ 5M4E?Q 9M4E<)EQAYIyMQ IM?ECIE:iE:EkJ4y]Bɮ]ޛB]E*jiBjiiqiqziqJiqiq kIkIkIh kjkjkjh2f:fBfJftz@ɢdv) ̾i)i<Iԑ2Acoustic response timeoutA II!O]> 2Acoustic response timeout Dҏ,TI?A";ɰ";E=c E9E=vE9"E=g5:*E9VE=-5ZE9BE=?;aM2E=?;aMJE=X:aM:E=Y:aMYUiAyUHbDWVD8y&=%==ٔQ->9I = ?Fy E E >Q 54X?Q 9%4)<)$QAY!y!Q I%? 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z`n iؿ76i?nؿz?i2'I=@I2^;2CYB|AyBH DDJ=J=bDN:VDN 8yVy=%VR=ٔZI;Q-Z>9XIX=Z?Fy^Eb2Acoustic response timeout^Ef>hQ 5n4jѴ?Q 9n4j<)j`cAYlyrFQ Ir?jCIjY;ijv;jv4yv͸BɮvJBt*jBji i zi Ji i ԙ kcJkcJkcJh2f:fBfJfڑ@ɢw7a=) %}A?i!)%K 1;!!i%I)I)B>BCBFHB|AB=BBDB;BIEIIEU] EUPEUqEQ"EU:*EU?9VEU5ZEQBEU9;a2EU<;aJEQa:EQaO >u2Acoustic response timeout! +DEҏ,tI?A2zQ<@2GJ@2hٱ2KJȾ :AHRS rotation from veh to nav: [[-0.999819,0.017183,0.008229],[-0.019023,-0.924296,-0.381203],[0.001056,-0.381290,0.924455]]2H`}?ڀ?z`ԓeؿMQ?@gؿ@"?i2zQ<@I2^;2CY^{Ay^HyEK7A?X9vV-E b?E}EmA A9EV-?X9vktYEm?yEE EBEB EB)EBAYE=BbDaVDaym^ %m?=ٔu;Q-u>9qI=?FyE E>Q 54(?Q 94@<)(cAYp?Q E a:y 2@@Q I ?CI;i;W~4yϸBɮSB*j)Bj)i1i1zi1Ji1i9 kJkJkJhI kJkJkJhY2fm =:fm =Bfm!@Jfm* @19u ruNAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed颡ɢb[=) =?i)~Z;顩iIApAzAII2Acoustic response timeoutO>!EM[ EMEEMaEI"EMa:*EMA9VEMd5ZEIaU@aU@aU@aU@Q 2Acoustic response timeoutԉ JEҏ,X-I?Aɰ491I1=5?Fy=E=8%E=>AQ 5M4E]t?Q 9M4E<)EbAYQyU5?@Q IU?ECIE:iE:E4y]иBɮ]HBeE*jqBjqiqiqziyJiyiy kHkHkHh2f:fBfJf- @sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19Y rRAggregate::uninitialize marl:UpdateRudder颁ɢl=) %D?i)H;顉iJ𼉨II9IIO=ԁ2Acoustic response timeoutB>BCBxHB|AB=BBB;BkEBYBYBYBYBYC] 6ԱEU b EU KEU jEQ "EU 1:*EU ]t9VEU ـ5ZEQ BEU 9;a] 2EU 9;a] JEU /:ae :EU 0:ae QEҏ,oGI?A2g:@2#]H@2W;ٱ2Ⱦ :AHRS rotation from veh to nav: [[-0.999935,-0.008836,-0.007189],[0.010908,-0.924582,-0.380828],[-0.003282,-0.380882,0.924618]]2Hx[r}`V? 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Elapsed time 10.010122 min 0^DCompleted marl:SendObservationDataq/^`Aggregate::uninitialize marl:SendObservationDataq0颱ɢ_=)  ?i)=项iIIIO==!iIQ2Acoustic response timeoutD D =E ^ E GE nE "E C#:*E R9VE J5ZE a @a @a @a @ԙ zFҏ,kI?AF@F@F=ٱF8뿾 AHRS rotation from veh to nav: [[-0.684200,-0.661732,-0.306562],[0.726592,-0.654668,-0.208504],[-0.062722,-0.365404,0.928733]]FH `,൞ӿ=@? Dʿb׿ /?iF@IF^;FCY=yAy=HbDVDt8y%:=ٔ;Q->9 I = ?Fy sE E >Q 5%4=?Q 9%4w'<)7AAY!y%0@Q I%?DI:i:4Qy-BɮOBE*jBjiiziJii k3`k3`k3`h kxkxkxh2f:fBfJf_@ɢ=) ?i)s=i IIIO= >M2Acoustic response timeoutyԱA @AA @AB <>B CB HB yAB =B B B R;B HE  2Acoustic response timeout*Fҏ,I?Aɰ2@2@2==ٱ2 :AHRS rotation from veh to nav: [[-0.671742,-0.672073,-0.311578],[0.738068,-0.643191,-0.203865],[-0.063393,-0.366910,0.928094]]2H@~`ӿ @? @<ʿ~:t{׿?i2@I2:^;2CY^yAybHy$C?I +?~jtxZ?94=Ļ 9Zd;?Pn?X9v?YY?y><cB6~B )_BYQBbDVDf8y %L=ٔ:Q->9I=?FyuE-E>Q 54?Q 94!<)@AY |\?Q E v:y @Q I ?DI:ia:Ȅ4yBɮWBE*j)Bj)i1E=g E9E=fE9"E=C:*E9VE=t5ZE9BE=X;aM2E=X;aMJE=!t:aM:E=#t:aMiQziQJiQiQ kC`kC`kC`hi k{k{k{hy2f޽=:f޽=BfW?Jfx@!ɢ-=)) -?iI)U =QQi]+>aIiA$AIIO5P>]2Acoustic response timeout) Q `‡Fҏ,v I?A2@2@2=ٱ2 :AHRS rotation from veh to nav: [[-0.658883,-0.682244,-0.316884],[0.749545,-0.631086,-0.199782],[-0.063682,-0.369152,0.927185]]2HGԿ`E?1qɿ pM /׿`?i2@I2s^;2CY^yAy^HI<)4<AbD-lVD-N8y%N=ٔ?:Q->9H?IH?=?FyxEY2E>Q 54l?Q 94<)I@AYy@Q I?DI$:i:τ4yBɮBE*jBjiiziJii k#ck#ck#ch  kSkSkSh2f):f)Bf)Jf- w@195 r5NAggregate::initialize marl:UpdateRudderq95J]=q9=9=7=o=XAggregate::initialize marl:UpdateCommandMode18=]918=o=@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnELAggregate::initialize marl:UpdateSpeed7E]A7EnE4Completed marl:UpdateSpeedq7EnEPAggregate::uninitialize marl:UpdateSpeedaɢe>=)a e6?ia)e =iiimjqIq2Acoustic response timeout)AAIIO5.>EMh EMHEMpEI"EMG:*EM[9VEM5ZEIaU@aU@aU@aU@Yԁ e 2Acoustic response timeoutFҏ,9_:I?A,2ǜ@2Ւ@2=ٱ2þ :AHRS rotation from veh to nav: [[-0.645777,-0.691968,-0.322727],[0.760821,-0.618730,-0.195767],[-0.064216,-0.371959,0.926025]]2H3$ԿX?ɿ{p`,׿?i2ǜ@I2n^;2CYfsyAyfcHbDrfVDrI8y &% U=ٔ  :Q- >9K?IK?=?FyzE9E>!Q 5-4%W?Q 9-4%d<)%?AY)y-f@Q I-?%DI%:i%4:%Fք4y9ɮ=B9*jIBjMiQiQziQJiQiQ k3ek3ek3ehi kS{kS{kS{hy2f:fBfJfv@sPUpdating rudder angle -0.000000 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder颱ɢ(=) ;?i) =项ikIԉA!I1IAOu>B}3>B} CB}RHB}VyAB}=ByB}DB};B}EB- CB- CB-œCB-Ť=B-ţ=C-Œ52Acoustic response timeoutԹEU[ EUGEUcEQ"EUa:*EUR9VEU&k5ZEQBEU ;ae2EU ;aeJEQae:EU$t:ae 7ҔFҏ,8TI?A2w@2|@2Y=ٱ2N%ž >AHRS rotation from veh to nav: [[-0.632745,-0.701277,-0.328396],[0.771663,-0.606399,-0.191880],[-0.064578,-0.374822,0.924845]]2H s?p@pտu?g@ȿ0 ׿T?i2w@I2^;2CYRCyAyRFHbDZVDZk8`yf%fO=ٔf&p:Q-f>9hIh=j?Fyj}En/En>pQ 5v4rlB?Q 9v4rn<)r\?AYtyvO@Q Iz?rDIr6:ir :r1݄4%2Acoustic response timeouty~Bɮ}ŚB}E*jBjiiziJii kbkbkbh2f:fBfJfߙu@ɢG=) >?i)=i!I!I1IIO>2Acoustic response timeoutA Ee ` Ee NEe oEa "Ee *:*Ee ҆9VEe 5ZEa au @au @au @au @Fҏ,nI?AFq@Fg@Fۄ=ٱFbž RAHRS rotation from veh to nav: [[-0.619608,-0.710894,-0.332738],[0.782229,-0.594274,-0.186963],[-0.064827,-0.376121,0.924300]]FHKտ ?Kcǿ``^ؿ`ݓ?iFq@IF^;FCYZyAyZ&H\\pp p)r.Ipitt ttz=z=bD~wVD~X8y % F=ٔ :Q- >9I=?FyE%'E%>9Q 5M4=`,?Q 9U4= <)=>AYQyU:@Q IU?=DI=.qԙ Be 5>Ba Be HBe xABe =Ba Ba Be @;Be œE 2Acoustic response timeoutEFҏ,,I?AF+a@F9W@Fڅ=ٱFƾ RAHRS rotation from veh to nav: [[-0.606494,-0.720116,-0.337043],[0.792401,-0.582271,-0.181829],[-0.065312,-0.377351,0.923764]]FH gh0 տX[?`+FǿP&ؿz?iF+a@IF^;DYVxAyZHy5"~j?y&1|:v?5Sc?5`5T<1 195^I +?Mb?I +Y5XY?y5=595B54B 5DB)11Y5(BbDUVDU`8y]]%eE=ٔe:Q-e>9iIi=m?FymEm$Eu>yqQ 54u?Q 94u<)uH>AYY?Q Ey:y@Q I?u3DIuR2;ius:u4yɮB*jBjiiziJii kakakah kakakah2fDž=:fDž=Bf@Jf@Eh EGEfE"EG:*ER9VEt5ZEBE._;a-2E1_;a-JEa-:E#t:a5ɢ`=) ?i)=iIԡ=2Acoustic response timeout^A=II)IAO> NFҏ,ɡI?Aɰ;2r?2GO @2φ=ٱ2Uaƾ :AHRS rotation from veh to nav: [[-0.593633,-0.729415,-0.339933],[0.802043,-0.570797,-0.175832],[-0.065779,-0.377021,0.923866]]2H @]WxտV?Cƿ@ְ!ؿO?i2r?I2^;2CYBhxAyBHbD VD g8yE%ML=ٔMӘ:Q-M>9QIQ=U?FyUEU$EU>YQ 5e4]m?Q 9m4];)]=AYiym@Q Im?]HDI]:i]:]4yqɮ}B}E*jBjiiziJii kakakah k|k|k|h2f:fBfJf9@ɢ=) ?i)G3=i{I2Acoustic response timeout^Ah=IqIO=bE|5jEą5rE 2E-\ E-ME-kE)"E-:*E-9VE-u5ZE)aE@aE@aE@aE@1M 2Acoustic response timeoutY G  E R9A YE A8Fҏ, I?A2'?2!M @2^=ٱ2mcƾ :AHRS rotation from veh to nav: [[-0.580912,-0.738252,-0.342820],[0.811282,-0.559315,-0.170258],[-0.066051,-0.377029,0.923843]]2HԖŸ տ?ſ@谿=!ؿ ?i2'?I2^;2CY^txAy^HI]p=)]t>aeAbDmVDm8y\;%D=ٔ+:Q->9I=?FyE"E>Q 54?Q 94;)!=AYy @Q I?_DI:i:4yɮB*jBjiiziJii k3dk3dk3dh  kvkvkvh2f):f)Bf)Jf-@1IɢMЕ=)I UL?iQ)U!=QQi],YIa^A5BN=IIO>B A>B  CB HB bxAB =B B DB ~;B Ea2Acoustic response timeoutԑE ` E KE lE "E *:*E ]t9VE 5ZE BE -;a 2E -;a JE /:a :E 0:a Թ Fҏ,I?A2վ?2xU @2=ٱ2ž :AHRS rotation from veh to nav: [[-0.568553,-0.746803,-0.345012],[0.819927,-0.548501,-0.163908],[-0.066833,-0.376075,0.924176]]2H1ֿ9iIi=u?FyuEuREu>Q 54l寉?Q 946;)>OK>2Acoustic response timeout EU d EU HEU jEQ "EU 9:*EU [9VEU ـ5ZEQ ae @ae @ae @ae @QFҏ,yI?AY-xAy-HbDEVDE|8yU<%UK=ٔUQ-U>9]H?I]H?=]?Fy]E]Ee>aQ 5u4eԯ?Q 9u4e2;)e;AYqyqQ Iu?eDIe;ieH;e4yyɮB*jBjiiziJii k`k`k`h kCzkCzkCzh2fQ:fQBfQJfQqɢuה=)y }?iy)}n=yyi}VI^A}2Acoustic response timeoutAuAIyIO@>Q B >B CB qHB wAB =B B DB ;B Eiߩ Iߩ  2Acoustic response timeoutt2Fҏ,7 I?A Y~wAy~qH  y~jt?Q?I +d?=9 9ʡE?S㥛~jtY-R?y/ݼDBB B):BYBbDVD8yhļ%E=ٔQ->9K?IK?=?FyEE>Q 54ů?Q 94;)d;AY R?Q E :y @Q I ?DI;i;24yBɮ%B%~EE_ EJEkE"E&:*Ek9VEu5ZEBE&;a2E&;aJE:a:E:a*jBjiiziJii kakakah1 kzkzkzhAi2f})>:f})>Bf}8@Jf}Ja$>ɢ [=) >i):=ieI@1@1@I@Iԙ2Acoustic response timeout A) I1 IA O} >w\Fҏ,#I?A29#?2 @2{=ٱ28& :AHRS rotation from veh to nav: [[-0.544867,-0.771905,-0.327541],[0.835085,-0.534856,-0.128695],[-0.075847,-0.343646,0.936031]]2H o`qmԿ@?`y j`Lտ?i29#?I2|}^;2CYBwAyBwHP\\ \)\I^<i\\bDfVDf8yn;%nY=ٔr"9pIp=v?FyvEvLEv>xQ 5e4z踯?Q 9e4z;)z:AYiym?@Q Im?zDIzPzɢ^=) r>i)ˠ=i@fI}2Acoustic response timeoutII9Ou>E ELEiE"E*E|9VEz~5ZEa@a@a@a@% :?% =- 2Acoustic response timeout9 :Fҏ,<I?Aɰ4<2?2_S @24=ٱ2ɬ :AHRS rotation from veh to nav: [[-0.541997,-0.778702,-0.316011],[0.836508,-0.535960,-0.114023],[-0.080580,-0.326146,0.941879]]2H` X 9Կ?&@0ݠ@Կ#?i2?I2^;2CYBwAyBsHbDNVDN8yVr%VM=ٔVC9XIX=Z?FyZEZE^>`Q 5f4b5?Q 9f4b8;)b(:AYdyf@Q If?bDIb:ib:b4ylɮnBn}E*jtBjtixixzixJixix| k3vk3vk3vh kCvkCvkCvh!2f1:f1Bf1Jf5:}>QɢU=)Q U>iQ)0=i_QIIIO>)B >BCB&HBnwAB=BBDB/;B0E2Acoustic response timeoutQEi EmHEiEi"Ei*Em[9VEiZEiBEm&;a}2Em&;a}JEmW:a}:EmY:aԁ nFҏ,VI?A6n?6V- @6=ٱ6B >AHRS rotation from veh to nav: [[-0.539837,-0.785256,-0.303232],[0.837427,-0.537539,-0.098829],[-0.085393,-0.307287,0.947778]]6H@WF 'hӿ`4? 3LOܵ ӿ`2T?i6n?I6ڇ^;4YFwAyF`HJ@AJ@Ar2Acoustic response timeoutbD VD 8yEꍼ%EA=ٔM:9IIQ=U?FyUEU\EU>YaQ 5m4e?Q 9m4eS;)em9AYiyu@Q Iu?eDIe:ie:e$4y}*Bɮ}0B}tE*jBjiiziJii kswkswkswh kswkswkswh2f:fBfJfʬ>iɢu0 =)` >i)W =顙iII1IIO=ԁԱiߑIߑ2Acoustic response timeout E} ^ E} IE} eEy "E} C#:*E} c9VE} q5ZEy a @a @a @a @Fҏ,pI?A2 ?2@2$=ٱ2 >AHRS rotation from veh to nav: [[-0.537072,-0.792178,-0.289842],[0.838665,-0.538333,-0.082694],[-0.090523,-0.287493,0.953496]]2H/YÌҿX?: m+,`Gfҿ ?i2 ?I2^;2CYFdwAyFHbD VD 8yo%M=ٔS9!I!=%?Fy%E-lE->1Q 5545 ?Q 9=45;)58AY9y=@Q IE?5DI5;i5 ;5+4yIɮM>BMsE*jYBjaiaiaziaJiaii kvkvkvhy kvkvkvh2f:fBfJf>Թɢ =) >i)~d"=iIIyIO=2Acoustic response timeoutB A B >B CB HB vAB =B B DB ;B *EBmCBmCBmʕCBmʦ=Bmʥ=Cmʟ[69  2Acoustic response timeoutFҏ,~I?A@2?2k@2M6=ٱ2Z :AHRS rotation from veh to nav: [[-0.534424,-0.797706,-0.279385],[0.839786,-0.538553,-0.068701],[-0.095660,-0.271339,0.957718]]2H`φqѿ?;@i/} ]ѿ?i2?I2^;0YRYwAyRHE\ EKEgE"E:*E]t9VEx5ZEBE;a2E;aJE/:a:E0:ay5J +?+ rh5h?55C1 195y&1?{Gzt?ʡEY5`E?y5ף;55"B5B 5B)5XB1Y5WBbDMVDM8y]%]7=ٔe=9aIi=m?FymEmnѻEm>qQ 5}4u9?Q 9}4uP;)u7AY\F?Q E:yp@Q I?u DIu:iu:u24yɮ?B*jBjiizi Ji i  k#xk#xk#xhq2f(%>:f(%>Bf,h&@Jf#Θ@颹ɢv؎=) 2>i))$=iIIiIO>A2Acoustic response timeoutiԙ Fҏ,YI?A2I?2 @2Ъ=ٱ2 :AHRS rotation from veh to nav: [[-0.531571,-0.802855,-0.269920],[0.841002,-0.538182,-0.055459],[-0.100741,-0.256484,0.961284]]2H``Fѿ@|?80e "ʹiQ)US%=Yi<7I]2Acoustic response timeoutqE[ ELEjE"Ea:*E|9VEـ5ZEa@a@a@a@ԡAm$AIyIO> 2Acoustic response timeout Fҏ,4I?A6,?6#j@6ވ=ٱ6l؀ BAHRS rotation from veh to nav: [[-0.528767,-0.806180,-0.265480],[0.842120,-0.537372,-0.045453],[-0.106018,-0.247600,0.963044]]6H@9п@?%2@E$@\Ͽ B?i6,?I6^;4YJvAyJHbDRVDR8yZLZ%ZJ=ٔ^nV9bH?IbH?=b?FybEb Ef>dQ 5j4fQg?Q 9j4fm;)f5AYlyn4@Q In?f.DIfn;if;f?4yr?BɮviBviE*j|Bj|iiziJii kCdkCdkCdh kzkzkzh)2f9:f9Bf9Jf=z@Yɢ]ώ=)Y ]>ia)e{&=aaie2iIi5BU>BUCBU,HBUuABU=BQBUDBU;BUEAAIIO >e2Acoustic response timeoutE^ EGEzE"EC#:*ER9VE5ZEBE~ ;a2E ;aJE!t:a :E#t:a ) }Fҏ,{I?A4<ɰ6?67@6r =ٱ6{ >AHRS rotation from veh to nav: [[-0.525857,-0.808817,-0.263228],[0.843219,-0.536325,-0.036563],[-0.111603,-0.241186,0.964040]]6Hп?)Z` .ο`k?i6?I6^;6CYZgvAyZHb2Acoustic response timeoutbDjVDj8yr,%rG=ٔr`9vK?IvK?=v?FyvEzuEz>|Q 54~Y?Q 94~l;)~4AY y  @Q I ?~ADI~:i~:~"G4yɮrB*j)Bj)i1i1zi1Ji1i1 kSbkSbkSbhI kcykcykcyhY2fi:fiBfiJfmY@颉ɢ=) >i) (=顑i&I)AMY?AMR?YAIIIiIpAO>u2Acoustic response timeoutԁ bE 5jEЁ5rE>1E \ E IE gE "E :*E c9VE x5ZE a @a @a @a @FFҏ,I?A,6?6@6ƣ=ٱ6t >AHRS rotation from veh to nav: [[-0.522784,-0.811637,-0.260656],[0.844366,-0.535066,-0.027399],[-0.117230,-0.234413,0.965043]]6H п ?A>ο?i6?I6^;6CYFuAyF H\\ \)\I\i\\bDfVDf8y%G=ٔua9!I!=%@Fy%E-E->1Q 5]45vL?Q 9]45b;)53AYYy]@Q I]?5UDI5P;i5;5TN4yiɮmBmhE*jBjiiziJii k`k`k`h2f:fBfJf6@)ɢ-@=)5 5>i1)5H)=19i=l9IAԉ2Acoustic response timeout CmւGrAAIIz9rAYAI!O-->Թ AA AA BM #>BM CBM }HBM tABM =BI BM DBM ;BM E} 2Acoustic response timeoutGҏ,X I?AF?F`@FD=ٱFo VAHRS rotation from veh to nav: [[-0.519927,-0.813781,-0.259684],[0.845328,-0.533895,-0.019388],[-0.122867,-0.229598,0.965499]]FH= @п ?aړ0t`zcͿ@^?iF?IF|^;FC\Yb6uAyfHysh|??:v?X9v?i?=< 9Cl?RQ?{Gzt?YO?y=ף;$B|B )BY.BE` ELEE"E*:*E|9VEZEBE-;a2E -;aJEv:a:Ew:abDVD8yTw%>=ٔX9I=@FyEE>Q 54U:?Q 943;)2AY KQ?Q E :y =@Q I ?lDI:i:U4yɮB*j)Bj1i1i1zi1Ji9i9 k`k`k`hI kczkczkczha2fu\=:fu\=BfuıN@Jfu@颱ɢ=) Ӧ>i)d*=项i IIIOB>2Acoustic response timeoutA -Gҏ,?%I?A@2jj?2B@2K>ٱ2 k :AHRS rotation from veh to nav: [[-0.517533,-0.815399,-0.259392],[0.845956,-0.533118,-0.011978],[-0.128520,-0.225633,0.965698]]2H п?M [s`̿?i2jj?I2T^;2CYBtAyBHFJGPS failed to acquire within timeout. FFData Fault F F J J bDNVDN8yVK%V`=ٔZ9XIX=^@Fy^E^~ֻE^>`Q 5f4b+?Q 9f4b;)b2AYhyj@Q Ij?b~DIb6:ib:b4\4yn@BɮnBrgE*jxBjxi|i|zi|Ji|i kakakah k#k#k#h)2f9:f9Bf9Jf=ج@1E cMHAggregate::initialize marl:NeedComms12M dM@Initialize GoToSurfaceComponent.dMHReceived depth rate setting nan m/s.dMRReceived pitch setting 19.999999 degrees.dUHReceived speed setting 1.000000 m/s.dUjReceived surface timeout setting 1000.000000 seconds. d]No altitude timeout specified. Using default value of 600.000000 seconds.d]nReceived pitch timeout configuration 60.000000 seconds.1][YZaZaZeZaZeceXcaught uninitialized data element exception.cmtlast time_fix was: nan second since 1970/01/01T00:00:00Z 1miyɢ}¸>I} >9yaI)~F)顅iGI=2Acoustic response timeoutAIzAMoAI&@Data Fault in component: NAL9602IO= >AE EExE"E*EVEe5ZEa@a@a@a@q 2Acoustic response timeoutԙ ?#Gҏ,}?I?A2?2҅@2 >ٱ2vf :AHRS rotation from veh to nav: [[-0.515208,-0.816975,-0.259059],[0.846494,-0.532378,-0.004560],[-0.134192,-0.221641,0.965851]]2H |$@lп{?`= r 3-^̿??i2?I2q^;2CYfTtAyf=HjPowering downjjjjln=bDrVDr8y%%-C=ٔ-_9)I1=5@Fy5E5E5>9Q 5E4=p?Q 9M4=;)=H1AYIyM@Q IM?=DI=:i=N:=c4yUTBɮUʛB]^E*jiBjiiqiuziqJiuƷz[))i2IB->B CBHBvsAB=BBB;BEԡE2Acoustic response timeout=;IIO-o>E[ EHEeE"Ea:*E[9VEq5ZEBE ;a2E ;aJEX:a:EY:a Gҏ,qWYI?A24?2g@27>ٱ2d :AHRS rotation from veh to nav: [[-0.513241,-0.817880,-0.260109],[0.846769,-0.531958,0.001850],[-0.139879,-0.219303,0.965578]]2H@xl@,@п?`M^?@̿?i24?I2Ÿ^;2CYBsAyBHbDNR2Acoustic response timeoutVDN8yZ&%ZR=ٔZq9\I\=b@FybEbEb>dQ 5j4f. ?Q 9j4f;)fy0AYhyn@Q In?fDIf:if-:fTj4yrUBɮrۛBr]E*j|Bjyiyi}ziyJiƷ<i kS_kS_kS_h k#xk#xk#xh2f:fBfJfp@[ZZZ Z Z iaɢaIeM>mMU)i)iiiimcqIyMe *IIO>1]2Acoustic response timeoutE c E KE sE "E g5:*E ]t9VE X5ZE a @a @a @a @Y 4Gҏ,3sI?A;ɰ;2X?2K@2 >ٱ2c :AHRS rotation from veh to nav: [[-0.511348,-0.818298,-0.262510],[0.846900,-0.531697,0.007716],[-0.145890,-0.218374,0.964899]]2H\`/@п??¿˿s?i2X?I2^;2CY^!sAy^HbDfVDf8ynkϽ%rG=ٔrr9tIt=v@FyvEvtEv>xQ 5~4z"?Q 9~4z|;)z/AYy@Q I?zDIz;izr;z{q4y ɮ B*j!Bj!i)i-zi)Ji-Ʒ<i) k_k_k_hA kc|kc|kc|hQ2f:fBfJf@[ZZZZZ9iYɢYI]>eyO)a)aaaieiIqm:A}W?A}Y?2Acoustic response timeoutI&VClearing failed state for component NAL9602 IO= >aԉB <A B =>B CB HB qAB =B B DB ;B Ee 2Acoustic response timeoutԹ #Gҏ,I?AJfM?J@J >ٱJc RAHRS rotation from veh to nav: [[-0.508384,-0.819249,-0.265286],[0.847472,-0.530639,0.014643],[-0.152768,-0.217378,0.964058]]JHDJ7sп|?`U? ÿ` ˿ ?iJfM?IJխ^;HYnrAynfHymuV?)\(l?mr?mGam=i i9mjt?I +?+η?Ym`?ym94=mv=mBmNB mB)miYmBbDVD8E` EEEgE"E*:*EA9VEx5ZEBE-;a2E -;aJEW:a:EW:ayļ%==ٔ9I=@FyEٻE>Q 54安?Q 954t;)8/AY5Nb?Q E5p:y5 @Q I5?DIg:fpZ>Bf *@Jf8@[ZZZZZi ɢ)I->-dH)))111i5~9I9EqAEpAԹ2Acoustic response timeoutqu>- A) I1 IA O} >g)Gҏ,N`I?A2?2@2#'>ٱ2c :AHRS rotation from veh to nav: [[-0.504594,-0.819810,-0.270734],[0.847927,-0.529601,0.023317],[-0.162496,-0.217797,0.962372]]2H %@;Sѿ6"?}\?@Ŀ ˿?i2?I2^;0YBqAyBHbDNVDN8yRW*%VH=ٔV9\I\=b@FyfEnV Er>z2Acoustic response timeout|Q 54~Ԯ?Q 94~l;)~.AYy~ @Q I?~DI~4hN>))iU0I!--))E] EHEnE"E:*E[9VEJ5ZEa@a@a@a@ߝ=ߙ2Acoustic response timeout@ I I I OM >A1Gҏ,BI?AB V?B!@B!G>ٱBxg JAHRS rotation from veh to nav: [[-0.491687,-0.821554,-0.288607],[0.848931,-0.526026,0.051110],[-0.193804,-0.219877,0.956083]]BHw߿+Jxҿq*?5+?ȿ$̿:?iB V?IB^;BCYRqAyRDHbDZVDZ8ybjݽ%b:=ٔfH=Q-j>9hIh=j@FyjEnX޼En>pQ 5v4r®?Q 9v4rTd;)r,.AYtyv @Q Iz?rDIr;ir ;r؇4y~jBɮ~FB~RE*j Bj iiziJiƷ<i kshksh)kshh12fA:fABfAJfET@sMPUpdating rudder angle -0.000000 arcdeg 9MrM6Completed marl:UpdateRudder19M rMRAggregate::uninitialize marl:UpdateRudder[QZYZYZ]ZYZ]BuG>Bu CBuHBu pABu=BqBuDBu;BuEB5 CB5 CB1B5=B1C55iɢI>c))顙i I@<AzApA 2Acoustic response timeoutI9IQQO>Eg EtEtE"EC:*Ev:VE5ZEBEX;a2EX;aJE`;a:E`;aԁ 2Acoustic response timeoutԹ b7Gҏ,I?A2y?22@2BR>ٱ2jf :AHRS rotation from veh to nav: [[-0.491564,-0.820013,-0.293161],[0.846636,-0.528826,0.059584],[-0.203890,-0.218911,0.954205]]2H`u߿=$ҿ`?#?ʿ`H̿`؈?i2y?I2^;0YNhpAyRHV=V=bDZ-VDZ8yv`%vI=ٔv9xIx=z@FyzEz^,;E~>QQ 5]4U?Q 9]4U`\;)U-AYaye @Q Ie?UDIU;iU;U4yiɮm]Bq*jBjiiziJiƷ<iԙ kPkPkPh2f:fBfJfU@[ZZZZZiɢI>/))i"I@X<IQIaO=-2Acoustic response timeoutE_ EHEkE"E&:*E[9VEu5ZEa@a@a@a@ =Gҏ,I?A2Y4?29@2g^a>ٱ2y_ :AHRS rotation from veh to nav: [[-0.501373,-0.813296,-0.295253],[0.837236,-0.542132,0.071620],[-0.218314,-0.211288,0.952731]]2H@ @lҿ?$YU?`˿{ ˿|?i2Y4?I2X^;0YBoAyBxHbDJ VDJ8yR%RO=ٔV=Q-V>9TIT=Z@FyZEZ/ =EZ>\Q 5b4^R?Q 9b4^U;)^,AYdyf @Q If?^3DI^k:i^:^֕4yhɮjpBjQE*jpBjtitivzitJivƷ<ix kCkCkCh kCkCkCh2f!:f!Bf!Jf%f @[1Z1Z1Z5Z9Z=iIɢIIM>M)Q)QQQiU4#In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeoutI@±<II)Om=)AqAuAAB}S>B} CB}cHB}nAByByB}DB};B}(EQ] rmodem://6: set _.others_observations nan n/a str none_str] #Outgoing data=1] pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITe 2Acoustic response timeouty E ^ E LE mE "E C#:*E |9VE 5ZE BE  ;a 2E ;a JE v:a :E x:a tDGҏ,įI?A4<ɰ4<2AO?2@2t>ٱ2W :AHRS rotation from veh to nav: [[-0.512831,-0.804419,-0.299857],[0.825267,-0.558163,0.085958],[-0.236515,-0.203380,0.950104]]2Hiͽ0ӿh?x@Q? Fο\ʿ@g?i2AO?I2^;2CYn oAynHyjt?Zd;OL7A`尿Ā?j<+ 9e;O? rh~jtYt?yCD%BB B)BYBbDVD8y%:=ٔN.=Q->9I=@FyE_=E>Q 54?Q 94K;)+AYu?Q E]:y@Q I?MDI;iW;4yBɮBGE*jBjiiziJiƷ<i kBkBkBh kBkBkBh)Q2fk=:fk=Bf#c@Jf@[ZZZZZiɢI=>))iZ%IzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutԁ?@<AV?AP?IqIԹO> e 2Acoustic response timeout6JGҏ,V,I?AB?Bl@BO!>ٱBK/U JAHRS rotation from veh to nav: [[-0.518709,-0.797396,-0.308385],[0.815971,-0.569406,0.099844],[-0.255212,-0.199843,0.946007]]BHCC ӿn?@8`e?`cUпvɿE?iB?IB^;BCYRmAyRWHIV%=)V=bD^VD^8yf4%fY=ٔfQ=Q-f>9hIh=j@FyjEj<En>lQ 5U4n2?Q 9U4nC;)nX)AYQyUq@Q IU?ncDIn?~])'y)iw&IbE5jE)5rEE1Emi EmJEiEi"Em,K:*Emk9VEiԙZEia@a@a@a@@^<AIIIOER>=Gay2Acoustic response timeoutR9YnA! QGҏ,bfFI?A2N?2@2e">ٱ2H :AHRS rotation from veh to nav: [[-0.519392,-0.797406,-0.307206],[0.810662,-0.573496,0.118025],[-0.270295,-0.187739,0.944296]]2H۞ ZBӿ?Z6?`Lѿȿ7?i2N?I2w^;0YB8mAyBHbDJVDJ8yR%RN=ٔV!=Q-V>9TIT=Z@FyZEZ<EZ>\Q 5b4^t?Q 9b4^";;)^'AYdyf@Q If?^zDI^:i^:^4yhɮj؜Bh*jpBjtitivzitJivƷ<ix k@k@k@h k@k@k@hB%T>B!B%HB%kAB!B!B!B%;B%xE2fA:fABfAJfE/@[QZQZQZUZQZUiɢI>tY))ixv'I2Acoustic response timeout!EZ EEsE"E:*EVEX5ZEBEk;a2En;aJE:a:E:aQ}@<AzAnAi A I I OU > 2Acoustic response timeoutWGҏ,WA`I?A :?:@:Q>ٱ:DB% BAHRS rotation from veh to nav: [[-0.515287,-0.808617,-0.283933],[0.809977,-0.567753,0.146951],[-0.280031,-0.154257,0.947517]]:H ;}0`+ҿ@T?+H?@ѿ@ÿ@R?i:?I:^;:CYJlAyJ+HbDR3VDR8yZ2%ZI=ٔ^U9\I`=b@FybEbEb>dQ 5j4fef?Q 9j4f2;)f%AYlyn@Q In?fDIf{;if;f4yrBɮrBrEE*jxBj|i|i~zi|JiƷ<i kcDkcDkcDh k#ek#ek#eh!2f1:f1Bf1Jf5>f@[AZAZIZMZIZMiYɢYIe>e)a)aaaimI(iIq5@MK-2Acoustic response timeoutԙE` EHEE"E*:*E[9VEZEa@a@a@a@- PExceeded connect timeout, disconnecting. ]Gҏ,zI?ALYbjAyb`H ddbDnCVDn8yvI%vG=ٔvQ-v>9xIx=z@FyzEzE~>Q 54W?Q 9 4);)#AY y Q I ?DI:i:J4yBɮ;B))顱i,)Iw@}<B%Y>B%CB%HB%hAB%=B%DB!B%;B%EAxAII 5 2Acoustic response timeoutOU >! E ] E FE vE "E :*E ;J9VE -5ZE BE :;a 2E <;a JE e:a :E e:a dGҏ,wI?A|YiAyHy333333?+/$9? 9"~?{GztKǿYS?yף^:BgB B)BYLBbDRVD"8yG<%==ٔQ->9;N?I;N?=@FyEE>Q 545J?Q 94v";) AYY?Q Ez:y@Q I?DI:i:4yɮcB;E*j Bj i i zi JiƷ<i kDkDkDh) kckckch92fM>:fM>BfM]>>JfM@[YZYZYZ]ZYZ]iiɢqI>))iP*I    )2Acoustic response timeouta@4<A AI I O5 >ԑ = 2Acoustic response timeoutnjGҏ,EխI?A;ɰp;2?2D@2kh>ٱ2& :AHRS rotation from veh to nav: [[-0.492303,-0.819624,-0.293009],[0.816125,-0.551687,0.171991],[-0.302617,-0.154460,0.940513]]2H@߿[:@ҿ?@l?^ӿ`\ÿ?i2?I2^;2CYBgAyBHbDJpVDJ>8yR:%R_=ٔV=Q-V>9VK?IVK?=Z@FyZEZ섽EZ>\Q 5b4^`??Q 9b4^7;)^GAYdyfF@Q If?^DI^:i^:^BDž4yjBɮjBh*jpBjtitivzitJivƷ<ix kKkKkKh k]k]k]h2f):f)Bf)Jf-@[1Z1Z9Z=Z9Z=iIɢIIM>U*)U~ H)QQԙQi}*IE]a E]IE]rEY"E]%.:*E]c9VE]5ZEYae@ae@ae@ae@nManaging dock network, ignoring radio surface power off@M<AyIIOB>2Acoustic response timeout qGҏ,I?A25?2@2>ٱ2ǡO :AHRS rotation from veh to nav: [[-0.487706,-0.809930,-0.325816],[0.818098,-0.554279,0.153264],[-0.304726,-0.191801,0.932928]]2H6߿)Կ-?@&?ӿ@ȿ?i25?I2^;0Bfa>BfCBf HBfdABf=BdBdBfL;Bf]EY7fAy HI <) < p<bDVDy8ye%e?=ٔm;;Q-m>9iIi=u@FyuEuFEu>yQ 54}3?Q 94};)}dAYyQ@Q I?}DI}q;i}r;}΅4yɮםB*jBjiiziJiƷ<i kC_kC_kC_h 2f):f)Bf)Jf-@[ZZZZZi2Acoustic response timeoutɢI>r!))iR-+ I @e<AizAmqA!E[ ELEE"Ea:*E|9VEZEBE ;a2E ;aJEv:a:Ex:aIaIqO_>IipAIoAߥ =ߥ = 2Acoustic response timeouty wGҏ,ۈI?A2J?2|@2>ٱ2>j :AHRS rotation from veh to nav: [[-0.483085,-0.803756,-0.347283],[0.819894,-0.554445,0.142706],[-0.307250,-0.215796,0.926838]]2H޿]9ֿ@9TIT=Z@FyZEZ]EZ>\Q 5b4^s(?Q 9b4^S;)^AYdyf@Q If?^DI^y:i^:^_Յ4yjBɮjBj1E*jtBjtitivzitJivƷ<ix kFkFkFhI2fy:fyBfyJf}7@[ZZZZZiɢI>))i+IQ@]<IIO%+>ԁ hDAT read: Forwarding Delay UpTx time:19:26:47.3332  pIn parseResponses, set commsState_ = SENDING_ACK_WAITING 2Acoustic response timeoutDm=Dm<E}c E}HEyEy"E}g5:*E}[9VEyZEya@a@a@a@ԩ (~Gҏ,AdI?A2ܓ?2?@2 >ٱ29tIt=v@FyvEvt^Ev>xQ 5~4z%?Q 9~4z6;)z AYy@Q I?z DIz;iz#;z܅4y Bɮ BB*j!Bj!i!i%zi)Ji-Ʒ<i) kCkCkChA kCkCkChQe2Acoustic response timeout2fi:fiBfiJfmTR@[ZZZZZi ɢI?>p)9)AIIiMC,ԹIAA@ABk>BCBH HB`AB=BBDB9;BYEBCBCBƔCBƤ=BƤ=CƇ5X@m<II 2Acoustic response timeout O- >E b E KE cE "E 1:*E ]t9VE &k5ZE BE 9;a 2E 9;a JE /:a :E 0:a 9 Gҏ,@I?AY=aAy=l Hyv/?~jtxZd;Oxi?Ļj< 9kt?Zd;?K7AY 0?yy= 7B  B)BYBbD  VD 8y%%8=ٔ%Q-%>9!I)=-@Fy-E-E->1Q 5=45?Q 9=453;)5AYE3?Q EE:yE> @Q IE?5DI5:i5:5W4yIɮMBQ*jaBjaiaieziaJimƷ<ii k3Ik3Ik3Ihy k3Ik3Ik3Ih2f`}>:f`}>Bf v6@Jf@[ZZZZZiɢI>))i,I+^u2Acoustic response timeout@Δ<IIIYO:>9i  2Acoustic response timeout:Gҏ,e/I?A 2"?2@2է>ٱ2g\ >AHRS rotation from veh to nav: [[-0.466802,-0.801966,-0.372754],[0.823672,-0.547711,0.146891],[-0.321964,-0.238458,0.916230]]2H ݿ@`3׿[?@چ@U? ԿDžοQ?i2"?I2^;2CYF_AyF HbDNVDN8yvDS%v`=ٔvO9xIx=z@FyzE~E~>Q 5 4?Q 9 4D:)AY y a@Q I ?(DI:i-:4yBɮB0E*j)Bj)i)i5zi1Ji5Ʒ<i1 kBkBkBhI kCkCkChY2fi:fiBfiJfmk@[yZyZyZ}ZyZiɢI>0))顙i,IDzDEa ELEvE"E%.:*E|9VE-5ZEa@a@a@a@i:_Gԙ@ȑ<IAIQ}2Acoustic response timeoutO~> "Gҏ,HI?Aɰ;B6t>B6CB6HB6]AB4B4B6DB6;B6EB*o?B-@Bժ>ٱB삾 JAHRS rotation from veh to nav: [[-0.461348,-0.803866,-0.375443],[0.824561,-0.544689,0.153011],[-0.327500,-0.238984,0.914128]]BHݿD Bؿb?@n? Կο@?iB*o?IB^;BCPYRn^AyVHbDZ/VDZ8ynk%nK=ٔr5n9tIx=z@FyzE}UE>Q 54v?Q 94:)AYy@Q I?9DI)f;ig;4yɮB*jBjiiziJiƷ<i kCkC=kCh! kCkCkChY2fi:fiBfiJfmW@[ZZZZZiɢIa>2Acoustic response timeoutv|))i,IEc EFEiE"Eg5:*E;J9VEz~5ZEBE?;a2E?;aJEe:a:Ee:aB@pA:@oA@u<A $AI I O >!  2Acoustic response timeoutLGҏ,5bI?A2[?2@2y>ٱ2 W :AHRS rotation from veh to nav: [[-0.455611,-0.806011,-0.377843],[0.825491,-0.541403,0.159522],[-0.333142,-0.239226,0.912024]]2H`(ݿ.ؿ@lj?@,S7k?1Rտ οL/?i2[?I2^;2CYB\AyBHbDJ3VDJ8yRς%RN=ٔVv9VH?IVH?=Z@FyZEZzEZ>\Q 5b4^s?Q 9b4^s:)^ AYdyf@Q If?^GDI^9:i^:^4yhɮjBh*jtBjtitivzitJivƷ<ix| kVkVkVh 2f:fBfJfP+@[)Z)Z)Z-Z)Z-iAɢAIE>E )A)IIIiM>-QIQ@o<1AaIiIyO=>iI2Acoustic response timeoutQbENJ5jE͋5rE31Eg EOEtE"EC:*E9VE5ZEa@a@a@a@ԁ i i ŁG qA % !ſ9% qAY% AvGҏ,|I?AyJ?JARM?R3p@Rh>ٱRՁ ZAHRS rotation from veh to nav: [[-0.449736,-0.809450,-0.377529],[0.826078,-0.537691,0.168771],[-0.339605,-0.235967,0.910488]]RH{ܿp)ؿ;o?4E?`տ'4ο`"?iRM?IR^;RCYr%[AyrHbDzLVDz8y%|%-C=ٔ5k<M2Acoustic response timeoutQ-M>9QIQ=U@FyUEU^YE]>aQ 5m4eM歉?Q 9m4e:)ey AYqyuU@Q Iu?eXDIed:ie:e4y}ȺBɮ}cB&E*jBjiiziJiƷ<i kOkOkOh2f :f Bf Jf ?@[yZZZZZiɢI>X())i%-Iԉ@d<Bm>BmCBmHBmYABm=BiBmDBm;BmEA9IQIiIԹO>2Acoustic response timeout E h E ME E "E G:*E 9VE 5ZE BE /_;a 2E 1_;a JE :a :E :a ^Gҏ,솖I?A@2I?2@2$>ٱ2b :AHRS rotation from veh to nav: [[-0.444246,-0.812497,-0.377484],[0.826203,-0.534483,0.178095],[-0.346460,-0.232760,0.908729]]2Hnܿ (ؿ`@p?`{@?@f,ֿ@ͿN?i2I?I2^;2CYBYAyBHyB`"?i|?5?t 9> ףp=?+?~jt?Y1?Թy><BB gB)BYBbDVDC8y0%?=ٔ[9I=@FyEIE>Q 54֭?Q 944:)AYs6?Q E:y[@Q I?jDI ;i;z4y ɮ B *j!Bj!i!i%zi!Ji%Ʒ<i) kS<kS<kS<h2f>:f>Bf]@Jf@[ZZZZZi ɢII>@;IϮ))zi-!I!U2Acoustic response timeout@<AW?Ai?I I O= >9  2Acoustic response timeoutGҏ,bI?A2?2@2>ٱ2g| :AHRS rotation from veh to nav: [[-0.438979,-0.815637,-0.376874],[0.825576,-0.531681,0.189051],[-0.354574,-0.228148,0.906767]]2H9ܿ ؿk? 2?Uֿ3Ϳ;?i2?I2^;2CY^CXAy^H ``bDjVDjj8yr%r[=ٔr9tIt=v@FyvEzHLEz>|Q 5e4~ȭ?Q 9e4~Z:)~3AYaye@Q Ie?~yDI~ i k[ԙ Be >Be CBe HBe TABe =Ba Be DBe ;Be EGҏ,I?AJ$?J~@JϘ>ٱJ`o VAHRS rotation from veh to nav: [[-0.433790,-0.821644,-0.369767],[0.824338,-0.527580,0.205247],[-0.363721,-0.215779,0.906171]]JH`7ۿ JB׿ `?E?@5G׿ञ˿Z?iJ$?IJn^;JCYfVAyfHbDnVDnz8yv%vF=ٔzl9xIx=z@FyzE~[*E~>Q 5 4a?Q 9 4:)sAY y@Q I?DI :i:54yɮB*jBjiiziJiƷ<i ksEksEksEh kEkEkEh2f):f)Bf)Jf-_@9[AZAZAZEZAZEiQɢYI]>]ԑ- 2Acoustic response timeoutԹ -Gҏ,WI?Aɰ:?:F@:\>ٱ:Ha BAHRS rotation from veh to nav: [[-0.428547,-0.827784,-0.362106],[0.822394,-0.523349,0.223100],[-0.374186,-0.202185,0.905045]]:HOmۿ5}@,׿ Q?F?׿0ɿ@ ?i:?I:.^;8YJTAyJHbDRVDR8yZL%ZP=ٔ^9`I`=b@FybEb'Eb>dQ 5j4f򪭉?Q 9j4f:)fAYlyn@Q In?fDIf;:if;f4yrɺBɮr0Bv$E*j|Bj|iiziJiƷ<i kPkPkPh kPkPkPh)2f9:f9Bf9Jf=@[IZIZIZMZIZMiaɢaIe>e =Im5<)i)iim;im/,qIqԱ2Acoustic response timeout@T<AoAzAnAI!I1OeU>Eu^ EuIEumEq"EuC#:*Euc9VEu5ZEqa@a@a@a@ 9 ԾGҏ,]5I?A>H3?>@>>ٱ>[ RAHRS rotation from veh to nav: [[-0.423581,-0.830173,-0.362480],[0.819545,-0.521673,0.237074],[-0.385908,-0.196649,0.901335]]>HۿƐ`2׿ 9?oX?ؿ+ɿ?i>H3?I>7^;)Z4<bDbVDb8ynY%rH=ٔv2Acoustic response timeout9!I!=-@Fy-E5E=>QQ 5m4U?Q 9u4U_:)UAYy@Q I?UDIUb;iU ;Up#4yɮ\B*jBji iziJiƷ<i kKkKkKh2f!:f!Bf!Jf%@[QZQZQZUZYZ]iiɢI>`A=I=))顑BCBRHBPAB=BB"DB;BܓE9dO2Acoustic response timeout@S<I1 IA y O >E j E VE kE "E N:*E 9VE u5ZE BE k;a 2E k;a JE C:a :E D:a Gҏ,I?A0YvQAyvHymMbX9?MbX? rh?mʑ?m=mCm=mqBmSB mĉB)mBiYmLBbDVD8yi%?=ٔQ->9I=@FyEE>Q 54?Q 94:)AYk?Q Eg:ys@Q I?DI ;i ;*4y޺BɮBE*jBjiiziJiƷ<i k0k0k0h kSkSkSh 2fH>:fH>BfCR9@Jf@[)Z)Z)Z-Z)Z5iAɢAIE>A)I)IIIiM*QIYMB4ԉ2Acoustic response timeout@e<IIO)>Թ >  2Acoustic response timeoutGҏ,F1I?A@2?2@2)>ٱ2\ :AHRS rotation from veh to nav: [[-0.417410,-0.828389,-0.373551],[0.811088,-0.524994,0.257911],[-0.409762,-0.195328,0.891034]]2Hٶڿ *A׿n?`?9ڿɿ Z?i2?I2Ĩ^;2CYBnOAyBGbDJVDJ8yR~̾%R[=ٔV=Q-V>9TIT=Z@FyZEZEZ>\\Q 5f4^v?Q 9f4^T:)^@Ydyft@Q If?^DI^:i^:^714ylɮnBl*jxBjxixizzixJizƷ<i| k8k8k8h  kJkJkJh!2f1:f1Bf1Jf5H@195 r5NAggregate::initialize marl:UpdateRudderq9J]Q?q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢ I > Õ=) c) i)IEEk EEIEEzEA"EEmR:*EEc9VEE5ZEAaM@aM@aM@aM@=GR@E=J@E>2Acoustic response timeout@%,<)A- AIQ Ii O >A B >B CB GB KAB =B B #DB ;B EBCBCB˖CBˣ=Bˣ=C}5{Gҏ,[CLI?A2?2@2>ٱ2_ :AHRS rotation from veh to nav: [[-0.415107,-0.826375,-0.380514],[0.806958,-0.527588,0.265461],[-0.420125,-0.196864,0.885855]]2H`ڿ q`VZؿ?P?`Sڿ2ɿ@X?i2?I2p^;2CYB!NAyBG DDF=Fa=HHbDNVDN8yVI%VF=ٔVO9ZK?IZK?=Z@FyZE^?޹E^>`Q 5f4bc?Q 9f4b :)b@Ydyf@Q If?bDIb:ib:bl84ynߺBɮnBnEp*jxBjz=ixizzixJizƷ<i| k.k.k.h  kAkAkAh2f):f)Bf)Jf-j@s=NUpdating rudder angle 6.875493 arcdeg 9=r=6Completed marl:UpdateRudder19= r=RAggregate::uninitialize marl:UpdateRudder[AZAZIZMZIZMiɢIx>H=))iy(=I=2Acoustic response timeoutbި@9 2Acoustic response timeouta fGҏ,eI?A6f?6>@6c>ٱ6גa >AHRS rotation from veh to nav: [[-0.414404,-0.824486,-0.385347],[0.803524,-0.530279,0.270468],[-0.427338,-0.197553,0.882244]]6Hڿ0b@ؿx?` `XO?@Yۿ gIɿ`X;?i6f?I6^;6CYFLAyFGbDRVDR8yV%ZL=ٔZ9XI\=^@Fy^E^*;Eb>`Q 5f4bP?Q 9f4b:)b@Yhyj@Q Ij?bDIb:ib:bn?4ylɮr]Bp*jxBjxixizzixJi~Ʒ<i| k5k5k5h  k#Sk#Sk#Sh!2f1:f1Bf1Jf5AU@[9ZAZAZEZAZEiQɢQYI]>]f=)a)aaaie}'iIiԁm2Acoustic response timeoutu@N<ԱDADE%=EMl EMXEMqEI"EMV:*EM9VEM5ZEIa]@a]@a]@a]@A) I1 IA O} > 2Gҏ,I?A(ɰ(n2Acoustic response timeout2?{@N]>ٱZc AHRS rotation from veh to nav: [[-0.414219,-0.822944,-0.388825],[0.801456,-0.532255,0.272713],[-0.431382,-0.198663,0.880024]]Hڿ`Uؿ? <@#t?@ěۿ@mɿ ()?i2?I^;CY54JAy5Gy/$?K7㥛 ¿&?I  9Q?~jt~jt?Y(?y<BB  B)BYBbDVD8yu%)=ٔ)9I=@FyE_:E%>!Q 5-4%>?Q 954%:)%@Y56?Q E5A:y56@Q I5?%%DI%] ;i%;%G4yEBɮEBEE*jQBjQiQi]ziYJi]Ʒ<iY k7k7k7hq kSJkSJkSJh2fW>:fW>Bf?Jf#]@[ZZZZZiɢI7>0=))i&IB}<AyB>BCBGBFABBB$DB;BœE}2Acoustic response timeoutP@m z<Au pAzAu qAEE c EE LEE uEA "EE g5:*EE |9VEE 5ZEA BEE ?;aU 2EE ?;aU JEE w:aU :EE x:aU Y A I I O- >cGҏ, I?A2q2?2D@2ώ>ٱ2f :AHRS rotation from veh to nav: [[-0.414134,-0.821703,-0.391532],[0.801317,-0.533158,0.271357],[-0.431723,-0.201363,0.879243]]2H+ڿ`dKٿb?]?`Yۿ@ɿ`"?i2q2?I2!^;2CYBGAyBGbDJVDJ8yRw%R|=ٔV~:Q-V ?9TIT=Z@FyZEZj)EZ ?\Q 5b4^2?Q 9b4^:)^[@Ydyf7@Q If?^:DI^;i^_:^M4yhɮjBh*jpBjtitivzitJivƷ<ix k.k.k.ha2fq:fqBfqJfu:]@[ZZZZZiɢI߬>4X=))i %I2Acoustic response timeoutA@zGҏ,XTI?A2@?2@2l>ٱ2m NAHRS rotation from veh to nav: [[-0.413260,-0.820513,-0.394936],[0.803782,-0.532512,0.265264],[-0.427961,-0.207819,0.879580]]2H rڿAFٿ ?W ?cۿҙʿ %?i2@?I2T^;2CYVLFAyVGbD^VD^8yf3_%f:=ٔfQ-j>9hIh=n@FynEnѝEn>pQ 5v4r"?Q 9v4r:)r"@Ytyv@Q Iz?rVDIr;ir;r/U4y~Bɮ~+BEDzD?AbE^5jE5rEk1Ee EKEvE"E<:*E]t9VE-5ZEa-@a-@a-@a-@*j)Bj)i1i5zi1Ji5Ʒ<i1 k.k.k.hI kGkGkGhY2fi:fiBfiJfmE]@[yZyZyZ}ZyZԑiɢIU>Ͼ=))顡iE#I@e<-nG^AM#2;]rAۿ9rAYAԹA$AIIOE>2Acoustic response timeoutB >B CB GB ;BAB B DB B ;B =E Gҏ,I?A2U@?26@2!>ٱ2Gz :AHRS rotation from veh to nav: [[-0.410777,-0.819282,-0.400050],[0.809428,-0.529651,0.253567],[-0.419630,-0.219652,0.880718]]2H*Jڿ`7jٿ?s:?@8ڿ`̿.?i2U@?I2U^;2CYBDAyBGbDJ!VDJ8yR6%RM=ٔVjQ-V>9VH?IVH?=Z@FyZEZ{YEZ>\Q 5b4^6?Q 9b4^A:)^@Ydyf@Q If?^pDI^;i^:^!\4yj BɮjBjE*jtBjtitivzitJivƷ<ixe2Acoustic response timeout k3Ok3Ok3Oh2f:fBfJfo2^@[ZZZZZiɢI>|=))i9" I@<^A$=AY?AU?EM] EMLEMsEI"EM:*EM|9VEMX5ZEIBEM:;a]2EM=;a]JEIae:EIae)II9IQO}Y>Q 2Acoustic response timeouty HGҏ,I?AB?BD@B>ٱB[ RAHRS rotation from veh to nav: [[-0.408924,-0.817231,-0.406096],[0.815774,-0.526813,0.238708],[-0.409016,-0.233669,0.882102]]BH`+ڿ& yٿ? ?R-ڿͿ.:?iB?IBh^;@Y^/BAy^GbDn6VDn8y~%~E=ٔ~GQ->9 I =@Fy E'CE>!Q 554%?Q 954%F:)%@Y9yE~@Q IE?%DI%t;i%;%mc4yQɮUĢBUE*jBjiiziJiƷ<i1 k3k3k3hIQ k#Hk#Hk#Hha2fq:fqBfqJfu_@[ZZZZZiɢIJ>D=))i!I@ޝ<@qA@pAiiIi}2Acoustic response timeout^Ay=ԁIIOj>E=e E=JE=oE9"E=<:*E=k9VE=5ZE9aM@aM@aM@aM@ԩ 5 2Acoustic response timeoutHҏ, I?Az?z@z>ٱzA= AHRS rotation from veh to nav: [[-0.407618,-0.814487,-0.412866],[0.821560,-0.524471,0.223540],[-0.398606,-0.248075,0.882934]]zHkڿGdlڿ`7J?`w?Ăٿ Ͽ @?iz?IzO^;zCY@Ay'Gy'1Z?V-=ٔؼQ->9I=@Fy EE>Q 54T?Q 94m{:)(@Ypr?Q E`:y.?Q I?DI:i#:j4yiɮm Bq*jBjiiziJiƷ<iԩ ks,ks,ks,h kLkLkLh2f[=:f[=BffO@Jf'?[9ZAZAZEZQZUiqɢyI}>}y=))顩i IB->B)B-GB-O=AB)B)B)B-L;B-E@<^A}I=IIqO_>2Acoustic response timeout EE a EE KEA EA "EE %.:*EE ]t9VEA ZEA BEE N3;aU 2EE P3;aU JEE /:aU :EE 0:aU 1 Hҏ, I?A4<ɰ4<2X?2n@2i>ٱ2Iؖ :AHRS rotation from veh to nav: [[-0.404585,-0.810017,-0.424480],[0.827512,-0.521854,0.207105],[-0.389275,-0.267471,0.881433]]2H@ٿ*ۿz?g?ؿ>ѿ 4?i2X?I2^;2CYB=AyBRGbDJJVDJ8yRȾ%V_=ٔVuQ-V>9TIX=Z@FyZEZ܁EZ>Q 54?Q 9%4s:)F@Y!y%;?Q I%?DI;i;q4y)ɮ-SB1*jABjAiAiEziIJiMƷ<iI ks0ks0ks0ha kPkPkPhq2f:fBfJfw5(?[ZZZZZiɢI4>8O=))顩i% I@Ƣ<2Acoustic response timeoutA^AA)zA)IIO>i  2Acoustic response timeout. Hҏ,f6 I?A 64?6@6>ٱ6 >AHRS rotation from veh to nav: [[-0.398524,-0.802276,-0.444445],[0.833908,-0.518694,0.188558],[-0.381807,-0.295481,0.875736]]6H@jٿ?@qܿ`_?`$"?`oؿ)ҿ?i64?I6^;6CY^;Ay^GbDfMVDf8yrK%rG=ٔr)Q-r>9tIt=v@FyvEvֱEz>xE EXEnE"E*E9VEJ5ZEa @a @a @a @Q 54z_?Q 94zk:)z5@Yy?Q I?zDIze0.=)e)aaaimiIq@M<@U=@U?>q2Acoustic response timeoutԙ^Auq=II O=> B- >B- CB- XGB- 8AB- =B) B) B- ;B- zEHҏ,aP I?A2?2b@2>ٱ2 :AHRS rotation from veh to nav: [[-0.390592,-0.792504,-0.468376],[0.840026,-0.514959,0.170802],[-0.376555,-0.326734,0.866863]]2Hvؿ0\ݿ`~?z?{ؿ5ԿW?i2?I2V^;2CPYR9AyRGbDZxVDZ8yb?%fL=ٔfhQ-f>9dIh=j@FyjEj+ؼEj>lQ 5r4n7?Q 9r4nb:)nE@Ytyv?Q Iv?nDIny:in:n4yxɮzBzE*j Bj i i zi JiƷ<i k,k,k,h! kSLkSLkSLh1i9I=AE2Acoustic response timeout2fa:faBfaJfe)?[qZqZqZuZqZuiɢI > =) )  iI@m<Eg E_EuE"EC:*Er9VE5ZEBEX;a%2EX;a-JEd;a-:Ed;a-^AUI=2Acoustic response timeoutA I I O >! AHҏ,-Bj I?A((Z?Zt?Z>ٱZ>;ƾ jAHRS rotation from veh to nav: [[-0.382428,-0.785470,-0.486607],[0.845096,-0.510269,0.159496],[-0.373580,-0.350233,0.858938]]ZH`yؿ"@$߿  ?@T^j?@׿9jֿl|?iZ?IZ^;ZCYv7Ayv;G|bD VD (8y%x%%D=ٔ-Q-->91I1=5@Fy5E=ɼE=>AQ 5U4E2謉?Q 9U4EY:)E0@YYy])?Q I]?EDIEG;iElK;EΆ4yiɮm!Bq*jBjiiziJiƷ<i kPkPkPh kfkfkfh2f:fBfJf3~)?[ZZZZZUiaɢaIe>ep =)i)iiiimqIq@M<)MIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFERM2Acoustic response timeoutEi EWEnE"E,K:*E9VEJ5ZEa%@a%@a%@a%@Q^AqA}X?A}Y?ioAInAA I I O= >ԁ  rmodem://6: set _.others_observations nan n/a str none_str% #Outgoing data=2- pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT5 2Acoustic response timeout Hҏ,5) I?AY 5Ay GQy~jt?/$?~jtxD?<Ļ 9 rh?~jt!rhYC+?yl\BB B)\BYBbDVDZ8yK%@=ٔQ->9I=@FyEE>Q 54⬉?Q 942S:)@Y-?Q E:y?Q I?DI ;i ;64yɮaB*j Bj i i ziJiƷ<i kMkMkMh! kdkdkdh2f !>:f !>BfSuk@Jf¹@[Z!ZAZMZIZMiɢI>))顑i IB<Ap<B>BBGBj4AB=BB%DB;BEBCBCBÔCBà=Bà=C|5ԁUzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFYU2Acoustic response timeoutU֣@q<@@qAE% c E% NE% vE! "E% g5:*E% ҆9VE% -5ZE! BE% ?;a- 2E% ?;a5 JE% :a5 :E% :a5 ^A AAII2Acoustic response timeoutO]?a(Hҏ,\ I?Aɰ2?2?2+R>ٱ2ʾ :AHRS rotation from veh to nav: [[-0.359726,-0.794939,-0.488538],[0.855564,-0.489940,0.167241],[-0.372300,-0.357815,0.856365]]2H׿#p5D߿`?+[߿%h?׿oֿWg?i2?I2(_;2CYB3AyBGbDNVDN8yV6%V/=ٔVAQ-V>9ZK?IZK?=Z@FyZEZlE^>`Q 5b4b۬?Q 9f4b,L:)b@Ydyf?Q If?bDIb1:ib:b^4yj5BɮnBnE*jtBjtitizzixJizƷ<ix k#Fk#Fk#Fh  k\k\k\h2f):f)Bf)Jf-Q @[ZZZZZiɢI>H=))i>I@<u2Acoustic response timeout^A1A! E- j E- ME- sE) "E- N:*E- 9VE- X5ZE) a5 @a5 @a5 @a= @IA IQ O >Y .Hҏ,A I?A2?2s?2>ٱ2Xþ :AHRS rotation from veh to nav: [[-0.343203,-0.811711,-0.472585],[0.864213,-0.469974,0.179614],[-0.367897,-0.346770,0.862787]]2H տ>޿?޿?׿ {1ֿ@?i2?I2^;2CYBc1AyB'GbDJVDJ8yR%RJ=ٔV4@Q-V>9TIT=V@FyVEZJEZ>\Q 5b4^׬?Q 9b4^F:)^m@Y`yf?Q If?^&DI^:i^[:^m4yhɮj Bh*jpBjtitivzitJivƷ<it kDkDkDh kbkbkbh2f!:f!Bf!Jf%e3@[1Z1Z1Z=Z9Z=iIɢIIM>M<)Q)QQQiU%LYIaaaii)2Acoustic response timeoutB@:@pAa@<B>BCBGB}/AB=BBB;BEԉ^A ]=e 2Acoustic response timeoutԹ A I I1 O] >5Hҏ,1 I?AEje EjPEj{Eh"Ej<:*Ej?9VEj:5ZEhBEj`L;ar2EjcL;arJEj:ar:Ej:arY-N/Ay-GI5<)5;bD=7VD=8yM䛾%U?=ٔUQ-U>9YIY=]@Fy]"E]E]>aQ 5m4eѬ?Q 9u4e?:)e@YqyqQ Iu?e6DIe;ie ;e㤆4yyɮ}KB*jBjiiziJiƷ<i kYkYkYh kYkYkYh2f:fBfJf[ZZZZZԁiqɢI>))顉iBI@ǵ<2Acoustic response timeoutԹ^AAQ IY Ii O > ;Hҏ, I?A2Ae?2VQ?2.>ٱ2v :AHRS rotation from veh to nav: [[-0.309656,-0.834078,-0.456538],[0.881165,-0.432141,0.191839],[-0.357298,-0.342881,0.868775]]2Heӿİ7ݿ2?3ۿ/?ֿտ ?i2Ae?I2^;2CYB -AyBGbDJ*VDJ8yRT%RW=ٔVQ-V>9TIT=Z@FyZ$EZ׽EZ>\Q 5b4^ͬ?Q 9b4^9:)^@Ydyf?Q If?^EDI^:i^:^4yj6BɮjBjE*jpBjtitivzitJivƷ<ix%2Acoustic response timeout kckckch2f:fBfJfݶ@[ZZZZZi ɢI><))it!I!@C<D%=D<bEuÊ5jEu`5rEu+1Eu EfErE"Ev:*E9VE5ZEa@a@a@a@ quCǂG-!ǿ9)Y-A^A2Acoustic response timeoutI Aa Iq I O >BHҏ, !I?AA0A0B6>B6CB6GB6*AB6=B4B6'DB6O;B6ϔEBC?BX?B">ٱB+sþ JAHRS rotation from veh to nav: [[-0.292101,-0.840522,-0.456290],[0.888728,-0.414810,0.195179],[-0.353325,-0.348506,0.868162]]BH`ȱҿ`3ݿvp?=ڿ? ֿMֿ?iBC?IB3^;BCYR +AyR]Gy-K7?v/?9I=@Fy'E<E>Q 54^¬?Q 94%2:)p@YPJ?Q E:y@Q I?YDI;i};B4yɮԥB!*jQBjQiYi]ziYJi]Ʒ<iY ksJksJksJh2f>:f>BfXL@Jf&`@[ZZZZZiɢI>YE<))顁inI52Acoustic response timeout@m' 2Acoustic response timeoutHHҏ,M%!I?A>t?>`?@>>ٱ>ƾ RAHRS rotation from veh to nav: [[-0.276330,-0.845286,-0.457310],[0.895363,-0.399340,0.197110],[-0.349236,-0.354991,0.867188]]>Hfѿ DݿЦ?Ɏٿ:?Yֿ-ֿ?i>t?I>J^;9pIp=r@Fyr*EvHEv>tQ 5z4v?Q 9~4v+:)v@Y|y~?Q I~?vkDIvr;iv;vĹ4y JBɮ -B E*j!Bj!i!i%zi!Ji%Ʒ<i) kDkDkDh9 kDkDkDhI2fY:fYBfYJf]̢@[iZiZiZmZqZu^uB*** querying acoustic contact ***XqYqiɢI>;))顡iMmI9@=<@Q@Qԩ=2Acoustic response timeout^AyA I I D zD AAE e E XE {E "E <:*E 9VE :5ZE a @a @a @a @! O= >"OHҏ,c|?!I?A2r?2_?2/>ٱ2Pʾ :AHRS rotation from veh to nav: [[-0.262723,-0.848917,-0.458602],[0.901196,-0.385699,0.197691],[-0.344706,-0.361352,0.866373]]2HtпT*@Yݿ`?JؿM?`ֿe ׿@T?i2r?I2E^;2CYB'AyB{GbDJnVDJ8yRA%VM=ٔVFQ-V>9TIX=Z@FyZ,EZ!EZ>lQ 54A?Q 94$:)@Y!y%?Q I%?}DI;ir;4y-TBɮ-qB5E*jABjAiIiMziIJiMƷ<iI kSJkSJkSJha kcJkcJkcJhq2f:fBfJfM@[ZZZZZiɢI>d;;))顱icI2Acoustic response timeout@< Bm>BmCBmGBm%ABiBiBiBm;BmE^A9IIO >M 2Acoustic response timeouta VHҏ,WY!I?A>8?>M?>>>ٱ>; FAHRS rotation from veh to nav: [[-0.250633,-0.852320,-0.459057],[0.906671,-0.372867,0.197274],[-0.339308,-0.366770,0.866227]]>H` п5F`0aݿs?@׿H@?9տ *y׿ "?i>8?I>^;>CYN)%AyNGbDVVDV%8Ebd EbLEbwE`"Eb9:*Eb|9VEbɕ5ZE`BEbF;aj2EbF;ajJEbw:aj:Ebx:ajynᕾ%nG=ٔn/eQ-r>9pIp=r@Fyr/EvN Ev>xQ 5~4z?Q 9~4zt:)z@Y|y~?Q I?zDIxiz;zdž4y ɮ B 9*jBjiiziJiƷ<i kOkOkOh2f :f Bf Jf ۡ@[9Z9Z9ZEZAZEiqɢqIu>u =)y)yy}/ 4\Hҏ,2s!I?A2?24?2(>ٱ2ZϾ :AHRS rotation from veh to nav: [[-0.238475,-0.855483,-0.459651],[0.912041,-0.359888,0.196627],[-0.333634,-0.372329,0.866060]]2HVο`jݿ p/?h׿ +?AZտ>׿¶?i2?I2ũ^;2CYBK#AyBGbDJVDJ08yRX%RN=ٔVxQ-V>9TIT=Z@FyZ1EZEZ>\Q 5b4^?Q 9b4^a:)^@Ydyf ?Q If?^DI^L;i^:^Ά4yhɮjBh*jtBjtitizzixJizƷ<ix2Acoustic response timeout k#4k#4k#4h2f!:f!Bf!Jf%yj@[1Z1Z1Z5Z1Z5iIɢIIM>M )Q)QQUi@=Y>Ee EJE{E"E<:*Ek9VE:5ZEa@a@a@a@^AI9IaO=>2Acoustic response timeout B] >B] CB] >GB] 2!AB] =BY B] (DB] ;B] E+cHҏ,I!I?AF?F?Fs>ٱF3Ҿ NAHRS rotation from veh to nav: [[-0.226064,-0.859086,-0.459201],[0.917659,-0.345964,0.195476],[-0.326797,-0.377200,0.866559]]FH ̿}cݿv]?E$ֿZ?@Կ` $ؿ@ٺ?iF?IF^;FCYV AyZGy5zG??B`"۹5 ?5<5ν1 195"~j?/$?~jt?Y5S?y51>5<5B5SB 5B)5B1Y5BbDMVDML8y]%]>=ٔeQ-e>9aIa=e@Fym4EmEm>qQ 5}4u?Q 9}4u. :)u@Yr?Q EM:y.?Q I?uDIui ;iu ;u\ֆ4yjBɮKBE*jBjiiziJiƷ<i k6k6k6h kDkDkDh2f'>:f'>Bf?JfoZ@[ZqZqZ}ZyZ}iɢI>R))]z$iHҏ,g!I?Af?fm?fD#>ٱfiӾ vAHRS rotation from veh to nav: [[-0.215549,-0.862385,-0.458072],[0.922979,-0.333089,0.192773],[-0.318823,-0.381239,0.867761]]fH˿ਘQݿ@ ?@UQտǬ? gԿ@9fؿ?if?Ifĥ^;dYAyEGbD)VD8y=OJ%=<=ٔEoQ-E>9III=U@FyU7EUhE]>Q 5 4Ղ?Q 9 4E:)F@Y y ?Q I ?DI:ig:\ކ4yɮwB=E*jQBjQiQiUziQJiUƷ<iY k'k'k'h kCkCkCh2f:fBfJf|Z@[ZZZZZiɢI5>=WɼI=<)9)99=:iEo$AIIlQ2Acoustic response timeoutԁ@5<EZ EVEE"E:*E9VE(5ZEa@a@a@a@ԩ ^A I I O- >1qHҏ,!I?A2?2?2Z>ٱ27վJ2Acoustic response timeout RAHRS rotation from veh to nav: [[-0.204525,-0.865996,-0.456312],[0.928017,-0.319830,0.191030],[-0.311373,-0.384395,0.869073]]2H-ʿ`=@64ݿQ?@xԿs?@ӿؿq?i2?I2^^;T2CY^Ay^ Gb>b=ddbDjVDj8yn%nC=ٔrQ-r>9pIq=u@Fyu9E}E}>Q 54+w?Q 94N9)&@Yy?Q I?DIo;ij;4yɮB*jBjiiziJiƷ<i kc;kc;kc;h !%>2f9:f9Bf9Jf=Y@19E rMNAggregate::initialize marl:UpdateRudderq9MJ]Iq9U9U7UoUXAggregate::initialize marl:UpdateCommandMode18U]Q18UoU@Completed marl:UpdateCommandMode7]o]\Aggregate::uninitialize marl:UpdateCommandModeq7]n]LAggregate::initialize marl:UpdateSpeed7]]a7ene4Completed marl:UpdateSpeedq7enmPAggregate::uninitialize marl:UpdateSpeed[qZqZyZ}ZyZi ɢ I>@I ;)B)ÄiI!B >B!CBGBAB=BBB;BMEBCBCBÕCBá=Bá=Cô5m-2Acoustic response timeout1 E a E `E E "E %.:*E 9VE 5ZE BE N3;a 2E P3;a JE ;a% :E ;a% @ ٱ^9AԾ nAHRS rotation from veh to nav: [[-0.177976,-0.877068,-0.446179],[0.938521,-0.287593,0.190966],[-0.295808,-0.384762,0.874332]]^H`ƿ`3ܿ]?gҿ`q?ҿؿ?i^ ?I^^;\Yv(Ayv GbDVD8yh,%=ܼٔQ->9I=@Fy=EME%>!Q 5-4%g?Q 954%9)%or@Y1y5?Q I5?%DI%f;i%;%4y=BɮEBEE*jQBjQiQiUziQJi]Ʒ<iY kikkhq2f:fBfJfX@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiɢI?HGI))项i|IM=M=ԙ=2Acoustic response timeoutD@L<E s E OE |E "E so:*E 9VE ם5ZE a@a@a@a@^A #= E? Y? 2Acoustic response timeoutI I OU >Hҏ,nM"I?A2.?2&?2К>ٱ2Bnվ :AHRS rotation from veh to nav: [[-0.164173,-0.880991,-0.443737],[0.944005,-0.270827,0.188435],[-0.286186,-0.387954,0.876122]]2Hſ1@/fܿ`I5?:Uѿ?Pҿ;ؿ0 ?i2.?I2^;2CYNAyNGhyx?Mb?&1Kw?<н 9333333?&1?x&Yy?y=7BB YB)BYuBbDVD8y%/=ٔYQ->9 I = @Fy @EgE>Q 54A_?Q 9%4$9)&g@Y%{?Q E%X:y%p?Q I%?3DI ;i ; 4y1ɮ5LB1*jABjIiIiMziIJiMƷ<iI kkkha kkkhq2f?=:f?=Bfؼ?Jf@O@[ZZZZZiɢI>p))顱icB>B"CBHGBAB=BB)DB;BEIYaaee)M2Acoustic response timeout@E<E j E YE tE "E N:*E *9VE 5ZE BE k;a% 2E k;a% JE :a- :E :a- Q ^A 7=ԁ I I O5>4ֈHҏ,^%"I?A2?2'?2 >ٱ2M־ :AHRS rotation from veh to nav: [[-0.146302,-0.885325,-0.441356],[0.948982,-0.251589,0.190096],[-0.279338,-0.391027,0.876965]]2H¿@T-?ܿ^? пU?ѿٿ`?i2?I2^;2CYBAyBٺGHH J49XIX=Z@FyZCE^:E^>f2Acoustic response timeout`Q 5j4b X?Q 9j4bP9)b%]@Ylyn?Q In?bLDIb[:ib:bh4ypɮrBt*j|Bj|i|i~zi|JiƷ<i kkkh kkkh)2f9:f9Bf9Jf=vN@[ZZZZZi ɢI>)G]g)AAAiMY IIQy@uG<ԡ^AV)=AZ?AII1O]>}2Acoustic response timeout G) A bE:5jEş5rE,2EU f EU \EU {EQ "EU I@:*EU 9VEU :5ZEQ ae @ae @ae @ae @} 9y Y} 9A Hҏ,R>"I?A44R?T?RS@?Rp>ٱRѾ ZAHRS rotation from veh to nav: [[-0.128778,-0.894954,-0.427170],[0.953173,-0.230567,0.195703],[-0.273636,-0.381965,0.882738]]RH{uVۿ@e?5Ϳ ?Aѿ`rؿ`c??iR?T?IR^;RCYTAyGbDDVD8y%v%%D=ٔ%iQ-->9)I)=-@Fy-FE57E5>9Q 5E4=pQ?Q 9E4=9)=nS@YAyE?Q IM?=dDI=:i=:=4yUBɮŲBUE*jaBjaiiimziiJimƷ<ii kkkh k#k#k#h2f:fBfJfT M@[ZZZZZi9ɢAIE>EH=)A)AIIiMdO!IIQ@<2Acoustic response timeoutBE#>BE$CBEʷGBErABE=BABE*DBEi;BEE^A#=I9IIO}>I  2Acoustic response timeoutەHҏ,X"I?A6^?6J?6->ٱ6pʾ >AHRS rotation from veh to nav: [[-0.114351,-0.904046,-0.411856],[0.956469,-0.212236,0.200309],[-0.268499,-0.371022,0.888961]]6HF@[ڿd?@*˿෣?/ѿѾ׿]r?i6^?I6^;4Y^Ayb/GbDjzVDj8yr^%rO=ٔr\Q-r>9tIt=v@FyvHEzdEz>xQ 54zK?Q 94z59)zVJ@Yy?Q I?z{DIz;iz;z 4yBɮBE*j!Bj!i!i-zi)Ji-Ʒ<i) kkkhA k#5k#5k#5hQ2fa:faBfaJfe K@[qZqZqZuZqZuiɢI>l+))顑iE"I@@<Ew EJExE"E}:*Ek9VEe5ZEBE;a2E;aJE:a:E:aQy^A2Acoustic response timeoutI!I1IIO~>ԩ Hҏ,mr"I?A2n?2l?2҇>ٱ2[¾ :AHRS rotation from veh to nav: [[-0.100556,-0.913852,-0.393400],[0.959766,-0.193291,0.203684],[-0.262178,-0.357091,0.896521]]2H E>w-ٿh?`ȿP?`пֿK?i2n?I2^;2C@YFFAyFG HHJ>HN@AN@AbDRVDR8yZ2%ZM=ٔZQ-Z>9\I\=^@Fy^KEbGEb>dQ 5f4f F?Q 9j4f÷9)f^A@Yhyj2?Q Ij?fDIf:ifN:f4yYɮ].BY*jiBjqiqiuziqJiuƷ<iy kkkh kSBkSBkSBh2f:fBfJf'J@[ZZZZZiɢI5>5)9)999i=Yn#AIA]2Acoustic response timeoutԩEa EQE~E"E%.:*Ev9VE5ZEa@a@a@a@}I6@}< 2Acoustic response timeout ^A y=BE &>BA BE LGBE ABA BE DBA BE ;BE JEQ A $AI I O>ѣHҏ,"I?A2ε?2?2_>ٱ2Nľ :AHRS rotation from veh to nav: [[-0.087271,-0.914613,-0.394799],[0.962816,-0.179155,0.202209],[-0.255674,-0.362472,0.896239]]2H@]WDdDٿc?ƿ?\п2׿?i2ε?I2p^;2CYBAyB GyE r?X9v~jtEc?E}EA A9EʡE?:v?|?5^YE]?yET9H?IH?=@FyNEWE>Q 54D?Q 94H9)Y7@YH_?Q Es:yq?Q I?DI:iA:"4yBɮxBE*jBjiiziJiƷ<i k3#k3#k3#h kC8kC8kC8h 2f=:f=Bf[&?Jfӓq@[!Z)Z)Z-Z)Z-i9ɢ9AIM>MHc)I)QQQiU$YIYPa2Acoustic response timeout@_U 2Acoustic response timeout Hҏ,"I?AF?F?FLu>ٱFξ VAHRS rotation from veh to nav: [[-0.074568,-0.909510,-0.408940],[0.965816,-0.167964,0.197451],[-0.248271,-0.380237,0.890944]]FH`,ڿ?ſ@F?WϿUؿ?iF?IF9^;FCYbAybGbDnVDnq8yz+%zV=ٔ~MQ-~>9I=@FyPE E >Q 5%4B?Q 9%49)/@Y)y-s?Q I-?DI8;i9;#4yAɮEBA*jqBjyiiziJiƷ<i kkkh2f9:f9Bf9Jf=K)q@[AZIZIZMZIZMiyɢyI}> ɽ)b)顁iH#&IpApAԹh2Acoustic response timeoutR@=J@=@<@@@@ E a E PE oE "E %.:*E ?9VE 5ZE a @a @a @a @A AM AIY Ii O >NHҏ,"I?A6<^?6OJ?6_r>ٱ6Nž >AHRS rotation from veh to nav: [[-0.047284,-0.921276,-0.386024],[0.970968,-0.133112,0.198750],[-0.234489,-0.365420,0.900824]]6H 5{ؿ,? p? ο c׿@?i6<^?I6^;6CYFAyFpGIJ=)HZ2Acoustic response timeoutbDv$VDv8y=4%=2=ٔEQ-M>9MK?IMK?=M@FyMSEU|E]>Q 54zB?Q 949)&@Yԡy?Q I?DI;i#;+4yɮةB*jBjii=zi9Ji=Ʒ<i9 k k k hQ k k k h2f:fBfJf]%n@[ZZZZZiɢIB>$))i'IB*>BBήGB$ABBBB;B;EB@γ<AIIO5p>]2Acoustic response timeout! E c E VE E "E g5:*E 9VE q5ZE BE ?;a 2E ?;a JE C:a :E D:a Hҏ,[A"I?A2њ?2?2k>ٱ2þ :AHRS rotation from veh to nav: [[-0.033957,-0.924733,-0.379098],[0.973070,-0.117123,0.198536],[-0.227994,-0.362148,0.903807]]2H bj%Cؿ d#?i?.Ϳl-׿?i2њ?I2^;2CYB AyBRGbDJYVDJ8yR'%VV=ٔV|Q-V>9TIX=Z@FyZUEZVEZ>\Q 5b4^fB?Q 9b4^9)^@Ydyfn?Q If?^DI^:i^:^24yhɮjBh*jtBjtitivzitJizƷ<ix kckckch ksksksh2f):f)Bf)Jf-l@[1Z9ZZZZiɢI>))iF) I 55112Acoustic response timeoutA@° 2Acoustic response timeoutԙ Hҏ,>"I?A2髯?2?2lg>ٱ2Puþ :AHRS rotation from veh to nav: [[-0.019277,-0.926182,-0.376583],[0.974455,-0.101697,0.200237],[-0.223753,-0.363103,0.904483]]2H @I ؿ.? ^?̿@=׿`?i2髯?I2lz^;2CYB AyBGbDJVDJ68yRM%RI=ٔV/Q-V>9TIX=Z@FyZXEZ[EZ>\Q 5b4^B?Q 9b4^39)^@Y`yf?Q If?^ DI^;i^;^94yjûBɮjNBjE*jpBjtitivzitJizƷ<ix kSkSkSh k7k7k7h2f!:f!Bf!Jf%k@[1Z1Z9Z=Z9Z=iIɢIIU>U0)Q)QQQi]*YIaB@i:@i@M<Ea EErE"E%.:*E3:VE5ZEa@a@a@a@ԙAqIIO&>ԱiIoA2Acoustic response timeoutA A B ->B B GB AB =B B +DB ;B YEB$CB$CBɓCBBCɓ/5 Hҏ,{#I?A2:?2Lo?2\d>ٱ2XFž :AHRS rotation from veh to nav: [[-0.002840,-0.926438,-0.376436],[0.975129,-0.085992,0.204275],[-0.221619,-0.366493,0.903641]]2HpDgbؿ`B4?%?]̿t׿@?i2:?I2T^;2CYzx AyzJG ||~=~p=y}> ףp=??y&1|}?}L=}`y y9}~jt?y&1Y}[?y}`弙}}B}B y)}\ByY}pBbD VDy8y;+%<=ٔDQ->9I=@Fy[E6E>Q 54C?Q 949)@Y[?Q Ew:yz?Q I? DIE:i3;6A4yɮsB*jBjiiziJiƷ<i k4k4k4h  k5k5k5h!2f53>=2Acoustic response timeout:f53>Bf5vf@Jf54@[IZIZIZMZIZMiɢI3>())iy, I@3<Ej EXEE"EN:*E9VE5ZEBEk;a2Ek;aJE:a:E:aA!I)I9OuW>I  2Acoustic response timeoutHҏ,-#I?A4<ɰ4<6{0?6?6 d>ٱ6Ǿ >AHRS rotation from veh to nav: [[0.014861,-0.926489,-0.376028],[0.975194,-0.069635,0.210112],[-0.220851,-0.369822,0.902472]]6H Io?̥`ؿ4?ӱ?D̿+׿` ?i6{0?I6Tt^;6CYF AyFGbDNJVDN8yVr%V[=ٔZF Q-Z>9XIX=Z@Fy^]E^aGE^>`Q 5f4bD?Q 9f4bex9)b@Yhyj)?Q Ij?b- DIb:ib:bG4ylɮnBl*jtBjxixizzixJizƷ<i| k2k2k2h  k2k2k2hY2fi:fiBfiJfm@[ZZZZZiɢI%>di))i9.I@ЩyEk EOEE"EmR:*E9VEH5ZEa@a@a@a@ԡ tHҏ,9G#I?A@R2Acoustic response timeoutZC?ZU?Zd>ٱZɾ jAHRS rotation from veh to nav: [[0.034233,-0.926247,-0.375360],[0.974603,-0.052228,0.217765],[-0.221309,-0.373282,0.900935]]ZH@ ?ϣؿ /? ?S̿ ׿t?iZC?IZ1^;ZCYvAyzJGbDVD8y %D=ٔe:Q->9I=@Fy`E%CE%>!Q 5-4%F?Q 954%5o9)% @Y1y5?Q I5?%C DI%';i%D;%N4yEػBɮEתBEE*jQBjQiQi]ziYJi]Ʒ<iY k4k4k4hq kKkKkKh2f :f Bf Jf @[9Z9Z9ZEZAZEiqɢqIu>ur)y)yyyi}/IR@=J@>Bu.>Bu%CBu̦GBuABqBqBqBu;BuxE@ <ԱAIIO-N>iIIIU2Acoustic response timeout E j E QE E "E N:*E v9VE U5ZE BE a 2E a JE :a :E :a Hҏ,ۈa#I?AJ(?J:?JJ(f>ٱJʾ VAHRS rotation from veh to nav: [[0.055086,-0.926029,-0.373411],[0.973289,-0.033677,0.227099],[-0.222875,-0.375947,0.899439]]JHC4?׿/%?)>?@.̿ؿ@4?iJ(?IJ!q^;JCYZAy^GIbp<)b``bDfVDf8lyr)4%rM=ٔvO;Q-v>9tIt=v@FyvbEz\Ez>|Q 54~7I?Q 94~vf9)~p@Yy?Q I ?~Y DI~:i~:~U4yɮB*j!Bj!i)i-zi)Ji-Ʒ<i) kVkVkVhA kWkWkWhQ2fa:faBfaJfeA@[qZqZqZuZqZ}iɢI>t))顑i1I@}<2Acoustic response timeout AIIO]3>1a e 2Acoustic response timeout(Hҏ,c{#I?A ,,JnGP\~9|Y~ߪA95 ?5?5h>ٱ5@˾ MAHRS rotation from veh to nav: [[0.076689,-0.926026,-0.369586],[0.971208,-0.014474,0.237791],[-0.225550,-0.377181,0.898255]]5H衳?  L׿#?v@o?̿@#ؿ?i5 ?I5]^;5CY]Ay]GbDuVDu/8y6-%A=ٔ;Q->9I=@FyeEVE>Q 54~L?Q 94(]9)x@Yy?Q I?p DI:i :Y]4D]=D]4=bEם5jE 5rE#e2Ey E}qE}wEy"Ey*E}$ :VE}ɕ5ZEya@a@a@a@yɮ B*jBjiiziJiƷ<ii kYkYkYhy2f:fBfJfC@[ZZZZZiɢI?J))i3I@%V<2Acoustic response timeoutԑII)Oe>Bi Am <Bu 3>Bq Bu HGBu ABu =Bq Bq Bu -;Bu E gHҏ,A#I?A2?2?2l>ٱ21 ; :AHRS rotation from veh to nav: [[0.099254,-0.925185,-0.366307],[0.968299,0.004999,0.249742],[-0.229227,-0.379483,0.896353]]2Hh? q׿ O?yt??NWͿrIؿ?i2?I2>o^;2CYBAyBDGy Fx?kt?/$? k?  = <  9 X9v?y&1|?Dl?Y S?y `; O= 9B B DB) VB Y BbD} VD}S8y;%J=ٔԙ9I=@FyhEOkE>Q 547N?Q 94kT9)(?2Acoustic response timeoutYtT?Q EU:yU2?Q IU? DI,:f->Bf-u@Jf-䥧@[QZQZYZ]ZYZ]iɢI>7))顑i4I@<Eme EmREmEi"Em<:*Em9VEm5ZEiBEm`L;au2EmcL;auJEm$:au:Em&:a}IIO%o> 2Acoustic response timeout! :Hҏ,z#I?A2?2?2Qq>ٱ2U; :AHRS rotation from veh to nav: [[0.121718,-0.924404,-0.361472],[0.964576,0.024289,0.262684],[-0.234047,-0.380641,0.894614]]2H(?`\"׿?Iߘ?@?<Ϳl\ؿ?i2?I2X^;2CYBAyBáG DDbDJ3VDJv8yRQ%VZ=ٔVX9XIX=Z@FyZjEZEZ>\Q 5b4^fP?Q 9f4^dL9)^?Ydyf9?Q If?^ DI^:i^:^j4yjBɮj}BnE*jtBjtixizzixJizƷ<ix kfkfkfh  kCkCkCh2f):f)Bf)Jf-@[9Z9Z9Z=ZAZEiQɢQIU>Uf)Q)YYYi]-6aIa@=<AEpAzAEoAIIIO=i!I!-2Acoustic response timeout9QDqzDu?AEy E}WEyEy"Ey*E}9VEyZEya@a@a@a@y D#Hҏ,f#I?AB2Acoustic response timeoutF.?F@?Fx>ٱF7ξ RAHRS rotation from veh to nav: [[0.143976,-0.923495,-0.355567],[0.959882,0.042961,0.277094],[-0.240619,-0.381197,0.892632]]FH`m?EֿZ???`ο`eؿ`p?iF.?IFu^;FCYVeAyZ\GZ&Powering up NAL9602bDfVDf8yn1%nG=ٔn9pIp=r@FyrmEvhEv>xQ 5~4zrS?Q 9~4zC9)z\?Y|y~A?Q I?z DIz;iz;z(r4y ɮ B *j!Bj!i!i%zi!Ji-Ʒ<i) kjkjkjhA ks{ks{ks{hI2fa:faBfaJfe%S@[iZqZqZuZqZuiɢIR>"7ٽ))顉i7IQ@I<II B5>BBğGBAB=BBB;BEO]=ԁ=2Acoustic response timeoutԩE f E QE xE "E I@:*E v9VE e5ZE BE R;a 2E R;a JE :a :E :a LHҏ,1#I?A2@^?2RJ?2a>ٱ2 Ͼ :AHRS rotation from veh to nav: [[0.163978,-0.922601,-0.349169],[0.954749,0.059400,0.291421],[-0.248125,-0.381156,0.890592]]2H >?Xֿ`M?i? ?Ͽ`dؿ ?i2@^?I2\^;2CY~Ay~GbD VD 8yJ%%F=ٔ%9)I)=-@Fy-oE-RE->1Q 5]45W?Q 9e45:9)5?Yaye?Q Ie?5 DI5;i5C;5]y4yiɮm˫Bq*jBjiiziJiƷ<i kbkbkbh2f:fBfJfɥ@[IZqZqZ}ZyZ}ԱiɢI> ]ɽ))i9IIn sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER2Acoustic response timeout@ a<IIO&> E rmodem://6: set _.others_observations nan n/a str none_strM #Outgoing data=3M pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMITM 2Acoustic response timeout9 )wHҏ,.#I?A2?2?2>ٱ2ۻξ :AHRS rotation from veh to nav: [[0.181376,-0.922125,-0.341743],[0.949504,0.073739,0.304967],[-0.256018,-0.379800,0.888936]]2HR7?` տVb???bпNؿ`)r?i2?I2y^;2CYB@yBNGIF=)FC=bDJ.VDJ]8yRA%VR=ٔV9TIX=Z@FyZrEZDEZ>\Q 5b4^[?Q 9b4^29)^?Ydyf+?Q If?^ DI^:i^ :^)4yhɮjBh*jtBjtitizzixJizƷ<ix kbkbkbh  kbkbkbh2f):f)Bf)EQ EUUEUEQ"EQ*EUP9VEU5ZEQa@a@a@a@Jf-^@[!Z)Z)ZUZQZUiɢIV>t))顱iL:I@<I1IIO<>9zIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeoutB 7>B B GB @B B B B 0;B Ei ^Iҏ,@$I?A 6 ?6?6>ٱ6; >AHRS rotation from veh to nav: [[0.195339,-0.922023,-0.334241],[0.944589,0.085203,0.317005],[-0.263807,-0.377643,0.887576]]6H ?62dտ:?`ϵ?I? 8пN+ؿg?i6 ?I6Z^;4YF@yF-Gy Q? rhSſ u? C /  9 Gz?y&1?ktY p]?y `e=  `B B B) |B Y BbD%rVD%8y5h %5B=ٔ=s9AIA=E@FyEtEE EM>IQ 5U4M:`?Q 9U4M)9)Mi?Y]^?Q E]s:y]ʱ?Q I]?M DIM;iMN;M4ymBɮm$BmE2Acoustic response timeout*j Bj i i zi Ji Ʒ<i k`k`k`hA k`k`k`hq2fl>:fl>BfF!@Jf{f@[ZZZZZiɢIH>P#))i6S;Ii@4<EMe EMREMEI"EM<:*EM9VEM5ZEIBEMaL;a]2EMcL;a]JEM$:ae:EM&:aeAI!I9ԙO_> 2Acoustic response timeout Iҏ,a0$I?A6V?6B?6_>ٱ6̾ >AHRS rotation from veh to nav: [[0.207386,-0.922228,-0.326324],[0.939766,0.095161,0.328306],[-0.271720,-0.374754,0.886413]]6H@?`~Կ@?t\??`cѿ@׿ ~]?i6V?I6rG^;6CYFx@yFGPbDRVDR8yZO%ZS=ٔZ˭9\I\=^@FybwEbd Eb>dQ 5j4fPe?Q 9j4f!9)f?Yhyj#?Q In?f DIfd:if:fN4ypɮrLBp*j|Bj|i|i~ziJiƷ<i knknknh knknknh)2f9:f9Bf9Jf=/ge@[IZIZIZMZIZMiYɢaIe>eQ)a)iiiim02Acoustic response timeoutEQ EUQEUEQ"EQ*EUv9VEU5ZEQae@ae@ae@ae@! qIҏ,=J$I?A2?2?2aِ>ٱ2˾ :AHRS rotation from veh to nav: [[0.218477,-0.922691,-0.317661],[0.935063,0.104825,0.338627],[-0.279150,-0.371015,0.885677]]2H@ ?`TԿ ? պ??ѿ׿`vW?i2?I21\^;2CB2Acoustic response timeoutYFS@yFOG HHN=N=bDrVDr8yzV&%zF=ٔ~|9I!=%@Fy%yE%E%>)Q 554-k?Q 954-9)-?Y9y=?Q I=?- DI-+;i-&;-4yAɮEoBI*jYBjYiaieziaJieƷ<ia k#kk#kk#khy k3kk3kk3kh2f:fBfJf%fd@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ ZZZZZi!ɢ)I->-})))))1i5@=qIyB8>B&CBXGB@BBBB;BɖEB}%CB}%CByB}¢=B}¢=C}J4@U$<)AE>AIIOB>Q52Acoustic response timeoutԉ Ee f Ee OEe Ea "Ee I@:*Ee 9VEe 5ZEa BEe R;am 2Ee R;au JEe N:au :Ee O:au Iҏ,d$I?Aɰ2ٱ2*ɾ :AHRS rotation from veh to nav: [[0.228489,-0.923199,-0.309023],[0.930831,0.114174,0.347158],[-0.285214,-0.366970,0.885430]]2H@$??ي ӿ@]?@{:?7?@ҿ q|׿pU?i29XIX=Z@FyZ|E^E^>`Q 5f4bp?Q 9f4b9)b?YdyfB?Q If?b+ DIb :ib :bg4ylɮnBnE*jtBjtitivzixJizƷ<ixY kspkspksph2fI:fIBfIJfM8c@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZi9ɢ9I=>=u)A)AAAiM=2Acoustic response timeoutIR@=J@=ԉ@=<AIIOMt>Ա iA IE AM 2Acoustic response timeout%Iҏ,h!~$I?A2z?2?2;>ٱ2Ǿ JAHRS rotation from veh to nav: [[0.237716,-0.923327,-0.301594],[0.927273,0.123261,0.353512],[-0.289232,-0.363696,0.885477]]2Hwm?`@RMӿ@9?` ??ȂҿF׿U?i2z?I2tk^;0YR@yRGbDZVDZ8yb%fG=ٔf_'9hIh=j@FyjEjc̼Ej>pQ 5~4rv?Q 9 4r9)r?Yy?Q I?r@ DIr;ir<;r4y=BɮEʬBEEԱEh ESEzE"EG:*E9VE5ZEa5@a=@a=@a=@*jaBjaiiiuziqJiƷ<i kSfkSfkSfh2fA:fABfAJfEb@[QZQZYZ]ZYZ]iiɢiIm>mc)q)qqyi}>I@u<2Acoustic response timeoutAIIOm>B:>BBGB@BBBB;BE) %Iҏ,Η$I?A6^ˋ?6o?6>ٱ6Hž BAHRS rotation from veh to nav: [[0.246452,-0.923552,-0.293792],[0.924536,0.133121,0.357089],[-0.290680,-0.359627,0.886664]]6H`?}ҿ ̕? ??ҿ׿_?i6^ˋ?I6f^;6CYF@yF+GLLy`"?V-?QοW?<u 9v?Mb?5^I ӿYX?y=BpB vB)_BYGB ))bD5VD58yEb5%ED=ٔEm;Q-E>9III=M@FyMEUлEU>QQ 5e4UV?Q 9e4U29)U{S?Yee?Q Eel:yeW?Q Ie?UT DIU:iU:U۪4yqɮuBq*jBjiiziJiƷ<i kMkMkMh kcjkcjkcjh2Acoustic response timeout2f^j=:f^j=Bf$?Jf-@[ZZZZZiɢIi>]))顩i/g?I@I<E5l E5RE5E1"E5V:*E59VE5Dz5ZE1ABE5Bx;aM2E5Ex;aMJE5$:aU:E5&:aUAI!I9OmW>q 2Acoustic response timeoutԙ +Iҏ,a$I?A2?2?25–>ٱ2þ :AHRS rotation from veh to nav: [[0.255081,-0.923076,-0.287862],[0.922339,0.142931,0.358972],[-0.290214,-0.357073,0.887848]]2H=S?։Slҿ̓?K?e?ݒҿHֿAi?i2?I2^;2CYB:@yBGbDN9VDN?8yVD%VU=ٔVQ-V>9XIX=Z@FyZE^+ƼE^>Q 5 4X?Q 9 4.8)?Y y M?Q I ?f DI|:i:4yBɮB9*jIBjIiIiUziQJiUƷ<iQ kQkQkQh2f:fBfJfS1@[YZYZYZ]ZYZ]iiɢqqIG>h_))顙i@IB@:@@<2Acoustic response timeoutu_Gԡc9YAAIIOEQ>D1zD5@AbEǬ5jEǡ5rE2E=o E=\E=|E9"E=`:*E=9VE=ם5ZE9aE@aE@aE@aM@ 2Iҏ,$I?A22Acoustic response timeout6??6-+?6!>ٱ6cA¾ BAHRS rotation from veh to nav: [[0.264943,-0.922230,-0.281597],[0.919925,0.154205,0.360497],[-0.289037,-0.354560,0.889238]]6H?@ҿ@p?@?@b?`ҿֿt?i6??I6[^;6CYF@yJ:GbDRVDR8yV[?%ZJ=ٔZGQ-Z>9\I\=^@Fy^EbwּEb>`Q 5f4b?Q 9j4b8)b>Yhyj?Q Ij?by DIb:ibW:b4yn"BɮrEBrE*jxBjxixizzixJi~Ʒ<i| kSIkSIkSIh kcIkcIkcIh92fI:fIBfIJfMfɭ@B];>BYB]GB]^@B]=BYBYB]e;B]>E[ZZZZZiɢI>xd))i@I!@-<AYIaIqO_>hDAT read: Forwarding Delay UpTx time:19:27:15.0331 pIn parseResponses, set commsState_ = SENDING_ACK_WAITING%2Acoustic response timeoutA EE  EE SEE EA "EE O:*EE 9VEE 5ZEA BEE Ѻ;aU 2EE Һ;aU JEE l:aU :EE m:aU 8Iҏ,W^$I?ABP?BٱB JAHRS rotation from veh to nav: [[0.278769,-0.920588,-0.273505],[0.915744,0.169015,0.364482],[-0.289312,-0.352067,0.890139]]BH`X?uu`ѿ M?E?S? ҿ Cֿ |?iBP?IB^;BCYR@yV_G XXb=b=bDjVDj8yv-j%zF=ٔz]6:Q-z>9|I=@FyE E >Q 5%4?Q 9%48)HL>Y)y-N?Q I-? DI)K;iI;㿇4y=9BɮEBEE*jaBjaiaimziiJimƷ<ii k#Lk#Lk#Lha2fq:fqBfqJfu%@[ZZZZZiɢI>c))i\AIQ}2Acoustic response timeout@z<A=$AIIIYyO\>ԩ % 2Acoustic response timeout#?Iҏ,B$I?A@rIԄ?rZ?r?|>ٱr -AHRS rotation from veh to nav: [[0.296288,-0.917383,-0.265748],[0.909505,0.186061,0.371728],[-0.291572,-0.351838,0.889492]]rH_?3[ѿ`?@?e?ҿֿv?irIԄ?Ir^;pY]@y]GbDVD8DD=Ee EVE~E"E<:*E9VE5ZEa5@a5@a5@a5@y%F%%+=ٔ-C;Q-->9-H?I5H?=5@Fy5E5''E5>9Q 5E4=?Q 9E4=x8)=LGYIyM̒?Q IM?= DI=`;i=;=0ȇ4yQɮ]BY*jiBjiiiimziqJiuƷ<iq k0k0k0hԩ2f:fBfJf|_@[1Z9Z9Z=Z9Z=iyɢyI>Y))顩ihBI@t<}2Acoustic response timeoutAAII I!BU@>BQBUҌGBU@BQBQBQBU;BU{EOe> EIҏ,%I?A2p?2?2Ǐ>ٱ2 :AHRS rotation from veh to nav: [[0.315773,-0.913576,-0.256252],[0.901664,0.204830,0.380851],[-0.295449,-0.351316,0.888418]]2H5?<nfпm?7?@_?@ҿ{ֿm?i2p?I2s^;2CYB@yB/GlyES?&1:fM@#>BfMʓ@JfM@[YZYZaZeZaZeiqɢqI}߬>}GI)y)yyyi'BI @-p<E i E LE sE "E ,K:*E |9VE X5ZE BE te;a2E ve;aJE w:a:E x:aA=$AIAIQO`>1 2Acoustic response timeouta <%LIҏ,2%I?A2X~?2?2'i>ٱ2_ :AHRS rotation from veh to nav: [[0.335981,-0.909004,-0.246634],[0.892558,0.223665,0.391554],[-0.300760,-0.351690,0.886486]]2H ?`@ϿՏ?@ ?6? ?ӿֿ^?i2X~?I2|^;2CYB@yBaGIF=)FM?bDJVDJ8yRuw%VX=ٔVxp9ZH?IZH?=Z@FyZEZHzEZ>\Q 5b4^?Q 9f4^N8)^eYdyf?Q If?^ DI^:i^p:^ԇ4yj8BɮjBl*jtBjtitivzitJizƷ<ix k0k0k0h  k0k0k0h2f):f)Bf)Jf-@[1Z99Z9ZEZAZEiQɢQIU>U|2))iXzC!I!@k<AM?AQ? PExceeded connect timeout, disconnecting.iiI2Acoustic response timeoutAeAIiIyO=>ԑEb EZE~E"E1:*Ea9VE5ZEa%@a%@a%@a%@  SIҏ,L%I?A"2Acoustic response timeoutBw?Bf?Bu>ٱBT¾ JAHRS rotation from veh to nav: [[0.356557,-0.903865,-0.236422],[0.882164,0.242380,0.403781],[-0.307660,-0.352533,0.883779]]BH?vCο:?N??ӿֿG?iBw?IBx^;BCYn@yn|GbDz VDz8ym%E=ٔЎ9 K?I K?= @Fy E ~mE>Q 5%4?Q 9%48).Y!y%o?Q I%? DI;i;!܇4y1ɮ5?B1*jABjAiAiMziIJiMƷ<iI k-k-k-ha kC.kC.kC.hq2f:fBfJfWZ@[ZZZZԙZiɢI>h)eBF>B'CBGB@BBB,DB;BE)qqiuCyIy@Uf<IIIYO9>2Acoustic response timeout E-  E- WE- E) "E- :*E- 9VE- U5ZE) BE- ;a5 2E- ;a5 JE- :a= :E- :a= 8YIҏ,%f%I?AJq?Jൔ?JA>ٱJ¾ fAHRS rotation from veh to nav: [[0.377398,-0.898420,-0.224527],[0.870708,0.261694,0.416394],[-0.315339,-0.352644,0.881024]]JH`I'? ۿ P̿??@3?`.Կෑֿ`Y1?iJq?IJ^;JCYr:@yrkGbDzaVDz;8y΄%J=ٔ 9 I = @FyE{E>Q 5%4xȬ?Q 9%4e8)۾Y)y-%?Q I-? DI:i9:54y1ɮ5uB1*jABjIiIiMziIJiMƷ<iI kc4kc4kc4ha kMkMkMhq2f:fBfJf㢅@[ZZZZZiɢI>Pp))iXDI@za!I nManaging dock network, ignoring radio surface power off 2Acoustic response timeouty /#`Iҏ,%I?Aek?evm?esH>ٱe?Jþ AHRS rotation from veh to nav: [[0.398280,-0.892723,-0.210756],[0.857894,0.281216,0.430041],[-0.324640,-0.352083,0.877865]]eHk}?0 ʿ s?r?ʅ?Կֿ x?iek?El EVE{E"EV:*E9VE:5ZEa@a@a@a@Ieo^;eCY@yޅG  =p=IytV?J +?Mb??H>> 9Cl?Mb?ˡE?Yd;?y=>eBB ΛB)?BYB]AA]BAbDmVDm8y{%%(=ٔ!9I=@FyEWE>Q 54TϬ?Q 9438)ԾYM?Q E:y?Q I? DI:i:4yOBɮBE*jBjiiziJiƷ<iA k1k1k1hQ kCEkCEkCEh2f7>:f7>Bf{d@Jfo@[ZZZZZiɢIF?))iwD I y@Z<]2Acoustic response timeoutIyIOb>BI>BBGB@B=BBBw;BSEB&CB&CBBǣ=Bǣ=C4ԡ =IfIҏ,]%I?Aɰ;2V9d?2?2->ٱ2rMþ :AHRS rotation from veh to nav: [[0.419190,-0.886751,-0.194815],[0.843632,0.301148,0.444517],[-0.335508,-0.350689,0.874329]]2H@?B``ȿ?F?@r?@xտqֿ@?i2V9d?I2ʼn^;2CYB@yBQGbDN&VDN8yV־%V=ٔV=Q-V?9XIX=Z@FyZE^E^?`Q 5f4bԬ?Q 9f4b8)b+ѾYdyf*?Q If?b DIb:ibp:b4yhɮnBnE*jtBjtitizzixJizƷ<ix k)k)k)h  kFkFkFh2f):f)Bf)Jf-ԏ@[1Z9Z9Z=Z9Z=iIɢQIU>U)Qi߹I߹2Acoustic response timeout)Qi!DIԱEi ESEvE"E,K:*E9VE-5ZEBEte;a2Eve;aJEl:a:Em:a]@5;U<IIO> u 2Acoustic response timeoutia Ie jA9 slIҏ,i9%I?A67]?6懊?6Q>ٱ6þ BAHRS rotation from veh to nav: [[0.439880,-0.880303,-0.177684],[0.827631,0.320566,0.460722],[-0.348616,-0.349719,0.869577]]6H'?q+Zƿ {?(?x|?Oֿaֿ`?i67]?I6m^;6CYJ@yJGbDRVDRJ8yZ~N%ZJ=ٔZ =Q-Z>9\I\=^@Fy^EbHEb>dQ 5j4f+۬?Q 9j4f8)fϾYhyj?Q Ij?f DIfp:ifF:f24ypɮrBp*jxBjxixi~zi|Ji~Ʒ<i| ks*ks*ks*h kIkIkIh!2f1:f1Bf1Jf5@[AZAZAZEZAZMiYɢYI]y>]I;IeH)eU`6)aaeؼie=DiIi50f2Acoustic response timeoutA@Q<II1O]v>Em EcEqE"EY:*EL9VE5ZEa@a@a@a@i [sIҏ,{%I?A2Acoustic response timeout :U?:?:>ٱ:ľ BAHRS rotation from veh to nav: [[0.460308,-0.873495,-0.158503],[0.809523,0.339711,0.478820],[-0.364402,-0.348717,0.863486]]:Hu?@ IĿ?@Խ??[R׿_Qֿ?i:U?I:S^;:CYJ0@yJ~GlnA ppbDrVDr8yzϑ%zF=ٔ~'=Q-~>9I=@FyEdE> Q 54 #㬉?Q 94 L8) оYy?Q I? % DI Q;i ; h4y!ɮ%\B)*j9Bj9i9i=zi9JiEƷ<iA kSJkSJkSJhQ kcJkcJkcJha2fy:fyBfyJf}"[@[ZZZZZBQ>B(CB|GB@B=BBB ;BEiɢIP>yIҏ,w%I?A,6аN?6xD?6#>ٱ6#ž >AHRS rotation from veh to nav: [[0.479168,-0.866745,-0.138388],[0.789905,0.357090,0.498535],[-0.382685,-0.348195,0.855752]]6H ?_ F???}ؿHֿRb?i6аN?I6v^;6CYF@yFzGbDNSVDN8yV%VJ=ٔZG=Q-Z>9xI|=~@Fy~E~vE~>Q 5 4묉?Q 9 48)eվYy5?Q I5?: DI;i=;4yEeBɮEBExE*jBjiiziJiƷ<i kKkKkKh2f9:f9Bf9Jf=@[AZIZiZmZiZmiyɢIM>2=I=) )顉$m C A I! I1 E 9A YE AOu >iߡ Iߡ  2Acoustic response timeoutIҏ, `&I?A\>H?Y ? >ٱ0Ⱦ AHRS rotation from veh to nav: [[0.494358,-0.860956,-0.119859],[0.770503,0.370176,0.518936],[-0.402412,-0.348892,0.846368]]H??@?@ ?`ٿ@=Tֿr?i>H?Is^;CY%4@y%5vGbE5jE'5rE2E{ EZEE"E=:*Ea9VEc5ZEa@a@a@a@y5&1?sh|??1Zd5?5>5"۽1 195M?gfffff?"~j?Y5n?y53>5S>5B5B 5B)5iB1Y5pBbD]VD]E8yus%}1=ٔ==Q->9I=@FyEbE>Q 54?Q 948)1Y_?Q E:y?Q I?a DIqa;i_;4yIɮMBMyE*jYBjYiaieziJiƷ<i k30k30k30h kHkHkHh2f>:f>Bf+d@JfԪJ@[ Z Z Z Z ZiAɢAIEB>EK=)A)IIMBU)CBUhqGBUL@BU=BQBU-DBU3;BU:E d69 @ KIҏ,Ѳ!&I?A2B?2|z?2>ٱ2/ ̾ :AHRS rotation from veh to nav: [[0.506371,-0.855870,-0.105241],[0.752462,0.378949,0.538701],[-0.421177,-0.351972,0.835898]]2H04? Ic@*?@?@ =?ڿ@ֿ?i2B?I2u^;2CYBq@yBqGf=f=hj@AbDn VDn8yra%v:=ٔv@=Q-v>9xIx=z@FyzEzME~>|Q 54~@?Q 9 4~J8)~@Y y 8?Q I ?~ DI~;i~;~44y{Bɮ4BpE*j)Bj)i)i5zi1Ji5Ʒ<i1 k'k'k'hI k#Ek#Ek#EhY2fi:fiBfiJfmd@@[yZyZyZ}ZyZ}iɢI>\w=)c)顙imAԡIEj EVE|E"EN:*E9VEם5ZEBEk;a2Ek;aJEC:a:ED:a@}M<IaIyOC>m2Acoustic response timeout1 (Iҏ,c;&I?Aɰ4<2*=?2Jdu?2ޭ>ٱ2 Ͼ >AHRS rotation from veh to nav: [[0.516859,-0.851066,-0.092434],[0.736003,0.386624,0.555716],[-0.437214,-0.355259,0.826217]]2H?@;ƩW?`s?m?Oۿֿ`_p?i2*=?I2^;2CYFҿ@yFkGbDRVDR38yZK%ZO=ٔZj8=Q-Z>9\I\=^@Fy^Eb}NEb>dQ 5j4f- ?Q 9j4fZ~8)fjYhyj?Q Ij?f DIfp:ifN:f4ypɮr~Bp*jxBj|iiziJiƷ<i k)k)k)h kCHkCHkCHh2f:fBfJff7@[Z2Acoustic response timeoutZZZZiɢI>p=))i&@I ==D zD A=KE=w E=TE=E9"E=}:*E=9VE=5ZE9aM@aM@aM@aM@B@Q:@Q@qT<IIO>i 2Acoustic response timeoutB `>B *CB eGB ź@B B B B H;B IEԙ Iҏ,?U&I?A2S8?2sp?2->ٱ2&Y־ :AHRS rotation from veh to nav: [[0.526932,-0.845473,-0.086712],[0.721877,0.391369,0.570722],[-0.448594,-0.363327,0.816552]]2H?@2 ?. ?`[C?@µܿ@׿1!?i2S8?I2f^;0YB=@yBgGbDJ(VDJ8yRa%RK=ٔV)=Q-V>9TIT=Z@FyZEZm:EZ>\Q 5b4^?Q 9b4^Iq8)^ϋYdyf/?Q If?^ DI^:i^-:^ $4yhɮjBjqE*jtBjtitizzixJizƷ<ix kHkHkHh  k#_k#_k#_h2f):f)Bf)Jf-N.0@[9Z9Z9Z=Z9Z=iIɢQIU>U =)Q)项i>Iq.ۼ@X<III!O= >2Acoustic response timeoutԩE- l E- YE- E) "E- V:*E- *9VE- H5ZE) BE- Bx;a5 2E- Ex;a5 JE- :a= :E- :a= :Iҏ,*o&I?A&2Acoustic response timeoutY[@ybGI}=)}=bDVD08y%8=ٔQ->9I=@FyEE>Q 54%?Q 94b8)Y y Q I ? DIM:i:+4yBɮ BgE*j)Bj)i)i5zi1Ji5Ʒ<i1 kFkFkFhI k^k^k^hY2fi:fiBfiJfi[yZyZyZ}ZyZiɢI>))顙in=I*@'_<2Acoustic response timeoutII1 Ou >D =D R=E o E XE E "E `:*E 9VE 5ZE a @a @a @a @Q $Iҏ,~&I?A2a0?29h?2>ٱ2 :AHRS rotation from veh to nav: [[0.549557,-0.830806,-0.088028],[0.702768,0.402726,0.586455],[-0.451779,-0.384153,0.805184]]2H?@}?A?=?ܿؿ?i2a0?I2T^;2CYj#@yj]Gn&NAL9602 initializedy]Q?I +?Q޿](\?]94=]Y Y9]MbX9?MbX9?> ףp=ڿY]ʡ?y]ʡ>]Ѿ] C]B ]қB)]CYY]GBbDuVDuo8y-%P=ٔ9I=@FyE E>Q 54I5?Q 94Z8)׿Yծ?Q E:y?Q I? DI:i/:24yBɮOBhE*jBjiiziJiƷ<i k_k_k_h k_k_k_h2f >:f >Bf ?Jf  ?[ZZZZZiɢI>h!=))ib;I)U2Acoustic response timeoutBmc>BiBmYGBm@Bm=BiBiBm;Bm!EY@u#d<ԁ A I I O > 2Acoustic response timeoutLIҏ,Т&I?A0Yv @yvYGbD~HVD~8yExz%MN=ٔMQ-M>9IIQ=U@FyUEUEU>aQ 5m4eD?Q 9u4eR8)eYqyyQ I}?e DIe;ie;e94yɮB*jBjiiziJiƷ<i ks_ks_ks_h2f:fBfJf[)Z)Z)Z5Z1Z5iYɢYIe>a)a)aiiimG9iEj EOE}E"EN:*E9VEs5ZEBEk;a2Ek;aJEN:a:EO:aI)ԉ@g<AYe2Acoustic response timeoutIiIO`>Թ vIҏ,z&I?A2f*?2a?2>ٱ2H| >AHRS rotation from veh to nav: [[0.574015,-0.812035,-0.105390],[0.697911,0.417852,0.581653],[-0.428285,-0.407430,0.806581]]2HS^?/HU?@??iۿUڿ?i2f*?I2v^;2CYB@yFTGJ?AJ?A\ ||=bD VD 8y?%F=ٔҁQ->9I=@FyEKtE>Q 54V?Q 94WJ8)Q Yy|?Q I?1 DI8:i:@42Acoustic response timeoutyBɮֱB`E*jBjiiziJiƷ<i kbkbkbh kxkxkxh 2f!:f!Bf!Jf%?[)Z)Z)Z5Z1Z5iAɢAIM>M=)I)IIIiU8QIY@5l<IIIYEem EeTEeEa"EeY:*Ee9VEea5ZEaam@am@am@am@O<>m 2Acoustic response timeoutA Bi Bi Bm MGBm e@Bm =Bi Bi Bm ;Bm 1EB-*CB-)CB-ʔCB)B)C-15`Iҏ,u&I?A;ɰ;2m'?2_?2[E>ٱ2h@ :AHRS rotation from veh to nav: [[0.584089,-0.803274,-0.116579],[0.698459,0.424229,0.576354],[-0.413514,-0.418068,0.808842]]2H@ܰ?kؽY?&?@~q?wڿ@ڿ?i2m'?I2^;2CYBϨ@yBOGbDVDt8y]%]M=ٔ]l'Q-e>9aIa=e@FyeEmEm>qQ 5}4uh?Q 9}4u+B8)us9Yyy}x?Q I?uI DIu;iu;uG4yɮB*j!Bj!i1i5zi1Ji5Ʒ<i1 k_k_k_hI k3uk3uk3uhY2fi:fiBfiJfm{V?19u r}NAggregate::initialize marl:UpdateRudderq9}J]yq9}9}7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢI>d2=))顱i/7I@rqEmg EmREm{Ei"EmC:*Em9VEm:5ZEiBEmX;au2EmX;auJEm$:a}:Em&:a}ԡ Iҏ,a&I?A2Acoustic response timeoutB&?B$v^?Bql>ٱB JAHRS rotation from veh to nav: [[0.591333,-0.796282,-0.127513],[0.699487,0.427778,0.572471],[-0.401301,-0.427715,0.809949]]BH`3?%{`\R3b?`?Q? ٿ_ۿ ?iB&?IB^;BCYR@yRKGbDVD8yE%ML=ٔMQ-M>9IIQ=U@FyUEUZEU>YQ 5e4]{?Q 9m4]98)]yRYiymv?Q Im?]b DI]:i]:]N4yqyɮ}NB}aE*jBjiiziJiƷ<i k]k]k]h kvkvkvh2f:fBfJf6)?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[ZZZZZiyɢyI}#>}΂=)y)顁i6I@:w<IIO= >ԡy}>2Acoustic response timeout! E} r E} VE} Ey "E} k:*E} 9VE} *5ZEy a @a @a @a @pIҏ,.= 'I?A2%?2]?2W>ٱ2ƍ :AHRS rotation from veh to nav: [[0.595349,-0.791069,-0.140604],[0.700237,0.425040,0.573593],[-0.393989,-0.439944,0.806983]]2H  ?@oPQWh?3?Z? 7ٿ (ܿ?i2%?I2^;2CYRޡ@yRGGyU> ףp=?/$տZd;OU>UUj9I=@FyEY̻E>Q 54?Q 94(;8)eYl?Q Ee:y+Q I?t DI;i;V4yɮBbE*jBjiiziJiƷ<i k]k]k]h k#rk#rk#rh!52Acoustic response timeout2fE*?:fE*?BfEG?JfEo@[QZQZQZUZQZUiaɢaIm>md=)i)qqqiu5qIyR@ >J@>@M|<Bud>BqBuCGBu"@BqBqBqBu;BumEAzAII !OE0>Qi I  2Acoustic response timeoutԙ qIҏ,$'I?A2%?2c]?2>ٱ2 :AHRS rotation from veh to nav: [[0.596724,-0.784403,-0.169213],[0.699883,0.405599,0.587922],[-0.392535,-0.469256,0.791021]]2H`\?¨ſqe?V? B?`Lٿ@K޿ P?i2%?I2^;0Yb؝@ybBGbDvVDv8yp%j=ٔ [Q- >9I=@FyE%E%>)Ei E`EE"E,K:*E9VEc5ZEBEte;a2Eve;aJE;a:E;aQ 54-I?Q 94-1<8)-KtYy.Q I?- DI-`^=))idD5I@<IQIqO>ԡE2Acoustic response timeout G  1 Iҏ,>'I?AB9YܮAB $?B[?B=>ٱB JAHRS rotation from veh to nav: [[0.600007,-0.790202,-0.124785],[0.695461,0.438131,0.569539],[-0.395379,-0.428511,0.812437]]BHB3?VI7A?V ?@9?Mٿlۿ{?iB $?IB2^;@YR@yR}>GbDZ8VDZq8ybm%bN=ٔf;Q-f>9dId=j@FyjEjrEj>lQ 5r4n?Q 9r4nV=8)nYtyvC3Q Iv?n DIn:in':nc4yxɮzB~cE*j Bj i i zi Ji Ʒ<i k_k_k_h! k_k_k_h92fI:fIBfIJfM@[QZYZYZ]ZYZ]iiɢiIu>u+k=)q)qyyi}94yI2Acoustic response timeout@)<IIO-=bEĀ5jE5rEę2Ek EVE~E"EmR:*E9VE5ZEa@a@a@a@! E =E =M 2Acoustic response timeoutBe h>Be +CBe '9GBe @Ba Ba Ba Be ;Be EzIҏ,!W'I?AY~Q@y~:G@A=p=bD%VD%8y-%5D=ٔ5Q-5>91I9==@Fy=E=EE>AQ 5M4EЭ?Q 9U4E>8)EYQyQQ IU?E DIE:iEf:Ek4yYɮe3BedE*jqBjqiqiuziqJi}Ʒ<iy kCVkCVkCVh k3bk3bk3bh2f:fBfJf[ZZZZZiɢI=>))i3I@ՅԁEm ESEE"EY:*E9VEU5ZEBE~;a2E~;aJEl:a:Em:aԩ ] In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER] 2Acoustic response timeoutIҏ, q'I?A4<ɰ4<2A?2W?2 >ٱ2Q8 >AHRS rotation from veh to nav: [[0.608758,-0.793148,0.018181],[0.679475,0.533068,0.504135],[-0.409545,-0.294542,0.863434]]2Hz?`wa&?C? ?!?5ڿҿ??i2A?I2^;2CYFU@yF05GbDRJVDRn8yZ%ZR=ٔZ"=Q-^>9\I\=^@Fy^EbDEb>dQ 5f4f>⭉?Q 954f?8)f Y1y5 ;Q I5?f DIf>d G=) )  i~2I@ <ԡAu$AIyIOC>pIn sendingFillBuffer, set commsState_ = SENDING_TRANSMIT2Acoustic response timeout E d E WE {E "E 9:*E 9VE :5ZE a @a @a @a @Iҏ,'I?AlYrg@yr[0Gysh|??{Gzt?y&1?I?ף;`= 9Cl?-ֿ/$ÿY>y?(B٢B %B);CYfBbDVD8y%7=ٔQ->9 H?I H?= @Fy E E>Q 54?Q 9%4m?8)ЗY%Y?Q E%:y%j))顱i1IzIn sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY2Acoustic response timeout@0< B<A<B!B!B% -GB%@B!B%DB!B%#;B%˗EAIIO=P>1a  2Acoustic response timeoutIҏ,\r'I?AN?NR?N[ >ٱNg ^AHRS rotation from veh to nav: [[0.617951,-0.784054,0.058278],[0.666724,0.561874,0.489669],[-0.416672,-0.263736,0.869958]]NH`@?`֭?U??V?ªڿ п?iN?INd^;NCYf@yf*G1IU<)U%=QQEg EYEE"EC:*E*9VE5ZEBEX;a2EX;aJE:a:E:abDeVDe8y%%%H=ٔ%9)I)=-@Fy-E5(E5>9Q 5E4=?Q 9E4=v?8)=YAyEŻQ IE?= DI=:i=:=ƀ4yQɮUBQ*jaBjaiaimziiJimƷ<ii kRkRkRh kgkgkgh2f:fBfJf\e@[ZZZZZiɢI>dN=))i#0I@܍ԉԹ 7Iҏ,:'I?A26?2P?2Ha>ٱ2z :AHRS rotation from veh to nav: [[0.624809,-0.778257,0.062690],[0.659930,0.569306,0.490290],[-0.417261,-0.264966,0.869302]]2Ho? {@x ?$?7?`?hڿ4п@R?i26?I2f^;2CYZQ@yZ/%GbD-eVD-^8ye%eX=ٔm:Q-m>9mK?IuK?=u@FyuEuEu>2Acoustic response timeoutQ 54?Q 94?8)YԙyهQ I? DI*;i.+;l4yɮCBfE*jBjiiziJiƷ<i kpkpkph kpkpkph2f:fBfJf[@[ Z Z Z Z Z iɢI>=))顡i/I@m<DzD?AEl E_E{E"EV:*Er9VE:5ZEa@a@a@a@AIIO-O>5 2Acoustic response timeoutB j>B B GB @B =B B B ;B E! Iҏ,'I?A2?2vK?2>ٱ2% :AHRS rotation from veh to nav: [[0.636888,-0.768789,0.057768],[0.648955,0.575047,0.498175],[-0.416211,-0.279793,0.865150]]2Hba??9XIX=Z@FyZE^AE^>`Q 5f4b.)?Q 9f4b?8)bYdyfQ If?b DIb:ib`:b4ylɮnBl*jIBjIiIiMziQJiUƷ<iQ ksckscksch2f:fBfJf@[ZZZZZiɢI->PD=))   i .I@ՒEf ETExE"EI@:*E9VEe5ZEBER;a2ER;aJE:a:E:aQy = 2Acoustic response timeout%Iҏ,'I?A2f ?2?E?2>ٱ2f :AHRS rotation from veh to nav: [[0.653020,-0.755701,0.049811],[0.633838,0.581344,0.510185],[-0.414504,-0.301590,0.858621]]2H?.À?fH?^?pS?<ڿ@>Mӿy?i2f ?I2^;2CYN{@yNbG TTV=V=bDZVDZ8y '% D=ٔ Q- >9I=@FyEoE>Q 54ZMl=Q)Q)YYYi]-aIa@M~<A}$AԁIIOF>2Acoustic response timeoutԩD =D 4=E l E ME E "E V:*E 9VE 5ZE a @a @a @a @ Jҏ,0 (I?A:<?:_>?:>ٱ: FAHRS rotation from veh to nav: [[0.669219,-0.741699,0.045049],[0.616391,0.587970,0.523788],[-0.414980,-0.322761,0.850657]]:H=j??y?`?@?@ ڿ Կ@8?i:<?I:^;:CYJr@yJGPPy-M?X9v?\(\?-nr?-}=-z>) )9-A`"?)\(̿7A`?Y-?y-Ga->-OB-B -+B)- C)Y-BbDEVDE8yM%UD=ٔU:Q-U>9UH?I]H?=]@Fy]E]uEe>aQ 5m4eO?Q 9u4e0;8)eYu:C?Q Eu:yu*?Q Iu?e DIe:ie,:e4yɮB*j)Bj1i1i5zi1Ji=Ʒ<i9 kNkNkNhI kC`kC`kC`hy2ff>:ff>ԑBft@JfF@[ZZZZZ2Acoustic response timeoutiɢI>=))i,IBm>BBGBk@B=BBBD;BoEBe+CBe+CBeÓCBaBaCe+4@MD<IIIYO[> 2Acoustic response timeout ^9 Jҏ,K&(I?A>|r>>a7?>&>ٱ>ľ FAHRS rotation from veh to nav: [[0.684296,-0.727655,0.047507],[0.596626,0.596151,0.537253],[-0.419256,-0.339296,0.842082]]>H? 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'.x???OG?`ܿd׿|?i21>I2t{^;2CYB+@yBeFbDNnVDN8yV\%VJ=ٔZ;Q-Z>9\I\=^@Fy^E^E^>`Q 5f4bꮉ?Q 9f4b 8)bԜYhyj]b?Q Ij?b DIb;ib;b͈4ynѼBɮnxBrYE*jxBjxi|i~zi|Ji~Ʒ<i| ksbksbksbh ksbksbksbh!=2Acoustic response timeout2fA:fABfAJfE펃?[YZYZYZeZaZeiɢI>Db=))im#!1II@-9<Emg Em_EmEi"EmC:*Emr9VEmc5ZEia}@a}@a}@a}@A]AYIiIyO>>ԁM?V?2Acoustic response timeoutBM ~>BM -CBM FBM q&@BM =BI BI BM _;BM EԱ y6Jҏ,ƥ(I?A6>6M?6@>ٱ6[,ܾ BAHRS rotation from veh to nav: [[0.748960,-0.653234,0.111110],[0.489946,0.658843,0.570858],[-0.446108,-0.373112,0.813496]]6H z?Jq?F[?@=?xD?ܿ׿@(?i6>I6^;6CYJ!@yJFIN>)NR>PRAbDVVDV8y^%^J=ٔ^G ;Q-b>9bK?IbK?=b@FybEf Ef>hQ 5j4jL?Q 9n4j8)j؞Ylyn^?Q Ir?j DIj;ija;jԈ4ytɮvķBvZE*jBjiiziJi Ʒ<i  kCakCakCah k#wk#wk#wh)2fA:fABfAJfE?[IZIZQZUZQZUiaɢaImw>m!=)i)iiiim_!qIyԑ]2Acoustic response timeoutF˼@}<Eh ESEE"EG:*E9VEq5ZEBE/_;a2E1_;aJEl:a:Em:aAIIO> 2Acoustic response timeout 2=?2+>ٱ2%Aپ :AHRS rotation from veh to nav: [[0.754942,-0.644478,0.121288],[0.481063,0.669938,0.565475],[-0.445691,-0.368554,0.815799]]2H}(?` ??!p? ^?3ܿ@b׿`?i2ɲ>I2^;2CYB*@yB FbD VD 8y]_%e@=ٔeQ-e>9iIi=m@FymEmEu>qQ 5}4u?Q 94u7)uYyb[?Q I?u DIu;iu:u܈4yɮB[E*jBjiiziJiƷ<i k^k^k^h kC{kC{kC{h2f:fBfJf|?[ZZZZZi ɢ I >-=))i^ I!@-I E j E VE E "E N:*E 9VE H5ZE a @a @a @a @iCJҏ,[)I?A2>2v?2>ٱ2ɭҾ >AHRS rotation from veh to nav: [[0.761268,-0.634140,0.135414],[0.472119,0.685199,0.554622],[-0.444494,-0.358284,0.821010]]2HN\?J AU?`27?@'?v?rܿ ֿE?i2>I2Hx_;0YBP@yF>Fy +?x&1?"~ʿȆ?>S 9(\?Gz?V-Y?y>msCcB B) BYBbDVD8y%C=ٔQQ->9H?IH?=@FyEE>Q 548?Q 947)YL?Q E:yk?Q I? DIu ;i ;h4yBɮmBSE*jBjii%zi!Ji%Ʒ<i! kbkbkbh9 kc|kc|kc|hI2f][>:f][>Bf]w3?Jf]? ?[iZiZiZmZiZmiɢI}>p=))顉i2Acoustic response timeoutAAAABBBFBM@B=BBB;BYE)I1QyU cB@]oA:@Y@5<ԩ m 2Acoustic response timeoutA AI I O% >IJҏ,D))I?A2>2 ?2m>ٱ2ɾ :AHRS rotation from veh to nav: [[0.768967,-0.621338,0.150428],[0.463314,0.703781,0.538546],[-0.440488,-0.344429,0.829059]]2H a?@`:A??`?;?`0ܿ ֿ`?i2>9}K?I}K?=@FyEE>)Q 554-P?Q 9=4-7)- Y9y=h?Q I=?-)DI-:i-t:-4yEBɮEBMTE*jBjiiziJiƷ<i kkkh2f:fBfJf9?[ Z Z ZZZi!ɢ!I%>]J=)Y)Yaaie`XiIiqqqqԡ߽?߽C=2Acoustic response timeout@< A9 IA IQ O >pPJҏ,+C)I?A6>6?6Ob>ٱ6` >AHRS rotation from veh to nav: [[0.778517,-0.606075,0.163047],[0.455841,0.724592,0.516890],[-0.431417,-0.328084,0.840381]]6H ?d?@,? /?]?TۿUԿf?i6>I6C_;6CYF?yFgFLN?AbDf7VDf8pyvS%vS=ٔzռQ-z>9|I|=@FyE E >-2Acoustic response timeoutQ 5=4#g?Q 9=47)YAyEe?Q IE?EDI;i4; 4yQɮUBY*jyBjyiiziJiƷ<i ksdksdksdh kÀkÀkÀh2f:fBfJf?[ZZZZZiɢI[>4=))顉i70I@m@< DIzDMAAEUm EUUEU~EQ"EUY:*EUP9VEU5ZEQa]@a]@a]@a]@AIIOF>12Acoustic response timeoutB>B.CBFB?BBBB;BkEB-CB-CBȔCBȤ=BȤ=Cȹ4a VJҏ,\)I?A2$6>24?2v>ٱ2E :AHRS rotation from veh to nav: [[0.789582,-0.592472,0.159804],[0.451389,0.737181,0.502805],[-0.415702,-0.324872,0.849500]]2HBD?@qt????`ܚڿԿ/?i2$6>I2-^;2CYB?yBFbDJsVDJ$8yRʡ%VO=ٔV4Q-V>9XIX=Z@FyZEZ׼EZ>|Q 54~]?Q 94~7)~Y y  b?Q I ?~cDI~$:i~1:~4yɮ;BUE*j)Bj)i)i5zi1Ji5Ʒ<i19 k3ek3ek3ehi k}k}k}h2f:fBfJf%?19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeed[ZZZZZiɢ!I%>%=)!))))i->)I1@Uչ<A]oAzA]pA52Acoustic response timeoutiAxAIIOE>Eef EeSEeyEa"EeI@:*Ee9VEe5ZEaBEeR;am2EeR;auJEel:au:Eem:auԑ  2Acoustic response timeout]Jҏ,Xv)I?A2,>2}n?2\>ٱ23ž :AHRS rotation from veh to nav: [[0.801384,-0.582098,0.137642],[0.447733,0.736350,0.507271],[-0.396634,-0.344891,0.850724]]2H?A?`?-?;?tbٿֿ`!9?i2,>I2@^;2CYB?yBFIn!>)n<bDvVDvf8y%%-B=ٔ-LKQ-->95;N?I5;N?=5@Fy5E5E5>ԙQ 54ɛ?Q 94r7)Yy]?Q I?DIN:i:u4yBɮBLE*jBjiiziJiƷ<i kcdkcdkcdh k3zk3zk3zh2f:fBfJf}n?sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudder[Z!Z)Z-Z1Z=iYɢYI]>ep=)eм)aaaieVSiIi@Uf<AAIIO]>E2Acoustic response timeoutEm c Em QEm Ei "Em g5:*Em v9VEm Dz5ZEi au @au @au @au @ cJҏ,Ͱ)I?A2>2f>28>ٱ2OԾ :AHRS rotation from veh to nav: [[0.813364,-0.570754,0.112603],[0.441051,0.731198,0.520406],[-0.379359,-0.373616,0.846462]]2H?`CӼ?@.:?`e? +?jGؿ S׿`7?i2>I2"^;2CYBC?yBxFF=F=yu?ClӿK7u,?u;uI q q9uQ?-?(\ڿYuU?yu?5>uzԾuCu6B uHB)u CqYuBbDFVD8y5v%=:=ٔ=.Q-=>9=K?IEK?=E@FyEEE6EE>IQ 5U4M?Q 9]4MF7)MY]r?Q E]_:y]>Q I]?MDIM:iM:M4yaɮeֹBi*jyBjyiyi}ziyJiƷ<iߕ%=ߕ=2Acoustic response timeoutB>BBpFB?B=BBB;BCE kC|kC|kC|h2f?:f?Bf&?Jf)@[ZZZZZiɢ I > `#=) )iI@e<IM >M >E 2Acoustic response timeoutq !jJҏ,~)I?AFa9>F>F>ٱFրܾ VAHRS rotation from veh to nav: [[0.823951,-0.558421,0.096286],[0.435427,0.732664,0.523074],[-0.362641,-0.389062,0.846831]]FH ]?@.? ? q?? 5׿cؿ =?iFa9>IF7^;FCY^Z?y^_FE-f E-^E-wE)"E-I@:*E-;9VE-ɕ5ZE)BE)a=2E)a=JE-;a=:E-;aEbDU{VDU8y۾%W=ٔAQ->9H?IH?=@FyEE>Q 54?Q 947)nYy>Q I?DI:iB: 4yɮ)BME*jBjiiziJiƷ<i kckckcQh2f:fBfJf;@[ZZZZZiɢI.><) ) i7zI@ <AN?A;?ԁ2Acoustic response timeoutAYIaIqO_>ԩ5 GM rAa G9 rAY A qJҏ,,c)I?AN >N>N$>ٱNݾ rAHRS rotation from veh to nav: [[0.830668,-0.550197,0.085286],[0.434482,0.736363,0.518648],[-0.348160,-0.393769,0.850724]]NH֔?5Nյ?? H?Ø? ?Hֿ3ٿ!9?iN >IN^;NCYv?yzOF~2Acoustic response timeout  bDVD8y%{%%P=ٔ-!Q-->9)I1=5@Fy5E50E=>9Q 5E4=ӯ?Q 9E4=7)=cYIyM>Q IM?=DI=`:i=:=s4yQɮU[B]NE*jiBjiiiimziiJimƷ<iq kSekSekSeh kcekcekceh2f:fBfJfu.@[ZZZZZiɢI˼>X;))ieI ԱbEÇ5jEM5rE2E-b E-RE-{E)"E-1:*E-9VE-:5ZE)a=@a=@a=@a=@uoM@U <2Acoustic response timeoutB>BBAFB?B=BBBBBE Ae AIi Iy O >1 3wJҏ,&5)I?A2q>2>2H>ٱ2b޾ :AHRS rotation from veh to nav: [[0.834866,-0.544508,0.080686],[0.432393,0.739430,0.516023],[-0.340640,-0.395922,0.852766]]2H@8?@l@Ч?S?i?A? տVٿI?i2q>I2`^;2CYBj?yB9ZK?IZK?=Z@FyZE^*E^>`Q 5f4b寉?Q 9f4bϼ7)b,Ydyf%>Q Ij?bDIb:ib:b94ylɮnBl*jtBjtixizzixJizƷ<ix kcakcakcah  ksaksaksah2f):f)Bf)Jf-e0@[ZZZZZiAɢAIE9>Ez)I)IIMwE=l E=WE=E9"E=V:*E=9VE=5ZE9BE=Bx;aM2E=Ex;aMJE=:aM:E=:aMi  2Acoustic response timeoutd}Jҏ,-)I?A(2pB>2>2ٱ2 >AHRS rotation from veh to nav: [[0.839757,-0.537274,0.078392],[0.425141,0.740449,0.520568],[-0.337733,-0.403822,0.850214]]2HI?X1?5??@}?jտ9ٿ`4?i2pB>I2^;2CYB?yF&FbD~VD~8y=%=A=ٔ=Q-=>9EH?IEH?=E@FyE EE_EM>QQ 5]4U$?Q 9]4U̹7)UaYYy]F>Q I]?UDIUo:iU:U"4yaɮmBmOE*jyBjyiyiziJiƷ<i kakakah kakakahI2fY:fYBfYJf]@[ZZZZZiɢI>a))EJҏ,*I?A6۩c>6.>6>ٱ6U >AHRS rotation from veh to nav: [[0.852409,-0.517095,0.077533],[0.401786,0.742658,0.535749],[-0.334614,-0.425526,0.840810]]6HF? -ٳ?@޶??$?Njտ ;ۿ@?i6۩c>I6^;6CYFn?yFF 9J 9J `y|?5^?K7Aؿgfffff?R? ¾33> 9'1Z?GzοY"?ypCB )TCYBbDVD8y%B=ٔQ->9I=@Fy EE>Q 54U?Q 947)Y0?Q E:yB9B=FB=s?B9B9B9B=;B=iE}2Acoustic response timeoutyBɮ"BPE*jBjiiziJiƷ<i ks`ks`ks`h2f->:f->Bf-:@Jf-f@ZUZUZYZ]q2i+:IƷ<))iIi) I) 5 2Acoustic response timeoutA @ <EY  E] OE] vEY "EY *E] 9VE] -5ZEY BE] F;am 2E] F;am JE] M:am :E] O:am q A I I O=>cJҏ,/*I?A6I(>6>>66>ٱ6' ^AHRS rotation from veh to nav: [[0.883797,-0.460131,0.084754],[0.355550,0.778260,0.517586],[-0.304118,-0.427307,0.851423]]6HH?rݿ@t?T???vӿ`Xۿ>?i6I(>I6^;6CYfN?yfxEbD5A VD58yu%u3=ٔ}ʐQ-}>9yIy=}@Fy}E}E>Q 54*?Q 947)LYy4Q I?DI~:i:14yɮbB*jBji?iziJiƷ<i kDkDkDh kc\kc\kc\h2f:fBfJfKb@aZZZZi))项iI2Acoustic response timeoutԑMPowering up@<AzAAAԹAM U 2Acoustic response timeoutIa Iq I i I O > AJҏ,)xI*I?A2n>2>2o>ٱ2 :AHRS rotation from veh to nav: [[0.896519,-0.436446,0.075954],[0.349091,0.801558,0.485428],[-0.272744,-0.408680,0.870971]]2HH?ۿ@q?@W?\?@@?@tѿ'ڿ?i2n>I2^;2CYBM*?yBoEbDN VDN[8yV¾%VZ=ٔVQ-V>9ZIZ=Z@FyXZE^>\Q 5b4^??Q 9f4^+7)^kYdyf&Q If?^DI^`:i^:^84yhɮjBnQE*jtBjtiv?ivzitJizƷ<ix kCkCkCha2fq:fqBfqJfu#`@ZZZZi))顡iIEEb EEYEE|EA"EE1:*EE*9VEEם5ZEAaM@aM@aM@aM@@-<I9IQO=BaBaBe`EBeA*?BaBaBaBeW;BeE2Acoustic response timeout) lJҏ,Vc*I?AR, >RV&>R>ٱRʾ bAHRS rotation from veh to nav: [[0.897733,-0.432449,0.084045],[0.353675,0.821227,0.447772],[-0.262658,-0.372256,0.890189]]RH:?=ۿ??~G?M?eп@ ׿m|?iR, >IRX_;RCYn+?ynrEz%>z=bDQ VD8y~I%%C=ٔ%B̼Q-->9)I)=-@Fy)5<E5>9Q 5E4= W?Q 9E4=n7)=YAyEQ IE?=DI=):i=:=?4yQɮUֻBURE*jBji?iziJiƷ<i2Acoustic response timeout kIkIkIh)2f9:f9Bf9Jf=]@ZMZMZIZMiY)a)aaaiaiIi1@m<IyIO=EMg EMXEMtEI"EMC:*EM9VEM5ZEIBEMX;aU2EMX;aUJEM:aU:EM:a]Yԑ  2Acoustic response timeoutVJҏ,.}*I?A06e>6>6>ٱ6x BAHRS rotation from veh to nav: [[0.898708,-0.427389,0.098300],[0.348815,0.832488,0.430456],[-0.265806,-0.352566,0.897243]]6H6?XZۿ0*?R?@??ѿ pֿ6?i6e>I6F_;6CYJ>yJELLbDV VDVi8y^}%^Q=ٔ^9`I`=b@Fy`fJTEf>hQ 5v4jl?Q 9z4j7)jY|y~:+Q I?j*DIj<;ij;jF4y ɮ B *jBji%?i%zi!Ji%Ʒ<i! ks-ks-ks-h9 ksHksHksHhQ2f:fBfJfZ@ZmZuZZi9)A)iiiiiyIԉa %-2Acoustic response timeoutԹyDQDU<Eer EeSEeyEa"Eek:*Ee9VEe5ZEaam@am@au@au@@'<IIO > BY A] <Ba Ba Be `EBe >Be =Ba Ba Be v;Be EB%.CB%.CB%̓CB%̣=B%̣=C%4tJҏ,Z*I?A.2Acoustic response timeout6 >66>6CDW>ٱ6"¾ >AHRS rotation from veh to nav: [[0.920633,-0.386216,0.057203],[0.329984,0.848013,0.414710],[-0.208676,-0.362919,0.908154]]6Hu?@ŷؿI?u?"?@?@ʿ:׿?i6 >I6_;4\Y >y sEyK7A?Q?Zd;O? 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P? ,쾿{ؿO?i2t=I2_;2CYB(>yBCEIF=)F%=bDNxVDN8yVS%V^=ٔV9xQ-V>9XIX=Z@FyX^E^>`Q 5f4bϔ?Q 9f4bB7)b Ydyf0>Q If?bKDIb:ib:bT4ylɮnbBnTE*jtBjtiv?izzixJizƷ<ix9 kC+kC+kC+h2f:fBfJfK&e@ZZZZi))iI 9u=u4=}2Acoustic response timeouti@<IIO+>ԑ = 2Acoustic response timeoutӟJҏ,*I?A2=2z>2g=ٱ2: :AHRS rotation from veh to nav: [[0.955061,-0.294297,-0.035319],[0.289552,0.900841,0.323488],[-0.063385,-0.319178,0.945573]]2H`܏?`ҿ`G??@?:@hmԿ!B?i2=I2`;2CYB)>yB"EF=Fa=bD VD 8yE%MA=ٔM5 Q-M>9IIQ=U@FyQU(?EU>ԙQ 54U?Q 94p7)| Yyo>Q I?^DI:i:q\4yɮ}B*jBji?iziJiƷ<D?AzD@AEl EYE|E"EV:*E*9VEם5ZEa @a @a @a @i  k1k1k1h! k1k1k1h12fA:fABfAJfEs.`@ZUZUZQZUia)i)iiiiiqIy591199B>BBDB,>BBBB.;BE2Acoustic response timeout@<IIO>! ˸Jҏ,*I?A>=>u>>>=ٱ>P JAHRS rotation from veh to nav: [[0.954236,-0.298623,-0.016086],[0.295402,0.932829,0.206318],[-0.046605,-0.201628,0.978353]]>H@?ӿx`? ?@h?@ܧ`ɿN?i>=I>a;>CYR>yRCEbD%1VD%8yeBP%eH=ٔm(Q-m>9iIi=m@Fyiuj<Eu>Q 54?Q 947)2 YyJ>Q I?oDI :i:]c4yBɮBLE*jBji?iziJiƷ<i k-k-k-h2Acoustic response timeout k3.k3.k3.hy2f:fBfJfMY@ZZZZi))iI -qA-pA9@<IIE  E E rE "E *E VE 5ZE BE Bx;a2E Ex;aJE :a:E :a!Oe4>Q 2Acoustic response timeouty  G 1 ] 9Y Y] AJҏ,x*I?A>$F=>A>>ӽ AHRS rotation from veh to nav: [[0.956113,-0.292536,0.016429],[0.288934,0.950678,0.112819],[-0.048623,-0.103121,0.993480]]>H {?`ҿҐ?}?k?? 娿&f?i>$F=I>a;>CY)z>yE 11IyM ףp= ?M/]>I I9MK7A`?DlZd;O?YM+?yMOMj<=MBM MB)MBIYMBbDeBVDe9ymݕ%u-=ٔu;Q-u>9qIy=}@Fyy}iE>Q 54ٰ?Q 947) YR,?Q E:y$K>Q I?DI :i:k4yBɮBME*jBji?iziJiƷ<i k5k5k5h k5k5k5h2f >:f >BfV"@Jf@ZZZZi))i!I!2Acoustic response timeout09q@-<IAIQIO]>bEl5jEם5rE c2E m E PE E "E Y:*E ?9VE  5ZE a@a@a@a@ԡB B /CB DB =B =B B B X;B E Jҏ,d+I?A"2Acoustic response timeout6R=6>6b=ٱ6 >AHRS rotation from veh to nav: [[0.961867,-0.270283,0.041944],[0.265781,0.959819,0.090046],[-0.064596,-0.075465,0.995054]]6H@?OLѿy?? ֶ?C ? _`Q{?i6R=I6Pa;4YFlp>yFEHHbDRVDR9yZ%Z=ٔ^gQ=Q-^?9`I`=b@Fy`b@Ef?dQ 5j4fg밉?Q 9j4f"7)f Ylyn0>Q In?fDIf;if;fq4ypɮrBt*j|Bj|i~?i~ziJiƷ<i k+k+k+h kSGkSGkSGh)2f9:f9Bf9Jf=ږ@ZMZMZIZMiY)a)aaaiaiIiԱM9@<IIO>2Acoustic response timeout E% j E% WE% vE! 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T)?#@N¿`?i2@I2)_;2CYR&>yR9iIq=u@Fyqu<νEu>yQ 54}p?Q 94}7)}Yyz=Q I?}DI}:i}:}ԛ4yɮȼBQE*jBji?iziJiƷ<i kHkHkHh kHkHkHh2f:fBfJf't@ZZZZi))i!I!39II52Acoustic response timeoutO]=1 2Acoustic response timeoutY 2*m=ٱ2 :AHRS rotation from veh to nav: [[0.988816,-0.148102,0.017570],[0.144734,0.981344,0.126552],[-0.035985,-0.122594,0.991804]]2Ha?¿?`? ,g? 2?lTb`ܼ?i2u@I2_;2CY^U7>ybuDbDjY!VDj 9yrD2=%rS=ٔrg;Q-v>9tIt=v@Fytz£Ez>|Q 54~a?Q 94~b7)~fYy!=Q I ?~DI~8;i~:~4yBɮB*j)Bj)i-?i-zi)Ji5Ʒ<i1Ek EVEE"EmR:*E9VEDz5ZEa@a@a@a@ kPkPkPh2f:fBfJf%D@1Z=Z=ZAZEiQ)q)qqqiqyIyI4?)?M9IaIyO=B->B)B-DB-=B)B)B-/DB-;B-WEB/CB/CBBĤ=BĤ=C84aE2Acoustic response timeoutԉԹ iJҏ,Fz+I?A2#@2>2ҹ<ٱ2ν :AHRS rotation from veh to nav: [[0.991715,-0.128097,0.009627],[0.126440,0.986621,0.102917],[-0.022682,-0.100848,0.994643]]2H!?`ze`H?@./? f?X?9`%ѹ@?i2#@I2^;0Y^>y^DIb%=)b<bDfG#VDf9ynb%rJ=ٔrQ-r>9pIt=v@Fytv;Ev>xQ 5~4zК?Q 9~4z/7)zYyybDp=a=y=ʡE?ʡEÿˡEĿ=-2>=='9 99=V-?bX9ֿK7ѿY=|>y=E=I=B=lB =B)=B9Y=BbDU%VDU9y]7=%e4=ٔewQ-e>9iIi=AFyE>Q 54F?Q 947)Y+?Q E:yQQ I?)DI:i:ڱ4y Bɮ B SE*jBji?i%zi!Ji%Ʒ<i! kVkVkVh9 kVkVkVhI2f]>:f]>Bf];D@Jf]n@smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudderZuZuZqZui))顉iI:I2Acoustic response timeoutIO#>DD4=Ef EQEE"EI@:*Ev9VEZEa@a@a@a@ԡ B B B DB =B =B B B ;B yEU 2Acoustic response timeoutz}Kҏ,8,I?A2@2=2ٱ2d+8 >AHRS rotation from veh to nav: [[0.992127,-0.120455,-0.034286],[0.123071,0.988427,0.088690],[0.023206,-0.092212,0.995469]]2H ?!־ `?`1?k?O×? 1?i2@I2_;2CYBg'>yFDR R)RbDZ&VDZ9yb%bi=ٔb9WQ-b>9dId=fAFydj9Ej?lQ 5r4nſ?Q 9r4n7)nYpyrQ Ir?n7DIn:inN:n4yxɮzBx*jBji?i zi Ji Ʒ<i  kFkFkFh! kC_kC_kC_h2f:fBfJfʧ@ZZZZi)) i I:II OE=ԡipAIpA2Acoustic response timeout E e E [E E "E <:*E 9VE 5ZE BE aL;a 2E cL;a JE ;a :E ;a Kҏ,p>5,I?A>1@>=>ٱ>Q FAHRS rotation from veh to nav: [[0.993682,-0.103340,-0.043785],[0.106463,0.991386,0.076288],[0.035524,-0.080467,0.996124]]>H=?`{t k"A?n?@?`C0?}`??i>1@I>TN_;>CYN_>yNvD PPbDZ(VDZ:9`yb:%fI=ٔfQ-f>9hIh=jAFyhj'Ej>lQ 5r4nwұ?Q 9v4nP7)nYtyv=Q Iv?nGDIn:in:n׾4yzټBɮzB~]E*j Bj i ?i zi JiƷ<i kikikih) kikikih92fI:fIBfIJfM>@ZUZ]ZYZ]ii)i)qqqiqI:I%=2Acoustic response timeoutI)Oe=UGi9YAA  2Acoustic response timeoutKҏ,N,I?A6@6v=6%Dٱ6 BAHRS rotation from veh to nav: [[0.997788,-0.058110,-0.032277],[0.060238,0.995766,0.069440],[0.028105,-0.071230,0.997064]]6H?`׮?@P?Ʊ?@ǜ?'<?i6@I6_;6CYF>yJ#DHH9bD )VD 9yM%MD=ٔUՑ9QIQ=UAFyQ]E]>aQ 5m4e䱉?Q 9m4e7)e$YiyuQ Iu?eXDIe:ie:e Ɖ4yyɮ}By*jBji?iziJiƷ<bE!jE%5rE%2Ei EVEE"E,K:*E9VE5ZEa@a@a@a@i kjkjkjh kjkjkjh2f:fBfJfw˸@Z}Z}ZyZ}i))顑iI:IIO>iB>BBBBBBB;BЙE%2Acoustic response timeoutԑ =Kҏ,h,I?A2@2<2&ٱ2 Ns :AHRS rotation from veh to nav: [[0.999106,-0.025882,-0.033441],[0.027808,0.997903,0.058458],[0.031858,-0.059336,0.997730]]2H ?@ڀ1@y?@?1?O? 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?Ǒ?﴿Q?i2$7@I2q_;2CYf>yfDrr(r'bDz0VDz 9yq%F=ٔ 9Q- >9 I = AFy ;E>Q 5%4v?Q 9%447)Y!y-b@Q I-?DI[:i:44y5Bɮ5B5HE*jABjAiM?iMziIJiMƷ<iI kCekCekCeha kSekSekSehq2f:fBfJf@"@ZZZZi))顩iI 7 :IԱI2Acoustic response timeoutO= iߥ AIߡ  2Acoustic response timeoutI 9 b3Kҏ, ,I?A2@2 @2UE:ٱ2\7 :AHRS rotation from veh to nav: [[0.999998,0.000534,0.001704],[-0.000737,0.992664,0.120902],[-0.001627,-0.120903,0.992663]]2H?A?`[?@"H?`h?੨Z`z@?i2@I2l_;2CYN>yRD TTV=V=bDZ1VDZ 9yb %fN=ٔf[D=Q-f>9hIh=jAFyhjKEj>lQ 5r4nL?Q 9v4n~7)nKYtyv@Q Iv?n*DIn-:in:n!4yzBɮzB~FEEh ESEhE"EG:*E9VEA{5ZEa@a@a@a@*jBji?iziJiƷ<i k_k_k_h2f :f Bf Jf  @Z=ZEZAZEia)a)iiiiiiIqMj :IaIqO=BqBqBqBqBqBqBqBu;BuE2Acoustic response timeoutI=,>)=)>Ai ]:Kҏ,U,I?A 6_@6Z@6<ٱ6($ BAHRS rotation from veh to nav: [[0.999373,0.017480,0.030776],[-0.022179,0.986923,0.159658],[-0.027583,-0.160241,0.986693]]6H ?5?`Ã?? o?@>‚Ŀ`?i6_@I6_;6CYJ>yJȡDPR?AbD +3VD S 9yM#%MB=ٔU|=Q-U>e2Acoustic response timeout9YI=AFyIE>Q 547!?Q 94m7)Yy@Q I?aDI:i$:4yBɮݼBEl EYEE"EV:*E*9VE5ZEBEBx;a2EEx;aJE:a:E:aԙ 2Acoustic response timeout e PExceeded connect timeout, disconnecting.@Kҏ,$-I?Ay^Dyn?/$?l񢿙V>> 9n?Zd;O?x&?YV>yj=7>BB B)BYºBbD4VD9y==%=:=ٔ=fiQ-=>9AIA=EAFyAEEM>QQ 5]4U/?Q 9]4Uk7)UtY];>Q E]:y]>Q I]?UlDIU/:iU8:U(4yiɮmּBi*jyBjyi}?iziJiƷ<i k]k]k]h2f6>:f6>Bf@Jf4@ZZZZi))iIԡM:IIO% >M2Acoustic response timeoutEus EuVEuEq"Euso:*Eu9VEu*5ZEqa}@a}@a}@a@ AA AE @ABE >BA BE DBE =BA BA BA BE p;BE ܚEBBBBʣ=Bʣ=Cb4 2Acoustic response timeoutnGKҏ,-I?A24@2/@2ٱ2 :AHRS rotation from veh to nav: [[0.997761,0.061972,-0.025162],[-0.058545,0.991105,0.119509],[0.032344,-0.117768,0.992514]]2H?պ?@ę"?`'?t?& ?i24@I2_;2CYNS>yRD|bD 5VD 9ya %%a=ٔ%ĽQ-%>9!I)=-AFy)-KüE->1Q 5=45"Q IE?5vDI5;i5;54yMBɮMۼBU=E*jaBjaie?ieziaJimƷ<ii kSEkSEkSEh k^k^k^h2f:fBfJfN@ZZZZi))iI[:II OM=)YiyI}A2Acoustic response timeoutԁ E g E WE sE "E C:*E 9VE X5ZE BE X;a 2E X;a JE :a :E :a }>MKҏ,7-I?A2˿@2@2Qٱ2v :AHRS rotation from veh to nav: [[0.996797,0.073404,-0.031752],[-0.071314,0.995488,0.062588],[0.036203,-0.060123,0.997534]]2H@? ʲ?AA` ?`?&?fȮ?i2˿@I2$_;2CYN >yR6DR=Rp=bD^B7VD^59yf1<%fP=ٔf Q-f>9hIh=jAFyhjEn>pQ 5r4rbI?Q 9v4r j7)rYtyv7I>Q Iv?rDIr:ir6:r^4yxɮ~ؼB|*j Bj i ?i ziJiƷ<iY k3Fk3Fk3Fh2f:fBfJfY@ZZZZi))iI 2Acoustic response timeout:IIOIԁ2Radio surface powered ON.nManaging dock network, ignoring radio surface power offԱ 2Acoustic response timeout &TKҏ,{hQ-I?A2@2@2HFٱ2'< :AHRS rotation from veh to nav: [[0.995642,0.081912,-0.044573],[-0.079685,0.995584,0.049634],[0.048442,-0.045866,0.997772]]2H@M?2?@UҦAf ?i?lͨ?{@?i2@I2R `;2CY^c>y^DbDj8VDj9yr <%rI=ٔrKQ-v>9tIt=vAFytzEz>|Q 54~W?Q 94~Ei7)~-Yy9>Q I ?~DI~;i~:~{ 4yBɮռB>E*j!Bj!i-?i-zi)Ji-Ʒ<i) k3Jk3Jk3JhA k3Jk3Jk3JhQD]@AzDYEei EeLEeEa"Ee,K:*Ee|9VEe5ZEaam@am@am@am@Թ2f:fBfJfL@Z-Z-Z)Z-i9)9)AAAiAIII-:IAIQO=BBBBB=BBB;BE2Acoustic response timeout9 QZKҏ,Gk-I?AJf@Jj @J,EٱJp VAHRS rotation from veh to nav: [[0.994409,0.096992,-0.041742],[-0.093921,0.993106,0.070132],[0.048256,-0.065819,0.996664]]JH3?{Ը?@3_ 9 ?$?`?`ٰ?iJf@IJ_;JCY^}=yb@Dr%r*p ttv=v=bDz9VDzv9y}1% H=ٔ 9Q- >9I=AFyLE>Q 5%4d?Q 9-4~h7)Y)y-7>Q I-?DI:i6:4y1=2Acoustic response timeoutɮE޼BA*jQBjYi]?i]ziYJi]Ʒ<ia kGkGkGhq kGkGkGh2f:fBfJfC@ZZZZi))项iI-:IAIQO=Emf EmUEm~Ei"EmI@:*EmP9VEm5ZEiBEmR;a}2EmR;a}JEm:a}:Em:a}A>>I9)=,>i C2Acoustic response timeoutE Gq 9 Y Ayu h?} Aԡ 8aKҏ,`-I?A2`@2d@2Qٱ2= :AHRS rotation from veh to nav: [[0.993522,0.111596,-0.021464],[-0.108177,0.986591,0.122211],[0.034815,-0.119098,0.992272]]2H`??@{'? ?I?>ӡ?0}?i2`@I2*p_;2CY^[>yb\D``ae@ae ae@ae ae@ae ae@ae ae@am yeZd;?I +?w/Ŀe۹>e949I=AFy E>Q 54s?Q 94g7)Q A+:YQ E:yG>Q I?DI;i>4yBɮмB?E*jBji?iziJiƷ<i kFkFkFh kFkFkFhZZZZi))1q)顱iIr:IIO>M2Acoustic response timeoutԡD}%=D}<bEƲ5jEP5rE02Ed EXEE"E9:*E9VE5ZEa@a@a@a@B B B DB #>B B B B f;B bE  2Acoustic response timeoutbgKҏ,-I?A2-n@21i@2ٱ2o- :AHRS rotation from veh to nav: [[0.993097,0.116979,-0.008649],[-0.113801,0.978737,0.170658],[0.028428,-0.168495,0.985292]]2Hr?@U?"`Q? ?W?@ſ?i2-n@I2_;0YB>yBDbD-?<VD-9yK.%I=ٔր9I=AFybE>Q 54%?Q 94f7)}Q A :YQ E:y]>Q I?DI`;i U?D4yɮټB*j Bj i?iziJiƷ<i kFkFkFh9ZeZeZaZeiq)y)yyyiyI:IIO>e2Acoustic response timeout) E f E TE rE "E I@:*E 9VE 5ZE BE a 2E a JE :a :E :a fmKҏ,׸-I?A2E2@2I-@2Vٱ2W3 :AHRS rotation from veh to nav: [[0.992554,0.121517,0.008330],[-0.121099,0.977178,0.174521],[0.013068,-0.174230,0.984618]]2H??&?W E? V?/Ê?)Mƿ@?i2E2@I2y_;2CYB>yBSDI~<)~%=bD A=VD 9yEػ%EP=ٔM\ =Q-M>9III=UAFyQU EU>Q 541?Q 94e7)9Q A9YQ Ee:ytV>Q I?DI<:i?"4yɮڼB*jBji?iziJiƷ<i kFkFkFh kFkFkFhZ-Z5Z1Z5iA)A)IIIiIIIQ2Acoustic response timeout)m:IIO=Yԁ e 2Acoustic response timeoutttKҏ,-I?A06B@6F@6Z;ٱ6i BAHRS rotation from veh to nav: [[0.990732,0.133638,0.024298],[-0.135634,0.982933,0.124285],[-0.007274,-0.126429,0.991949]]6H ???`v\ /t? 'ѿ?>}. ?i6B@I6_;6CYJh >yJDN=LEEi EEXEEEA"EE,K:*EE9VEE*5ZEAaM@aM@aM@aM@bD t>VD 9y]H<%]I=ٔeL=Q-e>9aIi=mAFyimoEm>qQ 5}4u?Q 9}4ud7)u Q A9YQ E9:y'>Q I?uDIu ;iu{?u$4yBɮռB@E*jBji?iziJiƷ<i k3Ik3Ik3IhAZ}Z}ZyZ}i))顑iId:IBBBDB=B=BBBC;BOEIO >2Acoustic response timeout fzKҏ,-I?A:@:@:ٱ:L NAHRS rotation from veh to nav: [[0.987144,0.159361,0.012289],[-0.159827,0.983480,0.084983],[0.001457,-0.085855,0.996307]]:H஖?@e?*?@6uĿ@x?`z?W?@?i:@I:P_;:CYV!>yVDbDb?VDb9yj\=%jT=ٔjIQ-j>l9lIp=rAFyprnEv>tQ 5z4v?Q 9z4vd7)vQ A~9Y|Q E~:y~=Q I~?vDIvz ;iv@vV'4yɮ ˼B %2Acoustic response timeout*j)Bj)i-?i-zi)Ji5Ʒ<i1 k-k-k-hI kFkFkFhYZuZuZqZui))顉iI:IIO= EMk EMfEMxEI"EMmR:*EM9VEMe5ZEIBEMq;a]2EMr;a]JEM-;a]:EM-;a]12Acoustic response timeouti {Kҏ,e.I?A2[@2V@2- ٱ2wYs :AHRS rotation from veh to nav: [[0.984018,0.178053,0.002217],[-0.177864,0.982228,0.059938],[0.008495,-0.059374,0.998200]]2H@}?o?(b?>ƿ`in?@2?`e?Rf`@?i2[@I2u_;0Y^V>ybBD ddf=f=9aa aa aa aa aa yx&1?Q?:v><Լ 9sh|?? rhͿX9vY>ylEBB B)BYLBbD@VD9yC%<=ٔDŽQ->9I=AFy-E>Q 54?Q 94h7)NQ AT:Y?Q E:yv(Q I?DI;i:.4yɮ̼BAE*jBji ?i zi Ji Ʒ<i  ks*ks*ks*h! kEkEkEh12fE\>:fE\>BfE3@JfE`@ZUZUZQZ]ii)i)iiiiiI>:III -2Acoustic response timeoutOU>iEec Ee`EeEa"Eeg5:*Ee9VEeH5ZEaam@am@am@am@ԡB >B B DB #>B B B B $;B >E  2Acoustic response timeoutKҏ,xA .I?A2W@2[@2 ٱ2n :AHRS rotation from veh to nav: [[0.981240,0.192776,0.002175],[-0.192568,0.979516,0.058878],[0.009219,-0.058192,0.998263]]2H@Rf??a?ȿ1X?`3%?`? U˭?i2W@I2b_;2CY^'>ybiDhhbDvBVDv09yC<%W=ٔ Q- >9I=AFy E>)Q 554-Ʊ?Q 9=4-Tk7)-Y9yE8,Q IE?-DI-V;i- M;-54yIɮUǼBQԙ*jBji?iziJiƷ<i k*k*k*h! k3Gk3Gk3GhQ2fi:fiBfiJfm@ZZZZi))顩iI:IIO >=2Acoustic response timeoutEm g Em REm Ei "Em C:*Em 9VEm c5ZEi BEm X;au 2Em X;au JEm $:a} :Em &:a}  ڍKҏ,:.I?A:0j@:4e@:+}cٱ:u_̽ BAHRS rotation from veh to nav: [[0.978283,0.207152,0.007089],[-0.206808,0.973224,0.100329],[0.013884,-0.099616,0.994929]]:H`N?@?) }?xʿ`$?@+?io? tu?i:0j@I:3_;:CYJ>yJDZ)ZZ) Z&bDbfCVDb9yj|%jN=ٔj@Q-j>9lIl=nAFylrYEr>tQ 5v4vӱ?Q 9z4vn7)vYxyz1Q Iz?vDIv:ivW:v<4yBɮͼBBE*jBji?iziJi%Ʒ<i! k+k+k+h1 kFkFkFhI2fY:fYBfYJf]]@ZmZmZiZmiy)y)顁iII0?)+?2Acoustic response timeout!:IIO=!QM 2Acoustic response timeouty ”Kҏ,@S.I?A2쒻@2@2Jٱ2x :AHRS rotation from veh to nav: [[0.979389,0.200940,0.020494],[-0.201959,0.972668,0.114584],[0.003090,-0.116361,0.993202]]2H'W?j?`l?ɿ ?ZU?@0Qi? ɽP?i2쒻@I2%N_;2CYvO >yvۨDIz<)zp;bD.EVD9y%F=ٔtE%h E%YE%E!"E%G:*E%*9VE%5ZE!a-@a-@a-@a-@91I1=5AFy1=;D<E=>AQ 5M4E᱉?Q 9M4Eer7)EYIyMy1Q IM?EDIE:iE:EC4yUBɮ]B]KE*jiBjqiu?iuziqJiuƷ<iy kIkIkIh k3Ik3Ik3Ih2f:fBfJflf@ZZZZi))iI/":ԹIIOE=B]>BYB]DB]=B]=BYBYB]E;B]PEBBBBä=Bä=C42Acoustic response timeout 9 Kҏ, m.I?A2^C@2b>@2w<ٱ2 :AHRS rotation from veh to nav: [[0.977130,0.206361,0.051298],[-0.211406,0.968724,0.129926],[-0.022882,-0.137799,0.990196]]2HD?j?@C?\˿?i?\ng ?i2^C@I25_;2CYN=yRϕDR=Ra=2Acoustic response timeoutbD^FVD(9y%C=ٔ}=Q->9I=AFy޾E>Q 54ﱉ?Q 94v7)hYym5Q I?DI:iZ: K4yɮǼB*jBji?iziJiƷ<i kDkDkDh kDkDkDh2f:fBfJfkޘ@19 rNAggregate::initialize marl:UpdateRudderq9J]q997%o%XAggregate::initialize marl:UpdateCommandMode18%]!18%o%@Completed marl:UpdateCommandMode7%o%\Aggregate::uninitialize marl:UpdateCommandModeq7%n-LAggregate::initialize marl:UpdateSpeed7-])7-n-4Completed marl:UpdateSpeedq7-n-PAggregate::uninitialize marl:UpdateSpeedZ5Z=Z9Z=iI)I)IIQiQQIY#:I)I9O=E5 E5QE5E1"E5:*E5v9VE55ZE1BE5;a=2E5;a=JE5:aE:E5:aE92Acoustic response timeoutԑ աKҏ,:.I?A02`@2![@2Y<ٱ24 :AHRS rotation from veh to nav: [[0.971059,0.234370,0.045986],[-0.238469,0.962125,0.132093],[-0.013285,-0.139236,0.990170]]2H??@w?`*ο?l?`m5 y?i2`@I2G_;0Y^_>y^vDyS㥛?Fx?Q?$>K>(> 9i|?5?MbI +Y>y9zBB B)2BYBbD GVDw9y|=%B=ٔQ->9I=AFy%ᆽE%>)Q 554-?Q 954-w7)-Y5{>Q E5:y=Q I=?-DI- ;i- ;-eR4yEBɮEBELE*jQBjQi]?i]ziYJi]Ʒ<iY kCEkCEkCEhq kcEkcEkcEh2fR>:fR>Bfh@Jf@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZZZi))iI qAԉ$:II2Acoustic response timeoutO5 >ԹE=e E=PE=uE9"E=<:*E=?9VE=5ZE9aE@aE@aE@aE@BY AY B] >BY BY BY B] =BY BY B] u;B] lE  2Acoustic response timeoutKҏ,G.I?ARFҹ@RJ@R*:ٱR y\ fAHRS rotation from veh to nav: [[0.966870,0.252679,0.036272],[-0.255269,0.957419,0.134861],[-0.000650,-0.139652,0.990200]]RH ?@+?0?@RVп`,?!C?PE@?iRFҹ@IR'_;PYr>yrD YYbDeGVDe9yY;%R=ٔQ->9I=AFy5E>Q 54@?Q 94Hy7)Yy̩Q I?(DI:iB:6Y4yɮB*jBji?iziJiƷ<i kFkFkFh k_k_k_h2f:fBfJfo@ZZZZi) )   i I&:II)Oe>iYI]oAiIA2Acoustic response timeout)EM j EM `EM {EI "EM N:*EM 9VEM :5ZEI BEM k;aU 2EM k;aU JEM ;a] :EM ;a] Y (Kҏ,c.I?A2!@2%~@2)ٱ20 :AHRS rotation from veh to nav: [[0.964307,0.262925,0.031346],[-0.264584,0.952156,0.152955],[0.010370,-0.155789,0.987736]]2H`?`? ?пx? ? _;2CYv:>yv&DxxbDHVD]9y5J%T=ٔbQ->9!I!=%AFy!%ͼE->)Q 554-?Q 954-z7)-Y9yEQ IM?-3DI-;i-G;-_4yɮB GME@9YA*j Bji?iziJiƷ<i kGkGkGh) k`k`k`hA2fQ:fQ}2Acoustic response timeoutBfQJfU>@ZZZZi!))))11i1QIYM':IYiIqO>ԑ- 2Acoustic response timeout aKҏ,A.I?A2F@2J@2(ٱ2 :AHRS rotation from veh to nav: [[0.965862,0.256968,0.032821],[-0.259043,0.956778,0.132186],[0.002565,-0.136175,0.990681]]2H`X?@)r?͠?(п?v? e? 2n?i2F@I2N"_;2CYB>yBDbDNIVDN9yV=%VQ=ٔV9XIX=ZAFyX^q<E^>`Q 5f4br+?Q 9f4b~|7)bKYdyfQ If?b?DIb-:ib:bf4ylɮnBl*jtBjtiv?izzixJizƷ<ixD|zD|bEݡ5jE5rE|$2Eg EOE~E"EC:*E9VE5ZEa@a@a@a@ԙ2f:fBfJfa@ZZZZi))iII-?)v?C):IB>B0CBDB#>B=BBB;BtEIOE=2Acoustic response timeout :Kҏ,.I?A2e@2i@2!9ٱ2T :AHRS rotation from veh to nav: [[0.964786,0.261292,0.030239],[-0.263036,0.958457,0.110332],[-0.000154,-0.114400,0.993435]]2H?? ? п@?>?`c:$ WI7?i2e@I2L_;0YB >yBDRVV' V$IV=)VbD^JVD^9yf$%fH=ٔfl;Q-f>9hIh=jAFyhj&En>r2Acoustic response timeouttQ 5z4v:?Q 9z4v/~7)vYxy~mQ I~?vKDIv;iv;vm4yBɮBNE*jBji?iziJiƷ<i! kEkEkEh1 kFkFkFhA2fQ:fQBfQJfUH@ZeZeZiZmi))i I *:II!OM=E EPE}E"E*E?9VEs5ZEBEX;a2EX;aJE:a%:E:a%!Q2Acoustic response timeouty "Kҏ,4/I?A2ڹ@2@2Cٱ2dĽ :AHRS rotation from veh to nav: [[0.967064,0.254212,0.012815],[-0.254255,0.962413,0.095479],[0.011939,-0.095593,0.995349]]2H`/?`E?@~>? Eп?Vq? s?x?i2ڹ@I25_;0Yf|>yf`Dj=hyU:vQ?Q?UԼU=U\=Q Q9UK7?Q?333333?YUI >yUuUBUlB UKB)UBQYUBbDmKVDm9y}<%}?=ٔQ->9I=AFy<E>Q 54??Q 94A~7)YP>Q E;y3Q I?ODIr;i:\u4yɮB*jBji?iziJiƷ<i kFkFkFh k#_k#_k#_h2ff>:ff>Bf׿@Jf @Z ZZZi!)!))))i))QIJ,:II2Acoustic response timeoutO >ԁD=D4=E%d E%RE%E!"E%9:*E%9VE%5ZE!a-@a-@a-@a-@ԱBB/CBDB=BBBB;BE 2Acoustic response timeout MKҏ,V"/I?A6ø@6@6q5ٱ6!߽ >AHRS rotation from veh to nav: [[0.956966,0.289995,-0.010963],[-0.286787,0.950809,0.117108],[0.044384,-0.108925,0.993059]]6H v? E?sZҿm?@??}⻿#?i6ø@I6c;_;6CYF>yFDbD=LMVD=X9y%J=ٔ5Q->9I=AFy[E>Q 54]D?Q 94U~7Q =tI)Yy*dQ I?SDI:i:p|4yɮB*jBji?iziJiƷ<i kFkFkFh k#_k#_k#_h2f :f Bf Jf Ԯ@ZZZZi))))))1i19I9Աj-:I IO}=2Acoustic response timeout E- f E- NE- E) "E- I@:*E- ҆9VE- 5ZE) BE- R;a5 2E- R;a5 JE- :a= :E- :a= 1 wKҏ,9I=AFyE>Q 54H?Q 94o~7)Yy摽Q I?VDI):i:4yɮƼB*jBji?iziJiƷ<i kFkFkFh2f!:f!Bf!Jf%@Z=Z=ZAZEY]=e2Acoustic response timeouti))顉iI/:IIO >Aԉ  2Acoustic response timeoutw_Kҏ,V/I?A0:@:@:y_ٱ:p BAHRS rotation from veh to nav: [[0.947111,0.320225,0.020884],[-0.320407,0.940014,0.117101],[0.017867,-0.117599,0.992900]]:HN? ~?`b?Կ?P?`K? ?i:@I:H_;:CY^ >y^MD``Er_ ErOErEp"Er&:*Er9VEr85ZEpav@av@av@av@bD%OVD%.9ye#h=%eN=ٔm̰=Q-m>9iIi=uAFyquEu>yQ 54}M?Q 94}~7)}YypQ I?}ZDI}G:i}:}}4yɮB*jBji?iziJiƷ<i kGkGkGh kGkGkGh2f:fBfJf,@ZuZuZyZ}i))顉B>BBDB=BBBB ;BEiI;0:IIIO>m2Acoustic response timeoutA NKҏ,cp/I?A2@2@2R<ٱ2 :AHRS rotation from veh to nav: [[0.949724,0.307236,0.060247],[-0.312353,0.942961,0.115149],[-0.021433,-0.128178,0.991520]]2H $d?©?خ?ӿ,?`cz? |`"h@?i2@I2]_;2CYN>yR9Db2Acoustic response timeoutbDZOVDZ9y%h%%O=ٔ-c=Q-->9)I)=5AFy15V<E5>9Q 5E4=RR?Q 9E4=~7)=YIyMQ IM?=]DI=W:i= :=g4yUBɮUBUOE*jaBjiim?imziiJimƷ<iq k3Gk3Gk3Gh k_k_k_h2f:fBfJf @ZZZZi))iIe1:IIO%=Ec ESEyE"Eg5:*E9VE5ZEBE?;a2E?;aJEl:a:Em:aIy2Acoustic response timeoutԡ +qKҏ,%>/I?A2OG@2TB@2 <ٱ2" :AHRS rotation from veh to nav: [[0.943315,0.325870,0.062967],[-0.331128,0.936947,0.111735],[-0.022586,-0.126251,0.991741]]2H/? ??41տw?? )W?i2OG@I2D_;0YBB=yBWDIF%=)F=a @a  a @a  a @a  a @a  a @a  y 333333K7A`ſClѿ  + ߏ  ) Mb@Mb@Mb@I i y    )  I bDPVD9y%?=ٔ0;Q->9I=AFy/>E>Q 54}W?Q 94~7)Q A+:YQ ES;yνQ I?aDI;i>r4y ɮ B *jBji%?i%zi!Ji%Ʒ<i! kGkGkGh9 k3`k3`k3`hIZeZeZaZeiy)y)yyyiIM3:IaIq2Acoustic response timeoutO>ԡEb EPEE"E1:*E?9VEH5ZEa@a @a @a @B>BBBB=BBBd;BEBQBQBQBQBQCU4 } =y  2Acoustic response timeout@Kҏ,/I?A2ƶ@2½@2W*)ٱ2ӽ :AHRS rotation from veh to nav: [[0.937452,0.348102,-0.002952],[-0.345657,0.931807,0.110709],[0.041288,-0.102765,0.993848]]2H?LG?-h`>ֿ@]?@sW?#?N@?i2ƶ@I2Wj_;2CY^9>y^YDb=b=bDjQVDj[9yru=%v[=ٔvx/Q-v>9xIx=zAFyxz,E~>Q 54[?Q 9 47)Q A  :Y Q E *;y ?Q I ?dDI:iVM?4yɮB*j)Bj)i-?i5zi1Ji5Ʒ<i1 k]k]k]hI k]k]k]hYZuZuZqZui!)!))))i))IQ-4:IIIaO=2Acoustic response timeout1E d E gE nE "E 9:*E &9VE J5ZE BE F;a 2E F;a JE 1;a :E 1;a i Kҏ,/I?A2:S@2?N@2Kwٱ2C :AHRS rotation from veh to nav: [[0.931570,0.362296,-0.030318],[-0.358521,0.929291,0.088777],[0.060338,-0.071832,0.995590]]2Hk? /?` `ֿ`?@?? c?i2:S@I2c_;2CYn=>ynsD&% ")+bDRVD9y%%%G=ٔ%=Q-->9)I)=-AFy)5 E5>9Q 5E4=!`?Q 9M4=>7)=Q AM9YIQ EM ;yU,Q IU?=hDI=[;i=?=4yaɮeBi*jBji?iziJiƷ<i ks`ks`ks`hZZZZi))i I9E2Acoustic response timeout pA5:IIO>aԉi I A 2Acoustic response timeoutԹ Kҏ,F/I?A2u@2z@2ٱ2] :AHRS rotation from veh to nav: [[0.925290,0.378937,-0.015658],[-0.377246,0.923840,0.064844],[0.039037,-0.054093,0.997773]]2H ?`@?$ؿ?`???i2u@I2_;0YB .>yBD DDJ=J=bDNSVDNP9yVV=%VR=ٔV`=Q-Z>9XIX=ZAFyX^PE^>Ebe Eb[E`E`"Eb<:*Eb9VE`ZE`af@af@aj@aj@lQ 5]4nld?Q 9]4n7)nQ Ae9YaQ Ee:yeYQ Ie?nkDInٓB9B=DB==B==B9B9B=;B=EQIQԑ56:IAIQO=M2Acoustic response timeout Kҏ,/I?A2Z@2U@2<ٱ2aW :AHRS rotation from veh to nav: [[0.921915,0.385456,0.038683],[-0.387270,0.919529,0.066998],[-0.009745,-0.076748,0.997003]]2HS?O?`GΣ?ؿl?@&?`_`r?i2Z@I2_;2CYB|>yB`DF@ADR2Acoustic response timeoutbD TVD 9yu%==ٔ=Q->9I=AFyǼE>Q 54ji?Q 947)Q A9YQ E:yUQ I?oDI:i9@4yɮB*jBji?iziJiƷ<i ksGksGksGh kGkGkGhZZZZi)))))))i)1I9M8:IaIqO=Eo EQEwE"E`:*Ev9VEɕ5ZEBE;a2E;aJE:a:E:a  C>!G 9YٙAe2Acoustic response timeoutI Lҏ,; 0I?A,2Դ@2ϻ@2KM:ٱ2,n߽ >AHRS rotation from veh to nav: [[0.915489,0.399873,0.044520],[-0.402343,0.910081,0.099366],[-0.000783,-0.108881,0.994055]]2HK??`T˦?`ٿ`a?p?yI`߻K?i2Դ@I2z_;2CYN.>yNDaa aa aa aa aa yE?K7?~jt?>I >D= 9rh|?Mbȿ ףp= ?Y>y@Q=B B)+BYBbDEUVD9y=%C=ٔ_Q->9I=AFyl E > Q 54 r?Q 94 F7) Q AT:Y>Q E:y]Q I? zDI ;i 3; k4y-Bɮ-B-PE*j9Bj9i=?iEziAJiEƷ<iA kcEkcEkcEhY kcEkcEkcEhi2f} >:f} >Bf}L@Jf}q@ZZZZi))顡iII)?)R?ԉ2Acoustic response timeout_::IIO>ԱbE]A5jE]ם5rE]Ʀ^2Eg ERE~E"EC:*E9VE5ZEa@a@a@a@A1A1B5>B1B5DB5#>B1B1B1B5;B5>E ] 2Acoustic response timeoutLҏ,a%0I?A2o״@2sһ@2*Qٱ2J :AHRS rotation from veh to nav: [[0.915547,0.400106,0.041104],[-0.402009,0.907051,0.125092],[0.012766,-0.131051,0.991293]]2H(L?U?@ ? ٿ? ?`%%?Kସ?i2o״@I2_;2ClYr >yr}DIY)]<bDe'VVDel9yĸ%P=ٔI Q->9I=AFy[:E>Q 54{?Q 94r7)Yy[Q I?DI:i9:I4yɮB*jBji?iziJiƷ<i kEkEkEh kFkFkFh2f:fBfJflT@ZZZZi))iI!;:I IOM>i߹I߹2Acoustic response timeout1E f E ]E pE "E I@:*E 9VE 5ZE BE R;a 2E R;a JE  ;a :E  ;a a Lҏ,8?0I?A2#@2'@2Ӽٱ29 :AHRS rotation from veh to nav: [[0.904801,0.423752,0.042062],[-0.425048,0.892712,0.149661],[0.025870,-0.153292,0.987842]]2H!??0? 3ۿ? (?}?`ÿ`g?i2#@I2/[_;2CYB>yFjDJ=HbDZWVDZ9yjOt%jY=ٔjyQ-n>99YIa=eAFyamEm>qQ 54u?Q 94u7)ugYywaQ I?uDIu6D;iuE;u-4yɮB*jBji?iziJiƷ<i kFkFkFh kFkFkFh2f:fBfJfZ_@ZZZZ^B*** querying acoustic contact ***XYi ) )2Acoustic response timeouti!I)5<:IAIQO=iԑ 2Acoustic response timeout Lҏ,Y0I?A2@2 @2<ٱ2ڽ :AHRS rotation from veh to nav: [[0.905496,0.422725,0.037156],[-0.423811,0.896429,0.129611],[0.021482,-0.133109,0.990868]]2H? ??ۿ`??x?@ 1?i2@I2Jh_;2CDLzDN?AERl ERRER}EP"ERV:*ER9VERs5ZEPaZ@aZ@aZ@aZ@YZ >yZ DbDfWVDfC9ynt<%nJ=ٔrF19pIp=rAFytvFo;Ev>xQ 5~4zf?Q 9~4zٌ7)zY|yJbQ I?zDIz;iz ;z4y ɮ B *j!Bj!i%?i-zi)Ji-Ʒ<i)ԙBBBBBBBB*;B[E kGkGkGh2f):f)Bf)Jf-7|@Z]Z]ZYZ]ii)i)顑iI P>:IIO >52Acoustic response timeout (Lҏ,r0I?A2!R@2%M@2 /ٱ2d :AHRS rotation from veh to nav: [[0.895437,0.443290,0.041061],[-0.445058,0.889137,0.106579],[0.010737,-0.113709,0.993456]]2Hk?^??{ܿs?H??`d?B2Acoustic response timeouti2!R@I2GK_;2CYF=yF-DZZ Z Z)Z% \\^=\bDfXVDf9yn7%nJ=ٔn9pIp=rAFypr6nEv>tQ 5z4vᔲ?Q 9~4vC7)vhY|y~3iQ I~?vDIv;ivf;vȊ4yBɮB ZE*jBji%?i%zi!Ji%Ʒ<i! k,k,k,h9 k#Hk#Hk#HhI2fY:fYBfYJf]ׅ@ZmZmZiZmi))顁iI) z?:II9Oe=E` EuEE"E*:*E:VE5ZEBE-;a2E -;aJExd;a:Exd;a=2Acoustic response timeoutIq ) #Lҏ,ľ0I?A6F@6B@6ٱ6Zֽ BAHRS rotation from veh to nav: [[0.880384,0.472947,0.035299],[-0.473980,0.874851,0.099898],[0.016365,-0.104680,0.994371]]6H@,?D?@?U޿?咹??`G̺?i6F@I6k_;4YF >yJDJ?AHyx&?x&v/?7 ?7 xi= 9\(\?~jtT㥛 ?Y>yĽ>BIB B)wBYBbD5vYVD59yE6=%ED=ٔEV]Q-E>9III=MAFyIUJEU>QQ 5e4U?Q 9e4U7)U~Ye?Q Ee:ye7)Q Ie?UDIU.:iUf:ULϊ4yqɮuBq*jBji?iziJiƷ<i k,k,k,h kHkHkHh2fѺ=:fѺ=Bf@Jf,5?ZZZZi))iQIm!A:I2Acoustic response timeoutIO>ԁD%=D<Ef EPEE"EI@:*E?9VE5ZEa@a@a@a@B>BBDB=BBBBg;B}EԩE 2Acoustic response timeout :7)Lҏ,P0I?A2D@2?@2Q!;ٱ2%'Ľ :AHRS rotation from veh to nav: [[0.880342,0.471496,0.051860],[-0.474281,0.876668,0.080688],[-0.007420,-0.095629,0.995389]]2H+?,? T?`Z޿` ?@?d~ {:?i2D@I2DT_;2CYB_=yB˛DbD WZVD Y9y%M=ٔTt=Q->9!I!=%AFy!%!;E->)Q 554-ȯ?Q 954-͖7)-ҰY9y=)Q I=?-DI-;i-;-D֊4yAɮMBI*jYBjaie?ieziaJieƷ<ii k3-k3-k3-hy k^k^k^h2f:fBfJf?ZZZZi))iII6?)(?ԱBB:IIIAOu=2Acoustic response timeout E l E YE E "E V:*E *9VE ZE BE Bx;a 2E Dx;a JE :a :E :a 9 P 0Lҏ,0I?AF@F @F*pw<ٱF䀽 RAHRS rotation from veh to nav: [[0.877348,0.477889,0.043393],[-0.479618,0.876166,0.047956],[-0.015102,-0.062886,0.997906]]FH`;??7? ޿ ??@펿N?iF@IFd_;FCY^t>yb,DIUC=)QbD]H[VD]9yE=%B=ٔ'9I=AFymE>Q 54?Q 94G7)$YyT-Q I?DI):iy:݊4yBɮB[E*jBji?iziJiƷ<i2Acoustic response timeout k#Fk#Fk#Fh2f!:f!Bf!Jf%#?Z5Z5Z1Z5iA)I)IIIiIQIQC:I)I9O=9a  2Acoustic response timeoutH6Lҏ,[0I?A EFh EFbEFED"EFG:*EF9VEF5ZEDaJ@aJ@aJ@aJ@Rt@Ro@R':ٱRwF ^AHRS rotation from veh to nav: [[0.868043,0.495862,0.024941],[-0.496487,0.867050,0.041532],[-0.001031,-0.048434,0.998826]]RH?@2?@?r߿@߾?`C?DPc̨a?iRt@IR_;RCYf">yfVDj=ja=B>B0CBDB=BBBB;BEBABABABABACE!4bDM[VDM 9y5{<%5B=ٔ5Q-5>99I9==AFy9E:EE>IQ 5U4M-˲?Q 9U4Mם7)McYQyUb3Q I]?MDIMz ;iMe ;M4yaɮeBa*jyBjyi}?i}ziyJiƷ<i kGkGkGh kGkGkGh2f:fBfJf5?ZZZZi) )  iIqmE:IIO&> 2Acoustic response timeoutԙ _syN"DPbDZ3\VDZ4 9ybi<%be=ٔb?Q-b>9dId=fAFydjEj>hQ 5r4j,ֲ?Q 9r4j7)jΫYpyr=Q Ir?jDIj;ij+;j@4yzBɮzBz\E*j Bj i ?i zi JiƷ<i kFkFkFh) kFkFkFh92fI:fIBfIJfM ?19M rUNAggregate::initialize marl:UpdateRudderq9UJ]Qq9U9U7UoUXAggregate::initialize marl:UpdateCommandMode18U]Q18]o]@Completed marl:UpdateCommandMode7]o]\Aggregate::uninitialize marl:UpdateCommandModeq7]n]LAggregate::initialize marl:UpdateSpeed7]]a7ene4Completed marl:UpdateSpeedq7enePAggregate::uninitialize marl:UpdateSpeedZmZmZiZmi))顁iIu3F:IIO=Ec E[EE"Eg5:*E9VE5ZEBE?;a2E?;aJE;a:E;a2Acoustic response timeout! [CLҏ,1I?A28ٯ@2<Զ@2)ٱ2{> :AHRS rotation from veh to nav: [[0.841793,0.539477,0.018686],[-0.539299,0.839015,0.072184],[0.023264,-0.070841,0.997216]]2H?@eC?O"?A5?z?@җ?"2?i28ٯ@I2-_;2CYN>yRD TTyeI +S㥛?}?5^I?e94e$>eMb>a a9eX9v?Mb?"~j?Yes>yeePBeqB eqB)eBaYeBbD}\VD}m 9yk=%>=ٔ萼Q->9I=AFyçE>Q 54ݲ?Q 94/7)Y>Q E#;yQ I?DI:iL:4yɮB*jBji?iziJiƷ<i kDkDkDh k`k`k`h2f1>:f1>Bf:a@Jf+@sNUpdating rudder angle 6.875493 arcdeg 9r6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZ-Z-Z)Z-i9)9)AAAiAIIIG:I!I9u2Acoustic response timeoutOu=)Ei EWEE"E,K:*E9VEq5ZEa@a@a@a@QB}>ByB}DB}#>ByByByB};B}Eԁ % 2Acoustic response timeoutpILҏ,['1I?A2@2@2m]lٱ26۽ :AHRS rotation from veh to nav: [[0.844776,0.533222,0.045036],[-0.534926,0.839204,0.097934],[0.014426,-0.106823,0.994173]]2H`g?@'??@?@1?j?XD?i2@I2_;2CY^O >y^ۨD``r'r!r# r)v*bDz<]VDz 9y% S=ٔ +9 I=AFyA`<E>Q 5%4䲉?Q 9%407)Y)y-^ܾQ I-?DI6:i:4y1ɮ5B1Y*jBji?iziJiƷ<i kSGkSGkSGh2f):f)Bf)Jf-pc@ZeZeZaZei))顡iI I:IIO>ԁ2Acoustic response timeoutԱE e E QE E "E <:*E v9VE 5ZE BE `L;a 2E cL;a JE :a :E :a M Gi 9 Y GApPLҏ,4A1I?A2q@2l@2"M ٱ2T> :AHRS rotation from veh to nav: [[0.834607,0.549510,0.038331],[-0.549795,0.826701,0.119544],[0.034003,-0.120846,0.992089]]2H@??@?Ut?l?@h?`﾿0?i2q@I2(_;2CYZ >y^DbDf]VDf 9yn;%nM=ٔrHQ-r>9pIp=rAFypv8Ev>xQ 5~4z벉?Q 9~4z77)zY|y~ݾQ I?zDIz;iz;z4y ɮ B *jBji%?i%zi!Ji%Ʒ<i! kEkEkEh9 kEkEkEhI2fY:fYBfYJf]ϧ@ZmZmZiZmi))顁iԱ2Acoustic response timeoutI) 7J:II9Om=iI  2Acoustic response timeout1 cVLҏ,j[1I?AbEm$5jEm5rEm02E2 E2VE2E0"E2s:*E29VE2U5ZE0a:@a:@a:@a:@Z!@Z%ܵ@ZpٱZѹ bAHRS rotation from veh to nav: [[0.824728,0.564602,0.032388],[-0.564302,0.817815,0.112882],[0.037246,-0.111373,0.993080]]ZH+d?7??+?@??􂼿P?iZ!@IZh_;ZCYjh >yjDB!B!B%DB%M>B!B!B!B%;B%EI==)=a=bDM:^VDM#!9yH:%@=ٔCQ->9I=AFyF)E>Q 54U?Q 94]7)YyQ I?DI:io:4yɮB]E*jBji?iziJiƷ<i kFkFkFh2f :f Bf Jf _;@YZZZZi))iIK:IIOE>2Acoustic response timeoutԁԩ ~\Lҏ,xu1I?A"2Acoustic response timeout6 @6@6$ٱ6ֽ BAHRS rotation from veh to nav: [[0.810232,0.584369,0.045124],[-0.585773,0.804759,0.096091],[0.019838,-0.104288,0.994349]]6H l?@'??@ ? d? mP?ल`?i6 @I6΀_;6CYF=yFDJ=J4>bD-^VD-t!9y%J=ٔ/=Q->9I=AFy͂E>Q 54l?Q 947)YyQ I?DIm ;i ;4yɮB*jBji?iziJiƷ<i k3+k3+k3+h kFkFkFh2f:fBfJfi@Z%Z%Z!Z%i9)9)999iAAIIԱMM:IaEut EugEuEq"Eus:*Eu&9VEu5ZEqBEu4;a2Eu5;aJEu1;a:Eu1;aIO=2Acoustic response timeout 9 cLҏ,B\1I?A23@2".@2Cٱ2Iuҽ :AHRS rotation from veh to nav: [[0.812709,0.581677,0.033994],[-0.581802,0.806932,0.101823],[0.031797,-0.102530,0.994222]]2H`??@g?@c? ?G?j??i23@I2;^_;2CYBl>yBŧDyq= ףpտx&1?RQ?>= 9MbX9E?Pn?YʡyF>>BB B)BYBbDh_VD!9y<%E=ٔ/Q->9I=AFyd9<E>Q 54D?Q 9467)Y{>Q EW;y2?Q I?DI ;i ;;4y ɮ B *jBji?i%zi!Ji%Ʒ<i! k+k+k+h9 kSGkSGkSGhI2f]>:f]>Bf]A@Jf]Y@ZmZmZiZmiy))顁iI U2Acoustic response timeoutN:IIO>9Eh EPEoE"EG:*E?9VE5ZEa@a@a@a@BA<B%>B!B!B!B!B!B!B%y;B%Ei  2Acoustic response timeoutiLҏ,LT1I?A2vQ@2zL@2MHٱ2 ݽ >AHRS rotation from veh to nav: [[0.814293,0.580010,0.022697],[-0.578385,0.807472,0.116013],[0.048961,-0.107596,0.992988]]2H ?q?=?@"?@?x?g?i2vQ@I2L_;2CYJ>yJmD LLbDV_VDV!9yr߳%r[=ٔr'9tIx=zAFyx~!<E~>Q 5 4?Q 947)\Yy|?Q I? DI7;i8;4y!ɮ%B!*jABjAiE?iEziAJiMƷ<iI kcFkcFkcFhi2f:fBfJfw@Z-Z5Z1Z5iA)a)aiiiiiIqeWP:aIyIO>iQIQU2Acoustic response timeoutԉE l E E E "E V:*E VE Dz5ZE BE Bx;a 2E Dx;a JE :a :E :a ZpLҏ,1I?A2@2@2[Qٱ2; :AHRS rotation from veh to nav: [[0.807085,0.590173,0.017633],[-0.587141,0.799071,0.129425],[0.062293,-0.114810,0.991432]]2H??R?` ?@?@?`)dй?i2@I2be_;2CPYZ$>yZD``bDj`VDj0"9yn)\=%rK=ٔr Q-r>9tIt=vAFytvEv>xQ 5~4z?Q 94zş7)zYy?Q I?zDIz;iz;z#4y ɮ B*j!Bj!i%?i-zi)Ji-Ʒ<i) kFkFkFhA kFkFkFhQ2fa:faBfaJfe>@ZuZuZqZui))顉iI2Acoustic response timeoutUQ:IiIyO=m 2Acoustic response timeout! uvLҏ,1I?AD zD"@AE$ E$E$E$"E$*E$VE$ZE$a*@a*@a*@a*@>`@>d@>!%ٱ> FAHRS rotation from veh to nav: [[0.807688,0.588408,0.037624],[-0.588218,0.799758,0.119942],[0.040485,-0.119007,0.992068]]>H?=? sC? ?@?p?@>w?i>`@I>IW_;<Bb>B`B`B`B`B`B`Bbl;BbEYn(>y]DbD=aVD"9y!%?=ٔN=Q->9I=AFyyE>Q 54?Q 94J7)Yy1?Q I?DI;it;a+4y)ɮ-B)*jABjAiE?iEziAJiEƷ<iI kGkGkGhy2f:fBfJf'@ZZZZi))iII>?)R?(S:IIIOU>2Acoustic response timeoutqԡ }Lҏ,*1I?A2Acoustic response timeout66M@6:H@6֭ٱ6D >AHRS rotation from veh to nav: [[0.796286,0.602057,0.058777],[-0.604548,0.788623,0.112235],[0.021219,-0.124904,0.991942]]6H-{?D?@?tXeyF,DZZZ X)Z)I^%=)^=bDbaVDb"9yj<%jX=ٔnR=Q-n>9lIp=rAFypr7ZEr>tQ 5z4v?Q 9z4v.7)vpYxy~s?Q I~?vDIv` ;iv%;v14yɮB *jBji?izi!Ji%Ʒ<i! k,k,k,h1y kHkHkHh2f:fBfJf@@Z%Z%Z!Z%i1)9)999i9AIA-HT:Eug EuQEuEq"EuC:*Euv9VEuԺ5ZEqBEuX;a}2EuX;a}JEu:a:Eu:aIIIO>ԩ2Acoustic response timeout Lҏ,S2I?A2+@2&@2 ٱ2g :AHRS rotation from veh to nav: [[0.793531,0.605586,0.059781],[-0.607570,0.782935,0.133684],[0.034153,-0.142403,0.989219]]2Hd?`??`7q@ ??t|?D:¿`?i2+@I2[_;2CY^>y^PDbp=bp=yET㥛 EhEBEB E>B)E̴BAYEBbD]}bVD]#9ymT/%mA=ٔmQ-u>9qIq=uAFyq}E}>Q 54>?Q 947)Y>Q E;yƇ?Q I?"DI$:f}>Bf'ϖ?JfW?ZZZZi ) )iIM2Acoustic response timeout%V:I9IIOu>DU<DQE]` E]OE]EY"E]*:*E]9VE]H5ZEYam@am@am@am@BBBDB=BBBBS;BtEB}0CB}0CByByByC}Ʈ4) 2Acoustic response timeouta !Lҏ,~*2I?A::@:5@:Լٱ:O[ FAHRS rotation from veh to nav: [[0.794822,0.603438,0.064190],[-0.606287,0.785114,0.126538],[0.025961,-0.139493,0.989883]]:H.o?@]O?`n?f?f2?@?`?i::@I:p_;:CYr >yrgDbDe cVDeZ#9y ;%G=ٔn9I=AFy;E>Q 54?Q 94G7)Yy?Q I?&DI:iE:z@4yɮ*jBji?iziJiƷ<i k*k*k*h  kGkGkGh2f):f)Bf)Jf-e?qZZZZi))iI"W:I IOU>ԡE2Acoustic response timeoutEu c Eu \Eu sEq "Eu g5:*Eu 9VEu X5ZEq BEu ?;a} 2Eu ?;a} JEu x ;a} :Eu y ;a z Lҏ,}YD2I?A2_P@2dK@2ٱ2 :AHRS rotation from veh to nav: [[0.777111,0.626943,0.055147],[-0.628718,0.769360,0.113132],[0.028500,-0.122588,0.992048]]2H??@3yRD 11bD=+dVD=#9y<%L=ٔлQ->9I=AFypE>2Acoustic response timeoutQ 54f ?Q 94ۖ7)Yy?Q I?*DI6:i;|G4yɮB*jBji?iziJiƷ<i kcFkcFkcFh ksFksFksFh2f:fBfJfU>Z%Z%Z!Z%i1)9)999i9AIAX:IIO>) M 2Acoustic response timeout=4Lҏ,L7^2I?AE` EgEzE"E*:*E&9VE5ZEa@a@a@a@B6>B4B6zDB6J=B4B4B4B6I;B6oED^פ@^ܟ@^ ,@ٱ^ nAHRS rotation from veh to nav: [[0.763246,0.644880,0.039818],[-0.644403,0.755313,0.119363],[0.046900,-0.116762,0.992052]]^Hl?`ڢ? b?``+?@???@使?i^פ@I^p_;^CYz_>yzvDbDdVD$9yŅ%A=ٔ%2Q-%>9!I!=%AFy)-JE->1Q 5=45?Q 9=45f7)5Y9yEp{?Q IE?5/DI59:i5:5N4yIɮMBI*jYBjaie?ieziaJieƷ<ia kCGkCGkCGhy kSGkSGkSGh2f:fBfJf->ZZZZi))iI)-Y:I9IIO>2Acoustic response timeoutYԑ Y^Lҏ,^x2I?A2Acoustic response timeout0:@:@:hnٱ: RAHRS rotation from veh to nav: [[0.751424,0.658905,0.034730],[-0.657247,0.742815,0.127484],[0.058202,-0.118621,0.991232]]:H ??$ȡ?+@#? dQ?̭?]-?i:@I:rr_;:CYZ>yZDbDfeVDfL$9yn>C%na=ٔnxQ-r>9pIp=rAFypv-EEv>xQ 5~4zQ?Q 9~4z17)zLY|y~lq?Q I?z2DIz{;izw;z3U4y Bɮ B ^E*jBji%?i%zi!Ji%Ʒ<i! k3Fk3Fk3Fh9 k3Fk3Fk3FhI2fY:fYBfYJf]S>ZmZmZiZmi))顁iIu[:IIO=E5d E5SE5E1"E59:*E59VE55ZE1BE5F;aE2E5F;aMJE5l:aU:E5m:a] yyԉ G!Q9YDAԹ2Acoustic response timeout ELҏ,2I?A2J1@2O,@2ٱ2iNս :AHRS rotation from veh to nav: [[0.754502,0.654860,0.043431],[-0.655470,0.748573,0.099988],[0.032966,-0.103909,0.994040]]2H$? ?ybzDIf=)f=hjAy/$?MbX9Ŀsh|?1(?! 9l?!rh̿i|?5Y>ylg1B$B _B)BYBbDeVD$9y%==ٔwo=Q->9I=AFyE;E>Q 54f?Q 94 7)RYW?Q E|:y+Q I?ADI ;i ;\4yɮ*jBji?iziJiƷ<i kFkFkFh kakakah)2f=(?:f=(?Bf=+[@Jf=3>@ZMZMZIZMiY)a)aaaiaiIi2Acoustic response timeout\:IIO>>>Bm>BiBmDBm=BiBiBiBmF;BmnEbEz5jE5rEŮp2Ef EQE{E"EI@:*Ev9VE:5ZEBER;2ER;JE::E:A  2Acoustic response timeoutqLҏ,ͫ2I?A>@>@>ٱ>: JAHRS rotation from veh to nav: [[0.752609,0.654946,0.068012],[-0.658226,0.745511,0.104650],[0.017836,-0.123528,0.992181]]>H`?`P?;i?/:?Qʺ?C??i>@I>M_;>CY^_>y^vDb=b=r%rr r#)r'bDz*fVDz$9y L<%V=ٔ "=Q- >9 I = AFyE>!Q 5-4%Q?Q 9-4%@7)%PY)y-Q I-?%NDI%d:i%:%nc4y9ɮ=B9*jIBjIiM?iUziQJiUƷ<iQ ksIksIksIhi k]k]k]h2f :f Bf Jf B?@ZZZZi))))QQQiQYIY-]:IAIQO=A%2Acoustic response timeoutqE] _ E] NE] vEY "E] &:*E] ҆9VE] -5ZEY BE] &;2E] &;JE] ::E] :ԙ WLҏ,#2I?A2Ԫ@2ϱ@2Aeٱ2 :AHRS rotation from veh to nav: [[0.747260,0.660862,0.069736],[-0.664247,0.739743,0.107500],[0.019456,-0.126653,0.991756]]2H ?%?8ڱ?@A?@%?U?'6w?i2Ԫ@I2rj_;2CYn*>ynDbDzfVDz%9y[=%K=ٔQ- >9 I = AFy E>Q 5%4G?Q 9%4Ĥ7)Y!y%جQ I%?\DI;i:vj4y1ɮ5B1*jIBjIiM?iMziIJiMƷ<iQ k#Ek#Ek#Eha k^k^k^hq2Acoustic response timeoutԁ2f:fBfJf @?@ZZZZi))项iI }z_:IIO5=ԡi) I) 5 2Acoustic response timeout Be >Ba Be DBe #>Ba Ba Ba Be A;Be lEjLҏ,2I?AFQ@FL@FZ"JٱF. NAHRS rotation from veh to nav: [[0.736625,0.670739,0.086560],[-0.676189,0.728110,0.112356],[0.012337,-0.141295,0.989891]]FHn?v?(?`WL?dü?@!D?@¿ /?iFQ@IFt_;Ebg EbWEbwE`"EbC:*Eb9VEbɕ5ZE`BEbX;2EbX;JEb::Eb:FCY%%>y%Dԙ =a=bDgVD:%9y0%9=ٔU9I=AFyE>Q 54!?Q 9 47)Y y mQ I?kDI;i;+r4yɮB*jBji?iziJiƷ<i kEkEkEh k_k_k_h2f:fBfJfg?@Z Z Z Z i))!!!i!)I)=`:U2Acoustic response timeoutIYIiO>!  2Acoustic response timeoutLҏ,[2I?A2z@2@2(;ٱ2H :AHRS rotation from veh to nav: [[0.728654,0.680100,0.080795],[-0.684877,0.724005,0.082220],[-0.002578,-0.115245,0.993334]]2H "Q?@`??@ +?d ?{ec?i2z@I2)j_;2CYBR >yB(DDDbD qgVD `%9yAY%Q=ٔ0=Q->9I=AFyE>Q 54"%?Q 947)/YyQ I?xDI;iz;y4yѼBɮBgE*jBji?iziJiƷ<i k^k^k^h k^k^k^h92fI:fIBfIJfMs:@Z]Z]ZaZeiq)y)yyyiIEh EKEE"EG:*E]t9VEԺ5ZEa@a@a@a@Mfb:IIAOU2>}2Acoustic response timeoutiԙ [Lҏ,!t3I?A61@6,@6;ٱ6`߳ BAHRS rotation from veh to nav: [[0.712483,0.698526,0.066547],[-0.701654,0.710188,0.057574],[-0.007044,-0.087713,0.996121]]6H?TZ?4 ?sܹ?Zz?|at8?i61@I6_;6CYJs6>yJ_Dy}V-?}t}=y y9}@5^I ?QֿV-?Y}b0?y}µ}|>} B}B }B)}ByY}ѹBbDgVD%9yZ=%J=ٔ49I=AFykE>Q 54-?Q 94̷7)Y@P?Q E:y᜿Q I?DIH:i/:4yɮvB*jBji?iziqJi}Ʒ<iy ks`ks`ks`h kxkxkxh2Acoustic response timeout2f>:f>Bfv?@JfvO@ZZZZi1)1)111i19IAIM3?)M> c:II1O]>ԡAAB>BBDBw>BBBB(;B_EE}_ E}XE}Ey"E}&:*E}9VE}5ZEyBE}&;a2E}&;aJE}:a:E}:a 2Acoustic response timeout Lҏ,"P-3I?A2@2@2A~ٱ2M :AHRS rotation from veh to nav: [[0.707094,0.706862,0.019094],[-0.706737,0.705566,0.051953],[0.023251,-0.050229,0.998467]]2H@??E???;ϗ? q?i2@I2x_;2CYB{.>yBDIF<)F;bDN)hVDN%9yV5%V\=ٔVQ-V>9XIX=ZAFyX^E^>Q 545?Q 9%4 7)>Y!y%Q I%?DIY;i;4y-мBɮ5yB5hE*jABjIiM?iMziIJiMƷ<iQ ks_ks_ks_h2f:fBfJf(@ZZZZi)) i  I-.e:IAIQO=iI2Acoustic response timeouti E t E VE }E "E s:*E 9VE s5ZE a @a @a @a @߶Lҏ,0G3I?A2"@2@2ٱ2( >AHRS rotation from veh to nav: [[0.711185,0.702656,0.022141],[-0.702939,0.710335,0.036067],[0.009615,-0.041214,0.999104]]2H ?(|??z~? [w?yFDJ=Jx>bDRhVDR%9yV"y%ZJ=ٔZ =Q-Z>9\I\=^AFy\ba<Eb>`Q 5f4b=?Q 9j4b7)bYhyjRQ Ij?bDIbN:ib|:b4ypɮrBp*jxBj|i~?i~zi|Ji~Ʒ<i k_k_k_h=2Acoustic response timeout k_k_k_h2f:fBfJfT@ZZZZi)))))))i)qIy)MXf:IaIqIO=Y2Acoustic response timeoutԁ B >B B DB ">B B B B ;B GEBBBBBCˤN4+Lҏ,:a3I?ADzDAAEe EQEuE"E<:*Ev9VE5ZEBE`L;a2EcL;aJE:a:E:a0b60@b;+@bE2<ٱb%| nAHRS rotation from veh to nav: [[0.690067,0.721232,0.060266],[-0.723664,0.688845,0.042473],[-0.010881,-0.072922,0.997278]]bH?U?)ۮ?@( ? ?`H @?ib60@Ib_;bCY'>y iDbD(iVD*&9y-01=%-C=ٔ5H=Q-5>91I1==AFy9]E]>aQ 5m4eLF?Q 9m4e7)e?YqyuqQ Iu?eDIe:ie:e4yyɮ}|B*jBji?iziJiƷ<i k_k_k_h2f:fBfJf&@ZEZEZAZEiq)q)yyyiyImh:IԉIO=M2Acoustic response timeoutԹ  2Acoustic response timeout4 Lҏ,.z3I?A:@:@:~ٱ: FAHRS rotation from veh to nav: [[0.685583,0.725943,0.054613],[-0.727828,0.681895,0.072696],[0.015533,-0.089588,0.995858]]:HL?@:?8?^J?8?Ϗ?@ﶿ ?i:@I:_;:CYJ&>yJ9tIt=vAFytzUEz>|Q 54~M?Q 94~A7)~YyQ I ?~DI~:i~:~⛋4yBɮgBqE*j)Bj)i-?i-zi)Ji5Ʒ<i1 kC]kC]kC]hI kc]kc]kc]hY2fi:fiBfiJfmx@19m ruNAggregate::initialize marl:UpdateRudderq9uJ]qq9u9u7}o}XAggregate::initialize marl:UpdateCommandMode18}]y18}o}@Completed marl:UpdateCommandMode7}o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iqIE o E PE E "E `:*E ?9VE Dz5ZE a-@a-@a5@a5@ i:IYIqO>]2Acoustic response timeoutA |Lҏ,7Ĕ3I?A.&@.+@.2ٱ. :AHRS rotation from veh to nav: [[0.685021,0.725970,0.060933],[-0.727219,0.676397,0.116789],[0.043570,-0.124315,0.991286]].H?@&;?2?`E@ ?`?N?ӿ?i.&@I._;.CYr >yr6Dtty}?5^I̿V-?Mb?Mbm=> 9kt?+ηv?Y 0>yv>BݭB B)BYkBbDiVDY&9y;i%==ٔɄQ->9I=AFyn7E>Q 54P?Q 947)Y?Q E:y Q I?DI@:i:r4yɮsBrE*jBji?izi Ji Ʒ<i  ks`ks`ks`h! k#xk#xk#xh12fEy ?:fEy ?BfER@JfE>@sMNUpdating rudder angle 6.875493 arcdeg 9M2Acoustic response timeoutr6Completed marl:UpdateRudder19 rRAggregate::uninitialize marl:UpdateRudderZZ Z Z i)!)!!!i!)I) j:II)AO]>BBBDBw>BBBB;B>ED=D<Ec EOEyE"Eg5:*E9VE5ZEBE?;a 2E?;aJEM:a:EO:aqe 2Acoustic response timeoutԡ Lҏ,Ę3I?A2K@2F@2ٱ2S  :AHRS rotation from veh to nav: [[0.668025,0.742550,0.048595],[-0.740874,0.657564,0.136807],[0.069632,-0.127393,0.989405]]2Hv`?`?w?`<` ?`?@_ӱ?mN4?i2K@I2_;2CYN5>yR DbDiVD&9yy2%O=ٔQ->9I=AFyaE>Q 54 S?Q 947)PYyچQ I?DI:i:\4yɮvB*jBji?iziJiƷ<i k_k_k_h kykykyh2f:fBfJfi@ZZZZi)))))))i11I9 k:I!I1O=ԡ2Acoustic response timeoutq9Y$AE=  E= E= E9 "E= غ:*E= E7:VE= 5ZE9 aM @aM @aM @aM @ Lҏ,zr3I?A2w@2r@2cٱ2Ž :AHRS rotation from veh to nav: [[0.671707,0.740528,0.020689],[-0.736978,0.665127,0.120286],[0.075314,-0.096045,0.992524]]2H`~? g?@/?SH?˾?G? b?i2w@I2^_;2CY^?=y^0D%2Acoustic response timeoutII)M=bDeYjVDe&9y4%F=ٔbQ->9I=AFyT<E>Q 54U?Q 94o7)YyuQ I?DI;i;4yɮB*jBji?iziJiƷ<i k`k`k`h1 k#yk#yk#yhA2fQ:fQBfQJfU@ZeZeZaZeiq)q)yyyiyImm:IIO=12Acoustic response timeouta B >B B B B B B 0DB ;B VEbEˬ5jEĤ5rEa2E p E dE E "E d:*E 9VE *5ZE BE ;a- 2E ;a5 JE &;a5 :E &;a5 -Lҏ,M3I?AR}`@R[@RIdfٱRX ZAHRS rotation from veh to nav: [[0.670475,0.741692,0.018869],[-0.739799,0.666404,0.092751],[0.056218,-0.076146,0.995511]]RH`t??^R?o /S??Ȭ?T~8?iR}`@IRƘ_;RCY% >y-MDE=Ea=bDjVD&9y>=%I=ٔ@=Q->9I=AFyE>Q 5%4V?Q 9-47) Y)y-Q I-?DI:i:Ƹ41y9ɮ=sB9*jIBjIiU?iUziQJiUƷ<iY k`k`k`hi ksxksxksxhy2f:fBfJfB@ZZZZi))项iIn:II=2Acoustic response timeoutO>aiIԉԹ  2Acoustic response timeoutWLҏ,(3I?A2z@2u@2~|-ٱ2 :AHRS rotation from veh to nav: [[0.649910,0.759248,0.034057],[-0.758831,0.645752,0.084735],[0.042342,-0.080914,0.995821]]2H ?K?o?WH`?5?步?ɶ?i2z@I2 _;2CYB>yBDbDJIkVDJ%'9yVL<%Va=ٔVz=Q-V>9XIX=ZAFyXZE^>!Q 554%X?Q 954%u7)%YAyEݙQ IM?%DI%,;i%ϝ;%F4yiɮ}qBy*jBji?iziJiƷ<i k_k_k_hԙ2fEc EUEqE"Eg5:*EP9VE5ZEa@a@a@a@:fBfJf{@ZmZZZi))iI  sp:II O=/>E2Acoustic response timeout ?Mҏ,4I?A2V@2[@2%ٱ23 :AHRS rotation from veh to nav: [[0.636886,0.766647,0.081422],[-0.770904,0.632024,0.079078],[0.009164,-0.113132,0.993538]]2H]a?_?ش?>9?q>? 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Y̿ 2?i>أ@I> `;<R2Acoustic response timeoutYR}=yV@DbD^)rVD^N*9yfO%fJ=ٔfl9hIh=jAFyhn<En>pQ 5v4r\?Q 9v4r7)rĮYtyvIfQ Iz?rDIrp:irF:r4>4y|ɮ~dB|*jBji?iziJiƷ<i kJkJkJh1 kC_kC_kC_hA2fQ:fQBfQJfU @ZeZeZaZeiq)q)yyyiyI q :IIO=Q>ԡiQIQ]2Acoustic response timeout B >B B DB =B B B /DB ;B EBBBBBC;4E b E SE E "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE l:a :E m:a fyMҏ,l5I?A2@2ݩ@2VJٱ2?$ :AHRS rotation from veh to nav: [[0.561224,0.818087,0.125545],[-0.827571,0.552401,0.099897],[0.012373,-0.159962,0.987046]]2H?-??v{ D?Ւ?`W?`yĿ?i2@I2_;2ClYru>yrD YYe=e=bDmrVDmx*9y;%==ٔ9I=AFyME>Q 54c?Q 947)(YyclQ I?DI B;imC;E4yɮcB*j Bj i?iziJiƷ<i kFkFkFh2f:fBfJfΟ@ZZZ Z i))!!!i!)I)IaIqI2Acoustic response timeout O>1a e 2Acoustic response timeoutyRMҏ,Y6I?A9]@]@]f鵼ٱ]E mAHRS rotation from veh to nav: [[0.556007,0.828894,0.061570],[-0.830881,0.552302,0.067812],[0.022204,-0.088861,0.995797]]]H@?M??u?@'\?@?@?i]@I]_;YY}>y}DEUe EUPEUmEQ"EU<:*EU?9VEU5ZEQa]@a]@a]@a]@y{Gz~jtA`"ףDY 9)\(?㥛 S㥛?YGa=y$>BB yB)BY\BbDsVD*9y z:%5=ٔQ->9I=AFy`E%>!Q 5-4%tc?Q 954%7)%IY5>Q E5?;y5Q I5?%DI%:i%:%M4y9ɮAA*jYBjYi]?i]ziYJi]Ʒ<ia kFkFkFhq kFkFkFh2f9>:f9>Bf:{@Jf@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]18o@Completed marl:UpdateCommandMode7o\Aggregate::uninitialize marl:UpdateCommandModeq7nLAggregate::initialize marl:UpdateSpeed7]7n4Completed marl:UpdateSpeedq7nPAggregate::uninitialize marl:UpdateSpeedZZZZi))iIII YO>2Acoustic response timeoutԉԹ %xMҏ,`"6I?A2 ̢@2%ǩ@2ўٱ2gV :AHRS rotation from veh to nav: [[0.558888,0.828604,0.032562],[-0.829017,0.557386,0.045299],[0.019386,-0.052311,0.998443]]2Hh??`?N?s1?`ٓ?`Ȫ=?i2 ̢@I24_;2CY^>yb#DԙbD-MsVD-*9y]<%c=ٔ;Q->9I=AFy><E>Q 54b?Q 94I7)3YyQ I?DI;i;S4yɮ`B2Acoustic response timeout*j!Bj!i%?i%zi!Ji-Ʒ<i) kSEkSEkSEh9 kSEkSEkSEhI2fa:faBfaJfe%@smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudderZ}Z}ZyZ}i))顑iIIIOm=AABBBDBM>B=BB0DB;BEm{ EmTEmEi"Em=:*Em9VEm6ZEiBEm%;au2Em&;auJEm:au:Em:a} 2Acoustic response timeout) HMҏ,46I?A6(@6#@6ٱ6I7 >AHRS rotation from veh to nav: [[0.542241,0.839764,0.027774],[-0.840023,0.541095,0.039713],[0.018321,-0.044865,0.998825]]6H Z?`X?p?xP?OU?@’?_?i6(@I6_;6CY^5>yb DIf=)f=bDjsVDj+9yr%rZ=ٔv:;Q-v>9tIt=zAFyxzZEz>|Q 54~ b?Q 94~7)~Y y Q I ?~DI~y:i~-:~~Z4yɮaB*j!Bj)i-?i-zi)Ji-Ʒ<i1 kcHkcHkcHhA ksHksHksHhQ2fa:faBfaJfe@ZuZuZqZ}i))顉iIII1Ou=i!I!-2Acoustic response timeoutib9Y'AE}o E}UE}Ey"E}`:*E}P9VE}5ZEya@a@a@a@ԉԹ JMҏ,@N6I?A2¢@2@2 ٱ2pG{ :AHRS rotation from veh to nav: [[0.557853,0.829008,0.039316],[-0.829680,0.555867,0.051404],[0.020760,-0.061296,0.997904]]2H@?y^D``-"-(-$ -+)1I5*bDE2tVDE>+9yM}\<%UD=ٔUpQ-U>9QIY=]AFyY]7=Ee>aQ 5m4e[a?Q 9m4e7)esYqyuQ Iu?eDIe:ie:ea4yyɮ^B*jBji?iziJiƷ<i kJkJkJh kJkJkJh2f:fBfJfR@ZZZZi))iI  I ) ԑI I!O]T>52Acoustic response timeoutB >B B DB =B B B /DB ;B EDy zD} AAbEˬ5jE˷5rE@3E b E ME E "E 1:*E 9VE 5ZE BE 9;a 2E 9;a JE :a :E :a  Mҏ,h6I?A2J_@2OZ@2lٱ2M :AHRS rotation from veh to nav: [[0.573647,0.815430,0.077473],[-0.818783,0.568211,0.082040],[0.022877,-0.110496,0.993613]]2H`Q[??@Gճ?@x3@.??l? pI ?i2J_@I2i_;0YN>yRDbDZgtVDZV+9yv"<%vQ=ٔvpQ-v>9xIx=zAFyxz8I=E~>Q 5 4a?Q 9 4~7)Y y ؿQ I?DI-;iJ;h4yɮ%\B!*j1Bji?iziJiƷ<i kIkIkIh2f1:f1Bf1Jf5@ZEZEZAZEiq)y)yyyiyIIIO=2Acoustic response timeouti U 2Acoustic response timeoutMҏ,6I?A j@j#@jؐ ٱj= rAHRS rotation from veh to nav: [[0.555537,0.824671,0.106284],[-0.830814,0.545368,0.111006],[0.033579,-0.149970,0.988120]]jH@?c? r5?`s?j? 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ZAHRS rotation from veh to nav: [[0.534413,0.836055,0.124155],[-0.844421,0.521715,0.121523],[0.036826,-0.169783,0.984793]]JH ?@?ȿ?`~?"?ڢ?`rſm?iJ&ߡ@IJ_;JCYfS>yjDllbDMtVDM+9yܳ<%[=ٔoQ->9I=AFyȉE>Q 54d?Q 948)ΟYyQ I?DI:i:w4yɮaB*jBji?iziJiƷ<i kcFkcFkcFh ks_ks_ks_}2Acoustic response timeouth2f:fBfJf(}?ZZZZi))iII I!OM=BU>BQBUDBU=BU=BQBQBU;BUEDE=DE<EMf EMQEMEI"EMI@:*EMv9VEMU5ZEIBEMR;aU2EMR;a]JEM:a]:EM:a]- 2Acoustic response timeout) ^Mҏ,E6I?A2&@2!@2"ٱ2 :AHRS rotation from veh to nav: [[0.541706,0.833357,0.109868],[-0.839760,0.530813,0.114196],[0.036847,-0.154123,0.987364]]2HU?@ܪ?`J ?P k?;?`ݢ?@Mÿ }?i2&@I2_;0YB$=yBD|bD uVD +9yEoh%MN=ٔMVQ-M>9QIQ=UAFyQU!<EU>YQ 5e4]#f?Q 9m4]8)]YiymbQ Im?]DI]:i] :]~4yqɮ}dBy*jBji?iziJiƷ<i kFkFkFh kdkdkdh2f:fBfJfW~?ZZZZi))iIII!O=)2Acoustic response timeoutQEUe EUNEUxEQ"EU<:*EU҆9VEUe5ZEQae@ae@ae@ae@ԁ DسMҏ,O 6I?A2%.@2*)@2î(ٱ2 :AHRS rotation from veh to nav: [[0.542439,0.836874,0.073499],[-0.839086,0.535422,0.096220],[0.041171,-0.113865,0.992643]]2H[?`?в? @."?ء?Q?`D&?i2%.@I28_;2CYB>yBDIJ<)J;bDN*uVDN+9yVT=%VU=ٔV8Q-Z>9XIX=ZAFyX^';E^>`Q 5f4bg?Q 9f4b8)boYdyfQ Ij?bDIb:ib:b4ylɮnZBr%=pv2Acoustic response timeoutx*j Bj i ?i ziJiƷ<iY kcLkcLkcLhi2f:fBfJf|?ZZZZi))iII!IYO=ԁ !!Ա2Acoustic response timeoutBQ BQ BU DBU #>BU =BQ BQ BU ;BU E Ee f Ee MEe Ea "Ee I@:*Ee 9VEe 5ZEa BEa am 2Ea au JEe :au :Ee :au Mҏ,6I?AB+С@B0˨@B׼ٱB@ NAHRS rotation from veh to nav: [[0.533046,0.845008,0.042690],[-0.845679,0.530546,0.057859],[0.026243,-0.066944,0.997412]]BH@?O ?tۥ?@`yZzD\^a=v!tv v()v+Iv(bDuVD+9y)%D=ٔ~=Q->9!I!=%AFy!-E->1Q 5E45i?Q 9E458)5WYAyEQ IM?5DI53;i5$5;54yQɮU\BY*jiBjqiu?iuziqԹJi}Ʒ<i kDkDkDh  kSFkSFkSFh92fI:fIBfIJfMy?Z}Z}ZyZ}i))顱iIIIOE=2Acoustic response timeoutA  2Acoustic response timeoutMҏ,7I?AF@F@FٱFԌH RAHRS rotation from veh to nav: [[0.526822,0.849598,0.025341],[-0.849415,0.525158,0.052000],[0.030871,-0.048920,0.998326]]FH?`/??g. ?? ?` H?iF@IF'_;FCYV>yVDy5i|?51 195(\?333333ÿoʡ?Y5G>y55->5B5B 5̴B)5̴B1Y5BbDM_uVDM+9y]%]E=ٔe 7Q-e>9aIa=mAFyim̏Em>yQ 54}h?Q 94}8)}Yј>Q E1;y!ԿQ I?}DI}j:i}/:}D4yɮcB*jBji?iziJiƷ<i kEkEkEhEp EUEE"Ed:*EP9VE5ZEa@a@a@a@! kEkEkEhQ2fe+>:fe+>Bfe{J@Jfeٛ@ZZZZi))顱iIIIOM=92Acoustic response timeoutaԑ Mҏ,97I?A>1@>,@><ٱ> w FAHRS rotation from veh to nav: [[0.542917,0.839195,0.031498],[-0.839045,0.540481,0.062315],[0.035270,-0.060260,0.997559]]>H_?`?x ?uK?@??]ڮ?i>1@I>_;>CYf>yfD 99bDEuVDE+9yY=%H=ٔ0Q->9I=AFy`@=E>Q 54nh?Q 94 8)YyѿQ I?DI:iZ:b4yɮXB*jBji?iziJiƷ<i kFkFkFh kFkFkFh2f:fBfJfhz@ZZZZi))))))]2Acoustic response timeoutq)iIAABBBDBM>BBBB;BEBBBBBC`4I)IAO=E%d E%TE%E!"E%9:*E%9VE%5ZE!BE%F;a52E%F;a5JE%:a5:E%:a5ԙIG>)J> 2Acoustic response timeout >Mҏ, 77I?A2@2@2ٱ2.ý :AHRS rotation from veh to nav: [[0.538927,0.841374,0.040575],[-0.839101,0.531997,0.113528],[0.073934,-0.095230,0.992706]]2H>? ?6Ƥ?? +? U?``@??i2@I2_;2CYB>yBDDDbD-uVD-+9ye]%eL=ٔmPƽQ-m>9iIi=uAFyqu Eu>yQ 54}g?Q 94}u 8)}Yy0ѿQ I?}DI}):i}W:}_4yɮ\B*jBji?iziJiƷ<i kGkGkGh k3bk3bk3bh2f:fBfJf+b@ZZZZi ) )   iII1IAIiO-=e2Acoustic response timeoutE5_ E5RE5E1"E5&:*E59VE55ZE1aE@aE@aE@aE@) Q (Mҏ,qQ7I?A2G@2L@2ٱ2 :AHRS rotation from veh to nav: [[0.554887,0.829006,0.069639],[-0.828712,0.543453,0.133773],[0.073053,-0.131940,0.988562]]2H?7?@ӱ?΄c?|??iM?i2G@I2$_;2C^2Acoustic response timeoutYb>ybIDbDEiuVDE+9y;%C=ٔ ;Q->9I=AFy:=E>Q 54g?Q 948)OYy˿Q I?DI/;i:4yɮ [B *jBji?izi!Ji%Ʒ<i! kIkIkIh9 k3_k3_k3_hI2fY:fYBfYJf]=@ZmZmZiZmiy)y)顁iIIIO=)Yu2Acoustic response timeoutBBBBB=BBB;BEԁ EE f EE kEE ~EA "EE I@:*EE :VEE 5ZEA BEE R;aM 2EE R;aM JEE @;aM :EE @;aU 8RMҏ,EJk7I?A,F@F@FٱF+ bAHRS rotation from veh to nav: [[0.555886,0.822077,0.123207],[-0.830769,0.544336,0.116278],[0.028523,-0.166994,0.985545]]FH?tN??ਕ`4k?@fĽ?35? `ſ ?iF@IF`_;FCYj=y~DI)bD LuVD +9y%%%W=ٔ%=Q-%>9)I)=-AFy)-XE5>9Q 5=4=g?Q 9E4=!8)=YAyEſQ IE?=DI=l:i=d:=Y4yMBɮURBUE*jaBjaie?imziiJimƷ<ii kSekSekSeh2f:fBfJflF@ZZZZi))i!I!I9IIO=ԉ2Acoustic response timeoutԱ k> I ހG sA % A9% sAY% D8A 2Acoustic response timeout\8Mҏ,!7I?A24@29@2ٱ2zH :AHRS rotation from veh to nav: [[0.540586,0.828326,0.147115],[-0.840700,0.525341,0.131302],[0.031475,-0.194659,0.980366]]2H`zL???`??@?ȿ'_?i24@I2_;2C\Ybl>ybŧDdfp=aM@aU aU@aU aU@aU aU@aU aU@aU yM{Gzt?!rh?OnÿMף;Mlg>MI I)MMb@Mb@Mb@IMiM‰MMM M)MMIMbDmuVDm+9y}.=%}E=ٔQ->9I=AFy3E>Q 542h?Q 948)=Q A+:YQ E;yſQ I?DI ;i>84yɮJB*jBji?iziJiƷ<i kLkLkLh kdkdkdhEe ERE{E"E<:*E9VE:5ZEa @a @a @a @ZZZZi))iIII)O}=2Acoustic response timeoutA bMҏ,7I?A2ʡ@2Ũ@2Z9ٱ2LW :AHRS rotation from veh to nav: [[0.532672,0.827556,0.177235],[-0.846322,0.520929,0.111231],[-0.000277,-0.209247,0.977863]]2H ?V{?@?@s?y?Y+2 ʿJ?i2ʡ@I2_;2CYB?=yB0DbDNuVDN,9yV\%VY=ٔV=Q-V>9XIX=ZAFyX^ҼE^>`Q 5f4bh?Q 9f4b8)bސQ Af :YdQ Ef:yfÿQ If?bDIbj:ibQK?b4ylɮnTBY*jyBjyi}?i}ziJiƷ<i kLkLkLh k_k_k_hZZZZi))iIII =2Acoustic response timeoutOE=B<A=BBBDB">B=BB0DB;BEIbE5jEĐ5rE2E  E UE E "E *E P9VE q5ZE BE `L;a2E cL;aJE :a:E :aq 2Acoustic response timeoutԡ HMҏ,8׸7I?A2,Y@21T@2ٱ2_ :AHRS rotation from veh to nav: [[0.520886,0.833476,0.184381],[-0.853626,0.508554,0.112669],[0.000139,-0.216080,0.976376]]2H? ի?@Ι?`PF?׼?`8"? ˿x>?i2,Y@I2_;0Yn}=yn@D  $ " )) *I $i $ ybDvVDh,9y<%;=ٔyQ->9I=AFyE>Q 54h?Q 94X8)Q A9YQ E:yĿQ I?DIC;i?4yɮOB*j Bji?iziJiƷ<i! k`k`k`h9ZeZeZaZmi))顉iIIIO=ԡE2Acoustic response timeoutEo E\EE"E`:*E9VE5ZEa%@a%@a%@a%@ wMҏ,+7I?A4<ɰ;2\}@2ax@2ٱ2;T :AHRS rotation from veh to nav: [[0.524436,0.836210,0.160370],[-0.850968,0.508427,0.131739],[0.028625,-0.205558,0.978226]]2H/?yRSDTTbD^3wVD^,9yft<%fY=ٔf'Q-j>9hIh=jAFyln@<En>pQ 5v4rh?Q 9v4r8)rQ Av9YtQ Ev:yzƿQ Iz?rDIr:ir?rp4yɮLB*jBji?i%zi!Ji%Ʒ<i! kHkHkHh9 k#^k#^k#^hIZeZeZaZe^mB*** querying acoustic contact ***XiYiiy)y)y顁iII!IQO=>)U2Acoustic response timeoutBBBBBBBB;ByjDbDEwVDE,9y;%?=ٔQ->9I=AFyu<E>Q 54h?Q 948)Q A9YQ Ex:y˿Q I?DI;i4@ Ì4yɮKB*jBji?iziJiƷ<i kEkEkEh1 k#\k#\k#\hZZZZi))iIIIO==2Acoustic response timeoutaԉe 2Acoustic response timeoutԹ uNҏ,e8I?A2@2@2[ٱ2)ܽ :AHRS rotation from veh to nav: [[0.524642,0.848943,0.063621],[-0.849634,0.517431,0.101919],[0.053604,-0.107525,0.992756]]2H@?*?vI?`30@ˎ? ]?q? ʆ?i2@I2=_;0YB>yBѺDJParsing RMC sentence: $GPRMC,192831.00,A,3646.38257,N,12152.29268,W,0.117,0.00,251025,,,A*74 )LN7I?AN?N79NtKbB@Hcw^VhGPS fix at 20251025T192831: (36.773043, -121.871545)Nv=NIZ<)Zp$> 9:v?RQ ףp= ǿYT9I=AFyWE> Q Q?٫ DQ M? BQ U? AQ Y? B:Q ]<9 ȆQ E%;y-mQ I-? I l;i k; >g;4y5Bɮ5bB5E=MFix residual: 1.6 %DT, over the last 595.6 m. Residual distance 9.8 m at bearing -166.7 degrees. Fix at (36.7730, -121.8715) with 38.9 m made good.*jIBjQԑi?iziJiƷ<i kCkCkCh kdkdkdh2f-̿>:f-̿>Bf-4@Jf-`?q2=13=Z=Z=Z9ZE\EReceived valid gps time fix: 1761420544.00. Resetting abort timer.iq)q)yyyiyIIIOM> 2Acoustic response timeout  Nҏ,%A 8I?A2A]@2FX@2cٱ2o[ :AHRS rotation from veh to nav: [[0.521060,0.853009,0.029533],[-0.852955,0.519144,0.054372],[0.031048,-0.053522,0.998084]]2H?K?=?iKԜ?֫?@˟?@8gM?i2A]@I2_;2CY^*>y^Db=bR=bD-wVD-,9y<=%P=ٔ#k=Q->9I=AFyGE>Q 5;4?Q 9;47)_YyQ I? +=I :i:t;4yɮYB*jBji?iziJiƷ<i kCLkCLkCLh 2Acoustic response timeout kC^kC^kC^h!B=>B9B=DB=#>B==B9B9B=;B=)E2fQ:fQBfQJfU?ZeZeZaZeiy)y)yyyiyIIIiD=D<Ea EMEE"E%.:*E9VE5ZEBEM3;a2EO3;aJEa:Eaԙ 2Acoustic response timeout O% > Nҏ,:8I?A6@6@6#ڲ;ٱ6o BAHRS rotation from veh to nav: [[0.514883,0.857123,0.015350],[-0.857243,0.514904,0.002853],[-0.005458,-0.014628,0.999878]]6Hy? m? o?n z?_g? =[v`:`?i6@I6d`;4YF .>yJDPbDV#xVDV-9y^<%^[=ٔ^=Q-^>9`I`=bAFydfEj>lQ 5v;4n{?Q 9v;4n7)n YxyzQ Iz?n=In?;inv=;n;4yɮWB *j)Bj)i-?i-zi)Ji5Ʒ<i1 ks`ks`ks`hQ2fi:fiBfiJfm:?ZZZZi))顩iI1IIIyO=-2Acoustic response timeoutEn EZEE"EO]:*Ea9VEq5ZEa@a@a@a@! Nҏ,]S8I?A2#H@2(C@2/<ٱ2 :AHRS rotation from veh to nav: [[0.519080,0.853934,0.036788],[-0.854658,0.519098,0.009790],[-0.010737,-0.036523,0.999275]]2HL? mS?բ?\Yt? ?@?i2#H@I2b9`;2CB2Acoustic response timeout|Y[>y\D  ==bDtxVD4-9y-@O%-C=ٔ-N91I1=5AFy15NA<E=>AQ 5M;4E?Q 9M;4E7)E?VYIyM(Q IM?E[=IE):iE:E;4yYɮ]bBY*jiBjqiu?iuziqJiuƷ<iy kGkGkGh k^k^k^h2f:fBfJf ?ZZZZi))iIII O=)I]a>)]]>Q52Acoustic response timeoutBE>BABEDBE=BABABE/DBEB;BEnEBBBBǥ=Bǥ=Cmr4ԁ D zD AAE h E TE E "E G:*E 9VE 5ZE BE /_;a 2E 1_;a JE :a% :E :a% Nҏ,m8I?A2@2z@2.mٱ2ť :AHRS rotation from veh to nav: [[0.524797,0.849183,0.058960],[-0.851018,0.521875,0.058432],[0.018850,-0.080841,0.996549]]2H#?,? /? ;2??ZM?@@?i2@I2_;2CYN>yRDPPfjCj# j")j(Ihij)j(j*bD%MxVD%"-9Yy}'b%}E=ٔ Q->9I=AFy҅<E>Q 5;4~?Q 9;47)YyAQ I?+>I<;i7;.;4yɮnB|E*jBji?iziJiƷ<i kSFkSFkSFh k\k\k\h2f:fBfJf$?ZZZZi!))))))i)1I1IIIYO=2Acoustic response timeoutԉԱ E 2Acoustic response timeout!Nҏ,8I?A2@2@22ٱ2 :AHRS rotation from veh to nav: [[0.513081,0.854247,0.083723],[-0.855207,0.500444,0.134823],[0.073273,-0.140776,0.987326]]2H(k?`U?@n?]`?A?` ²?¿`-?i2@I2 _;0Y^>ybDEf EYEE"EI@:*E*9VE5ZEa@a@a@a@yZd;O?{Gzt?Q?j<ף;\= 95^I ?ʡEÿS?Y>y/>BrB )yBYBbD-*xVD--9y==%=?=ٔ=cQ-=>9AIA=EAFyAMEM>IQ 5];4M?Q 9];4M 7)MBY]^>Q E] ;y]Q I]?Mt>IM ;iM ;M";4yiɮmfBi*jBji?iziJiƷ<i kCDkCDkCDh kS]kS]kS]h2f=>:f=>Bf{<@Jf-4@19 rNAggregate::initialize marl:UpdateRudderq9J]q997oXAggregate::initialize marl:UpdateCommandMode18]I18MoU@Completed marl:UpdateCommandMode7UoU\Aggregate::uninitialize marl:UpdateCommandModeq7UnULAggregate::initialize marl:UpdateSpeed7U]Q7UnU4Completed marl:UpdateSpeedq7]n]PAggregate::uninitialize marl:UpdateSpeedZeZeZaZei))顙iIII I)Ou>2Acoustic response timeout9 (Nҏ,8I?A2@2@2FNٱ2/%# :AHRS rotation from veh to nav: [[0.509285,0.854863,0.099184],[-0.857427,0.494142,0.143676],[0.073813,-0.158216,0.984642]]2HL? [?&d?` p ?c?a?h@Ŀ/?i2@I2ݶ_;2CY^=y^CDibIR=)a=bD%xVD%,9y}v%}W=ٔ}sQ-}>9I=AFy>E>B<A<B>BBDB#>B=BB0DB;BE2Acoustic response timeoutQ 55;4?Q 95;47)ܽY1y=عQ I=?v>I5Em ESEE"EY:*E9VE*5ZEBE~;a2E~;aJEl:a:Em:a9 qqi 2Acoustic response timeoutԑ (.Nҏ,c8I?AN6@N1@NٱNM ^AHRS rotation from veh to nav: [[0.517257,0.846364,0.126940],[-0.855794,0.510154,0.085787],[0.007848,-0.153008,0.988194]]NH^? i???@b.S? ?@?ĕÿH?iN6@IN_;NCYj=yjDn=na=yG%P9!Y%{FA 2Acoustic response timeoutԡbDwVD,9y5% =ٔh=Q->9I=AFyZZ<E>Q 5 ;4S?Q 9 ;47)ݵ;Y yQ I??I:i$:;4yBɮcBE*j)Bj1i5?i5zi1Ji=Ʒ<i9 kFkFkFhI k^k^k^ha2fq:fqBfqJfuU@ZZZZi))顙iIIIE^ EKEmE"EC#:*E]t9VE5ZEa@a@a@a@O5> c5Nҏ,A8I?A22Acoustic response timeout6n@6i@6<ٱ6Q/ >AHRS rotation from veh to nav: [[0.523068,0.843194,0.124187],[-0.852125,0.520256,0.056708],[-0.016793,-0.135485,0.990637]]6H?s?ʿ?@D??K2@W`L?i6n@I6\_;6CY^=y^ZDbDjwVDj,9y%=%-=ٔ-c=Q--K?9)I1=5AFy15<E5K?9Q 5E;4=,?Q 9E;4=7)=9=YIyMQ IM?=,?I=:i=:=F;4yQɮ]ZBY*jiBjiim?imziiJiuƷ<iq kCFkCFkCFh k#_k#_k#_h2f:fBfJf @ZZZZi))iIIIO5=B>BBDBw>B=BBB;BEi%AI!-2Acoustic response timeout1 bEmO5jEmʨ5rEmʋS2E e E gE E "E <:*E &9VE 5ZE BE `L;a 2E cL;a JE 1;a :E 1;a Q [=;Nҏ,$8I?A2@2@2zٱ2W :AHRS rotation from veh to nav: [[0.509312,0.854702,0.100426],[-0.860536,0.504596,0.069719],[0.008914,-0.121929,0.992499]]2H`HL?Y?@?`%? ٱ?`A?`6?i2@I2_;2CYN >yNԴD~=~=bDwVD,9yFn=%D=ٔ}Q->9I=AFyE>Q 5;4w?Q 9;4Q7)=YyvQ I? O?I:i<:;4yɮNB*jBji?iziJiƷ<i kFkFkFh k3]k3]k3]h2f:fBfJfs9@ZZZZi))))))1i11I9IQIaFailed to create a data reader. azimuth_vehicleFrame is unknown.bFailed to request data from azimuth_vehicleFrame.IiIO=)m2Acoustic response timeoutYI}e>)}i>ԩ  2Acoustic response timeout)BNҏ, 9I?A;ɰ4<2PĠ@2U@2U4ٱ2!8 >AHRS rotation from veh to nav: [[0.504799,0.859928,0.075506],[-0.862114,0.497751,0.094887],[0.044013,-0.112993,0.992620]]2H Q'?? UT?o'?@J?ۈ??i2PĠ@I2_;2CYZ>yZ9D\\fParsing RMC sentence: $GPRMC,192835.00,A,3646.38250,N,12152.29268,W,0.194,278.16,251025,,,A*76 )df8I?Af~?d9fcbB@Hcw^nhGPS fix at 20251025T192835: (36.773042, -121.871545)fe=fZ@y]J +ѿ{Gz?T㥛 ]]#<]Y Y9]A`"?SÿY]Y=y]L]] B]nB ]B)]BYY].BbDuwVDu,9y'ڼ%I=Eg ESEwE"EC:*E9VEɕ5ZEa@a@a@a@ٔM1Q-M>9IIQ=UAFyQU2E]>aQ 5;4e~?Q 9;4e7)eY+>Q E;yYQ I?eIe ;ie;e>g;4yBɮjB|E*jBji?iziJiƷ<i kDkDkDh2f/>:f/>Bf|!@Jf@Z-Z-Z1Z5\=Received valid gps time fix: 1761420544.00. Resetting abort timer.ii)i)iiiiiqIyԙI9IIO&>u2Acoustic response timeout LHNҏ,5"9I?A6Ѡ@6̧@60>ٱ66R BAHRS rotation from veh to nav: [[0.506138,0.861616,0.037989],[-0.861193,0.502527,0.076247],[0.046605,-0.071308,0.996365]]6HG2?Z?`Ys??@焳?`ܧ?5A8?i6Ѡ@I6_;6CYJA>yJDlbD VD yE=%MO=ٔMQ-M>9IIQ=UAFyQU;EU>YQ 5e;4]}?Q 9m;4]7)]ZYiym}Q Im?]=I]W:i]-:]'t;4yqAyAyBB1CBBB=BBB4;BEɮcB*jBji?iziJiƷ<i kcEkcEkcEh ksEksE2Acoustic response timeoutksEh2fq:fqBfqJfu۸@ZZZZi))项iIII)Ou= E5d E5RE5vE1"E59:*E59VE5-5ZE1BE5F;a=2E5F;a=JE5$:aE:E5%:aE1 2Acoustic response timeouta 5wNNҏ,`<9I?A::a@:?\@:ٱ:ߜj FAHRS rotation from veh to nav: [[0.494590,0.868427,0.034861],[-0.868604,0.492504,0.054470],[0.030134,-0.057221,0.997907]]:H`\?'? \١?/?@?`q۞?L?i::a@I:_;8YN9>yNYDIR=)Rp<bDZxVDZ-9y~\<%O=ٔ*=Q->9 I = AFy  FE>Q 5;44}?Q 9%;4i7)pY!y%Q I%?=Ia;i;;4y)ɮ5_B19*jABjIiM?iMziIJiMƷ<iQ kDkDkDha k3_k3_k3_hq2f:fBfJfQO@ZZZZi))顩iIIIO=iiAI2Acoustic response timeout yyԙE5j E5QE5qE1"E5N:*E5v9VE55ZE1aE@aE@aE@aE@ 6_UNҏ,V9I?A"2Acoustic response timeout6@6@6(ٱ6蒽 BAHRS rotation from veh to nav: [[0.498903,0.864781,0.057011],[-0.866597,0.497009,0.044624],[0.010255,-0.071668,0.997376]]6H`?H?{0? *?ئ??X?i6@I67_;6CYN_>yRvDbDZlxVDZ0-9yv%vL=ٔv K=Q-v>9xIx=zAFyxzA<E~>Q 5 ;4X|?Q 9 ;4;7)-Y y Q I ?=I:i:;4yԙɮdB*jBji?iziJiƷ<i kFkFkFh k\k\k\h2f!:f!Bf!Jf%/m@Z5Z5Z9Z=iQ)Y)YYaiaiIiIIOM=BB0CBDBM>B=BBB;BE2Acoustic response timeout D9 zD= ?AEE c EE YEE EA "EE g5:*EE *9VEE 5ZEA BEE ?;aU 2EE ?;aU JEE :aU :EE :aU [Nҏ,`p9I?AB/+@B4&@BBJٱB@,ѽ JAHRS rotation from veh to nav: [[0.516071,0.852461,0.083550],[-0.856514,0.512753,0.058893],[0.007364,-0.101955,0.994762]]BH@? \G?c?hxh? >'?`6)~??iB/+@IB_;BCYR>yRDj$hj! j )j+Ij#in'n%n(bDrxVDrZ-9yzQ;%zJ=ٔ~;Q-~>9I=AFyI=E > Q 5;4 d{?Q 9;4 7) jYyQ I?  >I ;i &; $;4y!ɮ-cB)*j9Bj9i=?iEziAJiEƷ<iA k3Dk3Dk3DhY k#^k#^k#^hi2f:fBfJf8@Z Z Z Z i!)!)!!!i!)I)IaIO=U2Acoustic response timeout!Q 2Acoustic response timeouty RpbNҏ,:9I?A>Ҡ@>כ@> ٱ> FAHRS rotation from veh to nav: [[0.528247,0.841589,0.112617],[-0.848902,0.520671,0.090922],[0.017883,-0.143631,0.989470]]>Hf?@L?|Լ? 5*U?F?O?}b¿?i>Ҡ@I><_;yND YYEo E[EE"E`:*E9VE5ZEa @a @a @a @yEˡEMbP?̿E什E:EffA A9E{Gz?l?q= ףpͿYEף=yE=EkE4BE-B E4BQ)EBAYE BbDexVDes-9yu%u5=ٔudQ-}>9yIy=}AFyy=E>Q 5;44}?Q 9;47)Y8|>Q EW;yxQ I?->I ;i7 ;;4yɮhB*jBji?iziJiƷ<i kS]kS]kS]h kc]kc]kc]h2f*>:f*>Bf_>Jfd@ZZZZi))i!!I)IAIQO >ԁe2Acoustic response timeoutI}l>)yԱ hNҏ,9I?A2o@2t@28tٱ2 :AHRS rotation from veh to nav: [[0.536807,0.836268,0.111778],[-0.843573,0.529652,0.088619],[0.014906,-0.141864,0.989774]]2H`-??@w?@ ? ?ˆ?(¿:?i2o@I2_;2CYB5>yB DbDNxVDNq-9ynp%rh=ٔr^ 9tIt=vAFytvR<Ez>xQ 5~;4z~?Q 9;4z7)zqԾYytQ I?z9K>Iz;iz#;zF;4y ɮ kBB!B%1CB%DB%=B!B!B!B%9;B%EBBBBBCg4*jABjIiM?iMziIJiMƷ<iQ k^k^k^ha k^k^k^hq2f:fBfJf@ZZZZi))顩i2Acoustic response timeoutIIIO=ԱDD=E g E uE E "E C:*E :VE U5ZE BE X;a2E X;aJE xd;a:E xd;a u 2Acoustic response timeout9 @nNҏ,9I?A2Y@2T@2yٱ2D :AHRS rotation from veh to nav: [[0.520940,0.845127,0.119926],[-0.853552,0.514373,0.082878],[0.008356,-0.145538,0.989317]]2H@?F ?}?LPu?`7? ?¿|?i2Y@I2N_;2CY^p>y^ߢD``bDjxVDjh-9yr%rJ=ٔv9tIt=vAFyxz=Ez>|Q 5];4~.?Q 9];4~E7)~GYaye|Q Ie?~3m>I~3;i~;~i;4yiɮmlBi*jBji?iziJiƷ<i k`k`k`h k`k`k`h2f:fBfJf@ZZZZi))iII IOM=2Acoustic response timeout9Ej ElEE"EN:*E:VE5ZEa%@a%@a%@a%@i uNҏ,9I?A &2Acoustic response timeout:^ޠ@:c٧@:Y@ٱ:a BAHRS rotation from veh to nav: [[0.507470,0.857620,0.083438],[-0.860387,0.499051,0.103354],[0.046999,-0.124238,0.991139]]:H 1=?@q?*\?J@u?nu?F? οh?i:^ޠ@I:n_;:CYJx>yJFDIR4=)RR=bDVxVDVo-9y^>=%^M=ٔbwƽQ-b>9`I`=fAFydfEf>hQ 5n;4j?Q 9n;4j 7)jYpyrrQ Ir?j;>Ij;ij3;j[;4ytɮvbBt*j|Bji?iziJiƷ<i k^k^k^h!2f1:f1Bf1Jf5x@Z=ZEZAZEiQ)Q)QQiII)IaI>>O=i yyԙB!B!B!B!B%=B!B!B%M;B%E2Acoustic response timeout E% d E% TE% wE! "E% 9:*E% 9VE% ɕ5ZE! BE% F;a5 2E% F;a5 JE% :a5 :E% :a5 ({Nҏ,9I?ABp@Bu@BuٱB)ض JAHRS rotation from veh to nav: [[0.507861,0.860188,0.046404],[-0.859354,0.502150,0.096726],[0.059901,-0.089001,0.994229]]BH@e@?੆?H§?  ?@ø?H?ȶ?iBp@IB5_;BCPYV>yV/DbDr&yVDr-9yv %zG=ٔzQ-z>9|I|=AFy%`;E%>!Q 5-;4% ?Q 95;4%7)%1Y1y5M]Q I5?%s>I%>:i%:%;4yYɮecBa*jqBjqiu?iuziJiƷ<i ksEksEksEh k]k]k]h2f:fBfJfF@ZZ%Z!Z%i1)Q)QYYiYYIaIyIO=U2Acoustic response timeout 15͑CGvH9Y>A!  2Acoustic response timeoutNҏ, :I?A2@2@2S}ٱ2W :AHRS rotation from veh to nav: [[0.526562,0.850052,0.011971],[-0.847879,0.524086,0.080214],[0.061912,-0.052387,0.996706]]2H@?@3?-?!@P?爴??`Ҫ`?i2@I2_;2CYf,)>yf Dj=h|y]:v?X9v~jt?]T<]]>Y Y9]+?SÿY]=y]]]B]KB ]yB)]*BYY]BbDucyVDu-9y/=%A=ٔQ->9I=AFyV=E>Q 5;4?Q 9;47)=Y X>Q E{;yQ I?>I:i:;4yɮYB*jBji?iziJiƷ<iEf EKEtE"EI@:*E]t9VE5ZEa@a@a@a@ k^k^k^h k^k^k^h 2f%>:f%>Bf%@Jf%LJ@Z-Z5Z1Z5i))iIII1Ou=)e2Acoustic response timeoutYԁ (Nҏ,_%:I?A2ዢ@2憩@2㧽ٱ2p :AHRS rotation from veh to nav: [[0.550618,0.834749,0.003841],[-0.830732,0.547505,0.100616],[0.081886,-0.058591,0.994918]]2H?C?Dvo?`Z(??{? ^?i2ዢ@I2_;0YB">yBD HHbDNyVDN-9yV/%VY=ٔZZQ-Z>9XIX=ZAFyX^=A`A`Bf>Bf0CBfDBf#>BdBdBdBf;BfלEE^>pQ 5v<4rP~?Q 9v<4r&7)rdHYtyzTQ Iz?r>Ir:ir:r<4YyYɮ]]Ba*jqBjqiu?iuziqJiƷ<i kc]kc]kc]h2Acoustic response timeout ks]ks]ks]h2f:fBfJfhp@ZZZ!Z%i1)Q)QYYiYYIaIIO=ԁbEuA5jEu5rEu82Eg EQEE"EC:*Ev9VEDz5ZEBEX;a2EX;aJE:a:E:aIy)}t>Աm 2Acoustic response timeout *Nҏ,:?:I?A2b@2g@2 Өٱ2~ͽ :AHRS rotation from veh to nav: [[0.555102,0.830943,0.037369],[-0.827697,0.547370,0.123709],[0.082340,-0.099602,0.991615]]2Hd? ? "?`~| ?h?C? ~N?i2b@I2d_;2CYR>yRѺDbDZZyVDZ-9yfм%jH=ٔj@Q-j>9lI=AFyU<E%>)Q 55<4-J{?Q 95<4-7)-;SY1y5Q I=?-?I-;i-;Թ-9<4y9ɮ=bB9*jIBjQi?iziJiƷ<i k`k`k`h k`k`k`h2f:fBfJfq@Z2Acoustic response timeoutZZZi))顁iIIaEn E_EuE"EO]:*Er9VE5ZEa@a@a@a@I1Om>9 Nҏ,Y:I?A2Acoustic response timeoutF2@F-@FߐٱFZ RAHRS rotation from veh to nav: [[0.542007,0.836164,0.084013],[-0.837396,0.528973,0.137676],[0.070679,-0.144974,0.986908]]FH X? ?@聵?Y?@a?`?¿?iF2@IF2_;FCY J >y DYYbDRyVD-9yƧ%!=ٔ/9I=AFyE>IQ 5U<4MBw?Q 9U<4M7)M_YQyUAQ I]?MY?IM:iMg:M <4yeBɮeQBeE*jBji?iziJiƷBBDB">B=BBB;BEkC`kC`h2f):f)Bf)Jf-CN@Z}Z}ZyZ}i))顑i2Acoustic response timeoutqI I I Oe >E d E hE E "E 9:*E ]9VE ZE BE F;a 2E F;a JE &5;a :E '5;a ԙ 9%Nҏ,r:I?A2K@2F@2Bcٱ2 :AHRS rotation from veh to nav: [[0.545074,0.833368,0.091604],[-0.836552,0.533397,0.125174],[0.055455,-0.144861,0.987897]]2H@?q? ?Zs?@??@d?ˊ¿ٜ?i2K@I2_;2CYB=yB)DbDNCyVDN-9yrqQ%r=ٔvoM=Q-v?9tIt=vAFyxz#<Ez?|Q 5<4~t?Q 9<4~U7)~gYy Q I ?~-?I~-:i~:~>+<4yɮYB*j)Bj)i-?i-zi1Ji5Ʒ<i1 kshkshkshhI kshkshkshhY2fi:fiBfiJfma˅@Z}Z}ZyZ}i))顑iIIIO=q52Acoustic response timeoutԡ 2Acoustic response timeout  Nҏ,-̌:I?A2C@2H@2r\ٱ2 :AHRS rotation from veh to nav: [[0.534837,0.841665,0.074496],[-0.843241,0.526061,0.110476],[0.053794,-0.121905,0.991083]]2Hb??`/?`|?`(H?늫?*5?i2C@I2_;2CYB>yB3DyEZd;O?x&1ȿ)\(̿E~>EAEGaA A9ES㥛?RQпkt?YE>yEE 0>E^BEB E"B)EAYEBbD](yVD]-9ymA=%mB=ٔuC;Q-u>9qIy=}AFyy}E>Q 5<49v?Q 9<47)NY ?Q E:ycQ I?b?IQ:i@;9<4yBɮBEc EKEE"Eg5:*E]t9VEc5ZEa@a@a@a@*jBji?iziJiƷ<i k\k\k\h k\k\k\h2f >:f >Bf D@Jf >٢@ZZZ!Z%i1)1)199i99IAIYIiO5=M=M4=U2Acoustic response timeout 7Nҏ,:I?AB0A2<B4B61CB6DB66>B4B4B4B6;B6EB@B@B| ?ٱBY JAHRS rotation from veh to nav: [[0.537561,0.842526,0.034328],[-0.841935,0.534042,0.077099],[0.046626,-0.070347,0.996432]]BH`3? ?g?!?ʼ? Xߧ?I?iB@IBh_;BCLY^A>ybD ddf=f=bDjxVDjr-9y<% Q=ٔ c9I=AFy;E>Q 5%<4Bw?Q 9-<47)9Y)y-Q I-?o?I:iN:G<4y1ɮ5B9*jIBjIiU?iUziQJiUƷ<iQ2Acoustic response timeout k]k]k]h 2fA:fABfAJfEhɜ@ZuZ}ZyZ}i))项iIIIO]=Ef EUEyE"EI@:*EP9VE5ZEBER;a2ER;aJE:a:E:aM 2Acoustic response timeout! Nҏ,f:I?A6ْ@6ލ@6ٱ6; >AHRS rotation from veh to nav: [[0.526557,0.849302,0.037732],[-0.849412,0.523752,0.064672],[0.035164,-0.066104,0.997193]]6H?{-?@Q?b.?^??@.찿@?i6ْ@I6 _;6CYF >yFԴDbDRxVDRZ-9yZ+%ZP=ٔZ9\I\=^AFy`b Eb>dQ 5j<4fx?Q 9j<4f8)f%Yhyj¿Q In?f?If:if):fcU<4ypɮrBp*j||Bj|i?iziJiƷ<i  kDkDkDh kakakah)2fA:fABfAJfEf@ZMZMZIZUia)a)aaiiiiIqIIOM=)2Acoustic response timeoutIy)}a>QE EQEE"E=;*Ev9VEH5ZEa@a@a@a@ԁ gKNҏ,f:I?A"2Acoustic response timeout$ɰ$b0@b5@b @ٱb rAHRS rotation from veh to nav: [[0.525510,0.849555,0.045781],[-0.849496,0.520987,0.083245],[0.046870,-0.082636,0.995477]]bH? /?p?/?O?X?@'?ib0@Ib_;bCY~">y~DbD ixVD /-9y=%C=ٔ%kQ-%>9!I)=-AFy)-E->1Q 5=<45y?Q 9=<458)5EYAyEZ¿Q IE?5n?I5:i5p:5c<4yIɮMBIQ*jiBjiim?imziiJimƷ<iq k_k_k_h k_k_k_h2f:fBfJf1@ZZZZi))iIIIO=ԁBe>Be0CBeDBeJK>BaBaBe/DBe;BeEB!B!B!B!B!C%42Acoustic response timeoutԹE c E NE {E "E g5:*E ҆9VE :5ZE BE ?;a 2E ?;a JE :a :E :a UsNҏ,8:I?A2má@2r@2SҼٱ2Kؽ :AHRS rotation from veh to nav: [[0.531738,0.843497,0.075946],[-0.846520,0.526634,0.077852],[0.025672,-0.105687,0.994068]]2H??@4q?@ 0??I?Hg?i2má@I2~_;2CY^>ybD`b@AIf<)f91I9==AFy9=<EE>AQ 5M<4E!?5-?2^Z׻@e?i2@I2k_;2CY^h >y^Dy}MbX9-?v/?}ʡ}?5>}x>y y9}'1Z? rh?Q?Y}">y}C<}\>}B} }B)}MByY}.BbDgxEe ETEE"E<:*E9VE65ZEa@a@a@a@VD.-9y,%B=ٔ=Q->9I=AFy<E>Q 5<4?Q 9<48)Y>Q E:yK#Q I??I ;iT;<4yɮB*jBji?iziJiƷ<i  k^k^k^h!2f5>:f5>Bf5?@Jf5@19= r=NAggregate::initialize marl:UpdateRudderq9=J]9q9=9=7EoEXAggregate::initialize marl:UpdateCommandMode18E]A18EoE@Completed marl:UpdateCommandMode7EoE\Aggregate::uninitialize marl:UpdateCommandModeq7EnELAggregate::initialize marl:UpdateSpeed7M]I7MnM4Completed marl:UpdateSpeedq7MnMPAggregate::uninitialize marl:UpdateSpeedZUZ]ZYZ]ii)i)iiqiqyIyIIO}=A%2Acoustic response timeout yyiIiԙ 3Nҏ,[';I?AA(A(B.>B./CB.DB. A>B,B,B,B.;B.EJD@J?@J wٱJ VAHRS rotation from veh to nav: [[0.545128,0.835420,0.070071],[-0.838185,0.541439,0.065499],[0.016780,-0.094438,0.995389]]JHq??2?ivS? İ?.?-:?iJD@IJy_;JCYZ>y^DbDfxVDf;-9ynN<%nZ=ٔrBKQ-r>9pIp=rAFytvS<Ev>xQ 5~<4z5?Q 9~<4z8)zY|y~%Q I?zq?Iz;iz;z <4y ɮ B *jBji%?i%zi!Ji%Ʒ<i! kEkEkEh9 k]k]k]hI2fY:fYBfYJf]@smNUpdating rudder angle 6.875493 arcdeg 9mrm6Completed marl:UpdateRudder19m rmRAggregate::uninitialize marl:UpdateRudder2Acoustic response timeoutZZZZi))顩iIIYIqqIO=Ec EQEE"Eg5:*Ev9VE5ZEBEa2EaJE:a:E:aԡ5 2Acoustic response timeout A OoNҏ,A;I?A$>M9CA^ѡ@^̨@^Oٱ^ӽ fAHRS rotation from veh to nav: [[0.532728,0.844132,0.060345],[-0.844768,0.526149,0.097642],[0.050673,-0.102994,0.993390]]^H  ?`!??V7?? ?]?i^ѡ@I^o_;^CYn>yncDr=pbDzxVDz9-9yQO%G=ٔ Q- >9 I = AFy  E>Q 5%<4y?Q 9%<48)I9tIt=vAFytztsEz>QQ 5]<4U?Q 9e<4U8)U>>YayeQ Ie?U(?IUp:iUp:U<4ymܻBɮuBuE*jBji?iziJiƷ<i kFkFkFh k\k\k\h2f:fBfJf(@ZZZZi))iII IOU=ԉBE>BABEDBE6>BABABABE;BE̜EIy)}>Թ2Acoustic response timeout bEIjEM`5rEMʘ2E g E KE yE "E C:*E ]t9VE 5ZE BE X;a 2E X;a JE /:a :E 0:a Nҏ,u;I?Aɰ;2y@2t@2Xٱ2m ҽ :AHRS rotation from veh to nav: [[0.550232,0.832454,0.065307],[-0.834200,0.544566,0.086939],[0.036809,-0.102316,0.994071]]2H?v??ım?`A?آ?@Z1m?i2y@I2_;2CYB=yFNDbDNxVDND-9yV%VN=ٔVN=Q-V>9XIX=ZAFyX^X=E^>\`Q 5f<4b䏶?Q 9f<4b8)bJ>YhyjUQ Ij?bj@Ib:ibK:b3<4ylɮnBp*jxBjxiz?izzixJi~Ʒ<i| kCkCkCh  k\k\k\h!2f1:f1Bf1Jf5@ZEZEZAZEiQ))项iIIIO}=2Acoustic response timeoutA  2Acoustic response timeouthNҏ,[;I?A6V@6[@6Q[ٱ6b >AHRS rotation from veh to nav: [[0.551668,0.830416,0.077925],[-0.833319,0.544817,0.093557],[0.035236,-0.116549,0.992560]]6H@C?Ē??@%o?X?`u ?(ֽ ?i6V@I6_;6CYF >yF6DHHiNEe EYE{E"E<:*E*9VE:5ZEa@a@a@a@y ףp= ׿n?~jt?QV>< 9Sտ㥛 ?+?Yy>>4BuB  B)4BYB p<bDxVDB-9y =%:=ٔj;Q->9I=AFy*{;E>qQ 5}<4u9?Q 9}<4u 8)u6>Y}>Q E:y?Q I?u @Iu :iu:u<<4yBɮBE*jBji?iziJiƷ<i k3Dk3Dk3Dh k]k]k]h2f%>:f%>Bf%@Jf%%~@ZUZUZQZUia)a)iiiiiIIIO% >I2Acoustic response timeoutqԡ B= <A= <BE >BE 0CBE DBE w>BE =BA BA BE B;BE ENҏ,8;I?A2%@2*@2ٱ2 :AHRS rotation from veh to nav: [[0.555663,0.826272,0.092268],[-0.830558,0.546652,0.106511],[0.037569,-0.135818,0.990021]]2H?@p?`ڞ?-~?LD?1yBDe2Acoustic response timeoutyEk EVEzE"EmR:*E9VE5ZEBEq;a2Er;aJEC:a:ED:aԡ yybDxVDI-9y0%<ٔnQ->9 I = AFy  ;E > 2Acoustic response timeout Q 5% <4 ?Q 9% <4 8) $?Y! y% ?Q I5 ? @I |;i }; <4yA ɮA A *jQ BjQ i] ?i] ziY Ji] Ʒ<iY  k]k]k]hq  k]k]k]h 2f :f Bf Jf @Z Z Z Z i ) ) 项 i I I I O > Nҏ,Q;I?A2m @2r@2'ٱ2 P :AHRS rotation from veh to nav: [[0.565464,0.816425,0.117048],[-0.824514,0.556013,0.105003],[0.020647,-0.155883,0.987560]]2HH?' ? ? lb ??`$?ÿ?i2m @I2_;2CYBh=yBDm2Acoustic response timeoutE E^EvE"E,:*E;9VE-5ZEa@a@a@a@1a % 2Acoustic response timeoutԉԱB=>B=/CB=DB==B==B9B=.DB=X;B=E2Acoustic response timeoutE` EUEE"E*:*EP9VE*5ZEBE-;a2E -;a JE:a :E:a  9}2Acoustic response timeoutiI {>) l>#$2Acoustic response timeout9&E'f E'TE'wE'"E'I@:*E'9VE'ɕ5ZE'a'@a'@a'@a'@i)],2Acoustic response timeoutԑ,/AQ2AU2AAB]2>BY2B]2aDB]2=B]2=BY2BY2B]2S;B]2EB/CB/CBBBC52 4%= 442Acoustic response timeout6E]7h E]7OE]7EY7"E]7G:*E]79VE]75ZEY7BE]7/_;ae72E]71_;ae7JE]7M:am7:E]7O:am7I9;2Acoustic response timeoutq<A !A!A%A >%A=yA"~j̿{GzĿA`"˿AScA#AYA A9AEԸx&1ȿ#~jYAƽyAAAA6BA(B AB)AwBAYA#BAAAAbDAxVDAo-9yA%A<ٔA;Q-A=9AIA=-BBFy)B-B;E-B=1BQ 5=B=45BvZ?Q 9EB=45B 8)5BKؾYEB?Q EEB:yEB6Q IEB?5B?C@I5B*:i5B3:5B*=4yMBBɮUBBQB*jaBBjaBieB?ieBziiBJimBƷ<iiB k_k_k_hB k#_k#_k#_hB2fB@>:fB@>BfBY@JfB@ZBZBZBZBiB)B)BBBiBBIBIBIBO5C@TOҏ,&IyUԴD]=YbDm yVDmz-9y}>%}X>ٔ Q-?9I=BFyk=E@Q 5=4X?Q 9=4D 8)CYy1Q I?D@I :i-:-=4yɮB2Acoustic response timeout*j!Bj!i%?i%zi!Ji-Ʒ<i) kckckch9 kckckchQ2fa:faBfaJfefc@ZZZZi))顡iIIIO-= AEd EsEsE"E9:*EZ:VEX5ZEa@a@a@a@qia Ia m 2Acoustic response timeoutԙ {Oҏ,Jc9xIx=zBFyx~=E~>Q 5 =4{Q?Q 9 =4A 8) )Y y=/Q I?J@I:i:{:=4yɮ*j)Bj)i5?i5zi1Ji5Ʒ<i1 kckckchI kckckchY2fq:fqBfqJfu@yZZZZi))顱iIIIO-=B>B.CBDB=B=BBB];BEԩ2Acoustic response timeoutEh EPEE"EG:*E?9VEDz5ZEBEa2EaJE:a :E:a  Oҏ,Pp}yFȡDIN=)NR=LLbDVRyVDV-9yj%j<ٔnfU=Q-n>9lIp=rBFyprEr>tQ 5z=4vH?Q 9z=4vB 8)v[Y|y~Y2Q I=?vQ@Iv22Acoustic response timeout1E f E E E "E I@:*E VE 5ZE a @a @a @a @e PExceeded connect timeout, disconnecting.a ʍ%Oҏ,jKyZjD\^?A5only read 0 of 1 data item for water mass range. Device response is::WD, , +3462.10, -24.93, 20.00, 0.00 a5@a5 a5@a5 a5@a5 a=@a= bDE5yVDE-9y]I;%]B=ٔeE6;Q-m>9yI=BFyE>Q 5=41??Q 9=4f8)Q A+:YQ E:y1Q I?{Y@IdE;i>T=4yɮ*jBji?iziJiƷ<i kkkh 1 kkkhZZZZi))   i 1I1IIu2Acoustic response timeoutIO>I>)t>aԉBAB>BBDBw>B=BBB;BE% 2Acoustic response timeoutԹ +Oҏ,&yB9DbDJxVDJd-9yR <%VW=ٔV=Q-V>9XIX=ZBFyXZ&=EZ>\Q 5b=4^;6?Q 9f=4^^8)^pQ Af :YdQ Efv:yf3Q If?^`@I^:i^M?^0]=4yhɮnBl*jBji?iziJiƷ<i kkbEe5jEeO5rEe2Ed EVEE"E9:*E9VE5ZEBEF;a2EF;aJEC:a:ED:akhZZZZi ) )   i II)IAԑO=iyI}A2Acoustic response timeout Ɵ2Oҏ,yBD DDJ>J=bDNxVDNI-9yVһ%VJ=ٔVֽQ-Z>9XIX=ZBFyX^E^>`Q 5f=4b,?Q 9f=4b8)bQ Af9YdQ EfG:yj0Q Ij?bh@Ib:ib?bd=4yn޻BɮnBnE*jtBjtiz?izzixJizƷ<ix k3k3k3h  k3k3k3hZZZZi2Acoustic response timeout))iII9IIO=E EQEE"E*Ev9VE5ZEa@a@a@a@nManaging dock network, ignoring radio surface power off)I  2Acoustic response timeout8Oҏ,y^Db=`bDj|xVDj7-9yrp<%rF=ٔv@ӻQ-v>9tIt=zBFyxz =Ez>|Q 5=4~Y#?Q 9=4~8)~ѿQ A 9Y Q E !:y R/Q I?~;p@I~\};i~?~j=4y9ɮ=B9*jIBjIiU?iUziQJiUƷ<iQ k3k3k3hi k3k3k3hyZZ5Z1Z5iA)A)IIIiIqIqIB>BBDB,>B=BBB;B7EIO=ԉ AA2Acoustic response timeoutDzD@AEg ENEE"EC:*E҆9VE5ZEBEX;a2EX;aJE:a:E:aA >Oҏ,5ÿ?ibPi@Ibd_;`!YMl>yMŧDbD_xVD*-9y%==ٔ=Q->9I=BFyL<E>Q 5=4/?Q 9=48) Q A9YQ E:yr4Q I?^x@I[;i@np=4yɮB*jBji?iziJiƷ<i kkkh k#k#k#hZ-Z-Z)Z-iY)Y)aaaiaiIIIO= >Iq2Acoustic response timeoutԡ E j E UE E "E N:*E P9VE Dz5ZE a @a @a @a @EOҏ,\=I?AɰB5@B:@B9/:ٱB׽ NAHRS rotation from veh to nav: [[0.605530,0.791377,0.084001],[-0.795822,0.602236,0.063078],[-0.000670,-0.105046,0.994467]]BH `?R??``wE?%?EE亿?iB5@IB_;BCYV>yV3DI<)=yaa aa aa aa yQ?l¿@5^I ??b> 9S㥛? rп:v?Y?y<YBB yB)rBYBbDxVD-9ym<%G=ٔs6=Q->9I=BFy<E>Q 5 =4?Q 9 =48)sQ A T:Y i?Q E:yԯQ I?U@Iu:i ;}=4yɮB!*j1Bj1i5?i5zi9Ji=Ʒ<i9 k3k3k3hI k3k3k3h2f#>:f#>Bf!@Jf4j@ZZZZi))iI!U2Acoustic response timeoutIaIO>ԡiIAA@ABBBBBBBB;B6E 2Acoustic response timeout LOҏ,Hn2=I?A2w@2|@2Nٱ2ҽ :AHRS rotation from veh to nav: [[0.592553,0.801486,0.080628],[-0.805526,0.589180,0.063207],[0.003155,-0.102402,0.994738]]2H 1?ƥ?`??@V.? yfDbDzwVDz,9y/% Z=ٔ 7'Q- >9 I=BFy<1E>iQ 5u=4m< ?Q 9}=4mh8)mYyy}Q I}?mr@Im;im;mi=4yɮEq EEE"E2h:*E:VE 5ZEBE͋;a2E΋;aJE;a:E;a*jBji?iziJiƷ<i kCkCkCh2f:fBfJfZi@ZZZZi ))iI!I9IIOu=Ia>)J>e2Acoustic response timeout1Y ROҏ,{IL=I?A2@2@2„;ٱ2X8 :AHRS rotation from veh to nav: [[0.590016,0.803686,0.077265],[-0.807369,0.588009,0.048992],[-0.006058,-0.091287,0.995806]]2H`h?`̷?dz??v?@x^?i2@I2_;0Yb>yf=DndSBD MO Status=1, MOMSN=2776, MT Status=1, MTMSN=282Acoustic response timeout1zSent 83 bytes from file Logs/20251025T181502/Courier0018.lzma.Packets left to send: 0bDxVD -9yh%.=ٔ19I=BFy  zۻE >yQ 5=4}E$?Q 9=4}t%8)}YylQ I?}(@I} ;i} ;}=4yɮB*jBji?iziJiƷ<i kkkh kkkh2f:fBfJf$h@ZZZZi))i!I)I9IQO}>E-n E-RE-zE)"E-O]:*E-9VE-5ZE)a5@a5@a5@a5@aԉm 2Acoustic response timeoutԹ YOҏ,$f=I?A:$@:)@:O =ٱ:ѽ VAHRS rotation from veh to nav: [[0.587750,0.802523,0.102507],[-0.808328,0.587823,0.032711],[-0.034005,-0.102085,0.994194]]:H?D?`=?`r?@|?@iA"p?i:$@I:ص_;:CY^>y^Dԙ,Received command: stop =p=B>BBDB#>B=BBB;BREB.CB.CBBBC>5bDNxVD"-9yQ%;=ٔ:=Q->9I=BFyE >Q 5=4'?Q 9=4+8)&YyQ I?@Iy:i :=4y)ɮ-B)*j9BjAiE?iEziAJiMƷ<iI kkkhY kkkhq2f:fBfJfg@ZZZZi))顩iI2Acoustic response timeoutII= got command stopN^Stop Mission called by CommandExec::commandStopOE>Em EZEE"EY:*Ea9VEԺ5ZEBE~;a%2E~;a%JE0;a%:E1;a- `Oҏ,k =I?A2Acoustic response timeoutJ@E@zԻٱC AHRS rotation from veh to nav: [[0.571752,0.811247,0.122382],[-0.820400,0.564158,0.093103],[0.006487,-0.153634,0.988106]]HK?@?iT?@ ?շ?#z?`Hÿ?iJ@Iͧ_;CY!>yDyZd;O?Zd;O?)\(?j<j<>G> 9S㥛?> ףp=ʿZd;O?Y>yQj<>-B%B ݭB)BYBbD\xVD)-9y=%^=ٔQ->9I=BFy.^E>Q 5=4]+?Q 9=4O08)ٿYj?Q E:y િQ I ?@Ie ;i ;=4yȻBɮwBE*j)Bj)i-?i5zi1Ji5Ʒ<i1 k3k3k3hI k3k3k3hY2fm?:fm?BfmSN@Jfm@Z}Z}ZyZ}'8MissionManager is completed.'6Uninitializing Mission marl- [8Aggregate::uninitialize marl-[NAggregate::uninitialize marl:AbortDriftq.\4Uninitializing AbortDrift.1/ ^HUninitializing TrackAcousticContact.1 cLAggregate::uninitialize marl:NeedComms12 dDUninitialize GoToSurfaceComponent.134i\Aggregate::uninitialize marl:StandardEnvelopes15 jNUninitialize AltitudeEnvelopeComponent.q5jUninitialize.5 kNUninitialize OffshoreEnvelopeComponent.9sHAggregate::uninitialize marl:Scienceq::1;;wbAggregate::uninitialize marl:Science:OceanCurrent1<O VAggregate::uninitialize marl:BackseatDriverOqPLAggregate::uninitialize marl:PowerOnlyQ 8Uninitialize Wait Component.1R XAggregate::uninitialize marl:JoystickControlqR@Uninitialize Buoyancy Component.RR1S Uninitialize.SlAggregate::uninitialize marl:JoystickControl:CmdRudder1TSSS!SRRy @AaP#maP}#maPy#uaPu#uaPq#uO%!O1!O)!Om#!E% f E% VE% E! "E% I@:*E% 9VE% 5ZE! a- @a- @a- @a- @V+fOҏ,7=I?AR$Z@R)U@R㺍:ٱR_$ ZAHRS rotation from veh to nav: [[0.573282,0.808725,0.131572],[-0.819357,0.566054,0.090754],[-0.001081,-0.159832,0.987144]]RHTX??W?,8?;? \Q auĿ ?iR$Z@IR__;PYb&>ybRDbDEQxVDE#-9y}l<%d=ٔ9I=BFyA;E>Q 5=4.?Q 9=448)ϿYy&Q I?5@I-:i:==4yɮuB'BStarted mission DefaultWithUndockK)NAggregate::initialize DefaultWithUndock1 *4Initialize Wait Component.i p:)111i1=I9IqIO=52Acoustic response timeoutIyԡ = < 2Acoustic response timeout.TlOҏ,=I?A@F@F@FJ܅<ٱF8 NAHRS rotation from veh to nav: [[0.587792,0.800948,0.113939],[-0.808847,0.584659,0.062770],[-0.016340,-0.129055,0.991503]]FH1?@^?+???X`d?iF@IF_;DYVw2>yVyDbParsing RMC sentence: $GPRMC,192854.00,A,3646.38212,N,12152.29595,W,0.019,284.05,251025,,,A*77 )`b=I?AbKC?bvb89b٨abB@yGw^jhGPS fix at 20251025T192854: (36.773035, -121.871599)b$ 9I=BFy:>=E > Q 5;4 KC?Q 9;4 vb8) Yy.Q I? I  ;i  ; >g;4y%Bɮ-WB-EE EXEE"E:*E9VEU5ZEi)iIIIO5=ԩE2Acoustic response timeout]G"O9YEA5 4Sent LCM shutdown request.5 nShutdown requested. Waiting (18.00 sec to power down.).A B?x?@r&?N1?`b?`|()?iJ祣@IJ_;JCYZ/>yZ5D\\bD-$xVD--9ye ˻%mC=ٔm{9=Q-m>9iIq=uBFyqu˩E}>yQ 5;4}SG?Q 9;4}g8)}{=Yy窿Q I?}Q>I}:i}B:}u;42Acoustic response timeoutyɮYBi)项iIIIO =I>)>IEl EVEE"EV:*E9VE5ZEqiI IM AU 2Acoustic response timeoutԡ jyOҏ,=I?A:A@:F@:L<ٱ: BAHRS rotation from veh to nav: [[0.580697,0.811879,0.060365],[-0.813962,0.580446,0.023416],[-0.016027,-0.062732,0.997902]]:H??@!? ?s?pi`;?i:A@I:_;8YZ&>yZDbDfxVDf-9y%O=ٔHQ->9I=BFy%RE%>)Q 5-;4-J?Q 95;4-l8)->Y1y5Q I=?->I- ;i-;-;4yAɮE]BAiQ)YYYiYaIaqa@a@a@a@a@a@a@a@AABA2Acoustic response timeoutԱ^Auw==IIOC>bEu*5jEuǕ5rEuǽ2Ek E^EyE"EmR:*E;9VE5ZE e 2Acoustic response timeoutOcOҏ,>I?AM@M@M eٱML̼ ]AHRS rotation from veh to nav: [[0.580125,0.814453,0.011007],[-0.814369,0.579694,0.027527],[0.016039,-0.024933,0.999560]]MH c?`?? P ڌ?0?ul?@f?iM@IM`;MCYm >ymD}=}=ԩyoʡ^I +?uV?-X9>r> 9v//$ףp= ?Yxiy>?OBB )BYB @A @AbD!xVD -9y%O%%8=ٔ-.Q-->9)I)=5BFy15RϺE5>9Q 5E;4=LG?Q 9E;4=sl8)=&>YM{@?Q EM:yM<@Q IM?=L>I= ;i=G ;=#;4yQɮU`BQii)iiiiiqIq^AEl=IQIaO=2Acoustic response timeoutE b E UE E "E 1:*E P9VE 5ZE 1 HOҏ,f>I?A2@2@2AAٱ2- :AHRS rotation from veh to nav: [[0.566082,0.824290,-0.009809],[-0.822998,0.565796,0.050484],[0.047164,-0.020505,0.998677]]2HX?`?@V ?٩?%?`(?i2@I2}s`;2CYN$>yRDbDZwVDZ,9yv/<%va=ٔvQ-v>9xIx=zBFyx~):E~>Q 5 ;4C?Q 9 ;4l8) A?Y y 4@Q I ?>I:i-:Ο;4yɮ^Bi)))11i11I92Acoustic response timeout A;:^A]a5U=IiIOj>i 2Acoustic response timeoutԙ ᱌Oҏ,>5>I?A6h@6c@6d[ٱ6Xڑ BAHRS rotation from veh to nav: [[0.572436,0.819922,0.006691],[-0.815007,0.568071,0.114276],[0.089897,-0.070869,0.993427]]6HdQ?yJDb `b" b!)b*Ib$ib*bb!bDjxVDj -9yrYd%rK=ٔvٽQ-v>9tIt=vBFytz7<Ez>|Q 5;4~@?Q 9;4~5k8)~?YyF@Q I ?~?I~;i~:~;4yɮaBi!))))i))I11yEi ELEE"E,K:*E|9VE5ZE^A5%<II1OM=ԡ2Acoustic response timeout Oҏ,O>I?A2a@2]@2ٱ2. :AHRS rotation from veh to nav: [[0.595090,0.803109,0.029723],[-0.794754,0.582603,0.170115],[0.119304,-0.124856,0.984976]]2H@ ??o?n?P?? ?i2a@I2_;2CYf=yfD lnbDrxVDr -9yzާ%zI=ٔz*Q-~>9|I|=BFy>=E> Q 5;4 =?Q 9;4 i8) ?Yy" @Q I? ?I ;i ; ;4y!ɮ%rB!i1)999i9AIAm2Acoustic response timeout7:Em EmPEm|Ei"Em:*Em?9VEmם5ZEi^A]"IiIO> 2Acoustic response timeout) ęOҏ,h>I?A2Ȥ@2ë@2ٱ2 >AHRS rotation from veh to nav: [[0.605200,0.794354,0.052290],[-0.787476,0.587743,0.185581],[0.116684,-0.153491,0.981237]]2H`]?Yk?@Ū?3@?!?߽?ÿ`Jf?i2Ȥ@I2 _;2CYFU=yFbDbD= xVD=-9yș%@=ٔ;Q->9I=BFy_<E>Q 5;4;?Q 9;4eh8)=?Yyi@Q I?'?I;i:;4yɮBi)iI:@ @ @ @ )m2Acoustic response timeoutYIIOg>Emn EmSEmzEi"EmO]:*Em9VEm5ZEiԁ 5 2Acoustic response timeoutOҏ,Yނ>I?A0f[@f`@fƽٱf nAHRS rotation from veh to nav: [[0.602497,0.795901,0.059489],[-0.792208,0.587314,0.165734],[0.096970,-0.146982,0.984375]]fH`G? x?Ku? YG?`6?@Ҹ?`M¿ ?if[@If_;fCYv=yvpDParsing RMC sentence: $GPRMC,192857.00,A,3646.38184,N,12152.29543,W,0.933,79.03,251025,,,A*44 )@>I?A?)N89?y> ףp=ҿA`"?X9v޿둾Y= 9"~jS?!rh?YS#y/]>lg>WB WB)OBYBbD5wVD5,9yE9X<%E@=ٔE>=Q-E>9III=MBFyIU?BEU>YQ 5e;4]?Q 9e;4])N8)]Ye5?Q Ee:ye ?Q Im?]I];i] ;]>g;4yuȻBɮuBuEi)顉iIm:IyԉIO=Աu2Acoustic response timeout E}  E} TE} |Ey "E} C:*E} 9VE} ם5ZEy զOҏ,i>I?AB@B۫@B1)yٱBl JAHRS rotation from veh to nav: [[0.610547,0.789082,0.067693],[-0.789643,0.599957,0.128511],[0.060793,-0.131915,0.989395]]BH?(@?@NT?@D2? s?; ? ?iB@IB+_;@`Yv=yzND]=]=eAAeAAbDmwVDm,9yڸ<%U=ٔ=Q->9I=BFy<E>Q 5;4?Q 9;4|G8)Su=YyC?Q I?>I:i:t;4yɮ5B9iI)IIIiIQIQ2Acoustic response timeout-,:IAIQO=A  2Acoustic response timeoutOҏ,>I?A2᧤@2梫@2Xٱ2 :AHRS rotation from veh to nav: [[0.605731,0.790110,0.093899],[-0.794742,0.595101,0.119331],[0.038405,-0.146908,0.988404]]2H`%b? H? ?n` ?@}?թ?¿?i2᧤@I2>_;2CYB}=yB@DbDNwVDN,9yVPQ=%V\=ٔZv=Q-Z>9XIX=ZBFyX^!E^>QQ 5];4U ?Q 9e;4U@8)U>Yaye?Q Im?U?IUF;iUC;UC;4yuɻBɮuBi)顡iIEa EREaE"E%.:*E9VEd5ZE:IIO= I2Acoustic response timeoutqԡ Oҏ,e>I?A2ղ@2ڭ@2#ٱ2 ; :AHRS rotation from veh to nav: [[0.606759,0.785637,0.120906],[-0.793888,0.591329,0.141674],[0.039809,-0.181947,0.982502]]2Hj?@#?`?g+?\"?`a? Jǿ@p?i2ղ@I2`;2CYN=yNDbDZwVDZ,9yr쫻%vF=ٔv_Q-v>9xIx=zBFyxzT;Ez>|Q 5;4~H?Q 9 ;4~98)~?>Y y ?Q I ?~N?I~:i~:~;4yE2Acoustic response timeoutyɮBi)iIс:IIO =ԩE^ EIEtE"EC#:*Ec9VE5ZE2Acoustic response timeout ,Oҏ,=>I?Aɰ2IǤ@2N«@2Gٱ2': :AHRS rotation from veh to nav: [[0.608834,0.783864,0.121974],[-0.792494,0.594064,0.137990],[0.035705,-0.180676,0.982894]]2H{?j?9?\`??G? g ǿs?i2IǤ@I2K_;2CYBh >yBDZ#XZ Z )Z(IXi^%^*^+bDfwVDf,9yj#=%jK=ٔn'9pIp=rBFypr;Ev>tQ 5z;4v?Q 9z;4v28)v>Y|y?Q I?v?Iv$;iv$;v;4y ɮ B i)!!!i!)I)I5>)5?A:II Om=M2Acoustic response timeoutEh EYEE"EG:*E*9VE 5ZE1 = k>A ԉ Gi I A- 2Acoustic response timeoutM rAYOҏ,*?I?A,F+ɤ@F0ī@FˁٱF)Z,9^rAY^xA bAHRS rotation from veh to nav: [[0.609301,0.785369,0.109306],[-0.792724,0.600105,0.107068],[0.018493,-0.151886,0.988225]]FHd?!?s?]4?h??pÿ?iF+ɤ@IF_;FCYj>yjDyU"~j?1Zdӿ~jtÿUS>U"UQ Q9UT㥛 ?SÿV-YU=yUUmU9BU)B UYB)UBQYUBbDm|wVDm,9y}`<%}@=ٔi%=Q->9I=BFyf :E>Q 5;4E?Q 9;4s58)[Y;q?Q Ea:yQ I?f?I:i:;4yɮ~Bi)i)IiE:IYIqO=IN>)N>YU2Acoustic response timeoutԁE f E ]E E "E I@:*E 9VE 5ZE Ա $Oҏ,Z?I?A2_Ĥ@2d@2_7ٱ2Ľ :AHRS rotation from veh to nav: [[0.608795,0.790839,0.062786],[-0.793026,0.604472,0.075651],[0.021875,-0.095846,0.995156]]2H?{?`N??@x`W?]?vf?eP?i2_Ĥ@I2_;2CYBn:>yBEDbDwVD,9yE=%MN=ٔM Q-M>9IIQ=UBFyQUEU>YQ 5e;4]?Q 9e;4]78)]1Yiym Q Im?];?I]Z:i]:]ͺ;4yqɮ}lByi)顉iIԑ:I2Acoustic response timeoutIO =m 2Acoustic response timeout OOҏ,7?I?A((R @R@R״ٱR q ^AHRS rotation from veh to nav: [[0.607308,0.793763,0.033428],[-0.794160,0.605367,0.053303],[0.022074,-0.058919,0.998019]]RH o?f??i@*_?`J??*?iR @IR_;RCYjA>yjDzParsing RMC sentence: $GPRMC,192900.00,A,3646.38184,N,12152.29522,W,0.467,79.03,251025,,,A*4C )AE?I?AAEE89EAbE=ݡ5jE=5rE=D3Eo ENEE"E`:*E҆9VE 5ZE bDwVD,9y<%A=ٔQ->9I=BFyE>Q 5;4?Q 9;4E8)YyQ I?I#:i:>g;4y ȻBɮ gBi!)!!!i!)I) =pA=pA~:I IOu=2Acoustic response timeoutA 5Oҏ,HQ?I?A 2(@2-@2N:ٱ2z0 >AHRS rotation from veh to nav: [[0.603288,0.797019,0.028368],[-0.797523,0.602956,0.020028],[-0.001142,-0.034707,0.999397]]2H`"N?-? ?@N@kK?N?iR$š ?i2(@I2W_;2CYB2>yFD%2Acoustic response timeoutbD wVD ,9yU%N=ٔo=Q->9I=BFy[XE>Q 5;4?Q 9;4G8)?Yy Q I?=I:i:u;4yɮoBi)iI|:IqIO= Emf EmTEmEi"EmI@:*Em9VEm5ZEiԙ2Acoustic response timeout %`Oҏ,k?I?A6j@6o@6&>ٱ6d~ļ >AHRS rotation from veh to nav: [[0.603857,0.797001,0.012097],[-0.797008,0.603501,0.023749],[0.011628,-0.023982,0.999645]]6HR??ƈ?` O?@Q?AЇ?`Ŏ?i6j@I6_;6CYF=>yFDPbDVwVDV,9y^<%^[=ٔ^ Q-b>9`I`=bBFy`f;Ef>hQ 5j;4j?Q 9n;4j;I8)j5YlynQ Ir?j{>Ijr;ij;j&;4ytɮviBti|)iI {:IaIyO=-2Acoustic response timeoutE}g E}[E}{Ey"E}C:*E}9VE}:5ZEy)  2Acoustic response timeoutUHOҏ, a?I?AɰY/>y5DI%=)%y/$?T㥛 A`"?>Y> 9S?EпMbXY?yʽWBOB B)BYkBbDwVD,9y%:=ٔQ->9I=BFyE>Q 5;4?Q 9;4=P8)?Y+ ?Q E:yQ I?>I:i/:;4yBɮZBEi )iII%?)%?-z:IAIQO}=)==9E2Acoustic response timeoutiE f E XE E "E I@:*E 9VE ZE ԙ 'rOҏ,:?I?A2Q@2V@2#ٱ2R :AHRS rotation from veh to nav: [[0.587164,0.808982,0.028054],[-0.806450,0.581633,0.106496],[0.069836,-0.085155,0.993917]]2H` ?@.?@8?p?@KC?@?̵+?i2Q@I2_;2CYB&>yB9XIX=ZBFy\^TE^>`Q 5f;4b+?Q 9f;4b,V8)b CYhyjױQ Ij?b&?Ib:ib|:bU;4ylɮn_Blix)xxxix|I|ԙ.y:I IOE=2Acoustic response timeoutIa>)t>e 2Acoustic response timeout Oҏ,T?I?A>3@>8@> ٱ>r JAHRS rotation from veh to nav: [[0.612567,0.790042,0.024394],[-0.787375,0.607211,0.106471],[0.069304,-0.084428,0.994017]]>H@%? H?@?,2 En?A?콱??i>3@I>`;>CYRF>yRDj hj" j!)j,Ijij)j&j'bDrwVDr,9yz;I%zF=ٔz:Q-~>9|I|=~BFy=E> Q 5;4 ?Q 9;4 \8) GYyQ I? h?I ;i ; Ȭ;4y!ɮ%iB!D9D=<EEm EEdEEEA"EEY:*EE9VEEU5ZEAiI)IQQiQQIY5w:IIO=!2Acoustic response timeoutIy Oҏ, ?I?A2G/@2L*@2*?ٱ2Z :AHRS rotation from veh to nav: [[0.618561,0.781851,0.078049],[-0.784342,0.608494,0.120596],[0.046796,-0.135813,0.989629]]2H@A?`??Sx?e߾??@Rb ?i2G/@I2%`;0Yju>yjD ppbDvuwVDv,92Acoustic response timeouty %% I=ٔ Bc=Q- >9I=BFy*<E>Q 5%;4O"?Q 9-;4Uc8)JY)y-Q I-??I:i:;4y1ɮ=qB9iI)IIIiQQIQ aaQuv:IIO5=EUc EUXEUEQ"EUg5:*EU9VEU5ZEQԁ2Acoustic response timeoutԹ Oҏ,?I?A2@2@2m@ٱ2B >AHRS rotation from veh to nav: [[0.605574,0.786342,0.122259],[-0.794398,0.588259,0.151269],[0.047030,-0.188727,0.980903]]2H`?)?VL?k@?@\?`G?`3(ȿ`c?i2@I2`;0YBS>yFDbD=?wVD=,9yn9<%C=ٔQ->9I=BFy] E>Q 5;4&?Q 9;4j8) MYymQ I?)?I:i$:;4yɮoBi)iIԱt:IIOU=  2Acoustic response timeoutDYzDYEeg EeTEe|Ea"EeC:*Ee9VEeם5ZEa  2Acoustic response timeout9 RPҏ,;@I?A2|@2@22M1ٱ2K :AHRS rotation from veh to nav: [[0.607510,0.783393,0.131252],[-0.793132,0.589267,0.153965],[0.043273,-0.197635,0.979320]]2Hp?@??@WaF?!?'?`Lɿ V?i2|@I24+`;0YB=yBDNParsing RMC sentence: $GPRMC,192903.00,A,3646.38206,N,12152.29619,W,0.914,313.79,251025,,,A*76 )PR?I?AR9?Rk89R -bB@Xw^VhGPS fix at 20251025T192903: (36.773034, -121.871603)R>R@@y-)\(?`"V-?-Ga=--h=) )9-Q? rhMb?Y-µ>y-C->-B-%B -aB)-)Y-aBbDE=wVDE,9yU %UM=ٔ\9I=BFy;E> Q 5;4 9?Q 95;4 k8) Y5S>Q E= ;y=Q I=? I ;i y; >g;4yEBɮErBAiy)yyyiyImDs:IIO=92Acoustic response timeouti Em m Em REm Ei "Em Y:*Em 9VEm 5ZEi KPҏ, @I?A4<ɰ4< :$@:)@:0ټٱ: FAHRS rotation from veh to nav: [[0.587192,0.804240,0.091667],[-0.809013,0.579393,0.099001],[0.026509,-0.132292,0.990856]]:HG?V?ww? pb?X?@F%? ?i:$@I:_;:CYJ-=yNDbD JwVD ,9yEMS%MK=ٔM3=Q-M>9IIQ=UBFyQU\EU>YQ 5e;4]@??Q 9m;4]n8)]Uc=YiymQ Im?] >I](:i]:]t;4yqɮ}sByi)顉iII?)9?}2Acoustic response timeouti,r:IIO%N>Թ - 2Acoustic response timeoutQ Pҏ,p]:@I?A2t9@2y4@2Rʜٱ2_ :AHRS rotation from veh to nav: [[0.569904,0.821476,0.019657],[-0.821488,0.569029,0.036914],[0.019138,-0.037185,0.999125]]2HyVD`bDfCwVDf,9yn5=%nR=ٔrǚ9pIp=rBFypv_Ev>xQ 5~;4z%D?Q 9~;4zSr8)z9=Y|y#Q I?z>Iz ;iz ;z9;4y Bɮ TB EE%h E%XE%E!"E%G:*E%9VE%H5ZE!i1)111i19IAIqIO\=Ip>)i>G1]9YY]A2Acoustic response timeoutA Pҏ,9T@I?A28@23@22Zٱ2< :AHRS rotation from veh to nav: [[0.569862,0.821100,-0.032435],[-0.821632,0.569983,-0.006297],[0.013317,0.030238,0.999454]]2HOy^/Dr2Acoustic response timeoutbDjSwVDj,9yz<%zI=ٔzIj99QIQ=UBFyQUE]>aQ 5m;4e*I?Q 9m;4eu8)e'>YqyuQ Iu?e">IeM;ie];eؐ;4yɮOBi)顩iIIIO%=E5a E5WE5wE1"E5%.:*E59VE5ɕ5ZE1iԑ2Acoustic response timeout Pҏ,n@I?A29@2>@2uPٱ2; :AHRS rotation from veh to nav: [[0.591336,0.806425,0.001040],[-0.805568,0.590647,0.046864],[0.037178,-0.028550,0.998901]]2H 9?`;? Q?6?~? ? 5<?i29@I2`;2CYR4>yR1Dddj! j")j'Ij"ihj)j)n=lbDrdwVDr,9yz=%zJ=ٔ~qQ-~>9|I|=BFy=E> Q 5;4 NN?Q 9;4 Gy8) a>YyFQ I? ?I ;i &; ;4y!ɮ%@B!i1)999i9AIAIYIiԹO =2Acoustic response timeoutbEƲ5jEƲ5rEg92E=i E9E=E9"E=,K:*E9VE=5ZE99  2Acoustic response timeout!Pҏ,$@I?A>-@>(@>@ٱ>M FAHRS rotation from veh to nav: [[0.618392,0.782289,0.074935],[-0.784462,0.608765,0.118425],[0.047025,-0.132016,0.990131]]>H`??.?O@{? Q?`?@(?i>-@I>M9`;>CYN>yNPDy-xƿOn? rh?-K7->-l>) )9-RQMbX?@5^I ?Y-½y-J>-b>--{B -[B)-@B)Y-BbDEwVDE,9yMҽ%UE=ٔUE¼Q-U>9YIY=]BFyYe==Ee>aQ 5m;4eR?Q 9u;4ev8)e̿>Yu>Q Eu:yu?Q Iu?e .?Ie:ie;e;4yBɮUBi)顑iIIIO= AAA2Acoustic response timeoutqEM q EM PEM EI "EM 2h:*EM ?9VEM Ժ5ZEI ԙ Z(Pҏ,!ʡ@I?A2 y@2t@2 ٱ2K_ :AHRS rotation from veh to nav: [[0.626205,0.763310,0.158823],[-0.779492,0.608743,0.147726],[0.016078,-0.216308,0.976193]]2H ?@ m?PT? z??v?@˿yFۨDbD wVD ,9yE:%MK=ٔMY=Q-M>9QIQ=UBFyQUk<EU>YQ 5e;4] X?Q 9m;4]s8)]O?Yiym?Q Im?]L?I]Q:i]:]0;4yqɮyyi)顉iI I)q2Acoustic response timeoutԡIIOF>M 2Acoustic response timeout y8.Pҏ,@@I?Aɰ2@2@2<ٱ2'~ :AHRS rotation from veh to nav: [[0.614441,0.761557,0.206136],[-0.788716,0.599442,0.136368],[-0.019715,-0.246373,0.968974]]2H?^?@b?)=.?@t? 0`)Ͽ?i2@I2E`;2CYB=yB‚DNParsing RMC sentence: $GPRMC,192906.00,A,3646.38202,N,12152.29630,W,0.467,292.56,251025,,,A*70 )PR@I?AR3?R p89R(fbB@V`w^ZhGPS fix at 20251025T192906: (36.773034, -121.871605)Rv>Rve@IZ=)Z=\^AbDbwVDb,9yj#%jR=ٔnI=Q-n>9pIp=rBFyprEv>tQ 5z;4v3?Q 9z;4v p8)vEe EEqE"E<:*EVE5ZEY|yst?Q I?vIv;iv;v>g;4yBɮeBi1)111i1IIIOM=2Acoustic response timeout 1 .#5Pҏ,C@I?A2ȣ@2ê@2|%ٱ27F >AHRS rotation from veh to nav: [[0.584295,0.796503,0.155506],[-0.811539,0.573012,0.114288],[0.001924,-0.192977,0.981201]]2H?|??@!`V?A?@_? xȿf?i2ȣ@I2=`;2CYB>yFDDD~2Acoustic response timeoutbD9qIq=uBFyq}ɶE}>Q 5;49?Q 9;4{m8)>Yyv?Q I ?B=I)>E m E VE E "E Y:*E 9VE H5ZE ԡiߩI߭A2Acoustic response timeout tJ;Pҏ,p[@I?A6hV@6mQ@6|2ٱ6 >AHRS rotation from veh to nav: [[0.572365,0.817060,0.069365],[-0.818841,0.565014,0.101283],[0.043562,-0.114769,0.992437]]6HP?Z%? ?3??M?a@ ?i6hV@I6A`;4PYR>yR9DbD^-xVD^-9yf2<%fU=ٔf޽Q-f>9hIh=jBFyhnEn>pQ 5v;4r=?Q 9v;4r(k8)rD>Yxyz?Q Iz?rf>Ir:ir[:rq;4y|ɮ~mBi)iII1IAOm;=2Acoustic response timeoutE%k E!E%E!"E%mR:*E!VE%5ZE!!  2Acoustic response timeout2BPҏ,?8 AI?A2@2@29]ٱ2u8 :AHRS rotation from veh to nav: [[0.565421,0.824776,0.006568],[-0.823034,0.563669,0.069942],[0.053984,-0.044953,0.997529]]2H?d?z?@KV ??ʣ? ?i2@I2`;2CYR->yRخDV=V=!yush|?~jtSÿuuuq q9uK7ɿA`"ӿ/$?YuIyuu=ٔDƼQ->9I=BFyE>Q 5;40?Q 9;47k8)>Y>Q E;y.HQ I?">I ;iT ;|;4yɮjBi)iIIIO==I%2Acoustic response timeoutqE- t E- ^E- E) "E- s:*E- ;9VE- 5ZE) ԡ \HPҏ,0#AI?A2Xr@2]m@2ï\ٱ2 :AHRS rotation from veh to nav: [[0.574866,0.818122,-0.014362],[-0.816474,0.574686,0.055736],[0.053852,-0.020315,0.998342]]2H`Le?.?i c?x??@w͔k?i2Xr@I2#`;0YRN$>yRDf"dj j )j(Ij#ij%j(j(bDrYxVDr'-9y-]c=%-R=ٔ-c9Q-5>91I1=5BFy1y<E>Q 5;4$?Q 9;4Qk8)>YyNGQ I??II;iD;;4yBɮ_Bi)iIIIO1}2Acoustic response timeout @Aԡ- 2Acoustic response timeout NPҏ, :AHRS rotation from veh to nav: [[0.602660,0.797834,0.016197],[-0.797250,0.601092,0.055502],[0.034545,-0.046362,0.998327]]2H@H?ڇ?镐?%yBDbDN6xVDN-9yVZ%VS=ٔVK=Q-V>9XIX=ZBFyX^/=E^>`Q 5f;4b?Q 9f;4bk8)bC>Ydyf6EQ If?bW(?Ib6:ib-:b;4Enp EnPEnEl"End:*En?9VEn~5ZElytɮvbBxi)i I I!I9O]5=2Acoustic response timeout)Y pUPҏ,VAI?AJ@J@JRɼٱJ_ ZAHRS rotation from veh to nav: [[0.602560,0.796115,0.055880],[-0.797693,0.598635,0.072948],[0.024623,-0.088530,0.995769]]JH,H? y?I? (?@?@6?쩶 W?iJ@IJF`;JCYb>ybDr2Acoustic response timeoutI=<)=9=AbDE)xVDE-9y%<=ٔ9I=BFy QE>Q 5;4 ?Q 9;4k8)>YyhEQ I?P?I:it:;4yBɮhBi)i1IqIIO=En EaEE"EO]:*E9VE5ZEY2Acoustic response timeoutԑԹ [Pҏ, pAI?A2wB@2}=@22ٱ23 :AHRS rotation from veh to nav: [[0.595718,0.800656,0.063794],[-0.802007,0.588643,0.101410],[0.043642,-0.111575,0.992797]]2H`??T? @*??MX? .?i2wB@I2u_;0Yv>yv/DParsing RMC sentence: $GPRMC,192909.00,A,3646.38182,N,12152.29629,W,0.622,292.56,251025,,,A*7F )@AI?Aq?o89=pbB@_w^hGPS fix at 20251025T192909: (36.773030, -121.871605)գ>bD%wVD%,9y5E;%5R=ٔ5GQ-=>99I9=EBFyAEaEE>IQ 5U;4Mq?Q 9U;4Mo8)MYQy]4FQ I]?MIM ;iM ;M>g;4yeBɮefBaiy)y顁iIIIOy=ԑIi>)e>2Acoustic response timeoutDzDEi EnEE"E,K:*E:VEDz5ZE uk>uґC- 5GU sAi e9 sAY ZA 2Acoustic response timeout bPҏ,~AI?A2}T@2O@2۩ٱ2p :AHRS rotation from veh to nav: [[0.571147,0.819203,0.051939],[-0.817506,0.561980,0.125946],[0.073987,-0.114394,0.990677]]2HF?6??)?? ?H@?i2}T@I2_;2CY^ >y^ԴDa@a a@a a@a a@a bDxVD-9y%@=ٔ/Q->9I=BFy̋E>Q 5;4?Q 9;4o8)I:i>Js;4y Bɮ iB i!)!!!i!)I)IAIYO}=2Acoustic response timeoutI E g E TE E "E C:*E 9VE q5ZE hPҏ, _AI?A6Ţ@6@6,}ٱ6ʽ >AHRS rotation from veh to nav: [[0.556314,0.830258,0.034435],[-0.826603,0.548671,0.125250],[0.085097,-0.098142,0.991527]]6HS?y?m?s?`2?ȵ??i6Ţ@I6_;6CYF>yFѺDN=Na=PR@AbDR)xVDR-9yZT<%Z_=ٔ^KQ-^>9\I`=bBFy`bBEb>dQ 5j;4f?Q 9j;4fo8)f?If ;ifSK?f{;4ypɮrgBti|)|||i|III1OU/=U2Acoustic response timeoutI 2Acoustic response timeout! nPҏ,8AI?A2l@2g@2hg~ٱ2`d :AHRS rotation from veh to nav: [[0.574042,0.817925,0.038398],[-0.816470,0.568206,0.102562],[0.062070,-0.090226,0.993985]]2H@^? q,?`ݨ? .?`A?@ǯ?@?i2l@I2~_;2CbEEͶ5jEEذ5rEE2Ebm EbSEb{E`"EbY:*Eb9VEb:5ZE`YjO >yjۨDbDv+xVDv-9|y2 %F=ٔd=Q->9 I = BFy $J=E>Q 5;43?Q 9%;4o8)4=Q A%9Y!Q E%:y%GQ I%?:>I:i?_;4y1ɮ5nB1iA)AIIiIIIQIiIyOV= AA)e2Acoustic response timeoutQԁ uPҏ,UAI?A6@6@6 ٱ6wtӽ BAHRS rotation from veh to nav: [[0.586366,0.808738,0.046025],[-0.807518,0.579106,0.112027],[0.063947,-0.102855,0.992639]]6H?-?@?`0@ ?ҭ?^?T@?i6@I6g_;6CYJu>yJDbDRwVDR,9yZ%ZO=b2Acoustic response timeoutٔbEQ-b>9dId=fBFydj=Ej>hQ 5=;4jO䵉?Q 9=;4jo8)j3t=Q AE9YAQ EE~:yEFQ IE?j@?Ijeؽ :AHRS rotation from veh to nav: [[0.605430,0.795296,0.030955],[-0.791051,0.597002,0.133519],[0.087707,-0.105323,0.990563]]2H_?s??JP?%?s? z?i2P@I29_;0YB>yBDZXZ Z#)^&I^'i^)\^'`bAbDfwVDf,9yn=%nH=ٔrnQ-r>9pIp=rBFypv}=Ev>xQ 5~;4zص?Q 9~;4z.p8)zJ=Q A~9Y|Q EN:yEQ I?zr7?Iz ;iz@zJ;4y Bɮ MB Ei!)!!!i!)I)ԹIIO==2Acoustic response timeoutEb ETEfE"E1:*E9VEt5ZE9  2Acoustic response timeoutNւPҏ,X BI?A2֚@2ܕ@23̽ٱ2$ :AHRS rotation from veh to nav: [[0.601907,0.797933,0.031798],[-0.792338,0.591775,0.148334],[0.099543,-0.114478,0.988426]]2H B?ઈ?`G? Z@? ?{?@kN/?i2֚@I2*_;2CYJ}=yJ@Daa aa aa aa yI +I +? ףp= ǿ9494=Q8 9Mb`?~jtQ뱿Y;y\B%B )YBbD5wVD5,9yEV%EC=ٔMDQ-M>9IIQ=UBFyQU EU>YQ 5e;4]յ?Q 9e;4]p8)]F=Q AeT:Ym=Q Em)G>12Acoustic response timeoutaE g E RE xE "E C:*E 9VE e5ZE ԉ Pҏ,f%BI?A6:@65@6񢿽ٱ6н BAHRS rotation from veh to nav: [[0.592900,0.804846,0.026310],[-0.799837,0.584790,0.135209],[0.093436,-0.101209,0.990468]]6H ?`L?@?`C?`N?@l?蹿`?i6:@I6/_;4YJ>yJ9DbDwVD,9yE<%MK=ٔMy9IIQ=UBFyQUEU>YQ 5e;4]ӵ?Q 9e;4]eq8)]^yBDNParsing RMC sentence: $GPRMC,192912.00,A,3646.38169,N,12152.29635,W,0.058,292.56,251025,,,A*76 ERe ERQERmEP"ER<:*ERv9VER5ZEP)XZBI?AZ#?Zr89Z/\CbB@Jcw^%hGPS fix at 20251025T192912: (36.773028, -121.871606)Zn9I=BFy8ȼE>Q 5;4#?Q 9;4r8)Yy%Q I?If:i:>g;4yBɮOBi)iII IOM=M2Acoustic response timeoutlPowering down and starting shutdown timer (18.00 sec).iI@Unsubscribing from LCM channels..Deactivating messaging.) 0 Pҏ,.UYBI?A6Y/@6^*@6삽ٱ6- >AHRS rotation from veh to nav: [[0.593197,0.804420,0.032045],[-0.802519,0.587699,0.102829],[0.063884,-0.086714,0.994183]]6Hw? ν?=h? <m?R?Z?2`X?i6Y/@I6I_;6CYFF>yFDJ=HR.Deactivating messaging. RV2Acoustic response timeoutbDwVD,9y%H=ٔQ->9I=BFyخ<E>Q 5;4?Q 9;4r8)ϼYyQ I?=I:iF:Wu;4yɮTBi)iII IO%=Q ԩ$Powering downDzDDDiQIUA]2Acoustic response timeoutԩ 4Pҏ,2sBI?A2z@2u@2bٱ2 :AHRS rotation from veh to nav: [[0.599644,0.799349,0.038331],[-0.795960,0.590769,0.132055],[0.082913,-0.109696,0.990501]]2HG0?C??x@?,?9? /?i2z@I2_;2C@Y^>y^IDbDjwVDj,9yr_;%rW=ٔrMQ-v>9tIt=vBFytz<Ez>|Q 5;4~?Q 9;4~4s8)~FYyQQ I ?~„=I~:i~N:~;4yɮSBi!))))i))I1IIIYOm;=2Acoustic response timeoutԱ e 2Acoustic response timeoutPҏ,4BI?Aɰ2@2@2cgٱ2 :AHRS rotation from veh to nav: [[0.603997,0.794859,0.058194],[-0.793232,0.592468,0.140587],[0.077269,-0.131076,0.988357]]2H S?{o?˭?'b??dz?`?i2@I2_;2CYn>ynDltvAye rh?Mb`?J +?eC >e;e=a a9e:v?:vzGʿYe=yeԼe We{BeB eB)etBaYeB }4<};bDwVD,9ynǻ%@=ٔY9I=BFyXE<E>Q 5;4?Q 9;4t8)>Ypq>Q Ea;yQ I?=I ;i ;;4yɮTBi)iIII O= 2Acoustic response timeout9a .GPҏ,:BI?A2O@2T@2Mhڼٱ2 :AHRS rotation from veh to nav: [[0.606780,0.789614,0.091252],[-0.794422,0.598579,0.102936],[0.026658,-0.134952,0.990493]]2Hj?D? O\?k'?@Z?5L? F`?i2O@I2_;2CYLyPf"df f")j,Ijij,j)j*9bDr~wVDr,9ٔ]>Q-]>9aIa=eBFyaev;Em>iQ 5u;4m?Q 9};4mu8)m3YYyy}[Q I}?m->Im;im;ma;4yɮi)顙iIIIOx=2Acoustic response timeoutI)p>aԑ 2Acoustic response timeout .Pҏ,?BI?A2%m@2*h@2=!<ٱ2  :AHRS rotation from veh to nav: [[0.600435,0.792622,0.105966],[-0.799621,0.596619,0.068202],[-0.009163,-0.125684,0.992028]]2H@6?@(]?@ ? @?u?`Ăg?i2%m@I2_;2CYB>yFDbDNwVDN,9yV׃<%V<ٔV+=Q-Z>9XIX=ZBFyX^E^>lQ 5 ;4n?Q 9%;4-Gnw8)n-E5tAY9yMQ IM?ԙB=95tAY4AnIZ>In=inS=nӬ;4yɮNBi))111i19I9IQIaOm=-2Acoustic response timeout XPҏ,ABI?A6`@6[@6* (ٱ6B2Acoustic response timeout FAHRS rotation from veh to nav: [[0.599228,0.795134,0.093209],[-0.800513,0.593612,0.082485],[0.010257,-0.124043,0.992224]]6H@,?@q?ܷ?͝@?? m? D`L?i6`@I6q_;6CYNE,>yND TTZ=Z=bD^uwVD^,9yf=%fH=ٔfBQ-j>9hIh=jBFyhnqEn>pQ 5v;4rG?Q 9v;4rCx8)rYtyvQ Iz?r>Ir6:ird:r;4y|ɮ~FB|i )iII1IAOM-=!52Acoustic response timeoutQy Pҏ,)zBI?A2l'@2r"@2ٱ2]ٽ :AHRS rotation from veh to nav: [[0.593615,0.800684,0.080785],[-0.804711,0.589608,0.069301],[0.007857,-0.106147,0.994319]]2H?4?W?1@? ?4?s,v?i2l'@I2^_;2CYn>ynmDbDzwVDz,9y\׽%G=ٔW;Q->9 I = BFy E>Q 5%;4?Q 9%;4}y8)Y!y%tQ I%?>I;i;X;4y1ɮ5\B1iA)AAIiIIIQIiIyOJ=Q2Acoustic response timeout @AԁԩE 2Acoustic response timeout jPҏ,UCI?A24@2/@26l:ٱ2+ :AHRS rotation from veh to nav: [[0.594957,0.801759,0.056644],[-0.803757,0.593557,0.040809],[-0.000902,-0.069808,0.997560]]2H ?@?t?@`j??&Mޱ?i24@I2e_;2CYB(>yBDy=!rh?Mb?'1Z?=l==>=Т>9 99=V-?{GzK?Y=|>y=ף=^==,B='B =~B)=bB9Y=BbDUwVDU,9ye'.=%eD=ٔm-9iIi=uBFyqu;Eu>yQ 5;4}3?Q 9;4}%|8)}(־Y܌>Q E@;y|Q I?}>I}<:i}:};4yɮSBi)顩iIIIO=Ա2Acoustic response timeout 9 Pҏ, 1(CI?Aɰ4<2Ȥ@2ë@2j<ٱ2 l :AHRS rotation from veh to nav: [[0.609279,0.791088,0.054389],[-0.792826,0.608985,0.023749],[-0.014334,-0.057591,0.998237]]2H7? P?ث?^`|?Q?U[|?i2Ȥ@I2[_;2CYB>yB3DDFA Jp9XIX=ZBFyX^.B=E^>`Q 5f;4b&?Q 9f;4b~8)bGľYdyfQ If?b?Ib:ib:b3;4ylɮllit)txxixxI|II!O-=2Acoustic response timeout9i  2Acoustic response timeout?~Pҏ,BCI?A 6Ф@6˫@6Wٱ6壽 >AHRS rotation from veh to nav: [[0.610137,0.789844,0.062279],[-0.792294,0.608075,0.050152],[0.001742,-0.079943,0.996798]]6H@>?gF??xZYu?`?\?w?i6Ф@I6}_;6CYF>yFDbDRwVDR,9yVS<%ZJ=ٔZ"Q-Z>9\I\=^BFy\b]";Eb>`Q 5f;4bU ?Q 9j;4b8)b YhyjQ Ij?bt?Ib:ib :b[;4ypɮrOBpix)xxxi||III)O5=iI>)>2Acoustic response timeout Pҏ,[CI?A22Acoustic response timeoutBL@BG@BA<ٱB$ݽ JAHRS rotation from veh to nav: [[0.621995,0.777634,0.091688],[-0.782932,0.619412,0.057843],[-0.011812,-0.107763,0.994106]]BHb?@a?x? :??0a@?iBL@IBV_;BCYRW>yRDbDZwVDZ,9`yf$o%fI=ٔf[=Q-j>9hIh=jBFyhn=En>pQ 5v<4r ?Q 9v<4r8)rYtyv1Q Iz?rQ9?Ir :ir|:r<4y|ɮ~\B|i )iII1IAOM-=2Acoustic response timeoutA ePҏ,+uCI?A2q@2v@2_<ٱ2< :AHRS rotation from veh to nav: [[0.617471,0.777933,0.116401],[-0.786475,0.613150,0.074192],[-0.013655,-0.137358,0.990427]]2HS??|̽?*`?`??`7?i2q@I2֨_;2CYNu>yRDV=TXXbDZwVDZ,9y5%5D=ٔ5ߐ;Q-5>99I9==BFy9EaEE>IQ 5M<4MM?Q 9U<4MC8)M"YQyUxQ IU?MT?IM :iMD;M)<4yeBɮe[BeEiq)qyyiyyIIIOc=u2Acoustic response timeoutIqԡ i! I% A% 2Acoustic response timeoutPҏ,CI?A2@2@29jٱ2s` :AHRS rotation from veh to nav: [[0.614218,0.781021,0.112881],[-0.789007,0.605211,0.105775],[0.014295,-0.154033,0.987962]]2H? ?@?`?]??F?[ÿc?i2@I2_;2CYB=yB-Dy `"޿Q?x&  (> 7  9 J +kt?On?Y Hy  = > *B B |B) B Y 8BbD%'xVD%-9y5%5J=ٔ5Q-5>y9I=BFyF!E>Q 5<4?Q 9<48)YŠ>Q E);y?Q I?c?I:if:<4yBɮ`Bi)iII I!O-= ԡ2Acoustic response timeout (Pҏ,CI?A23@2.@2ٱ2K" :AHRS rotation from veh to nav: [[0.619346,0.778214,0.103890],[-0.784450,0.607919,0.122777],[0.032390,-0.157538,0.986982]]2H`?!?`?5t?In?d?2*ĿZ?i23@I2_;2CYB=yBDbDJSxVDJ$-9yR7<%RS=ٔV?Q-V>9TIT=VBFyTZ<EZ>\Q 5b<4^?Q 9b<4^8)^.Y`yf?Q If?^q?I^:i^:^+<4yhɮj]Bhit)tttitxIxI IO-=2Acoustic response timeout)߅ %=߅ %= 2Acoustic response timeoutQ LPҏ,TCI?Aɰ2!@2&@2wTٱ2],0 :AHRS rotation from veh to nav: [[0.612540,0.783576,0.103940],[-0.788744,0.597309,0.145273],[0.051748,-0.170967,0.983917]]2H?`?ɛ? d=(?P?~?`Bſ ?|?i2!@I2c_;2CYj=yj^DllbDr3xVDr-9y%F%-C=ٔ-91I1=5BFy15FE5>9Q 5E<4=U?Q 9M<4=38)==YIyMk?Q IM?=߀?I=:i= :=y:<4yQɮUaBYii)iiiiiqIqIIO^=ԩ2Acoustic response timeout HPҏ,AHRS rotation from veh to nav: [[0.608050,0.789362,0.084752],[-0.790600,0.592341,0.155189],[0.072298,-0.161368,0.984243]]6H%u? tB?S?`Lu?8? ?Ŀ`~?i6ˤ@I6p`;6CYF>yFDbDRwVDR,9yZ=%ZR=ٔZXQ-Z>9\I\=^BFy\bEEb>dQ 5j<4fh?Q 9j<4fπ8)f8>Yhyj=?Q Ij?fW?If>:if:fH<4ypɮrTBpix)x||i|yIIIOs=Ii>);>iIA2Acoustic response timeoutI 4Pҏ, CI?A2G^@2LY@2FMٱ2 >AHRS rotation from veh to nav: [[0.622951,0.777819,0.083241],[-0.780655,0.611329,0.129828],[0.050095,-0.145859,0.988036]]2H7??GO??4?@?¿ ?i2G^@I2 `;2CYF>yFjDbDN xVDN-9yV8%VK=ٔVb=Q-V>9XIX=ZBFyX^ 6=E^>`Q 5f<4b|?Q 9f<4bo8)b>Ydyf?Q If?b?IbB:ib:b&V<4ylɮnZBlit)txxixxI|II!O-=U2Acoustic response timeoutY M&Gaԩ9Y!@  2Acoustic response timeout.Qҏ,DI?A>;ڥ@>@լ@>+ٱ> FAHRS rotation from veh to nav: [[0.634929,0.766778,0.094428],[-0.771429,0.622597,0.131418],[0.041978,-0.156286,0.986819]]>HWQ? q?q,?@P?N?~?`,Ŀ`?i>;ڥ@I>O`;>CPYR$>yRDV>V=XZAAbD^xVD^,9yf)=%fH=ٔf9hIh=jBFyhn=En>pQ 5v<4r?Q 9v<4r~8)rO>Ytyv?Q Iz?rL?Ir:ir :rkd<4y|ɮ~QB|i )iII1IAOM-=e2Acoustic response timeout! 61 Qҏ,ӿ*DI?A2<@2 7@2=ٱ2 :AHRS rotation from veh to nav: [[0.643969,0.761486,0.073780],[-0.763648,0.633952,0.122256],[0.046323,-0.135071,0.989753]]2Hd?`^?yB DbDNxVDN-9yVݼ%VM=ٔV[2Q-V>9XIX=ZBFyXZ<E^>|Q 5%<4?Q 9%<4|8)?Y)y-y?Q I-??I:i:r<4y1ɮ5WB1iI)IIIiIQIQIiIyOK=2Acoustic response timeout )Qm 2Acoustic response timeoutԁ Qҏ,[DDI?A2>@2C@2ٱ2 :AHRS rotation from veh to nav: [[0.637405,0.766933,0.074357],[-0.769827,0.629734,0.103935],[0.032886,-0.123490,0.991801]]2H@e??@ ?k&?v?k֠?@Լ?i2>@I2_;2CYb >ybDYbDwVD,9y,;%9=ٔ9I=BFyE>Q 5u<4!?Q 9u<4A{8)%?Yyy}?Q I}?#?ISԁ2Acoustic response timeoutԱ  PExceeded connect timeout, disconnecting.CQҏ,u^DI?A2Acoustic response timeoutɰ;Jk@Jf@JӄٱJ= RAHRS rotation from veh to nav: [[0.647724,0.761478,0.024586],[-0.759113,0.642295,0.105850],[0.064811,-0.087225,0.994078]]JH (?`^?,?J@??@u?`^T}?iJk@IJ)`;HYbt>yb,DhjAbDrwVDr,9yz$=%zZ=ٔ~RQ->9!I!=%BFy!%=E->1Q 55<4Թ5"?Q 95<45z8)5@?Y1y=?Q I=?5|?I5F =i5U =5<4yAɮENBAiq)qyyiyyIIYIO">2Acoustic response timeoutA VmQҏ,;QxDI?A:f@:k@:ٱ:&| BAHRS rotation from veh to nav: [[0.650871,0.759182,-0.003055],[-0.755336,0.647968,0.098009],[0.076387,-0.061484,0.995181]]:H`?8K?Vi+&? ??z?i:f@I:K`;:CYJW>yJDbDVpwVDV,9yZ҃%^N=ٔ^ Q-^>9`I`=bBFy`b>K<Ef>dQ 5j<4f $?Q 9n<4fx8)f]?Ylyn?Q In?fϲ?Ifj;ifv;f͜<4ypɮv\Bti|)||iI I!I1O=$=E2Acoustic response timeoutIC>)R>Ai 2Acoustic response timeoutԙ U$Qҏ,0/DI?A2@2@24ٱ2rM :AHRS rotation from veh to nav: [[0.636622,0.771170,-0.003118],[-0.768391,0.634660,0.082349],[0.065484,-0.050029,0.996599]]2H@4_?l?&iਖ#O?@?ð?`d#?i2@I2z`;2CYv>yvDa@a a@a a@a a@a bD~wVD,9y-=%6=ٔ9I=BFy%0E%>)Q 5-<4-U%?Q 95<4-bw8)-~?Q A5+:Y1Q E5;y5?Q I=?-˹?I- ;i->-~<4yAɮERBAqi)iIIIO=nManaging dock network, ignoring radio surface power offԡE2Acoustic response timeout n*Qҏ,DI?A2@2@2ٱ2}\ :AHRS rotation from veh to nav: [[0.653292,0.756938,0.015917],[-0.756152,0.651271,0.063877],[0.037984,-0.053766,0.997831]]2H`?8?L?@f25?yBD DDJ,>J=HJBAbDNlwVDN,9yV%%Vd=ٔZj=Q-Z>9XIX=^BFy\^Cl=E^>`Q 5f<4bz&?Q 9f<4bSv8)b?Q Aj :YhQ Ej:yjf?Q Ij?b8?Ib{:ib O?b<4ylɮrXBpix)xxxix|II2Acoustic response timeoutIOe=) M 2Acoustic response timeoutg1Qҏ,DI?A6@6@6`Uμٱ6 >AHRS rotation from veh to nav: [[0.660953,0.748792,0.049513],[-0.750004,0.656927,0.077072],[0.025185,-0.088075,0.995795]]6H`&?`?Y?@ ?@?@ə?@`?i6@I6X`;6CYF|>yF`DbDRwwVDR,9yZ5<%ZJ=ٔZ=Q-Z>9\I\=^BFy`b<Eb>dQ 5j<4f(?Q 9j<4fu8)f?Q Aj9YhQ Ej:yj?Q In?f?If;if]?f;<4ypɮrRBpix)|||i|III)O=!=) AA2Acoustic response timeoutYԉ ] 2Acoustic response timeout 7Qҏ,DI?A2A֦@2Fѭ@2i3ٱ2t :AHRS rotation from veh to nav: [[0.658899,0.747978,0.079880],[-0.752151,0.653557,0.084452],[0.010962,-0.115727,0.993221]]2H?@o? s??`?/s?P`v?Hi2A֦@I2`;2CYf>yfDbDrwVDr,9yv <%vF=ٔz =Q-z>9|I|=~BFy|~E>Q 5 <4*?Q 9 <4s8)?Q A9YQ E:y?Q I??Ie ;i/?q<4yɮ%NB!i1)119i99IAIYIiOuB=2Acoustic response timeout t=Qҏ,DI?Aɰ2@2@2P<ٱ28  :AHRS rotation from veh to nav: [[0.662016,0.740591,0.115147],[-0.749098,0.658778,0.069741],[-0.024206,-0.132426,0.990897]]2H =/??>z??`ڱ?`~ɘU n?i2@I2_;2CYB5>yB DHJA HJp;bDNwVDN,9yVd%VO=ٔZͶ=Q-Z>9XIX=ZBFyX^75<E^>`Q 5f<4b1,?Q 9f<4br8)b"?Q Af9YdQ Ejk:yjR?Q Ij?bC?Ib:ibO@b><4y9ɮ=YB9iI)QQQiQQIyIIOp=%2Acoustic response timeoutIqԡ i I A 2Acoustic response timeout DQҏ,rEI?A2d@2i@2<ٱ2@ :AHRS rotation from veh to nav: [[0.665449,0.737958,0.112229],[-0.746267,0.660993,0.078572],[-0.016200,-0.136038,0.990571]]2H\K?Y? ?k &?C? Ŗ`i ²?i2d@I2_;2CYB>yBDa a  a a  a a  aa y rh?(\µ?rh|?l>== 9v?bX9ƿNbX9?Y?yE6>B'B NB)BYBbD-wVD-,9y=U=y%}B=ٔIQ->9I=BFy$)<E>Q 5<46?Q 9<4x8)/?Q AT:Y,?Q E:yJQ I?P?I;i;K<4yBɮMBi)i I I!IYOe=I8>)>ԩ%2Acoustic response timeout JQҏ,:\-EI?A2@2 @2_8;ٱ27 :AHRS rotation from veh to nav: [[0.664374,0.741331,0.095056],[-0.747376,0.659982,0.076506],[-0.006019,-0.121871,0.992528]]2HB?@? U??䕳? x2?i2@I2S_;2CYBO >